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Rev Author Line No. Line
1755 - 1
   1               		.file	"fc.c"
2
   2               		.arch atmega644p
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               	.global	VarioCharacter
11
  11               		.data
12
  14               	VarioCharacter:
13
  15 0000 20        		.byte	32
14
  16               	.global	GIER_GRAD_FAKTOR
15
  19               	GIER_GRAD_FAKTOR:
16
  20 0001 0B05 0000 		.long	1291
17
  21               	.global	FCFlags
18
  22               	.global	FCFlags
19
  23               		.section .bss
20
  26               	FCFlags:
21
  27 0000 00        		.skip 1,0
22
  28               	.global	modell_fliegt
23
  29               	.global	modell_fliegt
24
  32               	modell_fliegt:
25
  33 0001 0000      		.skip 2,0
26
  34               	.global	MaxStickRoll
27
  35               	.global	MaxStickRoll
28
  38               	MaxStickRoll:
29
  39 0003 0000      		.skip 2,0
30
  40               	.global	MaxStickNick
31
  41               	.global	MaxStickNick
32
  44               	MaxStickNick:
33
  45 0005 0000      		.skip 2,0
34
  46               	.global	ExternHoehenValue
35
  47               		.data
36
  50               	ExternHoehenValue:
37
  51 0005 ECFF      		.word	-20
38
  52               	.global	ExternStickGier
39
  53               	.global	ExternStickGier
40
  54               		.section .bss
41
  57               	ExternStickGier:
42
  58 0007 0000      		.skip 2,0
43
  59               	.global	ExternStickRoll
44
  60               	.global	ExternStickRoll
45
  63               	ExternStickRoll:
46
  64 0009 0000      		.skip 2,0
47
  65               	.global	ExternStickNick
48
  66               	.global	ExternStickNick
49
  69               	ExternStickNick:
50
  70 000b 0000      		.skip 2,0
51
  71               	.global	CareFree
52
  72               	.global	CareFree
53
  75               	CareFree:
54
  76 000d 00        		.skip 1,0
55
  77               	.global	Parameter_DynamicStability
56
  78               		.data
57
  81               	Parameter_DynamicStability:
58
  82 0007 64        		.byte	100
59
  83               	.global	Parameter_CouplingYawCorrection
60
  86               	Parameter_CouplingYawCorrection:
61
  87 0008 40        		.byte	64
62
  88               	.global	Parameter_AchsKopplung2
63
  91               	Parameter_AchsKopplung2:
64
  92 0009 41        		.byte	65
65
  93               	.global	Parameter_AchsKopplung1
66
  96               	Parameter_AchsKopplung1:
67
  97 000a 5A        		.byte	90
68
  98               	.global	Parameter_LoopGasLimit
69
 101               	Parameter_LoopGasLimit:
70
 102 000b 46        		.byte	70
71
 103               	.global	Parameter_ServoRollControl
72
 106               	Parameter_ServoRollControl:
73
 107 000c 64        		.byte	100
74
 108               	.global	Parameter_ServoNickControl
75
 111               	Parameter_ServoNickControl:
76
 112 000d 64        		.byte	100
77
 113               	.global	Parameter_UserParam8
78
 114               	.global	Parameter_UserParam8
79
 115               		.section .bss
80
 118               	Parameter_UserParam8:
81
 119 000e 00        		.skip 1,0
82
 120               	.global	Parameter_UserParam7
83
 121               	.global	Parameter_UserParam7
84
 124               	Parameter_UserParam7:
85
 125 000f 00        		.skip 1,0
86
 126               	.global	Parameter_UserParam6
87
 127               	.global	Parameter_UserParam6
88
 130               	Parameter_UserParam6:
89
 131 0010 00        		.skip 1,0
90
 132               	.global	Parameter_UserParam5
91
 133               	.global	Parameter_UserParam5
92
 136               	Parameter_UserParam5:
93
 137 0011 00        		.skip 1,0
94
 138               	.global	Parameter_UserParam4
95
 139               	.global	Parameter_UserParam4
96
 142               	Parameter_UserParam4:
97
 143 0012 00        		.skip 1,0
98
 144               	.global	Parameter_UserParam3
99
 145               	.global	Parameter_UserParam3
100
 148               	Parameter_UserParam3:
101
 149 0013 00        		.skip 1,0
102
 150               	.global	Parameter_UserParam2
103
 151               	.global	Parameter_UserParam2
104
 154               	Parameter_UserParam2:
105
 155 0014 00        		.skip 1,0
106
 156               	.global	Parameter_UserParam1
107
 157               	.global	Parameter_UserParam1
108
 160               	Parameter_UserParam1:
109
 161 0015 00        		.skip 1,0
110
 162               	.global	Parameter_I_Faktor
111
 163               		.data
112
 166               	Parameter_I_Faktor:
113
 167 000e 0A        		.byte	10
114
 168               	.global	Parameter_Gier_P
115
 171               	Parameter_Gier_P:
116
 172 000f 02        		.byte	2
117
 173               	.global	Parameter_Gyro_Gier_I
118
 176               	Parameter_Gyro_Gier_I:
119
 177 0010 96        		.byte	-106
120
 178               	.global	Parameter_Gyro_Gier_P
121
 181               	Parameter_Gyro_Gier_P:
122
 182 0011 96        		.byte	-106
123
 183               	.global	Parameter_Gyro_I
124
 186               	Parameter_Gyro_I:
125
 187 0012 96        		.byte	-106
126
 188               	.global	Parameter_Gyro_P
127
 191               	Parameter_Gyro_P:
128
 192 0013 96        		.byte	-106
129
 193               	.global	Parameter_Gyro_D
130
 196               	Parameter_Gyro_D:
131
 197 0014 08        		.byte	8
132
 198               	.global	Parameter_Hoehe_GPS_Z
133
 201               	Parameter_Hoehe_GPS_Z:
134
 202 0015 40        		.byte	64
135
 203               	.global	Parameter_KompassWirkung
136
 206               	Parameter_KompassWirkung:
137
 207 0016 40        		.byte	64
138
 208               	.global	Parameter_Hoehe_ACC_Wirkung
139
 211               	Parameter_Hoehe_ACC_Wirkung:
140
 212 0017 3A        		.byte	58
141
 213               	.global	Parameter_Hoehe_P
142
 216               	Parameter_Hoehe_P:
143
 217 0018 10        		.byte	16
144
 218               	.global	Parameter_MaxHoehe
145
 221               	Parameter_MaxHoehe:
146
 222 0019 FB        		.byte	-5
147
 223               	.global	Parameter_Luftdruck_D
148
 226               	Parameter_Luftdruck_D:
149
 227 001a 30        		.byte	48
150
 228               	.global	Looping_Oben
151
 229               	.global	Looping_Oben
152
 230               		.section .bss
153
 233               	Looping_Oben:
154
 234 0016 00        		.skip 1,0
155
 235               	.global	Looping_Unten
156
 236               	.global	Looping_Unten
157
 239               	Looping_Unten:
158
 240 0017 00        		.skip 1,0
159
 241               	.global	Looping_Rechts
160
 242               	.global	Looping_Rechts
161
 245               	Looping_Rechts:
162
 246 0018 00        		.skip 1,0
163
 247               	.global	Looping_Links
164
 248               	.global	Looping_Links
165
 251               	Looping_Links:
166
 252 0019 00        		.skip 1,0
167
 253               	.global	Looping_Roll
168
 254               	.global	Looping_Roll
169
 257               	Looping_Roll:
170
 258 001a 00        		.skip 1,0
171
 259               	.global	Looping_Nick
172
 260               	.global	Looping_Nick
173
 263               	Looping_Nick:
174
 264 001b 00        		.skip 1,0
175
 265               	.global	Ki
176
 266               		.data
177
 269               	Ki:
178
 270 001b 3801      		.word	312
179
 271               	.global	HoverGas
180
 272               	.global	HoverGas
181
 273               		.section .bss
182
 276               	HoverGas:
183
 277 001c 0000      		.skip 2,0
184
 278               	.global	LageKorrekturNick
185
 279               	.global	LageKorrekturNick
186
 282               	LageKorrekturNick:
187
 283 001e 0000      		.skip 2,0
188
 284               	.global	LageKorrekturRoll
189
 285               	.global	LageKorrekturRoll
190
 288               	LageKorrekturRoll:
191
 289 0020 0000      		.skip 2,0
192
 290               	.global	SollHoehe
193
 291               	.global	SollHoehe
194
 294               	SollHoehe:
195
 295 0022 0000 0000 		.skip 4,0
196
 296               	.global	HoehenWert
197
 297               	.global	HoehenWert
198
 300               	HoehenWert:
199
 301 0026 0000 0000 		.skip 4,0
200
 302               	.global	StartTrigger
201
 303               	.global	StartTrigger
202
 306               	StartTrigger:
203
 307 002a 00        		.skip 1,0
204
 308               	.global	MotorenEin
205
 309               	.global	MotorenEin
206
 312               	MotorenEin:
207
 313 002b 00        		.skip 1,0
208
 314               	.global	StickGas
209
 315               	.global	StickGas
210
 318               	StickGas:
211
 319 002c 0000      		.skip 2,0
212
 320               	.global	StickGier
213
 321               	.global	StickGier
214
 324               	StickGier:
215
 325 002e 0000      		.skip 2,0
216
 326               	.global	StickRoll
217
 327               	.global	StickRoll
218
 330               	StickRoll:
219
 331 0030 0000      		.skip 2,0
220
 332               	.global	StickNick
221
 333               	.global	StickNick
222
 336               	StickNick:
223
 337 0032 0000      		.skip 2,0
224
 338               	.global	SenderOkay
225
 339               	.global	SenderOkay
226
 342               	SenderOkay:
227
 343 0034 00        		.skip 1,0
228
 344               	.global	Poti
229
 345               	.global	Poti
230
 348               	Poti:
231
 349 0035 0000 0000 		.skip 9,0
232
 349      0000 0000
233
 349      00
234
 350               	.global	GierGyroFehler
235
 351               	.global	GierGyroFehler
236
 354               	GierGyroFehler:
237
 355 003e 0000      		.skip 2,0
238
 356               	.global	Umschlag180Roll
239
 357               		.data
240
 360               	Umschlag180Roll:
241
 361 001d 90D0 0300 		.long	250000
242
 362               	.global	Umschlag180Nick
243
 365               	Umschlag180Nick:
244
 366 0021 90D0 0300 		.long	250000
245
 367               	.global	TrichterFlug
246
 368               	.global	TrichterFlug
247
 369               		.section .bss
248
 372               	TrichterFlug:
249
 373 0040 00        		.skip 1,0
250
 374               	.global	HoehenReglerAktiv
251
 375               	.global	HoehenReglerAktiv
252
 378               	HoehenReglerAktiv:
253
 379 0041 00        		.skip 1,0
254
 380               	.global	KompassSignalSchlecht
255
 381               		.data
256
 384               	KompassSignalSchlecht:
257
 385 0025 F401      		.word	500
258
 386               	.global	KompassRichtung
259
 387               	.global	KompassRichtung
260
 388               		.section .bss
261
 391               	KompassRichtung:
262
 392 0042 0000      		.skip 2,0
263
 393               	.global	KompassStartwert
264
 394               	.global	KompassStartwert
265
 397               	KompassStartwert:
266
 398 0044 0000      		.skip 2,0
267
 399               	.global	KompassValue
268
 400               	.global	KompassValue
269
 403               	KompassValue:
270
 404 0046 0000      		.skip 2,0
271
 405               	.global	Mess_Integral_Hoch
272
 406               	.global	Mess_Integral_Hoch
273
 409               	Mess_Integral_Hoch:
274
 410 0048 0000 0000 		.skip 4,0
275
 411               	.global	SummeRoll
276
 412               	.global	SummeRoll
277
 415               	SummeRoll:
278
 416 004c 0000 0000 		.skip 4,0
279
 417               	.global	SummeNick
280
 418               	.global	SummeNick
281
 421               	SummeNick:
282
 422 0050 0000 0000 		.skip 4,0
283
 423               	.global	Mess_Integral_Gier2
284
 424               	.global	Mess_Integral_Gier2
285
 427               	Mess_Integral_Gier2:
286
 428 0054 0000 0000 		.skip 4,0
287
 429               	.global	Mess_Integral_Gier
288
 430               	.global	Mess_Integral_Gier
289
 433               	Mess_Integral_Gier:
290
 434 0058 0000 0000 		.skip 4,0
291
 435               	.global	Mess_IntegralRoll2
292
 436               	.global	Mess_IntegralRoll2
293
 439               	Mess_IntegralRoll2:
294
 440 005c 0000 0000 		.skip 4,0
295
 441               	.global	Mess_IntegralRoll
296
 442               	.global	Mess_IntegralRoll
297
 445               	Mess_IntegralRoll:
298
 446 0060 0000 0000 		.skip 4,0
299
 447               	.global	Mess_IntegralNick2
300
 448               	.global	Mess_IntegralNick2
301
 451               	Mess_IntegralNick2:
302
 452 0064 0000 0000 		.skip 4,0
303
 453               	.global	Mess_IntegralNick
304
 454               	.global	Mess_IntegralNick
305
 457               	Mess_IntegralNick:
306
 458 0068 0000 0000 		.skip 4,0
307
 459               	.global	Integral_Gier
308
 460               	.global	Integral_Gier
309
 463               	Integral_Gier:
310
 464 006c 0000 0000 		.skip 4,0
311
 465               	.global	IntegralAccZ
312
 466               	.global	IntegralAccZ
313
 469               	IntegralAccZ:
314
 470 0070 0000 0000 		.skip 4,0
315
 471               	.global	IntegralAccRoll
316
 472               	.global	IntegralAccRoll
317
 475               	IntegralAccRoll:
318
 476 0074 0000 0000 		.skip 4,0
319
 477               	.global	IntegralAccNick
320
 478               	.global	IntegralAccNick
321
 481               	IntegralAccNick:
322
 482 0078 0000 0000 		.skip 4,0
323
 483               	.global	IntegralRoll2
324
 484               	.global	IntegralRoll2
325
 487               	IntegralRoll2:
326
 488 007c 0000 0000 		.skip 4,0
327
 489               	.global	IntegralRoll
328
 490               	.global	IntegralRoll
329
 493               	IntegralRoll:
330
 494 0080 0000 0000 		.skip 4,0
331
 495               	.global	IntegralNick2
332
 496               	.global	IntegralNick2
333
 499               	IntegralNick2:
334
 500 0084 0000 0000 		.skip 4,0
335
 501               	.global	IntegralNick
336
 502               	.global	IntegralNick
337
 505               	IntegralNick:
338
 506 0088 0000 0000 		.skip 4,0
339
 507               	.global	ControlHeading
340
 508               	.global	ControlHeading
341
 511               	ControlHeading:
342
 512 008c 00        		.skip 1,0
343
 513               	.global	NeutralAccZ
344
 514               	.global	NeutralAccZ
345
 517               	NeutralAccZ:
346
 518 008d 0000      		.skip 2,0
347
 519               	.global	NaviCntAcc
348
 520               	.global	NaviCntAcc
349
 523               	NaviCntAcc:
350
 524 008f 0000      		.skip 2,0
351
 525               	.global	NeutralAccY
352
 526               	.global	NeutralAccY
353
 529               	NeutralAccY:
354
 530 0091 0000      		.skip 2,0
355
 531               	.global	NeutralAccX
356
 532               	.global	NeutralAccX
357
 535               	NeutralAccX:
358
 536 0093 0000      		.skip 2,0
359
 537               	.global	StartNeutralNick
360
 538               	.global	StartNeutralNick
361
 541               	StartNeutralNick:
362
 542 0095 0000      		.skip 2,0
363
 543               	.global	StartNeutralRoll
364
 544               	.global	StartNeutralRoll
365
 547               	StartNeutralRoll:
366
 548 0097 0000      		.skip 2,0
367
 549               	.global	AdNeutralGier
368
 550               	.global	AdNeutralGier
369
 553               	AdNeutralGier:
370
 554 0099 0000      		.skip 2,0
371
 555               	.global	AdNeutralRoll
372
 556               	.global	AdNeutralRoll
373
 559               	AdNeutralRoll:
374
 560 009b 0000      		.skip 2,0
375
 561               	.global	AdNeutralNick
376
 562               	.global	AdNeutralNick
377
 565               	AdNeutralNick:
378
 566 009d 0000      		.skip 2,0
379
 567               	.global	BaroExpandActive
380
 568               	.global	BaroExpandActive
381
 571               	BaroExpandActive:
382
 572 009f 0000      		.skip 2,0
383
 573               		.text
384
 574               	.global	CopyDebugValues
385
 576               	CopyDebugValues:
386
 577               	/* prologue: frame size=0 */
387
 578 0000 EF92      		push r14
388
 579 0002 FF92      		push r15
389
 580 0004 0F93      		push r16
390
 581 0006 1F93      		push r17
391
 582               	/* prologue end (size=4) */
392
 583 0008 8091 0000 		lds r24,EE_Parameter+28
393
 584 000c 9927      		clr r25
394
 585 000e 880F      		lsl r24
395
 586 0010 991F      		rol r25
396
 587 0012 880F      		lsl r24
397
 588 0014 991F      		rol r25
398
 589 0016 7C01      		movw r14,r24
399
 590 0018 0027      		clr r16
400
 591 001a F7FC      		sbrc r15,7
401
 592 001c 0095      		com r16
402
 593 001e 102F      		mov r17,r16
403
 594 0020 8091 0000 		lds r24,IntegralNick
404
 595 0024 9091 0000 		lds r25,(IntegralNick)+1
405
 596 0028 A091 0000 		lds r26,(IntegralNick)+2
406
 597 002c B091 0000 		lds r27,(IntegralNick)+3
407
 598 0030 BC01      		movw r22,r24
408
 599 0032 CD01      		movw r24,r26
409
 600 0034 A801      		movw r20,r16
410
 601 0036 9701      		movw r18,r14
411
 602 0038 0E94 0000 		call __divmodsi4
412
 603 003c 3093 0000 		sts (DebugOut+2)+1,r19
413
 604 0040 2093 0000 		sts DebugOut+2,r18
414
 605 0044 8091 0000 		lds r24,IntegralRoll
415
 606 0048 9091 0000 		lds r25,(IntegralRoll)+1
416
 607 004c A091 0000 		lds r26,(IntegralRoll)+2
417
 608 0050 B091 0000 		lds r27,(IntegralRoll)+3
418
 609 0054 BC01      		movw r22,r24
419
 610 0056 CD01      		movw r24,r26
420
 611 0058 A801      		movw r20,r16
421
 612 005a 9701      		movw r18,r14
422
 613 005c 0E94 0000 		call __divmodsi4
423
 614 0060 3093 0000 		sts (DebugOut+4)+1,r19
424
 615 0064 2093 0000 		sts DebugOut+4,r18
425
 616 0068 8091 0000 		lds r24,Mittelwert_AccNick
426
 617 006c 9091 0000 		lds r25,(Mittelwert_AccNick)+1
427
 618 0070 97FD      		sbrc r25,7
428
 619 0072 0396      		adiw r24,3
429
 620               	.L2:
430
 621 0074 9595      		asr r25
431
 622 0076 8795      		ror r24
432
 623 0078 9595      		asr r25
433
 624 007a 8795      		ror r24
434
 625 007c 9093 0000 		sts (DebugOut+6)+1,r25
435
 626 0080 8093 0000 		sts DebugOut+6,r24
436
 627 0084 8091 0000 		lds r24,Mittelwert_AccRoll
437
 628 0088 9091 0000 		lds r25,(Mittelwert_AccRoll)+1
438
 629 008c 97FD      		sbrc r25,7
439
 630 008e 0396      		adiw r24,3
440
 631               	.L3:
441
 632 0090 9595      		asr r25
442
 633 0092 8795      		ror r24
443
 634 0094 9595      		asr r25
444
 635 0096 8795      		ror r24
445
 636 0098 9093 0000 		sts (DebugOut+8)+1,r25
446
 637 009c 8093 0000 		sts DebugOut+8,r24
447
 638 00a0 8091 0000 		lds r24,AdNeutralGier
448
 639 00a4 9091 0000 		lds r25,(AdNeutralGier)+1
449
 640 00a8 2091 0000 		lds r18,AdWertGier
450
 641 00ac 3091 0000 		lds r19,(AdWertGier)+1
451
 642 00b0 821B      		sub r24,r18
452
 643 00b2 930B      		sbc r25,r19
453
 644 00b4 9093 0000 		sts (DebugOut+10)+1,r25
454
 645 00b8 8093 0000 		sts DebugOut+10,r24
455
 646 00bc 8091 0000 		lds r24,HoehenWert
456
 647 00c0 9091 0000 		lds r25,(HoehenWert)+1
457
 648 00c4 A091 0000 		lds r26,(HoehenWert)+2
458
 649 00c8 B091 0000 		lds r27,(HoehenWert)+3
459
 650 00cc BC01      		movw r22,r24
460
 651 00ce CD01      		movw r24,r26
461
 652 00d0 25E0      		ldi r18,lo8(5)
462
 653 00d2 30E0      		ldi r19,hi8(5)
463
 654 00d4 40E0      		ldi r20,hlo8(5)
464
 655 00d6 50E0      		ldi r21,hhi8(5)
465
 656 00d8 0E94 0000 		call __divmodsi4
466
 657 00dc 3093 0000 		sts (DebugOut+12)+1,r19
467
 658 00e0 2093 0000 		sts DebugOut+12,r18
468
 659 00e4 8091 0000 		lds r24,AdWertAccHoch
469
 660 00e8 9091 0000 		lds r25,(AdWertAccHoch)+1
470
 661 00ec 9093 0000 		sts (DebugOut+14)+1,r25
471
 662 00f0 8093 0000 		sts DebugOut+14,r24
472
 663 00f4 8091 0000 		lds r24,KompassValue
473
 664 00f8 9091 0000 		lds r25,(KompassValue)+1
474
 665 00fc 9093 0000 		sts (DebugOut+18)+1,r25
475
 666 0100 8093 0000 		sts DebugOut+18,r24
476
 667 0104 8091 0000 		lds r24,UBat
477
 668 0108 9091 0000 		lds r25,(UBat)+1
478
 669 010c 9093 0000 		sts (DebugOut+20)+1,r25
479
 670 0110 8093 0000 		sts DebugOut+20,r24
480
 671 0114 8091 0000 		lds r24,SenderOkay
481
 672 0118 9927      		clr r25
482
 673 011a 9093 0000 		sts (DebugOut+22)+1,r25
483
 674 011e 8093 0000 		sts DebugOut+22,r24
484
 675 0122 8091 0000 		lds r24,ErsatzKompass
485
 676 0126 9091 0000 		lds r25,(ErsatzKompass)+1
486
 677 012a A091 0000 		lds r26,(ErsatzKompass)+2
487
 678 012e B091 0000 		lds r27,(ErsatzKompass)+3
488
 679 0132 2091 0000 		lds r18,GIER_GRAD_FAKTOR
489
 680 0136 3091 0000 		lds r19,(GIER_GRAD_FAKTOR)+1
490
 681 013a 4091 0000 		lds r20,(GIER_GRAD_FAKTOR)+2
491
 682 013e 5091 0000 		lds r21,(GIER_GRAD_FAKTOR)+3
492
 683 0142 BC01      		movw r22,r24
493
 684 0144 CD01      		movw r24,r26
494
 685 0146 0E94 0000 		call __divmodsi4
495
 686 014a 3093 0000 		sts (DebugOut+24)+1,r19
496
 687 014e 2093 0000 		sts DebugOut+24,r18
497
 688 0152 8091 0000 		lds r24,Motor+1
498
 689 0156 9927      		clr r25
499
 690 0158 9093 0000 		sts (DebugOut+26)+1,r25
500
 691 015c 8093 0000 		sts DebugOut+26,r24
501
 692 0160 8091 0000 		lds r24,Motor+9
502
 693 0164 9927      		clr r25
503
 694 0166 9093 0000 		sts (DebugOut+28)+1,r25
504
 695 016a 8093 0000 		sts DebugOut+28,r24
505
 696 016e 8091 0000 		lds r24,Motor+17
506
 697 0172 9927      		clr r25
507
 698 0174 9093 0000 		sts (DebugOut+30)+1,r25
508
 699 0178 8093 0000 		sts DebugOut+30,r24
509
 700 017c 8091 0000 		lds r24,Motor+25
510
 701 0180 9927      		clr r25
511
 702 0182 9093 0000 		sts (DebugOut+32)+1,r25
512
 703 0186 8093 0000 		sts DebugOut+32,r24
513
 704 018a 8091 0000 		lds r24,ServoNickValue
514
 705 018e 9091 0000 		lds r25,(ServoNickValue)+1
515
 706 0192 9093 0000 		sts (DebugOut+42)+1,r25
516
 707 0196 8093 0000 		sts DebugOut+42,r24
517
 708 019a 8091 0000 		lds r24,Capacity
518
 709 019e 9091 0000 		lds r25,(Capacity)+1
519
 710 01a2 9093 0000 		sts (DebugOut+46)+1,r25
520
 711 01a6 8093 0000 		sts DebugOut+46,r24
521
 712 01aa 8091 0000 		lds r24,Capacity+4
522
 713 01ae 9091 0000 		lds r25,(Capacity+4)+1
523
 714 01b2 9093 0000 		sts (DebugOut+48)+1,r25
524
 715 01b6 8093 0000 		sts DebugOut+48,r24
525
 716 01ba 8091 0000 		lds r24,Capacity+6
526
 717 01be 9927      		clr r25
527
 718 01c0 9093 0000 		sts (DebugOut+60)+1,r25
528
 719 01c4 8093 0000 		sts DebugOut+60,r24
529
 720 01c8 8091 0000 		lds r24,GPS_Nick
530
 721 01cc 9091 0000 		lds r25,(GPS_Nick)+1
531
 722 01d0 9093 0000 		sts (DebugOut+62)+1,r25
532
 723 01d4 8093 0000 		sts DebugOut+62,r24
533
 724 01d8 8091 0000 		lds r24,GPS_Roll
534
 725 01dc 9091 0000 		lds r25,(GPS_Roll)+1
535
 726 01e0 9093 0000 		sts (DebugOut+64)+1,r25
536
 727 01e4 8093 0000 		sts DebugOut+64,r24
537
 728 01e8 8091 0000 		lds r24,VersionInfo+5
538
 729 01ec 8823      		tst r24
539
 730 01ee 21F4      		brne .L5
540
 731 01f0 8091 0000 		lds r24,VersionInfo+6
541
 732 01f4 8823      		tst r24
542
 733 01f6 21F0      		breq .L4
543
 734               	.L5:
544
 735 01f8 8091 0000 		lds r24,DebugOut+1
545
 736 01fc 8160      		ori r24,lo8(1)
546
 737 01fe 03C0      		rjmp .L7
547
 738               	.L4:
548
 739 0200 8091 0000 		lds r24,DebugOut+1
549
 740 0204 8E7F      		andi r24,lo8(-2)
550
 741               	.L7:
551
 742 0206 8093 0000 		sts DebugOut+1,r24
552
 743               	/* epilogue: frame size=0 */
553
 744 020a 1F91      		pop r17
554
 745 020c 0F91      		pop r16
555
 746 020e FF90      		pop r15
556
 747 0210 EF90      		pop r14
557
 748 0212 0895      		ret
558
 749               	/* epilogue end (size=5) */
559
 750               	/* function CopyDebugValues size 268 (259) */
560
 752               	.global	Piep
561
 754               	Piep:
562
 755               	/* prologue: frame size=0 */
563
 756 0214 1F93      		push r17
564
 757 0216 CF93      		push r28
565
 758 0218 DF93      		push r29
566
 759               	/* prologue end (size=3) */
567
 760 021a 182F      		mov r17,r24
568
 761 021c EB01      		movw r28,r22
569
 762 021e 8091 0000 		lds r24,MotorenEin
570
 763 0222 8823      		tst r24
571
 764 0224 A1F4      		brne .L8
572
 765 0226 1150      		subi r17,lo8(-(-1))
573
 766 0228 1F3F      		cpi r17,lo8(-1)
574
 767 022a 89F0      		breq .L8
575
 768               	.L15:
576
 769 022c D093 0000 		sts (beeptime)+1,r29
577
 770 0230 C093 0000 		sts beeptime,r28
578
 771               	.L12:
579
 772 0234 8091 0000 		lds r24,beeptime
580
 773 0238 9091 0000 		lds r25,(beeptime)+1
581
 774 023c 892B      		or r24,r25
582
 775 023e D1F7      		brne .L12
583
 776 0240 CE01      		movw r24,r28
584
 777 0242 8C0F      		add r24,r28
585
 778 0244 9D1F      		adc r25,r29
586
 779 0246 0E94 0000 		call Delay_ms
587
 780 024a 1150      		subi r17,1
588
 781 024c 78F7      		brcc .L15
589
 782               	.L8:
590
 783               	/* epilogue: frame size=0 */
591
 784 024e DF91      		pop r29
592
 785 0250 CF91      		pop r28
593
 786 0252 1F91      		pop r17
594
 787 0254 0895      		ret
595
 788               	/* epilogue end (size=4) */
596
 789               	/* function Piep size 34 (27) */
597
 791               	.global	CalibrierMittelwert
598
 793               	CalibrierMittelwert:
599
 794               	/* prologue: frame size=0 */
600
 795 0256 CF93      		push r28
601
 796 0258 DF93      		push r29
602
 797               	/* prologue end (size=2) */
603
 798 025a 8091 0000 		lds r24,PlatinenVersion
604
 799 025e 8D30      		cpi r24,lo8(13)
605
 800 0260 11F4      		brne .L18
606
 801 0262 0E94 0000 		call SucheGyroOffset
607
 802               	.L18:
608
 803 0266 1092 7A00 		sts 122,__zero_reg__
609
 804 026a 8091 0000 		lds r24,AdWertNick
610
 805 026e 9091 0000 		lds r25,(AdWertNick)+1
611
 806 0272 9093 0000 		sts (MesswertNick)+1,r25
612
 807 0276 8093 0000 		sts MesswertNick,r24
613
 808 027a 8091 0000 		lds r24,AdWertRoll
614
 809 027e 9091 0000 		lds r25,(AdWertRoll)+1
615
 810 0282 9093 0000 		sts (MesswertRoll)+1,r25
616
 811 0286 8093 0000 		sts MesswertRoll,r24
617
 812 028a 8091 0000 		lds r24,AdWertGier
618
 813 028e 9091 0000 		lds r25,(AdWertGier)+1
619
 814 0292 9093 0000 		sts (MesswertGier)+1,r25
620
 815 0296 8093 0000 		sts MesswertGier,r24
621
 816 029a 2091 0000 		lds r18,AdWertAccNick
622
 817 029e 3091 0000 		lds r19,(AdWertAccNick)+1
623
 818 02a2 C901      		movw r24,r18
624
 819 02a4 880F      		lsl r24
625
 820 02a6 991F      		rol r25
626
 821 02a8 880F      		lsl r24
627
 822 02aa 991F      		rol r25
628
 823 02ac 820F      		add r24,r18
629
 824 02ae 931F      		adc r25,r19
630
 825 02b0 820F      		add r24,r18
631
 826 02b2 931F      		adc r25,r19
632
 827 02b4 9093 0000 		sts (Mittelwert_AccNick)+1,r25
633
 828 02b8 8093 0000 		sts Mittelwert_AccNick,r24
634
 829 02bc 2091 0000 		lds r18,AdWertAccRoll
635
 830 02c0 3091 0000 		lds r19,(AdWertAccRoll)+1
636
 831 02c4 C901      		movw r24,r18
637
 832 02c6 880F      		lsl r24
638
 833 02c8 991F      		rol r25
639
 834 02ca 880F      		lsl r24
640
 835 02cc 991F      		rol r25
641
 836 02ce 820F      		add r24,r18
642
 837 02d0 931F      		adc r25,r19
643
 838 02d2 820F      		add r24,r18
644
 839 02d4 931F      		adc r25,r19
645
 840 02d6 9093 0000 		sts (Mittelwert_AccRoll)+1,r25
646
 841 02da 8093 0000 		sts Mittelwert_AccRoll,r24
647
 842 02de 8FEC      		ldi r24,lo8(-49)
648
 843 02e0 8093 7A00 		sts 122,r24
649
 844 02e4 A0E0      		ldi r26,lo8(Poti)
650
 845 02e6 B0E0      		ldi r27,hi8(Poti)
651
 846 02e8 C0E0      		ldi r28,lo8(EE_Parameter+5)
652
 847 02ea D0E0      		ldi r29,hi8(EE_Parameter+5)
653
 848 02ec 97E0      		ldi r25,lo8(7)
654
 849               	.L28:
655
 850 02ee 8991      		ld r24,Y+
656
 851 02f0 E82F      		mov r30,r24
657
 852 02f2 FF27      		clr r31
658
 853 02f4 EE0F      		add r30,r30
659
 854 02f6 FF1F      		adc r31,r31
660
 855 02f8 E050      		subi r30,lo8(-(PPM_in))
661
 856 02fa F040      		sbci r31,hi8(-(PPM_in))
662
 857 02fc 0190      		ld __tmp_reg__,Z+
663
 858 02fe F081      		ld r31,Z
664
 859 0300 E02D      		mov r30,__tmp_reg__
665
 860 0302 E259      		subi r30,lo8(-(110))
666
 861 0304 FF4F      		sbci r31,hi8(-(110))
667
 862 0306 1E16      		cp __zero_reg__,r30
668
 863 0308 1F06      		cpc __zero_reg__,r31
669
 864 030a 1CF0      		brlt .L22
670
 865 030c E0E0      		ldi r30,lo8(0)
671
 866 030e F0E0      		ldi r31,hi8(0)
672
 867 0310 05C0      		rjmp .L23
673
 868               	.L22:
674
 869 0312 EF3F      		cpi r30,255
675
 870 0314 F105      		cpc r31,__zero_reg__
676
 871 0316 14F0      		brlt .L23
677
 872 0318 EFEF      		ldi r30,lo8(255)
678
 873 031a F0E0      		ldi r31,hi8(255)
679
 874               	.L23:
680
 875 031c 8C91      		ld r24,X
681
 876 031e 282F      		mov r18,r24
682
 877 0320 3327      		clr r19
683
 878 0322 E217      		cp r30,r18
684
 879 0324 F307      		cpc r31,r19
685
 880 0326 14F4      		brge .L25
686
 881 0328 8150      		subi r24,lo8(-(-1))
687
 882 032a 04C0      		rjmp .L31
688
 883               	.L25:
689
 884 032c 2E17      		cp r18,r30
690
 885 032e 3F07      		cpc r19,r31
691
 886 0330 14F4      		brge .L21
692
 887 0332 8F5F      		subi r24,lo8(-(1))
693
 888               	.L31:
694
 889 0334 8C93      		st X,r24
695
 890               	.L21:
696
 891 0336 9150      		subi r25,lo8(-(-1))
697
 892 0338 1196      		adiw r26,1
698
 893 033a 97FF      		sbrs r25,7
699
 894 033c D8CF      		rjmp .L28
700
 895 033e 8091 0000 		lds r24,EE_Parameter+63
701
 896 0342 9927      		clr r25
702
 897 0344 AA27      		clr r26
703
 898 0346 BB27      		clr r27
704
 899 0348 BC01      		movw r22,r24
705
 900 034a CD01      		movw r24,r26
706
 901 034c 24EC      		ldi r18,lo8(2500)
707
 902 034e 39E0      		ldi r19,hi8(2500)
708
 903 0350 40E0      		ldi r20,hlo8(2500)
709
 904 0352 50E0      		ldi r21,hhi8(2500)
710
 905 0354 0E94 0000 		call __mulsi3
711
 906 0358 DC01      		movw r26,r24
712
 907 035a CB01      		movw r24,r22
713
 908 035c 8093 0000 		sts Umschlag180Nick,r24
714
 909 0360 9093 0000 		sts (Umschlag180Nick)+1,r25
715
 910 0364 A093 0000 		sts (Umschlag180Nick)+2,r26
716
 911 0368 B093 0000 		sts (Umschlag180Nick)+3,r27
717
 912 036c 8091 0000 		lds r24,EE_Parameter+64
718
 913 0370 9927      		clr r25
719
 914 0372 AA27      		clr r26
720
 915 0374 BB27      		clr r27
721
 916 0376 BC01      		movw r22,r24
722
 917 0378 CD01      		movw r24,r26
723
 918 037a 0E94 0000 		call __mulsi3
724
 919 037e DC01      		movw r26,r24
725
 920 0380 CB01      		movw r24,r22
726
 921 0382 8093 0000 		sts Umschlag180Roll,r24
727
 922 0386 9093 0000 		sts (Umschlag180Roll)+1,r25
728
 923 038a A093 0000 		sts (Umschlag180Roll)+2,r26
729
 924 038e B093 0000 		sts (Umschlag180Roll)+3,r27
730
 925               	/* epilogue: frame size=0 */
731
 926 0392 DF91      		pop r29
732
 927 0394 CF91      		pop r28
733
 928 0396 0895      		ret
734
 929               	/* epilogue end (size=3) */
735
 930               	/* function CalibrierMittelwert size 161 (156) */
736
 932               		.section	.progmem.data,"a",@progbits
737
 935               	__c.40:
738
 936 0000 0A0D 4143 		.string	"\n\rACC not calibrated!\r\n"
739
 936      4320 6E6F
740
 936      7420 6361
741
 936      6C69 6272
742
 936      6174 6564
743
 937               		.text
744
 938               	.global	SetNeutral
745
 940               	SetNeutral:
746
 941               	/* prologue: frame size=0 */
747
 942 0398 A0E0      		ldi r26,lo8(0)
748
 943 039a B0E0      		ldi r27,hi8(0)
749
 944 039c E0E0      		ldi r30,pm_lo8(1f)
750
 945 039e F0E0      		ldi r31,pm_hi8(1f)
751
 946 03a0 0C94 0000 		jmp __prologue_saves__+12
752
 947               	1:
753
 948               	/* prologue end (size=6) */
754
 949 03a4 882E      		mov r8,r24
755
 950 03a6 C0E0      		ldi r28,lo8(0)
756
 951 03a8 D0E0      		ldi r29,hi8(0)
757
 952 03aa 7E01      		movw r14,r28
758
 953 03ac 6E01      		movw r12,r28
759
 954 03ae 1092 0000 		sts VersionInfo+5,__zero_reg__
760
 955 03b2 469A      		sbi 40-0x20,6
761
 956 03b4 D093 0000 		sts (NeutralAccX)+1,r29
762
 957 03b8 C093 0000 		sts NeutralAccX,r28
763
 958 03bc D093 0000 		sts (NeutralAccY)+1,r29
764
 959 03c0 C093 0000 		sts NeutralAccY,r28
765
 960 03c4 D093 0000 		sts (NeutralAccZ)+1,r29
766
 961 03c8 C093 0000 		sts NeutralAccZ,r28
767
 962 03cc D093 0000 		sts (AdNeutralNick)+1,r29
768
 963 03d0 C093 0000 		sts AdNeutralNick,r28
769
 964 03d4 D093 0000 		sts (AdNeutralRoll)+1,r29
770
 965 03d8 C093 0000 		sts AdNeutralRoll,r28
771
 966 03dc D093 0000 		sts (AdNeutralGier)+1,r29
772
 967 03e0 C093 0000 		sts AdNeutralGier,r28
773
 968 03e4 1092 0000 		sts Parameter_AchsKopplung1,__zero_reg__
774
 969 03e8 1092 0000 		sts Parameter_AchsKopplung2,__zero_reg__
775
 970 03ec 1092 0000 		sts ExpandBaro,__zero_reg__
776
 971 03f0 0E94 0000 		call CalibrierMittelwert
777
 972 03f4 84E6      		ldi r24,lo8(100)
778
 973 03f6 90E0      		ldi r25,hi8(100)
779
 974 03f8 0E94 0000 		call Delay_ms_Mess
780
 975 03fc 0E94 0000 		call CalibrierMittelwert
781
 976 0400 8091 0000 		lds r24,EE_Parameter+13
782
 977 0404 80FF      		sbrs r24,0
783
 978 0406 10C0      		rjmp .L33
784
 979 0408 8091 0000 		lds r24,MessLuftdruck
785
 980 040c 9091 0000 		lds r25,(MessLuftdruck)+1
786
 981 0410 875B      		subi r24,lo8(951)
787
 982 0412 9340      		sbci r25,hi8(951)
788
 983 0414 38F4      		brsh .L35
789
 984 0416 8091 0000 		lds r24,MessLuftdruck
790
 985 041a 9091 0000 		lds r25,(MessLuftdruck)+1
791
 986 041e 8E5E      		subi r24,lo8(750)
792
 987 0420 9240      		sbci r25,hi8(750)
793
 988 0422 10F4      		brsh .L33
794
 989               	.L35:
795
 990 0424 0E94 0000 		call SucheLuftruckOffset
796
 991               	.L33:
797
 992 0428 0FE1      		ldi r16,lo8(31)
798
 993               	.L39:
799
 994 042a 8AE0      		ldi r24,lo8(10)
800
 995 042c 90E0      		ldi r25,hi8(10)
801
 996 042e 0E94 0000 		call Delay_ms_Mess
802
 997 0432 8091 0000 		lds r24,AdWertGier
803
 998 0436 9091 0000 		lds r25,(AdWertGier)+1
804
 999 043a C80F      		add r28,r24
805
 1000 043c D91F      		adc r29,r25
806
 1001 043e 8091 0000 		lds r24,AdWertNick
807
 1002 0442 9091 0000 		lds r25,(AdWertNick)+1
808
 1003 0446 E80E      		add r14,r24
809
 1004 0448 F91E      		adc r15,r25
810
 1005 044a 8091 0000 		lds r24,AdWertRoll
811
 1006 044e 9091 0000 		lds r25,(AdWertRoll)+1
812
 1007 0452 C80E      		add r12,r24
813
 1008 0454 D91E      		adc r13,r25
814
 1009 0456 0150      		subi r16,lo8(-(-1))
815
 1010 0458 07FF      		sbrs r16,7
816
 1011 045a E7CF      		rjmp .L39
817
 1012 045c 9701      		movw r18,r14
818
 1013 045e 205F      		subi r18,lo8(-(16))
819
 1014 0460 3F4F      		sbci r19,hi8(-(16))
820
 1015 0462 3695      		lsr r19
821
 1016 0464 2795      		ror r18
822
 1017 0466 3695      		lsr r19
823
 1018 0468 2795      		ror r18
824
 1019 046a 3093 0000 		sts (AdNeutralNick)+1,r19
825
 1020 046e 2093 0000 		sts AdNeutralNick,r18
826
 1021 0472 C601      		movw r24,r12
827
 1022 0474 4096      		adiw r24,16
828
 1023 0476 9695      		lsr r25
829
 1024 0478 8795      		ror r24
830
 1025 047a 9695      		lsr r25
831
 1026 047c 8795      		ror r24
832
 1027 047e 9093 0000 		sts (AdNeutralRoll)+1,r25
833
 1028 0482 8093 0000 		sts AdNeutralRoll,r24
834
 1029 0486 6096      		adiw r28,16
835
 1030 0488 F5E0      		ldi r31,5
836
 1031 048a D695      	1:	lsr r29
837
 1032 048c C795      		ror r28
838
 1033 048e FA95      		dec r31
839
 1034 0490 E1F7      		brne 1b
840
 1035 0492 D093 0000 		sts (AdNeutralGier)+1,r29
841
 1036 0496 C093 0000 		sts AdNeutralGier,r28
842
 1037 049a 9093 0000 		sts (StartNeutralRoll)+1,r25
843
 1038 049e 8093 0000 		sts StartNeutralRoll,r24
844
 1039 04a2 3093 0000 		sts (StartNeutralNick)+1,r19
845
 1040 04a6 2093 0000 		sts StartNeutralNick,r18
846
 1041 04aa 8820      		tst r8
847
 1042 04ac 09F4      		brne .+2
848
 1043 04ae 41C0      		rjmp .L40
849
 1044 04b0 8091 0000 		lds r24,Mittelwert_AccNick
850
 1045 04b4 9091 0000 		lds r25,(Mittelwert_AccNick)+1
851
 1046 04b8 97FF      		sbrs r25,7
852
 1047 04ba 03C0      		rjmp .L41
853
 1048 04bc 9095      		com r25
854
 1049 04be 8195      		neg r24
855
 1050 04c0 9F4F      		sbci r25,lo8(-1)
856
 1051               	.L41:
857
 1052 04c2 6CE0      		ldi r22,lo8(12)
858
 1053 04c4 70E0      		ldi r23,hi8(12)
859
 1054 04c6 0E94 0000 		call __divmodhi4
860
 1055 04ca 9B01      		movw r18,r22
861
 1056 04cc 7093 0000 		sts (NeutralAccX)+1,r23
862
 1057 04d0 6093 0000 		sts NeutralAccX,r22
863
 1058 04d4 8091 0000 		lds r24,Mittelwert_AccRoll
864
 1059 04d8 9091 0000 		lds r25,(Mittelwert_AccRoll)+1
865
 1060 04dc 97FF      		sbrs r25,7
866
 1061 04de 03C0      		rjmp .L42
867
 1062 04e0 9095      		com r25
868
 1063 04e2 8195      		neg r24
869
 1064 04e4 9F4F      		sbci r25,lo8(-1)
870
 1065               	.L42:
871
 1066 04e6 6CE0      		ldi r22,lo8(12)
872
 1067 04e8 70E0      		ldi r23,hi8(12)
873
 1068 04ea 0E94 0000 		call __divmodhi4
874
 1069 04ee 7093 0000 		sts (NeutralAccY)+1,r23
875
 1070 04f2 6093 0000 		sts NeutralAccY,r22
876
 1071 04f6 8091 0000 		lds r24,Aktuell_az
877
 1072 04fa 9091 0000 		lds r25,(Aktuell_az)+1
878
 1073 04fe 9093 0000 		sts (NeutralAccZ)+1,r25
879
 1074 0502 8093 0000 		sts NeutralAccZ,r24
880
 1075 0506 B901      		movw r22,r18
881
 1076 0508 84E0      		ldi r24,lo8(4)
882
 1077 050a 90E0      		ldi r25,hi8(4)
883
 1078 050c 0E94 0000 		call SetParamWord
884
 1079 0510 6091 0000 		lds r22,NeutralAccY
885
 1080 0514 7091 0000 		lds r23,(NeutralAccY)+1
886
 1081 0518 86E0      		ldi r24,lo8(6)
887
 1082 051a 90E0      		ldi r25,hi8(6)
888
 1083 051c 0E94 0000 		call SetParamWord
889
 1084 0520 6091 0000 		lds r22,NeutralAccZ
890
 1085 0524 7091 0000 		lds r23,(NeutralAccZ)+1
891
 1086 0528 88E0      		ldi r24,lo8(8)
892
 1087 052a 90E0      		ldi r25,hi8(8)
893
 1088 052c 0E94 0000 		call SetParamWord
894
 1089 0530 65C0      		rjmp .L43
895
 1090               	.L40:
896
 1091 0532 84E0      		ldi r24,lo8(4)
897
 1092 0534 90E0      		ldi r25,hi8(4)
898
 1093 0536 0E94 0000 		call GetParamWord
899
 1094 053a 9093 0000 		sts (NeutralAccX)+1,r25
900
 1095 053e 8093 0000 		sts NeutralAccX,r24
901
 1096 0542 86E0      		ldi r24,lo8(6)
902
 1097 0544 90E0      		ldi r25,hi8(6)
903
 1098 0546 0E94 0000 		call GetParamWord
904
 1099 054a 9093 0000 		sts (NeutralAccY)+1,r25
905
 1100 054e 8093 0000 		sts NeutralAccY,r24
906
 1101 0552 88E0      		ldi r24,lo8(8)
907
 1102 0554 90E0      		ldi r25,hi8(8)
908
 1103 0556 0E94 0000 		call GetParamWord
909
 1104 055a 9C01      		movw r18,r24
910
 1105 055c 9093 0000 		sts (NeutralAccZ)+1,r25
911
 1106 0560 8093 0000 		sts NeutralAccZ,r24
912
 1107 0564 8091 0000 		lds r24,NeutralAccX
913
 1108 0568 9091 0000 		lds r25,(NeutralAccX)+1
914
 1109 056c 8150      		subi r24,lo8(2049)
915
 1110 056e 9840      		sbci r25,hi8(2049)
916
 1111 0570 50F4      		brsh .L45
917
 1112 0572 8091 0000 		lds r24,NeutralAccY
918
 1113 0576 9091 0000 		lds r25,(NeutralAccY)+1
919
 1114 057a 8150      		subi r24,lo8(2049)
920
 1115 057c 9840      		sbci r25,hi8(2049)
921
 1116 057e 18F4      		brsh .L45
922
 1117 0580 2150      		subi r18,lo8(1025)
923
 1118 0582 3440      		sbci r19,hi8(1025)
924
 1119 0584 D8F1      		brlo .L43
925
 1120               	.L45:
926
 1121 0586 80E0      		ldi r24,lo8(__c.40)
927
 1122 0588 90E0      		ldi r25,hi8(__c.40)
928
 1123 058a 9F93      		push r25
929
 1124 058c 8F93      		push r24
930
 1125 058e 80E0      		ldi r24,lo8(pm(uart_putchar))
931
 1126 0590 90E0      		ldi r25,hi8(pm(uart_putchar))
932
 1127 0592 9F93      		push r25
933
 1128 0594 8F93      		push r24
934
 1129 0596 E091 0000 		lds r30,_printf_P
935
 1130 059a F091 0000 		lds r31,(_printf_P)+1
936
 1131 059e 0995      		icall
937
 1132 05a0 8091 0000 		lds r24,Mittelwert_AccNick
938
 1133 05a4 9091 0000 		lds r25,(Mittelwert_AccNick)+1
939
 1134 05a8 97FF      		sbrs r25,7
940
 1135 05aa 03C0      		rjmp .L46
941
 1136 05ac 9095      		com r25
942
 1137 05ae 8195      		neg r24
943
 1138 05b0 9F4F      		sbci r25,lo8(-1)
944
 1139               	.L46:
945
 1140 05b2 6CE0      		ldi r22,lo8(12)
946
 1141 05b4 70E0      		ldi r23,hi8(12)
947
 1142 05b6 0E94 0000 		call __divmodhi4
948
 1143 05ba 7093 0000 		sts (NeutralAccX)+1,r23
949
 1144 05be 6093 0000 		sts NeutralAccX,r22
950
 1145 05c2 8091 0000 		lds r24,Mittelwert_AccRoll
951
 1146 05c6 9091 0000 		lds r25,(Mittelwert_AccRoll)+1
952
 1147 05ca 97FF      		sbrs r25,7
953
 1148 05cc 03C0      		rjmp .L47
954
 1149 05ce 9095      		com r25
955
 1150 05d0 8195      		neg r24
956
 1151 05d2 9F4F      		sbci r25,lo8(-1)
957
 1152               	.L47:
958
 1153 05d4 6CE0      		ldi r22,lo8(12)
959
 1154 05d6 70E0      		ldi r23,hi8(12)
960
 1155 05d8 0E94 0000 		call __divmodhi4
961
 1156 05dc 7093 0000 		sts (NeutralAccY)+1,r23
962
 1157 05e0 6093 0000 		sts NeutralAccY,r22
963
 1158 05e4 8091 0000 		lds r24,Aktuell_az
964
 1159 05e8 9091 0000 		lds r25,(Aktuell_az)+1
965
 1160 05ec 9093 0000 		sts (NeutralAccZ)+1,r25
966
 1161 05f0 8093 0000 		sts NeutralAccZ,r24
967
 1162 05f4 0F90      		pop __tmp_reg__
968
 1163 05f6 0F90      		pop __tmp_reg__
969
 1164 05f8 0F90      		pop __tmp_reg__
970
 1165 05fa 0F90      		pop __tmp_reg__
971
 1166               	.L43:
972
 1167 05fc 1092 0000 		sts (MesswertNick)+1,__zero_reg__
973
 1168 0600 1092 0000 		sts MesswertNick,__zero_reg__
974
 1169 0604 1092 0000 		sts (MesswertRoll)+1,__zero_reg__
975
 1170 0608 1092 0000 		sts MesswertRoll,__zero_reg__
976
 1171 060c 1092 0000 		sts (MesswertGier)+1,__zero_reg__
977
 1172 0610 1092 0000 		sts MesswertGier,__zero_reg__
978
 1173 0614 84E6      		ldi r24,lo8(100)
979
 1174 0616 90E0      		ldi r25,hi8(100)
980
 1175 0618 0E94 0000 		call Delay_ms_Mess
981
 1176 061c 8091 0000 		lds r24,AdWertAccNick
982
 1177 0620 9091 0000 		lds r25,(AdWertAccNick)+1
983
 1178 0624 9C01      		movw r18,r24
984
 1179 0626 220F      		lsl r18
985
 1180 0628 331F      		rol r19
986
 1181 062a 220F      		lsl r18
987
 1182 062c 331F      		rol r19
988
 1183 062e 280F      		add r18,r24
989
 1184 0630 391F      		adc r19,r25
990
 1185 0632 280F      		add r18,r24
991
 1186 0634 391F      		adc r19,r25
992
 1187 0636 3093 0000 		sts (Mittelwert_AccNick)+1,r19
993
 1188 063a 2093 0000 		sts Mittelwert_AccNick,r18
994
 1189 063e 8091 0000 		lds r24,AdWertAccRoll
995
 1190 0642 9091 0000 		lds r25,(AdWertAccRoll)+1
996
 1191 0646 8C01      		movw r16,r24
997
 1192 0648 000F      		lsl r16
998
 1193 064a 111F      		rol r17
999
 1194 064c 000F      		lsl r16
1000
 1195 064e 111F      		rol r17
1001
 1196 0650 080F      		add r16,r24
1002
 1197 0652 191F      		adc r17,r25
1003
 1198 0654 080F      		add r16,r24
1004
 1199 0656 191F      		adc r17,r25
1005
 1200 0658 1093 0000 		sts (Mittelwert_AccRoll)+1,r17
1006
 1201 065c 0093 0000 		sts Mittelwert_AccRoll,r16
1007
 1202 0660 8091 0000 		lds r24,EE_Parameter+28
1008
 1203 0664 C82E      		mov r12,r24
1009
 1204 0666 DD24      		clr r13
1010
 1205 0668 EE24      		clr r14
1011
 1206 066a FF24      		clr r15
1012
 1207 066c 4427      		clr r20
1013
 1208 066e 37FD      		sbrc r19,7
1014
 1209 0670 4095      		com r20
1015
 1210 0672 542F      		mov r21,r20
1016
 1211 0674 C701      		movw r24,r14
1017
 1212 0676 B601      		movw r22,r12
1018
 1213 0678 0E94 0000 		call __mulsi3
1019
 1214 067c 4B01      		movw r8,r22
1020
 1215 067e 5C01      		movw r10,r24
1021
 1216 0680 6093 0000 		sts IntegralNick,r22
1022
 1217 0684 7093 0000 		sts (IntegralNick)+1,r23
1023
 1218 0688 8093 0000 		sts (IntegralNick)+2,r24
1024
 1219 068c 9093 0000 		sts (IntegralNick)+3,r25
1025
 1220 0690 9801      		movw r18,r16
1026
 1221 0692 4427      		clr r20
1027
 1222 0694 37FD      		sbrc r19,7
1028
 1223 0696 4095      		com r20
1029
 1224 0698 542F      		mov r21,r20
1030
 1225 069a C701      		movw r24,r14
1031
 1226 069c B601      		movw r22,r12
1032
 1227 069e 0E94 0000 		call __mulsi3
1033
 1228 06a2 DC01      		movw r26,r24
1034
 1229 06a4 CB01      		movw r24,r22
1035
 1230 06a6 8093 0000 		sts IntegralRoll,r24
1036
 1231 06aa 9093 0000 		sts (IntegralRoll)+1,r25
1037
 1232 06ae A093 0000 		sts (IntegralRoll)+2,r26
1038
 1233 06b2 B093 0000 		sts (IntegralRoll)+3,r27
1039
 1234 06b6 8092 0000 		sts Mess_IntegralNick2,r8
1040
 1235 06ba 9092 0000 		sts (Mess_IntegralNick2)+1,r9
1041
 1236 06be A092 0000 		sts (Mess_IntegralNick2)+2,r10
1042
 1237 06c2 B092 0000 		sts (Mess_IntegralNick2)+3,r11
1043
 1238 06c6 8093 0000 		sts Mess_IntegralRoll2,r24
1044
 1239 06ca 9093 0000 		sts (Mess_IntegralRoll2)+1,r25
1045
 1240 06ce A093 0000 		sts (Mess_IntegralRoll2)+2,r26
1046
 1241 06d2 B093 0000 		sts (Mess_IntegralRoll2)+3,r27
1047
 1242 06d6 1092 0000 		sts Mess_Integral_Gier,__zero_reg__
1048
 1243 06da 1092 0000 		sts (Mess_Integral_Gier)+1,__zero_reg__
1049
 1244 06de 1092 0000 		sts (Mess_Integral_Gier)+2,__zero_reg__
1050
 1245 06e2 1092 0000 		sts (Mess_Integral_Gier)+3,__zero_reg__
1051
 1246 06e6 8091 0000 		lds r24,Luftdruck
1052
 1247 06ea 9091 0000 		lds r25,(Luftdruck)+1
1053
 1248 06ee A091 0000 		lds r26,(Luftdruck)+2
1054
 1249 06f2 B091 0000 		lds r27,(Luftdruck)+3
1055
 1250 06f6 9093 0000 		sts (StartLuftdruck)+1,r25
1056
 1251 06fa 8093 0000 		sts StartLuftdruck,r24
1057
 1252 06fe 1092 0000 		sts (VarioMeter)+1,__zero_reg__
1058
 1253 0702 1092 0000 		sts VarioMeter,__zero_reg__
1059
 1254 0706 1092 0000 		sts Mess_Integral_Hoch,__zero_reg__
1060
 1255 070a 1092 0000 		sts (Mess_Integral_Hoch)+1,__zero_reg__
1061
 1256 070e 1092 0000 		sts (Mess_Integral_Hoch)+2,__zero_reg__
1062
 1257 0712 1092 0000 		sts (Mess_Integral_Hoch)+3,__zero_reg__
1063
 1258 0716 8091 0000 		lds r24,KompassValue
1064
 1259 071a 9091 0000 		lds r25,(KompassValue)+1
1065
 1260 071e 9093 0000 		sts (KompassStartwert)+1,r25
1066
 1261 0722 8093 0000 		sts KompassStartwert,r24
1067
 1262 0726 0E94 0000 		call GPS_Neutral
1068
 1263 072a 82E3      		ldi r24,lo8(50)
1069
 1264 072c 90E0      		ldi r25,hi8(50)
1070
 1265 072e 9093 0000 		sts (beeptime)+1,r25
1071
 1266 0732 8093 0000 		sts beeptime,r24
1072
 1267 0736 8091 0000 		lds r24,EE_Parameter+63
1073
 1268 073a 9927      		clr r25
1074
 1269 073c AA27      		clr r26
1075
 1270 073e BB27      		clr r27
1076
 1271 0740 BC01      		movw r22,r24
1077
 1272 0742 CD01      		movw r24,r26
1078
 1273 0744 24EC      		ldi r18,lo8(2500)
1079
 1274 0746 39E0      		ldi r19,hi8(2500)
1080
 1275 0748 40E0      		ldi r20,hlo8(2500)
1081
 1276 074a 50E0      		ldi r21,hhi8(2500)
1082
 1277 074c 0E94 0000 		call __mulsi3
1083
 1278 0750 DC01      		movw r26,r24
1084
 1279 0752 CB01      		movw r24,r22
1085
 1280 0754 8856      		subi r24,lo8(-(15000))
1086
 1281 0756 954C      		sbci r25,hi8(-(15000))
1087
 1282 0758 AF4F      		sbci r26,hlo8(-(15000))
1088
 1283 075a BF4F      		sbci r27,hhi8(-(15000))
1089
 1284 075c 8093 0000 		sts Umschlag180Nick,r24
1090
 1285 0760 9093 0000 		sts (Umschlag180Nick)+1,r25
1091
 1286 0764 A093 0000 		sts (Umschlag180Nick)+2,r26
1092
 1287 0768 B093 0000 		sts (Umschlag180Nick)+3,r27
1093
 1288 076c 8091 0000 		lds r24,EE_Parameter+64
1094
 1289 0770 9927      		clr r25
1095
 1290 0772 AA27      		clr r26
1096
 1291 0774 BB27      		clr r27
1097
 1292 0776 BC01      		movw r22,r24
1098
 1293 0778 CD01      		movw r24,r26
1099
 1294 077a 0E94 0000 		call __mulsi3
1100
 1295 077e DC01      		movw r26,r24
1101
 1296 0780 CB01      		movw r24,r22
1102
 1297 0782 8856      		subi r24,lo8(-(15000))
1103
 1298 0784 954C      		sbci r25,hi8(-(15000))
1104
 1299 0786 AF4F      		sbci r26,hlo8(-(15000))
1105
 1300 0788 BF4F      		sbci r27,hhi8(-(15000))
1106
 1301 078a 8093 0000 		sts Umschlag180Roll,r24
1107
 1302 078e 9093 0000 		sts (Umschlag180Roll)+1,r25
1108
 1303 0792 A093 0000 		sts (Umschlag180Roll)+2,r26
1109
 1304 0796 B093 0000 		sts (Umschlag180Roll)+3,r27
1110
 1305 079a 1092 0000 		sts (ExternHoehenValue)+1,__zero_reg__
1111
 1306 079e 1092 0000 		sts ExternHoehenValue,__zero_reg__
1112
 1307 07a2 8091 0000 		lds r24,KompassValue
1113
 1308 07a6 9091 0000 		lds r25,(KompassValue)+1
1114
 1309 07aa AA27      		clr r26
1115
 1310 07ac 97FD      		sbrc r25,7
1116
 1311 07ae A095      		com r26
1117
 1312 07b0 BA2F      		mov r27,r26
1118
 1313 07b2 2091 0000 		lds r18,GIER_GRAD_FAKTOR
1119
 1314 07b6 3091 0000 		lds r19,(GIER_GRAD_FAKTOR)+1
1120
 1315 07ba 4091 0000 		lds r20,(GIER_GRAD_FAKTOR)+2
1121
 1316 07be 5091 0000 		lds r21,(GIER_GRAD_FAKTOR)+3
1122
 1317 07c2 BC01      		movw r22,r24
1123
 1318 07c4 CD01      		movw r24,r26
1124
 1319 07c6 0E94 0000 		call __mulsi3
1125
 1320 07ca DC01      		movw r26,r24
1126
 1321 07cc CB01      		movw r24,r22
1127
 1322 07ce 8093 0000 		sts ErsatzKompass,r24
1128
 1323 07d2 9093 0000 		sts (ErsatzKompass)+1,r25
1129
 1324 07d6 A093 0000 		sts (ErsatzKompass)+2,r26
1130
 1325 07da B093 0000 		sts (ErsatzKompass)+3,r27
1131
 1326 07de 1092 0000 		sts (GierGyroFehler)+1,__zero_reg__
1132
 1327 07e2 1092 0000 		sts GierGyroFehler,__zero_reg__
1133
 1328 07e6 81E0      		ldi r24,lo8(1)
1134
 1329 07e8 8093 0000 		sts SendVersionToNavi,r24
1135
 1330 07ec 0E94 0000 		call LED_Init
1136
 1331 07f0 8091 0000 		lds r24,FCFlags
1137
 1332 07f4 8460      		ori r24,lo8(4)
1138
 1333 07f6 8093 0000 		sts FCFlags,r24
1139
 1334 07fa 8FEF      		ldi r24,lo8(-1)
1140
 1335 07fc 8093 0000 		sts FromNaviCtrl_Value,r24
1141
 1336 0800 1092 0000 		sts FromNaviCtrl_Value+1,__zero_reg__
1142
 1337 0804 80E2      		ldi r24,lo8(32)
1143
 1338 0806 8093 0000 		sts FromNaviCtrl_Value+2,r24
1144
 1339 080a C0E0      		ldi r28,lo8(Poti)
1145
 1340 080c D0E0      		ldi r29,hi8(Poti)
1146
 1341 080e A0E0      		ldi r26,lo8(EE_Parameter+5)
1147
 1342 0810 B0E0      		ldi r27,hi8(EE_Parameter+5)
1148
 1343 0812 07E0      		ldi r16,lo8(7)
1149
 1344               	.L51:
1150
 1345 0814 8D91      		ld r24,X+
1151
 1346 0816 E82F      		mov r30,r24
1152
 1347 0818 FF27      		clr r31
1153
 1348 081a EE0F      		add r30,r30
1154
 1349 081c FF1F      		adc r31,r31
1155
 1350 081e E050      		subi r30,lo8(-(PPM_in))
1156
 1351 0820 F040      		sbci r31,hi8(-(PPM_in))
1157
 1352 0822 8081      		ld r24,Z
1158
 1353 0824 9181      		ldd r25,Z+1
1159
 1354 0826 8259      		subi r24,lo8(-(110))
1160
 1355 0828 8993      		st Y+,r24
1161
 1356 082a 0150      		subi r16,lo8(-(-1))
1162
 1357 082c 07FF      		sbrs r16,7
1163
 1358 082e F2CF      		rjmp .L51
1164
 1359 0830 84E6      		ldi r24,lo8(100)
1165
 1360 0832 8093 0000 		sts SenderOkay,r24
1166
 1361 0836 8091 0000 		lds r24,ServoActive
1167
 1362 083a 8823      		tst r24
1168
 1363 083c 11F0      		breq .L52
1169
 1364 083e 469A      		sbi 40-0x20,6
1170
 1365 0840 579A      		sbi 42-0x20,7
1171
 1366               	.L52:
1172
 1367 0842 8091 0000 		lds r24,AdNeutralNick
1173
 1368 0846 9091 0000 		lds r25,(AdNeutralNick)+1
1174
 1369 084a 8056      		subi r24,lo8(-(-2400))
1175
 1370 084c 9940      		sbci r25,hi8(-(-2400))
1176
 1371 084e 815C      		subi r24,lo8(11201)
1177
 1372 0850 9B42      		sbci r25,hi8(11201)
1178
 1373 0852 28F0      		brlo .L53
1179
 1374 0854 8091 0000 		lds r24,VersionInfo+5
1180
 1375 0858 8160      		ori r24,lo8(1)
1181
 1376 085a 8093 0000 		sts VersionInfo+5,r24
1182
 1377               	.L53:
1183
 1378 085e 8091 0000 		lds r24,AdNeutralRoll
1184
 1379 0862 9091 0000 		lds r25,(AdNeutralRoll)+1
1185
 1380 0866 8056      		subi r24,lo8(-(-2400))
1186
 1381 0868 9940      		sbci r25,hi8(-(-2400))
1187
 1382 086a 815C      		subi r24,lo8(11201)
1188
 1383 086c 9B42      		sbci r25,hi8(11201)
1189
 1384 086e 28F0      		brlo .L54
1190
 1385 0870 8091 0000 		lds r24,VersionInfo+5
1191
 1386 0874 8260      		ori r24,lo8(2)
1192
 1387 0876 8093 0000 		sts VersionInfo+5,r24
1193
 1388               	.L54:
1194
 1389 087a 8091 0000 		lds r24,AdNeutralGier
1195
 1390 087e 9091 0000 		lds r25,(AdNeutralGier)+1
1196
 1391 0882 8C52      		subi r24,lo8(-(-300))
1197
 1392 0884 9140      		sbci r25,hi8(-(-300))
1198
 1393 0886 8957      		subi r24,lo8(1401)
1199
 1394 0888 9540      		sbci r25,hi8(1401)
1200
 1395 088a 28F0      		brlo .L55
1201
 1396 088c 8091 0000 		lds r24,VersionInfo+5
1202
 1397 0890 8460      		ori r24,lo8(4)
1203
 1398 0892 8093 0000 		sts VersionInfo+5,r24
1204
 1399               	.L55:
1205
 1400 0896 8091 0000 		lds r24,NeutralAccX
1206
 1401 089a 9091 0000 		lds r25,(NeutralAccX)+1
1207
 1402 089e 8C52      		subi r24,lo8(-(-300))
1208
 1403 08a0 9140      		sbci r25,hi8(-(-300))
1209
 1404 08a2 835C      		subi r24,lo8(451)
1210
 1405 08a4 9140      		sbci r25,hi8(451)
1211
 1406 08a6 28F0      		brlo .L56
1212
 1407 08a8 8091 0000 		lds r24,VersionInfo+5
1213
 1408 08ac 8860      		ori r24,lo8(8)
1214
 1409 08ae 8093 0000 		sts VersionInfo+5,r24
1215
 1410               	.L56:
1216
 1411 08b2 8091 0000 		lds r24,NeutralAccY
1217
 1412 08b6 9091 0000 		lds r25,(NeutralAccY)+1
1218
 1413 08ba 8C52      		subi r24,lo8(-(-300))
1219
 1414 08bc 9140      		sbci r25,hi8(-(-300))
1220
 1415 08be 835C      		subi r24,lo8(451)
1221
 1416 08c0 9140      		sbci r25,hi8(451)
1222
 1417 08c2 28F0      		brlo .L57
1223
 1418 08c4 8091 0000 		lds r24,VersionInfo+5
1224
 1419 08c8 8061      		ori r24,lo8(16)
1225
 1420 08ca 8093 0000 		sts VersionInfo+5,r24
1226
 1421               	.L57:
1227
 1422 08ce 8091 0000 		lds r24,NeutralAccZ
1228
 1423 08d2 9091 0000 		lds r25,(NeutralAccZ)+1
1229
 1424 08d6 8050      		subi r24,lo8(-(-512))
1230
 1425 08d8 9240      		sbci r25,hi8(-(-512))
1231
 1426 08da 8355      		subi r24,lo8(339)
1232
 1427 08dc 9140      		sbci r25,hi8(339)
1233
 1428 08de 28F0      		brlo .L32
1234
 1429 08e0 8091 0000 		lds r24,VersionInfo+5
1235
 1430 08e4 8062      		ori r24,lo8(32)
1236
 1431 08e6 8093 0000 		sts VersionInfo+5,r24
1237
 1432               	.L32:
1238
 1433               	/* epilogue: frame size=0 */
1239
 1434 08ea ECE0      		ldi r30,12
1240
 1435 08ec CDB7      		in r28,__SP_L__
1241
 1436 08ee DEB7      		in r29,__SP_H__
1242
 1437 08f0 0C94 0000 		jmp __epilogue_restores__+12
1243
 1438               	/* epilogue end (size=5) */
1244
 1439               	/* function SetNeutral size 697 (686) */
1245
 1441               		.lcomm tmpl.32,4
1246
 1442               		.lcomm tmpl2.33,4
1247
 1443               		.lcomm tmpl3.34,4
1248
 1444               		.lcomm tmpl4.35,4
1249
 1445               		.lcomm oldNick.36,2
1250
 1446               		.lcomm oldRoll.37,2
1251
 1447               		.lcomm d2Roll.38,2
1252
 1448               		.lcomm d2Nick.39,2
1253
 1449               	.global	Mittelwert
1254
 1451               	Mittelwert:
1255
 1452               	/* prologue: frame size=19 */
1256
 1453 08f4 A3E1      		ldi r26,lo8(19)
1257
 1454 08f6 B0E0      		ldi r27,hi8(19)
1258
 1455 08f8 E0E0      		ldi r30,pm_lo8(1f)
1259
 1456 08fa F0E0      		ldi r31,pm_hi8(1f)
1260
 1457 08fc 0C94 0000 		jmp __prologue_saves__+0
1261
 1458               	1:
1262
 1459               	/* prologue end (size=6) */
1263
 1460 0900 8091 0000 		lds r24,AdNeutralGier
1264
 1461 0904 9091 0000 		lds r25,(AdNeutralGier)+1
1265
 1462 0908 2091 0000 		lds r18,AdWertGier
1266
 1463 090c 3091 0000 		lds r19,(AdWertGier)+1
1267
 1464 0910 821B      		sub r24,r18
1268
 1465 0912 930B      		sbc r25,r19
1269
 1466 0914 9093 0000 		sts (MesswertGier)+1,r25
1270
 1467 0918 8093 0000 		sts MesswertGier,r24
1271
 1468 091c 8091 0000 		lds r24,AdWertNickFilter
1272
 1469 0920 9091 0000 		lds r25,(AdWertNickFilter)+1
1273
 1470 0924 97FD      		sbrc r25,7
1274
 1471 0926 0796      		adiw r24,7
1275
 1472               	.L64:
1276
 1473 0928 9C01      		movw r18,r24
1277
 1474 092a 53E0      		ldi r21,3
1278
 1475 092c 3595      	1:	asr r19
1279
 1476 092e 2795      		ror r18
1280
 1477 0930 5A95      		dec r21
1281
 1478 0932 E1F7      		brne 1b
1282
 1479 0934 3093 0000 		sts (MesswertNick)+1,r19
1283
 1480 0938 2093 0000 		sts MesswertNick,r18
1284
 1481 093c 8091 0000 		lds r24,AdWertRollFilter
1285
 1482 0940 9091 0000 		lds r25,(AdWertRollFilter)+1
1286
 1483 0944 97FD      		sbrc r25,7
1287
 1484 0946 0796      		adiw r24,7
1288
 1485               	.L65:
1289
 1486 0948 43E0      		ldi r20,3
1290
 1487 094a 9595      	1:	asr r25
1291
 1488 094c 8795      		ror r24
1292
 1489 094e 4A95      		dec r20
1293
 1490 0950 E1F7      		brne 1b
1294
 1491 0952 9093 0000 		sts (MesswertRoll)+1,r25
1295
 1492 0956 8093 0000 		sts MesswertRoll,r24
1296
 1493 095a 3093 0000 		sts (RohMesswertNick)+1,r19
1297
 1494 095e 2093 0000 		sts RohMesswertNick,r18
1298
 1495 0962 9093 0000 		sts (RohMesswertRoll)+1,r25
1299
 1496 0966 8093 0000 		sts RohMesswertRoll,r24
1300
 1497 096a 8091 0000 		lds r24,Mittelwert_AccNick
1301
 1498 096e 9091 0000 		lds r25,(Mittelwert_AccNick)+1
1302
 1499 0972 AC01      		movw r20,r24
1303
 1500 0974 440F      		lsl r20
1304
 1501 0976 551F      		rol r21
1305
 1502 0978 480F      		add r20,r24
1306
 1503 097a 591F      		adc r21,r25
1307
 1504 097c 2091 0000 		lds r18,AdWertAccNick
1308
 1505 0980 3091 0000 		lds r19,(AdWertAccNick)+1
1309
 1506 0984 C901      		movw r24,r18
1310
 1507 0986 880F      		lsl r24
1311
 1508 0988 991F      		rol r25
1312
 1509 098a 880F      		lsl r24
1313
 1510 098c 991F      		rol r25
1314
 1511 098e 820F      		add r24,r18
1315
 1512 0990 931F      		adc r25,r19
1316
 1513 0992 820F      		add r24,r18
1317
 1514 0994 931F      		adc r25,r19
1318
 1515 0996 480F      		add r20,r24
1319
 1516 0998 591F      		adc r21,r25
1320
 1517 099a 57FF      		sbrs r21,7
1321
 1518 099c 02C0      		rjmp .L66
1322
 1519 099e 4D5F      		subi r20,lo8(-(3))
1323
 1520 09a0 5F4F      		sbci r21,hi8(-(3))
1324
 1521               	.L66:
1325
 1522 09a2 5595      		asr r21
1326
 1523 09a4 4795      		ror r20
1327
 1524 09a6 5595      		asr r21
1328
 1525 09a8 4795      		ror r20
1329
 1526 09aa 5093 0000 		sts (Mittelwert_AccNick)+1,r21
1330
 1527 09ae 4093 0000 		sts Mittelwert_AccNick,r20
1331
 1528 09b2 8091 0000 		lds r24,Mittelwert_AccRoll
1332
 1529 09b6 9091 0000 		lds r25,(Mittelwert_AccRoll)+1
1333
 1530 09ba AC01      		movw r20,r24
1334
 1531 09bc 440F      		lsl r20
1335
 1532 09be 551F      		rol r21
1336
 1533 09c0 480F      		add r20,r24
1337
 1534 09c2 591F      		adc r21,r25
1338
 1535 09c4 2091 0000 		lds r18,AdWertAccRoll
1339
 1536 09c8 3091 0000 		lds r19,(AdWertAccRoll)+1
1340
 1537 09cc C901      		movw r24,r18
1341
 1538 09ce 880F      		lsl r24
1342
 1539 09d0 991F      		rol r25
1343
 1540 09d2 880F      		lsl r24
1344
 1541 09d4 991F      		rol r25
1345
 1542 09d6 820F      		add r24,r18
1346
 1543 09d8 931F      		adc r25,r19
1347
 1544 09da 820F      		add r24,r18
1348
 1545 09dc 931F      		adc r25,r19
1349
 1546 09de 480F      		add r20,r24
1350
 1547 09e0 591F      		adc r21,r25
1351
 1548 09e2 57FF      		sbrs r21,7
1352
 1549 09e4 02C0      		rjmp .L67
1353
 1550 09e6 4D5F      		subi r20,lo8(-(3))
1354
 1551 09e8 5F4F      		sbci r21,hi8(-(3))
1355
 1552               	.L67:
1356
 1553 09ea 5595      		asr r21
1357
 1554 09ec 4795      		ror r20
1358
 1555 09ee 5595      		asr r21
1359
 1556 09f0 4795      		ror r20
1360
 1557 09f2 5093 0000 		sts (Mittelwert_AccRoll)+1,r21
1361
 1558 09f6 4093 0000 		sts Mittelwert_AccRoll,r20
1362
 1559 09fa 2091 0000 		lds r18,AdWertAccNick
1363
 1560 09fe 3091 0000 		lds r19,(AdWertAccNick)+1
1364
 1561 0a02 C901      		movw r24,r18
1365
 1562 0a04 880F      		lsl r24
1366
 1563 0a06 991F      		rol r25
1367
 1564 0a08 880F      		lsl r24
1368
 1565 0a0a 991F      		rol r25
1369
 1566 0a0c 820F      		add r24,r18
1370
 1567 0a0e 931F      		adc r25,r19
1371
 1568 0a10 820F      		add r24,r18
1372
 1569 0a12 931F      		adc r25,r19
1373
 1570 0a14 9C01      		movw r18,r24
1374
 1571 0a16 4427      		clr r20
1375
 1572 0a18 37FD      		sbrc r19,7
1376
 1573 0a1a 4095      		com r20
1377
 1574 0a1c 542F      		mov r21,r20
1378
 1575 0a1e 8091 0000 		lds r24,IntegralAccNick
1379
 1576 0a22 9091 0000 		lds r25,(IntegralAccNick)+1
1380
 1577 0a26 A091 0000 		lds r26,(IntegralAccNick)+2
1381
 1578 0a2a B091 0000 		lds r27,(IntegralAccNick)+3
1382
 1579 0a2e 820F      		add r24,r18
1383
 1580 0a30 931F      		adc r25,r19
1384
 1581 0a32 A41F      		adc r26,r20
1385
 1582 0a34 B51F      		adc r27,r21
1386
 1583 0a36 8093 0000 		sts IntegralAccNick,r24
1387
 1584 0a3a 9093 0000 		sts (IntegralAccNick)+1,r25
1388
 1585 0a3e A093 0000 		sts (IntegralAccNick)+2,r26
1389
 1586 0a42 B093 0000 		sts (IntegralAccNick)+3,r27
1390
 1587 0a46 2091 0000 		lds r18,AdWertAccRoll
1391
 1588 0a4a 3091 0000 		lds r19,(AdWertAccRoll)+1
1392
 1589 0a4e C901      		movw r24,r18
1393
 1590 0a50 880F      		lsl r24
1394
 1591 0a52 991F      		rol r25
1395
 1592 0a54 880F      		lsl r24
1396
 1593 0a56 991F      		rol r25
1397
 1594 0a58 820F      		add r24,r18
1398
 1595 0a5a 931F      		adc r25,r19
1399
 1596 0a5c 820F      		add r24,r18
1400
 1597 0a5e 931F      		adc r25,r19
1401
 1598 0a60 9C01      		movw r18,r24
1402
 1599 0a62 4427      		clr r20
1403
 1600 0a64 37FD      		sbrc r19,7
1404
 1601 0a66 4095      		com r20
1405
 1602 0a68 542F      		mov r21,r20
1406
 1603 0a6a 8091 0000 		lds r24,IntegralAccRoll
1407
 1604 0a6e 9091 0000 		lds r25,(IntegralAccRoll)+1
1408
 1605 0a72 A091 0000 		lds r26,(IntegralAccRoll)+2
1409
 1606 0a76 B091 0000 		lds r27,(IntegralAccRoll)+3
1410
 1607 0a7a 820F      		add r24,r18
1411
 1608 0a7c 931F      		adc r25,r19
1412
 1609 0a7e A41F      		adc r26,r20
1413
 1610 0a80 B51F      		adc r27,r21
1414
 1611 0a82 8093 0000 		sts IntegralAccRoll,r24
1415
 1612 0a86 9093 0000 		sts (IntegralAccRoll)+1,r25
1416
 1613 0a8a A093 0000 		sts (IntegralAccRoll)+2,r26
1417
 1614 0a8e B093 0000 		sts (IntegralAccRoll)+3,r27
1418
 1615 0a92 8091 0000 		lds r24,NaviAccNick
1419
 1616 0a96 9091 0000 		lds r25,(NaviAccNick)+1
1420
 1617 0a9a 2091 0000 		lds r18,AdWertAccNick
1421
 1618 0a9e 3091 0000 		lds r19,(AdWertAccNick)+1
1422
 1619 0aa2 820F      		add r24,r18
1423
 1620 0aa4 931F      		adc r25,r19
1424
 1621 0aa6 9093 0000 		sts (NaviAccNick)+1,r25
1425
 1622 0aaa 8093 0000 		sts NaviAccNick,r24
1426
 1623 0aae 8091 0000 		lds r24,NaviAccRoll
1427
 1624 0ab2 9091 0000 		lds r25,(NaviAccRoll)+1
1428
 1625 0ab6 2091 0000 		lds r18,AdWertAccRoll
1429
 1626 0aba 3091 0000 		lds r19,(AdWertAccRoll)+1
1430
 1627 0abe 820F      		add r24,r18
1431
 1628 0ac0 931F      		adc r25,r19
1432
 1629 0ac2 9093 0000 		sts (NaviAccRoll)+1,r25
1433
 1630 0ac6 8093 0000 		sts NaviAccRoll,r24
1434
 1631 0aca 8091 0000 		lds r24,NaviCntAcc
1435
 1632 0ace 9091 0000 		lds r25,(NaviCntAcc)+1
1436
 1633 0ad2 0196      		adiw r24,1
1437
 1634 0ad4 9093 0000 		sts (NaviCntAcc)+1,r25
1438
 1635 0ad8 8093 0000 		sts NaviCntAcc,r24
1439
 1636 0adc 8091 0000 		lds r24,Aktuell_az
1440
 1637 0ae0 9091 0000 		lds r25,(Aktuell_az)+1
1441
 1638 0ae4 2091 0000 		lds r18,NeutralAccZ
1442
 1639 0ae8 3091 0000 		lds r19,(NeutralAccZ)+1
1443
 1640 0aec 821B      		sub r24,r18
1444
 1641 0aee 930B      		sbc r25,r19
1445
 1642 0af0 9C01      		movw r18,r24
1446
 1643 0af2 4427      		clr r20
1447
 1644 0af4 37FD      		sbrc r19,7
1448
 1645 0af6 4095      		com r20
1449
 1646 0af8 542F      		mov r21,r20
1450
 1647 0afa 8091 0000 		lds r24,IntegralAccZ
1451
 1648 0afe 9091 0000 		lds r25,(IntegralAccZ)+1
1452
 1649 0b02 A091 0000 		lds r26,(IntegralAccZ)+2
1453
 1650 0b06 B091 0000 		lds r27,(IntegralAccZ)+3
1454
 1651 0b0a 820F      		add r24,r18
1455
 1652 0b0c 931F      		adc r25,r19
1456
 1653 0b0e A41F      		adc r26,r20
1457
 1654 0b10 B51F      		adc r27,r21
1458
 1655 0b12 8093 0000 		sts IntegralAccZ,r24
1459
 1656 0b16 9093 0000 		sts (IntegralAccZ)+1,r25
1460
 1657 0b1a A093 0000 		sts (IntegralAccZ)+2,r26
1461
 1658 0b1e B093 0000 		sts (IntegralAccZ)+3,r27
1462
 1659 0b22 8FEC      		ldi r24,lo8(-49)
1463
 1660 0b24 8093 7A00 		sts 122,r24
1464
 1661 0b28 1092 0000 		sts AdReady,__zero_reg__
1465
 1662 0b2c 2091 0000 		lds r18,Mess_IntegralRoll
1466
 1663 0b30 3091 0000 		lds r19,(Mess_IntegralRoll)+1
1467
 1664 0b34 4091 0000 		lds r20,(Mess_IntegralRoll)+2
1468
 1665 0b38 5091 0000 		lds r21,(Mess_IntegralRoll)+3
1469
 1666 0b3c 2987      		std Y+9,r18
1470
 1667 0b3e 3A87      		std Y+10,r19
1471
 1668 0b40 4B87      		std Y+11,r20
1472
 1669 0b42 5C87      		std Y+12,r21
1473
 1670 0b44 2954      		subi r18,lo8(93001)
1474
 1671 0b46 3B46      		sbci r19,hi8(93001)
1475
 1672 0b48 4140      		sbci r20,hlo8(93001)
1476
 1673 0b4a 5040      		sbci r21,hhi8(93001)
1477
 1674 0b4c 2CF0      		brlt .L68
1478
 1675 0b4e 28E4      		ldi r18,lo8(93000)
1479
 1676 0b50 3BE6      		ldi r19,hi8(93000)
1480
 1677 0b52 41E0      		ldi r20,hlo8(93000)
1481
 1678 0b54 50E0      		ldi r21,hhi8(93000)
1482
 1679 0b56 0DC0      		rjmp .L161
1483
 1680               	.L68:
1484
 1681 0b58 8985      		ldd r24,Y+9
1485
 1682 0b5a 9A85      		ldd r25,Y+10
1486
 1683 0b5c AB85      		ldd r26,Y+11
1487
 1684 0b5e BC85      		ldd r27,Y+12
1488
 1685 0b60 885B      		subi r24,lo8(-93000)
1489
 1686 0b62 9449      		sbci r25,hi8(-93000)
1490
 1687 0b64 AE4F      		sbci r26,hlo8(-93000)
1491
 1688 0b66 BF4F      		sbci r27,hhi8(-93000)
1492
 1689 0b68 4CF4      		brge .L70
1493
 1690 0b6a 28EB      		ldi r18,lo8(-93000)
1494
 1691 0b6c 34E9      		ldi r19,hi8(-93000)
1495
 1692 0b6e 4EEF      		ldi r20,hlo8(-93000)
1496
 1693 0b70 5FEF      		ldi r21,hhi8(-93000)
1497
 1694               	.L161:
1498
 1695 0b72 2D83      		std Y+5,r18
1499
 1696 0b74 3E83      		std Y+6,r19
1500
 1697 0b76 4F83      		std Y+7,r20
1501
 1698 0b78 5887      		std Y+8,r21
1502
 1699 0b7a 08C0      		rjmp .L69
1503
 1700               	.L70:
1504
 1701 0b7c 8985      		ldd r24,Y+9
1505
 1702 0b7e 9A85      		ldd r25,Y+10
1506
 1703 0b80 AB85      		ldd r26,Y+11
1507
 1704 0b82 BC85      		ldd r27,Y+12
1508
 1705 0b84 8D83      		std Y+5,r24
1509
 1706 0b86 9E83      		std Y+6,r25
1510
 1707 0b88 AF83      		std Y+7,r26
1511
 1708 0b8a B887      		std Y+8,r27
1512
 1709               	.L69:
1513
 1710 0b8c 2091 0000 		lds r18,Mess_IntegralNick
1514
 1711 0b90 3091 0000 		lds r19,(Mess_IntegralNick)+1
1515
 1712 0b94 4091 0000 		lds r20,(Mess_IntegralNick)+2
1516
 1713 0b98 5091 0000 		lds r21,(Mess_IntegralNick)+3
1517
 1714 0b9c 2D87      		std Y+13,r18
1518
 1715 0b9e 3E87      		std Y+14,r19
1519
 1716 0ba0 4F87      		std Y+15,r20
1520
 1717 0ba2 588B      		std Y+16,r21
1521
 1718 0ba4 2954      		subi r18,lo8(93001)
1522
 1719 0ba6 3B46      		sbci r19,hi8(93001)
1523
 1720 0ba8 4140      		sbci r20,hlo8(93001)
1524
 1721 0baa 5040      		sbci r21,hhi8(93001)
1525
 1722 0bac 2CF0      		brlt .L72
1526
 1723 0bae 28E4      		ldi r18,lo8(93000)
1527
 1724 0bb0 3BE6      		ldi r19,hi8(93000)
1528
 1725 0bb2 41E0      		ldi r20,hlo8(93000)
1529
 1726 0bb4 50E0      		ldi r21,hhi8(93000)
1530
 1727 0bb6 0DC0      		rjmp .L162
1531
 1728               	.L72:
1532
 1729 0bb8 8D85      		ldd r24,Y+13
1533
 1730 0bba 9E85      		ldd r25,Y+14
1534
 1731 0bbc AF85      		ldd r26,Y+15
1535
 1732 0bbe B889      		ldd r27,Y+16
1536
 1733 0bc0 885B      		subi r24,lo8(-93000)
1537
 1734 0bc2 9449      		sbci r25,hi8(-93000)
1538
 1735 0bc4 AE4F      		sbci r26,hlo8(-93000)
1539
 1736 0bc6 BF4F      		sbci r27,hhi8(-93000)
1540
 1737 0bc8 4CF4      		brge .L74
1541
 1738 0bca 28EB      		ldi r18,lo8(-93000)
1542
 1739 0bcc 34E9      		ldi r19,hi8(-93000)
1543
 1740 0bce 4EEF      		ldi r20,hlo8(-93000)
1544
 1741 0bd0 5FEF      		ldi r21,hhi8(-93000)
1545
 1742               	.L162:
1546
 1743 0bd2 2983      		std Y+1,r18
1547
 1744 0bd4 3A83      		std Y+2,r19
1548
 1745 0bd6 4B83      		std Y+3,r20
1549
 1746 0bd8 5C83      		std Y+4,r21
1550
 1747 0bda 08C0      		rjmp .L73
1551
 1748               	.L74:
1552
 1749 0bdc 8D85      		ldd r24,Y+13
1553
 1750 0bde 9E85      		ldd r25,Y+14
1554
 1751 0be0 AF85      		ldd r26,Y+15
1555
 1752 0be2 B889      		ldd r27,Y+16
1556
 1753 0be4 8983      		std Y+1,r24
1557
 1754 0be6 9A83      		std Y+2,r25
1558
 1755 0be8 AB83      		std Y+3,r26
1559
 1756 0bea BC83      		std Y+4,r27
1560
 1757               	.L73:
1561
 1758 0bec A091 0000 		lds r26,MesswertGier
1562
 1759 0bf0 B091 0000 		lds r27,(MesswertGier)+1
1563
 1760 0bf4 BB8B      		std Y+19,r27
1564
 1761 0bf6 AA8B      		std Y+18,r26
1565
 1762 0bf8 FD01      		movw r30,r26
1566
 1763 0bfa CF01      		movw r24,r30
1567
 1764 0bfc AA27      		clr r26
1568
 1765 0bfe 97FD      		sbrc r25,7
1569
 1766 0c00 A095      		com r26
1570
 1767 0c02 BA2F      		mov r27,r26
1571
 1768 0c04 A090 0000 		lds r10,Mess_Integral_Gier
1572
 1769 0c08 B090 0000 		lds r11,(Mess_Integral_Gier)+1
1573
 1770 0c0c C090 0000 		lds r12,(Mess_Integral_Gier)+2
1574
 1771 0c10 D090 0000 		lds r13,(Mess_Integral_Gier)+3
1575
 1772 0c14 A80E      		add r10,r24
1576
 1773 0c16 B91E      		adc r11,r25
1577
 1774 0c18 CA1E      		adc r12,r26
1578
 1775 0c1a DB1E      		adc r13,r27
1579
 1776 0c1c A092 0000 		sts Mess_Integral_Gier,r10
1580
 1777 0c20 B092 0000 		sts (Mess_Integral_Gier)+1,r11
1581
 1778 0c24 C092 0000 		sts (Mess_Integral_Gier)+2,r12
1582
 1779 0c28 D092 0000 		sts (Mess_Integral_Gier)+3,r13
1583
 1780 0c2c E090 0000 		lds r14,ErsatzKompass
1584
 1781 0c30 F090 0000 		lds r15,(ErsatzKompass)+1
1585
 1782 0c34 0091 0000 		lds r16,(ErsatzKompass)+2
1586
 1783 0c38 1091 0000 		lds r17,(ErsatzKompass)+3
1587
 1784 0c3c E80E      		add r14,r24
1588
 1785 0c3e F91E      		adc r15,r25
1589
 1786 0c40 0A1F      		adc r16,r26
1590
 1787 0c42 1B1F      		adc r17,r27
1591
 1788 0c44 E092 0000 		sts ErsatzKompass,r14
1592
 1789 0c48 F092 0000 		sts (ErsatzKompass)+1,r15
1593
 1790 0c4c 0093 0000 		sts (ErsatzKompass)+2,r16
1594
 1791 0c50 1093 0000 		sts (ErsatzKompass)+3,r17
1595
 1792 0c54 F091 0000 		lds r31,Looping_Nick
1596
 1793 0c58 F98B      		std Y+17,r31
1597
 1794 0c5a FF23      		tst r31
1598
 1795 0c5c 09F0      		breq .+2
1599
 1796 0c5e 98C1      		rjmp .L76
1600
 1797 0c60 8091 0000 		lds r24,Looping_Roll
1601
 1798 0c64 8823      		tst r24
1602
 1799 0c66 09F0      		breq .+2
1603
 1800 0c68 93C1      		rjmp .L76
1604
 1801 0c6a 8091 0000 		lds r24,EE_Parameter+13
1605
 1802 0c6e 86FF      		sbrs r24,6
1606
 1803 0c70 8FC1      		rjmp .L76
1607
 1804 0c72 8091 0000 		lds r24,MesswertRoll
1608
 1805 0c76 9091 0000 		lds r25,(MesswertRoll)+1
1609
 1806 0c7a AA27      		clr r26
1610
 1807 0c7c 97FD      		sbrc r25,7
1611
 1808 0c7e A095      		com r26
1612
 1809 0c80 BA2F      		mov r27,r26
1613
 1810 0c82 BC01      		movw r22,r24
1614
 1811 0c84 CD01      		movw r24,r26
1615
 1812 0c86 2981      		ldd r18,Y+1
1616
 1813 0c88 3A81      		ldd r19,Y+2
1617
 1814 0c8a 4B81      		ldd r20,Y+3
1618
 1815 0c8c 5C81      		ldd r21,Y+4
1619
 1816 0c8e 0E94 0000 		call __mulsi3
1620
 1817 0c92 9B01      		movw r18,r22
1621
 1818 0c94 AC01      		movw r20,r24
1622
 1819 0c96 97FF      		sbrs r25,7
1623
 1820 0c98 04C0      		rjmp .L77
1624
 1821 0c9a 2150      		subi r18,lo8(-(2047))
1625
 1822 0c9c 384F      		sbci r19,hi8(-(2047))
1626
 1823 0c9e 4F4F      		sbci r20,hlo8(-(2047))
1627
 1824 0ca0 5F4F      		sbci r21,hhi8(-(2047))
1628
 1825               	.L77:
1629
 1826 0ca2 6BE0      		ldi r22,11
1630
 1827 0ca4 5595      	1:	asr r21
1631
 1828 0ca6 4795      		ror r20
1632
 1829 0ca8 3795      		ror r19
1633
 1830 0caa 2795      		ror r18
1634
 1831 0cac 6A95      		dec r22
1635
 1832 0cae D1F7      		brne 1b
1636
 1833 0cb0 8091 0000 		lds r24,Parameter_AchsKopplung2
1637
 1834 0cb4 682E      		mov r6,r24
1638
 1835 0cb6 7724      		clr r7
1639
 1836 0cb8 8824      		clr r8
1640
 1837 0cba 9924      		clr r9
1641
 1838 0cbc CA01      		movw r24,r20
1642
 1839 0cbe B901      		movw r22,r18
1643
 1840 0cc0 A401      		movw r20,r8
1644
 1841 0cc2 9301      		movw r18,r6
1645
 1842 0cc4 0E94 0000 		call __mulsi3
1646
 1843 0cc8 DC01      		movw r26,r24
1647
 1844 0cca CB01      		movw r24,r22
1648
 1845 0ccc 8093 0000 		sts tmpl3.34,r24
1649
 1846 0cd0 9093 0000 		sts (tmpl3.34)+1,r25
1650
 1847 0cd4 A093 0000 		sts (tmpl3.34)+2,r26
1651
 1848 0cd8 B093 0000 		sts (tmpl3.34)+3,r27
1652
 1849 0cdc B7FF      		sbrs r27,7
1653
 1850 0cde 04C0      		rjmp .L78
1654
 1851 0ce0 8150      		subi r24,lo8(-(4095))
1655
 1852 0ce2 904F      		sbci r25,hi8(-(4095))
1656
 1853 0ce4 AF4F      		sbci r26,hlo8(-(4095))
1657
 1854 0ce6 BF4F      		sbci r27,hhi8(-(4095))
1658
 1855               	.L78:
1659
 1856 0ce8 1C01      		movw r2,r24
1660
 1857 0cea 2D01      		movw r4,r26
1661
 1858 0cec 3CE0      		ldi r19,12
1662
 1859 0cee 5594      	1:	asr r5
1663
 1860 0cf0 4794      		ror r4
1664
 1861 0cf2 3794      		ror r3
1665
 1862 0cf4 2794      		ror r2
1666
 1863 0cf6 3A95      		dec r19
1667
 1864 0cf8 D1F7      		brne 1b
1668
 1865 0cfa 2092 0000 		sts tmpl3.34,r2
1669
 1866 0cfe 3092 0000 		sts (tmpl3.34)+1,r3
1670
 1867 0d02 4092 0000 		sts (tmpl3.34)+2,r4
1671
 1868 0d06 5092 0000 		sts (tmpl3.34)+3,r5
1672
 1869 0d0a 8091 0000 		lds r24,MesswertNick
1673
 1870 0d0e 9091 0000 		lds r25,(MesswertNick)+1
1674
 1871 0d12 AA27      		clr r26
1675
 1872 0d14 97FD      		sbrc r25,7
1676
 1873 0d16 A095      		com r26
1677
 1874 0d18 BA2F      		mov r27,r26
1678
 1875 0d1a BC01      		movw r22,r24
1679
 1876 0d1c CD01      		movw r24,r26
1680
 1877 0d1e 2D81      		ldd r18,Y+5
1681
 1878 0d20 3E81      		ldd r19,Y+6
1682
 1879 0d22 4F81      		ldd r20,Y+7
1683
 1880 0d24 5885      		ldd r21,Y+8
1684
 1881 0d26 0E94 0000 		call __mulsi3
1685
 1882 0d2a 97FF      		sbrs r25,7
1686
 1883 0d2c 04C0      		rjmp .L79
1687
 1884 0d2e 6150      		subi r22,lo8(-(2047))
1688
 1885 0d30 784F      		sbci r23,hi8(-(2047))
1689
 1886 0d32 8F4F      		sbci r24,hlo8(-(2047))
1690
 1887 0d34 9F4F      		sbci r25,hhi8(-(2047))
1691
 1888               	.L79:
1692
 1889 0d36 2BE0      		ldi r18,11
1693
 1890 0d38 9595      	1:	asr r25
1694
 1891 0d3a 8795      		ror r24
1695
 1892 0d3c 7795      		ror r23
1696
 1893 0d3e 6795      		ror r22
1697
 1894 0d40 2A95      		dec r18
1698
 1895 0d42 D1F7      		brne 1b
1699
 1896 0d44 A401      		movw r20,r8
1700
 1897 0d46 9301      		movw r18,r6
1701
 1898 0d48 0E94 0000 		call __mulsi3
1702
 1899 0d4c DC01      		movw r26,r24
1703
 1900 0d4e CB01      		movw r24,r22
1704
 1901 0d50 8093 0000 		sts tmpl4.35,r24
1705
 1902 0d54 9093 0000 		sts (tmpl4.35)+1,r25
1706
 1903 0d58 A093 0000 		sts (tmpl4.35)+2,r26
1707
 1904 0d5c B093 0000 		sts (tmpl4.35)+3,r27
1708
 1905 0d60 B7FF      		sbrs r27,7
1709
 1906 0d62 04C0      		rjmp .L80
1710
 1907 0d64 8150      		subi r24,lo8(-(4095))
1711
 1908 0d66 904F      		sbci r25,hi8(-(4095))
1712
 1909 0d68 AF4F      		sbci r26,hlo8(-(4095))
1713
 1910 0d6a BF4F      		sbci r27,hhi8(-(4095))
1714
 1911               	.L80:
1715
 1912 0d6c 9C01      		movw r18,r24
1716
 1913 0d6e AD01      		movw r20,r26
1717
 1914 0d70 8CE0      		ldi r24,12
1718
 1915 0d72 5595      	1:	asr r21
1719
 1916 0d74 4795      		ror r20
1720
 1917 0d76 3795      		ror r19
1721
 1918 0d78 2795      		ror r18
1722
 1919 0d7a 8A95      		dec r24
1723
 1920 0d7c D1F7      		brne 1b
1724
 1921 0d7e 2093 0000 		sts tmpl4.35,r18
1725
 1922 0d82 3093 0000 		sts (tmpl4.35)+1,r19
1726
 1923 0d86 4093 0000 		sts (tmpl4.35)+2,r20
1727
 1924 0d8a 5093 0000 		sts (tmpl4.35)+3,r21
1728
 1925 0d8e 8091 0000 		lds r24,tmpl3.34
1729
 1926 0d92 9091 0000 		lds r25,(tmpl3.34)+1
1730
 1927 0d96 9093 0000 		sts (KopplungsteilNickRoll)+1,r25
1731
 1928 0d9a 8093 0000 		sts KopplungsteilNickRoll,r24
1732
 1929 0d9e 8091 0000 		lds r24,tmpl4.35
1733
 1930 0da2 9091 0000 		lds r25,(tmpl4.35)+1
1734
 1931 0da6 9093 0000 		sts (KopplungsteilRollNick)+1,r25
1735
 1932 0daa 8093 0000 		sts KopplungsteilRollNick,r24
1736
 1933 0dae 2219      		sub r18,r2
1737
 1934 0db0 3309      		sbc r19,r3
1738
 1935 0db2 4409      		sbc r20,r4
1739
 1936 0db4 5509      		sbc r21,r5
1740
 1937 0db6 2093 0000 		sts tmpl4.35,r18
1741
 1938 0dba 3093 0000 		sts (tmpl4.35)+1,r19
1742
 1939 0dbe 4093 0000 		sts (tmpl4.35)+2,r20
1743
 1940 0dc2 5093 0000 		sts (tmpl4.35)+3,r21
1744
 1941 0dc6 E20E      		add r14,r18
1745
 1942 0dc8 F31E      		adc r15,r19
1746
 1943 0dca 041F      		adc r16,r20
1747
 1944 0dcc 151F      		adc r17,r21
1748
 1945 0dce E092 0000 		sts ErsatzKompass,r14
1749
 1946 0dd2 F092 0000 		sts (ErsatzKompass)+1,r15
1750
 1947 0dd6 0093 0000 		sts (ErsatzKompass)+2,r16
1751
 1948 0dda 1093 0000 		sts (ErsatzKompass)+3,r17
1752
 1949 0dde 8091 0000 		lds r24,Parameter_CouplingYawCorrection
1753
 1950 0de2 8823      		tst r24
1754
 1951 0de4 B1F4      		brne .L81
1755
 1952 0de6 57FF      		sbrs r21,7
1756
 1953 0de8 04C0      		rjmp .L82
1757
 1954 0dea 2F5F      		subi r18,lo8(-(1))
1758
 1955 0dec 3F4F      		sbci r19,hi8(-(1))
1759
 1956 0dee 4F4F      		sbci r20,hlo8(-(1))
1760
 1957 0df0 5F4F      		sbci r21,hhi8(-(1))
1761
 1958               	.L82:
1762
 1959 0df2 5595      		asr r21
1763
 1960 0df4 4795      		ror r20
1764
 1961 0df6 3795      		ror r19
1765
 1962 0df8 2795      		ror r18
1766
 1963 0dfa A21A      		sub r10,r18
1767
 1964 0dfc B30A      		sbc r11,r19
1768
 1965 0dfe C40A      		sbc r12,r20
1769
 1966 0e00 D50A      		sbc r13,r21
1770
 1967 0e02 A092 0000 		sts Mess_Integral_Gier,r10
1771
 1968 0e06 B092 0000 		sts (Mess_Integral_Gier)+1,r11
1772
 1969 0e0a C092 0000 		sts (Mess_Integral_Gier)+2,r12
1773
 1970 0e0e D092 0000 		sts (Mess_Integral_Gier)+3,r13
1774
 1971               	.L81:
1775
 1972 0e12 2A89      		ldd r18,Y+18
1776
 1973 0e14 3B89      		ldd r19,Y+19
1777
 1974 0e16 7901      		movw r14,r18
1778
 1975 0e18 0027      		clr r16
1779
 1976 0e1a F7FC      		sbrc r15,7
1780
 1977 0e1c 0095      		com r16
1781
 1978 0e1e 102F      		mov r17,r16
1782
 1979 0e20 8091 0000 		lds r24,tmpl4.35
1783
 1980 0e24 9091 0000 		lds r25,(tmpl4.35)+1
1784
 1981 0e28 A091 0000 		lds r26,(tmpl4.35)+2
1785
 1982 0e2c B091 0000 		lds r27,(tmpl4.35)+3
1786
 1983 0e30 E80E      		add r14,r24
1787
 1984 0e32 F91E      		adc r15,r25
1788
 1985 0e34 0A1F      		adc r16,r26
1789
 1986 0e36 1B1F      		adc r17,r27
1790
 1987 0e38 C801      		movw r24,r16
1791
 1988 0e3a B701      		movw r22,r14
1792
 1989 0e3c 2981      		ldd r18,Y+1
1793
 1990 0e3e 3A81      		ldd r19,Y+2
1794
 1991 0e40 4B81      		ldd r20,Y+3
1795
 1992 0e42 5C81      		ldd r21,Y+4
1796
 1993 0e44 0E94 0000 		call __mulsi3
1797
 1994 0e48 9B01      		movw r18,r22
1798
 1995 0e4a AC01      		movw r20,r24
1799
 1996 0e4c 97FF      		sbrs r25,7
1800
 1997 0e4e 04C0      		rjmp .L83
1801
 1998 0e50 2150      		subi r18,lo8(-(2047))
1802
 1999 0e52 384F      		sbci r19,hi8(-(2047))
1803
 2000 0e54 4F4F      		sbci r20,hlo8(-(2047))
1804
 2001 0e56 5F4F      		sbci r21,hhi8(-(2047))
1805
 2002               	.L83:
1806
 2003 0e58 BBE0      		ldi r27,11
1807
 2004 0e5a 5595      	1:	asr r21
1808
 2005 0e5c 4795      		ror r20
1809
 2006 0e5e 3795      		ror r19
1810
 2007 0e60 2795      		ror r18
1811
 2008 0e62 BA95      		dec r27
1812
 2009 0e64 D1F7      		brne 1b
1813
 2010 0e66 8091 0000 		lds r24,Parameter_AchsKopplung1
1814
 2011 0e6a A82E      		mov r10,r24
1815
 2012 0e6c BB24      		clr r11
1816
 2013 0e6e CC24      		clr r12
1817
 2014 0e70 DD24      		clr r13
1818
 2015 0e72 CA01      		movw r24,r20
1819
 2016 0e74 B901      		movw r22,r18
1820
 2017 0e76 A601      		movw r20,r12
1821
 2018 0e78 9501      		movw r18,r10
1822
 2019 0e7a 0E94 0000 		call __mulsi3
1823
 2020 0e7e DC01      		movw r26,r24
1824
 2021 0e80 CB01      		movw r24,r22
1825
 2022 0e82 8093 0000 		sts tmpl.32,r24
1826
 2023 0e86 9093 0000 		sts (tmpl.32)+1,r25
1827
 2024 0e8a A093 0000 		sts (tmpl.32)+2,r26
1828
 2025 0e8e B093 0000 		sts (tmpl.32)+3,r27
1829
 2026 0e92 B7FF      		sbrs r27,7
1830
 2027 0e94 04C0      		rjmp .L84
1831
 2028 0e96 8150      		subi r24,lo8(-(4095))
1832
 2029 0e98 904F      		sbci r25,hi8(-(4095))
1833
 2030 0e9a AF4F      		sbci r26,hlo8(-(4095))
1834
 2031 0e9c BF4F      		sbci r27,hhi8(-(4095))
1835
 2032               	.L84:
1836
 2033 0e9e 3C01      		movw r6,r24
1837
 2034 0ea0 4D01      		movw r8,r26
1838
 2035 0ea2 ACE0      		ldi r26,12
1839
 2036 0ea4 9594      	1:	asr r9
1840
 2037 0ea6 8794      		ror r8
1841
 2038 0ea8 7794      		ror r7
1842
 2039 0eaa 6794      		ror r6
1843
 2040 0eac AA95      		dec r26
1844
 2041 0eae D1F7      		brne 1b
1845
 2042 0eb0 6092 0000 		sts tmpl.32,r6
1846
 2043 0eb4 7092 0000 		sts (tmpl.32)+1,r7
1847
 2044 0eb8 8092 0000 		sts (tmpl.32)+2,r8
1848
 2045 0ebc 9092 0000 		sts (tmpl.32)+3,r9
1849
 2046 0ec0 C801      		movw r24,r16
1850
 2047 0ec2 B701      		movw r22,r14
1851
 2048 0ec4 2D81      		ldd r18,Y+5
1852
 2049 0ec6 3E81      		ldd r19,Y+6
1853
 2050 0ec8 4F81      		ldd r20,Y+7
1854
 2051 0eca 5885      		ldd r21,Y+8
1855
 2052 0ecc 0E94 0000 		call __mulsi3
1856
 2053 0ed0 97FF      		sbrs r25,7
1857
 2054 0ed2 04C0      		rjmp .L85
1858
 2055 0ed4 6150      		subi r22,lo8(-(2047))
1859
 2056 0ed6 784F      		sbci r23,hi8(-(2047))
1860
 2057 0ed8 8F4F      		sbci r24,hlo8(-(2047))
1861
 2058 0eda 9F4F      		sbci r25,hhi8(-(2047))
1862
 2059               	.L85:
1863
 2060 0edc FBE0      		ldi r31,11
1864
 2061 0ede 9595      	1:	asr r25
1865
 2062 0ee0 8795      		ror r24
1866
 2063 0ee2 7795      		ror r23
1867
 2064 0ee4 6795      		ror r22
1868
 2065 0ee6 FA95      		dec r31
1869
 2066 0ee8 D1F7      		brne 1b
1870
 2067 0eea A601      		movw r20,r12
1871
 2068 0eec 9501      		movw r18,r10
1872
 2069 0eee 0E94 0000 		call __mulsi3
1873
 2070 0ef2 DC01      		movw r26,r24
1874
 2071 0ef4 CB01      		movw r24,r22
1875
 2072 0ef6 8093 0000 		sts tmpl2.33,r24
1876
 2073 0efa 9093 0000 		sts (tmpl2.33)+1,r25
1877
 2074 0efe A093 0000 		sts (tmpl2.33)+2,r26
1878
 2075 0f02 B093 0000 		sts (tmpl2.33)+3,r27
1879
 2076 0f06 B7FF      		sbrs r27,7
1880
 2077 0f08 04C0      		rjmp .L86
1881
 2078 0f0a 8150      		subi r24,lo8(-(4095))
1882
 2079 0f0c 904F      		sbci r25,hi8(-(4095))
1883
 2080 0f0e AF4F      		sbci r26,hlo8(-(4095))
1884
 2081 0f10 BF4F      		sbci r27,hhi8(-(4095))
1885
 2082               	.L86:
1886
 2083 0f12 AC01      		movw r20,r24
1887
 2084 0f14 BD01      		movw r22,r26
1888
 2085 0f16 ECE0      		ldi r30,12
1889
 2086 0f18 7595      	1:	asr r23
1890
 2087 0f1a 6795      		ror r22
1891
 2088 0f1c 5795      		ror r21
1892
 2089 0f1e 4795      		ror r20
1893
 2090 0f20 EA95      		dec r30
1894
 2091 0f22 D1F7      		brne 1b
1895
 2092 0f24 4093 0000 		sts tmpl2.33,r20
1896
 2093 0f28 5093 0000 		sts (tmpl2.33)+1,r21
1897
 2094 0f2c 6093 0000 		sts (tmpl2.33)+2,r22
1898
 2095 0f30 7093 0000 		sts (tmpl2.33)+3,r23
1899
 2096 0f34 2A89      		ldd r18,Y+18
1900
 2097 0f36 3B89      		ldd r19,Y+19
1901
 2098 0f38 37FF      		sbrs r19,7
1902
 2099 0f3a 03C0      		rjmp .L88
1903
 2100 0f3c 3095      		com r19
1904
 2101 0f3e 2195      		neg r18
1905
 2102 0f40 3F4F      		sbci r19,lo8(-1)
1906
 2103               	.L88:
1907
 2104 0f42 2134      		cpi r18,65
1908
 2105 0f44 3105      		cpc r19,__zero_reg__
1909
 2106 0f46 E4F1      		brlt .L93
1910
 2107 0f48 D401      		movw r26,r8
1911
 2108 0f4a C301      		movw r24,r6
1912
 2109 0f4c 97FE      		sbrs r9,7
1913
 2110 0f4e 07C0      		rjmp .L91
1914
 2111 0f50 B095      		com r27
1915
 2112 0f52 A095      		com r26
1916
 2113 0f54 9095      		com r25
1917
 2114 0f56 8195      		neg r24
1918
 2115 0f58 9F4F      		sbci r25,lo8(-1)
1919
 2116 0f5a AF4F      		sbci r26,lo8(-1)
1920
 2117 0f5c BF4F      		sbci r27,lo8(-1)
1921
 2118               	.L91:
1922
 2119 0f5e 8138      		cpi r24,lo8(129)
1923
 2120 0f60 9105      		cpc r25,__zero_reg__
1924
 2121 0f62 A105      		cpc r26,__zero_reg__
1925
 2122 0f64 B105      		cpc r27,__zero_reg__
1926
 2123 0f66 84F4      		brge .L90
1927
 2124 0f68 DB01      		movw r26,r22
1928
 2125 0f6a CA01      		movw r24,r20
1929
 2126 0f6c 77FF      		sbrs r23,7
1930
 2127 0f6e 07C0      		rjmp .L92
1931
 2128 0f70 B095      		com r27
1932
 2129 0f72 A095      		com r26
1933
 2130 0f74 9095      		com r25
1934
 2131 0f76 8195      		neg r24
1935
 2132 0f78 9F4F      		sbci r25,lo8(-1)
1936
 2133 0f7a AF4F      		sbci r26,lo8(-1)
1937
 2134 0f7c BF4F      		sbci r27,lo8(-1)
1938
 2135               	.L92:
1939
 2136 0f7e 8138      		cpi r24,lo8(129)
1940
 2137 0f80 9105      		cpc r25,__zero_reg__
1941
 2138 0f82 A105      		cpc r26,__zero_reg__
1942
 2139 0f84 B105      		cpc r27,__zero_reg__
1943
 2140 0f86 E4F0      		brlt .L93
1944
 2141               	.L90:
1945
 2142 0f88 81E0      		ldi r24,lo8(1)
1946
 2143 0f8a 8093 0000 		sts TrichterFlug,r24
1947
 2144 0f8e 18C0      		rjmp .L93
1948
 2145               	.L76:
1949
 2146 0f90 1092 0000 		sts (KopplungsteilRollNick)+1,__zero_reg__
1950
 2147 0f94 1092 0000 		sts KopplungsteilRollNick,__zero_reg__
1951
 2148 0f98 1092 0000 		sts (KopplungsteilNickRoll)+1,__zero_reg__
1952
 2149 0f9c 1092 0000 		sts KopplungsteilNickRoll,__zero_reg__
1953
 2150 0fa0 1092 0000 		sts tmpl2.33,__zero_reg__
1954
 2151 0fa4 1092 0000 		sts (tmpl2.33)+1,__zero_reg__
1955
 2152 0fa8 1092 0000 		sts (tmpl2.33)+2,__zero_reg__
1956
 2153 0fac 1092 0000 		sts (tmpl2.33)+3,__zero_reg__
1957
 2154 0fb0 1092 0000 		sts tmpl.32,__zero_reg__
1958
 2155 0fb4 1092 0000 		sts (tmpl.32)+1,__zero_reg__
1959
 2156 0fb8 1092 0000 		sts (tmpl.32)+2,__zero_reg__
1960
 2157 0fbc 1092 0000 		sts (tmpl.32)+3,__zero_reg__
1961
 2158               	.L93:
1962
 2159 0fc0 8091 0000 		lds r24,tmpl2.33
1963
 2160 0fc4 9091 0000 		lds r25,(tmpl2.33)+1
1964
 2161 0fc8 A091 0000 		lds r26,(tmpl2.33)+2
1965
 2162 0fcc B091 0000 		lds r27,(tmpl2.33)+3
1966
 2163 0fd0 BC01      		movw r22,r24
1967
 2164 0fd2 CD01      		movw r24,r26
1968
 2165 0fd4 24E6      		ldi r18,lo8(100)
1969
 2166 0fd6 30E0      		ldi r19,hi8(100)
1970
 2167 0fd8 40E0      		ldi r20,hlo8(100)
1971
 2168 0fda 50E0      		ldi r21,hhi8(100)
1972
 2169 0fdc 0E94 0000 		call __divmodsi4
1973
 2170 0fe0 E090 0000 		lds r14,tmpl.32
1974
 2171 0fe4 F090 0000 		lds r15,(tmpl.32)+1
1975
 2172 0fe8 E21A      		sub r14,r18
1976
 2173 0fea F30A      		sbc r15,r19
1977
 2174 0fec F092 0000 		sts (TrimRoll)+1,r15
1978
 2175 0ff0 E092 0000 		sts TrimRoll,r14
1979
 2176 0ff4 8091 0000 		lds r24,tmpl.32
1980
 2177 0ff8 9091 0000 		lds r25,(tmpl.32)+1
1981
 2178 0ffc A091 0000 		lds r26,(tmpl.32)+2
1982
 2179 1000 B091 0000 		lds r27,(tmpl.32)+3
1983
 2180 1004 BC01      		movw r22,r24
1984
 2181 1006 CD01      		movw r24,r26
1985
 2182 1008 24E6      		ldi r18,lo8(100)
1986
 2183 100a 30E0      		ldi r19,hi8(100)
1987
 2184 100c 40E0      		ldi r20,hlo8(100)
1988
 2185 100e 50E0      		ldi r21,hhi8(100)
1989
 2186 1010 0E94 0000 		call __divmodsi4
1990
 2187 1014 DA01      		movw r26,r20
1991
 2188 1016 C901      		movw r24,r18
1992
 2189 1018 2091 0000 		lds r18,tmpl2.33
1993
 2190 101c 3091 0000 		lds r19,(tmpl2.33)+1
1994
 2191 1020 8C01      		movw r16,r24
1995
 2192 1022 021B      		sub r16,r18
1996
 2193 1024 130B      		sbc r17,r19
1997
 2194 1026 1093 0000 		sts (TrimNick)+1,r17
1998
 2195 102a 0093 0000 		sts TrimNick,r16
1999
 2196 102e 8091 0000 		lds r24,GIER_GRAD_FAKTOR
2000
 2197 1032 9091 0000 		lds r25,(GIER_GRAD_FAKTOR)+1
2001
 2198 1036 A091 0000 		lds r26,(GIER_GRAD_FAKTOR)+2
2002
 2199 103a B091 0000 		lds r27,(GIER_GRAD_FAKTOR)+3
2003
 2200 103e BC01      		movw r22,r24
2004
 2201 1040 CD01      		movw r24,r26
2005
 2202 1042 28E6      		ldi r18,lo8(360)
2006
 2203 1044 31E0      		ldi r19,hi8(360)
2007
 2204 1046 40E0      		ldi r20,hlo8(360)
2008
 2205 1048 50E0      		ldi r21,hhi8(360)
2009
 2206 104a 0E94 0000 		call __mulsi3
2010
 2207 104e 2091 0000 		lds r18,ErsatzKompass
2011
 2208 1052 3091 0000 		lds r19,(ErsatzKompass)+1
2012
 2209 1056 4091 0000 		lds r20,(ErsatzKompass)+2
2013
 2210 105a 5091 0000 		lds r21,(ErsatzKompass)+3
2014
 2211 105e 2617      		cp r18,r22
2015
 2212 1060 3707      		cpc r19,r23
2016
 2213 1062 4807      		cpc r20,r24
2017
 2214 1064 5907      		cpc r21,r25
2018
 2215 1066 64F0      		brlt .L94
2019
 2216 1068 261B      		sub r18,r22
2020
 2217 106a 370B      		sbc r19,r23
2021
 2218 106c 480B      		sbc r20,r24
2022
 2219 106e 590B      		sbc r21,r25
2023
 2220 1070 2093 0000 		sts ErsatzKompass,r18
2024
 2221 1074 3093 0000 		sts (ErsatzKompass)+1,r19
2025
 2222 1078 4093 0000 		sts (ErsatzKompass)+2,r20
2026
 2223 107c 5093 0000 		sts (ErsatzKompass)+3,r21
2027
 2224               	.L94:
2028
 2225 1080 2091 0000 		lds r18,ErsatzKompass
2029
 2226 1084 3091 0000 		lds r19,(ErsatzKompass)+1
2030
 2227 1088 4091 0000 		lds r20,(ErsatzKompass)+2
2031
 2228 108c 5091 0000 		lds r21,(ErsatzKompass)+3
2032
 2229 1090 57FF      		sbrs r21,7
2033
 2230 1092 0CC0      		rjmp .L95
2034
 2231 1094 260F      		add r18,r22
2035
 2232 1096 371F      		adc r19,r23
2036
 2233 1098 481F      		adc r20,r24
2037
 2234 109a 591F      		adc r21,r25
2038
 2235 109c 2093 0000 		sts ErsatzKompass,r18
2039
 2236 10a0 3093 0000 		sts (ErsatzKompass)+1,r19
2040
 2237 10a4 4093 0000 		sts (ErsatzKompass)+2,r20
2041
 2238 10a8 5093 0000 		sts (ErsatzKompass)+3,r21
2042
 2239               	.L95:
2043
 2240 10ac 6091 0000 		lds r22,MesswertRoll
2044
 2241 10b0 7091 0000 		lds r23,(MesswertRoll)+1
2045
 2242 10b4 6E0D      		add r22,r14
2046
 2243 10b6 7F1D      		adc r23,r15
2047
 2244 10b8 9B01      		movw r18,r22
2048
 2245 10ba 4427      		clr r20
2049
 2246 10bc 37FD      		sbrc r19,7
2050
 2247 10be 4095      		com r20
2051
 2248 10c0 542F      		mov r21,r20
2052
 2249 10c2 8091 0000 		lds r24,Mess_IntegralRoll2
2053
 2250 10c6 9091 0000 		lds r25,(Mess_IntegralRoll2)+1
2054
 2251 10ca A091 0000 		lds r26,(Mess_IntegralRoll2)+2
2055
 2252 10ce B091 0000 		lds r27,(Mess_IntegralRoll2)+3
2056
 2253 10d2 820F      		add r24,r18
2057
 2254 10d4 931F      		adc r25,r19
2058
 2255 10d6 A41F      		adc r26,r20
2059
 2256 10d8 B51F      		adc r27,r21
2060
 2257 10da 8093 0000 		sts Mess_IntegralRoll2,r24
2061
 2258 10de 9093 0000 		sts (Mess_IntegralRoll2)+1,r25
2062
 2259 10e2 A093 0000 		sts (Mess_IntegralRoll2)+2,r26
2063
 2260 10e6 B093 0000 		sts (Mess_IntegralRoll2)+3,r27
2064
 2261 10ea 8091 0000 		lds r24,LageKorrekturRoll
2065
 2262 10ee 9091 0000 		lds r25,(LageKorrekturRoll)+1
2066
 2263 10f2 681B      		sub r22,r24
2067
 2264 10f4 790B      		sbc r23,r25
2068
 2265 10f6 CB01      		movw r24,r22
2069
 2266 10f8 AA27      		clr r26
2070
 2267 10fa 97FD      		sbrc r25,7
2071
 2268 10fc A095      		com r26
2072
 2269 10fe BA2F      		mov r27,r26
2073
 2270 1100 2985      		ldd r18,Y+9
2074
 2271 1102 3A85      		ldd r19,Y+10
2075
 2272 1104 4B85      		ldd r20,Y+11
2076
 2273 1106 5C85      		ldd r21,Y+12
2077
 2274 1108 820F      		add r24,r18
2078
 2275 110a 931F      		adc r25,r19
2079
 2276 110c A41F      		adc r26,r20
2080
 2277 110e B51F      		adc r27,r21
2081
 2278 1110 8093 0000 		sts Mess_IntegralRoll,r24
2082
 2279 1114 9093 0000 		sts (Mess_IntegralRoll)+1,r25
2083
 2280 1118 A093 0000 		sts (Mess_IntegralRoll)+2,r26
2084
 2281 111c B093 0000 		sts (Mess_IntegralRoll)+3,r27
2085
 2282 1120 C090 0000 		lds r12,Umschlag180Roll
2086
 2283 1124 D090 0000 		lds r13,(Umschlag180Roll)+1
2087
 2284 1128 E090 0000 		lds r14,(Umschlag180Roll)+2
2088
 2285 112c F090 0000 		lds r15,(Umschlag180Roll)+3
2089
 2286 1130 C816      		cp r12,r24
2090
 2287 1132 D906      		cpc r13,r25
2091
 2288 1134 EA06      		cpc r14,r26
2092
 2289 1136 FB06      		cpc r15,r27
2093
 2290 1138 C4F4      		brge .L96
2094
 2291 113a 88EA      		ldi r24,lo8(25000)
2095
 2292 113c 91E6      		ldi r25,hi8(25000)
2096
 2293 113e A0E0      		ldi r26,hlo8(25000)
2097
 2294 1140 B0E0      		ldi r27,hhi8(25000)
2098
 2295 1142 8C19      		sub r24,r12
2099
 2296 1144 9D09      		sbc r25,r13
2100
 2297 1146 AE09      		sbc r26,r14
2101
 2298 1148 BF09      		sbc r27,r15
2102
 2299 114a 8093 0000 		sts Mess_IntegralRoll,r24
2103
 2300 114e 9093 0000 		sts (Mess_IntegralRoll)+1,r25
2104
 2301 1152 A093 0000 		sts (Mess_IntegralRoll)+2,r26
2105
 2302 1156 B093 0000 		sts (Mess_IntegralRoll)+3,r27
2106
 2303 115a 8093 0000 		sts Mess_IntegralRoll2,r24
2107
 2304 115e 9093 0000 		sts (Mess_IntegralRoll2)+1,r25
2108
 2305 1162 A093 0000 		sts (Mess_IntegralRoll2)+2,r26
2109
 2306 1166 B093 0000 		sts (Mess_IntegralRoll2)+3,r27
2110
 2307               	.L96:
2111
 2308 116a 2227      		clr r18
2112
 2309 116c 3327      		clr r19
2113
 2310 116e A901      		movw r20,r18
2114
 2311 1170 2C19      		sub r18,r12
2115
 2312 1172 3D09      		sbc r19,r13
2116
 2313 1174 4E09      		sbc r20,r14
2117
 2314 1176 5F09      		sbc r21,r15
2118
 2315 1178 8091 0000 		lds r24,Mess_IntegralRoll
2119
 2316 117c 9091 0000 		lds r25,(Mess_IntegralRoll)+1
2120
 2317 1180 A091 0000 		lds r26,(Mess_IntegralRoll)+2
2121
 2318 1184 B091 0000 		lds r27,(Mess_IntegralRoll)+3
2122
 2319 1188 8217      		cp r24,r18
2123
 2320 118a 9307      		cpc r25,r19
2124
 2321 118c A407      		cpc r26,r20
2125
 2322 118e B507      		cpc r27,r21
2126
 2323 1190 B4F4      		brge .L97
2127
 2324 1192 D701      		movw r26,r14
2128
 2325 1194 C601      		movw r24,r12
2129
 2326 1196 885A      		subi r24,lo8(-(-25000))
2130
 2327 1198 9146      		sbci r25,hi8(-(-25000))
2131
 2328 119a A040      		sbci r26,hlo8(-(-25000))
2132
 2329 119c B040      		sbci r27,hhi8(-(-25000))
2133
 2330 119e 8093 0000 		sts Mess_IntegralRoll,r24
2134
 2331 11a2 9093 0000 		sts (Mess_IntegralRoll)+1,r25
2135
 2332 11a6 A093 0000 		sts (Mess_IntegralRoll)+2,r26
2136
 2333 11aa B093 0000 		sts (Mess_IntegralRoll)+3,r27
2137
 2334 11ae 8093 0000 		sts Mess_IntegralRoll2,r24
2138
 2335 11b2 9093 0000 		sts (Mess_IntegralRoll2)+1,r25
2139
 2336 11b6 A093 0000 		sts (Mess_IntegralRoll2)+2,r26
2140
 2337 11ba B093 0000 		sts (Mess_IntegralRoll2)+3,r27
2141
 2338               	.L97:
2142
 2339 11be 6091 0000 		lds r22,MesswertNick
2143
 2340 11c2 7091 0000 		lds r23,(MesswertNick)+1
2144
 2341 11c6 600F      		add r22,r16
2145
 2342 11c8 711F      		adc r23,r17
2146
 2343 11ca 9B01      		movw r18,r22
2147
 2344 11cc 4427      		clr r20
2148
 2345 11ce 37FD      		sbrc r19,7
2149
 2346 11d0 4095      		com r20
2150
 2347 11d2 542F      		mov r21,r20
2151
 2348 11d4 8091 0000 		lds r24,Mess_IntegralNick2
2152
 2349 11d8 9091 0000 		lds r25,(Mess_IntegralNick2)+1
2153
 2350 11dc A091 0000 		lds r26,(Mess_IntegralNick2)+2
2154
 2351 11e0 B091 0000 		lds r27,(Mess_IntegralNick2)+3
2155
 2352 11e4 820F      		add r24,r18
2156
 2353 11e6 931F      		adc r25,r19
2157
 2354 11e8 A41F      		adc r26,r20
2158
 2355 11ea B51F      		adc r27,r21
2159
 2356 11ec 8093 0000 		sts Mess_IntegralNick2,r24
2160
 2357 11f0 9093 0000 		sts (Mess_IntegralNick2)+1,r25
2161
 2358 11f4 A093 0000 		sts (Mess_IntegralNick2)+2,r26
2162
 2359 11f8 B093 0000 		sts (Mess_IntegralNick2)+3,r27
2163
 2360 11fc 8091 0000 		lds r24,LageKorrekturNick
2164
 2361 1200 9091 0000 		lds r25,(LageKorrekturNick)+1
2165
 2362 1204 681B      		sub r22,r24
2166
 2363 1206 790B      		sbc r23,r25
2167
 2364 1208 CB01      		movw r24,r22
2168
 2365 120a AA27      		clr r26
2169
 2366 120c 97FD      		sbrc r25,7
2170
 2367 120e A095      		com r26
2171
 2368 1210 BA2F      		mov r27,r26
2172
 2369 1212 2D85      		ldd r18,Y+13
2173
 2370 1214 3E85      		ldd r19,Y+14
2174
 2371 1216 4F85      		ldd r20,Y+15
2175
 2372 1218 5889      		ldd r21,Y+16
2176
 2373 121a 820F      		add r24,r18
2177
 2374 121c 931F      		adc r25,r19
2178
 2375 121e A41F      		adc r26,r20
2179
 2376 1220 B51F      		adc r27,r21
2180
 2377 1222 8093 0000 		sts Mess_IntegralNick,r24
2181
 2378 1226 9093 0000 		sts (Mess_IntegralNick)+1,r25
2182
 2379 122a A093 0000 		sts (Mess_IntegralNick)+2,r26
2183
 2380 122e B093 0000 		sts (Mess_IntegralNick)+3,r27
2184
 2381 1232 E090 0000 		lds r14,Umschlag180Nick
2185
 2382 1236 F090 0000 		lds r15,(Umschlag180Nick)+1
2186
 2383 123a 0091 0000 		lds r16,(Umschlag180Nick)+2
2187
 2384 123e 1091 0000 		lds r17,(Umschlag180Nick)+3
2188
 2385 1242 E816      		cp r14,r24
2189
 2386 1244 F906      		cpc r15,r25
2190
 2387 1246 0A07      		cpc r16,r26
2191
 2388 1248 1B07      		cpc r17,r27
2192
 2389 124a C4F4      		brge .L98
2193
 2390 124c 88EA      		ldi r24,lo8(25000)
2194
 2391 124e 91E6      		ldi r25,hi8(25000)
2195
 2392 1250 A0E0      		ldi r26,hlo8(25000)
2196
 2393 1252 B0E0      		ldi r27,hhi8(25000)
2197
 2394 1254 8E19      		sub r24,r14
2198
 2395 1256 9F09      		sbc r25,r15
2199
 2396 1258 A00B      		sbc r26,r16
2200
 2397 125a B10B      		sbc r27,r17
2201
 2398 125c 8093 0000 		sts Mess_IntegralNick,r24
2202
 2399 1260 9093 0000 		sts (Mess_IntegralNick)+1,r25
2203
 2400 1264 A093 0000 		sts (Mess_IntegralNick)+2,r26
2204
 2401 1268 B093 0000 		sts (Mess_IntegralNick)+3,r27
2205
 2402 126c 8093 0000 		sts Mess_IntegralNick2,r24
2206
 2403 1270 9093 0000 		sts (Mess_IntegralNick2)+1,r25
2207
 2404 1274 A093 0000 		sts (Mess_IntegralNick2)+2,r26
2208
 2405 1278 B093 0000 		sts (Mess_IntegralNick2)+3,r27
2209
 2406               	.L98:
2210
 2407 127c 2227      		clr r18
2211
 2408 127e 3327      		clr r19
2212
 2409 1280 A901      		movw r20,r18
2213
 2410 1282 2E19      		sub r18,r14
2214
 2411 1284 3F09      		sbc r19,r15
2215
 2412 1286 400B      		sbc r20,r16
2216
 2413 1288 510B      		sbc r21,r17
2217
 2414 128a 8091 0000 		lds r24,Mess_IntegralNick
2218
 2415 128e 9091 0000 		lds r25,(Mess_IntegralNick)+1
2219
 2416 1292 A091 0000 		lds r26,(Mess_IntegralNick)+2
2220
 2417 1296 B091 0000 		lds r27,(Mess_IntegralNick)+3
2221
 2418 129a 8217      		cp r24,r18
2222
 2419 129c 9307      		cpc r25,r19
2223
 2420 129e A407      		cpc r26,r20
2224
 2421 12a0 B507      		cpc r27,r21
2225
 2422 12a2 B4F4      		brge .L99
2226
 2423 12a4 D801      		movw r26,r16
2227
 2424 12a6 C701      		movw r24,r14
2228
 2425 12a8 885A      		subi r24,lo8(-(-25000))
2229
 2426 12aa 9146      		sbci r25,hi8(-(-25000))
2230
 2427 12ac A040      		sbci r26,hlo8(-(-25000))
2231
 2428 12ae B040      		sbci r27,hhi8(-(-25000))
2232
 2429 12b0 8093 0000 		sts Mess_IntegralNick,r24
2233
 2430 12b4 9093 0000 		sts (Mess_IntegralNick)+1,r25
2234
 2431 12b8 A093 0000 		sts (Mess_IntegralNick)+2,r26
2235
 2432 12bc B093 0000 		sts (Mess_IntegralNick)+3,r27
2236
 2433 12c0 8093 0000 		sts Mess_IntegralNick2,r24
2237
 2434 12c4 9093 0000 		sts (Mess_IntegralNick2)+1,r25
2238
 2435 12c8 A093 0000 		sts (Mess_IntegralNick2)+2,r26
2239
 2436 12cc B093 0000 		sts (Mess_IntegralNick2)+3,r27
2240
 2437               	.L99:
2241
 2438 12d0 8091 0000 		lds r24,Mess_Integral_Gier
2242
 2439 12d4 9091 0000 		lds r25,(Mess_Integral_Gier)+1
2243
 2440 12d8 A091 0000 		lds r26,(Mess_Integral_Gier)+2
2244
 2441 12dc B091 0000 		lds r27,(Mess_Integral_Gier)+3
2245
 2442 12e0 8093 0000 		sts Integral_Gier,r24
2246
 2443 12e4 9093 0000 		sts (Integral_Gier)+1,r25
2247
 2444 12e8 A093 0000 		sts (Integral_Gier)+2,r26
2248
 2445 12ec B093 0000 		sts (Integral_Gier)+3,r27
2249
 2446 12f0 8091 0000 		lds r24,Mess_IntegralNick
2250
 2447 12f4 9091 0000 		lds r25,(Mess_IntegralNick)+1
2251
 2448 12f8 A091 0000 		lds r26,(Mess_IntegralNick)+2
2252
 2449 12fc B091 0000 		lds r27,(Mess_IntegralNick)+3
2253
 2450 1300 8093 0000 		sts IntegralNick,r24
2254
 2451 1304 9093 0000 		sts (IntegralNick)+1,r25
2255
 2452 1308 A093 0000 		sts (IntegralNick)+2,r26
2256
 2453 130c B093 0000 		sts (IntegralNick)+3,r27
2257
 2454 1310 8091 0000 		lds r24,Mess_IntegralRoll
2258
 2455 1314 9091 0000 		lds r25,(Mess_IntegralRoll)+1
2259
 2456 1318 A091 0000 		lds r26,(Mess_IntegralRoll)+2
2260
 2457 131c B091 0000 		lds r27,(Mess_IntegralRoll)+3
2261
 2458 1320 8093 0000 		sts IntegralRoll,r24
2262
 2459 1324 9093 0000 		sts (IntegralRoll)+1,r25
2263
 2460 1328 A093 0000 		sts (IntegralRoll)+2,r26
2264
 2461 132c B093 0000 		sts (IntegralRoll)+3,r27
2265
 2462 1330 8091 0000 		lds r24,Mess_IntegralNick2
2266
 2463 1334 9091 0000 		lds r25,(Mess_IntegralNick2)+1
2267
 2464 1338 A091 0000 		lds r26,(Mess_IntegralNick2)+2
2268
 2465 133c B091 0000 		lds r27,(Mess_IntegralNick2)+3
2269
 2466 1340 8093 0000 		sts IntegralNick2,r24
2270
 2467 1344 9093 0000 		sts (IntegralNick2)+1,r25
2271
 2468 1348 A093 0000 		sts (IntegralNick2)+2,r26
2272
 2469 134c B093 0000 		sts (IntegralNick2)+3,r27
2273
 2470 1350 8091 0000 		lds r24,Mess_IntegralRoll2
2274
 2471 1354 9091 0000 		lds r25,(Mess_IntegralRoll2)+1
2275
 2472 1358 A091 0000 		lds r26,(Mess_IntegralRoll2)+2
2276
 2473 135c B091 0000 		lds r27,(Mess_IntegralRoll2)+3
2277
 2474 1360 8093 0000 		sts IntegralRoll2,r24
2278
 2475 1364 9093 0000 		sts (IntegralRoll2)+1,r25
2279
 2476 1368 A093 0000 		sts (IntegralRoll2)+2,r26
2280
 2477 136c B093 0000 		sts (IntegralRoll2)+3,r27
2281
 2478 1370 8091 0000 		lds r24,HiResNick
2282
 2479 1374 9091 0000 		lds r25,(HiResNick)+1
2283
 2480 1378 97FD      		sbrc r25,7
2284
 2481 137a 0796      		adiw r24,7
2285
 2482               	.L100:
2286
 2483 137c 33E0      		ldi r19,3
2287
 2484 137e 9595      	1:	asr r25
2288
 2485 1380 8795      		ror r24
2289
 2486 1382 3A95      		dec r19
2290
 2487 1384 E1F7      		brne 1b
2291
 2488 1386 9093 0000 		sts (MesswertNick)+1,r25
2292
 2489 138a 8093 0000 		sts MesswertNick,r24
2293
 2490 138e 8091 0000 		lds r24,HiResRoll
2294
 2491 1392 9091 0000 		lds r25,(HiResRoll)+1
2295
 2492 1396 97FD      		sbrc r25,7
2296
 2493 1398 0796      		adiw r24,7
2297
 2494               	.L101:
2298
 2495 139a 23E0      		ldi r18,3
2299
 2496 139c 9595      	1:	asr r25
2300
 2497 139e 8795      		ror r24
2301
 2498 13a0 2A95      		dec r18
2302
 2499 13a2 E1F7      		brne 1b
2303
 2500 13a4 9093 0000 		sts (MesswertRoll)+1,r25
2304
 2501 13a8 8093 0000 		sts MesswertRoll,r24
2305
 2502 13ac 8091 0000 		lds r24,AdWertNick
2306
 2503 13b0 9091 0000 		lds r25,(AdWertNick)+1
2307
 2504 13b4 0F97      		sbiw r24,15
2308
 2505 13b6 34F4      		brge .L102
2309
 2506 13b8 88E1      		ldi r24,lo8(-1000)
2310
 2507 13ba 9CEF      		ldi r25,hi8(-1000)
2311
 2508 13bc 9093 0000 		sts (MesswertNick)+1,r25
2312
 2509 13c0 8093 0000 		sts MesswertNick,r24
2313
 2510               	.L102:
2314
 2511 13c4 8091 0000 		lds r24,AdWertNick
2315
 2512 13c8 9091 0000 		lds r25,(AdWertNick)+1
2316
 2513 13cc 0797      		sbiw r24,7
2317
 2514 13ce 34F4      		brge .L103
2318
 2515 13d0 80E3      		ldi r24,lo8(-2000)
2319
 2516 13d2 98EF      		ldi r25,hi8(-2000)
2320
 2517 13d4 9093 0000 		sts (MesswertNick)+1,r25
2321
 2518 13d8 8093 0000 		sts MesswertNick,r24
2322
 2519               	.L103:
2323
 2520 13dc 2091 0000 		lds r18,PlatinenVersion
2324
 2521 13e0 2A30      		cpi r18,lo8(10)
2325
 2522 13e2 A9F4      		brne .L104
2326
 2523 13e4 8091 0000 		lds r24,AdWertNick
2327
 2524 13e8 9091 0000 		lds r25,(AdWertNick)+1
2328
 2525 13ec 835F      		subi r24,lo8(1011)
2329
 2526 13ee 9340      		sbci r25,hi8(1011)
2330
 2527 13f0 34F0      		brlt .L105
2331
 2528 13f2 88EE      		ldi r24,lo8(1000)
2332
 2529 13f4 93E0      		ldi r25,hi8(1000)
2333
 2530 13f6 9093 0000 		sts (MesswertNick)+1,r25
2334
 2531 13fa 8093 0000 		sts MesswertNick,r24
2335
 2532               	.L105:
2336
 2533 13fe 8091 0000 		lds r24,AdWertNick
2337
 2534 1402 9091 0000 		lds r25,(AdWertNick)+1
2338
 2535 1406 8A5F      		subi r24,lo8(1018)
2339
 2536 1408 9340      		sbci r25,hi8(1018)
2340
 2537 140a DCF0      		brlt .L107
2341
 2538 140c 14C0      		rjmp .L163
2342
 2539               	.L104:
2343
 2540 140e 8091 0000 		lds r24,AdWertNick
2344
 2541 1412 9091 0000 		lds r25,(AdWertNick)+1
2345
 2542 1416 815D      		subi r24,lo8(2001)
2346
 2543 1418 9740      		sbci r25,hi8(2001)
2347
 2544 141a 34F0      		brlt .L108
2348
 2545 141c 88EE      		ldi r24,lo8(1000)
2349
 2546 141e 93E0      		ldi r25,hi8(1000)
2350
 2547 1420 9093 0000 		sts (MesswertNick)+1,r25
2351
 2548 1424 8093 0000 		sts MesswertNick,r24
2352
 2549               	.L108:
2353
 2550 1428 8091 0000 		lds r24,AdWertNick
2354
 2551 142c 9091 0000 		lds r25,(AdWertNick)+1
2355
 2552 1430 805E      		subi r24,lo8(2016)
2356
 2553 1432 9740      		sbci r25,hi8(2016)
2357
 2554 1434 34F0      		brlt .L107
2358
 2555               	.L163:
2359
 2556 1436 80ED      		ldi r24,lo8(2000)
2360
 2557 1438 97E0      		ldi r25,hi8(2000)
2361
 2558 143a 9093 0000 		sts (MesswertNick)+1,r25
2362
 2559 143e 8093 0000 		sts MesswertNick,r24
2363
 2560               	.L107:
2364
 2561 1442 8091 0000 		lds r24,AdWertRoll
2365
 2562 1446 9091 0000 		lds r25,(AdWertRoll)+1
2366
 2563 144a 0F97      		sbiw r24,15
2367
 2564 144c 34F4      		brge .L110
2368
 2565 144e 88E1      		ldi r24,lo8(-1000)
2369
 2566 1450 9CEF      		ldi r25,hi8(-1000)
2370
 2567 1452 9093 0000 		sts (MesswertRoll)+1,r25
2371
 2568 1456 8093 0000 		sts MesswertRoll,r24
2372
 2569               	.L110:
2373
 2570 145a 8091 0000 		lds r24,AdWertRoll
2374
 2571 145e 9091 0000 		lds r25,(AdWertRoll)+1
2375
 2572 1462 0797      		sbiw r24,7
2376
 2573 1464 34F4      		brge .L111
2377
 2574 1466 80E3      		ldi r24,lo8(-2000)
2378
 2575 1468 98EF      		ldi r25,hi8(-2000)
2379
 2576 146a 9093 0000 		sts (MesswertRoll)+1,r25
2380
 2577 146e 8093 0000 		sts MesswertRoll,r24
2381
 2578               	.L111:
2382
 2579 1472 2A30      		cpi r18,lo8(10)
2383
 2580 1474 A9F4      		brne .L112
2384
 2581 1476 8091 0000 		lds r24,AdWertRoll
2385
 2582 147a 9091 0000 		lds r25,(AdWertRoll)+1
2386
 2583 147e 835F      		subi r24,lo8(1011)
2387
 2584 1480 9340      		sbci r25,hi8(1011)
2388
 2585 1482 34F0      		brlt .L113
2389
 2586 1484 88EE      		ldi r24,lo8(1000)
2390
 2587 1486 93E0      		ldi r25,hi8(1000)
2391
 2588 1488 9093 0000 		sts (MesswertRoll)+1,r25
2392
 2589 148c 8093 0000 		sts MesswertRoll,r24
2393
 2590               	.L113:
2394
 2591 1490 8091 0000 		lds r24,AdWertRoll
2395
 2592 1494 9091 0000 		lds r25,(AdWertRoll)+1
2396
 2593 1498 8A5F      		subi r24,lo8(1018)
2397
 2594 149a 9340      		sbci r25,hi8(1018)
2398
 2595 149c DCF0      		brlt .L115
2399
 2596 149e 14C0      		rjmp .L164
2400
 2597               	.L112:
2401
 2598 14a0 8091 0000 		lds r24,AdWertRoll
2402
 2599 14a4 9091 0000 		lds r25,(AdWertRoll)+1
2403
 2600 14a8 815D      		subi r24,lo8(2001)
2404
 2601 14aa 9740      		sbci r25,hi8(2001)
2405
 2602 14ac 34F0      		brlt .L116
2406
 2603 14ae 88EE      		ldi r24,lo8(1000)
2407
 2604 14b0 93E0      		ldi r25,hi8(1000)
2408
 2605 14b2 9093 0000 		sts (MesswertRoll)+1,r25
2409
 2606 14b6 8093 0000 		sts MesswertRoll,r24
2410
 2607               	.L116:
2411
 2608 14ba 8091 0000 		lds r24,AdWertRoll
2412
 2609 14be 9091 0000 		lds r25,(AdWertRoll)+1
2413
 2610 14c2 805E      		subi r24,lo8(2016)
2414
 2611 14c4 9740      		sbci r25,hi8(2016)
2415
 2612 14c6 34F0      		brlt .L115
2416
 2613               	.L164:
2417
 2614 14c8 80ED      		ldi r24,lo8(2000)
2418
 2615 14ca 97E0      		ldi r25,hi8(2000)
2419
 2616 14cc 9093 0000 		sts (MesswertRoll)+1,r25
2420
 2617 14d0 8093 0000 		sts MesswertRoll,r24
2421
 2618               	.L115:
2422
 2619 14d4 E091 0000 		lds r30,Parameter_Gyro_D
2423
 2620 14d8 EE23      		tst r30
2424
 2621 14da 09F4      		brne .+2
2425
 2622 14dc B7C0      		rjmp .L118
2426
 2623 14de 4091 0000 		lds r20,HiResNick
2427
 2624 14e2 5091 0000 		lds r21,(HiResNick)+1
2428
 2625 14e6 8091 0000 		lds r24,oldNick.36
2429
 2626 14ea 9091 0000 		lds r25,(oldNick.36)+1
2430
 2627 14ee 481B      		sub r20,r24
2431
 2628 14f0 590B      		sbc r21,r25
2432
 2629 14f2 5093 0000 		sts (d2Nick.39)+1,r21
2433
 2630 14f6 4093 0000 		sts d2Nick.39,r20
2434
 2631 14fa 2091 0000 		lds r18,HiResNick
2435
 2632 14fe 3091 0000 		lds r19,(HiResNick)+1
2436
 2633 1502 280F      		add r18,r24
2437
 2634 1504 391F      		adc r19,r25
2438
 2635 1506 37FF      		sbrs r19,7
2439
 2636 1508 02C0      		rjmp .L119
2440
 2637 150a 2F5F      		subi r18,lo8(-(1))
2441
 2638 150c 3F4F      		sbci r19,hi8(-(1))
2442
 2639               	.L119:
2443
 2640 150e 3595      		asr r19
2444
 2641 1510 2795      		ror r18
2445
 2642 1512 3093 0000 		sts (oldNick.36)+1,r19
2446
 2643 1516 2093 0000 		sts oldNick.36,r18
2447
 2644 151a 4138      		cpi r20,129
2448
 2645 151c 5105      		cpc r21,__zero_reg__
2449
 2646 151e 1CF0      		brlt .L120
2450
 2647 1520 80E8      		ldi r24,lo8(128)
2451
 2648 1522 90E0      		ldi r25,hi8(128)
2452
 2649 1524 05C0      		rjmp .L165
2453
 2650               	.L120:
2454
 2651 1526 4058      		subi r20,lo8(-128)
2455
 2652 1528 5F4F      		sbci r21,hi8(-128)
2456
 2653 152a 34F4      		brge .L121
2457
 2654 152c 80E8      		ldi r24,lo8(-128)
2458
 2655 152e 9FEF      		ldi r25,hi8(-128)
2459
 2656               	.L165:
2460
 2657 1530 9093 0000 		sts (d2Nick.39)+1,r25
2461
 2658 1534 8093 0000 		sts d2Nick.39,r24
2462
 2659               	.L121:
2463
 2660 1538 8E2F      		mov r24,r30
2464
 2661 153a 9927      		clr r25
2465
 2662 153c A091 0000 		lds r26,d2Nick.39
2466
 2663 1540 B091 0000 		lds r27,(d2Nick.39)+1
2467
 2664 1544 A89F      		mul r26,r24
2468
 2665 1546 A001      		movw r20,r0
2469
 2666 1548 A99F      		mul r26,r25
2470
 2667 154a 500D      		add r21,r0
2471
 2668 154c B89F      		mul r27,r24
2472
 2669 154e 500D      		add r21,r0
2473
 2670 1550 1124      		clr r1
2474
 2671 1552 57FF      		sbrs r21,7
2475
 2672 1554 02C0      		rjmp .L123
2476
 2673 1556 415F      		subi r20,lo8(-(15))
2477
 2674 1558 5F4F      		sbci r21,hi8(-(15))
2478
 2675               	.L123:
2479
 2676 155a 14E0      		ldi r17,4
2480
 2677 155c 5595      	1:	asr r21
2481
 2678 155e 4795      		ror r20
2482
 2679 1560 1A95      		dec r17
2483
 2680 1562 E1F7      		brne 1b
2484
 2681 1564 8091 0000 		lds r24,MesswertNick
2485
 2682 1568 9091 0000 		lds r25,(MesswertNick)+1
2486
 2683 156c 840F      		add r24,r20
2487
 2684 156e 951F      		adc r25,r21
2488
 2685 1570 9093 0000 		sts (MesswertNick)+1,r25
2489
 2686 1574 8093 0000 		sts MesswertNick,r24
2490
 2687 1578 6091 0000 		lds r22,HiResRoll
2491
 2688 157c 7091 0000 		lds r23,(HiResRoll)+1
2492
 2689 1580 8091 0000 		lds r24,oldRoll.37
2493
 2690 1584 9091 0000 		lds r25,(oldRoll.37)+1
2494
 2691 1588 681B      		sub r22,r24
2495
 2692 158a 790B      		sbc r23,r25
2496
 2693 158c 7093 0000 		sts (d2Roll.38)+1,r23
2497
 2694 1590 6093 0000 		sts d2Roll.38,r22
2498
 2695 1594 4091 0000 		lds r20,HiResRoll
2499
 2696 1598 5091 0000 		lds r21,(HiResRoll)+1
2500
 2697 159c 480F      		add r20,r24
2501
 2698 159e 591F      		adc r21,r25
2502
 2699 15a0 57FF      		sbrs r21,7
2503
 2700 15a2 02C0      		rjmp .L124
2504
 2701 15a4 4F5F      		subi r20,lo8(-(1))
2505
 2702 15a6 5F4F      		sbci r21,hi8(-(1))
2506
 2703               	.L124:
2507
 2704 15a8 5595      		asr r21
2508
 2705 15aa 4795      		ror r20
2509
 2706 15ac 5093 0000 		sts (oldRoll.37)+1,r21
2510
 2707 15b0 4093 0000 		sts oldRoll.37,r20
2511
 2708 15b4 6138      		cpi r22,129
2512
 2709 15b6 7105      		cpc r23,__zero_reg__
2513
 2710 15b8 1CF0      		brlt .L125
2514
 2711 15ba 80E8      		ldi r24,lo8(128)
2515
 2712 15bc 90E0      		ldi r25,hi8(128)
2516
 2713 15be 05C0      		rjmp .L166
2517
 2714               	.L125:
2518
 2715 15c0 6058      		subi r22,lo8(-128)
2519
 2716 15c2 7F4F      		sbci r23,hi8(-128)
2520
 2717 15c4 34F4      		brge .L126
2521
 2718 15c6 80E8      		ldi r24,lo8(-128)
2522
 2719 15c8 9FEF      		ldi r25,hi8(-128)
2523
 2720               	.L166:
2524
 2721 15ca 9093 0000 		sts (d2Roll.38)+1,r25
2525
 2722 15ce 8093 0000 		sts d2Roll.38,r24
2526
 2723               	.L126:
2527
 2724 15d2 2E2F      		mov r18,r30
2528
 2725 15d4 3327      		clr r19
2529
 2726 15d6 8091 0000 		lds r24,d2Roll.38
2530
 2727 15da 9091 0000 		lds r25,(d2Roll.38)+1
2531
 2728 15de 829F      		mul r24,r18
2532
 2729 15e0 B001      		movw r22,r0
2533
 2730 15e2 839F      		mul r24,r19
2534
 2731 15e4 700D      		add r23,r0
2535
 2732 15e6 929F      		mul r25,r18
2536
 2733 15e8 700D      		add r23,r0
2537
 2734 15ea 1124      		clr r1
2538
 2735 15ec AB01      		movw r20,r22
2539
 2736 15ee 77FF      		sbrs r23,7
2540
 2737 15f0 02C0      		rjmp .L128
2541
 2738 15f2 415F      		subi r20,lo8(-(15))
2542
 2739 15f4 5F4F      		sbci r21,hi8(-(15))
2543
 2740               	.L128:
2544
 2741 15f6 E4E0      		ldi r30,4
2545
 2742 15f8 5595      	1:	asr r21
2546
 2743 15fa 4795      		ror r20
2547
 2744 15fc EA95      		dec r30
2548
 2745 15fe E1F7      		brne 1b
2549
 2746 1600 8091 0000 		lds r24,MesswertRoll
2550
 2747 1604 9091 0000 		lds r25,(MesswertRoll)+1
2551
 2748 1608 840F      		add r24,r20
2552
 2749 160a 951F      		adc r25,r21
2553
 2750 160c 9093 0000 		sts (MesswertRoll)+1,r25
2554
 2751 1610 8093 0000 		sts MesswertRoll,r24
2555
 2752 1614 A29F      		mul r26,r18
2556
 2753 1616 C001      		movw r24,r0
2557
 2754 1618 A39F      		mul r26,r19
2558
 2755 161a 900D      		add r25,r0
2559
 2756 161c B29F      		mul r27,r18
2560
 2757 161e 900D      		add r25,r0
2561
 2758 1620 1124      		clr r1
2562
 2759 1622 9C01      		movw r18,r24
2563
 2760 1624 8091 0000 		lds r24,HiResNick
2564
 2761 1628 9091 0000 		lds r25,(HiResNick)+1
2565
 2762 162c 820F      		add r24,r18
2566
 2763 162e 931F      		adc r25,r19
2567
 2764 1630 9093 0000 		sts (HiResNick)+1,r25
2568
 2765 1634 8093 0000 		sts HiResNick,r24
2569
 2766 1638 8091 0000 		lds r24,HiResRoll
2570
 2767 163c 9091 0000 		lds r25,(HiResRoll)+1
2571
 2768 1640 860F      		add r24,r22
2572
 2769 1642 971F      		adc r25,r23
2573
 2770 1644 9093 0000 		sts (HiResRoll)+1,r25
2574
 2771 1648 8093 0000 		sts HiResRoll,r24
2575
 2772               	.L118:
2576
 2773 164c 0091 0000 		lds r16,RohMesswertRoll
2577
 2774 1650 1091 0000 		lds r17,(RohMesswertRoll)+1
2578
 2775 1654 8091 0000 		lds r24,KopplungsteilNickRoll
2579
 2776 1658 9091 0000 		lds r25,(KopplungsteilNickRoll)+1
2580
 2777 165c 1016      		cp __zero_reg__,r16
2581
 2778 165e 1106      		cpc __zero_reg__,r17
2582
 2779 1660 5CF5      		brge .L129
2583
 2780 1662 9C01      		movw r18,r24
2584
 2781 1664 97FF      		sbrs r25,7
2585
 2782 1666 04C0      		rjmp .L130
2586
 2783 1668 2227      		clr r18
2587
 2784 166a 3327      		clr r19
2588
 2785 166c 281B      		sub r18,r24
2589
 2786 166e 390B      		sbc r19,r25
2590
 2787               	.L130:
2591
 2788 1670 C901      		movw r24,r18
2592
 2789 1672 AA27      		clr r26
2593
 2790 1674 97FD      		sbrc r25,7
2594
 2791 1676 A095      		com r26
2595
 2792 1678 BA2F      		mov r27,r26
2596
 2793 167a 2091 0000 		lds r18,Parameter_CouplingYawCorrection
2597
 2794 167e 3327      		clr r19
2598
 2795 1680 4427      		clr r20
2599
 2796 1682 5527      		clr r21
2600
 2797 1684 BC01      		movw r22,r24
2601
 2798 1686 CD01      		movw r24,r26
2602
 2799 1688 0E94 0000 		call __mulsi3
2603
 2800 168c 9B01      		movw r18,r22
2604
 2801 168e AC01      		movw r20,r24
2605
 2802 1690 97FF      		sbrs r25,7
2606
 2803 1692 04C0      		rjmp .L131
2607
 2804 1694 215C      		subi r18,lo8(-(63))
2608
 2805 1696 3F4F      		sbci r19,hi8(-(63))
2609
 2806 1698 4F4F      		sbci r20,hlo8(-(63))
2610
 2807 169a 5F4F      		sbci r21,hhi8(-(63))
2611
 2808               	.L131:
2612
 2809 169c 76E0      		ldi r23,6
2613
 2810 169e 5595      	1:	asr r21
2614
 2811 16a0 4795      		ror r20
2615
 2812 16a2 3795      		ror r19
2616
 2813 16a4 2795      		ror r18
2617
 2814 16a6 7A95      		dec r23
2618
 2815 16a8 D1F7      		brne 1b
2619
 2816 16aa 8091 0000 		lds r24,TrimRoll
2620
 2817 16ae 9091 0000 		lds r25,(TrimRoll)+1
2621
 2818 16b2 820F      		add r24,r18
2622
 2819 16b4 931F      		adc r25,r19
2623
 2820 16b6 27C0      		rjmp .L167
2624
 2821               	.L129:
2625
 2822 16b8 97FF      		sbrs r25,7
2626
 2823 16ba 03C0      		rjmp .L133
2627
 2824 16bc 9095      		com r25
2628
 2825 16be 8195      		neg r24
2629
 2826 16c0 9F4F      		sbci r25,lo8(-1)
2630
 2827               	.L133:
2631
 2828 16c2 AA27      		clr r26
2632
 2829 16c4 97FD      		sbrc r25,7
2633
 2830 16c6 A095      		com r26
2634
 2831 16c8 BA2F      		mov r27,r26
2635
 2832 16ca 2091 0000 		lds r18,Parameter_CouplingYawCorrection
2636
 2833 16ce 3327      		clr r19
2637
 2834 16d0 4427      		clr r20
2638
 2835 16d2 5527      		clr r21
2639
 2836 16d4 BC01      		movw r22,r24
2640
 2837 16d6 CD01      		movw r24,r26
2641
 2838 16d8 0E94 0000 		call __mulsi3
2642
 2839 16dc 9B01      		movw r18,r22
2643
 2840 16de AC01      		movw r20,r24
2644
 2841 16e0 97FF      		sbrs r25,7
2645
 2842 16e2 04C0      		rjmp .L134
2646
 2843 16e4 215C      		subi r18,lo8(-(63))
2647
 2844 16e6 3F4F      		sbci r19,hi8(-(63))
2648
 2845 16e8 4F4F      		sbci r20,hlo8(-(63))
2649
 2846 16ea 5F4F      		sbci r21,hhi8(-(63))
2650
 2847               	.L134:
2651
 2848 16ec 66E0      		ldi r22,6
2652
 2849 16ee 5595      	1:	asr r21
2653
 2850 16f0 4795      		ror r20
2654
 2851 16f2 3795      		ror r19
2655
 2852 16f4 2795      		ror r18
2656
 2853 16f6 6A95      		dec r22
2657
 2854 16f8 D1F7      		brne 1b
2658
 2855 16fa 8091 0000 		lds r24,TrimRoll
2659
 2856 16fe 9091 0000 		lds r25,(TrimRoll)+1
2660
 2857 1702 821B      		sub r24,r18
2661
 2858 1704 930B      		sbc r25,r19
2662
 2859               	.L167:
2663
 2860 1706 9093 0000 		sts (TrimRoll)+1,r25
2664
 2861 170a 8093 0000 		sts TrimRoll,r24
2665
 2862 170e E090 0000 		lds r14,RohMesswertNick
2666
 2863 1712 F090 0000 		lds r15,(RohMesswertNick)+1
2667
 2864 1716 8091 0000 		lds r24,KopplungsteilRollNick
2668
 2865 171a 9091 0000 		lds r25,(KopplungsteilRollNick)+1
2669
 2866 171e 1E14      		cp __zero_reg__,r14
2670
 2867 1720 1F04      		cpc __zero_reg__,r15
2671
 2868 1722 5CF5      		brge .L135
2672
 2869 1724 9C01      		movw r18,r24
2673
 2870 1726 97FF      		sbrs r25,7
2674
 2871 1728 04C0      		rjmp .L136
2675
 2872 172a 2227      		clr r18
2676
 2873 172c 3327      		clr r19
2677
 2874 172e 281B      		sub r18,r24
2678
 2875 1730 390B      		sbc r19,r25
2679
 2876               	.L136:
2680
 2877 1732 C901      		movw r24,r18
2681
 2878 1734 AA27      		clr r26
2682
 2879 1736 97FD      		sbrc r25,7
2683
 2880 1738 A095      		com r26
2684
 2881 173a BA2F      		mov r27,r26
2685
 2882 173c 2091 0000 		lds r18,Parameter_CouplingYawCorrection
2686
 2883 1740 3327      		clr r19
2687
 2884 1742 4427      		clr r20
2688
 2885 1744 5527      		clr r21
2689
 2886 1746 BC01      		movw r22,r24
2690
 2887 1748 CD01      		movw r24,r26
2691
 2888 174a 0E94 0000 		call __mulsi3
2692
 2889 174e 9B01      		movw r18,r22
2693
 2890 1750 AC01      		movw r20,r24
2694
 2891 1752 97FF      		sbrs r25,7
2695
 2892 1754 04C0      		rjmp .L137
2696
 2893 1756 215C      		subi r18,lo8(-(63))
2697
 2894 1758 3F4F      		sbci r19,hi8(-(63))
2698
 2895 175a 4F4F      		sbci r20,hlo8(-(63))
2699
 2896 175c 5F4F      		sbci r21,hhi8(-(63))
2700
 2897               	.L137:
2701
 2898 175e 96E0      		ldi r25,6
2702
 2899 1760 5595      	1:	asr r21
2703
 2900 1762 4795      		ror r20
2704
 2901 1764 3795      		ror r19
2705
 2902 1766 2795      		ror r18
2706
 2903 1768 9A95      		dec r25
2707
 2904 176a D1F7      		brne 1b
2708
 2905 176c 8091 0000 		lds r24,TrimNick
2709
 2906 1770 9091 0000 		lds r25,(TrimNick)+1
2710
 2907 1774 820F      		add r24,r18
2711
 2908 1776 931F      		adc r25,r19
2712
 2909 1778 27C0      		rjmp .L168
2713
 2910               	.L135:
2714
 2911 177a 97FF      		sbrs r25,7
2715
 2912 177c 03C0      		rjmp .L139
2716
 2913 177e 9095      		com r25
2717
 2914 1780 8195      		neg r24
2718
 2915 1782 9F4F      		sbci r25,lo8(-1)
2719
 2916               	.L139:
2720
 2917 1784 AA27      		clr r26
2721
 2918 1786 97FD      		sbrc r25,7
2722
 2919 1788 A095      		com r26
2723
 2920 178a BA2F      		mov r27,r26
2724
 2921 178c 2091 0000 		lds r18,Parameter_CouplingYawCorrection
2725
 2922 1790 3327      		clr r19
2726
 2923 1792 4427      		clr r20
2727
 2924 1794 5527      		clr r21
2728
 2925 1796 BC01      		movw r22,r24
2729
 2926 1798 CD01      		movw r24,r26
2730
 2927 179a 0E94 0000 		call __mulsi3
2731
 2928 179e 9B01      		movw r18,r22
2732
 2929 17a0 AC01      		movw r20,r24
2733
 2930 17a2 97FF      		sbrs r25,7
2734
 2931 17a4 04C0      		rjmp .L140
2735
 2932 17a6 215C      		subi r18,lo8(-(63))
2736
 2933 17a8 3F4F      		sbci r19,hi8(-(63))
2737
 2934 17aa 4F4F      		sbci r20,hlo8(-(63))
2738
 2935 17ac 5F4F      		sbci r21,hhi8(-(63))
2739
 2936               	.L140:
2740
 2937 17ae 86E0      		ldi r24,6
2741
 2938 17b0 5595      	1:	asr r21
2742
 2939 17b2 4795      		ror r20
2743
 2940 17b4 3795      		ror r19
2744
 2941 17b6 2795      		ror r18
2745
 2942 17b8 8A95      		dec r24
2746
 2943 17ba D1F7      		brne 1b
2747
 2944 17bc 8091 0000 		lds r24,TrimNick
2748
 2945 17c0 9091 0000 		lds r25,(TrimNick)+1
2749
 2946 17c4 821B      		sub r24,r18
2750
 2947 17c6 930B      		sbc r25,r19
2751
 2948               	.L168:
2752
 2949 17c8 9093 0000 		sts (TrimNick)+1,r25
2753
 2950 17cc 8093 0000 		sts TrimNick,r24
2754
 2951 17d0 8091 0000 		lds r24,EE_Parameter+13
2755
 2952 17d4 87FF      		sbrs r24,7
2756
 2953 17d6 44C0      		rjmp .L141
2757
 2954 17d8 9989      		ldd r25,Y+17
2758
 2955 17da 9923      		tst r25
2759
 2956 17dc 09F0      		breq .+2
2760
 2957 17de 40C0      		rjmp .L141
2761
 2958 17e0 8091 0000 		lds r24,Looping_Roll
2762
 2959 17e4 8823      		tst r24
2763
 2960 17e6 E1F5      		brne .L141
2764
 2961 17e8 A1E0      		ldi r26,lo8(257)
2765
 2962 17ea EA16      		cp r14,r26
2766
 2963 17ec A1E0      		ldi r26,hi8(257)
2767
 2964 17ee FA06      		cpc r15,r26
2768
 2965 17f0 4CF0      		brlt .L142
2769
 2966 17f2 8091 0000 		lds r24,MesswertNick
2770
 2967 17f6 9091 0000 		lds r25,(MesswertNick)+1
2771
 2968 17fa 8E0D      		add r24,r14
2772
 2969 17fc 9F1D      		adc r25,r15
2773
 2970 17fe 8050      		subi r24,lo8(-(-256))
2774
 2971 1800 9140      		sbci r25,hi8(-(-256))
2775
 2972 1802 0DC0      		rjmp .L169
2776
 2973               	.L142:
2777
 2974 1804 B0E0      		ldi r27,lo8(-256)
2778
 2975 1806 EB16      		cp r14,r27
2779
 2976 1808 BFEF      		ldi r27,hi8(-256)
2780
 2977 180a FB06      		cpc r15,r27
2781
 2978 180c 64F4      		brge .L143
2782
 2979 180e 8091 0000 		lds r24,MesswertNick
2783
 2980 1812 9091 0000 		lds r25,(MesswertNick)+1
2784
 2981 1816 8E0D      		add r24,r14
2785
 2982 1818 9F1D      		adc r25,r15
2786
 2983 181a 8050      		subi r24,lo8(-(256))
2787
 2984 181c 9F4F      		sbci r25,hi8(-(256))
2788
 2985               	.L169:
2789
 2986 181e 9093 0000 		sts (MesswertNick)+1,r25
2790
 2987 1822 8093 0000 		sts MesswertNick,r24
2791
 2988               	.L143:
2792
 2989 1826 E1E0      		ldi r30,hi8(257)
2793
 2990 1828 0130      		cpi r16,lo8(257)
2794
 2991 182a 1E07      		cpc r17,r30
2795
 2992 182c 4CF0      		brlt .L145
2796
 2993 182e 8091 0000 		lds r24,MesswertRoll
2797
 2994 1832 9091 0000 		lds r25,(MesswertRoll)+1
2798
 2995 1836 800F      		add r24,r16
2799
 2996 1838 911F      		adc r25,r17
2800
 2997 183a 8050      		subi r24,lo8(-(-256))
2801
 2998 183c 9140      		sbci r25,hi8(-(-256))
2802
 2999 183e 0CC0      		rjmp .L170
2803
 3000               	.L145:
2804
 3001 1840 FFEF      		ldi r31,hi8(-256)
2805
 3002 1842 0030      		cpi r16,lo8(-256)
2806
 3003 1844 1F07      		cpc r17,r31
2807
 3004 1846 64F4      		brge .L141
2808
 3005 1848 8091 0000 		lds r24,MesswertRoll
2809
 3006 184c 9091 0000 		lds r25,(MesswertRoll)+1
2810
 3007 1850 800F      		add r24,r16
2811
 3008 1852 911F      		adc r25,r17
2812
 3009 1854 8050      		subi r24,lo8(-(256))
2813
 3010 1856 9F4F      		sbci r25,hi8(-(256))
2814
 3011               	.L170:
2815
 3012 1858 9093 0000 		sts (MesswertRoll)+1,r25
2816
 3013 185c 8093 0000 		sts MesswertRoll,r24
2817
 3014               	.L141:
2818
 3015 1860 A0E0      		ldi r26,lo8(Poti)
2819
 3016 1862 B0E0      		ldi r27,hi8(Poti)
2820
 3017 1864 60E0      		ldi r22,lo8(EE_Parameter+5)
2821
 3018 1866 70E0      		ldi r23,hi8(EE_Parameter+5)
2822
 3019 1868 57E0      		ldi r21,lo8(7)
2823
 3020               	.L158:
2824
 3021 186a FB01      		movw r30,r22
2825
 3022 186c 8191      		ld r24,Z+
2826
 3023 186e BF01      		movw r22,r30
2827
 3024 1870 E82F      		mov r30,r24
2828
 3025 1872 FF27      		clr r31
2829
 3026 1874 EE0F      		add r30,r30
2830
 3027 1876 FF1F      		adc r31,r31
2831
 3028 1878 E050      		subi r30,lo8(-(PPM_in))
2832
 3029 187a F040      		sbci r31,hi8(-(PPM_in))
2833
 3030 187c 0190      		ld __tmp_reg__,Z+
2834
 3031 187e F081      		ld r31,Z
2835
 3032 1880 E02D      		mov r30,__tmp_reg__
2836
 3033 1882 E259      		subi r30,lo8(-(110))
2837
 3034 1884 FF4F      		sbci r31,hi8(-(110))
2838
 3035 1886 EF3F      		cpi r30,255
2839
 3036 1888 F105      		cpc r31,__zero_reg__
2840
 3037 188a 21F0      		breq .L151
2841
 3038 188c 1CF0      		brlt .L151
2842
 3039 188e EFEF      		ldi r30,lo8(255)
2843
 3040 1890 F0E0      		ldi r31,hi8(255)
2844
 3041 1892 04C0      		rjmp .L152
2845
 3042               	.L151:
2846
 3043 1894 F7FF      		sbrs r31,7
2847
 3044 1896 02C0      		rjmp .L152
2848
 3045 1898 E0E0      		ldi r30,lo8(0)
2849
 3046 189a F0E0      		ldi r31,hi8(0)
2850
 3047               	.L152:
2851
 3048 189c 4C91      		ld r20,X
2852
 3049 189e 242F      		mov r18,r20
2853
 3050 18a0 3327      		clr r19
2854
 3051 18a2 E217      		cp r30,r18
2855
 3052 18a4 F307      		cpc r31,r19
2856
 3053 18a6 B1F0      		breq .L150
2857
 3054 18a8 CF01      		movw r24,r30
2858
 3055 18aa 821B      		sub r24,r18
2859
 3056 18ac 930B      		sbc r25,r19
2860
 3057 18ae 97FD      		sbrc r25,7
2861
 3058 18b0 0796      		adiw r24,7
2862
 3059               	.L155:
2863
 3060 18b2 13E0      		ldi r17,3
2864
 3061 18b4 9595      	1:	asr r25
2865
 3062 18b6 8795      		ror r24
2866
 3063 18b8 1A95      		dec r17
2867
 3064 18ba E1F7      		brne 1b
2868
 3065 18bc 242F      		mov r18,r20
2869
 3066 18be 280F      		add r18,r24
2870
 3067 18c0 2C93      		st X,r18
2871
 3068 18c2 822F      		mov r24,r18
2872
 3069 18c4 9927      		clr r25
2873
 3070 18c6 E817      		cp r30,r24
2874
 3071 18c8 F907      		cpc r31,r25
2875
 3072 18ca 14F4      		brge .L156
2876
 3073 18cc 2150      		subi r18,lo8(-(-1))
2877
 3074 18ce 01C0      		rjmp .L171
2878
 3075               	.L156:
2879
 3076 18d0 2F5F      		subi r18,lo8(-(1))
2880
 3077               	.L171:
2881
 3078 18d2 2C93      		st X,r18
2882
 3079               	.L150:
2883
 3080 18d4 5150      		subi r21,lo8(-(-1))
2884
 3081 18d6 1196      		adiw r26,1
2885
 3082 18d8 57FF      		sbrs r21,7
2886
 3083 18da C7CF      		rjmp .L158
2887
 3084               	/* epilogue: frame size=19 */
2888
 3085 18dc E2E1      		ldi r30,18
2889
 3086 18de CD5E      		subi r28,-19
2890
 3087 18e0 0C94 0000 		jmp __epilogue_restores__+0
2891
 3088               	/* epilogue end (size=4) */
2892
 3089               	/* function Mittelwert size 2071 (2061) */
2893
 3091               	.global	SendMotorData
2894
 3093               	SendMotorData:
2895
 3094               	/* prologue: frame size=0 */
2896
 3095               	/* prologue end (size=0) */
2897
 3096 18e4 8091 0000 		lds r24,MotorenEin
2898
 3097 18e8 8823      		tst r24
2899
 3098 18ea 01F5      		brne .L173
2900
 3099 18ec 8091 0000 		lds r24,FCFlags
2901
 3100 18f0 8C7F      		andi r24,lo8(-4)
2902
 3101 18f2 8093 0000 		sts FCFlags,r24
2903
 3102 18f6 A0E0      		ldi r26,lo8(MotorTest)
2904
 3103 18f8 B0E0      		ldi r27,hi8(MotorTest)
2905
 3104 18fa E0E0      		ldi r30,lo8(Motor)
2906
 3105 18fc F0E0      		ldi r31,hi8(Motor)
2907
 3106 18fe 9BE0      		ldi r25,lo8(11)
2908
 3107               	.L178:
2909
 3108 1900 8091 0000 		lds r24,PC_MotortestActive
2910
 3109 1904 8823      		tst r24
2911
 3110 1906 09F4      		brne .L177
2912
 3111 1908 8C93      		st X,r24
2913
 3112               	.L177:
2914
 3113 190a 8D91      		ld r24,X+
2915
 3114 190c 8183      		std Z+1,r24
2916
 3115 190e 1282      		std Z+2,__zero_reg__
2917
 3116 1910 9150      		subi r25,lo8(-(-1))
2918
 3117 1912 3896      		adiw r30,8
2919
 3118 1914 97FF      		sbrs r25,7
2920
 3119 1916 F4CF      		rjmp .L178
2921
 3120 1918 8091 0000 		lds r24,PC_MotortestActive
2922
 3121 191c 8823      		tst r24
2923
 3122 191e 59F0      		breq .L180
2924
 3123 1920 8091 0000 		lds r24,PC_MotortestActive
2925
 3124 1924 8150      		subi r24,lo8(-(-1))
2926
 3125 1926 8093 0000 		sts PC_MotortestActive,r24
2927
 3126 192a 05C0      		rjmp .L180
2928
 3127               	.L173:
2929
 3128 192c 8091 0000 		lds r24,FCFlags
2930
 3129 1930 8160      		ori r24,lo8(1)
2931
 3130 1932 8093 0000 		sts FCFlags,r24
2932
 3131               	.L180:
2933
 3132 1936 1092 0000 		sts motor_write,__zero_reg__
2934
 3133 193a 1092 0000 		sts twi_state,__zero_reg__
2935
 3134 193e 8091 0000 		lds r24,BLFlags
2936
 3135 1942 8E7F      		andi r24,lo8(-2)
2937
 3136 1944 8093 0000 		sts BLFlags,r24
2938
 3137 1948 85EA      		ldi r24,lo8(-91)
2939
 3138 194a 8093 BC00 		sts 188,r24
2940
 3139               	/* epilogue: frame size=0 */
2941
 3140 194e 0895      		ret
2942
 3141               	/* epilogue end (size=1) */
2943
 3142               	/* function SendMotorData size 54 (53) */
2944
 3144               	.global	ParameterZuordnung
2945
 3146               	ParameterZuordnung:
2946
 3147               	/* prologue: frame size=0 */
2947
 3148               	/* prologue end (size=0) */
2948
 3149 1950 8091 0000 		lds r24,EE_Parameter+15
2949
 3150 1954 883F      		cpi r24,lo8(-8)
2950
 3151 1956 38F0      		brlo .L275
2951
 3152 1958 EFEF      		ldi r30,lo8(255)
2952
 3153 195a F0E0      		ldi r31,hi8(255)
2953
 3154 195c E81B      		sub r30,r24
2954
 3155 195e F109      		sbc r31,__zero_reg__
2955
 3156 1960 E050      		subi r30,lo8(-(Poti))
2956
 3157 1962 F040      		sbci r31,hi8(-(Poti))
2957
 3158 1964 8081      		ld r24,Z
2958
 3159               	.L275:
2959
 3160 1966 8093 0000 		sts Parameter_Luftdruck_D,r24
2960
 3161 196a 8091 0000 		lds r24,Parameter_Luftdruck_D
2961
 3162 196e 8823      		tst r24
2962
 3163 1970 29F0      		breq .L187
2963
 3164 1972 8436      		cpi r24,lo8(100)
2964
 3165 1974 18F0      		brlo .L187
2965
 3166 1976 84E6      		ldi r24,lo8(100)
2966
 3167 1978 8093 0000 		sts Parameter_Luftdruck_D,r24
2967
 3168               	.L187:
2968
 3169 197c 8091 0000 		lds r24,EE_Parameter+17
2969
 3170 1980 883F      		cpi r24,lo8(-8)
2970
 3171 1982 38F0      		brlo .L276
2971
 3172 1984 EFEF      		ldi r30,lo8(255)
2972
 3173 1986 F0E0      		ldi r31,hi8(255)
2973
 3174 1988 E81B      		sub r30,r24
2974
 3175 198a F109      		sbc r31,__zero_reg__
2975
 3176 198c E050      		subi r30,lo8(-(Poti))
2976
 3177 198e F040      		sbci r31,hi8(-(Poti))
2977
 3178 1990 8081      		ld r24,Z
2978
 3179               	.L276:
2979
 3180 1992 8093 0000 		sts Parameter_Hoehe_P,r24
2980
 3181 1996 8091 0000 		lds r24,Parameter_Hoehe_P
2981
 3182 199a 8823      		tst r24
2982
 3183 199c 29F0      		breq .L192
2983
 3184 199e 8436      		cpi r24,lo8(100)
2984
 3185 19a0 18F0      		brlo .L192
2985
 3186 19a2 84E6      		ldi r24,lo8(100)
2986
 3187 19a4 8093 0000 		sts Parameter_Hoehe_P,r24
2987
 3188               	.L192:
2988
 3189 19a8 8091 0000 		lds r24,EE_Parameter+30
2989
 3190 19ac 883F      		cpi r24,lo8(-8)
2990
 3191 19ae 38F0      		brlo .L277
2991
 3192 19b0 EFEF      		ldi r30,lo8(255)
2992
 3193 19b2 F0E0      		ldi r31,hi8(255)
2993
 3194 19b4 E81B      		sub r30,r24
2994
 3195 19b6 F109      		sbc r31,__zero_reg__
2995
 3196 19b8 E050      		subi r30,lo8(-(Poti))
2996
 3197 19ba F040      		sbci r31,hi8(-(Poti))
2997
 3198 19bc 8081      		ld r24,Z
2998
 3199               	.L277:
2999
 3200 19be 8093 0000 		sts Parameter_Gyro_P,r24
3000
 3201 19c2 8091 0000 		lds r24,Parameter_Gyro_P
3001
 3202 19c6 8B30      		cpi r24,lo8(11)
3002
 3203 19c8 10F4      		brsh .L196
3003
 3204 19ca 8AE0      		ldi r24,lo8(10)
3004
 3205 19cc 02C0      		rjmp .L278
3005
 3206               	.L196:
3006
 3207 19ce 8F3F      		cpi r24,lo8(-1)
3007
 3208 19d0 11F4      		brne .L197
3008
 3209               	.L278:
3009
 3210 19d2 8093 0000 		sts Parameter_Gyro_P,r24
3010
 3211               	.L197:
3011
 3212 19d6 8091 0000 		lds r24,EE_Parameter+73
3012
 3213 19da 883F      		cpi r24,lo8(-8)
3013
 3214 19dc 38F0      		brlo .L279
3014
 3215 19de EFEF      		ldi r30,lo8(255)
3015
 3216 19e0 F0E0      		ldi r31,hi8(255)
3016
 3217 19e2 E81B      		sub r30,r24
3017
 3218 19e4 F109      		sbc r31,__zero_reg__
3018
 3219 19e6 E050      		subi r30,lo8(-(Poti))
3019
 3220 19e8 F040      		sbci r31,hi8(-(Poti))
3020
 3221 19ea 8081      		ld r24,Z
3021
 3222               	.L279:
3022
 3223 19ec 8093 0000 		sts Parameter_J16Timing,r24
3023
 3224 19f0 8091 0000 		lds r24,Parameter_J16Timing
3024
 3225 19f4 8230      		cpi r24,lo8(2)
3025
 3226 19f6 10F4      		brsh .L201
3026
 3227 19f8 81E0      		ldi r24,lo8(1)
3027
 3228 19fa 02C0      		rjmp .L280
3028
 3229               	.L201:
3029
 3230 19fc 8F3F      		cpi r24,lo8(-1)
3030
 3231 19fe 11F4      		brne .L202
3031
 3232               	.L280:
3032
 3233 1a00 8093 0000 		sts Parameter_J16Timing,r24
3033
 3234               	.L202:
3034
 3235 1a04 8091 0000 		lds r24,EE_Parameter+75
3035
 3236 1a08 883F      		cpi r24,lo8(-8)
3036
 3237 1a0a 38F0      		brlo .L281
3037
 3238 1a0c EFEF      		ldi r30,lo8(255)
3038
 3239 1a0e F0E0      		ldi r31,hi8(255)
3039
 3240 1a10 E81B      		sub r30,r24
3040
 3241 1a12 F109      		sbc r31,__zero_reg__
3041
 3242 1a14 E050      		subi r30,lo8(-(Poti))
3042
 3243 1a16 F040      		sbci r31,hi8(-(Poti))
3043
 3244 1a18 8081      		ld r24,Z
3044
 3245               	.L281:
3045
 3246 1a1a 8093 0000 		sts Parameter_J17Timing,r24
3046
 3247 1a1e 8091 0000 		lds r24,Parameter_J17Timing
3047
 3248 1a22 8230      		cpi r24,lo8(2)
3048
 3249 1a24 10F4      		brsh .L206
3049
 3250 1a26 81E0      		ldi r24,lo8(1)
3050
 3251 1a28 02C0      		rjmp .L282
3051
 3252               	.L206:
3052
 3253 1a2a 8F3F      		cpi r24,lo8(-1)
3053
 3254 1a2c 11F4      		brne .L207
3054
 3255               	.L282:
3055
 3256 1a2e 8093 0000 		sts Parameter_J17Timing,r24
3056
 3257               	.L207:
3057
 3258 1a32 8091 0000 		lds r24,EE_Parameter+54
3058
 3259 1a36 883F      		cpi r24,lo8(-8)
3059
 3260 1a38 38F0      		brlo .L283
3060
 3261 1a3a EFEF      		ldi r30,lo8(255)
3061
 3262 1a3c F0E0      		ldi r31,hi8(255)
3062
 3263 1a3e E81B      		sub r30,r24
3063
 3264 1a40 F109      		sbc r31,__zero_reg__
3064
 3265 1a42 E050      		subi r30,lo8(-(Poti))
3065
 3266 1a44 F040      		sbci r31,hi8(-(Poti))
3066
 3267 1a46 8081      		ld r24,Z
3067
 3268               	.L283:
3068
 3269 1a48 8093 0000 		sts Parameter_Servo3,r24
3069
 3270 1a4c 8091 0000 		lds r24,EE_Parameter+55
3070
 3271 1a50 883F      		cpi r24,lo8(-8)
3071
 3272 1a52 38F0      		brlo .L284
3072
 3273 1a54 EFEF      		ldi r30,lo8(255)
3073
 3274 1a56 F0E0      		ldi r31,hi8(255)
3074
 3275 1a58 E81B      		sub r30,r24
3075
 3276 1a5a F109      		sbc r31,__zero_reg__
3076
 3277 1a5c E050      		subi r30,lo8(-(Poti))
3077
 3278 1a5e F040      		sbci r31,hi8(-(Poti))
3078
 3279 1a60 8081      		ld r24,Z
3079
 3280               	.L284:
3080
 3281 1a62 8093 0000 		sts Parameter_Servo4,r24
3081
 3282 1a66 8091 0000 		lds r24,EE_Parameter+56
3082
 3283 1a6a 883F      		cpi r24,lo8(-8)
3083
 3284 1a6c 38F0      		brlo .L285
3084
 3285 1a6e EFEF      		ldi r30,lo8(255)
3085
 3286 1a70 F0E0      		ldi r31,hi8(255)
3086
 3287 1a72 E81B      		sub r30,r24
3087
 3288 1a74 F109      		sbc r31,__zero_reg__
3088
 3289 1a76 E050      		subi r30,lo8(-(Poti))
3089
 3290 1a78 F040      		sbci r31,hi8(-(Poti))
3090
 3291 1a7a 8081      		ld r24,Z
3091
 3292               	.L285:
3092
 3293 1a7c 8093 0000 		sts Parameter_Servo5,r24
3093
 3294 1a80 9091 0000 		lds r25,EE_Parameter+16
3094
 3295 1a84 983F      		cpi r25,lo8(-8)
3095
 3296 1a86 18F4      		brsh .L215
3096
 3297 1a88 9093 0000 		sts Parameter_MaxHoehe,r25
3097
 3298 1a8c 09C0      		rjmp .L216
3098
 3299               	.L215:
3099
 3300 1a8e EFEF      		ldi r30,lo8(255)
3100
 3301 1a90 F0E0      		ldi r31,hi8(255)
3101
 3302 1a92 E91B      		sub r30,r25
3102
 3303 1a94 F109      		sbc r31,__zero_reg__
3103
 3304 1a96 E050      		subi r30,lo8(-(Poti))
3104
 3305 1a98 F040      		sbci r31,hi8(-(Poti))
3105
 3306 1a9a 8081      		ld r24,Z
3106
 3307 1a9c 8093 0000 		sts Parameter_MaxHoehe,r24
3107
 3308               	.L216:
3108
 3309 1aa0 983F      		cpi r25,lo8(-8)
3109
 3310 1aa2 18F4      		brsh .L217
3110
 3311 1aa4 9093 0000 		sts Parameter_MaxHoehe,r25
3111
 3312 1aa8 09C0      		rjmp .L218
3112
 3313               	.L217:
3113
 3314 1aaa EFEF      		ldi r30,lo8(255)
3114
 3315 1aac F0E0      		ldi r31,hi8(255)
3115
 3316 1aae E91B      		sub r30,r25
3116
 3317 1ab0 F109      		sbc r31,__zero_reg__
3117
 3318 1ab2 E050      		subi r30,lo8(-(Poti))
3118
 3319 1ab4 F040      		sbci r31,hi8(-(Poti))
3119
 3320 1ab6 8081      		ld r24,Z
3120
 3321 1ab8 8093 0000 		sts Parameter_MaxHoehe,r24
3121
 3322               	.L218:
3122
 3323 1abc 8091 0000 		lds r24,EE_Parameter+19
3123
 3324 1ac0 883F      		cpi r24,lo8(-8)
3124
 3325 1ac2 38F0      		brlo .L286
3125
 3326 1ac4 EFEF      		ldi r30,lo8(255)
3126
 3327 1ac6 F0E0      		ldi r31,hi8(255)
3127
 3328 1ac8 E81B      		sub r30,r24
3128
 3329 1aca F109      		sbc r31,__zero_reg__
3129
 3330 1acc E050      		subi r30,lo8(-(Poti))
3130
 3331 1ace F040      		sbci r31,hi8(-(Poti))
3131
 3332 1ad0 8081      		ld r24,Z
3132
 3333               	.L286:
3133
 3334 1ad2 8093 0000 		sts Parameter_Hoehe_ACC_Wirkung,r24
3134
 3335 1ad6 8091 0000 		lds r24,EE_Parameter+21
3135
 3336 1ada 883F      		cpi r24,lo8(-8)
3136
 3337 1adc 38F0      		brlo .L287
3137
 3338 1ade EFEF      		ldi r30,lo8(255)
3138
 3339 1ae0 F0E0      		ldi r31,hi8(255)
3139
 3340 1ae2 E81B      		sub r30,r24
3140
 3341 1ae4 F109      		sbc r31,__zero_reg__
3141
 3342 1ae6 E050      		subi r30,lo8(-(Poti))
3142
 3343 1ae8 F040      		sbci r31,hi8(-(Poti))
3143
 3344 1aea 8081      		ld r24,Z
3144
 3345               	.L287:
3145
 3346 1aec 8093 0000 		sts Parameter_Hoehe_GPS_Z,r24
3146
 3347 1af0 8091 0000 		lds r24,EE_Parameter+29
3147
 3348 1af4 883F      		cpi r24,lo8(-8)
3148
 3349 1af6 38F0      		brlo .L288
3149
 3350 1af8 EFEF      		ldi r30,lo8(255)
3150
 3351 1afa F0E0      		ldi r31,hi8(255)
3151
 3352 1afc E81B      		sub r30,r24
3152
 3353 1afe F109      		sbc r31,__zero_reg__
3153
 3354 1b00 E050      		subi r30,lo8(-(Poti))
3154
 3355 1b02 F040      		sbci r31,hi8(-(Poti))
3155
 3356 1b04 8081      		ld r24,Z
3156
 3357               	.L288:
3157
 3358 1b06 8093 0000 		sts Parameter_KompassWirkung,r24
3158
 3359 1b0a 8091 0000 		lds r24,EE_Parameter+31
3159
 3360 1b0e 883F      		cpi r24,lo8(-8)
3160
 3361 1b10 38F0      		brlo .L289
3161
 3362 1b12 EFEF      		ldi r30,lo8(255)
3162
 3363 1b14 F0E0      		ldi r31,hi8(255)
3163
 3364 1b16 E81B      		sub r30,r24
3164
 3365 1b18 F109      		sbc r31,__zero_reg__
3165
 3366 1b1a E050      		subi r30,lo8(-(Poti))
3166
 3367 1b1c F040      		sbci r31,hi8(-(Poti))
3167
 3368 1b1e 8081      		ld r24,Z
3168
 3369               	.L289:
3169
 3370 1b20 8093 0000 		sts Parameter_Gyro_I,r24
3170
 3371 1b24 8091 0000 		lds r24,EE_Parameter+32
3171
 3372 1b28 883F      		cpi r24,lo8(-8)
3172
 3373 1b2a 38F0      		brlo .L290
3173
 3374 1b2c EFEF      		ldi r30,lo8(255)
3174
 3375 1b2e F0E0      		ldi r31,hi8(255)
3175
 3376 1b30 E81B      		sub r30,r24
3176
 3377 1b32 F109      		sbc r31,__zero_reg__
3177
 3378 1b34 E050      		subi r30,lo8(-(Poti))
3178
 3379 1b36 F040      		sbci r31,hi8(-(Poti))
3179
 3380 1b38 8081      		ld r24,Z
3180
 3381               	.L290:
3181
 3382 1b3a 8093 0000 		sts Parameter_Gyro_D,r24
3182
 3383 1b3e 8091 0000 		lds r24,EE_Parameter+33
3183
 3384 1b42 883F      		cpi r24,lo8(-8)
3184
 3385 1b44 38F0      		brlo .L291
3185
 3386 1b46 EFEF      		ldi r30,lo8(255)
3186
 3387 1b48 F0E0      		ldi r31,hi8(255)
3187
 3388 1b4a E81B      		sub r30,r24
3188
 3389 1b4c F109      		sbc r31,__zero_reg__
3189
 3390 1b4e E050      		subi r30,lo8(-(Poti))
3190
 3391 1b50 F040      		sbci r31,hi8(-(Poti))
3191
 3392 1b52 8081      		ld r24,Z
3192
 3393               	.L291:
3193
 3394 1b54 8093 0000 		sts Parameter_Gyro_Gier_P,r24
3194
 3395 1b58 8091 0000 		lds r24,EE_Parameter+34
3195
 3396 1b5c 883F      		cpi r24,lo8(-8)
3196
 3397 1b5e 38F0      		brlo .L292
3197
 3398 1b60 EFEF      		ldi r30,lo8(255)
3198
 3399 1b62 F0E0      		ldi r31,hi8(255)
3199
 3400 1b64 E81B      		sub r30,r24
3200
 3401 1b66 F109      		sbc r31,__zero_reg__
3201
 3402 1b68 E050      		subi r30,lo8(-(Poti))
3202
 3403 1b6a F040      		sbci r31,hi8(-(Poti))
3203
 3404 1b6c 8081      		ld r24,Z
3204
 3405               	.L292:
3205
 3406 1b6e 8093 0000 		sts Parameter_Gyro_Gier_I,r24
3206
 3407 1b72 8091 0000 		lds r24,EE_Parameter+40
3207
 3408 1b76 883F      		cpi r24,lo8(-8)
3208
 3409 1b78 38F0      		brlo .L293
3209
 3410 1b7a EFEF      		ldi r30,lo8(255)
3210
 3411 1b7c F0E0      		ldi r31,hi8(255)
3211
 3412 1b7e E81B      		sub r30,r24
3212
 3413 1b80 F109      		sbc r31,__zero_reg__
3213
 3414 1b82 E050      		subi r30,lo8(-(Poti))
3214
 3415 1b84 F040      		sbci r31,hi8(-(Poti))
3215
 3416 1b86 8081      		ld r24,Z
3216
 3417               	.L293:
3217
 3418 1b88 8093 0000 		sts Parameter_I_Faktor,r24
3218
 3419 1b8c 8091 0000 		lds r24,EE_Parameter+41
3219
 3420 1b90 883F      		cpi r24,lo8(-8)
3220
 3421 1b92 38F0      		brlo .L294
3221
 3422 1b94 EFEF      		ldi r30,lo8(255)
3222
 3423 1b96 F0E0      		ldi r31,hi8(255)
3223
 3424 1b98 E81B      		sub r30,r24
3224
 3425 1b9a F109      		sbc r31,__zero_reg__
3225
 3426 1b9c E050      		subi r30,lo8(-(Poti))
3226
 3427 1b9e F040      		sbci r31,hi8(-(Poti))
3227
 3428 1ba0 8081      		ld r24,Z
3228
 3429               	.L294:
3229
 3430 1ba2 8093 0000 		sts Parameter_UserParam1,r24
3230
 3431 1ba6 8091 0000 		lds r24,EE_Parameter+42
3231
 3432 1baa 883F      		cpi r24,lo8(-8)
3232
 3433 1bac 38F0      		brlo .L295
3233
 3434 1bae EFEF      		ldi r30,lo8(255)
3234
 3435 1bb0 F0E0      		ldi r31,hi8(255)
3235
 3436 1bb2 E81B      		sub r30,r24
3236
 3437 1bb4 F109      		sbc r31,__zero_reg__
3237
 3438 1bb6 E050      		subi r30,lo8(-(Poti))
3238
 3439 1bb8 F040      		sbci r31,hi8(-(Poti))
3239
 3440 1bba 8081      		ld r24,Z
3240
 3441               	.L295:
3241
 3442 1bbc 8093 0000 		sts Parameter_UserParam2,r24
3242
 3443 1bc0 8091 0000 		lds r24,EE_Parameter+43
3243
 3444 1bc4 883F      		cpi r24,lo8(-8)
3244
 3445 1bc6 38F0      		brlo .L296
3245
 3446 1bc8 EFEF      		ldi r30,lo8(255)
3246
 3447 1bca F0E0      		ldi r31,hi8(255)
3247
 3448 1bcc E81B      		sub r30,r24
3248
 3449 1bce F109      		sbc r31,__zero_reg__
3249
 3450 1bd0 E050      		subi r30,lo8(-(Poti))
3250
 3451 1bd2 F040      		sbci r31,hi8(-(Poti))
3251
 3452 1bd4 8081      		ld r24,Z
3252
 3453               	.L296:
3253
 3454 1bd6 8093 0000 		sts Parameter_UserParam3,r24
3254
 3455 1bda 8091 0000 		lds r24,EE_Parameter+44
3255
 3456 1bde 883F      		cpi r24,lo8(-8)
3256
 3457 1be0 38F0      		brlo .L297
3257
 3458 1be2 EFEF      		ldi r30,lo8(255)
3258
 3459 1be4 F0E0      		ldi r31,hi8(255)
3259
 3460 1be6 E81B      		sub r30,r24
3260
 3461 1be8 F109      		sbc r31,__zero_reg__
3261
 3462 1bea E050      		subi r30,lo8(-(Poti))
3262
 3463 1bec F040      		sbci r31,hi8(-(Poti))
3263
 3464 1bee 8081      		ld r24,Z
3264
 3465               	.L297:
3265
 3466 1bf0 8093 0000 		sts Parameter_UserParam4,r24
3266
 3467 1bf4 8091 0000 		lds r24,EE_Parameter+68
3267
 3468 1bf8 883F      		cpi r24,lo8(-8)
3268
 3469 1bfa 38F0      		brlo .L298
3269
 3470 1bfc EFEF      		ldi r30,lo8(255)
3270
 3471 1bfe F0E0      		ldi r31,hi8(255)
3271
 3472 1c00 E81B      		sub r30,r24
3272
 3473 1c02 F109      		sbc r31,__zero_reg__
3273
 3474 1c04 E050      		subi r30,lo8(-(Poti))
3274
 3475 1c06 F040      		sbci r31,hi8(-(Poti))
3275
 3476 1c08 8081      		ld r24,Z
3276
 3477               	.L298:
3277
 3478 1c0a 8093 0000 		sts Parameter_UserParam5,r24
3278
 3479 1c0e 8091 0000 		lds r24,EE_Parameter+69
3279
 3480 1c12 883F      		cpi r24,lo8(-8)
3280
 3481 1c14 38F0      		brlo .L299
3281
 3482 1c16 EFEF      		ldi r30,lo8(255)
3282
 3483 1c18 F0E0      		ldi r31,hi8(255)
3283
 3484 1c1a E81B      		sub r30,r24
3284
 3485 1c1c F109      		sbc r31,__zero_reg__
3285
 3486 1c1e E050      		subi r30,lo8(-(Poti))
3286
 3487 1c20 F040      		sbci r31,hi8(-(Poti))
3287
 3488 1c22 8081      		ld r24,Z
3288
 3489               	.L299:
3289
 3490 1c24 8093 0000 		sts Parameter_UserParam6,r24
3290
 3491 1c28 8091 0000 		lds r24,EE_Parameter+70
3291
 3492 1c2c 883F      		cpi r24,lo8(-8)
3292
 3493 1c2e 38F0      		brlo .L300
3293
 3494 1c30 EFEF      		ldi r30,lo8(255)
3294
 3495 1c32 F0E0      		ldi r31,hi8(255)
3295
 3496 1c34 E81B      		sub r30,r24
3296
 3497 1c36 F109      		sbc r31,__zero_reg__
3297
 3498 1c38 E050      		subi r30,lo8(-(Poti))
3298
 3499 1c3a F040      		sbci r31,hi8(-(Poti))
3299
 3500 1c3c 8081      		ld r24,Z
3300
 3501               	.L300:
3301
 3502 1c3e 8093 0000 		sts Parameter_UserParam7,r24
3302
 3503 1c42 8091 0000 		lds r24,EE_Parameter+71
3303
 3504 1c46 883F      		cpi r24,lo8(-8)
3304
 3505 1c48 38F0      		brlo .L301
3305
 3506 1c4a EFEF      		ldi r30,lo8(255)
3306
 3507 1c4c F0E0      		ldi r31,hi8(255)
3307
 3508 1c4e E81B      		sub r30,r24
3308
 3509 1c50 F109      		sbc r31,__zero_reg__
3309
 3510 1c52 E050      		subi r30,lo8(-(Poti))
3310
 3511 1c54 F040      		sbci r31,hi8(-(Poti))
3311
 3512 1c56 8081      		ld r24,Z
3312
 3513               	.L301:
3313
 3514 1c58 8093 0000 		sts Parameter_UserParam8,r24
3314
 3515 1c5c 8091 0000 		lds r24,EE_Parameter+45
3315
 3516 1c60 883F      		cpi r24,lo8(-8)
3316
 3517 1c62 38F0      		brlo .L302
3317
 3518 1c64 EFEF      		ldi r30,lo8(255)
3318
 3519 1c66 F0E0      		ldi r31,hi8(255)
3319
 3520 1c68 E81B      		sub r30,r24
3320
 3521 1c6a F109      		sbc r31,__zero_reg__
3321
 3522 1c6c E050      		subi r30,lo8(-(Poti))
3322
 3523 1c6e F040      		sbci r31,hi8(-(Poti))
3323
 3524 1c70 8081      		ld r24,Z
3324
 3525               	.L302:
3325
 3526 1c72 8093 0000 		sts Parameter_ServoNickControl,r24
3326
 3527 1c76 8091 0000 		lds r24,EE_Parameter+49
3327
 3528 1c7a 883F      		cpi r24,lo8(-8)
3328
 3529 1c7c 38F0      		brlo .L303
3329
 3530 1c7e EFEF      		ldi r30,lo8(255)
3330
 3531 1c80 F0E0      		ldi r31,hi8(255)
3331
 3532 1c82 E81B      		sub r30,r24
3332
 3533 1c84 F109      		sbc r31,__zero_reg__
3333
 3534 1c86 E050      		subi r30,lo8(-(Poti))
3334
 3535 1c88 F040      		sbci r31,hi8(-(Poti))
3335
 3536 1c8a 8081      		ld r24,Z
3336
 3537               	.L303:
3337
 3538 1c8c 8093 0000 		sts Parameter_ServoRollControl,r24
3338
 3539 1c90 8091 0000 		lds r24,EE_Parameter+57
3339
 3540 1c94 883F      		cpi r24,lo8(-8)
3340
 3541 1c96 38F0      		brlo .L304
3341
 3542 1c98 EFEF      		ldi r30,lo8(255)
3342
 3543 1c9a F0E0      		ldi r31,hi8(255)
3343
 3544 1c9c E81B      		sub r30,r24
3344
 3545 1c9e F109      		sbc r31,__zero_reg__
3345
 3546 1ca0 E050      		subi r30,lo8(-(Poti))
3346
 3547 1ca2 F040      		sbci r31,hi8(-(Poti))
3347
 3548 1ca4 8081      		ld r24,Z
3348
 3549               	.L304:
3349
 3550 1ca6 8093 0000 		sts Parameter_LoopGasLimit,r24
3350
 3551 1caa 8091 0000 		lds r24,EE_Parameter+60
3351
 3552 1cae 883F      		cpi r24,lo8(-8)
3352
 3553 1cb0 38F0      		brlo .L305
3353
 3554 1cb2 EFEF      		ldi r30,lo8(255)
3354
 3555 1cb4 F0E0      		ldi r31,hi8(255)
3355
 3556 1cb6 E81B      		sub r30,r24
3356
 3557 1cb8 F109      		sbc r31,__zero_reg__
3357
 3558 1cba E050      		subi r30,lo8(-(Poti))
3358
 3559 1cbc F040      		sbci r31,hi8(-(Poti))
3359
 3560 1cbe 8081      		ld r24,Z
3360
 3561               	.L305:
3361
 3562 1cc0 8093 0000 		sts Parameter_AchsKopplung1,r24
3362
 3563 1cc4 8091 0000 		lds r24,EE_Parameter+61
3363
 3564 1cc8 883F      		cpi r24,lo8(-8)
3364
 3565 1cca 38F0      		brlo .L306
3365
 3566 1ccc EFEF      		ldi r30,lo8(255)
3366
 3567 1cce F0E0      		ldi r31,hi8(255)
3367
 3568 1cd0 E81B      		sub r30,r24
3368
 3569 1cd2 F109      		sbc r31,__zero_reg__
3369
 3570 1cd4 E050      		subi r30,lo8(-(Poti))
3370
 3571 1cd6 F040      		sbci r31,hi8(-(Poti))
3371
 3572 1cd8 8081      		ld r24,Z
3372
 3573               	.L306:
3373
 3574 1cda 8093 0000 		sts Parameter_AchsKopplung2,r24
3374
 3575 1cde 8091 0000 		lds r24,EE_Parameter+62
3375
 3576 1ce2 883F      		cpi r24,lo8(-8)
3376
 3577 1ce4 38F0      		brlo .L307
3377
 3578 1ce6 EFEF      		ldi r30,lo8(255)
3378
 3579 1ce8 F0E0      		ldi r31,hi8(255)
3379
 3580 1cea E81B      		sub r30,r24
3380
 3581 1cec F109      		sbc r31,__zero_reg__
3381
 3582 1cee E050      		subi r30,lo8(-(Poti))
3382
 3583 1cf0 F040      		sbci r31,hi8(-(Poti))
3383
 3584 1cf2 8081      		ld r24,Z
3384
 3585               	.L307:
3385
 3586 1cf4 8093 0000 		sts Parameter_CouplingYawCorrection,r24
3386
 3587 1cf8 8091 0000 		lds r24,EE_Parameter+67
3387
 3588 1cfc 883F      		cpi r24,lo8(-8)
3388
 3589 1cfe 38F0      		brlo .L308
3389
 3590 1d00 EFEF      		ldi r30,lo8(255)
3390
 3591 1d02 F0E0      		ldi r31,hi8(255)
3391
 3592 1d04 E81B      		sub r30,r24
3392
 3593 1d06 F109      		sbc r31,__zero_reg__
3393
 3594 1d08 E050      		subi r30,lo8(-(Poti))
3394
 3595 1d0a F040      		sbci r31,hi8(-(Poti))
3395
 3596 1d0c 8081      		ld r24,Z
3396
 3597               	.L308:
3397
 3598 1d0e 8093 0000 		sts Parameter_DynamicStability,r24
3398
 3599 1d12 8091 0000 		lds r24,EE_Parameter+94
3399
 3600 1d16 883F      		cpi r24,lo8(-8)
3400
 3601 1d18 38F0      		brlo .L309
3401
 3602 1d1a EFEF      		ldi r30,lo8(255)
3402
 3603 1d1c F0E0      		ldi r31,hi8(255)
3403
 3604 1d1e E81B      		sub r30,r24
3404
 3605 1d20 F109      		sbc r31,__zero_reg__
3405
 3606 1d22 E050      		subi r30,lo8(-(Poti))
3406
 3607 1d24 F040      		sbci r31,hi8(-(Poti))
3407
 3608 1d26 8081      		ld r24,Z
3408
 3609               	.L309:
3409
 3610 1d28 8093 0000 		sts Parameter_ExternalControl,r24
3410
 3611 1d2c 8091 0000 		lds r24,Parameter_I_Faktor
3411
 3612 1d30 282F      		mov r18,r24
3412
 3613 1d32 3327      		clr r19
3413
 3614 1d34 2F5F      		subi r18,lo8(-(1))
3414
 3615 1d36 3F4F      		sbci r19,hi8(-(1))
3415
 3616 1d38 8CE3      		ldi r24,lo8(10300)
3416
 3617 1d3a 98E2      		ldi r25,hi8(10300)
3417
 3618 1d3c B901      		movw r22,r18
3418
 3619 1d3e 0E94 0000 		call __divmodhi4
3419
 3620 1d42 7093 0000 		sts (Ki)+1,r23
3420
 3621 1d46 6093 0000 		sts Ki,r22
3421
 3622 1d4a 8091 0000 		lds r24,EE_Parameter+27
3422
 3623 1d4e 8093 0000 		sts MAX_GAS,r24
3423
 3624 1d52 8091 0000 		lds r24,EE_Parameter+26
3424
 3625 1d56 8093 0000 		sts MIN_GAS,r24
3425
 3626 1d5a 9091 0000 		lds r25,EE_Parameter+96
3426
 3627 1d5e 9333      		cpi r25,lo8(51)
3427
 3628 1d60 20F1      		brlo .L267
3428
 3629 1d62 81E0      		ldi r24,lo8(1)
3429
 3630 1d64 8093 0000 		sts CareFree,r24
3430
 3631 1d68 983F      		cpi r25,lo8(-8)
3431
 3632 1d6a 58F0      		brlo .L268
3432
 3633 1d6c EFEF      		ldi r30,lo8(255)
3433
 3634 1d6e F0E0      		ldi r31,hi8(255)
3434
 3635 1d70 E91B      		sub r30,r25
3435
 3636 1d72 F109      		sbc r31,__zero_reg__
3436
 3637 1d74 E050      		subi r30,lo8(-(Poti))
3437
 3638 1d76 F040      		sbci r31,hi8(-(Poti))
3438
 3639 1d78 8081      		ld r24,Z
3439
 3640 1d7a 8233      		cpi r24,lo8(50)
3440
 3641 1d7c 10F4      		brsh .L268
3441
 3642 1d7e 1092 0000 		sts CareFree,__zero_reg__
3442
 3643               	.L268:
3443
 3644 1d82 8091 0000 		lds r24,FromNaviCtrl+7
3444
 3645 1d86 9091 0000 		lds r25,(FromNaviCtrl+7)+1
3445
 3646 1d8a 97FF      		sbrs r25,7
3446
 3647 1d8c 08C0      		rjmp .L269
3447
 3648 1d8e 8091 0000 		lds r24,CareFree
3448
 3649 1d92 8823      		tst r24
3449
 3650 1d94 21F0      		breq .L269
3450
 3651 1d96 8091 0000 		lds r24,VersionInfo+5
3451
 3652 1d9a 8068      		ori r24,lo8(-128)
3452
 3653 1d9c 03C0      		rjmp .L310
3453
 3654               	.L269:
3454
 3655 1d9e 8091 0000 		lds r24,VersionInfo+5
3455
 3656 1da2 8F77      		andi r24,lo8(127)
3456
 3657               	.L310:
3457
 3658 1da4 8093 0000 		sts VersionInfo+5,r24
3458
 3659 1da8 02C0      		rjmp .L271
3459
 3660               	.L267:
3460
 3661 1daa 1092 0000 		sts CareFree,__zero_reg__
3461
 3662               	.L271:
3462
 3663 1dae 8091 0000 		lds r24,FromNaviCtrl+7
3463
 3664 1db2 9091 0000 		lds r25,(FromNaviCtrl+7)+1
3464
 3665 1db6 97FF      		sbrs r25,7
3465
 3666 1db8 1DC0      		rjmp .L272
3466
 3667 1dba 8091 0000 		lds r24,MotorenEin
3467
 3668 1dbe 8823      		tst r24
3468
 3669 1dc0 C9F0      		breq .L272
3469
 3670 1dc2 8091 0000 		lds r24,CareFree
3470
 3671 1dc6 8823      		tst r24
3471
 3672 1dc8 A9F0      		breq .L272
3472
 3673 1dca 8091 0000 		lds r24,BeepMuster
3473
 3674 1dce 9091 0000 		lds r25,(BeepMuster)+1
3474
 3675 1dd2 8F5F      		subi r24,lo8(-1)
3475
 3676 1dd4 9F4F      		sbci r25,hi8(-1)
3476
 3677 1dd6 71F4      		brne .L272
3477
 3678 1dd8 88E9      		ldi r24,lo8(15000)
3478
 3679 1dda 9AE3      		ldi r25,hi8(15000)
3479
 3680 1ddc 9093 0000 		sts (beeptime)+1,r25
3480
 3681 1de0 8093 0000 		sts beeptime,r24
3481
 3682 1de4 80E0      		ldi r24,lo8(-23552)
3482
 3683 1de6 94EA      		ldi r25,hi8(-23552)
3483
 3684 1de8 9093 0000 		sts (BeepMuster)+1,r25
3484
 3685 1dec 8093 0000 		sts BeepMuster,r24
3485
 3686 1df0 1092 0000 		sts CareFree,__zero_reg__
3486
 3687               	.L272:
3487
 3688 1df4 8091 0000 		lds r24,CareFree
3488
 3689 1df8 8823      		tst r24
3489
 3690 1dfa 39F0      		breq .L183
3490
 3691 1dfc 8091 0000 		lds r24,Parameter_AchsKopplung1
3491
 3692 1e00 823D      		cpi r24,lo8(-46)
3492
 3693 1e02 18F4      		brsh .L183
3493
 3694 1e04 825E      		subi r24,lo8(-(30))
3494
 3695 1e06 8093 0000 		sts Parameter_AchsKopplung1,r24
3495
 3696               	.L183:
3496
 3697 1e0a 0895      		ret
3497
 3698               	/* epilogue: frame size=0 */
3498
 3699               	/* epilogue: noreturn */
3499
 3700               	/* epilogue end (size=0) */
3500
 3701               	/* function ParameterZuordnung size 607 (607) */
3501
 3703               		.lcomm sollGier.0,4
3502
 3704               		.lcomm tmp_long.1,4
3503
 3705               		.lcomm tmp_long2.2,4
3504
 3706               		.lcomm IntegralFehlerNick.3,4
3505
 3707               		.lcomm IntegralFehlerRoll.4,4
3506
 3708               		.lcomm RcLostTimer.5,2
3507
 3709               		.lcomm delay_neutral.6,1
3508
 3710               		.lcomm delay_einschalten.7,1
3509
 3711               		.lcomm delay_ausschalten.8,1
3510
 3712               		.lcomm calibration_done.9,1
3511
 3713               		.lcomm NeueKompassRichtungMerken.10,1
3512
 3714               		.lcomm ausgleichNick.11,4
3513
 3715               		.lcomm ausgleichRoll.12,4
3514
 3716               		.lcomm stick_nick.13,2
3515
 3717               		.lcomm stick_roll.14,2
3516
 3718               		.lcomm cnt.15,2
3517
 3719               		.lcomm last_n_p.16,1
3518
 3720               		.lcomm last_n_n.17,1
3519
 3721               		.lcomm last_r_p.18,1
3520
 3722               		.lcomm last_r_n.19,1
3521
 3723               		.lcomm MittelIntegralNick_Alt.20,4
3522
 3724               		.lcomm MittelIntegralRoll_Alt.21,4
3523
 3725               		.lcomm HeightTrimming.22,2
3524
 3726               		.lcomm FilterHCGas.23,2
3525
 3727               		.data
3526
 3730               	StickGasHover.24:
3527
 3731 0027 7800      		.word	120
3528
 3732               		.lcomm HoverGasMin.25,2
3529
 3735               	HoverGasMax.26:
3530
 3736 0029 FF03      		.word	1023
3531
 3737               		.lcomm HoverGasFilter.27,4
3532
 3740               	delay.28:
3533
 3741 002b 64        		.byte	100
3534
 3742               		.lcomm BaroAtUpperLimit.29,1
3535
 3743               		.lcomm BaroAtLowerLimit.30,1
3536
 3744               		.lcomm HeightTrimmingFlag.31,1
3537
 3745               	.LC0:
3538
 3746 002c 00        		.byte	0
3539
 3747 002d 02        		.byte	2
3540
 3748 002e 04        		.byte	4
3541
 3749 002f 06        		.byte	6
3542
 3750 0030 07        		.byte	7
3543
 3751 0031 08        		.byte	8
3544
 3752 0032 08        		.byte	8
3545
 3753 0033 08        		.byte	8
3546
 3754 0034 07        		.byte	7
3547
 3755 0035 06        		.byte	6
3548
 3756 0036 04        		.byte	4
3549
 3757 0037 02        		.byte	2
3550
 3758 0038 00        		.byte	0
3551
 3759 0039 FE        		.byte	-2
3552
 3760 003a FC        		.byte	-4
3553
 3761 003b FA        		.byte	-6
3554
 3762 003c F9        		.byte	-7
3555
 3763 003d F8        		.byte	-8
3556
 3764 003e F8        		.byte	-8
3557
 3765 003f F8        		.byte	-8
3558
 3766 0040 F9        		.byte	-7
3559
 3767 0041 FA        		.byte	-6
3560
 3768 0042 FC        		.byte	-4
3561
 3769 0043 FE        		.byte	-2
3562
 3770 0044 00        		.byte	0
3563
 3771 0045 02        		.byte	2
3564
 3772 0046 04        		.byte	4
3565
 3773 0047 06        		.byte	6
3566
 3774 0048 07        		.byte	7
3567
 3775 0049 08        		.byte	8
3568
 3776 004a 08        		.byte	8
3569
 3777               		.text
3570
 3778               	.global	MotorRegler
3571
 3780               	MotorRegler:
3572
 3781               	/* prologue: frame size=53 */
3573
 3782 1e0c A5E3      		ldi r26,lo8(53)
3574
 3783 1e0e B0E0      		ldi r27,hi8(53)
3575
 3784 1e10 E0E0      		ldi r30,pm_lo8(1f)
3576
 3785 1e12 F0E0      		ldi r31,pm_hi8(1f)
3577
 3786 1e14 0C94 0000 		jmp __prologue_saves__+0
3578
 3787               	1:
3579
 3788               	/* prologue end (size=6) */
3580
 3789 1e18 0E94 0000 		call Mittelwert
3581
 3790 1e1c 3091 0000 		lds r19,PlatinenVersion
3582
 3791 1e20 3C30      		cpi r19,lo8(12)
3583
 3792 1e22 10F4      		brsh .L312
3584
 3793 1e24 299A      		sbi 37-0x20,1
3585
 3794 1e26 01C0      		rjmp .L313
3586
 3795               	.L312:
3587
 3796 1e28 2998      		cbi 37-0x20,1
3588
 3797               	.L313:
3589
 3798 1e2a E090 0000 		lds r14,StickGas
3590
 3799 1e2e F090 0000 		lds r15,(StickGas)+1
3591
 3800 1e32 F9A2      		std Y+33,r15
3592
 3801 1e34 E8A2      		std Y+32,r14
3593
 3802 1e36 8091 0000 		lds r24,MIN_GAS
3594
 3803 1e3a 9927      		clr r25
3595
 3804 1e3c 0A96      		adiw r24,10
3596
 3805 1e3e E816      		cp r14,r24
3597
 3806 1e40 F906      		cpc r15,r25
3598
 3807 1e42 14F4      		brge .L314
3599
 3808 1e44 99A3      		std Y+33,r25
3600
 3809 1e46 88A3      		std Y+32,r24
3601
 3810               	.L314:
3602
 3811 1e48 8091 0000 		lds r24,SenderOkay
3603
 3812 1e4c 8436      		cpi r24,lo8(100)
3604
 3813 1e4e 08F0      		brlo .+2
3605
 3814 1e50 5CC0      		rjmp .L315
3606
 3815 1e52 8091 0000 		lds r24,RcLostTimer.5
3607
 3816 1e56 9091 0000 		lds r25,(RcLostTimer.5)+1
3608
 3817 1e5a 0097      		sbiw r24,0
3609
 3818 1e5c 31F0      		breq .L316
3610
 3819 1e5e 0197      		sbiw r24,1
3611
 3820 1e60 9093 0000 		sts (RcLostTimer.5)+1,r25
3612
 3821 1e64 8093 0000 		sts RcLostTimer.5,r24
3613
 3822 1e68 07C0      		rjmp .L317
3614
 3823               	.L316:
3615
 3824 1e6a 1092 0000 		sts MotorenEin,__zero_reg__
3616
 3825 1e6e 8091 0000 		lds r24,FCFlags
3617
 3826 1e72 8F7E      		andi r24,lo8(-17)
3618
 3827 1e74 8093 0000 		sts FCFlags,r24
3619
 3828               	.L317:
3620
 3829 1e78 3A30      		cpi r19,lo8(10)
3621
 3830 1e7a 11F0      		breq .L319
3622
 3831 1e7c 3431      		cpi r19,lo8(20)
3623
 3832 1e7e 10F0      		brlo .L318
3624
 3833               	.L319:
3625
 3834 1e80 289A      		sbi 37-0x20,0
3626
 3835 1e82 01C0      		rjmp .L320
3627
 3836               	.L318:
3628
 3837 1e84 2898      		cbi 37-0x20,0
3629
 3838               	.L320:
3630
 3839 1e86 8091 0000 		lds r24,modell_fliegt
3631
 3840 1e8a 9091 0000 		lds r25,(modell_fliegt)+1
3632
 3841 1e8e 895E      		subi r24,lo8(1001)
3633
 3842 1e90 9340      		sbci r25,hi8(1001)
3634
 3843 1e92 C0F1      		brlo .L321
3635
 3844 1e94 8091 0000 		lds r24,EE_Parameter+37
3636
 3845 1e98 282F      		mov r18,r24
3637
 3846 1e9a 3327      		clr r19
3638
 3847 1e9c 39A3      		std Y+33,r19
3639
 3848 1e9e 28A3      		std Y+32,r18
3640
 3849 1ea0 8091 0000 		lds r24,FCFlags
3641
 3850 1ea4 8061      		ori r24,lo8(16)
3642
 3851 1ea6 8093 0000 		sts FCFlags,r24
3643
 3852 1eaa 8091 0000 		lds r24,EE_Parameter+1
3644
 3853 1eae A82F      		mov r26,r24
3645
 3854 1eb0 BB27      		clr r27
3646
 3855 1eb2 AA0F      		add r26,r26
3647
 3856 1eb4 BB1F      		adc r27,r27
3648
 3857 1eb6 FD01      		movw r30,r26
3649
 3858 1eb8 E050      		subi r30,lo8(-(PPM_diff))
3650
 3859 1eba F040      		sbci r31,hi8(-(PPM_diff))
3651
 3860 1ebc 1182      		std Z+1,__zero_reg__
3652
 3861 1ebe 1082      		st Z,__zero_reg__
3653
 3862 1ec0 8091 0000 		lds r24,EE_Parameter+2
3654
 3863 1ec4 282F      		mov r18,r24
3655
 3864 1ec6 3327      		clr r19
3656
 3865 1ec8 220F      		add r18,r18
3657
 3866 1eca 331F      		adc r19,r19
3658
 3867 1ecc C901      		movw r24,r18
3659
 3868 1ece 8050      		subi r24,lo8(-(PPM_diff))
3660
 3869 1ed0 9040      		sbci r25,hi8(-(PPM_diff))
3661
 3870 1ed2 FC01      		movw r30,r24
3662
 3871 1ed4 1182      		std Z+1,__zero_reg__
3663
 3872 1ed6 1082      		st Z,__zero_reg__
3664
 3873 1ed8 A050      		subi r26,lo8(-(PPM_in))
3665
 3874 1eda B040      		sbci r27,hi8(-(PPM_in))
3666
 3875 1edc 1196      		adiw r26,1
3667
 3876 1ede 1C92      		st X,__zero_reg__
3668
 3877 1ee0 1E92      		st -X,__zero_reg__
3669
 3878 1ee2 2050      		subi r18,lo8(-(PPM_in))
3670
 3879 1ee4 3040      		sbci r19,hi8(-(PPM_in))
3671
 3880 1ee6 D901      		movw r26,r18
3672
 3881 1ee8 1196      		adiw r26,1
3673
 3882 1eea 1C92      		st X,__zero_reg__
3674
 3883 1eec 1E92      		st -X,__zero_reg__
3675
 3884 1eee 8091 0000 		lds r24,EE_Parameter+4
3676
 3885 1ef2 E82F      		mov r30,r24
3677
 3886 1ef4 FF27      		clr r31
3678
 3887 1ef6 EE0F      		add r30,r30
3679
 3888 1ef8 FF1F      		adc r31,r31
3680
 3889 1efa E050      		subi r30,lo8(-(PPM_in))
3681
 3890 1efc F040      		sbci r31,hi8(-(PPM_in))
3682
 3891 1efe 1182      		std Z+1,__zero_reg__
3683
 3892 1f00 1082      		st Z,__zero_reg__
3684
 3893 1f02 AAC2      		rjmp .L323
3685
 3894               	.L321:
3686
 3895 1f04 1092 0000 		sts MotorenEin,__zero_reg__
3687
 3896 1f08 A7C2      		rjmp .L323
3688
 3897               	.L315:
3689
 3898 1f0a 8091 0000 		lds r24,SenderOkay
3690
 3899 1f0e 8D38      		cpi r24,lo8(-115)
3691
 3900 1f10 08F4      		brsh .+2
3692
 3901 1f12 A2C2      		rjmp .L323
3693
 3902 1f14 8091 0000 		lds r24,FCFlags
3694
 3903 1f18 8F7E      		andi r24,lo8(-17)
3695
 3904 1f1a 8093 0000 		sts FCFlags,r24
3696
 3905 1f1e 9091 0000 		lds r25,EE_Parameter+38
3697
 3906 1f22 82E3      		ldi r24,lo8(50)
3698
 3907 1f24 989F      		mul r25,r24
3699
 3908 1f26 C001      		movw r24,r0
3700
 3909 1f28 1124      		clr r1
3701
 3910 1f2a 9093 0000 		sts (RcLostTimer.5)+1,r25
3702
 3911 1f2e 8093 0000 		sts RcLostTimer.5,r24
3703
 3912 1f32 E8A1      		ldd r30,Y+32
3704
 3913 1f34 F9A1      		ldd r31,Y+33
3705
 3914 1f36 B997      		sbiw r30,41
3706
 3915 1f38 8CF0      		brlt .L325
3707
 3916 1f3a 8091 0000 		lds r24,MotorenEin
3708
 3917 1f3e 8823      		tst r24
3709
 3918 1f40 69F0      		breq .L325
3710
 3919 1f42 8091 0000 		lds r24,modell_fliegt
3711
 3920 1f46 9091 0000 		lds r25,(modell_fliegt)+1
3712
 3921 1f4a FFEF      		ldi r31,hi8(-1)
3713
 3922 1f4c 8F3F      		cpi r24,lo8(-1)
3714
 3923 1f4e 9F07      		cpc r25,r31
3715
 3924 1f50 29F0      		breq .L325
3716
 3925 1f52 0196      		adiw r24,1
3717
 3926 1f54 9093 0000 		sts (modell_fliegt)+1,r25
3718
 3927 1f58 8093 0000 		sts modell_fliegt,r24
3719
 3928               	.L325:
3720
 3929 1f5c 8091 0000 		lds r24,modell_fliegt
3721
 3930 1f60 9091 0000 		lds r25,(modell_fliegt)+1
3722
 3931 1f64 8F3F      		cpi r24,255
3723
 3932 1f66 9105      		cpc r25,__zero_reg__
3724
 3933 1f68 09F0      		breq .+2
3725
 3934 1f6a 38F5      		brsh .L327
3726
 3935 1f6c 1092 0000 		sts SummeNick,__zero_reg__
3727
 3936 1f70 1092 0000 		sts (SummeNick)+1,__zero_reg__
3728
 3937 1f74 1092 0000 		sts (SummeNick)+2,__zero_reg__
3729
 3938 1f78 1092 0000 		sts (SummeNick)+3,__zero_reg__
3730
 3939 1f7c 1092 0000 		sts SummeRoll,__zero_reg__
3731
 3940 1f80 1092 0000 		sts (SummeRoll)+1,__zero_reg__
3732
 3941 1f84 1092 0000 		sts (SummeRoll)+2,__zero_reg__
3733
 3942 1f88 1092 0000 		sts (SummeRoll)+3,__zero_reg__
3734
 3943 1f8c 1092 0000 		sts sollGier.0,__zero_reg__
3735
 3944 1f90 1092 0000 		sts (sollGier.0)+1,__zero_reg__
3736
 3945 1f94 1092 0000 		sts (sollGier.0)+2,__zero_reg__
3737
 3946 1f98 1092 0000 		sts (sollGier.0)+3,__zero_reg__
3738
 3947 1f9c 1092 0000 		sts Mess_Integral_Gier,__zero_reg__
3739
 3948 1fa0 1092 0000 		sts (Mess_Integral_Gier)+1,__zero_reg__
3740
 3949 1fa4 1092 0000 		sts (Mess_Integral_Gier)+2,__zero_reg__
3741
 3950 1fa8 1092 0000 		sts (Mess_Integral_Gier)+3,__zero_reg__
3742
 3951 1fac 8A3F      		cpi r24,250
3743
 3952 1fae 9105      		cpc r25,__zero_reg__
3744
 3953 1fb0 49F4      		brne .L329
3745
 3954 1fb2 81E0      		ldi r24,lo8(1)
3746
 3955 1fb4 8093 0000 		sts NeueKompassRichtungMerken.10,r24
3747
 3956 1fb8 05C0      		rjmp .L329
3748
 3957               	.L327:
3749
 3958 1fba 8091 0000 		lds r24,FCFlags
3750
 3959 1fbe 8260      		ori r24,lo8(2)
3751
 3960 1fc0 8093 0000 		sts FCFlags,r24
3752
 3961               	.L329:
3753
 3962 1fc4 8091 0000 		lds r24,EE_Parameter+3
3754
 3963 1fc8 E82F      		mov r30,r24
3755
 3964 1fca FF27      		clr r31
3756
 3965 1fcc EE0F      		add r30,r30
3757
 3966 1fce FF1F      		adc r31,r31
3758
 3967 1fd0 E050      		subi r30,lo8(-(PPM_in))
3759
 3968 1fd2 F040      		sbci r31,hi8(-(PPM_in))
3760
 3969 1fd4 8081      		ld r24,Z
3761
 3970 1fd6 9181      		ldd r25,Z+1
3762
 3971 1fd8 8135      		cpi r24,81
3763
 3972 1fda 9105      		cpc r25,__zero_reg__
3764
 3973 1fdc 0CF4      		brge .+2
3765
 3974 1fde 41C1      		rjmp .L330
3766
 3975 1fe0 2091 0000 		lds r18,MotorenEin
3767
 3976 1fe4 2223      		tst r18
3768
 3977 1fe6 09F0      		breq .+2
3769
 3978 1fe8 3CC1      		rjmp .L330
3770
 3979 1fea 8091 0000 		lds r24,EE_Parameter+4
3771
 3980 1fee E82F      		mov r30,r24
3772
 3981 1ff0 FF27      		clr r31
3773
 3982 1ff2 EE0F      		add r30,r30
3774
 3983 1ff4 FF1F      		adc r31,r31
3775
 3984 1ff6 E050      		subi r30,lo8(-(PPM_in))
3776
 3985 1ff8 F040      		sbci r31,hi8(-(PPM_in))
3777
 3986 1ffa 8081      		ld r24,Z
3778
 3987 1ffc 9181      		ldd r25,Z+1
3779
 3988 1ffe 8C34      		cpi r24,76
3780
 3989 2000 9105      		cpc r25,__zero_reg__
3781
 3990 2002 0CF4      		brge .+2
3782
 3991 2004 06C1      		rjmp .L331
3783
 3992 2006 8091 0000 		lds r24,delay_neutral.6
3784
 3993 200a 8F5F      		subi r24,lo8(-(1))
3785
 3994 200c 8093 0000 		sts delay_neutral.6,r24
3786
 3995 2010 893C      		cpi r24,lo8(-55)
3787
 3996 2012 08F4      		brsh .+2
3788
 3997 2014 26C1      		rjmp .L330
3789
 3998 2016 3C30      		cpi r19,lo8(12)
3790
 3999 2018 10F4      		brsh .L333
3791
 4000 201a 2998      		cbi 37-0x20,1
3792
 4001 201c 01C0      		rjmp .L334
3793
 4002               	.L333:
3794
 4003 201e 299A      		sbi 37-0x20,1
3795
 4004               	.L334:
3796
 4005 2020 1092 0000 		sts MotorenEin,__zero_reg__
3797
 4006 2024 1092 0000 		sts delay_neutral.6,__zero_reg__
3798
 4007 2028 1092 0000 		sts (modell_fliegt)+1,__zero_reg__
3799
 4008 202c 1092 0000 		sts modell_fliegt,__zero_reg__
3800
 4009 2030 3091 0000 		lds r19,EE_Parameter+1
3801
 4010 2034 E32F      		mov r30,r19
3802
 4011 2036 FF27      		clr r31
3803
 4012 2038 EE0F      		add r30,r30
3804
 4013 203a FF1F      		adc r31,r31
3805
 4014 203c E050      		subi r30,lo8(-(PPM_in))
3806
 4015 203e F040      		sbci r31,hi8(-(PPM_in))
3807
 4016 2040 8081      		ld r24,Z
3808
 4017 2042 9181      		ldd r25,Z+1
3809
 4018 2044 8734      		cpi r24,71
3810
 4019 2046 9105      		cpc r25,__zero_reg__
3811
 4020 2048 B4F4      		brge .L336
3812
 4021 204a 8091 0000 		lds r24,EE_Parameter+2
3813
 4022 204e E82F      		mov r30,r24
3814
 4023 2050 FF27      		clr r31
3815
 4024 2052 EE0F      		add r30,r30
3816
 4025 2054 FF1F      		adc r31,r31
3817
 4026 2056 E050      		subi r30,lo8(-(PPM_in))
3818
 4027 2058 F040      		sbci r31,hi8(-(PPM_in))
3819
 4028 205a 8081      		ld r24,Z
3820
 4029 205c 9181      		ldd r25,Z+1
3821
 4030 205e 0190      		ld __tmp_reg__,Z+
3822
 4031 2060 F081      		ld r31,Z
3823
 4032 2062 E02D      		mov r30,__tmp_reg__
3824
 4033 2064 F7FF      		sbrs r31,7
3825
 4034 2066 03C0      		rjmp .L337
3826
 4035 2068 F095      		com r31
3827
 4036 206a E195      		neg r30
3828
 4037 206c FF4F      		sbci r31,lo8(-1)
3829
 4038               	.L337:
3830
 4039 206e E734      		cpi r30,71
3831
 4040 2070 F105      		cpc r31,__zero_reg__
3832
 4041 2072 0CF4      		brge .+2
3833
 4042 2074 78C0      		rjmp .L335
3834
 4043               	.L336:
3835
 4044 2076 41E0      		ldi r20,lo8(1)
3836
 4045 2078 2091 0000 		lds r18,EE_Parameter+2
3837
 4046 207c A22F      		mov r26,r18
3838
 4047 207e BB27      		clr r27
3839
 4048 2080 AA0F      		add r26,r26
3840
 4049 2082 BB1F      		adc r27,r27
3841
 4050 2084 A050      		subi r26,lo8(-(PPM_in))
3842
 4051 2086 B040      		sbci r27,hi8(-(PPM_in))
3843
 4052 2088 8D91      		ld r24,X+
3844
 4053 208a 9C91      		ld r25,X
3845
 4054 208c 1197      		sbiw r26,1
3846
 4055 208e 8734      		cpi r24,71
3847
 4056 2090 9105      		cpc r25,__zero_reg__
3848
 4057 2092 44F0      		brlt .L338
3849
 4058 2094 E32F      		mov r30,r19
3850
 4059 2096 FF27      		clr r31
3851
 4060 2098 EE0F      		add r30,r30
3852
 4061 209a FF1F      		adc r31,r31
3853
 4062 209c E050      		subi r30,lo8(-(PPM_in))
3854
 4063 209e F040      		sbci r31,hi8(-(PPM_in))
3855
 4064 20a0 8081      		ld r24,Z
3856
 4065 20a2 9181      		ldd r25,Z+1
3857
 4066               	.L338:
3858
 4067 20a4 8D91      		ld r24,X+
3859
 4068 20a6 9C91      		ld r25,X
3860
 4069 20a8 8734      		cpi r24,71
3861
 4070 20aa 9105      		cpc r25,__zero_reg__
3862
 4071 20ac 74F0      		brlt .L339
3863
 4072 20ae 8091 0000 		lds r24,EE_Parameter+1
3864
 4073 20b2 E82F      		mov r30,r24
3865
 4074 20b4 FF27      		clr r31
3866
 4075 20b6 EE0F      		add r30,r30
3867
 4076 20b8 FF1F      		adc r31,r31
3868
 4077 20ba E050      		subi r30,lo8(-(PPM_in))
3869
 4078 20bc F040      		sbci r31,hi8(-(PPM_in))
3870
 4079 20be 8081      		ld r24,Z
3871
 4080 20c0 9181      		ldd r25,Z+1
3872
 4081 20c2 8734      		cpi r24,71
3873
 4082 20c4 9105      		cpc r25,__zero_reg__
3874
 4083 20c6 0CF0      		brlt .L339
3875
 4084 20c8 42E0      		ldi r20,lo8(2)
3876
 4085               	.L339:
3877
 4086 20ca E22F      		mov r30,r18
3878
 4087 20cc FF27      		clr r31
3879
 4088 20ce EE0F      		add r30,r30
3880
 4089 20d0 FF1F      		adc r31,r31
3881
 4090 20d2 E050      		subi r30,lo8(-(PPM_in))
3882
 4091 20d4 F040      		sbci r31,hi8(-(PPM_in))
3883
 4092 20d6 8081      		ld r24,Z
3884
 4093 20d8 9181      		ldd r25,Z+1
3885
 4094 20da 8634      		cpi r24,70
3886
 4095 20dc 9105      		cpc r25,__zero_reg__
3887
 4096 20de 74F4      		brge .L340
3888
 4097 20e0 8091 0000 		lds r24,EE_Parameter+1
3889
 4098 20e4 E82F      		mov r30,r24
3890
 4099 20e6 FF27      		clr r31
3891
 4100 20e8 EE0F      		add r30,r30
3892
 4101 20ea FF1F      		adc r31,r31
3893
 4102 20ec E050      		subi r30,lo8(-(PPM_in))
3894
 4103 20ee F040      		sbci r31,hi8(-(PPM_in))
3895
 4104 20f0 8081      		ld r24,Z
3896
 4105 20f2 9181      		ldd r25,Z+1
3897
 4106 20f4 8734      		cpi r24,71
3898
 4107 20f6 9105      		cpc r25,__zero_reg__
3899
 4108 20f8 0CF0      		brlt .L340
3900
 4109 20fa 43E0      		ldi r20,lo8(3)
3901
 4110               	.L340:
3902
 4111 20fc E22F      		mov r30,r18
3903
 4112 20fe FF27      		clr r31
3904
 4113 2100 EE0F      		add r30,r30
3905
 4114 2102 FF1F      		adc r31,r31
3906
 4115 2104 E050      		subi r30,lo8(-(PPM_in))
3907
 4116 2106 F040      		sbci r31,hi8(-(PPM_in))
3908
 4117 2108 8081      		ld r24,Z
3909
 4118 210a 9181      		ldd r25,Z+1
3910
 4119 210c 8A5B      		subi r24,lo8(-70)
3911
 4120 210e 9F4F      		sbci r25,hi8(-70)
3912
 4121 2110 74F4      		brge .L341
3913
 4122 2112 8091 0000 		lds r24,EE_Parameter+1
3914
 4123 2116 E82F      		mov r30,r24
3915
 4124 2118 FF27      		clr r31
3916
 4125 211a EE0F      		add r30,r30
3917
 4126 211c FF1F      		adc r31,r31
3918
 4127 211e E050      		subi r30,lo8(-(PPM_in))
3919
 4128 2120 F040      		sbci r31,hi8(-(PPM_in))
3920
 4129 2122 8081      		ld r24,Z
3921
 4130 2124 9181      		ldd r25,Z+1
3922
 4131 2126 8734      		cpi r24,71
3923
 4132 2128 9105      		cpc r25,__zero_reg__
3924
 4133 212a 0CF0      		brlt .L341
3925
 4134 212c 44E0      		ldi r20,lo8(4)
3926
 4135               	.L341:
3927
 4136 212e E22F      		mov r30,r18
3928
 4137 2130 FF27      		clr r31
3929
 4138 2132 EE0F      		add r30,r30
3930
 4139 2134 FF1F      		adc r31,r31
3931
 4140 2136 E050      		subi r30,lo8(-(PPM_in))
3932
 4141 2138 F040      		sbci r31,hi8(-(PPM_in))
3933
 4142 213a 8081      		ld r24,Z
3934
 4143 213c 9181      		ldd r25,Z+1
3935
 4144 213e 8A5B      		subi r24,lo8(-70)
3936
 4145 2140 9F4F      		sbci r25,hi8(-70)
3937
 4146 2142 74F4      		brge .L342
3938
 4147 2144 8091 0000 		lds r24,EE_Parameter+1
3939
 4148 2148 E82F      		mov r30,r24
3940
 4149 214a FF27      		clr r31
3941
 4150 214c EE0F      		add r30,r30
3942
 4151 214e FF1F      		adc r31,r31
3943
 4152 2150 E050      		subi r30,lo8(-(PPM_in))
3944
 4153 2152 F040      		sbci r31,hi8(-(PPM_in))
3945
 4154 2154 8081      		ld r24,Z
3946
 4155 2156 9181      		ldd r25,Z+1
3947
 4156 2158 8634      		cpi r24,70
3948
 4157 215a 9105      		cpc r25,__zero_reg__
3949
 4158 215c 0CF4      		brge .L342
3950
 4159 215e 45E0      		ldi r20,lo8(5)
3951
 4160               	.L342:
3952
 4161 2160 842F      		mov r24,r20
3953
 4162 2162 0E94 0000 		call SetActiveParamSet
3954
 4163               	.L335:
3955
 4164 2166 8091 0000 		lds r24,EE_Parameter+2
3956
 4165 216a E82F      		mov r30,r24
3957
 4166 216c FF27      		clr r31
3958
 4167 216e EE0F      		add r30,r30
3959
 4168 2170 FF1F      		adc r31,r31
3960
 4169 2172 E050      		subi r30,lo8(-(PPM_in))
3961
 4170 2174 F040      		sbci r31,hi8(-(PPM_in))
3962
 4171 2176 8081      		ld r24,Z
3963
 4172 2178 9181      		ldd r25,Z+1
3964
 4173 217a 0190      		ld __tmp_reg__,Z+
3965
 4174 217c F081      		ld r31,Z
3966
 4175 217e E02D      		mov r30,__tmp_reg__
3967
 4176 2180 F7FF      		sbrs r31,7
3968
 4177 2182 03C0      		rjmp .L344
3969
 4178 2184 F095      		com r31
3970
 4179 2186 E195      		neg r30
3971
 4180 2188 FF4F      		sbci r31,lo8(-1)
3972
 4181               	.L344:
3973
 4182 218a 7E97      		sbiw r30,30
3974
 4183 218c BCF4      		brge .L343
3975
 4184 218e 8091 0000 		lds r24,EE_Parameter+1
3976
 4185 2192 E82F      		mov r30,r24
3977
 4186 2194 FF27      		clr r31
3978
 4187 2196 EE0F      		add r30,r30
3979
 4188 2198 FF1F      		adc r31,r31
3980
 4189 219a E050      		subi r30,lo8(-(PPM_in))
3981
 4190 219c F040      		sbci r31,hi8(-(PPM_in))
3982
 4191 219e 8081      		ld r24,Z
3983
 4192 21a0 9181      		ldd r25,Z+1
3984
 4193 21a2 8A5B      		subi r24,lo8(-70)
3985
 4194 21a4 9F4F      		sbci r25,hi8(-70)
3986
 4195 21a6 54F4      		brge .L343
3987
 4196 21a8 81E0      		ldi r24,lo8(1)
3988
 4197 21aa 8093 0000 		sts WinkelOut+6,r24
3989
 4198 21ae 88EE      		ldi r24,lo8(1000)
3990
 4199 21b0 93E0      		ldi r25,hi8(1000)
3991
 4200 21b2 9093 0000 		sts (beeptime)+1,r25
3992
 4201 21b6 8093 0000 		sts beeptime,r24
3993
 4202 21ba 53C0      		rjmp .L330
3994
 4203               	.L343:
3995
 4204 21bc 0E94 0000 		call GetActiveParamSet
3996
 4205 21c0 0E94 0000 		call ParamSet_ReadFromEEProm
3997
 4206 21c4 80E0      		ldi r24,lo8(0)
3998
 4207 21c6 0E94 0000 		call LipoDetection
3999
 4208 21ca 8091 0000 		lds r24,EE_Parameter+39
4000
 4209 21ce 0E94 0000 		call LIBFC_ReceiverInit
4001
 4210 21d2 8091 0000 		lds r24,EE_Parameter+13
4002
 4211 21d6 80FF      		sbrs r24,0
4003
 4212 21d8 10C0      		rjmp .L346
4004
 4213 21da 8091 0000 		lds r24,MessLuftdruck
4005
 4214 21de 9091 0000 		lds r25,(MessLuftdruck)+1
4006
 4215 21e2 875B      		subi r24,lo8(951)
4007
 4216 21e4 9340      		sbci r25,hi8(951)
4008
 4217 21e6 38F4      		brsh .L348
4009
 4218 21e8 8091 0000 		lds r24,MessLuftdruck
4010
 4219 21ec 9091 0000 		lds r25,(MessLuftdruck)+1
4011
 4220 21f0 8E5E      		subi r24,lo8(750)
4012
 4221 21f2 9240      		sbci r25,hi8(750)
4013
 4222 21f4 10F4      		brsh .L346
4014
 4223               	.L348:
4015
 4224 21f6 0E94 0000 		call SucheLuftruckOffset
4016
 4225               	.L346:
4017
 4226 21fa 1092 0000 		sts ServoActive,__zero_reg__
4018
 4227 21fe 80E0      		ldi r24,lo8(0)
4019
 4228 2200 0E94 0000 		call SetNeutral
4020
 4229 2204 81E0      		ldi r24,lo8(1)
4021
 4230 2206 8093 0000 		sts calibration_done.9,r24
4022
 4231 220a 8093 0000 		sts ServoActive,r24
4023
 4232 220e 579A      		sbi 42-0x20,7
4024
 4233 2210 1FC0      		rjmp .L781
4025
 4234               	.L331:
4026
 4235 2212 8081      		ld r24,Z
4027
 4236 2214 9181      		ldd r25,Z+1
4028
 4237 2216 855B      		subi r24,lo8(-75)
4029
 4238 2218 9F4F      		sbci r25,hi8(-75)
4030
 4239 221a 0CF5      		brge .L350
4031
 4240 221c 8091 0000 		lds r24,delay_neutral.6
4032
 4241 2220 8F5F      		subi r24,lo8(-(1))
4033
 4242 2222 8093 0000 		sts delay_neutral.6,r24
4034
 4243 2226 893C      		cpi r24,lo8(-55)
4035
 4244 2228 E0F0      		brlo .L330
4036
 4245 222a 3C30      		cpi r19,lo8(12)
4037
 4246 222c 10F4      		brsh .L352
4038
 4247 222e 2998      		cbi 37-0x20,1
4039
 4248 2230 01C0      		rjmp .L353
4040
 4249               	.L352:
4041
 4250 2232 299A      		sbi 37-0x20,1
4042
 4251               	.L353:
4043
 4252 2234 1092 0000 		sts MotorenEin,__zero_reg__
4044
 4253 2238 1092 0000 		sts delay_neutral.6,__zero_reg__
4045
 4254 223c 1092 0000 		sts (modell_fliegt)+1,__zero_reg__
4046
 4255 2240 1092 0000 		sts modell_fliegt,__zero_reg__
4047
 4256 2244 81E0      		ldi r24,lo8(1)
4048
 4257 2246 0E94 0000 		call SetNeutral
4049
 4258 224a 81E0      		ldi r24,lo8(1)
4050
 4259 224c 8093 0000 		sts calibration_done.9,r24
4051
 4260               	.L781:
4052
 4261 2250 0E94 0000 		call GetActiveParamSet
4053
 4262 2254 68E7      		ldi r22,lo8(120)
4054
 4263 2256 70E0      		ldi r23,hi8(120)
4055
 4264 2258 0E94 0000 		call Piep
4056
 4265 225c 02C0      		rjmp .L330
4057
 4266               	.L350:
4058
 4267 225e 2093 0000 		sts delay_neutral.6,r18
4059
 4268               	.L330:
4060
 4269 2262 8091 0000 		lds r24,EE_Parameter+3
4061
 4270 2266 E82F      		mov r30,r24
4062
 4271 2268 FF27      		clr r31
4063
 4272 226a EE0F      		add r30,r30
4064
 4273 226c FF1F      		adc r31,r31
4065
 4274 226e E050      		subi r30,lo8(-(PPM_in))
4066
 4275 2270 F040      		sbci r31,hi8(-(PPM_in))
4067
 4276 2272 8081      		ld r24,Z
4068
 4277 2274 9181      		ldd r25,Z+1
4069
 4278 2276 8B5A      		subi r24,lo8(-85)
4070
 4279 2278 9F4F      		sbci r25,hi8(-85)
4071
 4280 227a 0CF0      		brlt .+2
4072
 4281 227c EDC0      		rjmp .L323
4073
 4282 227e 2091 0000 		lds r18,MotorenEin
4074
 4283 2282 E091 0000 		lds r30,EE_Parameter+4
4075
 4284 2286 2223      		tst r18
4076
 4285 2288 09F0      		breq .+2
4077
 4286 228a CAC0      		rjmp .L356
4078
 4287 228c FF27      		clr r31
4079
 4288 228e EE0F      		add r30,r30
4080
 4289 2290 FF1F      		adc r31,r31
4081
 4290 2292 E050      		subi r30,lo8(-(PPM_in))
4082
 4291 2294 F040      		sbci r31,hi8(-(PPM_in))
4083
 4292 2296 8081      		ld r24,Z
4084
 4293 2298 9181      		ldd r25,Z+1
4085
 4294 229a 855B      		subi r24,lo8(-75)
4086
 4295 229c 9F4F      		sbci r25,hi8(-75)
4087
 4296 229e 0CF0      		brlt .+2
4088
 4297 22a0 BCC0      		rjmp .L357
4089
 4298 22a2 8091 0000 		lds r24,delay_einschalten.7
4090
 4299 22a6 8F5F      		subi r24,lo8(-(1))
4091
 4300 22a8 8093 0000 		sts delay_einschalten.7,r24
4092
 4301 22ac 893C      		cpi r24,lo8(-55)
4093
 4302 22ae 08F4      		brsh .+2
4094
 4303 22b0 D3C0      		rjmp .L323
4095
 4304 22b2 2093 0000 		sts delay_einschalten.7,r18
4096
 4305 22b6 8091 0000 		lds r24,VersionInfo+5
4097
 4306 22ba 8823      		tst r24
4098
 4307 22bc 09F0      		breq .+2
4099
 4308 22be A6C0      		rjmp .L359
4100
 4309 22c0 8091 0000 		lds r24,calibration_done.9
4101
 4310 22c4 8823      		tst r24
4102
 4311 22c6 09F4      		brne .+2
4103
 4312 22c8 A1C0      		rjmp .L359
4104
 4313 22ca 81E0      		ldi r24,lo8(1)
4105
 4314 22cc 90E0      		ldi r25,hi8(1)
4106
 4315 22ce 9093 0000 		sts (modell_fliegt)+1,r25
4107
 4316 22d2 8093 0000 		sts modell_fliegt,r24
4108
 4317 22d6 81E0      		ldi r24,lo8(1)
4109
 4318 22d8 8093 0000 		sts MotorenEin,r24
4110
 4319 22dc 1092 0000 		sts sollGier.0,__zero_reg__
4111
 4320 22e0 1092 0000 		sts (sollGier.0)+1,__zero_reg__
4112
 4321 22e4 1092 0000 		sts (sollGier.0)+2,__zero_reg__
4113
 4322 22e8 1092 0000 		sts (sollGier.0)+3,__zero_reg__
4114
 4323 22ec 1092 0000 		sts Mess_Integral_Gier,__zero_reg__
4115
 4324 22f0 1092 0000 		sts (Mess_Integral_Gier)+1,__zero_reg__
4116
 4325 22f4 1092 0000 		sts (Mess_Integral_Gier)+2,__zero_reg__
4117
 4326 22f8 1092 0000 		sts (Mess_Integral_Gier)+3,__zero_reg__
4118
 4327 22fc 1092 0000 		sts Mess_Integral_Gier2,__zero_reg__
4119
 4328 2300 1092 0000 		sts (Mess_Integral_Gier2)+1,__zero_reg__
4120
 4329 2304 1092 0000 		sts (Mess_Integral_Gier2)+2,__zero_reg__
4121
 4330 2308 1092 0000 		sts (Mess_Integral_Gier2)+3,__zero_reg__
4122
 4331 230c 8091 0000 		lds r24,EE_Parameter+28
4123
 4332 2310 E82E      		mov r14,r24
4124
 4333 2312 FF24      		clr r15
4125
 4334 2314 0027      		clr r16
4126
 4335 2316 1127      		clr r17
4127
 4336 2318 8091 0000 		lds r24,Mittelwert_AccNick
4128
 4337 231c 9091 0000 		lds r25,(Mittelwert_AccNick)+1
4129
 4338 2320 9C01      		movw r18,r24
4130
 4339 2322 4427      		clr r20
4131
 4340 2324 37FD      		sbrc r19,7
4132
 4341 2326 4095      		com r20
4133
 4342 2328 542F      		mov r21,r20
4134
 4343 232a C801      		movw r24,r16
4135
 4344 232c B701      		movw r22,r14
4136
 4345 232e 0E94 0000 		call __mulsi3
4137
 4346 2332 DC01      		movw r26,r24
4138
 4347 2334 CB01      		movw r24,r22
4139
 4348 2336 8093 0000 		sts Mess_IntegralNick,r24
4140
 4349 233a 9093 0000 		sts (Mess_IntegralNick)+1,r25
4141
 4350 233e A093 0000 		sts (Mess_IntegralNick)+2,r26
4142
 4351 2342 B093 0000 		sts (Mess_IntegralNick)+3,r27
4143
 4352 2346 8091 0000 		lds r24,Mittelwert_AccRoll
4144
 4353 234a 9091 0000 		lds r25,(Mittelwert_AccRoll)+1
4145
 4354 234e 9C01      		movw r18,r24
4146
 4355 2350 4427      		clr r20
4147
 4356 2352 37FD      		sbrc r19,7
4148
 4357 2354 4095      		com r20
4149
 4358 2356 542F      		mov r21,r20
4150
 4359 2358 C801      		movw r24,r16
4151
 4360 235a B701      		movw r22,r14
4152
 4361 235c 0E94 0000 		call __mulsi3
4153
 4362 2360 DC01      		movw r26,r24
4154
 4363 2362 CB01      		movw r24,r22
4155
 4364 2364 8093 0000 		sts Mess_IntegralRoll,r24
4156
 4365 2368 9093 0000 		sts (Mess_IntegralRoll)+1,r25
4157
 4366 236c A093 0000 		sts (Mess_IntegralRoll)+2,r26
4158
 4367 2370 B093 0000 		sts (Mess_IntegralRoll)+3,r27
4159
 4368 2374 8091 0000 		lds r24,IntegralNick
4160
 4369 2378 9091 0000 		lds r25,(IntegralNick)+1
4161
 4370 237c A091 0000 		lds r26,(IntegralNick)+2
4162
 4371 2380 B091 0000 		lds r27,(IntegralNick)+3
4163
 4372 2384 8093 0000 		sts Mess_IntegralNick2,r24
4164
 4373 2388 9093 0000 		sts (Mess_IntegralNick2)+1,r25
4165
 4374 238c A093 0000 		sts (Mess_IntegralNick2)+2,r26
4166
 4375 2390 B093 0000 		sts (Mess_IntegralNick2)+3,r27
4167
 4376 2394 8091 0000 		lds r24,IntegralRoll
4168
 4377 2398 9091 0000 		lds r25,(IntegralRoll)+1
4169
 4378 239c A091 0000 		lds r26,(IntegralRoll)+2
4170
 4379 23a0 B091 0000 		lds r27,(IntegralRoll)+3
4171
 4380 23a4 8093 0000 		sts Mess_IntegralRoll2,r24
4172
 4381 23a8 9093 0000 		sts (Mess_IntegralRoll2)+1,r25
4173
 4382 23ac A093 0000 		sts (Mess_IntegralRoll2)+2,r26
4174
 4383 23b0 B093 0000 		sts (Mess_IntegralRoll2)+3,r27
4175
 4384 23b4 1092 0000 		sts SummeNick,__zero_reg__
4176
 4385 23b8 1092 0000 		sts (SummeNick)+1,__zero_reg__
4177
 4386 23bc 1092 0000 		sts (SummeNick)+2,__zero_reg__
4178
 4387 23c0 1092 0000 		sts (SummeNick)+3,__zero_reg__
4179
 4388 23c4 1092 0000 		sts SummeRoll,__zero_reg__
4180
 4389 23c8 1092 0000 		sts (SummeRoll)+1,__zero_reg__
4181
 4390 23cc 1092 0000 		sts (SummeRoll)+2,__zero_reg__
4182
 4391 23d0 1092 0000 		sts (SummeRoll)+3,__zero_reg__
4183
 4392 23d4 8091 0000 		lds r24,FCFlags
4184
 4393 23d8 8860      		ori r24,lo8(8)
4185
 4394 23da 8093 0000 		sts FCFlags,r24
4186
 4395 23de 9091 0000 		lds r25,EE_Parameter+95
4187
 4396 23e2 8FE0      		ldi r24,lo8(15)
4188
 4397 23e4 989F      		mul r25,r24
4189
 4398 23e6 9001      		movw r18,r0
4190
 4399 23e8 1124      		clr r1
4191
 4400 23ea 8091 0000 		lds r24,KompassValue
4192
 4401 23ee 9091 0000 		lds r25,(KompassValue)+1
4193
 4402 23f2 820F      		add r24,r18
4194
 4403 23f4 931F      		adc r25,r19
4195
 4404 23f6 68E6      		ldi r22,lo8(360)
4196
 4405 23f8 71E0      		ldi r23,hi8(360)
4197
 4406 23fa 0E94 0000 		call __divmodhi4
4198
 4407 23fe 97FD      		sbrc r25,7
4199
 4408 2400 0196      		adiw r24,1
4200
 4409               	.L360:
4201
 4410 2402 9595      		asr r25
4202
 4411 2404 8795      		ror r24
4203
 4412 2406 8093 0000 		sts ControlHeading,r24
4204
 4413 240a 26C0      		rjmp .L323
4205
 4414               	.L359:
4206
 4415 240c 8CED      		ldi r24,lo8(1500)
4207
 4416 240e 95E0      		ldi r25,hi8(1500)
4208
 4417 2410 9093 0000 		sts (beeptime)+1,r25
4209
 4418 2414 8093 0000 		sts beeptime,r24
4210
 4419 2418 1FC0      		rjmp .L323
4211
 4420               	.L357:
4212
 4421 241a 2093 0000 		sts delay_einschalten.7,r18
4213
 4422 241e 1CC0      		rjmp .L323
4214
 4423               	.L356:
4215
 4424 2420 FF27      		clr r31
4216
 4425 2422 EE0F      		add r30,r30
4217
 4426 2424 FF1F      		adc r31,r31
4218
 4427 2426 E050      		subi r30,lo8(-(PPM_in))
4219
 4428 2428 F040      		sbci r31,hi8(-(PPM_in))
4220
 4429 242a 8081      		ld r24,Z
4221
 4430 242c 9181      		ldd r25,Z+1
4222
 4431 242e 8C34      		cpi r24,76
4223
 4432 2430 9105      		cpc r25,__zero_reg__
4224
 4433 2432 84F0      		brlt .L364
4225
 4434 2434 8091 0000 		lds r24,delay_ausschalten.8
4226
 4435 2438 8F5F      		subi r24,lo8(-(1))
4227
 4436 243a 8093 0000 		sts delay_ausschalten.8,r24
4228
 4437 243e 893C      		cpi r24,lo8(-55)
4229
 4438 2440 58F0      		brlo .L323
4230
 4439 2442 1092 0000 		sts MotorenEin,__zero_reg__
4231
 4440 2446 1092 0000 		sts delay_ausschalten.8,__zero_reg__
4232
 4441 244a 1092 0000 		sts (modell_fliegt)+1,__zero_reg__
4233
 4442 244e 1092 0000 		sts modell_fliegt,__zero_reg__
4234
 4443 2452 02C0      		rjmp .L323
4235
 4444               	.L364:
4236
 4445 2454 1092 0000 		sts delay_ausschalten.8,__zero_reg__
4237
 4446               	.L323:
4238
 4447 2458 8091 0000 		lds r24,NewPpmData
4239
 4448 245c 8150      		subi r24,lo8(-(-1))
4240
 4449 245e 8093 0000 		sts NewPpmData,r24
4241
 4450 2462 8091 0000 		lds r24,NewPpmData
4242
 4451 2466 8F3F      		cpi r24,lo8(-1)
4243
 4452 2468 21F0      		breq .L368
4244
 4453 246a 8091 0000 		lds r24,FCFlags
4245
 4454 246e 84FF      		sbrs r24,4
4246
 4455 2470 82C3      		rjmp .L367
4247
 4456               	.L368:
4248
 4457 2472 0E94 0000 		call ParameterZuordnung
4249
 4458 2476 8091 0000 		lds r24,stick_nick.13
4250
 4459 247a 9091 0000 		lds r25,(stick_nick.13)+1
4251
 4460 247e 9C01      		movw r18,r24
4252
 4461 2480 220F      		lsl r18
4253
 4462 2482 331F      		rol r19
4254
 4463 2484 280F      		add r18,r24
4255
 4464 2486 391F      		adc r19,r25
4256
 4465 2488 A090 0000 		lds r10,EE_Parameter+1
4257
 4466 248c AA2D      		mov r26,r10
4258
 4467 248e BB27      		clr r27
4259
 4468 2490 AA0F      		add r26,r26
4260
 4469 2492 BB1F      		adc r27,r27
4261
 4470 2494 FD01      		movw r30,r26
4262
 4471 2496 E050      		subi r30,lo8(-(PPM_in))
4263
 4472 2498 F040      		sbci r31,hi8(-(PPM_in))
4264
 4473 249a 9090 0000 		lds r9,EE_Parameter+23
4265
 4474 249e 492D      		mov r20,r9
4266
 4475 24a0 5527      		clr r21
4267
 4476 24a2 8081      		ld r24,Z
4268
 4477 24a4 9181      		ldd r25,Z+1
4269
 4478 24a6 849F      		mul r24,r20
4270
 4479 24a8 F001      		movw r30,r0
4271
 4480 24aa 859F      		mul r24,r21
4272
 4481 24ac F00D      		add r31,r0
4273
 4482 24ae 949F      		mul r25,r20
4274
 4483 24b0 F00D      		add r31,r0
4275
 4484 24b2 1124      		clr r1
4276
 4485 24b4 2E0F      		add r18,r30
4277
 4486 24b6 3F1F      		adc r19,r31
4278
 4487 24b8 37FF      		sbrs r19,7
4279
 4488 24ba 02C0      		rjmp .L369
4280
 4489 24bc 2D5F      		subi r18,lo8(-(3))
4281
 4490 24be 3F4F      		sbci r19,hi8(-(3))
4282
 4491               	.L369:
4283
 4492 24c0 B901      		movw r22,r18
4284
 4493 24c2 7595      		asr r23
4285
 4494 24c4 6795      		ror r22
4286
 4495 24c6 7595      		asr r23
4287
 4496 24c8 6795      		ror r22
4288
 4497 24ca A050      		subi r26,lo8(-(PPM_diff))
4289
 4498 24cc B040      		sbci r27,hi8(-(PPM_diff))
4290
 4499 24ce 8091 0000 		lds r24,EE_Parameter+24
4291
 4500 24d2 082F      		mov r16,r24
4292
 4501 24d4 1127      		clr r17
4293
 4502 24d6 8D91      		ld r24,X+
4294
 4503 24d8 9C91      		ld r25,X
4295
 4504 24da 809F      		mul r24,r16
4296
 4505 24dc 7001      		movw r14,r0
4297
 4506 24de 819F      		mul r24,r17
4298
 4507 24e0 F00C      		add r15,r0
4299
 4508 24e2 909F      		mul r25,r16
4300
 4509 24e4 F00C      		add r15,r0
4301
 4510 24e6 1124      		clr r1
4302
 4511 24e8 6E0D      		add r22,r14
4303
 4512 24ea 7F1D      		adc r23,r15
4304
 4513 24ec 7093 0000 		sts (stick_nick.13)+1,r23
4305
 4514 24f0 6093 0000 		sts stick_nick.13,r22
4306
 4515 24f4 8091 0000 		lds r24,stick_roll.14
4307
 4516 24f8 9091 0000 		lds r25,(stick_roll.14)+1
4308
 4517 24fc 9C01      		movw r18,r24
4309
 4518 24fe 220F      		lsl r18
4310
 4519 2500 331F      		rol r19
4311
 4520 2502 280F      		add r18,r24
4312
 4521 2504 391F      		adc r19,r25
4313
 4522 2506 B090 0000 		lds r11,EE_Parameter+2
4314
 4523 250a AB2D      		mov r26,r11
4315
 4524 250c BB27      		clr r27
4316
 4525 250e AA0F      		add r26,r26
4317
 4526 2510 BB1F      		adc r27,r27
4318
 4527 2512 FD01      		movw r30,r26
4319
 4528 2514 E050      		subi r30,lo8(-(PPM_in))
4320
 4529 2516 F040      		sbci r31,hi8(-(PPM_in))
4321
 4530 2518 8081      		ld r24,Z
4322
 4531 251a 9181      		ldd r25,Z+1
4323
 4532 251c 849F      		mul r24,r20
4324
 4533 251e F001      		movw r30,r0
4325
 4534 2520 859F      		mul r24,r21
4326
 4535 2522 F00D      		add r31,r0
4327
 4536 2524 949F      		mul r25,r20
4328
 4537 2526 F00D      		add r31,r0
4329
 4538 2528 1124      		clr r1
4330
 4539 252a 2E0F      		add r18,r30
4331
 4540 252c 3F1F      		adc r19,r31
4332
 4541 252e 37FF      		sbrs r19,7
4333
 4542 2530 02C0      		rjmp .L370
4334
 4543 2532 2D5F      		subi r18,lo8(-(3))
4335
 4544 2534 3F4F      		sbci r19,hi8(-(3))
4336
 4545               	.L370:
4337
 4546 2536 A901      		movw r20,r18
4338
 4547 2538 5595      		asr r21
4339
 4548 253a 4795      		ror r20
4340
 4549 253c 5595      		asr r21
4341
 4550 253e 4795      		ror r20
4342
 4551 2540 A050      		subi r26,lo8(-(PPM_diff))
4343
 4552 2542 B040      		sbci r27,hi8(-(PPM_diff))
4344
 4553 2544 8D91      		ld r24,X+
4345
 4554 2546 9C91      		ld r25,X
4346
 4555 2548 809F      		mul r24,r16
4347
 4556 254a 7001      		movw r14,r0
4348
 4557 254c 819F      		mul r24,r17
4349
 4558 254e F00C      		add r15,r0
4350
 4559 2550 909F      		mul r25,r16
4351
 4560 2552 F00C      		add r15,r0
4352
 4561 2554 1124      		clr r1
4353
 4562 2556 4E0D      		add r20,r14
4354
 4563 2558 5F1D      		adc r21,r15
4355
 4564 255a 5093 0000 		sts (stick_roll.14)+1,r21
4356
 4565 255e 4093 0000 		sts stick_roll.14,r20
4357
 4566 2562 9E01      		movw r18,r28
4358
 4567 2564 2F5F      		subi r18,lo8(-(1))
4359
 4568 2566 3F4F      		sbci r19,hi8(-(1))
4360
 4569 2568 8FE1      		ldi r24,lo8(31)
4361
 4570 256a E0E0      		ldi r30,lo8(.LC0)
4362
 4571 256c F0E0      		ldi r31,hi8(.LC0)
4363
 4572 256e D901      		movw r26,r18
4364
 4573 2570 0190      		ld __tmp_reg__,Z+
4365
 4574 2572 0D92      		st X+,__tmp_reg__
4366
 4575 2574 8A95      		dec r24
4367
 4576 2576 E1F7      		brne .-8
4368
 4577 2578 8091 0000 		lds r24,CareFree
4369
 4578 257c 8823      		tst r24
4370
 4579 257e 09F4      		brne .+2
4371
 4580 2580 48C0      		rjmp .L371
4372
 4581 2582 CB01      		movw r24,r22
4373
 4582 2584 77FD      		sbrc r23,7
4374
 4583 2586 0396      		adiw r24,3
4375
 4584               	.L372:
4376
 4585 2588 DC01      		movw r26,r24
4377
 4586 258a B595      		asr r27
4378
 4587 258c A795      		ror r26
4379
 4588 258e B595      		asr r27
4380
 4589 2590 A795      		ror r26
4381
 4590 2592 CA01      		movw r24,r20
4382
 4591 2594 57FD      		sbrc r21,7
4383
 4592 2596 0396      		adiw r24,3
4384
 4593               	.L373:
4385
 4594 2598 FC01      		movw r30,r24
4386
 4595 259a F595      		asr r31
4387
 4596 259c E795      		ror r30
4388
 4597 259e F595      		asr r31
4389
 4598 25a0 E795      		ror r30
4390
 4599 25a2 8091 0000 		lds r24,FromNC_Rotate_C
4391
 4600 25a6 682F      		mov r22,r24
4392
 4601 25a8 7727      		clr r23
4393
 4602 25aa 67FD      		sbrc r22,7
4394
 4603 25ac 7095      		com r23
4395
 4604 25ae 6A9F      		mul r22,r26
4396
 4605 25b0 9001      		movw r18,r0
4397
 4606 25b2 6B9F      		mul r22,r27
4398
 4607 25b4 300D      		add r19,r0
4399
 4608 25b6 7A9F      		mul r23,r26
4400
 4609 25b8 300D      		add r19,r0
4401
 4610 25ba 1124      		clr r1
4402
 4611 25bc 8091 0000 		lds r24,FromNC_Rotate_S
4403
 4612 25c0 482F      		mov r20,r24
4404
 4613 25c2 5527      		clr r21
4405
 4614 25c4 47FD      		sbrc r20,7
4406
 4615 25c6 5095      		com r21
4407
 4616 25c8 4E9F      		mul r20,r30
4408
 4617 25ca C001      		movw r24,r0
4409
 4618 25cc 4F9F      		mul r20,r31
4410
 4619 25ce 900D      		add r25,r0
4411
 4620 25d0 5E9F      		mul r21,r30
4412
 4621 25d2 900D      		add r25,r0
4413
 4622 25d4 1124      		clr r1
4414
 4623 25d6 280F      		add r18,r24
4415
 4624 25d8 391F      		adc r19,r25
4416
 4625 25da 37FF      		sbrs r19,7
4417
 4626 25dc 02C0      		rjmp .L374
4418
 4627 25de 295F      		subi r18,lo8(-(7))
4419
 4628 25e0 3F4F      		sbci r19,hi8(-(7))
4420
 4629               	.L374:
4421
 4630 25e2 03E0      		ldi r16,3
4422
 4631 25e4 3595      	1:	asr r19
4423
 4632 25e6 2795      		ror r18
4424
 4633 25e8 0A95      		dec r16
4425
 4634 25ea E1F7      		brne 1b
4426
 4635 25ec 3093 0000 		sts (StickNick)+1,r19
4427
 4636 25f0 2093 0000 		sts StickNick,r18
4428
 4637 25f4 6E9F      		mul r22,r30
4429
 4638 25f6 9001      		movw r18,r0
4430
 4639 25f8 6F9F      		mul r22,r31
4431
 4640 25fa 300D      		add r19,r0
4432
 4641 25fc 7E9F      		mul r23,r30
4433
 4642 25fe 300D      		add r19,r0
4434
 4643 2600 1124      		clr r1
4435
 4644 2602 4A9F      		mul r20,r26
4436
 4645 2604 C001      		movw r24,r0
4437
 4646 2606 4B9F      		mul r20,r27
4438
 4647 2608 900D      		add r25,r0
4439
 4648 260a 5A9F      		mul r21,r26
4440
 4649 260c 900D      		add r25,r0
4441
 4650 260e 1124      		clr r1
4442
 4651 2610 44C0      		rjmp .L807
4443
 4652               	.L371:
4444
 4653 2612 8091 0000 		lds r24,EE_Parameter+95
4445
 4654 2616 082F      		mov r16,r24
4446
 4655 2618 1127      		clr r17
4447
 4656 261a DE01      		movw r26,r28
4448
 4657 261c A00F      		add r26,r16
4449
 4658 261e B11F      		adc r27,r17
4450
 4659 2620 FD01      		movw r30,r26
4451
 4660 2622 9781      		ldd r25,Z+7
4452
 4661 2624 9093 0000 		sts FromNC_Rotate_C,r25
4453
 4662 2628 020F      		add r16,r18
4454
 4663 262a 131F      		adc r17,r19
4455
 4664 262c D801      		movw r26,r16
4456
 4665 262e 8C91      		ld r24,X
4457
 4666 2630 8093 0000 		sts FromNC_Rotate_S,r24
4458
 4667 2634 A92F      		mov r26,r25
4459
 4668 2636 BB27      		clr r27
4460
 4669 2638 A7FD      		sbrc r26,7
4461
 4670 263a B095      		com r27
4462
 4671 263c A69F      		mul r26,r22
4463
 4672 263e 9001      		movw r18,r0
4464
 4673 2640 A79F      		mul r26,r23
4465
 4674 2642 300D      		add r19,r0
4466
 4675 2644 B69F      		mul r27,r22
4467
 4676 2646 300D      		add r19,r0
4468
 4677 2648 1124      		clr r1
4469
 4678 264a E82F      		mov r30,r24
4470
 4679 264c FF27      		clr r31
4471
 4680 264e E7FD      		sbrc r30,7
4472
 4681 2650 F095      		com r31
4473
 4682 2652 E49F      		mul r30,r20
4474
 4683 2654 C001      		movw r24,r0
4475
 4684 2656 E59F      		mul r30,r21
4476
 4685 2658 900D      		add r25,r0
4477
 4686 265a F49F      		mul r31,r20
4478
 4687 265c 900D      		add r25,r0
4479
 4688 265e 1124      		clr r1
4480
 4689 2660 280F      		add r18,r24
4481
 4690 2662 391F      		adc r19,r25
4482
 4691 2664 37FF      		sbrs r19,7
4483
 4692 2666 02C0      		rjmp .L377
4484
 4693 2668 295F      		subi r18,lo8(-(7))
4485
 4694 266a 3F4F      		sbci r19,hi8(-(7))
4486
 4695               	.L377:
4487
 4696 266c 13E0      		ldi r17,3
4488
 4697 266e 3595      	1:	asr r19
4489
 4698 2670 2795      		ror r18
4490
 4699 2672 1A95      		dec r17
4491
 4700 2674 E1F7      		brne 1b
4492
 4701 2676 3093 0000 		sts (StickNick)+1,r19
4493
 4702 267a 2093 0000 		sts StickNick,r18
4494
 4703 267e A49F      		mul r26,r20
4495
 4704 2680 9001      		movw r18,r0
4496
 4705 2682 A59F      		mul r26,r21
4497
 4706 2684 300D      		add r19,r0
4498
 4707 2686 B49F      		mul r27,r20
4499
 4708 2688 300D      		add r19,r0
4500
 4709 268a 1124      		clr r1
4501
 4710 268c E69F      		mul r30,r22
4502
 4711 268e C001      		movw r24,r0
4503
 4712 2690 E79F      		mul r30,r23
4504
 4713 2692 900D      		add r25,r0
4505
 4714 2694 F69F      		mul r31,r22
4506
 4715 2696 900D      		add r25,r0
4507
 4716 2698 1124      		clr r1
4508
 4717               	.L807:
4509
 4718 269a 281B      		sub r18,r24
4510
 4719 269c 390B      		sbc r19,r25
4511
 4720 269e 37FF      		sbrs r19,7
4512
 4721 26a0 02C0      		rjmp .L378
4513
 4722 26a2 295F      		subi r18,lo8(-(7))
4514
 4723 26a4 3F4F      		sbci r19,hi8(-(7))
4515
 4724               	.L378:
4516
 4725 26a6 F3E0      		ldi r31,3
4517
 4726 26a8 3595      	1:	asr r19
4518
 4727 26aa 2795      		ror r18
4519
 4728 26ac FA95      		dec r31
4520
 4729 26ae E1F7      		brne 1b
4521
 4730 26b0 3093 0000 		sts (StickRoll)+1,r19
4522
 4731 26b4 2093 0000 		sts StickRoll,r18
4523
 4732 26b8 8091 0000 		lds r24,EE_Parameter+4
4524
 4733 26bc E82F      		mov r30,r24
4525
 4734 26be FF27      		clr r31
4526
 4735 26c0 EE0F      		add r30,r30
4527
 4736 26c2 FF1F      		adc r31,r31
4528
 4737 26c4 E050      		subi r30,lo8(-(PPM_in))
4529
 4738 26c6 F040      		sbci r31,hi8(-(PPM_in))
4530
 4739 26c8 8081      		ld r24,Z
4531
 4740 26ca 9181      		ldd r25,Z+1
4532
 4741 26cc 9095      		com r25
4533
 4742 26ce 8195      		neg r24
4534
 4743 26d0 9F4F      		sbci r25,lo8(-1)
4535
 4744 26d2 9093 0000 		sts (StickGier)+1,r25
4536
 4745 26d6 8093 0000 		sts StickGier,r24
4537
 4746 26da 8330      		cpi r24,3
4538
 4747 26dc 9105      		cpc r25,__zero_reg__
4539
 4748 26de 14F0      		brlt .L379
4540
 4749 26e0 0297      		sbiw r24,2
4541
 4750 26e2 05C0      		rjmp .L782
4542
 4751               	.L379:
4543
 4752 26e4 BFEF      		ldi r27,hi8(-2)
4544
 4753 26e6 8E3F      		cpi r24,lo8(-2)
4545
 4754 26e8 9B07      		cpc r25,r27
4546
 4755 26ea 34F4      		brge .L381
4547
 4756 26ec 0296      		adiw r24,2
4548
 4757               	.L782:
4549
 4758 26ee 9093 0000 		sts (StickGier)+1,r25
4550
 4759 26f2 8093 0000 		sts StickGier,r24
4551
 4760 26f6 04C0      		rjmp .L380
4552
 4761               	.L381:
4553
 4762 26f8 1092 0000 		sts (StickGier)+1,__zero_reg__
4554
 4763 26fc 1092 0000 		sts StickGier,__zero_reg__
4555
 4764               	.L380:
4556
 4765 2700 8091 0000 		lds r24,GPS_Nick
4557
 4766 2704 9091 0000 		lds r25,(GPS_Nick)+1
4558
 4767 2708 2091 0000 		lds r18,GPS_Nick2
4559
 4768 270c 3091 0000 		lds r19,(GPS_Nick2)+1
4560
 4769 2710 820F      		add r24,r18
4561
 4770 2712 931F      		adc r25,r19
4562
 4771 2714 C090 0000 		lds r12,StickNick
4563
 4772 2718 D090 0000 		lds r13,(StickNick)+1
4564
 4773 271c C81A      		sub r12,r24
4565
 4774 271e D90A      		sbc r13,r25
4566
 4775 2720 D092 0000 		sts (StickNick)+1,r13
4567
 4776 2724 C092 0000 		sts StickNick,r12
4568
 4777 2728 8091 0000 		lds r24,GPS_Roll
4569
 4778 272c 9091 0000 		lds r25,(GPS_Roll)+1
4570
 4779 2730 2091 0000 		lds r18,GPS_Roll2
4571
 4780 2734 3091 0000 		lds r19,(GPS_Roll2)+1
4572
 4781 2738 820F      		add r24,r18
4573
 4782 273a 931F      		adc r25,r19
4574
 4783 273c 0091 0000 		lds r16,StickRoll
4575
 4784 2740 1091 0000 		lds r17,(StickRoll)+1
4576
 4785 2744 081B      		sub r16,r24
4577
 4786 2746 190B      		sbc r17,r25
4578
 4787 2748 1093 0000 		sts (StickRoll)+1,r17
4579
 4788 274c 0093 0000 		sts StickRoll,r16
4580
 4789 2750 8091 0000 		lds r24,EE_Parameter+3
4581
 4790 2754 E82F      		mov r30,r24
4582
 4791 2756 FF27      		clr r31
4583
 4792 2758 EE0F      		add r30,r30
4584
 4793 275a FF1F      		adc r31,r31
4585
 4794 275c E050      		subi r30,lo8(-(PPM_in))
4586
 4795 275e F040      		sbci r31,hi8(-(PPM_in))
4587
 4796 2760 E080      		ld r14,Z
4588
 4797 2762 F180      		ldd r15,Z+1
4589
 4798 2764 E8E7      		ldi r30,lo8(120)
4590
 4799 2766 F0E0      		ldi r31,hi8(120)
4591
 4800 2768 EE0E      		add r14,r30
4592
 4801 276a FF1E      		adc r15,r31
4593
 4802 276c F092 0000 		sts (StickGas)+1,r15
4594
 4803 2770 E092 0000 		sts StickGas,r14
4595
 4804 2774 8091 0000 		lds r24,Parameter_Gyro_P
4596
 4805 2778 9927      		clr r25
4597
 4806 277a AA27      		clr r26
4598
 4807 277c 97FD      		sbrc r25,7
4599
 4808 277e A095      		com r26
4600
 4809 2780 BA2F      		mov r27,r26
4601
 4810 2782 BC01      		movw r22,r24
4602
 4811 2784 CD01      		movw r24,r26
4603
 4812 2786 0E94 0000 		call __floatsisf
4604
 4813 278a DC01      		movw r26,r24
4605
 4814 278c CB01      		movw r24,r22
4606
 4815 278e 20E0      		ldi r18,lo8(0x41200000)
4607
 4816 2790 30E0      		ldi r19,hi8(0x41200000)
4608
 4817 2792 40E2      		ldi r20,hlo8(0x41200000)
4609
 4818 2794 51E4      		ldi r21,hhi8(0x41200000)
4610
 4819 2796 BC01      		movw r22,r24
4611
 4820 2798 CD01      		movw r24,r26
4612
 4821 279a 0E94 0000 		call __addsf3
4613
 4822 279e DC01      		movw r26,r24
4614
 4823 27a0 CB01      		movw r24,r22
4615
 4824 27a2 BC01      		movw r22,r24
4616
 4825 27a4 CD01      		movw r24,r26
4617
 4826 27a6 0E94 0000 		call __fixunssfsi
4618
 4827 27aa DC01      		movw r26,r24
4619
 4828 27ac CB01      		movw r24,r22
4620
 4829 27ae 8093 0000 		sts GyroFaktor,r24
4621
 4830 27b2 8091 0000 		lds r24,Parameter_Gyro_I
4622
 4831 27b6 8093 0000 		sts IntegralFaktor,r24
4623
 4832 27ba 8091 0000 		lds r24,Parameter_Gyro_Gier_P
4624
 4833 27be 9927      		clr r25
4625
 4834 27c0 AA27      		clr r26
4626
 4835 27c2 97FD      		sbrc r25,7
4627
 4836 27c4 A095      		com r26
4628
 4837 27c6 BA2F      		mov r27,r26
4629
 4838 27c8 BC01      		movw r22,r24
4630
 4839 27ca CD01      		movw r24,r26
4631
 4840 27cc 0E94 0000 		call __floatsisf
4632
 4841 27d0 DC01      		movw r26,r24
4633
 4842 27d2 CB01      		movw r24,r22
4634
 4843 27d4 20E0      		ldi r18,lo8(0x41200000)
4635
 4844 27d6 30E0      		ldi r19,hi8(0x41200000)
4636
 4845 27d8 40E2      		ldi r20,hlo8(0x41200000)
4637
 4846 27da 51E4      		ldi r21,hhi8(0x41200000)
4638
 4847 27dc BC01      		movw r22,r24
4639
 4848 27de CD01      		movw r24,r26
4640
 4849 27e0 0E94 0000 		call __addsf3
4641
 4850 27e4 DC01      		movw r26,r24
4642
 4851 27e6 CB01      		movw r24,r22
4643
 4852 27e8 BC01      		movw r22,r24
4644
 4853 27ea CD01      		movw r24,r26
4645
 4854 27ec 0E94 0000 		call __fixunssfsi
4646
 4855 27f0 DC01      		movw r26,r24
4647
 4856 27f2 CB01      		movw r24,r22
4648
 4857 27f4 8093 0000 		sts GyroFaktorGier,r24
4649
 4858 27f8 8091 0000 		lds r24,Parameter_Gyro_Gier_I
4650
 4859 27fc 8093 0000 		sts IntegralFaktorGier,r24
4651
 4860 2800 8091 0000 		lds r24,ExternControl+10
4652
 4861 2804 80FF      		sbrs r24,0
4653
 4862 2806 59C0      		rjmp .L383
4654
 4863 2808 8091 0000 		lds r24,Parameter_ExternalControl
4655
 4864 280c 8138      		cpi r24,lo8(-127)
4656
 4865 280e 08F4      		brsh .+2
4657
 4866 2810 54C0      		rjmp .L383
4658
 4867 2812 8091 0000 		lds r24,ExternControl+3
4659
 4868 2816 9927      		clr r25
4660
 4869 2818 87FD      		sbrc r24,7
4661
 4870 281a 9095      		com r25
4662
 4871 281c 292D      		mov r18,r9
4663
 4872 281e 3327      		clr r19
4664
 4873 2820 829F      		mul r24,r18
4665
 4874 2822 A001      		movw r20,r0
4666
 4875 2824 839F      		mul r24,r19
4667
 4876 2826 500D      		add r21,r0
4668
 4877 2828 929F      		mul r25,r18
4669
 4878 282a 500D      		add r21,r0
4670
 4879 282c 1124      		clr r1
4671
 4880 282e C40E      		add r12,r20
4672
 4881 2830 D51E      		adc r13,r21
4673
 4882 2832 D092 0000 		sts (StickNick)+1,r13
4674
 4883 2836 C092 0000 		sts StickNick,r12
4675
 4884 283a 8091 0000 		lds r24,ExternControl+4
4676
 4885 283e 9927      		clr r25
4677
 4886 2840 87FD      		sbrc r24,7
4678
 4887 2842 9095      		com r25
4679
 4888 2844 829F      		mul r24,r18
4680
 4889 2846 B001      		movw r22,r0
4681
 4890 2848 839F      		mul r24,r19
4682
 4891 284a 700D      		add r23,r0
4683
 4892 284c 929F      		mul r25,r18
4684
 4893 284e 700D      		add r23,r0
4685
 4894 2850 1124      		clr r1
4686
 4895 2852 060F      		add r16,r22
4687
 4896 2854 171F      		adc r17,r23
4688
 4897 2856 1093 0000 		sts (StickRoll)+1,r17
4689
 4898 285a 0093 0000 		sts StickRoll,r16
4690
 4899 285e 8091 0000 		lds r24,ExternControl+5
4691
 4900 2862 282F      		mov r18,r24
4692
 4901 2864 3327      		clr r19
4693
 4902 2866 27FD      		sbrc r18,7
4694
 4903 2868 3095      		com r19
4695
 4904 286a 8091 0000 		lds r24,StickGier
4696
 4905 286e 9091 0000 		lds r25,(StickGier)+1
4697
 4906 2872 820F      		add r24,r18
4698
 4907 2874 931F      		adc r25,r19
4699
 4908 2876 9093 0000 		sts (StickGier)+1,r25
4700
 4909 287a 8093 0000 		sts StickGier,r24
4701
 4910 287e 8091 0000 		lds r24,ExternControl+7
4702
 4911 2882 282F      		mov r18,r24
4703
 4912 2884 3327      		clr r19
4704
 4913 2886 27FD      		sbrc r18,7
4705
 4914 2888 3095      		com r19
4706
 4915 288a 8091 0000 		lds r24,EE_Parameter+18
4707
 4916 288e 9927      		clr r25
4708
 4917 2890 289F      		mul r18,r24
4709
 4918 2892 D001      		movw r26,r0
4710
 4919 2894 299F      		mul r18,r25
4711
 4920 2896 B00D      		add r27,r0
4712
 4921 2898 389F      		mul r19,r24
4713
 4922 289a B00D      		add r27,r0
4714
 4923 289c 1124      		clr r1
4715
 4924 289e B093 0000 		sts (ExternHoehenValue)+1,r27
4716
 4925 28a2 A093 0000 		sts ExternHoehenValue,r26
4717
 4926 28a6 8091 0000 		lds r24,ExternControl+6
4718
 4927 28aa 9927      		clr r25
4719
 4928 28ac 8E15      		cp r24,r14
4720
 4929 28ae 9F05      		cpc r25,r15
4721
 4930 28b0 24F4      		brge .L383
4722
 4931 28b2 9093 0000 		sts (StickGas)+1,r25
4723
 4932 28b6 8093 0000 		sts StickGas,r24
4724
 4933               	.L383:
4725
 4934 28ba 8091 0000 		lds r24,StickGas
4726
 4935 28be 9091 0000 		lds r25,(StickGas)+1
4727
 4936 28c2 97FF      		sbrs r25,7
4728
 4937 28c4 04C0      		rjmp .L385
4729
 4938 28c6 1092 0000 		sts (StickGas)+1,__zero_reg__
4730
 4939 28ca 1092 0000 		sts StickGas,__zero_reg__
4731
 4940               	.L385:
4732
 4941 28ce 8091 0000 		lds r24,EE_Parameter+13
4733
 4942 28d2 82FF      		sbrs r24,2
4734
 4943 28d4 02C0      		rjmp .L386
4735
 4944 28d6 1092 0000 		sts IntegralFaktor,__zero_reg__
4736
 4945               	.L386:
4737
 4946 28da 4091 0000 		lds r20,StickNick
4738
 4947 28de 5091 0000 		lds r21,(StickNick)+1
4739
 4948 28e2 CA01      		movw r24,r20
4740
 4949 28e4 57FD      		sbrc r21,7
4741
 4950 28e6 0396      		adiw r24,3
4742
 4951               	.L388:
4743
 4952 28e8 9C01      		movw r18,r24
4744
 4953 28ea 3595      		asr r19
4745
 4954 28ec 2795      		ror r18
4746
 4955 28ee 3595      		asr r19
4747
 4956 28f0 2795      		ror r18
4748
 4957 28f2 37FF      		sbrs r19,7
4749
 4958 28f4 03C0      		rjmp .L389
4750
 4959 28f6 3095      		com r19
4751
 4960 28f8 2195      		neg r18
4752
 4961 28fa 3F4F      		sbci r19,lo8(-1)
4753
 4962               	.L389:
4754
 4963 28fc 8091 0000 		lds r24,MaxStickNick
4755
 4964 2900 9091 0000 		lds r25,(MaxStickNick)+1
4756
 4965 2904 8217      		cp r24,r18
4757
 4966 2906 9307      		cpc r25,r19
4758
 4967 2908 B4F4      		brge .L387
4759
 4968 290a CA01      		movw r24,r20
4760
 4969 290c 57FF      		sbrs r21,7
4761
 4970 290e 03C0      		rjmp .L390
4762
 4971 2910 9095      		com r25
4763
 4972 2912 8195      		neg r24
4764
 4973 2914 9F4F      		sbci r25,lo8(-1)
4765
 4974               	.L390:
4766
 4975 2916 97FD      		sbrc r25,7
4767
 4976 2918 0396      		adiw r24,3
4768
 4977               	.L391:
4769
 4978 291a 9595      		asr r25
4770
 4979 291c 8795      		ror r24
4771
 4980 291e 9595      		asr r25
4772
 4981 2920 8795      		ror r24
4773
 4982 2922 9093 0000 		sts (MaxStickNick)+1,r25
4774
 4983 2926 8093 0000 		sts MaxStickNick,r24
4775
 4984 292a 8536      		cpi r24,101
4776
 4985 292c 9105      		cpc r25,__zero_reg__
4777
 4986 292e 44F0      		brlt .L393
4778
 4987 2930 84E6      		ldi r24,lo8(100)
4779
 4988 2932 90E0      		ldi r25,hi8(100)
4780
 4989 2934 01C0      		rjmp .L783
4781
 4990               	.L387:
4782
 4991 2936 0197      		sbiw r24,1
4783
 4992               	.L783:
4784
 4993 2938 9093 0000 		sts (MaxStickNick)+1,r25
4785
 4994 293c 8093 0000 		sts MaxStickNick,r24
4786
 4995               	.L393:
4787
 4996 2940 4091 0000 		lds r20,StickRoll
4788
 4997 2944 5091 0000 		lds r21,(StickRoll)+1
4789
 4998 2948 CA01      		movw r24,r20
4790
 4999 294a 57FD      		sbrc r21,7
4791
 5000 294c 0396      		adiw r24,3
4792
 5001               	.L395:
4793
 5002 294e 9C01      		movw r18,r24
4794
 5003 2950 3595      		asr r19
4795
 5004 2952 2795      		ror r18
4796
 5005 2954 3595      		asr r19
4797
 5006 2956 2795      		ror r18
4798
 5007 2958 37FF      		sbrs r19,7
4799
 5008 295a 03C0      		rjmp .L396
4800
 5009 295c 3095      		com r19
4801
 5010 295e 2195      		neg r18
4802
 5011 2960 3F4F      		sbci r19,lo8(-1)
4803
 5012               	.L396:
4804
 5013 2962 8091 0000 		lds r24,MaxStickRoll
4805
 5014 2966 9091 0000 		lds r25,(MaxStickRoll)+1
4806
 5015 296a 8217      		cp r24,r18
4807
 5016 296c 9307      		cpc r25,r19
4808
 5017 296e B4F4      		brge .L394
4809
 5018 2970 CA01      		movw r24,r20
4810
 5019 2972 57FF      		sbrs r21,7
4811
 5020 2974 03C0      		rjmp .L397
4812
 5021 2976 9095      		com r25
4813
 5022 2978 8195      		neg r24
4814
 5023 297a 9F4F      		sbci r25,lo8(-1)
4815
 5024               	.L397:
4816
 5025 297c 97FD      		sbrc r25,7
4817
 5026 297e 0396      		adiw r24,3
4818
 5027               	.L398:
4819
 5028 2980 9595      		asr r25
4820
 5029 2982 8795      		ror r24
4821
 5030 2984 9595      		asr r25
4822
 5031 2986 8795      		ror r24
4823
 5032 2988 9093 0000 		sts (MaxStickRoll)+1,r25
4824
 5033 298c 8093 0000 		sts MaxStickRoll,r24
4825
 5034 2990 8536      		cpi r24,101
4826
 5035 2992 9105      		cpc r25,__zero_reg__
4827
 5036 2994 44F0      		brlt .L400
4828
 5037 2996 84E6      		ldi r24,lo8(100)
4829
 5038 2998 90E0      		ldi r25,hi8(100)
4830
 5039 299a 01C0      		rjmp .L784
4831
 5040               	.L394:
4832
 5041 299c 0197      		sbiw r24,1
4833
 5042               	.L784:
4834
 5043 299e 9093 0000 		sts (MaxStickRoll)+1,r25
4835
 5044 29a2 8093 0000 		sts MaxStickRoll,r24
4836
 5045               	.L400:
4837
 5046 29a6 8091 0000 		lds r24,FCFlags
4838
 5047 29aa 84FF      		sbrs r24,4
4839
 5048 29ac 08C0      		rjmp .L401
4840
 5049 29ae 1092 0000 		sts (MaxStickNick)+1,__zero_reg__
4841
 5050 29b2 1092 0000 		sts MaxStickNick,__zero_reg__
4842
 5051 29b6 1092 0000 		sts (MaxStickRoll)+1,__zero_reg__
4843
 5052 29ba 1092 0000 		sts MaxStickRoll,__zero_reg__
4844
 5053               	.L401:
4845
 5054 29be EB2D      		mov r30,r11
4846
 5055 29c0 FF27      		clr r31
4847
 5056 29c2 EE0F      		add r30,r30
4848
 5057 29c4 FF1F      		adc r31,r31
4849
 5058 29c6 E050      		subi r30,lo8(-(PPM_in))
4850
 5059 29c8 F040      		sbci r31,hi8(-(PPM_in))
4851
 5060 29ca 4091 0000 		lds r20,EE_Parameter+58
4852
 5061 29ce 242F      		mov r18,r20
4853
 5062 29d0 3327      		clr r19
4854
 5063 29d2 8081      		ld r24,Z
4855
 5064 29d4 9181      		ldd r25,Z+1
4856
 5065 29d6 2817      		cp r18,r24
4857
 5066 29d8 3907      		cpc r19,r25
4858
 5067 29da 44F4      		brge .L402
4859
 5068 29dc 8091 0000 		lds r24,EE_Parameter+97
4860
 5069 29e0 82FF      		sbrs r24,2
4861
 5070 29e2 04C0      		rjmp .L402
4862
 5071 29e4 81E0      		ldi r24,lo8(1)
4863
 5072 29e6 8093 0000 		sts Looping_Links,r24
4864
 5073 29ea 13C0      		rjmp .L403
4865
 5074               	.L402:
4866
 5075 29ec EB2D      		mov r30,r11
4867
 5076 29ee FF27      		clr r31
4868
 5077 29f0 EE0F      		add r30,r30
4869
 5078 29f2 FF1F      		adc r31,r31
4870
 5079 29f4 E050      		subi r30,lo8(-(PPM_in))
4871
 5080 29f6 F040      		sbci r31,hi8(-(PPM_in))
4872
 5081 29f8 842F      		mov r24,r20
4873
 5082 29fa 9927      		clr r25
4874
 5083 29fc 2091 0000 		lds r18,EE_Parameter+59
4875
 5084 2a00 821B      		sub r24,r18
4876
 5085 2a02 9109      		sbc r25,__zero_reg__
4877
 5086 2a04 2081      		ld r18,Z
4878
 5087 2a06 3181      		ldd r19,Z+1
4879
 5088 2a08 2817      		cp r18,r24
4880
 5089 2a0a 3907      		cpc r19,r25
4881
 5090 2a0c 14F4      		brge .L403
4882
 5091 2a0e 1092 0000 		sts Looping_Links,__zero_reg__
4883
 5092               	.L403:
4884
 5093 2a12 4091 0000 		lds r20,EE_Parameter+2
4885
 5094 2a16 E42F      		mov r30,r20
4886
 5095 2a18 FF27      		clr r31
4887
 5096 2a1a EE0F      		add r30,r30
4888
 5097 2a1c FF1F      		adc r31,r31
4889
 5098 2a1e E050      		subi r30,lo8(-(PPM_in))
4890
 5099 2a20 F040      		sbci r31,hi8(-(PPM_in))
4891
 5100 2a22 5091 0000 		lds r21,EE_Parameter+58
4892
 5101 2a26 852F      		mov r24,r21
4893
 5102 2a28 9927      		clr r25
4894
 5103 2a2a 2227      		clr r18
4895
 5104 2a2c 3327      		clr r19
4896
 5105 2a2e 281B      		sub r18,r24
4897
 5106 2a30 390B      		sbc r19,r25
4898
 5107 2a32 8081      		ld r24,Z
4899
 5108 2a34 9181      		ldd r25,Z+1
4900
 5109 2a36 8217      		cp r24,r18
4901
 5110 2a38 9307      		cpc r25,r19
4902
 5111 2a3a 44F4      		brge .L405
4903
 5112 2a3c 8091 0000 		lds r24,EE_Parameter+97
4904
 5113 2a40 83FF      		sbrs r24,3
4905
 5114 2a42 04C0      		rjmp .L405
4906
 5115 2a44 81E0      		ldi r24,lo8(1)
4907
 5116 2a46 8093 0000 		sts Looping_Rechts,r24
4908
 5117 2a4a 16C0      		rjmp .L406
4909
 5118               	.L405:
4910
 5119 2a4c 8091 0000 		lds r24,Looping_Rechts
4911
 5120 2a50 8823      		tst r24
4912
 5121 2a52 91F0      		breq .L406
4913
 5122 2a54 E42F      		mov r30,r20
4914
 5123 2a56 FF27      		clr r31
4915
 5124 2a58 EE0F      		add r30,r30
4916
 5125 2a5a FF1F      		adc r31,r31
4917
 5126 2a5c E050      		subi r30,lo8(-(PPM_in))
4918
 5127 2a5e F040      		sbci r31,hi8(-(PPM_in))
4919
 5128 2a60 8091 0000 		lds r24,EE_Parameter+59
4920
 5129 2a64 9927      		clr r25
4921
 5130 2a66 851B      		sub r24,r21
4922
 5131 2a68 9109      		sbc r25,__zero_reg__
4923
 5132 2a6a 2081      		ld r18,Z
4924
 5133 2a6c 3181      		ldd r19,Z+1
4925
 5134 2a6e 8217      		cp r24,r18
4926
 5135 2a70 9307      		cpc r25,r19
4927
 5136 2a72 14F4      		brge .L406
4928
 5137 2a74 1092 0000 		sts Looping_Rechts,__zero_reg__
4929
 5138               	.L406:
4930
 5139 2a78 EA2D      		mov r30,r10
4931
 5140 2a7a FF27      		clr r31
4932
 5141 2a7c EE0F      		add r30,r30
4933
 5142 2a7e FF1F      		adc r31,r31
4934
 5143 2a80 E050      		subi r30,lo8(-(PPM_in))
4935
 5144 2a82 F040      		sbci r31,hi8(-(PPM_in))
4936
 5145 2a84 4091 0000 		lds r20,EE_Parameter+58
4937
 5146 2a88 242F      		mov r18,r20
4938
 5147 2a8a 3327      		clr r19
4939
 5148 2a8c 8081      		ld r24,Z
4940
 5149 2a8e 9181      		ldd r25,Z+1
4941
 5150 2a90 2817      		cp r18,r24
4942
 5151 2a92 3907      		cpc r19,r25
4943
 5152 2a94 44F4      		brge .L409
4944
 5153 2a96 8091 0000 		lds r24,EE_Parameter+97
4945
 5154 2a9a 80FF      		sbrs r24,0
4946
 5155 2a9c 04C0      		rjmp .L409
4947
 5156 2a9e 81E0      		ldi r24,lo8(1)
4948
 5157 2aa0 8093 0000 		sts Looping_Oben,r24
4949
 5158 2aa4 17C0      		rjmp .L410
4950
 5159               	.L409:
4951
 5160 2aa6 8091 0000 		lds r24,Looping_Oben
4952
 5161 2aaa 8823      		tst r24
4953
 5162 2aac 99F0      		breq .L410
4954
 5163 2aae EA2D      		mov r30,r10
4955
 5164 2ab0 FF27      		clr r31
4956
 5165 2ab2 EE0F      		add r30,r30
4957
 5166 2ab4 FF1F      		adc r31,r31
4958
 5167 2ab6 E050      		subi r30,lo8(-(PPM_in))
4959
 5168 2ab8 F040      		sbci r31,hi8(-(PPM_in))
4960
 5169 2aba 842F      		mov r24,r20
4961
 5170 2abc 9927      		clr r25
4962
 5171 2abe 2091 0000 		lds r18,EE_Parameter+59
4963
 5172 2ac2 821B      		sub r24,r18
4964
 5173 2ac4 9109      		sbc r25,__zero_reg__
4965
 5174 2ac6 2081      		ld r18,Z
4966
 5175 2ac8 3181      		ldd r19,Z+1
4967
 5176 2aca 2817      		cp r18,r24
4968
 5177 2acc 3907      		cpc r19,r25
4969
 5178 2ace 14F4      		brge .L410
4970
 5179 2ad0 1092 0000 		sts Looping_Oben,__zero_reg__
4971
 5180               	.L410:
4972
 5181 2ad4 4091 0000 		lds r20,EE_Parameter+1
4973
 5182 2ad8 E42F      		mov r30,r20
4974
 5183 2ada FF27      		clr r31
4975
 5184 2adc EE0F      		add r30,r30
4976
 5185 2ade FF1F      		adc r31,r31
4977
 5186 2ae0 E050      		subi r30,lo8(-(PPM_in))
4978
 5187 2ae2 F040      		sbci r31,hi8(-(PPM_in))
4979
 5188 2ae4 5091 0000 		lds r21,EE_Parameter+58
4980
 5189 2ae8 852F      		mov r24,r21
4981
 5190 2aea 9927      		clr r25
4982
 5191 2aec 2227      		clr r18
4983
 5192 2aee 3327      		clr r19
4984
 5193 2af0 281B      		sub r18,r24
4985
 5194 2af2 390B      		sbc r19,r25
4986
 5195 2af4 8081      		ld r24,Z
4987
 5196 2af6 9181      		ldd r25,Z+1
4988
 5197 2af8 8217      		cp r24,r18
4989
 5198 2afa 9307      		cpc r25,r19
4990
 5199 2afc 44F4      		brge .L413
4991
 5200 2afe 8091 0000 		lds r24,EE_Parameter+97
4992
 5201 2b02 81FF      		sbrs r24,1
4993
 5202 2b04 04C0      		rjmp .L413
4994
 5203 2b06 81E0      		ldi r24,lo8(1)
4995
 5204 2b08 8093 0000 		sts Looping_Unten,r24
4996
 5205 2b0c 16C0      		rjmp .L414
4997
 5206               	.L413:
4998
 5207 2b0e 8091 0000 		lds r24,Looping_Unten
4999
 5208 2b12 8823      		tst r24
5000
 5209 2b14 91F0      		breq .L414
5001
 5210 2b16 E42F      		mov r30,r20
5002
 5211 2b18 FF27      		clr r31
5003
 5212 2b1a EE0F      		add r30,r30
5004
 5213 2b1c FF1F      		adc r31,r31
5005
 5214 2b1e E050      		subi r30,lo8(-(PPM_in))
5006
 5215 2b20 F040      		sbci r31,hi8(-(PPM_in))
5007
 5216 2b22 8091 0000 		lds r24,EE_Parameter+59
5008
 5217 2b26 9927      		clr r25
5009
 5218 2b28 851B      		sub r24,r21
5010
 5219 2b2a 9109      		sbc r25,__zero_reg__
5011
 5220 2b2c 2081      		ld r18,Z
5012
 5221 2b2e 3181      		ldd r19,Z+1
5013
 5222 2b30 8217      		cp r24,r18
5014
 5223 2b32 9307      		cpc r25,r19
5015
 5224 2b34 14F4      		brge .L414
5016
 5225 2b36 1092 0000 		sts Looping_Unten,__zero_reg__
5017
 5226               	.L414:
5018
 5227 2b3a 8091 0000 		lds r24,Looping_Links
5019
 5228 2b3e 8823      		tst r24
5020
 5229 2b40 19F4      		brne .L418
5021
 5230 2b42 8091 0000 		lds r24,Looping_Rechts
5022
 5231 2b46 8111      		cpse r24,__zero_reg__
5023
 5232               	.L418:
5024
 5233 2b48 81E0      		ldi r24,lo8(1)
5025
 5234               	.L417:
5026
 5235 2b4a 8093 0000 		sts Looping_Roll,r24
5027
 5236 2b4e 8091 0000 		lds r24,Looping_Oben
5028
 5237 2b52 8823      		tst r24
5029
 5238 2b54 21F4      		brne .L421
5030
 5239 2b56 8091 0000 		lds r24,Looping_Unten
5031
 5240 2b5a 8823      		tst r24
5032
 5241 2b5c 51F0      		breq .L420
5033
 5242               	.L421:
5034
 5243 2b5e 81E0      		ldi r24,lo8(1)
5035
 5244 2b60 8093 0000 		sts Looping_Nick,r24
5036
 5245 2b64 1092 0000 		sts Looping_Roll,__zero_reg__
5037
 5246 2b68 1092 0000 		sts Looping_Links,__zero_reg__
5038
 5247 2b6c 1092 0000 		sts Looping_Rechts,__zero_reg__
5039
 5248 2b70 02C0      		rjmp .L367
5040
 5249               	.L420:
5041
 5250 2b72 8093 0000 		sts Looping_Nick,r24
5042
 5251               	.L367:
5043
 5252 2b76 8091 0000 		lds r24,Looping_Roll
5044
 5253 2b7a 8823      		tst r24
5045
 5254 2b7c 21F4      		brne .L424
5046
 5255 2b7e 8091 0000 		lds r24,Looping_Nick
5047
 5256 2b82 8823      		tst r24
5048
 5257 2b84 69F0      		breq .L423
5049
 5258               	.L424:
5050
 5259 2b86 8091 0000 		lds r24,EE_Parameter+57
5051
 5260 2b8a 9927      		clr r25
5052
 5261 2b8c E8A1      		ldd r30,Y+32
5053
 5262 2b8e F9A1      		ldd r31,Y+33
5054
 5263 2b90 8E17      		cp r24,r30
5055
 5264 2b92 9F07      		cpc r25,r31
5056
 5265 2b94 14F4      		brge .L425
5057
 5266 2b96 99A3      		std Y+33,r25
5058
 5267 2b98 88A3      		std Y+32,r24
5059
 5268               	.L425:
5060
 5269 2b9a 81E0      		ldi r24,lo8(1)
5061
 5270 2b9c 8093 0000 		sts TrichterFlug,r24
5062
 5271               	.L423:
5063
 5272 2ba0 8091 0000 		lds r24,FCFlags
5064
 5273 2ba4 84FF      		sbrs r24,4
5065
 5274 2ba6 1AC0      		rjmp .L426
5066
 5275 2ba8 1092 0000 		sts (StickGier)+1,__zero_reg__
5067
 5276 2bac 1092 0000 		sts StickGier,__zero_reg__
5068
 5277 2bb0 1092 0000 		sts (StickNick)+1,__zero_reg__
5069
 5278 2bb4 1092 0000 		sts StickNick,__zero_reg__
5070
 5279 2bb8 1092 0000 		sts (StickRoll)+1,__zero_reg__
5071
 5280 2bbc 1092 0000 		sts StickRoll,__zero_reg__
5072
 5281 2bc0 9AE5      		ldi r25,lo8(90)
5073
 5282 2bc2 9093 0000 		sts GyroFaktor,r25
5074
 5283 2bc6 88E7      		ldi r24,lo8(120)
5075
 5284 2bc8 8093 0000 		sts IntegralFaktor,r24
5076
 5285 2bcc 9093 0000 		sts GyroFaktorGier,r25
5077
 5286 2bd0 8093 0000 		sts IntegralFaktorGier,r24
5078
 5287 2bd4 1092 0000 		sts Looping_Roll,__zero_reg__
5079
 5288 2bd8 1092 0000 		sts Looping_Nick,__zero_reg__
5080
 5289               	.L426:
5081
 5290 2bdc 8091 0000 		lds r24,MittelIntegralNick
5082
 5291 2be0 9091 0000 		lds r25,(MittelIntegralNick)+1
5083
 5292 2be4 A091 0000 		lds r26,(MittelIntegralNick)+2
5084
 5293 2be8 B091 0000 		lds r27,(MittelIntegralNick)+3
5085
 5294 2bec 2091 0000 		lds r18,IntegralNick
5086
 5295 2bf0 3091 0000 		lds r19,(IntegralNick)+1
5087
 5296 2bf4 4091 0000 		lds r20,(IntegralNick)+2
5088
 5297 2bf8 5091 0000 		lds r21,(IntegralNick)+3
5089
 5298 2bfc 820F      		add r24,r18
5090
 5299 2bfe 931F      		adc r25,r19
5091
 5300 2c00 A41F      		adc r26,r20
5092
 5301 2c02 B51F      		adc r27,r21
5093
 5302 2c04 8093 0000 		sts MittelIntegralNick,r24
5094
 5303 2c08 9093 0000 		sts (MittelIntegralNick)+1,r25
5095
 5304 2c0c A093 0000 		sts (MittelIntegralNick)+2,r26
5096
 5305 2c10 B093 0000 		sts (MittelIntegralNick)+3,r27
5097
 5306 2c14 8091 0000 		lds r24,MittelIntegralRoll
5098
 5307 2c18 9091 0000 		lds r25,(MittelIntegralRoll)+1
5099
 5308 2c1c A091 0000 		lds r26,(MittelIntegralRoll)+2
5100
 5309 2c20 B091 0000 		lds r27,(MittelIntegralRoll)+3
5101
 5310 2c24 2090 0000 		lds r2,IntegralRoll
5102
 5311 2c28 3090 0000 		lds r3,(IntegralRoll)+1
5103
 5312 2c2c 4090 0000 		lds r4,(IntegralRoll)+2
5104
 5313 2c30 5090 0000 		lds r5,(IntegralRoll)+3
5105
 5314 2c34 820D      		add r24,r2
5106
 5315 2c36 931D      		adc r25,r3
5107
 5316 2c38 A41D      		adc r26,r4
5108
 5317 2c3a B51D      		adc r27,r5
5109
 5318 2c3c 8093 0000 		sts MittelIntegralRoll,r24
5110
 5319 2c40 9093 0000 		sts (MittelIntegralRoll)+1,r25
5111
 5320 2c44 A093 0000 		sts (MittelIntegralRoll)+2,r26
5112
 5321 2c48 B093 0000 		sts (MittelIntegralRoll)+3,r27
5113
 5322 2c4c 8091 0000 		lds r24,MittelIntegralNick2
5114
 5323 2c50 9091 0000 		lds r25,(MittelIntegralNick2)+1
5115
 5324 2c54 A091 0000 		lds r26,(MittelIntegralNick2)+2
5116
 5325 2c58 B091 0000 		lds r27,(MittelIntegralNick2)+3
5117
 5326 2c5c E090 0000 		lds r14,IntegralNick2
5118
 5327 2c60 F090 0000 		lds r15,(IntegralNick2)+1
5119
 5328 2c64 0091 0000 		lds r16,(IntegralNick2)+2
5120
 5329 2c68 1091 0000 		lds r17,(IntegralNick2)+3
5121
 5330 2c6c EAA2      		std Y+34,r14
5122
 5331 2c6e FBA2      		std Y+35,r15
5123
 5332 2c70 0CA3      		std Y+36,r16
5124
 5333 2c72 1DA3      		std Y+37,r17
5125
 5334 2c74 8E0D      		add r24,r14
5126
 5335 2c76 9F1D      		adc r25,r15
5127
 5336 2c78 A01F      		adc r26,r16
5128
 5337 2c7a B11F      		adc r27,r17
5129
 5338 2c7c 8093 0000 		sts MittelIntegralNick2,r24
5130
 5339 2c80 9093 0000 		sts (MittelIntegralNick2)+1,r25
5131
 5340 2c84 A093 0000 		sts (MittelIntegralNick2)+2,r26
5132
 5341 2c88 B093 0000 		sts (MittelIntegralNick2)+3,r27
5133
 5342 2c8c 8091 0000 		lds r24,MittelIntegralRoll2
5134
 5343 2c90 9091 0000 		lds r25,(MittelIntegralRoll2)+1
5135
 5344 2c94 A091 0000 		lds r26,(MittelIntegralRoll2)+2
5136
 5345 2c98 B091 0000 		lds r27,(MittelIntegralRoll2)+3
5137
 5346 2c9c E090 0000 		lds r14,IntegralRoll2
5138
 5347 2ca0 F090 0000 		lds r15,(IntegralRoll2)+1
5139
 5348 2ca4 0091 0000 		lds r16,(IntegralRoll2)+2
5140
 5349 2ca8 1091 0000 		lds r17,(IntegralRoll2)+3
5141
 5350 2cac EEA2      		std Y+38,r14
5142
 5351 2cae FFA2      		std Y+39,r15
5143
 5352 2cb0 08A7      		std Y+40,r16
5144
 5353 2cb2 19A7      		std Y+41,r17
5145
 5354 2cb4 8E0D      		add r24,r14
5146
 5355 2cb6 9F1D      		adc r25,r15
5147
 5356 2cb8 A01F      		adc r26,r16
5148
 5357 2cba B11F      		adc r27,r17
5149
 5358 2cbc 8093 0000 		sts MittelIntegralRoll2,r24
5150
 5359 2cc0 9093 0000 		sts (MittelIntegralRoll2)+1,r25
5151
 5360 2cc4 A093 0000 		sts (MittelIntegralRoll2)+2,r26
5152
 5361 2cc8 B093 0000 		sts (MittelIntegralRoll2)+3,r27
5153
 5362 2ccc F090 0000 		lds r15,Looping_Nick
5154
 5363 2cd0 FAA6      		std Y+42,r15
5155
 5364 2cd2 FF20      		tst r15
5156
 5365 2cd4 29F4      		brne .L428
5157
 5366 2cd6 8091 0000 		lds r24,Looping_Roll
5158
 5367 2cda 8823      		tst r24
5159
 5368 2cdc 09F4      		brne .+2
5160
 5369 2cde 60C0      		rjmp .L779
5161
 5370               	.L428:
5162
 5371 2ce0 1092 0000 		sts IntegralAccNick,__zero_reg__
5163
 5372 2ce4 1092 0000 		sts (IntegralAccNick)+1,__zero_reg__
5164
 5373 2ce8 1092 0000 		sts (IntegralAccNick)+2,__zero_reg__
5165
 5374 2cec 1092 0000 		sts (IntegralAccNick)+3,__zero_reg__
5166
 5375 2cf0 1092 0000 		sts IntegralAccRoll,__zero_reg__
5167
 5376 2cf4 1092 0000 		sts (IntegralAccRoll)+1,__zero_reg__
5168
 5377 2cf8 1092 0000 		sts (IntegralAccRoll)+2,__zero_reg__
5169
 5378 2cfc 1092 0000 		sts (IntegralAccRoll)+3,__zero_reg__
5170
 5379 2d00 1092 0000 		sts MittelIntegralNick,__zero_reg__
5171
 5380 2d04 1092 0000 		sts (MittelIntegralNick)+1,__zero_reg__
5172
 5381 2d08 1092 0000 		sts (MittelIntegralNick)+2,__zero_reg__
5173
 5382 2d0c 1092 0000 		sts (MittelIntegralNick)+3,__zero_reg__
5174
 5383 2d10 1092 0000 		sts MittelIntegralRoll,__zero_reg__
5175
 5384 2d14 1092 0000 		sts (MittelIntegralRoll)+1,__zero_reg__
5176
 5385 2d18 1092 0000 		sts (MittelIntegralRoll)+2,__zero_reg__
5177
 5386 2d1c 1092 0000 		sts (MittelIntegralRoll)+3,__zero_reg__
5178
 5387 2d20 1092 0000 		sts MittelIntegralNick2,__zero_reg__
5179
 5388 2d24 1092 0000 		sts (MittelIntegralNick2)+1,__zero_reg__
5180
 5389 2d28 1092 0000 		sts (MittelIntegralNick2)+2,__zero_reg__
5181
 5390 2d2c 1092 0000 		sts (MittelIntegralNick2)+3,__zero_reg__
5182
 5391 2d30 1092 0000 		sts MittelIntegralRoll2,__zero_reg__
5183
 5392 2d34 1092 0000 		sts (MittelIntegralRoll2)+1,__zero_reg__
5184
 5393 2d38 1092 0000 		sts (MittelIntegralRoll2)+2,__zero_reg__
5185
 5394 2d3c 1092 0000 		sts (MittelIntegralRoll2)+3,__zero_reg__
5186
 5395 2d40 8091 0000 		lds r24,Mess_IntegralNick
5187
 5396 2d44 9091 0000 		lds r25,(Mess_IntegralNick)+1
5188
 5397 2d48 A091 0000 		lds r26,(Mess_IntegralNick)+2
5189
 5398 2d4c B091 0000 		lds r27,(Mess_IntegralNick)+3
5190
 5399 2d50 8093 0000 		sts Mess_IntegralNick2,r24
5191
 5400 2d54 9093 0000 		sts (Mess_IntegralNick2)+1,r25
5192
 5401 2d58 A093 0000 		sts (Mess_IntegralNick2)+2,r26
5193
 5402 2d5c B093 0000 		sts (Mess_IntegralNick2)+3,r27
5194
 5403 2d60 8091 0000 		lds r24,Mess_IntegralRoll
5195
 5404 2d64 9091 0000 		lds r25,(Mess_IntegralRoll)+1
5196
 5405 2d68 A091 0000 		lds r26,(Mess_IntegralRoll)+2
5197
 5406 2d6c B091 0000 		lds r27,(Mess_IntegralRoll)+3
5198
 5407 2d70 8093 0000 		sts Mess_IntegralRoll2,r24
5199
 5408 2d74 9093 0000 		sts (Mess_IntegralRoll2)+1,r25
5200
 5409 2d78 A093 0000 		sts (Mess_IntegralRoll2)+2,r26
5201
 5410 2d7c B093 0000 		sts (Mess_IntegralRoll2)+3,r27
5202
 5411 2d80 1092 0000 		sts (ZaehlMessungen)+1,__zero_reg__
5203
 5412 2d84 1092 0000 		sts ZaehlMessungen,__zero_reg__
5204
 5413 2d88 1092 0000 		sts (LageKorrekturNick)+1,__zero_reg__
5205
 5414 2d8c 1092 0000 		sts LageKorrekturNick,__zero_reg__
5206
 5415 2d90 1092 0000 		sts (LageKorrekturRoll)+1,__zero_reg__
5207
 5416 2d94 1092 0000 		sts LageKorrekturRoll,__zero_reg__
5208
 5417 2d98 0AA5      		ldd r16,Y+42
5209
 5418 2d9a 0023      		tst r16
5210
 5419 2d9c 09F0      		breq .+2
5211
 5420 2d9e F2C1      		rjmp .L429
5212
 5421               	.L779:
5213
 5422 2da0 8091 0000 		lds r24,Looping_Roll
5214
 5423 2da4 8823      		tst r24
5215
 5424 2da6 09F0      		breq .+2
5216
 5425 2da8 EDC1      		rjmp .L429
5217
 5426 2daa 8091 0000 		lds r24,Aktuell_az
5218
 5427 2dae 9091 0000 		lds r25,(Aktuell_az)+1
5219
 5428 2db2 8150      		subi r24,lo8(513)
5220
 5429 2db4 9240      		sbci r25,hi8(513)
5221
 5430 2db6 2CF4      		brge .L430
5222
 5431 2db8 8091 0000 		lds r24,MotorenEin
5223
 5432 2dbc 8823      		tst r24
5224
 5433 2dbe 09F4      		brne .+2
5225
 5434 2dc0 E1C1      		rjmp .L429
5226
 5435               	.L430:
5227
 5436 2dc2 9090 0000 		lds r9,FromNaviCtrl_Value
5228
 5437 2dc6 A090 0000 		lds r10,EE_Parameter+28
5229
 5438 2dca 6091 0000 		lds r22,Mittelwert_AccNick
5230
 5439 2dce 7091 0000 		lds r23,(Mittelwert_AccNick)+1
5231
 5440 2dd2 7BAB      		std Y+51,r23
5232
 5441 2dd4 6AAB      		std Y+50,r22
5233
 5442 2dd6 8091 0000 		lds r24,Mittelwert_AccRoll
5234
 5443 2dda 9091 0000 		lds r25,(Mittelwert_AccRoll)+1
5235
 5444 2dde 9DAB      		std Y+53,r25
5236
 5445 2de0 8CAB      		std Y+52,r24
5237
 5446 2de2 9FEF      		ldi r25,lo8(-1)
5238
 5447 2de4 9916      		cp r9,r25
5239
 5448 2de6 09F4      		brne .+2
5240
 5449 2de8 D9C0      		rjmp .L431
5241
 5450 2dea BB24      		clr r11
5242
 5451 2dec CC24      		clr r12
5243
 5452 2dee DD24      		clr r13
5244
 5453 2df0 CA01      		movw r24,r20
5245
 5454 2df2 B901      		movw r22,r18
5246
 5455 2df4 A601      		movw r20,r12
5247
 5456 2df6 9501      		movw r18,r10
5248
 5457 2df8 0E94 0000 		call __divmodsi4
5249
 5458 2dfc 7901      		movw r14,r18
5250
 5459 2dfe 8A01      		movw r16,r20
5251
 5460 2e00 EAA9      		ldd r30,Y+50
5252
 5461 2e02 FBA9      		ldd r31,Y+51
5253
 5462 2e04 CF01      		movw r24,r30
5254
 5463 2e06 AA27      		clr r26
5255
 5464 2e08 97FD      		sbrc r25,7
5256
 5465 2e0a A095      		com r26
5257
 5466 2e0c BA2F      		mov r27,r26
5258
 5467 2e0e E81A      		sub r14,r24
5259
 5468 2e10 F90A      		sbc r15,r25
5260
 5469 2e12 0A0B      		sbc r16,r26
5261
 5470 2e14 1B0B      		sbc r17,r27
5262
 5471 2e16 C201      		movw r24,r4
5263
 5472 2e18 B101      		movw r22,r2
5264
 5473 2e1a A601      		movw r20,r12
5265
 5474 2e1c 9501      		movw r18,r10
5266
 5475 2e1e 0E94 0000 		call __divmodsi4
5267
 5476 2e22 5901      		movw r10,r18
5268
 5477 2e24 6A01      		movw r12,r20
5269
 5478 2e26 2CA9      		ldd r18,Y+52
5270
 5479 2e28 3DA9      		ldd r19,Y+53
5271
 5480 2e2a C901      		movw r24,r18
5272
 5481 2e2c AA27      		clr r26
5273
 5482 2e2e 97FD      		sbrc r25,7
5274
 5483 2e30 A095      		com r26
5275
 5484 2e32 BA2F      		mov r27,r26
5276
 5485 2e34 A81A      		sub r10,r24
5277
 5486 2e36 B90A      		sbc r11,r25
5278
 5487 2e38 CA0A      		sbc r12,r26
5279
 5488 2e3a DB0A      		sbc r13,r27
5280
 5489 2e3c 292C      		mov r2,r9
5281
 5490 2e3e 3324      		clr r3
5282
 5491 2e40 27FC      		sbrc r2,7
5283
 5492 2e42 3094      		com r3
5284
 5493 2e44 432C      		mov r4,r3
5285
 5494 2e46 532C      		mov r5,r3
5286
 5495 2e48 C801      		movw r24,r16
5287
 5496 2e4a B701      		movw r22,r14
5288
 5497 2e4c A201      		movw r20,r4
5289
 5498 2e4e 9101      		movw r18,r2
5290
 5499 2e50 0E94 0000 		call __mulsi3
5291
 5500 2e54 97FF      		sbrs r25,7
5292
 5501 2e56 04C0      		rjmp .L432
5293
 5502 2e58 6150      		subi r22,lo8(-(511))
5294
 5503 2e5a 7E4F      		sbci r23,hi8(-(511))
5295
 5504 2e5c 8F4F      		sbci r24,hlo8(-(511))
5296
 5505 2e5e 9F4F      		sbci r25,hhi8(-(511))
5297
 5506               	.L432:
5298
 5507 2e60 3B01      		movw r6,r22
5299
 5508 2e62 4C01      		movw r8,r24
5300
 5509 2e64 09E0      		ldi r16,9
5301
 5510 2e66 9594      	1:	asr r9
5302
 5511 2e68 8794      		ror r8
5303
 5512 2e6a 7794      		ror r7
5304
 5513 2e6c 6794      		ror r6
5305
 5514 2e6e 0A95      		dec r16
5306
 5515 2e70 D1F7      		brne 1b
5307
 5516 2e72 C601      		movw r24,r12
5308
 5517 2e74 B501      		movw r22,r10
5309
 5518 2e76 A201      		movw r20,r4
5310
 5519 2e78 9101      		movw r18,r2
5311
 5520 2e7a 0E94 0000 		call __mulsi3
5312
 5521 2e7e 97FF      		sbrs r25,7
5313
 5522 2e80 04C0      		rjmp .L433
5314
 5523 2e82 6150      		subi r22,lo8(-(511))
5315
 5524 2e84 7E4F      		sbci r23,hi8(-(511))
5316
 5525 2e86 8F4F      		sbci r24,hlo8(-(511))
5317
 5526 2e88 9F4F      		sbci r25,hhi8(-(511))
5318
 5527               	.L433:
5319
 5528 2e8a 5B01      		movw r10,r22
5320
 5529 2e8c 6C01      		movw r12,r24
5321
 5530 2e8e 19E0      		ldi r17,9
5322
 5531 2e90 D594      	1:	asr r13
5323
 5532 2e92 C794      		ror r12
5324
 5533 2e94 B794      		ror r11
5325
 5534 2e96 A794      		ror r10
5326
 5535 2e98 1A95      		dec r17
5327
 5536 2e9a D1F7      		brne 1b
5328
 5537 2e9c 8091 0000 		lds r24,MaxStickNick
5329
 5538 2ea0 9091 0000 		lds r25,(MaxStickNick)+1
5330
 5539 2ea4 8134      		cpi r24,65
5331
 5540 2ea6 9105      		cpc r25,__zero_reg__
5332
 5541 2ea8 3CF4      		brge .L435
5333
 5542 2eaa 8091 0000 		lds r24,MaxStickRoll
5334
 5543 2eae 9091 0000 		lds r25,(MaxStickRoll)+1
5335
 5544 2eb2 8134      		cpi r24,65
5336
 5545 2eb4 9105      		cpc r25,__zero_reg__
5337
 5546 2eb6 D4F0      		brlt .L434
5338
 5547               	.L435:
5339
 5548 2eb8 D401      		movw r26,r8
5340
 5549 2eba C301      		movw r24,r6
5341
 5550 2ebc 97FE      		sbrs r9,7
5342
 5551 2ebe 03C0      		rjmp .L436
5343
 5552 2ec0 0196      		adiw r24,1
5344
 5553 2ec2 A11D      		adc r26,__zero_reg__
5345
 5554 2ec4 B11D      		adc r27,__zero_reg__
5346
 5555               	.L436:
5347
 5556 2ec6 3C01      		movw r6,r24
5348
 5557 2ec8 4D01      		movw r8,r26
5349
 5558 2eca 9594      		asr r9
5350
 5559 2ecc 8794      		ror r8
5351
 5560 2ece 7794      		ror r7
5352
 5561 2ed0 6794      		ror r6
5353
 5562 2ed2 D601      		movw r26,r12
5354
 5563 2ed4 C501      		movw r24,r10
5355
 5564 2ed6 D7FE      		sbrs r13,7
5356
 5565 2ed8 03C0      		rjmp .L437
5357
 5566 2eda 0196      		adiw r24,1
5358
 5567 2edc A11D      		adc r26,__zero_reg__
5359
 5568 2ede B11D      		adc r27,__zero_reg__
5360
 5569               	.L437:
5361
 5570 2ee0 5C01      		movw r10,r24
5362
 5571 2ee2 6D01      		movw r12,r26
5363
 5572 2ee4 D594      		asr r13
5364
 5573 2ee6 C794      		ror r12
5365
 5574 2ee8 B794      		ror r11
5366
 5575 2eea A794      		ror r10
5367
 5576               	.L434:
5368
 5577 2eec 8091 0000 		lds r24,EE_Parameter+4
5369
 5578 2ef0 E82F      		mov r30,r24
5370
 5579 2ef2 FF27      		clr r31
5371
 5580 2ef4 EE0F      		add r30,r30
5372
 5581 2ef6 FF1F      		adc r31,r31
5373
 5582 2ef8 E050      		subi r30,lo8(-(PPM_in))
5374
 5583 2efa F040      		sbci r31,hi8(-(PPM_in))
5375
 5584 2efc 8081      		ld r24,Z
5376
 5585 2efe 9181      		ldd r25,Z+1
5377
 5586 2f00 0190      		ld __tmp_reg__,Z+
5378
 5587 2f02 F081      		ld r31,Z
5379
 5588 2f04 E02D      		mov r30,__tmp_reg__
5380
 5589 2f06 F7FF      		sbrs r31,7
5381
 5590 2f08 03C0      		rjmp .L439
5382
 5591 2f0a F095      		com r31
5383
 5592 2f0c E195      		neg r30
5384
 5593 2f0e FF4F      		sbci r31,lo8(-1)
5385
 5594               	.L439:
5386
 5595 2f10 7A97      		sbiw r30,26
5387
 5596 2f12 A4F0      		brlt .L438
5388
 5597 2f14 C401      		movw r24,r8
5389
 5598 2f16 B301      		movw r22,r6
5390
 5599 2f18 23E0      		ldi r18,lo8(3)
5391
 5600 2f1a 30E0      		ldi r19,hi8(3)
5392
 5601 2f1c 40E0      		ldi r20,hlo8(3)
5393
 5602 2f1e 50E0      		ldi r21,hhi8(3)
5394
 5603 2f20 0E94 0000 		call __divmodsi4
5395
 5604 2f24 3901      		movw r6,r18
5396
 5605 2f26 4A01      		movw r8,r20
5397
 5606 2f28 C601      		movw r24,r12
5398
 5607 2f2a B501      		movw r22,r10
5399
 5608 2f2c 23E0      		ldi r18,lo8(3)
5400
 5609 2f2e 30E0      		ldi r19,hi8(3)
5401
 5610 2f30 40E0      		ldi r20,hlo8(3)
5402
 5611 2f32 50E0      		ldi r21,hhi8(3)
5403
 5612 2f34 0E94 0000 		call __divmodsi4
5404
 5613 2f38 5901      		movw r10,r18
5405
 5614 2f3a 6A01      		movw r12,r20
5406
 5615               	.L438:
5407
 5616 2f3c 8091 0000 		lds r24,FromNaviCtrl_Value+2
5408
 5617 2f40 282F      		mov r18,r24
5409
 5618 2f42 3327      		clr r19
5410
 5619 2f44 27FD      		sbrc r18,7
5411
 5620 2f46 3095      		com r19
5412
 5621 2f48 432F      		mov r20,r19
5413
 5622 2f4a 532F      		mov r21,r19
5414
 5623 2f4c 2615      		cp r18,r6
5415
 5624 2f4e 3705      		cpc r19,r7
5416
 5625 2f50 4805      		cpc r20,r8
5417
 5626 2f52 5905      		cpc r21,r9
5418
 5627 2f54 14F4      		brge .L440
5419
 5628 2f56 3901      		movw r6,r18
5420
 5629 2f58 4A01      		movw r8,r20
5421
 5630               	.L440:
5422
 5631 2f5a 9927      		clr r25
5423
 5632 2f5c 87FD      		sbrc r24,7
5424
 5633 2f5e 9095      		com r25
5425
 5634 2f60 9095      		com r25
5426
 5635 2f62 8195      		neg r24
5427
 5636 2f64 9F4F      		sbci r25,lo8(-1)
5428
 5637 2f66 AA27      		clr r26
5429
 5638 2f68 97FD      		sbrc r25,7
5430
 5639 2f6a A095      		com r26
5431
 5640 2f6c BA2F      		mov r27,r26
5432
 5641 2f6e 6816      		cp r6,r24
5433
 5642 2f70 7906      		cpc r7,r25
5434
 5643 2f72 8A06      		cpc r8,r26
5435
 5644 2f74 9B06      		cpc r9,r27
5436
 5645 2f76 14F4      		brge .L441
5437
 5646 2f78 3C01      		movw r6,r24
5438
 5647 2f7a 4D01      		movw r8,r26
5439
 5648               	.L441:
5440
 5649 2f7c 2A15      		cp r18,r10
5441
 5650 2f7e 3B05      		cpc r19,r11
5442
 5651 2f80 4C05      		cpc r20,r12
5443
 5652 2f82 5D05      		cpc r21,r13
5444
 5653 2f84 14F4      		brge .L442
5445
 5654 2f86 5901      		movw r10,r18
5446
 5655 2f88 6A01      		movw r12,r20
5447
 5656               	.L442:
5448
 5657 2f8a A816      		cp r10,r24
5449
 5658 2f8c B906      		cpc r11,r25
5450
 5659 2f8e CA06      		cpc r12,r26
5451
 5660 2f90 DB06      		cpc r13,r27
5452
 5661 2f92 0CF0      		brlt .+2
5453
 5662 2f94 CFC0      		rjmp .L444
5454
 5663 2f96 5C01      		movw r10,r24
5455
 5664 2f98 6D01      		movw r12,r26
5456
 5665 2f9a CCC0      		rjmp .L444
5457
 5666               	.L431:
5458
 5667 2f9c EA2C      		mov r14,r10
5459
 5668 2f9e FF24      		clr r15
5460
 5669 2fa0 0027      		clr r16
5461
 5670 2fa2 1127      		clr r17
5462
 5671 2fa4 CA01      		movw r24,r20
5463
 5672 2fa6 B901      		movw r22,r18
5464
 5673 2fa8 A801      		movw r20,r16
5465
 5674 2faa 9701      		movw r18,r14
5466
 5675 2fac 0E94 0000 		call __divmodsi4
5467
 5676 2fb0 3901      		movw r6,r18
5468
 5677 2fb2 4A01      		movw r8,r20
5469
 5678 2fb4 4AA9      		ldd r20,Y+50
5470
 5679 2fb6 5BA9      		ldd r21,Y+51
5471
 5680 2fb8 CA01      		movw r24,r20
5472
 5681 2fba AA27      		clr r26
5473
 5682 2fbc 97FD      		sbrc r25,7
5474
 5683 2fbe A095      		com r26
5475
 5684 2fc0 BA2F      		mov r27,r26
5476
 5685 2fc2 681A      		sub r6,r24
5477
 5686 2fc4 790A      		sbc r7,r25
5478
 5687 2fc6 8A0A      		sbc r8,r26
5479
 5688 2fc8 9B0A      		sbc r9,r27
5480
 5689 2fca C201      		movw r24,r4
5481
 5690 2fcc B101      		movw r22,r2
5482
 5691 2fce A801      		movw r20,r16
5483
 5692 2fd0 9701      		movw r18,r14
5484
 5693 2fd2 0E94 0000 		call __divmodsi4
5485
 5694 2fd6 5901      		movw r10,r18
5486
 5695 2fd8 6A01      		movw r12,r20
5487
 5696 2fda 6CA9      		ldd r22,Y+52
5488
 5697 2fdc 7DA9      		ldd r23,Y+53
5489
 5698 2fde CB01      		movw r24,r22
5490
 5699 2fe0 AA27      		clr r26
5491
 5700 2fe2 97FD      		sbrc r25,7
5492
 5701 2fe4 A095      		com r26
5493
 5702 2fe6 BA2F      		mov r27,r26
5494
 5703 2fe8 A81A      		sub r10,r24
5495
 5704 2fea B90A      		sbc r11,r25
5496
 5705 2fec CA0A      		sbc r12,r26
5497
 5706 2fee DB0A      		sbc r13,r27
5498
 5707 2ff0 D401      		movw r26,r8
5499
 5708 2ff2 C301      		movw r24,r6
5500
 5709 2ff4 97FE      		sbrs r9,7
5501
 5710 2ff6 03C0      		rjmp .L445
5502
 5711 2ff8 0F96      		adiw r24,15
5503
 5712 2ffa A11D      		adc r26,__zero_reg__
5504
 5713 2ffc B11D      		adc r27,__zero_reg__
5505
 5714               	.L445:
5506
 5715 2ffe 3C01      		movw r6,r24
5507
 5716 3000 4D01      		movw r8,r26
5508
 5717 3002 F4E0      		ldi r31,4
5509
 5718 3004 9594      	1:	asr r9
5510
 5719 3006 8794      		ror r8
5511
 5720 3008 7794      		ror r7
5512
 5721 300a 6794      		ror r6
5513
 5722 300c FA95      		dec r31
5514
 5723 300e D1F7      		brne 1b
5515
 5724 3010 D601      		movw r26,r12
5516
 5725 3012 C501      		movw r24,r10
5517
 5726 3014 D7FE      		sbrs r13,7
5518
 5727 3016 03C0      		rjmp .L446
5519
 5728 3018 0F96      		adiw r24,15
5520
 5729 301a A11D      		adc r26,__zero_reg__
5521
 5730 301c B11D      		adc r27,__zero_reg__
5522
 5731               	.L446:
5523
 5732 301e 5C01      		movw r10,r24
5524
 5733 3020 6D01      		movw r12,r26
5525
 5734 3022 E4E0      		ldi r30,4
5526
 5735 3024 D594      	1:	asr r13
5527
 5736 3026 C794      		ror r12
5528
 5737 3028 B794      		ror r11
5529
 5738 302a A794      		ror r10
5530
 5739 302c EA95      		dec r30
5531
 5740 302e D1F7      		brne 1b
5532
 5741 3030 8091 0000 		lds r24,MaxStickNick
5533
 5742 3034 9091 0000 		lds r25,(MaxStickNick)+1
5534
 5743 3038 8134      		cpi r24,65
5535
 5744 303a 9105      		cpc r25,__zero_reg__
5536
 5745 303c 3CF4      		brge .L448
5537
 5746 303e 8091 0000 		lds r24,MaxStickRoll
5538
 5747 3042 9091 0000 		lds r25,(MaxStickRoll)+1
5539
 5748 3046 8134      		cpi r24,65
5540
 5749 3048 9105      		cpc r25,__zero_reg__
5541
 5750 304a A4F0      		brlt .L447
5542
 5751               	.L448:
5543
 5752 304c C401      		movw r24,r8
5544
 5753 304e B301      		movw r22,r6
5545
 5754 3050 23E0      		ldi r18,lo8(3)
5546
 5755 3052 30E0      		ldi r19,hi8(3)
5547
 5756 3054 40E0      		ldi r20,hlo8(3)
5548
 5757 3056 50E0      		ldi r21,hhi8(3)
5549
 5758 3058 0E94 0000 		call __divmodsi4
5550
 5759 305c 3901      		movw r6,r18
5551
 5760 305e 4A01      		movw r8,r20
5552
 5761 3060 C601      		movw r24,r12
5553
 5762 3062 B501      		movw r22,r10
5554
 5763 3064 23E0      		ldi r18,lo8(3)
5555
 5764 3066 30E0      		ldi r19,hi8(3)
5556
 5765 3068 40E0      		ldi r20,hlo8(3)
5557
 5766 306a 50E0      		ldi r21,hhi8(3)
5558
 5767 306c 0E94 0000 		call __divmodsi4
5559
 5768 3070 5901      		movw r10,r18
5560
 5769 3072 6A01      		movw r12,r20
5561
 5770               	.L447:
5562
 5771 3074 8091 0000 		lds r24,EE_Parameter+4
5563
 5772 3078 E82F      		mov r30,r24
5564
 5773 307a FF27      		clr r31
5565
 5774 307c EE0F      		add r30,r30
5566
 5775 307e FF1F      		adc r31,r31
5567
 5776 3080 E050      		subi r30,lo8(-(PPM_in))
5568
 5777 3082 F040      		sbci r31,hi8(-(PPM_in))
5569
 5778 3084 8081      		ld r24,Z
5570
 5779 3086 9181      		ldd r25,Z+1
5571
 5780 3088 0190      		ld __tmp_reg__,Z+
5572
 5781 308a F081      		ld r31,Z
5573
 5782 308c E02D      		mov r30,__tmp_reg__
5574
 5783 308e F7FF      		sbrs r31,7
5575
 5784 3090 03C0      		rjmp .L450
5576
 5785 3092 F095      		com r31
5577
 5786 3094 E195      		neg r30
5578
 5787 3096 FF4F      		sbci r31,lo8(-1)
5579
 5788               	.L450:
5580
 5789 3098 7A97      		sbiw r30,26
5581
 5790 309a A4F0      		brlt .L449
5582
 5791 309c C401      		movw r24,r8
5583
 5792 309e B301      		movw r22,r6
5584
 5793 30a0 23E0      		ldi r18,lo8(3)
5585
 5794 30a2 30E0      		ldi r19,hi8(3)
5586
 5795 30a4 40E0      		ldi r20,hlo8(3)
5587
 5796 30a6 50E0      		ldi r21,hhi8(3)
5588
 5797 30a8 0E94 0000 		call __divmodsi4
5589
 5798 30ac 3901      		movw r6,r18
5590
 5799 30ae 4A01      		movw r8,r20
5591
 5800 30b0 C601      		movw r24,r12
5592
 5801 30b2 B501      		movw r22,r10
5593
 5802 30b4 23E0      		ldi r18,lo8(3)
5594
 5803 30b6 30E0      		ldi r19,hi8(3)
5595
 5804 30b8 40E0      		ldi r20,hlo8(3)
5596
 5805 30ba 50E0      		ldi r21,hhi8(3)
5597
 5806 30bc 0E94 0000 		call __divmodsi4
5598
 5807 30c0 5901      		movw r10,r18
5599
 5808 30c2 6A01      		movw r12,r20
5600
 5809               	.L449:
5601
 5810 30c4 71E2      		ldi r23,lo8(33)
5602
 5811 30c6 6716      		cp r6,r23
5603
 5812 30c8 7104      		cpc r7,__zero_reg__
5604
 5813 30ca 8104      		cpc r8,__zero_reg__
5605
 5814 30cc 9104      		cpc r9,__zero_reg__
5606
 5815 30ce 2CF0      		brlt .L451
5607
 5816 30d0 70E2      		ldi r23,lo8(32)
5608
 5817 30d2 672E      		mov r6,r23
5609
 5818 30d4 712C      		mov r7,__zero_reg__
5610
 5819 30d6 812C      		mov r8,__zero_reg__
5611
 5820 30d8 912C      		mov r9,__zero_reg__
5612
 5821               	.L451:
5613
 5822 30da 80EE      		ldi r24,lo8(-32)
5614
 5823 30dc 6816      		cp r6,r24
5615
 5824 30de 8FEF      		ldi r24,hi8(-32)
5616
 5825 30e0 7806      		cpc r7,r24
5617
 5826 30e2 8FEF      		ldi r24,hlo8(-32)
5618
 5827 30e4 8806      		cpc r8,r24
5619
 5828 30e6 8FEF      		ldi r24,hhi8(-32)
5620
 5829 30e8 9806      		cpc r9,r24
5621
 5830 30ea 44F4      		brge .L452
5622
 5831 30ec 60EE      		ldi r22,lo8(-32)
5623
 5832 30ee 662E      		mov r6,r22
5624
 5833 30f0 6FEF      		ldi r22,hi8(-32)
5625
 5834 30f2 762E      		mov r7,r22
5626
 5835 30f4 6FEF      		ldi r22,hlo8(-32)
5627
 5836 30f6 862E      		mov r8,r22
5628
 5837 30f8 6FEF      		ldi r22,hhi8(-32)
5629
 5838 30fa 962E      		mov r9,r22
5630
 5839               	.L452:
5631
 5840 30fc 91E2      		ldi r25,lo8(33)
5632
 5841 30fe A916      		cp r10,r25
5633
 5842 3100 B104      		cpc r11,__zero_reg__
5634
 5843 3102 C104      		cpc r12,__zero_reg__
5635
 5844 3104 D104      		cpc r13,__zero_reg__
5636
 5845 3106 2CF0      		brlt .L453
5637
 5846 3108 50E2      		ldi r21,lo8(32)
5638
 5847 310a A52E      		mov r10,r21
5639
 5848 310c B12C      		mov r11,__zero_reg__
5640
 5849 310e C12C      		mov r12,__zero_reg__
5641
 5850 3110 D12C      		mov r13,__zero_reg__
5642
 5851               	.L453:
5643
 5852 3112 A0EE      		ldi r26,lo8(-32)
5644
 5853 3114 AA16      		cp r10,r26
5645
 5854 3116 AFEF      		ldi r26,hi8(-32)
5646
 5855 3118 BA06      		cpc r11,r26
5647
 5856 311a AFEF      		ldi r26,hlo8(-32)
5648
 5857 311c CA06      		cpc r12,r26
5649
 5858 311e AFEF      		ldi r26,hhi8(-32)
5650
 5859 3120 DA06      		cpc r13,r26
5651
 5860 3122 44F4      		brge .L444
5652
 5861 3124 40EE      		ldi r20,lo8(-32)
5653
 5862 3126 A42E      		mov r10,r20
5654
 5863 3128 4FEF      		ldi r20,hi8(-32)
5655
 5864 312a B42E      		mov r11,r20
5656
 5865 312c 4FEF      		ldi r20,hlo8(-32)
5657
 5866 312e C42E      		mov r12,r20
5658
 5867 3130 4FEF      		ldi r20,hhi8(-32)
5659
 5868 3132 D42E      		mov r13,r20
5660
 5869               	.L444:
5661
 5870 3134 8091 0000 		lds r24,Mess_IntegralNick
5662
 5871 3138 9091 0000 		lds r25,(Mess_IntegralNick)+1
5663
 5872 313c A091 0000 		lds r26,(Mess_IntegralNick)+2
5664
 5873 3140 B091 0000 		lds r27,(Mess_IntegralNick)+3
5665
 5874 3144 8619      		sub r24,r6
5666
 5875 3146 9709      		sbc r25,r7
5667
 5876 3148 A809      		sbc r26,r8
5668
 5877 314a B909      		sbc r27,r9
5669
 5878 314c 8093 0000 		sts Mess_IntegralNick,r24
5670
 5879 3150 9093 0000 		sts (Mess_IntegralNick)+1,r25
5671
 5880 3154 A093 0000 		sts (Mess_IntegralNick)+2,r26
5672
 5881 3158 B093 0000 		sts (Mess_IntegralNick)+3,r27
5673
 5882 315c 8091 0000 		lds r24,Mess_IntegralRoll
5674
 5883 3160 9091 0000 		lds r25,(Mess_IntegralRoll)+1
5675
 5884 3164 A091 0000 		lds r26,(Mess_IntegralRoll)+2
5676
 5885 3168 B091 0000 		lds r27,(Mess_IntegralRoll)+3
5677
 5886 316c 8A19      		sub r24,r10
5678
 5887 316e 9B09      		sbc r25,r11
5679
 5888 3170 AC09      		sbc r26,r12
5680
 5889 3172 BD09      		sbc r27,r13
5681
 5890 3174 8093 0000 		sts Mess_IntegralRoll,r24
5682
 5891 3178 9093 0000 		sts (Mess_IntegralRoll)+1,r25
5683
 5892 317c A093 0000 		sts (Mess_IntegralRoll)+2,r26
5684
 5893 3180 B093 0000 		sts (Mess_IntegralRoll)+3,r27
5685
 5894               	.L429:
5686
 5895 3184 8091 0000 		lds r24,ZaehlMessungen
5687
 5896 3188 9091 0000 		lds r25,(ZaehlMessungen)+1
5688
 5897 318c 8F3F      		cpi r24,255
5689
 5898 318e 9105      		cpc r25,__zero_reg__
5690
 5899 3190 09F0      		breq .+2
5691
 5900 3192 08F4      		brsh .+2
5692
 5901 3194 C4C5      		rjmp .L455
5693
 5902 3196 BAA5      		ldd r27,Y+42
5694
 5903 3198 BB23      		tst r27
5695
 5904 319a 09F0      		breq .+2
5696
 5905 319c 4EC5      		rjmp .L456
5697
 5906 319e 8091 0000 		lds r24,Looping_Roll
5698
 5907 31a2 8823      		tst r24
5699
 5908 31a4 09F0      		breq .+2
5700
 5909 31a6 49C5      		rjmp .L456
5701
 5910 31a8 8091 0000 		lds r24,TrichterFlug
5702
 5911 31ac 8823      		tst r24
5703
 5912 31ae 09F0      		breq .+2
5704
 5913 31b0 44C5      		rjmp .L456
5705
 5914 31b2 E091 0000 		lds r30,EE_Parameter+66
5706
 5915 31b6 EBA7      		std Y+43,r30
5707
 5916 31b8 EE23      		tst r30
5708
 5917 31ba 09F4      		brne .+2
5709
 5918 31bc 3EC5      		rjmp .L456
5710
 5919 31be 8091 0000 		lds r24,MittelIntegralNick
5711
 5920 31c2 9091 0000 		lds r25,(MittelIntegralNick)+1
5712
 5921 31c6 A091 0000 		lds r26,(MittelIntegralNick)+2
5713
 5922 31ca B091 0000 		lds r27,(MittelIntegralNick)+3
5714
 5923 31ce B7FF      		sbrs r27,7
5715
 5924 31d0 04C0      		rjmp .L457
5716
 5925 31d2 8150      		subi r24,lo8(-(255))
5717
 5926 31d4 9F4F      		sbci r25,hi8(-(255))
5718
 5927 31d6 AF4F      		sbci r26,hlo8(-(255))
5719
 5928 31d8 BF4F      		sbci r27,hhi8(-(255))
5720
 5929               	.L457:
5721
 5930 31da E92E      		mov r14,r25
5722
 5931 31dc FA2E      		mov r15,r26
5723
 5932 31de 0B2F      		mov r16,r27
5724
 5933 31e0 1127      		clr r17
5725
 5934 31e2 07FD      		sbrc r16,7
5726
 5935 31e4 1A95      		dec r17
5727
 5936 31e6 E092 0000 		sts MittelIntegralNick,r14
5728
 5937 31ea F092 0000 		sts (MittelIntegralNick)+1,r15
5729
 5938 31ee 0093 0000 		sts (MittelIntegralNick)+2,r16
5730
 5939 31f2 1093 0000 		sts (MittelIntegralNick)+3,r17
5731
 5940 31f6 8091 0000 		lds r24,MittelIntegralRoll
5732
 5941 31fa 9091 0000 		lds r25,(MittelIntegralRoll)+1
5733
 5942 31fe A091 0000 		lds r26,(MittelIntegralRoll)+2
5734
 5943 3202 B091 0000 		lds r27,(MittelIntegralRoll)+3
5735
 5944 3206 B7FF      		sbrs r27,7
5736
 5945 3208 04C0      		rjmp .L458
5737
 5946 320a 8150      		subi r24,lo8(-(255))
5738
 5947 320c 9F4F      		sbci r25,hi8(-(255))
5739
 5948 320e AF4F      		sbci r26,hlo8(-(255))
5740
 5949 3210 BF4F      		sbci r27,hhi8(-(255))
5741
 5950               	.L458:
5742
 5951 3212 892F      		mov r24,r25
5743
 5952 3214 9A2F      		mov r25,r26
5744
 5953 3216 AB2F      		mov r26,r27
5745
 5954 3218 BB27      		clr r27
5746
 5955 321a A7FD      		sbrc r26,7
5747
 5956 321c BA95      		dec r27
5748
 5957 321e 8CA7      		std Y+44,r24
5749
 5958 3220 9DA7      		std Y+45,r25
5750
 5959 3222 AEA7      		std Y+46,r26
5751
 5960 3224 BFA7      		std Y+47,r27
5752
 5961 3226 8093 0000 		sts MittelIntegralRoll,r24
5753
 5962 322a 9093 0000 		sts (MittelIntegralRoll)+1,r25
5754
 5963 322e A093 0000 		sts (MittelIntegralRoll)+2,r26
5755
 5964 3232 B093 0000 		sts (MittelIntegralRoll)+3,r27
5756
 5965 3236 8091 0000 		lds r24,EE_Parameter+28
5757
 5966 323a A82E      		mov r10,r24
5758
 5967 323c BB24      		clr r11
5759
 5968 323e CC24      		clr r12
5760
 5969 3240 DD24      		clr r13
5761
 5970 3242 2091 0000 		lds r18,IntegralAccNick
5762
 5971 3246 3091 0000 		lds r19,(IntegralAccNick)+1
5763
 5972 324a 4091 0000 		lds r20,(IntegralAccNick)+2
5764
 5973 324e 5091 0000 		lds r21,(IntegralAccNick)+3
5765
 5974 3252 C601      		movw r24,r12
5766
 5975 3254 B501      		movw r22,r10
5767
 5976 3256 0E94 0000 		call __mulsi3
5768
 5977 325a 97FF      		sbrs r25,7
5769
 5978 325c 04C0      		rjmp .L459
5770
 5979 325e 6150      		subi r22,lo8(-(255))
5771
 5980 3260 7F4F      		sbci r23,hi8(-(255))
5772
 5981 3262 8F4F      		sbci r24,hlo8(-(255))
5773
 5982 3264 9F4F      		sbci r25,hhi8(-(255))
5774
 5983               	.L459:
5775
 5984 3266 672E      		mov r6,r23
5776
 5985 3268 782E      		mov r7,r24
5777
 5986 326a 892E      		mov r8,r25
5778
 5987 326c 9924      		clr r9
5779
 5988 326e 87FC      		sbrc r8,7
5780
 5989 3270 9A94      		dec r9
5781
 5990 3272 6092 0000 		sts IntegralAccNick,r6
5782
 5991 3276 7092 0000 		sts (IntegralAccNick)+1,r7
5783
 5992 327a 8092 0000 		sts (IntegralAccNick)+2,r8
5784
 5993 327e 9092 0000 		sts (IntegralAccNick)+3,r9
5785
 5994 3282 2091 0000 		lds r18,IntegralAccRoll
5786
 5995 3286 3091 0000 		lds r19,(IntegralAccRoll)+1
5787
 5996 328a 4091 0000 		lds r20,(IntegralAccRoll)+2
5788
 5997 328e 5091 0000 		lds r21,(IntegralAccRoll)+3
5789
 5998 3292 C601      		movw r24,r12
5790
 5999 3294 B501      		movw r22,r10
5791
 6000 3296 0E94 0000 		call __mulsi3
5792
 6001 329a 97FF      		sbrs r25,7
5793
 6002 329c 04C0      		rjmp .L460
5794
 6003 329e 6150      		subi r22,lo8(-(255))
5795
 6004 32a0 7F4F      		sbci r23,hi8(-(255))
5796
 6005 32a2 8F4F      		sbci r24,hlo8(-(255))
5797
 6006 32a4 9F4F      		sbci r25,hhi8(-(255))
5798
 6007               	.L460:
5799
 6008 32a6 272E      		mov r2,r23
5800
 6009 32a8 382E      		mov r3,r24
5801
 6010 32aa 492E      		mov r4,r25
5802
 6011 32ac 5524      		clr r5
5803
 6012 32ae 47FC      		sbrc r4,7
5804
 6013 32b0 5A94      		dec r5
5805
 6014 32b2 2092 0000 		sts IntegralAccRoll,r2
5806
 6015 32b6 3092 0000 		sts (IntegralAccRoll)+1,r3
5807
 6016 32ba 4092 0000 		sts (IntegralAccRoll)+2,r4
5808
 6017 32be 5092 0000 		sts (IntegralAccRoll)+3,r5
5809
 6018 32c2 8091 0000 		lds r24,IntegralAccZ
5810
 6019 32c6 9091 0000 		lds r25,(IntegralAccZ)+1
5811
 6020 32ca A091 0000 		lds r26,(IntegralAccZ)+2
5812
 6021 32ce B091 0000 		lds r27,(IntegralAccZ)+3
5813
 6022 32d2 B7FF      		sbrs r27,7
5814
 6023 32d4 04C0      		rjmp .L461
5815
 6024 32d6 8150      		subi r24,lo8(-(255))
5816
 6025 32d8 9F4F      		sbci r25,hi8(-(255))
5817
 6026 32da AF4F      		sbci r26,hlo8(-(255))
5818
 6027 32dc BF4F      		sbci r27,hhi8(-(255))
5819
 6028               	.L461:
5820
 6029 32de 892F      		mov r24,r25
5821
 6030 32e0 9A2F      		mov r25,r26
5822
 6031 32e2 AB2F      		mov r26,r27
5823
 6032 32e4 BB27      		clr r27
5824
 6033 32e6 A7FD      		sbrc r26,7
5825
 6034 32e8 BA95      		dec r27
5826
 6035 32ea 8093 0000 		sts IntegralAccZ,r24
5827
 6036 32ee 9093 0000 		sts (IntegralAccZ)+1,r25
5828
 6037 32f2 A093 0000 		sts (IntegralAccZ)+2,r26
5829
 6038 32f6 B093 0000 		sts (IntegralAccZ)+3,r27
5830
 6039 32fa D801      		movw r26,r16
5831
 6040 32fc C701      		movw r24,r14
5832
 6041 32fe 8619      		sub r24,r6
5833
 6042 3300 9709      		sbc r25,r7
5834
 6043 3302 A809      		sbc r26,r8
5835
 6044 3304 B909      		sbc r27,r9
5836
 6045 3306 8093 0000 		sts IntegralFehlerNick.3,r24
5837
 6046 330a 9093 0000 		sts (IntegralFehlerNick.3)+1,r25
5838
 6047 330e A093 0000 		sts (IntegralFehlerNick.3)+2,r26
5839
 6048 3312 B093 0000 		sts (IntegralFehlerNick.3)+3,r27
5840
 6049 3316 2091 0000 		lds r18,EE_Parameter+65
5841
 6050 331a E22E      		mov r14,r18
5842
 6051 331c FF24      		clr r15
5843
 6052 331e 0027      		clr r16
5844
 6053 3320 1127      		clr r17
5845
 6054 3322 BC01      		movw r22,r24
5846
 6055 3324 CD01      		movw r24,r26
5847
 6056 3326 A801      		movw r20,r16
5848
 6057 3328 9701      		movw r18,r14
5849
 6058 332a 0E94 0000 		call __divmodsi4
5850
 6059 332e 5901      		movw r10,r18
5851
 6060 3330 6A01      		movw r12,r20
5852
 6061 3332 2093 0000 		sts ausgleichNick.11,r18
5853
 6062 3336 3093 0000 		sts (ausgleichNick.11)+1,r19
5854
 6063 333a 4093 0000 		sts (ausgleichNick.11)+2,r20
5855
 6064 333e 5093 0000 		sts (ausgleichNick.11)+3,r21
5856
 6065 3342 8CA5      		ldd r24,Y+44
5857
 6066 3344 9DA5      		ldd r25,Y+45
5858
 6067 3346 AEA5      		ldd r26,Y+46
5859
 6068 3348 BFA5      		ldd r27,Y+47
5860
 6069 334a 8219      		sub r24,r2
5861
 6070 334c 9309      		sbc r25,r3
5862
 6071 334e A409      		sbc r26,r4
5863
 6072 3350 B509      		sbc r27,r5
5864
 6073 3352 8093 0000 		sts IntegralFehlerRoll.4,r24
5865
 6074 3356 9093 0000 		sts (IntegralFehlerRoll.4)+1,r25
5866
 6075 335a A093 0000 		sts (IntegralFehlerRoll.4)+2,r26
5867
 6076 335e B093 0000 		sts (IntegralFehlerRoll.4)+3,r27
5868
 6077 3362 BC01      		movw r22,r24
5869
 6078 3364 CD01      		movw r24,r26
5870
 6079 3366 A801      		movw r20,r16
5871
 6080 3368 9701      		movw r18,r14
5872
 6081 336a 0E94 0000 		call __divmodsi4
5873
 6082 336e 2093 0000 		sts ausgleichRoll.12,r18
5874
 6083 3372 3093 0000 		sts (ausgleichRoll.12)+1,r19
5875
 6084 3376 4093 0000 		sts (ausgleichRoll.12)+2,r20
5876
 6085 337a 5093 0000 		sts (ausgleichRoll.12)+3,r21
5877
 6086 337e D601      		movw r26,r12
5878
 6087 3380 C501      		movw r24,r10
5879
 6088 3382 D7FE      		sbrs r13,7
5880
 6089 3384 04C0      		rjmp .L462
5881
 6090 3386 8150      		subi r24,lo8(-(255))
5882
 6091 3388 9F4F      		sbci r25,hi8(-(255))
5883
 6092 338a AF4F      		sbci r26,hlo8(-(255))
5884
 6093 338c BF4F      		sbci r27,hhi8(-(255))
5885
 6094               	.L462:
5886
 6095 338e 892F      		mov r24,r25
5887
 6096 3390 9A2F      		mov r25,r26
5888
 6097 3392 AB2F      		mov r26,r27
5889
 6098 3394 BB27      		clr r27
5890
 6099 3396 A7FD      		sbrc r26,7
5891
 6100 3398 BA95      		dec r27
5892
 6101 339a 9093 0000 		sts (LageKorrekturNick)+1,r25
5893
 6102 339e 8093 0000 		sts LageKorrekturNick,r24
5894
 6103 33a2 57FF      		sbrs r21,7
5895
 6104 33a4 04C0      		rjmp .L463
5896
 6105 33a6 2150      		subi r18,lo8(-(255))
5897
 6106 33a8 3F4F      		sbci r19,hi8(-(255))
5898
 6107 33aa 4F4F      		sbci r20,hlo8(-(255))
5899
 6108 33ac 5F4F      		sbci r21,hhi8(-(255))
5900
 6109               	.L463:
5901
 6110 33ae BB27      		clr r27
5902
 6111 33b0 57FD      		sbrc r21,7
5903
 6112 33b2 BA95      		dec r27
5904
 6113 33b4 A52F      		mov r26,r21
5905
 6114 33b6 942F      		mov r25,r20
5906
 6115 33b8 832F      		mov r24,r19
5907
 6116 33ba 9093 0000 		sts (LageKorrekturRoll)+1,r25
5908
 6117 33be 8093 0000 		sts LageKorrekturRoll,r24
5909
 6118 33c2 8091 0000 		lds r24,MaxStickNick
5910
 6119 33c6 9091 0000 		lds r25,(MaxStickNick)+1
5911
 6120 33ca 8134      		cpi r24,65
5912
 6121 33cc 9105      		cpc r25,__zero_reg__
5913
 6122 33ce DCF4      		brge .L465
5914
 6123 33d0 8091 0000 		lds r24,MaxStickRoll
5915
 6124 33d4 9091 0000 		lds r25,(MaxStickRoll)+1
5916
 6125 33d8 8134      		cpi r24,65
5917
 6126 33da 9105      		cpc r25,__zero_reg__
5918
 6127 33dc A4F4      		brge .L465
5919
 6128 33de 8091 0000 		lds r24,EE_Parameter+4
5920
 6129 33e2 E82F      		mov r30,r24
5921
 6130 33e4 FF27      		clr r31
5922
 6131 33e6 EE0F      		add r30,r30
5923
 6132 33e8 FF1F      		adc r31,r31
5924
 6133 33ea E050      		subi r30,lo8(-(PPM_in))
5925
 6134 33ec F040      		sbci r31,hi8(-(PPM_in))
5926
 6135 33ee 8081      		ld r24,Z
5927
 6136 33f0 9181      		ldd r25,Z+1
5928
 6137 33f2 0190      		ld __tmp_reg__,Z+
5929
 6138 33f4 F081      		ld r31,Z
5930
 6139 33f6 E02D      		mov r30,__tmp_reg__
5931
 6140 33f8 F7FF      		sbrs r31,7
5932
 6141 33fa 03C0      		rjmp .L466
5933
 6142 33fc F095      		com r31
5934
 6143 33fe E195      		neg r30
5935
 6144 3400 FF4F      		sbci r31,lo8(-1)
5936
 6145               	.L466:
5937
 6146 3402 7A97      		sbiw r30,26
5938
 6147 3404 E4F0      		brlt .L464
5939
 6148               	.L465:
5940
 6149 3406 8091 0000 		lds r24,FromNaviCtrl_Value
5941
 6150 340a 8F3F      		cpi r24,lo8(-1)
5942
 6151 340c C1F4      		brne .L464
5943
 6152 340e 8091 0000 		lds r24,LageKorrekturNick
5944
 6153 3412 9091 0000 		lds r25,(LageKorrekturNick)+1
5945
 6154 3416 97FD      		sbrc r25,7
5946
 6155 3418 0196      		adiw r24,1
5947
 6156               	.L467:
5948
 6157 341a 9595      		asr r25
5949
 6158 341c 8795      		ror r24
5950
 6159 341e 9093 0000 		sts (LageKorrekturNick)+1,r25
5951
 6160 3422 8093 0000 		sts LageKorrekturNick,r24
5952
 6161 3426 8091 0000 		lds r24,LageKorrekturRoll
5953
 6162 342a 9091 0000 		lds r25,(LageKorrekturRoll)+1
5954
 6163 342e 97FD      		sbrc r25,7
5955
 6164 3430 0196      		adiw r24,1
5956
 6165               	.L468:
5957
 6166 3432 9595      		asr r25
5958
 6167 3434 8795      		ror r24
5959
 6168 3436 9093 0000 		sts (LageKorrekturRoll)+1,r25
5960
 6169 343a 8093 0000 		sts LageKorrekturRoll,r24
5961
 6170               	.L464:
5962
 6171 343e 8091 0000 		lds r24,MittelIntegralNick2
5963
 6172 3442 9091 0000 		lds r25,(MittelIntegralNick2)+1
5964
 6173 3446 A091 0000 		lds r26,(MittelIntegralNick2)+2
5965
 6174 344a B091 0000 		lds r27,(MittelIntegralNick2)+3
5966
 6175 344e B7FF      		sbrs r27,7
5967
 6176 3450 04C0      		rjmp .L469
5968
 6177 3452 8150      		subi r24,lo8(-(255))
5969
 6178 3454 9F4F      		sbci r25,hi8(-(255))
5970
 6179 3456 AF4F      		sbci r26,hlo8(-(255))
5971
 6180 3458 BF4F      		sbci r27,hhi8(-(255))
5972
 6181               	.L469:
5973
 6182 345a 892F      		mov r24,r25
5974
 6183 345c 9A2F      		mov r25,r26
5975
 6184 345e AB2F      		mov r26,r27
5976
 6185 3460 BB27      		clr r27
5977
 6186 3462 A7FD      		sbrc r26,7
5978
 6187 3464 BA95      		dec r27
5979
 6188 3466 8093 0000 		sts MittelIntegralNick2,r24
5980
 6189 346a 9093 0000 		sts (MittelIntegralNick2)+1,r25
5981
 6190 346e A093 0000 		sts (MittelIntegralNick2)+2,r26
5982
 6191 3472 B093 0000 		sts (MittelIntegralNick2)+3,r27
5983
 6192 3476 8091 0000 		lds r24,MittelIntegralRoll2
5984
 6193 347a 9091 0000 		lds r25,(MittelIntegralRoll2)+1
5985
 6194 347e A091 0000 		lds r26,(MittelIntegralRoll2)+2
5986
 6195 3482 B091 0000 		lds r27,(MittelIntegralRoll2)+3
5987
 6196 3486 B7FF      		sbrs r27,7
5988
 6197 3488 04C0      		rjmp .L470
5989
 6198 348a 8150      		subi r24,lo8(-(255))
5990
 6199 348c 9F4F      		sbci r25,hi8(-(255))
5991
 6200 348e AF4F      		sbci r26,hlo8(-(255))
5992
 6201 3490 BF4F      		sbci r27,hhi8(-(255))
5993
 6202               	.L470:
5994
 6203 3492 892F      		mov r24,r25
5995
 6204 3494 9A2F      		mov r25,r26
5996
 6205 3496 AB2F      		mov r26,r27
5997
 6206 3498 BB27      		clr r27
5998
 6207 349a A7FD      		sbrc r26,7
5999
 6208 349c BA95      		dec r27
6000
 6209 349e 8093 0000 		sts MittelIntegralRoll2,r24
6001
 6210 34a2 9093 0000 		sts (MittelIntegralRoll2)+1,r25
6002
 6211 34a6 A093 0000 		sts (MittelIntegralRoll2)+2,r26
6003
 6212 34aa B093 0000 		sts (MittelIntegralRoll2)+3,r27
6004
 6213 34ae 8091 0000 		lds r24,IntegralNick
6005
 6214 34b2 9091 0000 		lds r25,(IntegralNick)+1
6006
 6215 34b6 A091 0000 		lds r26,(IntegralNick)+2
6007
 6216 34ba B091 0000 		lds r27,(IntegralNick)+3
6008
 6217 34be 2AA1      		ldd r18,Y+34
6009
 6218 34c0 3BA1      		ldd r19,Y+35
6010
 6219 34c2 4CA1      		ldd r20,Y+36
6011
 6220 34c4 5DA1      		ldd r21,Y+37
6012
 6221 34c6 281B      		sub r18,r24
6013
 6222 34c8 390B      		sbc r19,r25
6014
 6223 34ca 4A0B      		sbc r20,r26
6015
 6224 34cc 5B0B      		sbc r21,r27
6016
 6225 34ce 2093 0000 		sts tmp_long.1,r18
6017
 6226 34d2 3093 0000 		sts (tmp_long.1)+1,r19
6018
 6227 34d6 4093 0000 		sts (tmp_long.1)+2,r20
6019
 6228 34da 5093 0000 		sts (tmp_long.1)+3,r21
6020
 6229 34de 8091 0000 		lds r24,IntegralRoll
6021
 6230 34e2 9091 0000 		lds r25,(IntegralRoll)+1
6022
 6231 34e6 A091 0000 		lds r26,(IntegralRoll)+2
6023
 6232 34ea B091 0000 		lds r27,(IntegralRoll)+3
6024
 6233 34ee EEA0      		ldd r14,Y+38
6025
 6234 34f0 FFA0      		ldd r15,Y+39
6026
 6235 34f2 08A5      		ldd r16,Y+40
6027
 6236 34f4 19A5      		ldd r17,Y+41
6028
 6237 34f6 E81A      		sub r14,r24
6029
 6238 34f8 F90A      		sbc r15,r25
6030
 6239 34fa 0A0B      		sbc r16,r26
6031
 6240 34fc 1B0B      		sbc r17,r27
6032
 6241 34fe E092 0000 		sts tmp_long2.2,r14
6033
 6242 3502 F092 0000 		sts (tmp_long2.2)+1,r15
6034
 6243 3506 0093 0000 		sts (tmp_long2.2)+2,r16
6035
 6244 350a 1093 0000 		sts (tmp_long2.2)+3,r17
6036
 6245 350e 2093 0000 		sts IntegralFehlerNick.3,r18
6037
 6246 3512 3093 0000 		sts (IntegralFehlerNick.3)+1,r19
6038
 6247 3516 4093 0000 		sts (IntegralFehlerNick.3)+2,r20
6039
 6248 351a 5093 0000 		sts (IntegralFehlerNick.3)+3,r21
6040
 6249 351e E092 0000 		sts IntegralFehlerRoll.4,r14
6041
 6250 3522 F092 0000 		sts (IntegralFehlerRoll.4)+1,r15
6042
 6251 3526 0093 0000 		sts (IntegralFehlerRoll.4)+2,r16
6043
 6252 352a 1093 0000 		sts (IntegralFehlerRoll.4)+3,r17
6044
 6253 352e 8091 0000 		lds r24,Mess_IntegralNick2
6045
 6254 3532 9091 0000 		lds r25,(Mess_IntegralNick2)+1
6046
 6255 3536 A091 0000 		lds r26,(Mess_IntegralNick2)+2
6047
 6256 353a B091 0000 		lds r27,(Mess_IntegralNick2)+3
6048
 6257 353e 821B      		sub r24,r18
6049
 6258 3540 930B      		sbc r25,r19
6050
 6259 3542 A40B      		sbc r26,r20
6051
 6260 3544 B50B      		sbc r27,r21
6052
 6261 3546 8093 0000 		sts Mess_IntegralNick2,r24
6053
 6262 354a 9093 0000 		sts (Mess_IntegralNick2)+1,r25
6054
 6263 354e A093 0000 		sts (Mess_IntegralNick2)+2,r26
6055
 6264 3552 B093 0000 		sts (Mess_IntegralNick2)+3,r27
6056
 6265 3556 8091 0000 		lds r24,Mess_IntegralRoll2
6057
 6266 355a 9091 0000 		lds r25,(Mess_IntegralRoll2)+1
6058
 6267 355e A091 0000 		lds r26,(Mess_IntegralRoll2)+2
6059
 6268 3562 B091 0000 		lds r27,(Mess_IntegralRoll2)+3
6060
 6269 3566 8E19      		sub r24,r14
6061
 6270 3568 9F09      		sbc r25,r15
6062
 6271 356a A00B      		sbc r26,r16
6063
 6272 356c B10B      		sbc r27,r17
6064
 6273 356e 8093 0000 		sts Mess_IntegralRoll2,r24
6065
 6274 3572 9093 0000 		sts (Mess_IntegralRoll2)+1,r25
6066
 6275 3576 A093 0000 		sts (Mess_IntegralRoll2)+2,r26
6067
 6276 357a B093 0000 		sts (Mess_IntegralRoll2)+3,r27
6068
 6277 357e FBA5      		ldd r31,Y+43
6069
 6278 3580 FF23      		tst r31
6070
 6279 3582 E1F0      		breq .L471
6071
 6280 3584 2091 0000 		lds r18,GierGyroFehler
6072
 6281 3588 3091 0000 		lds r19,(GierGyroFehler)+1
6073
 6282 358c 2138      		cpi r18,129
6074
 6283 358e 3105      		cpc r19,__zero_reg__
6075
 6284 3590 4CF0      		brlt .L472
6076
 6285 3592 8091 0000 		lds r24,AdNeutralGier
6077
 6286 3596 9091 0000 		lds r25,(AdNeutralGier)+1
6078
 6287 359a 0196      		adiw r24,1
6079
 6288 359c 9093 0000 		sts (AdNeutralGier)+1,r25
6080
 6289 35a0 8093 0000 		sts AdNeutralGier,r24
6081
 6290               	.L472:
6082
 6291 35a4 2058      		subi r18,lo8(-128)
6083
 6292 35a6 3F4F      		sbci r19,hi8(-128)
6084
 6293 35a8 4CF4      		brge .L471
6085
 6294 35aa 8091 0000 		lds r24,AdNeutralGier
6086
 6295 35ae 9091 0000 		lds r25,(AdNeutralGier)+1
6087
 6296 35b2 0197      		sbiw r24,1
6088
 6297 35b4 9093 0000 		sts (AdNeutralGier)+1,r25
6089
 6298 35b8 8093 0000 		sts AdNeutralGier,r24
6090
 6299               	.L471:
6091
 6300 35bc 1092 0000 		sts (GierGyroFehler)+1,__zero_reg__
6092
 6301 35c0 1092 0000 		sts GierGyroFehler,__zero_reg__
6093
 6302 35c4 81E0      		ldi r24,lo8(1)
6094
 6303 35c6 90E0      		ldi r25,hi8(1)
6095
 6304 35c8 9093 0000 		sts (cnt.15)+1,r25
6096
 6305 35cc 8093 0000 		sts cnt.15,r24
6097
 6306 35d0 A090 0000 		lds r10,IntegralFehlerNick.3
6098
 6307 35d4 B090 0000 		lds r11,(IntegralFehlerNick.3)+1
6099
 6308 35d8 C090 0000 		lds r12,(IntegralFehlerNick.3)+2
6100
 6309 35dc D090 0000 		lds r13,(IntegralFehlerNick.3)+3
6101
 6310 35e0 D601      		movw r26,r12
6102
 6311 35e2 C501      		movw r24,r10
6103
 6312 35e4 D7FE      		sbrs r13,7
6104
 6313 35e6 07C0      		rjmp .L475
6105
 6314 35e8 8827      		clr r24
6106
 6315 35ea 9927      		clr r25
6107
 6316 35ec DC01      		movw r26,r24
6108
 6317 35ee 8A19      		sub r24,r10
6109
 6318 35f0 9B09      		sbc r25,r11
6110
 6319 35f2 AC09      		sbc r26,r12
6111
 6320 35f4 BD09      		sbc r27,r13
6112
 6321               	.L475:
6113
 6322 35f6 8150      		subi r24,lo8(513)
6114
 6323 35f8 9240      		sbci r25,hi8(513)
6115
 6324 35fa A040      		sbci r26,hlo8(513)
6116
 6325 35fc B040      		sbci r27,hhi8(513)
6117
 6326 35fe 34F0      		brlt .L474
6118
 6327 3600 84E0      		ldi r24,lo8(4)
6119
 6328 3602 90E0      		ldi r25,hi8(4)
6120
 6329 3604 9093 0000 		sts (cnt.15)+1,r25
6121
 6330 3608 8093 0000 		sts cnt.15,r24
6122
 6331               	.L474:
6123
 6332 360c 8091 0000 		lds r24,MittelIntegralNick_Alt.20
6124
 6333 3610 9091 0000 		lds r25,(MittelIntegralNick_Alt.20)+1
6125
 6334 3614 A091 0000 		lds r26,(MittelIntegralNick_Alt.20)+2
6126
 6335 3618 B091 0000 		lds r27,(MittelIntegralNick_Alt.20)+3
6127
 6336 361c 2091 0000 		lds r18,MittelIntegralNick
6128
 6337 3620 3091 0000 		lds r19,(MittelIntegralNick)+1
6129
 6338 3624 4091 0000 		lds r20,(MittelIntegralNick)+2
6130
 6339 3628 5091 0000 		lds r21,(MittelIntegralNick)+3
6131
 6340 362c 821B      		sub r24,r18
6132
 6341 362e 930B      		sbc r25,r19
6133
 6342 3630 A40B      		sbc r26,r20
6134
 6343 3632 B50B      		sbc r27,r21
6135
 6344 3634 815E      		subi r24,lo8(-(19999))
6136
 6345 3636 914B      		sbci r25,hi8(-(19999))
6137
 6346 3638 AF4F      		sbci r26,hlo8(-(19999))
6138
 6347 363a BF4F      		sbci r27,hhi8(-(19999))
6139
 6348 363c 8F53      		subi r24,lo8(39999)
6140
 6349 363e 9C49      		sbci r25,hi8(39999)
6141
 6350 3640 A040      		sbci r26,hlo8(39999)
6142
 6351 3642 B040      		sbci r27,hhi8(39999)
6143
 6352 3644 28F0      		brlo .L477
6144
 6353 3646 8091 0000 		lds r24,FromNaviCtrl_Value+1
6145
 6354 364a 8931      		cpi r24,lo8(25)
6146
 6355 364c 0CF4      		brge .+2
6147
 6356 364e FFC0      		rjmp .L476
6148
 6357               	.L477:
6149
 6358 3650 31E0      		ldi r19,lo8(4097)
6150
 6359 3652 A316      		cp r10,r19
6151
 6360 3654 30E1      		ldi r19,hi8(4097)
6152
 6361 3656 B306      		cpc r11,r19
6153
 6362 3658 30E0      		ldi r19,hlo8(4097)
6154
 6363 365a C306      		cpc r12,r19
6155
 6364 365c 30E0      		ldi r19,hhi8(4097)
6156
 6365 365e D306      		cpc r13,r19
6157
 6366 3660 0CF4      		brge .+2
6158
 6367 3662 73C0      		rjmp .L478
6159
 6368 3664 8091 0000 		lds r24,last_n_p.16
6160
 6369 3668 8823      		tst r24
6161
 6370 366a 09F4      		brne .+2
6162
 6371 366c 6AC0      		rjmp .L479
6163
 6372 366e D601      		movw r26,r12
6164
 6373 3670 C501      		movw r24,r10
6165
 6374 3672 D7FE      		sbrs r13,7
6166
 6375 3674 07C0      		rjmp .L480
6167
 6376 3676 8827      		clr r24
6168
 6377 3678 9927      		clr r25
6169
 6378 367a DC01      		movw r26,r24
6170
 6379 367c 8A19      		sub r24,r10
6171
 6380 367e 9B09      		sbc r25,r11
6172
 6381 3680 AC09      		sbc r26,r12
6173
 6382 3682 BD09      		sbc r27,r13
6174
 6383               	.L480:
6175
 6384 3684 9C01      		movw r18,r24
6176
 6385 3686 AD01      		movw r20,r26
6177
 6386 3688 B7FF      		sbrs r27,7
6178
 6387 368a 04C0      		rjmp .L481
6179
 6388 368c 2150      		subi r18,lo8(-(511))
6180
 6389 368e 3E4F      		sbci r19,hi8(-(511))
6181
 6390 3690 4F4F      		sbci r20,hlo8(-(511))
6182
 6391 3692 5F4F      		sbci r21,hhi8(-(511))
6183
 6392               	.L481:
6184
 6393 3694 F9E0      		ldi r31,9
6185
 6394 3696 5595      	1:	asr r21
6186
 6395 3698 4795      		ror r20
6187
 6396 369a 3795      		ror r19
6188
 6397 369c 2795      		ror r18
6189
 6398 369e FA95      		dec r31
6190
 6399 36a0 D1F7      		brne 1b
6191
 6400 36a2 8091 0000 		lds r24,cnt.15
6192
 6401 36a6 9091 0000 		lds r25,(cnt.15)+1
6193
 6402 36aa 820F      		add r24,r18
6194
 6403 36ac 931F      		adc r25,r19
6195
 6404 36ae 9093 0000 		sts (cnt.15)+1,r25
6196
 6405 36b2 8093 0000 		sts cnt.15,r24
6197
 6406 36b6 D601      		movw r26,r12
6198
 6407 36b8 C501      		movw r24,r10
6199
 6408 36ba D7FE      		sbrs r13,7
6200
 6409 36bc 03C0      		rjmp .L482
6201
 6410 36be 0796      		adiw r24,7
6202
 6411 36c0 A11D      		adc r26,__zero_reg__
6203
 6412 36c2 B11D      		adc r27,__zero_reg__
6204
 6413               	.L482:
6205
 6414 36c4 E3E0      		ldi r30,3
6206
 6415 36c6 B595      	1:	asr r27
6207
 6416 36c8 A795      		ror r26
6208
 6417 36ca 9795      		ror r25
6209
 6418 36cc 8795      		ror r24
6210
 6419 36ce EA95      		dec r30
6211
 6420 36d0 D1F7      		brne 1b
6212
 6421 36d2 8093 0000 		sts ausgleichNick.11,r24
6213
 6422 36d6 9093 0000 		sts (ausgleichNick.11)+1,r25
6214
 6423 36da A093 0000 		sts (ausgleichNick.11)+2,r26
6215
 6424 36de B093 0000 		sts (ausgleichNick.11)+3,r27
6216
 6425 36e2 8958      		subi r24,lo8(5001)
6217
 6426 36e4 9341      		sbci r25,hi8(5001)
6218
 6427 36e6 A040      		sbci r26,hlo8(5001)
6219
 6428 36e8 B040      		sbci r27,hhi8(5001)
6220
 6429 36ea 64F0      		brlt .L483
6221
 6430 36ec 88E8      		ldi r24,lo8(5000)
6222
 6431 36ee 93E1      		ldi r25,hi8(5000)
6223
 6432 36f0 A0E0      		ldi r26,hlo8(5000)
6224
 6433 36f2 B0E0      		ldi r27,hhi8(5000)
6225
 6434 36f4 8093 0000 		sts ausgleichNick.11,r24
6226
 6435 36f8 9093 0000 		sts (ausgleichNick.11)+1,r25
6227
 6436 36fc A093 0000 		sts (ausgleichNick.11)+2,r26
6228
 6437 3700 B093 0000 		sts (ausgleichNick.11)+3,r27
6229
 6438               	.L483:
6230
 6439 3704 2091 0000 		lds r18,ausgleichNick.11
6231
 6440 3708 3091 0000 		lds r19,(ausgleichNick.11)+1
6232
 6441 370c 4091 0000 		lds r20,(ausgleichNick.11)+2
6233
 6442 3710 5091 0000 		lds r21,(ausgleichNick.11)+3
6234
 6443 3714 57FF      		sbrs r21,7
6235
 6444 3716 04C0      		rjmp .L484
6236
 6445 3718 2150      		subi r18,lo8(-(255))
6237
 6446 371a 3F4F      		sbci r19,hi8(-(255))
6238
 6447 371c 4F4F      		sbci r20,hlo8(-(255))
6239
 6448 371e 5F4F      		sbci r21,hhi8(-(255))
6240
 6449               	.L484:
6241
 6450 3720 232F      		mov r18,r19
6242
 6451 3722 342F      		mov r19,r20
6243
 6452 3724 452F      		mov r20,r21
6244
 6453 3726 5527      		clr r21
6245
 6454 3728 47FD      		sbrc r20,7
6246
 6455 372a 5A95      		dec r21
6247
 6456 372c 8091 0000 		lds r24,LageKorrekturNick
6248
 6457 3730 9091 0000 		lds r25,(LageKorrekturNick)+1
6249
 6458 3734 820F      		add r24,r18
6250
 6459 3736 931F      		adc r25,r19
6251
 6460 3738 9093 0000 		sts (LageKorrekturNick)+1,r25
6252
 6461 373c 8093 0000 		sts LageKorrekturNick,r24
6253
 6462 3740 06C0      		rjmp .L486
6254
 6463               	.L479:
6255
 6464 3742 81E0      		ldi r24,lo8(1)
6256
 6465 3744 8093 0000 		sts last_n_p.16,r24
6257
 6466 3748 02C0      		rjmp .L486
6258
 6467               	.L478:
6259
 6468 374a 1092 0000 		sts last_n_p.16,__zero_reg__
6260
 6469               	.L486:
6261
 6470 374e 50E0      		ldi r21,lo8(-4096)
6262
 6471 3750 A516      		cp r10,r21
6263
 6472 3752 50EF      		ldi r21,hi8(-4096)
6264
 6473 3754 B506      		cpc r11,r21
6265
 6474 3756 5FEF      		ldi r21,hlo8(-4096)
6266
 6475 3758 C506      		cpc r12,r21
6267
 6476 375a 5FEF      		ldi r21,hhi8(-4096)
6268
 6477 375c D506      		cpc r13,r21
6269
 6478 375e 0CF0      		brlt .+2
6270
 6479 3760 73C0      		rjmp .L487
6271
 6480 3762 8091 0000 		lds r24,last_n_n.17
6272
 6481 3766 8823      		tst r24
6273
 6482 3768 09F4      		brne .+2
6274
 6483 376a 6AC0      		rjmp .L488
6275
 6484 376c D601      		movw r26,r12
6276
 6485 376e C501      		movw r24,r10
6277
 6486 3770 D7FE      		sbrs r13,7
6278
 6487 3772 07C0      		rjmp .L489
6279
 6488 3774 8827      		clr r24
6280
 6489 3776 9927      		clr r25
6281
 6490 3778 DC01      		movw r26,r24
6282
 6491 377a 8A19      		sub r24,r10
6283
 6492 377c 9B09      		sbc r25,r11
6284
 6493 377e AC09      		sbc r26,r12
6285
 6494 3780 BD09      		sbc r27,r13
6286
 6495               	.L489:
6287
 6496 3782 9C01      		movw r18,r24
6288
 6497 3784 AD01      		movw r20,r26
6289
 6498 3786 B7FF      		sbrs r27,7
6290
 6499 3788 04C0      		rjmp .L490
6291
 6500 378a 2150      		subi r18,lo8(-(511))
6292
 6501 378c 3E4F      		sbci r19,hi8(-(511))
6293
 6502 378e 4F4F      		sbci r20,hlo8(-(511))
6294
 6503 3790 5F4F      		sbci r21,hhi8(-(511))
6295
 6504               	.L490:
6296
 6505 3792 69E0      		ldi r22,9
6297
 6506 3794 5595      	1:	asr r21
6298
 6507 3796 4795      		ror r20
6299
 6508 3798 3795      		ror r19
6300
 6509 379a 2795      		ror r18
6301
 6510 379c 6A95      		dec r22
6302
 6511 379e D1F7      		brne 1b
6303
 6512 37a0 8091 0000 		lds r24,cnt.15
6304
 6513 37a4 9091 0000 		lds r25,(cnt.15)+1
6305
 6514 37a8 820F      		add r24,r18
6306
 6515 37aa 931F      		adc r25,r19
6307
 6516 37ac 9093 0000 		sts (cnt.15)+1,r25
6308
 6517 37b0 8093 0000 		sts cnt.15,r24
6309
 6518 37b4 D601      		movw r26,r12
6310
 6519 37b6 C501      		movw r24,r10
6311
 6520 37b8 D7FE      		sbrs r13,7
6312
 6521 37ba 03C0      		rjmp .L491
6313
 6522 37bc 0796      		adiw r24,7
6314
 6523 37be A11D      		adc r26,__zero_reg__
6315
 6524 37c0 B11D      		adc r27,__zero_reg__
6316
 6525               	.L491:
6317
 6526 37c2 23E0      		ldi r18,3
6318
 6527 37c4 B595      	1:	asr r27
6319
 6528 37c6 A795      		ror r26
6320
 6529 37c8 9795      		ror r25
6321
 6530 37ca 8795      		ror r24
6322
 6531 37cc 2A95      		dec r18
6323
 6532 37ce D1F7      		brne 1b
6324
 6533 37d0 8093 0000 		sts ausgleichNick.11,r24
6325
 6534 37d4 9093 0000 		sts (ausgleichNick.11)+1,r25
6326
 6535 37d8 A093 0000 		sts (ausgleichNick.11)+2,r26
6327
 6536 37dc B093 0000 		sts (ausgleichNick.11)+3,r27
6328
 6537 37e0 8857      		subi r24,lo8(-5000)
6329
 6538 37e2 9C4E      		sbci r25,hi8(-5000)
6330
 6539 37e4 AF4F      		sbci r26,hlo8(-5000)
6331
 6540 37e6 BF4F      		sbci r27,hhi8(-5000)
6332
 6541 37e8 64F4      		brge .L492
6333
 6542 37ea 88E7      		ldi r24,lo8(-5000)
6334
 6543 37ec 9CEE      		ldi r25,hi8(-5000)
6335
 6544 37ee AFEF      		ldi r26,hlo8(-5000)
6336
 6545 37f0 BFEF      		ldi r27,hhi8(-5000)
6337
 6546 37f2 8093 0000 		sts ausgleichNick.11,r24
6338
 6547 37f6 9093 0000 		sts (ausgleichNick.11)+1,r25
6339
 6548 37fa A093 0000 		sts (ausgleichNick.11)+2,r26
6340
 6549 37fe B093 0000 		sts (ausgleichNick.11)+3,r27
6341
 6550               	.L492:
6342
 6551 3802 2091 0000 		lds r18,ausgleichNick.11
6343
 6552 3806 3091 0000 		lds r19,(ausgleichNick.11)+1
6344
 6553 380a 4091 0000 		lds r20,(ausgleichNick.11)+2
6345
 6554 380e 5091 0000 		lds r21,(ausgleichNick.11)+3
6346
 6555 3812 57FF      		sbrs r21,7
6347
 6556 3814 04C0      		rjmp .L493
6348
 6557 3816 2150      		subi r18,lo8(-(255))
6349
 6558 3818 3F4F      		sbci r19,hi8(-(255))
6350
 6559 381a 4F4F      		sbci r20,hlo8(-(255))
6351
 6560 381c 5F4F      		sbci r21,hhi8(-(255))
6352
 6561               	.L493:
6353
 6562 381e 232F      		mov r18,r19
6354
 6563 3820 342F      		mov r19,r20
6355
 6564 3822 452F      		mov r20,r21
6356
 6565 3824 5527      		clr r21
6357
 6566 3826 47FD      		sbrc r20,7
6358
 6567 3828 5A95      		dec r21
6359
 6568 382a 8091 0000 		lds r24,LageKorrekturNick
6360
 6569 382e 9091 0000 		lds r25,(LageKorrekturNick)+1
6361
 6570 3832 820F      		add r24,r18
6362
 6571 3834 931F      		adc r25,r19
6363
 6572 3836 9093 0000 		sts (LageKorrekturNick)+1,r25
6364
 6573 383a 8093 0000 		sts LageKorrekturNick,r24
6365
 6574 383e 11C0      		rjmp .L496
6366
 6575               	.L488:
6367
 6576 3840 81E0      		ldi r24,lo8(1)
6368
 6577 3842 8093 0000 		sts last_n_n.17,r24
6369
 6578 3846 0DC0      		rjmp .L496
6370
 6579               	.L487:
6371
 6580 3848 1092 0000 		sts last_n_n.17,__zero_reg__
6372
 6581 384c 0AC0      		rjmp .L496
6373
 6582               	.L476:
6374
 6583 384e 1092 0000 		sts (cnt.15)+1,__zero_reg__
6375
 6584 3852 1092 0000 		sts cnt.15,__zero_reg__
6376
 6585 3856 88EE      		ldi r24,lo8(1000)
6377
 6586 3858 93E0      		ldi r25,hi8(1000)
6378
 6587 385a 9093 0000 		sts (KompassSignalSchlecht)+1,r25
6379
 6588 385e 8093 0000 		sts KompassSignalSchlecht,r24
6380
 6589               	.L496:
6381
 6590 3862 7BA5      		ldd r23,Y+43
6382
 6591 3864 272F      		mov r18,r23
6383
 6592 3866 3327      		clr r19
6384
 6593 3868 8091 0000 		lds r24,cnt.15
6385
 6594 386c 9091 0000 		lds r25,(cnt.15)+1
6386
 6595 3870 2817      		cp r18,r24
6387
 6596 3872 3907      		cpc r19,r25
6388
 6597 3874 24F4      		brge .L497
6389
 6598 3876 3093 0000 		sts (cnt.15)+1,r19
6390
 6599 387a 2093 0000 		sts cnt.15,r18
6391
 6600               	.L497:
6392
 6601 387e E091 0000 		lds r30,FromNaviCtrl_Value+1
6393
 6602 3882 EE23      		tst r30
6394
 6603 3884 79F0      		breq .L498
6395
 6604 3886 2E2F      		mov r18,r30
6396
 6605 3888 3327      		clr r19
6397
 6606 388a 27FD      		sbrc r18,7
6398
 6607 388c 3095      		com r19
6399
 6608 388e 8091 0000 		lds r24,cnt.15
6400
 6609 3892 9091 0000 		lds r25,(cnt.15)+1
6401
 6610 3896 2817      		cp r18,r24
6402
 6611 3898 3907      		cpc r19,r25
6403
 6612 389a 24F4      		brge .L498
6404
 6613 389c 3093 0000 		sts (cnt.15)+1,r19
6405
 6614 38a0 2093 0000 		sts cnt.15,r18
6406
 6615               	.L498:
6407
 6616 38a4 4091 0000 		lds r20,IntegralFehlerNick.3
6408
 6617 38a8 5091 0000 		lds r21,(IntegralFehlerNick.3)+1
6409
 6618 38ac 6091 0000 		lds r22,(IntegralFehlerNick.3)+2
6410
 6619 38b0 7091 0000 		lds r23,(IntegralFehlerNick.3)+3
6411
 6620 38b4 4138      		cpi r20,lo8(129)
6412
 6621 38b6 5105      		cpc r21,__zero_reg__
6413
 6622 38b8 6105      		cpc r22,__zero_reg__
6414
 6623 38ba 7105      		cpc r23,__zero_reg__
6415
 6624 38bc 74F0      		brlt .L500
6416
 6625 38be 8091 0000 		lds r24,AdNeutralNick
6417
 6626 38c2 9091 0000 		lds r25,(AdNeutralNick)+1
6418
 6627 38c6 2091 0000 		lds r18,cnt.15
6419
 6628 38ca 3091 0000 		lds r19,(cnt.15)+1
6420
 6629 38ce 820F      		add r24,r18
6421
 6630 38d0 931F      		adc r25,r19
6422
 6631 38d2 9093 0000 		sts (AdNeutralNick)+1,r25
6423
 6632 38d6 8093 0000 		sts AdNeutralNick,r24
6424
 6633               	.L500:
6425
 6634 38da 4058      		subi r20,lo8(-128)
6426
 6635 38dc 5F4F      		sbci r21,hi8(-128)
6427
 6636 38de 6F4F      		sbci r22,hlo8(-128)
6428
 6637 38e0 7F4F      		sbci r23,hhi8(-128)
6429
 6638 38e2 74F4      		brge .L501
6430
 6639 38e4 8091 0000 		lds r24,AdNeutralNick
6431
 6640 38e8 9091 0000 		lds r25,(AdNeutralNick)+1
6432
 6641 38ec 2091 0000 		lds r18,cnt.15
6433
 6642 38f0 3091 0000 		lds r19,(cnt.15)+1
6434
 6643 38f4 821B      		sub r24,r18
6435
 6644 38f6 930B      		sbc r25,r19
6436
 6645 38f8 9093 0000 		sts (AdNeutralNick)+1,r25
6437
 6646 38fc 8093 0000 		sts AdNeutralNick,r24
6438
 6647               	.L501:
6439
 6648 3900 81E0      		ldi r24,lo8(1)
6440
 6649 3902 90E0      		ldi r25,hi8(1)
6441
 6650 3904 9093 0000 		sts (cnt.15)+1,r25
6442
 6651 3908 8093 0000 		sts cnt.15,r24
6443
 6652 390c A090 0000 		lds r10,IntegralFehlerRoll.4
6444
 6653 3910 B090 0000 		lds r11,(IntegralFehlerRoll.4)+1
6445
 6654 3914 C090 0000 		lds r12,(IntegralFehlerRoll.4)+2
6446
 6655 3918 D090 0000 		lds r13,(IntegralFehlerRoll.4)+3
6447
 6656 391c D601      		movw r26,r12
6448
 6657 391e C501      		movw r24,r10
6449
 6658 3920 D7FE      		sbrs r13,7
6450
 6659 3922 07C0      		rjmp .L503
6451
 6660 3924 8827      		clr r24
6452
 6661 3926 9927      		clr r25
6453
 6662 3928 DC01      		movw r26,r24
6454
 6663 392a 8A19      		sub r24,r10
6455
 6664 392c 9B09      		sbc r25,r11
6456
 6665 392e AC09      		sbc r26,r12
6457
 6666 3930 BD09      		sbc r27,r13
6458
 6667               	.L503:
6459
 6668 3932 8150      		subi r24,lo8(513)
6460
 6669 3934 9240      		sbci r25,hi8(513)
6461
 6670 3936 A040      		sbci r26,hlo8(513)
6462
 6671 3938 B040      		sbci r27,hhi8(513)
6463
 6672 393a 34F0      		brlt .L502
6464
 6673 393c 84E0      		ldi r24,lo8(4)
6465
 6674 393e 90E0      		ldi r25,hi8(4)
6466
 6675 3940 9093 0000 		sts (cnt.15)+1,r25
6467
 6676 3944 8093 0000 		sts cnt.15,r24
6468
 6677               	.L502:
6469
 6678 3948 8091 0000 		lds r24,MittelIntegralRoll_Alt.21
6470
 6679 394c 9091 0000 		lds r25,(MittelIntegralRoll_Alt.21)+1
6471
 6680 3950 A091 0000 		lds r26,(MittelIntegralRoll_Alt.21)+2
6472
 6681 3954 B091 0000 		lds r27,(MittelIntegralRoll_Alt.21)+3
6473
 6682 3958 2091 0000 		lds r18,MittelIntegralRoll
6474
 6683 395c 3091 0000 		lds r19,(MittelIntegralRoll)+1
6475
 6684 3960 4091 0000 		lds r20,(MittelIntegralRoll)+2
6476
 6685 3964 5091 0000 		lds r21,(MittelIntegralRoll)+3
6477
 6686 3968 821B      		sub r24,r18
6478
 6687 396a 930B      		sbc r25,r19
6479
 6688 396c A40B      		sbc r26,r20
6480
 6689 396e B50B      		sbc r27,r21
6481
 6690 3970 815E      		subi r24,lo8(-(19999))
6482
 6691 3972 914B      		sbci r25,hi8(-(19999))
6483
 6692 3974 AF4F      		sbci r26,hlo8(-(19999))
6484
 6693 3976 BF4F      		sbci r27,hhi8(-(19999))
6485
 6694 3978 8F53      		subi r24,lo8(39999)
6486
 6695 397a 9C49      		sbci r25,hi8(39999)
6487
 6696 397c A040      		sbci r26,hlo8(39999)
6488
 6697 397e B040      		sbci r27,hhi8(39999)
6489
 6698 3980 18F0      		brlo .L505
6490
 6699 3982 E931      		cpi r30,lo8(25)
6491
 6700 3984 0CF4      		brge .+2
6492
 6701 3986 FFC0      		rjmp .L504
6493
 6702               	.L505:
6494
 6703 3988 11E0      		ldi r17,lo8(4097)
6495
 6704 398a A116      		cp r10,r17
6496
 6705 398c 10E1      		ldi r17,hi8(4097)
6497
 6706 398e B106      		cpc r11,r17
6498
 6707 3990 10E0      		ldi r17,hlo8(4097)
6499
 6708 3992 C106      		cpc r12,r17
6500
 6709 3994 10E0      		ldi r17,hhi8(4097)
6501
 6710 3996 D106      		cpc r13,r17
6502
 6711 3998 0CF4      		brge .+2
6503
 6712 399a 73C0      		rjmp .L506
6504
 6713 399c 8091 0000 		lds r24,last_r_p.18
6505
 6714 39a0 8823      		tst r24
6506
 6715 39a2 09F4      		brne .+2
6507
 6716 39a4 6AC0      		rjmp .L507
6508
 6717 39a6 D601      		movw r26,r12
6509
 6718 39a8 C501      		movw r24,r10
6510
 6719 39aa D7FE      		sbrs r13,7
6511
 6720 39ac 07C0      		rjmp .L508
6512
 6721 39ae 8827      		clr r24
6513
 6722 39b0 9927      		clr r25
6514
 6723 39b2 DC01      		movw r26,r24
6515
 6724 39b4 8A19      		sub r24,r10
6516
 6725 39b6 9B09      		sbc r25,r11
6517
 6726 39b8 AC09      		sbc r26,r12
6518
 6727 39ba BD09      		sbc r27,r13
6519
 6728               	.L508:
6520
 6729 39bc 9C01      		movw r18,r24
6521
 6730 39be AD01      		movw r20,r26
6522
 6731 39c0 B7FF      		sbrs r27,7
6523
 6732 39c2 04C0      		rjmp .L509
6524
 6733 39c4 2150      		subi r18,lo8(-(511))
6525
 6734 39c6 3E4F      		sbci r19,hi8(-(511))
6526
 6735 39c8 4F4F      		sbci r20,hlo8(-(511))
6527
 6736 39ca 5F4F      		sbci r21,hhi8(-(511))
6528
 6737               	.L509:
6529
 6738 39cc 09E0      		ldi r16,9
6530
 6739 39ce 5595      	1:	asr r21
6531
 6740 39d0 4795      		ror r20
6532
 6741 39d2 3795      		ror r19
6533
 6742 39d4 2795      		ror r18
6534
 6743 39d6 0A95      		dec r16
6535
 6744 39d8 D1F7      		brne 1b
6536
 6745 39da 8091 0000 		lds r24,cnt.15
6537
 6746 39de 9091 0000 		lds r25,(cnt.15)+1
6538
 6747 39e2 820F      		add r24,r18
6539
 6748 39e4 931F      		adc r25,r19
6540
 6749 39e6 9093 0000 		sts (cnt.15)+1,r25
6541
 6750 39ea 8093 0000 		sts cnt.15,r24
6542
 6751 39ee D601      		movw r26,r12
6543
 6752 39f0 C501      		movw r24,r10
6544
 6753 39f2 D7FE      		sbrs r13,7
6545
 6754 39f4 03C0      		rjmp .L510
6546
 6755 39f6 0796      		adiw r24,7
6547
 6756 39f8 A11D      		adc r26,__zero_reg__
6548
 6757 39fa B11D      		adc r27,__zero_reg__
6549
 6758               	.L510:
6550
 6759 39fc 13E0      		ldi r17,3
6551
 6760 39fe B595      	1:	asr r27
6552
 6761 3a00 A795      		ror r26
6553
 6762 3a02 9795      		ror r25
6554
 6763 3a04 8795      		ror r24
6555
 6764 3a06 1A95      		dec r17
6556
 6765 3a08 D1F7      		brne 1b
6557
 6766 3a0a 8093 0000 		sts ausgleichRoll.12,r24
6558
 6767 3a0e 9093 0000 		sts (ausgleichRoll.12)+1,r25
6559
 6768 3a12 A093 0000 		sts (ausgleichRoll.12)+2,r26
6560
 6769 3a16 B093 0000 		sts (ausgleichRoll.12)+3,r27
6561
 6770 3a1a 8958      		subi r24,lo8(5001)
6562
 6771 3a1c 9341      		sbci r25,hi8(5001)
6563
 6772 3a1e A040      		sbci r26,hlo8(5001)
6564
 6773 3a20 B040      		sbci r27,hhi8(5001)
6565
 6774 3a22 64F0      		brlt .L511
6566
 6775 3a24 88E8      		ldi r24,lo8(5000)
6567
 6776 3a26 93E1      		ldi r25,hi8(5000)
6568
 6777 3a28 A0E0      		ldi r26,hlo8(5000)
6569
 6778 3a2a B0E0      		ldi r27,hhi8(5000)
6570
 6779 3a2c 8093 0000 		sts ausgleichRoll.12,r24
6571
 6780 3a30 9093 0000 		sts (ausgleichRoll.12)+1,r25
6572
 6781 3a34 A093 0000 		sts (ausgleichRoll.12)+2,r26
6573
 6782 3a38 B093 0000 		sts (ausgleichRoll.12)+3,r27
6574
 6783               	.L511:
6575
 6784 3a3c 2091 0000 		lds r18,ausgleichRoll.12
6576
 6785 3a40 3091 0000 		lds r19,(ausgleichRoll.12)+1
6577
 6786 3a44 4091 0000 		lds r20,(ausgleichRoll.12)+2
6578
 6787 3a48 5091 0000 		lds r21,(ausgleichRoll.12)+3
6579
 6788 3a4c 57FF      		sbrs r21,7
6580
 6789 3a4e 04C0      		rjmp .L512
6581
 6790 3a50 2150      		subi r18,lo8(-(255))
6582
 6791 3a52 3F4F      		sbci r19,hi8(-(255))
6583
 6792 3a54 4F4F      		sbci r20,hlo8(-(255))
6584
 6793 3a56 5F4F      		sbci r21,hhi8(-(255))
6585
 6794               	.L512:
6586
 6795 3a58 232F      		mov r18,r19
6587
 6796 3a5a 342F      		mov r19,r20
6588
 6797 3a5c 452F      		mov r20,r21
6589
 6798 3a5e 5527      		clr r21
6590
 6799 3a60 47FD      		sbrc r20,7
6591
 6800 3a62 5A95      		dec r21
6592
 6801 3a64 8091 0000 		lds r24,LageKorrekturRoll
6593
 6802 3a68 9091 0000 		lds r25,(LageKorrekturRoll)+1
6594
 6803 3a6c 820F      		add r24,r18
6595
 6804 3a6e 931F      		adc r25,r19
6596
 6805 3a70 9093 0000 		sts (LageKorrekturRoll)+1,r25
6597
 6806 3a74 8093 0000 		sts LageKorrekturRoll,r24
6598
 6807 3a78 06C0      		rjmp .L514
6599
 6808               	.L507:
6600
 6809 3a7a 81E0      		ldi r24,lo8(1)
6601
 6810 3a7c 8093 0000 		sts last_r_p.18,r24
6602
 6811 3a80 02C0      		rjmp .L514
6603
 6812               	.L506:
6604
 6813 3a82 1092 0000 		sts last_r_p.18,__zero_reg__
6605
 6814               	.L514:
6606
 6815 3a86 30E0      		ldi r19,lo8(-4096)
6607
 6816 3a88 A316      		cp r10,r19
6608
 6817 3a8a 30EF      		ldi r19,hi8(-4096)
6609
 6818 3a8c B306      		cpc r11,r19
6610
 6819 3a8e 3FEF      		ldi r19,hlo8(-4096)
6611
 6820 3a90 C306      		cpc r12,r19
6612
 6821 3a92 3FEF      		ldi r19,hhi8(-4096)
6613
 6822 3a94 D306      		cpc r13,r19
6614
 6823 3a96 0CF0      		brlt .+2
6615
 6824 3a98 73C0      		rjmp .L515
6616
 6825 3a9a 8091 0000 		lds r24,last_r_n.19
6617
 6826 3a9e 8823      		tst r24
6618
 6827 3aa0 09F4      		brne .+2
6619
 6828 3aa2 6AC0      		rjmp .L516
6620
 6829 3aa4 D601      		movw r26,r12
6621
 6830 3aa6 C501      		movw r24,r10
6622
 6831 3aa8 D7FE      		sbrs r13,7
6623
 6832 3aaa 07C0      		rjmp .L517
6624
 6833 3aac 8827      		clr r24
6625
 6834 3aae 9927      		clr r25
6626
 6835 3ab0 DC01      		movw r26,r24
6627
 6836 3ab2 8A19      		sub r24,r10
6628
 6837 3ab4 9B09      		sbc r25,r11
6629
 6838 3ab6 AC09      		sbc r26,r12
6630
 6839 3ab8 BD09      		sbc r27,r13
6631
 6840               	.L517:
6632
 6841 3aba 9C01      		movw r18,r24
6633
 6842 3abc AD01      		movw r20,r26
6634
 6843 3abe B7FF      		sbrs r27,7
6635
 6844 3ac0 04C0      		rjmp .L518
6636
 6845 3ac2 2150      		subi r18,lo8(-(511))
6637
 6846 3ac4 3E4F      		sbci r19,hi8(-(511))
6638
 6847 3ac6 4F4F      		sbci r20,hlo8(-(511))
6639
 6848 3ac8 5F4F      		sbci r21,hhi8(-(511))
6640
 6849               	.L518:
6641
 6850 3aca E9E0      		ldi r30,9
6642
 6851 3acc 5595      	1:	asr r21
6643
 6852 3ace 4795      		ror r20
6644
 6853 3ad0 3795      		ror r19
6645
 6854 3ad2 2795      		ror r18
6646
 6855 3ad4 EA95      		dec r30
6647
 6856 3ad6 D1F7      		brne 1b
6648
 6857 3ad8 8091 0000 		lds r24,cnt.15
6649
 6858 3adc 9091 0000 		lds r25,(cnt.15)+1
6650
 6859 3ae0 820F      		add r24,r18
6651
 6860 3ae2 931F      		adc r25,r19
6652
 6861 3ae4 9093 0000 		sts (cnt.15)+1,r25
6653
 6862 3ae8 8093 0000 		sts cnt.15,r24
6654
 6863 3aec D601      		movw r26,r12
6655
 6864 3aee C501      		movw r24,r10
6656
 6865 3af0 D7FE      		sbrs r13,7
6657
 6866 3af2 03C0      		rjmp .L519
6658
 6867 3af4 0796      		adiw r24,7
6659
 6868 3af6 A11D      		adc r26,__zero_reg__
6660
 6869 3af8 B11D      		adc r27,__zero_reg__
6661
 6870               	.L519:
6662
 6871 3afa 73E0      		ldi r23,3
6663
 6872 3afc B595      	1:	asr r27
6664
 6873 3afe A795      		ror r26
6665
 6874 3b00 9795      		ror r25
6666
 6875 3b02 8795      		ror r24
6667
 6876 3b04 7A95      		dec r23
6668
 6877 3b06 D1F7      		brne 1b
6669
 6878 3b08 8093 0000 		sts ausgleichRoll.12,r24
6670
 6879 3b0c 9093 0000 		sts (ausgleichRoll.12)+1,r25
6671
 6880 3b10 A093 0000 		sts (ausgleichRoll.12)+2,r26
6672
 6881 3b14 B093 0000 		sts (ausgleichRoll.12)+3,r27
6673
 6882 3b18 8857      		subi r24,lo8(-5000)
6674
 6883 3b1a 9C4E      		sbci r25,hi8(-5000)
6675
 6884 3b1c AF4F      		sbci r26,hlo8(-5000)
6676
 6885 3b1e BF4F      		sbci r27,hhi8(-5000)
6677
 6886 3b20 64F4      		brge .L520
6678
 6887 3b22 88E7      		ldi r24,lo8(-5000)
6679
 6888 3b24 9CEE      		ldi r25,hi8(-5000)
6680
 6889 3b26 AFEF      		ldi r26,hlo8(-5000)
6681
 6890 3b28 BFEF      		ldi r27,hhi8(-5000)
6682
 6891 3b2a 8093 0000 		sts ausgleichRoll.12,r24
6683
 6892 3b2e 9093 0000 		sts (ausgleichRoll.12)+1,r25
6684
 6893 3b32 A093 0000 		sts (ausgleichRoll.12)+2,r26
6685
 6894 3b36 B093 0000 		sts (ausgleichRoll.12)+3,r27
6686
 6895               	.L520:
6687
 6896 3b3a 2091 0000 		lds r18,ausgleichRoll.12
6688
 6897 3b3e 3091 0000 		lds r19,(ausgleichRoll.12)+1
6689
 6898 3b42 4091 0000 		lds r20,(ausgleichRoll.12)+2
6690
 6899 3b46 5091 0000 		lds r21,(ausgleichRoll.12)+3
6691
 6900 3b4a 57FF      		sbrs r21,7
6692
 6901 3b4c 04C0      		rjmp .L521
6693
 6902 3b4e 2150      		subi r18,lo8(-(255))
6694
 6903 3b50 3F4F      		sbci r19,hi8(-(255))
6695
 6904 3b52 4F4F      		sbci r20,hlo8(-(255))
6696
 6905 3b54 5F4F      		sbci r21,hhi8(-(255))
6697
 6906               	.L521:
6698
 6907 3b56 232F      		mov r18,r19
6699
 6908 3b58 342F      		mov r19,r20
6700
 6909 3b5a 452F      		mov r20,r21
6701
 6910 3b5c 5527      		clr r21
6702
 6911 3b5e 47FD      		sbrc r20,7
6703
 6912 3b60 5A95      		dec r21
6704
 6913 3b62 8091 0000 		lds r24,LageKorrekturRoll
6705
 6914 3b66 9091 0000 		lds r25,(LageKorrekturRoll)+1
6706
 6915 3b6a 820F      		add r24,r18
6707
 6916 3b6c 931F      		adc r25,r19
6708
 6917 3b6e 9093 0000 		sts (LageKorrekturRoll)+1,r25
6709
 6918 3b72 8093 0000 		sts LageKorrekturRoll,r24
6710
 6919 3b76 11C0      		rjmp .L524
6711
 6920               	.L516:
6712
 6921 3b78 81E0      		ldi r24,lo8(1)
6713
 6922 3b7a 8093 0000 		sts last_r_n.19,r24
6714
 6923 3b7e 0DC0      		rjmp .L524
6715
 6924               	.L515:
6716
 6925 3b80 1092 0000 		sts last_r_n.19,__zero_reg__
6717
 6926 3b84 0AC0      		rjmp .L524
6718
 6927               	.L504:
6719
 6928 3b86 1092 0000 		sts (cnt.15)+1,__zero_reg__
6720
 6929 3b8a 1092 0000 		sts cnt.15,__zero_reg__
6721
 6930 3b8e 88EE      		ldi r24,lo8(1000)
6722
 6931 3b90 93E0      		ldi r25,hi8(1000)
6723
 6932 3b92 9093 0000 		sts (KompassSignalSchlecht)+1,r25
6724
 6933 3b96 8093 0000 		sts KompassSignalSchlecht,r24
6725
 6934               	.L524:
6726
 6935 3b9a 5BA5      		ldd r21,Y+43
6727
 6936 3b9c 252F      		mov r18,r21
6728
 6937 3b9e 3327      		clr r19
6729
 6938 3ba0 8091 0000 		lds r24,cnt.15
6730
 6939 3ba4 9091 0000 		lds r25,(cnt.15)+1
6731
 6940 3ba8 2817      		cp r18,r24
6732
 6941 3baa 3907      		cpc r19,r25
6733
 6942 3bac 24F4      		brge .L525
6734
 6943 3bae 3093 0000 		sts (cnt.15)+1,r19
6735
 6944 3bb2 2093 0000 		sts cnt.15,r18
6736
 6945               	.L525:
6737
 6946 3bb6 8091 0000 		lds r24,FromNaviCtrl_Value+1
6738
 6947 3bba 8823      		tst r24
6739
 6948 3bbc 79F0      		breq .L526
6740
 6949 3bbe 282F      		mov r18,r24
6741
 6950 3bc0 3327      		clr r19
6742
 6951 3bc2 27FD      		sbrc r18,7
6743
 6952 3bc4 3095      		com r19
6744
 6953 3bc6 8091 0000 		lds r24,cnt.15
6745
 6954 3bca 9091 0000 		lds r25,(cnt.15)+1
6746
 6955 3bce 2817      		cp r18,r24
6747
 6956 3bd0 3907      		cpc r19,r25
6748
 6957 3bd2 24F4      		brge .L526
6749
 6958 3bd4 3093 0000 		sts (cnt.15)+1,r19
6750
 6959 3bd8 2093 0000 		sts cnt.15,r18
6751
 6960               	.L526:
6752
 6961 3bdc 4091 0000 		lds r20,IntegralFehlerRoll.4
6753
 6962 3be0 5091 0000 		lds r21,(IntegralFehlerRoll.4)+1
6754
 6963 3be4 6091 0000 		lds r22,(IntegralFehlerRoll.4)+2
6755
 6964 3be8 7091 0000 		lds r23,(IntegralFehlerRoll.4)+3
6756
 6965 3bec 4138      		cpi r20,lo8(129)
6757
 6966 3bee 5105      		cpc r21,__zero_reg__
6758
 6967 3bf0 6105      		cpc r22,__zero_reg__
6759
 6968 3bf2 7105      		cpc r23,__zero_reg__
6760
 6969 3bf4 74F0      		brlt .L528
6761
 6970 3bf6 8091 0000 		lds r24,AdNeutralRoll
6762
 6971 3bfa 9091 0000 		lds r25,(AdNeutralRoll)+1
6763
 6972 3bfe 2091 0000 		lds r18,cnt.15
6764
 6973 3c02 3091 0000 		lds r19,(cnt.15)+1
6765
 6974 3c06 820F      		add r24,r18
6766
 6975 3c08 931F      		adc r25,r19
6767
 6976 3c0a 9093 0000 		sts (AdNeutralRoll)+1,r25
6768
 6977 3c0e 8093 0000 		sts AdNeutralRoll,r24
6769
 6978               	.L528:
6770
 6979 3c12 4058      		subi r20,lo8(-128)
6771
 6980 3c14 5F4F      		sbci r21,hi8(-128)
6772
 6981 3c16 6F4F      		sbci r22,hlo8(-128)
6773
 6982 3c18 7F4F      		sbci r23,hhi8(-128)
6774
 6983 3c1a CCF4      		brge .L530
6775
 6984 3c1c 8091 0000 		lds r24,AdNeutralRoll
6776
 6985 3c20 9091 0000 		lds r25,(AdNeutralRoll)+1
6777
 6986 3c24 2091 0000 		lds r18,cnt.15
6778
 6987 3c28 3091 0000 		lds r19,(cnt.15)+1
6779
 6988 3c2c 821B      		sub r24,r18
6780
 6989 3c2e 930B      		sbc r25,r19
6781
 6990 3c30 9093 0000 		sts (AdNeutralRoll)+1,r25
6782
 6991 3c34 8093 0000 		sts AdNeutralRoll,r24
6783
 6992 3c38 0AC0      		rjmp .L530
6784
 6993               	.L456:
6785
 6994 3c3a 1092 0000 		sts (LageKorrekturRoll)+1,__zero_reg__
6786
 6995 3c3e 1092 0000 		sts LageKorrekturRoll,__zero_reg__
6787
 6996 3c42 1092 0000 		sts (LageKorrekturNick)+1,__zero_reg__
6788
 6997 3c46 1092 0000 		sts LageKorrekturNick,__zero_reg__
6789
 6998 3c4a 1092 0000 		sts TrichterFlug,__zero_reg__
6790
 6999               	.L530:
6791
 7000 3c4e 8091 0000 		lds r24,IntegralFaktor
6792
 7001 3c52 8823      		tst r24
6793
 7002 3c54 41F4      		brne .L531
6794
 7003 3c56 1092 0000 		sts (LageKorrekturRoll)+1,__zero_reg__
6795
 7004 3c5a 1092 0000 		sts LageKorrekturRoll,__zero_reg__
6796
 7005 3c5e 1092 0000 		sts (LageKorrekturNick)+1,__zero_reg__
6797
 7006 3c62 1092 0000 		sts LageKorrekturNick,__zero_reg__
6798
 7007               	.L531:
6799
 7008 3c66 8091 0000 		lds r24,MittelIntegralNick
6800
 7009 3c6a 9091 0000 		lds r25,(MittelIntegralNick)+1
6801
 7010 3c6e A091 0000 		lds r26,(MittelIntegralNick)+2
6802
 7011 3c72 B091 0000 		lds r27,(MittelIntegralNick)+3
6803
 7012 3c76 8093 0000 		sts MittelIntegralNick_Alt.20,r24
6804
 7013 3c7a 9093 0000 		sts (MittelIntegralNick_Alt.20)+1,r25
6805
 7014 3c7e A093 0000 		sts (MittelIntegralNick_Alt.20)+2,r26
6806
 7015 3c82 B093 0000 		sts (MittelIntegralNick_Alt.20)+3,r27
6807
 7016 3c86 8091 0000 		lds r24,MittelIntegralRoll
6808
 7017 3c8a 9091 0000 		lds r25,(MittelIntegralRoll)+1
6809
 7018 3c8e A091 0000 		lds r26,(MittelIntegralRoll)+2
6810
 7019 3c92 B091 0000 		lds r27,(MittelIntegralRoll)+3
6811
 7020 3c96 8093 0000 		sts MittelIntegralRoll_Alt.21,r24
6812
 7021 3c9a 9093 0000 		sts (MittelIntegralRoll_Alt.21)+1,r25
6813
 7022 3c9e A093 0000 		sts (MittelIntegralRoll_Alt.21)+2,r26
6814
 7023 3ca2 B093 0000 		sts (MittelIntegralRoll_Alt.21)+3,r27
6815
 7024 3ca6 1092 0000 		sts IntegralAccNick,__zero_reg__
6816
 7025 3caa 1092 0000 		sts (IntegralAccNick)+1,__zero_reg__
6817
 7026 3cae 1092 0000 		sts (IntegralAccNick)+2,__zero_reg__
6818
 7027 3cb2 1092 0000 		sts (IntegralAccNick)+3,__zero_reg__
6819
 7028 3cb6 1092 0000 		sts IntegralAccRoll,__zero_reg__
6820
 7029 3cba 1092 0000 		sts (IntegralAccRoll)+1,__zero_reg__
6821
 7030 3cbe 1092 0000 		sts (IntegralAccRoll)+2,__zero_reg__
6822
 7031 3cc2 1092 0000 		sts (IntegralAccRoll)+3,__zero_reg__
6823
 7032 3cc6 1092 0000 		sts IntegralAccZ,__zero_reg__
6824
 7033 3cca 1092 0000 		sts (IntegralAccZ)+1,__zero_reg__
6825
 7034 3cce 1092 0000 		sts (IntegralAccZ)+2,__zero_reg__
6826
 7035 3cd2 1092 0000 		sts (IntegralAccZ)+3,__zero_reg__
6827
 7036 3cd6 1092 0000 		sts MittelIntegralNick,__zero_reg__
6828
 7037 3cda 1092 0000 		sts (MittelIntegralNick)+1,__zero_reg__
6829
 7038 3cde 1092 0000 		sts (MittelIntegralNick)+2,__zero_reg__
6830
 7039 3ce2 1092 0000 		sts (MittelIntegralNick)+3,__zero_reg__
6831
 7040 3ce6 1092 0000 		sts MittelIntegralRoll,__zero_reg__
6832
 7041 3cea 1092 0000 		sts (MittelIntegralRoll)+1,__zero_reg__
6833
 7042 3cee 1092 0000 		sts (MittelIntegralRoll)+2,__zero_reg__
6834
 7043 3cf2 1092 0000 		sts (MittelIntegralRoll)+3,__zero_reg__
6835
 7044 3cf6 1092 0000 		sts MittelIntegralNick2,__zero_reg__
6836
 7045 3cfa 1092 0000 		sts (MittelIntegralNick2)+1,__zero_reg__
6837
 7046 3cfe 1092 0000 		sts (MittelIntegralNick2)+2,__zero_reg__
6838
 7047 3d02 1092 0000 		sts (MittelIntegralNick2)+3,__zero_reg__
6839
 7048 3d06 1092 0000 		sts MittelIntegralRoll2,__zero_reg__
6840
 7049 3d0a 1092 0000 		sts (MittelIntegralRoll2)+1,__zero_reg__
6841
 7050 3d0e 1092 0000 		sts (MittelIntegralRoll2)+2,__zero_reg__
6842
 7051 3d12 1092 0000 		sts (MittelIntegralRoll2)+3,__zero_reg__
6843
 7052 3d16 1092 0000 		sts (ZaehlMessungen)+1,__zero_reg__
6844
 7053 3d1a 1092 0000 		sts ZaehlMessungen,__zero_reg__
6845
 7054               	.L455:
6846
 7055 3d1e 0091 0000 		lds r16,StickGier
6847
 7056 3d22 1091 0000 		lds r17,(StickGier)+1
6848
 7057 3d26 C801      		movw r24,r16
6849
 7058 3d28 17FF      		sbrs r17,7
6850
 7059 3d2a 04C0      		rjmp .L533
6851
 7060 3d2c 8827      		clr r24
6852
 7061 3d2e 9927      		clr r25
6853
 7062 3d30 801B      		sub r24,r16
6854
 7063 3d32 910B      		sbc r25,r17
6855
 7064               	.L533:
6856
 7065 3d34 4097      		sbiw r24,16
6857
 7066 3d36 6CF0      		brlt .L532
6858
 7067 3d38 88EE      		ldi r24,lo8(1000)
6859
 7068 3d3a 93E0      		ldi r25,hi8(1000)
6860
 7069 3d3c 9093 0000 		sts (KompassSignalSchlecht)+1,r25
6861
 7070 3d40 8093 0000 		sts KompassSignalSchlecht,r24
6862
 7071 3d44 8091 0000 		lds r24,EE_Parameter+13
6863
 7072 3d48 84FD      		sbrc r24,4
6864
 7073 3d4a 03C0      		rjmp .L532
6865
 7074 3d4c 81E0      		ldi r24,lo8(1)
6866
 7075 3d4e 8093 0000 		sts NeueKompassRichtungMerken.10,r24
6867
 7076               	.L532:
6868
 7077 3d52 F090 0000 		lds r15,EE_Parameter+25
6869
 7078 3d56 AF2C      		mov r10,r15
6870
 7079 3d58 BB24      		clr r11
6871
 7080 3d5a CC24      		clr r12
6872
 7081 3d5c DD24      		clr r13
6873
 7082 3d5e B801      		movw r22,r16
6874
 7083 3d60 8827      		clr r24
6875
 7084 3d62 77FD      		sbrc r23,7
6876
 7085 3d64 8095      		com r24
6877
 7086 3d66 982F      		mov r25,r24
6878
 7087 3d68 9801      		movw r18,r16
6879
 7088 3d6a 17FF      		sbrs r17,7
6880
 7089 3d6c 04C0      		rjmp .L535
6881
 7090 3d6e 2227      		clr r18
6882
 7091 3d70 3327      		clr r19
6883
 7092 3d72 201B      		sub r18,r16
6884
 7093 3d74 310B      		sbc r19,r17
6885
 7094               	.L535:
6886
 7095 3d76 4427      		clr r20
6887
 7096 3d78 37FD      		sbrc r19,7
6888
 7097 3d7a 4095      		com r20
6889
 7098 3d7c 542F      		mov r21,r20
6890
 7099 3d7e 0E94 0000 		call __mulsi3
6891
 7100 3d82 9B01      		movw r18,r22
6892
 7101 3d84 AC01      		movw r20,r24
6893
 7102 3d86 C601      		movw r24,r12
6894
 7103 3d88 B501      		movw r22,r10
6895
 7104 3d8a 0E94 0000 		call __mulsi3
6896
 7105 3d8e 97FF      		sbrs r25,7
6897
 7106 3d90 04C0      		rjmp .L536
6898
 7107 3d92 6150      		subi r22,lo8(-(511))
6899
 7108 3d94 7E4F      		sbci r23,hi8(-(511))
6900
 7109 3d96 8F4F      		sbci r24,hlo8(-(511))
6901
 7110 3d98 9F4F      		sbci r25,hhi8(-(511))
6902
 7111               	.L536:
6903
 7112 3d9a 59E0      		ldi r21,9
6904
 7113 3d9c 9595      	1:	asr r25
6905
 7114 3d9e 8795      		ror r24
6906
 7115 3da0 7795      		ror r23
6907
 7116 3da2 6795      		ror r22
6908
 7117 3da4 5A95      		dec r21
6909
 7118 3da6 D1F7      		brne 1b
6910
 7119 3da8 9B01      		movw r18,r22
6911
 7120 3daa 8F2D      		mov r24,r15
6912
 7121 3dac 9927      		clr r25
6913
 7122 3dae 809F      		mul r24,r16
6914
 7123 3db0 D001      		movw r26,r0
6915
 7124 3db2 819F      		mul r24,r17
6916
 7125 3db4 B00D      		add r27,r0
6917
 7126 3db6 909F      		mul r25,r16
6918
 7127 3db8 B00D      		add r27,r0
6919
 7128 3dba 1124      		clr r1
6920
 7129 3dbc CD01      		movw r24,r26
6921
 7130 3dbe B7FD      		sbrc r27,7
6922
 7131 3dc0 0396      		adiw r24,3
6923
 7132               	.L537:
6924
 7133 3dc2 9595      		asr r25
6925
 7134 3dc4 8795      		ror r24
6926
 7135 3dc6 9595      		asr r25
6927
 7136 3dc8 8795      		ror r24
6928
 7137 3dca 280F      		add r18,r24
6929
 7138 3dcc 391F      		adc r19,r25
6930
 7139 3dce 4427      		clr r20
6931
 7140 3dd0 37FD      		sbrc r19,7
6932
 7141 3dd2 4095      		com r20
6933
 7142 3dd4 542F      		mov r21,r20
6934
 7143 3dd6 2093 0000 		sts sollGier.0,r18
6935
 7144 3dda 3093 0000 		sts (sollGier.0)+1,r19
6936
 7145 3dde 4093 0000 		sts (sollGier.0)+2,r20
6937
 7146 3de2 5093 0000 		sts (sollGier.0)+3,r21
6938
 7147 3de6 8091 0000 		lds r24,Mess_Integral_Gier
6939
 7148 3dea 9091 0000 		lds r25,(Mess_Integral_Gier)+1
6940
 7149 3dee A091 0000 		lds r26,(Mess_Integral_Gier)+2
6941
 7150 3df2 B091 0000 		lds r27,(Mess_Integral_Gier)+3
6942
 7151 3df6 821B      		sub r24,r18
6943
 7152 3df8 930B      		sbc r25,r19
6944
 7153 3dfa A40B      		sbc r26,r20
6945
 7154 3dfc B50B      		sbc r27,r21
6946
 7155 3dfe 8093 0000 		sts Mess_Integral_Gier,r24
6947
 7156 3e02 9093 0000 		sts (Mess_Integral_Gier)+1,r25
6948
 7157 3e06 A093 0000 		sts (Mess_Integral_Gier)+2,r26
6949
 7158 3e0a B093 0000 		sts (Mess_Integral_Gier)+3,r27
6950
 7159 3e0e 8155      		subi r24,lo8(50001)
6951
 7160 3e10 934C      		sbci r25,hi8(50001)
6952
 7161 3e12 A040      		sbci r26,hlo8(50001)
6953
 7162 3e14 B040      		sbci r27,hhi8(50001)
6954
 7163 3e16 64F0      		brlt .L538
6955
 7164 3e18 80E5      		ldi r24,lo8(50000)
6956
 7165 3e1a 93EC      		ldi r25,hi8(50000)
6957
 7166 3e1c A0E0      		ldi r26,hlo8(50000)
6958
 7167 3e1e B0E0      		ldi r27,hhi8(50000)
6959
 7168 3e20 8093 0000 		sts Mess_Integral_Gier,r24
6960
 7169 3e24 9093 0000 		sts (Mess_Integral_Gier)+1,r25
6961
 7170 3e28 A093 0000 		sts (Mess_Integral_Gier)+2,r26
6962
 7171 3e2c B093 0000 		sts (Mess_Integral_Gier)+3,r27
6963
 7172               	.L538:
6964
 7173 3e30 8091 0000 		lds r24,Mess_Integral_Gier
6965
 7174 3e34 9091 0000 		lds r25,(Mess_Integral_Gier)+1
6966
 7175 3e38 A091 0000 		lds r26,(Mess_Integral_Gier)+2
6967
 7176 3e3c B091 0000 		lds r27,(Mess_Integral_Gier)+3
6968
 7177 3e40 805B      		subi r24,lo8(-50000)
6969
 7178 3e42 9C43      		sbci r25,hi8(-50000)
6970
 7179 3e44 AF4F      		sbci r26,hlo8(-50000)
6971
 7180 3e46 BF4F      		sbci r27,hhi8(-50000)
6972
 7181 3e48 64F4      		brge .L539
6973
 7182 3e4a 80EB      		ldi r24,lo8(-50000)
6974
 7183 3e4c 9CE3      		ldi r25,hi8(-50000)
6975
 7184 3e4e AFEF      		ldi r26,hlo8(-50000)
6976
 7185 3e50 BFEF      		ldi r27,hhi8(-50000)
6977
 7186 3e52 8093 0000 		sts Mess_Integral_Gier,r24
6978
 7187 3e56 9093 0000 		sts (Mess_Integral_Gier)+1,r25
6979
 7188 3e5a A093 0000 		sts (Mess_Integral_Gier)+2,r26
6980
 7189 3e5e B093 0000 		sts (Mess_Integral_Gier)+3,r27
6981
 7190               	.L539:
6982
 7191 3e62 A090 0000 		lds r10,KompassValue
6983
 7192 3e66 B090 0000 		lds r11,(KompassValue)+1
6984
 7193 3e6a A114      		cp r10,__zero_reg__
6985
 7194 3e6c B104      		cpc r11,__zero_reg__
6986
 7195 3e6e 09F4      		brne .+2
6987
 7196 3e70 78C1      		rjmp .L540
6988
 7197 3e72 8091 0000 		lds r24,EE_Parameter+13
6989
 7198 3e76 83FF      		sbrs r24,3
6990
 7199 3e78 74C1      		rjmp .L540
6991
 7200 3e7a 8091 0000 		lds r24,IntegralNick
6992
 7201 3e7e 9091 0000 		lds r25,(IntegralNick)+1
6993
 7202 3e82 A091 0000 		lds r26,(IntegralNick)+2
6994
 7203 3e86 B091 0000 		lds r27,(IntegralNick)+3
6995
 7204 3e8a B7FF      		sbrs r27,7
6996
 7205 3e8c 04C0      		rjmp .L541
6997
 7206 3e8e 8150      		subi r24,lo8(-(511))
6998
 7207 3e90 9E4F      		sbci r25,hi8(-(511))
6999
 7208 3e92 AF4F      		sbci r26,hlo8(-(511))
7000
 7209 3e94 BF4F      		sbci r27,hhi8(-(511))
7001
 7210               	.L541:
7002
 7211 3e96 29E0      		ldi r18,9
7003
 7212 3e98 B595      	1:	asr r27
7004
 7213 3e9a A795      		ror r26
7005
 7214 3e9c 9795      		ror r25
7006
 7215 3e9e 8795      		ror r24
7007
 7216 3ea0 2A95      		dec r18
7008
 7217 3ea2 D1F7      		brne 1b
7009
 7218 3ea4 6C01      		movw r12,r24
7010
 7219 3ea6 97FF      		sbrs r25,7
7011
 7220 3ea8 04C0      		rjmp .L542
7012
 7221 3eaa D094      		com r13
7013
 7222 3eac C194      		neg r12
7014
 7223 3eae D108      		sbc r13,__zero_reg__
7015
 7224 3eb0 D394      		inc r13
7016
 7225               	.L542:
7017
 7226 3eb2 8091 0000 		lds r24,IntegralRoll
7018
 7227 3eb6 9091 0000 		lds r25,(IntegralRoll)+1
7019
 7228 3eba A091 0000 		lds r26,(IntegralRoll)+2
7020
 7229 3ebe B091 0000 		lds r27,(IntegralRoll)+3
7021
 7230 3ec2 B7FF      		sbrs r27,7
7022
 7231 3ec4 04C0      		rjmp .L543
7023
 7232 3ec6 8150      		subi r24,lo8(-(511))
7024
 7233 3ec8 9E4F      		sbci r25,hi8(-(511))
7025
 7234 3eca AF4F      		sbci r26,hlo8(-(511))
7026
 7235 3ecc BF4F      		sbci r27,hhi8(-(511))
7027
 7236               	.L543:
7028
 7237 3ece 09E0      		ldi r16,9
7029
 7238 3ed0 B595      	1:	asr r27
7030
 7239 3ed2 A795      		ror r26
7031
 7240 3ed4 9795      		ror r25
7032
 7241 3ed6 8795      		ror r24
7033
 7242 3ed8 0A95      		dec r16
7034
 7243 3eda D1F7      		brne 1b
7035
 7244 3edc BC01      		movw r22,r24
7036
 7245 3ede 97FF      		sbrs r25,7
7037
 7246 3ee0 03C0      		rjmp .L544
7038
 7247 3ee2 7095      		com r23
7039
 7248 3ee4 6195      		neg r22
7040
 7249 3ee6 7F4F      		sbci r23,lo8(-1)
7041
 7250               	.L544:
7042
 7251 3ee8 C616      		cp r12,r22
7043
 7252 3eea D706      		cpc r13,r23
7044
 7253 3eec 0CF4      		brge .L545
7045
 7254 3eee 6B01      		movw r12,r22
7046
 7255               	.L545:
7047
 7256 3ef0 B601      		movw r22,r12
7048
 7257 3ef2 D7FE      		sbrs r13,7
7049
 7258 3ef4 02C0      		rjmp .L546
7050
 7259 3ef6 695F      		subi r22,lo8(-(7))
7051
 7260 3ef8 7F4F      		sbci r23,hi8(-(7))
7052
 7261               	.L546:
7053
 7262 3efa 2B01      		movw r4,r22
7054
 7263 3efc 13E0      		ldi r17,3
7055
 7264 3efe 5594      	1:	asr r5
7056
 7265 3f00 4794      		ror r4
7057
 7266 3f02 1A95      		dec r17
7058
 7267 3f04 E1F7      		brne 1b
7059
 7268 3f06 B2E0      		ldi r27,lo8(2)
7060
 7269 3f08 EB2E      		mov r14,r27
7061
 7270 3f0a F12C      		mov r15,__zero_reg__
7062
 7271 3f0c 4E0C      		add r4,r14
7063
 7272 3f0e 5F1C      		adc r5,r15
7064
 7273 3f10 0CE1      		ldi r16,lo8(540)
7065
 7274 3f12 12E0      		ldi r17,hi8(540)
7066
 7275 3f14 A00E      		add r10,r16
7067
 7276 3f16 B11E      		adc r11,r17
7068
 7277 3f18 7501      		movw r14,r10
7069
 7278 3f1a 0027      		clr r16
7070
 7279 3f1c F7FC      		sbrc r15,7
7071
 7280 3f1e 0095      		com r16
7072
 7281 3f20 102F      		mov r17,r16
7073
 7282 3f22 24EE      		ldi r18,lo8(-540)
7074
 7283 3f24 3DEF      		ldi r19,hi8(-540)
7075
 7284 3f26 A20E      		add r10,r18
7076
 7285 3f28 B31E      		adc r11,r19
7077
 7286 3f2a 8091 0000 		lds r24,ErsatzKompass
7078
 7287 3f2e 9091 0000 		lds r25,(ErsatzKompass)+1
7079
 7288 3f32 A091 0000 		lds r26,(ErsatzKompass)+2
7080
 7289 3f36 B091 0000 		lds r27,(ErsatzKompass)+3
7081
 7290 3f3a 6090 0000 		lds r6,GIER_GRAD_FAKTOR
7082
 7291 3f3e 7090 0000 		lds r7,(GIER_GRAD_FAKTOR)+1
7083
 7292 3f42 8090 0000 		lds r8,(GIER_GRAD_FAKTOR)+2
7084
 7293 3f46 9090 0000 		lds r9,(GIER_GRAD_FAKTOR)+3
7085
 7294 3f4a BC01      		movw r22,r24
7086
 7295 3f4c CD01      		movw r24,r26
7087
 7296 3f4e A401      		movw r20,r8
7088
 7297 3f50 9301      		movw r18,r6
7089
 7298 3f52 0E94 0000 		call __divmodsi4
7090
 7299 3f56 E21A      		sub r14,r18
7091
 7300 3f58 F30A      		sbc r15,r19
7092
 7301 3f5a 040B      		sbc r16,r20
7093
 7302 3f5c 150B      		sbc r17,r21
7094
 7303 3f5e C801      		movw r24,r16
7095
 7304 3f60 B701      		movw r22,r14
7096
 7305 3f62 28E6      		ldi r18,lo8(360)
7097
 7306 3f64 31E0      		ldi r19,hi8(360)
7098
 7307 3f66 40E0      		ldi r20,hlo8(360)
7099
 7308 3f68 50E0      		ldi r21,hhi8(360)
7100
 7309 3f6a 0E94 0000 		call __divmodsi4
7101
 7310 3f6e DC01      		movw r26,r24
7102
 7311 3f70 CB01      		movw r24,r22
7103
 7312 3f72 ACE4      		ldi r26,lo8(-180)
7104
 7313 3f74 EA2E      		mov r14,r26
7105
 7314 3f76 AFEF      		ldi r26,hi8(-180)
7106
 7315 3f78 FA2E      		mov r15,r26
7107
 7316 3f7a E80E      		add r14,r24
7108
 7317 3f7c F91E      		adc r15,r25
7109
 7318 3f7e 0091 0000 		lds r16,KompassSignalSchlecht
7110
 7319 3f82 1091 0000 		lds r17,(KompassSignalSchlecht)+1
7111
 7320 3f86 0115      		cp r16,__zero_reg__
7112
 7321 3f88 1105      		cpc r17,__zero_reg__
7113
 7322 3f8a 89F5      		brne .L547
7114
 7323 3f8c 39E1      		ldi r19,lo8(25)
7115
 7324 3f8e C316      		cp r12,r19
7116
 7325 3f90 D104      		cpc r13,__zero_reg__
7117
 7326 3f92 6CF5      		brge .L547
7118
 7327 3f94 8091 0000 		lds r24,GierGyroFehler
7119
 7328 3f98 9091 0000 		lds r25,(GierGyroFehler)+1
7120
 7329 3f9c 8E0D      		add r24,r14
7121
 7330 3f9e 9F1D      		adc r25,r15
7122
 7331 3fa0 9093 0000 		sts (GierGyroFehler)+1,r25
7123
 7332 3fa4 8093 0000 		sts GierGyroFehler,r24
7124
 7333 3fa8 8091 0000 		lds r24,NeueKompassRichtungMerken.10
7125
 7334 3fac 8823      		tst r24
7126
 7335 3fae F9F0      		breq .L547
7127
 7336 3fb0 C501      		movw r24,r10
7128
 7337 3fb2 AA27      		clr r26
7129
 7338 3fb4 97FD      		sbrc r25,7
7130
 7339 3fb6 A095      		com r26
7131
 7340 3fb8 BA2F      		mov r27,r26
7132
 7341 3fba BC01      		movw r22,r24
7133
 7342 3fbc CD01      		movw r24,r26
7134
 7343 3fbe A401      		movw r20,r8
7135
 7344 3fc0 9301      		movw r18,r6
7136
 7345 3fc2 0E94 0000 		call __mulsi3
7137
 7346 3fc6 DC01      		movw r26,r24
7138
 7347 3fc8 CB01      		movw r24,r22
7139
 7348 3fca 8093 0000 		sts ErsatzKompass,r24
7140
 7349 3fce 9093 0000 		sts (ErsatzKompass)+1,r25
7141
 7350 3fd2 A093 0000 		sts (ErsatzKompass)+2,r26
7142
 7351 3fd6 B093 0000 		sts (ErsatzKompass)+3,r27
7143
 7352 3fda BC01      		movw r22,r24
7144
 7353 3fdc CD01      		movw r24,r26
7145
 7354 3fde 0E94 0000 		call __divmodsi4
7146
 7355 3fe2 3093 0000 		sts (KompassStartwert)+1,r19
7147
 7356 3fe6 2093 0000 		sts KompassStartwert,r18
7148
 7357 3fea 1092 0000 		sts NeueKompassRichtungMerken.10,__zero_reg__
7149
 7358               	.L547:
7150
 7359 3fee C701      		movw r24,r14
7151
 7360 3ff0 F4E0      		ldi r31,4
7152
 7361 3ff2 880F      	1:	lsl r24
7153
 7362 3ff4 991F      		rol r25
7154
 7363 3ff6 FA95      		dec r31
7155
 7364 3ff8 E1F7      		brne 1b
7156
 7365 3ffa B201      		movw r22,r4
7157
 7366 3ffc 0E94 0000 		call __divmodhi4
7158
 7367 4000 CB01      		movw r24,r22
7159
 7368 4002 AA27      		clr r26
7160
 7369 4004 97FD      		sbrc r25,7
7161
 7370 4006 A095      		com r26
7162
 7371 4008 BA2F      		mov r27,r26
7163
 7372 400a 2091 0000 		lds r18,ErsatzKompass
7164
 7373 400e 3091 0000 		lds r19,(ErsatzKompass)+1
7165
 7374 4012 4091 0000 		lds r20,(ErsatzKompass)+2
7166
 7375 4016 5091 0000 		lds r21,(ErsatzKompass)+3
7167
 7376 401a 280F      		add r18,r24
7168
 7377 401c 391F      		adc r19,r25
7169
 7378 401e 4A1F      		adc r20,r26
7170
 7379 4020 5B1F      		adc r21,r27
7171
 7380 4022 2093 0000 		sts ErsatzKompass,r18
7172
 7381 4026 3093 0000 		sts (ErsatzKompass)+1,r19
7173
 7382 402a 4093 0000 		sts (ErsatzKompass)+2,r20
7174
 7383 402e 5093 0000 		sts (ErsatzKompass)+3,r21
7175
 7384 4032 F090 0000 		lds r15,Parameter_KompassWirkung
7176
 7385 4036 6F2D      		mov r22,r15
7177
 7386 4038 7727      		clr r23
7178
 7387 403a C69E      		mul r12,r22
7179
 7388 403c C001      		movw r24,r0
7180
 7389 403e C79E      		mul r12,r23
7181
 7390 4040 900D      		add r25,r0
7182
 7391 4042 D69E      		mul r13,r22
7183
 7392 4044 900D      		add r25,r0
7184
 7393 4046 1124      		clr r1
7185
 7394 4048 97FD      		sbrc r25,7
7186
 7395 404a 4F96      		adiw r24,31
7187
 7396               	.L549:
7188
 7397 404c 6C01      		movw r12,r24
7189
 7398 404e E5E0      		ldi r30,5
7190
 7399 4050 D594      	1:	asr r13
7191
 7400 4052 C794      		ror r12
7192
 7401 4054 EA95      		dec r30
7193
 7402 4056 E1F7      		brne 1b
7194
 7403 4058 6C19      		sub r22,r12
7195
 7404 405a 7D09      		sbc r23,r13
7196
 7405 405c 6B01      		movw r12,r22
7197
 7406 405e 77FD      		sbrc r23,7
7198
 7407 4060 7AC0      		rjmp .L550
7199
 7408 4062 0115      		cp r16,__zero_reg__
7200
 7409 4064 1105      		cpc r17,__zero_reg__
7201
 7410 4066 09F0      		breq .+2
7202
 7411 4068 6FC0      		rjmp .L780
7203
 7412 406a 0091 0000 		lds r16,MaxStickNick
7204
 7413 406e 1091 0000 		lds r17,(MaxStickNick)+1
7205
 7414 4072 8091 0000 		lds r24,MaxStickRoll
7206
 7415 4076 9091 0000 		lds r25,(MaxStickRoll)+1
7207
 7416 407a 080F      		add r16,r24
7208
 7417 407c 191F      		adc r17,r25
7209
 7418 407e 17FF      		sbrs r17,7
7210
 7419 4080 02C0      		rjmp .L552
7211
 7420 4082 095F      		subi r16,lo8(-(7))
7212
 7421 4084 1F4F      		sbci r17,hi8(-(7))
7213
 7422               	.L552:
7214
 7423 4086 73E0      		ldi r23,3
7215
 7424 4088 1595      	1:	asr r17
7216
 7425 408a 0795      		ror r16
7217
 7426 408c 7A95      		dec r23
7218
 7427 408e E1F7      		brne 1b
7219
 7428 4090 005C      		subi r16,lo8(-(64))
7220
 7429 4092 1F4F      		sbci r17,hi8(-(64))
7221
 7430 4094 CA01      		movw r24,r20
7222
 7431 4096 B901      		movw r22,r18
7223
 7432 4098 A401      		movw r20,r8
7224
 7433 409a 9301      		movw r18,r6
7225
 7434 409c 0E94 0000 		call __divmodsi4
7226
 7435 40a0 DA01      		movw r26,r20
7227
 7436 40a2 C901      		movw r24,r18
7228
 7437 40a4 2091 0000 		lds r18,KompassStartwert
7229
 7438 40a8 3091 0000 		lds r19,(KompassStartwert)+1
7230
 7439 40ac 4427      		clr r20
7231
 7440 40ae 37FD      		sbrc r19,7
7232
 7441 40b0 4095      		com r20
7233
 7442 40b2 542F      		mov r21,r20
7234
 7443 40b4 821B      		sub r24,r18
7235
 7444 40b6 930B      		sbc r25,r19
7236
 7445 40b8 A40B      		sbc r26,r20
7237
 7446 40ba B50B      		sbc r27,r21
7238
 7447 40bc 845E      		subi r24,lo8(-(540))
7239
 7448 40be 9D4F      		sbci r25,hi8(-(540))
7240
 7449 40c0 AF4F      		sbci r26,hlo8(-(540))
7241
 7450 40c2 BF4F      		sbci r27,hhi8(-(540))
7242
 7451 40c4 BC01      		movw r22,r24
7243
 7452 40c6 CD01      		movw r24,r26
7244
 7453 40c8 28E6      		ldi r18,lo8(360)
7245
 7454 40ca 31E0      		ldi r19,hi8(360)
7246
 7455 40cc 40E0      		ldi r20,hlo8(360)
7247
 7456 40ce 50E0      		ldi r21,hhi8(360)
7248
 7457 40d0 0E94 0000 		call __divmodsi4
7249
 7458 40d4 DC01      		movw r26,r24
7250
 7459 40d6 CB01      		movw r24,r22
7251
 7460 40d8 845B      		subi r24,lo8(-(-180))
7252
 7461 40da 9040      		sbci r25,hi8(-(-180))
7253
 7462 40dc 8C9D      		mul r24,r12
7254
 7463 40de A001      		movw r20,r0
7255
 7464 40e0 8D9D      		mul r24,r13
7256
 7465 40e2 500D      		add r21,r0
7257
 7466 40e4 9C9D      		mul r25,r12
7258
 7467 40e6 500D      		add r21,r0
7259
 7468 40e8 1124      		clr r1
7260
 7469 40ea CA01      		movw r24,r20
7261
 7470 40ec B801      		movw r22,r16
7262
 7471 40ee 0E94 0000 		call __divmodhi4
7263
 7472 40f2 83E0      		ldi r24,lo8(3)
7264
 7473 40f4 F89E      		mul r15,r24
7265
 7474 40f6 6001      		movw r12,r0
7266
 7475 40f8 1124      		clr r1
7267
 7476 40fa C616      		cp r12,r22
7268
 7477 40fc D706      		cpc r13,r23
7269
 7478 40fe 14F4      		brge .L553
7270
 7479 4100 B601      		movw r22,r12
7271
 7480 4102 08C0      		rjmp .L554
7272
 7481               	.L553:
7273
 7482 4104 8827      		clr r24
7274
 7483 4106 9927      		clr r25
7275
 7484 4108 8C19      		sub r24,r12
7276
 7485 410a 9D09      		sbc r25,r13
7277
 7486 410c 6817      		cp r22,r24
7278
 7487 410e 7907      		cpc r23,r25
7279
 7488 4110 0CF4      		brge .L554
7280
 7489 4112 BC01      		movw r22,r24
7281
 7490               	.L554:
7282
 7491 4114 9B01      		movw r18,r22
7283
 7492 4116 4427      		clr r20
7284
 7493 4118 37FD      		sbrc r19,7
7285
 7494 411a 4095      		com r20
7286
 7495 411c 542F      		mov r21,r20
7287
 7496 411e 8091 0000 		lds r24,Mess_Integral_Gier
7288
 7497 4122 9091 0000 		lds r25,(Mess_Integral_Gier)+1
7289
 7498 4126 A091 0000 		lds r26,(Mess_Integral_Gier)+2
7290
 7499 412a B091 0000 		lds r27,(Mess_Integral_Gier)+3
7291
 7500 412e 820F      		add r24,r18
7292
 7501 4130 931F      		adc r25,r19
7293
 7502 4132 A41F      		adc r26,r20
7294
 7503 4134 B51F      		adc r27,r21
7295
 7504 4136 8093 0000 		sts Mess_Integral_Gier,r24
7296
 7505 413a 9093 0000 		sts (Mess_Integral_Gier)+1,r25
7297
 7506 413e A093 0000 		sts (Mess_Integral_Gier)+2,r26
7298
 7507 4142 B093 0000 		sts (Mess_Integral_Gier)+3,r27
7299
 7508 4146 0DC0      		rjmp .L540
7300
 7509               	.L780:
7301
 7510 4148 0150      		subi r16,lo8(-(-1))
7302
 7511 414a 1040      		sbci r17,hi8(-(-1))
7303
 7512 414c 1093 0000 		sts (KompassSignalSchlecht)+1,r17
7304
 7513 4150 0093 0000 		sts KompassSignalSchlecht,r16
7305
 7514 4154 06C0      		rjmp .L540
7306
 7515               	.L550:
7307
 7516 4156 84EF      		ldi r24,lo8(500)
7308
 7517 4158 91E0      		ldi r25,hi8(500)
7309
 7518 415a 9093 0000 		sts (KompassSignalSchlecht)+1,r25
7310
 7519 415e 8093 0000 		sts KompassSignalSchlecht,r24
7311
 7520               	.L540:
7312
 7521 4162 8091 0000 		lds r24,TrichterFlug
7313
 7522 4166 8823      		tst r24
7314
 7523 4168 81F0      		breq .L558
7315
 7524 416a 1092 0000 		sts SummeRoll,__zero_reg__
7316
 7525 416e 1092 0000 		sts (SummeRoll)+1,__zero_reg__
7317
 7526 4172 1092 0000 		sts (SummeRoll)+2,__zero_reg__
7318
 7527 4176 1092 0000 		sts (SummeRoll)+3,__zero_reg__
7319
 7528 417a 1092 0000 		sts SummeNick,__zero_reg__
7320
 7529 417e 1092 0000 		sts (SummeNick)+1,__zero_reg__
7321
 7530 4182 1092 0000 		sts (SummeNick)+2,__zero_reg__
7322
 7531 4186 1092 0000 		sts (SummeNick)+3,__zero_reg__
7323
 7532               	.L558:
7324
 7533 418a 7090 0000 		lds r7,Looping_Nick
7325
 7534 418e 7720      		tst r7
7326
 7535 4190 F1F4      		brne .L559
7327
 7536 4192 8091 0000 		lds r24,IntegralFaktor
7328
 7537 4196 282F      		mov r18,r24
7329
 7538 4198 3327      		clr r19
7330
 7539 419a 4427      		clr r20
7331
 7540 419c 5527      		clr r21
7332
 7541 419e 8091 0000 		lds r24,IntegralNick
7333
 7542 41a2 9091 0000 		lds r25,(IntegralNick)+1
7334
 7543 41a6 A091 0000 		lds r26,(IntegralNick)+2
7335
 7544 41aa B091 0000 		lds r27,(IntegralNick)+3
7336
 7545 41ae BC01      		movw r22,r24
7337
 7546 41b0 CD01      		movw r24,r26
7338
 7547 41b2 0E94 0000 		call __mulsi3
7339
 7548 41b6 DC01      		movw r26,r24
7340
 7549 41b8 CB01      		movw r24,r22
7341
 7550 41ba BC01      		movw r22,r24
7342
 7551 41bc CD01      		movw r24,r26
7343
 7552 41be 28EF      		ldi r18,lo8(11000)
7344
 7553 41c0 3AE2      		ldi r19,hi8(11000)
7345
 7554 41c2 40E0      		ldi r20,hlo8(11000)
7346
 7555 41c4 50E0      		ldi r21,hhi8(11000)
7347
 7556 41c6 0E94 0000 		call __divmodsi4
7348
 7557 41ca 2901      		movw r4,r18
7349
 7558 41cc 02C0      		rjmp .L560
7350
 7559               	.L559:
7351
 7560 41ce 4424      		clr r4
7352
 7561 41d0 5524      		clr r5
7353
 7562               	.L560:
7354
 7563 41d2 9090 0000 		lds r9,Looping_Roll
7355
 7564 41d6 9920      		tst r9
7356
 7565 41d8 F1F4      		brne .L561
7357
 7566 41da 8091 0000 		lds r24,IntegralFaktor
7358
 7567 41de 282F      		mov r18,r24
7359
 7568 41e0 3327      		clr r19
7360
 7569 41e2 4427      		clr r20
7361
 7570 41e4 5527      		clr r21
7362
 7571 41e6 8091 0000 		lds r24,IntegralRoll
7363
 7572 41ea 9091 0000 		lds r25,(IntegralRoll)+1
7364
 7573 41ee A091 0000 		lds r26,(IntegralRoll)+2
7365
 7574 41f2 B091 0000 		lds r27,(IntegralRoll)+3
7366
 7575 41f6 BC01      		movw r22,r24
7367
 7576 41f8 CD01      		movw r24,r26
7368
 7577 41fa 0E94 0000 		call __mulsi3
7369
 7578 41fe DC01      		movw r26,r24
7370
 7579 4200 CB01      		movw r24,r22
7371
 7580 4202 BC01      		movw r22,r24
7372
 7581 4204 CD01      		movw r24,r26
7373
 7582 4206 28EF      		ldi r18,lo8(11000)
7374
 7583 4208 3AE2      		ldi r19,hi8(11000)
7375
 7584 420a 40E0      		ldi r20,hlo8(11000)
7376
 7585 420c 50E0      		ldi r21,hhi8(11000)
7377
 7586 420e 0E94 0000 		call __divmodsi4
7378
 7587 4212 1901      		movw r2,r18
7379
 7588 4214 02C0      		rjmp .L562
7380
 7589               	.L561:
7381
 7590 4216 2224      		clr r2
7382
 7591 4218 3324      		clr r3
7383
 7592               	.L562:
7384
 7593 421a 8091 0000 		lds r24,TrimNick
7385
 7594 421e 9091 0000 		lds r25,(TrimNick)+1
7386
 7595 4222 893C      		cpi r24,201
7387
 7596 4224 9105      		cpc r25,__zero_reg__
7388
 7597 4226 1CF0      		brlt .L563
7389
 7598 4228 88EC      		ldi r24,lo8(200)
7390
 7599 422a 90E0      		ldi r25,hi8(200)
7391
 7600 422c 05C0      		rjmp .L785
7392
 7601               	.L563:
7393
 7602 422e 8853      		subi r24,lo8(-200)
7394
 7603 4230 9F4F      		sbci r25,hi8(-200)
7395
 7604 4232 34F4      		brge .L564
7396
 7605 4234 88E3      		ldi r24,lo8(-200)
7397
 7606 4236 9FEF      		ldi r25,hi8(-200)
7398
 7607               	.L785:
7399
 7608 4238 9093 0000 		sts (TrimNick)+1,r25
7400
 7609 423c 8093 0000 		sts TrimNick,r24
7401
 7610               	.L564:
7402
 7611 4240 8091 0000 		lds r24,TrimRoll
7403
 7612 4244 9091 0000 		lds r25,(TrimRoll)+1
7404
 7613 4248 893C      		cpi r24,201
7405
 7614 424a 9105      		cpc r25,__zero_reg__
7406
 7615 424c 1CF0      		brlt .L566
7407
 7616 424e 88EC      		ldi r24,lo8(200)
7408
 7617 4250 90E0      		ldi r25,hi8(200)
7409
 7618 4252 05C0      		rjmp .L786
7410
 7619               	.L566:
7411
 7620 4254 8853      		subi r24,lo8(-200)
7412
 7621 4256 9F4F      		sbci r25,hi8(-200)
7413
 7622 4258 34F4      		brge .L567
7414
 7623 425a 88E3      		ldi r24,lo8(-200)
7415
 7624 425c 9FEF      		ldi r25,hi8(-200)
7416
 7625               	.L786:
7417
 7626 425e 9093 0000 		sts (TrimRoll)+1,r25
7418
 7627 4262 8093 0000 		sts TrimRoll,r24
7419
 7628               	.L567:
7420
 7629 4266 8091 0000 		lds r24,MesswertNick
7421
 7630 426a 9091 0000 		lds r25,(MesswertNick)+1
7422
 7631 426e AA27      		clr r26
7423
 7632 4270 97FD      		sbrc r25,7
7424
 7633 4272 A095      		com r26
7425
 7634 4274 BA2F      		mov r27,r26
7426
 7635 4276 2091 0000 		lds r18,GyroFaktor
7427
 7636 427a A22E      		mov r10,r18
7428
 7637 427c BB24      		clr r11
7429
 7638 427e CC24      		clr r12
7430
 7639 4280 DD24      		clr r13
7431
 7640 4282 BC01      		movw r22,r24
7432
 7641 4284 CD01      		movw r24,r26
7433
 7642 4286 A601      		movw r20,r12
7434
 7643 4288 9501      		movw r18,r10
7435
 7644 428a 0E94 0000 		call __mulsi3
7436
 7645 428e 9B01      		movw r18,r22
7437
 7646 4290 AC01      		movw r20,r24
7438
 7647 4292 8091 0000 		lds r24,TrimNick
7439
 7648 4296 9091 0000 		lds r25,(TrimNick)+1
7440
 7649 429a AA27      		clr r26
7441
 7650 429c 97FD      		sbrc r25,7
7442
 7651 429e A095      		com r26
7443
 7652 42a0 BA2F      		mov r27,r26
7444
 7653 42a2 67E0      		ldi r22,7
7445
 7654 42a4 880F      	1:	lsl r24
7446
 7655 42a6 991F      		rol r25
7447
 7656 42a8 AA1F      		rol r26
7448
 7657 42aa BB1F      		rol r27
7449
 7658 42ac 6A95      		dec r22
7450
 7659 42ae D1F7      		brne 1b
7451
 7660 42b0 280F      		add r18,r24
7452
 7661 42b2 391F      		adc r19,r25
7453
 7662 42b4 4A1F      		adc r20,r26
7454
 7663 42b6 5B1F      		adc r21,r27
7455
 7664 42b8 57FF      		sbrs r21,7
7456
 7665 42ba 04C0      		rjmp .L569
7457
 7666 42bc 215C      		subi r18,lo8(-(63))
7458
 7667 42be 3F4F      		sbci r19,hi8(-(63))
7459
 7668 42c0 4F4F      		sbci r20,hlo8(-(63))
7460
 7669 42c2 5F4F      		sbci r21,hhi8(-(63))
7461
 7670               	.L569:
7462
 7671 42c4 06E0      		ldi r16,6
7463
 7672 42c6 5595      	1:	asr r21
7464
 7673 42c8 4795      		ror r20
7465
 7674 42ca 3795      		ror r19
7466
 7675 42cc 2795      		ror r18
7467
 7676 42ce 0A95      		dec r16
7468
 7677 42d0 D1F7      		brne 1b
7469
 7678 42d2 7201      		movw r14,r4
7470
 7679 42d4 E20E      		add r14,r18
7471
 7680 42d6 F31E      		adc r15,r19
7472
 7681 42d8 F092 0000 		sts (MesswertNick)+1,r15
7473
 7682 42dc E092 0000 		sts MesswertNick,r14
7474
 7683 42e0 8091 0000 		lds r24,MesswertRoll
7475
 7684 42e4 9091 0000 		lds r25,(MesswertRoll)+1
7476
 7685 42e8 AA27      		clr r26
7477
 7686 42ea 97FD      		sbrc r25,7
7478
 7687 42ec A095      		com r26
7479
 7688 42ee BA2F      		mov r27,r26
7480
 7689 42f0 BC01      		movw r22,r24
7481
 7690 42f2 CD01      		movw r24,r26
7482
 7691 42f4 A601      		movw r20,r12
7483
 7692 42f6 9501      		movw r18,r10
7484
 7693 42f8 0E94 0000 		call __mulsi3
7485
 7694 42fc 9B01      		movw r18,r22
7486
 7695 42fe AC01      		movw r20,r24
7487
 7696 4300 8091 0000 		lds r24,TrimRoll
7488
 7697 4304 9091 0000 		lds r25,(TrimRoll)+1
7489
 7698 4308 AA27      		clr r26
7490
 7699 430a 97FD      		sbrc r25,7
7491
 7700 430c A095      		com r26
7492
 7701 430e BA2F      		mov r27,r26
7493
 7702 4310 17E0      		ldi r17,7
7494
 7703 4312 880F      	1:	lsl r24
7495
 7704 4314 991F      		rol r25
7496
 7705 4316 AA1F      		rol r26
7497
 7706 4318 BB1F      		rol r27
7498
 7707 431a 1A95      		dec r17
7499
 7708 431c D1F7      		brne 1b
7500
 7709 431e 280F      		add r18,r24
7501
 7710 4320 391F      		adc r19,r25
7502
 7711 4322 4A1F      		adc r20,r26
7503
 7712 4324 5B1F      		adc r21,r27
7504
 7713 4326 57FF      		sbrs r21,7
7505
 7714 4328 04C0      		rjmp .L570
7506
 7715 432a 215C      		subi r18,lo8(-(63))
7507
 7716 432c 3F4F      		sbci r19,hi8(-(63))
7508
 7717 432e 4F4F      		sbci r20,hlo8(-(63))
7509
 7718 4330 5F4F      		sbci r21,hhi8(-(63))
7510
 7719               	.L570:
7511
 7720 4332 B6E0      		ldi r27,6
7512
 7721 4334 5595      	1:	asr r21
7513
 7722 4336 4795      		ror r20
7514
 7723 4338 3795      		ror r19
7515
 7724 433a 2795      		ror r18
7516
 7725 433c BA95      		dec r27
7517
 7726 433e D1F7      		brne 1b
7518
 7727 4340 8101      		movw r16,r2
7519
 7728 4342 020F      		add r16,r18
7520
 7729 4344 131F      		adc r17,r19
7521
 7730 4346 1093 0000 		sts (MesswertRoll)+1,r17
7522
 7731 434a 0093 0000 		sts MesswertRoll,r16
7523
 7732 434e 8091 0000 		lds r24,MesswertGier
7524
 7733 4352 9091 0000 		lds r25,(MesswertGier)+1
7525
 7734 4356 880F      		add r24,r24
7526
 7735 4358 991F      		adc r25,r25
7527
 7736 435a AA27      		clr r26
7528
 7737 435c 97FD      		sbrc r25,7
7529
 7738 435e A095      		com r26
7530
 7739 4360 BA2F      		mov r27,r26
7531
 7740 4362 2091 0000 		lds r18,GyroFaktorGier
7532
 7741 4366 3327      		clr r19
7533
 7742 4368 4427      		clr r20
7534
 7743 436a 5527      		clr r21
7535
 7744 436c BC01      		movw r22,r24
7536
 7745 436e CD01      		movw r24,r26
7537
 7746 4370 0E94 0000 		call __mulsi3
7538
 7747 4374 5B01      		movw r10,r22
7539
 7748 4376 6C01      		movw r12,r24
7540
 7749 4378 97FF      		sbrs r25,7
7541
 7750 437a 08C0      		rjmp .L571
7542
 7751 437c 8FE3      		ldi r24,lo8(63)
7543
 7752 437e 90E0      		ldi r25,hi8(63)
7544
 7753 4380 A0E0      		ldi r26,hlo8(63)
7545
 7754 4382 B0E0      		ldi r27,hhi8(63)
7546
 7755 4384 A80E      		add r10,r24
7547
 7756 4386 B91E      		adc r11,r25
7548
 7757 4388 CA1E      		adc r12,r26
7549
 7758 438a DB1E      		adc r13,r27
7550
 7759               	.L571:
7551
 7760 438c A6E0      		ldi r26,6
7552
 7761 438e D594      	1:	asr r13
7553
 7762 4390 C794      		ror r12
7554
 7763 4392 B794      		ror r11
7555
 7764 4394 A794      		ror r10
7556
 7765 4396 AA95      		dec r26
7557
 7766 4398 D1F7      		brne 1b
7558
 7767 439a 8091 0000 		lds r24,IntegralFaktorGier
7559
 7768 439e 282F      		mov r18,r24
7560
 7769 43a0 3327      		clr r19
7561
 7770 43a2 4427      		clr r20
7562
 7771 43a4 5527      		clr r21
7563
 7772 43a6 8091 0000 		lds r24,Integral_Gier
7564
 7773 43aa 9091 0000 		lds r25,(Integral_Gier)+1
7565
 7774 43ae A091 0000 		lds r26,(Integral_Gier)+2
7566
 7775 43b2 B091 0000 		lds r27,(Integral_Gier)+3
7567
 7776 43b6 BC01      		movw r22,r24
7568
 7777 43b8 CD01      		movw r24,r26
7569
 7778 43ba 0E94 0000 		call __mulsi3
7570
 7779 43be DC01      		movw r26,r24
7571
 7780 43c0 CB01      		movw r24,r22
7572
 7781 43c2 BC01      		movw r22,r24
7573
 7782 43c4 CD01      		movw r24,r26
7574
 7783 43c6 20EF      		ldi r18,lo8(22000)
7575
 7784 43c8 35E5      		ldi r19,hi8(22000)
7576
 7785 43ca 40E0      		ldi r20,hlo8(22000)
7577
 7786 43cc 50E0      		ldi r21,hhi8(22000)
7578
 7787 43ce 0E94 0000 		call __divmodsi4
7579
 7788 43d2 B501      		movw r22,r10
7580
 7789 43d4 620F      		add r22,r18
7581
 7790 43d6 731F      		adc r23,r19
7582
 7791 43d8 7093 0000 		sts (MesswertGier)+1,r23
7583
 7792 43dc 6093 0000 		sts MesswertGier,r22
7584
 7793 43e0 91E0      		ldi r25,lo8(4097)
7585
 7794 43e2 E916      		cp r14,r25
7586
 7795 43e4 90E1      		ldi r25,hi8(4097)
7587
 7796 43e6 F906      		cpc r15,r25
7588
 7797 43e8 34F0      		brlt .L572
7589
 7798 43ea 80E0      		ldi r24,lo8(4096)
7590
 7799 43ec 90E1      		ldi r25,hi8(4096)
7591
 7800 43ee 9093 0000 		sts (MesswertNick)+1,r25
7592
 7801 43f2 8093 0000 		sts MesswertNick,r24
7593
 7802               	.L572:
7594
 7803 43f6 8091 0000 		lds r24,MesswertNick
7595
 7804 43fa 9091 0000 		lds r25,(MesswertNick)+1
7596
 7805 43fe 8050      		subi r24,lo8(-4096)
7597
 7806 4400 904F      		sbci r25,hi8(-4096)
7598
 7807 4402 34F4      		brge .L573
7599
 7808 4404 80E0      		ldi r24,lo8(-4096)
7600
 7809 4406 90EF      		ldi r25,hi8(-4096)
7601
 7810 4408 9093 0000 		sts (MesswertNick)+1,r25
7602
 7811 440c 8093 0000 		sts MesswertNick,r24
7603
 7812               	.L573:
7604
 7813 4410 0150      		subi r16,lo8(4097)
7605
 7814 4412 1041      		sbci r17,hi8(4097)
7606
 7815 4414 34F0      		brlt .L574
7607
 7816 4416 80E0      		ldi r24,lo8(4096)
7608
 7817 4418 90E1      		ldi r25,hi8(4096)
7609
 7818 441a 9093 0000 		sts (MesswertRoll)+1,r25
7610
 7819 441e 8093 0000 		sts MesswertRoll,r24
7611
 7820               	.L574:
7612
 7821 4422 8091 0000 		lds r24,MesswertRoll
7613
 7822 4426 9091 0000 		lds r25,(MesswertRoll)+1
7614
 7823 442a 8050      		subi r24,lo8(-4096)
7615
 7824 442c 904F      		sbci r25,hi8(-4096)
7616
 7825 442e 34F4      		brge .L575
7617
 7826 4430 80E0      		ldi r24,lo8(-4096)
7618
 7827 4432 90EF      		ldi r25,hi8(-4096)
7619
 7828 4434 9093 0000 		sts (MesswertRoll)+1,r25
7620
 7829 4438 8093 0000 		sts MesswertRoll,r24
7621
 7830               	.L575:
7622
 7831 443c 6150      		subi r22,lo8(4097)
7623
 7832 443e 7041      		sbci r23,hi8(4097)
7624
 7833 4440 34F0      		brlt .L576
7625
 7834 4442 80E0      		ldi r24,lo8(4096)
7626
 7835 4444 90E1      		ldi r25,hi8(4096)
7627
 7836 4446 9093 0000 		sts (MesswertGier)+1,r25
7628
 7837 444a 8093 0000 		sts MesswertGier,r24
7629
 7838               	.L576:
7630
 7839 444e 8091 0000 		lds r24,MesswertGier
7631
 7840 4452 9091 0000 		lds r25,(MesswertGier)+1
7632
 7841 4456 8050      		subi r24,lo8(-4096)
7633
 7842 4458 904F      		sbci r25,hi8(-4096)
7634
 7843 445a 34F4      		brge .L577
7635
 7844 445c 80E0      		ldi r24,lo8(-4096)
7636
 7845 445e 90EF      		ldi r25,hi8(-4096)
7637
 7846 4460 9093 0000 		sts (MesswertGier)+1,r25
7638
 7847 4464 8093 0000 		sts MesswertGier,r24
7639
 7848               	.L577:
7640
 7849 4468 8091 0000 		lds r24,BattLowVoltageWarning
7641
 7850 446c 482F      		mov r20,r24
7642
 7851 446e 5527      		clr r21
7643
 7852 4470 8091 0000 		lds r24,UBat
7644
 7853 4474 9091 0000 		lds r25,(UBat)+1
7645
 7854 4478 4817      		cp r20,r24
7646
 7855 447a 5907      		cpc r21,r25
7647
 7856 447c 94F4      		brge .L578
7648
 7857 447e 2091 0000 		lds r18,UBat
7649
 7858 4482 3091 0000 		lds r19,(UBat)+1
7650
 7859 4486 68A1      		ldd r22,Y+32
7651
 7860 4488 79A1      		ldd r23,Y+33
7652
 7861 448a 649F      		mul r22,r20
7653
 7862 448c C001      		movw r24,r0
7654
 7863 448e 659F      		mul r22,r21
7655
 7864 4490 900D      		add r25,r0
7656
 7865 4492 749F      		mul r23,r20
7657
 7866 4494 900D      		add r25,r0
7658
 7867 4496 1124      		clr r1
7659
 7868 4498 B901      		movw r22,r18
7660
 7869 449a 0E94 0000 		call __udivmodhi4
7661
 7870 449e 79A3      		std Y+33,r23
7662
 7871 44a0 68A3      		std Y+32,r22
7663
 7872               	.L578:
7664
 7873 44a2 88A1      		ldd r24,Y+32
7665
 7874 44a4 99A1      		ldd r25,Y+33
7666
 7875 44a6 880F      		lsl r24
7667
 7876 44a8 991F      		rol r25
7668
 7877 44aa 880F      		lsl r24
7669
 7878 44ac 991F      		rol r25
7670
 7879 44ae 99A3      		std Y+33,r25
7671
 7880 44b0 88A3      		std Y+32,r24
7672
 7881 44b2 4091 0000 		lds r20,EE_Parameter+13
7673
 7882 44b6 40FF      		sbrs r20,0
7674
 7883 44b8 A7C6      		rjmp .L579
7675
 7884 44ba 9920      		tst r9
7676
 7885 44bc 09F0      		breq .+2
7677
 7886 44be A4C6      		rjmp .L579
7678
 7887 44c0 7720      		tst r7
7679
 7888 44c2 09F0      		breq .+2
7680
 7889 44c4 A1C6      		rjmp .L579
7681
 7890 44c6 CC24      		clr r12
7682
 7891 44c8 DD24      		clr r13
7683
 7892 44ca 4601      		movw r8,r12
7684
 7893 44cc 8091 0000 		lds r24,HoverGas
7685
 7894 44d0 9091 0000 		lds r25,(HoverGas)+1
7686
 7895 44d4 9093 0000 		sts (DebugOut+44)+1,r25
7687
 7896 44d8 8093 0000 		sts DebugOut+44,r24
7688
 7897 44dc 2091 0000 		lds r18,BaroExpandActive
7689
 7898 44e0 3091 0000 		lds r19,(BaroExpandActive)+1
7690
 7899 44e4 2115      		cp r18,__zero_reg__
7691
 7900 44e6 3105      		cpc r19,__zero_reg__
7692
 7901 44e8 09F0      		breq .+2
7693
 7902 44ea 3FC0      		rjmp .L580
7694
 7903 44ec 8091 0000 		lds r24,MessLuftdruck
7695
 7904 44f0 9091 0000 		lds r25,(MessLuftdruck)+1
7696
 7905 44f4 8959      		subi r24,lo8(921)
7697
 7906 44f6 9340      		sbci r25,hi8(921)
7698
 7907 44f8 58F0      		brlo .L581
7699
 7908 44fa 87B5      		in r24,71-0x20
7700
 7909 44fc 853F      		cpi r24,lo8(-11)
7701
 7910 44fe 20F4      		brsh .L582
7702
 7911 4500 8091 0000 		lds r24,ExpandBaro
7703
 7912 4504 8150      		subi r24,lo8(-(-1))
7704
 7913 4506 11C0      		rjmp .L787
7705
 7914               	.L582:
7706
 7915 4508 81E0      		ldi r24,lo8(1)
7707
 7916 450a 8093 0000 		sts BaroAtLowerLimit.30,r24
7708
 7917 450e 4EC0      		rjmp .L589
7709
 7918               	.L581:
7710
 7919 4510 8091 0000 		lds r24,MessLuftdruck
7711
 7920 4514 9091 0000 		lds r25,(MessLuftdruck)+1
7712
 7921 4518 8436      		cpi r24,100
7713
 7922 451a 9105      		cpc r25,__zero_reg__
7714
 7923 451c 08F5      		brsh .L585
7715
 7924 451e 87B5      		in r24,71-0x20
7716
 7925 4520 8B30      		cpi r24,lo8(11)
7717
 7926 4522 D0F0      		brlo .L586
7718
 7927 4524 8091 0000 		lds r24,ExpandBaro
7719
 7928 4528 8F5F      		subi r24,lo8(-(1))
7720
 7929               	.L787:
7721
 7930 452a 8093 0000 		sts ExpandBaro,r24
7722
 7931 452e 9AE0      		ldi r25,lo8(10)
7723
 7932 4530 8902      		muls r24,r25
7724
 7933 4532 9001      		movw r18,r0
7725
 7934 4534 1124      		clr r1
7726
 7935 4536 8091 0000 		lds r24,DruckOffsetSetting
7727
 7936 453a 821B      		sub r24,r18
7728
 7937 453c 87BD      		out 71-0x20,r24
7729
 7938 453e 8CE2      		ldi r24,lo8(300)
7730
 7939 4540 91E0      		ldi r25,hi8(300)
7731
 7940 4542 9093 0000 		sts (beeptime)+1,r25
7732
 7941 4546 8093 0000 		sts beeptime,r24
7733
 7942 454a 8EE5      		ldi r24,lo8(350)
7734
 7943 454c 91E0      		ldi r25,hi8(350)
7735
 7944 454e 9093 0000 		sts (BaroExpandActive)+1,r25
7736
 7945 4552 8093 0000 		sts BaroExpandActive,r24
7737
 7946 4556 2AC0      		rjmp .L589
7738
 7947               	.L586:
7739
 7948 4558 81E0      		ldi r24,lo8(1)
7740
 7949 455a 8093 0000 		sts BaroAtUpperLimit.29,r24
7741
 7950 455e 26C0      		rjmp .L589
7742
 7951               	.L585:
7743
 7952 4560 7092 0000 		sts BaroAtUpperLimit.29,r7
7744
 7953 4564 7092 0000 		sts BaroAtLowerLimit.30,r7
7745
 7954 4568 21C0      		rjmp .L589
7746
 7955               	.L580:
7747
 7956 456a 8091 0000 		lds r24,HoehenWert
7748
 7957 456e 9091 0000 		lds r25,(HoehenWert)+1
7749
 7958 4572 A091 0000 		lds r26,(HoehenWert)+2
7750
 7959 4576 B091 0000 		lds r27,(HoehenWert)+3
7751
 7960 457a E4E0      		ldi r30,4
7752
 7961 457c 880F      	1:	lsl r24
7753
 7962 457e 991F      		rol r25
7754
 7963 4580 AA1F      		rol r26
7755
 7964 4582 BB1F      		rol r27
7756
 7965 4584 EA95      		dec r30
7757
 7966 4586 D1F7      		brne 1b
7758
 7967 4588 8093 0000 		sts SummenHoehe,r24
7759
 7968 458c 9093 0000 		sts (SummenHoehe)+1,r25
7760
 7969 4590 A093 0000 		sts (SummenHoehe)+2,r26
7761
 7970 4594 B093 0000 		sts (SummenHoehe)+3,r27
7762
 7971 4598 D092 0000 		sts (VarioMeter)+1,r13
7763
 7972 459c C092 0000 		sts VarioMeter,r12
7764
 7973 45a0 2150      		subi r18,lo8(-(-1))
7765
 7974 45a2 3040      		sbci r19,hi8(-(-1))
7766
 7975 45a4 3093 0000 		sts (BaroExpandActive)+1,r19
7767
 7976 45a8 2093 0000 		sts BaroExpandActive,r18
7768
 7977               	.L589:
7769
 7978 45ac 2091 0000 		lds r18,Parameter_MaxHoehe
7770
 7979 45b0 41FF      		sbrs r20,1
7771
 7980 45b2 24C0      		rjmp .L590
7772
 7981 45b4 2233      		cpi r18,lo8(50)
7773
 7982 45b6 D8F4      		brsh .L591
7774
 7983 45b8 8091 0000 		lds r24,delay.28
7775
 7984 45bc 8150      		subi r24,lo8(-(-1))
7776
 7985 45be 8093 0000 		sts delay.28,r24
7777
 7986 45c2 8F3F      		cpi r24,lo8(-1)
7778
 7987 45c4 D9F5      		brne .L594
7779
 7988 45c6 1092 0000 		sts HoehenReglerAktiv,__zero_reg__
7780
 7989 45ca 8091 0000 		lds r24,HoehenWert
7781
 7990 45ce 9091 0000 		lds r25,(HoehenWert)+1
7782
 7991 45d2 A091 0000 		lds r26,(HoehenWert)+2
7783
 7992 45d6 B091 0000 		lds r27,(HoehenWert)+3
7784
 7993 45da 8093 0000 		sts SollHoehe,r24
7785
 7994 45de 9093 0000 		sts (SollHoehe)+1,r25
7786
 7995 45e2 A093 0000 		sts (SollHoehe)+2,r26
7787
 7996 45e6 B093 0000 		sts (SollHoehe)+3,r27
7788
 7997 45ea 81E0      		ldi r24,lo8(1)
7789
 7998 45ec 04C0      		rjmp .L788
7790
 7999               	.L591:
7791
 8000 45ee 81E0      		ldi r24,lo8(1)
7792
 8001 45f0 8093 0000 		sts HoehenReglerAktiv,r24
7793
 8002 45f4 88EC      		ldi r24,lo8(-56)
7794
 8003               	.L788:
7795
 8004 45f6 8093 0000 		sts delay.28,r24
7796
 8005 45fa 20C0      		rjmp .L594
7797
 8006               	.L590:
7798
 8007 45fc 8091 0000 		lds r24,ExternHoehenValue
7799
 8008 4600 9091 0000 		lds r25,(ExternHoehenValue)+1
7800
 8009 4604 820F      		add r24,r18
7801
 8010 4606 911D      		adc r25,__zero_reg__
7802
 8011 4608 2091 0000 		lds r18,EE_Parameter+18
7803
 8012 460c 3327      		clr r19
7804
 8013 460e 829F      		mul r24,r18
7805
 8014 4610 F001      		movw r30,r0
7806
 8015 4612 839F      		mul r24,r19
7807
 8016 4614 F00D      		add r31,r0
7808
 8017 4616 929F      		mul r25,r18
7809
 8018 4618 F00D      		add r31,r0
7810
 8019 461a 1124      		clr r1
7811
 8020 461c CF01      		movw r24,r30
7812
 8021 461e AA27      		clr r26
7813
 8022 4620 97FD      		sbrc r25,7
7814
 8023 4622 A095      		com r26
7815
 8024 4624 BA2F      		mov r27,r26
7816
 8025 4626 8093 0000 		sts SollHoehe,r24
7817
 8026 462a 9093 0000 		sts (SollHoehe)+1,r25
7818
 8027 462e A093 0000 		sts (SollHoehe)+2,r26
7819
 8028 4632 B093 0000 		sts (SollHoehe)+3,r27
7820
 8029 4636 81E0      		ldi r24,lo8(1)
7821
 8030 4638 8093 0000 		sts HoehenReglerAktiv,r24
7822
 8031               	.L594:
7823
 8032 463c 8091 0000 		lds r24,IntegralNick
7824
 8033 4640 9091 0000 		lds r25,(IntegralNick)+1
7825
 8034 4644 A091 0000 		lds r26,(IntegralNick)+2
7826
 8035 4648 B091 0000 		lds r27,(IntegralNick)+3
7827
 8036 464c E090 0000 		lds r14,GIER_GRAD_FAKTOR
7828
 8037 4650 F090 0000 		lds r15,(GIER_GRAD_FAKTOR)+1
7829
 8038 4654 0091 0000 		lds r16,(GIER_GRAD_FAKTOR)+2
7830
 8039 4658 1091 0000 		lds r17,(GIER_GRAD_FAKTOR)+3
7831
 8040 465c BC01      		movw r22,r24
7832
 8041 465e CD01      		movw r24,r26
7833
 8042 4660 A801      		movw r20,r16
7834
 8043 4662 9701      		movw r18,r14
7835
 8044 4664 0E94 0000 		call __divmodsi4
7836
 8045 4668 5901      		movw r10,r18
7837
 8046 466a 6A01      		movw r12,r20
7838
 8047 466c 8091 0000 		lds r24,IntegralRoll
7839
 8048 4670 9091 0000 		lds r25,(IntegralRoll)+1
7840
 8049 4674 A091 0000 		lds r26,(IntegralRoll)+2
7841
 8050 4678 B091 0000 		lds r27,(IntegralRoll)+3
7842
 8051 467c BC01      		movw r22,r24
7843
 8052 467e CD01      		movw r24,r26
7844
 8053 4680 A801      		movw r20,r16
7845
 8054 4682 9701      		movw r18,r14
7846
 8055 4684 0E94 0000 		call __divmodsi4
7847
 8056 4688 B901      		movw r22,r18
7848
 8057 468a C501      		movw r24,r10
7849
 8058 468c 0E94 0000 		call ihypot
7850
 8059 4690 3C01      		movw r6,r24
7851
 8060 4692 CC97      		sbiw r24,60
7852
 8061 4694 1CF0      		brlt .L595
7853
 8062 4696 7CE3      		ldi r23,lo8(60)
7854
 8063 4698 672E      		mov r6,r23
7855
 8064 469a 712C      		mov r7,__zero_reg__
7856
 8065               	.L595:
7857
 8066 469c C301      		movw r24,r6
7858
 8067 469e 0E94 0000 		call c_cos_8192
7859
 8068 46a2 3C01      		movw r6,r24
7860
 8069 46a4 80E2      		ldi r24,lo8(32)
7861
 8070 46a6 8093 0000 		sts VarioCharacter,r24
7862
 8071 46aa 8091 0000 		lds r24,HoehenReglerAktiv
7863
 8072 46ae 8823      		tst r24
7864
 8073 46b0 09F4      		brne .+2
7865
 8074 46b2 36C4      		rjmp .L596
7866
 8075 46b4 8091 0000 		lds r24,FCFlags
7867
 8076 46b8 9927      		clr r25
7868
 8077 46ba 9C01      		movw r18,r24
7869
 8078 46bc 2071      		andi r18,lo8(16)
7870
 8079 46be 3070      		andi r19,hi8(16)
7871
 8080 46c0 84FD      		sbrc r24,4
7872
 8081 46c2 2EC4      		rjmp .L596
7873
 8082 46c4 6091 0000 		lds r22,EE_Parameter+99
7874
 8083 46c8 60FD      		sbrc r22,0
7875
 8084 46ca 04C0      		rjmp .L598
7876
 8085 46cc 8091 0000 		lds r24,EE_Parameter+13
7877
 8086 46d0 81FD      		sbrc r24,1
7878
 8087 46d2 07C0      		rjmp .L597
7879
 8088               	.L598:
7880
 8089 46d4 08A1      		ldd r16,Y+32
7881
 8090 46d6 19A1      		ldd r17,Y+33
7882
 8091 46d8 3093 0000 		sts (HeightTrimming.22)+1,r19
7883
 8092 46dc 2093 0000 		sts HeightTrimming.22,r18
7884
 8093 46e0 97C1      		rjmp .L599
7885
 8094               	.L597:
7886
 8095 46e2 8091 0000 		lds r24,FCFlags
7887
 8096 46e6 81FF      		sbrs r24,1
7888
 8097 46e8 69C1      		rjmp .L600
7889
 8098 46ea 4091 0000 		lds r20,StickGasHover.24
7890
 8099 46ee 5091 0000 		lds r21,(StickGasHover.24)+1
7891
 8100 46f2 CA01      		movw r24,r20
7892
 8101 46f4 0F96      		adiw r24,15
7893
 8102 46f6 2091 0000 		lds r18,StickGas
7894
 8103 46fa 3091 0000 		lds r19,(StickGas)+1
7895
 8104 46fe 8217      		cp r24,r18
7896
 8105 4700 9307      		cpc r25,r19
7897
 8106 4702 ACF5      		brge .L601
7898
 8107 4704 8091 0000 		lds r24,BaroAtUpperLimit.29
7899
 8108 4708 8823      		tst r24
7900
 8109 470a 89F5      		brne .L601
7901
 8110 470c 8091 0000 		lds r24,HeightTrimmingFlag.31
7902
 8111 4710 81FF      		sbrs r24,1
7903
 8112 4712 13C0      		rjmp .L602
7904
 8113 4714 8D7F      		andi r24,lo8(-3)
7905
 8114 4716 8093 0000 		sts HeightTrimmingFlag.31,r24
7906
 8115 471a 8091 0000 		lds r24,HoehenWert
7907
 8116 471e 9091 0000 		lds r25,(HoehenWert)+1
7908
 8117 4722 A091 0000 		lds r26,(HoehenWert)+2
7909
 8118 4726 B091 0000 		lds r27,(HoehenWert)+3
7910
 8119 472a 8093 0000 		sts SollHoehe,r24
7911
 8120 472e 9093 0000 		sts (SollHoehe)+1,r25
7912
 8121 4732 A093 0000 		sts (SollHoehe)+2,r26
7913
 8122 4736 B093 0000 		sts (SollHoehe)+3,r27
7914
 8123               	.L602:
7915
 8124 473a 8091 0000 		lds r24,HeightTrimmingFlag.31
7916
 8125 473e 8160      		ori r24,lo8(1)
7917
 8126 4740 8093 0000 		sts HeightTrimmingFlag.31,r24
7918
 8127 4744 241B      		sub r18,r20
7919
 8128 4746 350B      		sbc r19,r21
7920
 8129 4748 2F50      		subi r18,lo8(-(-15))
7921
 8130 474a 3040      		sbci r19,hi8(-(-15))
7922
 8131 474c 37FF      		sbrs r19,7
7923
 8132 474e 03C0      		rjmp .L603
7924
 8133 4750 3095      		com r19
7925
 8134 4752 2195      		neg r18
7926
 8135 4754 3F4F      		sbci r19,lo8(-1)
7927
 8136               	.L603:
7928
 8137 4756 8091 0000 		lds r24,HeightTrimming.22
7929
 8138 475a 9091 0000 		lds r25,(HeightTrimming.22)+1
7930
 8139 475e 820F      		add r24,r18
7931
 8140 4760 931F      		adc r25,r19
7932
 8141 4762 9093 0000 		sts (HeightTrimming.22)+1,r25
7933
 8142 4766 8093 0000 		sts HeightTrimming.22,r24
7934
 8143 476a 8BE2      		ldi r24,lo8(43)
7935
 8144 476c 6EC0      		rjmp .L789
7936
 8145               	.L601:
7937
 8146 476e CA01      		movw r24,r20
7938
 8147 4770 0F97      		sbiw r24,15
7939
 8148 4772 2817      		cp r18,r24
7940
 8149 4774 3907      		cpc r19,r25
7941
 8150 4776 ACF5      		brge .L605
7942
 8151 4778 8091 0000 		lds r24,BaroAtLowerLimit.30
7943
 8152 477c 8823      		tst r24
7944
 8153 477e 89F5      		brne .L605
7945
 8154 4780 8091 0000 		lds r24,HeightTrimmingFlag.31
7946
 8155 4784 80FF      		sbrs r24,0
7947
 8156 4786 13C0      		rjmp .L606
7948
 8157 4788 8E7F      		andi r24,lo8(-2)
7949
 8158 478a 8093 0000 		sts HeightTrimmingFlag.31,r24
7950
 8159 478e 8091 0000 		lds r24,HoehenWert
7951
 8160 4792 9091 0000 		lds r25,(HoehenWert)+1
7952
 8161 4796 A091 0000 		lds r26,(HoehenWert)+2
7953
 8162 479a B091 0000 		lds r27,(HoehenWert)+3
7954
 8163 479e 8093 0000 		sts SollHoehe,r24
7955
 8164 47a2 9093 0000 		sts (SollHoehe)+1,r25
7956
 8165 47a6 A093 0000 		sts (SollHoehe)+2,r26
7957
 8166 47aa B093 0000 		sts (SollHoehe)+3,r27
7958
 8167               	.L606:
7959
 8168 47ae 8091 0000 		lds r24,HeightTrimmingFlag.31
7960
 8169 47b2 8260      		ori r24,lo8(2)
7961
 8170 47b4 8093 0000 		sts HeightTrimmingFlag.31,r24
7962
 8171 47b8 241B      		sub r18,r20
7963
 8172 47ba 350B      		sbc r19,r21
7964
 8173 47bc 215F      		subi r18,lo8(-(15))
7965
 8174 47be 3F4F      		sbci r19,hi8(-(15))
7966
 8175 47c0 37FF      		sbrs r19,7
7967
 8176 47c2 03C0      		rjmp .L607
7968
 8177 47c4 3095      		com r19
7969
 8178 47c6 2195      		neg r18
7970
 8179 47c8 3F4F      		sbci r19,lo8(-1)
7971
 8180               	.L607:
7972
 8181 47ca 8091 0000 		lds r24,HeightTrimming.22
7973
 8182 47ce 9091 0000 		lds r25,(HeightTrimming.22)+1
7974
 8183 47d2 821B      		sub r24,r18
7975
 8184 47d4 930B      		sbc r25,r19
7976
 8185 47d6 9093 0000 		sts (HeightTrimming.22)+1,r25
7977
 8186 47da 8093 0000 		sts HeightTrimming.22,r24
7978
 8187 47de 8DE2      		ldi r24,lo8(45)
7979
 8188 47e0 34C0      		rjmp .L789
7980
 8189               	.L605:
7981
 8190 47e2 2091 0000 		lds r18,HeightTrimmingFlag.31
7982
 8191 47e6 822F      		mov r24,r18
7983
 8192 47e8 9927      		clr r25
7984
 8193 47ea 8370      		andi r24,lo8(3)
7985
 8194 47ec 9070      		andi r25,hi8(3)
7986
 8195 47ee 892B      		or r24,r25
7987
 8196 47f0 59F1      		breq .L609
7988
 8197 47f2 2C7F      		andi r18,lo8(-4)
7989
 8198 47f4 2093 0000 		sts HeightTrimmingFlag.31,r18
7990
 8199 47f8 1092 0000 		sts (HeightTrimming.22)+1,__zero_reg__
7991
 8200 47fc 1092 0000 		sts HeightTrimming.22,__zero_reg__
7992
 8201 4800 2091 0000 		lds r18,HoehenWert
7993
 8202 4804 3091 0000 		lds r19,(HoehenWert)+1
7994
 8203 4808 4091 0000 		lds r20,(HoehenWert)+2
7995
 8204 480c 5091 0000 		lds r21,(HoehenWert)+3
7996
 8205 4810 2093 0000 		sts SollHoehe,r18
7997
 8206 4814 3093 0000 		sts (SollHoehe)+1,r19
7998
 8207 4818 4093 0000 		sts (SollHoehe)+2,r20
7999
 8208 481c 5093 0000 		sts (SollHoehe)+3,r21
8000
 8209 4820 61FF      		sbrs r22,1
8001
 8210 4822 06C0      		rjmp .L610
8002
 8211 4824 84EF      		ldi r24,lo8(500)
8003
 8212 4826 91E0      		ldi r25,hi8(500)
8004
 8213 4828 9093 0000 		sts (beeptime)+1,r25
8005
 8214 482c 8093 0000 		sts beeptime,r24
8006
 8215               	.L610:
8007
 8216 4830 8091 0000 		lds r24,StartTrigger
8008
 8217 4834 8823      		tst r24
8009
 8218 4836 41F4      		brne .L609
8010
 8219 4838 2333      		cpi r18,lo8(51)
8011
 8220 483a 3105      		cpc r19,__zero_reg__
8012
 8221 483c 4105      		cpc r20,__zero_reg__
8013
 8222 483e 5105      		cpc r21,__zero_reg__
8014
 8223 4840 1CF0      		brlt .L609
8015
 8224 4842 81E0      		ldi r24,lo8(1)
8016
 8225 4844 8093 0000 		sts StartTrigger,r24
8017
 8226               	.L609:
8018
 8227 4848 8DE3      		ldi r24,lo8(61)
8019
 8228               	.L789:
8020
 8229 484a 8093 0000 		sts VarioCharacter,r24
8021
 8230 484e 2091 0000 		lds r18,HeightTrimming.22
8022
 8231 4852 3091 0000 		lds r19,(HeightTrimming.22)+1
8023
 8232 4856 C901      		movw r24,r18
8024
 8233 4858 37FF      		sbrs r19,7
8025
 8234 485a 04C0      		rjmp .L613
8026
 8235 485c 8827      		clr r24
8027
 8236 485e 9927      		clr r25
8028
 8237 4860 821B      		sub r24,r18
8029
 8238 4862 930B      		sbc r25,r19
8030
 8239               	.L613:
8031
 8240 4864 8150      		subi r24,lo8(513)
8032
 8241 4866 9240      		sbci r25,hi8(513)
8033
 8242 4868 0CF4      		brge .+2
8034
 8243 486a 91C0      		rjmp .L612
8035
 8244 486c 8091 0000 		lds r24,EE_Parameter+18
8036
 8245 4870 9927      		clr r25
8037
 8246 4872 289F      		mul r18,r24
8038
 8247 4874 A001      		movw r20,r0
8039
 8248 4876 299F      		mul r18,r25
8040
 8249 4878 500D      		add r21,r0
8041
 8250 487a 389F      		mul r19,r24
8042
 8251 487c 500D      		add r21,r0
8043
 8252 487e 1124      		clr r1
8044
 8253 4880 CA01      		movw r24,r20
8045
 8254 4882 60E0      		ldi r22,lo8(1280)
8046
 8255 4884 75E0      		ldi r23,hi8(1280)
8047
 8256 4886 0E94 0000 		call __divmodhi4
8048
 8257 488a CB01      		movw r24,r22
8049
 8258 488c AA27      		clr r26
8050
 8259 488e 97FD      		sbrc r25,7
8051
 8260 4890 A095      		com r26
8052
 8261 4892 BA2F      		mov r27,r26
8053
 8262 4894 2091 0000 		lds r18,SollHoehe
8054
 8263 4898 3091 0000 		lds r19,(SollHoehe)+1
8055
 8264 489c 4091 0000 		lds r20,(SollHoehe)+2
8056
 8265 48a0 5091 0000 		lds r21,(SollHoehe)+3
8057
 8266 48a4 280F      		add r18,r24
8058
 8267 48a6 391F      		adc r19,r25
8059
 8268 48a8 4A1F      		adc r20,r26
8060
 8269 48aa 5B1F      		adc r21,r27
8061
 8270 48ac 2093 0000 		sts SollHoehe,r18
8062
 8271 48b0 3093 0000 		sts (SollHoehe)+1,r19
8063
 8272 48b4 4093 0000 		sts (SollHoehe)+2,r20
8064
 8273 48b8 5093 0000 		sts (SollHoehe)+3,r21
8065
 8274 48bc 1092 0000 		sts (HeightTrimming.22)+1,__zero_reg__
8066
 8275 48c0 1092 0000 		sts HeightTrimming.22,__zero_reg__
8067
 8276 48c4 A090 0000 		lds r10,HoehenWert
8068
 8277 48c8 B090 0000 		lds r11,(HoehenWert)+1
8069
 8278 48cc C090 0000 		lds r12,(HoehenWert)+2
8070
 8279 48d0 D090 0000 		lds r13,(HoehenWert)+3
8071
 8280 48d4 D601      		movw r26,r12
8072
 8281 48d6 C501      		movw r24,r10
8073
 8282 48d8 8050      		subi r24,lo8(-(-1024))
8074
 8283 48da 9440      		sbci r25,hi8(-(-1024))
8075
 8284 48dc A040      		sbci r26,hlo8(-(-1024))
8076
 8285 48de B040      		sbci r27,hhi8(-(-1024))
8077
 8286 48e0 8217      		cp r24,r18
8078
 8287 48e2 9307      		cpc r25,r19
8079
 8288 48e4 A407      		cpc r26,r20
8080
 8289 48e6 B507      		cpc r27,r21
8081
 8290 48e8 5CF4      		brge .L790
8082
 8291 48ea D601      		movw r26,r12
8083
 8292 48ec C501      		movw r24,r10
8084
 8293 48ee 8050      		subi r24,lo8(-(1024))
8085
 8294 48f0 9C4F      		sbci r25,hi8(-(1024))
8086
 8295 48f2 AF4F      		sbci r26,hlo8(-(1024))
8087
 8296 48f4 BF4F      		sbci r27,hhi8(-(1024))
8088
 8297 48f6 2817      		cp r18,r24
8089
 8298 48f8 3907      		cpc r19,r25
8090
 8299 48fa 4A07      		cpc r20,r26
8091
 8300 48fc 5B07      		cpc r21,r27
8092
 8301 48fe 44F0      		brlt .L615
8093
 8302               	.L790:
8094
 8303 4900 8093 0000 		sts SollHoehe,r24
8095
 8304 4904 9093 0000 		sts (SollHoehe)+1,r25
8096
 8305 4908 A093 0000 		sts (SollHoehe)+2,r26
8097
 8306 490c B093 0000 		sts (SollHoehe)+3,r27
8098
 8307               	.L615:
8099
 8308 4910 8091 0000 		lds r24,EE_Parameter+99
8100
 8309 4914 81FF      		sbrs r24,1
8101
 8310 4916 06C0      		rjmp .L617
8102
 8311 4918 84E6      		ldi r24,lo8(100)
8103
 8312 491a 90E0      		ldi r25,hi8(100)
8104
 8313 491c 9093 0000 		sts (beeptime)+1,r25
8105
 8314 4920 8093 0000 		sts beeptime,r24
8106
 8315               	.L617:
8107
 8316 4924 8091 0000 		lds r24,EE_Parameter+22
8108
 8317 4928 8823      		tst r24
8109
 8318 492a 89F5      		brne .L612
8110
 8319 492c 4091 0000 		lds r20,HoverGas
8111
 8320 4930 5091 0000 		lds r21,(HoverGas)+1
8112
 8321 4934 57FF      		sbrs r21,7
8113
 8322 4936 02C0      		rjmp .L619
8114
 8323 4938 4D5F      		subi r20,lo8(-(3))
8115
 8324 493a 5F4F      		sbci r21,hi8(-(3))
8116
 8325               	.L619:
8117
 8326 493c 5595      		asr r21
8118
 8327 493e 4795      		ror r20
8119
 8328 4940 5595      		asr r21
8120
 8329 4942 4795      		ror r20
8121
 8330 4944 8091 0000 		lds r24,UBat
8122
 8331 4948 9091 0000 		lds r25,(UBat)+1
8123
 8332 494c 2091 0000 		lds r18,BattLowVoltageWarning
8124
 8333 4950 3327      		clr r19
8125
 8334 4952 489F      		mul r20,r24
8126
 8335 4954 B001      		movw r22,r0
8127
 8336 4956 499F      		mul r20,r25
8128
 8337 4958 700D      		add r23,r0
8129
 8338 495a 589F      		mul r21,r24
8130
 8339 495c 700D      		add r23,r0
8131
 8340 495e 1124      		clr r1
8132
 8341 4960 CB01      		movw r24,r22
8133
 8342 4962 B901      		movw r22,r18
8134
 8343 4964 0E94 0000 		call __divmodhi4
8135
 8344 4968 7093 0000 		sts (StickGasHover.24)+1,r23
8136
 8345 496c 6093 0000 		sts StickGasHover.24,r22
8137
 8346 4970 6634      		cpi r22,70
8138
 8347 4972 7105      		cpc r23,__zero_reg__
8139
 8348 4974 1CF4      		brge .L620
8140
 8349 4976 86E4      		ldi r24,lo8(70)
8141
 8350 4978 90E0      		ldi r25,hi8(70)
8142
 8351 497a 05C0      		rjmp .L791
8143
 8352               	.L620:
8144
 8353 497c 6739      		cpi r22,151
8145
 8354 497e 7105      		cpc r23,__zero_reg__
8146
 8355 4980 34F0      		brlt .L612
8147
 8356 4982 86E9      		ldi r24,lo8(150)
8148
 8357 4984 90E0      		ldi r25,hi8(150)
8149
 8358               	.L791:
8150
 8359 4986 9093 0000 		sts (StickGasHover.24)+1,r25
8151
 8360 498a 8093 0000 		sts StickGasHover.24,r24
8152
 8361               	.L612:
8153
 8362 498e 8091 0000 		lds r24,BaroExpandActive
8154
 8363 4992 9091 0000 		lds r25,(BaroExpandActive)+1
8155
 8364 4996 892B      		or r24,r25
8156
 8365 4998 B9F1      		breq .L624
8157
 8366 499a 8091 0000 		lds r24,HoehenWert
8158
 8367 499e 9091 0000 		lds r25,(HoehenWert)+1
8159
 8368 49a2 A091 0000 		lds r26,(HoehenWert)+2
8160
 8369 49a6 B091 0000 		lds r27,(HoehenWert)+3
8161
 8370 49aa 8093 0000 		sts SollHoehe,r24
8162
 8371 49ae 9093 0000 		sts (SollHoehe)+1,r25
8163
 8372 49b2 A093 0000 		sts (SollHoehe)+2,r26
8164
 8373 49b6 B093 0000 		sts (SollHoehe)+3,r27
8165
 8374 49ba 26C0      		rjmp .L624
8166
 8375               	.L600:
8167
 8376 49bc 8091 0000 		lds r24,HoehenWert
8168
 8377 49c0 9091 0000 		lds r25,(HoehenWert)+1
8169
 8378 49c4 A091 0000 		lds r26,(HoehenWert)+2
8170
 8379 49c8 B091 0000 		lds r27,(HoehenWert)+3
8171
 8380 49cc 8059      		subi r24,lo8(-(-400))
8172
 8381 49ce 9140      		sbci r25,hi8(-(-400))
8173
 8382 49d0 A040      		sbci r26,hlo8(-(-400))
8174
 8383 49d2 B040      		sbci r27,hhi8(-(-400))
8175
 8384 49d4 8093 0000 		sts SollHoehe,r24
8176
 8385 49d8 9093 0000 		sts (SollHoehe)+1,r25
8177
 8386 49dc A093 0000 		sts (SollHoehe)+2,r26
8178
 8387 49e0 B093 0000 		sts (SollHoehe)+3,r27
8179
 8388 49e4 8091 0000 		lds r24,EE_Parameter+22
8180
 8389 49e8 8823      		tst r24
8181
 8390 49ea 11F0      		breq .L625
8182
 8391 49ec 9927      		clr r25
8183
 8392 49ee 02C0      		rjmp .L792
8184
 8393               	.L625:
8185
 8394 49f0 88E7      		ldi r24,lo8(120)
8186
 8395 49f2 90E0      		ldi r25,hi8(120)
8187
 8396               	.L792:
8188
 8397 49f4 9093 0000 		sts (StickGasHover.24)+1,r25
8189
 8398 49f8 8093 0000 		sts StickGasHover.24,r24
8190
 8399 49fc 88A1      		ldd r24,Y+32
8191
 8400 49fe 99A1      		ldd r25,Y+33
8192
 8401 4a00 9093 0000 		sts (HoverGas)+1,r25
8193
 8402 4a04 8093 0000 		sts HoverGas,r24
8194
 8403               	.L624:
8195
 8404 4a08 0091 0000 		lds r16,HoverGas
8196
 8405 4a0c 1091 0000 		lds r17,(HoverGas)+1
8197
 8406               	.L599:
8198
 8407 4a10 A090 0000 		lds r10,HoehenWert
8199
 8408 4a14 B090 0000 		lds r11,(HoehenWert)+1
8200
 8409 4a18 C090 0000 		lds r12,(HoehenWert)+2
8201
 8410 4a1c D090 0000 		lds r13,(HoehenWert)+3
8202
 8411 4a20 2091 0000 		lds r18,SollHoehe
8203
 8412 4a24 3091 0000 		lds r19,(SollHoehe)+1
8204
 8413 4a28 4091 0000 		lds r20,(SollHoehe)+2
8205
 8414 4a2c 5091 0000 		lds r21,(SollHoehe)+3
8206
 8415 4a30 2A15      		cp r18,r10
8207
 8416 4a32 3B05      		cpc r19,r11
8208
 8417 4a34 4C05      		cpc r20,r12
8209
 8418 4a36 5D05      		cpc r21,r13
8210
 8419 4a38 24F0      		brlt .L628
8211
 8420 4a3a 8091 0000 		lds r24,EE_Parameter+99
8212
 8421 4a3e 80FD      		sbrc r24,0
8213
 8422 4a40 B1C2      		rjmp .L686
8214
 8423               	.L628:
8215
 8424 4a42 8091 0000 		lds r24,BaroExpandActive
8216
 8425 4a46 9091 0000 		lds r25,(BaroExpandActive)+1
8217
 8426 4a4a 892B      		or r24,r25
8218
 8427 4a4c 39F0      		breq .L629
8219
 8428 4a4e 0091 0000 		lds r16,HoverGas
8220
 8429 4a52 1091 0000 		lds r17,(HoverGas)+1
8221
 8430 4a56 CC24      		clr r12
8222
 8431 4a58 DD24      		clr r13
8223
 8432 4a5a D7C0      		rjmp .L630
8224
 8433               	.L629:
8225
 8434 4a5c D601      		movw r26,r12
8226
 8435 4a5e C501      		movw r24,r10
8227
 8436 4a60 821B      		sub r24,r18
8228
 8437 4a62 930B      		sbc r25,r19
8229
 8438 4a64 A40B      		sbc r26,r20
8230
 8439 4a66 B50B      		sbc r27,r21
8231
 8440 4a68 8093 0000 		sts tmp_long.1,r24
8232
 8441 4a6c 9093 0000 		sts (tmp_long.1)+1,r25
8233
 8442 4a70 A093 0000 		sts (tmp_long.1)+2,r26
8234
 8443 4a74 B093 0000 		sts (tmp_long.1)+3,r27
8235
 8444 4a78 8230      		cpi r24,lo8(-32766)
8236
 8445 4a7a E0E8      		ldi r30,hi8(-32766)
8237
 8446 4a7c 9E07      		cpc r25,r30
8238
 8447 4a7e EFEF      		ldi r30,hlo8(-32766)
8239
 8448 4a80 AE07      		cpc r26,r30
8240
 8449 4a82 EFEF      		ldi r30,hhi8(-32766)
8241
 8450 4a84 BE07      		cpc r27,r30
8242
 8451 4a86 2CF4      		brge .L631
8243
 8452 4a88 81E0      		ldi r24,lo8(-32767)
8244
 8453 4a8a 90E8      		ldi r25,hi8(-32767)
8245
 8454 4a8c AFEF      		ldi r26,hlo8(-32767)
8246
 8455 4a8e BFEF      		ldi r27,hhi8(-32767)
8247
 8456 4a90 09C0      		rjmp .L793
8248
 8457               	.L631:
8249
 8458 4a92 8F5F      		subi r24,lo8(32767)
8250
 8459 4a94 9F47      		sbci r25,hi8(32767)
8251
 8460 4a96 A040      		sbci r26,hlo8(32767)
8252
 8461 4a98 B040      		sbci r27,hhi8(32767)
8253
 8462 4a9a 64F0      		brlt .L632
8254
 8463 4a9c 8FEF      		ldi r24,lo8(32767)
8255
 8464 4a9e 9FE7      		ldi r25,hi8(32767)
8256
 8465 4aa0 A0E0      		ldi r26,hlo8(32767)
8257
 8466 4aa2 B0E0      		ldi r27,hhi8(32767)
8258
 8467               	.L793:
8259
 8468 4aa4 8093 0000 		sts tmp_long.1,r24
8260
 8469 4aa8 9093 0000 		sts (tmp_long.1)+1,r25
8261
 8470 4aac A093 0000 		sts (tmp_long.1)+2,r26
8262
 8471 4ab0 B093 0000 		sts (tmp_long.1)+3,r27
8263
 8472               	.L632:
8264
 8473 4ab4 C090 0000 		lds r12,tmp_long.1
8265
 8474 4ab8 D090 0000 		lds r13,(tmp_long.1)+1
8266
 8475 4abc 8091 0000 		lds r24,Parameter_Hoehe_P
8267
 8476 4ac0 282F      		mov r18,r24
8268
 8477 4ac2 3327      		clr r19
8269
 8478 4ac4 4427      		clr r20
8270
 8479 4ac6 5527      		clr r21
8271
 8480 4ac8 8091 0000 		lds r24,tmp_long.1
8272
 8481 4acc 9091 0000 		lds r25,(tmp_long.1)+1
8273
 8482 4ad0 A091 0000 		lds r26,(tmp_long.1)+2
8274
 8483 4ad4 B091 0000 		lds r27,(tmp_long.1)+3
8275
 8484 4ad8 BC01      		movw r22,r24
8276
 8485 4ada CD01      		movw r24,r26
8277
 8486 4adc 0E94 0000 		call __mulsi3
8278
 8487 4ae0 97FF      		sbrs r25,7
8279
 8488 4ae2 04C0      		rjmp .L634
8280
 8489 4ae4 615E      		subi r22,lo8(-(31))
8281
 8490 4ae6 7F4F      		sbci r23,hi8(-(31))
8282
 8491 4ae8 8F4F      		sbci r24,hlo8(-(31))
8283
 8492 4aea 9F4F      		sbci r25,hhi8(-(31))
8284
 8493               	.L634:
8285
 8494 4aec 55E0      		ldi r21,5
8286
 8495 4aee 9595      	1:	asr r25
8287
 8496 4af0 8795      		ror r24
8288
 8497 4af2 7795      		ror r23
8289
 8498 4af4 6795      		ror r22
8290
 8499 4af6 5A95      		dec r21
8291
 8500 4af8 D1F7      		brne 1b
8292
 8501 4afa 6093 0000 		sts tmp_long.1,r22
8293
 8502 4afe 7093 0000 		sts (tmp_long.1)+1,r23
8294
 8503 4b02 8093 0000 		sts (tmp_long.1)+2,r24
8295
 8504 4b06 9093 0000 		sts (tmp_long.1)+3,r25
8296
 8505 4b0a 6530      		cpi r22,lo8(-507)
8297
 8506 4b0c 2EEF      		ldi r18,hi8(-507)
8298
 8507 4b0e 7207      		cpc r23,r18
8299
 8508 4b10 2FEF      		ldi r18,hlo8(-507)
8300
 8509 4b12 8207      		cpc r24,r18
8301
 8510 4b14 2FEF      		ldi r18,hhi8(-507)
8302
 8511 4b16 9207      		cpc r25,r18
8303
 8512 4b18 2CF4      		brge .L635
8304
 8513 4b1a 84E0      		ldi r24,lo8(-508)
8305
 8514 4b1c 9EEF      		ldi r25,hi8(-508)
8306
 8515 4b1e AFEF      		ldi r26,hlo8(-508)
8307
 8516 4b20 BFEF      		ldi r27,hhi8(-508)
8308
 8517 4b22 09C0      		rjmp .L794
8309
 8518               	.L635:
8310
 8519 4b24 6050      		subi r22,lo8(1024)
8311
 8520 4b26 7440      		sbci r23,hi8(1024)
8312
 8521 4b28 8040      		sbci r24,hlo8(1024)
8313
 8522 4b2a 9040      		sbci r25,hhi8(1024)
8314
 8523 4b2c 64F0      		brlt .L636
8315
 8524 4b2e 80E0      		ldi r24,lo8(1024)
8316
 8525 4b30 94E0      		ldi r25,hi8(1024)
8317
 8526 4b32 A0E0      		ldi r26,hlo8(1024)
8318
 8527 4b34 B0E0      		ldi r27,hhi8(1024)
8319
 8528               	.L794:
8320
 8529 4b36 8093 0000 		sts tmp_long.1,r24
8321
 8530 4b3a 9093 0000 		sts (tmp_long.1)+1,r25
8322
 8531 4b3e A093 0000 		sts (tmp_long.1)+2,r26
8323
 8532 4b42 B093 0000 		sts (tmp_long.1)+3,r27
8324
 8533               	.L636:
8325
 8534 4b46 8090 0000 		lds r8,tmp_long.1
8326
 8535 4b4a 9090 0000 		lds r9,(tmp_long.1)+1
8327
 8536 4b4e 2091 0000 		lds r18,VarioMeter
8328
 8537 4b52 3091 0000 		lds r19,(VarioMeter)+1
8329
 8538 4b56 37FF      		sbrs r19,7
8330
 8539 4b58 02C0      		rjmp .L638
8331
 8540 4b5a 295F      		subi r18,lo8(-(7))
8332
 8541 4b5c 3F4F      		sbci r19,hi8(-(7))
8333
 8542               	.L638:
8334
 8543 4b5e 43E0      		ldi r20,3
8335
 8544 4b60 3595      	1:	asr r19
8336
 8545 4b62 2795      		ror r18
8337
 8546 4b64 4A95      		dec r20
8338
 8547 4b66 E1F7      		brne 1b
8339
 8548 4b68 4FEF      		ldi r20,hi8(-126)
8340
 8549 4b6a 2238      		cpi r18,lo8(-126)
8341
 8550 4b6c 3407      		cpc r19,r20
8342
 8551 4b6e 1CF4      		brge .L639
8343
 8552 4b70 21E8      		ldi r18,lo8(-127)
8344
 8553 4b72 3FEF      		ldi r19,hi8(-127)
8345
 8554 4b74 05C0      		rjmp .L640
8346
 8555               	.L639:
8347
 8556 4b76 2038      		cpi r18,128
8348
 8557 4b78 3105      		cpc r19,__zero_reg__
8349
 8558 4b7a 14F0      		brlt .L640
8350
 8559 4b7c 20E8      		ldi r18,lo8(128)
8351
 8560 4b7e 30E0      		ldi r19,hi8(128)
8352
 8561               	.L640:
8353
 8562 4b80 C901      		movw r24,r18
8354
 8563 4b82 AA27      		clr r26
8355
 8564 4b84 97FD      		sbrc r25,7
8356
 8565 4b86 A095      		com r26
8357
 8566 4b88 BA2F      		mov r27,r26
8358
 8567 4b8a 2091 0000 		lds r18,Parameter_Luftdruck_D
8359
 8568 4b8e 3327      		clr r19
8360
 8569 4b90 4427      		clr r20
8361
 8570 4b92 5527      		clr r21
8362
 8571 4b94 BC01      		movw r22,r24
8363
 8572 4b96 CD01      		movw r24,r26
8364
 8573 4b98 0E94 0000 		call __mulsi3
8365
 8574 4b9c 97FF      		sbrs r25,7
8366
 8575 4b9e 04C0      		rjmp .L642
8367
 8576 4ba0 6D5F      		subi r22,lo8(-(3))
8368
 8577 4ba2 7F4F      		sbci r23,hi8(-(3))
8369
 8578 4ba4 8F4F      		sbci r24,hlo8(-(3))
8370
 8579 4ba6 9F4F      		sbci r25,hhi8(-(3))
8371
 8580               	.L642:
8372
 8581 4ba8 22E0      		ldi r18,2
8373
 8582 4baa 9595      	1:	asr r25
8374
 8583 4bac 8795      		ror r24
8375
 8584 4bae 7795      		ror r23
8376
 8585 4bb0 6795      		ror r22
8377
 8586 4bb2 2A95      		dec r18
8378
 8587 4bb4 D1F7      		brne 1b
8379
 8588 4bb6 9B01      		movw r18,r22
8380
 8589 4bb8 5FEF      		ldi r21,hi8(-255)
8381
 8590 4bba 6130      		cpi r22,lo8(-255)
8382
 8591 4bbc 7507      		cpc r23,r21
8383
 8592 4bbe 1CF4      		brge .L643
8384
 8593 4bc0 20E0      		ldi r18,lo8(-256)
8385
 8594 4bc2 3FEF      		ldi r19,hi8(-256)
8386
 8595 4bc4 06C0      		rjmp .L644
8387
 8596               	.L643:
8388
 8597 4bc6 6F3F      		cpi r22,255
8389
 8598 4bc8 7105      		cpc r23,__zero_reg__
8390
 8599 4bca 19F0      		breq .L644
8391
 8600 4bcc 14F0      		brlt .L644
8392
 8601 4bce 20E0      		ldi r18,lo8(256)
8393
 8602 4bd0 31E0      		ldi r19,hi8(256)
8394
 8603               	.L644:
8395
 8604 4bd2 8091 0000 		lds r24,HeightTrimmingFlag.31
8396
 8605 4bd6 8823      		tst r24
8397
 8606 4bd8 49F0      		breq .L646
8398
 8607 4bda C901      		movw r24,r18
8399
 8608 4bdc 37FD      		sbrc r19,7
8400
 8609 4bde 0396      		adiw r24,3
8401
 8610               	.L647:
8402
 8611 4be0 9C01      		movw r18,r24
8403
 8612 4be2 3595      		asr r19
8404
 8613 4be4 2795      		ror r18
8405
 8614 4be6 3595      		asr r19
8406
 8615 4be8 2795      		ror r18
8407
 8616 4bea 0DC0      		rjmp .L648
8408
 8617               	.L646:
8409
 8618 4bec 8091 0000 		lds r24,EE_Parameter+99
8410
 8619 4bf0 80FF      		sbrs r24,0
8411
 8620 4bf2 09C0      		rjmp .L648
8412
 8621 4bf4 C901      		movw r24,r18
8413
 8622 4bf6 37FD      		sbrc r19,7
8414
 8623 4bf8 0796      		adiw r24,7
8415
 8624               	.L650:
8416
 8625 4bfa 9C01      		movw r18,r24
8417
 8626 4bfc A3E0      		ldi r26,3
8418
 8627 4bfe 3595      	1:	asr r19
8419
 8628 4c00 2795      		ror r18
8420
 8629 4c02 AA95      		dec r26
8421
 8630 4c04 E1F7      		brne 1b
8422
 8631               	.L648:
8423
 8632 4c06 820E      		add r8,r18
8424
 8633 4c08 931E      		adc r9,r19
8425
 8634               	.L630:
8426
 8635 4c0a 2091 0000 		lds r18,Parameter_Hoehe_ACC_Wirkung
8427
 8636 4c0e 2223      		tst r18
8428
 8637 4c10 09F4      		brne .+2
8429
 8638 4c12 54C0      		rjmp .L651
8430
 8639 4c14 6091 0000 		lds r22,Mess_Integral_Hoch
8431
 8640 4c18 7091 0000 		lds r23,(Mess_Integral_Hoch)+1
8432
 8641 4c1c 8091 0000 		lds r24,(Mess_Integral_Hoch)+2
8433
 8642 4c20 9091 0000 		lds r25,(Mess_Integral_Hoch)+3
8434
 8643 4c24 97FF      		sbrs r25,7
8435
 8644 4c26 04C0      		rjmp .L652
8436
 8645 4c28 6158      		subi r22,lo8(-(127))
8437
 8646 4c2a 7F4F      		sbci r23,hi8(-(127))
8438
 8647 4c2c 8F4F      		sbci r24,hlo8(-(127))
8439
 8648 4c2e 9F4F      		sbci r25,hhi8(-(127))
8440
 8649               	.L652:
8441
 8650 4c30 F7E0      		ldi r31,7
8442
 8651 4c32 9595      	1:	asr r25
8443
 8652 4c34 8795      		ror r24
8444
 8653 4c36 7795      		ror r23
8445
 8654 4c38 6795      		ror r22
8446
 8655 4c3a FA95      		dec r31
8447
 8656 4c3c D1F7      		brne 1b
8448
 8657 4c3e 3327      		clr r19
8449
 8658 4c40 4427      		clr r20
8450
 8659 4c42 5527      		clr r21
8451
 8660 4c44 0E94 0000 		call __mulsi3
8452
 8661 4c48 97FF      		sbrs r25,7
8453
 8662 4c4a 04C0      		rjmp .L653
8454
 8663 4c4c 615E      		subi r22,lo8(-(31))
8455
 8664 4c4e 7F4F      		sbci r23,hi8(-(31))
8456
 8665 4c50 8F4F      		sbci r24,hlo8(-(31))
8457
 8666 4c52 9F4F      		sbci r25,hhi8(-(31))
8458
 8667               	.L653:
8459
 8668 4c54 E5E0      		ldi r30,5
8460
 8669 4c56 9595      	1:	asr r25
8461
 8670 4c58 8795      		ror r24
8462
 8671 4c5a 7795      		ror r23
8463
 8672 4c5c 6795      		ror r22
8464
 8673 4c5e EA95      		dec r30
8465
 8674 4c60 D1F7      		brne 1b
8466
 8675 4c62 6093 0000 		sts tmp_long.1,r22
8467
 8676 4c66 7093 0000 		sts (tmp_long.1)+1,r23
8468
 8677 4c6a 8093 0000 		sts (tmp_long.1)+2,r24
8469
 8678 4c6e 9093 0000 		sts (tmp_long.1)+3,r25
8470
 8679 4c72 6138      		cpi r22,lo8(-127)
8471
 8680 4c74 AFEF      		ldi r26,hi8(-127)
8472
 8681 4c76 7A07      		cpc r23,r26
8473
 8682 4c78 AFEF      		ldi r26,hlo8(-127)
8474
 8683 4c7a 8A07      		cpc r24,r26
8475
 8684 4c7c AFEF      		ldi r26,hhi8(-127)
8476
 8685 4c7e 9A07      		cpc r25,r26
8477
 8686 4c80 2CF4      		brge .L654
8478
 8687 4c82 80E8      		ldi r24,lo8(-128)
8479
 8688 4c84 9FEF      		ldi r25,hi8(-128)
8480
 8689 4c86 AFEF      		ldi r26,hlo8(-128)
8481
 8690 4c88 BFEF      		ldi r27,hhi8(-128)
8482
 8691 4c8a 0AC0      		rjmp .L795
8483
 8692               	.L654:
8484
 8693 4c8c 6F3F      		cpi r22,lo8(255)
8485
 8694 4c8e 7105      		cpc r23,__zero_reg__
8486
 8695 4c90 8105      		cpc r24,__zero_reg__
8487
 8696 4c92 9105      		cpc r25,__zero_reg__
8488
 8697 4c94 69F0      		breq .L655
8489
 8698 4c96 64F0      		brlt .L655
8490
 8699 4c98 80E0      		ldi r24,lo8(256)
8491
 8700 4c9a 91E0      		ldi r25,hi8(256)
8492
 8701 4c9c A0E0      		ldi r26,hlo8(256)
8493
 8702 4c9e B0E0      		ldi r27,hhi8(256)
8494
 8703               	.L795:
8495
 8704 4ca0 8093 0000 		sts tmp_long.1,r24
8496
 8705 4ca4 9093 0000 		sts (tmp_long.1)+1,r25
8497
 8706 4ca8 A093 0000 		sts (tmp_long.1)+2,r26
8498
 8707 4cac B093 0000 		sts (tmp_long.1)+3,r27
8499
 8708               	.L655:
8500
 8709 4cb0 8091 0000 		lds r24,tmp_long.1
8501
 8710 4cb4 9091 0000 		lds r25,(tmp_long.1)+1
8502
 8711 4cb8 880E      		add r8,r24
8503
 8712 4cba 991E      		adc r9,r25
8504
 8713               	.L651:
8505
 8714 4cbc 8091 0000 		lds r24,Parameter_Hoehe_GPS_Z
8506
 8715 4cc0 282F      		mov r18,r24
8507
 8716 4cc2 3327      		clr r19
8508
 8717 4cc4 8091 0000 		lds r24,FromNaviCtrl_Value+4
8509
 8718 4cc8 9927      		clr r25
8510
 8719 4cca 87FD      		sbrc r24,7
8511
 8720 4ccc 9095      		com r25
8512
 8721 4cce 289F      		mul r18,r24
8513
 8722 4cd0 F001      		movw r30,r0
8514
 8723 4cd2 299F      		mul r18,r25
8515
 8724 4cd4 F00D      		add r31,r0
8516
 8725 4cd6 389F      		mul r19,r24
8517
 8726 4cd8 F00D      		add r31,r0
8518
 8727 4cda 1124      		clr r1
8519
 8728 4cdc 9F01      		movw r18,r30
8520
 8729 4cde F7FF      		sbrs r31,7
8521
 8730 4ce0 02C0      		rjmp .L657
8522
 8731 4ce2 2158      		subi r18,lo8(-(127))
8523
 8732 4ce4 3F4F      		sbci r19,hi8(-(127))
8524
 8733               	.L657:
8525
 8734 4ce6 220F      		lsl r18
8526
 8735 4ce8 232F      		mov r18,r19
8527
 8736 4cea 221F      		rol r18
8528
 8737 4cec 330B      		sbc r19,r19
8529
 8738 4cee FFEF      		ldi r31,hi8(-127)
8530
 8739 4cf0 2138      		cpi r18,lo8(-127)
8531
 8740 4cf2 3F07      		cpc r19,r31
8532
 8741 4cf4 1CF4      		brge .L658
8533
 8742 4cf6 20E8      		ldi r18,lo8(-128)
8534
 8743 4cf8 3FEF      		ldi r19,hi8(-128)
8535
 8744 4cfa 06C0      		rjmp .L659
8536
 8745               	.L658:
8537
 8746 4cfc 2F3F      		cpi r18,255
8538
 8747 4cfe 3105      		cpc r19,__zero_reg__
8539
 8748 4d00 19F0      		breq .L659
8540
 8749 4d02 14F0      		brlt .L659
8541
 8750 4d04 20E0      		ldi r18,lo8(256)
8542
 8751 4d06 31E0      		ldi r19,hi8(256)
8543
 8752               	.L659:
8544
 8753 4d08 820E      		add r8,r18
8545
 8754 4d0a 931E      		adc r9,r19
8546
 8755 4d0c C401      		movw r24,r8
8547
 8756 4d0e AA27      		clr r26
8548
 8757 4d10 97FD      		sbrc r25,7
8549
 8758 4d12 A095      		com r26
8550
 8759 4d14 BA2F      		mov r27,r26
8551
 8760 4d16 E090 0000 		lds r14,HoverGas
8552
 8761 4d1a F090 0000 		lds r15,(HoverGas)+1
8553
 8762 4d1e 9701      		movw r18,r14
8554
 8763 4d20 4427      		clr r20
8555
 8764 4d22 37FD      		sbrc r19,7
8556
 8765 4d24 4095      		com r20
8557
 8766 4d26 542F      		mov r21,r20
8558
 8767 4d28 BC01      		movw r22,r24
8559
 8768 4d2a CD01      		movw r24,r26
8560
 8769 4d2c 0E94 0000 		call __mulsi3
8561
 8770 4d30 97FF      		sbrs r25,7
8562
 8771 4d32 04C0      		rjmp .L661
8563
 8772 4d34 6150      		subi r22,lo8(-(511))
8564
 8773 4d36 7E4F      		sbci r23,hi8(-(511))
8565
 8774 4d38 8F4F      		sbci r24,hlo8(-(511))
8566
 8775 4d3a 9F4F      		sbci r25,hhi8(-(511))
8567
 8776               	.L661:
8568
 8777 4d3c 59E0      		ldi r21,9
8569
 8778 4d3e 9595      	1:	asr r25
8570
 8779 4d40 8795      		ror r24
8571
 8780 4d42 7795      		ror r23
8572
 8781 4d44 6795      		ror r22
8573
 8782 4d46 5A95      		dec r21
8574
 8783 4d48 D1F7      		brne 1b
8575
 8784 4d4a 061B      		sub r16,r22
8576
 8785 4d4c 170B      		sbc r17,r23
8577
 8786 4d4e 8091 0000 		lds r24,HeightTrimming.22
8578
 8787 4d52 9091 0000 		lds r25,(HeightTrimming.22)+1
8579
 8788 4d56 892B      		or r24,r25
8580
 8789 4d58 09F0      		breq .+2
8581
 8790 4d5a 60C0      		rjmp .L662
8582
 8791 4d5c 1E14      		cp __zero_reg__,r14
8583
 8792 4d5e 1F04      		cpc __zero_reg__,r15
8584
 8793 4d60 0CF0      		brlt .+2
8585
 8794 4d62 5CC0      		rjmp .L662
8586
 8795 4d64 9601      		movw r18,r12
8587
 8796 4d66 D7FE      		sbrs r13,7
8588
 8797 4d68 03C0      		rjmp .L663
8589
 8798 4d6a 3095      		com r19
8590
 8799 4d6c 2195      		neg r18
8591
 8800 4d6e 3F4F      		sbci r19,lo8(-1)
8592
 8801               	.L663:
8593
 8802 4d70 2D33      		cpi r18,61
8594
 8803 4d72 3105      		cpc r19,__zero_reg__
8595
 8804 4d74 40F4      		brsh .L664
8596
 8805 4d76 8091 0000 		lds r24,HoverGasMin.25
8597
 8806 4d7a 9091 0000 		lds r25,(HoverGasMin.25)+1
8598
 8807 4d7e 8017      		cp r24,r16
8599
 8808 4d80 9107      		cpc r25,r17
8600
 8809 4d82 74F5      		brge .L797
8601
 8810 4d84 26C0      		rjmp .L806
8602
 8811               	.L664:
8603
 8812 4d86 2C53      		subi r18,lo8(-(-60))
8604
 8813 4d88 3040      		sbci r19,hi8(-(-60))
8605
 8814 4d8a 45E0      		ldi r20,5
8606
 8815 4d8c 3695      	1:	lsr r19
8607
 8816 4d8e 2795      		ror r18
8608
 8817 4d90 4A95      		dec r20
8609
 8818 4d92 E1F7      		brne 1b
8610
 8819 4d94 2031      		cpi r18,16
8611
 8820 4d96 3105      		cpc r19,__zero_reg__
8612
 8821 4d98 10F0      		brlo .L669
8613
 8822 4d9a 2FE0      		ldi r18,lo8(15)
8614
 8823 4d9c 30E0      		ldi r19,hi8(15)
8615
 8824               	.L669:
8616
 8825 4d9e 4091 0000 		lds r20,HoverGasMin.25
8617
 8826 4da2 5091 0000 		lds r21,(HoverGasMin.25)+1
8618
 8827 4da6 1C14      		cp __zero_reg__,r12
8619
 8828 4da8 1D04      		cpc __zero_reg__,r13
8620
 8829 4daa E4F4      		brge .L670
8621
 8830 4dac 80E1      		ldi r24,lo8(16)
8622
 8831 4dae 90E0      		ldi r25,hi8(16)
8623
 8832 4db0 821B      		sub r24,r18
8624
 8833 4db2 930B      		sbc r25,r19
8625
 8834 4db4 489F      		mul r20,r24
8626
 8835 4db6 9001      		movw r18,r0
8627
 8836 4db8 499F      		mul r20,r25
8628
 8837 4dba 300D      		add r19,r0
8629
 8838 4dbc 589F      		mul r21,r24
8630
 8839 4dbe 300D      		add r19,r0
8631
 8840 4dc0 1124      		clr r1
8632
 8841 4dc2 94E0      		ldi r25,4
8633
 8842 4dc4 3695      	1:	lsr r19
8634
 8843 4dc6 2795      		ror r18
8635
 8844 4dc8 9A95      		dec r25
8636
 8845 4dca E1F7      		brne 1b
8637
 8846 4dcc 2017      		cp r18,r16
8638
 8847 4dce 3107      		cpc r19,r17
8639
 8848 4dd0 20F5      		brsh .L796
8640
 8849               	.L806:
8641
 8850 4dd2 8091 0000 		lds r24,HoverGasMax.26
8642
 8851 4dd6 9091 0000 		lds r25,(HoverGasMax.26)+1
8643
 8852 4dda 0817      		cp r16,r24
8644
 8853 4ddc 1907      		cpc r17,r25
8645
 8854 4dde F4F0      		brlt .L662
8646
 8855               	.L797:
8647
 8856 4de0 8C01      		movw r16,r24
8648
 8857 4de2 1CC0      		rjmp .L662
8649
 8858               	.L670:
8650
 8859 4de4 205F      		subi r18,lo8(-(16))
8651
 8860 4de6 3F4F      		sbci r19,hi8(-(16))
8652
 8861 4de8 8091 0000 		lds r24,HoverGasMax.26
8653
 8862 4dec 9091 0000 		lds r25,(HoverGasMax.26)+1
8654
 8863 4df0 829F      		mul r24,r18
8655
 8864 4df2 B001      		movw r22,r0
8656
 8865 4df4 839F      		mul r24,r19
8657
 8866 4df6 700D      		add r23,r0
8658
 8867 4df8 929F      		mul r25,r18
8659
 8868 4dfa 700D      		add r23,r0
8660
 8869 4dfc 1124      		clr r1
8661
 8870 4dfe 9B01      		movw r18,r22
8662
 8871 4e00 84E0      		ldi r24,4
8663
 8872 4e02 3695      	1:	lsr r19
8664
 8873 4e04 2795      		ror r18
8665
 8874 4e06 8A95      		dec r24
8666
 8875 4e08 E1F7      		brne 1b
8667
 8876 4e0a 4017      		cp r20,r16
8668
 8877 4e0c 5107      		cpc r21,r17
8669
 8878 4e0e 14F0      		brlt .L675
8670
 8879 4e10 8A01      		movw r16,r20
8671
 8880 4e12 04C0      		rjmp .L662
8672
 8881               	.L675:
8673
 8882 4e14 0217      		cp r16,r18
8674
 8883 4e16 1307      		cpc r17,r19
8675
 8884 4e18 08F0      		brlo .L662
8676
 8885               	.L796:
8677
 8886 4e1a 8901      		movw r16,r18
8678
 8887               	.L662:
8679
 8888 4e1c C801      		movw r24,r16
8680
 8889 4e1e AA27      		clr r26
8681
 8890 4e20 97FD      		sbrc r25,7
8682
 8891 4e22 A095      		com r26
8683
 8892 4e24 BA2F      		mov r27,r26
8684
 8893 4e26 1DE0      		ldi r17,13
8685
 8894 4e28 880F      	1:	lsl r24
8686
 8895 4e2a 991F      		rol r25
8687
 8896 4e2c AA1F      		rol r26
8688
 8897 4e2e BB1F      		rol r27
8689
 8898 4e30 1A95      		dec r17
8690
 8899 4e32 D1F7      		brne 1b
8691
 8900 4e34 9301      		movw r18,r6
8692
 8901 4e36 4427      		clr r20
8693
 8902 4e38 37FD      		sbrc r19,7
8694
 8903 4e3a 4095      		com r20
8695
 8904 4e3c 542F      		mov r21,r20
8696
 8905 4e3e BC01      		movw r22,r24
8697
 8906 4e40 CD01      		movw r24,r26
8698
 8907 4e42 0E94 0000 		call __divmodsi4
8699
 8908 4e46 2093 0000 		sts tmp_long2.2,r18
8700
 8909 4e4a 3093 0000 		sts (tmp_long2.2)+1,r19
8701
 8910 4e4e 4093 0000 		sts (tmp_long2.2)+2,r20
8702
 8911 4e52 5093 0000 		sts (tmp_long2.2)+3,r21
8703
 8912 4e56 0091 0000 		lds r16,tmp_long2.2
8704
 8913 4e5a 1091 0000 		lds r17,(tmp_long2.2)+1
8705
 8914 4e5e 8091 0000 		lds r24,FilterHCGas.23
8706
 8915 4e62 9091 0000 		lds r25,(FilterHCGas.23)+1
8707
 8916 4e66 9C01      		movw r18,r24
8708
 8917 4e68 220F      		lsl r18
8709
 8918 4e6a 331F      		rol r19
8710
 8919 4e6c 280F      		add r18,r24
8711
 8920 4e6e 391F      		adc r19,r25
8712
 8921 4e70 200F      		add r18,r16
8713
 8922 4e72 311F      		adc r19,r17
8714
 8923 4e74 37FF      		sbrs r19,7
8715
 8924 4e76 02C0      		rjmp .L678
8716
 8925 4e78 2D5F      		subi r18,lo8(-(3))
8717
 8926 4e7a 3F4F      		sbci r19,hi8(-(3))
8718
 8927               	.L678:
8719
 8928 4e7c A901      		movw r20,r18
8720
 8929 4e7e 5595      		asr r21
8721
 8930 4e80 4795      		ror r20
8722
 8931 4e82 5595      		asr r21
8723
 8932 4e84 4795      		ror r20
8724
 8933 4e86 5093 0000 		sts (FilterHCGas.23)+1,r21
8725
 8934 4e8a 4093 0000 		sts FilterHCGas.23,r20
8726
 8935 4e8e 8091 0000 		lds r24,EE_Parameter+14
8727
 8936 4e92 282F      		mov r18,r24
8728
 8937 4e94 3327      		clr r19
8729
 8938 4e96 220F      		lsl r18
8730
 8939 4e98 331F      		rol r19
8731
 8940 4e9a 220F      		lsl r18
8732
 8941 4e9c 331F      		rol r19
8733
 8942 4e9e 2417      		cp r18,r20
8734
 8943 4ea0 3507      		cpc r19,r21
8735
 8944 4ea2 6CF4      		brge .L798
8736
 8945 4ea4 8091 0000 		lds r24,MAX_GAS
8737
 8946 4ea8 282F      		mov r18,r24
8738
 8947 4eaa 3327      		clr r19
8739
 8948 4eac 220F      		lsl r18
8740
 8949 4eae 331F      		rol r19
8741
 8950 4eb0 220F      		lsl r18
8742
 8951 4eb2 331F      		rol r19
8743
 8952 4eb4 2055      		subi r18,lo8(-(-80))
8744
 8953 4eb6 3040      		sbci r19,hi8(-(-80))
8745
 8954 4eb8 4217      		cp r20,r18
8746
 8955 4eba 5307      		cpc r21,r19
8747
 8956 4ebc 24F0      		brlt .L680
8748
 8957               	.L798:
8749
 8958 4ebe 3093 0000 		sts (FilterHCGas.23)+1,r19
8750
 8959 4ec2 2093 0000 		sts FilterHCGas.23,r18
8751
 8960               	.L680:
8752
 8961 4ec6 8091 0000 		lds r24,EE_Parameter+99
8753
 8962 4eca 80FF      		sbrs r24,0
8754
 8963 4ecc 14C0      		rjmp .L682
8755
 8964 4ece 8091 0000 		lds r24,FilterHCGas.23
8756
 8965 4ed2 9091 0000 		lds r25,(FilterHCGas.23)+1
8757
 8966 4ed6 A8A1      		ldd r26,Y+32
8758
 8967 4ed8 B9A1      		ldd r27,Y+33
8759
 8968 4eda 8A17      		cp r24,r26
8760
 8969 4edc 9B07      		cpc r25,r27
8761
 8970 4ede 24F0      		brlt .L683
8762
 8971 4ee0 B093 0000 		sts (FilterHCGas.23)+1,r27
8763
 8972 4ee4 A093 0000 		sts FilterHCGas.23,r26
8764
 8973               	.L683:
8765
 8974 4ee8 E091 0000 		lds r30,FilterHCGas.23
8766
 8975 4eec F091 0000 		lds r31,(FilterHCGas.23)+1
8767
 8976 4ef0 F9A3      		std Y+33,r31
8768
 8977 4ef2 E8A3      		std Y+32,r30
8769
 8978 4ef4 57C0      		rjmp .L686
8770
 8979               	.L682:
8771
 8980 4ef6 28A1      		ldd r18,Y+32
8772
 8981 4ef8 39A1      		ldd r19,Y+33
8773
 8982 4efa 2E19      		sub r18,r14
8774
 8983 4efc 3F09      		sbc r19,r15
8775
 8984 4efe 37FF      		sbrs r19,7
8776
 8985 4f00 02C0      		rjmp .L685
8777
 8986 4f02 2D5F      		subi r18,lo8(-(3))
8778
 8987 4f04 3F4F      		sbci r19,hi8(-(3))
8779
 8988               	.L685:
8780
 8989 4f06 3595      		asr r19
8781
 8990 4f08 2795      		ror r18
8782
 8991 4f0a 3595      		asr r19
8783
 8992 4f0c 2795      		ror r18
8784
 8993 4f0e E090 0000 		lds r14,FilterHCGas.23
8785
 8994 4f12 F090 0000 		lds r15,(FilterHCGas.23)+1
8786
 8995 4f16 E20E      		add r14,r18
8787
 8996 4f18 F31E      		adc r15,r19
8788
 8997 4f1a F9A2      		std Y+33,r15
8789
 8998 4f1c E8A2      		std Y+32,r14
8790
 8999 4f1e 42C0      		rjmp .L686
8791
 9000               	.L596:
8792
 9001 4f20 8091 0000 		lds r24,EE_Parameter+22
8793
 9002 4f24 8823      		tst r24
8794
 9003 4f26 01F5      		brne .L687
8795
 9004 4f28 6091 0000 		lds r22,HoverGas
8796
 9005 4f2c 7091 0000 		lds r23,(HoverGas)+1
8797
 9006 4f30 77FF      		sbrs r23,7
8798
 9007 4f32 02C0      		rjmp .L688
8799
 9008 4f34 6D5F      		subi r22,lo8(-(3))
8800
 9009 4f36 7F4F      		sbci r23,hi8(-(3))
8801
 9010               	.L688:
8802
 9011 4f38 7595      		asr r23
8803
 9012 4f3a 6795      		ror r22
8804
 9013 4f3c 7595      		asr r23
8805
 9014 4f3e 6795      		ror r22
8806
 9015 4f40 4091 0000 		lds r20,UBat
8807
 9016 4f44 5091 0000 		lds r21,(UBat)+1
8808
 9017 4f48 8091 0000 		lds r24,BattLowVoltageWarning
8809
 9018 4f4c 282F      		mov r18,r24
8810
 9019 4f4e 3327      		clr r19
8811
 9020 4f50 649F      		mul r22,r20
8812
 9021 4f52 C001      		movw r24,r0
8813
 9022 4f54 659F      		mul r22,r21
8814
 9023 4f56 900D      		add r25,r0
8815
 9024 4f58 749F      		mul r23,r20
8816
 9025 4f5a 900D      		add r25,r0
8817
 9026 4f5c 1124      		clr r1
8818
 9027 4f5e B901      		movw r22,r18
8819
 9028 4f60 0E94 0000 		call __divmodhi4
8820
 9029 4f64 CB01      		movw r24,r22
8821
 9030 4f66 01C0      		rjmp .L799
8822
 9031               	.L687:
8823
 9032 4f68 9927      		clr r25
8824
 9033               	.L799:
8825
 9034 4f6a 9093 0000 		sts (StickGasHover.24)+1,r25
8826
 9035 4f6e 8093 0000 		sts StickGasHover.24,r24
8827
 9036 4f72 8091 0000 		lds r24,StickGasHover.24
8828
 9037 4f76 9091 0000 		lds r25,(StickGasHover.24)+1
8829
 9038 4f7a 8734      		cpi r24,71
8830
 9039 4f7c 9105      		cpc r25,__zero_reg__
8831
 9040 4f7e 1CF4      		brge .L690
8832
 9041 4f80 86E4      		ldi r24,lo8(70)
8833
 9042 4f82 90E0      		ldi r25,hi8(70)
8834
 9043 4f84 05C0      		rjmp .L800
8835
 9044               	.L690:
8836
 9045 4f86 8639      		cpi r24,150
8837
 9046 4f88 9105      		cpc r25,__zero_reg__
8838
 9047 4f8a 34F0      		brlt .L691
8839
 9048 4f8c 86E9      		ldi r24,lo8(150)
8840
 9049 4f8e 90E0      		ldi r25,hi8(150)
8841
 9050               	.L800:
8842
 9051 4f90 9093 0000 		sts (StickGasHover.24)+1,r25
8843
 9052 4f94 8093 0000 		sts StickGasHover.24,r24
8844
 9053               	.L691:
8845
 9054 4f98 08A1      		ldd r16,Y+32
8846
 9055 4f9a 19A1      		ldd r17,Y+33
8847
 9056 4f9c 1093 0000 		sts (FilterHCGas.23)+1,r17
8848
 9057 4fa0 0093 0000 		sts FilterHCGas.23,r16
8849
 9058               	.L686:
8850
 9059 4fa4 8091 0000 		lds r24,FCFlags
8851
 9060 4fa8 9927      		clr r25
8852
 9061 4faa 9C01      		movw r18,r24
8853
 9062 4fac 2270      		andi r18,lo8(2)
8854
 9063 4fae 3070      		andi r19,hi8(2)
8855
 9064 4fb0 81FF      		sbrs r24,1
8856
 9065 4fb2 1CC1      		rjmp .L693
8857
 9066 4fb4 8091 0000 		lds r24,HoverGasFilter.27
8858
 9067 4fb8 9091 0000 		lds r25,(HoverGasFilter.27)+1
8859
 9068 4fbc A091 0000 		lds r26,(HoverGasFilter.27)+2
8860
 9069 4fc0 B091 0000 		lds r27,(HoverGasFilter.27)+3
8861
 9070 4fc4 0097      		sbiw r24,0
8862
 9071 4fc6 A105      		cpc r26,__zero_reg__
8863
 9072 4fc8 B105      		cpc r27,__zero_reg__
8864
 9073 4fca 21F0      		breq .L695
8865
 9074 4fcc 8091 0000 		lds r24,StartTrigger
8866
 9075 4fd0 8130      		cpi r24,lo8(1)
8867
 9076 4fd2 B1F4      		brne .L694
8868
 9077               	.L695:
8869
 9078 4fd4 28A1      		ldd r18,Y+32
8870
 9079 4fd6 39A1      		ldd r19,Y+33
8871
 9080 4fd8 C901      		movw r24,r18
8872
 9081 4fda AA27      		clr r26
8873
 9082 4fdc 97FD      		sbrc r25,7
8874
 9083 4fde A095      		com r26
8875
 9084 4fe0 BA2F      		mov r27,r26
8876
 9085 4fe2 2EE0      		ldi r18,14
8877
 9086 4fe4 880F      	1:	lsl r24
8878
 9087 4fe6 991F      		rol r25
8879
 9088 4fe8 AA1F      		rol r26
8880
 9089 4fea BB1F      		rol r27
8881
 9090 4fec 2A95      		dec r18
8882
 9091 4fee D1F7      		brne 1b
8883
 9092 4ff0 8093 0000 		sts HoverGasFilter.27,r24
8884
 9093 4ff4 9093 0000 		sts (HoverGasFilter.27)+1,r25
8885
 9094 4ff8 A093 0000 		sts (HoverGasFilter.27)+2,r26
8886
 9095 4ffc B093 0000 		sts (HoverGasFilter.27)+3,r27
8887
 9096               	.L694:
8888
 9097 5000 8091 0000 		lds r24,StartTrigger
8889
 9098 5004 8130      		cpi r24,lo8(1)
8890
 9099 5006 19F4      		brne .L696
8891
 9100 5008 82E0      		ldi r24,lo8(2)
8892
 9101 500a 8093 0000 		sts StartTrigger,r24
8893
 9102               	.L696:
8894
 9103 500e 48A1      		ldd r20,Y+32
8895
 9104 5010 59A1      		ldd r21,Y+33
8896
 9105 5012 CA01      		movw r24,r20
8897
 9106 5014 AA27      		clr r26
8898
 9107 5016 97FD      		sbrc r25,7
8899
 9108 5018 A095      		com r26
8900
 9109 501a BA2F      		mov r27,r26
8901
 9110 501c 9301      		movw r18,r6
8902
 9111 501e 4427      		clr r20
8903
 9112 5020 37FD      		sbrc r19,7
8904
 9113 5022 4095      		com r20
8905
 9114 5024 542F      		mov r21,r20
8906
 9115 5026 BC01      		movw r22,r24
8907
 9116 5028 CD01      		movw r24,r26
8908
 9117 502a 0E94 0000 		call __mulsi3
8909
 9118 502e DC01      		movw r26,r24
8910
 9119 5030 CB01      		movw r24,r22
8911
 9120 5032 8093 0000 		sts tmp_long2.2,r24
8912
 9121 5036 9093 0000 		sts (tmp_long2.2)+1,r25
8913
 9122 503a A093 0000 		sts (tmp_long2.2)+2,r26
8914
 9123 503e B093 0000 		sts (tmp_long2.2)+3,r27
8915
 9124 5042 B7FF      		sbrs r27,7
8916
 9125 5044 04C0      		rjmp .L697
8917
 9126 5046 8150      		subi r24,lo8(-(8191))
8918
 9127 5048 904E      		sbci r25,hi8(-(8191))
8919
 9128 504a AF4F      		sbci r26,hlo8(-(8191))
8920
 9129 504c BF4F      		sbci r27,hhi8(-(8191))
8921
 9130               	.L697:
8922
 9131 504e 5C01      		movw r10,r24
8923
 9132 5050 6D01      		movw r12,r26
8924
 9133 5052 8DE0      		ldi r24,13
8925
 9134 5054 D594      	1:	asr r13
8926
 9135 5056 C794      		ror r12
8927
 9136 5058 B794      		ror r11
8928
 9137 505a A794      		ror r10
8929
 9138 505c 8A95      		dec r24
8930
 9139 505e D1F7      		brne 1b
8931
 9140 5060 A092 0000 		sts tmp_long2.2,r10
8932
 9141 5064 B092 0000 		sts (tmp_long2.2)+1,r11
8933
 9142 5068 C092 0000 		sts (tmp_long2.2)+2,r12
8934
 9143 506c D092 0000 		sts (tmp_long2.2)+3,r13
8935
 9144 5070 6091 0000 		lds r22,modell_fliegt
8936
 9145 5074 7091 0000 		lds r23,(modell_fliegt)+1
8937
 9146 5078 5FE0      		ldi r21,hi8(4000)
8938
 9147 507a 603A      		cpi r22,lo8(4000)
8939
 9148 507c 7507      		cpc r23,r21
8940
 9149 507e 50F5      		brsh .L698
8941
 9150 5080 8091 0000 		lds r24,HoverGasFilter.27
8942
 9151 5084 9091 0000 		lds r25,(HoverGasFilter.27)+1
8943
 9152 5088 A091 0000 		lds r26,(HoverGasFilter.27)+2
8944
 9153 508c B091 0000 		lds r27,(HoverGasFilter.27)+3
8945
 9154 5090 9C01      		movw r18,r24
8946
 9155 5092 AD01      		movw r20,r26
8947
 9156 5094 0AE0      		ldi r16,10
8948
 9157 5096 5695      	1:	lsr r21
8949
 9158 5098 4795      		ror r20
8950
 9159 509a 3795      		ror r19
8951
 9160 509c 2795      		ror r18
8952
 9161 509e 0A95      		dec r16
8953
 9162 50a0 D1F7      		brne 1b
8954
 9163 50a2 821B      		sub r24,r18
8955
 9164 50a4 930B      		sbc r25,r19
8956
 9165 50a6 A40B      		sbc r26,r20
8957
 9166 50a8 B50B      		sbc r27,r21
8958
 9167 50aa A601      		movw r20,r12
8959
 9168 50ac 9501      		movw r18,r10
8960
 9169 50ae 14E0      		ldi r17,4
8961
 9170 50b0 220F      	1:	lsl r18
8962
 9171 50b2 331F      		rol r19
8963
 9172 50b4 441F      		rol r20
8964
 9173 50b6 551F      		rol r21
8965
 9174 50b8 1A95      		dec r17
8966
 9175 50ba D1F7      		brne 1b
8967
 9176 50bc 820F      		add r24,r18
8968
 9177 50be 931F      		adc r25,r19
8969
 9178 50c0 A41F      		adc r26,r20
8970
 9179 50c2 B51F      		adc r27,r21
8971
 9180 50c4 8093 0000 		sts HoverGasFilter.27,r24
8972
 9181 50c8 9093 0000 		sts (HoverGasFilter.27)+1,r25
8973
 9182 50cc A093 0000 		sts (HoverGasFilter.27)+2,r26
8974
 9183 50d0 B093 0000 		sts (HoverGasFilter.27)+3,r27
8975
 9184               	.L698:
8976
 9185 50d4 6054      		subi r22,lo8(8000)
8977
 9186 50d6 7F41      		sbci r23,hi8(8000)
8978
 9187 50d8 18F5      		brsh .L699
8979
 9188 50da 8091 0000 		lds r24,HoverGasFilter.27
8980
 9189 50de 9091 0000 		lds r25,(HoverGasFilter.27)+1
8981
 9190 50e2 A091 0000 		lds r26,(HoverGasFilter.27)+2
8982
 9191 50e6 B091 0000 		lds r27,(HoverGasFilter.27)+3
8983
 9192 50ea 9C01      		movw r18,r24
8984
 9193 50ec AD01      		movw r20,r26
8985
 9194 50ee FCE0      		ldi r31,12
8986
 9195 50f0 5695      	1:	lsr r21
8987
 9196 50f2 4795      		ror r20
8988
 9197 50f4 3795      		ror r19
8989
 9198 50f6 2795      		ror r18
8990
 9199 50f8 FA95      		dec r31
8991
 9200 50fa D1F7      		brne 1b
8992
 9201 50fc 821B      		sub r24,r18
8993
 9202 50fe 930B      		sbc r25,r19
8994
 9203 5100 A40B      		sbc r26,r20
8995
 9204 5102 B50B      		sbc r27,r21
8996
 9205 5104 A601      		movw r20,r12
8997
 9206 5106 9501      		movw r18,r10
8998
 9207 5108 E2E0      		ldi r30,2
8999
 9208 510a 220F      	1:	lsl r18
9000
 9209 510c 331F      		rol r19
9001
 9210 510e 441F      		rol r20
9002
 9211 5110 551F      		rol r21
9003
 9212 5112 EA95      		dec r30
9004
 9213 5114 D1F7      		brne 1b
9005
 9214 5116 820F      		add r24,r18
9006
 9215 5118 931F      		adc r25,r19
9007
 9216 511a A41F      		adc r26,r20
9008
 9217 511c B51F      		adc r27,r21
9009
 9218 511e 29C0      		rjmp .L801
9010
 9219               	.L699:
9011
 9220 5120 8091 0000 		lds r24,VarioMeter
9012
 9221 5124 9091 0000 		lds r25,(VarioMeter)+1
9013
 9222 5128 8091 0000 		lds r24,VarioMeter
9014
 9223 512c 9091 0000 		lds r25,(VarioMeter)+1
9015
 9224 5130 97FF      		sbrs r25,7
9016
 9225 5132 03C0      		rjmp .L702
9017
 9226 5134 9095      		com r25
9018
 9227 5136 8195      		neg r24
9019
 9228 5138 9F4F      		sbci r25,lo8(-1)
9020
 9229               	.L702:
9021
 9230 513a 8436      		cpi r24,100
9022
 9231 513c 9105      		cpc r25,__zero_reg__
9023
 9232 513e 0CF5      		brge .L700
9024
 9233 5140 8091 0000 		lds r24,HoverGasFilter.27
9025
 9234 5144 9091 0000 		lds r25,(HoverGasFilter.27)+1
9026
 9235 5148 A091 0000 		lds r26,(HoverGasFilter.27)+2
9027
 9236 514c B091 0000 		lds r27,(HoverGasFilter.27)+3
9028
 9237 5150 9C01      		movw r18,r24
9029
 9238 5152 AD01      		movw r20,r26
9030
 9239 5154 7EE0      		ldi r23,14
9031
 9240 5156 5695      	1:	lsr r21
9032
 9241 5158 4795      		ror r20
9033
 9242 515a 3795      		ror r19
9034
 9243 515c 2795      		ror r18
9035
 9244 515e 7A95      		dec r23
9036
 9245 5160 D1F7      		brne 1b
9037
 9246 5162 821B      		sub r24,r18
9038
 9247 5164 930B      		sbc r25,r19
9039
 9248 5166 A40B      		sbc r26,r20
9040
 9249 5168 B50B      		sbc r27,r21
9041
 9250 516a 8A0D      		add r24,r10
9042
 9251 516c 9B1D      		adc r25,r11
9043
 9252 516e AC1D      		adc r26,r12
9044
 9253 5170 BD1D      		adc r27,r13
9045
 9254               	.L801:
9046
 9255 5172 8093 0000 		sts HoverGasFilter.27,r24
9047
 9256 5176 9093 0000 		sts (HoverGasFilter.27)+1,r25
9048
 9257 517a A093 0000 		sts (HoverGasFilter.27)+2,r26
9049
 9258 517e B093 0000 		sts (HoverGasFilter.27)+3,r27
9050
 9259               	.L700:
9051
 9260 5182 8091 0000 		lds r24,HoverGasFilter.27
9052
 9261 5186 9091 0000 		lds r25,(HoverGasFilter.27)+1
9053
 9262 518a A091 0000 		lds r26,(HoverGasFilter.27)+2
9054
 9263 518e B091 0000 		lds r27,(HoverGasFilter.27)+3
9055
 9264 5192 6EE0      		ldi r22,14
9056
 9265 5194 B695      	1:	lsr r27
9057
 9266 5196 A795      		ror r26
9058
 9267 5198 9795      		ror r25
9059
 9268 519a 8795      		ror r24
9060
 9269 519c 6A95      		dec r22
9061
 9270 519e D1F7      		brne 1b
9062
 9271 51a0 9093 0000 		sts (HoverGas)+1,r25
9063
 9272 51a4 8093 0000 		sts HoverGas,r24
9064
 9273 51a8 4091 0000 		lds r20,EE_Parameter+20
9065
 9274 51ac 4423      		tst r20
9066
 9275 51ae 99F0      		breq .L703
9067
 9276 51b0 5527      		clr r21
9068
 9277 51b2 9C01      		movw r18,r24
9069
 9278 51b4 BA01      		movw r22,r20
9070
 9279 51b6 0E94 0000 		call __divmodhi4
9071
 9280 51ba C901      		movw r24,r18
9072
 9281 51bc 861B      		sub r24,r22
9073
 9282 51be 970B      		sbc r25,r23
9074
 9283 51c0 9093 0000 		sts (HoverGasMin.25)+1,r25
9075
 9284 51c4 8093 0000 		sts HoverGasMin.25,r24
9076
 9285 51c8 260F      		add r18,r22
9077
 9286 51ca 371F      		adc r19,r23
9078
 9287 51cc 3093 0000 		sts (HoverGasMax.26)+1,r19
9079
 9288 51d0 2093 0000 		sts HoverGasMax.26,r18
9080
 9289 51d4 19C0      		rjmp .L579
9081
 9290               	.L703:
9082
 9291 51d6 1092 0000 		sts (HoverGasMin.25)+1,__zero_reg__
9083
 9292 51da 1092 0000 		sts HoverGasMin.25,__zero_reg__
9084
 9293 51de 8FEF      		ldi r24,lo8(1023)
9085
 9294 51e0 93E0      		ldi r25,hi8(1023)
9086
 9295 51e2 9093 0000 		sts (HoverGasMax.26)+1,r25
9087
 9296 51e6 8093 0000 		sts HoverGasMax.26,r24
9088
 9297 51ea 0EC0      		rjmp .L579
9089
 9298               	.L693:
9090
 9299 51ec 1092 0000 		sts StartTrigger,__zero_reg__
9091
 9300 51f0 1092 0000 		sts HoverGasFilter.27,__zero_reg__
9092
 9301 51f4 1092 0000 		sts (HoverGasFilter.27)+1,__zero_reg__
9093
 9302 51f8 1092 0000 		sts (HoverGasFilter.27)+2,__zero_reg__
9094
 9303 51fc 1092 0000 		sts (HoverGasFilter.27)+3,__zero_reg__
9095
 9304 5200 3093 0000 		sts (HoverGas)+1,r19
9096
 9305 5204 2093 0000 		sts HoverGas,r18
9097
 9306               	.L579:
9098
 9307 5208 9091 0000 		lds r25,MIN_GAS
9099
 9308 520c 98AB      		std Y+48,r25
9100
 9309 520e 292F      		mov r18,r25
9101
 9310 5210 3327      		clr r19
9102
 9311 5212 220F      		lsl r18
9103
 9312 5214 331F      		rol r19
9104
 9313 5216 220F      		lsl r18
9105
 9314 5218 331F      		rol r19
9106
 9315 521a 285D      		subi r18,lo8(-(40))
9107
 9316 521c 3F4F      		sbci r19,hi8(-(40))
9108
 9317 521e A8A1      		ldd r26,Y+32
9109
 9318 5220 B9A1      		ldd r27,Y+33
9110
 9319 5222 2A17      		cp r18,r26
9111
 9320 5224 3B07      		cpc r19,r27
9112
 9321 5226 14F0      		brlt .L706
9113
 9322 5228 39A3      		std Y+33,r19
9114
 9323 522a 28A3      		std Y+32,r18
9115
 9324               	.L706:
9116
 9325 522c B091 0000 		lds r27,MAX_GAS
9117
 9326 5230 B9AB      		std Y+49,r27
9118
 9327 5232 8B2F      		mov r24,r27
9119
 9328 5234 9927      		clr r25
9120
 9329 5236 880F      		lsl r24
9121
 9330 5238 991F      		rol r25
9122
 9331 523a 880F      		lsl r24
9123
 9332 523c 991F      		rol r25
9124
 9333 523e 8055      		subi r24,lo8(-(-80))
9125
 9334 5240 9040      		sbci r25,hi8(-(-80))
9126
 9335 5242 E8A1      		ldd r30,Y+32
9127
 9336 5244 F9A1      		ldd r31,Y+33
9128
 9337 5246 8E17      		cp r24,r30
9129
 9338 5248 9F07      		cpc r25,r31
9130
 9339 524a 14F4      		brge .L707
9131
 9340 524c 99A3      		std Y+33,r25
9132
 9341 524e 88A3      		std Y+32,r24
9133
 9342               	.L707:
9134
 9343 5250 8091 0000 		lds r24,MissingMotor
9135
 9344 5254 8823      		tst r24
9136
 9345 5256 21F4      		brne .L709
9137
 9346 5258 8091 0000 		lds r24,Capacity+6
9138
 9347 525c 8F3F      		cpi r24,lo8(-1)
9139
 9348 525e A1F0      		breq .L708
9140
 9349               	.L709:
9141
 9350 5260 8091 0000 		lds r24,modell_fliegt
9142
 9351 5264 9091 0000 		lds r25,(modell_fliegt)+1
9143
 9352 5268 0297      		sbiw r24,2
9144
 9353 526a C097      		sbiw r24,48
9145
 9354 526c 68F4      		brsh .L708
9146
 9355 526e E8A0      		ldd r14,Y+32
9147
 9356 5270 F9A0      		ldd r15,Y+33
9148
 9357 5272 1E14      		cp __zero_reg__,r14
9149
 9358 5274 1F04      		cpc __zero_reg__,r15
9150
 9359 5276 44F4      		brge .L708
9151
 9360 5278 81E0      		ldi r24,lo8(1)
9152
 9361 527a 90E0      		ldi r25,hi8(1)
9153
 9362 527c 9093 0000 		sts (modell_fliegt)+1,r25
9154
 9363 5280 8093 0000 		sts modell_fliegt,r24
9155
 9364 5284 39A3      		std Y+33,r19
9156
 9365 5286 28A3      		std Y+32,r18
9157
 9366               	.L708:
9158
 9367 5288 08A1      		ldd r16,Y+32
9159
 9368 528a 19A1      		ldd r17,Y+33
9160
 9369 528c 1093 0000 		sts (DebugOut+16)+1,r17
9161
 9370 5290 0093 0000 		sts DebugOut+16,r16
9162
 9371 5294 8091 0000 		lds r24,sollGier.0
9163
 9372 5298 9091 0000 		lds r25,(sollGier.0)+1
9164
 9373 529c A091 0000 		lds r26,(sollGier.0)+2
9165
 9374 52a0 B091 0000 		lds r27,(sollGier.0)+3
9166
 9375 52a4 22E0      		ldi r18,2
9167
 9376 52a6 880F      	1:	lsl r24
9168
 9377 52a8 991F      		rol r25
9169
 9378 52aa AA1F      		rol r26
9170
 9379 52ac BB1F      		rol r27
9171
 9380 52ae 2A95      		dec r18
9172
 9381 52b0 D1F7      		brne 1b
9173
 9382 52b2 C090 0000 		lds r12,MesswertGier
9174
 9383 52b6 D090 0000 		lds r13,(MesswertGier)+1
9175
 9384 52ba C81A      		sub r12,r24
9176
 9385 52bc D90A      		sbc r13,r25
9177
 9386 52be 013A      		cpi r16,161
9178
 9387 52c0 1105      		cpc r17,__zero_reg__
9179
 9388 52c2 8CF0      		brlt .L711
9180
 9389 52c4 C801      		movw r24,r16
9181
 9390 52c6 17FD      		sbrc r17,7
9182
 9391 52c8 0196      		adiw r24,1
9183
 9392               	.L713:
9184
 9393 52ca 9595      		asr r25
9185
 9394 52cc 8795      		ror r24
9186
 9395 52ce 8C15      		cp r24,r12
9187
 9396 52d0 9D05      		cpc r25,r13
9188
 9397 52d2 0CF4      		brge .L712
9189
 9398 52d4 6C01      		movw r12,r24
9190
 9399               	.L712:
9191
 9400 52d6 9095      		com r25
9192
 9401 52d8 8195      		neg r24
9193
 9402 52da 9F4F      		sbci r25,lo8(-1)
9194
 9403 52dc C816      		cp r12,r24
9195
 9404 52de D906      		cpc r13,r25
9196
 9405 52e0 94F4      		brge .L718
9197
 9406 52e2 6C01      		movw r12,r24
9198
 9407 52e4 10C0      		rjmp .L718
9199
 9408               	.L711:
9200
 9409 52e6 11E5      		ldi r17,lo8(81)
9201
 9410 52e8 C116      		cp r12,r17
9202
 9411 52ea D104      		cpc r13,__zero_reg__
9203
 9412 52ec 1CF0      		brlt .L719
9204
 9413 52ee E0E5      		ldi r30,lo8(80)
9205
 9414 52f0 CE2E      		mov r12,r30
9206
 9415 52f2 D12C      		mov r13,__zero_reg__
9207
 9416               	.L719:
9208
 9417 52f4 20EB      		ldi r18,lo8(-80)
9209
 9418 52f6 C216      		cp r12,r18
9210
 9419 52f8 2FEF      		ldi r18,hi8(-80)
9211
 9420 52fa D206      		cpc r13,r18
9212
 9421 52fc 24F4      		brge .L718
9213
 9422 52fe 70EB      		ldi r23,lo8(-80)
9214
 9423 5300 C72E      		mov r12,r23
9215
 9424 5302 7FEF      		ldi r23,hi8(-80)
9216
 9425 5304 D72E      		mov r13,r23
9217
 9426               	.L718:
9218
 9427 5306 49A9      		ldd r20,Y+49
9219
 9428 5308 242F      		mov r18,r20
9220
 9429 530a 3327      		clr r19
9221
 9430 530c 220F      		lsl r18
9222
 9431 530e 331F      		rol r19
9223
 9432 5310 220F      		lsl r18
9224
 9433 5312 331F      		rol r19
9225
 9434 5314 C901      		movw r24,r18
9226
 9435 5316 68A1      		ldd r22,Y+32
9227
 9436 5318 79A1      		ldd r23,Y+33
9228
 9437 531a 861B      		sub r24,r22
9229
 9438 531c 970B      		sbc r25,r23
9230
 9439 531e 8C15      		cp r24,r12
9231
 9440 5320 9D05      		cpc r25,r13
9232
 9441 5322 0CF4      		brge .L721
9233
 9442 5324 6C01      		movw r12,r24
9234
 9443               	.L721:
9235
 9444 5326 88A1      		ldd r24,Y+32
9236
 9445 5328 99A1      		ldd r25,Y+33
9237
 9446 532a 821B      		sub r24,r18
9238
 9447 532c 930B      		sbc r25,r19
9239
 9448 532e C816      		cp r12,r24
9240
 9449 5330 D906      		cpc r13,r25
9241
 9450 5332 0CF4      		brge .L722
9242
 9451 5334 6C01      		movw r12,r24
9243
 9452               	.L722:
9244
 9453 5336 8091 0000 		lds r24,MesswertNick
9245
 9454 533a 9091 0000 		lds r25,(MesswertNick)+1
9246
 9455 533e 6091 0000 		lds r22,StickNick
9247
 9456 5342 7091 0000 		lds r23,(StickNick)+1
9248
 9457 5346 861B      		sub r24,r22
9249
 9458 5348 970B      		sbc r25,r23
9250
 9459 534a 9093 0000 		sts (DiffNick)+1,r25
9251
 9460 534e 8093 0000 		sts DiffNick,r24
9252
 9461 5352 A090 0000 		lds r10,IntegralFaktor
9253
 9462 5356 2091 0000 		lds r18,SummeNick
9254
 9463 535a 3091 0000 		lds r19,(SummeNick)+1
9255
 9464 535e 4091 0000 		lds r20,(SummeNick)+2
9256
 9465 5362 5091 0000 		lds r21,(SummeNick)+3
9257
 9466 5366 AA20      		tst r10
9258
 9467 5368 41F0      		breq .L723
9259
 9468 536a 461A      		sub r4,r22
9260
 9469 536c 570A      		sbc r5,r23
9261
 9470 536e C201      		movw r24,r4
9262
 9471 5370 AA27      		clr r26
9263
 9472 5372 97FD      		sbrc r25,7
9264
 9473 5374 A095      		com r26
9265
 9474 5376 BA2F      		mov r27,r26
9266
 9475 5378 04C0      		rjmp .L802
9267
 9476               	.L723:
9268
 9477 537a AA27      		clr r26
9269
 9478 537c 97FD      		sbrc r25,7
9270
 9479 537e A095      		com r26
9271
 9480 5380 BA2F      		mov r27,r26
9272
 9481               	.L802:
9273
 9482 5382 280F      		add r18,r24
9274
 9483 5384 391F      		adc r19,r25
9275
 9484 5386 4A1F      		adc r20,r26
9276
 9485 5388 5B1F      		adc r21,r27
9277
 9486 538a 2093 0000 		sts SummeNick,r18
9278
 9487 538e 3093 0000 		sts (SummeNick)+1,r19
9279
 9488 5392 4093 0000 		sts (SummeNick)+2,r20
9280
 9489 5396 5093 0000 		sts (SummeNick)+3,r21
9281
 9490 539a 8091 0000 		lds r24,SummeNick
9282
 9491 539e 9091 0000 		lds r25,(SummeNick)+1
9283
 9492 53a2 A091 0000 		lds r26,(SummeNick)+2
9284
 9493 53a6 B091 0000 		lds r27,(SummeNick)+3
9285
 9494 53aa 8150      		subi r24,lo8(64001)
9286
 9495 53ac 9A4F      		sbci r25,hi8(64001)
9287
 9496 53ae A040      		sbci r26,hlo8(64001)
9288
 9497 53b0 B040      		sbci r27,hhi8(64001)
9289
 9498 53b2 64F0      		brlt .L725
9290
 9499 53b4 80E0      		ldi r24,lo8(64000)
9291
 9500 53b6 9AEF      		ldi r25,hi8(64000)
9292
 9501 53b8 A0E0      		ldi r26,hlo8(64000)
9293
 9502 53ba B0E0      		ldi r27,hhi8(64000)
9294
 9503 53bc 8093 0000 		sts SummeNick,r24
9295
 9504 53c0 9093 0000 		sts (SummeNick)+1,r25
9296
 9505 53c4 A093 0000 		sts (SummeNick)+2,r26
9297
 9506 53c8 B093 0000 		sts (SummeNick)+3,r27
9298
 9507               	.L725:
9299
 9508 53cc 8091 0000 		lds r24,SummeNick
9300
 9509 53d0 9091 0000 		lds r25,(SummeNick)+1
9301
 9510 53d4 A091 0000 		lds r26,(SummeNick)+2
9302
 9511 53d8 B091 0000 		lds r27,(SummeNick)+3
9303
 9512 53dc 8050      		subi r24,lo8(-64000)
9304
 9513 53de 9640      		sbci r25,hi8(-64000)
9305
 9514 53e0 AF4F      		sbci r26,hlo8(-64000)
9306
 9515 53e2 BF4F      		sbci r27,hhi8(-64000)
9307
 9516 53e4 64F4      		brge .L726
9308
 9517 53e6 80E0      		ldi r24,lo8(-64000)
9309
 9518 53e8 96E0      		ldi r25,hi8(-64000)
9310
 9519 53ea AFEF      		ldi r26,hlo8(-64000)
9311
 9520 53ec BFEF      		ldi r27,hhi8(-64000)
9312
 9521 53ee 8093 0000 		sts SummeNick,r24
9313
 9522 53f2 9093 0000 		sts (SummeNick)+1,r25
9314
 9523 53f6 A093 0000 		sts (SummeNick)+2,r26
9315
 9524 53fa B093 0000 		sts (SummeNick)+3,r27
9316
 9525               	.L726:
9317
 9526 53fe B090 0000 		lds r11,EE_Parameter+35
9318
 9527 5402 2B2D      		mov r18,r11
9319
 9528 5404 3327      		clr r19
9320
 9529 5406 8091 0000 		lds r24,DiffNick
9321
 9530 540a 9091 0000 		lds r25,(DiffNick)+1
9322
 9531 540e 289F      		mul r18,r24
9323
 9532 5410 7001      		movw r14,r0
9324
 9533 5412 299F      		mul r18,r25
9325
 9534 5414 F00C      		add r15,r0
9326
 9535 5416 389F      		mul r19,r24
9327
 9536 5418 F00C      		add r15,r0
9328
 9537 541a 1124      		clr r1
9329
 9538 541c 9701      		movw r18,r14
9330
 9539 541e F7FE      		sbrs r15,7
9331
 9540 5420 02C0      		rjmp .L727
9332
 9541 5422 295F      		subi r18,lo8(-(7))
9333
 9542 5424 3F4F      		sbci r19,hi8(-(7))
9334
 9543               	.L727:
9335
 9544 5426 7901      		movw r14,r18
9336
 9545 5428 53E0      		ldi r21,3
9337
 9546 542a F594      	1:	asr r15
9338
 9547 542c E794      		ror r14
9339
 9548 542e 5A95      		dec r21
9340
 9549 5430 E1F7      		brne 1b
9341
 9550 5432 0091 0000 		lds r16,Ki
9342
 9551 5436 1091 0000 		lds r17,(Ki)+1
9343
 9552 543a 9801      		movw r18,r16
9344
 9553 543c 4427      		clr r20
9345
 9554 543e 37FD      		sbrc r19,7
9346
 9555 5440 4095      		com r20
9347
 9556 5442 542F      		mov r21,r20
9348
 9557 5444 8091 0000 		lds r24,SummeNick
9349
 9558 5448 9091 0000 		lds r25,(SummeNick)+1
9350
 9559 544c A091 0000 		lds r26,(SummeNick)+2
9351
 9560 5450 B091 0000 		lds r27,(SummeNick)+3
9352
 9561 5454 BC01      		movw r22,r24
9353
 9562 5456 CD01      		movw r24,r26
9354
 9563 5458 0E94 0000 		call __divmodsi4
9355
 9564 545c E20E      		add r14,r18
9356
 9565 545e F31E      		adc r15,r19
9357
 9566 5460 9090 0000 		lds r9,Parameter_DynamicStability
9358
 9567 5464 692D      		mov r22,r9
9359
 9568 5466 7727      		clr r23
9360
 9569 5468 8827      		clr r24
9361
 9570 546a 9927      		clr r25
9362
 9571 546c 9601      		movw r18,r12
9363
 9572 546e D7FE      		sbrs r13,7
9364
 9573 5470 04C0      		rjmp .L728
9365
 9574 5472 2227      		clr r18
9366
 9575 5474 3327      		clr r19
9367
 9576 5476 2C19      		sub r18,r12
9368
 9577 5478 3D09      		sbc r19,r13
9369
 9578               	.L728:
9370
 9579 547a 37FF      		sbrs r19,7
9371
 9580 547c 02C0      		rjmp .L729
9372
 9581 547e 2F5F      		subi r18,lo8(-(1))
9373
 9582 5480 3F4F      		sbci r19,hi8(-(1))
9374
 9583               	.L729:
9375
 9584 5482 3595      		asr r19
9376
 9585 5484 2795      		ror r18
9377
 9586 5486 48A1      		ldd r20,Y+32
9378
 9587 5488 59A1      		ldd r21,Y+33
9379
 9588 548a 240F      		add r18,r20
9380
 9589 548c 351F      		adc r19,r21
9381
 9590 548e 4427      		clr r20
9382
 9591 5490 37FD      		sbrc r19,7
9383
 9592 5492 4095      		com r20
9384
 9593 5494 542F      		mov r21,r20
9385
 9594 5496 0E94 0000 		call __mulsi3
9386
 9595 549a 97FF      		sbrs r25,7
9387
 9596 549c 04C0      		rjmp .L730
9388
 9597 549e 615C      		subi r22,lo8(-(63))
9389
 9598 54a0 7F4F      		sbci r23,hi8(-(63))
9390
 9599 54a2 8F4F      		sbci r24,hlo8(-(63))
9391
 9600 54a4 9F4F      		sbci r25,hhi8(-(63))
9392
 9601               	.L730:
9393
 9602 54a6 26E0      		ldi r18,6
9394
 9603 54a8 9595      	1:	asr r25
9395
 9604 54aa 8795      		ror r24
9396
 9605 54ac 7795      		ror r23
9397
 9606 54ae 6795      		ror r22
9398
 9607 54b0 2A95      		dec r18
9399
 9608 54b2 D1F7      		brne 1b
9400
 9609 54b4 9B01      		movw r18,r22
9401
 9610 54b6 6E15      		cp r22,r14
9402
 9611 54b8 7F05      		cpc r23,r15
9403
 9612 54ba 0CF4      		brge .L731
9404
 9613 54bc 7B01      		movw r14,r22
9405
 9614               	.L731:
9406
 9615 54be 3095      		com r19
9407
 9616 54c0 2195      		neg r18
9408
 9617 54c2 3F4F      		sbci r19,lo8(-1)
9409
 9618 54c4 E216      		cp r14,r18
9410
 9619 54c6 F306      		cpc r15,r19
9411
 9620 54c8 0CF4      		brge .L732
9412
 9621 54ca 7901      		movw r14,r18
9413
 9622               	.L732:
9414
 9623 54cc 8091 0000 		lds r24,MesswertRoll
9415
 9624 54d0 9091 0000 		lds r25,(MesswertRoll)+1
9416
 9625 54d4 6091 0000 		lds r22,StickRoll
9417
 9626 54d8 7091 0000 		lds r23,(StickRoll)+1
9418
 9627 54dc 861B      		sub r24,r22
9419
 9628 54de 970B      		sbc r25,r23
9420
 9629 54e0 9093 0000 		sts (DiffRoll)+1,r25
9421
 9630 54e4 8093 0000 		sts DiffRoll,r24
9422
 9631 54e8 2091 0000 		lds r18,SummeRoll
9423
 9632 54ec 3091 0000 		lds r19,(SummeRoll)+1
9424
 9633 54f0 4091 0000 		lds r20,(SummeRoll)+2
9425
 9634 54f4 5091 0000 		lds r21,(SummeRoll)+3
9426
 9635 54f8 AA20      		tst r10
9427
 9636 54fa 41F0      		breq .L733
9428
 9637 54fc 261A      		sub r2,r22
9429
 9638 54fe 370A      		sbc r3,r23
9430
 9639 5500 C101      		movw r24,r2
9431
 9640 5502 AA27      		clr r26
9432
 9641 5504 97FD      		sbrc r25,7
9433
 9642 5506 A095      		com r26
9434
 9643 5508 BA2F      		mov r27,r26
9435
 9644 550a 04C0      		rjmp .L803
9436
 9645               	.L733:
9437
 9646 550c AA27      		clr r26
9438
 9647 550e 97FD      		sbrc r25,7
9439
 9648 5510 A095      		com r26
9440
 9649 5512 BA2F      		mov r27,r26
9441
 9650               	.L803:
9442
 9651 5514 280F      		add r18,r24
9443
 9652 5516 391F      		adc r19,r25
9444
 9653 5518 4A1F      		adc r20,r26
9445
 9654 551a 5B1F      		adc r21,r27
9446
 9655 551c 2093 0000 		sts SummeRoll,r18
9447
 9656 5520 3093 0000 		sts (SummeRoll)+1,r19
9448
 9657 5524 4093 0000 		sts (SummeRoll)+2,r20
9449
 9658 5528 5093 0000 		sts (SummeRoll)+3,r21
9450
 9659 552c 8091 0000 		lds r24,SummeRoll
9451
 9660 5530 9091 0000 		lds r25,(SummeRoll)+1
9452
 9661 5534 A091 0000 		lds r26,(SummeRoll)+2
9453
 9662 5538 B091 0000 		lds r27,(SummeRoll)+3
9454
 9663 553c 8150      		subi r24,lo8(64001)
9455
 9664 553e 9A4F      		sbci r25,hi8(64001)
9456
 9665 5540 A040      		sbci r26,hlo8(64001)
9457
 9666 5542 B040      		sbci r27,hhi8(64001)
9458
 9667 5544 64F0      		brlt .L735
9459
 9668 5546 80E0      		ldi r24,lo8(64000)
9460
 9669 5548 9AEF      		ldi r25,hi8(64000)
9461
 9670 554a A0E0      		ldi r26,hlo8(64000)
9462
 9671 554c B0E0      		ldi r27,hhi8(64000)
9463
 9672 554e 8093 0000 		sts SummeRoll,r24
9464
 9673 5552 9093 0000 		sts (SummeRoll)+1,r25
9465
 9674 5556 A093 0000 		sts (SummeRoll)+2,r26
9466
 9675 555a B093 0000 		sts (SummeRoll)+3,r27
9467
 9676               	.L735:
9468
 9677 555e 8091 0000 		lds r24,SummeRoll
9469
 9678 5562 9091 0000 		lds r25,(SummeRoll)+1
9470
 9679 5566 A091 0000 		lds r26,(SummeRoll)+2
9471
 9680 556a B091 0000 		lds r27,(SummeRoll)+3
9472
 9681 556e 8050      		subi r24,lo8(-64000)
9473
 9682 5570 9640      		sbci r25,hi8(-64000)
9474
 9683 5572 AF4F      		sbci r26,hlo8(-64000)
9475
 9684 5574 BF4F      		sbci r27,hhi8(-64000)
9476
 9685 5576 64F4      		brge .L736
9477
 9686 5578 80E0      		ldi r24,lo8(-64000)
9478
 9687 557a 96E0      		ldi r25,hi8(-64000)
9479
 9688 557c AFEF      		ldi r26,hlo8(-64000)
9480
 9689 557e BFEF      		ldi r27,hhi8(-64000)
9481
 9690 5580 8093 0000 		sts SummeRoll,r24
9482
 9691 5584 9093 0000 		sts (SummeRoll)+1,r25
9483
 9692 5588 A093 0000 		sts (SummeRoll)+2,r26
9484
 9693 558c B093 0000 		sts (SummeRoll)+3,r27
9485
 9694               	.L736:
9486
 9695 5590 2B2D      		mov r18,r11
9487
 9696 5592 3327      		clr r19
9488
 9697 5594 8091 0000 		lds r24,DiffRoll
9489
 9698 5598 9091 0000 		lds r25,(DiffRoll)+1
9490
 9699 559c 289F      		mul r18,r24
9491
 9700 559e D001      		movw r26,r0
9492
 9701 55a0 299F      		mul r18,r25
9493
 9702 55a2 B00D      		add r27,r0
9494
 9703 55a4 389F      		mul r19,r24
9495
 9704 55a6 B00D      		add r27,r0
9496
 9705 55a8 1124      		clr r1
9497
 9706 55aa 9D01      		movw r18,r26
9498
 9707 55ac B7FF      		sbrs r27,7
9499
 9708 55ae 02C0      		rjmp .L737
9500
 9709 55b0 295F      		subi r18,lo8(-(7))
9501
 9710 55b2 3F4F      		sbci r19,hi8(-(7))
9502
 9711               	.L737:
9503
 9712 55b4 5901      		movw r10,r18
9504
 9713 55b6 B3E0      		ldi r27,3
9505
 9714 55b8 B594      	1:	asr r11
9506
 9715 55ba A794      		ror r10
9507
 9716 55bc BA95      		dec r27
9508
 9717 55be E1F7      		brne 1b
9509
 9718 55c0 9801      		movw r18,r16
9510
 9719 55c2 4427      		clr r20
9511
 9720 55c4 37FD      		sbrc r19,7
9512
 9721 55c6 4095      		com r20
9513
 9722 55c8 542F      		mov r21,r20
9514
 9723 55ca 8091 0000 		lds r24,SummeRoll
9515
 9724 55ce 9091 0000 		lds r25,(SummeRoll)+1
9516
 9725 55d2 A091 0000 		lds r26,(SummeRoll)+2
9517
 9726 55d6 B091 0000 		lds r27,(SummeRoll)+3
9518
 9727 55da BC01      		movw r22,r24
9519
 9728 55dc CD01      		movw r24,r26
9520
 9729 55de 0E94 0000 		call __divmodsi4
9521
 9730 55e2 A20E      		add r10,r18
9522
 9731 55e4 B31E      		adc r11,r19
9523
 9732 55e6 692D      		mov r22,r9
9524
 9733 55e8 7727      		clr r23
9525
 9734 55ea 8827      		clr r24
9526
 9735 55ec 9927      		clr r25
9527
 9736 55ee 9601      		movw r18,r12
9528
 9737 55f0 D7FE      		sbrs r13,7
9529
 9738 55f2 04C0      		rjmp .L738
9530
 9739 55f4 2227      		clr r18
9531
 9740 55f6 3327      		clr r19
9532
 9741 55f8 2C19      		sub r18,r12
9533
 9742 55fa 3D09      		sbc r19,r13
9534
 9743               	.L738:
9535
 9744 55fc 37FF      		sbrs r19,7
9536
 9745 55fe 02C0      		rjmp .L739
9537
 9746 5600 2F5F      		subi r18,lo8(-(1))
9538
 9747 5602 3F4F      		sbci r19,hi8(-(1))
9539
 9748               	.L739:
9540
 9749 5604 3595      		asr r19
9541
 9750 5606 2795      		ror r18
9542
 9751 5608 E8A1      		ldd r30,Y+32
9543
 9752 560a F9A1      		ldd r31,Y+33
9544
 9753 560c 2E0F      		add r18,r30
9545
 9754 560e 3F1F      		adc r19,r31
9546
 9755 5610 4427      		clr r20
9547
 9756 5612 37FD      		sbrc r19,7
9548
 9757 5614 4095      		com r20
9549
 9758 5616 542F      		mov r21,r20
9550
 9759 5618 0E94 0000 		call __mulsi3
9551
 9760 561c 97FF      		sbrs r25,7
9552
 9761 561e 04C0      		rjmp .L740
9553
 9762 5620 615C      		subi r22,lo8(-(63))
9554
 9763 5622 7F4F      		sbci r23,hi8(-(63))
9555
 9764 5624 8F4F      		sbci r24,hlo8(-(63))
9556
 9765 5626 9F4F      		sbci r25,hhi8(-(63))
9557
 9766               	.L740:
9558
 9767 5628 F6E0      		ldi r31,6
9559
 9768 562a 9595      	1:	asr r25
9560
 9769 562c 8795      		ror r24
9561
 9770 562e 7795      		ror r23
9562
 9771 5630 6795      		ror r22
9563
 9772 5632 FA95      		dec r31
9564
 9773 5634 D1F7      		brne 1b
9565
 9774 5636 9B01      		movw r18,r22
9566
 9775 5638 6A15      		cp r22,r10
9567
 9776 563a 7B05      		cpc r23,r11
9568
 9777 563c 0CF4      		brge .L741
9569
 9778 563e 5B01      		movw r10,r22
9570
 9779               	.L741:
9571
 9780 5640 3095      		com r19
9572
 9781 5642 2195      		neg r18
9573
 9782 5644 3F4F      		sbci r19,lo8(-1)
9574
 9783 5646 A216      		cp r10,r18
9575
 9784 5648 B306      		cpc r11,r19
9576
 9785 564a 0CF4      		brge .L742
9577
 9786 564c 5901      		movw r10,r18
9578
 9787               	.L742:
9579
 9788 564e 2090 0000 		lds r2,Parameter_UserParam7
9580
 9789 5652 E0E0      		ldi r30,lo8(Motor)
9581
 9790 5654 6E2E      		mov r6,r30
9582
 9791 5656 E0E0      		ldi r30,hi8(Motor)
9583
 9792 5658 7E2E      		mov r7,r30
9584
 9793 565a 70E0      		ldi r23,lo8(Mixer+13)
9585
 9794 565c 872E      		mov r8,r23
9586
 9795 565e 70E0      		ldi r23,hi8(Mixer+13)
9587
 9796 5660 972E      		mov r9,r23
9588
 9797 5662 6BE0      		ldi r22,lo8(11)
9589
 9798 5664 362E      		mov r3,r22
9590
 9799 5666 50E0      		ldi r21,lo8(tmp_motorwert)
9591
 9800 5668 452E      		mov r4,r21
9592
 9801 566a 50E0      		ldi r21,hi8(tmp_motorwert)
9593
 9802 566c 552E      		mov r5,r21
9594
 9803               	.L776:
9595
 9804 566e D401      		movw r26,r8
9596
 9805 5670 2C91      		ld r18,X
9597
 9806 5672 1216      		cp __zero_reg__,r18
9598
 9807 5674 0CF0      		brlt .+2
9599
 9808 5676 ECC0      		rjmp .L746
9600
 9809 5678 2034      		cpi r18,lo8(64)
9601
 9810 567a 19F4      		brne .L747
9602
 9811 567c 08A1      		ldd r16,Y+32
9603
 9812 567e 19A1      		ldd r17,Y+33
9604
 9813 5680 1EC0      		rjmp .L748
9605
 9814               	.L747:
9606
 9815 5682 E8A1      		ldd r30,Y+32
9607
 9816 5684 F9A1      		ldd r31,Y+33
9608
 9817 5686 CF01      		movw r24,r30
9609
 9818 5688 AA27      		clr r26
9610
 9819 568a 97FD      		sbrc r25,7
9611
 9820 568c A095      		com r26
9612
 9821 568e BA2F      		mov r27,r26
9613
 9822 5690 3327      		clr r19
9614
 9823 5692 27FD      		sbrc r18,7
9615
 9824 5694 3095      		com r19
9616
 9825 5696 432F      		mov r20,r19
9617
 9826 5698 532F      		mov r21,r19
9618
 9827 569a BC01      		movw r22,r24
9619
 9828 569c CD01      		movw r24,r26
9620
 9829 569e 0E94 0000 		call __mulsi3
9621
 9830 56a2 97FF      		sbrs r25,7
9622
 9831 56a4 04C0      		rjmp .L749
9623
 9832 56a6 615C      		subi r22,lo8(-(63))
9624
 9833 56a8 7F4F      		sbci r23,hi8(-(63))
9625
 9834 56aa 8F4F      		sbci r24,hlo8(-(63))
9626
 9835 56ac 9F4F      		sbci r25,hhi8(-(63))
9627
 9836               	.L749:
9628
 9837 56ae 46E0      		ldi r20,6
9629
 9838 56b0 9595      	1:	asr r25
9630
 9839 56b2 8795      		ror r24
9631
 9840 56b4 7795      		ror r23
9632
 9841 56b6 6795      		ror r22
9633
 9842 56b8 4A95      		dec r20
9634
 9843 56ba D1F7      		brne 1b
9635
 9844 56bc 8B01      		movw r16,r22
9636
 9845               	.L748:
9637
 9846 56be F401      		movw r30,r8
9638
 9847 56c0 2181      		ldd r18,Z+1
9639
 9848 56c2 2034      		cpi r18,lo8(64)
9640
 9849 56c4 19F4      		brne .L750
9641
 9850 56c6 0E0D      		add r16,r14
9642
 9851 56c8 1F1D      		adc r17,r15
9643
 9852 56ca 22C0      		rjmp .L751
9644
 9853               	.L750:
9645
 9854 56cc 203C      		cpi r18,lo8(-64)
9646
 9855 56ce 19F4      		brne .L752
9647
 9856 56d0 0E19      		sub r16,r14
9648
 9857 56d2 1F09      		sbc r17,r15
9649
 9858 56d4 1DC0      		rjmp .L751
9650
 9859               	.L752:
9651
 9860 56d6 C701      		movw r24,r14
9652
 9861 56d8 AA27      		clr r26
9653
 9862 56da 97FD      		sbrc r25,7
9654
 9863 56dc A095      		com r26
9655
 9864 56de BA2F      		mov r27,r26
9656
 9865 56e0 3327      		clr r19
9657
 9866 56e2 27FD      		sbrc r18,7
9658
 9867 56e4 3095      		com r19
9659
 9868 56e6 432F      		mov r20,r19
9660
 9869 56e8 532F      		mov r21,r19
9661
 9870 56ea BC01      		movw r22,r24
9662
 9871 56ec CD01      		movw r24,r26
9663
 9872 56ee 0E94 0000 		call __mulsi3
9664
 9873 56f2 97FF      		sbrs r25,7
9665
 9874 56f4 04C0      		rjmp .L754
9666
 9875 56f6 615C      		subi r22,lo8(-(63))
9667
 9876 56f8 7F4F      		sbci r23,hi8(-(63))
9668
 9877 56fa 8F4F      		sbci r24,hlo8(-(63))
9669
 9878 56fc 9F4F      		sbci r25,hhi8(-(63))
9670
 9879               	.L754:
9671
 9880 56fe 36E0      		ldi r19,6
9672
 9881 5700 9595      	1:	asr r25
9673
 9882 5702 8795      		ror r24
9674
 9883 5704 7795      		ror r23
9675
 9884 5706 6795      		ror r22
9676
 9885 5708 3A95      		dec r19
9677
 9886 570a D1F7      		brne 1b
9678
 9887 570c 060F      		add r16,r22
9679
 9888 570e 171F      		adc r17,r23
9680
 9889               	.L751:
9681
 9890 5710 F401      		movw r30,r8
9682
 9891 5712 2281      		ldd r18,Z+2
9683
 9892 5714 2034      		cpi r18,lo8(64)
9684
 9893 5716 19F4      		brne .L755
9685
 9894 5718 0A0D      		add r16,r10
9686
 9895 571a 1B1D      		adc r17,r11
9687
 9896 571c 22C0      		rjmp .L756
9688
 9897               	.L755:
9689
 9898 571e 203C      		cpi r18,lo8(-64)
9690
 9899 5720 19F4      		brne .L757
9691
 9900 5722 0A19      		sub r16,r10
9692
 9901 5724 1B09      		sbc r17,r11
9693
 9902 5726 1DC0      		rjmp .L756
9694
 9903               	.L757:
9695
 9904 5728 C501      		movw r24,r10
9696
 9905 572a AA27      		clr r26
9697
 9906 572c 97FD      		sbrc r25,7
9698
 9907 572e A095      		com r26
9699
 9908 5730 BA2F      		mov r27,r26
9700
 9909 5732 3327      		clr r19
9701
 9910 5734 27FD      		sbrc r18,7
9702
 9911 5736 3095      		com r19
9703
 9912 5738 432F      		mov r20,r19
9704
 9913 573a 532F      		mov r21,r19
9705
 9914 573c BC01      		movw r22,r24
9706
 9915 573e CD01      		movw r24,r26
9707
 9916 5740 0E94 0000 		call __mulsi3
9708
 9917 5744 97FF      		sbrs r25,7
9709
 9918 5746 04C0      		rjmp .L759
9710
 9919 5748 615C      		subi r22,lo8(-(63))
9711
 9920 574a 7F4F      		sbci r23,hi8(-(63))
9712
 9921 574c 8F4F      		sbci r24,hlo8(-(63))
9713
 9922 574e 9F4F      		sbci r25,hhi8(-(63))
9714
 9923               	.L759:
9715
 9924 5750 26E0      		ldi r18,6
9716
 9925 5752 9595      	1:	asr r25
9717
 9926 5754 8795      		ror r24
9718
 9927 5756 7795      		ror r23
9719
 9928 5758 6795      		ror r22
9720
 9929 575a 2A95      		dec r18
9721
 9930 575c D1F7      		brne 1b
9722
 9931 575e 060F      		add r16,r22
9723
 9932 5760 171F      		adc r17,r23
9724
 9933               	.L756:
9725
 9934 5762 F401      		movw r30,r8
9726
 9935 5764 2381      		ldd r18,Z+3
9727
 9936 5766 2034      		cpi r18,lo8(64)
9728
 9937 5768 19F4      		brne .L760
9729
 9938 576a 0C0D      		add r16,r12
9730
 9939 576c 1D1D      		adc r17,r13
9731
 9940 576e 22C0      		rjmp .L761
9732
 9941               	.L760:
9733
 9942 5770 203C      		cpi r18,lo8(-64)
9734
 9943 5772 19F4      		brne .L762
9735
 9944 5774 0C19      		sub r16,r12
9736
 9945 5776 1D09      		sbc r17,r13
9737
 9946 5778 1DC0      		rjmp .L761
9738
 9947               	.L762:
9739
 9948 577a C601      		movw r24,r12
9740
 9949 577c AA27      		clr r26
9741
 9950 577e 97FD      		sbrc r25,7
9742
 9951 5780 A095      		com r26
9743
 9952 5782 BA2F      		mov r27,r26
9744
 9953 5784 3327      		clr r19
9745
 9954 5786 27FD      		sbrc r18,7
9746
 9955 5788 3095      		com r19
9747
 9956 578a 432F      		mov r20,r19
9748
 9957 578c 532F      		mov r21,r19
9749
 9958 578e BC01      		movw r22,r24
9750
 9959 5790 CD01      		movw r24,r26
9751
 9960 5792 0E94 0000 		call __mulsi3
9752
 9961 5796 97FF      		sbrs r25,7
9753
 9962 5798 04C0      		rjmp .L764
9754
 9963 579a 615C      		subi r22,lo8(-(63))
9755
 9964 579c 7F4F      		sbci r23,hi8(-(63))
9756
 9965 579e 8F4F      		sbci r24,hlo8(-(63))
9757
 9966 57a0 9F4F      		sbci r25,hhi8(-(63))
9758
 9967               	.L764:
9759
 9968 57a2 B6E0      		ldi r27,6
9760
 9969 57a4 9595      	1:	asr r25
9761
 9970 57a6 8795      		ror r24
9762
 9971 57a8 7795      		ror r23
9763
 9972 57aa 6795      		ror r22
9764
 9973 57ac BA95      		dec r27
9765
 9974 57ae D1F7      		brne 1b
9766
 9975 57b0 060F      		add r16,r22
9767
 9976 57b2 171F      		adc r17,r23
9768
 9977               	.L761:
9769
 9978 57b4 D201      		movw r26,r4
9770
 9979 57b6 8D91      		ld r24,X+
9771
 9980 57b8 9C91      		ld r25,X
9772
 9981 57ba 8017      		cp r24,r16
9773
 9982 57bc 9107      		cpc r25,r17
9774
 9983 57be 5CF4      		brge .L765
9775
 9984 57c0 BC01      		movw r22,r24
9776
 9985 57c2 600F      		add r22,r16
9777
 9986 57c4 711F      		adc r23,r17
9778
 9987 57c6 77FF      		sbrs r23,7
9779
 9988 57c8 02C0      		rjmp .L766
9780
 9989 57ca 6F5F      		subi r22,lo8(-(1))
9781
 9990 57cc 7F4F      		sbci r23,hi8(-(1))
9782
 9991               	.L766:
9783
 9992 57ce 8B01      		movw r16,r22
9784
 9993 57d0 1595      		asr r17
9785
 9994 57d2 0795      		ror r16
9786
 9995 57d4 11C0      		rjmp .L767
9787
 9996               	.L765:
9788
 9997 57d6 B1E0      		ldi r27,lo8(1)
9789
 9998 57d8 B215      		cp r27,r2
9790
 9999 57da 28F0      		brlo .L768
9791
 10000 57dc 000F      		add r16,r16
9792
 10001 57de 111F      		adc r17,r17
9793
 10002 57e0 081B      		sub r16,r24
9794
 10003 57e2 190B      		sbc r17,r25
9795
 10004 57e4 09C0      		rjmp .L767
9796
 10005               	.L768:
9797
 10006 57e6 222D      		mov r18,r2
9798
 10007 57e8 3327      		clr r19
9799
 10008 57ea 801B      		sub r24,r16
9800
 10009 57ec 910B      		sbc r25,r17
9801
 10010 57ee B901      		movw r22,r18
9802
 10011 57f0 0E94 0000 		call __divmodhi4
9803
 10012 57f4 060F      		add r16,r22
9804
 10013 57f6 171F      		adc r17,r23
9805
 10014               	.L767:
9806
 10015 57f8 E8A9      		ldd r30,Y+48
9807
 10016 57fa 8E2F      		mov r24,r30
9808
 10017 57fc 9927      		clr r25
9809
 10018 57fe 880F      		lsl r24
9810
 10019 5800 991F      		rol r25
9811
 10020 5802 880F      		lsl r24
9812
 10021 5804 991F      		rol r25
9813
 10022 5806 8017      		cp r24,r16
9814
 10023 5808 9107      		cpc r25,r17
9815
 10024 580a 54F4      		brge .L804
9816
 10025 580c F9A9      		ldd r31,Y+49
9817
 10026 580e 8F2F      		mov r24,r31
9818
 10027 5810 9927      		clr r25
9819
 10028 5812 880F      		lsl r24
9820
 10029 5814 991F      		rol r25
9821
 10030 5816 880F      		lsl r24
9822
 10031 5818 991F      		rol r25
9823
 10032 581a 0817      		cp r16,r24
9824
 10033 581c 1907      		cpc r17,r25
9825
 10034 581e 0CF0      		brlt .L771
9826
 10035               	.L804:
9827
 10036 5820 8C01      		movw r16,r24
9828
 10037               	.L771:
9829
 10038 5822 C801      		movw r24,r16
9830
 10039 5824 17FD      		sbrc r17,7
9831
 10040 5826 0396      		adiw r24,3
9832
 10041               	.L773:
9833
 10042 5828 9595      		asr r25
9834
 10043 582a 8795      		ror r24
9835
 10044 582c 9595      		asr r25
9836
 10045 582e 8795      		ror r24
9837
 10046 5830 F301      		movw r30,r6
9838
 10047 5832 8183      		std Z+1,r24
9839
 10048 5834 880F      		lsl r24
9840
 10049 5836 991F      		rol r25
9841
 10050 5838 880F      		lsl r24
9842
 10051 583a 991F      		rol r25
9843
 10052 583c 9801      		movw r18,r16
9844
 10053 583e 281B      		sub r18,r24
9845
 10054 5840 390B      		sbc r19,r25
9846
 10055 5842 C901      		movw r24,r18
9847
 10056 5844 880F      		lsl r24
9848
 10057 5846 8283      		std Z+2,r24
9849
 10058 5848 D201      		movw r26,r4
9850
 10059 584a 0D93      		st X+,r16
9851
 10060 584c 1C93      		st X,r17
9852
 10061 584e 03C0      		rjmp .L745
9853
 10062               	.L746:
9854
 10063 5850 F301      		movw r30,r6
9855
 10064 5852 1182      		std Z+1,__zero_reg__
9856
 10065 5854 1282      		std Z+2,__zero_reg__
9857
 10066               	.L745:
9858
 10067 5856 3A94      		dec r3
9859
 10068 5858 02E0      		ldi r16,lo8(2)
9860
 10069 585a 10E0      		ldi r17,hi8(2)
9861
 10070 585c 400E      		add r4,r16
9862
 10071 585e 511E      		adc r5,r17
9863
 10072 5860 24E0      		ldi r18,lo8(4)
9864
 10073 5862 30E0      		ldi r19,hi8(4)
9865
 10074 5864 820E      		add r8,r18
9866
 10075 5866 931E      		adc r9,r19
9867
 10076 5868 48E0      		ldi r20,lo8(8)
9868
 10077 586a 50E0      		ldi r21,hi8(8)
9869
 10078 586c 640E      		add r6,r20
9870
 10079 586e 751E      		adc r7,r21
9871
 10080 5870 37FE      		sbrs r3,7
9872
 10081 5872 FDCE      		rjmp .L776
9873
 10082               	/* epilogue: frame size=53 */
9874
 10083 5874 E2E1      		ldi r30,18
9875
 10084 5876 CB5C      		subi r28,-53
9876
 10085 5878 0C94 0000 		jmp __epilogue_restores__+0
9877
 10086               	/* epilogue end (size=4) */
9878
 10087               	/* function MotorRegler size 7579 (7569) */
9879
 10089               		.comm TrimNick,2,1
9880
 10090               		.comm TrimRoll,2,1
9881
 10091               		.comm ErsatzKompass,4,1
9882
 10092               		.comm ErsatzKompassInGrad,2,1
9883
 10093               		.comm MesswertNick,2,1
9884
 10094               		.comm MesswertRoll,2,1
9885
 10095               		.comm MesswertGier,2,1
9886
 10096               		.comm Mittelwert_AccNick,2,1
9887
 10097               		.comm Mittelwert_AccRoll,2,1
9888
 10098               		.comm NaviAccNick,2,1
9889
 10099               		.comm NaviAccRoll,2,1
9890
 10100               		.comm h,1,1
9891
 10101               		.comm m,1,1
9892
 10102               		.comm s,1,1
9893
 10103               		.comm DiffNick,2,1
9894
 10104               		.comm DiffRoll,2,1
9895
 10105               		.comm Parameter_Servo3,1,1
9896
 10106               		.comm Parameter_Servo4,1,1
9897
 10107               		.comm Parameter_Servo5,1,1
9898
 10108               		.comm Parameter_J16Bitmask,1,1
9899
 10109               		.comm Parameter_J16Timing,1,1
9900
 10110               		.comm Parameter_J17Bitmask,1,1
9901
 10111               		.comm Parameter_J17Timing,1,1
9902
 10112               		.comm MesswertGierBias,2,1
9903
 10113               		.comm RohMesswertNick,2,1
9904
 10114               		.comm RohMesswertRoll,2,1
9905
 10115               		.comm MittelIntegralNick,4,1
9906
 10116               		.comm MittelIntegralRoll,4,1
9907
 10117               		.comm MittelIntegralNick2,4,1
9908
 10118               		.comm MittelIntegralRoll2,4,1
9909
 10119               		.comm MAX_GAS,1,1
9910
 10120               		.comm MIN_GAS,1,1
9911
 10121               		.comm GyroFaktor,1,1
9912
 10122               		.comm GyroFaktorGier,1,1
9913
 10123               		.comm IntegralFaktor,1,1
9914
 10124               		.comm IntegralFaktorGier,1,1
9915
 10125               		.comm Parameter_NaviGpsModeControl,1,1
9916
 10126               		.comm Parameter_NaviGpsGain,1,1
9917
 10127               		.comm Parameter_NaviGpsP,1,1
9918
 10128               		.comm Parameter_NaviGpsI,1,1
9919
 10129               		.comm Parameter_NaviGpsD,1,1
9920
 10130               		.comm Parameter_NaviGpsACC,1,1
9921
 10131               		.comm Parameter_NaviOperatingRadius,1,1
9922
 10132               		.comm Parameter_NaviWindCorrection,1,1
9923
 10133               		.comm Parameter_NaviSpeedCompensation,1,1
9924
 10134               		.comm Parameter_ExternalControl,1,1
9925
 10135               		.comm KopplungsteilNickRoll,2,1
9926
 10136               		.comm KopplungsteilRollNick,2,1
9927
 10137               		.comm tmp_motorwert,24,1
9928
 10138               	/* File "fc.c": code 11471 = 0x2ccf (11418), prologues  27, epilogues  26 */
9929
DEFINED SYMBOLS
9930
                            *ABS*:00000000 fc.c
9931
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:3      *ABS*:0000003f __SREG__
9932
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:4      *ABS*:0000003e __SP_H__
9933
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:5      *ABS*:0000003d __SP_L__
9934
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:6      *ABS*:00000000 __tmp_reg__
9935
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:7      *ABS*:00000001 __zero_reg__
9936
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:14     .data:00000000 VarioCharacter
9937
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:19     .data:00000001 GIER_GRAD_FAKTOR
9938
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:26     .bss:00000000 FCFlags
9939
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:32     .bss:00000001 modell_fliegt
9940
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:38     .bss:00000003 MaxStickRoll
9941
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:44     .bss:00000005 MaxStickNick
9942
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:50     .data:00000005 ExternHoehenValue
9943
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:57     .bss:00000007 ExternStickGier
9944
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:63     .bss:00000009 ExternStickRoll
9945
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:69     .bss:0000000b ExternStickNick
9946
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:75     .bss:0000000d CareFree
9947
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:81     .data:00000007 Parameter_DynamicStability
9948
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:86     .data:00000008 Parameter_CouplingYawCorrection
9949
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:91     .data:00000009 Parameter_AchsKopplung2
9950
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:96     .data:0000000a Parameter_AchsKopplung1
9951
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:101    .data:0000000b Parameter_LoopGasLimit
9952
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:106    .data:0000000c Parameter_ServoRollControl
9953
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:111    .data:0000000d Parameter_ServoNickControl
9954
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:118    .bss:0000000e Parameter_UserParam8
9955
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:124    .bss:0000000f Parameter_UserParam7
9956
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:130    .bss:00000010 Parameter_UserParam6
9957
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:136    .bss:00000011 Parameter_UserParam5
9958
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:142    .bss:00000012 Parameter_UserParam4
9959
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:148    .bss:00000013 Parameter_UserParam3
9960
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:154    .bss:00000014 Parameter_UserParam2
9961
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:160    .bss:00000015 Parameter_UserParam1
9962
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:166    .data:0000000e Parameter_I_Faktor
9963
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:171    .data:0000000f Parameter_Gier_P
9964
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:176    .data:00000010 Parameter_Gyro_Gier_I
9965
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:181    .data:00000011 Parameter_Gyro_Gier_P
9966
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:186    .data:00000012 Parameter_Gyro_I
9967
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:191    .data:00000013 Parameter_Gyro_P
9968
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:196    .data:00000014 Parameter_Gyro_D
9969
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:201    .data:00000015 Parameter_Hoehe_GPS_Z
9970
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:206    .data:00000016 Parameter_KompassWirkung
9971
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:211    .data:00000017 Parameter_Hoehe_ACC_Wirkung
9972
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:216    .data:00000018 Parameter_Hoehe_P
9973
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:221    .data:00000019 Parameter_MaxHoehe
9974
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:226    .data:0000001a Parameter_Luftdruck_D
9975
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:233    .bss:00000016 Looping_Oben
9976
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:239    .bss:00000017 Looping_Unten
9977
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:245    .bss:00000018 Looping_Rechts
9978
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:251    .bss:00000019 Looping_Links
9979
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:257    .bss:0000001a Looping_Roll
9980
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:263    .bss:0000001b Looping_Nick
9981
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:269    .data:0000001b Ki
9982
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:276    .bss:0000001c HoverGas
9983
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:282    .bss:0000001e LageKorrekturNick
9984
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:288    .bss:00000020 LageKorrekturRoll
9985
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:294    .bss:00000022 SollHoehe
9986
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:300    .bss:00000026 HoehenWert
9987
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:306    .bss:0000002a StartTrigger
9988
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:312    .bss:0000002b MotorenEin
9989
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:318    .bss:0000002c StickGas
9990
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:324    .bss:0000002e StickGier
9991
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:330    .bss:00000030 StickRoll
9992
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:336    .bss:00000032 StickNick
9993
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:342    .bss:00000034 SenderOkay
9994
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:348    .bss:00000035 Poti
9995
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:354    .bss:0000003e GierGyroFehler
9996
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:360    .data:0000001d Umschlag180Roll
9997
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:365    .data:00000021 Umschlag180Nick
9998
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:372    .bss:00000040 TrichterFlug
9999
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:378    .bss:00000041 HoehenReglerAktiv
10000
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:384    .data:00000025 KompassSignalSchlecht
10001
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:391    .bss:00000042 KompassRichtung
10002
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:397    .bss:00000044 KompassStartwert
10003
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:403    .bss:00000046 KompassValue
10004
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:409    .bss:00000048 Mess_Integral_Hoch
10005
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:415    .bss:0000004c SummeRoll
10006
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:421    .bss:00000050 SummeNick
10007
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:427    .bss:00000054 Mess_Integral_Gier2
10008
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:433    .bss:00000058 Mess_Integral_Gier
10009
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:439    .bss:0000005c Mess_IntegralRoll2
10010
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:445    .bss:00000060 Mess_IntegralRoll
10011
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:451    .bss:00000064 Mess_IntegralNick2
10012
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:457    .bss:00000068 Mess_IntegralNick
10013
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:463    .bss:0000006c Integral_Gier
10014
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:469    .bss:00000070 IntegralAccZ
10015
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:475    .bss:00000074 IntegralAccRoll
10016
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:481    .bss:00000078 IntegralAccNick
10017
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:487    .bss:0000007c IntegralRoll2
10018
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:493    .bss:00000080 IntegralRoll
10019
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:499    .bss:00000084 IntegralNick2
10020
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:505    .bss:00000088 IntegralNick
10021
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:511    .bss:0000008c ControlHeading
10022
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:517    .bss:0000008d NeutralAccZ
10023
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:523    .bss:0000008f NaviCntAcc
10024
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:529    .bss:00000091 NeutralAccY
10025
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:535    .bss:00000093 NeutralAccX
10026
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:541    .bss:00000095 StartNeutralNick
10027
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:547    .bss:00000097 StartNeutralRoll
10028
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:553    .bss:00000099 AdNeutralGier
10029
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:559    .bss:0000009b AdNeutralRoll
10030
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:565    .bss:0000009d AdNeutralNick
10031
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:571    .bss:0000009f BaroExpandActive
10032
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:576    .text:00000000 CopyDebugValues
10033
                            *COM*:00000002 Mittelwert_AccNick
10034
                            *COM*:00000002 Mittelwert_AccRoll
10035
                            *COM*:00000004 ErsatzKompass
10036
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:754    .text:00000214 Piep
10037
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:793    .text:00000256 CalibrierMittelwert
10038
                            *COM*:00000002 MesswertNick
10039
                            *COM*:00000002 MesswertRoll
10040
                            *COM*:00000002 MesswertGier
10041
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:935    .progmem.data:00000000 __c.40
10042
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:940    .text:00000398 SetNeutral
10043
                             .bss:000000a1 tmpl.32
10044
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:1441   .bss:000000a5 tmpl2.33
10045
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:1442   .bss:000000a9 tmpl3.34
10046
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:1443   .bss:000000ad tmpl4.35
10047
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:1444   .bss:000000b1 oldNick.36
10048
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:1445   .bss:000000b3 oldRoll.37
10049
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:1446   .bss:000000b5 d2Roll.38
10050
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:1447   .bss:000000b7 d2Nick.39
10051
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:1451   .text:000008f4 Mittelwert
10052
                            *COM*:00000002 RohMesswertNick
10053
                            *COM*:00000002 RohMesswertRoll
10054
                            *COM*:00000002 NaviAccNick
10055
                            *COM*:00000002 NaviAccRoll
10056
                            *COM*:00000002 KopplungsteilNickRoll
10057
                            *COM*:00000002 KopplungsteilRollNick
10058
                            *COM*:00000002 TrimRoll
10059
                            *COM*:00000002 TrimNick
10060
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:3093   .text:000018e4 SendMotorData
10061
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:3146   .text:00001950 ParameterZuordnung
10062
                            *COM*:00000001 Parameter_J16Timing
10063
                            *COM*:00000001 Parameter_J17Timing
10064
                            *COM*:00000001 Parameter_Servo3
10065
                            *COM*:00000001 Parameter_Servo4
10066
                            *COM*:00000001 Parameter_Servo5
10067
                            *COM*:00000001 Parameter_ExternalControl
10068
                            *COM*:00000001 MAX_GAS
10069
                            *COM*:00000001 MIN_GAS
10070
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:1448   .bss:000000b9 sollGier.0
10071
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:3703   .bss:000000bd tmp_long.1
10072
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:3704   .bss:000000c1 tmp_long2.2
10073
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:3705   .bss:000000c5 IntegralFehlerNick.3
10074
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:3706   .bss:000000c9 IntegralFehlerRoll.4
10075
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:3707   .bss:000000cd RcLostTimer.5
10076
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:3708   .bss:000000cf delay_neutral.6
10077
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:3709   .bss:000000d0 delay_einschalten.7
10078
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:3710   .bss:000000d1 delay_ausschalten.8
10079
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:3711   .bss:000000d2 calibration_done.9
10080
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:3712   .bss:000000d3 NeueKompassRichtungMerken.10
10081
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:3713   .bss:000000d4 ausgleichNick.11
10082
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:3714   .bss:000000d8 ausgleichRoll.12
10083
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:3715   .bss:000000dc stick_nick.13
10084
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:3716   .bss:000000de stick_roll.14
10085
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:3717   .bss:000000e0 cnt.15
10086
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:3718   .bss:000000e2 last_n_p.16
10087
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:3719   .bss:000000e3 last_n_n.17
10088
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:3720   .bss:000000e4 last_r_p.18
10089
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:3721   .bss:000000e5 last_r_n.19
10090
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:3722   .bss:000000e6 MittelIntegralNick_Alt.20
10091
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:3723   .bss:000000ea MittelIntegralRoll_Alt.21
10092
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:3724   .bss:000000ee HeightTrimming.22
10093
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:3725   .bss:000000f0 FilterHCGas.23
10094
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:3730   .data:00000027 StickGasHover.24
10095
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:3726   .bss:000000f2 HoverGasMin.25
10096
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:3735   .data:00000029 HoverGasMax.26
10097
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:3732   .bss:000000f4 HoverGasFilter.27
10098
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:3740   .data:0000002b delay.28
10099
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:3737   .bss:000000f8 BaroAtUpperLimit.29
10100
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:3742   .bss:000000f9 BaroAtLowerLimit.30
10101
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:3743   .bss:000000fa HeightTrimmingFlag.31
10102
C:\Users\Arthur-P\AppData\Local\Temp/ccOUbaaa.s:3780   .text:00001e0c MotorRegler
10103
                            *COM*:00000001 GyroFaktor
10104
                            *COM*:00000001 IntegralFaktor
10105
                            *COM*:00000001 GyroFaktorGier
10106
                            *COM*:00000001 IntegralFaktorGier
10107
                            *COM*:00000004 MittelIntegralNick
10108
                            *COM*:00000004 MittelIntegralRoll
10109
                            *COM*:00000004 MittelIntegralNick2
10110
                            *COM*:00000004 MittelIntegralRoll2
10111
                            *COM*:00000002 DiffNick
10112
                            *COM*:00000002 DiffRoll
10113
                            *COM*:00000018 tmp_motorwert
10114
                            *COM*:00000002 ErsatzKompassInGrad
10115
                            *COM*:00000001 h
10116
                            *COM*:00000001 m
10117
                            *COM*:00000001 s
10118
                            *COM*:00000001 Parameter_J16Bitmask
10119
                            *COM*:00000001 Parameter_J17Bitmask
10120
                            *COM*:00000002 MesswertGierBias
10121
                            *COM*:00000001 Parameter_NaviGpsModeControl
10122
                            *COM*:00000001 Parameter_NaviGpsGain
10123
                            *COM*:00000001 Parameter_NaviGpsP
10124
                            *COM*:00000001 Parameter_NaviGpsI
10125
                            *COM*:00000001 Parameter_NaviGpsD
10126
                            *COM*:00000001 Parameter_NaviGpsACC
10127
                            *COM*:00000001 Parameter_NaviOperatingRadius
10128
                            *COM*:00000001 Parameter_NaviWindCorrection
10129
                            *COM*:00000001 Parameter_NaviSpeedCompensation
10130
 
10131
UNDEFINED SYMBOLS
10132
__do_copy_data
10133
__do_clear_bss
10134
EE_Parameter
10135
__divmodsi4
10136
DebugOut
10137
AdWertGier
10138
AdWertAccHoch
10139
UBat
10140
Motor
10141
ServoNickValue
10142
Capacity
10143
GPS_Nick
10144
GPS_Roll
10145
VersionInfo
10146
beeptime
10147
Delay_ms
10148
PlatinenVersion
10149
SucheGyroOffset
10150
AdWertNick
10151
AdWertRoll
10152
AdWertAccNick
10153
AdWertAccRoll
10154
PPM_in
10155
__mulsi3
10156
__prologue_saves__
10157
ExpandBaro
10158
Delay_ms_Mess
10159
MessLuftdruck
10160
SucheLuftruckOffset
10161
__divmodhi4
10162
Aktuell_az
10163
SetParamWord
10164
GetParamWord
10165
uart_putchar
10166
_printf_P
10167
Luftdruck
10168
StartLuftdruck
10169
VarioMeter
10170
GPS_Neutral
10171
SendVersionToNavi
10172
LED_Init
10173
FromNaviCtrl_Value
10174
ServoActive
10175
__epilogue_restores__
10176
AdWertNickFilter
10177
AdWertRollFilter
10178
AdReady
10179
HiResNick
10180
HiResRoll
10181
MotorTest
10182
PC_MotortestActive
10183
motor_write
10184
twi_state
10185
BLFlags
10186
FromNaviCtrl
10187
BeepMuster
10188
PPM_diff
10189
SetActiveParamSet
10190
WinkelOut
10191
GetActiveParamSet
10192
ParamSet_ReadFromEEProm
10193
LipoDetection
10194
LIBFC_ReceiverInit
10195
NewPpmData
10196
FromNC_Rotate_C
10197
FromNC_Rotate_S
10198
GPS_Nick2
10199
GPS_Roll2
10200
__floatsisf
10201
__addsf3
10202
__fixunssfsi
10203
ExternControl
10204
ZaehlMessungen
10205
BattLowVoltageWarning
10206
__udivmodhi4
10207
DruckOffsetSetting
10208
SummenHoehe
10209
ihypot
10210
c_cos_8192
10211
MissingMotor
10212
Mixer