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Rev Author Line No. Line
2287 - 1
   1               		.file	"fc.c"
2
   2               		.arch atmega1284p
3
   3               	__SREG__ = 0x3f
4
   4               	__SP_H__ = 0x3e
5
   5               	__SP_L__ = 0x3d
6
   6               	__tmp_reg__ = 0
7
   7               	__zero_reg__ = 1
8
   8               		.global __do_copy_data
9
   9               		.global __do_clear_bss
10
  10               	.global	GasIsZeroCnt
11
  11               	.global	GasIsZeroCnt
12
  12               		.section .bss
13
  15               	GasIsZeroCnt:
14
  16 0000 0000      		.skip 2,0
15
  17               	.global	HooverGasEmergencyPercent
16
  18               	.global	HooverGasEmergencyPercent
17
  21               	HooverGasEmergencyPercent:
18
  22 0002 0000      		.skip 2,0
19
  23               	.global	VarioCharacter
20
  24               		.data
21
  27               	VarioCharacter:
22
  28 0000 20        		.byte	32
23
  29               	.global	GIER_GRAD_FAKTOR
24
  32               	GIER_GRAD_FAKTOR:
25
  33 0001 0B05 0000 		.long	1291
26
  34               	.global	FC_StatusFlags2
27
  35               	.global	FC_StatusFlags2
28
  36               		.section .bss
29
  39               	FC_StatusFlags2:
30
  40 0004 00        		.skip 1,0
31
  41               	.global	FC_StatusFlags
32
  42               	.global	FC_StatusFlags
33
  45               	FC_StatusFlags:
34
  46 0005 00        		.skip 1,0
35
  47               	.global	modell_fliegt
36
  48               	.global	modell_fliegt
37
  51               	modell_fliegt:
38
  52 0006 0000      		.skip 2,0
39
  53               	.global	MaxStickRoll
40
  54               	.global	MaxStickRoll
41
  57               	MaxStickRoll:
42
  58 0008 0000      		.skip 2,0
43
  59               	.global	MaxStickNick
44
  60               	.global	MaxStickNick
45
  63               	MaxStickNick:
46
  64 000a 0000      		.skip 2,0
47
  65               	.global	ExternHoehenValue
48
  66               		.data
49
  69               	ExternHoehenValue:
50
  70 0005 ECFF      		.word	-20
51
  71               	.global	ExternStickGier
52
  72               	.global	ExternStickGier
53
  73               		.section .bss
54
  76               	ExternStickGier:
55
  77 000c 0000      		.skip 2,0
56
  78               	.global	ExternStickRoll
57
  79               	.global	ExternStickRoll
58
  82               	ExternStickRoll:
59
  83 000e 0000      		.skip 2,0
60
  84               	.global	ExternStickNick
61
  85               	.global	ExternStickNick
62
  88               	ExternStickNick:
63
  89 0010 0000      		.skip 2,0
64
  90               	.global	sintab
65
  91               		.data
66
  94               	sintab:
67
  95 0007 00        		.byte	0
68
  96 0008 02        		.byte	2
69
  97 0009 04        		.byte	4
70
  98 000a 06        		.byte	6
71
  99 000b 07        		.byte	7
72
 100 000c 08        		.byte	8
73
 101 000d 08        		.byte	8
74
 102 000e 08        		.byte	8
75
 103 000f 07        		.byte	7
76
 104 0010 06        		.byte	6
77
 105 0011 04        		.byte	4
78
 106 0012 02        		.byte	2
79
 107 0013 00        		.byte	0
80
 108 0014 FE        		.byte	-2
81
 109 0015 FC        		.byte	-4
82
 110 0016 FA        		.byte	-6
83
 111 0017 F9        		.byte	-7
84
 112 0018 F8        		.byte	-8
85
 113 0019 F8        		.byte	-8
86
 114 001a F8        		.byte	-8
87
 115 001b F9        		.byte	-7
88
 116 001c FA        		.byte	-6
89
 117 001d FC        		.byte	-4
90
 118 001e FE        		.byte	-2
91
 119 001f 00        		.byte	0
92
 120 0020 02        		.byte	2
93
 121 0021 04        		.byte	4
94
 122 0022 06        		.byte	6
95
 123 0023 07        		.byte	7
96
 124 0024 08        		.byte	8
97
 125 0025 08        		.byte	8
98
 126               	.global	CareFree
99
 127               	.global	CareFree
100
 128               		.section .bss
101
 131               	CareFree:
102
 132 0012 00        		.skip 1,0
103
 133               	.global	Parameter_DynamicStability
104
 134               		.data
105
 137               	Parameter_DynamicStability:
106
 138 0026 64        		.byte	100
107
 139               	.global	Parameter_CouplingYawCorrection
108
 142               	Parameter_CouplingYawCorrection:
109
 143 0027 40        		.byte	64
110
 144               	.global	Parameter_AchsKopplung2
111
 147               	Parameter_AchsKopplung2:
112
 148 0028 41        		.byte	65
113
 149               	.global	Parameter_AchsKopplung1
114
 152               	Parameter_AchsKopplung1:
115
 153 0029 5A        		.byte	90
116
 154               	.global	Parameter_LoopGasLimit
117
 157               	Parameter_LoopGasLimit:
118
 158 002a 46        		.byte	70
119
 159               	.global	Parameter_ServoRollControl
120
 162               	Parameter_ServoRollControl:
121
 163 002b 64        		.byte	100
122
 164               	.global	Parameter_ServoNickControl
123
 167               	Parameter_ServoNickControl:
124
 168 002c 64        		.byte	100
125
 169               	.global	Parameter_UserParam8
126
 170               	.global	Parameter_UserParam8
127
 171               		.section .bss
128
 174               	Parameter_UserParam8:
129
 175 0013 00        		.skip 1,0
130
 176               	.global	Parameter_UserParam7
131
 177               	.global	Parameter_UserParam7
132
 180               	Parameter_UserParam7:
133
 181 0014 00        		.skip 1,0
134
 182               	.global	Parameter_UserParam6
135
 183               	.global	Parameter_UserParam6
136
 186               	Parameter_UserParam6:
137
 187 0015 00        		.skip 1,0
138
 188               	.global	Parameter_UserParam5
139
 189               	.global	Parameter_UserParam5
140
 192               	Parameter_UserParam5:
141
 193 0016 00        		.skip 1,0
142
 194               	.global	Parameter_UserParam4
143
 195               	.global	Parameter_UserParam4
144
 198               	Parameter_UserParam4:
145
 199 0017 00        		.skip 1,0
146
 200               	.global	Parameter_UserParam3
147
 201               	.global	Parameter_UserParam3
148
 204               	Parameter_UserParam3:
149
 205 0018 00        		.skip 1,0
150
 206               	.global	Parameter_UserParam2
151
 207               	.global	Parameter_UserParam2
152
 210               	Parameter_UserParam2:
153
 211 0019 00        		.skip 1,0
154
 212               	.global	Parameter_UserParam1
155
 213               	.global	Parameter_UserParam1
156
 216               	Parameter_UserParam1:
157
 217 001a 00        		.skip 1,0
158
 218               	.global	Parameter_I_Faktor
159
 219               		.data
160
 222               	Parameter_I_Faktor:
161
 223 002d 0A        		.byte	10
162
 224               	.global	Parameter_Gier_P
163
 227               	Parameter_Gier_P:
164
 228 002e 02        		.byte	2
165
 229               	.global	Parameter_Gyro_Gier_I
166
 232               	Parameter_Gyro_Gier_I:
167
 233 002f 96        		.byte	-106
168
 234               	.global	Parameter_Gyro_Gier_P
169
 237               	Parameter_Gyro_Gier_P:
170
 238 0030 96        		.byte	-106
171
 239               	.global	Parameter_Gyro_I
172
 242               	Parameter_Gyro_I:
173
 243 0031 96        		.byte	-106
174
 244               	.global	Parameter_Gyro_P
175
 247               	Parameter_Gyro_P:
176
 248 0032 96        		.byte	-106
177
 249               	.global	Parameter_Gyro_D
178
 252               	Parameter_Gyro_D:
179
 253 0033 08        		.byte	8
180
 254               	.global	Parameter_Hoehe_GPS_Z
181
 257               	Parameter_Hoehe_GPS_Z:
182
 258 0034 40        		.byte	64
183
 259               	.global	Parameter_KompassWirkung
184
 262               	Parameter_KompassWirkung:
185
 263 0035 40        		.byte	64
186
 264               	.global	Parameter_Hoehe_ACC_Wirkung
187
 267               	Parameter_Hoehe_ACC_Wirkung:
188
 268 0036 3A        		.byte	58
189
 269               	.global	Parameter_Hoehe_P
190
 272               	Parameter_Hoehe_P:
191
 273 0037 10        		.byte	16
192
 274               	.global	Parameter_HoehenSchalter
193
 277               	Parameter_HoehenSchalter:
194
 278 0038 FB        		.byte	-5
195
 279               	.global	Parameter_Luftdruck_D
196
 282               	Parameter_Luftdruck_D:
197
 283 0039 30        		.byte	48
198
 284               	.global	Looping_Oben
199
 285               	.global	Looping_Oben
200
 286               		.section .bss
201
 289               	Looping_Oben:
202
 290 001b 00        		.skip 1,0
203
 291               	.global	Looping_Unten
204
 292               	.global	Looping_Unten
205
 295               	Looping_Unten:
206
 296 001c 00        		.skip 1,0
207
 297               	.global	Looping_Rechts
208
 298               	.global	Looping_Rechts
209
 301               	Looping_Rechts:
210
 302 001d 00        		.skip 1,0
211
 303               	.global	Looping_Links
212
 304               	.global	Looping_Links
213
 307               	Looping_Links:
214
 308 001e 00        		.skip 1,0
215
 309               	.global	Looping_Roll
216
 310               	.global	Looping_Roll
217
 313               	Looping_Roll:
218
 314 001f 00        		.skip 1,0
219
 315               	.global	Looping_Nick
220
 316               	.global	Looping_Nick
221
 319               	Looping_Nick:
222
 320 0020 00        		.skip 1,0
223
 321               	.global	Ki
224
 322               		.data
225
 325               	Ki:
226
 326 003a 3801      		.word	312
227
 327               	.global	HoverGas
228
 328               	.global	HoverGas
229
 329               		.section .bss
230
 332               	HoverGas:
231
 333 0021 0000      		.skip 2,0
232
 334               	.global	LageKorrekturNick
233
 335               	.global	LageKorrekturNick
234
 338               	LageKorrekturNick:
235
 339 0023 0000      		.skip 2,0
236
 340               	.global	LageKorrekturRoll
237
 341               	.global	LageKorrekturRoll
238
 344               	LageKorrekturRoll:
239
 345 0025 0000      		.skip 2,0
240
 346               	.global	NeueKompassRichtungMerken
241
 347               	.global	NeueKompassRichtungMerken
242
 350               	NeueKompassRichtungMerken:
243
 351 0027 00        		.skip 1,0
244
 352               	.global	CalibrationDone
245
 353               	.global	CalibrationDone
246
 356               	CalibrationDone:
247
 357 0028 00        		.skip 1,0
248
 358               	.global	CompassGierSetpoint
249
 359               	.global	CompassGierSetpoint
250
 362               	CompassGierSetpoint:
251
 363 0029 0000      		.skip 2,0
252
 364               	.global	WaypointTrimming
253
 365               	.global	WaypointTrimming
254
 368               	WaypointTrimming:
255
 369 002b 00        		.skip 1,0
256
 370               	.global	carefree_old
257
 371               		.data
258
 374               	carefree_old:
259
 375 003c 32        		.byte	50
260
 376               	.global	FromNC_AltitudeSpeed
261
 377               	.global	FromNC_AltitudeSpeed
262
 378               		.section .bss
263
 381               	FromNC_AltitudeSpeed:
264
 382 002c 00        		.skip 1,0
265
 383               	.global	FromNC_AltitudeSetpoint
266
 384               	.global	FromNC_AltitudeSetpoint
267
 387               	FromNC_AltitudeSetpoint:
268
 388 002d 0000 0000 		.skip 4,0
269
 389               	.global	AltitudeSetpointTrimming
270
 390               	.global	AltitudeSetpointTrimming
271
 393               	AltitudeSetpointTrimming:
272
 394 0031 0000      		.skip 2,0
273
 395               	.global	SollHoehe
274
 396               	.global	SollHoehe
275
 399               	SollHoehe:
276
 400 0033 0000 0000 		.skip 4,0
277
 401               	.global	HoehenWert
278
 402               	.global	HoehenWert
279
 405               	HoehenWert:
280
 406 0037 0000 0000 		.skip 4,0
281
 407               	.global	StartTrigger
282
 408               	.global	StartTrigger
283
 411               	StartTrigger:
284
 412 003b 00        		.skip 1,0
285
 413               	.global	MotorenEin
286
 414               	.global	MotorenEin
287
 417               	MotorenEin:
288
 418 003c 00        		.skip 1,0
289
 419               	.global	SenderOkay
290
 420               	.global	SenderOkay
291
 423               	SenderOkay:
292
 424 003d 00        		.skip 1,0
293
 425               	.global	Poti
294
 426               	.global	Poti
295
 429               	Poti:
296
 430 003e 0000 0000 		.skip 9,0
297
 430      0000 0000
298
 430      00
299
 431               	.global	StickGas
300
 432               	.global	StickGas
301
 435               	StickGas:
302
 436 0047 0000      		.skip 2,0
303
 437               	.global	StickGier
304
 438               	.global	StickGier
305
 441               	StickGier:
306
 442 0049 0000      		.skip 2,0
307
 443               	.global	StickRoll
308
 444               	.global	StickRoll
309
 447               	StickRoll:
310
 448 004b 0000      		.skip 2,0
311
 449               	.global	StickNick
312
 450               	.global	StickNick
313
 453               	StickNick:
314
 454 004d 0000      		.skip 2,0
315
 455               	.global	HoverGasMax
316
 456               		.data
317
 459               	HoverGasMax:
318
 460 003d FF03      		.word	1023
319
 461               	.global	HoverGasMin
320
 462               	.global	HoverGasMin
321
 463               		.section .bss
322
 466               	HoverGasMin:
323
 467 004f 0000      		.skip 2,0
324
 468               	.global	StickGasHover
325
 469               		.data
326
 472               	StickGasHover:
327
 473 003f 7800      		.word	120
328
 474               	.global	GierGyroFehler
329
 475               	.global	GierGyroFehler
330
 476               		.section .bss
331
 479               	GierGyroFehler:
332
 480 0051 0000      		.skip 2,0
333
 481               	.global	Umschlag180Roll
334
 482               		.data
335
 485               	Umschlag180Roll:
336
 486 0041 90D0 0300 		.long	250000
337
 487               	.global	Umschlag180Nick
338
 490               	Umschlag180Nick:
339
 491 0045 90D0 0300 		.long	250000
340
 492               	.global	TrichterFlug
341
 493               	.global	TrichterFlug
342
 494               		.section .bss
343
 497               	TrichterFlug:
344
 498 0053 00        		.skip 1,0
345
 499               	.global	HoehenReglerAktiv
346
 500               	.global	HoehenReglerAktiv
347
 503               	HoehenReglerAktiv:
348
 504 0054 00        		.skip 1,0
349
 505               	.global	KompassSignalSchlecht
350
 506               		.data
351
 509               	KompassSignalSchlecht:
352
 510 0049 3200      		.word	50
353
 511               	.global	KompassFusion
354
 514               	KompassFusion:
355
 515 004b 20        		.byte	32
356
 516               	.global	CalculateCompassTimer
357
 519               	CalculateCompassTimer:
358
 520 004c 64        		.byte	100
359
 521               	.global	KompassSollWert
360
 522               	.global	KompassSollWert
361
 523               		.section .bss
362
 526               	KompassSollWert:
363
 527 0055 0000      		.skip 2,0
364
 528               	.global	KompassValue
365
 529               		.data
366
 532               	KompassValue:
367
 533 004d FFFF      		.word	-1
368
 534               	.global	Mess_Integral_Hoch
369
 535               	.global	Mess_Integral_Hoch
370
 536               		.section .bss
371
 539               	Mess_Integral_Hoch:
372
 540 0057 0000 0000 		.skip 4,0
373
 541               	.global	SummeRoll
374
 542               	.global	SummeRoll
375
 545               	SummeRoll:
376
 546 005b 0000 0000 		.skip 4,0
377
 547               	.global	SummeNick
378
 548               	.global	SummeNick
379
 551               	SummeNick:
380
 552 005f 0000 0000 		.skip 4,0
381
 553               	.global	Mess_Integral_Gier2
382
 554               	.global	Mess_Integral_Gier2
383
 557               	Mess_Integral_Gier2:
384
 558 0063 0000 0000 		.skip 4,0
385
 559               	.global	Mess_Integral_Gier
386
 560               	.global	Mess_Integral_Gier
387
 563               	Mess_Integral_Gier:
388
 564 0067 0000 0000 		.skip 4,0
389
 565               	.global	Mess_IntegralRoll2
390
 566               	.global	Mess_IntegralRoll2
391
 569               	Mess_IntegralRoll2:
392
 570 006b 0000 0000 		.skip 4,0
393
 571               	.global	Mess_IntegralRoll
394
 572               	.global	Mess_IntegralRoll
395
 575               	Mess_IntegralRoll:
396
 576 006f 0000 0000 		.skip 4,0
397
 577               	.global	Mess_IntegralNick2
398
 578               	.global	Mess_IntegralNick2
399
 581               	Mess_IntegralNick2:
400
 582 0073 0000 0000 		.skip 4,0
401
 583               	.global	Mess_IntegralNick
402
 584               	.global	Mess_IntegralNick
403
 587               	Mess_IntegralNick:
404
 588 0077 0000 0000 		.skip 4,0
405
 589               	.global	Integral_Gier
406
 590               	.global	Integral_Gier
407
 593               	Integral_Gier:
408
 594 007b 0000 0000 		.skip 4,0
409
 595               	.global	IntegralAccZ
410
 596               	.global	IntegralAccZ
411
 599               	IntegralAccZ:
412
 600 007f 0000 0000 		.skip 4,0
413
 601               	.global	IntegralAccRoll
414
 602               	.global	IntegralAccRoll
415
 605               	IntegralAccRoll:
416
 606 0083 0000 0000 		.skip 4,0
417
 607               	.global	IntegralAccNick
418
 608               	.global	IntegralAccNick
419
 611               	IntegralAccNick:
420
 612 0087 0000 0000 		.skip 4,0
421
 613               	.global	IntegralRoll2
422
 614               	.global	IntegralRoll2
423
 617               	IntegralRoll2:
424
 618 008b 0000 0000 		.skip 4,0
425
 619               	.global	IntegralRoll
426
 620               	.global	IntegralRoll
427
 623               	IntegralRoll:
428
 624 008f 0000 0000 		.skip 4,0
429
 625               	.global	IntegralNick2
430
 626               	.global	IntegralNick2
431
 629               	IntegralNick2:
432
 630 0093 0000 0000 		.skip 4,0
433
 631               	.global	IntegralNick
434
 632               	.global	IntegralNick
435
 635               	IntegralNick:
436
 636 0097 0000 0000 		.skip 4,0
437
 637               	.global	ControlHeading
438
 638               	.global	ControlHeading
439
 641               	ControlHeading:
440
 642 009b 00        		.skip 1,0
441
 643               	.global	NeutralAccZ
442
 644               	.global	NeutralAccZ
443
 647               	NeutralAccZ:
444
 648 009c 0000      		.skip 2,0
445
 649               	.global	NaviCntAcc
446
 650               	.global	NaviCntAcc
447
 653               	NaviCntAcc:
448
 654 009e 0000      		.skip 2,0
449
 655               	.global	NeutralAccY
450
 656               	.global	NeutralAccY
451
 659               	NeutralAccY:
452
 660 00a0 0000      		.skip 2,0
453
 661               	.global	NeutralAccX
454
 662               	.global	NeutralAccX
455
 665               	NeutralAccX:
456
 666 00a2 0000      		.skip 2,0
457
 667               	.global	StartNeutralNick
458
 668               	.global	StartNeutralNick
459
 671               	StartNeutralNick:
460
 672 00a4 0000      		.skip 2,0
461
 673               	.global	StartNeutralRoll
462
 674               	.global	StartNeutralRoll
463
 677               	StartNeutralRoll:
464
 678 00a6 0000      		.skip 2,0
465
 679               	.global	AdNeutralGier
466
 680               	.global	AdNeutralGier
467
 683               	AdNeutralGier:
468
 684 00a8 0000      		.skip 2,0
469
 685               	.global	AdNeutralRoll
470
 686               	.global	AdNeutralRoll
471
 689               	AdNeutralRoll:
472
 690 00aa 0000      		.skip 2,0
473
 691               	.global	AdNeutralNick
474
 692               	.global	AdNeutralNick
475
 695               	AdNeutralNick:
476
 696 00ac 0000      		.skip 2,0
477
 697               	.global	BaroExpandActive
478
 698               	.global	BaroExpandActive
479
 701               	BaroExpandActive:
480
 702 00ae 0000      		.skip 2,0
481
 703               		.text
482
 704               	.global	CopyDebugValues
483
 706               	CopyDebugValues:
484
 707               	/* prologue: frame size=0 */
485
 708 0000 EF92      		push r14
486
 709 0002 FF92      		push r15
487
 710 0004 0F93      		push r16
488
 711 0006 1F93      		push r17
489
 712               	/* prologue end (size=4) */
490
 713 0008 8091 0000 		lds r24,EE_Parameter+28
491
 714 000c 9927      		clr r25
492
 715 000e 880F      		lsl r24
493
 716 0010 991F      		rol r25
494
 717 0012 880F      		lsl r24
495
 718 0014 991F      		rol r25
496
 719 0016 7C01      		movw r14,r24
497
 720 0018 0027      		clr r16
498
 721 001a F7FC      		sbrc r15,7
499
 722 001c 0095      		com r16
500
 723 001e 102F      		mov r17,r16
501
 724 0020 8091 0000 		lds r24,IntegralNick
502
 725 0024 9091 0000 		lds r25,(IntegralNick)+1
503
 726 0028 A091 0000 		lds r26,(IntegralNick)+2
504
 727 002c B091 0000 		lds r27,(IntegralNick)+3
505
 728 0030 BC01      		movw r22,r24
506
 729 0032 CD01      		movw r24,r26
507
 730 0034 A801      		movw r20,r16
508
 731 0036 9701      		movw r18,r14
509
 732 0038 0E94 0000 		call __divmodsi4
510
 733 003c 3093 0000 		sts (DebugOut+2)+1,r19
511
 734 0040 2093 0000 		sts DebugOut+2,r18
512
 735 0044 8091 0000 		lds r24,IntegralRoll
513
 736 0048 9091 0000 		lds r25,(IntegralRoll)+1
514
 737 004c A091 0000 		lds r26,(IntegralRoll)+2
515
 738 0050 B091 0000 		lds r27,(IntegralRoll)+3
516
 739 0054 BC01      		movw r22,r24
517
 740 0056 CD01      		movw r24,r26
518
 741 0058 A801      		movw r20,r16
519
 742 005a 9701      		movw r18,r14
520
 743 005c 0E94 0000 		call __divmodsi4
521
 744 0060 3093 0000 		sts (DebugOut+4)+1,r19
522
 745 0064 2093 0000 		sts DebugOut+4,r18
523
 746 0068 8091 0000 		lds r24,Mittelwert_AccNick
524
 747 006c 9091 0000 		lds r25,(Mittelwert_AccNick)+1
525
 748 0070 97FD      		sbrc r25,7
526
 749 0072 0396      		adiw r24,3
527
 750               	.L2:
528
 751 0074 9595      		asr r25
529
 752 0076 8795      		ror r24
530
 753 0078 9595      		asr r25
531
 754 007a 8795      		ror r24
532
 755 007c 9093 0000 		sts (DebugOut+6)+1,r25
533
 756 0080 8093 0000 		sts DebugOut+6,r24
534
 757 0084 8091 0000 		lds r24,Mittelwert_AccRoll
535
 758 0088 9091 0000 		lds r25,(Mittelwert_AccRoll)+1
536
 759 008c 97FD      		sbrc r25,7
537
 760 008e 0396      		adiw r24,3
538
 761               	.L3:
539
 762 0090 9595      		asr r25
540
 763 0092 8795      		ror r24
541
 764 0094 9595      		asr r25
542
 765 0096 8795      		ror r24
543
 766 0098 9093 0000 		sts (DebugOut+8)+1,r25
544
 767 009c 8093 0000 		sts DebugOut+8,r24
545
 768 00a0 8091 0000 		lds r24,AdNeutralGier
546
 769 00a4 9091 0000 		lds r25,(AdNeutralGier)+1
547
 770 00a8 2091 0000 		lds r18,AdWertGier
548
 771 00ac 3091 0000 		lds r19,(AdWertGier)+1
549
 772 00b0 821B      		sub r24,r18
550
 773 00b2 930B      		sbc r25,r19
551
 774 00b4 9093 0000 		sts (DebugOut+10)+1,r25
552
 775 00b8 8093 0000 		sts DebugOut+10,r24
553
 776 00bc 8091 0000 		lds r24,HoehenWert
554
 777 00c0 9091 0000 		lds r25,(HoehenWert)+1
555
 778 00c4 A091 0000 		lds r26,(HoehenWert)+2
556
 779 00c8 B091 0000 		lds r27,(HoehenWert)+3
557
 780 00cc BC01      		movw r22,r24
558
 781 00ce CD01      		movw r24,r26
559
 782 00d0 25E0      		ldi r18,lo8(5)
560
 783 00d2 30E0      		ldi r19,hi8(5)
561
 784 00d4 40E0      		ldi r20,hlo8(5)
562
 785 00d6 50E0      		ldi r21,hhi8(5)
563
 786 00d8 0E94 0000 		call __divmodsi4
564
 787 00dc 3093 0000 		sts (DebugOut+12)+1,r19
565
 788 00e0 2093 0000 		sts DebugOut+12,r18
566
 789 00e4 8091 0000 		lds r24,AdWertAccHoch
567
 790 00e8 9091 0000 		lds r25,(AdWertAccHoch)+1
568
 791 00ec 9093 0000 		sts (DebugOut+14)+1,r25
569
 792 00f0 8093 0000 		sts DebugOut+14,r24
570
 793 00f4 8091 0000 		lds r24,UBat
571
 794 00f8 9091 0000 		lds r25,(UBat)+1
572
 795 00fc 9093 0000 		sts (DebugOut+16)+1,r25
573
 796 0100 8093 0000 		sts DebugOut+16,r24
574
 797 0104 8091 0000 		lds r24,Motor+1
575
 798 0108 9927      		clr r25
576
 799 010a 9093 0000 		sts (DebugOut+18)+1,r25
577
 800 010e 8093 0000 		sts DebugOut+18,r24
578
 801 0112 8091 0000 		lds r24,Motor+9
579
 802 0116 9927      		clr r25
580
 803 0118 9093 0000 		sts (DebugOut+20)+1,r25
581
 804 011c 8093 0000 		sts DebugOut+20,r24
582
 805 0120 8091 0000 		lds r24,Motor+17
583
 806 0124 9927      		clr r25
584
 807 0126 9093 0000 		sts (DebugOut+22)+1,r25
585
 808 012a 8093 0000 		sts DebugOut+22,r24
586
 809 012e 8091 0000 		lds r24,Motor+25
587
 810 0132 9927      		clr r25
588
 811 0134 9093 0000 		sts (DebugOut+24)+1,r25
589
 812 0138 8093 0000 		sts DebugOut+24,r24
590
 813 013c 8091 0000 		lds r24,Motor+33
591
 814 0140 9927      		clr r25
592
 815 0142 9093 0000 		sts (DebugOut+26)+1,r25
593
 816 0146 8093 0000 		sts DebugOut+26,r24
594
 817 014a 8091 0000 		lds r24,Motor+41
595
 818 014e 9927      		clr r25
596
 819 0150 9093 0000 		sts (DebugOut+28)+1,r25
597
 820 0154 8093 0000 		sts DebugOut+28,r24
598
 821 0158 8091 0000 		lds r24,Motor+49
599
 822 015c 9927      		clr r25
600
 823 015e 9093 0000 		sts (DebugOut+30)+1,r25
601
 824 0162 8093 0000 		sts DebugOut+30,r24
602
 825 0166 8091 0000 		lds r24,Motor+57
603
 826 016a 9927      		clr r25
604
 827 016c 9093 0000 		sts (DebugOut+32)+1,r25
605
 828 0170 8093 0000 		sts DebugOut+32,r24
606
 829 0174 8091 0000 		lds r24,SenderOkay
607
 830 0178 9927      		clr r25
608
 831 017a 9093 0000 		sts (DebugOut+34)+1,r25
609
 832 017e 8093 0000 		sts DebugOut+34,r24
610
 833 0182 8091 0000 		lds r24,ErsatzKompass
611
 834 0186 9091 0000 		lds r25,(ErsatzKompass)+1
612
 835 018a A091 0000 		lds r26,(ErsatzKompass)+2
613
 836 018e B091 0000 		lds r27,(ErsatzKompass)+3
614
 837 0192 2091 0000 		lds r18,GIER_GRAD_FAKTOR
615
 838 0196 3091 0000 		lds r19,(GIER_GRAD_FAKTOR)+1
616
 839 019a 4091 0000 		lds r20,(GIER_GRAD_FAKTOR)+2
617
 840 019e 5091 0000 		lds r21,(GIER_GRAD_FAKTOR)+3
618
 841 01a2 BC01      		movw r22,r24
619
 842 01a4 CD01      		movw r24,r26
620
 843 01a6 0E94 0000 		call __divmodsi4
621
 844 01aa 3093 0000 		sts (DebugOut+36)+1,r19
622
 845 01ae 2093 0000 		sts DebugOut+36,r18
623
 846 01b2 8091 0000 		lds r24,Capacity
624
 847 01b6 9091 0000 		lds r25,(Capacity)+1
625
 848 01ba 9093 0000 		sts (DebugOut+38)+1,r25
626
 849 01be 8093 0000 		sts DebugOut+38,r24
627
 850 01c2 8091 0000 		lds r24,Capacity+4
628
 851 01c6 9091 0000 		lds r25,(Capacity+4)+1
629
 852 01ca 9093 0000 		sts (DebugOut+40)+1,r25
630
 853 01ce 8093 0000 		sts DebugOut+40,r24
631
 854 01d2 8091 0000 		lds r24,ServoNickValue
632
 855 01d6 9091 0000 		lds r25,(ServoNickValue)+1
633
 856 01da 9093 0000 		sts (DebugOut+42)+1,r25
634
 857 01de 8093 0000 		sts DebugOut+42,r24
635
 858 01e2 8091 0000 		lds r24,KompassValue
636
 859 01e6 9091 0000 		lds r25,(KompassValue)+1
637
 860 01ea 9093 0000 		sts (DebugOut+44)+1,r25
638
 861 01ee 8093 0000 		sts DebugOut+44,r24
639
 862 01f2 1092 0000 		sts (DebugOut+46)+1,__zero_reg__
640
 863 01f6 1092 0000 		sts DebugOut+46,__zero_reg__
641
 864 01fa 8091 0000 		lds r24,Capacity+6
642
 865 01fe 9927      		clr r25
643
 866 0200 9093 0000 		sts (DebugOut+48)+1,r25
644
 867 0204 8093 0000 		sts DebugOut+48,r24
645
 868 0208 8091 0000 		lds r24,GPS_Nick
646
 869 020c 9091 0000 		lds r25,(GPS_Nick)+1
647
 870 0210 9093 0000 		sts (DebugOut+50)+1,r25
648
 871 0214 8093 0000 		sts DebugOut+50,r24
649
 872 0218 8091 0000 		lds r24,GPS_Roll
650
 873 021c 9091 0000 		lds r25,(GPS_Roll)+1
651
 874 0220 9093 0000 		sts (DebugOut+52)+1,r25
652
 875 0224 8093 0000 		sts DebugOut+52,r24
653
 876 0228 8091 0000 		lds r24,VersionInfo+5
654
 877 022c 8823      		tst r24
655
 878 022e 01F4      		brne .L5
656
 879 0230 8091 0000 		lds r24,VersionInfo+6
657
 880 0234 8823      		tst r24
658
 881 0236 01F0      		breq .L4
659
 882               	.L5:
660
 883 0238 8091 0000 		lds r24,DebugOut+1
661
 884 023c 8160      		ori r24,lo8(1)
662
 885 023e 00C0      		rjmp .L7
663
 886               	.L4:
664
 887 0240 8091 0000 		lds r24,DebugOut+1
665
 888 0244 8E7F      		andi r24,lo8(-2)
666
 889               	.L7:
667
 890 0246 8093 0000 		sts DebugOut+1,r24
668
 891               	/* epilogue: frame size=0 */
669
 892 024a 1F91      		pop r17
670
 893 024c 0F91      		pop r16
671
 894 024e FF90      		pop r15
672
 895 0250 EF90      		pop r14
673
 896 0252 0895      		ret
674
 897               	/* epilogue end (size=5) */
675
 898               	/* function CopyDebugValues size 300 (291) */
676
 900               	.global	Piep
677
 902               	Piep:
678
 903               	/* prologue: frame size=0 */
679
 904 0254 EF92      		push r14
680
 905 0256 FF92      		push r15
681
 906 0258 1F93      		push r17
682
 907 025a CF93      		push r28
683
 908 025c DF93      		push r29
684
 909               	/* prologue end (size=5) */
685
 910 025e 182F      		mov r17,r24
686
 911 0260 7B01      		movw r14,r22
687
 912 0262 8091 0000 		lds r24,MotorenEin
688
 913 0266 8823      		tst r24
689
 914 0268 01F4      		brne .L8
690
 915 026a 8091 0000 		lds r24,PlatinenVersion
691
 916 026e 8C30      		cpi r24,lo8(12)
692
 917 0270 00F0      		brlo .L11
693
 918 0272 8631      		cpi r24,lo8(22)
694
 919 0274 01F4      		brne .L10
695
 920               	.L11:
696
 921 0276 2998      		cbi 37-0x20,1
697
 922 0278 00C0      		rjmp .L12
698
 923               	.L10:
699
 924 027a 299A      		sbi 37-0x20,1
700
 925               	.L12:
701
 926 027c 1150      		subi r17,lo8(-(-1))
702
 927 027e 1F3F      		cpi r17,lo8(-1)
703
 928 0280 01F0      		breq .L26
704
 929 0282 F092 0000 		sts (beeptime)+1,r15
705
 930 0286 E092 0000 		sts beeptime,r14
706
 931 028a E701      		movw r28,r14
707
 932               	.L34:
708
 933 028c 8091 0000 		lds r24,beeptime
709
 934 0290 9091 0000 		lds r25,(beeptime)+1
710
 935 0294 892B      		or r24,r25
711
 936 0296 01F4      		brne .L31
712
 937 0298 2097      		sbiw r28,0
713
 938 029a 01F0      		breq .L12
714
 939               	.L31:
715
 940 029c 8091 0000 		lds r24,UpdateMotor
716
 941 02a0 8823      		tst r24
717
 942 02a2 01F0      		breq .L34
718
 943 02a4 1092 0000 		sts UpdateMotor,__zero_reg__
719
 944 02a8 8091 0000 		lds r24,beeptime
720
 945 02ac 9091 0000 		lds r25,(beeptime)+1
721
 946 02b0 892B      		or r24,r25
722
 947 02b2 01F4      		brne .L19
723
 948 02b4 2197      		sbiw r28,1
724
 949               	.L19:
725
 950 02b6 0E94 0000 		call LIBFC_Polling
726
 951 02ba 00C0      		rjmp .L34
727
 952               	.L26:
728
 953 02bc 8091 0000 		lds r24,PlatinenVersion
729
 954 02c0 8C30      		cpi r24,lo8(12)
730
 955 02c2 00F0      		brlo .L23
731
 956 02c4 8631      		cpi r24,lo8(22)
732
 957 02c6 01F4      		brne .L22
733
 958               	.L23:
734
 959 02c8 299A      		sbi 37-0x20,1
735
 960 02ca 00C0      		rjmp .L8
736
 961               	.L22:
737
 962 02cc 2998      		cbi 37-0x20,1
738
 963               	.L8:
739
 964               	/* epilogue: frame size=0 */
740
 965 02ce DF91      		pop r29
741
 966 02d0 CF91      		pop r28
742
 967 02d2 1F91      		pop r17
743
 968 02d4 FF90      		pop r15
744
 969 02d6 EF90      		pop r14
745
 970 02d8 0895      		ret
746
 971               	/* epilogue end (size=6) */
747
 972               	/* function Piep size 67 (56) */
748
 974               	.global	CalibrierMittelwert
749
 976               	CalibrierMittelwert:
750
 977               	/* prologue: frame size=0 */
751
 978 02da CF93      		push r28
752
 979 02dc DF93      		push r29
753
 980               	/* prologue end (size=2) */
754
 981 02de 8091 0000 		lds r24,PlatinenVersion
755
 982 02e2 8D30      		cpi r24,lo8(13)
756
 983 02e4 01F4      		brne .L36
757
 984 02e6 0E94 0000 		call SucheGyroOffset
758
 985               	.L36:
759
 986 02ea 1092 7A00 		sts 122,__zero_reg__
760
 987 02ee 8091 0000 		lds r24,AdWertNick
761
 988 02f2 9091 0000 		lds r25,(AdWertNick)+1
762
 989 02f6 9093 0000 		sts (MesswertNick)+1,r25
763
 990 02fa 8093 0000 		sts MesswertNick,r24
764
 991 02fe 8091 0000 		lds r24,AdWertRoll
765
 992 0302 9091 0000 		lds r25,(AdWertRoll)+1
766
 993 0306 9093 0000 		sts (MesswertRoll)+1,r25
767
 994 030a 8093 0000 		sts MesswertRoll,r24
768
 995 030e 8091 0000 		lds r24,AdWertGier
769
 996 0312 9091 0000 		lds r25,(AdWertGier)+1
770
 997 0316 9093 0000 		sts (MesswertGier)+1,r25
771
 998 031a 8093 0000 		sts MesswertGier,r24
772
 999 031e 2091 0000 		lds r18,AdWertAccNick
773
 1000 0322 3091 0000 		lds r19,(AdWertAccNick)+1
774
 1001 0326 C901      		movw r24,r18
775
 1002 0328 880F      		lsl r24
776
 1003 032a 991F      		rol r25
777
 1004 032c 880F      		lsl r24
778
 1005 032e 991F      		rol r25
779
 1006 0330 820F      		add r24,r18
780
 1007 0332 931F      		adc r25,r19
781
 1008 0334 820F      		add r24,r18
782
 1009 0336 931F      		adc r25,r19
783
 1010 0338 9093 0000 		sts (Mittelwert_AccNick)+1,r25
784
 1011 033c 8093 0000 		sts Mittelwert_AccNick,r24
785
 1012 0340 2091 0000 		lds r18,AdWertAccRoll
786
 1013 0344 3091 0000 		lds r19,(AdWertAccRoll)+1
787
 1014 0348 C901      		movw r24,r18
788
 1015 034a 880F      		lsl r24
789
 1016 034c 991F      		rol r25
790
 1017 034e 880F      		lsl r24
791
 1018 0350 991F      		rol r25
792
 1019 0352 820F      		add r24,r18
793
 1020 0354 931F      		adc r25,r19
794
 1021 0356 820F      		add r24,r18
795
 1022 0358 931F      		adc r25,r19
796
 1023 035a 9093 0000 		sts (Mittelwert_AccRoll)+1,r25
797
 1024 035e 8093 0000 		sts Mittelwert_AccRoll,r24
798
 1025 0362 8FEC      		ldi r24,lo8(-49)
799
 1026 0364 8093 7A00 		sts 122,r24
800
 1027 0368 A0E0      		ldi r26,lo8(Poti)
801
 1028 036a B0E0      		ldi r27,hi8(Poti)
802
 1029 036c C0E0      		ldi r28,lo8(EE_Parameter+5)
803
 1030 036e D0E0      		ldi r29,hi8(EE_Parameter+5)
804
 1031 0370 97E0      		ldi r25,lo8(7)
805
 1032               	.L46:
806
 1033 0372 8991      		ld r24,Y+
807
 1034 0374 E82F      		mov r30,r24
808
 1035 0376 FF27      		clr r31
809
 1036 0378 EE0F      		add r30,r30
810
 1037 037a FF1F      		adc r31,r31
811
 1038 037c E050      		subi r30,lo8(-(PPM_in))
812
 1039 037e F040      		sbci r31,hi8(-(PPM_in))
813
 1040 0380 0190      		ld __tmp_reg__,Z+
814
 1041 0382 F081      		ld r31,Z
815
 1042 0384 E02D      		mov r30,__tmp_reg__
816
 1043 0386 E158      		subi r30,lo8(-(127))
817
 1044 0388 FF4F      		sbci r31,hi8(-(127))
818
 1045 038a 1E16      		cp __zero_reg__,r30
819
 1046 038c 1F06      		cpc __zero_reg__,r31
820
 1047 038e 04F0      		brlt .L40
821
 1048 0390 E0E0      		ldi r30,lo8(0)
822
 1049 0392 F0E0      		ldi r31,hi8(0)
823
 1050 0394 00C0      		rjmp .L41
824
 1051               	.L40:
825
 1052 0396 EF3F      		cpi r30,255
826
 1053 0398 F105      		cpc r31,__zero_reg__
827
 1054 039a 04F0      		brlt .L41
828
 1055 039c EFEF      		ldi r30,lo8(255)
829
 1056 039e F0E0      		ldi r31,hi8(255)
830
 1057               	.L41:
831
 1058 03a0 8C91      		ld r24,X
832
 1059 03a2 282F      		mov r18,r24
833
 1060 03a4 3327      		clr r19
834
 1061 03a6 E217      		cp r30,r18
835
 1062 03a8 F307      		cpc r31,r19
836
 1063 03aa 04F4      		brge .L43
837
 1064 03ac 8150      		subi r24,lo8(-(-1))
838
 1065 03ae 00C0      		rjmp .L49
839
 1066               	.L43:
840
 1067 03b0 2E17      		cp r18,r30
841
 1068 03b2 3F07      		cpc r19,r31
842
 1069 03b4 04F4      		brge .L39
843
 1070 03b6 8F5F      		subi r24,lo8(-(1))
844
 1071               	.L49:
845
 1072 03b8 8C93      		st X,r24
846
 1073               	.L39:
847
 1074 03ba 9150      		subi r25,lo8(-(-1))
848
 1075 03bc 1196      		adiw r26,1
849
 1076 03be 97FF      		sbrs r25,7
850
 1077 03c0 00C0      		rjmp .L46
851
 1078 03c2 8091 0000 		lds r24,EE_Parameter+65
852
 1079 03c6 9927      		clr r25
853
 1080 03c8 AA27      		clr r26
854
 1081 03ca BB27      		clr r27
855
 1082 03cc BC01      		movw r22,r24
856
 1083 03ce CD01      		movw r24,r26
857
 1084 03d0 24EC      		ldi r18,lo8(2500)
858
 1085 03d2 39E0      		ldi r19,hi8(2500)
859
 1086 03d4 40E0      		ldi r20,hlo8(2500)
860
 1087 03d6 50E0      		ldi r21,hhi8(2500)
861
 1088 03d8 0E94 0000 		call __mulsi3
862
 1089 03dc DC01      		movw r26,r24
863
 1090 03de CB01      		movw r24,r22
864
 1091 03e0 8093 0000 		sts Umschlag180Nick,r24
865
 1092 03e4 9093 0000 		sts (Umschlag180Nick)+1,r25
866
 1093 03e8 A093 0000 		sts (Umschlag180Nick)+2,r26
867
 1094 03ec B093 0000 		sts (Umschlag180Nick)+3,r27
868
 1095 03f0 8091 0000 		lds r24,EE_Parameter+66
869
 1096 03f4 9927      		clr r25
870
 1097 03f6 AA27      		clr r26
871
 1098 03f8 BB27      		clr r27
872
 1099 03fa BC01      		movw r22,r24
873
 1100 03fc CD01      		movw r24,r26
874
 1101 03fe 0E94 0000 		call __mulsi3
875
 1102 0402 DC01      		movw r26,r24
876
 1103 0404 CB01      		movw r24,r22
877
 1104 0406 8093 0000 		sts Umschlag180Roll,r24
878
 1105 040a 9093 0000 		sts (Umschlag180Roll)+1,r25
879
 1106 040e A093 0000 		sts (Umschlag180Roll)+2,r26
880
 1107 0412 B093 0000 		sts (Umschlag180Roll)+3,r27
881
 1108               	/* epilogue: frame size=0 */
882
 1109 0416 DF91      		pop r29
883
 1110 0418 CF91      		pop r28
884
 1111 041a 0895      		ret
885
 1112               	/* epilogue end (size=3) */
886
 1113               	/* function CalibrierMittelwert size 161 (156) */
887
 1115               		.section	.progmem.data,"a",@progbits
888
 1118               	__c.35:
889
 1119 0000 0A0D 4143 		.string	"\n\rACC not calibrated!\r\n"
890
 1119      4320 6E6F
891
 1119      7420 6361
892
 1119      6C69 6272
893
 1119      6174 6564
894
 1120               		.text
895
 1121               	.global	SetNeutral
896
 1123               	SetNeutral:
897
 1124               	/* prologue: frame size=0 */
898
 1125 041c A0E0      		ldi r26,lo8(0)
899
 1126 041e B0E0      		ldi r27,hi8(0)
900
 1127 0420 E0E0      		ldi r30,pm_lo8(1f)
901
 1128 0422 F0E0      		ldi r31,pm_hi8(1f)
902
 1129 0424 0C94 0000 		jmp __prologue_saves__+12
903
 1130               	1:
904
 1131               	/* prologue end (size=6) */
905
 1132 0428 882E      		mov r8,r24
906
 1133 042a C0E0      		ldi r28,lo8(0)
907
 1134 042c D0E0      		ldi r29,hi8(0)
908
 1135 042e 7E01      		movw r14,r28
909
 1136 0430 6E01      		movw r12,r28
910
 1137 0432 1092 0000 		sts VersionInfo+5,__zero_reg__
911
 1138 0436 D093 0000 		sts (NeutralAccX)+1,r29
912
 1139 043a C093 0000 		sts NeutralAccX,r28
913
 1140 043e D093 0000 		sts (NeutralAccY)+1,r29
914
 1141 0442 C093 0000 		sts NeutralAccY,r28
915
 1142 0446 D093 0000 		sts (NeutralAccZ)+1,r29
916
 1143 044a C093 0000 		sts NeutralAccZ,r28
917
 1144 044e D093 0000 		sts (AdNeutralNick)+1,r29
918
 1145 0452 C093 0000 		sts AdNeutralNick,r28
919
 1146 0456 D093 0000 		sts (AdNeutralRoll)+1,r29
920
 1147 045a C093 0000 		sts AdNeutralRoll,r28
921
 1148 045e D093 0000 		sts (AdNeutralGier)+1,r29
922
 1149 0462 C093 0000 		sts AdNeutralGier,r28
923
 1150 0466 1092 0000 		sts Parameter_AchsKopplung1,__zero_reg__
924
 1151 046a 1092 0000 		sts Parameter_AchsKopplung2,__zero_reg__
925
 1152 046e 1092 0000 		sts ExpandBaro,__zero_reg__
926
 1153 0472 0E94 0000 		call CalibrierMittelwert
927
 1154 0476 84E6      		ldi r24,lo8(100)
928
 1155 0478 90E0      		ldi r25,hi8(100)
929
 1156 047a 0E94 0000 		call Delay_ms_Mess
930
 1157 047e 0E94 0000 		call CalibrierMittelwert
931
 1158 0482 8091 0000 		lds r24,EE_Parameter+13
932
 1159 0486 80FF      		sbrs r24,0
933
 1160 0488 00C0      		rjmp .L51
934
 1161 048a 8091 0000 		lds r24,MessLuftdruck
935
 1162 048e 9091 0000 		lds r25,(MessLuftdruck)+1
936
 1163 0492 875B      		subi r24,lo8(951)
937
 1164 0494 9340      		sbci r25,hi8(951)
938
 1165 0496 00F4      		brsh .L53
939
 1166 0498 8091 0000 		lds r24,MessLuftdruck
940
 1167 049c 9091 0000 		lds r25,(MessLuftdruck)+1
941
 1168 04a0 8E5E      		subi r24,lo8(750)
942
 1169 04a2 9240      		sbci r25,hi8(750)
943
 1170 04a4 00F4      		brsh .L51
944
 1171               	.L53:
945
 1172 04a6 0E94 0000 		call SucheLuftruckOffset
946
 1173               	.L51:
947
 1174 04aa 0FE1      		ldi r16,lo8(31)
948
 1175               	.L57:
949
 1176 04ac 8AE0      		ldi r24,lo8(10)
950
 1177 04ae 90E0      		ldi r25,hi8(10)
951
 1178 04b0 0E94 0000 		call Delay_ms_Mess
952
 1179 04b4 8091 0000 		lds r24,AdWertGier
953
 1180 04b8 9091 0000 		lds r25,(AdWertGier)+1
954
 1181 04bc C80F      		add r28,r24
955
 1182 04be D91F      		adc r29,r25
956
 1183 04c0 8091 0000 		lds r24,AdWertNick
957
 1184 04c4 9091 0000 		lds r25,(AdWertNick)+1
958
 1185 04c8 E80E      		add r14,r24
959
 1186 04ca F91E      		adc r15,r25
960
 1187 04cc 8091 0000 		lds r24,AdWertRoll
961
 1188 04d0 9091 0000 		lds r25,(AdWertRoll)+1
962
 1189 04d4 C80E      		add r12,r24
963
 1190 04d6 D91E      		adc r13,r25
964
 1191 04d8 0150      		subi r16,lo8(-(-1))
965
 1192 04da 07FF      		sbrs r16,7
966
 1193 04dc 00C0      		rjmp .L57
967
 1194 04de 9701      		movw r18,r14
968
 1195 04e0 205F      		subi r18,lo8(-(16))
969
 1196 04e2 3F4F      		sbci r19,hi8(-(16))
970
 1197 04e4 3695      		lsr r19
971
 1198 04e6 2795      		ror r18
972
 1199 04e8 3695      		lsr r19
973
 1200 04ea 2795      		ror r18
974
 1201 04ec 3093 0000 		sts (AdNeutralNick)+1,r19
975
 1202 04f0 2093 0000 		sts AdNeutralNick,r18
976
 1203 04f4 C601      		movw r24,r12
977
 1204 04f6 4096      		adiw r24,16
978
 1205 04f8 9695      		lsr r25
979
 1206 04fa 8795      		ror r24
980
 1207 04fc 9695      		lsr r25
981
 1208 04fe 8795      		ror r24
982
 1209 0500 9093 0000 		sts (AdNeutralRoll)+1,r25
983
 1210 0504 8093 0000 		sts AdNeutralRoll,r24
984
 1211 0508 6096      		adiw r28,16
985
 1212 050a F5E0      		ldi r31,5
986
 1213 050c D695      	1:	lsr r29
987
 1214 050e C795      		ror r28
988
 1215 0510 FA95      		dec r31
989
 1216 0512 01F4      		brne 1b
990
 1217 0514 D093 0000 		sts (AdNeutralGier)+1,r29
991
 1218 0518 C093 0000 		sts AdNeutralGier,r28
992
 1219 051c 9093 0000 		sts (StartNeutralRoll)+1,r25
993
 1220 0520 8093 0000 		sts StartNeutralRoll,r24
994
 1221 0524 3093 0000 		sts (StartNeutralNick)+1,r19
995
 1222 0528 2093 0000 		sts StartNeutralNick,r18
996
 1223 052c 8820      		tst r8
997
 1224 052e 01F4      		brne .+2
998
 1225 0530 00C0      		rjmp .L58
999
 1226 0532 8091 0000 		lds r24,Mittelwert_AccNick
1000
 1227 0536 9091 0000 		lds r25,(Mittelwert_AccNick)+1
1001
 1228 053a 97FF      		sbrs r25,7
1002
 1229 053c 00C0      		rjmp .L59
1003
 1230 053e 9095      		com r25
1004
 1231 0540 8195      		neg r24
1005
 1232 0542 9F4F      		sbci r25,lo8(-1)
1006
 1233               	.L59:
1007
 1234 0544 6CE0      		ldi r22,lo8(12)
1008
 1235 0546 70E0      		ldi r23,hi8(12)
1009
 1236 0548 0E94 0000 		call __divmodhi4
1010
 1237 054c 9B01      		movw r18,r22
1011
 1238 054e 7093 0000 		sts (NeutralAccX)+1,r23
1012
 1239 0552 6093 0000 		sts NeutralAccX,r22
1013
 1240 0556 8091 0000 		lds r24,Mittelwert_AccRoll
1014
 1241 055a 9091 0000 		lds r25,(Mittelwert_AccRoll)+1
1015
 1242 055e 97FF      		sbrs r25,7
1016
 1243 0560 00C0      		rjmp .L60
1017
 1244 0562 9095      		com r25
1018
 1245 0564 8195      		neg r24
1019
 1246 0566 9F4F      		sbci r25,lo8(-1)
1020
 1247               	.L60:
1021
 1248 0568 6CE0      		ldi r22,lo8(12)
1022
 1249 056a 70E0      		ldi r23,hi8(12)
1023
 1250 056c 0E94 0000 		call __divmodhi4
1024
 1251 0570 7093 0000 		sts (NeutralAccY)+1,r23
1025
 1252 0574 6093 0000 		sts NeutralAccY,r22
1026
 1253 0578 8091 0000 		lds r24,Aktuell_az
1027
 1254 057c 9091 0000 		lds r25,(Aktuell_az)+1
1028
 1255 0580 9093 0000 		sts (NeutralAccZ)+1,r25
1029
 1256 0584 8093 0000 		sts NeutralAccZ,r24
1030
 1257 0588 B901      		movw r22,r18
1031
 1258 058a 84E0      		ldi r24,lo8(4)
1032
 1259 058c 90E0      		ldi r25,hi8(4)
1033
 1260 058e 0E94 0000 		call SetParamWord
1034
 1261 0592 6091 0000 		lds r22,NeutralAccY
1035
 1262 0596 7091 0000 		lds r23,(NeutralAccY)+1
1036
 1263 059a 86E0      		ldi r24,lo8(6)
1037
 1264 059c 90E0      		ldi r25,hi8(6)
1038
 1265 059e 0E94 0000 		call SetParamWord
1039
 1266 05a2 6091 0000 		lds r22,NeutralAccZ
1040
 1267 05a6 7091 0000 		lds r23,(NeutralAccZ)+1
1041
 1268 05aa 88E0      		ldi r24,lo8(8)
1042
 1269 05ac 90E0      		ldi r25,hi8(8)
1043
 1270 05ae 0E94 0000 		call SetParamWord
1044
 1271 05b2 00C0      		rjmp .L61
1045
 1272               	.L58:
1046
 1273 05b4 84E0      		ldi r24,lo8(4)
1047
 1274 05b6 90E0      		ldi r25,hi8(4)
1048
 1275 05b8 0E94 0000 		call GetParamWord
1049
 1276 05bc 9093 0000 		sts (NeutralAccX)+1,r25
1050
 1277 05c0 8093 0000 		sts NeutralAccX,r24
1051
 1278 05c4 86E0      		ldi r24,lo8(6)
1052
 1279 05c6 90E0      		ldi r25,hi8(6)
1053
 1280 05c8 0E94 0000 		call GetParamWord
1054
 1281 05cc 9093 0000 		sts (NeutralAccY)+1,r25
1055
 1282 05d0 8093 0000 		sts NeutralAccY,r24
1056
 1283 05d4 88E0      		ldi r24,lo8(8)
1057
 1284 05d6 90E0      		ldi r25,hi8(8)
1058
 1285 05d8 0E94 0000 		call GetParamWord
1059
 1286 05dc 9C01      		movw r18,r24
1060
 1287 05de 9093 0000 		sts (NeutralAccZ)+1,r25
1061
 1288 05e2 8093 0000 		sts NeutralAccZ,r24
1062
 1289 05e6 8091 0000 		lds r24,NeutralAccX
1063
 1290 05ea 9091 0000 		lds r25,(NeutralAccX)+1
1064
 1291 05ee 8150      		subi r24,lo8(2049)
1065
 1292 05f0 9840      		sbci r25,hi8(2049)
1066
 1293 05f2 00F4      		brsh .L63
1067
 1294 05f4 8091 0000 		lds r24,NeutralAccY
1068
 1295 05f8 9091 0000 		lds r25,(NeutralAccY)+1
1069
 1296 05fc 8150      		subi r24,lo8(2049)
1070
 1297 05fe 9840      		sbci r25,hi8(2049)
1071
 1298 0600 00F4      		brsh .L63
1072
 1299 0602 2150      		subi r18,lo8(1025)
1073
 1300 0604 3440      		sbci r19,hi8(1025)
1074
 1301 0606 00F0      		brlo .L61
1075
 1302               	.L63:
1076
 1303 0608 80E0      		ldi r24,lo8(__c.35)
1077
 1304 060a 90E0      		ldi r25,hi8(__c.35)
1078
 1305 060c 9F93      		push r25
1079
 1306 060e 8F93      		push r24
1080
 1307 0610 80E0      		ldi r24,lo8(pm(uart_putchar))
1081
 1308 0612 90E0      		ldi r25,hi8(pm(uart_putchar))
1082
 1309 0614 9F93      		push r25
1083
 1310 0616 8F93      		push r24
1084
 1311 0618 E091 0000 		lds r30,_printf_P
1085
 1312 061c F091 0000 		lds r31,(_printf_P)+1
1086
 1313 0620 0995      		icall
1087
 1314 0622 8091 0000 		lds r24,Mittelwert_AccNick
1088
 1315 0626 9091 0000 		lds r25,(Mittelwert_AccNick)+1
1089
 1316 062a 97FF      		sbrs r25,7
1090
 1317 062c 00C0      		rjmp .L64
1091
 1318 062e 9095      		com r25
1092
 1319 0630 8195      		neg r24
1093
 1320 0632 9F4F      		sbci r25,lo8(-1)
1094
 1321               	.L64:
1095
 1322 0634 6CE0      		ldi r22,lo8(12)
1096
 1323 0636 70E0      		ldi r23,hi8(12)
1097
 1324 0638 0E94 0000 		call __divmodhi4
1098
 1325 063c 7093 0000 		sts (NeutralAccX)+1,r23
1099
 1326 0640 6093 0000 		sts NeutralAccX,r22
1100
 1327 0644 8091 0000 		lds r24,Mittelwert_AccRoll
1101
 1328 0648 9091 0000 		lds r25,(Mittelwert_AccRoll)+1
1102
 1329 064c 97FF      		sbrs r25,7
1103
 1330 064e 00C0      		rjmp .L65
1104
 1331 0650 9095      		com r25
1105
 1332 0652 8195      		neg r24
1106
 1333 0654 9F4F      		sbci r25,lo8(-1)
1107
 1334               	.L65:
1108
 1335 0656 6CE0      		ldi r22,lo8(12)
1109
 1336 0658 70E0      		ldi r23,hi8(12)
1110
 1337 065a 0E94 0000 		call __divmodhi4
1111
 1338 065e 7093 0000 		sts (NeutralAccY)+1,r23
1112
 1339 0662 6093 0000 		sts NeutralAccY,r22
1113
 1340 0666 8091 0000 		lds r24,Aktuell_az
1114
 1341 066a 9091 0000 		lds r25,(Aktuell_az)+1
1115
 1342 066e 9093 0000 		sts (NeutralAccZ)+1,r25
1116
 1343 0672 8093 0000 		sts NeutralAccZ,r24
1117
 1344 0676 0F90      		pop __tmp_reg__
1118
 1345 0678 0F90      		pop __tmp_reg__
1119
 1346 067a 0F90      		pop __tmp_reg__
1120
 1347 067c 0F90      		pop __tmp_reg__
1121
 1348               	.L61:
1122
 1349 067e 1092 0000 		sts (MesswertNick)+1,__zero_reg__
1123
 1350 0682 1092 0000 		sts MesswertNick,__zero_reg__
1124
 1351 0686 1092 0000 		sts (MesswertRoll)+1,__zero_reg__
1125
 1352 068a 1092 0000 		sts MesswertRoll,__zero_reg__
1126
 1353 068e 1092 0000 		sts (MesswertGier)+1,__zero_reg__
1127
 1354 0692 1092 0000 		sts MesswertGier,__zero_reg__
1128
 1355 0696 84E6      		ldi r24,lo8(100)
1129
 1356 0698 90E0      		ldi r25,hi8(100)
1130
 1357 069a 0E94 0000 		call Delay_ms_Mess
1131
 1358 069e 8091 0000 		lds r24,AdWertAccNick
1132
 1359 06a2 9091 0000 		lds r25,(AdWertAccNick)+1
1133
 1360 06a6 9C01      		movw r18,r24
1134
 1361 06a8 220F      		lsl r18
1135
 1362 06aa 331F      		rol r19
1136
 1363 06ac 220F      		lsl r18
1137
 1364 06ae 331F      		rol r19
1138
 1365 06b0 280F      		add r18,r24
1139
 1366 06b2 391F      		adc r19,r25
1140
 1367 06b4 280F      		add r18,r24
1141
 1368 06b6 391F      		adc r19,r25
1142
 1369 06b8 3093 0000 		sts (Mittelwert_AccNick)+1,r19
1143
 1370 06bc 2093 0000 		sts Mittelwert_AccNick,r18
1144
 1371 06c0 8091 0000 		lds r24,AdWertAccRoll
1145
 1372 06c4 9091 0000 		lds r25,(AdWertAccRoll)+1
1146
 1373 06c8 8C01      		movw r16,r24
1147
 1374 06ca 000F      		lsl r16
1148
 1375 06cc 111F      		rol r17
1149
 1376 06ce 000F      		lsl r16
1150
 1377 06d0 111F      		rol r17
1151
 1378 06d2 080F      		add r16,r24
1152
 1379 06d4 191F      		adc r17,r25
1153
 1380 06d6 080F      		add r16,r24
1154
 1381 06d8 191F      		adc r17,r25
1155
 1382 06da 1093 0000 		sts (Mittelwert_AccRoll)+1,r17
1156
 1383 06de 0093 0000 		sts Mittelwert_AccRoll,r16
1157
 1384 06e2 8091 0000 		lds r24,EE_Parameter+28
1158
 1385 06e6 C82E      		mov r12,r24
1159
 1386 06e8 DD24      		clr r13
1160
 1387 06ea EE24      		clr r14
1161
 1388 06ec FF24      		clr r15
1162
 1389 06ee 4427      		clr r20
1163
 1390 06f0 37FD      		sbrc r19,7
1164
 1391 06f2 4095      		com r20
1165
 1392 06f4 542F      		mov r21,r20
1166
 1393 06f6 C701      		movw r24,r14
1167
 1394 06f8 B601      		movw r22,r12
1168
 1395 06fa 0E94 0000 		call __mulsi3
1169
 1396 06fe 4B01      		movw r8,r22
1170
 1397 0700 5C01      		movw r10,r24
1171
 1398 0702 6093 0000 		sts IntegralNick,r22
1172
 1399 0706 7093 0000 		sts (IntegralNick)+1,r23
1173
 1400 070a 8093 0000 		sts (IntegralNick)+2,r24
1174
 1401 070e 9093 0000 		sts (IntegralNick)+3,r25
1175
 1402 0712 9801      		movw r18,r16
1176
 1403 0714 4427      		clr r20
1177
 1404 0716 37FD      		sbrc r19,7
1178
 1405 0718 4095      		com r20
1179
 1406 071a 542F      		mov r21,r20
1180
 1407 071c C701      		movw r24,r14
1181
 1408 071e B601      		movw r22,r12
1182
 1409 0720 0E94 0000 		call __mulsi3
1183
 1410 0724 DC01      		movw r26,r24
1184
 1411 0726 CB01      		movw r24,r22
1185
 1412 0728 8093 0000 		sts IntegralRoll,r24
1186
 1413 072c 9093 0000 		sts (IntegralRoll)+1,r25
1187
 1414 0730 A093 0000 		sts (IntegralRoll)+2,r26
1188
 1415 0734 B093 0000 		sts (IntegralRoll)+3,r27
1189
 1416 0738 8092 0000 		sts Mess_IntegralNick,r8
1190
 1417 073c 9092 0000 		sts (Mess_IntegralNick)+1,r9
1191
 1418 0740 A092 0000 		sts (Mess_IntegralNick)+2,r10
1192
 1419 0744 B092 0000 		sts (Mess_IntegralNick)+3,r11
1193
 1420 0748 8093 0000 		sts Mess_IntegralRoll,r24
1194
 1421 074c 9093 0000 		sts (Mess_IntegralRoll)+1,r25
1195
 1422 0750 A093 0000 		sts (Mess_IntegralRoll)+2,r26
1196
 1423 0754 B093 0000 		sts (Mess_IntegralRoll)+3,r27
1197
 1424 0758 1092 0000 		sts Mess_Integral_Gier,__zero_reg__
1198
 1425 075c 1092 0000 		sts (Mess_Integral_Gier)+1,__zero_reg__
1199
 1426 0760 1092 0000 		sts (Mess_Integral_Gier)+2,__zero_reg__
1200
 1427 0764 1092 0000 		sts (Mess_Integral_Gier)+3,__zero_reg__
1201
 1428 0768 8091 0000 		lds r24,Luftdruck
1202
 1429 076c 9091 0000 		lds r25,(Luftdruck)+1
1203
 1430 0770 A091 0000 		lds r26,(Luftdruck)+2
1204
 1431 0774 B091 0000 		lds r27,(Luftdruck)+3
1205
 1432 0778 9093 0000 		sts (StartLuftdruck)+1,r25
1206
 1433 077c 8093 0000 		sts StartLuftdruck,r24
1207
 1434 0780 1092 0000 		sts (VarioMeter)+1,__zero_reg__
1208
 1435 0784 1092 0000 		sts VarioMeter,__zero_reg__
1209
 1436 0788 1092 0000 		sts Mess_Integral_Hoch,__zero_reg__
1210
 1437 078c 1092 0000 		sts (Mess_Integral_Hoch)+1,__zero_reg__
1211
 1438 0790 1092 0000 		sts (Mess_Integral_Hoch)+2,__zero_reg__
1212
 1439 0794 1092 0000 		sts (Mess_Integral_Hoch)+3,__zero_reg__
1213
 1440 0798 0091 0000 		lds r16,KompassValue
1214
 1441 079c 1091 0000 		lds r17,(KompassValue)+1
1215
 1442 07a0 1093 0000 		sts (KompassSollWert)+1,r17
1216
 1443 07a4 0093 0000 		sts KompassSollWert,r16
1217
 1444 07a8 84E6      		ldi r24,lo8(100)
1218
 1445 07aa 90E0      		ldi r25,hi8(100)
1219
 1446 07ac 9093 0000 		sts (KompassSignalSchlecht)+1,r25
1220
 1447 07b0 8093 0000 		sts KompassSignalSchlecht,r24
1221
 1448 07b4 82E3      		ldi r24,lo8(50)
1222
 1449 07b6 90E0      		ldi r25,hi8(50)
1223
 1450 07b8 9093 0000 		sts (beeptime)+1,r25
1224
 1451 07bc 8093 0000 		sts beeptime,r24
1225
 1452 07c0 8091 0000 		lds r24,EE_Parameter+65
1226
 1453 07c4 9927      		clr r25
1227
 1454 07c6 AA27      		clr r26
1228
 1455 07c8 BB27      		clr r27
1229
 1456 07ca BC01      		movw r22,r24
1230
 1457 07cc CD01      		movw r24,r26
1231
 1458 07ce 24EC      		ldi r18,lo8(2500)
1232
 1459 07d0 39E0      		ldi r19,hi8(2500)
1233
 1460 07d2 40E0      		ldi r20,hlo8(2500)
1234
 1461 07d4 50E0      		ldi r21,hhi8(2500)
1235
 1462 07d6 0E94 0000 		call __mulsi3
1236
 1463 07da DC01      		movw r26,r24
1237
 1464 07dc CB01      		movw r24,r22
1238
 1465 07de 8856      		subi r24,lo8(-(15000))
1239
 1466 07e0 954C      		sbci r25,hi8(-(15000))
1240
 1467 07e2 AF4F      		sbci r26,hlo8(-(15000))
1241
 1468 07e4 BF4F      		sbci r27,hhi8(-(15000))
1242
 1469 07e6 8093 0000 		sts Umschlag180Nick,r24
1243
 1470 07ea 9093 0000 		sts (Umschlag180Nick)+1,r25
1244
 1471 07ee A093 0000 		sts (Umschlag180Nick)+2,r26
1245
 1472 07f2 B093 0000 		sts (Umschlag180Nick)+3,r27
1246
 1473 07f6 8091 0000 		lds r24,EE_Parameter+66
1247
 1474 07fa 9927      		clr r25
1248
 1475 07fc AA27      		clr r26
1249
 1476 07fe BB27      		clr r27
1250
 1477 0800 BC01      		movw r22,r24
1251
 1478 0802 CD01      		movw r24,r26
1252
 1479 0804 0E94 0000 		call __mulsi3
1253
 1480 0808 DC01      		movw r26,r24
1254
 1481 080a CB01      		movw r24,r22
1255
 1482 080c 8856      		subi r24,lo8(-(15000))
1256
 1483 080e 954C      		sbci r25,hi8(-(15000))
1257
 1484 0810 AF4F      		sbci r26,hlo8(-(15000))
1258
 1485 0812 BF4F      		sbci r27,hhi8(-(15000))
1259
 1486 0814 8093 0000 		sts Umschlag180Roll,r24
1260
 1487 0818 9093 0000 		sts (Umschlag180Roll)+1,r25
1261
 1488 081c A093 0000 		sts (Umschlag180Roll)+2,r26
1262
 1489 0820 B093 0000 		sts (Umschlag180Roll)+3,r27
1263
 1490 0824 1092 0000 		sts (ExternHoehenValue)+1,__zero_reg__
1264
 1491 0828 1092 0000 		sts ExternHoehenValue,__zero_reg__
1265
 1492 082c C801      		movw r24,r16
1266
 1493 082e AA27      		clr r26
1267
 1494 0830 97FD      		sbrc r25,7
1268
 1495 0832 A095      		com r26
1269
 1496 0834 BA2F      		mov r27,r26
1270
 1497 0836 2091 0000 		lds r18,GIER_GRAD_FAKTOR
1271
 1498 083a 3091 0000 		lds r19,(GIER_GRAD_FAKTOR)+1
1272
 1499 083e 4091 0000 		lds r20,(GIER_GRAD_FAKTOR)+2
1273
 1500 0842 5091 0000 		lds r21,(GIER_GRAD_FAKTOR)+3
1274
 1501 0846 BC01      		movw r22,r24
1275
 1502 0848 CD01      		movw r24,r26
1276
 1503 084a 0E94 0000 		call __mulsi3
1277
 1504 084e DC01      		movw r26,r24
1278
 1505 0850 CB01      		movw r24,r22
1279
 1506 0852 8093 0000 		sts ErsatzKompass,r24
1280
 1507 0856 9093 0000 		sts (ErsatzKompass)+1,r25
1281
 1508 085a A093 0000 		sts (ErsatzKompass)+2,r26
1282
 1509 085e B093 0000 		sts (ErsatzKompass)+3,r27
1283
 1510 0862 1092 0000 		sts (GierGyroFehler)+1,__zero_reg__
1284
 1511 0866 1092 0000 		sts GierGyroFehler,__zero_reg__
1285
 1512 086a 0E94 0000 		call LED_Init
1286
 1513 086e 8091 0000 		lds r24,FC_StatusFlags
1287
 1514 0872 8460      		ori r24,lo8(4)
1288
 1515 0874 8093 0000 		sts FC_StatusFlags,r24
1289
 1516 0878 8FEF      		ldi r24,lo8(-1)
1290
 1517 087a 8093 0000 		sts FromNaviCtrl_Value,r24
1291
 1518 087e 1092 0000 		sts FromNaviCtrl_Value+1,__zero_reg__
1292
 1519 0882 80E2      		ldi r24,lo8(32)
1293
 1520 0884 8093 0000 		sts FromNaviCtrl_Value+2,r24
1294
 1521 0888 C0E0      		ldi r28,lo8(Poti)
1295
 1522 088a D0E0      		ldi r29,hi8(Poti)
1296
 1523 088c A0E0      		ldi r26,lo8(EE_Parameter+5)
1297
 1524 088e B0E0      		ldi r27,hi8(EE_Parameter+5)
1298
 1525 0890 07E0      		ldi r16,lo8(7)
1299
 1526               	.L69:
1300
 1527 0892 8D91      		ld r24,X+
1301
 1528 0894 E82F      		mov r30,r24
1302
 1529 0896 FF27      		clr r31
1303
 1530 0898 EE0F      		add r30,r30
1304
 1531 089a FF1F      		adc r31,r31
1305
 1532 089c E050      		subi r30,lo8(-(PPM_in))
1306
 1533 089e F040      		sbci r31,hi8(-(PPM_in))
1307
 1534 08a0 8081      		ld r24,Z
1308
 1535 08a2 9181      		ldd r25,Z+1
1309
 1536 08a4 8158      		subi r24,lo8(-(127))
1310
 1537 08a6 8993      		st Y+,r24
1311
 1538 08a8 0150      		subi r16,lo8(-(-1))
1312
 1539 08aa 07FF      		sbrs r16,7
1313
 1540 08ac 00C0      		rjmp .L69
1314
 1541 08ae 84E6      		ldi r24,lo8(100)
1315
 1542 08b0 8093 0000 		sts SenderOkay,r24
1316
 1543 08b4 8091 0000 		lds r24,ServoActive
1317
 1544 08b8 8823      		tst r24
1318
 1545 08ba 01F0      		breq .L70
1319
 1546 08bc 579A      		sbi 42-0x20,7
1320
 1547 08be 00C0      		rjmp .L71
1321
 1548               	.L70:
1322
 1549 08c0 80E0      		ldi r24,lo8(4352)
1323
 1550 08c2 91E1      		ldi r25,hi8(4352)
1324
 1551 08c4 9093 0000 		sts (NickServoValue)+1,r25
1325
 1552 08c8 8093 0000 		sts NickServoValue,r24
1326
 1553               	.L71:
1327
 1554 08cc 8091 0000 		lds r24,AdNeutralNick
1328
 1555 08d0 9091 0000 		lds r25,(AdNeutralNick)+1
1329
 1556 08d4 8056      		subi r24,lo8(-(-2400))
1330
 1557 08d6 9940      		sbci r25,hi8(-(-2400))
1331
 1558 08d8 815C      		subi r24,lo8(11201)
1332
 1559 08da 9B42      		sbci r25,hi8(11201)
1333
 1560 08dc 00F0      		brlo .L72
1334
 1561 08de 8091 0000 		lds r24,VersionInfo+5
1335
 1562 08e2 8160      		ori r24,lo8(1)
1336
 1563 08e4 8093 0000 		sts VersionInfo+5,r24
1337
 1564               	.L72:
1338
 1565 08e8 8091 0000 		lds r24,AdNeutralRoll
1339
 1566 08ec 9091 0000 		lds r25,(AdNeutralRoll)+1
1340
 1567 08f0 8056      		subi r24,lo8(-(-2400))
1341
 1568 08f2 9940      		sbci r25,hi8(-(-2400))
1342
 1569 08f4 815C      		subi r24,lo8(11201)
1343
 1570 08f6 9B42      		sbci r25,hi8(11201)
1344
 1571 08f8 00F0      		brlo .L73
1345
 1572 08fa 8091 0000 		lds r24,VersionInfo+5
1346
 1573 08fe 8260      		ori r24,lo8(2)
1347
 1574 0900 8093 0000 		sts VersionInfo+5,r24
1348
 1575               	.L73:
1349
 1576 0904 8091 0000 		lds r24,AdNeutralGier
1350
 1577 0908 9091 0000 		lds r25,(AdNeutralGier)+1
1351
 1578 090c 8C52      		subi r24,lo8(-(-300))
1352
 1579 090e 9140      		sbci r25,hi8(-(-300))
1353
 1580 0910 8957      		subi r24,lo8(1401)
1354
 1581 0912 9540      		sbci r25,hi8(1401)
1355
 1582 0914 00F0      		brlo .L74
1356
 1583 0916 8091 0000 		lds r24,VersionInfo+5
1357
 1584 091a 8460      		ori r24,lo8(4)
1358
 1585 091c 8093 0000 		sts VersionInfo+5,r24
1359
 1586               	.L74:
1360
 1587 0920 8091 0000 		lds r24,NeutralAccX
1361
 1588 0924 9091 0000 		lds r25,(NeutralAccX)+1
1362
 1589 0928 8C52      		subi r24,lo8(-(-300))
1363
 1590 092a 9140      		sbci r25,hi8(-(-300))
1364
 1591 092c 835C      		subi r24,lo8(451)
1365
 1592 092e 9140      		sbci r25,hi8(451)
1366
 1593 0930 00F0      		brlo .L75
1367
 1594 0932 8091 0000 		lds r24,VersionInfo+5
1368
 1595 0936 8860      		ori r24,lo8(8)
1369
 1596 0938 8093 0000 		sts VersionInfo+5,r24
1370
 1597               	.L75:
1371
 1598 093c 8091 0000 		lds r24,NeutralAccY
1372
 1599 0940 9091 0000 		lds r25,(NeutralAccY)+1
1373
 1600 0944 8C52      		subi r24,lo8(-(-300))
1374
 1601 0946 9140      		sbci r25,hi8(-(-300))
1375
 1602 0948 835C      		subi r24,lo8(451)
1376
 1603 094a 9140      		sbci r25,hi8(451)
1377
 1604 094c 00F0      		brlo .L76
1378
 1605 094e 8091 0000 		lds r24,VersionInfo+5
1379
 1606 0952 8061      		ori r24,lo8(16)
1380
 1607 0954 8093 0000 		sts VersionInfo+5,r24
1381
 1608               	.L76:
1382
 1609 0958 8091 0000 		lds r24,NeutralAccZ
1383
 1610 095c 9091 0000 		lds r25,(NeutralAccZ)+1
1384
 1611 0960 8050      		subi r24,lo8(-(-512))
1385
 1612 0962 9240      		sbci r25,hi8(-(-512))
1386
 1613 0964 8355      		subi r24,lo8(339)
1387
 1614 0966 9140      		sbci r25,hi8(339)
1388
 1615 0968 00F0      		brlo .L77
1389
 1616 096a 8091 0000 		lds r24,VersionInfo+5
1390
 1617 096e 8062      		ori r24,lo8(32)
1391
 1618 0970 8093 0000 		sts VersionInfo+5,r24
1392
 1619               	.L77:
1393
 1620 0974 86E4      		ldi r24,lo8(70)
1394
 1621 0976 8093 0000 		sts carefree_old,r24
1395
 1622 097a 0E94 0000 		call LIBFC_HoTT_Clear
1396
 1623               	/* epilogue: frame size=0 */
1397
 1624 097e ECE0      		ldi r30,12
1398
 1625 0980 CDB7      		in r28,__SP_L__
1399
 1626 0982 DEB7      		in r29,__SP_H__
1400
 1627 0984 0C94 0000 		jmp __epilogue_restores__+12
1401
 1628               	/* epilogue end (size=5) */
1402
 1629               	/* function SetNeutral size 705 (694) */
1403
 1631               		.lcomm tmpl.27,4
1404
 1632               		.lcomm tmpl2.28,4
1405
 1633               		.lcomm tmpl3.29,4
1406
 1634               		.lcomm tmpl4.30,4
1407
 1635               		.lcomm oldNick.31,2
1408
 1636               		.lcomm oldRoll.32,2
1409
 1637               		.lcomm d2Roll.33,2
1410
 1638               		.lcomm d2Nick.34,2
1411
 1639               	.global	Mittelwert
1412
 1641               	Mittelwert:
1413
 1642               	/* prologue: frame size=19 */
1414
 1643 0988 A3E1      		ldi r26,lo8(19)
1415
 1644 098a B0E0      		ldi r27,hi8(19)
1416
 1645 098c E0E0      		ldi r30,pm_lo8(1f)
1417
 1646 098e F0E0      		ldi r31,pm_hi8(1f)
1418
 1647 0990 0C94 0000 		jmp __prologue_saves__+0
1419
 1648               	1:
1420
 1649               	/* prologue end (size=6) */
1421
 1650 0994 8091 0000 		lds r24,AdNeutralGier
1422
 1651 0998 9091 0000 		lds r25,(AdNeutralGier)+1
1423
 1652 099c 2091 0000 		lds r18,AdWertGier
1424
 1653 09a0 3091 0000 		lds r19,(AdWertGier)+1
1425
 1654 09a4 821B      		sub r24,r18
1426
 1655 09a6 930B      		sbc r25,r19
1427
 1656 09a8 9093 0000 		sts (MesswertGier)+1,r25
1428
 1657 09ac 8093 0000 		sts MesswertGier,r24
1429
 1658 09b0 8091 0000 		lds r24,AdWertNickFilter
1430
 1659 09b4 9091 0000 		lds r25,(AdWertNickFilter)+1
1431
 1660 09b8 97FD      		sbrc r25,7
1432
 1661 09ba 0796      		adiw r24,7
1433
 1662               	.L83:
1434
 1663 09bc 9C01      		movw r18,r24
1435
 1664 09be 13E0      		ldi r17,3
1436
 1665 09c0 3595      	1:	asr r19
1437
 1666 09c2 2795      		ror r18
1438
 1667 09c4 1A95      		dec r17
1439
 1668 09c6 01F4      		brne 1b
1440
 1669 09c8 3093 0000 		sts (MesswertNick)+1,r19
1441
 1670 09cc 2093 0000 		sts MesswertNick,r18
1442
 1671 09d0 8091 0000 		lds r24,AdWertRollFilter
1443
 1672 09d4 9091 0000 		lds r25,(AdWertRollFilter)+1
1444
 1673 09d8 97FD      		sbrc r25,7
1445
 1674 09da 0796      		adiw r24,7
1446
 1675               	.L84:
1447
 1676 09dc B3E0      		ldi r27,3
1448
 1677 09de 9595      	1:	asr r25
1449
 1678 09e0 8795      		ror r24
1450
 1679 09e2 BA95      		dec r27
1451
 1680 09e4 01F4      		brne 1b
1452
 1681 09e6 9093 0000 		sts (MesswertRoll)+1,r25
1453
 1682 09ea 8093 0000 		sts MesswertRoll,r24
1454
 1683 09ee 3093 0000 		sts (RohMesswertNick)+1,r19
1455
 1684 09f2 2093 0000 		sts RohMesswertNick,r18
1456
 1685 09f6 9093 0000 		sts (RohMesswertRoll)+1,r25
1457
 1686 09fa 8093 0000 		sts RohMesswertRoll,r24
1458
 1687 09fe 8091 0000 		lds r24,Mittelwert_AccNick
1459
 1688 0a02 9091 0000 		lds r25,(Mittelwert_AccNick)+1
1460
 1689 0a06 AC01      		movw r20,r24
1461
 1690 0a08 440F      		lsl r20
1462
 1691 0a0a 551F      		rol r21
1463
 1692 0a0c 480F      		add r20,r24
1464
 1693 0a0e 591F      		adc r21,r25
1465
 1694 0a10 2091 0000 		lds r18,AdWertAccNick
1466
 1695 0a14 3091 0000 		lds r19,(AdWertAccNick)+1
1467
 1696 0a18 C901      		movw r24,r18
1468
 1697 0a1a 880F      		lsl r24
1469
 1698 0a1c 991F      		rol r25
1470
 1699 0a1e 880F      		lsl r24
1471
 1700 0a20 991F      		rol r25
1472
 1701 0a22 820F      		add r24,r18
1473
 1702 0a24 931F      		adc r25,r19
1474
 1703 0a26 820F      		add r24,r18
1475
 1704 0a28 931F      		adc r25,r19
1476
 1705 0a2a 480F      		add r20,r24
1477
 1706 0a2c 591F      		adc r21,r25
1478
 1707 0a2e 57FF      		sbrs r21,7
1479
 1708 0a30 00C0      		rjmp .L85
1480
 1709 0a32 4D5F      		subi r20,lo8(-(3))
1481
 1710 0a34 5F4F      		sbci r21,hi8(-(3))
1482
 1711               	.L85:
1483
 1712 0a36 5595      		asr r21
1484
 1713 0a38 4795      		ror r20
1485
 1714 0a3a 5595      		asr r21
1486
 1715 0a3c 4795      		ror r20
1487
 1716 0a3e 5093 0000 		sts (Mittelwert_AccNick)+1,r21
1488
 1717 0a42 4093 0000 		sts Mittelwert_AccNick,r20
1489
 1718 0a46 8091 0000 		lds r24,Mittelwert_AccRoll
1490
 1719 0a4a 9091 0000 		lds r25,(Mittelwert_AccRoll)+1
1491
 1720 0a4e AC01      		movw r20,r24
1492
 1721 0a50 440F      		lsl r20
1493
 1722 0a52 551F      		rol r21
1494
 1723 0a54 480F      		add r20,r24
1495
 1724 0a56 591F      		adc r21,r25
1496
 1725 0a58 2091 0000 		lds r18,AdWertAccRoll
1497
 1726 0a5c 3091 0000 		lds r19,(AdWertAccRoll)+1
1498
 1727 0a60 C901      		movw r24,r18
1499
 1728 0a62 880F      		lsl r24
1500
 1729 0a64 991F      		rol r25
1501
 1730 0a66 880F      		lsl r24
1502
 1731 0a68 991F      		rol r25
1503
 1732 0a6a 820F      		add r24,r18
1504
 1733 0a6c 931F      		adc r25,r19
1505
 1734 0a6e 820F      		add r24,r18
1506
 1735 0a70 931F      		adc r25,r19
1507
 1736 0a72 480F      		add r20,r24
1508
 1737 0a74 591F      		adc r21,r25
1509
 1738 0a76 57FF      		sbrs r21,7
1510
 1739 0a78 00C0      		rjmp .L86
1511
 1740 0a7a 4D5F      		subi r20,lo8(-(3))
1512
 1741 0a7c 5F4F      		sbci r21,hi8(-(3))
1513
 1742               	.L86:
1514
 1743 0a7e 5595      		asr r21
1515
 1744 0a80 4795      		ror r20
1516
 1745 0a82 5595      		asr r21
1517
 1746 0a84 4795      		ror r20
1518
 1747 0a86 5093 0000 		sts (Mittelwert_AccRoll)+1,r21
1519
 1748 0a8a 4093 0000 		sts Mittelwert_AccRoll,r20
1520
 1749 0a8e 2091 0000 		lds r18,AdWertAccNick
1521
 1750 0a92 3091 0000 		lds r19,(AdWertAccNick)+1
1522
 1751 0a96 C901      		movw r24,r18
1523
 1752 0a98 880F      		lsl r24
1524
 1753 0a9a 991F      		rol r25
1525
 1754 0a9c 880F      		lsl r24
1526
 1755 0a9e 991F      		rol r25
1527
 1756 0aa0 820F      		add r24,r18
1528
 1757 0aa2 931F      		adc r25,r19
1529
 1758 0aa4 820F      		add r24,r18
1530
 1759 0aa6 931F      		adc r25,r19
1531
 1760 0aa8 9C01      		movw r18,r24
1532
 1761 0aaa 4427      		clr r20
1533
 1762 0aac 37FD      		sbrc r19,7
1534
 1763 0aae 4095      		com r20
1535
 1764 0ab0 542F      		mov r21,r20
1536
 1765 0ab2 8091 0000 		lds r24,IntegralAccNick
1537
 1766 0ab6 9091 0000 		lds r25,(IntegralAccNick)+1
1538
 1767 0aba A091 0000 		lds r26,(IntegralAccNick)+2
1539
 1768 0abe B091 0000 		lds r27,(IntegralAccNick)+3
1540
 1769 0ac2 820F      		add r24,r18
1541
 1770 0ac4 931F      		adc r25,r19
1542
 1771 0ac6 A41F      		adc r26,r20
1543
 1772 0ac8 B51F      		adc r27,r21
1544
 1773 0aca 8093 0000 		sts IntegralAccNick,r24
1545
 1774 0ace 9093 0000 		sts (IntegralAccNick)+1,r25
1546
 1775 0ad2 A093 0000 		sts (IntegralAccNick)+2,r26
1547
 1776 0ad6 B093 0000 		sts (IntegralAccNick)+3,r27
1548
 1777 0ada 2091 0000 		lds r18,AdWertAccRoll
1549
 1778 0ade 3091 0000 		lds r19,(AdWertAccRoll)+1
1550
 1779 0ae2 C901      		movw r24,r18
1551
 1780 0ae4 880F      		lsl r24
1552
 1781 0ae6 991F      		rol r25
1553
 1782 0ae8 880F      		lsl r24
1554
 1783 0aea 991F      		rol r25
1555
 1784 0aec 820F      		add r24,r18
1556
 1785 0aee 931F      		adc r25,r19
1557
 1786 0af0 820F      		add r24,r18
1558
 1787 0af2 931F      		adc r25,r19
1559
 1788 0af4 9C01      		movw r18,r24
1560
 1789 0af6 4427      		clr r20
1561
 1790 0af8 37FD      		sbrc r19,7
1562
 1791 0afa 4095      		com r20
1563
 1792 0afc 542F      		mov r21,r20
1564
 1793 0afe 8091 0000 		lds r24,IntegralAccRoll
1565
 1794 0b02 9091 0000 		lds r25,(IntegralAccRoll)+1
1566
 1795 0b06 A091 0000 		lds r26,(IntegralAccRoll)+2
1567
 1796 0b0a B091 0000 		lds r27,(IntegralAccRoll)+3
1568
 1797 0b0e 820F      		add r24,r18
1569
 1798 0b10 931F      		adc r25,r19
1570
 1799 0b12 A41F      		adc r26,r20
1571
 1800 0b14 B51F      		adc r27,r21
1572
 1801 0b16 8093 0000 		sts IntegralAccRoll,r24
1573
 1802 0b1a 9093 0000 		sts (IntegralAccRoll)+1,r25
1574
 1803 0b1e A093 0000 		sts (IntegralAccRoll)+2,r26
1575
 1804 0b22 B093 0000 		sts (IntegralAccRoll)+3,r27
1576
 1805 0b26 8091 0000 		lds r24,NaviAccNick
1577
 1806 0b2a 9091 0000 		lds r25,(NaviAccNick)+1
1578
 1807 0b2e 2091 0000 		lds r18,AdWertAccNick
1579
 1808 0b32 3091 0000 		lds r19,(AdWertAccNick)+1
1580
 1809 0b36 820F      		add r24,r18
1581
 1810 0b38 931F      		adc r25,r19
1582
 1811 0b3a 9093 0000 		sts (NaviAccNick)+1,r25
1583
 1812 0b3e 8093 0000 		sts NaviAccNick,r24
1584
 1813 0b42 8091 0000 		lds r24,NaviAccRoll
1585
 1814 0b46 9091 0000 		lds r25,(NaviAccRoll)+1
1586
 1815 0b4a 2091 0000 		lds r18,AdWertAccRoll
1587
 1816 0b4e 3091 0000 		lds r19,(AdWertAccRoll)+1
1588
 1817 0b52 820F      		add r24,r18
1589
 1818 0b54 931F      		adc r25,r19
1590
 1819 0b56 9093 0000 		sts (NaviAccRoll)+1,r25
1591
 1820 0b5a 8093 0000 		sts NaviAccRoll,r24
1592
 1821 0b5e 8091 0000 		lds r24,NaviCntAcc
1593
 1822 0b62 9091 0000 		lds r25,(NaviCntAcc)+1
1594
 1823 0b66 0196      		adiw r24,1
1595
 1824 0b68 9093 0000 		sts (NaviCntAcc)+1,r25
1596
 1825 0b6c 8093 0000 		sts NaviCntAcc,r24
1597
 1826 0b70 8091 0000 		lds r24,Aktuell_az
1598
 1827 0b74 9091 0000 		lds r25,(Aktuell_az)+1
1599
 1828 0b78 2091 0000 		lds r18,NeutralAccZ
1600
 1829 0b7c 3091 0000 		lds r19,(NeutralAccZ)+1
1601
 1830 0b80 821B      		sub r24,r18
1602
 1831 0b82 930B      		sbc r25,r19
1603
 1832 0b84 9C01      		movw r18,r24
1604
 1833 0b86 4427      		clr r20
1605
 1834 0b88 37FD      		sbrc r19,7
1606
 1835 0b8a 4095      		com r20
1607
 1836 0b8c 542F      		mov r21,r20
1608
 1837 0b8e 8091 0000 		lds r24,IntegralAccZ
1609
 1838 0b92 9091 0000 		lds r25,(IntegralAccZ)+1
1610
 1839 0b96 A091 0000 		lds r26,(IntegralAccZ)+2
1611
 1840 0b9a B091 0000 		lds r27,(IntegralAccZ)+3
1612
 1841 0b9e 820F      		add r24,r18
1613
 1842 0ba0 931F      		adc r25,r19
1614
 1843 0ba2 A41F      		adc r26,r20
1615
 1844 0ba4 B51F      		adc r27,r21
1616
 1845 0ba6 8093 0000 		sts IntegralAccZ,r24
1617
 1846 0baa 9093 0000 		sts (IntegralAccZ)+1,r25
1618
 1847 0bae A093 0000 		sts (IntegralAccZ)+2,r26
1619
 1848 0bb2 B093 0000 		sts (IntegralAccZ)+3,r27
1620
 1849 0bb6 8FEC      		ldi r24,lo8(-49)
1621
 1850 0bb8 8093 7A00 		sts 122,r24
1622
 1851 0bbc 1092 0000 		sts AdReady,__zero_reg__
1623
 1852 0bc0 2091 0000 		lds r18,Mess_IntegralRoll
1624
 1853 0bc4 3091 0000 		lds r19,(Mess_IntegralRoll)+1
1625
 1854 0bc8 4091 0000 		lds r20,(Mess_IntegralRoll)+2
1626
 1855 0bcc 5091 0000 		lds r21,(Mess_IntegralRoll)+3
1627
 1856 0bd0 2987      		std Y+9,r18
1628
 1857 0bd2 3A87      		std Y+10,r19
1629
 1858 0bd4 4B87      		std Y+11,r20
1630
 1859 0bd6 5C87      		std Y+12,r21
1631
 1860 0bd8 2954      		subi r18,lo8(93001)
1632
 1861 0bda 3B46      		sbci r19,hi8(93001)
1633
 1862 0bdc 4140      		sbci r20,hlo8(93001)
1634
 1863 0bde 5040      		sbci r21,hhi8(93001)
1635
 1864 0be0 04F0      		brlt .L87
1636
 1865 0be2 28E4      		ldi r18,lo8(93000)
1637
 1866 0be4 3BE6      		ldi r19,hi8(93000)
1638
 1867 0be6 41E0      		ldi r20,hlo8(93000)
1639
 1868 0be8 50E0      		ldi r21,hhi8(93000)
1640
 1869 0bea 00C0      		rjmp .L167
1641
 1870               	.L87:
1642
 1871 0bec 8985      		ldd r24,Y+9
1643
 1872 0bee 9A85      		ldd r25,Y+10
1644
 1873 0bf0 AB85      		ldd r26,Y+11
1645
 1874 0bf2 BC85      		ldd r27,Y+12
1646
 1875 0bf4 885B      		subi r24,lo8(-93000)
1647
 1876 0bf6 9449      		sbci r25,hi8(-93000)
1648
 1877 0bf8 AE4F      		sbci r26,hlo8(-93000)
1649
 1878 0bfa BF4F      		sbci r27,hhi8(-93000)
1650
 1879 0bfc 04F4      		brge .L89
1651
 1880 0bfe 28EB      		ldi r18,lo8(-93000)
1652
 1881 0c00 34E9      		ldi r19,hi8(-93000)
1653
 1882 0c02 4EEF      		ldi r20,hlo8(-93000)
1654
 1883 0c04 5FEF      		ldi r21,hhi8(-93000)
1655
 1884               	.L167:
1656
 1885 0c06 2D83      		std Y+5,r18
1657
 1886 0c08 3E83      		std Y+6,r19
1658
 1887 0c0a 4F83      		std Y+7,r20
1659
 1888 0c0c 5887      		std Y+8,r21
1660
 1889 0c0e 00C0      		rjmp .L88
1661
 1890               	.L89:
1662
 1891 0c10 8985      		ldd r24,Y+9
1663
 1892 0c12 9A85      		ldd r25,Y+10
1664
 1893 0c14 AB85      		ldd r26,Y+11
1665
 1894 0c16 BC85      		ldd r27,Y+12
1666
 1895 0c18 8D83      		std Y+5,r24
1667
 1896 0c1a 9E83      		std Y+6,r25
1668
 1897 0c1c AF83      		std Y+7,r26
1669
 1898 0c1e B887      		std Y+8,r27
1670
 1899               	.L88:
1671
 1900 0c20 2091 0000 		lds r18,Mess_IntegralNick
1672
 1901 0c24 3091 0000 		lds r19,(Mess_IntegralNick)+1
1673
 1902 0c28 4091 0000 		lds r20,(Mess_IntegralNick)+2
1674
 1903 0c2c 5091 0000 		lds r21,(Mess_IntegralNick)+3
1675
 1904 0c30 2D87      		std Y+13,r18
1676
 1905 0c32 3E87      		std Y+14,r19
1677
 1906 0c34 4F87      		std Y+15,r20
1678
 1907 0c36 588B      		std Y+16,r21
1679
 1908 0c38 2954      		subi r18,lo8(93001)
1680
 1909 0c3a 3B46      		sbci r19,hi8(93001)
1681
 1910 0c3c 4140      		sbci r20,hlo8(93001)
1682
 1911 0c3e 5040      		sbci r21,hhi8(93001)
1683
 1912 0c40 04F0      		brlt .L91
1684
 1913 0c42 28E4      		ldi r18,lo8(93000)
1685
 1914 0c44 3BE6      		ldi r19,hi8(93000)
1686
 1915 0c46 41E0      		ldi r20,hlo8(93000)
1687
 1916 0c48 50E0      		ldi r21,hhi8(93000)
1688
 1917 0c4a 00C0      		rjmp .L168
1689
 1918               	.L91:
1690
 1919 0c4c 8D85      		ldd r24,Y+13
1691
 1920 0c4e 9E85      		ldd r25,Y+14
1692
 1921 0c50 AF85      		ldd r26,Y+15
1693
 1922 0c52 B889      		ldd r27,Y+16
1694
 1923 0c54 885B      		subi r24,lo8(-93000)
1695
 1924 0c56 9449      		sbci r25,hi8(-93000)
1696
 1925 0c58 AE4F      		sbci r26,hlo8(-93000)
1697
 1926 0c5a BF4F      		sbci r27,hhi8(-93000)
1698
 1927 0c5c 04F4      		brge .L93
1699
 1928 0c5e 28EB      		ldi r18,lo8(-93000)
1700
 1929 0c60 34E9      		ldi r19,hi8(-93000)
1701
 1930 0c62 4EEF      		ldi r20,hlo8(-93000)
1702
 1931 0c64 5FEF      		ldi r21,hhi8(-93000)
1703
 1932               	.L168:
1704
 1933 0c66 2983      		std Y+1,r18
1705
 1934 0c68 3A83      		std Y+2,r19
1706
 1935 0c6a 4B83      		std Y+3,r20
1707
 1936 0c6c 5C83      		std Y+4,r21
1708
 1937 0c6e 00C0      		rjmp .L92
1709
 1938               	.L93:
1710
 1939 0c70 8D85      		ldd r24,Y+13
1711
 1940 0c72 9E85      		ldd r25,Y+14
1712
 1941 0c74 AF85      		ldd r26,Y+15
1713
 1942 0c76 B889      		ldd r27,Y+16
1714
 1943 0c78 8983      		std Y+1,r24
1715
 1944 0c7a 9A83      		std Y+2,r25
1716
 1945 0c7c AB83      		std Y+3,r26
1717
 1946 0c7e BC83      		std Y+4,r27
1718
 1947               	.L92:
1719
 1948 0c80 A091 0000 		lds r26,MesswertGier
1720
 1949 0c84 B091 0000 		lds r27,(MesswertGier)+1
1721
 1950 0c88 BB8B      		std Y+19,r27
1722
 1951 0c8a AA8B      		std Y+18,r26
1723
 1952 0c8c FD01      		movw r30,r26
1724
 1953 0c8e CF01      		movw r24,r30
1725
 1954 0c90 AA27      		clr r26
1726
 1955 0c92 97FD      		sbrc r25,7
1727
 1956 0c94 A095      		com r26
1728
 1957 0c96 BA2F      		mov r27,r26
1729
 1958 0c98 A090 0000 		lds r10,Mess_Integral_Gier
1730
 1959 0c9c B090 0000 		lds r11,(Mess_Integral_Gier)+1
1731
 1960 0ca0 C090 0000 		lds r12,(Mess_Integral_Gier)+2
1732
 1961 0ca4 D090 0000 		lds r13,(Mess_Integral_Gier)+3
1733
 1962 0ca8 A80E      		add r10,r24
1734
 1963 0caa B91E      		adc r11,r25
1735
 1964 0cac CA1E      		adc r12,r26
1736
 1965 0cae DB1E      		adc r13,r27
1737
 1966 0cb0 A092 0000 		sts Mess_Integral_Gier,r10
1738
 1967 0cb4 B092 0000 		sts (Mess_Integral_Gier)+1,r11
1739
 1968 0cb8 C092 0000 		sts (Mess_Integral_Gier)+2,r12
1740
 1969 0cbc D092 0000 		sts (Mess_Integral_Gier)+3,r13
1741
 1970 0cc0 E090 0000 		lds r14,ErsatzKompass
1742
 1971 0cc4 F090 0000 		lds r15,(ErsatzKompass)+1
1743
 1972 0cc8 0091 0000 		lds r16,(ErsatzKompass)+2
1744
 1973 0ccc 1091 0000 		lds r17,(ErsatzKompass)+3
1745
 1974 0cd0 E80E      		add r14,r24
1746
 1975 0cd2 F91E      		adc r15,r25
1747
 1976 0cd4 0A1F      		adc r16,r26
1748
 1977 0cd6 1B1F      		adc r17,r27
1749
 1978 0cd8 E092 0000 		sts ErsatzKompass,r14
1750
 1979 0cdc F092 0000 		sts (ErsatzKompass)+1,r15
1751
 1980 0ce0 0093 0000 		sts (ErsatzKompass)+2,r16
1752
 1981 0ce4 1093 0000 		sts (ErsatzKompass)+3,r17
1753
 1982 0ce8 F091 0000 		lds r31,Looping_Nick
1754
 1983 0cec F98B      		std Y+17,r31
1755
 1984 0cee FF23      		tst r31
1756
 1985 0cf0 01F0      		breq .+2
1757
 1986 0cf2 00C0      		rjmp .L95
1758
 1987 0cf4 8091 0000 		lds r24,Looping_Roll
1759
 1988 0cf8 8823      		tst r24
1760
 1989 0cfa 01F0      		breq .+2
1761
 1990 0cfc 00C0      		rjmp .L95
1762
 1991 0cfe 8091 0000 		lds r24,Parameter_GlobalConfig
1763
 1992 0d02 86FF      		sbrs r24,6
1764
 1993 0d04 00C0      		rjmp .L95
1765
 1994 0d06 8091 0000 		lds r24,MesswertRoll
1766
 1995 0d0a 9091 0000 		lds r25,(MesswertRoll)+1
1767
 1996 0d0e AA27      		clr r26
1768
 1997 0d10 97FD      		sbrc r25,7
1769
 1998 0d12 A095      		com r26
1770
 1999 0d14 BA2F      		mov r27,r26
1771
 2000 0d16 BC01      		movw r22,r24
1772
 2001 0d18 CD01      		movw r24,r26
1773
 2002 0d1a 2981      		ldd r18,Y+1
1774
 2003 0d1c 3A81      		ldd r19,Y+2
1775
 2004 0d1e 4B81      		ldd r20,Y+3
1776
 2005 0d20 5C81      		ldd r21,Y+4
1777
 2006 0d22 0E94 0000 		call __mulsi3
1778
 2007 0d26 9B01      		movw r18,r22
1779
 2008 0d28 AC01      		movw r20,r24
1780
 2009 0d2a 97FF      		sbrs r25,7
1781
 2010 0d2c 00C0      		rjmp .L96
1782
 2011 0d2e 2150      		subi r18,lo8(-(2047))
1783
 2012 0d30 384F      		sbci r19,hi8(-(2047))
1784
 2013 0d32 4F4F      		sbci r20,hlo8(-(2047))
1785
 2014 0d34 5F4F      		sbci r21,hhi8(-(2047))
1786
 2015               	.L96:
1787
 2016 0d36 BBE0      		ldi r27,11
1788
 2017 0d38 5595      	1:	asr r21
1789
 2018 0d3a 4795      		ror r20
1790
 2019 0d3c 3795      		ror r19
1791
 2020 0d3e 2795      		ror r18
1792
 2021 0d40 BA95      		dec r27
1793
 2022 0d42 01F4      		brne 1b
1794
 2023 0d44 8091 0000 		lds r24,Parameter_AchsKopplung2
1795
 2024 0d48 682E      		mov r6,r24
1796
 2025 0d4a 7724      		clr r7
1797
 2026 0d4c 8824      		clr r8
1798
 2027 0d4e 9924      		clr r9
1799
 2028 0d50 CA01      		movw r24,r20
1800
 2029 0d52 B901      		movw r22,r18
1801
 2030 0d54 A401      		movw r20,r8
1802
 2031 0d56 9301      		movw r18,r6
1803
 2032 0d58 0E94 0000 		call __mulsi3
1804
 2033 0d5c DC01      		movw r26,r24
1805
 2034 0d5e CB01      		movw r24,r22
1806
 2035 0d60 8093 0000 		sts tmpl3.29,r24
1807
 2036 0d64 9093 0000 		sts (tmpl3.29)+1,r25
1808
 2037 0d68 A093 0000 		sts (tmpl3.29)+2,r26
1809
 2038 0d6c B093 0000 		sts (tmpl3.29)+3,r27
1810
 2039 0d70 B7FF      		sbrs r27,7
1811
 2040 0d72 00C0      		rjmp .L97
1812
 2041 0d74 8150      		subi r24,lo8(-(4095))
1813
 2042 0d76 904F      		sbci r25,hi8(-(4095))
1814
 2043 0d78 AF4F      		sbci r26,hlo8(-(4095))
1815
 2044 0d7a BF4F      		sbci r27,hhi8(-(4095))
1816
 2045               	.L97:
1817
 2046 0d7c 1C01      		movw r2,r24
1818
 2047 0d7e 2D01      		movw r4,r26
1819
 2048 0d80 ACE0      		ldi r26,12
1820
 2049 0d82 5594      	1:	asr r5
1821
 2050 0d84 4794      		ror r4
1822
 2051 0d86 3794      		ror r3
1823
 2052 0d88 2794      		ror r2
1824
 2053 0d8a AA95      		dec r26
1825
 2054 0d8c 01F4      		brne 1b
1826
 2055 0d8e 2092 0000 		sts tmpl3.29,r2
1827
 2056 0d92 3092 0000 		sts (tmpl3.29)+1,r3
1828
 2057 0d96 4092 0000 		sts (tmpl3.29)+2,r4
1829
 2058 0d9a 5092 0000 		sts (tmpl3.29)+3,r5
1830
 2059 0d9e 8091 0000 		lds r24,MesswertNick
1831
 2060 0da2 9091 0000 		lds r25,(MesswertNick)+1
1832
 2061 0da6 AA27      		clr r26
1833
 2062 0da8 97FD      		sbrc r25,7
1834
 2063 0daa A095      		com r26
1835
 2064 0dac BA2F      		mov r27,r26
1836
 2065 0dae BC01      		movw r22,r24
1837
 2066 0db0 CD01      		movw r24,r26
1838
 2067 0db2 2D81      		ldd r18,Y+5
1839
 2068 0db4 3E81      		ldd r19,Y+6
1840
 2069 0db6 4F81      		ldd r20,Y+7
1841
 2070 0db8 5885      		ldd r21,Y+8
1842
 2071 0dba 0E94 0000 		call __mulsi3
1843
 2072 0dbe 97FF      		sbrs r25,7
1844
 2073 0dc0 00C0      		rjmp .L98
1845
 2074 0dc2 6150      		subi r22,lo8(-(2047))
1846
 2075 0dc4 784F      		sbci r23,hi8(-(2047))
1847
 2076 0dc6 8F4F      		sbci r24,hlo8(-(2047))
1848
 2077 0dc8 9F4F      		sbci r25,hhi8(-(2047))
1849
 2078               	.L98:
1850
 2079 0dca FBE0      		ldi r31,11
1851
 2080 0dcc 9595      	1:	asr r25
1852
 2081 0dce 8795      		ror r24
1853
 2082 0dd0 7795      		ror r23
1854
 2083 0dd2 6795      		ror r22
1855
 2084 0dd4 FA95      		dec r31
1856
 2085 0dd6 01F4      		brne 1b
1857
 2086 0dd8 A401      		movw r20,r8
1858
 2087 0dda 9301      		movw r18,r6
1859
 2088 0ddc 0E94 0000 		call __mulsi3
1860
 2089 0de0 DC01      		movw r26,r24
1861
 2090 0de2 CB01      		movw r24,r22
1862
 2091 0de4 8093 0000 		sts tmpl4.30,r24
1863
 2092 0de8 9093 0000 		sts (tmpl4.30)+1,r25
1864
 2093 0dec A093 0000 		sts (tmpl4.30)+2,r26
1865
 2094 0df0 B093 0000 		sts (tmpl4.30)+3,r27
1866
 2095 0df4 B7FF      		sbrs r27,7
1867
 2096 0df6 00C0      		rjmp .L99
1868
 2097 0df8 8150      		subi r24,lo8(-(4095))
1869
 2098 0dfa 904F      		sbci r25,hi8(-(4095))
1870
 2099 0dfc AF4F      		sbci r26,hlo8(-(4095))
1871
 2100 0dfe BF4F      		sbci r27,hhi8(-(4095))
1872
 2101               	.L99:
1873
 2102 0e00 9C01      		movw r18,r24
1874
 2103 0e02 AD01      		movw r20,r26
1875
 2104 0e04 ECE0      		ldi r30,12
1876
 2105 0e06 5595      	1:	asr r21
1877
 2106 0e08 4795      		ror r20
1878
 2107 0e0a 3795      		ror r19
1879
 2108 0e0c 2795      		ror r18
1880
 2109 0e0e EA95      		dec r30
1881
 2110 0e10 01F4      		brne 1b
1882
 2111 0e12 2093 0000 		sts tmpl4.30,r18
1883
 2112 0e16 3093 0000 		sts (tmpl4.30)+1,r19
1884
 2113 0e1a 4093 0000 		sts (tmpl4.30)+2,r20
1885
 2114 0e1e 5093 0000 		sts (tmpl4.30)+3,r21
1886
 2115 0e22 8091 0000 		lds r24,tmpl3.29
1887
 2116 0e26 9091 0000 		lds r25,(tmpl3.29)+1
1888
 2117 0e2a 9093 0000 		sts (KopplungsteilNickRoll)+1,r25
1889
 2118 0e2e 8093 0000 		sts KopplungsteilNickRoll,r24
1890
 2119 0e32 8091 0000 		lds r24,tmpl4.30
1891
 2120 0e36 9091 0000 		lds r25,(tmpl4.30)+1
1892
 2121 0e3a 9093 0000 		sts (KopplungsteilRollNick)+1,r25
1893
 2122 0e3e 8093 0000 		sts KopplungsteilRollNick,r24
1894
 2123 0e42 2219      		sub r18,r2
1895
 2124 0e44 3309      		sbc r19,r3
1896
 2125 0e46 4409      		sbc r20,r4
1897
 2126 0e48 5509      		sbc r21,r5
1898
 2127 0e4a 2093 0000 		sts tmpl4.30,r18
1899
 2128 0e4e 3093 0000 		sts (tmpl4.30)+1,r19
1900
 2129 0e52 4093 0000 		sts (tmpl4.30)+2,r20
1901
 2130 0e56 5093 0000 		sts (tmpl4.30)+3,r21
1902
 2131 0e5a E20E      		add r14,r18
1903
 2132 0e5c F31E      		adc r15,r19
1904
 2133 0e5e 041F      		adc r16,r20
1905
 2134 0e60 151F      		adc r17,r21
1906
 2135 0e62 E092 0000 		sts ErsatzKompass,r14
1907
 2136 0e66 F092 0000 		sts (ErsatzKompass)+1,r15
1908
 2137 0e6a 0093 0000 		sts (ErsatzKompass)+2,r16
1909
 2138 0e6e 1093 0000 		sts (ErsatzKompass)+3,r17
1910
 2139 0e72 8091 0000 		lds r24,Parameter_CouplingYawCorrection
1911
 2140 0e76 8823      		tst r24
1912
 2141 0e78 01F4      		brne .L100
1913
 2142 0e7a 57FF      		sbrs r21,7
1914
 2143 0e7c 00C0      		rjmp .L101
1915
 2144 0e7e 2F5F      		subi r18,lo8(-(1))
1916
 2145 0e80 3F4F      		sbci r19,hi8(-(1))
1917
 2146 0e82 4F4F      		sbci r20,hlo8(-(1))
1918
 2147 0e84 5F4F      		sbci r21,hhi8(-(1))
1919
 2148               	.L101:
1920
 2149 0e86 5595      		asr r21
1921
 2150 0e88 4795      		ror r20
1922
 2151 0e8a 3795      		ror r19
1923
 2152 0e8c 2795      		ror r18
1924
 2153 0e8e A21A      		sub r10,r18
1925
 2154 0e90 B30A      		sbc r11,r19
1926
 2155 0e92 C40A      		sbc r12,r20
1927
 2156 0e94 D50A      		sbc r13,r21
1928
 2157 0e96 A092 0000 		sts Mess_Integral_Gier,r10
1929
 2158 0e9a B092 0000 		sts (Mess_Integral_Gier)+1,r11
1930
 2159 0e9e C092 0000 		sts (Mess_Integral_Gier)+2,r12
1931
 2160 0ea2 D092 0000 		sts (Mess_Integral_Gier)+3,r13
1932
 2161               	.L100:
1933
 2162 0ea6 2A89      		ldd r18,Y+18
1934
 2163 0ea8 3B89      		ldd r19,Y+19
1935
 2164 0eaa 7901      		movw r14,r18
1936
 2165 0eac 0027      		clr r16
1937
 2166 0eae F7FC      		sbrc r15,7
1938
 2167 0eb0 0095      		com r16
1939
 2168 0eb2 102F      		mov r17,r16
1940
 2169 0eb4 8091 0000 		lds r24,tmpl4.30
1941
 2170 0eb8 9091 0000 		lds r25,(tmpl4.30)+1
1942
 2171 0ebc A091 0000 		lds r26,(tmpl4.30)+2
1943
 2172 0ec0 B091 0000 		lds r27,(tmpl4.30)+3
1944
 2173 0ec4 E80E      		add r14,r24
1945
 2174 0ec6 F91E      		adc r15,r25
1946
 2175 0ec8 0A1F      		adc r16,r26
1947
 2176 0eca 1B1F      		adc r17,r27
1948
 2177 0ecc C801      		movw r24,r16
1949
 2178 0ece B701      		movw r22,r14
1950
 2179 0ed0 2981      		ldd r18,Y+1
1951
 2180 0ed2 3A81      		ldd r19,Y+2
1952
 2181 0ed4 4B81      		ldd r20,Y+3
1953
 2182 0ed6 5C81      		ldd r21,Y+4
1954
 2183 0ed8 0E94 0000 		call __mulsi3
1955
 2184 0edc 9B01      		movw r18,r22
1956
 2185 0ede AC01      		movw r20,r24
1957
 2186 0ee0 97FF      		sbrs r25,7
1958
 2187 0ee2 00C0      		rjmp .L102
1959
 2188 0ee4 2150      		subi r18,lo8(-(2047))
1960
 2189 0ee6 384F      		sbci r19,hi8(-(2047))
1961
 2190 0ee8 4F4F      		sbci r20,hlo8(-(2047))
1962
 2191 0eea 5F4F      		sbci r21,hhi8(-(2047))
1963
 2192               	.L102:
1964
 2193 0eec 6BE0      		ldi r22,11
1965
 2194 0eee 5595      	1:	asr r21
1966
 2195 0ef0 4795      		ror r20
1967
 2196 0ef2 3795      		ror r19
1968
 2197 0ef4 2795      		ror r18
1969
 2198 0ef6 6A95      		dec r22
1970
 2199 0ef8 01F4      		brne 1b
1971
 2200 0efa 8091 0000 		lds r24,Parameter_AchsKopplung1
1972
 2201 0efe A82E      		mov r10,r24
1973
 2202 0f00 BB24      		clr r11
1974
 2203 0f02 CC24      		clr r12
1975
 2204 0f04 DD24      		clr r13
1976
 2205 0f06 CA01      		movw r24,r20
1977
 2206 0f08 B901      		movw r22,r18
1978
 2207 0f0a A601      		movw r20,r12
1979
 2208 0f0c 9501      		movw r18,r10
1980
 2209 0f0e 0E94 0000 		call __mulsi3
1981
 2210 0f12 DC01      		movw r26,r24
1982
 2211 0f14 CB01      		movw r24,r22
1983
 2212 0f16 8093 0000 		sts tmpl.27,r24
1984
 2213 0f1a 9093 0000 		sts (tmpl.27)+1,r25
1985
 2214 0f1e A093 0000 		sts (tmpl.27)+2,r26
1986
 2215 0f22 B093 0000 		sts (tmpl.27)+3,r27
1987
 2216 0f26 B7FF      		sbrs r27,7
1988
 2217 0f28 00C0      		rjmp .L103
1989
 2218 0f2a 8150      		subi r24,lo8(-(4095))
1990
 2219 0f2c 904F      		sbci r25,hi8(-(4095))
1991
 2220 0f2e AF4F      		sbci r26,hlo8(-(4095))
1992
 2221 0f30 BF4F      		sbci r27,hhi8(-(4095))
1993
 2222               	.L103:
1994
 2223 0f32 3C01      		movw r6,r24
1995
 2224 0f34 4D01      		movw r8,r26
1996
 2225 0f36 3CE0      		ldi r19,12
1997
 2226 0f38 9594      	1:	asr r9
1998
 2227 0f3a 8794      		ror r8
1999
 2228 0f3c 7794      		ror r7
2000
 2229 0f3e 6794      		ror r6
2001
 2230 0f40 3A95      		dec r19
2002
 2231 0f42 01F4      		brne 1b
2003
 2232 0f44 6092 0000 		sts tmpl.27,r6
2004
 2233 0f48 7092 0000 		sts (tmpl.27)+1,r7
2005
 2234 0f4c 8092 0000 		sts (tmpl.27)+2,r8
2006
 2235 0f50 9092 0000 		sts (tmpl.27)+3,r9
2007
 2236 0f54 C801      		movw r24,r16
2008
 2237 0f56 B701      		movw r22,r14
2009
 2238 0f58 2D81      		ldd r18,Y+5
2010
 2239 0f5a 3E81      		ldd r19,Y+6
2011
 2240 0f5c 4F81      		ldd r20,Y+7
2012
 2241 0f5e 5885      		ldd r21,Y+8
2013
 2242 0f60 0E94 0000 		call __mulsi3
2014
 2243 0f64 97FF      		sbrs r25,7
2015
 2244 0f66 00C0      		rjmp .L104
2016
 2245 0f68 6150      		subi r22,lo8(-(2047))
2017
 2246 0f6a 784F      		sbci r23,hi8(-(2047))
2018
 2247 0f6c 8F4F      		sbci r24,hlo8(-(2047))
2019
 2248 0f6e 9F4F      		sbci r25,hhi8(-(2047))
2020
 2249               	.L104:
2021
 2250 0f70 2BE0      		ldi r18,11
2022
 2251 0f72 9595      	1:	asr r25
2023
 2252 0f74 8795      		ror r24
2024
 2253 0f76 7795      		ror r23
2025
 2254 0f78 6795      		ror r22
2026
 2255 0f7a 2A95      		dec r18
2027
 2256 0f7c 01F4      		brne 1b
2028
 2257 0f7e A601      		movw r20,r12
2029
 2258 0f80 9501      		movw r18,r10
2030
 2259 0f82 0E94 0000 		call __mulsi3
2031
 2260 0f86 DC01      		movw r26,r24
2032
 2261 0f88 CB01      		movw r24,r22
2033
 2262 0f8a 8093 0000 		sts tmpl2.28,r24
2034
 2263 0f8e 9093 0000 		sts (tmpl2.28)+1,r25
2035
 2264 0f92 A093 0000 		sts (tmpl2.28)+2,r26
2036
 2265 0f96 B093 0000 		sts (tmpl2.28)+3,r27
2037
 2266 0f9a B7FF      		sbrs r27,7
2038
 2267 0f9c 00C0      		rjmp .L105
2039
 2268 0f9e 8150      		subi r24,lo8(-(4095))
2040
 2269 0fa0 904F      		sbci r25,hi8(-(4095))
2041
 2270 0fa2 AF4F      		sbci r26,hlo8(-(4095))
2042
 2271 0fa4 BF4F      		sbci r27,hhi8(-(4095))
2043
 2272               	.L105:
2044
 2273 0fa6 AC01      		movw r20,r24
2045
 2274 0fa8 BD01      		movw r22,r26
2046
 2275 0faa 8CE0      		ldi r24,12
2047
 2276 0fac 7595      	1:	asr r23
2048
 2277 0fae 6795      		ror r22
2049
 2278 0fb0 5795      		ror r21
2050
 2279 0fb2 4795      		ror r20
2051
 2280 0fb4 8A95      		dec r24
2052
 2281 0fb6 01F4      		brne 1b
2053
 2282 0fb8 4093 0000 		sts tmpl2.28,r20
2054
 2283 0fbc 5093 0000 		sts (tmpl2.28)+1,r21
2055
 2284 0fc0 6093 0000 		sts (tmpl2.28)+2,r22
2056
 2285 0fc4 7093 0000 		sts (tmpl2.28)+3,r23
2057
 2286 0fc8 2A89      		ldd r18,Y+18
2058
 2287 0fca 3B89      		ldd r19,Y+19
2059
 2288 0fcc 37FF      		sbrs r19,7
2060
 2289 0fce 00C0      		rjmp .L107
2061
 2290 0fd0 3095      		com r19
2062
 2291 0fd2 2195      		neg r18
2063
 2292 0fd4 3F4F      		sbci r19,lo8(-1)
2064
 2293               	.L107:
2065
 2294 0fd6 2134      		cpi r18,65
2066
 2295 0fd8 3105      		cpc r19,__zero_reg__
2067
 2296 0fda 04F0      		brlt .L112
2068
 2297 0fdc D401      		movw r26,r8
2069
 2298 0fde C301      		movw r24,r6
2070
 2299 0fe0 97FE      		sbrs r9,7
2071
 2300 0fe2 00C0      		rjmp .L110
2072
 2301 0fe4 B095      		com r27
2073
 2302 0fe6 A095      		com r26
2074
 2303 0fe8 9095      		com r25
2075
 2304 0fea 8195      		neg r24
2076
 2305 0fec 9F4F      		sbci r25,lo8(-1)
2077
 2306 0fee AF4F      		sbci r26,lo8(-1)
2078
 2307 0ff0 BF4F      		sbci r27,lo8(-1)
2079
 2308               	.L110:
2080
 2309 0ff2 8138      		cpi r24,lo8(129)
2081
 2310 0ff4 9105      		cpc r25,__zero_reg__
2082
 2311 0ff6 A105      		cpc r26,__zero_reg__
2083
 2312 0ff8 B105      		cpc r27,__zero_reg__
2084
 2313 0ffa 04F4      		brge .L109
2085
 2314 0ffc DB01      		movw r26,r22
2086
 2315 0ffe CA01      		movw r24,r20
2087
 2316 1000 77FF      		sbrs r23,7
2088
 2317 1002 00C0      		rjmp .L111
2089
 2318 1004 B095      		com r27
2090
 2319 1006 A095      		com r26
2091
 2320 1008 9095      		com r25
2092
 2321 100a 8195      		neg r24
2093
 2322 100c 9F4F      		sbci r25,lo8(-1)
2094
 2323 100e AF4F      		sbci r26,lo8(-1)
2095
 2324 1010 BF4F      		sbci r27,lo8(-1)
2096
 2325               	.L111:
2097
 2326 1012 8138      		cpi r24,lo8(129)
2098
 2327 1014 9105      		cpc r25,__zero_reg__
2099
 2328 1016 A105      		cpc r26,__zero_reg__
2100
 2329 1018 B105      		cpc r27,__zero_reg__
2101
 2330 101a 04F0      		brlt .L112
2102
 2331               	.L109:
2103
 2332 101c 81E0      		ldi r24,lo8(1)
2104
 2333 101e 8093 0000 		sts TrichterFlug,r24
2105
 2334 1022 00C0      		rjmp .L112
2106
 2335               	.L95:
2107
 2336 1024 1092 0000 		sts (KopplungsteilRollNick)+1,__zero_reg__
2108
 2337 1028 1092 0000 		sts KopplungsteilRollNick,__zero_reg__
2109
 2338 102c 1092 0000 		sts (KopplungsteilNickRoll)+1,__zero_reg__
2110
 2339 1030 1092 0000 		sts KopplungsteilNickRoll,__zero_reg__
2111
 2340 1034 1092 0000 		sts tmpl2.28,__zero_reg__
2112
 2341 1038 1092 0000 		sts (tmpl2.28)+1,__zero_reg__
2113
 2342 103c 1092 0000 		sts (tmpl2.28)+2,__zero_reg__
2114
 2343 1040 1092 0000 		sts (tmpl2.28)+3,__zero_reg__
2115
 2344 1044 1092 0000 		sts tmpl.27,__zero_reg__
2116
 2345 1048 1092 0000 		sts (tmpl.27)+1,__zero_reg__
2117
 2346 104c 1092 0000 		sts (tmpl.27)+2,__zero_reg__
2118
 2347 1050 1092 0000 		sts (tmpl.27)+3,__zero_reg__
2119
 2348               	.L112:
2120
 2349 1054 8091 0000 		lds r24,tmpl2.28
2121
 2350 1058 9091 0000 		lds r25,(tmpl2.28)+1
2122
 2351 105c A091 0000 		lds r26,(tmpl2.28)+2
2123
 2352 1060 B091 0000 		lds r27,(tmpl2.28)+3
2124
 2353 1064 BC01      		movw r22,r24
2125
 2354 1066 CD01      		movw r24,r26
2126
 2355 1068 24E6      		ldi r18,lo8(100)
2127
 2356 106a 30E0      		ldi r19,hi8(100)
2128
 2357 106c 40E0      		ldi r20,hlo8(100)
2129
 2358 106e 50E0      		ldi r21,hhi8(100)
2130
 2359 1070 0E94 0000 		call __divmodsi4
2131
 2360 1074 E090 0000 		lds r14,tmpl.27
2132
 2361 1078 F090 0000 		lds r15,(tmpl.27)+1
2133
 2362 107c E21A      		sub r14,r18
2134
 2363 107e F30A      		sbc r15,r19
2135
 2364 1080 F092 0000 		sts (TrimRoll)+1,r15
2136
 2365 1084 E092 0000 		sts TrimRoll,r14
2137
 2366 1088 8091 0000 		lds r24,tmpl.27
2138
 2367 108c 9091 0000 		lds r25,(tmpl.27)+1
2139
 2368 1090 A091 0000 		lds r26,(tmpl.27)+2
2140
 2369 1094 B091 0000 		lds r27,(tmpl.27)+3
2141
 2370 1098 BC01      		movw r22,r24
2142
 2371 109a CD01      		movw r24,r26
2143
 2372 109c 24E6      		ldi r18,lo8(100)
2144
 2373 109e 30E0      		ldi r19,hi8(100)
2145
 2374 10a0 40E0      		ldi r20,hlo8(100)
2146
 2375 10a2 50E0      		ldi r21,hhi8(100)
2147
 2376 10a4 0E94 0000 		call __divmodsi4
2148
 2377 10a8 DA01      		movw r26,r20
2149
 2378 10aa C901      		movw r24,r18
2150
 2379 10ac 2091 0000 		lds r18,tmpl2.28
2151
 2380 10b0 3091 0000 		lds r19,(tmpl2.28)+1
2152
 2381 10b4 8C01      		movw r16,r24
2153
 2382 10b6 021B      		sub r16,r18
2154
 2383 10b8 130B      		sbc r17,r19
2155
 2384 10ba 1093 0000 		sts (TrimNick)+1,r17
2156
 2385 10be 0093 0000 		sts TrimNick,r16
2157
 2386 10c2 8091 0000 		lds r24,GIER_GRAD_FAKTOR
2158
 2387 10c6 9091 0000 		lds r25,(GIER_GRAD_FAKTOR)+1
2159
 2388 10ca A091 0000 		lds r26,(GIER_GRAD_FAKTOR)+2
2160
 2389 10ce B091 0000 		lds r27,(GIER_GRAD_FAKTOR)+3
2161
 2390 10d2 BC01      		movw r22,r24
2162
 2391 10d4 CD01      		movw r24,r26
2163
 2392 10d6 28E6      		ldi r18,lo8(360)
2164
 2393 10d8 31E0      		ldi r19,hi8(360)
2165
 2394 10da 40E0      		ldi r20,hlo8(360)
2166
 2395 10dc 50E0      		ldi r21,hhi8(360)
2167
 2396 10de 0E94 0000 		call __mulsi3
2168
 2397 10e2 2091 0000 		lds r18,ErsatzKompass
2169
 2398 10e6 3091 0000 		lds r19,(ErsatzKompass)+1
2170
 2399 10ea 4091 0000 		lds r20,(ErsatzKompass)+2
2171
 2400 10ee 5091 0000 		lds r21,(ErsatzKompass)+3
2172
 2401 10f2 2617      		cp r18,r22
2173
 2402 10f4 3707      		cpc r19,r23
2174
 2403 10f6 4807      		cpc r20,r24
2175
 2404 10f8 5907      		cpc r21,r25
2176
 2405 10fa 04F0      		brlt .L113
2177
 2406 10fc 261B      		sub r18,r22
2178
 2407 10fe 370B      		sbc r19,r23
2179
 2408 1100 480B      		sbc r20,r24
2180
 2409 1102 590B      		sbc r21,r25
2181
 2410 1104 2093 0000 		sts ErsatzKompass,r18
2182
 2411 1108 3093 0000 		sts (ErsatzKompass)+1,r19
2183
 2412 110c 4093 0000 		sts (ErsatzKompass)+2,r20
2184
 2413 1110 5093 0000 		sts (ErsatzKompass)+3,r21
2185
 2414               	.L113:
2186
 2415 1114 2091 0000 		lds r18,ErsatzKompass
2187
 2416 1118 3091 0000 		lds r19,(ErsatzKompass)+1
2188
 2417 111c 4091 0000 		lds r20,(ErsatzKompass)+2
2189
 2418 1120 5091 0000 		lds r21,(ErsatzKompass)+3
2190
 2419 1124 57FF      		sbrs r21,7
2191
 2420 1126 00C0      		rjmp .L114
2192
 2421 1128 260F      		add r18,r22
2193
 2422 112a 371F      		adc r19,r23
2194
 2423 112c 481F      		adc r20,r24
2195
 2424 112e 591F      		adc r21,r25
2196
 2425 1130 2093 0000 		sts ErsatzKompass,r18
2197
 2426 1134 3093 0000 		sts (ErsatzKompass)+1,r19
2198
 2427 1138 4093 0000 		sts (ErsatzKompass)+2,r20
2199
 2428 113c 5093 0000 		sts (ErsatzKompass)+3,r21
2200
 2429               	.L114:
2201
 2430 1140 6091 0000 		lds r22,MesswertRoll
2202
 2431 1144 7091 0000 		lds r23,(MesswertRoll)+1
2203
 2432 1148 6E0D      		add r22,r14
2204
 2433 114a 7F1D      		adc r23,r15
2205
 2434 114c 9B01      		movw r18,r22
2206
 2435 114e 4427      		clr r20
2207
 2436 1150 37FD      		sbrc r19,7
2208
 2437 1152 4095      		com r20
2209
 2438 1154 542F      		mov r21,r20
2210
 2439 1156 8091 0000 		lds r24,Mess_IntegralRoll2
2211
 2440 115a 9091 0000 		lds r25,(Mess_IntegralRoll2)+1
2212
 2441 115e A091 0000 		lds r26,(Mess_IntegralRoll2)+2
2213
 2442 1162 B091 0000 		lds r27,(Mess_IntegralRoll2)+3
2214
 2443 1166 820F      		add r24,r18
2215
 2444 1168 931F      		adc r25,r19
2216
 2445 116a A41F      		adc r26,r20
2217
 2446 116c B51F      		adc r27,r21
2218
 2447 116e 8093 0000 		sts Mess_IntegralRoll2,r24
2219
 2448 1172 9093 0000 		sts (Mess_IntegralRoll2)+1,r25
2220
 2449 1176 A093 0000 		sts (Mess_IntegralRoll2)+2,r26
2221
 2450 117a B093 0000 		sts (Mess_IntegralRoll2)+3,r27
2222
 2451 117e 8091 0000 		lds r24,LageKorrekturRoll
2223
 2452 1182 9091 0000 		lds r25,(LageKorrekturRoll)+1
2224
 2453 1186 681B      		sub r22,r24
2225
 2454 1188 790B      		sbc r23,r25
2226
 2455 118a CB01      		movw r24,r22
2227
 2456 118c AA27      		clr r26
2228
 2457 118e 97FD      		sbrc r25,7
2229
 2458 1190 A095      		com r26
2230
 2459 1192 BA2F      		mov r27,r26
2231
 2460 1194 2985      		ldd r18,Y+9
2232
 2461 1196 3A85      		ldd r19,Y+10
2233
 2462 1198 4B85      		ldd r20,Y+11
2234
 2463 119a 5C85      		ldd r21,Y+12
2235
 2464 119c 820F      		add r24,r18
2236
 2465 119e 931F      		adc r25,r19
2237
 2466 11a0 A41F      		adc r26,r20
2238
 2467 11a2 B51F      		adc r27,r21
2239
 2468 11a4 8093 0000 		sts Mess_IntegralRoll,r24
2240
 2469 11a8 9093 0000 		sts (Mess_IntegralRoll)+1,r25
2241
 2470 11ac A093 0000 		sts (Mess_IntegralRoll)+2,r26
2242
 2471 11b0 B093 0000 		sts (Mess_IntegralRoll)+3,r27
2243
 2472 11b4 C090 0000 		lds r12,Umschlag180Roll
2244
 2473 11b8 D090 0000 		lds r13,(Umschlag180Roll)+1
2245
 2474 11bc E090 0000 		lds r14,(Umschlag180Roll)+2
2246
 2475 11c0 F090 0000 		lds r15,(Umschlag180Roll)+3
2247
 2476 11c4 C816      		cp r12,r24
2248
 2477 11c6 D906      		cpc r13,r25
2249
 2478 11c8 EA06      		cpc r14,r26
2250
 2479 11ca FB06      		cpc r15,r27
2251
 2480 11cc 04F4      		brge .L115
2252
 2481 11ce 88EA      		ldi r24,lo8(25000)
2253
 2482 11d0 91E6      		ldi r25,hi8(25000)
2254
 2483 11d2 A0E0      		ldi r26,hlo8(25000)
2255
 2484 11d4 B0E0      		ldi r27,hhi8(25000)
2256
 2485 11d6 8C19      		sub r24,r12
2257
 2486 11d8 9D09      		sbc r25,r13
2258
 2487 11da AE09      		sbc r26,r14
2259
 2488 11dc BF09      		sbc r27,r15
2260
 2489 11de 8093 0000 		sts Mess_IntegralRoll,r24
2261
 2490 11e2 9093 0000 		sts (Mess_IntegralRoll)+1,r25
2262
 2491 11e6 A093 0000 		sts (Mess_IntegralRoll)+2,r26
2263
 2492 11ea B093 0000 		sts (Mess_IntegralRoll)+3,r27
2264
 2493 11ee 8093 0000 		sts Mess_IntegralRoll2,r24
2265
 2494 11f2 9093 0000 		sts (Mess_IntegralRoll2)+1,r25
2266
 2495 11f6 A093 0000 		sts (Mess_IntegralRoll2)+2,r26
2267
 2496 11fa B093 0000 		sts (Mess_IntegralRoll2)+3,r27
2268
 2497               	.L115:
2269
 2498 11fe 2227      		clr r18
2270
 2499 1200 3327      		clr r19
2271
 2500 1202 A901      		movw r20,r18
2272
 2501 1204 2C19      		sub r18,r12
2273
 2502 1206 3D09      		sbc r19,r13
2274
 2503 1208 4E09      		sbc r20,r14
2275
 2504 120a 5F09      		sbc r21,r15
2276
 2505 120c 8091 0000 		lds r24,Mess_IntegralRoll
2277
 2506 1210 9091 0000 		lds r25,(Mess_IntegralRoll)+1
2278
 2507 1214 A091 0000 		lds r26,(Mess_IntegralRoll)+2
2279
 2508 1218 B091 0000 		lds r27,(Mess_IntegralRoll)+3
2280
 2509 121c 8217      		cp r24,r18
2281
 2510 121e 9307      		cpc r25,r19
2282
 2511 1220 A407      		cpc r26,r20
2283
 2512 1222 B507      		cpc r27,r21
2284
 2513 1224 04F4      		brge .L116
2285
 2514 1226 D701      		movw r26,r14
2286
 2515 1228 C601      		movw r24,r12
2287
 2516 122a 885A      		subi r24,lo8(-(-25000))
2288
 2517 122c 9146      		sbci r25,hi8(-(-25000))
2289
 2518 122e A040      		sbci r26,hlo8(-(-25000))
2290
 2519 1230 B040      		sbci r27,hhi8(-(-25000))
2291
 2520 1232 8093 0000 		sts Mess_IntegralRoll,r24
2292
 2521 1236 9093 0000 		sts (Mess_IntegralRoll)+1,r25
2293
 2522 123a A093 0000 		sts (Mess_IntegralRoll)+2,r26
2294
 2523 123e B093 0000 		sts (Mess_IntegralRoll)+3,r27
2295
 2524 1242 8093 0000 		sts Mess_IntegralRoll2,r24
2296
 2525 1246 9093 0000 		sts (Mess_IntegralRoll2)+1,r25
2297
 2526 124a A093 0000 		sts (Mess_IntegralRoll2)+2,r26
2298
 2527 124e B093 0000 		sts (Mess_IntegralRoll2)+3,r27
2299
 2528               	.L116:
2300
 2529 1252 6091 0000 		lds r22,MesswertNick
2301
 2530 1256 7091 0000 		lds r23,(MesswertNick)+1
2302
 2531 125a 600F      		add r22,r16
2303
 2532 125c 711F      		adc r23,r17
2304
 2533 125e 9B01      		movw r18,r22
2305
 2534 1260 4427      		clr r20
2306
 2535 1262 37FD      		sbrc r19,7
2307
 2536 1264 4095      		com r20
2308
 2537 1266 542F      		mov r21,r20
2309
 2538 1268 8091 0000 		lds r24,Mess_IntegralNick2
2310
 2539 126c 9091 0000 		lds r25,(Mess_IntegralNick2)+1
2311
 2540 1270 A091 0000 		lds r26,(Mess_IntegralNick2)+2
2312
 2541 1274 B091 0000 		lds r27,(Mess_IntegralNick2)+3
2313
 2542 1278 820F      		add r24,r18
2314
 2543 127a 931F      		adc r25,r19
2315
 2544 127c A41F      		adc r26,r20
2316
 2545 127e B51F      		adc r27,r21
2317
 2546 1280 8093 0000 		sts Mess_IntegralNick2,r24
2318
 2547 1284 9093 0000 		sts (Mess_IntegralNick2)+1,r25
2319
 2548 1288 A093 0000 		sts (Mess_IntegralNick2)+2,r26
2320
 2549 128c B093 0000 		sts (Mess_IntegralNick2)+3,r27
2321
 2550 1290 8091 0000 		lds r24,LageKorrekturNick
2322
 2551 1294 9091 0000 		lds r25,(LageKorrekturNick)+1
2323
 2552 1298 681B      		sub r22,r24
2324
 2553 129a 790B      		sbc r23,r25
2325
 2554 129c CB01      		movw r24,r22
2326
 2555 129e AA27      		clr r26
2327
 2556 12a0 97FD      		sbrc r25,7
2328
 2557 12a2 A095      		com r26
2329
 2558 12a4 BA2F      		mov r27,r26
2330
 2559 12a6 2D85      		ldd r18,Y+13
2331
 2560 12a8 3E85      		ldd r19,Y+14
2332
 2561 12aa 4F85      		ldd r20,Y+15
2333
 2562 12ac 5889      		ldd r21,Y+16
2334
 2563 12ae 820F      		add r24,r18
2335
 2564 12b0 931F      		adc r25,r19
2336
 2565 12b2 A41F      		adc r26,r20
2337
 2566 12b4 B51F      		adc r27,r21
2338
 2567 12b6 8093 0000 		sts Mess_IntegralNick,r24
2339
 2568 12ba 9093 0000 		sts (Mess_IntegralNick)+1,r25
2340
 2569 12be A093 0000 		sts (Mess_IntegralNick)+2,r26
2341
 2570 12c2 B093 0000 		sts (Mess_IntegralNick)+3,r27
2342
 2571 12c6 E090 0000 		lds r14,Umschlag180Nick
2343
 2572 12ca F090 0000 		lds r15,(Umschlag180Nick)+1
2344
 2573 12ce 0091 0000 		lds r16,(Umschlag180Nick)+2
2345
 2574 12d2 1091 0000 		lds r17,(Umschlag180Nick)+3
2346
 2575 12d6 E816      		cp r14,r24
2347
 2576 12d8 F906      		cpc r15,r25
2348
 2577 12da 0A07      		cpc r16,r26
2349
 2578 12dc 1B07      		cpc r17,r27
2350
 2579 12de 04F4      		brge .L117
2351
 2580 12e0 88EA      		ldi r24,lo8(25000)
2352
 2581 12e2 91E6      		ldi r25,hi8(25000)
2353
 2582 12e4 A0E0      		ldi r26,hlo8(25000)
2354
 2583 12e6 B0E0      		ldi r27,hhi8(25000)
2355
 2584 12e8 8E19      		sub r24,r14
2356
 2585 12ea 9F09      		sbc r25,r15
2357
 2586 12ec A00B      		sbc r26,r16
2358
 2587 12ee B10B      		sbc r27,r17
2359
 2588 12f0 8093 0000 		sts Mess_IntegralNick,r24
2360
 2589 12f4 9093 0000 		sts (Mess_IntegralNick)+1,r25
2361
 2590 12f8 A093 0000 		sts (Mess_IntegralNick)+2,r26
2362
 2591 12fc B093 0000 		sts (Mess_IntegralNick)+3,r27
2363
 2592 1300 8093 0000 		sts Mess_IntegralNick2,r24
2364
 2593 1304 9093 0000 		sts (Mess_IntegralNick2)+1,r25
2365
 2594 1308 A093 0000 		sts (Mess_IntegralNick2)+2,r26
2366
 2595 130c B093 0000 		sts (Mess_IntegralNick2)+3,r27
2367
 2596               	.L117:
2368
 2597 1310 2227      		clr r18
2369
 2598 1312 3327      		clr r19
2370
 2599 1314 A901      		movw r20,r18
2371
 2600 1316 2E19      		sub r18,r14
2372
 2601 1318 3F09      		sbc r19,r15
2373
 2602 131a 400B      		sbc r20,r16
2374
 2603 131c 510B      		sbc r21,r17
2375
 2604 131e 8091 0000 		lds r24,Mess_IntegralNick
2376
 2605 1322 9091 0000 		lds r25,(Mess_IntegralNick)+1
2377
 2606 1326 A091 0000 		lds r26,(Mess_IntegralNick)+2
2378
 2607 132a B091 0000 		lds r27,(Mess_IntegralNick)+3
2379
 2608 132e 8217      		cp r24,r18
2380
 2609 1330 9307      		cpc r25,r19
2381
 2610 1332 A407      		cpc r26,r20
2382
 2611 1334 B507      		cpc r27,r21
2383
 2612 1336 04F4      		brge .L118
2384
 2613 1338 D801      		movw r26,r16
2385
 2614 133a C701      		movw r24,r14
2386
 2615 133c 885A      		subi r24,lo8(-(-25000))
2387
 2616 133e 9146      		sbci r25,hi8(-(-25000))
2388
 2617 1340 A040      		sbci r26,hlo8(-(-25000))
2389
 2618 1342 B040      		sbci r27,hhi8(-(-25000))
2390
 2619 1344 8093 0000 		sts Mess_IntegralNick,r24
2391
 2620 1348 9093 0000 		sts (Mess_IntegralNick)+1,r25
2392
 2621 134c A093 0000 		sts (Mess_IntegralNick)+2,r26
2393
 2622 1350 B093 0000 		sts (Mess_IntegralNick)+3,r27
2394
 2623 1354 8093 0000 		sts Mess_IntegralNick2,r24
2395
 2624 1358 9093 0000 		sts (Mess_IntegralNick2)+1,r25
2396
 2625 135c A093 0000 		sts (Mess_IntegralNick2)+2,r26
2397
 2626 1360 B093 0000 		sts (Mess_IntegralNick2)+3,r27
2398
 2627               	.L118:
2399
 2628 1364 8091 0000 		lds r24,Mess_Integral_Gier
2400
 2629 1368 9091 0000 		lds r25,(Mess_Integral_Gier)+1
2401
 2630 136c A091 0000 		lds r26,(Mess_Integral_Gier)+2
2402
 2631 1370 B091 0000 		lds r27,(Mess_Integral_Gier)+3
2403
 2632 1374 8093 0000 		sts Integral_Gier,r24
2404
 2633 1378 9093 0000 		sts (Integral_Gier)+1,r25
2405
 2634 137c A093 0000 		sts (Integral_Gier)+2,r26
2406
 2635 1380 B093 0000 		sts (Integral_Gier)+3,r27
2407
 2636 1384 8091 0000 		lds r24,Mess_IntegralNick
2408
 2637 1388 9091 0000 		lds r25,(Mess_IntegralNick)+1
2409
 2638 138c A091 0000 		lds r26,(Mess_IntegralNick)+2
2410
 2639 1390 B091 0000 		lds r27,(Mess_IntegralNick)+3
2411
 2640 1394 8093 0000 		sts IntegralNick,r24
2412
 2641 1398 9093 0000 		sts (IntegralNick)+1,r25
2413
 2642 139c A093 0000 		sts (IntegralNick)+2,r26
2414
 2643 13a0 B093 0000 		sts (IntegralNick)+3,r27
2415
 2644 13a4 8091 0000 		lds r24,Mess_IntegralRoll
2416
 2645 13a8 9091 0000 		lds r25,(Mess_IntegralRoll)+1
2417
 2646 13ac A091 0000 		lds r26,(Mess_IntegralRoll)+2
2418
 2647 13b0 B091 0000 		lds r27,(Mess_IntegralRoll)+3
2419
 2648 13b4 8093 0000 		sts IntegralRoll,r24
2420
 2649 13b8 9093 0000 		sts (IntegralRoll)+1,r25
2421
 2650 13bc A093 0000 		sts (IntegralRoll)+2,r26
2422
 2651 13c0 B093 0000 		sts (IntegralRoll)+3,r27
2423
 2652 13c4 8091 0000 		lds r24,Mess_IntegralNick2
2424
 2653 13c8 9091 0000 		lds r25,(Mess_IntegralNick2)+1
2425
 2654 13cc A091 0000 		lds r26,(Mess_IntegralNick2)+2
2426
 2655 13d0 B091 0000 		lds r27,(Mess_IntegralNick2)+3
2427
 2656 13d4 8093 0000 		sts IntegralNick2,r24
2428
 2657 13d8 9093 0000 		sts (IntegralNick2)+1,r25
2429
 2658 13dc A093 0000 		sts (IntegralNick2)+2,r26
2430
 2659 13e0 B093 0000 		sts (IntegralNick2)+3,r27
2431
 2660 13e4 8091 0000 		lds r24,Mess_IntegralRoll2
2432
 2661 13e8 9091 0000 		lds r25,(Mess_IntegralRoll2)+1
2433
 2662 13ec A091 0000 		lds r26,(Mess_IntegralRoll2)+2
2434
 2663 13f0 B091 0000 		lds r27,(Mess_IntegralRoll2)+3
2435
 2664 13f4 8093 0000 		sts IntegralRoll2,r24
2436
 2665 13f8 9093 0000 		sts (IntegralRoll2)+1,r25
2437
 2666 13fc A093 0000 		sts (IntegralRoll2)+2,r26
2438
 2667 1400 B093 0000 		sts (IntegralRoll2)+3,r27
2439
 2668 1404 8091 0000 		lds r24,HiResNick
2440
 2669 1408 9091 0000 		lds r25,(HiResNick)+1
2441
 2670 140c 97FD      		sbrc r25,7
2442
 2671 140e 0796      		adiw r24,7
2443
 2672               	.L119:
2444
 2673 1410 03E0      		ldi r16,3
2445
 2674 1412 9595      	1:	asr r25
2446
 2675 1414 8795      		ror r24
2447
 2676 1416 0A95      		dec r16
2448
 2677 1418 01F4      		brne 1b
2449
 2678 141a 9093 0000 		sts (MesswertNick)+1,r25
2450
 2679 141e 8093 0000 		sts MesswertNick,r24
2451
 2680 1422 8091 0000 		lds r24,HiResRoll
2452
 2681 1426 9091 0000 		lds r25,(HiResRoll)+1
2453
 2682 142a 97FD      		sbrc r25,7
2454
 2683 142c 0796      		adiw r24,7
2455
 2684               	.L120:
2456
 2685 142e 13E0      		ldi r17,3
2457
 2686 1430 9595      	1:	asr r25
2458
 2687 1432 8795      		ror r24
2459
 2688 1434 1A95      		dec r17
2460
 2689 1436 01F4      		brne 1b
2461
 2690 1438 9093 0000 		sts (MesswertRoll)+1,r25
2462
 2691 143c 8093 0000 		sts MesswertRoll,r24
2463
 2692 1440 8091 0000 		lds r24,AdWertNick
2464
 2693 1444 9091 0000 		lds r25,(AdWertNick)+1
2465
 2694 1448 0F97      		sbiw r24,15
2466
 2695 144a 04F4      		brge .L121
2467
 2696 144c 88E1      		ldi r24,lo8(-1000)
2468
 2697 144e 9CEF      		ldi r25,hi8(-1000)
2469
 2698 1450 9093 0000 		sts (MesswertNick)+1,r25
2470
 2699 1454 8093 0000 		sts MesswertNick,r24
2471
 2700               	.L121:
2472
 2701 1458 8091 0000 		lds r24,AdWertNick
2473
 2702 145c 9091 0000 		lds r25,(AdWertNick)+1
2474
 2703 1460 0797      		sbiw r24,7
2475
 2704 1462 04F4      		brge .L122
2476
 2705 1464 80E3      		ldi r24,lo8(-2000)
2477
 2706 1466 98EF      		ldi r25,hi8(-2000)
2478
 2707 1468 9093 0000 		sts (MesswertNick)+1,r25
2479
 2708 146c 8093 0000 		sts MesswertNick,r24
2480
 2709               	.L122:
2481
 2710 1470 2091 0000 		lds r18,PlatinenVersion
2482
 2711 1474 2A30      		cpi r18,lo8(10)
2483
 2712 1476 01F4      		brne .L123
2484
 2713 1478 8091 0000 		lds r24,AdWertNick
2485
 2714 147c 9091 0000 		lds r25,(AdWertNick)+1
2486
 2715 1480 835F      		subi r24,lo8(1011)
2487
 2716 1482 9340      		sbci r25,hi8(1011)
2488
 2717 1484 04F0      		brlt .L124
2489
 2718 1486 88EE      		ldi r24,lo8(1000)
2490
 2719 1488 93E0      		ldi r25,hi8(1000)
2491
 2720 148a 9093 0000 		sts (MesswertNick)+1,r25
2492
 2721 148e 8093 0000 		sts MesswertNick,r24
2493
 2722               	.L124:
2494
 2723 1492 8091 0000 		lds r24,AdWertNick
2495
 2724 1496 9091 0000 		lds r25,(AdWertNick)+1
2496
 2725 149a 8A5F      		subi r24,lo8(1018)
2497
 2726 149c 9340      		sbci r25,hi8(1018)
2498
 2727 149e 04F0      		brlt .L126
2499
 2728 14a0 00C0      		rjmp .L169
2500
 2729               	.L123:
2501
 2730 14a2 8091 0000 		lds r24,AdWertNick
2502
 2731 14a6 9091 0000 		lds r25,(AdWertNick)+1
2503
 2732 14aa 815D      		subi r24,lo8(2001)
2504
 2733 14ac 9740      		sbci r25,hi8(2001)
2505
 2734 14ae 04F0      		brlt .L127
2506
 2735 14b0 88EE      		ldi r24,lo8(1000)
2507
 2736 14b2 93E0      		ldi r25,hi8(1000)
2508
 2737 14b4 9093 0000 		sts (MesswertNick)+1,r25
2509
 2738 14b8 8093 0000 		sts MesswertNick,r24
2510
 2739               	.L127:
2511
 2740 14bc 8091 0000 		lds r24,AdWertNick
2512
 2741 14c0 9091 0000 		lds r25,(AdWertNick)+1
2513
 2742 14c4 805E      		subi r24,lo8(2016)
2514
 2743 14c6 9740      		sbci r25,hi8(2016)
2515
 2744 14c8 04F0      		brlt .L126
2516
 2745               	.L169:
2517
 2746 14ca 80ED      		ldi r24,lo8(2000)
2518
 2747 14cc 97E0      		ldi r25,hi8(2000)
2519
 2748 14ce 9093 0000 		sts (MesswertNick)+1,r25
2520
 2749 14d2 8093 0000 		sts MesswertNick,r24
2521
 2750               	.L126:
2522
 2751 14d6 8091 0000 		lds r24,AdWertRoll
2523
 2752 14da 9091 0000 		lds r25,(AdWertRoll)+1
2524
 2753 14de 0F97      		sbiw r24,15
2525
 2754 14e0 04F4      		brge .L129
2526
 2755 14e2 88E1      		ldi r24,lo8(-1000)
2527
 2756 14e4 9CEF      		ldi r25,hi8(-1000)
2528
 2757 14e6 9093 0000 		sts (MesswertRoll)+1,r25
2529
 2758 14ea 8093 0000 		sts MesswertRoll,r24
2530
 2759               	.L129:
2531
 2760 14ee 8091 0000 		lds r24,AdWertRoll
2532
 2761 14f2 9091 0000 		lds r25,(AdWertRoll)+1
2533
 2762 14f6 0797      		sbiw r24,7
2534
 2763 14f8 04F4      		brge .L130
2535
 2764 14fa 80E3      		ldi r24,lo8(-2000)
2536
 2765 14fc 98EF      		ldi r25,hi8(-2000)
2537
 2766 14fe 9093 0000 		sts (MesswertRoll)+1,r25
2538
 2767 1502 8093 0000 		sts MesswertRoll,r24
2539
 2768               	.L130:
2540
 2769 1506 2A30      		cpi r18,lo8(10)
2541
 2770 1508 01F4      		brne .L131
2542
 2771 150a 8091 0000 		lds r24,AdWertRoll
2543
 2772 150e 9091 0000 		lds r25,(AdWertRoll)+1
2544
 2773 1512 835F      		subi r24,lo8(1011)
2545
 2774 1514 9340      		sbci r25,hi8(1011)
2546
 2775 1516 04F0      		brlt .L132
2547
 2776 1518 88EE      		ldi r24,lo8(1000)
2548
 2777 151a 93E0      		ldi r25,hi8(1000)
2549
 2778 151c 9093 0000 		sts (MesswertRoll)+1,r25
2550
 2779 1520 8093 0000 		sts MesswertRoll,r24
2551
 2780               	.L132:
2552
 2781 1524 8091 0000 		lds r24,AdWertRoll
2553
 2782 1528 9091 0000 		lds r25,(AdWertRoll)+1
2554
 2783 152c 8A5F      		subi r24,lo8(1018)
2555
 2784 152e 9340      		sbci r25,hi8(1018)
2556
 2785 1530 04F0      		brlt .L134
2557
 2786 1532 00C0      		rjmp .L170
2558
 2787               	.L131:
2559
 2788 1534 8091 0000 		lds r24,AdWertRoll
2560
 2789 1538 9091 0000 		lds r25,(AdWertRoll)+1
2561
 2790 153c 815D      		subi r24,lo8(2001)
2562
 2791 153e 9740      		sbci r25,hi8(2001)
2563
 2792 1540 04F0      		brlt .L135
2564
 2793 1542 88EE      		ldi r24,lo8(1000)
2565
 2794 1544 93E0      		ldi r25,hi8(1000)
2566
 2795 1546 9093 0000 		sts (MesswertRoll)+1,r25
2567
 2796 154a 8093 0000 		sts MesswertRoll,r24
2568
 2797               	.L135:
2569
 2798 154e 8091 0000 		lds r24,AdWertRoll
2570
 2799 1552 9091 0000 		lds r25,(AdWertRoll)+1
2571
 2800 1556 805E      		subi r24,lo8(2016)
2572
 2801 1558 9740      		sbci r25,hi8(2016)
2573
 2802 155a 04F0      		brlt .L134
2574
 2803               	.L170:
2575
 2804 155c 80ED      		ldi r24,lo8(2000)
2576
 2805 155e 97E0      		ldi r25,hi8(2000)
2577
 2806 1560 9093 0000 		sts (MesswertRoll)+1,r25
2578
 2807 1564 8093 0000 		sts MesswertRoll,r24
2579
 2808               	.L134:
2580
 2809 1568 6091 0000 		lds r22,Parameter_Gyro_D
2581
 2810 156c 6623      		tst r22
2582
 2811 156e 01F4      		brne .+2
2583
 2812 1570 00C0      		rjmp .L137
2584
 2813 1572 4091 0000 		lds r20,HiResNick
2585
 2814 1576 5091 0000 		lds r21,(HiResNick)+1
2586
 2815 157a 8091 0000 		lds r24,oldNick.31
2587
 2816 157e 9091 0000 		lds r25,(oldNick.31)+1
2588
 2817 1582 481B      		sub r20,r24
2589
 2818 1584 590B      		sbc r21,r25
2590
 2819 1586 5093 0000 		sts (d2Nick.34)+1,r21
2591
 2820 158a 4093 0000 		sts d2Nick.34,r20
2592
 2821 158e 2091 0000 		lds r18,HiResNick
2593
 2822 1592 3091 0000 		lds r19,(HiResNick)+1
2594
 2823 1596 280F      		add r18,r24
2595
 2824 1598 391F      		adc r19,r25
2596
 2825 159a 37FF      		sbrs r19,7
2597
 2826 159c 00C0      		rjmp .L138
2598
 2827 159e 2F5F      		subi r18,lo8(-(1))
2599
 2828 15a0 3F4F      		sbci r19,hi8(-(1))
2600
 2829               	.L138:
2601
 2830 15a2 3595      		asr r19
2602
 2831 15a4 2795      		ror r18
2603
 2832 15a6 3093 0000 		sts (oldNick.31)+1,r19
2604
 2833 15aa 2093 0000 		sts oldNick.31,r18
2605
 2834 15ae 4138      		cpi r20,129
2606
 2835 15b0 5105      		cpc r21,__zero_reg__
2607
 2836 15b2 04F0      		brlt .L139
2608
 2837 15b4 80E8      		ldi r24,lo8(128)
2609
 2838 15b6 90E0      		ldi r25,hi8(128)
2610
 2839 15b8 00C0      		rjmp .L171
2611
 2840               	.L139:
2612
 2841 15ba 4058      		subi r20,lo8(-128)
2613
 2842 15bc 5F4F      		sbci r21,hi8(-128)
2614
 2843 15be 04F4      		brge .L140
2615
 2844 15c0 80E8      		ldi r24,lo8(-128)
2616
 2845 15c2 9FEF      		ldi r25,hi8(-128)
2617
 2846               	.L171:
2618
 2847 15c4 9093 0000 		sts (d2Nick.34)+1,r25
2619
 2848 15c8 8093 0000 		sts d2Nick.34,r24
2620
 2849               	.L140:
2621
 2850 15cc 4091 0000 		lds r20,HiResRoll
2622
 2851 15d0 5091 0000 		lds r21,(HiResRoll)+1
2623
 2852 15d4 8091 0000 		lds r24,oldRoll.32
2624
 2853 15d8 9091 0000 		lds r25,(oldRoll.32)+1
2625
 2854 15dc 481B      		sub r20,r24
2626
 2855 15de 590B      		sbc r21,r25
2627
 2856 15e0 5093 0000 		sts (d2Roll.33)+1,r21
2628
 2857 15e4 4093 0000 		sts d2Roll.33,r20
2629
 2858 15e8 2091 0000 		lds r18,HiResRoll
2630
 2859 15ec 3091 0000 		lds r19,(HiResRoll)+1
2631
 2860 15f0 280F      		add r18,r24
2632
 2861 15f2 391F      		adc r19,r25
2633
 2862 15f4 37FF      		sbrs r19,7
2634
 2863 15f6 00C0      		rjmp .L142
2635
 2864 15f8 2F5F      		subi r18,lo8(-(1))
2636
 2865 15fa 3F4F      		sbci r19,hi8(-(1))
2637
 2866               	.L142:
2638
 2867 15fc 3595      		asr r19
2639
 2868 15fe 2795      		ror r18
2640
 2869 1600 3093 0000 		sts (oldRoll.32)+1,r19
2641
 2870 1604 2093 0000 		sts oldRoll.32,r18
2642
 2871 1608 4138      		cpi r20,129
2643
 2872 160a 5105      		cpc r21,__zero_reg__
2644
 2873 160c 04F0      		brlt .L143
2645
 2874 160e 80E8      		ldi r24,lo8(128)
2646
 2875 1610 90E0      		ldi r25,hi8(128)
2647
 2876 1612 00C0      		rjmp .L172
2648
 2877               	.L143:
2649
 2878 1614 4058      		subi r20,lo8(-128)
2650
 2879 1616 5F4F      		sbci r21,hi8(-128)
2651
 2880 1618 04F4      		brge .L144
2652
 2881 161a 80E8      		ldi r24,lo8(-128)
2653
 2882 161c 9FEF      		ldi r25,hi8(-128)
2654
 2883               	.L172:
2655
 2884 161e 9093 0000 		sts (d2Roll.33)+1,r25
2656
 2885 1622 8093 0000 		sts d2Roll.33,r24
2657
 2886               	.L144:
2658
 2887 1626 462F      		mov r20,r22
2659
 2888 1628 5527      		clr r21
2660
 2889 162a 8091 0000 		lds r24,d2Nick.34
2661
 2890 162e 9091 0000 		lds r25,(d2Nick.34)+1
2662
 2891 1632 849F      		mul r24,r20
2663
 2892 1634 B001      		movw r22,r0
2664
 2893 1636 859F      		mul r24,r21
2665
 2894 1638 700D      		add r23,r0
2666
 2895 163a 949F      		mul r25,r20
2667
 2896 163c 700D      		add r23,r0
2668
 2897 163e 1124      		clr r1
2669
 2898 1640 9B01      		movw r18,r22
2670
 2899 1642 77FF      		sbrs r23,7
2671
 2900 1644 00C0      		rjmp .L146
2672
 2901 1646 215F      		subi r18,lo8(-(15))
2673
 2902 1648 3F4F      		sbci r19,hi8(-(15))
2674
 2903               	.L146:
2675
 2904 164a F4E0      		ldi r31,4
2676
 2905 164c 3595      	1:	asr r19
2677
 2906 164e 2795      		ror r18
2678
 2907 1650 FA95      		dec r31
2679
 2908 1652 01F4      		brne 1b
2680
 2909 1654 8091 0000 		lds r24,MesswertNick
2681
 2910 1658 9091 0000 		lds r25,(MesswertNick)+1
2682
 2911 165c 820F      		add r24,r18
2683
 2912 165e 931F      		adc r25,r19
2684
 2913 1660 9093 0000 		sts (MesswertNick)+1,r25
2685
 2914 1664 8093 0000 		sts MesswertNick,r24
2686
 2915 1668 8091 0000 		lds r24,d2Roll.33
2687
 2916 166c 9091 0000 		lds r25,(d2Roll.33)+1
2688
 2917 1670 849F      		mul r24,r20
2689
 2918 1672 D001      		movw r26,r0
2690
 2919 1674 859F      		mul r24,r21
2691
 2920 1676 B00D      		add r27,r0
2692
 2921 1678 949F      		mul r25,r20
2693
 2922 167a B00D      		add r27,r0
2694
 2923 167c 1124      		clr r1
2695
 2924 167e AD01      		movw r20,r26
2696
 2925 1680 9D01      		movw r18,r26
2697
 2926 1682 B7FF      		sbrs r27,7
2698
 2927 1684 00C0      		rjmp .L147
2699
 2928 1686 215F      		subi r18,lo8(-(15))
2700
 2929 1688 3F4F      		sbci r19,hi8(-(15))
2701
 2930               	.L147:
2702
 2931 168a E4E0      		ldi r30,4
2703
 2932 168c 3595      	1:	asr r19
2704
 2933 168e 2795      		ror r18
2705
 2934 1690 EA95      		dec r30
2706
 2935 1692 01F4      		brne 1b
2707
 2936 1694 8091 0000 		lds r24,MesswertRoll
2708
 2937 1698 9091 0000 		lds r25,(MesswertRoll)+1
2709
 2938 169c 820F      		add r24,r18
2710
 2939 169e 931F      		adc r25,r19
2711
 2940 16a0 9093 0000 		sts (MesswertRoll)+1,r25
2712
 2941 16a4 8093 0000 		sts MesswertRoll,r24
2713
 2942 16a8 8091 0000 		lds r24,HiResNick
2714
 2943 16ac 9091 0000 		lds r25,(HiResNick)+1
2715
 2944 16b0 860F      		add r24,r22
2716
 2945 16b2 971F      		adc r25,r23
2717
 2946 16b4 9093 0000 		sts (HiResNick)+1,r25
2718
 2947 16b8 8093 0000 		sts HiResNick,r24
2719
 2948 16bc 8091 0000 		lds r24,HiResRoll
2720
 2949 16c0 9091 0000 		lds r25,(HiResRoll)+1
2721
 2950 16c4 840F      		add r24,r20
2722
 2951 16c6 951F      		adc r25,r21
2723
 2952 16c8 9093 0000 		sts (HiResRoll)+1,r25
2724
 2953 16cc 8093 0000 		sts HiResRoll,r24
2725
 2954               	.L137:
2726
 2955 16d0 0091 0000 		lds r16,RohMesswertRoll
2727
 2956 16d4 1091 0000 		lds r17,(RohMesswertRoll)+1
2728
 2957 16d8 8091 0000 		lds r24,KopplungsteilNickRoll
2729
 2958 16dc 9091 0000 		lds r25,(KopplungsteilNickRoll)+1
2730
 2959 16e0 1016      		cp __zero_reg__,r16
2731
 2960 16e2 1106      		cpc __zero_reg__,r17
2732
 2961 16e4 04F4      		brge .L148
2733
 2962 16e6 9C01      		movw r18,r24
2734
 2963 16e8 97FF      		sbrs r25,7
2735
 2964 16ea 00C0      		rjmp .L149
2736
 2965 16ec 2227      		clr r18
2737
 2966 16ee 3327      		clr r19
2738
 2967 16f0 281B      		sub r18,r24
2739
 2968 16f2 390B      		sbc r19,r25
2740
 2969               	.L149:
2741
 2970 16f4 C901      		movw r24,r18
2742
 2971 16f6 AA27      		clr r26
2743
 2972 16f8 97FD      		sbrc r25,7
2744
 2973 16fa A095      		com r26
2745
 2974 16fc BA2F      		mov r27,r26
2746
 2975 16fe 2091 0000 		lds r18,Parameter_CouplingYawCorrection
2747
 2976 1702 3327      		clr r19
2748
 2977 1704 4427      		clr r20
2749
 2978 1706 5527      		clr r21
2750
 2979 1708 BC01      		movw r22,r24
2751
 2980 170a CD01      		movw r24,r26
2752
 2981 170c 0E94 0000 		call __mulsi3
2753
 2982 1710 9B01      		movw r18,r22
2754
 2983 1712 AC01      		movw r20,r24
2755
 2984 1714 97FF      		sbrs r25,7
2756
 2985 1716 00C0      		rjmp .L150
2757
 2986 1718 215C      		subi r18,lo8(-(63))
2758
 2987 171a 3F4F      		sbci r19,hi8(-(63))
2759
 2988 171c 4F4F      		sbci r20,hlo8(-(63))
2760
 2989 171e 5F4F      		sbci r21,hhi8(-(63))
2761
 2990               	.L150:
2762
 2991 1720 76E0      		ldi r23,6
2763
 2992 1722 5595      	1:	asr r21
2764
 2993 1724 4795      		ror r20
2765
 2994 1726 3795      		ror r19
2766
 2995 1728 2795      		ror r18
2767
 2996 172a 7A95      		dec r23
2768
 2997 172c 01F4      		brne 1b
2769
 2998 172e 8091 0000 		lds r24,TrimRoll
2770
 2999 1732 9091 0000 		lds r25,(TrimRoll)+1
2771
 3000 1736 820F      		add r24,r18
2772
 3001 1738 931F      		adc r25,r19
2773
 3002 173a 00C0      		rjmp .L173
2774
 3003               	.L148:
2775
 3004 173c 97FF      		sbrs r25,7
2776
 3005 173e 00C0      		rjmp .L152
2777
 3006 1740 9095      		com r25
2778
 3007 1742 8195      		neg r24
2779
 3008 1744 9F4F      		sbci r25,lo8(-1)
2780
 3009               	.L152:
2781
 3010 1746 AA27      		clr r26
2782
 3011 1748 97FD      		sbrc r25,7
2783
 3012 174a A095      		com r26
2784
 3013 174c BA2F      		mov r27,r26
2785
 3014 174e 2091 0000 		lds r18,Parameter_CouplingYawCorrection
2786
 3015 1752 3327      		clr r19
2787
 3016 1754 4427      		clr r20
2788
 3017 1756 5527      		clr r21
2789
 3018 1758 BC01      		movw r22,r24
2790
 3019 175a CD01      		movw r24,r26
2791
 3020 175c 0E94 0000 		call __mulsi3
2792
 3021 1760 9B01      		movw r18,r22
2793
 3022 1762 AC01      		movw r20,r24
2794
 3023 1764 97FF      		sbrs r25,7
2795
 3024 1766 00C0      		rjmp .L153
2796
 3025 1768 215C      		subi r18,lo8(-(63))
2797
 3026 176a 3F4F      		sbci r19,hi8(-(63))
2798
 3027 176c 4F4F      		sbci r20,hlo8(-(63))
2799
 3028 176e 5F4F      		sbci r21,hhi8(-(63))
2800
 3029               	.L153:
2801
 3030 1770 66E0      		ldi r22,6
2802
 3031 1772 5595      	1:	asr r21
2803
 3032 1774 4795      		ror r20
2804
 3033 1776 3795      		ror r19
2805
 3034 1778 2795      		ror r18
2806
 3035 177a 6A95      		dec r22
2807
 3036 177c 01F4      		brne 1b
2808
 3037 177e 8091 0000 		lds r24,TrimRoll
2809
 3038 1782 9091 0000 		lds r25,(TrimRoll)+1
2810
 3039 1786 821B      		sub r24,r18
2811
 3040 1788 930B      		sbc r25,r19
2812
 3041               	.L173:
2813
 3042 178a 9093 0000 		sts (TrimRoll)+1,r25
2814
 3043 178e 8093 0000 		sts TrimRoll,r24
2815
 3044 1792 E090 0000 		lds r14,RohMesswertNick
2816
 3045 1796 F090 0000 		lds r15,(RohMesswertNick)+1
2817
 3046 179a 8091 0000 		lds r24,KopplungsteilRollNick
2818
 3047 179e 9091 0000 		lds r25,(KopplungsteilRollNick)+1
2819
 3048 17a2 1E14      		cp __zero_reg__,r14
2820
 3049 17a4 1F04      		cpc __zero_reg__,r15
2821
 3050 17a6 04F4      		brge .L154
2822
 3051 17a8 9C01      		movw r18,r24
2823
 3052 17aa 97FF      		sbrs r25,7
2824
 3053 17ac 00C0      		rjmp .L155
2825
 3054 17ae 2227      		clr r18
2826
 3055 17b0 3327      		clr r19
2827
 3056 17b2 281B      		sub r18,r24
2828
 3057 17b4 390B      		sbc r19,r25
2829
 3058               	.L155:
2830
 3059 17b6 C901      		movw r24,r18
2831
 3060 17b8 AA27      		clr r26
2832
 3061 17ba 97FD      		sbrc r25,7
2833
 3062 17bc A095      		com r26
2834
 3063 17be BA2F      		mov r27,r26
2835
 3064 17c0 2091 0000 		lds r18,Parameter_CouplingYawCorrection
2836
 3065 17c4 3327      		clr r19
2837
 3066 17c6 4427      		clr r20
2838
 3067 17c8 5527      		clr r21
2839
 3068 17ca BC01      		movw r22,r24
2840
 3069 17cc CD01      		movw r24,r26
2841
 3070 17ce 0E94 0000 		call __mulsi3
2842
 3071 17d2 9B01      		movw r18,r22
2843
 3072 17d4 AC01      		movw r20,r24
2844
 3073 17d6 97FF      		sbrs r25,7
2845
 3074 17d8 00C0      		rjmp .L156
2846
 3075 17da 215C      		subi r18,lo8(-(63))
2847
 3076 17dc 3F4F      		sbci r19,hi8(-(63))
2848
 3077 17de 4F4F      		sbci r20,hlo8(-(63))
2849
 3078 17e0 5F4F      		sbci r21,hhi8(-(63))
2850
 3079               	.L156:
2851
 3080 17e2 96E0      		ldi r25,6
2852
 3081 17e4 5595      	1:	asr r21
2853
 3082 17e6 4795      		ror r20
2854
 3083 17e8 3795      		ror r19
2855
 3084 17ea 2795      		ror r18
2856
 3085 17ec 9A95      		dec r25
2857
 3086 17ee 01F4      		brne 1b
2858
 3087 17f0 8091 0000 		lds r24,TrimNick
2859
 3088 17f4 9091 0000 		lds r25,(TrimNick)+1
2860
 3089 17f8 820F      		add r24,r18
2861
 3090 17fa 931F      		adc r25,r19
2862
 3091 17fc 00C0      		rjmp .L174
2863
 3092               	.L154:
2864
 3093 17fe 97FF      		sbrs r25,7
2865
 3094 1800 00C0      		rjmp .L158
2866
 3095 1802 9095      		com r25
2867
 3096 1804 8195      		neg r24
2868
 3097 1806 9F4F      		sbci r25,lo8(-1)
2869
 3098               	.L158:
2870
 3099 1808 AA27      		clr r26
2871
 3100 180a 97FD      		sbrc r25,7
2872
 3101 180c A095      		com r26
2873
 3102 180e BA2F      		mov r27,r26
2874
 3103 1810 2091 0000 		lds r18,Parameter_CouplingYawCorrection
2875
 3104 1814 3327      		clr r19
2876
 3105 1816 4427      		clr r20
2877
 3106 1818 5527      		clr r21
2878
 3107 181a BC01      		movw r22,r24
2879
 3108 181c CD01      		movw r24,r26
2880
 3109 181e 0E94 0000 		call __mulsi3
2881
 3110 1822 9B01      		movw r18,r22
2882
 3111 1824 AC01      		movw r20,r24
2883
 3112 1826 97FF      		sbrs r25,7
2884
 3113 1828 00C0      		rjmp .L159
2885
 3114 182a 215C      		subi r18,lo8(-(63))
2886
 3115 182c 3F4F      		sbci r19,hi8(-(63))
2887
 3116 182e 4F4F      		sbci r20,hlo8(-(63))
2888
 3117 1830 5F4F      		sbci r21,hhi8(-(63))
2889
 3118               	.L159:
2890
 3119 1832 86E0      		ldi r24,6
2891
 3120 1834 5595      	1:	asr r21
2892
 3121 1836 4795      		ror r20
2893
 3122 1838 3795      		ror r19
2894
 3123 183a 2795      		ror r18
2895
 3124 183c 8A95      		dec r24
2896
 3125 183e 01F4      		brne 1b
2897
 3126 1840 8091 0000 		lds r24,TrimNick
2898
 3127 1844 9091 0000 		lds r25,(TrimNick)+1
2899
 3128 1848 821B      		sub r24,r18
2900
 3129 184a 930B      		sbc r25,r19
2901
 3130               	.L174:
2902
 3131 184c 9093 0000 		sts (TrimNick)+1,r25
2903
 3132 1850 8093 0000 		sts TrimNick,r24
2904
 3133 1854 8091 0000 		lds r24,Parameter_GlobalConfig
2905
 3134 1858 87FF      		sbrs r24,7
2906
 3135 185a 00C0      		rjmp .L82
2907
 3136 185c B989      		ldd r27,Y+17
2908
 3137 185e BB23      		tst r27
2909
 3138 1860 01F0      		breq .+2
2910
 3139 1862 00C0      		rjmp .L82
2911
 3140 1864 8091 0000 		lds r24,Looping_Roll
2912
 3141 1868 8823      		tst r24
2913
 3142 186a 01F4      		brne .L82
2914
 3143 186c E1E0      		ldi r30,lo8(257)
2915
 3144 186e EE16      		cp r14,r30
2916
 3145 1870 E1E0      		ldi r30,hi8(257)
2917
 3146 1872 FE06      		cpc r15,r30
2918
 3147 1874 04F0      		brlt .L161
2919
 3148 1876 8091 0000 		lds r24,MesswertNick
2920
 3149 187a 9091 0000 		lds r25,(MesswertNick)+1
2921
 3150 187e 8E0D      		add r24,r14
2922
 3151 1880 9F1D      		adc r25,r15
2923
 3152 1882 8050      		subi r24,lo8(-(-256))
2924
 3153 1884 9140      		sbci r25,hi8(-(-256))
2925
 3154 1886 00C0      		rjmp .L175
2926
 3155               	.L161:
2927
 3156 1888 F0E0      		ldi r31,lo8(-256)
2928
 3157 188a EF16      		cp r14,r31
2929
 3158 188c FFEF      		ldi r31,hi8(-256)
2930
 3159 188e FF06      		cpc r15,r31
2931
 3160 1890 04F4      		brge .L162
2932
 3161 1892 8091 0000 		lds r24,MesswertNick
2933
 3162 1896 9091 0000 		lds r25,(MesswertNick)+1
2934
 3163 189a 8E0D      		add r24,r14
2935
 3164 189c 9F1D      		adc r25,r15
2936
 3165 189e 8050      		subi r24,lo8(-(256))
2937
 3166 18a0 9F4F      		sbci r25,hi8(-(256))
2938
 3167               	.L175:
2939
 3168 18a2 9093 0000 		sts (MesswertNick)+1,r25
2940
 3169 18a6 8093 0000 		sts MesswertNick,r24
2941
 3170               	.L162:
2942
 3171 18aa 21E0      		ldi r18,hi8(257)
2943
 3172 18ac 0130      		cpi r16,lo8(257)
2944
 3173 18ae 1207      		cpc r17,r18
2945
 3174 18b0 04F0      		brlt .L164
2946
 3175 18b2 8091 0000 		lds r24,MesswertRoll
2947
 3176 18b6 9091 0000 		lds r25,(MesswertRoll)+1
2948
 3177 18ba 800F      		add r24,r16
2949
 3178 18bc 911F      		adc r25,r17
2950
 3179 18be 8050      		subi r24,lo8(-(-256))
2951
 3180 18c0 9140      		sbci r25,hi8(-(-256))
2952
 3181 18c2 00C0      		rjmp .L176
2953
 3182               	.L164:
2954
 3183 18c4 3FEF      		ldi r19,hi8(-256)
2955
 3184 18c6 0030      		cpi r16,lo8(-256)
2956
 3185 18c8 1307      		cpc r17,r19
2957
 3186 18ca 04F4      		brge .L82
2958
 3187 18cc 8091 0000 		lds r24,MesswertRoll
2959
 3188 18d0 9091 0000 		lds r25,(MesswertRoll)+1
2960
 3189 18d4 800F      		add r24,r16
2961
 3190 18d6 911F      		adc r25,r17
2962
 3191 18d8 8050      		subi r24,lo8(-(256))
2963
 3192 18da 9F4F      		sbci r25,hi8(-(256))
2964
 3193               	.L176:
2965
 3194 18dc 9093 0000 		sts (MesswertRoll)+1,r25
2966
 3195 18e0 8093 0000 		sts MesswertRoll,r24
2967
 3196               	.L82:
2968
 3197               	/* epilogue: frame size=19 */
2969
 3198 18e4 E2E1      		ldi r30,18
2970
 3199 18e6 CD5E      		subi r28,-19
2971
 3200 18e8 0C94 0000 		jmp __epilogue_restores__+0
2972
 3201               	/* epilogue end (size=4) */
2973
 3202               	/* function Mittelwert size 2000 (1990) */
2974
 3204               	.global	SendMotorData
2975
 3206               	SendMotorData:
2976
 3207               	/* prologue: frame size=0 */
2977
 3208               	/* prologue end (size=0) */
2978
 3209 18ec 8091 0000 		lds r24,MotorenEin
2979
 3210 18f0 8823      		tst r24
2980
 3211 18f2 01F4      		brne .L178
2981
 3212 18f4 8091 0000 		lds r24,FC_StatusFlags
2982
 3213 18f8 8C7F      		andi r24,lo8(-4)
2983
 3214 18fa 8093 0000 		sts FC_StatusFlags,r24
2984
 3215 18fe A0E0      		ldi r26,lo8(MotorTest)
2985
 3216 1900 B0E0      		ldi r27,hi8(MotorTest)
2986
 3217 1902 E0E0      		ldi r30,lo8(Motor)
2987
 3218 1904 F0E0      		ldi r31,hi8(Motor)
2988
 3219 1906 9BE0      		ldi r25,lo8(11)
2989
 3220               	.L183:
2990
 3221 1908 8091 0000 		lds r24,PC_MotortestActive
2991
 3222 190c 8823      		tst r24
2992
 3223 190e 01F4      		brne .L182
2993
 3224 1910 8C93      		st X,r24
2994
 3225               	.L182:
2995
 3226 1912 8D91      		ld r24,X+
2996
 3227 1914 8183      		std Z+1,r24
2997
 3228 1916 1282      		std Z+2,__zero_reg__
2998
 3229 1918 9150      		subi r25,lo8(-(-1))
2999
 3230 191a 3896      		adiw r30,8
3000
 3231 191c 97FF      		sbrs r25,7
3001
 3232 191e 00C0      		rjmp .L183
3002
 3233 1920 8091 0000 		lds r24,PC_MotortestActive
3003
 3234 1924 8823      		tst r24
3004
 3235 1926 01F0      		breq .L185
3005
 3236 1928 8091 0000 		lds r24,PC_MotortestActive
3006
 3237 192c 8150      		subi r24,lo8(-(-1))
3007
 3238 192e 8093 0000 		sts PC_MotortestActive,r24
3008
 3239 1932 00C0      		rjmp .L185
3009
 3240               	.L178:
3010
 3241 1934 8091 0000 		lds r24,FC_StatusFlags
3011
 3242 1938 8160      		ori r24,lo8(1)
3012
 3243 193a 8093 0000 		sts FC_StatusFlags,r24
3013
 3244               	.L185:
3014
 3245 193e 8091 0000 		lds r24,I2C_TransferActive
3015
 3246 1942 8823      		tst r24
3016
 3247 1944 01F0      		breq .L186
3017
 3248 1946 1092 0000 		sts I2C_TransferActive,__zero_reg__
3018
 3249 194a 0895      		ret
3019
 3250               	.L186:
3020
 3251 194c 8093 0000 		sts motor_write,r24
3021
 3252 1950 8093 0000 		sts twi_state,r24
3022
 3253 1954 8091 0000 		lds r24,BLFlags
3023
 3254 1958 8E7F      		andi r24,lo8(-2)
3024
 3255 195a 8093 0000 		sts BLFlags,r24
3025
 3256 195e 85EA      		ldi r24,lo8(-91)
3026
 3257 1960 8093 BC00 		sts 188,r24
3027
 3258 1964 0895      		ret
3028
 3259               	/* epilogue: frame size=0 */
3029
 3260               	/* epilogue: noreturn */
3030
 3261               	/* epilogue end (size=0) */
3031
 3262               	/* function SendMotorData size 61 (61) */
3032
 3264               	.global	ParameterZuordnung
3033
 3266               	ParameterZuordnung:
3034
 3267               	/* prologue: frame size=0 */
3035
 3268 1966 CF93      		push r28
3036
 3269 1968 DF93      		push r29
3037
 3270               	/* prologue end (size=2) */
3038
 3271 196a A0E0      		ldi r26,lo8(Poti)
3039
 3272 196c B0E0      		ldi r27,hi8(Poti)
3040
 3273 196e C0E0      		ldi r28,lo8(EE_Parameter+5)
3041
 3274 1970 D0E0      		ldi r29,hi8(EE_Parameter+5)
3042
 3275 1972 57E0      		ldi r21,lo8(7)
3043
 3276               	.L203:
3044
 3277 1974 9991      		ld r25,Y+
3045
 3278 1976 E92F      		mov r30,r25
3046
 3279 1978 FF27      		clr r31
3047
 3280 197a EE0F      		add r30,r30
3048
 3281 197c FF1F      		adc r31,r31
3049
 3282 197e E050      		subi r30,lo8(-(PPM_in))
3050
 3283 1980 F040      		sbci r31,hi8(-(PPM_in))
3051
 3284 1982 0190      		ld __tmp_reg__,Z+
3052
 3285 1984 F081      		ld r31,Z
3053
 3286 1986 E02D      		mov r30,__tmp_reg__
3054
 3287 1988 E158      		subi r30,lo8(-(127))
3055
 3288 198a FF4F      		sbci r31,hi8(-(127))
3056
 3289 198c EF3F      		cpi r30,255
3057
 3290 198e F105      		cpc r31,__zero_reg__
3058
 3291 1990 01F0      		breq .L194
3059
 3292 1992 04F0      		brlt .L194
3060
 3293 1994 EFEF      		ldi r30,lo8(255)
3061
 3294 1996 F0E0      		ldi r31,hi8(255)
3062
 3295 1998 00C0      		rjmp .L195
3063
 3296               	.L194:
3064
 3297 199a F7FF      		sbrs r31,7
3065
 3298 199c 00C0      		rjmp .L195
3066
 3299 199e E0E0      		ldi r30,lo8(0)
3067
 3300 19a0 F0E0      		ldi r31,hi8(0)
3068
 3301               	.L195:
3069
 3302 19a2 9931      		cpi r25,lo8(25)
3070
 3303 19a4 01F4      		brne .L197
3071
 3304 19a6 EC93      		st X,r30
3072
 3305 19a8 00C0      		rjmp .L193
3073
 3306               	.L197:
3074
 3307 19aa 4C91      		ld r20,X
3075
 3308 19ac 242F      		mov r18,r20
3076
 3309 19ae 3327      		clr r19
3077
 3310 19b0 E217      		cp r30,r18
3078
 3311 19b2 F307      		cpc r31,r19
3079
 3312 19b4 01F0      		breq .L193
3080
 3313 19b6 CF01      		movw r24,r30
3081
 3314 19b8 821B      		sub r24,r18
3082
 3315 19ba 930B      		sbc r25,r19
3083
 3316 19bc 97FD      		sbrc r25,7
3084
 3317 19be 0396      		adiw r24,3
3085
 3318               	.L200:
3086
 3319 19c0 9595      		asr r25
3087
 3320 19c2 8795      		ror r24
3088
 3321 19c4 9595      		asr r25
3089
 3322 19c6 8795      		ror r24
3090
 3323 19c8 242F      		mov r18,r20
3091
 3324 19ca 280F      		add r18,r24
3092
 3325 19cc 2C93      		st X,r18
3093
 3326 19ce 822F      		mov r24,r18
3094
 3327 19d0 9927      		clr r25
3095
 3328 19d2 E817      		cp r30,r24
3096
 3329 19d4 F907      		cpc r31,r25
3097
 3330 19d6 04F4      		brge .L201
3098
 3331 19d8 2150      		subi r18,lo8(-(-1))
3099
 3332 19da 00C0      		rjmp .L323
3100
 3333               	.L201:
3101
 3334 19dc 2F5F      		subi r18,lo8(-(1))
3102
 3335               	.L323:
3103
 3336 19de 2C93      		st X,r18
3104
 3337               	.L193:
3105
 3338 19e0 5150      		subi r21,lo8(-(-1))
3106
 3339 19e2 1196      		adiw r26,1
3107
 3340 19e4 57FF      		sbrs r21,7
3108
 3341 19e6 00C0      		rjmp .L203
3109
 3342 19e8 8091 0000 		lds r24,EE_Parameter+15
3110
 3343 19ec 883F      		cpi r24,lo8(-8)
3111
 3344 19ee 00F0      		brlo .L324
3112
 3345 19f0 EFEF      		ldi r30,lo8(255)
3113
 3346 19f2 F0E0      		ldi r31,hi8(255)
3114
 3347 19f4 E81B      		sub r30,r24
3115
 3348 19f6 F109      		sbc r31,__zero_reg__
3116
 3349 19f8 E050      		subi r30,lo8(-(Poti))
3117
 3350 19fa F040      		sbci r31,hi8(-(Poti))
3118
 3351 19fc 8081      		ld r24,Z
3119
 3352               	.L324:
3120
 3353 19fe 8093 0000 		sts Parameter_Luftdruck_D,r24
3121
 3354 1a02 8091 0000 		lds r24,Parameter_Luftdruck_D
3122
 3355 1a06 8823      		tst r24
3123
 3356 1a08 01F0      		breq .L207
3124
 3357 1a0a 8436      		cpi r24,lo8(100)
3125
 3358 1a0c 00F0      		brlo .L207
3126
 3359 1a0e 84E6      		ldi r24,lo8(100)
3127
 3360 1a10 8093 0000 		sts Parameter_Luftdruck_D,r24
3128
 3361               	.L207:
3129
 3362 1a14 8091 0000 		lds r24,EE_Parameter+17
3130
 3363 1a18 883F      		cpi r24,lo8(-8)
3131
 3364 1a1a 00F0      		brlo .L325
3132
 3365 1a1c EFEF      		ldi r30,lo8(255)
3133
 3366 1a1e F0E0      		ldi r31,hi8(255)
3134
 3367 1a20 E81B      		sub r30,r24
3135
 3368 1a22 F109      		sbc r31,__zero_reg__
3136
 3369 1a24 E050      		subi r30,lo8(-(Poti))
3137
 3370 1a26 F040      		sbci r31,hi8(-(Poti))
3138
 3371 1a28 8081      		ld r24,Z
3139
 3372               	.L325:
3140
 3373 1a2a 8093 0000 		sts Parameter_Hoehe_P,r24
3141
 3374 1a2e 8091 0000 		lds r24,Parameter_Hoehe_P
3142
 3375 1a32 8823      		tst r24
3143
 3376 1a34 01F0      		breq .L212
3144
 3377 1a36 8436      		cpi r24,lo8(100)
3145
 3378 1a38 00F0      		brlo .L212
3146
 3379 1a3a 84E6      		ldi r24,lo8(100)
3147
 3380 1a3c 8093 0000 		sts Parameter_Hoehe_P,r24
3148
 3381               	.L212:
3149
 3382 1a40 8091 0000 		lds r24,EE_Parameter+30
3150
 3383 1a44 883F      		cpi r24,lo8(-8)
3151
 3384 1a46 00F0      		brlo .L326
3152
 3385 1a48 EFEF      		ldi r30,lo8(255)
3153
 3386 1a4a F0E0      		ldi r31,hi8(255)
3154
 3387 1a4c E81B      		sub r30,r24
3155
 3388 1a4e F109      		sbc r31,__zero_reg__
3156
 3389 1a50 E050      		subi r30,lo8(-(Poti))
3157
 3390 1a52 F040      		sbci r31,hi8(-(Poti))
3158
 3391 1a54 8081      		ld r24,Z
3159
 3392               	.L326:
3160
 3393 1a56 8093 0000 		sts Parameter_Gyro_P,r24
3161
 3394 1a5a 8091 0000 		lds r24,Parameter_Gyro_P
3162
 3395 1a5e 8B30      		cpi r24,lo8(11)
3163
 3396 1a60 00F4      		brsh .L216
3164
 3397 1a62 8AE0      		ldi r24,lo8(10)
3165
 3398 1a64 00C0      		rjmp .L327
3166
 3399               	.L216:
3167
 3400 1a66 8F3F      		cpi r24,lo8(-1)
3168
 3401 1a68 01F4      		brne .L217
3169
 3402               	.L327:
3170
 3403 1a6a 8093 0000 		sts Parameter_Gyro_P,r24
3171
 3404               	.L217:
3172
 3405 1a6e 8091 0000 		lds r24,EE_Parameter+75
3173
 3406 1a72 883F      		cpi r24,lo8(-8)
3174
 3407 1a74 00F0      		brlo .L328
3175
 3408 1a76 EFEF      		ldi r30,lo8(255)
3176
 3409 1a78 F0E0      		ldi r31,hi8(255)
3177
 3410 1a7a E81B      		sub r30,r24
3178
 3411 1a7c F109      		sbc r31,__zero_reg__
3179
 3412 1a7e E050      		subi r30,lo8(-(Poti))
3180
 3413 1a80 F040      		sbci r31,hi8(-(Poti))
3181
 3414 1a82 8081      		ld r24,Z
3182
 3415               	.L328:
3183
 3416 1a84 8093 0000 		sts Parameter_J16Timing,r24
3184
 3417 1a88 8091 0000 		lds r24,Parameter_J16Timing
3185
 3418 1a8c 8630      		cpi r24,lo8(6)
3186
 3419 1a8e 00F4      		brsh .L221
3187
 3420 1a90 85E0      		ldi r24,lo8(5)
3188
 3421 1a92 00C0      		rjmp .L329
3189
 3422               	.L221:
3190
 3423 1a94 8F3F      		cpi r24,lo8(-1)
3191
 3424 1a96 01F4      		brne .L222
3192
 3425               	.L329:
3193
 3426 1a98 8093 0000 		sts Parameter_J16Timing,r24
3194
 3427               	.L222:
3195
 3428 1a9c 8091 0000 		lds r24,EE_Parameter+77
3196
 3429 1aa0 883F      		cpi r24,lo8(-8)
3197
 3430 1aa2 00F0      		brlo .L330
3198
 3431 1aa4 EFEF      		ldi r30,lo8(255)
3199
 3432 1aa6 F0E0      		ldi r31,hi8(255)
3200
 3433 1aa8 E81B      		sub r30,r24
3201
 3434 1aaa F109      		sbc r31,__zero_reg__
3202
 3435 1aac E050      		subi r30,lo8(-(Poti))
3203
 3436 1aae F040      		sbci r31,hi8(-(Poti))
3204
 3437 1ab0 8081      		ld r24,Z
3205
 3438               	.L330:
3206
 3439 1ab2 8093 0000 		sts Parameter_J17Timing,r24
3207
 3440 1ab6 8091 0000 		lds r24,Parameter_J17Timing
3208
 3441 1aba 8630      		cpi r24,lo8(6)
3209
 3442 1abc 00F4      		brsh .L226
3210
 3443 1abe 85E0      		ldi r24,lo8(5)
3211
 3444 1ac0 00C0      		rjmp .L331
3212
 3445               	.L226:
3213
 3446 1ac2 8F3F      		cpi r24,lo8(-1)
3214
 3447 1ac4 01F4      		brne .L227
3215
 3448               	.L331:
3216
 3449 1ac6 8093 0000 		sts Parameter_J17Timing,r24
3217
 3450               	.L227:
3218
 3451 1aca 8091 0000 		lds r24,EE_Parameter+56
3219
 3452 1ace 873F      		cpi r24,lo8(-9)
3220
 3453 1ad0 01F4      		brne .L229
3221
 3454 1ad2 4299      		sbic 40-0x20,2
3222
 3455 1ad4 00C0      		rjmp .L362
3223
 3456 1ad6 00C0      		rjmp .L234
3224
 3457               	.L229:
3225
 3458 1ad8 863F      		cpi r24,lo8(-10)
3226
 3459 1ada 01F4      		brne .L233
3227
 3460 1adc 439B      		sbis 40-0x20,3
3228
 3461 1ade 00C0      		rjmp .L234
3229
 3462               	.L362:
3230
 3463 1ae0 8CE8      		ldi r24,lo8(-116)
3231
 3464 1ae2 00C0      		rjmp .L332
3232
 3465               	.L234:
3233
 3466 1ae4 86E4      		ldi r24,lo8(70)
3234
 3467 1ae6 00C0      		rjmp .L332
3235
 3468               	.L233:
3236
 3469 1ae8 883F      		cpi r24,lo8(-8)
3237
 3470 1aea 00F0      		brlo .L332
3238
 3471 1aec EFEF      		ldi r30,lo8(255)
3239
 3472 1aee F0E0      		ldi r31,hi8(255)
3240
 3473 1af0 E81B      		sub r30,r24
3241
 3474 1af2 F109      		sbc r31,__zero_reg__
3242
 3475 1af4 E050      		subi r30,lo8(-(Poti))
3243
 3476 1af6 F040      		sbci r31,hi8(-(Poti))
3244
 3477 1af8 8081      		ld r24,Z
3245
 3478               	.L332:
3246
 3479 1afa 8093 0000 		sts Parameter_Servo3,r24
3247
 3480 1afe 8091 0000 		lds r24,EE_Parameter+57
3248
 3481 1b02 873F      		cpi r24,lo8(-9)
3249
 3482 1b04 01F4      		brne .L239
3250
 3483 1b06 4299      		sbic 40-0x20,2
3251
 3484 1b08 00C0      		rjmp .L363
3252
 3485 1b0a 00C0      		rjmp .L244
3253
 3486               	.L239:
3254
 3487 1b0c 863F      		cpi r24,lo8(-10)
3255
 3488 1b0e 01F4      		brne .L243
3256
 3489 1b10 439B      		sbis 40-0x20,3
3257
 3490 1b12 00C0      		rjmp .L244
3258
 3491               	.L363:
3259
 3492 1b14 8CE8      		ldi r24,lo8(-116)
3260
 3493 1b16 00C0      		rjmp .L333
3261
 3494               	.L244:
3262
 3495 1b18 86E4      		ldi r24,lo8(70)
3263
 3496 1b1a 00C0      		rjmp .L333
3264
 3497               	.L243:
3265
 3498 1b1c 883F      		cpi r24,lo8(-8)
3266
 3499 1b1e 00F0      		brlo .L333
3267
 3500 1b20 EFEF      		ldi r30,lo8(255)
3268
 3501 1b22 F0E0      		ldi r31,hi8(255)
3269
 3502 1b24 E81B      		sub r30,r24
3270
 3503 1b26 F109      		sbc r31,__zero_reg__
3271
 3504 1b28 E050      		subi r30,lo8(-(Poti))
3272
 3505 1b2a F040      		sbci r31,hi8(-(Poti))
3273
 3506 1b2c 8081      		ld r24,Z
3274
 3507               	.L333:
3275
 3508 1b2e 8093 0000 		sts Parameter_Servo4,r24
3276
 3509 1b32 8091 0000 		lds r24,EE_Parameter+58
3277
 3510 1b36 883F      		cpi r24,lo8(-8)
3278
 3511 1b38 00F0      		brlo .L334
3279
 3512 1b3a EFEF      		ldi r30,lo8(255)
3280
 3513 1b3c F0E0      		ldi r31,hi8(255)
3281
 3514 1b3e E81B      		sub r30,r24
3282
 3515 1b40 F109      		sbc r31,__zero_reg__
3283
 3516 1b42 E050      		subi r30,lo8(-(Poti))
3284
 3517 1b44 F040      		sbci r31,hi8(-(Poti))
3285
 3518 1b46 8081      		ld r24,Z
3286
 3519               	.L334:
3287
 3520 1b48 8093 0000 		sts Parameter_Servo5,r24
3288
 3521 1b4c 8091 0000 		lds r24,EE_Parameter+16
3289
 3522 1b50 883F      		cpi r24,lo8(-8)
3290
 3523 1b52 00F0      		brlo .L335
3291
 3524 1b54 EFEF      		ldi r30,lo8(255)
3292
 3525 1b56 F0E0      		ldi r31,hi8(255)
3293
 3526 1b58 E81B      		sub r30,r24
3294
 3527 1b5a F109      		sbc r31,__zero_reg__
3295
 3528 1b5c E050      		subi r30,lo8(-(Poti))
3296
 3529 1b5e F040      		sbci r31,hi8(-(Poti))
3297
 3530 1b60 8081      		ld r24,Z
3298
 3531               	.L335:
3299
 3532 1b62 8093 0000 		sts Parameter_HoehenSchalter,r24
3300
 3533 1b66 8091 0000 		lds r24,EE_Parameter+19
3301
 3534 1b6a 883F      		cpi r24,lo8(-8)
3302
 3535 1b6c 00F0      		brlo .L336
3303
 3536 1b6e EFEF      		ldi r30,lo8(255)
3304
 3537 1b70 F0E0      		ldi r31,hi8(255)
3305
 3538 1b72 E81B      		sub r30,r24
3306
 3539 1b74 F109      		sbc r31,__zero_reg__
3307
 3540 1b76 E050      		subi r30,lo8(-(Poti))
3308
 3541 1b78 F040      		sbci r31,hi8(-(Poti))
3309
 3542 1b7a 8081      		ld r24,Z
3310
 3543               	.L336:
3311
 3544 1b7c 8093 0000 		sts Parameter_Hoehe_ACC_Wirkung,r24
3312
 3545 1b80 8091 0000 		lds r24,EE_Parameter+21
3313
 3546 1b84 883F      		cpi r24,lo8(-8)
3314
 3547 1b86 00F0      		brlo .L337
3315
 3548 1b88 EFEF      		ldi r30,lo8(255)
3316
 3549 1b8a F0E0      		ldi r31,hi8(255)
3317
 3550 1b8c E81B      		sub r30,r24
3318
 3551 1b8e F109      		sbc r31,__zero_reg__
3319
 3552 1b90 E050      		subi r30,lo8(-(Poti))
3320
 3553 1b92 F040      		sbci r31,hi8(-(Poti))
3321
 3554 1b94 8081      		ld r24,Z
3322
 3555               	.L337:
3323
 3556 1b96 8093 0000 		sts Parameter_Hoehe_GPS_Z,r24
3324
 3557 1b9a 8091 0000 		lds r24,EE_Parameter+29
3325
 3558 1b9e 883F      		cpi r24,lo8(-8)
3326
 3559 1ba0 00F0      		brlo .L338
3327
 3560 1ba2 EFEF      		ldi r30,lo8(255)
3328
 3561 1ba4 F0E0      		ldi r31,hi8(255)
3329
 3562 1ba6 E81B      		sub r30,r24
3330
 3563 1ba8 F109      		sbc r31,__zero_reg__
3331
 3564 1baa E050      		subi r30,lo8(-(Poti))
3332
 3565 1bac F040      		sbci r31,hi8(-(Poti))
3333
 3566 1bae 8081      		ld r24,Z
3334
 3567               	.L338:
3335
 3568 1bb0 8093 0000 		sts Parameter_KompassWirkung,r24
3336
 3569 1bb4 8091 0000 		lds r24,EE_Parameter+31
3337
 3570 1bb8 883F      		cpi r24,lo8(-8)
3338
 3571 1bba 00F0      		brlo .L339
3339
 3572 1bbc EFEF      		ldi r30,lo8(255)
3340
 3573 1bbe F0E0      		ldi r31,hi8(255)
3341
 3574 1bc0 E81B      		sub r30,r24
3342
 3575 1bc2 F109      		sbc r31,__zero_reg__
3343
 3576 1bc4 E050      		subi r30,lo8(-(Poti))
3344
 3577 1bc6 F040      		sbci r31,hi8(-(Poti))
3345
 3578 1bc8 8081      		ld r24,Z
3346
 3579               	.L339:
3347
 3580 1bca 8093 0000 		sts Parameter_Gyro_I,r24
3348
 3581 1bce 8091 0000 		lds r24,EE_Parameter+32
3349
 3582 1bd2 883F      		cpi r24,lo8(-8)
3350
 3583 1bd4 00F0      		brlo .L340
3351
 3584 1bd6 EFEF      		ldi r30,lo8(255)
3352
 3585 1bd8 F0E0      		ldi r31,hi8(255)
3353
 3586 1bda E81B      		sub r30,r24
3354
 3587 1bdc F109      		sbc r31,__zero_reg__
3355
 3588 1bde E050      		subi r30,lo8(-(Poti))
3356
 3589 1be0 F040      		sbci r31,hi8(-(Poti))
3357
 3590 1be2 8081      		ld r24,Z
3358
 3591               	.L340:
3359
 3592 1be4 8093 0000 		sts Parameter_Gyro_D,r24
3360
 3593 1be8 8091 0000 		lds r24,EE_Parameter+33
3361
 3594 1bec 883F      		cpi r24,lo8(-8)
3362
 3595 1bee 00F0      		brlo .L341
3363
 3596 1bf0 EFEF      		ldi r30,lo8(255)
3364
 3597 1bf2 F0E0      		ldi r31,hi8(255)
3365
 3598 1bf4 E81B      		sub r30,r24
3366
 3599 1bf6 F109      		sbc r31,__zero_reg__
3367
 3600 1bf8 E050      		subi r30,lo8(-(Poti))
3368
 3601 1bfa F040      		sbci r31,hi8(-(Poti))
3369
 3602 1bfc 8081      		ld r24,Z
3370
 3603               	.L341:
3371
 3604 1bfe 8093 0000 		sts Parameter_Gyro_Gier_P,r24
3372
 3605 1c02 8091 0000 		lds r24,EE_Parameter+34
3373
 3606 1c06 883F      		cpi r24,lo8(-8)
3374
 3607 1c08 00F0      		brlo .L342
3375
 3608 1c0a EFEF      		ldi r30,lo8(255)
3376
 3609 1c0c F0E0      		ldi r31,hi8(255)
3377
 3610 1c0e E81B      		sub r30,r24
3378
 3611 1c10 F109      		sbc r31,__zero_reg__
3379
 3612 1c12 E050      		subi r30,lo8(-(Poti))
3380
 3613 1c14 F040      		sbci r31,hi8(-(Poti))
3381
 3614 1c16 8081      		ld r24,Z
3382
 3615               	.L342:
3383
 3616 1c18 8093 0000 		sts Parameter_Gyro_Gier_I,r24
3384
 3617 1c1c 8091 0000 		lds r24,EE_Parameter+40
3385
 3618 1c20 883F      		cpi r24,lo8(-8)
3386
 3619 1c22 00F0      		brlo .L343
3387
 3620 1c24 EFEF      		ldi r30,lo8(255)
3388
 3621 1c26 F0E0      		ldi r31,hi8(255)
3389
 3622 1c28 E81B      		sub r30,r24
3390
 3623 1c2a F109      		sbc r31,__zero_reg__
3391
 3624 1c2c E050      		subi r30,lo8(-(Poti))
3392
 3625 1c2e F040      		sbci r31,hi8(-(Poti))
3393
 3626 1c30 8081      		ld r24,Z
3394
 3627               	.L343:
3395
 3628 1c32 8093 0000 		sts Parameter_I_Faktor,r24
3396
 3629 1c36 8091 0000 		lds r24,EE_Parameter+41
3397
 3630 1c3a 883F      		cpi r24,lo8(-8)
3398
 3631 1c3c 00F0      		brlo .L344
3399
 3632 1c3e EFEF      		ldi r30,lo8(255)
3400
 3633 1c40 F0E0      		ldi r31,hi8(255)
3401
 3634 1c42 E81B      		sub r30,r24
3402
 3635 1c44 F109      		sbc r31,__zero_reg__
3403
 3636 1c46 E050      		subi r30,lo8(-(Poti))
3404
 3637 1c48 F040      		sbci r31,hi8(-(Poti))
3405
 3638 1c4a 8081      		ld r24,Z
3406
 3639               	.L344:
3407
 3640 1c4c 8093 0000 		sts Parameter_UserParam1,r24
3408
 3641 1c50 8091 0000 		lds r24,EE_Parameter+42
3409
 3642 1c54 883F      		cpi r24,lo8(-8)
3410
 3643 1c56 00F0      		brlo .L345
3411
 3644 1c58 EFEF      		ldi r30,lo8(255)
3412
 3645 1c5a F0E0      		ldi r31,hi8(255)
3413
 3646 1c5c E81B      		sub r30,r24
3414
 3647 1c5e F109      		sbc r31,__zero_reg__
3415
 3648 1c60 E050      		subi r30,lo8(-(Poti))
3416
 3649 1c62 F040      		sbci r31,hi8(-(Poti))
3417
 3650 1c64 8081      		ld r24,Z
3418
 3651               	.L345:
3419
 3652 1c66 8093 0000 		sts Parameter_UserParam2,r24
3420
 3653 1c6a 8091 0000 		lds r24,EE_Parameter+43
3421
 3654 1c6e 883F      		cpi r24,lo8(-8)
3422
 3655 1c70 00F0      		brlo .L346
3423
 3656 1c72 EFEF      		ldi r30,lo8(255)
3424
 3657 1c74 F0E0      		ldi r31,hi8(255)
3425
 3658 1c76 E81B      		sub r30,r24
3426
 3659 1c78 F109      		sbc r31,__zero_reg__
3427
 3660 1c7a E050      		subi r30,lo8(-(Poti))
3428
 3661 1c7c F040      		sbci r31,hi8(-(Poti))
3429
 3662 1c7e 8081      		ld r24,Z
3430
 3663               	.L346:
3431
 3664 1c80 8093 0000 		sts Parameter_UserParam3,r24
3432
 3665 1c84 8091 0000 		lds r24,EE_Parameter+44
3433
 3666 1c88 883F      		cpi r24,lo8(-8)
3434
 3667 1c8a 00F0      		brlo .L347
3435
 3668 1c8c EFEF      		ldi r30,lo8(255)
3436
 3669 1c8e F0E0      		ldi r31,hi8(255)
3437
 3670 1c90 E81B      		sub r30,r24
3438
 3671 1c92 F109      		sbc r31,__zero_reg__
3439
 3672 1c94 E050      		subi r30,lo8(-(Poti))
3440
 3673 1c96 F040      		sbci r31,hi8(-(Poti))
3441
 3674 1c98 8081      		ld r24,Z
3442
 3675               	.L347:
3443
 3676 1c9a 8093 0000 		sts Parameter_UserParam4,r24
3444
 3677 1c9e 8091 0000 		lds r24,EE_Parameter+70
3445
 3678 1ca2 883F      		cpi r24,lo8(-8)
3446
 3679 1ca4 00F0      		brlo .L348
3447
 3680 1ca6 EFEF      		ldi r30,lo8(255)
3448
 3681 1ca8 F0E0      		ldi r31,hi8(255)
3449
 3682 1caa E81B      		sub r30,r24
3450
 3683 1cac F109      		sbc r31,__zero_reg__
3451
 3684 1cae E050      		subi r30,lo8(-(Poti))
3452
 3685 1cb0 F040      		sbci r31,hi8(-(Poti))
3453
 3686 1cb2 8081      		ld r24,Z
3454
 3687               	.L348:
3455
 3688 1cb4 8093 0000 		sts Parameter_UserParam5,r24
3456
 3689 1cb8 8091 0000 		lds r24,EE_Parameter+71
3457
 3690 1cbc 883F      		cpi r24,lo8(-8)
3458
 3691 1cbe 00F0      		brlo .L349
3459
 3692 1cc0 EFEF      		ldi r30,lo8(255)
3460
 3693 1cc2 F0E0      		ldi r31,hi8(255)
3461
 3694 1cc4 E81B      		sub r30,r24
3462
 3695 1cc6 F109      		sbc r31,__zero_reg__
3463
 3696 1cc8 E050      		subi r30,lo8(-(Poti))
3464
 3697 1cca F040      		sbci r31,hi8(-(Poti))
3465
 3698 1ccc 8081      		ld r24,Z
3466
 3699               	.L349:
3467
 3700 1cce 8093 0000 		sts Parameter_UserParam6,r24
3468
 3701 1cd2 8091 0000 		lds r24,EE_Parameter+72
3469
 3702 1cd6 883F      		cpi r24,lo8(-8)
3470
 3703 1cd8 00F0      		brlo .L350
3471
 3704 1cda EFEF      		ldi r30,lo8(255)
3472
 3705 1cdc F0E0      		ldi r31,hi8(255)
3473
 3706 1cde E81B      		sub r30,r24
3474
 3707 1ce0 F109      		sbc r31,__zero_reg__
3475
 3708 1ce2 E050      		subi r30,lo8(-(Poti))
3476
 3709 1ce4 F040      		sbci r31,hi8(-(Poti))
3477
 3710 1ce6 8081      		ld r24,Z
3478
 3711               	.L350:
3479
 3712 1ce8 8093 0000 		sts Parameter_UserParam7,r24
3480
 3713 1cec 8091 0000 		lds r24,EE_Parameter+73
3481
 3714 1cf0 883F      		cpi r24,lo8(-8)
3482
 3715 1cf2 00F0      		brlo .L351
3483
 3716 1cf4 EFEF      		ldi r30,lo8(255)
3484
 3717 1cf6 F0E0      		ldi r31,hi8(255)
3485
 3718 1cf8 E81B      		sub r30,r24
3486
 3719 1cfa F109      		sbc r31,__zero_reg__
3487
 3720 1cfc E050      		subi r30,lo8(-(Poti))
3488
 3721 1cfe F040      		sbci r31,hi8(-(Poti))
3489
 3722 1d00 8081      		ld r24,Z
3490
 3723               	.L351:
3491
 3724 1d02 8093 0000 		sts Parameter_UserParam8,r24
3492
 3725 1d06 8091 0000 		lds r24,EE_Parameter+45
3493
 3726 1d0a 883F      		cpi r24,lo8(-8)
3494
 3727 1d0c 00F0      		brlo .L352
3495
 3728 1d0e EFEF      		ldi r30,lo8(255)
3496
 3729 1d10 F0E0      		ldi r31,hi8(255)
3497
 3730 1d12 E81B      		sub r30,r24
3498
 3731 1d14 F109      		sbc r31,__zero_reg__
3499
 3732 1d16 E050      		subi r30,lo8(-(Poti))
3500
 3733 1d18 F040      		sbci r31,hi8(-(Poti))
3501
 3734 1d1a 8081      		ld r24,Z
3502
 3735               	.L352:
3503
 3736 1d1c 8093 0000 		sts Parameter_ServoNickControl,r24
3504
 3737 1d20 8091 0000 		lds r24,EE_Parameter+49
3505
 3738 1d24 883F      		cpi r24,lo8(-8)
3506
 3739 1d26 00F0      		brlo .L353
3507
 3740 1d28 EFEF      		ldi r30,lo8(255)
3508
 3741 1d2a F0E0      		ldi r31,hi8(255)
3509
 3742 1d2c E81B      		sub r30,r24
3510
 3743 1d2e F109      		sbc r31,__zero_reg__
3511
 3744 1d30 E050      		subi r30,lo8(-(Poti))
3512
 3745 1d32 F040      		sbci r31,hi8(-(Poti))
3513
 3746 1d34 8081      		ld r24,Z
3514
 3747               	.L353:
3515
 3748 1d36 8093 0000 		sts Parameter_ServoRollControl,r24
3516
 3749 1d3a 8091 0000 		lds r24,EE_Parameter+59
3517
 3750 1d3e 883F      		cpi r24,lo8(-8)
3518
 3751 1d40 00F0      		brlo .L354
3519
 3752 1d42 EFEF      		ldi r30,lo8(255)
3520
 3753 1d44 F0E0      		ldi r31,hi8(255)
3521
 3754 1d46 E81B      		sub r30,r24
3522
 3755 1d48 F109      		sbc r31,__zero_reg__
3523
 3756 1d4a E050      		subi r30,lo8(-(Poti))
3524
 3757 1d4c F040      		sbci r31,hi8(-(Poti))
3525
 3758 1d4e 8081      		ld r24,Z
3526
 3759               	.L354:
3527
 3760 1d50 8093 0000 		sts Parameter_LoopGasLimit,r24
3528
 3761 1d54 8091 0000 		lds r24,EE_Parameter+62
3529
 3762 1d58 883F      		cpi r24,lo8(-8)
3530
 3763 1d5a 00F0      		brlo .L355
3531
 3764 1d5c EFEF      		ldi r30,lo8(255)
3532
 3765 1d5e F0E0      		ldi r31,hi8(255)
3533
 3766 1d60 E81B      		sub r30,r24
3534
 3767 1d62 F109      		sbc r31,__zero_reg__
3535
 3768 1d64 E050      		subi r30,lo8(-(Poti))
3536
 3769 1d66 F040      		sbci r31,hi8(-(Poti))
3537
 3770 1d68 8081      		ld r24,Z
3538
 3771               	.L355:
3539
 3772 1d6a 8093 0000 		sts Parameter_AchsKopplung1,r24
3540
 3773 1d6e 8091 0000 		lds r24,EE_Parameter+63
3541
 3774 1d72 883F      		cpi r24,lo8(-8)
3542
 3775 1d74 00F0      		brlo .L356
3543
 3776 1d76 EFEF      		ldi r30,lo8(255)
3544
 3777 1d78 F0E0      		ldi r31,hi8(255)
3545
 3778 1d7a E81B      		sub r30,r24
3546
 3779 1d7c F109      		sbc r31,__zero_reg__
3547
 3780 1d7e E050      		subi r30,lo8(-(Poti))
3548
 3781 1d80 F040      		sbci r31,hi8(-(Poti))
3549
 3782 1d82 8081      		ld r24,Z
3550
 3783               	.L356:
3551
 3784 1d84 8093 0000 		sts Parameter_AchsKopplung2,r24
3552
 3785 1d88 8091 0000 		lds r24,EE_Parameter+64
3553
 3786 1d8c 883F      		cpi r24,lo8(-8)
3554
 3787 1d8e 00F0      		brlo .L357
3555
 3788 1d90 EFEF      		ldi r30,lo8(255)
3556
 3789 1d92 F0E0      		ldi r31,hi8(255)
3557
 3790 1d94 E81B      		sub r30,r24
3558
 3791 1d96 F109      		sbc r31,__zero_reg__
3559
 3792 1d98 E050      		subi r30,lo8(-(Poti))
3560
 3793 1d9a F040      		sbci r31,hi8(-(Poti))
3561
 3794 1d9c 8081      		ld r24,Z
3562
 3795               	.L357:
3563
 3796 1d9e 8093 0000 		sts Parameter_CouplingYawCorrection,r24
3564
 3797 1da2 8091 0000 		lds r24,EE_Parameter+104
3565
 3798 1da6 883F      		cpi r24,lo8(-8)
3566
 3799 1da8 00F0      		brlo .L358
3567
 3800 1daa EFEF      		ldi r30,lo8(255)
3568
 3801 1dac F0E0      		ldi r31,hi8(255)
3569
 3802 1dae E81B      		sub r30,r24
3570
 3803 1db0 F109      		sbc r31,__zero_reg__
3571
 3804 1db2 E050      		subi r30,lo8(-(Poti))
3572
 3805 1db4 F040      		sbci r31,hi8(-(Poti))
3573
 3806 1db6 8081      		ld r24,Z
3574
 3807               	.L358:
3575
 3808 1db8 8093 0000 		sts Parameter_MaximumAltitude,r24
3576
 3809 1dbc 9091 0000 		lds r25,NC_To_FC_MaxAltitude
3577
 3810 1dc0 9923      		tst r25
3578
 3811 1dc2 01F0      		breq .L301
3579
 3812 1dc4 8091 0000 		lds r24,Parameter_MaximumAltitude
3580
 3813 1dc8 9817      		cp r25,r24
3581
 3814 1dca 00F0      		brlo .L300
3582
 3815               	.L301:
3583
 3816 1dcc 8091 0000 		lds r24,Parameter_MaximumAltitude
3584
 3817 1dd0 8823      		tst r24
3585
 3818 1dd2 01F4      		brne .L299
3586
 3819               	.L300:
3587
 3820 1dd4 9093 0000 		sts Parameter_MaximumAltitude,r25
3588
 3821               	.L299:
3589
 3822 1dd8 8091 0000 		lds r24,EE_Parameter+13
3590
 3823 1ddc 8093 0000 		sts Parameter_GlobalConfig,r24
3591
 3824 1de0 8091 0000 		lds r24,EE_Parameter+110
3592
 3825 1de4 8093 0000 		sts Parameter_ExtraConfig,r24
3593
 3826 1de8 8091 0000 		lds r24,EE_Parameter+69
3594
 3827 1dec 883F      		cpi r24,lo8(-8)
3595
 3828 1dee 00F0      		brlo .L359
3596
 3829 1df0 EFEF      		ldi r30,lo8(255)
3597
 3830 1df2 F0E0      		ldi r31,hi8(255)
3598
 3831 1df4 E81B      		sub r30,r24
3599
 3832 1df6 F109      		sbc r31,__zero_reg__
3600
 3833 1df8 E050      		subi r30,lo8(-(Poti))
3601
 3834 1dfa F040      		sbci r31,hi8(-(Poti))
3602
 3835 1dfc 8081      		ld r24,Z
3603
 3836               	.L359:
3604
 3837 1dfe 8093 0000 		sts Parameter_DynamicStability,r24
3605
 3838 1e02 8091 0000 		lds r24,EE_Parameter+97
3606
 3839 1e06 883F      		cpi r24,lo8(-8)
3607
 3840 1e08 00F0      		brlo .L360
3608
 3841 1e0a EFEF      		ldi r30,lo8(255)
3609
 3842 1e0c F0E0      		ldi r31,hi8(255)
3610
 3843 1e0e E81B      		sub r30,r24
3611
 3844 1e10 F109      		sbc r31,__zero_reg__
3612
 3845 1e12 E050      		subi r30,lo8(-(Poti))
3613
 3846 1e14 F040      		sbci r31,hi8(-(Poti))
3614
 3847 1e16 8081      		ld r24,Z
3615
 3848               	.L360:
3616
 3849 1e18 8093 0000 		sts Parameter_ExternalControl,r24
3617
 3850 1e1c 8091 0000 		lds r24,Parameter_I_Faktor
3618
 3851 1e20 282F      		mov r18,r24
3619
 3852 1e22 3327      		clr r19
3620
 3853 1e24 2F5F      		subi r18,lo8(-(1))
3621
 3854 1e26 3F4F      		sbci r19,hi8(-(1))
3622
 3855 1e28 8CE3      		ldi r24,lo8(10300)
3623
 3856 1e2a 98E2      		ldi r25,hi8(10300)
3624
 3857 1e2c B901      		movw r22,r18
3625
 3858 1e2e 0E94 0000 		call __divmodhi4
3626
 3859 1e32 7093 0000 		sts (Ki)+1,r23
3627
 3860 1e36 6093 0000 		sts Ki,r22
3628
 3861 1e3a 8091 0000 		lds r24,EE_Parameter+27
3629
 3862 1e3e 8093 0000 		sts MAX_GAS,r24
3630
 3863 1e42 8091 0000 		lds r24,EE_Parameter+26
3631
 3864 1e46 8093 0000 		sts MIN_GAS,r24
3632
 3865 1e4a 9091 0000 		lds r25,EE_Parameter+99
3633
 3866 1e4e 9333      		cpi r25,lo8(51)
3634
 3867 1e50 00F4      		brsh .+2
3635
 3868 1e52 00C0      		rjmp .L306
3636
 3869 1e54 81E0      		ldi r24,lo8(1)
3637
 3870 1e56 8093 0000 		sts CareFree,r24
3638
 3871 1e5a 983F      		cpi r25,lo8(-8)
3639
 3872 1e5c 00F0      		brlo .L307
3640
 3873 1e5e EFEF      		ldi r30,lo8(255)
3641
 3874 1e60 F0E0      		ldi r31,hi8(255)
3642
 3875 1e62 E91B      		sub r30,r25
3643
 3876 1e64 F109      		sbc r31,__zero_reg__
3644
 3877 1e66 E050      		subi r30,lo8(-(Poti))
3645
 3878 1e68 F040      		sbci r31,hi8(-(Poti))
3646
 3879 1e6a 8081      		ld r24,Z
3647
 3880 1e6c 8233      		cpi r24,lo8(50)
3648
 3881 1e6e 00F4      		brsh .L307
3649
 3882 1e70 1092 0000 		sts CareFree,__zero_reg__
3650
 3883               	.L307:
3651
 3884 1e74 8091 0000 		lds r24,carefree_old
3652
 3885 1e78 2091 0000 		lds r18,CareFree
3653
 3886 1e7c 8217      		cp r24,r18
3654
 3887 1e7e 01F0      		breq .L308
3655
 3888 1e80 8330      		cpi r24,lo8(3)
3656
 3889 1e82 00F4      		brsh .L309
3657
 3890 1e84 3091 0000 		lds r19,SpeakHoTT
3658
 3891 1e88 2223      		tst r18
3659
 3892 1e8a 01F0      		breq .L310
3660
 3893 1e8c 8CED      		ldi r24,lo8(1500)
3661
 3894 1e8e 95E0      		ldi r25,hi8(1500)
3662
 3895 1e90 9093 0000 		sts (beeptime)+1,r25
3663
 3896 1e94 8093 0000 		sts beeptime,r24
3664
 3897 1e98 3323      		tst r19
3665
 3898 1e9a 01F4      		brne .L312
3666
 3899 1e9c 8EE2      		ldi r24,lo8(46)
3667
 3900 1e9e 00C0      		rjmp .L361
3668
 3901               	.L310:
3669
 3902 1ea0 88EC      		ldi r24,lo8(200)
3670
 3903 1ea2 90E0      		ldi r25,hi8(200)
3671
 3904 1ea4 9093 0000 		sts (beeptime)+1,r25
3672
 3905 1ea8 8093 0000 		sts beeptime,r24
3673
 3906 1eac 3323      		tst r19
3674
 3907 1eae 01F4      		brne .L312
3675
 3908 1eb0 87E1      		ldi r24,lo8(23)
3676
 3909               	.L361:
3677
 3910 1eb2 8093 0000 		sts SpeakHoTT,r24
3678
 3911               	.L312:
3679
 3912 1eb6 85E0      		ldi r24,lo8(5)
3680
 3913 1eb8 8093 0000 		sts NeueKompassRichtungMerken,r24
3681
 3914 1ebc 2093 0000 		sts carefree_old,r18
3682
 3915 1ec0 00C0      		rjmp .L308
3683
 3916               	.L309:
3684
 3917 1ec2 8150      		subi r24,lo8(-(-1))
3685
 3918 1ec4 8093 0000 		sts carefree_old,r24
3686
 3919               	.L308:
3687
 3920 1ec8 8091 0000 		lds r24,FromNaviCtrl+7
3688
 3921 1ecc 9091 0000 		lds r25,(FromNaviCtrl+7)+1
3689
 3922 1ed0 97FF      		sbrs r25,7
3690
 3923 1ed2 00C0      		rjmp .L316
3691
 3924 1ed4 8091 0000 		lds r24,CareFree
3692
 3925 1ed8 8823      		tst r24
3693
 3926 1eda 01F0      		breq .L316
3694
 3927 1edc 8091 0000 		lds r24,VersionInfo+5
3695
 3928 1ee0 8068      		ori r24,lo8(-128)
3696
 3929 1ee2 8093 0000 		sts VersionInfo+5,r24
3697
 3930 1ee6 00C0      		rjmp .L316
3698
 3931               	.L306:
3699
 3932 1ee8 1092 0000 		sts CareFree,__zero_reg__
3700
 3933 1eec 8AE0      		ldi r24,lo8(10)
3701
 3934 1eee 8093 0000 		sts carefree_old,r24
3702
 3935               	.L316:
3703
 3936 1ef2 8091 0000 		lds r24,FromNaviCtrl+7
3704
 3937 1ef6 9091 0000 		lds r25,(FromNaviCtrl+7)+1
3705
 3938 1efa 97FF      		sbrs r25,7
3706
 3939 1efc 00C0      		rjmp .L317
3707
 3940 1efe 8091 0000 		lds r24,MotorenEin
3708
 3941 1f02 8823      		tst r24
3709
 3942 1f04 01F0      		breq .L317
3710
 3943 1f06 8091 0000 		lds r24,CareFree
3711
 3944 1f0a 8823      		tst r24
3712
 3945 1f0c 01F0      		breq .L317
3713
 3946 1f0e 8091 0000 		lds r24,BeepMuster
3714
 3947 1f12 9091 0000 		lds r25,(BeepMuster)+1
3715
 3948 1f16 8F5F      		subi r24,lo8(-1)
3716
 3949 1f18 9F4F      		sbci r25,hi8(-1)
3717
 3950 1f1a 01F4      		brne .L317
3718
 3951 1f1c 88E9      		ldi r24,lo8(15000)
3719
 3952 1f1e 9AE3      		ldi r25,hi8(15000)
3720
 3953 1f20 9093 0000 		sts (beeptime)+1,r25
3721
 3954 1f24 8093 0000 		sts beeptime,r24
3722
 3955 1f28 80E0      		ldi r24,lo8(-23552)
3723
 3956 1f2a 94EA      		ldi r25,hi8(-23552)
3724
 3957 1f2c 9093 0000 		sts (BeepMuster)+1,r25
3725
 3958 1f30 8093 0000 		sts BeepMuster,r24
3726
 3959 1f34 1092 0000 		sts CareFree,__zero_reg__
3727
 3960               	.L317:
3728
 3961 1f38 8091 0000 		lds r24,CareFree
3729
 3962 1f3c 8823      		tst r24
3730
 3963 1f3e 01F0      		breq .L318
3731
 3964 1f40 8091 0000 		lds r24,FC_StatusFlags2
3732
 3965 1f44 8160      		ori r24,lo8(1)
3733
 3966 1f46 8093 0000 		sts FC_StatusFlags2,r24
3734
 3967 1f4a 8091 0000 		lds r24,Parameter_AchsKopplung1
3735
 3968 1f4e 823D      		cpi r24,lo8(-46)
3736
 3969 1f50 00F4      		brsh .L190
3737
 3970 1f52 825E      		subi r24,lo8(-(30))
3738
 3971 1f54 8093 0000 		sts Parameter_AchsKopplung1,r24
3739
 3972 1f58 00C0      		rjmp .L190
3740
 3973               	.L318:
3741
 3974 1f5a 8091 0000 		lds r24,FC_StatusFlags2
3742
 3975 1f5e 8E7F      		andi r24,lo8(-2)
3743
 3976 1f60 8093 0000 		sts FC_StatusFlags2,r24
3744
 3977               	.L190:
3745
 3978               	/* epilogue: frame size=0 */
3746
 3979 1f64 DF91      		pop r29
3747
 3980 1f66 CF91      		pop r28
3748
 3981 1f68 0895      		ret
3749
 3982               	/* epilogue end (size=3) */
3750
 3983               	/* function ParameterZuordnung size 772 (767) */
3751
 3985               		.lcomm sollGier.0,4
3752
 3986               		.lcomm tmp_long.1,4
3753
 3987               		.lcomm tmp_long2.2,4
3754
 3988               		.lcomm IntegralFehlerNick.3,4
3755
 3989               		.lcomm IntegralFehlerRoll.4,4
3756
 3990               		.lcomm RcLostTimer.5,2
3757
 3991               		.lcomm delay_neutral.6,1
3758
 3992               		.lcomm delay_einschalten.7,1
3759
 3993               		.lcomm delay_ausschalten.8,1
3760
 3994               		.lcomm move_safety_switch.9,1
3761
 3995               		.lcomm ausgleichNick.10,4
3762
 3996               		.lcomm ausgleichRoll.11,4
3763
 3997               		.lcomm stick_nick.12,2
3764
 3998               		.lcomm stick_roll.13,2
3765
 3999               		.lcomm cnt.14,2
3766
 4000               		.lcomm last_n_p.15,1
3767
 4001               		.lcomm last_n_n.16,1
3768
 4002               		.lcomm last_r_p.17,1
3769
 4003               		.lcomm last_r_n.18,1
3770
 4004               		.lcomm MittelIntegralNick_Alt.19,4
3771
 4005               		.lcomm MittelIntegralRoll_Alt.20,4
3772
 4006               		.lcomm HeightTrimming.21,2
3773
 4007               		.lcomm FilterHCGas.22,2
3774
 4008               		.lcomm HoverGasFilter.23,4
3775
 4009               		.data
3776
 4012               	delay.24:
3777
 4013 004f 64        		.byte	100
3778
 4014               		.lcomm BaroAtUpperLimit.25,1
3779
 4015               		.lcomm BaroAtLowerLimit.26,1
3780
 4016               		.text
3781
 4017               	.global	MotorRegler
3782
 4019               	MotorRegler:
3783
 4020               	/* prologue: frame size=23 */
3784
 4021 1f6a A7E1      		ldi r26,lo8(23)
3785
 4022 1f6c B0E0      		ldi r27,hi8(23)
3786
 4023 1f6e E0E0      		ldi r30,pm_lo8(1f)
3787
 4024 1f70 F0E0      		ldi r31,pm_hi8(1f)
3788
 4025 1f72 0C94 0000 		jmp __prologue_saves__+0
3789
 4026               	1:
3790
 4027               	/* prologue end (size=6) */
3791
 4028 1f76 0E94 0000 		call Mittelwert
3792
 4029 1f7a 8091 0000 		lds r24,FC_StatusFlags
3793
 4030 1f7e 9927      		clr r25
3794
 4031 1f80 8471      		andi r24,lo8(20)
3795
 4032 1f82 9070      		andi r25,hi8(20)
3796
 4033 1f84 892B      		or r24,r25
3797
 4034 1f86 01F4      		brne .L365
3798
 4035 1f88 8091 0000 		lds r24,EE_Parameter+111
3799
 4036 1f8c 82FF      		sbrs r24,2
3800
 4037 1f8e 00C0      		rjmp .L366
3801
 4038 1f90 8091 0000 		lds r24,HoverGas
3802
 4039 1f94 9091 0000 		lds r25,(HoverGas)+1
3803
 4040 1f98 0097      		sbiw r24,0
3804
 4041 1f9a 01F0      		breq .L367
3805
 4042 1f9c 02E0      		ldi r16,hi8(600)
3806
 4043 1f9e 8835      		cpi r24,lo8(600)
3807
 4044 1fa0 9007      		cpc r25,r16
3808
 4045 1fa2 04F4      		brge .L367
3809
 4046 1fa4 9C01      		movw r18,r24
3810
 4047 1fa6 97FF      		sbrs r25,7
3811
 4048 1fa8 00C0      		rjmp .L368
3812
 4049 1faa 2D5F      		subi r18,lo8(-(3))
3813
 4050 1fac 3F4F      		sbci r19,hi8(-(3))
3814
 4051               	.L368:
3815
 4052 1fae 3595      		asr r19
3816
 4053 1fb0 2795      		ror r18
3817
 4054 1fb2 3595      		asr r19
3818
 4055 1fb4 2795      		ror r18
3819
 4056 1fb6 8091 0000 		lds r24,EE_Parameter+37
3820
 4057 1fba 9927      		clr r25
3821
 4058 1fbc 289F      		mul r18,r24
3822
 4059 1fbe A001      		movw r20,r0
3823
 4060 1fc0 299F      		mul r18,r25
3824
 4061 1fc2 500D      		add r21,r0
3825
 4062 1fc4 389F      		mul r19,r24
3826
 4063 1fc6 500D      		add r21,r0
3827
 4064 1fc8 1124      		clr r1
3828
 4065 1fca CA01      		movw r24,r20
3829
 4066 1fcc 64E6      		ldi r22,lo8(100)
3830
 4067 1fce 70E0      		ldi r23,hi8(100)
3831
 4068 1fd0 0E94 0000 		call __divmodhi4
3832
 4069 1fd4 CB01      		movw r24,r22
3833
 4070 1fd6 00C0      		rjmp .L887
3834
 4071               	.L367:
3835
 4072 1fd8 8DE2      		ldi r24,lo8(45)
3836
 4073 1fda 90E0      		ldi r25,hi8(45)
3837
 4074 1fdc 00C0      		rjmp .L887
3838
 4075               	.L366:
3839
 4076 1fde 8091 0000 		lds r24,EE_Parameter+37
3840
 4077 1fe2 9927      		clr r25
3841
 4078               	.L887:
3842
 4079 1fe4 9093 0000 		sts (HooverGasEmergencyPercent)+1,r25
3843
 4080 1fe8 8093 0000 		sts HooverGasEmergencyPercent,r24
3844
 4081               	.L365:
3845
 4082 1fec 2091 0000 		lds r18,GasIsZeroCnt
3846
 4083 1ff0 3091 0000 		lds r19,(GasIsZeroCnt)+1
3847
 4084 1ff4 55E7      		ldi r21,hi8(30000)
3848
 4085 1ff6 2033      		cpi r18,lo8(30000)
3849
 4086 1ff8 3507      		cpc r19,r21
3850
 4087 1ffa 01F4      		brne .L371
3851
 4088 1ffc 1092 0000 		sts (StickGas)+1,__zero_reg__
3852
 4089 2000 1092 0000 		sts StickGas,__zero_reg__
3853
 4090 2004 8091 0000 		lds r24,MIN_GAS
3854
 4091 2008 9927      		clr r25
3855
 4092 200a 9093 0000 		sts (HooverGasEmergencyPercent)+1,r25
3856
 4093 200e 8093 0000 		sts HooverGasEmergencyPercent,r24
3857
 4094               	.L371:
3858
 4095 2012 6091 0000 		lds r22,StickGas
3859
 4096 2016 7091 0000 		lds r23,(StickGas)+1
3860
 4097 201a 7A83      		std Y+2,r23
3861
 4098 201c 6983      		std Y+1,r22
3862
 4099 201e 8091 0000 		lds r24,MIN_GAS
3863
 4100 2022 9927      		clr r25
3864
 4101 2024 0A96      		adiw r24,10
3865
 4102 2026 6817      		cp r22,r24
3866
 4103 2028 7907      		cpc r23,r25
3867
 4104 202a 04F4      		brge .L372
3868
 4105 202c 9A83      		std Y+2,r25
3869
 4106 202e 8983      		std Y+1,r24
3870
 4107               	.L372:
3871
 4108 2030 8091 0000 		lds r24,SenderOkay
3872
 4109 2034 8436      		cpi r24,lo8(100)
3873
 4110 2036 00F0      		brlo .+2
3874
 4111 2038 00C0      		rjmp .L373
3875
 4112 203a 8091 0000 		lds r24,FC_StatusFlags2
3876
 4113 203e 82FD      		sbrc r24,2
3877
 4114 2040 00C0      		rjmp .L373
3878
 4115 2042 8091 0000 		lds r24,RcLostTimer.5
3879
 4116 2046 9091 0000 		lds r25,(RcLostTimer.5)+1
3880
 4117 204a 0097      		sbiw r24,0
3881
 4118 204c 01F0      		breq .L374
3882
 4119 204e 0197      		sbiw r24,1
3883
 4120 2050 9093 0000 		sts (RcLostTimer.5)+1,r25
3884
 4121 2054 8093 0000 		sts RcLostTimer.5,r24
3885
 4122 2058 00C0      		rjmp .L375
3886
 4123               	.L374:
3887
 4124 205a 1092 0000 		sts MotorenEin,__zero_reg__
3888
 4125 205e 9093 0000 		sts (modell_fliegt)+1,r25
3889
 4126 2062 8093 0000 		sts modell_fliegt,r24
3890
 4127 2066 8091 0000 		lds r24,FC_StatusFlags
3891
 4128 206a 8D7E      		andi r24,lo8(-19)
3892
 4129 206c 8093 0000 		sts FC_StatusFlags,r24
3893
 4130               	.L375:
3894
 4131 2070 8091 0000 		lds r24,PlatinenVersion
3895
 4132 2074 8A30      		cpi r24,lo8(10)
3896
 4133 2076 01F0      		breq .L377
3897
 4134 2078 8431      		cpi r24,lo8(20)
3898
 4135 207a 00F0      		brlo .L376
3899
 4136               	.L377:
3900
 4137 207c 289A      		sbi 37-0x20,0
3901
 4138 207e 00C0      		rjmp .L378
3902
 4139               	.L376:
3903
 4140 2080 2898      		cbi 37-0x20,0
3904
 4141               	.L378:
3905
 4142 2082 8091 0000 		lds r24,modell_fliegt
3906
 4143 2086 9091 0000 		lds r25,(modell_fliegt)+1
3907
 4144 208a 895E      		subi r24,lo8(1001)
3908
 4145 208c 9340      		sbci r25,hi8(1001)
3909
 4146 208e 00F0      		brlo .L379
3910
 4147 2090 8091 0000 		lds r24,Capacity+6
3911
 4148 2094 8536      		cpi r24,lo8(101)
3912
 4149 2096 00F0      		brlo .L379
3913
 4150 2098 8091 0000 		lds r24,HooverGasEmergencyPercent
3914
 4151 209c 9091 0000 		lds r25,(HooverGasEmergencyPercent)+1
3915
 4152 20a0 9A83      		std Y+2,r25
3916
 4153 20a2 8983      		std Y+1,r24
3917
 4154 20a4 8091 0000 		lds r24,FC_StatusFlags
3918
 4155 20a8 8061      		ori r24,lo8(16)
3919
 4156 20aa 8093 0000 		sts FC_StatusFlags,r24
3920
 4157 20ae 8091 0000 		lds r24,EE_Parameter+1
3921
 4158 20b2 A82F      		mov r26,r24
3922
 4159 20b4 BB27      		clr r27
3923
 4160 20b6 AA0F      		add r26,r26
3924
 4161 20b8 BB1F      		adc r27,r27
3925
 4162 20ba FD01      		movw r30,r26
3926
 4163 20bc E050      		subi r30,lo8(-(PPM_diff))
3927
 4164 20be F040      		sbci r31,hi8(-(PPM_diff))
3928
 4165 20c0 1182      		std Z+1,__zero_reg__
3929
 4166 20c2 1082      		st Z,__zero_reg__
3930
 4167 20c4 8091 0000 		lds r24,EE_Parameter+2
3931
 4168 20c8 282F      		mov r18,r24
3932
 4169 20ca 3327      		clr r19
3933
 4170 20cc 220F      		add r18,r18
3934
 4171 20ce 331F      		adc r19,r19
3935
 4172 20d0 C901      		movw r24,r18
3936
 4173 20d2 8050      		subi r24,lo8(-(PPM_diff))
3937
 4174 20d4 9040      		sbci r25,hi8(-(PPM_diff))
3938
 4175 20d6 FC01      		movw r30,r24
3939
 4176 20d8 1182      		std Z+1,__zero_reg__
3940
 4177 20da 1082      		st Z,__zero_reg__
3941
 4178 20dc A050      		subi r26,lo8(-(PPM_in))
3942
 4179 20de B040      		sbci r27,hi8(-(PPM_in))
3943
 4180 20e0 1196      		adiw r26,1
3944
 4181 20e2 1C92      		st X,__zero_reg__
3945
 4182 20e4 1E92      		st -X,__zero_reg__
3946
 4183 20e6 2050      		subi r18,lo8(-(PPM_in))
3947
 4184 20e8 3040      		sbci r19,hi8(-(PPM_in))
3948
 4185 20ea D901      		movw r26,r18
3949
 4186 20ec 1196      		adiw r26,1
3950
 4187 20ee 1C92      		st X,__zero_reg__
3951
 4188 20f0 1E92      		st -X,__zero_reg__
3952
 4189 20f2 8091 0000 		lds r24,EE_Parameter+4
3953
 4190 20f6 E82F      		mov r30,r24
3954
 4191 20f8 FF27      		clr r31
3955
 4192 20fa EE0F      		add r30,r30
3956
 4193 20fc FF1F      		adc r31,r31
3957
 4194 20fe E050      		subi r30,lo8(-(PPM_in))
3958
 4195 2100 F040      		sbci r31,hi8(-(PPM_in))
3959
 4196 2102 1182      		std Z+1,__zero_reg__
3960
 4197 2104 1082      		st Z,__zero_reg__
3961
 4198 2106 00C0      		rjmp .L381
3962
 4199               	.L379:
3963
 4200 2108 1092 0000 		sts MotorenEin,__zero_reg__
3964
 4201 210c 00C0      		rjmp .L381
3965
 4202               	.L373:
3966
 4203 210e 8091 0000 		lds r24,SenderOkay
3967
 4204 2112 8D38      		cpi r24,lo8(-115)
3968
 4205 2114 00F4      		brsh .+2
3969
 4206 2116 00C0      		rjmp .L382
3970
 4207 2118 8091 0000 		lds r24,FC_StatusFlags
3971
 4208 211c 8F7E      		andi r24,lo8(-17)
3972
 4209 211e 8093 0000 		sts FC_StatusFlags,r24
3973
 4210 2122 9091 0000 		lds r25,EE_Parameter+38
3974
 4211 2126 82E3      		ldi r24,lo8(50)
3975
 4212 2128 989F      		mul r25,r24
3976
 4213 212a C001      		movw r24,r0
3977
 4214 212c 1124      		clr r1
3978
 4215 212e 9093 0000 		sts (RcLostTimer.5)+1,r25
3979
 4216 2132 8093 0000 		sts RcLostTimer.5,r24
3980
 4217 2136 E981      		ldd r30,Y+1
3981
 4218 2138 FA81      		ldd r31,Y+2
3982
 4219 213a B997      		sbiw r30,41
3983
 4220 213c 04F0      		brlt .L383
3984
 4221 213e 8091 0000 		lds r24,MotorenEin
3985
 4222 2142 8823      		tst r24
3986
 4223 2144 01F0      		breq .L383
3987
 4224 2146 8091 0000 		lds r24,modell_fliegt
3988
 4225 214a 9091 0000 		lds r25,(modell_fliegt)+1
3989
 4226 214e FFEF      		ldi r31,hi8(-1)
3990
 4227 2150 8F3F      		cpi r24,lo8(-1)
3991
 4228 2152 9F07      		cpc r25,r31
3992
 4229 2154 01F0      		breq .L383
3993
 4230 2156 0196      		adiw r24,1
3994
 4231 2158 9093 0000 		sts (modell_fliegt)+1,r25
3995
 4232 215c 8093 0000 		sts modell_fliegt,r24
3996
 4233               	.L383:
3997
 4234 2160 8091 0000 		lds r24,modell_fliegt
3998
 4235 2164 9091 0000 		lds r25,(modell_fliegt)+1
3999
 4236 2168 8F3F      		cpi r24,255
4000
 4237 216a 9105      		cpc r25,__zero_reg__
4001
 4238 216c 01F0      		breq .+2
4002
 4239 216e 00F4      		brsh .L385
4003
 4240 2170 1092 0000 		sts SummeNick,__zero_reg__
4004
 4241 2174 1092 0000 		sts (SummeNick)+1,__zero_reg__
4005
 4242 2178 1092 0000 		sts (SummeNick)+2,__zero_reg__
4006
 4243 217c 1092 0000 		sts (SummeNick)+3,__zero_reg__
4007
 4244 2180 1092 0000 		sts SummeRoll,__zero_reg__
4008
 4245 2184 1092 0000 		sts (SummeRoll)+1,__zero_reg__
4009
 4246 2188 1092 0000 		sts (SummeRoll)+2,__zero_reg__
4010
 4247 218c 1092 0000 		sts (SummeRoll)+3,__zero_reg__
4011
 4248 2190 1092 0000 		sts sollGier.0,__zero_reg__
4012
 4249 2194 1092 0000 		sts (sollGier.0)+1,__zero_reg__
4013
 4250 2198 1092 0000 		sts (sollGier.0)+2,__zero_reg__
4014
 4251 219c 1092 0000 		sts (sollGier.0)+3,__zero_reg__
4015
 4252 21a0 1092 0000 		sts Mess_Integral_Gier,__zero_reg__
4016
 4253 21a4 1092 0000 		sts (Mess_Integral_Gier)+1,__zero_reg__
4017
 4254 21a8 1092 0000 		sts (Mess_Integral_Gier)+2,__zero_reg__
4018
 4255 21ac 1092 0000 		sts (Mess_Integral_Gier)+3,__zero_reg__
4019
 4256 21b0 00C0      		rjmp .L386
4020
 4257               	.L385:
4021
 4258 21b2 8091 0000 		lds r24,FC_StatusFlags
4022
 4259 21b6 8260      		ori r24,lo8(2)
4023
 4260 21b8 8093 0000 		sts FC_StatusFlags,r24
4024
 4261               	.L386:
4025
 4262 21bc 8091 0000 		lds r24,EE_Parameter+3
4026
 4263 21c0 E82F      		mov r30,r24
4027
 4264 21c2 FF27      		clr r31
4028
 4265 21c4 EE0F      		add r30,r30
4029
 4266 21c6 FF1F      		adc r31,r31
4030
 4267 21c8 E050      		subi r30,lo8(-(PPM_in))
4031
 4268 21ca F040      		sbci r31,hi8(-(PPM_in))
4032
 4269 21cc 8081      		ld r24,Z
4033
 4270 21ce 9181      		ldd r25,Z+1
4034
 4271 21d0 8135      		cpi r24,81
4035
 4272 21d2 9105      		cpc r25,__zero_reg__
4036
 4273 21d4 04F4      		brge .+2
4037
 4274 21d6 00C0      		rjmp .L387
4038
 4275 21d8 2091 0000 		lds r18,MotorenEin
4039
 4276 21dc 2223      		tst r18
4040
 4277 21de 01F0      		breq .+2
4041
 4278 21e0 00C0      		rjmp .L387
4042
 4279 21e2 8091 0000 		lds r24,EE_Parameter+4
4043
 4280 21e6 E82F      		mov r30,r24
4044
 4281 21e8 FF27      		clr r31
4045
 4282 21ea EE0F      		add r30,r30
4046
 4283 21ec FF1F      		adc r31,r31
4047
 4284 21ee E050      		subi r30,lo8(-(PPM_in))
4048
 4285 21f0 F040      		sbci r31,hi8(-(PPM_in))
4049
 4286 21f2 8081      		ld r24,Z
4050
 4287 21f4 9181      		ldd r25,Z+1
4051
 4288 21f6 8C34      		cpi r24,76
4052
 4289 21f8 9105      		cpc r25,__zero_reg__
4053
 4290 21fa 04F4      		brge .+2
4054
 4291 21fc 00C0      		rjmp .L388
4055
 4292 21fe 8091 0000 		lds r24,delay_neutral.6
4056
 4293 2202 8F5F      		subi r24,lo8(-(1))
4057
 4294 2204 8093 0000 		sts delay_neutral.6,r24
4058
 4295 2208 893C      		cpi r24,lo8(-55)
4059
 4296 220a 00F4      		brsh .+2
4060
 4297 220c 00C0      		rjmp .L387
4061
 4298 220e 2093 0000 		sts delay_neutral.6,r18
4062
 4299 2212 1092 0000 		sts (modell_fliegt)+1,__zero_reg__
4063
 4300 2216 1092 0000 		sts modell_fliegt,__zero_reg__
4064
 4301 221a 3091 0000 		lds r19,EE_Parameter+1
4065
 4302 221e E32F      		mov r30,r19
4066
 4303 2220 FF27      		clr r31
4067
 4304 2222 EE0F      		add r30,r30
4068
 4305 2224 FF1F      		adc r31,r31
4069
 4306 2226 E050      		subi r30,lo8(-(PPM_in))
4070
 4307 2228 F040      		sbci r31,hi8(-(PPM_in))
4071
 4308 222a 8081      		ld r24,Z
4072
 4309 222c 9181      		ldd r25,Z+1
4073
 4310 222e 8734      		cpi r24,71
4074
 4311 2230 9105      		cpc r25,__zero_reg__
4075
 4312 2232 04F4      		brge .L391
4076
 4313 2234 8091 0000 		lds r24,EE_Parameter+2
4077
 4314 2238 E82F      		mov r30,r24
4078
 4315 223a FF27      		clr r31
4079
 4316 223c EE0F      		add r30,r30
4080
 4317 223e FF1F      		adc r31,r31
4081
 4318 2240 E050      		subi r30,lo8(-(PPM_in))
4082
 4319 2242 F040      		sbci r31,hi8(-(PPM_in))
4083
 4320 2244 8081      		ld r24,Z
4084
 4321 2246 9181      		ldd r25,Z+1
4085
 4322 2248 0190      		ld __tmp_reg__,Z+
4086
 4323 224a F081      		ld r31,Z
4087
 4324 224c E02D      		mov r30,__tmp_reg__
4088
 4325 224e F7FF      		sbrs r31,7
4089
 4326 2250 00C0      		rjmp .L392
4090
 4327 2252 F095      		com r31
4091
 4328 2254 E195      		neg r30
4092
 4329 2256 FF4F      		sbci r31,lo8(-1)
4093
 4330               	.L392:
4094
 4331 2258 E734      		cpi r30,71
4095
 4332 225a F105      		cpc r31,__zero_reg__
4096
 4333 225c 04F4      		brge .+2
4097
 4334 225e 00C0      		rjmp .L390
4098
 4335               	.L391:
4099
 4336 2260 41E0      		ldi r20,lo8(1)
4100
 4337 2262 2091 0000 		lds r18,EE_Parameter+2
4101
 4338 2266 A22F      		mov r26,r18
4102
 4339 2268 BB27      		clr r27
4103
 4340 226a AA0F      		add r26,r26
4104
 4341 226c BB1F      		adc r27,r27
4105
 4342 226e A050      		subi r26,lo8(-(PPM_in))
4106
 4343 2270 B040      		sbci r27,hi8(-(PPM_in))
4107
 4344 2272 8D91      		ld r24,X+
4108
 4345 2274 9C91      		ld r25,X
4109
 4346 2276 1197      		sbiw r26,1
4110
 4347 2278 8734      		cpi r24,71
4111
 4348 227a 9105      		cpc r25,__zero_reg__
4112
 4349 227c 04F0      		brlt .L393
4113
 4350 227e E32F      		mov r30,r19
4114
 4351 2280 FF27      		clr r31
4115
 4352 2282 EE0F      		add r30,r30
4116
 4353 2284 FF1F      		adc r31,r31
4117
 4354 2286 E050      		subi r30,lo8(-(PPM_in))
4118
 4355 2288 F040      		sbci r31,hi8(-(PPM_in))
4119
 4356 228a 8081      		ld r24,Z
4120
 4357 228c 9181      		ldd r25,Z+1
4121
 4358               	.L393:
4122
 4359 228e 8D91      		ld r24,X+
4123
 4360 2290 9C91      		ld r25,X
4124
 4361 2292 8734      		cpi r24,71
4125
 4362 2294 9105      		cpc r25,__zero_reg__
4126
 4363 2296 04F0      		brlt .L394
4127
 4364 2298 8091 0000 		lds r24,EE_Parameter+1
4128
 4365 229c E82F      		mov r30,r24
4129
 4366 229e FF27      		clr r31
4130
 4367 22a0 EE0F      		add r30,r30
4131
 4368 22a2 FF1F      		adc r31,r31
4132
 4369 22a4 E050      		subi r30,lo8(-(PPM_in))
4133
 4370 22a6 F040      		sbci r31,hi8(-(PPM_in))
4134
 4371 22a8 8081      		ld r24,Z
4135
 4372 22aa 9181      		ldd r25,Z+1
4136
 4373 22ac 8734      		cpi r24,71
4137
 4374 22ae 9105      		cpc r25,__zero_reg__
4138
 4375 22b0 04F0      		brlt .L394
4139
 4376 22b2 42E0      		ldi r20,lo8(2)
4140
 4377               	.L394:
4141
 4378 22b4 E22F      		mov r30,r18
4142
 4379 22b6 FF27      		clr r31
4143
 4380 22b8 EE0F      		add r30,r30
4144
 4381 22ba FF1F      		adc r31,r31
4145
 4382 22bc E050      		subi r30,lo8(-(PPM_in))
4146
 4383 22be F040      		sbci r31,hi8(-(PPM_in))
4147
 4384 22c0 8081      		ld r24,Z
4148
 4385 22c2 9181      		ldd r25,Z+1
4149
 4386 22c4 8634      		cpi r24,70
4150
 4387 22c6 9105      		cpc r25,__zero_reg__
4151
 4388 22c8 04F4      		brge .L395
4152
 4389 22ca 8091 0000 		lds r24,EE_Parameter+1
4153
 4390 22ce E82F      		mov r30,r24
4154
 4391 22d0 FF27      		clr r31
4155
 4392 22d2 EE0F      		add r30,r30
4156
 4393 22d4 FF1F      		adc r31,r31
4157
 4394 22d6 E050      		subi r30,lo8(-(PPM_in))
4158
 4395 22d8 F040      		sbci r31,hi8(-(PPM_in))
4159
 4396 22da 8081      		ld r24,Z
4160
 4397 22dc 9181      		ldd r25,Z+1
4161
 4398 22de 8734      		cpi r24,71
4162
 4399 22e0 9105      		cpc r25,__zero_reg__
4163
 4400 22e2 04F0      		brlt .L395
4164
 4401 22e4 43E0      		ldi r20,lo8(3)
4165
 4402               	.L395:
4166
 4403 22e6 E22F      		mov r30,r18
4167
 4404 22e8 FF27      		clr r31
4168
 4405 22ea EE0F      		add r30,r30
4169
 4406 22ec FF1F      		adc r31,r31
4170
 4407 22ee E050      		subi r30,lo8(-(PPM_in))
4171
 4408 22f0 F040      		sbci r31,hi8(-(PPM_in))
4172
 4409 22f2 8081      		ld r24,Z
4173
 4410 22f4 9181      		ldd r25,Z+1
4174
 4411 22f6 8A5B      		subi r24,lo8(-70)
4175
 4412 22f8 9F4F      		sbci r25,hi8(-70)
4176
 4413 22fa 04F4      		brge .L396
4177
 4414 22fc 8091 0000 		lds r24,EE_Parameter+1
4178
 4415 2300 E82F      		mov r30,r24
4179
 4416 2302 FF27      		clr r31
4180
 4417 2304 EE0F      		add r30,r30
4181
 4418 2306 FF1F      		adc r31,r31
4182
 4419 2308 E050      		subi r30,lo8(-(PPM_in))
4183
 4420 230a F040      		sbci r31,hi8(-(PPM_in))
4184
 4421 230c 8081      		ld r24,Z
4185
 4422 230e 9181      		ldd r25,Z+1
4186
 4423 2310 8734      		cpi r24,71
4187
 4424 2312 9105      		cpc r25,__zero_reg__
4188
 4425 2314 04F0      		brlt .L396
4189
 4426 2316 44E0      		ldi r20,lo8(4)
4190
 4427               	.L396:
4191
 4428 2318 E22F      		mov r30,r18
4192
 4429 231a FF27      		clr r31
4193
 4430 231c EE0F      		add r30,r30
4194
 4431 231e FF1F      		adc r31,r31
4195
 4432 2320 E050      		subi r30,lo8(-(PPM_in))
4196
 4433 2322 F040      		sbci r31,hi8(-(PPM_in))
4197
 4434 2324 8081      		ld r24,Z
4198
 4435 2326 9181      		ldd r25,Z+1
4199
 4436 2328 8A5B      		subi r24,lo8(-70)
4200
 4437 232a 9F4F      		sbci r25,hi8(-70)
4201
 4438 232c 04F4      		brge .L397
4202
 4439 232e 8091 0000 		lds r24,EE_Parameter+1
4203
 4440 2332 E82F      		mov r30,r24
4204
 4441 2334 FF27      		clr r31
4205
 4442 2336 EE0F      		add r30,r30
4206
 4443 2338 FF1F      		adc r31,r31
4207
 4444 233a E050      		subi r30,lo8(-(PPM_in))
4208
 4445 233c F040      		sbci r31,hi8(-(PPM_in))
4209
 4446 233e 8081      		ld r24,Z
4210
 4447 2340 9181      		ldd r25,Z+1
4211
 4448 2342 8634      		cpi r24,70
4212
 4449 2344 9105      		cpc r25,__zero_reg__
4213
 4450 2346 04F4      		brge .L397
4214
 4451 2348 45E0      		ldi r20,lo8(5)
4215
 4452               	.L397:
4216
 4453 234a 842F      		mov r24,r20
4217
 4454 234c 0E94 0000 		call SetActiveParamSet
4218
 4455               	.L390:
4219
 4456 2350 8091 0000 		lds r24,EE_Parameter+2
4220
 4457 2354 E82F      		mov r30,r24
4221
 4458 2356 FF27      		clr r31
4222
 4459 2358 EE0F      		add r30,r30
4223
 4460 235a FF1F      		adc r31,r31
4224
 4461 235c E050      		subi r30,lo8(-(PPM_in))
4225
 4462 235e F040      		sbci r31,hi8(-(PPM_in))
4226
 4463 2360 8081      		ld r24,Z
4227
 4464 2362 9181      		ldd r25,Z+1
4228
 4465 2364 0190      		ld __tmp_reg__,Z+
4229
 4466 2366 F081      		ld r31,Z
4230
 4467 2368 E02D      		mov r30,__tmp_reg__
4231
 4468 236a F7FF      		sbrs r31,7
4232
 4469 236c 00C0      		rjmp .L399
4233
 4470 236e F095      		com r31
4234
 4471 2370 E195      		neg r30
4235
 4472 2372 FF4F      		sbci r31,lo8(-1)
4236
 4473               	.L399:
4237
 4474 2374 7E97      		sbiw r30,30
4238
 4475 2376 04F4      		brge .L398
4239
 4476 2378 8091 0000 		lds r24,EE_Parameter+1
4240
 4477 237c E82F      		mov r30,r24
4241
 4478 237e FF27      		clr r31
4242
 4479 2380 EE0F      		add r30,r30
4243
 4480 2382 FF1F      		adc r31,r31
4244
 4481 2384 E050      		subi r30,lo8(-(PPM_in))
4245
 4482 2386 F040      		sbci r31,hi8(-(PPM_in))
4246
 4483 2388 8081      		ld r24,Z
4247
 4484 238a 9181      		ldd r25,Z+1
4248
 4485 238c 8A5B      		subi r24,lo8(-70)
4249
 4486 238e 9F4F      		sbci r25,hi8(-70)
4250
 4487 2390 04F4      		brge .L398
4251
 4488 2392 81E0      		ldi r24,lo8(1)
4252
 4489 2394 8093 0000 		sts WinkelOut+6,r24
4253
 4490 2398 1092 0000 		sts CalibrationDone,__zero_reg__
4254
 4491 239c 88EE      		ldi r24,lo8(1000)
4255
 4492 239e 93E0      		ldi r25,hi8(1000)
4256
 4493 23a0 9093 0000 		sts (beeptime)+1,r25
4257
 4494 23a4 8093 0000 		sts beeptime,r24
4258
 4495 23a8 00C0      		rjmp .L387
4259
 4496               	.L398:
4260
 4497 23aa 0E94 0000 		call GetActiveParamSet
4261
 4498 23ae 0E94 0000 		call ParamSet_ReadFromEEProm
4262
 4499 23b2 80E0      		ldi r24,lo8(0)
4263
 4500 23b4 0E94 0000 		call LipoDetection
4264
 4501 23b8 8091 0000 		lds r24,EE_Parameter+39
4265
 4502 23bc 0E94 0000 		call LIBFC_ReceiverInit
4266
 4503 23c0 8091 0000 		lds r24,Parameter_GlobalConfig
4267
 4504 23c4 80FF      		sbrs r24,0
4268
 4505 23c6 00C0      		rjmp .L401
4269
 4506 23c8 8091 0000 		lds r24,MessLuftdruck
4270
 4507 23cc 9091 0000 		lds r25,(MessLuftdruck)+1
4271
 4508 23d0 875B      		subi r24,lo8(951)
4272
 4509 23d2 9340      		sbci r25,hi8(951)
4273
 4510 23d4 00F4      		brsh .L403
4274
 4511 23d6 8091 0000 		lds r24,MessLuftdruck
4275
 4512 23da 9091 0000 		lds r25,(MessLuftdruck)+1
4276
 4513 23de 8E5E      		subi r24,lo8(750)
4277
 4514 23e0 9240      		sbci r25,hi8(750)
4278
 4515 23e2 00F4      		brsh .L401
4279
 4516               	.L403:
4280
 4517 23e4 0E94 0000 		call SucheLuftruckOffset
4281
 4518               	.L401:
4282
 4519 23e8 80E0      		ldi r24,lo8(0)
4283
 4520 23ea 0E94 0000 		call SetNeutral
4284
 4521 23ee 81E0      		ldi r24,lo8(1)
4285
 4522 23f0 8093 0000 		sts CalibrationDone,r24
4286
 4523 23f4 8093 0000 		sts ServoActive,r24
4287
 4524 23f8 579A      		sbi 42-0x20,7
4288
 4525 23fa 00C0      		rjmp .L888
4289
 4526               	.L388:
4290
 4527 23fc 8081      		ld r24,Z
4291
 4528 23fe 9181      		ldd r25,Z+1
4292
 4529 2400 855B      		subi r24,lo8(-75)
4293
 4530 2402 9F4F      		sbci r25,hi8(-75)
4294
 4531 2404 04F4      		brge .L405
4295
 4532 2406 8091 0000 		lds r24,delay_neutral.6
4296
 4533 240a 8F5F      		subi r24,lo8(-(1))
4297
 4534 240c 8093 0000 		sts delay_neutral.6,r24
4298
 4535 2410 893C      		cpi r24,lo8(-55)
4299
 4536 2412 00F0      		brlo .L387
4300
 4537 2414 2093 0000 		sts MotorenEin,r18
4301
 4538 2418 2093 0000 		sts delay_neutral.6,r18
4302
 4539 241c 1092 0000 		sts (modell_fliegt)+1,__zero_reg__
4303
 4540 2420 1092 0000 		sts modell_fliegt,__zero_reg__
4304
 4541 2424 81E0      		ldi r24,lo8(1)
4305
 4542 2426 0E94 0000 		call SetNeutral
4306
 4543 242a 81E0      		ldi r24,lo8(1)
4307
 4544 242c 8093 0000 		sts CalibrationDone,r24
4308
 4545               	.L888:
4309
 4546 2430 88E1      		ldi r24,lo8(24)
4310
 4547 2432 8093 0000 		sts SpeakHoTT,r24
4311
 4548 2436 0E94 0000 		call GetActiveParamSet
4312
 4549 243a 68E7      		ldi r22,lo8(120)
4313
 4550 243c 70E0      		ldi r23,hi8(120)
4314
 4551 243e 0E94 0000 		call Piep
4315
 4552 2442 00C0      		rjmp .L387
4316
 4553               	.L405:
4317
 4554 2444 2093 0000 		sts delay_neutral.6,r18
4318
 4555               	.L387:
4319
 4556 2448 8091 0000 		lds r24,EE_Parameter+3
4320
 4557 244c E82F      		mov r30,r24
4321
 4558 244e FF27      		clr r31
4322
 4559 2450 EE0F      		add r30,r30
4323
 4560 2452 FF1F      		adc r31,r31
4324
 4561 2454 E050      		subi r30,lo8(-(PPM_in))
4325
 4562 2456 F040      		sbci r31,hi8(-(PPM_in))
4326
 4563 2458 8081      		ld r24,Z
4327
 4564 245a 9181      		ldd r25,Z+1
4328
 4565 245c 8B5A      		subi r24,lo8(-85)
4329
 4566 245e 9F4F      		sbci r25,hi8(-85)
4330
 4567 2460 04F0      		brlt .+2
4331
 4568 2462 00C0      		rjmp .L408
4332
 4569 2464 2091 0000 		lds r18,EE_Parameter+100
4333
 4570 2468 E22F      		mov r30,r18
4334
 4571 246a FF27      		clr r31
4335
 4572 246c EF77      		andi r30,lo8(127)
4336
 4573 246e F070      		andi r31,hi8(127)
4337
 4574 2470 EE0F      		add r30,r30
4338
 4575 2472 FF1F      		adc r31,r31
4339
 4576 2474 E050      		subi r30,lo8(-(PPM_diff))
4340
 4577 2476 F040      		sbci r31,hi8(-(PPM_diff))
4341
 4578 2478 8081      		ld r24,Z
4342
 4579 247a 9181      		ldd r25,Z+1
4343
 4580 247c 0697      		sbiw r24,6
4344
 4581 247e 04F0      		brlt .L409
4345
 4582 2480 84E6      		ldi r24,lo8(100)
4346
 4583 2482 00C0      		rjmp .L889
4347
 4584               	.L409:
4348
 4585 2484 8081      		ld r24,Z
4349
 4586 2486 9181      		ldd r25,Z+1
4350
 4587 2488 8B5F      		subi r24,lo8(-5)
4351
 4588 248a 9F4F      		sbci r25,hi8(-5)
4352
 4589 248c 04F4      		brge .L410
4353
 4590 248e 8CE9      		ldi r24,lo8(-100)
4354
 4591               	.L889:
4355
 4592 2490 8093 0000 		sts move_safety_switch.9,r24
4356
 4593               	.L410:
4357
 4594 2494 8091 0000 		lds r24,MotorenEin
4358
 4595 2498 E091 0000 		lds r30,EE_Parameter+4
4359
 4596 249c 8823      		tst r24
4360
 4597 249e 01F0      		breq .+2
4361
 4598 24a0 00C0      		rjmp .L412
4362
 4599 24a2 FF27      		clr r31
4363
 4600 24a4 EE0F      		add r30,r30
4364
 4601 24a6 FF1F      		adc r31,r31
4365
 4602 24a8 E050      		subi r30,lo8(-(PPM_in))
4366
 4603 24aa F040      		sbci r31,hi8(-(PPM_in))
4367
 4604 24ac 8081      		ld r24,Z
4368
 4605 24ae 9181      		ldd r25,Z+1
4369
 4606 24b0 855B      		subi r24,lo8(-75)
4370
 4607 24b2 9F4F      		sbci r25,hi8(-75)
4371
 4608 24b4 04F4      		brge .L415
4372
 4609 24b6 8091 0000 		lds r24,EE_Parameter+111
4373
 4610 24ba 83FD      		sbrc r24,3
4374
 4611 24bc 00C0      		rjmp .L416
4375
 4612 24be E22F      		mov r30,r18
4376
 4613 24c0 FF27      		clr r31
4377
 4614 24c2 EE0F      		add r30,r30
4378
 4615 24c4 FF1F      		adc r31,r31
4379
 4616 24c6 E050      		subi r30,lo8(-(PPM_in))
4380
 4617 24c8 F040      		sbci r31,hi8(-(PPM_in))
4381
 4618 24ca 8081      		ld r24,Z
4382
 4619 24cc 9181      		ldd r25,Z+1
4383
 4620 24ce 855B      		subi r24,lo8(-75)
4384
 4621 24d0 9F4F      		sbci r25,hi8(-75)
4385
 4622 24d2 04F0      		brlt .L414
4386
 4623               	.L416:
4387
 4624 24d4 8091 0000 		lds r24,EE_Parameter+100
4388
 4625 24d8 8823      		tst r24
4389
 4626 24da 01F0      		breq .L414
4390
 4627               	.L415:
4391
 4628 24dc 8091 0000 		lds r24,EE_Parameter+111
4392
 4629 24e0 83FF      		sbrs r24,3
4393
 4630 24e2 00C0      		rjmp .L413
4394
 4631 24e4 8091 0000 		lds r24,EE_Parameter+100
4395
 4632 24e8 E82F      		mov r30,r24
4396
 4633 24ea FF27      		clr r31
4397
 4634 24ec EE0F      		add r30,r30
4398
 4635 24ee FF1F      		adc r31,r31
4399
 4636 24f0 E050      		subi r30,lo8(-(PPM_in))
4400
 4637 24f2 F040      		sbci r31,hi8(-(PPM_in))
4401
 4638 24f4 8081      		ld r24,Z
4402
 4639 24f6 9181      		ldd r25,Z+1
4403
 4640 24f8 875F      		subi r24,lo8(-9)
4404
 4641 24fa 9F4F      		sbci r25,hi8(-9)
4405
 4642 24fc 04F4      		brge .+2
4406
 4643 24fe 00C0      		rjmp .L413
4407
 4644 2500 8091 0000 		lds r24,move_safety_switch.9
4408
 4645 2504 8436      		cpi r24,lo8(100)
4409
 4646 2506 01F0      		breq .+2
4410
 4647 2508 00C0      		rjmp .L413
4411
 4648               	.L414:
4412
 4649 250a 2091 0000 		lds r18,CalibrationDone
4413
 4650 250e 2223      		tst r18
4414
 4651 2510 01F0      		breq .L417
4415
 4652 2512 8091 0000 		lds r24,FC_StatusFlags
4416
 4653 2516 8860      		ori r24,lo8(8)
4417
 4654 2518 8093 0000 		sts FC_StatusFlags,r24
4418
 4655               	.L417:
4419
 4656 251c 8091 0000 		lds r24,delay_einschalten.7
4420
 4657 2520 8F5F      		subi r24,lo8(-(1))
4421
 4658 2522 8093 0000 		sts delay_einschalten.7,r24
4422
 4659 2526 8E3F      		cpi r24,lo8(-2)
4423
 4660 2528 00F4      		brsh .+2
4424
 4661 252a 00C0      		rjmp .L423
4425
 4662 252c 1092 0000 		sts delay_einschalten.7,__zero_reg__
4426
 4663 2530 8091 0000 		lds r24,VersionInfo+5
4427
 4664 2534 8823      		tst r24
4428
 4665 2536 01F0      		breq .+2
4429
 4666 2538 00C0      		rjmp .L419
4430
 4667 253a 2223      		tst r18
4431
 4668 253c 01F4      		brne .+2
4432
 4669 253e 00C0      		rjmp .L419
4433
 4670 2540 8091 0000 		lds r24,NC_ErrorCode
4434
 4671 2544 8823      		tst r24
4435
 4672 2546 01F0      		breq .+2
4436
 4673 2548 00C0      		rjmp .L419
4437
 4674 254a 81E0      		ldi r24,lo8(1)
4438
 4675 254c 90E0      		ldi r25,hi8(1)
4439
 4676 254e 9093 0000 		sts (modell_fliegt)+1,r25
4440
 4677 2552 8093 0000 		sts modell_fliegt,r24
4441
 4678 2556 81E0      		ldi r24,lo8(1)
4442
 4679 2558 8093 0000 		sts MotorenEin,r24
4443
 4680 255c 1092 0000 		sts sollGier.0,__zero_reg__
4444
 4681 2560 1092 0000 		sts (sollGier.0)+1,__zero_reg__
4445
 4682 2564 1092 0000 		sts (sollGier.0)+2,__zero_reg__
4446
 4683 2568 1092 0000 		sts (sollGier.0)+3,__zero_reg__
4447
 4684 256c 1092 0000 		sts Mess_Integral_Gier,__zero_reg__
4448
 4685 2570 1092 0000 		sts (Mess_Integral_Gier)+1,__zero_reg__
4449
 4686 2574 1092 0000 		sts (Mess_Integral_Gier)+2,__zero_reg__
4450
 4687 2578 1092 0000 		sts (Mess_Integral_Gier)+3,__zero_reg__
4451
 4688 257c 1092 0000 		sts Mess_Integral_Gier2,__zero_reg__
4452
 4689 2580 1092 0000 		sts (Mess_Integral_Gier2)+1,__zero_reg__
4453
 4690 2584 1092 0000 		sts (Mess_Integral_Gier2)+2,__zero_reg__
4454
 4691 2588 1092 0000 		sts (Mess_Integral_Gier2)+3,__zero_reg__
4455
 4692 258c 8091 0000 		lds r24,EE_Parameter+28
4456
 4693 2590 E82E      		mov r14,r24
4457
 4694 2592 FF24      		clr r15
4458
 4695 2594 0027      		clr r16
4459
 4696 2596 1127      		clr r17
4460
 4697 2598 8091 0000 		lds r24,Mittelwert_AccNick
4461
 4698 259c 9091 0000 		lds r25,(Mittelwert_AccNick)+1
4462
 4699 25a0 9C01      		movw r18,r24
4463
 4700 25a2 4427      		clr r20
4464
 4701 25a4 37FD      		sbrc r19,7
4465
 4702 25a6 4095      		com r20
4466
 4703 25a8 542F      		mov r21,r20
4467
 4704 25aa C801      		movw r24,r16
4468
 4705 25ac B701      		movw r22,r14
4469
 4706 25ae 0E94 0000 		call __mulsi3
4470
 4707 25b2 DC01      		movw r26,r24
4471
 4708 25b4 CB01      		movw r24,r22
4472
 4709 25b6 8093 0000 		sts Mess_IntegralNick,r24
4473
 4710 25ba 9093 0000 		sts (Mess_IntegralNick)+1,r25
4474
 4711 25be A093 0000 		sts (Mess_IntegralNick)+2,r26
4475
 4712 25c2 B093 0000 		sts (Mess_IntegralNick)+3,r27
4476
 4713 25c6 8091 0000 		lds r24,Mittelwert_AccRoll
4477
 4714 25ca 9091 0000 		lds r25,(Mittelwert_AccRoll)+1
4478
 4715 25ce 9C01      		movw r18,r24
4479
 4716 25d0 4427      		clr r20
4480
 4717 25d2 37FD      		sbrc r19,7
4481
 4718 25d4 4095      		com r20
4482
 4719 25d6 542F      		mov r21,r20
4483
 4720 25d8 C801      		movw r24,r16
4484
 4721 25da B701      		movw r22,r14
4485
 4722 25dc 0E94 0000 		call __mulsi3
4486
 4723 25e0 DC01      		movw r26,r24
4487
 4724 25e2 CB01      		movw r24,r22
4488
 4725 25e4 8093 0000 		sts Mess_IntegralRoll,r24
4489
 4726 25e8 9093 0000 		sts (Mess_IntegralRoll)+1,r25
4490
 4727 25ec A093 0000 		sts (Mess_IntegralRoll)+2,r26
4491
 4728 25f0 B093 0000 		sts (Mess_IntegralRoll)+3,r27
4492
 4729 25f4 8091 0000 		lds r24,IntegralNick
4493
 4730 25f8 9091 0000 		lds r25,(IntegralNick)+1
4494
 4731 25fc A091 0000 		lds r26,(IntegralNick)+2
4495
 4732 2600 B091 0000 		lds r27,(IntegralNick)+3
4496
 4733 2604 8093 0000 		sts Mess_IntegralNick2,r24
4497
 4734 2608 9093 0000 		sts (Mess_IntegralNick2)+1,r25
4498
 4735 260c A093 0000 		sts (Mess_IntegralNick2)+2,r26
4499
 4736 2610 B093 0000 		sts (Mess_IntegralNick2)+3,r27
4500
 4737 2614 8091 0000 		lds r24,IntegralRoll
4501
 4738 2618 9091 0000 		lds r25,(IntegralRoll)+1
4502
 4739 261c A091 0000 		lds r26,(IntegralRoll)+2
4503
 4740 2620 B091 0000 		lds r27,(IntegralRoll)+3
4504
 4741 2624 8093 0000 		sts Mess_IntegralRoll2,r24
4505
 4742 2628 9093 0000 		sts (Mess_IntegralRoll2)+1,r25
4506
 4743 262c A093 0000 		sts (Mess_IntegralRoll2)+2,r26
4507
 4744 2630 B093 0000 		sts (Mess_IntegralRoll2)+3,r27
4508
 4745 2634 1092 0000 		sts SummeNick,__zero_reg__
4509
 4746 2638 1092 0000 		sts (SummeNick)+1,__zero_reg__
4510
 4747 263c 1092 0000 		sts (SummeNick)+2,__zero_reg__
4511
 4748 2640 1092 0000 		sts (SummeNick)+3,__zero_reg__
4512
 4749 2644 1092 0000 		sts SummeRoll,__zero_reg__
4513
 4750 2648 1092 0000 		sts (SummeRoll)+1,__zero_reg__
4514
 4751 264c 1092 0000 		sts (SummeRoll)+2,__zero_reg__
4515
 4752 2650 1092 0000 		sts (SummeRoll)+3,__zero_reg__
4516
 4753 2654 84E6      		ldi r24,lo8(100)
4517
 4754 2656 8093 0000 		sts NeueKompassRichtungMerken,r24
4518
 4755 265a 84E3      		ldi r24,lo8(52)
4519
 4756 265c 00C0      		rjmp .L890
4520
 4757               	.L419:
4521
 4758 265e 8CED      		ldi r24,lo8(1500)
4522
 4759 2660 95E0      		ldi r25,hi8(1500)
4523
 4760 2662 9093 0000 		sts (beeptime)+1,r25
4524
 4761 2666 8093 0000 		sts beeptime,r24
4525
 4762 266a 2223      		tst r18
4526
 4763 266c 01F0      		breq .+2
4527
 4764 266e 00C0      		rjmp .L423
4528
 4765 2670 81E0      		ldi r24,lo8(1)
4529
 4766 2672 00C0      		rjmp .L890
4530
 4767               	.L413:
4531
 4768 2674 1092 0000 		sts delay_einschalten.7,__zero_reg__
4532
 4769 2678 00C0      		rjmp .L423
4533
 4770               	.L412:
4534
 4771 267a FF27      		clr r31
4535
 4772 267c EE0F      		add r30,r30
4536
 4773 267e FF1F      		adc r31,r31
4537
 4774 2680 E050      		subi r30,lo8(-(PPM_in))
4538
 4775 2682 F040      		sbci r31,hi8(-(PPM_in))
4539
 4776 2684 8081      		ld r24,Z
4540
 4777 2686 9181      		ldd r25,Z+1
4541
 4778 2688 8C34      		cpi r24,76
4542
 4779 268a 9105      		cpc r25,__zero_reg__
4543
 4780 268c 04F0      		brlt .L426
4544
 4781 268e 8091 0000 		lds r24,EE_Parameter+111
4545
 4782 2692 83FD      		sbrc r24,3
4546
 4783 2694 00C0      		rjmp .L427
4547
 4784 2696 E22F      		mov r30,r18
4548
 4785 2698 FF27      		clr r31
4549
 4786 269a EE0F      		add r30,r30
4550
 4787 269c FF1F      		adc r31,r31
4551
 4788 269e E050      		subi r30,lo8(-(PPM_in))
4552
 4789 26a0 F040      		sbci r31,hi8(-(PPM_in))
4553
 4790 26a2 8081      		ld r24,Z
4554
 4791 26a4 9181      		ldd r25,Z+1
4555
 4792 26a6 855B      		subi r24,lo8(-75)
4556
 4793 26a8 9F4F      		sbci r25,hi8(-75)
4557
 4794 26aa 04F0      		brlt .L425
4558
 4795               	.L427:
4559
 4796 26ac 8091 0000 		lds r24,EE_Parameter+100
4560
 4797 26b0 8823      		tst r24
4561
 4798 26b2 01F0      		breq .L425
4562
 4799               	.L426:
4563
 4800 26b4 8091 0000 		lds r24,EE_Parameter+111
4564
 4801 26b8 83FF      		sbrs r24,3
4565
 4802 26ba 00C0      		rjmp .L424
4566
 4803 26bc 8091 0000 		lds r24,EE_Parameter+100
4567
 4804 26c0 E82F      		mov r30,r24
4568
 4805 26c2 FF27      		clr r31
4569
 4806 26c4 EE0F      		add r30,r30
4570
 4807 26c6 FF1F      		adc r31,r31
4571
 4808 26c8 E050      		subi r30,lo8(-(PPM_in))
4572
 4809 26ca F040      		sbci r31,hi8(-(PPM_in))
4573
 4810 26cc 8081      		ld r24,Z
4574
 4811 26ce 9181      		ldd r25,Z+1
4575
 4812 26d0 8E5C      		subi r24,lo8(-50)
4576
 4813 26d2 9F4F      		sbci r25,hi8(-50)
4577
 4814 26d4 04F4      		brge .L424
4578
 4815 26d6 8091 0000 		lds r24,move_safety_switch.9
4579
 4816 26da 8C39      		cpi r24,lo8(-100)
4580
 4817 26dc 01F4      		brne .L424
4581
 4818               	.L425:
4582
 4819 26de 8091 0000 		lds r24,delay_ausschalten.8
4583
 4820 26e2 8F5F      		subi r24,lo8(-(1))
4584
 4821 26e4 8093 0000 		sts delay_ausschalten.8,r24
4585
 4822 26e8 8B3F      		cpi r24,lo8(-5)
4586
 4823 26ea 00F0      		brlo .L423
4587
 4824 26ec 1092 0000 		sts MotorenEin,__zero_reg__
4588
 4825 26f0 1092 0000 		sts delay_ausschalten.8,__zero_reg__
4589
 4826 26f4 1092 0000 		sts (modell_fliegt)+1,__zero_reg__
4590
 4827 26f8 1092 0000 		sts modell_fliegt,__zero_reg__
4591
 4828 26fc 86E2      		ldi r24,lo8(38)
4592
 4829               	.L890:
4593
 4830 26fe 8093 0000 		sts SpeakHoTT,r24
4594
 4831 2702 00C0      		rjmp .L423
4595
 4832               	.L424:
4596
 4833 2704 1092 0000 		sts delay_ausschalten.8,__zero_reg__
4597
 4834               	.L423:
4598
 4835 2708 8091 0000 		lds r24,GasIsZeroCnt
4599
 4836 270c 9091 0000 		lds r25,(GasIsZeroCnt)+1
4600
 4837 2710 13E0      		ldi r17,hi8(1000)
4601
 4838 2712 883E      		cpi r24,lo8(1000)
4602
 4839 2714 9107      		cpc r25,r17
4603
 4840 2716 00F4      		brsh .L381
4604
 4841 2718 0196      		adiw r24,1
4605
 4842 271a 9093 0000 		sts (GasIsZeroCnt)+1,r25
4606
 4843 271e 8093 0000 		sts GasIsZeroCnt,r24
4607
 4844 2722 00C0      		rjmp .L381
4608
 4845               	.L408:
4609
 4846 2724 1092 0000 		sts move_safety_switch.9,__zero_reg__
4610
 4847 2728 1092 0000 		sts (GasIsZeroCnt)+1,__zero_reg__
4611
 4848 272c 1092 0000 		sts GasIsZeroCnt,__zero_reg__
4612
 4849 2730 00C0      		rjmp .L381
4613
 4850               	.L382:
4614
 4851 2732 2E5E      		subi r18,lo8(750)
4615
 4852 2734 3240      		sbci r19,hi8(750)
4616
 4853 2736 00F0      		brlo .L381
4617
 4854 2738 8091 0000 		lds r24,GPSInfo+4
4618
 4855 273c 9091 0000 		lds r25,(GPSInfo+4)+1
4619
 4856 2740 8059      		subi r24,lo8(400)
4620
 4857 2742 9140      		sbci r25,hi8(400)
4621
 4858 2744 00F4      		brsh .L381
4622
 4859 2746 8091 0000 		lds r24,HoehenWert
4623
 4860 274a 9091 0000 		lds r25,(HoehenWert)+1
4624
 4861 274e A091 0000 		lds r26,(HoehenWert)+2
4625
 4862 2752 B091 0000 		lds r27,(HoehenWert)+3
4626
 4863 2756 8C5D      		subi r24,lo8(1500)
4627
 4864 2758 9540      		sbci r25,hi8(1500)
4628
 4865 275a A040      		sbci r26,hlo8(1500)
4629
 4866 275c B040      		sbci r27,hhi8(1500)
4630
 4867 275e 04F4      		brge .L381
4631
 4868 2760 80E3      		ldi r24,lo8(30000)
4632
 4869 2762 95E7      		ldi r25,hi8(30000)
4633
 4870 2764 9093 0000 		sts (GasIsZeroCnt)+1,r25
4634
 4871 2768 8093 0000 		sts GasIsZeroCnt,r24
4635
 4872 276c 8091 0000 		lds r24,modell_fliegt
4636
 4873 2770 9091 0000 		lds r25,(modell_fliegt)+1
4637
 4874 2774 8A5E      		subi r24,lo8(1002)
4638
 4875 2776 9340      		sbci r25,hi8(1002)
4639
 4876 2778 00F0      		brlo .L381
4640
 4877 277a 89EE      		ldi r24,lo8(1001)
4641
 4878 277c 93E0      		ldi r25,hi8(1001)
4642
 4879 277e 9093 0000 		sts (modell_fliegt)+1,r25
4643
 4880 2782 8093 0000 		sts modell_fliegt,r24
4644
 4881               	.L381:
4645
 4882 2786 8091 0000 		lds r24,NewPpmData
4646
 4883 278a 8150      		subi r24,lo8(-(-1))
4647
 4884 278c 8093 0000 		sts NewPpmData,r24
4648
 4885 2790 8091 0000 		lds r24,NewPpmData
4649
 4886 2794 8F3F      		cpi r24,lo8(-1)
4650
 4887 2796 01F0      		breq .L437
4651
 4888 2798 8091 0000 		lds r24,FC_StatusFlags
4652
 4889 279c 84FF      		sbrs r24,4
4653
 4890 279e 00C0      		rjmp .L436
4654
 4891               	.L437:
4655
 4892 27a0 0E94 0000 		call ParameterZuordnung
4656
 4893 27a4 B090 0000 		lds r11,EE_Parameter+23
4657
 4894 27a8 8091 0000 		lds r24,stick_nick.12
4658
 4895 27ac 9091 0000 		lds r25,(stick_nick.12)+1
4659
 4896 27b0 9C01      		movw r18,r24
4660
 4897 27b2 220F      		lsl r18
4661
 4898 27b4 331F      		rol r19
4662
 4899 27b6 280F      		add r18,r24
4663
 4900 27b8 391F      		adc r19,r25
4664
 4901 27ba C090 0000 		lds r12,EE_Parameter+1
4665
 4902 27be AC2D      		mov r26,r12
4666
 4903 27c0 BB27      		clr r27
4667
 4904 27c2 AA0F      		add r26,r26
4668
 4905 27c4 BB1F      		adc r27,r27
4669
 4906 27c6 FD01      		movw r30,r26
4670
 4907 27c8 E050      		subi r30,lo8(-(PPM_in))
4671
 4908 27ca F040      		sbci r31,hi8(-(PPM_in))
4672
 4909 27cc 4B2D      		mov r20,r11
4673
 4910 27ce 5527      		clr r21
4674
 4911 27d0 8081      		ld r24,Z
4675
 4912 27d2 9181      		ldd r25,Z+1
4676
 4913 27d4 849F      		mul r24,r20
4677
 4914 27d6 F001      		movw r30,r0
4678
 4915 27d8 859F      		mul r24,r21
4679
 4916 27da F00D      		add r31,r0
4680
 4917 27dc 949F      		mul r25,r20
4681
 4918 27de F00D      		add r31,r0
4682
 4919 27e0 1124      		clr r1
4683
 4920 27e2 2E0F      		add r18,r30
4684
 4921 27e4 3F1F      		adc r19,r31
4685
 4922 27e6 37FF      		sbrs r19,7
4686
 4923 27e8 00C0      		rjmp .L438
4687
 4924 27ea 2D5F      		subi r18,lo8(-(3))
4688
 4925 27ec 3F4F      		sbci r19,hi8(-(3))
4689
 4926               	.L438:
4690
 4927 27ee B901      		movw r22,r18
4691
 4928 27f0 7595      		asr r23
4692
 4929 27f2 6795      		ror r22
4693
 4930 27f4 7595      		asr r23
4694
 4931 27f6 6795      		ror r22
4695
 4932 27f8 A050      		subi r26,lo8(-(PPM_diff))
4696
 4933 27fa B040      		sbci r27,hi8(-(PPM_diff))
4697
 4934 27fc 8091 0000 		lds r24,EE_Parameter+24
4698
 4935 2800 082F      		mov r16,r24
4699
 4936 2802 1127      		clr r17
4700
 4937 2804 8D91      		ld r24,X+
4701
 4938 2806 9C91      		ld r25,X
4702
 4939 2808 809F      		mul r24,r16
4703
 4940 280a 7001      		movw r14,r0
4704
 4941 280c 819F      		mul r24,r17
4705
 4942 280e F00C      		add r15,r0
4706
 4943 2810 909F      		mul r25,r16
4707
 4944 2812 F00C      		add r15,r0
4708
 4945 2814 1124      		clr r1
4709
 4946 2816 6E0D      		add r22,r14
4710
 4947 2818 7F1D      		adc r23,r15
4711
 4948 281a 7093 0000 		sts (stick_nick.12)+1,r23
4712
 4949 281e 6093 0000 		sts stick_nick.12,r22
4713
 4950 2822 8091 0000 		lds r24,stick_roll.13
4714
 4951 2826 9091 0000 		lds r25,(stick_roll.13)+1
4715
 4952 282a 9C01      		movw r18,r24
4716
 4953 282c 220F      		lsl r18
4717
 4954 282e 331F      		rol r19
4718
 4955 2830 280F      		add r18,r24
4719
 4956 2832 391F      		adc r19,r25
4720
 4957 2834 D090 0000 		lds r13,EE_Parameter+2
4721
 4958 2838 AD2D      		mov r26,r13
4722
 4959 283a BB27      		clr r27
4723
 4960 283c AA0F      		add r26,r26
4724
 4961 283e BB1F      		adc r27,r27
4725
 4962 2840 FD01      		movw r30,r26
4726
 4963 2842 E050      		subi r30,lo8(-(PPM_in))
4727
 4964 2844 F040      		sbci r31,hi8(-(PPM_in))
4728
 4965 2846 8081      		ld r24,Z
4729
 4966 2848 9181      		ldd r25,Z+1
4730
 4967 284a 849F      		mul r24,r20
4731
 4968 284c F001      		movw r30,r0
4732
 4969 284e 859F      		mul r24,r21
4733
 4970 2850 F00D      		add r31,r0
4734
 4971 2852 949F      		mul r25,r20
4735
 4972 2854 F00D      		add r31,r0
4736
 4973 2856 1124      		clr r1
4737
 4974 2858 2E0F      		add r18,r30
4738
 4975 285a 3F1F      		adc r19,r31
4739
 4976 285c 37FF      		sbrs r19,7
4740
 4977 285e 00C0      		rjmp .L439
4741
 4978 2860 2D5F      		subi r18,lo8(-(3))
4742
 4979 2862 3F4F      		sbci r19,hi8(-(3))
4743
 4980               	.L439:
4744
 4981 2864 A901      		movw r20,r18
4745
 4982 2866 5595      		asr r21
4746
 4983 2868 4795      		ror r20
4747
 4984 286a 5595      		asr r21
4748
 4985 286c 4795      		ror r20
4749
 4986 286e A050      		subi r26,lo8(-(PPM_diff))
4750
 4987 2870 B040      		sbci r27,hi8(-(PPM_diff))
4751
 4988 2872 8D91      		ld r24,X+
4752
 4989 2874 9C91      		ld r25,X
4753
 4990 2876 809F      		mul r24,r16
4754
 4991 2878 7001      		movw r14,r0
4755
 4992 287a 819F      		mul r24,r17
4756
 4993 287c F00C      		add r15,r0
4757
 4994 287e 909F      		mul r25,r16
4758
 4995 2880 F00C      		add r15,r0
4759
 4996 2882 1124      		clr r1
4760
 4997 2884 4E0D      		add r20,r14
4761
 4998 2886 5F1D      		adc r21,r15
4762
 4999 2888 5093 0000 		sts (stick_roll.13)+1,r21
4763
 5000 288c 4093 0000 		sts stick_roll.13,r20
4764
 5001 2890 8091 0000 		lds r24,CareFree
4765
 5002 2894 8823      		tst r24
4766
 5003 2896 01F4      		brne .+2
4767
 5004 2898 00C0      		rjmp .L440
4768
 5005 289a CB01      		movw r24,r22
4769
 5006 289c 77FD      		sbrc r23,7
4770
 5007 289e 0396      		adiw r24,3
4771
 5008               	.L441:
4772
 5009 28a0 DC01      		movw r26,r24
4773
 5010 28a2 B595      		asr r27
4774
 5011 28a4 A795      		ror r26
4775
 5012 28a6 B595      		asr r27
4776
 5013 28a8 A795      		ror r26
4777
 5014 28aa CA01      		movw r24,r20
4778
 5015 28ac 57FD      		sbrc r21,7
4779
 5016 28ae 0396      		adiw r24,3
4780
 5017               	.L442:
4781
 5018 28b0 FC01      		movw r30,r24
4782
 5019 28b2 F595      		asr r31
4783
 5020 28b4 E795      		ror r30
4784
 5021 28b6 F595      		asr r31
4785
 5022 28b8 E795      		ror r30
4786
 5023 28ba 8091 0000 		lds r24,FromNC_Rotate_C
4787
 5024 28be 682F      		mov r22,r24
4788
 5025 28c0 7727      		clr r23
4789
 5026 28c2 67FD      		sbrc r22,7
4790
 5027 28c4 7095      		com r23
4791
 5028 28c6 6A9F      		mul r22,r26
4792
 5029 28c8 9001      		movw r18,r0
4793
 5030 28ca 6B9F      		mul r22,r27
4794
 5031 28cc 300D      		add r19,r0
4795
 5032 28ce 7A9F      		mul r23,r26
4796
 5033 28d0 300D      		add r19,r0
4797
 5034 28d2 1124      		clr r1
4798
 5035 28d4 8091 0000 		lds r24,FromNC_Rotate_S
4799
 5036 28d8 482F      		mov r20,r24
4800
 5037 28da 5527      		clr r21
4801
 5038 28dc 47FD      		sbrc r20,7
4802
 5039 28de 5095      		com r21
4803
 5040 28e0 4E9F      		mul r20,r30
4804
 5041 28e2 C001      		movw r24,r0
4805
 5042 28e4 4F9F      		mul r20,r31
4806
 5043 28e6 900D      		add r25,r0
4807
 5044 28e8 5E9F      		mul r21,r30
4808
 5045 28ea 900D      		add r25,r0
4809
 5046 28ec 1124      		clr r1
4810
 5047 28ee 280F      		add r18,r24
4811
 5048 28f0 391F      		adc r19,r25
4812
 5049 28f2 37FF      		sbrs r19,7
4813
 5050 28f4 00C0      		rjmp .L443
4814
 5051 28f6 295F      		subi r18,lo8(-(7))
4815
 5052 28f8 3F4F      		sbci r19,hi8(-(7))
4816
 5053               	.L443:
4817
 5054 28fa 93E0      		ldi r25,3
4818
 5055 28fc 3595      	1:	asr r19
4819
 5056 28fe 2795      		ror r18
4820
 5057 2900 9A95      		dec r25
4821
 5058 2902 01F4      		brne 1b
4822
 5059 2904 3093 0000 		sts (StickNick)+1,r19
4823
 5060 2908 2093 0000 		sts StickNick,r18
4824
 5061 290c 6E9F      		mul r22,r30
4825
 5062 290e 9001      		movw r18,r0
4826
 5063 2910 6F9F      		mul r22,r31
4827
 5064 2912 300D      		add r19,r0
4828
 5065 2914 7E9F      		mul r23,r30
4829
 5066 2916 300D      		add r19,r0
4830
 5067 2918 1124      		clr r1
4831
 5068 291a 4A9F      		mul r20,r26
4832
 5069 291c C001      		movw r24,r0
4833
 5070 291e 4B9F      		mul r20,r27
4834
 5071 2920 900D      		add r25,r0
4835
 5072 2922 5A9F      		mul r21,r26
4836
 5073 2924 900D      		add r25,r0
4837
 5074 2926 1124      		clr r1
4838
 5075 2928 00C0      		rjmp .L919
4839
 5076               	.L440:
4840
 5077 292a 8091 0000 		lds r24,EE_Parameter+98
4841
 5078 292e E82F      		mov r30,r24
4842
 5079 2930 FF27      		clr r31
4843
 5080 2932 E050      		subi r30,lo8(-(sintab))
4844
 5081 2934 F040      		sbci r31,hi8(-(sintab))
4845
 5082 2936 8681      		ldd r24,Z+6
4846
 5083 2938 8093 0000 		sts FromNC_Rotate_C,r24
4847
 5084 293c 9081      		ld r25,Z
4848
 5085 293e 9093 0000 		sts FromNC_Rotate_S,r25
4849
 5086 2942 A82F      		mov r26,r24
4850
 5087 2944 BB27      		clr r27
4851
 5088 2946 A7FD      		sbrc r26,7
4852
 5089 2948 B095      		com r27
4853
 5090 294a A69F      		mul r26,r22
4854
 5091 294c 9001      		movw r18,r0
4855
 5092 294e A79F      		mul r26,r23
4856
 5093 2950 300D      		add r19,r0
4857
 5094 2952 B69F      		mul r27,r22
4858
 5095 2954 300D      		add r19,r0
4859
 5096 2956 1124      		clr r1
4860
 5097 2958 E92F      		mov r30,r25
4861
 5098 295a FF27      		clr r31
4862
 5099 295c E7FD      		sbrc r30,7
4863
 5100 295e F095      		com r31
4864
 5101 2960 E49F      		mul r30,r20
4865
 5102 2962 C001      		movw r24,r0
4866
 5103 2964 E59F      		mul r30,r21
4867
 5104 2966 900D      		add r25,r0
4868
 5105 2968 F49F      		mul r31,r20
4869
 5106 296a 900D      		add r25,r0
4870
 5107 296c 1124      		clr r1
4871
 5108 296e 280F      		add r18,r24
4872
 5109 2970 391F      		adc r19,r25
4873
 5110 2972 37FF      		sbrs r19,7
4874
 5111 2974 00C0      		rjmp .L446
4875
 5112 2976 295F      		subi r18,lo8(-(7))
4876
 5113 2978 3F4F      		sbci r19,hi8(-(7))
4877
 5114               	.L446:
4878
 5115 297a 83E0      		ldi r24,3
4879
 5116 297c 3595      	1:	asr r19
4880
 5117 297e 2795      		ror r18
4881
 5118 2980 8A95      		dec r24
4882
 5119 2982 01F4      		brne 1b
4883
 5120 2984 3093 0000 		sts (StickNick)+1,r19
4884
 5121 2988 2093 0000 		sts StickNick,r18
4885
 5122 298c A49F      		mul r26,r20
4886
 5123 298e 9001      		movw r18,r0
4887
 5124 2990 A59F      		mul r26,r21
4888
 5125 2992 300D      		add r19,r0
4889
 5126 2994 B49F      		mul r27,r20
4890
 5127 2996 300D      		add r19,r0
4891
 5128 2998 1124      		clr r1
4892
 5129 299a E69F      		mul r30,r22
4893
 5130 299c C001      		movw r24,r0
4894
 5131 299e E79F      		mul r30,r23
4895
 5132 29a0 900D      		add r25,r0
4896
 5133 29a2 F69F      		mul r31,r22
4897
 5134 29a4 900D      		add r25,r0
4898
 5135 29a6 1124      		clr r1
4899
 5136               	.L919:
4900
 5137 29a8 281B      		sub r18,r24
4901
 5138 29aa 390B      		sbc r19,r25
4902
 5139 29ac 37FF      		sbrs r19,7
4903
 5140 29ae 00C0      		rjmp .L447
4904
 5141 29b0 295F      		subi r18,lo8(-(7))
4905
 5142 29b2 3F4F      		sbci r19,hi8(-(7))
4906
 5143               	.L447:
4907
 5144 29b4 03E0      		ldi r16,3
4908
 5145 29b6 3595      	1:	asr r19
4909
 5146 29b8 2795      		ror r18
4910
 5147 29ba 0A95      		dec r16
4911
 5148 29bc 01F4      		brne 1b
4912
 5149 29be 3093 0000 		sts (StickRoll)+1,r19
4913
 5150 29c2 2093 0000 		sts StickRoll,r18
4914
 5151 29c6 8091 0000 		lds r24,EE_Parameter+4
4915
 5152 29ca E82F      		mov r30,r24
4916
 5153 29cc FF27      		clr r31
4917
 5154 29ce EE0F      		add r30,r30
4918
 5155 29d0 FF1F      		adc r31,r31
4919
 5156 29d2 E050      		subi r30,lo8(-(PPM_in))
4920
 5157 29d4 F040      		sbci r31,hi8(-(PPM_in))
4921
 5158 29d6 8081      		ld r24,Z
4922
 5159 29d8 9181      		ldd r25,Z+1
4923
 5160 29da 9095      		com r25
4924
 5161 29dc 8195      		neg r24
4925
 5162 29de 9F4F      		sbci r25,lo8(-1)
4926
 5163 29e0 9093 0000 		sts (StickGier)+1,r25
4927
 5164 29e4 8093 0000 		sts StickGier,r24
4928
 5165 29e8 8530      		cpi r24,5
4929
 5166 29ea 9105      		cpc r25,__zero_reg__
4930
 5167 29ec 04F0      		brlt .L448
4931
 5168 29ee 0497      		sbiw r24,4
4932
 5169 29f0 00C0      		rjmp .L891
4933
 5170               	.L448:
4934
 5171 29f2 0FEF      		ldi r16,hi8(-4)
4935
 5172 29f4 8C3F      		cpi r24,lo8(-4)
4936
 5173 29f6 9007      		cpc r25,r16
4937
 5174 29f8 04F4      		brge .L450
4938
 5175 29fa 0496      		adiw r24,4
4939
 5176               	.L891:
4940
 5177 29fc 9093 0000 		sts (StickGier)+1,r25
4941
 5178 2a00 8093 0000 		sts StickGier,r24
4942
 5179 2a04 00C0      		rjmp .L449
4943
 5180               	.L450:
4944
 5181 2a06 1092 0000 		sts (StickGier)+1,__zero_reg__
4945
 5182 2a0a 1092 0000 		sts StickGier,__zero_reg__
4946
 5183               	.L449:
4947
 5184 2a0e 8091 0000 		lds r24,GPS_Aid_StickMultiplikator
4948
 5185 2a12 8823      		tst r24
4949
 5186 2a14 01F4      		brne .+2
4950
 5187 2a16 00C0      		rjmp .L452
4951
 5188 2a18 282F      		mov r18,r24
4952
 5189 2a1a 3327      		clr r19
4953
 5190 2a1c 8091 0000 		lds r24,StickNick
4954
 5191 2a20 9091 0000 		lds r25,(StickNick)+1
4955
 5192 2a24 97FD      		sbrc r25,7
4956
 5193 2a26 0796      		adiw r24,7
4957
 5194               	.L453:
4958
 5195 2a28 13E0      		ldi r17,3
4959
 5196 2a2a 9595      	1:	asr r25
4960
 5197 2a2c 8795      		ror r24
4961
 5198 2a2e 1A95      		dec r17
4962
 5199 2a30 01F4      		brne 1b
4963
 5200 2a32 289F      		mul r18,r24
4964
 5201 2a34 A001      		movw r20,r0
4965
 5202 2a36 299F      		mul r18,r25
4966
 5203 2a38 500D      		add r21,r0
4967
 5204 2a3a 389F      		mul r19,r24
4968
 5205 2a3c 500D      		add r21,r0
4969
 5206 2a3e 1124      		clr r1
4970
 5207 2a40 CA01      		movw r24,r20
4971
 5208 2a42 57FD      		sbrc r21,7
4972
 5209 2a44 0F96      		adiw r24,15
4973
 5210               	.L454:
4974
 5211 2a46 B4E0      		ldi r27,4
4975
 5212 2a48 9595      	1:	asr r25
4976
 5213 2a4a 8795      		ror r24
4977
 5214 2a4c BA95      		dec r27
4978
 5215 2a4e 01F4      		brne 1b
4979
 5216 2a50 9093 0000 		sts (StickNick)+1,r25
4980
 5217 2a54 8093 0000 		sts StickNick,r24
4981
 5218 2a58 8091 0000 		lds r24,StickRoll
4982
 5219 2a5c 9091 0000 		lds r25,(StickRoll)+1
4983
 5220 2a60 97FD      		sbrc r25,7
4984
 5221 2a62 0796      		adiw r24,7
4985
 5222               	.L455:
4986
 5223 2a64 A3E0      		ldi r26,3
4987
 5224 2a66 9595      	1:	asr r25
4988
 5225 2a68 8795      		ror r24
4989
 5226 2a6a AA95      		dec r26
4990
 5227 2a6c 01F4      		brne 1b
4991
 5228 2a6e 289F      		mul r18,r24
4992
 5229 2a70 B001      		movw r22,r0
4993
 5230 2a72 299F      		mul r18,r25
4994
 5231 2a74 700D      		add r23,r0
4995
 5232 2a76 389F      		mul r19,r24
4996
 5233 2a78 700D      		add r23,r0
4997
 5234 2a7a 1124      		clr r1
4998
 5235 2a7c CB01      		movw r24,r22
4999
 5236 2a7e 77FD      		sbrc r23,7
5000
 5237 2a80 0F96      		adiw r24,15
5001
 5238               	.L456:
5002
 5239 2a82 F4E0      		ldi r31,4
5003
 5240 2a84 9595      	1:	asr r25
5004
 5241 2a86 8795      		ror r24
5005
 5242 2a88 FA95      		dec r31
5006
 5243 2a8a 01F4      		brne 1b
5007
 5244 2a8c 9093 0000 		sts (StickRoll)+1,r25
5008
 5245 2a90 8093 0000 		sts StickRoll,r24
5009
 5246               	.L452:
5010
 5247 2a94 8090 0000 		lds r8,StickNick
5011
 5248 2a98 9090 0000 		lds r9,(StickNick)+1
5012
 5249 2a9c 8091 0000 		lds r24,GPS_Nick
5013
 5250 2aa0 9091 0000 		lds r25,(GPS_Nick)+1
5014
 5251 2aa4 881A      		sub r8,r24
5015
 5252 2aa6 990A      		sbc r9,r25
5016
 5253 2aa8 9092 0000 		sts (StickNick)+1,r9
5017
 5254 2aac 8092 0000 		sts StickNick,r8
5018
 5255 2ab0 0091 0000 		lds r16,StickRoll
5019
 5256 2ab4 1091 0000 		lds r17,(StickRoll)+1
5020
 5257 2ab8 8091 0000 		lds r24,GPS_Roll
5021
 5258 2abc 9091 0000 		lds r25,(GPS_Roll)+1
5022
 5259 2ac0 081B      		sub r16,r24
5023
 5260 2ac2 190B      		sbc r17,r25
5024
 5261 2ac4 1093 0000 		sts (StickRoll)+1,r17
5025
 5262 2ac8 0093 0000 		sts StickRoll,r16
5026
 5263 2acc 8091 0000 		lds r24,EE_Parameter+3
5027
 5264 2ad0 E82F      		mov r30,r24
5028
 5265 2ad2 FF27      		clr r31
5029
 5266 2ad4 EE0F      		add r30,r30
5030
 5267 2ad6 FF1F      		adc r31,r31
5031
 5268 2ad8 E050      		subi r30,lo8(-(PPM_in))
5032
 5269 2ada F040      		sbci r31,hi8(-(PPM_in))
5033
 5270 2adc E080      		ld r14,Z
5034
 5271 2ade F180      		ldd r15,Z+1
5035
 5272 2ae0 8FE7      		ldi r24,lo8(127)
5036
 5273 2ae2 90E0      		ldi r25,hi8(127)
5037
 5274 2ae4 E80E      		add r14,r24
5038
 5275 2ae6 F91E      		adc r15,r25
5039
 5276 2ae8 F092 0000 		sts (StickGas)+1,r15
5040
 5277 2aec E092 0000 		sts StickGas,r14
5041
 5278 2af0 8091 0000 		lds r24,Parameter_Gyro_P
5042
 5279 2af4 9927      		clr r25
5043
 5280 2af6 AA27      		clr r26
5044
 5281 2af8 97FD      		sbrc r25,7
5045
 5282 2afa A095      		com r26
5046
 5283 2afc BA2F      		mov r27,r26
5047
 5284 2afe BC01      		movw r22,r24
5048
 5285 2b00 CD01      		movw r24,r26
5049
 5286 2b02 0E94 0000 		call __floatsisf
5050
 5287 2b06 DC01      		movw r26,r24
5051
 5288 2b08 CB01      		movw r24,r22
5052
 5289 2b0a 20E0      		ldi r18,lo8(0x41200000)
5053
 5290 2b0c 30E0      		ldi r19,hi8(0x41200000)
5054
 5291 2b0e 40E2      		ldi r20,hlo8(0x41200000)
5055
 5292 2b10 51E4      		ldi r21,hhi8(0x41200000)
5056
 5293 2b12 BC01      		movw r22,r24
5057
 5294 2b14 CD01      		movw r24,r26
5058
 5295 2b16 0E94 0000 		call __addsf3
5059
 5296 2b1a DC01      		movw r26,r24
5060
 5297 2b1c CB01      		movw r24,r22
5061
 5298 2b1e BC01      		movw r22,r24
5062
 5299 2b20 CD01      		movw r24,r26
5063
 5300 2b22 0E94 0000 		call __fixunssfsi
5064
 5301 2b26 DC01      		movw r26,r24
5065
 5302 2b28 CB01      		movw r24,r22
5066
 5303 2b2a 8093 0000 		sts GyroFaktor,r24
5067
 5304 2b2e 8091 0000 		lds r24,Parameter_Gyro_I
5068
 5305 2b32 8093 0000 		sts IntegralFaktor,r24
5069
 5306 2b36 8091 0000 		lds r24,Parameter_Gyro_Gier_P
5070
 5307 2b3a 9927      		clr r25
5071
 5308 2b3c AA27      		clr r26
5072
 5309 2b3e 97FD      		sbrc r25,7
5073
 5310 2b40 A095      		com r26
5074
 5311 2b42 BA2F      		mov r27,r26
5075
 5312 2b44 BC01      		movw r22,r24
5076
 5313 2b46 CD01      		movw r24,r26
5077
 5314 2b48 0E94 0000 		call __floatsisf
5078
 5315 2b4c DC01      		movw r26,r24
5079
 5316 2b4e CB01      		movw r24,r22
5080
 5317 2b50 20E0      		ldi r18,lo8(0x41200000)
5081
 5318 2b52 30E0      		ldi r19,hi8(0x41200000)
5082
 5319 2b54 40E2      		ldi r20,hlo8(0x41200000)
5083
 5320 2b56 51E4      		ldi r21,hhi8(0x41200000)
5084
 5321 2b58 BC01      		movw r22,r24
5085
 5322 2b5a CD01      		movw r24,r26
5086
 5323 2b5c 0E94 0000 		call __addsf3
5087
 5324 2b60 DC01      		movw r26,r24
5088
 5325 2b62 CB01      		movw r24,r22
5089
 5326 2b64 BC01      		movw r22,r24
5090
 5327 2b66 CD01      		movw r24,r26
5091
 5328 2b68 0E94 0000 		call __fixunssfsi
5092
 5329 2b6c DC01      		movw r26,r24
5093
 5330 2b6e CB01      		movw r24,r22
5094
 5331 2b70 8093 0000 		sts GyroFaktorGier,r24
5095
 5332 2b74 8091 0000 		lds r24,Parameter_Gyro_Gier_I
5096
 5333 2b78 8093 0000 		sts IntegralFaktorGier,r24
5097
 5334 2b7c 8091 0000 		lds r24,ExternControl+10
5098
 5335 2b80 80FF      		sbrs r24,0
5099
 5336 2b82 00C0      		rjmp .L457
5100
 5337 2b84 8091 0000 		lds r24,Parameter_ExternalControl
5101
 5338 2b88 8138      		cpi r24,lo8(-127)
5102
 5339 2b8a 00F4      		brsh .+2
5103
 5340 2b8c 00C0      		rjmp .L457
5104
 5341 2b8e 8091 0000 		lds r24,ExternControl+3
5105
 5342 2b92 9927      		clr r25
5106
 5343 2b94 87FD      		sbrc r24,7
5107
 5344 2b96 9095      		com r25
5108
 5345 2b98 2B2D      		mov r18,r11
5109
 5346 2b9a 3327      		clr r19
5110
 5347 2b9c 829F      		mul r24,r18
5111
 5348 2b9e D001      		movw r26,r0
5112
 5349 2ba0 839F      		mul r24,r19
5113
 5350 2ba2 B00D      		add r27,r0
5114
 5351 2ba4 929F      		mul r25,r18
5115
 5352 2ba6 B00D      		add r27,r0
5116
 5353 2ba8 1124      		clr r1
5117
 5354 2baa 8A0E      		add r8,r26
5118
 5355 2bac 9B1E      		adc r9,r27
5119
 5356 2bae 9092 0000 		sts (StickNick)+1,r9
5120
 5357 2bb2 8092 0000 		sts StickNick,r8
5121
 5358 2bb6 8091 0000 		lds r24,ExternControl+4
5122
 5359 2bba 9927      		clr r25
5123
 5360 2bbc 87FD      		sbrc r24,7
5124
 5361 2bbe 9095      		com r25
5125
 5362 2bc0 829F      		mul r24,r18
5126
 5363 2bc2 F001      		movw r30,r0
5127
 5364 2bc4 839F      		mul r24,r19
5128
 5365 2bc6 F00D      		add r31,r0
5129
 5366 2bc8 929F      		mul r25,r18
5130
 5367 2bca F00D      		add r31,r0
5131
 5368 2bcc 1124      		clr r1
5132
 5369 2bce 0E0F      		add r16,r30
5133
 5370 2bd0 1F1F      		adc r17,r31
5134
 5371 2bd2 1093 0000 		sts (StickRoll)+1,r17
5135
 5372 2bd6 0093 0000 		sts StickRoll,r16
5136
 5373 2bda 8091 0000 		lds r24,ExternControl+5
5137
 5374 2bde 282F      		mov r18,r24
5138
 5375 2be0 3327      		clr r19
5139
 5376 2be2 27FD      		sbrc r18,7
5140
 5377 2be4 3095      		com r19
5141
 5378 2be6 8091 0000 		lds r24,StickGier
5142
 5379 2bea 9091 0000 		lds r25,(StickGier)+1
5143
 5380 2bee 820F      		add r24,r18
5144
 5381 2bf0 931F      		adc r25,r19
5145
 5382 2bf2 9093 0000 		sts (StickGier)+1,r25
5146
 5383 2bf6 8093 0000 		sts StickGier,r24
5147
 5384 2bfa 8091 0000 		lds r24,ExternControl+7
5148
 5385 2bfe 282F      		mov r18,r24
5149
 5386 2c00 3327      		clr r19
5150
 5387 2c02 27FD      		sbrc r18,7
5151
 5388 2c04 3095      		com r19
5152
 5389 2c06 8091 0000 		lds r24,EE_Parameter+18
5153
 5390 2c0a 9927      		clr r25
5154
 5391 2c0c 289F      		mul r18,r24
5155
 5392 2c0e 8001      		movw r16,r0
5156
 5393 2c10 299F      		mul r18,r25
5157
 5394 2c12 100D      		add r17,r0
5158
 5395 2c14 389F      		mul r19,r24
5159
 5396 2c16 100D      		add r17,r0
5160
 5397 2c18 1124      		clr r1
5161
 5398 2c1a 1093 0000 		sts (ExternHoehenValue)+1,r17
5162
 5399 2c1e 0093 0000 		sts ExternHoehenValue,r16
5163
 5400 2c22 8091 0000 		lds r24,ExternControl+6
5164
 5401 2c26 9927      		clr r25
5165
 5402 2c28 8E15      		cp r24,r14
5166
 5403 2c2a 9F05      		cpc r25,r15
5167
 5404 2c2c 04F4      		brge .L457
5168
 5405 2c2e 9093 0000 		sts (StickGas)+1,r25
5169
 5406 2c32 8093 0000 		sts StickGas,r24
5170
 5407               	.L457:
5171
 5408 2c36 8091 0000 		lds r24,StickGas
5172
 5409 2c3a 9091 0000 		lds r25,(StickGas)+1
5173
 5410 2c3e 97FF      		sbrs r25,7
5174
 5411 2c40 00C0      		rjmp .L459
5175
 5412 2c42 1092 0000 		sts (StickGas)+1,__zero_reg__
5176
 5413 2c46 1092 0000 		sts StickGas,__zero_reg__
5177
 5414               	.L459:
5178
 5415 2c4a 8091 0000 		lds r24,Parameter_GlobalConfig
5179
 5416 2c4e 82FF      		sbrs r24,2
5180
 5417 2c50 00C0      		rjmp .L460
5181
 5418 2c52 1092 0000 		sts IntegralFaktor,__zero_reg__
5182
 5419               	.L460:
5183
 5420 2c56 4091 0000 		lds r20,StickNick
5184
 5421 2c5a 5091 0000 		lds r21,(StickNick)+1
5185
 5422 2c5e CA01      		movw r24,r20
5186
 5423 2c60 57FD      		sbrc r21,7
5187
 5424 2c62 0396      		adiw r24,3
5188
 5425               	.L462:
5189
 5426 2c64 9C01      		movw r18,r24
5190
 5427 2c66 3595      		asr r19
5191
 5428 2c68 2795      		ror r18
5192
 5429 2c6a 3595      		asr r19
5193
 5430 2c6c 2795      		ror r18
5194
 5431 2c6e 37FF      		sbrs r19,7
5195
 5432 2c70 00C0      		rjmp .L463
5196
 5433 2c72 3095      		com r19
5197
 5434 2c74 2195      		neg r18
5198
 5435 2c76 3F4F      		sbci r19,lo8(-1)
5199
 5436               	.L463:
5200
 5437 2c78 8091 0000 		lds r24,MaxStickNick
5201
 5438 2c7c 9091 0000 		lds r25,(MaxStickNick)+1
5202
 5439 2c80 8217      		cp r24,r18
5203
 5440 2c82 9307      		cpc r25,r19
5204
 5441 2c84 04F4      		brge .L461
5205
 5442 2c86 CA01      		movw r24,r20
5206
 5443 2c88 57FF      		sbrs r21,7
5207
 5444 2c8a 00C0      		rjmp .L464
5208
 5445 2c8c 9095      		com r25
5209
 5446 2c8e 8195      		neg r24
5210
 5447 2c90 9F4F      		sbci r25,lo8(-1)
5211
 5448               	.L464:
5212
 5449 2c92 97FD      		sbrc r25,7
5213
 5450 2c94 0396      		adiw r24,3
5214
 5451               	.L465:
5215
 5452 2c96 9595      		asr r25
5216
 5453 2c98 8795      		ror r24
5217
 5454 2c9a 9595      		asr r25
5218
 5455 2c9c 8795      		ror r24
5219
 5456 2c9e 9093 0000 		sts (MaxStickNick)+1,r25
5220
 5457 2ca2 8093 0000 		sts MaxStickNick,r24
5221
 5458 2ca6 8536      		cpi r24,101
5222
 5459 2ca8 9105      		cpc r25,__zero_reg__
5223
 5460 2caa 04F0      		brlt .L467
5224
 5461 2cac 84E6      		ldi r24,lo8(100)
5225
 5462 2cae 90E0      		ldi r25,hi8(100)
5226
 5463 2cb0 00C0      		rjmp .L892
5227
 5464               	.L461:
5228
 5465 2cb2 0197      		sbiw r24,1
5229
 5466               	.L892:
5230
 5467 2cb4 9093 0000 		sts (MaxStickNick)+1,r25
5231
 5468 2cb8 8093 0000 		sts MaxStickNick,r24
5232
 5469               	.L467:
5233
 5470 2cbc 4091 0000 		lds r20,StickRoll
5234
 5471 2cc0 5091 0000 		lds r21,(StickRoll)+1
5235
 5472 2cc4 CA01      		movw r24,r20
5236
 5473 2cc6 57FD      		sbrc r21,7
5237
 5474 2cc8 0396      		adiw r24,3
5238
 5475               	.L469:
5239
 5476 2cca 9C01      		movw r18,r24
5240
 5477 2ccc 3595      		asr r19
5241
 5478 2cce 2795      		ror r18
5242
 5479 2cd0 3595      		asr r19
5243
 5480 2cd2 2795      		ror r18
5244
 5481 2cd4 37FF      		sbrs r19,7
5245
 5482 2cd6 00C0      		rjmp .L470
5246
 5483 2cd8 3095      		com r19
5247
 5484 2cda 2195      		neg r18
5248
 5485 2cdc 3F4F      		sbci r19,lo8(-1)
5249
 5486               	.L470:
5250
 5487 2cde 8091 0000 		lds r24,MaxStickRoll
5251
 5488 2ce2 9091 0000 		lds r25,(MaxStickRoll)+1
5252
 5489 2ce6 8217      		cp r24,r18
5253
 5490 2ce8 9307      		cpc r25,r19
5254
 5491 2cea 04F4      		brge .L468
5255
 5492 2cec CA01      		movw r24,r20
5256
 5493 2cee 57FF      		sbrs r21,7
5257
 5494 2cf0 00C0      		rjmp .L471
5258
 5495 2cf2 9095      		com r25
5259
 5496 2cf4 8195      		neg r24
5260
 5497 2cf6 9F4F      		sbci r25,lo8(-1)
5261
 5498               	.L471:
5262
 5499 2cf8 97FD      		sbrc r25,7
5263
 5500 2cfa 0396      		adiw r24,3
5264
 5501               	.L472:
5265
 5502 2cfc 9595      		asr r25
5266
 5503 2cfe 8795      		ror r24
5267
 5504 2d00 9595      		asr r25
5268
 5505 2d02 8795      		ror r24
5269
 5506 2d04 9093 0000 		sts (MaxStickRoll)+1,r25
5270
 5507 2d08 8093 0000 		sts MaxStickRoll,r24
5271
 5508 2d0c 8536      		cpi r24,101
5272
 5509 2d0e 9105      		cpc r25,__zero_reg__
5273
 5510 2d10 04F0      		brlt .L474
5274
 5511 2d12 84E6      		ldi r24,lo8(100)
5275
 5512 2d14 90E0      		ldi r25,hi8(100)
5276
 5513 2d16 00C0      		rjmp .L893
5277
 5514               	.L468:
5278
 5515 2d18 0197      		sbiw r24,1
5279
 5516               	.L893:
5280
 5517 2d1a 9093 0000 		sts (MaxStickRoll)+1,r25
5281
 5518 2d1e 8093 0000 		sts MaxStickRoll,r24
5282
 5519               	.L474:
5283
 5520 2d22 8091 0000 		lds r24,FC_StatusFlags
5284
 5521 2d26 84FF      		sbrs r24,4
5285
 5522 2d28 00C0      		rjmp .L475
5286
 5523 2d2a 1092 0000 		sts (MaxStickNick)+1,__zero_reg__
5287
 5524 2d2e 1092 0000 		sts MaxStickNick,__zero_reg__
5288
 5525 2d32 1092 0000 		sts (MaxStickRoll)+1,__zero_reg__
5289
 5526 2d36 1092 0000 		sts MaxStickRoll,__zero_reg__
5290
 5527               	.L475:
5291
 5528 2d3a ED2D      		mov r30,r13
5292
 5529 2d3c FF27      		clr r31
5293
 5530 2d3e EE0F      		add r30,r30
5294
 5531 2d40 FF1F      		adc r31,r31
5295
 5532 2d42 E050      		subi r30,lo8(-(PPM_in))
5296
 5533 2d44 F040      		sbci r31,hi8(-(PPM_in))
5297
 5534 2d46 4091 0000 		lds r20,EE_Parameter+60
5298
 5535 2d4a 242F      		mov r18,r20
5299
 5536 2d4c 3327      		clr r19
5300
 5537 2d4e 8081      		ld r24,Z
5301
 5538 2d50 9181      		ldd r25,Z+1
5302
 5539 2d52 2817      		cp r18,r24
5303
 5540 2d54 3907      		cpc r19,r25
5304
 5541 2d56 04F4      		brge .L476
5305
 5542 2d58 8091 0000 		lds r24,EE_Parameter+108
5306
 5543 2d5c 82FF      		sbrs r24,2
5307
 5544 2d5e 00C0      		rjmp .L476
5308
 5545 2d60 81E0      		ldi r24,lo8(1)
5309
 5546 2d62 8093 0000 		sts Looping_Links,r24
5310
 5547 2d66 00C0      		rjmp .L477
5311
 5548               	.L476:
5312
 5549 2d68 ED2D      		mov r30,r13
5313
 5550 2d6a FF27      		clr r31
5314
 5551 2d6c EE0F      		add r30,r30
5315
 5552 2d6e FF1F      		adc r31,r31
5316
 5553 2d70 E050      		subi r30,lo8(-(PPM_in))
5317
 5554 2d72 F040      		sbci r31,hi8(-(PPM_in))
5318
 5555 2d74 842F      		mov r24,r20
5319
 5556 2d76 9927      		clr r25
5320
 5557 2d78 2091 0000 		lds r18,EE_Parameter+61
5321
 5558 2d7c 821B      		sub r24,r18
5322
 5559 2d7e 9109      		sbc r25,__zero_reg__
5323
 5560 2d80 2081      		ld r18,Z
5324
 5561 2d82 3181      		ldd r19,Z+1
5325
 5562 2d84 2817      		cp r18,r24
5326
 5563 2d86 3907      		cpc r19,r25
5327
 5564 2d88 04F4      		brge .L477
5328
 5565 2d8a 1092 0000 		sts Looping_Links,__zero_reg__
5329
 5566               	.L477:
5330
 5567 2d8e 4091 0000 		lds r20,EE_Parameter+2
5331
 5568 2d92 E42F      		mov r30,r20
5332
 5569 2d94 FF27      		clr r31
5333
 5570 2d96 EE0F      		add r30,r30
5334
 5571 2d98 FF1F      		adc r31,r31
5335
 5572 2d9a E050      		subi r30,lo8(-(PPM_in))
5336
 5573 2d9c F040      		sbci r31,hi8(-(PPM_in))
5337
 5574 2d9e 5091 0000 		lds r21,EE_Parameter+60
5338
 5575 2da2 852F      		mov r24,r21
5339
 5576 2da4 9927      		clr r25
5340
 5577 2da6 2227      		clr r18
5341
 5578 2da8 3327      		clr r19
5342
 5579 2daa 281B      		sub r18,r24
5343
 5580 2dac 390B      		sbc r19,r25
5344
 5581 2dae 8081      		ld r24,Z
5345
 5582 2db0 9181      		ldd r25,Z+1
5346
 5583 2db2 8217      		cp r24,r18
5347
 5584 2db4 9307      		cpc r25,r19
5348
 5585 2db6 04F4      		brge .L479
5349
 5586 2db8 8091 0000 		lds r24,EE_Parameter+108
5350
 5587 2dbc 83FF      		sbrs r24,3
5351
 5588 2dbe 00C0      		rjmp .L479
5352
 5589 2dc0 81E0      		ldi r24,lo8(1)
5353
 5590 2dc2 8093 0000 		sts Looping_Rechts,r24
5354
 5591 2dc6 00C0      		rjmp .L480
5355
 5592               	.L479:
5356
 5593 2dc8 8091 0000 		lds r24,Looping_Rechts
5357
 5594 2dcc 8823      		tst r24
5358
 5595 2dce 01F0      		breq .L480
5359
 5596 2dd0 E42F      		mov r30,r20
5360
 5597 2dd2 FF27      		clr r31
5361
 5598 2dd4 EE0F      		add r30,r30
5362
 5599 2dd6 FF1F      		adc r31,r31
5363
 5600 2dd8 E050      		subi r30,lo8(-(PPM_in))
5364
 5601 2dda F040      		sbci r31,hi8(-(PPM_in))
5365
 5602 2ddc 8091 0000 		lds r24,EE_Parameter+61
5366
 5603 2de0 9927      		clr r25
5367
 5604 2de2 851B      		sub r24,r21
5368
 5605 2de4 9109      		sbc r25,__zero_reg__
5369
 5606 2de6 2081      		ld r18,Z
5370
 5607 2de8 3181      		ldd r19,Z+1
5371
 5608 2dea 8217      		cp r24,r18
5372
 5609 2dec 9307      		cpc r25,r19
5373
 5610 2dee 04F4      		brge .L480
5374
 5611 2df0 1092 0000 		sts Looping_Rechts,__zero_reg__
5375
 5612               	.L480:
5376
 5613 2df4 EC2D      		mov r30,r12
5377
 5614 2df6 FF27      		clr r31
5378
 5615 2df8 EE0F      		add r30,r30
5379
 5616 2dfa FF1F      		adc r31,r31
5380
 5617 2dfc E050      		subi r30,lo8(-(PPM_in))
5381
 5618 2dfe F040      		sbci r31,hi8(-(PPM_in))
5382
 5619 2e00 4091 0000 		lds r20,EE_Parameter+60
5383
 5620 2e04 242F      		mov r18,r20
5384
 5621 2e06 3327      		clr r19
5385
 5622 2e08 8081      		ld r24,Z
5386
 5623 2e0a 9181      		ldd r25,Z+1
5387
 5624 2e0c 2817      		cp r18,r24
5388
 5625 2e0e 3907      		cpc r19,r25
5389
 5626 2e10 04F4      		brge .L483
5390
 5627 2e12 8091 0000 		lds r24,EE_Parameter+108
5391
 5628 2e16 80FF      		sbrs r24,0
5392
 5629 2e18 00C0      		rjmp .L483
5393
 5630 2e1a 81E0      		ldi r24,lo8(1)
5394
 5631 2e1c 8093 0000 		sts Looping_Oben,r24
5395
 5632 2e20 00C0      		rjmp .L484
5396
 5633               	.L483:
5397
 5634 2e22 8091 0000 		lds r24,Looping_Oben
5398
 5635 2e26 8823      		tst r24
5399
 5636 2e28 01F0      		breq .L484
5400
 5637 2e2a EC2D      		mov r30,r12
5401
 5638 2e2c FF27      		clr r31
5402
 5639 2e2e EE0F      		add r30,r30
5403
 5640 2e30 FF1F      		adc r31,r31
5404
 5641 2e32 E050      		subi r30,lo8(-(PPM_in))
5405
 5642 2e34 F040      		sbci r31,hi8(-(PPM_in))
5406
 5643 2e36 842F      		mov r24,r20
5407
 5644 2e38 9927      		clr r25
5408
 5645 2e3a 2091 0000 		lds r18,EE_Parameter+61
5409
 5646 2e3e 821B      		sub r24,r18
5410
 5647 2e40 9109      		sbc r25,__zero_reg__
5411
 5648 2e42 2081      		ld r18,Z
5412
 5649 2e44 3181      		ldd r19,Z+1
5413
 5650 2e46 2817      		cp r18,r24
5414
 5651 2e48 3907      		cpc r19,r25
5415
 5652 2e4a 04F4      		brge .L484
5416
 5653 2e4c 1092 0000 		sts Looping_Oben,__zero_reg__
5417
 5654               	.L484:
5418
 5655 2e50 4091 0000 		lds r20,EE_Parameter+1
5419
 5656 2e54 E42F      		mov r30,r20
5420
 5657 2e56 FF27      		clr r31
5421
 5658 2e58 EE0F      		add r30,r30
5422
 5659 2e5a FF1F      		adc r31,r31
5423
 5660 2e5c E050      		subi r30,lo8(-(PPM_in))
5424
 5661 2e5e F040      		sbci r31,hi8(-(PPM_in))
5425
 5662 2e60 5091 0000 		lds r21,EE_Parameter+60
5426
 5663 2e64 852F      		mov r24,r21
5427
 5664 2e66 9927      		clr r25
5428
 5665 2e68 2227      		clr r18
5429
 5666 2e6a 3327      		clr r19
5430
 5667 2e6c 281B      		sub r18,r24
5431
 5668 2e6e 390B      		sbc r19,r25
5432
 5669 2e70 8081      		ld r24,Z
5433
 5670 2e72 9181      		ldd r25,Z+1
5434
 5671 2e74 8217      		cp r24,r18
5435
 5672 2e76 9307      		cpc r25,r19
5436
 5673 2e78 04F4      		brge .L487
5437
 5674 2e7a 8091 0000 		lds r24,EE_Parameter+108
5438
 5675 2e7e 81FF      		sbrs r24,1
5439
 5676 2e80 00C0      		rjmp .L487
5440
 5677 2e82 81E0      		ldi r24,lo8(1)
5441
 5678 2e84 8093 0000 		sts Looping_Unten,r24
5442
 5679 2e88 00C0      		rjmp .L488
5443
 5680               	.L487:
5444
 5681 2e8a 8091 0000 		lds r24,Looping_Unten
5445
 5682 2e8e 8823      		tst r24
5446
 5683 2e90 01F0      		breq .L488
5447
 5684 2e92 E42F      		mov r30,r20
5448
 5685 2e94 FF27      		clr r31
5449
 5686 2e96 EE0F      		add r30,r30
5450
 5687 2e98 FF1F      		adc r31,r31
5451
 5688 2e9a E050      		subi r30,lo8(-(PPM_in))
5452
 5689 2e9c F040      		sbci r31,hi8(-(PPM_in))
5453
 5690 2e9e 8091 0000 		lds r24,EE_Parameter+61
5454
 5691 2ea2 9927      		clr r25
5455
 5692 2ea4 851B      		sub r24,r21
5456
 5693 2ea6 9109      		sbc r25,__zero_reg__
5457
 5694 2ea8 2081      		ld r18,Z
5458
 5695 2eaa 3181      		ldd r19,Z+1
5459
 5696 2eac 8217      		cp r24,r18
5460
 5697 2eae 9307      		cpc r25,r19
5461
 5698 2eb0 04F4      		brge .L488
5462
 5699 2eb2 1092 0000 		sts Looping_Unten,__zero_reg__
5463
 5700               	.L488:
5464
 5701 2eb6 8091 0000 		lds r24,Looping_Links
5465
 5702 2eba 8823      		tst r24
5466
 5703 2ebc 01F4      		brne .L492
5467
 5704 2ebe 8091 0000 		lds r24,Looping_Rechts
5468
 5705 2ec2 8111      		cpse r24,__zero_reg__
5469
 5706               	.L492:
5470
 5707 2ec4 81E0      		ldi r24,lo8(1)
5471
 5708               	.L491:
5472
 5709 2ec6 8093 0000 		sts Looping_Roll,r24
5473
 5710 2eca 8091 0000 		lds r24,Looping_Oben
5474
 5711 2ece 8823      		tst r24
5475
 5712 2ed0 01F4      		brne .L495
5476
 5713 2ed2 8091 0000 		lds r24,Looping_Unten
5477
 5714 2ed6 8823      		tst r24
5478
 5715 2ed8 01F0      		breq .L494
5479
 5716               	.L495:
5480
 5717 2eda 81E0      		ldi r24,lo8(1)
5481
 5718 2edc 8093 0000 		sts Looping_Nick,r24
5482
 5719 2ee0 1092 0000 		sts Looping_Roll,__zero_reg__
5483
 5720 2ee4 1092 0000 		sts Looping_Links,__zero_reg__
5484
 5721 2ee8 1092 0000 		sts Looping_Rechts,__zero_reg__
5485
 5722 2eec 00C0      		rjmp .L436
5486
 5723               	.L494:
5487
 5724 2eee 8093 0000 		sts Looping_Nick,r24
5488
 5725               	.L436:
5489
 5726 2ef2 8091 0000 		lds r24,Looping_Roll
5490
 5727 2ef6 8823      		tst r24
5491
 5728 2ef8 01F4      		brne .L498
5492
 5729 2efa 8091 0000 		lds r24,Looping_Nick
5493
 5730 2efe 8823      		tst r24
5494
 5731 2f00 01F0      		breq .L497
5495
 5732               	.L498:
5496
 5733 2f02 8091 0000 		lds r24,EE_Parameter+59
5497
 5734 2f06 9927      		clr r25
5498
 5735 2f08 2981      		ldd r18,Y+1
5499
 5736 2f0a 3A81      		ldd r19,Y+2
5500
 5737 2f0c 8217      		cp r24,r18
5501
 5738 2f0e 9307      		cpc r25,r19
5502
 5739 2f10 04F4      		brge .L499
5503
 5740 2f12 9A83      		std Y+2,r25
5504
 5741 2f14 8983      		std Y+1,r24
5505
 5742               	.L499:
5506
 5743 2f16 81E0      		ldi r24,lo8(1)
5507
 5744 2f18 8093 0000 		sts TrichterFlug,r24
5508
 5745               	.L497:
5509
 5746 2f1c 8091 0000 		lds r24,FC_StatusFlags2
5510
 5747 2f20 9927      		clr r25
5511
 5748 2f22 9C01      		movw r18,r24
5512
 5749 2f24 2470      		andi r18,lo8(4)
5513
 5750 2f26 3070      		andi r19,hi8(4)
5514
 5751 2f28 82FF      		sbrs r24,2
5515
 5752 2f2a 00C0      		rjmp .L500
5516
 5753 2f2c 8091 0000 		lds r24,GPS_Nick
5517
 5754 2f30 9091 0000 		lds r25,(GPS_Nick)+1
5518
 5755 2f34 9095      		com r25
5519
 5756 2f36 8195      		neg r24
5520
 5757 2f38 9F4F      		sbci r25,lo8(-1)
5521
 5758 2f3a 9093 0000 		sts (StickNick)+1,r25
5522
 5759 2f3e 8093 0000 		sts StickNick,r24
5523
 5760 2f42 8091 0000 		lds r24,GPS_Roll
5524
 5761 2f46 9091 0000 		lds r25,(GPS_Roll)+1
5525
 5762 2f4a 9095      		com r25
5526
 5763 2f4c 8195      		neg r24
5527
 5764 2f4e 9F4F      		sbci r25,lo8(-1)
5528
 5765 2f50 9093 0000 		sts (StickRoll)+1,r25
5529
 5766 2f54 8093 0000 		sts StickRoll,r24
5530
 5767 2f58 8091 0000 		lds r24,StickGasHover
5531
 5768 2f5c 9091 0000 		lds r25,(StickGasHover)+1
5532
 5769 2f60 9093 0000 		sts (StickGas)+1,r25
5533
 5770 2f64 8093 0000 		sts StickGas,r24
5534
 5771 2f68 8091 0000 		lds r24,Parameter_GlobalConfig
5535
 5772 2f6c 8B77      		andi r24,lo8(123)
5536
 5773 2f6e 8B66      		ori r24,lo8(107)
5537
 5774 2f70 8093 0000 		sts Parameter_GlobalConfig,r24
5538
 5775 2f74 8091 0000 		lds r24,Parameter_ExtraConfig
5539
 5776 2f78 8C7B      		andi r24,lo8(-68)
5540
 5777 2f7a 8093 0000 		sts Parameter_ExtraConfig,r24
5541
 5778 2f7e 88EC      		ldi r24,lo8(-56)
5542
 5779 2f80 8093 0000 		sts Parameter_HoehenSchalter,r24
5543
 5780 2f84 00C0      		rjmp .L501
5544
 5781               	.L500:
5545
 5782 2f86 8091 0000 		lds r24,FC_StatusFlags
5546
 5783 2f8a 84FF      		sbrs r24,4
5547
 5784 2f8c 00C0      		rjmp .L501
5548
 5785 2f8e 3093 0000 		sts (StickGier)+1,r19
5549
 5786 2f92 2093 0000 		sts StickGier,r18
5550
 5787 2f96 3093 0000 		sts (StickNick)+1,r19
5551
 5788 2f9a 2093 0000 		sts StickNick,r18
5552
 5789 2f9e 3093 0000 		sts (StickRoll)+1,r19
5553
 5790 2fa2 2093 0000 		sts StickRoll,r18
5554
 5791 2fa6 9AE5      		ldi r25,lo8(90)
5555
 5792 2fa8 9093 0000 		sts GyroFaktor,r25
5556
 5793 2fac 88E7      		ldi r24,lo8(120)
5557
 5794 2fae 8093 0000 		sts IntegralFaktor,r24
5558
 5795 2fb2 9093 0000 		sts GyroFaktorGier,r25
5559
 5796 2fb6 8093 0000 		sts IntegralFaktorGier,r24
5560
 5797 2fba 1092 0000 		sts Looping_Roll,__zero_reg__
5561
 5798 2fbe 1092 0000 		sts Looping_Nick,__zero_reg__
5562
 5799               	.L501:
5563
 5800 2fc2 8091 0000 		lds r24,MittelIntegralNick
5564
 5801 2fc6 9091 0000 		lds r25,(MittelIntegralNick)+1
5565
 5802 2fca A091 0000 		lds r26,(MittelIntegralNick)+2
5566
 5803 2fce B091 0000 		lds r27,(MittelIntegralNick)+3
5567
 5804 2fd2 2091 0000 		lds r18,IntegralNick
5568
 5805 2fd6 3091 0000 		lds r19,(IntegralNick)+1
5569
 5806 2fda 4091 0000 		lds r20,(IntegralNick)+2
5570
 5807 2fde 5091 0000 		lds r21,(IntegralNick)+3
5571
 5808 2fe2 820F      		add r24,r18
5572
 5809 2fe4 931F      		adc r25,r19
5573
 5810 2fe6 A41F      		adc r26,r20
5574
 5811 2fe8 B51F      		adc r27,r21
5575
 5812 2fea 8093 0000 		sts MittelIntegralNick,r24
5576
 5813 2fee 9093 0000 		sts (MittelIntegralNick)+1,r25
5577
 5814 2ff2 A093 0000 		sts (MittelIntegralNick)+2,r26
5578
 5815 2ff6 B093 0000 		sts (MittelIntegralNick)+3,r27
5579
 5816 2ffa 8091 0000 		lds r24,MittelIntegralRoll
5580
 5817 2ffe 9091 0000 		lds r25,(MittelIntegralRoll)+1
5581
 5818 3002 A091 0000 		lds r26,(MittelIntegralRoll)+2
5582
 5819 3006 B091 0000 		lds r27,(MittelIntegralRoll)+3
5583
 5820 300a E090 0000 		lds r14,IntegralRoll
5584
 5821 300e F090 0000 		lds r15,(IntegralRoll)+1
5585
 5822 3012 0091 0000 		lds r16,(IntegralRoll)+2
5586
 5823 3016 1091 0000 		lds r17,(IntegralRoll)+3
5587
 5824 301a EB82      		std Y+3,r14
5588
 5825 301c FC82      		std Y+4,r15
5589
 5826 301e 0D83      		std Y+5,r16
5590
 5827 3020 1E83      		std Y+6,r17
5591
 5828 3022 8E0D      		add r24,r14
5592
 5829 3024 9F1D      		adc r25,r15
5593
 5830 3026 A01F      		adc r26,r16
5594
 5831 3028 B11F      		adc r27,r17
5595
 5832 302a 8093 0000 		sts MittelIntegralRoll,r24
5596
 5833 302e 9093 0000 		sts (MittelIntegralRoll)+1,r25
5597
 5834 3032 A093 0000 		sts (MittelIntegralRoll)+2,r26
5598
 5835 3036 B093 0000 		sts (MittelIntegralRoll)+3,r27
5599
 5836 303a 8091 0000 		lds r24,MittelIntegralNick2
5600
 5837 303e 9091 0000 		lds r25,(MittelIntegralNick2)+1
5601
 5838 3042 A091 0000 		lds r26,(MittelIntegralNick2)+2
5602
 5839 3046 B091 0000 		lds r27,(MittelIntegralNick2)+3
5603
 5840 304a E090 0000 		lds r14,IntegralNick2
5604
 5841 304e F090 0000 		lds r15,(IntegralNick2)+1
5605
 5842 3052 0091 0000 		lds r16,(IntegralNick2)+2
5606
 5843 3056 1091 0000 		lds r17,(IntegralNick2)+3
5607
 5844 305a EF82      		std Y+7,r14
5608
 5845 305c F886      		std Y+8,r15
5609
 5846 305e 0987      		std Y+9,r16
5610
 5847 3060 1A87      		std Y+10,r17
5611
 5848 3062 8E0D      		add r24,r14
5612
 5849 3064 9F1D      		adc r25,r15
5613
 5850 3066 A01F      		adc r26,r16
5614
 5851 3068 B11F      		adc r27,r17
5615
 5852 306a 8093 0000 		sts MittelIntegralNick2,r24
5616
 5853 306e 9093 0000 		sts (MittelIntegralNick2)+1,r25
5617
 5854 3072 A093 0000 		sts (MittelIntegralNick2)+2,r26
5618
 5855 3076 B093 0000 		sts (MittelIntegralNick2)+3,r27
5619
 5856 307a 8091 0000 		lds r24,MittelIntegralRoll2
5620
 5857 307e 9091 0000 		lds r25,(MittelIntegralRoll2)+1
5621
 5858 3082 A091 0000 		lds r26,(MittelIntegralRoll2)+2
5622
 5859 3086 B091 0000 		lds r27,(MittelIntegralRoll2)+3
5623
 5860 308a E090 0000 		lds r14,IntegralRoll2
5624
 5861 308e F090 0000 		lds r15,(IntegralRoll2)+1
5625
 5862 3092 0091 0000 		lds r16,(IntegralRoll2)+2
5626
 5863 3096 1091 0000 		lds r17,(IntegralRoll2)+3
5627
 5864 309a EB86      		std Y+11,r14
5628
 5865 309c FC86      		std Y+12,r15
5629
 5866 309e 0D87      		std Y+13,r16
5630
 5867 30a0 1E87      		std Y+14,r17
5631
 5868 30a2 8E0D      		add r24,r14
5632
 5869 30a4 9F1D      		adc r25,r15
5633
 5870 30a6 A01F      		adc r26,r16
5634
 5871 30a8 B11F      		adc r27,r17
5635
 5872 30aa 8093 0000 		sts MittelIntegralRoll2,r24
5636
 5873 30ae 9093 0000 		sts (MittelIntegralRoll2)+1,r25
5637
 5874 30b2 A093 0000 		sts (MittelIntegralRoll2)+2,r26
5638
 5875 30b6 B093 0000 		sts (MittelIntegralRoll2)+3,r27
5639
 5876 30ba F090 0000 		lds r15,Looping_Nick
5640
 5877 30be FF86      		std Y+15,r15
5641
 5878 30c0 FF20      		tst r15
5642
 5879 30c2 01F4      		brne .L504
5643
 5880 30c4 8091 0000 		lds r24,Looping_Roll
5644
 5881 30c8 8823      		tst r24
5645
 5882 30ca 01F4      		brne .+2
5646
 5883 30cc 00C0      		rjmp .L886
5647
 5884               	.L504:
5648
 5885 30ce 1092 0000 		sts IntegralAccNick,__zero_reg__
5649
 5886 30d2 1092 0000 		sts (IntegralAccNick)+1,__zero_reg__
5650
 5887 30d6 1092 0000 		sts (IntegralAccNick)+2,__zero_reg__
5651
 5888 30da 1092 0000 		sts (IntegralAccNick)+3,__zero_reg__
5652
 5889 30de 1092 0000 		sts IntegralAccRoll,__zero_reg__
5653
 5890 30e2 1092 0000 		sts (IntegralAccRoll)+1,__zero_reg__
5654
 5891 30e6 1092 0000 		sts (IntegralAccRoll)+2,__zero_reg__
5655
 5892 30ea 1092 0000 		sts (IntegralAccRoll)+3,__zero_reg__
5656
 5893 30ee 1092 0000 		sts MittelIntegralNick,__zero_reg__
5657
 5894 30f2 1092 0000 		sts (MittelIntegralNick)+1,__zero_reg__
5658
 5895 30f6 1092 0000 		sts (MittelIntegralNick)+2,__zero_reg__
5659
 5896 30fa 1092 0000 		sts (MittelIntegralNick)+3,__zero_reg__
5660
 5897 30fe 1092 0000 		sts MittelIntegralRoll,__zero_reg__
5661
 5898 3102 1092 0000 		sts (MittelIntegralRoll)+1,__zero_reg__
5662
 5899 3106 1092 0000 		sts (MittelIntegralRoll)+2,__zero_reg__
5663
 5900 310a 1092 0000 		sts (MittelIntegralRoll)+3,__zero_reg__
5664
 5901 310e 1092 0000 		sts MittelIntegralNick2,__zero_reg__
5665
 5902 3112 1092 0000 		sts (MittelIntegralNick2)+1,__zero_reg__
5666
 5903 3116 1092 0000 		sts (MittelIntegralNick2)+2,__zero_reg__
5667
 5904 311a 1092 0000 		sts (MittelIntegralNick2)+3,__zero_reg__
5668
 5905 311e 1092 0000 		sts MittelIntegralRoll2,__zero_reg__
5669
 5906 3122 1092 0000 		sts (MittelIntegralRoll2)+1,__zero_reg__
5670
 5907 3126 1092 0000 		sts (MittelIntegralRoll2)+2,__zero_reg__
5671
 5908 312a 1092 0000 		sts (MittelIntegralRoll2)+3,__zero_reg__
5672
 5909 312e 8091 0000 		lds r24,Mess_IntegralNick
5673
 5910 3132 9091 0000 		lds r25,(Mess_IntegralNick)+1
5674
 5911 3136 A091 0000 		lds r26,(Mess_IntegralNick)+2
5675
 5912 313a B091 0000 		lds r27,(Mess_IntegralNick)+3
5676
 5913 313e 8093 0000 		sts Mess_IntegralNick2,r24
5677
 5914 3142 9093 0000 		sts (Mess_IntegralNick2)+1,r25
5678
 5915 3146 A093 0000 		sts (Mess_IntegralNick2)+2,r26
5679
 5916 314a B093 0000 		sts (Mess_IntegralNick2)+3,r27
5680
 5917 314e 8091 0000 		lds r24,Mess_IntegralRoll
5681
 5918 3152 9091 0000 		lds r25,(Mess_IntegralRoll)+1
5682
 5919 3156 A091 0000 		lds r26,(Mess_IntegralRoll)+2
5683
 5920 315a B091 0000 		lds r27,(Mess_IntegralRoll)+3
5684
 5921 315e 8093 0000 		sts Mess_IntegralRoll2,r24
5685
 5922 3162 9093 0000 		sts (Mess_IntegralRoll2)+1,r25
5686
 5923 3166 A093 0000 		sts (Mess_IntegralRoll2)+2,r26
5687
 5924 316a B093 0000 		sts (Mess_IntegralRoll2)+3,r27
5688
 5925 316e 1092 0000 		sts (ZaehlMessungen)+1,__zero_reg__
5689
 5926 3172 1092 0000 		sts ZaehlMessungen,__zero_reg__
5690
 5927 3176 1092 0000 		sts (LageKorrekturNick)+1,__zero_reg__
5691
 5928 317a 1092 0000 		sts LageKorrekturNick,__zero_reg__
5692
 5929 317e 1092 0000 		sts (LageKorrekturRoll)+1,__zero_reg__
5693
 5930 3182 1092 0000 		sts LageKorrekturRoll,__zero_reg__
5694
 5931 3186 0F85      		ldd r16,Y+15
5695
 5932 3188 0023      		tst r16
5696
 5933 318a 01F0      		breq .+2
5697
 5934 318c 00C0      		rjmp .L505
5698
 5935               	.L886:
5699
 5936 318e 8091 0000 		lds r24,Looping_Roll
5700
 5937 3192 8823      		tst r24
5701
 5938 3194 01F0      		breq .+2
5702
 5939 3196 00C0      		rjmp .L505
5703
 5940 3198 8091 0000 		lds r24,Aktuell_az
5704
 5941 319c 9091 0000 		lds r25,(Aktuell_az)+1
5705
 5942 31a0 8150      		subi r24,lo8(513)
5706
 5943 31a2 9240      		sbci r25,hi8(513)
5707
 5944 31a4 04F4      		brge .L506
5708
 5945 31a6 8091 0000 		lds r24,MotorenEin
5709
 5946 31aa 8823      		tst r24
5710
 5947 31ac 01F4      		brne .+2
5711
 5948 31ae 00C0      		rjmp .L505
5712
 5949               	.L506:
5713
 5950 31b0 9090 0000 		lds r9,FromNaviCtrl_Value
5714
 5951 31b4 A090 0000 		lds r10,EE_Parameter+28
5715
 5952 31b8 2090 0000 		lds r2,Mittelwert_AccNick
5716
 5953 31bc 3090 0000 		lds r3,(Mittelwert_AccNick)+1
5717
 5954 31c0 4090 0000 		lds r4,Mittelwert_AccRoll
5718
 5955 31c4 5090 0000 		lds r5,(Mittelwert_AccRoll)+1
5719
 5956 31c8 1914      		cp __zero_reg__,r9
5720
 5957 31ca 04F0      		brlt .+2
5721
 5958 31cc 00C0      		rjmp .L507
5722
 5959 31ce BB24      		clr r11
5723
 5960 31d0 CC24      		clr r12
5724
 5961 31d2 DD24      		clr r13
5725
 5962 31d4 CA01      		movw r24,r20
5726
 5963 31d6 B901      		movw r22,r18
5727
 5964 31d8 A601      		movw r20,r12
5728
 5965 31da 9501      		movw r18,r10
5729
 5966 31dc 0E94 0000 		call __divmodsi4
5730
 5967 31e0 7901      		movw r14,r18
5731
 5968 31e2 8A01      		movw r16,r20
5732
 5969 31e4 8091 0000 		lds r24,FromNaviCtrl+9
5733
 5970 31e8 9091 0000 		lds r25,(FromNaviCtrl+9)+1
5734
 5971 31ec 281A      		sub r2,r24
5735
 5972 31ee 390A      		sbc r3,r25
5736
 5973 31f0 C101      		movw r24,r2
5737
 5974 31f2 AA27      		clr r26
5738
 5975 31f4 97FD      		sbrc r25,7
5739
 5976 31f6 A095      		com r26
5740
 5977 31f8 BA2F      		mov r27,r26
5741
 5978 31fa E81A      		sub r14,r24
5742
 5979 31fc F90A      		sbc r15,r25
5743
 5980 31fe 0A0B      		sbc r16,r26
5744
 5981 3200 1B0B      		sbc r17,r27
5745
 5982 3202 6B81      		ldd r22,Y+3
5746
 5983 3204 7C81      		ldd r23,Y+4
5747
 5984 3206 8D81      		ldd r24,Y+5
5748
 5985 3208 9E81      		ldd r25,Y+6
5749
 5986 320a A601      		movw r20,r12
5750
 5987 320c 9501      		movw r18,r10
5751
 5988 320e 0E94 0000 		call __divmodsi4
5752
 5989 3212 5901      		movw r10,r18
5753
 5990 3214 6A01      		movw r12,r20
5754
 5991 3216 8091 0000 		lds r24,FromNaviCtrl+11
5755
 5992 321a 9091 0000 		lds r25,(FromNaviCtrl+11)+1
5756
 5993 321e 481A      		sub r4,r24
5757
 5994 3220 590A      		sbc r5,r25
5758
 5995 3222 C201      		movw r24,r4
5759
 5996 3224 AA27      		clr r26
5760
 5997 3226 97FD      		sbrc r25,7
5761
 5998 3228 A095      		com r26
5762
 5999 322a BA2F      		mov r27,r26
5763
 6000 322c A81A      		sub r10,r24
5764
 6001 322e B90A      		sbc r11,r25
5765
 6002 3230 CA0A      		sbc r12,r26
5766
 6003 3232 DB0A      		sbc r13,r27
5767
 6004 3234 292C      		mov r2,r9
5768
 6005 3236 3324      		clr r3
5769
 6006 3238 27FC      		sbrc r2,7
5770
 6007 323a 3094      		com r3
5771
 6008 323c 432C      		mov r4,r3
5772
 6009 323e 532C      		mov r5,r3
5773
 6010 3240 C801      		movw r24,r16
5774
 6011 3242 B701      		movw r22,r14
5775
 6012 3244 A201      		movw r20,r4
5776
 6013 3246 9101      		movw r18,r2
5777
 6014 3248 0E94 0000 		call __mulsi3
5778
 6015 324c 97FF      		sbrs r25,7
5779
 6016 324e 00C0      		rjmp .L508
5780
 6017 3250 6150      		subi r22,lo8(-(511))
5781
 6018 3252 7E4F      		sbci r23,hi8(-(511))
5782
 6019 3254 8F4F      		sbci r24,hlo8(-(511))
5783
 6020 3256 9F4F      		sbci r25,hhi8(-(511))
5784
 6021               	.L508:
5785
 6022 3258 3B01      		movw r6,r22
5786
 6023 325a 4C01      		movw r8,r24
5787
 6024 325c 09E0      		ldi r16,9
5788
 6025 325e 9594      	1:	asr r9
5789
 6026 3260 8794      		ror r8
5790
 6027 3262 7794      		ror r7
5791
 6028 3264 6794      		ror r6
5792
 6029 3266 0A95      		dec r16
5793
 6030 3268 01F4      		brne 1b
5794
 6031 326a C601      		movw r24,r12
5795
 6032 326c B501      		movw r22,r10
5796
 6033 326e A201      		movw r20,r4
5797
 6034 3270 9101      		movw r18,r2
5798
 6035 3272 0E94 0000 		call __mulsi3
5799
 6036 3276 97FF      		sbrs r25,7
5800
 6037 3278 00C0      		rjmp .L509
5801
 6038 327a 6150      		subi r22,lo8(-(511))
5802
 6039 327c 7E4F      		sbci r23,hi8(-(511))
5803
 6040 327e 8F4F      		sbci r24,hlo8(-(511))
5804
 6041 3280 9F4F      		sbci r25,hhi8(-(511))
5805
 6042               	.L509:
5806
 6043 3282 5B01      		movw r10,r22
5807
 6044 3284 6C01      		movw r12,r24
5808
 6045 3286 19E0      		ldi r17,9
5809
 6046 3288 D594      	1:	asr r13
5810
 6047 328a C794      		ror r12
5811
 6048 328c B794      		ror r11
5812
 6049 328e A794      		ror r10
5813
 6050 3290 1A95      		dec r17
5814
 6051 3292 01F4      		brne 1b
5815
 6052 3294 8091 0000 		lds r24,MaxStickNick
5816
 6053 3298 9091 0000 		lds r25,(MaxStickNick)+1
5817
 6054 329c 8134      		cpi r24,65
5818
 6055 329e 9105      		cpc r25,__zero_reg__
5819
 6056 32a0 04F4      		brge .L511
5820
 6057 32a2 8091 0000 		lds r24,MaxStickRoll
5821
 6058 32a6 9091 0000 		lds r25,(MaxStickRoll)+1
5822
 6059 32aa 8134      		cpi r24,65
5823
 6060 32ac 9105      		cpc r25,__zero_reg__
5824
 6061 32ae 04F0      		brlt .L510
5825
 6062               	.L511:
5826
 6063 32b0 D401      		movw r26,r8
5827
 6064 32b2 C301      		movw r24,r6
5828
 6065 32b4 97FE      		sbrs r9,7
5829
 6066 32b6 00C0      		rjmp .L512
5830
 6067 32b8 0196      		adiw r24,1
5831
 6068 32ba A11D      		adc r26,__zero_reg__
5832
 6069 32bc B11D      		adc r27,__zero_reg__
5833
 6070               	.L512:
5834
 6071 32be 3C01      		movw r6,r24
5835
 6072 32c0 4D01      		movw r8,r26
5836
 6073 32c2 9594      		asr r9
5837
 6074 32c4 8794      		ror r8
5838
 6075 32c6 7794      		ror r7
5839
 6076 32c8 6794      		ror r6
5840
 6077 32ca D601      		movw r26,r12
5841
 6078 32cc C501      		movw r24,r10
5842
 6079 32ce D7FE      		sbrs r13,7
5843
 6080 32d0 00C0      		rjmp .L513
5844
 6081 32d2 0196      		adiw r24,1
5845
 6082 32d4 A11D      		adc r26,__zero_reg__
5846
 6083 32d6 B11D      		adc r27,__zero_reg__
5847
 6084               	.L513:
5848
 6085 32d8 5C01      		movw r10,r24
5849
 6086 32da 6D01      		movw r12,r26
5850
 6087 32dc D594      		asr r13
5851
 6088 32de C794      		ror r12
5852
 6089 32e0 B794      		ror r11
5853
 6090 32e2 A794      		ror r10
5854
 6091               	.L510:
5855
 6092 32e4 8091 0000 		lds r24,FromNaviCtrl_Value+2
5856
 6093 32e8 282F      		mov r18,r24
5857
 6094 32ea 3327      		clr r19
5858
 6095 32ec 27FD      		sbrc r18,7
5859
 6096 32ee 3095      		com r19
5860
 6097 32f0 432F      		mov r20,r19
5861
 6098 32f2 532F      		mov r21,r19
5862
 6099 32f4 2615      		cp r18,r6
5863
 6100 32f6 3705      		cpc r19,r7
5864
 6101 32f8 4805      		cpc r20,r8
5865
 6102 32fa 5905      		cpc r21,r9
5866
 6103 32fc 04F4      		brge .L514
5867
 6104 32fe 3901      		movw r6,r18
5868
 6105 3300 4A01      		movw r8,r20
5869
 6106               	.L514:
5870
 6107 3302 9927      		clr r25
5871
 6108 3304 87FD      		sbrc r24,7
5872
 6109 3306 9095      		com r25
5873
 6110 3308 9095      		com r25
5874
 6111 330a 8195      		neg r24
5875
 6112 330c 9F4F      		sbci r25,lo8(-1)
5876
 6113 330e AA27      		clr r26
5877
 6114 3310 97FD      		sbrc r25,7
5878
 6115 3312 A095      		com r26
5879
 6116 3314 BA2F      		mov r27,r26
5880
 6117 3316 6816      		cp r6,r24
5881
 6118 3318 7906      		cpc r7,r25
5882
 6119 331a 8A06      		cpc r8,r26
5883
 6120 331c 9B06      		cpc r9,r27
5884
 6121 331e 04F4      		brge .L515
5885
 6122 3320 3C01      		movw r6,r24
5886
 6123 3322 4D01      		movw r8,r26
5887
 6124               	.L515:
5888
 6125 3324 2A15      		cp r18,r10
5889
 6126 3326 3B05      		cpc r19,r11
5890
 6127 3328 4C05      		cpc r20,r12
5891
 6128 332a 5D05      		cpc r21,r13
5892
 6129 332c 04F4      		brge .L516
5893
 6130 332e 5901      		movw r10,r18
5894
 6131 3330 6A01      		movw r12,r20
5895
 6132               	.L516:
5896
 6133 3332 A816      		cp r10,r24
5897
 6134 3334 B906      		cpc r11,r25
5898
 6135 3336 CA06      		cpc r12,r26
5899
 6136 3338 DB06      		cpc r13,r27
5900
 6137 333a 04F0      		brlt .+2
5901
 6138 333c 00C0      		rjmp .L518
5902
 6139 333e 5C01      		movw r10,r24
5903
 6140 3340 6D01      		movw r12,r26
5904
 6141 3342 00C0      		rjmp .L518
5905
 6142               	.L507:
5906
 6143 3344 EA2C      		mov r14,r10
5907
 6144 3346 FF24      		clr r15
5908
 6145 3348 0027      		clr r16
5909
 6146 334a 1127      		clr r17
5910
 6147 334c CA01      		movw r24,r20
5911
 6148 334e B901      		movw r22,r18
5912
 6149 3350 A801      		movw r20,r16
5913
 6150 3352 9701      		movw r18,r14
5914
 6151 3354 0E94 0000 		call __divmodsi4
5915
 6152 3358 3901      		movw r6,r18
5916
 6153 335a 4A01      		movw r8,r20
5917
 6154 335c C101      		movw r24,r2
5918
 6155 335e AA27      		clr r26
5919
 6156 3360 97FD      		sbrc r25,7
5920
 6157 3362 A095      		com r26
5921
 6158 3364 BA2F      		mov r27,r26
5922
 6159 3366 681A      		sub r6,r24
5923
 6160 3368 790A      		sbc r7,r25
5924
 6161 336a 8A0A      		sbc r8,r26
5925
 6162 336c 9B0A      		sbc r9,r27
5926
 6163 336e 6B81      		ldd r22,Y+3
5927
 6164 3370 7C81      		ldd r23,Y+4
5928
 6165 3372 8D81      		ldd r24,Y+5
5929
 6166 3374 9E81      		ldd r25,Y+6
5930
 6167 3376 A801      		movw r20,r16
5931
 6168 3378 9701      		movw r18,r14
5932
 6169 337a 0E94 0000 		call __divmodsi4
5933
 6170 337e 5901      		movw r10,r18
5934
 6171 3380 6A01      		movw r12,r20
5935
 6172 3382 C201      		movw r24,r4
5936
 6173 3384 AA27      		clr r26
5937
 6174 3386 97FD      		sbrc r25,7
5938
 6175 3388 A095      		com r26
5939
 6176 338a BA2F      		mov r27,r26
5940
 6177 338c A81A      		sub r10,r24
5941
 6178 338e B90A      		sbc r11,r25
5942
 6179 3390 CA0A      		sbc r12,r26
5943
 6180 3392 DB0A      		sbc r13,r27
5944
 6181 3394 D401      		movw r26,r8
5945
 6182 3396 C301      		movw r24,r6
5946
 6183 3398 97FE      		sbrs r9,7
5947
 6184 339a 00C0      		rjmp .L519
5948
 6185 339c 0F96      		adiw r24,15
5949
 6186 339e A11D      		adc r26,__zero_reg__
5950
 6187 33a0 B11D      		adc r27,__zero_reg__
5951
 6188               	.L519:
5952
 6189 33a2 3C01      		movw r6,r24
5953
 6190 33a4 4D01      		movw r8,r26
5954
 6191 33a6 F4E0      		ldi r31,4
5955
 6192 33a8 9594      	1:	asr r9
5956
 6193 33aa 8794      		ror r8
5957
 6194 33ac 7794      		ror r7
5958
 6195 33ae 6794      		ror r6
5959
 6196 33b0 FA95      		dec r31
5960
 6197 33b2 01F4      		brne 1b
5961
 6198 33b4 D601      		movw r26,r12
5962
 6199 33b6 C501      		movw r24,r10
5963
 6200 33b8 D7FE      		sbrs r13,7
5964
 6201 33ba 00C0      		rjmp .L520
5965
 6202 33bc 0F96      		adiw r24,15
5966
 6203 33be A11D      		adc r26,__zero_reg__
5967
 6204 33c0 B11D      		adc r27,__zero_reg__
5968
 6205               	.L520:
5969
 6206 33c2 5C01      		movw r10,r24
5970
 6207 33c4 6D01      		movw r12,r26
5971
 6208 33c6 E4E0      		ldi r30,4
5972
 6209 33c8 D594      	1:	asr r13
5973
 6210 33ca C794      		ror r12
5974
 6211 33cc B794      		ror r11
5975
 6212 33ce A794      		ror r10
5976
 6213 33d0 EA95      		dec r30
5977
 6214 33d2 01F4      		brne 1b
5978
 6215 33d4 8091 0000 		lds r24,MaxStickNick
5979
 6216 33d8 9091 0000 		lds r25,(MaxStickNick)+1
5980
 6217 33dc 8134      		cpi r24,65
5981
 6218 33de 9105      		cpc r25,__zero_reg__
5982
 6219 33e0 04F4      		brge .L522
5983
 6220 33e2 8091 0000 		lds r24,MaxStickRoll
5984
 6221 33e6 9091 0000 		lds r25,(MaxStickRoll)+1
5985
 6222 33ea 8134      		cpi r24,65
5986
 6223 33ec 9105      		cpc r25,__zero_reg__
5987
 6224 33ee 04F0      		brlt .L521
5988
 6225               	.L522:
5989
 6226 33f0 C401      		movw r24,r8
5990
 6227 33f2 B301      		movw r22,r6
5991
 6228 33f4 23E0      		ldi r18,lo8(3)
5992
 6229 33f6 30E0      		ldi r19,hi8(3)
5993
 6230 33f8 40E0      		ldi r20,hlo8(3)
5994
 6231 33fa 50E0      		ldi r21,hhi8(3)
5995
 6232 33fc 0E94 0000 		call __divmodsi4
5996
 6233 3400 3901      		movw r6,r18
5997
 6234 3402 4A01      		movw r8,r20
5998
 6235 3404 C601      		movw r24,r12
5999
 6236 3406 B501      		movw r22,r10
6000
 6237 3408 23E0      		ldi r18,lo8(3)
6001
 6238 340a 30E0      		ldi r19,hi8(3)
6002
 6239 340c 40E0      		ldi r20,hlo8(3)
6003
 6240 340e 50E0      		ldi r21,hhi8(3)
6004
 6241 3410 0E94 0000 		call __divmodsi4
6005
 6242 3414 5901      		movw r10,r18
6006
 6243 3416 6A01      		movw r12,r20
6007
 6244               	.L521:
6008
 6245 3418 8091 0000 		lds r24,EE_Parameter+4
6009
 6246 341c E82F      		mov r30,r24
6010
 6247 341e FF27      		clr r31
6011
 6248 3420 EE0F      		add r30,r30
6012
 6249 3422 FF1F      		adc r31,r31
6013
 6250 3424 E050      		subi r30,lo8(-(PPM_in))
6014
 6251 3426 F040      		sbci r31,hi8(-(PPM_in))
6015
 6252 3428 8081      		ld r24,Z
6016
 6253 342a 9181      		ldd r25,Z+1
6017
 6254 342c 0190      		ld __tmp_reg__,Z+
6018
 6255 342e F081      		ld r31,Z
6019
 6256 3430 E02D      		mov r30,__tmp_reg__
6020
 6257 3432 F7FF      		sbrs r31,7
6021
 6258 3434 00C0      		rjmp .L524
6022
 6259 3436 F095      		com r31
6023
 6260 3438 E195      		neg r30
6024
 6261 343a FF4F      		sbci r31,lo8(-1)
6025
 6262               	.L524:
6026
 6263 343c 7A97      		sbiw r30,26
6027
 6264 343e 04F0      		brlt .L523
6028
 6265 3440 C401      		movw r24,r8
6029
 6266 3442 B301      		movw r22,r6
6030
 6267 3444 23E0      		ldi r18,lo8(3)
6031
 6268 3446 30E0      		ldi r19,hi8(3)
6032
 6269 3448 40E0      		ldi r20,hlo8(3)
6033
 6270 344a 50E0      		ldi r21,hhi8(3)
6034
 6271 344c 0E94 0000 		call __divmodsi4
6035
 6272 3450 3901      		movw r6,r18
6036
 6273 3452 4A01      		movw r8,r20
6037
 6274 3454 C601      		movw r24,r12
6038
 6275 3456 B501      		movw r22,r10
6039
 6276 3458 23E0      		ldi r18,lo8(3)
6040
 6277 345a 30E0      		ldi r19,hi8(3)
6041
 6278 345c 40E0      		ldi r20,hlo8(3)
6042
 6279 345e 50E0      		ldi r21,hhi8(3)
6043
 6280 3460 0E94 0000 		call __divmodsi4
6044
 6281 3464 5901      		movw r10,r18
6045
 6282 3466 6A01      		movw r12,r20
6046
 6283               	.L523:
6047
 6284 3468 89E1      		ldi r24,lo8(25)
6048
 6285 346a 8093 0000 		sts KompassFusion,r24
6049
 6286 346e 21E2      		ldi r18,lo8(33)
6050
 6287 3470 6216      		cp r6,r18
6051
 6288 3472 7104      		cpc r7,__zero_reg__
6052
 6289 3474 8104      		cpc r8,__zero_reg__
6053
 6290 3476 9104      		cpc r9,__zero_reg__
6054
 6291 3478 04F0      		brlt .L525
6055
 6292 347a 70E2      		ldi r23,lo8(32)
6056
 6293 347c 672E      		mov r6,r23
6057
 6294 347e 712C      		mov r7,__zero_reg__
6058
 6295 3480 812C      		mov r8,__zero_reg__
6059
 6296 3482 912C      		mov r9,__zero_reg__
6060
 6297               	.L525:
6061
 6298 3484 30EE      		ldi r19,lo8(-32)
6062
 6299 3486 6316      		cp r6,r19
6063
 6300 3488 3FEF      		ldi r19,hi8(-32)
6064
 6301 348a 7306      		cpc r7,r19
6065
 6302 348c 3FEF      		ldi r19,hlo8(-32)
6066
 6303 348e 8306      		cpc r8,r19
6067
 6304 3490 3FEF      		ldi r19,hhi8(-32)
6068
 6305 3492 9306      		cpc r9,r19
6069
 6306 3494 04F4      		brge .L526
6070
 6307 3496 60EE      		ldi r22,lo8(-32)
6071
 6308 3498 662E      		mov r6,r22
6072
 6309 349a 6FEF      		ldi r22,hi8(-32)
6073
 6310 349c 762E      		mov r7,r22
6074
 6311 349e 6FEF      		ldi r22,hlo8(-32)
6075
 6312 34a0 862E      		mov r8,r22
6076
 6313 34a2 6FEF      		ldi r22,hhi8(-32)
6077
 6314 34a4 962E      		mov r9,r22
6078
 6315               	.L526:
6079
 6316 34a6 41E2      		ldi r20,lo8(33)
6080
 6317 34a8 A416      		cp r10,r20
6081
 6318 34aa B104      		cpc r11,__zero_reg__
6082
 6319 34ac C104      		cpc r12,__zero_reg__
6083
 6320 34ae D104      		cpc r13,__zero_reg__
6084
 6321 34b0 04F0      		brlt .L527
6085
 6322 34b2 50E2      		ldi r21,lo8(32)
6086
 6323 34b4 A52E      		mov r10,r21
6087
 6324 34b6 B12C      		mov r11,__zero_reg__
6088
 6325 34b8 C12C      		mov r12,__zero_reg__
6089
 6326 34ba D12C      		mov r13,__zero_reg__
6090
 6327               	.L527:
6091
 6328 34bc 50EE      		ldi r21,lo8(-32)
6092
 6329 34be A516      		cp r10,r21
6093
 6330 34c0 5FEF      		ldi r21,hi8(-32)
6094
 6331 34c2 B506      		cpc r11,r21
6095
 6332 34c4 5FEF      		ldi r21,hlo8(-32)
6096
 6333 34c6 C506      		cpc r12,r21
6097
 6334 34c8 5FEF      		ldi r21,hhi8(-32)
6098
 6335 34ca D506      		cpc r13,r21
6099
 6336 34cc 04F4      		brge .L518
6100
 6337 34ce 40EE      		ldi r20,lo8(-32)
6101
 6338 34d0 A42E      		mov r10,r20
6102
 6339 34d2 4FEF      		ldi r20,hi8(-32)
6103
 6340 34d4 B42E      		mov r11,r20
6104
 6341 34d6 4FEF      		ldi r20,hlo8(-32)
6105
 6342 34d8 C42E      		mov r12,r20
6106
 6343 34da 4FEF      		ldi r20,hhi8(-32)
6107
 6344 34dc D42E      		mov r13,r20
6108
 6345               	.L518:
6109
 6346 34de 8091 0000 		lds r24,Mess_IntegralNick
6110
 6347 34e2 9091 0000 		lds r25,(Mess_IntegralNick)+1
6111
 6348 34e6 A091 0000 		lds r26,(Mess_IntegralNick)+2
6112
 6349 34ea B091 0000 		lds r27,(Mess_IntegralNick)+3
6113
 6350 34ee 8619      		sub r24,r6
6114
 6351 34f0 9709      		sbc r25,r7
6115
 6352 34f2 A809      		sbc r26,r8
6116
 6353 34f4 B909      		sbc r27,r9
6117
 6354 34f6 8093 0000 		sts Mess_IntegralNick,r24
6118
 6355 34fa 9093 0000 		sts (Mess_IntegralNick)+1,r25
6119
 6356 34fe A093 0000 		sts (Mess_IntegralNick)+2,r26
6120
 6357 3502 B093 0000 		sts (Mess_IntegralNick)+3,r27
6121
 6358 3506 8091 0000 		lds r24,Mess_IntegralRoll
6122
 6359 350a 9091 0000 		lds r25,(Mess_IntegralRoll)+1
6123
 6360 350e A091 0000 		lds r26,(Mess_IntegralRoll)+2
6124
 6361 3512 B091 0000 		lds r27,(Mess_IntegralRoll)+3
6125
 6362 3516 8A19      		sub r24,r10
6126
 6363 3518 9B09      		sbc r25,r11
6127
 6364 351a AC09      		sbc r26,r12
6128
 6365 351c BD09      		sbc r27,r13
6129
 6366 351e 8093 0000 		sts Mess_IntegralRoll,r24
6130
 6367 3522 9093 0000 		sts (Mess_IntegralRoll)+1,r25
6131
 6368 3526 A093 0000 		sts (Mess_IntegralRoll)+2,r26
6132
 6369 352a B093 0000 		sts (Mess_IntegralRoll)+3,r27
6133
 6370               	.L505:
6134
 6371 352e 8091 0000 		lds r24,ZaehlMessungen
6135
 6372 3532 9091 0000 		lds r25,(ZaehlMessungen)+1
6136
 6373 3536 8F3F      		cpi r24,255
6137
 6374 3538 9105      		cpc r25,__zero_reg__
6138
 6375 353a 01F0      		breq .+2
6139
 6376 353c 00F4      		brsh .+2
6140
 6377 353e 00C0      		rjmp .L529
6141
 6378 3540 6F85      		ldd r22,Y+15
6142
 6379 3542 6623      		tst r22
6143
 6380 3544 01F0      		breq .+2
6144
 6381 3546 00C0      		rjmp .L530
6145
 6382 3548 8091 0000 		lds r24,Looping_Roll
6146
 6383 354c 8823      		tst r24
6147
 6384 354e 01F0      		breq .+2
6148
 6385 3550 00C0      		rjmp .L530
6149
 6386 3552 8091 0000 		lds r24,TrichterFlug
6150
 6387 3556 8823      		tst r24
6151
 6388 3558 01F0      		breq .+2
6152
 6389 355a 00C0      		rjmp .L530
6153
 6390 355c 7091 0000 		lds r23,EE_Parameter+68
6154
 6391 3560 788B      		std Y+16,r23
6155
 6392 3562 7723      		tst r23
6156
 6393 3564 01F4      		brne .+2
6157
 6394 3566 00C0      		rjmp .L530
6158
 6395 3568 8091 0000 		lds r24,MittelIntegralNick
6159
 6396 356c 9091 0000 		lds r25,(MittelIntegralNick)+1
6160
 6397 3570 A091 0000 		lds r26,(MittelIntegralNick)+2
6161
 6398 3574 B091 0000 		lds r27,(MittelIntegralNick)+3
6162
 6399 3578 B7FF      		sbrs r27,7
6163
 6400 357a 00C0      		rjmp .L531
6164
 6401 357c 8150      		subi r24,lo8(-(255))
6165
 6402 357e 9F4F      		sbci r25,hi8(-(255))
6166
 6403 3580 AF4F      		sbci r26,hlo8(-(255))
6167
 6404 3582 BF4F      		sbci r27,hhi8(-(255))
6168
 6405               	.L531:
6169
 6406 3584 E92E      		mov r14,r25
6170
 6407 3586 FA2E      		mov r15,r26
6171
 6408 3588 0B2F      		mov r16,r27
6172
 6409 358a 1127      		clr r17
6173
 6410 358c 07FD      		sbrc r16,7
6174
 6411 358e 1A95      		dec r17
6175
 6412 3590 E092 0000 		sts MittelIntegralNick,r14
6176
 6413 3594 F092 0000 		sts (MittelIntegralNick)+1,r15
6177
 6414 3598 0093 0000 		sts (MittelIntegralNick)+2,r16
6178
 6415 359c 1093 0000 		sts (MittelIntegralNick)+3,r17
6179
 6416 35a0 8091 0000 		lds r24,MittelIntegralRoll
6180
 6417 35a4 9091 0000 		lds r25,(MittelIntegralRoll)+1
6181
 6418 35a8 A091 0000 		lds r26,(MittelIntegralRoll)+2
6182
 6419 35ac B091 0000 		lds r27,(MittelIntegralRoll)+3
6183
 6420 35b0 B7FF      		sbrs r27,7
6184
 6421 35b2 00C0      		rjmp .L532
6185
 6422 35b4 8150      		subi r24,lo8(-(255))
6186
 6423 35b6 9F4F      		sbci r25,hi8(-(255))
6187
 6424 35b8 AF4F      		sbci r26,hlo8(-(255))
6188
 6425 35ba BF4F      		sbci r27,hhi8(-(255))
6189
 6426               	.L532:
6190
 6427 35bc 892F      		mov r24,r25
6191
 6428 35be 9A2F      		mov r25,r26
6192
 6429 35c0 AB2F      		mov r26,r27
6193
 6430 35c2 BB27      		clr r27
6194
 6431 35c4 A7FD      		sbrc r26,7
6195
 6432 35c6 BA95      		dec r27
6196
 6433 35c8 898B      		std Y+17,r24
6197
 6434 35ca 9A8B      		std Y+18,r25
6198
 6435 35cc AB8B      		std Y+19,r26
6199
 6436 35ce BC8B      		std Y+20,r27
6200
 6437 35d0 8093 0000 		sts MittelIntegralRoll,r24
6201
 6438 35d4 9093 0000 		sts (MittelIntegralRoll)+1,r25
6202
 6439 35d8 A093 0000 		sts (MittelIntegralRoll)+2,r26
6203
 6440 35dc B093 0000 		sts (MittelIntegralRoll)+3,r27
6204
 6441 35e0 8091 0000 		lds r24,EE_Parameter+28
6205
 6442 35e4 A82E      		mov r10,r24
6206
 6443 35e6 BB24      		clr r11
6207
 6444 35e8 CC24      		clr r12
6208
 6445 35ea DD24      		clr r13
6209
 6446 35ec 2091 0000 		lds r18,IntegralAccNick
6210
 6447 35f0 3091 0000 		lds r19,(IntegralAccNick)+1
6211
 6448 35f4 4091 0000 		lds r20,(IntegralAccNick)+2
6212
 6449 35f8 5091 0000 		lds r21,(IntegralAccNick)+3
6213
 6450 35fc C601      		movw r24,r12
6214
 6451 35fe B501      		movw r22,r10
6215
 6452 3600 0E94 0000 		call __mulsi3
6216
 6453 3604 97FF      		sbrs r25,7
6217
 6454 3606 00C0      		rjmp .L533
6218
 6455 3608 6150      		subi r22,lo8(-(255))
6219
 6456 360a 7F4F      		sbci r23,hi8(-(255))
6220
 6457 360c 8F4F      		sbci r24,hlo8(-(255))
6221
 6458 360e 9F4F      		sbci r25,hhi8(-(255))
6222
 6459               	.L533:
6223
 6460 3610 672E      		mov r6,r23
6224
 6461 3612 782E      		mov r7,r24
6225
 6462 3614 892E      		mov r8,r25
6226
 6463 3616 9924      		clr r9
6227
 6464 3618 87FC      		sbrc r8,7
6228
 6465 361a 9A94      		dec r9
6229
 6466 361c 6092 0000 		sts IntegralAccNick,r6
6230
 6467 3620 7092 0000 		sts (IntegralAccNick)+1,r7
6231
 6468 3624 8092 0000 		sts (IntegralAccNick)+2,r8
6232
 6469 3628 9092 0000 		sts (IntegralAccNick)+3,r9
6233
 6470 362c 2091 0000 		lds r18,IntegralAccRoll
6234
 6471 3630 3091 0000 		lds r19,(IntegralAccRoll)+1
6235
 6472 3634 4091 0000 		lds r20,(IntegralAccRoll)+2
6236
 6473 3638 5091 0000 		lds r21,(IntegralAccRoll)+3
6237
 6474 363c C601      		movw r24,r12
6238
 6475 363e B501      		movw r22,r10
6239
 6476 3640 0E94 0000 		call __mulsi3
6240
 6477 3644 97FF      		sbrs r25,7
6241
 6478 3646 00C0      		rjmp .L534
6242
 6479 3648 6150      		subi r22,lo8(-(255))
6243
 6480 364a 7F4F      		sbci r23,hi8(-(255))
6244
 6481 364c 8F4F      		sbci r24,hlo8(-(255))
6245
 6482 364e 9F4F      		sbci r25,hhi8(-(255))
6246
 6483               	.L534:
6247
 6484 3650 272E      		mov r2,r23
6248
 6485 3652 382E      		mov r3,r24
6249
 6486 3654 492E      		mov r4,r25
6250
 6487 3656 5524      		clr r5
6251
 6488 3658 47FC      		sbrc r4,7
6252
 6489 365a 5A94      		dec r5
6253
 6490 365c 2092 0000 		sts IntegralAccRoll,r2
6254
 6491 3660 3092 0000 		sts (IntegralAccRoll)+1,r3
6255
 6492 3664 4092 0000 		sts (IntegralAccRoll)+2,r4
6256
 6493 3668 5092 0000 		sts (IntegralAccRoll)+3,r5
6257
 6494 366c 8091 0000 		lds r24,IntegralAccZ
6258
 6495 3670 9091 0000 		lds r25,(IntegralAccZ)+1
6259
 6496 3674 A091 0000 		lds r26,(IntegralAccZ)+2
6260
 6497 3678 B091 0000 		lds r27,(IntegralAccZ)+3
6261
 6498 367c B7FF      		sbrs r27,7
6262
 6499 367e 00C0      		rjmp .L535
6263
 6500 3680 8150      		subi r24,lo8(-(255))
6264
 6501 3682 9F4F      		sbci r25,hi8(-(255))
6265
 6502 3684 AF4F      		sbci r26,hlo8(-(255))
6266
 6503 3686 BF4F      		sbci r27,hhi8(-(255))
6267
 6504               	.L535:
6268
 6505 3688 892F      		mov r24,r25
6269
 6506 368a 9A2F      		mov r25,r26
6270
 6507 368c AB2F      		mov r26,r27
6271
 6508 368e BB27      		clr r27
6272
 6509 3690 A7FD      		sbrc r26,7
6273
 6510 3692 BA95      		dec r27
6274
 6511 3694 8093 0000 		sts IntegralAccZ,r24
6275
 6512 3698 9093 0000 		sts (IntegralAccZ)+1,r25
6276
 6513 369c A093 0000 		sts (IntegralAccZ)+2,r26
6277
 6514 36a0 B093 0000 		sts (IntegralAccZ)+3,r27
6278
 6515 36a4 D801      		movw r26,r16
6279
 6516 36a6 C701      		movw r24,r14
6280
 6517 36a8 8619      		sub r24,r6
6281
 6518 36aa 9709      		sbc r25,r7
6282
 6519 36ac A809      		sbc r26,r8
6283
 6520 36ae B909      		sbc r27,r9
6284
 6521 36b0 8093 0000 		sts IntegralFehlerNick.3,r24
6285
 6522 36b4 9093 0000 		sts (IntegralFehlerNick.3)+1,r25
6286
 6523 36b8 A093 0000 		sts (IntegralFehlerNick.3)+2,r26
6287
 6524 36bc B093 0000 		sts (IntegralFehlerNick.3)+3,r27
6288
 6525 36c0 2091 0000 		lds r18,EE_Parameter+67
6289
 6526 36c4 E22E      		mov r14,r18
6290
 6527 36c6 FF24      		clr r15
6291
 6528 36c8 0027      		clr r16
6292
 6529 36ca 1127      		clr r17
6293
 6530 36cc BC01      		movw r22,r24
6294
 6531 36ce CD01      		movw r24,r26
6295
 6532 36d0 A801      		movw r20,r16
6296
 6533 36d2 9701      		movw r18,r14
6297
 6534 36d4 0E94 0000 		call __divmodsi4
6298
 6535 36d8 5901      		movw r10,r18
6299
 6536 36da 6A01      		movw r12,r20
6300
 6537 36dc 2093 0000 		sts ausgleichNick.10,r18
6301
 6538 36e0 3093 0000 		sts (ausgleichNick.10)+1,r19
6302
 6539 36e4 4093 0000 		sts (ausgleichNick.10)+2,r20
6303
 6540 36e8 5093 0000 		sts (ausgleichNick.10)+3,r21
6304
 6541 36ec 8989      		ldd r24,Y+17
6305
 6542 36ee 9A89      		ldd r25,Y+18
6306
 6543 36f0 AB89      		ldd r26,Y+19
6307
 6544 36f2 BC89      		ldd r27,Y+20
6308
 6545 36f4 8219      		sub r24,r2
6309
 6546 36f6 9309      		sbc r25,r3
6310
 6547 36f8 A409      		sbc r26,r4
6311
 6548 36fa B509      		sbc r27,r5
6312
 6549 36fc 8093 0000 		sts IntegralFehlerRoll.4,r24
6313
 6550 3700 9093 0000 		sts (IntegralFehlerRoll.4)+1,r25
6314
 6551 3704 A093 0000 		sts (IntegralFehlerRoll.4)+2,r26
6315
 6552 3708 B093 0000 		sts (IntegralFehlerRoll.4)+3,r27
6316
 6553 370c BC01      		movw r22,r24
6317
 6554 370e CD01      		movw r24,r26
6318
 6555 3710 A801      		movw r20,r16
6319
 6556 3712 9701      		movw r18,r14
6320
 6557 3714 0E94 0000 		call __divmodsi4
6321
 6558 3718 2093 0000 		sts ausgleichRoll.11,r18
6322
 6559 371c 3093 0000 		sts (ausgleichRoll.11)+1,r19
6323
 6560 3720 4093 0000 		sts (ausgleichRoll.11)+2,r20
6324
 6561 3724 5093 0000 		sts (ausgleichRoll.11)+3,r21
6325
 6562 3728 D601      		movw r26,r12
6326
 6563 372a C501      		movw r24,r10
6327
 6564 372c D7FE      		sbrs r13,7
6328
 6565 372e 00C0      		rjmp .L536
6329
 6566 3730 8150      		subi r24,lo8(-(255))
6330
 6567 3732 9F4F      		sbci r25,hi8(-(255))
6331
 6568 3734 AF4F      		sbci r26,hlo8(-(255))
6332
 6569 3736 BF4F      		sbci r27,hhi8(-(255))
6333
 6570               	.L536:
6334
 6571 3738 892F      		mov r24,r25
6335
 6572 373a 9A2F      		mov r25,r26
6336
 6573 373c AB2F      		mov r26,r27
6337
 6574 373e BB27      		clr r27
6338
 6575 3740 A7FD      		sbrc r26,7
6339
 6576 3742 BA95      		dec r27
6340
 6577 3744 9093 0000 		sts (LageKorrekturNick)+1,r25
6341
 6578 3748 8093 0000 		sts LageKorrekturNick,r24
6342
 6579 374c 57FF      		sbrs r21,7
6343
 6580 374e 00C0      		rjmp .L537
6344
 6581 3750 2150      		subi r18,lo8(-(255))
6345
 6582 3752 3F4F      		sbci r19,hi8(-(255))
6346
 6583 3754 4F4F      		sbci r20,hlo8(-(255))
6347
 6584 3756 5F4F      		sbci r21,hhi8(-(255))
6348
 6585               	.L537:
6349
 6586 3758 BB27      		clr r27
6350
 6587 375a 57FD      		sbrc r21,7
6351
 6588 375c BA95      		dec r27
6352
 6589 375e A52F      		mov r26,r21
6353
 6590 3760 942F      		mov r25,r20
6354
 6591 3762 832F      		mov r24,r19
6355
 6592 3764 9093 0000 		sts (LageKorrekturRoll)+1,r25
6356
 6593 3768 8093 0000 		sts LageKorrekturRoll,r24
6357
 6594 376c 8091 0000 		lds r24,MaxStickNick
6358
 6595 3770 9091 0000 		lds r25,(MaxStickNick)+1
6359
 6596 3774 8134      		cpi r24,65
6360
 6597 3776 9105      		cpc r25,__zero_reg__
6361
 6598 3778 04F4      		brge .L539
6362
 6599 377a 8091 0000 		lds r24,MaxStickRoll
6363
 6600 377e 9091 0000 		lds r25,(MaxStickRoll)+1
6364
 6601 3782 8134      		cpi r24,65
6365
 6602 3784 9105      		cpc r25,__zero_reg__
6366
 6603 3786 04F4      		brge .L539
6367
 6604 3788 8091 0000 		lds r24,EE_Parameter+4
6368
 6605 378c E82F      		mov r30,r24
6369
 6606 378e FF27      		clr r31
6370
 6607 3790 EE0F      		add r30,r30
6371
 6608 3792 FF1F      		adc r31,r31
6372
 6609 3794 E050      		subi r30,lo8(-(PPM_in))
6373
 6610 3796 F040      		sbci r31,hi8(-(PPM_in))
6374
 6611 3798 8081      		ld r24,Z
6375
 6612 379a 9181      		ldd r25,Z+1
6376
 6613 379c 0190      		ld __tmp_reg__,Z+
6377
 6614 379e F081      		ld r31,Z
6378
 6615 37a0 E02D      		mov r30,__tmp_reg__
6379
 6616 37a2 F7FF      		sbrs r31,7
6380
 6617 37a4 00C0      		rjmp .L540
6381
 6618 37a6 F095      		com r31
6382
 6619 37a8 E195      		neg r30
6383
 6620 37aa FF4F      		sbci r31,lo8(-1)
6384
 6621               	.L540:
6385
 6622 37ac 7A97      		sbiw r30,26
6386
 6623 37ae 04F0      		brlt .L538
6387
 6624               	.L539:
6388
 6625 37b0 8091 0000 		lds r24,FromNaviCtrl_Value
6389
 6626 37b4 8F3F      		cpi r24,lo8(-1)
6390
 6627 37b6 01F4      		brne .L538
6391
 6628 37b8 8091 0000 		lds r24,LageKorrekturNick
6392
 6629 37bc 9091 0000 		lds r25,(LageKorrekturNick)+1
6393
 6630 37c0 97FD      		sbrc r25,7
6394
 6631 37c2 0196      		adiw r24,1
6395
 6632               	.L541:
6396
 6633 37c4 9595      		asr r25
6397
 6634 37c6 8795      		ror r24
6398
 6635 37c8 9093 0000 		sts (LageKorrekturNick)+1,r25
6399
 6636 37cc 8093 0000 		sts LageKorrekturNick,r24
6400
 6637 37d0 8091 0000 		lds r24,LageKorrekturRoll
6401
 6638 37d4 9091 0000 		lds r25,(LageKorrekturRoll)+1
6402
 6639 37d8 97FD      		sbrc r25,7
6403
 6640 37da 0196      		adiw r24,1
6404
 6641               	.L542:
6405
 6642 37dc 9595      		asr r25
6406
 6643 37de 8795      		ror r24
6407
 6644 37e0 9093 0000 		sts (LageKorrekturRoll)+1,r25
6408
 6645 37e4 8093 0000 		sts LageKorrekturRoll,r24
6409
 6646               	.L538:
6410
 6647 37e8 8091 0000 		lds r24,MittelIntegralNick2
6411
 6648 37ec 9091 0000 		lds r25,(MittelIntegralNick2)+1
6412
 6649 37f0 A091 0000 		lds r26,(MittelIntegralNick2)+2
6413
 6650 37f4 B091 0000 		lds r27,(MittelIntegralNick2)+3
6414
 6651 37f8 B7FF      		sbrs r27,7
6415
 6652 37fa 00C0      		rjmp .L543
6416
 6653 37fc 8150      		subi r24,lo8(-(255))
6417
 6654 37fe 9F4F      		sbci r25,hi8(-(255))
6418
 6655 3800 AF4F      		sbci r26,hlo8(-(255))
6419
 6656 3802 BF4F      		sbci r27,hhi8(-(255))
6420
 6657               	.L543:
6421
 6658 3804 892F      		mov r24,r25
6422
 6659 3806 9A2F      		mov r25,r26
6423
 6660 3808 AB2F      		mov r26,r27
6424
 6661 380a BB27      		clr r27
6425
 6662 380c A7FD      		sbrc r26,7
6426
 6663 380e BA95      		dec r27
6427
 6664 3810 8093 0000 		sts MittelIntegralNick2,r24
6428
 6665 3814 9093 0000 		sts (MittelIntegralNick2)+1,r25
6429
 6666 3818 A093 0000 		sts (MittelIntegralNick2)+2,r26
6430
 6667 381c B093 0000 		sts (MittelIntegralNick2)+3,r27
6431
 6668 3820 8091 0000 		lds r24,MittelIntegralRoll2
6432
 6669 3824 9091 0000 		lds r25,(MittelIntegralRoll2)+1
6433
 6670 3828 A091 0000 		lds r26,(MittelIntegralRoll2)+2
6434
 6671 382c B091 0000 		lds r27,(MittelIntegralRoll2)+3
6435
 6672 3830 B7FF      		sbrs r27,7
6436
 6673 3832 00C0      		rjmp .L544
6437
 6674 3834 8150      		subi r24,lo8(-(255))
6438
 6675 3836 9F4F      		sbci r25,hi8(-(255))
6439
 6676 3838 AF4F      		sbci r26,hlo8(-(255))
6440
 6677 383a BF4F      		sbci r27,hhi8(-(255))
6441
 6678               	.L544:
6442
 6679 383c 892F      		mov r24,r25
6443
 6680 383e 9A2F      		mov r25,r26
6444
 6681 3840 AB2F      		mov r26,r27
6445
 6682 3842 BB27      		clr r27
6446
 6683 3844 A7FD      		sbrc r26,7
6447
 6684 3846 BA95      		dec r27
6448
 6685 3848 8093 0000 		sts MittelIntegralRoll2,r24
6449
 6686 384c 9093 0000 		sts (MittelIntegralRoll2)+1,r25
6450
 6687 3850 A093 0000 		sts (MittelIntegralRoll2)+2,r26
6451
 6688 3854 B093 0000 		sts (MittelIntegralRoll2)+3,r27
6452
 6689 3858 8091 0000 		lds r24,IntegralNick
6453
 6690 385c 9091 0000 		lds r25,(IntegralNick)+1
6454
 6691 3860 A091 0000 		lds r26,(IntegralNick)+2
6455
 6692 3864 B091 0000 		lds r27,(IntegralNick)+3
6456
 6693 3868 2F81      		ldd r18,Y+7
6457
 6694 386a 3885      		ldd r19,Y+8
6458
 6695 386c 4985      		ldd r20,Y+9
6459
 6696 386e 5A85      		ldd r21,Y+10
6460
 6697 3870 281B      		sub r18,r24
6461
 6698 3872 390B      		sbc r19,r25
6462
 6699 3874 4A0B      		sbc r20,r26
6463
 6700 3876 5B0B      		sbc r21,r27
6464
 6701 3878 2093 0000 		sts tmp_long.1,r18
6465
 6702 387c 3093 0000 		sts (tmp_long.1)+1,r19
6466
 6703 3880 4093 0000 		sts (tmp_long.1)+2,r20
6467
 6704 3884 5093 0000 		sts (tmp_long.1)+3,r21
6468
 6705 3888 8091 0000 		lds r24,IntegralRoll
6469
 6706 388c 9091 0000 		lds r25,(IntegralRoll)+1
6470
 6707 3890 A091 0000 		lds r26,(IntegralRoll)+2
6471
 6708 3894 B091 0000 		lds r27,(IntegralRoll)+3
6472
 6709 3898 EB84      		ldd r14,Y+11
6473
 6710 389a FC84      		ldd r15,Y+12
6474
 6711 389c 0D85      		ldd r16,Y+13
6475
 6712 389e 1E85      		ldd r17,Y+14
6476
 6713 38a0 E81A      		sub r14,r24
6477
 6714 38a2 F90A      		sbc r15,r25
6478
 6715 38a4 0A0B      		sbc r16,r26
6479
 6716 38a6 1B0B      		sbc r17,r27
6480
 6717 38a8 E092 0000 		sts tmp_long2.2,r14
6481
 6718 38ac F092 0000 		sts (tmp_long2.2)+1,r15
6482
 6719 38b0 0093 0000 		sts (tmp_long2.2)+2,r16
6483
 6720 38b4 1093 0000 		sts (tmp_long2.2)+3,r17
6484
 6721 38b8 2093 0000 		sts IntegralFehlerNick.3,r18
6485
 6722 38bc 3093 0000 		sts (IntegralFehlerNick.3)+1,r19
6486
 6723 38c0 4093 0000 		sts (IntegralFehlerNick.3)+2,r20
6487
 6724 38c4 5093 0000 		sts (IntegralFehlerNick.3)+3,r21
6488
 6725 38c8 E092 0000 		sts IntegralFehlerRoll.4,r14
6489
 6726 38cc F092 0000 		sts (IntegralFehlerRoll.4)+1,r15
6490
 6727 38d0 0093 0000 		sts (IntegralFehlerRoll.4)+2,r16
6491
 6728 38d4 1093 0000 		sts (IntegralFehlerRoll.4)+3,r17
6492
 6729 38d8 8091 0000 		lds r24,Mess_IntegralNick2
6493
 6730 38dc 9091 0000 		lds r25,(Mess_IntegralNick2)+1
6494
 6731 38e0 A091 0000 		lds r26,(Mess_IntegralNick2)+2
6495
 6732 38e4 B091 0000 		lds r27,(Mess_IntegralNick2)+3
6496
 6733 38e8 821B      		sub r24,r18
6497
 6734 38ea 930B      		sbc r25,r19
6498
 6735 38ec A40B      		sbc r26,r20
6499
 6736 38ee B50B      		sbc r27,r21
6500
 6737 38f0 8093 0000 		sts Mess_IntegralNick2,r24
6501
 6738 38f4 9093 0000 		sts (Mess_IntegralNick2)+1,r25
6502
 6739 38f8 A093 0000 		sts (Mess_IntegralNick2)+2,r26
6503
 6740 38fc B093 0000 		sts (Mess_IntegralNick2)+3,r27
6504
 6741 3900 8091 0000 		lds r24,Mess_IntegralRoll2
6505
 6742 3904 9091 0000 		lds r25,(Mess_IntegralRoll2)+1
6506
 6743 3908 A091 0000 		lds r26,(Mess_IntegralRoll2)+2
6507
 6744 390c B091 0000 		lds r27,(Mess_IntegralRoll2)+3
6508
 6745 3910 8E19      		sub r24,r14
6509
 6746 3912 9F09      		sbc r25,r15
6510
 6747 3914 A00B      		sbc r26,r16
6511
 6748 3916 B10B      		sbc r27,r17
6512
 6749 3918 8093 0000 		sts Mess_IntegralRoll2,r24
6513
 6750 391c 9093 0000 		sts (Mess_IntegralRoll2)+1,r25
6514
 6751 3920 A093 0000 		sts (Mess_IntegralRoll2)+2,r26
6515
 6752 3924 B093 0000 		sts (Mess_IntegralRoll2)+3,r27
6516
 6753 3928 8889      		ldd r24,Y+16
6517
 6754 392a 8823      		tst r24
6518
 6755 392c 01F0      		breq .L545
6519
 6756 392e 2091 0000 		lds r18,GierGyroFehler
6520
 6757 3932 3091 0000 		lds r19,(GierGyroFehler)+1
6521
 6758 3936 2138      		cpi r18,129
6522
 6759 3938 3105      		cpc r19,__zero_reg__
6523
 6760 393a 04F0      		brlt .L546
6524
 6761 393c 8091 0000 		lds r24,AdNeutralGier
6525
 6762 3940 9091 0000 		lds r25,(AdNeutralGier)+1
6526
 6763 3944 0196      		adiw r24,1
6527
 6764 3946 9093 0000 		sts (AdNeutralGier)+1,r25
6528
 6765 394a 8093 0000 		sts AdNeutralGier,r24
6529
 6766               	.L546:
6530
 6767 394e 2058      		subi r18,lo8(-128)
6531
 6768 3950 3F4F      		sbci r19,hi8(-128)
6532
 6769 3952 04F4      		brge .L545
6533
 6770 3954 8091 0000 		lds r24,AdNeutralGier
6534
 6771 3958 9091 0000 		lds r25,(AdNeutralGier)+1
6535
 6772 395c 0197      		sbiw r24,1
6536
 6773 395e 9093 0000 		sts (AdNeutralGier)+1,r25
6537
 6774 3962 8093 0000 		sts AdNeutralGier,r24
6538
 6775               	.L545:
6539
 6776 3966 1092 0000 		sts (GierGyroFehler)+1,__zero_reg__
6540
 6777 396a 1092 0000 		sts GierGyroFehler,__zero_reg__
6541
 6778 396e 81E0      		ldi r24,lo8(1)
6542
 6779 3970 90E0      		ldi r25,hi8(1)
6543
 6780 3972 9093 0000 		sts (cnt.14)+1,r25
6544
 6781 3976 8093 0000 		sts cnt.14,r24
6545
 6782 397a E090 0000 		lds r14,IntegralFehlerNick.3
6546
 6783 397e F090 0000 		lds r15,(IntegralFehlerNick.3)+1
6547
 6784 3982 0091 0000 		lds r16,(IntegralFehlerNick.3)+2
6548
 6785 3986 1091 0000 		lds r17,(IntegralFehlerNick.3)+3
6549
 6786 398a D801      		movw r26,r16
6550
 6787 398c C701      		movw r24,r14
6551
 6788 398e 17FF      		sbrs r17,7
6552
 6789 3990 00C0      		rjmp .L549
6553
 6790 3992 8827      		clr r24
6554
 6791 3994 9927      		clr r25
6555
 6792 3996 DC01      		movw r26,r24
6556
 6793 3998 8E19      		sub r24,r14
6557
 6794 399a 9F09      		sbc r25,r15
6558
 6795 399c A00B      		sbc r26,r16
6559
 6796 399e B10B      		sbc r27,r17
6560
 6797               	.L549:
6561
 6798 39a0 8150      		subi r24,lo8(513)
6562
 6799 39a2 9240      		sbci r25,hi8(513)
6563
 6800 39a4 A040      		sbci r26,hlo8(513)
6564
 6801 39a6 B040      		sbci r27,hhi8(513)
6565
 6802 39a8 04F0      		brlt .L548
6566
 6803 39aa 84E0      		ldi r24,lo8(4)
6567
 6804 39ac 90E0      		ldi r25,hi8(4)
6568
 6805 39ae 9093 0000 		sts (cnt.14)+1,r25
6569
 6806 39b2 8093 0000 		sts cnt.14,r24
6570
 6807               	.L548:
6571
 6808 39b6 8091 0000 		lds r24,MittelIntegralNick_Alt.19
6572
 6809 39ba 9091 0000 		lds r25,(MittelIntegralNick_Alt.19)+1
6573
 6810 39be A091 0000 		lds r26,(MittelIntegralNick_Alt.19)+2
6574
 6811 39c2 B091 0000 		lds r27,(MittelIntegralNick_Alt.19)+3
6575
 6812 39c6 2091 0000 		lds r18,MittelIntegralNick
6576
 6813 39ca 3091 0000 		lds r19,(MittelIntegralNick)+1
6577
 6814 39ce 4091 0000 		lds r20,(MittelIntegralNick)+2
6578
 6815 39d2 5091 0000 		lds r21,(MittelIntegralNick)+3
6579
 6816 39d6 821B      		sub r24,r18
6580
 6817 39d8 930B      		sbc r25,r19
6581
 6818 39da A40B      		sbc r26,r20
6582
 6819 39dc B50B      		sbc r27,r21
6583
 6820 39de 815E      		subi r24,lo8(-(19999))
6584
 6821 39e0 914B      		sbci r25,hi8(-(19999))
6585
 6822 39e2 AF4F      		sbci r26,hlo8(-(19999))
6586
 6823 39e4 BF4F      		sbci r27,hhi8(-(19999))
6587
 6824 39e6 8F53      		subi r24,lo8(39999)
6588
 6825 39e8 9C49      		sbci r25,hi8(39999)
6589
 6826 39ea A040      		sbci r26,hlo8(39999)
6590
 6827 39ec B040      		sbci r27,hhi8(39999)
6591
 6828 39ee 00F0      		brlo .L551
6592
 6829 39f0 8091 0000 		lds r24,FromNaviCtrl_Value+1
6593
 6830 39f4 8931      		cpi r24,lo8(25)
6594
 6831 39f6 04F4      		brge .+2
6595
 6832 39f8 00C0      		rjmp .L550
6596
 6833               	.L551:
6597
 6834 39fa 21E0      		ldi r18,lo8(4097)
6598
 6835 39fc E216      		cp r14,r18
6599
 6836 39fe 20E1      		ldi r18,hi8(4097)
6600
 6837 3a00 F206      		cpc r15,r18
6601
 6838 3a02 20E0      		ldi r18,hlo8(4097)
6602
 6839 3a04 0207      		cpc r16,r18
6603
 6840 3a06 20E0      		ldi r18,hhi8(4097)
6604
 6841 3a08 1207      		cpc r17,r18
6605
 6842 3a0a 04F4      		brge .+2
6606
 6843 3a0c 00C0      		rjmp .L552
6607
 6844 3a0e 8091 0000 		lds r24,last_n_p.15
6608
 6845 3a12 8823      		tst r24
6609
 6846 3a14 01F4      		brne .+2
6610
 6847 3a16 00C0      		rjmp .L553
6611
 6848 3a18 D801      		movw r26,r16
6612
 6849 3a1a C701      		movw r24,r14
6613
 6850 3a1c 17FF      		sbrs r17,7
6614
 6851 3a1e 00C0      		rjmp .L554
6615
 6852 3a20 8827      		clr r24
6616
 6853 3a22 9927      		clr r25
6617
 6854 3a24 DC01      		movw r26,r24
6618
 6855 3a26 8E19      		sub r24,r14
6619
 6856 3a28 9F09      		sbc r25,r15
6620
 6857 3a2a A00B      		sbc r26,r16
6621
 6858 3a2c B10B      		sbc r27,r17
6622
 6859               	.L554:
6623
 6860 3a2e 9C01      		movw r18,r24
6624
 6861 3a30 AD01      		movw r20,r26
6625
 6862 3a32 B7FF      		sbrs r27,7
6626
 6863 3a34 00C0      		rjmp .L555
6627
 6864 3a36 2150      		subi r18,lo8(-(511))
6628
 6865 3a38 3E4F      		sbci r19,hi8(-(511))
6629
 6866 3a3a 4F4F      		sbci r20,hlo8(-(511))
6630
 6867 3a3c 5F4F      		sbci r21,hhi8(-(511))
6631
 6868               	.L555:
6632
 6869 3a3e F9E0      		ldi r31,9
6633
 6870 3a40 5595      	1:	asr r21
6634
 6871 3a42 4795      		ror r20
6635
 6872 3a44 3795      		ror r19
6636
 6873 3a46 2795      		ror r18
6637
 6874 3a48 FA95      		dec r31
6638
 6875 3a4a 01F4      		brne 1b
6639
 6876 3a4c 8091 0000 		lds r24,cnt.14
6640
 6877 3a50 9091 0000 		lds r25,(cnt.14)+1
6641
 6878 3a54 820F      		add r24,r18
6642
 6879 3a56 931F      		adc r25,r19
6643
 6880 3a58 9093 0000 		sts (cnt.14)+1,r25
6644
 6881 3a5c 8093 0000 		sts cnt.14,r24
6645
 6882 3a60 D801      		movw r26,r16
6646
 6883 3a62 C701      		movw r24,r14
6647
 6884 3a64 17FF      		sbrs r17,7
6648
 6885 3a66 00C0      		rjmp .L556
6649
 6886 3a68 0796      		adiw r24,7
6650
 6887 3a6a A11D      		adc r26,__zero_reg__
6651
 6888 3a6c B11D      		adc r27,__zero_reg__
6652
 6889               	.L556:
6653
 6890 3a6e E3E0      		ldi r30,3
6654
 6891 3a70 B595      	1:	asr r27
6655
 6892 3a72 A795      		ror r26
6656
 6893 3a74 9795      		ror r25
6657
 6894 3a76 8795      		ror r24
6658
 6895 3a78 EA95      		dec r30
6659
 6896 3a7a 01F4      		brne 1b
6660
 6897 3a7c 8093 0000 		sts ausgleichNick.10,r24
6661
 6898 3a80 9093 0000 		sts (ausgleichNick.10)+1,r25
6662
 6899 3a84 A093 0000 		sts (ausgleichNick.10)+2,r26
6663
 6900 3a88 B093 0000 		sts (ausgleichNick.10)+3,r27
6664
 6901 3a8c 8958      		subi r24,lo8(5001)
6665
 6902 3a8e 9341      		sbci r25,hi8(5001)
6666
 6903 3a90 A040      		sbci r26,hlo8(5001)
6667
 6904 3a92 B040      		sbci r27,hhi8(5001)
6668
 6905 3a94 04F0      		brlt .L557
6669
 6906 3a96 88E8      		ldi r24,lo8(5000)
6670
 6907 3a98 93E1      		ldi r25,hi8(5000)
6671
 6908 3a9a A0E0      		ldi r26,hlo8(5000)
6672
 6909 3a9c B0E0      		ldi r27,hhi8(5000)
6673
 6910 3a9e 8093 0000 		sts ausgleichNick.10,r24
6674
 6911 3aa2 9093 0000 		sts (ausgleichNick.10)+1,r25
6675
 6912 3aa6 A093 0000 		sts (ausgleichNick.10)+2,r26
6676
 6913 3aaa B093 0000 		sts (ausgleichNick.10)+3,r27
6677
 6914               	.L557:
6678
 6915 3aae 2091 0000 		lds r18,ausgleichNick.10
6679
 6916 3ab2 3091 0000 		lds r19,(ausgleichNick.10)+1
6680
 6917 3ab6 4091 0000 		lds r20,(ausgleichNick.10)+2
6681
 6918 3aba 5091 0000 		lds r21,(ausgleichNick.10)+3
6682
 6919 3abe 57FF      		sbrs r21,7
6683
 6920 3ac0 00C0      		rjmp .L558
6684
 6921 3ac2 2150      		subi r18,lo8(-(255))
6685
 6922 3ac4 3F4F      		sbci r19,hi8(-(255))
6686
 6923 3ac6 4F4F      		sbci r20,hlo8(-(255))
6687
 6924 3ac8 5F4F      		sbci r21,hhi8(-(255))
6688
 6925               	.L558:
6689
 6926 3aca 232F      		mov r18,r19
6690
 6927 3acc 342F      		mov r19,r20
6691
 6928 3ace 452F      		mov r20,r21
6692
 6929 3ad0 5527      		clr r21
6693
 6930 3ad2 47FD      		sbrc r20,7
6694
 6931 3ad4 5A95      		dec r21
6695
 6932 3ad6 8091 0000 		lds r24,LageKorrekturNick
6696
 6933 3ada 9091 0000 		lds r25,(LageKorrekturNick)+1
6697
 6934 3ade 820F      		add r24,r18
6698
 6935 3ae0 931F      		adc r25,r19
6699
 6936 3ae2 9093 0000 		sts (LageKorrekturNick)+1,r25
6700
 6937 3ae6 8093 0000 		sts LageKorrekturNick,r24
6701
 6938 3aea 00C0      		rjmp .L560
6702
 6939               	.L553:
6703
 6940 3aec 81E0      		ldi r24,lo8(1)
6704
 6941 3aee 8093 0000 		sts last_n_p.15,r24
6705
 6942 3af2 00C0      		rjmp .L560
6706
 6943               	.L552:
6707
 6944 3af4 1092 0000 		sts last_n_p.15,__zero_reg__
6708
 6945               	.L560:
6709
 6946 3af8 40E0      		ldi r20,lo8(-4096)
6710
 6947 3afa E416      		cp r14,r20
6711
 6948 3afc 40EF      		ldi r20,hi8(-4096)
6712
 6949 3afe F406      		cpc r15,r20
6713
 6950 3b00 4FEF      		ldi r20,hlo8(-4096)
6714
 6951 3b02 0407      		cpc r16,r20
6715
 6952 3b04 4FEF      		ldi r20,hhi8(-4096)
6716
 6953 3b06 1407      		cpc r17,r20
6717
 6954 3b08 04F0      		brlt .+2
6718
 6955 3b0a 00C0      		rjmp .L561
6719
 6956 3b0c 8091 0000 		lds r24,last_n_n.16
6720
 6957 3b10 8823      		tst r24
6721
 6958 3b12 01F4      		brne .+2
6722
 6959 3b14 00C0      		rjmp .L562
6723
 6960 3b16 D801      		movw r26,r16
6724
 6961 3b18 C701      		movw r24,r14
6725
 6962 3b1a 17FF      		sbrs r17,7
6726
 6963 3b1c 00C0      		rjmp .L563
6727
 6964 3b1e 8827      		clr r24
6728
 6965 3b20 9927      		clr r25
6729
 6966 3b22 DC01      		movw r26,r24
6730
 6967 3b24 8E19      		sub r24,r14
6731
 6968 3b26 9F09      		sbc r25,r15
6732
 6969 3b28 A00B      		sbc r26,r16
6733
 6970 3b2a B10B      		sbc r27,r17
6734
 6971               	.L563:
6735
 6972 3b2c 9C01      		movw r18,r24
6736
 6973 3b2e AD01      		movw r20,r26
6737
 6974 3b30 B7FF      		sbrs r27,7
6738
 6975 3b32 00C0      		rjmp .L564
6739
 6976 3b34 2150      		subi r18,lo8(-(511))
6740
 6977 3b36 3E4F      		sbci r19,hi8(-(511))
6741
 6978 3b38 4F4F      		sbci r20,hlo8(-(511))
6742
 6979 3b3a 5F4F      		sbci r21,hhi8(-(511))
6743
 6980               	.L564:
6744
 6981 3b3c 69E0      		ldi r22,9
6745
 6982 3b3e 5595      	1:	asr r21
6746
 6983 3b40 4795      		ror r20
6747
 6984 3b42 3795      		ror r19
6748
 6985 3b44 2795      		ror r18
6749
 6986 3b46 6A95      		dec r22
6750
 6987 3b48 01F4      		brne 1b
6751
 6988 3b4a 8091 0000 		lds r24,cnt.14
6752
 6989 3b4e 9091 0000 		lds r25,(cnt.14)+1
6753
 6990 3b52 820F      		add r24,r18
6754
 6991 3b54 931F      		adc r25,r19
6755
 6992 3b56 9093 0000 		sts (cnt.14)+1,r25
6756
 6993 3b5a 8093 0000 		sts cnt.14,r24
6757
 6994 3b5e D801      		movw r26,r16
6758
 6995 3b60 C701      		movw r24,r14
6759
 6996 3b62 17FF      		sbrs r17,7
6760
 6997 3b64 00C0      		rjmp .L565
6761
 6998 3b66 0796      		adiw r24,7
6762
 6999 3b68 A11D      		adc r26,__zero_reg__
6763
 7000 3b6a B11D      		adc r27,__zero_reg__
6764
 7001               	.L565:
6765
 7002 3b6c 23E0      		ldi r18,3
6766
 7003 3b6e B595      	1:	asr r27
6767
 7004 3b70 A795      		ror r26
6768
 7005 3b72 9795      		ror r25
6769
 7006 3b74 8795      		ror r24
6770
 7007 3b76 2A95      		dec r18
6771
 7008 3b78 01F4      		brne 1b
6772
 7009 3b7a 8093 0000 		sts ausgleichNick.10,r24
6773
 7010 3b7e 9093 0000 		sts (ausgleichNick.10)+1,r25
6774
 7011 3b82 A093 0000 		sts (ausgleichNick.10)+2,r26
6775
 7012 3b86 B093 0000 		sts (ausgleichNick.10)+3,r27
6776
 7013 3b8a 8857      		subi r24,lo8(-5000)
6777
 7014 3b8c 9C4E      		sbci r25,hi8(-5000)
6778
 7015 3b8e AF4F      		sbci r26,hlo8(-5000)
6779
 7016 3b90 BF4F      		sbci r27,hhi8(-5000)
6780
 7017 3b92 04F4      		brge .L566
6781
 7018 3b94 88E7      		ldi r24,lo8(-5000)
6782
 7019 3b96 9CEE      		ldi r25,hi8(-5000)
6783
 7020 3b98 AFEF      		ldi r26,hlo8(-5000)
6784
 7021 3b9a BFEF      		ldi r27,hhi8(-5000)
6785
 7022 3b9c 8093 0000 		sts ausgleichNick.10,r24
6786
 7023 3ba0 9093 0000 		sts (ausgleichNick.10)+1,r25
6787
 7024 3ba4 A093 0000 		sts (ausgleichNick.10)+2,r26
6788
 7025 3ba8 B093 0000 		sts (ausgleichNick.10)+3,r27
6789
 7026               	.L566:
6790
 7027 3bac 2091 0000 		lds r18,ausgleichNick.10
6791
 7028 3bb0 3091 0000 		lds r19,(ausgleichNick.10)+1
6792
 7029 3bb4 4091 0000 		lds r20,(ausgleichNick.10)+2
6793
 7030 3bb8 5091 0000 		lds r21,(ausgleichNick.10)+3
6794
 7031 3bbc 57FF      		sbrs r21,7
6795
 7032 3bbe 00C0      		rjmp .L567
6796
 7033 3bc0 2150      		subi r18,lo8(-(255))
6797
 7034 3bc2 3F4F      		sbci r19,hi8(-(255))
6798
 7035 3bc4 4F4F      		sbci r20,hlo8(-(255))
6799
 7036 3bc6 5F4F      		sbci r21,hhi8(-(255))
6800
 7037               	.L567:
6801
 7038 3bc8 232F      		mov r18,r19
6802
 7039 3bca 342F      		mov r19,r20
6803
 7040 3bcc 452F      		mov r20,r21
6804
 7041 3bce 5527      		clr r21
6805
 7042 3bd0 47FD      		sbrc r20,7
6806
 7043 3bd2 5A95      		dec r21
6807
 7044 3bd4 8091 0000 		lds r24,LageKorrekturNick
6808
 7045 3bd8 9091 0000 		lds r25,(LageKorrekturNick)+1
6809
 7046 3bdc 820F      		add r24,r18
6810
 7047 3bde 931F      		adc r25,r19
6811
 7048 3be0 9093 0000 		sts (LageKorrekturNick)+1,r25
6812
 7049 3be4 8093 0000 		sts LageKorrekturNick,r24
6813
 7050 3be8 00C0      		rjmp .L570
6814
 7051               	.L562:
6815
 7052 3bea 81E0      		ldi r24,lo8(1)
6816
 7053 3bec 8093 0000 		sts last_n_n.16,r24
6817
 7054 3bf0 00C0      		rjmp .L570
6818
 7055               	.L561:
6819
 7056 3bf2 1092 0000 		sts last_n_n.16,__zero_reg__
6820
 7057 3bf6 00C0      		rjmp .L570
6821
 7058               	.L550:
6822
 7059 3bf8 1092 0000 		sts (cnt.14)+1,__zero_reg__
6823
 7060 3bfc 1092 0000 		sts cnt.14,__zero_reg__
6824
 7061 3c00 84E6      		ldi r24,lo8(100)
6825
 7062 3c02 90E0      		ldi r25,hi8(100)
6826
 7063 3c04 9093 0000 		sts (KompassSignalSchlecht)+1,r25
6827
 7064 3c08 8093 0000 		sts KompassSignalSchlecht,r24
6828
 7065               	.L570:
6829
 7066 3c0c 6889      		ldd r22,Y+16
6830
 7067 3c0e 262F      		mov r18,r22
6831
 7068 3c10 3327      		clr r19
6832
 7069 3c12 8091 0000 		lds r24,cnt.14
6833
 7070 3c16 9091 0000 		lds r25,(cnt.14)+1
6834
 7071 3c1a 2817      		cp r18,r24
6835
 7072 3c1c 3907      		cpc r19,r25
6836
 7073 3c1e 04F4      		brge .L571
6837
 7074 3c20 3093 0000 		sts (cnt.14)+1,r19
6838
 7075 3c24 2093 0000 		sts cnt.14,r18
6839
 7076               	.L571:
6840
 7077 3c28 1091 0000 		lds r17,FromNaviCtrl_Value+1
6841
 7078 3c2c 1123      		tst r17
6842
 7079 3c2e 01F0      		breq .L572
6843
 7080 3c30 212F      		mov r18,r17
6844
 7081 3c32 3327      		clr r19
6845
 7082 3c34 27FD      		sbrc r18,7
6846
 7083 3c36 3095      		com r19
6847
 7084 3c38 8091 0000 		lds r24,cnt.14
6848
 7085 3c3c 9091 0000 		lds r25,(cnt.14)+1
6849
 7086 3c40 2817      		cp r18,r24
6850
 7087 3c42 3907      		cpc r19,r25
6851
 7088 3c44 04F4      		brge .L572
6852
 7089 3c46 3093 0000 		sts (cnt.14)+1,r19
6853
 7090 3c4a 2093 0000 		sts cnt.14,r18
6854
 7091               	.L572:
6855
 7092 3c4e 4091 0000 		lds r20,IntegralFehlerNick.3
6856
 7093 3c52 5091 0000 		lds r21,(IntegralFehlerNick.3)+1
6857
 7094 3c56 6091 0000 		lds r22,(IntegralFehlerNick.3)+2
6858
 7095 3c5a 7091 0000 		lds r23,(IntegralFehlerNick.3)+3
6859
 7096 3c5e 4138      		cpi r20,lo8(129)
6860
 7097 3c60 5105      		cpc r21,__zero_reg__
6861
 7098 3c62 6105      		cpc r22,__zero_reg__
6862
 7099 3c64 7105      		cpc r23,__zero_reg__
6863
 7100 3c66 04F0      		brlt .L574
6864
 7101 3c68 8091 0000 		lds r24,AdNeutralNick
6865
 7102 3c6c 9091 0000 		lds r25,(AdNeutralNick)+1
6866
 7103 3c70 2091 0000 		lds r18,cnt.14
6867
 7104 3c74 3091 0000 		lds r19,(cnt.14)+1
6868
 7105 3c78 820F      		add r24,r18
6869
 7106 3c7a 931F      		adc r25,r19
6870
 7107 3c7c 9093 0000 		sts (AdNeutralNick)+1,r25
6871
 7108 3c80 8093 0000 		sts AdNeutralNick,r24
6872
 7109               	.L574:
6873
 7110 3c84 4058      		subi r20,lo8(-128)
6874
 7111 3c86 5F4F      		sbci r21,hi8(-128)
6875
 7112 3c88 6F4F      		sbci r22,hlo8(-128)
6876
 7113 3c8a 7F4F      		sbci r23,hhi8(-128)
6877
 7114 3c8c 04F4      		brge .L575
6878
 7115 3c8e 8091 0000 		lds r24,AdNeutralNick
6879
 7116 3c92 9091 0000 		lds r25,(AdNeutralNick)+1
6880
 7117 3c96 2091 0000 		lds r18,cnt.14
6881
 7118 3c9a 3091 0000 		lds r19,(cnt.14)+1
6882
 7119 3c9e 821B      		sub r24,r18
6883
 7120 3ca0 930B      		sbc r25,r19
6884
 7121 3ca2 9093 0000 		sts (AdNeutralNick)+1,r25
6885
 7122 3ca6 8093 0000 		sts AdNeutralNick,r24
6886
 7123               	.L575:
6887
 7124 3caa 81E0      		ldi r24,lo8(1)
6888
 7125 3cac 90E0      		ldi r25,hi8(1)
6889
 7126 3cae 9093 0000 		sts (cnt.14)+1,r25
6890
 7127 3cb2 8093 0000 		sts cnt.14,r24
6891
 7128 3cb6 C090 0000 		lds r12,IntegralFehlerRoll.4
6892
 7129 3cba D090 0000 		lds r13,(IntegralFehlerRoll.4)+1
6893
 7130 3cbe E090 0000 		lds r14,(IntegralFehlerRoll.4)+2
6894
 7131 3cc2 F090 0000 		lds r15,(IntegralFehlerRoll.4)+3
6895
 7132 3cc6 D701      		movw r26,r14
6896
 7133 3cc8 C601      		movw r24,r12
6897
 7134 3cca F7FE      		sbrs r15,7
6898
 7135 3ccc 00C0      		rjmp .L577
6899
 7136 3cce 8827      		clr r24
6900
 7137 3cd0 9927      		clr r25
6901
 7138 3cd2 DC01      		movw r26,r24
6902
 7139 3cd4 8C19      		sub r24,r12
6903
 7140 3cd6 9D09      		sbc r25,r13
6904
 7141 3cd8 AE09      		sbc r26,r14
6905
 7142 3cda BF09      		sbc r27,r15
6906
 7143               	.L577:
6907
 7144 3cdc 8150      		subi r24,lo8(513)
6908
 7145 3cde 9240      		sbci r25,hi8(513)
6909
 7146 3ce0 A040      		sbci r26,hlo8(513)
6910
 7147 3ce2 B040      		sbci r27,hhi8(513)
6911
 7148 3ce4 04F0      		brlt .L576
6912
 7149 3ce6 84E0      		ldi r24,lo8(4)
6913
 7150 3ce8 90E0      		ldi r25,hi8(4)
6914
 7151 3cea 9093 0000 		sts (cnt.14)+1,r25
6915
 7152 3cee 8093 0000 		sts cnt.14,r24
6916
 7153               	.L576:
6917
 7154 3cf2 8091 0000 		lds r24,MittelIntegralRoll_Alt.20
6918
 7155 3cf6 9091 0000 		lds r25,(MittelIntegralRoll_Alt.20)+1
6919
 7156 3cfa A091 0000 		lds r26,(MittelIntegralRoll_Alt.20)+2
6920
 7157 3cfe B091 0000 		lds r27,(MittelIntegralRoll_Alt.20)+3
6921
 7158 3d02 2091 0000 		lds r18,MittelIntegralRoll
6922
 7159 3d06 3091 0000 		lds r19,(MittelIntegralRoll)+1
6923
 7160 3d0a 4091 0000 		lds r20,(MittelIntegralRoll)+2
6924
 7161 3d0e 5091 0000 		lds r21,(MittelIntegralRoll)+3
6925
 7162 3d12 821B      		sub r24,r18
6926
 7163 3d14 930B      		sbc r25,r19
6927
 7164 3d16 A40B      		sbc r26,r20
6928
 7165 3d18 B50B      		sbc r27,r21
6929
 7166 3d1a 815E      		subi r24,lo8(-(19999))
6930
 7167 3d1c 914B      		sbci r25,hi8(-(19999))
6931
 7168 3d1e AF4F      		sbci r26,hlo8(-(19999))
6932
 7169 3d20 BF4F      		sbci r27,hhi8(-(19999))
6933
 7170 3d22 8F53      		subi r24,lo8(39999)
6934
 7171 3d24 9C49      		sbci r25,hi8(39999)
6935
 7172 3d26 A040      		sbci r26,hlo8(39999)
6936
 7173 3d28 B040      		sbci r27,hhi8(39999)
6937
 7174 3d2a 00F0      		brlo .L579
6938
 7175 3d2c 1931      		cpi r17,lo8(25)
6939
 7176 3d2e 04F4      		brge .+2
6940
 7177 3d30 00C0      		rjmp .L578
6941
 7178               	.L579:
6942
 7179 3d32 01E0      		ldi r16,lo8(4097)
6943
 7180 3d34 C016      		cp r12,r16
6944
 7181 3d36 00E1      		ldi r16,hi8(4097)
6945
 7182 3d38 D006      		cpc r13,r16
6946
 7183 3d3a 00E0      		ldi r16,hlo8(4097)
6947
 7184 3d3c E006      		cpc r14,r16
6948
 7185 3d3e 00E0      		ldi r16,hhi8(4097)
6949
 7186 3d40 F006      		cpc r15,r16
6950
 7187 3d42 04F4      		brge .+2
6951
 7188 3d44 00C0      		rjmp .L580
6952
 7189 3d46 8091 0000 		lds r24,last_r_p.17
6953
 7190 3d4a 8823      		tst r24
6954
 7191 3d4c 01F4      		brne .+2
6955
 7192 3d4e 00C0      		rjmp .L581
6956
 7193 3d50 D701      		movw r26,r14
6957
 7194 3d52 C601      		movw r24,r12
6958
 7195 3d54 F7FE      		sbrs r15,7
6959
 7196 3d56 00C0      		rjmp .L582
6960
 7197 3d58 8827      		clr r24
6961
 7198 3d5a 9927      		clr r25
6962
 7199 3d5c DC01      		movw r26,r24
6963
 7200 3d5e 8C19      		sub r24,r12
6964
 7201 3d60 9D09      		sbc r25,r13
6965
 7202 3d62 AE09      		sbc r26,r14
6966
 7203 3d64 BF09      		sbc r27,r15
6967
 7204               	.L582:
6968
 7205 3d66 9C01      		movw r18,r24
6969
 7206 3d68 AD01      		movw r20,r26
6970
 7207 3d6a B7FF      		sbrs r27,7
6971
 7208 3d6c 00C0      		rjmp .L583
6972
 7209 3d6e 2150      		subi r18,lo8(-(511))
6973
 7210 3d70 3E4F      		sbci r19,hi8(-(511))
6974
 7211 3d72 4F4F      		sbci r20,hlo8(-(511))
6975
 7212 3d74 5F4F      		sbci r21,hhi8(-(511))
6976
 7213               	.L583:
6977
 7214 3d76 09E0      		ldi r16,9
6978
 7215 3d78 5595      	1:	asr r21
6979
 7216 3d7a 4795      		ror r20
6980
 7217 3d7c 3795      		ror r19
6981
 7218 3d7e 2795      		ror r18
6982
 7219 3d80 0A95      		dec r16
6983
 7220 3d82 01F4      		brne 1b
6984
 7221 3d84 8091 0000 		lds r24,cnt.14
6985
 7222 3d88 9091 0000 		lds r25,(cnt.14)+1
6986
 7223 3d8c 820F      		add r24,r18
6987
 7224 3d8e 931F      		adc r25,r19
6988
 7225 3d90 9093 0000 		sts (cnt.14)+1,r25
6989
 7226 3d94 8093 0000 		sts cnt.14,r24
6990
 7227 3d98 D701      		movw r26,r14
6991
 7228 3d9a C601      		movw r24,r12
6992
 7229 3d9c F7FE      		sbrs r15,7
6993
 7230 3d9e 00C0      		rjmp .L584
6994
 7231 3da0 0796      		adiw r24,7
6995
 7232 3da2 A11D      		adc r26,__zero_reg__
6996
 7233 3da4 B11D      		adc r27,__zero_reg__
6997
 7234               	.L584:
6998
 7235 3da6 13E0      		ldi r17,3
6999
 7236 3da8 B595      	1:	asr r27
7000
 7237 3daa A795      		ror r26
7001
 7238 3dac 9795      		ror r25
7002
 7239 3dae 8795      		ror r24
7003
 7240 3db0 1A95      		dec r17
7004
 7241 3db2 01F4      		brne 1b
7005
 7242 3db4 8093 0000 		sts ausgleichRoll.11,r24
7006
 7243 3db8 9093 0000 		sts (ausgleichRoll.11)+1,r25
7007
 7244 3dbc A093 0000 		sts (ausgleichRoll.11)+2,r26
7008
 7245 3dc0 B093 0000 		sts (ausgleichRoll.11)+3,r27
7009
 7246 3dc4 8958      		subi r24,lo8(5001)
7010
 7247 3dc6 9341      		sbci r25,hi8(5001)
7011
 7248 3dc8 A040      		sbci r26,hlo8(5001)
7012
 7249 3dca B040      		sbci r27,hhi8(5001)
7013
 7250 3dcc 04F0      		brlt .L585
7014
 7251 3dce 88E8      		ldi r24,lo8(5000)
7015
 7252 3dd0 93E1      		ldi r25,hi8(5000)
7016
 7253 3dd2 A0E0      		ldi r26,hlo8(5000)
7017
 7254 3dd4 B0E0      		ldi r27,hhi8(5000)
7018
 7255 3dd6 8093 0000 		sts ausgleichRoll.11,r24
7019
 7256 3dda 9093 0000 		sts (ausgleichRoll.11)+1,r25
7020
 7257 3dde A093 0000 		sts (ausgleichRoll.11)+2,r26
7021
 7258 3de2 B093 0000 		sts (ausgleichRoll.11)+3,r27
7022
 7259               	.L585:
7023
 7260 3de6 2091 0000 		lds r18,ausgleichRoll.11
7024
 7261 3dea 3091 0000 		lds r19,(ausgleichRoll.11)+1
7025
 7262 3dee 4091 0000 		lds r20,(ausgleichRoll.11)+2
7026
 7263 3df2 5091 0000 		lds r21,(ausgleichRoll.11)+3
7027
 7264 3df6 57FF      		sbrs r21,7
7028
 7265 3df8 00C0      		rjmp .L586
7029
 7266 3dfa 2150      		subi r18,lo8(-(255))
7030
 7267 3dfc 3F4F      		sbci r19,hi8(-(255))
7031
 7268 3dfe 4F4F      		sbci r20,hlo8(-(255))
7032
 7269 3e00 5F4F      		sbci r21,hhi8(-(255))
7033
 7270               	.L586:
7034
 7271 3e02 232F      		mov r18,r19
7035
 7272 3e04 342F      		mov r19,r20
7036
 7273 3e06 452F      		mov r20,r21
7037
 7274 3e08 5527      		clr r21
7038
 7275 3e0a 47FD      		sbrc r20,7
7039
 7276 3e0c 5A95      		dec r21
7040
 7277 3e0e 8091 0000 		lds r24,LageKorrekturRoll
7041
 7278 3e12 9091 0000 		lds r25,(LageKorrekturRoll)+1
7042
 7279 3e16 820F      		add r24,r18
7043
 7280 3e18 931F      		adc r25,r19
7044
 7281 3e1a 9093 0000 		sts (LageKorrekturRoll)+1,r25
7045
 7282 3e1e 8093 0000 		sts LageKorrekturRoll,r24
7046
 7283 3e22 00C0      		rjmp .L588
7047
 7284               	.L581:
7048
 7285 3e24 81E0      		ldi r24,lo8(1)
7049
 7286 3e26 8093 0000 		sts last_r_p.17,r24
7050
 7287 3e2a 00C0      		rjmp .L588
7051
 7288               	.L580:
7052
 7289 3e2c 1092 0000 		sts last_r_p.17,__zero_reg__
7053
 7290               	.L588:
7054
 7291 3e30 20E0      		ldi r18,lo8(-4096)
7055
 7292 3e32 C216      		cp r12,r18
7056
 7293 3e34 20EF      		ldi r18,hi8(-4096)
7057
 7294 3e36 D206      		cpc r13,r18
7058
 7295 3e38 2FEF      		ldi r18,hlo8(-4096)
7059
 7296 3e3a E206      		cpc r14,r18
7060
 7297 3e3c 2FEF      		ldi r18,hhi8(-4096)
7061
 7298 3e3e F206      		cpc r15,r18
7062
 7299 3e40 04F0      		brlt .+2
7063
 7300 3e42 00C0      		rjmp .L589
7064
 7301 3e44 8091 0000 		lds r24,last_r_n.18
7065
 7302 3e48 8823      		tst r24
7066
 7303 3e4a 01F4      		brne .+2
7067
 7304 3e4c 00C0      		rjmp .L590
7068
 7305 3e4e D701      		movw r26,r14
7069
 7306 3e50 C601      		movw r24,r12
7070
 7307 3e52 F7FE      		sbrs r15,7
7071
 7308 3e54 00C0      		rjmp .L591
7072
 7309 3e56 8827      		clr r24
7073
 7310 3e58 9927      		clr r25
7074
 7311 3e5a DC01      		movw r26,r24
7075
 7312 3e5c 8C19      		sub r24,r12
7076
 7313 3e5e 9D09      		sbc r25,r13
7077
 7314 3e60 AE09      		sbc r26,r14
7078
 7315 3e62 BF09      		sbc r27,r15
7079
 7316               	.L591:
7080
 7317 3e64 9C01      		movw r18,r24
7081
 7318 3e66 AD01      		movw r20,r26
7082
 7319 3e68 B7FF      		sbrs r27,7
7083
 7320 3e6a 00C0      		rjmp .L592
7084
 7321 3e6c 2150      		subi r18,lo8(-(511))
7085
 7322 3e6e 3E4F      		sbci r19,hi8(-(511))
7086
 7323 3e70 4F4F      		sbci r20,hlo8(-(511))
7087
 7324 3e72 5F4F      		sbci r21,hhi8(-(511))
7088
 7325               	.L592:
7089
 7326 3e74 E9E0      		ldi r30,9
7090
 7327 3e76 5595      	1:	asr r21
7091
 7328 3e78 4795      		ror r20
7092
 7329 3e7a 3795      		ror r19
7093
 7330 3e7c 2795      		ror r18
7094
 7331 3e7e EA95      		dec r30
7095
 7332 3e80 01F4      		brne 1b
7096
 7333 3e82 8091 0000 		lds r24,cnt.14
7097
 7334 3e86 9091 0000 		lds r25,(cnt.14)+1
7098
 7335 3e8a 820F      		add r24,r18
7099
 7336 3e8c 931F      		adc r25,r19
7100
 7337 3e8e 9093 0000 		sts (cnt.14)+1,r25
7101
 7338 3e92 8093 0000 		sts cnt.14,r24
7102
 7339 3e96 D701      		movw r26,r14
7103
 7340 3e98 C601      		movw r24,r12
7104
 7341 3e9a F7FE      		sbrs r15,7
7105
 7342 3e9c 00C0      		rjmp .L593
7106
 7343 3e9e 0796      		adiw r24,7
7107
 7344 3ea0 A11D      		adc r26,__zero_reg__
7108
 7345 3ea2 B11D      		adc r27,__zero_reg__
7109
 7346               	.L593:
7110
 7347 3ea4 73E0      		ldi r23,3
7111
 7348 3ea6 B595      	1:	asr r27
7112
 7349 3ea8 A795      		ror r26
7113
 7350 3eaa 9795      		ror r25
7114
 7351 3eac 8795      		ror r24
7115
 7352 3eae 7A95      		dec r23
7116
 7353 3eb0 01F4      		brne 1b
7117
 7354 3eb2 8093 0000 		sts ausgleichRoll.11,r24
7118
 7355 3eb6 9093 0000 		sts (ausgleichRoll.11)+1,r25
7119
 7356 3eba A093 0000 		sts (ausgleichRoll.11)+2,r26
7120
 7357 3ebe B093 0000 		sts (ausgleichRoll.11)+3,r27
7121
 7358 3ec2 8857      		subi r24,lo8(-5000)
7122
 7359 3ec4 9C4E      		sbci r25,hi8(-5000)
7123
 7360 3ec6 AF4F      		sbci r26,hlo8(-5000)
7124
 7361 3ec8 BF4F      		sbci r27,hhi8(-5000)
7125
 7362 3eca 04F4      		brge .L594
7126
 7363 3ecc 88E7      		ldi r24,lo8(-5000)
7127
 7364 3ece 9CEE      		ldi r25,hi8(-5000)
7128
 7365 3ed0 AFEF      		ldi r26,hlo8(-5000)
7129
 7366 3ed2 BFEF      		ldi r27,hhi8(-5000)
7130
 7367 3ed4 8093 0000 		sts ausgleichRoll.11,r24
7131
 7368 3ed8 9093 0000 		sts (ausgleichRoll.11)+1,r25
7132
 7369 3edc A093 0000 		sts (ausgleichRoll.11)+2,r26
7133
 7370 3ee0 B093 0000 		sts (ausgleichRoll.11)+3,r27
7134
 7371               	.L594:
7135
 7372 3ee4 2091 0000 		lds r18,ausgleichRoll.11
7136
 7373 3ee8 3091 0000 		lds r19,(ausgleichRoll.11)+1
7137
 7374 3eec 4091 0000 		lds r20,(ausgleichRoll.11)+2
7138
 7375 3ef0 5091 0000 		lds r21,(ausgleichRoll.11)+3
7139
 7376 3ef4 57FF      		sbrs r21,7
7140
 7377 3ef6 00C0      		rjmp .L595
7141
 7378 3ef8 2150      		subi r18,lo8(-(255))
7142
 7379 3efa 3F4F      		sbci r19,hi8(-(255))
7143
 7380 3efc 4F4F      		sbci r20,hlo8(-(255))
7144
 7381 3efe 5F4F      		sbci r21,hhi8(-(255))
7145
 7382               	.L595:
7146
 7383 3f00 232F      		mov r18,r19
7147
 7384 3f02 342F      		mov r19,r20
7148
 7385 3f04 452F      		mov r20,r21
7149
 7386 3f06 5527      		clr r21
7150
 7387 3f08 47FD      		sbrc r20,7
7151
 7388 3f0a 5A95      		dec r21
7152
 7389 3f0c 8091 0000 		lds r24,LageKorrekturRoll
7153
 7390 3f10 9091 0000 		lds r25,(LageKorrekturRoll)+1
7154
 7391 3f14 820F      		add r24,r18
7155
 7392 3f16 931F      		adc r25,r19
7156
 7393 3f18 9093 0000 		sts (LageKorrekturRoll)+1,r25
7157
 7394 3f1c 8093 0000 		sts LageKorrekturRoll,r24
7158
 7395 3f20 00C0      		rjmp .L598
7159
 7396               	.L590:
7160
 7397 3f22 81E0      		ldi r24,lo8(1)
7161
 7398 3f24 8093 0000 		sts last_r_n.18,r24
7162
 7399 3f28 00C0      		rjmp .L598
7163
 7400               	.L589:
7164
 7401 3f2a 1092 0000 		sts last_r_n.18,__zero_reg__
7165
 7402 3f2e 00C0      		rjmp .L598
7166
 7403               	.L578:
7167
 7404 3f30 1092 0000 		sts (cnt.14)+1,__zero_reg__
7168
 7405 3f34 1092 0000 		sts cnt.14,__zero_reg__
7169
 7406 3f38 84E6      		ldi r24,lo8(100)
7170
 7407 3f3a 90E0      		ldi r25,hi8(100)
7171
 7408 3f3c 9093 0000 		sts (KompassSignalSchlecht)+1,r25
7172
 7409 3f40 8093 0000 		sts KompassSignalSchlecht,r24
7173
 7410               	.L598:
7174
 7411 3f44 4889      		ldd r20,Y+16
7175
 7412 3f46 242F      		mov r18,r20
7176
 7413 3f48 3327      		clr r19
7177
 7414 3f4a 8091 0000 		lds r24,cnt.14
7178
 7415 3f4e 9091 0000 		lds r25,(cnt.14)+1
7179
 7416 3f52 2817      		cp r18,r24
7180
 7417 3f54 3907      		cpc r19,r25
7181
 7418 3f56 04F4      		brge .L599
7182
 7419 3f58 3093 0000 		sts (cnt.14)+1,r19
7183
 7420 3f5c 2093 0000 		sts cnt.14,r18
7184
 7421               	.L599:
7185
 7422 3f60 8091 0000 		lds r24,FromNaviCtrl_Value+1
7186
 7423 3f64 8823      		tst r24
7187
 7424 3f66 01F0      		breq .L600
7188
 7425 3f68 282F      		mov r18,r24
7189
 7426 3f6a 3327      		clr r19
7190
 7427 3f6c 27FD      		sbrc r18,7
7191
 7428 3f6e 3095      		com r19
7192
 7429 3f70 8091 0000 		lds r24,cnt.14
7193
 7430 3f74 9091 0000 		lds r25,(cnt.14)+1
7194
 7431 3f78 2817      		cp r18,r24
7195
 7432 3f7a 3907      		cpc r19,r25
7196
 7433 3f7c 04F4      		brge .L600
7197
 7434 3f7e 3093 0000 		sts (cnt.14)+1,r19
7198
 7435 3f82 2093 0000 		sts cnt.14,r18
7199
 7436               	.L600:
7200
 7437 3f86 4091 0000 		lds r20,IntegralFehlerRoll.4
7201
 7438 3f8a 5091 0000 		lds r21,(IntegralFehlerRoll.4)+1
7202
 7439 3f8e 6091 0000 		lds r22,(IntegralFehlerRoll.4)+2
7203
 7440 3f92 7091 0000 		lds r23,(IntegralFehlerRoll.4)+3
7204
 7441 3f96 4138      		cpi r20,lo8(129)
7205
 7442 3f98 5105      		cpc r21,__zero_reg__
7206
 7443 3f9a 6105      		cpc r22,__zero_reg__
7207
 7444 3f9c 7105      		cpc r23,__zero_reg__
7208
 7445 3f9e 04F0      		brlt .L602
7209
 7446 3fa0 8091 0000 		lds r24,AdNeutralRoll
7210
 7447 3fa4 9091 0000 		lds r25,(AdNeutralRoll)+1
7211
 7448 3fa8 2091 0000 		lds r18,cnt.14
7212
 7449 3fac 3091 0000 		lds r19,(cnt.14)+1
7213
 7450 3fb0 820F      		add r24,r18
7214
 7451 3fb2 931F      		adc r25,r19
7215
 7452 3fb4 9093 0000 		sts (AdNeutralRoll)+1,r25
7216
 7453 3fb8 8093 0000 		sts AdNeutralRoll,r24
7217
 7454               	.L602:
7218
 7455 3fbc 4058      		subi r20,lo8(-128)
7219
 7456 3fbe 5F4F      		sbci r21,hi8(-128)
7220
 7457 3fc0 6F4F      		sbci r22,hlo8(-128)
7221
 7458 3fc2 7F4F      		sbci r23,hhi8(-128)
7222
 7459 3fc4 04F4      		brge .L604
7223
 7460 3fc6 8091 0000 		lds r24,AdNeutralRoll
7224
 7461 3fca 9091 0000 		lds r25,(AdNeutralRoll)+1
7225
 7462 3fce 2091 0000 		lds r18,cnt.14
7226
 7463 3fd2 3091 0000 		lds r19,(cnt.14)+1
7227
 7464 3fd6 821B      		sub r24,r18
7228
 7465 3fd8 930B      		sbc r25,r19
7229
 7466 3fda 9093 0000 		sts (AdNeutralRoll)+1,r25
7230
 7467 3fde 8093 0000 		sts AdNeutralRoll,r24
7231
 7468 3fe2 00C0      		rjmp .L604
7232
 7469               	.L530:
7233
 7470 3fe4 1092 0000 		sts (LageKorrekturRoll)+1,__zero_reg__
7234
 7471 3fe8 1092 0000 		sts LageKorrekturRoll,__zero_reg__
7235
 7472 3fec 1092 0000 		sts (LageKorrekturNick)+1,__zero_reg__
7236
 7473 3ff0 1092 0000 		sts LageKorrekturNick,__zero_reg__
7237
 7474 3ff4 1092 0000 		sts TrichterFlug,__zero_reg__
7238
 7475               	.L604:
7239
 7476 3ff8 8091 0000 		lds r24,IntegralFaktor
7240
 7477 3ffc 8823      		tst r24
7241
 7478 3ffe 01F4      		brne .L605
7242
 7479 4000 1092 0000 		sts (LageKorrekturRoll)+1,__zero_reg__
7243
 7480 4004 1092 0000 		sts LageKorrekturRoll,__zero_reg__
7244
 7481 4008 1092 0000 		sts (LageKorrekturNick)+1,__zero_reg__
7245
 7482 400c 1092 0000 		sts LageKorrekturNick,__zero_reg__
7246
 7483               	.L605:
7247
 7484 4010 8091 0000 		lds r24,MittelIntegralNick
7248
 7485 4014 9091 0000 		lds r25,(MittelIntegralNick)+1
7249
 7486 4018 A091 0000 		lds r26,(MittelIntegralNick)+2
7250
 7487 401c B091 0000 		lds r27,(MittelIntegralNick)+3
7251
 7488 4020 8093 0000 		sts MittelIntegralNick_Alt.19,r24
7252
 7489 4024 9093 0000 		sts (MittelIntegralNick_Alt.19)+1,r25
7253
 7490 4028 A093 0000 		sts (MittelIntegralNick_Alt.19)+2,r26
7254
 7491 402c B093 0000 		sts (MittelIntegralNick_Alt.19)+3,r27
7255
 7492 4030 8091 0000 		lds r24,MittelIntegralRoll
7256
 7493 4034 9091 0000 		lds r25,(MittelIntegralRoll)+1
7257
 7494 4038 A091 0000 		lds r26,(MittelIntegralRoll)+2
7258
 7495 403c B091 0000 		lds r27,(MittelIntegralRoll)+3
7259
 7496 4040 8093 0000 		sts MittelIntegralRoll_Alt.20,r24
7260
 7497 4044 9093 0000 		sts (MittelIntegralRoll_Alt.20)+1,r25
7261
 7498 4048 A093 0000 		sts (MittelIntegralRoll_Alt.20)+2,r26
7262
 7499 404c B093 0000 		sts (MittelIntegralRoll_Alt.20)+3,r27
7263
 7500 4050 1092 0000 		sts IntegralAccNick,__zero_reg__
7264
 7501 4054 1092 0000 		sts (IntegralAccNick)+1,__zero_reg__
7265
 7502 4058 1092 0000 		sts (IntegralAccNick)+2,__zero_reg__
7266
 7503 405c 1092 0000 		sts (IntegralAccNick)+3,__zero_reg__
7267
 7504 4060 1092 0000 		sts IntegralAccRoll,__zero_reg__
7268
 7505 4064 1092 0000 		sts (IntegralAccRoll)+1,__zero_reg__
7269
 7506 4068 1092 0000 		sts (IntegralAccRoll)+2,__zero_reg__
7270
 7507 406c 1092 0000 		sts (IntegralAccRoll)+3,__zero_reg__
7271
 7508 4070 1092 0000 		sts IntegralAccZ,__zero_reg__
7272
 7509 4074 1092 0000 		sts (IntegralAccZ)+1,__zero_reg__
7273
 7510 4078 1092 0000 		sts (IntegralAccZ)+2,__zero_reg__
7274
 7511 407c 1092 0000 		sts (IntegralAccZ)+3,__zero_reg__
7275
 7512 4080 1092 0000 		sts MittelIntegralNick,__zero_reg__
7276
 7513 4084 1092 0000 		sts (MittelIntegralNick)+1,__zero_reg__
7277
 7514 4088 1092 0000 		sts (MittelIntegralNick)+2,__zero_reg__
7278
 7515 408c 1092 0000 		sts (MittelIntegralNick)+3,__zero_reg__
7279
 7516 4090 1092 0000 		sts MittelIntegralRoll,__zero_reg__
7280
 7517 4094 1092 0000 		sts (MittelIntegralRoll)+1,__zero_reg__
7281
 7518 4098 1092 0000 		sts (MittelIntegralRoll)+2,__zero_reg__
7282
 7519 409c 1092 0000 		sts (MittelIntegralRoll)+3,__zero_reg__
7283
 7520 40a0 1092 0000 		sts MittelIntegralNick2,__zero_reg__
7284
 7521 40a4 1092 0000 		sts (MittelIntegralNick2)+1,__zero_reg__
7285
 7522 40a8 1092 0000 		sts (MittelIntegralNick2)+2,__zero_reg__
7286
 7523 40ac 1092 0000 		sts (MittelIntegralNick2)+3,__zero_reg__
7287
 7524 40b0 1092 0000 		sts MittelIntegralRoll2,__zero_reg__
7288
 7525 40b4 1092 0000 		sts (MittelIntegralRoll2)+1,__zero_reg__
7289
 7526 40b8 1092 0000 		sts (MittelIntegralRoll2)+2,__zero_reg__
7290
 7527 40bc 1092 0000 		sts (MittelIntegralRoll2)+3,__zero_reg__
7291
 7528 40c0 1092 0000 		sts (ZaehlMessungen)+1,__zero_reg__
7292
 7529 40c4 1092 0000 		sts ZaehlMessungen,__zero_reg__
7293
 7530               	.L529:
7294
 7531 40c8 E090 0000 		lds r14,StickGier
7295
 7532 40cc F090 0000 		lds r15,(StickGier)+1
7296
 7533 40d0 C701      		movw r24,r14
7297
 7534 40d2 F7FE      		sbrs r15,7
7298
 7535 40d4 00C0      		rjmp .L607
7299
 7536 40d6 8827      		clr r24
7300
 7537 40d8 9927      		clr r25
7301
 7538 40da 8E19      		sub r24,r14
7302
 7539 40dc 9F09      		sbc r25,r15
7303
 7540               	.L607:
7304
 7541 40de 0497      		sbiw r24,4
7305
 7542 40e0 04F0      		brlt .L606
7306
 7543 40e2 8091 0000 		lds r24,Parameter_GlobalConfig
7307
 7544 40e6 84FD      		sbrc r24,4
7308
 7545 40e8 00C0      		rjmp .L606
7309
 7546 40ea 82E3      		ldi r24,lo8(50)
7310
 7547 40ec 8093 0000 		sts NeueKompassRichtungMerken,r24
7311
 7548               	.L606:
7312
 7549 40f0 1091 0000 		lds r17,EE_Parameter+25
7313
 7550 40f4 A12E      		mov r10,r17
7314
 7551 40f6 BB24      		clr r11
7315
 7552 40f8 CC24      		clr r12
7316
 7553 40fa DD24      		clr r13
7317
 7554 40fc B701      		movw r22,r14
7318
 7555 40fe 8827      		clr r24
7319
 7556 4100 77FD      		sbrc r23,7
7320
 7557 4102 8095      		com r24
7321
 7558 4104 982F      		mov r25,r24
7322
 7559 4106 9701      		movw r18,r14
7323
 7560 4108 F7FE      		sbrs r15,7
7324
 7561 410a 00C0      		rjmp .L609
7325
 7562 410c 2227      		clr r18
7326
 7563 410e 3327      		clr r19
7327
 7564 4110 2E19      		sub r18,r14
7328
 7565 4112 3F09      		sbc r19,r15
7329
 7566               	.L609:
7330
 7567 4114 4427      		clr r20
7331
 7568 4116 37FD      		sbrc r19,7
7332
 7569 4118 4095      		com r20
7333
 7570 411a 542F      		mov r21,r20
7334
 7571 411c 0E94 0000 		call __mulsi3
7335
 7572 4120 9B01      		movw r18,r22
7336
 7573 4122 AC01      		movw r20,r24
7337
 7574 4124 C601      		movw r24,r12
7338
 7575 4126 B501      		movw r22,r10
7339
 7576 4128 0E94 0000 		call __mulsi3
7340
 7577 412c 97FF      		sbrs r25,7
7341
 7578 412e 00C0      		rjmp .L610
7342
 7579 4130 6150      		subi r22,lo8(-(511))
7343
 7580 4132 7E4F      		sbci r23,hi8(-(511))
7344
 7581 4134 8F4F      		sbci r24,hlo8(-(511))
7345
 7582 4136 9F4F      		sbci r25,hhi8(-(511))
7346
 7583               	.L610:
7347
 7584 4138 59E0      		ldi r21,9
7348
 7585 413a 9595      	1:	asr r25
7349
 7586 413c 8795      		ror r24
7350
 7587 413e 7795      		ror r23
7351
 7588 4140 6795      		ror r22
7352
 7589 4142 5A95      		dec r21
7353
 7590 4144 01F4      		brne 1b
7354
 7591 4146 9B01      		movw r18,r22
7355
 7592 4148 812F      		mov r24,r17
7356
 7593 414a 9927      		clr r25
7357
 7594 414c 8E9D      		mul r24,r14
7358
 7595 414e D001      		movw r26,r0
7359
 7596 4150 8F9D      		mul r24,r15
7360
 7597 4152 B00D      		add r27,r0
7361
 7598 4154 9E9D      		mul r25,r14
7362
 7599 4156 B00D      		add r27,r0
7363
 7600 4158 1124      		clr r1
7364
 7601 415a CD01      		movw r24,r26
7365
 7602 415c B7FD      		sbrc r27,7
7366
 7603 415e 0396      		adiw r24,3
7367
 7604               	.L611:
7368
 7605 4160 9595      		asr r25
7369
 7606 4162 8795      		ror r24
7370
 7607 4164 9595      		asr r25
7371
 7608 4166 8795      		ror r24
7372
 7609 4168 280F      		add r18,r24
7373
 7610 416a 391F      		adc r19,r25
7374
 7611 416c 8091 0000 		lds r24,CompassGierSetpoint
7375
 7612 4170 9091 0000 		lds r25,(CompassGierSetpoint)+1
7376
 7613 4174 280F      		add r18,r24
7377
 7614 4176 391F      		adc r19,r25
7378
 7615 4178 4427      		clr r20
7379
 7616 417a 37FD      		sbrc r19,7
7380
 7617 417c 4095      		com r20
7381
 7618 417e 542F      		mov r21,r20
7382
 7619 4180 2093 0000 		sts sollGier.0,r18
7383
 7620 4184 3093 0000 		sts (sollGier.0)+1,r19
7384
 7621 4188 4093 0000 		sts (sollGier.0)+2,r20
7385
 7622 418c 5093 0000 		sts (sollGier.0)+3,r21
7386
 7623 4190 8091 0000 		lds r24,Mess_Integral_Gier
7387
 7624 4194 9091 0000 		lds r25,(Mess_Integral_Gier)+1
7388
 7625 4198 A091 0000 		lds r26,(Mess_Integral_Gier)+2
7389
 7626 419c B091 0000 		lds r27,(Mess_Integral_Gier)+3
7390
 7627 41a0 821B      		sub r24,r18
7391
 7628 41a2 930B      		sbc r25,r19
7392
 7629 41a4 A40B      		sbc r26,r20
7393
 7630 41a6 B50B      		sbc r27,r21
7394
 7631 41a8 8093 0000 		sts Mess_Integral_Gier,r24
7395
 7632 41ac 9093 0000 		sts (Mess_Integral_Gier)+1,r25
7396
 7633 41b0 A093 0000 		sts (Mess_Integral_Gier)+2,r26
7397
 7634 41b4 B093 0000 		sts (Mess_Integral_Gier)+3,r27
7398
 7635 41b8 8155      		subi r24,lo8(50001)
7399
 7636 41ba 934C      		sbci r25,hi8(50001)
7400
 7637 41bc A040      		sbci r26,hlo8(50001)
7401
 7638 41be B040      		sbci r27,hhi8(50001)
7402
 7639 41c0 04F0      		brlt .L612
7403
 7640 41c2 80E5      		ldi r24,lo8(50000)
7404
 7641 41c4 93EC      		ldi r25,hi8(50000)
7405
 7642 41c6 A0E0      		ldi r26,hlo8(50000)
7406
 7643 41c8 B0E0      		ldi r27,hhi8(50000)
7407
 7644 41ca 8093 0000 		sts Mess_Integral_Gier,r24
7408
 7645 41ce 9093 0000 		sts (Mess_Integral_Gier)+1,r25
7409
 7646 41d2 A093 0000 		sts (Mess_Integral_Gier)+2,r26
7410
 7647 41d6 B093 0000 		sts (Mess_Integral_Gier)+3,r27
7411
 7648               	.L612:
7412
 7649 41da 8091 0000 		lds r24,Mess_Integral_Gier
7413
 7650 41de 9091 0000 		lds r25,(Mess_Integral_Gier)+1
7414
 7651 41e2 A091 0000 		lds r26,(Mess_Integral_Gier)+2
7415
 7652 41e6 B091 0000 		lds r27,(Mess_Integral_Gier)+3
7416
 7653 41ea 805B      		subi r24,lo8(-50000)
7417
 7654 41ec 9C43      		sbci r25,hi8(-50000)
7418
 7655 41ee AF4F      		sbci r26,hlo8(-50000)
7419
 7656 41f0 BF4F      		sbci r27,hhi8(-50000)
7420
 7657 41f2 04F4      		brge .L613
7421
 7658 41f4 80EB      		ldi r24,lo8(-50000)
7422
 7659 41f6 9CE3      		ldi r25,hi8(-50000)
7423
 7660 41f8 AFEF      		ldi r26,hlo8(-50000)
7424
 7661 41fa BFEF      		ldi r27,hhi8(-50000)
7425
 7662 41fc 8093 0000 		sts Mess_Integral_Gier,r24
7426
 7663 4200 9093 0000 		sts (Mess_Integral_Gier)+1,r25
7427
 7664 4204 A093 0000 		sts (Mess_Integral_Gier)+2,r26
7428
 7665 4208 B093 0000 		sts (Mess_Integral_Gier)+3,r27
7429
 7666               	.L613:
7430
 7667 420c 0091 0000 		lds r16,KompassValue
7431
 7668 4210 1091 0000 		lds r17,(KompassValue)+1
7432
 7669 4214 17FD      		sbrc r17,7
7433
 7670 4216 00C0      		rjmp .L614
7434
 7671 4218 8091 0000 		lds r24,Parameter_GlobalConfig
7435
 7672 421c 83FF      		sbrs r24,3
7436
 7673 421e 00C0      		rjmp .L614
7437
 7674 4220 8091 0000 		lds r24,CalculateCompassTimer
7438
 7675 4224 8150      		subi r24,lo8(-(-1))
7439
 7676 4226 8093 0000 		sts CalculateCompassTimer,r24
7440
 7677 422a 8823      		tst r24
7441
 7678 422c 01F0      		breq .+2
7442
 7679 422e 00C0      		rjmp .L631
7443
 7680 4230 8DE0      		ldi r24,lo8(13)
7444
 7681 4232 8093 0000 		sts CalculateCompassTimer,r24
7445
 7682 4236 8091 0000 		lds r24,IntegralNick
7446
 7683 423a 9091 0000 		lds r25,(IntegralNick)+1
7447
 7684 423e A091 0000 		lds r26,(IntegralNick)+2
7448
 7685 4242 B091 0000 		lds r27,(IntegralNick)+3
7449
 7686 4246 B7FF      		sbrs r27,7
7450
 7687 4248 00C0      		rjmp .L616
7451
 7688 424a 8150      		subi r24,lo8(-(511))
7452
 7689 424c 9E4F      		sbci r25,hi8(-(511))
7453
 7690 424e AF4F      		sbci r26,hlo8(-(511))
7454
 7691 4250 BF4F      		sbci r27,hhi8(-(511))
7455
 7692               	.L616:
7456
 7693 4252 39E0      		ldi r19,9
7457
 7694 4254 B595      	1:	asr r27
7458
 7695 4256 A795      		ror r26
7459
 7696 4258 9795      		ror r25
7460
 7697 425a 8795      		ror r24
7461
 7698 425c 3A95      		dec r19
7462
 7699 425e 01F4      		brne 1b
7463
 7700 4260 7C01      		movw r14,r24
7464
 7701 4262 97FF      		sbrs r25,7
7465
 7702 4264 00C0      		rjmp .L617
7466
 7703 4266 F094      		com r15
7467
 7704 4268 E194      		neg r14
7468
 7705 426a F108      		sbc r15,__zero_reg__
7469
 7706 426c F394      		inc r15
7470
 7707               	.L617:
7471
 7708 426e 8091 0000 		lds r24,IntegralRoll
7472
 7709 4272 9091 0000 		lds r25,(IntegralRoll)+1
7473
 7710 4276 A091 0000 		lds r26,(IntegralRoll)+2
7474
 7711 427a B091 0000 		lds r27,(IntegralRoll)+3
7475
 7712 427e B7FF      		sbrs r27,7
7476
 7713 4280 00C0      		rjmp .L618
7477
 7714 4282 8150      		subi r24,lo8(-(511))
7478
 7715 4284 9E4F      		sbci r25,hi8(-(511))
7479
 7716 4286 AF4F      		sbci r26,hlo8(-(511))
7480
 7717 4288 BF4F      		sbci r27,hhi8(-(511))
7481
 7718               	.L618:
7482
 7719 428a 29E0      		ldi r18,9
7483
 7720 428c B595      	1:	asr r27
7484
 7721 428e A795      		ror r26
7485
 7722 4290 9795      		ror r25
7486
 7723 4292 8795      		ror r24
7487
 7724 4294 2A95      		dec r18
7488
 7725 4296 01F4      		brne 1b
7489
 7726 4298 9C01      		movw r18,r24
7490
 7727 429a 97FF      		sbrs r25,7
7491
 7728 429c 00C0      		rjmp .L619
7492
 7729 429e 3095      		com r19
7493
 7730 42a0 2195      		neg r18
7494
 7731 42a2 3F4F      		sbci r19,lo8(-1)
7495
 7732               	.L619:
7496
 7733 42a4 E216      		cp r14,r18
7497
 7734 42a6 F306      		cpc r15,r19
7498
 7735 42a8 04F4      		brge .L620
7499
 7736 42aa 7901      		movw r14,r18
7500
 7737               	.L620:
7501
 7738 42ac B701      		movw r22,r14
7502
 7739 42ae F7FE      		sbrs r15,7
7503
 7740 42b0 00C0      		rjmp .L621
7504
 7741 42b2 695F      		subi r22,lo8(-(7))
7505
 7742 42b4 7F4F      		sbci r23,hi8(-(7))
7506
 7743               	.L621:
7507
 7744 42b6 2B01      		movw r4,r22
7508
 7745 42b8 A3E0      		ldi r26,3
7509
 7746 42ba 5594      	1:	asr r5
7510
 7747 42bc 4794      		ror r4
7511
 7748 42be AA95      		dec r26
7512
 7749 42c0 01F4      		brne 1b
7513
 7750 42c2 22E0      		ldi r18,lo8(2)
7514
 7751 42c4 30E0      		ldi r19,hi8(2)
7515
 7752 42c6 420E      		add r4,r18
7516
 7753 42c8 531E      		adc r5,r19
7517
 7754 42ca 6090 0000 		lds r6,ErsatzKompass
7518
 7755 42ce 7090 0000 		lds r7,(ErsatzKompass)+1
7519
 7756 42d2 8090 0000 		lds r8,(ErsatzKompass)+2
7520
 7757 42d6 9090 0000 		lds r9,(ErsatzKompass)+3
7521
 7758 42da 2091 0000 		lds r18,GIER_GRAD_FAKTOR
7522
 7759 42de 3091 0000 		lds r19,(GIER_GRAD_FAKTOR)+1
7523
 7760 42e2 4091 0000 		lds r20,(GIER_GRAD_FAKTOR)+2
7524
 7761 42e6 5091 0000 		lds r21,(GIER_GRAD_FAKTOR)+3
7525
 7762 42ea C401      		movw r24,r8
7526
 7763 42ec B301      		movw r22,r6
7527
 7764 42ee 0E94 0000 		call __divmodsi4
7528
 7765 42f2 5901      		movw r10,r18
7529
 7766 42f4 6A01      		movw r12,r20
7530
 7767 42f6 3093 0000 		sts (ErsatzKompassInGrad)+1,r19
7531
 7768 42fa 2093 0000 		sts ErsatzKompassInGrad,r18
7532
 7769 42fe 021B      		sub r16,r18
7533
 7770 4300 130B      		sbc r17,r19
7534
 7771 4302 C801      		movw r24,r16
7535
 7772 4304 845E      		subi r24,lo8(-(540))
7536
 7773 4306 9D4F      		sbci r25,hi8(-(540))
7537
 7774 4308 68E6      		ldi r22,lo8(360)
7538
 7775 430a 71E0      		ldi r23,hi8(360)
7539
 7776 430c 0E94 0000 		call __divmodhi4
7540
 7777 4310 9C01      		movw r18,r24
7541
 7778 4312 245B      		subi r18,lo8(-(-180))
7542
 7779 4314 3040      		sbci r19,hi8(-(-180))
7543
 7780 4316 8091 0000 		lds r24,KompassSignalSchlecht
7544
 7781 431a 9091 0000 		lds r25,(KompassSignalSchlecht)+1
7545
 7782 431e 0097      		sbiw r24,0
7546
 7783 4320 01F0      		breq .L622
7547
 7784 4322 0197      		sbiw r24,1
7548
 7785 4324 9093 0000 		sts (KompassSignalSchlecht)+1,r25
7549
 7786 4328 8093 0000 		sts KompassSignalSchlecht,r24
7550
 7787 432c 00C0      		rjmp .L623
7551
 7788               	.L622:
7552
 7789 432e 49E1      		ldi r20,lo8(25)
7553
 7790 4330 E416      		cp r14,r20
7554
 7791 4332 F104      		cpc r15,__zero_reg__
7555
 7792 4334 04F4      		brge .L623
7556
 7793 4336 8091 0000 		lds r24,GierGyroFehler
7557
 7794 433a 9091 0000 		lds r25,(GierGyroFehler)+1
7558
 7795 433e 820F      		add r24,r18
7559
 7796 4340 931F      		adc r25,r19
7560
 7797 4342 9093 0000 		sts (GierGyroFehler)+1,r25
7561
 7798 4346 8093 0000 		sts GierGyroFehler,r24
7562
 7799 434a 8091 0000 		lds r24,NeueKompassRichtungMerken
7563
 7800 434e 8823      		tst r24
7564
 7801 4350 01F0      		breq .L623
7565
 7802 4352 8150      		subi r24,lo8(-(-1))
7566
 7803 4354 8093 0000 		sts NeueKompassRichtungMerken,r24
7567
 7804 4358 8823      		tst r24
7568
 7805 435a 01F4      		brne .L623
7569
 7806 435c B092 0000 		sts (KompassSollWert)+1,r11
7570
 7807 4360 A092 0000 		sts KompassSollWert,r10
7571
 7808               	.L623:
7572
 7809 4364 8091 0000 		lds r24,KompassSignalSchlecht
7573
 7810 4368 9091 0000 		lds r25,(KompassSignalSchlecht)+1
7574
 7811 436c 892B      		or r24,r25
7575
 7812 436e 01F4      		brne .L627
7576
 7813 4370 8091 0000 		lds r24,KompassFusion
7577
 7814 4374 9927      		clr r25
7578
 7815 4376 289F      		mul r18,r24
7579
 7816 4378 B001      		movw r22,r0
7580
 7817 437a 299F      		mul r18,r25
7581
 7818 437c 700D      		add r23,r0
7582
 7819 437e 389F      		mul r19,r24
7583
 7820 4380 700D      		add r23,r0
7584
 7821 4382 1124      		clr r1
7585
 7822 4384 CB01      		movw r24,r22
7586
 7823 4386 B201      		movw r22,r4
7587
 7824 4388 0E94 0000 		call __divmodhi4
7588
 7825 438c CB01      		movw r24,r22
7589
 7826 438e AA27      		clr r26
7590
 7827 4390 97FD      		sbrc r25,7
7591
 7828 4392 A095      		com r26
7592
 7829 4394 BA2F      		mov r27,r26
7593
 7830 4396 680E      		add r6,r24
7594
 7831 4398 791E      		adc r7,r25
7595
 7832 439a 8A1E      		adc r8,r26
7596
 7833 439c 9B1E      		adc r9,r27
7597
 7834 439e 6092 0000 		sts ErsatzKompass,r6
7598
 7835 43a2 7092 0000 		sts (ErsatzKompass)+1,r7
7599
 7836 43a6 8092 0000 		sts (ErsatzKompass)+2,r8
7600
 7837 43aa 9092 0000 		sts (ErsatzKompass)+3,r9
7601
 7838               	.L627:
7602
 7839 43ae 8091 0000 		lds r24,NeueKompassRichtungMerken
7603
 7840 43b2 8823      		tst r24
7604
 7841 43b4 01F4      		brne .L614
7605
 7842 43b6 8091 0000 		lds r24,KompassSollWert
7606
 7843 43ba 9091 0000 		lds r25,(KompassSollWert)+1
7607
 7844 43be 2091 0000 		lds r18,ErsatzKompassInGrad
7608
 7845 43c2 3091 0000 		lds r19,(ErsatzKompassInGrad)+1
7609
 7846 43c6 821B      		sub r24,r18
7610
 7847 43c8 930B      		sbc r25,r19
7611
 7848 43ca 845E      		subi r24,lo8(-(540))
7612
 7849 43cc 9D4F      		sbci r25,hi8(-(540))
7613
 7850 43ce 68E6      		ldi r22,lo8(360)
7614
 7851 43d0 71E0      		ldi r23,hi8(360)
7615
 7852 43d2 0E94 0000 		call __divmodhi4
7616
 7853 43d6 9C01      		movw r18,r24
7617
 7854 43d8 245B      		subi r18,lo8(-(-180))
7618
 7855 43da 3040      		sbci r19,hi8(-(-180))
7619
 7856 43dc 8091 0000 		lds r24,Parameter_KompassWirkung
7620
 7857 43e0 8695      		lsr r24
7621
 7858 43e2 9927      		clr r25
7622
 7859 43e4 289F      		mul r18,r24
7623
 7860 43e6 D001      		movw r26,r0
7624
 7861 43e8 299F      		mul r18,r25
7625
 7862 43ea B00D      		add r27,r0
7626
 7863 43ec 389F      		mul r19,r24
7627
 7864 43ee B00D      		add r27,r0
7628
 7865 43f0 1124      		clr r1
7629
 7866 43f2 9D01      		movw r18,r26
7630
 7867 43f4 B7FF      		sbrs r27,7
7631
 7868 43f6 00C0      		rjmp .L629
7632
 7869 43f8 215F      		subi r18,lo8(-(15))
7633
 7870 43fa 3F4F      		sbci r19,hi8(-(15))
7634
 7871               	.L629:
7635
 7872 43fc F4E0      		ldi r31,4
7636
 7873 43fe 3595      	1:	asr r19
7637
 7874 4400 2795      		ror r18
7638
 7875 4402 FA95      		dec r31
7639
 7876 4404 01F4      		brne 1b
7640
 7877 4406 3093 0000 		sts (CompassGierSetpoint)+1,r19
7641
 7878 440a 2093 0000 		sts CompassGierSetpoint,r18
7642
 7879 440e 00C0      		rjmp .L631
7643
 7880               	.L614:
7644
 7881 4410 1092 0000 		sts (CompassGierSetpoint)+1,__zero_reg__
7645
 7882 4414 1092 0000 		sts CompassGierSetpoint,__zero_reg__
7646
 7883               	.L631:
7647
 7884 4418 8091 0000 		lds r24,TrichterFlug
7648
 7885 441c 8823      		tst r24
7649
 7886 441e 01F0      		breq .L632
7650
 7887 4420 1092 0000 		sts SummeRoll,__zero_reg__
7651
 7888 4424 1092 0000 		sts (SummeRoll)+1,__zero_reg__
7652
 7889 4428 1092 0000 		sts (SummeRoll)+2,__zero_reg__
7653
 7890 442c 1092 0000 		sts (SummeRoll)+3,__zero_reg__
7654
 7891 4430 1092 0000 		sts SummeNick,__zero_reg__
7655
 7892 4434 1092 0000 		sts (SummeNick)+1,__zero_reg__
7656
 7893 4438 1092 0000 		sts (SummeNick)+2,__zero_reg__
7657
 7894 443c 1092 0000 		sts (SummeNick)+3,__zero_reg__
7658
 7895               	.L632:
7659
 7896 4440 F090 0000 		lds r15,Looping_Nick
7660
 7897 4444 FF20      		tst r15
7661
 7898 4446 01F4      		brne .L633
7662
 7899 4448 8091 0000 		lds r24,IntegralFaktor
7663
 7900 444c 282F      		mov r18,r24
7664
 7901 444e 3327      		clr r19
7665
 7902 4450 4427      		clr r20
7666
 7903 4452 5527      		clr r21
7667
 7904 4454 8091 0000 		lds r24,IntegralNick
7668
 7905 4458 9091 0000 		lds r25,(IntegralNick)+1
7669
 7906 445c A091 0000 		lds r26,(IntegralNick)+2
7670
 7907 4460 B091 0000 		lds r27,(IntegralNick)+3
7671
 7908 4464 BC01      		movw r22,r24
7672
 7909 4466 CD01      		movw r24,r26
7673
 7910 4468 0E94 0000 		call __mulsi3
7674
 7911 446c DC01      		movw r26,r24
7675
 7912 446e CB01      		movw r24,r22
7676
 7913 4470 BC01      		movw r22,r24
7677
 7914 4472 CD01      		movw r24,r26
7678
 7915 4474 28EF      		ldi r18,lo8(11000)
7679
 7916 4476 3AE2      		ldi r19,hi8(11000)
7680
 7917 4478 40E0      		ldi r20,hlo8(11000)
7681
 7918 447a 50E0      		ldi r21,hhi8(11000)
7682
 7919 447c 0E94 0000 		call __divmodsi4
7683
 7920 4480 3901      		movw r6,r18
7684
 7921 4482 00C0      		rjmp .L634
7685
 7922               	.L633:
7686
 7923 4484 6624      		clr r6
7687
 7924 4486 7724      		clr r7
7688
 7925               	.L634:
7689
 7926 4488 E090 0000 		lds r14,Looping_Roll
7690
 7927 448c EE20      		tst r14
7691
 7928 448e 01F4      		brne .L635
7692
 7929 4490 8091 0000 		lds r24,IntegralFaktor
7693
 7930 4494 282F      		mov r18,r24
7694
 7931 4496 3327      		clr r19
7695
 7932 4498 4427      		clr r20
7696
 7933 449a 5527      		clr r21
7697
 7934 449c 8091 0000 		lds r24,IntegralRoll
7698
 7935 44a0 9091 0000 		lds r25,(IntegralRoll)+1
7699
 7936 44a4 A091 0000 		lds r26,(IntegralRoll)+2
7700
 7937 44a8 B091 0000 		lds r27,(IntegralRoll)+3
7701
 7938 44ac BC01      		movw r22,r24
7702
 7939 44ae CD01      		movw r24,r26
7703
 7940 44b0 0E94 0000 		call __mulsi3
7704
 7941 44b4 DC01      		movw r26,r24
7705
 7942 44b6 CB01      		movw r24,r22
7706
 7943 44b8 BC01      		movw r22,r24
7707
 7944 44ba CD01      		movw r24,r26
7708
 7945 44bc 28EF      		ldi r18,lo8(11000)
7709
 7946 44be 3AE2      		ldi r19,hi8(11000)
7710
 7947 44c0 40E0      		ldi r20,hlo8(11000)
7711
 7948 44c2 50E0      		ldi r21,hhi8(11000)
7712
 7949 44c4 0E94 0000 		call __divmodsi4
7713
 7950 44c8 2901      		movw r4,r18
7714
 7951 44ca 00C0      		rjmp .L636
7715
 7952               	.L635:
7716
 7953 44cc 4424      		clr r4
7717
 7954 44ce 5524      		clr r5
7718
 7955               	.L636:
7719
 7956 44d0 8091 0000 		lds r24,TrimNick
7720
 7957 44d4 9091 0000 		lds r25,(TrimNick)+1
7721
 7958 44d8 893C      		cpi r24,201
7722
 7959 44da 9105      		cpc r25,__zero_reg__
7723
 7960 44dc 04F0      		brlt .L637
7724
 7961 44de 88EC      		ldi r24,lo8(200)
7725
 7962 44e0 90E0      		ldi r25,hi8(200)
7726
 7963 44e2 00C0      		rjmp .L894
7727
 7964               	.L637:
7728
 7965 44e4 8853      		subi r24,lo8(-200)
7729
 7966 44e6 9F4F      		sbci r25,hi8(-200)
7730
 7967 44e8 04F4      		brge .L638
7731
 7968 44ea 88E3      		ldi r24,lo8(-200)
7732
 7969 44ec 9FEF      		ldi r25,hi8(-200)
7733
 7970               	.L894:
7734
 7971 44ee 9093 0000 		sts (TrimNick)+1,r25
7735
 7972 44f2 8093 0000 		sts TrimNick,r24
7736
 7973               	.L638:
7737
 7974 44f6 8091 0000 		lds r24,TrimRoll
7738
 7975 44fa 9091 0000 		lds r25,(TrimRoll)+1
7739
 7976 44fe 893C      		cpi r24,201
7740
 7977 4500 9105      		cpc r25,__zero_reg__
7741
 7978 4502 04F0      		brlt .L640
7742
 7979 4504 88EC      		ldi r24,lo8(200)
7743
 7980 4506 90E0      		ldi r25,hi8(200)
7744
 7981 4508 00C0      		rjmp .L895
7745
 7982               	.L640:
7746
 7983 450a 8853      		subi r24,lo8(-200)
7747
 7984 450c 9F4F      		sbci r25,hi8(-200)
7748
 7985 450e 04F4      		brge .L641
7749
 7986 4510 88E3      		ldi r24,lo8(-200)
7750
 7987 4512 9FEF      		ldi r25,hi8(-200)
7751
 7988               	.L895:
7752
 7989 4514 9093 0000 		sts (TrimRoll)+1,r25
7753
 7990 4518 8093 0000 		sts TrimRoll,r24
7754
 7991               	.L641:
7755
 7992 451c 8091 0000 		lds r24,MesswertNick
7756
 7993 4520 9091 0000 		lds r25,(MesswertNick)+1
7757
 7994 4524 AA27      		clr r26
7758
 7995 4526 97FD      		sbrc r25,7
7759
 7996 4528 A095      		com r26
7760
 7997 452a BA2F      		mov r27,r26
7761
 7998 452c 2091 0000 		lds r18,GyroFaktor
7762
 7999 4530 A22E      		mov r10,r18
7763
 8000 4532 BB24      		clr r11
7764
 8001 4534 CC24      		clr r12
7765
 8002 4536 DD24      		clr r13
7766
 8003 4538 BC01      		movw r22,r24
7767
 8004 453a CD01      		movw r24,r26
7768
 8005 453c A601      		movw r20,r12
7769
 8006 453e 9501      		movw r18,r10
7770
 8007 4540 0E94 0000 		call __mulsi3
7771
 8008 4544 9B01      		movw r18,r22
7772
 8009 4546 AC01      		movw r20,r24
7773
 8010 4548 8091 0000 		lds r24,TrimNick
7774
 8011 454c 9091 0000 		lds r25,(TrimNick)+1
7775
 8012 4550 AA27      		clr r26
7776
 8013 4552 97FD      		sbrc r25,7
7777
 8014 4554 A095      		com r26
7778
 8015 4556 BA2F      		mov r27,r26
7779
 8016 4558 E7E0      		ldi r30,7
7780
 8017 455a 880F      	1:	lsl r24
7781
 8018 455c 991F      		rol r25
7782
 8019 455e AA1F      		rol r26
7783
 8020 4560 BB1F      		rol r27
7784
 8021 4562 EA95      		dec r30
7785
 8022 4564 01F4      		brne 1b
7786
 8023 4566 280F      		add r18,r24
7787
 8024 4568 391F      		adc r19,r25
7788
 8025 456a 4A1F      		adc r20,r26
7789
 8026 456c 5B1F      		adc r21,r27
7790
 8027 456e 57FF      		sbrs r21,7
7791
 8028 4570 00C0      		rjmp .L643
7792
 8029 4572 215C      		subi r18,lo8(-(63))
7793
 8030 4574 3F4F      		sbci r19,hi8(-(63))
7794
 8031 4576 4F4F      		sbci r20,hlo8(-(63))
7795
 8032 4578 5F4F      		sbci r21,hhi8(-(63))
7796
 8033               	.L643:
7797
 8034 457a 76E0      		ldi r23,6
7798
 8035 457c 5595      	1:	asr r21
7799
 8036 457e 4795      		ror r20
7800
 8037 4580 3795      		ror r19
7801
 8038 4582 2795      		ror r18
7802
 8039 4584 7A95      		dec r23
7803
 8040 4586 01F4      		brne 1b
7804
 8041 4588 8301      		movw r16,r6
7805
 8042 458a 020F      		add r16,r18
7806
 8043 458c 131F      		adc r17,r19
7807
 8044 458e 1093 0000 		sts (MesswertNick)+1,r17
7808
 8045 4592 0093 0000 		sts MesswertNick,r16
7809
 8046 4596 8091 0000 		lds r24,MesswertRoll
7810
 8047 459a 9091 0000 		lds r25,(MesswertRoll)+1
7811
 8048 459e AA27      		clr r26
7812
 8049 45a0 97FD      		sbrc r25,7
7813
 8050 45a2 A095      		com r26
7814
 8051 45a4 BA2F      		mov r27,r26
7815
 8052 45a6 BC01      		movw r22,r24
7816
 8053 45a8 CD01      		movw r24,r26
7817
 8054 45aa A601      		movw r20,r12
7818
 8055 45ac 9501      		movw r18,r10
7819
 8056 45ae 0E94 0000 		call __mulsi3
7820
 8057 45b2 9B01      		movw r18,r22
7821
 8058 45b4 AC01      		movw r20,r24
7822
 8059 45b6 8091 0000 		lds r24,TrimRoll
7823
 8060 45ba 9091 0000 		lds r25,(TrimRoll)+1
7824
 8061 45be AA27      		clr r26
7825
 8062 45c0 97FD      		sbrc r25,7
7826
 8063 45c2 A095      		com r26
7827
 8064 45c4 BA2F      		mov r27,r26
7828
 8065 45c6 67E0      		ldi r22,7
7829
 8066 45c8 880F      	1:	lsl r24
7830
 8067 45ca 991F      		rol r25
7831
 8068 45cc AA1F      		rol r26
7832
 8069 45ce BB1F      		rol r27
7833
 8070 45d0 6A95      		dec r22
7834
 8071 45d2 01F4      		brne 1b
7835
 8072 45d4 280F      		add r18,r24
7836
 8073 45d6 391F      		adc r19,r25
7837
 8074 45d8 4A1F      		adc r20,r26
7838
 8075 45da 5B1F      		adc r21,r27
7839
 8076 45dc 57FF      		sbrs r21,7
7840
 8077 45de 00C0      		rjmp .L644
7841
 8078 45e0 215C      		subi r18,lo8(-(63))
7842
 8079 45e2 3F4F      		sbci r19,hi8(-(63))
7843
 8080 45e4 4F4F      		sbci r20,hlo8(-(63))
7844
 8081 45e6 5F4F      		sbci r21,hhi8(-(63))
7845
 8082               	.L644:
7846
 8083 45e8 F6E0      		ldi r31,6
7847
 8084 45ea 5595      	1:	asr r21
7848
 8085 45ec 4795      		ror r20
7849
 8086 45ee 3795      		ror r19
7850
 8087 45f0 2795      		ror r18
7851
 8088 45f2 FA95      		dec r31
7852
 8089 45f4 01F4      		brne 1b
7853
 8090 45f6 4201      		movw r8,r4
7854
 8091 45f8 820E      		add r8,r18
7855
 8092 45fa 931E      		adc r9,r19
7856
 8093 45fc 9092 0000 		sts (MesswertRoll)+1,r9
7857
 8094 4600 8092 0000 		sts MesswertRoll,r8
7858
 8095 4604 8091 0000 		lds r24,MesswertGier
7859
 8096 4608 9091 0000 		lds r25,(MesswertGier)+1
7860
 8097 460c 880F      		add r24,r24
7861
 8098 460e 991F      		adc r25,r25
7862
 8099 4610 AA27      		clr r26
7863
 8100 4612 97FD      		sbrc r25,7
7864
 8101 4614 A095      		com r26
7865
 8102 4616 BA2F      		mov r27,r26
7866
 8103 4618 2091 0000 		lds r18,GyroFaktorGier
7867
 8104 461c 3327      		clr r19
7868
 8105 461e 4427      		clr r20
7869
 8106 4620 5527      		clr r21
7870
 8107 4622 BC01      		movw r22,r24
7871
 8108 4624 CD01      		movw r24,r26
7872
 8109 4626 0E94 0000 		call __mulsi3
7873
 8110 462a 5B01      		movw r10,r22
7874
 8111 462c 6C01      		movw r12,r24
7875
 8112 462e 97FF      		sbrs r25,7
7876
 8113 4630 00C0      		rjmp .L645
7877
 8114 4632 2FE3      		ldi r18,lo8(63)
7878
 8115 4634 30E0      		ldi r19,hi8(63)
7879
 8116 4636 40E0      		ldi r20,hlo8(63)
7880
 8117 4638 50E0      		ldi r21,hhi8(63)
7881
 8118 463a A20E      		add r10,r18
7882
 8119 463c B31E      		adc r11,r19
7883
 8120 463e C41E      		adc r12,r20
7884
 8121 4640 D51E      		adc r13,r21
7885
 8122               	.L645:
7886
 8123 4642 E6E0      		ldi r30,6
7887
 8124 4644 D594      	1:	asr r13
7888
 8125 4646 C794      		ror r12
7889
 8126 4648 B794      		ror r11
7890
 8127 464a A794      		ror r10
7891
 8128 464c EA95      		dec r30
7892
 8129 464e 01F4      		brne 1b
7893
 8130 4650 8091 0000 		lds r24,IntegralFaktorGier
7894
 8131 4654 282F      		mov r18,r24
7895
 8132 4656 3327      		clr r19
7896
 8133 4658 4427      		clr r20
7897
 8134 465a 5527      		clr r21
7898
 8135 465c 8091 0000 		lds r24,Integral_Gier
7899
 8136 4660 9091 0000 		lds r25,(Integral_Gier)+1
7900
 8137 4664 A091 0000 		lds r26,(Integral_Gier)+2
7901
 8138 4668 B091 0000 		lds r27,(Integral_Gier)+3
7902
 8139 466c BC01      		movw r22,r24
7903
 8140 466e CD01      		movw r24,r26
7904
 8141 4670 0E94 0000 		call __mulsi3
7905
 8142 4674 DC01      		movw r26,r24
7906
 8143 4676 CB01      		movw r24,r22
7907
 8144 4678 BC01      		movw r22,r24
7908
 8145 467a CD01      		movw r24,r26
7909
 8146 467c 20EF      		ldi r18,lo8(22000)
7910
 8147 467e 35E5      		ldi r19,hi8(22000)
7911
 8148 4680 40E0      		ldi r20,hlo8(22000)
7912
 8149 4682 50E0      		ldi r21,hhi8(22000)
7913
 8150 4684 0E94 0000 		call __divmodsi4
7914
 8151 4688 B501      		movw r22,r10
7915
 8152 468a 620F      		add r22,r18
7916
 8153 468c 731F      		adc r23,r19
7917
 8154 468e 7093 0000 		sts (MesswertGier)+1,r23
7918
 8155 4692 6093 0000 		sts MesswertGier,r22
7919
 8156 4696 0150      		subi r16,lo8(4097)
7920
 8157 4698 1041      		sbci r17,hi8(4097)
7921
 8158 469a 04F0      		brlt .L646
7922
 8159 469c 80E0      		ldi r24,lo8(4096)
7923
 8160 469e 90E1      		ldi r25,hi8(4096)
7924
 8161 46a0 9093 0000 		sts (MesswertNick)+1,r25
7925
 8162 46a4 8093 0000 		sts MesswertNick,r24
7926
 8163               	.L646:
7927
 8164 46a8 8091 0000 		lds r24,MesswertNick
7928
 8165 46ac 9091 0000 		lds r25,(MesswertNick)+1
7929
 8166 46b0 8050      		subi r24,lo8(-4096)
7930
 8167 46b2 904F      		sbci r25,hi8(-4096)
7931
 8168 46b4 04F4      		brge .L647
7932
 8169 46b6 80E0      		ldi r24,lo8(-4096)
7933
 8170 46b8 90EF      		ldi r25,hi8(-4096)
7934
 8171 46ba 9093 0000 		sts (MesswertNick)+1,r25
7935
 8172 46be 8093 0000 		sts MesswertNick,r24
7936
 8173               	.L647:
7937
 8174 46c2 51E0      		ldi r21,lo8(4097)
7938
 8175 46c4 8516      		cp r8,r21
7939
 8176 46c6 50E1      		ldi r21,hi8(4097)
7940
 8177 46c8 9506      		cpc r9,r21
7941
 8178 46ca 04F0      		brlt .L648
7942
 8179 46cc 80E0      		ldi r24,lo8(4096)
7943
 8180 46ce 90E1      		ldi r25,hi8(4096)
7944
 8181 46d0 9093 0000 		sts (MesswertRoll)+1,r25
7945
 8182 46d4 8093 0000 		sts MesswertRoll,r24
7946
 8183               	.L648:
7947
 8184 46d8 8091 0000 		lds r24,MesswertRoll
7948
 8185 46dc 9091 0000 		lds r25,(MesswertRoll)+1
7949
 8186 46e0 8050      		subi r24,lo8(-4096)
7950
 8187 46e2 904F      		sbci r25,hi8(-4096)
7951
 8188 46e4 04F4      		brge .L649
7952
 8189 46e6 80E0      		ldi r24,lo8(-4096)
7953
 8190 46e8 90EF      		ldi r25,hi8(-4096)
7954
 8191 46ea 9093 0000 		sts (MesswertRoll)+1,r25
7955
 8192 46ee 8093 0000 		sts MesswertRoll,r24
7956
 8193               	.L649:
7957
 8194 46f2 6150      		subi r22,lo8(4097)
7958
 8195 46f4 7041      		sbci r23,hi8(4097)
7959
 8196 46f6 04F0      		brlt .L650
7960
 8197 46f8 80E0      		ldi r24,lo8(4096)
7961
 8198 46fa 90E1      		ldi r25,hi8(4096)
7962
 8199 46fc 9093 0000 		sts (MesswertGier)+1,r25
7963
 8200 4700 8093 0000 		sts MesswertGier,r24
7964
 8201               	.L650:
7965
 8202 4704 8091 0000 		lds r24,MesswertGier
7966
 8203 4708 9091 0000 		lds r25,(MesswertGier)+1
7967
 8204 470c 8050      		subi r24,lo8(-4096)
7968
 8205 470e 904F      		sbci r25,hi8(-4096)
7969
 8206 4710 04F4      		brge .L651
7970
 8207 4712 80E0      		ldi r24,lo8(-4096)
7971
 8208 4714 90EF      		ldi r25,hi8(-4096)
7972
 8209 4716 9093 0000 		sts (MesswertGier)+1,r25
7973
 8210 471a 8093 0000 		sts MesswertGier,r24
7974
 8211               	.L651:
7975
 8212 471e 8091 0000 		lds r24,BattLowVoltageWarning
7976
 8213 4722 482F      		mov r20,r24
7977
 8214 4724 5527      		clr r21
7978
 8215 4726 8091 0000 		lds r24,UBat
7979
 8216 472a 9091 0000 		lds r25,(UBat)+1
7980
 8217 472e 4817      		cp r20,r24
7981
 8218 4730 5907      		cpc r21,r25
7982
 8219 4732 04F4      		brge .L652
7983
 8220 4734 2091 0000 		lds r18,UBat
7984
 8221 4738 3091 0000 		lds r19,(UBat)+1
7985
 8222 473c 0981      		ldd r16,Y+1
7986
 8223 473e 1A81      		ldd r17,Y+2
7987
 8224 4740 049F      		mul r16,r20
7988
 8225 4742 C001      		movw r24,r0
7989
 8226 4744 059F      		mul r16,r21
7990
 8227 4746 900D      		add r25,r0
7991
 8228 4748 149F      		mul r17,r20
7992
 8229 474a 900D      		add r25,r0
7993
 8230 474c 1124      		clr r1
7994
 8231 474e B901      		movw r22,r18
7995
 8232 4750 0E94 0000 		call __udivmodhi4
7996
 8233 4754 7A83      		std Y+2,r23
7997
 8234 4756 6983      		std Y+1,r22
7998
 8235               	.L652:
7999
 8236 4758 2981      		ldd r18,Y+1
8000
 8237 475a 3A81      		ldd r19,Y+2
8001
 8238 475c 220F      		lsl r18
8002
 8239 475e 331F      		rol r19
8003
 8240 4760 220F      		lsl r18
8004
 8241 4762 331F      		rol r19
8005
 8242 4764 3A83      		std Y+2,r19
8006
 8243 4766 2983      		std Y+1,r18
8007
 8244 4768 4091 0000 		lds r20,Parameter_GlobalConfig
8008
 8245 476c 40FD      		sbrc r20,0
8009
 8246 476e 00C0      		rjmp .+4
8010
 8247 4770 0C94 0000 		jmp .L653
8011
 8248 4774 EE20      		tst r14
8012
 8249 4776 01F0      		breq .+4
8013
 8250 4778 0C94 0000 		jmp .L653
8014
 8251 477c FF20      		tst r15
8015
 8252 477e 01F0      		breq .+4
8016
 8253 4780 0C94 0000 		jmp .L653
8017
 8254 4784 00E0      		ldi r16,lo8(0)
8018
 8255 4786 10E0      		ldi r17,hi8(0)
8019
 8256 4788 4801      		movw r8,r16
8020
 8257 478a 8091 0000 		lds r24,HoverGas
8021
 8258 478e 9091 0000 		lds r25,(HoverGas)+1
8022
 8259 4792 9093 0000 		sts (DebugOut+44)+1,r25
8023
 8260 4796 8093 0000 		sts DebugOut+44,r24
8024
 8261 479a 2091 0000 		lds r18,BaroExpandActive
8025
 8262 479e 3091 0000 		lds r19,(BaroExpandActive)+1
8026
 8263 47a2 2115      		cp r18,__zero_reg__
8027
 8264 47a4 3105      		cpc r19,__zero_reg__
8028
 8265 47a6 01F0      		breq .+2
8029
 8266 47a8 00C0      		rjmp .L654
8030
 8267 47aa 8091 0000 		lds r24,MessLuftdruck
8031
 8268 47ae 9091 0000 		lds r25,(MessLuftdruck)+1
8032
 8269 47b2 8959      		subi r24,lo8(921)
8033
 8270 47b4 9340      		sbci r25,hi8(921)
8034
 8271 47b6 00F0      		brlo .L655
8035
 8272 47b8 87B5      		in r24,71-0x20
8036
 8273 47ba 803F      		cpi r24,lo8(-16)
8037
 8274 47bc 00F4      		brsh .L656
8038
 8275 47be 8091 0000 		lds r24,ExpandBaro
8039
 8276 47c2 8150      		subi r24,lo8(-(-1))
8040
 8277 47c4 00C0      		rjmp .L896
8041
 8278               	.L656:
8042
 8279 47c6 81E0      		ldi r24,lo8(1)
8043
 8280 47c8 8093 0000 		sts BaroAtLowerLimit.26,r24
8044
 8281 47cc 00C0      		rjmp .L663
8045
 8282               	.L655:
8046
 8283 47ce 8091 0000 		lds r24,MessLuftdruck
8047
 8284 47d2 9091 0000 		lds r25,(MessLuftdruck)+1
8048
 8285 47d6 8436      		cpi r24,100
8049
 8286 47d8 9105      		cpc r25,__zero_reg__
8050
 8287 47da 00F4      		brsh .L659
8051
 8288 47dc 87B5      		in r24,71-0x20
8052
 8289 47de 8031      		cpi r24,lo8(16)
8053
 8290 47e0 00F0      		brlo .L660
8054
 8291 47e2 8091 0000 		lds r24,ExpandBaro
8055
 8292 47e6 8F5F      		subi r24,lo8(-(1))
8056
 8293               	.L896:
8057
 8294 47e8 8093 0000 		sts ExpandBaro,r24
8058
 8295 47ec 9FE0      		ldi r25,lo8(15)
8059
 8296 47ee 8902      		muls r24,r25
8060
 8297 47f0 9001      		movw r18,r0
8061
 8298 47f2 1124      		clr r1
8062
 8299 47f4 8091 0000 		lds r24,DruckOffsetSetting
8063
 8300 47f8 821B      		sub r24,r18
8064
 8301 47fa 87BD      		out 71-0x20,r24
8065
 8302 47fc 8CE2      		ldi r24,lo8(300)
8066
 8303 47fe 91E0      		ldi r25,hi8(300)
8067
 8304 4800 9093 0000 		sts (beeptime)+1,r25
8068
 8305 4804 8093 0000 		sts beeptime,r24
8069
 8306 4808 8EE5      		ldi r24,lo8(350)
8070
 8307 480a 91E0      		ldi r25,hi8(350)
8071
 8308 480c 9093 0000 		sts (BaroExpandActive)+1,r25
8072
 8309 4810 8093 0000 		sts BaroExpandActive,r24
8073
 8310 4814 00C0      		rjmp .L663
8074
 8311               	.L660:
8075
 8312 4816 81E0      		ldi r24,lo8(1)
8076
 8313 4818 8093 0000 		sts BaroAtUpperLimit.25,r24
8077
 8314 481c 00C0      		rjmp .L663
8078
 8315               	.L659:
8079
 8316 481e F092 0000 		sts BaroAtUpperLimit.25,r15
8080
 8317 4822 F092 0000 		sts BaroAtLowerLimit.26,r15
8081
 8318 4826 00C0      		rjmp .L663
8082
 8319               	.L654:
8083
 8320 4828 8091 0000 		lds r24,HoehenWert
8084
 8321 482c 9091 0000 		lds r25,(HoehenWert)+1
8085
 8322 4830 A091 0000 		lds r26,(HoehenWert)+2
8086
 8323 4834 B091 0000 		lds r27,(HoehenWert)+3
8087
 8324 4838 64E0      		ldi r22,4
8088
 8325 483a 880F      	1:	lsl r24
8089
 8326 483c 991F      		rol r25
8090
 8327 483e AA1F      		rol r26
8091
 8328 4840 BB1F      		rol r27
8092
 8329 4842 6A95      		dec r22
8093
 8330 4844 01F4      		brne 1b
8094
 8331 4846 8093 0000 		sts SummenHoehe,r24
8095
 8332 484a 9093 0000 		sts (SummenHoehe)+1,r25
8096
 8333 484e A093 0000 		sts (SummenHoehe)+2,r26
8097
 8334 4852 B093 0000 		sts (SummenHoehe)+3,r27
8098
 8335 4856 1093 0000 		sts (VarioMeter)+1,r17
8099
 8336 485a 0093 0000 		sts VarioMeter,r16
8100
 8337 485e 2150      		subi r18,lo8(-(-1))
8101
 8338 4860 3040      		sbci r19,hi8(-(-1))
8102
 8339 4862 3093 0000 		sts (BaroExpandActive)+1,r19
8103
 8340 4866 2093 0000 		sts BaroExpandActive,r18
8104
 8341               	.L663:
8105
 8342 486a 2091 0000 		lds r18,Parameter_HoehenSchalter
8106
 8343 486e 41FF      		sbrs r20,1
8107
 8344 4870 00C0      		rjmp .L664
8108
 8345 4872 2233      		cpi r18,lo8(50)
8109
 8346 4874 00F4      		brsh .L665
8110
 8347 4876 8091 0000 		lds r24,delay.24
8111
 8348 487a 8150      		subi r24,lo8(-(-1))
8112
 8349 487c 8093 0000 		sts delay.24,r24
8113
 8350 4880 8F3F      		cpi r24,lo8(-1)
8114
 8351 4882 01F0      		breq .+2
8115
 8352 4884 00C0      		rjmp .L671
8116
 8353 4886 8091 0000 		lds r24,SpeakHoTT
8117
 8354 488a 8823      		tst r24
8118
 8355 488c 01F4      		brne .L667
8119
 8356 488e 8091 0000 		lds r24,HoehenReglerAktiv
8120
 8357 4892 8823      		tst r24
8121
 8358 4894 01F0      		breq .L667
8122
 8359 4896 88E2      		ldi r24,lo8(40)
8123
 8360 4898 8093 0000 		sts SpeakHoTT,r24
8124
 8361               	.L667:
8125
 8362 489c 1092 0000 		sts HoehenReglerAktiv,__zero_reg__
8126
 8363 48a0 8091 0000 		lds r24,HoehenWert
8127
 8364 48a4 9091 0000 		lds r25,(HoehenWert)+1
8128
 8365 48a8 A091 0000 		lds r26,(HoehenWert)+2
8129
 8366 48ac B091 0000 		lds r27,(HoehenWert)+3
8130
 8367 48b0 8093 0000 		sts SollHoehe,r24
8131
 8368 48b4 9093 0000 		sts (SollHoehe)+1,r25
8132
 8369 48b8 A093 0000 		sts (SollHoehe)+2,r26
8133
 8370 48bc B093 0000 		sts (SollHoehe)+3,r27
8134
 8371 48c0 81E0      		ldi r24,lo8(1)
8135
 8372 48c2 8093 0000 		sts delay.24,r24
8136
 8373 48c6 00C0      		rjmp .L671
8137
 8374               	.L665:
8138
 8375 48c8 2734      		cpi r18,lo8(71)
8139
 8376 48ca 00F0      		brlo .L671
8140
 8377 48cc 8091 0000 		lds r24,SpeakHoTT
8141
 8378 48d0 8823      		tst r24
8142
 8379 48d2 01F4      		brne .L670
8143
 8380 48d4 8091 0000 		lds r24,HoehenReglerAktiv
8144
 8381 48d8 8823      		tst r24
8145
 8382 48da 01F4      		brne .L670
8146
 8383 48dc 87E2      		ldi r24,lo8(39)
8147
 8384 48de 8093 0000 		sts SpeakHoTT,r24
8148
 8385               	.L670:
8149
 8386 48e2 88EC      		ldi r24,lo8(-56)
8150
 8387 48e4 8093 0000 		sts delay.24,r24
8151
 8388 48e8 00C0      		rjmp .L897
8152
 8389               	.L664:
8153
 8390 48ea 8091 0000 		lds r24,ExternHoehenValue
8154
 8391 48ee 9091 0000 		lds r25,(ExternHoehenValue)+1
8155
 8392 48f2 820F      		add r24,r18
8156
 8393 48f4 911D      		adc r25,__zero_reg__
8157
 8394 48f6 2091 0000 		lds r18,EE_Parameter+18
8158
 8395 48fa 3327      		clr r19
8159
 8396 48fc 829F      		mul r24,r18
8160
 8397 48fe A001      		movw r20,r0
8161
 8398 4900 839F      		mul r24,r19
8162
 8399 4902 500D      		add r21,r0
8163
 8400 4904 929F      		mul r25,r18
8164
 8401 4906 500D      		add r21,r0
8165
 8402 4908 1124      		clr r1
8166
 8403 490a CA01      		movw r24,r20
8167
 8404 490c AA27      		clr r26
8168
 8405 490e 97FD      		sbrc r25,7
8169
 8406 4910 A095      		com r26
8170
 8407 4912 BA2F      		mov r27,r26
8171
 8408 4914 8093 0000 		sts SollHoehe,r24
8172
 8409 4918 9093 0000 		sts (SollHoehe)+1,r25
8173
 8410 491c A093 0000 		sts (SollHoehe)+2,r26
8174
 8411 4920 B093 0000 		sts (SollHoehe)+3,r27
8175
 8412               	.L897:
8176
 8413 4924 81E0      		ldi r24,lo8(1)
8177
 8414 4926 8093 0000 		sts HoehenReglerAktiv,r24
8178
 8415               	.L671:
8179
 8416 492a 8091 0000 		lds r24,IntegralNick
8180
 8417 492e 9091 0000 		lds r25,(IntegralNick)+1
8181
 8418 4932 A091 0000 		lds r26,(IntegralNick)+2
8182
 8419 4936 B091 0000 		lds r27,(IntegralNick)+3
8183
 8420 493a E090 0000 		lds r14,GIER_GRAD_FAKTOR
8184
 8421 493e F090 0000 		lds r15,(GIER_GRAD_FAKTOR)+1
8185
 8422 4942 0091 0000 		lds r16,(GIER_GRAD_FAKTOR)+2
8186
 8423 4946 1091 0000 		lds r17,(GIER_GRAD_FAKTOR)+3
8187
 8424 494a BC01      		movw r22,r24
8188
 8425 494c CD01      		movw r24,r26
8189
 8426 494e A801      		movw r20,r16
8190
 8427 4950 9701      		movw r18,r14
8191
 8428 4952 0E94 0000 		call __divmodsi4
8192
 8429 4956 5901      		movw r10,r18
8193
 8430 4958 6A01      		movw r12,r20
8194
 8431 495a 8091 0000 		lds r24,IntegralRoll
8195
 8432 495e 9091 0000 		lds r25,(IntegralRoll)+1
8196
 8433 4962 A091 0000 		lds r26,(IntegralRoll)+2
8197
 8434 4966 B091 0000 		lds r27,(IntegralRoll)+3
8198
 8435 496a BC01      		movw r22,r24
8199
 8436 496c CD01      		movw r24,r26
8200
 8437 496e A801      		movw r20,r16
8201
 8438 4970 9701      		movw r18,r14
8202
 8439 4972 0E94 0000 		call __divmodsi4
8203
 8440 4976 B901      		movw r22,r18
8204
 8441 4978 C501      		movw r24,r10
8205
 8442 497a 0E94 0000 		call ihypot
8206
 8443 497e 5C01      		movw r10,r24
8207
 8444 4980 CC97      		sbiw r24,60
8208
 8445 4982 04F0      		brlt .L672
8209
 8446 4984 5CE3      		ldi r21,lo8(60)
8210
 8447 4986 A52E      		mov r10,r21
8211
 8448 4988 B12C      		mov r11,__zero_reg__
8212
 8449               	.L672:
8213
 8450 498a C501      		movw r24,r10
8214
 8451 498c 0E94 0000 		call c_cos_8192
8215
 8452 4990 5C01      		movw r10,r24
8216
 8453 4992 80E2      		ldi r24,lo8(32)
8217
 8454 4994 8093 0000 		sts VarioCharacter,r24
8218
 8455 4998 1092 0000 		sts (AltitudeSetpointTrimming)+1,__zero_reg__
8219
 8456 499c 1092 0000 		sts AltitudeSetpointTrimming,__zero_reg__
8220
 8457 49a0 8091 0000 		lds r24,HoehenReglerAktiv
8221
 8458 49a4 8823      		tst r24
8222
 8459 49a6 01F4      		brne .+2
8223
 8460 49a8 00C0      		rjmp .L673
8224
 8461 49aa 8091 0000 		lds r24,FC_StatusFlags
8225
 8462 49ae 9927      		clr r25
8226
 8463 49b0 9C01      		movw r18,r24
8227
 8464 49b2 2071      		andi r18,lo8(16)
8228
 8465 49b4 3070      		andi r19,hi8(16)
8229
 8466 49b6 84FD      		sbrc r24,4
8230
 8467 49b8 00C0      		rjmp .L673
8231
 8468 49ba 8091 0000 		lds r24,FC_StatusFlags2
8232
 8469 49be 8260      		ori r24,lo8(2)
8233
 8470 49c0 8093 0000 		sts FC_StatusFlags2,r24
8234
 8471 49c4 7091 0000 		lds r23,Parameter_ExtraConfig
8235
 8472 49c8 872F      		mov r24,r23
8236
 8473 49ca 9927      		clr r25
8237
 8474 49cc 41E0      		ldi r20,lo8(1)
8238
 8475 49ce C42E      		mov r12,r20
8239
 8476 49d0 D12C      		mov r13,__zero_reg__
8240
 8477 49d2 C822      		and r12,r24
8241
 8478 49d4 D922      		and r13,r25
8242
 8479 49d6 80FD      		sbrc r24,0
8243
 8480 49d8 00C0      		rjmp .L675
8244
 8481 49da 8091 0000 		lds r24,Parameter_GlobalConfig
8245
 8482 49de 81FD      		sbrc r24,1
8246
 8483 49e0 00C0      		rjmp .L674
8247
 8484               	.L675:
8248
 8485 49e2 C980      		ldd r12,Y+1
8249
 8486 49e4 DA80      		ldd r13,Y+2
8250
 8487 49e6 3093 0000 		sts (HeightTrimming.21)+1,r19
8251
 8488 49ea 2093 0000 		sts HeightTrimming.21,r18
8252
 8489 49ee 3093 0000 		sts (AltitudeSetpointTrimming)+1,r19
8253
 8490 49f2 2093 0000 		sts AltitudeSetpointTrimming,r18
8254
 8491 49f6 8091 0000 		lds r24,FC_StatusFlags
8255
 8492 49fa 806C      		ori r24,lo8(-64)
8256
 8493 49fc 8093 0000 		sts FC_StatusFlags,r24
8257
 8494 4a00 00C0      		rjmp .L676
8258
 8495               	.L674:
8259
 8496 4a02 8091 0000 		lds r24,FC_StatusFlags
8260
 8497 4a06 81FF      		sbrs r24,1
8261
 8498 4a08 00C0      		rjmp .L677
8262
 8499 4a0a 0091 0000 		lds r16,StickGasHover
8263
 8500 4a0e 1091 0000 		lds r17,(StickGasHover)+1
8264
 8501 4a12 C801      		movw r24,r16
8265
 8502 4a14 0F96      		adiw r24,15
8266
 8503 4a16 2090 0000 		lds r2,StickGas
8267
 8504 4a1a 3090 0000 		lds r3,(StickGas)+1
8268
 8505 4a1e 8215      		cp r24,r2
8269
 8506 4a20 9305      		cpc r25,r3
8270
 8507 4a22 04F0      		brlt .+2
8271
 8508 4a24 00C0      		rjmp .L678
8272
 8509 4a26 8091 0000 		lds r24,BaroAtUpperLimit.25
8273
 8510 4a2a 8823      		tst r24
8274
 8511 4a2c 01F0      		breq .+2
8275
 8512 4a2e 00C0      		rjmp .L678
8276
 8513 4a30 8091 0000 		lds r24,FC_StatusFlags
8277
 8514 4a34 87FF      		sbrs r24,7
8278
 8515 4a36 00C0      		rjmp .L679
8279
 8516 4a38 8091 0000 		lds r24,FC_StatusFlags
8280
 8517 4a3c 8F77      		andi r24,lo8(127)
8281
 8518 4a3e 8093 0000 		sts FC_StatusFlags,r24
8282
 8519 4a42 8091 0000 		lds r24,HoehenWert
8283
 8520 4a46 9091 0000 		lds r25,(HoehenWert)+1
8284
 8521 4a4a A091 0000 		lds r26,(HoehenWert)+2
8285
 8522 4a4e B091 0000 		lds r27,(HoehenWert)+3
8286
 8523 4a52 8093 0000 		sts SollHoehe,r24
8287
 8524 4a56 9093 0000 		sts (SollHoehe)+1,r25
8288
 8525 4a5a A093 0000 		sts (SollHoehe)+2,r26
8289
 8526 4a5e B093 0000 		sts (SollHoehe)+3,r27
8290
 8527               	.L679:
8291
 8528 4a62 8091 0000 		lds r24,FC_StatusFlags
8292
 8529 4a66 8064      		ori r24,lo8(64)
8293
 8530 4a68 8093 0000 		sts FC_StatusFlags,r24
8294
 8531 4a6c E090 0000 		lds r14,Parameter_MaximumAltitude
8295
 8532 4a70 EE20      		tst r14
8296
 8533 4a72 01F0      		breq .L680
8297
 8534 4a74 8091 0000 		lds r24,SollHoehe
8298
 8535 4a78 9091 0000 		lds r25,(SollHoehe)+1
8299
 8536 4a7c A091 0000 		lds r26,(SollHoehe)+2
8300
 8537 4a80 B091 0000 		lds r27,(SollHoehe)+3
8301
 8538 4a84 BC01      		movw r22,r24
8302
 8539 4a86 CD01      		movw r24,r26
8303
 8540 4a88 24E6      		ldi r18,lo8(100)
8304
 8541 4a8a 30E0      		ldi r19,hi8(100)
8305
 8542 4a8c 40E0      		ldi r20,hlo8(100)
8306
 8543 4a8e 50E0      		ldi r21,hhi8(100)
8307
 8544 4a90 0E94 0000 		call __divmodsi4
8308
 8545 4a94 8E2D      		mov r24,r14
8309
 8546 4a96 9927      		clr r25
8310
 8547 4a98 AA27      		clr r26
8311
 8548 4a9a BB27      		clr r27
8312
 8549 4a9c 8217      		cp r24,r18
8313
 8550 4a9e 9307      		cpc r25,r19
8314
 8551 4aa0 A407      		cpc r26,r20
8315
 8552 4aa2 B507      		cpc r27,r21
8316
 8553 4aa4 04F4      		brge .L680
8317
 8554 4aa6 D092 0000 		sts (AltitudeSetpointTrimming)+1,r13
8318
 8555 4aaa C092 0000 		sts AltitudeSetpointTrimming,r12
8319
 8556 4aae 00C0      		rjmp .L681
8320
 8557               	.L680:
8321
 8558 4ab0 C101      		movw r24,r2
8322
 8559 4ab2 801B      		sub r24,r16
8323
 8560 4ab4 910B      		sbc r25,r17
8324
 8561 4ab6 0F97      		sbiw r24,15
8325
 8562 4ab8 97FF      		sbrs r25,7
8326
 8563 4aba 00C0      		rjmp .L682
8327
 8564 4abc 9095      		com r25
8328
 8565 4abe 8195      		neg r24
8329
 8566 4ac0 9F4F      		sbci r25,lo8(-1)
8330
 8567               	.L682:
8331
 8568 4ac2 9093 0000 		sts (AltitudeSetpointTrimming)+1,r25
8332
 8569 4ac6 8093 0000 		sts AltitudeSetpointTrimming,r24
8333
 8570 4aca 8BE2      		ldi r24,lo8(43)
8334
 8571 4acc 8093 0000 		sts VarioCharacter,r24
8335
 8572               	.L681:
8336
 8573 4ad0 1092 0000 		sts WaypointTrimming,__zero_reg__
8337
 8574 4ad4 00C0      		rjmp .L683
8338
 8575               	.L678:
8339
 8576 4ad6 C801      		movw r24,r16
8340
 8577 4ad8 0F97      		sbiw r24,15
8341
 8578 4ada 2816      		cp r2,r24
8342
 8579 4adc 3906      		cpc r3,r25
8343
 8580 4ade 04F4      		brge .L684
8344
 8581 4ae0 2091 0000 		lds r18,BaroAtLowerLimit.26
8345
 8582 4ae4 2223      		tst r18
8346
 8583 4ae6 01F4      		brne .L684
8347
 8584 4ae8 8091 0000 		lds r24,FC_StatusFlags
8348
 8585 4aec 86FF      		sbrs r24,6
8349
 8586 4aee 00C0      		rjmp .L685
8350
 8587 4af0 8091 0000 		lds r24,FC_StatusFlags
8351
 8588 4af4 8F7B      		andi r24,lo8(-65)
8352
 8589 4af6 8093 0000 		sts FC_StatusFlags,r24
8353
 8590 4afa 8091 0000 		lds r24,HoehenWert
8354
 8591 4afe 9091 0000 		lds r25,(HoehenWert)+1
8355
 8592 4b02 A091 0000 		lds r26,(HoehenWert)+2
8356
 8593 4b06 B091 0000 		lds r27,(HoehenWert)+3
8357
 8594 4b0a 8093 0000 		sts SollHoehe,r24
8358
 8595 4b0e 9093 0000 		sts (SollHoehe)+1,r25
8359
 8596 4b12 A093 0000 		sts (SollHoehe)+2,r26
8360
 8597 4b16 B093 0000 		sts (SollHoehe)+3,r27
8361
 8598               	.L685:
8362
 8599 4b1a 8091 0000 		lds r24,FC_StatusFlags
8363
 8600 4b1e 8068      		ori r24,lo8(-128)
8364
 8601 4b20 8093 0000 		sts FC_StatusFlags,r24
8365
 8602 4b24 C101      		movw r24,r2
8366
 8603 4b26 801B      		sub r24,r16
8367
 8604 4b28 910B      		sbc r25,r17
8368
 8605 4b2a 0F96      		adiw r24,15
8369
 8606 4b2c 97FF      		sbrs r25,7
8370
 8607 4b2e 00C0      		rjmp .L686
8371
 8608 4b30 9095      		com r25
8372
 8609 4b32 8195      		neg r24
8373
 8610 4b34 9F4F      		sbci r25,lo8(-1)
8374
 8611               	.L686:
8375
 8612 4b36 9095      		com r25
8376
 8613 4b38 8195      		neg r24
8377
 8614 4b3a 9F4F      		sbci r25,lo8(-1)
8378
 8615 4b3c 9093 0000 		sts (AltitudeSetpointTrimming)+1,r25
8379
 8616 4b40 8093 0000 		sts AltitudeSetpointTrimming,r24
8380
 8617 4b44 8DE2      		ldi r24,lo8(45)
8381
 8618 4b46 8093 0000 		sts VarioCharacter,r24
8382
 8619 4b4a 2093 0000 		sts WaypointTrimming,r18
8383
 8620 4b4e 00C0      		rjmp .L683
8384
 8621               	.L684:
8385
 8622 4b50 8DE3      		ldi r24,lo8(61)
8386
 8623 4b52 8093 0000 		sts VarioCharacter,r24
8387
 8624 4b56 6091 0000 		lds r22,FromNC_AltitudeSpeed
8388
 8625 4b5a 6623      		tst r22
8389
 8626 4b5c 01F0      		breq .L688
8390
 8627 4b5e 2091 0000 		lds r18,FromNC_AltitudeSetpoint
8391
 8628 4b62 3091 0000 		lds r19,(FromNC_AltitudeSetpoint)+1
8392
 8629 4b66 4091 0000 		lds r20,(FromNC_AltitudeSetpoint)+2
8393
 8630 4b6a 5091 0000 		lds r21,(FromNC_AltitudeSetpoint)+3
8394
 8631 4b6e 8091 0000 		lds r24,SollHoehe
8395
 8632 4b72 9091 0000 		lds r25,(SollHoehe)+1
8396
 8633 4b76 A091 0000 		lds r26,(SollHoehe)+2
8397
 8634 4b7a B091 0000 		lds r27,(SollHoehe)+3
8398
 8635 4b7e 8217      		cp r24,r18
8399
 8636 4b80 9307      		cpc r25,r19
8400
 8637 4b82 A407      		cpc r26,r20
8401
 8638 4b84 B507      		cpc r27,r21
8402
 8639 4b86 04F4      		brge .L688
8403
 8640 4b88 8091 0000 		lds r24,FC_StatusFlags
8404
 8641 4b8c 8064      		ori r24,lo8(64)
8405
 8642 4b8e 8093 0000 		sts FC_StatusFlags,r24
8406
 8643 4b92 862F      		mov r24,r22
8407
 8644 4b94 9927      		clr r25
8408
 8645 4b96 9093 0000 		sts (AltitudeSetpointTrimming)+1,r25
8409
 8646 4b9a 8093 0000 		sts AltitudeSetpointTrimming,r24
8410
 8647 4b9e 8AE0      		ldi r24,lo8(10)
8411
 8648 4ba0 8093 0000 		sts WaypointTrimming,r24
8412
 8649 4ba4 8EE5      		ldi r24,lo8(94)
8413
 8650 4ba6 8093 0000 		sts VarioCharacter,r24
8414
 8651 4baa 8091 0000 		lds r24,FC_StatusFlags
8415
 8652 4bae 87FF      		sbrs r24,7
8416
 8653 4bb0 00C0      		rjmp .L683
8417
 8654 4bb2 8091 0000 		lds r24,FC_StatusFlags
8418
 8655 4bb6 8F77      		andi r24,lo8(127)
8419
 8656 4bb8 00C0      		rjmp .L899
8420
 8657               	.L688:
8421
 8658 4bba 6623      		tst r22
8422
 8659 4bbc 01F4      		brne .+2
8423
 8660 4bbe 00C0      		rjmp .L691
8424
 8661 4bc0 2091 0000 		lds r18,FromNC_AltitudeSetpoint
8425
 8662 4bc4 3091 0000 		lds r19,(FromNC_AltitudeSetpoint)+1
8426
 8663 4bc8 4091 0000 		lds r20,(FromNC_AltitudeSetpoint)+2
8427
 8664 4bcc 5091 0000 		lds r21,(FromNC_AltitudeSetpoint)+3
8428
 8665 4bd0 8091 0000 		lds r24,SollHoehe
8429
 8666 4bd4 9091 0000 		lds r25,(SollHoehe)+1
8430
 8667 4bd8 A091 0000 		lds r26,(SollHoehe)+2
8431
 8668 4bdc B091 0000 		lds r27,(SollHoehe)+3
8432
 8669 4be0 2817      		cp r18,r24
8433
 8670 4be2 3907      		cpc r19,r25
8434
 8671 4be4 4A07      		cpc r20,r26
8435
 8672 4be6 5B07      		cpc r21,r27
8436
 8673 4be8 04F4      		brge .L691
8437
 8674 4bea 8091 0000 		lds r24,FC_StatusFlags
8438
 8675 4bee 8068      		ori r24,lo8(-128)
8439
 8676 4bf0 8093 0000 		sts FC_StatusFlags,r24
8440
 8677 4bf4 862F      		mov r24,r22
8441
 8678 4bf6 9927      		clr r25
8442
 8679 4bf8 9095      		com r25
8443
 8680 4bfa 8195      		neg r24
8444
 8681 4bfc 9F4F      		sbci r25,lo8(-1)
8445
 8682 4bfe 9093 0000 		sts (AltitudeSetpointTrimming)+1,r25
8446
 8683 4c02 8093 0000 		sts AltitudeSetpointTrimming,r24
8447
 8684 4c06 86EF      		ldi r24,lo8(-10)
8448
 8685 4c08 8093 0000 		sts WaypointTrimming,r24
8449
 8686 4c0c 86E7      		ldi r24,lo8(118)
8450
 8687 4c0e 8093 0000 		sts VarioCharacter,r24
8451
 8688 4c12 8091 0000 		lds r24,FC_StatusFlags
8452
 8689 4c16 86FF      		sbrs r24,6
8453
 8690 4c18 00C0      		rjmp .L683
8454
 8691 4c1a 8091 0000 		lds r24,FC_StatusFlags
8455
 8692 4c1e 8F7B      		andi r24,lo8(-65)
8456
 8693               	.L899:
8457
 8694 4c20 8093 0000 		sts FC_StatusFlags,r24
8458
 8695 4c24 8091 0000 		lds r24,HoehenWert
8459
 8696 4c28 9091 0000 		lds r25,(HoehenWert)+1
8460
 8697 4c2c A091 0000 		lds r26,(HoehenWert)+2
8461
 8698 4c30 B091 0000 		lds r27,(HoehenWert)+3
8462
 8699 4c34 8093 0000 		sts SollHoehe,r24
8463
 8700 4c38 9093 0000 		sts (SollHoehe)+1,r25
8464
 8701 4c3c A093 0000 		sts (SollHoehe)+2,r26
8465
 8702 4c40 B093 0000 		sts (SollHoehe)+3,r27
8466
 8703 4c44 00C0      		rjmp .L683
8467
 8704               	.L691:
8468
 8705 4c46 8091 0000 		lds r24,FC_StatusFlags
8469
 8706 4c4a 807C      		andi r24,lo8(-64)
8470
 8707 4c4c 01F4      		brne .+2
8471
 8708 4c4e 00C0      		rjmp .L683
8472
 8709 4c50 8091 0000 		lds r24,WaypointTrimming
8473
 8710 4c54 8823      		tst r24
8474
 8711 4c56 01F4      		brne .L695
8475
 8712 4c58 E090 0000 		lds r14,HoehenWert
8476
 8713 4c5c F090 0000 		lds r15,(HoehenWert)+1
8477
 8714 4c60 0091 0000 		lds r16,(HoehenWert)+2
8478
 8715 4c64 1091 0000 		lds r17,(HoehenWert)+3
8479
 8716 4c68 D801      		movw r26,r16
8480
 8717 4c6a C701      		movw r24,r14
8481
 8718 4c6c 8058      		subi r24,lo8(-(-128))
8482
 8719 4c6e 9040      		sbci r25,hi8(-(-128))
8483
 8720 4c70 A040      		sbci r26,hlo8(-(-128))
8484
 8721 4c72 B040      		sbci r27,hhi8(-(-128))
8485
 8722 4c74 2091 0000 		lds r18,SollHoehe
8486
 8723 4c78 3091 0000 		lds r19,(SollHoehe)+1
8487
 8724 4c7c 4091 0000 		lds r20,(SollHoehe)+2
8488
 8725 4c80 5091 0000 		lds r21,(SollHoehe)+3
8489
 8726 4c84 8217      		cp r24,r18
8490
 8727 4c86 9307      		cpc r25,r19
8491
 8728 4c88 A407      		cpc r26,r20
8492
 8729 4c8a B507      		cpc r27,r21
8493
 8730 4c8c 04F4      		brge .L898
8494
 8731 4c8e D801      		movw r26,r16
8495
 8732 4c90 C701      		movw r24,r14
8496
 8733 4c92 8058      		subi r24,lo8(-(128))
8497
 8734 4c94 9F4F      		sbci r25,hi8(-(128))
8498
 8735 4c96 AF4F      		sbci r26,hlo8(-(128))
8499
 8736 4c98 BF4F      		sbci r27,hhi8(-(128))
8500
 8737 4c9a 2817      		cp r18,r24
8501
 8738 4c9c 3907      		cpc r19,r25
8502
 8739 4c9e 4A07      		cpc r20,r26
8503
 8740 4ca0 5B07      		cpc r21,r27
8504
 8741 4ca2 04F0      		brlt .L699
8505
 8742               	.L898:
8506
 8743 4ca4 8093 0000 		sts SollHoehe,r24
8507
 8744 4ca8 9093 0000 		sts (SollHoehe)+1,r25
8508
 8745 4cac A093 0000 		sts (SollHoehe)+2,r26
8509
 8746 4cb0 B093 0000 		sts (SollHoehe)+3,r27
8510
 8747 4cb4 00C0      		rjmp .L699
8511
 8748               	.L695:
8512
 8749 4cb6 1092 0000 		sts WaypointTrimming,__zero_reg__
8513
 8750               	.L699:
8514
 8751 4cba 8091 0000 		lds r24,FC_StatusFlags
8515
 8752 4cbe 8F73      		andi r24,lo8(63)
8516
 8753 4cc0 8093 0000 		sts FC_StatusFlags,r24
8517
 8754 4cc4 1092 0000 		sts (HeightTrimming.21)+1,__zero_reg__
8518
 8755 4cc8 1092 0000 		sts HeightTrimming.21,__zero_reg__
8519
 8756 4ccc 71FF      		sbrs r23,1
8520
 8757 4cce 00C0      		rjmp .L700
8521
 8758 4cd0 84EF      		ldi r24,lo8(500)
8522
 8759 4cd2 91E0      		ldi r25,hi8(500)
8523
 8760 4cd4 9093 0000 		sts (beeptime)+1,r25
8524
 8761 4cd8 8093 0000 		sts beeptime,r24
8525
 8762               	.L700:
8526
 8763 4cdc 8091 0000 		lds r24,StartTrigger
8527
 8764 4ce0 8823      		tst r24
8528
 8765 4ce2 01F4      		brne .L683
8529
 8766 4ce4 8091 0000 		lds r24,HoehenWert
8530
 8767 4ce8 9091 0000 		lds r25,(HoehenWert)+1
8531
 8768 4cec A091 0000 		lds r26,(HoehenWert)+2
8532
 8769 4cf0 B091 0000 		lds r27,(HoehenWert)+3
8533
 8770 4cf4 C397      		sbiw r24,51
8534
 8771 4cf6 A105      		cpc r26,__zero_reg__
8535
 8772 4cf8 B105      		cpc r27,__zero_reg__
8536
 8773 4cfa 04F0      		brlt .L683
8537
 8774 4cfc 81E0      		ldi r24,lo8(1)
8538
 8775 4cfe 8093 0000 		sts StartTrigger,r24
8539
 8776               	.L683:
8540
 8777 4d02 6091 0000 		lds r22,HeightTrimming.21
8541
 8778 4d06 7091 0000 		lds r23,(HeightTrimming.21)+1
8542
 8779 4d0a 8091 0000 		lds r24,AltitudeSetpointTrimming
8543
 8780 4d0e 9091 0000 		lds r25,(AltitudeSetpointTrimming)+1
8544
 8781 4d12 680F      		add r22,r24
8545
 8782 4d14 791F      		adc r23,r25
8546
 8783 4d16 7093 0000 		sts (HeightTrimming.21)+1,r23
8547
 8784 4d1a 6093 0000 		sts HeightTrimming.21,r22
8548
 8785 4d1e CB01      		movw r24,r22
8549
 8786 4d20 77FF      		sbrs r23,7
8550
 8787 4d22 00C0      		rjmp .L703
8551
 8788 4d24 8827      		clr r24
8552
 8789 4d26 9927      		clr r25
8553
 8790 4d28 861B      		sub r24,r22
8554
 8791 4d2a 970B      		sbc r25,r23
8555
 8792               	.L703:
8556
 8793 4d2c 855F      		subi r24,lo8(501)
8557
 8794 4d2e 9140      		sbci r25,hi8(501)
8558
 8795 4d30 04F4      		brge .+2
8559
 8796 4d32 00C0      		rjmp .L702
8560
 8797 4d34 4091 0000 		lds r20,WaypointTrimming
8561
 8798 4d38 4423      		tst r20
8562
 8799 4d3a 01F0      		breq .L704
8563
 8800 4d3c 8091 0000 		lds r24,FromNC_AltitudeSetpoint
8564
 8801 4d40 9091 0000 		lds r25,(FromNC_AltitudeSetpoint)+1
8565
 8802 4d44 2091 0000 		lds r18,SollHoehe
8566
 8803 4d48 3091 0000 		lds r19,(SollHoehe)+1
8567
 8804 4d4c 821B      		sub r24,r18
8568
 8805 4d4e 930B      		sbc r25,r19
8569
 8806 4d50 0996      		adiw r24,9
8570
 8807 4d52 4397      		sbiw r24,19
8571
 8808 4d54 00F4      		brsh .L705
8572
 8809 4d56 8091 0000 		lds r24,FromNC_AltitudeSetpoint
8573
 8810 4d5a 9091 0000 		lds r25,(FromNC_AltitudeSetpoint)+1
8574
 8811 4d5e A091 0000 		lds r26,(FromNC_AltitudeSetpoint)+2
8575
 8812 4d62 B091 0000 		lds r27,(FromNC_AltitudeSetpoint)+3
8576
 8813 4d66 00C0      		rjmp .L901
8577
 8814               	.L705:
8578
 8815 4d68 242F      		mov r18,r20
8579
 8816 4d6a 3327      		clr r19
8580
 8817 4d6c 27FD      		sbrc r18,7
8581
 8818 4d6e 3095      		com r19
8582
 8819 4d70 432F      		mov r20,r19
8583
 8820 4d72 532F      		mov r21,r19
8584
 8821 4d74 8091 0000 		lds r24,SollHoehe
8585
 8822 4d78 9091 0000 		lds r25,(SollHoehe)+1
8586
 8823 4d7c A091 0000 		lds r26,(SollHoehe)+2
8587
 8824 4d80 B091 0000 		lds r27,(SollHoehe)+3
8588
 8825 4d84 820F      		add r24,r18
8589
 8826 4d86 931F      		adc r25,r19
8590
 8827 4d88 A41F      		adc r26,r20
8591
 8828 4d8a B51F      		adc r27,r21
8592
 8829               	.L901:
8593
 8830 4d8c 8093 0000 		sts SollHoehe,r24
8594
 8831 4d90 9093 0000 		sts (SollHoehe)+1,r25
8595
 8832 4d94 A093 0000 		sts (SollHoehe)+2,r26
8596
 8833 4d98 B093 0000 		sts (SollHoehe)+3,r27
8597
 8834 4d9c 00C0      		rjmp .L707
8598
 8835               	.L704:
8599
 8836 4d9e 8091 0000 		lds r24,EE_Parameter+18
8600
 8837 4da2 2091 0000 		lds r18,SollHoehe
8601
 8838 4da6 3091 0000 		lds r19,(SollHoehe)+1
8602
 8839 4daa 4091 0000 		lds r20,(SollHoehe)+2
8603
 8840 4dae 5091 0000 		lds r21,(SollHoehe)+3
8604
 8841 4db2 1616      		cp __zero_reg__,r22
8605
 8842 4db4 1706      		cpc __zero_reg__,r23
8606
 8843 4db6 04F4      		brge .L708
8607
 8844 4db8 63E0      		ldi r22,lo8(3)
8608
 8845 4dba 0E94 0000 		call __udivmodqi4
8609
 8846 4dbe 280F      		add r18,r24
8610
 8847 4dc0 311D      		adc r19,__zero_reg__
8611
 8848 4dc2 411D      		adc r20,__zero_reg__
8612
 8849 4dc4 511D      		adc r21,__zero_reg__
8613
 8850 4dc6 00C0      		rjmp .L900
8614
 8851               	.L708:
8615
 8852 4dc8 63E0      		ldi r22,lo8(3)
8616
 8853 4dca 0E94 0000 		call __udivmodqi4
8617
 8854 4dce 281B      		sub r18,r24
8618
 8855 4dd0 3109      		sbc r19,__zero_reg__
8619
 8856 4dd2 4109      		sbc r20,__zero_reg__
8620
 8857 4dd4 5109      		sbc r21,__zero_reg__
8621
 8858               	.L900:
8622
 8859 4dd6 2093 0000 		sts SollHoehe,r18
8623
 8860 4dda 3093 0000 		sts (SollHoehe)+1,r19
8624
 8861 4dde 4093 0000 		sts (SollHoehe)+2,r20
8625
 8862 4de2 5093 0000 		sts (SollHoehe)+3,r21
8626
 8863               	.L707:
8627
 8864 4de6 1092 0000 		sts (HeightTrimming.21)+1,__zero_reg__
8628
 8865 4dea 1092 0000 		sts HeightTrimming.21,__zero_reg__
8629
 8866 4dee E090 0000 		lds r14,HoehenWert
8630
 8867 4df2 F090 0000 		lds r15,(HoehenWert)+1
8631
 8868 4df6 0091 0000 		lds r16,(HoehenWert)+2
8632
 8869 4dfa 1091 0000 		lds r17,(HoehenWert)+3
8633
 8870 4dfe D801      		movw r26,r16
8634
 8871 4e00 C701      		movw r24,r14
8635
 8872 4e02 8050      		subi r24,lo8(-(-1024))
8636
 8873 4e04 9440      		sbci r25,hi8(-(-1024))
8637
 8874 4e06 A040      		sbci r26,hlo8(-(-1024))
8638
 8875 4e08 B040      		sbci r27,hhi8(-(-1024))
8639
 8876 4e0a 2091 0000 		lds r18,SollHoehe
8640
 8877 4e0e 3091 0000 		lds r19,(SollHoehe)+1
8641
 8878 4e12 4091 0000 		lds r20,(SollHoehe)+2
8642
 8879 4e16 5091 0000 		lds r21,(SollHoehe)+3
8643
 8880 4e1a 8217      		cp r24,r18
8644
 8881 4e1c 9307      		cpc r25,r19
8645
 8882 4e1e A407      		cpc r26,r20
8646
 8883 4e20 B507      		cpc r27,r21
8647
 8884 4e22 04F4      		brge .L902
8648
 8885 4e24 D801      		movw r26,r16
8649
 8886 4e26 C701      		movw r24,r14
8650
 8887 4e28 8050      		subi r24,lo8(-(1024))
8651
 8888 4e2a 9C4F      		sbci r25,hi8(-(1024))
8652
 8889 4e2c AF4F      		sbci r26,hlo8(-(1024))
8653
 8890 4e2e BF4F      		sbci r27,hhi8(-(1024))
8654
 8891 4e30 2817      		cp r18,r24
8655
 8892 4e32 3907      		cpc r19,r25
8656
 8893 4e34 4A07      		cpc r20,r26
8657
 8894 4e36 5B07      		cpc r21,r27
8658
 8895 4e38 04F0      		brlt .L711
8659
 8896               	.L902:
8660
 8897 4e3a 8093 0000 		sts SollHoehe,r24
8661
 8898 4e3e 9093 0000 		sts (SollHoehe)+1,r25
8662
 8899 4e42 A093 0000 		sts (SollHoehe)+2,r26
8663
 8900 4e46 B093 0000 		sts (SollHoehe)+3,r27
8664
 8901               	.L711:
8665
 8902 4e4a 8091 0000 		lds r24,Parameter_ExtraConfig
8666
 8903 4e4e 81FF      		sbrs r24,1
8667
 8904 4e50 00C0      		rjmp .L713
8668
 8905 4e52 84E6      		ldi r24,lo8(100)
8669
 8906 4e54 90E0      		ldi r25,hi8(100)
8670
 8907 4e56 9093 0000 		sts (beeptime)+1,r25
8671
 8908 4e5a 8093 0000 		sts beeptime,r24
8672
 8909               	.L713:
8673
 8910 4e5e 8091 0000 		lds r24,EE_Parameter+22
8674
 8911 4e62 8823      		tst r24
8675
 8912 4e64 01F4      		brne .L702
8676
 8913 4e66 8091 0000 		lds r24,FromNC_AltitudeSpeed
8677
 8914 4e6a 8823      		tst r24
8678
 8915 4e6c 01F4      		brne .L702
8679
 8916 4e6e 4091 0000 		lds r20,HoverGas
8680
 8917 4e72 5091 0000 		lds r21,(HoverGas)+1
8681
 8918 4e76 57FF      		sbrs r21,7
8682
 8919 4e78 00C0      		rjmp .L715
8683
 8920 4e7a 4D5F      		subi r20,lo8(-(3))
8684
 8921 4e7c 5F4F      		sbci r21,hi8(-(3))
8685
 8922               	.L715:
8686
 8923 4e7e 5595      		asr r21
8687
 8924 4e80 4795      		ror r20
8688
 8925 4e82 5595      		asr r21
8689
 8926 4e84 4795      		ror r20
8690
 8927 4e86 8091 0000 		lds r24,UBat
8691
 8928 4e8a 9091 0000 		lds r25,(UBat)+1
8692
 8929 4e8e 2091 0000 		lds r18,BattLowVoltageWarning
8693
 8930 4e92 3327      		clr r19
8694
 8931 4e94 489F      		mul r20,r24
8695
 8932 4e96 F001      		movw r30,r0
8696
 8933 4e98 499F      		mul r20,r25
8697
 8934 4e9a F00D      		add r31,r0
8698
 8935 4e9c 589F      		mul r21,r24
8699
 8936 4e9e F00D      		add r31,r0
8700
 8937 4ea0 1124      		clr r1
8701
 8938 4ea2 CF01      		movw r24,r30
8702
 8939 4ea4 B901      		movw r22,r18
8703
 8940 4ea6 0E94 0000 		call __divmodhi4
8704
 8941 4eaa 7093 0000 		sts (StickGasHover)+1,r23
8705
 8942 4eae 6093 0000 		sts StickGasHover,r22
8706
 8943 4eb2 6634      		cpi r22,70
8707
 8944 4eb4 7105      		cpc r23,__zero_reg__
8708
 8945 4eb6 04F4      		brge .L716
8709
 8946 4eb8 86E4      		ldi r24,lo8(70)
8710
 8947 4eba 90E0      		ldi r25,hi8(70)
8711
 8948 4ebc 00C0      		rjmp .L903
8712
 8949               	.L716:
8713
 8950 4ebe 6739      		cpi r22,151
8714
 8951 4ec0 7105      		cpc r23,__zero_reg__
8715
 8952 4ec2 04F0      		brlt .L702
8716
 8953 4ec4 86E9      		ldi r24,lo8(150)
8717
 8954 4ec6 90E0      		ldi r25,hi8(150)
8718
 8955               	.L903:
8719
 8956 4ec8 9093 0000 		sts (StickGasHover)+1,r25
8720
 8957 4ecc 8093 0000 		sts StickGasHover,r24
8721
 8958               	.L702:
8722
 8959 4ed0 8091 0000 		lds r24,BaroExpandActive
8723
 8960 4ed4 9091 0000 		lds r25,(BaroExpandActive)+1
8724
 8961 4ed8 892B      		or r24,r25
8725
 8962 4eda 01F0      		breq .L720
8726
 8963 4edc 8091 0000 		lds r24,HoehenWert
8727
 8964 4ee0 9091 0000 		lds r25,(HoehenWert)+1
8728
 8965 4ee4 A091 0000 		lds r26,(HoehenWert)+2
8729
 8966 4ee8 B091 0000 		lds r27,(HoehenWert)+3
8730
 8967 4eec 8093 0000 		sts SollHoehe,r24
8731
 8968 4ef0 9093 0000 		sts (SollHoehe)+1,r25
8732
 8969 4ef4 A093 0000 		sts (SollHoehe)+2,r26
8733
 8970 4ef8 B093 0000 		sts (SollHoehe)+3,r27
8734
 8971 4efc 00C0      		rjmp .L720
8735
 8972               	.L677:
8736
 8973 4efe 8091 0000 		lds r24,HoehenWert
8737
 8974 4f02 9091 0000 		lds r25,(HoehenWert)+1
8738
 8975 4f06 A091 0000 		lds r26,(HoehenWert)+2
8739
 8976 4f0a B091 0000 		lds r27,(HoehenWert)+3
8740
 8977 4f0e 8059      		subi r24,lo8(-(-400))
8741
 8978 4f10 9140      		sbci r25,hi8(-(-400))
8742
 8979 4f12 A040      		sbci r26,hlo8(-(-400))
8743
 8980 4f14 B040      		sbci r27,hhi8(-(-400))
8744
 8981 4f16 8093 0000 		sts SollHoehe,r24
8745
 8982 4f1a 9093 0000 		sts (SollHoehe)+1,r25
8746
 8983 4f1e A093 0000 		sts (SollHoehe)+2,r26
8747
 8984 4f22 B093 0000 		sts (SollHoehe)+3,r27
8748
 8985 4f26 8091 0000 		lds r24,EE_Parameter+22
8749
 8986 4f2a 8823      		tst r24
8750
 8987 4f2c 01F0      		breq .L721
8751
 8988 4f2e 9927      		clr r25
8752
 8989 4f30 00C0      		rjmp .L904
8753
 8990               	.L721:
8754
 8991 4f32 88E7      		ldi r24,lo8(120)
8755
 8992 4f34 90E0      		ldi r25,hi8(120)
8756
 8993               	.L904:
8757
 8994 4f36 9093 0000 		sts (StickGasHover)+1,r25
8758
 8995 4f3a 8093 0000 		sts StickGasHover,r24
8759
 8996 4f3e E980      		ldd r14,Y+1
8760
 8997 4f40 FA80      		ldd r15,Y+2
8761
 8998 4f42 F092 0000 		sts (HoverGas)+1,r15
8762
 8999 4f46 E092 0000 		sts HoverGas,r14
8763
 9000 4f4a 8EE2      		ldi r24,lo8(46)
8764
 9001 4f4c 8093 0000 		sts VarioCharacter,r24
8765
 9002               	.L720:
8766
 9003 4f50 C090 0000 		lds r12,HoverGas
8767
 9004 4f54 D090 0000 		lds r13,(HoverGas)+1
8768
 9005               	.L676:
8769
 9006 4f58 E090 0000 		lds r14,HoehenWert
8770
 9007 4f5c F090 0000 		lds r15,(HoehenWert)+1
8771
 9008 4f60 0091 0000 		lds r16,(HoehenWert)+2
8772
 9009 4f64 1091 0000 		lds r17,(HoehenWert)+3
8773
 9010 4f68 2091 0000 		lds r18,SollHoehe
8774
 9011 4f6c 3091 0000 		lds r19,(SollHoehe)+1
8775
 9012 4f70 4091 0000 		lds r20,(SollHoehe)+2
8776
 9013 4f74 5091 0000 		lds r21,(SollHoehe)+3
8777
 9014 4f78 2E15      		cp r18,r14
8778
 9015 4f7a 3F05      		cpc r19,r15
8779
 9016 4f7c 4007      		cpc r20,r16
8780
 9017 4f7e 5107      		cpc r21,r17
8781
 9018 4f80 04F0      		brlt .L724
8782
 9019 4f82 8091 0000 		lds r24,Parameter_ExtraConfig
8783
 9020 4f86 80FD      		sbrc r24,0
8784
 9021 4f88 00C0      		rjmp .L782
8785
 9022               	.L724:
8786
 9023 4f8a 8091 0000 		lds r24,BaroExpandActive
8787
 9024 4f8e 9091 0000 		lds r25,(BaroExpandActive)+1
8788
 9025 4f92 892B      		or r24,r25
8789
 9026 4f94 01F0      		breq .L725
8790
 9027 4f96 C090 0000 		lds r12,HoverGas
8791
 9028 4f9a D090 0000 		lds r13,(HoverGas)+1
8792
 9029 4f9e 00E0      		ldi r16,lo8(0)
8793
 9030 4fa0 10E0      		ldi r17,hi8(0)
8794
 9031 4fa2 00C0      		rjmp .L726
8795
 9032               	.L725:
8796
 9033 4fa4 D801      		movw r26,r16
8797
 9034 4fa6 C701      		movw r24,r14
8798
 9035 4fa8 821B      		sub r24,r18
8799
 9036 4faa 930B      		sbc r25,r19
8800
 9037 4fac A40B      		sbc r26,r20
8801
 9038 4fae B50B      		sbc r27,r21
8802
 9039 4fb0 8093 0000 		sts tmp_long.1,r24
8803
 9040 4fb4 9093 0000 		sts (tmp_long.1)+1,r25
8804
 9041 4fb8 A093 0000 		sts (tmp_long.1)+2,r26
8805
 9042 4fbc B093 0000 		sts (tmp_long.1)+3,r27
8806
 9043 4fc0 8230      		cpi r24,lo8(-32766)
8807
 9044 4fc2 00E8      		ldi r16,hi8(-32766)
8808
 9045 4fc4 9007      		cpc r25,r16
8809
 9046 4fc6 0FEF      		ldi r16,hlo8(-32766)
8810
 9047 4fc8 A007      		cpc r26,r16
8811
 9048 4fca 0FEF      		ldi r16,hhi8(-32766)
8812
 9049 4fcc B007      		cpc r27,r16
8813
 9050 4fce 04F4      		brge .L727
8814
 9051 4fd0 81E0      		ldi r24,lo8(-32767)
8815
 9052 4fd2 90E8      		ldi r25,hi8(-32767)
8816
 9053 4fd4 AFEF      		ldi r26,hlo8(-32767)
8817
 9054 4fd6 BFEF      		ldi r27,hhi8(-32767)
8818
 9055 4fd8 00C0      		rjmp .L905
8819
 9056               	.L727:
8820
 9057 4fda 8F5F      		subi r24,lo8(32767)
8821
 9058 4fdc 9F47      		sbci r25,hi8(32767)
8822
 9059 4fde A040      		sbci r26,hlo8(32767)
8823
 9060 4fe0 B040      		sbci r27,hhi8(32767)
8824
 9061 4fe2 04F0      		brlt .L728
8825
 9062 4fe4 8FEF      		ldi r24,lo8(32767)
8826
 9063 4fe6 9FE7      		ldi r25,hi8(32767)
8827
 9064 4fe8 A0E0      		ldi r26,hlo8(32767)
8828
 9065 4fea B0E0      		ldi r27,hhi8(32767)
8829
 9066               	.L905:
8830
 9067 4fec 8093 0000 		sts tmp_long.1,r24
8831
 9068 4ff0 9093 0000 		sts (tmp_long.1)+1,r25
8832
 9069 4ff4 A093 0000 		sts (tmp_long.1)+2,r26
8833
 9070 4ff8 B093 0000 		sts (tmp_long.1)+3,r27
8834
 9071               	.L728:
8835
 9072 4ffc 0091 0000 		lds r16,tmp_long.1
8836
 9073 5000 1091 0000 		lds r17,(tmp_long.1)+1
8837
 9074 5004 8091 0000 		lds r24,Parameter_Hoehe_P
8838
 9075 5008 282F      		mov r18,r24
8839
 9076 500a 3327      		clr r19
8840
 9077 500c 4427      		clr r20
8841
 9078 500e 5527      		clr r21
8842
 9079 5010 8091 0000 		lds r24,tmp_long.1
8843
 9080 5014 9091 0000 		lds r25,(tmp_long.1)+1
8844
 9081 5018 A091 0000 		lds r26,(tmp_long.1)+2
8845
 9082 501c B091 0000 		lds r27,(tmp_long.1)+3
8846
 9083 5020 BC01      		movw r22,r24
8847
 9084 5022 CD01      		movw r24,r26
8848
 9085 5024 0E94 0000 		call __mulsi3
8849
 9086 5028 97FF      		sbrs r25,7
8850
 9087 502a 00C0      		rjmp .L730
8851
 9088 502c 615E      		subi r22,lo8(-(31))
8852
 9089 502e 7F4F      		sbci r23,hi8(-(31))
8853
 9090 5030 8F4F      		sbci r24,hlo8(-(31))
8854
 9091 5032 9F4F      		sbci r25,hhi8(-(31))
8855
 9092               	.L730:
8856
 9093 5034 25E0      		ldi r18,5
8857
 9094 5036 9595      	1:	asr r25
8858
 9095 5038 8795      		ror r24
8859
 9096 503a 7795      		ror r23
8860
 9097 503c 6795      		ror r22
8861
 9098 503e 2A95      		dec r18
8862
 9099 5040 01F4      		brne 1b
8863
 9100 5042 6093 0000 		sts tmp_long.1,r22
8864
 9101 5046 7093 0000 		sts (tmp_long.1)+1,r23
8865
 9102 504a 8093 0000 		sts (tmp_long.1)+2,r24
8866
 9103 504e 9093 0000 		sts (tmp_long.1)+3,r25
8867
 9104 5052 6530      		cpi r22,lo8(-507)
8868
 9105 5054 2EEF      		ldi r18,hi8(-507)
8869
 9106 5056 7207      		cpc r23,r18
8870
 9107 5058 2FEF      		ldi r18,hlo8(-507)
8871
 9108 505a 8207      		cpc r24,r18
8872
 9109 505c 2FEF      		ldi r18,hhi8(-507)
8873
 9110 505e 9207      		cpc r25,r18
8874
 9111 5060 04F4      		brge .L731
8875
 9112 5062 84E0      		ldi r24,lo8(-508)
8876
 9113 5064 9EEF      		ldi r25,hi8(-508)
8877
 9114 5066 AFEF      		ldi r26,hlo8(-508)
8878
 9115 5068 BFEF      		ldi r27,hhi8(-508)
8879
 9116 506a 00C0      		rjmp .L906
8880
 9117               	.L731:
8881
 9118 506c 6050      		subi r22,lo8(1024)
8882
 9119 506e 7440      		sbci r23,hi8(1024)
8883
 9120 5070 8040      		sbci r24,hlo8(1024)
8884
 9121 5072 9040      		sbci r25,hhi8(1024)
8885
 9122 5074 04F0      		brlt .L732
8886
 9123 5076 80E0      		ldi r24,lo8(1024)
8887
 9124 5078 94E0      		ldi r25,hi8(1024)
8888
 9125 507a A0E0      		ldi r26,hlo8(1024)
8889
 9126 507c B0E0      		ldi r27,hhi8(1024)
8890
 9127               	.L906:
8891
 9128 507e 8093 0000 		sts tmp_long.1,r24
8892
 9129 5082 9093 0000 		sts (tmp_long.1)+1,r25
8893
 9130 5086 A093 0000 		sts (tmp_long.1)+2,r26
8894
 9131 508a B093 0000 		sts (tmp_long.1)+3,r27
8895
 9132               	.L732:
8896
 9133 508e 8090 0000 		lds r8,tmp_long.1
8897
 9134 5092 9090 0000 		lds r9,(tmp_long.1)+1
8898
 9135 5096 2091 0000 		lds r18,VarioMeter
8899
 9136 509a 3091 0000 		lds r19,(VarioMeter)+1
8900
 9137 509e 37FF      		sbrs r19,7
8901
 9138 50a0 00C0      		rjmp .L734
8902
 9139 50a2 295F      		subi r18,lo8(-(7))
8903
 9140 50a4 3F4F      		sbci r19,hi8(-(7))
8904
 9141               	.L734:
8905
 9142 50a6 83E0      		ldi r24,3
8906
 9143 50a8 3595      	1:	asr r19
8907
 9144 50aa 2795      		ror r18
8908
 9145 50ac 8A95      		dec r24
8909
 9146 50ae 01F4      		brne 1b
8910
 9147 50b0 4FEF      		ldi r20,hi8(-126)
8911
 9148 50b2 2238      		cpi r18,lo8(-126)
8912
 9149 50b4 3407      		cpc r19,r20
8913
 9150 50b6 04F4      		brge .L735
8914
 9151 50b8 21E8      		ldi r18,lo8(-127)
8915
 9152 50ba 3FEF      		ldi r19,hi8(-127)
8916
 9153 50bc 00C0      		rjmp .L736
8917
 9154               	.L735:
8918
 9155 50be 2038      		cpi r18,128
8919
 9156 50c0 3105      		cpc r19,__zero_reg__
8920
 9157 50c2 04F0      		brlt .L736
8921
 9158 50c4 20E8      		ldi r18,lo8(128)
8922
 9159 50c6 30E0      		ldi r19,hi8(128)
8923
 9160               	.L736:
8924
 9161 50c8 C901      		movw r24,r18
8925
 9162 50ca AA27      		clr r26
8926
 9163 50cc 97FD      		sbrc r25,7
8927
 9164 50ce A095      		com r26
8928
 9165 50d0 BA2F      		mov r27,r26
8929
 9166 50d2 2091 0000 		lds r18,Parameter_Luftdruck_D
8930
 9167 50d6 3327      		clr r19
8931
 9168 50d8 4427      		clr r20
8932
 9169 50da 5527      		clr r21
8933
 9170 50dc BC01      		movw r22,r24
8934
 9171 50de CD01      		movw r24,r26
8935
 9172 50e0 0E94 0000 		call __mulsi3
8936
 9173 50e4 97FF      		sbrs r25,7
8937
 9174 50e6 00C0      		rjmp .L738
8938
 9175 50e8 6D5F      		subi r22,lo8(-(3))
8939
 9176 50ea 7F4F      		sbci r23,hi8(-(3))
8940
 9177 50ec 8F4F      		sbci r24,hlo8(-(3))
8941
 9178 50ee 9F4F      		sbci r25,hhi8(-(3))
8942
 9179               	.L738:
8943
 9180 50f0 B2E0      		ldi r27,2
8944
 9181 50f2 9595      	1:	asr r25
8945
 9182 50f4 8795      		ror r24
8946
 9183 50f6 7795      		ror r23
8947
 9184 50f8 6795      		ror r22
8948
 9185 50fa BA95      		dec r27
8949
 9186 50fc 01F4      		brne 1b
8950
 9187 50fe 9B01      		movw r18,r22
8951
 9188 5100 5FEF      		ldi r21,hi8(-255)
8952
 9189 5102 6130      		cpi r22,lo8(-255)
8953
 9190 5104 7507      		cpc r23,r21
8954
 9191 5106 04F4      		brge .L739
8955
 9192 5108 20E0      		ldi r18,lo8(-256)
8956
 9193 510a 3FEF      		ldi r19,hi8(-256)
8957
 9194 510c 00C0      		rjmp .L740
8958
 9195               	.L739:
8959
 9196 510e 6F3F      		cpi r22,255
8960
 9197 5110 7105      		cpc r23,__zero_reg__
8961
 9198 5112 01F0      		breq .L740
8962
 9199 5114 04F0      		brlt .L740
8963
 9200 5116 20E0      		ldi r18,lo8(256)
8964
 9201 5118 31E0      		ldi r19,hi8(256)
8965
 9202               	.L740:
8966
 9203 511a 8091 0000 		lds r24,FC_StatusFlags
8967
 9204 511e 807C      		andi r24,lo8(-64)
8968
 9205 5120 01F0      		breq .L742
8969
 9206 5122 C901      		movw r24,r18
8970
 9207 5124 37FD      		sbrc r19,7
8971
 9208 5126 0396      		adiw r24,3
8972
 9209               	.L743:
8973
 9210 5128 9C01      		movw r18,r24
8974
 9211 512a 3595      		asr r19
8975
 9212 512c 2795      		ror r18
8976
 9213 512e 3595      		asr r19
8977
 9214 5130 2795      		ror r18
8978
 9215 5132 00C0      		rjmp .L744
8979
 9216               	.L742:
8980
 9217 5134 8091 0000 		lds r24,Parameter_ExtraConfig
8981
 9218 5138 80FF      		sbrs r24,0
8982
 9219 513a 00C0      		rjmp .L744
8983
 9220 513c C901      		movw r24,r18
8984
 9221 513e 37FD      		sbrc r19,7
8985
 9222 5140 0796      		adiw r24,7
8986
 9223               	.L746:
8987
 9224 5142 9C01      		movw r18,r24
8988
 9225 5144 F3E0      		ldi r31,3
8989
 9226 5146 3595      	1:	asr r19
8990
 9227 5148 2795      		ror r18
8991
 9228 514a FA95      		dec r31
8992
 9229 514c 01F4      		brne 1b
8993
 9230               	.L744:
8994
 9231 514e 820E      		add r8,r18
8995
 9232 5150 931E      		adc r9,r19
8996
 9233               	.L726:
8997
 9234 5152 2091 0000 		lds r18,Parameter_Hoehe_ACC_Wirkung
8998
 9235 5156 2223      		tst r18
8999
 9236 5158 01F4      		brne .+2
9000
 9237 515a 00C0      		rjmp .L747
9001
 9238 515c 6091 0000 		lds r22,Mess_Integral_Hoch
9002
 9239 5160 7091 0000 		lds r23,(Mess_Integral_Hoch)+1
9003
 9240 5164 8091 0000 		lds r24,(Mess_Integral_Hoch)+2
9004
 9241 5168 9091 0000 		lds r25,(Mess_Integral_Hoch)+3
9005
 9242 516c 97FF      		sbrs r25,7
9006
 9243 516e 00C0      		rjmp .L748
9007
 9244 5170 6158      		subi r22,lo8(-(127))
9008
 9245 5172 7F4F      		sbci r23,hi8(-(127))
9009
 9246 5174 8F4F      		sbci r24,hlo8(-(127))
9010
 9247 5176 9F4F      		sbci r25,hhi8(-(127))
9011
 9248               	.L748:
9012
 9249 5178 E7E0      		ldi r30,7
9013
 9250 517a 9595      	1:	asr r25
9014
 9251 517c 8795      		ror r24
9015
 9252 517e 7795      		ror r23
9016
 9253 5180 6795      		ror r22
9017
 9254 5182 EA95      		dec r30
9018
 9255 5184 01F4      		brne 1b
9019
 9256 5186 3327      		clr r19
9020
 9257 5188 4427      		clr r20
9021
 9258 518a 5527      		clr r21
9022
 9259 518c 0E94 0000 		call __mulsi3
9023
 9260 5190 97FF      		sbrs r25,7
9024
 9261 5192 00C0      		rjmp .L749
9025
 9262 5194 615E      		subi r22,lo8(-(31))
9026
 9263 5196 7F4F      		sbci r23,hi8(-(31))
9027
 9264 5198 8F4F      		sbci r24,hlo8(-(31))
9028
 9265 519a 9F4F      		sbci r25,hhi8(-(31))
9029
 9266               	.L749:
9030
 9267 519c 55E0      		ldi r21,5
9031
 9268 519e 9595      	1:	asr r25
9032
 9269 51a0 8795      		ror r24
9033
 9270 51a2 7795      		ror r23
9034
 9271 51a4 6795      		ror r22
9035
 9272 51a6 5A95      		dec r21
9036
 9273 51a8 01F4      		brne 1b
9037
 9274 51aa 6093 0000 		sts tmp_long.1,r22
9038
 9275 51ae 7093 0000 		sts (tmp_long.1)+1,r23
9039
 9276 51b2 8093 0000 		sts (tmp_long.1)+2,r24
9040
 9277 51b6 9093 0000 		sts (tmp_long.1)+3,r25
9041
 9278 51ba 6138      		cpi r22,lo8(-127)
9042
 9279 51bc AFEF      		ldi r26,hi8(-127)
9043
 9280 51be 7A07      		cpc r23,r26
9044
 9281 51c0 AFEF      		ldi r26,hlo8(-127)
9045
 9282 51c2 8A07      		cpc r24,r26
9046
 9283 51c4 AFEF      		ldi r26,hhi8(-127)
9047
 9284 51c6 9A07      		cpc r25,r26
9048
 9285 51c8 04F4      		brge .L750
9049
 9286 51ca 80E8      		ldi r24,lo8(-128)
9050
 9287 51cc 9FEF      		ldi r25,hi8(-128)
9051
 9288 51ce AFEF      		ldi r26,hlo8(-128)
9052
 9289 51d0 BFEF      		ldi r27,hhi8(-128)
9053
 9290 51d2 00C0      		rjmp .L907
9054
 9291               	.L750:
9055
 9292 51d4 6F3F      		cpi r22,lo8(255)
9056
 9293 51d6 7105      		cpc r23,__zero_reg__
9057
 9294 51d8 8105      		cpc r24,__zero_reg__
9058
 9295 51da 9105      		cpc r25,__zero_reg__
9059
 9296 51dc 01F0      		breq .L751
9060
 9297 51de 04F0      		brlt .L751
9061
 9298 51e0 80E0      		ldi r24,lo8(256)
9062
 9299 51e2 91E0      		ldi r25,hi8(256)
9063
 9300 51e4 A0E0      		ldi r26,hlo8(256)
9064
 9301 51e6 B0E0      		ldi r27,hhi8(256)
9065
 9302               	.L907:
9066
 9303 51e8 8093 0000 		sts tmp_long.1,r24
9067
 9304 51ec 9093 0000 		sts (tmp_long.1)+1,r25
9068
 9305 51f0 A093 0000 		sts (tmp_long.1)+2,r26
9069
 9306 51f4 B093 0000 		sts (tmp_long.1)+3,r27
9070
 9307               	.L751:
9071
 9308 51f8 8091 0000 		lds r24,tmp_long.1
9072
 9309 51fc 9091 0000 		lds r25,(tmp_long.1)+1
9073
 9310 5200 880E      		add r8,r24
9074
 9311 5202 991E      		adc r9,r25
9075
 9312               	.L747:
9076
 9313 5204 8091 0000 		lds r24,Parameter_Hoehe_GPS_Z
9077
 9314 5208 282F      		mov r18,r24
9078
 9315 520a 3327      		clr r19
9079
 9316 520c 8091 0000 		lds r24,FromNaviCtrl_Value+4
9080
 9317 5210 9927      		clr r25
9081
 9318 5212 87FD      		sbrc r24,7
9082
 9319 5214 9095      		com r25
9083
 9320 5216 289F      		mul r18,r24
9084
 9321 5218 F001      		movw r30,r0
9085
 9322 521a 299F      		mul r18,r25
9086
 9323 521c F00D      		add r31,r0
9087
 9324 521e 389F      		mul r19,r24
9088
 9325 5220 F00D      		add r31,r0
9089
 9326 5222 1124      		clr r1
9090
 9327 5224 9F01      		movw r18,r30
9091
 9328 5226 F7FF      		sbrs r31,7
9092
 9329 5228 00C0      		rjmp .L753
9093
 9330 522a 2158      		subi r18,lo8(-(127))
9094
 9331 522c 3F4F      		sbci r19,hi8(-(127))
9095
 9332               	.L753:
9096
 9333 522e 220F      		lsl r18
9097
 9334 5230 232F      		mov r18,r19
9098
 9335 5232 221F      		rol r18
9099
 9336 5234 330B      		sbc r19,r19
9100
 9337 5236 FFEF      		ldi r31,hi8(-127)
9101
 9338 5238 2138      		cpi r18,lo8(-127)
9102
 9339 523a 3F07      		cpc r19,r31
9103
 9340 523c 04F4      		brge .L754
9104
 9341 523e 20E8      		ldi r18,lo8(-128)
9105
 9342 5240 3FEF      		ldi r19,hi8(-128)
9106
 9343 5242 00C0      		rjmp .L755
9107
 9344               	.L754:
9108
 9345 5244 2F3F      		cpi r18,255
9109
 9346 5246 3105      		cpc r19,__zero_reg__
9110
 9347 5248 01F0      		breq .L755
9111
 9348 524a 04F0      		brlt .L755
9112
 9349 524c 20E0      		ldi r18,lo8(256)
9113
 9350 524e 31E0      		ldi r19,hi8(256)
9114
 9351               	.L755:
9115
 9352 5250 820E      		add r8,r18
9116
 9353 5252 931E      		adc r9,r19
9117
 9354 5254 C401      		movw r24,r8
9118
 9355 5256 AA27      		clr r26
9119
 9356 5258 97FD      		sbrc r25,7
9120
 9357 525a A095      		com r26
9121
 9358 525c BA2F      		mov r27,r26
9122
 9359 525e E090 0000 		lds r14,HoverGas
9123
 9360 5262 F090 0000 		lds r15,(HoverGas)+1
9124
 9361 5266 9701      		movw r18,r14
9125
 9362 5268 4427      		clr r20
9126
 9363 526a 37FD      		sbrc r19,7
9127
 9364 526c 4095      		com r20
9128
 9365 526e 542F      		mov r21,r20
9129
 9366 5270 BC01      		movw r22,r24
9130
 9367 5272 CD01      		movw r24,r26
9131
 9368 5274 0E94 0000 		call __mulsi3
9132
 9369 5278 97FF      		sbrs r25,7
9133
 9370 527a 00C0      		rjmp .L757
9134
 9371 527c 6150      		subi r22,lo8(-(511))
9135
 9372 527e 7E4F      		sbci r23,hi8(-(511))
9136
 9373 5280 8F4F      		sbci r24,hlo8(-(511))
9137
 9374 5282 9F4F      		sbci r25,hhi8(-(511))
9138
 9375               	.L757:
9139
 9376 5284 29E0      		ldi r18,9
9140
 9377 5286 9595      	1:	asr r25
9141
 9378 5288 8795      		ror r24
9142
 9379 528a 7795      		ror r23
9143
 9380 528c 6795      		ror r22
9144
 9381 528e 2A95      		dec r18
9145
 9382 5290 01F4      		brne 1b
9146
 9383 5292 C61A      		sub r12,r22
9147
 9384 5294 D70A      		sbc r13,r23
9148
 9385 5296 8091 0000 		lds r24,AltitudeSetpointTrimming
9149
 9386 529a 9091 0000 		lds r25,(AltitudeSetpointTrimming)+1
9150
 9387 529e 892B      		or r24,r25
9151
 9388 52a0 01F0      		breq .+2
9152
 9389 52a2 00C0      		rjmp .L758
9153
 9390 52a4 1E14      		cp __zero_reg__,r14
9154
 9391 52a6 1F04      		cpc __zero_reg__,r15
9155
 9392 52a8 04F0      		brlt .+2
9156
 9393 52aa 00C0      		rjmp .L758
9157
 9394 52ac 9801      		movw r18,r16
9158
 9395 52ae 17FF      		sbrs r17,7
9159
 9396 52b0 00C0      		rjmp .L759
9160
 9397 52b2 3095      		com r19
9161
 9398 52b4 2195      		neg r18
9162
 9399 52b6 3F4F      		sbci r19,lo8(-1)
9163
 9400               	.L759:
9164
 9401 52b8 2D33      		cpi r18,61
9165
 9402 52ba 3105      		cpc r19,__zero_reg__
9166
 9403 52bc 00F4      		brsh .L760
9167
 9404 52be 8091 0000 		lds r24,HoverGasMin
9168
 9405 52c2 9091 0000 		lds r25,(HoverGasMin)+1
9169
 9406 52c6 8C15      		cp r24,r12
9170
 9407 52c8 9D05      		cpc r25,r13
9171
 9408 52ca 04F4      		brge .L909
9172
 9409 52cc 00C0      		rjmp .L918
9173
 9410               	.L760:
9174
 9411 52ce 2C53      		subi r18,lo8(-(-60))
9175
 9412 52d0 3040      		sbci r19,hi8(-(-60))
9176
 9413 52d2 85E0      		ldi r24,5
9177
 9414 52d4 3695      	1:	lsr r19
9178
 9415 52d6 2795      		ror r18
9179
 9416 52d8 8A95      		dec r24
9180
 9417 52da 01F4      		brne 1b
9181
 9418 52dc 2031      		cpi r18,16
9182
 9419 52de 3105      		cpc r19,__zero_reg__
9183
 9420 52e0 00F0      		brlo .L765
9184
 9421 52e2 2FE0      		ldi r18,lo8(15)
9185
 9422 52e4 30E0      		ldi r19,hi8(15)
9186
 9423               	.L765:
9187
 9424 52e6 4091 0000 		lds r20,HoverGasMin
9188
 9425 52ea 5091 0000 		lds r21,(HoverGasMin)+1
9189
 9426 52ee 1016      		cp __zero_reg__,r16
9190
 9427 52f0 1106      		cpc __zero_reg__,r17
9191
 9428 52f2 04F4      		brge .L766
9192
 9429 52f4 80E1      		ldi r24,lo8(16)
9193
 9430 52f6 90E0      		ldi r25,hi8(16)
9194
 9431 52f8 821B      		sub r24,r18
9195
 9432 52fa 930B      		sbc r25,r19
9196
 9433 52fc 489F      		mul r20,r24
9197
 9434 52fe 9001      		movw r18,r0
9198
 9435 5300 499F      		mul r20,r25
9199
 9436 5302 300D      		add r19,r0
9200
 9437 5304 589F      		mul r21,r24
9201
 9438 5306 300D      		add r19,r0
9202
 9439 5308 1124      		clr r1
9203
 9440 530a B4E0      		ldi r27,4
9204
 9441 530c 3695      	1:	lsr r19
9205
 9442 530e 2795      		ror r18
9206
 9443 5310 BA95      		dec r27
9207
 9444 5312 01F4      		brne 1b
9208
 9445 5314 2C15      		cp r18,r12
9209
 9446 5316 3D05      		cpc r19,r13
9210
 9447 5318 00F4      		brsh .L908
9211
 9448               	.L918:
9212
 9449 531a 8091 0000 		lds r24,HoverGasMax
9213
 9450 531e 9091 0000 		lds r25,(HoverGasMax)+1
9214
 9451 5322 C816      		cp r12,r24
9215
 9452 5324 D906      		cpc r13,r25
9216
 9453 5326 04F0      		brlt .L758
9217
 9454               	.L909:
9218
 9455 5328 6C01      		movw r12,r24
9219
 9456 532a 00C0      		rjmp .L758
9220
 9457               	.L766:
9221
 9458 532c 205F      		subi r18,lo8(-(16))
9222
 9459 532e 3F4F      		sbci r19,hi8(-(16))
9223
 9460 5330 8091 0000 		lds r24,HoverGasMax
9224
 9461 5334 9091 0000 		lds r25,(HoverGasMax)+1
9225
 9462 5338 829F      		mul r24,r18
9226
 9463 533a 8001      		movw r16,r0
9227
 9464 533c 839F      		mul r24,r19
9228
 9465 533e 100D      		add r17,r0
9229
 9466 5340 929F      		mul r25,r18
9230
 9467 5342 100D      		add r17,r0
9231
 9468 5344 1124      		clr r1
9232
 9469 5346 9801      		movw r18,r16
9233
 9470 5348 A4E0      		ldi r26,4
9234
 9471 534a 3695      	1:	lsr r19
9235
 9472 534c 2795      		ror r18
9236
 9473 534e AA95      		dec r26
9237
 9474 5350 01F4      		brne 1b
9238
 9475 5352 4C15      		cp r20,r12
9239
 9476 5354 5D05      		cpc r21,r13
9240
 9477 5356 04F0      		brlt .L771
9241
 9478 5358 6A01      		movw r12,r20
9242
 9479 535a 00C0      		rjmp .L758
9243
 9480               	.L771:
9244
 9481 535c C216      		cp r12,r18
9245
 9482 535e D306      		cpc r13,r19
9246
 9483 5360 00F0      		brlo .L758
9247
 9484               	.L908:
9248
 9485 5362 6901      		movw r12,r18
9249
 9486               	.L758:
9250
 9487 5364 C601      		movw r24,r12
9251
 9488 5366 AA27      		clr r26
9252
 9489 5368 97FD      		sbrc r25,7
9253
 9490 536a A095      		com r26
9254
 9491 536c BA2F      		mov r27,r26
9255
 9492 536e FDE0      		ldi r31,13
9256
 9493 5370 880F      	1:	lsl r24
9257
 9494 5372 991F      		rol r25
9258
 9495 5374 AA1F      		rol r26
9259
 9496 5376 BB1F      		rol r27
9260
 9497 5378 FA95      		dec r31
9261
 9498 537a 01F4      		brne 1b
9262
 9499 537c 9501      		movw r18,r10
9263
 9500 537e 4427      		clr r20
9264
 9501 5380 37FD      		sbrc r19,7
9265
 9502 5382 4095      		com r20
9266
 9503 5384 542F      		mov r21,r20
9267
 9504 5386 BC01      		movw r22,r24
9268
 9505 5388 CD01      		movw r24,r26
9269
 9506 538a 0E94 0000 		call __divmodsi4
9270
 9507 538e 2093 0000 		sts tmp_long2.2,r18
9271
 9508 5392 3093 0000 		sts (tmp_long2.2)+1,r19
9272
 9509 5396 4093 0000 		sts (tmp_long2.2)+2,r20
9273
 9510 539a 5093 0000 		sts (tmp_long2.2)+3,r21
9274
 9511 539e C090 0000 		lds r12,tmp_long2.2
9275
 9512 53a2 D090 0000 		lds r13,(tmp_long2.2)+1
9276
 9513 53a6 8091 0000 		lds r24,FilterHCGas.22
9277
 9514 53aa 9091 0000 		lds r25,(FilterHCGas.22)+1
9278
 9515 53ae 9C01      		movw r18,r24
9279
 9516 53b0 220F      		lsl r18
9280
 9517 53b2 331F      		rol r19
9281
 9518 53b4 280F      		add r18,r24
9282
 9519 53b6 391F      		adc r19,r25
9283
 9520 53b8 2C0D      		add r18,r12
9284
 9521 53ba 3D1D      		adc r19,r13
9285
 9522 53bc 37FF      		sbrs r19,7
9286
 9523 53be 00C0      		rjmp .L774
9287
 9524 53c0 2D5F      		subi r18,lo8(-(3))
9288
 9525 53c2 3F4F      		sbci r19,hi8(-(3))
9289
 9526               	.L774:
9290
 9527 53c4 A901      		movw r20,r18
9291
 9528 53c6 5595      		asr r21
9292
 9529 53c8 4795      		ror r20
9293
 9530 53ca 5595      		asr r21
9294
 9531 53cc 4795      		ror r20
9295
 9532 53ce 5093 0000 		sts (FilterHCGas.22)+1,r21
9296
 9533 53d2 4093 0000 		sts FilterHCGas.22,r20
9297
 9534 53d6 8091 0000 		lds r24,EE_Parameter+14
9298
 9535 53da 282F      		mov r18,r24
9299
 9536 53dc 3327      		clr r19
9300
 9537 53de 220F      		lsl r18
9301
 9538 53e0 331F      		rol r19
9302
 9539 53e2 220F      		lsl r18
9303
 9540 53e4 331F      		rol r19
9304
 9541 53e6 2417      		cp r18,r20
9305
 9542 53e8 3507      		cpc r19,r21
9306
 9543 53ea 04F4      		brge .L910
9307
 9544 53ec 8091 0000 		lds r24,MAX_GAS
9308
 9545 53f0 282F      		mov r18,r24
9309
 9546 53f2 3327      		clr r19
9310
 9547 53f4 220F      		lsl r18
9311
 9548 53f6 331F      		rol r19
9312
 9549 53f8 220F      		lsl r18
9313
 9550 53fa 331F      		rol r19
9314
 9551 53fc 2055      		subi r18,lo8(-(-80))
9315
 9552 53fe 3040      		sbci r19,hi8(-(-80))
9316
 9553 5400 4217      		cp r20,r18
9317
 9554 5402 5307      		cpc r21,r19
9318
 9555 5404 04F0      		brlt .L776
9319
 9556               	.L910:
9320
 9557 5406 3093 0000 		sts (FilterHCGas.22)+1,r19
9321
 9558 540a 2093 0000 		sts FilterHCGas.22,r18
9322
 9559               	.L776:
9323
 9560 540e 8091 0000 		lds r24,Parameter_ExtraConfig
9324
 9561 5412 80FF      		sbrs r24,0
9325
 9562 5414 00C0      		rjmp .L778
9326
 9563 5416 8091 0000 		lds r24,FilterHCGas.22
9327
 9564 541a 9091 0000 		lds r25,(FilterHCGas.22)+1
9328
 9565 541e 2981      		ldd r18,Y+1
9329
 9566 5420 3A81      		ldd r19,Y+2
9330
 9567 5422 8217      		cp r24,r18
9331
 9568 5424 9307      		cpc r25,r19
9332
 9569 5426 04F0      		brlt .L779
9333
 9570 5428 3093 0000 		sts (FilterHCGas.22)+1,r19
9334
 9571 542c 2093 0000 		sts FilterHCGas.22,r18
9335
 9572               	.L779:
9336
 9573 5430 4091 0000 		lds r20,FilterHCGas.22
9337
 9574 5434 5091 0000 		lds r21,(FilterHCGas.22)+1
9338
 9575 5438 5A83      		std Y+2,r21
9339
 9576 543a 4983      		std Y+1,r20
9340
 9577 543c 00C0      		rjmp .L782
9341
 9578               	.L778:
9342
 9579 543e 2981      		ldd r18,Y+1
9343
 9580 5440 3A81      		ldd r19,Y+2
9344
 9581 5442 2E19      		sub r18,r14
9345
 9582 5444 3F09      		sbc r19,r15
9346
 9583 5446 37FF      		sbrs r19,7
9347
 9584 5448 00C0      		rjmp .L781
9348
 9585 544a 2D5F      		subi r18,lo8(-(3))
9349
 9586 544c 3F4F      		sbci r19,hi8(-(3))
9350
 9587               	.L781:
9351
 9588 544e 3595      		asr r19
9352
 9589 5450 2795      		ror r18
9353
 9590 5452 3595      		asr r19
9354
 9591 5454 2795      		ror r18
9355
 9592 5456 6091 0000 		lds r22,FilterHCGas.22
9356
 9593 545a 7091 0000 		lds r23,(FilterHCGas.22)+1
9357
 9594 545e 620F      		add r22,r18
9358
 9595 5460 731F      		adc r23,r19
9359
 9596 5462 7A83      		std Y+2,r23
9360
 9597 5464 6983      		std Y+1,r22
9361
 9598 5466 00C0      		rjmp .L782
9362
 9599               	.L673:
9363
 9600 5468 8091 0000 		lds r24,EE_Parameter+22
9364
 9601 546c 8823      		tst r24
9365
 9602 546e 01F4      		brne .L783
9366
 9603 5470 6091 0000 		lds r22,HoverGas
9367
 9604 5474 7091 0000 		lds r23,(HoverGas)+1
9368
 9605 5478 77FF      		sbrs r23,7
9369
 9606 547a 00C0      		rjmp .L784
9370
 9607 547c 6D5F      		subi r22,lo8(-(3))
9371
 9608 547e 7F4F      		sbci r23,hi8(-(3))
9372
 9609               	.L784:
9373
 9610 5480 7595      		asr r23
9374
 9611 5482 6795      		ror r22
9375
 9612 5484 7595      		asr r23
9376
 9613 5486 6795      		ror r22
9377
 9614 5488 4091 0000 		lds r20,UBat
9378
 9615 548c 5091 0000 		lds r21,(UBat)+1
9379
 9616 5490 8091 0000 		lds r24,BattLowVoltageWarning
9380
 9617 5494 282F      		mov r18,r24
9381
 9618 5496 3327      		clr r19
9382
 9619 5498 649F      		mul r22,r20
9383
 9620 549a C001      		movw r24,r0
9384
 9621 549c 659F      		mul r22,r21
9385
 9622 549e 900D      		add r25,r0
9386
 9623 54a0 749F      		mul r23,r20
9387
 9624 54a2 900D      		add r25,r0
9388
 9625 54a4 1124      		clr r1
9389
 9626 54a6 B901      		movw r22,r18
9390
 9627 54a8 0E94 0000 		call __divmodhi4
9391
 9628 54ac CB01      		movw r24,r22
9392
 9629 54ae 00C0      		rjmp .L911
9393
 9630               	.L783:
9394
 9631 54b0 9927      		clr r25
9395
 9632               	.L911:
9396
 9633 54b2 9093 0000 		sts (StickGasHover)+1,r25
9397
 9634 54b6 8093 0000 		sts StickGasHover,r24
9398
 9635 54ba 8091 0000 		lds r24,StickGasHover
9399
 9636 54be 9091 0000 		lds r25,(StickGasHover)+1
9400
 9637 54c2 8734      		cpi r24,71
9401
 9638 54c4 9105      		cpc r25,__zero_reg__
9402
 9639 54c6 04F4      		brge .L786
9403
 9640 54c8 86E4      		ldi r24,lo8(70)
9404
 9641 54ca 90E0      		ldi r25,hi8(70)
9405
 9642 54cc 00C0      		rjmp .L912
9406
 9643               	.L786:
9407
 9644 54ce 8639      		cpi r24,150
9408
 9645 54d0 9105      		cpc r25,__zero_reg__
9409
 9646 54d2 04F0      		brlt .L787
9410
 9647 54d4 86E9      		ldi r24,lo8(150)
9411
 9648 54d6 90E0      		ldi r25,hi8(150)
9412
 9649               	.L912:
9413
 9650 54d8 9093 0000 		sts (StickGasHover)+1,r25
9414
 9651 54dc 8093 0000 		sts StickGasHover,r24
9415
 9652               	.L787:
9416
 9653 54e0 8981      		ldd r24,Y+1
9417
 9654 54e2 9A81      		ldd r25,Y+2
9418
 9655 54e4 9093 0000 		sts (FilterHCGas.22)+1,r25
9419
 9656 54e8 8093 0000 		sts FilterHCGas.22,r24
9420
 9657 54ec 8091 0000 		lds r24,FC_StatusFlags
9421
 9658 54f0 806C      		ori r24,lo8(-64)
9422
 9659 54f2 8093 0000 		sts FC_StatusFlags,r24
9423
 9660 54f6 8091 0000 		lds r24,FC_StatusFlags2
9424
 9661 54fa 8D7F      		andi r24,lo8(-3)
9425
 9662 54fc 8093 0000 		sts FC_StatusFlags2,r24
9426
 9663               	.L782:
9427
 9664 5500 8091 0000 		lds r24,FC_StatusFlags
9428
 9665 5504 9927      		clr r25
9429
 9666 5506 9C01      		movw r18,r24
9430
 9667 5508 2270      		andi r18,lo8(2)
9431
 9668 550a 3070      		andi r19,hi8(2)
9432
 9669 550c 81FF      		sbrs r24,1
9433
 9670 550e 00C0      		rjmp .L789
9434
 9671 5510 8091 0000 		lds r24,HoverGasFilter.23
9435
 9672 5514 9091 0000 		lds r25,(HoverGasFilter.23)+1
9436
 9673 5518 A091 0000 		lds r26,(HoverGasFilter.23)+2
9437
 9674 551c B091 0000 		lds r27,(HoverGasFilter.23)+3
9438
 9675 5520 0097      		sbiw r24,0
9439
 9676 5522 A105      		cpc r26,__zero_reg__
9440
 9677 5524 B105      		cpc r27,__zero_reg__
9441
 9678 5526 01F0      		breq .L791
9442
 9679 5528 8091 0000 		lds r24,StartTrigger
9443
 9680 552c 8130      		cpi r24,lo8(1)
9444
 9681 552e 01F4      		brne .L790
9445
 9682               	.L791:
9446
 9683 5530 E981      		ldd r30,Y+1
9447
 9684 5532 FA81      		ldd r31,Y+2
9448
 9685 5534 CF01      		movw r24,r30
9449
 9686 5536 AA27      		clr r26
9450
 9687 5538 97FD      		sbrc r25,7
9451
 9688 553a A095      		com r26
9452
 9689 553c BA2F      		mov r27,r26
9453
 9690 553e 1EE0      		ldi r17,14
9454
 9691 5540 880F      	1:	lsl r24
9455
 9692 5542 991F      		rol r25
9456
 9693 5544 AA1F      		rol r26
9457
 9694 5546 BB1F      		rol r27
9458
 9695 5548 1A95      		dec r17
9459
 9696 554a 01F4      		brne 1b
9460
 9697 554c 8093 0000 		sts HoverGasFilter.23,r24
9461
 9698 5550 9093 0000 		sts (HoverGasFilter.23)+1,r25
9462
 9699 5554 A093 0000 		sts (HoverGasFilter.23)+2,r26
9463
 9700 5558 B093 0000 		sts (HoverGasFilter.23)+3,r27
9464
 9701               	.L790:
9465
 9702 555c 8091 0000 		lds r24,StartTrigger
9466
 9703 5560 8130      		cpi r24,lo8(1)
9467
 9704 5562 01F4      		brne .L792
9468
 9705 5564 82E0      		ldi r24,lo8(2)
9469
 9706 5566 8093 0000 		sts StartTrigger,r24
9470
 9707               	.L792:
9471
 9708 556a E980      		ldd r14,Y+1
9472
 9709 556c FA80      		ldd r15,Y+2
9473
 9710 556e C701      		movw r24,r14
9474
 9711 5570 AA27      		clr r26
9475
 9712 5572 97FD      		sbrc r25,7
9476
 9713 5574 A095      		com r26
9477
 9714 5576 BA2F      		mov r27,r26
9478
 9715 5578 9501      		movw r18,r10
9479
 9716 557a 4427      		clr r20
9480
 9717 557c 37FD      		sbrc r19,7
9481
 9718 557e 4095      		com r20
9482
 9719 5580 542F      		mov r21,r20
9483
 9720 5582 BC01      		movw r22,r24
9484
 9721 5584 CD01      		movw r24,r26
9485
 9722 5586 0E94 0000 		call __mulsi3
9486
 9723 558a DC01      		movw r26,r24
9487
 9724 558c CB01      		movw r24,r22
9488
 9725 558e 8093 0000 		sts tmp_long2.2,r24
9489
 9726 5592 9093 0000 		sts (tmp_long2.2)+1,r25
9490
 9727 5596 A093 0000 		sts (tmp_long2.2)+2,r26
9491
 9728 559a B093 0000 		sts (tmp_long2.2)+3,r27
9492
 9729 559e B7FF      		sbrs r27,7
9493
 9730 55a0 00C0      		rjmp .L793
9494
 9731 55a2 8150      		subi r24,lo8(-(8191))
9495
 9732 55a4 904E      		sbci r25,hi8(-(8191))
9496
 9733 55a6 AF4F      		sbci r26,hlo8(-(8191))
9497
 9734 55a8 BF4F      		sbci r27,hhi8(-(8191))
9498
 9735               	.L793:
9499
 9736 55aa 7C01      		movw r14,r24
9500
 9737 55ac 8D01      		movw r16,r26
9501
 9738 55ae ADE0      		ldi r26,13
9502
 9739 55b0 1595      	1:	asr r17
9503
 9740 55b2 0795      		ror r16
9504
 9741 55b4 F794      		ror r15
9505
 9742 55b6 E794      		ror r14
9506
 9743 55b8 AA95      		dec r26
9507
 9744 55ba 01F4      		brne 1b
9508
 9745 55bc E092 0000 		sts tmp_long2.2,r14
9509
 9746 55c0 F092 0000 		sts (tmp_long2.2)+1,r15
9510
 9747 55c4 0093 0000 		sts (tmp_long2.2)+2,r16
9511
 9748 55c8 1093 0000 		sts (tmp_long2.2)+3,r17
9512
 9749 55cc 6091 0000 		lds r22,modell_fliegt
9513
 9750 55d0 7091 0000 		lds r23,(modell_fliegt)+1
9514
 9751 55d4 2FE0      		ldi r18,hi8(4000)
9515
 9752 55d6 603A      		cpi r22,lo8(4000)
9516
 9753 55d8 7207      		cpc r23,r18
9517
 9754 55da 00F4      		brsh .L794
9518
 9755 55dc 8091 0000 		lds r24,HoverGasFilter.23
9519
 9756 55e0 9091 0000 		lds r25,(HoverGasFilter.23)+1
9520
 9757 55e4 A091 0000 		lds r26,(HoverGasFilter.23)+2
9521
 9758 55e8 B091 0000 		lds r27,(HoverGasFilter.23)+3
9522
 9759 55ec 9C01      		movw r18,r24
9523
 9760 55ee AD01      		movw r20,r26
9524
 9761 55f0 FAE0      		ldi r31,10
9525
 9762 55f2 5695      	1:	lsr r21
9526
 9763 55f4 4795      		ror r20
9527
 9764 55f6 3795      		ror r19
9528
 9765 55f8 2795      		ror r18
9529
 9766 55fa FA95      		dec r31
9530
 9767 55fc 01F4      		brne 1b
9531
 9768 55fe 821B      		sub r24,r18
9532
 9769 5600 930B      		sbc r25,r19
9533
 9770 5602 A40B      		sbc r26,r20
9534
 9771 5604 B50B      		sbc r27,r21
9535
 9772 5606 A801      		movw r20,r16
9536
 9773 5608 9701      		movw r18,r14
9537
 9774 560a E4E0      		ldi r30,4
9538
 9775 560c 220F      	1:	lsl r18
9539
 9776 560e 331F      		rol r19
9540
 9777 5610 441F      		rol r20
9541
 9778 5612 551F      		rol r21
9542
 9779 5614 EA95      		dec r30
9543
 9780 5616 01F4      		brne 1b
9544
 9781 5618 820F      		add r24,r18
9545
 9782 561a 931F      		adc r25,r19
9546
 9783 561c A41F      		adc r26,r20
9547
 9784 561e B51F      		adc r27,r21
9548
 9785 5620 8093 0000 		sts HoverGasFilter.23,r24
9549
 9786 5624 9093 0000 		sts (HoverGasFilter.23)+1,r25
9550
 9787 5628 A093 0000 		sts (HoverGasFilter.23)+2,r26
9551
 9788 562c B093 0000 		sts (HoverGasFilter.23)+3,r27
9552
 9789               	.L794:
9553
 9790 5630 6054      		subi r22,lo8(8000)
9554
 9791 5632 7F41      		sbci r23,hi8(8000)
9555
 9792 5634 00F4      		brsh .L795
9556
 9793 5636 8091 0000 		lds r24,HoverGasFilter.23
9557
 9794 563a 9091 0000 		lds r25,(HoverGasFilter.23)+1
9558
 9795 563e A091 0000 		lds r26,(HoverGasFilter.23)+2
9559
 9796 5642 B091 0000 		lds r27,(HoverGasFilter.23)+3
9560
 9797 5646 9C01      		movw r18,r24
9561
 9798 5648 AD01      		movw r20,r26
9562
 9799 564a 6CE0      		ldi r22,12
9563
 9800 564c 5695      	1:	lsr r21
9564
 9801 564e 4795      		ror r20
9565
 9802 5650 3795      		ror r19
9566
 9803 5652 2795      		ror r18
9567
 9804 5654 6A95      		dec r22
9568
 9805 5656 01F4      		brne 1b
9569
 9806 5658 821B      		sub r24,r18
9570
 9807 565a 930B      		sbc r25,r19
9571
 9808 565c A40B      		sbc r26,r20
9572
 9809 565e B50B      		sbc r27,r21
9573
 9810 5660 A801      		movw r20,r16
9574
 9811 5662 9701      		movw r18,r14
9575
 9812 5664 F2E0      		ldi r31,2
9576
 9813 5666 220F      	1:	lsl r18
9577
 9814 5668 331F      		rol r19
9578
 9815 566a 441F      		rol r20
9579
 9816 566c 551F      		rol r21
9580
 9817 566e FA95      		dec r31
9581
 9818 5670 01F4      		brne 1b
9582
 9819 5672 820F      		add r24,r18
9583
 9820 5674 931F      		adc r25,r19
9584
 9821 5676 A41F      		adc r26,r20
9585
 9822 5678 B51F      		adc r27,r21
9586
 9823 567a 00C0      		rjmp .L913
9587
 9824               	.L795:
9588
 9825 567c 8091 0000 		lds r24,VarioMeter
9589
 9826 5680 9091 0000 		lds r25,(VarioMeter)+1
9590
 9827 5684 8091 0000 		lds r24,VarioMeter
9591
 9828 5688 9091 0000 		lds r25,(VarioMeter)+1
9592
 9829 568c 97FF      		sbrs r25,7
9593
 9830 568e 00C0      		rjmp .L798
9594
 9831 5690 9095      		com r25
9595
 9832 5692 8195      		neg r24
9596
 9833 5694 9F4F      		sbci r25,lo8(-1)
9597
 9834               	.L798:
9598
 9835 5696 8436      		cpi r24,100
9599
 9836 5698 9105      		cpc r25,__zero_reg__
9600
 9837 569a 04F4      		brge .L796
9601
 9838 569c 8091 0000 		lds r24,HoehenWert
9602
 9839 56a0 9091 0000 		lds r25,(HoehenWert)+1
9603
 9840 56a4 2091 0000 		lds r18,SollHoehe
9604
 9841 56a8 3091 0000 		lds r19,(SollHoehe)+1
9605
 9842 56ac 821B      		sub r24,r18
9606
 9843 56ae 930B      		sbc r25,r19
9607
 9844 56b0 8150      		subi r24,lo8(-(255))
9608
 9845 56b2 9F4F      		sbci r25,hi8(-(255))
9609
 9846 56b4 8F5F      		subi r24,lo8(511)
9610
 9847 56b6 9140      		sbci r25,hi8(511)
9611
 9848 56b8 00F4      		brsh .L796
9612
 9849 56ba 8091 0000 		lds r24,HoverGasFilter.23
9613
 9850 56be 9091 0000 		lds r25,(HoverGasFilter.23)+1
9614
 9851 56c2 A091 0000 		lds r26,(HoverGasFilter.23)+2
9615
 9852 56c6 B091 0000 		lds r27,(HoverGasFilter.23)+3
9616
 9853 56ca 9C01      		movw r18,r24
9617
 9854 56cc AD01      		movw r20,r26
9618
 9855 56ce EEE0      		ldi r30,14
9619
 9856 56d0 5695      	1:	lsr r21
9620
 9857 56d2 4795      		ror r20
9621
 9858 56d4 3795      		ror r19
9622
 9859 56d6 2795      		ror r18
9623
 9860 56d8 EA95      		dec r30
9624
 9861 56da 01F4      		brne 1b
9625
 9862 56dc 821B      		sub r24,r18
9626
 9863 56de 930B      		sbc r25,r19
9627
 9864 56e0 A40B      		sbc r26,r20
9628
 9865 56e2 B50B      		sbc r27,r21
9629
 9866 56e4 8E0D      		add r24,r14
9630
 9867 56e6 9F1D      		adc r25,r15
9631
 9868 56e8 A01F      		adc r26,r16
9632
 9869 56ea B11F      		adc r27,r17
9633
 9870               	.L913:
9634
 9871 56ec 8093 0000 		sts HoverGasFilter.23,r24
9635
 9872 56f0 9093 0000 		sts (HoverGasFilter.23)+1,r25
9636
 9873 56f4 A093 0000 		sts (HoverGasFilter.23)+2,r26
9637
 9874 56f8 B093 0000 		sts (HoverGasFilter.23)+3,r27
9638
 9875               	.L796:
9639
 9876 56fc 8091 0000 		lds r24,HoverGasFilter.23
9640
 9877 5700 9091 0000 		lds r25,(HoverGasFilter.23)+1
9641
 9878 5704 A091 0000 		lds r26,(HoverGasFilter.23)+2
9642
 9879 5708 B091 0000 		lds r27,(HoverGasFilter.23)+3
9643
 9880 570c 7EE0      		ldi r23,14
9644
 9881 570e B695      	1:	lsr r27
9645
 9882 5710 A795      		ror r26
9646
 9883 5712 9795      		ror r25
9647
 9884 5714 8795      		ror r24
9648
 9885 5716 7A95      		dec r23
9649
 9886 5718 01F4      		brne 1b
9650
 9887 571a 9093 0000 		sts (HoverGas)+1,r25
9651
 9888 571e 8093 0000 		sts HoverGas,r24
9652
 9889 5722 4091 0000 		lds r20,EE_Parameter+20
9653
 9890 5726 4423      		tst r20
9654
 9891 5728 01F0      		breq .L799
9655
 9892 572a 5527      		clr r21
9656
 9893 572c 9C01      		movw r18,r24
9657
 9894 572e BA01      		movw r22,r20
9658
 9895 5730 0E94 0000 		call __divmodhi4
9659
 9896 5734 C901      		movw r24,r18
9660
 9897 5736 861B      		sub r24,r22
9661
 9898 5738 970B      		sbc r25,r23
9662
 9899 573a 9093 0000 		sts (HoverGasMin)+1,r25
9663
 9900 573e 8093 0000 		sts HoverGasMin,r24
9664
 9901 5742 260F      		add r18,r22
9665
 9902 5744 371F      		adc r19,r23
9666
 9903 5746 3093 0000 		sts (HoverGasMax)+1,r19
9667
 9904 574a 2093 0000 		sts HoverGasMax,r18
9668
 9905 574e 00C0      		rjmp .L802
9669
 9906               	.L799:
9670
 9907 5750 1092 0000 		sts (HoverGasMin)+1,__zero_reg__
9671
 9908 5754 1092 0000 		sts HoverGasMin,__zero_reg__
9672
 9909 5758 8FEF      		ldi r24,lo8(1023)
9673
 9910 575a 93E0      		ldi r25,hi8(1023)
9674
 9911 575c 9093 0000 		sts (HoverGasMax)+1,r25
9675
 9912 5760 8093 0000 		sts HoverGasMax,r24
9676
 9913 5764 00C0      		rjmp .L802
9677
 9914               	.L789:
9678
 9915 5766 1092 0000 		sts StartTrigger,__zero_reg__
9679
 9916 576a 1092 0000 		sts HoverGasFilter.23,__zero_reg__
9680
 9917 576e 1092 0000 		sts (HoverGasFilter.23)+1,__zero_reg__
9681
 9918 5772 1092 0000 		sts (HoverGasFilter.23)+2,__zero_reg__
9682
 9919 5776 1092 0000 		sts (HoverGasFilter.23)+3,__zero_reg__
9683
 9920 577a 3093 0000 		sts (HoverGas)+1,r19
9684
 9921 577e 2093 0000 		sts HoverGas,r18
9685
 9922 5782 00C0      		rjmp .L802
9686
 9923               	.L653:
9687
 9924 5784 8091 0000 		lds r24,FC_StatusFlags
9688
 9925 5788 806C      		ori r24,lo8(-64)
9689
 9926 578a 8093 0000 		sts FC_StatusFlags,r24
9690
 9927               	.L802:
9691
 9928 578e 8091 0000 		lds r24,NC_To_FC_Flags
9692
 9929 5792 81FF      		sbrs r24,1
9693
 9930 5794 00C0      		rjmp .L803
9694
 9931 5796 8981      		ldd r24,Y+1
9695
 9932 5798 9A81      		ldd r25,Y+2
9696
 9933 579a 97FD      		sbrc r25,7
9697
 9934 579c 0396      		adiw r24,3
9698
 9935               	.L805:
9699
 9936 579e 9595      		asr r25
9700
 9937 57a0 8795      		ror r24
9701
 9938 57a2 9595      		asr r25
9702
 9939 57a4 8795      		ror r24
9703
 9940 57a6 2091 0000 		lds r18,HooverGasEmergencyPercent
9704
 9941 57aa 3091 0000 		lds r19,(HooverGasEmergencyPercent)+1
9705
 9942 57ae 2817      		cp r18,r24
9706
 9943 57b0 3907      		cpc r19,r25
9707
 9944 57b2 00F4      		brsh .L804
9708
 9945 57b4 8091 0000 		lds r24,HoverGas
9709
 9946 57b8 9091 0000 		lds r25,(HoverGas)+1
9710
 9947 57bc 892B      		or r24,r25
9711
 9948 57be 01F0      		breq .L804
9712
 9949 57c0 220F      		lsl r18
9713
 9950 57c2 331F      		rol r19
9714
 9951 57c4 220F      		lsl r18
9715
 9952 57c6 331F      		rol r19
9716
 9953 57c8 3A83      		std Y+2,r19
9717
 9954 57ca 2983      		std Y+1,r18
9718
 9955               	.L804:
9719
 9956 57cc 8091 0000 		lds r24,HoehenWert
9720
 9957 57d0 9091 0000 		lds r25,(HoehenWert)+1
9721
 9958 57d4 A091 0000 		lds r26,(HoehenWert)+2
9722
 9959 57d8 B091 0000 		lds r27,(HoehenWert)+3
9723
 9960 57dc 8093 0000 		sts SollHoehe,r24
9724
 9961 57e0 9093 0000 		sts (SollHoehe)+1,r25
9725
 9962 57e4 A093 0000 		sts (SollHoehe)+2,r26
9726
 9963 57e8 B093 0000 		sts (SollHoehe)+3,r27
9727
 9964 57ec 88E9      		ldi r24,lo8(15000)
9728
 9965 57ee 9AE3      		ldi r25,hi8(15000)
9729
 9966 57f0 9093 0000 		sts (beeptime)+1,r25
9730
 9967 57f4 8093 0000 		sts beeptime,r24
9731
 9968 57f8 80E0      		ldi r24,lo8(3584)
9732
 9969 57fa 9EE0      		ldi r25,hi8(3584)
9733
 9970 57fc 9093 0000 		sts (BeepMuster)+1,r25
9734
 9971 5800 8093 0000 		sts BeepMuster,r24
9735
 9972               	.L803:
9736
 9973 5804 2091 0000 		lds r18,MIN_GAS
9737
 9974 5808 822F      		mov r24,r18
9738
 9975 580a 9927      		clr r25
9739
 9976 580c 880F      		lsl r24
9740
 9977 580e 991F      		rol r25
9741
 9978 5810 880F      		lsl r24
9742
 9979 5812 991F      		rol r25
9743
 9980 5814 8896      		adiw r24,40
9744
 9981 5816 6981      		ldd r22,Y+1
9745
 9982 5818 7A81      		ldd r23,Y+2
9746
 9983 581a 8617      		cp r24,r22
9747
 9984 581c 9707      		cpc r25,r23
9748
 9985 581e 04F0      		brlt .L806
9749
 9986 5820 9A83      		std Y+2,r25
9750
 9987 5822 8983      		std Y+1,r24
9751
 9988               	.L806:
9752
 9989 5824 7091 0000 		lds r23,MAX_GAS
9753
 9990 5828 7D8B      		std Y+21,r23
9754
 9991 582a 872F      		mov r24,r23
9755
 9992 582c 9927      		clr r25
9756
 9993 582e 880F      		lsl r24
9757
 9994 5830 991F      		rol r25
9758
 9995 5832 880F      		lsl r24
9759
 9996 5834 991F      		rol r25
9760
 9997 5836 8055      		subi r24,lo8(-(-80))
9761
 9998 5838 9040      		sbci r25,hi8(-(-80))
9762
 9999 583a A981      		ldd r26,Y+1
9763
 10000 583c BA81      		ldd r27,Y+2
9764
 10001 583e 8A17      		cp r24,r26
9765
 10002 5840 9B07      		cpc r25,r27
9766
 10003 5842 04F4      		brge .L807
9767
 10004 5844 9A83      		std Y+2,r25
9768
 10005 5846 8983      		std Y+1,r24
9769
 10006               	.L807:
9770
 10007 5848 8091 0000 		lds r24,MissingMotor
9771
 10008 584c 8823      		tst r24
9772
 10009 584e 01F4      		brne .L809
9773
 10010 5850 8091 0000 		lds r24,Capacity+6
9774
 10011 5854 8F3F      		cpi r24,lo8(-1)
9775
 10012 5856 01F4      		brne .L809
9776
 10013 5858 8091 0000 		lds r24,NC_ErrorCode
9777
 10014 585c 8823      		tst r24
9778
 10015 585e 01F0      		breq .L808
9779
 10016               	.L809:
9780
 10017 5860 8091 0000 		lds r24,modell_fliegt
9781
 10018 5864 9091 0000 		lds r25,(modell_fliegt)+1
9782
 10019 5868 0297      		sbiw r24,2
9783
 10020 586a C097      		sbiw r24,48
9784
 10021 586c 00F4      		brsh .L808
9785
 10022 586e E981      		ldd r30,Y+1
9786
 10023 5870 FA81      		ldd r31,Y+2
9787
 10024 5872 1E16      		cp __zero_reg__,r30
9788
 10025 5874 1F06      		cpc __zero_reg__,r31
9789
 10026 5876 04F4      		brge .L808
9790
 10027 5878 81E0      		ldi r24,lo8(1)
9791
 10028 587a 90E0      		ldi r25,hi8(1)
9792
 10029 587c 9093 0000 		sts (modell_fliegt)+1,r25
9793
 10030 5880 8093 0000 		sts modell_fliegt,r24
9794
 10031 5884 E22E      		mov r14,r18
9795
 10032 5886 FF24      		clr r15
9796
 10033 5888 EE0C      		lsl r14
9797
 10034 588a FF1C      		rol r15
9798
 10035 588c EE0C      		lsl r14
9799
 10036 588e FF1C      		rol r15
9800
 10037 5890 8701      		movw r16,r14
9801
 10038 5892 085D      		subi r16,lo8(-(40))
9802
 10039 5894 1F4F      		sbci r17,hi8(-(40))
9803
 10040 5896 1A83      		std Y+2,r17
9804
 10041 5898 0983      		std Y+1,r16
9805
 10042               	.L808:
9806
 10043 589a 2981      		ldd r18,Y+1
9807
 10044 589c 3A81      		ldd r19,Y+2
9808
 10045 589e 3093 0000 		sts (DebugOut+16)+1,r19
9809
 10046 58a2 2093 0000 		sts DebugOut+16,r18
9810
 10047 58a6 8091 0000 		lds r24,sollGier.0
9811
 10048 58aa 9091 0000 		lds r25,(sollGier.0)+1
9812
 10049 58ae A091 0000 		lds r26,(sollGier.0)+2
9813
 10050 58b2 B091 0000 		lds r27,(sollGier.0)+3
9814
 10051 58b6 12E0      		ldi r17,2
9815
 10052 58b8 880F      	1:	lsl r24
9816
 10053 58ba 991F      		rol r25
9817
 10054 58bc AA1F      		rol r26
9818
 10055 58be BB1F      		rol r27
9819
 10056 58c0 1A95      		dec r17
9820
 10057 58c2 01F4      		brne 1b
9821
 10058 58c4 0091 0000 		lds r16,MesswertGier
9822
 10059 58c8 1091 0000 		lds r17,(MesswertGier)+1
9823
 10060 58cc 081B      		sub r16,r24
9824
 10061 58ce 190B      		sbc r17,r25
9825
 10062 58d0 213A      		cpi r18,161
9826
 10063 58d2 3105      		cpc r19,__zero_reg__
9827
 10064 58d4 04F0      		brlt .L811
9828
 10065 58d6 C901      		movw r24,r18
9829
 10066 58d8 37FD      		sbrc r19,7
9830
 10067 58da 0196      		adiw r24,1
9831
 10068               	.L813:
9832
 10069 58dc 9595      		asr r25
9833
 10070 58de 8795      		ror r24
9834
 10071 58e0 8017      		cp r24,r16
9835
 10072 58e2 9107      		cpc r25,r17
9836
 10073 58e4 04F4      		brge .L812
9837
 10074 58e6 8C01      		movw r16,r24
9838
 10075               	.L812:
9839
 10076 58e8 9095      		com r25
9840
 10077 58ea 8195      		neg r24
9841
 10078 58ec 9F4F      		sbci r25,lo8(-1)
9842
 10079 58ee 0817      		cp r16,r24
9843
 10080 58f0 1907      		cpc r17,r25
9844
 10081 58f2 04F4      		brge .L818
9845
 10082 58f4 8C01      		movw r16,r24
9846
 10083 58f6 00C0      		rjmp .L818
9847
 10084               	.L811:
9848
 10085 58f8 0135      		cpi r16,81
9849
 10086 58fa 1105      		cpc r17,__zero_reg__
9850
 10087 58fc 04F0      		brlt .L819
9851
 10088 58fe 00E5      		ldi r16,lo8(80)
9852
 10089 5900 10E0      		ldi r17,hi8(80)
9853
 10090               	.L819:
9854
 10091 5902 3FEF      		ldi r19,hi8(-80)
9855
 10092 5904 003B      		cpi r16,lo8(-80)
9856
 10093 5906 1307      		cpc r17,r19
9857
 10094 5908 04F4      		brge .L818
9858
 10095 590a 00EB      		ldi r16,lo8(-80)
9859
 10096 590c 1FEF      		ldi r17,hi8(-80)
9860
 10097               	.L818:
9861
 10098 590e 4D89      		ldd r20,Y+21
9862
 10099 5910 242F      		mov r18,r20
9863
 10100 5912 3327      		clr r19
9864
 10101 5914 220F      		lsl r18
9865
 10102 5916 331F      		rol r19
9866
 10103 5918 220F      		lsl r18
9867
 10104 591a 331F      		rol r19
9868
 10105 591c C901      		movw r24,r18
9869
 10106 591e 6981      		ldd r22,Y+1
9870
 10107 5920 7A81      		ldd r23,Y+2
9871
 10108 5922 861B      		sub r24,r22
9872
 10109 5924 970B      		sbc r25,r23
9873
 10110 5926 8017      		cp r24,r16
9874
 10111 5928 9107      		cpc r25,r17
9875
 10112 592a 04F4      		brge .L821
9876
 10113 592c 8C01      		movw r16,r24
9877
 10114               	.L821:
9878
 10115 592e 8981      		ldd r24,Y+1
9879
 10116 5930 9A81      		ldd r25,Y+2
9880
 10117 5932 821B      		sub r24,r18
9881
 10118 5934 930B      		sbc r25,r19
9882
 10119 5936 0817      		cp r16,r24
9883
 10120 5938 1907      		cpc r17,r25
9884
 10121 593a 04F4      		brge .L822
9885
 10122 593c 8C01      		movw r16,r24
9886
 10123               	.L822:
9887
 10124 593e 8091 0000 		lds r24,MesswertNick
9888
 10125 5942 9091 0000 		lds r25,(MesswertNick)+1
9889
 10126 5946 6091 0000 		lds r22,StickNick
9890
 10127 594a 7091 0000 		lds r23,(StickNick)+1
9891
 10128 594e 861B      		sub r24,r22
9892
 10129 5950 970B      		sbc r25,r23
9893
 10130 5952 9093 0000 		sts (DiffNick)+1,r25
9894
 10131 5956 8093 0000 		sts DiffNick,r24
9895
 10132 595a D090 0000 		lds r13,IntegralFaktor
9896
 10133 595e 2091 0000 		lds r18,SummeNick
9897
 10134 5962 3091 0000 		lds r19,(SummeNick)+1
9898
 10135 5966 4091 0000 		lds r20,(SummeNick)+2
9899
 10136 596a 5091 0000 		lds r21,(SummeNick)+3
9900
 10137 596e DD20      		tst r13
9901
 10138 5970 01F0      		breq .L823
9902
 10139 5972 661A      		sub r6,r22
9903
 10140 5974 770A      		sbc r7,r23
9904
 10141 5976 C301      		movw r24,r6
9905
 10142 5978 AA27      		clr r26
9906
 10143 597a 97FD      		sbrc r25,7
9907
 10144 597c A095      		com r26
9908
 10145 597e BA2F      		mov r27,r26
9909
 10146 5980 00C0      		rjmp .L914
9910
 10147               	.L823:
9911
 10148 5982 AA27      		clr r26
9912
 10149 5984 97FD      		sbrc r25,7
9913
 10150 5986 A095      		com r26
9914
 10151 5988 BA2F      		mov r27,r26
9915
 10152               	.L914:
9916
 10153 598a 280F      		add r18,r24
9917
 10154 598c 391F      		adc r19,r25
9918
 10155 598e 4A1F      		adc r20,r26
9919
 10156 5990 5B1F      		adc r21,r27
9920
 10157 5992 2093 0000 		sts SummeNick,r18
9921
 10158 5996 3093 0000 		sts (SummeNick)+1,r19
9922
 10159 599a 4093 0000 		sts (SummeNick)+2,r20
9923
 10160 599e 5093 0000 		sts (SummeNick)+3,r21
9924
 10161 59a2 8091 0000 		lds r24,SummeNick
9925
 10162 59a6 9091 0000 		lds r25,(SummeNick)+1
9926
 10163 59aa A091 0000 		lds r26,(SummeNick)+2
9927
 10164 59ae B091 0000 		lds r27,(SummeNick)+3
9928
 10165 59b2 8150      		subi r24,lo8(64001)
9929
 10166 59b4 9A4F      		sbci r25,hi8(64001)
9930
 10167 59b6 A040      		sbci r26,hlo8(64001)
9931
 10168 59b8 B040      		sbci r27,hhi8(64001)
9932
 10169 59ba 04F0      		brlt .L825
9933
 10170 59bc 80E0      		ldi r24,lo8(64000)
9934
 10171 59be 9AEF      		ldi r25,hi8(64000)
9935
 10172 59c0 A0E0      		ldi r26,hlo8(64000)
9936
 10173 59c2 B0E0      		ldi r27,hhi8(64000)
9937
 10174 59c4 8093 0000 		sts SummeNick,r24
9938
 10175 59c8 9093 0000 		sts (SummeNick)+1,r25
9939
 10176 59cc A093 0000 		sts (SummeNick)+2,r26
9940
 10177 59d0 B093 0000 		sts (SummeNick)+3,r27
9941
 10178               	.L825:
9942
 10179 59d4 8091 0000 		lds r24,SummeNick
9943
 10180 59d8 9091 0000 		lds r25,(SummeNick)+1
9944
 10181 59dc A091 0000 		lds r26,(SummeNick)+2
9945
 10182 59e0 B091 0000 		lds r27,(SummeNick)+3
9946
 10183 59e4 8050      		subi r24,lo8(-64000)
9947
 10184 59e6 9640      		sbci r25,hi8(-64000)
9948
 10185 59e8 AF4F      		sbci r26,hlo8(-64000)
9949
 10186 59ea BF4F      		sbci r27,hhi8(-64000)
9950
 10187 59ec 04F4      		brge .L826
9951
 10188 59ee 80E0      		ldi r24,lo8(-64000)
9952
 10189 59f0 96E0      		ldi r25,hi8(-64000)
9953
 10190 59f2 AFEF      		ldi r26,hlo8(-64000)
9954
 10191 59f4 BFEF      		ldi r27,hhi8(-64000)
9955
 10192 59f6 8093 0000 		sts SummeNick,r24
9956
 10193 59fa 9093 0000 		sts (SummeNick)+1,r25
9957
 10194 59fe A093 0000 		sts (SummeNick)+2,r26
9958
 10195 5a02 B093 0000 		sts (SummeNick)+3,r27
9959
 10196               	.L826:
9960
 10197 5a06 C090 0000 		lds r12,EE_Parameter+35
9961
 10198 5a0a 2091 0000 		lds r18,DiffNick
9962
 10199 5a0e 3091 0000 		lds r19,(DiffNick)+1
9963
 10200 5a12 78E0      		ldi r23,lo8(8)
9964
 10201 5a14 E72E      		mov r14,r23
9965
 10202 5a16 EC14      		cp r14,r12
9966
 10203 5a18 00F0      		brlo .L827
9967
 10204 5a1a 8C2D      		mov r24,r12
9968
 10205 5a1c 9927      		clr r25
9969
 10206 5a1e 829F      		mul r24,r18
9970
 10207 5a20 A001      		movw r20,r0
9971
 10208 5a22 839F      		mul r24,r19
9972
 10209 5a24 500D      		add r21,r0
9973
 10210 5a26 929F      		mul r25,r18
9974
 10211 5a28 500D      		add r21,r0
9975
 10212 5a2a 1124      		clr r1
9976
 10213 5a2c CA01      		movw r24,r20
9977
 10214 5a2e 57FD      		sbrc r21,7
9978
 10215 5a30 0796      		adiw r24,7
9979
 10216               	.L828:
9980
 10217 5a32 7C01      		movw r14,r24
9981
 10218 5a34 63E0      		ldi r22,3
9982
 10219 5a36 F594      	1:	asr r15
9983
 10220 5a38 E794      		ror r14
9984
 10221 5a3a 6A95      		dec r22
9985
 10222 5a3c 01F4      		brne 1b
9986
 10223 5a3e 00C0      		rjmp .L829
9987
 10224               	.L827:
9988
 10225 5a40 8C2D      		mov r24,r12
9989
 10226 5a42 8695      		lsr r24
9990
 10227 5a44 9927      		clr r25
9991
 10228 5a46 829F      		mul r24,r18
9992
 10229 5a48 B001      		movw r22,r0
9993
 10230 5a4a 839F      		mul r24,r19
9994
 10231 5a4c 700D      		add r23,r0
9995
 10232 5a4e 929F      		mul r25,r18
9996
 10233 5a50 700D      		add r23,r0
9997
 10234 5a52 1124      		clr r1
9998
 10235 5a54 CB01      		movw r24,r22
9999
 10236 5a56 77FD      		sbrc r23,7
10000
 10237 5a58 0396      		adiw r24,3
10001
 10238               	.L830:
10002
 10239 5a5a 7C01      		movw r14,r24
10003
 10240 5a5c F594      		asr r15
10004
 10241 5a5e E794      		ror r14
10005
 10242 5a60 F594      		asr r15
10006
 10243 5a62 E794      		ror r14
10007
 10244               	.L829:
10008
 10245 5a64 A090 0000 		lds r10,Ki
10009
 10246 5a68 B090 0000 		lds r11,(Ki)+1
10010
 10247 5a6c 9501      		movw r18,r10
10011
 10248 5a6e 4427      		clr r20
10012
 10249 5a70 37FD      		sbrc r19,7
10013
 10250 5a72 4095      		com r20
10014
 10251 5a74 542F      		mov r21,r20
10015
 10252 5a76 8091 0000 		lds r24,SummeNick
10016
 10253 5a7a 9091 0000 		lds r25,(SummeNick)+1
10017
 10254 5a7e A091 0000 		lds r26,(SummeNick)+2
10018
 10255 5a82 B091 0000 		lds r27,(SummeNick)+3
10019
 10256 5a86 BC01      		movw r22,r24
10020
 10257 5a88 CD01      		movw r24,r26
10021
 10258 5a8a 0E94 0000 		call __divmodsi4
10022
 10259 5a8e E20E      		add r14,r18
10023
 10260 5a90 F31E      		adc r15,r19
10024
 10261 5a92 9090 0000 		lds r9,Parameter_DynamicStability
10025
 10262 5a96 692D      		mov r22,r9
10026
 10263 5a98 7727      		clr r23
10027
 10264 5a9a 8827      		clr r24
10028
 10265 5a9c 9927      		clr r25
10029
 10266 5a9e 9801      		movw r18,r16
10030
 10267 5aa0 17FF      		sbrs r17,7
10031
 10268 5aa2 00C0      		rjmp .L831
10032
 10269 5aa4 2227      		clr r18
10033
 10270 5aa6 3327      		clr r19
10034
 10271 5aa8 201B      		sub r18,r16
10035
 10272 5aaa 310B      		sbc r19,r17
10036
 10273               	.L831:
10037
 10274 5aac 37FF      		sbrs r19,7
10038
 10275 5aae 00C0      		rjmp .L832
10039
 10276 5ab0 2F5F      		subi r18,lo8(-(1))
10040
 10277 5ab2 3F4F      		sbci r19,hi8(-(1))
10041
 10278               	.L832:
10042
 10279 5ab4 3595      		asr r19
10043
 10280 5ab6 2795      		ror r18
10044
 10281 5ab8 A981      		ldd r26,Y+1
10045
 10282 5aba BA81      		ldd r27,Y+2
10046
 10283 5abc 2A0F      		add r18,r26
10047
 10284 5abe 3B1F      		adc r19,r27
10048
 10285 5ac0 4427      		clr r20
10049
 10286 5ac2 37FD      		sbrc r19,7
10050
 10287 5ac4 4095      		com r20
10051
 10288 5ac6 542F      		mov r21,r20
10052
 10289 5ac8 0E94 0000 		call __mulsi3
10053
 10290 5acc 97FF      		sbrs r25,7
10054
 10291 5ace 00C0      		rjmp .L833
10055
 10292 5ad0 615C      		subi r22,lo8(-(63))
10056
 10293 5ad2 7F4F      		sbci r23,hi8(-(63))
10057
 10294 5ad4 8F4F      		sbci r24,hlo8(-(63))
10058
 10295 5ad6 9F4F      		sbci r25,hhi8(-(63))
10059
 10296               	.L833:
10060
 10297 5ad8 26E0      		ldi r18,6
10061
 10298 5ada 9595      	1:	asr r25
10062
 10299 5adc 8795      		ror r24
10063
 10300 5ade 7795      		ror r23
10064
 10301 5ae0 6795      		ror r22
10065
 10302 5ae2 2A95      		dec r18
10066
 10303 5ae4 01F4      		brne 1b
10067
 10304 5ae6 9B01      		movw r18,r22
10068
 10305 5ae8 6E15      		cp r22,r14
10069
 10306 5aea 7F05      		cpc r23,r15
10070
 10307 5aec 04F4      		brge .L834
10071
 10308 5aee 7B01      		movw r14,r22
10072
 10309               	.L834:
10073
 10310 5af0 3095      		com r19
10074
 10311 5af2 2195      		neg r18
10075
 10312 5af4 3F4F      		sbci r19,lo8(-1)
10076
 10313 5af6 E216      		cp r14,r18
10077
 10314 5af8 F306      		cpc r15,r19
10078
 10315 5afa 04F4      		brge .L835
10079
 10316 5afc 7901      		movw r14,r18
10080
 10317               	.L835:
10081
 10318 5afe 8091 0000 		lds r24,MesswertRoll
10082
 10319 5b02 9091 0000 		lds r25,(MesswertRoll)+1
10083
 10320 5b06 6091 0000 		lds r22,StickRoll
10084
 10321 5b0a 7091 0000 		lds r23,(StickRoll)+1
10085
 10322 5b0e 861B      		sub r24,r22
10086
 10323 5b10 970B      		sbc r25,r23
10087
 10324 5b12 9093 0000 		sts (DiffRoll)+1,r25
10088
 10325 5b16 8093 0000 		sts DiffRoll,r24
10089
 10326 5b1a 2091 0000 		lds r18,SummeRoll
10090
 10327 5b1e 3091 0000 		lds r19,(SummeRoll)+1
10091
 10328 5b22 4091 0000 		lds r20,(SummeRoll)+2
10092
 10329 5b26 5091 0000 		lds r21,(SummeRoll)+3
10093
 10330 5b2a DD20      		tst r13
10094
 10331 5b2c 01F0      		breq .L836
10095
 10332 5b2e 461A      		sub r4,r22
10096
 10333 5b30 570A      		sbc r5,r23
10097
 10334 5b32 C201      		movw r24,r4
10098
 10335 5b34 AA27      		clr r26
10099
 10336 5b36 97FD      		sbrc r25,7
10100
 10337 5b38 A095      		com r26
10101
 10338 5b3a BA2F      		mov r27,r26
10102
 10339 5b3c 00C0      		rjmp .L915
10103
 10340               	.L836:
10104
 10341 5b3e AA27      		clr r26
10105
 10342 5b40 97FD      		sbrc r25,7
10106
 10343 5b42 A095      		com r26
10107
 10344 5b44 BA2F      		mov r27,r26
10108
 10345               	.L915:
10109
 10346 5b46 280F      		add r18,r24
10110
 10347 5b48 391F      		adc r19,r25
10111
 10348 5b4a 4A1F      		adc r20,r26
10112
 10349 5b4c 5B1F      		adc r21,r27
10113
 10350 5b4e 2093 0000 		sts SummeRoll,r18
10114
 10351 5b52 3093 0000 		sts (SummeRoll)+1,r19
10115
 10352 5b56 4093 0000 		sts (SummeRoll)+2,r20
10116
 10353 5b5a 5093 0000 		sts (SummeRoll)+3,r21
10117
 10354 5b5e 8091 0000 		lds r24,SummeRoll
10118
 10355 5b62 9091 0000 		lds r25,(SummeRoll)+1
10119
 10356 5b66 A091 0000 		lds r26,(SummeRoll)+2
10120
 10357 5b6a B091 0000 		lds r27,(SummeRoll)+3
10121
 10358 5b6e 8150      		subi r24,lo8(64001)
10122
 10359 5b70 9A4F      		sbci r25,hi8(64001)
10123
 10360 5b72 A040      		sbci r26,hlo8(64001)
10124
 10361 5b74 B040      		sbci r27,hhi8(64001)
10125
 10362 5b76 04F0      		brlt .L838
10126
 10363 5b78 80E0      		ldi r24,lo8(64000)
10127
 10364 5b7a 9AEF      		ldi r25,hi8(64000)
10128
 10365 5b7c A0E0      		ldi r26,hlo8(64000)
10129
 10366 5b7e B0E0      		ldi r27,hhi8(64000)
10130
 10367 5b80 8093 0000 		sts SummeRoll,r24
10131
 10368 5b84 9093 0000 		sts (SummeRoll)+1,r25
10132
 10369 5b88 A093 0000 		sts (SummeRoll)+2,r26
10133
 10370 5b8c B093 0000 		sts (SummeRoll)+3,r27
10134
 10371               	.L838:
10135
 10372 5b90 8091 0000 		lds r24,SummeRoll
10136
 10373 5b94 9091 0000 		lds r25,(SummeRoll)+1
10137
 10374 5b98 A091 0000 		lds r26,(SummeRoll)+2
10138
 10375 5b9c B091 0000 		lds r27,(SummeRoll)+3
10139
 10376 5ba0 8050      		subi r24,lo8(-64000)
10140
 10377 5ba2 9640      		sbci r25,hi8(-64000)
10141
 10378 5ba4 AF4F      		sbci r26,hlo8(-64000)
10142
 10379 5ba6 BF4F      		sbci r27,hhi8(-64000)
10143
 10380 5ba8 04F4      		brge .L839
10144
 10381 5baa 80E0      		ldi r24,lo8(-64000)
10145
 10382 5bac 96E0      		ldi r25,hi8(-64000)
10146
 10383 5bae AFEF      		ldi r26,hlo8(-64000)
10147
 10384 5bb0 BFEF      		ldi r27,hhi8(-64000)
10148
 10385 5bb2 8093 0000 		sts SummeRoll,r24
10149
 10386 5bb6 9093 0000 		sts (SummeRoll)+1,r25
10150
 10387 5bba A093 0000 		sts (SummeRoll)+2,r26
10151
 10388 5bbe B093 0000 		sts (SummeRoll)+3,r27
10152
 10389               	.L839:
10153
 10390 5bc2 2091 0000 		lds r18,DiffRoll
10154
 10391 5bc6 3091 0000 		lds r19,(DiffRoll)+1
10155
 10392 5bca 48E0      		ldi r20,lo8(8)
10156
 10393 5bcc 4C15      		cp r20,r12
10157
 10394 5bce 00F0      		brlo .L840
10158
 10395 5bd0 8C2D      		mov r24,r12
10159
 10396 5bd2 9927      		clr r25
10160
 10397 5bd4 829F      		mul r24,r18
10161
 10398 5bd6 B001      		movw r22,r0
10162
 10399 5bd8 839F      		mul r24,r19
10163
 10400 5bda 700D      		add r23,r0
10164
 10401 5bdc 929F      		mul r25,r18
10165
 10402 5bde 700D      		add r23,r0
10166
 10403 5be0 1124      		clr r1
10167
 10404 5be2 CB01      		movw r24,r22
10168
 10405 5be4 77FD      		sbrc r23,7
10169
 10406 5be6 0796      		adiw r24,7
10170
 10407               	.L841:
10171
 10408 5be8 6C01      		movw r12,r24
10172
 10409 5bea B3E0      		ldi r27,3
10173
 10410 5bec D594      	1:	asr r13
10174
 10411 5bee C794      		ror r12
10175
 10412 5bf0 BA95      		dec r27
10176
 10413 5bf2 01F4      		brne 1b
10177
 10414 5bf4 00C0      		rjmp .L842
10178
 10415               	.L840:
10179
 10416 5bf6 C694      		lsr r12
10180
 10417 5bf8 8C2D      		mov r24,r12
10181
 10418 5bfa 9927      		clr r25
10182
 10419 5bfc 829F      		mul r24,r18
10183
 10420 5bfe D001      		movw r26,r0
10184
 10421 5c00 839F      		mul r24,r19
10185
 10422 5c02 B00D      		add r27,r0
10186
 10423 5c04 929F      		mul r25,r18
10187
 10424 5c06 B00D      		add r27,r0
10188
 10425 5c08 1124      		clr r1
10189
 10426 5c0a CD01      		movw r24,r26
10190
 10427 5c0c B7FD      		sbrc r27,7
10191
 10428 5c0e 0396      		adiw r24,3
10192
 10429               	.L843:
10193
 10430 5c10 6C01      		movw r12,r24
10194
 10431 5c12 D594      		asr r13
10195
 10432 5c14 C794      		ror r12
10196
 10433 5c16 D594      		asr r13
10197
 10434 5c18 C794      		ror r12
10198
 10435               	.L842:
10199
 10436 5c1a 9501      		movw r18,r10
10200
 10437 5c1c 4427      		clr r20
10201
 10438 5c1e 37FD      		sbrc r19,7
10202
 10439 5c20 4095      		com r20
10203
 10440 5c22 542F      		mov r21,r20
10204
 10441 5c24 8091 0000 		lds r24,SummeRoll
10205
 10442 5c28 9091 0000 		lds r25,(SummeRoll)+1
10206
 10443 5c2c A091 0000 		lds r26,(SummeRoll)+2
10207
 10444 5c30 B091 0000 		lds r27,(SummeRoll)+3
10208
 10445 5c34 BC01      		movw r22,r24
10209
 10446 5c36 CD01      		movw r24,r26
10210
 10447 5c38 0E94 0000 		call __divmodsi4
10211
 10448 5c3c C20E      		add r12,r18
10212
 10449 5c3e D31E      		adc r13,r19
10213
 10450 5c40 692D      		mov r22,r9
10214
 10451 5c42 7727      		clr r23
10215
 10452 5c44 8827      		clr r24
10216
 10453 5c46 9927      		clr r25
10217
 10454 5c48 9801      		movw r18,r16
10218
 10455 5c4a 17FF      		sbrs r17,7
10219
 10456 5c4c 00C0      		rjmp .L844
10220
 10457 5c4e 2227      		clr r18
10221
 10458 5c50 3327      		clr r19
10222
 10459 5c52 201B      		sub r18,r16
10223
 10460 5c54 310B      		sbc r19,r17
10224
 10461               	.L844:
10225
 10462 5c56 37FF      		sbrs r19,7
10226
 10463 5c58 00C0      		rjmp .L845
10227
 10464 5c5a 2F5F      		subi r18,lo8(-(1))
10228
 10465 5c5c 3F4F      		sbci r19,hi8(-(1))
10229
 10466               	.L845:
10230
 10467 5c5e 3595      		asr r19
10231
 10468 5c60 2795      		ror r18
10232
 10469 5c62 E981      		ldd r30,Y+1
10233
 10470 5c64 FA81      		ldd r31,Y+2
10234
 10471 5c66 2E0F      		add r18,r30
10235
 10472 5c68 3F1F      		adc r19,r31
10236
 10473 5c6a 4427      		clr r20
10237
 10474 5c6c 37FD      		sbrc r19,7
10238
 10475 5c6e 4095      		com r20
10239
 10476 5c70 542F      		mov r21,r20
10240
 10477 5c72 0E94 0000 		call __mulsi3
10241
 10478 5c76 97FF      		sbrs r25,7
10242
 10479 5c78 00C0      		rjmp .L846
10243
 10480 5c7a 615C      		subi r22,lo8(-(63))
10244
 10481 5c7c 7F4F      		sbci r23,hi8(-(63))
10245
 10482 5c7e 8F4F      		sbci r24,hlo8(-(63))
10246
 10483 5c80 9F4F      		sbci r25,hhi8(-(63))
10247
 10484               	.L846:
10248
 10485 5c82 E6E0      		ldi r30,6
10249
 10486 5c84 9595      	1:	asr r25
10250
 10487 5c86 8795      		ror r24
10251
 10488 5c88 7795      		ror r23
10252
 10489 5c8a 6795      		ror r22
10253
 10490 5c8c EA95      		dec r30
10254
 10491 5c8e 01F4      		brne 1b
10255
 10492 5c90 9B01      		movw r18,r22
10256
 10493 5c92 6C15      		cp r22,r12
10257
 10494 5c94 7D05      		cpc r23,r13
10258
 10495 5c96 04F4      		brge .L847
10259
 10496 5c98 6B01      		movw r12,r22
10260
 10497               	.L847:
10261
 10498 5c9a 3095      		com r19
10262
 10499 5c9c 2195      		neg r18
10263
 10500 5c9e 3F4F      		sbci r19,lo8(-1)
10264
 10501 5ca0 C216      		cp r12,r18
10265
 10502 5ca2 D306      		cpc r13,r19
10266
 10503 5ca4 04F4      		brge .L848
10267
 10504 5ca6 6901      		movw r12,r18
10268
 10505               	.L848:
10269
 10506 5ca8 8091 0000 		lds r24,MIN_GAS
10270
 10507 5cac 282E      		mov r2,r24
10271
 10508 5cae 3324      		clr r3
10272
 10509 5cb0 5090 0000 		lds r5,EE_Parameter+101
10273
 10510 5cb4 60E0      		ldi r22,lo8(Motor)
10274
 10511 5cb6 862E      		mov r8,r22
10275
 10512 5cb8 60E0      		ldi r22,hi8(Motor)
10276
 10513 5cba 962E      		mov r9,r22
10277
 10514 5cbc 50E0      		ldi r21,lo8(Mixer+13)
10278
 10515 5cbe A52E      		mov r10,r21
10279
 10516 5cc0 50E0      		ldi r21,hi8(Mixer+13)
10280
 10517 5cc2 B52E      		mov r11,r21
10281
 10518 5cc4 4BE0      		ldi r20,lo8(11)
10282
 10519 5cc6 442E      		mov r4,r20
10283
 10520 5cc8 30E0      		ldi r19,lo8(tmp_motorwert)
10284
 10521 5cca 632E      		mov r6,r19
10285
 10522 5ccc 30E0      		ldi r19,hi8(tmp_motorwert)
10286
 10523 5cce 732E      		mov r7,r19
10287
 10524               	.L883:
10288
 10525 5cd0 D501      		movw r26,r10
10289
 10526 5cd2 2C91      		ld r18,X
10290
 10527 5cd4 1216      		cp __zero_reg__,r18
10291
 10528 5cd6 04F0      		brlt .+2
10292
 10529 5cd8 00C0      		rjmp .L852
10293
 10530 5cda 2034      		cpi r18,lo8(64)
10294
 10531 5cdc 01F4      		brne .L853
10295
 10532 5cde E981      		ldd r30,Y+1
10296
 10533 5ce0 FA81      		ldd r31,Y+2
10297
 10534 5ce2 FF8B      		std Y+23,r31
10298
 10535 5ce4 EE8B      		std Y+22,r30
10299
 10536 5ce6 00C0      		rjmp .L854
10300
 10537               	.L853:
10301
 10538 5ce8 4981      		ldd r20,Y+1
10302
 10539 5cea 5A81      		ldd r21,Y+2
10303
 10540 5cec CA01      		movw r24,r20
10304
 10541 5cee AA27      		clr r26
10305
 10542 5cf0 97FD      		sbrc r25,7
10306
 10543 5cf2 A095      		com r26
10307
 10544 5cf4 BA2F      		mov r27,r26
10308
 10545 5cf6 3327      		clr r19
10309
 10546 5cf8 27FD      		sbrc r18,7
10310
 10547 5cfa 3095      		com r19
10311
 10548 5cfc 432F      		mov r20,r19
10312
 10549 5cfe 532F      		mov r21,r19
10313
 10550 5d00 BC01      		movw r22,r24
10314
 10551 5d02 CD01      		movw r24,r26
10315
 10552 5d04 0E94 0000 		call __mulsi3
10316
 10553 5d08 97FF      		sbrs r25,7
10317
 10554 5d0a 00C0      		rjmp .L855
10318
 10555 5d0c 615C      		subi r22,lo8(-(63))
10319
 10556 5d0e 7F4F      		sbci r23,hi8(-(63))
10320
 10557 5d10 8F4F      		sbci r24,hlo8(-(63))
10321
 10558 5d12 9F4F      		sbci r25,hhi8(-(63))
10322
 10559               	.L855:
10323
 10560 5d14 26E0      		ldi r18,6
10324
 10561 5d16 9595      	1:	asr r25
10325
 10562 5d18 8795      		ror r24
10326
 10563 5d1a 7795      		ror r23
10327
 10564 5d1c 6795      		ror r22
10328
 10565 5d1e 2A95      		dec r18
10329
 10566 5d20 01F4      		brne 1b
10330
 10567 5d22 7F8B      		std Y+23,r23
10331
 10568 5d24 6E8B      		std Y+22,r22
10332
 10569               	.L854:
10333
 10570 5d26 F501      		movw r30,r10
10334
 10571 5d28 2181      		ldd r18,Z+1
10335
 10572 5d2a 2034      		cpi r18,lo8(64)
10336
 10573 5d2c 01F4      		brne .L856
10337
 10574 5d2e 2E89      		ldd r18,Y+22
10338
 10575 5d30 3F89      		ldd r19,Y+23
10339
 10576 5d32 2E0D      		add r18,r14
10340
 10577 5d34 3F1D      		adc r19,r15
10341
 10578 5d36 3F8B      		std Y+23,r19
10342
 10579 5d38 2E8B      		std Y+22,r18
10343
 10580 5d3a 00C0      		rjmp .L857
10344
 10581               	.L856:
10345
 10582 5d3c 203C      		cpi r18,lo8(-64)
10346
 10583 5d3e 01F4      		brne .L858
10347
 10584 5d40 4E89      		ldd r20,Y+22
10348
 10585 5d42 5F89      		ldd r21,Y+23
10349
 10586 5d44 4E19      		sub r20,r14
10350
 10587 5d46 5F09      		sbc r21,r15
10351
 10588 5d48 5F8B      		std Y+23,r21
10352
 10589 5d4a 4E8B      		std Y+22,r20
10353
 10590 5d4c 00C0      		rjmp .L857
10354
 10591               	.L858:
10355
 10592 5d4e C701      		movw r24,r14
10356
 10593 5d50 AA27      		clr r26
10357
 10594 5d52 97FD      		sbrc r25,7
10358
 10595 5d54 A095      		com r26
10359
 10596 5d56 BA2F      		mov r27,r26
10360
 10597 5d58 3327      		clr r19
10361
 10598 5d5a 27FD      		sbrc r18,7
10362
 10599 5d5c 3095      		com r19
10363
 10600 5d5e 432F      		mov r20,r19
10364
 10601 5d60 532F      		mov r21,r19
10365
 10602 5d62 BC01      		movw r22,r24
10366
 10603 5d64 CD01      		movw r24,r26
10367
 10604 5d66 0E94 0000 		call __mulsi3
10368
 10605 5d6a 97FF      		sbrs r25,7
10369
 10606 5d6c 00C0      		rjmp .L860
10370
 10607 5d6e 615C      		subi r22,lo8(-(63))
10371
 10608 5d70 7F4F      		sbci r23,hi8(-(63))
10372
 10609 5d72 8F4F      		sbci r24,hlo8(-(63))
10373
 10610 5d74 9F4F      		sbci r25,hhi8(-(63))
10374
 10611               	.L860:
10375
 10612 5d76 B6E0      		ldi r27,6
10376
 10613 5d78 9595      	1:	asr r25
10377
 10614 5d7a 8795      		ror r24
10378
 10615 5d7c 7795      		ror r23
10379
 10616 5d7e 6795      		ror r22
10380
 10617 5d80 BA95      		dec r27
10381
 10618 5d82 01F4      		brne 1b
10382
 10619 5d84 AE89      		ldd r26,Y+22
10383
 10620 5d86 BF89      		ldd r27,Y+23
10384
 10621 5d88 A60F      		add r26,r22
10385
 10622 5d8a B71F      		adc r27,r23
10386
 10623 5d8c BF8B      		std Y+23,r27
10387
 10624 5d8e AE8B      		std Y+22,r26
10388
 10625               	.L857:
10389
 10626 5d90 F501      		movw r30,r10
10390
 10627 5d92 2281      		ldd r18,Z+2
10391
 10628 5d94 2034      		cpi r18,lo8(64)
10392
 10629 5d96 01F4      		brne .L861
10393
 10630 5d98 2E89      		ldd r18,Y+22
10394
 10631 5d9a 3F89      		ldd r19,Y+23
10395
 10632 5d9c 2C0D      		add r18,r12
10396
 10633 5d9e 3D1D      		adc r19,r13
10397
 10634 5da0 3F8B      		std Y+23,r19
10398
 10635 5da2 2E8B      		std Y+22,r18
10399
 10636 5da4 00C0      		rjmp .L862
10400
 10637               	.L861:
10401
 10638 5da6 203C      		cpi r18,lo8(-64)
10402
 10639 5da8 01F4      		brne .L863
10403
 10640 5daa 4E89      		ldd r20,Y+22
10404
 10641 5dac 5F89      		ldd r21,Y+23
10405
 10642 5dae 4C19      		sub r20,r12
10406
 10643 5db0 5D09      		sbc r21,r13
10407
 10644 5db2 5F8B      		std Y+23,r21
10408
 10645 5db4 4E8B      		std Y+22,r20
10409
 10646 5db6 00C0      		rjmp .L862
10410
 10647               	.L863:
10411
 10648 5db8 C601      		movw r24,r12
10412
 10649 5dba AA27      		clr r26
10413
 10650 5dbc 97FD      		sbrc r25,7
10414
 10651 5dbe A095      		com r26
10415
 10652 5dc0 BA2F      		mov r27,r26
10416
 10653 5dc2 3327      		clr r19
10417
 10654 5dc4 27FD      		sbrc r18,7
10418
 10655 5dc6 3095      		com r19
10419
 10656 5dc8 432F      		mov r20,r19
10420
 10657 5dca 532F      		mov r21,r19
10421
 10658 5dcc BC01      		movw r22,r24
10422
 10659 5dce CD01      		movw r24,r26
10423
 10660 5dd0 0E94 0000 		call __mulsi3
10424
 10661 5dd4 97FF      		sbrs r25,7
10425
 10662 5dd6 00C0      		rjmp .L865
10426
 10663 5dd8 615C      		subi r22,lo8(-(63))
10427
 10664 5dda 7F4F      		sbci r23,hi8(-(63))
10428
 10665 5ddc 8F4F      		sbci r24,hlo8(-(63))
10429
 10666 5dde 9F4F      		sbci r25,hhi8(-(63))
10430
 10667               	.L865:
10431
 10668 5de0 A6E0      		ldi r26,6
10432
 10669 5de2 9595      	1:	asr r25
10433
 10670 5de4 8795      		ror r24
10434
 10671 5de6 7795      		ror r23
10435
 10672 5de8 6795      		ror r22
10436
 10673 5dea AA95      		dec r26
10437
 10674 5dec 01F4      		brne 1b
10438
 10675 5dee AE89      		ldd r26,Y+22
10439
 10676 5df0 BF89      		ldd r27,Y+23
10440
 10677 5df2 A60F      		add r26,r22
10441
 10678 5df4 B71F      		adc r27,r23
10442
 10679 5df6 BF8B      		std Y+23,r27
10443
 10680 5df8 AE8B      		std Y+22,r26
10444
 10681               	.L862:
10445
 10682 5dfa F501      		movw r30,r10
10446
 10683 5dfc 2381      		ldd r18,Z+3
10447
 10684 5dfe 2034      		cpi r18,lo8(64)
10448
 10685 5e00 01F4      		brne .L866
10449
 10686 5e02 2E89      		ldd r18,Y+22
10450
 10687 5e04 3F89      		ldd r19,Y+23
10451
 10688 5e06 200F      		add r18,r16
10452
 10689 5e08 311F      		adc r19,r17
10453
 10690 5e0a 3F8B      		std Y+23,r19
10454
 10691 5e0c 2E8B      		std Y+22,r18
10455
 10692 5e0e 00C0      		rjmp .L867
10456
 10693               	.L866:
10457
 10694 5e10 203C      		cpi r18,lo8(-64)
10458
 10695 5e12 01F4      		brne .L868
10459
 10696 5e14 4E89      		ldd r20,Y+22
10460
 10697 5e16 5F89      		ldd r21,Y+23
10461
 10698 5e18 401B      		sub r20,r16
10462
 10699 5e1a 510B      		sbc r21,r17
10463
 10700 5e1c 5F8B      		std Y+23,r21
10464
 10701 5e1e 4E8B      		std Y+22,r20
10465
 10702 5e20 00C0      		rjmp .L867
10466
 10703               	.L868:
10467
 10704 5e22 C801      		movw r24,r16
10468
 10705 5e24 AA27      		clr r26
10469
 10706 5e26 97FD      		sbrc r25,7
10470
 10707 5e28 A095      		com r26
10471
 10708 5e2a BA2F      		mov r27,r26
10472
 10709 5e2c 3327      		clr r19
10473
 10710 5e2e 27FD      		sbrc r18,7
10474
 10711 5e30 3095      		com r19
10475
 10712 5e32 432F      		mov r20,r19
10476
 10713 5e34 532F      		mov r21,r19
10477
 10714 5e36 BC01      		movw r22,r24
10478
 10715 5e38 CD01      		movw r24,r26
10479
 10716 5e3a 0E94 0000 		call __mulsi3
10480
 10717 5e3e 97FF      		sbrs r25,7
10481
 10718 5e40 00C0      		rjmp .L870
10482
 10719 5e42 615C      		subi r22,lo8(-(63))
10483
 10720 5e44 7F4F      		sbci r23,hi8(-(63))
10484
 10721 5e46 8F4F      		sbci r24,hlo8(-(63))
10485
 10722 5e48 9F4F      		sbci r25,hhi8(-(63))
10486
 10723               	.L870:
10487
 10724 5e4a F6E0      		ldi r31,6
10488
 10725 5e4c 9595      	1:	asr r25
10489
 10726 5e4e 8795      		ror r24
10490
 10727 5e50 7795      		ror r23
10491
 10728 5e52 6795      		ror r22
10492
 10729 5e54 FA95      		dec r31
10493
 10730 5e56 01F4      		brne 1b
10494
 10731 5e58 AE89      		ldd r26,Y+22
10495
 10732 5e5a BF89      		ldd r27,Y+23
10496
 10733 5e5c A60F      		add r26,r22
10497
 10734 5e5e B71F      		adc r27,r23
10498
 10735 5e60 BF8B      		std Y+23,r27
10499
 10736 5e62 AE8B      		std Y+22,r26
10500
 10737               	.L867:
10501
 10738 5e64 F301      		movw r30,r6
10502
 10739 5e66 8081      		ld r24,Z
10503
 10740 5e68 9181      		ldd r25,Z+1
10504
 10741 5e6a 2E89      		ldd r18,Y+22
10505
 10742 5e6c 3F89      		ldd r19,Y+23
10506
 10743 5e6e 8217      		cp r24,r18
10507
 10744 5e70 9307      		cpc r25,r19
10508
 10745 5e72 04F4      		brge .L871
10509
 10746 5e74 B901      		movw r22,r18
10510
 10747 5e76 680F      		add r22,r24
10511
 10748 5e78 791F      		adc r23,r25
10512
 10749 5e7a 77FF      		sbrs r23,7
10513
 10750 5e7c 00C0      		rjmp .L872
10514
 10751 5e7e 6F5F      		subi r22,lo8(-(1))
10515
 10752 5e80 7F4F      		sbci r23,hi8(-(1))
10516
 10753               	.L872:
10517
 10754 5e82 7595      		asr r23
10518
 10755 5e84 6795      		ror r22
10519
 10756 5e86 7F8B      		std Y+23,r23
10520
 10757 5e88 6E8B      		std Y+22,r22
10521
 10758 5e8a 00C0      		rjmp .L873
10522
 10759               	.L871:
10523
 10760 5e8c 5520      		tst r5
10524
 10761 5e8e 01F4      		brne .L874
10525
 10762 5e90 4E89      		ldd r20,Y+22
10526
 10763 5e92 5F89      		ldd r21,Y+23
10527
 10764 5e94 440F      		add r20,r20
10528
 10765 5e96 551F      		adc r21,r21
10529
 10766 5e98 481B      		sub r20,r24
10530
 10767 5e9a 590B      		sbc r21,r25
10531
 10768 5e9c 5F8B      		std Y+23,r21
10532
 10769 5e9e 4E8B      		std Y+22,r20
10533
 10770 5ea0 00C0      		rjmp .L873
10534
 10771               	.L874:
10535
 10772 5ea2 51E0      		ldi r21,lo8(1)
10536
 10773 5ea4 5515      		cp r21,r5
10537
 10774 5ea6 00F4      		brsh .L873
10538
 10775 5ea8 252D      		mov r18,r5
10539
 10776 5eaa 3327      		clr r19
10540
 10777 5eac 6E89      		ldd r22,Y+22
10541
 10778 5eae 7F89      		ldd r23,Y+23
10542
 10779 5eb0 861B      		sub r24,r22
10543
 10780 5eb2 970B      		sbc r25,r23
10544
 10781 5eb4 B901      		movw r22,r18
10545
 10782 5eb6 0E94 0000 		call __divmodhi4
10546
 10783 5eba AE89      		ldd r26,Y+22
10547
 10784 5ebc BF89      		ldd r27,Y+23
10548
 10785 5ebe A60F      		add r26,r22
10549
 10786 5ec0 B71F      		adc r27,r23
10550
 10787 5ec2 BF8B      		std Y+23,r27
10551
 10788 5ec4 AE8B      		std Y+22,r26
10552
 10789               	.L873:
10553
 10790 5ec6 C101      		movw r24,r2
10554
 10791 5ec8 880F      		lsl r24
10555
 10792 5eca 991F      		rol r25
10556
 10793 5ecc 880F      		lsl r24
10557
 10794 5ece 991F      		rol r25
10558
 10795 5ed0 EE89      		ldd r30,Y+22
10559
 10796 5ed2 FF89      		ldd r31,Y+23
10560
 10797 5ed4 8E17      		cp r24,r30
10561
 10798 5ed6 9F07      		cpc r25,r31
10562
 10799 5ed8 04F4      		brge .L916
10563
 10800 5eda FD89      		ldd r31,Y+21
10564
 10801 5edc 8F2F      		mov r24,r31
10565
 10802 5ede 9927      		clr r25
10566
 10803 5ee0 880F      		lsl r24
10567
 10804 5ee2 991F      		rol r25
10568
 10805 5ee4 880F      		lsl r24
10569
 10806 5ee6 991F      		rol r25
10570
 10807 5ee8 2E89      		ldd r18,Y+22
10571
 10808 5eea 3F89      		ldd r19,Y+23
10572
 10809 5eec 2817      		cp r18,r24
10573
 10810 5eee 3907      		cpc r19,r25
10574
 10811 5ef0 04F0      		brlt .L878
10575
 10812               	.L916:
10576
 10813 5ef2 9F8B      		std Y+23,r25
10577
 10814 5ef4 8E8B      		std Y+22,r24
10578
 10815               	.L878:
10579
 10816 5ef6 8E89      		ldd r24,Y+22
10580
 10817 5ef8 9F89      		ldd r25,Y+23
10581
 10818 5efa 97FD      		sbrc r25,7
10582
 10819 5efc 0396      		adiw r24,3
10583
 10820               	.L880:
10584
 10821 5efe 9595      		asr r25
10585
 10822 5f00 8795      		ror r24
10586
 10823 5f02 9595      		asr r25
10587
 10824 5f04 8795      		ror r24
10588
 10825 5f06 F401      		movw r30,r8
10589
 10826 5f08 8183      		std Z+1,r24
10590
 10827 5f0a 880F      		lsl r24
10591
 10828 5f0c 991F      		rol r25
10592
 10829 5f0e 880F      		lsl r24
10593
 10830 5f10 991F      		rol r25
10594
 10831 5f12 2E89      		ldd r18,Y+22
10595
 10832 5f14 3F89      		ldd r19,Y+23
10596
 10833 5f16 281B      		sub r18,r24
10597
 10834 5f18 390B      		sbc r19,r25
10598
 10835 5f1a C901      		movw r24,r18
10599
 10836 5f1c 880F      		lsl r24
10600
 10837 5f1e 8283      		std Z+2,r24
10601
 10838 5f20 EE89      		ldd r30,Y+22
10602
 10839 5f22 FF89      		ldd r31,Y+23
10603
 10840 5f24 D301      		movw r26,r6
10604
 10841 5f26 ED93      		st X+,r30
10605
 10842 5f28 FC93      		st X,r31
10606
 10843 5f2a 00C0      		rjmp .L851
10607
 10844               	.L852:
10608
 10845 5f2c F401      		movw r30,r8
10609
 10846 5f2e 1182      		std Z+1,__zero_reg__
10610
 10847 5f30 1282      		std Z+2,__zero_reg__
10611
 10848               	.L851:
10612
 10849 5f32 4A94      		dec r4
10613
 10850 5f34 22E0      		ldi r18,lo8(2)
10614
 10851 5f36 30E0      		ldi r19,hi8(2)
10615
 10852 5f38 620E      		add r6,r18
10616
 10853 5f3a 731E      		adc r7,r19
10617
 10854 5f3c 44E0      		ldi r20,lo8(4)
10618
 10855 5f3e 50E0      		ldi r21,hi8(4)
10619
 10856 5f40 A40E      		add r10,r20
10620
 10857 5f42 B51E      		adc r11,r21
10621
 10858 5f44 68E0      		ldi r22,lo8(8)
10622
 10859 5f46 70E0      		ldi r23,hi8(8)
10623
 10860 5f48 860E      		add r8,r22
10624
 10861 5f4a 971E      		adc r9,r23
10625
 10862 5f4c 47FE      		sbrs r4,7
10626
 10863 5f4e 00C0      		rjmp .L883
10627
 10864               	/* epilogue: frame size=23 */
10628
 10865 5f50 E2E1      		ldi r30,18
10629
 10866 5f52 C95E      		subi r28,-23
10630
 10867 5f54 0C94 0000 		jmp __epilogue_restores__+0
10631
 10868               	/* epilogue end (size=4) */
10632
 10869               	/* function MotorRegler size 8305 (8295) */
10633
 10871               		.comm TrimNick,2,1
10634
 10872               		.comm TrimRoll,2,1
10635
 10873               		.comm ErsatzKompass,4,1
10636
 10874               		.comm ErsatzKompassInGrad,2,1
10637
 10875               		.comm MesswertNick,2,1
10638
 10876               		.comm MesswertRoll,2,1
10639
 10877               		.comm MesswertGier,2,1
10640
 10878               		.comm Mittelwert_AccNick,2,1
10641
 10879               		.comm Mittelwert_AccRoll,2,1
10642
 10880               		.comm NaviAccNick,2,1
10643
 10881               		.comm NaviAccRoll,2,1
10644
 10882               		.comm h,1,1
10645
 10883               		.comm m,1,1
10646
 10884               		.comm s,1,1
10647
 10885               		.comm DiffNick,2,1
10648
 10886               		.comm DiffRoll,2,1
10649
 10887               		.comm Parameter_Servo3,1,1
10650
 10888               		.comm Parameter_Servo4,1,1
10651
 10889               		.comm Parameter_Servo5,1,1
10652
 10890               		.comm Parameter_J16Bitmask,1,1
10653
 10891               		.comm Parameter_J16Timing,1,1
10654
 10892               		.comm Parameter_J17Bitmask,1,1
10655
 10893               		.comm Parameter_J17Timing,1,1
10656
 10894               		.comm Parameter_GlobalConfig,1,1
10657
 10895               		.comm Parameter_ExtraConfig,1,1
10658
 10896               		.comm MesswertGierBias,2,1
10659
 10897               		.comm RohMesswertNick,2,1
10660
 10898               		.comm RohMesswertRoll,2,1
10661
 10899               		.comm MittelIntegralNick,4,1
10662
 10900               		.comm MittelIntegralRoll,4,1
10663
 10901               		.comm MittelIntegralNick2,4,1
10664
 10902               		.comm MittelIntegralRoll2,4,1
10665
 10903               		.comm MAX_GAS,1,1
10666
 10904               		.comm MIN_GAS,1,1
10667
 10905               		.comm GyroFaktor,1,1
10668
 10906               		.comm GyroFaktorGier,1,1
10669
 10907               		.comm IntegralFaktor,1,1
10670
 10908               		.comm IntegralFaktorGier,1,1
10671
 10909               		.comm Parameter_NaviGpsModeControl,1,1
10672
 10910               		.comm Parameter_NaviGpsGain,1,1
10673
 10911               		.comm Parameter_NaviGpsP,1,1
10674
 10912               		.comm Parameter_NaviGpsI,1,1
10675
 10913               		.comm Parameter_NaviGpsD,1,1
10676
 10914               		.comm Parameter_NaviGpsACC,1,1
10677
 10915               		.comm Parameter_NaviOperatingRadius,1,1
10678
 10916               		.comm Parameter_NaviWindCorrection,1,1
10679
 10917               		.comm Parameter_NaviSpeedCompensation,1,1
10680
 10918               		.comm Parameter_ExternalControl,1,1
10681
 10919               		.comm Parameter_MaximumAltitude,1,1
10682
 10920               		.comm KopplungsteilNickRoll,2,1
10683
 10921               		.comm KopplungsteilRollNick,2,1
10684
 10922               		.comm tmp_motorwert,24,1
10685
 10923               	/* File "fc.c": code 12371 = 0x3053 (12310), prologues  31, epilogues  30 */
10686
DEFINED SYMBOLS
10687
                            *ABS*:00000000 fc.c
10688
  C:\Temp/ccsD8yYp.s:3      *ABS*:0000003f __SREG__
10689
  C:\Temp/ccsD8yYp.s:4      *ABS*:0000003e __SP_H__
10690
  C:\Temp/ccsD8yYp.s:5      *ABS*:0000003d __SP_L__
10691
  C:\Temp/ccsD8yYp.s:6      *ABS*:00000000 __tmp_reg__
10692
  C:\Temp/ccsD8yYp.s:7      *ABS*:00000001 __zero_reg__
10693
  C:\Temp/ccsD8yYp.s:15     .bss:00000000 GasIsZeroCnt
10694
  C:\Temp/ccsD8yYp.s:21     .bss:00000002 HooverGasEmergencyPercent
10695
  C:\Temp/ccsD8yYp.s:27     .data:00000000 VarioCharacter
10696
  C:\Temp/ccsD8yYp.s:32     .data:00000001 GIER_GRAD_FAKTOR
10697
  C:\Temp/ccsD8yYp.s:39     .bss:00000004 FC_StatusFlags2
10698
  C:\Temp/ccsD8yYp.s:45     .bss:00000005 FC_StatusFlags
10699
  C:\Temp/ccsD8yYp.s:51     .bss:00000006 modell_fliegt
10700
  C:\Temp/ccsD8yYp.s:57     .bss:00000008 MaxStickRoll
10701
  C:\Temp/ccsD8yYp.s:63     .bss:0000000a MaxStickNick
10702
  C:\Temp/ccsD8yYp.s:69     .data:00000005 ExternHoehenValue
10703
  C:\Temp/ccsD8yYp.s:76     .bss:0000000c ExternStickGier
10704
  C:\Temp/ccsD8yYp.s:82     .bss:0000000e ExternStickRoll
10705
  C:\Temp/ccsD8yYp.s:88     .bss:00000010 ExternStickNick
10706
  C:\Temp/ccsD8yYp.s:94     .data:00000007 sintab
10707
  C:\Temp/ccsD8yYp.s:131    .bss:00000012 CareFree
10708
  C:\Temp/ccsD8yYp.s:137    .data:00000026 Parameter_DynamicStability
10709
  C:\Temp/ccsD8yYp.s:142    .data:00000027 Parameter_CouplingYawCorrection
10710
  C:\Temp/ccsD8yYp.s:147    .data:00000028 Parameter_AchsKopplung2
10711
  C:\Temp/ccsD8yYp.s:152    .data:00000029 Parameter_AchsKopplung1
10712
  C:\Temp/ccsD8yYp.s:157    .data:0000002a Parameter_LoopGasLimit
10713
  C:\Temp/ccsD8yYp.s:162    .data:0000002b Parameter_ServoRollControl
10714
  C:\Temp/ccsD8yYp.s:167    .data:0000002c Parameter_ServoNickControl
10715
  C:\Temp/ccsD8yYp.s:174    .bss:00000013 Parameter_UserParam8
10716
  C:\Temp/ccsD8yYp.s:180    .bss:00000014 Parameter_UserParam7
10717
  C:\Temp/ccsD8yYp.s:186    .bss:00000015 Parameter_UserParam6
10718
  C:\Temp/ccsD8yYp.s:192    .bss:00000016 Parameter_UserParam5
10719
  C:\Temp/ccsD8yYp.s:198    .bss:00000017 Parameter_UserParam4
10720
  C:\Temp/ccsD8yYp.s:204    .bss:00000018 Parameter_UserParam3
10721
  C:\Temp/ccsD8yYp.s:210    .bss:00000019 Parameter_UserParam2
10722
  C:\Temp/ccsD8yYp.s:216    .bss:0000001a Parameter_UserParam1
10723
  C:\Temp/ccsD8yYp.s:222    .data:0000002d Parameter_I_Faktor
10724
  C:\Temp/ccsD8yYp.s:227    .data:0000002e Parameter_Gier_P
10725
  C:\Temp/ccsD8yYp.s:232    .data:0000002f Parameter_Gyro_Gier_I
10726
  C:\Temp/ccsD8yYp.s:237    .data:00000030 Parameter_Gyro_Gier_P
10727
  C:\Temp/ccsD8yYp.s:242    .data:00000031 Parameter_Gyro_I
10728
  C:\Temp/ccsD8yYp.s:247    .data:00000032 Parameter_Gyro_P
10729
  C:\Temp/ccsD8yYp.s:252    .data:00000033 Parameter_Gyro_D
10730
  C:\Temp/ccsD8yYp.s:257    .data:00000034 Parameter_Hoehe_GPS_Z
10731
  C:\Temp/ccsD8yYp.s:262    .data:00000035 Parameter_KompassWirkung
10732
  C:\Temp/ccsD8yYp.s:267    .data:00000036 Parameter_Hoehe_ACC_Wirkung
10733
  C:\Temp/ccsD8yYp.s:272    .data:00000037 Parameter_Hoehe_P
10734
  C:\Temp/ccsD8yYp.s:277    .data:00000038 Parameter_HoehenSchalter
10735
  C:\Temp/ccsD8yYp.s:282    .data:00000039 Parameter_Luftdruck_D
10736
  C:\Temp/ccsD8yYp.s:289    .bss:0000001b Looping_Oben
10737
  C:\Temp/ccsD8yYp.s:295    .bss:0000001c Looping_Unten
10738
  C:\Temp/ccsD8yYp.s:301    .bss:0000001d Looping_Rechts
10739
  C:\Temp/ccsD8yYp.s:307    .bss:0000001e Looping_Links
10740
  C:\Temp/ccsD8yYp.s:313    .bss:0000001f Looping_Roll
10741
  C:\Temp/ccsD8yYp.s:319    .bss:00000020 Looping_Nick
10742
  C:\Temp/ccsD8yYp.s:325    .data:0000003a Ki
10743
  C:\Temp/ccsD8yYp.s:332    .bss:00000021 HoverGas
10744
  C:\Temp/ccsD8yYp.s:338    .bss:00000023 LageKorrekturNick
10745
  C:\Temp/ccsD8yYp.s:344    .bss:00000025 LageKorrekturRoll
10746
  C:\Temp/ccsD8yYp.s:350    .bss:00000027 NeueKompassRichtungMerken
10747
  C:\Temp/ccsD8yYp.s:356    .bss:00000028 CalibrationDone
10748
  C:\Temp/ccsD8yYp.s:362    .bss:00000029 CompassGierSetpoint
10749
  C:\Temp/ccsD8yYp.s:368    .bss:0000002b WaypointTrimming
10750
  C:\Temp/ccsD8yYp.s:374    .data:0000003c carefree_old
10751
  C:\Temp/ccsD8yYp.s:381    .bss:0000002c FromNC_AltitudeSpeed
10752
  C:\Temp/ccsD8yYp.s:387    .bss:0000002d FromNC_AltitudeSetpoint
10753
  C:\Temp/ccsD8yYp.s:393    .bss:00000031 AltitudeSetpointTrimming
10754
  C:\Temp/ccsD8yYp.s:399    .bss:00000033 SollHoehe
10755
  C:\Temp/ccsD8yYp.s:405    .bss:00000037 HoehenWert
10756
  C:\Temp/ccsD8yYp.s:411    .bss:0000003b StartTrigger
10757
  C:\Temp/ccsD8yYp.s:417    .bss:0000003c MotorenEin
10758
  C:\Temp/ccsD8yYp.s:423    .bss:0000003d SenderOkay
10759
  C:\Temp/ccsD8yYp.s:429    .bss:0000003e Poti
10760
  C:\Temp/ccsD8yYp.s:435    .bss:00000047 StickGas
10761
  C:\Temp/ccsD8yYp.s:441    .bss:00000049 StickGier
10762
  C:\Temp/ccsD8yYp.s:447    .bss:0000004b StickRoll
10763
  C:\Temp/ccsD8yYp.s:453    .bss:0000004d StickNick
10764
  C:\Temp/ccsD8yYp.s:459    .data:0000003d HoverGasMax
10765
  C:\Temp/ccsD8yYp.s:466    .bss:0000004f HoverGasMin
10766
  C:\Temp/ccsD8yYp.s:472    .data:0000003f StickGasHover
10767
  C:\Temp/ccsD8yYp.s:479    .bss:00000051 GierGyroFehler
10768
  C:\Temp/ccsD8yYp.s:485    .data:00000041 Umschlag180Roll
10769
  C:\Temp/ccsD8yYp.s:490    .data:00000045 Umschlag180Nick
10770
  C:\Temp/ccsD8yYp.s:497    .bss:00000053 TrichterFlug
10771
  C:\Temp/ccsD8yYp.s:503    .bss:00000054 HoehenReglerAktiv
10772
  C:\Temp/ccsD8yYp.s:509    .data:00000049 KompassSignalSchlecht
10773
  C:\Temp/ccsD8yYp.s:514    .data:0000004b KompassFusion
10774
  C:\Temp/ccsD8yYp.s:519    .data:0000004c CalculateCompassTimer
10775
  C:\Temp/ccsD8yYp.s:526    .bss:00000055 KompassSollWert
10776
  C:\Temp/ccsD8yYp.s:532    .data:0000004d KompassValue
10777
  C:\Temp/ccsD8yYp.s:539    .bss:00000057 Mess_Integral_Hoch
10778
  C:\Temp/ccsD8yYp.s:545    .bss:0000005b SummeRoll
10779
  C:\Temp/ccsD8yYp.s:551    .bss:0000005f SummeNick
10780
  C:\Temp/ccsD8yYp.s:557    .bss:00000063 Mess_Integral_Gier2
10781
  C:\Temp/ccsD8yYp.s:563    .bss:00000067 Mess_Integral_Gier
10782
  C:\Temp/ccsD8yYp.s:569    .bss:0000006b Mess_IntegralRoll2
10783
  C:\Temp/ccsD8yYp.s:575    .bss:0000006f Mess_IntegralRoll
10784
  C:\Temp/ccsD8yYp.s:581    .bss:00000073 Mess_IntegralNick2
10785
  C:\Temp/ccsD8yYp.s:587    .bss:00000077 Mess_IntegralNick
10786
  C:\Temp/ccsD8yYp.s:593    .bss:0000007b Integral_Gier
10787
  C:\Temp/ccsD8yYp.s:599    .bss:0000007f IntegralAccZ
10788
  C:\Temp/ccsD8yYp.s:605    .bss:00000083 IntegralAccRoll
10789
  C:\Temp/ccsD8yYp.s:611    .bss:00000087 IntegralAccNick
10790
  C:\Temp/ccsD8yYp.s:617    .bss:0000008b IntegralRoll2
10791
  C:\Temp/ccsD8yYp.s:623    .bss:0000008f IntegralRoll
10792
  C:\Temp/ccsD8yYp.s:629    .bss:00000093 IntegralNick2
10793
  C:\Temp/ccsD8yYp.s:635    .bss:00000097 IntegralNick
10794
  C:\Temp/ccsD8yYp.s:641    .bss:0000009b ControlHeading
10795
  C:\Temp/ccsD8yYp.s:647    .bss:0000009c NeutralAccZ
10796
  C:\Temp/ccsD8yYp.s:653    .bss:0000009e NaviCntAcc
10797
  C:\Temp/ccsD8yYp.s:659    .bss:000000a0 NeutralAccY
10798
  C:\Temp/ccsD8yYp.s:665    .bss:000000a2 NeutralAccX
10799
  C:\Temp/ccsD8yYp.s:671    .bss:000000a4 StartNeutralNick
10800
  C:\Temp/ccsD8yYp.s:677    .bss:000000a6 StartNeutralRoll
10801
  C:\Temp/ccsD8yYp.s:683    .bss:000000a8 AdNeutralGier
10802
  C:\Temp/ccsD8yYp.s:689    .bss:000000aa AdNeutralRoll
10803
  C:\Temp/ccsD8yYp.s:695    .bss:000000ac AdNeutralNick
10804
  C:\Temp/ccsD8yYp.s:701    .bss:000000ae BaroExpandActive
10805
  C:\Temp/ccsD8yYp.s:706    .text:00000000 CopyDebugValues
10806
                            *COM*:00000002 Mittelwert_AccNick
10807
                            *COM*:00000002 Mittelwert_AccRoll
10808
                            *COM*:00000004 ErsatzKompass
10809
  C:\Temp/ccsD8yYp.s:902    .text:00000254 Piep
10810
  C:\Temp/ccsD8yYp.s:976    .text:000002da CalibrierMittelwert
10811
                            *COM*:00000002 MesswertNick
10812
                            *COM*:00000002 MesswertRoll
10813
                            *COM*:00000002 MesswertGier
10814
  C:\Temp/ccsD8yYp.s:1118   .progmem.data:00000000 __c.35
10815
  C:\Temp/ccsD8yYp.s:1123   .text:0000041c SetNeutral
10816
                             .bss:000000b0 tmpl.27
10817
  C:\Temp/ccsD8yYp.s:1631   .bss:000000b4 tmpl2.28
10818
  C:\Temp/ccsD8yYp.s:1632   .bss:000000b8 tmpl3.29
10819
  C:\Temp/ccsD8yYp.s:1633   .bss:000000bc tmpl4.30
10820
  C:\Temp/ccsD8yYp.s:1634   .bss:000000c0 oldNick.31
10821
  C:\Temp/ccsD8yYp.s:1635   .bss:000000c2 oldRoll.32
10822
  C:\Temp/ccsD8yYp.s:1636   .bss:000000c4 d2Roll.33
10823
  C:\Temp/ccsD8yYp.s:1637   .bss:000000c6 d2Nick.34
10824
  C:\Temp/ccsD8yYp.s:1641   .text:00000988 Mittelwert
10825
                            *COM*:00000002 RohMesswertNick
10826
                            *COM*:00000002 RohMesswertRoll
10827
                            *COM*:00000002 NaviAccNick
10828
                            *COM*:00000002 NaviAccRoll
10829
                            *COM*:00000001 Parameter_GlobalConfig
10830
                            *COM*:00000002 KopplungsteilNickRoll
10831
                            *COM*:00000002 KopplungsteilRollNick
10832
                            *COM*:00000002 TrimRoll
10833
                            *COM*:00000002 TrimNick
10834
  C:\Temp/ccsD8yYp.s:3206   .text:000018ec SendMotorData
10835
  C:\Temp/ccsD8yYp.s:3266   .text:00001966 ParameterZuordnung
10836
                            *COM*:00000001 Parameter_J16Timing
10837
                            *COM*:00000001 Parameter_J17Timing
10838
                            *COM*:00000001 Parameter_Servo3
10839
                            *COM*:00000001 Parameter_Servo4
10840
                            *COM*:00000001 Parameter_Servo5
10841
                            *COM*:00000001 Parameter_MaximumAltitude
10842
                            *COM*:00000001 Parameter_ExtraConfig
10843
                            *COM*:00000001 Parameter_ExternalControl
10844
                            *COM*:00000001 MAX_GAS
10845
                            *COM*:00000001 MIN_GAS
10846
  C:\Temp/ccsD8yYp.s:1638   .bss:000000c8 sollGier.0
10847
  C:\Temp/ccsD8yYp.s:3985   .bss:000000cc tmp_long.1
10848
  C:\Temp/ccsD8yYp.s:3986   .bss:000000d0 tmp_long2.2
10849
  C:\Temp/ccsD8yYp.s:3987   .bss:000000d4 IntegralFehlerNick.3
10850
  C:\Temp/ccsD8yYp.s:3988   .bss:000000d8 IntegralFehlerRoll.4
10851
  C:\Temp/ccsD8yYp.s:3989   .bss:000000dc RcLostTimer.5
10852
  C:\Temp/ccsD8yYp.s:3990   .bss:000000de delay_neutral.6
10853
  C:\Temp/ccsD8yYp.s:3991   .bss:000000df delay_einschalten.7
10854
  C:\Temp/ccsD8yYp.s:3992   .bss:000000e0 delay_ausschalten.8
10855
  C:\Temp/ccsD8yYp.s:3993   .bss:000000e1 move_safety_switch.9
10856
  C:\Temp/ccsD8yYp.s:3994   .bss:000000e2 ausgleichNick.10
10857
  C:\Temp/ccsD8yYp.s:3995   .bss:000000e6 ausgleichRoll.11
10858
  C:\Temp/ccsD8yYp.s:3996   .bss:000000ea stick_nick.12
10859
  C:\Temp/ccsD8yYp.s:3997   .bss:000000ec stick_roll.13
10860
  C:\Temp/ccsD8yYp.s:3998   .bss:000000ee cnt.14
10861
  C:\Temp/ccsD8yYp.s:3999   .bss:000000f0 last_n_p.15
10862
  C:\Temp/ccsD8yYp.s:4000   .bss:000000f1 last_n_n.16
10863
  C:\Temp/ccsD8yYp.s:4001   .bss:000000f2 last_r_p.17
10864
  C:\Temp/ccsD8yYp.s:4002   .bss:000000f3 last_r_n.18
10865
  C:\Temp/ccsD8yYp.s:4003   .bss:000000f4 MittelIntegralNick_Alt.19
10866
  C:\Temp/ccsD8yYp.s:4004   .bss:000000f8 MittelIntegralRoll_Alt.20
10867
  C:\Temp/ccsD8yYp.s:4005   .bss:000000fc HeightTrimming.21
10868
  C:\Temp/ccsD8yYp.s:4006   .bss:000000fe FilterHCGas.22
10869
  C:\Temp/ccsD8yYp.s:4007   .bss:00000100 HoverGasFilter.23
10870
  C:\Temp/ccsD8yYp.s:4012   .data:0000004f delay.24
10871
  C:\Temp/ccsD8yYp.s:4008   .bss:00000104 BaroAtUpperLimit.25
10872
  C:\Temp/ccsD8yYp.s:4014   .bss:00000105 BaroAtLowerLimit.26
10873
  C:\Temp/ccsD8yYp.s:4019   .text:00001f6a MotorRegler
10874
                            *COM*:00000001 GyroFaktor
10875
                            *COM*:00000001 IntegralFaktor
10876
                            *COM*:00000001 GyroFaktorGier
10877
                            *COM*:00000001 IntegralFaktorGier
10878
                            *COM*:00000004 MittelIntegralNick
10879
                            *COM*:00000004 MittelIntegralRoll
10880
                            *COM*:00000004 MittelIntegralNick2
10881
                            *COM*:00000004 MittelIntegralRoll2
10882
                            *COM*:00000002 ErsatzKompassInGrad
10883
                            *COM*:00000002 DiffNick
10884
                            *COM*:00000002 DiffRoll
10885
                            *COM*:00000018 tmp_motorwert
10886
                            *COM*:00000001 h
10887
                            *COM*:00000001 m
10888
                            *COM*:00000001 s
10889
                            *COM*:00000001 Parameter_J16Bitmask
10890
                            *COM*:00000001 Parameter_J17Bitmask
10891
                            *COM*:00000002 MesswertGierBias
10892
                            *COM*:00000001 Parameter_NaviGpsModeControl
10893
                            *COM*:00000001 Parameter_NaviGpsGain
10894
                            *COM*:00000001 Parameter_NaviGpsP
10895
                            *COM*:00000001 Parameter_NaviGpsI
10896
                            *COM*:00000001 Parameter_NaviGpsD
10897
                            *COM*:00000001 Parameter_NaviGpsACC
10898
                            *COM*:00000001 Parameter_NaviOperatingRadius
10899
                            *COM*:00000001 Parameter_NaviWindCorrection
10900
                            *COM*:00000001 Parameter_NaviSpeedCompensation
10901
 
10902
UNDEFINED SYMBOLS
10903
__do_copy_data
10904
__do_clear_bss
10905
EE_Parameter
10906
__divmodsi4
10907
DebugOut
10908
AdWertGier
10909
AdWertAccHoch
10910
UBat
10911
Motor
10912
Capacity
10913
ServoNickValue
10914
GPS_Nick
10915
GPS_Roll
10916
VersionInfo
10917
PlatinenVersion
10918
beeptime
10919
UpdateMotor
10920
LIBFC_Polling
10921
SucheGyroOffset
10922
AdWertNick
10923
AdWertRoll
10924
AdWertAccNick
10925
AdWertAccRoll
10926
PPM_in
10927
__mulsi3
10928
__prologue_saves__
10929
ExpandBaro
10930
Delay_ms_Mess
10931
MessLuftdruck
10932
SucheLuftruckOffset
10933
__divmodhi4
10934
Aktuell_az
10935
SetParamWord
10936
GetParamWord
10937
uart_putchar
10938
_printf_P
10939
Luftdruck
10940
StartLuftdruck
10941
VarioMeter
10942
LED_Init
10943
FromNaviCtrl_Value
10944
ServoActive
10945
NickServoValue
10946
LIBFC_HoTT_Clear
10947
__epilogue_restores__
10948
AdWertNickFilter
10949
AdWertRollFilter
10950
AdReady
10951
HiResNick
10952
HiResRoll
10953
MotorTest
10954
PC_MotortestActive
10955
I2C_TransferActive
10956
motor_write
10957
twi_state
10958
BLFlags
10959
NC_To_FC_MaxAltitude
10960
SpeakHoTT
10961
FromNaviCtrl
10962
BeepMuster
10963
PPM_diff
10964
SetActiveParamSet
10965
WinkelOut
10966
GetActiveParamSet
10967
ParamSet_ReadFromEEProm
10968
LipoDetection
10969
LIBFC_ReceiverInit
10970
NC_ErrorCode
10971
GPSInfo
10972
NewPpmData
10973
FromNC_Rotate_C
10974
FromNC_Rotate_S
10975
GPS_Aid_StickMultiplikator
10976
__floatsisf
10977
__addsf3
10978
__fixunssfsi
10979
ExternControl
10980
ZaehlMessungen
10981
BattLowVoltageWarning
10982
__udivmodhi4
10983
DruckOffsetSetting
10984
SummenHoehe
10985
ihypot
10986
c_cos_8192
10987
__udivmodqi4
10988
NC_To_FC_Flags
10989
MissingMotor
10990
Mixer