Rev 1755 | Details | Compare with Previous | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1755 | - | 1 | 1 .file "timer0.c" |
| 1789 | - | 2 | 2 __SREG__ = 0x3f |
| 3 | 3 __SP_H__ = 0x3e |
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| 4 | 4 __SP_L__ = 0x3d |
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| 5 | 5 __CCP__ = 0x34 |
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| 1755 | - | 6 | 6 __tmp_reg__ = 0 |
| 7 | 7 __zero_reg__ = 1 |
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| 1789 | - | 8 | 8 .text |
| 9 | 9 .global __vector_18 |
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| 10 | 11 __vector_18: |
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| 11 | 12 0000 1F92 push __zero_reg__ |
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| 12 | 13 0002 0F92 push r0 |
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| 13 | 14 0004 0FB6 in r0,__SREG__ |
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| 14 | 15 0006 0F92 push r0 |
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| 15 | 16 0008 1124 clr __zero_reg__ |
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| 16 | 17 000a 2F93 push r18 |
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| 17 | 18 000c 3F93 push r19 |
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| 18 | 19 000e 5F93 push r21 |
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| 19 | 20 0010 6F93 push r22 |
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| 20 | 21 0012 7F93 push r23 |
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| 21 | 22 0014 8F93 push r24 |
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| 22 | 23 0016 9F93 push r25 |
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| 23 | 24 0018 AF93 push r26 |
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| 24 | 25 001a BF93 push r27 |
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| 25 | 26 /* prologue: Signal */ |
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| 26 | 27 /* frame size = 0 */ |
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| 27 | 28 001c 8091 0000 lds r24,SendSPI |
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| 28 | 29 0020 8823 tst r24 |
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| 29 | 30 0022 01F0 breq .L2 |
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| 30 | 31 0024 8091 0000 lds r24,SendSPI |
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| 31 | 32 0028 8150 subi r24,lo8(-(-1)) |
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| 32 | 33 002a 8093 0000 sts SendSPI,r24 |
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| 33 | 34 .L2: |
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| 34 | 35 002e 8091 0000 lds r24,SpektrumTimer |
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| 35 | 36 0032 8823 tst r24 |
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| 36 | 37 0034 01F0 breq .L3 |
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| 37 | 38 0036 8150 subi r24,lo8(-(-1)) |
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| 38 | 39 0038 8093 0000 sts SpektrumTimer,r24 |
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| 39 | 40 .L3: |
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| 40 | 41 003c 8091 0000 lds r24,cnt.2239 |
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| 41 | 42 0040 8150 subi r24,lo8(-(-1)) |
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| 42 | 43 0042 8093 0000 sts cnt.2239,r24 |
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| 43 | 44 0046 8F5F subi r24,lo8(-(1)) |
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| 44 | 45 0048 01F0 breq .+2 |
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| 45 | 46 004a 00C0 rjmp .L4 |
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| 46 | 47 004c 89E0 ldi r24,lo8(9) |
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| 47 | 48 004e 8093 0000 sts cnt.2239,r24 |
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| 48 | 49 0052 8091 0000 lds r24,CountMilliseconds |
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| 49 | 50 0056 9091 0000 lds r25,(CountMilliseconds)+1 |
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| 50 | 51 005a 0196 adiw r24,1 |
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| 51 | 52 005c 9093 0000 sts (CountMilliseconds)+1,r25 |
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| 52 | 53 0060 8093 0000 sts CountMilliseconds,r24 |
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| 53 | 54 0064 8091 0000 lds r24,cnt_1ms.2238 |
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| 54 | 55 0068 8F5F subi r24,lo8(-(1)) |
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| 55 | 56 006a 8170 andi r24,lo8(1) |
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| 56 | 57 006c 8093 0000 sts cnt_1ms.2238,r24 |
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| 57 | 58 0070 8823 tst r24 |
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| 58 | 59 0072 01F4 brne .L5 |
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| 59 | 60 0074 81E0 ldi r24,lo8(1) |
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| 60 | 61 0076 8093 0000 sts UpdateMotor,r24 |
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| 61 | 62 .L5: |
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| 62 | 63 007a 3499 sbic 38-32,4 |
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| 63 | 64 007c 00C0 rjmp .L6 |
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| 64 | 65 007e 81E0 ldi r24,lo8(1) |
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| 65 | 66 0080 8093 0000 sts compass_active.2240,r24 |
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| 66 | 67 .L6: |
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| 67 | 68 0084 8091 0000 lds r24,beeptime |
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| 68 | 69 0088 9091 0000 lds r25,(beeptime)+1 |
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| 69 | 70 008c 892B or r24,r25 |
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| 70 | 71 008e 01F0 breq .L7 |
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| 71 | 72 0090 8091 0000 lds r24,beeptime |
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| 72 | 73 0094 9091 0000 lds r25,(beeptime)+1 |
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| 73 | 74 0098 0B97 sbiw r24,11 |
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| 74 | 75 009a 00F0 brlo .L8 |
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| 75 | 76 009c 8091 0000 lds r24,beeptime |
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| 76 | 77 00a0 9091 0000 lds r25,(beeptime)+1 |
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| 77 | 78 00a4 0A97 sbiw r24,10 |
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| 78 | 79 00a6 9093 0000 sts (beeptime)+1,r25 |
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| 79 | 80 00aa 8093 0000 sts beeptime,r24 |
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| 80 | 81 00ae 00C0 rjmp .L9 |
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| 81 | 82 .L8: |
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| 82 | 83 00b0 1092 0000 sts (beeptime)+1,__zero_reg__ |
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| 83 | 84 00b4 1092 0000 sts beeptime,__zero_reg__ |
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| 84 | 85 .L9: |
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| 85 | 86 00b8 8091 0000 lds r24,beeptime |
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| 86 | 87 00bc 9091 0000 lds r25,(beeptime)+1 |
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| 87 | 88 00c0 2091 0000 lds r18,BeepMuster |
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| 88 | 89 00c4 3091 0000 lds r19,(BeepMuster)+1 |
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| 89 | 90 00c8 8223 and r24,r18 |
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| 90 | 91 00ca 9323 and r25,r19 |
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| 91 | 92 00cc 892B or r24,r25 |
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| 92 | 93 00ce 01F0 breq .+2 |
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| 93 | 94 00d0 00C0 rjmp .L10 |
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| 94 | 95 00d2 00C0 rjmp .L11 |
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| 95 | 96 .L7: |
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| 96 | 97 00d4 8FEF ldi r24,lo8(-1) |
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| 97 | 98 00d6 9FEF ldi r25,hi8(-1) |
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| 98 | 99 00d8 9093 0000 sts (BeepMuster)+1,r25 |
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| 99 | 100 00dc 8093 0000 sts BeepMuster,r24 |
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| 100 | 101 .L11: |
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| 101 | 102 00e0 8091 0000 lds r24,PlatinenVersion |
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| 102 | 103 00e4 8A30 cpi r24,lo8(10) |
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| 103 | 104 00e6 01F4 brne .L22 |
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| 104 | 105 00e8 00C0 rjmp .L24 |
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| 105 | 106 .L25: |
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| 106 | 107 00ea 5A9A sbi 43-32,2 |
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| 107 | 108 00ec 00C0 rjmp .L4 |
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| 108 | 109 .L23: |
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| 109 | 110 00ee 479A sbi 40-32,7 |
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| 110 | 111 00f0 00C0 rjmp .L4 |
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| 111 | 112 .L24: |
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| 112 | 113 00f2 5A98 cbi 43-32,2 |
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| 113 | 114 00f4 00C0 rjmp .L4 |
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| 114 | 115 .L22: |
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| 115 | 116 00f6 4798 cbi 40-32,7 |
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| 116 | 117 .L4: |
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| 117 | 118 00f8 8091 0000 lds r24,compass_active.2240 |
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| 118 | 119 00fc 8823 tst r24 |
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| 119 | 120 00fe 01F4 brne .+2 |
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| 120 | 121 0100 00C0 rjmp .L21 |
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| 121 | 122 0102 8091 0000 lds r24,NaviDataOkay |
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| 122 | 123 0106 8823 tst r24 |
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| 123 | 124 0108 01F0 breq .+2 |
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| 124 | 125 010a 00C0 rjmp .L21 |
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| 125 | 126 010c 8091 0000 lds r24,EE_Parameter+13 |
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| 126 | 127 0110 83FF sbrs r24,3 |
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| 127 | 128 0112 00C0 rjmp .L21 |
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| 128 | 129 0114 349B sbis 38-32,4 |
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| 129 | 130 0116 00C0 rjmp .L15 |
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| 130 | 131 0118 8091 0000 lds r24,cntKompass |
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| 131 | 132 011c 9091 0000 lds r25,(cntKompass)+1 |
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| 132 | 133 0120 0196 adiw r24,1 |
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| 133 | 134 0122 9093 0000 sts (cntKompass)+1,r25 |
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| 134 | 135 0126 8093 0000 sts cntKompass,r24 |
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| 135 | 136 012a 8091 0000 lds r24,cntKompass |
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| 136 | 137 012e 9091 0000 lds r25,(cntKompass)+1 |
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| 137 | 138 0132 895E subi r24,lo8(1001) |
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| 138 | 139 0134 9340 sbci r25,hi8(1001) |
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| 139 | 140 0136 00F4 brsh .+2 |
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| 140 | 141 0138 00C0 rjmp .L21 |
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| 141 | 142 013a 1092 0000 sts compass_active.2240,__zero_reg__ |
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| 142 | 143 013e 00C0 rjmp .L21 |
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| 143 | 144 .L15: |
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| 144 | 145 0140 8091 0000 lds r24,cntKompass |
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| 145 | 146 0144 9091 0000 lds r25,(cntKompass)+1 |
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| 146 | 147 0148 892B or r24,r25 |
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| 147 | 148 014a 01F4 brne .+2 |
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| 148 | 149 014c 00C0 rjmp .L16 |
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| 149 | 150 014e 8091 0000 lds r24,cntKompass |
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| 150 | 151 0152 9091 0000 lds r25,(cntKompass)+1 |
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| 151 | 152 0156 8A56 subi r24,lo8(362) |
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| 152 | 153 0158 9140 sbci r25,hi8(362) |
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| 153 | 154 015a 00F4 brsh .L16 |
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| 154 | 155 015c 2091 0000 lds r18,cntKompass |
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| 155 | 156 0160 3091 0000 lds r19,(cntKompass)+1 |
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| 156 | 157 0164 8091 0000 lds r24,cntKompass |
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| 157 | 158 0168 9091 0000 lds r25,(cntKompass)+1 |
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| 158 | 159 016c 69E2 ldi r22,lo8(41) |
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| 159 | 160 016e 70E0 ldi r23,hi8(41) |
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| 160 | 161 0170 0E94 0000 call __udivmodhi4 |
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| 161 | 162 0174 260F add r18,r22 |
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| 162 | 163 0176 371F adc r19,r23 |
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| 163 | 164 0178 3093 0000 sts (cntKompass)+1,r19 |
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| 164 | 165 017c 2093 0000 sts cntKompass,r18 |
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| 165 | 166 0180 8091 0000 lds r24,cntKompass |
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| 166 | 167 0184 9091 0000 lds r25,(cntKompass)+1 |
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| 167 | 168 0188 0B97 sbiw r24,11 |
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| 168 | 169 018a 00F0 brlo .L17 |
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| 169 | 170 018c 8091 0000 lds r24,cntKompass |
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| 170 | 171 0190 9091 0000 lds r25,(cntKompass)+1 |
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| 171 | 172 0194 0A97 sbiw r24,10 |
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| 172 | 173 0196 9093 0000 sts (KompassValue)+1,r25 |
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| 173 | 174 019a 8093 0000 sts KompassValue,r24 |
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| 174 | 175 019e 00C0 rjmp .L18 |
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| 175 | 176 .L17: |
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| 176 | 177 01a0 1092 0000 sts (KompassValue)+1,__zero_reg__ |
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| 177 | 178 01a4 1092 0000 sts KompassValue,__zero_reg__ |
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| 178 | 179 .L18: |
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| 179 | 180 01a8 8091 0000 lds r24,KompassValue |
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| 180 | 181 01ac 9091 0000 lds r25,(KompassValue)+1 |
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| 181 | 182 01b0 845E subi r24,lo8(-(540)) |
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| 182 | 183 01b2 9D4F sbci r25,hi8(-(540)) |
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| 183 | 184 01b4 2091 0000 lds r18,KompassStartwert |
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| 184 | 185 01b8 3091 0000 lds r19,(KompassStartwert)+1 |
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| 185 | 186 01bc 821B sub r24,r18 |
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| 186 | 187 01be 930B sbc r25,r19 |
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| 187 | 188 01c0 68E6 ldi r22,lo8(360) |
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| 188 | 189 01c2 71E0 ldi r23,hi8(360) |
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| 189 | 190 01c4 0E94 0000 call __divmodhi4 |
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| 190 | 191 01c8 845B subi r24,lo8(-(-180)) |
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| 191 | 192 01ca 9040 sbci r25,hi8(-(-180)) |
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| 192 | 193 01cc 9093 0000 sts (KompassRichtung)+1,r25 |
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| 193 | 194 01d0 8093 0000 sts KompassRichtung,r24 |
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| 194 | 195 .L16: |
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| 195 | 196 01d4 1092 0000 sts (cntKompass)+1,__zero_reg__ |
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| 196 | 197 01d8 1092 0000 sts cntKompass,__zero_reg__ |
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| 197 | 198 01dc 00C0 rjmp .L21 |
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| 198 | 199 .L10: |
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| 199 | 200 01de 8091 0000 lds r24,PlatinenVersion |
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| 200 | 201 01e2 8A30 cpi r24,lo8(10) |
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| 201 | 202 01e4 01F0 breq .+2 |
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| 202 | 203 01e6 00C0 rjmp .L23 |
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| 203 | 204 01e8 00C0 rjmp .L25 |
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| 204 | 205 .L21: |
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| 205 | 206 /* epilogue start */ |
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| 206 | 207 01ea BF91 pop r27 |
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| 207 | 208 01ec AF91 pop r26 |
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| 208 | 209 01ee 9F91 pop r25 |
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| 209 | 210 01f0 8F91 pop r24 |
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| 210 | 211 01f2 7F91 pop r23 |
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| 211 | 212 01f4 6F91 pop r22 |
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| 212 | 213 01f6 5F91 pop r21 |
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| 213 | 214 01f8 3F91 pop r19 |
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| 214 | 215 01fa 2F91 pop r18 |
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| 215 | 216 01fc 0F90 pop r0 |
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| 216 | 217 01fe 0FBE out __SREG__,r0 |
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| 217 | 218 0200 0F90 pop r0 |
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| 218 | 219 0202 1F90 pop __zero_reg__ |
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| 219 | 220 0204 1895 reti |
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| 220 | 222 .global SetDelay |
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| 221 | 224 SetDelay: |
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| 222 | 225 /* prologue: function */ |
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| 223 | 226 /* frame size = 0 */ |
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| 224 | 227 0206 2091 0000 lds r18,CountMilliseconds |
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| 225 | 228 020a 3091 0000 lds r19,(CountMilliseconds)+1 |
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| 226 | 229 020e 2F5F subi r18,lo8(-(1)) |
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| 227 | 230 0210 3F4F sbci r19,hi8(-(1)) |
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| 228 | 231 0212 280F add r18,r24 |
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| 229 | 232 0214 391F adc r19,r25 |
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| 230 | 233 0216 C901 movw r24,r18 |
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| 231 | 234 /* epilogue start */ |
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| 232 | 235 0218 0895 ret |
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| 233 | 237 .global CheckDelay |
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| 234 | 239 CheckDelay: |
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| 235 | 240 /* prologue: function */ |
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| 236 | 241 /* frame size = 0 */ |
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| 237 | 242 021a 2091 0000 lds r18,CountMilliseconds |
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| 238 | 243 021e 3091 0000 lds r19,(CountMilliseconds)+1 |
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| 239 | 244 0222 821B sub r24,r18 |
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| 240 | 245 0224 930B sbc r25,r19 |
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| 241 | 246 0226 8070 andi r24,lo8(-32768) |
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| 242 | 247 0228 9078 andi r25,hi8(-32768) |
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| 243 | 248 022a 892F mov r24,r25 |
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| 244 | 249 022c 8695 lsr r24 |
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| 245 | 250 /* epilogue start */ |
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| 246 | 251 022e 0895 ret |
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| 247 | 253 .global Delay_ms |
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| 248 | 255 Delay_ms: |
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| 249 | 256 /* prologue: function */ |
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| 250 | 257 /* frame size = 0 */ |
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| 251 | 258 0230 2091 0000 lds r18,CountMilliseconds |
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| 252 | 259 0234 3091 0000 lds r19,(CountMilliseconds)+1 |
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| 253 | 260 0238 2F5F subi r18,lo8(-(1)) |
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| 254 | 261 023a 3F4F sbci r19,hi8(-(1)) |
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| 255 | 262 023c 280F add r18,r24 |
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| 256 | 263 023e 391F adc r19,r25 |
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| 257 | 264 .L31: |
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| 258 | 265 0240 8091 0000 lds r24,CountMilliseconds |
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| 259 | 266 0244 9091 0000 lds r25,(CountMilliseconds)+1 |
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| 260 | 267 0248 A901 movw r20,r18 |
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| 261 | 268 024a 481B sub r20,r24 |
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| 262 | 269 024c 590B sbc r21,r25 |
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| 263 | 270 024e CA01 movw r24,r20 |
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| 264 | 271 0250 8070 andi r24,lo8(-32768) |
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| 265 | 272 0252 9078 andi r25,hi8(-32768) |
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| 266 | 273 0254 892F mov r24,r25 |
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| 267 | 274 0256 8695 lsr r24 |
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| 268 | 275 0258 01F0 breq .L31 |
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| 269 | 276 /* epilogue start */ |
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| 270 | 277 025a 0895 ret |
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| 271 | 279 .global Delay_ms_Mess |
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| 272 | 281 Delay_ms_Mess: |
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| 273 | 282 /* prologue: function */ |
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| 274 | 283 /* frame size = 0 */ |
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| 275 | 284 025c 2091 0000 lds r18,CountMilliseconds |
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| 276 | 285 0260 3091 0000 lds r19,(CountMilliseconds)+1 |
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| 277 | 286 0264 2F5F subi r18,lo8(-(1)) |
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| 278 | 287 0266 3F4F sbci r19,hi8(-(1)) |
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| 279 | 288 0268 280F add r18,r24 |
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| 280 | 289 026a 391F adc r19,r25 |
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| 281 | 290 026c 4FEC ldi r20,lo8(-49) |
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| 282 | 291 026e 00C0 rjmp .L40 |
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| 283 | 292 .L36: |
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| 284 | 293 0270 8091 0000 lds r24,AdReady |
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| 285 | 294 0274 8823 tst r24 |
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| 286 | 295 0276 01F0 breq .L40 |
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| 287 | 296 0278 1092 0000 sts AdReady,__zero_reg__ |
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| 288 | 297 027c 4093 7A00 sts 122,r20 |
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| 289 | 298 .L40: |
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| 290 | 299 0280 8091 0000 lds r24,CountMilliseconds |
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| 291 | 300 0284 9091 0000 lds r25,(CountMilliseconds)+1 |
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| 292 | 301 0288 B901 movw r22,r18 |
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| 293 | 302 028a 681B sub r22,r24 |
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| 294 | 303 028c 790B sbc r23,r25 |
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| 295 | 304 028e CB01 movw r24,r22 |
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| 296 | 305 0290 8070 andi r24,lo8(-32768) |
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| 297 | 306 0292 9078 andi r25,hi8(-32768) |
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| 298 | 307 0294 892F mov r24,r25 |
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| 299 | 308 0296 8695 lsr r24 |
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| 300 | 309 0298 01F0 breq .L36 |
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| 301 | 310 /* epilogue start */ |
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| 302 | 311 029a 0895 ret |
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| 303 | 313 .global TIMER2_Init |
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| 304 | 315 TIMER2_Init: |
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| 305 | 316 /* prologue: function */ |
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| 306 | 317 /* frame size = 0 */ |
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| 307 | 318 029c 4FB7 in r20,__SREG__ |
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| 308 | 319 029e 2091 0000 lds r18,Parameter_UserParam8 |
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| 309 | 320 02a2 30E0 ldi r19,lo8(0) |
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| 310 | 321 02a4 2F77 andi r18,lo8(127) |
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| 311 | 322 02a6 3070 andi r19,hi8(127) |
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| 312 | 323 02a8 C901 movw r24,r18 |
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| 313 | 324 02aa 880F lsl r24 |
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| 314 | 325 02ac 991F rol r25 |
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| 315 | 326 02ae 880F lsl r24 |
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| 316 | 327 02b0 991F rol r25 |
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| 317 | 328 02b2 820F add r24,r18 |
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| 318 | 329 02b4 931F adc r25,r19 |
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| 319 | 330 02b6 9093 0000 sts (CameraShutterCycle)+1,r25 |
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| 320 | 331 02ba 8093 0000 sts CameraShutterCycle,r24 |
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| 321 | 332 /* #APP */ |
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| 322 | 333 ; 176 "timer0.c" 1 |
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| 323 | 334 02be F894 cli |
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| 324 | 335 ; 0 "" 2 |
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| 325 | 336 /* #NOAPP */ |
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| 326 | 337 02c0 5F98 cbi 43-32,7 |
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| 327 | 338 02c2 3E9A sbi 39-32,6 |
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| 328 | 339 02c4 469A sbi 40-32,6 |
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| 329 | 340 02c6 A0EB ldi r26,lo8(176) |
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| 330 | 341 02c8 B0E0 ldi r27,hi8(176) |
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| 331 | 342 02ca 8C91 ld r24,X |
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| 332 | 343 02cc 8F70 andi r24,lo8(15) |
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| 333 | 344 02ce 8C93 st X,r24 |
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| 334 | 345 02d0 8C91 ld r24,X |
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| 335 | 346 02d2 8360 ori r24,lo8(3) |
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| 336 | 347 02d4 8C93 st X,r24 |
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| 337 | 348 02d6 E1EB ldi r30,lo8(177) |
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| 338 | 349 02d8 F0E0 ldi r31,hi8(177) |
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| 339 | 350 02da 8081 ld r24,Z |
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| 340 | 351 02dc 8B73 andi r24,lo8(59) |
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| 341 | 352 02de 8083 st Z,r24 |
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| 342 | 353 02e0 8081 ld r24,Z |
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| 343 | 354 02e2 8B60 ori r24,lo8(11) |
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| 344 | 355 02e4 8083 st Z,r24 |
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| 345 | 356 02e6 1092 B200 sts 178,__zero_reg__ |
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| 346 | 357 02ea 8FEF ldi r24,lo8(-1) |
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| 347 | 358 02ec 8093 B300 sts 179,r24 |
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| 348 | 359 02f0 8C91 ld r24,X |
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| 349 | 360 02f2 8068 ori r24,lo8(-128) |
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| 350 | 361 02f4 8C93 st X,r24 |
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| 351 | 362 02f6 E0E7 ldi r30,lo8(112) |
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| 352 | 363 02f8 F0E0 ldi r31,hi8(112) |
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| 353 | 364 02fa 8081 ld r24,Z |
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| 354 | 365 02fc 8A7F andi r24,lo8(-6) |
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| 355 | 366 02fe 8083 st Z,r24 |
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| 356 | 367 0300 8081 ld r24,Z |
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| 357 | 368 0302 8260 ori r24,lo8(2) |
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| 358 | 369 0304 8083 st Z,r24 |
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| 359 | 370 0306 4FBF out __SREG__,r20 |
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| 360 | 371 /* epilogue start */ |
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| 361 | 372 0308 0895 ret |
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| 362 | 374 .global Timer_Init |
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| 363 | 376 Timer_Init: |
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| 364 | 377 /* prologue: function */ |
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| 365 | 378 /* frame size = 0 */ |
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| 366 | 379 030a 8091 0000 lds r24,CountMilliseconds |
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| 367 | 380 030e 9091 0000 lds r25,(CountMilliseconds)+1 |
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| 368 | 381 0312 0B96 adiw r24,11 |
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| 369 | 382 0314 9093 0000 sts (tim_main)+1,r25 |
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| 370 | 383 0318 8093 0000 sts tim_main,r24 |
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| 371 | 384 031c 82E0 ldi r24,lo8(2) |
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| 372 | 385 031e 85BD out 69-32,r24 |
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| 373 | 386 0320 83EA ldi r24,lo8(-93) |
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| 374 | 387 0322 84BD out 68-32,r24 |
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| 375 | 388 0324 17BC out 71-32,__zero_reg__ |
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| 376 | 389 0326 84EB ldi r24,lo8(-76) |
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| 377 | 390 0328 88BD out 72-32,r24 |
||
| 378 | 391 032a 86E0 ldi r24,lo8(6) |
||
| 379 | 392 032c 86BD out 70-32,r24 |
||
| 380 | 393 032e EEE6 ldi r30,lo8(110) |
||
| 381 | 394 0330 F0E0 ldi r31,hi8(110) |
||
| 382 | 395 0332 8081 ld r24,Z |
||
| 383 | 396 0334 8160 ori r24,lo8(1) |
||
| 384 | 397 0336 8083 st Z,r24 |
||
| 385 | 398 /* epilogue start */ |
||
| 386 | 399 0338 0895 ret |
||
| 387 | 401 .global __vector_9 |
||
| 388 | 403 __vector_9: |
||
| 389 | 404 033a 1F92 push __zero_reg__ |
||
| 390 | 405 033c 0F92 push r0 |
||
| 391 | 406 033e 0FB6 in r0,__SREG__ |
||
| 392 | 407 0340 0F92 push r0 |
||
| 393 | 408 0342 1124 clr __zero_reg__ |
||
| 394 | 409 0344 CF92 push r12 |
||
| 395 | 410 0346 DF92 push r13 |
||
| 396 | 411 0348 EF92 push r14 |
||
| 397 | 412 034a FF92 push r15 |
||
| 398 | 413 034c 0F93 push r16 |
||
| 399 | 414 034e 1F93 push r17 |
||
| 400 | 415 0350 2F93 push r18 |
||
| 401 | 416 0352 3F93 push r19 |
||
| 402 | 417 0354 4F93 push r20 |
||
| 403 | 418 0356 5F93 push r21 |
||
| 404 | 419 0358 6F93 push r22 |
||
| 405 | 420 035a 7F93 push r23 |
||
| 406 | 421 035c 8F93 push r24 |
||
| 407 | 422 035e 9F93 push r25 |
||
| 408 | 423 0360 AF93 push r26 |
||
| 409 | 424 0362 BF93 push r27 |
||
| 410 | 425 0364 EF93 push r30 |
||
| 411 | 426 0366 FF93 push r31 |
||
| 412 | 427 /* prologue: Signal */ |
||
| 413 | 428 /* frame size = 0 */ |
||
| 414 | 429 0368 8091 0000 lds r24,PlatinenVersion |
||
| 415 | 430 036c 8431 cpi r24,lo8(20) |
||
| 416 | 431 036e 00F0 brlo .+2 |
||
| 417 | 432 0370 00C0 rjmp .L46 |
||
| 418 | 433 0372 8091 0000 lds r24,Parameter_UserParam8 |
||
| 419 | 434 0376 87FD sbrc r24,7 |
||
| 420 | 435 0378 00C0 rjmp .L46 |
||
| 421 | 436 037a 8091 0000 lds r24,PulseOutput.2393 |
||
| 422 | 437 037e 8823 tst r24 |
||
| 423 | 438 0380 01F0 breq .+2 |
||
| 424 | 439 0382 00C0 rjmp .L47 |
||
| 425 | 440 0384 8091 B000 lds r24,176 |
||
| 426 | 441 0388 86FF sbrs r24,6 |
||
| 427 | 442 038a 00C0 rjmp .L48 |
||
| 428 | 443 038c 8091 B000 lds r24,176 |
||
| 429 | 444 0390 8F7B andi r24,lo8(-65) |
||
| 430 | 445 0392 8093 B000 sts 176,r24 |
||
| 431 | 446 0396 8091 0000 lds r24,Parameter_ServoNickControl |
||
| 432 | 447 039a 90E0 ldi r25,lo8(0) |
||
| 433 | 448 039c 880F lsl r24 |
||
| 434 | 449 039e 991F rol r25 |
||
| 435 | 450 03a0 880F lsl r24 |
||
| 436 | 451 03a2 991F rol r25 |
||
| 437 | 452 03a4 4091 0000 lds r20,ServoNickOffset.2397 |
||
| 438 | 453 03a8 5091 0000 lds r21,(ServoNickOffset.2397)+1 |
||
| 439 | 454 03ac 9A01 movw r18,r20 |
||
| 440 | 455 03ae 220F lsl r18 |
||
| 441 | 456 03b0 331F rol r19 |
||
| 442 | 457 03b2 240F add r18,r20 |
||
| 443 | 458 03b4 351F adc r19,r21 |
||
| 444 | 459 03b6 820F add r24,r18 |
||
| 445 | 460 03b8 931F adc r25,r19 |
||
| 446 | 461 03ba 64E0 ldi r22,lo8(4) |
||
| 447 | 462 03bc 70E0 ldi r23,hi8(4) |
||
| 448 | 463 03be 0E94 0000 call __divmodhi4 |
||
| 449 | 464 03c2 7093 0000 sts (ServoNickOffset.2397)+1,r23 |
||
| 450 | 465 03c6 6093 0000 sts ServoNickOffset.2397,r22 |
||
| 451 | 466 03ca 7093 0000 sts (ServoNickValue)+1,r23 |
||
| 452 | 467 03ce 6093 0000 sts ServoNickValue,r22 |
||
| 453 | 468 03d2 8091 0000 lds r24,EE_Parameter+98 |
||
| 454 | 469 03d6 2091 0000 lds r18,IntegralNick |
||
| 455 | 470 03da 3091 0000 lds r19,(IntegralNick)+1 |
||
| 456 | 471 03de 4091 0000 lds r20,(IntegralNick)+2 |
||
| 457 | 472 03e2 5091 0000 lds r21,(IntegralNick)+3 |
||
| 458 | 473 03e6 80FF sbrs r24,0 |
||
| 459 | 474 03e8 00C0 rjmp .L49 |
||
| 460 | 475 03ea C090 0000 lds r12,ServoNickValue |
||
| 461 | 476 03ee D090 0000 lds r13,(ServoNickValue)+1 |
||
| 462 | 477 03f2 E090 0000 lds r14,EE_Parameter+46 |
||
| 463 | 478 03f6 FF24 clr r15 |
||
| 464 | 479 03f8 00E0 ldi r16,lo8(0) |
||
| 465 | 480 03fa 10E0 ldi r17,hi8(0) |
||
| 466 | 481 03fc CA01 movw r24,r20 |
||
| 467 | 482 03fe B901 movw r22,r18 |
||
| 468 | 483 0400 20E8 ldi r18,lo8(128) |
||
| 469 | 484 0402 30E0 ldi r19,hi8(128) |
||
| 470 | 485 0404 40E0 ldi r20,hlo8(128) |
||
| 471 | 486 0406 50E0 ldi r21,hhi8(128) |
||
| 472 | 487 0408 0E94 0000 call __divmodsi4 |
||
| 473 | 488 040c C801 movw r24,r16 |
||
| 474 | 489 040e B701 movw r22,r14 |
||
| 475 | 490 0410 0E94 0000 call __mulsi3 |
||
| 476 | 491 0414 F2E0 ldi r31,2 |
||
| 477 | 492 0416 660F 1: lsl r22 |
||
| 478 | 493 0418 771F rol r23 |
||
| 479 | 494 041a 881F rol r24 |
||
| 480 | 495 041c 991F rol r25 |
||
| 481 | 496 041e FA95 dec r31 |
||
| 482 | 497 0420 01F4 brne 1b |
||
| 483 | 498 0422 20E0 ldi r18,lo8(256) |
||
| 484 | 499 0424 31E0 ldi r19,hi8(256) |
||
| 485 | 500 0426 40E0 ldi r20,hlo8(256) |
||
| 486 | 501 0428 50E0 ldi r21,hhi8(256) |
||
| 487 | 502 042a 0E94 0000 call __divmodsi4 |
||
| 488 | 503 042e C20E add r12,r18 |
||
| 489 | 504 0430 D31E adc r13,r19 |
||
| 490 | 505 0432 00C0 rjmp .L90 |
||
| 491 | 506 .L49: |
||
| 492 | 507 0434 C090 0000 lds r12,ServoNickValue |
||
| 493 | 508 0438 D090 0000 lds r13,(ServoNickValue)+1 |
||
| 494 | 509 043c E090 0000 lds r14,EE_Parameter+46 |
||
| 495 | 510 0440 FF24 clr r15 |
||
| 496 | 511 0442 00E0 ldi r16,lo8(0) |
||
| 497 | 512 0444 10E0 ldi r17,hi8(0) |
||
| 498 | 513 0446 CA01 movw r24,r20 |
||
| 499 | 514 0448 B901 movw r22,r18 |
||
| 500 | 515 044a 20E8 ldi r18,lo8(128) |
||
| 501 | 516 044c 30E0 ldi r19,hi8(128) |
||
| 502 | 517 044e 40E0 ldi r20,hlo8(128) |
||
| 503 | 518 0450 50E0 ldi r21,hhi8(128) |
||
| 504 | 519 0452 0E94 0000 call __divmodsi4 |
||
| 505 | 520 0456 C801 movw r24,r16 |
||
| 506 | 521 0458 B701 movw r22,r14 |
||
| 507 | 522 045a 0E94 0000 call __mulsi3 |
||
| 508 | 523 045e E2E0 ldi r30,2 |
||
| 509 | 524 0460 660F 1: lsl r22 |
||
| 510 | 525 0462 771F rol r23 |
||
| 511 | 526 0464 881F rol r24 |
||
| 512 | 527 0466 991F rol r25 |
||
| 513 | 528 0468 EA95 dec r30 |
||
| 514 | 529 046a 01F4 brne 1b |
||
| 515 | 530 046c 20E0 ldi r18,lo8(256) |
||
| 516 | 531 046e 31E0 ldi r19,hi8(256) |
||
| 517 | 532 0470 40E0 ldi r20,hlo8(256) |
||
| 518 | 533 0472 50E0 ldi r21,hhi8(256) |
||
| 519 | 534 0474 0E94 0000 call __divmodsi4 |
||
| 520 | 535 0478 C21A sub r12,r18 |
||
| 521 | 536 047a D30A sbc r13,r19 |
||
| 522 | 537 .L90: |
||
| 523 | 538 047c D092 0000 sts (ServoNickValue)+1,r13 |
||
| 524 | 539 0480 C092 0000 sts ServoNickValue,r12 |
||
| 525 | 540 0484 2091 0000 lds r18,ServoNickValue |
||
| 526 | 541 0488 3091 0000 lds r19,(ServoNickValue)+1 |
||
| 527 | 542 048c 8091 0000 lds r24,EE_Parameter+47 |
||
| 528 | 543 0490 90E0 ldi r25,lo8(0) |
||
| 529 | 544 0492 880F lsl r24 |
||
| 530 | 545 0494 991F rol r25 |
||
| 531 | 546 0496 880F lsl r24 |
||
| 532 | 547 0498 991F rol r25 |
||
| 533 | 548 049a 2817 cp r18,r24 |
||
| 534 | 549 049c 3907 cpc r19,r25 |
||
| 535 | 550 049e 04F0 brlt .L91 |
||
| 536 | 551 .L51: |
||
| 537 | 552 04a0 2091 0000 lds r18,ServoNickValue |
||
| 538 | 553 04a4 3091 0000 lds r19,(ServoNickValue)+1 |
||
| 539 | 554 04a8 8091 0000 lds r24,EE_Parameter+48 |
||
| 540 | 555 04ac 90E0 ldi r25,lo8(0) |
||
| 541 | 556 04ae 880F lsl r24 |
||
| 542 | 557 04b0 991F rol r25 |
||
| 543 | 558 04b2 880F lsl r24 |
||
| 544 | 559 04b4 991F rol r25 |
||
| 545 | 560 04b6 8217 cp r24,r18 |
||
| 546 | 561 04b8 9307 cpc r25,r19 |
||
| 547 | 562 04ba 04F4 brge .L52 |
||
| 548 | 563 .L91: |
||
| 549 | 564 04bc 9093 0000 sts (ServoNickValue)+1,r25 |
||
| 550 | 565 04c0 8093 0000 sts ServoNickValue,r24 |
||
| 551 | 566 .L52: |
||
| 552 | 567 04c4 2091 0000 lds r18,ServoNickValue |
||
| 553 | 568 04c8 3091 0000 lds r19,(ServoNickValue)+1 |
||
| 554 | 569 04cc 2755 subi r18,lo8(-(425)) |
||
| 555 | 570 04ce 3E4F sbci r19,hi8(-(425)) |
||
| 556 | 571 04d0 3093 0000 sts (RemainingPulse.2394)+1,r19 |
||
| 557 | 572 04d4 2093 0000 sts RemainingPulse.2394,r18 |
||
| 558 | 573 04d8 8091 0000 lds r24,ServoNickValue |
||
| 559 | 574 04dc 9091 0000 lds r25,(ServoNickValue)+1 |
||
| 560 | 575 04e0 64E0 ldi r22,lo8(4) |
||
| 561 | 576 04e2 70E0 ldi r23,hi8(4) |
||
| 562 | 577 04e4 0E94 0000 call __divmodhi4 |
||
| 563 | 578 04e8 7093 0000 sts (ServoNickValue)+1,r23 |
||
| 564 | 579 04ec 6093 0000 sts ServoNickValue,r22 |
||
| 565 | 580 04f0 45E0 ldi r20,hi8(1501) |
||
| 566 | 581 04f2 2D3D cpi r18,lo8(1501) |
||
| 567 | 582 04f4 3407 cpc r19,r20 |
||
| 568 | 583 04f6 00F0 brlo .L53 |
||
| 569 | 584 04f8 8CED ldi r24,lo8(1500) |
||
| 570 | 585 04fa 95E0 ldi r25,hi8(1500) |
||
| 571 | 586 04fc 00C0 rjmp .L92 |
||
| 572 | 587 .L53: |
||
| 573 | 588 04fe 2757 subi r18,lo8(375) |
||
| 574 | 589 0500 3140 sbci r19,hi8(375) |
||
| 575 | 590 0502 00F4 brsh .L54 |
||
| 576 | 591 0504 87E7 ldi r24,lo8(375) |
||
| 577 | 592 0506 91E0 ldi r25,hi8(375) |
||
| 578 | 593 .L92: |
||
| 579 | 594 0508 9093 0000 sts (RemainingPulse.2394)+1,r25 |
||
| 580 | 595 050c 8093 0000 sts RemainingPulse.2394,r24 |
||
| 581 | 596 .L54: |
||
| 582 | 597 0510 8091 0000 lds r24,RemainingPulse.2394 |
||
| 583 | 598 0514 9091 0000 lds r25,(RemainingPulse.2394)+1 |
||
| 584 | 599 0518 00C0 rjmp .L103 |
||
| 585 | 600 .L48: |
||
| 586 | 601 051a 8091 B000 lds r24,176 |
||
| 587 | 602 051e 8064 ori r24,lo8(64) |
||
| 588 | 603 0520 8093 B000 sts 176,r24 |
||
| 589 | 604 0524 8091 0000 lds r24,EE_Parameter+53 |
||
| 590 | 605 0528 90E0 ldi r25,lo8(0) |
||
| 591 | 606 052a 2DED ldi r18,lo8(1757) |
||
| 592 | 607 052c 36E0 ldi r19,hi8(1757) |
||
| 593 | 608 052e AC01 movw r20,r24 |
||
| 594 | 609 0530 429F mul r20,r18 |
||
| 595 | 610 0532 C001 movw r24,r0 |
||
| 596 | 611 0534 439F mul r20,r19 |
||
| 597 | 612 0536 900D add r25,r0 |
||
| 598 | 613 0538 529F mul r21,r18 |
||
| 599 | 614 053a 900D add r25,r0 |
||
| 600 | 615 053c 1124 clr r1 |
||
| 601 | 616 053e 2091 0000 lds r18,ServoFrameTime.2395 |
||
| 602 | 617 0542 3091 0000 lds r19,(ServoFrameTime.2395)+1 |
||
| 603 | 618 0546 821B sub r24,r18 |
||
| 604 | 619 0548 930B sbc r25,r19 |
||
| 605 | 620 054a 9093 0000 sts (RemainingPulse.2394)+1,r25 |
||
| 606 | 621 054e 8093 0000 sts RemainingPulse.2394,r24 |
||
| 607 | 622 0552 00C0 rjmp .L58 |
||
| 608 | 623 .L46: |
||
| 609 | 624 0554 8091 0000 lds r24,PulseOutput.2393 |
||
| 610 | 625 0558 8823 tst r24 |
||
| 611 | 626 055a 01F0 breq .+2 |
||
| 612 | 627 055c 00C0 rjmp .L47 |
||
| 613 | 628 055e 8091 B000 lds r24,176 |
||
| 614 | 629 0562 86FF sbrs r24,6 |
||
| 615 | 630 0564 00C0 rjmp .L56 |
||
| 616 | 631 0566 8091 B000 lds r24,176 |
||
| 617 | 632 056a 8F7B andi r24,lo8(-65) |
||
| 618 | 633 056c 8093 B000 sts 176,r24 |
||
| 619 | 634 0570 E091 0000 lds r30,ServoIndex.2396 |
||
| 620 | 635 0574 EE23 tst r30 |
||
| 621 | 636 0576 01F4 brne .L57 |
||
| 622 | 637 0578 8091 0000 lds r24,EE_Parameter+53 |
||
| 623 | 638 057c 90E0 ldi r25,lo8(0) |
||
| 624 | 639 057e 2DED ldi r18,lo8(1757) |
||
| 625 | 640 0580 36E0 ldi r19,hi8(1757) |
||
| 626 | 641 0582 AC01 movw r20,r24 |
||
| 627 | 642 0584 429F mul r20,r18 |
||
| 628 | 643 0586 C001 movw r24,r0 |
||
| 629 | 644 0588 439F mul r20,r19 |
||
| 630 | 645 058a 900D add r25,r0 |
||
| 631 | 646 058c 529F mul r21,r18 |
||
| 632 | 647 058e 900D add r25,r0 |
||
| 633 | 648 0590 1124 clr r1 |
||
| 634 | 649 0592 2091 0000 lds r18,ServoFrameTime.2395 |
||
| 635 | 650 0596 3091 0000 lds r19,(ServoFrameTime.2395)+1 |
||
| 636 | 651 059a 821B sub r24,r18 |
||
| 637 | 652 059c 930B sbc r25,r19 |
||
| 638 | 653 059e 9093 0000 sts (RemainingPulse.2394)+1,r25 |
||
| 639 | 654 05a2 8093 0000 sts RemainingPulse.2394,r24 |
||
| 640 | 655 05a6 1092 0000 sts (ServoFrameTime.2395)+1,__zero_reg__ |
||
| 641 | 656 05aa 1092 0000 sts ServoFrameTime.2395,__zero_reg__ |
||
| 642 | 657 05ae 469A sbi 40-32,6 |
||
| 643 | 658 05b0 00C0 rjmp .L58 |
||
| 644 | 659 .L57: |
||
| 645 | 660 05b2 49EA ldi r20,lo8(937) |
||
| 646 | 661 05b4 53E0 ldi r21,hi8(937) |
||
| 647 | 662 05b6 5093 0000 sts (RemainingPulse.2394)+1,r21 |
||
| 648 | 663 05ba 4093 0000 sts RemainingPulse.2394,r20 |
||
| 649 | 664 05be E330 cpi r30,lo8(3) |
||
| 650 | 665 05c0 01F4 brne .+2 |
||
| 651 | 666 05c2 00C0 rjmp .L62 |
||
| 652 | 667 05c4 E430 cpi r30,lo8(4) |
||
| 653 | 668 05c6 00F4 brsh .L65 |
||
| 654 | 669 05c8 E130 cpi r30,lo8(1) |
||
| 655 | 670 05ca 01F0 breq .L60 |
||
| 656 | 671 05cc E230 cpi r30,lo8(2) |
||
| 657 | 672 05ce 01F0 breq .+2 |
||
| 658 | 673 05d0 00C0 rjmp .L59 |
||
| 659 | 674 05d2 00C0 rjmp .L104 |
||
| 660 | 675 .L65: |
||
| 661 | 676 05d4 E430 cpi r30,lo8(4) |
||
| 662 | 677 05d6 01F4 brne .+2 |
||
| 663 | 678 05d8 00C0 rjmp .L63 |
||
| 664 | 679 05da E530 cpi r30,lo8(5) |
||
| 665 | 680 05dc 01F0 breq .+2 |
||
| 666 | 681 05de 00C0 rjmp .L59 |
||
| 667 | 682 05e0 00C0 rjmp .L105 |
||
| 668 | 683 .L60: |
||
| 669 | 684 05e2 8091 0000 lds r24,Parameter_ServoNickControl |
||
| 670 | 685 05e6 90E0 ldi r25,lo8(0) |
||
| 671 | 686 05e8 880F lsl r24 |
||
| 672 | 687 05ea 991F rol r25 |
||
| 673 | 688 05ec 880F lsl r24 |
||
| 674 | 689 05ee 991F rol r25 |
||
| 675 | 690 05f0 4091 0000 lds r20,ServoNickOffset.2397 |
||
| 676 | 691 05f4 5091 0000 lds r21,(ServoNickOffset.2397)+1 |
||
| 677 | 692 05f8 9A01 movw r18,r20 |
||
| 678 | 693 05fa 220F lsl r18 |
||
| 679 | 694 05fc 331F rol r19 |
||
| 680 | 695 05fe 240F add r18,r20 |
||
| 681 | 696 0600 351F adc r19,r21 |
||
| 682 | 697 0602 820F add r24,r18 |
||
| 683 | 698 0604 931F adc r25,r19 |
||
| 684 | 699 0606 64E0 ldi r22,lo8(4) |
||
| 685 | 700 0608 70E0 ldi r23,hi8(4) |
||
| 686 | 701 060a 0E94 0000 call __divmodhi4 |
||
| 687 | 702 060e 7093 0000 sts (ServoNickOffset.2397)+1,r23 |
||
| 688 | 703 0612 6093 0000 sts ServoNickOffset.2397,r22 |
||
| 689 | 704 0616 7093 0000 sts (ServoNickValue)+1,r23 |
||
| 690 | 705 061a 6093 0000 sts ServoNickValue,r22 |
||
| 691 | 706 061e 8091 0000 lds r24,EE_Parameter+98 |
||
| 692 | 707 0622 2091 0000 lds r18,IntegralNick |
||
| 693 | 708 0626 3091 0000 lds r19,(IntegralNick)+1 |
||
| 694 | 709 062a 4091 0000 lds r20,(IntegralNick)+2 |
||
| 695 | 710 062e 5091 0000 lds r21,(IntegralNick)+3 |
||
| 696 | 711 0632 80FF sbrs r24,0 |
||
| 697 | 712 0634 00C0 rjmp .L66 |
||
| 698 | 713 0636 C090 0000 lds r12,ServoNickValue |
||
| 699 | 714 063a D090 0000 lds r13,(ServoNickValue)+1 |
||
| 700 | 715 063e E090 0000 lds r14,EE_Parameter+46 |
||
| 701 | 716 0642 FF24 clr r15 |
||
| 702 | 717 0644 00E0 ldi r16,lo8(0) |
||
| 703 | 718 0646 10E0 ldi r17,hi8(0) |
||
| 704 | 719 0648 CA01 movw r24,r20 |
||
| 705 | 720 064a B901 movw r22,r18 |
||
| 706 | 721 064c 20E8 ldi r18,lo8(128) |
||
| 707 | 722 064e 30E0 ldi r19,hi8(128) |
||
| 708 | 723 0650 40E0 ldi r20,hlo8(128) |
||
| 709 | 724 0652 50E0 ldi r21,hhi8(128) |
||
| 710 | 725 0654 0E94 0000 call __divmodsi4 |
||
| 711 | 726 0658 C801 movw r24,r16 |
||
| 712 | 727 065a B701 movw r22,r14 |
||
| 713 | 728 065c 0E94 0000 call __mulsi3 |
||
| 714 | 729 0660 B2E0 ldi r27,2 |
||
| 715 | 730 0662 660F 1: lsl r22 |
||
| 716 | 731 0664 771F rol r23 |
||
| 717 | 732 0666 881F rol r24 |
||
| 718 | 733 0668 991F rol r25 |
||
| 719 | 734 066a BA95 dec r27 |
||
| 720 | 735 066c 01F4 brne 1b |
||
| 721 | 736 066e 20E0 ldi r18,lo8(256) |
||
| 722 | 737 0670 31E0 ldi r19,hi8(256) |
||
| 723 | 738 0672 40E0 ldi r20,hlo8(256) |
||
| 724 | 739 0674 50E0 ldi r21,hhi8(256) |
||
| 725 | 740 0676 0E94 0000 call __divmodsi4 |
||
| 726 | 741 067a C20E add r12,r18 |
||
| 727 | 742 067c D31E adc r13,r19 |
||
| 728 | 743 067e 00C0 rjmp .L93 |
||
| 729 | 744 .L66: |
||
| 730 | 745 0680 C090 0000 lds r12,ServoNickValue |
||
| 731 | 746 0684 D090 0000 lds r13,(ServoNickValue)+1 |
||
| 732 | 747 0688 E090 0000 lds r14,EE_Parameter+46 |
||
| 733 | 748 068c FF24 clr r15 |
||
| 734 | 749 068e 00E0 ldi r16,lo8(0) |
||
| 735 | 750 0690 10E0 ldi r17,hi8(0) |
||
| 736 | 751 0692 CA01 movw r24,r20 |
||
| 737 | 752 0694 B901 movw r22,r18 |
||
| 738 | 753 0696 20E8 ldi r18,lo8(128) |
||
| 739 | 754 0698 30E0 ldi r19,hi8(128) |
||
| 740 | 755 069a 40E0 ldi r20,hlo8(128) |
||
| 741 | 756 069c 50E0 ldi r21,hhi8(128) |
||
| 742 | 757 069e 0E94 0000 call __divmodsi4 |
||
| 743 | 758 06a2 C801 movw r24,r16 |
||
| 744 | 759 06a4 B701 movw r22,r14 |
||
| 745 | 760 06a6 0E94 0000 call __mulsi3 |
||
| 746 | 761 06aa A2E0 ldi r26,2 |
||
| 747 | 762 06ac 660F 1: lsl r22 |
||
| 748 | 763 06ae 771F rol r23 |
||
| 749 | 764 06b0 881F rol r24 |
||
| 750 | 765 06b2 991F rol r25 |
||
| 751 | 766 06b4 AA95 dec r26 |
||
| 752 | 767 06b6 01F4 brne 1b |
||
| 753 | 768 06b8 20E0 ldi r18,lo8(256) |
||
| 754 | 769 06ba 31E0 ldi r19,hi8(256) |
||
| 755 | 770 06bc 40E0 ldi r20,hlo8(256) |
||
| 756 | 771 06be 50E0 ldi r21,hhi8(256) |
||
| 757 | 772 06c0 0E94 0000 call __divmodsi4 |
||
| 758 | 773 06c4 C21A sub r12,r18 |
||
| 759 | 774 06c6 D30A sbc r13,r19 |
||
| 760 | 775 .L93: |
||
| 761 | 776 06c8 D092 0000 sts (ServoNickValue)+1,r13 |
||
| 762 | 777 06cc C092 0000 sts ServoNickValue,r12 |
||
| 763 | 778 06d0 2091 0000 lds r18,ServoNickValue |
||
| 764 | 779 06d4 3091 0000 lds r19,(ServoNickValue)+1 |
||
| 765 | 780 06d8 8091 0000 lds r24,EE_Parameter+47 |
||
| 766 | 781 06dc 90E0 ldi r25,lo8(0) |
||
| 767 | 782 06de 880F lsl r24 |
||
| 768 | 783 06e0 991F rol r25 |
||
| 769 | 784 06e2 880F lsl r24 |
||
| 770 | 785 06e4 991F rol r25 |
||
| 771 | 786 06e6 2817 cp r18,r24 |
||
| 772 | 787 06e8 3907 cpc r19,r25 |
||
| 773 | 788 06ea 04F0 brlt .L94 |
||
| 774 | 789 .L68: |
||
| 775 | 790 06ec 2091 0000 lds r18,ServoNickValue |
||
| 776 | 791 06f0 3091 0000 lds r19,(ServoNickValue)+1 |
||
| 777 | 792 06f4 8091 0000 lds r24,EE_Parameter+48 |
||
| 778 | 793 06f8 90E0 ldi r25,lo8(0) |
||
| 779 | 794 06fa 880F lsl r24 |
||
| 780 | 795 06fc 991F rol r25 |
||
| 781 | 796 06fe 880F lsl r24 |
||
| 782 | 797 0700 991F rol r25 |
||
| 783 | 798 0702 8217 cp r24,r18 |
||
| 784 | 799 0704 9307 cpc r25,r19 |
||
| 785 | 800 0706 04F4 brge .L69 |
||
| 786 | 801 .L94: |
||
| 787 | 802 0708 9093 0000 sts (ServoNickValue)+1,r25 |
||
| 788 | 803 070c 8093 0000 sts ServoNickValue,r24 |
||
| 789 | 804 .L69: |
||
| 790 | 805 0710 8091 0000 lds r24,ServoNickValue |
||
| 791 | 806 0714 9091 0000 lds r25,(ServoNickValue)+1 |
||
| 792 | 807 0718 8755 subi r24,lo8(-(425)) |
||
| 793 | 808 071a 9E4F sbci r25,hi8(-(425)) |
||
| 794 | 809 071c 9093 0000 sts (RemainingPulse.2394)+1,r25 |
||
| 795 | 810 0720 8093 0000 sts RemainingPulse.2394,r24 |
||
| 796 | 811 0724 8091 0000 lds r24,ServoNickValue |
||
| 797 | 812 0728 9091 0000 lds r25,(ServoNickValue)+1 |
||
| 798 | 813 072c 64E0 ldi r22,lo8(4) |
||
| 799 | 814 072e 70E0 ldi r23,hi8(4) |
||
| 800 | 815 0730 0E94 0000 call __divmodhi4 |
||
| 801 | 816 0734 7093 0000 sts (ServoNickValue)+1,r23 |
||
| 802 | 817 0738 6093 0000 sts ServoNickValue,r22 |
||
| 803 | 818 073c 00C0 rjmp .L70 |
||
| 804 | 819 .L104: |
||
| 805 | 820 073e 8091 0000 lds r24,Parameter_ServoRollControl |
||
| 806 | 821 0742 90E0 ldi r25,lo8(0) |
||
| 807 | 822 0744 880F lsl r24 |
||
| 808 | 823 0746 991F rol r25 |
||
| 809 | 824 0748 880F lsl r24 |
||
| 810 | 825 074a 991F rol r25 |
||
| 811 | 826 074c 4091 0000 lds r20,ServoRollOffset.2398 |
||
| 812 | 827 0750 5091 0000 lds r21,(ServoRollOffset.2398)+1 |
||
| 813 | 828 0754 9A01 movw r18,r20 |
||
| 814 | 829 0756 220F lsl r18 |
||
| 815 | 830 0758 331F rol r19 |
||
| 816 | 831 075a 240F add r18,r20 |
||
| 817 | 832 075c 351F adc r19,r21 |
||
| 818 | 833 075e 820F add r24,r18 |
||
| 819 | 834 0760 931F adc r25,r19 |
||
| 820 | 835 0762 64E0 ldi r22,lo8(4) |
||
| 821 | 836 0764 70E0 ldi r23,hi8(4) |
||
| 822 | 837 0766 0E94 0000 call __divmodhi4 |
||
| 823 | 838 076a 7093 0000 sts (ServoRollOffset.2398)+1,r23 |
||
| 824 | 839 076e 6093 0000 sts ServoRollOffset.2398,r22 |
||
| 825 | 840 0772 7093 0000 sts (ServoRollValue)+1,r23 |
||
| 826 | 841 0776 6093 0000 sts ServoRollValue,r22 |
||
| 827 | 842 077a 8091 0000 lds r24,EE_Parameter+98 |
||
| 828 | 843 077e 2091 0000 lds r18,IntegralRoll |
||
| 829 | 844 0782 3091 0000 lds r19,(IntegralRoll)+1 |
||
| 830 | 845 0786 4091 0000 lds r20,(IntegralRoll)+2 |
||
| 831 | 846 078a 5091 0000 lds r21,(IntegralRoll)+3 |
||
| 832 | 847 078e 81FF sbrs r24,1 |
||
| 833 | 848 0790 00C0 rjmp .L71 |
||
| 834 | 849 0792 C090 0000 lds r12,ServoRollValue |
||
| 835 | 850 0796 D090 0000 lds r13,(ServoRollValue)+1 |
||
| 836 | 851 079a E090 0000 lds r14,EE_Parameter+50 |
||
| 837 | 852 079e FF24 clr r15 |
||
| 838 | 853 07a0 00E0 ldi r16,lo8(0) |
||
| 839 | 854 07a2 10E0 ldi r17,hi8(0) |
||
| 840 | 855 07a4 CA01 movw r24,r20 |
||
| 841 | 856 07a6 B901 movw r22,r18 |
||
| 842 | 857 07a8 20E8 ldi r18,lo8(128) |
||
| 843 | 858 07aa 30E0 ldi r19,hi8(128) |
||
| 844 | 859 07ac 40E0 ldi r20,hlo8(128) |
||
| 845 | 860 07ae 50E0 ldi r21,hhi8(128) |
||
| 846 | 861 07b0 0E94 0000 call __divmodsi4 |
||
| 847 | 862 07b4 C801 movw r24,r16 |
||
| 848 | 863 07b6 B701 movw r22,r14 |
||
| 849 | 864 07b8 0E94 0000 call __mulsi3 |
||
| 850 | 865 07bc 22E0 ldi r18,2 |
||
| 851 | 866 07be 660F 1: lsl r22 |
||
| 852 | 867 07c0 771F rol r23 |
||
| 853 | 868 07c2 881F rol r24 |
||
| 854 | 869 07c4 991F rol r25 |
||
| 855 | 870 07c6 2A95 dec r18 |
||
| 856 | 871 07c8 01F4 brne 1b |
||
| 857 | 872 07ca 20E0 ldi r18,lo8(256) |
||
| 858 | 873 07cc 31E0 ldi r19,hi8(256) |
||
| 859 | 874 07ce 40E0 ldi r20,hlo8(256) |
||
| 860 | 875 07d0 50E0 ldi r21,hhi8(256) |
||
| 861 | 876 07d2 0E94 0000 call __divmodsi4 |
||
| 862 | 877 07d6 C20E add r12,r18 |
||
| 863 | 878 07d8 D31E adc r13,r19 |
||
| 864 | 879 07da 00C0 rjmp .L95 |
||
| 865 | 880 .L71: |
||
| 866 | 881 07dc C090 0000 lds r12,ServoRollValue |
||
| 867 | 882 07e0 D090 0000 lds r13,(ServoRollValue)+1 |
||
| 868 | 883 07e4 E090 0000 lds r14,EE_Parameter+50 |
||
| 869 | 884 07e8 FF24 clr r15 |
||
| 870 | 885 07ea 00E0 ldi r16,lo8(0) |
||
| 871 | 886 07ec 10E0 ldi r17,hi8(0) |
||
| 872 | 887 07ee CA01 movw r24,r20 |
||
| 873 | 888 07f0 B901 movw r22,r18 |
||
| 874 | 889 07f2 20E8 ldi r18,lo8(128) |
||
| 875 | 890 07f4 30E0 ldi r19,hi8(128) |
||
| 876 | 891 07f6 40E0 ldi r20,hlo8(128) |
||
| 877 | 892 07f8 50E0 ldi r21,hhi8(128) |
||
| 878 | 893 07fa 0E94 0000 call __divmodsi4 |
||
| 879 | 894 07fe C801 movw r24,r16 |
||
| 880 | 895 0800 B701 movw r22,r14 |
||
| 881 | 896 0802 0E94 0000 call __mulsi3 |
||
| 882 | 897 0806 02E0 ldi r16,2 |
||
| 883 | 898 0808 660F 1: lsl r22 |
||
| 884 | 899 080a 771F rol r23 |
||
| 885 | 900 080c 881F rol r24 |
||
| 886 | 901 080e 991F rol r25 |
||
| 887 | 902 0810 0A95 dec r16 |
||
| 888 | 903 0812 01F4 brne 1b |
||
| 889 | 904 0814 20E0 ldi r18,lo8(256) |
||
| 890 | 905 0816 31E0 ldi r19,hi8(256) |
||
| 891 | 906 0818 40E0 ldi r20,hlo8(256) |
||
| 892 | 907 081a 50E0 ldi r21,hhi8(256) |
||
| 893 | 908 081c 0E94 0000 call __divmodsi4 |
||
| 894 | 909 0820 C21A sub r12,r18 |
||
| 895 | 910 0822 D30A sbc r13,r19 |
||
| 896 | 911 .L95: |
||
| 897 | 912 0824 D092 0000 sts (ServoRollValue)+1,r13 |
||
| 898 | 913 0828 C092 0000 sts ServoRollValue,r12 |
||
| 899 | 914 082c 2091 0000 lds r18,ServoRollValue |
||
| 900 | 915 0830 3091 0000 lds r19,(ServoRollValue)+1 |
||
| 901 | 916 0834 8091 0000 lds r24,EE_Parameter+51 |
||
| 902 | 917 0838 90E0 ldi r25,lo8(0) |
||
| 903 | 918 083a 880F lsl r24 |
||
| 904 | 919 083c 991F rol r25 |
||
| 905 | 920 083e 880F lsl r24 |
||
| 906 | 921 0840 991F rol r25 |
||
| 907 | 922 0842 2817 cp r18,r24 |
||
| 908 | 923 0844 3907 cpc r19,r25 |
||
| 909 | 924 0846 04F0 brlt .L96 |
||
| 910 | 925 .L73: |
||
| 911 | 926 0848 2091 0000 lds r18,ServoRollValue |
||
| 912 | 927 084c 3091 0000 lds r19,(ServoRollValue)+1 |
||
| 913 | 928 0850 8091 0000 lds r24,EE_Parameter+52 |
||
| 914 | 929 0854 90E0 ldi r25,lo8(0) |
||
| 915 | 930 0856 880F lsl r24 |
||
| 916 | 931 0858 991F rol r25 |
||
| 917 | 932 085a 880F lsl r24 |
||
| 918 | 933 085c 991F rol r25 |
||
| 919 | 934 085e 8217 cp r24,r18 |
||
| 920 | 935 0860 9307 cpc r25,r19 |
||
| 921 | 936 0862 04F4 brge .L74 |
||
| 922 | 937 .L96: |
||
| 923 | 938 0864 9093 0000 sts (ServoRollValue)+1,r25 |
||
| 924 | 939 0868 8093 0000 sts ServoRollValue,r24 |
||
| 925 | 940 .L74: |
||
| 926 | 941 086c 8091 0000 lds r24,ServoRollValue |
||
| 927 | 942 0870 9091 0000 lds r25,(ServoRollValue)+1 |
||
| 928 | 943 0874 8755 subi r24,lo8(-(425)) |
||
| 929 | 944 0876 9E4F sbci r25,hi8(-(425)) |
||
| 930 | 945 0878 9093 0000 sts (RemainingPulse.2394)+1,r25 |
||
| 931 | 946 087c 8093 0000 sts RemainingPulse.2394,r24 |
||
| 932 | 947 0880 8091 0000 lds r24,ServoRollValue |
||
| 933 | 948 0884 9091 0000 lds r25,(ServoRollValue)+1 |
||
| 934 | 949 0888 64E0 ldi r22,lo8(4) |
||
| 935 | 950 088a 70E0 ldi r23,hi8(4) |
||
| 936 | 951 088c 0E94 0000 call __divmodhi4 |
||
| 937 | 952 0890 7093 0000 sts (ServoRollValue)+1,r23 |
||
| 938 | 953 0894 6093 0000 sts ServoRollValue,r22 |
||
| 939 | 954 0898 00C0 rjmp .L70 |
||
| 940 | 955 .L62: |
||
| 941 | 956 089a 8091 0000 lds r24,EE_Parameter+7 |
||
| 942 | 957 089e E82F mov r30,r24 |
||
| 943 | 958 08a0 F0E0 ldi r31,lo8(0) |
||
| 944 | 959 08a2 EE0F lsl r30 |
||
| 945 | 960 08a4 FF1F rol r31 |
||
| 946 | 961 08a6 E050 subi r30,lo8(-(PPM_in)) |
||
| 947 | 962 08a8 F040 sbci r31,hi8(-(PPM_in)) |
||
| 948 | 963 08aa 8081 ld r24,Z |
||
| 949 | 964 08ac 9181 ldd r25,Z+1 |
||
| 950 | 965 08ae 805E subi r24,lo8(-32) |
||
| 951 | 966 08b0 9F4F sbci r25,hi8(-32) |
||
| 952 | 967 08b2 04F0 brlt .L101 |
||
| 953 | 968 .L75: |
||
| 954 | 969 08b4 8081 ld r24,Z |
||
| 955 | 970 08b6 9181 ldd r25,Z+1 |
||
| 956 | 971 08b8 8197 sbiw r24,33 |
||
| 957 | 972 08ba 04F0 brlt .L76 |
||
| 958 | 973 08bc 8CED ldi r24,lo8(1500) |
||
| 959 | 974 08be 95E0 ldi r25,hi8(1500) |
||
| 960 | 975 08c0 00C0 rjmp .L97 |
||
| 961 | 976 .L76: |
||
| 962 | 977 08c2 8091 0000 lds r24,CameraShutterCycle |
||
| 963 | 978 08c6 9091 0000 lds r25,(CameraShutterCycle)+1 |
||
| 964 | 979 08ca C297 sbiw r24,50 |
||
| 965 | 980 08cc 00F0 brlo .L98 |
||
| 966 | 981 .L77: |
||
| 967 | 982 08ce 2091 0000 lds r18,CameraShutterCycleCounter |
||
| 968 | 983 08d2 3091 0000 lds r19,(CameraShutterCycleCounter)+1 |
||
| 969 | 984 08d6 8091 0000 lds r24,CameraShutterCycle |
||
| 970 | 985 08da 9091 0000 lds r25,(CameraShutterCycle)+1 |
||
| 971 | 986 08de 2817 cp r18,r24 |
||
| 972 | 987 08e0 3907 cpc r19,r25 |
||
| 973 | 988 08e2 01F4 brne .L78 |
||
| 974 | 989 08e4 1092 0000 sts (CameraShutterCycleCounter)+1,__zero_reg__ |
||
| 975 | 990 08e8 1092 0000 sts CameraShutterCycleCounter,__zero_reg__ |
||
| 976 | 991 .L98: |
||
| 977 | 992 08ec 5093 0000 sts (RemainingPulse.2394)+1,r21 |
||
| 978 | 993 08f0 4093 0000 sts RemainingPulse.2394,r20 |
||
| 979 | 994 08f4 00C0 rjmp .L70 |
||
| 980 | 995 .L78: |
||
| 981 | 996 08f6 8091 0000 lds r24,CameraShutterCycleCounter |
||
| 982 | 997 08fa 9091 0000 lds r25,(CameraShutterCycleCounter)+1 |
||
| 983 | 998 08fe 0196 adiw r24,1 |
||
| 984 | 999 0900 9093 0000 sts (CameraShutterCycleCounter)+1,r25 |
||
| 985 | 1000 0904 8093 0000 sts CameraShutterCycleCounter,r24 |
||
| 986 | 1001 0908 2091 0000 lds r18,CameraShutterCycleCounter |
||
| 987 | 1002 090c 3091 0000 lds r19,(CameraShutterCycleCounter)+1 |
||
| 988 | 1003 0910 8091 0000 lds r24,CameraShutterCycleOnCount |
||
| 989 | 1004 0914 9091 0000 lds r25,(CameraShutterCycleOnCount)+1 |
||
| 990 | 1005 0918 2817 cp r18,r24 |
||
| 991 | 1006 091a 3907 cpc r19,r25 |
||
| 992 | 1007 091c 01F4 brne .L70 |
||
| 993 | 1008 .L101: |
||
| 994 | 1009 091e 87E7 ldi r24,lo8(375) |
||
| 995 | 1010 0920 91E0 ldi r25,hi8(375) |
||
| 996 | 1011 0922 00C0 rjmp .L97 |
||
| 997 | 1012 .L63: |
||
| 998 | 1013 0924 8091 0000 lds r24,Parameter_Servo4 |
||
| 999 | 1014 0928 00C0 rjmp .L102 |
||
| 1000 | 1015 .L105: |
||
| 1001 | 1016 092a 8091 0000 lds r24,Parameter_Servo5 |
||
| 1002 | 1017 .L102: |
||
| 1003 | 1018 092e 90E0 ldi r25,lo8(0) |
||
| 1004 | 1019 0930 880F lsl r24 |
||
| 1005 | 1020 0932 991F rol r25 |
||
| 1006 | 1021 0934 880F lsl r24 |
||
| 1007 | 1022 0936 991F rol r25 |
||
| 1008 | 1023 0938 8755 subi r24,lo8(-(425)) |
||
| 1009 | 1024 093a 9E4F sbci r25,hi8(-(425)) |
||
| 1010 | 1025 093c 00C0 rjmp .L97 |
||
| 1011 | 1026 .L59: |
||
| 1012 | 1027 093e F0E0 ldi r31,lo8(0) |
||
| 1013 | 1028 0940 EE0F lsl r30 |
||
| 1014 | 1029 0942 FF1F rol r31 |
||
| 1015 | 1030 0944 E050 subi r30,lo8(-(PPM_in)) |
||
| 1016 | 1031 0946 F040 sbci r31,hi8(-(PPM_in)) |
||
| 1017 | 1032 0948 8081 ld r24,Z |
||
| 1018 | 1033 094a 9181 ldd r25,Z+1 |
||
| 1019 | 1034 094c 880F lsl r24 |
||
| 1020 | 1035 094e 991F rol r25 |
||
| 1021 | 1036 0950 8755 subi r24,lo8(-(937)) |
||
| 1022 | 1037 0952 9C4F sbci r25,hi8(-(937)) |
||
| 1023 | 1038 .L97: |
||
| 1024 | 1039 0954 9093 0000 sts (RemainingPulse.2394)+1,r25 |
||
| 1025 | 1040 0958 8093 0000 sts RemainingPulse.2394,r24 |
||
| 1026 | 1041 .L70: |
||
| 1027 | 1042 095c 8091 0000 lds r24,RemainingPulse.2394 |
||
| 1028 | 1043 0960 9091 0000 lds r25,(RemainingPulse.2394)+1 |
||
| 1029 | 1044 0964 45E0 ldi r20,hi8(1501) |
||
| 1030 | 1045 0966 8D3D cpi r24,lo8(1501) |
||
| 1031 | 1046 0968 9407 cpc r25,r20 |
||
| 1032 | 1047 096a 00F0 brlo .L79 |
||
| 1033 | 1048 096c 8CED ldi r24,lo8(1500) |
||
| 1034 | 1049 096e 95E0 ldi r25,hi8(1500) |
||
| 1035 | 1050 0970 00C0 rjmp .L99 |
||
| 1036 | 1051 .L79: |
||
| 1037 | 1052 0972 8757 subi r24,lo8(375) |
||
| 1038 | 1053 0974 9140 sbci r25,hi8(375) |
||
| 1039 | 1054 0976 00F4 brsh .L80 |
||
| 1040 | 1055 0978 87E7 ldi r24,lo8(375) |
||
| 1041 | 1056 097a 91E0 ldi r25,hi8(375) |
||
| 1042 | 1057 .L99: |
||
| 1043 | 1058 097c 9093 0000 sts (RemainingPulse.2394)+1,r25 |
||
| 1044 | 1059 0980 8093 0000 sts RemainingPulse.2394,r24 |
||
| 1045 | 1060 .L80: |
||
| 1046 | 1061 0984 2091 0000 lds r18,RemainingPulse.2394 |
||
| 1047 | 1062 0988 3091 0000 lds r19,(RemainingPulse.2394)+1 |
||
| 1048 | 1063 098c 2C5B subi r18,lo8(-(-188)) |
||
| 1049 | 1064 098e 3040 sbci r19,hi8(-(-188)) |
||
| 1050 | 1065 0990 3093 0000 sts (RemainingPulse.2394)+1,r19 |
||
| 1051 | 1066 0994 2093 0000 sts RemainingPulse.2394,r18 |
||
| 1052 | 1067 0998 8091 0000 lds r24,ServoFrameTime.2395 |
||
| 1053 | 1068 099c 9091 0000 lds r25,(ServoFrameTime.2395)+1 |
||
| 1054 | 1069 09a0 820F add r24,r18 |
||
| 1055 | 1070 09a2 931F adc r25,r19 |
||
| 1056 | 1071 .L103: |
||
| 1057 | 1072 09a4 9093 0000 sts (ServoFrameTime.2395)+1,r25 |
||
| 1058 | 1073 09a8 8093 0000 sts ServoFrameTime.2395,r24 |
||
| 1059 | 1074 09ac 00C0 rjmp .L58 |
||
| 1060 | 1075 .L56: |
||
| 1061 | 1076 09ae 8091 B000 lds r24,176 |
||
| 1062 | 1077 09b2 8064 ori r24,lo8(64) |
||
| 1063 | 1078 09b4 8093 B000 sts 176,r24 |
||
| 1064 | 1079 09b8 8CEB ldi r24,lo8(188) |
||
| 1065 | 1080 09ba 90E0 ldi r25,hi8(188) |
||
| 1066 | 1081 09bc 9093 0000 sts (RemainingPulse.2394)+1,r25 |
||
| 1067 | 1082 09c0 8093 0000 sts RemainingPulse.2394,r24 |
||
| 1068 | 1083 09c4 8091 0000 lds r24,ServoFrameTime.2395 |
||
| 1069 | 1084 09c8 9091 0000 lds r25,(ServoFrameTime.2395)+1 |
||
| 1070 | 1085 09cc 8454 subi r24,lo8(-(188)) |
||
| 1071 | 1086 09ce 9F4F sbci r25,hi8(-(188)) |
||
| 1072 | 1087 09d0 9093 0000 sts (ServoFrameTime.2395)+1,r25 |
||
| 1073 | 1088 09d4 8093 0000 sts ServoFrameTime.2395,r24 |
||
| 1074 | 1089 09d8 8091 0000 lds r24,ServoActive |
||
| 1075 | 1090 09dc 8823 tst r24 |
||
| 1076 | 1091 09de 01F0 breq .L81 |
||
| 1077 | 1092 09e0 8091 0000 lds r24,SenderOkay |
||
| 1078 | 1093 09e4 853B cpi r24,lo8(-75) |
||
| 1079 | 1094 09e6 00F4 brsh .L82 |
||
| 1080 | 1095 .L81: |
||
| 1081 | 1096 09e8 8091 0000 lds r24,ServoActive |
||
| 1082 | 1097 09ec 8230 cpi r24,lo8(2) |
||
| 1083 | 1098 09ee 01F4 brne .L83 |
||
| 1084 | 1099 .L82: |
||
| 1085 | 1100 09f0 4698 cbi 40-32,6 |
||
| 1086 | 1101 09f2 00C0 rjmp .L84 |
||
| 1087 | 1102 .L83: |
||
| 1088 | 1103 09f4 469A sbi 40-32,6 |
||
| 1089 | 1104 .L84: |
||
| 1090 | 1105 09f6 8091 0000 lds r24,ServoIndex.2396 |
||
| 1091 | 1106 09fa 8F5F subi r24,lo8(-(1)) |
||
| 1092 | 1107 09fc 8093 0000 sts ServoIndex.2396,r24 |
||
| 1093 | 1108 0a00 9091 0000 lds r25,EE_Parameter+53 |
||
| 1094 | 1109 0a04 9817 cp r25,r24 |
||
| 1095 | 1110 0a06 00F4 brsh .L58 |
||
| 1096 | 1111 0a08 1092 0000 sts ServoIndex.2396,__zero_reg__ |
||
| 1097 | 1112 .L58: |
||
| 1098 | 1113 0a0c 81E0 ldi r24,lo8(1) |
||
| 1099 | 1114 0a0e 8093 0000 sts PulseOutput.2393,r24 |
||
| 1100 | 1115 .L47: |
||
| 1101 | 1116 0a12 2091 0000 lds r18,RemainingPulse.2394 |
||
| 1102 | 1117 0a16 3091 0000 lds r19,(RemainingPulse.2394)+1 |
||
| 1103 | 1118 0a1a 81E0 ldi r24,hi8(383) |
||
| 1104 | 1119 0a1c 2F37 cpi r18,lo8(383) |
||
| 1105 | 1120 0a1e 3807 cpc r19,r24 |
||
| 1106 | 1121 0a20 00F0 brlo .L85 |
||
| 1107 | 1122 0a22 8FEF ldi r24,lo8(-1) |
||
| 1108 | 1123 0a24 8093 B300 sts 179,r24 |
||
| 1109 | 1124 0a28 2F5F subi r18,lo8(-(-255)) |
||
| 1110 | 1125 0a2a 3040 sbci r19,hi8(-(-255)) |
||
| 1111 | 1126 0a2c 00C0 rjmp .L100 |
||
| 1112 | 1127 .L85: |
||
| 1113 | 1128 0a2e 2F3F cpi r18,255 |
||
| 1114 | 1129 0a30 3105 cpc r19,__zero_reg__ |
||
| 1115 | 1130 0a32 01F0 breq .L87 |
||
| 1116 | 1131 0a34 00F0 brlo .L87 |
||
| 1117 | 1132 0a36 A901 movw r20,r18 |
||
| 1118 | 1133 0a38 4F5F subi r20,lo8(-(-255)) |
||
| 1119 | 1134 0a3a 5040 sbci r21,hi8(-(-255)) |
||
| 1120 | 1135 0a3c 4F37 cpi r20,127 |
||
| 1121 | 1136 0a3e 5105 cpc r21,__zero_reg__ |
||
| 1122 | 1137 0a40 00F4 brsh .L88 |
||
| 1123 | 1138 0a42 80E8 ldi r24,lo8(-128) |
||
| 1124 | 1139 0a44 8093 B300 sts 179,r24 |
||
| 1125 | 1140 0a48 2058 subi r18,lo8(-(-128)) |
||
| 1126 | 1141 0a4a 3040 sbci r19,hi8(-(-128)) |
||
| 1127 | 1142 .L100: |
||
| 1128 | 1143 0a4c 3093 0000 sts (RemainingPulse.2394)+1,r19 |
||
| 1129 | 1144 0a50 2093 0000 sts RemainingPulse.2394,r18 |
||
| 1130 | 1145 0a54 00C0 rjmp .L89 |
||
| 1131 | 1146 .L88: |
||
| 1132 | 1147 0a56 8FEF ldi r24,lo8(-1) |
||
| 1133 | 1148 0a58 8093 B300 sts 179,r24 |
||
| 1134 | 1149 0a5c 5093 0000 sts (RemainingPulse.2394)+1,r21 |
||
| 1135 | 1150 0a60 4093 0000 sts RemainingPulse.2394,r20 |
||
| 1136 | 1151 0a64 00C0 rjmp .L89 |
||
| 1137 | 1152 .L87: |
||
| 1138 | 1153 0a66 2093 B300 sts 179,r18 |
||
| 1139 | 1154 0a6a 1092 0000 sts (RemainingPulse.2394)+1,__zero_reg__ |
||
| 1140 | 1155 0a6e 1092 0000 sts RemainingPulse.2394,__zero_reg__ |
||
| 1141 | 1156 0a72 1092 0000 sts PulseOutput.2393,__zero_reg__ |
||
| 1142 | 1157 .L89: |
||
| 1143 | 1158 /* epilogue start */ |
||
| 1144 | 1159 0a76 FF91 pop r31 |
||
| 1145 | 1160 0a78 EF91 pop r30 |
||
| 1146 | 1161 0a7a BF91 pop r27 |
||
| 1147 | 1162 0a7c AF91 pop r26 |
||
| 1148 | 1163 0a7e 9F91 pop r25 |
||
| 1149 | 1164 0a80 8F91 pop r24 |
||
| 1150 | 1165 0a82 7F91 pop r23 |
||
| 1151 | 1166 0a84 6F91 pop r22 |
||
| 1152 | 1167 0a86 5F91 pop r21 |
||
| 1153 | 1168 0a88 4F91 pop r20 |
||
| 1154 | 1169 0a8a 3F91 pop r19 |
||
| 1155 | 1170 0a8c 2F91 pop r18 |
||
| 1156 | 1171 0a8e 1F91 pop r17 |
||
| 1157 | 1172 0a90 0F91 pop r16 |
||
| 1158 | 1173 0a92 FF90 pop r15 |
||
| 1159 | 1174 0a94 EF90 pop r14 |
||
| 1160 | 1175 0a96 DF90 pop r13 |
||
| 1161 | 1176 0a98 CF90 pop r12 |
||
| 1162 | 1177 0a9a 0F90 pop r0 |
||
| 1163 | 1178 0a9c 0FBE out __SREG__,r0 |
||
| 1164 | 1179 0a9e 0F90 pop r0 |
||
| 1165 | 1180 0aa0 1F90 pop __zero_reg__ |
||
| 1166 | 1181 0aa2 1895 reti |
||
| 1167 | 1183 .global CountMilliseconds |
||
| 1168 | 1184 .global CountMilliseconds |
||
| 1169 | 1185 .section .bss |
||
| 1170 | 1188 CountMilliseconds: |
||
| 1171 | 1189 0000 0000 .skip 2,0 |
||
| 1172 | 1190 .global UpdateMotor |
||
| 1173 | 1191 .global UpdateMotor |
||
| 1174 | 1194 UpdateMotor: |
||
| 1175 | 1195 0002 00 .skip 1,0 |
||
| 1176 | 1196 .global cntKompass |
||
| 1177 | 1197 .global cntKompass |
||
| 1178 | 1200 cntKompass: |
||
| 1179 | 1201 0003 0000 .skip 2,0 |
||
| 1180 | 1202 .global beeptime |
||
| 1181 | 1203 .global beeptime |
||
| 1182 | 1206 beeptime: |
||
| 1183 | 1207 0005 0000 .skip 2,0 |
||
| 1184 | 1208 .global SendSPI |
||
| 1185 | 1209 .global SendSPI |
||
| 1186 | 1212 SendSPI: |
||
| 1187 | 1213 0007 00 .skip 1,0 |
||
| 1188 | 1214 .global ServoActive |
||
| 1189 | 1215 .global ServoActive |
||
| 1190 | 1218 ServoActive: |
||
| 1191 | 1219 0008 00 .skip 1,0 |
||
| 1192 | 1220 .global BeepMuster |
||
| 1193 | 1221 .data |
||
| 1194 | 1224 BeepMuster: |
||
| 1195 | 1225 0000 FFFF .word -1 |
||
| 1196 | 1226 .global ServoNickValue |
||
| 1197 | 1227 .global ServoNickValue |
||
| 1198 | 1228 .section .bss |
||
| 1199 | 1231 ServoNickValue: |
||
| 1200 | 1232 0009 0000 .skip 2,0 |
||
| 1201 | 1233 .global ServoRollValue |
||
| 1202 | 1234 .global ServoRollValue |
||
| 1203 | 1237 ServoRollValue: |
||
| 1204 | 1238 000b 0000 .skip 2,0 |
||
| 1205 | 1239 .lcomm CameraShutterCycle,2 |
||
| 1206 | 1240 .lcomm CameraShutterCycleCounter,2 |
||
| 1207 | 1241 .data |
||
| 1208 | 1244 CameraShutterCycleOnCount: |
||
| 1209 | 1245 0002 1400 .word 20 |
||
| 1210 | 1248 ServoRollOffset.2398: |
||
| 1211 | 1249 0004 FC01 .word 508 |
||
| 1212 | 1252 ServoNickOffset.2397: |
||
| 1213 | 1253 0006 FC01 .word 508 |
||
| 1214 | 1254 .lcomm ServoIndex.2396,1 |
||
| 1215 | 1255 .lcomm ServoFrameTime.2395,2 |
||
| 1216 | 1256 .lcomm RemainingPulse.2394,2 |
||
| 1217 | 1257 .lcomm PulseOutput.2393,1 |
||
| 1218 | 1258 .lcomm compass_active.2240,1 |
||
| 1219 | 1259 .lcomm cnt.2239,1 |
||
| 1220 | 1262 cnt_1ms.2238: |
||
| 1221 | 1263 0008 01 .byte 1 |
||
| 1222 | 1264 .lcomm tim_main,2 |
||
| 1223 | 1265 .global __do_copy_data |
||
| 1224 | 1266 .global __do_clear_bss |
||
| 1755 | - | 1225 | DEFINED SYMBOLS |
| 1226 | *ABS*:00000000 timer0.c |
||
| 1789 | - | 1227 | C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccT5cFTS.s:2 *ABS*:0000003f __SREG__ |
| 1228 | C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccT5cFTS.s:3 *ABS*:0000003e __SP_H__ |
||
| 1229 | C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccT5cFTS.s:4 *ABS*:0000003d __SP_L__ |
||
| 1230 | C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccT5cFTS.s:5 *ABS*:00000034 __CCP__ |
||
| 1231 | C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccT5cFTS.s:6 *ABS*:00000000 __tmp_reg__ |
||
| 1232 | C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccT5cFTS.s:7 *ABS*:00000001 __zero_reg__ |
||
| 1233 | C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccT5cFTS.s:11 .text:00000000 __vector_18 |
||
| 1234 | C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccT5cFTS.s:1212 .bss:00000007 SendSPI |
||
| 1235 | C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccT5cFTS.s:1258 .bss:00000018 cnt.2239 |
||
| 1236 | C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccT5cFTS.s:1188 .bss:00000000 CountMilliseconds |
||
| 1237 | C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccT5cFTS.s:1262 .data:00000008 cnt_1ms.2238 |
||
| 1238 | C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccT5cFTS.s:1194 .bss:00000002 UpdateMotor |
||
| 1239 | C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccT5cFTS.s:1257 .bss:00000017 compass_active.2240 |
||
| 1240 | C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccT5cFTS.s:1206 .bss:00000005 beeptime |
||
| 1241 | C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccT5cFTS.s:1224 .data:00000000 BeepMuster |
||
| 1242 | C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccT5cFTS.s:1200 .bss:00000003 cntKompass |
||
| 1243 | C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccT5cFTS.s:224 .text:00000206 SetDelay |
||
| 1244 | C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccT5cFTS.s:239 .text:0000021a CheckDelay |
||
| 1245 | C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccT5cFTS.s:255 .text:00000230 Delay_ms |
||
| 1246 | C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccT5cFTS.s:281 .text:0000025c Delay_ms_Mess |
||
| 1247 | C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccT5cFTS.s:315 .text:0000029c TIMER2_Init |
||
| 1248 | .bss:0000000d CameraShutterCycle |
||
| 1249 | C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccT5cFTS.s:376 .text:0000030a Timer_Init |
||
| 1250 | C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccT5cFTS.s:1259 .bss:00000019 tim_main |
||
| 1251 | C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccT5cFTS.s:403 .text:0000033a __vector_9 |
||
| 1252 | C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccT5cFTS.s:1256 .bss:00000016 PulseOutput.2393 |
||
| 1253 | C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccT5cFTS.s:1252 .data:00000006 ServoNickOffset.2397 |
||
| 1254 | C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccT5cFTS.s:1231 .bss:00000009 ServoNickValue |
||
| 1255 | C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccT5cFTS.s:1255 .bss:00000014 RemainingPulse.2394 |
||
| 1256 | C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccT5cFTS.s:1254 .bss:00000012 ServoFrameTime.2395 |
||
| 1257 | C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccT5cFTS.s:1240 .bss:00000011 ServoIndex.2396 |
||
| 1258 | C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccT5cFTS.s:1248 .data:00000004 ServoRollOffset.2398 |
||
| 1259 | C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccT5cFTS.s:1237 .bss:0000000b ServoRollValue |
||
| 1260 | C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccT5cFTS.s:1239 .bss:0000000f CameraShutterCycleCounter |
||
| 1261 | C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccT5cFTS.s:1244 .data:00000002 CameraShutterCycleOnCount |
||
| 1262 | C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccT5cFTS.s:1218 .bss:00000008 ServoActive |
||
| 1755 | - | 1263 | |
| 1264 | UNDEFINED SYMBOLS |
||
| 1265 | SpektrumTimer |
||
| 1266 | PlatinenVersion |
||
| 1267 | NaviDataOkay |
||
| 1268 | EE_Parameter |
||
| 1269 | __udivmodhi4 |
||
| 1270 | KompassValue |
||
| 1271 | KompassStartwert |
||
| 1272 | __divmodhi4 |
||
| 1273 | KompassRichtung |
||
| 1274 | AdReady |
||
| 1275 | Parameter_UserParam8 |
||
| 1276 | Parameter_ServoNickControl |
||
| 1277 | IntegralNick |
||
| 1789 | - | 1278 | __divmodsi4 |
| 1755 | - | 1279 | __mulsi3 |
| 1280 | Parameter_ServoRollControl |
||
| 1281 | IntegralRoll |
||
| 1282 | PPM_in |
||
| 1283 | Parameter_Servo4 |
||
| 1284 | Parameter_Servo5 |
||
| 1285 | SenderOkay |
||
| 1789 | - | 1286 | __do_copy_data |
| 1287 | __do_clear_bss |