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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1755 | - | 1 | 1 .file "spi.c" |
| 2 | 2 .arch atmega644p |
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| 3 | 3 __SREG__ = 0x3f |
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| 4 | 4 __SP_H__ = 0x3e |
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| 5 | 5 __SP_L__ = 0x3d |
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| 6 | 6 __tmp_reg__ = 0 |
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| 7 | 7 __zero_reg__ = 1 |
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| 8 | 8 .global __do_copy_data |
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| 9 | 9 .global __do_clear_bss |
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| 10 | 10 .global NC_ErrorCode |
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| 11 | 11 .global NC_ErrorCode |
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| 12 | 12 .section .bss |
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| 13 | 15 NC_ErrorCode: |
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| 14 | 16 0000 00 .skip 1,0 |
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| 15 | 17 .global SPI_CommandCounter |
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| 16 | 18 .global SPI_CommandCounter |
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| 17 | 21 SPI_CommandCounter: |
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| 18 | 22 0001 00 .skip 1,0 |
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| 19 | 23 .global SPI_CommandSequence |
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| 20 | 24 .data |
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| 21 | 27 SPI_CommandSequence: |
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| 22 | 28 0000 0B .byte 11 |
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| 23 | 29 0001 0A .byte 10 |
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| 24 | 30 0002 0D .byte 13 |
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| 25 | 31 0003 0B .byte 11 |
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| 26 | 32 0004 0C .byte 12 |
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| 27 | 33 0005 0E .byte 14 |
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| 28 | 34 0006 0B .byte 11 |
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| 29 | 35 0007 0F .byte 15 |
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| 30 | 36 0008 10 .byte 16 |
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| 31 | 37 .global NaviDataOkay |
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| 32 | 40 NaviDataOkay: |
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| 33 | 41 0009 FA .byte -6 |
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| 34 | 42 .global FromNC_Rotate_S |
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| 35 | 43 .global FromNC_Rotate_S |
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| 36 | 44 .section .bss |
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| 37 | 47 FromNC_Rotate_S: |
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| 38 | 48 0002 00 .skip 1,0 |
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| 39 | 49 .global FromNC_Rotate_C |
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| 40 | 50 .data |
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| 41 | 53 FromNC_Rotate_C: |
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| 42 | 54 000a 20 .byte 32 |
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| 43 | 55 .text |
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| 44 | 56 .global SPI_MasterInit |
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| 45 | 58 SPI_MasterInit: |
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| 46 | 59 /* prologue: frame size=0 */ |
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| 47 | 60 /* prologue end (size=0) */ |
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| 48 | 61 0000 84B1 in r24,36-0x20 |
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| 49 | 62 0002 806A ori r24,lo8(-96) |
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| 50 | 63 0004 84B9 out 36-0x20,r24 |
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| 51 | 64 0006 3D9A sbi 39-0x20,5 |
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| 52 | 65 0008 82E5 ldi r24,lo8(82) |
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| 53 | 66 000a 8CBD out 76-0x20,r24 |
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| 54 | 67 000c 1DBC out 77-0x20,__zero_reg__ |
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| 55 | 68 000e 459A sbi 40-0x20,5 |
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| 56 | 69 0010 81E0 ldi r24,lo8(1) |
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| 57 | 70 0012 8093 0000 sts SPITransferCompleted,r24 |
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| 58 | 71 0016 8AEA ldi r24,lo8(-86) |
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| 59 | 72 0018 8093 0000 sts ToNaviCtrl,r24 |
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| 60 | 73 001c 83E8 ldi r24,lo8(-125) |
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| 61 | 74 001e 8093 0000 sts ToNaviCtrl+1,r24 |
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| 62 | 75 0022 8AE0 ldi r24,lo8(10) |
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| 63 | 76 0024 8093 0000 sts ToNaviCtrl+2,r24 |
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| 64 | 77 0028 1092 0000 sts (ToNaviCtrl+3)+1,__zero_reg__ |
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| 65 | 78 002c 1092 0000 sts ToNaviCtrl+3,__zero_reg__ |
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| 66 | 79 0030 1092 0000 sts (ToNaviCtrl+5)+1,__zero_reg__ |
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| 67 | 80 0034 1092 0000 sts ToNaviCtrl+5,__zero_reg__ |
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| 68 | 81 0038 1092 0000 sts FromNaviCtrl_Value+3,__zero_reg__ |
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| 69 | 82 003c 1092 0000 sts SPI_RxDataValid,__zero_reg__ |
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| 70 | 83 /* epilogue: frame size=0 */ |
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| 71 | 84 0040 0895 ret |
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| 72 | 85 /* epilogue end (size=1) */ |
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| 73 | 86 /* function SPI_MasterInit size 33 (32) */ |
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| 74 | 88 .lcomm SPI_RXState.0,1 |
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| 75 | 89 .lcomm rxchksum.1,1 |
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| 76 | 90 .global SPI_TransmitByte |
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| 77 | 92 SPI_TransmitByte: |
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| 78 | 93 /* prologue: frame size=0 */ |
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| 79 | 94 /* prologue end (size=0) */ |
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| 80 | 95 0042 3091 0000 lds r19,SPITransferCompleted |
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| 81 | 96 0046 3323 tst r19 |
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| 82 | 97 0048 09F0 breq .+2 |
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| 83 | 98 004a 85C0 rjmp .L2 |
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| 84 | 99 004c 0DB4 in __tmp_reg__,77-0x20 |
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| 85 | 100 004e 07FE sbrs __tmp_reg__,7 |
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| 86 | 101 0050 82C0 rjmp .L2 |
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| 87 | 102 0052 84E0 ldi r24,lo8(4) |
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| 88 | 103 0054 8093 0000 sts SendSPI,r24 |
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| 89 | 104 0058 459A sbi 40-0x20,5 |
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| 90 | 105 005a 2EB5 in r18,78-0x20 |
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| 91 | 106 005c 8091 0000 lds r24,SPI_RXState.0 |
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| 92 | 107 0060 9927 clr r25 |
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| 93 | 108 0062 8130 cpi r24,1 |
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| 94 | 109 0064 9105 cpc r25,__zero_reg__ |
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| 95 | 110 0066 89F0 breq .L8 |
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| 96 | 111 0068 8230 cpi r24,2 |
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| 97 | 112 006a 9105 cpc r25,__zero_reg__ |
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| 98 | 113 006c 1CF4 brge .L16 |
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| 99 | 114 006e 892B or r24,r25 |
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| 100 | 115 0070 21F0 breq .L6 |
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| 101 | 116 0072 3EC0 rjmp .L5 |
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| 102 | 117 .L16: |
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| 103 | 118 0074 0297 sbiw r24,2 |
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| 104 | 119 0076 B9F0 breq .L11 |
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| 105 | 120 0078 3BC0 rjmp .L5 |
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| 106 | 121 .L6: |
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| 107 | 122 007a 3093 0000 sts SPI_RxBufferIndex,r19 |
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| 108 | 123 007e 2093 0000 sts rxchksum.1,r18 |
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| 109 | 124 0082 2138 cpi r18,lo8(-127) |
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| 110 | 125 0084 A9F5 brne .L5 |
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| 111 | 126 0086 81E0 ldi r24,lo8(1) |
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| 112 | 127 0088 08C0 rjmp .L19 |
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| 113 | 128 .L8: |
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| 114 | 129 008a 2535 cpi r18,lo8(85) |
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| 115 | 130 008c 49F4 brne .L9 |
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| 116 | 131 008e 8091 0000 lds r24,rxchksum.1 |
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| 117 | 132 0092 820F add r24,r18 |
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| 118 | 133 0094 8093 0000 sts rxchksum.1,r24 |
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| 119 | 134 0098 82E0 ldi r24,lo8(2) |
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| 120 | 135 .L19: |
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| 121 | 136 009a 8093 0000 sts SPI_RXState.0,r24 |
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| 122 | 137 009e 28C0 rjmp .L5 |
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| 123 | 138 .L9: |
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| 124 | 139 00a0 3093 0000 sts SPI_RXState.0,r19 |
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| 125 | 140 00a4 25C0 rjmp .L5 |
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| 126 | 141 .L11: |
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| 127 | 142 00a6 8091 0000 lds r24,SPI_RxBufferIndex |
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| 128 | 143 00aa E82F mov r30,r24 |
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| 129 | 144 00ac FF27 clr r31 |
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| 130 | 145 00ae E050 subi r30,lo8(-(SPI_Buffer)) |
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| 131 | 146 00b0 F040 sbci r31,hi8(-(SPI_Buffer)) |
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| 132 | 147 00b2 2083 st Z,r18 |
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| 133 | 148 00b4 8F5F subi r24,lo8(-(1)) |
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| 134 | 149 00b6 8093 0000 sts SPI_RxBufferIndex,r24 |
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| 135 | 150 00ba 9091 0000 lds r25,rxchksum.1 |
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| 136 | 151 00be 8A31 cpi r24,lo8(26) |
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| 137 | 152 00c0 A0F0 brlo .L12 |
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| 138 | 153 00c2 2917 cp r18,r25 |
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| 139 | 154 00c4 69F4 brne .L13 |
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| 140 | 155 00c6 8AE1 ldi r24,lo8(26) |
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| 141 | 156 00c8 A0E0 ldi r26,lo8(SPI_Buffer) |
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| 142 | 157 00ca B0E0 ldi r27,hi8(SPI_Buffer) |
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| 143 | 158 00cc E0E0 ldi r30,lo8(FromNaviCtrl) |
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| 144 | 159 00ce F0E0 ldi r31,hi8(FromNaviCtrl) |
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| 145 | 160 00d0 0D90 ld __tmp_reg__,X+ |
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| 146 | 161 00d2 0192 st Z+,__tmp_reg__ |
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| 147 | 162 00d4 8A95 dec r24 |
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| 148 | 163 00d6 E1F7 brne .-8 |
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| 149 | 164 00d8 81E0 ldi r24,lo8(1) |
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| 150 | 165 00da 8093 0000 sts SPI_RxDataValid,r24 |
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| 151 | 166 00de 02C0 rjmp .L14 |
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| 152 | 167 .L13: |
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| 153 | 168 00e0 3093 0000 sts SPI_RxDataValid,r19 |
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| 154 | 169 .L14: |
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| 155 | 170 00e4 1092 0000 sts SPI_RXState.0,__zero_reg__ |
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| 156 | 171 00e8 03C0 rjmp .L5 |
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| 157 | 172 .L12: |
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| 158 | 173 00ea 920F add r25,r18 |
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| 159 | 174 00ec 9093 0000 sts rxchksum.1,r25 |
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| 160 | 175 .L5: |
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| 161 | 176 00f0 2091 0000 lds r18,SPI_BufferIndex |
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| 162 | 177 00f4 2032 cpi r18,lo8(32) |
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| 163 | 178 00f6 08F0 brlo .+2 |
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| 164 | 179 00f8 28C0 rjmp .L17 |
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| 165 | 180 00fa 4598 cbi 40-0x20,5 |
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| 166 | 181 /* #APP */ |
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| 167 | 182 00fc 0000 nop |
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| 168 | 183 00fe 0000 nop |
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| 169 | 184 0100 0000 nop |
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| 170 | 185 0102 0000 nop |
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| 171 | 186 0104 0000 nop |
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| 172 | 187 0106 0000 nop |
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| 173 | 188 0108 0000 nop |
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| 174 | 189 010a 0000 nop |
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| 175 | 190 010c 0000 nop |
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| 176 | 191 010e 0000 nop |
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| 177 | 192 0110 0000 nop |
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| 178 | 193 0112 0000 nop |
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| 179 | 194 0114 0000 nop |
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| 180 | 195 0116 0000 nop |
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| 181 | 196 0118 0000 nop |
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| 182 | 197 011a 0000 nop |
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| 183 | 198 011c 0000 nop |
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| 184 | 199 011e 0000 nop |
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| 185 | 200 0120 0000 nop |
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| 186 | 201 0122 0000 nop |
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| 187 | 202 0124 0000 nop |
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| 188 | 203 0126 0000 nop |
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| 189 | 204 0128 0000 nop |
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| 190 | 205 012a 0000 nop |
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| 191 | 206 /* #NOAPP */ |
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| 192 | 207 012c E091 0000 lds r30,SPI_TX_Buffer |
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| 193 | 208 0130 F091 0000 lds r31,(SPI_TX_Buffer)+1 |
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| 194 | 209 0134 E20F add r30,r18 |
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| 195 | 210 0136 F11D adc r31,__zero_reg__ |
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| 196 | 211 0138 8081 ld r24,Z |
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| 197 | 212 013a 8EBD out 78-0x20,r24 |
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| 198 | 213 013c 8091 0000 lds r24,ToNaviCtrl+31 |
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| 199 | 214 0140 9081 ld r25,Z |
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| 200 | 215 0142 890F add r24,r25 |
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| 201 | 216 0144 8093 0000 sts ToNaviCtrl+31,r24 |
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| 202 | 217 0148 03C0 rjmp .L18 |
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| 203 | 218 .L17: |
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| 204 | 219 014a 81E0 ldi r24,lo8(1) |
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| 205 | 220 014c 8093 0000 sts SPITransferCompleted,r24 |
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| 206 | 221 .L18: |
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| 207 | 222 0150 2F5F subi r18,lo8(-(1)) |
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| 208 | 223 0152 2093 0000 sts SPI_BufferIndex,r18 |
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| 209 | 224 .L2: |
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| 210 | 225 0156 0895 ret |
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| 211 | 226 /* epilogue: frame size=0 */ |
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| 212 | 227 /* epilogue: noreturn */ |
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| 213 | 228 /* epilogue end (size=0) */ |
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| 214 | 229 /* function SPI_TransmitByte size 164 (164) */ |
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| 215 | 231 .global UpdateSPI_Buffer |
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| 216 | 233 UpdateSPI_Buffer: |
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| 217 | 234 /* prologue: frame size=0 */ |
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| 218 | 235 0158 EF92 push r14 |
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| 219 | 236 015a FF92 push r15 |
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| 220 | 237 015c 0F93 push r16 |
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| 221 | 238 015e 1F93 push r17 |
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| 222 | 239 /* prologue end (size=4) */ |
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| 223 | 240 0160 8091 0000 lds r24,EE_Parameter+28 |
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| 224 | 241 0164 9927 clr r25 |
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| 225 | 242 0166 880F lsl r24 |
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| 226 | 243 0168 991F rol r25 |
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| 227 | 244 016a 880F lsl r24 |
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| 228 | 245 016c 991F rol r25 |
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| 229 | 246 016e 7C01 movw r14,r24 |
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| 230 | 247 0170 0027 clr r16 |
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| 231 | 248 0172 F7FC sbrc r15,7 |
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| 232 | 249 0174 0095 com r16 |
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| 233 | 250 0176 102F mov r17,r16 |
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| 234 | 251 0178 8091 0000 lds r24,IntegralNick |
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| 235 | 252 017c 9091 0000 lds r25,(IntegralNick)+1 |
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| 236 | 253 0180 A091 0000 lds r26,(IntegralNick)+2 |
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| 237 | 254 0184 B091 0000 lds r27,(IntegralNick)+3 |
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| 238 | 255 0188 BC01 movw r22,r24 |
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| 239 | 256 018a CD01 movw r24,r26 |
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| 240 | 257 018c A801 movw r20,r16 |
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| 241 | 258 018e 9701 movw r18,r14 |
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| 242 | 259 0190 0E94 0000 call __divmodsi4 |
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| 243 | 260 0194 3093 0000 sts (ToNaviCtrl+3)+1,r19 |
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| 244 | 261 0198 2093 0000 sts ToNaviCtrl+3,r18 |
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| 245 | 262 019c 8091 0000 lds r24,IntegralRoll |
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| 246 | 263 01a0 9091 0000 lds r25,(IntegralRoll)+1 |
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| 247 | 264 01a4 A091 0000 lds r26,(IntegralRoll)+2 |
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| 248 | 265 01a8 B091 0000 lds r27,(IntegralRoll)+3 |
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| 249 | 266 01ac BC01 movw r22,r24 |
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| 250 | 267 01ae CD01 movw r24,r26 |
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| 251 | 268 01b0 A801 movw r20,r16 |
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| 252 | 269 01b2 9701 movw r18,r14 |
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| 253 | 270 01b4 0E94 0000 call __divmodsi4 |
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| 254 | 271 01b8 3093 0000 sts (ToNaviCtrl+5)+1,r19 |
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| 255 | 272 01bc 2093 0000 sts ToNaviCtrl+5,r18 |
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| 256 | 273 01c0 2091 0000 lds r18,ErsatzKompass |
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| 257 | 274 01c4 3091 0000 lds r19,(ErsatzKompass)+1 |
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| 258 | 275 01c8 4091 0000 lds r20,(ErsatzKompass)+2 |
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| 259 | 276 01cc 5091 0000 lds r21,(ErsatzKompass)+3 |
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| 260 | 277 01d0 DA01 movw r26,r20 |
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| 261 | 278 01d2 C901 movw r24,r18 |
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| 262 | 279 01d4 E3E0 ldi r30,3 |
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| 263 | 280 01d6 880F 1: lsl r24 |
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| 264 | 281 01d8 991F rol r25 |
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| 265 | 282 01da AA1F rol r26 |
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| 266 | 283 01dc BB1F rol r27 |
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| 267 | 284 01de EA95 dec r30 |
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| 268 | 285 01e0 D1F7 brne 1b |
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| 269 | 286 01e2 820F add r24,r18 |
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| 270 | 287 01e4 931F adc r25,r19 |
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| 271 | 288 01e6 A41F adc r26,r20 |
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| 272 | 289 01e8 B51F adc r27,r21 |
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| 273 | 290 01ea 820F add r24,r18 |
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| 274 | 291 01ec 931F adc r25,r19 |
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| 275 | 292 01ee A41F adc r26,r20 |
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| 276 | 293 01f0 B51F adc r27,r21 |
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| 277 | 294 01f2 2091 0000 lds r18,GIER_GRAD_FAKTOR |
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| 278 | 295 01f6 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1 |
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| 279 | 296 01fa 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2 |
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| 280 | 297 01fe 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3 |
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| 281 | 298 0202 BC01 movw r22,r24 |
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| 282 | 299 0204 CD01 movw r24,r26 |
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| 283 | 300 0206 0E94 0000 call __divmodsi4 |
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| 284 | 301 020a 3093 0000 sts (ToNaviCtrl+11)+1,r19 |
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| 285 | 302 020e 2093 0000 sts ToNaviCtrl+11,r18 |
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| 286 | 303 0212 8091 0000 lds r24,AdNeutralGier |
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| 287 | 304 0216 9091 0000 lds r25,(AdNeutralGier)+1 |
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| 288 | 305 021a 2091 0000 lds r18,AdWertGier |
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| 289 | 306 021e 3091 0000 lds r19,(AdWertGier)+1 |
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| 290 | 307 0222 821B sub r24,r18 |
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| 291 | 308 0224 930B sbc r25,r19 |
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| 292 | 309 0226 9093 0000 sts (ToNaviCtrl+17)+1,r25 |
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| 293 | 310 022a 8093 0000 sts ToNaviCtrl+17,r24 |
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| 294 | 311 022e E091 0000 lds r30,NaviCntAcc |
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| 295 | 312 0232 F091 0000 lds r31,(NaviCntAcc)+1 |
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| 296 | 313 0236 8091 0000 lds r24,NaviAccNick |
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| 297 | 314 023a 9091 0000 lds r25,(NaviAccNick)+1 |
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| 298 | 315 023e BF01 movw r22,r30 |
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| 299 | 316 0240 0E94 0000 call __divmodhi4 |
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| 300 | 317 0244 CB01 movw r24,r22 |
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| 301 | 318 0246 9B01 movw r18,r22 |
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| 302 | 319 0248 220F lsl r18 |
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| 303 | 320 024a 331F rol r19 |
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| 304 | 321 024c 220F lsl r18 |
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| 305 | 322 024e 331F rol r19 |
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| 306 | 323 0250 280F add r18,r24 |
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| 307 | 324 0252 391F adc r19,r25 |
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| 308 | 325 0254 280F add r18,r24 |
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| 309 | 326 0256 391F adc r19,r25 |
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| 310 | 327 0258 37FF sbrs r19,7 |
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| 311 | 328 025a 02C0 rjmp .L21 |
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| 312 | 329 025c 2D5F subi r18,lo8(-(3)) |
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| 313 | 330 025e 3F4F sbci r19,hi8(-(3)) |
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| 314 | 331 .L21: |
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| 315 | 332 0260 3595 asr r19 |
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| 316 | 333 0262 2795 ror r18 |
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| 317 | 334 0264 3595 asr r19 |
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| 318 | 335 0266 2795 ror r18 |
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| 319 | 336 0268 3093 0000 sts (ToNaviCtrl+7)+1,r19 |
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| 320 | 337 026c 2093 0000 sts ToNaviCtrl+7,r18 |
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| 321 | 338 0270 8091 0000 lds r24,NaviAccRoll |
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| 322 | 339 0274 9091 0000 lds r25,(NaviAccRoll)+1 |
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| 323 | 340 0278 BF01 movw r22,r30 |
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| 324 | 341 027a 0E94 0000 call __divmodhi4 |
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| 325 | 342 027e 9B01 movw r18,r22 |
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| 326 | 343 0280 220F lsl r18 |
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| 327 | 344 0282 331F rol r19 |
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| 328 | 345 0284 220F lsl r18 |
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| 329 | 346 0286 331F rol r19 |
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| 330 | 347 0288 260F add r18,r22 |
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| 331 | 348 028a 371F adc r19,r23 |
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| 332 | 349 028c 260F add r18,r22 |
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| 333 | 350 028e 371F adc r19,r23 |
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| 334 | 351 0290 37FF sbrs r19,7 |
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| 335 | 352 0292 02C0 rjmp .L22 |
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| 336 | 353 0294 2D5F subi r18,lo8(-(3)) |
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| 337 | 354 0296 3F4F sbci r19,hi8(-(3)) |
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| 338 | 355 .L22: |
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| 339 | 356 0298 3595 asr r19 |
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| 340 | 357 029a 2795 ror r18 |
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| 341 | 358 029c 3595 asr r19 |
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| 342 | 359 029e 2795 ror r18 |
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| 343 | 360 02a0 3093 0000 sts (ToNaviCtrl+9)+1,r19 |
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| 344 | 361 02a4 2093 0000 sts ToNaviCtrl+9,r18 |
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| 345 | 362 02a8 1092 0000 sts (NaviCntAcc)+1,__zero_reg__ |
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| 346 | 363 02ac 1092 0000 sts NaviCntAcc,__zero_reg__ |
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| 347 | 364 02b0 1092 0000 sts (NaviAccNick)+1,__zero_reg__ |
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| 348 | 365 02b4 1092 0000 sts NaviAccNick,__zero_reg__ |
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| 349 | 366 02b8 1092 0000 sts (NaviAccRoll)+1,__zero_reg__ |
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| 350 | 367 02bc 1092 0000 sts NaviAccRoll,__zero_reg__ |
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| 351 | 368 02c0 8091 0000 lds r24,ToNaviCtrl+2 |
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| 352 | 369 02c4 9927 clr r25 |
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| 353 | 370 02c6 8D30 cpi r24,13 |
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| 354 | 371 02c8 9105 cpc r25,__zero_reg__ |
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| 355 | 372 02ca 09F4 brne .+2 |
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| 356 | 373 02cc 66C0 rjmp .L26 |
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| 357 | 374 02ce 8E30 cpi r24,14 |
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| 358 | 375 02d0 9105 cpc r25,__zero_reg__ |
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| 359 | 376 02d2 5CF4 brge .L46 |
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| 360 | 377 02d4 8B30 cpi r24,11 |
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| 361 | 378 02d6 9105 cpc r25,__zero_reg__ |
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| 362 | 379 02d8 09F4 brne .+2 |
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| 363 | 380 02da 8EC0 rjmp .L27 |
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| 364 | 381 02dc 8C30 cpi r24,12 |
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| 365 | 382 02de 9105 cpc r25,__zero_reg__ |
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| 366 | 383 02e0 0CF0 brlt .+2 |
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| 367 | 384 02e2 0FC1 rjmp .L40 |
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| 368 | 385 02e4 0A97 sbiw r24,10 |
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| 369 | 386 02e6 61F0 breq .L24 |
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| 370 | 387 02e8 A8C1 rjmp .L23 |
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| 371 | 388 .L46: |
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| 372 | 389 02ea 8F30 cpi r24,15 |
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| 373 | 390 02ec 9105 cpc r25,__zero_reg__ |
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| 374 | 391 02ee 09F4 brne .+2 |
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| 375 | 392 02f0 7CC1 rjmp .L45 |
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| 376 | 393 02f2 8F30 cpi r24,15 |
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| 377 | 394 02f4 9105 cpc r25,__zero_reg__ |
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| 378 | 395 02f6 0CF4 brge .+2 |
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| 379 | 396 02f8 5CC1 rjmp .L44 |
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| 380 | 397 02fa 4097 sbiw r24,16 |
||
| 381 | 398 02fc 99F1 breq .L25 |
||
| 382 | 399 02fe 9DC1 rjmp .L23 |
||
| 383 | 400 .L24: |
||
| 384 | 401 0300 8091 0000 lds r24,Parameter_UserParam1 |
||
| 385 | 402 0304 8093 0000 sts ToNaviCtrl+19,r24 |
||
| 386 | 403 0308 8091 0000 lds r24,Parameter_UserParam2 |
||
| 387 | 404 030c 8093 0000 sts ToNaviCtrl+20,r24 |
||
| 388 | 405 0310 8091 0000 lds r24,Parameter_UserParam3 |
||
| 389 | 406 0314 8093 0000 sts ToNaviCtrl+21,r24 |
||
| 390 | 407 0318 8091 0000 lds r24,Parameter_UserParam4 |
||
| 391 | 408 031c 8093 0000 sts ToNaviCtrl+22,r24 |
||
| 392 | 409 0320 8091 0000 lds r24,Parameter_UserParam5 |
||
| 393 | 410 0324 8093 0000 sts ToNaviCtrl+23,r24 |
||
| 394 | 411 0328 8091 0000 lds r24,Parameter_UserParam6 |
||
| 395 | 412 032c 8093 0000 sts ToNaviCtrl+24,r24 |
||
| 396 | 413 0330 8091 0000 lds r24,Parameter_UserParam7 |
||
| 397 | 414 0334 8093 0000 sts ToNaviCtrl+25,r24 |
||
| 398 | 415 0338 8091 0000 lds r24,Parameter_UserParam8 |
||
| 399 | 416 033c 8093 0000 sts ToNaviCtrl+26,r24 |
||
| 400 | 417 0340 8091 0000 lds r24,FCFlags |
||
| 401 | 418 0344 8093 0000 sts ToNaviCtrl+27,r24 |
||
| 402 | 419 0348 8091 0000 lds r24,FCFlags |
||
| 403 | 420 034c 837F andi r24,lo8(-13) |
||
| 404 | 421 034e 8093 0000 sts FCFlags,r24 |
||
| 405 | 422 0352 0E94 0000 call GetActiveParamSet |
||
| 406 | 423 0356 8093 0000 sts ToNaviCtrl+28,r24 |
||
| 407 | 424 035a 8091 0000 lds r24,ControlHeading |
||
| 408 | 425 035e 8093 0000 sts ToNaviCtrl+29,r24 |
||
| 409 | 426 0362 6BC1 rjmp .L23 |
||
| 410 | 427 .L25: |
||
| 411 | 428 0364 8091 0000 lds r24,Capacity |
||
| 412 | 429 0368 9091 0000 lds r25,(Capacity)+1 |
||
| 413 | 430 036c 9093 0000 sts (ToNaviCtrl+19)+1,r25 |
||
| 414 | 431 0370 8093 0000 sts ToNaviCtrl+19,r24 |
||
| 415 | 432 0374 8091 0000 lds r24,Capacity+4 |
||
| 416 | 433 0378 9091 0000 lds r25,(Capacity+4)+1 |
||
| 417 | 434 037c 9093 0000 sts (ToNaviCtrl+21)+1,r25 |
||
| 418 | 435 0380 8093 0000 sts ToNaviCtrl+21,r24 |
||
| 419 | 436 0384 8091 0000 lds r24,UBat |
||
| 420 | 437 0388 9091 0000 lds r25,(UBat)+1 |
||
| 421 | 438 038c 8093 0000 sts ToNaviCtrl+23,r24 |
||
| 422 | 439 0390 8091 0000 lds r24,BattLowVoltageWarning |
||
| 423 | 440 0394 8093 0000 sts ToNaviCtrl+24,r24 |
||
| 424 | 441 0398 50C1 rjmp .L23 |
||
| 425 | 442 .L26: |
||
| 426 | 443 039a 8091 0000 lds r24,EE_Parameter+78 |
||
| 427 | 444 039e 8093 0000 sts ToNaviCtrl+19,r24 |
||
| 428 | 445 03a2 8091 0000 lds r24,EE_Parameter+79 |
||
| 429 | 446 03a6 8093 0000 sts ToNaviCtrl+20,r24 |
||
| 430 | 447 03aa 8091 0000 lds r24,EE_Parameter+80 |
||
| 431 | 448 03ae 8093 0000 sts ToNaviCtrl+21,r24 |
||
| 432 | 449 03b2 8091 0000 lds r24,EE_Parameter+81 |
||
| 433 | 450 03b6 8093 0000 sts ToNaviCtrl+22,r24 |
||
| 434 | 451 03ba 8091 0000 lds r24,EE_Parameter+82 |
||
| 435 | 452 03be 8093 0000 sts ToNaviCtrl+23,r24 |
||
| 436 | 453 03c2 8091 0000 lds r24,EE_Parameter+86 |
||
| 437 | 454 03c6 8093 0000 sts ToNaviCtrl+24,r24 |
||
| 438 | 455 03ca 8091 0000 lds r24,EE_Parameter+87 |
||
| 439 | 456 03ce 8093 0000 sts ToNaviCtrl+25,r24 |
||
| 440 | 457 03d2 8091 0000 lds r24,EE_Parameter+88 |
||
| 441 | 458 03d6 8093 0000 sts ToNaviCtrl+26,r24 |
||
| 442 | 459 03da 8091 0000 lds r24,EE_Parameter+91 |
||
| 443 | 460 03de 8093 0000 sts ToNaviCtrl+27,r24 |
||
| 444 | 461 03e2 8091 0000 lds r24,EE_Parameter+89 |
||
| 445 | 462 03e6 8093 0000 sts ToNaviCtrl+28,r24 |
||
| 446 | 463 03ea 8091 0000 lds r24,EE_Parameter+90 |
||
| 447 | 464 03ee 8093 0000 sts ToNaviCtrl+29,r24 |
||
| 448 | 465 03f2 8091 0000 lds r24,EE_Parameter+92 |
||
| 449 | 466 03f6 DAC0 rjmp .L58 |
||
| 450 | 467 .L27: |
||
| 451 | 468 /* #APP */ |
||
| 452 | 469 03f8 F894 cli |
||
| 453 | 470 /* #NOAPP */ |
||
| 454 | 471 03fa 8091 0000 lds r24,EE_Parameter+3 |
||
| 455 | 472 03fe E82F mov r30,r24 |
||
| 456 | 473 0400 FF27 clr r31 |
||
| 457 | 474 0402 EE0F add r30,r30 |
||
| 458 | 475 0404 FF1F adc r31,r31 |
||
| 459 | 476 0406 E050 subi r30,lo8(-(PPM_in)) |
||
| 460 | 477 0408 F040 sbci r31,hi8(-(PPM_in)) |
||
| 461 | 478 040a 0190 ld __tmp_reg__,Z+ |
||
| 462 | 479 040c F081 ld r31,Z |
||
| 463 | 480 040e E02D mov r30,__tmp_reg__ |
||
| 464 | 481 0410 E038 cpi r30,128 |
||
| 465 | 482 0412 F105 cpc r31,__zero_reg__ |
||
| 466 | 483 0414 1CF0 brlt .L28 |
||
| 467 | 484 0416 EFE7 ldi r30,lo8(127) |
||
| 468 | 485 0418 F0E0 ldi r31,hi8(127) |
||
| 469 | 486 041a 06C0 rjmp .L29 |
||
| 470 | 487 .L28: |
||
| 471 | 488 041c 2FEF ldi r18,hi8(-127) |
||
| 472 | 489 041e E138 cpi r30,lo8(-127) |
||
| 473 | 490 0420 F207 cpc r31,r18 |
||
| 474 | 491 0422 14F4 brge .L29 |
||
| 475 | 492 0424 E1E8 ldi r30,lo8(-127) |
||
| 476 | 493 0426 FFEF ldi r31,hi8(-127) |
||
| 477 | 494 .L29: |
||
| 478 | 495 0428 E093 0000 sts ToNaviCtrl+19,r30 |
||
| 479 | 496 042c 8091 0000 lds r24,EE_Parameter+4 |
||
| 480 | 497 0430 E82F mov r30,r24 |
||
| 481 | 498 0432 FF27 clr r31 |
||
| 482 | 499 0434 EE0F add r30,r30 |
||
| 483 | 500 0436 FF1F adc r31,r31 |
||
| 484 | 501 0438 E050 subi r30,lo8(-(PPM_in)) |
||
| 485 | 502 043a F040 sbci r31,hi8(-(PPM_in)) |
||
| 486 | 503 043c 0190 ld __tmp_reg__,Z+ |
||
| 487 | 504 043e F081 ld r31,Z |
||
| 488 | 505 0440 E02D mov r30,__tmp_reg__ |
||
| 489 | 506 0442 E038 cpi r30,128 |
||
| 490 | 507 0444 F105 cpc r31,__zero_reg__ |
||
| 491 | 508 0446 1CF0 brlt .L31 |
||
| 492 | 509 0448 EFE7 ldi r30,lo8(127) |
||
| 493 | 510 044a F0E0 ldi r31,hi8(127) |
||
| 494 | 511 044c 06C0 rjmp .L32 |
||
| 495 | 512 .L31: |
||
| 496 | 513 044e 6FEF ldi r22,hi8(-127) |
||
| 497 | 514 0450 E138 cpi r30,lo8(-127) |
||
| 498 | 515 0452 F607 cpc r31,r22 |
||
| 499 | 516 0454 14F4 brge .L32 |
||
| 500 | 517 0456 E1E8 ldi r30,lo8(-127) |
||
| 501 | 518 0458 FFEF ldi r31,hi8(-127) |
||
| 502 | 519 .L32: |
||
| 503 | 520 045a E093 0000 sts ToNaviCtrl+20,r30 |
||
| 504 | 521 045e 8091 0000 lds r24,EE_Parameter+2 |
||
| 505 | 522 0462 E82F mov r30,r24 |
||
| 506 | 523 0464 FF27 clr r31 |
||
| 507 | 524 0466 EE0F add r30,r30 |
||
| 508 | 525 0468 FF1F adc r31,r31 |
||
| 509 | 526 046a E050 subi r30,lo8(-(PPM_in)) |
||
| 510 | 527 046c F040 sbci r31,hi8(-(PPM_in)) |
||
| 511 | 528 046e 0190 ld __tmp_reg__,Z+ |
||
| 512 | 529 0470 F081 ld r31,Z |
||
| 513 | 530 0472 E02D mov r30,__tmp_reg__ |
||
| 514 | 531 0474 E038 cpi r30,128 |
||
| 515 | 532 0476 F105 cpc r31,__zero_reg__ |
||
| 516 | 533 0478 1CF0 brlt .L34 |
||
| 517 | 534 047a EFE7 ldi r30,lo8(127) |
||
| 518 | 535 047c F0E0 ldi r31,hi8(127) |
||
| 519 | 536 047e 06C0 rjmp .L35 |
||
| 520 | 537 .L34: |
||
| 521 | 538 0480 8FEF ldi r24,hi8(-127) |
||
| 522 | 539 0482 E138 cpi r30,lo8(-127) |
||
| 523 | 540 0484 F807 cpc r31,r24 |
||
| 524 | 541 0486 14F4 brge .L35 |
||
| 525 | 542 0488 E1E8 ldi r30,lo8(-127) |
||
| 526 | 543 048a FFEF ldi r31,hi8(-127) |
||
| 527 | 544 .L35: |
||
| 528 | 545 048c E093 0000 sts ToNaviCtrl+21,r30 |
||
| 529 | 546 0490 8091 0000 lds r24,EE_Parameter+1 |
||
| 530 | 547 0494 E82F mov r30,r24 |
||
| 531 | 548 0496 FF27 clr r31 |
||
| 532 | 549 0498 EE0F add r30,r30 |
||
| 533 | 550 049a FF1F adc r31,r31 |
||
| 534 | 551 049c E050 subi r30,lo8(-(PPM_in)) |
||
| 535 | 552 049e F040 sbci r31,hi8(-(PPM_in)) |
||
| 536 | 553 04a0 0190 ld __tmp_reg__,Z+ |
||
| 537 | 554 04a2 F081 ld r31,Z |
||
| 538 | 555 04a4 E02D mov r30,__tmp_reg__ |
||
| 539 | 556 04a6 E038 cpi r30,128 |
||
| 540 | 557 04a8 F105 cpc r31,__zero_reg__ |
||
| 541 | 558 04aa 1CF0 brlt .L37 |
||
| 542 | 559 04ac EFE7 ldi r30,lo8(127) |
||
| 543 | 560 04ae F0E0 ldi r31,hi8(127) |
||
| 544 | 561 04b0 06C0 rjmp .L38 |
||
| 545 | 562 .L37: |
||
| 546 | 563 04b2 2FEF ldi r18,hi8(-127) |
||
| 547 | 564 04b4 E138 cpi r30,lo8(-127) |
||
| 548 | 565 04b6 F207 cpc r31,r18 |
||
| 549 | 566 04b8 14F4 brge .L38 |
||
| 550 | 567 04ba E1E8 ldi r30,lo8(-127) |
||
| 551 | 568 04bc FFEF ldi r31,hi8(-127) |
||
| 552 | 569 .L38: |
||
| 553 | 570 /* #APP */ |
||
| 554 | 571 04be 7894 sei |
||
| 555 | 572 /* #NOAPP */ |
||
| 556 | 573 04c0 E093 0000 sts ToNaviCtrl+22,r30 |
||
| 557 | 574 04c4 8091 0000 lds r24,Poti |
||
| 558 | 575 04c8 8093 0000 sts ToNaviCtrl+23,r24 |
||
| 559 | 576 04cc 8091 0000 lds r24,Poti+1 |
||
| 560 | 577 04d0 8093 0000 sts ToNaviCtrl+24,r24 |
||
| 561 | 578 04d4 8091 0000 lds r24,Poti+2 |
||
| 562 | 579 04d8 8093 0000 sts ToNaviCtrl+25,r24 |
||
| 563 | 580 04dc 8091 0000 lds r24,Poti+3 |
||
| 564 | 581 04e0 8093 0000 sts ToNaviCtrl+26,r24 |
||
| 565 | 582 04e4 8091 0000 lds r24,Poti+4 |
||
| 566 | 583 04e8 8093 0000 sts ToNaviCtrl+27,r24 |
||
| 567 | 584 04ec 8091 0000 lds r24,Poti+5 |
||
| 568 | 585 04f0 8093 0000 sts ToNaviCtrl+28,r24 |
||
| 569 | 586 04f4 8091 0000 lds r24,Poti+6 |
||
| 570 | 587 04f8 8093 0000 sts ToNaviCtrl+29,r24 |
||
| 571 | 588 04fc 8091 0000 lds r24,Poti+7 |
||
| 572 | 589 0500 55C0 rjmp .L58 |
||
| 573 | 590 .L40: |
||
| 574 | 591 0502 8091 0000 lds r24,WinkelOut+6 |
||
| 575 | 592 0506 8630 cpi r24,lo8(6) |
||
| 576 | 593 0508 18F0 brlo .L41 |
||
| 577 | 594 050a 1092 0000 sts WinkelOut+6,__zero_reg__ |
||
| 578 | 595 050e 85E0 ldi r24,lo8(5) |
||
| 579 | 596 .L41: |
||
| 580 | 597 0510 8093 0000 sts ToNaviCtrl+19,r24 |
||
| 581 | 598 0514 8091 0000 lds r24,EE_Parameter+93 |
||
| 582 | 599 0518 8093 0000 sts ToNaviCtrl+20,r24 |
||
| 583 | 600 051c 8091 0000 lds r24,HoehenWert |
||
| 584 | 601 0520 9091 0000 lds r25,(HoehenWert)+1 |
||
| 585 | 602 0524 A091 0000 lds r26,(HoehenWert)+2 |
||
| 586 | 603 0528 B091 0000 lds r27,(HoehenWert)+3 |
||
| 587 | 604 052c BC01 movw r22,r24 |
||
| 588 | 605 052e CD01 movw r24,r26 |
||
| 589 | 606 0530 25E0 ldi r18,lo8(5) |
||
| 590 | 607 0532 30E0 ldi r19,hi8(5) |
||
| 591 | 608 0534 40E0 ldi r20,hlo8(5) |
||
| 592 | 609 0536 50E0 ldi r21,hhi8(5) |
||
| 593 | 610 0538 0E94 0000 call __divmodsi4 |
||
| 594 | 611 053c 3093 0000 sts (ToNaviCtrl+21)+1,r19 |
||
| 595 | 612 0540 2093 0000 sts ToNaviCtrl+21,r18 |
||
| 596 | 613 0544 8091 0000 lds r24,SollHoehe |
||
| 597 | 614 0548 9091 0000 lds r25,(SollHoehe)+1 |
||
| 598 | 615 054c A091 0000 lds r26,(SollHoehe)+2 |
||
| 599 | 616 0550 B091 0000 lds r27,(SollHoehe)+3 |
||
| 600 | 617 0554 BC01 movw r22,r24 |
||
| 601 | 618 0556 CD01 movw r24,r26 |
||
| 602 | 619 0558 25E0 ldi r18,lo8(5) |
||
| 603 | 620 055a 30E0 ldi r19,hi8(5) |
||
| 604 | 621 055c 40E0 ldi r20,hlo8(5) |
||
| 605 | 622 055e 50E0 ldi r21,hhi8(5) |
||
| 606 | 623 0560 0E94 0000 call __divmodsi4 |
||
| 607 | 624 0564 3093 0000 sts (ToNaviCtrl+23)+1,r19 |
||
| 608 | 625 0568 2093 0000 sts ToNaviCtrl+23,r18 |
||
| 609 | 626 056c 8091 0000 lds r24,EE_Parameter+83 |
||
| 610 | 627 0570 8093 0000 sts ToNaviCtrl+25,r24 |
||
| 611 | 628 0574 8091 0000 lds r24,EE_Parameter+84 |
||
| 612 | 629 0578 8093 0000 sts ToNaviCtrl+26,r24 |
||
| 613 | 630 057c 8091 0000 lds r24,EE_Parameter+85 |
||
| 614 | 631 0580 8093 0000 sts ToNaviCtrl+27,r24 |
||
| 615 | 632 0584 8091 0000 lds r24,SenderOkay |
||
| 616 | 633 0588 8093 0000 sts ToNaviCtrl+28,r24 |
||
| 617 | 634 058c 8091 0000 lds r24,PPM_in |
||
| 618 | 635 0590 9091 0000 lds r25,(PPM_in)+1 |
||
| 619 | 636 0594 8093 0000 sts ToNaviCtrl+29,r24 |
||
| 620 | 637 0598 8091 0000 lds r24,DebugOut+16 |
||
| 621 | 638 059c 9091 0000 lds r25,(DebugOut+16)+1 |
||
| 622 | 639 05a0 97FD sbrc r25,7 |
||
| 623 | 640 05a2 0396 adiw r24,3 |
||
| 624 | 641 .L43: |
||
| 625 | 642 05a4 9595 asr r25 |
||
| 626 | 643 05a6 8795 ror r24 |
||
| 627 | 644 05a8 9595 asr r25 |
||
| 628 | 645 05aa 8795 ror r24 |
||
| 629 | 646 .L58: |
||
| 630 | 647 05ac 8093 0000 sts ToNaviCtrl+30,r24 |
||
| 631 | 648 05b0 44C0 rjmp .L23 |
||
| 632 | 649 .L44: |
||
| 633 | 650 05b2 1092 0000 sts ToNaviCtrl+19,__zero_reg__ |
||
| 634 | 651 05b6 80E5 ldi r24,lo8(80) |
||
| 635 | 652 05b8 8093 0000 sts ToNaviCtrl+20,r24 |
||
| 636 | 653 05bc 86E0 ldi r24,lo8(6) |
||
| 637 | 654 05be 8093 0000 sts ToNaviCtrl+21,r24 |
||
| 638 | 655 05c2 8EE0 ldi r24,lo8(14) |
||
| 639 | 656 05c4 8093 0000 sts ToNaviCtrl+22,r24 |
||
| 640 | 657 05c8 8091 0000 lds r24,PlatinenVersion |
||
| 641 | 658 05cc 8093 0000 sts ToNaviCtrl+23,r24 |
||
| 642 | 659 05d0 8091 0000 lds r24,VersionInfo+5 |
||
| 643 | 660 05d4 8093 0000 sts ToNaviCtrl+24,r24 |
||
| 644 | 661 05d8 8091 0000 lds r24,VersionInfo+6 |
||
| 645 | 662 05dc 8093 0000 sts ToNaviCtrl+25,r24 |
||
| 646 | 663 05e0 8091 0000 lds r24,VersionInfo+7 |
||
| 647 | 664 05e4 8093 0000 sts ToNaviCtrl+26,r24 |
||
| 648 | 665 05e8 28C0 rjmp .L23 |
||
| 649 | 666 .L45: |
||
| 650 | 667 05ea 8091 0000 lds r24,EE_Parameter+53 |
||
| 651 | 668 05ee 8093 0000 sts ToNaviCtrl+19,r24 |
||
| 652 | 669 05f2 8091 0000 lds r24,EE_Parameter+98 |
||
| 653 | 670 05f6 8093 0000 sts ToNaviCtrl+20,r24 |
||
| 654 | 671 05fa 8091 0000 lds r24,Parameter_ServoNickControl |
||
| 655 | 672 05fe 8093 0000 sts ToNaviCtrl+21,r24 |
||
| 656 | 673 0602 8091 0000 lds r24,EE_Parameter+46 |
||
| 657 | 674 0606 8093 0000 sts ToNaviCtrl+22,r24 |
||
| 658 | 675 060a 8091 0000 lds r24,EE_Parameter+47 |
||
| 659 | 676 060e 8093 0000 sts ToNaviCtrl+23,r24 |
||
| 660 | 677 0612 8091 0000 lds r24,EE_Parameter+48 |
||
| 661 | 678 0616 8093 0000 sts ToNaviCtrl+24,r24 |
||
| 662 | 679 061a 8091 0000 lds r24,Parameter_ServoRollControl |
||
| 663 | 680 061e 8093 0000 sts ToNaviCtrl+25,r24 |
||
| 664 | 681 0622 8091 0000 lds r24,EE_Parameter+50 |
||
| 665 | 682 0626 8093 0000 sts ToNaviCtrl+26,r24 |
||
| 666 | 683 062a 8091 0000 lds r24,EE_Parameter+51 |
||
| 667 | 684 062e 8093 0000 sts ToNaviCtrl+27,r24 |
||
| 668 | 685 0632 8091 0000 lds r24,EE_Parameter+52 |
||
| 669 | 686 0636 8093 0000 sts ToNaviCtrl+28,r24 |
||
| 670 | 687 .L23: |
||
| 671 | 688 063a 8091 0000 lds r24,SPI_RxDataValid |
||
| 672 | 689 063e 8823 tst r24 |
||
| 673 | 690 0640 09F4 brne .+2 |
||
| 674 | 691 0642 CFC0 rjmp .L47 |
||
| 675 | 692 0644 8AEF ldi r24,lo8(-6) |
||
| 676 | 693 0646 8093 0000 sts NaviDataOkay,r24 |
||
| 677 | 694 064a 4091 0000 lds r20,FromNaviCtrl+1 |
||
| 678 | 695 064e 5091 0000 lds r21,(FromNaviCtrl+1)+1 |
||
| 679 | 696 0652 CA01 movw r24,r20 |
||
| 680 | 697 0654 8150 subi r24,lo8(-(511)) |
||
| 681 | 698 0656 9E4F sbci r25,hi8(-(511)) |
||
| 682 | 699 0658 8F5F subi r24,lo8(1023) |
||
| 683 | 700 065a 9340 sbci r25,hi8(1023) |
||
| 684 | 701 065c B0F4 brsh .L48 |
||
| 685 | 702 065e 2091 0000 lds r18,FromNaviCtrl+3 |
||
| 686 | 703 0662 3091 0000 lds r19,(FromNaviCtrl+3)+1 |
||
| 687 | 704 0666 C901 movw r24,r18 |
||
| 688 | 705 0668 8150 subi r24,lo8(-(511)) |
||
| 689 | 706 066a 9E4F sbci r25,hi8(-(511)) |
||
| 690 | 707 066c 8F5F subi r24,lo8(1023) |
||
| 691 | 708 066e 9340 sbci r25,hi8(1023) |
||
| 692 | 709 0670 60F4 brsh .L48 |
||
| 693 | 710 0672 8091 0000 lds r24,EE_Parameter+13 |
||
| 694 | 711 0676 85FF sbrs r24,5 |
||
| 695 | 712 0678 08C0 rjmp .L48 |
||
| 696 | 713 067a 5093 0000 sts (GPS_Nick)+1,r21 |
||
| 697 | 714 067e 4093 0000 sts GPS_Nick,r20 |
||
| 698 | 715 0682 3093 0000 sts (GPS_Roll)+1,r19 |
||
| 699 | 716 0686 2093 0000 sts GPS_Roll,r18 |
||
| 700 | 717 .L48: |
||
| 701 | 718 068a 8091 0000 lds r24,FromNaviCtrl+7 |
||
| 702 | 719 068e 9091 0000 lds r25,(FromNaviCtrl+7)+1 |
||
| 703 | 720 0692 21E0 ldi r18,hi8(361) |
||
| 704 | 721 0694 8936 cpi r24,lo8(361) |
||
| 705 | 722 0696 9207 cpc r25,r18 |
||
| 706 | 723 0698 24F4 brge .L49 |
||
| 707 | 724 069a 9093 0000 sts (KompassValue)+1,r25 |
||
| 708 | 725 069e 8093 0000 sts KompassValue,r24 |
||
| 709 | 726 .L49: |
||
| 710 | 727 06a2 8091 0000 lds r24,KompassValue |
||
| 711 | 728 06a6 9091 0000 lds r25,(KompassValue)+1 |
||
| 712 | 729 06aa 2091 0000 lds r18,KompassStartwert |
||
| 713 | 730 06ae 3091 0000 lds r19,(KompassStartwert)+1 |
||
| 714 | 731 06b2 821B sub r24,r18 |
||
| 715 | 732 06b4 930B sbc r25,r19 |
||
| 716 | 733 06b6 845E subi r24,lo8(-(540)) |
||
| 717 | 734 06b8 9D4F sbci r25,hi8(-(540)) |
||
| 718 | 735 06ba 68E6 ldi r22,lo8(360) |
||
| 719 | 736 06bc 71E0 ldi r23,hi8(360) |
||
| 720 | 737 06be 0E94 0000 call __divmodhi4 |
||
| 721 | 738 06c2 845B subi r24,lo8(-(-180)) |
||
| 722 | 739 06c4 9040 sbci r25,hi8(-(-180)) |
||
| 723 | 740 06c6 9093 0000 sts (KompassRichtung)+1,r25 |
||
| 724 | 741 06ca 8093 0000 sts KompassRichtung,r24 |
||
| 725 | 742 06ce 2091 0000 lds r18,FromNaviCtrl+11 |
||
| 726 | 743 06d2 3091 0000 lds r19,(FromNaviCtrl+11)+1 |
||
| 727 | 744 06d6 8091 0000 lds r24,beeptime |
||
| 728 | 745 06da 9091 0000 lds r25,(beeptime)+1 |
||
| 729 | 746 06de 8217 cp r24,r18 |
||
| 730 | 747 06e0 9307 cpc r25,r19 |
||
| 731 | 748 06e2 40F4 brsh .L50 |
||
| 732 | 749 06e4 8091 0000 lds r24,WinkelOut+6 |
||
| 733 | 750 06e8 8823 tst r24 |
||
| 734 | 751 06ea 21F4 brne .L50 |
||
| 735 | 752 06ec 3093 0000 sts (beeptime)+1,r19 |
||
| 736 | 753 06f0 2093 0000 sts beeptime,r18 |
||
| 737 | 754 .L50: |
||
| 738 | 755 06f4 8091 0000 lds r24,FromNaviCtrl |
||
| 739 | 756 06f8 9927 clr r25 |
||
| 740 | 757 06fa 8836 cpi r24,104 |
||
| 741 | 758 06fc 9105 cpc r25,__zero_reg__ |
||
| 742 | 759 06fe 49F1 breq .L53 |
||
| 743 | 760 0700 8936 cpi r24,105 |
||
| 744 | 761 0702 9105 cpc r25,__zero_reg__ |
||
| 745 | 762 0704 24F4 brge .L56 |
||
| 746 | 763 0706 8736 cpi r24,103 |
||
| 747 | 764 0708 9105 cpc r25,__zero_reg__ |
||
| 748 | 765 070a 31F0 breq .L52 |
||
| 749 | 766 070c 72C0 rjmp .L20 |
||
| 750 | 767 .L56: |
||
| 751 | 768 070e 8936 cpi r24,105 |
||
| 752 | 769 0710 9105 cpc r25,__zero_reg__ |
||
| 753 | 770 0712 09F4 brne .+2 |
||
| 754 | 771 0714 45C0 rjmp .L54 |
||
| 755 | 772 0716 6DC0 rjmp .L20 |
||
| 756 | 773 .L52: |
||
| 757 | 774 0718 8091 0000 lds r24,FromNaviCtrl+13 |
||
| 758 | 775 071c 8093 0000 sts FromNaviCtrl_Value,r24 |
||
| 759 | 776 0720 8091 0000 lds r24,FromNaviCtrl+14 |
||
| 760 | 777 0724 8093 0000 sts FromNaviCtrl_Value+2,r24 |
||
| 761 | 778 0728 8091 0000 lds r24,FromNaviCtrl+15 |
||
| 762 | 779 072c 8093 0000 sts FromNaviCtrl_Value+1,r24 |
||
| 763 | 780 0730 8091 0000 lds r24,FromNaviCtrl+16 |
||
| 764 | 781 0734 8093 0000 sts FromNaviCtrl_Value+3,r24 |
||
| 765 | 782 0738 8091 0000 lds r24,FromNaviCtrl+17 |
||
| 766 | 783 073c 8093 0000 sts FromNaviCtrl_Value+4,r24 |
||
| 767 | 784 0740 8091 0000 lds r24,FromNaviCtrl+18 |
||
| 768 | 785 0744 8093 0000 sts FromNC_Rotate_C,r24 |
||
| 769 | 786 0748 8091 0000 lds r24,FromNaviCtrl+19 |
||
| 770 | 787 074c 8093 0000 sts FromNC_Rotate_S,r24 |
||
| 771 | 788 0750 50C0 rjmp .L20 |
||
| 772 | 789 .L53: |
||
| 773 | 790 0752 8091 0000 lds r24,FromNaviCtrl+13 |
||
| 774 | 791 0756 8093 0000 sts NC_Version,r24 |
||
| 775 | 792 075a 8091 0000 lds r24,FromNaviCtrl+14 |
||
| 776 | 793 075e 8093 0000 sts NC_Version+1,r24 |
||
| 777 | 794 0762 8091 0000 lds r24,FromNaviCtrl+15 |
||
| 778 | 795 0766 8093 0000 sts NC_Version+2,r24 |
||
| 779 | 796 076a 8091 0000 lds r24,FromNaviCtrl+16 |
||
| 780 | 797 076e 8093 0000 sts NC_Version+3,r24 |
||
| 781 | 798 0772 8091 0000 lds r24,FromNaviCtrl+17 |
||
| 782 | 799 0776 8093 0000 sts NC_Version+4,r24 |
||
| 783 | 800 077a 8091 0000 lds r24,DebugOut |
||
| 784 | 801 077e 9091 0000 lds r25,FromNaviCtrl+18 |
||
| 785 | 802 0782 892B or r24,r25 |
||
| 786 | 803 0784 8093 0000 sts DebugOut,r24 |
||
| 787 | 804 0788 9091 0000 lds r25,FromNaviCtrl+19 |
||
| 788 | 805 078c 9093 0000 sts NC_ErrorCode,r25 |
||
| 789 | 806 0790 8091 0000 lds r24,DebugOut+1 |
||
| 790 | 807 0794 8370 andi r24,lo8(3) |
||
| 791 | 808 0796 9C70 andi r25,lo8(12) |
||
| 792 | 809 0798 892B or r24,r25 |
||
| 793 | 810 079a 8093 0000 sts DebugOut+1,r24 |
||
| 794 | 811 079e 29C0 rjmp .L20 |
||
| 795 | 812 .L54: |
||
| 796 | 813 07a0 8091 0000 lds r24,FromNaviCtrl+13 |
||
| 797 | 814 07a4 8093 0000 sts GPSInfo,r24 |
||
| 798 | 815 07a8 8091 0000 lds r24,FromNaviCtrl+14 |
||
| 799 | 816 07ac 8093 0000 sts GPSInfo+1,r24 |
||
| 800 | 817 07b0 8091 0000 lds r24,FromNaviCtrl+15 |
||
| 801 | 818 07b4 8093 0000 sts GPSInfo+2,r24 |
||
| 802 | 819 07b8 8091 0000 lds r24,FromNaviCtrl+16 |
||
| 803 | 820 07bc 8093 0000 sts GPSInfo+3,r24 |
||
| 804 | 821 07c0 8091 0000 lds r24,FromNaviCtrl+17 |
||
| 805 | 822 07c4 9091 0000 lds r25,(FromNaviCtrl+17)+1 |
||
| 806 | 823 07c8 9093 0000 sts (GPSInfo+4)+1,r25 |
||
| 807 | 824 07cc 8093 0000 sts GPSInfo+4,r24 |
||
| 808 | 825 07d0 8091 0000 lds r24,FromNaviCtrl+19 |
||
| 809 | 826 07d4 9091 0000 lds r25,(FromNaviCtrl+19)+1 |
||
| 810 | 827 07d8 9093 0000 sts (GPSInfo+6)+1,r25 |
||
| 811 | 828 07dc 8093 0000 sts GPSInfo+6,r24 |
||
| 812 | 829 07e0 08C0 rjmp .L20 |
||
| 813 | 830 .L47: |
||
| 814 | 831 07e2 1092 0000 sts (GPS_Nick)+1,__zero_reg__ |
||
| 815 | 832 07e6 1092 0000 sts GPS_Nick,__zero_reg__ |
||
| 816 | 833 07ea 1092 0000 sts (GPS_Roll)+1,__zero_reg__ |
||
| 817 | 834 07ee 1092 0000 sts GPS_Roll,__zero_reg__ |
||
| 818 | 835 .L20: |
||
| 819 | 836 /* epilogue: frame size=0 */ |
||
| 820 | 837 07f2 1F91 pop r17 |
||
| 821 | 838 07f4 0F91 pop r16 |
||
| 822 | 839 07f6 FF90 pop r15 |
||
| 823 | 840 07f8 EF90 pop r14 |
||
| 824 | 841 07fa 0895 ret |
||
| 825 | 842 /* epilogue end (size=5) */ |
||
| 826 | 843 /* function UpdateSPI_Buffer size 857 (848) */ |
||
| 827 | 845 .global SPI_StartTransmitPacket |
||
| 828 | 847 SPI_StartTransmitPacket: |
||
| 829 | 848 /* prologue: frame size=0 */ |
||
| 830 | 849 /* prologue end (size=0) */ |
||
| 831 | 850 07fc 8091 0000 lds r24,SPITransferCompleted |
||
| 832 | 851 0800 8823 tst r24 |
||
| 833 | 852 0802 09F4 brne .+2 |
||
| 834 | 853 0804 3BC0 rjmp .L59 |
||
| 835 | 854 0806 4598 cbi 40-0x20,5 |
||
| 836 | 855 0808 80E0 ldi r24,lo8(ToNaviCtrl) |
||
| 837 | 856 080a 90E0 ldi r25,hi8(ToNaviCtrl) |
||
| 838 | 857 080c 9093 0000 sts (SPI_TX_Buffer)+1,r25 |
||
| 839 | 858 0810 8093 0000 sts SPI_TX_Buffer,r24 |
||
| 840 | 859 0814 9091 0000 lds r25,SPI_CommandCounter |
||
| 841 | 860 0818 E92F mov r30,r25 |
||
| 842 | 861 081a FF27 clr r31 |
||
| 843 | 862 081c E050 subi r30,lo8(-(SPI_CommandSequence)) |
||
| 844 | 863 081e F040 sbci r31,hi8(-(SPI_CommandSequence)) |
||
| 845 | 864 0820 9F5F subi r25,lo8(-(1)) |
||
| 846 | 865 0822 9093 0000 sts SPI_CommandCounter,r25 |
||
| 847 | 866 0826 8081 ld r24,Z |
||
| 848 | 867 0828 8093 0000 sts ToNaviCtrl+2,r24 |
||
| 849 | 868 082c 9930 cpi r25,lo8(9) |
||
| 850 | 869 082e 10F0 brlo .L61 |
||
| 851 | 870 0830 1092 0000 sts SPI_CommandCounter,__zero_reg__ |
||
| 852 | 871 .L61: |
||
| 853 | 872 0834 1092 0000 sts SPITransferCompleted,__zero_reg__ |
||
| 854 | 873 0838 0E94 0000 call UpdateSPI_Buffer |
||
| 855 | 874 083c 81E0 ldi r24,lo8(1) |
||
| 856 | 875 083e 8093 0000 sts SPI_BufferIndex,r24 |
||
| 857 | 876 /* #APP */ |
||
| 858 | 877 0842 0000 nop |
||
| 859 | 878 0844 0000 nop |
||
| 860 | 879 0846 0000 nop |
||
| 861 | 880 0848 0000 nop |
||
| 862 | 881 084a 0000 nop |
||
| 863 | 882 084c 0000 nop |
||
| 864 | 883 084e 0000 nop |
||
| 865 | 884 0850 0000 nop |
||
| 866 | 885 0852 0000 nop |
||
| 867 | 886 0854 0000 nop |
||
| 868 | 887 0856 0000 nop |
||
| 869 | 888 0858 0000 nop |
||
| 870 | 889 085a 0000 nop |
||
| 871 | 890 085c 0000 nop |
||
| 872 | 891 085e 0000 nop |
||
| 873 | 892 0860 0000 nop |
||
| 874 | 893 0862 0000 nop |
||
| 875 | 894 0864 0000 nop |
||
| 876 | 895 0866 0000 nop |
||
| 877 | 896 0868 0000 nop |
||
| 878 | 897 086a 0000 nop |
||
| 879 | 898 086c 0000 nop |
||
| 880 | 899 086e 0000 nop |
||
| 881 | 900 0870 0000 nop |
||
| 882 | 901 /* #NOAPP */ |
||
| 883 | 902 0872 8091 0000 lds r24,ToNaviCtrl |
||
| 884 | 903 0876 8093 0000 sts ToNaviCtrl+31,r24 |
||
| 885 | 904 087a 8EBD out 78-0x20,r24 |
||
| 886 | 905 .L59: |
||
| 887 | 906 087c 0895 ret |
||
| 888 | 907 /* epilogue: frame size=0 */ |
||
| 889 | 908 /* epilogue: noreturn */ |
||
| 890 | 909 /* epilogue end (size=0) */ |
||
| 891 | 910 /* function SPI_StartTransmitPacket size 89 (89) */ |
||
| 892 | 912 .comm GPSInfo,8,1 |
||
| 893 | 913 .comm NC_Version,5,1 |
||
| 894 | 914 .comm FromNaviCtrl_Value,5,1 |
||
| 895 | 915 .comm ToNaviCtrl,32,1 |
||
| 896 | 916 .comm FromNaviCtrl,26,1 |
||
| 897 | 917 .comm SPI_BufferIndex,1,1 |
||
| 898 | 918 .comm SPI_RxBufferIndex,1,1 |
||
| 899 | 919 .comm SPI_Buffer,26,1 |
||
| 900 | 920 .comm SPI_TX_Buffer,2,1 |
||
| 901 | 921 .comm SPITransferCompleted,1,1 |
||
| 902 | 922 .comm SPI_ChkSum,1,1 |
||
| 903 | 923 .comm SPI_RxDataValid,1,1 |
||
| 904 | 924 /* File "spi.c": code 1143 = 0x0477 (1133), prologues 4, epilogues 6 */ |
||
| 905 | DEFINED SYMBOLS |
||
| 906 | *ABS*:00000000 spi.c |
||
| 907 | C:\Users\Arthur-P\AppData\Local\Temp/ccM3baaa.s:3 *ABS*:0000003f __SREG__ |
||
| 908 | C:\Users\Arthur-P\AppData\Local\Temp/ccM3baaa.s:4 *ABS*:0000003e __SP_H__ |
||
| 909 | C:\Users\Arthur-P\AppData\Local\Temp/ccM3baaa.s:5 *ABS*:0000003d __SP_L__ |
||
| 910 | C:\Users\Arthur-P\AppData\Local\Temp/ccM3baaa.s:6 *ABS*:00000000 __tmp_reg__ |
||
| 911 | C:\Users\Arthur-P\AppData\Local\Temp/ccM3baaa.s:7 *ABS*:00000001 __zero_reg__ |
||
| 912 | C:\Users\Arthur-P\AppData\Local\Temp/ccM3baaa.s:15 .bss:00000000 NC_ErrorCode |
||
| 913 | C:\Users\Arthur-P\AppData\Local\Temp/ccM3baaa.s:21 .bss:00000001 SPI_CommandCounter |
||
| 914 | C:\Users\Arthur-P\AppData\Local\Temp/ccM3baaa.s:27 .data:00000000 SPI_CommandSequence |
||
| 915 | C:\Users\Arthur-P\AppData\Local\Temp/ccM3baaa.s:40 .data:00000009 NaviDataOkay |
||
| 916 | C:\Users\Arthur-P\AppData\Local\Temp/ccM3baaa.s:47 .bss:00000002 FromNC_Rotate_S |
||
| 917 | C:\Users\Arthur-P\AppData\Local\Temp/ccM3baaa.s:53 .data:0000000a FromNC_Rotate_C |
||
| 918 | C:\Users\Arthur-P\AppData\Local\Temp/ccM3baaa.s:58 .text:00000000 SPI_MasterInit |
||
| 919 | *COM*:00000001 SPITransferCompleted |
||
| 920 | *COM*:00000020 ToNaviCtrl |
||
| 921 | *COM*:00000005 FromNaviCtrl_Value |
||
| 922 | *COM*:00000001 SPI_RxDataValid |
||
| 923 | .bss:00000003 SPI_RXState.0 |
||
| 924 | C:\Users\Arthur-P\AppData\Local\Temp/ccM3baaa.s:88 .bss:00000004 rxchksum.1 |
||
| 925 | C:\Users\Arthur-P\AppData\Local\Temp/ccM3baaa.s:92 .text:00000042 SPI_TransmitByte |
||
| 926 | *COM*:00000001 SPI_RxBufferIndex |
||
| 927 | *COM*:0000001a SPI_Buffer |
||
| 928 | *COM*:0000001a FromNaviCtrl |
||
| 929 | *COM*:00000001 SPI_BufferIndex |
||
| 930 | *COM*:00000002 SPI_TX_Buffer |
||
| 931 | C:\Users\Arthur-P\AppData\Local\Temp/ccM3baaa.s:233 .text:00000158 UpdateSPI_Buffer |
||
| 932 | *COM*:00000005 NC_Version |
||
| 933 | *COM*:00000008 GPSInfo |
||
| 934 | C:\Users\Arthur-P\AppData\Local\Temp/ccM3baaa.s:847 .text:000007fc SPI_StartTransmitPacket |
||
| 935 | *COM*:00000001 SPI_ChkSum |
||
| 936 | |||
| 937 | UNDEFINED SYMBOLS |
||
| 938 | __do_copy_data |
||
| 939 | __do_clear_bss |
||
| 940 | SendSPI |
||
| 941 | EE_Parameter |
||
| 942 | IntegralNick |
||
| 943 | __divmodsi4 |
||
| 944 | IntegralRoll |
||
| 945 | ErsatzKompass |
||
| 946 | GIER_GRAD_FAKTOR |
||
| 947 | AdNeutralGier |
||
| 948 | AdWertGier |
||
| 949 | NaviCntAcc |
||
| 950 | NaviAccNick |
||
| 951 | __divmodhi4 |
||
| 952 | NaviAccRoll |
||
| 953 | Parameter_UserParam1 |
||
| 954 | Parameter_UserParam2 |
||
| 955 | Parameter_UserParam3 |
||
| 956 | Parameter_UserParam4 |
||
| 957 | Parameter_UserParam5 |
||
| 958 | Parameter_UserParam6 |
||
| 959 | Parameter_UserParam7 |
||
| 960 | Parameter_UserParam8 |
||
| 961 | FCFlags |
||
| 962 | GetActiveParamSet |
||
| 963 | ControlHeading |
||
| 964 | Capacity |
||
| 965 | UBat |
||
| 966 | BattLowVoltageWarning |
||
| 967 | PPM_in |
||
| 968 | Poti |
||
| 969 | WinkelOut |
||
| 970 | HoehenWert |
||
| 971 | SollHoehe |
||
| 972 | SenderOkay |
||
| 973 | DebugOut |
||
| 974 | PlatinenVersion |
||
| 975 | VersionInfo |
||
| 976 | Parameter_ServoNickControl |
||
| 977 | Parameter_ServoRollControl |
||
| 978 | GPS_Nick |
||
| 979 | GPS_Roll |
||
| 980 | KompassValue |
||
| 981 | KompassStartwert |
||
| 982 | KompassRichtung |
||
| 983 | beeptime |