Details | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1564 | LPDunwell | 1 | 1 .file "spi.c" |
| 2 | 2 __SREG__ = 0x3f |
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| 3 | 3 __SP_H__ = 0x3e |
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| 4 | 4 __SP_L__ = 0x3d |
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| 5 | 5 __CCP__ = 0x34 |
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| 6 | 6 __tmp_reg__ = 0 |
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| 7 | 7 __zero_reg__ = 1 |
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| 8 | 8 .text |
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| 9 | 9 .global SPI_MasterInit |
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| 10 | 11 SPI_MasterInit: |
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| 11 | 12 /* prologue: function */ |
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| 12 | 13 /* frame size = 0 */ |
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| 13 | 14 0000 84B1 in r24,36-32 |
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| 14 | 15 0002 806A ori r24,lo8(-96) |
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| 15 | 16 0004 84B9 out 36-32,r24 |
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| 16 | 17 0006 3D9A sbi 39-32,5 |
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| 17 | 18 0008 82E5 ldi r24,lo8(82) |
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| 18 | 19 000a 8CBD out 76-32,r24 |
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| 19 | 20 000c 1DBC out 77-32,__zero_reg__ |
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| 20 | 21 000e 459A sbi 40-32,5 |
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| 21 | 22 0010 80E0 ldi r24,lo8(ToNaviCtrl) |
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| 22 | 23 0012 90E0 ldi r25,hi8(ToNaviCtrl) |
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| 23 | 24 0014 9093 0000 sts (SPI_TxBuffer)+1,r25 |
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| 24 | 25 0018 8093 0000 sts SPI_TxBuffer,r24 |
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| 25 | 26 001c 81E0 ldi r24,lo8(1) |
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| 26 | 27 001e 8093 0000 sts SPITransferCompleted,r24 |
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| 27 | 28 0022 8AEA ldi r24,lo8(-86) |
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| 28 | 29 0024 8093 0000 sts ToNaviCtrl,r24 |
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| 29 | 30 0028 83E8 ldi r24,lo8(-125) |
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| 30 | 31 002a 8093 0000 sts ToNaviCtrl+1,r24 |
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| 31 | 32 002e 9AE0 ldi r25,lo8(10) |
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| 32 | 33 0030 9093 0000 sts ToNaviCtrl+2,r25 |
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| 33 | 34 0034 1092 0000 sts (ToNaviCtrl+3)+1,__zero_reg__ |
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| 34 | 35 0038 1092 0000 sts ToNaviCtrl+3,__zero_reg__ |
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| 35 | 36 003c 1092 0000 sts (ToNaviCtrl+5)+1,__zero_reg__ |
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| 36 | 37 0040 1092 0000 sts ToNaviCtrl+5,__zero_reg__ |
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| 37 | 38 0044 1092 0000 sts NCSerialDataOkay,__zero_reg__ |
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| 38 | 39 0048 1092 0000 sts NCDataOkay,__zero_reg__ |
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| 39 | 40 004c 1092 0000 sts SPI_RxDataValid,__zero_reg__ |
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| 40 | 41 0050 1092 0000 sts SPI_VersionInfo,__zero_reg__ |
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| 41 | 42 0054 8CE4 ldi r24,lo8(76) |
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| 42 | 43 0056 8093 0000 sts SPI_VersionInfo+1,r24 |
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| 43 | 44 005a 86E0 ldi r24,lo8(6) |
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| 44 | 45 005c 8093 0000 sts SPI_VersionInfo+2,r24 |
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| 45 | 46 0060 9093 0000 sts SPI_VersionInfo+3,r25 |
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| 46 | 47 /* epilogue start */ |
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| 47 | 48 0064 0895 ret |
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| 48 | 50 .global SPI_TransmitByte |
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| 49 | 52 SPI_TransmitByte: |
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| 50 | 53 /* prologue: function */ |
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| 51 | 54 /* frame size = 0 */ |
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| 52 | 55 0066 8091 0000 lds r24,SPITransferCompleted |
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| 53 | 56 006a 8823 tst r24 |
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| 54 | 57 006c 01F4 brne .L15 |
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| 55 | 58 006e 0DB4 in __tmp_reg__,77-32 |
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| 56 | 59 0070 07FE sbrs __tmp_reg__,7 |
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| 57 | 60 .L15: |
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| 58 | 61 0072 0895 ret |
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| 59 | 62 .L18: |
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| 60 | 63 0074 84E0 ldi r24,lo8(4) |
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| 61 | 64 0076 8093 0000 sts SendSPI,r24 |
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| 62 | 65 007a 459A sbi 40-32,5 |
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| 63 | 66 007c 9EB5 in r25,78-32 |
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| 64 | 67 007e 8091 0000 lds r24,SPI_RXState.2020 |
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| 65 | 68 0082 8130 cpi r24,lo8(1) |
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| 66 | 69 0084 01F4 brne .+2 |
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| 67 | 70 0086 00C0 rjmp .L7 |
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| 68 | 71 0088 8130 cpi r24,lo8(1) |
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| 69 | 72 008a 00F0 brlo .+2 |
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| 70 | 73 008c 00C0 rjmp .L19 |
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| 71 | 74 008e 1092 0000 sts SPI_RxBufferIndex,__zero_reg__ |
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| 72 | 75 0092 9093 0000 sts rxchksum.2022,r25 |
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| 73 | 76 0096 9138 cpi r25,lo8(-127) |
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| 74 | 77 0098 01F4 brne .+2 |
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| 75 | 78 009a 00C0 rjmp .L20 |
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| 76 | 79 .L5: |
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| 77 | 80 009c 2091 0000 lds r18,SPI_TxBufferIndex |
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| 78 | 81 00a0 2032 cpi r18,lo8(32) |
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| 79 | 82 00a2 00F0 brlo .L21 |
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| 80 | 83 00a4 81E0 ldi r24,lo8(1) |
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| 81 | 84 00a6 8093 0000 sts SPITransferCompleted,r24 |
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| 82 | 85 00aa 0895 ret |
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| 83 | 86 .L21: |
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| 84 | 87 00ac 4598 cbi 40-32,5 |
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| 85 | 88 /* #APP */ |
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| 86 | 89 ; 460 "spi.c" 1 |
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| 87 | 90 00ae 0000 nop |
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| 88 | 91 ; 0 "" 2 |
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| 89 | 92 ; 460 "spi.c" 1 |
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| 90 | 93 00b0 0000 nop |
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| 91 | 94 ; 0 "" 2 |
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| 92 | 95 ; 460 "spi.c" 1 |
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| 93 | 96 00b2 0000 nop |
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| 94 | 97 ; 0 "" 2 |
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| 95 | 98 ; 460 "spi.c" 1 |
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| 96 | 99 00b4 0000 nop |
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| 97 | 100 ; 0 "" 2 |
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| 98 | 101 ; 460 "spi.c" 1 |
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| 99 | 102 00b6 0000 nop |
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| 100 | 103 ; 0 "" 2 |
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| 101 | 104 ; 460 "spi.c" 1 |
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| 102 | 105 00b8 0000 nop |
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| 103 | 106 ; 0 "" 2 |
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| 104 | 107 ; 460 "spi.c" 1 |
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| 105 | 108 00ba 0000 nop |
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| 106 | 109 ; 0 "" 2 |
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| 107 | 110 ; 460 "spi.c" 1 |
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| 108 | 111 00bc 0000 nop |
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| 109 | 112 ; 0 "" 2 |
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| 110 | 113 ; 461 "spi.c" 1 |
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| 111 | 114 00be 0000 nop |
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| 112 | 115 ; 0 "" 2 |
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| 113 | 116 ; 461 "spi.c" 1 |
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| 114 | 117 00c0 0000 nop |
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| 115 | 118 ; 0 "" 2 |
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| 116 | 119 ; 461 "spi.c" 1 |
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| 117 | 120 00c2 0000 nop |
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| 118 | 121 ; 0 "" 2 |
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| 119 | 122 ; 461 "spi.c" 1 |
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| 120 | 123 00c4 0000 nop |
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| 121 | 124 ; 0 "" 2 |
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| 122 | 125 ; 461 "spi.c" 1 |
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| 123 | 126 00c6 0000 nop |
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| 124 | 127 ; 0 "" 2 |
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| 125 | 128 ; 461 "spi.c" 1 |
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| 126 | 129 00c8 0000 nop |
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| 127 | 130 ; 0 "" 2 |
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| 128 | 131 ; 461 "spi.c" 1 |
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| 129 | 132 00ca 0000 nop |
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| 130 | 133 ; 0 "" 2 |
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| 131 | 134 ; 461 "spi.c" 1 |
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| 132 | 135 00cc 0000 nop |
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| 133 | 136 ; 0 "" 2 |
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| 134 | 137 ; 462 "spi.c" 1 |
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| 135 | 138 00ce 0000 nop |
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| 136 | 139 ; 0 "" 2 |
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| 137 | 140 ; 462 "spi.c" 1 |
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| 138 | 141 00d0 0000 nop |
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| 139 | 142 ; 0 "" 2 |
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| 140 | 143 ; 462 "spi.c" 1 |
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| 141 | 144 00d2 0000 nop |
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| 142 | 145 ; 0 "" 2 |
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| 143 | 146 ; 462 "spi.c" 1 |
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| 144 | 147 00d4 0000 nop |
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| 145 | 148 ; 0 "" 2 |
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| 146 | 149 ; 462 "spi.c" 1 |
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| 147 | 150 00d6 0000 nop |
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| 148 | 151 ; 0 "" 2 |
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| 149 | 152 ; 462 "spi.c" 1 |
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| 150 | 153 00d8 0000 nop |
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| 151 | 154 ; 0 "" 2 |
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| 152 | 155 ; 462 "spi.c" 1 |
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| 153 | 156 00da 0000 nop |
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| 154 | 157 ; 0 "" 2 |
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| 155 | 158 ; 462 "spi.c" 1 |
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| 156 | 159 00dc 0000 nop |
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| 157 | 160 ; 0 "" 2 |
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| 158 | 161 /* #NOAPP */ |
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| 159 | 162 00de E091 0000 lds r30,SPI_TxBuffer |
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| 160 | 163 00e2 F091 0000 lds r31,(SPI_TxBuffer)+1 |
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| 161 | 164 00e6 E20F add r30,r18 |
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| 162 | 165 00e8 F11D adc r31,__zero_reg__ |
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| 163 | 166 00ea 8081 ld r24,Z |
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| 164 | 167 00ec 8EBD out 78-32,r24 |
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| 165 | 168 00ee 9091 0000 lds r25,ToNaviCtrl+31 |
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| 166 | 169 00f2 890F add r24,r25 |
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| 167 | 170 00f4 8093 0000 sts ToNaviCtrl+31,r24 |
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| 168 | 171 00f8 2F5F subi r18,lo8(-(1)) |
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| 169 | 172 00fa 2093 0000 sts SPI_TxBufferIndex,r18 |
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| 170 | 173 00fe 0895 ret |
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| 171 | 174 .L19: |
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| 172 | 175 0100 8230 cpi r24,lo8(2) |
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| 173 | 176 0102 01F0 breq .+2 |
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| 174 | 177 0104 00C0 rjmp .L5 |
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| 175 | 178 0106 8091 0000 lds r24,SPI_RxBufferIndex |
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| 176 | 179 010a E82F mov r30,r24 |
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| 177 | 180 010c F0E0 ldi r31,lo8(0) |
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| 178 | 181 010e E050 subi r30,lo8(-(SPI_RxBuffer)) |
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| 179 | 182 0110 F040 sbci r31,hi8(-(SPI_RxBuffer)) |
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| 180 | 183 0112 9083 st Z,r25 |
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| 181 | 184 0114 8F5F subi r24,lo8(-(1)) |
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| 182 | 185 0116 8093 0000 sts SPI_RxBufferIndex,r24 |
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| 183 | 186 011a 8A31 cpi r24,lo8(26) |
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| 184 | 187 011c 00F0 brlo .L10 |
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| 185 | 188 011e 8091 0000 lds r24,rxchksum.2022 |
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| 186 | 189 0122 9817 cp r25,r24 |
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| 187 | 190 0124 01F0 breq .L22 |
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| 188 | 191 0126 1092 0000 sts SPI_RxDataValid,__zero_reg__ |
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| 189 | 192 .L13: |
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| 190 | 193 012a 1092 0000 sts SPI_RXState.2020,__zero_reg__ |
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| 191 | 194 012e 00C0 rjmp .L5 |
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| 192 | 195 .L20: |
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| 193 | 196 0130 81E0 ldi r24,lo8(1) |
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| 194 | 197 0132 8093 0000 sts SPI_RXState.2020,r24 |
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| 195 | 198 0136 00C0 rjmp .L5 |
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| 196 | 199 .L7: |
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| 197 | 200 0138 9535 cpi r25,lo8(85) |
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| 198 | 201 013a 01F4 brne .L13 |
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| 199 | 202 013c 8091 0000 lds r24,rxchksum.2022 |
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| 200 | 203 0140 8B5A subi r24,lo8(-(85)) |
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| 201 | 204 0142 8093 0000 sts rxchksum.2022,r24 |
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| 202 | 205 0146 82E0 ldi r24,lo8(2) |
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| 203 | 206 0148 8093 0000 sts SPI_RXState.2020,r24 |
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| 204 | 207 014c 00C0 rjmp .L5 |
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| 205 | 208 .L10: |
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| 206 | 209 014e 8091 0000 lds r24,rxchksum.2022 |
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| 207 | 210 0152 890F add r24,r25 |
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| 208 | 211 0154 8093 0000 sts rxchksum.2022,r24 |
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| 209 | 212 0158 00C0 rjmp .L5 |
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| 210 | 213 .L22: |
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| 211 | 214 /* #APP */ |
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| 212 | 215 ; 436 "spi.c" 1 |
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| 213 | 216 015a F894 cli |
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| 214 | 217 ; 0 "" 2 |
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| 215 | 218 /* #NOAPP */ |
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| 216 | 219 015c A0E0 ldi r26,lo8(FromNaviCtrl) |
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| 217 | 220 015e B0E0 ldi r27,hi8(FromNaviCtrl) |
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| 218 | 221 0160 E0E0 ldi r30,lo8(SPI_RxBuffer) |
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| 219 | 222 0162 F0E0 ldi r31,hi8(SPI_RxBuffer) |
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| 220 | 223 0164 8AE1 ldi r24,lo8(26) |
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| 221 | 224 .L12: |
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| 222 | 225 0166 0190 ld r0,Z+ |
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| 223 | 226 0168 0D92 st X+,r0 |
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| 224 | 227 016a 8150 subi r24,lo8(-(-1)) |
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| 225 | 228 016c 01F4 brne .L12 |
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| 226 | 229 /* #APP */ |
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| 227 | 230 ; 438 "spi.c" 1 |
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| 228 | 231 016e 7894 sei |
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| 229 | 232 ; 0 "" 2 |
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| 230 | 233 /* #NOAPP */ |
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| 231 | 234 0170 81E0 ldi r24,lo8(1) |
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| 232 | 235 0172 8093 0000 sts SPI_RxDataValid,r24 |
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| 233 | 236 0176 00C0 rjmp .L13 |
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| 234 | 238 .global UpdateSPI_Buffer |
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| 235 | 240 UpdateSPI_Buffer: |
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| 236 | 241 0178 EF92 push r14 |
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| 237 | 242 017a FF92 push r15 |
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| 238 | 243 017c 0F93 push r16 |
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| 239 | 244 017e 1F93 push r17 |
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| 240 | 245 /* prologue: function */ |
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| 241 | 246 /* frame size = 0 */ |
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| 242 | 247 0180 E090 0000 lds r14,ParamSet+23 |
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| 243 | 248 0184 8AE2 ldi r24,lo8(42) |
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| 244 | 249 0186 E89E mul r14,r24 |
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| 245 | 250 0188 7001 movw r14,r0 |
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| 246 | 251 018a 1124 clr r1 |
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| 247 | 252 018c 0027 clr r16 |
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| 248 | 253 018e F7FC sbrc r15,7 |
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| 249 | 254 0190 0095 com r16 |
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| 250 | 255 0192 102F mov r17,r16 |
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| 251 | 256 0194 6091 0000 lds r22,IntegralGyroNick |
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| 252 | 257 0198 7091 0000 lds r23,(IntegralGyroNick)+1 |
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| 253 | 258 019c 8091 0000 lds r24,(IntegralGyroNick)+2 |
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| 254 | 259 01a0 9091 0000 lds r25,(IntegralGyroNick)+3 |
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| 255 | 260 01a4 2AE0 ldi r18,lo8(10) |
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| 256 | 261 01a6 30E0 ldi r19,hi8(10) |
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| 257 | 262 01a8 40E0 ldi r20,hlo8(10) |
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| 258 | 263 01aa 50E0 ldi r21,hhi8(10) |
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| 259 | 264 01ac 0E94 0000 call __mulsi3 |
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| 260 | 265 01b0 A801 movw r20,r16 |
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| 261 | 266 01b2 9701 movw r18,r14 |
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| 262 | 267 01b4 0E94 0000 call __divmodsi4 |
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| 263 | 268 01b8 3093 0000 sts (ToNaviCtrl+3)+1,r19 |
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| 264 | 269 01bc 2093 0000 sts ToNaviCtrl+3,r18 |
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| 265 | 270 01c0 6091 0000 lds r22,IntegralGyroRoll |
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| 266 | 271 01c4 7091 0000 lds r23,(IntegralGyroRoll)+1 |
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| 267 | 272 01c8 8091 0000 lds r24,(IntegralGyroRoll)+2 |
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| 268 | 273 01cc 9091 0000 lds r25,(IntegralGyroRoll)+3 |
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| 269 | 274 01d0 2AE0 ldi r18,lo8(10) |
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| 270 | 275 01d2 30E0 ldi r19,hi8(10) |
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| 271 | 276 01d4 40E0 ldi r20,hlo8(10) |
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| 272 | 277 01d6 50E0 ldi r21,hhi8(10) |
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| 273 | 278 01d8 0E94 0000 call __mulsi3 |
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| 274 | 279 01dc A801 movw r20,r16 |
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| 275 | 280 01de 9701 movw r18,r14 |
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| 276 | 281 01e0 0E94 0000 call __divmodsi4 |
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| 277 | 282 01e4 3093 0000 sts (ToNaviCtrl+5)+1,r19 |
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| 278 | 283 01e8 2093 0000 sts ToNaviCtrl+5,r18 |
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| 279 | 284 01ec 6091 0000 lds r22,YawGyroHeading |
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| 280 | 285 01f0 7091 0000 lds r23,(YawGyroHeading)+1 |
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| 281 | 286 01f4 8091 0000 lds r24,(YawGyroHeading)+2 |
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| 282 | 287 01f8 9091 0000 lds r25,(YawGyroHeading)+3 |
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| 283 | 288 01fc 2AE0 ldi r18,lo8(10) |
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| 284 | 289 01fe 30E0 ldi r19,hi8(10) |
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| 285 | 290 0200 40E0 ldi r20,hlo8(10) |
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| 286 | 291 0202 50E0 ldi r21,hhi8(10) |
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| 287 | 292 0204 0E94 0000 call __mulsi3 |
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| 288 | 293 0208 A801 movw r20,r16 |
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| 289 | 294 020a 9701 movw r18,r14 |
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| 290 | 295 020c 0E94 0000 call __divmodsi4 |
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| 291 | 296 0210 3093 0000 sts (ToNaviCtrl+11)+1,r19 |
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| 292 | 297 0214 2093 0000 sts ToNaviCtrl+11,r18 |
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| 293 | 298 0218 8091 0000 lds r24,GyroNick |
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| 294 | 299 021c 9091 0000 lds r25,(GyroNick)+1 |
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| 295 | 300 0220 9093 0000 sts (ToNaviCtrl+13)+1,r25 |
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| 296 | 301 0224 8093 0000 sts ToNaviCtrl+13,r24 |
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| 297 | 302 0228 8091 0000 lds r24,GyroRoll |
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| 298 | 303 022c 9091 0000 lds r25,(GyroRoll)+1 |
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| 299 | 304 0230 9093 0000 sts (ToNaviCtrl+15)+1,r25 |
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| 300 | 305 0234 8093 0000 sts ToNaviCtrl+15,r24 |
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| 301 | 306 0238 8091 0000 lds r24,GyroYaw |
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| 302 | 307 023c 9091 0000 lds r25,(GyroYaw)+1 |
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| 303 | 308 0240 9093 0000 sts (ToNaviCtrl+17)+1,r25 |
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| 304 | 309 0244 8093 0000 sts ToNaviCtrl+17,r24 |
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| 305 | 310 0248 E091 0000 lds r30,NaviCntAcc |
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| 306 | 311 024c F091 0000 lds r31,(NaviCntAcc)+1 |
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| 307 | 312 0250 8091 0000 lds r24,NaviAccNick |
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| 308 | 313 0254 9091 0000 lds r25,(NaviAccNick)+1 |
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| 309 | 314 0258 BF01 movw r22,r30 |
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| 310 | 315 025a 0E94 0000 call __divmodhi4 |
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| 311 | 316 025e 2CE3 ldi r18,lo8(60) |
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| 312 | 317 0260 30E0 ldi r19,hi8(60) |
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| 313 | 318 0262 629F mul r22,r18 |
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| 314 | 319 0264 C001 movw r24,r0 |
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| 315 | 320 0266 639F mul r22,r19 |
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| 316 | 321 0268 900D add r25,r0 |
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| 317 | 322 026a 729F mul r23,r18 |
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| 318 | 323 026c 900D add r25,r0 |
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| 319 | 324 026e 1124 clr r1 |
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| 320 | 325 0270 6AE2 ldi r22,lo8(42) |
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| 321 | 326 0272 70E0 ldi r23,hi8(42) |
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| 322 | 327 0274 0E94 0000 call __divmodhi4 |
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| 323 | 328 0278 7093 0000 sts (ToNaviCtrl+7)+1,r23 |
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| 324 | 329 027c 6093 0000 sts ToNaviCtrl+7,r22 |
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| 325 | 330 0280 8091 0000 lds r24,NaviAccRoll |
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| 326 | 331 0284 9091 0000 lds r25,(NaviAccRoll)+1 |
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| 327 | 332 0288 BF01 movw r22,r30 |
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| 328 | 333 028a 0E94 0000 call __divmodhi4 |
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| 329 | 334 028e 629F mul r22,r18 |
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| 330 | 335 0290 C001 movw r24,r0 |
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| 331 | 336 0292 639F mul r22,r19 |
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| 332 | 337 0294 900D add r25,r0 |
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| 333 | 338 0296 729F mul r23,r18 |
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| 334 | 339 0298 900D add r25,r0 |
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| 335 | 340 029a 1124 clr r1 |
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| 336 | 341 029c 6AE2 ldi r22,lo8(42) |
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| 337 | 342 029e 70E0 ldi r23,hi8(42) |
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| 338 | 343 02a0 0E94 0000 call __divmodhi4 |
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| 339 | 344 02a4 7093 0000 sts (ToNaviCtrl+9)+1,r23 |
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| 340 | 345 02a8 6093 0000 sts ToNaviCtrl+9,r22 |
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| 341 | 346 02ac 1092 0000 sts (NaviCntAcc)+1,__zero_reg__ |
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| 342 | 347 02b0 1092 0000 sts NaviCntAcc,__zero_reg__ |
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| 343 | 348 02b4 1092 0000 sts (NaviAccNick)+1,__zero_reg__ |
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| 344 | 349 02b8 1092 0000 sts NaviAccNick,__zero_reg__ |
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| 345 | 350 02bc 1092 0000 sts (NaviAccRoll)+1,__zero_reg__ |
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| 346 | 351 02c0 1092 0000 sts NaviAccRoll,__zero_reg__ |
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| 347 | 352 02c4 8091 0000 lds r24,ToNaviCtrl+2 |
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| 348 | 353 02c8 8C30 cpi r24,lo8(12) |
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| 349 | 354 02ca 01F4 brne .+2 |
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| 350 | 355 02cc 00C0 rjmp .L27 |
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| 351 | 356 02ce 8D30 cpi r24,lo8(13) |
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| 352 | 357 02d0 00F4 brsh .+2 |
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| 353 | 358 02d2 00C0 rjmp .L50 |
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| 354 | 359 02d4 8E30 cpi r24,lo8(14) |
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| 355 | 360 02d6 01F4 brne .+2 |
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| 356 | 361 02d8 00C0 rjmp .L29 |
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| 357 | 362 02da 8E30 cpi r24,lo8(14) |
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| 358 | 363 02dc 00F0 brlo .+2 |
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| 359 | 364 02de 00C0 rjmp .L51 |
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| 360 | 365 02e0 8091 0000 lds r24,ParamSet+69 |
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| 361 | 366 02e4 8093 0000 sts ToNaviCtrl+19,r24 |
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| 362 | 367 02e8 8091 0000 lds r24,ParamSet+70 |
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| 363 | 368 02ec 8093 0000 sts ToNaviCtrl+20,r24 |
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| 364 | 369 02f0 8091 0000 lds r24,ParamSet+71 |
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| 365 | 370 02f4 8093 0000 sts ToNaviCtrl+21,r24 |
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| 366 | 371 02f8 8091 0000 lds r24,ParamSet+72 |
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| 367 | 372 02fc 8093 0000 sts ToNaviCtrl+22,r24 |
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| 368 | 373 0300 8091 0000 lds r24,ParamSet+73 |
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| 369 | 374 0304 8093 0000 sts ToNaviCtrl+23,r24 |
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| 370 | 375 0308 8091 0000 lds r24,ParamSet+77 |
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| 371 | 376 030c 8093 0000 sts ToNaviCtrl+24,r24 |
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| 372 | 377 0310 8091 0000 lds r24,ParamSet+78 |
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| 373 | 378 0314 8093 0000 sts ToNaviCtrl+25,r24 |
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| 374 | 379 0318 8091 0000 lds r24,ParamSet+79 |
||
| 375 | 380 031c 8093 0000 sts ToNaviCtrl+26,r24 |
||
| 376 | 381 0320 8091 0000 lds r24,ParamSet+82 |
||
| 377 | 382 0324 8093 0000 sts ToNaviCtrl+27,r24 |
||
| 378 | 383 0328 8091 0000 lds r24,ParamSet+80 |
||
| 379 | 384 032c 8093 0000 sts ToNaviCtrl+28,r24 |
||
| 380 | 385 0330 8091 0000 lds r24,ParamSet+81 |
||
| 381 | 386 0334 8093 0000 sts ToNaviCtrl+29,r24 |
||
| 382 | 387 0338 8091 0000 lds r24,ParamSet+83 |
||
| 383 | 388 033c 8093 0000 sts ToNaviCtrl+30,r24 |
||
| 384 | 389 .L24: |
||
| 385 | 390 0340 8091 0000 lds r24,SPI_RxDataValid |
||
| 386 | 391 0344 8823 tst r24 |
||
| 387 | 392 0346 01F4 brne .+2 |
||
| 388 | 393 0348 00C0 rjmp .L41 |
||
| 389 | 394 .L55: |
||
| 390 | 395 034a 2091 0000 lds r18,FromNaviCtrl+1 |
||
| 391 | 396 034e 3091 0000 lds r19,(FromNaviCtrl+1)+1 |
||
| 392 | 397 0352 C901 movw r24,r18 |
||
| 393 | 398 0354 8150 subi r24,lo8(-(511)) |
||
| 394 | 399 0356 9E4F sbci r25,hi8(-(511)) |
||
| 395 | 400 0358 8F5F subi r24,lo8(1023) |
||
| 396 | 401 035a 9340 sbci r25,hi8(1023) |
||
| 397 | 402 035c 00F4 brsh .L42 |
||
| 398 | 403 035e 4091 0000 lds r20,FromNaviCtrl+3 |
||
| 399 | 404 0362 5091 0000 lds r21,(FromNaviCtrl+3)+1 |
||
| 400 | 405 0366 CA01 movw r24,r20 |
||
| 401 | 406 0368 8150 subi r24,lo8(-(511)) |
||
| 402 | 407 036a 9E4F sbci r25,hi8(-(511)) |
||
| 403 | 408 036c 8F5F subi r24,lo8(1023) |
||
| 404 | 409 036e 9340 sbci r25,hi8(1023) |
||
| 405 | 410 0370 00F4 brsh .+2 |
||
| 406 | 411 0372 00C0 rjmp .L52 |
||
| 407 | 412 .L42: |
||
| 408 | 413 0374 8091 0000 lds r24,FromNaviCtrl+7 |
||
| 409 | 414 0378 9091 0000 lds r25,(FromNaviCtrl+7)+1 |
||
| 410 | 415 037c 21E0 ldi r18,hi8(361) |
||
| 411 | 416 037e 8936 cpi r24,lo8(361) |
||
| 412 | 417 0380 9207 cpc r25,r18 |
||
| 413 | 418 0382 04F4 brge .L43 |
||
| 414 | 419 0384 9093 0000 sts (CompassHeading)+1,r25 |
||
| 415 | 420 0388 8093 0000 sts CompassHeading,r24 |
||
| 416 | 421 .L43: |
||
| 417 | 422 038c 2091 0000 lds r18,CompassHeading |
||
| 418 | 423 0390 3091 0000 lds r19,(CompassHeading)+1 |
||
| 419 | 424 0394 37FD sbrc r19,7 |
||
| 420 | 425 0396 00C0 rjmp .L53 |
||
| 421 | 426 0398 245E subi r18,lo8(-(540)) |
||
| 422 | 427 039a 3D4F sbci r19,hi8(-(540)) |
||
| 423 | 428 039c 8091 0000 lds r24,CompassCourse |
||
| 424 | 429 03a0 9091 0000 lds r25,(CompassCourse)+1 |
||
| 425 | 430 03a4 A901 movw r20,r18 |
||
| 426 | 431 03a6 481B sub r20,r24 |
||
| 427 | 432 03a8 590B sbc r21,r25 |
||
| 428 | 433 03aa CA01 movw r24,r20 |
||
| 429 | 434 03ac 68E6 ldi r22,lo8(360) |
||
| 430 | 435 03ae 71E0 ldi r23,hi8(360) |
||
| 431 | 436 03b0 0E94 0000 call __divmodhi4 |
||
| 432 | 437 03b4 845B subi r24,lo8(-(-180)) |
||
| 433 | 438 03b6 9040 sbci r25,hi8(-(-180)) |
||
| 434 | 439 03b8 9093 0000 sts (CompassOffCourse)+1,r25 |
||
| 435 | 440 03bc 8093 0000 sts CompassOffCourse,r24 |
||
| 436 | 441 .L45: |
||
| 437 | 442 03c0 2091 0000 lds r18,FromNaviCtrl+11 |
||
| 438 | 443 03c4 3091 0000 lds r19,(FromNaviCtrl+11)+1 |
||
| 439 | 444 03c8 8091 0000 lds r24,BeepTime |
||
| 440 | 445 03cc 9091 0000 lds r25,(BeepTime)+1 |
||
| 441 | 446 03d0 8217 cp r24,r18 |
||
| 442 | 447 03d2 9307 cpc r25,r19 |
||
| 443 | 448 03d4 00F4 brsh .L46 |
||
| 444 | 449 03d6 8091 0000 lds r24,CompassCalState |
||
| 445 | 450 03da 8823 tst r24 |
||
| 446 | 451 03dc 01F4 brne .+2 |
||
| 447 | 452 03de 00C0 rjmp .L54 |
||
| 448 | 453 .L46: |
||
| 449 | 454 03e0 8091 0000 lds r24,FromNaviCtrl |
||
| 450 | 455 03e4 8736 cpi r24,lo8(103) |
||
| 451 | 456 03e6 01F4 brne .L49 |
||
| 452 | 457 03e8 8091 0000 lds r24,FromNaviCtrl+13 |
||
| 453 | 458 03ec 8093 0000 sts FCParam+31,r24 |
||
| 454 | 459 03f0 8091 0000 lds r24,FromNaviCtrl+14 |
||
| 455 | 460 03f4 8093 0000 sts FCParam+33,r24 |
||
| 456 | 461 03f8 8091 0000 lds r24,FromNaviCtrl+15 |
||
| 457 | 462 03fc 8093 0000 sts FCParam+32,r24 |
||
| 458 | 463 0400 8091 0000 lds r24,FromNaviCtrl+16 |
||
| 459 | 464 0404 8093 0000 sts NCSerialDataOkay,r24 |
||
| 460 | 465 0408 8091 0000 lds r24,FromNaviCtrl+17 |
||
| 461 | 466 040c 8093 0000 sts NCGpsZ,r24 |
||
| 462 | 467 .L49: |
||
| 463 | 468 /* epilogue start */ |
||
| 464 | 469 0410 1F91 pop r17 |
||
| 465 | 470 0412 0F91 pop r16 |
||
| 466 | 471 0414 FF90 pop r15 |
||
| 467 | 472 0416 EF90 pop r14 |
||
| 468 | 473 0418 0895 ret |
||
| 469 | 474 .L50: |
||
| 470 | 475 041a 8A30 cpi r24,lo8(10) |
||
| 471 | 476 041c 01F4 brne .+2 |
||
| 472 | 477 041e 00C0 rjmp .L25 |
||
| 473 | 478 0420 8B30 cpi r24,lo8(11) |
||
| 474 | 479 0422 01F0 breq .+2 |
||
| 475 | 480 0424 00C0 rjmp .L24 |
||
| 476 | 481 /* #APP */ |
||
| 477 | 482 ; 251 "spi.c" 1 |
||
| 478 | 483 0426 F894 cli |
||
| 479 | 484 ; 0 "" 2 |
||
| 480 | 485 /* #NOAPP */ |
||
| 481 | 486 0428 E091 0000 lds r30,ParamSet+2 |
||
| 482 | 487 042c F0E0 ldi r31,lo8(0) |
||
| 483 | 488 042e EE0F lsl r30 |
||
| 484 | 489 0430 FF1F rol r31 |
||
| 485 | 490 0432 E050 subi r30,lo8(-(PPM_in)) |
||
| 486 | 491 0434 F040 sbci r31,hi8(-(PPM_in)) |
||
| 487 | 492 0436 0190 ld __tmp_reg__,Z+ |
||
| 488 | 493 0438 F081 ld r31,Z |
||
| 489 | 494 043a E02D mov r30,__tmp_reg__ |
||
| 490 | 495 043c 2FEF ldi r18,hi8(-128) |
||
| 491 | 496 043e E038 cpi r30,lo8(-128) |
||
| 492 | 497 0440 F207 cpc r31,r18 |
||
| 493 | 498 0442 04F4 brge .L32 |
||
| 494 | 499 0444 E0E8 ldi r30,lo8(-128) |
||
| 495 | 500 0446 FFEF ldi r31,hi8(-128) |
||
| 496 | 501 .L32: |
||
| 497 | 502 0448 E038 cpi r30,128 |
||
| 498 | 503 044a F105 cpc r31,__zero_reg__ |
||
| 499 | 504 044c 04F0 brlt .L33 |
||
| 500 | 505 044e EFE7 ldi r30,lo8(127) |
||
| 501 | 506 0450 F0E0 ldi r31,hi8(127) |
||
| 502 | 507 .L33: |
||
| 503 | 508 0452 E093 0000 sts ToNaviCtrl+19,r30 |
||
| 504 | 509 0456 E091 0000 lds r30,ParamSet+3 |
||
| 505 | 510 045a F0E0 ldi r31,lo8(0) |
||
| 506 | 511 045c EE0F lsl r30 |
||
| 507 | 512 045e FF1F rol r31 |
||
| 508 | 513 0460 E050 subi r30,lo8(-(PPM_in)) |
||
| 509 | 514 0462 F040 sbci r31,hi8(-(PPM_in)) |
||
| 510 | 515 0464 0190 ld __tmp_reg__,Z+ |
||
| 511 | 516 0466 F081 ld r31,Z |
||
| 512 | 517 0468 E02D mov r30,__tmp_reg__ |
||
| 513 | 518 046a 4FEF ldi r20,hi8(-128) |
||
| 514 | 519 046c E038 cpi r30,lo8(-128) |
||
| 515 | 520 046e F407 cpc r31,r20 |
||
| 516 | 521 0470 04F4 brge .L34 |
||
| 517 | 522 0472 E0E8 ldi r30,lo8(-128) |
||
| 518 | 523 0474 FFEF ldi r31,hi8(-128) |
||
| 519 | 524 .L34: |
||
| 520 | 525 0476 E038 cpi r30,128 |
||
| 521 | 526 0478 F105 cpc r31,__zero_reg__ |
||
| 522 | 527 047a 04F0 brlt .L35 |
||
| 523 | 528 047c EFE7 ldi r30,lo8(127) |
||
| 524 | 529 047e F0E0 ldi r31,hi8(127) |
||
| 525 | 530 .L35: |
||
| 526 | 531 0480 E093 0000 sts ToNaviCtrl+20,r30 |
||
| 527 | 532 0484 E091 0000 lds r30,ParamSet+1 |
||
| 528 | 533 0488 F0E0 ldi r31,lo8(0) |
||
| 529 | 534 048a EE0F lsl r30 |
||
| 530 | 535 048c FF1F rol r31 |
||
| 531 | 536 048e E050 subi r30,lo8(-(PPM_in)) |
||
| 532 | 537 0490 F040 sbci r31,hi8(-(PPM_in)) |
||
| 533 | 538 0492 0190 ld __tmp_reg__,Z+ |
||
| 534 | 539 0494 F081 ld r31,Z |
||
| 535 | 540 0496 E02D mov r30,__tmp_reg__ |
||
| 536 | 541 0498 5FEF ldi r21,hi8(-128) |
||
| 537 | 542 049a E038 cpi r30,lo8(-128) |
||
| 538 | 543 049c F507 cpc r31,r21 |
||
| 539 | 544 049e 04F4 brge .L36 |
||
| 540 | 545 04a0 E0E8 ldi r30,lo8(-128) |
||
| 541 | 546 04a2 FFEF ldi r31,hi8(-128) |
||
| 542 | 547 .L36: |
||
| 543 | 548 04a4 E038 cpi r30,128 |
||
| 544 | 549 04a6 F105 cpc r31,__zero_reg__ |
||
| 545 | 550 04a8 04F0 brlt .L37 |
||
| 546 | 551 04aa EFE7 ldi r30,lo8(127) |
||
| 547 | 552 04ac F0E0 ldi r31,hi8(127) |
||
| 548 | 553 .L37: |
||
| 549 | 554 04ae E093 0000 sts ToNaviCtrl+21,r30 |
||
| 550 | 555 04b2 E091 0000 lds r30,ParamSet |
||
| 551 | 556 04b6 F0E0 ldi r31,lo8(0) |
||
| 552 | 557 04b8 EE0F lsl r30 |
||
| 553 | 558 04ba FF1F rol r31 |
||
| 554 | 559 04bc E050 subi r30,lo8(-(PPM_in)) |
||
| 555 | 560 04be F040 sbci r31,hi8(-(PPM_in)) |
||
| 556 | 561 04c0 0190 ld __tmp_reg__,Z+ |
||
| 557 | 562 04c2 F081 ld r31,Z |
||
| 558 | 563 04c4 E02D mov r30,__tmp_reg__ |
||
| 559 | 564 04c6 6FEF ldi r22,hi8(-128) |
||
| 560 | 565 04c8 E038 cpi r30,lo8(-128) |
||
| 561 | 566 04ca F607 cpc r31,r22 |
||
| 562 | 567 04cc 04F4 brge .L38 |
||
| 563 | 568 04ce E0E8 ldi r30,lo8(-128) |
||
| 564 | 569 04d0 FFEF ldi r31,hi8(-128) |
||
| 565 | 570 .L38: |
||
| 566 | 571 04d2 E038 cpi r30,128 |
||
| 567 | 572 04d4 F105 cpc r31,__zero_reg__ |
||
| 568 | 573 04d6 04F0 brlt .L39 |
||
| 569 | 574 04d8 EFE7 ldi r30,lo8(127) |
||
| 570 | 575 04da F0E0 ldi r31,hi8(127) |
||
| 571 | 576 .L39: |
||
| 572 | 577 04dc E093 0000 sts ToNaviCtrl+22,r30 |
||
| 573 | 578 /* #APP */ |
||
| 574 | 579 ; 260 "spi.c" 1 |
||
| 575 | 580 04e0 7894 sei |
||
| 576 | 581 ; 0 "" 2 |
||
| 577 | 582 /* #NOAPP */ |
||
| 578 | 583 04e2 8091 0000 lds r24,Poti1 |
||
| 579 | 584 04e6 8093 0000 sts ToNaviCtrl+23,r24 |
||
| 580 | 585 04ea 8091 0000 lds r24,Poti2 |
||
| 581 | 586 04ee 8093 0000 sts ToNaviCtrl+24,r24 |
||
| 582 | 587 04f2 8091 0000 lds r24,Poti3 |
||
| 583 | 588 04f6 8093 0000 sts ToNaviCtrl+25,r24 |
||
| 584 | 589 04fa 8091 0000 lds r24,Poti4 |
||
| 585 | 590 04fe 8093 0000 sts ToNaviCtrl+26,r24 |
||
| 586 | 591 0502 8091 0000 lds r24,RC_Quality |
||
| 587 | 592 0506 8093 0000 sts ToNaviCtrl+27,r24 |
||
| 588 | 593 050a 8091 0000 lds r24,RC_RSSI |
||
| 589 | 594 050e 8093 0000 sts ToNaviCtrl+28,r24 |
||
| 590 | 595 0512 8091 0000 lds r24,DebugOut+16 |
||
| 591 | 596 0516 9091 0000 lds r25,(DebugOut+16)+1 |
||
| 592 | 597 051a 9695 lsr r25 |
||
| 593 | 598 051c 8795 ror r24 |
||
| 594 | 599 051e 9695 lsr r25 |
||
| 595 | 600 0520 8795 ror r24 |
||
| 596 | 601 0522 8093 0000 sts ToNaviCtrl+29,r24 |
||
| 597 | 602 0526 8091 0000 lds r24,SPI_RxDataValid |
||
| 598 | 603 052a 8823 tst r24 |
||
| 599 | 604 052c 01F0 breq .+2 |
||
| 600 | 605 052e 00C0 rjmp .L55 |
||
| 601 | 606 .L41: |
||
| 602 | 607 0530 1092 0000 sts (GPSStickNick)+1,__zero_reg__ |
||
| 603 | 608 0534 1092 0000 sts GPSStickNick,__zero_reg__ |
||
| 604 | 609 0538 1092 0000 sts (GPSStickRoll)+1,__zero_reg__ |
||
| 605 | 610 053c 1092 0000 sts GPSStickRoll,__zero_reg__ |
||
| 606 | 611 0540 1092 0000 sts NCGpsZ,__zero_reg__ |
||
| 607 | 612 0544 1F91 pop r17 |
||
| 608 | 613 0546 0F91 pop r16 |
||
| 609 | 614 0548 FF90 pop r15 |
||
| 610 | 615 054a EF90 pop r14 |
||
| 611 | 616 054c 0895 ret |
||
| 612 | 617 .L51: |
||
| 613 | 618 054e 8F30 cpi r24,lo8(15) |
||
| 614 | 619 0550 01F0 breq .+2 |
||
| 615 | 620 0552 00C0 rjmp .L24 |
||
| 616 | 621 0554 8091 0000 lds r24,ParamSet+47 |
||
| 617 | 622 0558 8093 0000 sts ToNaviCtrl+19,r24 |
||
| 618 | 623 055c 8091 0000 lds r24,ParamSet+87 |
||
| 619 | 624 0560 8093 0000 sts ToNaviCtrl+20,r24 |
||
| 620 | 625 0564 8091 0000 lds r24,FCParam+21 |
||
| 621 | 626 0568 8093 0000 sts ToNaviCtrl+21,r24 |
||
| 622 | 627 056c 8091 0000 lds r24,ParamSet+40 |
||
| 623 | 628 0570 8093 0000 sts ToNaviCtrl+22,r24 |
||
| 624 | 629 0574 8091 0000 lds r24,ParamSet+41 |
||
| 625 | 630 0578 8093 0000 sts ToNaviCtrl+23,r24 |
||
| 626 | 631 057c 8091 0000 lds r24,ParamSet+42 |
||
| 627 | 632 0580 8093 0000 sts ToNaviCtrl+24,r24 |
||
| 628 | 633 0584 8091 0000 lds r24,FCParam+22 |
||
| 629 | 634 0588 8093 0000 sts ToNaviCtrl+25,r24 |
||
| 630 | 635 058c 8091 0000 lds r24,ParamSet+44 |
||
| 631 | 636 0590 8093 0000 sts ToNaviCtrl+26,r24 |
||
| 632 | 637 0594 8091 0000 lds r24,ParamSet+45 |
||
| 633 | 638 0598 8093 0000 sts ToNaviCtrl+27,r24 |
||
| 634 | 639 059c 8091 0000 lds r24,ParamSet+46 |
||
| 635 | 640 05a0 8093 0000 sts ToNaviCtrl+28,r24 |
||
| 636 | 641 05a4 00C0 rjmp .L24 |
||
| 637 | 642 .L52: |
||
| 638 | 643 05a6 8091 0000 lds r24,ParamSet+8 |
||
| 639 | 644 05aa 85FF sbrs r24,5 |
||
| 640 | 645 05ac 00C0 rjmp .L42 |
||
| 641 | 646 05ae 3093 0000 sts (GPSStickNick)+1,r19 |
||
| 642 | 647 05b2 2093 0000 sts GPSStickNick,r18 |
||
| 643 | 648 05b6 5093 0000 sts (GPSStickRoll)+1,r21 |
||
| 644 | 649 05ba 4093 0000 sts GPSStickRoll,r20 |
||
| 645 | 650 05be 8AEF ldi r24,lo8(-6) |
||
| 646 | 651 05c0 8093 0000 sts NCDataOkay,r24 |
||
| 647 | 652 05c4 00C0 rjmp .L42 |
||
| 648 | 653 .L54: |
||
| 649 | 654 05c6 3093 0000 sts (BeepTime)+1,r19 |
||
| 650 | 655 05ca 2093 0000 sts BeepTime,r18 |
||
| 651 | 656 05ce 00C0 rjmp .L46 |
||
| 652 | 657 .L53: |
||
| 653 | 658 05d0 1092 0000 sts (CompassOffCourse)+1,__zero_reg__ |
||
| 654 | 659 05d4 1092 0000 sts CompassOffCourse,__zero_reg__ |
||
| 655 | 660 05d8 00C0 rjmp .L45 |
||
| 656 | 661 .L29: |
||
| 657 | 662 05da 8091 0000 lds r24,SPI_VersionInfo |
||
| 658 | 663 05de 8093 0000 sts ToNaviCtrl+19,r24 |
||
| 659 | 664 05e2 8091 0000 lds r24,SPI_VersionInfo+1 |
||
| 660 | 665 05e6 8093 0000 sts ToNaviCtrl+20,r24 |
||
| 661 | 666 05ea 8091 0000 lds r24,SPI_VersionInfo+2 |
||
| 662 | 667 05ee 8093 0000 sts ToNaviCtrl+21,r24 |
||
| 663 | 668 05f2 8091 0000 lds r24,SPI_VersionInfo+3 |
||
| 664 | 669 05f6 8093 0000 sts ToNaviCtrl+22,r24 |
||
| 665 | 670 05fa 8091 0000 lds r24,BoardRelease |
||
| 666 | 671 05fe 8093 0000 sts ToNaviCtrl+23,r24 |
||
| 667 | 672 0602 00C0 rjmp .L24 |
||
| 668 | 673 .L25: |
||
| 669 | 674 0604 8091 0000 lds r24,FCParam+13 |
||
| 670 | 675 0608 8093 0000 sts ToNaviCtrl+19,r24 |
||
| 671 | 676 060c 8091 0000 lds r24,FCParam+14 |
||
| 672 | 677 0610 8093 0000 sts ToNaviCtrl+20,r24 |
||
| 673 | 678 0614 8091 0000 lds r24,FCParam+15 |
||
| 674 | 679 0618 8093 0000 sts ToNaviCtrl+21,r24 |
||
| 675 | 680 061c 8091 0000 lds r24,FCParam+16 |
||
| 676 | 681 0620 8093 0000 sts ToNaviCtrl+22,r24 |
||
| 677 | 682 0624 8091 0000 lds r24,FCParam+17 |
||
| 678 | 683 0628 8093 0000 sts ToNaviCtrl+23,r24 |
||
| 679 | 684 062c 8091 0000 lds r24,FCParam+18 |
||
| 680 | 685 0630 8093 0000 sts ToNaviCtrl+24,r24 |
||
| 681 | 686 0634 8091 0000 lds r24,FCParam+19 |
||
| 682 | 687 0638 8093 0000 sts ToNaviCtrl+25,r24 |
||
| 683 | 688 063c 8091 0000 lds r24,FCParam+20 |
||
| 684 | 689 0640 8093 0000 sts ToNaviCtrl+26,r24 |
||
| 685 | 690 0644 8091 0000 lds r24,MKFlags |
||
| 686 | 691 0648 8093 0000 sts ToNaviCtrl+27,r24 |
||
| 687 | 692 064c 8091 0000 lds r24,MKFlags |
||
| 688 | 693 0650 837F andi r24,lo8(-13) |
||
| 689 | 694 0652 8093 0000 sts MKFlags,r24 |
||
| 690 | 695 0656 8091 0000 lds r24,UBat |
||
| 691 | 696 065a 9091 0000 lds r25,(UBat)+1 |
||
| 692 | 697 065e 8093 0000 sts ToNaviCtrl+28,r24 |
||
| 693 | 698 0662 8091 0000 lds r24,LowVoltageWarning |
||
| 694 | 699 0666 8093 0000 sts ToNaviCtrl+29,r24 |
||
| 695 | 700 066a 0E94 0000 call GetActiveParamSet |
||
| 696 | 701 066e 8093 0000 sts ToNaviCtrl+30,r24 |
||
| 697 | 702 0672 00C0 rjmp .L24 |
||
| 698 | 703 .L27: |
||
| 699 | 704 0674 8091 0000 lds r24,CompassCalState |
||
| 700 | 705 0678 8093 0000 sts ToNaviCtrl+19,r24 |
||
| 701 | 706 067c 8530 cpi r24,lo8(5) |
||
| 702 | 707 067e 00F0 brlo .L40 |
||
| 703 | 708 0680 1092 0000 sts CompassCalState,__zero_reg__ |
||
| 704 | 709 .L40: |
||
| 705 | 710 0684 8091 0000 lds r24,ParamSet+84 |
||
| 706 | 711 0688 8093 0000 sts ToNaviCtrl+20,r24 |
||
| 707 | 712 068c 6091 0000 lds r22,ReadingHeight |
||
| 708 | 713 0690 7091 0000 lds r23,(ReadingHeight)+1 |
||
| 709 | 714 0694 8091 0000 lds r24,(ReadingHeight)+2 |
||
| 710 | 715 0698 9091 0000 lds r25,(ReadingHeight)+3 |
||
| 711 | 716 069c 25E0 ldi r18,lo8(5) |
||
| 712 | 717 069e 30E0 ldi r19,hi8(5) |
||
| 713 | 718 06a0 40E0 ldi r20,hlo8(5) |
||
| 714 | 719 06a2 50E0 ldi r21,hhi8(5) |
||
| 715 | 720 06a4 0E94 0000 call __divmodsi4 |
||
| 716 | 721 06a8 3093 0000 sts (ToNaviCtrl+21)+1,r19 |
||
| 717 | 722 06ac 2093 0000 sts ToNaviCtrl+21,r18 |
||
| 718 | 723 06b0 6091 0000 lds r22,SetPointHeight |
||
| 719 | 724 06b4 7091 0000 lds r23,(SetPointHeight)+1 |
||
| 720 | 725 06b8 8091 0000 lds r24,(SetPointHeight)+2 |
||
| 721 | 726 06bc 9091 0000 lds r25,(SetPointHeight)+3 |
||
| 722 | 727 06c0 25E0 ldi r18,lo8(5) |
||
| 723 | 728 06c2 30E0 ldi r19,hi8(5) |
||
| 724 | 729 06c4 40E0 ldi r20,hlo8(5) |
||
| 725 | 730 06c6 50E0 ldi r21,hhi8(5) |
||
| 726 | 731 06c8 0E94 0000 call __divmodsi4 |
||
| 727 | 732 06cc 3093 0000 sts (ToNaviCtrl+23)+1,r19 |
||
| 728 | 733 06d0 2093 0000 sts ToNaviCtrl+23,r18 |
||
| 729 | 734 06d4 8091 0000 lds r24,ParamSet+74 |
||
| 730 | 735 06d8 8093 0000 sts ToNaviCtrl+25,r24 |
||
| 731 | 736 06dc 8091 0000 lds r24,ParamSet+75 |
||
| 732 | 737 06e0 8093 0000 sts ToNaviCtrl+26,r24 |
||
| 733 | 738 06e4 8091 0000 lds r24,ParamSet+76 |
||
| 734 | 739 06e8 8093 0000 sts ToNaviCtrl+27,r24 |
||
| 735 | 740 06ec 00C0 rjmp .L24 |
||
| 736 | 742 .global SPI_StartTransmitPacket |
||
| 737 | 744 SPI_StartTransmitPacket: |
||
| 738 | 745 /* prologue: function */ |
||
| 739 | 746 /* frame size = 0 */ |
||
| 740 | 747 06ee 8091 0000 lds r24,SPITransferCompleted |
||
| 741 | 748 06f2 8823 tst r24 |
||
| 742 | 749 06f4 01F4 brne .+2 |
||
| 743 | 750 06f6 00C0 rjmp .L59 |
||
| 744 | 751 06f8 4598 cbi 40-32,5 |
||
| 745 | 752 06fa 8091 0000 lds r24,SPI_CommandCounter |
||
| 746 | 753 06fe E82F mov r30,r24 |
||
| 747 | 754 0700 F0E0 ldi r31,lo8(0) |
||
| 748 | 755 0702 E050 subi r30,lo8(-(SPI_CommandSequence)) |
||
| 749 | 756 0704 F040 sbci r31,hi8(-(SPI_CommandSequence)) |
||
| 750 | 757 0706 9081 ld r25,Z |
||
| 751 | 758 0708 9093 0000 sts ToNaviCtrl+2,r25 |
||
| 752 | 759 070c 8F5F subi r24,lo8(-(1)) |
||
| 753 | 760 070e 8093 0000 sts SPI_CommandCounter,r24 |
||
| 754 | 761 0712 8730 cpi r24,lo8(7) |
||
| 755 | 762 0714 00F0 brlo .L58 |
||
| 756 | 763 0716 1092 0000 sts SPI_CommandCounter,__zero_reg__ |
||
| 757 | 764 .L58: |
||
| 758 | 765 071a 1092 0000 sts SPITransferCompleted,__zero_reg__ |
||
| 759 | 766 071e 0E94 0000 call UpdateSPI_Buffer |
||
| 760 | 767 0722 81E0 ldi r24,lo8(1) |
||
| 761 | 768 0724 8093 0000 sts SPI_TxBufferIndex,r24 |
||
| 762 | 769 /* #APP */ |
||
| 763 | 770 ; 377 "spi.c" 1 |
||
| 764 | 771 0728 0000 nop |
||
| 765 | 772 ; 0 "" 2 |
||
| 766 | 773 ; 377 "spi.c" 1 |
||
| 767 | 774 072a 0000 nop |
||
| 768 | 775 ; 0 "" 2 |
||
| 769 | 776 ; 377 "spi.c" 1 |
||
| 770 | 777 072c 0000 nop |
||
| 771 | 778 ; 0 "" 2 |
||
| 772 | 779 ; 377 "spi.c" 1 |
||
| 773 | 780 072e 0000 nop |
||
| 774 | 781 ; 0 "" 2 |
||
| 775 | 782 ; 377 "spi.c" 1 |
||
| 776 | 783 0730 0000 nop |
||
| 777 | 784 ; 0 "" 2 |
||
| 778 | 785 ; 377 "spi.c" 1 |
||
| 779 | 786 0732 0000 nop |
||
| 780 | 787 ; 0 "" 2 |
||
| 781 | 788 ; 377 "spi.c" 1 |
||
| 782 | 789 0734 0000 nop |
||
| 783 | 790 ; 0 "" 2 |
||
| 784 | 791 ; 377 "spi.c" 1 |
||
| 785 | 792 0736 0000 nop |
||
| 786 | 793 ; 0 "" 2 |
||
| 787 | 794 ; 378 "spi.c" 1 |
||
| 788 | 795 0738 0000 nop |
||
| 789 | 796 ; 0 "" 2 |
||
| 790 | 797 ; 378 "spi.c" 1 |
||
| 791 | 798 073a 0000 nop |
||
| 792 | 799 ; 0 "" 2 |
||
| 793 | 800 ; 378 "spi.c" 1 |
||
| 794 | 801 073c 0000 nop |
||
| 795 | 802 ; 0 "" 2 |
||
| 796 | 803 ; 378 "spi.c" 1 |
||
| 797 | 804 073e 0000 nop |
||
| 798 | 805 ; 0 "" 2 |
||
| 799 | 806 ; 378 "spi.c" 1 |
||
| 800 | 807 0740 0000 nop |
||
| 801 | 808 ; 0 "" 2 |
||
| 802 | 809 ; 378 "spi.c" 1 |
||
| 803 | 810 0742 0000 nop |
||
| 804 | 811 ; 0 "" 2 |
||
| 805 | 812 ; 378 "spi.c" 1 |
||
| 806 | 813 0744 0000 nop |
||
| 807 | 814 ; 0 "" 2 |
||
| 808 | 815 ; 378 "spi.c" 1 |
||
| 809 | 816 0746 0000 nop |
||
| 810 | 817 ; 0 "" 2 |
||
| 811 | 818 ; 379 "spi.c" 1 |
||
| 812 | 819 0748 0000 nop |
||
| 813 | 820 ; 0 "" 2 |
||
| 814 | 821 ; 379 "spi.c" 1 |
||
| 815 | 822 074a 0000 nop |
||
| 816 | 823 ; 0 "" 2 |
||
| 817 | 824 ; 379 "spi.c" 1 |
||
| 818 | 825 074c 0000 nop |
||
| 819 | 826 ; 0 "" 2 |
||
| 820 | 827 ; 379 "spi.c" 1 |
||
| 821 | 828 074e 0000 nop |
||
| 822 | 829 ; 0 "" 2 |
||
| 823 | 830 ; 379 "spi.c" 1 |
||
| 824 | 831 0750 0000 nop |
||
| 825 | 832 ; 0 "" 2 |
||
| 826 | 833 ; 379 "spi.c" 1 |
||
| 827 | 834 0752 0000 nop |
||
| 828 | 835 ; 0 "" 2 |
||
| 829 | 836 ; 379 "spi.c" 1 |
||
| 830 | 837 0754 0000 nop |
||
| 831 | 838 ; 0 "" 2 |
||
| 832 | 839 ; 379 "spi.c" 1 |
||
| 833 | 840 0756 0000 nop |
||
| 834 | 841 ; 0 "" 2 |
||
| 835 | 842 /* #NOAPP */ |
||
| 836 | 843 0758 8091 0000 lds r24,ToNaviCtrl |
||
| 837 | 844 075c 8093 0000 sts ToNaviCtrl+31,r24 |
||
| 838 | 845 0760 8EBD out 78-32,r24 |
||
| 839 | 846 .L59: |
||
| 840 | 847 0762 0895 ret |
||
| 841 | 849 .global SPI_RxBufferIndex |
||
| 842 | 850 .global SPI_RxBufferIndex |
||
| 843 | 851 .section .bss |
||
| 844 | 854 SPI_RxBufferIndex: |
||
| 845 | 855 0000 00 .skip 1,0 |
||
| 846 | 856 .global SPI_RxBuffer_Request |
||
| 847 | 857 .global SPI_RxBuffer_Request |
||
| 848 | 860 SPI_RxBuffer_Request: |
||
| 849 | 861 0001 00 .skip 1,0 |
||
| 850 | 862 .global SPI_TxBufferIndex |
||
| 851 | 863 .global SPI_TxBufferIndex |
||
| 852 | 866 SPI_TxBufferIndex: |
||
| 853 | 867 0002 00 .skip 1,0 |
||
| 854 | 868 .global SPI_RxDataValid |
||
| 855 | 869 .global SPI_RxDataValid |
||
| 856 | 872 SPI_RxDataValid: |
||
| 857 | 873 0003 00 .skip 1,0 |
||
| 858 | 874 .global NCDataOkay |
||
| 859 | 875 .global NCDataOkay |
||
| 860 | 878 NCDataOkay: |
||
| 861 | 879 0004 00 .skip 1,0 |
||
| 862 | 880 .global NCSerialDataOkay |
||
| 863 | 881 .global NCSerialDataOkay |
||
| 864 | 884 NCSerialDataOkay: |
||
| 865 | 885 0005 00 .skip 1,0 |
||
| 866 | 886 .global NCGpsZ |
||
| 867 | 887 .global NCGpsZ |
||
| 868 | 890 NCGpsZ: |
||
| 869 | 891 0006 00 .skip 1,0 |
||
| 870 | 892 .global SPI_CommandSequence |
||
| 871 | 893 .data |
||
| 872 | 896 SPI_CommandSequence: |
||
| 873 | 897 0000 0A .byte 10 |
||
| 874 | 898 0001 0B .byte 11 |
||
| 875 | 899 0002 0D .byte 13 |
||
| 876 | 900 0003 0B .byte 11 |
||
| 877 | 901 0004 0C .byte 12 |
||
| 878 | 902 0005 0E .byte 14 |
||
| 879 | 903 0006 0F .byte 15 |
||
| 880 | 904 .global SPI_CommandCounter |
||
| 881 | 905 .global SPI_CommandCounter |
||
| 882 | 906 .section .bss |
||
| 883 | 909 SPI_CommandCounter: |
||
| 884 | 910 0007 00 .skip 1,0 |
||
| 885 | 911 .lcomm rxchksum.2022,1 |
||
| 886 | 912 .lcomm SPI_RXState.2020,1 |
||
| 887 | 913 .comm ToNaviCtrl,32,1 |
||
| 888 | 914 .comm FromNaviCtrl,26,1 |
||
| 889 | 915 .comm SPI_VersionInfo,4,1 |
||
| 890 | 916 .comm SPI_RxBuffer,26,1 |
||
| 891 | 917 .comm SPI_TxBuffer,2,1 |
||
| 892 | 918 .comm SPITransferCompleted,1,1 |
||
| 893 | 919 .comm SPI_ChkSum,1,1 |
||
| 894 | 920 .global __do_copy_data |
||
| 895 | 921 .global __do_clear_bss |
||
| 896 | DEFINED SYMBOLS |
||
| 897 | *ABS*:00000000 spi.c |
||
| 898 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccXYPMr9.s:2 *ABS*:0000003f __SREG__ |
||
| 899 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccXYPMr9.s:3 *ABS*:0000003e __SP_H__ |
||
| 900 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccXYPMr9.s:4 *ABS*:0000003d __SP_L__ |
||
| 901 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccXYPMr9.s:5 *ABS*:00000034 __CCP__ |
||
| 902 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccXYPMr9.s:6 *ABS*:00000000 __tmp_reg__ |
||
| 903 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccXYPMr9.s:7 *ABS*:00000001 __zero_reg__ |
||
| 904 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccXYPMr9.s:11 .text:00000000 SPI_MasterInit |
||
| 905 | *COM*:00000020 ToNaviCtrl |
||
| 906 | *COM*:00000002 SPI_TxBuffer |
||
| 907 | *COM*:00000001 SPITransferCompleted |
||
| 908 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccXYPMr9.s:884 .bss:00000005 NCSerialDataOkay |
||
| 909 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccXYPMr9.s:878 .bss:00000004 NCDataOkay |
||
| 910 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccXYPMr9.s:872 .bss:00000003 SPI_RxDataValid |
||
| 911 | *COM*:00000004 SPI_VersionInfo |
||
| 912 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccXYPMr9.s:52 .text:00000066 SPI_TransmitByte |
||
| 913 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccXYPMr9.s:911 .bss:00000009 SPI_RXState.2020 |
||
| 914 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccXYPMr9.s:854 .bss:00000000 SPI_RxBufferIndex |
||
| 915 | .bss:00000008 rxchksum.2022 |
||
| 916 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccXYPMr9.s:866 .bss:00000002 SPI_TxBufferIndex |
||
| 917 | *COM*:0000001a SPI_RxBuffer |
||
| 918 | *COM*:0000001a FromNaviCtrl |
||
| 919 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccXYPMr9.s:240 .text:00000178 UpdateSPI_Buffer |
||
| 920 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccXYPMr9.s:890 .bss:00000006 NCGpsZ |
||
| 921 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccXYPMr9.s:744 .text:000006ee SPI_StartTransmitPacket |
||
| 922 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccXYPMr9.s:909 .bss:00000007 SPI_CommandCounter |
||
| 923 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccXYPMr9.s:896 .data:00000000 SPI_CommandSequence |
||
| 924 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccXYPMr9.s:860 .bss:00000001 SPI_RxBuffer_Request |
||
| 925 | *COM*:00000001 SPI_ChkSum |
||
| 926 | |||
| 927 | UNDEFINED SYMBOLS |
||
| 928 | SendSPI |
||
| 929 | ParamSet |
||
| 930 | IntegralGyroNick |
||
| 931 | __mulsi3 |
||
| 932 | __divmodsi4 |
||
| 933 | IntegralGyroRoll |
||
| 934 | YawGyroHeading |
||
| 935 | GyroNick |
||
| 936 | GyroRoll |
||
| 937 | GyroYaw |
||
| 938 | NaviCntAcc |
||
| 939 | NaviAccNick |
||
| 940 | __divmodhi4 |
||
| 941 | NaviAccRoll |
||
| 942 | CompassHeading |
||
| 943 | CompassCourse |
||
| 944 | CompassOffCourse |
||
| 945 | BeepTime |
||
| 946 | CompassCalState |
||
| 947 | FCParam |
||
| 948 | PPM_in |
||
| 949 | Poti1 |
||
| 950 | Poti2 |
||
| 951 | Poti3 |
||
| 952 | Poti4 |
||
| 953 | RC_Quality |
||
| 954 | RC_RSSI |
||
| 955 | DebugOut |
||
| 956 | GPSStickNick |
||
| 957 | GPSStickRoll |
||
| 958 | BoardRelease |
||
| 959 | MKFlags |
||
| 960 | UBat |
||
| 961 | LowVoltageWarning |
||
| 962 | GetActiveParamSet |
||
| 963 | ReadingHeight |
||
| 964 | SetPointHeight |
||
| 965 | __do_copy_data |
||
| 966 | __do_clear_bss |