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21 user 1 
   1               		.file	"GPS.c"
2 
   2               		.arch atmega644
3 
   3               	__SREG__ = 0x3f
4 
   4               	__SP_H__ = 0x3e
5 
   5               	__SP_L__ = 0x3d
6 
   6               	__tmp_reg__ = 0
7 
   7               	__zero_reg__ = 1
8 
   8               		.global __do_copy_data
9 
   9               		.global __do_clear_bss
10 
  10               		.text
11 
  11               	.global	gps_main
12 
  13               	gps_main:
13 
  14               	/* prologue: frame size=0 */
14 
  15 0000 2F92      		push r2
15 
  16 0002 3F92      		push r3
16 
  17 0004 4F92      		push r4
17 
  18 0006 5F92      		push r5
18 
  19 0008 6F92      		push r6
19 
  20 000a 7F92      		push r7
20 
  21 000c 8F92      		push r8
21 
  22 000e 9F92      		push r9
22 
  23 0010 AF92      		push r10
23 
  24 0012 BF92      		push r11
24 
  25 0014 CF92      		push r12
25 
  26 0016 DF92      		push r13
26 
  27 0018 EF92      		push r14
27 
  28 001a FF92      		push r15
28 
  29 001c 0F93      		push r16
29 
  30 001e 1F93      		push r17
30 
  31 0020 CF93      		push r28
31 
  32 0022 DF93      		push r29
32 
  33               	/* prologue end (size=18) */
33 
  34 0024 8091 0000 		lds r24,MotorenEin
34 
  35 0028 8230      		cpi r24,lo8(2)
35 
  36 002a 00F0      		brlo .L2
36 
  37 002c 8091 0000 		lds r24,gps_gethome
37 
  38 0030 9091 0000 		lds r25,(gps_gethome)+1
38 
  39 0034 892B      		or r24,r25
39 
  40 0036 01F4      		brne .L2
40 
  41 0038 8091 0000 		lds r24,actualPos+32
41 
  42 003c 8823      		tst r24
42 
  43 003e 01F0      		breq .L2
43 
  44 0040 8091 0000 		lds r24,actualPos
44 
  45 0044 9091 0000 		lds r25,(actualPos)+1
45 
  46 0048 A091 0000 		lds r26,(actualPos)+2
46 
  47 004c B091 0000 		lds r27,(actualPos)+3
47 
  48 0050 8093 0000 		sts gps_home_n,r24
48 
  49 0054 9093 0000 		sts (gps_home_n)+1,r25
49 
  50 0058 A093 0000 		sts (gps_home_n)+2,r26
50 
  51 005c B093 0000 		sts (gps_home_n)+3,r27
51 
  52 0060 8091 0000 		lds r24,actualPos+4
52 
  53 0064 9091 0000 		lds r25,(actualPos+4)+1
53 
  54 0068 A091 0000 		lds r26,(actualPos+4)+2
54 
  55 006c B091 0000 		lds r27,(actualPos+4)+3
55 
  56 0070 8093 0000 		sts gps_home_e,r24
56 
  57 0074 9093 0000 		sts (gps_home_e)+1,r25
57 
  58 0078 A093 0000 		sts (gps_home_e)+2,r26
58 
  59 007c B093 0000 		sts (gps_home_e)+3,r27
59 
  60 0080 80E5      		ldi r24,lo8(80)
60 
  61 0082 90E0      		ldi r25,hi8(80)
61 
  62 0084 9093 0000 		sts (beeptime)+1,r25
62 
  63 0088 8093 0000 		sts beeptime,r24
63 
  64 008c 81E0      		ldi r24,lo8(1)
64 
  65 008e 90E0      		ldi r25,hi8(1)
65 
  66 0090 9093 0000 		sts (gps_gethome)+1,r25
66 
  67 0094 8093 0000 		sts gps_gethome,r24
67 
  68               	.L2:
68 
  69 0098 8091 0000 		lds r24,Poti1
69 
  70 009c 9091 0000 		lds r25,(Poti1)+1
70 
  71 00a0 1816      		cp __zero_reg__,r24
71 
  72 00a2 1906      		cpc __zero_reg__,r25
72 
  73 00a4 04F0      		brlt .+2
73 
  74 00a6 00C0      		rjmp .L6
74 
  75 00a8 8091 0000 		lds r24,actualPos+32
75 
  76 00ac 8823      		tst r24
76 
  77 00ae 01F4      		brne .+2
77 
  78 00b0 00C0      		rjmp .L6
78 
  79 00b2 8091 0000 		lds r24,gps_getpos
79 
  80 00b6 9091 0000 		lds r25,(gps_getpos)+1
80 
  81 00ba 892B      		or r24,r25
81 
  82 00bc 01F0      		breq .L9
82 
  83 00be 8091 0000 		lds r24,actualPos
83 
  84 00c2 9091 0000 		lds r25,(actualPos)+1
84 
  85 00c6 A091 0000 		lds r26,(actualPos)+2
85 
  86 00ca B091 0000 		lds r27,(actualPos)+3
86 
  87 00ce 8093 0000 		sts gps_northing,r24
87 
  88 00d2 9093 0000 		sts (gps_northing)+1,r25
88 
  89 00d6 A093 0000 		sts (gps_northing)+2,r26
89 
  90 00da B093 0000 		sts (gps_northing)+3,r27
90 
  91 00de 8091 0000 		lds r24,actualPos+4
91 
  92 00e2 9091 0000 		lds r25,(actualPos+4)+1
92 
  93 00e6 A091 0000 		lds r26,(actualPos+4)+2
93 
  94 00ea B091 0000 		lds r27,(actualPos+4)+3
94 
  95 00ee 8093 0000 		sts gps_easting,r24
95 
  96 00f2 9093 0000 		sts (gps_easting)+1,r25
96 
  97 00f6 A093 0000 		sts (gps_easting)+2,r26
97 
  98 00fa B093 0000 		sts (gps_easting)+3,r27
98 
  99 00fe 82E3      		ldi r24,lo8(50)
99 
 100 0100 90E0      		ldi r25,hi8(50)
100 
 101 0102 9093 0000 		sts (beeptime)+1,r25
101 
 102 0106 8093 0000 		sts beeptime,r24
102 
 103 010a 1092 0000 		sts (gps_getpos)+1,__zero_reg__
103 
 104 010e 1092 0000 		sts gps_getpos,__zero_reg__
104 
 105               	.L9:
105 
 106 0112 2091 0000 		lds r18,gps_p
106 
 107 0116 3091 0000 		lds r19,(gps_p)+1
107 
 108 011a 6091 0000 		lds r22,gps_northing
108 
 109 011e 7091 0000 		lds r23,(gps_northing)+1
109 
 110 0122 8091 0000 		lds r24,(gps_northing)+2
110 
 111 0126 9091 0000 		lds r25,(gps_northing)+3
111 
 112 012a E090 0000 		lds r14,actualPos
112 
 113 012e F090 0000 		lds r15,(actualPos)+1
113 
 114 0132 0091 0000 		lds r16,(actualPos)+2
114 
 115 0136 1091 0000 		lds r17,(actualPos)+3
115 
 116 013a 6E19      		sub r22,r14
116 
 117 013c 7F09      		sbc r23,r15
117 
 118 013e 800B      		sbc r24,r16
118 
 119 0140 910B      		sbc r25,r17
119 
 120 0142 4427      		clr r20
120 
 121 0144 37FD      		sbrc r19,7
121 
 122 0146 4095      		com r20
122 
 123 0148 542F      		mov r21,r20
123 
 124 014a 0E94 0000 		call __mulsi3
32 hallo2 124 
 125 014e 5B01      		movw r10,r22
125 
 126 0150 6C01      		movw r12,r24
21 user 126 
 127 0152 6093 0000 		sts zwn,r22
127 
 128 0156 7093 0000 		sts (zwn)+1,r23
128 
 129 015a 8093 0000 		sts (zwn)+2,r24
129 
 130 015e 9093 0000 		sts (zwn)+3,r25
130 
 131 0162 2091 0000 		lds r18,gps_p
131 
 132 0166 3091 0000 		lds r19,(gps_p)+1
132 
 133 016a 6091 0000 		lds r22,gps_easting
133 
 134 016e 7091 0000 		lds r23,(gps_easting)+1
134 
 135 0172 8091 0000 		lds r24,(gps_easting)+2
135 
 136 0176 9091 0000 		lds r25,(gps_easting)+3
136 
 137 017a E090 0000 		lds r14,actualPos+4
137 
 138 017e F090 0000 		lds r15,(actualPos+4)+1
138 
 139 0182 0091 0000 		lds r16,(actualPos+4)+2
139 
 140 0186 1091 0000 		lds r17,(actualPos+4)+3
140 
 141 018a 6E19      		sub r22,r14
141 
 142 018c 7F09      		sbc r23,r15
142 
 143 018e 800B      		sbc r24,r16
143 
 144 0190 910B      		sbc r25,r17
144 
 145 0192 4427      		clr r20
145 
 146 0194 37FD      		sbrc r19,7
146 
 147 0196 4095      		com r20
147 
 148 0198 542F      		mov r21,r20
148 
 149 019a 0E94 0000 		call __mulsi3
32 hallo2 149 
 150 019e 7B01      		movw r14,r22
150 
 151 01a0 8C01      		movw r16,r24
21 user 151 
 152 01a2 6093 0000 		sts zwe,r22
152 
 153 01a6 7093 0000 		sts (zwe)+1,r23
153 
 154 01aa 8093 0000 		sts (zwe)+2,r24
154 
 155 01ae 9093 0000 		sts (zwe)+3,r25
155 
 156 01b2 1092 0000 		sts zwn1,__zero_reg__
156 
 157 01b6 1092 0000 		sts (zwn1)+1,__zero_reg__
157 
 158 01ba 1092 0000 		sts (zwn1)+2,__zero_reg__
158 
 159 01be 1092 0000 		sts (zwn1)+3,__zero_reg__
159 
 160 01c2 1092 0000 		sts zwe1,__zero_reg__
160 
 161 01c6 1092 0000 		sts (zwe1)+1,__zero_reg__
161 
 162 01ca 1092 0000 		sts (zwe1)+2,__zero_reg__
162 
 163 01ce 1092 0000 		sts (zwe1)+3,__zero_reg__
163 
 164 01d2 6091 0000 		lds r22,gps_d
164 
 165 01d6 7091 0000 		lds r23,(gps_d)+1
165 
 166 01da 8827      		clr r24
166 
 167 01dc 77FD      		sbrc r23,7
167 
 168 01de 8095      		com r24
168 
 169 01e0 982F      		mov r25,r24
169 
 170 01e2 2091 0000 		lds r18,actualPos+12
170 
 171 01e6 3091 0000 		lds r19,(actualPos+12)+1
171 
 172 01ea 4091 0000 		lds r20,(actualPos+12)+2
172 
 173 01ee 5091 0000 		lds r21,(actualPos+12)+3
173 
 174 01f2 0E94 0000 		call __mulsi3
32 hallo2 174 
 175 01f6 3B01      		movw r6,r22
175 
 176 01f8 4C01      		movw r8,r24
21 user 176 
 177 01fa 6093 0000 		sts zwn2,r22
177 
 178 01fe 7093 0000 		sts (zwn2)+1,r23
178 
 179 0202 8093 0000 		sts (zwn2)+2,r24
179 
 180 0206 9093 0000 		sts (zwn2)+3,r25
180 
 181 020a 6091 0000 		lds r22,gps_d
181 
 182 020e 7091 0000 		lds r23,(gps_d)+1
182 
 183 0212 8827      		clr r24
183 
 184 0214 77FD      		sbrc r23,7
184 
 185 0216 8095      		com r24
185 
 186 0218 982F      		mov r25,r24
186 
 187 021a 2091 0000 		lds r18,actualPos+16
187 
 188 021e 3091 0000 		lds r19,(actualPos+16)+1
188 
 189 0222 4091 0000 		lds r20,(actualPos+16)+2
189 
 190 0226 5091 0000 		lds r21,(actualPos+16)+3
190 
 191 022a 0E94 0000 		call __mulsi3
32 hallo2 191 
 192 022e 1B01      		movw r2,r22
192 
 193 0230 2C01      		movw r4,r24
21 user 193 
 194 0232 6093 0000 		sts zwe2,r22
194 
 195 0236 7093 0000 		sts (zwe2)+1,r23
195 
 196 023a 8093 0000 		sts (zwe2)+2,r24
196 
 197 023e 9093 0000 		sts (zwe2)+3,r25
197 
 198 0242 2091 0000 		lds r18,skal
198 
 199 0246 3091 0000 		lds r19,(skal)+1
32 hallo2 199 
 200 024a D094      		com r13
200 
 201 024c C094      		com r12
201 
 202 024e B094      		com r11
202 
 203 0250 A094      		com r10
203 
 204 0252 A11C      		adc r10,__zero_reg__
204 
 205 0254 B11C      		adc r11,__zero_reg__
205 
 206 0256 C11C      		adc r12,__zero_reg__
206 
 207 0258 D11C      		adc r13,__zero_reg__
207 
 208 025a A618      		sub r10,r6
208 
 209 025c B708      		sbc r11,r7
209 
 210 025e C808      		sbc r12,r8
210 
 211 0260 D908      		sbc r13,r9
211 
 212 0262 4427      		clr r20
212 
 213 0264 37FD      		sbrc r19,7
213 
 214 0266 4095      		com r20
214 
 215 0268 542F      		mov r21,r20
215 
 216 026a C601      		movw r24,r12
216 
 217 026c B501      		movw r22,r10
217 
 218 026e 0E94 0000 		call __divmodsi4
218 
 219 0272 E901      		movw r28,r18
219 
 220 0274 3093 0000 		sts (GPS_Nick)+1,r19
220 
 221 0278 2093 0000 		sts GPS_Nick,r18
221 
 222 027c 2091 0000 		lds r18,skal
222 
 223 0280 3091 0000 		lds r19,(skal)+1
223 
 224 0284 E218      		sub r14,r2
224 
 225 0286 F308      		sbc r15,r3
225 
 226 0288 0409      		sbc r16,r4
226 
 227 028a 1509      		sbc r17,r5
227 
 228 028c 4427      		clr r20
228 
 229 028e 37FD      		sbrc r19,7
229 
 230 0290 4095      		com r20
230 
 231 0292 542F      		mov r21,r20
231 
 232 0294 C801      		movw r24,r16
232 
 233 0296 B701      		movw r22,r14
233 
 234 0298 0E94 0000 		call __divmodsi4
234 
 235 029c B901      		movw r22,r18
235 
 236 029e 3093 0000 		sts (GPS_Roll)+1,r19
236 
 237 02a2 2093 0000 		sts GPS_Roll,r18
237 
 238 02a6 8091 0000 		lds r24,gpsmax
238 
 239 02aa 9091 0000 		lds r25,(gpsmax)+1
239 
 240 02ae 8C17      		cp r24,r28
240 
 241 02b0 9D07      		cpc r25,r29
241 
 242 02b2 04F4      		brge .L11
242 
 243 02b4 8091 0000 		lds r24,gpsmax
243 
 244 02b8 9091 0000 		lds r25,(gpsmax)+1
244 
 245 02bc 00C0      		rjmp .L21
245 
 246               	.L11:
246 
 247 02be 8091 0000 		lds r24,gpsmax
247 
 248 02c2 9091 0000 		lds r25,(gpsmax)+1
248 
 249 02c6 9095      		com r25
249 
 250 02c8 8195      		neg r24
250 
 251 02ca 9F4F      		sbci r25,lo8(-1)
251 
 252 02cc C817      		cp r28,r24
252 
 253 02ce D907      		cpc r29,r25
253 
 254 02d0 04F4      		brge .L13
254 
 255 02d2 8091 0000 		lds r24,gpsmax
255 
 256 02d6 9091 0000 		lds r25,(gpsmax)+1
256 
 257 02da 9095      		com r25
257 
 258 02dc 8195      		neg r24
258 
 259 02de 9F4F      		sbci r25,lo8(-1)
259 
 260               	.L21:
260 
 261 02e0 9093 0000 		sts (GPS_Nick)+1,r25
261 
 262 02e4 8093 0000 		sts GPS_Nick,r24
262 
 263               	.L13:
263 
 264 02e8 8091 0000 		lds r24,gpsmax
264 
 265 02ec 9091 0000 		lds r25,(gpsmax)+1
265 
 266 02f0 8617      		cp r24,r22
266 
 267 02f2 9707      		cpc r25,r23
267 
 268 02f4 04F4      		brge .L15
268 
 269 02f6 8091 0000 		lds r24,gpsmax
269 
 270 02fa 9091 0000 		lds r25,(gpsmax)+1
270 
 271 02fe 00C0      		rjmp .L22
271 
 272               	.L15:
272 
 273 0300 8091 0000 		lds r24,gpsmax
273 
 274 0304 9091 0000 		lds r25,(gpsmax)+1
274 
 275 0308 9095      		com r25
275 
 276 030a 8195      		neg r24
276 
 277 030c 9F4F      		sbci r25,lo8(-1)
277 
 278 030e 6817      		cp r22,r24
278 
 279 0310 7907      		cpc r23,r25
279 
 280 0312 04F4      		brge .L17
280 
 281 0314 8091 0000 		lds r24,gpsmax
281 
 282 0318 9091 0000 		lds r25,(gpsmax)+1
282 
 283 031c 9095      		com r25
283 
 284 031e 8195      		neg r24
284 
 285 0320 9F4F      		sbci r25,lo8(-1)
285 
 286               	.L22:
286 
 287 0322 9093 0000 		sts (GPS_Roll)+1,r25
287 
 288 0326 8093 0000 		sts GPS_Roll,r24
288 
 289               	.L17:
289 
 290 032a 1092 0000 		sts (alpha)+1,__zero_reg__
290 
 291 032e 1092 0000 		sts alpha,__zero_reg__
291 
 292 0332 E090 0000 		lds r14,alpha
292 
 293 0336 F090 0000 		lds r15,(alpha)+1
293 
 294 033a 6091 0000 		lds r22,GPS_Roll
294 
 295 033e 7091 0000 		lds r23,(GPS_Roll)+1
295 
 296 0342 8827      		clr r24
296 
 297 0344 77FD      		sbrc r23,7
297 
 298 0346 8095      		com r24
298 
 299 0348 982F      		mov r25,r24
299 
 300 034a 0E94 0000 		call __floatsisf
300 
 301 034e 1B01      		movw r2,r22
301 
 302 0350 2C01      		movw r4,r24
302 
 303 0352 A090 0000 		lds r10,alpha
303 
 304 0356 B090 0000 		lds r11,(alpha)+1
304 
 305 035a 0027      		clr r16
305 
 306 035c F7FC      		sbrc r15,7
306 
 307 035e 0095      		com r16
307 
 308 0360 102F      		mov r17,r16
308 
 309 0362 C801      		movw r24,r16
309 
 310 0364 B701      		movw r22,r14
310 
 311 0366 0E94 0000 		call __floatsisf
311 
 312 036a 0E94 0000 		call sin
312 
 313 036e A201      		movw r20,r4
313 
 314 0370 9101      		movw r18,r2
314 
 315 0372 0E94 0000 		call __mulsf3
315 
 316 0376 3B01      		movw r6,r22
316 
 317 0378 4C01      		movw r8,r24
317 
 318 037a CC24      		clr r12
318 
 319 037c B7FC      		sbrc r11,7
319 
 320 037e C094      		com r12
320 
 321 0380 DC2C      		mov r13,r12
321 
 322 0382 C601      		movw r24,r12
322 
 323 0384 B501      		movw r22,r10
323 
 324 0386 0E94 0000 		call __floatsisf
324 
 325 038a 0E94 0000 		call cos
325 
 326 038e 7B01      		movw r14,r22
326 
 327 0390 8C01      		movw r16,r24
327 
 328 0392 6091 0000 		lds r22,GPS_Nick
328 
 329 0396 7091 0000 		lds r23,(GPS_Nick)+1
329 
 330 039a 8827      		clr r24
330 
 331 039c 77FD      		sbrc r23,7
331 
 332 039e 8095      		com r24
332 
 333 03a0 982F      		mov r25,r24
333 
 334 03a2 0E94 0000 		call __floatsisf
334 
 335 03a6 9B01      		movw r18,r22
335 
 336 03a8 AC01      		movw r20,r24
336 
 337 03aa C801      		movw r24,r16
337 
 338 03ac B701      		movw r22,r14
338 
 339 03ae 0E94 0000 		call __mulsf3
339 
 340 03b2 9B01      		movw r18,r22
340 
 341 03b4 AC01      		movw r20,r24
341 
 342 03b6 C401      		movw r24,r8
342 
 343 03b8 B301      		movw r22,r6
343 
 344 03ba 0E94 0000 		call __addsf3
344 
 345 03be 0E94 0000 		call __fixsfsi
345 
 346 03c2 7B01      		movw r14,r22
346 
 347 03c4 7093 0000 		sts (GPS_Nick)+1,r23
347 
 348 03c8 6093 0000 		sts GPS_Nick,r22
348 
 349 03cc 6091 0000 		lds r22,alpha
349 
 350 03d0 7091 0000 		lds r23,(alpha)+1
350 
 351 03d4 A090 0000 		lds r10,alpha
351 
 352 03d8 B090 0000 		lds r11,(alpha)+1
352 
 353 03dc 8827      		clr r24
353 
 354 03de 77FD      		sbrc r23,7
354 
 355 03e0 8095      		com r24
355 
 356 03e2 982F      		mov r25,r24
356 
 357 03e4 0E94 0000 		call __floatsisf
357 
 358 03e8 0E94 0000 		call cos
358 
 359 03ec 3B01      		movw r6,r22
359 
 360 03ee 4C01      		movw r8,r24
360 
 361 03f0 0027      		clr r16
361 
 362 03f2 F7FC      		sbrc r15,7
362 
 363 03f4 0095      		com r16
363 
 364 03f6 102F      		mov r17,r16
364 
 365 03f8 C801      		movw r24,r16
365 
 366 03fa B701      		movw r22,r14
366 
 367 03fc 0E94 0000 		call __floatsisf
367 
 368 0400 9B01      		movw r18,r22
368 
 369 0402 AC01      		movw r20,r24
369 
 370 0404 C401      		movw r24,r8
370 
 371 0406 B301      		movw r22,r6
371 
 372 0408 0E94 0000 		call __mulsf3
372 
 373 040c 7B01      		movw r14,r22
373 
 374 040e 8C01      		movw r16,r24
374 
 375 0410 CC24      		clr r12
375 
 376 0412 B7FC      		sbrc r11,7
376 
 377 0414 C094      		com r12
377 
 378 0416 DC2C      		mov r13,r12
378 
 379 0418 C601      		movw r24,r12
379 
 380 041a B501      		movw r22,r10
380 
 381 041c 0E94 0000 		call __floatsisf
381 
 382 0420 0E94 0000 		call sin
382 
 383 0424 A201      		movw r20,r4
383 
 384 0426 9101      		movw r18,r2
384 
 385 0428 0E94 0000 		call __mulsf3
385 
 386 042c 9B01      		movw r18,r22
386 
 387 042e AC01      		movw r20,r24
387 
 388 0430 C801      		movw r24,r16
388 
 389 0432 B701      		movw r22,r14
389 
 390 0434 0E94 0000 		call __subsf3
390 
 391 0438 0E94 0000 		call __fixsfsi
391 
 392 043c 7093 0000 		sts (GPS_Roll)+1,r23
392 
 393 0440 6093 0000 		sts GPS_Roll,r22
393 
 394 0444 00C0      		rjmp .L20
394 
 395               	.L6:
395 
 396 0446 85E0      		ldi r24,lo8(5)
396 
 397 0448 90E0      		ldi r25,hi8(5)
397 
 398 044a 9093 0000 		sts (gps_getpos)+1,r25
398 
 399 044e 8093 0000 		sts gps_getpos,r24
399 
 400 0452 1092 0000 		sts (GPS_Nick)+1,__zero_reg__
400 
 401 0456 1092 0000 		sts GPS_Nick,__zero_reg__
401 
 402 045a 1092 0000 		sts (GPS_Roll)+1,__zero_reg__
402 
 403 045e 1092 0000 		sts GPS_Roll,__zero_reg__
403 
 404 0462 1092 0000 		sts zwn1,__zero_reg__
404 
 405 0466 1092 0000 		sts (zwn1)+1,__zero_reg__
405 
 406 046a 1092 0000 		sts (zwn1)+2,__zero_reg__
406 
 407 046e 1092 0000 		sts (zwn1)+3,__zero_reg__
407 
 408 0472 1092 0000 		sts zwe1,__zero_reg__
408 
 409 0476 1092 0000 		sts (zwe1)+1,__zero_reg__
409 
 410 047a 1092 0000 		sts (zwe1)+2,__zero_reg__
410 
 411 047e 1092 0000 		sts (zwe1)+3,__zero_reg__
411 
 412               	.L20:
412 
 413               	/* epilogue: frame size=0 */
413 
 414 0482 DF91      		pop r29
414 
 415 0484 CF91      		pop r28
415 
 416 0486 1F91      		pop r17
416 
 417 0488 0F91      		pop r16
417 
 418 048a FF90      		pop r15
418 
 419 048c EF90      		pop r14
419 
 420 048e DF90      		pop r13
420 
 421 0490 CF90      		pop r12
421 
 422 0492 BF90      		pop r11
422 
 423 0494 AF90      		pop r10
423 
 424 0496 9F90      		pop r9
424 
 425 0498 8F90      		pop r8
425 
 426 049a 7F90      		pop r7
426 
 427 049c 6F90      		pop r6
427 
 428 049e 5F90      		pop r5
428 
 429 04a0 4F90      		pop r4
429 
 430 04a2 3F90      		pop r3
430 
 431 04a4 2F90      		pop r2
431 
 432 04a6 0895      		ret
432 
 433               	/* epilogue end (size=19) */
433 
 434               	/* function gps_main size 596 (559) */
434 
 436               	.global	loop
435 
 437               	.global	loop
436 
 438               		.section .bss
437 
 441               	loop:
438 
 442 0000 0000      		.skip 2,0
439 
 443               	.global	gps_northing
440 
 444               	.global	gps_northing
441 
 447               	gps_northing:
442 
 448 0002 0000 0000 		.skip 4,0
443 
 449               	.global	gps_easting
444 
 450               	.global	gps_easting
445 
 453               	gps_easting:
446 
 454 0006 0000 0000 		.skip 4,0
447 
 455               	.global	alpha
448 
 456               	.global	alpha
449 
 459               	alpha:
450 
 460 000a 0000      		.skip 2,0
451 
 461               	.global	zwn
452 
 462               	.global	zwn
453 
 465               	zwn:
454 
 466 000c 0000 0000 		.skip 4,0
455 
 467               	.global	zwe
456 
 468               	.global	zwe
457 
 471               	zwe:
458 
 472 0010 0000 0000 		.skip 4,0
459 
 473               	.global	zwn1
460 
 474               	.global	zwn1
461 
 477               	zwn1:
462 
 478 0014 0000 0000 		.skip 4,0
463 
 479               	.global	zwe1
464 
 480               	.global	zwe1
465 
 483               	zwe1:
466 
 484 0018 0000 0000 		.skip 4,0
467 
 485               	.global	zwn2
468 
 486               	.global	zwn2
469 
 489               	zwn2:
470 
 490 001c 0000 0000 		.skip 4,0
471 
 491               	.global	zwe2
472 
 492               	.global	zwe2
473 
 495               	zwe2:
474 
 496 0020 0000 0000 		.skip 4,0
475 
 497               	.global	gps_getpos
476 
 498               		.data
477 
 501               	gps_getpos:
478 
 502 0000 0500      		.word	5
479 
 503               	.global	gps_gethome
480 
 504               	.global	gps_gethome
481 
 505               		.section .bss
482 
 508               	gps_gethome:
483 
 509 0024 0000      		.skip 2,0
484 
 510               	.global	gps_home_n
485 
 511               	.global	gps_home_n
486 
 514               	gps_home_n:
487 
 515 0026 0000 0000 		.skip 4,0
488 
 516               	.global	gps_home_e
489 
 517               	.global	gps_home_e
490 
 520               	gps_home_e:
491 
 521 002a 0000 0000 		.skip 4,0
492 
 522               	.global	komp_dreh
493 
 523               	.global	komp_dreh
494 
 526               	komp_dreh:
495 
 527 002e 0000      		.skip 2,0
496 
 528               	.global	gpsmax
497 
 529               		.data
498 
 532               	gpsmax:
499 
 533 0002 1E00      		.word	30
500 
 534               	.global	GPS_Nick
501 
 535               	.global	GPS_Nick
502 
 536               		.section .bss
503 
 539               	GPS_Nick:
504 
 540 0030 0000      		.skip 2,0
505 
 541               	.global	GPS_Roll
506 
 542               	.global	GPS_Roll
507 
 545               	GPS_Roll:
508 
 546 0032 0000      		.skip 2,0
509 
 547               		.comm DiffNick,2,1
510 
 548               		.comm DiffRoll,2,1
511 
 549               		.comm SenderOkay,1,1
512 
 550               		.comm CosinusNickWinkel,1,1
513 
 551               		.comm CosinusRollWinkel,1,1
514 
 552               		.comm durchschnitt_northing,4,1
515 
 553               		.comm durchschnitt_easting,4,1
516 
 554               		.comm gps_p,2,1
517 
 555               		.comm gps_d,2,1
518 
 556               		.comm skal,2,1
519 
 557               		.comm RemoteTasten,1,1
520 
 558               		.comm Timeout,1,1
521 
 559               		.comm IntegralNick,4,1
522 
 560               		.comm IntegralNick2,4,1
523 
 561               		.comm IntegralRoll,4,1
524 
 562               		.comm IntegralRoll2,4,1
525 
 563               		.comm Mess_IntegralNick,4,1
526 
 564               		.comm Mess_IntegralNick2,4,1
527 
 565               		.comm Mess_IntegralRoll,4,1
528 
 566               		.comm Mess_IntegralRoll2,4,1
529 
 567               		.comm Integral_Gier,4,1
530 
 568               		.comm Mess_Integral_Gier,4,1
531 
 569               		.comm h,1,1
532 
 570               		.comm m,1,1
533 
 571               		.comm s,1,1
534 
 572               		.comm Motor_Vorne,1,1
535 
 573               		.comm Motor_Hinten,1,1
536 
 574               		.comm Motor_Rechts,1,1
537 
 575               		.comm Motor_Links,1,1
538 
 576               		.comm Count,1,1
539 
 577               		.comm MotorWert,5,1
540 
 578               		.comm StickNick,2,1
541 
 579               		.comm StickRoll,2,1
542 
 580               		.comm StickGier,2,1
543 
 581               		.comm MotorenEin,1,1
544 
 582               	/* File "GPS.c": code  596 = 0x0254 ( 559), prologues  18, epilogues  19 */
21 user 545 
DEFINED SYMBOLS
546 
                            *ABS*:00000000 GPS.c
32 hallo2 547 
C:\DOKUME~1\Daniel\LOKALE~1\Temp/ccvOFjrd.s:3      *ABS*:0000003f __SREG__
548 
C:\DOKUME~1\Daniel\LOKALE~1\Temp/ccvOFjrd.s:4      *ABS*:0000003e __SP_H__
549 
C:\DOKUME~1\Daniel\LOKALE~1\Temp/ccvOFjrd.s:5      *ABS*:0000003d __SP_L__
550 
C:\DOKUME~1\Daniel\LOKALE~1\Temp/ccvOFjrd.s:6      *ABS*:00000000 __tmp_reg__
551 
C:\DOKUME~1\Daniel\LOKALE~1\Temp/ccvOFjrd.s:7      *ABS*:00000001 __zero_reg__
552 
C:\DOKUME~1\Daniel\LOKALE~1\Temp/ccvOFjrd.s:13     .text:00000000 gps_main
21 user 553 
                            *COM*:00000001 MotorenEin
32 hallo2 554 
C:\DOKUME~1\Daniel\LOKALE~1\Temp/ccvOFjrd.s:508    .bss:00000024 gps_gethome
555 
C:\DOKUME~1\Daniel\LOKALE~1\Temp/ccvOFjrd.s:514    .bss:00000026 gps_home_n
556 
C:\DOKUME~1\Daniel\LOKALE~1\Temp/ccvOFjrd.s:520    .bss:0000002a gps_home_e
557 
C:\DOKUME~1\Daniel\LOKALE~1\Temp/ccvOFjrd.s:501    .data:00000000 gps_getpos
558 
C:\DOKUME~1\Daniel\LOKALE~1\Temp/ccvOFjrd.s:447    .bss:00000002 gps_northing
559 
C:\DOKUME~1\Daniel\LOKALE~1\Temp/ccvOFjrd.s:453    .bss:00000006 gps_easting
21 user 560 
                            *COM*:00000002 gps_p
32 hallo2 561 
C:\DOKUME~1\Daniel\LOKALE~1\Temp/ccvOFjrd.s:465    .bss:0000000c zwn
562 
C:\DOKUME~1\Daniel\LOKALE~1\Temp/ccvOFjrd.s:471    .bss:00000010 zwe
563 
C:\DOKUME~1\Daniel\LOKALE~1\Temp/ccvOFjrd.s:477    .bss:00000014 zwn1
564 
C:\DOKUME~1\Daniel\LOKALE~1\Temp/ccvOFjrd.s:483    .bss:00000018 zwe1
21 user 565 
                            *COM*:00000002 gps_d
32 hallo2 566 
C:\DOKUME~1\Daniel\LOKALE~1\Temp/ccvOFjrd.s:489    .bss:0000001c zwn2
567 
C:\DOKUME~1\Daniel\LOKALE~1\Temp/ccvOFjrd.s:495    .bss:00000020 zwe2
21 user 568 
                            *COM*:00000002 skal
32 hallo2 569 
C:\DOKUME~1\Daniel\LOKALE~1\Temp/ccvOFjrd.s:539    .bss:00000030 GPS_Nick
570 
C:\DOKUME~1\Daniel\LOKALE~1\Temp/ccvOFjrd.s:545    .bss:00000032 GPS_Roll
571 
C:\DOKUME~1\Daniel\LOKALE~1\Temp/ccvOFjrd.s:532    .data:00000002 gpsmax
572 
C:\DOKUME~1\Daniel\LOKALE~1\Temp/ccvOFjrd.s:459    .bss:0000000a alpha
573 
C:\DOKUME~1\Daniel\LOKALE~1\Temp/ccvOFjrd.s:441    .bss:00000000 loop
574 
C:\DOKUME~1\Daniel\LOKALE~1\Temp/ccvOFjrd.s:526    .bss:0000002e komp_dreh
21 user 575 
                            *COM*:00000002 DiffNick
576 
                            *COM*:00000002 DiffRoll
577 
                            *COM*:00000001 SenderOkay
578 
                            *COM*:00000001 CosinusNickWinkel
579 
                            *COM*:00000001 CosinusRollWinkel
580 
                            *COM*:00000004 durchschnitt_northing
581 
                            *COM*:00000004 durchschnitt_easting
582 
                            *COM*:00000001 RemoteTasten
583 
                            *COM*:00000001 Timeout
584 
                            *COM*:00000004 IntegralNick
585 
                            *COM*:00000004 IntegralNick2
586 
                            *COM*:00000004 IntegralRoll
587 
                            *COM*:00000004 IntegralRoll2
588 
                            *COM*:00000004 Mess_IntegralNick
589 
                            *COM*:00000004 Mess_IntegralNick2
590 
                            *COM*:00000004 Mess_IntegralRoll
591 
                            *COM*:00000004 Mess_IntegralRoll2
592 
                            *COM*:00000004 Integral_Gier
593 
                            *COM*:00000004 Mess_Integral_Gier
594 
                            *COM*:00000001 h
595 
                            *COM*:00000001 m
596 
                            *COM*:00000001 s
597 
                            *COM*:00000001 Motor_Vorne
598 
                            *COM*:00000001 Motor_Hinten
599 
                            *COM*:00000001 Motor_Rechts
600 
                            *COM*:00000001 Motor_Links
601 
                            *COM*:00000001 Count
602 
                            *COM*:00000005 MotorWert
603 
                            *COM*:00000002 StickNick
604 
                            *COM*:00000002 StickRoll
605 
                            *COM*:00000002 StickGier
606 
 
607 
UNDEFINED SYMBOLS
608 
__do_copy_data
609 
__do_clear_bss
610 
actualPos
611 
beeptime
612 
Poti1
613 
__mulsi3
614 
__divmodsi4
615 
__floatsisf
616 
sin
617 
__mulsf3
618 
cos
619 
__addsf3
620 
__fixsfsi
621 
__subsf3