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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1379 | Arthur | 1 | 1 .file "timer0.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 __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.2155 |
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| 41 | 42 0040 8150 subi r24,lo8(-(-1)) |
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| 42 | 43 0042 8093 0000 sts cnt.2155,r24 |
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| 43 | 44 0046 8F5F subi r24,lo8(-(1)) |
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| 44 | 45 0048 01F4 brne .L4 |
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| 45 | 46 004a 89E0 ldi r24,lo8(9) |
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| 46 | 47 004c 8093 0000 sts cnt.2155,r24 |
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| 47 | 48 0050 8091 0000 lds r24,cnt_1ms.2154 |
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| 48 | 49 0054 8F5F subi r24,lo8(-(1)) |
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| 49 | 50 0056 8170 andi r24,lo8(1) |
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| 50 | 51 0058 8093 0000 sts cnt_1ms.2154,r24 |
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| 51 | 52 005c 8823 tst r24 |
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| 52 | 53 005e 01F4 brne .+2 |
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| 53 | 54 0060 00C0 rjmp .L22 |
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| 54 | 55 .L5: |
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| 55 | 56 0062 8091 0000 lds r24,CountMilliseconds |
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| 56 | 57 0066 9091 0000 lds r25,(CountMilliseconds)+1 |
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| 57 | 58 006a 0196 adiw r24,1 |
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| 58 | 59 006c 9093 0000 sts (CountMilliseconds)+1,r25 |
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| 59 | 60 0070 8093 0000 sts CountMilliseconds,r24 |
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| 60 | 61 .L4: |
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| 61 | 62 0074 8091 0000 lds r24,beeptime |
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| 62 | 63 0078 9091 0000 lds r25,(beeptime)+1 |
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| 63 | 64 007c 892B or r24,r25 |
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| 64 | 65 007e 01F4 brne .+2 |
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| 65 | 66 0080 00C0 rjmp .L6 |
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| 66 | 67 0082 8091 0000 lds r24,beeptime |
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| 67 | 68 0086 9091 0000 lds r25,(beeptime)+1 |
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| 68 | 69 008a 0197 sbiw r24,1 |
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| 69 | 70 008c 9093 0000 sts (beeptime)+1,r25 |
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| 70 | 71 0090 8093 0000 sts beeptime,r24 |
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| 71 | 72 0094 8091 0000 lds r24,beeptime |
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| 72 | 73 0098 9091 0000 lds r25,(beeptime)+1 |
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| 73 | 74 009c 2091 0000 lds r18,BeepMuster |
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| 74 | 75 00a0 3091 0000 lds r19,(BeepMuster)+1 |
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| 75 | 76 00a4 8223 and r24,r18 |
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| 76 | 77 00a6 9323 and r25,r19 |
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| 77 | 78 00a8 892B or r24,r25 |
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| 78 | 79 00aa 01F4 brne .+2 |
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| 79 | 80 00ac 00C0 rjmp .L8 |
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| 80 | 81 00ae 8091 0000 lds r24,PlatinenVersion |
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| 81 | 82 00b2 8A30 cpi r24,lo8(10) |
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| 82 | 83 00b4 01F4 brne .+2 |
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| 83 | 84 00b6 00C0 rjmp .L23 |
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| 84 | 85 00b8 479A sbi 40-32,7 |
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| 85 | 86 .L11: |
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| 86 | 87 00ba 8091 0000 lds r24,EE_Parameter+8 |
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| 87 | 88 00be 83FF sbrs r24,3 |
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| 88 | 89 00c0 00C0 rjmp .L18 |
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| 89 | 90 00c2 3499 sbic 38-32,4 |
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| 90 | 91 00c4 00C0 rjmp .L24 |
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| 91 | 92 00c6 8091 0000 lds r24,cntKompass |
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| 92 | 93 00ca 9091 0000 lds r25,(cntKompass)+1 |
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| 93 | 94 00ce 892B or r24,r25 |
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| 94 | 95 00d0 01F0 breq .L14 |
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| 95 | 96 00d2 8091 0000 lds r24,cntKompass |
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| 96 | 97 00d6 9091 0000 lds r25,(cntKompass)+1 |
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| 97 | 98 00da 8A56 subi r24,lo8(362) |
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| 98 | 99 00dc 9140 sbci r25,hi8(362) |
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| 99 | 100 00de 00F4 brsh .L14 |
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| 100 | 101 00e0 8091 0000 lds r24,cntKompass |
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| 101 | 102 00e4 9091 0000 lds r25,(cntKompass)+1 |
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| 102 | 103 00e8 2091 0000 lds r18,cntKompass |
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| 103 | 104 00ec 3091 0000 lds r19,(cntKompass)+1 |
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| 104 | 105 00f0 69E2 ldi r22,lo8(41) |
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| 105 | 106 00f2 70E0 ldi r23,hi8(41) |
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| 106 | 107 00f4 0E94 0000 call __udivmodhi4 |
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| 107 | 108 00f8 260F add r18,r22 |
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| 108 | 109 00fa 371F adc r19,r23 |
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| 109 | 110 00fc 3093 0000 sts (cntKompass)+1,r19 |
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| 110 | 111 0100 2093 0000 sts cntKompass,r18 |
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| 111 | 112 0104 8091 0000 lds r24,cntKompass |
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| 112 | 113 0108 9091 0000 lds r25,(cntKompass)+1 |
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| 113 | 114 010c 0B97 sbiw r24,11 |
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| 114 | 115 010e 00F4 brsh .+2 |
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| 115 | 116 0110 00C0 rjmp .L15 |
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| 116 | 117 0112 8091 0000 lds r24,cntKompass |
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| 117 | 118 0116 9091 0000 lds r25,(cntKompass)+1 |
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| 118 | 119 011a 0A97 sbiw r24,10 |
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| 119 | 120 011c 9093 0000 sts (KompassValue)+1,r25 |
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| 120 | 121 0120 8093 0000 sts KompassValue,r24 |
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| 121 | 122 .L14: |
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| 122 | 123 0124 8091 0000 lds r24,KompassValue |
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| 123 | 124 0128 9091 0000 lds r25,(KompassValue)+1 |
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| 124 | 125 012c 845E subi r24,lo8(-(540)) |
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| 125 | 126 012e 9D4F sbci r25,hi8(-(540)) |
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| 126 | 127 0130 2091 0000 lds r18,KompassStartwert |
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| 127 | 128 0134 3091 0000 lds r19,(KompassStartwert)+1 |
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| 128 | 129 0138 821B sub r24,r18 |
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| 129 | 130 013a 930B sbc r25,r19 |
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| 130 | 131 013c 68E6 ldi r22,lo8(360) |
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| 131 | 132 013e 71E0 ldi r23,hi8(360) |
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| 132 | 133 0140 0E94 0000 call __divmodhi4 |
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| 133 | 134 0144 845B subi r24,lo8(-(-180)) |
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| 134 | 135 0146 9040 sbci r25,hi8(-(-180)) |
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| 135 | 136 0148 9093 0000 sts (KompassRichtung)+1,r25 |
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| 136 | 137 014c 8093 0000 sts KompassRichtung,r24 |
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| 137 | 138 0150 1092 0000 sts (cntKompass)+1,__zero_reg__ |
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| 138 | 139 0154 1092 0000 sts cntKompass,__zero_reg__ |
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| 139 | 140 .L18: |
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| 140 | 141 /* epilogue start */ |
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| 141 | 142 0158 BF91 pop r27 |
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| 142 | 143 015a AF91 pop r26 |
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| 143 | 144 015c 9F91 pop r25 |
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| 144 | 145 015e 8F91 pop r24 |
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| 145 | 146 0160 7F91 pop r23 |
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| 146 | 147 0162 6F91 pop r22 |
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| 147 | 148 0164 5F91 pop r21 |
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| 148 | 149 0166 3F91 pop r19 |
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| 149 | 150 0168 2F91 pop r18 |
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| 150 | 151 016a 0F90 pop r0 |
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| 151 | 152 016c 0FBE out __SREG__,r0 |
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| 152 | 153 016e 0F90 pop r0 |
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| 153 | 154 0170 1F90 pop __zero_reg__ |
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| 154 | 155 0172 1895 reti |
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| 155 | 156 .L6: |
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| 156 | 157 0174 8FEF ldi r24,lo8(-1) |
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| 157 | 158 0176 9FEF ldi r25,hi8(-1) |
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| 158 | 159 0178 9093 0000 sts (BeepMuster)+1,r25 |
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| 159 | 160 017c 8093 0000 sts BeepMuster,r24 |
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| 160 | 161 .L8: |
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| 161 | 162 0180 8091 0000 lds r24,PlatinenVersion |
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| 162 | 163 0184 8A30 cpi r24,lo8(10) |
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| 163 | 164 0186 01F0 breq .L25 |
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| 164 | 165 0188 4798 cbi 40-32,7 |
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| 165 | 166 018a 00C0 rjmp .L11 |
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| 166 | 167 .L22: |
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| 167 | 168 018c 81E0 ldi r24,lo8(1) |
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| 168 | 169 018e 8093 0000 sts UpdateMotor,r24 |
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| 169 | 170 0192 00C0 rjmp .L5 |
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| 170 | 171 .L24: |
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| 171 | 172 0194 8091 0000 lds r24,cntKompass |
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| 172 | 173 0198 9091 0000 lds r25,(cntKompass)+1 |
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| 173 | 174 019c 0196 adiw r24,1 |
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| 174 | 175 019e 9093 0000 sts (cntKompass)+1,r25 |
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| 175 | 176 01a2 8093 0000 sts cntKompass,r24 |
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| 176 | 177 01a6 00C0 rjmp .L18 |
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| 177 | 178 .L23: |
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| 178 | 179 01a8 5A9A sbi 43-32,2 |
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| 179 | 180 01aa 00C0 rjmp .L11 |
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| 180 | 181 .L25: |
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| 181 | 182 01ac 5A98 cbi 43-32,2 |
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| 182 | 183 01ae 00C0 rjmp .L11 |
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| 183 | 184 .L15: |
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| 184 | 185 01b0 1092 0000 sts (KompassValue)+1,__zero_reg__ |
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| 185 | 186 01b4 1092 0000 sts KompassValue,__zero_reg__ |
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| 186 | 187 01b8 00C0 rjmp .L14 |
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| 187 | 189 .global SetDelay |
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| 188 | 191 SetDelay: |
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| 189 | 192 /* prologue: function */ |
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| 190 | 193 /* frame size = 0 */ |
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| 191 | 194 01ba 2091 0000 lds r18,CountMilliseconds |
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| 192 | 195 01be 3091 0000 lds r19,(CountMilliseconds)+1 |
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| 193 | 196 01c2 2F5F subi r18,lo8(-(1)) |
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| 194 | 197 01c4 3F4F sbci r19,hi8(-(1)) |
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| 195 | 198 01c6 280F add r18,r24 |
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| 196 | 199 01c8 391F adc r19,r25 |
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| 197 | 200 01ca C901 movw r24,r18 |
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| 198 | 201 /* epilogue start */ |
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| 199 | 202 01cc 0895 ret |
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| 200 | 204 .global CheckDelay |
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| 201 | 206 CheckDelay: |
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| 202 | 207 /* prologue: function */ |
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| 203 | 208 /* frame size = 0 */ |
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| 204 | 209 01ce 2091 0000 lds r18,CountMilliseconds |
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| 205 | 210 01d2 3091 0000 lds r19,(CountMilliseconds)+1 |
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| 206 | 211 01d6 821B sub r24,r18 |
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| 207 | 212 01d8 930B sbc r25,r19 |
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| 208 | 213 01da 8070 andi r24,lo8(-32768) |
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| 209 | 214 01dc 9078 andi r25,hi8(-32768) |
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| 210 | 215 01de 892F mov r24,r25 |
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| 211 | 216 01e0 8695 lsr r24 |
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| 212 | 217 /* epilogue start */ |
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| 213 | 218 01e2 0895 ret |
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| 214 | 220 .global Delay_ms |
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| 215 | 222 Delay_ms: |
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| 216 | 223 /* prologue: function */ |
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| 217 | 224 /* frame size = 0 */ |
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| 218 | 225 01e4 2091 0000 lds r18,CountMilliseconds |
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| 219 | 226 01e8 3091 0000 lds r19,(CountMilliseconds)+1 |
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| 220 | 227 01ec 2F5F subi r18,lo8(-(1)) |
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| 221 | 228 01ee 3F4F sbci r19,hi8(-(1)) |
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| 222 | 229 01f0 280F add r18,r24 |
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| 223 | 230 01f2 391F adc r19,r25 |
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| 224 | 231 .L31: |
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| 225 | 232 01f4 8091 0000 lds r24,CountMilliseconds |
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| 226 | 233 01f8 9091 0000 lds r25,(CountMilliseconds)+1 |
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| 227 | 234 01fc A901 movw r20,r18 |
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| 228 | 235 01fe 481B sub r20,r24 |
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| 229 | 236 0200 590B sbc r21,r25 |
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| 230 | 237 0202 CA01 movw r24,r20 |
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| 231 | 238 0204 8070 andi r24,lo8(-32768) |
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| 232 | 239 0206 9078 andi r25,hi8(-32768) |
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| 233 | 240 0208 892F mov r24,r25 |
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| 234 | 241 020a 8695 lsr r24 |
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| 235 | 242 020c 01F0 breq .L31 |
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| 236 | 243 /* epilogue start */ |
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| 237 | 244 020e 0895 ret |
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| 238 | 246 .global Delay_ms_Mess |
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| 239 | 248 Delay_ms_Mess: |
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| 240 | 249 /* prologue: function */ |
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| 241 | 250 /* frame size = 0 */ |
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| 242 | 251 0210 2091 0000 lds r18,CountMilliseconds |
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| 243 | 252 0214 3091 0000 lds r19,(CountMilliseconds)+1 |
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| 244 | 253 0218 2F5F subi r18,lo8(-(1)) |
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| 245 | 254 021a 3F4F sbci r19,hi8(-(1)) |
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| 246 | 255 021c 280F add r18,r24 |
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| 247 | 256 021e 391F adc r19,r25 |
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| 248 | 257 0220 4FEC ldi r20,lo8(-49) |
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| 249 | 258 .L40: |
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| 250 | 259 0222 8091 0000 lds r24,CountMilliseconds |
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| 251 | 260 0226 9091 0000 lds r25,(CountMilliseconds)+1 |
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| 252 | 261 022a B901 movw r22,r18 |
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| 253 | 262 022c 681B sub r22,r24 |
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| 254 | 263 022e 790B sbc r23,r25 |
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| 255 | 264 0230 CB01 movw r24,r22 |
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| 256 | 265 0232 8070 andi r24,lo8(-32768) |
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| 257 | 266 0234 9078 andi r25,hi8(-32768) |
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| 258 | 267 0236 892F mov r24,r25 |
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| 259 | 268 0238 8695 lsr r24 |
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| 260 | 269 023a 01F4 brne .L41 |
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| 261 | 270 023c 8091 0000 lds r24,AdReady |
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| 262 | 271 0240 8823 tst r24 |
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| 263 | 272 0242 01F0 breq .L40 |
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| 264 | 273 0244 1092 0000 sts AdReady,__zero_reg__ |
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| 265 | 274 0248 4093 7A00 sts 122,r20 |
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| 266 | 275 024c 00C0 rjmp .L40 |
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| 267 | 276 .L41: |
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| 268 | 277 /* epilogue start */ |
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| 269 | 278 024e 0895 ret |
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| 270 | 280 .global TIMER2_Init |
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| 271 | 282 TIMER2_Init: |
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| 272 | 283 /* prologue: function */ |
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| 273 | 284 /* frame size = 0 */ |
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| 274 | 285 0250 9FB7 in r25,__SREG__ |
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| 275 | 286 /* #APP */ |
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| 276 | 287 ; 142 "timer0.c" 1 |
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| 277 | 288 0252 F894 cli |
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| 278 | 289 ; 0 "" 2 |
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| 279 | 290 /* #NOAPP */ |
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| 280 | 291 0254 5F98 cbi 43-32,7 |
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| 281 | 292 0256 3E9A sbi 39-32,6 |
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| 282 | 293 0258 469A sbi 40-32,6 |
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| 283 | 294 025a A0EB ldi r26,lo8(176) |
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| 284 | 295 025c B0E0 ldi r27,hi8(176) |
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| 285 | 296 025e 8C91 ld r24,X |
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| 286 | 297 0260 8F70 andi r24,lo8(15) |
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| 287 | 298 0262 8C93 st X,r24 |
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| 288 | 299 0264 8C91 ld r24,X |
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| 289 | 300 0266 8360 ori r24,lo8(3) |
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| 290 | 301 0268 8C93 st X,r24 |
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| 291 | 302 026a E1EB ldi r30,lo8(177) |
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| 292 | 303 026c F0E0 ldi r31,hi8(177) |
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| 293 | 304 026e 8081 ld r24,Z |
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| 294 | 305 0270 8B73 andi r24,lo8(59) |
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| 295 | 306 0272 8083 st Z,r24 |
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| 296 | 307 0274 8081 ld r24,Z |
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| 297 | 308 0276 8B60 ori r24,lo8(11) |
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| 298 | 309 0278 8083 st Z,r24 |
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| 299 | 310 027a 1092 B200 sts 178,__zero_reg__ |
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| 300 | 311 027e 8FEF ldi r24,lo8(-1) |
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| 301 | 312 0280 8093 B300 sts 179,r24 |
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| 302 | 313 0284 8C91 ld r24,X |
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| 303 | 314 0286 8068 ori r24,lo8(-128) |
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| 304 | 315 0288 8C93 st X,r24 |
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| 305 | 316 028a E0E7 ldi r30,lo8(112) |
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| 306 | 317 028c F0E0 ldi r31,hi8(112) |
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| 307 | 318 028e 8081 ld r24,Z |
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| 308 | 319 0290 8A7F andi r24,lo8(-6) |
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| 309 | 320 0292 8083 st Z,r24 |
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| 310 | 321 0294 8081 ld r24,Z |
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| 311 | 322 0296 8260 ori r24,lo8(2) |
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| 312 | 323 0298 8083 st Z,r24 |
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| 313 | 324 029a 9FBF out __SREG__,r25 |
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| 314 | 325 /* epilogue start */ |
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| 315 | 326 029c 0895 ret |
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| 316 | 328 .global Timer_Init |
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| 317 | 330 Timer_Init: |
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| 318 | 331 /* prologue: function */ |
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| 319 | 332 /* frame size = 0 */ |
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| 320 | 333 029e 8091 0000 lds r24,CountMilliseconds |
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| 321 | 334 02a2 9091 0000 lds r25,(CountMilliseconds)+1 |
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| 322 | 335 02a6 0B96 adiw r24,11 |
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| 323 | 336 02a8 9093 0000 sts (tim_main)+1,r25 |
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| 324 | 337 02ac 8093 0000 sts tim_main,r24 |
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| 325 | 338 02b0 82E0 ldi r24,lo8(2) |
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| 326 | 339 02b2 85BD out 69-32,r24 |
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| 327 | 340 02b4 83EA ldi r24,lo8(-93) |
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| 328 | 341 02b6 84BD out 68-32,r24 |
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| 329 | 342 02b8 17BC out 71-32,__zero_reg__ |
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| 330 | 343 02ba 88E7 ldi r24,lo8(120) |
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| 331 | 344 02bc 88BD out 72-32,r24 |
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| 332 | 345 02be 86E0 ldi r24,lo8(6) |
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| 333 | 346 02c0 86BD out 70-32,r24 |
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| 334 | 347 02c2 EEE6 ldi r30,lo8(110) |
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| 335 | 348 02c4 F0E0 ldi r31,hi8(110) |
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| 336 | 349 02c6 8081 ld r24,Z |
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| 337 | 350 02c8 8160 ori r24,lo8(1) |
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| 338 | 351 02ca 8083 st Z,r24 |
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| 339 | 352 /* epilogue start */ |
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| 340 | 353 02cc 0895 ret |
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| 341 | 355 .global __vector_9 |
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| 342 | 357 __vector_9: |
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| 343 | 358 02ce 1F92 push __zero_reg__ |
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| 344 | 359 02d0 0F92 push r0 |
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| 345 | 360 02d2 0FB6 in r0,__SREG__ |
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| 346 | 361 02d4 0F92 push r0 |
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| 347 | 362 02d6 1124 clr __zero_reg__ |
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| 348 | 363 02d8 CF92 push r12 |
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| 349 | 364 02da DF92 push r13 |
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| 350 | 365 02dc EF92 push r14 |
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| 351 | 366 02de FF92 push r15 |
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| 352 | 367 02e0 0F93 push r16 |
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| 353 | 368 02e2 1F93 push r17 |
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| 354 | 369 02e4 2F93 push r18 |
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| 355 | 370 02e6 3F93 push r19 |
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| 356 | 371 02e8 4F93 push r20 |
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| 357 | 372 02ea 5F93 push r21 |
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| 358 | 373 02ec 6F93 push r22 |
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| 359 | 374 02ee 7F93 push r23 |
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| 360 | 375 02f0 8F93 push r24 |
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| 361 | 376 02f2 9F93 push r25 |
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| 362 | 377 02f4 AF93 push r26 |
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| 363 | 378 02f6 BF93 push r27 |
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| 364 | 379 02f8 EF93 push r30 |
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| 365 | 380 02fa FF93 push r31 |
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| 366 | 381 /* prologue: Signal */ |
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| 367 | 382 /* frame size = 0 */ |
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| 368 | 383 02fc 8091 0000 lds r24,PlatinenVersion |
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| 369 | 384 0300 8431 cpi r24,lo8(20) |
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| 370 | 385 0302 00F0 brlo .+2 |
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| 371 | 386 0304 00C0 rjmp .L47 |
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| 372 | 387 0306 8091 0000 lds r24,Parameter_UserParam8 |
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| 373 | 388 030a 87FD sbrc r24,7 |
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| 374 | 389 030c 00C0 rjmp .L47 |
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| 375 | 390 030e 8091 0000 lds r24,PulseOutput.2296 |
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| 376 | 391 0312 8823 tst r24 |
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| 377 | 392 0314 01F0 breq .+2 |
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| 378 | 393 0316 00C0 rjmp .L99 |
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| 379 | 394 0318 8091 B000 lds r24,176 |
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| 380 | 395 031c 86FF sbrs r24,6 |
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| 381 | 396 031e 00C0 rjmp .L49 |
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| 382 | 397 0320 8091 B000 lds r24,176 |
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| 383 | 398 0324 8F7B andi r24,lo8(-65) |
||
| 384 | 399 0326 8093 B000 sts 176,r24 |
||
| 385 | 400 032a 8091 0000 lds r24,Parameter_ServoNickControl |
||
| 386 | 401 032e 482F mov r20,r24 |
||
| 387 | 402 0330 50E0 ldi r21,lo8(0) |
||
| 388 | 403 0332 440F lsl r20 |
||
| 389 | 404 0334 551F rol r21 |
||
| 390 | 405 0336 440F lsl r20 |
||
| 391 | 406 0338 551F rol r21 |
||
| 392 | 407 033a 2091 0000 lds r18,ServoNickOffset.2300 |
||
| 393 | 408 033e 3091 0000 lds r19,(ServoNickOffset.2300)+1 |
||
| 394 | 409 0342 C901 movw r24,r18 |
||
| 395 | 410 0344 880F lsl r24 |
||
| 396 | 411 0346 991F rol r25 |
||
| 397 | 412 0348 820F add r24,r18 |
||
| 398 | 413 034a 931F adc r25,r19 |
||
| 399 | 414 034c 480F add r20,r24 |
||
| 400 | 415 034e 591F adc r21,r25 |
||
| 401 | 416 0350 57FD sbrc r21,7 |
||
| 402 | 417 0352 00C0 rjmp .L100 |
||
| 403 | 418 .L50: |
||
| 404 | 419 0354 CA01 movw r24,r20 |
||
| 405 | 420 0356 9595 asr r25 |
||
| 406 | 421 0358 8795 ror r24 |
||
| 407 | 422 035a 9595 asr r25 |
||
| 408 | 423 035c 8795 ror r24 |
||
| 409 | 424 035e 9093 0000 sts (ServoNickOffset.2300)+1,r25 |
||
| 410 | 425 0362 8093 0000 sts ServoNickOffset.2300,r24 |
||
| 411 | 426 0366 9093 0000 sts (ServoNickValue)+1,r25 |
||
| 412 | 427 036a 8093 0000 sts ServoNickValue,r24 |
||
| 413 | 428 036e 8091 0000 lds r24,EE_Parameter+87 |
||
| 414 | 429 0372 80FD sbrc r24,0 |
||
| 415 | 430 0374 00C0 rjmp .L101 |
||
| 416 | 431 0376 C090 0000 lds r12,ServoNickValue |
||
| 417 | 432 037a D090 0000 lds r13,(ServoNickValue)+1 |
||
| 418 | 433 037e E090 0000 lds r14,EE_Parameter+40 |
||
| 419 | 434 0382 FF24 clr r15 |
||
| 420 | 435 0384 00E0 ldi r16,lo8(0) |
||
| 421 | 436 0386 10E0 ldi r17,hi8(0) |
||
| 422 | 437 0388 6091 0000 lds r22,IntegralNick |
||
| 423 | 438 038c 7091 0000 lds r23,(IntegralNick)+1 |
||
| 424 | 439 0390 8091 0000 lds r24,(IntegralNick)+2 |
||
| 425 | 440 0394 9091 0000 lds r25,(IntegralNick)+3 |
||
| 426 | 441 0398 20E8 ldi r18,lo8(128) |
||
| 427 | 442 039a 30E0 ldi r19,hi8(128) |
||
| 428 | 443 039c 40E0 ldi r20,hlo8(128) |
||
| 429 | 444 039e 50E0 ldi r21,hhi8(128) |
||
| 430 | 445 03a0 0E94 0000 call __divmodsi4 |
||
| 431 | 446 03a4 C801 movw r24,r16 |
||
| 432 | 447 03a6 B701 movw r22,r14 |
||
| 433 | 448 03a8 0E94 0000 call __mulsi3 |
||
| 434 | 449 03ac 660F lsl r22 |
||
| 435 | 450 03ae 771F rol r23 |
||
| 436 | 451 03b0 881F rol r24 |
||
| 437 | 452 03b2 991F rol r25 |
||
| 438 | 453 03b4 660F lsl r22 |
||
| 439 | 454 03b6 771F rol r23 |
||
| 440 | 455 03b8 881F rol r24 |
||
| 441 | 456 03ba 991F rol r25 |
||
| 442 | 457 03bc 20E0 ldi r18,lo8(256) |
||
| 443 | 458 03be 31E0 ldi r19,hi8(256) |
||
| 444 | 459 03c0 40E0 ldi r20,hlo8(256) |
||
| 445 | 460 03c2 50E0 ldi r21,hhi8(256) |
||
| 446 | 461 03c4 0E94 0000 call __divmodsi4 |
||
| 447 | 462 03c8 C21A sub r12,r18 |
||
| 448 | 463 03ca D30A sbc r13,r19 |
||
| 449 | 464 03cc D092 0000 sts (ServoNickValue)+1,r13 |
||
| 450 | 465 03d0 C092 0000 sts ServoNickValue,r12 |
||
| 451 | 466 .L52: |
||
| 452 | 467 03d4 8091 0000 lds r24,EE_Parameter+41 |
||
| 453 | 468 03d8 282F mov r18,r24 |
||
| 454 | 469 03da 30E0 ldi r19,lo8(0) |
||
| 455 | 470 03dc 220F lsl r18 |
||
| 456 | 471 03de 331F rol r19 |
||
| 457 | 472 03e0 220F lsl r18 |
||
| 458 | 473 03e2 331F rol r19 |
||
| 459 | 474 03e4 8091 0000 lds r24,ServoNickValue |
||
| 460 | 475 03e8 9091 0000 lds r25,(ServoNickValue)+1 |
||
| 461 | 476 03ec 8217 cp r24,r18 |
||
| 462 | 477 03ee 9307 cpc r25,r19 |
||
| 463 | 478 03f0 04F0 brlt .L95 |
||
| 464 | 479 03f2 8091 0000 lds r24,EE_Parameter+42 |
||
| 465 | 480 03f6 282F mov r18,r24 |
||
| 466 | 481 03f8 30E0 ldi r19,lo8(0) |
||
| 467 | 482 03fa 220F lsl r18 |
||
| 468 | 483 03fc 331F rol r19 |
||
| 469 | 484 03fe 220F lsl r18 |
||
| 470 | 485 0400 331F rol r19 |
||
| 471 | 486 0402 8091 0000 lds r24,ServoNickValue |
||
| 472 | 487 0406 9091 0000 lds r25,(ServoNickValue)+1 |
||
| 473 | 488 040a 2817 cp r18,r24 |
||
| 474 | 489 040c 3907 cpc r19,r25 |
||
| 475 | 490 040e 04F4 brge .L54 |
||
| 476 | 491 .L95: |
||
| 477 | 492 0410 3093 0000 sts (ServoNickValue)+1,r19 |
||
| 478 | 493 0414 2093 0000 sts ServoNickValue,r18 |
||
| 479 | 494 .L54: |
||
| 480 | 495 0418 2091 0000 lds r18,ServoNickValue |
||
| 481 | 496 041c 3091 0000 lds r19,(ServoNickValue)+1 |
||
| 482 | 497 0420 2755 subi r18,lo8(-(425)) |
||
| 483 | 498 0422 3E4F sbci r19,hi8(-(425)) |
||
| 484 | 499 0424 3093 0000 sts (RemainingPulse.2297)+1,r19 |
||
| 485 | 500 0428 2093 0000 sts RemainingPulse.2297,r18 |
||
| 486 | 501 042c 8091 0000 lds r24,ServoNickValue |
||
| 487 | 502 0430 9091 0000 lds r25,(ServoNickValue)+1 |
||
| 488 | 503 0434 97FD sbrc r25,7 |
||
| 489 | 504 0436 00C0 rjmp .L102 |
||
| 490 | 505 .L55: |
||
| 491 | 506 0438 9595 asr r25 |
||
| 492 | 507 043a 8795 ror r24 |
||
| 493 | 508 043c 9595 asr r25 |
||
| 494 | 509 043e 8795 ror r24 |
||
| 495 | 510 0440 9093 0000 sts (ServoNickValue)+1,r25 |
||
| 496 | 511 0444 8093 0000 sts ServoNickValue,r24 |
||
| 497 | 512 0448 45E0 ldi r20,hi8(1501) |
||
| 498 | 513 044a 2D3D cpi r18,lo8(1501) |
||
| 499 | 514 044c 3407 cpc r19,r20 |
||
| 500 | 515 044e 00F4 brsh .+2 |
||
| 501 | 516 0450 00C0 rjmp .L56 |
||
| 502 | 517 0452 8CED ldi r24,lo8(1500) |
||
| 503 | 518 0454 95E0 ldi r25,hi8(1500) |
||
| 504 | 519 0456 9093 0000 sts (RemainingPulse.2297)+1,r25 |
||
| 505 | 520 045a 8093 0000 sts RemainingPulse.2297,r24 |
||
| 506 | 521 .L57: |
||
| 507 | 522 045e 4091 0000 lds r20,RemainingPulse.2297 |
||
| 508 | 523 0462 5091 0000 lds r21,(RemainingPulse.2297)+1 |
||
| 509 | 524 0466 5093 0000 sts (ServoFrameTime.2298)+1,r21 |
||
| 510 | 525 046a 4093 0000 sts ServoFrameTime.2298,r20 |
||
| 511 | 526 046e 00C0 rjmp .L61 |
||
| 512 | 527 .L47: |
||
| 513 | 528 0470 8091 0000 lds r24,PulseOutput.2296 |
||
| 514 | 529 0474 8823 tst r24 |
||
| 515 | 530 0476 01F0 breq .L93 |
||
| 516 | 531 .L99: |
||
| 517 | 532 0478 4091 0000 lds r20,RemainingPulse.2297 |
||
| 518 | 533 047c 5091 0000 lds r21,(RemainingPulse.2297)+1 |
||
| 519 | 534 0480 81E0 ldi r24,hi8(383) |
||
| 520 | 535 0482 4F37 cpi r20,lo8(383) |
||
| 521 | 536 0484 5807 cpc r21,r24 |
||
| 522 | 537 0486 00F0 brlo .+2 |
||
| 523 | 538 0488 00C0 rjmp .L103 |
||
| 524 | 539 .L84: |
||
| 525 | 540 048a 4F3F cpi r20,255 |
||
| 526 | 541 048c 5105 cpc r21,__zero_reg__ |
||
| 527 | 542 048e 01F0 breq .+4 |
||
| 528 | 543 0490 00F0 brlo .+2 |
||
| 529 | 544 0492 00C0 rjmp .L104 |
||
| 530 | 545 0494 4093 B300 sts 179,r20 |
||
| 531 | 546 0498 1092 0000 sts (RemainingPulse.2297)+1,__zero_reg__ |
||
| 532 | 547 049c 1092 0000 sts RemainingPulse.2297,__zero_reg__ |
||
| 533 | 548 04a0 1092 0000 sts PulseOutput.2296,__zero_reg__ |
||
| 534 | 549 .L88: |
||
| 535 | 550 /* epilogue start */ |
||
| 536 | 551 04a4 FF91 pop r31 |
||
| 537 | 552 04a6 EF91 pop r30 |
||
| 538 | 553 04a8 BF91 pop r27 |
||
| 539 | 554 04aa AF91 pop r26 |
||
| 540 | 555 04ac 9F91 pop r25 |
||
| 541 | 556 04ae 8F91 pop r24 |
||
| 542 | 557 04b0 7F91 pop r23 |
||
| 543 | 558 04b2 6F91 pop r22 |
||
| 544 | 559 04b4 5F91 pop r21 |
||
| 545 | 560 04b6 4F91 pop r20 |
||
| 546 | 561 04b8 3F91 pop r19 |
||
| 547 | 562 04ba 2F91 pop r18 |
||
| 548 | 563 04bc 1F91 pop r17 |
||
| 549 | 564 04be 0F91 pop r16 |
||
| 550 | 565 04c0 FF90 pop r15 |
||
| 551 | 566 04c2 EF90 pop r14 |
||
| 552 | 567 04c4 DF90 pop r13 |
||
| 553 | 568 04c6 CF90 pop r12 |
||
| 554 | 569 04c8 0F90 pop r0 |
||
| 555 | 570 04ca 0FBE out __SREG__,r0 |
||
| 556 | 571 04cc 0F90 pop r0 |
||
| 557 | 572 04ce 1F90 pop __zero_reg__ |
||
| 558 | 573 04d0 1895 reti |
||
| 559 | 574 .L93: |
||
| 560 | 575 04d2 8091 B000 lds r24,176 |
||
| 561 | 576 04d6 86FF sbrs r24,6 |
||
| 562 | 577 04d8 00C0 rjmp .L59 |
||
| 563 | 578 04da 8091 B000 lds r24,176 |
||
| 564 | 579 04de 8F7B andi r24,lo8(-65) |
||
| 565 | 580 04e0 8093 B000 sts 176,r24 |
||
| 566 | 581 04e4 8091 0000 lds r24,ServoIndex.2299 |
||
| 567 | 582 04e8 8823 tst r24 |
||
| 568 | 583 04ea 01F0 breq .+2 |
||
| 569 | 584 04ec 00C0 rjmp .L60 |
||
| 570 | 585 04ee 8091 0000 lds r24,EE_Parameter+47 |
||
| 571 | 586 04f2 90E0 ldi r25,lo8(0) |
||
| 572 | 587 04f4 2DED ldi r18,lo8(1757) |
||
| 573 | 588 04f6 36E0 ldi r19,hi8(1757) |
||
| 574 | 589 04f8 A901 movw r20,r18 |
||
| 575 | 590 04fa 849F mul r24,r20 |
||
| 576 | 591 04fc 9001 movw r18,r0 |
||
| 577 | 592 04fe 859F mul r24,r21 |
||
| 578 | 593 0500 300D add r19,r0 |
||
| 579 | 594 0502 949F mul r25,r20 |
||
| 580 | 595 0504 300D add r19,r0 |
||
| 581 | 596 0506 1124 clr r1 |
||
| 582 | 597 0508 8091 0000 lds r24,ServoFrameTime.2298 |
||
| 583 | 598 050c 9091 0000 lds r25,(ServoFrameTime.2298)+1 |
||
| 584 | 599 0510 281B sub r18,r24 |
||
| 585 | 600 0512 390B sbc r19,r25 |
||
| 586 | 601 0514 3093 0000 sts (RemainingPulse.2297)+1,r19 |
||
| 587 | 602 0518 2093 0000 sts RemainingPulse.2297,r18 |
||
| 588 | 603 051c 1092 0000 sts (ServoFrameTime.2298)+1,__zero_reg__ |
||
| 589 | 604 0520 1092 0000 sts ServoFrameTime.2298,__zero_reg__ |
||
| 590 | 605 0524 469A sbi 40-32,6 |
||
| 591 | 606 0526 A901 movw r20,r18 |
||
| 592 | 607 .L61: |
||
| 593 | 608 0528 81E0 ldi r24,lo8(1) |
||
| 594 | 609 052a 8093 0000 sts PulseOutput.2296,r24 |
||
| 595 | 610 052e 81E0 ldi r24,hi8(383) |
||
| 596 | 611 0530 4F37 cpi r20,lo8(383) |
||
| 597 | 612 0532 5807 cpc r21,r24 |
||
| 598 | 613 0534 00F4 brsh .+2 |
||
| 599 | 614 0536 00C0 rjmp .L84 |
||
| 600 | 615 .L103: |
||
| 601 | 616 0538 8FEF ldi r24,lo8(-1) |
||
| 602 | 617 053a 8093 B300 sts 179,r24 |
||
| 603 | 618 053e 4F5F subi r20,lo8(-(-255)) |
||
| 604 | 619 0540 5040 sbci r21,hi8(-(-255)) |
||
| 605 | 620 0542 5093 0000 sts (RemainingPulse.2297)+1,r21 |
||
| 606 | 621 0546 4093 0000 sts RemainingPulse.2297,r20 |
||
| 607 | 622 054a 00C0 rjmp .L88 |
||
| 608 | 623 .L104: |
||
| 609 | 624 054c 9A01 movw r18,r20 |
||
| 610 | 625 054e 2F5F subi r18,lo8(-(-255)) |
||
| 611 | 626 0550 3040 sbci r19,hi8(-(-255)) |
||
| 612 | 627 0552 2F37 cpi r18,127 |
||
| 613 | 628 0554 3105 cpc r19,__zero_reg__ |
||
| 614 | 629 0556 00F4 brsh .L87 |
||
| 615 | 630 0558 80E8 ldi r24,lo8(-128) |
||
| 616 | 631 055a 8093 B300 sts 179,r24 |
||
| 617 | 632 055e 4058 subi r20,lo8(-(-128)) |
||
| 618 | 633 0560 5040 sbci r21,hi8(-(-128)) |
||
| 619 | 634 0562 5093 0000 sts (RemainingPulse.2297)+1,r21 |
||
| 620 | 635 0566 4093 0000 sts RemainingPulse.2297,r20 |
||
| 621 | 636 056a 00C0 rjmp .L88 |
||
| 622 | 637 .L59: |
||
| 623 | 638 056c 8091 B000 lds r24,176 |
||
| 624 | 639 0570 8064 ori r24,lo8(64) |
||
| 625 | 640 0572 8093 B000 sts 176,r24 |
||
| 626 | 641 0576 8CEB ldi r24,lo8(188) |
||
| 627 | 642 0578 90E0 ldi r25,hi8(188) |
||
| 628 | 643 057a 9093 0000 sts (RemainingPulse.2297)+1,r25 |
||
| 629 | 644 057e 8093 0000 sts RemainingPulse.2297,r24 |
||
| 630 | 645 0582 8091 0000 lds r24,ServoFrameTime.2298 |
||
| 631 | 646 0586 9091 0000 lds r25,(ServoFrameTime.2298)+1 |
||
| 632 | 647 058a 8454 subi r24,lo8(-(188)) |
||
| 633 | 648 058c 9F4F sbci r25,hi8(-(188)) |
||
| 634 | 649 058e 9093 0000 sts (ServoFrameTime.2298)+1,r25 |
||
| 635 | 650 0592 8093 0000 sts ServoFrameTime.2298,r24 |
||
| 636 | 651 0596 8091 0000 lds r24,ServoActive |
||
| 637 | 652 059a 8823 tst r24 |
||
| 638 | 653 059c 01F0 breq .L82 |
||
| 639 | 654 059e 8091 0000 lds r24,SenderOkay |
||
| 640 | 655 05a2 853B cpi r24,lo8(-75) |
||
| 641 | 656 05a4 00F0 brlo .+2 |
||
| 642 | 657 05a6 00C0 rjmp .L105 |
||
| 643 | 658 .L82: |
||
| 644 | 659 05a8 469A sbi 40-32,6 |
||
| 645 | 660 .L83: |
||
| 646 | 661 05aa 8091 0000 lds r24,ServoIndex.2299 |
||
| 647 | 662 05ae 8F5F subi r24,lo8(-(1)) |
||
| 648 | 663 05b0 8093 0000 sts ServoIndex.2299,r24 |
||
| 649 | 664 05b4 9091 0000 lds r25,EE_Parameter+47 |
||
| 650 | 665 05b8 9817 cp r25,r24 |
||
| 651 | 666 05ba 00F4 brsh .L98 |
||
| 652 | 667 05bc 1092 0000 sts ServoIndex.2299,__zero_reg__ |
||
| 653 | 668 .L98: |
||
| 654 | 669 05c0 4091 0000 lds r20,RemainingPulse.2297 |
||
| 655 | 670 05c4 5091 0000 lds r21,(RemainingPulse.2297)+1 |
||
| 656 | 671 05c8 00C0 rjmp .L61 |
||
| 657 | 672 .L87: |
||
| 658 | 673 05ca 8FEF ldi r24,lo8(-1) |
||
| 659 | 674 05cc 8093 B300 sts 179,r24 |
||
| 660 | 675 05d0 3093 0000 sts (RemainingPulse.2297)+1,r19 |
||
| 661 | 676 05d4 2093 0000 sts RemainingPulse.2297,r18 |
||
| 662 | 677 05d8 00C0 rjmp .L88 |
||
| 663 | 678 .L49: |
||
| 664 | 679 05da 8091 B000 lds r24,176 |
||
| 665 | 680 05de 8064 ori r24,lo8(64) |
||
| 666 | 681 05e0 8093 B000 sts 176,r24 |
||
| 667 | 682 05e4 8091 0000 lds r24,EE_Parameter+47 |
||
| 668 | 683 05e8 90E0 ldi r25,lo8(0) |
||
| 669 | 684 05ea 2DED ldi r18,lo8(1757) |
||
| 670 | 685 05ec 36E0 ldi r19,hi8(1757) |
||
| 671 | 686 05ee 829F mul r24,r18 |
||
| 672 | 687 05f0 A001 movw r20,r0 |
||
| 673 | 688 05f2 839F mul r24,r19 |
||
| 674 | 689 05f4 500D add r21,r0 |
||
| 675 | 690 05f6 929F mul r25,r18 |
||
| 676 | 691 05f8 500D add r21,r0 |
||
| 677 | 692 05fa 1124 clr r1 |
||
| 678 | 693 05fc 8091 0000 lds r24,ServoFrameTime.2298 |
||
| 679 | 694 0600 9091 0000 lds r25,(ServoFrameTime.2298)+1 |
||
| 680 | 695 0604 481B sub r20,r24 |
||
| 681 | 696 0606 590B sbc r21,r25 |
||
| 682 | 697 0608 00C0 rjmp .L61 |
||
| 683 | 698 .L60: |
||
| 684 | 699 060a 29EA ldi r18,lo8(937) |
||
| 685 | 700 060c 33E0 ldi r19,hi8(937) |
||
| 686 | 701 060e 3093 0000 sts (RemainingPulse.2297)+1,r19 |
||
| 687 | 702 0612 2093 0000 sts RemainingPulse.2297,r18 |
||
| 688 | 703 0616 8230 cpi r24,lo8(2) |
||
| 689 | 704 0618 01F4 brne .+2 |
||
| 690 | 705 061a 00C0 rjmp .L64 |
||
| 691 | 706 061c 8330 cpi r24,lo8(3) |
||
| 692 | 707 061e 01F4 brne .+2 |
||
| 693 | 708 0620 00C0 rjmp .L65 |
||
| 694 | 709 0622 8130 cpi r24,lo8(1) |
||
| 695 | 710 0624 01F4 brne .+2 |
||
| 696 | 711 0626 00C0 rjmp .L106 |
||
| 697 | 712 .L62: |
||
| 698 | 713 0628 4091 0000 lds r20,RemainingPulse.2297 |
||
| 699 | 714 062c 5091 0000 lds r21,(RemainingPulse.2297)+1 |
||
| 700 | 715 0630 85E0 ldi r24,hi8(1501) |
||
| 701 | 716 0632 4D3D cpi r20,lo8(1501) |
||
| 702 | 717 0634 5807 cpc r21,r24 |
||
| 703 | 718 0636 00F4 brsh .+2 |
||
| 704 | 719 0638 00C0 rjmp .L80 |
||
| 705 | 720 063a 4CED ldi r20,lo8(1500) |
||
| 706 | 721 063c 55E0 ldi r21,hi8(1500) |
||
| 707 | 722 .L81: |
||
| 708 | 723 063e 4C5B subi r20,lo8(-(-188)) |
||
| 709 | 724 0640 5040 sbci r21,hi8(-(-188)) |
||
| 710 | 725 0642 8091 0000 lds r24,ServoFrameTime.2298 |
||
| 711 | 726 0646 9091 0000 lds r25,(ServoFrameTime.2298)+1 |
||
| 712 | 727 064a 840F add r24,r20 |
||
| 713 | 728 064c 951F adc r25,r21 |
||
| 714 | 729 064e 9093 0000 sts (ServoFrameTime.2298)+1,r25 |
||
| 715 | 730 0652 8093 0000 sts ServoFrameTime.2298,r24 |
||
| 716 | 731 0656 00C0 rjmp .L61 |
||
| 717 | 732 .L101: |
||
| 718 | 733 0658 C090 0000 lds r12,ServoNickValue |
||
| 719 | 734 065c D090 0000 lds r13,(ServoNickValue)+1 |
||
| 720 | 735 0660 E090 0000 lds r14,EE_Parameter+40 |
||
| 721 | 736 0664 FF24 clr r15 |
||
| 722 | 737 0666 00E0 ldi r16,lo8(0) |
||
| 723 | 738 0668 10E0 ldi r17,hi8(0) |
||
| 724 | 739 066a 6091 0000 lds r22,IntegralNick |
||
| 725 | 740 066e 7091 0000 lds r23,(IntegralNick)+1 |
||
| 726 | 741 0672 8091 0000 lds r24,(IntegralNick)+2 |
||
| 727 | 742 0676 9091 0000 lds r25,(IntegralNick)+3 |
||
| 728 | 743 067a 20E8 ldi r18,lo8(128) |
||
| 729 | 744 067c 30E0 ldi r19,hi8(128) |
||
| 730 | 745 067e 40E0 ldi r20,hlo8(128) |
||
| 731 | 746 0680 50E0 ldi r21,hhi8(128) |
||
| 732 | 747 0682 0E94 0000 call __divmodsi4 |
||
| 733 | 748 0686 C801 movw r24,r16 |
||
| 734 | 749 0688 B701 movw r22,r14 |
||
| 735 | 750 068a 0E94 0000 call __mulsi3 |
||
| 736 | 751 068e 660F lsl r22 |
||
| 737 | 752 0690 771F rol r23 |
||
| 738 | 753 0692 881F rol r24 |
||
| 739 | 754 0694 991F rol r25 |
||
| 740 | 755 0696 660F lsl r22 |
||
| 741 | 756 0698 771F rol r23 |
||
| 742 | 757 069a 881F rol r24 |
||
| 743 | 758 069c 991F rol r25 |
||
| 744 | 759 069e 20E0 ldi r18,lo8(256) |
||
| 745 | 760 06a0 31E0 ldi r19,hi8(256) |
||
| 746 | 761 06a2 40E0 ldi r20,hlo8(256) |
||
| 747 | 762 06a4 50E0 ldi r21,hhi8(256) |
||
| 748 | 763 06a6 0E94 0000 call __divmodsi4 |
||
| 749 | 764 06aa C20E add r12,r18 |
||
| 750 | 765 06ac D31E adc r13,r19 |
||
| 751 | 766 06ae D092 0000 sts (ServoNickValue)+1,r13 |
||
| 752 | 767 06b2 C092 0000 sts ServoNickValue,r12 |
||
| 753 | 768 06b6 00C0 rjmp .L52 |
||
| 754 | 769 .L105: |
||
| 755 | 770 06b8 4698 cbi 40-32,6 |
||
| 756 | 771 06ba 00C0 rjmp .L83 |
||
| 757 | 772 .L65: |
||
| 758 | 773 06bc E091 0000 lds r30,EE_Parameter+6 |
||
| 759 | 774 06c0 F0E0 ldi r31,lo8(0) |
||
| 760 | 775 06c2 EE0F lsl r30 |
||
| 761 | 776 06c4 FF1F rol r31 |
||
| 762 | 777 06c6 E050 subi r30,lo8(-(PPM_in)) |
||
| 763 | 778 06c8 F040 sbci r31,hi8(-(PPM_in)) |
||
| 764 | 779 06ca 8081 ld r24,Z |
||
| 765 | 780 06cc 9181 ldd r25,Z+1 |
||
| 766 | 781 06ce 805E subi r24,lo8(-32) |
||
| 767 | 782 06d0 9F4F sbci r25,hi8(-32) |
||
| 768 | 783 06d2 04F0 brlt .+2 |
||
| 769 | 784 06d4 00C0 rjmp .L78 |
||
| 770 | 785 06d6 87E7 ldi r24,lo8(375) |
||
| 771 | 786 06d8 91E0 ldi r25,hi8(375) |
||
| 772 | 787 06da 9093 0000 sts (RemainingPulse.2297)+1,r25 |
||
| 773 | 788 06de 8093 0000 sts RemainingPulse.2297,r24 |
||
| 774 | 789 .L79: |
||
| 775 | 790 06e2 4091 0000 lds r20,RemainingPulse.2297 |
||
| 776 | 791 06e6 5091 0000 lds r21,(RemainingPulse.2297)+1 |
||
| 777 | 792 .L80: |
||
| 778 | 793 06ea 81E0 ldi r24,hi8(375) |
||
| 779 | 794 06ec 4737 cpi r20,lo8(375) |
||
| 780 | 795 06ee 5807 cpc r21,r24 |
||
| 781 | 796 06f0 00F0 brlo .+2 |
||
| 782 | 797 06f2 00C0 rjmp .L81 |
||
| 783 | 798 06f4 47E7 ldi r20,lo8(375) |
||
| 784 | 799 06f6 51E0 ldi r21,hi8(375) |
||
| 785 | 800 06f8 00C0 rjmp .L81 |
||
| 786 | 801 .L56: |
||
| 787 | 802 06fa 2757 subi r18,lo8(375) |
||
| 788 | 803 06fc 3140 sbci r19,hi8(375) |
||
| 789 | 804 06fe 00F0 brlo .+2 |
||
| 790 | 805 0700 00C0 rjmp .L57 |
||
| 791 | 806 0702 87E7 ldi r24,lo8(375) |
||
| 792 | 807 0704 91E0 ldi r25,hi8(375) |
||
| 793 | 808 0706 9093 0000 sts (RemainingPulse.2297)+1,r25 |
||
| 794 | 809 070a 8093 0000 sts RemainingPulse.2297,r24 |
||
| 795 | 810 070e 00C0 rjmp .L57 |
||
| 796 | 811 .L64: |
||
| 797 | 812 0710 8091 0000 lds r24,Parameter_ServoRollControl |
||
| 798 | 813 0714 482F mov r20,r24 |
||
| 799 | 814 0716 50E0 ldi r21,lo8(0) |
||
| 800 | 815 0718 440F lsl r20 |
||
| 801 | 816 071a 551F rol r21 |
||
| 802 | 817 071c 440F lsl r20 |
||
| 803 | 818 071e 551F rol r21 |
||
| 804 | 819 0720 2091 0000 lds r18,ServoRollOffset.2301 |
||
| 805 | 820 0724 3091 0000 lds r19,(ServoRollOffset.2301)+1 |
||
| 806 | 821 0728 C901 movw r24,r18 |
||
| 807 | 822 072a 880F lsl r24 |
||
| 808 | 823 072c 991F rol r25 |
||
| 809 | 824 072e 820F add r24,r18 |
||
| 810 | 825 0730 931F adc r25,r19 |
||
| 811 | 826 0732 480F add r20,r24 |
||
| 812 | 827 0734 591F adc r21,r25 |
||
| 813 | 828 0736 57FD sbrc r21,7 |
||
| 814 | 829 0738 00C0 rjmp .L107 |
||
| 815 | 830 .L72: |
||
| 816 | 831 073a CA01 movw r24,r20 |
||
| 817 | 832 073c 9595 asr r25 |
||
| 818 | 833 073e 8795 ror r24 |
||
| 819 | 834 0740 9595 asr r25 |
||
| 820 | 835 0742 8795 ror r24 |
||
| 821 | 836 0744 9093 0000 sts (ServoRollOffset.2301)+1,r25 |
||
| 822 | 837 0748 8093 0000 sts ServoRollOffset.2301,r24 |
||
| 823 | 838 074c 9093 0000 sts (ServoRollValue)+1,r25 |
||
| 824 | 839 0750 8093 0000 sts ServoRollValue,r24 |
||
| 825 | 840 0754 8091 0000 lds r24,EE_Parameter+87 |
||
| 826 | 841 0758 81FF sbrs r24,1 |
||
| 827 | 842 075a 00C0 rjmp .L73 |
||
| 828 | 843 075c C090 0000 lds r12,ServoRollValue |
||
| 829 | 844 0760 D090 0000 lds r13,(ServoRollValue)+1 |
||
| 830 | 845 0764 E090 0000 lds r14,EE_Parameter+44 |
||
| 831 | 846 0768 FF24 clr r15 |
||
| 832 | 847 076a 00E0 ldi r16,lo8(0) |
||
| 833 | 848 076c 10E0 ldi r17,hi8(0) |
||
| 834 | 849 076e 6091 0000 lds r22,IntegralRoll |
||
| 835 | 850 0772 7091 0000 lds r23,(IntegralRoll)+1 |
||
| 836 | 851 0776 8091 0000 lds r24,(IntegralRoll)+2 |
||
| 837 | 852 077a 9091 0000 lds r25,(IntegralRoll)+3 |
||
| 838 | 853 077e 20E8 ldi r18,lo8(128) |
||
| 839 | 854 0780 30E0 ldi r19,hi8(128) |
||
| 840 | 855 0782 40E0 ldi r20,hlo8(128) |
||
| 841 | 856 0784 50E0 ldi r21,hhi8(128) |
||
| 842 | 857 0786 0E94 0000 call __divmodsi4 |
||
| 843 | 858 078a C801 movw r24,r16 |
||
| 844 | 859 078c B701 movw r22,r14 |
||
| 845 | 860 078e 0E94 0000 call __mulsi3 |
||
| 846 | 861 0792 660F lsl r22 |
||
| 847 | 862 0794 771F rol r23 |
||
| 848 | 863 0796 881F rol r24 |
||
| 849 | 864 0798 991F rol r25 |
||
| 850 | 865 079a 660F lsl r22 |
||
| 851 | 866 079c 771F rol r23 |
||
| 852 | 867 079e 881F rol r24 |
||
| 853 | 868 07a0 991F rol r25 |
||
| 854 | 869 07a2 20E0 ldi r18,lo8(256) |
||
| 855 | 870 07a4 31E0 ldi r19,hi8(256) |
||
| 856 | 871 07a6 40E0 ldi r20,hlo8(256) |
||
| 857 | 872 07a8 50E0 ldi r21,hhi8(256) |
||
| 858 | 873 07aa 0E94 0000 call __divmodsi4 |
||
| 859 | 874 07ae C20E add r12,r18 |
||
| 860 | 875 07b0 D31E adc r13,r19 |
||
| 861 | 876 07b2 D092 0000 sts (ServoRollValue)+1,r13 |
||
| 862 | 877 07b6 C092 0000 sts ServoRollValue,r12 |
||
| 863 | 878 .L74: |
||
| 864 | 879 07ba 8091 0000 lds r24,EE_Parameter+45 |
||
| 865 | 880 07be 282F mov r18,r24 |
||
| 866 | 881 07c0 30E0 ldi r19,lo8(0) |
||
| 867 | 882 07c2 220F lsl r18 |
||
| 868 | 883 07c4 331F rol r19 |
||
| 869 | 884 07c6 220F lsl r18 |
||
| 870 | 885 07c8 331F rol r19 |
||
| 871 | 886 07ca 8091 0000 lds r24,ServoRollValue |
||
| 872 | 887 07ce 9091 0000 lds r25,(ServoRollValue)+1 |
||
| 873 | 888 07d2 8217 cp r24,r18 |
||
| 874 | 889 07d4 9307 cpc r25,r19 |
||
| 875 | 890 07d6 04F0 brlt .L97 |
||
| 876 | 891 07d8 8091 0000 lds r24,EE_Parameter+46 |
||
| 877 | 892 07dc 282F mov r18,r24 |
||
| 878 | 893 07de 30E0 ldi r19,lo8(0) |
||
| 879 | 894 07e0 220F lsl r18 |
||
| 880 | 895 07e2 331F rol r19 |
||
| 881 | 896 07e4 220F lsl r18 |
||
| 882 | 897 07e6 331F rol r19 |
||
| 883 | 898 07e8 8091 0000 lds r24,ServoRollValue |
||
| 884 | 899 07ec 9091 0000 lds r25,(ServoRollValue)+1 |
||
| 885 | 900 07f0 2817 cp r18,r24 |
||
| 886 | 901 07f2 3907 cpc r19,r25 |
||
| 887 | 902 07f4 04F4 brge .L76 |
||
| 888 | 903 .L97: |
||
| 889 | 904 07f6 3093 0000 sts (ServoRollValue)+1,r19 |
||
| 890 | 905 07fa 2093 0000 sts ServoRollValue,r18 |
||
| 891 | 906 .L76: |
||
| 892 | 907 07fe 8091 0000 lds r24,ServoRollValue |
||
| 893 | 908 0802 9091 0000 lds r25,(ServoRollValue)+1 |
||
| 894 | 909 0806 8755 subi r24,lo8(-(425)) |
||
| 895 | 910 0808 9E4F sbci r25,hi8(-(425)) |
||
| 896 | 911 080a 9093 0000 sts (RemainingPulse.2297)+1,r25 |
||
| 897 | 912 080e 8093 0000 sts RemainingPulse.2297,r24 |
||
| 898 | 913 0812 8091 0000 lds r24,ServoRollValue |
||
| 899 | 914 0816 9091 0000 lds r25,(ServoRollValue)+1 |
||
| 900 | 915 081a 97FD sbrc r25,7 |
||
| 901 | 916 081c 00C0 rjmp .L108 |
||
| 902 | 917 .L77: |
||
| 903 | 918 081e 9595 asr r25 |
||
| 904 | 919 0820 8795 ror r24 |
||
| 905 | 920 0822 9595 asr r25 |
||
| 906 | 921 0824 8795 ror r24 |
||
| 907 | 922 0826 9093 0000 sts (ServoRollValue)+1,r25 |
||
| 908 | 923 082a 8093 0000 sts ServoRollValue,r24 |
||
| 909 | 924 082e 00C0 rjmp .L62 |
||
| 910 | 925 .L106: |
||
| 911 | 926 0830 8091 0000 lds r24,Parameter_ServoNickControl |
||
| 912 | 927 0834 482F mov r20,r24 |
||
| 913 | 928 0836 50E0 ldi r21,lo8(0) |
||
| 914 | 929 0838 440F lsl r20 |
||
| 915 | 930 083a 551F rol r21 |
||
| 916 | 931 083c 440F lsl r20 |
||
| 917 | 932 083e 551F rol r21 |
||
| 918 | 933 0840 2091 0000 lds r18,ServoNickOffset.2300 |
||
| 919 | 934 0844 3091 0000 lds r19,(ServoNickOffset.2300)+1 |
||
| 920 | 935 0848 C901 movw r24,r18 |
||
| 921 | 936 084a 880F lsl r24 |
||
| 922 | 937 084c 991F rol r25 |
||
| 923 | 938 084e 820F add r24,r18 |
||
| 924 | 939 0850 931F adc r25,r19 |
||
| 925 | 940 0852 480F add r20,r24 |
||
| 926 | 941 0854 591F adc r21,r25 |
||
| 927 | 942 0856 57FD sbrc r21,7 |
||
| 928 | 943 0858 00C0 rjmp .L109 |
||
| 929 | 944 .L66: |
||
| 930 | 945 085a CA01 movw r24,r20 |
||
| 931 | 946 085c 9595 asr r25 |
||
| 932 | 947 085e 8795 ror r24 |
||
| 933 | 948 0860 9595 asr r25 |
||
| 934 | 949 0862 8795 ror r24 |
||
| 935 | 950 0864 9093 0000 sts (ServoNickOffset.2300)+1,r25 |
||
| 936 | 951 0868 8093 0000 sts ServoNickOffset.2300,r24 |
||
| 937 | 952 086c 9093 0000 sts (ServoNickValue)+1,r25 |
||
| 938 | 953 0870 8093 0000 sts ServoNickValue,r24 |
||
| 939 | 954 0874 8091 0000 lds r24,EE_Parameter+87 |
||
| 940 | 955 0878 80FF sbrs r24,0 |
||
| 941 | 956 087a 00C0 rjmp .L67 |
||
| 942 | 957 087c C090 0000 lds r12,ServoNickValue |
||
| 943 | 958 0880 D090 0000 lds r13,(ServoNickValue)+1 |
||
| 944 | 959 0884 E090 0000 lds r14,EE_Parameter+40 |
||
| 945 | 960 0888 FF24 clr r15 |
||
| 946 | 961 088a 00E0 ldi r16,lo8(0) |
||
| 947 | 962 088c 10E0 ldi r17,hi8(0) |
||
| 948 | 963 088e 6091 0000 lds r22,IntegralNick |
||
| 949 | 964 0892 7091 0000 lds r23,(IntegralNick)+1 |
||
| 950 | 965 0896 8091 0000 lds r24,(IntegralNick)+2 |
||
| 951 | 966 089a 9091 0000 lds r25,(IntegralNick)+3 |
||
| 952 | 967 089e 20E8 ldi r18,lo8(128) |
||
| 953 | 968 08a0 30E0 ldi r19,hi8(128) |
||
| 954 | 969 08a2 40E0 ldi r20,hlo8(128) |
||
| 955 | 970 08a4 50E0 ldi r21,hhi8(128) |
||
| 956 | 971 08a6 0E94 0000 call __divmodsi4 |
||
| 957 | 972 08aa C801 movw r24,r16 |
||
| 958 | 973 08ac B701 movw r22,r14 |
||
| 959 | 974 08ae 0E94 0000 call __mulsi3 |
||
| 960 | 975 08b2 660F lsl r22 |
||
| 961 | 976 08b4 771F rol r23 |
||
| 962 | 977 08b6 881F rol r24 |
||
| 963 | 978 08b8 991F rol r25 |
||
| 964 | 979 08ba 660F lsl r22 |
||
| 965 | 980 08bc 771F rol r23 |
||
| 966 | 981 08be 881F rol r24 |
||
| 967 | 982 08c0 991F rol r25 |
||
| 968 | 983 08c2 20E0 ldi r18,lo8(256) |
||
| 969 | 984 08c4 31E0 ldi r19,hi8(256) |
||
| 970 | 985 08c6 40E0 ldi r20,hlo8(256) |
||
| 971 | 986 08c8 50E0 ldi r21,hhi8(256) |
||
| 972 | 987 08ca 0E94 0000 call __divmodsi4 |
||
| 973 | 988 08ce C20E add r12,r18 |
||
| 974 | 989 08d0 D31E adc r13,r19 |
||
| 975 | 990 08d2 D092 0000 sts (ServoNickValue)+1,r13 |
||
| 976 | 991 08d6 C092 0000 sts ServoNickValue,r12 |
||
| 977 | 992 .L68: |
||
| 978 | 993 08da 8091 0000 lds r24,EE_Parameter+41 |
||
| 979 | 994 08de 282F mov r18,r24 |
||
| 980 | 995 08e0 30E0 ldi r19,lo8(0) |
||
| 981 | 996 08e2 220F lsl r18 |
||
| 982 | 997 08e4 331F rol r19 |
||
| 983 | 998 08e6 220F lsl r18 |
||
| 984 | 999 08e8 331F rol r19 |
||
| 985 | 1000 08ea 8091 0000 lds r24,ServoNickValue |
||
| 986 | 1001 08ee 9091 0000 lds r25,(ServoNickValue)+1 |
||
| 987 | 1002 08f2 8217 cp r24,r18 |
||
| 988 | 1003 08f4 9307 cpc r25,r19 |
||
| 989 | 1004 08f6 04F0 brlt .L96 |
||
| 990 | 1005 08f8 8091 0000 lds r24,EE_Parameter+42 |
||
| 991 | 1006 08fc 282F mov r18,r24 |
||
| 992 | 1007 08fe 30E0 ldi r19,lo8(0) |
||
| 993 | 1008 0900 220F lsl r18 |
||
| 994 | 1009 0902 331F rol r19 |
||
| 995 | 1010 0904 220F lsl r18 |
||
| 996 | 1011 0906 331F rol r19 |
||
| 997 | 1012 0908 8091 0000 lds r24,ServoNickValue |
||
| 998 | 1013 090c 9091 0000 lds r25,(ServoNickValue)+1 |
||
| 999 | 1014 0910 2817 cp r18,r24 |
||
| 1000 | 1015 0912 3907 cpc r19,r25 |
||
| 1001 | 1016 0914 04F4 brge .L70 |
||
| 1002 | 1017 .L96: |
||
| 1003 | 1018 0916 3093 0000 sts (ServoNickValue)+1,r19 |
||
| 1004 | 1019 091a 2093 0000 sts ServoNickValue,r18 |
||
| 1005 | 1020 .L70: |
||
| 1006 | 1021 091e 8091 0000 lds r24,ServoNickValue |
||
| 1007 | 1022 0922 9091 0000 lds r25,(ServoNickValue)+1 |
||
| 1008 | 1023 0926 8755 subi r24,lo8(-(425)) |
||
| 1009 | 1024 0928 9E4F sbci r25,hi8(-(425)) |
||
| 1010 | 1025 092a 9093 0000 sts (RemainingPulse.2297)+1,r25 |
||
| 1011 | 1026 092e 8093 0000 sts RemainingPulse.2297,r24 |
||
| 1012 | 1027 0932 8091 0000 lds r24,ServoNickValue |
||
| 1013 | 1028 0936 9091 0000 lds r25,(ServoNickValue)+1 |
||
| 1014 | 1029 093a 97FD sbrc r25,7 |
||
| 1015 | 1030 093c 00C0 rjmp .L110 |
||
| 1016 | 1031 .L71: |
||
| 1017 | 1032 093e 9595 asr r25 |
||
| 1018 | 1033 0940 8795 ror r24 |
||
| 1019 | 1034 0942 9595 asr r25 |
||
| 1020 | 1035 0944 8795 ror r24 |
||
| 1021 | 1036 0946 9093 0000 sts (ServoNickValue)+1,r25 |
||
| 1022 | 1037 094a 8093 0000 sts ServoNickValue,r24 |
||
| 1023 | 1038 094e 00C0 rjmp .L62 |
||
| 1024 | 1039 .L102: |
||
| 1025 | 1040 0950 0396 adiw r24,3 |
||
| 1026 | 1041 0952 00C0 rjmp .L55 |
||
| 1027 | 1042 .L100: |
||
| 1028 | 1043 0954 4D5F subi r20,lo8(-(3)) |
||
| 1029 | 1044 0956 5F4F sbci r21,hi8(-(3)) |
||
| 1030 | 1045 0958 00C0 rjmp .L50 |
||
| 1031 | 1046 .L78: |
||
| 1032 | 1047 095a 3093 0000 sts (RemainingPulse.2297)+1,r19 |
||
| 1033 | 1048 095e 2093 0000 sts RemainingPulse.2297,r18 |
||
| 1034 | 1049 0962 00C0 rjmp .L79 |
||
| 1035 | 1050 .L67: |
||
| 1036 | 1051 0964 C090 0000 lds r12,ServoNickValue |
||
| 1037 | 1052 0968 D090 0000 lds r13,(ServoNickValue)+1 |
||
| 1038 | 1053 096c E090 0000 lds r14,EE_Parameter+40 |
||
| 1039 | 1054 0970 FF24 clr r15 |
||
| 1040 | 1055 0972 00E0 ldi r16,lo8(0) |
||
| 1041 | 1056 0974 10E0 ldi r17,hi8(0) |
||
| 1042 | 1057 0976 6091 0000 lds r22,IntegralNick |
||
| 1043 | 1058 097a 7091 0000 lds r23,(IntegralNick)+1 |
||
| 1044 | 1059 097e 8091 0000 lds r24,(IntegralNick)+2 |
||
| 1045 | 1060 0982 9091 0000 lds r25,(IntegralNick)+3 |
||
| 1046 | 1061 0986 20E8 ldi r18,lo8(128) |
||
| 1047 | 1062 0988 30E0 ldi r19,hi8(128) |
||
| 1048 | 1063 098a 40E0 ldi r20,hlo8(128) |
||
| 1049 | 1064 098c 50E0 ldi r21,hhi8(128) |
||
| 1050 | 1065 098e 0E94 0000 call __divmodsi4 |
||
| 1051 | 1066 0992 C801 movw r24,r16 |
||
| 1052 | 1067 0994 B701 movw r22,r14 |
||
| 1053 | 1068 0996 0E94 0000 call __mulsi3 |
||
| 1054 | 1069 099a 660F lsl r22 |
||
| 1055 | 1070 099c 771F rol r23 |
||
| 1056 | 1071 099e 881F rol r24 |
||
| 1057 | 1072 09a0 991F rol r25 |
||
| 1058 | 1073 09a2 660F lsl r22 |
||
| 1059 | 1074 09a4 771F rol r23 |
||
| 1060 | 1075 09a6 881F rol r24 |
||
| 1061 | 1076 09a8 991F rol r25 |
||
| 1062 | 1077 09aa 20E0 ldi r18,lo8(256) |
||
| 1063 | 1078 09ac 31E0 ldi r19,hi8(256) |
||
| 1064 | 1079 09ae 40E0 ldi r20,hlo8(256) |
||
| 1065 | 1080 09b0 50E0 ldi r21,hhi8(256) |
||
| 1066 | 1081 09b2 0E94 0000 call __divmodsi4 |
||
| 1067 | 1082 09b6 C21A sub r12,r18 |
||
| 1068 | 1083 09b8 D30A sbc r13,r19 |
||
| 1069 | 1084 09ba D092 0000 sts (ServoNickValue)+1,r13 |
||
| 1070 | 1085 09be C092 0000 sts ServoNickValue,r12 |
||
| 1071 | 1086 09c2 00C0 rjmp .L68 |
||
| 1072 | 1087 .L73: |
||
| 1073 | 1088 09c4 C090 0000 lds r12,ServoRollValue |
||
| 1074 | 1089 09c8 D090 0000 lds r13,(ServoRollValue)+1 |
||
| 1075 | 1090 09cc E090 0000 lds r14,EE_Parameter+44 |
||
| 1076 | 1091 09d0 FF24 clr r15 |
||
| 1077 | 1092 09d2 00E0 ldi r16,lo8(0) |
||
| 1078 | 1093 09d4 10E0 ldi r17,hi8(0) |
||
| 1079 | 1094 09d6 6091 0000 lds r22,IntegralRoll |
||
| 1080 | 1095 09da 7091 0000 lds r23,(IntegralRoll)+1 |
||
| 1081 | 1096 09de 8091 0000 lds r24,(IntegralRoll)+2 |
||
| 1082 | 1097 09e2 9091 0000 lds r25,(IntegralRoll)+3 |
||
| 1083 | 1098 09e6 20E8 ldi r18,lo8(128) |
||
| 1084 | 1099 09e8 30E0 ldi r19,hi8(128) |
||
| 1085 | 1100 09ea 40E0 ldi r20,hlo8(128) |
||
| 1086 | 1101 09ec 50E0 ldi r21,hhi8(128) |
||
| 1087 | 1102 09ee 0E94 0000 call __divmodsi4 |
||
| 1088 | 1103 09f2 C801 movw r24,r16 |
||
| 1089 | 1104 09f4 B701 movw r22,r14 |
||
| 1090 | 1105 09f6 0E94 0000 call __mulsi3 |
||
| 1091 | 1106 09fa 660F lsl r22 |
||
| 1092 | 1107 09fc 771F rol r23 |
||
| 1093 | 1108 09fe 881F rol r24 |
||
| 1094 | 1109 0a00 991F rol r25 |
||
| 1095 | 1110 0a02 660F lsl r22 |
||
| 1096 | 1111 0a04 771F rol r23 |
||
| 1097 | 1112 0a06 881F rol r24 |
||
| 1098 | 1113 0a08 991F rol r25 |
||
| 1099 | 1114 0a0a 20E0 ldi r18,lo8(256) |
||
| 1100 | 1115 0a0c 31E0 ldi r19,hi8(256) |
||
| 1101 | 1116 0a0e 40E0 ldi r20,hlo8(256) |
||
| 1102 | 1117 0a10 50E0 ldi r21,hhi8(256) |
||
| 1103 | 1118 0a12 0E94 0000 call __divmodsi4 |
||
| 1104 | 1119 0a16 C21A sub r12,r18 |
||
| 1105 | 1120 0a18 D30A sbc r13,r19 |
||
| 1106 | 1121 0a1a D092 0000 sts (ServoRollValue)+1,r13 |
||
| 1107 | 1122 0a1e C092 0000 sts ServoRollValue,r12 |
||
| 1108 | 1123 0a22 00C0 rjmp .L74 |
||
| 1109 | 1124 .L109: |
||
| 1110 | 1125 0a24 4D5F subi r20,lo8(-(3)) |
||
| 1111 | 1126 0a26 5F4F sbci r21,hi8(-(3)) |
||
| 1112 | 1127 0a28 00C0 rjmp .L66 |
||
| 1113 | 1128 .L107: |
||
| 1114 | 1129 0a2a 4D5F subi r20,lo8(-(3)) |
||
| 1115 | 1130 0a2c 5F4F sbci r21,hi8(-(3)) |
||
| 1116 | 1131 0a2e 00C0 rjmp .L72 |
||
| 1117 | 1132 .L110: |
||
| 1118 | 1133 0a30 0396 adiw r24,3 |
||
| 1119 | 1134 0a32 00C0 rjmp .L71 |
||
| 1120 | 1135 .L108: |
||
| 1121 | 1136 0a34 0396 adiw r24,3 |
||
| 1122 | 1137 0a36 00C0 rjmp .L77 |
||
| 1123 | 1139 .global CountMilliseconds |
||
| 1124 | 1140 .global CountMilliseconds |
||
| 1125 | 1141 .section .bss |
||
| 1126 | 1144 CountMilliseconds: |
||
| 1127 | 1145 0000 0000 .skip 2,0 |
||
| 1128 | 1146 .global UpdateMotor |
||
| 1129 | 1147 .global UpdateMotor |
||
| 1130 | 1150 UpdateMotor: |
||
| 1131 | 1151 0002 00 .skip 1,0 |
||
| 1132 | 1152 .global cntKompass |
||
| 1133 | 1153 .global cntKompass |
||
| 1134 | 1156 cntKompass: |
||
| 1135 | 1157 0003 0000 .skip 2,0 |
||
| 1136 | 1158 .global beeptime |
||
| 1137 | 1159 .global beeptime |
||
| 1138 | 1162 beeptime: |
||
| 1139 | 1163 0005 0000 .skip 2,0 |
||
| 1140 | 1164 .global SendSPI |
||
| 1141 | 1165 .global SendSPI |
||
| 1142 | 1168 SendSPI: |
||
| 1143 | 1169 0007 00 .skip 1,0 |
||
| 1144 | 1170 .global ServoActive |
||
| 1145 | 1171 .global ServoActive |
||
| 1146 | 1174 ServoActive: |
||
| 1147 | 1175 0008 00 .skip 1,0 |
||
| 1148 | 1176 .global BeepMuster |
||
| 1149 | 1177 .data |
||
| 1150 | 1180 BeepMuster: |
||
| 1151 | 1181 0000 FFFF .word -1 |
||
| 1152 | 1182 .global ServoNickValue |
||
| 1153 | 1183 .global ServoNickValue |
||
| 1154 | 1184 .section .bss |
||
| 1155 | 1187 ServoNickValue: |
||
| 1156 | 1188 0009 0000 .skip 2,0 |
||
| 1157 | 1189 .global ServoRollValue |
||
| 1158 | 1190 .global ServoRollValue |
||
| 1159 | 1193 ServoRollValue: |
||
| 1160 | 1194 000b 0000 .skip 2,0 |
||
| 1161 | 1195 .data |
||
| 1162 | 1198 ServoRollOffset.2301: |
||
| 1163 | 1199 0002 FC01 .word 508 |
||
| 1164 | 1202 ServoNickOffset.2300: |
||
| 1165 | 1203 0004 FC01 .word 508 |
||
| 1166 | 1204 .lcomm ServoIndex.2299,1 |
||
| 1167 | 1205 .lcomm ServoFrameTime.2298,2 |
||
| 1168 | 1206 .lcomm RemainingPulse.2297,2 |
||
| 1169 | 1207 .lcomm PulseOutput.2296,1 |
||
| 1170 | 1208 .lcomm cnt.2155,1 |
||
| 1171 | 1211 cnt_1ms.2154: |
||
| 1172 | 1212 0006 01 .byte 1 |
||
| 1173 | 1213 .lcomm tim_main,2 |
||
| 1174 | 1214 .comm Mixer,77,1 |
||
| 1175 | 1215 .global __do_copy_data |
||
| 1176 | 1216 .global __do_clear_bss |
||
| 1177 | DEFINED SYMBOLS |
||
| 1178 | *ABS*:00000000 timer0.c |
||
| 1179 | C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:2 *ABS*:0000003f __SREG__ |
||
| 1180 | C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:3 *ABS*:0000003e __SP_H__ |
||
| 1181 | C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:4 *ABS*:0000003d __SP_L__ |
||
| 1182 | C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:5 *ABS*:00000034 __CCP__ |
||
| 1183 | C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:6 *ABS*:00000000 __tmp_reg__ |
||
| 1184 | C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:7 *ABS*:00000001 __zero_reg__ |
||
| 1185 | C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:11 .text:00000000 __vector_18 |
||
| 1186 | C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:1168 .bss:00000007 SendSPI |
||
| 1187 | C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:1207 .bss:00000013 cnt.2155 |
||
| 1188 | C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:1211 .data:00000006 cnt_1ms.2154 |
||
| 1189 | C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:1144 .bss:00000000 CountMilliseconds |
||
| 1190 | C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:1162 .bss:00000005 beeptime |
||
| 1191 | C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:1180 .data:00000000 BeepMuster |
||
| 1192 | C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:1156 .bss:00000003 cntKompass |
||
| 1193 | C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:1150 .bss:00000002 UpdateMotor |
||
| 1194 | C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:191 .text:000001ba SetDelay |
||
| 1195 | C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:206 .text:000001ce CheckDelay |
||
| 1196 | C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:222 .text:000001e4 Delay_ms |
||
| 1197 | C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:248 .text:00000210 Delay_ms_Mess |
||
| 1198 | C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:282 .text:00000250 TIMER2_Init |
||
| 1199 | C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:330 .text:0000029e Timer_Init |
||
| 1200 | C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:1208 .bss:00000014 tim_main |
||
| 1201 | C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:357 .text:000002ce __vector_9 |
||
| 1202 | C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:1206 .bss:00000012 PulseOutput.2296 |
||
| 1203 | C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:1202 .data:00000004 ServoNickOffset.2300 |
||
| 1204 | C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:1187 .bss:00000009 ServoNickValue |
||
| 1205 | C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:1205 .bss:00000010 RemainingPulse.2297 |
||
| 1206 | C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:1204 .bss:0000000e ServoFrameTime.2298 |
||
| 1207 | .bss:0000000d ServoIndex.2299 |
||
| 1208 | C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:1174 .bss:00000008 ServoActive |
||
| 1209 | C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:1198 .data:00000002 ServoRollOffset.2301 |
||
| 1210 | C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:1193 .bss:0000000b ServoRollValue |
||
| 1211 | *COM*:0000004d Mixer |
||
| 1212 | |||
| 1213 | UNDEFINED SYMBOLS |
||
| 1214 | SpektrumTimer |
||
| 1215 | PlatinenVersion |
||
| 1216 | EE_Parameter |
||
| 1217 | __udivmodhi4 |
||
| 1218 | KompassValue |
||
| 1219 | KompassStartwert |
||
| 1220 | __divmodhi4 |
||
| 1221 | KompassRichtung |
||
| 1222 | AdReady |
||
| 1223 | Parameter_UserParam8 |
||
| 1224 | Parameter_ServoNickControl |
||
| 1225 | IntegralNick |
||
| 1226 | __divmodsi4 |
||
| 1227 | __mulsi3 |
||
| 1228 | SenderOkay |
||
| 1229 | PPM_in |
||
| 1230 | Parameter_ServoRollControl |
||
| 1231 | IntegralRoll |
||
| 1232 | __do_copy_data |
||
| 1233 | __do_clear_bss |