Go to most recent revision | Details | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1379 | Arthur | 1 | 1 .file "spi.c" |
| 2 | 2 __SREG__ = 0x3f |
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| 3 | 3 __SP_H__ = 0x3e |
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| 4 | 4 __SP_L__ = 0x3d |
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| 5 | 5 __CCP__ = 0x34 |
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| 6 | 6 __tmp_reg__ = 0 |
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| 7 | 7 __zero_reg__ = 1 |
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| 8 | 8 .text |
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| 9 | 9 .global SPI_MasterInit |
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| 10 | 11 SPI_MasterInit: |
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| 11 | 12 /* prologue: function */ |
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| 12 | 13 /* frame size = 0 */ |
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| 13 | 14 0000 84B1 in r24,36-32 |
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| 14 | 15 0002 806A ori r24,lo8(-96) |
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| 15 | 16 0004 84B9 out 36-32,r24 |
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| 16 | 17 0006 3D9A sbi 39-32,5 |
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| 17 | 18 0008 82E5 ldi r24,lo8(82) |
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| 18 | 19 000a 8CBD out 76-32,r24 |
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| 19 | 20 000c 1DBC out 77-32,__zero_reg__ |
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| 20 | 21 000e 459A sbi 40-32,5 |
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| 21 | 22 0010 81E0 ldi r24,lo8(1) |
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| 22 | 23 0012 8093 0000 sts SPITransferCompleted,r24 |
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| 23 | 24 0016 8AEA ldi r24,lo8(-86) |
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| 24 | 25 0018 8093 0000 sts ToNaviCtrl,r24 |
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| 25 | 26 001c 83E8 ldi r24,lo8(-125) |
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| 26 | 27 001e 8093 0000 sts ToNaviCtrl+1,r24 |
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| 27 | 28 0022 9AE0 ldi r25,lo8(10) |
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| 28 | 29 0024 9093 0000 sts ToNaviCtrl+2,r25 |
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| 29 | 30 0028 1092 0000 sts (ToNaviCtrl+3)+1,__zero_reg__ |
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| 30 | 31 002c 1092 0000 sts ToNaviCtrl+3,__zero_reg__ |
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| 31 | 32 0030 1092 0000 sts (ToNaviCtrl+5)+1,__zero_reg__ |
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| 32 | 33 0034 1092 0000 sts ToNaviCtrl+5,__zero_reg__ |
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| 33 | 34 0038 1092 0000 sts FromNaviCtrl_Value+3,__zero_reg__ |
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| 34 | 35 003c 1092 0000 sts SPI_RxDataValid,__zero_reg__ |
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| 35 | 36 0040 1092 0000 sts SPI_VersionInfo,__zero_reg__ |
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| 36 | 37 0044 8CE4 ldi r24,lo8(76) |
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| 37 | 38 0046 8093 0000 sts SPI_VersionInfo+1,r24 |
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| 38 | 39 004a 86E0 ldi r24,lo8(6) |
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| 39 | 40 004c 8093 0000 sts SPI_VersionInfo+2,r24 |
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| 40 | 41 0050 9093 0000 sts SPI_VersionInfo+3,r25 |
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| 41 | 42 /* epilogue start */ |
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| 42 | 43 0054 0895 ret |
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| 43 | 45 .global UpdateSPI_Buffer |
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| 44 | 47 UpdateSPI_Buffer: |
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| 45 | 48 0056 EF92 push r14 |
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| 46 | 49 0058 FF92 push r15 |
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| 47 | 50 005a 0F93 push r16 |
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| 48 | 51 005c 1F93 push r17 |
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| 49 | 52 /* prologue: function */ |
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| 50 | 53 /* frame size = 0 */ |
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| 51 | 54 005e E090 0000 lds r14,EE_Parameter+23 |
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| 52 | 55 0062 FF24 clr r15 |
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| 53 | 56 0064 EE0C lsl r14 |
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| 54 | 57 0066 FF1C rol r15 |
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| 55 | 58 0068 EE0C lsl r14 |
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| 56 | 59 006a FF1C rol r15 |
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| 57 | 60 006c 0027 clr r16 |
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| 58 | 61 006e F7FC sbrc r15,7 |
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| 59 | 62 0070 0095 com r16 |
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| 60 | 63 0072 102F mov r17,r16 |
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| 61 | 64 0074 6091 0000 lds r22,IntegralNick |
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| 62 | 65 0078 7091 0000 lds r23,(IntegralNick)+1 |
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| 63 | 66 007c 8091 0000 lds r24,(IntegralNick)+2 |
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| 64 | 67 0080 9091 0000 lds r25,(IntegralNick)+3 |
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| 65 | 68 0084 A801 movw r20,r16 |
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| 66 | 69 0086 9701 movw r18,r14 |
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| 67 | 70 0088 0E94 0000 call __divmodsi4 |
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| 68 | 71 008c 3093 0000 sts (ToNaviCtrl+3)+1,r19 |
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| 69 | 72 0090 2093 0000 sts ToNaviCtrl+3,r18 |
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| 70 | 73 0094 6091 0000 lds r22,IntegralRoll |
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| 71 | 74 0098 7091 0000 lds r23,(IntegralRoll)+1 |
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| 72 | 75 009c 8091 0000 lds r24,(IntegralRoll)+2 |
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| 73 | 76 00a0 9091 0000 lds r25,(IntegralRoll)+3 |
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| 74 | 77 00a4 A801 movw r20,r16 |
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| 75 | 78 00a6 9701 movw r18,r14 |
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| 76 | 79 00a8 0E94 0000 call __divmodsi4 |
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| 77 | 80 00ac 3093 0000 sts (ToNaviCtrl+5)+1,r19 |
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| 78 | 81 00b0 2093 0000 sts ToNaviCtrl+5,r18 |
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| 79 | 82 00b4 6091 0000 lds r22,ErsatzKompass |
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| 80 | 83 00b8 7091 0000 lds r23,(ErsatzKompass)+1 |
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| 81 | 84 00bc 8091 0000 lds r24,(ErsatzKompass)+2 |
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| 82 | 85 00c0 9091 0000 lds r25,(ErsatzKompass)+3 |
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| 83 | 86 00c4 2AE0 ldi r18,lo8(10) |
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| 84 | 87 00c6 30E0 ldi r19,hi8(10) |
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| 85 | 88 00c8 40E0 ldi r20,hlo8(10) |
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| 86 | 89 00ca 50E0 ldi r21,hhi8(10) |
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| 87 | 90 00cc 0E94 0000 call __mulsi3 |
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| 88 | 91 00d0 2091 0000 lds r18,GIER_GRAD_FAKTOR |
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| 89 | 92 00d4 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1 |
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| 90 | 93 00d8 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2 |
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| 91 | 94 00dc 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3 |
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| 92 | 95 00e0 0E94 0000 call __divmodsi4 |
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| 93 | 96 00e4 3093 0000 sts (ToNaviCtrl+11)+1,r19 |
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| 94 | 97 00e8 2093 0000 sts ToNaviCtrl+11,r18 |
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| 95 | 98 00ec E091 0000 lds r30,NaviCntAcc |
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| 96 | 99 00f0 F091 0000 lds r31,(NaviCntAcc)+1 |
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| 97 | 100 00f4 8091 0000 lds r24,NaviAccNick |
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| 98 | 101 00f8 9091 0000 lds r25,(NaviAccNick)+1 |
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| 99 | 102 00fc BF01 movw r22,r30 |
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| 100 | 103 00fe 0E94 0000 call __divmodhi4 |
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| 101 | 104 0102 CB01 movw r24,r22 |
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| 102 | 105 0104 880F lsl r24 |
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| 103 | 106 0106 991F rol r25 |
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| 104 | 107 0108 860F add r24,r22 |
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| 105 | 108 010a 971F adc r25,r23 |
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| 106 | 109 010c 9C01 movw r18,r24 |
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| 107 | 110 010e 220F lsl r18 |
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| 108 | 111 0110 331F rol r19 |
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| 109 | 112 0112 96FD sbrc r25,6 |
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| 110 | 113 0114 00C0 rjmp .L35 |
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| 111 | 114 .L4: |
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| 112 | 115 0116 3595 asr r19 |
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| 113 | 116 0118 2795 ror r18 |
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| 114 | 117 011a 3595 asr r19 |
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| 115 | 118 011c 2795 ror r18 |
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| 116 | 119 011e 3093 0000 sts (ToNaviCtrl+7)+1,r19 |
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| 117 | 120 0122 2093 0000 sts ToNaviCtrl+7,r18 |
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| 118 | 121 0126 8091 0000 lds r24,NaviAccRoll |
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| 119 | 122 012a 9091 0000 lds r25,(NaviAccRoll)+1 |
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| 120 | 123 012e BF01 movw r22,r30 |
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| 121 | 124 0130 0E94 0000 call __divmodhi4 |
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| 122 | 125 0134 CB01 movw r24,r22 |
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| 123 | 126 0136 880F lsl r24 |
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| 124 | 127 0138 991F rol r25 |
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| 125 | 128 013a 860F add r24,r22 |
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| 126 | 129 013c 971F adc r25,r23 |
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| 127 | 130 013e 9C01 movw r18,r24 |
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| 128 | 131 0140 220F lsl r18 |
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| 129 | 132 0142 331F rol r19 |
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| 130 | 133 0144 96FD sbrc r25,6 |
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| 131 | 134 0146 00C0 rjmp .L36 |
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| 132 | 135 .L5: |
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| 133 | 136 0148 3595 asr r19 |
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| 134 | 137 014a 2795 ror r18 |
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| 135 | 138 014c 3595 asr r19 |
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| 136 | 139 014e 2795 ror r18 |
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| 137 | 140 0150 3093 0000 sts (ToNaviCtrl+9)+1,r19 |
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| 138 | 141 0154 2093 0000 sts ToNaviCtrl+9,r18 |
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| 139 | 142 0158 1092 0000 sts (NaviCntAcc)+1,__zero_reg__ |
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| 140 | 143 015c 1092 0000 sts NaviCntAcc,__zero_reg__ |
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| 141 | 144 0160 1092 0000 sts (NaviAccNick)+1,__zero_reg__ |
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| 142 | 145 0164 1092 0000 sts NaviAccNick,__zero_reg__ |
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| 143 | 146 0168 1092 0000 sts (NaviAccRoll)+1,__zero_reg__ |
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| 144 | 147 016c 1092 0000 sts NaviAccRoll,__zero_reg__ |
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| 145 | 148 0170 8091 0000 lds r24,ToNaviCtrl+2 |
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| 146 | 149 0174 8C30 cpi r24,lo8(12) |
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| 147 | 150 0176 01F4 brne .+2 |
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| 148 | 151 0178 00C0 rjmp .L9 |
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| 149 | 152 017a 8D30 cpi r24,lo8(13) |
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| 150 | 153 017c 00F4 brsh .+2 |
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| 151 | 154 017e 00C0 rjmp .L37 |
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| 152 | 155 0180 8E30 cpi r24,lo8(14) |
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| 153 | 156 0182 01F4 brne .+2 |
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| 154 | 157 0184 00C0 rjmp .L11 |
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| 155 | 158 0186 8E30 cpi r24,lo8(14) |
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| 156 | 159 0188 00F0 brlo .+2 |
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| 157 | 160 018a 00C0 rjmp .L38 |
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| 158 | 161 018c 8091 0000 lds r24,EE_Parameter+69 |
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| 159 | 162 0190 8093 0000 sts ToNaviCtrl+19,r24 |
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| 160 | 163 0194 8091 0000 lds r24,EE_Parameter+70 |
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| 161 | 164 0198 8093 0000 sts ToNaviCtrl+20,r24 |
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| 162 | 165 019c 8091 0000 lds r24,EE_Parameter+71 |
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| 163 | 166 01a0 8093 0000 sts ToNaviCtrl+21,r24 |
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| 164 | 167 01a4 8091 0000 lds r24,EE_Parameter+72 |
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| 165 | 168 01a8 8093 0000 sts ToNaviCtrl+22,r24 |
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| 166 | 169 01ac 8091 0000 lds r24,EE_Parameter+73 |
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| 167 | 170 01b0 8093 0000 sts ToNaviCtrl+23,r24 |
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| 168 | 171 01b4 8091 0000 lds r24,EE_Parameter+77 |
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| 169 | 172 01b8 8093 0000 sts ToNaviCtrl+24,r24 |
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| 170 | 173 01bc 8091 0000 lds r24,EE_Parameter+78 |
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| 171 | 174 01c0 8093 0000 sts ToNaviCtrl+25,r24 |
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| 172 | 175 01c4 8091 0000 lds r24,EE_Parameter+79 |
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| 173 | 176 01c8 8093 0000 sts ToNaviCtrl+26,r24 |
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| 174 | 177 01cc 8091 0000 lds r24,EE_Parameter+82 |
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| 175 | 178 01d0 8093 0000 sts ToNaviCtrl+27,r24 |
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| 176 | 179 01d4 8091 0000 lds r24,EE_Parameter+80 |
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| 177 | 180 01d8 8093 0000 sts ToNaviCtrl+28,r24 |
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| 178 | 181 01dc 8091 0000 lds r24,EE_Parameter+81 |
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| 179 | 182 01e0 8093 0000 sts ToNaviCtrl+29,r24 |
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| 180 | 183 01e4 8091 0000 lds r24,EE_Parameter+83 |
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| 181 | 184 01e8 8093 0000 sts ToNaviCtrl+30,r24 |
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| 182 | 185 .L6: |
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| 183 | 186 01ec 8091 0000 lds r24,SPI_RxDataValid |
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| 184 | 187 01f0 8823 tst r24 |
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| 185 | 188 01f2 01F4 brne .+2 |
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| 186 | 189 01f4 00C0 rjmp .L26 |
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| 187 | 190 .L42: |
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| 188 | 191 01f6 2091 0000 lds r18,FromNaviCtrl+1 |
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| 189 | 192 01fa 3091 0000 lds r19,(FromNaviCtrl+1)+1 |
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| 190 | 193 01fe C901 movw r24,r18 |
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| 191 | 194 0200 8150 subi r24,lo8(-(511)) |
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| 192 | 195 0202 9E4F sbci r25,hi8(-(511)) |
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| 193 | 196 0204 8F5F subi r24,lo8(1023) |
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| 194 | 197 0206 9340 sbci r25,hi8(1023) |
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| 195 | 198 0208 00F4 brsh .L27 |
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| 196 | 199 020a 4091 0000 lds r20,FromNaviCtrl+3 |
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| 197 | 200 020e 5091 0000 lds r21,(FromNaviCtrl+3)+1 |
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| 198 | 201 0212 CA01 movw r24,r20 |
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| 199 | 202 0214 8150 subi r24,lo8(-(511)) |
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| 200 | 203 0216 9E4F sbci r25,hi8(-(511)) |
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| 201 | 204 0218 8F5F subi r24,lo8(1023) |
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| 202 | 205 021a 9340 sbci r25,hi8(1023) |
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| 203 | 206 021c 00F4 brsh .+2 |
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| 204 | 207 021e 00C0 rjmp .L39 |
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| 205 | 208 .L27: |
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| 206 | 209 0220 8091 0000 lds r24,FromNaviCtrl+7 |
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| 207 | 210 0224 9091 0000 lds r25,(FromNaviCtrl+7)+1 |
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| 208 | 211 0228 21E0 ldi r18,hi8(361) |
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| 209 | 212 022a 8936 cpi r24,lo8(361) |
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| 210 | 213 022c 9207 cpc r25,r18 |
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| 211 | 214 022e 04F4 brge .L28 |
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| 212 | 215 0230 9093 0000 sts (KompassValue)+1,r25 |
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| 213 | 216 0234 8093 0000 sts KompassValue,r24 |
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| 214 | 217 .L28: |
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| 215 | 218 0238 8091 0000 lds r24,KompassValue |
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| 216 | 219 023c 9091 0000 lds r25,(KompassValue)+1 |
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| 217 | 220 0240 845E subi r24,lo8(-(540)) |
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| 218 | 221 0242 9D4F sbci r25,hi8(-(540)) |
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| 219 | 222 0244 2091 0000 lds r18,KompassStartwert |
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| 220 | 223 0248 3091 0000 lds r19,(KompassStartwert)+1 |
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| 221 | 224 024c 821B sub r24,r18 |
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| 222 | 225 024e 930B sbc r25,r19 |
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| 223 | 226 0250 68E6 ldi r22,lo8(360) |
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| 224 | 227 0252 71E0 ldi r23,hi8(360) |
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| 225 | 228 0254 0E94 0000 call __divmodhi4 |
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| 226 | 229 0258 845B subi r24,lo8(-(-180)) |
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| 227 | 230 025a 9040 sbci r25,hi8(-(-180)) |
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| 228 | 231 025c 9093 0000 sts (KompassRichtung)+1,r25 |
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| 229 | 232 0260 8093 0000 sts KompassRichtung,r24 |
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| 230 | 233 0264 2091 0000 lds r18,FromNaviCtrl+11 |
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| 231 | 234 0268 3091 0000 lds r19,(FromNaviCtrl+11)+1 |
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| 232 | 235 026c 8091 0000 lds r24,beeptime |
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| 233 | 236 0270 9091 0000 lds r25,(beeptime)+1 |
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| 234 | 237 0274 8217 cp r24,r18 |
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| 235 | 238 0276 9307 cpc r25,r19 |
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| 236 | 239 0278 00F4 brsh .L29 |
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| 237 | 240 027a 8091 0000 lds r24,WinkelOut+6 |
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| 238 | 241 027e 8823 tst r24 |
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| 239 | 242 0280 01F4 brne .+2 |
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| 240 | 243 0282 00C0 rjmp .L40 |
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| 241 | 244 .L29: |
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| 242 | 245 0284 8091 0000 lds r24,FromNaviCtrl |
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| 243 | 246 0288 8736 cpi r24,lo8(103) |
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| 244 | 247 028a 01F4 brne .L32 |
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| 245 | 248 028c 8091 0000 lds r24,FromNaviCtrl+13 |
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| 246 | 249 0290 8093 0000 sts FromNaviCtrl_Value,r24 |
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| 247 | 250 0294 8091 0000 lds r24,FromNaviCtrl+14 |
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| 248 | 251 0298 8093 0000 sts FromNaviCtrl_Value+2,r24 |
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| 249 | 252 029c 8091 0000 lds r24,FromNaviCtrl+15 |
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| 250 | 253 02a0 8093 0000 sts FromNaviCtrl_Value+1,r24 |
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| 251 | 254 02a4 8091 0000 lds r24,FromNaviCtrl+16 |
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| 252 | 255 02a8 8093 0000 sts FromNaviCtrl_Value+3,r24 |
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| 253 | 256 02ac 8091 0000 lds r24,FromNaviCtrl+17 |
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| 254 | 257 02b0 8093 0000 sts FromNaviCtrl_Value+4,r24 |
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| 255 | 258 .L32: |
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| 256 | 259 /* epilogue start */ |
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| 257 | 260 02b4 1F91 pop r17 |
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| 258 | 261 02b6 0F91 pop r16 |
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| 259 | 262 02b8 FF90 pop r15 |
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| 260 | 263 02ba EF90 pop r14 |
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| 261 | 264 02bc 0895 ret |
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| 262 | 265 .L37: |
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| 263 | 266 02be 8A30 cpi r24,lo8(10) |
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| 264 | 267 02c0 01F4 brne .+2 |
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| 265 | 268 02c2 00C0 rjmp .L7 |
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| 266 | 269 02c4 8B30 cpi r24,lo8(11) |
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| 267 | 270 02c6 01F0 breq .+2 |
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| 268 | 271 02c8 00C0 rjmp .L6 |
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| 269 | 272 /* #APP */ |
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| 270 | 273 ; 204 "spi.c" 1 |
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| 271 | 274 02ca F894 cli |
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| 272 | 275 ; 0 "" 2 |
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| 273 | 276 /* #NOAPP */ |
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| 274 | 277 02cc E091 0000 lds r30,EE_Parameter+2 |
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| 275 | 278 02d0 F0E0 ldi r31,lo8(0) |
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| 276 | 279 02d2 EE0F lsl r30 |
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| 277 | 280 02d4 FF1F rol r31 |
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| 278 | 281 02d6 E050 subi r30,lo8(-(PPM_in)) |
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| 279 | 282 02d8 F040 sbci r31,hi8(-(PPM_in)) |
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| 280 | 283 02da 0190 ld __tmp_reg__,Z+ |
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| 281 | 284 02dc F081 ld r31,Z |
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| 282 | 285 02de E02D mov r30,__tmp_reg__ |
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| 283 | 286 02e0 2FEF ldi r18,hi8(-127) |
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| 284 | 287 02e2 E138 cpi r30,lo8(-127) |
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| 285 | 288 02e4 F207 cpc r31,r18 |
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| 286 | 289 02e6 04F4 brge .L15 |
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| 287 | 290 02e8 E1E8 ldi r30,lo8(-127) |
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| 288 | 291 02ea FFEF ldi r31,hi8(-127) |
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| 289 | 292 .L15: |
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| 290 | 293 02ec E038 cpi r30,128 |
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| 291 | 294 02ee F105 cpc r31,__zero_reg__ |
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| 292 | 295 02f0 04F0 brlt .L16 |
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| 293 | 296 02f2 EFE7 ldi r30,lo8(127) |
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| 294 | 297 02f4 F0E0 ldi r31,hi8(127) |
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| 295 | 298 .L16: |
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| 296 | 299 02f6 E093 0000 sts ToNaviCtrl+19,r30 |
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| 297 | 300 02fa E091 0000 lds r30,EE_Parameter+3 |
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| 298 | 301 02fe F0E0 ldi r31,lo8(0) |
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| 299 | 302 0300 EE0F lsl r30 |
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| 300 | 303 0302 FF1F rol r31 |
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| 301 | 304 0304 E050 subi r30,lo8(-(PPM_in)) |
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| 302 | 305 0306 F040 sbci r31,hi8(-(PPM_in)) |
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| 303 | 306 0308 0190 ld __tmp_reg__,Z+ |
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| 304 | 307 030a F081 ld r31,Z |
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| 305 | 308 030c E02D mov r30,__tmp_reg__ |
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| 306 | 309 030e 4FEF ldi r20,hi8(-127) |
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| 307 | 310 0310 E138 cpi r30,lo8(-127) |
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| 308 | 311 0312 F407 cpc r31,r20 |
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| 309 | 312 0314 04F4 brge .L17 |
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| 310 | 313 0316 E1E8 ldi r30,lo8(-127) |
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| 311 | 314 0318 FFEF ldi r31,hi8(-127) |
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| 312 | 315 .L17: |
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| 313 | 316 031a E038 cpi r30,128 |
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| 314 | 317 031c F105 cpc r31,__zero_reg__ |
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| 315 | 318 031e 04F0 brlt .L18 |
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| 316 | 319 0320 EFE7 ldi r30,lo8(127) |
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| 317 | 320 0322 F0E0 ldi r31,hi8(127) |
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| 318 | 321 .L18: |
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| 319 | 322 0324 E093 0000 sts ToNaviCtrl+20,r30 |
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| 320 | 323 0328 E091 0000 lds r30,EE_Parameter+1 |
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| 321 | 324 032c F0E0 ldi r31,lo8(0) |
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| 322 | 325 032e EE0F lsl r30 |
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| 323 | 326 0330 FF1F rol r31 |
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| 324 | 327 0332 E050 subi r30,lo8(-(PPM_in)) |
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| 325 | 328 0334 F040 sbci r31,hi8(-(PPM_in)) |
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| 326 | 329 0336 0190 ld __tmp_reg__,Z+ |
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| 327 | 330 0338 F081 ld r31,Z |
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| 328 | 331 033a E02D mov r30,__tmp_reg__ |
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| 329 | 332 033c 6FEF ldi r22,hi8(-127) |
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| 330 | 333 033e E138 cpi r30,lo8(-127) |
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| 331 | 334 0340 F607 cpc r31,r22 |
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| 332 | 335 0342 04F4 brge .L19 |
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| 333 | 336 0344 E1E8 ldi r30,lo8(-127) |
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| 334 | 337 0346 FFEF ldi r31,hi8(-127) |
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| 335 | 338 .L19: |
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| 336 | 339 0348 E038 cpi r30,128 |
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| 337 | 340 034a F105 cpc r31,__zero_reg__ |
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| 338 | 341 034c 04F0 brlt .L20 |
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| 339 | 342 034e EFE7 ldi r30,lo8(127) |
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| 340 | 343 0350 F0E0 ldi r31,hi8(127) |
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| 341 | 344 .L20: |
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| 342 | 345 0352 E093 0000 sts ToNaviCtrl+21,r30 |
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| 343 | 346 0356 E091 0000 lds r30,EE_Parameter |
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| 344 | 347 035a F0E0 ldi r31,lo8(0) |
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| 345 | 348 035c EE0F lsl r30 |
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| 346 | 349 035e FF1F rol r31 |
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| 347 | 350 0360 E050 subi r30,lo8(-(PPM_in)) |
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| 348 | 351 0362 F040 sbci r31,hi8(-(PPM_in)) |
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| 349 | 352 0364 0190 ld __tmp_reg__,Z+ |
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| 350 | 353 0366 F081 ld r31,Z |
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| 351 | 354 0368 E02D mov r30,__tmp_reg__ |
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| 352 | 355 036a 8FEF ldi r24,hi8(-127) |
||
| 353 | 356 036c E138 cpi r30,lo8(-127) |
||
| 354 | 357 036e F807 cpc r31,r24 |
||
| 355 | 358 0370 04F4 brge .L21 |
||
| 356 | 359 0372 E1E8 ldi r30,lo8(-127) |
||
| 357 | 360 0374 FFEF ldi r31,hi8(-127) |
||
| 358 | 361 .L21: |
||
| 359 | 362 /* #APP */ |
||
| 360 | 363 ; 212 "spi.c" 1 |
||
| 361 | 364 0376 7894 sei |
||
| 362 | 365 ; 0 "" 2 |
||
| 363 | 366 /* #NOAPP */ |
||
| 364 | 367 0378 E038 cpi r30,128 |
||
| 365 | 368 037a F105 cpc r31,__zero_reg__ |
||
| 366 | 369 037c 04F0 brlt .L22 |
||
| 367 | 370 037e EFE7 ldi r30,lo8(127) |
||
| 368 | 371 0380 F0E0 ldi r31,hi8(127) |
||
| 369 | 372 .L22: |
||
| 370 | 373 0382 E093 0000 sts ToNaviCtrl+22,r30 |
||
| 371 | 374 0386 8091 0000 lds r24,Poti1 |
||
| 372 | 375 038a 8093 0000 sts ToNaviCtrl+23,r24 |
||
| 373 | 376 038e 8091 0000 lds r24,Poti2 |
||
| 374 | 377 0392 8093 0000 sts ToNaviCtrl+24,r24 |
||
| 375 | 378 0396 8091 0000 lds r24,Poti3 |
||
| 376 | 379 039a 8093 0000 sts ToNaviCtrl+25,r24 |
||
| 377 | 380 039e 8091 0000 lds r24,Poti4 |
||
| 378 | 381 03a2 8093 0000 sts ToNaviCtrl+26,r24 |
||
| 379 | 382 03a6 8091 0000 lds r24,SenderOkay |
||
| 380 | 383 03aa 8093 0000 sts ToNaviCtrl+27,r24 |
||
| 381 | 384 03ae 8091 0000 lds r24,SenderRSSI |
||
| 382 | 385 03b2 8093 0000 sts ToNaviCtrl+28,r24 |
||
| 383 | 386 03b6 2091 0000 lds r18,DebugOut+16 |
||
| 384 | 387 03ba 3091 0000 lds r19,DebugOut+17 |
||
| 385 | 388 03be C901 movw r24,r18 |
||
| 386 | 389 03c0 97FD sbrc r25,7 |
||
| 387 | 390 03c2 00C0 rjmp .L41 |
||
| 388 | 391 .L23: |
||
| 389 | 392 03c4 9595 asr r25 |
||
| 390 | 393 03c6 8795 ror r24 |
||
| 391 | 394 03c8 9595 asr r25 |
||
| 392 | 395 03ca 8795 ror r24 |
||
| 393 | 396 03cc 8093 0000 sts ToNaviCtrl+29,r24 |
||
| 394 | 397 03d0 8091 0000 lds r24,SPI_RxDataValid |
||
| 395 | 398 03d4 8823 tst r24 |
||
| 396 | 399 03d6 01F0 breq .+2 |
||
| 397 | 400 03d8 00C0 rjmp .L42 |
||
| 398 | 401 .L26: |
||
| 399 | 402 03da 1092 0000 sts (GPS_Nick)+1,__zero_reg__ |
||
| 400 | 403 03de 1092 0000 sts GPS_Nick,__zero_reg__ |
||
| 401 | 404 03e2 1092 0000 sts (GPS_Roll)+1,__zero_reg__ |
||
| 402 | 405 03e6 1092 0000 sts GPS_Roll,__zero_reg__ |
||
| 403 | 406 03ea 1F91 pop r17 |
||
| 404 | 407 03ec 0F91 pop r16 |
||
| 405 | 408 03ee FF90 pop r15 |
||
| 406 | 409 03f0 EF90 pop r14 |
||
| 407 | 410 03f2 0895 ret |
||
| 408 | 411 .L36: |
||
| 409 | 412 03f4 2D5F subi r18,lo8(-(3)) |
||
| 410 | 413 03f6 3F4F sbci r19,hi8(-(3)) |
||
| 411 | 414 03f8 00C0 rjmp .L5 |
||
| 412 | 415 .L35: |
||
| 413 | 416 03fa 2D5F subi r18,lo8(-(3)) |
||
| 414 | 417 03fc 3F4F sbci r19,hi8(-(3)) |
||
| 415 | 418 03fe 00C0 rjmp .L4 |
||
| 416 | 419 .L38: |
||
| 417 | 420 0400 8F30 cpi r24,lo8(15) |
||
| 418 | 421 0402 01F0 breq .+2 |
||
| 419 | 422 0404 00C0 rjmp .L6 |
||
| 420 | 423 0406 8091 0000 lds r24,EE_Parameter+47 |
||
| 421 | 424 040a 8093 0000 sts ToNaviCtrl+19,r24 |
||
| 422 | 425 040e 8091 0000 lds r24,EE_Parameter+87 |
||
| 423 | 426 0412 8093 0000 sts ToNaviCtrl+20,r24 |
||
| 424 | 427 0416 8091 0000 lds r24,Parameter_ServoNickControl |
||
| 425 | 428 041a 8093 0000 sts ToNaviCtrl+21,r24 |
||
| 426 | 429 041e 8091 0000 lds r24,EE_Parameter+40 |
||
| 427 | 430 0422 8093 0000 sts ToNaviCtrl+22,r24 |
||
| 428 | 431 0426 8091 0000 lds r24,EE_Parameter+41 |
||
| 429 | 432 042a 8093 0000 sts ToNaviCtrl+23,r24 |
||
| 430 | 433 042e 8091 0000 lds r24,EE_Parameter+42 |
||
| 431 | 434 0432 8093 0000 sts ToNaviCtrl+24,r24 |
||
| 432 | 435 0436 8091 0000 lds r24,Parameter_ServoRollControl |
||
| 433 | 436 043a 8093 0000 sts ToNaviCtrl+25,r24 |
||
| 434 | 437 043e 8091 0000 lds r24,EE_Parameter+44 |
||
| 435 | 438 0442 8093 0000 sts ToNaviCtrl+26,r24 |
||
| 436 | 439 0446 8091 0000 lds r24,EE_Parameter+45 |
||
| 437 | 440 044a 8093 0000 sts ToNaviCtrl+27,r24 |
||
| 438 | 441 044e 8091 0000 lds r24,EE_Parameter+46 |
||
| 439 | 442 0452 8093 0000 sts ToNaviCtrl+28,r24 |
||
| 440 | 443 0456 00C0 rjmp .L6 |
||
| 441 | 444 .L39: |
||
| 442 | 445 0458 8091 0000 lds r24,EE_Parameter+8 |
||
| 443 | 446 045c 85FF sbrs r24,5 |
||
| 444 | 447 045e 00C0 rjmp .L27 |
||
| 445 | 448 0460 3093 0000 sts (GPS_Nick)+1,r19 |
||
| 446 | 449 0464 2093 0000 sts GPS_Nick,r18 |
||
| 447 | 450 0468 5093 0000 sts (GPS_Roll)+1,r21 |
||
| 448 | 451 046c 4093 0000 sts GPS_Roll,r20 |
||
| 449 | 452 0470 8AEF ldi r24,lo8(-6) |
||
| 450 | 453 0472 8093 0000 sts NaviDataOkay,r24 |
||
| 451 | 454 0476 00C0 rjmp .L27 |
||
| 452 | 455 .L40: |
||
| 453 | 456 0478 3093 0000 sts (beeptime)+1,r19 |
||
| 454 | 457 047c 2093 0000 sts beeptime,r18 |
||
| 455 | 458 0480 00C0 rjmp .L29 |
||
| 456 | 459 .L11: |
||
| 457 | 460 0482 8091 0000 lds r24,SPI_VersionInfo |
||
| 458 | 461 0486 8093 0000 sts ToNaviCtrl+19,r24 |
||
| 459 | 462 048a 8091 0000 lds r24,SPI_VersionInfo+1 |
||
| 460 | 463 048e 8093 0000 sts ToNaviCtrl+20,r24 |
||
| 461 | 464 0492 8091 0000 lds r24,SPI_VersionInfo+2 |
||
| 462 | 465 0496 8093 0000 sts ToNaviCtrl+21,r24 |
||
| 463 | 466 049a 8091 0000 lds r24,SPI_VersionInfo+3 |
||
| 464 | 467 049e 8093 0000 sts ToNaviCtrl+22,r24 |
||
| 465 | 468 04a2 8091 0000 lds r24,PlatinenVersion |
||
| 466 | 469 04a6 8093 0000 sts ToNaviCtrl+23,r24 |
||
| 467 | 470 04aa 00C0 rjmp .L6 |
||
| 468 | 471 .L9: |
||
| 469 | 472 04ac 8091 0000 lds r24,WinkelOut+6 |
||
| 470 | 473 04b0 8630 cpi r24,lo8(6) |
||
| 471 | 474 04b2 00F4 brsh .+2 |
||
| 472 | 475 04b4 00C0 rjmp .L24 |
||
| 473 | 476 04b6 1092 0000 sts WinkelOut+6,__zero_reg__ |
||
| 474 | 477 04ba 85E0 ldi r24,lo8(5) |
||
| 475 | 478 04bc 8093 0000 sts ToNaviCtrl+19,r24 |
||
| 476 | 479 .L25: |
||
| 477 | 480 04c0 8091 0000 lds r24,EE_Parameter+84 |
||
| 478 | 481 04c4 8093 0000 sts ToNaviCtrl+20,r24 |
||
| 479 | 482 04c8 8091 0000 lds r24,DebugOut+12 |
||
| 480 | 483 04cc 9091 0000 lds r25,(DebugOut+12)+1 |
||
| 481 | 484 04d0 9093 0000 sts (ToNaviCtrl+21)+1,r25 |
||
| 482 | 485 04d4 8093 0000 sts ToNaviCtrl+21,r24 |
||
| 483 | 486 04d8 6091 0000 lds r22,SollHoehe |
||
| 484 | 487 04dc 7091 0000 lds r23,(SollHoehe)+1 |
||
| 485 | 488 04e0 8091 0000 lds r24,(SollHoehe)+2 |
||
| 486 | 489 04e4 9091 0000 lds r25,(SollHoehe)+3 |
||
| 487 | 490 04e8 25E0 ldi r18,lo8(5) |
||
| 488 | 491 04ea 30E0 ldi r19,hi8(5) |
||
| 489 | 492 04ec 40E0 ldi r20,hlo8(5) |
||
| 490 | 493 04ee 50E0 ldi r21,hhi8(5) |
||
| 491 | 494 04f0 0E94 0000 call __divmodsi4 |
||
| 492 | 495 04f4 3093 0000 sts (ToNaviCtrl+23)+1,r19 |
||
| 493 | 496 04f8 2093 0000 sts ToNaviCtrl+23,r18 |
||
| 494 | 497 04fc 8091 0000 lds r24,EE_Parameter+74 |
||
| 495 | 498 0500 8093 0000 sts ToNaviCtrl+25,r24 |
||
| 496 | 499 0504 8091 0000 lds r24,EE_Parameter+75 |
||
| 497 | 500 0508 8093 0000 sts ToNaviCtrl+26,r24 |
||
| 498 | 501 050c 8091 0000 lds r24,EE_Parameter+76 |
||
| 499 | 502 0510 8093 0000 sts ToNaviCtrl+27,r24 |
||
| 500 | 503 0514 00C0 rjmp .L6 |
||
| 501 | 504 .L7: |
||
| 502 | 505 0516 8091 0000 lds r24,Parameter_UserParam1 |
||
| 503 | 506 051a 8093 0000 sts ToNaviCtrl+19,r24 |
||
| 504 | 507 051e 8091 0000 lds r24,Parameter_UserParam2 |
||
| 505 | 508 0522 8093 0000 sts ToNaviCtrl+20,r24 |
||
| 506 | 509 0526 8091 0000 lds r24,Parameter_UserParam3 |
||
| 507 | 510 052a 8093 0000 sts ToNaviCtrl+21,r24 |
||
| 508 | 511 052e 8091 0000 lds r24,Parameter_UserParam4 |
||
| 509 | 512 0532 8093 0000 sts ToNaviCtrl+22,r24 |
||
| 510 | 513 0536 8091 0000 lds r24,Parameter_UserParam5 |
||
| 511 | 514 053a 8093 0000 sts ToNaviCtrl+23,r24 |
||
| 512 | 515 053e 8091 0000 lds r24,Parameter_UserParam6 |
||
| 513 | 516 0542 8093 0000 sts ToNaviCtrl+24,r24 |
||
| 514 | 517 0546 8091 0000 lds r24,Parameter_UserParam7 |
||
| 515 | 518 054a 8093 0000 sts ToNaviCtrl+25,r24 |
||
| 516 | 519 054e 8091 0000 lds r24,Parameter_UserParam8 |
||
| 517 | 520 0552 8093 0000 sts ToNaviCtrl+26,r24 |
||
| 518 | 521 0556 8091 0000 lds r24,MikroKopterFlags |
||
| 519 | 522 055a 8093 0000 sts ToNaviCtrl+27,r24 |
||
| 520 | 523 055e 8091 0000 lds r24,MikroKopterFlags |
||
| 521 | 524 0562 837F andi r24,lo8(-13) |
||
| 522 | 525 0564 8093 0000 sts MikroKopterFlags,r24 |
||
| 523 | 526 0568 8091 0000 lds r24,UBat |
||
| 524 | 527 056c 9091 0000 lds r25,(UBat)+1 |
||
| 525 | 528 0570 8093 0000 sts ToNaviCtrl+28,r24 |
||
| 526 | 529 0574 8091 0000 lds r24,BattLowVoltageWarning |
||
| 527 | 530 0578 8093 0000 sts ToNaviCtrl+29,r24 |
||
| 528 | 531 .L14: |
||
| 529 | 532 057c F999 sbic 63-32,1 |
||
| 530 | 533 057e 00C0 rjmp .L14 |
||
| 531 | 534 0580 80E0 ldi r24,lo8(EEPromArray+2) |
||
| 532 | 535 0582 90E0 ldi r25,hi8(EEPromArray+2) |
||
| 533 | 536 0584 92BD out (65)+1-32,r25 |
||
| 534 | 537 0586 81BD out 65-32,r24 |
||
| 535 | 538 /* #APP */ |
||
| 536 | 539 ; 208 "c:/winavr-20090313/lib/gcc/../../avr/include/avr/eeprom.h" 1 |
||
| 537 | 540 /* START EEPROM READ CRITICAL SECTION */ |
||
| 538 | 541 0588 F89A sbi 31, 0 |
||
| 539 | 542 058a 80B5 in r24, 32 |
||
| 540 | 543 /* END EEPROM READ CRITICAL SECTION */ |
||
| 541 | 544 |
||
| 542 | 545 ; 0 "" 2 |
||
| 543 | 546 /* #NOAPP */ |
||
| 544 | 547 058c 8093 0000 sts ToNaviCtrl+30,r24 |
||
| 545 | 548 0590 00C0 rjmp .L6 |
||
| 546 | 549 .L24: |
||
| 547 | 550 0592 8093 0000 sts ToNaviCtrl+19,r24 |
||
| 548 | 551 0596 00C0 rjmp .L25 |
||
| 549 | 552 .L41: |
||
| 550 | 553 0598 0396 adiw r24,3 |
||
| 551 | 554 059a 00C0 rjmp .L23 |
||
| 552 | 556 .global SPI_StartTransmitPacket |
||
| 553 | 558 SPI_StartTransmitPacket: |
||
| 554 | 559 /* prologue: function */ |
||
| 555 | 560 /* frame size = 0 */ |
||
| 556 | 561 059c 8091 0000 lds r24,SPITransferCompleted |
||
| 557 | 562 05a0 8823 tst r24 |
||
| 558 | 563 05a2 01F4 brne .+2 |
||
| 559 | 564 05a4 00C0 rjmp .L46 |
||
| 560 | 565 05a6 4598 cbi 40-32,5 |
||
| 561 | 566 05a8 80E0 ldi r24,lo8(ToNaviCtrl) |
||
| 562 | 567 05aa 90E0 ldi r25,hi8(ToNaviCtrl) |
||
| 563 | 568 05ac 9093 0000 sts (SPI_TX_Buffer)+1,r25 |
||
| 564 | 569 05b0 8093 0000 sts SPI_TX_Buffer,r24 |
||
| 565 | 570 05b4 9091 0000 lds r25,SPI_CommandCounter |
||
| 566 | 571 05b8 E92F mov r30,r25 |
||
| 567 | 572 05ba F0E0 ldi r31,lo8(0) |
||
| 568 | 573 05bc E050 subi r30,lo8(-(SPI_CommandSequence)) |
||
| 569 | 574 05be F040 sbci r31,hi8(-(SPI_CommandSequence)) |
||
| 570 | 575 05c0 8081 ld r24,Z |
||
| 571 | 576 05c2 8093 0000 sts ToNaviCtrl+2,r24 |
||
| 572 | 577 05c6 9F5F subi r25,lo8(-(1)) |
||
| 573 | 578 05c8 9093 0000 sts SPI_CommandCounter,r25 |
||
| 574 | 579 05cc 9730 cpi r25,lo8(7) |
||
| 575 | 580 05ce 00F0 brlo .L45 |
||
| 576 | 581 05d0 1092 0000 sts SPI_CommandCounter,__zero_reg__ |
||
| 577 | 582 .L45: |
||
| 578 | 583 05d4 1092 0000 sts SPITransferCompleted,__zero_reg__ |
||
| 579 | 584 05d8 0E94 0000 call UpdateSPI_Buffer |
||
| 580 | 585 05dc 81E0 ldi r24,lo8(1) |
||
| 581 | 586 05de 8093 0000 sts SPI_BufferIndex,r24 |
||
| 582 | 587 /* #APP */ |
||
| 583 | 588 ; 75 "spi.c" 1 |
||
| 584 | 589 05e2 0000 nop |
||
| 585 | 590 ; 0 "" 2 |
||
| 586 | 591 ; 75 "spi.c" 1 |
||
| 587 | 592 05e4 0000 nop |
||
| 588 | 593 ; 0 "" 2 |
||
| 589 | 594 ; 75 "spi.c" 1 |
||
| 590 | 595 05e6 0000 nop |
||
| 591 | 596 ; 0 "" 2 |
||
| 592 | 597 ; 75 "spi.c" 1 |
||
| 593 | 598 05e8 0000 nop |
||
| 594 | 599 ; 0 "" 2 |
||
| 595 | 600 ; 75 "spi.c" 1 |
||
| 596 | 601 05ea 0000 nop |
||
| 597 | 602 ; 0 "" 2 |
||
| 598 | 603 ; 75 "spi.c" 1 |
||
| 599 | 604 05ec 0000 nop |
||
| 600 | 605 ; 0 "" 2 |
||
| 601 | 606 ; 75 "spi.c" 1 |
||
| 602 | 607 05ee 0000 nop |
||
| 603 | 608 ; 0 "" 2 |
||
| 604 | 609 ; 75 "spi.c" 1 |
||
| 605 | 610 05f0 0000 nop |
||
| 606 | 611 ; 0 "" 2 |
||
| 607 | 612 ; 76 "spi.c" 1 |
||
| 608 | 613 05f2 0000 nop |
||
| 609 | 614 ; 0 "" 2 |
||
| 610 | 615 ; 76 "spi.c" 1 |
||
| 611 | 616 05f4 0000 nop |
||
| 612 | 617 ; 0 "" 2 |
||
| 613 | 618 ; 76 "spi.c" 1 |
||
| 614 | 619 05f6 0000 nop |
||
| 615 | 620 ; 0 "" 2 |
||
| 616 | 621 ; 76 "spi.c" 1 |
||
| 617 | 622 05f8 0000 nop |
||
| 618 | 623 ; 0 "" 2 |
||
| 619 | 624 ; 76 "spi.c" 1 |
||
| 620 | 625 05fa 0000 nop |
||
| 621 | 626 ; 0 "" 2 |
||
| 622 | 627 ; 76 "spi.c" 1 |
||
| 623 | 628 05fc 0000 nop |
||
| 624 | 629 ; 0 "" 2 |
||
| 625 | 630 ; 76 "spi.c" 1 |
||
| 626 | 631 05fe 0000 nop |
||
| 627 | 632 ; 0 "" 2 |
||
| 628 | 633 ; 76 "spi.c" 1 |
||
| 629 | 634 0600 0000 nop |
||
| 630 | 635 ; 0 "" 2 |
||
| 631 | 636 ; 77 "spi.c" 1 |
||
| 632 | 637 0602 0000 nop |
||
| 633 | 638 ; 0 "" 2 |
||
| 634 | 639 ; 77 "spi.c" 1 |
||
| 635 | 640 0604 0000 nop |
||
| 636 | 641 ; 0 "" 2 |
||
| 637 | 642 ; 77 "spi.c" 1 |
||
| 638 | 643 0606 0000 nop |
||
| 639 | 644 ; 0 "" 2 |
||
| 640 | 645 ; 77 "spi.c" 1 |
||
| 641 | 646 0608 0000 nop |
||
| 642 | 647 ; 0 "" 2 |
||
| 643 | 648 ; 77 "spi.c" 1 |
||
| 644 | 649 060a 0000 nop |
||
| 645 | 650 ; 0 "" 2 |
||
| 646 | 651 ; 77 "spi.c" 1 |
||
| 647 | 652 060c 0000 nop |
||
| 648 | 653 ; 0 "" 2 |
||
| 649 | 654 ; 77 "spi.c" 1 |
||
| 650 | 655 060e 0000 nop |
||
| 651 | 656 ; 0 "" 2 |
||
| 652 | 657 ; 77 "spi.c" 1 |
||
| 653 | 658 0610 0000 nop |
||
| 654 | 659 ; 0 "" 2 |
||
| 655 | 660 /* #NOAPP */ |
||
| 656 | 661 0612 8091 0000 lds r24,ToNaviCtrl |
||
| 657 | 662 0616 8093 0000 sts ToNaviCtrl+31,r24 |
||
| 658 | 663 061a 8EBD out 78-32,r24 |
||
| 659 | 664 .L46: |
||
| 660 | 665 061c 0895 ret |
||
| 661 | 667 .global SPI_TransmitByte |
||
| 662 | 669 SPI_TransmitByte: |
||
| 663 | 670 /* prologue: function */ |
||
| 664 | 671 /* frame size = 0 */ |
||
| 665 | 672 061e 8091 0000 lds r24,SPITransferCompleted |
||
| 666 | 673 0622 8823 tst r24 |
||
| 667 | 674 0624 01F4 brne .L60 |
||
| 668 | 675 0626 0DB4 in __tmp_reg__,77-32 |
||
| 669 | 676 0628 07FE sbrs __tmp_reg__,7 |
||
| 670 | 677 .L60: |
||
| 671 | 678 062a 0895 ret |
||
| 672 | 679 .L62: |
||
| 673 | 680 062c 84E0 ldi r24,lo8(4) |
||
| 674 | 681 062e 8093 0000 sts SendSPI,r24 |
||
| 675 | 682 0632 459A sbi 40-32,5 |
||
| 676 | 683 0634 9EB5 in r25,78-32 |
||
| 677 | 684 0636 8091 0000 lds r24,SPI_RXState.2167 |
||
| 678 | 685 063a 8130 cpi r24,lo8(1) |
||
| 679 | 686 063c 01F4 brne .+2 |
||
| 680 | 687 063e 00C0 rjmp .L51 |
||
| 681 | 688 0640 8130 cpi r24,lo8(1) |
||
| 682 | 689 0642 00F0 brlo .+2 |
||
| 683 | 690 0644 00C0 rjmp .L63 |
||
| 684 | 691 0646 1092 0000 sts SPI_RxBufferIndex,__zero_reg__ |
||
| 685 | 692 064a 9093 0000 sts rxchksum.2169,r25 |
||
| 686 | 693 064e 9138 cpi r25,lo8(-127) |
||
| 687 | 694 0650 01F4 brne .+2 |
||
| 688 | 695 0652 00C0 rjmp .L64 |
||
| 689 | 696 .L49: |
||
| 690 | 697 0654 2091 0000 lds r18,SPI_BufferIndex |
||
| 691 | 698 0658 2032 cpi r18,lo8(32) |
||
| 692 | 699 065a 00F0 brlo .+2 |
||
| 693 | 700 065c 00C0 rjmp .L58 |
||
| 694 | 701 065e 4598 cbi 40-32,5 |
||
| 695 | 702 /* #APP */ |
||
| 696 | 703 ; 143 "spi.c" 1 |
||
| 697 | 704 0660 0000 nop |
||
| 698 | 705 ; 0 "" 2 |
||
| 699 | 706 ; 143 "spi.c" 1 |
||
| 700 | 707 0662 0000 nop |
||
| 701 | 708 ; 0 "" 2 |
||
| 702 | 709 ; 143 "spi.c" 1 |
||
| 703 | 710 0664 0000 nop |
||
| 704 | 711 ; 0 "" 2 |
||
| 705 | 712 ; 143 "spi.c" 1 |
||
| 706 | 713 0666 0000 nop |
||
| 707 | 714 ; 0 "" 2 |
||
| 708 | 715 ; 143 "spi.c" 1 |
||
| 709 | 716 0668 0000 nop |
||
| 710 | 717 ; 0 "" 2 |
||
| 711 | 718 ; 143 "spi.c" 1 |
||
| 712 | 719 066a 0000 nop |
||
| 713 | 720 ; 0 "" 2 |
||
| 714 | 721 ; 143 "spi.c" 1 |
||
| 715 | 722 066c 0000 nop |
||
| 716 | 723 ; 0 "" 2 |
||
| 717 | 724 ; 143 "spi.c" 1 |
||
| 718 | 725 066e 0000 nop |
||
| 719 | 726 ; 0 "" 2 |
||
| 720 | 727 ; 144 "spi.c" 1 |
||
| 721 | 728 0670 0000 nop |
||
| 722 | 729 ; 0 "" 2 |
||
| 723 | 730 ; 144 "spi.c" 1 |
||
| 724 | 731 0672 0000 nop |
||
| 725 | 732 ; 0 "" 2 |
||
| 726 | 733 ; 144 "spi.c" 1 |
||
| 727 | 734 0674 0000 nop |
||
| 728 | 735 ; 0 "" 2 |
||
| 729 | 736 ; 144 "spi.c" 1 |
||
| 730 | 737 0676 0000 nop |
||
| 731 | 738 ; 0 "" 2 |
||
| 732 | 739 ; 144 "spi.c" 1 |
||
| 733 | 740 0678 0000 nop |
||
| 734 | 741 ; 0 "" 2 |
||
| 735 | 742 ; 144 "spi.c" 1 |
||
| 736 | 743 067a 0000 nop |
||
| 737 | 744 ; 0 "" 2 |
||
| 738 | 745 ; 144 "spi.c" 1 |
||
| 739 | 746 067c 0000 nop |
||
| 740 | 747 ; 0 "" 2 |
||
| 741 | 748 ; 144 "spi.c" 1 |
||
| 742 | 749 067e 0000 nop |
||
| 743 | 750 ; 0 "" 2 |
||
| 744 | 751 ; 145 "spi.c" 1 |
||
| 745 | 752 0680 0000 nop |
||
| 746 | 753 ; 0 "" 2 |
||
| 747 | 754 ; 145 "spi.c" 1 |
||
| 748 | 755 0682 0000 nop |
||
| 749 | 756 ; 0 "" 2 |
||
| 750 | 757 ; 145 "spi.c" 1 |
||
| 751 | 758 0684 0000 nop |
||
| 752 | 759 ; 0 "" 2 |
||
| 753 | 760 ; 145 "spi.c" 1 |
||
| 754 | 761 0686 0000 nop |
||
| 755 | 762 ; 0 "" 2 |
||
| 756 | 763 ; 145 "spi.c" 1 |
||
| 757 | 764 0688 0000 nop |
||
| 758 | 765 ; 0 "" 2 |
||
| 759 | 766 ; 145 "spi.c" 1 |
||
| 760 | 767 068a 0000 nop |
||
| 761 | 768 ; 0 "" 2 |
||
| 762 | 769 ; 145 "spi.c" 1 |
||
| 763 | 770 068c 0000 nop |
||
| 764 | 771 ; 0 "" 2 |
||
| 765 | 772 ; 145 "spi.c" 1 |
||
| 766 | 773 068e 0000 nop |
||
| 767 | 774 ; 0 "" 2 |
||
| 768 | 775 /* #NOAPP */ |
||
| 769 | 776 0690 E091 0000 lds r30,SPI_TX_Buffer |
||
| 770 | 777 0694 F091 0000 lds r31,(SPI_TX_Buffer)+1 |
||
| 771 | 778 0698 E20F add r30,r18 |
||
| 772 | 779 069a F11D adc r31,__zero_reg__ |
||
| 773 | 780 069c 8081 ld r24,Z |
||
| 774 | 781 069e 8EBD out 78-32,r24 |
||
| 775 | 782 06a0 9091 0000 lds r25,ToNaviCtrl+31 |
||
| 776 | 783 06a4 890F add r24,r25 |
||
| 777 | 784 06a6 8093 0000 sts ToNaviCtrl+31,r24 |
||
| 778 | 785 .L59: |
||
| 779 | 786 06aa 2F5F subi r18,lo8(-(1)) |
||
| 780 | 787 06ac 2093 0000 sts SPI_BufferIndex,r18 |
||
| 781 | 788 06b0 0895 ret |
||
| 782 | 789 .L58: |
||
| 783 | 790 06b2 81E0 ldi r24,lo8(1) |
||
| 784 | 791 06b4 8093 0000 sts SPITransferCompleted,r24 |
||
| 785 | 792 06b8 00C0 rjmp .L59 |
||
| 786 | 793 .L63: |
||
| 787 | 794 06ba 8230 cpi r24,lo8(2) |
||
| 788 | 795 06bc 01F0 breq .+2 |
||
| 789 | 796 06be 00C0 rjmp .L49 |
||
| 790 | 797 06c0 8091 0000 lds r24,SPI_RxBufferIndex |
||
| 791 | 798 06c4 E82F mov r30,r24 |
||
| 792 | 799 06c6 F0E0 ldi r31,lo8(0) |
||
| 793 | 800 06c8 E050 subi r30,lo8(-(SPI_Buffer)) |
||
| 794 | 801 06ca F040 sbci r31,hi8(-(SPI_Buffer)) |
||
| 795 | 802 06cc 9083 st Z,r25 |
||
| 796 | 803 06ce 8F5F subi r24,lo8(-(1)) |
||
| 797 | 804 06d0 8093 0000 sts SPI_RxBufferIndex,r24 |
||
| 798 | 805 06d4 8A31 cpi r24,lo8(26) |
||
| 799 | 806 06d6 00F0 brlo .L54 |
||
| 800 | 807 06d8 8091 0000 lds r24,rxchksum.2169 |
||
| 801 | 808 06dc 9817 cp r25,r24 |
||
| 802 | 809 06de 01F0 breq .L65 |
||
| 803 | 810 06e0 1092 0000 sts SPI_RxDataValid,__zero_reg__ |
||
| 804 | 811 .L57: |
||
| 805 | 812 06e4 1092 0000 sts SPI_RXState.2167,__zero_reg__ |
||
| 806 | 813 06e8 00C0 rjmp .L49 |
||
| 807 | 814 .L64: |
||
| 808 | 815 06ea 81E0 ldi r24,lo8(1) |
||
| 809 | 816 06ec 8093 0000 sts SPI_RXState.2167,r24 |
||
| 810 | 817 06f0 00C0 rjmp .L49 |
||
| 811 | 818 .L51: |
||
| 812 | 819 06f2 9535 cpi r25,lo8(85) |
||
| 813 | 820 06f4 01F4 brne .L57 |
||
| 814 | 821 06f6 8091 0000 lds r24,rxchksum.2169 |
||
| 815 | 822 06fa 8B5A subi r24,lo8(-(85)) |
||
| 816 | 823 06fc 8093 0000 sts rxchksum.2169,r24 |
||
| 817 | 824 0700 82E0 ldi r24,lo8(2) |
||
| 818 | 825 0702 8093 0000 sts SPI_RXState.2167,r24 |
||
| 819 | 826 0706 00C0 rjmp .L49 |
||
| 820 | 827 .L54: |
||
| 821 | 828 0708 8091 0000 lds r24,rxchksum.2169 |
||
| 822 | 829 070c 890F add r24,r25 |
||
| 823 | 830 070e 8093 0000 sts rxchksum.2169,r24 |
||
| 824 | 831 0712 00C0 rjmp .L49 |
||
| 825 | 832 .L65: |
||
| 826 | 833 0714 A0E0 ldi r26,lo8(FromNaviCtrl) |
||
| 827 | 834 0716 B0E0 ldi r27,hi8(FromNaviCtrl) |
||
| 828 | 835 0718 E0E0 ldi r30,lo8(SPI_Buffer) |
||
| 829 | 836 071a F0E0 ldi r31,hi8(SPI_Buffer) |
||
| 830 | 837 071c 8AE1 ldi r24,lo8(26) |
||
| 831 | 838 .L56: |
||
| 832 | 839 071e 0190 ld r0,Z+ |
||
| 833 | 840 0720 0D92 st X+,r0 |
||
| 834 | 841 0722 8150 subi r24,lo8(-(-1)) |
||
| 835 | 842 0724 01F4 brne .L56 |
||
| 836 | 843 0726 81E0 ldi r24,lo8(1) |
||
| 837 | 844 0728 8093 0000 sts SPI_RxDataValid,r24 |
||
| 838 | 845 072c 00C0 rjmp .L57 |
||
| 839 | 847 .global NaviDataOkay |
||
| 840 | 848 .global NaviDataOkay |
||
| 841 | 849 .section .bss |
||
| 842 | 852 NaviDataOkay: |
||
| 843 | 853 0000 00 .skip 1,0 |
||
| 844 | 854 .global SPI_CommandSequence |
||
| 845 | 855 .data |
||
| 846 | 858 SPI_CommandSequence: |
||
| 847 | 859 0000 0A .byte 10 |
||
| 848 | 860 0001 0B .byte 11 |
||
| 849 | 861 0002 0D .byte 13 |
||
| 850 | 862 0003 0B .byte 11 |
||
| 851 | 863 0004 0C .byte 12 |
||
| 852 | 864 0005 0E .byte 14 |
||
| 853 | 865 0006 0F .byte 15 |
||
| 854 | 866 .global SPI_CommandCounter |
||
| 855 | 867 .global SPI_CommandCounter |
||
| 856 | 868 .section .bss |
||
| 857 | 871 SPI_CommandCounter: |
||
| 858 | 872 0001 00 .skip 1,0 |
||
| 859 | 873 .lcomm rxchksum.2169,1 |
||
| 860 | 874 .lcomm SPI_RXState.2167,1 |
||
| 861 | 875 .comm Mixer,77,1 |
||
| 862 | 876 .comm FromNaviCtrl_Value,5,1 |
||
| 863 | 877 .comm ToNaviCtrl,32,1 |
||
| 864 | 878 .comm FromNaviCtrl,26,1 |
||
| 865 | 879 .comm SPI_VersionInfo,4,1 |
||
| 866 | 880 .comm SPI_BufferIndex,1,1 |
||
| 867 | 881 .comm SPI_RxBufferIndex,1,1 |
||
| 868 | 882 .comm SPI_Buffer,26,1 |
||
| 869 | 883 .comm SPI_TX_Buffer,2,1 |
||
| 870 | 884 .comm SPITransferCompleted,1,1 |
||
| 871 | 885 .comm SPI_ChkSum,1,1 |
||
| 872 | 886 .comm SPI_RxDataValid,1,1 |
||
| 873 | 887 .global __do_copy_data |
||
| 874 | 888 .global __do_clear_bss |
||
| 875 | DEFINED SYMBOLS |
||
| 876 | *ABS*:00000000 spi.c |
||
| 877 | C:\Users\Arthur\AppData\Local\Temp/ccpqxFQf.s:2 *ABS*:0000003f __SREG__ |
||
| 878 | C:\Users\Arthur\AppData\Local\Temp/ccpqxFQf.s:3 *ABS*:0000003e __SP_H__ |
||
| 879 | C:\Users\Arthur\AppData\Local\Temp/ccpqxFQf.s:4 *ABS*:0000003d __SP_L__ |
||
| 880 | C:\Users\Arthur\AppData\Local\Temp/ccpqxFQf.s:5 *ABS*:00000034 __CCP__ |
||
| 881 | C:\Users\Arthur\AppData\Local\Temp/ccpqxFQf.s:6 *ABS*:00000000 __tmp_reg__ |
||
| 882 | C:\Users\Arthur\AppData\Local\Temp/ccpqxFQf.s:7 *ABS*:00000001 __zero_reg__ |
||
| 883 | C:\Users\Arthur\AppData\Local\Temp/ccpqxFQf.s:11 .text:00000000 SPI_MasterInit |
||
| 884 | *COM*:00000001 SPITransferCompleted |
||
| 885 | *COM*:00000020 ToNaviCtrl |
||
| 886 | *COM*:00000005 FromNaviCtrl_Value |
||
| 887 | *COM*:00000001 SPI_RxDataValid |
||
| 888 | *COM*:00000004 SPI_VersionInfo |
||
| 889 | C:\Users\Arthur\AppData\Local\Temp/ccpqxFQf.s:47 .text:00000056 UpdateSPI_Buffer |
||
| 890 | *COM*:0000001a FromNaviCtrl |
||
| 891 | C:\Users\Arthur\AppData\Local\Temp/ccpqxFQf.s:852 .bss:00000000 NaviDataOkay |
||
| 892 | C:\Users\Arthur\AppData\Local\Temp/ccpqxFQf.s:558 .text:0000059c SPI_StartTransmitPacket |
||
| 893 | *COM*:00000002 SPI_TX_Buffer |
||
| 894 | C:\Users\Arthur\AppData\Local\Temp/ccpqxFQf.s:871 .bss:00000001 SPI_CommandCounter |
||
| 895 | C:\Users\Arthur\AppData\Local\Temp/ccpqxFQf.s:858 .data:00000000 SPI_CommandSequence |
||
| 896 | *COM*:00000001 SPI_BufferIndex |
||
| 897 | C:\Users\Arthur\AppData\Local\Temp/ccpqxFQf.s:669 .text:0000061e SPI_TransmitByte |
||
| 898 | C:\Users\Arthur\AppData\Local\Temp/ccpqxFQf.s:873 .bss:00000003 SPI_RXState.2167 |
||
| 899 | *COM*:00000001 SPI_RxBufferIndex |
||
| 900 | .bss:00000002 rxchksum.2169 |
||
| 901 | *COM*:0000001a SPI_Buffer |
||
| 902 | *COM*:0000004d Mixer |
||
| 903 | *COM*:00000001 SPI_ChkSum |
||
| 904 | |||
| 905 | UNDEFINED SYMBOLS |
||
| 906 | EE_Parameter |
||
| 907 | IntegralNick |
||
| 908 | __divmodsi4 |
||
| 909 | IntegralRoll |
||
| 910 | ErsatzKompass |
||
| 911 | __mulsi3 |
||
| 912 | GIER_GRAD_FAKTOR |
||
| 913 | NaviCntAcc |
||
| 914 | NaviAccNick |
||
| 915 | __divmodhi4 |
||
| 916 | NaviAccRoll |
||
| 917 | KompassValue |
||
| 918 | KompassStartwert |
||
| 919 | KompassRichtung |
||
| 920 | beeptime |
||
| 921 | WinkelOut |
||
| 922 | PPM_in |
||
| 923 | Poti1 |
||
| 924 | Poti2 |
||
| 925 | Poti3 |
||
| 926 | Poti4 |
||
| 927 | SenderOkay |
||
| 928 | SenderRSSI |
||
| 929 | DebugOut |
||
| 930 | GPS_Nick |
||
| 931 | GPS_Roll |
||
| 932 | Parameter_ServoNickControl |
||
| 933 | Parameter_ServoRollControl |
||
| 934 | PlatinenVersion |
||
| 935 | SollHoehe |
||
| 936 | Parameter_UserParam1 |
||
| 937 | Parameter_UserParam2 |
||
| 938 | Parameter_UserParam3 |
||
| 939 | Parameter_UserParam4 |
||
| 940 | Parameter_UserParam5 |
||
| 941 | Parameter_UserParam6 |
||
| 942 | Parameter_UserParam7 |
||
| 943 | Parameter_UserParam8 |
||
| 944 | MikroKopterFlags |
||
| 945 | UBat |
||
| 946 | BattLowVoltageWarning |
||
| 947 | EEPromArray |
||
| 948 | SendSPI |
||
| 949 | __do_copy_data |
||
| 950 | __do_clear_bss |