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21 user 1
   1               		.file	"fc.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	Mittelwert
12
  13               	Mittelwert:
13
  14               	/* prologue: frame size=0 */
14
  15 0000 AF92      		push r10
15
  16 0002 BF92      		push r11
16
  17 0004 CF92      		push r12
17
  18 0006 DF92      		push r13
18
  19 0008 EF92      		push r14
19
  20 000a FF92      		push r15
20
  21 000c 0F93      		push r16
21
  22 000e 1F93      		push r17
22
  23               	/* prologue end (size=8) */
23
  24 0010 1092 7A00 		sts 122,__zero_reg__
24
  25 0014 8091 0000 		lds r24,MessanzahlNick
25
  26 0018 8823      		tst r24
26
  27 001a 01F0      		breq .L2
27
  28 001c 8091 0000 		lds r24,AccumulateNick
28
  29 0020 9091 0000 		lds r25,(AccumulateNick)+1
29
  30 0024 6091 0000 		lds r22,MessanzahlNick
30
  31 0028 7727      		clr r23
31
  32 002a 0E94 0000 		call __divmodhi4
32
  33 002e 7093 0000 		sts (MesswertNick)+1,r23
33
  34 0032 6093 0000 		sts MesswertNick,r22
34
  35               	.L2:
35
  36 0036 8091 0000 		lds r24,MessanzahlRoll
36
  37 003a 8823      		tst r24
37
  38 003c 01F0      		breq .L4
38
  39 003e 8091 0000 		lds r24,AccumulateRoll
39
  40 0042 9091 0000 		lds r25,(AccumulateRoll)+1
40
  41 0046 6091 0000 		lds r22,MessanzahlRoll
41
  42 004a 7727      		clr r23
42
  43 004c 0E94 0000 		call __divmodhi4
43
  44 0050 7093 0000 		sts (MesswertRoll)+1,r23
44
  45 0054 6093 0000 		sts MesswertRoll,r22
45
  46               	.L4:
46
  47 0058 8091 0000 		lds r24,MessanzahlGier
47
  48 005c 8823      		tst r24
48
  49 005e 01F0      		breq .L6
49
  50 0060 8091 0000 		lds r24,AccumulateGier
50
  51 0064 9091 0000 		lds r25,(AccumulateGier)+1
51
  52 0068 6091 0000 		lds r22,MessanzahlGier
52
  53 006c 7727      		clr r23
53
  54 006e 0E94 0000 		call __divmodhi4
54
  55 0072 7093 0000 		sts (MesswertGier)+1,r23
55
  56 0076 6093 0000 		sts MesswertGier,r22
56
  57               	.L6:
57
  58 007a 8091 0000 		lds r24,messanzahl_AccNick
58
  59 007e 8823      		tst r24
59
  60 0080 01F0      		breq .L8
60
  61 0082 E090 0000 		lds r14,Mittelwert_AccNick
61
  62 0086 F090 0000 		lds r15,(Mittelwert_AccNick)+1
62
  63 008a 6091 0000 		lds r22,accumulate_AccNick
63
  64 008e 7091 0000 		lds r23,(accumulate_AccNick)+1
64
  65 0092 2091 0000 		lds r18,messanzahl_AccNick
65
  66 0096 0027      		clr r16
66
  67 0098 F7FC      		sbrc r15,7
67
  68 009a 0095      		com r16
68
  69 009c 102F      		mov r17,r16
69
  70 009e 5701      		movw r10,r14
70
  71 00a0 6801      		movw r12,r16
71
  72 00a2 43E0      		ldi r20,3
72
  73 00a4 AA0C      	1:	lsl r10
73
  74 00a6 BB1C      		rol r11
74
  75 00a8 CC1C      		rol r12
75
  76 00aa DD1C      		rol r13
76
  77 00ac 4A95      		dec r20
77
  78 00ae 01F4      		brne 1b
78
  79 00b0 AE18      		sub r10,r14
79
  80 00b2 BF08      		sbc r11,r15
80
  81 00b4 C00A      		sbc r12,r16
81
  82 00b6 D10A      		sbc r13,r17
82
  83 00b8 8827      		clr r24
83
  84 00ba 77FD      		sbrc r23,7
84
  85 00bc 8095      		com r24
85
  86 00be 982F      		mov r25,r24
86
  87 00c0 34E0      		ldi r19,4
87
  88 00c2 660F      	1:	lsl r22
88
  89 00c4 771F      		rol r23
89
  90 00c6 881F      		rol r24
90
  91 00c8 991F      		rol r25
91
  92 00ca 3A95      		dec r19
92
  93 00cc 01F4      		brne 1b
93
  94 00ce 3327      		clr r19
94
  95 00d0 4427      		clr r20
95
  96 00d2 5527      		clr r21
96
  97 00d4 0E94 0000 		call __divmodsi4
97
  98 00d8 A20E      		add r10,r18
98
  99 00da B31E      		adc r11,r19
99
 100 00dc C41E      		adc r12,r20
100
 101 00de D51E      		adc r13,r21
101
 102 00e0 C601      		movw r24,r12
102
 103 00e2 B501      		movw r22,r10
103
 104 00e4 28E0      		ldi r18,lo8(8)
104
 105 00e6 30E0      		ldi r19,hi8(8)
105
 106 00e8 40E0      		ldi r20,hlo8(8)
106
 107 00ea 50E0      		ldi r21,hhi8(8)
107
 108 00ec 0E94 0000 		call __divmodsi4
108
 109 00f0 3093 0000 		sts (Mittelwert_AccNick)+1,r19
109
 110 00f4 2093 0000 		sts Mittelwert_AccNick,r18
110
 111               	.L8:
111
 112 00f8 8091 0000 		lds r24,messanzahl_AccRoll
112
 113 00fc 8823      		tst r24
113
 114 00fe 01F0      		breq .L10
114
 115 0100 E090 0000 		lds r14,Mittelwert_AccRoll
115
 116 0104 F090 0000 		lds r15,(Mittelwert_AccRoll)+1
116
 117 0108 6091 0000 		lds r22,accumulate_AccRoll
117
 118 010c 7091 0000 		lds r23,(accumulate_AccRoll)+1
118
 119 0110 2091 0000 		lds r18,messanzahl_AccRoll
119
 120 0114 0027      		clr r16
120
 121 0116 F7FC      		sbrc r15,7
121
 122 0118 0095      		com r16
122
 123 011a 102F      		mov r17,r16
123
 124 011c 5701      		movw r10,r14
124
 125 011e 6801      		movw r12,r16
125
 126 0120 83E0      		ldi r24,3
126
 127 0122 AA0C      	1:	lsl r10
127
 128 0124 BB1C      		rol r11
128
 129 0126 CC1C      		rol r12
129
 130 0128 DD1C      		rol r13
130
 131 012a 8A95      		dec r24
131
 132 012c 01F4      		brne 1b
132
 133 012e AE18      		sub r10,r14
133
 134 0130 BF08      		sbc r11,r15
134
 135 0132 C00A      		sbc r12,r16
135
 136 0134 D10A      		sbc r13,r17
136
 137 0136 8827      		clr r24
137
 138 0138 77FD      		sbrc r23,7
138
 139 013a 8095      		com r24
139
 140 013c 982F      		mov r25,r24
140
 141 013e B4E0      		ldi r27,4
141
 142 0140 660F      	1:	lsl r22
142
 143 0142 771F      		rol r23
143
 144 0144 881F      		rol r24
144
 145 0146 991F      		rol r25
145
 146 0148 BA95      		dec r27
146
 147 014a 01F4      		brne 1b
147
 148 014c 3327      		clr r19
148
 149 014e 4427      		clr r20
149
 150 0150 5527      		clr r21
150
 151 0152 0E94 0000 		call __divmodsi4
151
 152 0156 A20E      		add r10,r18
152
 153 0158 B31E      		adc r11,r19
153
 154 015a C41E      		adc r12,r20
154
 155 015c D51E      		adc r13,r21
155
 156 015e C601      		movw r24,r12
156
 157 0160 B501      		movw r22,r10
157
 158 0162 28E0      		ldi r18,lo8(8)
158
 159 0164 30E0      		ldi r19,hi8(8)
159
 160 0166 40E0      		ldi r20,hlo8(8)
160
 161 0168 50E0      		ldi r21,hhi8(8)
161
 162 016a 0E94 0000 		call __divmodsi4
162
 163 016e 3093 0000 		sts (Mittelwert_AccRoll)+1,r19
163
 164 0172 2093 0000 		sts Mittelwert_AccRoll,r18
164
 165               	.L10:
165
 166 0176 8091 0000 		lds r24,messanzahl_AccHoch
166
 167 017a 8823      		tst r24
167
 168 017c 01F0      		breq .L12
168
 169 017e E090 0000 		lds r14,Mittelwert_AccHoch
169
 170 0182 F090 0000 		lds r15,(Mittelwert_AccHoch)+1
170
 171 0186 6091 0000 		lds r22,accumulate_AccHoch
171
 172 018a 7091 0000 		lds r23,(accumulate_AccHoch)+1
172
 173 018e 2091 0000 		lds r18,messanzahl_AccHoch
173
 174 0192 0027      		clr r16
174
 175 0194 F7FC      		sbrc r15,7
175
 176 0196 0095      		com r16
176
 177 0198 102F      		mov r17,r16
177
 178 019a 5701      		movw r10,r14
178
 179 019c 6801      		movw r12,r16
179
 180 019e A3E0      		ldi r26,3
180
 181 01a0 AA0C      	1:	lsl r10
181
 182 01a2 BB1C      		rol r11
182
 183 01a4 CC1C      		rol r12
183
 184 01a6 DD1C      		rol r13
184
 185 01a8 AA95      		dec r26
185
 186 01aa 01F4      		brne 1b
186
 187 01ac AE18      		sub r10,r14
187
 188 01ae BF08      		sbc r11,r15
188
 189 01b0 C00A      		sbc r12,r16
189
 190 01b2 D10A      		sbc r13,r17
190
 191 01b4 8827      		clr r24
191
 192 01b6 77FD      		sbrc r23,7
192
 193 01b8 8095      		com r24
193
 194 01ba 982F      		mov r25,r24
194
 195 01bc 3327      		clr r19
195
 196 01be 4427      		clr r20
196
 197 01c0 5527      		clr r21
197
 198 01c2 0E94 0000 		call __divmodsi4
198
 199 01c6 A20E      		add r10,r18
199
 200 01c8 B31E      		adc r11,r19
200
 201 01ca C41E      		adc r12,r20
201
 202 01cc D51E      		adc r13,r21
202
 203 01ce C601      		movw r24,r12
203
 204 01d0 B501      		movw r22,r10
204
 205 01d2 28E0      		ldi r18,lo8(8)
205
 206 01d4 30E0      		ldi r19,hi8(8)
206
 207 01d6 40E0      		ldi r20,hlo8(8)
207
 208 01d8 50E0      		ldi r21,hhi8(8)
208
 209 01da 0E94 0000 		call __divmodsi4
209
 210 01de 3093 0000 		sts (Mittelwert_AccHoch)+1,r19
210
 211 01e2 2093 0000 		sts Mittelwert_AccHoch,r18
211
 212               	.L12:
212
 213 01e6 1092 0000 		sts (AccumulateNick)+1,__zero_reg__
213
 214 01ea 1092 0000 		sts AccumulateNick,__zero_reg__
214
 215 01ee 1092 0000 		sts MessanzahlNick,__zero_reg__
215
 216 01f2 1092 0000 		sts (AccumulateRoll)+1,__zero_reg__
216
 217 01f6 1092 0000 		sts AccumulateRoll,__zero_reg__
217
 218 01fa 1092 0000 		sts MessanzahlRoll,__zero_reg__
218
 219 01fe 1092 0000 		sts (AccumulateGier)+1,__zero_reg__
219
 220 0202 1092 0000 		sts AccumulateGier,__zero_reg__
220
 221 0206 1092 0000 		sts MessanzahlGier,__zero_reg__
221
 222 020a 1092 0000 		sts (accumulate_AccRoll)+1,__zero_reg__
222
 223 020e 1092 0000 		sts accumulate_AccRoll,__zero_reg__
223
 224 0212 1092 0000 		sts messanzahl_AccRoll,__zero_reg__
224
 225 0216 1092 0000 		sts (accumulate_AccNick)+1,__zero_reg__
225
 226 021a 1092 0000 		sts accumulate_AccNick,__zero_reg__
226
 227 021e 1092 0000 		sts messanzahl_AccNick,__zero_reg__
227
 228 0222 1092 0000 		sts (accumulate_AccHoch)+1,__zero_reg__
228
 229 0226 1092 0000 		sts accumulate_AccHoch,__zero_reg__
229
 230 022a 1092 0000 		sts messanzahl_AccHoch,__zero_reg__
230
 231 022e 8091 0000 		lds r24,Mess_Integral_Gier
231
 232 0232 9091 0000 		lds r25,(Mess_Integral_Gier)+1
232
 233 0236 A091 0000 		lds r26,(Mess_Integral_Gier)+2
233
 234 023a B091 0000 		lds r27,(Mess_Integral_Gier)+3
234
 235 023e 8093 0000 		sts Integral_Gier,r24
235
 236 0242 9093 0000 		sts (Integral_Gier)+1,r25
236
 237 0246 A093 0000 		sts (Integral_Gier)+2,r26
237
 238 024a B093 0000 		sts (Integral_Gier)+3,r27
238
 239 024e 8091 0000 		lds r24,Mess_IntegralNick
239
 240 0252 9091 0000 		lds r25,(Mess_IntegralNick)+1
240
 241 0256 A091 0000 		lds r26,(Mess_IntegralNick)+2
241
 242 025a B091 0000 		lds r27,(Mess_IntegralNick)+3
242
 243 025e 8093 0000 		sts IntegralNick,r24
243
 244 0262 9093 0000 		sts (IntegralNick)+1,r25
244
 245 0266 A093 0000 		sts (IntegralNick)+2,r26
245
 246 026a B093 0000 		sts (IntegralNick)+3,r27
246
 247 026e 8091 0000 		lds r24,Mess_IntegralRoll
247
 248 0272 9091 0000 		lds r25,(Mess_IntegralRoll)+1
248
 249 0276 A091 0000 		lds r26,(Mess_IntegralRoll)+2
249
 250 027a B091 0000 		lds r27,(Mess_IntegralRoll)+3
250
 251 027e 8093 0000 		sts IntegralRoll,r24
251
 252 0282 9093 0000 		sts (IntegralRoll)+1,r25
252
 253 0286 A093 0000 		sts (IntegralRoll)+2,r26
253
 254 028a B093 0000 		sts (IntegralRoll)+3,r27
254
 255 028e 8091 0000 		lds r24,Mess_IntegralNick2
255
 256 0292 9091 0000 		lds r25,(Mess_IntegralNick2)+1
256
 257 0296 A091 0000 		lds r26,(Mess_IntegralNick2)+2
257
 258 029a B091 0000 		lds r27,(Mess_IntegralNick2)+3
258
 259 029e 8093 0000 		sts IntegralNick2,r24
259
 260 02a2 9093 0000 		sts (IntegralNick2)+1,r25
260
 261 02a6 A093 0000 		sts (IntegralNick2)+2,r26
261
 262 02aa B093 0000 		sts (IntegralNick2)+3,r27
262
 263 02ae 8091 0000 		lds r24,Mess_IntegralRoll2
263
 264 02b2 9091 0000 		lds r25,(Mess_IntegralRoll2)+1
264
 265 02b6 A091 0000 		lds r26,(Mess_IntegralRoll2)+2
265
 266 02ba B091 0000 		lds r27,(Mess_IntegralRoll2)+3
266
 267 02be 8093 0000 		sts IntegralRoll2,r24
267
 268 02c2 9093 0000 		sts (IntegralRoll2)+1,r25
268
 269 02c6 A093 0000 		sts (IntegralRoll2)+2,r26
269
 270 02ca B093 0000 		sts (IntegralRoll2)+3,r27
270
 271 02ce 8FEE      		ldi r24,lo8(-17)
271
 272 02d0 8093 7A00 		sts 122,r24
272
 273 02d4 8091 0000 		lds r24,MesswertNick
273
 274 02d8 9091 0000 		lds r25,(MesswertNick)+1
274
 275 02dc 893C      		cpi r24,201
275
 276 02de 9105      		cpc r25,__zero_reg__
276
 277 02e0 04F0      		brlt .L14
277
 278 02e2 2091 0000 		lds r18,MesswertNick
278
 279 02e6 3091 0000 		lds r19,(MesswertNick)+1
279
 280 02ea 8091 0000 		lds r24,MesswertNick
280
 281 02ee 9091 0000 		lds r25,(MesswertNick)+1
281
 282 02f2 880F      		lsl r24
282
 283 02f4 991F      		rol r25
283
 284 02f6 880F      		lsl r24
284
 285 02f8 991F      		rol r25
285
 286 02fa 2052      		subi r18,lo8(-(-800))
286
 287 02fc 3340      		sbci r19,hi8(-(-800))
287
 288 02fe 00C0      		rjmp .L59
288
 289               	.L14:
289
 290 0300 8091 0000 		lds r24,MesswertNick
290
 291 0304 9091 0000 		lds r25,(MesswertNick)+1
291
 292 0308 8853      		subi r24,lo8(-200)
292
 293 030a 9F4F      		sbci r25,hi8(-200)
293
 294 030c 04F4      		brge .L16
294
 295 030e 2091 0000 		lds r18,MesswertNick
295
 296 0312 3091 0000 		lds r19,(MesswertNick)+1
296
 297 0316 8091 0000 		lds r24,MesswertNick
297
 298 031a 9091 0000 		lds r25,(MesswertNick)+1
298
 299 031e 880F      		lsl r24
299
 300 0320 991F      		rol r25
300
 301 0322 880F      		lsl r24
301
 302 0324 991F      		rol r25
302
 303 0326 205E      		subi r18,lo8(-(800))
303
 304 0328 3C4F      		sbci r19,hi8(-(800))
304
 305               	.L59:
305
 306 032a 820F      		add r24,r18
306
 307 032c 931F      		adc r25,r19
307
 308 032e 9093 0000 		sts (MesswertNick)+1,r25
308
 309 0332 8093 0000 		sts MesswertNick,r24
309
 310               	.L16:
310
 311 0336 8091 0000 		lds r24,MesswertRoll
311
 312 033a 9091 0000 		lds r25,(MesswertRoll)+1
312
 313 033e 893C      		cpi r24,201
313
 314 0340 9105      		cpc r25,__zero_reg__
314
 315 0342 04F0      		brlt .L18
315
 316 0344 2091 0000 		lds r18,MesswertRoll
316
 317 0348 3091 0000 		lds r19,(MesswertRoll)+1
317
 318 034c 8091 0000 		lds r24,MesswertRoll
318
 319 0350 9091 0000 		lds r25,(MesswertRoll)+1
319
 320 0354 880F      		lsl r24
320
 321 0356 991F      		rol r25
321
 322 0358 880F      		lsl r24
322
 323 035a 991F      		rol r25
323
 324 035c 2052      		subi r18,lo8(-(-800))
324
 325 035e 3340      		sbci r19,hi8(-(-800))
325
 326 0360 00C0      		rjmp .L60
326
 327               	.L18:
327
 328 0362 8091 0000 		lds r24,MesswertRoll
328
 329 0366 9091 0000 		lds r25,(MesswertRoll)+1
329
 330 036a 8853      		subi r24,lo8(-200)
330
 331 036c 9F4F      		sbci r25,hi8(-200)
331
 332 036e 04F4      		brge .L20
332
 333 0370 2091 0000 		lds r18,MesswertRoll
333
 334 0374 3091 0000 		lds r19,(MesswertRoll)+1
334
 335 0378 8091 0000 		lds r24,MesswertRoll
335
 336 037c 9091 0000 		lds r25,(MesswertRoll)+1
336
 337 0380 880F      		lsl r24
337
 338 0382 991F      		rol r25
338
 339 0384 880F      		lsl r24
339
 340 0386 991F      		rol r25
340
 341 0388 205E      		subi r18,lo8(-(800))
341
 342 038a 3C4F      		sbci r19,hi8(-(800))
342
 343               	.L60:
343
 344 038c 820F      		add r24,r18
344
 345 038e 931F      		adc r25,r19
345
 346 0390 9093 0000 		sts (MesswertRoll)+1,r25
346
 347 0394 8093 0000 		sts MesswertRoll,r24
347
 348               	.L20:
348
 349 0398 2091 0000 		lds r18,Poti1
349
 350 039c 3091 0000 		lds r19,(Poti1)+1
350
 351 03a0 8091 0000 		lds r24,EE_Parameter+4
351
 352 03a4 E82F      		mov r30,r24
352
 353 03a6 FF27      		clr r31
353
 354 03a8 EE0F      		lsl r30
354
 355 03aa FF1F      		rol r31
355
 356 03ac E050      		subi r30,lo8(-(PPM_in))
356
 357 03ae F040      		sbci r31,hi8(-(PPM_in))
357
 358 03b0 8081      		ld r24,Z
358
 359 03b2 9181      		ldd r25,Z+1
359
 360 03b4 8259      		subi r24,lo8(-(110))
360
 361 03b6 9F4F      		sbci r25,hi8(-(110))
361
 362 03b8 2817      		cp r18,r24
362
 363 03ba 3907      		cpc r19,r25
363
 364 03bc 04F4      		brge .L22
364
 365 03be 2F5F      		subi r18,lo8(-(1))
365
 366 03c0 3F4F      		sbci r19,hi8(-(1))
366
 367 03c2 00C0      		rjmp .L61
367
 368               	.L22:
368
 369 03c4 8081      		ld r24,Z
369
 370 03c6 9181      		ldd r25,Z+1
370
 371 03c8 8259      		subi r24,lo8(-(110))
371
 372 03ca 9F4F      		sbci r25,hi8(-(110))
372
 373 03cc 8217      		cp r24,r18
373
 374 03ce 9307      		cpc r25,r19
374
 375 03d0 04F4      		brge .L24
375
 376 03d2 2115      		cp r18,__zero_reg__
376
 377 03d4 3105      		cpc r19,__zero_reg__
377
 378 03d6 01F0      		breq .L24
378
 379 03d8 2150      		subi r18,lo8(-(-1))
379
 380 03da 3040      		sbci r19,hi8(-(-1))
380
 381               	.L61:
381
 382 03dc 3093 0000 		sts (Poti1)+1,r19
382
 383 03e0 2093 0000 		sts Poti1,r18
383
 384               	.L24:
384
 385 03e4 2091 0000 		lds r18,Poti2
385
 386 03e8 3091 0000 		lds r19,(Poti2)+1
386
 387 03ec 8091 0000 		lds r24,EE_Parameter+5
387
 388 03f0 E82F      		mov r30,r24
388
 389 03f2 FF27      		clr r31
389
 390 03f4 EE0F      		lsl r30
390
 391 03f6 FF1F      		rol r31
391
 392 03f8 E050      		subi r30,lo8(-(PPM_in))
392
 393 03fa F040      		sbci r31,hi8(-(PPM_in))
393
 394 03fc 8081      		ld r24,Z
394
 395 03fe 9181      		ldd r25,Z+1
395
 396 0400 8259      		subi r24,lo8(-(110))
396
 397 0402 9F4F      		sbci r25,hi8(-(110))
397
 398 0404 2817      		cp r18,r24
398
 399 0406 3907      		cpc r19,r25
399
 400 0408 04F4      		brge .L27
400
 401 040a 2F5F      		subi r18,lo8(-(1))
401
 402 040c 3F4F      		sbci r19,hi8(-(1))
402
 403 040e 00C0      		rjmp .L62
403
 404               	.L27:
404
 405 0410 8081      		ld r24,Z
405
 406 0412 9181      		ldd r25,Z+1
406
 407 0414 8259      		subi r24,lo8(-(110))
407
 408 0416 9F4F      		sbci r25,hi8(-(110))
408
 409 0418 8217      		cp r24,r18
409
 410 041a 9307      		cpc r25,r19
410
 411 041c 04F4      		brge .L29
411
 412 041e 2115      		cp r18,__zero_reg__
412
 413 0420 3105      		cpc r19,__zero_reg__
413
 414 0422 01F0      		breq .L29
414
 415 0424 2150      		subi r18,lo8(-(-1))
415
 416 0426 3040      		sbci r19,hi8(-(-1))
416
 417               	.L62:
417
 418 0428 3093 0000 		sts (Poti2)+1,r19
418
 419 042c 2093 0000 		sts Poti2,r18
419
 420               	.L29:
420
 421 0430 2091 0000 		lds r18,Poti3
421
 422 0434 3091 0000 		lds r19,(Poti3)+1
422
 423 0438 8091 0000 		lds r24,EE_Parameter+6
423
 424 043c E82F      		mov r30,r24
424
 425 043e FF27      		clr r31
425
 426 0440 EE0F      		lsl r30
426
 427 0442 FF1F      		rol r31
427
 428 0444 E050      		subi r30,lo8(-(PPM_in))
428
 429 0446 F040      		sbci r31,hi8(-(PPM_in))
429
 430 0448 8081      		ld r24,Z
430
 431 044a 9181      		ldd r25,Z+1
431
 432 044c 8259      		subi r24,lo8(-(110))
432
 433 044e 9F4F      		sbci r25,hi8(-(110))
433
 434 0450 2817      		cp r18,r24
434
 435 0452 3907      		cpc r19,r25
435
 436 0454 04F4      		brge .L32
436
 437 0456 2F5F      		subi r18,lo8(-(1))
437
 438 0458 3F4F      		sbci r19,hi8(-(1))
438
 439 045a 00C0      		rjmp .L63
439
 440               	.L32:
440
 441 045c 8081      		ld r24,Z
441
 442 045e 9181      		ldd r25,Z+1
442
 443 0460 8259      		subi r24,lo8(-(110))
443
 444 0462 9F4F      		sbci r25,hi8(-(110))
444
 445 0464 8217      		cp r24,r18
445
 446 0466 9307      		cpc r25,r19
446
 447 0468 04F4      		brge .L34
447
 448 046a 2115      		cp r18,__zero_reg__
448
 449 046c 3105      		cpc r19,__zero_reg__
449
 450 046e 01F0      		breq .L34
450
 451 0470 2150      		subi r18,lo8(-(-1))
451
 452 0472 3040      		sbci r19,hi8(-(-1))
452
 453               	.L63:
453
 454 0474 3093 0000 		sts (Poti3)+1,r19
454
 455 0478 2093 0000 		sts Poti3,r18
455
 456               	.L34:
456
 457 047c 2091 0000 		lds r18,Poti4
457
 458 0480 3091 0000 		lds r19,(Poti4)+1
458
 459 0484 8091 0000 		lds r24,EE_Parameter+7
459
 460 0488 E82F      		mov r30,r24
460
 461 048a FF27      		clr r31
461
 462 048c EE0F      		lsl r30
462
 463 048e FF1F      		rol r31
463
 464 0490 E050      		subi r30,lo8(-(PPM_in))
464
 465 0492 F040      		sbci r31,hi8(-(PPM_in))
465
 466 0494 8081      		ld r24,Z
466
 467 0496 9181      		ldd r25,Z+1
467
 468 0498 8259      		subi r24,lo8(-(110))
468
 469 049a 9F4F      		sbci r25,hi8(-(110))
469
 470 049c 2817      		cp r18,r24
470
 471 049e 3907      		cpc r19,r25
471
 472 04a0 04F4      		brge .L37
472
 473 04a2 2F5F      		subi r18,lo8(-(1))
473
 474 04a4 3F4F      		sbci r19,hi8(-(1))
474
 475 04a6 00C0      		rjmp .L64
475
 476               	.L37:
476
 477 04a8 8081      		ld r24,Z
477
 478 04aa 9181      		ldd r25,Z+1
478
 479 04ac 8259      		subi r24,lo8(-(110))
479
 480 04ae 9F4F      		sbci r25,hi8(-(110))
480
 481 04b0 8217      		cp r24,r18
481
 482 04b2 9307      		cpc r25,r19
482
 483 04b4 04F4      		brge .L39
483
 484 04b6 2115      		cp r18,__zero_reg__
484
 485 04b8 3105      		cpc r19,__zero_reg__
485
 486 04ba 01F0      		breq .L39
486
 487 04bc 2150      		subi r18,lo8(-(-1))
487
 488 04be 3040      		sbci r19,hi8(-(-1))
488
 489               	.L64:
489
 490 04c0 3093 0000 		sts (Poti4)+1,r19
490
 491 04c4 2093 0000 		sts Poti4,r18
491
 492               	.L39:
492
 493 04c8 8091 0000 		lds r24,Poti1
493
 494 04cc 9091 0000 		lds r25,(Poti1)+1
494
 495 04d0 97FF      		sbrs r25,7
495
 496 04d2 00C0      		rjmp .L42
496
 497 04d4 1092 0000 		sts (Poti1)+1,__zero_reg__
497
 498 04d8 1092 0000 		sts Poti1,__zero_reg__
498
 499 04dc 00C0      		rjmp .L44
499
 500               	.L42:
500
 501 04de 8F3F      		cpi r24,255
501
 502 04e0 9105      		cpc r25,__zero_reg__
502
 503 04e2 01F0      		breq .L44
503
 504 04e4 04F0      		brlt .L44
504
 505 04e6 8FEF      		ldi r24,lo8(255)
505
 506 04e8 90E0      		ldi r25,hi8(255)
506
 507 04ea 9093 0000 		sts (Poti1)+1,r25
507
 508 04ee 8093 0000 		sts Poti1,r24
508
 509               	.L44:
509
 510 04f2 8091 0000 		lds r24,Poti2
510
 511 04f6 9091 0000 		lds r25,(Poti2)+1
511
 512 04fa 97FF      		sbrs r25,7
512
 513 04fc 00C0      		rjmp .L46
513
 514 04fe 1092 0000 		sts (Poti2)+1,__zero_reg__
514
 515 0502 1092 0000 		sts Poti2,__zero_reg__
515
 516 0506 00C0      		rjmp .L48
516
 517               	.L46:
517
 518 0508 8F3F      		cpi r24,255
518
 519 050a 9105      		cpc r25,__zero_reg__
519
 520 050c 01F0      		breq .L48
520
 521 050e 04F0      		brlt .L48
521
 522 0510 8FEF      		ldi r24,lo8(255)
522
 523 0512 90E0      		ldi r25,hi8(255)
523
 524 0514 9093 0000 		sts (Poti2)+1,r25
524
 525 0518 8093 0000 		sts Poti2,r24
525
 526               	.L48:
526
 527 051c 8091 0000 		lds r24,Poti3
527
 528 0520 9091 0000 		lds r25,(Poti3)+1
528
 529 0524 97FF      		sbrs r25,7
529
 530 0526 00C0      		rjmp .L50
530
 531 0528 1092 0000 		sts (Poti3)+1,__zero_reg__
531
 532 052c 1092 0000 		sts Poti3,__zero_reg__
532
 533 0530 00C0      		rjmp .L52
533
 534               	.L50:
534
 535 0532 8F3F      		cpi r24,255
535
 536 0534 9105      		cpc r25,__zero_reg__
536
 537 0536 01F0      		breq .L52
537
 538 0538 04F0      		brlt .L52
538
 539 053a 8FEF      		ldi r24,lo8(255)
539
 540 053c 90E0      		ldi r25,hi8(255)
540
 541 053e 9093 0000 		sts (Poti3)+1,r25
541
 542 0542 8093 0000 		sts Poti3,r24
542
 543               	.L52:
543
 544 0546 8091 0000 		lds r24,Poti4
544
 545 054a 9091 0000 		lds r25,(Poti4)+1
545
 546 054e 97FF      		sbrs r25,7
546
 547 0550 00C0      		rjmp .L54
547
 548 0552 1092 0000 		sts (Poti4)+1,__zero_reg__
548
 549 0556 1092 0000 		sts Poti4,__zero_reg__
549
 550 055a 00C0      		rjmp .L58
550
 551               	.L54:
551
 552 055c 8F3F      		cpi r24,255
552
 553 055e 9105      		cpc r25,__zero_reg__
553
 554 0560 01F0      		breq .L58
554
 555 0562 04F0      		brlt .L58
555
 556 0564 8FEF      		ldi r24,lo8(255)
556
 557 0566 90E0      		ldi r25,hi8(255)
557
 558 0568 9093 0000 		sts (Poti4)+1,r25
558
 559 056c 8093 0000 		sts Poti4,r24
559
 560               	.L58:
560
 561               	/* epilogue: frame size=0 */
561
 562 0570 1F91      		pop r17
562
 563 0572 0F91      		pop r16
563
 564 0574 FF90      		pop r15
564
 565 0576 EF90      		pop r14
565
 566 0578 DF90      		pop r13
566
 567 057a CF90      		pop r12
567
 568 057c BF90      		pop r11
568
 569 057e AF90      		pop r10
569
 570 0580 0895      		ret
570
 571               	/* epilogue end (size=9) */
571
 572               	/* function Mittelwert size 707 (690) */
572
 574               	.global	CalibrierMittelwert
573
 576               	CalibrierMittelwert:
574
 577               	/* prologue: frame size=0 */
575
 578               	/* prologue end (size=0) */
576
 579 0582 1092 7A00 		sts 122,__zero_reg__
577
 580 0586 8091 0000 		lds r24,MessanzahlNick
578
 581 058a 8823      		tst r24
579
 582 058c 01F0      		breq .L66
580
 583 058e 8091 0000 		lds r24,AccumulateNick
581
 584 0592 9091 0000 		lds r25,(AccumulateNick)+1
582
 585 0596 6091 0000 		lds r22,MessanzahlNick
583
 586 059a 7727      		clr r23
584
 587 059c 0E94 0000 		call __divmodhi4
585
 588 05a0 7093 0000 		sts (MesswertNick)+1,r23
586
 589 05a4 6093 0000 		sts MesswertNick,r22
587
 590               	.L66:
588
 591 05a8 8091 0000 		lds r24,MessanzahlRoll
589
 592 05ac 8823      		tst r24
590
 593 05ae 01F0      		breq .L68
591
 594 05b0 8091 0000 		lds r24,AccumulateRoll
592
 595 05b4 9091 0000 		lds r25,(AccumulateRoll)+1
593
 596 05b8 6091 0000 		lds r22,MessanzahlRoll
594
 597 05bc 7727      		clr r23
595
 598 05be 0E94 0000 		call __divmodhi4
596
 599 05c2 7093 0000 		sts (MesswertRoll)+1,r23
597
 600 05c6 6093 0000 		sts MesswertRoll,r22
598
 601               	.L68:
599
 602 05ca 8091 0000 		lds r24,MessanzahlGier
600
 603 05ce 8823      		tst r24
601
 604 05d0 01F0      		breq .L70
602
 605 05d2 8091 0000 		lds r24,AccumulateGier
603
 606 05d6 9091 0000 		lds r25,(AccumulateGier)+1
604
 607 05da 6091 0000 		lds r22,MessanzahlGier
605
 608 05de 7727      		clr r23
606
 609 05e0 0E94 0000 		call __divmodhi4
607
 610 05e4 7093 0000 		sts (MesswertGier)+1,r23
608
 611 05e8 6093 0000 		sts MesswertGier,r22
609
 612               	.L70:
610
 613 05ec 8091 0000 		lds r24,messanzahl_AccNick
611
 614 05f0 8823      		tst r24
612
 615 05f2 01F0      		breq .L72
613
 616 05f4 6091 0000 		lds r22,accumulate_AccNick
614
 617 05f8 7091 0000 		lds r23,(accumulate_AccNick)+1
615
 618 05fc 2091 0000 		lds r18,messanzahl_AccNick
616
 619 0600 8827      		clr r24
617
 620 0602 77FD      		sbrc r23,7
618
 621 0604 8095      		com r24
619
 622 0606 982F      		mov r25,r24
620
 623 0608 34E0      		ldi r19,4
621
 624 060a 660F      	1:	lsl r22
622
 625 060c 771F      		rol r23
623
 626 060e 881F      		rol r24
624
 627 0610 991F      		rol r25
625
 628 0612 3A95      		dec r19
626
 629 0614 01F4      		brne 1b
627
 630 0616 3327      		clr r19
628
 631 0618 4427      		clr r20
629
 632 061a 5527      		clr r21
630
 633 061c 0E94 0000 		call __divmodsi4
631
 634 0620 3093 0000 		sts (Mittelwert_AccNick)+1,r19
632
 635 0624 2093 0000 		sts Mittelwert_AccNick,r18
633
 636               	.L72:
634
 637 0628 8091 0000 		lds r24,messanzahl_AccRoll
635
 638 062c 8823      		tst r24
636
 639 062e 01F0      		breq .L74
637
 640 0630 6091 0000 		lds r22,accumulate_AccRoll
638
 641 0634 7091 0000 		lds r23,(accumulate_AccRoll)+1
639
 642 0638 2091 0000 		lds r18,messanzahl_AccRoll
640
 643 063c 8827      		clr r24
641
 644 063e 77FD      		sbrc r23,7
642
 645 0640 8095      		com r24
643
 646 0642 982F      		mov r25,r24
644
 647 0644 B4E0      		ldi r27,4
645
 648 0646 660F      	1:	lsl r22
646
 649 0648 771F      		rol r23
647
 650 064a 881F      		rol r24
648
 651 064c 991F      		rol r25
649
 652 064e BA95      		dec r27
650
 653 0650 01F4      		brne 1b
651
 654 0652 3327      		clr r19
652
 655 0654 4427      		clr r20
653
 656 0656 5527      		clr r21
654
 657 0658 0E94 0000 		call __divmodsi4
655
 658 065c 3093 0000 		sts (Mittelwert_AccRoll)+1,r19
656
 659 0660 2093 0000 		sts Mittelwert_AccRoll,r18
657
 660               	.L74:
658
 661 0664 8091 0000 		lds r24,messanzahl_AccHoch
659
 662 0668 8823      		tst r24
660
 663 066a 01F0      		breq .L76
661
 664 066c 6091 0000 		lds r22,accumulate_AccHoch
662
 665 0670 7091 0000 		lds r23,(accumulate_AccHoch)+1
663
 666 0674 2091 0000 		lds r18,messanzahl_AccHoch
664
 667 0678 8827      		clr r24
665
 668 067a 77FD      		sbrc r23,7
666
 669 067c 8095      		com r24
667
 670 067e 982F      		mov r25,r24
668
 671 0680 3327      		clr r19
669
 672 0682 4427      		clr r20
670
 673 0684 5527      		clr r21
671
 674 0686 0E94 0000 		call __divmodsi4
672
 675 068a 3093 0000 		sts (Mittelwert_AccHoch)+1,r19
673
 676 068e 2093 0000 		sts Mittelwert_AccHoch,r18
674
 677               	.L76:
675
 678 0692 1092 0000 		sts (AccumulateNick)+1,__zero_reg__
676
 679 0696 1092 0000 		sts AccumulateNick,__zero_reg__
677
 680 069a 1092 0000 		sts MessanzahlNick,__zero_reg__
678
 681 069e 1092 0000 		sts (AccumulateRoll)+1,__zero_reg__
679
 682 06a2 1092 0000 		sts AccumulateRoll,__zero_reg__
680
 683 06a6 1092 0000 		sts MessanzahlRoll,__zero_reg__
681
 684 06aa 1092 0000 		sts (AccumulateGier)+1,__zero_reg__
682
 685 06ae 1092 0000 		sts AccumulateGier,__zero_reg__
683
 686 06b2 1092 0000 		sts MessanzahlGier,__zero_reg__
684
 687 06b6 1092 0000 		sts (accumulate_AccRoll)+1,__zero_reg__
685
 688 06ba 1092 0000 		sts accumulate_AccRoll,__zero_reg__
686
 689 06be 1092 0000 		sts messanzahl_AccRoll,__zero_reg__
687
 690 06c2 1092 0000 		sts (accumulate_AccNick)+1,__zero_reg__
688
 691 06c6 1092 0000 		sts accumulate_AccNick,__zero_reg__
689
 692 06ca 1092 0000 		sts messanzahl_AccNick,__zero_reg__
690
 693 06ce 1092 0000 		sts (accumulate_AccHoch)+1,__zero_reg__
691
 694 06d2 1092 0000 		sts accumulate_AccHoch,__zero_reg__
692
 695 06d6 1092 0000 		sts messanzahl_AccHoch,__zero_reg__
693
 696 06da 8FEE      		ldi r24,lo8(-17)
694
 697 06dc 8093 7A00 		sts 122,r24
695
 698 06e0 2091 0000 		lds r18,Poti1
696
 699 06e4 3091 0000 		lds r19,(Poti1)+1
697
 700 06e8 8091 0000 		lds r24,EE_Parameter+4
698
 701 06ec E82F      		mov r30,r24
699
 702 06ee FF27      		clr r31
700
 703 06f0 EE0F      		lsl r30
701
 704 06f2 FF1F      		rol r31
702
 705 06f4 E050      		subi r30,lo8(-(PPM_in))
703
 706 06f6 F040      		sbci r31,hi8(-(PPM_in))
704
 707 06f8 8081      		ld r24,Z
705
 708 06fa 9181      		ldd r25,Z+1
706
 709 06fc 8259      		subi r24,lo8(-(110))
707
 710 06fe 9F4F      		sbci r25,hi8(-(110))
708
 711 0700 2817      		cp r18,r24
709
 712 0702 3907      		cpc r19,r25
710
 713 0704 04F4      		brge .L78
711
 714 0706 2F5F      		subi r18,lo8(-(1))
712
 715 0708 3F4F      		sbci r19,hi8(-(1))
713
 716 070a 00C0      		rjmp .L115
714
 717               	.L78:
715
 718 070c 8081      		ld r24,Z
716
 719 070e 9181      		ldd r25,Z+1
717
 720 0710 8259      		subi r24,lo8(-(110))
718
 721 0712 9F4F      		sbci r25,hi8(-(110))
719
 722 0714 8217      		cp r24,r18
720
 723 0716 9307      		cpc r25,r19
721
 724 0718 04F4      		brge .L80
722
 725 071a 2115      		cp r18,__zero_reg__
723
 726 071c 3105      		cpc r19,__zero_reg__
724
 727 071e 01F0      		breq .L80
725
 728 0720 2150      		subi r18,lo8(-(-1))
726
 729 0722 3040      		sbci r19,hi8(-(-1))
727
 730               	.L115:
728
 731 0724 3093 0000 		sts (Poti1)+1,r19
729
 732 0728 2093 0000 		sts Poti1,r18
730
 733               	.L80:
731
 734 072c 2091 0000 		lds r18,Poti2
732
 735 0730 3091 0000 		lds r19,(Poti2)+1
733
 736 0734 8091 0000 		lds r24,EE_Parameter+5
734
 737 0738 E82F      		mov r30,r24
735
 738 073a FF27      		clr r31
736
 739 073c EE0F      		lsl r30
737
 740 073e FF1F      		rol r31
738
 741 0740 E050      		subi r30,lo8(-(PPM_in))
739
 742 0742 F040      		sbci r31,hi8(-(PPM_in))
740
 743 0744 8081      		ld r24,Z
741
 744 0746 9181      		ldd r25,Z+1
742
 745 0748 8259      		subi r24,lo8(-(110))
743
 746 074a 9F4F      		sbci r25,hi8(-(110))
744
 747 074c 2817      		cp r18,r24
745
 748 074e 3907      		cpc r19,r25
746
 749 0750 04F4      		brge .L83
747
 750 0752 2F5F      		subi r18,lo8(-(1))
748
 751 0754 3F4F      		sbci r19,hi8(-(1))
749
 752 0756 00C0      		rjmp .L116
750
 753               	.L83:
751
 754 0758 8081      		ld r24,Z
752
 755 075a 9181      		ldd r25,Z+1
753
 756 075c 8259      		subi r24,lo8(-(110))
754
 757 075e 9F4F      		sbci r25,hi8(-(110))
755
 758 0760 8217      		cp r24,r18
756
 759 0762 9307      		cpc r25,r19
757
 760 0764 04F4      		brge .L85
758
 761 0766 2115      		cp r18,__zero_reg__
759
 762 0768 3105      		cpc r19,__zero_reg__
760
 763 076a 01F0      		breq .L85
761
 764 076c 2150      		subi r18,lo8(-(-1))
762
 765 076e 3040      		sbci r19,hi8(-(-1))
763
 766               	.L116:
764
 767 0770 3093 0000 		sts (Poti2)+1,r19
765
 768 0774 2093 0000 		sts Poti2,r18
766
 769               	.L85:
767
 770 0778 2091 0000 		lds r18,Poti3
768
 771 077c 3091 0000 		lds r19,(Poti3)+1
769
 772 0780 8091 0000 		lds r24,EE_Parameter+6
770
 773 0784 E82F      		mov r30,r24
771
 774 0786 FF27      		clr r31
772
 775 0788 EE0F      		lsl r30
773
 776 078a FF1F      		rol r31
774
 777 078c E050      		subi r30,lo8(-(PPM_in))
775
 778 078e F040      		sbci r31,hi8(-(PPM_in))
776
 779 0790 8081      		ld r24,Z
777
 780 0792 9181      		ldd r25,Z+1
778
 781 0794 8259      		subi r24,lo8(-(110))
779
 782 0796 9F4F      		sbci r25,hi8(-(110))
780
 783 0798 2817      		cp r18,r24
781
 784 079a 3907      		cpc r19,r25
782
 785 079c 04F4      		brge .L88
783
 786 079e 2F5F      		subi r18,lo8(-(1))
784
 787 07a0 3F4F      		sbci r19,hi8(-(1))
785
 788 07a2 00C0      		rjmp .L117
786
 789               	.L88:
787
 790 07a4 8081      		ld r24,Z
788
 791 07a6 9181      		ldd r25,Z+1
789
 792 07a8 8259      		subi r24,lo8(-(110))
790
 793 07aa 9F4F      		sbci r25,hi8(-(110))
791
 794 07ac 8217      		cp r24,r18
792
 795 07ae 9307      		cpc r25,r19
793
 796 07b0 04F4      		brge .L90
794
 797 07b2 2115      		cp r18,__zero_reg__
795
 798 07b4 3105      		cpc r19,__zero_reg__
796
 799 07b6 01F0      		breq .L90
797
 800 07b8 2150      		subi r18,lo8(-(-1))
798
 801 07ba 3040      		sbci r19,hi8(-(-1))
799
 802               	.L117:
800
 803 07bc 3093 0000 		sts (Poti3)+1,r19
801
 804 07c0 2093 0000 		sts Poti3,r18
802
 805               	.L90:
803
 806 07c4 2091 0000 		lds r18,Poti4
804
 807 07c8 3091 0000 		lds r19,(Poti4)+1
805
 808 07cc 8091 0000 		lds r24,EE_Parameter+7
806
 809 07d0 E82F      		mov r30,r24
807
 810 07d2 FF27      		clr r31
808
 811 07d4 EE0F      		lsl r30
809
 812 07d6 FF1F      		rol r31
810
 813 07d8 E050      		subi r30,lo8(-(PPM_in))
811
 814 07da F040      		sbci r31,hi8(-(PPM_in))
812
 815 07dc 8081      		ld r24,Z
813
 816 07de 9181      		ldd r25,Z+1
814
 817 07e0 8259      		subi r24,lo8(-(110))
815
 818 07e2 9F4F      		sbci r25,hi8(-(110))
816
 819 07e4 2817      		cp r18,r24
817
 820 07e6 3907      		cpc r19,r25
818
 821 07e8 04F4      		brge .L93
819
 822 07ea 2F5F      		subi r18,lo8(-(1))
820
 823 07ec 3F4F      		sbci r19,hi8(-(1))
821
 824 07ee 00C0      		rjmp .L118
822
 825               	.L93:
823
 826 07f0 8081      		ld r24,Z
824
 827 07f2 9181      		ldd r25,Z+1
825
 828 07f4 8259      		subi r24,lo8(-(110))
826
 829 07f6 9F4F      		sbci r25,hi8(-(110))
827
 830 07f8 8217      		cp r24,r18
828
 831 07fa 9307      		cpc r25,r19
829
 832 07fc 04F4      		brge .L95
830
 833 07fe 2115      		cp r18,__zero_reg__
831
 834 0800 3105      		cpc r19,__zero_reg__
832
 835 0802 01F0      		breq .L95
833
 836 0804 2150      		subi r18,lo8(-(-1))
834
 837 0806 3040      		sbci r19,hi8(-(-1))
835
 838               	.L118:
836
 839 0808 3093 0000 		sts (Poti4)+1,r19
837
 840 080c 2093 0000 		sts Poti4,r18
838
 841               	.L95:
839
 842 0810 8091 0000 		lds r24,Poti1
840
 843 0814 9091 0000 		lds r25,(Poti1)+1
841
 844 0818 97FF      		sbrs r25,7
842
 845 081a 00C0      		rjmp .L98
843
 846 081c 1092 0000 		sts (Poti1)+1,__zero_reg__
844
 847 0820 1092 0000 		sts Poti1,__zero_reg__
845
 848 0824 00C0      		rjmp .L100
846
 849               	.L98:
847
 850 0826 8F3F      		cpi r24,255
848
 851 0828 9105      		cpc r25,__zero_reg__
849
 852 082a 01F0      		breq .L100
850
 853 082c 04F0      		brlt .L100
851
 854 082e 8FEF      		ldi r24,lo8(255)
852
 855 0830 90E0      		ldi r25,hi8(255)
853
 856 0832 9093 0000 		sts (Poti1)+1,r25
854
 857 0836 8093 0000 		sts Poti1,r24
855
 858               	.L100:
856
 859 083a 8091 0000 		lds r24,Poti2
857
 860 083e 9091 0000 		lds r25,(Poti2)+1
858
 861 0842 97FF      		sbrs r25,7
859
 862 0844 00C0      		rjmp .L102
860
 863 0846 1092 0000 		sts (Poti2)+1,__zero_reg__
861
 864 084a 1092 0000 		sts Poti2,__zero_reg__
862
 865 084e 00C0      		rjmp .L104
863
 866               	.L102:
864
 867 0850 8F3F      		cpi r24,255
865
 868 0852 9105      		cpc r25,__zero_reg__
866
 869 0854 01F0      		breq .L104
867
 870 0856 04F0      		brlt .L104
868
 871 0858 8FEF      		ldi r24,lo8(255)
869
 872 085a 90E0      		ldi r25,hi8(255)
870
 873 085c 9093 0000 		sts (Poti2)+1,r25
871
 874 0860 8093 0000 		sts Poti2,r24
872
 875               	.L104:
873
 876 0864 8091 0000 		lds r24,Poti3
874
 877 0868 9091 0000 		lds r25,(Poti3)+1
875
 878 086c 97FF      		sbrs r25,7
876
 879 086e 00C0      		rjmp .L106
877
 880 0870 1092 0000 		sts (Poti3)+1,__zero_reg__
878
 881 0874 1092 0000 		sts Poti3,__zero_reg__
879
 882 0878 00C0      		rjmp .L108
880
 883               	.L106:
881
 884 087a 8F3F      		cpi r24,255
882
 885 087c 9105      		cpc r25,__zero_reg__
883
 886 087e 01F0      		breq .L108
884
 887 0880 04F0      		brlt .L108
885
 888 0882 8FEF      		ldi r24,lo8(255)
886
 889 0884 90E0      		ldi r25,hi8(255)
887
 890 0886 9093 0000 		sts (Poti3)+1,r25
888
 891 088a 8093 0000 		sts Poti3,r24
889
 892               	.L108:
890
 893 088e 8091 0000 		lds r24,Poti4
891
 894 0892 9091 0000 		lds r25,(Poti4)+1
892
 895 0896 97FF      		sbrs r25,7
893
 896 0898 00C0      		rjmp .L110
894
 897 089a 1092 0000 		sts (Poti4)+1,__zero_reg__
895
 898 089e 1092 0000 		sts Poti4,__zero_reg__
896
 899 08a2 0895      		ret
897
 900               	.L110:
898
 901 08a4 8F3F      		cpi r24,255
899
 902 08a6 9105      		cpc r25,__zero_reg__
900
 903 08a8 01F0      		breq .L114
901
 904 08aa 04F0      		brlt .L114
902
 905 08ac 8FEF      		ldi r24,lo8(255)
903
 906 08ae 90E0      		ldi r25,hi8(255)
904
 907 08b0 9093 0000 		sts (Poti4)+1,r25
905
 908 08b4 8093 0000 		sts Poti4,r24
906
 909               	.L114:
907
 910 08b8 0895      		ret
908
 911               	/* epilogue: frame size=0 */
909
 912               	/* epilogue: noreturn */
910
 913               	/* epilogue end (size=0) */
911
 914               	/* function CalibrierMittelwert size 412 (412) */
912
 916               	.global	ParameterZuordnung
913
 918               	ParameterZuordnung:
914
 919               	/* prologue: frame size=0 */
915
 920 08ba 1F93      		push r17
916
 921               	/* prologue end (size=1) */
917
 922 08bc 8091 0000 		lds r24,EE_Parameter+11
918
 923 08c0 8B3F      		cpi r24,lo8(-5)
919
 924 08c2 00F0      		brlo .L120
920
 925 08c4 8B3F      		cpi r24,lo8(-5)
921
 926 08c6 01F4      		brne .L122
922
 927 08c8 8091 0000 		lds r24,Poti1
923
 928 08cc 00C0      		rjmp .L120
924
 929               	.L122:
925
 930 08ce 8C3F      		cpi r24,lo8(-4)
926
 931 08d0 01F4      		brne .L125
927
 932 08d2 8091 0000 		lds r24,Poti2
928
 933 08d6 00C0      		rjmp .L120
929
 934               	.L125:
930
 935 08d8 8D3F      		cpi r24,lo8(-3)
931
 936 08da 01F4      		brne .L127
932
 937 08dc 8091 0000 		lds r24,Poti3
933
 938 08e0 00C0      		rjmp .L120
934
 939               	.L127:
935
 940 08e2 8E3F      		cpi r24,lo8(-2)
936
 941 08e4 01F4      		brne .L124
937
 942 08e6 8091 0000 		lds r24,Poti4
938
 943               	.L120:
939
 944 08ea 8093 0000 		sts Parameter_MaxHoehe,r24
940
 945               	.L124:
941
 946 08ee 8091 0000 		lds r24,Parameter_MaxHoehe
942
 947 08f2 8823      		tst r24
943
 948 08f4 01F4      		brne .L130
944
 949 08f6 1092 0000 		sts Parameter_MaxHoehe,__zero_reg__
945
 950 08fa 00C0      		rjmp .L132
946
 951               	.L130:
947
 952 08fc 8F3F      		cpi r24,lo8(-1)
948
 953 08fe 01F4      		brne .L132
949
 954 0900 8093 0000 		sts Parameter_MaxHoehe,r24
950
 955               	.L132:
951
 956 0904 8091 0000 		lds r24,EE_Parameter+10
952
 957 0908 8B3F      		cpi r24,lo8(-5)
953
 958 090a 00F0      		brlo .L134
954
 959 090c 8B3F      		cpi r24,lo8(-5)
955
 960 090e 01F4      		brne .L136
956
 961 0910 8091 0000 		lds r24,Poti1
957
 962 0914 00C0      		rjmp .L134
958
 963               	.L136:
959
 964 0916 8C3F      		cpi r24,lo8(-4)
960
 965 0918 01F4      		brne .L139
961
 966 091a 8091 0000 		lds r24,Poti2
962
 967 091e 00C0      		rjmp .L134
963
 968               	.L139:
964
 969 0920 8D3F      		cpi r24,lo8(-3)
965
 970 0922 01F4      		brne .L141
966
 971 0924 8091 0000 		lds r24,Poti3
967
 972 0928 00C0      		rjmp .L134
968
 973               	.L141:
969
 974 092a 8E3F      		cpi r24,lo8(-2)
970
 975 092c 01F4      		brne .L138
971
 976 092e 8091 0000 		lds r24,Poti4
972
 977               	.L134:
973
 978 0932 8093 0000 		sts Parameter_Luftdruck_D,r24
974
 979               	.L138:
975
 980 0936 8091 0000 		lds r24,Parameter_Luftdruck_D
976
 981 093a 8823      		tst r24
977
 982 093c 01F4      		brne .L144
978
 983 093e 1092 0000 		sts Parameter_Luftdruck_D,__zero_reg__
979
 984 0942 00C0      		rjmp .L146
980
 985               	.L144:
981
 986 0944 8436      		cpi r24,lo8(100)
982
 987 0946 00F0      		brlo .L146
983
 988 0948 84E6      		ldi r24,lo8(100)
984
 989 094a 8093 0000 		sts Parameter_Luftdruck_D,r24
985
 990               	.L146:
986
 991 094e 8091 0000 		lds r24,EE_Parameter+12
987
 992 0952 8B3F      		cpi r24,lo8(-5)
988
 993 0954 00F0      		brlo .L148
989
 994 0956 8B3F      		cpi r24,lo8(-5)
990
 995 0958 01F4      		brne .L150
991
 996 095a 8091 0000 		lds r24,Poti1
992
 997 095e 00C0      		rjmp .L148
993
 998               	.L150:
994
 999 0960 8C3F      		cpi r24,lo8(-4)
995
 1000 0962 01F4      		brne .L153
996
 1001 0964 8091 0000 		lds r24,Poti2
997
 1002 0968 00C0      		rjmp .L148
998
 1003               	.L153:
999
 1004 096a 8D3F      		cpi r24,lo8(-3)
1000
 1005 096c 01F4      		brne .L155
1001
 1006 096e 8091 0000 		lds r24,Poti3
1002
 1007 0972 00C0      		rjmp .L148
1003
 1008               	.L155:
1004
 1009 0974 8E3F      		cpi r24,lo8(-2)
1005
 1010 0976 01F4      		brne .L152
1006
 1011 0978 8091 0000 		lds r24,Poti4
1007
 1012               	.L148:
1008
 1013 097c 8093 0000 		sts Parameter_Hoehe_P,r24
1009
 1014               	.L152:
1010
 1015 0980 8091 0000 		lds r24,Parameter_Hoehe_P
1011
 1016 0984 8823      		tst r24
1012
 1017 0986 01F4      		brne .L158
1013
 1018 0988 1092 0000 		sts Parameter_Hoehe_P,__zero_reg__
1014
 1019 098c 00C0      		rjmp .L160
1015
 1020               	.L158:
1016
 1021 098e 8436      		cpi r24,lo8(100)
1017
 1022 0990 00F0      		brlo .L160
1018
 1023 0992 84E6      		ldi r24,lo8(100)
1019
 1024 0994 8093 0000 		sts Parameter_Hoehe_P,r24
1020
 1025               	.L160:
1021
 1026 0998 8091 0000 		lds r24,EE_Parameter+14
1022
 1027 099c 8B3F      		cpi r24,lo8(-5)
1023
 1028 099e 00F0      		brlo .L162
1024
 1029 09a0 8B3F      		cpi r24,lo8(-5)
1025
 1030 09a2 01F4      		brne .L164
1026
 1031 09a4 8091 0000 		lds r24,Poti1
1027
 1032 09a8 00C0      		rjmp .L162
1028
 1033               	.L164:
1029
 1034 09aa 8C3F      		cpi r24,lo8(-4)
1030
 1035 09ac 01F4      		brne .L167
1031
 1036 09ae 8091 0000 		lds r24,Poti2
1032
 1037 09b2 00C0      		rjmp .L162
1033
 1038               	.L167:
1034
 1039 09b4 8D3F      		cpi r24,lo8(-3)
1035
 1040 09b6 01F4      		brne .L169
1036
 1041 09b8 8091 0000 		lds r24,Poti3
1037
 1042 09bc 00C0      		rjmp .L162
1038
 1043               	.L169:
1039
 1044 09be 8E3F      		cpi r24,lo8(-2)
1040
 1045 09c0 01F4      		brne .L166
1041
 1046 09c2 8091 0000 		lds r24,Poti4
1042
 1047               	.L162:
1043
 1048 09c6 8093 0000 		sts Parameter_Hoehe_ACC_Wirkung,r24
1044
 1049               	.L166:
1045
 1050 09ca 8091 0000 		lds r24,Parameter_Hoehe_ACC_Wirkung
1046
 1051 09ce 8823      		tst r24
1047
 1052 09d0 01F4      		brne .L172
1048
 1053 09d2 1092 0000 		sts Parameter_Hoehe_ACC_Wirkung,__zero_reg__
1049
 1054 09d6 00C0      		rjmp .L174
1050
 1055               	.L172:
1051
 1056 09d8 8F3F      		cpi r24,lo8(-1)
1052
 1057 09da 01F4      		brne .L174
1053
 1058 09dc 8093 0000 		sts Parameter_Hoehe_ACC_Wirkung,r24
1054
 1059               	.L174:
1055
 1060 09e0 8091 0000 		lds r24,EE_Parameter+21
1056
 1061 09e4 8B3F      		cpi r24,lo8(-5)
1057
 1062 09e6 00F0      		brlo .L176
1058
 1063 09e8 8B3F      		cpi r24,lo8(-5)
1059
 1064 09ea 01F4      		brne .L178
1060
 1065 09ec 8091 0000 		lds r24,Poti1
1061
 1066 09f0 00C0      		rjmp .L176
1062
 1067               	.L178:
1063
 1068 09f2 8C3F      		cpi r24,lo8(-4)
1064
 1069 09f4 01F4      		brne .L181
1065
 1070 09f6 8091 0000 		lds r24,Poti2
1066
 1071 09fa 00C0      		rjmp .L176
1067
 1072               	.L181:
1068
 1073 09fc 8D3F      		cpi r24,lo8(-3)
1069
 1074 09fe 01F4      		brne .L183
1070
 1075 0a00 8091 0000 		lds r24,Poti3
1071
 1076 0a04 00C0      		rjmp .L176
1072
 1077               	.L183:
1073
 1078 0a06 8E3F      		cpi r24,lo8(-2)
1074
 1079 0a08 01F4      		brne .L180
1075
 1080 0a0a 8091 0000 		lds r24,Poti4
1076
 1081               	.L176:
1077
 1082 0a0e 8093 0000 		sts Parameter_KompassWirkung,r24
1078
 1083               	.L180:
1079
 1084 0a12 8091 0000 		lds r24,Parameter_KompassWirkung
1080
 1085 0a16 8823      		tst r24
1081
 1086 0a18 01F4      		brne .L186
1082
 1087 0a1a 1092 0000 		sts Parameter_KompassWirkung,__zero_reg__
1083
 1088 0a1e 00C0      		rjmp .L188
1084
 1089               	.L186:
1085
 1090 0a20 8F3F      		cpi r24,lo8(-1)
1086
 1091 0a22 01F4      		brne .L188
1087
 1092 0a24 8093 0000 		sts Parameter_KompassWirkung,r24
1088
 1093               	.L188:
1089
 1094 0a28 8091 0000 		lds r24,EE_Parameter+22
1090
 1095 0a2c 8B3F      		cpi r24,lo8(-5)
1091
 1096 0a2e 00F0      		brlo .L190
1092
 1097 0a30 8B3F      		cpi r24,lo8(-5)
1093
 1098 0a32 01F4      		brne .L192
1094
 1099 0a34 8091 0000 		lds r24,Poti1
1095
 1100 0a38 00C0      		rjmp .L190
1096
 1101               	.L192:
1097
 1102 0a3a 8C3F      		cpi r24,lo8(-4)
1098
 1103 0a3c 01F4      		brne .L195
1099
 1104 0a3e 8091 0000 		lds r24,Poti2
1100
 1105 0a42 00C0      		rjmp .L190
1101
 1106               	.L195:
1102
 1107 0a44 8D3F      		cpi r24,lo8(-3)
1103
 1108 0a46 01F4      		brne .L197
1104
 1109 0a48 8091 0000 		lds r24,Poti3
1105
 1110 0a4c 00C0      		rjmp .L190
1106
 1111               	.L197:
1107
 1112 0a4e 8E3F      		cpi r24,lo8(-2)
1108
 1113 0a50 01F4      		brne .L194
1109
 1114 0a52 8091 0000 		lds r24,Poti4
1110
 1115               	.L190:
1111
 1116 0a56 8093 0000 		sts Parameter_Gyro_P,r24
1112
 1117               	.L194:
1113
 1118 0a5a 8091 0000 		lds r24,Parameter_Gyro_P
1114
 1119 0a5e 8B30      		cpi r24,lo8(11)
1115
 1120 0a60 00F4      		brsh .L200
1116
 1121 0a62 8AE0      		ldi r24,lo8(10)
1117
 1122 0a64 00C0      		rjmp .L332
1118
 1123               	.L200:
1119
 1124 0a66 8F3F      		cpi r24,lo8(-1)
1120
 1125 0a68 01F4      		brne .L202
1121
 1126               	.L332:
1122
 1127 0a6a 8093 0000 		sts Parameter_Gyro_P,r24
1123
 1128               	.L202:
1124
 1129 0a6e 8091 0000 		lds r24,EE_Parameter+23
1125
 1130 0a72 8B3F      		cpi r24,lo8(-5)
1126
 1131 0a74 00F0      		brlo .L204
1127
 1132 0a76 8B3F      		cpi r24,lo8(-5)
1128
 1133 0a78 01F4      		brne .L206
1129
 1134 0a7a 8091 0000 		lds r24,Poti1
1130
 1135 0a7e 00C0      		rjmp .L204
1131
 1136               	.L206:
1132
 1137 0a80 8C3F      		cpi r24,lo8(-4)
1133
 1138 0a82 01F4      		brne .L209
1134
 1139 0a84 8091 0000 		lds r24,Poti2
1135
 1140 0a88 00C0      		rjmp .L204
1136
 1141               	.L209:
1137
 1142 0a8a 8D3F      		cpi r24,lo8(-3)
1138
 1143 0a8c 01F4      		brne .L211
1139
 1144 0a8e 8091 0000 		lds r24,Poti3
1140
 1145 0a92 00C0      		rjmp .L204
1141
 1146               	.L211:
1142
 1147 0a94 8E3F      		cpi r24,lo8(-2)
1143
 1148 0a96 01F4      		brne .L208
1144
 1149 0a98 8091 0000 		lds r24,Poti4
1145
 1150               	.L204:
1146
 1151 0a9c 8093 0000 		sts Parameter_Gyro_I,r24
1147
 1152               	.L208:
1148
 1153 0aa0 8091 0000 		lds r24,Parameter_Gyro_I
1149
 1154 0aa4 8823      		tst r24
1150
 1155 0aa6 01F4      		brne .L214
1151
 1156 0aa8 1092 0000 		sts Parameter_Gyro_I,__zero_reg__
1152
 1157 0aac 00C0      		rjmp .L216
1153
 1158               	.L214:
1154
 1159 0aae 8F3F      		cpi r24,lo8(-1)
1155
 1160 0ab0 01F4      		brne .L216
1156
 1161 0ab2 8093 0000 		sts Parameter_Gyro_I,r24
1157
 1162               	.L216:
1158
 1163 0ab6 8091 0000 		lds r24,EE_Parameter+28
1159
 1164 0aba 8B3F      		cpi r24,lo8(-5)
1160
 1165 0abc 00F0      		brlo .L218
1161
 1166 0abe 8B3F      		cpi r24,lo8(-5)
1162
 1167 0ac0 01F4      		brne .L220
1163
 1168 0ac2 8091 0000 		lds r24,Poti1
1164
 1169 0ac6 00C0      		rjmp .L218
1165
 1170               	.L220:
1166
 1171 0ac8 8C3F      		cpi r24,lo8(-4)
1167
 1172 0aca 01F4      		brne .L223
1168
 1173 0acc 8091 0000 		lds r24,Poti2
1169
 1174 0ad0 00C0      		rjmp .L218
1170
 1175               	.L223:
1171
 1176 0ad2 8D3F      		cpi r24,lo8(-3)
1172
 1177 0ad4 01F4      		brne .L225
1173
 1178 0ad6 8091 0000 		lds r24,Poti3
1174
 1179 0ada 00C0      		rjmp .L218
1175
 1180               	.L225:
1176
 1181 0adc 8E3F      		cpi r24,lo8(-2)
1177
 1182 0ade 01F4      		brne .L222
1178
 1183 0ae0 8091 0000 		lds r24,Poti4
1179
 1184               	.L218:
1180
 1185 0ae4 8093 0000 		sts Parameter_I_Faktor,r24
1181
 1186               	.L222:
1182
 1187 0ae8 8091 0000 		lds r24,Parameter_I_Faktor
1183
 1188 0aec 8823      		tst r24
1184
 1189 0aee 01F4      		brne .L228
1185
 1190 0af0 1092 0000 		sts Parameter_I_Faktor,__zero_reg__
1186
 1191 0af4 00C0      		rjmp .L230
1187
 1192               	.L228:
1188
 1193 0af6 8F3F      		cpi r24,lo8(-1)
1189
 1194 0af8 01F4      		brne .L230
1190
 1195 0afa 8093 0000 		sts Parameter_I_Faktor,r24
1191
 1196               	.L230:
1192
 1197 0afe 8091 0000 		lds r24,EE_Parameter+29
1193
 1198 0b02 8B3F      		cpi r24,lo8(-5)
1194
 1199 0b04 00F0      		brlo .L232
1195
 1200 0b06 8B3F      		cpi r24,lo8(-5)
1196
 1201 0b08 01F4      		brne .L234
1197
 1202 0b0a 8091 0000 		lds r24,Poti1
1198
 1203 0b0e 00C0      		rjmp .L232
1199
 1204               	.L234:
1200
 1205 0b10 8C3F      		cpi r24,lo8(-4)
1201
 1206 0b12 01F4      		brne .L237
1202
 1207 0b14 8091 0000 		lds r24,Poti2
1203
 1208 0b18 00C0      		rjmp .L232
1204
 1209               	.L237:
1205
 1210 0b1a 8D3F      		cpi r24,lo8(-3)
1206
 1211 0b1c 01F4      		brne .L239
1207
 1212 0b1e 8091 0000 		lds r24,Poti3
1208
 1213 0b22 00C0      		rjmp .L232
1209
 1214               	.L239:
1210
 1215 0b24 8E3F      		cpi r24,lo8(-2)
1211
 1216 0b26 01F4      		brne .L236
1212
 1217 0b28 8091 0000 		lds r24,Poti4
1213
 1218               	.L232:
1214
 1219 0b2c 8093 0000 		sts Parameter_UserParam1,r24
1215
 1220               	.L236:
1216
 1221 0b30 8091 0000 		lds r24,Parameter_UserParam1
1217
 1222 0b34 8823      		tst r24
1218
 1223 0b36 01F4      		brne .L242
1219
 1224 0b38 1092 0000 		sts Parameter_UserParam1,__zero_reg__
1220
 1225 0b3c 00C0      		rjmp .L244
1221
 1226               	.L242:
1222
 1227 0b3e 8F3F      		cpi r24,lo8(-1)
1223
 1228 0b40 01F4      		brne .L244
1224
 1229 0b42 8093 0000 		sts Parameter_UserParam1,r24
1225
 1230               	.L244:
1226
 1231 0b46 8091 0000 		lds r24,EE_Parameter+30
1227
 1232 0b4a 8B3F      		cpi r24,lo8(-5)
1228
 1233 0b4c 00F0      		brlo .L246
1229
 1234 0b4e 8B3F      		cpi r24,lo8(-5)
1230
 1235 0b50 01F4      		brne .L248
1231
 1236 0b52 8091 0000 		lds r24,Poti1
1232
 1237 0b56 00C0      		rjmp .L246
1233
 1238               	.L248:
1234
 1239 0b58 8C3F      		cpi r24,lo8(-4)
1235
 1240 0b5a 01F4      		brne .L251
1236
 1241 0b5c 8091 0000 		lds r24,Poti2
1237
 1242 0b60 00C0      		rjmp .L246
1238
 1243               	.L251:
1239
 1244 0b62 8D3F      		cpi r24,lo8(-3)
1240
 1245 0b64 01F4      		brne .L253
1241
 1246 0b66 8091 0000 		lds r24,Poti3
1242
 1247 0b6a 00C0      		rjmp .L246
1243
 1248               	.L253:
1244
 1249 0b6c 8E3F      		cpi r24,lo8(-2)
1245
 1250 0b6e 01F4      		brne .L250
1246
 1251 0b70 8091 0000 		lds r24,Poti4
1247
 1252               	.L246:
1248
 1253 0b74 8093 0000 		sts Parameter_UserParam2,r24
1249
 1254               	.L250:
1250
 1255 0b78 8091 0000 		lds r24,Parameter_UserParam2
1251
 1256 0b7c 8823      		tst r24
1252
 1257 0b7e 01F4      		brne .L256
1253
 1258 0b80 1092 0000 		sts Parameter_UserParam2,__zero_reg__
1254
 1259 0b84 00C0      		rjmp .L258
1255
 1260               	.L256:
1256
 1261 0b86 8F3F      		cpi r24,lo8(-1)
1257
 1262 0b88 01F4      		brne .L258
1258
 1263 0b8a 8093 0000 		sts Parameter_UserParam2,r24
1259
 1264               	.L258:
1260
 1265 0b8e 8091 0000 		lds r24,EE_Parameter+31
1261
 1266 0b92 8B3F      		cpi r24,lo8(-5)
1262
 1267 0b94 00F0      		brlo .L260
1263
 1268 0b96 8B3F      		cpi r24,lo8(-5)
1264
 1269 0b98 01F4      		brne .L262
1265
 1270 0b9a 8091 0000 		lds r24,Poti1
1266
 1271 0b9e 00C0      		rjmp .L260
1267
 1272               	.L262:
1268
 1273 0ba0 8C3F      		cpi r24,lo8(-4)
1269
 1274 0ba2 01F4      		brne .L265
1270
 1275 0ba4 8091 0000 		lds r24,Poti2
1271
 1276 0ba8 00C0      		rjmp .L260
1272
 1277               	.L265:
1273
 1278 0baa 8D3F      		cpi r24,lo8(-3)
1274
 1279 0bac 01F4      		brne .L267
1275
 1280 0bae 8091 0000 		lds r24,Poti3
1276
 1281 0bb2 00C0      		rjmp .L260
1277
 1282               	.L267:
1278
 1283 0bb4 8E3F      		cpi r24,lo8(-2)
1279
 1284 0bb6 01F4      		brne .L264
1280
 1285 0bb8 8091 0000 		lds r24,Poti4
1281
 1286               	.L260:
1282
 1287 0bbc 8093 0000 		sts Parameter_UserParam3,r24
1283
 1288               	.L264:
1284
 1289 0bc0 8091 0000 		lds r24,Parameter_UserParam3
1285
 1290 0bc4 8823      		tst r24
1286
 1291 0bc6 01F4      		brne .L270
1287
 1292 0bc8 1092 0000 		sts Parameter_UserParam3,__zero_reg__
1288
 1293 0bcc 00C0      		rjmp .L272
1289
 1294               	.L270:
1290
 1295 0bce 8F3F      		cpi r24,lo8(-1)
1291
 1296 0bd0 01F4      		brne .L272
1292
 1297 0bd2 8093 0000 		sts Parameter_UserParam3,r24
1293
 1298               	.L272:
1294
 1299 0bd6 8091 0000 		lds r24,EE_Parameter+32
1295
 1300 0bda 8B3F      		cpi r24,lo8(-5)
1296
 1301 0bdc 00F0      		brlo .L274
1297
 1302 0bde 8B3F      		cpi r24,lo8(-5)
1298
 1303 0be0 01F4      		brne .L276
1299
 1304 0be2 8091 0000 		lds r24,Poti1
1300
 1305 0be6 00C0      		rjmp .L274
1301
 1306               	.L276:
1302
 1307 0be8 8C3F      		cpi r24,lo8(-4)
1303
 1308 0bea 01F4      		brne .L279
1304
 1309 0bec 8091 0000 		lds r24,Poti2
1305
 1310 0bf0 00C0      		rjmp .L274
1306
 1311               	.L279:
1307
 1312 0bf2 8D3F      		cpi r24,lo8(-3)
1308
 1313 0bf4 01F4      		brne .L281
1309
 1314 0bf6 8091 0000 		lds r24,Poti3
1310
 1315 0bfa 00C0      		rjmp .L274
1311
 1316               	.L281:
1312
 1317 0bfc 8E3F      		cpi r24,lo8(-2)
1313
 1318 0bfe 01F4      		brne .L278
1314
 1319 0c00 8091 0000 		lds r24,Poti4
1315
 1320               	.L274:
1316
 1321 0c04 8093 0000 		sts Parameter_UserParam4,r24
1317
 1322               	.L278:
1318
 1323 0c08 8091 0000 		lds r24,Parameter_UserParam4
1319
 1324 0c0c 8823      		tst r24
1320
 1325 0c0e 01F4      		brne .L284
1321
 1326 0c10 1092 0000 		sts Parameter_UserParam4,__zero_reg__
1322
 1327 0c14 00C0      		rjmp .L286
1323
 1328               	.L284:
1324
 1329 0c16 8F3F      		cpi r24,lo8(-1)
1325
 1330 0c18 01F4      		brne .L286
1326
 1331 0c1a 8093 0000 		sts Parameter_UserParam4,r24
1327
 1332               	.L286:
1328
 1333 0c1e 9091 0000 		lds r25,EE_Parameter+33
1329
 1334 0c22 9B3F      		cpi r25,lo8(-5)
1330
 1335 0c24 00F0      		brlo .L288
1331
 1336 0c26 9B3F      		cpi r25,lo8(-5)
1332
 1337 0c28 01F4      		brne .L290
1333
 1338 0c2a 8091 0000 		lds r24,Poti1
1334
 1339 0c2e 00C0      		rjmp .L333
1335
 1340               	.L290:
1336
 1341 0c30 9C3F      		cpi r25,lo8(-4)
1337
 1342 0c32 01F4      		brne .L293
1338
 1343 0c34 8091 0000 		lds r24,Poti2
1339
 1344               	.L333:
1340
 1345 0c38 8093 0000 		sts Parameter_ServoNickControl,r24
1341
 1346 0c3c 00C0      		rjmp .L292
1342
 1347               	.L293:
1343
 1348 0c3e 9D3F      		cpi r25,lo8(-3)
1344
 1349 0c40 01F4      		brne .L295
1345
 1350 0c42 8091 0000 		lds r24,Poti3
1346
 1351 0c46 00C0      		rjmp .L333
1347
 1352               	.L295:
1348
 1353 0c48 9E3F      		cpi r25,lo8(-2)
1349
 1354 0c4a 01F4      		brne .L292
1350
 1355 0c4c 8091 0000 		lds r24,Poti4
1351
 1356 0c50 00C0      		rjmp .L333
1352
 1357               	.L288:
1353
 1358 0c52 9093 0000 		sts Parameter_ServoNickControl,r25
1354
 1359               	.L292:
1355
 1360 0c56 8091 0000 		lds r24,Parameter_ServoNickControl
1356
 1361 0c5a 8823      		tst r24
1357
 1362 0c5c 01F4      		brne .L298
1358
 1363 0c5e 1092 0000 		sts Parameter_ServoNickControl,__zero_reg__
1359
 1364 0c62 00C0      		rjmp .L300
1360
 1365               	.L298:
1361
 1366 0c64 8F3F      		cpi r24,lo8(-1)
1362
 1367 0c66 01F4      		brne .L300
1363
 1368 0c68 8093 0000 		sts Parameter_ServoNickControl,r24
1364
 1369               	.L300:
1365
 1370 0c6c 9B3F      		cpi r25,lo8(-5)
1366
 1371 0c6e 00F0      		brlo .L302
1367
 1372 0c70 9B3F      		cpi r25,lo8(-5)
1368
 1373 0c72 01F4      		brne .L304
1369
 1374 0c74 8091 0000 		lds r24,Poti1
1370
 1375 0c78 00C0      		rjmp .L334
1371
 1376               	.L304:
1372
 1377 0c7a 9C3F      		cpi r25,lo8(-4)
1373
 1378 0c7c 01F4      		brne .L307
1374
 1379 0c7e 8091 0000 		lds r24,Poti2
1375
 1380               	.L334:
1376
 1381 0c82 8093 0000 		sts Parameter_ServoNickControl,r24
1377
 1382 0c86 00C0      		rjmp .L306
1378
 1383               	.L307:
1379
 1384 0c88 9D3F      		cpi r25,lo8(-3)
1380
 1385 0c8a 01F4      		brne .L309
1381
 1386 0c8c 8091 0000 		lds r24,Poti3
1382
 1387 0c90 00C0      		rjmp .L334
1383
 1388               	.L309:
1384
 1389 0c92 9E3F      		cpi r25,lo8(-2)
1385
 1390 0c94 01F4      		brne .L306
1386
 1391 0c96 8091 0000 		lds r24,Poti4
1387
 1392 0c9a 00C0      		rjmp .L334
1388
 1393               	.L302:
1389
 1394 0c9c 9093 0000 		sts Parameter_ServoNickControl,r25
1390
 1395               	.L306:
1391
 1396 0ca0 8091 0000 		lds r24,Parameter_ServoNickControl
1392
 1397 0ca4 8823      		tst r24
1393
 1398 0ca6 01F4      		brne .L312
1394
 1399 0ca8 1092 0000 		sts Parameter_ServoNickControl,__zero_reg__
1395
 1400 0cac 00C0      		rjmp .L314
1396
 1401               	.L312:
1397
 1402 0cae 8F3F      		cpi r24,lo8(-1)
1398
 1403 0cb0 01F4      		brne .L314
1399
 1404 0cb2 8093 0000 		sts Parameter_ServoNickControl,r24
1400
 1405               	.L314:
1401
 1406 0cb6 9B3F      		cpi r25,lo8(-5)
1402
 1407 0cb8 00F0      		brlo .L316
1403
 1408 0cba 9B3F      		cpi r25,lo8(-5)
1404
 1409 0cbc 01F4      		brne .L318
1405
 1410 0cbe 8091 0000 		lds r24,Poti1
1406
 1411 0cc2 00C0      		rjmp .L335
1407
 1412               	.L318:
1408
 1413 0cc4 9C3F      		cpi r25,lo8(-4)
1409
 1414 0cc6 01F4      		brne .L321
1410
 1415 0cc8 8091 0000 		lds r24,Poti2
1411
 1416               	.L335:
1412
 1417 0ccc 8093 0000 		sts Parameter_ServoNickControl,r24
1413
 1418 0cd0 00C0      		rjmp .L320
1414
 1419               	.L321:
1415
 1420 0cd2 9D3F      		cpi r25,lo8(-3)
1416
 1421 0cd4 01F4      		brne .L323
1417
 1422 0cd6 8091 0000 		lds r24,Poti3
1418
 1423 0cda 00C0      		rjmp .L335
1419
 1424               	.L323:
1420
 1425 0cdc 9E3F      		cpi r25,lo8(-2)
1421
 1426 0cde 01F4      		brne .L320
1422
 1427 0ce0 8091 0000 		lds r24,Poti4
1423
 1428 0ce4 00C0      		rjmp .L335
1424
 1429               	.L316:
1425
 1430 0ce6 9093 0000 		sts Parameter_ServoNickControl,r25
1426
 1431               	.L320:
1427
 1432 0cea 8091 0000 		lds r24,Parameter_ServoNickControl
1428
 1433 0cee 8823      		tst r24
1429
 1434 0cf0 01F4      		brne .L326
1430
 1435 0cf2 1092 0000 		sts Parameter_ServoNickControl,__zero_reg__
1431
 1436 0cf6 00C0      		rjmp .L328
1432
 1437               	.L326:
1433
 1438 0cf8 8F3F      		cpi r24,lo8(-1)
1434
 1439 0cfa 01F4      		brne .L328
1435
 1440 0cfc 8093 0000 		sts Parameter_ServoNickControl,r24
1436
 1441               	.L328:
1437
 1442 0d00 1091 0000 		lds r17,Parameter_I_Faktor
1438
 1443 0d04 612F      		mov r22,r17
1439
 1444 0d06 7727      		clr r23
1440
 1445 0d08 67FD      		sbrc r22,7
1441
 1446 0d0a 7095      		com r23
1442
 1447 0d0c 872F      		mov r24,r23
1443
 1448 0d0e 972F      		mov r25,r23
1444
 1449 0d10 0E94 0000 		call __floatsisf
1445
 1450 0d14 17FF      		sbrs r17,7
1446
 1451 0d16 00C0      		rjmp .L330
1447
 1452 0d18 20E0      		ldi r18,lo8(0x43800000)
1448
 1453 0d1a 30E0      		ldi r19,hi8(0x43800000)
1449
 1454 0d1c 40E8      		ldi r20,hlo8(0x43800000)
1450
 1455 0d1e 53E4      		ldi r21,hhi8(0x43800000)
1451
 1456 0d20 0E94 0000 		call __addsf3
1452
 1457               	.L330:
1453
 1458 0d24 27E1      		ldi r18,lo8(0x38d1b717)
1454
 1459 0d26 37EB      		ldi r19,hi8(0x38d1b717)
1455
 1460 0d28 41ED      		ldi r20,hlo8(0x38d1b717)
1456
 1461 0d2a 58E3      		ldi r21,hhi8(0x38d1b717)
1457
 1462 0d2c 0E94 0000 		call __mulsf3
1458
 1463 0d30 6093 0000 		sts Ki,r22
1459
 1464 0d34 7093 0000 		sts (Ki)+1,r23
1460
 1465 0d38 8093 0000 		sts (Ki)+2,r24
1461
 1466 0d3c 9093 0000 		sts (Ki)+3,r25
1462
 1467 0d40 8091 0000 		lds r24,EE_Parameter+19
1463
 1468 0d44 8093 0000 		sts MAX_GAS,r24
1464
 1469 0d48 8091 0000 		lds r24,EE_Parameter+18
1465
 1470 0d4c 8093 0000 		sts MIN_GAS,r24
1466
 1471               	/* epilogue: frame size=0 */
1467
 1472 0d50 1F91      		pop r17
1468
 1473 0d52 0895      		ret
1469
 1474               	/* epilogue end (size=2) */
1470
 1475               	/* function ParameterZuordnung size 589 (586) */
1471
 1477               		.data
1472
 1478               	.LC0:
1473
 1479 0000 4B61 6D65 		.string	"Kamera"
1474
 1479      7261 00
1475
 1480 0007 00        		.string	""
1476
 1481               		.text
1477
 1482               	.global	DefaultKonstanten2
1478
 1484               	DefaultKonstanten2:
1479
 1485               	/* prologue: frame size=0 */
1480
 1486               	/* prologue end (size=0) */
1481
 1487 0d54 81E0      		ldi r24,lo8(1)
1482
 1488 0d56 8093 0000 		sts EE_Parameter,r24
1483
 1489 0d5a 42E0      		ldi r20,lo8(2)
1484
 1490 0d5c 4093 0000 		sts EE_Parameter+1,r20
1485
 1491 0d60 83E0      		ldi r24,lo8(3)
1486
 1492 0d62 8093 0000 		sts EE_Parameter+2,r24
1487
 1493 0d66 24E0      		ldi r18,lo8(4)
1488
 1494 0d68 2093 0000 		sts EE_Parameter+3,r18
1489
 1495 0d6c 35E0      		ldi r19,lo8(5)
1490
 1496 0d6e 3093 0000 		sts EE_Parameter+4,r19
1491
 1497 0d72 86E0      		ldi r24,lo8(6)
1492
 1498 0d74 8093 0000 		sts EE_Parameter+5,r24
1493
 1499 0d78 87E0      		ldi r24,lo8(7)
1494
 1500 0d7a 8093 0000 		sts EE_Parameter+6,r24
1495
 1501 0d7e 1092 0000 		sts EE_Parameter+8,__zero_reg__
1496
 1502 0d82 8EE1      		ldi r24,lo8(30)
1497
 1503 0d84 8093 0000 		sts EE_Parameter+9,r24
1498
 1504 0d88 8BEF      		ldi r24,lo8(-5)
1499
 1505 0d8a 8093 0000 		sts EE_Parameter+11,r24
1500
 1506 0d8e 8AE0      		ldi r24,lo8(10)
1501
 1507 0d90 8093 0000 		sts EE_Parameter+12,r24
1502
 1508 0d94 92E3      		ldi r25,lo8(50)
1503
 1509 0d96 9093 0000 		sts EE_Parameter+10,r25
1504
 1510 0d9a 9093 0000 		sts EE_Parameter+14,r25
1505
 1511 0d9e 4093 0000 		sts EE_Parameter+13,r20
1506
 1512 0da2 2093 0000 		sts EE_Parameter+15,r18
1507
 1513 0da6 1092 0000 		sts EE_Parameter+16,__zero_reg__
1508
 1514 0daa 80E1      		ldi r24,lo8(16)
1509
 1515 0dac 8093 0000 		sts EE_Parameter+17,r24
1510
 1516 0db0 8FE0      		ldi r24,lo8(15)
1511
 1517 0db2 8093 0000 		sts EE_Parameter+18,r24
1512
 1518 0db6 8AEF      		ldi r24,lo8(-6)
1513
 1519 0db8 8093 0000 		sts EE_Parameter+19,r24
1514
 1520 0dbc 8AE1      		ldi r24,lo8(26)
1515
 1521 0dbe 8093 0000 		sts EE_Parameter+20,r24
1516
 1522 0dc2 80E8      		ldi r24,lo8(-128)
1517
 1523 0dc4 8093 0000 		sts EE_Parameter+21,r24
1518
 1524 0dc8 8FEA      		ldi r24,lo8(-81)
1519
 1525 0dca 8093 0000 		sts EE_Parameter+22,r24
1520
 1526 0dce 8093 0000 		sts EE_Parameter+23,r24
1521
 1527 0dd2 8AE5      		ldi r24,lo8(90)
1522
 1528 0dd4 8093 0000 		sts EE_Parameter+24,r24
1523
 1529 0dd8 83E2      		ldi r24,lo8(35)
1524
 1530 0dda 8093 0000 		sts EE_Parameter+25,r24
1525
 1531 0dde 84E1      		ldi r24,lo8(20)
1526
 1532 0de0 8093 0000 		sts EE_Parameter+26,r24
1527
 1533 0de4 1092 0000 		sts EE_Parameter+27,__zero_reg__
1528
 1534 0de8 3093 0000 		sts EE_Parameter+28,r19
1529
 1535 0dec 1092 0000 		sts EE_Parameter+29,__zero_reg__
1530
 1536 0df0 1092 0000 		sts EE_Parameter+30,__zero_reg__
1531
 1537 0df4 1092 0000 		sts EE_Parameter+31,__zero_reg__
1532
 1538 0df8 1092 0000 		sts EE_Parameter+32,__zero_reg__
1533
 1539 0dfc 84E6      		ldi r24,lo8(100)
1534
 1540 0dfe 8093 0000 		sts EE_Parameter+33,r24
1535
 1541 0e02 88E2      		ldi r24,lo8(40)
1536
 1542 0e04 8093 0000 		sts EE_Parameter+34,r24
1537
 1543 0e08 1092 0000 		sts EE_Parameter+38,__zero_reg__
1538
 1544 0e0c 9093 0000 		sts EE_Parameter+35,r25
1539
 1545 0e10 86E9      		ldi r24,lo8(-106)
1540
 1546 0e12 8093 0000 		sts EE_Parameter+36,r24
1541
 1547 0e16 3093 0000 		sts EE_Parameter+37,r19
1542
 1548 0e1a A0E0      		ldi r26,lo8(EE_Parameter+46)
1543
 1549 0e1c B0E0      		ldi r27,hi8(EE_Parameter+46)
1544
 1550 0e1e E0E0      		ldi r30,lo8(.LC0)
1545
 1551 0e20 F0E0      		ldi r31,hi8(.LC0)
1546
 1552 0e22 8CE0      		ldi r24,lo8(12)
1547
 1553               	.L337:
1548
 1554 0e24 0190      		ld r0,Z+
1549
 1555 0e26 0D92      		st X+,r0
1550
 1556 0e28 8150      		subi r24,lo8(-(-1))
1551
 1557 0e2a 01F4      		brne .L337
1552
 1558               	/* epilogue: frame size=0 */
1553
 1559 0e2c 0895      		ret
1554
 1560               	/* epilogue end (size=1) */
1555
 1561               	/* function DefaultKonstanten2 size 110 (109) */
1556
 1563               		.data
1557
 1564               	.LC1:
1558
 1565 0008 4E6F 726D 		.string	"Normal"
1559
 1565      616C 00
1560
 1566 000f 00        		.string	""
1561
 1567               		.text
1562
 1568               	.global	DefaultKonstanten1
1563
 1570               	DefaultKonstanten1:
1564
 1571               	/* prologue: frame size=0 */
1565
 1572               	/* prologue end (size=0) */
1566
 1573 0e2e 81E0      		ldi r24,lo8(1)
1567
 1574 0e30 8093 0000 		sts EE_Parameter,r24
1568
 1575 0e34 52E0      		ldi r21,lo8(2)
1569
 1576 0e36 5093 0000 		sts EE_Parameter+1,r21
1570
 1577 0e3a 83E0      		ldi r24,lo8(3)
1571
 1578 0e3c 8093 0000 		sts EE_Parameter+2,r24
1572
 1579 0e40 44E0      		ldi r20,lo8(4)
1573
 1580 0e42 4093 0000 		sts EE_Parameter+3,r20
1574
 1581 0e46 35E0      		ldi r19,lo8(5)
1575
 1582 0e48 3093 0000 		sts EE_Parameter+4,r19
1576
 1583 0e4c 86E0      		ldi r24,lo8(6)
1577
 1584 0e4e 8093 0000 		sts EE_Parameter+5,r24
1578
 1585 0e52 87E0      		ldi r24,lo8(7)
1579
 1586 0e54 8093 0000 		sts EE_Parameter+6,r24
1580
 1587 0e58 28E0      		ldi r18,lo8(8)
1581
 1588 0e5a 2093 0000 		sts EE_Parameter+7,r18
1582
 1589 0e5e 1092 0000 		sts EE_Parameter+8,__zero_reg__
1583
 1590 0e62 9EE1      		ldi r25,lo8(30)
1584
 1591 0e64 9093 0000 		sts EE_Parameter+9,r25
1585
 1592 0e68 8BEF      		ldi r24,lo8(-5)
1586
 1593 0e6a 8093 0000 		sts EE_Parameter+11,r24
1587
 1594 0e6e 8AE0      		ldi r24,lo8(10)
1588
 1595 0e70 8093 0000 		sts EE_Parameter+12,r24
1589
 1596 0e74 86E4      		ldi r24,lo8(70)
1590
 1597 0e76 8093 0000 		sts EE_Parameter+10,r24
1591
 1598 0e7a 9093 0000 		sts EE_Parameter+14,r25
1592
 1599 0e7e 5093 0000 		sts EE_Parameter+13,r21
1593
 1600 0e82 4093 0000 		sts EE_Parameter+15,r20
1594
 1601 0e86 2093 0000 		sts EE_Parameter+16,r18
1595
 1602 0e8a 80E1      		ldi r24,lo8(16)
1596
 1603 0e8c 8093 0000 		sts EE_Parameter+17,r24
1597
 1604 0e90 8FE0      		ldi r24,lo8(15)
1598
 1605 0e92 8093 0000 		sts EE_Parameter+18,r24
1599
 1606 0e96 8AEF      		ldi r24,lo8(-6)
1600
 1607 0e98 8093 0000 		sts EE_Parameter+19,r24
1601
 1608 0e9c 8AE1      		ldi r24,lo8(26)
1602
 1609 0e9e 8093 0000 		sts EE_Parameter+20,r24
1603
 1610 0ea2 80E8      		ldi r24,lo8(-128)
1604
 1611 0ea4 8093 0000 		sts EE_Parameter+21,r24
1605
 1612 0ea8 88E7      		ldi r24,lo8(120)
1606
 1613 0eaa 8093 0000 		sts EE_Parameter+22,r24
1607
 1614 0eae 96E9      		ldi r25,lo8(-106)
1608
 1615 0eb0 9093 0000 		sts EE_Parameter+23,r25
1609
 1616 0eb4 8AE5      		ldi r24,lo8(90)
1610
 1617 0eb6 8093 0000 		sts EE_Parameter+24,r24
1611
 1618 0eba 83E2      		ldi r24,lo8(35)
1612
 1619 0ebc 8093 0000 		sts EE_Parameter+25,r24
1613
 1620 0ec0 84E1      		ldi r24,lo8(20)
1614
 1621 0ec2 8093 0000 		sts EE_Parameter+26,r24
1615
 1622 0ec6 1092 0000 		sts EE_Parameter+27,__zero_reg__
1616
 1623 0eca 3093 0000 		sts EE_Parameter+28,r19
1617
 1624 0ece 1092 0000 		sts EE_Parameter+29,__zero_reg__
1618
 1625 0ed2 1092 0000 		sts EE_Parameter+30,__zero_reg__
1619
 1626 0ed6 1092 0000 		sts EE_Parameter+31,__zero_reg__
1620
 1627 0eda 1092 0000 		sts EE_Parameter+32,__zero_reg__
1621
 1628 0ede 84E6      		ldi r24,lo8(100)
1622
 1629 0ee0 8093 0000 		sts EE_Parameter+33,r24
1623
 1630 0ee4 88E2      		ldi r24,lo8(40)
1624
 1631 0ee6 8093 0000 		sts EE_Parameter+34,r24
1625
 1632 0eea 1092 0000 		sts EE_Parameter+38,__zero_reg__
1626
 1633 0eee 82E3      		ldi r24,lo8(50)
1627
 1634 0ef0 8093 0000 		sts EE_Parameter+35,r24
1628
 1635 0ef4 9093 0000 		sts EE_Parameter+36,r25
1629
 1636 0ef8 3093 0000 		sts EE_Parameter+37,r19
1630
 1637 0efc A0E0      		ldi r26,lo8(EE_Parameter+46)
1631
 1638 0efe B0E0      		ldi r27,hi8(EE_Parameter+46)
1632
 1639 0f00 E0E0      		ldi r30,lo8(.LC1)
1633
 1640 0f02 F0E0      		ldi r31,hi8(.LC1)
1634
 1641 0f04 8CE0      		ldi r24,lo8(12)
1635
 1642               	.L342:
1636
 1643 0f06 0190      		ld r0,Z+
1637
 1644 0f08 0D92      		st X+,r0
1638
 1645 0f0a 8150      		subi r24,lo8(-(-1))
1639
 1646 0f0c 01F4      		brne .L342
1640
 1647               	/* epilogue: frame size=0 */
1641
 1648 0f0e 0895      		ret
1642
 1649               	/* epilogue end (size=1) */
1643
 1650               	/* function DefaultKonstanten1 size 114 (113) */
1644
 1652               	.global	SendMotorData
1645
 1654               	SendMotorData:
1646
 1655               	/* prologue: frame size=0 */
1647
 1656               	/* prologue end (size=0) */
1648
 1657 0f10 8091 0000 		lds r24,MotorenEin
1649
 1658 0f14 8823      		tst r24
1650
 1659 0f16 01F4      		brne .L347
1651
 1660 0f18 1092 0000 		sts Motor_Hinten,__zero_reg__
1652
 1661 0f1c 1092 0000 		sts Motor_Vorne,__zero_reg__
1653
 1662 0f20 1092 0000 		sts Motor_Rechts,__zero_reg__
1654
 1663 0f24 1092 0000 		sts Motor_Links,__zero_reg__
1655
 1664 0f28 8091 0000 		lds r24,MotorTest
1656
 1665 0f2c 8823      		tst r24
1657
 1666 0f2e 01F0      		breq .L349
1658
 1667 0f30 8093 0000 		sts Motor_Vorne,r24
1659
 1668               	.L349:
1660
 1669 0f34 8091 0000 		lds r24,MotorTest+1
1661
 1670 0f38 8823      		tst r24
1662
 1671 0f3a 01F0      		breq .L351
1663
 1672 0f3c 8093 0000 		sts Motor_Hinten,r24
1664
 1673               	.L351:
1665
 1674 0f40 8091 0000 		lds r24,MotorTest+2
1666
 1675 0f44 8823      		tst r24
1667
 1676 0f46 01F0      		breq .L353
1668
 1677 0f48 8093 0000 		sts Motor_Links,r24
1669
 1678               	.L353:
1670
 1679 0f4c 8091 0000 		lds r24,MotorTest+3
1671
 1680 0f50 8823      		tst r24
1672
 1681 0f52 01F0      		breq .L347
1673
 1682 0f54 8093 0000 		sts Motor_Rechts,r24
1674
 1683               	.L347:
1675
 1684 0f58 8091 0000 		lds r24,Motor_Vorne
1676
 1685 0f5c 9927      		clr r25
1677
 1686 0f5e 9093 0000 		sts (DebugOut+42)+1,r25
1678
 1687 0f62 8093 0000 		sts DebugOut+42,r24
1679
 1688 0f66 8091 0000 		lds r24,Motor_Hinten
1680
 1689 0f6a 9927      		clr r25
1681
 1690 0f6c 9093 0000 		sts (DebugOut+44)+1,r25
1682
 1691 0f70 8093 0000 		sts DebugOut+44,r24
1683
 1692 0f74 8091 0000 		lds r24,Motor_Links
1684
 1693 0f78 9927      		clr r25
1685
 1694 0f7a 9093 0000 		sts (DebugOut+46)+1,r25
1686
 1695 0f7e 8093 0000 		sts DebugOut+46,r24
1687
 1696 0f82 8091 0000 		lds r24,Motor_Rechts
1688
 1697 0f86 9927      		clr r25
1689
 1698 0f88 9093 0000 		sts (DebugOut+48)+1,r25
1690
 1699 0f8c 8093 0000 		sts DebugOut+48,r24
1691
 1700 0f90 1092 0000 		sts twi_state,__zero_reg__
1692
 1701 0f94 1092 0000 		sts motor,__zero_reg__
1693
 1702 0f98 0E94 0000 		call i2c_start
1694
 1703               	/* epilogue: frame size=0 */
1695
 1704 0f9c 0895      		ret
1696
 1705               	/* epilogue end (size=1) */
1697
 1706               	/* function SendMotorData size 71 (70) */
1698
 1708               	.global	SetNeutral
1699
 1710               	SetNeutral:
1700
 1711               	/* prologue: frame size=0 */
1701
 1712 0f9e CF93      		push r28
1702
 1713 0fa0 DF93      		push r29
1703
 1714               	/* prologue end (size=2) */
1704
 1715 0fa2 1092 0000 		sts (NeutralAccX)+1,__zero_reg__
1705
 1716 0fa6 1092 0000 		sts NeutralAccX,__zero_reg__
1706
 1717 0faa 1092 0000 		sts (NeutralAccY)+1,__zero_reg__
1707
 1718 0fae 1092 0000 		sts NeutralAccY,__zero_reg__
1708
 1719 0fb2 80E0      		ldi r24,lo8(0x0)
1709
 1720 0fb4 90E0      		ldi r25,hi8(0x0)
1710
 1721 0fb6 A0E0      		ldi r26,hlo8(0x0)
1711
 1722 0fb8 B0E0      		ldi r27,hhi8(0x0)
1712
 1723 0fba 8093 0000 		sts NeutralAccZ,r24
1713
 1724 0fbe 9093 0000 		sts (NeutralAccZ)+1,r25
1714
 1725 0fc2 A093 0000 		sts (NeutralAccZ)+2,r26
1715
 1726 0fc6 B093 0000 		sts (NeutralAccZ)+3,r27
1716
 1727 0fca 1092 0000 		sts (AdNeutralNick)+1,__zero_reg__
1717
 1728 0fce 1092 0000 		sts AdNeutralNick,__zero_reg__
1718
 1729 0fd2 1092 0000 		sts (AdNeutralRoll)+1,__zero_reg__
1719
 1730 0fd6 1092 0000 		sts AdNeutralRoll,__zero_reg__
1720
 1731 0fda 1092 0000 		sts (AdNeutralGier)+1,__zero_reg__
1721
 1732 0fde 1092 0000 		sts AdNeutralGier,__zero_reg__
1722
 1733 0fe2 0E94 0000 		call CalibrierMittelwert
1723
 1734 0fe6 85E0      		ldi r24,lo8(5)
1724
 1735 0fe8 90E0      		ldi r25,hi8(5)
1725
 1736 0fea 0E94 0000 		call SetDelay
1726
 1737 0fee EC01      		movw r28,r24
1727
 1738               	.L358:
1728
 1739 0ff0 CE01      		movw r24,r28
1729
 1740 0ff2 0E94 0000 		call CheckDelay
1730
 1741 0ff6 8823      		tst r24
1731
 1742 0ff8 01F0      		breq .L358
1732
 1743 0ffa 0E94 0000 		call CalibrierMittelwert
1733
 1744 0ffe 8091 0000 		lds r24,EE_Parameter+8
1734
 1745 1002 80FF      		sbrs r24,0
1735
 1746 1004 00C0      		rjmp .L360
1736
 1747 1006 8091 0000 		lds r24,MessLuftdruck
1737
 1748 100a 9091 0000 		lds r25,(MessLuftdruck)+1
1738
 1749 100e 875B      		subi r24,lo8(951)
1739
 1750 1010 9340      		sbci r25,hi8(951)
1740
 1751 1012 00F4      		brsh .L362
1741
 1752 1014 8091 0000 		lds r24,MessLuftdruck
1742
 1753 1018 9091 0000 		lds r25,(MessLuftdruck)+1
1743
 1754 101c 8E5E      		subi r24,lo8(750)
1744
 1755 101e 9240      		sbci r25,hi8(750)
1745
 1756 1020 00F4      		brsh .L360
1746
 1757               	.L362:
1747
 1758 1022 0E94 0000 		call SucheLuftruckOffset
1748
 1759               	.L360:
1749
 1760 1026 8091 0000 		lds r24,MesswertNick
1750
 1761 102a 9091 0000 		lds r25,(MesswertNick)+1
1751
 1762 102e 97FF      		sbrs r25,7
1752
 1763 1030 00C0      		rjmp .L364
1753
 1764 1032 9095      		com r25
1754
 1765 1034 8195      		neg r24
1755
 1766 1036 9F4F      		sbci r25,lo8(-1)
1756
 1767               	.L364:
1757
 1768 1038 9093 0000 		sts (AdNeutralNick)+1,r25
1758
 1769 103c 8093 0000 		sts AdNeutralNick,r24
1759
 1770 1040 8091 0000 		lds r24,MesswertRoll
1760
 1771 1044 9091 0000 		lds r25,(MesswertRoll)+1
1761
 1772 1048 97FF      		sbrs r25,7
1762
 1773 104a 00C0      		rjmp .L365
1763
 1774 104c 9095      		com r25
1764
 1775 104e 8195      		neg r24
1765
 1776 1050 9F4F      		sbci r25,lo8(-1)
1766
 1777               	.L365:
1767
 1778 1052 9093 0000 		sts (AdNeutralRoll)+1,r25
1768
 1779 1056 8093 0000 		sts AdNeutralRoll,r24
1769
 1780 105a 8091 0000 		lds r24,MesswertGier
1770
 1781 105e 9091 0000 		lds r25,(MesswertGier)+1
1771
 1782 1062 97FF      		sbrs r25,7
1772
 1783 1064 00C0      		rjmp .L366
1773
 1784 1066 9095      		com r25
1774
 1785 1068 8195      		neg r24
1775
 1786 106a 9F4F      		sbci r25,lo8(-1)
1776
 1787               	.L366:
1777
 1788 106c 9093 0000 		sts (AdNeutralGier)+1,r25
1778
 1789 1070 8093 0000 		sts AdNeutralGier,r24
1779
 1790 1074 8091 0000 		lds r24,Mittelwert_AccRoll
1780
 1791 1078 9091 0000 		lds r25,(Mittelwert_AccRoll)+1
1781
 1792 107c 97FF      		sbrs r25,7
1782
 1793 107e 00C0      		rjmp .L367
1783
 1794 1080 9095      		com r25
1784
 1795 1082 8195      		neg r24
1785
 1796 1084 9F4F      		sbci r25,lo8(-1)
1786
 1797               	.L367:
1787
 1798 1086 60E1      		ldi r22,lo8(16)
1788
 1799 1088 70E0      		ldi r23,hi8(16)
1789
 1800 108a 0E94 0000 		call __divmodhi4
1790
 1801 108e 7093 0000 		sts (NeutralAccY)+1,r23
1791
 1802 1092 6093 0000 		sts NeutralAccY,r22
1792
 1803 1096 8091 0000 		lds r24,Mittelwert_AccNick
1793
 1804 109a 9091 0000 		lds r25,(Mittelwert_AccNick)+1
1794
 1805 109e 97FF      		sbrs r25,7
1795
 1806 10a0 00C0      		rjmp .L368
1796
 1807 10a2 9095      		com r25
1797
 1808 10a4 8195      		neg r24
1798
 1809 10a6 9F4F      		sbci r25,lo8(-1)
1799
 1810               	.L368:
1800
 1811 10a8 60E1      		ldi r22,lo8(16)
1801
 1812 10aa 70E0      		ldi r23,hi8(16)
1802
 1813 10ac 0E94 0000 		call __divmodhi4
1803
 1814 10b0 7093 0000 		sts (NeutralAccX)+1,r23
1804
 1815 10b4 6093 0000 		sts NeutralAccX,r22
1805
 1816 10b8 6091 0000 		lds r22,Aktuell_az
1806
 1817 10bc 7091 0000 		lds r23,(Aktuell_az)+1
1807
 1818 10c0 8827      		clr r24
1808
 1819 10c2 77FD      		sbrc r23,7
1809
 1820 10c4 8095      		com r24
1810
 1821 10c6 982F      		mov r25,r24
1811
 1822 10c8 0E94 0000 		call __floatsisf
1812
 1823 10cc 6093 0000 		sts NeutralAccZ,r22
1813
 1824 10d0 7093 0000 		sts (NeutralAccZ)+1,r23
1814
 1825 10d4 8093 0000 		sts (NeutralAccZ)+2,r24
1815
 1826 10d8 9093 0000 		sts (NeutralAccZ)+3,r25
1816
 1827 10dc 1092 0000 		sts Mess_IntegralNick,__zero_reg__
1817
 1828 10e0 1092 0000 		sts (Mess_IntegralNick)+1,__zero_reg__
1818
 1829 10e4 1092 0000 		sts (Mess_IntegralNick)+2,__zero_reg__
1819
 1830 10e8 1092 0000 		sts (Mess_IntegralNick)+3,__zero_reg__
1820
 1831 10ec 1092 0000 		sts Mess_IntegralNick2,__zero_reg__
1821
 1832 10f0 1092 0000 		sts (Mess_IntegralNick2)+1,__zero_reg__
1822
 1833 10f4 1092 0000 		sts (Mess_IntegralNick2)+2,__zero_reg__
1823
 1834 10f8 1092 0000 		sts (Mess_IntegralNick2)+3,__zero_reg__
1824
 1835 10fc 1092 0000 		sts Mess_IntegralRoll,__zero_reg__
1825
 1836 1100 1092 0000 		sts (Mess_IntegralRoll)+1,__zero_reg__
1826
 1837 1104 1092 0000 		sts (Mess_IntegralRoll)+2,__zero_reg__
1827
 1838 1108 1092 0000 		sts (Mess_IntegralRoll)+3,__zero_reg__
1828
 1839 110c 1092 0000 		sts Mess_IntegralRoll2,__zero_reg__
1829
 1840 1110 1092 0000 		sts (Mess_IntegralRoll2)+1,__zero_reg__
1830
 1841 1114 1092 0000 		sts (Mess_IntegralRoll2)+2,__zero_reg__
1831
 1842 1118 1092 0000 		sts (Mess_IntegralRoll2)+3,__zero_reg__
1832
 1843 111c 1092 0000 		sts Mess_Integral_Gier,__zero_reg__
1833
 1844 1120 1092 0000 		sts (Mess_Integral_Gier)+1,__zero_reg__
1834
 1845 1124 1092 0000 		sts (Mess_Integral_Gier)+2,__zero_reg__
1835
 1846 1128 1092 0000 		sts (Mess_Integral_Gier)+3,__zero_reg__
1836
 1847 112c 1092 0000 		sts (MesswertNick)+1,__zero_reg__
1837
 1848 1130 1092 0000 		sts MesswertNick,__zero_reg__
1838
 1849 1134 1092 0000 		sts (MesswertRoll)+1,__zero_reg__
1839
 1850 1138 1092 0000 		sts MesswertRoll,__zero_reg__
1840
 1851 113c 1092 0000 		sts (MesswertGier)+1,__zero_reg__
1841
 1852 1140 1092 0000 		sts MesswertGier,__zero_reg__
1842
 1853 1144 8091 0000 		lds r24,Luftdruck
1843
 1854 1148 9091 0000 		lds r25,(Luftdruck)+1
1844
 1855 114c A091 0000 		lds r26,(Luftdruck)+2
1845
 1856 1150 B091 0000 		lds r27,(Luftdruck)+3
1846
 1857 1154 9093 0000 		sts (StartLuftdruck)+1,r25
1847
 1858 1158 8093 0000 		sts StartLuftdruck,r24
1848
 1859 115c 1092 0000 		sts (HoeheD)+1,__zero_reg__
1849
 1860 1160 1092 0000 		sts HoeheD,__zero_reg__
1850
 1861 1164 1092 0000 		sts Mess_Integral_Hoch,__zero_reg__
1851
 1862 1168 1092 0000 		sts (Mess_Integral_Hoch)+1,__zero_reg__
1852
 1863 116c 1092 0000 		sts (Mess_Integral_Hoch)+2,__zero_reg__
1853
 1864 1170 1092 0000 		sts (Mess_Integral_Hoch)+3,__zero_reg__
1854
 1865 1174 8091 0000 		lds r24,KompassValue
1855
 1866 1178 9091 0000 		lds r25,(KompassValue)+1
1856
 1867 117c 9093 0000 		sts (KompassStartwert)+1,r25
1857
 1868 1180 8093 0000 		sts KompassStartwert,r24
1858
 1869 1184 82E3      		ldi r24,lo8(50)
1859
 1870 1186 90E0      		ldi r25,hi8(50)
1860
 1871 1188 9093 0000 		sts (beeptime)+1,r25
1861
 1872 118c 8093 0000 		sts beeptime,r24
1862
 1873               	/* epilogue: frame size=0 */
1863
 1874 1190 DF91      		pop r29
1864
 1875 1192 CF91      		pop r28
1865
 1876 1194 0895      		ret
1866
 1877               	/* epilogue end (size=3) */
1867
 1878               	/* function SetNeutral size 254 (249) */
1868
 1880               	.global	Piep
1869
 1882               	Piep:
1870
 1883               	/* prologue: frame size=0 */
1871
 1884 1196 1F93      		push r17
1872
 1885               	/* prologue end (size=1) */
1873
 1886 1198 182F      		mov r17,r24
1874
 1887 119a 00C0      		rjmp .L373
1875
 1888               	.L374:
1876
 1889 119c 8091 0000 		lds r24,MotorenEin
1877
 1890 11a0 8823      		tst r24
1878
 1891 11a2 01F4      		brne .L377
1879
 1892 11a4 84E6      		ldi r24,lo8(100)
1880
 1893 11a6 90E0      		ldi r25,hi8(100)
1881
 1894 11a8 9093 0000 		sts (beeptime)+1,r25
1882
 1895 11ac 8093 0000 		sts beeptime,r24
1883
 1896 11b0 8AEF      		ldi r24,lo8(250)
1884
 1897 11b2 90E0      		ldi r25,hi8(250)
1885
 1898 11b4 0E94 0000 		call Delay_ms
1886
 1899               	.L373:
1887
 1900 11b8 1150      		subi r17,1
1888
 1901 11ba 00F4      		brcc .L374
1889
 1902               	.L377:
1890
 1903               	/* epilogue: frame size=0 */
1891
 1904 11bc 1F91      		pop r17
1892
 1905 11be 0895      		ret
1893
 1906               	/* epilogue end (size=2) */
1894
 1907               	/* function Piep size 22 (19) */
1895
 1909               	.global	MotorRegler
1896
 1911               	MotorRegler:
1897
 1912               	/* prologue: frame size=4 */
1898
 1913 11c0 2F92      		push r2
1899
 1914 11c2 3F92      		push r3
1900
 1915 11c4 4F92      		push r4
1901
 1916 11c6 5F92      		push r5
1902
 1917 11c8 6F92      		push r6
1903
 1918 11ca 7F92      		push r7
1904
 1919 11cc 8F92      		push r8
1905
 1920 11ce 9F92      		push r9
1906
 1921 11d0 AF92      		push r10
1907
 1922 11d2 BF92      		push r11
1908
 1923 11d4 CF92      		push r12
1909
 1924 11d6 DF92      		push r13
1910
 1925 11d8 EF92      		push r14
1911
 1926 11da FF92      		push r15
1912
 1927 11dc 0F93      		push r16
1913
 1928 11de 1F93      		push r17
1914
 1929 11e0 CF93      		push r28
1915
 1930 11e2 DF93      		push r29
1916
 1931 11e4 CDB7      		in r28,__SP_L__
1917
 1932 11e6 DEB7      		in r29,__SP_H__
1918
 1933 11e8 2497      		sbiw r28,4
1919
 1934 11ea 0FB6      		in __tmp_reg__,__SREG__
1920
 1935 11ec F894      		cli
1921
 1936 11ee DEBF      		out __SP_H__,r29
1922
 1937 11f0 0FBE      		out __SREG__,__tmp_reg__
1923
 1938 11f2 CDBF      		out __SP_L__,r28
1924
 1939               	/* prologue end (size=26) */
1925
 1940 11f4 0E94 0000 		call Mittelwert
1926
 1941 11f8 299A      		sbi 37-0x20,1
1927
 1942 11fa E091 0000 		lds r30,EE_Parameter+2
1928
 1943 11fe AE2F      		mov r26,r30
1929
 1944 1200 BB27      		clr r27
1930
 1945 1202 AA0F      		lsl r26
1931
 1946 1204 BB1F      		rol r27
1932
 1947 1206 A050      		subi r26,lo8(-(PPM_in))
1933
 1948 1208 B040      		sbci r27,hi8(-(PPM_in))
1934
 1949 120a 0D90      		ld __tmp_reg__,X+
1935
 1950 120c BC91      		ld r27,X
1936
 1951 120e A02D      		mov r26,__tmp_reg__
1937
 1952 1210 9D01      		movw r18,r26
1938
 1953 1212 2858      		subi r18,lo8(-(120))
1939
 1954 1214 3F4F      		sbci r19,hi8(-(120))
1940
 1955 1216 3A83      		std Y+2,r19
1941
 1956 1218 2983      		std Y+1,r18
1942
 1957 121a 37FF      		sbrs r19,7
1943
 1958 121c 00C0      		rjmp .L379
1944
 1959 121e 1A82      		std Y+2,__zero_reg__
1945
 1960 1220 1982      		std Y+1,__zero_reg__
1946
 1961               	.L379:
1947
 1962 1222 8091 0000 		lds r24,SenderOkay
1948
 1963 1226 8436      		cpi r24,lo8(100)
1949
 1964 1228 00F0      		brlo .+2
1950
 1965 122a 00C0      		rjmp .L380
1951
 1966 122c 8091 0000 		lds r24,PcZugriff
1952
 1967 1230 8823      		tst r24
1953
 1968 1232 01F4      		brne .L382
1954
 1969 1234 84EF      		ldi r24,lo8(500)
1955
 1970 1236 91E0      		ldi r25,hi8(500)
1956
 1971 1238 9093 0000 		sts (beeptime)+1,r25
1957
 1972 123c 8093 0000 		sts beeptime,r24
1958
 1973               	.L382:
36 chris2798 1959
 1974 1240 8091 0000 		lds r24,RcLostTimer.2357
1960
 1975 1244 9091 0000 		lds r25,(RcLostTimer.2357)+1
21 user 1961
 1976 1248 0097      		sbiw r24,0
1962
 1977 124a 01F0      		breq .L384
1963
 1978 124c 0197      		sbiw r24,1
36 chris2798 1964
 1979 124e 9093 0000 		sts (RcLostTimer.2357)+1,r25
1965
 1980 1252 8093 0000 		sts RcLostTimer.2357,r24
21 user 1966
 1981 1256 00C0      		rjmp .L386
1967
 1982               	.L384:
1968
 1983 1258 1092 0000 		sts MotorenEin,__zero_reg__
1969
 1984 125c 1092 0000 		sts Notlandung,__zero_reg__
1970
 1985               	.L386:
1971
 1986 1260 289A      		sbi 37-0x20,0
36 chris2798 1972
 1987 1262 8091 0000 		lds r24,modell_fliegt.2361
1973
 1988 1266 9091 0000 		lds r25,(modell_fliegt.2361)+1
21 user 1974
 1989 126a 815D      		subi r24,lo8(2001)
1975
 1990 126c 9740      		sbci r25,hi8(2001)
1976
 1991 126e 00F0      		brlo .L387
1977
 1992 1270 8091 0000 		lds r24,EE_Parameter+25
1978
 1993 1274 482F      		mov r20,r24
1979
 1994 1276 5527      		clr r21
1980
 1995 1278 5A83      		std Y+2,r21
1981
 1996 127a 4983      		std Y+1,r20
1982
 1997 127c 81E0      		ldi r24,lo8(1)
1983
 1998 127e 8093 0000 		sts Notlandung,r24
1984
 1999 1282 E091 0000 		lds r30,EE_Parameter
1985
 2000 1286 FF27      		clr r31
1986
 2001 1288 EE0F      		lsl r30
1987
 2002 128a FF1F      		rol r31
1988
 2003 128c E050      		subi r30,lo8(-(PPM_in))
1989
 2004 128e F040      		sbci r31,hi8(-(PPM_in))
1990
 2005 1290 1182      		std Z+1,__zero_reg__
1991
 2006 1292 1082      		st Z,__zero_reg__
1992
 2007 1294 E091 0000 		lds r30,EE_Parameter+1
1993
 2008 1298 FF27      		clr r31
1994
 2009 129a EE0F      		lsl r30
1995
 2010 129c FF1F      		rol r31
1996
 2011 129e E050      		subi r30,lo8(-(PPM_in))
1997
 2012 12a0 F040      		sbci r31,hi8(-(PPM_in))
1998
 2013 12a2 1182      		std Z+1,__zero_reg__
1999
 2014 12a4 1082      		st Z,__zero_reg__
2000
 2015 12a6 E091 0000 		lds r30,EE_Parameter+3
2001
 2016 12aa FF27      		clr r31
2002
 2017 12ac EE0F      		lsl r30
2003
 2018 12ae FF1F      		rol r31
2004
 2019 12b0 E050      		subi r30,lo8(-(PPM_in))
2005
 2020 12b2 F040      		sbci r31,hi8(-(PPM_in))
2006
 2021 12b4 1182      		std Z+1,__zero_reg__
2007
 2022 12b6 1082      		st Z,__zero_reg__
2008
 2023 12b8 00C0      		rjmp .L389
2009
 2024               	.L387:
2010
 2025 12ba 1092 0000 		sts MotorenEin,__zero_reg__
2011
 2026 12be 00C0      		rjmp .L389
2012
 2027               	.L380:
2013
 2028 12c0 8091 0000 		lds r24,SenderOkay
2014
 2029 12c4 8D38      		cpi r24,lo8(-115)
2015
 2030 12c6 00F4      		brsh .+2
2016
 2031 12c8 00C0      		rjmp .L389
2017
 2032 12ca 1092 0000 		sts Notlandung,__zero_reg__
2018
 2033 12ce 8091 0000 		lds r24,EE_Parameter+26
2019
 2034 12d2 22E3      		ldi r18,lo8(50)
2020
 2035 12d4 829F      		mul r24,r18
2021
 2036 12d6 C001      		movw r24,r0
2022
 2037 12d8 1124      		clr r1
36 chris2798 2023
 2038 12da 9093 0000 		sts (RcLostTimer.2357)+1,r25
2024
 2039 12de 8093 0000 		sts RcLostTimer.2357,r24
21 user 2025
 2040 12e2 6981      		ldd r22,Y+1
2026
 2041 12e4 7A81      		ldd r23,Y+2
2027
 2042 12e6 6932      		cpi r22,41
2028
 2043 12e8 7105      		cpc r23,__zero_reg__
2029
 2044 12ea 04F0      		brlt .L391
36 chris2798 2030
 2045 12ec 8091 0000 		lds r24,modell_fliegt.2361
2031
 2046 12f0 9091 0000 		lds r25,(modell_fliegt.2361)+1
21 user 2032
 2047 12f4 7FEF      		ldi r23,hi8(-1)
2033
 2048 12f6 8F3F      		cpi r24,lo8(-1)
2034
 2049 12f8 9707      		cpc r25,r23
2035
 2050 12fa 01F0      		breq .L393
2036
 2051 12fc 0196      		adiw r24,1
36 chris2798 2037
 2052 12fe 9093 0000 		sts (modell_fliegt.2361)+1,r25
2038
 2053 1302 8093 0000 		sts modell_fliegt.2361,r24
21 user 2039
 2054               	.L391:
36 chris2798 2040
 2055 1306 8091 0000 		lds r24,modell_fliegt.2361
2041
 2056 130a 9091 0000 		lds r25,(modell_fliegt.2361)+1
21 user 2042
 2057 130e 883C      		cpi r24,200
2043
 2058 1310 9105      		cpc r25,__zero_reg__
2044
 2059 1312 00F0      		brlo .L395
2045
 2060 1314 8981      		ldd r24,Y+1
2046
 2061 1316 9A81      		ldd r25,Y+2
2047
 2062 1318 8897      		sbiw r24,40
2048
 2063 131a 04F4      		brge .L393
2049
 2064               	.L395:
36 chris2798 2050
 2065 131c 1092 0000 		sts SummeNick.2350,__zero_reg__
2051
 2066 1320 1092 0000 		sts (SummeNick.2350)+1,__zero_reg__
2052
 2067 1324 1092 0000 		sts (SummeNick.2350)+2,__zero_reg__
2053
 2068 1328 1092 0000 		sts (SummeNick.2350)+3,__zero_reg__
2054
 2069 132c 1092 0000 		sts SummeRoll.2351,__zero_reg__
2055
 2070 1330 1092 0000 		sts (SummeRoll.2351)+1,__zero_reg__
2056
 2071 1334 1092 0000 		sts (SummeRoll.2351)+2,__zero_reg__
2057
 2072 1338 1092 0000 		sts (SummeRoll.2351)+3,__zero_reg__
21 user 2058
 2073 133c 1092 0000 		sts Mess_Integral_Gier,__zero_reg__
2059
 2074 1340 1092 0000 		sts (Mess_Integral_Gier)+1,__zero_reg__
2060
 2075 1344 1092 0000 		sts (Mess_Integral_Gier)+2,__zero_reg__
2061
 2076 1348 1092 0000 		sts (Mess_Integral_Gier)+3,__zero_reg__
2062
 2077 134c 1092 0000 		sts Mess_Integral_Gier2,__zero_reg__
2063
 2078 1350 1092 0000 		sts (Mess_Integral_Gier2)+1,__zero_reg__
2064
 2079 1354 1092 0000 		sts (Mess_Integral_Gier2)+2,__zero_reg__
2065
 2080 1358 1092 0000 		sts (Mess_Integral_Gier2)+3,__zero_reg__
2066
 2081               	.L393:
2067
 2082 135c E981      		ldd r30,Y+1
2068
 2083 135e FA81      		ldd r31,Y+2
2069
 2084 1360 E93C      		cpi r30,201
2070
 2085 1362 F105      		cpc r31,__zero_reg__
2071
 2086 1364 04F4      		brge .+2
2072
 2087 1366 00C0      		rjmp .L397
2073
 2088 1368 8091 0000 		lds r24,MotorenEin
2074
 2089 136c 8823      		tst r24
2075
 2090 136e 01F0      		breq .+2
2076
 2091 1370 00C0      		rjmp .L389
2077
 2092 1372 E091 0000 		lds r30,EE_Parameter+3
2078
 2093 1376 FF27      		clr r31
2079
 2094 1378 EE0F      		lsl r30
2080
 2095 137a FF1F      		rol r31
2081
 2096 137c E050      		subi r30,lo8(-(PPM_in))
2082
 2097 137e F040      		sbci r31,hi8(-(PPM_in))
2083
 2098 1380 8081      		ld r24,Z
2084
 2099 1382 9181      		ldd r25,Z+1
2085
 2100 1384 8C34      		cpi r24,76
2086
 2101 1386 9105      		cpc r25,__zero_reg__
2087
 2102 1388 04F4      		brge .+2
2088
 2103 138a 00C0      		rjmp .L400
36 chris2798 2089
 2104 138c 8091 0000 		lds r24,delay_neutral.2358
21 user 2090
 2105 1390 8F5F      		subi r24,lo8(-(1))
36 chris2798 2091
 2106 1392 8093 0000 		sts delay_neutral.2358,r24
21 user 2092
 2107 1396 893C      		cpi r24,lo8(-55)
2093
 2108 1398 00F4      		brsh .+2
2094
 2109 139a 00C0      		rjmp .L389
2095
 2110 139c 2998      		cbi 37-0x20,1
2096
 2111 139e 0E94 0000 		call SetNeutral
2097
 2112 13a2 1092 0000 		sts MotorenEin,__zero_reg__
36 chris2798 2098
 2113 13a6 1092 0000 		sts delay_neutral.2358,__zero_reg__
2099
 2114 13aa 1092 0000 		sts (modell_fliegt.2361)+1,__zero_reg__
2100
 2115 13ae 1092 0000 		sts modell_fliegt.2361,__zero_reg__
21 user 2101
 2116 13b2 8091 0000 		lds r24,EE_Parameter
2102
 2117 13b6 282F      		mov r18,r24
2103
 2118 13b8 3327      		clr r19
2104
 2119 13ba F901      		movw r30,r18
2105
 2120 13bc EE0F      		lsl r30
2106
 2121 13be FF1F      		rol r31
2107
 2122 13c0 E050      		subi r30,lo8(-(PPM_in))
2108
 2123 13c2 F040      		sbci r31,hi8(-(PPM_in))
2109
 2124 13c4 8081      		ld r24,Z
2110
 2125 13c6 9181      		ldd r25,Z+1
2111
 2126 13c8 8734      		cpi r24,71
2112
 2127 13ca 9105      		cpc r25,__zero_reg__
2113
 2128 13cc 04F4      		brge .L403
2114
 2129 13ce E091 0000 		lds r30,EE_Parameter+1
2115
 2130 13d2 FF27      		clr r31
2116
 2131 13d4 EE0F      		lsl r30
2117
 2132 13d6 FF1F      		rol r31
2118
 2133 13d8 E050      		subi r30,lo8(-(PPM_in))
2119
 2134 13da F040      		sbci r31,hi8(-(PPM_in))
2120
 2135 13dc 0190      		ld __tmp_reg__,Z+
2121
 2136 13de F081      		ld r31,Z
2122
 2137 13e0 E02D      		mov r30,__tmp_reg__
2123
 2138 13e2 F7FF      		sbrs r31,7
2124
 2139 13e4 00C0      		rjmp .L406
2125
 2140 13e6 F095      		com r31
2126
 2141 13e8 E195      		neg r30
2127
 2142 13ea FF4F      		sbci r31,lo8(-1)
2128
 2143               	.L406:
2129
 2144 13ec E734      		cpi r30,71
2130
 2145 13ee F105      		cpc r31,__zero_reg__
2131
 2146 13f0 04F4      		brge .+2
2132
 2147 13f2 00C0      		rjmp .L405
2133
 2148               	.L403:
2134
 2149 13f4 8091 0000 		lds r24,EE_Parameter+1
2135
 2150 13f8 682F      		mov r22,r24
2136
 2151 13fa 7727      		clr r23
2137
 2152 13fc DB01      		movw r26,r22
2138
 2153 13fe AA0F      		lsl r26
2139
 2154 1400 BB1F      		rol r27
2140
 2155 1402 A050      		subi r26,lo8(-(PPM_in))
2141
 2156 1404 B040      		sbci r27,hi8(-(PPM_in))
2142
 2157 1406 8D91      		ld r24,X+
2143
 2158 1408 9C91      		ld r25,X
2144
 2159 140a 1197      		sbiw r26,1
2145
 2160 140c 8734      		cpi r24,71
2146
 2161 140e 9105      		cpc r25,__zero_reg__
2147
 2162 1410 04F0      		brlt .L407
2148
 2163 1412 F901      		movw r30,r18
2149
 2164 1414 EE0F      		lsl r30
2150
 2165 1416 FF1F      		rol r31
2151
 2166 1418 E050      		subi r30,lo8(-(PPM_in))
2152
 2167 141a F040      		sbci r31,hi8(-(PPM_in))
2153
 2168 141c 8081      		ld r24,Z
2154
 2169 141e 9181      		ldd r25,Z+1
2155
 2170               	.L407:
2156
 2171 1420 8D91      		ld r24,X+
2157
 2172 1422 9C91      		ld r25,X
2158
 2173 1424 8734      		cpi r24,71
2159
 2174 1426 9105      		cpc r25,__zero_reg__
2160
 2175 1428 04F0      		brlt .L409
2161
 2176 142a F901      		movw r30,r18
2162
 2177 142c EE0F      		lsl r30
2163
 2178 142e FF1F      		rol r31
2164
 2179 1430 E050      		subi r30,lo8(-(PPM_in))
2165
 2180 1432 F040      		sbci r31,hi8(-(PPM_in))
2166
 2181 1434 8081      		ld r24,Z
2167
 2182 1436 9181      		ldd r25,Z+1
2168
 2183 1438 8734      		cpi r24,71
2169
 2184 143a 9105      		cpc r25,__zero_reg__
2170
 2185 143c 04F0      		brlt .L409
2171
 2186 143e 42E0      		ldi r20,lo8(2)
2172
 2187 1440 00C0      		rjmp .L412
2173
 2188               	.L409:
2174
 2189 1442 41E0      		ldi r20,lo8(1)
2175
 2190               	.L412:
2176
 2191 1444 FB01      		movw r30,r22
2177
 2192 1446 EE0F      		lsl r30
2178
 2193 1448 FF1F      		rol r31
2179
 2194 144a E050      		subi r30,lo8(-(PPM_in))
2180
 2195 144c F040      		sbci r31,hi8(-(PPM_in))
2181
 2196 144e 8081      		ld r24,Z
2182
 2197 1450 9181      		ldd r25,Z+1
2183
 2198 1452 8634      		cpi r24,70
2184
 2199 1454 9105      		cpc r25,__zero_reg__
2185
 2200 1456 04F4      		brge .L413
2186
 2201 1458 F901      		movw r30,r18
2187
 2202 145a EE0F      		lsl r30
2188
 2203 145c FF1F      		rol r31
2189
 2204 145e E050      		subi r30,lo8(-(PPM_in))
2190
 2205 1460 F040      		sbci r31,hi8(-(PPM_in))
2191
 2206 1462 8081      		ld r24,Z
2192
 2207 1464 9181      		ldd r25,Z+1
2193
 2208 1466 8734      		cpi r24,71
2194
 2209 1468 9105      		cpc r25,__zero_reg__
2195
 2210 146a 04F0      		brlt .L413
2196
 2211 146c 43E0      		ldi r20,lo8(3)
2197
 2212               	.L413:
2198
 2213 146e FB01      		movw r30,r22
2199
 2214 1470 EE0F      		lsl r30
2200
 2215 1472 FF1F      		rol r31
2201
 2216 1474 E050      		subi r30,lo8(-(PPM_in))
2202
 2217 1476 F040      		sbci r31,hi8(-(PPM_in))
2203
 2218 1478 8081      		ld r24,Z
2204
 2219 147a 9181      		ldd r25,Z+1
2205
 2220 147c 8A5B      		subi r24,lo8(-70)
2206
 2221 147e 9F4F      		sbci r25,hi8(-70)
2207
 2222 1480 04F4      		brge .L416
2208
 2223 1482 F901      		movw r30,r18
2209
 2224 1484 EE0F      		lsl r30
2210
 2225 1486 FF1F      		rol r31
2211
 2226 1488 E050      		subi r30,lo8(-(PPM_in))
2212
 2227 148a F040      		sbci r31,hi8(-(PPM_in))
2213
 2228 148c 8081      		ld r24,Z
2214
 2229 148e 9181      		ldd r25,Z+1
2215
 2230 1490 8734      		cpi r24,71
2216
 2231 1492 9105      		cpc r25,__zero_reg__
2217
 2232 1494 04F0      		brlt .L416
2218
 2233 1496 44E0      		ldi r20,lo8(4)
2219
 2234               	.L416:
2220
 2235 1498 660F      		lsl r22
2221
 2236 149a 771F      		rol r23
2222
 2237 149c 6050      		subi r22,lo8(-(PPM_in))
2223
 2238 149e 7040      		sbci r23,hi8(-(PPM_in))
2224
 2239 14a0 FB01      		movw r30,r22
2225
 2240 14a2 8081      		ld r24,Z
2226
 2241 14a4 9181      		ldd r25,Z+1
2227
 2242 14a6 8A5B      		subi r24,lo8(-70)
2228
 2243 14a8 9F4F      		sbci r25,hi8(-70)
2229
 2244 14aa 04F4      		brge .L419
2230
 2245 14ac 220F      		lsl r18
2231
 2246 14ae 331F      		rol r19
2232
 2247 14b0 2050      		subi r18,lo8(-(PPM_in))
2233
 2248 14b2 3040      		sbci r19,hi8(-(PPM_in))
2234
 2249 14b4 F901      		movw r30,r18
2235
 2250 14b6 8081      		ld r24,Z
2236
 2251 14b8 9181      		ldd r25,Z+1
2237
 2252 14ba 8634      		cpi r24,70
2238
 2253 14bc 9105      		cpc r25,__zero_reg__
2239
 2254 14be 04F4      		brge .L419
2240
 2255 14c0 45E0      		ldi r20,lo8(5)
2241
 2256               	.L419:
2242
 2257 14c2 A0E0      		ldi r26,lo8(EEPromArray+2)
2243
 2258 14c4 B0E0      		ldi r27,hi8(EEPromArray+2)
2244
 2259               	/* #APP */
2245
 2260 14c6 042E      		mov __tmp_reg__,r20
2246
 2261 14c8 0E94 0000 		call __eeprom_write_byte_1F2021
2247
 2262               	/* #NOAPP */
2248
 2263               	.L405:
2249
 2264 14cc 0E94 0000 		call GetActiveParamSetNumber
2250
 2265 14d0 4AE3      		ldi r20,lo8(58)
2251
 2266 14d2 60E0      		ldi r22,lo8(EE_Parameter)
2252
 2267 14d4 70E0      		ldi r23,hi8(EE_Parameter)
2253
 2268 14d6 0E94 0000 		call ReadParameterSet
2254
 2269 14da 0E94 0000 		call GetActiveParamSetNumber
2255
 2270 14de 0E94 0000 		call Piep
2256
 2271 14e2 8091 0000 		lds r24,EE_Parameter+8
2257
 2272 14e6 80FF      		sbrs r24,0
2258
 2273 14e8 00C0      		rjmp .L389
2259
 2274 14ea 8091 0000 		lds r24,MessLuftdruck
2260
 2275 14ee 9091 0000 		lds r25,(MessLuftdruck)+1
2261
 2276 14f2 875B      		subi r24,lo8(951)
2262
 2277 14f4 9340      		sbci r25,hi8(951)
2263
 2278 14f6 00F4      		brsh .L423
2264
 2279 14f8 8091 0000 		lds r24,MessLuftdruck
2265
 2280 14fc 9091 0000 		lds r25,(MessLuftdruck)+1
2266
 2281 1500 8E5E      		subi r24,lo8(750)
2267
 2282 1502 9240      		sbci r25,hi8(750)
2268
 2283 1504 00F0      		brlo .+2
2269
 2284 1506 00C0      		rjmp .L389
2270
 2285               	.L423:
2271
 2286 1508 0E94 0000 		call SucheLuftruckOffset
2272
 2287 150c 00C0      		rjmp .L389
2273
 2288               	.L400:
36 chris2798 2274
 2289 150e 1092 0000 		sts delay_neutral.2358,__zero_reg__
21 user 2275
 2290 1512 00C0      		rjmp .L389
2276
 2291               	.L397:
2277
 2292 1514 4981      		ldd r20,Y+1
2278
 2293 1516 5A81      		ldd r21,Y+2
2279
 2294 1518 4332      		cpi r20,35
2280
 2295 151a 5105      		cpc r21,__zero_reg__
2281
 2296 151c 04F0      		brlt .+2
2282
 2297 151e 00C0      		rjmp .L389
2283
 2298 1520 8091 0000 		lds r24,EE_Parameter+3
2284
 2299 1524 482F      		mov r20,r24
2285
 2300 1526 5527      		clr r21
2286
 2301 1528 FA01      		movw r30,r20
2287
 2302 152a EE0F      		lsl r30
2288
 2303 152c FF1F      		rol r31
2289
 2304 152e E050      		subi r30,lo8(-(PPM_in))
2290
 2305 1530 F040      		sbci r31,hi8(-(PPM_in))
2291
 2306 1532 8081      		ld r24,Z
2292
 2307 1534 9181      		ldd r25,Z+1
2293
 2308 1536 855B      		subi r24,lo8(-75)
2294
 2309 1538 9F4F      		sbci r25,hi8(-75)
2295
 2310 153a 04F0      		brlt .+2
2296
 2311 153c 00C0      		rjmp .L426
36 chris2798 2297
 2312 153e 8091 0000 		lds r24,delay_einschalten.2359
21 user 2298
 2313 1542 8F5F      		subi r24,lo8(-(1))
36 chris2798 2299
 2314 1544 8093 0000 		sts delay_einschalten.2359,r24
21 user 2300
 2315 1548 893C      		cpi r24,lo8(-55)
2301
 2316 154a 00F4      		brsh .+2
2302
 2317 154c 00C0      		rjmp .L428
2303
 2318 154e 88EC      		ldi r24,lo8(-56)
36 chris2798 2304
 2319 1550 8093 0000 		sts delay_einschalten.2359,r24
21 user 2305
 2320 1554 81E0      		ldi r24,lo8(1)
2306
 2321 1556 90E0      		ldi r25,hi8(1)
36 chris2798 2307
 2322 1558 9093 0000 		sts (modell_fliegt.2361)+1,r25
2308
 2323 155c 8093 0000 		sts modell_fliegt.2361,r24
21 user 2309
 2324 1560 81E0      		ldi r24,lo8(1)
2310
 2325 1562 8093 0000 		sts MotorenEin,r24
36 chris2798 2311
 2326 1566 1092 0000 		sts sollGier.2352,__zero_reg__
2312
 2327 156a 1092 0000 		sts (sollGier.2352)+1,__zero_reg__
2313
 2328 156e 1092 0000 		sts (sollGier.2352)+2,__zero_reg__
2314
 2329 1572 1092 0000 		sts (sollGier.2352)+3,__zero_reg__
21 user 2315
 2330 1576 1092 0000 		sts Mess_Integral_Gier,__zero_reg__
2316
 2331 157a 1092 0000 		sts (Mess_Integral_Gier)+1,__zero_reg__
2317
 2332 157e 1092 0000 		sts (Mess_Integral_Gier)+2,__zero_reg__
2318
 2333 1582 1092 0000 		sts (Mess_Integral_Gier)+3,__zero_reg__
2319
 2334 1586 1092 0000 		sts Mess_Integral_Gier2,__zero_reg__
2320
 2335 158a 1092 0000 		sts (Mess_Integral_Gier2)+1,__zero_reg__
2321
 2336 158e 1092 0000 		sts (Mess_Integral_Gier2)+2,__zero_reg__
2322
 2337 1592 1092 0000 		sts (Mess_Integral_Gier2)+3,__zero_reg__
2323
 2338 1596 1092 0000 		sts Mess_IntegralNick,__zero_reg__
2324
 2339 159a 1092 0000 		sts (Mess_IntegralNick)+1,__zero_reg__
2325
 2340 159e 1092 0000 		sts (Mess_IntegralNick)+2,__zero_reg__
2326
 2341 15a2 1092 0000 		sts (Mess_IntegralNick)+3,__zero_reg__
2327
 2342 15a6 1092 0000 		sts Mess_IntegralRoll,__zero_reg__
2328
 2343 15aa 1092 0000 		sts (Mess_IntegralRoll)+1,__zero_reg__
2329
 2344 15ae 1092 0000 		sts (Mess_IntegralRoll)+2,__zero_reg__
2330
 2345 15b2 1092 0000 		sts (Mess_IntegralRoll)+3,__zero_reg__
2331
 2346 15b6 8091 0000 		lds r24,IntegralNick
2332
 2347 15ba 9091 0000 		lds r25,(IntegralNick)+1
2333
 2348 15be A091 0000 		lds r26,(IntegralNick)+2
2334
 2349 15c2 B091 0000 		lds r27,(IntegralNick)+3
2335
 2350 15c6 8093 0000 		sts Mess_IntegralNick2,r24
2336
 2351 15ca 9093 0000 		sts (Mess_IntegralNick2)+1,r25
2337
 2352 15ce A093 0000 		sts (Mess_IntegralNick2)+2,r26
2338
 2353 15d2 B093 0000 		sts (Mess_IntegralNick2)+3,r27
2339
 2354 15d6 8091 0000 		lds r24,IntegralRoll
2340
 2355 15da 9091 0000 		lds r25,(IntegralRoll)+1
2341
 2356 15de A091 0000 		lds r26,(IntegralRoll)+2
2342
 2357 15e2 B091 0000 		lds r27,(IntegralRoll)+3
2343
 2358 15e6 8093 0000 		sts Mess_IntegralRoll2,r24
2344
 2359 15ea 9093 0000 		sts (Mess_IntegralRoll2)+1,r25
2345
 2360 15ee A093 0000 		sts (Mess_IntegralRoll2)+2,r26
2346
 2361 15f2 B093 0000 		sts (Mess_IntegralRoll2)+3,r27
36 chris2798 2347
 2362 15f6 1092 0000 		sts SummeNick.2350,__zero_reg__
2348
 2363 15fa 1092 0000 		sts (SummeNick.2350)+1,__zero_reg__
2349
 2364 15fe 1092 0000 		sts (SummeNick.2350)+2,__zero_reg__
2350
 2365 1602 1092 0000 		sts (SummeNick.2350)+3,__zero_reg__
2351
 2366 1606 1092 0000 		sts SummeRoll.2351,__zero_reg__
2352
 2367 160a 1092 0000 		sts (SummeRoll.2351)+1,__zero_reg__
2353
 2368 160e 1092 0000 		sts (SummeRoll.2351)+2,__zero_reg__
2354
 2369 1612 1092 0000 		sts (SummeRoll.2351)+3,__zero_reg__
21 user 2355
 2370 1616 00C0      		rjmp .L428
2356
 2371               	.L426:
36 chris2798 2357
 2372 1618 1092 0000 		sts delay_einschalten.2359,__zero_reg__
21 user 2358
 2373               	.L428:
2359
 2374 161c 440F      		lsl r20
2360
 2375 161e 551F      		rol r21
2361
 2376 1620 4050      		subi r20,lo8(-(PPM_in))
2362
 2377 1622 5040      		sbci r21,hi8(-(PPM_in))
2363
 2378 1624 FA01      		movw r30,r20
2364
 2379 1626 8081      		ld r24,Z
2365
 2380 1628 9181      		ldd r25,Z+1
2366
 2381 162a 8C34      		cpi r24,76
2367
 2382 162c 9105      		cpc r25,__zero_reg__
2368
 2383 162e 04F0      		brlt .L430
36 chris2798 2369
 2384 1630 8091 0000 		lds r24,delay_ausschalten.2360
21 user 2370
 2385 1634 8F5F      		subi r24,lo8(-(1))
36 chris2798 2371
 2386 1636 8093 0000 		sts delay_ausschalten.2360,r24
21 user 2372
 2387 163a 893C      		cpi r24,lo8(-55)
2373
 2388 163c 00F0      		brlo .L389
2374
 2389 163e 1092 0000 		sts MotorenEin,__zero_reg__
2375
 2390 1642 88EC      		ldi r24,lo8(-56)
36 chris2798 2376
 2391 1644 8093 0000 		sts delay_ausschalten.2360,r24
2377
 2392 1648 1092 0000 		sts (modell_fliegt.2361)+1,__zero_reg__
2378
 2393 164c 1092 0000 		sts modell_fliegt.2361,__zero_reg__
21 user 2379
 2394 1650 00C0      		rjmp .L389
2380
 2395               	.L430:
36 chris2798 2381
 2396 1652 1092 0000 		sts delay_ausschalten.2360,__zero_reg__
21 user 2382
 2397               	.L389:
2383
 2398 1656 8091 0000 		lds r24,NewPpmData
2384
 2399 165a 8150      		subi r24,lo8(-(-1))
2385
 2400 165c 8093 0000 		sts NewPpmData,r24
2386
 2401 1660 8091 0000 		lds r24,NewPpmData
2387
 2402 1664 8F3F      		cpi r24,lo8(-1)
2388
 2403 1666 01F0      		breq .L433
2389
 2404 1668 8091 0000 		lds r24,Notlandung
2390
 2405 166c 8823      		tst r24
2391
 2406 166e 01F4      		brne .+2
2392
 2407 1670 00C0      		rjmp .L435
2393
 2408               	.L433:
2394
 2409 1672 0E94 0000 		call ParameterZuordnung
2395
 2410 1676 E091 0000 		lds r30,EE_Parameter
2396
 2411 167a FF27      		clr r31
2397
 2412 167c EE0F      		lsl r30
2398
 2413 167e FF1F      		rol r31
2399
 2414 1680 DF01      		movw r26,r30
2400
 2415 1682 A050      		subi r26,lo8(-(PPM_in))
2401
 2416 1684 B040      		sbci r27,hi8(-(PPM_in))
2402
 2417 1686 8D91      		ld r24,X+
2403
 2418 1688 9C91      		ld r25,X
2404
 2419 168a 6091 0000 		lds r22,EE_Parameter+15
2405
 2420 168e 7727      		clr r23
2406
 2421 1690 E050      		subi r30,lo8(-(PPM_diff))
2407
 2422 1692 F040      		sbci r31,hi8(-(PPM_diff))
2408
 2423 1694 2081      		ld r18,Z
2409
 2424 1696 3181      		ldd r19,Z+1
2410
 2425 1698 4091 0000 		lds r20,EE_Parameter+16
2411
 2426 169c 5527      		clr r21
2412
 2427 169e FC01      		movw r30,r24
2413
 2428 16a0 E69F      		mul r30,r22
2414
 2429 16a2 C001      		movw r24,r0
2415
 2430 16a4 E79F      		mul r30,r23
2416
 2431 16a6 900D      		add r25,r0
2417
 2432 16a8 F69F      		mul r31,r22
2418
 2433 16aa 900D      		add r25,r0
2419
 2434 16ac 1124      		clr r1
2420
 2435 16ae F901      		movw r30,r18
2421
 2436 16b0 E49F      		mul r30,r20
2422
 2437 16b2 9001      		movw r18,r0
2423
 2438 16b4 E59F      		mul r30,r21
2424
 2439 16b6 300D      		add r19,r0
2425
 2440 16b8 F49F      		mul r31,r20
2426
 2441 16ba 300D      		add r19,r0
2427
 2442 16bc 1124      		clr r1
2428
 2443 16be 820F      		add r24,r18
2429
 2444 16c0 931F      		adc r25,r19
2430
 2445 16c2 9093 0000 		sts (StickNick)+1,r25
2431
 2446 16c6 8093 0000 		sts StickNick,r24
2432
 2447 16ca E091 0000 		lds r30,EE_Parameter+1
2433
 2448 16ce FF27      		clr r31
2434
 2449 16d0 EE0F      		lsl r30
2435
 2450 16d2 FF1F      		rol r31
2436
 2451 16d4 DF01      		movw r26,r30
2437
 2452 16d6 A050      		subi r26,lo8(-(PPM_in))
2438
 2453 16d8 B040      		sbci r27,hi8(-(PPM_in))
2439
 2454 16da 8D91      		ld r24,X+
2440
 2455 16dc 9C91      		ld r25,X
2441
 2456 16de E050      		subi r30,lo8(-(PPM_diff))
2442
 2457 16e0 F040      		sbci r31,hi8(-(PPM_diff))
2443
 2458 16e2 2081      		ld r18,Z
2444
 2459 16e4 3181      		ldd r19,Z+1
2445
 2460 16e6 FC01      		movw r30,r24
2446
 2461 16e8 E69F      		mul r30,r22
2447
 2462 16ea C001      		movw r24,r0
2448
 2463 16ec E79F      		mul r30,r23
2449
 2464 16ee 900D      		add r25,r0
2450
 2465 16f0 F69F      		mul r31,r22
2451
 2466 16f2 900D      		add r25,r0
2452
 2467 16f4 1124      		clr r1
2453
 2468 16f6 B901      		movw r22,r18
2454
 2469 16f8 649F      		mul r22,r20
2455
 2470 16fa 9001      		movw r18,r0
2456
 2471 16fc 659F      		mul r22,r21
2457
 2472 16fe 300D      		add r19,r0
2458
 2473 1700 749F      		mul r23,r20
2459
 2474 1702 300D      		add r19,r0
2460
 2475 1704 1124      		clr r1
2461
 2476 1706 820F      		add r24,r18
2462
 2477 1708 931F      		adc r25,r19
2463
 2478 170a 9093 0000 		sts (StickRoll)+1,r25
2464
 2479 170e 8093 0000 		sts StickRoll,r24
2465
 2480 1712 E091 0000 		lds r30,EE_Parameter+3
2466
 2481 1716 FF27      		clr r31
2467
 2482 1718 EE0F      		lsl r30
2468
 2483 171a FF1F      		rol r31
2469
 2484 171c E050      		subi r30,lo8(-(PPM_in))
2470
 2485 171e F040      		sbci r31,hi8(-(PPM_in))
2471
 2486 1720 8081      		ld r24,Z
2472
 2487 1722 9181      		ldd r25,Z+1
2473
 2488 1724 9095      		com r25
2474
 2489 1726 8195      		neg r24
2475
 2490 1728 9F4F      		sbci r25,lo8(-1)
2476
 2491 172a 9093 0000 		sts (StickGier)+1,r25
2477
 2492 172e 8093 0000 		sts StickGier,r24
2478
 2493 1732 1091 0000 		lds r17,Parameter_Gyro_P
2479
 2494 1736 612F      		mov r22,r17
2480
 2495 1738 7727      		clr r23
2481
 2496 173a 67FD      		sbrc r22,7
2482
 2497 173c 7095      		com r23
2483
 2498 173e 872F      		mov r24,r23
2484
 2499 1740 972F      		mov r25,r23
2485
 2500 1742 0E94 0000 		call __floatsisf
2486
 2501 1746 17FF      		sbrs r17,7
2487
 2502 1748 00C0      		rjmp .L436
2488
 2503 174a 20E0      		ldi r18,lo8(0x43800000)
2489
 2504 174c 30E0      		ldi r19,hi8(0x43800000)
2490
 2505 174e 40E8      		ldi r20,hlo8(0x43800000)
2491
 2506 1750 53E4      		ldi r21,hhi8(0x43800000)
2492
 2507 1752 0E94 0000 		call __addsf3
2493
 2508               	.L436:
2494
 2509 1756 20E0      		ldi r18,lo8(0x41200000)
2495
 2510 1758 30E0      		ldi r19,hi8(0x41200000)
2496
 2511 175a 40E2      		ldi r20,hlo8(0x41200000)
2497
 2512 175c 51E4      		ldi r21,hhi8(0x41200000)
2498
 2513 175e 0E94 0000 		call __addsf3
2499
 2514 1762 20E0      		ldi r18,lo8(0x3b800000)
2500
 2515 1764 30E0      		ldi r19,hi8(0x3b800000)
2501
 2516 1766 40E8      		ldi r20,hlo8(0x3b800000)
2502
 2517 1768 5BE3      		ldi r21,hhi8(0x3b800000)
2503
 2518 176a 0E94 0000 		call __mulsf3
2504
 2519 176e 5B01      		movw r10,r22
2505
 2520 1770 6C01      		movw r12,r24
2506
 2521 1772 6093 0000 		sts GyroFaktor,r22
2507
 2522 1776 7093 0000 		sts (GyroFaktor)+1,r23
2508
 2523 177a 8093 0000 		sts (GyroFaktor)+2,r24
2509
 2524 177e 9093 0000 		sts (GyroFaktor)+3,r25
2510
 2525 1782 1091 0000 		lds r17,Parameter_Gyro_I
2511
 2526 1786 612F      		mov r22,r17
2512
 2527 1788 7727      		clr r23
2513
 2528 178a 67FD      		sbrc r22,7
2514
 2529 178c 7095      		com r23
2515
 2530 178e 872F      		mov r24,r23
2516
 2531 1790 972F      		mov r25,r23
2517
 2532 1792 0E94 0000 		call __floatsisf
2518
 2533 1796 17FF      		sbrs r17,7
2519
 2534 1798 00C0      		rjmp .L437
2520
 2535 179a 20E0      		ldi r18,lo8(0x43800000)
2521
 2536 179c 30E0      		ldi r19,hi8(0x43800000)
2522
 2537 179e 40E8      		ldi r20,hlo8(0x43800000)
2523
 2538 17a0 53E4      		ldi r21,hhi8(0x43800000)
2524
 2539 17a2 0E94 0000 		call __addsf3
2525
 2540               	.L437:
2526
 2541 17a6 20E0      		ldi r18,lo8(0x472be000)
2527
 2542 17a8 30EE      		ldi r19,hi8(0x472be000)
2528
 2543 17aa 4BE2      		ldi r20,hlo8(0x472be000)
2529
 2544 17ac 57E4      		ldi r21,hhi8(0x472be000)
2530
 2545 17ae 0E94 0000 		call __divsf3
2531
 2546 17b2 6093 0000 		sts IntegralFaktor,r22
2532
 2547 17b6 7093 0000 		sts (IntegralFaktor)+1,r23
2533
 2548 17ba 8093 0000 		sts (IntegralFaktor)+2,r24
2534
 2549 17be 9093 0000 		sts (IntegralFaktor)+3,r25
2535
 2550 17c2 8091 0000 		lds r24,EE_Parameter+8
2536
 2551 17c6 82FF      		sbrs r24,2
2537
 2552 17c8 00C0      		rjmp .L438
2538
 2553 17ca 80E0      		ldi r24,lo8(0x0)
2539
 2554 17cc 90E0      		ldi r25,hi8(0x0)
2540
 2555 17ce A0E0      		ldi r26,hlo8(0x0)
2541
 2556 17d0 B0E0      		ldi r27,hhi8(0x0)
2542
 2557 17d2 8093 0000 		sts IntegralFaktor,r24
2543
 2558 17d6 9093 0000 		sts (IntegralFaktor)+1,r25
2544
 2559 17da A093 0000 		sts (IntegralFaktor)+2,r26
2545
 2560 17de B093 0000 		sts (IntegralFaktor)+3,r27
2546
 2561               	.L438:
2547
 2562 17e2 20E0      		ldi r18,lo8(0x0)
2548
 2563 17e4 30E0      		ldi r19,hi8(0x0)
2549
 2564 17e6 40E0      		ldi r20,hlo8(0x0)
2550
 2565 17e8 50E0      		ldi r21,hhi8(0x0)
2551
 2566 17ea C601      		movw r24,r12
2552
 2567 17ec B501      		movw r22,r10
2553
 2568 17ee 0E94 0000 		call __ltsf2
2554
 2569 17f2 8823      		tst r24
2555
 2570 17f4 04F4      		brge .L440
2556
 2571 17f6 80E0      		ldi r24,lo8(0x0)
2557
 2572 17f8 90E0      		ldi r25,hi8(0x0)
2558
 2573 17fa A0E0      		ldi r26,hlo8(0x0)
2559
 2574 17fc B0E0      		ldi r27,hhi8(0x0)
2560
 2575 17fe 8093 0000 		sts GyroFaktor,r24
2561
 2576 1802 9093 0000 		sts (GyroFaktor)+1,r25
2562
 2577 1806 A093 0000 		sts (GyroFaktor)+2,r26
2563
 2578 180a B093 0000 		sts (GyroFaktor)+3,r27
2564
 2579               	.L440:
2565
 2580 180e 20E0      		ldi r18,lo8(0x0)
2566
 2581 1810 30E0      		ldi r19,hi8(0x0)
2567
 2582 1812 40E0      		ldi r20,hlo8(0x0)
2568
 2583 1814 50E0      		ldi r21,hhi8(0x0)
2569
 2584 1816 6091 0000 		lds r22,IntegralFaktor
2570
 2585 181a 7091 0000 		lds r23,(IntegralFaktor)+1
2571
 2586 181e 8091 0000 		lds r24,(IntegralFaktor)+2
2572
 2587 1822 9091 0000 		lds r25,(IntegralFaktor)+3
2573
 2588 1826 0E94 0000 		call __ltsf2
2574
 2589 182a 8823      		tst r24
2575
 2590 182c 04F4      		brge .L443
2576
 2591 182e 80E0      		ldi r24,lo8(0x0)
2577
 2592 1830 90E0      		ldi r25,hi8(0x0)
2578
 2593 1832 A0E0      		ldi r26,hlo8(0x0)
2579
 2594 1834 B0E0      		ldi r27,hhi8(0x0)
2580
 2595 1836 8093 0000 		sts IntegralFaktor,r24
2581
 2596 183a 9093 0000 		sts (IntegralFaktor)+1,r25
2582
 2597 183e A093 0000 		sts (IntegralFaktor)+2,r26
2583
 2598 1842 B093 0000 		sts (IntegralFaktor)+3,r27
2584
 2599               	.L443:
2585
 2600 1846 8091 0000 		lds r24,Notlandung
2586
 2601 184a 8823      		tst r24
2587
 2602 184c 01F0      		breq .L435
2588
 2603 184e 1092 0000 		sts (StickGier)+1,__zero_reg__
2589
 2604 1852 1092 0000 		sts StickGier,__zero_reg__
2590
 2605 1856 1092 0000 		sts (StickNick)+1,__zero_reg__
2591
 2606 185a 1092 0000 		sts StickNick,__zero_reg__
2592
 2607 185e 1092 0000 		sts (StickRoll)+1,__zero_reg__
2593
 2608 1862 1092 0000 		sts StickRoll,__zero_reg__
2594
 2609 1866 8DEC      		ldi r24,lo8(0x3dcccccd)
2595
 2610 1868 9CEC      		ldi r25,hi8(0x3dcccccd)
2596
 2611 186a ACEC      		ldi r26,hlo8(0x3dcccccd)
2597
 2612 186c BDE3      		ldi r27,hhi8(0x3dcccccd)
2598
 2613 186e 8093 0000 		sts GyroFaktor,r24
2599
 2614 1872 9093 0000 		sts (GyroFaktor)+1,r25
2600
 2615 1876 A093 0000 		sts (GyroFaktor)+2,r26
2601
 2616 187a B093 0000 		sts (GyroFaktor)+3,r27
2602
 2617 187e 8AE0      		ldi r24,lo8(0x3ba3d70a)
2603
 2618 1880 97ED      		ldi r25,hi8(0x3ba3d70a)
2604
 2619 1882 A3EA      		ldi r26,hlo8(0x3ba3d70a)
2605
 2620 1884 BBE3      		ldi r27,hhi8(0x3ba3d70a)
2606
 2621 1886 8093 0000 		sts IntegralFaktor,r24
2607
 2622 188a 9093 0000 		sts (IntegralFaktor)+1,r25
2608
 2623 188e A093 0000 		sts (IntegralFaktor)+2,r26
2609
 2624 1892 B093 0000 		sts (IntegralFaktor)+3,r27
2610
 2625               	.L435:
2611
 2626 1896 8091 0000 		lds r24,ZaehlMessungen
2612
 2627 189a 9091 0000 		lds r25,(ZaehlMessungen)+1
2613
 2628 189e 8D54      		subi r24,lo8(333)
2614
 2629 18a0 9140      		sbci r25,hi8(333)
2615
 2630 18a2 00F4      		brsh .+2
2616
 2631 18a4 00C0      		rjmp .L447
2617
 2632 18a6 2091 0000 		lds r18,IntegralNick2
2618
 2633 18aa 3091 0000 		lds r19,(IntegralNick2)+1
2619
 2634 18ae 4091 0000 		lds r20,(IntegralNick2)+2
2620
 2635 18b2 5091 0000 		lds r21,(IntegralNick2)+3
2621
 2636 18b6 8091 0000 		lds r24,IntegralNick
2622
 2637 18ba 9091 0000 		lds r25,(IntegralNick)+1
2623
 2638 18be A091 0000 		lds r26,(IntegralNick)+2
2624
 2639 18c2 B091 0000 		lds r27,(IntegralNick)+3
2625
 2640 18c6 B901      		movw r22,r18
2626
 2641 18c8 681B      		sub r22,r24
2627
 2642 18ca 790B      		sbc r23,r25
36 chris2798 2628
 2643 18cc 7093 0000 		sts (IntegralFehlerNick.2355)+1,r23
2629
 2644 18d0 6093 0000 		sts IntegralFehlerNick.2355,r22
21 user 2630
 2645 18d4 2091 0000 		lds r18,IntegralRoll2
2631
 2646 18d8 3091 0000 		lds r19,(IntegralRoll2)+1
2632
 2647 18dc 4091 0000 		lds r20,(IntegralRoll2)+2
2633
 2648 18e0 5091 0000 		lds r21,(IntegralRoll2)+3
2634
 2649 18e4 8091 0000 		lds r24,IntegralRoll
2635
 2650 18e8 9091 0000 		lds r25,(IntegralRoll)+1
2636
 2651 18ec A091 0000 		lds r26,(IntegralRoll)+2
2637
 2652 18f0 B091 0000 		lds r27,(IntegralRoll)+3
2638
 2653 18f4 281B      		sub r18,r24
2639
 2654 18f6 390B      		sbc r19,r25
36 chris2798 2640
 2655 18f8 3093 0000 		sts (IntegralFehlerRoll.2356)+1,r19
2641
 2656 18fc 2093 0000 		sts IntegralFehlerRoll.2356,r18
21 user 2642
 2657 1900 1092 0000 		sts (ZaehlMessungen)+1,__zero_reg__
2643
 2658 1904 1092 0000 		sts ZaehlMessungen,__zero_reg__
2644
 2659 1908 673A      		cpi r22,167
2645
 2660 190a 7105      		cpc r23,__zero_reg__
2646
 2661 190c 04F0      		brlt .L449
2647
 2662 190e 8091 0000 		lds r24,AdNeutralNick
2648
 2663 1912 9091 0000 		lds r25,(AdNeutralNick)+1
2649
 2664 1916 0196      		adiw r24,1
2650
 2665 1918 00C0      		rjmp .L576
2651
 2666               	.L449:
2652
 2667 191a 6A55      		subi r22,lo8(-166)
2653
 2668 191c 7F4F      		sbci r23,hi8(-166)
2654
 2669 191e 04F4      		brge .L451
2655
 2670 1920 8091 0000 		lds r24,AdNeutralNick
2656
 2671 1924 9091 0000 		lds r25,(AdNeutralNick)+1
2657
 2672 1928 0197      		sbiw r24,1
2658
 2673               	.L576:
2659
 2674 192a 9093 0000 		sts (AdNeutralNick)+1,r25
2660
 2675 192e 8093 0000 		sts AdNeutralNick,r24
2661
 2676               	.L451:
2662
 2677 1932 273A      		cpi r18,167
2663
 2678 1934 3105      		cpc r19,__zero_reg__
2664
 2679 1936 04F0      		brlt .L453
2665
 2680 1938 8091 0000 		lds r24,AdNeutralRoll
2666
 2681 193c 9091 0000 		lds r25,(AdNeutralRoll)+1
2667
 2682 1940 0196      		adiw r24,1
2668
 2683 1942 00C0      		rjmp .L577
2669
 2684               	.L453:
2670
 2685 1944 2A55      		subi r18,lo8(-166)
2671
 2686 1946 3F4F      		sbci r19,hi8(-166)
2672
 2687 1948 04F4      		brge .L455
2673
 2688 194a 8091 0000 		lds r24,AdNeutralRoll
2674
 2689 194e 9091 0000 		lds r25,(AdNeutralRoll)+1
2675
 2690 1952 0197      		sbiw r24,1
2676
 2691               	.L577:
2677
 2692 1954 9093 0000 		sts (AdNeutralRoll)+1,r25
2678
 2693 1958 8093 0000 		sts AdNeutralRoll,r24
2679
 2694               	.L455:
2680
 2695 195c 8091 0000 		lds r24,Mess_Integral_Gier2
2681
 2696 1960 9091 0000 		lds r25,(Mess_Integral_Gier2)+1
2682
 2697 1964 A091 0000 		lds r26,(Mess_Integral_Gier2)+2
2683
 2698 1968 B091 0000 		lds r27,(Mess_Integral_Gier2)+3
2684
 2699 196c 873A      		cpi r24,lo8(167)
2685
 2700 196e 9105      		cpc r25,__zero_reg__
2686
 2701 1970 A105      		cpc r26,__zero_reg__
2687
 2702 1972 B105      		cpc r27,__zero_reg__
2688
 2703 1974 04F0      		brlt .L457
2689
 2704 1976 8091 0000 		lds r24,AdNeutralGier
2690
 2705 197a 9091 0000 		lds r25,(AdNeutralGier)+1
2691
 2706 197e 0197      		sbiw r24,1
2692
 2707 1980 9093 0000 		sts (AdNeutralGier)+1,r25
2693
 2708 1984 8093 0000 		sts AdNeutralGier,r24
2694
 2709               	.L457:
2695
 2710 1988 8091 0000 		lds r24,Mess_Integral_Gier2
2696
 2711 198c 9091 0000 		lds r25,(Mess_Integral_Gier2)+1
2697
 2712 1990 A091 0000 		lds r26,(Mess_Integral_Gier2)+2
2698
 2713 1994 B091 0000 		lds r27,(Mess_Integral_Gier2)+3
2699
 2714 1998 8A55      		subi r24,lo8(-166)
2700
 2715 199a 9F4F      		sbci r25,hi8(-166)
2701
 2716 199c AF4F      		sbci r26,hlo8(-166)
2702
 2717 199e BF4F      		sbci r27,hhi8(-166)
2703
 2718 19a0 04F4      		brge .L459
2704
 2719 19a2 8091 0000 		lds r24,AdNeutralGier
2705
 2720 19a6 9091 0000 		lds r25,(AdNeutralGier)+1
2706
 2721 19aa 0196      		adiw r24,1
2707
 2722 19ac 9093 0000 		sts (AdNeutralGier)+1,r25
2708
 2723 19b0 8093 0000 		sts AdNeutralGier,r24
2709
 2724               	.L459:
2710
 2725 19b4 1092 7A00 		sts 122,__zero_reg__
2711
 2726 19b8 8091 0000 		lds r24,IntegralNick
2712
 2727 19bc 9091 0000 		lds r25,(IntegralNick)+1
2713
 2728 19c0 A091 0000 		lds r26,(IntegralNick)+2
2714
 2729 19c4 B091 0000 		lds r27,(IntegralNick)+3
2715
 2730 19c8 8093 0000 		sts Mess_IntegralNick2,r24
2716
 2731 19cc 9093 0000 		sts (Mess_IntegralNick2)+1,r25
2717
 2732 19d0 A093 0000 		sts (Mess_IntegralNick2)+2,r26
2718
 2733 19d4 B093 0000 		sts (Mess_IntegralNick2)+3,r27
2719
 2734 19d8 8091 0000 		lds r24,IntegralRoll
2720
 2735 19dc 9091 0000 		lds r25,(IntegralRoll)+1
2721
 2736 19e0 A091 0000 		lds r26,(IntegralRoll)+2
2722
 2737 19e4 B091 0000 		lds r27,(IntegralRoll)+3
2723
 2738 19e8 8093 0000 		sts Mess_IntegralRoll2,r24
2724
 2739 19ec 9093 0000 		sts (Mess_IntegralRoll2)+1,r25
2725
 2740 19f0 A093 0000 		sts (Mess_IntegralRoll2)+2,r26
2726
 2741 19f4 B093 0000 		sts (Mess_IntegralRoll2)+3,r27
2727
 2742 19f8 8091 0000 		lds r24,Integral_Gier
2728
 2743 19fc 9091 0000 		lds r25,(Integral_Gier)+1
2729
 2744 1a00 A091 0000 		lds r26,(Integral_Gier)+2
2730
 2745 1a04 B091 0000 		lds r27,(Integral_Gier)+3
2731
 2746 1a08 8093 0000 		sts Mess_Integral_Gier2,r24
2732
 2747 1a0c 9093 0000 		sts (Mess_Integral_Gier2)+1,r25
2733
 2748 1a10 A093 0000 		sts (Mess_Integral_Gier2)+2,r26
2734
 2749 1a14 B093 0000 		sts (Mess_Integral_Gier2)+3,r27
2735
 2750 1a18 8FEE      		ldi r24,lo8(-17)
2736
 2751 1a1a 8093 7A00 		sts 122,r24
2737
 2752               	.L447:
2738
 2753 1a1e 6091 0000 		lds r22,IntegralNick
2739
 2754 1a22 7091 0000 		lds r23,(IntegralNick)+1
2740
 2755 1a26 8091 0000 		lds r24,(IntegralNick)+2
2741
 2756 1a2a 9091 0000 		lds r25,(IntegralNick)+3
2742
 2757 1a2e A090 0000 		lds r10,EE_Parameter+20
2743
 2758 1a32 BB24      		clr r11
2744
 2759 1a34 CC24      		clr r12
2745
 2760 1a36 DD24      		clr r13
2746
 2761 1a38 E090 0000 		lds r14,Mittelwert_AccNick
2747
 2762 1a3c F090 0000 		lds r15,(Mittelwert_AccNick)+1
2748
 2763 1a40 A601      		movw r20,r12
2749
 2764 1a42 9501      		movw r18,r10
2750
 2765 1a44 0E94 0000 		call __divmodsi4
2751
 2766 1a48 0027      		clr r16
2752
 2767 1a4a F7FC      		sbrc r15,7
2753
 2768 1a4c 0095      		com r16
2754
 2769 1a4e 102F      		mov r17,r16
2755
 2770 1a50 2E19      		sub r18,r14
2756
 2771 1a52 3F09      		sbc r19,r15
2757
 2772 1a54 400B      		sbc r20,r16
2758
 2773 1a56 510B      		sbc r21,r17
2759
 2774 1a58 CA01      		movw r24,r20
2760
 2775 1a5a B901      		movw r22,r18
2761
 2776 1a5c 20E1      		ldi r18,lo8(16)
2762
 2777 1a5e 30E0      		ldi r19,hi8(16)
2763
 2778 1a60 40E0      		ldi r20,hlo8(16)
2764
 2779 1a62 50E0      		ldi r21,hhi8(16)
2765
 2780 1a64 0E94 0000 		call __divmodsi4
2766
 2781 1a68 3901      		movw r6,r18
2767
 2782 1a6a 4A01      		movw r8,r20
36 chris2798 2768
 2783 1a6c 2093 0000 		sts tmp_long.2353,r18
2769
 2784 1a70 3093 0000 		sts (tmp_long.2353)+1,r19
2770
 2785 1a74 4093 0000 		sts (tmp_long.2353)+2,r20
2771
 2786 1a78 5093 0000 		sts (tmp_long.2353)+3,r21
21 user 2772
 2787 1a7c 6091 0000 		lds r22,IntegralRoll
2773
 2788 1a80 7091 0000 		lds r23,(IntegralRoll)+1
2774
 2789 1a84 8091 0000 		lds r24,(IntegralRoll)+2
2775
 2790 1a88 9091 0000 		lds r25,(IntegralRoll)+3
2776
 2791 1a8c E090 0000 		lds r14,Mittelwert_AccRoll
2777
 2792 1a90 F090 0000 		lds r15,(Mittelwert_AccRoll)+1
2778
 2793 1a94 A601      		movw r20,r12
2779
 2794 1a96 9501      		movw r18,r10
2780
 2795 1a98 0E94 0000 		call __divmodsi4
2781
 2796 1a9c 0027      		clr r16
2782
 2797 1a9e F7FC      		sbrc r15,7
2783
 2798 1aa0 0095      		com r16
2784
 2799 1aa2 102F      		mov r17,r16
2785
 2800 1aa4 2E19      		sub r18,r14
2786
 2801 1aa6 3F09      		sbc r19,r15
2787
 2802 1aa8 400B      		sbc r20,r16
2788
 2803 1aaa 510B      		sbc r21,r17
2789
 2804 1aac CA01      		movw r24,r20
2790
 2805 1aae B901      		movw r22,r18
2791
 2806 1ab0 20E1      		ldi r18,lo8(16)
2792
 2807 1ab2 30E0      		ldi r19,hi8(16)
2793
 2808 1ab4 40E0      		ldi r20,hlo8(16)
2794
 2809 1ab6 50E0      		ldi r21,hhi8(16)
2795
 2810 1ab8 0E94 0000 		call __divmodsi4
36 chris2798 2796
 2811 1abc 2093 0000 		sts tmp_long2.2354,r18
2797
 2812 1ac0 3093 0000 		sts (tmp_long2.2354)+1,r19
2798
 2813 1ac4 4093 0000 		sts (tmp_long2.2354)+2,r20
2799
 2814 1ac8 5093 0000 		sts (tmp_long2.2354)+3,r21
21 user 2800
 2815 1acc F5EF      		ldi r31,lo8(501)
2801
 2816 1ace 6F16      		cp r6,r31
2802
 2817 1ad0 F1E0      		ldi r31,hi8(501)
2803
 2818 1ad2 7F06      		cpc r7,r31
2804
 2819 1ad4 F0E0      		ldi r31,hlo8(501)
2805
 2820 1ad6 8F06      		cpc r8,r31
2806
 2821 1ad8 F0E0      		ldi r31,hhi8(501)
2807
 2822 1ada 9F06      		cpc r9,r31
2808
 2823 1adc 04F0      		brlt .L461
2809
 2824 1ade 84EF      		ldi r24,lo8(500)
2810
 2825 1ae0 91E0      		ldi r25,hi8(500)
2811
 2826 1ae2 A0E0      		ldi r26,hlo8(500)
2812
 2827 1ae4 B0E0      		ldi r27,hhi8(500)
2813
 2828 1ae6 00C0      		rjmp .L578
2814
 2829               	.L461:
2815
 2830 1ae8 6CE0      		ldi r22,lo8(-500)
2816
 2831 1aea 6616      		cp r6,r22
2817
 2832 1aec 6EEF      		ldi r22,hi8(-500)
2818
 2833 1aee 7606      		cpc r7,r22
2819
 2834 1af0 6FEF      		ldi r22,hlo8(-500)
2820
 2835 1af2 8606      		cpc r8,r22
2821
 2836 1af4 6FEF      		ldi r22,hhi8(-500)
2822
 2837 1af6 9606      		cpc r9,r22
2823
 2838 1af8 04F4      		brge .L463
2824
 2839 1afa 8CE0      		ldi r24,lo8(-500)
2825
 2840 1afc 9EEF      		ldi r25,hi8(-500)
2826
 2841 1afe AFEF      		ldi r26,hlo8(-500)
2827
 2842 1b00 BFEF      		ldi r27,hhi8(-500)
2828
 2843               	.L578:
36 chris2798 2829
 2844 1b02 8093 0000 		sts tmp_long.2353,r24
2830
 2845 1b06 9093 0000 		sts (tmp_long.2353)+1,r25
2831
 2846 1b0a A093 0000 		sts (tmp_long.2353)+2,r26
2832
 2847 1b0e B093 0000 		sts (tmp_long.2353)+3,r27
21 user 2833
 2848               	.L463:
2834
 2849 1b12 253F      		cpi r18,lo8(501)
2835
 2850 1b14 71E0      		ldi r23,hi8(501)
2836
 2851 1b16 3707      		cpc r19,r23
2837
 2852 1b18 70E0      		ldi r23,hlo8(501)
2838
 2853 1b1a 4707      		cpc r20,r23
2839
 2854 1b1c 70E0      		ldi r23,hhi8(501)
2840
 2855 1b1e 5707      		cpc r21,r23
2841
 2856 1b20 04F0      		brlt .L465
2842
 2857 1b22 84EF      		ldi r24,lo8(500)
2843
 2858 1b24 91E0      		ldi r25,hi8(500)
2844
 2859 1b26 A0E0      		ldi r26,hlo8(500)
2845
 2860 1b28 B0E0      		ldi r27,hhi8(500)
2846
 2861 1b2a 00C0      		rjmp .L579
2847
 2862               	.L465:
2848
 2863 1b2c 2C50      		subi r18,lo8(-500)
2849
 2864 1b2e 3E4F      		sbci r19,hi8(-500)
2850
 2865 1b30 4F4F      		sbci r20,hlo8(-500)
2851
 2866 1b32 5F4F      		sbci r21,hhi8(-500)
2852
 2867 1b34 04F4      		brge .L467
2853
 2868 1b36 8CE0      		ldi r24,lo8(-500)
2854
 2869 1b38 9EEF      		ldi r25,hi8(-500)
2855
 2870 1b3a AFEF      		ldi r26,hlo8(-500)
2856
 2871 1b3c BFEF      		ldi r27,hhi8(-500)
2857
 2872               	.L579:
36 chris2798 2858
 2873 1b3e 8093 0000 		sts tmp_long2.2354,r24
2859
 2874 1b42 9093 0000 		sts (tmp_long2.2354)+1,r25
2860
 2875 1b46 A093 0000 		sts (tmp_long2.2354)+2,r26
2861
 2876 1b4a B093 0000 		sts (tmp_long2.2354)+3,r27
21 user 2862
 2877               	.L467:
2863
 2878 1b4e 1092 7A00 		sts 122,__zero_reg__
2864
 2879 1b52 8091 0000 		lds r24,Mess_IntegralNick
2865
 2880 1b56 9091 0000 		lds r25,(Mess_IntegralNick)+1
2866
 2881 1b5a A091 0000 		lds r26,(Mess_IntegralNick)+2
2867
 2882 1b5e B091 0000 		lds r27,(Mess_IntegralNick)+3
36 chris2798 2868
 2883 1b62 2091 0000 		lds r18,tmp_long.2353
2869
 2884 1b66 3091 0000 		lds r19,(tmp_long.2353)+1
2870
 2885 1b6a 4091 0000 		lds r20,(tmp_long.2353)+2
2871
 2886 1b6e 5091 0000 		lds r21,(tmp_long.2353)+3
21 user 2872
 2887 1b72 821B      		sub r24,r18
2873
 2888 1b74 930B      		sbc r25,r19
2874
 2889 1b76 A40B      		sbc r26,r20
2875
 2890 1b78 B50B      		sbc r27,r21
2876
 2891 1b7a 8093 0000 		sts Mess_IntegralNick,r24
2877
 2892 1b7e 9093 0000 		sts (Mess_IntegralNick)+1,r25
2878
 2893 1b82 A093 0000 		sts (Mess_IntegralNick)+2,r26
2879
 2894 1b86 B093 0000 		sts (Mess_IntegralNick)+3,r27
2880
 2895 1b8a 8091 0000 		lds r24,Mess_IntegralRoll
2881
 2896 1b8e 9091 0000 		lds r25,(Mess_IntegralRoll)+1
2882
 2897 1b92 A091 0000 		lds r26,(Mess_IntegralRoll)+2
2883
 2898 1b96 B091 0000 		lds r27,(Mess_IntegralRoll)+3
36 chris2798 2884
 2899 1b9a 2091 0000 		lds r18,tmp_long2.2354
2885
 2900 1b9e 3091 0000 		lds r19,(tmp_long2.2354)+1
2886
 2901 1ba2 4091 0000 		lds r20,(tmp_long2.2354)+2
2887
 2902 1ba6 5091 0000 		lds r21,(tmp_long2.2354)+3
21 user 2888
 2903 1baa 821B      		sub r24,r18
2889
 2904 1bac 930B      		sbc r25,r19
2890
 2905 1bae A40B      		sbc r26,r20
2891
 2906 1bb0 B50B      		sbc r27,r21
2892
 2907 1bb2 8093 0000 		sts Mess_IntegralRoll,r24
2893
 2908 1bb6 9093 0000 		sts (Mess_IntegralRoll)+1,r25
2894
 2909 1bba A093 0000 		sts (Mess_IntegralRoll)+2,r26
2895
 2910 1bbe B093 0000 		sts (Mess_IntegralRoll)+3,r27
2896
 2911 1bc2 8091 0000 		lds r24,StickGier
2897
 2912 1bc6 9091 0000 		lds r25,(StickGier)+1
2898
 2913 1bca 5C01      		movw r10,r24
2899
 2914 1bcc CC24      		clr r12
2900
 2915 1bce B7FC      		sbrc r11,7
2901
 2916 1bd0 C094      		com r12
2902
 2917 1bd2 DC2C      		mov r13,r12
36 chris2798 2903
 2918 1bd4 A092 0000 		sts sollGier.2352,r10
2904
 2919 1bd8 B092 0000 		sts (sollGier.2352)+1,r11
2905
 2920 1bdc C092 0000 		sts (sollGier.2352)+2,r12
2906
 2921 1be0 D092 0000 		sts (sollGier.2352)+3,r13
21 user 2907
 2922 1be4 97FF      		sbrs r25,7
2908
 2923 1be6 00C0      		rjmp .L470
2909
 2924 1be8 9095      		com r25
2910
 2925 1bea 8195      		neg r24
2911
 2926 1bec 9F4F      		sbci r25,lo8(-1)
2912
 2927               	.L470:
2913
 2928 1bee 8497      		sbiw r24,36
2914
 2929 1bf0 04F0      		brlt .L469
2915
 2930 1bf2 8091 0000 		lds r24,EE_Parameter+8
2916
 2931 1bf6 84FD      		sbrc r24,4
2917
 2932 1bf8 00C0      		rjmp .L469
2918
 2933 1bfa 81E0      		ldi r24,lo8(1)
36 chris2798 2919
 2934 1bfc 8093 0000 		sts NeueKompassRichtungMerken.2364,r24
21 user 2920
 2935               	.L469:
2921
 2936 1c00 6090 0000 		lds r6,Mess_Integral_Gier
2922
 2937 1c04 7090 0000 		lds r7,(Mess_Integral_Gier)+1
2923
 2938 1c08 8090 0000 		lds r8,(Mess_Integral_Gier)+2
2924
 2939 1c0c 9090 0000 		lds r9,(Mess_Integral_Gier)+3
2925
 2940 1c10 C501      		movw r24,r10
2926
 2941 1c12 B7FE      		sbrs r11,7
2927
 2942 1c14 00C0      		rjmp .L473
2928
 2943 1c16 9095      		com r25
2929
 2944 1c18 8195      		neg r24
2930
 2945 1c1a 9F4F      		sbci r25,lo8(-1)
2931
 2946               	.L473:
2932
 2947 1c1c 7C01      		movw r14,r24
2933
 2948 1c1e 0027      		clr r16
2934
 2949 1c20 F7FC      		sbrc r15,7
2935
 2950 1c22 0095      		com r16
2936
 2951 1c24 102F      		mov r17,r16
2937
 2952 1c26 2091 0000 		lds r18,EE_Parameter+17
2938
 2953 1c2a 3327      		clr r19
2939
 2954 1c2c 4427      		clr r20
2940
 2955 1c2e 5527      		clr r21
2941
 2956 1c30 C601      		movw r24,r12
2942
 2957 1c32 B501      		movw r22,r10
2943
 2958 1c34 0E94 0000 		call __mulsi3
2944
 2959 1c38 9B01      		movw r18,r22
2945
 2960 1c3a AC01      		movw r20,r24
2946
 2961 1c3c C801      		movw r24,r16
2947
 2962 1c3e B701      		movw r22,r14
2948
 2963 1c40 0E94 0000 		call __mulsi3
2949
 2964 1c44 20E0      		ldi r18,lo8(256)
2950
 2965 1c46 31E0      		ldi r19,hi8(256)
2951
 2966 1c48 40E0      		ldi r20,hlo8(256)
2952
 2967 1c4a 50E0      		ldi r21,hhi8(256)
2953
 2968 1c4c 0E94 0000 		call __divmodsi4
2954
 2969 1c50 4427      		clr r20
2955
 2970 1c52 37FD      		sbrc r19,7
2956
 2971 1c54 4095      		com r20
2957
 2972 1c56 542F      		mov r21,r20
2958
 2973 1c58 621A      		sub r6,r18
2959
 2974 1c5a 730A      		sbc r7,r19
2960
 2975 1c5c 840A      		sbc r8,r20
2961
 2976 1c5e 950A      		sbc r9,r21
2962
 2977 1c60 6092 0000 		sts Mess_Integral_Gier,r6
2963
 2978 1c64 7092 0000 		sts (Mess_Integral_Gier)+1,r7
2964
 2979 1c68 8092 0000 		sts (Mess_Integral_Gier)+2,r8
2965
 2980 1c6c 9092 0000 		sts (Mess_Integral_Gier)+3,r9
2966
 2981 1c70 8091 0000 		lds r24,Mess_Integral_Gier
2967
 2982 1c74 9091 0000 		lds r25,(Mess_Integral_Gier)+1
2968
 2983 1c78 A091 0000 		lds r26,(Mess_Integral_Gier)+2
2969
 2984 1c7c B091 0000 		lds r27,(Mess_Integral_Gier)+3
2970
 2985 1c80 8153      		subi r24,lo8(30001)
2971
 2986 1c82 9547      		sbci r25,hi8(30001)
2972
 2987 1c84 A040      		sbci r26,hlo8(30001)
2973
 2988 1c86 B040      		sbci r27,hhi8(30001)
2974
 2989 1c88 04F0      		brlt .L474
2975
 2990 1c8a 80E3      		ldi r24,lo8(30000)
2976
 2991 1c8c 95E7      		ldi r25,hi8(30000)
2977
 2992 1c8e A0E0      		ldi r26,hlo8(30000)
2978
 2993 1c90 B0E0      		ldi r27,hhi8(30000)
2979
 2994 1c92 8093 0000 		sts Mess_Integral_Gier,r24
2980
 2995 1c96 9093 0000 		sts (Mess_Integral_Gier)+1,r25
2981
 2996 1c9a A093 0000 		sts (Mess_Integral_Gier)+2,r26
2982
 2997 1c9e B093 0000 		sts (Mess_Integral_Gier)+3,r27
2983
 2998               	.L474:
2984
 2999 1ca2 8091 0000 		lds r24,Mess_Integral_Gier
2985
 3000 1ca6 9091 0000 		lds r25,(Mess_Integral_Gier)+1
2986
 3001 1caa A091 0000 		lds r26,(Mess_Integral_Gier)+2
2987
 3002 1cae B091 0000 		lds r27,(Mess_Integral_Gier)+3
2988
 3003 1cb2 805D      		subi r24,lo8(-30000)
2989
 3004 1cb4 9A48      		sbci r25,hi8(-30000)
2990
 3005 1cb6 AF4F      		sbci r26,hlo8(-30000)
2991
 3006 1cb8 BF4F      		sbci r27,hhi8(-30000)
2992
 3007 1cba 04F4      		brge .L476
2993
 3008 1cbc 80ED      		ldi r24,lo8(-30000)
2994
 3009 1cbe 9AE8      		ldi r25,hi8(-30000)
2995
 3010 1cc0 AFEF      		ldi r26,hlo8(-30000)
2996
 3011 1cc2 BFEF      		ldi r27,hhi8(-30000)
2997
 3012 1cc4 8093 0000 		sts Mess_Integral_Gier,r24
2998
 3013 1cc8 9093 0000 		sts (Mess_Integral_Gier)+1,r25
2999
 3014 1ccc A093 0000 		sts (Mess_Integral_Gier)+2,r26
3000
 3015 1cd0 B093 0000 		sts (Mess_Integral_Gier)+3,r27
3001
 3016               	.L476:
3002
 3017 1cd4 8FEE      		ldi r24,lo8(-17)
3003
 3018 1cd6 8093 7A00 		sts 122,r24
3004
 3019 1cda 8091 0000 		lds r24,KompassValue
3005
 3020 1cde 9091 0000 		lds r25,(KompassValue)+1
3006
 3021 1ce2 892B      		or r24,r25
3007
 3022 1ce4 01F4      		brne .+2
3008
 3023 1ce6 00C0      		rjmp .L478
3009
 3024 1ce8 8091 0000 		lds r24,EE_Parameter+8
3010
 3025 1cec 83FF      		sbrs r24,3
3011
 3026 1cee 00C0      		rjmp .L478
3012
 3027 1cf0 6091 0000 		lds r22,IntegralNick
3013
 3028 1cf4 7091 0000 		lds r23,(IntegralNick)+1
3014
 3029 1cf8 8091 0000 		lds r24,(IntegralNick)+2
3015
 3030 1cfc 9091 0000 		lds r25,(IntegralNick)+3
3016
 3031 1d00 20E0      		ldi r18,lo8(512)
3017
 3032 1d02 32E0      		ldi r19,hi8(512)
3018
 3033 1d04 40E0      		ldi r20,hlo8(512)
3019
 3034 1d06 50E0      		ldi r21,hhi8(512)
3020
 3035 1d08 0E94 0000 		call __divmodsi4
3021
 3036 1d0c 8901      		movw r16,r18
3022
 3037 1d0e 37FF      		sbrs r19,7
3023
 3038 1d10 00C0      		rjmp .L481
3024
 3039 1d12 1095      		com r17
3025
 3040 1d14 0195      		neg r16
3026
 3041 1d16 1F4F      		sbci r17,lo8(-1)
3027
 3042               	.L481:
3028
 3043 1d18 6091 0000 		lds r22,IntegralRoll
3029
 3044 1d1c 7091 0000 		lds r23,(IntegralRoll)+1
3030
 3045 1d20 8091 0000 		lds r24,(IntegralRoll)+2
3031
 3046 1d24 9091 0000 		lds r25,(IntegralRoll)+3
3032
 3047 1d28 20E0      		ldi r18,lo8(512)
3033
 3048 1d2a 32E0      		ldi r19,hi8(512)
3034
 3049 1d2c 40E0      		ldi r20,hlo8(512)
3035
 3050 1d2e 50E0      		ldi r21,hhi8(512)
3036
 3051 1d30 0E94 0000 		call __divmodsi4
3037
 3052 1d34 B901      		movw r22,r18
3038
 3053 1d36 37FF      		sbrs r19,7
3039
 3054 1d38 00C0      		rjmp .L482
3040
 3055 1d3a 7095      		com r23
3041
 3056 1d3c 6195      		neg r22
3042
 3057 1d3e 7F4F      		sbci r23,lo8(-1)
3043
 3058               	.L482:
3044
 3059 1d40 6017      		cp r22,r16
3045
 3060 1d42 7107      		cpc r23,r17
3046
 3061 1d44 04F4      		brge .L483
3047
 3062 1d46 B801      		movw r22,r16
3048
 3063               	.L483:
3049
 3064 1d48 6931      		cpi r22,25
3050
 3065 1d4a 7105      		cpc r23,__zero_reg__
3051
 3066 1d4c 04F4      		brge .L484
36 chris2798 3052
 3067 1d4e 8091 0000 		lds r24,NeueKompassRichtungMerken.2364
21 user 3053
 3068 1d52 8823      		tst r24
3054
 3069 1d54 01F0      		breq .L484
36 chris2798 3055
 3070 1d56 8091 0000 		lds r24,SignalSchlecht.2368
3056
 3071 1d5a 9091 0000 		lds r25,(SignalSchlecht.2368)+1
21 user 3057
 3072 1d5e 892B      		or r24,r25
3058
 3073 1d60 01F4      		brne .L484
3059
 3074 1d62 8091 0000 		lds r24,KompassValue
3060
 3075 1d66 9091 0000 		lds r25,(KompassValue)+1
3061
 3076 1d6a 9093 0000 		sts (KompassStartwert)+1,r25
3062
 3077 1d6e 8093 0000 		sts KompassStartwert,r24
36 chris2798 3063
 3078 1d72 1092 0000 		sts NeueKompassRichtungMerken.2364,__zero_reg__
21 user 3064
 3079               	.L484:
3065
 3080 1d76 2091 0000 		lds r18,Parameter_KompassWirkung
3066
 3081 1d7a 3327      		clr r19
3067
 3082 1d7c 629F      		mul r22,r18
3068
 3083 1d7e C001      		movw r24,r0
3069
 3084 1d80 639F      		mul r22,r19
3070
 3085 1d82 900D      		add r25,r0
3071
 3086 1d84 729F      		mul r23,r18
3072
 3087 1d86 900D      		add r25,r0
3073
 3088 1d88 1124      		clr r1
3074
 3089 1d8a 60E4      		ldi r22,lo8(64)
3075
 3090 1d8c 70E0      		ldi r23,hi8(64)
3076
 3091 1d8e 0E94 0000 		call __divmodhi4
3077
 3092 1d92 A901      		movw r20,r18
3078
 3093 1d94 461B      		sub r20,r22
3079
 3094 1d96 570B      		sbc r21,r23
3080
 3095 1d98 1416      		cp __zero_reg__,r20
3081
 3096 1d9a 1506      		cpc __zero_reg__,r21
3082
 3097 1d9c 04F0      		brlt .+2
3083
 3098 1d9e 00C0      		rjmp .L488
3084
 3099 1da0 1092 7A00 		sts 122,__zero_reg__
36 chris2798 3085
 3100 1da4 2091 0000 		lds r18,SignalSchlecht.2368
3086
 3101 1da8 3091 0000 		lds r19,(SignalSchlecht.2368)+1
21 user 3087
 3102 1dac 2115      		cp r18,__zero_reg__
3088
 3103 1dae 3105      		cpc r19,__zero_reg__
3089
 3104 1db0 01F4      		brne .L490
3090
 3105 1db2 0091 0000 		lds r16,Mess_Integral_Gier
3091
 3106 1db6 1091 0000 		lds r17,(Mess_Integral_Gier)+1
3092
 3107 1dba 2091 0000 		lds r18,(Mess_Integral_Gier)+2
3093
 3108 1dbe 3091 0000 		lds r19,(Mess_Integral_Gier)+3
3094
 3109 1dc2 8091 0000 		lds r24,KompassRichtung
3095
 3110 1dc6 9091 0000 		lds r25,(KompassRichtung)+1
3096
 3111 1dca BC01      		movw r22,r24
3097
 3112 1dcc 649F      		mul r22,r20
3098
 3113 1dce C001      		movw r24,r0
3099
 3114 1dd0 659F      		mul r22,r21
3100
 3115 1dd2 900D      		add r25,r0
3101
 3116 1dd4 749F      		mul r23,r20
3102
 3117 1dd6 900D      		add r25,r0
3103
 3118 1dd8 1124      		clr r1
3104
 3119 1dda 60E2      		ldi r22,lo8(32)
3105
 3120 1ddc 70E0      		ldi r23,hi8(32)
3106
 3121 1dde 0E94 0000 		call __divmodhi4
3107
 3122 1de2 8827      		clr r24
3108
 3123 1de4 77FD      		sbrc r23,7
3109
 3124 1de6 8095      		com r24
3110
 3125 1de8 982F      		mov r25,r24
3111
 3126 1dea 060F      		add r16,r22
3112
 3127 1dec 171F      		adc r17,r23
3113
 3128 1dee 281F      		adc r18,r24
3114
 3129 1df0 391F      		adc r19,r25
3115
 3130 1df2 0093 0000 		sts Mess_Integral_Gier,r16
3116
 3131 1df6 1093 0000 		sts (Mess_Integral_Gier)+1,r17
3117
 3132 1dfa 2093 0000 		sts (Mess_Integral_Gier)+2,r18
3118
 3133 1dfe 3093 0000 		sts (Mess_Integral_Gier)+3,r19
3119
 3134 1e02 8FEE      		ldi r24,lo8(-17)
3120
 3135 1e04 8093 7A00 		sts 122,r24
3121
 3136 1e08 00C0      		rjmp .L478
3122
 3137               	.L490:
3123
 3138 1e0a 8FEE      		ldi r24,lo8(-17)
3124
 3139 1e0c 8093 7A00 		sts 122,r24
3125
 3140 1e10 2150      		subi r18,lo8(-(-1))
3126
 3141 1e12 3040      		sbci r19,hi8(-(-1))
36 chris2798 3127
 3142 1e14 3093 0000 		sts (SignalSchlecht.2368)+1,r19
3128
 3143 1e18 2093 0000 		sts SignalSchlecht.2368,r18
21 user 3129
 3144 1e1c 00C0      		rjmp .L478
3130
 3145               	.L488:
3131
 3146 1e1e 84EF      		ldi r24,lo8(500)
3132
 3147 1e20 91E0      		ldi r25,hi8(500)
36 chris2798 3133
 3148 1e22 9093 0000 		sts (SignalSchlecht.2368)+1,r25
3134
 3149 1e26 8093 0000 		sts SignalSchlecht.2368,r24
21 user 3135
 3150               	.L478:
3136
 3151 1e2a 8091 0000 		lds r24,EE_Parameter+8
3137
 3152 1e2e 85FF      		sbrs r24,5
3138
 3153 1e30 00C0      		rjmp .L492
3139
 3154 1e32 8091 0000 		lds r24,Parameter_UserParam1
3140
 3155 1e36 9927      		clr r25
3141
 3156 1e38 9093 0000 		sts (gps_p)+1,r25
3142
 3157 1e3c 8093 0000 		sts gps_p,r24
3143
 3158 1e40 8091 0000 		lds r24,Parameter_UserParam2
3144
 3159 1e44 9927      		clr r25
3145
 3160 1e46 9093 0000 		sts (gps_d)+1,r25
3146
 3161 1e4a 8093 0000 		sts gps_d,r24
36 chris2798 3147
 3162 1e4e 0E94 0000 		call gps_main
3148
 3163 1e52 00C0      		rjmp .L494
3149
 3164               	.L492:
3150
 3165 1e54 1092 0000 		sts (GPS_Nick)+1,__zero_reg__
3151
 3166 1e58 1092 0000 		sts GPS_Nick,__zero_reg__
3152
 3167 1e5c 1092 0000 		sts (GPS_Roll)+1,__zero_reg__
3153
 3168 1e60 1092 0000 		sts GPS_Roll,__zero_reg__
3154
 3169               	.L494:
3155
 3170 1e64 8091 0000 		lds r24,DebugOut+17
3156
 3171 1e68 8F5F      		subi r24,lo8(-(1))
3157
 3172 1e6a 8093 0000 		sts DebugOut+17,r24
3158
 3173 1e6e 8091 0000 		lds r24,TimerWerteausgabe.2363
3159
 3174 1e72 8150      		subi r24,lo8(-(-1))
3160
 3175 1e74 8093 0000 		sts TimerWerteausgabe.2363,r24
3161
 3176 1e78 8F3F      		cpi r24,lo8(-1)
3162
 3177 1e7a 01F0      		breq .+2
3163
 3178 1e7c 00C0      		rjmp .L495
3164
 3179 1e7e 81E3      		ldi r24,lo8(49)
3165
 3180 1e80 8093 0000 		sts TimerWerteausgabe.2363,r24
3166
 3181 1e84 6091 0000 		lds r22,IntegralNick
3167
 3182 1e88 7091 0000 		lds r23,(IntegralNick)+1
3168
 3183 1e8c 8091 0000 		lds r24,(IntegralNick)+2
3169
 3184 1e90 9091 0000 		lds r25,(IntegralNick)+3
3170
 3185 1e94 E090 0000 		lds r14,EE_Parameter+20
3171
 3186 1e98 FF24      		clr r15
3172
 3187 1e9a 0027      		clr r16
3173
 3188 1e9c 1127      		clr r17
3174
 3189 1e9e A801      		movw r20,r16
3175
 3190 1ea0 9701      		movw r18,r14
3176
 3191 1ea2 0E94 0000 		call __divmodsi4
3177
 3192 1ea6 3093 0000 		sts (DebugOut+18)+1,r19
3178
 3193 1eaa 2093 0000 		sts DebugOut+18,r18
3179
 3194 1eae 6091 0000 		lds r22,IntegralRoll
3180
 3195 1eb2 7091 0000 		lds r23,(IntegralRoll)+1
3181
 3196 1eb6 8091 0000 		lds r24,(IntegralRoll)+2
3182
 3197 1eba 9091 0000 		lds r25,(IntegralRoll)+3
3183
 3198 1ebe A801      		movw r20,r16
3184
 3199 1ec0 9701      		movw r18,r14
3185
 3200 1ec2 0E94 0000 		call __divmodsi4
3186
 3201 1ec6 3093 0000 		sts (DebugOut+20)+1,r19
3187
 3202 1eca 2093 0000 		sts DebugOut+20,r18
3188
 3203 1ece 8091 0000 		lds r24,Mittelwert_AccNick
3189
 3204 1ed2 9091 0000 		lds r25,(Mittelwert_AccNick)+1
3190
 3205 1ed6 9093 0000 		sts (DebugOut+22)+1,r25
3191
 3206 1eda 8093 0000 		sts DebugOut+22,r24
3192
 3207 1ede 8091 0000 		lds r24,Mittelwert_AccRoll
3193
 3208 1ee2 9091 0000 		lds r25,(Mittelwert_AccRoll)+1
3194
 3209 1ee6 9093 0000 		sts (DebugOut+24)+1,r25
3195
 3210 1eea 8093 0000 		sts DebugOut+24,r24
3196
 3211 1eee 8091 0000 		lds r24,MesswertGier
3197
 3212 1ef2 9091 0000 		lds r25,(MesswertGier)+1
3198
 3213 1ef6 9093 0000 		sts (DebugOut+26)+1,r25
3199
 3214 1efa 8093 0000 		sts DebugOut+26,r24
3200
 3215 1efe 8091 0000 		lds r24,HoehenWert
3201
 3216 1f02 9091 0000 		lds r25,(HoehenWert)+1
3202
 3217 1f06 9093 0000 		sts (DebugOut+28)+1,r25
3203
 3218 1f0a 8093 0000 		sts DebugOut+28,r24
3204
 3219 1f0e 6091 0000 		lds r22,Mess_Integral_Hoch
3205
 3220 1f12 7091 0000 		lds r23,(Mess_Integral_Hoch)+1
3206
 3221 1f16 8091 0000 		lds r24,(Mess_Integral_Hoch)+2
3207
 3222 1f1a 9091 0000 		lds r25,(Mess_Integral_Hoch)+3
3208
 3223 1f1e 20E0      		ldi r18,lo8(512)
3209
 3224 1f20 32E0      		ldi r19,hi8(512)
3210
 3225 1f22 40E0      		ldi r20,hlo8(512)
3211
 3226 1f24 50E0      		ldi r21,hhi8(512)
3212
 3227 1f26 0E94 0000 		call __divmodsi4
3213
 3228 1f2a 3093 0000 		sts (DebugOut+30)+1,r19
3214
 3229 1f2e 2093 0000 		sts DebugOut+30,r18
3215
 3230 1f32 8981      		ldd r24,Y+1
3216
 3231 1f34 9A81      		ldd r25,Y+2
3217
 3232 1f36 9093 0000 		sts (DebugOut+32)+1,r25
3218
 3233 1f3a 8093 0000 		sts DebugOut+32,r24
3219
 3234 1f3e 8091 0000 		lds r24,KompassValue
3220
 3235 1f42 9091 0000 		lds r25,(KompassValue)+1
3221
 3236 1f46 9093 0000 		sts (DebugOut+34)+1,r25
3222
 3237 1f4a 8093 0000 		sts DebugOut+34,r24
3223
 3238               	.L495:
3224
 3239 1f4e 6091 0000 		lds r22,IntegralNick
3225
 3240 1f52 7091 0000 		lds r23,(IntegralNick)+1
3226
 3241 1f56 8091 0000 		lds r24,(IntegralNick)+2
3227
 3242 1f5a 9091 0000 		lds r25,(IntegralNick)+3
3228
 3243 1f5e 2090 0000 		lds r2,IntegralFaktor
3229
 3244 1f62 3090 0000 		lds r3,(IntegralFaktor)+1
3230
 3245 1f66 4090 0000 		lds r4,(IntegralFaktor)+2
3231
 3246 1f6a 5090 0000 		lds r5,(IntegralFaktor)+3
3232
 3247 1f6e E090 0000 		lds r14,MesswertNick
3233
 3248 1f72 F090 0000 		lds r15,(MesswertNick)+1
3234
 3249 1f76 6090 0000 		lds r6,GyroFaktor
3235
 3250 1f7a 7090 0000 		lds r7,(GyroFaktor)+1
3236
 3251 1f7e 8090 0000 		lds r8,(GyroFaktor)+2
3237
 3252 1f82 9090 0000 		lds r9,(GyroFaktor)+3
3238
 3253 1f86 0E94 0000 		call __floatsisf
3239
 3254 1f8a A201      		movw r20,r4
3240
 3255 1f8c 9101      		movw r18,r2
3241
 3256 1f8e 0E94 0000 		call __mulsf3
3242
 3257 1f92 5B01      		movw r10,r22
3243
 3258 1f94 6C01      		movw r12,r24
3244
 3259 1f96 0027      		clr r16
3245
 3260 1f98 F7FC      		sbrc r15,7
3246
 3261 1f9a 0095      		com r16
3247
 3262 1f9c 102F      		mov r17,r16
3248
 3263 1f9e C801      		movw r24,r16
3249
 3264 1fa0 B701      		movw r22,r14
3250
 3265 1fa2 0E94 0000 		call __floatsisf
3251
 3266 1fa6 A401      		movw r20,r8
3252
 3267 1fa8 9301      		movw r18,r6
3253
 3268 1faa 0E94 0000 		call __mulsf3
3254
 3269 1fae 9B01      		movw r18,r22
3255
 3270 1fb0 AC01      		movw r20,r24
3256
 3271 1fb2 C601      		movw r24,r12
3257
 3272 1fb4 B501      		movw r22,r10
3258
 3273 1fb6 0E94 0000 		call __addsf3
3259
 3274 1fba 0E94 0000 		call __fixsfsi
3260
 3275 1fbe 7093 0000 		sts (MesswertNick)+1,r23
3261
 3276 1fc2 6093 0000 		sts MesswertNick,r22
3262
 3277 1fc6 6091 0000 		lds r22,IntegralRoll
3263
 3278 1fca 7091 0000 		lds r23,(IntegralRoll)+1
3264
 3279 1fce 8091 0000 		lds r24,(IntegralRoll)+2
3265
 3280 1fd2 9091 0000 		lds r25,(IntegralRoll)+3
3266
 3281 1fd6 E090 0000 		lds r14,MesswertRoll
3267
 3282 1fda F090 0000 		lds r15,(MesswertRoll)+1
3268
 3283 1fde 0E94 0000 		call __floatsisf
3269
 3284 1fe2 A201      		movw r20,r4
3270
 3285 1fe4 9101      		movw r18,r2
3271
 3286 1fe6 0E94 0000 		call __mulsf3
3272
 3287 1fea 5B01      		movw r10,r22
3273
 3288 1fec 6C01      		movw r12,r24
3274
 3289 1fee 0027      		clr r16
3275
 3290 1ff0 F7FC      		sbrc r15,7
3276
 3291 1ff2 0095      		com r16
3277
 3292 1ff4 102F      		mov r17,r16
3278
 3293 1ff6 C801      		movw r24,r16
3279
 3294 1ff8 B701      		movw r22,r14
3280
 3295 1ffa 0E94 0000 		call __floatsisf
3281
 3296 1ffe A401      		movw r20,r8
3282
 3297 2000 9301      		movw r18,r6
3283
 3298 2002 0E94 0000 		call __mulsf3
3284
 3299 2006 9B01      		movw r18,r22
3285
 3300 2008 AC01      		movw r20,r24
3286
 3301 200a C601      		movw r24,r12
3287
 3302 200c B501      		movw r22,r10
3288
 3303 200e 0E94 0000 		call __addsf3
3289
 3304 2012 0E94 0000 		call __fixsfsi
3290
 3305 2016 7093 0000 		sts (MesswertRoll)+1,r23
3291
 3306 201a 6093 0000 		sts MesswertRoll,r22
3292
 3307 201e 6091 0000 		lds r22,MesswertGier
3293
 3308 2022 7091 0000 		lds r23,(MesswertGier)+1
3294
 3309 2026 A090 0000 		lds r10,Integral_Gier
3295
 3310 202a B090 0000 		lds r11,(Integral_Gier)+1
3296
 3311 202e C090 0000 		lds r12,(Integral_Gier)+2
3297
 3312 2032 D090 0000 		lds r13,(Integral_Gier)+3
3298
 3313 2036 8827      		clr r24
3299
 3314 2038 77FD      		sbrc r23,7
3300
 3315 203a 8095      		com r24
3301
 3316 203c 982F      		mov r25,r24
3302
 3317 203e 0E94 0000 		call __floatsisf
3303
 3318 2042 7B01      		movw r14,r22
3304
 3319 2044 8C01      		movw r16,r24
3305
 3320 2046 20E0      		ldi r18,lo8(0x3f000000)
3306
 3321 2048 30E0      		ldi r19,hi8(0x3f000000)
3307
 3322 204a 40E0      		ldi r20,hlo8(0x3f000000)
3308
 3323 204c 5FE3      		ldi r21,hhi8(0x3f000000)
3309
 3324 204e C401      		movw r24,r8
3310
 3325 2050 B301      		movw r22,r6
3311
 3326 2052 0E94 0000 		call __mulsf3
3312
 3327 2056 9B01      		movw r18,r22
3313
 3328 2058 AC01      		movw r20,r24
3314
 3329 205a C801      		movw r24,r16
3315
 3330 205c B701      		movw r22,r14
3316
 3331 205e 0E94 0000 		call __mulsf3
3317
 3332 2062 7B01      		movw r14,r22
3318
 3333 2064 8C01      		movw r16,r24
3319
 3334 2066 C601      		movw r24,r12
3320
 3335 2068 B501      		movw r22,r10
3321
 3336 206a 0E94 0000 		call __floatsisf
3322
 3337 206e A201      		movw r20,r4
3323
 3338 2070 9101      		movw r18,r2
3324
 3339 2072 0E94 0000 		call __mulsf3
3325
 3340 2076 9B01      		movw r18,r22
3326
 3341 2078 AC01      		movw r20,r24
3327
 3342 207a C801      		movw r24,r16
3328
 3343 207c B701      		movw r22,r14
3329
 3344 207e 0E94 0000 		call __addsf3
3330
 3345 2082 0E94 0000 		call __fixsfsi
3331
 3346 2086 7093 0000 		sts (MesswertGier)+1,r23
3332
 3347 208a 6093 0000 		sts MesswertGier,r22
3333
 3348 208e 8091 0000 		lds r24,MesswertNick
3334
 3349 2092 9091 0000 		lds r25,(MesswertNick)+1
3335
 3350 2096 8150      		subi r24,lo8(2049)
3336
 3351 2098 9840      		sbci r25,hi8(2049)
3337
 3352 209a 04F0      		brlt .L497
3338
 3353 209c 80E0      		ldi r24,lo8(2048)
3339
 3354 209e 98E0      		ldi r25,hi8(2048)
3340
 3355 20a0 9093 0000 		sts (MesswertNick)+1,r25
3341
 3356 20a4 8093 0000 		sts MesswertNick,r24
3342
 3357               	.L497:
3343
 3358 20a8 8091 0000 		lds r24,MesswertNick
3344
 3359 20ac 9091 0000 		lds r25,(MesswertNick)+1
3345
 3360 20b0 8050      		subi r24,lo8(-2048)
3346
 3361 20b2 984F      		sbci r25,hi8(-2048)
3347
 3362 20b4 04F4      		brge .L499
3348
 3363 20b6 80E0      		ldi r24,lo8(-2048)
3349
 3364 20b8 98EF      		ldi r25,hi8(-2048)
3350
 3365 20ba 9093 0000 		sts (MesswertNick)+1,r25
3351
 3366 20be 8093 0000 		sts MesswertNick,r24
3352
 3367               	.L499:
3353
 3368 20c2 8091 0000 		lds r24,MesswertRoll
3354
 3369 20c6 9091 0000 		lds r25,(MesswertRoll)+1
3355
 3370 20ca 8150      		subi r24,lo8(2049)
3356
 3371 20cc 9840      		sbci r25,hi8(2049)
3357
 3372 20ce 04F0      		brlt .L501
3358
 3373 20d0 80E0      		ldi r24,lo8(2048)
3359
 3374 20d2 98E0      		ldi r25,hi8(2048)
3360
 3375 20d4 9093 0000 		sts (MesswertRoll)+1,r25
3361
 3376 20d8 8093 0000 		sts MesswertRoll,r24
3362
 3377               	.L501:
3363
 3378 20dc 8091 0000 		lds r24,MesswertRoll
3364
 3379 20e0 9091 0000 		lds r25,(MesswertRoll)+1
3365
 3380 20e4 8050      		subi r24,lo8(-2048)
3366
 3381 20e6 984F      		sbci r25,hi8(-2048)
3367
 3382 20e8 04F4      		brge .L503
3368
 3383 20ea 80E0      		ldi r24,lo8(-2048)
3369
 3384 20ec 98EF      		ldi r25,hi8(-2048)
3370
 3385 20ee 9093 0000 		sts (MesswertRoll)+1,r25
3371
 3386 20f2 8093 0000 		sts MesswertRoll,r24
3372
 3387               	.L503:
3373
 3388 20f6 8091 0000 		lds r24,MesswertGier
3374
 3389 20fa 9091 0000 		lds r25,(MesswertGier)+1
3375
 3390 20fe 8150      		subi r24,lo8(2049)
3376
 3391 2100 9840      		sbci r25,hi8(2049)
3377
 3392 2102 04F0      		brlt .L505
3378
 3393 2104 80E0      		ldi r24,lo8(2048)
3379
 3394 2106 98E0      		ldi r25,hi8(2048)
3380
 3395 2108 9093 0000 		sts (MesswertGier)+1,r25
3381
 3396 210c 8093 0000 		sts MesswertGier,r24
3382
 3397               	.L505:
3383
 3398 2110 8091 0000 		lds r24,MesswertGier
3384
 3399 2114 9091 0000 		lds r25,(MesswertGier)+1
3385
 3400 2118 8050      		subi r24,lo8(-2048)
3386
 3401 211a 984F      		sbci r25,hi8(-2048)
3387
 3402 211c 04F4      		brge .L507
3388
 3403 211e 80E0      		ldi r24,lo8(-2048)
3389
 3404 2120 98EF      		ldi r25,hi8(-2048)
3390
 3405 2122 9093 0000 		sts (MesswertGier)+1,r25
3391
 3406 2126 8093 0000 		sts MesswertGier,r24
3392
 3407               	.L507:
3393
 3408 212a 8091 0000 		lds r24,EE_Parameter+8
3394
 3409 212e 9927      		clr r25
3395
 3410 2130 80FF      		sbrs r24,0
3396
 3411 2132 00C0      		rjmp .L509
3397
 3412 2134 2091 0000 		lds r18,Parameter_MaxHoehe
3398
 3413 2138 81FF      		sbrs r24,1
3399
 3414 213a 00C0      		rjmp .L511
3400
 3415 213c 2233      		cpi r18,lo8(50)
3401
 3416 213e 00F4      		brsh .L580
3402
 3417 2140 8091 0000 		lds r24,HoehenWert
3403
 3418 2144 9091 0000 		lds r25,(HoehenWert)+1
3404
 3419 2148 4497      		sbiw r24,20
3405
 3420 214a 9093 0000 		sts (SollHoehe)+1,r25
3406
 3421 214e 8093 0000 		sts SollHoehe,r24
3407
 3422 2152 1092 0000 		sts HoehenReglerAktiv,__zero_reg__
3408
 3423 2156 00C0      		rjmp .L515
3409
 3424               	.L511:
3410
 3425 2158 8091 0000 		lds r24,EE_Parameter+13
3411
 3426 215c 289F      		mul r18,r24
3412
 3427 215e C001      		movw r24,r0
3413
 3428 2160 1124      		clr r1
3414
 3429 2162 4497      		sbiw r24,20
3415
 3430 2164 9093 0000 		sts (SollHoehe)+1,r25
3416
 3431 2168 8093 0000 		sts SollHoehe,r24
3417
 3432               	.L580:
3418
 3433 216c 81E0      		ldi r24,lo8(1)
3419
 3434 216e 8093 0000 		sts HoehenReglerAktiv,r24
3420
 3435               	.L515:
3421
 3436 2172 8091 0000 		lds r24,Notlandung
3422
 3437 2176 8823      		tst r24
3423
 3438 2178 01F0      		breq .L516
3424
 3439 217a 1092 0000 		sts (SollHoehe)+1,__zero_reg__
3425
 3440 217e 1092 0000 		sts SollHoehe,__zero_reg__
3426
 3441               	.L516:
3427
 3442 2182 2091 0000 		lds r18,HoehenWert
3428
 3443 2186 3091 0000 		lds r19,(HoehenWert)+1
3429
 3444 218a 4091 0000 		lds r20,SollHoehe
3430
 3445 218e 5091 0000 		lds r21,(SollHoehe)+1
3431
 3446 2192 4217      		cp r20,r18
3432
 3447 2194 5307      		cpc r21,r19
3433
 3448 2196 04F0      		brlt .+2
3434
 3449 2198 00C0      		rjmp .L509
3435
 3450 219a 8091 0000 		lds r24,HoehenReglerAktiv
3436
 3451 219e 8823      		tst r24
3437
 3452 21a0 01F4      		brne .+2
3438
 3453 21a2 00C0      		rjmp .L509
3439
 3454 21a4 241B      		sub r18,r20
3440
 3455 21a6 350B      		sbc r19,r21
3441
 3456 21a8 8091 0000 		lds r24,Parameter_Hoehe_P
3442
 3457 21ac 9927      		clr r25
3443
 3458 21ae BC01      		movw r22,r24
3444
 3459 21b0 269F      		mul r18,r22
3445
 3460 21b2 C001      		movw r24,r0
3446
 3461 21b4 279F      		mul r18,r23
3447
 3462 21b6 900D      		add r25,r0
3448
 3463 21b8 369F      		mul r19,r22
3449
 3464 21ba 900D      		add r25,r0
3450
 3465 21bc 1124      		clr r1
3451
 3466 21be 60E1      		ldi r22,lo8(16)
3452
 3467 21c0 70E0      		ldi r23,hi8(16)
3453
 3468 21c2 0E94 0000 		call __divmodhi4
3454
 3469 21c6 0981      		ldd r16,Y+1
3455
 3470 21c8 1A81      		ldd r17,Y+2
3456
 3471 21ca 061B      		sub r16,r22
3457
 3472 21cc 170B      		sbc r17,r23
3458
 3473 21ce 2091 0000 		lds r18,HoeheD
3459
 3474 21d2 3091 0000 		lds r19,(HoeheD)+1
3460
 3475 21d6 8091 0000 		lds r24,Parameter_Luftdruck_D
3461
 3476 21da 9927      		clr r25
3462
 3477 21dc FC01      		movw r30,r24
3463
 3478 21de 2E9F      		mul r18,r30
3464
 3479 21e0 C001      		movw r24,r0
3465
 3480 21e2 2F9F      		mul r18,r31
3466
 3481 21e4 900D      		add r25,r0
3467
 3482 21e6 3E9F      		mul r19,r30
3468
 3483 21e8 900D      		add r25,r0
3469
 3484 21ea 1124      		clr r1
3470
 3485 21ec 68E0      		ldi r22,lo8(8)
3471
 3486 21ee 70E0      		ldi r23,hi8(8)
3472
 3487 21f0 0E94 0000 		call __divmodhi4
3473
 3488 21f4 061B      		sub r16,r22
3474
 3489 21f6 170B      		sbc r17,r23
3475
 3490 21f8 6091 0000 		lds r22,Mess_Integral_Hoch
3476
 3491 21fc 7091 0000 		lds r23,(Mess_Integral_Hoch)+1
3477
 3492 2200 8091 0000 		lds r24,(Mess_Integral_Hoch)+2
3478
 3493 2204 9091 0000 		lds r25,(Mess_Integral_Hoch)+3
3479
 3494 2208 20E0      		ldi r18,lo8(512)
3480
 3495 220a 32E0      		ldi r19,hi8(512)
3481
 3496 220c 40E0      		ldi r20,hlo8(512)
3482
 3497 220e 50E0      		ldi r21,hhi8(512)
3483
 3498 2210 0E94 0000 		call __divmodsi4
3484
 3499 2214 CA01      		movw r24,r20
3485
 3500 2216 B901      		movw r22,r18
3486
 3501 2218 2091 0000 		lds r18,Parameter_Hoehe_ACC_Wirkung
3487
 3502 221c 3327      		clr r19
3488
 3503 221e 4427      		clr r20
3489
 3504 2220 5527      		clr r21
3490
 3505 2222 0E94 0000 		call __mulsi3
3491
 3506 2226 20E2      		ldi r18,lo8(32)
3492
 3507 2228 30E0      		ldi r19,hi8(32)
3493
 3508 222a 40E0      		ldi r20,hlo8(32)
3494
 3509 222c 50E0      		ldi r21,hhi8(32)
3495
 3510 222e 0E94 0000 		call __divmodsi4
3496
 3511 2232 FFEF      		ldi r31,hi8(-50)
3497
 3512 2234 2E3C      		cpi r18,lo8(-50)
3498
 3513 2236 3F07      		cpc r19,r31
3499
 3514 2238 04F4      		brge .L520
3500
 3515 223a 2EEC      		ldi r18,lo8(-50)
3501
 3516 223c 3FEF      		ldi r19,hi8(-50)
3502
 3517               	.L520:
3503
 3518 223e 8091 0000 		lds r24,hoehenregler.2362
3504
 3519 2242 9091 0000 		lds r25,(hoehenregler.2362)+1
3505
 3520 2246 AC01      		movw r20,r24
3506
 3521 2248 74E0      		ldi r23,4
3507
 3522 224a 440F      	1:	lsl r20
3508
 3523 224c 551F      		rol r21
3509
 3524 224e 7A95      		dec r23
3510
 3525 2250 01F4      		brne 1b
3511
 3526 2252 481B      		sub r20,r24
3512
 3527 2254 590B      		sbc r21,r25
3513
 3528 2256 2333      		cpi r18,51
3514
 3529 2258 3105      		cpc r19,__zero_reg__
3515
 3530 225a 04F0      		brlt .L521
3516
 3531 225c 22E3      		ldi r18,lo8(50)
3517
 3532 225e 30E0      		ldi r19,hi8(50)
3518
 3533               	.L521:
3519
 3534 2260 021B      		sub r16,r18
3520
 3535 2262 130B      		sbc r17,r19
3521
 3536 2264 CA01      		movw r24,r20
3522
 3537 2266 800F      		add r24,r16
3523
 3538 2268 911F      		adc r25,r17
3524
 3539 226a 60E1      		ldi r22,lo8(16)
3525
 3540 226c 70E0      		ldi r23,hi8(16)
3526
 3541 226e 0E94 0000 		call __divmodhi4
3527
 3542 2272 7093 0000 		sts (hoehenregler.2362)+1,r23
3528
 3543 2276 6093 0000 		sts hoehenregler.2362,r22
3529
 3544 227a 8091 0000 		lds r24,EE_Parameter+9
3530
 3545 227e 9927      		clr r25
3531
 3546 2280 6817      		cp r22,r24
3532
 3547 2282 7907      		cpc r23,r25
3533
 3548 2284 04F4      		brge .L522
3534
 3549 2286 2981      		ldd r18,Y+1
3535
 3550 2288 3A81      		ldd r19,Y+2
3536
 3551 228a 2817      		cp r18,r24
3537
 3552 228c 3907      		cpc r19,r25
3538
 3553 228e 04F0      		brlt .L524
3539
 3554 2290 9093 0000 		sts (hoehenregler.2362)+1,r25
3540
 3555 2294 8093 0000 		sts hoehenregler.2362,r24
3541
 3556 2298 00C0      		rjmp .L522
3542
 3557               	.L524:
3543
 3558 229a 4981      		ldd r20,Y+1
3544
 3559 229c 5A81      		ldd r21,Y+2
3545
 3560 229e 5093 0000 		sts (hoehenregler.2362)+1,r21
3546
 3561 22a2 4093 0000 		sts hoehenregler.2362,r20
3547
 3562 22a6 00C0      		rjmp .L526
3548
 3563               	.L522:
3549
 3564 22a8 8091 0000 		lds r24,hoehenregler.2362
3550
 3565 22ac 9091 0000 		lds r25,(hoehenregler.2362)+1
3551
 3566 22b0 6981      		ldd r22,Y+1
3552
 3567 22b2 7A81      		ldd r23,Y+2
3553
 3568 22b4 6817      		cp r22,r24
3554
 3569 22b6 7907      		cpc r23,r25
3555
 3570 22b8 04F4      		brge .L526
3556
 3571 22ba 7093 0000 		sts (hoehenregler.2362)+1,r23
3557
 3572 22be 6093 0000 		sts hoehenregler.2362,r22
3558
 3573               	.L526:
3559
 3574 22c2 8091 0000 		lds r24,hoehenregler.2362
3560
 3575 22c6 9091 0000 		lds r25,(hoehenregler.2362)+1
3561
 3576 22ca 9A83      		std Y+2,r25
3562
 3577 22cc 8983      		std Y+1,r24
3563
 3578               	.L509:
3564
 3579 22ce C090 0000 		lds r12,MesswertGier
3565
 3580 22d2 D090 0000 		lds r13,(MesswertGier)+1
3566
 3581 22d6 8091 0000 		lds r24,sollGier.2352
3567
 3582 22da 9091 0000 		lds r25,(sollGier.2352)+1
3568
 3583 22de C81A      		sub r12,r24
3569
 3584 22e0 D90A      		sbc r13,r25
3570
 3585 22e2 95E6      		ldi r25,lo8(101)
3571
 3586 22e4 C916      		cp r12,r25
3572
 3587 22e6 D104      		cpc r13,__zero_reg__
3573
 3588 22e8 04F0      		brlt .L528
3574
 3589 22ea 64E6      		ldi r22,lo8(100)
3575
 3590 22ec C62E      		mov r12,r22
3576
 3591 22ee D12C      		mov r13,__zero_reg__
3577
 3592 22f0 00C0      		rjmp .L530
3578
 3593               	.L528:
3579
 3594 22f2 ECE9      		ldi r30,lo8(-100)
3580
 3595 22f4 CE16      		cp r12,r30
3581
 3596 22f6 EFEF      		ldi r30,hi8(-100)
3582
 3597 22f8 DE06      		cpc r13,r30
3583
 3598 22fa 04F4      		brge .L530
3584
 3599 22fc 5CE9      		ldi r21,lo8(-100)
3585
 3600 22fe C52E      		mov r12,r21
3586
 3601 2300 5FEF      		ldi r21,hi8(-100)
3587
 3602 2302 D52E      		mov r13,r21
3588
 3603               	.L530:
3589
 3604 2304 4090 0000 		lds r4,Kp
3590
 3605 2308 5090 0000 		lds r5,(Kp)+1
3591
 3606 230c 6090 0000 		lds r6,(Kp)+2
3592
 3607 2310 7090 0000 		lds r7,(Kp)+3
3593
 3608 2314 6091 0000 		lds r22,MesswertNick
3594
 3609 2318 7091 0000 		lds r23,(MesswertNick)+1
3595
 3610 231c 2091 0000 		lds r18,StickNick
3596
 3611 2320 3091 0000 		lds r19,(StickNick)+1
3597
 3612 2324 4091 0000 		lds r20,GPS_Nick
3598
 3613 2328 5091 0000 		lds r21,(GPS_Nick)+1
3599
 3614 232c 241B      		sub r18,r20
3600
 3615 232e 350B      		sbc r19,r21
3601
 3616 2330 621B      		sub r22,r18
3602
 3617 2332 730B      		sbc r23,r19
3603
 3618 2334 8827      		clr r24
3604
 3619 2336 77FD      		sbrc r23,7
3605
 3620 2338 8095      		com r24
3606
 3621 233a 982F      		mov r25,r24
3607
 3622 233c 0E94 0000 		call __floatsisf
3608
 3623 2340 9B01      		movw r18,r22
3609
 3624 2342 AC01      		movw r20,r24
3610
 3625 2344 C301      		movw r24,r6
3611
 3626 2346 B201      		movw r22,r4
3612
 3627 2348 0E94 0000 		call __mulsf3
3613
 3628 234c 0E94 0000 		call __fixsfsi
3614
 3629 2350 7093 0000 		sts (DiffNick)+1,r23
3615
 3630 2354 6093 0000 		sts DiffNick,r22
3616
 3631 2358 8091 0000 		lds r24,DiffNick
3617
 3632 235c 9091 0000 		lds r25,(DiffNick)+1
3618
 3633 2360 8C01      		movw r16,r24
3619
 3634 2362 2227      		clr r18
3620
 3635 2364 17FD      		sbrc r17,7
3621
 3636 2366 2095      		com r18
3622
 3637 2368 322F      		mov r19,r18
3623
 3638 236a 8091 0000 		lds r24,SummeNick.2350
3624
 3639 236e 9091 0000 		lds r25,(SummeNick.2350)+1
3625
 3640 2372 A091 0000 		lds r26,(SummeNick.2350)+2
3626
 3641 2376 B091 0000 		lds r27,(SummeNick.2350)+3
3627
 3642 237a 080F      		add r16,r24
3628
 3643 237c 191F      		adc r17,r25
3629
 3644 237e 2A1F      		adc r18,r26
3630
 3645 2380 3B1F      		adc r19,r27
3631
 3646 2382 0093 0000 		sts SummeNick.2350,r16
3632
 3647 2386 1093 0000 		sts (SummeNick.2350)+1,r17
3633
 3648 238a 2093 0000 		sts (SummeNick.2350)+2,r18
3634
 3649 238e 3093 0000 		sts (SummeNick.2350)+3,r19
3635
 3650 2392 1016      		cp __zero_reg__,r16
3636
 3651 2394 1106      		cpc __zero_reg__,r17
3637
 3652 2396 1206      		cpc __zero_reg__,r18
3638
 3653 2398 1306      		cpc __zero_reg__,r19
3639
 3654 239a 04F4      		brge .L532
3640
 3655 239c C801      		movw r24,r16
3641
 3656 239e 17FF      		sbrs r17,7
3642
 3657 23a0 00C0      		rjmp .L534
3643
 3658 23a2 9095      		com r25
3644
 3659 23a4 8195      		neg r24
3645
 3660 23a6 9F4F      		sbci r25,lo8(-1)
3646
 3661               	.L534:
3647
 3662 23a8 60E0      		ldi r22,lo8(256)
3648
 3663 23aa 71E0      		ldi r23,hi8(256)
3649
 3664 23ac 0E94 0000 		call __divmodhi4
3650
 3665 23b0 6F5F      		subi r22,lo8(-(1))
3651
 3666 23b2 7F4F      		sbci r23,hi8(-(1))
3652
 3667 23b4 8827      		clr r24
3653
 3668 23b6 77FD      		sbrc r23,7
3654
 3669 23b8 8095      		com r24
3655
 3670 23ba 982F      		mov r25,r24
3656
 3671 23bc 061B      		sub r16,r22
3657
 3672 23be 170B      		sbc r17,r23
3658
 3673 23c0 280B      		sbc r18,r24
3659
 3674 23c2 390B      		sbc r19,r25
3660
 3675 23c4 00C0      		rjmp .L581
3661
 3676               	.L532:
3662
 3677 23c6 C801      		movw r24,r16
3663
 3678 23c8 17FF      		sbrs r17,7
3664
 3679 23ca 00C0      		rjmp .L536
3665
 3680 23cc 9095      		com r25
3666
 3681 23ce 8195      		neg r24
3667
 3682 23d0 9F4F      		sbci r25,lo8(-1)
3668
 3683               	.L536:
3669
 3684 23d2 60E0      		ldi r22,lo8(256)
3670
 3685 23d4 71E0      		ldi r23,hi8(256)
3671
 3686 23d6 0E94 0000 		call __divmodhi4
3672
 3687 23da 6F5F      		subi r22,lo8(-(1))
3673
 3688 23dc 7F4F      		sbci r23,hi8(-(1))
3674
 3689 23de 8827      		clr r24
3675
 3690 23e0 77FD      		sbrc r23,7
3676
 3691 23e2 8095      		com r24
3677
 3692 23e4 982F      		mov r25,r24
3678
 3693 23e6 060F      		add r16,r22
3679
 3694 23e8 171F      		adc r17,r23
3680
 3695 23ea 281F      		adc r18,r24
3681
 3696 23ec 391F      		adc r19,r25
3682
 3697               	.L581:
3683
 3698 23ee 0093 0000 		sts SummeNick.2350,r16
3684
 3699 23f2 1093 0000 		sts (SummeNick.2350)+1,r17
3685
 3700 23f6 2093 0000 		sts (SummeNick.2350)+2,r18
3686
 3701 23fa 3093 0000 		sts (SummeNick.2350)+3,r19
3687
 3702 23fe 8091 0000 		lds r24,SummeNick.2350
3688
 3703 2402 9091 0000 		lds r25,(SummeNick.2350)+1
3689
 3704 2406 A091 0000 		lds r26,(SummeNick.2350)+2
3690
 3705 240a B091 0000 		lds r27,(SummeNick.2350)+3
3691
 3706 240e 8138      		cpi r24,lo8(16001)
3692
 3707 2410 FEE3      		ldi r31,hi8(16001)
3693
 3708 2412 9F07      		cpc r25,r31
3694
 3709 2414 F0E0      		ldi r31,hlo8(16001)
3695
 3710 2416 AF07      		cpc r26,r31
3696
 3711 2418 F0E0      		ldi r31,hhi8(16001)
3697
 3712 241a BF07      		cpc r27,r31
3698
 3713 241c 04F0      		brlt .L537
3699
 3714 241e 80E8      		ldi r24,lo8(16000)
3700
 3715 2420 9EE3      		ldi r25,hi8(16000)
3701
 3716 2422 A0E0      		ldi r26,hlo8(16000)
3702
 3717 2424 B0E0      		ldi r27,hhi8(16000)
3703
 3718 2426 00C0      		rjmp .L582
3704
 3719               	.L537:
3705
 3720 2428 8058      		subi r24,lo8(-16000)
3706
 3721 242a 914C      		sbci r25,hi8(-16000)
3707
 3722 242c AF4F      		sbci r26,hlo8(-16000)
3708
 3723 242e BF4F      		sbci r27,hhi8(-16000)
3709
 3724 2430 04F4      		brge .L539
3710
 3725 2432 80E8      		ldi r24,lo8(-16000)
3711
 3726 2434 91EC      		ldi r25,hi8(-16000)
3712
 3727 2436 AFEF      		ldi r26,hlo8(-16000)
3713
 3728 2438 BFEF      		ldi r27,hhi8(-16000)
3714
 3729               	.L582:
3715
 3730 243a 8093 0000 		sts SummeNick.2350,r24
3716
 3731 243e 9093 0000 		sts (SummeNick.2350)+1,r25
3717
 3732 2442 A093 0000 		sts (SummeNick.2350)+2,r26
3718
 3733 2446 B093 0000 		sts (SummeNick.2350)+3,r27
3719
 3734               	.L539:
3720
 3735 244a 6091 0000 		lds r22,DiffNick
3721
 3736 244e 7091 0000 		lds r23,(DiffNick)+1
3722
 3737 2452 8090 0000 		lds r8,Ki
3723
 3738 2456 9090 0000 		lds r9,(Ki)+1
3724
 3739 245a A090 0000 		lds r10,(Ki)+2
3725
 3740 245e B090 0000 		lds r11,(Ki)+3
3726
 3741 2462 8827      		clr r24
3727
 3742 2464 77FD      		sbrc r23,7
3728
 3743 2466 8095      		com r24
3729
 3744 2468 982F      		mov r25,r24
3730
 3745 246a 0E94 0000 		call __floatsisf
3731
 3746 246e 7B01      		movw r14,r22
3732
 3747 2470 8C01      		movw r16,r24
3733
 3748 2472 6091 0000 		lds r22,SummeNick.2350
3734
 3749 2476 7091 0000 		lds r23,(SummeNick.2350)+1
3735
 3750 247a 8091 0000 		lds r24,(SummeNick.2350)+2
3736
 3751 247e 9091 0000 		lds r25,(SummeNick.2350)+3
3737
 3752 2482 0E94 0000 		call __floatsisf
3738
 3753 2486 9B01      		movw r18,r22
3739
 3754 2488 AC01      		movw r20,r24
3740
 3755 248a C501      		movw r24,r10
3741
 3756 248c B401      		movw r22,r8
3742
 3757 248e 0E94 0000 		call __mulsf3
3743
 3758 2492 9B01      		movw r18,r22
3744
 3759 2494 AC01      		movw r20,r24
3745
 3760 2496 C801      		movw r24,r16
3746
 3761 2498 B701      		movw r22,r14
3747
 3762 249a 0E94 0000 		call __addsf3
3748
 3763 249e 0E94 0000 		call __fixsfsi
3749
 3764 24a2 9601      		movw r18,r12
3750
 3765 24a4 260F      		add r18,r22
3751
 3766 24a6 371F      		adc r19,r23
3752
 3767 24a8 4981      		ldd r20,Y+1
3753
 3768 24aa 5A81      		ldd r21,Y+2
3754
 3769 24ac 240F      		add r18,r20
3755
 3770 24ae 351F      		adc r19,r21
3756
 3771 24b0 2224      		clr r2
3757
 3772 24b2 4A30      		cpi r20,10
3758
 3773 24b4 5105      		cpc r21,__zero_reg__
3759
 3774 24b6 04F4      		brge .L541
3760
 3775 24b8 41E0      		ldi r20,lo8(1)
3761
 3776 24ba 242E      		mov r2,r20
3762
 3777               	.L541:
3763
 3778 24bc 37FD      		sbrc r19,7
3764
 3779 24be 00C0      		rjmp .L544
3765
 3780 24c0 2220      		tst r2
3766
 3781 24c2 01F0      		breq .L542
3767
 3782               	.L544:
3768
 3783 24c4 40E0      		ldi r20,lo8(0)
3769
 3784 24c6 50E0      		ldi r21,hi8(0)
3770
 3785 24c8 00C0      		rjmp .L545
3771
 3786               	.L542:
3772
 3787 24ca 8091 0000 		lds r24,MAX_GAS
3773
 3788 24ce 482F      		mov r20,r24
3774
 3789 24d0 5527      		clr r21
3775
 3790 24d2 2417      		cp r18,r20
3776
 3791 24d4 3507      		cpc r19,r21
3777
 3792 24d6 04F4      		brge .L545
3778
 3793 24d8 A901      		movw r20,r18
3779
 3794               	.L545:
3780
 3795 24da 8091 0000 		lds r24,MIN_GAS
3781
 3796 24de E82F      		mov r30,r24
3782
 3797 24e0 FF27      		clr r31
3783
 3798 24e2 FC83      		std Y+4,r31
3784
 3799 24e4 EB83      		std Y+3,r30
3785
 3800 24e6 9F01      		movw r18,r30
3786
 3801 24e8 E417      		cp r30,r20
3787
 3802 24ea F507      		cpc r31,r21
3788
 3803 24ec 04F4      		brge .L547
3789
 3804 24ee 9A01      		movw r18,r20
3790
 3805               	.L547:
3791
 3806 24f0 2093 0000 		sts Motor_Vorne,r18
3792
 3807 24f4 2981      		ldd r18,Y+1
3793
 3808 24f6 3A81      		ldd r19,Y+2
3794
 3809 24f8 261B      		sub r18,r22
3795
 3810 24fa 370B      		sbc r19,r23
3796
 3811 24fc B901      		movw r22,r18
3797
 3812 24fe 6C0D      		add r22,r12
3798
 3813 2500 7D1D      		adc r23,r13
3799
 3814 2502 77FD      		sbrc r23,7
3800
 3815 2504 00C0      		rjmp .L550
3801
 3816 2506 2220      		tst r2
3802
 3817 2508 01F0      		breq .L548
3803
 3818               	.L550:
3804
 3819 250a 80E0      		ldi r24,lo8(0)
3805
 3820 250c 90E0      		ldi r25,hi8(0)
3806
 3821 250e 00C0      		rjmp .L551
3807
 3822               	.L548:
3808
 3823 2510 8091 0000 		lds r24,MAX_GAS
3809
 3824 2514 9927      		clr r25
3810
 3825 2516 6817      		cp r22,r24
3811
 3826 2518 7907      		cpc r23,r25
3812
 3827 251a 04F4      		brge .L551
3813
 3828 251c CB01      		movw r24,r22
3814
 3829               	.L551:
3815
 3830 251e 2B81      		ldd r18,Y+3
3816
 3831 2520 3C81      		ldd r19,Y+4
3817
 3832 2522 2817      		cp r18,r24
3818
 3833 2524 3907      		cpc r19,r25
3819
 3834 2526 04F4      		brge .L553
3820
 3835 2528 9C01      		movw r18,r24
3821
 3836               	.L553:
3822
 3837 252a 2093 0000 		sts Motor_Hinten,r18
3823
 3838 252e 6091 0000 		lds r22,MesswertRoll
3824
 3839 2532 7091 0000 		lds r23,(MesswertRoll)+1
3825
 3840 2536 2091 0000 		lds r18,StickRoll
3826
 3841 253a 3091 0000 		lds r19,(StickRoll)+1
3827
 3842 253e 4091 0000 		lds r20,GPS_Roll
3828
 3843 2542 5091 0000 		lds r21,(GPS_Roll)+1
3829
 3844 2546 241B      		sub r18,r20
3830
 3845 2548 350B      		sbc r19,r21
3831
 3846 254a 621B      		sub r22,r18
3832
 3847 254c 730B      		sbc r23,r19
3833
 3848 254e 8827      		clr r24
3834
 3849 2550 77FD      		sbrc r23,7
3835
 3850 2552 8095      		com r24
3836
 3851 2554 982F      		mov r25,r24
3837
 3852 2556 0E94 0000 		call __floatsisf
3838
 3853 255a 9B01      		movw r18,r22
3839
 3854 255c AC01      		movw r20,r24
3840
 3855 255e C301      		movw r24,r6
3841
 3856 2560 B201      		movw r22,r4
3842
 3857 2562 0E94 0000 		call __mulsf3
3843
 3858 2566 0E94 0000 		call __fixsfsi
3844
 3859 256a 7093 0000 		sts (DiffRoll)+1,r23
3845
 3860 256e 6093 0000 		sts DiffRoll,r22
3846
 3861 2572 8091 0000 		lds r24,DiffRoll
3847
 3862 2576 9091 0000 		lds r25,(DiffRoll)+1
3848
 3863 257a 8C01      		movw r16,r24
3849
 3864 257c 2227      		clr r18
3850
 3865 257e 17FD      		sbrc r17,7
3851
 3866 2580 2095      		com r18
3852
 3867 2582 322F      		mov r19,r18
3853
 3868 2584 8091 0000 		lds r24,SummeRoll.2351
3854
 3869 2588 9091 0000 		lds r25,(SummeRoll.2351)+1
3855
 3870 258c A091 0000 		lds r26,(SummeRoll.2351)+2
3856
 3871 2590 B091 0000 		lds r27,(SummeRoll.2351)+3
3857
 3872 2594 080F      		add r16,r24
3858
 3873 2596 191F      		adc r17,r25
3859
 3874 2598 2A1F      		adc r18,r26
3860
 3875 259a 3B1F      		adc r19,r27
3861
 3876 259c 0093 0000 		sts SummeRoll.2351,r16
3862
 3877 25a0 1093 0000 		sts (SummeRoll.2351)+1,r17
3863
 3878 25a4 2093 0000 		sts (SummeRoll.2351)+2,r18
3864
 3879 25a8 3093 0000 		sts (SummeRoll.2351)+3,r19
3865
 3880 25ac 1016      		cp __zero_reg__,r16
3866
 3881 25ae 1106      		cpc __zero_reg__,r17
3867
 3882 25b0 1206      		cpc __zero_reg__,r18
3868
 3883 25b2 1306      		cpc __zero_reg__,r19
3869
 3884 25b4 04F4      		brge .L554
3870
 3885 25b6 C801      		movw r24,r16
3871
 3886 25b8 17FF      		sbrs r17,7
3872
 3887 25ba 00C0      		rjmp .L556
3873
 3888 25bc 9095      		com r25
3874
 3889 25be 8195      		neg r24
3875
 3890 25c0 9F4F      		sbci r25,lo8(-1)
3876
 3891               	.L556:
3877
 3892 25c2 60E0      		ldi r22,lo8(256)
3878
 3893 25c4 71E0      		ldi r23,hi8(256)
3879
 3894 25c6 0E94 0000 		call __divmodhi4
3880
 3895 25ca 6F5F      		subi r22,lo8(-(1))
3881
 3896 25cc 7F4F      		sbci r23,hi8(-(1))
3882
 3897 25ce 8827      		clr r24
3883
 3898 25d0 77FD      		sbrc r23,7
3884
 3899 25d2 8095      		com r24
3885
 3900 25d4 982F      		mov r25,r24
3886
 3901 25d6 061B      		sub r16,r22
3887
 3902 25d8 170B      		sbc r17,r23
3888
 3903 25da 280B      		sbc r18,r24
3889
 3904 25dc 390B      		sbc r19,r25
3890
 3905 25de 00C0      		rjmp .L583
3891
 3906               	.L554:
3892
 3907 25e0 C801      		movw r24,r16
3893
 3908 25e2 17FF      		sbrs r17,7
3894
 3909 25e4 00C0      		rjmp .L558
3895
 3910 25e6 9095      		com r25
3896
 3911 25e8 8195      		neg r24
3897
 3912 25ea 9F4F      		sbci r25,lo8(-1)
3898
 3913               	.L558:
3899
 3914 25ec 60E0      		ldi r22,lo8(256)
3900
 3915 25ee 71E0      		ldi r23,hi8(256)
3901
 3916 25f0 0E94 0000 		call __divmodhi4
3902
 3917 25f4 6F5F      		subi r22,lo8(-(1))
3903
 3918 25f6 7F4F      		sbci r23,hi8(-(1))
3904
 3919 25f8 8827      		clr r24
3905
 3920 25fa 77FD      		sbrc r23,7
3906
 3921 25fc 8095      		com r24
3907
 3922 25fe 982F      		mov r25,r24
3908
 3923 2600 060F      		add r16,r22
3909
 3924 2602 171F      		adc r17,r23
3910
 3925 2604 281F      		adc r18,r24
3911
 3926 2606 391F      		adc r19,r25
3912
 3927               	.L583:
3913
 3928 2608 0093 0000 		sts SummeRoll.2351,r16
3914
 3929 260c 1093 0000 		sts (SummeRoll.2351)+1,r17
3915
 3930 2610 2093 0000 		sts (SummeRoll.2351)+2,r18
3916
 3931 2614 3093 0000 		sts (SummeRoll.2351)+3,r19
3917
 3932 2618 8091 0000 		lds r24,SummeRoll.2351
3918
 3933 261c 9091 0000 		lds r25,(SummeRoll.2351)+1
3919
 3934 2620 A091 0000 		lds r26,(SummeRoll.2351)+2
3920
 3935 2624 B091 0000 		lds r27,(SummeRoll.2351)+3
3921
 3936 2628 8138      		cpi r24,lo8(16001)
3922
 3937 262a 3EE3      		ldi r19,hi8(16001)
3923
 3938 262c 9307      		cpc r25,r19
3924
 3939 262e 30E0      		ldi r19,hlo8(16001)
3925
 3940 2630 A307      		cpc r26,r19
3926
 3941 2632 30E0      		ldi r19,hhi8(16001)
3927
 3942 2634 B307      		cpc r27,r19
3928
 3943 2636 04F0      		brlt .L559
3929
 3944 2638 80E8      		ldi r24,lo8(16000)
3930
 3945 263a 9EE3      		ldi r25,hi8(16000)
3931
 3946 263c A0E0      		ldi r26,hlo8(16000)
3932
 3947 263e B0E0      		ldi r27,hhi8(16000)
3933
 3948 2640 00C0      		rjmp .L584
3934
 3949               	.L559:
3935
 3950 2642 8058      		subi r24,lo8(-16000)
3936
 3951 2644 914C      		sbci r25,hi8(-16000)
3937
 3952 2646 AF4F      		sbci r26,hlo8(-16000)
3938
 3953 2648 BF4F      		sbci r27,hhi8(-16000)
3939
 3954 264a 04F4      		brge .L561
3940
 3955 264c 80E8      		ldi r24,lo8(-16000)
3941
 3956 264e 91EC      		ldi r25,hi8(-16000)
3942
 3957 2650 AFEF      		ldi r26,hlo8(-16000)
3943
 3958 2652 BFEF      		ldi r27,hhi8(-16000)
3944
 3959               	.L584:
3945
 3960 2654 8093 0000 		sts SummeRoll.2351,r24
3946
 3961 2658 9093 0000 		sts (SummeRoll.2351)+1,r25
3947
 3962 265c A093 0000 		sts (SummeRoll.2351)+2,r26
3948
 3963 2660 B093 0000 		sts (SummeRoll.2351)+3,r27
3949
 3964               	.L561:
3950
 3965 2664 6091 0000 		lds r22,DiffRoll
3951
 3966 2668 7091 0000 		lds r23,(DiffRoll)+1
3952
 3967 266c 8827      		clr r24
3953
 3968 266e 77FD      		sbrc r23,7
3954
 3969 2670 8095      		com r24
3955
 3970 2672 982F      		mov r25,r24
3956
 3971 2674 0E94 0000 		call __floatsisf
3957
 3972 2678 7B01      		movw r14,r22
3958
 3973 267a 8C01      		movw r16,r24
3959
 3974 267c 6091 0000 		lds r22,SummeRoll.2351
3960
 3975 2680 7091 0000 		lds r23,(SummeRoll.2351)+1
3961
 3976 2684 8091 0000 		lds r24,(SummeRoll.2351)+2
3962
 3977 2688 9091 0000 		lds r25,(SummeRoll.2351)+3
3963
 3978 268c 0E94 0000 		call __floatsisf
3964
 3979 2690 9B01      		movw r18,r22
3965
 3980 2692 AC01      		movw r20,r24
3966
 3981 2694 C501      		movw r24,r10
3967
 3982 2696 B401      		movw r22,r8
3968
 3983 2698 0E94 0000 		call __mulsf3
3969
 3984 269c 9B01      		movw r18,r22
3970
 3985 269e AC01      		movw r20,r24
3971
 3986 26a0 C801      		movw r24,r16
3972
 3987 26a2 B701      		movw r22,r14
3973
 3988 26a4 0E94 0000 		call __addsf3
3974
 3989 26a8 0E94 0000 		call __fixsfsi
3975
 3990 26ac 2981      		ldd r18,Y+1
3976
 3991 26ae 3A81      		ldd r19,Y+2
3977
 3992 26b0 260F      		add r18,r22
3978
 3993 26b2 371F      		adc r19,r23
3979
 3994 26b4 2C19      		sub r18,r12
3980
 3995 26b6 3D09      		sbc r19,r13
3981
 3996 26b8 37FD      		sbrc r19,7
3982
 3997 26ba 00C0      		rjmp .L565
3983
 3998 26bc 2220      		tst r2
3984
 3999 26be 01F0      		breq .L563
3985
 4000               	.L565:
3986
 4001 26c0 40E0      		ldi r20,lo8(0)
3987
 4002 26c2 50E0      		ldi r21,hi8(0)
3988
 4003 26c4 00C0      		rjmp .L566
3989
 4004               	.L563:
3990
 4005 26c6 8091 0000 		lds r24,MAX_GAS
3991
 4006 26ca 482F      		mov r20,r24
3992
 4007 26cc 5527      		clr r21
3993
 4008 26ce 2417      		cp r18,r20
3994
 4009 26d0 3507      		cpc r19,r21
3995
 4010 26d2 04F4      		brge .L566
3996
 4011 26d4 A901      		movw r20,r18
3997
 4012               	.L566:
3998
 4013 26d6 2B81      		ldd r18,Y+3
3999
 4014 26d8 3C81      		ldd r19,Y+4
4000
 4015 26da 2417      		cp r18,r20
4001
 4016 26dc 3507      		cpc r19,r21
4002
 4017 26de 04F4      		brge .L568
4003
 4018 26e0 9A01      		movw r18,r20
4004
 4019               	.L568:
4005
 4020 26e2 2093 0000 		sts Motor_Links,r18
4006
 4021 26e6 8981      		ldd r24,Y+1
4007
 4022 26e8 9A81      		ldd r25,Y+2
4008
 4023 26ea 861B      		sub r24,r22
4009
 4024 26ec 970B      		sbc r25,r23
4010
 4025 26ee BC01      		movw r22,r24
4011
 4026 26f0 6C19      		sub r22,r12
4012
 4027 26f2 7D09      		sbc r23,r13
4013
 4028 26f4 77FD      		sbrc r23,7
4014
 4029 26f6 00C0      		rjmp .L571
4015
 4030 26f8 2220      		tst r2
4016
 4031 26fa 01F0      		breq .L569
4017
 4032               	.L571:
4018
 4033 26fc 20E0      		ldi r18,lo8(0)
4019
 4034 26fe 30E0      		ldi r19,hi8(0)
4020
 4035 2700 00C0      		rjmp .L572
4021
 4036               	.L569:
4022
 4037 2702 8091 0000 		lds r24,MAX_GAS
4023
 4038 2706 282F      		mov r18,r24
4024
 4039 2708 3327      		clr r19
4025
 4040 270a 6217      		cp r22,r18
4026
 4041 270c 7307      		cpc r23,r19
4027
 4042 270e 04F4      		brge .L572
4028
 4043 2710 9B01      		movw r18,r22
4029
 4044               	.L572:
4030
 4045 2712 8B81      		ldd r24,Y+3
4031
 4046 2714 9C81      		ldd r25,Y+4
4032
 4047 2716 8217      		cp r24,r18
4033
 4048 2718 9307      		cpc r25,r19
4034
 4049 271a 04F4      		brge .L574
4035
 4050 271c C901      		movw r24,r18
4036
 4051               	.L574:
4037
 4052 271e 8093 0000 		sts Motor_Rechts,r24
4038
 4053               	/* epilogue: frame size=4 */
4039
 4054 2722 2496      		adiw r28,4
4040
 4055 2724 0FB6      		in __tmp_reg__,__SREG__
4041
 4056 2726 F894      		cli
4042
 4057 2728 DEBF      		out __SP_H__,r29
4043
 4058 272a 0FBE      		out __SREG__,__tmp_reg__
4044
 4059 272c CDBF      		out __SP_L__,r28
4045
 4060 272e DF91      		pop r29
4046
 4061 2730 CF91      		pop r28
4047
 4062 2732 1F91      		pop r17
4048
 4063 2734 0F91      		pop r16
4049
 4064 2736 FF90      		pop r15
4050
 4065 2738 EF90      		pop r14
4051
 4066 273a DF90      		pop r13
4052
 4067 273c CF90      		pop r12
4053
 4068 273e BF90      		pop r11
4054
 4069 2740 AF90      		pop r10
4055
 4070 2742 9F90      		pop r9
4056
 4071 2744 8F90      		pop r8
4057
 4072 2746 7F90      		pop r7
4058
 4073 2748 6F90      		pop r6
4059
 4074 274a 5F90      		pop r5
4060
 4075 274c 4F90      		pop r4
4061
 4076 274e 3F90      		pop r3
4062
 4077 2750 2F90      		pop r2
4063
 4078 2752 0895      		ret
4064
 4079               	/* epilogue end (size=25) */
4065
 4080               	/* function MotorRegler size 2799 (2748) */
4066
 4082               	.global	Timeout
4067
 4083               	.global	Timeout
4068
 4084               		.section .bss
4069
 4087               	Timeout:
4070
 4088 0000 00        		.skip 1,0
4071
 4089               	.global	AdNeutralNick
4072
 4090               	.global	AdNeutralNick
4073
 4093               	AdNeutralNick:
4074
 4094 0001 0000      		.skip 2,0
4075
 4095               	.global	AdNeutralRoll
4076
 4096               	.global	AdNeutralRoll
4077
 4099               	AdNeutralRoll:
4078
 4100 0003 0000      		.skip 2,0
4079
 4101               	.global	AdNeutralGier
4080
 4102               	.global	AdNeutralGier
4081
 4105               	AdNeutralGier:
4082
 4106 0005 0000      		.skip 2,0
4083
 4107               	.global	NeutralAccX
4084
 4108               	.global	NeutralAccX
4085
 4111               	NeutralAccX:
4086
 4112 0007 0000      		.skip 2,0
4087
 4113               	.global	NeutralAccY
4088
 4114               	.global	NeutralAccY
4089
 4117               	NeutralAccY:
4090
 4118 0009 0000      		.skip 2,0
4091
 4119               	.global	NeutralAccZ
4092
 4120               	.global	NeutralAccZ
4093
 4123               	NeutralAccZ:
4094
 4124 000b 0000 0000 		.skip 4,0
4095
 4125               	.global	CosinusNickWinkel
4096
 4126               	.global	CosinusNickWinkel
4097
 4129               	CosinusNickWinkel:
4098
 4130 000f 00        		.skip 1,0
4099
 4131               	.global	CosinusRollWinkel
4100
 4132               	.global	CosinusRollWinkel
4101
 4135               	CosinusRollWinkel:
4102
 4136 0010 00        		.skip 1,0
4103
 4137               	.global	IntegralNick
4104
 4138               	.global	IntegralNick
4105
 4141               	IntegralNick:
4106
 4142 0011 0000 0000 		.skip 4,0
4107
 4143               	.global	IntegralNick2
4108
 4144               	.global	IntegralNick2
4109
 4147               	IntegralNick2:
4110
 4148 0015 0000 0000 		.skip 4,0
4111
 4149               	.global	IntegralRoll
4112
 4150               	.global	IntegralRoll
4113
 4153               	IntegralRoll:
4114
 4154 0019 0000 0000 		.skip 4,0
4115
 4155               	.global	IntegralRoll2
4116
 4156               	.global	IntegralRoll2
4117
 4159               	IntegralRoll2:
4118
 4160 001d 0000 0000 		.skip 4,0
4119
 4161               	.global	Integral_Gier
4120
 4162               	.global	Integral_Gier
4121
 4165               	Integral_Gier:
4122
 4166 0021 0000 0000 		.skip 4,0
4123
 4167               	.global	Mess_IntegralNick
4124
 4168               	.global	Mess_IntegralNick
4125
 4171               	Mess_IntegralNick:
4126
 4172 0025 0000 0000 		.skip 4,0
4127
 4173               	.global	Mess_IntegralNick2
4128
 4174               	.global	Mess_IntegralNick2
4129
 4177               	Mess_IntegralNick2:
4130
 4178 0029 0000 0000 		.skip 4,0
4131
 4179               	.global	Mess_IntegralRoll
4132
 4180               	.global	Mess_IntegralRoll
4133
 4183               	Mess_IntegralRoll:
4134
 4184 002d 0000 0000 		.skip 4,0
4135
 4185               	.global	Mess_IntegralRoll2
4136
 4186               	.global	Mess_IntegralRoll2
4137
 4189               	Mess_IntegralRoll2:
4138
 4190 0031 0000 0000 		.skip 4,0
4139
 4191               	.global	Mess_Integral_Gier
4140
 4192               	.global	Mess_Integral_Gier
4141
 4195               	Mess_Integral_Gier:
4142
 4196 0035 0000 0000 		.skip 4,0
4143
 4197               	.global	Mess_Integral_Gier2
4144
 4198               	.global	Mess_Integral_Gier2
4145
 4201               	Mess_Integral_Gier2:
4146
 4202 0039 0000 0000 		.skip 4,0
4147
 4203               	.global	Mess_Integral_Hoch
4148
 4204               	.global	Mess_Integral_Hoch
4149
 4207               	Mess_Integral_Hoch:
4150
 4208 003d 0000 0000 		.skip 4,0
4151
 4209               	.global	KompassValue
4152
 4210               	.global	KompassValue
4153
 4213               	KompassValue:
4154
 4214 0041 0000      		.skip 2,0
4155
 4215               	.global	KompassStartwert
4156
 4216               	.global	KompassStartwert
4157
 4219               	KompassStartwert:
4158
 4220 0043 0000      		.skip 2,0
4159
 4221               	.global	KompassRichtung
4160
 4222               	.global	KompassRichtung
4161
 4225               	KompassRichtung:
4162
 4226 0045 0000      		.skip 2,0
4163
 4227               	.global	Notlandung
4164
 4228               	.global	Notlandung
4165
 4231               	Notlandung:
4166
 4232 0047 00        		.skip 1,0
4167
 4233               	.global	HoehenReglerAktiv
4168
 4234               	.global	HoehenReglerAktiv
4169
 4237               	HoehenReglerAktiv:
4170
 4238 0048 00        		.skip 1,0
4171
 4239               	.global	Poti1
4172
 4240               	.global	Poti1
4173
 4243               	Poti1:
4174
 4244 0049 0000      		.skip 2,0
4175
 4245               	.global	Poti2
4176
 4246               	.global	Poti2
4177
 4249               	Poti2:
4178
 4250 004b 0000      		.skip 2,0
4179
 4251               	.global	Poti3
4180
 4252               	.global	Poti3
4181
 4255               	Poti3:
4182
 4256 004d 0000      		.skip 2,0
4183
 4257               	.global	Poti4
4184
 4258               	.global	Poti4
4185
 4261               	Poti4:
4186
 4262 004f 0000      		.skip 2,0
4187
 4263               	.global	SenderOkay
4188
 4264               	.global	SenderOkay
4189
 4267               	SenderOkay:
4190
 4268 0051 00        		.skip 1,0
4191
 4269               	.global	StickNick
4192
 4270               	.global	StickNick
4193
 4273               	StickNick:
4194
 4274 0052 0000      		.skip 2,0
4195
 4275               	.global	StickRoll
4196
 4276               	.global	StickRoll
4197
 4279               	StickRoll:
4198
 4280 0054 0000      		.skip 2,0
4199
 4281               	.global	StickGier
4200
 4282               	.global	StickGier
4201
 4285               	StickGier:
4202
 4286 0056 0000      		.skip 2,0
4203
 4287               	.global	MotorenEin
4204
 4288               	.global	MotorenEin
4205
 4291               	MotorenEin:
4206
 4292 0058 00        		.skip 1,0
4207
 4293               	.global	HoehenWert
4208
 4294               	.global	HoehenWert
4209
 4297               	HoehenWert:
4210
 4298 0059 0000      		.skip 2,0
4211
 4299               	.global	SollHoehe
4212
 4300               	.global	SollHoehe
4213
 4303               	SollHoehe:
4214
 4304 005b 0000      		.skip 2,0
4215
 4305               	.global	Kp
4216
 4306               		.data
4217
 4309               	Kp:
4218
 4310 0010 00        		.byte	0
4219
 4311 0011 00        		.byte	0
4220
 4312 0012 80        		.byte	-128
4221
 4313 0013 3F        		.byte	63
4222
 4314               	.global	Ki
4223
 4317               	Ki:
4224
 4318 0014 17        		.byte	23
4225
 4319 0015 B7        		.byte	-73
4226
 4320 0016 D1        		.byte	-47
4227
 4321 0017 38        		.byte	56
4228
 4322               	.global	Parameter_Luftdruck_D
4229
 4325               	Parameter_Luftdruck_D:
4230
 4326 0018 30        		.byte	48
4231
 4327               	.global	Parameter_MaxHoehe
4232
 4330               	Parameter_MaxHoehe:
4233
 4331 0019 FB        		.byte	-5
4234
 4332               	.global	Parameter_Hoehe_P
4235
 4335               	Parameter_Hoehe_P:
4236
 4336 001a 10        		.byte	16
4237
 4337               	.global	Parameter_Hoehe_ACC_Wirkung
4238
 4340               	Parameter_Hoehe_ACC_Wirkung:
4239
 4341 001b 3A        		.byte	58
4240
 4342               	.global	Parameter_KompassWirkung
4241
 4345               	Parameter_KompassWirkung:
4242
 4346 001c 40        		.byte	64
4243
 4347               	.global	Parameter_Gyro_P
4244
 4350               	Parameter_Gyro_P:
4245
 4351 001d 32        		.byte	50
4246
 4352               	.global	Parameter_Gyro_I
4247
 4355               	Parameter_Gyro_I:
4248
 4356 001e 96        		.byte	-106
4249
 4357               	.global	Parameter_Gier_P
4250
 4360               	Parameter_Gier_P:
4251
 4361 001f 02        		.byte	2
4252
 4362               	.global	Parameter_I_Faktor
4253
 4365               	Parameter_I_Faktor:
4254
 4366 0020 0A        		.byte	10
4255
 4367               	.global	Parameter_UserParam1
4256
 4368               	.global	Parameter_UserParam1
4257
 4369               		.section .bss
4258
 4372               	Parameter_UserParam1:
4259
 4373 005d 00        		.skip 1,0
4260
 4374               	.global	Parameter_UserParam2
4261
 4375               	.global	Parameter_UserParam2
4262
 4378               	Parameter_UserParam2:
4263
 4379 005e 00        		.skip 1,0
4264
 4380               	.global	Parameter_UserParam3
4265
 4381               	.global	Parameter_UserParam3
4266
 4384               	Parameter_UserParam3:
4267
 4385 005f 00        		.skip 1,0
4268
 4386               	.global	Parameter_UserParam4
4269
 4387               	.global	Parameter_UserParam4
4270
 4390               	Parameter_UserParam4:
4271
 4391 0060 00        		.skip 1,0
4272
 4392               	.global	Parameter_ServoNickControl
4273
 4393               		.data
4274
 4396               	Parameter_ServoNickControl:
4275
 4397 0021 64        		.byte	100
4276
 4398               		.lcomm SignalSchlecht.2368,2
4277
 4399               		.lcomm NeueKompassRichtungMerken.2364,1
4278
 4400               		.lcomm TimerWerteausgabe.2363,1
4279
 4401               		.lcomm hoehenregler.2362,2
4280
 4402               		.lcomm modell_fliegt.2361,2
4281
 4403               		.lcomm delay_ausschalten.2360,1
4282
 4404               		.lcomm delay_einschalten.2359,1
4283
 4405               		.lcomm delay_neutral.2358,1
4284
 4406               		.lcomm RcLostTimer.2357,2
4285
 4407               		.lcomm IntegralFehlerRoll.2356,2
4286
 4408               		.lcomm IntegralFehlerNick.2355,2
4287
 4409               		.lcomm tmp_long2.2354,4
4288
 4410               		.lcomm tmp_long.2353,4
4289
 4411               		.lcomm sollGier.2352,4
4290
 4412               		.lcomm SummeRoll.2351,4
4291
 4413               		.lcomm SummeNick.2350,4
4292
 4414               		.comm DiffNick,2,1
4293
 4415               		.comm DiffRoll,2,1
4294
 4416               		.comm durchschnitt_northing,4,1
4295
 4417               		.comm durchschnitt_easting,4,1
4296
 4418               		.comm gps_p,2,1
4297
 4419               		.comm gps_d,2,1
4298
 4420               		.comm skal,2,1
4299
 4421               		.comm gps_gethome,2,1
4300
 4422               		.comm RemoteTasten,1,1
4301
 4423               		.comm MesswertNick,2,1
4302
 4424               		.comm MesswertRoll,2,1
4303
 4425               		.comm MesswertGier,2,1
4304
 4426               		.comm Mittelwert_AccNick,2,1
4305
 4427               		.comm Mittelwert_AccRoll,2,1
4306
 4428               		.comm Mittelwert_AccHoch,2,1
4307
 4429               		.comm h,1,1
4308
 4430               		.comm m,1,1
4309
 4431               		.comm s,1,1
4310
 4432               		.comm Motor_Vorne,1,1
4311
 4433               		.comm Motor_Hinten,1,1
4312
 4434               		.comm Motor_Rechts,1,1
4313
 4435               		.comm Motor_Links,1,1
4314
 4436               		.comm Count,1,1
4315
 4437               		.comm MotorWert,5,1
4316
 4438               		.comm EE_Parameter,58,1
4317
 4439               		.comm MAX_GAS,1,1
4318
 4440               		.comm MIN_GAS,1,1
4319
 4441               		.comm GyroFaktor,4,1
4320
 4442               		.comm IntegralFaktor,4,1
4321
 4443               	/* File "fc.c": code 5078 = 0x13d6 (4996), prologues  38, epilogues  44 */
21 user 4322
DEFINED SYMBOLS
4323
                            *ABS*:00000000 fc.c
36 chris2798 4324
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:3      *ABS*:0000003f __SREG__
4325
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4      *ABS*:0000003e __SP_H__
4326
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:5      *ABS*:0000003d __SP_L__
4327
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:6      *ABS*:00000000 __tmp_reg__
4328
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:7      *ABS*:00000001 __zero_reg__
4329
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:13     .text:00000000 Mittelwert
21 user 4330
                            *COM*:00000002 MesswertNick
4331
                            *COM*:00000002 MesswertRoll
4332
                            *COM*:00000002 MesswertGier
4333
                            *COM*:00000002 Mittelwert_AccNick
4334
                            *COM*:00000002 Mittelwert_AccRoll
4335
                            *COM*:00000002 Mittelwert_AccHoch
36 chris2798 4336
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4195   .bss:00000035 Mess_Integral_Gier
4337
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4165   .bss:00000021 Integral_Gier
4338
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4171   .bss:00000025 Mess_IntegralNick
4339
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4141   .bss:00000011 IntegralNick
4340
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4183   .bss:0000002d Mess_IntegralRoll
4341
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4153   .bss:00000019 IntegralRoll
4342
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4177   .bss:00000029 Mess_IntegralNick2
4343
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4147   .bss:00000015 IntegralNick2
4344
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4189   .bss:00000031 Mess_IntegralRoll2
4345
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4159   .bss:0000001d IntegralRoll2
4346
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4243   .bss:00000049 Poti1
21 user 4347
                            *COM*:0000003a EE_Parameter
36 chris2798 4348
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4249   .bss:0000004b Poti2
4349
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4255   .bss:0000004d Poti3
4350
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4261   .bss:0000004f Poti4
4351
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:576    .text:00000582 CalibrierMittelwert
4352
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:918    .text:000008ba ParameterZuordnung
4353
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4330   .data:00000019 Parameter_MaxHoehe
4354
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4325   .data:00000018 Parameter_Luftdruck_D
4355
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4335   .data:0000001a Parameter_Hoehe_P
4356
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4340   .data:0000001b Parameter_Hoehe_ACC_Wirkung
4357
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4345   .data:0000001c Parameter_KompassWirkung
4358
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4350   .data:0000001d Parameter_Gyro_P
4359
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4355   .data:0000001e Parameter_Gyro_I
4360
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4365   .data:00000020 Parameter_I_Faktor
4361
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4372   .bss:0000005d Parameter_UserParam1
4362
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4378   .bss:0000005e Parameter_UserParam2
4363
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4384   .bss:0000005f Parameter_UserParam3
4364
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4390   .bss:00000060 Parameter_UserParam4
4365
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4396   .data:00000021 Parameter_ServoNickControl
4366
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4317   .data:00000014 Ki
21 user 4367
                            *COM*:00000001 MAX_GAS
4368
                            *COM*:00000001 MIN_GAS
36 chris2798 4369
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:1484   .text:00000d54 DefaultKonstanten2
4370
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:1570   .text:00000e2e DefaultKonstanten1
4371
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:1654   .text:00000f10 SendMotorData
4372
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4291   .bss:00000058 MotorenEin
21 user 4373
                            *COM*:00000001 Motor_Hinten
4374
                            *COM*:00000001 Motor_Vorne
4375
                            *COM*:00000001 Motor_Rechts
4376
                            *COM*:00000001 Motor_Links
36 chris2798 4377
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:1710   .text:00000f9e SetNeutral
4378
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4111   .bss:00000007 NeutralAccX
4379
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4117   .bss:00000009 NeutralAccY
4380
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4123   .bss:0000000b NeutralAccZ
4381
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4093   .bss:00000001 AdNeutralNick
4382
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4099   .bss:00000003 AdNeutralRoll
4383
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4105   .bss:00000005 AdNeutralGier
4384
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4207   .bss:0000003d Mess_Integral_Hoch
4385
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4213   .bss:00000041 KompassValue
4386
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4219   .bss:00000043 KompassStartwert
4387
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:1882   .text:00001196 Piep
4388
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:1911   .text:000011c0 MotorRegler
4389
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4267   .bss:00000051 SenderOkay
4390
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4405   .bss:0000006c RcLostTimer.2357
4391
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4231   .bss:00000047 Notlandung
4392
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4401   .bss:00000067 modell_fliegt.2361
4393
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4412   .bss:00000082 SummeNick.2350
4394
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4411   .bss:0000007e SummeRoll.2351
4395
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4201   .bss:00000039 Mess_Integral_Gier2
4396
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4404   .bss:0000006b delay_neutral.2358
4397
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4403   .bss:0000006a delay_einschalten.2359
4398
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4410   .bss:0000007a sollGier.2352
4399
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4402   .bss:00000069 delay_ausschalten.2360
4400
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4273   .bss:00000052 StickNick
4401
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4279   .bss:00000054 StickRoll
4402
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4285   .bss:00000056 StickGier
21 user 4403
                            *COM*:00000004 GyroFaktor
4404
                            *COM*:00000004 IntegralFaktor
36 chris2798 4405
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4407   .bss:00000070 IntegralFehlerNick.2355
4406
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4406   .bss:0000006e IntegralFehlerRoll.2356
4407
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4409   .bss:00000076 tmp_long.2353
4408
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4408   .bss:00000072 tmp_long2.2354
4409
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4398   .bss:00000063 NeueKompassRichtungMerken.2364
4410
                             .bss:00000061 SignalSchlecht.2368
4411
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4225   .bss:00000045 KompassRichtung
21 user 4412
                            *COM*:00000002 gps_p
4413
                            *COM*:00000002 gps_d
36 chris2798 4414
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4399   .bss:00000064 TimerWerteausgabe.2363
4415
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4297   .bss:00000059 HoehenWert
4416
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4303   .bss:0000005b SollHoehe
4417
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4237   .bss:00000048 HoehenReglerAktiv
4418
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4400   .bss:00000065 hoehenregler.2362
4419
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4309   .data:00000010 Kp
21 user 4420
                            *COM*:00000002 DiffNick
4421
                            *COM*:00000002 DiffRoll
36 chris2798 4422
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4087   .bss:00000000 Timeout
4423
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4129   .bss:0000000f CosinusNickWinkel
4424
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4135   .bss:00000010 CosinusRollWinkel
4425
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4360   .data:0000001f Parameter_Gier_P
21 user 4426
                            *COM*:00000004 durchschnitt_northing
4427
                            *COM*:00000004 durchschnitt_easting
36 chris2798 4428
                            *COM*:00000002 skal
4429
                            *COM*:00000002 gps_gethome
21 user 4430
                            *COM*:00000001 RemoteTasten
4431
                            *COM*:00000001 h
4432
                            *COM*:00000001 m
4433
                            *COM*:00000001 s
4434
                            *COM*:00000001 Count
4435
                            *COM*:00000005 MotorWert
4436
 
4437
UNDEFINED SYMBOLS
4438
__do_copy_data
4439
__do_clear_bss
4440
MessanzahlNick
4441
AccumulateNick
4442
__divmodhi4
4443
MessanzahlRoll
4444
AccumulateRoll
4445
MessanzahlGier
4446
AccumulateGier
4447
messanzahl_AccNick
4448
accumulate_AccNick
4449
__divmodsi4
4450
messanzahl_AccRoll
4451
accumulate_AccRoll
4452
messanzahl_AccHoch
4453
accumulate_AccHoch
4454
PPM_in
4455
__floatsisf
4456
__addsf3
4457
__mulsf3
4458
MotorTest
4459
DebugOut
4460
twi_state
4461
motor
4462
i2c_start
4463
SetDelay
4464
CheckDelay
4465
MessLuftdruck
4466
SucheLuftruckOffset
4467
Aktuell_az
4468
Luftdruck
4469
StartLuftdruck
4470
HoeheD
4471
beeptime
4472
Delay_ms
4473
PcZugriff
4474
EEPromArray
4475
__eeprom_write_byte_1F2021
4476
GetActiveParamSetNumber
4477
ReadParameterSet
4478
NewPpmData
4479
PPM_diff
4480
__divsf3
4481
__ltsf2
4482
ZaehlMessungen
4483
__mulsi3
4484
gps_main
4485
GPS_Nick
4486
GPS_Roll
4487
__fixsfsi