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| 0,0 → 1,0 |
| <AVRStudio><MANAGEMENT><ProjectName>FlightCtrl</ProjectName><Created>15-May-2007 11:20:41</Created><LastEdit>11-Oct-2007 22:58:54</LastEdit><ICON>241</ICON><ProjectType>0</ProjectType><Created>15-May-2007 11:20:41</Created><Version>4</Version><Build>4, 13, 0, 528</Build><ProjectTypeName>AVR GCC</ProjectTypeName></MANAGEMENT><CODE_CREATION><ObjectFile>default\Flight-Ctrl.elf</ObjectFile><EntryFile></EntryFile><SaveFolder>F:\SVN\MikroKopter\FlightCtrl\branches\V0.64_ZeroWarnings\</SaveFolder></CODE_CREATION><DEBUG_TARGET><CURRENT_TARGET>AVR 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Files\WinAVR\utils\bin\make.exe</MAKE_LOC></AVRGCCPLUGIN><IOView><usergroups/></IOView><Files><File00000><FileId>00000</FileId><FileName>main.c</FileName><Status>1</Status></File00000><File00001><FileId>00001</FileId><FileName>uart.c</FileName><Status>1</Status></File00001><File00002><FileId>00002</FileId><FileName>menu.c</FileName><Status>1</Status></File00002><File00003><FileId>00003</FileId><FileName>timer0.c</FileName><Status>1</Status></File00003><File00004><FileId>00004</FileId><FileName>fc.c</FileName><Status>1</Status></File00004><File00005><FileId>00005</FileId><FileName>fc.h</FileName><Status>1</Status></File00005><File00006><FileId>00006</FileId><FileName>menu.h</FileName><Status>1</Status></File00006><File00007><FileId>00007</FileId><FileName>TWIMASTER.C</FileName><Status>1</Status></File00007><File00008><FileId>00008</FileId><FileName>twimaster.h</FileName><Status>1</Status></File00008><File00009><FileId>00009</FileId><FileName>uart.h</FileName><Status>1</Status></File00009><File00010><FileId>00010</FileId><FileName>_Settings.h</FileName><Status>1</Status></File00010><File00011><FileId>00011</FileId><FileName>analog.h</FileName><Status>1</Status></File00011><File00012><FileId>00012</FileId><FileName>gps.h</FileName><Status>1</Status></File00012><File00013><FileId>00013</FileId><FileName>main.h</FileName><Status>1</Status></File00013><File00014><FileId>00014</FileId><FileName>old_macros.h</FileName><Status>1</Status></File00014><File00015><FileId>00015</FileId><FileName>printf_P.h</FileName><Status>1</Status></File00015><File00016><FileId>00016</FileId><FileName>rc.h</FileName><Status>1</Status></File00016><File00017><FileId>00017</FileId><FileName>Settings.h</FileName><Status>1</Status></File00017><File00018><FileId>00018</FileId><FileName>timer0.h</FileName><Status>1</Status></File00018></Files><Events><Bookmarks></Bookmarks></Events><Trace><Filters></Filters></Trace></AVRStudio> |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/GPS.c |
|---|
| 0,0 → 1,16 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) Holger Buss, Ingo Busker |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| signed int GPS_Nick = 0; |
| signed int GPS_Roll = 0; |
| unsigned char GPS_Aid_StickMultiplikator = 0; // 64 = 100% |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/GPS.lst |
|---|
| 0,0 → 1,37 |
| 1 .file "GPS.c" |
| 2 .arch atmega1284p |
| 3 __SREG__ = 0x3f |
| 4 __SP_H__ = 0x3e |
| 5 __SP_L__ = 0x3d |
| 6 __tmp_reg__ = 0 |
| 7 __zero_reg__ = 1 |
| 8 .global __do_copy_data |
| 9 .global __do_clear_bss |
| 10 .global GPS_Aid_StickMultiplikator |
| 11 .global GPS_Aid_StickMultiplikator |
| 12 .section .bss |
| 15 GPS_Aid_StickMultiplikator: |
| 16 0000 00 .skip 1,0 |
| 17 .global GPS_Roll |
| 18 .global GPS_Roll |
| 21 GPS_Roll: |
| 22 0001 0000 .skip 2,0 |
| 23 .global GPS_Nick |
| 24 .global GPS_Nick |
| 27 GPS_Nick: |
| 28 0003 0000 .skip 2,0 |
| 29 /* File "GPS.c": code 0 = 0x0000 ( 0), prologues 0, epilogues 0 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 GPS.c |
| C:\Temp/ccF4dSPb.s:3 *ABS*:0000003f __SREG__ |
| C:\Temp/ccF4dSPb.s:4 *ABS*:0000003e __SP_H__ |
| C:\Temp/ccF4dSPb.s:5 *ABS*:0000003d __SP_L__ |
| C:\Temp/ccF4dSPb.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\Temp/ccF4dSPb.s:7 *ABS*:00000001 __zero_reg__ |
| C:\Temp/ccF4dSPb.s:15 .bss:00000000 GPS_Aid_StickMultiplikator |
| C:\Temp/ccF4dSPb.s:21 .bss:00000001 GPS_Roll |
| C:\Temp/ccF4dSPb.s:27 .bss:00000003 GPS_Nick |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/Hex-Files/Flight-Ctrl_MEGA1284P_V0_90d_SVN.hex |
|---|
| 0,0 → 1,4714 |
| :100000000C94F9080C9448090C9448090C9448097C |
| :100010000C9448090C9448090C9448090C9448091C |
| :100020000C9448090C94591C0C9448090C944809E8 |
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| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/License.txt |
|---|
| 0,0 → 1,52 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software Nutzungsbedingungen (english version: see below) |
| // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
| // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
| // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
| // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
| // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
| // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
| // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
| // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
| // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
| // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
| // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
| // + des Mitverschuldens offen. |
| // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
| // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
| // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
| // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
| // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
| // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
| // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software LICENSING TERMS |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
| // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
| // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
| // + The Software may only be used with the Licensor's products. |
| // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
| // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
| // + agreement shall be the property of the Licensor. |
| // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
| // + features that can be used to identify the program may not be altered or defaced by the customer. |
| // + The customer shall be responsible for taking reasonable precautions |
| // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
| // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
| // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
| // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
| // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
| // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
| // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
| // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
| // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
| // + #### END OF LICENSING TERMS #### |
| // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/Settings.h |
|---|
| --- branches/v0.90d_Ernstl_4-Motoren+Sexpander/Spektrum.c (nonexistent) |
| +++ branches/v0.90d_Ernstl_4-Motoren+Sexpander/Spektrum.c (revision 2304) |
| @@ -0,0 +1,463 @@ |
| +/*####################################################################################### |
| +Decodieren eines RC Summen Signals oder Spektrum Empfänger-Satellit |
| +#######################################################################################*/ |
| + |
| +#include "Spektrum.h" |
| +#include "main.h" |
| + |
| +unsigned char SpektrumTimer = 0; |
| + |
| +// Achtung: RECEIVER_SPEKTRUM_DX7EXP oder RECEIVER_SPEKTRUM_DX8EXP wird in der main.h gesetzt |
| +#if defined (RECEIVER_SPEKTRUM_DX7EXP) || defined (RECEIVER_SPEKTRUM_DX8EXP) |
| +unsigned char s_excnt = 0; // Bitcounter for Spektrum-Expander |
| +unsigned char s_exparity = 0; // Parity Bit for Spektrum-Expander |
| +signed char s_exdata[11]; // Data for Spektrum-Expander |
| + |
| +void s_update(unsigned char channel, signed int value) // Channel-Diff numbercrunching and finally assign new stickvalue to PPM_in |
| +{ |
| + if(SenderOkay >= 180) PPM_diff[channel] = ((value - PPM_in[channel]) / 3) * 3; |
| + else PPM_diff[channel] = 0; |
| + PPM_in[channel] = value; |
| +} |
| +#endif |
| + |
| +//--------------------------------------------------------------// |
| +//--------------------------------------------------------------// |
| +/* |
| +void SpektrumBinding(void) |
| +{ |
| + unsigned int timerTimeout = SetDelay(10000); // Timeout 10 sec. |
| + unsigned char connected = 0; |
| + unsigned int delaycounter; |
| + |
| + UCSR1B &= ~(1 << RXCIE1); // disable rx-interrupt |
| + UCSR1B &= ~(1<<RXEN1); // disable Uart-Rx |
| + PORTD &= ~(1 << PORTD2); // disable pull-up |
| + |
| + printf("\n\rPlease connect Spektrum receiver for binding NOW..."); |
| + |
| + while(!CheckDelay(timerTimeout)) |
| + { |
| + if (PIND & (1 << PORTD2)) { timerTimeout = SetDelay(90); connected = 1; break; } |
| + } |
| + |
| + if (connected) |
| + { |
| + |
| + printf("ok.\n\r"); |
| + DDRD |= (1 << DDD2); // Rx as output |
| + |
| + while(!CheckDelay(timerTimeout)); // delay after startup of RX |
| + for (delaycounter = 0; delaycounter < 100; delaycounter++) PORTD |= (1 << PORTD2); |
| + for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD &= ~(1 << PORTD2); |
| + |
| + for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD |= (1 << PORTD2); |
| + for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD &= ~(1 << PORTD2); |
| + for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD |= (1 << PORTD2); |
| + for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD &= ~(1 << PORTD2); |
| + |
| + for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD |= (1 << PORTD2); |
| + for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD &= ~(1 << PORTD2); |
| + for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD |= (1 << PORTD2); |
| + for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD &= ~(1 << PORTD2); |
| + |
| + for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD |= (1 << PORTD2); |
| + for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD &= ~(1 << PORTD2); |
| + for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD |= (1 << PORTD2); |
| + |
| + } |
| + else |
| + { printf("Timeout.\n\r"); |
| + |
| + |
| + } |
| + |
| + DDRD &= ~(1 << DDD2); // RX as input |
| + PORTD &= ~(1 << PORTD2); |
| + |
| + SpektrumUartInit(); // init Uart again |
| +} |
| +*/ |
| +//############################################################################ |
| +// USART1 initialisation from killagreg |
| +void SpektrumUartInit(void) |
| +//############################################################################ |
| + { |
| + // -- Start of USART1 initialisation for Spekturm seriell-mode |
| + // USART1 Control and Status Register A, B, C and baud rate register |
| + uint8_t sreg = SREG; |
| + |
| + uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * 115200) - 1); |
| + |
| + // disable all interrupts before reconfiguration |
| + cli(); |
| + // disable RX-Interrupt |
| + UCSR1B &= ~(1 << RXCIE1); |
| + // disable TX-Interrupt |
| + UCSR1B &= ~(1 << TXCIE1); |
| + // disable DRE-Interrupt |
| + UCSR1B &= ~(1 << UDRIE1); |
| + // set direction of RXD1 and TXD1 pins |
| + // set RXD1 (PD2) as an input pin |
| + PORTD |= (1 << PORTD2); |
| + DDRD &= ~(1 << DDD2); |
| + |
| + // set TXD1 (PD3) as an output pin |
| + PORTD |= (1 << PORTD3); |
| + DDRD |= (1 << DDD3); |
| + |
| + // USART0 Baud Rate Register |
| + // set clock divider |
| + UBRR1H = (uint8_t)(ubrr>>8); |
| + UBRR1L = (uint8_t)ubrr; |
| + // enable double speed operation |
| + UCSR1A |= (1 << U2X1); |
| + // enable receiver and transmitter |
| + //UCSR1B = (1<<RXEN1)|(1<<TXEN1); |
| + |
| + UCSR1B = (1<<RXEN1); |
| + // set asynchronous mode |
| + UCSR1C &= ~(1 << UMSEL11); |
| + UCSR1C &= ~(1 << UMSEL10); |
| + // no parity |
| + UCSR1C &= ~(1 << UPM11); |
| + UCSR1C &= ~(1 << UPM10); |
| + // 1 stop bit |
| + UCSR1C &= ~(1 << USBS1); |
| + // 8-bit |
| + UCSR1B &= ~(1 << UCSZ12); |
| + UCSR1C |= (1 << UCSZ11); |
| + UCSR1C |= (1 << UCSZ10); |
| + // flush receive buffer explicit |
| + while(UCSR1A & (1<<RXC1)) UDR1; |
| + // enable RX-interrupts at the end |
| + UCSR1B |= (1 << RXCIE1); |
| + // -- End of USART1 initialisation |
| + // restore global interrupt flags |
| + |
| + SREG = sreg; |
| + return; |
| + } |
| + |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Copyright (c) Rainer Walther |
| +// + RC-routines from original MK rc.c (c) H&I |
| +// + Useful infos from Walter: http://www.rcgroups.com/forums/showthread.php?t=714299&page=2 |
| +// + only for non-profit use |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// |
| +// 20080808 rw Modified for Spektrum AR6100 (PPM) |
| +// 20080823 rw Add Spektrum satellite receiver on USART1 (644P only) |
| +// 20081213 rw Add support for Spektrum DS9 Air-Tx-Module (9 channels) |
| +// Replace AR6100-coding with original composit-signal routines |
| +// |
| +// --- |
| +// Entweder Summensignal ODER Spektrum-Receiver anschließen. Nicht beides gleichzeitig betreiben! |
| +// Binding is not implemented. Bind with external Receiver. |
| +// Servo output J3, J4, J5 not serviced |
| +// |
| +// Anschuß Spektrum Receiver |
| +// Orange: 3V von der FC (keinesfalls an 5V anschließen!) |
| +// Schwarz: GND |
| +// Grau: RXD1 (Pin 3) auf 10-Pol FC-Stecker |
| +// |
| +// --- |
| +// Satellite-Reciever connected on USART1: |
| +// |
| +// DX7/DX6i: One data-frame at 115200 baud every 22ms. |
| +// DX7se: One data-frame at 115200 baud every 11ms. |
| +// byte1: unknown |
| +// byte2: unknown |
| +// byte3: and byte4: channel data (FLT-Mode) |
| +// byte5: and byte6: channel data (Roll) |
| +// byte7: and byte8: channel data (Nick) |
| +// byte9: and byte10: channel data (Gier) |
| +// byte11: and byte12: channel data (Gear Switch) |
| +// byte13: and byte14: channel data (Gas) |
| +// byte15: and byte16: channel data (AUX2) |
| +// |
| +// DS9 (9 Channel): One data-frame at 115200 baud every 11ms, alternating frame 1/2 for CH1-7 / CH8-9 |
| +// 1st Frame: |
| +// byte1: unknown |
| +// byte2: unknown |
| +// byte3: and byte4: channel data |
| +// byte5: and byte6: channel data |
| +// byte7: and byte8: channel data |
| +// byte9: and byte10: channel data |
| +// byte11: and byte12: channel data |
| +// byte13: and byte14: channel data |
| +// byte15: and byte16: channel data |
| +// 2nd Frame: |
| +// byte1: unknown |
| +// byte2: unknown |
| +// byte3: and byte4: channel data |
| +// byte5: and byte6: channel data |
| +// byte7: and byte8: 0xffff |
| +// byte9: and byte10: 0xffff |
| +// byte11: and byte12: 0xffff |
| +// byte13: and byte14: 0xffff |
| +// byte15: and byte16: 0xffff |
| +// |
| +// Each channel data (16 bit= 2byte, first msb, second lsb) is arranged as: |
| +// |
| +// Bits: F 0 C3 C2 C1 C0 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 |
| +// |
| +// 0 means a '0' bit |
| +// F: 1 = indicates beginning of 2nd frame for CH8-9 (DS9 only) |
| +// C3 to C0 is the channel number. 0 to 9 (4 bit, as assigned in the transmitter) |
| +// D9 to D0 is the channel data (10 bit) 0xaa..0x200..0x356 for 100% transmitter-travel |
| +// |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + |
| +#define MIN_FRAMEGAP 68 // 7ms |
| +#define MAX_BYTEGAP 3 // 310us |
| + |
| + |
| +//############################################################################ |
| +// Wird im UART-Interrupt aufgerufen |
| +//############################################################################ |
| +void SpektrumParser(unsigned char c) |
| +{ |
| + static unsigned char Sync=0, FrameCnt=0, ByteHigh=0, ReSync=1, Frame2=0; |
| + unsigned int Channel, index = 0; |
| + signed int signal = 0, tmp; |
| + int bCheckDelay; |
| +// c = UDR1; // get data byte |
| + if(ReSync == 1) |
| + { |
| + // wait for beginning of new frame |
| + ReSync = 0; |
| + SpektrumTimer = MIN_FRAMEGAP; |
| + FrameCnt = 0; |
| + Sync = 0; |
| + ByteHigh = 0; |
| + } |
| + else |
| + { |
| + if(!SpektrumTimer) bCheckDelay = 1; else bCheckDelay = 0;//CheckDelay(FrameTimer); |
| + if ( Sync == 0 ) |
| + { |
| + if(bCheckDelay) |
| + { |
| + // nach einer Pause von mind. 7ms erstes Sync-Character gefunden |
| + // Zeichen ignorieren, da Bedeutung unbekannt |
| + Sync = 1; |
| + FrameCnt ++; |
| + SpektrumTimer = MAX_BYTEGAP; |
| + } |
| + else |
| + { |
| + // Zeichen kam vor Ablauf der 7ms Sync-Pause |
| + // warten auf erstes Sync-Zeichen |
| + SpektrumTimer = MIN_FRAMEGAP; |
| + FrameCnt = 0; |
| + Sync = 0; |
| + ByteHigh = 0; |
| + } |
| + } |
| + else if((Sync == 1) && !bCheckDelay) |
| + { |
| + // zweites Sync-Character ignorieren, Bedeutung unbekannt |
| + Sync = 2; |
| + FrameCnt ++; |
| + SpektrumTimer = MAX_BYTEGAP; |
| + } |
| + else if((Sync == 2) && !bCheckDelay) |
| + { |
| + SpektrumTimer = MAX_BYTEGAP; |
| + // Datenbyte high |
| + ByteHigh = c; |
| + if (FrameCnt == 2) |
| + { |
| + // is 1st Byte of Channel-data |
| + // Frame 1 with Channel 1-7 comming next |
| + Frame2 = 0; |
| + if(ByteHigh & 0x80) |
| + { |
| + // DS9: Frame 2 with Channel 8-9 comming next |
| + Frame2 = 1; |
| + } |
| + } |
| + Sync = 3; |
| + FrameCnt ++; |
| + } |
| + else if((Sync == 3) && !bCheckDelay) |
| + { |
| + // Datenbyte low |
| + // High-Byte for next channel comes next |
| + SpektrumTimer = MAX_BYTEGAP; |
| + Sync = 2; |
| + FrameCnt ++; |
| + Channel = ((unsigned int)ByteHigh << 8) | c; |
| + if(EE_Parameter.Receiver == RECEIVER_SPEKTRUM) |
| + { |
| + signal = Channel & 0x3ff; |
| + signal -= 0x200; // Offset, range 0x000..0x3ff? |
| + signal = signal/3; // scaling to fit PPM resolution |
| + index = (ByteHigh >> 2) & 0x0f; |
| + } |
| + else |
| + if(EE_Parameter.Receiver == RECEIVER_SPEKTRUM_HI_RES) |
| + { |
| + signal = Channel & 0x7ff; |
| + signal -= 0x400; // Offset, range 0x000..0x7ff? |
| + signal = signal/6; // scaling to fit PPM resolution |
| + index = (ByteHigh >> 3) & 0x0f; |
| + } |
| + else |
| + //if(EE_Parameter.Receiver == RECEIVER_SPEKTRUM_LOW_RES) |
| + { |
| + signal = Channel & 0x3ff; |
| + signal -= 360; // Offset, range 0x000..0x3ff? |
| + signal = signal/2; // scaling to fit PPM resolution |
| + index = (ByteHigh >> 2) & 0x0f; |
| + } |
| + |
| + index++; |
| + if(index < 13) |
| + { |
| + // Stabiles Signal |
| +#if defined (RECEIVER_SPEKTRUM_DX7EXP) || defined (RECEIVER_SPEKTRUM_DX8EXP) |
| + if (index == 2) index = 4; // Analog channel reassigment (2 <-> 4) for logical numbering (1,2,3,4) |
| + else if (index == 4) index = 2; |
| +#endif |
| + if(abs(signal - PPM_in[index]) < 6) |
| + { |
| + if(EE_Parameter.FailsafeChannel == 0 || PPM_in[EE_Parameter.FailsafeChannel] < 100) // forces Failsafe if the receiver doesn't have 'signal loss' on Failsafe |
| + { |
| + if(SenderOkay < 200) SenderOkay += 10; |
| + else |
| + { |
| + SenderOkay = 200; |
| + TIMSK1 &= ~_BV(ICIE1); // disable PPM-Input |
| + } |
| + } |
| + } |
| + tmp = (3 * (PPM_in[index]) + signal) / 4; |
| + if(tmp > signal+1) tmp--; else |
| + if(tmp < signal-1) tmp++; |
| + |
| +#ifdef RECEIVER_SPEKTRUM_DX7EXP |
| + if(index == 6) // FLIGHT-MODE - The channel used for our data uplink |
| + { |
| + if (signal > 100) // SYNC received |
| + { |
| + if (s_exdata[s_excnt] == 125) s_exparity = ~s_exparity; // Bit = 1 -> Re-Invert parity bit |
| + if ((s_excnt == 6 && ((s_exparity != 0 && s_exdata[s_excnt] == -125) || (s_exparity == 0 && s_exdata[s_excnt] == 125))) || (s_excnt == 9 && ((s_exparity == 0 && s_exdata[s_excnt] == -125) || (s_exparity != 0 && s_exdata[s_excnt] == 125)))) // Parity check |
| + { |
| + if (s_exdata[1] == 125 && s_exdata[2] == -125) s_update(5,-125); // Reconstruct tripole Flight-Mode value (CH5) |
| + else if (s_exdata[1] == -125 && s_exdata[2] == -125) s_update(5,0); // Reconstruct tripole Flight-Mode value (CH5) |
| + else if (s_exdata[1] == -125 && s_exdata[2] == 125) s_update(5,125); // Reconstruct tripole Flight-Mode value (CH5) |
| + s_update(6,s_exdata[3]); // Elevator (CH6) |
| + s_update(11,s_exdata[4]); // Aileron (CH11) |
| + s_update(12,s_exdata[5]); // Rudder (CH12) |
| + |
| + if (s_excnt == 9) // New Mode (12 Channels) |
| + { |
| + if (s_exdata[7] == 125) s_update(8,PPM_in[8]+5); // Hover Pitch UP (CH8) |
| + if (s_exdata[8] == 125) s_update(8,PPM_in[8]-5); // Hover Pitch DN (CH8) |
| + if (PPM_in[8] < -125) PPM_in[8] = -125; // Range-Limit |
| + else if (PPM_in[8] > 125) PPM_in[8] = 125; // Range-Limit |
| + s_update(10,s_exdata[6]); // AUX2 (CH10) |
| + } |
| + } |
| + |
| + s_excnt = 0; // Reset bitcounter |
| + s_exparity = 0; // Reset parity bit |
| + } |
| + |
| + if (signal < 10) s_exdata[++s_excnt] = -125; // Bit = 0 -> value = -125 (min) |
| + if (s_excnt == 10) s_excnt = 0; // Overflow protection |
| + if (signal < -100) |
| + { |
| + s_exdata[s_excnt] = 125; // Bit = 1 -> value = 125 (max) |
| + s_exparity = ~s_exparity; // Bit = 1 -> Invert parity bit |
| + } |
| + |
| + } |
| + |
| + if (index < 5 ) s_update(index,tmp); // Update normal potis (CH1-4) |
| + else if (index == 5) s_update(7,signal); // Gear (CH7) |
| + else if (index == 7) s_update(9,signal); // Hover Throttle (CH9) |
| + |
| +#elif defined RECEIVER_SPEKTRUM_DX8EXP |
| + if(index == 6) // FLIGHT-MODE - The channel used for our data uplink |
| + { |
| + if (signal > 100) // SYNC received |
| + { |
| + if (s_exdata[s_excnt] == 125) s_exparity = ~s_exparity; // Bit = 1 -> Re-Invert parity bit |
| + if (s_excnt == 9 && ((s_exparity == 0 && s_exdata[s_excnt] == -125) || (s_exparity != 0 && s_exdata[s_excnt] == 125))) // Parity check |
| + { |
| + if (s_exdata[1] == 125 && s_exdata[2] == -125) s_update(5,-125); // Reconstruct tripole Flight-Mode value (CH5) |
| + else if (s_exdata[1] == -125 && s_exdata[2] == -125) s_update(5,0); // Reconstruct tripole Flight-Mode value (CH5) |
| + else if (s_exdata[1] == -125 && s_exdata[2] == 125) s_update(5,125); // Reconstruct tripole Flight-Mode value (CH5) |
| + |
| + if (s_exdata[3] == 125 && s_exdata[6] == -125) s_update(6,125); // Reconstruct tripole Elev D/R value (CH6) |
| + else if (s_exdata[3] == -125 && s_exdata[6] == -125) s_update(6,0); // Reconstruct tripole Elev D/R value (CH6) |
| + else if (s_exdata[3] == -125 && s_exdata[6] == 125) s_update(6,-125); // Reconstruct tripole Elev D/R value (CH6) |
| + |
| + |
| + if (s_exdata[7] == 125 && s_exdata[8] == -125) s_update(9,-125); // Reconstruct tripole AIL D/R value (CH9) |
| + else if (s_exdata[7] == -125 && s_exdata[8] == -125) s_update(9,0); // Reconstruct tripole AIL D/R value (CH9) |
| + else if (s_exdata[7] == -125 && s_exdata[8] == 125) s_update(9,125); // Reconstruct tripole AIL D/R value (CH9) |
| + |
| + s_update(10,s_exdata[5]); // Gear (CH10) |
| + s_update(12,s_exdata[4]); // Mix (CH12) |
| + } |
| + |
| + s_excnt = 0; // Reset bitcounter |
| + s_exparity = 0; // Reset parity bit |
| + } |
| + |
| + if (signal < 10) s_exdata[++s_excnt] = -125; // Bit = 0 -> value = -125 (min) |
| + if (s_excnt == 10) s_excnt = 0; // Overflow protection |
| + if (signal < -100) |
| + { |
| + s_exdata[s_excnt] = 125; // Bit = 1 -> value = 125 (max) |
| + s_exparity = ~s_exparity; // Bit = 1 -> Invert parity bit |
| + } |
| + |
| + } |
| + |
| + if (index < 5 ) s_update(index,tmp); // Update normal potis (CH1-4) |
| + else if (index == 7) s_update(7,signal); // R Trim (CH7) |
| + else if (index == 5) s_update(8,signal); // AUX2 (CH8) |
| + else if (index == 8) s_update(11,signal); // AUX3 (CH11) |
| + |
| +#else |
| + if(SenderOkay >= 180) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
| + else PPM_diff[index] = 0; |
| + PPM_in[index] = tmp; |
| +#endif |
| + } |
| + else if(index > 17) ReSync = 1; // hier stimmt was nicht: neu synchronisieren |
| + } |
| + else |
| + { |
| + // hier stimmt was nicht: neu synchronisieren |
| + ReSync = 1; |
| + FrameCnt = 0; |
| + Frame2 = 0; |
| + // new frame next, nach fruehestens 7ms erwartet |
| + SpektrumTimer = MIN_FRAMEGAP; |
| + } |
| + |
| + // 16 Bytes eingetroffen -> Komplett |
| + if(FrameCnt >= 16) |
| + { |
| + // Frame complete |
| + if(Frame2 == 0) |
| + { |
| + // Null bedeutet: Neue Daten |
| + // nur beim ersten Frame (CH 0-7) setzen |
| + if(!ReSync) NewPpmData = 0; |
| + } |
| + FrameCnt = 0; |
| + Frame2 = 0; |
| + Sync = 0; |
| + SpektrumTimer = MIN_FRAMEGAP; |
| + } |
| + } |
| +} |
| + |
| + |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/Spektrum.h |
|---|
| 0,0 → 1,12 |
| /*####################################################################################### |
| Dekodieren eines Spektrum Signals |
| #######################################################################################*/ |
| #ifndef _SPEKTRUM_H |
| #define _SPEKTRUM_H |
| void SpektrumUartInit(void); |
| void SpektrumBinding(void); |
| extern unsigned char SpektrumTimer; |
| extern void SpektrumParser(unsigned char c); |
| #endif //_RC_H |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/Spektrum.lst |
|---|
| 0,0 → 1,707 |
| 1 .file "Spektrum.c" |
| 2 .arch atmega1284p |
| 3 __SREG__ = 0x3f |
| 4 __SP_H__ = 0x3e |
| 5 __SP_L__ = 0x3d |
| 6 __tmp_reg__ = 0 |
| 7 __zero_reg__ = 1 |
| 8 .global __do_copy_data |
| 9 .global __do_clear_bss |
| 10 .global s_exparity |
| 11 .global s_exparity |
| 12 .section .bss |
| 15 s_exparity: |
| 16 0000 00 .skip 1,0 |
| 17 .global s_excnt |
| 18 .global s_excnt |
| 21 s_excnt: |
| 22 0001 00 .skip 1,0 |
| 23 .global SpektrumTimer |
| 24 .global SpektrumTimer |
| 27 SpektrumTimer: |
| 28 0002 00 .skip 1,0 |
| 29 .text |
| 30 .global s_update |
| 32 s_update: |
| 33 /* prologue: frame size=0 */ |
| 34 0000 0F93 push r16 |
| 35 0002 1F93 push r17 |
| 36 0004 CF93 push r28 |
| 37 0006 DF93 push r29 |
| 38 /* prologue end (size=4) */ |
| 39 0008 482F mov r20,r24 |
| 40 000a EB01 movw r28,r22 |
| 41 000c 8091 0000 lds r24,SenderOkay |
| 42 0010 E42F mov r30,r20 |
| 43 0012 FF27 clr r31 |
| 44 0014 843B cpi r24,lo8(-76) |
| 45 0016 00F0 brlo .L2 |
| 46 0018 8F01 movw r16,r30 |
| 47 001a 0E0F add r16,r30 |
| 48 001c 1F1F adc r17,r31 |
| 49 001e F801 movw r30,r16 |
| 50 0020 E050 subi r30,lo8(-(PPM_in)) |
| 51 0022 F040 sbci r31,hi8(-(PPM_in)) |
| 52 0024 8081 ld r24,Z |
| 53 0026 9181 ldd r25,Z+1 |
| 54 0028 9B01 movw r18,r22 |
| 55 002a 281B sub r18,r24 |
| 56 002c 390B sbc r19,r25 |
| 57 002e C901 movw r24,r18 |
| 58 0030 63E0 ldi r22,lo8(3) |
| 59 0032 70E0 ldi r23,hi8(3) |
| 60 0034 0E94 0000 call __divmodhi4 |
| 61 0038 CB01 movw r24,r22 |
| 62 003a 880F lsl r24 |
| 63 003c 991F rol r25 |
| 64 003e 860F add r24,r22 |
| 65 0040 971F adc r25,r23 |
| 66 0042 0050 subi r16,lo8(-(PPM_diff)) |
| 67 0044 1040 sbci r17,hi8(-(PPM_diff)) |
| 68 0046 F801 movw r30,r16 |
| 69 0048 9183 std Z+1,r25 |
| 70 004a 8083 st Z,r24 |
| 71 004c 00C0 rjmp .L3 |
| 72 .L2: |
| 73 004e EE0F add r30,r30 |
| 74 0050 FF1F adc r31,r31 |
| 75 0052 E050 subi r30,lo8(-(PPM_diff)) |
| 76 0054 F040 sbci r31,hi8(-(PPM_diff)) |
| 77 0056 1182 std Z+1,__zero_reg__ |
| 78 0058 1082 st Z,__zero_reg__ |
| 79 .L3: |
| 80 005a E42F mov r30,r20 |
| 81 005c FF27 clr r31 |
| 82 005e EE0F add r30,r30 |
| 83 0060 FF1F adc r31,r31 |
| 84 0062 E050 subi r30,lo8(-(PPM_in)) |
| 85 0064 F040 sbci r31,hi8(-(PPM_in)) |
| 86 0066 D183 std Z+1,r29 |
| 87 0068 C083 st Z,r28 |
| 88 /* epilogue: frame size=0 */ |
| 89 006a DF91 pop r29 |
| 90 006c CF91 pop r28 |
| 91 006e 1F91 pop r17 |
| 92 0070 0F91 pop r16 |
| 93 0072 0895 ret |
| 94 /* epilogue end (size=5) */ |
| 95 /* function s_update size 58 (49) */ |
| 97 .global SpektrumUartInit |
| 99 SpektrumUartInit: |
| 100 /* prologue: frame size=0 */ |
| 101 /* prologue end (size=0) */ |
| 102 0074 4FB7 in r20,95-0x20 |
| 103 0076 24E1 ldi r18,lo8(20) |
| 104 0078 30E0 ldi r19,hi8(20) |
| 105 /* #APP */ |
| 106 007a F894 cli |
| 107 /* #NOAPP */ |
| 108 007c 8091 C900 lds r24,201 |
| 109 0080 8F77 andi r24,lo8(127) |
| 110 0082 8093 C900 sts 201,r24 |
| 111 0086 8091 C900 lds r24,201 |
| 112 008a 8F7B andi r24,lo8(-65) |
| 113 008c 8093 C900 sts 201,r24 |
| 114 0090 8091 C900 lds r24,201 |
| 115 0094 8F7D andi r24,lo8(-33) |
| 116 0096 8093 C900 sts 201,r24 |
| 117 009a 5A9A sbi 43-0x20,2 |
| 118 009c 5298 cbi 42-0x20,2 |
| 119 009e 5B9A sbi 43-0x20,3 |
| 120 00a0 539A sbi 42-0x20,3 |
| 121 00a2 832F mov r24,r19 |
| 122 00a4 9927 clr r25 |
| 123 00a6 8093 CD00 sts 205,r24 |
| 124 00aa 2093 CC00 sts 204,r18 |
| 125 00ae 8091 C800 lds r24,200 |
| 126 00b2 8260 ori r24,lo8(2) |
| 127 00b4 8093 C800 sts 200,r24 |
| 128 00b8 80E1 ldi r24,lo8(16) |
| 129 00ba 8093 C900 sts 201,r24 |
| 130 00be 8091 CA00 lds r24,202 |
| 131 00c2 8F77 andi r24,lo8(127) |
| 132 00c4 8093 CA00 sts 202,r24 |
| 133 00c8 8091 CA00 lds r24,202 |
| 134 00cc 8F7B andi r24,lo8(-65) |
| 135 00ce 8093 CA00 sts 202,r24 |
| 136 00d2 8091 CA00 lds r24,202 |
| 137 00d6 8F7D andi r24,lo8(-33) |
| 138 00d8 8093 CA00 sts 202,r24 |
| 139 00dc 8091 CA00 lds r24,202 |
| 140 00e0 8F7E andi r24,lo8(-17) |
| 141 00e2 8093 CA00 sts 202,r24 |
| 142 00e6 8091 CA00 lds r24,202 |
| 143 00ea 877F andi r24,lo8(-9) |
| 144 00ec 8093 CA00 sts 202,r24 |
| 145 00f0 8091 C900 lds r24,201 |
| 146 00f4 8B7F andi r24,lo8(-5) |
| 147 00f6 8093 C900 sts 201,r24 |
| 148 00fa 8091 CA00 lds r24,202 |
| 149 00fe 8460 ori r24,lo8(4) |
| 150 0100 8093 CA00 sts 202,r24 |
| 151 0104 8091 CA00 lds r24,202 |
| 152 0108 8260 ori r24,lo8(2) |
| 153 010a 8093 CA00 sts 202,r24 |
| 154 .L10: |
| 155 010e 8091 C800 lds r24,200 |
| 156 0112 87FF sbrs r24,7 |
| 157 0114 00C0 rjmp .L9 |
| 158 0116 8091 CE00 lds r24,206 |
| 159 011a 00C0 rjmp .L10 |
| 160 .L9: |
| 161 011c 8091 C900 lds r24,201 |
| 162 0120 8068 ori r24,lo8(-128) |
| 163 0122 8093 C900 sts 201,r24 |
| 164 0126 4FBF out 95-0x20,r20 |
| 165 /* epilogue: frame size=0 */ |
| 166 0128 0895 ret |
| 167 /* epilogue end (size=1) */ |
| 168 /* function SpektrumUartInit size 92 (91) */ |
| 170 .lcomm Sync.0,1 |
| 171 .lcomm FrameCnt.1,1 |
| 172 .lcomm ByteHigh.2,1 |
| 173 .data |
| 176 ReSync.3: |
| 177 0000 01 .byte 1 |
| 178 .lcomm Frame2.4,1 |
| 179 .text |
| 180 .global SpektrumParser |
| 182 SpektrumParser: |
| 183 /* prologue: frame size=0 */ |
| 184 012a EF92 push r14 |
| 185 012c FF92 push r15 |
| 186 012e 0F93 push r16 |
| 187 0130 1F93 push r17 |
| 188 0132 CF93 push r28 |
| 189 0134 DF93 push r29 |
| 190 /* prologue end (size=6) */ |
| 191 0136 482F mov r20,r24 |
| 192 0138 00E0 ldi r16,lo8(0) |
| 193 013a 10E0 ldi r17,hi8(0) |
| 194 013c 8091 0000 lds r24,ReSync.3 |
| 195 0140 8130 cpi r24,lo8(1) |
| 196 0142 01F4 brne .L12 |
| 197 0144 1092 0000 sts ReSync.3,__zero_reg__ |
| 198 0148 84E4 ldi r24,lo8(68) |
| 199 014a 8093 0000 sts SpektrumTimer,r24 |
| 200 014e 1092 0000 sts FrameCnt.1,__zero_reg__ |
| 201 0152 1092 0000 sts Sync.0,__zero_reg__ |
| 202 0156 1092 0000 sts ByteHigh.2,__zero_reg__ |
| 203 015a 00C0 rjmp .L11 |
| 204 .L12: |
| 205 015c 8091 0000 lds r24,SpektrumTimer |
| 206 0160 8823 tst r24 |
| 207 0162 01F4 brne .L14 |
| 208 0164 21E0 ldi r18,lo8(1) |
| 209 0166 30E0 ldi r19,hi8(1) |
| 210 0168 00C0 rjmp .L15 |
| 211 .L14: |
| 212 016a 9801 movw r18,r16 |
| 213 .L15: |
| 214 016c 9091 0000 lds r25,Sync.0 |
| 215 0170 9923 tst r25 |
| 216 0172 01F4 brne .L16 |
| 217 0174 232B or r18,r19 |
| 218 0176 01F0 breq .L17 |
| 219 0178 81E0 ldi r24,lo8(1) |
| 220 017a 00C0 rjmp .L87 |
| 221 .L17: |
| 222 017c 84E4 ldi r24,lo8(68) |
| 223 017e 8093 0000 sts SpektrumTimer,r24 |
| 224 0182 9093 0000 sts FrameCnt.1,r25 |
| 225 0186 9093 0000 sts Sync.0,r25 |
| 226 018a 9093 0000 sts ByteHigh.2,r25 |
| 227 018e 00C0 rjmp .L19 |
| 228 .L16: |
| 229 0190 9130 cpi r25,lo8(1) |
| 230 0192 01F4 brne .L20 |
| 231 0194 232B or r18,r19 |
| 232 0196 01F0 breq .+2 |
| 233 0198 00C0 rjmp .L26 |
| 234 019a 82E0 ldi r24,lo8(2) |
| 235 .L87: |
| 236 019c 8093 0000 sts Sync.0,r24 |
| 237 01a0 8091 0000 lds r24,FrameCnt.1 |
| 238 01a4 8F5F subi r24,lo8(-(1)) |
| 239 01a6 8093 0000 sts FrameCnt.1,r24 |
| 240 01aa 83E0 ldi r24,lo8(3) |
| 241 01ac 00C0 rjmp .L85 |
| 242 .L20: |
| 243 01ae 9230 cpi r25,lo8(2) |
| 244 01b0 01F4 brne .L22 |
| 245 01b2 232B or r18,r19 |
| 246 01b4 01F0 breq .+2 |
| 247 01b6 00C0 rjmp .L26 |
| 248 01b8 83E0 ldi r24,lo8(3) |
| 249 01ba 8093 0000 sts SpektrumTimer,r24 |
| 250 01be 4093 0000 sts ByteHigh.2,r20 |
| 251 01c2 9091 0000 lds r25,FrameCnt.1 |
| 252 01c6 9230 cpi r25,lo8(2) |
| 253 01c8 01F4 brne .L23 |
| 254 01ca 1092 0000 sts Frame2.4,__zero_reg__ |
| 255 01ce 47FF sbrs r20,7 |
| 256 01d0 00C0 rjmp .L23 |
| 257 01d2 81E0 ldi r24,lo8(1) |
| 258 01d4 8093 0000 sts Frame2.4,r24 |
| 259 .L23: |
| 260 01d8 83E0 ldi r24,lo8(3) |
| 261 01da 8093 0000 sts Sync.0,r24 |
| 262 01de 9F5F subi r25,lo8(-(1)) |
| 263 01e0 9093 0000 sts FrameCnt.1,r25 |
| 264 01e4 00C0 rjmp .L19 |
| 265 .L22: |
| 266 01e6 9330 cpi r25,lo8(3) |
| 267 01e8 01F0 breq .+2 |
| 268 01ea 00C0 rjmp .L26 |
| 269 01ec 232B or r18,r19 |
| 270 01ee 01F0 breq .+2 |
| 271 01f0 00C0 rjmp .L26 |
| 272 01f2 9093 0000 sts SpektrumTimer,r25 |
| 273 01f6 82E0 ldi r24,lo8(2) |
| 274 01f8 8093 0000 sts Sync.0,r24 |
| 275 01fc 8091 0000 lds r24,FrameCnt.1 |
| 276 0200 8F5F subi r24,lo8(-(1)) |
| 277 0202 8093 0000 sts FrameCnt.1,r24 |
| 278 0206 2091 0000 lds r18,ByteHigh.2 |
| 279 020a 822F mov r24,r18 |
| 280 020c 9927 clr r25 |
| 281 020e 782F mov r23,r24 |
| 282 0210 6627 clr r22 |
| 283 0212 842F mov r24,r20 |
| 284 0214 9927 clr r25 |
| 285 0216 682B or r22,r24 |
| 286 0218 792B or r23,r25 |
| 287 021a 8091 0000 lds r24,EE_Parameter+39 |
| 288 021e 8130 cpi r24,lo8(1) |
| 289 0220 01F4 brne .L27 |
| 290 0222 7370 andi r23,hi8(1023) |
| 291 0224 CB01 movw r24,r22 |
| 292 0226 8050 subi r24,lo8(-(-512)) |
| 293 0228 9240 sbci r25,hi8(-(-512)) |
| 294 022a 63E0 ldi r22,lo8(3) |
| 295 022c 70E0 ldi r23,hi8(3) |
| 296 022e 0E94 0000 call __divmodhi4 |
| 297 0232 EB01 movw r28,r22 |
| 298 0234 00C0 rjmp .L86 |
| 299 .L27: |
| 300 0236 8230 cpi r24,lo8(2) |
| 301 0238 01F4 brne .L29 |
| 302 023a 7770 andi r23,hi8(2047) |
| 303 023c CB01 movw r24,r22 |
| 304 023e 8050 subi r24,lo8(-(-1024)) |
| 305 0240 9440 sbci r25,hi8(-(-1024)) |
| 306 0242 66E0 ldi r22,lo8(6) |
| 307 0244 70E0 ldi r23,hi8(6) |
| 308 0246 0E94 0000 call __divmodhi4 |
| 309 024a EB01 movw r28,r22 |
| 310 024c 2695 lsr r18 |
| 311 024e 2695 lsr r18 |
| 312 0250 2695 lsr r18 |
| 313 0252 00C0 rjmp .L81 |
| 314 .L29: |
| 315 0254 EB01 movw r28,r22 |
| 316 0256 D370 andi r29,hi8(1023) |
| 317 0258 C856 subi r28,lo8(-(-360)) |
| 318 025a D140 sbci r29,hi8(-(-360)) |
| 319 025c CE01 movw r24,r28 |
| 320 025e D7FD sbrc r29,7 |
| 321 0260 0196 adiw r24,1 |
| 322 .L31: |
| 323 0262 EC01 movw r28,r24 |
| 324 0264 D595 asr r29 |
| 325 0266 C795 ror r28 |
| 326 .L86: |
| 327 0268 2695 lsr r18 |
| 328 026a 2695 lsr r18 |
| 329 .L81: |
| 330 026c 022F mov r16,r18 |
| 331 026e 1127 clr r17 |
| 332 0270 0F70 andi r16,lo8(15) |
| 333 0272 1070 andi r17,hi8(15) |
| 334 0274 0F5F subi r16,lo8(-(1)) |
| 335 0276 1F4F sbci r17,hi8(-(1)) |
| 336 0278 0D30 cpi r16,13 |
| 337 027a 1105 cpc r17,__zero_reg__ |
| 338 027c 00F0 brlo .+2 |
| 339 027e 00C0 rjmp .L32 |
| 340 0280 0230 cpi r16,2 |
| 341 0282 1105 cpc r17,__zero_reg__ |
| 342 0284 01F4 brne .L33 |
| 343 0286 04E0 ldi r16,lo8(4) |
| 344 0288 10E0 ldi r17,hi8(4) |
| 345 028a 00C0 rjmp .L34 |
| 346 .L33: |
| 347 028c 0430 cpi r16,4 |
| 348 028e 1105 cpc r17,__zero_reg__ |
| 349 0290 01F4 brne .L34 |
| 350 0292 02E0 ldi r16,lo8(2) |
| 351 0294 10E0 ldi r17,hi8(2) |
| 352 .L34: |
| 353 0296 D801 movw r26,r16 |
| 354 0298 A00F add r26,r16 |
| 355 029a B11F adc r27,r17 |
| 356 029c FD01 movw r30,r26 |
| 357 029e E050 subi r30,lo8(-(PPM_in)) |
| 358 02a0 F040 sbci r31,hi8(-(PPM_in)) |
| 359 02a2 8081 ld r24,Z |
| 360 02a4 9181 ldd r25,Z+1 |
| 361 02a6 9E01 movw r18,r28 |
| 362 02a8 281B sub r18,r24 |
| 363 02aa 390B sbc r19,r25 |
| 364 02ac C901 movw r24,r18 |
| 365 02ae 37FF sbrs r19,7 |
| 366 02b0 00C0 rjmp .L37 |
| 367 02b2 9095 com r25 |
| 368 02b4 8195 neg r24 |
| 369 02b6 9F4F sbci r25,lo8(-1) |
| 370 .L37: |
| 371 02b8 0697 sbiw r24,6 |
| 372 02ba 04F4 brge .L36 |
| 373 02bc E091 0000 lds r30,EE_Parameter+105 |
| 374 02c0 EE23 tst r30 |
| 375 02c2 01F0 breq .L39 |
| 376 02c4 FF27 clr r31 |
| 377 02c6 EE0F add r30,r30 |
| 378 02c8 FF1F adc r31,r31 |
| 379 02ca E050 subi r30,lo8(-(PPM_in)) |
| 380 02cc F040 sbci r31,hi8(-(PPM_in)) |
| 381 02ce 8081 ld r24,Z |
| 382 02d0 9181 ldd r25,Z+1 |
| 383 02d2 8436 cpi r24,100 |
| 384 02d4 9105 cpc r25,__zero_reg__ |
| 385 02d6 04F4 brge .L36 |
| 386 .L39: |
| 387 02d8 8091 0000 lds r24,SenderOkay |
| 388 02dc 883C cpi r24,lo8(-56) |
| 389 02de 00F4 brsh .L40 |
| 390 02e0 8091 0000 lds r24,SenderOkay |
| 391 02e4 865F subi r24,lo8(-(10)) |
| 392 02e6 8093 0000 sts SenderOkay,r24 |
| 393 02ea 00C0 rjmp .L36 |
| 394 .L40: |
| 395 02ec 88EC ldi r24,lo8(-56) |
| 396 02ee 8093 0000 sts SenderOkay,r24 |
| 397 02f2 8091 6F00 lds r24,111 |
| 398 02f6 8F7D andi r24,lo8(-33) |
| 399 02f8 8093 6F00 sts 111,r24 |
| 400 .L36: |
| 401 02fc A050 subi r26,lo8(-(PPM_in)) |
| 402 02fe B040 sbci r27,hi8(-(PPM_in)) |
| 403 0300 8D91 ld r24,X+ |
| 404 0302 9C91 ld r25,X |
| 405 0304 BC01 movw r22,r24 |
| 406 0306 660F lsl r22 |
| 407 0308 771F rol r23 |
| 408 030a 680F add r22,r24 |
| 409 030c 791F adc r23,r25 |
| 410 030e 6C0F add r22,r28 |
| 411 0310 7D1F adc r23,r29 |
| 412 0312 77FF sbrs r23,7 |
| 413 0314 00C0 rjmp .L42 |
| 414 0316 6D5F subi r22,lo8(-(3)) |
| 415 0318 7F4F sbci r23,hi8(-(3)) |
| 416 .L42: |
| 417 031a 7B01 movw r14,r22 |
| 418 031c F594 asr r15 |
| 419 031e E794 ror r14 |
| 420 0320 F594 asr r15 |
| 421 0322 E794 ror r14 |
| 422 0324 CE01 movw r24,r28 |
| 423 0326 0196 adiw r24,1 |
| 424 0328 8E15 cp r24,r14 |
| 425 032a 9F05 cpc r25,r15 |
| 426 032c 04F4 brge .L43 |
| 427 032e 0894 sec |
| 428 0330 E108 sbc r14,__zero_reg__ |
| 429 0332 F108 sbc r15,__zero_reg__ |
| 430 0334 00C0 rjmp .L44 |
| 431 .L43: |
| 432 0336 CE01 movw r24,r28 |
| 433 0338 0197 sbiw r24,1 |
| 434 033a E816 cp r14,r24 |
| 435 033c F906 cpc r15,r25 |
| 436 033e 04F4 brge .L44 |
| 437 0340 0894 sec |
| 438 0342 E11C adc r14,__zero_reg__ |
| 439 0344 F11C adc r15,__zero_reg__ |
| 440 .L44: |
| 441 0346 0630 cpi r16,6 |
| 442 0348 1105 cpc r17,__zero_reg__ |
| 443 034a 01F0 breq .+2 |
| 444 034c 00C0 rjmp .L46 |
| 445 034e C536 cpi r28,101 |
| 446 0350 D105 cpc r29,__zero_reg__ |
| 447 0352 04F4 brge .+2 |
| 448 0354 00C0 rjmp .L47 |
| 449 0356 9091 0000 lds r25,s_excnt |
| 450 035a E92F mov r30,r25 |
| 451 035c FF27 clr r31 |
| 452 035e E050 subi r30,lo8(-(s_exdata)) |
| 453 0360 F040 sbci r31,hi8(-(s_exdata)) |
| 454 0362 E081 ld r30,Z |
| 455 0364 ED37 cpi r30,lo8(125) |
| 456 0366 01F4 brne .L48 |
| 457 0368 8091 0000 lds r24,s_exparity |
| 458 036c 8095 com r24 |
| 459 036e 8093 0000 sts s_exparity,r24 |
| 460 .L48: |
| 461 0372 9630 cpi r25,lo8(6) |
| 462 0374 01F4 brne .L51 |
| 463 0376 8091 0000 lds r24,s_exparity |
| 464 037a 8823 tst r24 |
| 465 037c 01F0 breq .L52 |
| 466 037e E338 cpi r30,lo8(-125) |
| 467 0380 01F0 breq .L50 |
| 468 .L52: |
| 469 0382 8823 tst r24 |
| 470 0384 01F0 breq .+2 |
| 471 0386 00C0 rjmp .L49 |
| 472 0388 ED37 cpi r30,lo8(125) |
| 473 038a 01F0 breq .L50 |
| 474 038c 00C0 rjmp .L49 |
| 475 .L51: |
| 476 038e 9930 cpi r25,lo8(9) |
| 477 0390 01F0 breq .+2 |
| 478 0392 00C0 rjmp .L49 |
| 479 0394 8091 0000 lds r24,s_exparity |
| 480 0398 8823 tst r24 |
| 481 039a 01F4 brne .L80 |
| 482 039c 8091 0000 lds r24,s_exdata+9 |
| 483 03a0 8338 cpi r24,lo8(-125) |
| 484 03a2 01F0 breq .L50 |
| 485 03a4 00C0 rjmp .L49 |
| 486 .L80: |
| 487 03a6 8091 0000 lds r24,s_exdata+9 |
| 488 03aa 8D37 cpi r24,lo8(125) |
| 489 03ac 01F0 breq .+2 |
| 490 03ae 00C0 rjmp .L49 |
| 491 .L50: |
| 492 03b0 8091 0000 lds r24,s_exdata+1 |
| 493 03b4 8D37 cpi r24,lo8(125) |
| 494 03b6 01F4 brne .L54 |
| 495 03b8 8091 0000 lds r24,s_exdata+2 |
| 496 03bc 8338 cpi r24,lo8(-125) |
| 497 03be 01F4 brne .L55 |
| 498 03c0 63E8 ldi r22,lo8(-125) |
| 499 03c2 7FEF ldi r23,hi8(-125) |
| 500 03c4 00C0 rjmp .L82 |
| 501 .L54: |
| 502 03c6 8338 cpi r24,lo8(-125) |
| 503 03c8 01F4 brne .L55 |
| 504 03ca 8091 0000 lds r24,s_exdata+2 |
| 505 03ce 8338 cpi r24,lo8(-125) |
| 506 03d0 01F4 brne .L79 |
| 507 03d2 60E0 ldi r22,lo8(0) |
| 508 03d4 70E0 ldi r23,hi8(0) |
| 509 03d6 00C0 rjmp .L82 |
| 510 .L79: |
| 511 03d8 8D37 cpi r24,lo8(125) |
| 512 03da 01F4 brne .L55 |
| 513 03dc 6DE7 ldi r22,lo8(125) |
| 514 03de 70E0 ldi r23,hi8(125) |
| 515 .L82: |
| 516 03e0 85E0 ldi r24,lo8(5) |
| 517 03e2 0E94 0000 call s_update |
| 518 .L55: |
| 519 03e6 8091 0000 lds r24,s_exdata+3 |
| 520 03ea 9927 clr r25 |
| 521 03ec 87FD sbrc r24,7 |
| 522 03ee 9095 com r25 |
| 523 03f0 BC01 movw r22,r24 |
| 524 03f2 86E0 ldi r24,lo8(6) |
| 525 03f4 0E94 0000 call s_update |
| 526 03f8 8091 0000 lds r24,s_exdata+4 |
| 527 03fc 9927 clr r25 |
| 528 03fe 87FD sbrc r24,7 |
| 529 0400 9095 com r25 |
| 530 0402 BC01 movw r22,r24 |
| 531 0404 8BE0 ldi r24,lo8(11) |
| 532 0406 0E94 0000 call s_update |
| 533 040a 8091 0000 lds r24,s_exdata+5 |
| 534 040e 9927 clr r25 |
| 535 0410 87FD sbrc r24,7 |
| 536 0412 9095 com r25 |
| 537 0414 BC01 movw r22,r24 |
| 538 0416 8CE0 ldi r24,lo8(12) |
| 539 0418 0E94 0000 call s_update |
| 540 041c 8091 0000 lds r24,s_excnt |
| 541 0420 8930 cpi r24,lo8(9) |
| 542 0422 01F4 brne .L49 |
| 543 0424 8091 0000 lds r24,s_exdata+7 |
| 544 0428 8D37 cpi r24,lo8(125) |
| 545 042a 01F4 brne .L60 |
| 546 042c 8091 0000 lds r24,PPM_in+16 |
| 547 0430 9091 0000 lds r25,(PPM_in+16)+1 |
| 548 0434 0596 adiw r24,5 |
| 549 0436 BC01 movw r22,r24 |
| 550 0438 88E0 ldi r24,lo8(8) |
| 551 043a 0E94 0000 call s_update |
| 552 .L60: |
| 553 043e 8091 0000 lds r24,s_exdata+8 |
| 554 0442 8D37 cpi r24,lo8(125) |
| 555 0444 01F4 brne .L61 |
| 556 0446 8091 0000 lds r24,PPM_in+16 |
| 557 044a 9091 0000 lds r25,(PPM_in+16)+1 |
| 558 044e 0597 sbiw r24,5 |
| 559 0450 BC01 movw r22,r24 |
| 560 0452 88E0 ldi r24,lo8(8) |
| 561 0454 0E94 0000 call s_update |
| 562 .L61: |
| 563 0458 8091 0000 lds r24,PPM_in+16 |
| 564 045c 9091 0000 lds r25,(PPM_in+16)+1 |
| 565 0460 8358 subi r24,lo8(-125) |
| 566 0462 9F4F sbci r25,hi8(-125) |
| 567 0464 04F4 brge .L62 |
| 568 0466 83E8 ldi r24,lo8(-125) |
| 569 0468 9FEF ldi r25,hi8(-125) |
| 570 046a 00C0 rjmp .L83 |
| 571 .L62: |
| 572 046c 8091 0000 lds r24,PPM_in+16 |
| 573 0470 9091 0000 lds r25,(PPM_in+16)+1 |
| 574 0474 8E37 cpi r24,126 |
| 575 0476 9105 cpc r25,__zero_reg__ |
| 576 0478 04F0 brlt .L63 |
| 577 047a 8DE7 ldi r24,lo8(125) |
| 578 047c 90E0 ldi r25,hi8(125) |
| 579 .L83: |
| 580 047e 9093 0000 sts (PPM_in+16)+1,r25 |
| 581 0482 8093 0000 sts PPM_in+16,r24 |
| 582 .L63: |
| 583 0486 8091 0000 lds r24,s_exdata+6 |
| 584 048a 9927 clr r25 |
| 585 048c 87FD sbrc r24,7 |
| 586 048e 9095 com r25 |
| 587 0490 BC01 movw r22,r24 |
| 588 0492 8AE0 ldi r24,lo8(10) |
| 589 0494 0E94 0000 call s_update |
| 590 .L49: |
| 591 0498 1092 0000 sts s_excnt,__zero_reg__ |
| 592 049c 1092 0000 sts s_exparity,__zero_reg__ |
| 593 .L47: |
| 594 04a0 CA30 cpi r28,10 |
| 595 04a2 D105 cpc r29,__zero_reg__ |
| 596 04a4 04F4 brge .L65 |
| 597 04a6 8091 0000 lds r24,s_excnt |
| 598 04aa 8F5F subi r24,lo8(-(1)) |
| 599 04ac 8093 0000 sts s_excnt,r24 |
| 600 04b0 E82F mov r30,r24 |
| 601 04b2 FF27 clr r31 |
| 602 04b4 E050 subi r30,lo8(-(s_exdata)) |
| 603 04b6 F040 sbci r31,hi8(-(s_exdata)) |
| 604 04b8 83E8 ldi r24,lo8(-125) |
| 605 04ba 8083 st Z,r24 |
| 606 .L65: |
| 607 04bc 8091 0000 lds r24,s_excnt |
| 608 04c0 8A30 cpi r24,lo8(10) |
| 609 04c2 01F4 brne .L66 |
| 610 04c4 1092 0000 sts s_excnt,__zero_reg__ |
| 611 .L66: |
| 612 04c8 8FEF ldi r24,hi8(-100) |
| 613 04ca CC39 cpi r28,lo8(-100) |
| 614 04cc D807 cpc r29,r24 |
| 615 04ce 04F4 brge .L46 |
| 616 04d0 8091 0000 lds r24,s_excnt |
| 617 04d4 E82F mov r30,r24 |
| 618 04d6 FF27 clr r31 |
| 619 04d8 E050 subi r30,lo8(-(s_exdata)) |
| 620 04da F040 sbci r31,hi8(-(s_exdata)) |
| 621 04dc 8DE7 ldi r24,lo8(125) |
| 622 04de 8083 st Z,r24 |
| 623 04e0 8091 0000 lds r24,s_exparity |
| 624 04e4 8095 com r24 |
| 625 04e6 8093 0000 sts s_exparity,r24 |
| 626 .L46: |
| 627 04ea 0530 cpi r16,5 |
| 628 04ec 1105 cpc r17,__zero_reg__ |
| 629 04ee 00F4 brsh .L68 |
| 630 04f0 B701 movw r22,r14 |
| 631 04f2 802F mov r24,r16 |
| 632 04f4 00C0 rjmp .L84 |
| 633 .L68: |
| 634 04f6 0530 cpi r16,5 |
| 635 04f8 1105 cpc r17,__zero_reg__ |
| 636 04fa 01F4 brne .L70 |
| 637 04fc BE01 movw r22,r28 |
| 638 04fe 87E0 ldi r24,lo8(7) |
| 639 0500 00C0 rjmp .L84 |
| 640 .L70: |
| 641 0502 0730 cpi r16,7 |
| 642 0504 1105 cpc r17,__zero_reg__ |
| 643 0506 01F4 brne .L19 |
| 644 0508 BE01 movw r22,r28 |
| 645 050a 89E0 ldi r24,lo8(9) |
| 646 .L84: |
| 647 050c 0E94 0000 call s_update |
| 648 0510 00C0 rjmp .L19 |
| 649 .L32: |
| 650 0512 0231 cpi r16,18 |
| 651 0514 1105 cpc r17,__zero_reg__ |
| 652 0516 00F0 brlo .L19 |
| 653 0518 81E0 ldi r24,lo8(1) |
| 654 051a 8093 0000 sts ReSync.3,r24 |
| 655 051e 00C0 rjmp .L19 |
| 656 .L26: |
| 657 0520 81E0 ldi r24,lo8(1) |
| 658 0522 8093 0000 sts ReSync.3,r24 |
| 659 0526 1092 0000 sts FrameCnt.1,__zero_reg__ |
| 660 052a 1092 0000 sts Frame2.4,__zero_reg__ |
| 661 052e 84E4 ldi r24,lo8(68) |
| 662 .L85: |
| 663 0530 8093 0000 sts SpektrumTimer,r24 |
| 664 .L19: |
| 665 0534 8091 0000 lds r24,FrameCnt.1 |
| 666 0538 8031 cpi r24,lo8(16) |
| 667 053a 00F0 brlo .L11 |
| 668 053c 8091 0000 lds r24,Frame2.4 |
| 669 0540 8823 tst r24 |
| 670 0542 01F4 brne .L77 |
| 671 0544 8091 0000 lds r24,ReSync.3 |
| 672 0548 8823 tst r24 |
| 673 054a 01F4 brne .L77 |
| 674 054c 8093 0000 sts NewPpmData,r24 |
| 675 .L77: |
| 676 0550 1092 0000 sts FrameCnt.1,__zero_reg__ |
| 677 0554 1092 0000 sts Frame2.4,__zero_reg__ |
| 678 0558 1092 0000 sts Sync.0,__zero_reg__ |
| 679 055c 84E4 ldi r24,lo8(68) |
| 680 055e 8093 0000 sts SpektrumTimer,r24 |
| 681 .L11: |
| 682 /* epilogue: frame size=0 */ |
| 683 0562 E6E0 ldi r30,6 |
| 684 0564 CDB7 in r28,__SP_L__ |
| 685 0566 DEB7 in r29,__SP_H__ |
| 686 0568 0C94 0000 jmp __epilogue_restores__+24 |
| 687 /* epilogue end (size=5) */ |
| 688 /* function SpektrumParser size 551 (540) */ |
| 690 .comm s_exdata,11,1 |
| 691 /* File "Spektrum.c": code 701 = 0x02bd ( 680), prologues 10, epilogues 11 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 Spektrum.c |
| C:\Temp/cc1n5H0x.s:3 *ABS*:0000003f __SREG__ |
| C:\Temp/cc1n5H0x.s:4 *ABS*:0000003e __SP_H__ |
| C:\Temp/cc1n5H0x.s:5 *ABS*:0000003d __SP_L__ |
| C:\Temp/cc1n5H0x.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\Temp/cc1n5H0x.s:7 *ABS*:00000001 __zero_reg__ |
| C:\Temp/cc1n5H0x.s:15 .bss:00000000 s_exparity |
| C:\Temp/cc1n5H0x.s:21 .bss:00000001 s_excnt |
| C:\Temp/cc1n5H0x.s:27 .bss:00000002 SpektrumTimer |
| C:\Temp/cc1n5H0x.s:32 .text:00000000 s_update |
| C:\Temp/cc1n5H0x.s:99 .text:00000074 SpektrumUartInit |
| .bss:00000003 Sync.0 |
| C:\Temp/cc1n5H0x.s:170 .bss:00000004 FrameCnt.1 |
| C:\Temp/cc1n5H0x.s:171 .bss:00000005 ByteHigh.2 |
| C:\Temp/cc1n5H0x.s:176 .data:00000000 ReSync.3 |
| C:\Temp/cc1n5H0x.s:172 .bss:00000006 Frame2.4 |
| C:\Temp/cc1n5H0x.s:182 .text:0000012a SpektrumParser |
| *COM*:0000000b s_exdata |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| SenderOkay |
| PPM_in |
| __divmodhi4 |
| PPM_diff |
| EE_Parameter |
| NewPpmData |
| __epilogue_restores__ |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/analog.c |
|---|
| 0,0 → 1,334 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software Nutzungsbedingungen (english version: see below) |
| // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
| // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
| // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
| // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
| // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
| // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
| // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
| // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
| // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
| // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
| // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
| // + des Mitverschuldens offen. |
| // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
| // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
| // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
| // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
| // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
| // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
| // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software LICENSING TERMS |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
| // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
| // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
| // + The Software may only be used with the Licensor's products. |
| // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
| // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
| // + agreement shall be the property of the Licensor. |
| // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
| // + features that can be used to identify the program may not be altered or defaced by the customer. |
| // + The customer shall be responsible for taking reasonable precautions |
| // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
| // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
| // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
| // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
| // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
| // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
| // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
| // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
| // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
| // + #### END OF LICENSING TERMS #### |
| // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| #include "eeprom.h" |
| volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100; |
| volatile int AdWertNickFilter = 0, AdWertRollFilter = 0, AdWertGierFilter = 0; |
| volatile int HiResNick = 2500, HiResRoll = 2500; |
| volatile int AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0; |
| volatile int AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 0; |
| volatile long Luftdruck = 32000; |
| volatile long SummenHoehe = 0; |
| volatile int StartLuftdruck; |
| volatile unsigned int MessLuftdruck = 1023; |
| unsigned char DruckOffsetSetting; |
| signed char ExpandBaro = 0; |
| volatile int VarioMeter = 0; |
| volatile unsigned int ZaehlMessungen = 0; |
| unsigned char AnalogOffsetNick = 115,AnalogOffsetRoll = 115,AnalogOffsetGier = 115; |
| volatile unsigned char AdReady = 1; |
| //####################################################################################### |
| void ADC_Init(void) |
| //####################################################################################### |
| { |
| ADMUX = 0;//Referenz ist extern |
| ANALOG_ON; |
| } |
| #define DESIRED_H_ADC 800 |
| void SucheLuftruckOffset(void) |
| { |
| unsigned int off; |
| ExpandBaro = 0; |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| { |
| unsigned char off2; |
| OCR0A = 150; |
| off2 = GetParamByte(PID_PRESSURE_OFFSET); |
| if(off2 < 230) off2 += 10; |
| OCR0B = off2; |
| Delay_ms_Mess(100); |
| if(MessLuftdruck > DESIRED_H_ADC) off2 = 240; |
| for(; off2 >= 5; off2 -= 5) |
| { |
| OCR0B = off2; |
| Delay_ms_Mess(50); |
| printf("*"); |
| if(MessLuftdruck > DESIRED_H_ADC) break; |
| } |
| SetParamByte(PID_PRESSURE_OFFSET, off2); |
| if(off2 >= 15) off = 140; else off = 0; |
| for(; off < 250;off++) |
| { |
| OCR0A = off; |
| Delay_ms_Mess(50); |
| printf("."); |
| if(MessLuftdruck < DESIRED_H_ADC) break; |
| } |
| DruckOffsetSetting = off; |
| } |
| #else |
| off = GetParamByte(PID_PRESSURE_OFFSET); |
| if(off > 20) off -= 10; |
| OCR0A = off; |
| Delay_ms_Mess(100); |
| if(MessLuftdruck < DESIRED_H_ADC) off = 0; |
| for(; off < 250;off++) |
| { |
| OCR0A = off; |
| Delay_ms_Mess(50); |
| printf("."); |
| if(MessLuftdruck < DESIRED_H_ADC) break; |
| } |
| DruckOffsetSetting = off; |
| SetParamByte(PID_PRESSURE_OFFSET, off); |
| #endif |
| if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && (DruckOffsetSetting < 10 || DruckOffsetSetting >= 245)) VersionInfo.HardwareError[0] |= FC_ERROR0_PRESSURE; |
| OCR0A = off; |
| Delay_ms_Mess(300); |
| } |
| void SucheGyroOffset(void) |
| { |
| unsigned char i, ready = 0; |
| int timeout; |
| timeout = SetDelay(2000); |
| for(i=140; i != 0; i--) |
| { |
| if(ready == 3 && i > 10) i = 9; |
| ready = 0; |
| if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++; |
| if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++; |
| if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++; |
| I2C_Start(TWI_STATE_GYRO_OFFSET_TX); |
| if(AnalogOffsetNick < 10) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; AnalogOffsetNick = 245;}; |
| if(AnalogOffsetRoll < 10) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; AnalogOffsetRoll = 245;}; |
| if(AnalogOffsetGier < 10) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; AnalogOffsetGier = 245;}; |
| while(twi_state) if(CheckDelay(timeout)) {printf("\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl"); break;} |
| AdReady = 0; |
| ANALOG_ON; |
| while(!AdReady); |
| if(i<10) Delay_ms_Mess(10); |
| } |
| Delay_ms_Mess(70); |
| } |
| /* |
| 0 n |
| 1 r |
| 2 g |
| 3 y |
| 4 x |
| 5 n |
| 6 r |
| 7 u |
| 8 z |
| 9 L |
| 10 n |
| 11 r |
| 12 g |
| 13 y |
| 14 x |
| 15 n |
| 16 r |
| 17 L |
| */ |
| //####################################################################################### |
| // |
| ISR(ADC_vect) |
| //####################################################################################### |
| { |
| static unsigned char kanal=0,state = 0; |
| static signed char subcount = 0; |
| static signed int gier1, roll1, nick1, nick_filter, roll_filter; |
| static signed int accy, accx; |
| static long tmpLuftdruck = 0; |
| static char messanzahl_Druck = 0; |
| switch(state++) |
| { |
| case 0: |
| nick1 = ADC; |
| kanal = AD_ROLL; |
| break; |
| case 1: |
| roll1 = ADC; |
| kanal = AD_GIER; |
| break; |
| case 2: |
| gier1 = ADC; |
| kanal = AD_ACC_Y; |
| break; |
| case 3: |
| Aktuell_ay = NeutralAccY - ADC; |
| accy = Aktuell_ay; |
| kanal = AD_ACC_X; |
| break; |
| case 4: |
| Aktuell_ax = ADC - NeutralAccX; |
| accx = Aktuell_ax; |
| kanal = AD_NICK; |
| break; |
| case 5: |
| nick1 += ADC; |
| kanal = AD_ROLL; |
| break; |
| case 6: |
| roll1 += ADC; |
| kanal = AD_UBAT; |
| break; |
| case 7: |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| if(EE_Parameter.ExtraConfig & CFG_3_3V_REFERENCE) UBat = (3 * UBat + (11 * ADC) / 30) / 4; // there were some single FC2.1 with 3.3V reference |
| else |
| #endif |
| UBat = (3 * UBat + ADC / 3) / 4; |
| kanal = AD_ACC_Z; |
| break; |
| case 8: |
| AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
| if(AdWertAccHoch > 1) |
| { |
| if(NeutralAccZ < 750) |
| { |
| subcount += 5; |
| if(modell_fliegt < 500) subcount += 10; |
| } |
| if(subcount > 100) { NeutralAccZ++; subcount -= 100;} |
| } |
| else if(AdWertAccHoch < -1) |
| { |
| if(NeutralAccZ > 550) |
| { |
| subcount -= 5; |
| if(modell_fliegt < 500) subcount -= 10; |
| if(subcount < -100) { NeutralAccZ--; subcount += 100;} |
| } |
| } |
| // messanzahl_AccHoch = 1; |
| Aktuell_az = ADC; |
| Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
| Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
| kanal = AD_DRUCK; |
| break; |
| // "case 9:" fehlt hier absichtlich |
| case 10: |
| nick1 += ADC; |
| kanal = AD_ROLL; |
| break; |
| case 11: |
| roll1 += ADC; |
| kanal = AD_GIER; |
| break; |
| case 12: |
| if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2; |
| else |
| if(PlatinenVersion >= 20) AdWertGier = 2047 - (ADC + gier1); |
| else AdWertGier = (ADC + gier1); |
| kanal = AD_ACC_Y; |
| break; |
| case 13: |
| Aktuell_ay = NeutralAccY - ADC; |
| AdWertAccRoll = (Aktuell_ay + accy); |
| kanal = AD_ACC_X; |
| break; |
| case 14: |
| Aktuell_ax = ADC - NeutralAccX; |
| AdWertAccNick = (Aktuell_ax + accx); |
| kanal = AD_NICK; |
| break; |
| case 15: |
| nick1 += ADC; |
| if(PlatinenVersion == 10) nick1 *= 2; else nick1 *= 4; |
| AdWertNick = nick1 / 8; |
| nick_filter = (nick_filter + nick1) / 2; |
| HiResNick = nick_filter - AdNeutralNick; |
| AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2; |
| kanal = AD_ROLL; |
| break; |
| case 16: |
| roll1 += ADC; |
| if(PlatinenVersion == 10) roll1 *= 2; else roll1 *= 4; |
| AdWertRoll = roll1 / 8; |
| roll_filter = (roll_filter + roll1) / 2; |
| HiResRoll = roll_filter - AdNeutralRoll; |
| AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2; |
| kanal = AD_DRUCK; |
| break; |
| case 17: |
| state = 0; |
| AdReady = 1; |
| ZaehlMessungen++; |
| // "break" fehlt hier absichtlich |
| case 9: |
| MessLuftdruck = ADC; |
| tmpLuftdruck += MessLuftdruck; |
| if(++messanzahl_Druck >= 16) // war bis 0.86 "18" |
| { |
| signed int tmp; |
| Luftdruck = (7 * Luftdruck + tmpLuftdruck - (16 * 523) * (long)ExpandBaro + 4) / 8; // -523.19 counts per 10 counts offset step |
| HoehenWert = StartLuftdruck - Luftdruck; |
| SummenHoehe -= SummenHoehe/SM_FILTER; |
| SummenHoehe += HoehenWert; |
| tmp = (HoehenWert - SummenHoehe/SM_FILTER); |
| if(tmp > 1024) tmp = 1024; else if(tmp < -1024) tmp = -1024; |
| if(abs(VarioMeter) > 700) VarioMeter = (15 * VarioMeter + 8 * tmp)/16; |
| else VarioMeter = (31 * VarioMeter + 8 * tmp)/32; |
| tmpLuftdruck /= 2; |
| messanzahl_Druck = 16/2; |
| } |
| kanal = AD_NICK; |
| break; |
| default: |
| kanal = 0; state = 0; kanal = AD_NICK; |
| break; |
| } |
| ADMUX = kanal; |
| if(state != 0) ANALOG_ON; |
| } |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/analog.h |
|---|
| 0,0 → 1,47 |
| #ifndef _ANALOG_H |
| #define _ANALOG_H |
| /*####################################################################################### |
| #######################################################################################*/ |
| #define SM_FILTER 16 |
| extern volatile int UBat; |
| extern volatile int AdWertNick, AdWertRoll, AdWertGier; |
| extern volatile int AdWertAccRoll,AdWertAccNick,AdWertAccHoch; |
| extern volatile int HiResNick, HiResRoll; |
| extern volatile int AdWertNickFilter, AdWertRollFilter, AdWertGierFilter; |
| extern volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az; |
| extern volatile long Luftdruck; |
| extern volatile long SummenHoehe; |
| extern volatile char messanzahl_Druck; |
| extern volatile unsigned int ZaehlMessungen; |
| extern unsigned char DruckOffsetSetting; |
| extern signed char ExpandBaro; |
| extern volatile int VarioMeter; |
| extern volatile unsigned int MessLuftdruck; |
| extern volatile int StartLuftdruck; |
| extern volatile char MessanzahlNick; |
| extern unsigned char AnalogOffsetNick,AnalogOffsetRoll,AnalogOffsetGier; |
| extern volatile unsigned char AdReady; |
| unsigned int ReadADC(unsigned char adc_input); |
| void ADC_Init(void); |
| void SucheLuftruckOffset(void); |
| void SucheGyroOffset(void); |
| #define AD_GIER 0 |
| #define AD_ROLL 1 |
| #define AD_NICK 2 |
| #define AD_DRUCK 3 |
| #define AD_UBAT 4 |
| #define AD_ACC_Z 5 |
| #define AD_ACC_Y 6 |
| #define AD_ACC_X 7 |
| #define ANALOG_OFF ADCSRA=0 |
| #define ANALOG_ON ADCSRA=(1<<ADEN)|(1<<ADSC)|(0<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE) |
| //Signle trigger Mode, Interrupt on |
| #endif //_ANALOG_H |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/analog.lst |
|---|
| 0,0 → 1,1412 |
| 1 .file "analog.c" |
| 2 .arch atmega1284p |
| 3 __SREG__ = 0x3f |
| 4 __SP_H__ = 0x3e |
| 5 __SP_L__ = 0x3d |
| 6 __tmp_reg__ = 0 |
| 7 __zero_reg__ = 1 |
| 8 .global __do_copy_data |
| 9 .global __do_clear_bss |
| 10 .global AdReady |
| 11 .data |
| 14 AdReady: |
| 15 0000 01 .byte 1 |
| 16 .global AnalogOffsetGier |
| 19 AnalogOffsetGier: |
| 20 0001 73 .byte 115 |
| 21 .global AnalogOffsetRoll |
| 24 AnalogOffsetRoll: |
| 25 0002 73 .byte 115 |
| 26 .global AnalogOffsetNick |
| 29 AnalogOffsetNick: |
| 30 0003 73 .byte 115 |
| 31 .global ZaehlMessungen |
| 32 .global ZaehlMessungen |
| 33 .section .bss |
| 36 ZaehlMessungen: |
| 37 0000 0000 .skip 2,0 |
| 38 .global VarioMeter |
| 39 .global VarioMeter |
| 42 VarioMeter: |
| 43 0002 0000 .skip 2,0 |
| 44 .global ExpandBaro |
| 45 .global ExpandBaro |
| 48 ExpandBaro: |
| 49 0004 00 .skip 1,0 |
| 50 .global MessLuftdruck |
| 51 .data |
| 54 MessLuftdruck: |
| 55 0004 FF03 .word 1023 |
| 56 .global SummenHoehe |
| 57 .global SummenHoehe |
| 58 .section .bss |
| 61 SummenHoehe: |
| 62 0005 0000 0000 .skip 4,0 |
| 63 .global Luftdruck |
| 64 .data |
| 67 Luftdruck: |
| 68 0006 007D 0000 .long 32000 |
| 69 .global AdWertAccHoch |
| 70 .global AdWertAccHoch |
| 71 .section .bss |
| 74 AdWertAccHoch: |
| 75 0009 0000 .skip 2,0 |
| 76 .global AdWertAccNick |
| 77 .global AdWertAccNick |
| 80 AdWertAccNick: |
| 81 000b 0000 .skip 2,0 |
| 82 .global AdWertAccRoll |
| 83 .global AdWertAccRoll |
| 86 AdWertAccRoll: |
| 87 000d 0000 .skip 2,0 |
| 88 .global AdWertGier |
| 89 .global AdWertGier |
| 92 AdWertGier: |
| 93 000f 0000 .skip 2,0 |
| 94 .global AdWertRoll |
| 95 .global AdWertRoll |
| 98 AdWertRoll: |
| 99 0011 0000 .skip 2,0 |
| 100 .global AdWertNick |
| 101 .global AdWertNick |
| 104 AdWertNick: |
| 105 0013 0000 .skip 2,0 |
| 106 .global HiResRoll |
| 107 .data |
| 110 HiResRoll: |
| 111 000a C409 .word 2500 |
| 112 .global HiResNick |
| 115 HiResNick: |
| 116 000c C409 .word 2500 |
| 117 .global AdWertGierFilter |
| 118 .global AdWertGierFilter |
| 119 .section .bss |
| 122 AdWertGierFilter: |
| 123 0015 0000 .skip 2,0 |
| 124 .global AdWertRollFilter |
| 125 .global AdWertRollFilter |
| 128 AdWertRollFilter: |
| 129 0017 0000 .skip 2,0 |
| 130 .global AdWertNickFilter |
| 131 .global AdWertNickFilter |
| 134 AdWertNickFilter: |
| 135 0019 0000 .skip 2,0 |
| 136 .global UBat |
| 137 .data |
| 140 UBat: |
| 141 000e 6400 .word 100 |
| 142 .text |
| 143 .global ADC_Init |
| 145 ADC_Init: |
| 146 /* prologue: frame size=0 */ |
| 147 /* prologue end (size=0) */ |
| 148 0000 1092 7C00 sts 124,__zero_reg__ |
| 149 0004 8FEC ldi r24,lo8(-49) |
| 150 0006 8093 7A00 sts 122,r24 |
| 151 /* epilogue: frame size=0 */ |
| 152 000a 0895 ret |
| 153 /* epilogue end (size=1) */ |
| 154 /* function ADC_Init size 6 (5) */ |
| 156 .section .progmem.data,"a",@progbits |
| 159 __c.13: |
| 160 0000 2A00 .string "*" |
| 163 __c.14: |
| 164 0002 2E00 .string "." |
| 165 .text |
| 166 .global SucheLuftruckOffset |
| 168 SucheLuftruckOffset: |
| 169 /* prologue: frame size=0 */ |
| 170 000c CF93 push r28 |
| 171 000e DF93 push r29 |
| 172 /* prologue end (size=2) */ |
| 173 0010 1092 0000 sts ExpandBaro,__zero_reg__ |
| 174 0014 86E9 ldi r24,lo8(-106) |
| 175 0016 87BD out 71-0x20,r24 |
| 176 0018 83E0 ldi r24,lo8(3) |
| 177 001a 90E0 ldi r25,hi8(3) |
| 178 001c 0E94 0000 call GetParamByte |
| 179 0020 C82F mov r28,r24 |
| 180 0022 863E cpi r24,lo8(-26) |
| 181 0024 00F4 brsh .L3 |
| 182 0026 C65F subi r28,lo8(-(10)) |
| 183 .L3: |
| 184 0028 C8BD out 72-0x20,r28 |
| 185 002a 84E6 ldi r24,lo8(100) |
| 186 002c 90E0 ldi r25,hi8(100) |
| 187 002e 0E94 0000 call Delay_ms_Mess |
| 188 0032 8091 0000 lds r24,MessLuftdruck |
| 189 0036 9091 0000 lds r25,(MessLuftdruck)+1 |
| 190 003a 8152 subi r24,lo8(801) |
| 191 003c 9340 sbci r25,hi8(801) |
| 192 003e 00F0 brlo .L4 |
| 193 0040 C0EF ldi r28,lo8(-16) |
| 194 0042 00C0 rjmp .L9 |
| 195 .L4: |
| 196 0044 C530 cpi r28,lo8(5) |
| 197 0046 00F0 brlo .L6 |
| 198 .L9: |
| 199 0048 C8BD out 72-0x20,r28 |
| 200 004a 82E3 ldi r24,lo8(50) |
| 201 004c 90E0 ldi r25,hi8(50) |
| 202 004e 0E94 0000 call Delay_ms_Mess |
| 203 0052 80E0 ldi r24,lo8(__c.13) |
| 204 0054 90E0 ldi r25,hi8(__c.13) |
| 205 0056 9F93 push r25 |
| 206 0058 8F93 push r24 |
| 207 005a 80E0 ldi r24,lo8(pm(uart_putchar)) |
| 208 005c 90E0 ldi r25,hi8(pm(uart_putchar)) |
| 209 005e 9F93 push r25 |
| 210 0060 8F93 push r24 |
| 211 0062 E091 0000 lds r30,_printf_P |
| 212 0066 F091 0000 lds r31,(_printf_P)+1 |
| 213 006a 0995 icall |
| 214 006c 8091 0000 lds r24,MessLuftdruck |
| 215 0070 9091 0000 lds r25,(MessLuftdruck)+1 |
| 216 0074 0F90 pop __tmp_reg__ |
| 217 0076 0F90 pop __tmp_reg__ |
| 218 0078 0F90 pop __tmp_reg__ |
| 219 007a 0F90 pop __tmp_reg__ |
| 220 007c 8152 subi r24,lo8(801) |
| 221 007e 9340 sbci r25,hi8(801) |
| 222 0080 00F4 brsh .L6 |
| 223 0082 C550 subi r28,lo8(-(-5)) |
| 224 0084 00C0 rjmp .L4 |
| 225 .L6: |
| 226 0086 6C2F mov r22,r28 |
| 227 0088 83E0 ldi r24,lo8(3) |
| 228 008a 90E0 ldi r25,hi8(3) |
| 229 008c 0E94 0000 call SetParamByte |
| 230 0090 CF30 cpi r28,lo8(15) |
| 231 0092 00F0 brlo .L10 |
| 232 0094 CCE8 ldi r28,lo8(140) |
| 233 0096 D0E0 ldi r29,hi8(140) |
| 234 0098 00C0 rjmp .L11 |
| 235 .L10: |
| 236 009a C0E0 ldi r28,lo8(0) |
| 237 009c D0E0 ldi r29,hi8(0) |
| 238 .L11: |
| 239 009e CA3F cpi r28,250 |
| 240 00a0 D105 cpc r29,__zero_reg__ |
| 241 00a2 00F4 brsh .L13 |
| 242 00a4 C7BD out 71-0x20,r28 |
| 243 00a6 82E3 ldi r24,lo8(50) |
| 244 00a8 90E0 ldi r25,hi8(50) |
| 245 00aa 0E94 0000 call Delay_ms_Mess |
| 246 00ae 80E0 ldi r24,lo8(__c.14) |
| 247 00b0 90E0 ldi r25,hi8(__c.14) |
| 248 00b2 9F93 push r25 |
| 249 00b4 8F93 push r24 |
| 250 00b6 80E0 ldi r24,lo8(pm(uart_putchar)) |
| 251 00b8 90E0 ldi r25,hi8(pm(uart_putchar)) |
| 252 00ba 9F93 push r25 |
| 253 00bc 8F93 push r24 |
| 254 00be E091 0000 lds r30,_printf_P |
| 255 00c2 F091 0000 lds r31,(_printf_P)+1 |
| 256 00c6 0995 icall |
| 257 00c8 8091 0000 lds r24,MessLuftdruck |
| 258 00cc 9091 0000 lds r25,(MessLuftdruck)+1 |
| 259 00d0 0F90 pop __tmp_reg__ |
| 260 00d2 0F90 pop __tmp_reg__ |
| 261 00d4 0F90 pop __tmp_reg__ |
| 262 00d6 0F90 pop __tmp_reg__ |
| 263 00d8 8052 subi r24,lo8(800) |
| 264 00da 9340 sbci r25,hi8(800) |
| 265 00dc 00F0 brlo .L13 |
| 266 00de 2196 adiw r28,1 |
| 267 00e0 00C0 rjmp .L11 |
| 268 .L13: |
| 269 00e2 C093 0000 sts DruckOffsetSetting,r28 |
| 270 00e6 8091 0000 lds r24,EE_Parameter+13 |
| 271 00ea 80FF sbrs r24,0 |
| 272 00ec 00C0 rjmp .L17 |
| 273 00ee 8C2F mov r24,r28 |
| 274 00f0 8A50 subi r24,lo8(-(-10)) |
| 275 00f2 8B3E cpi r24,lo8(-21) |
| 276 00f4 00F0 brlo .L17 |
| 277 00f6 8091 0000 lds r24,VersionInfo+5 |
| 278 00fa 8064 ori r24,lo8(64) |
| 279 00fc 8093 0000 sts VersionInfo+5,r24 |
| 280 .L17: |
| 281 0100 C7BD out 71-0x20,r28 |
| 282 0102 8CE2 ldi r24,lo8(300) |
| 283 0104 91E0 ldi r25,hi8(300) |
| 284 0106 0E94 0000 call Delay_ms_Mess |
| 285 /* epilogue: frame size=0 */ |
| 286 010a DF91 pop r29 |
| 287 010c CF91 pop r28 |
| 288 010e 0895 ret |
| 289 /* epilogue end (size=3) */ |
| 290 /* function SucheLuftruckOffset size 133 (128) */ |
| 292 .section .progmem.data |
| 295 __c.12: |
| 296 0004 0A0D 2044 .string "\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl" |
| 296 4143 206F |
| 296 7220 4932 |
| 296 4320 4552 |
| 296 524F 5221 |
| 297 .text |
| 298 .global SucheGyroOffset |
| 300 SucheGyroOffset: |
| 301 /* prologue: frame size=0 */ |
| 302 0110 EF92 push r14 |
| 303 0112 FF92 push r15 |
| 304 0114 1F93 push r17 |
| 305 0116 CF93 push r28 |
| 306 /* prologue end (size=4) */ |
| 307 0118 10E0 ldi r17,lo8(0) |
| 308 011a 80ED ldi r24,lo8(2000) |
| 309 011c 97E0 ldi r25,hi8(2000) |
| 310 011e 0E94 0000 call SetDelay |
| 311 0122 7C01 movw r14,r24 |
| 312 0124 CCE8 ldi r28,lo8(-116) |
| 313 .L51: |
| 314 0126 1330 cpi r17,lo8(3) |
| 315 0128 01F4 brne .L24 |
| 316 012a CB30 cpi r28,lo8(11) |
| 317 012c 00F0 brlo .L24 |
| 318 012e C9E0 ldi r28,lo8(9) |
| 319 .L24: |
| 320 0130 10E0 ldi r17,lo8(0) |
| 321 0132 8091 0000 lds r24,AdWertNick |
| 322 0136 9091 0000 lds r25,(AdWertNick)+1 |
| 323 013a 8C5F subi r24,lo8(1020) |
| 324 013c 9340 sbci r25,hi8(1020) |
| 325 013e 04F4 brge .L25 |
| 326 0140 8091 0000 lds r24,AnalogOffsetNick |
| 327 0144 8150 subi r24,lo8(-(-1)) |
| 328 0146 00C0 rjmp .L56 |
| 329 .L25: |
| 330 0148 8091 0000 lds r24,AdWertNick |
| 331 014c 9091 0000 lds r25,(AdWertNick)+1 |
| 332 0150 8750 subi r24,lo8(1031) |
| 333 0152 9440 sbci r25,hi8(1031) |
| 334 0154 04F0 brlt .L27 |
| 335 0156 8091 0000 lds r24,AnalogOffsetNick |
| 336 015a 8F5F subi r24,lo8(-(1)) |
| 337 .L56: |
| 338 015c 8093 0000 sts AnalogOffsetNick,r24 |
| 339 0160 00C0 rjmp .L26 |
| 340 .L27: |
| 341 0162 11E0 ldi r17,lo8(1) |
| 342 .L26: |
| 343 0164 8091 0000 lds r24,AdWertRoll |
| 344 0168 9091 0000 lds r25,(AdWertRoll)+1 |
| 345 016c 8C5F subi r24,lo8(1020) |
| 346 016e 9340 sbci r25,hi8(1020) |
| 347 0170 04F4 brge .L29 |
| 348 0172 8091 0000 lds r24,AnalogOffsetRoll |
| 349 0176 8150 subi r24,lo8(-(-1)) |
| 350 0178 00C0 rjmp .L57 |
| 351 .L29: |
| 352 017a 8091 0000 lds r24,AdWertRoll |
| 353 017e 9091 0000 lds r25,(AdWertRoll)+1 |
| 354 0182 8750 subi r24,lo8(1031) |
| 355 0184 9440 sbci r25,hi8(1031) |
| 356 0186 04F0 brlt .L31 |
| 357 0188 8091 0000 lds r24,AnalogOffsetRoll |
| 358 018c 8F5F subi r24,lo8(-(1)) |
| 359 .L57: |
| 360 018e 8093 0000 sts AnalogOffsetRoll,r24 |
| 361 0192 00C0 rjmp .L30 |
| 362 .L31: |
| 363 0194 1F5F subi r17,lo8(-(1)) |
| 364 .L30: |
| 365 0196 8091 0000 lds r24,AdWertGier |
| 366 019a 9091 0000 lds r25,(AdWertGier)+1 |
| 367 019e 8C5F subi r24,lo8(1020) |
| 368 01a0 9340 sbci r25,hi8(1020) |
| 369 01a2 04F4 brge .L33 |
| 370 01a4 8091 0000 lds r24,AnalogOffsetGier |
| 371 01a8 8150 subi r24,lo8(-(-1)) |
| 372 01aa 00C0 rjmp .L58 |
| 373 .L33: |
| 374 01ac 8091 0000 lds r24,AdWertGier |
| 375 01b0 9091 0000 lds r25,(AdWertGier)+1 |
| 376 01b4 8750 subi r24,lo8(1031) |
| 377 01b6 9440 sbci r25,hi8(1031) |
| 378 01b8 04F0 brlt .L35 |
| 379 01ba 8091 0000 lds r24,AnalogOffsetGier |
| 380 01be 8F5F subi r24,lo8(-(1)) |
| 381 .L58: |
| 382 01c0 8093 0000 sts AnalogOffsetGier,r24 |
| 383 01c4 00C0 rjmp .L34 |
| 384 .L55: |
| 385 01c6 80E0 ldi r24,lo8(__c.12) |
| 386 01c8 90E0 ldi r25,hi8(__c.12) |
| 387 01ca 9F93 push r25 |
| 388 01cc 8F93 push r24 |
| 389 01ce 80E0 ldi r24,lo8(pm(uart_putchar)) |
| 390 01d0 90E0 ldi r25,hi8(pm(uart_putchar)) |
| 391 01d2 9F93 push r25 |
| 392 01d4 8F93 push r24 |
| 393 01d6 E091 0000 lds r30,_printf_P |
| 394 01da F091 0000 lds r31,(_printf_P)+1 |
| 395 01de 0995 icall |
| 396 01e0 0F90 pop __tmp_reg__ |
| 397 01e2 0F90 pop __tmp_reg__ |
| 398 01e4 0F90 pop __tmp_reg__ |
| 399 01e6 0F90 pop __tmp_reg__ |
| 400 01e8 00C0 rjmp .L44 |
| 401 .L35: |
| 402 01ea 1F5F subi r17,lo8(-(1)) |
| 403 .L34: |
| 404 01ec 82E1 ldi r24,lo8(18) |
| 405 01ee 8093 0000 sts twi_state,r24 |
| 406 01f2 8091 0000 lds r24,BLFlags |
| 407 01f6 8E7F andi r24,lo8(-2) |
| 408 01f8 8093 0000 sts BLFlags,r24 |
| 409 01fc 85EA ldi r24,lo8(-91) |
| 410 01fe 8093 BC00 sts 188,r24 |
| 411 0202 8091 0000 lds r24,AnalogOffsetNick |
| 412 0206 8A30 cpi r24,lo8(10) |
| 413 0208 00F4 brsh .L37 |
| 414 020a 8091 0000 lds r24,VersionInfo+5 |
| 415 020e 8160 ori r24,lo8(1) |
| 416 0210 8093 0000 sts VersionInfo+5,r24 |
| 417 0214 8AE0 ldi r24,lo8(10) |
| 418 0216 8093 0000 sts AnalogOffsetNick,r24 |
| 419 .L37: |
| 420 021a 8091 0000 lds r24,AnalogOffsetNick |
| 421 021e 863F cpi r24,lo8(-10) |
| 422 0220 00F0 brlo .L38 |
| 423 0222 8091 0000 lds r24,VersionInfo+5 |
| 424 0226 8160 ori r24,lo8(1) |
| 425 0228 8093 0000 sts VersionInfo+5,r24 |
| 426 022c 85EF ldi r24,lo8(-11) |
| 427 022e 8093 0000 sts AnalogOffsetNick,r24 |
| 428 .L38: |
| 429 0232 8091 0000 lds r24,AnalogOffsetRoll |
| 430 0236 8A30 cpi r24,lo8(10) |
| 431 0238 00F4 brsh .L39 |
| 432 023a 8091 0000 lds r24,VersionInfo+5 |
| 433 023e 8260 ori r24,lo8(2) |
| 434 0240 8093 0000 sts VersionInfo+5,r24 |
| 435 0244 8AE0 ldi r24,lo8(10) |
| 436 0246 8093 0000 sts AnalogOffsetRoll,r24 |
| 437 .L39: |
| 438 024a 8091 0000 lds r24,AnalogOffsetRoll |
| 439 024e 863F cpi r24,lo8(-10) |
| 440 0250 00F0 brlo .L40 |
| 441 0252 8091 0000 lds r24,VersionInfo+5 |
| 442 0256 8260 ori r24,lo8(2) |
| 443 0258 8093 0000 sts VersionInfo+5,r24 |
| 444 025c 85EF ldi r24,lo8(-11) |
| 445 025e 8093 0000 sts AnalogOffsetRoll,r24 |
| 446 .L40: |
| 447 0262 8091 0000 lds r24,AnalogOffsetGier |
| 448 0266 8A30 cpi r24,lo8(10) |
| 449 0268 00F4 brsh .L41 |
| 450 026a 8091 0000 lds r24,VersionInfo+5 |
| 451 026e 8460 ori r24,lo8(4) |
| 452 0270 8093 0000 sts VersionInfo+5,r24 |
| 453 0274 8AE0 ldi r24,lo8(10) |
| 454 0276 8093 0000 sts AnalogOffsetGier,r24 |
| 455 .L41: |
| 456 027a 8091 0000 lds r24,AnalogOffsetGier |
| 457 027e 863F cpi r24,lo8(-10) |
| 458 0280 00F0 brlo .L42 |
| 459 0282 8091 0000 lds r24,VersionInfo+5 |
| 460 0286 8460 ori r24,lo8(4) |
| 461 0288 8093 0000 sts VersionInfo+5,r24 |
| 462 028c 85EF ldi r24,lo8(-11) |
| 463 028e 8093 0000 sts AnalogOffsetGier,r24 |
| 464 .L42: |
| 465 0292 8091 0000 lds r24,twi_state |
| 466 0296 8823 tst r24 |
| 467 0298 01F0 breq .L44 |
| 468 029a C701 movw r24,r14 |
| 469 029c 0E94 0000 call CheckDelay |
| 470 02a0 8823 tst r24 |
| 471 02a2 01F0 breq .+2 |
| 472 02a4 00C0 rjmp .L55 |
| 473 02a6 00C0 rjmp .L42 |
| 474 .L44: |
| 475 02a8 1092 0000 sts AdReady,__zero_reg__ |
| 476 02ac 8FEC ldi r24,lo8(-49) |
| 477 02ae 8093 7A00 sts 122,r24 |
| 478 .L47: |
| 479 02b2 8091 0000 lds r24,AdReady |
| 480 02b6 8823 tst r24 |
| 481 02b8 01F0 breq .L47 |
| 482 02ba CA30 cpi r28,lo8(10) |
| 483 02bc 00F4 brsh .L23 |
| 484 02be 8AE0 ldi r24,lo8(10) |
| 485 02c0 90E0 ldi r25,hi8(10) |
| 486 02c2 0E94 0000 call Delay_ms_Mess |
| 487 .L23: |
| 488 02c6 C150 subi r28,lo8(-(-1)) |
| 489 02c8 01F0 breq .+2 |
| 490 02ca 00C0 rjmp .L51 |
| 491 02cc 86E4 ldi r24,lo8(70) |
| 492 02ce 90E0 ldi r25,hi8(70) |
| 493 02d0 0E94 0000 call Delay_ms_Mess |
| 494 /* epilogue: frame size=0 */ |
| 495 02d4 CF91 pop r28 |
| 496 02d6 1F91 pop r17 |
| 497 02d8 FF90 pop r15 |
| 498 02da EF90 pop r14 |
| 499 02dc 0895 ret |
| 500 /* epilogue end (size=5) */ |
| 501 /* function SucheGyroOffset size 238 (229) */ |
| 503 .lcomm kanal.0,1 |
| 504 .lcomm state.1,1 |
| 505 .lcomm subcount.2,1 |
| 506 .lcomm gier1.3,2 |
| 507 .lcomm roll1.4,2 |
| 508 .lcomm nick1.5,2 |
| 509 .lcomm nick_filter.6,2 |
| 510 .lcomm roll_filter.7,2 |
| 511 .lcomm accy.8,2 |
| 512 .lcomm accx.9,2 |
| 513 .lcomm tmpLuftdruck.10,4 |
| 514 .lcomm messanzahl_Druck.11,1 |
| 515 .global __vector_24 |
| 517 __vector_24: |
| 518 /* prologue: frame size=0 */ |
| 519 02de 1F92 push __zero_reg__ |
| 520 02e0 0F92 push __tmp_reg__ |
| 521 02e2 0FB6 in __tmp_reg__,__SREG__ |
| 522 02e4 0F92 push __tmp_reg__ |
| 523 02e6 1124 clr __zero_reg__ |
| 524 02e8 EF92 push r14 |
| 525 02ea FF92 push r15 |
| 526 02ec 0F93 push r16 |
| 527 02ee 1F93 push r17 |
| 528 02f0 2F93 push r18 |
| 529 02f2 3F93 push r19 |
| 530 02f4 4F93 push r20 |
| 531 02f6 5F93 push r21 |
| 532 02f8 6F93 push r22 |
| 533 02fa 7F93 push r23 |
| 534 02fc 8F93 push r24 |
| 535 02fe 9F93 push r25 |
| 536 0300 AF93 push r26 |
| 537 0302 BF93 push r27 |
| 538 0304 EF93 push r30 |
| 539 0306 FF93 push r31 |
| 540 /* prologue end (size=21) */ |
| 541 0308 8091 0000 lds r24,state.1 |
| 542 030c 282F mov r18,r24 |
| 543 030e 3327 clr r19 |
| 544 0310 4427 clr r20 |
| 545 0312 5527 clr r21 |
| 546 0314 8F5F subi r24,lo8(-(1)) |
| 547 0316 8093 0000 sts state.1,r24 |
| 548 031a F901 movw r30,r18 |
| 549 031c 2231 cpi r18,18 |
| 550 031e 3105 cpc r19,__zero_reg__ |
| 551 0320 00F0 brlo .+2 |
| 552 0322 00C0 rjmp .L118 |
| 553 0324 E050 subi r30,lo8(-(pm(.L119))) |
| 554 0326 F040 sbci r31,hi8(-(pm(.L119))) |
| 555 0328 0C94 0000 jmp __tablejump2__ |
| 556 .data |
| 557 .section .progmem.gcc_sw_table, "a", @progbits |
| 558 .p2align 1 |
| 559 .L119: |
| 560 0000 0000 .word pm(.L61) |
| 561 0002 0000 .word pm(.L62) |
| 562 0004 0000 .word pm(.L63) |
| 563 0006 0000 .word pm(.L64) |
| 564 0008 0000 .word pm(.L65) |
| 565 000a 0000 .word pm(.L66) |
| 566 000c 0000 .word pm(.L67) |
| 567 000e 0000 .word pm(.L68) |
| 568 0010 0000 .word pm(.L71) |
| 569 0012 0000 .word pm(.L104) |
| 570 0014 0000 .word pm(.L66) |
| 571 0016 0000 .word pm(.L83) |
| 572 0018 0000 .word pm(.L84) |
| 573 001a 0000 .word pm(.L89) |
| 574 001c 0000 .word pm(.L90) |
| 575 001e 0000 .word pm(.L91) |
| 576 0020 0000 .word pm(.L97) |
| 577 0022 0000 .word pm(.L103) |
| 578 .text |
| 579 .L61: |
| 580 032c 8091 7800 lds r24,120 |
| 581 0330 9091 7900 lds r25,(120)+1 |
| 582 0334 00C0 rjmp .L130 |
| 583 .L62: |
| 584 0336 8091 7800 lds r24,120 |
| 585 033a 9091 7900 lds r25,(120)+1 |
| 586 033e 00C0 rjmp .L129 |
| 587 .L63: |
| 588 0340 8091 7800 lds r24,120 |
| 589 0344 9091 7900 lds r25,(120)+1 |
| 590 0348 9093 0000 sts (gier1.3)+1,r25 |
| 591 034c 8093 0000 sts gier1.3,r24 |
| 592 0350 00C0 rjmp .L131 |
| 593 .L64: |
| 594 0352 8091 0000 lds r24,NeutralAccY |
| 595 0356 9091 0000 lds r25,(NeutralAccY)+1 |
| 596 035a 2091 7800 lds r18,120 |
| 597 035e 3091 7900 lds r19,(120)+1 |
| 598 0362 821B sub r24,r18 |
| 599 0364 930B sbc r25,r19 |
| 600 0366 9093 0000 sts (Aktuell_ay)+1,r25 |
| 601 036a 8093 0000 sts Aktuell_ay,r24 |
| 602 036e 8091 0000 lds r24,Aktuell_ay |
| 603 0372 9091 0000 lds r25,(Aktuell_ay)+1 |
| 604 0376 9093 0000 sts (accy.8)+1,r25 |
| 605 037a 8093 0000 sts accy.8,r24 |
| 606 037e 00C0 rjmp .L132 |
| 607 .L65: |
| 608 0380 8091 7800 lds r24,120 |
| 609 0384 9091 7900 lds r25,(120)+1 |
| 610 0388 2091 0000 lds r18,NeutralAccX |
| 611 038c 3091 0000 lds r19,(NeutralAccX)+1 |
| 612 0390 821B sub r24,r18 |
| 613 0392 930B sbc r25,r19 |
| 614 0394 9093 0000 sts (Aktuell_ax)+1,r25 |
| 615 0398 8093 0000 sts Aktuell_ax,r24 |
| 616 039c 8091 0000 lds r24,Aktuell_ax |
| 617 03a0 9091 0000 lds r25,(Aktuell_ax)+1 |
| 618 03a4 9093 0000 sts (accx.9)+1,r25 |
| 619 03a8 8093 0000 sts accx.9,r24 |
| 620 03ac 00C0 rjmp .L127 |
| 621 .L66: |
| 622 03ae 8091 0000 lds r24,nick1.5 |
| 623 03b2 9091 0000 lds r25,(nick1.5)+1 |
| 624 03b6 2091 7800 lds r18,120 |
| 625 03ba 3091 7900 lds r19,(120)+1 |
| 626 03be 820F add r24,r18 |
| 627 03c0 931F adc r25,r19 |
| 628 .L130: |
| 629 03c2 9093 0000 sts (nick1.5)+1,r25 |
| 630 03c6 8093 0000 sts nick1.5,r24 |
| 631 .L134: |
| 632 03ca 81E0 ldi r24,lo8(1) |
| 633 03cc 00C0 rjmp .L128 |
| 634 .L67: |
| 635 03ce 8091 0000 lds r24,roll1.4 |
| 636 03d2 9091 0000 lds r25,(roll1.4)+1 |
| 637 03d6 2091 7800 lds r18,120 |
| 638 03da 3091 7900 lds r19,(120)+1 |
| 639 03de 820F add r24,r18 |
| 640 03e0 931F adc r25,r19 |
| 641 03e2 9093 0000 sts (roll1.4)+1,r25 |
| 642 03e6 8093 0000 sts roll1.4,r24 |
| 643 03ea 84E0 ldi r24,lo8(4) |
| 644 03ec 00C0 rjmp .L128 |
| 645 .L68: |
| 646 03ee 8091 0000 lds r24,EE_Parameter+110 |
| 647 03f2 83FF sbrs r24,3 |
| 648 03f4 00C0 rjmp .L69 |
| 649 03f6 8091 0000 lds r24,UBat |
| 650 03fa 9091 0000 lds r25,(UBat)+1 |
| 651 03fe 9C01 movw r18,r24 |
| 652 0400 220F lsl r18 |
| 653 0402 331F rol r19 |
| 654 0404 280F add r18,r24 |
| 655 0406 391F adc r19,r25 |
| 656 0408 4091 7800 lds r20,120 |
| 657 040c 5091 7900 lds r21,(120)+1 |
| 658 0410 8BE0 ldi r24,lo8(11) |
| 659 0412 90E0 ldi r25,hi8(11) |
| 660 0414 489F mul r20,r24 |
| 661 0416 B001 movw r22,r0 |
| 662 0418 499F mul r20,r25 |
| 663 041a 700D add r23,r0 |
| 664 041c 589F mul r21,r24 |
| 665 041e 700D add r23,r0 |
| 666 0420 1124 clr r1 |
| 667 0422 CB01 movw r24,r22 |
| 668 0424 6EE1 ldi r22,lo8(30) |
| 669 0426 70E0 ldi r23,hi8(30) |
| 670 0428 00C0 rjmp .L121 |
| 671 .L69: |
| 672 042a 8091 0000 lds r24,UBat |
| 673 042e 9091 0000 lds r25,(UBat)+1 |
| 674 0432 9C01 movw r18,r24 |
| 675 0434 220F lsl r18 |
| 676 0436 331F rol r19 |
| 677 0438 280F add r18,r24 |
| 678 043a 391F adc r19,r25 |
| 679 043c 8091 7800 lds r24,120 |
| 680 0440 9091 7900 lds r25,(120)+1 |
| 681 0444 63E0 ldi r22,lo8(3) |
| 682 0446 70E0 ldi r23,hi8(3) |
| 683 .L121: |
| 684 0448 0E94 0000 call __udivmodhi4 |
| 685 044c 260F add r18,r22 |
| 686 044e 371F adc r19,r23 |
| 687 0450 3695 lsr r19 |
| 688 0452 2795 ror r18 |
| 689 0454 3695 lsr r19 |
| 690 0456 2795 ror r18 |
| 691 0458 3093 0000 sts (UBat)+1,r19 |
| 692 045c 2093 0000 sts UBat,r18 |
| 693 0460 85E0 ldi r24,lo8(5) |
| 694 0462 00C0 rjmp .L128 |
| 695 .L71: |
| 696 0464 8091 7800 lds r24,120 |
| 697 0468 9091 7900 lds r25,(120)+1 |
| 698 046c 4091 0000 lds r20,NeutralAccZ |
| 699 0470 5091 0000 lds r21,(NeutralAccZ)+1 |
| 700 0474 841B sub r24,r20 |
| 701 0476 950B sbc r25,r21 |
| 702 0478 9093 0000 sts (AdWertAccHoch)+1,r25 |
| 703 047c 8093 0000 sts AdWertAccHoch,r24 |
| 704 0480 8091 0000 lds r24,AdWertAccHoch |
| 705 0484 9091 0000 lds r25,(AdWertAccHoch)+1 |
| 706 0488 0297 sbiw r24,2 |
| 707 048a 04F0 brlt .L72 |
| 708 048c 72E0 ldi r23,hi8(750) |
| 709 048e 4E3E cpi r20,lo8(750) |
| 710 0490 5707 cpc r21,r23 |
| 711 0492 04F4 brge .L73 |
| 712 0494 2091 0000 lds r18,subcount.2 |
| 713 0498 2B5F subi r18,lo8(-(5)) |
| 714 049a 2093 0000 sts subcount.2,r18 |
| 715 049e 2550 subi r18,lo8(-(-5)) |
| 716 04a0 8091 0000 lds r24,modell_fliegt |
| 717 04a4 9091 0000 lds r25,(modell_fliegt)+1 |
| 718 04a8 845F subi r24,lo8(500) |
| 719 04aa 9140 sbci r25,hi8(500) |
| 720 04ac 00F4 brsh .L73 |
| 721 04ae 215F subi r18,lo8(-(15)) |
| 722 04b0 2093 0000 sts subcount.2,r18 |
| 723 .L73: |
| 724 04b4 8091 0000 lds r24,subcount.2 |
| 725 04b8 8536 cpi r24,lo8(101) |
| 726 04ba 04F0 brlt .L76 |
| 727 04bc 4F5F subi r20,lo8(-(1)) |
| 728 04be 5F4F sbci r21,hi8(-(1)) |
| 729 04c0 5093 0000 sts (NeutralAccZ)+1,r21 |
| 730 04c4 4093 0000 sts NeutralAccZ,r20 |
| 731 04c8 8456 subi r24,lo8(-(-100)) |
| 732 04ca 00C0 rjmp .L122 |
| 733 .L72: |
| 734 04cc 8091 0000 lds r24,AdWertAccHoch |
| 735 04d0 9091 0000 lds r25,(AdWertAccHoch)+1 |
| 736 04d4 8F5F subi r24,lo8(-1) |
| 737 04d6 9F4F sbci r25,hi8(-1) |
| 738 04d8 04F4 brge .L76 |
| 739 04da 72E0 ldi r23,hi8(551) |
| 740 04dc 4732 cpi r20,lo8(551) |
| 741 04de 5707 cpc r21,r23 |
| 742 04e0 04F0 brlt .L76 |
| 743 04e2 2091 0000 lds r18,subcount.2 |
| 744 04e6 2550 subi r18,lo8(-(-5)) |
| 745 04e8 2093 0000 sts subcount.2,r18 |
| 746 04ec 2B5F subi r18,lo8(-(5)) |
| 747 04ee 8091 0000 lds r24,modell_fliegt |
| 748 04f2 9091 0000 lds r25,(modell_fliegt)+1 |
| 749 04f6 845F subi r24,lo8(500) |
| 750 04f8 9140 sbci r25,hi8(500) |
| 751 04fa 00F4 brsh .L79 |
| 752 04fc 2F50 subi r18,lo8(-(-15)) |
| 753 04fe 2093 0000 sts subcount.2,r18 |
| 754 .L79: |
| 755 0502 8091 0000 lds r24,subcount.2 |
| 756 0506 8C39 cpi r24,lo8(-100) |
| 757 0508 04F4 brge .L76 |
| 758 050a 4150 subi r20,lo8(-(-1)) |
| 759 050c 5040 sbci r21,hi8(-(-1)) |
| 760 050e 5093 0000 sts (NeutralAccZ)+1,r21 |
| 761 0512 4093 0000 sts NeutralAccZ,r20 |
| 762 0516 8C59 subi r24,lo8(-(100)) |
| 763 .L122: |
| 764 0518 8093 0000 sts subcount.2,r24 |
| 765 .L76: |
| 766 051c 8091 7800 lds r24,120 |
| 767 0520 9091 7900 lds r25,(120)+1 |
| 768 0524 9093 0000 sts (Aktuell_az)+1,r25 |
| 769 0528 8093 0000 sts Aktuell_az,r24 |
| 770 052c 8091 0000 lds r24,AdWertAccHoch |
| 771 0530 9091 0000 lds r25,(AdWertAccHoch)+1 |
| 772 0534 9C01 movw r18,r24 |
| 773 0536 4427 clr r20 |
| 774 0538 37FD sbrc r19,7 |
| 775 053a 4095 com r20 |
| 776 053c 542F mov r21,r20 |
| 777 053e 8091 0000 lds r24,Mess_Integral_Hoch |
| 778 0542 9091 0000 lds r25,(Mess_Integral_Hoch)+1 |
| 779 0546 A091 0000 lds r26,(Mess_Integral_Hoch)+2 |
| 780 054a B091 0000 lds r27,(Mess_Integral_Hoch)+3 |
| 781 054e 820F add r24,r18 |
| 782 0550 931F adc r25,r19 |
| 783 0552 A41F adc r26,r20 |
| 784 0554 B51F adc r27,r21 |
| 785 0556 8093 0000 sts Mess_Integral_Hoch,r24 |
| 786 055a 9093 0000 sts (Mess_Integral_Hoch)+1,r25 |
| 787 055e A093 0000 sts (Mess_Integral_Hoch)+2,r26 |
| 788 0562 B093 0000 sts (Mess_Integral_Hoch)+3,r27 |
| 789 0566 2091 0000 lds r18,Mess_Integral_Hoch |
| 790 056a 3091 0000 lds r19,(Mess_Integral_Hoch)+1 |
| 791 056e 4091 0000 lds r20,(Mess_Integral_Hoch)+2 |
| 792 0572 5091 0000 lds r21,(Mess_Integral_Hoch)+3 |
| 793 0576 57FF sbrs r21,7 |
| 794 0578 00C0 rjmp .L81 |
| 795 057a 2150 subi r18,lo8(-(1023)) |
| 796 057c 3C4F sbci r19,hi8(-(1023)) |
| 797 057e 4F4F sbci r20,hlo8(-(1023)) |
| 798 0580 5F4F sbci r21,hhi8(-(1023)) |
| 799 .L81: |
| 800 0582 6AE0 ldi r22,10 |
| 801 0584 5595 1: asr r21 |
| 802 0586 4795 ror r20 |
| 803 0588 3795 ror r19 |
| 804 058a 2795 ror r18 |
| 805 058c 6A95 dec r22 |
| 806 058e 01F4 brne 1b |
| 807 0590 8091 0000 lds r24,Mess_Integral_Hoch |
| 808 0594 9091 0000 lds r25,(Mess_Integral_Hoch)+1 |
| 809 0598 A091 0000 lds r26,(Mess_Integral_Hoch)+2 |
| 810 059c B091 0000 lds r27,(Mess_Integral_Hoch)+3 |
| 811 05a0 821B sub r24,r18 |
| 812 05a2 930B sbc r25,r19 |
| 813 05a4 A40B sbc r26,r20 |
| 814 05a6 B50B sbc r27,r21 |
| 815 05a8 8093 0000 sts Mess_Integral_Hoch,r24 |
| 816 05ac 9093 0000 sts (Mess_Integral_Hoch)+1,r25 |
| 817 05b0 A093 0000 sts (Mess_Integral_Hoch)+2,r26 |
| 818 05b4 B093 0000 sts (Mess_Integral_Hoch)+3,r27 |
| 819 05b8 00C0 rjmp .L133 |
| 820 .L83: |
| 821 05ba 8091 0000 lds r24,roll1.4 |
| 822 05be 9091 0000 lds r25,(roll1.4)+1 |
| 823 05c2 2091 7800 lds r18,120 |
| 824 05c6 3091 7900 lds r19,(120)+1 |
| 825 05ca 820F add r24,r18 |
| 826 05cc 931F adc r25,r19 |
| 827 .L129: |
| 828 05ce 9093 0000 sts (roll1.4)+1,r25 |
| 829 05d2 8093 0000 sts roll1.4,r24 |
| 830 05d6 1092 0000 sts kanal.0,__zero_reg__ |
| 831 05da 00C0 rjmp .L60 |
| 832 .L84: |
| 833 05dc 8091 0000 lds r24,PlatinenVersion |
| 834 05e0 8A30 cpi r24,lo8(10) |
| 835 05e2 01F4 brne .L85 |
| 836 05e4 8091 7800 lds r24,120 |
| 837 05e8 9091 7900 lds r25,(120)+1 |
| 838 05ec 2091 0000 lds r18,gier1.3 |
| 839 05f0 3091 0000 lds r19,(gier1.3)+1 |
| 840 05f4 820F add r24,r18 |
| 841 05f6 931F adc r25,r19 |
| 842 05f8 0196 adiw r24,1 |
| 843 05fa 9695 lsr r25 |
| 844 05fc 8795 ror r24 |
| 845 05fe 00C0 rjmp .L123 |
| 846 .L85: |
| 847 0600 4091 0000 lds r20,gier1.3 |
| 848 0604 5091 0000 lds r21,(gier1.3)+1 |
| 849 0608 8431 cpi r24,lo8(20) |
| 850 060a 00F0 brlo .L87 |
| 851 060c 2091 7800 lds r18,120 |
| 852 0610 3091 7900 lds r19,(120)+1 |
| 853 0614 240F add r18,r20 |
| 854 0616 351F adc r19,r21 |
| 855 0618 8FEF ldi r24,lo8(2047) |
| 856 061a 97E0 ldi r25,hi8(2047) |
| 857 061c 821B sub r24,r18 |
| 858 061e 930B sbc r25,r19 |
| 859 0620 00C0 rjmp .L123 |
| 860 .L87: |
| 861 0622 8091 7800 lds r24,120 |
| 862 0626 9091 7900 lds r25,(120)+1 |
| 863 062a 840F add r24,r20 |
| 864 062c 951F adc r25,r21 |
| 865 .L123: |
| 866 062e 9093 0000 sts (AdWertGier)+1,r25 |
| 867 0632 8093 0000 sts AdWertGier,r24 |
| 868 .L131: |
| 869 0636 86E0 ldi r24,lo8(6) |
| 870 0638 00C0 rjmp .L128 |
| 871 .L89: |
| 872 063a 8091 0000 lds r24,NeutralAccY |
| 873 063e 9091 0000 lds r25,(NeutralAccY)+1 |
| 874 0642 2091 7800 lds r18,120 |
| 875 0646 3091 7900 lds r19,(120)+1 |
| 876 064a 821B sub r24,r18 |
| 877 064c 930B sbc r25,r19 |
| 878 064e 9093 0000 sts (Aktuell_ay)+1,r25 |
| 879 0652 8093 0000 sts Aktuell_ay,r24 |
| 880 0656 8091 0000 lds r24,Aktuell_ay |
| 881 065a 9091 0000 lds r25,(Aktuell_ay)+1 |
| 882 065e 2091 0000 lds r18,accy.8 |
| 883 0662 3091 0000 lds r19,(accy.8)+1 |
| 884 0666 820F add r24,r18 |
| 885 0668 931F adc r25,r19 |
| 886 066a 9093 0000 sts (AdWertAccRoll)+1,r25 |
| 887 066e 8093 0000 sts AdWertAccRoll,r24 |
| 888 .L132: |
| 889 0672 87E0 ldi r24,lo8(7) |
| 890 0674 00C0 rjmp .L128 |
| 891 .L90: |
| 892 0676 8091 7800 lds r24,120 |
| 893 067a 9091 7900 lds r25,(120)+1 |
| 894 067e 2091 0000 lds r18,NeutralAccX |
| 895 0682 3091 0000 lds r19,(NeutralAccX)+1 |
| 896 0686 821B sub r24,r18 |
| 897 0688 930B sbc r25,r19 |
| 898 068a 9093 0000 sts (Aktuell_ax)+1,r25 |
| 899 068e 8093 0000 sts Aktuell_ax,r24 |
| 900 0692 8091 0000 lds r24,Aktuell_ax |
| 901 0696 9091 0000 lds r25,(Aktuell_ax)+1 |
| 902 069a 2091 0000 lds r18,accx.9 |
| 903 069e 3091 0000 lds r19,(accx.9)+1 |
| 904 06a2 820F add r24,r18 |
| 905 06a4 931F adc r25,r19 |
| 906 06a6 9093 0000 sts (AdWertAccNick)+1,r25 |
| 907 06aa 8093 0000 sts AdWertAccNick,r24 |
| 908 06ae 00C0 rjmp .L127 |
| 909 .L91: |
| 910 06b0 2091 0000 lds r18,nick1.5 |
| 911 06b4 3091 0000 lds r19,(nick1.5)+1 |
| 912 06b8 8091 7800 lds r24,120 |
| 913 06bc 9091 7900 lds r25,(120)+1 |
| 914 06c0 280F add r18,r24 |
| 915 06c2 391F adc r19,r25 |
| 916 06c4 3093 0000 sts (nick1.5)+1,r19 |
| 917 06c8 2093 0000 sts nick1.5,r18 |
| 918 06cc 8091 0000 lds r24,PlatinenVersion |
| 919 06d0 8A30 cpi r24,lo8(10) |
| 920 06d2 01F4 brne .L92 |
| 921 06d4 220F add r18,r18 |
| 922 06d6 331F adc r19,r19 |
| 923 06d8 00C0 rjmp .L124 |
| 924 .L92: |
| 925 06da 220F lsl r18 |
| 926 06dc 331F rol r19 |
| 927 06de 220F lsl r18 |
| 928 06e0 331F rol r19 |
| 929 .L124: |
| 930 06e2 3093 0000 sts (nick1.5)+1,r19 |
| 931 06e6 2093 0000 sts nick1.5,r18 |
| 932 06ea 2091 0000 lds r18,nick1.5 |
| 933 06ee 3091 0000 lds r19,(nick1.5)+1 |
| 934 06f2 C901 movw r24,r18 |
| 935 06f4 37FD sbrc r19,7 |
| 936 06f6 0796 adiw r24,7 |
| 937 .L94: |
| 938 06f8 03E0 ldi r16,3 |
| 939 06fa 9595 1: asr r25 |
| 940 06fc 8795 ror r24 |
| 941 06fe 0A95 dec r16 |
| 942 0700 01F4 brne 1b |
| 943 0702 9093 0000 sts (AdWertNick)+1,r25 |
| 944 0706 8093 0000 sts AdWertNick,r24 |
| 945 070a 8091 0000 lds r24,nick_filter.6 |
| 946 070e 9091 0000 lds r25,(nick_filter.6)+1 |
| 947 0712 820F add r24,r18 |
| 948 0714 931F adc r25,r19 |
| 949 0716 97FD sbrc r25,7 |
| 950 0718 0196 adiw r24,1 |
| 951 .L95: |
| 952 071a 9595 asr r25 |
| 953 071c 8795 ror r24 |
| 954 071e 9093 0000 sts (nick_filter.6)+1,r25 |
| 955 0722 8093 0000 sts nick_filter.6,r24 |
| 956 0726 2091 0000 lds r18,AdNeutralNick |
| 957 072a 3091 0000 lds r19,(AdNeutralNick)+1 |
| 958 072e 821B sub r24,r18 |
| 959 0730 930B sbc r25,r19 |
| 960 0732 9093 0000 sts (HiResNick)+1,r25 |
| 961 0736 8093 0000 sts HiResNick,r24 |
| 962 073a 2091 0000 lds r18,AdWertNickFilter |
| 963 073e 3091 0000 lds r19,(AdWertNickFilter)+1 |
| 964 0742 8091 0000 lds r24,HiResNick |
| 965 0746 9091 0000 lds r25,(HiResNick)+1 |
| 966 074a 280F add r18,r24 |
| 967 074c 391F adc r19,r25 |
| 968 074e 37FF sbrs r19,7 |
| 969 0750 00C0 rjmp .L96 |
| 970 0752 2F5F subi r18,lo8(-(1)) |
| 971 0754 3F4F sbci r19,hi8(-(1)) |
| 972 .L96: |
| 973 0756 3595 asr r19 |
| 974 0758 2795 ror r18 |
| 975 075a 3093 0000 sts (AdWertNickFilter)+1,r19 |
| 976 075e 2093 0000 sts AdWertNickFilter,r18 |
| 977 0762 00C0 rjmp .L134 |
| 978 .L97: |
| 979 0764 2091 0000 lds r18,roll1.4 |
| 980 0768 3091 0000 lds r19,(roll1.4)+1 |
| 981 076c 8091 7800 lds r24,120 |
| 982 0770 9091 7900 lds r25,(120)+1 |
| 983 0774 280F add r18,r24 |
| 984 0776 391F adc r19,r25 |
| 985 0778 3093 0000 sts (roll1.4)+1,r19 |
| 986 077c 2093 0000 sts roll1.4,r18 |
| 987 0780 8091 0000 lds r24,PlatinenVersion |
| 988 0784 8A30 cpi r24,lo8(10) |
| 989 0786 01F4 brne .L98 |
| 990 0788 220F add r18,r18 |
| 991 078a 331F adc r19,r19 |
| 992 078c 00C0 rjmp .L125 |
| 993 .L98: |
| 994 078e 220F lsl r18 |
| 995 0790 331F rol r19 |
| 996 0792 220F lsl r18 |
| 997 0794 331F rol r19 |
| 998 .L125: |
| 999 0796 3093 0000 sts (roll1.4)+1,r19 |
| 1000 079a 2093 0000 sts roll1.4,r18 |
| 1001 079e 2091 0000 lds r18,roll1.4 |
| 1002 07a2 3091 0000 lds r19,(roll1.4)+1 |
| 1003 07a6 C901 movw r24,r18 |
| 1004 07a8 37FD sbrc r19,7 |
| 1005 07aa 0796 adiw r24,7 |
| 1006 .L100: |
| 1007 07ac F3E0 ldi r31,3 |
| 1008 07ae 9595 1: asr r25 |
| 1009 07b0 8795 ror r24 |
| 1010 07b2 FA95 dec r31 |
| 1011 07b4 01F4 brne 1b |
| 1012 07b6 9093 0000 sts (AdWertRoll)+1,r25 |
| 1013 07ba 8093 0000 sts AdWertRoll,r24 |
| 1014 07be 8091 0000 lds r24,roll_filter.7 |
| 1015 07c2 9091 0000 lds r25,(roll_filter.7)+1 |
| 1016 07c6 820F add r24,r18 |
| 1017 07c8 931F adc r25,r19 |
| 1018 07ca 97FD sbrc r25,7 |
| 1019 07cc 0196 adiw r24,1 |
| 1020 .L101: |
| 1021 07ce 9595 asr r25 |
| 1022 07d0 8795 ror r24 |
| 1023 07d2 9093 0000 sts (roll_filter.7)+1,r25 |
| 1024 07d6 8093 0000 sts roll_filter.7,r24 |
| 1025 07da 2091 0000 lds r18,AdNeutralRoll |
| 1026 07de 3091 0000 lds r19,(AdNeutralRoll)+1 |
| 1027 07e2 821B sub r24,r18 |
| 1028 07e4 930B sbc r25,r19 |
| 1029 07e6 9093 0000 sts (HiResRoll)+1,r25 |
| 1030 07ea 8093 0000 sts HiResRoll,r24 |
| 1031 07ee 2091 0000 lds r18,AdWertRollFilter |
| 1032 07f2 3091 0000 lds r19,(AdWertRollFilter)+1 |
| 1033 07f6 8091 0000 lds r24,HiResRoll |
| 1034 07fa 9091 0000 lds r25,(HiResRoll)+1 |
| 1035 07fe 280F add r18,r24 |
| 1036 0800 391F adc r19,r25 |
| 1037 0802 37FF sbrs r19,7 |
| 1038 0804 00C0 rjmp .L102 |
| 1039 0806 2F5F subi r18,lo8(-(1)) |
| 1040 0808 3F4F sbci r19,hi8(-(1)) |
| 1041 .L102: |
| 1042 080a 3595 asr r19 |
| 1043 080c 2795 ror r18 |
| 1044 080e 3093 0000 sts (AdWertRollFilter)+1,r19 |
| 1045 0812 2093 0000 sts AdWertRollFilter,r18 |
| 1046 .L133: |
| 1047 0816 83E0 ldi r24,lo8(3) |
| 1048 0818 00C0 rjmp .L128 |
| 1049 .L103: |
| 1050 081a 1092 0000 sts state.1,__zero_reg__ |
| 1051 081e 81E0 ldi r24,lo8(1) |
| 1052 0820 8093 0000 sts AdReady,r24 |
| 1053 0824 8091 0000 lds r24,ZaehlMessungen |
| 1054 0828 9091 0000 lds r25,(ZaehlMessungen)+1 |
| 1055 082c 0196 adiw r24,1 |
| 1056 082e 9093 0000 sts (ZaehlMessungen)+1,r25 |
| 1057 0832 8093 0000 sts ZaehlMessungen,r24 |
| 1058 .L104: |
| 1059 0836 8091 7800 lds r24,120 |
| 1060 083a 9091 7900 lds r25,(120)+1 |
| 1061 083e 9093 0000 sts (MessLuftdruck)+1,r25 |
| 1062 0842 8093 0000 sts MessLuftdruck,r24 |
| 1063 0846 8091 0000 lds r24,MessLuftdruck |
| 1064 084a 9091 0000 lds r25,(MessLuftdruck)+1 |
| 1065 084e AA27 clr r26 |
| 1066 0850 BB27 clr r27 |
| 1067 0852 2091 0000 lds r18,tmpLuftdruck.10 |
| 1068 0856 3091 0000 lds r19,(tmpLuftdruck.10)+1 |
| 1069 085a 4091 0000 lds r20,(tmpLuftdruck.10)+2 |
| 1070 085e 5091 0000 lds r21,(tmpLuftdruck.10)+3 |
| 1071 0862 280F add r18,r24 |
| 1072 0864 391F adc r19,r25 |
| 1073 0866 4A1F adc r20,r26 |
| 1074 0868 5B1F adc r21,r27 |
| 1075 086a 2093 0000 sts tmpLuftdruck.10,r18 |
| 1076 086e 3093 0000 sts (tmpLuftdruck.10)+1,r19 |
| 1077 0872 4093 0000 sts (tmpLuftdruck.10)+2,r20 |
| 1078 0876 5093 0000 sts (tmpLuftdruck.10)+3,r21 |
| 1079 087a 8091 0000 lds r24,messanzahl_Druck.11 |
| 1080 087e 8F5F subi r24,lo8(-(1)) |
| 1081 0880 8093 0000 sts messanzahl_Druck.11,r24 |
| 1082 0884 8031 cpi r24,lo8(16) |
| 1083 0886 00F4 brsh .+2 |
| 1084 0888 00C0 rjmp .L127 |
| 1085 088a 8091 0000 lds r24,Luftdruck |
| 1086 088e 9091 0000 lds r25,(Luftdruck)+1 |
| 1087 0892 A091 0000 lds r26,(Luftdruck)+2 |
| 1088 0896 B091 0000 lds r27,(Luftdruck)+3 |
| 1089 089a 7C01 movw r14,r24 |
| 1090 089c 8D01 movw r16,r26 |
| 1091 089e 63E0 ldi r22,3 |
| 1092 08a0 EE0C 1: lsl r14 |
| 1093 08a2 FF1C rol r15 |
| 1094 08a4 001F rol r16 |
| 1095 08a6 111F rol r17 |
| 1096 08a8 6A95 dec r22 |
| 1097 08aa 01F4 brne 1b |
| 1098 08ac E81A sub r14,r24 |
| 1099 08ae F90A sbc r15,r25 |
| 1100 08b0 0A0B sbc r16,r26 |
| 1101 08b2 1B0B sbc r17,r27 |
| 1102 08b4 E20E add r14,r18 |
| 1103 08b6 F31E adc r15,r19 |
| 1104 08b8 041F adc r16,r20 |
| 1105 08ba 151F adc r17,r21 |
| 1106 08bc 8091 0000 lds r24,ExpandBaro |
| 1107 08c0 9927 clr r25 |
| 1108 08c2 87FD sbrc r24,7 |
| 1109 08c4 9095 com r25 |
| 1110 08c6 A92F mov r26,r25 |
| 1111 08c8 B92F mov r27,r25 |
| 1112 08ca BC01 movw r22,r24 |
| 1113 08cc CD01 movw r24,r26 |
| 1114 08ce 20EB ldi r18,lo8(8368) |
| 1115 08d0 30E2 ldi r19,hi8(8368) |
| 1116 08d2 40E0 ldi r20,hlo8(8368) |
| 1117 08d4 50E0 ldi r21,hhi8(8368) |
| 1118 08d6 0E94 0000 call __mulsi3 |
| 1119 08da DC01 movw r26,r24 |
| 1120 08dc CB01 movw r24,r22 |
| 1121 08de E81A sub r14,r24 |
| 1122 08e0 F90A sbc r15,r25 |
| 1123 08e2 0A0B sbc r16,r26 |
| 1124 08e4 1B0B sbc r17,r27 |
| 1125 08e6 D801 movw r26,r16 |
| 1126 08e8 C701 movw r24,r14 |
| 1127 08ea 0496 adiw r24,4 |
| 1128 08ec A11D adc r26,__zero_reg__ |
| 1129 08ee B11D adc r27,__zero_reg__ |
| 1130 08f0 B7FF sbrs r27,7 |
| 1131 08f2 00C0 rjmp .L106 |
| 1132 08f4 D801 movw r26,r16 |
| 1133 08f6 C701 movw r24,r14 |
| 1134 08f8 0B96 adiw r24,11 |
| 1135 08fa A11D adc r26,__zero_reg__ |
| 1136 08fc B11D adc r27,__zero_reg__ |
| 1137 .L106: |
| 1138 08fe 23E0 ldi r18,3 |
| 1139 0900 B595 1: asr r27 |
| 1140 0902 A795 ror r26 |
| 1141 0904 9795 ror r25 |
| 1142 0906 8795 ror r24 |
| 1143 0908 2A95 dec r18 |
| 1144 090a 01F4 brne 1b |
| 1145 090c 8093 0000 sts Luftdruck,r24 |
| 1146 0910 9093 0000 sts (Luftdruck)+1,r25 |
| 1147 0914 A093 0000 sts (Luftdruck)+2,r26 |
| 1148 0918 B093 0000 sts (Luftdruck)+3,r27 |
| 1149 091c 8091 0000 lds r24,StartLuftdruck |
| 1150 0920 9091 0000 lds r25,(StartLuftdruck)+1 |
| 1151 0924 7C01 movw r14,r24 |
| 1152 0926 0027 clr r16 |
| 1153 0928 F7FC sbrc r15,7 |
| 1154 092a 0095 com r16 |
| 1155 092c 102F mov r17,r16 |
| 1156 092e 8091 0000 lds r24,Luftdruck |
| 1157 0932 9091 0000 lds r25,(Luftdruck)+1 |
| 1158 0936 A091 0000 lds r26,(Luftdruck)+2 |
| 1159 093a B091 0000 lds r27,(Luftdruck)+3 |
| 1160 093e E81A sub r14,r24 |
| 1161 0940 F90A sbc r15,r25 |
| 1162 0942 0A0B sbc r16,r26 |
| 1163 0944 1B0B sbc r17,r27 |
| 1164 0946 E092 0000 sts HoehenWert,r14 |
| 1165 094a F092 0000 sts (HoehenWert)+1,r15 |
| 1166 094e 0093 0000 sts (HoehenWert)+2,r16 |
| 1167 0952 1093 0000 sts (HoehenWert)+3,r17 |
| 1168 0956 2091 0000 lds r18,SummenHoehe |
| 1169 095a 3091 0000 lds r19,(SummenHoehe)+1 |
| 1170 095e 4091 0000 lds r20,(SummenHoehe)+2 |
| 1171 0962 5091 0000 lds r21,(SummenHoehe)+3 |
| 1172 0966 57FF sbrs r21,7 |
| 1173 0968 00C0 rjmp .L107 |
| 1174 096a 215F subi r18,lo8(-(15)) |
| 1175 096c 3F4F sbci r19,hi8(-(15)) |
| 1176 096e 4F4F sbci r20,hlo8(-(15)) |
| 1177 0970 5F4F sbci r21,hhi8(-(15)) |
| 1178 .L107: |
| 1179 0972 84E0 ldi r24,4 |
| 1180 0974 5595 1: asr r21 |
| 1181 0976 4795 ror r20 |
| 1182 0978 3795 ror r19 |
| 1183 097a 2795 ror r18 |
| 1184 097c 8A95 dec r24 |
| 1185 097e 01F4 brne 1b |
| 1186 0980 8091 0000 lds r24,SummenHoehe |
| 1187 0984 9091 0000 lds r25,(SummenHoehe)+1 |
| 1188 0988 A091 0000 lds r26,(SummenHoehe)+2 |
| 1189 098c B091 0000 lds r27,(SummenHoehe)+3 |
| 1190 0990 821B sub r24,r18 |
| 1191 0992 930B sbc r25,r19 |
| 1192 0994 A40B sbc r26,r20 |
| 1193 0996 B50B sbc r27,r21 |
| 1194 0998 8093 0000 sts SummenHoehe,r24 |
| 1195 099c 9093 0000 sts (SummenHoehe)+1,r25 |
| 1196 09a0 A093 0000 sts (SummenHoehe)+2,r26 |
| 1197 09a4 B093 0000 sts (SummenHoehe)+3,r27 |
| 1198 09a8 8091 0000 lds r24,SummenHoehe |
| 1199 09ac 9091 0000 lds r25,(SummenHoehe)+1 |
| 1200 09b0 A091 0000 lds r26,(SummenHoehe)+2 |
| 1201 09b4 B091 0000 lds r27,(SummenHoehe)+3 |
| 1202 09b8 8E0D add r24,r14 |
| 1203 09ba 9F1D adc r25,r15 |
| 1204 09bc A01F adc r26,r16 |
| 1205 09be B11F adc r27,r17 |
| 1206 09c0 8093 0000 sts SummenHoehe,r24 |
| 1207 09c4 9093 0000 sts (SummenHoehe)+1,r25 |
| 1208 09c8 A093 0000 sts (SummenHoehe)+2,r26 |
| 1209 09cc B093 0000 sts (SummenHoehe)+3,r27 |
| 1210 09d0 8091 0000 lds r24,SummenHoehe |
| 1211 09d4 9091 0000 lds r25,(SummenHoehe)+1 |
| 1212 09d8 A091 0000 lds r26,(SummenHoehe)+2 |
| 1213 09dc B091 0000 lds r27,(SummenHoehe)+3 |
| 1214 09e0 B7FF sbrs r27,7 |
| 1215 09e2 00C0 rjmp .L108 |
| 1216 09e4 0F96 adiw r24,15 |
| 1217 09e6 A11D adc r26,__zero_reg__ |
| 1218 09e8 B11D adc r27,__zero_reg__ |
| 1219 .L108: |
| 1220 09ea 14E0 ldi r17,4 |
| 1221 09ec B595 1: asr r27 |
| 1222 09ee A795 ror r26 |
| 1223 09f0 9795 ror r25 |
| 1224 09f2 8795 ror r24 |
| 1225 09f4 1A95 dec r17 |
| 1226 09f6 01F4 brne 1b |
| 1227 09f8 2091 0000 lds r18,HoehenWert |
| 1228 09fc 3091 0000 lds r19,(HoehenWert)+1 |
| 1229 0a00 281B sub r18,r24 |
| 1230 0a02 390B sbc r19,r25 |
| 1231 0a04 64E0 ldi r22,hi8(1025) |
| 1232 0a06 2130 cpi r18,lo8(1025) |
| 1233 0a08 3607 cpc r19,r22 |
| 1234 0a0a 04F0 brlt .L109 |
| 1235 0a0c 20E0 ldi r18,lo8(1024) |
| 1236 0a0e 34E0 ldi r19,hi8(1024) |
| 1237 0a10 00C0 rjmp .L110 |
| 1238 .L109: |
| 1239 0a12 7CEF ldi r23,hi8(-1024) |
| 1240 0a14 2030 cpi r18,lo8(-1024) |
| 1241 0a16 3707 cpc r19,r23 |
| 1242 0a18 04F4 brge .L110 |
| 1243 0a1a 20E0 ldi r18,lo8(-1024) |
| 1244 0a1c 3CEF ldi r19,hi8(-1024) |
| 1245 .L110: |
| 1246 0a1e 8091 0000 lds r24,VarioMeter |
| 1247 0a22 9091 0000 lds r25,(VarioMeter)+1 |
| 1248 0a26 8091 0000 lds r24,VarioMeter |
| 1249 0a2a 9091 0000 lds r25,(VarioMeter)+1 |
| 1250 0a2e 97FF sbrs r25,7 |
| 1251 0a30 00C0 rjmp .L113 |
| 1252 0a32 9095 com r25 |
| 1253 0a34 8195 neg r24 |
| 1254 0a36 9F4F sbci r25,lo8(-1) |
| 1255 .L113: |
| 1256 0a38 A901 movw r20,r18 |
| 1257 0a3a F3E0 ldi r31,3 |
| 1258 0a3c 440F 1: lsl r20 |
| 1259 0a3e 551F rol r21 |
| 1260 0a40 FA95 dec r31 |
| 1261 0a42 01F4 brne 1b |
| 1262 0a44 8D5B subi r24,lo8(701) |
| 1263 0a46 9240 sbci r25,hi8(701) |
| 1264 0a48 04F0 brlt .L112 |
| 1265 0a4a 8091 0000 lds r24,VarioMeter |
| 1266 0a4e 9091 0000 lds r25,(VarioMeter)+1 |
| 1267 0a52 9C01 movw r18,r24 |
| 1268 0a54 E4E0 ldi r30,4 |
| 1269 0a56 220F 1: lsl r18 |
| 1270 0a58 331F rol r19 |
| 1271 0a5a EA95 dec r30 |
| 1272 0a5c 01F4 brne 1b |
| 1273 0a5e 281B sub r18,r24 |
| 1274 0a60 390B sbc r19,r25 |
| 1275 0a62 240F add r18,r20 |
| 1276 0a64 351F adc r19,r21 |
| 1277 0a66 37FF sbrs r19,7 |
| 1278 0a68 00C0 rjmp .L114 |
| 1279 0a6a 215F subi r18,lo8(-(15)) |
| 1280 0a6c 3F4F sbci r19,hi8(-(15)) |
| 1281 .L114: |
| 1282 0a6e 74E0 ldi r23,4 |
| 1283 0a70 3595 1: asr r19 |
| 1284 0a72 2795 ror r18 |
| 1285 0a74 7A95 dec r23 |
| 1286 0a76 01F4 brne 1b |
| 1287 0a78 00C0 rjmp .L126 |
| 1288 .L112: |
| 1289 0a7a 8091 0000 lds r24,VarioMeter |
| 1290 0a7e 9091 0000 lds r25,(VarioMeter)+1 |
| 1291 0a82 9C01 movw r18,r24 |
| 1292 0a84 65E0 ldi r22,5 |
| 1293 0a86 220F 1: lsl r18 |
| 1294 0a88 331F rol r19 |
| 1295 0a8a 6A95 dec r22 |
| 1296 0a8c 01F4 brne 1b |
| 1297 0a8e 281B sub r18,r24 |
| 1298 0a90 390B sbc r19,r25 |
| 1299 0a92 240F add r18,r20 |
| 1300 0a94 351F adc r19,r21 |
| 1301 0a96 37FF sbrs r19,7 |
| 1302 0a98 00C0 rjmp .L116 |
| 1303 0a9a 215E subi r18,lo8(-(31)) |
| 1304 0a9c 3F4F sbci r19,hi8(-(31)) |
| 1305 .L116: |
| 1306 0a9e 45E0 ldi r20,5 |
| 1307 0aa0 3595 1: asr r19 |
| 1308 0aa2 2795 ror r18 |
| 1309 0aa4 4A95 dec r20 |
| 1310 0aa6 01F4 brne 1b |
| 1311 .L126: |
| 1312 0aa8 3093 0000 sts (VarioMeter)+1,r19 |
| 1313 0aac 2093 0000 sts VarioMeter,r18 |
| 1314 0ab0 8091 0000 lds r24,tmpLuftdruck.10 |
| 1315 0ab4 9091 0000 lds r25,(tmpLuftdruck.10)+1 |
| 1316 0ab8 A091 0000 lds r26,(tmpLuftdruck.10)+2 |
| 1317 0abc B091 0000 lds r27,(tmpLuftdruck.10)+3 |
| 1318 0ac0 B7FF sbrs r27,7 |
| 1319 0ac2 00C0 rjmp .L117 |
| 1320 0ac4 0196 adiw r24,1 |
| 1321 0ac6 A11D adc r26,__zero_reg__ |
| 1322 0ac8 B11D adc r27,__zero_reg__ |
| 1323 .L117: |
| 1324 0aca B595 asr r27 |
| 1325 0acc A795 ror r26 |
| 1326 0ace 9795 ror r25 |
| 1327 0ad0 8795 ror r24 |
| 1328 0ad2 8093 0000 sts tmpLuftdruck.10,r24 |
| 1329 0ad6 9093 0000 sts (tmpLuftdruck.10)+1,r25 |
| 1330 0ada A093 0000 sts (tmpLuftdruck.10)+2,r26 |
| 1331 0ade B093 0000 sts (tmpLuftdruck.10)+3,r27 |
| 1332 0ae2 88E0 ldi r24,lo8(8) |
| 1333 0ae4 8093 0000 sts messanzahl_Druck.11,r24 |
| 1334 0ae8 00C0 rjmp .L127 |
| 1335 .L118: |
| 1336 0aea 1092 0000 sts state.1,__zero_reg__ |
| 1337 .L127: |
| 1338 0aee 82E0 ldi r24,lo8(2) |
| 1339 .L128: |
| 1340 0af0 8093 0000 sts kanal.0,r24 |
| 1341 .L60: |
| 1342 0af4 8091 0000 lds r24,kanal.0 |
| 1343 0af8 8093 7C00 sts 124,r24 |
| 1344 0afc 8091 0000 lds r24,state.1 |
| 1345 0b00 8823 tst r24 |
| 1346 0b02 01F0 breq .L59 |
| 1347 0b04 8FEC ldi r24,lo8(-49) |
| 1348 0b06 8093 7A00 sts 122,r24 |
| 1349 .L59: |
| 1350 /* epilogue: frame size=0 */ |
| 1351 0b0a FF91 pop r31 |
| 1352 0b0c EF91 pop r30 |
| 1353 0b0e BF91 pop r27 |
| 1354 0b10 AF91 pop r26 |
| 1355 0b12 9F91 pop r25 |
| 1356 0b14 8F91 pop r24 |
| 1357 0b16 7F91 pop r23 |
| 1358 0b18 6F91 pop r22 |
| 1359 0b1a 5F91 pop r21 |
| 1360 0b1c 4F91 pop r20 |
| 1361 0b1e 3F91 pop r19 |
| 1362 0b20 2F91 pop r18 |
| 1363 0b22 1F91 pop r17 |
| 1364 0b24 0F91 pop r16 |
| 1365 0b26 FF90 pop r15 |
| 1366 0b28 EF90 pop r14 |
| 1367 0b2a 0F90 pop __tmp_reg__ |
| 1368 0b2c 0FBE out __SREG__,__tmp_reg__ |
| 1369 0b2e 0F90 pop __tmp_reg__ |
| 1370 0b30 1F90 pop __zero_reg__ |
| 1371 0b32 1895 reti |
| 1372 /* epilogue end (size=21) */ |
| 1373 /* function __vector_24 size 1094 (1052) */ |
| 1375 .comm Aktuell_Nick,2,1 |
| 1376 .comm Aktuell_Roll,2,1 |
| 1377 .comm Aktuell_Gier,2,1 |
| 1378 .comm Aktuell_ax,2,1 |
| 1379 .comm Aktuell_ay,2,1 |
| 1380 .comm Aktuell_az,2,1 |
| 1381 .comm DruckOffsetSetting,1,1 |
| 1382 .comm StartLuftdruck,2,1 |
| 1383 /* File "analog.c": code 1471 = 0x05bf (1414), prologues 27, epilogues 30 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 analog.c |
| C:\Temp/cc9gIpIn.s:3 *ABS*:0000003f __SREG__ |
| C:\Temp/cc9gIpIn.s:4 *ABS*:0000003e __SP_H__ |
| C:\Temp/cc9gIpIn.s:5 *ABS*:0000003d __SP_L__ |
| C:\Temp/cc9gIpIn.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\Temp/cc9gIpIn.s:7 *ABS*:00000001 __zero_reg__ |
| C:\Temp/cc9gIpIn.s:14 .data:00000000 AdReady |
| C:\Temp/cc9gIpIn.s:19 .data:00000001 AnalogOffsetGier |
| C:\Temp/cc9gIpIn.s:24 .data:00000002 AnalogOffsetRoll |
| C:\Temp/cc9gIpIn.s:29 .data:00000003 AnalogOffsetNick |
| C:\Temp/cc9gIpIn.s:36 .bss:00000000 ZaehlMessungen |
| C:\Temp/cc9gIpIn.s:42 .bss:00000002 VarioMeter |
| C:\Temp/cc9gIpIn.s:48 .bss:00000004 ExpandBaro |
| C:\Temp/cc9gIpIn.s:54 .data:00000004 MessLuftdruck |
| C:\Temp/cc9gIpIn.s:61 .bss:00000005 SummenHoehe |
| C:\Temp/cc9gIpIn.s:67 .data:00000006 Luftdruck |
| C:\Temp/cc9gIpIn.s:74 .bss:00000009 AdWertAccHoch |
| C:\Temp/cc9gIpIn.s:80 .bss:0000000b AdWertAccNick |
| C:\Temp/cc9gIpIn.s:86 .bss:0000000d AdWertAccRoll |
| C:\Temp/cc9gIpIn.s:92 .bss:0000000f AdWertGier |
| C:\Temp/cc9gIpIn.s:98 .bss:00000011 AdWertRoll |
| C:\Temp/cc9gIpIn.s:104 .bss:00000013 AdWertNick |
| C:\Temp/cc9gIpIn.s:110 .data:0000000a HiResRoll |
| C:\Temp/cc9gIpIn.s:115 .data:0000000c HiResNick |
| C:\Temp/cc9gIpIn.s:122 .bss:00000015 AdWertGierFilter |
| C:\Temp/cc9gIpIn.s:128 .bss:00000017 AdWertRollFilter |
| C:\Temp/cc9gIpIn.s:134 .bss:00000019 AdWertNickFilter |
| C:\Temp/cc9gIpIn.s:140 .data:0000000e UBat |
| C:\Temp/cc9gIpIn.s:145 .text:00000000 ADC_Init |
| C:\Temp/cc9gIpIn.s:159 .progmem.data:00000000 __c.13 |
| C:\Temp/cc9gIpIn.s:163 .progmem.data:00000002 __c.14 |
| C:\Temp/cc9gIpIn.s:168 .text:0000000c SucheLuftruckOffset |
| *COM*:00000001 DruckOffsetSetting |
| C:\Temp/cc9gIpIn.s:295 .progmem.data:00000004 __c.12 |
| C:\Temp/cc9gIpIn.s:300 .text:00000110 SucheGyroOffset |
| .bss:0000001b kanal.0 |
| C:\Temp/cc9gIpIn.s:503 .bss:0000001c state.1 |
| C:\Temp/cc9gIpIn.s:504 .bss:0000001d subcount.2 |
| C:\Temp/cc9gIpIn.s:505 .bss:0000001e gier1.3 |
| C:\Temp/cc9gIpIn.s:506 .bss:00000020 roll1.4 |
| C:\Temp/cc9gIpIn.s:507 .bss:00000022 nick1.5 |
| C:\Temp/cc9gIpIn.s:508 .bss:00000024 nick_filter.6 |
| C:\Temp/cc9gIpIn.s:509 .bss:00000026 roll_filter.7 |
| C:\Temp/cc9gIpIn.s:510 .bss:00000028 accy.8 |
| C:\Temp/cc9gIpIn.s:511 .bss:0000002a accx.9 |
| C:\Temp/cc9gIpIn.s:512 .bss:0000002c tmpLuftdruck.10 |
| C:\Temp/cc9gIpIn.s:513 .bss:00000030 messanzahl_Druck.11 |
| C:\Temp/cc9gIpIn.s:517 .text:000002de __vector_24 |
| *COM*:00000002 Aktuell_ay |
| *COM*:00000002 Aktuell_ax |
| *COM*:00000002 Aktuell_az |
| *COM*:00000002 StartLuftdruck |
| *COM*:00000002 Aktuell_Nick |
| *COM*:00000002 Aktuell_Roll |
| *COM*:00000002 Aktuell_Gier |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| GetParamByte |
| Delay_ms_Mess |
| uart_putchar |
| _printf_P |
| SetParamByte |
| EE_Parameter |
| VersionInfo |
| SetDelay |
| twi_state |
| BLFlags |
| CheckDelay |
| __tablejump2__ |
| NeutralAccY |
| NeutralAccX |
| __udivmodhi4 |
| NeutralAccZ |
| modell_fliegt |
| Mess_Integral_Hoch |
| PlatinenVersion |
| AdNeutralNick |
| AdNeutralRoll |
| __mulsi3 |
| HoehenWert |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/capacity.c |
|---|
| 0,0 → 1,144 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software Nutzungsbedingungen (english version: see below) |
| // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
| // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
| // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
| // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
| // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
| // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
| // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
| // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
| // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
| // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
| // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
| // + des Mitverschuldens offen. |
| // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
| // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
| // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
| // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
| // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
| // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
| // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software LICENSING TERMS |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
| // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
| // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
| // + The Software may only be used with the Licensor's products. |
| // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
| // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
| // + agreement shall be the property of the Licensor. |
| // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
| // + features that can be used to identify the program may not be altered or defaced by the customer. |
| // + The customer shall be responsible for taking reasonable precautions |
| // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
| // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
| // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
| // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
| // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
| // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
| // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
| // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
| // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
| // + #### END OF LICENSING TERMS #### |
| // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "capacity.h" |
| #include "twimaster.h" |
| #include "main.h" |
| #include "timer0.h" |
| #include "analog.h" |
| #define CAPACITY_UPDATE_INTERVAL 10 // 10 ms |
| #define FC_OFFSET_CURRENT 5 // calculate with a current of 0.5A |
| #define BL_OFFSET_CURRENT 2 // calculate with a current of 0.2A |
| // global varialbles |
| unsigned short update_timer = 0; |
| Capacity_t Capacity; |
| // initialize capacity calculation |
| void Capacity_Init(void) |
| { |
| Capacity.ActualCurrent = 0; |
| Capacity.UsedCapacity = 0; |
| Capacity.ActualPower = 0; |
| Capacity.MinOfMaxPWM = 0; |
| update_timer = SetDelay(CAPACITY_UPDATE_INTERVAL); |
| } |
| // called in main loop at a regular interval |
| void Capacity_Update(void) |
| { |
| unsigned short Current, SetSum; // max value will be 255 * 12 = 3060 |
| static unsigned short SubCounter = 0; |
| static unsigned short CurrentOffset = 0; |
| static unsigned long SumCurrentOffset = 0; |
| unsigned char i, NumOfMotors, MinOfMaxPWM; |
| if(CheckDelay(update_timer)) |
| { |
| update_timer += CAPACITY_UPDATE_INTERVAL; // do not use SetDelay to avoid timing leaks |
| // determine sum of all present BL currents and setpoints |
| Current = 0; |
| SetSum = 0; |
| NumOfMotors = 0; |
| MinOfMaxPWM = 255; |
| for(i = 0; i < MAX_MOTORS; i++) |
| { |
| if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) |
| { |
| NumOfMotors++; |
| Current += (unsigned int)(Motor[i].Current); |
| SetSum += (unsigned int)(Motor[i].SetPoint); |
| if(Motor[i].MaxPWM < MinOfMaxPWM) MinOfMaxPWM = Motor[i].MaxPWM; |
| } |
| } |
| Capacity.MinOfMaxPWM = MinOfMaxPWM; |
| if(SetSum == 0) // if all setpoints are 0 |
| { // determine offsets of motor currents |
| #define CURRENT_AVERAGE 8 // 8bit = 256 * 10 ms = 2.56s average time |
| CurrentOffset = (unsigned int)(SumCurrentOffset>>CURRENT_AVERAGE); |
| SumCurrentOffset -= CurrentOffset; |
| SumCurrentOffset += Current; |
| // after averaging set current to static offset |
| Current = FC_OFFSET_CURRENT; |
| } |
| else // some motors are running, includes also motor test condition, where "MotorRunning" is false |
| { // subtract offset |
| if(Current > CurrentOffset) Current -= CurrentOffset; |
| else Current = 0; |
| // add the FC and BL Offsets |
| Current += FC_OFFSET_CURRENT + NumOfMotors * BL_OFFSET_CURRENT; |
| } |
| // update actual Current |
| Capacity.ActualCurrent = Current; |
| // update actual Power |
| if(Current < 255) Capacity.ActualPower = (UBat * Current) / 100; // in W higher resolution |
| else Capacity.ActualPower = (UBat * (Current/4)) / 25; // in W |
| // update used capacity |
| SubCounter += Current; |
| // 100mA * 1ms * CAPACITY_UPDATE_INTERVAL = 1 mA * 100 ms * CAPACITY_UPDATE_INTERVAL |
| // = 1mA * 0.1s * CAPACITY_UPDATE_INTERVAL = 1mA * 1min / (600 / CAPACITY_UPDATE_INTERVAL) |
| // = 1mAh / (36000 / CAPACITY_UPDATE_INTERVAL) |
| #define SUB_COUNTER_LIMIT (36000 / CAPACITY_UPDATE_INTERVAL) |
| if(SubCounter > SUB_COUNTER_LIMIT) |
| { |
| Capacity.UsedCapacity++; // we have one mAh more |
| SubCounter -= SUB_COUNTER_LIMIT; // keep the remaining sub part |
| } |
| } // EOF check delay update timer |
| } |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/capacity.h |
|---|
| 0,0 → 1,18 |
| #ifndef _CAPACITY_H |
| #define _CAPACITY_H |
| typedef struct |
| { |
| unsigned short ActualCurrent; // in 0.1A Steps |
| unsigned short ActualPower; // in 0.1W |
| unsigned short UsedCapacity; // in mAh |
| unsigned char MinOfMaxPWM; // BL Power Limit |
| } __attribute__((packed)) Capacity_t; |
| extern Capacity_t Capacity; |
| void Capacity_Init(void); |
| void Capacity_Update(void); |
| #endif //_CAPACITY_H |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/capacity.lst |
|---|
| 0,0 → 1,229 |
| 1 .file "capacity.c" |
| 2 .arch atmega1284p |
| 3 __SREG__ = 0x3f |
| 4 __SP_H__ = 0x3e |
| 5 __SP_L__ = 0x3d |
| 6 __tmp_reg__ = 0 |
| 7 __zero_reg__ = 1 |
| 8 .global __do_copy_data |
| 9 .global __do_clear_bss |
| 10 .global update_timer |
| 11 .global update_timer |
| 12 .section .bss |
| 15 update_timer: |
| 16 0000 0000 .skip 2,0 |
| 17 .text |
| 18 .global Capacity_Init |
| 20 Capacity_Init: |
| 21 /* prologue: frame size=0 */ |
| 22 /* prologue end (size=0) */ |
| 23 0000 1092 0000 sts (Capacity)+1,__zero_reg__ |
| 24 0004 1092 0000 sts Capacity,__zero_reg__ |
| 25 0008 1092 0000 sts (Capacity+4)+1,__zero_reg__ |
| 26 000c 1092 0000 sts Capacity+4,__zero_reg__ |
| 27 0010 1092 0000 sts (Capacity+2)+1,__zero_reg__ |
| 28 0014 1092 0000 sts Capacity+2,__zero_reg__ |
| 29 0018 1092 0000 sts Capacity+6,__zero_reg__ |
| 30 001c 8AE0 ldi r24,lo8(10) |
| 31 001e 90E0 ldi r25,hi8(10) |
| 32 0020 0E94 0000 call SetDelay |
| 33 0024 9093 0000 sts (update_timer)+1,r25 |
| 34 0028 8093 0000 sts update_timer,r24 |
| 35 /* epilogue: frame size=0 */ |
| 36 002c 0895 ret |
| 37 /* epilogue end (size=1) */ |
| 38 /* function Capacity_Init size 23 (22) */ |
| 40 .lcomm SubCounter.0,2 |
| 41 .lcomm CurrentOffset.1,2 |
| 42 .lcomm SumCurrentOffset.2,4 |
| 43 .global Capacity_Update |
| 45 Capacity_Update: |
| 46 /* prologue: frame size=0 */ |
| 47 002e CF93 push r28 |
| 48 0030 DF93 push r29 |
| 49 /* prologue end (size=2) */ |
| 50 0032 8091 0000 lds r24,update_timer |
| 51 0036 9091 0000 lds r25,(update_timer)+1 |
| 52 003a 0E94 0000 call CheckDelay |
| 53 003e 8823 tst r24 |
| 54 0040 01F4 brne .+2 |
| 55 0042 00C0 rjmp .L2 |
| 56 0044 8091 0000 lds r24,update_timer |
| 57 0048 9091 0000 lds r25,(update_timer)+1 |
| 58 004c 0A96 adiw r24,10 |
| 59 004e 9093 0000 sts (update_timer)+1,r25 |
| 60 0052 8093 0000 sts update_timer,r24 |
| 61 0056 E0E0 ldi r30,lo8(0) |
| 62 0058 F0E0 ldi r31,hi8(0) |
| 63 005a 9F01 movw r18,r30 |
| 64 005c 90E0 ldi r25,lo8(0) |
| 65 005e 5FEF ldi r21,lo8(-1) |
| 66 0060 A0E0 ldi r26,lo8(Motor) |
| 67 0062 B0E0 ldi r27,hi8(Motor) |
| 68 0064 4BE0 ldi r20,lo8(11) |
| 69 .L9: |
| 70 0066 ED01 movw r28,r26 |
| 71 0068 8B81 ldd r24,Y+3 |
| 72 006a 87FF sbrs r24,7 |
| 73 006c 00C0 rjmp .L6 |
| 74 006e 9F5F subi r25,lo8(-(1)) |
| 75 0070 8D81 ldd r24,Y+5 |
| 76 0072 E80F add r30,r24 |
| 77 0074 F11D adc r31,__zero_reg__ |
| 78 0076 8981 ldd r24,Y+1 |
| 79 0078 280F add r18,r24 |
| 80 007a 311D adc r19,__zero_reg__ |
| 81 007c 8E81 ldd r24,Y+6 |
| 82 007e 8517 cp r24,r21 |
| 83 0080 00F4 brsh .L6 |
| 84 0082 582F mov r21,r24 |
| 85 .L6: |
| 86 0084 4150 subi r20,lo8(-(-1)) |
| 87 0086 1896 adiw r26,8 |
| 88 0088 47FF sbrs r20,7 |
| 89 008a 00C0 rjmp .L9 |
| 90 008c 5093 0000 sts Capacity+6,r21 |
| 91 0090 232B or r18,r19 |
| 92 0092 01F4 brne .L10 |
| 93 0094 2091 0000 lds r18,SumCurrentOffset.2 |
| 94 0098 3091 0000 lds r19,(SumCurrentOffset.2)+1 |
| 95 009c 4091 0000 lds r20,(SumCurrentOffset.2)+2 |
| 96 00a0 5091 0000 lds r21,(SumCurrentOffset.2)+3 |
| 97 00a4 BB27 clr r27 |
| 98 00a6 A52F mov r26,r21 |
| 99 00a8 942F mov r25,r20 |
| 100 00aa 832F mov r24,r19 |
| 101 00ac 9093 0000 sts (CurrentOffset.1)+1,r25 |
| 102 00b0 8093 0000 sts CurrentOffset.1,r24 |
| 103 00b4 AA27 clr r26 |
| 104 00b6 BB27 clr r27 |
| 105 00b8 281B sub r18,r24 |
| 106 00ba 390B sbc r19,r25 |
| 107 00bc 4A0B sbc r20,r26 |
| 108 00be 5B0B sbc r21,r27 |
| 109 00c0 CF01 movw r24,r30 |
| 110 00c2 AA27 clr r26 |
| 111 00c4 BB27 clr r27 |
| 112 00c6 280F add r18,r24 |
| 113 00c8 391F adc r19,r25 |
| 114 00ca 4A1F adc r20,r26 |
| 115 00cc 5B1F adc r21,r27 |
| 116 00ce 2093 0000 sts SumCurrentOffset.2,r18 |
| 117 00d2 3093 0000 sts (SumCurrentOffset.2)+1,r19 |
| 118 00d6 4093 0000 sts (SumCurrentOffset.2)+2,r20 |
| 119 00da 5093 0000 sts (SumCurrentOffset.2)+3,r21 |
| 120 00de E5E0 ldi r30,lo8(5) |
| 121 00e0 F0E0 ldi r31,hi8(5) |
| 122 00e2 00C0 rjmp .L11 |
| 123 .L10: |
| 124 00e4 2091 0000 lds r18,CurrentOffset.1 |
| 125 00e8 3091 0000 lds r19,(CurrentOffset.1)+1 |
| 126 00ec 2E17 cp r18,r30 |
| 127 00ee 3F07 cpc r19,r31 |
| 128 00f0 00F4 brsh .L12 |
| 129 00f2 E21B sub r30,r18 |
| 130 00f4 F30B sbc r31,r19 |
| 131 00f6 00C0 rjmp .L13 |
| 132 .L12: |
| 133 00f8 E0E0 ldi r30,lo8(0) |
| 134 00fa F0E0 ldi r31,hi8(0) |
| 135 .L13: |
| 136 00fc 892F mov r24,r25 |
| 137 00fe 9927 clr r25 |
| 138 0100 880F add r24,r24 |
| 139 0102 991F adc r25,r25 |
| 140 0104 E80F add r30,r24 |
| 141 0106 F91F adc r31,r25 |
| 142 0108 3596 adiw r30,5 |
| 143 .L11: |
| 144 010a F093 0000 sts (Capacity)+1,r31 |
| 145 010e E093 0000 sts Capacity,r30 |
| 146 0112 EF3F cpi r30,255 |
| 147 0114 F105 cpc r31,__zero_reg__ |
| 148 0116 00F4 brsh .L14 |
| 149 0118 8091 0000 lds r24,UBat |
| 150 011c 9091 0000 lds r25,(UBat)+1 |
| 151 0120 8E9F mul r24,r30 |
| 152 0122 9001 movw r18,r0 |
| 153 0124 8F9F mul r24,r31 |
| 154 0126 300D add r19,r0 |
| 155 0128 9E9F mul r25,r30 |
| 156 012a 300D add r19,r0 |
| 157 012c 1124 clr r1 |
| 158 012e C901 movw r24,r18 |
| 159 0130 64E6 ldi r22,lo8(100) |
| 160 0132 70E0 ldi r23,hi8(100) |
| 161 0134 00C0 rjmp .L19 |
| 162 .L14: |
| 163 0136 CF01 movw r24,r30 |
| 164 0138 9695 lsr r25 |
| 165 013a 8795 ror r24 |
| 166 013c 9695 lsr r25 |
| 167 013e 8795 ror r24 |
| 168 0140 2091 0000 lds r18,UBat |
| 169 0144 3091 0000 lds r19,(UBat)+1 |
| 170 0148 289F mul r18,r24 |
| 171 014a A001 movw r20,r0 |
| 172 014c 299F mul r18,r25 |
| 173 014e 500D add r21,r0 |
| 174 0150 389F mul r19,r24 |
| 175 0152 500D add r21,r0 |
| 176 0154 1124 clr r1 |
| 177 0156 CA01 movw r24,r20 |
| 178 0158 69E1 ldi r22,lo8(25) |
| 179 015a 70E0 ldi r23,hi8(25) |
| 180 .L19: |
| 181 015c 0E94 0000 call __udivmodhi4 |
| 182 0160 7093 0000 sts (Capacity+2)+1,r23 |
| 183 0164 6093 0000 sts Capacity+2,r22 |
| 184 0168 2091 0000 lds r18,SubCounter.0 |
| 185 016c 3091 0000 lds r19,(SubCounter.0)+1 |
| 186 0170 2E0F add r18,r30 |
| 187 0172 3F1F adc r19,r31 |
| 188 0174 3093 0000 sts (SubCounter.0)+1,r19 |
| 189 0178 2093 0000 sts SubCounter.0,r18 |
| 190 017c 5EE0 ldi r21,hi8(3601) |
| 191 017e 2131 cpi r18,lo8(3601) |
| 192 0180 3507 cpc r19,r21 |
| 193 0182 00F0 brlo .L2 |
| 194 0184 8091 0000 lds r24,Capacity+4 |
| 195 0188 9091 0000 lds r25,(Capacity+4)+1 |
| 196 018c 0196 adiw r24,1 |
| 197 018e 9093 0000 sts (Capacity+4)+1,r25 |
| 198 0192 8093 0000 sts Capacity+4,r24 |
| 199 0196 2051 subi r18,lo8(-(-3600)) |
| 200 0198 3E40 sbci r19,hi8(-(-3600)) |
| 201 019a 3093 0000 sts (SubCounter.0)+1,r19 |
| 202 019e 2093 0000 sts SubCounter.0,r18 |
| 203 .L2: |
| 204 /* epilogue: frame size=0 */ |
| 205 01a2 DF91 pop r29 |
| 206 01a4 CF91 pop r28 |
| 207 01a6 0895 ret |
| 208 /* epilogue end (size=3) */ |
| 209 /* function Capacity_Update size 189 (184) */ |
| 211 .comm Capacity,7,1 |
| 212 /* File "capacity.c": code 212 = 0x00d4 ( 206), prologues 2, epilogues 4 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 capacity.c |
| C:\Temp/ccTVr0ER.s:3 *ABS*:0000003f __SREG__ |
| C:\Temp/ccTVr0ER.s:4 *ABS*:0000003e __SP_H__ |
| C:\Temp/ccTVr0ER.s:5 *ABS*:0000003d __SP_L__ |
| C:\Temp/ccTVr0ER.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\Temp/ccTVr0ER.s:7 *ABS*:00000001 __zero_reg__ |
| C:\Temp/ccTVr0ER.s:15 .bss:00000000 update_timer |
| C:\Temp/ccTVr0ER.s:20 .text:00000000 Capacity_Init |
| *COM*:00000007 Capacity |
| .bss:00000002 SubCounter.0 |
| C:\Temp/ccTVr0ER.s:40 .bss:00000004 CurrentOffset.1 |
| C:\Temp/ccTVr0ER.s:41 .bss:00000006 SumCurrentOffset.2 |
| C:\Temp/ccTVr0ER.s:45 .text:0000002e Capacity_Update |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| SetDelay |
| CheckDelay |
| Motor |
| UBat |
| __udivmodhi4 |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/debug.c |
|---|
| 0,0 → 1,48 |
| #include "main.h" |
| #include "debug.h" |
| #ifdef DEBUG // only include functions if DEBUG is defined in main.h |
| #warning : "### DEBUG-Funktion aktiv ###" |
| unsigned char Debug_BufPtr = 0; |
| struct str_Debug tDebug; |
| unsigned char SendDebugOutput = 0; |
| // function called from _printf_P to output character |
| void Debug_Putchar(char c) |
| { |
| if (!SendDebugOutput) |
| { |
| tDebug.Text[Debug_BufPtr++] = c; // copy character to buffer |
| if (Debug_BufPtr > 30) Debug_BufPtr = 30; // avoid buffer overflow |
| } |
| } |
| void DebugSend(unsigned char cmd) |
| { |
| if (!SendDebugOutput) |
| { |
| tDebug.Cmd = cmd; |
| tDebug.Text[Debug_BufPtr] = '\0'; // end of text marker |
| Debug_BufPtr = 0; // set bufferindex to 0 |
| SendDebugOutput = 1; // set flag to trasmit data the next time in serial transmit function |
| } |
| } |
| #endif |
| /* |
| add the following code block to the serial transmit function |
| #ifdef DEBUG // only include functions if DEBUG is defined |
| if(SendDebugOutput && UebertragungAbgeschlossen) |
| { |
| SendOutData('0', FC_ADDRESS, 1, (unsigned char *) &tDebug, sizeof(tDebug)); |
| SendDebugOutput = 0; |
| } |
| #endif |
| */ |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/debug.h |
|---|
| 0,0 → 1,60 |
| #ifndef _DEBUG_H |
| #define _DEBUG_H |
| // ---------------------------------------------- |
| #define CMD_NONE 0x00 |
| #define CMD_RAW_OUTPUT 0x01 |
| #define CMD_ERROR_MSG 0x02 |
| #define CMD_WARNING_MSG 0x04 |
| #define CMD_GREEN_MSG 0x08 |
| // debug console in MK-Tool can also handle ANSI ESC seq. |
| #define ANSI_ATTRIBUTE_OFF "\033[0m" |
| #define ANSI_BOLD "\033[1m" |
| #define ANSI_UNDERSCORE "\033[4m" |
| #define ANSI_BLINK "\033[5m" |
| #define ANSI_INVERSE "\033[7m" |
| #define ANSI_INVISIBLE "\033[8m" |
| #define ANSI_COLOR_BLACK "\033[30m" |
| #define ANSI_COLOR_RED "\033[31m" |
| #define ANSI_COLOR_GREEN "\033[32m" |
| #define ANSI_COLOR_YELLOW "\033[33m" |
| #define ANSI_COLOR_BLUE "\033[34m" |
| #define ANSI_COLOR_VIOLETT "\033[35m" |
| #define ANSI_COLOR_KOBALTBLUE "\033[36m" |
| #define ANSI_COLOR_WHITE "\033[37m" |
| #define ANSI_CLEAR "\033[2J" |
| #define ANSI_HOME "\033[H" |
| // macros for easier use |
| #ifdef DEBUG // only include functions if DEBUG is defined in main.h |
| #define Debug(format, args...) { _printf_P(&Debug_Putchar, PSTR(format) , ## args); DebugSend(CMD_NONE); } |
| #define Debug_Raw(format, args...) { _printf_P(&Debug_Putchar, PSTR(format) , ## args); DebugSend(CMD_RAW_OUTPUT); } |
| #define Debug_Warning(format, args...) { _printf_P(&Debug_Putchar, PSTR(format) , ## args); DebugSend(CMD_WARNING_MSG); } |
| #define Debug_Error(format, args...) { _printf_P(&Debug_Putchar, PSTR(format) , ## args); DebugSend(CMD_ERROR_MSG); } |
| #define Debug_OK(format, args...) { _printf_P(&Debug_Putchar, PSTR(format) , ## args); DebugSend(CMD_GREEN_MSG); } |
| struct str_Debug |
| { |
| unsigned char Cmd; // bitcoded command |
| char Text[32]; |
| }; |
| extern struct str_Debug tDebug; |
| unsigned char SendDebugOutput; |
| void Debug_Putchar(char c); |
| void DebugSend(unsigned char cmd); |
| #else // dummy macros (won't waste flash, if #DEBUG is disabled) |
| #define Debug(format, args...) ; |
| #define Debug_Raw(format, args...) ; |
| #define Debug_Warning(format, args...) ; |
| #define Debug_Error(format, args...) ; |
| #define Debug_OK(format, args...) ; |
| #endif |
| // ---------------------------------------------- |
| #endif |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/debug.lst |
|---|
| 0,0 → 1,21 |
| 1 .file "debug.c" |
| 2 .arch atmega1284p |
| 3 __SREG__ = 0x3f |
| 4 __SP_H__ = 0x3e |
| 5 __SP_L__ = 0x3d |
| 6 __tmp_reg__ = 0 |
| 7 __zero_reg__ = 1 |
| 8 .global __do_copy_data |
| 9 .global __do_clear_bss |
| 10 /* File "debug.c": code 0 = 0x0000 ( 0), prologues 0, epilogues 0 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 debug.c |
| C:\Temp/cczt3UTY.s:3 *ABS*:0000003f __SREG__ |
| C:\Temp/cczt3UTY.s:4 *ABS*:0000003e __SP_H__ |
| C:\Temp/cczt3UTY.s:5 *ABS*:0000003d __SP_L__ |
| C:\Temp/cczt3UTY.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\Temp/cczt3UTY.s:7 *ABS*:00000001 __zero_reg__ |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/eeprom.c |
|---|
| 0,0 → 1,632 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software Nutzungsbedingungen (english version: see below) |
| // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
| // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
| // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
| // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
| // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
| // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
| // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
| // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
| // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
| // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
| // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
| // + des Mitverschuldens offen. |
| // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
| // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
| // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
| // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
| // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
| // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
| // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software LICENSING TERMS |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
| // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
| // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
| // + The Software may only be used with the Licensor's products. |
| // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
| // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
| // + agreement shall be the property of the Licensor. |
| // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
| // + features that can be used to identify the program may not be altered or defaced by the customer. |
| // + The customer shall be responsible for taking reasonable precautions |
| // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
| // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
| // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
| // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
| // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
| // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
| // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
| // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
| // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
| // + #### END OF LICENSING TERMS #### |
| // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #ifndef EEMEM |
| #define EEMEM __attribute__ ((section (".eeprom"))) |
| #endif |
| #include <avr/eeprom.h> |
| #include <string.h> |
| #include "eeprom.h" |
| #include "uart.h" |
| #include "led.h" |
| #include "main.h" |
| #include "fc.h" |
| #include "twimaster.h" |
| paramset_t EE_Parameter; |
| MixerTable_t Mixer; |
| uint8_t RequiredMotors; |
| uint8_t RAM_Checksum(uint8_t* pBuffer, uint16_t len) |
| { |
| uint8_t crc = 0xAA; |
| uint16_t i; |
| for(i=0; i<len; i++) |
| { |
| crc += pBuffer[i]; |
| } |
| return crc; |
| } |
| uint8_t EEProm_Checksum(uint16_t EEAddr, uint16_t len) |
| { |
| uint8_t crc = 0xAA; |
| uint16_t off; |
| for(off=0; off<len; off++) |
| { |
| crc += eeprom_read_byte((uint8_t*)(EEAddr + off));; |
| } |
| return crc; |
| } |
| void ParamSet_DefaultStickMapping(void) |
| { |
| EE_Parameter.Kanalbelegung[K_GAS] = 1; |
| EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
| EE_Parameter.Kanalbelegung[K_NICK] = 3; |
| EE_Parameter.Kanalbelegung[K_GIER] = 4; |
| EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
| EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
| EE_Parameter.Kanalbelegung[K_POTI3] = 7; |
| EE_Parameter.Kanalbelegung[K_POTI4] = 8; |
| EE_Parameter.Kanalbelegung[K_POTI5] = 9; |
| EE_Parameter.Kanalbelegung[K_POTI6] = 10; |
| EE_Parameter.Kanalbelegung[K_POTI7] = 11; |
| EE_Parameter.Kanalbelegung[K_POTI8] = 12; |
| } |
| /***************************************************/ |
| /* Default Values for parameter set 1 */ |
| /***************************************************/ |
| void CommonDefaults(void) |
| { |
| EE_Parameter.Revision = EEPARAM_REVISION; |
| memset(EE_Parameter.Name,0,12); // delete name |
| if(PlatinenVersion >= 20) |
| { |
| EE_Parameter.Gyro_D = 10; |
| EE_Parameter.Driftkomp = 0; |
| EE_Parameter.GyroAccFaktor = 27; |
| EE_Parameter.WinkelUmschlagNick = 78; |
| EE_Parameter.WinkelUmschlagRoll = 78; |
| } |
| else |
| { |
| EE_Parameter.Gyro_D = 3; |
| EE_Parameter.Driftkomp = 32; |
| EE_Parameter.GyroAccFaktor = 30; |
| EE_Parameter.WinkelUmschlagNick = 85; |
| EE_Parameter.WinkelUmschlagRoll = 85; |
| } |
| EE_Parameter.GyroAccAbgleich = 32; // 1/k |
| EE_Parameter.BitConfig = 0; // Looping usw. |
| EE_Parameter.GlobalConfig = CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER; |
| EE_Parameter.ExtraConfig = CFG_GPS_AID | CFG2_VARIO_BEEP; |
| EE_Parameter.GlobalConfig3 = CFG3_SPEAK_ALL;//CFG3_VARIO_FAILSAFE; |
| EE_Parameter.Receiver = RECEIVER_HOTT; |
| EE_Parameter.MotorSafetySwitch = 0; |
| EE_Parameter.ExternalControl = 0; |
| EE_Parameter.Gas_Min = 8; // Wert : 0-32 |
| EE_Parameter.Gas_Max = 230; // Wert : 33-247 |
| EE_Parameter.KompassWirkung = 64; // Wert : 0-247 |
| EE_Parameter.Hoehe_MinGas = 30; |
| EE_Parameter.MaxHoehe = 255; // Wert : 0-247 255 -> Poti1 |
| EE_Parameter.Hoehe_P = 15; // Wert : 0-32 |
| EE_Parameter.Luftdruck_D = 30; // Wert : 0-247 |
| EE_Parameter.Hoehe_ACC_Wirkung = 0; // Wert : 0-247 |
| EE_Parameter.Hoehe_HoverBand = 8; // Wert : 0-247 |
| EE_Parameter.Hoehe_GPS_Z = 20; // Wert : 0-247 |
| EE_Parameter.Hoehe_StickNeutralPoint = 0;// Wert : 0-247 (0 = Hover-Estimation) |
| EE_Parameter.Hoehe_Verstaerkung = 15; // Wert : 0-50 (15 -> ca. +/- 5m/sek bei Stick-Voll-Ausschlag) |
| EE_Parameter.UserParam1 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam2 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam3 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam4 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam5 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam6 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam7 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam8 = 0; // zur freien Verwendung |
| EE_Parameter.ServoNickControl = 128; // Wert : 0-247 // Stellung des Servos |
| EE_Parameter.ServoNickComp = 50; // Wert : 0-247 // Einfluss Gyro/Servo |
| EE_Parameter.ServoCompInvert = 2; // Wert : 0-247 // Richtung Einfluss Gyro/Servo |
| EE_Parameter.ServoNickMin = 15; // Wert : 0-247 // Anschlag |
| EE_Parameter.ServoNickMax = 230; // Wert : 0-247 // Anschlag |
| EE_Parameter.ServoNickRefresh = 4; |
| EE_Parameter.Servo3 = 125; |
| EE_Parameter.Servo4 = 125; |
| EE_Parameter.Servo5 = 125; |
| EE_Parameter.ServoRollControl = 128; // Wert : 0-247 // Stellung des Servos |
| EE_Parameter.ServoRollComp = 85; // Wert : 0-247 // Einfluss Gyro/Servo |
| EE_Parameter.ServoRollMin = 70; // Wert : 0-247 // Anschlag |
| EE_Parameter.ServoRollMax = 220; // Wert : 0-247 // Anschlag |
| EE_Parameter.ServoManualControlSpeed = 60; |
| EE_Parameter.CamOrientation = 0; // Wert : 0-24 -> 0-360 -> 15° steps |
| EE_Parameter.J16Bitmask = 95; |
| EE_Parameter.J17Bitmask = 243; |
| EE_Parameter.WARN_J16_Bitmask = 0xAA; |
| EE_Parameter.WARN_J17_Bitmask = 0xAA; |
| EE_Parameter.J16Timing = 40; |
| EE_Parameter.J17Timing = 40; |
| EE_Parameter.NaviOut1Parameter = 0; // Photo release in meter |
| EE_Parameter.LoopGasLimit = 50; |
| EE_Parameter.LoopThreshold = 90; // Wert: 0-247 Schwelle für Stickausschlag |
| EE_Parameter.LoopHysterese = 50; |
| EE_Parameter.NaviGpsModeControl = 254; // 254 -> Poti 2 |
| EE_Parameter.NaviGpsGain = 100; |
| EE_Parameter.NaviGpsP = 90; |
| EE_Parameter.NaviGpsI = 90; |
| EE_Parameter.NaviGpsD = 90; |
| EE_Parameter.NaviGpsPLimit = 75; |
| EE_Parameter.NaviGpsILimit = 85; |
| EE_Parameter.NaviGpsDLimit = 75; |
| EE_Parameter.NaviGpsACC = 0; |
| EE_Parameter.NaviGpsMinSat = 6; |
| EE_Parameter.NaviStickThreshold = 8; |
| EE_Parameter.NaviWindCorrection = 90; |
| EE_Parameter.NaviAccCompensation = 42; |
| EE_Parameter.NaviOperatingRadius = 245; |
| EE_Parameter.NaviAngleLimitation = 140; |
| EE_Parameter.NaviPH_LoginTime = 5; |
| EE_Parameter.OrientationAngle = 0; |
| EE_Parameter.CareFreeModeControl = 0; |
| EE_Parameter.UnterspannungsWarnung = 33; // Wert : 0-247 ( Automatische Zellenerkennung bei < 50) |
| EE_Parameter.NotGas = 65; // Wert : 0-247 // Gaswert bei Empangsverlust (ggf. in Prozent) |
| EE_Parameter.NotGasZeit = 90; // Wert : 0-247 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
| EE_Parameter.MotorSmooth = 0; |
| EE_Parameter.ComingHomeAltitude = 0; // 0 = don't change |
| EE_Parameter.FailSafeTime = 0; // 0 = off |
| EE_Parameter.MaxAltitude = 150; // 0 = off |
| EE_Parameter.AchsKopplung1 = 90; |
| EE_Parameter.AchsKopplung2 = 55; |
| EE_Parameter.FailsafeChannel = 0; |
| EE_Parameter.ServoFilterNick = 0; |
| EE_Parameter.ServoFilterRoll = 0; |
| } |
| /* |
| void ParamSet_DefaultSet1(void) // sport |
| { |
| CommonDefaults(); |
| EE_Parameter.Stick_P = 14; // Wert : 1-20 |
| EE_Parameter.Stick_D = 16; // Wert : 0-20 |
| EE_Parameter.StickGier_P = 12; // Wert : 1-20 |
| EE_Parameter.Gyro_P = 80; // Wert : 0-247 |
| EE_Parameter.Gyro_I = 150; // Wert : 0-247 |
| EE_Parameter.Gyro_Gier_P = 80; // Wert : 0-247 |
| EE_Parameter.Gyro_Gier_I = 150; // Wert : 0-247 |
| EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
| EE_Parameter.I_Faktor = 32; |
| EE_Parameter.CouplingYawCorrection = 1; |
| EE_Parameter.GyroAccAbgleich = 16; // 1/k; |
| EE_Parameter.DynamicStability = 100; |
| memcpy(EE_Parameter.Name, "Sport\0", 12); |
| EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
| } |
| */ |
| /***************************************************/ |
| /* Default Values for parameter set 1 */ |
| /***************************************************/ |
| void ParamSet_DefaultSet1(void) // normal |
| { |
| CommonDefaults(); |
| EE_Parameter.Stick_P = 10; // Wert : 1-20 |
| EE_Parameter.Stick_D = 16; // Wert : 0-20 |
| EE_Parameter.StickGier_P = 6; // Wert : 1-20 |
| EE_Parameter.Gyro_P = 90; // Wert : 0-247 |
| EE_Parameter.Gyro_I = 120; // Wert : 0-247 |
| EE_Parameter.Gyro_Gier_P = 90; // Wert : 0-247 |
| EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247 |
| EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
| EE_Parameter.I_Faktor = 32; |
| EE_Parameter.CouplingYawCorrection = 60; |
| EE_Parameter.DynamicStability = 75; |
| memcpy(EE_Parameter.Name, "Fast",4); |
| EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
| } |
| /***************************************************/ |
| /* Default Values for parameter set 2 */ |
| /***************************************************/ |
| void ParamSet_DefaultSet2(void) // beginner |
| { |
| CommonDefaults(); |
| EE_Parameter.Stick_P = 8; // Wert : 1-20 |
| EE_Parameter.Stick_D = 16; // Wert : 0-20 |
| EE_Parameter.StickGier_P = 6; // Wert : 1-20 |
| EE_Parameter.Gyro_P = 100; // Wert : 0-247 |
| EE_Parameter.Gyro_I = 120; // Wert : 0-247 |
| EE_Parameter.Gyro_Gier_P = 100; // Wert : 0-247 |
| EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247 |
| EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
| EE_Parameter.I_Faktor = 16; |
| EE_Parameter.CouplingYawCorrection = 70; |
| EE_Parameter.DynamicStability = 70; |
| memcpy(EE_Parameter.Name, "Normal",6); |
| EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
| } |
| /***************************************************/ |
| /* Default Values for parameter set 3 */ |
| /***************************************************/ |
| void ParamSet_DefaultSet3(void) // beginner |
| { |
| CommonDefaults(); |
| EE_Parameter.Stick_P = 6; // Wert : 1-20 |
| EE_Parameter.Stick_D = 10; // Wert : 0-20 |
| EE_Parameter.StickGier_P = 4; // Wert : 1-20 |
| EE_Parameter.Gyro_P = 100; // Wert : 0-247 |
| EE_Parameter.Gyro_I = 120; // Wert : 0-247 |
| EE_Parameter.Gyro_Gier_P = 100; // Wert : 0-247 |
| EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247 |
| EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
| EE_Parameter.I_Faktor = 16; |
| EE_Parameter.CouplingYawCorrection = 70; |
| EE_Parameter.DynamicStability = 70; |
| memcpy(EE_Parameter.Name, "Easy", 4); |
| EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
| } |
| /***************************************************/ |
| /* Read Parameter from EEPROM as byte */ |
| /***************************************************/ |
| uint8_t GetParamByte(uint16_t param_id) |
| { |
| return eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id)); |
| } |
| /***************************************************/ |
| /* Write Parameter to EEPROM as byte */ |
| /***************************************************/ |
| void SetParamByte(uint16_t param_id, uint8_t value) |
| { |
| eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value); |
| } |
| /***************************************************/ |
| /* Read Parameter from EEPROM as word */ |
| /***************************************************/ |
| uint16_t GetParamWord(uint16_t param_id) |
| { |
| return eeprom_read_word((uint16_t *)(EEPROM_ADR_PARAM_BEGIN + param_id)); |
| } |
| /***************************************************/ |
| /* Write Parameter to EEPROM as word */ |
| /***************************************************/ |
| void SetParamWord(uint16_t param_id, uint16_t value) |
| { |
| eeprom_write_word((uint16_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value); |
| } |
| /***************************************************/ |
| /* Read Parameter Set from EEPROM */ |
| /***************************************************/ |
| // number [1..5] |
| uint8_t ParamSet_ReadFromEEProm(uint8_t setnumber) |
| { |
| uint8_t crc; |
| uint16_t eeaddr; |
| // range the setnumber |
| if((1 > setnumber) || (setnumber > 5)) setnumber = 3; |
| // calculate eeprom addr |
| eeaddr = EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1); |
| // calculate checksum from eeprom |
| crc = EEProm_Checksum(eeaddr, PARAMSET_STRUCT_LEN - 1); |
| // check crc |
| if(crc != eeprom_read_byte((uint8_t*)(eeaddr + PARAMSET_STRUCT_LEN - 1))) return 0; |
| // check revision |
| if(eeprom_read_byte((uint8_t*)(eeaddr)) != EEPARAM_REVISION) return 0; |
| // read paramset from eeprom |
| eeprom_read_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN); |
| LED_Init(); |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| LIBFC_HoTT_Clear(); |
| #endif |
| return 1; |
| } |
| /***************************************************/ |
| /* Write Parameter Set to EEPROM */ |
| /***************************************************/ |
| // number [1..5] |
| uint8_t ParamSet_WriteToEEProm(uint8_t setnumber) |
| { |
| uint8_t crc; |
| if(EE_Parameter.Revision == EEPARAM_REVISION) // write only the right revision to eeprom |
| { |
| if(setnumber > 5) setnumber = 5; |
| if(setnumber < 1) return 0; |
| LIBFC_CheckSettings(); |
| if(EE_Parameter.GlobalConfig3 & CFG3_VARIO_FAILSAFE) // check the Setting: Not more than 100% emergency gas |
| { |
| if(EE_Parameter.NotGas > 99) EE_Parameter.NotGas = 80; // i.e. 80% of Hovergas |
| } |
| // update checksum |
| EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
| // write paramset to eeprom |
| eeprom_write_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN); |
| // backup channel settings to separate block in eeprom |
| eeprom_write_block( (void*)(EE_Parameter.Kanalbelegung), (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
| // write crc of channel block to eeprom |
| crc = RAM_Checksum((uint8_t*)(EE_Parameter.Kanalbelegung), sizeof(EE_Parameter.Kanalbelegung)); |
| eeprom_write_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung)), crc); |
| // update active settings number |
| SetActiveParamSet(setnumber); |
| LED_Init(); |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| LIBFC_HoTT_Clear(); |
| #endif |
| return 1; |
| } |
| // wrong revision |
| return 0; |
| } |
| /***************************************************/ |
| /* Read MixerTable from EEPROM */ |
| /***************************************************/ |
| uint8_t MixerTable_ReadFromEEProm(void) |
| { |
| uint8_t crc; |
| // calculate checksum in eeprom |
| crc = EEProm_Checksum(EEPROM_ADR_MIXERTABLE, sizeof(Mixer) - 1); |
| // check crc |
| if( crc != eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE + sizeof(Mixer) - 1)) ) return 0; |
| // check revision |
| if(eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE)) != EEMIXER_REVISION) return 0; |
| // read mixer table |
| eeprom_read_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer)); |
| return 1; |
| } |
| /***************************************************/ |
| /* Write Mixer Table to EEPROM */ |
| /***************************************************/ |
| uint8_t MixerTable_WriteToEEProm(void) |
| { |
| if(Mixer.Revision == EEMIXER_REVISION) |
| { |
| // update crc |
| Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1); |
| // write to eeprom |
| eeprom_write_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer)); |
| return 1; |
| } |
| else return 0; |
| } |
| /***************************************************/ |
| /* Default Values for Mixer Table */ |
| /***************************************************/ |
| void MixerTable_Default(void) // Quadro |
| { |
| uint8_t i; |
| Mixer.Revision = EEMIXER_REVISION; |
| // clear mixer table |
| for(i = 0; i < 16; i++) |
| { |
| Mixer.Motor[i][MIX_GAS] = 0; |
| Mixer.Motor[i][MIX_NICK] = 0; |
| Mixer.Motor[i][MIX_ROLL] = 0; |
| Mixer.Motor[i][MIX_YAW] = 0; |
| } |
| // default = Quadro |
| Mixer.Motor[0][MIX_GAS] = 64; Mixer.Motor[0][MIX_NICK] = +64; Mixer.Motor[0][MIX_ROLL] = 0; Mixer.Motor[0][MIX_YAW] = +64; |
| Mixer.Motor[1][MIX_GAS] = 64; Mixer.Motor[1][MIX_NICK] = -64; Mixer.Motor[1][MIX_ROLL] = 0; Mixer.Motor[1][MIX_YAW] = +64; |
| Mixer.Motor[2][MIX_GAS] = 64; Mixer.Motor[2][MIX_NICK] = 0; Mixer.Motor[2][MIX_ROLL] = -64; Mixer.Motor[2][MIX_YAW] = -64; |
| Mixer.Motor[3][MIX_GAS] = 64; Mixer.Motor[3][MIX_NICK] = 0; Mixer.Motor[3][MIX_ROLL] = +64; Mixer.Motor[3][MIX_YAW] = -64; |
| memcpy(Mixer.Name, "Quadro\0\0\0\0\0\0", 12); |
| Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1); |
| } |
| /***************************************************/ |
| /* Get active parameter set */ |
| /***************************************************/ |
| uint8_t GetActiveParamSet(void) |
| { |
| uint8_t setnumber; |
| setnumber = eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET)); |
| if(setnumber > 5) |
| { |
| setnumber = 3; |
| eeprom_write_byte((void*)(EEPROM_ADR_PARAM_BEGIN+PID_ACTIVE_SET), setnumber); |
| } |
| return(setnumber); |
| } |
| /***************************************************/ |
| /* Set active parameter set */ |
| /***************************************************/ |
| void SetActiveParamSet(uint8_t setnumber) |
| { |
| if(setnumber > 5) setnumber = 5; |
| if(setnumber < 1) setnumber = 1; |
| eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET), setnumber); |
| } |
| /***************************************************/ |
| /* Set default parameter set */ |
| /***************************************************/ |
| void SetDefaultParameter(uint8_t set, uint8_t restore_channels) |
| { |
| if(set > 5) set = 5; |
| else if(set < 1) set = 1; |
| switch(set) |
| { |
| case 1: |
| ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport) |
| break; |
| case 2: |
| ParamSet_DefaultSet2(); // Kamera |
| break; |
| case 3: |
| ParamSet_DefaultSet3(); // Beginner |
| break; |
| default: |
| ParamSet_DefaultSet3(); // Beginner |
| break; |
| } |
| if(restore_channels) |
| { |
| uint8_t crc; |
| // 1st check for a valid channel backup in eeprom |
| crc = EEProm_Checksum(EEPROM_ADR_CHANNELS, sizeof(EE_Parameter.Kanalbelegung)); |
| if(crc == eeprom_read_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung))) ) |
| { |
| eeprom_read_block((void *)EE_Parameter.Kanalbelegung, (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
| } |
| else ParamSet_DefaultStickMapping(); |
| } |
| else ParamSet_DefaultStickMapping(); |
| ParamSet_WriteToEEProm(set); |
| } |
| /***************************************************/ |
| /* Initialize EEPROM Parameter Sets */ |
| /***************************************************/ |
| void ParamSet_Init(void) |
| { |
| uint8_t channel_backup = 0, bad_params = 0, ee_default = 0,i; |
| if(EEPARAM_REVISION != GetParamByte(PID_EE_REVISION) ) |
| { |
| ee_default = 1; // software update or forced by mktool |
| } |
| // 1st check for a valid channel backup in eeprom |
| i = EEProm_Checksum(EEPROM_ADR_CHANNELS, sizeof(EE_Parameter.Kanalbelegung)); |
| if(i == eeprom_read_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung))) ) channel_backup = 1; |
| // parameter check |
| // check all 5 parameter settings |
| for (i = 1;i < 6; i++) |
| { |
| if(ee_default || !ParamSet_ReadFromEEProm(i)) // could not read paramset from eeprom |
| { |
| bad_params = 1; |
| printf("\n\rGenerating default Parameter Set %d",i); |
| switch(i) |
| { |
| case 1: |
| ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport) |
| break; |
| case 2: |
| ParamSet_DefaultSet2(); // Kamera |
| break; |
| case 3: |
| ParamSet_DefaultSet3(); // Beginner |
| break; |
| default: |
| ParamSet_DefaultSet3(); // Kamera |
| break; |
| } |
| if(channel_backup) // if we have an channel mapping backup in eeprom |
| { // restore it from eeprom |
| eeprom_read_block((void *)EE_Parameter.Kanalbelegung, (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
| } |
| else |
| { // use default mapping |
| ParamSet_DefaultStickMapping(); |
| } |
| ParamSet_WriteToEEProm(i); |
| } |
| } |
| if(bad_params) // at least one of the parameter settings were invalid |
| { |
| // default-Setting is parameter set 3 |
| SetActiveParamSet(3); |
| } |
| // read active parameter set to ParamSet stucture |
| i = GetActiveParamSet(); |
| ParamSet_ReadFromEEProm(i); |
| printf("\n\rUsing Parameter Set %d", i); |
| // load mixer table |
| if(GetParamByte(PID_EE_REVISION) == 0xff || !MixerTable_ReadFromEEProm() ) |
| { |
| printf("\n\rGenerating default Mixer Table"); |
| MixerTable_Default(); // Quadro |
| MixerTable_WriteToEEProm(); |
| } |
| if(ee_default) SetParamByte(PID_EE_REVISION, EEPARAM_REVISION); |
| // determine motornumber |
| RequiredMotors = 0; |
| for(i = 0; i < 16; i++) |
| { |
| if(Mixer.Motor[i][MIX_GAS] > 0) RequiredMotors++; |
| } |
| printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name, RequiredMotors); |
| PrintLine();// ("\n\r==================================="); |
| } |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/eeprom.h |
|---|
| 0,0 → 1,277 |
| #ifndef _EEPROM_H |
| #define _EEPROM_H |
| #include <inttypes.h> |
| #include "twimaster.h" |
| #define EEPARAM_REVISION 92 // is count up, if paramater stucture has changed (compatibility) |
| #define EEMIXER_REVISION 1 // is count up, if mixer stucture has changed (compatibility) |
| #define EEPROM_ADR_PARAM_BEGIN 0 |
| #define PID_EE_REVISION 1 // byte |
| #define PID_ACTIVE_SET 2 // byte |
| #define PID_PRESSURE_OFFSET 3 // byte |
| #define PID_ACC_NICK 4 // word |
| #define PID_ACC_ROLL 6 // word |
| #define PID_ACC_TOP 8 // word |
| #define PID_FLIGHT_MINUTES_TOTAL 10 // word |
| #define PID_FLIGHT_MINUTES 14 // word |
| #define PID_SPEAK_HOTT_CFG 16 // Byte |
| #define EEPROM_ADR_CHANNELS 80 // 80 - 93, 12 bytes + 1 byte crc |
| #define EEPROM_ADR_PARAMSET 100 // 100 - 650, 5 * 110 bytes |
| #define EEPROM_ADR_MIXERTABLE 1000 // 1000 - 1078, 78 bytes |
| #define EEPROM_ADR_BLCONFIG 1200 // 1200 - 1296, 12 * 8 bytes |
| #define MIX_GAS 0 |
| #define MIX_NICK 1 |
| #define MIX_ROLL 2 |
| #define MIX_YAW 3 |
| typedef struct |
| { |
| uint8_t Revision; |
| int8_t Name[12]; |
| int8_t Motor[16][4]; |
| uint8_t crc; |
| } __attribute__((packed)) MixerTable_t; |
| extern MixerTable_t Mixer; |
| extern uint8_t RequiredMotors; |
| //GlobalConfig3 |
| #define CFG3_NO_SDCARD_NO_START 0x01 |
| #define CFG3_DPH_MAX_RADIUS 0x02 |
| #define CFG3_VARIO_FAILSAFE 0x04 |
| #define CFG3_MOTOR_SWITCH_MODE 0x08 |
| #define CFG3_NO_GPSFIX_NO_START 0x10 |
| #define CFG3_USE_NC_FOR_OUT1 0x20 |
| #define CFG3_SPEAK_ALL 0x40 |
| //GlobalConfig |
| #define CFG_HOEHENREGELUNG 0x01 |
| #define CFG_HOEHEN_SCHALTER 0x02 |
| #define CFG_HEADING_HOLD 0x04 |
| #define CFG_KOMPASS_AKTIV 0x08 |
| #define CFG_KOMPASS_FIX 0x10 |
| #define CFG_GPS_AKTIV 0x20 |
| #define CFG_ACHSENKOPPLUNG_AKTIV 0x40 |
| #define CFG_DREHRATEN_BEGRENZER 0x80 |
| //BitConfig |
| #define CFG_LOOP_OBEN 0x01 |
| #define CFG_LOOP_UNTEN 0x02 |
| #define CFG_LOOP_LINKS 0x04 |
| #define CFG_LOOP_RECHTS 0x08 |
| #define CFG_MOTOR_BLINK1 0x10 |
| #define CFG_MOTOR_OFF_LED1 0x20 |
| #define CFG_MOTOR_OFF_LED2 0x40 |
| #define CFG_MOTOR_BLINK2 0x80 |
| // ExtraConfig |
| #define CFG2_HEIGHT_LIMIT 0x01 |
| #define CFG2_VARIO_BEEP 0x02 |
| #define CFG_SENSITIVE_RC 0x04 |
| #define CFG_3_3V_REFERENCE 0x08 |
| #define CFG_NO_RCOFF_BEEPING 0x10 |
| #define CFG_GPS_AID 0x20 |
| #define CFG_LEARNABLE_CAREFREE 0x40 |
| #define CFG_IGNORE_MAG_ERR_AT_STARTUP 0x80 |
| // bit mask for ParamSet.Config0 |
| #define CFG0_AIRPRESS_SENSOR 0x01 |
| #define CFG0_HEIGHT_SWITCH 0x02 |
| #define CFG0_HEADING_HOLD 0x04 |
| #define CFG0_COMPASS_ACTIVE 0x08 |
| #define CFG0_COMPASS_FIX 0x10 |
| #define CFG0_GPS_ACTIVE 0x20 |
| #define CFG0_AXIS_COUPLING_ACTIVE 0x40 |
| #define CFG0_ROTARY_RATE_LIMITER 0x80 |
| // bitcoding for EE_Parameter.ServoCompInvert |
| #define SERVO_NICK_INV 0x01 |
| #define SERVO_ROLL_INV 0x02 |
| #define SERVO_RELATIVE 0x04 // direct poti control or relative moving of the servo value |
| // defines for the receiver selection |
| #define RECEIVER_PPM 0 |
| #define RECEIVER_SPEKTRUM 1 |
| #define RECEIVER_SPEKTRUM_HI_RES 2 |
| #define RECEIVER_SPEKTRUM_LOW_RES 3 |
| #define RECEIVER_JETI 4 |
| #define RECEIVER_ACT_DSL 5 |
| #define RECEIVER_HOTT 6 |
| #define RECEIVER_SBUS 7 |
| #define RECEIVER_USER 8 |
| #define RECEIVER_UNKNOWN 0xFF |
| // defines for lookup ParamSet.ChannelAssignment |
| #define K_NICK 0 |
| #define K_ROLL 1 |
| #define K_GAS 2 |
| #define K_GIER 3 |
| #define K_POTI1 4 |
| #define K_POTI2 5 |
| #define K_POTI3 6 |
| #define K_POTI4 7 |
| #define K_POTI5 8 |
| #define K_POTI6 9 |
| #define K_POTI7 10 |
| #define K_POTI8 11 |
| // values above 247 representing poti1 to poti8 |
| // poti1 = 255 |
| // poti2 = 254 |
| // poti3 = 253 |
| // poti4 = 252 |
| // poti5 = 251 |
| // poti6 = 250 |
| // poti7 = 249 |
| // poti8 = 248 |
| typedef struct |
| { |
| unsigned char Revision; |
| unsigned char Kanalbelegung[12]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3 |
| unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv |
| unsigned char Hoehe_MinGas; // Wert : 0-100 |
| unsigned char Luftdruck_D; // Wert : 0-250 |
| unsigned char MaxHoehe; // Wert : 0-32 |
| unsigned char Hoehe_P; // Wert : 0-32 |
| unsigned char Hoehe_Verstaerkung; // Wert : 0-50 |
| unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250 |
| unsigned char Hoehe_HoverBand; // Wert : 0-250 |
| unsigned char Hoehe_GPS_Z; // Wert : 0-250 |
| unsigned char Hoehe_StickNeutralPoint;// Wert : 0-250 |
| unsigned char Stick_P; // Wert : 1-6 |
| unsigned char Stick_D; // Wert : 0-64 |
| unsigned char StickGier_P; // Wert : 1-20 |
| unsigned char Gas_Min; // Wert : 0-32 |
| unsigned char Gas_Max; // Wert : 33-250 |
| unsigned char GyroAccFaktor; // Wert : 1-64 |
| unsigned char KompassWirkung; // Wert : 0-32 |
| unsigned char Gyro_P; // Wert : 10-250 |
| unsigned char Gyro_I; // Wert : 0-250 |
| unsigned char Gyro_D; // Wert : 0-250 |
| unsigned char Gyro_Gier_P; // Wert : 10-250 |
| unsigned char Gyro_Gier_I; // Wert : 0-250 |
| unsigned char Gyro_Stability; // Wert : 0-16 |
| unsigned char UnterspannungsWarnung; // Wert : 0-250 |
| unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust |
| unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen |
| unsigned char Receiver; // 0= Summensignal, 1= Spektrum, 2 =Jeti, 3=ACT DSL, 4=ACT S3D |
| unsigned char I_Faktor; // Wert : 0-250 |
| unsigned char UserParam1; // Wert : 0-250 |
| unsigned char UserParam2; // Wert : 0-250 |
| unsigned char UserParam3; // Wert : 0-250 |
| unsigned char UserParam4; // Wert : 0-250 |
| unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos |
| unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
| unsigned char ServoNickMin; // Wert : 0-250 // Anschlag |
| unsigned char ServoNickMax; // Wert : 0-250 // Anschlag |
| //--- Seit V0.75 |
| unsigned char ServoRollControl; // Wert : 0-250 // Stellung des Servos |
| unsigned char ServoRollComp; // Wert : 0-250 |
| unsigned char ServoRollMin; // Wert : 0-250 |
| unsigned char ServoRollMax; // Wert : 0-250 |
| //--- |
| unsigned char ServoNickRefresh; // Speed of the Servo |
| unsigned char ServoManualControlSpeed;// |
| unsigned char CamOrientation; // |
| unsigned char Servo3; // Value or mapping of the Servo Output |
| unsigned char Servo4; // Value or mapping of the Servo Output |
| unsigned char Servo5; // Value or mapping of the Servo Output |
| unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping |
| unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag |
| unsigned char LoopHysterese; // Wert: 0-250 Hysterese für Stickausschlag |
| unsigned char AchsKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
| unsigned char AchsKopplung2; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
| unsigned char CouplingYawCorrection; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
| unsigned char WinkelUmschlagNick; // Wert: 0-250 180°-Punkt |
| unsigned char WinkelUmschlagRoll; // Wert: 0-250 180°-Punkt |
| unsigned char GyroAccAbgleich; // 1/k (Koppel_ACC_Wirkung) |
| unsigned char Driftkomp; |
| unsigned char DynamicStability; |
| unsigned char UserParam5; // Wert : 0-250 |
| unsigned char UserParam6; // Wert : 0-250 |
| unsigned char UserParam7; // Wert : 0-250 |
| unsigned char UserParam8; // Wert : 0-250 |
| //---Output --------------------------------------------- |
| unsigned char J16Bitmask; // for the J16 Output |
| unsigned char J16Timing; // for the J16 Output |
| unsigned char J17Bitmask; // for the J17 Output |
| unsigned char J17Timing; // for the J17 Output |
| // seit version V0.75c |
| unsigned char WARN_J16_Bitmask; // for the J16 Output |
| unsigned char WARN_J17_Bitmask; // for the J17 Output |
| //---NaviCtrl--------------------------------------------- |
| unsigned char NaviOut1Parameter; // for the J16 Output |
| unsigned char NaviGpsModeControl; // Parameters for the Naviboard |
| unsigned char NaviGpsGain; |
| unsigned char NaviGpsP; |
| unsigned char NaviGpsI; |
| unsigned char NaviGpsD; |
| unsigned char NaviGpsPLimit; |
| unsigned char NaviGpsILimit; |
| unsigned char NaviGpsDLimit; |
| unsigned char NaviGpsACC; |
| unsigned char NaviGpsMinSat; |
| unsigned char NaviStickThreshold; |
| unsigned char NaviWindCorrection; |
| unsigned char NaviAccCompensation; // New since 0.86 -> was: SpeedCompensation |
| unsigned char NaviOperatingRadius; |
| unsigned char NaviAngleLimitation; |
| unsigned char NaviPH_LoginTime; |
| //---Ext.Ctrl--------------------------------------------- |
| unsigned char ExternalControl; // for serial Control |
| //---CareFree--------------------------------------------- |
| unsigned char OrientationAngle; // Where is the front-direction? |
| unsigned char CareFreeModeControl; // switch for CareFree |
| unsigned char MotorSafetySwitch; |
| unsigned char MotorSmooth; |
| unsigned char ComingHomeAltitude; |
| unsigned char FailSafeTime; |
| unsigned char MaxAltitude; |
| unsigned char FailsafeChannel; // if the value of this channel is > 100, the MK reports "RC-Lost" |
| unsigned char ServoFilterNick; |
| unsigned char ServoFilterRoll; |
| //------------------------------------------------ |
| unsigned char BitConfig; // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
| unsigned char ServoCompInvert; // // 0x01 = Nick, 0x02 = Roll, 0x04 = relative moving // WICHTIG!!! am Ende lassen |
| unsigned char ExtraConfig; // bitcodiert |
| unsigned char GlobalConfig3; // bitcodiert |
| char Name[12]; |
| unsigned char crc; // must be the last byte! |
| } paramset_t; |
| #define PARAMSET_STRUCT_LEN sizeof(paramset_t) |
| extern paramset_t EE_Parameter; |
| extern uint8_t RAM_Checksum(uint8_t* pBuffer, uint16_t len); |
| extern void ParamSet_Init(void); |
| extern void SetDefaultParameter(uint8_t set, uint8_t restore_channels); |
| extern uint8_t ParamSet_ReadFromEEProm(uint8_t setnumber); |
| extern uint8_t ParamSet_WriteToEEProm(uint8_t setnumber); |
| extern uint8_t GetActiveParamSet(void); |
| extern void SetActiveParamSet(uint8_t setnumber); |
| extern uint8_t MixerTable_ReadFromEEProm(void); |
| extern uint8_t MixerTable_WriteToEEProm(void); |
| extern uint8_t GetParamByte(uint16_t param_id); |
| extern void SetParamByte(uint16_t param_id, uint8_t value); |
| extern uint16_t GetParamWord(uint16_t param_id); |
| extern void SetParamWord(uint16_t param_id, uint16_t value); |
| #endif //_EEPROM_H |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/eeprom.lst |
|---|
| 0,0 → 1,1351 |
| 1 .file "eeprom.c" |
| 2 .arch atmega1284p |
| 3 __SREG__ = 0x3f |
| 4 __SP_H__ = 0x3e |
| 5 __SP_L__ = 0x3d |
| 6 __tmp_reg__ = 0 |
| 7 __zero_reg__ = 1 |
| 8 .global __do_copy_data |
| 9 .global __do_clear_bss |
| 10 .text |
| 12 eeprom_read_byte: |
| 13 /* prologue: frame size=0 */ |
| 14 /* prologue end (size=0) */ |
| 15 .L2: |
| 16 0000 F999 sbic 63-0x20,1 |
| 17 0002 00C0 rjmp .L2 |
| 18 0004 92BD out (65)+1-0x20,r25 |
| 19 0006 81BD out 65-0x20,r24 |
| 20 /* #APP */ |
| 21 /* START EEPROM READ CRITICAL SECTION */ |
| 22 0008 F89A sbi 31, 0 |
| 23 000a 80B5 in r24, 32 |
| 24 /* END EEPROM READ CRITICAL SECTION */ |
| 25 |
| 26 /* #NOAPP */ |
| 27 000c 9927 clr r25 |
| 28 /* epilogue: frame size=0 */ |
| 29 000e 0895 ret |
| 30 /* epilogue end (size=1) */ |
| 31 /* function eeprom_read_byte size 16 (15) */ |
| 34 eeprom_write_byte: |
| 35 /* prologue: frame size=0 */ |
| 36 /* prologue end (size=0) */ |
| 37 .L6: |
| 38 0010 F999 sbic 63-0x20,1 |
| 39 0012 00C0 rjmp .L6 |
| 40 0014 1FBA out 63-0x20,__zero_reg__ |
| 41 0016 92BD out (65)+1-0x20,r25 |
| 42 0018 81BD out 65-0x20,r24 |
| 43 001a 60BD out 64-0x20,r22 |
| 44 /* #APP */ |
| 45 /* START EEPROM WRITE CRITICAL SECTION */ |
| 46 001c 0FB6 in r0, 63 |
| 47 001e F894 cli |
| 48 0020 FA9A sbi 31, 2 |
| 49 0022 F99A sbi 31, 1 |
| 50 0024 0FBE out 63, r0 |
| 51 /* END EEPROM WRITE CRITICAL SECTION */ |
| 52 /* #NOAPP */ |
| 53 /* epilogue: frame size=0 */ |
| 54 0026 0895 ret |
| 55 /* epilogue end (size=1) */ |
| 56 /* function eeprom_write_byte size 21 (20) */ |
| 58 .global RAM_Checksum |
| 60 RAM_Checksum: |
| 61 /* prologue: frame size=0 */ |
| 62 /* prologue end (size=0) */ |
| 63 0028 4AEA ldi r20,lo8(-86) |
| 64 002a 20E0 ldi r18,lo8(0) |
| 65 002c 30E0 ldi r19,hi8(0) |
| 66 002e 2617 cp r18,r22 |
| 67 0030 3707 cpc r19,r23 |
| 68 0032 00F4 brsh .L15 |
| 69 0034 FC01 movw r30,r24 |
| 70 .L13: |
| 71 0036 8191 ld r24,Z+ |
| 72 0038 480F add r20,r24 |
| 73 003a 2F5F subi r18,lo8(-(1)) |
| 74 003c 3F4F sbci r19,hi8(-(1)) |
| 75 003e 2617 cp r18,r22 |
| 76 0040 3707 cpc r19,r23 |
| 77 0042 00F0 brlo .L13 |
| 78 .L15: |
| 79 0044 842F mov r24,r20 |
| 80 0046 9927 clr r25 |
| 81 /* epilogue: frame size=0 */ |
| 82 0048 0895 ret |
| 83 /* epilogue end (size=1) */ |
| 84 /* function RAM_Checksum size 17 (16) */ |
| 86 .global EEProm_Checksum |
| 88 EEProm_Checksum: |
| 89 /* prologue: frame size=0 */ |
| 90 /* prologue end (size=0) */ |
| 91 004a EAEA ldi r30,lo8(-86) |
| 92 004c 40E0 ldi r20,lo8(0) |
| 93 004e 50E0 ldi r21,hi8(0) |
| 94 0050 4617 cp r20,r22 |
| 95 0052 5707 cpc r21,r23 |
| 96 0054 00F4 brsh .L26 |
| 97 0056 9C01 movw r18,r24 |
| 98 .L30: |
| 99 0058 F999 sbic 63-0x20,1 |
| 100 005a 00C0 rjmp .L30 |
| 101 005c 32BD out (65)+1-0x20,r19 |
| 102 005e 21BD out 65-0x20,r18 |
| 103 /* #APP */ |
| 104 /* START EEPROM READ CRITICAL SECTION */ |
| 105 0060 F89A sbi 31, 0 |
| 106 0062 80B5 in r24, 32 |
| 107 /* END EEPROM READ CRITICAL SECTION */ |
| 108 |
| 109 /* #NOAPP */ |
| 110 0064 E80F add r30,r24 |
| 111 0066 4F5F subi r20,lo8(-(1)) |
| 112 0068 5F4F sbci r21,hi8(-(1)) |
| 113 006a 2F5F subi r18,lo8(-(1)) |
| 114 006c 3F4F sbci r19,hi8(-(1)) |
| 115 006e 4617 cp r20,r22 |
| 116 0070 5707 cpc r21,r23 |
| 117 0072 00F0 brlo .L30 |
| 118 .L26: |
| 119 0074 8E2F mov r24,r30 |
| 120 0076 9927 clr r25 |
| 121 /* epilogue: frame size=0 */ |
| 122 0078 0895 ret |
| 123 /* epilogue end (size=1) */ |
| 124 /* function EEProm_Checksum size 32 (31) */ |
| 126 .global ParamSet_DefaultStickMapping |
| 128 ParamSet_DefaultStickMapping: |
| 129 /* prologue: frame size=0 */ |
| 130 /* prologue end (size=0) */ |
| 131 007a 81E0 ldi r24,lo8(1) |
| 132 007c 8093 0000 sts EE_Parameter+3,r24 |
| 133 0080 82E0 ldi r24,lo8(2) |
| 134 0082 8093 0000 sts EE_Parameter+2,r24 |
| 135 0086 83E0 ldi r24,lo8(3) |
| 136 0088 8093 0000 sts EE_Parameter+1,r24 |
| 137 008c 84E0 ldi r24,lo8(4) |
| 138 008e 8093 0000 sts EE_Parameter+4,r24 |
| 139 0092 85E0 ldi r24,lo8(5) |
| 140 0094 8093 0000 sts EE_Parameter+5,r24 |
| 141 0098 86E0 ldi r24,lo8(6) |
| 142 009a 8093 0000 sts EE_Parameter+6,r24 |
| 143 009e 87E0 ldi r24,lo8(7) |
| 144 00a0 8093 0000 sts EE_Parameter+7,r24 |
| 145 00a4 88E0 ldi r24,lo8(8) |
| 146 00a6 8093 0000 sts EE_Parameter+8,r24 |
| 147 00aa 89E0 ldi r24,lo8(9) |
| 148 00ac 8093 0000 sts EE_Parameter+9,r24 |
| 149 00b0 8AE0 ldi r24,lo8(10) |
| 150 00b2 8093 0000 sts EE_Parameter+10,r24 |
| 151 00b6 8BE0 ldi r24,lo8(11) |
| 152 00b8 8093 0000 sts EE_Parameter+11,r24 |
| 153 00bc 8CE0 ldi r24,lo8(12) |
| 154 00be 8093 0000 sts EE_Parameter+12,r24 |
| 155 /* epilogue: frame size=0 */ |
| 156 00c2 0895 ret |
| 157 /* epilogue end (size=1) */ |
| 158 /* function ParamSet_DefaultStickMapping size 37 (36) */ |
| 160 .global CommonDefaults |
| 162 CommonDefaults: |
| 163 /* prologue: frame size=0 */ |
| 164 /* prologue end (size=0) */ |
| 165 00c4 8CE5 ldi r24,lo8(92) |
| 166 00c6 8093 0000 sts EE_Parameter,r24 |
| 167 00ca 8CE0 ldi r24,lo8(12) |
| 168 00cc E0E0 ldi r30,lo8(EE_Parameter+112) |
| 169 00ce F0E0 ldi r31,hi8(EE_Parameter+112) |
| 170 00d0 1192 st Z+,__zero_reg__ |
| 171 00d2 8A95 dec r24 |
| 172 00d4 01F4 brne .-6 |
| 173 00d6 8091 0000 lds r24,PlatinenVersion |
| 174 00da 8431 cpi r24,lo8(20) |
| 175 00dc 00F0 brlo .L33 |
| 176 00de 8AE0 ldi r24,lo8(10) |
| 177 00e0 8093 0000 sts EE_Parameter+32,r24 |
| 178 00e4 1092 0000 sts EE_Parameter+68,__zero_reg__ |
| 179 00e8 8BE1 ldi r24,lo8(27) |
| 180 00ea 8093 0000 sts EE_Parameter+28,r24 |
| 181 00ee 8EE4 ldi r24,lo8(78) |
| 182 00f0 00C0 rjmp .L35 |
| 183 .L33: |
| 184 00f2 83E0 ldi r24,lo8(3) |
| 185 00f4 8093 0000 sts EE_Parameter+32,r24 |
| 186 00f8 80E2 ldi r24,lo8(32) |
| 187 00fa 8093 0000 sts EE_Parameter+68,r24 |
| 188 00fe 8EE1 ldi r24,lo8(30) |
| 189 0100 8093 0000 sts EE_Parameter+28,r24 |
| 190 0104 85E5 ldi r24,lo8(85) |
| 191 .L35: |
| 192 0106 8093 0000 sts EE_Parameter+65,r24 |
| 193 010a 8093 0000 sts EE_Parameter+66,r24 |
| 194 010e 80E2 ldi r24,lo8(32) |
| 195 0110 8093 0000 sts EE_Parameter+67,r24 |
| 196 0114 1092 0000 sts EE_Parameter+108,__zero_reg__ |
| 197 0118 8AE6 ldi r24,lo8(106) |
| 198 011a 8093 0000 sts EE_Parameter+13,r24 |
| 199 011e 82E2 ldi r24,lo8(34) |
| 200 0120 8093 0000 sts EE_Parameter+110,r24 |
| 201 0124 80E4 ldi r24,lo8(64) |
| 202 0126 8093 0000 sts EE_Parameter+111,r24 |
| 203 012a 66E0 ldi r22,lo8(6) |
| 204 012c 6093 0000 sts EE_Parameter+39,r22 |
| 205 0130 1092 0000 sts EE_Parameter+100,__zero_reg__ |
| 206 0134 1092 0000 sts EE_Parameter+97,__zero_reg__ |
| 207 0138 48E0 ldi r20,lo8(8) |
| 208 013a 4093 0000 sts EE_Parameter+26,r20 |
| 209 013e 56EE ldi r21,lo8(-26) |
| 210 0140 5093 0000 sts EE_Parameter+27,r21 |
| 211 0144 8093 0000 sts EE_Parameter+29,r24 |
| 212 0148 9EE1 ldi r25,lo8(30) |
| 213 014a 9093 0000 sts EE_Parameter+14,r25 |
| 214 014e 8FEF ldi r24,lo8(-1) |
| 215 0150 8093 0000 sts EE_Parameter+16,r24 |
| 216 0154 2FE0 ldi r18,lo8(15) |
| 217 0156 2093 0000 sts EE_Parameter+17,r18 |
| 218 015a 9093 0000 sts EE_Parameter+15,r25 |
| 219 015e 1092 0000 sts EE_Parameter+19,__zero_reg__ |
| 220 0162 4093 0000 sts EE_Parameter+20,r20 |
| 221 0166 84E1 ldi r24,lo8(20) |
| 222 0168 8093 0000 sts EE_Parameter+21,r24 |
| 223 016c 1092 0000 sts EE_Parameter+22,__zero_reg__ |
| 224 0170 2093 0000 sts EE_Parameter+18,r18 |
| 225 0174 1092 0000 sts EE_Parameter+41,__zero_reg__ |
| 226 0178 1092 0000 sts EE_Parameter+42,__zero_reg__ |
| 227 017c 1092 0000 sts EE_Parameter+43,__zero_reg__ |
| 228 0180 1092 0000 sts EE_Parameter+44,__zero_reg__ |
| 229 0184 1092 0000 sts EE_Parameter+70,__zero_reg__ |
| 230 0188 1092 0000 sts EE_Parameter+71,__zero_reg__ |
| 231 018c 1092 0000 sts EE_Parameter+72,__zero_reg__ |
| 232 0190 1092 0000 sts EE_Parameter+73,__zero_reg__ |
| 233 0194 90E8 ldi r25,lo8(-128) |
| 234 0196 9093 0000 sts EE_Parameter+45,r25 |
| 235 019a 32E3 ldi r19,lo8(50) |
| 236 019c 3093 0000 sts EE_Parameter+46,r19 |
| 237 01a0 82E0 ldi r24,lo8(2) |
| 238 01a2 8093 0000 sts EE_Parameter+109,r24 |
| 239 01a6 2093 0000 sts EE_Parameter+47,r18 |
| 240 01aa 5093 0000 sts EE_Parameter+48,r21 |
| 241 01ae 84E0 ldi r24,lo8(4) |
| 242 01b0 8093 0000 sts EE_Parameter+53,r24 |
| 243 01b4 8DE7 ldi r24,lo8(125) |
| 244 01b6 8093 0000 sts EE_Parameter+56,r24 |
| 245 01ba 8093 0000 sts EE_Parameter+57,r24 |
| 246 01be 8093 0000 sts EE_Parameter+58,r24 |
| 247 01c2 9093 0000 sts EE_Parameter+49,r25 |
| 248 01c6 25E5 ldi r18,lo8(85) |
| 249 01c8 2093 0000 sts EE_Parameter+50,r18 |
| 250 01cc 86E4 ldi r24,lo8(70) |
| 251 01ce 8093 0000 sts EE_Parameter+51,r24 |
| 252 01d2 8CED ldi r24,lo8(-36) |
| 253 01d4 8093 0000 sts EE_Parameter+52,r24 |
| 254 01d8 8CE3 ldi r24,lo8(60) |
| 255 01da 8093 0000 sts EE_Parameter+54,r24 |
| 256 01de 1092 0000 sts EE_Parameter+55,__zero_reg__ |
| 257 01e2 8FE5 ldi r24,lo8(95) |
| 258 01e4 8093 0000 sts EE_Parameter+74,r24 |
| 259 01e8 83EF ldi r24,lo8(-13) |
| 260 01ea 8093 0000 sts EE_Parameter+76,r24 |
| 261 01ee 8AEA ldi r24,lo8(-86) |
| 262 01f0 8093 0000 sts EE_Parameter+78,r24 |
| 263 01f4 8093 0000 sts EE_Parameter+79,r24 |
| 264 01f8 88E2 ldi r24,lo8(40) |
| 265 01fa 8093 0000 sts EE_Parameter+75,r24 |
| 266 01fe 8093 0000 sts EE_Parameter+77,r24 |
| 267 0202 1092 0000 sts EE_Parameter+80,__zero_reg__ |
| 268 0206 3093 0000 sts EE_Parameter+59,r19 |
| 269 020a 9AE5 ldi r25,lo8(90) |
| 270 020c 9093 0000 sts EE_Parameter+60,r25 |
| 271 0210 3093 0000 sts EE_Parameter+61,r19 |
| 272 0214 8EEF ldi r24,lo8(-2) |
| 273 0216 8093 0000 sts EE_Parameter+81,r24 |
| 274 021a 84E6 ldi r24,lo8(100) |
| 275 021c 8093 0000 sts EE_Parameter+82,r24 |
| 276 0220 9093 0000 sts EE_Parameter+83,r25 |
| 277 0224 9093 0000 sts EE_Parameter+84,r25 |
| 278 0228 9093 0000 sts EE_Parameter+85,r25 |
| 279 022c 8BE4 ldi r24,lo8(75) |
| 280 022e 8093 0000 sts EE_Parameter+86,r24 |
| 281 0232 2093 0000 sts EE_Parameter+87,r18 |
| 282 0236 8093 0000 sts EE_Parameter+88,r24 |
| 283 023a 1092 0000 sts EE_Parameter+89,__zero_reg__ |
| 284 023e 6093 0000 sts EE_Parameter+90,r22 |
| 285 0242 4093 0000 sts EE_Parameter+91,r20 |
| 286 0246 9093 0000 sts EE_Parameter+92,r25 |
| 287 024a 8AE2 ldi r24,lo8(42) |
| 288 024c 8093 0000 sts EE_Parameter+93,r24 |
| 289 0250 85EF ldi r24,lo8(-11) |
| 290 0252 8093 0000 sts EE_Parameter+94,r24 |
| 291 0256 8CE8 ldi r24,lo8(-116) |
| 292 0258 8093 0000 sts EE_Parameter+95,r24 |
| 293 025c 85E0 ldi r24,lo8(5) |
| 294 025e 8093 0000 sts EE_Parameter+96,r24 |
| 295 0262 1092 0000 sts EE_Parameter+98,__zero_reg__ |
| 296 0266 1092 0000 sts EE_Parameter+99,__zero_reg__ |
| 297 026a 81E2 ldi r24,lo8(33) |
| 298 026c 8093 0000 sts EE_Parameter+36,r24 |
| 299 0270 81E4 ldi r24,lo8(65) |
| 300 0272 8093 0000 sts EE_Parameter+37,r24 |
| 301 0276 9093 0000 sts EE_Parameter+38,r25 |
| 302 027a 1092 0000 sts EE_Parameter+101,__zero_reg__ |
| 303 027e 1092 0000 sts EE_Parameter+102,__zero_reg__ |
| 304 0282 1092 0000 sts EE_Parameter+103,__zero_reg__ |
| 305 0286 86E9 ldi r24,lo8(-106) |
| 306 0288 8093 0000 sts EE_Parameter+104,r24 |
| 307 028c 9093 0000 sts EE_Parameter+62,r25 |
| 308 0290 87E3 ldi r24,lo8(55) |
| 309 0292 8093 0000 sts EE_Parameter+63,r24 |
| 310 0296 1092 0000 sts EE_Parameter+105,__zero_reg__ |
| 311 029a 1092 0000 sts EE_Parameter+106,__zero_reg__ |
| 312 029e 1092 0000 sts EE_Parameter+107,__zero_reg__ |
| 313 /* epilogue: frame size=0 */ |
| 314 02a2 0895 ret |
| 315 /* epilogue end (size=1) */ |
| 316 /* function CommonDefaults size 240 (239) */ |
| 318 .global ParamSet_DefaultSet1 |
| 320 ParamSet_DefaultSet1: |
| 321 /* prologue: frame size=0 */ |
| 322 /* prologue end (size=0) */ |
| 323 02a4 0E94 0000 call CommonDefaults |
| 324 02a8 8AE0 ldi r24,lo8(10) |
| 325 02aa 8093 0000 sts EE_Parameter+23,r24 |
| 326 02ae 80E1 ldi r24,lo8(16) |
| 327 02b0 8093 0000 sts EE_Parameter+24,r24 |
| 328 02b4 26E0 ldi r18,lo8(6) |
| 329 02b6 2093 0000 sts EE_Parameter+25,r18 |
| 330 02ba 9AE5 ldi r25,lo8(90) |
| 331 02bc 9093 0000 sts EE_Parameter+30,r25 |
| 332 02c0 88E7 ldi r24,lo8(120) |
| 333 02c2 8093 0000 sts EE_Parameter+31,r24 |
| 334 02c6 9093 0000 sts EE_Parameter+33,r25 |
| 335 02ca 8093 0000 sts EE_Parameter+34,r24 |
| 336 02ce 2093 0000 sts EE_Parameter+35,r18 |
| 337 02d2 80E2 ldi r24,lo8(32) |
| 338 02d4 8093 0000 sts EE_Parameter+40,r24 |
| 339 02d8 8CE3 ldi r24,lo8(60) |
| 340 02da 8093 0000 sts EE_Parameter+64,r24 |
| 341 02de 8BE4 ldi r24,lo8(75) |
| 342 02e0 8093 0000 sts EE_Parameter+69,r24 |
| 343 02e4 86E4 ldi r24,lo8(1953718598) |
| 344 02e6 91E6 ldi r25,hi8(1953718598) |
| 345 02e8 A3E7 ldi r26,hlo8(1953718598) |
| 346 02ea B4E7 ldi r27,hhi8(1953718598) |
| 347 02ec 8093 0000 sts EE_Parameter+112,r24 |
| 348 02f0 9093 0000 sts (EE_Parameter+112)+1,r25 |
| 349 02f4 A093 0000 sts (EE_Parameter+112)+2,r26 |
| 350 02f8 B093 0000 sts (EE_Parameter+112)+3,r27 |
| 351 02fc 6CE7 ldi r22,lo8(124) |
| 352 02fe 70E0 ldi r23,hi8(124) |
| 353 0300 80E0 ldi r24,lo8(EE_Parameter) |
| 354 0302 90E0 ldi r25,hi8(EE_Parameter) |
| 355 0304 0E94 0000 call RAM_Checksum |
| 356 0308 8093 0000 sts EE_Parameter+124,r24 |
| 357 /* epilogue: frame size=0 */ |
| 358 030c 0895 ret |
| 359 /* epilogue end (size=1) */ |
| 360 /* function ParamSet_DefaultSet1 size 53 (52) */ |
| 362 .data |
| 363 .LC0: |
| 364 0000 4E6F 726D .string "Normal" |
| 364 616C 00 |
| 365 .text |
| 366 .global ParamSet_DefaultSet2 |
| 368 ParamSet_DefaultSet2: |
| 369 /* prologue: frame size=0 */ |
| 370 030e CF93 push r28 |
| 371 0310 DF93 push r29 |
| 372 /* prologue end (size=2) */ |
| 373 0312 0E94 0000 call CommonDefaults |
| 374 0316 88E0 ldi r24,lo8(8) |
| 375 0318 8093 0000 sts EE_Parameter+23,r24 |
| 376 031c 30E1 ldi r19,lo8(16) |
| 377 031e 3093 0000 sts EE_Parameter+24,r19 |
| 378 0322 26E0 ldi r18,lo8(6) |
| 379 0324 2093 0000 sts EE_Parameter+25,r18 |
| 380 0328 94E6 ldi r25,lo8(100) |
| 381 032a 9093 0000 sts EE_Parameter+30,r25 |
| 382 032e 88E7 ldi r24,lo8(120) |
| 383 0330 8093 0000 sts EE_Parameter+31,r24 |
| 384 0334 9093 0000 sts EE_Parameter+33,r25 |
| 385 0338 8093 0000 sts EE_Parameter+34,r24 |
| 386 033c 2093 0000 sts EE_Parameter+35,r18 |
| 387 0340 3093 0000 sts EE_Parameter+40,r19 |
| 388 0344 86E4 ldi r24,lo8(70) |
| 389 0346 8093 0000 sts EE_Parameter+64,r24 |
| 390 034a 8093 0000 sts EE_Parameter+69,r24 |
| 391 034e A0E0 ldi r26,lo8(EE_Parameter+112) |
| 392 0350 B0E0 ldi r27,hi8(EE_Parameter+112) |
| 393 0352 E0E0 ldi r30,lo8(.LC0) |
| 394 0354 F0E0 ldi r31,hi8(.LC0) |
| 395 0356 ED01 movw r28,r26 |
| 396 0358 0190 ld __tmp_reg__,Z+ |
| 397 035a 0992 st Y+,__tmp_reg__ |
| 398 035c 2A95 dec r18 |
| 399 035e 01F4 brne .-8 |
| 400 0360 6CE7 ldi r22,lo8(124) |
| 401 0362 70E0 ldi r23,hi8(124) |
| 402 0364 CD01 movw r24,r26 |
| 403 0366 8057 subi r24,lo8(-(-112)) |
| 404 0368 9040 sbci r25,hi8(-(-112)) |
| 405 036a 0E94 0000 call RAM_Checksum |
| 406 036e 8093 0000 sts EE_Parameter+124,r24 |
| 407 /* epilogue: frame size=0 */ |
| 408 0372 DF91 pop r29 |
| 409 0374 CF91 pop r28 |
| 410 0376 0895 ret |
| 411 /* epilogue end (size=3) */ |
| 412 /* function ParamSet_DefaultSet2 size 53 (48) */ |
| 414 .global ParamSet_DefaultSet3 |
| 416 ParamSet_DefaultSet3: |
| 417 /* prologue: frame size=0 */ |
| 418 /* prologue end (size=0) */ |
| 419 0378 0E94 0000 call CommonDefaults |
| 420 037c 26E0 ldi r18,lo8(6) |
| 421 037e 2093 0000 sts EE_Parameter+23,r18 |
| 422 0382 8AE0 ldi r24,lo8(10) |
| 423 0384 8093 0000 sts EE_Parameter+24,r24 |
| 424 0388 84E0 ldi r24,lo8(4) |
| 425 038a 8093 0000 sts EE_Parameter+25,r24 |
| 426 038e 94E6 ldi r25,lo8(100) |
| 427 0390 9093 0000 sts EE_Parameter+30,r25 |
| 428 0394 88E7 ldi r24,lo8(120) |
| 429 0396 8093 0000 sts EE_Parameter+31,r24 |
| 430 039a 9093 0000 sts EE_Parameter+33,r25 |
| 431 039e 8093 0000 sts EE_Parameter+34,r24 |
| 432 03a2 2093 0000 sts EE_Parameter+35,r18 |
| 433 03a6 80E1 ldi r24,lo8(16) |
| 434 03a8 8093 0000 sts EE_Parameter+40,r24 |
| 435 03ac 86E4 ldi r24,lo8(70) |
| 436 03ae 8093 0000 sts EE_Parameter+64,r24 |
| 437 03b2 8093 0000 sts EE_Parameter+69,r24 |
| 438 03b6 85E4 ldi r24,lo8(2037604677) |
| 439 03b8 91E6 ldi r25,hi8(2037604677) |
| 440 03ba A3E7 ldi r26,hlo8(2037604677) |
| 441 03bc B9E7 ldi r27,hhi8(2037604677) |
| 442 03be 8093 0000 sts EE_Parameter+112,r24 |
| 443 03c2 9093 0000 sts (EE_Parameter+112)+1,r25 |
| 444 03c6 A093 0000 sts (EE_Parameter+112)+2,r26 |
| 445 03ca B093 0000 sts (EE_Parameter+112)+3,r27 |
| 446 03ce 6CE7 ldi r22,lo8(124) |
| 447 03d0 70E0 ldi r23,hi8(124) |
| 448 03d2 80E0 ldi r24,lo8(EE_Parameter) |
| 449 03d4 90E0 ldi r25,hi8(EE_Parameter) |
| 450 03d6 0E94 0000 call RAM_Checksum |
| 451 03da 8093 0000 sts EE_Parameter+124,r24 |
| 452 /* epilogue: frame size=0 */ |
| 453 03de 0895 ret |
| 454 /* epilogue end (size=1) */ |
| 455 /* function ParamSet_DefaultSet3 size 52 (51) */ |
| 457 .global GetParamByte |
| 459 GetParamByte: |
| 460 /* prologue: frame size=0 */ |
| 461 /* prologue end (size=0) */ |
| 462 .L40: |
| 463 03e0 F999 sbic 63-0x20,1 |
| 464 03e2 00C0 rjmp .L40 |
| 465 03e4 92BD out (65)+1-0x20,r25 |
| 466 03e6 81BD out 65-0x20,r24 |
| 467 /* #APP */ |
| 468 /* START EEPROM READ CRITICAL SECTION */ |
| 469 03e8 F89A sbi 31, 0 |
| 470 03ea 80B5 in r24, 32 |
| 471 /* END EEPROM READ CRITICAL SECTION */ |
| 472 |
| 473 /* #NOAPP */ |
| 474 03ec 9927 clr r25 |
| 475 /* epilogue: frame size=0 */ |
| 476 03ee 0895 ret |
| 477 /* epilogue end (size=1) */ |
| 478 /* function GetParamByte size 16 (15) */ |
| 480 .global SetParamByte |
| 482 SetParamByte: |
| 483 /* prologue: frame size=0 */ |
| 484 /* prologue end (size=0) */ |
| 485 .L45: |
| 486 03f0 F999 sbic 63-0x20,1 |
| 487 03f2 00C0 rjmp .L45 |
| 488 03f4 1FBA out 63-0x20,__zero_reg__ |
| 489 03f6 92BD out (65)+1-0x20,r25 |
| 490 03f8 81BD out 65-0x20,r24 |
| 491 03fa 60BD out 64-0x20,r22 |
| 492 /* #APP */ |
| 493 /* START EEPROM WRITE CRITICAL SECTION */ |
| 494 03fc 0FB6 in r0, 63 |
| 495 03fe F894 cli |
| 496 0400 FA9A sbi 31, 2 |
| 497 0402 F99A sbi 31, 1 |
| 498 0404 0FBE out 63, r0 |
| 499 /* END EEPROM WRITE CRITICAL SECTION */ |
| 500 /* #NOAPP */ |
| 501 /* epilogue: frame size=0 */ |
| 502 0406 0895 ret |
| 503 /* epilogue end (size=1) */ |
| 504 /* function SetParamByte size 21 (20) */ |
| 506 .global GetParamWord |
| 508 GetParamWord: |
| 509 /* prologue: frame size=0 */ |
| 510 /* prologue end (size=0) */ |
| 511 0408 60E0 ldi r22,lo8(pm(eeprom_read_byte)) |
| 512 040a 70E0 ldi r23,hi8(pm(eeprom_read_byte)) |
| 513 040c 0E94 0000 call __eerd_word |
| 514 /* epilogue: frame size=0 */ |
| 515 0410 0895 ret |
| 516 /* epilogue end (size=1) */ |
| 517 /* function GetParamWord size 5 (4) */ |
| 519 .global SetParamWord |
| 521 SetParamWord: |
| 522 /* prologue: frame size=0 */ |
| 523 /* prologue end (size=0) */ |
| 524 0412 40E0 ldi r20,lo8(pm(eeprom_write_byte)) |
| 525 0414 50E0 ldi r21,hi8(pm(eeprom_write_byte)) |
| 526 0416 0E94 0000 call __eewr_word |
| 527 /* epilogue: frame size=0 */ |
| 528 041a 0895 ret |
| 529 /* epilogue end (size=1) */ |
| 530 /* function SetParamWord size 5 (4) */ |
| 532 .global ParamSet_ReadFromEEProm |
| 534 ParamSet_ReadFromEEProm: |
| 535 /* prologue: frame size=0 */ |
| 536 041c EF92 push r14 |
| 537 041e FF92 push r15 |
| 538 0420 0F93 push r16 |
| 539 0422 1F93 push r17 |
| 540 0424 CF93 push r28 |
| 541 /* prologue end (size=5) */ |
| 542 0426 C82F mov r28,r24 |
| 543 0428 8150 subi r24,lo8(-(-1)) |
| 544 042a 8530 cpi r24,lo8(5) |
| 545 042c 00F0 brlo .L54 |
| 546 042e C3E0 ldi r28,lo8(3) |
| 547 .L54: |
| 548 0430 8DE7 ldi r24,lo8(125) |
| 549 0432 C89F mul r28,r24 |
| 550 0434 8001 movw r16,r0 |
| 551 0436 1124 clr r1 |
| 552 0438 87EE ldi r24,lo8(-25) |
| 553 043a E82E mov r14,r24 |
| 554 043c 8FEF ldi r24,hi8(-25) |
| 555 043e F82E mov r15,r24 |
| 556 0440 E00E add r14,r16 |
| 557 0442 F11E adc r15,r17 |
| 558 0444 6CE7 ldi r22,lo8(124) |
| 559 0446 70E0 ldi r23,hi8(124) |
| 560 0448 C701 movw r24,r14 |
| 561 044a 0E94 0000 call EEProm_Checksum |
| 562 044e 682F mov r22,r24 |
| 563 0450 9801 movw r18,r16 |
| 564 0452 2D59 subi r18,lo8(-(99)) |
| 565 0454 3F4F sbci r19,hi8(-(99)) |
| 566 .L56: |
| 567 0456 8FB3 in r24,63-0x20 |
| 568 0458 9927 clr r25 |
| 569 045a AC01 movw r20,r24 |
| 570 045c 4270 andi r20,lo8(2) |
| 571 045e 5070 andi r21,hi8(2) |
| 572 0460 81FD sbrc r24,1 |
| 573 0462 00C0 rjmp .L56 |
| 574 0464 32BD out (65)+1-0x20,r19 |
| 575 0466 21BD out 65-0x20,r18 |
| 576 /* #APP */ |
| 577 /* START EEPROM READ CRITICAL SECTION */ |
| 578 0468 F89A sbi 31, 0 |
| 579 046a 80B5 in r24, 32 |
| 580 /* END EEPROM READ CRITICAL SECTION */ |
| 581 |
| 582 /* #NOAPP */ |
| 583 046c 8617 cp r24,r22 |
| 584 046e 01F0 breq .L61 |
| 585 0470 CA01 movw r24,r20 |
| 586 0472 00C0 rjmp .L53 |
| 587 .L61: |
| 588 0474 8FB3 in r24,63-0x20 |
| 589 0476 9927 clr r25 |
| 590 0478 9C01 movw r18,r24 |
| 591 047a 2270 andi r18,lo8(2) |
| 592 047c 3070 andi r19,hi8(2) |
| 593 047e 81FD sbrc r24,1 |
| 594 0480 00C0 rjmp .L61 |
| 595 0482 F2BC out (65)+1-0x20,r15 |
| 596 0484 E1BC out 65-0x20,r14 |
| 597 /* #APP */ |
| 598 /* START EEPROM READ CRITICAL SECTION */ |
| 599 0486 F89A sbi 31, 0 |
| 600 0488 80B5 in r24, 32 |
| 601 /* END EEPROM READ CRITICAL SECTION */ |
| 602 |
| 603 /* #NOAPP */ |
| 604 048a 8C35 cpi r24,lo8(92) |
| 605 048c 01F0 breq .L60 |
| 606 048e C901 movw r24,r18 |
| 607 0490 00C0 rjmp .L53 |
| 608 .L60: |
| 609 0492 8DE7 ldi r24,lo8(125) |
| 610 0494 C89F mul r28,r24 |
| 611 0496 C001 movw r24,r0 |
| 612 0498 1124 clr r1 |
| 613 049a 4997 sbiw r24,25 |
| 614 049c 20E0 ldi r18,lo8(pm(eeprom_read_byte)) |
| 615 049e 30E0 ldi r19,hi8(pm(eeprom_read_byte)) |
| 616 04a0 4DE7 ldi r20,lo8(125) |
| 617 04a2 50E0 ldi r21,hi8(125) |
| 618 04a4 BC01 movw r22,r24 |
| 619 04a6 80E0 ldi r24,lo8(EE_Parameter) |
| 620 04a8 90E0 ldi r25,hi8(EE_Parameter) |
| 621 04aa 0E94 0000 call __eerd_block |
| 622 04ae 0E94 0000 call LED_Init |
| 623 04b2 0E94 0000 call LIBFC_HoTT_Clear |
| 624 04b6 81E0 ldi r24,lo8(1) |
| 625 04b8 90E0 ldi r25,hi8(1) |
| 626 .L53: |
| 627 /* epilogue: frame size=0 */ |
| 628 04ba CF91 pop r28 |
| 629 04bc 1F91 pop r17 |
| 630 04be 0F91 pop r16 |
| 631 04c0 FF90 pop r15 |
| 632 04c2 EF90 pop r14 |
| 633 04c4 0895 ret |
| 634 /* epilogue end (size=6) */ |
| 635 /* function ParamSet_ReadFromEEProm size 101 (90) */ |
| 637 .global SetActiveParamSet |
| 639 SetActiveParamSet: |
| 640 /* prologue: frame size=0 */ |
| 641 /* prologue end (size=0) */ |
| 642 04c6 282F mov r18,r24 |
| 643 04c8 8630 cpi r24,lo8(6) |
| 644 04ca 00F0 brlo .L67 |
| 645 04cc 25E0 ldi r18,lo8(5) |
| 646 04ce 00C0 rjmp .L69 |
| 647 .L67: |
| 648 04d0 8823 tst r24 |
| 649 04d2 01F4 brne .L69 |
| 650 04d4 21E0 ldi r18,lo8(1) |
| 651 .L69: |
| 652 04d6 F999 sbic 63-0x20,1 |
| 653 04d8 00C0 rjmp .L69 |
| 654 04da 1FBA out 63-0x20,__zero_reg__ |
| 655 04dc 82E0 ldi r24,lo8(2) |
| 656 04de 90E0 ldi r25,hi8(2) |
| 657 04e0 92BD out (65)+1-0x20,r25 |
| 658 04e2 81BD out 65-0x20,r24 |
| 659 04e4 20BD out 64-0x20,r18 |
| 660 /* #APP */ |
| 661 /* START EEPROM WRITE CRITICAL SECTION */ |
| 662 04e6 0FB6 in r0, 63 |
| 663 04e8 F894 cli |
| 664 04ea FA9A sbi 31, 2 |
| 665 04ec F99A sbi 31, 1 |
| 666 04ee 0FBE out 63, r0 |
| 667 /* END EEPROM WRITE CRITICAL SECTION */ |
| 668 /* #NOAPP */ |
| 669 /* epilogue: frame size=0 */ |
| 670 04f0 0895 ret |
| 671 /* epilogue end (size=1) */ |
| 672 /* function SetActiveParamSet size 31 (30) */ |
| 674 .global ParamSet_WriteToEEProm |
| 676 ParamSet_WriteToEEProm: |
| 677 /* prologue: frame size=0 */ |
| 678 04f2 CF93 push r28 |
| 679 /* prologue end (size=1) */ |
| 680 04f4 C82F mov r28,r24 |
| 681 04f6 8091 0000 lds r24,EE_Parameter |
| 682 04fa 8C35 cpi r24,lo8(92) |
| 683 04fc 01F0 breq .+2 |
| 684 04fe 00C0 rjmp .L74 |
| 685 0500 C630 cpi r28,lo8(6) |
| 686 0502 00F0 brlo .L75 |
| 687 0504 C5E0 ldi r28,lo8(5) |
| 688 0506 00C0 rjmp .L76 |
| 689 .L75: |
| 690 0508 CC23 tst r28 |
| 691 050a 01F4 brne .+2 |
| 692 050c 00C0 rjmp .L74 |
| 693 .L76: |
| 694 050e 0E94 0000 call LIBFC_CheckSettings |
| 695 0512 8091 0000 lds r24,EE_Parameter+111 |
| 696 0516 82FF sbrs r24,2 |
| 697 0518 00C0 rjmp .L77 |
| 698 051a 8091 0000 lds r24,EE_Parameter+37 |
| 699 051e 8436 cpi r24,lo8(100) |
| 700 0520 00F0 brlo .L77 |
| 701 0522 80E5 ldi r24,lo8(80) |
| 702 0524 8093 0000 sts EE_Parameter+37,r24 |
| 703 .L77: |
| 704 0528 6CE7 ldi r22,lo8(124) |
| 705 052a 70E0 ldi r23,hi8(124) |
| 706 052c 80E0 ldi r24,lo8(EE_Parameter) |
| 707 052e 90E0 ldi r25,hi8(EE_Parameter) |
| 708 0530 0E94 0000 call RAM_Checksum |
| 709 0534 8093 0000 sts EE_Parameter+124,r24 |
| 710 0538 8DE7 ldi r24,lo8(125) |
| 711 053a C89F mul r28,r24 |
| 712 053c C001 movw r24,r0 |
| 713 053e 1124 clr r1 |
| 714 0540 20E0 ldi r18,lo8(pm(eeprom_write_byte)) |
| 715 0542 30E0 ldi r19,hi8(pm(eeprom_write_byte)) |
| 716 0544 4DE7 ldi r20,lo8(125) |
| 717 0546 50E0 ldi r21,hi8(125) |
| 718 0548 60E0 ldi r22,lo8(EE_Parameter) |
| 719 054a 70E0 ldi r23,hi8(EE_Parameter) |
| 720 054c 4997 sbiw r24,25 |
| 721 054e 0E94 0000 call __eewr_block |
| 722 0552 20E0 ldi r18,lo8(pm(eeprom_write_byte)) |
| 723 0554 30E0 ldi r19,hi8(pm(eeprom_write_byte)) |
| 724 0556 4CE0 ldi r20,lo8(12) |
| 725 0558 50E0 ldi r21,hi8(12) |
| 726 055a 60E0 ldi r22,lo8(EE_Parameter+1) |
| 727 055c 70E0 ldi r23,hi8(EE_Parameter+1) |
| 728 055e 80E5 ldi r24,lo8(80) |
| 729 0560 90E0 ldi r25,hi8(80) |
| 730 0562 0E94 0000 call __eewr_block |
| 731 0566 6CE0 ldi r22,lo8(12) |
| 732 0568 70E0 ldi r23,hi8(12) |
| 733 056a 80E0 ldi r24,lo8(EE_Parameter+1) |
| 734 056c 90E0 ldi r25,hi8(EE_Parameter+1) |
| 735 056e 0E94 0000 call RAM_Checksum |
| 736 0572 282F mov r18,r24 |
| 737 .L81: |
| 738 0574 F999 sbic 63-0x20,1 |
| 739 0576 00C0 rjmp .L81 |
| 740 0578 1FBA out 63-0x20,__zero_reg__ |
| 741 057a 8CE5 ldi r24,lo8(92) |
| 742 057c 90E0 ldi r25,hi8(92) |
| 743 057e 92BD out (65)+1-0x20,r25 |
| 744 0580 81BD out 65-0x20,r24 |
| 745 0582 20BD out 64-0x20,r18 |
| 746 /* #APP */ |
| 747 /* START EEPROM WRITE CRITICAL SECTION */ |
| 748 0584 0FB6 in r0, 63 |
| 749 0586 F894 cli |
| 750 0588 FA9A sbi 31, 2 |
| 751 058a F99A sbi 31, 1 |
| 752 058c 0FBE out 63, r0 |
| 753 /* END EEPROM WRITE CRITICAL SECTION */ |
| 754 /* #NOAPP */ |
| 755 058e 8C2F mov r24,r28 |
| 756 0590 0E94 0000 call SetActiveParamSet |
| 757 0594 0E94 0000 call LED_Init |
| 758 0598 0E94 0000 call LIBFC_HoTT_Clear |
| 759 059c 81E0 ldi r24,lo8(1) |
| 760 059e 90E0 ldi r25,hi8(1) |
| 761 05a0 00C0 rjmp .L73 |
| 762 .L74: |
| 763 05a2 80E0 ldi r24,lo8(0) |
| 764 05a4 90E0 ldi r25,hi8(0) |
| 765 .L73: |
| 766 /* epilogue: frame size=0 */ |
| 767 05a6 CF91 pop r28 |
| 768 05a8 0895 ret |
| 769 /* epilogue end (size=2) */ |
| 770 /* function ParamSet_WriteToEEProm size 101 (98) */ |
| 772 .global MixerTable_ReadFromEEProm |
| 774 MixerTable_ReadFromEEProm: |
| 775 /* prologue: frame size=0 */ |
| 776 /* prologue end (size=0) */ |
| 777 05aa 6DE4 ldi r22,lo8(77) |
| 778 05ac 70E0 ldi r23,hi8(77) |
| 779 05ae 88EE ldi r24,lo8(1000) |
| 780 05b0 93E0 ldi r25,hi8(1000) |
| 781 05b2 0E94 0000 call EEProm_Checksum |
| 782 05b6 482F mov r20,r24 |
| 783 .L87: |
| 784 05b8 8FB3 in r24,63-0x20 |
| 785 05ba 9927 clr r25 |
| 786 05bc 9C01 movw r18,r24 |
| 787 05be 2270 andi r18,lo8(2) |
| 788 05c0 3070 andi r19,hi8(2) |
| 789 05c2 81FD sbrc r24,1 |
| 790 05c4 00C0 rjmp .L87 |
| 791 05c6 85E3 ldi r24,lo8(1077) |
| 792 05c8 94E0 ldi r25,hi8(1077) |
| 793 05ca 92BD out (65)+1-0x20,r25 |
| 794 05cc 81BD out 65-0x20,r24 |
| 795 /* #APP */ |
| 796 /* START EEPROM READ CRITICAL SECTION */ |
| 797 05ce F89A sbi 31, 0 |
| 798 05d0 80B5 in r24, 32 |
| 799 /* END EEPROM READ CRITICAL SECTION */ |
| 800 |
| 801 /* #NOAPP */ |
| 802 05d2 8417 cp r24,r20 |
| 803 05d4 01F4 brne .L97 |
| 804 .L92: |
| 805 05d6 8FB3 in r24,63-0x20 |
| 806 05d8 9927 clr r25 |
| 807 05da 9C01 movw r18,r24 |
| 808 05dc 2270 andi r18,lo8(2) |
| 809 05de 3070 andi r19,hi8(2) |
| 810 05e0 81FD sbrc r24,1 |
| 811 05e2 00C0 rjmp .L92 |
| 812 05e4 88EE ldi r24,lo8(1000) |
| 813 05e6 93E0 ldi r25,hi8(1000) |
| 814 05e8 92BD out (65)+1-0x20,r25 |
| 815 05ea 81BD out 65-0x20,r24 |
| 816 /* #APP */ |
| 817 /* START EEPROM READ CRITICAL SECTION */ |
| 818 05ec F89A sbi 31, 0 |
| 819 05ee 80B5 in r24, 32 |
| 820 /* END EEPROM READ CRITICAL SECTION */ |
| 821 |
| 822 /* #NOAPP */ |
| 823 05f0 8130 cpi r24,lo8(1) |
| 824 05f2 01F0 breq .L91 |
| 825 .L97: |
| 826 05f4 C901 movw r24,r18 |
| 827 05f6 0895 ret |
| 828 .L91: |
| 829 05f8 20E0 ldi r18,lo8(pm(eeprom_read_byte)) |
| 830 05fa 30E0 ldi r19,hi8(pm(eeprom_read_byte)) |
| 831 05fc 4EE4 ldi r20,lo8(78) |
| 832 05fe 50E0 ldi r21,hi8(78) |
| 833 0600 68EE ldi r22,lo8(1000) |
| 834 0602 73E0 ldi r23,hi8(1000) |
| 835 0604 80E0 ldi r24,lo8(Mixer) |
| 836 0606 90E0 ldi r25,hi8(Mixer) |
| 837 0608 0E94 0000 call __eerd_block |
| 838 060c 81E0 ldi r24,lo8(1) |
| 839 060e 90E0 ldi r25,hi8(1) |
| 840 0610 0895 ret |
| 841 /* epilogue: frame size=0 */ |
| 842 /* epilogue: noreturn */ |
| 843 /* epilogue end (size=0) */ |
| 844 /* function MixerTable_ReadFromEEProm size 68 (68) */ |
| 846 .global MixerTable_WriteToEEProm |
| 848 MixerTable_WriteToEEProm: |
| 849 /* prologue: frame size=0 */ |
| 850 /* prologue end (size=0) */ |
| 851 0612 8091 0000 lds r24,Mixer |
| 852 0616 8130 cpi r24,lo8(1) |
| 853 0618 01F4 brne .L99 |
| 854 061a 6DE4 ldi r22,lo8(77) |
| 855 061c 70E0 ldi r23,hi8(77) |
| 856 061e 80E0 ldi r24,lo8(Mixer) |
| 857 0620 90E0 ldi r25,hi8(Mixer) |
| 858 0622 0E94 0000 call RAM_Checksum |
| 859 0626 8093 0000 sts Mixer+77,r24 |
| 860 062a 20E0 ldi r18,lo8(pm(eeprom_write_byte)) |
| 861 062c 30E0 ldi r19,hi8(pm(eeprom_write_byte)) |
| 862 062e 4EE4 ldi r20,lo8(78) |
| 863 0630 50E0 ldi r21,hi8(78) |
| 864 0632 60E0 ldi r22,lo8(Mixer) |
| 865 0634 70E0 ldi r23,hi8(Mixer) |
| 866 0636 88EE ldi r24,lo8(1000) |
| 867 0638 93E0 ldi r25,hi8(1000) |
| 868 063a 0E94 0000 call __eewr_block |
| 869 063e 81E0 ldi r24,lo8(1) |
| 870 0640 90E0 ldi r25,hi8(1) |
| 871 0642 0895 ret |
| 872 .L99: |
| 873 0644 80E0 ldi r24,lo8(0) |
| 874 0646 90E0 ldi r25,hi8(0) |
| 875 0648 0895 ret |
| 876 /* epilogue: frame size=0 */ |
| 877 /* epilogue: noreturn */ |
| 878 /* epilogue end (size=0) */ |
| 879 /* function MixerTable_WriteToEEProm size 28 (28) */ |
| 881 .data |
| 882 .LC1: |
| 883 0007 5175 6164 .string "Quadro" |
| 883 726F 00 |
| 884 000e 00 .string "" |
| 885 000f 00 .string "" |
| 886 0010 00 .string "" |
| 887 0011 00 .string "" |
| 888 0012 00 .string "" |
| 889 0013 00 .string "" |
| 890 .text |
| 891 .global MixerTable_Default |
| 893 MixerTable_Default: |
| 894 /* prologue: frame size=0 */ |
| 895 064a CF93 push r28 |
| 896 064c DF93 push r29 |
| 897 /* prologue end (size=2) */ |
| 898 064e 81E0 ldi r24,lo8(1) |
| 899 0650 8093 0000 sts Mixer,r24 |
| 900 0654 E0E0 ldi r30,lo8(Mixer) |
| 901 0656 F0E0 ldi r31,hi8(Mixer) |
| 902 0658 8FE0 ldi r24,lo8(15) |
| 903 .L106: |
| 904 065a 1586 std Z+13,__zero_reg__ |
| 905 065c 1686 std Z+14,__zero_reg__ |
| 906 065e 1786 std Z+15,__zero_reg__ |
| 907 0660 108A std Z+16,__zero_reg__ |
| 908 0662 8150 subi r24,lo8(-(-1)) |
| 909 0664 3496 adiw r30,4 |
| 910 0666 87FF sbrs r24,7 |
| 911 0668 00C0 rjmp .L106 |
| 912 066a 80E4 ldi r24,lo8(64) |
| 913 066c 8093 0000 sts Mixer+13,r24 |
| 914 0670 8093 0000 sts Mixer+14,r24 |
| 915 0674 1092 0000 sts Mixer+15,__zero_reg__ |
| 916 0678 8093 0000 sts Mixer+16,r24 |
| 917 067c 8093 0000 sts Mixer+17,r24 |
| 918 0680 90EC ldi r25,lo8(-64) |
| 919 0682 9093 0000 sts Mixer+18,r25 |
| 920 0686 1092 0000 sts Mixer+19,__zero_reg__ |
| 921 068a 8093 0000 sts Mixer+20,r24 |
| 922 068e 8093 0000 sts Mixer+21,r24 |
| 923 0692 1092 0000 sts Mixer+22,__zero_reg__ |
| 924 0696 9093 0000 sts Mixer+23,r25 |
| 925 069a 9093 0000 sts Mixer+24,r25 |
| 926 069e 8093 0000 sts Mixer+25,r24 |
| 927 06a2 1092 0000 sts Mixer+26,__zero_reg__ |
| 928 06a6 8093 0000 sts Mixer+27,r24 |
| 929 06aa 9093 0000 sts Mixer+28,r25 |
| 930 06ae A0E0 ldi r26,lo8(Mixer+1) |
| 931 06b0 B0E0 ldi r27,hi8(Mixer+1) |
| 932 06b2 8CE0 ldi r24,lo8(12) |
| 933 06b4 E0E0 ldi r30,lo8(.LC1) |
| 934 06b6 F0E0 ldi r31,hi8(.LC1) |
| 935 06b8 ED01 movw r28,r26 |
| 936 06ba 0190 ld __tmp_reg__,Z+ |
| 937 06bc 0992 st Y+,__tmp_reg__ |
| 938 06be 8A95 dec r24 |
| 939 06c0 01F4 brne .-8 |
| 940 06c2 6DE4 ldi r22,lo8(77) |
| 941 06c4 70E0 ldi r23,hi8(77) |
| 942 06c6 CD01 movw r24,r26 |
| 943 06c8 0197 sbiw r24,1 |
| 944 06ca 0E94 0000 call RAM_Checksum |
| 945 06ce 8093 0000 sts Mixer+77,r24 |
| 946 /* epilogue: frame size=0 */ |
| 947 06d2 DF91 pop r29 |
| 948 06d4 CF91 pop r28 |
| 949 06d6 0895 ret |
| 950 /* epilogue end (size=3) */ |
| 951 /* function MixerTable_Default size 71 (66) */ |
| 953 .global GetActiveParamSet |
| 955 GetActiveParamSet: |
| 956 /* prologue: frame size=0 */ |
| 957 /* prologue end (size=0) */ |
| 958 .L110: |
| 959 06d8 F999 sbic 63-0x20,1 |
| 960 06da 00C0 rjmp .L110 |
| 961 06dc 82E0 ldi r24,lo8(2) |
| 962 06de 90E0 ldi r25,hi8(2) |
| 963 06e0 92BD out (65)+1-0x20,r25 |
| 964 06e2 81BD out 65-0x20,r24 |
| 965 /* #APP */ |
| 966 /* START EEPROM READ CRITICAL SECTION */ |
| 967 06e4 F89A sbi 31, 0 |
| 968 06e6 80B5 in r24, 32 |
| 969 /* END EEPROM READ CRITICAL SECTION */ |
| 970 |
| 971 /* #NOAPP */ |
| 972 06e8 282F mov r18,r24 |
| 973 06ea 8630 cpi r24,lo8(6) |
| 974 06ec 00F0 brlo .L114 |
| 975 06ee 23E0 ldi r18,lo8(3) |
| 976 06f0 322F mov r19,r18 |
| 977 .L115: |
| 978 06f2 F999 sbic 63-0x20,1 |
| 979 06f4 00C0 rjmp .L115 |
| 980 06f6 1FBA out 63-0x20,__zero_reg__ |
| 981 06f8 82E0 ldi r24,lo8(2) |
| 982 06fa 90E0 ldi r25,hi8(2) |
| 983 06fc 92BD out (65)+1-0x20,r25 |
| 984 06fe 81BD out 65-0x20,r24 |
| 985 0700 30BD out 64-0x20,r19 |
| 986 /* #APP */ |
| 987 /* START EEPROM WRITE CRITICAL SECTION */ |
| 988 0702 0FB6 in r0, 63 |
| 989 0704 F894 cli |
| 990 0706 FA9A sbi 31, 2 |
| 991 0708 F99A sbi 31, 1 |
| 992 070a 0FBE out 63, r0 |
| 993 /* END EEPROM WRITE CRITICAL SECTION */ |
| 994 /* #NOAPP */ |
| 995 .L114: |
| 996 070c 822F mov r24,r18 |
| 997 070e 9927 clr r25 |
| 998 /* epilogue: frame size=0 */ |
| 999 0710 0895 ret |
| 1000 /* epilogue end (size=1) */ |
| 1001 /* function GetActiveParamSet size 46 (45) */ |
| 1003 .global SetDefaultParameter |
| 1005 SetDefaultParameter: |
| 1006 /* prologue: frame size=0 */ |
| 1007 0712 1F93 push r17 |
| 1008 0714 CF93 push r28 |
| 1009 /* prologue end (size=2) */ |
| 1010 0716 C82F mov r28,r24 |
| 1011 0718 162F mov r17,r22 |
| 1012 071a 8630 cpi r24,lo8(6) |
| 1013 071c 00F0 brlo .L120 |
| 1014 071e C5E0 ldi r28,lo8(5) |
| 1015 0720 00C0 rjmp .L121 |
| 1016 .L120: |
| 1017 0722 8823 tst r24 |
| 1018 0724 01F4 brne .L121 |
| 1019 0726 C1E0 ldi r28,lo8(1) |
| 1020 .L121: |
| 1021 0728 8C2F mov r24,r28 |
| 1022 072a 9927 clr r25 |
| 1023 072c 8230 cpi r24,2 |
| 1024 072e 9105 cpc r25,__zero_reg__ |
| 1025 0730 01F0 breq .L125 |
| 1026 0732 8330 cpi r24,3 |
| 1027 0734 9105 cpc r25,__zero_reg__ |
| 1028 0736 04F4 brge .L127 |
| 1029 0738 0197 sbiw r24,1 |
| 1030 073a 01F4 brne .L127 |
| 1031 073c 0E94 0000 call ParamSet_DefaultSet1 |
| 1032 0740 00C0 rjmp .L123 |
| 1033 .L125: |
| 1034 0742 0E94 0000 call ParamSet_DefaultSet2 |
| 1035 0746 00C0 rjmp .L123 |
| 1036 .L127: |
| 1037 0748 0E94 0000 call ParamSet_DefaultSet3 |
| 1038 .L123: |
| 1039 074c 1123 tst r17 |
| 1040 074e 01F0 breq .L129 |
| 1041 0750 6CE0 ldi r22,lo8(12) |
| 1042 0752 70E0 ldi r23,hi8(12) |
| 1043 0754 80E5 ldi r24,lo8(80) |
| 1044 0756 90E0 ldi r25,hi8(80) |
| 1045 0758 0E94 0000 call EEProm_Checksum |
| 1046 075c 282F mov r18,r24 |
| 1047 .L131: |
| 1048 075e F999 sbic 63-0x20,1 |
| 1049 0760 00C0 rjmp .L131 |
| 1050 0762 8CE5 ldi r24,lo8(92) |
| 1051 0764 90E0 ldi r25,hi8(92) |
| 1052 0766 92BD out (65)+1-0x20,r25 |
| 1053 0768 81BD out 65-0x20,r24 |
| 1054 /* #APP */ |
| 1055 /* START EEPROM READ CRITICAL SECTION */ |
| 1056 076a F89A sbi 31, 0 |
| 1057 076c 80B5 in r24, 32 |
| 1058 /* END EEPROM READ CRITICAL SECTION */ |
| 1059 |
| 1060 /* #NOAPP */ |
| 1061 076e 8217 cp r24,r18 |
| 1062 0770 01F4 brne .L129 |
| 1063 0772 20E0 ldi r18,lo8(pm(eeprom_read_byte)) |
| 1064 0774 30E0 ldi r19,hi8(pm(eeprom_read_byte)) |
| 1065 0776 4CE0 ldi r20,lo8(12) |
| 1066 0778 50E0 ldi r21,hi8(12) |
| 1067 077a 60E5 ldi r22,lo8(80) |
| 1068 077c 70E0 ldi r23,hi8(80) |
| 1069 077e 80E0 ldi r24,lo8(EE_Parameter+1) |
| 1070 0780 90E0 ldi r25,hi8(EE_Parameter+1) |
| 1071 0782 0E94 0000 call __eerd_block |
| 1072 0786 00C0 rjmp .L137 |
| 1073 .L129: |
| 1074 0788 0E94 0000 call ParamSet_DefaultStickMapping |
| 1075 .L137: |
| 1076 078c 8C2F mov r24,r28 |
| 1077 078e 0E94 0000 call ParamSet_WriteToEEProm |
| 1078 /* epilogue: frame size=0 */ |
| 1079 0792 CF91 pop r28 |
| 1080 0794 1F91 pop r17 |
| 1081 0796 0895 ret |
| 1082 /* epilogue end (size=3) */ |
| 1083 /* function SetDefaultParameter size 76 (71) */ |
| 1085 .section .progmem.data,"a",@progbits |
| 1088 __c.0: |
| 1089 0000 0A0D 4765 .string "\n\rGenerating default Parameter Set %d" |
| 1089 6E65 7261 |
| 1089 7469 6E67 |
| 1089 2064 6566 |
| 1089 6175 6C74 |
| 1092 __c.1: |
| 1093 0026 0A0D 5573 .string "\n\rUsing Parameter Set %d" |
| 1093 696E 6720 |
| 1093 5061 7261 |
| 1093 6D65 7465 |
| 1093 7220 5365 |
| 1096 __c.2: |
| 1097 003f 0A0D 4765 .string "\n\rGenerating default Mixer Table" |
| 1097 6E65 7261 |
| 1097 7469 6E67 |
| 1097 2064 6566 |
| 1097 6175 6C74 |
| 1100 __c.3: |
| 1101 0060 0A0D 4D69 .string "\n\rMixer-Config: '%s' (%u Motors)" |
| 1101 7865 722D |
| 1101 436F 6E66 |
| 1101 6967 3A20 |
| 1101 2725 7327 |
| 1102 .text |
| 1103 .global ParamSet_Init |
| 1105 ParamSet_Init: |
| 1106 /* prologue: frame size=0 */ |
| 1107 0798 DF92 push r13 |
| 1108 079a EF92 push r14 |
| 1109 079c FF92 push r15 |
| 1110 079e 0F93 push r16 |
| 1111 07a0 1F93 push r17 |
| 1112 07a2 CF93 push r28 |
| 1113 /* prologue end (size=6) */ |
| 1114 07a4 FF24 clr r15 |
| 1115 07a6 DF2C mov r13,r15 |
| 1116 07a8 EF2C mov r14,r15 |
| 1117 07aa 81E0 ldi r24,lo8(1) |
| 1118 07ac 90E0 ldi r25,hi8(1) |
| 1119 07ae 0E94 0000 call GetParamByte |
| 1120 07b2 8C35 cpi r24,lo8(92) |
| 1121 07b4 01F0 breq .L139 |
| 1122 07b6 31E0 ldi r19,lo8(1) |
| 1123 07b8 E32E mov r14,r19 |
| 1124 .L139: |
| 1125 07ba 6CE0 ldi r22,lo8(12) |
| 1126 07bc 70E0 ldi r23,hi8(12) |
| 1127 07be 80E5 ldi r24,lo8(80) |
| 1128 07c0 90E0 ldi r25,hi8(80) |
| 1129 07c2 0E94 0000 call EEProm_Checksum |
| 1130 07c6 C82F mov r28,r24 |
| 1131 .L141: |
| 1132 07c8 F999 sbic 63-0x20,1 |
| 1133 07ca 00C0 rjmp .L141 |
| 1134 07cc 8CE5 ldi r24,lo8(92) |
| 1135 07ce 90E0 ldi r25,hi8(92) |
| 1136 07d0 92BD out (65)+1-0x20,r25 |
| 1137 07d2 81BD out 65-0x20,r24 |
| 1138 /* #APP */ |
| 1139 /* START EEPROM READ CRITICAL SECTION */ |
| 1140 07d4 F89A sbi 31, 0 |
| 1141 07d6 80B5 in r24, 32 |
| 1142 /* END EEPROM READ CRITICAL SECTION */ |
| 1143 |
| 1144 /* #NOAPP */ |
| 1145 07d8 8C17 cp r24,r28 |
| 1146 07da 01F4 brne .L140 |
| 1147 07dc 21E0 ldi r18,lo8(1) |
| 1148 07de D22E mov r13,r18 |
| 1149 .L140: |
| 1150 07e0 C1E0 ldi r28,lo8(1) |
| 1151 07e2 01E0 ldi r16,lo8(1) |
| 1152 07e4 10E0 ldi r17,hi8(1) |
| 1153 .L159: |
| 1154 07e6 EE20 tst r14 |
| 1155 07e8 01F4 brne .L149 |
| 1156 07ea 8C2F mov r24,r28 |
| 1157 07ec 0E94 0000 call ParamSet_ReadFromEEProm |
| 1158 07f0 8823 tst r24 |
| 1159 07f2 01F4 brne .L147 |
| 1160 .L149: |
| 1161 07f4 91E0 ldi r25,lo8(1) |
| 1162 07f6 F92E mov r15,r25 |
| 1163 07f8 1F93 push r17 |
| 1164 07fa 0F93 push r16 |
| 1165 07fc 80E0 ldi r24,lo8(__c.0) |
| 1166 07fe 90E0 ldi r25,hi8(__c.0) |
| 1167 0800 9F93 push r25 |
| 1168 0802 8F93 push r24 |
| 1169 0804 80E0 ldi r24,lo8(pm(uart_putchar)) |
| 1170 0806 90E0 ldi r25,hi8(pm(uart_putchar)) |
| 1171 0808 9F93 push r25 |
| 1172 080a 8F93 push r24 |
| 1173 080c E091 0000 lds r30,_printf_P |
| 1174 0810 F091 0000 lds r31,(_printf_P)+1 |
| 1175 0814 0995 icall |
| 1176 0816 2DB7 in r18,__SP_L__ |
| 1177 0818 3EB7 in r19,__SP_H__ |
| 1178 081a 2A5F subi r18,lo8(-(6)) |
| 1179 081c 3F4F sbci r19,hi8(-(6)) |
| 1180 081e 2DBF out __SP_L__,r18 |
| 1181 0820 0230 cpi r16,2 |
| 1182 0822 1105 cpc r17,__zero_reg__ |
| 1183 0824 01F0 breq .L152 |
| 1184 0826 0330 cpi r16,3 |
| 1185 0828 1105 cpc r17,__zero_reg__ |
| 1186 082a 04F4 brge .L154 |
| 1187 082c 0130 cpi r16,1 |
| 1188 082e 1105 cpc r17,__zero_reg__ |
| 1189 0830 01F4 brne .L154 |
| 1190 0832 0E94 0000 call ParamSet_DefaultSet1 |
| 1191 0836 00C0 rjmp .L150 |
| 1192 .L152: |
| 1193 0838 0E94 0000 call ParamSet_DefaultSet2 |
| 1194 083c 00C0 rjmp .L150 |
| 1195 .L154: |
| 1196 083e 0E94 0000 call ParamSet_DefaultSet3 |
| 1197 .L150: |
| 1198 0842 DD20 tst r13 |
| 1199 0844 01F0 breq .L156 |
| 1200 0846 20E0 ldi r18,lo8(pm(eeprom_read_byte)) |
| 1201 0848 30E0 ldi r19,hi8(pm(eeprom_read_byte)) |
| 1202 084a 4CE0 ldi r20,lo8(12) |
| 1203 084c 50E0 ldi r21,hi8(12) |
| 1204 084e 60E5 ldi r22,lo8(80) |
| 1205 0850 70E0 ldi r23,hi8(80) |
| 1206 0852 80E0 ldi r24,lo8(EE_Parameter+1) |
| 1207 0854 90E0 ldi r25,hi8(EE_Parameter+1) |
| 1208 0856 0E94 0000 call __eerd_block |
| 1209 085a 00C0 rjmp .L158 |
| 1210 .L156: |
| 1211 085c 0E94 0000 call ParamSet_DefaultStickMapping |
| 1212 .L158: |
| 1213 0860 8C2F mov r24,r28 |
| 1214 0862 0E94 0000 call ParamSet_WriteToEEProm |
| 1215 .L147: |
| 1216 0866 CF5F subi r28,lo8(-(1)) |
| 1217 0868 0F5F subi r16,lo8(-(1)) |
| 1218 086a 1F4F sbci r17,hi8(-(1)) |
| 1219 086c C630 cpi r28,lo8(6) |
| 1220 086e 00F4 brsh .+2 |
| 1221 0870 00C0 rjmp .L159 |
| 1222 0872 FF20 tst r15 |
| 1223 0874 01F0 breq .L160 |
| 1224 0876 83E0 ldi r24,lo8(3) |
| 1225 0878 0E94 0000 call SetActiveParamSet |
| 1226 .L160: |
| 1227 087c 0E94 0000 call GetActiveParamSet |
| 1228 0880 C82F mov r28,r24 |
| 1229 0882 0E94 0000 call ParamSet_ReadFromEEProm |
| 1230 0886 8C2F mov r24,r28 |
| 1231 0888 9927 clr r25 |
| 1232 088a 9F93 push r25 |
| 1233 088c 8F93 push r24 |
| 1234 088e 80E0 ldi r24,lo8(__c.1) |
| 1235 0890 90E0 ldi r25,hi8(__c.1) |
| 1236 0892 9F93 push r25 |
| 1237 0894 8F93 push r24 |
| 1238 0896 00E0 ldi r16,lo8(pm(uart_putchar)) |
| 1239 0898 10E0 ldi r17,hi8(pm(uart_putchar)) |
| 1240 089a 1F93 push r17 |
| 1241 089c 0F93 push r16 |
| 1242 089e E091 0000 lds r30,_printf_P |
| 1243 08a2 F091 0000 lds r31,(_printf_P)+1 |
| 1244 08a6 0995 icall |
| 1245 08a8 81E0 ldi r24,lo8(1) |
| 1246 08aa 90E0 ldi r25,hi8(1) |
| 1247 08ac 0E94 0000 call GetParamByte |
| 1248 08b0 2DB7 in r18,__SP_L__ |
| 1249 08b2 3EB7 in r19,__SP_H__ |
| 1250 08b4 2A5F subi r18,lo8(-(6)) |
| 1251 08b6 3F4F sbci r19,hi8(-(6)) |
| 1252 08b8 2DBF out __SP_L__,r18 |
| 1253 08ba 8F3F cpi r24,lo8(-1) |
| 1254 08bc 01F0 breq .L162 |
| 1255 08be 0E94 0000 call MixerTable_ReadFromEEProm |
| 1256 08c2 8823 tst r24 |
| 1257 08c4 01F4 brne .L161 |
| 1258 .L162: |
| 1259 08c6 80E0 ldi r24,lo8(__c.2) |
| 1260 08c8 90E0 ldi r25,hi8(__c.2) |
| 1261 08ca 9F93 push r25 |
| 1262 08cc 8F93 push r24 |
| 1263 08ce 1F93 push r17 |
| 1264 08d0 0F93 push r16 |
| 1265 08d2 E091 0000 lds r30,_printf_P |
| 1266 08d6 F091 0000 lds r31,(_printf_P)+1 |
| 1267 08da 0995 icall |
| 1268 08dc 0E94 0000 call MixerTable_Default |
| 1269 08e0 0E94 0000 call MixerTable_WriteToEEProm |
| 1270 08e4 0F90 pop __tmp_reg__ |
| 1271 08e6 0F90 pop __tmp_reg__ |
| 1272 08e8 0F90 pop __tmp_reg__ |
| 1273 08ea 0F90 pop __tmp_reg__ |
| 1274 .L161: |
| 1275 08ec EE20 tst r14 |
| 1276 08ee 01F0 breq .L163 |
| 1277 08f0 6CE5 ldi r22,lo8(92) |
| 1278 08f2 81E0 ldi r24,lo8(1) |
| 1279 08f4 90E0 ldi r25,hi8(1) |
| 1280 08f6 0E94 0000 call SetParamByte |
| 1281 .L163: |
| 1282 08fa 1092 0000 sts RequiredMotors,__zero_reg__ |
| 1283 08fe 90E0 ldi r25,lo8(0) |
| 1284 0900 E0E0 ldi r30,lo8(Mixer+13) |
| 1285 0902 F0E0 ldi r31,hi8(Mixer+13) |
| 1286 0904 CFE0 ldi r28,lo8(15) |
| 1287 .L168: |
| 1288 0906 8081 ld r24,Z |
| 1289 0908 3496 adiw r30,4 |
| 1290 090a 1816 cp __zero_reg__,r24 |
| 1291 090c 04F4 brge .L166 |
| 1292 090e 9F5F subi r25,lo8(-(1)) |
| 1293 .L166: |
| 1294 0910 C150 subi r28,lo8(-(-1)) |
| 1295 0912 C7FF sbrs r28,7 |
| 1296 0914 00C0 rjmp .L168 |
| 1297 0916 9093 0000 sts RequiredMotors,r25 |
| 1298 091a 892F mov r24,r25 |
| 1299 091c 9927 clr r25 |
| 1300 091e 9F93 push r25 |
| 1301 0920 8F93 push r24 |
| 1302 0922 80E0 ldi r24,lo8(Mixer+1) |
| 1303 0924 90E0 ldi r25,hi8(Mixer+1) |
| 1304 0926 9F93 push r25 |
| 1305 0928 8F93 push r24 |
| 1306 092a 80E0 ldi r24,lo8(__c.3) |
| 1307 092c 90E0 ldi r25,hi8(__c.3) |
| 1308 092e 9F93 push r25 |
| 1309 0930 8F93 push r24 |
| 1310 0932 1F93 push r17 |
| 1311 0934 0F93 push r16 |
| 1312 0936 E091 0000 lds r30,_printf_P |
| 1313 093a F091 0000 lds r31,(_printf_P)+1 |
| 1314 093e 0995 icall |
| 1315 0940 0E94 0000 call PrintLine |
| 1316 0944 8DB7 in r24,__SP_L__ |
| 1317 0946 9EB7 in r25,__SP_H__ |
| 1318 0948 0896 adiw r24,8 |
| 1319 094a 8DBF out __SP_L__,r24 |
| 1320 /* epilogue: frame size=0 */ |
| 1321 094c CF91 pop r28 |
| 1322 094e 1F91 pop r17 |
| 1323 0950 0F91 pop r16 |
| 1324 0952 FF90 pop r15 |
| 1325 0954 EF90 pop r14 |
| 1326 0956 DF90 pop r13 |
| 1327 0958 0895 ret |
| 1328 /* epilogue end (size=7) */ |
| 1329 /* function ParamSet_Init size 233 (220) */ |
| 1331 .comm Mixer,78,1 |
| 1332 .comm RequiredMotors,1,1 |
| 1333 .comm EE_Parameter,125,1 |
| 1334 /* File "eeprom.c": code 1323 = 0x052b (1267), prologues 18, epilogues 38 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 eeprom.c |
| C:\Temp/ccFnOSeQ.s:3 *ABS*:0000003f __SREG__ |
| C:\Temp/ccFnOSeQ.s:4 *ABS*:0000003e __SP_H__ |
| C:\Temp/ccFnOSeQ.s:5 *ABS*:0000003d __SP_L__ |
| C:\Temp/ccFnOSeQ.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\Temp/ccFnOSeQ.s:7 *ABS*:00000001 __zero_reg__ |
| C:\Temp/ccFnOSeQ.s:12 .text:00000000 eeprom_read_byte |
| C:\Temp/ccFnOSeQ.s:34 .text:00000010 eeprom_write_byte |
| C:\Temp/ccFnOSeQ.s:60 .text:00000028 RAM_Checksum |
| C:\Temp/ccFnOSeQ.s:88 .text:0000004a EEProm_Checksum |
| C:\Temp/ccFnOSeQ.s:128 .text:0000007a ParamSet_DefaultStickMapping |
| *COM*:0000007d EE_Parameter |
| C:\Temp/ccFnOSeQ.s:162 .text:000000c4 CommonDefaults |
| C:\Temp/ccFnOSeQ.s:320 .text:000002a4 ParamSet_DefaultSet1 |
| C:\Temp/ccFnOSeQ.s:368 .text:0000030e ParamSet_DefaultSet2 |
| C:\Temp/ccFnOSeQ.s:416 .text:00000378 ParamSet_DefaultSet3 |
| C:\Temp/ccFnOSeQ.s:459 .text:000003e0 GetParamByte |
| C:\Temp/ccFnOSeQ.s:482 .text:000003f0 SetParamByte |
| C:\Temp/ccFnOSeQ.s:508 .text:00000408 GetParamWord |
| C:\Temp/ccFnOSeQ.s:521 .text:00000412 SetParamWord |
| C:\Temp/ccFnOSeQ.s:534 .text:0000041c ParamSet_ReadFromEEProm |
| C:\Temp/ccFnOSeQ.s:639 .text:000004c6 SetActiveParamSet |
| C:\Temp/ccFnOSeQ.s:676 .text:000004f2 ParamSet_WriteToEEProm |
| C:\Temp/ccFnOSeQ.s:774 .text:000005aa MixerTable_ReadFromEEProm |
| *COM*:0000004e Mixer |
| C:\Temp/ccFnOSeQ.s:848 .text:00000612 MixerTable_WriteToEEProm |
| C:\Temp/ccFnOSeQ.s:893 .text:0000064a MixerTable_Default |
| C:\Temp/ccFnOSeQ.s:955 .text:000006d8 GetActiveParamSet |
| C:\Temp/ccFnOSeQ.s:1005 .text:00000712 SetDefaultParameter |
| C:\Temp/ccFnOSeQ.s:1088 .progmem.data:00000000 __c.0 |
| C:\Temp/ccFnOSeQ.s:1092 .progmem.data:00000026 __c.1 |
| C:\Temp/ccFnOSeQ.s:1096 .progmem.data:0000003f __c.2 |
| C:\Temp/ccFnOSeQ.s:1100 .progmem.data:00000060 __c.3 |
| C:\Temp/ccFnOSeQ.s:1105 .text:00000798 ParamSet_Init |
| *COM*:00000001 RequiredMotors |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| PlatinenVersion |
| __eerd_word |
| __eewr_word |
| __eerd_block |
| LED_Init |
| LIBFC_HoTT_Clear |
| LIBFC_CheckSettings |
| __eewr_block |
| uart_putchar |
| _printf_P |
| PrintLine |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/fc.c |
|---|
| 0,0 → 1,1939 |
| /*####################################################################################### |
| Flight Control |
| #######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software Nutzungsbedingungen (english version: see below) |
| // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
| // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
| // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
| // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
| // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
| // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
| // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
| // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
| // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
| // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
| // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
| // + des Mitverschuldens offen. |
| // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
| // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
| // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
| // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
| // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
| // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
| // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software LICENSING TERMS |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
| // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
| // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
| // + The Software may only be used with the Licensor's products. |
| // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
| // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
| // + agreement shall be the property of the Licensor. |
| // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
| // + features that can be used to identify the program may not be altered or defaced by the customer. |
| // + The customer shall be responsible for taking reasonable precautions |
| // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
| // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
| // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
| // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
| // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
| // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
| // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
| // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
| // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
| // + #### END OF LICENSING TERMS #### |
| // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| #include "mymath.h" |
| #include "isqrt.h" |
| unsigned char h,m,s; |
| unsigned int BaroExpandActive = 0; |
| int MesswertNick,MesswertRoll,MesswertGier,MesswertGierBias, RohMesswertNick,RohMesswertRoll; |
| int TrimNick, TrimRoll; |
| int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0; |
| int Mittelwert_AccNick, Mittelwert_AccRoll; |
| unsigned int NeutralAccX=0, NeutralAccY=0; |
| int NaviAccNick, NaviAccRoll,NaviCntAcc = 0; |
| int NeutralAccZ = 0; |
| unsigned char ControlHeading = 0;// in 2° |
| long IntegralNick = 0,IntegralNick2 = 0; |
| long IntegralRoll = 0,IntegralRoll2 = 0; |
| long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0; |
| long Integral_Gier = 0; |
| long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
| long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
| long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
| long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2; |
| long SummeNick=0,SummeRoll=0; |
| volatile long Mess_Integral_Hoch = 0; |
| int KompassValue = -1; |
| int KompassSollWert = 0; |
| //int KompassRichtung = 0; |
| char CalculateCompassTimer = 100; |
| unsigned char KompassFusion = 32; |
| unsigned int KompassSignalSchlecht = 50; |
| unsigned char MAX_GAS,MIN_GAS; |
| unsigned char HoehenReglerAktiv = 0; |
| unsigned char TrichterFlug = 0; |
| long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
| long ErsatzKompass; |
| int ErsatzKompassInGrad; // Kompasswert in Grad |
| int GierGyroFehler = 0; |
| char GyroFaktor,GyroFaktorGier; |
| char IntegralFaktor,IntegralFaktorGier; |
| int DiffNick,DiffRoll; |
| int StickGasHover = 120, HoverGasMin = 0, HoverGasMax = 1023; |
| int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
| //int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
| unsigned char Poti[9] = {0,0,0,0,0,0,0,0}; |
| volatile unsigned char SenderOkay = 0; |
| char MotorenEin = 0,StartTrigger = 0; |
| long HoehenWert = 0; |
| long SollHoehe = 0; |
| signed int AltitudeSetpointTrimming = 0; |
| long FromNC_AltitudeSetpoint = 0; |
| unsigned char FromNC_AltitudeSpeed = 0; |
| unsigned char carefree_old = 50; // to make the Beep when switching |
| signed char WaypointTrimming = 0; |
| int CompassGierSetpoint = 0; |
| unsigned char CalibrationDone = 0; |
| char NeueKompassRichtungMerken = 0; |
| int LageKorrekturRoll = 0,LageKorrekturNick = 0, HoverGas = 0; |
| //float Ki = FAKTOR_I; |
| int Ki = 10300 / 33; |
| unsigned char Looping_Nick = 0,Looping_Roll = 0; |
| unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
| unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
| unsigned char Parameter_HoehenSchalter = 251; // Wert : 0-250 |
| unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
| unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
| unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
| unsigned char Parameter_Hoehe_GPS_Z = 64; // Wert : 0-250 |
| unsigned char Parameter_Gyro_D = 8; // Wert : 0-250 |
| unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
| unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
| unsigned char Parameter_Gyro_Gier_P = 150; // Wert : 10-250 |
| unsigned char Parameter_Gyro_Gier_I = 150; // Wert : 10-250 |
| unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
| unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
| unsigned char Parameter_UserParam1 = 0; |
| unsigned char Parameter_UserParam2 = 0; |
| unsigned char Parameter_UserParam3 = 0; |
| unsigned char Parameter_UserParam4 = 0; |
| unsigned char Parameter_UserParam5 = 0; |
| unsigned char Parameter_UserParam6 = 0; |
| unsigned char Parameter_UserParam7 = 0; |
| unsigned char Parameter_UserParam8 = 0; |
| unsigned char Parameter_ServoNickControl = 100; |
| unsigned char Parameter_ServoRollControl = 100; |
| unsigned char Parameter_LoopGasLimit = 70; |
| unsigned char Parameter_AchsKopplung1 = 90; |
| unsigned char Parameter_AchsKopplung2 = 65; |
| unsigned char Parameter_CouplingYawCorrection = 64; |
| //unsigned char Parameter_AchsGegenKopplung1 = 0; |
| unsigned char Parameter_DynamicStability = 100; |
| unsigned char Parameter_J16Bitmask; // for the J16 Output |
| unsigned char Parameter_J16Timing; // for the J16 Output |
| unsigned char Parameter_J17Bitmask; // for the J17 Output |
| unsigned char Parameter_J17Timing; // for the J17 Output |
| unsigned char Parameter_NaviGpsModeControl; // Parameters for the Naviboard |
| unsigned char Parameter_NaviGpsGain; |
| unsigned char Parameter_NaviGpsP; |
| unsigned char Parameter_NaviGpsI; |
| unsigned char Parameter_NaviGpsD; |
| unsigned char Parameter_NaviGpsACC; |
| unsigned char Parameter_NaviOperatingRadius; |
| unsigned char Parameter_NaviWindCorrection; |
| unsigned char Parameter_NaviSpeedCompensation; |
| unsigned char Parameter_ExternalControl; |
| unsigned char Parameter_GlobalConfig; |
| unsigned char Parameter_ExtraConfig; |
| unsigned char Parameter_MaximumAltitude; |
| unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
| unsigned char CareFree = 0; |
| const signed char sintab[31] = { 0, 2, 4, 6, 7, 8, 8, 8, 7, 6, 4, 2, 0, -2, -4, -6, -7, -8, -8, -8, -7, -6, -4, -2, 0, 2, 4, 6, 7, 8, 8}; // 15° steps |
| signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
| int MaxStickNick = 0,MaxStickRoll = 0; |
| unsigned int modell_fliegt = 0; |
| volatile unsigned char FC_StatusFlags = 0, FC_StatusFlags2 = 0; |
| long GIER_GRAD_FAKTOR = 1291; |
| signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
| signed int tmp_motorwert[MAX_MOTORS]; |
| char VarioCharacter = ' '; |
| unsigned int HooverGasEmergencyPercent = 0; // The gas value for Emergency landing |
| unsigned int GasIsZeroCnt = 0; // to detect that the gas-stick is down for a while |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Debugwerte zuordnen |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| void CopyDebugValues(void) |
| { |
| DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4); |
| DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
| DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
| DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
| DebugOut.Analog[4] = (signed int) AdNeutralGier - AdWertGier; |
| DebugOut.Analog[5] = HoehenWert/5; |
| DebugOut.Analog[6] = AdWertAccHoch;//(Mess_Integral_Hoch / 512);// Aktuell_az; |
| DebugOut.Analog[8] = KompassValue; |
| DebugOut.Analog[9] = UBat; |
| DebugOut.Analog[10] = SenderOkay; |
| DebugOut.Analog[11] = ErsatzKompassInGrad; |
| DebugOut.Analog[12] = Motor[0].SetPoint; |
| DebugOut.Analog[13] = Motor[1].SetPoint; |
| DebugOut.Analog[14] = Motor[2].SetPoint; |
| DebugOut.Analog[15] = Motor[3].SetPoint; |
| DebugOut.Analog[20] = ServoNickValue; |
| DebugOut.Analog[22] = Capacity.ActualCurrent; |
| DebugOut.Analog[23] = Capacity.UsedCapacity; |
| DebugOut.Analog[24] = SollHoehe/5; |
| // DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ; |
| // DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
| DebugOut.Analog[27] = KompassSollWert; |
| DebugOut.Analog[29] = Capacity.MinOfMaxPWM; |
| DebugOut.Analog[30] = GPS_Nick; |
| DebugOut.Analog[31] = GPS_Roll; |
| if(VersionInfo.HardwareError[0] || VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 1; else DebugOut.Status[1] &= 0xfe; |
| } |
| void Piep(unsigned char Anzahl, unsigned int dauer) |
| { |
| unsigned int wait = 0; |
| if(MotorenEin) return; //auf keinen Fall im Flug! |
| GRN_OFF; |
| while(Anzahl--) |
| { |
| beeptime = dauer; |
| wait = dauer; |
| while(beeptime || wait) |
| { |
| if(UpdateMotor) |
| { |
| UpdateMotor = 0; |
| if(!beeptime) wait--; |
| LIBFC_Polling(); |
| }; |
| } |
| } |
| GRN_ON; |
| } |
| //############################################################################ |
| // Messwerte beim Ermitteln der Nullage |
| void CalibrierMittelwert(void) |
| //############################################################################ |
| { |
| unsigned char i; |
| if(PlatinenVersion == 13) SucheGyroOffset(); |
| // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
| ANALOG_OFF; |
| MesswertNick = AdWertNick; |
| MesswertRoll = AdWertRoll; |
| MesswertGier = AdWertGier; |
| Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
| Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
| // ADC einschalten |
| ANALOG_ON; |
| for(i=0;i<8;i++) |
| { |
| int tmp; |
| tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 127; |
| LIMIT_MIN_MAX(tmp, 0, 255); |
| if(Poti[i] > tmp) Poti[i]--; else if(Poti[i] < tmp) Poti[i]++; |
| } |
| Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
| Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
| } |
| //############################################################################ |
| // Nullwerte ermitteln |
| void SetNeutral(unsigned char AccAdjustment) |
| //############################################################################ |
| { |
| unsigned char i; |
| unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0; |
| VersionInfo.HardwareError[0] = 0; |
| // HEF4017Reset_ON; |
| NeutralAccX = 0; |
| NeutralAccY = 0; |
| NeutralAccZ = 0; |
| AdNeutralNick = 0; |
| AdNeutralRoll = 0; |
| AdNeutralGier = 0; |
| Parameter_AchsKopplung1 = 0; |
| Parameter_AchsKopplung2 = 0; |
| ExpandBaro = 0; |
| CalibrierMittelwert(); |
| Delay_ms_Mess(100); |
| CalibrierMittelwert(); |
| if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| { |
| if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| } |
| #define NEUTRAL_FILTER 32 |
| for(i=0; i<NEUTRAL_FILTER; i++) |
| { |
| Delay_ms_Mess(10); |
| gier_neutral += AdWertGier; |
| nick_neutral += AdWertNick; |
| roll_neutral += AdWertRoll; |
| } |
| AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
| AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
| AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
| StartNeutralRoll = AdNeutralRoll; |
| StartNeutralNick = AdNeutralNick; |
| if(AccAdjustment) |
| { |
| NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
| NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
| NeutralAccZ = Aktuell_az; |
| // Save ACC neutral settings to eeprom |
| SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
| SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
| SetParamWord(PID_ACC_TOP, (uint16_t)NeutralAccZ); |
| } |
| else |
| { |
| // restore from eeprom |
| NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK); |
| NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
| NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP); |
| // strange settings? |
| if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048) || ((unsigned int) NeutralAccZ > 1024)) |
| { |
| printf("\n\rACC not calibrated!\r\n"); |
| NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
| NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
| NeutralAccZ = Aktuell_az; |
| } |
| } |
| MesswertNick = 0; |
| MesswertRoll = 0; |
| MesswertGier = 0; |
| Delay_ms_Mess(100); |
| Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
| Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
| IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
| IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
| Mess_IntegralNick = IntegralNick; |
| Mess_IntegralRoll = IntegralRoll; |
| Mess_Integral_Gier = 0; |
| StartLuftdruck = Luftdruck; |
| VarioMeter = 0; |
| Mess_Integral_Hoch = 0; |
| KompassSollWert = KompassValue; |
| KompassSignalSchlecht = 100; |
| beeptime = 50; |
| Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
| Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
| ExternHoehenValue = 0; |
| ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
| GierGyroFehler = 0; |
| LED_Init(); |
| FC_StatusFlags |= FC_STATUS_CALIBRATE; |
| FromNaviCtrl_Value.Kalman_K = -1; |
| FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
| FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
| for(i=0;i<8;i++) |
| { |
| Poti[i] = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 127; |
| } |
| SenderOkay = 100; |
| if(ServoActive) |
| { |
| DDRD |=0x80; // enable J7 -> Servo signal |
| } |
| else |
| { |
| // if(EE_Parameter.ServoCompInvert & SERVO_NICK_INV) NickServoValue = ((128 + 60) * 4 * 16); // neutral position = upper 1/4 |
| // else |
| NickServoValue = ((128 - 60) * 4 * 16); // neutral position = lower 1/4 |
| } |
| if((AdNeutralNick < 150 * 16) || (AdNeutralNick > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; }; |
| if((AdNeutralRoll < 150 * 16) || (AdNeutralRoll > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; }; |
| if((AdNeutralGier < 150 * 2) || (AdNeutralGier > 850 * 2)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; }; |
| if((NeutralAccX < 300) || (NeutralAccX > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_NICK; }; |
| if((NeutralAccY < 300) || (NeutralAccY > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_ROLL; }; |
| if((NeutralAccZ < 512) || (NeutralAccZ > 850)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; }; |
| carefree_old = 70; |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| LIBFC_HoTT_Clear(); |
| #endif |
| } |
| //############################################################################ |
| // Bearbeitet die Messwerte |
| void Mittelwert(void) |
| //############################################################################ |
| { |
| static signed long tmpl,tmpl2,tmpl3,tmpl4; |
| static signed int oldNick, oldRoll, d2Roll, d2Nick; |
| signed long winkel_nick, winkel_roll; |
| MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
| MesswertNick = (signed int) AdWertNickFilter / 8; |
| MesswertRoll = (signed int) AdWertRollFilter / 8; |
| RohMesswertNick = MesswertNick; |
| RohMesswertRoll = MesswertRoll; |
| // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
| Mittelwert_AccNick = (Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * AdWertAccNick))) / 4L; |
| Mittelwert_AccRoll = (Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * AdWertAccRoll))) / 4L; |
| IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
| IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
| NaviAccNick += AdWertAccNick; |
| NaviAccRoll += AdWertAccRoll; |
| NaviCntAcc++; |
| IntegralAccZ += Aktuell_az - NeutralAccZ; |
| //++++++++++++++++++++++++++++++++++++++++++++++++ |
| // ADC einschalten |
| ANALOG_ON; |
| AdReady = 0; |
| //++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
| else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
| else winkel_roll = Mess_IntegralRoll; |
| if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
| else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
| else winkel_nick = Mess_IntegralNick; |
| // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
| Mess_Integral_Gier += MesswertGier; |
| ErsatzKompass += MesswertGier; |
| // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
| if(!Looping_Nick && !Looping_Roll && (Parameter_GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
| { |
| tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
| tmpl3 *= Parameter_AchsKopplung2; //65 |
| tmpl3 /= 4096L; |
| tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
| tmpl4 *= Parameter_AchsKopplung2; //65 |
| tmpl4 /= 4096L; |
| KopplungsteilNickRoll = tmpl3; |
| KopplungsteilRollNick = tmpl4; |
| tmpl4 -= tmpl3; |
| ErsatzKompass += tmpl4; |
| if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
| tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
| tmpl *= Parameter_AchsKopplung1; // 90 |
| tmpl /= 4096L; |
| tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
| tmpl2 *= Parameter_AchsKopplung1; |
| tmpl2 /= 4096L; |
| if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
| //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
| } |
| else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
| TrimRoll = tmpl - tmpl2 / 100L; |
| TrimNick = -tmpl2 + tmpl / 100L; |
| // Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
| if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
| // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
| Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
| Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
| if(Mess_IntegralRoll > Umschlag180Roll) |
| { |
| Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
| Mess_IntegralRoll2 = Mess_IntegralRoll; |
| } |
| if(Mess_IntegralRoll <-Umschlag180Roll) |
| { |
| Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
| Mess_IntegralRoll2 = Mess_IntegralRoll; |
| } |
| // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
| Mess_IntegralNick2 += MesswertNick + TrimNick; |
| Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
| if(Mess_IntegralNick > Umschlag180Nick) |
| { |
| Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
| Mess_IntegralNick2 = Mess_IntegralNick; |
| } |
| if(Mess_IntegralNick <-Umschlag180Nick) |
| { |
| Mess_IntegralNick = (Umschlag180Nick - 25000L); |
| Mess_IntegralNick2 = Mess_IntegralNick; |
| } |
| Integral_Gier = Mess_Integral_Gier; |
| IntegralNick = Mess_IntegralNick; |
| IntegralRoll = Mess_IntegralRoll; |
| IntegralNick2 = Mess_IntegralNick2; |
| IntegralRoll2 = Mess_IntegralRoll2; |
| #define D_LIMIT 128 |
| MesswertNick = HiResNick / 8; |
| MesswertRoll = HiResRoll / 8; |
| if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
| if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; } |
| else { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
| if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
| if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
| else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
| if(Parameter_Gyro_D) |
| { |
| d2Nick = HiResNick - oldNick; |
| oldNick = (oldNick + HiResNick)/2; |
| if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
| else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
| d2Roll = HiResRoll - oldRoll; |
| oldRoll = (oldRoll + HiResRoll)/2; |
| if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
| else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
| MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
| MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
| HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
| HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
| } |
| if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
| else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
| if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
| else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
| if(Parameter_GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
| { |
| if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
| else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
| if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
| else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
| } |
| } |
| //############################################################################ |
| // Senden der Motorwerte per I2C-Bus |
| void SendMotorData(void) |
| //############################################################################ |
| { |
| unsigned char i; |
| if(!MotorenEin) |
| { |
| FC_StatusFlags &= ~(FC_STATUS_MOTOR_RUN | FC_STATUS_FLY); |
| for(i=0;i<MAX_MOTORS;i++) |
| { |
| if(!PC_MotortestActive) MotorTest[i] = 0; |
| Motor[i].SetPoint = MotorTest[i]; |
| Motor[i].SetPointLowerBits = 0; |
| /* |
| Motor[i].SetPoint = MotorTest[i] / 4; // testing the high resolution |
| Motor[i].SetPointLowerBits = MotorTest[i] % 4; |
| */ |
| } |
| if(PC_MotortestActive) PC_MotortestActive--; |
| } |
| else FC_StatusFlags |= FC_STATUS_MOTOR_RUN; |
| if(I2C_TransferActive) |
| { |
| I2C_TransferActive = 0; // enable for the next time |
| } |
| else |
| { |
| motor_write = 0; |
| I2C_Start(TWI_STATE_MOTOR_TX); //Start I2C Interrupt Mode |
| } |
| } |
| //############################################################################ |
| // Trägt ggf. das Poti als Parameter ein |
| void ParameterZuordnung(void) |
| //############################################################################ |
| { |
| unsigned char tmp,i; |
| for(i=0;i<8;i++) |
| { |
| int tmp2; |
| tmp = EE_Parameter.Kanalbelegung[K_POTI1 + i]; |
| tmp2 = PPM_in[tmp] + 127; |
| if(tmp2 > 255) tmp2 = 255; else if(tmp2 < 0) tmp2 = 0; |
| if(tmp == 25) Poti[i] = tmp2; // 25 = WaypointEvent channel -> no filter |
| else |
| if(tmp2 != Poti[i]) |
| { |
| Poti[i] += (tmp2 - Poti[i]) / 4; |
| if(Poti[i] > tmp2) Poti[i]--; |
| else Poti[i]++; |
| } |
| } |
| CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
| CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
| CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
| CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,5,255); |
| CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,5,255); |
| if(EE_Parameter.Servo3 == 247) { if(PORTC & (1<<PORTC2)) Parameter_Servo3 = 140; else Parameter_Servo3 = 70;} // Out1 (J16) |
| else if(EE_Parameter.Servo3 == 246) { if(PORTC & (1<<PORTC3)) Parameter_Servo3 = 140; else Parameter_Servo3 = 70;} |
| else CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3); |
| if(EE_Parameter.Servo4 == 247) { if(PORTC & (1<<PORTC2)) Parameter_Servo4 = 140; else Parameter_Servo4 = 70;} |
| else if(EE_Parameter.Servo4 == 246) { if(PORTC & (1<<PORTC3)) Parameter_Servo4 = 140; else Parameter_Servo4 = 70;} // Out2 (J17) |
| else CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4); |
| CHK_POTI(Parameter_Servo5,EE_Parameter.Servo5); |
| CHK_POTI(Parameter_HoehenSchalter,EE_Parameter.MaxHoehe); |
| CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung); |
| CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z); |
| CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung); |
| CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I); |
| CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D); |
| CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P); |
| CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I); |
| CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor); |
| CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1); |
| CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2); |
| CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3); |
| CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4); |
| CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5); |
| CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6); |
| CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7); |
| CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8); |
| CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl); |
| CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl); |
| CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit); |
| CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1); |
| CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2); |
| CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection); |
| CHK_POTI(Parameter_MaximumAltitude,EE_Parameter.MaxAltitude); |
| if((NC_To_FC_MaxAltitude && NC_To_FC_MaxAltitude < Parameter_MaximumAltitude) || Parameter_MaximumAltitude == 0) Parameter_MaximumAltitude = NC_To_FC_MaxAltitude; |
| Parameter_GlobalConfig = EE_Parameter.GlobalConfig; |
| Parameter_ExtraConfig = EE_Parameter.ExtraConfig; |
| // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
| CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability); |
| CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl); |
| Ki = 10300 / (Parameter_I_Faktor + 1); |
| MAX_GAS = EE_Parameter.Gas_Max; |
| MIN_GAS = EE_Parameter.Gas_Min; |
| tmp = EE_Parameter.CareFreeModeControl; |
| if(tmp > 50) |
| { |
| CareFree = 1; |
| if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
| if(carefree_old != CareFree) |
| { |
| if(carefree_old < 3) |
| { |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| if(CareFree) { beeptime = 1500; if(!SpeakHoTT) SpeakHoTT = SPEAK_CF_ON; } |
| else { beeptime = 200; if(!SpeakHoTT) SpeakHoTT = SPEAK_CF_OFF; } |
| #else |
| if(CareFree) beeptime = 1500; |
| else beeptime = 200; |
| #endif |
| NeueKompassRichtungMerken = 5; |
| carefree_old = CareFree; |
| } else carefree_old--; |
| } |
| if(FromNaviCtrl.CompassValue < 0 && CareFree) VersionInfo.HardwareError[0] |= FC_ERROR0_CAREFREE; //else VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; |
| } |
| else |
| { |
| CareFree = 0; |
| carefree_old = 10; |
| } |
| if(FromNaviCtrl.CompassValue < 0 && MotorenEin && CareFree && BeepMuster == 0xffff) // ungültiger Kompasswert |
| { |
| beeptime = 15000; |
| BeepMuster = 0xA400; |
| CareFree = 0; |
| } |
| if(CareFree) { FC_StatusFlags2 |= FC_STATUS2_CAREFREE; if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} else FC_StatusFlags2 &= ~FC_STATUS2_CAREFREE; |
| } |
| //############################################################################ |
| // |
| void MotorRegler(void) |
| //############################################################################ |
| { |
| int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2; |
| int GierMischanteil,GasMischanteil; |
| static long sollGier = 0,tmp_long,tmp_long2; |
| static long IntegralFehlerNick = 0; |
| static long IntegralFehlerRoll = 0; |
| static unsigned int RcLostTimer; |
| static unsigned char delay_neutral = 0; |
| static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
| static signed char move_safety_switch = 0; |
| static long ausgleichNick, ausgleichRoll; |
| int IntegralNickMalFaktor,IntegralRollMalFaktor; |
| unsigned char i; |
| Mittelwert(); |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gaswert ermitteln |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(!(FC_StatusFlags & (FC_STATUS_EMERGENCY_LANDING | FC_STATUS2_RC_FAILSAVE_ACTIVE))) |
| { |
| if(EE_Parameter.GlobalConfig3 & CFG3_VARIO_FAILSAFE) |
| { |
| if(HoverGas && HoverGas < 150 * STICK_GAIN) |
| { |
| HooverGasEmergencyPercent = (HoverGas/(STICK_GAIN) * EE_Parameter.NotGas) / 100; // i.e. 80% of Hovergas |
| } |
| else HooverGasEmergencyPercent = 45; // default if the Hoovergas was could not calculated yet |
| } else HooverGasEmergencyPercent = EE_Parameter.NotGas; |
| } |
| if(GasIsZeroCnt == 30000) // in that case we have RC-Lost, but the MK is probably landed |
| { |
| StickGas = 0; // Hold Gas down in that case |
| HooverGasEmergencyPercent = MIN_GAS; |
| } |
| GasMischanteil = StickGas; |
| if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Empfang schlecht |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(SenderOkay < 100 && !(FC_StatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE)) |
| { |
| if(RcLostTimer) RcLostTimer--; |
| else |
| { |
| MotorenEin = 0; |
| modell_fliegt = 0; |
| FC_StatusFlags &= ~(FC_STATUS_EMERGENCY_LANDING | FC_STATUS_FLY); |
| } |
| ROT_ON; |
| if(modell_fliegt > 1000 && Capacity.MinOfMaxPWM > 100) // wahrscheinlich in der Luft --> langsam absenken |
| { |
| GasMischanteil = HooverGasEmergencyPercent; |
| FC_StatusFlags |= FC_STATUS_EMERGENCY_LANDING; |
| PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
| PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
| PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
| PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
| PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
| } |
| else |
| { |
| MotorenEin = 0; |
| } |
| } |
| else |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Emfang gut |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(SenderOkay > 140) |
| { |
| FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING; |
| RcLostTimer = EE_Parameter.NotGasZeit * 50; |
| if(GasMischanteil > 40 && MotorenEin) |
| { |
| if(modell_fliegt < 0xffff) modell_fliegt++; |
| } |
| if((modell_fliegt < 256)) |
| { |
| SummeNick = 0; |
| SummeRoll = 0; |
| sollGier = 0; |
| Mess_Integral_Gier = 0; |
| } else FC_StatusFlags |= FC_STATUS_FLY; |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
| { |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // auf Nullwerte kalibrieren |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
| { |
| if(++delay_neutral > 200) // nicht sofort |
| { |
| delay_neutral = 0; |
| modell_fliegt = 0; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
| { |
| unsigned char setting=1; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
| SetActiveParamSet(setting); // aktiven Datensatz merken |
| } |
| if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
| { |
| WinkelOut.CalcState = 1; |
| CalibrationDone = 0; |
| beeptime = 1000; |
| } |
| else |
| { |
| ParamSet_ReadFromEEProm(GetActiveParamSet()); |
| LipoDetection(0); |
| LIBFC_ReceiverInit(EE_Parameter.Receiver); |
| if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| { |
| if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| } |
| // ServoActive = 0; |
| SetNeutral(0); |
| CalibrationDone = 1; |
| ServoActive = 1; |
| DDRD |=0x80; // enable J7 -> Servo signal |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| SpeakHoTT = SPEAK_CALIBRATE; |
| #endif |
| Piep(GetActiveParamSet(),120); |
| } |
| } |
| } |
| else |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
| { |
| if(++delay_neutral > 200) // nicht sofort |
| { |
| MotorenEin = 0; |
| delay_neutral = 0; |
| modell_fliegt = 0; |
| SetNeutral(1); |
| CalibrationDone = 1; |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| SpeakHoTT = SPEAK_CALIBRATE; |
| #endif |
| Piep(GetActiveParamSet(),120); |
| } |
| } |
| else delay_neutral = 0; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gas ist unten |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
| { |
| if(PPM_diff[EE_Parameter.MotorSafetySwitch & 127] > 5) move_safety_switch = 100; |
| else |
| if(PPM_diff[EE_Parameter.MotorSafetySwitch & 127] < -5) move_safety_switch = -100; |
| // Motoren Starten |
| if(!MotorenEin) |
| { |
| if((((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) && ((!(EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] < -75) || EE_Parameter.MotorSafetySwitch == 0))) |
| || (((EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] > -10 && move_safety_switch == 100))) |
| { |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Einschalten |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(CalibrationDone) FC_StatusFlags |= FC_STATUS_START; |
| if(++delay_einschalten > 253) |
| { |
| delay_einschalten = 0; |
| if(!VersionInfo.HardwareError[0] && CalibrationDone && !NC_ErrorCode) |
| { |
| modell_fliegt = 1; |
| MotorenEin = 1; |
| sollGier = 0; |
| Mess_Integral_Gier = 0; |
| Mess_Integral_Gier2 = 0; |
| Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
| Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
| Mess_IntegralNick2 = IntegralNick; |
| Mess_IntegralRoll2 = IntegralRoll; |
| SummeNick = 0; |
| SummeRoll = 0; |
| // ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
| NeueKompassRichtungMerken = 100; // 2 sekunden |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| SpeakHoTT = SPEAK_STARTING; |
| #endif |
| } |
| else |
| { |
| beeptime = 1500; // indicate missing calibration |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| if(!CalibrationDone) SpeakHoTT = SPEAK_ERR_CALIBARTION; |
| #endif |
| } |
| } |
| } |
| else delay_einschalten = 0; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Auschalten |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| else // only if motors are running |
| { |
| // if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
| if((((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) && ((!(EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] < -75) || EE_Parameter.MotorSafetySwitch == 0))) |
| || (((EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] < -50 && move_safety_switch == -100))) |
| { |
| if(++delay_ausschalten > 250) // nicht sofort |
| { |
| MotorenEin = 0; |
| delay_ausschalten = 0; |
| modell_fliegt = 0; |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| SpeakHoTT = SPEAK_MK_OFF; |
| #endif |
| } |
| } |
| else delay_ausschalten = 0; |
| } |
| if(GasIsZeroCnt < 1000) GasIsZeroCnt++; |
| } |
| else // gas not at minimum |
| { |
| move_safety_switch = 0; |
| GasIsZeroCnt = 0; |
| } |
| } |
| else // Empfang zwischen 100 und 140 -> schlecht |
| { |
| if(GasIsZeroCnt >= 750) // gas-stick was down for 1.5 seconds before RC-Lost |
| { |
| if((GPSInfo.HomeDistance < 40 * 10) && (HoehenWert < 15 * 100)) // and we are at the starting point -> maybe landed? |
| { |
| GasIsZeroCnt = 30000; |
| if(modell_fliegt > 1001) modell_fliegt = 1001; |
| } |
| } |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // neue Werte von der Funke |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(!NewPpmData-- || (FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
| { |
| static int stick_nick,stick_roll; |
| unsigned char stick_p; |
| ParameterZuordnung(); |
| stick_p = EE_Parameter.Stick_P; |
| stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * stick_p) / 4; |
| stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
| stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * stick_p) / 4; |
| stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // CareFree und freie Wahl der vorderen Richtung |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(CareFree) |
| { |
| signed int nick, roll; |
| nick = stick_nick / 4; |
| roll = stick_roll / 4; |
| StickNick = ((FromNC_Rotate_C * nick) + (FromNC_Rotate_S * roll)) / (32 / 4); |
| StickRoll = ((FromNC_Rotate_C * roll) - (FromNC_Rotate_S * nick)) / (32 / 4); |
| } |
| else |
| { |
| FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6]; |
| FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle]; |
| StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8; |
| StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8; |
| } |
| StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
| if(StickGier > 4) StickGier -= 4; else |
| if(StickGier < -4) StickGier += 4; else StickGier = 0; |
| if(GPS_Aid_StickMultiplikator) // in that case the GPS controls stronger |
| { |
| StickNick = (GPS_Aid_StickMultiplikator * (StickNick / 8)) / 16; |
| StickRoll = (GPS_Aid_StickMultiplikator * (StickRoll / 8)) / 16; |
| } |
| StickNick -= GPS_Nick; |
| StickRoll -= GPS_Roll; |
| StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 127; |
| GyroFaktor = (Parameter_Gyro_P + 10.0); |
| IntegralFaktor = Parameter_Gyro_I; |
| GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
| IntegralFaktorGier = Parameter_Gyro_Gier_I; |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //+ Analoge Steuerung per Seriell |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
| { |
| StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
| StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
| StickGier += ExternControl.Gier; |
| ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
| if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
| } |
| if(StickGas < 0) StickGas = 0; |
| if(Parameter_GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
| if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
| { |
| MaxStickNick = abs(StickNick)/STICK_GAIN; |
| if(MaxStickNick > 100) MaxStickNick = 100; |
| } |
| else MaxStickNick--; |
| if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
| { |
| MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
| if(MaxStickRoll > 100) MaxStickRoll = 100; |
| } |
| else MaxStickRoll--; |
| if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) {MaxStickNick = 0; MaxStickRoll = 0;} |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Looping? |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
| else |
| { |
| { |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
| } |
| } |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
| else |
| { |
| if(Looping_Rechts) // Hysterese |
| { |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
| } |
| } |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
| else |
| { |
| if(Looping_Oben) // Hysterese |
| { |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
| } |
| } |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
| else |
| { |
| if(Looping_Unten) // Hysterese |
| { |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
| } |
| } |
| if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
| if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
| } // Ende neue Funken-Werte |
| if(Looping_Roll || Looping_Nick) |
| { |
| if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
| TrichterFlug = 1; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Bei Empfangsausfall im Flug |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(FC_StatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE) |
| { |
| StickNick = -GPS_Nick; |
| StickRoll = -GPS_Roll; |
| StickGas = StickGasHover; |
| Parameter_GlobalConfig &= ~(CFG_HEADING_HOLD | CFG_DREHRATEN_BEGRENZER); |
| Parameter_GlobalConfig |= CFG_HOEHENREGELUNG | CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER | CFG_GPS_AKTIV; |
| Parameter_ExtraConfig &= ~(CFG2_HEIGHT_LIMIT | CFG_LEARNABLE_CAREFREE | CFG2_VARIO_BEEP); |
| Parameter_HoehenSchalter = 200; // switch on |
| } |
| else |
| if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) |
| { |
| StickGier = 0; |
| StickNick = 0; |
| StickRoll = 0; |
| GyroFaktor = 90; |
| IntegralFaktor = 120; |
| GyroFaktorGier = 90; |
| IntegralFaktorGier = 120; |
| Looping_Roll = 0; |
| Looping_Nick = 0; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Integrale auf ACC-Signal abgleichen |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #define ABGLEICH_ANZAHL 256L |
| MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
| MittelIntegralRoll += IntegralRoll; |
| MittelIntegralNick2 += IntegralNick2; |
| MittelIntegralRoll2 += IntegralRoll2; |
| if(Looping_Nick || Looping_Roll) |
| { |
| IntegralAccNick = 0; |
| IntegralAccRoll = 0; |
| MittelIntegralNick = 0; |
| MittelIntegralRoll = 0; |
| MittelIntegralNick2 = 0; |
| MittelIntegralRoll2 = 0; |
| Mess_IntegralNick2 = Mess_IntegralNick; |
| Mess_IntegralRoll2 = Mess_IntegralRoll; |
| ZaehlMessungen = 0; |
| LageKorrekturNick = 0; |
| LageKorrekturRoll = 0; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
| { |
| long tmp_long, tmp_long2; |
| if(FromNaviCtrl_Value.Kalman_K > 0 /*&& !TrichterFlug*/) |
| { |
| tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)(Mittelwert_AccNick - FromNaviCtrl.AccErrorN)); |
| tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)(Mittelwert_AccRoll - FromNaviCtrl.AccErrorR)); |
| tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
| tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
| if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
| { |
| tmp_long /= 2; |
| tmp_long2 /= 2; |
| } |
| /* if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
| { |
| tmp_long /= 3; |
| tmp_long2 /= 3; |
| } |
| */ if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
| if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
| if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
| if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
| } |
| else |
| { |
| tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
| tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
| tmp_long /= 16; |
| tmp_long2 /= 16; |
| if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
| { |
| tmp_long /= 3; |
| tmp_long2 /= 3; |
| } |
| if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
| { |
| tmp_long /= 3; |
| tmp_long2 /= 3; |
| } |
| KompassFusion = 25; |
| #define AUSGLEICH 32 |
| if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
| if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
| if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
| if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
| } |
| Mess_IntegralNick -= tmp_long; |
| Mess_IntegralRoll -= tmp_long2; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
| { |
| static int cnt = 0; |
| static char last_n_p,last_n_n,last_r_p,last_r_n; |
| static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
| if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp) |
| { |
| MittelIntegralNick /= ABGLEICH_ANZAHL; |
| MittelIntegralRoll /= ABGLEICH_ANZAHL; |
| IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
| IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
| IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
| #define MAX_I 0 |
| // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
| IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
| ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
| // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
| IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
| ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
| LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
| LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
| if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1)) |
| { |
| LageKorrekturNick /= 2; |
| LageKorrekturRoll /= 2; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gyro-Drift ermitteln |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
| MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
| tmp_long = IntegralNick2 - IntegralNick; |
| tmp_long2 = IntegralRoll2 - IntegralRoll; |
| IntegralFehlerNick = tmp_long; |
| IntegralFehlerRoll = tmp_long2; |
| Mess_IntegralNick2 -= IntegralFehlerNick; |
| Mess_IntegralRoll2 -= IntegralFehlerRoll; |
| if(EE_Parameter.Driftkomp) |
| { |
| if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; } |
| if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; } |
| } |
| GierGyroFehler = 0; |
| #define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2) |
| #define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4 |
| #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16 |
| #define BEWEGUNGS_LIMIT 20000 |
| // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
| cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
| if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4; |
| if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
| { |
| if(IntegralFehlerNick > FEHLER_LIMIT2) |
| { |
| if(last_n_p) |
| { |
| cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
| ausgleichNick = IntegralFehlerNick / 8; |
| if(ausgleichNick > 5000) ausgleichNick = 5000; |
| LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
| } |
| else last_n_p = 1; |
| } else last_n_p = 0; |
| if(IntegralFehlerNick < -FEHLER_LIMIT2) |
| { |
| if(last_n_n) |
| { |
| cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
| ausgleichNick = IntegralFehlerNick / 8; |
| if(ausgleichNick < -5000) ausgleichNick = -5000; |
| LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
| } |
| else last_n_n = 1; |
| } else last_n_n = 0; |
| } |
| else |
| { |
| cnt = 0; |
| KompassSignalSchlecht = 100; |
| } |
| if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
| if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
| if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
| if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
| // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
| cnt = 1;// + labs(IntegralFehlerRoll) / 4096; |
| if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
| if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
| { |
| if(IntegralFehlerRoll > FEHLER_LIMIT2) |
| { |
| if(last_r_p) |
| { |
| cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
| ausgleichRoll = IntegralFehlerRoll / 8; |
| if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
| LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
| } |
| else last_r_p = 1; |
| } else last_r_p = 0; |
| if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
| { |
| if(last_r_n) |
| { |
| cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
| ausgleichRoll = IntegralFehlerRoll / 8; |
| if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
| LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
| } |
| else last_r_n = 1; |
| } else last_r_n = 0; |
| } else |
| { |
| cnt = 0; |
| KompassSignalSchlecht = 100; |
| } |
| if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
| if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
| if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
| if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
| } |
| else |
| { |
| LageKorrekturRoll = 0; |
| LageKorrekturNick = 0; |
| TrichterFlug = 0; |
| } |
| if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| MittelIntegralNick_Alt = MittelIntegralNick; |
| MittelIntegralRoll_Alt = MittelIntegralRoll; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| IntegralAccNick = 0; |
| IntegralAccRoll = 0; |
| IntegralAccZ = 0; |
| MittelIntegralNick = 0; |
| MittelIntegralRoll = 0; |
| MittelIntegralNick2 = 0; |
| MittelIntegralRoll2 = 0; |
| ZaehlMessungen = 0; |
| } // ZaehlMessungen >= ABGLEICH_ANZAHL |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gieren |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(abs(StickGier) > 3) // war 15 |
| { |
| // KompassSignalSchlecht = 1000; |
| if(!(Parameter_GlobalConfig & CFG_KOMPASS_FIX)) |
| { |
| NeueKompassRichtungMerken = 50; // eine Sekunde zum Einloggen |
| }; |
| } |
| tmp_int = (long) EE_Parameter.StickGier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
| tmp_int += (EE_Parameter.StickGier_P * StickGier) / 4; |
| tmp_int += CompassGierSetpoint; |
| sollGier = tmp_int; |
| Mess_Integral_Gier -= tmp_int; |
| if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
| if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Kompass |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(KompassValue >= 0 && (Parameter_GlobalConfig & CFG_KOMPASS_AKTIV)) |
| { |
| if(CalculateCompassTimer-- == 1) |
| { |
| int w,v,r,fehler,korrektur; // wird von der SPI-Routine auf 1 gesetzt |
| CalculateCompassTimer = 13; // falls keine Navi-Daten |
| // max. Korrekturwert schätzen |
| w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
| v = abs(IntegralRoll /512); |
| if(v > w) w = v; // grösste Neigung ermitteln |
| // korrektur = w / 4 + 1; |
| korrektur = w / 8 + 2; |
| ErsatzKompassInGrad = ErsatzKompass/GIER_GRAD_FAKTOR; |
| // Kompassfehlerwert bestimmen |
| fehler = ((540 + KompassValue - ErsatzKompassInGrad) % 360) - 180; |
| // GIER_GRAD_FAKTOR ist ca. 1200 |
| // Kompasswert einloggen |
| if(KompassSignalSchlecht) KompassSignalSchlecht--; |
| else |
| if(w < 25) |
| { |
| GierGyroFehler += fehler; |
| if(NeueKompassRichtungMerken) |
| { |
| if(--NeueKompassRichtungMerken == 0) |
| { |
| KompassSollWert = ErsatzKompassInGrad; |
| } |
| } |
| } |
| // Kompass fusionieren |
| if(!KompassSignalSchlecht) ErsatzKompass += (fehler * KompassFusion) / korrektur; |
| // MK Gieren |
| if(!NeueKompassRichtungMerken) |
| { |
| r = ((540 + (KompassSollWert - ErsatzKompassInGrad)) % 360) - 180; |
| v = r * (Parameter_KompassWirkung/2); // nach Kompass ausrichten |
| CompassGierSetpoint = v / 16; |
| } |
| else CompassGierSetpoint = 0; |
| } // CalculateCompassTimer |
| } |
| else CompassGierSetpoint = 0; |
| //DebugOut.Analog[16] = KompassFusion; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
| if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
| if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
| #define TRIM_MAX 200 |
| if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
| if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
| MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
| MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
| MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
| // Maximalwerte abfangen |
| #define MAX_SENSOR (4096) |
| if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
| if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
| if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
| if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
| if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
| if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Höhenregelung |
| // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
| GasMischanteil *= STICK_GAIN; |
| // if height control is activated |
| if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick)) // Höhenregelung |
| { |
| #define HOVER_GAS_AVERAGE 16384L // 16384 * 2ms = 32s averaging |
| #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| #define OPA_OFFSET_STEP 15 |
| #else |
| #define OPA_OFFSET_STEP 10 |
| #endif |
| int HCGas, HeightDeviation = 0,GasReduction = 0; |
| static int HeightTrimming = 0; // rate for change of height setpoint |
| static int FilterHCGas = 0; |
| static unsigned long HoverGasFilter = 0; |
| static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
| int CosAttitude; // for projection of hoover gas |
| // get the current hooverpoint |
| DebugOut.Analog[21] = HoverGas; |
| // Expand the measurement |
| // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
| if(!BaroExpandActive) |
| { |
| if(MessLuftdruck > 920) |
| { // increase offset |
| if(OCR0A < (255 - OPA_OFFSET_STEP)) |
| { |
| ExpandBaro -= 1; |
| OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
| beeptime = 300; |
| BaroExpandActive = 350; |
| } |
| else |
| { |
| BaroAtLowerLimit = 1; |
| } |
| } |
| // measurement of air pressure close to lower limit and |
| else |
| if(MessLuftdruck < 100) |
| { // decrease offset |
| if(OCR0A > OPA_OFFSET_STEP) |
| { |
| ExpandBaro += 1; |
| OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
| beeptime = 300; |
| BaroExpandActive = 350; |
| } |
| else |
| { |
| BaroAtUpperLimit = 1; |
| } |
| } |
| else |
| { |
| BaroAtUpperLimit = 0; |
| BaroAtLowerLimit = 0; |
| } |
| } |
| else // delay, because of expanding the Baro-Range |
| { |
| // now clear the D-values |
| SummenHoehe = HoehenWert * SM_FILTER; |
| VarioMeter = 0; |
| BaroExpandActive--; |
| } |
| // if height control is activated by an rc channel |
| if(Parameter_GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
| { // check if parameter is less than activation threshold |
| if(Parameter_HoehenSchalter < 50) // for 3 or 2-state switch height control is disabled in lowest position |
| { //height control not active |
| if(!delay--) |
| { |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| if(!SpeakHoTT && HoehenReglerAktiv) SpeakHoTT = SPEAK_ALTITUDE_OFF; |
| #endif |
| HoehenReglerAktiv = 0; // disable height control |
| SollHoehe = HoehenWert; // update SetPoint with current reading |
| delay = 1; |
| } |
| } |
| else |
| if(Parameter_HoehenSchalter > 70) |
| { //height control is activated |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| if(!SpeakHoTT && !HoehenReglerAktiv) SpeakHoTT = SPEAK_ALTITUDE_ON; |
| #endif |
| delay = 200; |
| HoehenReglerAktiv = 1; // enable height control |
| } |
| } |
| else // no switchable height control |
| { |
| SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_HoehenSchalter) * (int)EE_Parameter.Hoehe_Verstaerkung; |
| HoehenReglerAktiv = 1; |
| } |
| // calculate cos of nick and roll angle used for projection of the vertical hoover gas |
| tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
| tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
| CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg |
| LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle |
| CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude |
| VarioCharacter = ' '; |
| AltitudeSetpointTrimming = 0; |
| if(HoehenReglerAktiv && !(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
| { |
| #define HEIGHT_CONTROL_STICKTHRESHOLD 15 |
| // Holger original version |
| // start of height control algorithm |
| // the height control is only an attenuation of the actual gas stick. |
| // I.e. it will work only if the gas stick is higher than the hover gas |
| // and the hover height will be allways larger than height setpoint. |
| FC_StatusFlags2 |= FC_STATUS2_ALTITUDE_CONTROL; |
| if((Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) || !(Parameter_GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
| { // old version |
| HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
| HeightTrimming = 0; |
| AltitudeSetpointTrimming = 0; |
| // set both flags to indicate no vario mode |
| FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
| } |
| else |
| { |
| // alternative height control |
| // PD-Control with respect to hoover point |
| // the thrust loss out of horizontal attitude is compensated |
| // the setpoint will be fine adjusted with the gas stick position |
| if(FC_StatusFlags & FC_STATUS_FLY) // trim setpoint only when flying |
| { // gas stick is above hoover point |
| if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
| { |
| if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) |
| { |
| FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
| SollHoehe = HoehenWert; // update setpoint to current heigth |
| } |
| FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
| // Limit the maximum Altitude |
| if(Parameter_MaximumAltitude && (SollHoehe/100 > Parameter_MaximumAltitude)) AltitudeSetpointTrimming = 0; |
| else |
| { |
| // SollHoehe = (long) Parameter_MaximumAltitude * 100L; |
| // HeightTrimming += abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
| AltitudeSetpointTrimming = abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
| VarioCharacter = '+'; |
| } |
| WaypointTrimming = 0; |
| } // gas stick is below hoover point |
| else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) |
| { |
| if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) |
| { |
| FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
| SollHoehe = HoehenWert; // update setpoint to current heigth |
| } |
| FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
| AltitudeSetpointTrimming = -abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
| // HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
| VarioCharacter = '-'; |
| WaypointTrimming = 0; |
| } |
| else // Gas Stick in Hover Range |
| { |
| VarioCharacter = '='; |
| if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint > SollHoehe) // von NC gesteuert -> Steigen |
| { |
| FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
| AltitudeSetpointTrimming = FromNC_AltitudeSpeed; |
| //HeightTrimming += FromNC_AltitudeSpeed; |
| WaypointTrimming = 10; |
| VarioCharacter = '^'; |
| if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) // changed from sinking to rising |
| { |
| FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
| SollHoehe = HoehenWert; // update setpoint to current heigth |
| } |
| } |
| else |
| if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint < SollHoehe) // von NC gesteuert -> sinken |
| { |
| FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
| AltitudeSetpointTrimming = -FromNC_AltitudeSpeed; |
| //HeightTrimming -= FromNC_AltitudeSpeed; |
| WaypointTrimming = -10; |
| VarioCharacter = 'v'; |
| if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) // changed from rising to sinking |
| { |
| FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
| SollHoehe = HoehenWert; // update setpoint to current heigth |
| } |
| } |
| else |
| if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) |
| { |
| if(!WaypointTrimming) LIMIT_MIN_MAX(SollHoehe, (HoehenWert-128), (HoehenWert+128)) // max. 1m Unterschied |
| else WaypointTrimming = 0; |
| FC_StatusFlags &= ~(FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
| HeightTrimming = 0; |
| if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500; |
| if(!StartTrigger && HoehenWert > 50) |
| { |
| StartTrigger = 1; |
| } |
| } |
| } |
| // Trim height set point |
| HeightTrimming += AltitudeSetpointTrimming; |
| if(abs(HeightTrimming) > 500) // bei Waypoint-Flug ist das ca. die 500Hz |
| { |
| if(WaypointTrimming) |
| { |
| if(abs(FromNC_AltitudeSetpoint - SollHoehe) < 10) SollHoehe = FromNC_AltitudeSetpoint; |
| else SollHoehe += WaypointTrimming; |
| } |
| else |
| { |
| if(HeightTrimming > 0) SollHoehe += EE_Parameter.Hoehe_Verstaerkung / 3; |
| else SollHoehe -= EE_Parameter.Hoehe_Verstaerkung / 3; |
| } |
| HeightTrimming = 0; |
| LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
| if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 100; |
| //update hoover gas stick value when setpoint is shifted |
| if(!EE_Parameter.Hoehe_StickNeutralPoint && FromNC_AltitudeSpeed == 0) |
| { |
| StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value |
| StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
| if(StickGasHover < 70) StickGasHover = 70; |
| else if(StickGasHover > 150) StickGasHover = 150; |
| } |
| } |
| if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active |
| } //if FCFlags & MKFCFLAG_FLY |
| else |
| { |
| SollHoehe = HoehenWert - 400; |
| if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
| else StickGasHover = 120; |
| HoverGas = GasMischanteil; |
| VarioCharacter = '.'; |
| } |
| HCGas = HoverGas; // take hover gas (neutral point) |
| } |
| if(HoehenWert > SollHoehe || !(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT)) |
| { |
| // from this point the Heigth Control Algorithm is identical for both versions |
| if(BaroExpandActive) // baro range expanding active |
| { |
| HCGas = HoverGas; // hover while expanding baro adc range |
| HeightDeviation = 0; |
| } // EOF // baro range expanding active |
| else // valid data from air pressure sensor |
| { |
| // ------------------------- P-Part ---------------------------- |
| tmp_long = (HoehenWert - SollHoehe); // positive when too high |
| LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
| HeightDeviation = (int)(tmp_long); // positive when too high |
| tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part |
| LIMIT_MIN_MAX(tmp_long, -127 * STICK_GAIN, 256 * STICK_GAIN); // more than the full range makes no sense |
| GasReduction = tmp_long; |
| // ------------------------- D-Part 1: Vario Meter ---------------------------- |
| tmp_int = VarioMeter / 8; |
| LIMIT_MIN_MAX(tmp_int, -127, 128); |
| tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 4L; // scale to d-gain parameter |
| LIMIT_MIN_MAX(tmp_int,-64 * STICK_GAIN, 64 * STICK_GAIN); |
| if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) tmp_int /= 4; // reduce d-part while trimming setpoint |
| else |
| if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) tmp_int /= 8; // reduce d-part in "Deckel" mode |
| GasReduction += tmp_int; |
| } // EOF no baro range expanding |
| // ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
| if(Parameter_Hoehe_ACC_Wirkung) |
| { |
| tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN); |
| LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN); |
| GasReduction += tmp_long; |
| } |
| // ------------------------ D-Part 3: GpsZ ---------------------------------- |
| tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L; |
| LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN); |
| GasReduction += tmp_int; |
| GasReduction = (long)((long)GasReduction * HoverGas) / 512; // scale to the gas value |
| // ------------------------ ---------------------------------- |
| HCGas -= GasReduction; |
| // limit deviation from hoover point within the target region |
| if(!AltitudeSetpointTrimming && HoverGas > 0) // height setpoint is not changed and hoover gas not zero |
| { |
| unsigned int tmp; |
| tmp = abs(HeightDeviation); |
| if(tmp <= 60) |
| { |
| LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point |
| } |
| else |
| { |
| tmp = (tmp - 60) / 32; |
| if(tmp > 15) tmp = 15; |
| if(HeightDeviation > 0) |
| { |
| tmp = (HoverGasMin * (16 - tmp)) / 16; |
| LIMIT_MIN_MAX(HCGas, tmp, HoverGasMax); // limit gas around the hoover point |
| } |
| else |
| { |
| tmp = (HoverGasMax * (tmp + 16)) / 16; |
| LIMIT_MIN_MAX(HCGas, HoverGasMin, tmp); // limit gas around the hoover point |
| } |
| } |
| } |
| // strech control output by inverse attitude projection 1/cos |
| // + 1/cos(angle) ++++++++++++++++++++++++++ |
| tmp_long2 = (int32_t)HCGas; |
| tmp_long2 *= 8192L; |
| tmp_long2 /= CosAttitude; |
| HCGas = (int16_t)tmp_long2; |
| // update height control gas averaging |
| FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
| // limit height control gas pd-control output |
| LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
| // set GasMischanteil to HeightControlGasFilter |
| if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) |
| { // old version |
| LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
| GasMischanteil = FilterHCGas; |
| } |
| else GasMischanteil = FilterHCGas + (GasMischanteil - HoverGas) / 4; // only in Vario-Mode |
| } |
| }// EOF height control active |
| else // HC not active |
| { |
| //update hoover gas stick value when HC is not active |
| if(!EE_Parameter.Hoehe_StickNeutralPoint) |
| { |
| StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value |
| StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
| } |
| else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
| LIMIT_MIN_MAX(StickGasHover, 70, 150); // reserve some range for trim up and down |
| FilterHCGas = GasMischanteil; |
| // set both flags to indicate no vario mode |
| FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
| FC_StatusFlags2 &= ~FC_STATUS2_ALTITUDE_CONTROL; |
| } |
| // Hover gas estimation by averaging gas control output on small z-velocities |
| // this is done only if height contol option is selected in global config and aircraft is flying |
| if((FC_StatusFlags & FC_STATUS_FLY))// && !(FC_SatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
| { |
| if(HoverGasFilter == 0 || StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
| if(StartTrigger == 1) StartTrigger = 2; |
| tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
| tmp_long2 *= CosAttitude; // apply attitude projection |
| tmp_long2 /= 8192; |
| // average vertical projected thrust |
| if(modell_fliegt < 4000) // the first 8 seconds |
| { // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
| HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/16L); |
| HoverGasFilter += 16L * tmp_long2; |
| } |
| if(modell_fliegt < 8000) // the first 16 seconds |
| { // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
| HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L); |
| HoverGasFilter += 4L * tmp_long2; |
| } |
| else //later |
| if(abs(VarioMeter) < 100 && abs(HoehenWert - SollHoehe) < 256) // only on small vertical speed & difference is small (only descending) |
| { |
| HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE; |
| HoverGasFilter += tmp_long2; |
| } |
| HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE); |
| if(EE_Parameter.Hoehe_HoverBand) |
| { |
| int16_t band; |
| band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range |
| HoverGasMin = HoverGas - band; |
| HoverGasMax = HoverGas + band; |
| } |
| else |
| { // no limit |
| HoverGasMin = 0; |
| HoverGasMax = 1023; |
| } |
| } |
| else |
| { |
| StartTrigger = 0; |
| HoverGasFilter = 0; |
| HoverGas = 0; |
| } |
| }// EOF Parameter_GlobalConfig & CFG_HEIGHT_CONTROL |
| else |
| { |
| // set undefined state to indicate vario off |
| FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
| } // EOF no height control |
| // Linits the maximum gas in case of "Out of Range emergency landing" |
| if(NC_To_FC_Flags & NC_TO_FC_EMERGENCY_LANDING) |
| { |
| if(GasMischanteil/STICK_GAIN > HooverGasEmergencyPercent && HoverGas) GasMischanteil = HooverGasEmergencyPercent * STICK_GAIN; |
| SollHoehe = HoehenWert; // update setpoint to current heigth |
| beeptime = 15000; |
| BeepMuster = 0x0E00; |
| } |
| // limit gas to parameter setting |
| LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
| if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // all BL-Ctrl connected? |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(MissingMotor || Capacity.MinOfMaxPWM != 255 || NC_ErrorCode) // wait until all BL-Ctrls started and no Errors |
| if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) // only during start-phase |
| { |
| modell_fliegt = 1; |
| GasMischanteil = (MIN_GAS + 10) * STICK_GAIN; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Mischer und PI-Regler |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| DebugOut.Analog[7] = GasMischanteil; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gier-Anteil |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
| #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
| if(GasMischanteil > MIN_GIERGAS) |
| { |
| if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
| if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
| } |
| else |
| { |
| if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
| if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
| } |
| tmp_int = MAX_GAS*STICK_GAIN; |
| if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
| if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Nick-Achse |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
| if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
| else SummeNick += DiffNick; // I-Anteil bei HH |
| if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
| if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
| if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_nick = (EE_Parameter.Gyro_Stability * DiffNick) / 8; // PI-Regler für Nick |
| else pd_ergebnis_nick = ((EE_Parameter.Gyro_Stability / 2) * DiffNick) / 4; // Überlauf verhindern |
| pd_ergebnis_nick += SummeNick / Ki; |
| tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
| if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
| if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Roll-Achse |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
| if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
| else SummeRoll += DiffRoll; // I-Anteil bei HH |
| if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
| if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
| if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_roll = (EE_Parameter.Gyro_Stability * DiffRoll) / 8; // PI-Regler für Roll |
| else pd_ergebnis_roll = ((EE_Parameter.Gyro_Stability / 2) * DiffRoll) / 4; // Überlauf verhindern |
| pd_ergebnis_roll += SummeRoll / Ki; |
| tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
| if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
| if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Universal Mixer |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| for(i=0; i<MAX_MOTORS; i++) |
| { |
| signed int tmp_int; |
| if(Mixer.Motor[i][0] > 0) |
| { |
| // Gas |
| if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
| // Nick |
| if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick; |
| else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick; |
| else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
| // Roll |
| if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll; |
| else if(Mixer.Motor[i][2] == -64) tmp_int -= pd_ergebnis_roll; |
| else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
| // Gier |
| if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil; |
| else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil; |
| else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
| if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
| // else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // original MotorSmoothing |
| else |
| { |
| if(EE_Parameter.MotorSmooth == 0) |
| { |
| tmp_int = 2 * tmp_int - tmp_motorwert[i]; // original MotorSmoothing |
| } |
| else // 1 means tmp_int = tmp_int; |
| if(EE_Parameter.MotorSmooth > 1) |
| { |
| // If >= 2 then allow >= 50% of the intended step down to rapidly reach the intended value. |
| tmp_int = tmp_int + ((tmp_motorwert[i] - tmp_int)/EE_Parameter.MotorSmooth); |
| } |
| } |
| LIMIT_MIN_MAX(tmp_int,(int) MIN_GAS * 4,(int) MAX_GAS * 4); |
| Motor[i].SetPoint = tmp_int / 4; |
| Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total) |
| tmp_motorwert[i] = tmp_int; |
| } |
| else |
| { |
| Motor[i].SetPoint = 0; |
| Motor[i].SetPointLowerBits = 0; |
| } |
| } |
| } |
| //DebugOut.Analog[16] |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/fc.h |
|---|
| 0,0 → 1,139 |
| /*####################################################################################### |
| Flight Control |
| #######################################################################################*/ |
| #ifndef _FC_H |
| #define _FC_H |
| //#define GIER_GRAD_FAKTOR 1291L // Abhängigkeit zwischen GyroIntegral und Winkel |
| //#define GIER_GRAD_FAKTOR 1160L |
| extern long GIER_GRAD_FAKTOR; // Abhängigkeit zwischen GyroIntegral und Winkel |
| #define STICK_GAIN 4 |
| #define ACC_AMPLIFY 6 |
| // FC_StatusFlags |
| #define FC_STATUS_MOTOR_RUN 0x01 |
| #define FC_STATUS_FLY 0x02 |
| #define FC_STATUS_CALIBRATE 0x04 |
| #define FC_STATUS_START 0x08 |
| #define FC_STATUS_EMERGENCY_LANDING 0x10 |
| #define FC_STATUS_LOWBAT 0x20 |
| #define FC_STATUS_VARIO_TRIM_UP 0x40 |
| #define FC_STATUS_VARIO_TRIM_DOWN 0x80 |
| // FC_StatusFlags2 |
| #define FC_STATUS2_CAREFREE 0x01 |
| #define FC_STATUS2_ALTITUDE_CONTROL 0x02 |
| #define FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04 |
| #define FC_STATUS2_OUT1_ACTIVE 0x08 |
| #define FC_STATUS2_OUT2_ACTIVE 0x10 |
| //NC_To_FC_Flags |
| #define NC_TO_FC_FLYING_RANGE 0x01 |
| #define NC_TO_FC_EMERGENCY_LANDING 0x02 |
| extern volatile unsigned char FC_StatusFlags, FC_StatusFlags2; |
| extern void ParameterZuordnung(void); |
| #define Poti1 Poti[0] |
| #define Poti2 Poti[1] |
| #define Poti3 Poti[2] |
| #define Poti4 Poti[3] |
| #define Poti5 Poti[4] |
| #define Poti6 Poti[5] |
| #define Poti7 Poti[6] |
| #define Poti8 Poti[7] |
| #define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
| #define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
| #define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;} |
| #define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];} |
| #define CHK_POTI_OFF(b,a,off) {if(a < 248) b = a; else b = Poti[255 - a] - off;} |
| #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);} |
| #define CHK_POTI_MM_OFF(b,a,min,max,off) {CHK_POTI_OFF(b,a,off); LIMIT_MIN_MAX(b, min, max);} |
| extern unsigned char Sekunde,Minute; |
| extern unsigned int BaroExpandActive; |
| extern long IntegralNick,IntegralNick2; |
| extern long IntegralRoll,IntegralRoll2; |
| //extern int IntegralNick,IntegralNick2; |
| //extern int IntegralRoll,IntegralRoll2; |
| extern unsigned char Poti[9]; |
| extern long Mess_IntegralNick,Mess_IntegralNick2; |
| extern long Mess_IntegralRoll,Mess_IntegralRoll2; |
| extern long IntegralAccNick,IntegralAccRoll; |
| extern long SummeNick,SummeRoll; |
| extern volatile long Mess_Integral_Hoch; |
| extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2; |
| extern int KompassValue; |
| extern int KompassSollWert; |
| extern int KompassRichtung; |
| extern char CalculateCompassTimer; |
| extern unsigned char KompassFusion; |
| extern unsigned char ControlHeading; |
| extern int TrimNick, TrimRoll; |
| extern long ErsatzKompass; |
| extern int ErsatzKompassInGrad; // Kompasswert in Grad |
| extern long HoehenWert; |
| extern long SollHoehe; |
| extern long FromNC_AltitudeSetpoint; |
| extern unsigned char FromNC_AltitudeSpeed; |
| extern unsigned char Parameter_HoehenSchalter; // Wert : 0-250 |
| extern unsigned char CareFree; |
| extern int MesswertNick,MesswertRoll,MesswertGier; |
| extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll; |
| extern unsigned int NeutralAccX, NeutralAccY; |
| extern unsigned char HoehenReglerAktiv; |
| extern int NeutralAccZ; |
| extern long Umschlag180Nick, Umschlag180Roll; |
| extern signed int ExternStickNick,ExternStickRoll,ExternStickGier; |
| extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8; |
| extern int NaviAccNick,NaviAccRoll,NaviCntAcc; |
| extern unsigned int modell_fliegt; |
| extern void MotorRegler(void); |
| extern void SendMotorData(void); |
| //void CalibrierMittelwert(void); |
| //void Mittelwert(void); |
| extern void SetNeutral(unsigned char AccAdjustment); |
| extern void Piep(unsigned char Anzahl, unsigned int dauer); |
| extern void CopyDebugValues(void); |
| extern unsigned char h,m,s; |
| extern int StickNick,StickRoll,StickGier,StickGas; |
| extern volatile unsigned char Timeout ; |
| extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
| extern int DiffNick,DiffRoll; |
| //extern int Poti1, Poti2, Poti3, Poti4; |
| extern volatile unsigned char SenderOkay; |
| extern int StickNick,StickRoll,StickGier; |
| extern char MotorenEin; |
| extern unsigned char CalibrationDone; |
| extern unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
| extern char VarioCharacter; |
| extern signed int AltitudeSetpointTrimming; |
| extern signed char WaypointTrimming; |
| extern int HoverGas; |
| extern unsigned char Parameter_Luftdruck_D; |
| extern unsigned char Parameter_MaxHoehe; |
| extern unsigned char Parameter_Hoehe_P; |
| extern unsigned char Parameter_Hoehe_ACC_Wirkung; |
| extern unsigned char Parameter_KompassWirkung; |
| extern unsigned char Parameter_Gyro_P; |
| extern unsigned char Parameter_Gyro_I; |
| extern unsigned char Parameter_Gier_P; |
| extern unsigned char Parameter_ServoNickControl; |
| extern unsigned char Parameter_ServoRollControl; |
| extern unsigned char Parameter_AchsKopplung1; |
| extern unsigned char Parameter_AchsKopplung2; |
| //extern unsigned char Parameter_AchsGegenKopplung1; |
| extern unsigned char Parameter_J16Bitmask; // for the J16 Output |
| extern unsigned char Parameter_J16Timing; // for the J16 Output |
| extern unsigned char Parameter_J17Bitmask; // for the J17 Output |
| extern unsigned char Parameter_J17Timing; // for the J17 Output |
| extern unsigned char Parameter_GlobalConfig; |
| extern unsigned char Parameter_ExtraConfig; |
| extern signed char MixerTable[MAX_MOTORS][4]; |
| extern const signed char sintab[31]; |
| #endif //_FC_H |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/fc.lst |
|---|
| 0,0 → 1,10980 |
| 1 .file "fc.c" |
| 2 .arch atmega1284p |
| 3 __SREG__ = 0x3f |
| 4 __SP_H__ = 0x3e |
| 5 __SP_L__ = 0x3d |
| 6 __tmp_reg__ = 0 |
| 7 __zero_reg__ = 1 |
| 8 .global __do_copy_data |
| 9 .global __do_clear_bss |
| 10 .global GasIsZeroCnt |
| 11 .global GasIsZeroCnt |
| 12 .section .bss |
| 15 GasIsZeroCnt: |
| 16 0000 0000 .skip 2,0 |
| 17 .global HooverGasEmergencyPercent |
| 18 .global HooverGasEmergencyPercent |
| 21 HooverGasEmergencyPercent: |
| 22 0002 0000 .skip 2,0 |
| 23 .global VarioCharacter |
| 24 .data |
| 27 VarioCharacter: |
| 28 0000 20 .byte 32 |
| 29 .global GIER_GRAD_FAKTOR |
| 32 GIER_GRAD_FAKTOR: |
| 33 0001 0B05 0000 .long 1291 |
| 34 .global FC_StatusFlags2 |
| 35 .global FC_StatusFlags2 |
| 36 .section .bss |
| 39 FC_StatusFlags2: |
| 40 0004 00 .skip 1,0 |
| 41 .global FC_StatusFlags |
| 42 .global FC_StatusFlags |
| 45 FC_StatusFlags: |
| 46 0005 00 .skip 1,0 |
| 47 .global modell_fliegt |
| 48 .global modell_fliegt |
| 51 modell_fliegt: |
| 52 0006 0000 .skip 2,0 |
| 53 .global MaxStickRoll |
| 54 .global MaxStickRoll |
| 57 MaxStickRoll: |
| 58 0008 0000 .skip 2,0 |
| 59 .global MaxStickNick |
| 60 .global MaxStickNick |
| 63 MaxStickNick: |
| 64 000a 0000 .skip 2,0 |
| 65 .global ExternHoehenValue |
| 66 .data |
| 69 ExternHoehenValue: |
| 70 0005 ECFF .word -20 |
| 71 .global ExternStickGier |
| 72 .global ExternStickGier |
| 73 .section .bss |
| 76 ExternStickGier: |
| 77 000c 0000 .skip 2,0 |
| 78 .global ExternStickRoll |
| 79 .global ExternStickRoll |
| 82 ExternStickRoll: |
| 83 000e 0000 .skip 2,0 |
| 84 .global ExternStickNick |
| 85 .global ExternStickNick |
| 88 ExternStickNick: |
| 89 0010 0000 .skip 2,0 |
| 90 .global sintab |
| 91 .data |
| 94 sintab: |
| 95 0007 00 .byte 0 |
| 96 0008 02 .byte 2 |
| 97 0009 04 .byte 4 |
| 98 000a 06 .byte 6 |
| 99 000b 07 .byte 7 |
| 100 000c 08 .byte 8 |
| 101 000d 08 .byte 8 |
| 102 000e 08 .byte 8 |
| 103 000f 07 .byte 7 |
| 104 0010 06 .byte 6 |
| 105 0011 04 .byte 4 |
| 106 0012 02 .byte 2 |
| 107 0013 00 .byte 0 |
| 108 0014 FE .byte -2 |
| 109 0015 FC .byte -4 |
| 110 0016 FA .byte -6 |
| 111 0017 F9 .byte -7 |
| 112 0018 F8 .byte -8 |
| 113 0019 F8 .byte -8 |
| 114 001a F8 .byte -8 |
| 115 001b F9 .byte -7 |
| 116 001c FA .byte -6 |
| 117 001d FC .byte -4 |
| 118 001e FE .byte -2 |
| 119 001f 00 .byte 0 |
| 120 0020 02 .byte 2 |
| 121 0021 04 .byte 4 |
| 122 0022 06 .byte 6 |
| 123 0023 07 .byte 7 |
| 124 0024 08 .byte 8 |
| 125 0025 08 .byte 8 |
| 126 .global CareFree |
| 127 .global CareFree |
| 128 .section .bss |
| 131 CareFree: |
| 132 0012 00 .skip 1,0 |
| 133 .global Parameter_DynamicStability |
| 134 .data |
| 137 Parameter_DynamicStability: |
| 138 0026 64 .byte 100 |
| 139 .global Parameter_CouplingYawCorrection |
| 142 Parameter_CouplingYawCorrection: |
| 143 0027 40 .byte 64 |
| 144 .global Parameter_AchsKopplung2 |
| 147 Parameter_AchsKopplung2: |
| 148 0028 41 .byte 65 |
| 149 .global Parameter_AchsKopplung1 |
| 152 Parameter_AchsKopplung1: |
| 153 0029 5A .byte 90 |
| 154 .global Parameter_LoopGasLimit |
| 157 Parameter_LoopGasLimit: |
| 158 002a 46 .byte 70 |
| 159 .global Parameter_ServoRollControl |
| 162 Parameter_ServoRollControl: |
| 163 002b 64 .byte 100 |
| 164 .global Parameter_ServoNickControl |
| 167 Parameter_ServoNickControl: |
| 168 002c 64 .byte 100 |
| 169 .global Parameter_UserParam8 |
| 170 .global Parameter_UserParam8 |
| 171 .section .bss |
| 174 Parameter_UserParam8: |
| 175 0013 00 .skip 1,0 |
| 176 .global Parameter_UserParam7 |
| 177 .global Parameter_UserParam7 |
| 180 Parameter_UserParam7: |
| 181 0014 00 .skip 1,0 |
| 182 .global Parameter_UserParam6 |
| 183 .global Parameter_UserParam6 |
| 186 Parameter_UserParam6: |
| 187 0015 00 .skip 1,0 |
| 188 .global Parameter_UserParam5 |
| 189 .global Parameter_UserParam5 |
| 192 Parameter_UserParam5: |
| 193 0016 00 .skip 1,0 |
| 194 .global Parameter_UserParam4 |
| 195 .global Parameter_UserParam4 |
| 198 Parameter_UserParam4: |
| 199 0017 00 .skip 1,0 |
| 200 .global Parameter_UserParam3 |
| 201 .global Parameter_UserParam3 |
| 204 Parameter_UserParam3: |
| 205 0018 00 .skip 1,0 |
| 206 .global Parameter_UserParam2 |
| 207 .global Parameter_UserParam2 |
| 210 Parameter_UserParam2: |
| 211 0019 00 .skip 1,0 |
| 212 .global Parameter_UserParam1 |
| 213 .global Parameter_UserParam1 |
| 216 Parameter_UserParam1: |
| 217 001a 00 .skip 1,0 |
| 218 .global Parameter_I_Faktor |
| 219 .data |
| 222 Parameter_I_Faktor: |
| 223 002d 0A .byte 10 |
| 224 .global Parameter_Gier_P |
| 227 Parameter_Gier_P: |
| 228 002e 02 .byte 2 |
| 229 .global Parameter_Gyro_Gier_I |
| 232 Parameter_Gyro_Gier_I: |
| 233 002f 96 .byte -106 |
| 234 .global Parameter_Gyro_Gier_P |
| 237 Parameter_Gyro_Gier_P: |
| 238 0030 96 .byte -106 |
| 239 .global Parameter_Gyro_I |
| 242 Parameter_Gyro_I: |
| 243 0031 96 .byte -106 |
| 244 .global Parameter_Gyro_P |
| 247 Parameter_Gyro_P: |
| 248 0032 96 .byte -106 |
| 249 .global Parameter_Gyro_D |
| 252 Parameter_Gyro_D: |
| 253 0033 08 .byte 8 |
| 254 .global Parameter_Hoehe_GPS_Z |
| 257 Parameter_Hoehe_GPS_Z: |
| 258 0034 40 .byte 64 |
| 259 .global Parameter_KompassWirkung |
| 262 Parameter_KompassWirkung: |
| 263 0035 40 .byte 64 |
| 264 .global Parameter_Hoehe_ACC_Wirkung |
| 267 Parameter_Hoehe_ACC_Wirkung: |
| 268 0036 3A .byte 58 |
| 269 .global Parameter_Hoehe_P |
| 272 Parameter_Hoehe_P: |
| 273 0037 10 .byte 16 |
| 274 .global Parameter_HoehenSchalter |
| 277 Parameter_HoehenSchalter: |
| 278 0038 FB .byte -5 |
| 279 .global Parameter_Luftdruck_D |
| 282 Parameter_Luftdruck_D: |
| 283 0039 30 .byte 48 |
| 284 .global Looping_Oben |
| 285 .global Looping_Oben |
| 286 .section .bss |
| 289 Looping_Oben: |
| 290 001b 00 .skip 1,0 |
| 291 .global Looping_Unten |
| 292 .global Looping_Unten |
| 295 Looping_Unten: |
| 296 001c 00 .skip 1,0 |
| 297 .global Looping_Rechts |
| 298 .global Looping_Rechts |
| 301 Looping_Rechts: |
| 302 001d 00 .skip 1,0 |
| 303 .global Looping_Links |
| 304 .global Looping_Links |
| 307 Looping_Links: |
| 308 001e 00 .skip 1,0 |
| 309 .global Looping_Roll |
| 310 .global Looping_Roll |
| 313 Looping_Roll: |
| 314 001f 00 .skip 1,0 |
| 315 .global Looping_Nick |
| 316 .global Looping_Nick |
| 319 Looping_Nick: |
| 320 0020 00 .skip 1,0 |
| 321 .global Ki |
| 322 .data |
| 325 Ki: |
| 326 003a 3801 .word 312 |
| 327 .global HoverGas |
| 328 .global HoverGas |
| 329 .section .bss |
| 332 HoverGas: |
| 333 0021 0000 .skip 2,0 |
| 334 .global LageKorrekturNick |
| 335 .global LageKorrekturNick |
| 338 LageKorrekturNick: |
| 339 0023 0000 .skip 2,0 |
| 340 .global LageKorrekturRoll |
| 341 .global LageKorrekturRoll |
| 344 LageKorrekturRoll: |
| 345 0025 0000 .skip 2,0 |
| 346 .global NeueKompassRichtungMerken |
| 347 .global NeueKompassRichtungMerken |
| 350 NeueKompassRichtungMerken: |
| 351 0027 00 .skip 1,0 |
| 352 .global CalibrationDone |
| 353 .global CalibrationDone |
| 356 CalibrationDone: |
| 357 0028 00 .skip 1,0 |
| 358 .global CompassGierSetpoint |
| 359 .global CompassGierSetpoint |
| 362 CompassGierSetpoint: |
| 363 0029 0000 .skip 2,0 |
| 364 .global WaypointTrimming |
| 365 .global WaypointTrimming |
| 368 WaypointTrimming: |
| 369 002b 00 .skip 1,0 |
| 370 .global carefree_old |
| 371 .data |
| 374 carefree_old: |
| 375 003c 32 .byte 50 |
| 376 .global FromNC_AltitudeSpeed |
| 377 .global FromNC_AltitudeSpeed |
| 378 .section .bss |
| 381 FromNC_AltitudeSpeed: |
| 382 002c 00 .skip 1,0 |
| 383 .global FromNC_AltitudeSetpoint |
| 384 .global FromNC_AltitudeSetpoint |
| 387 FromNC_AltitudeSetpoint: |
| 388 002d 0000 0000 .skip 4,0 |
| 389 .global AltitudeSetpointTrimming |
| 390 .global AltitudeSetpointTrimming |
| 393 AltitudeSetpointTrimming: |
| 394 0031 0000 .skip 2,0 |
| 395 .global SollHoehe |
| 396 .global SollHoehe |
| 399 SollHoehe: |
| 400 0033 0000 0000 .skip 4,0 |
| 401 .global HoehenWert |
| 402 .global HoehenWert |
| 405 HoehenWert: |
| 406 0037 0000 0000 .skip 4,0 |
| 407 .global StartTrigger |
| 408 .global StartTrigger |
| 411 StartTrigger: |
| 412 003b 00 .skip 1,0 |
| 413 .global MotorenEin |
| 414 .global MotorenEin |
| 417 MotorenEin: |
| 418 003c 00 .skip 1,0 |
| 419 .global SenderOkay |
| 420 .global SenderOkay |
| 423 SenderOkay: |
| 424 003d 00 .skip 1,0 |
| 425 .global Poti |
| 426 .global Poti |
| 429 Poti: |
| 430 003e 0000 0000 .skip 9,0 |
| 430 0000 0000 |
| 430 00 |
| 431 .global StickGas |
| 432 .global StickGas |
| 435 StickGas: |
| 436 0047 0000 .skip 2,0 |
| 437 .global StickGier |
| 438 .global StickGier |
| 441 StickGier: |
| 442 0049 0000 .skip 2,0 |
| 443 .global StickRoll |
| 444 .global StickRoll |
| 447 StickRoll: |
| 448 004b 0000 .skip 2,0 |
| 449 .global StickNick |
| 450 .global StickNick |
| 453 StickNick: |
| 454 004d 0000 .skip 2,0 |
| 455 .global HoverGasMax |
| 456 .data |
| 459 HoverGasMax: |
| 460 003d FF03 .word 1023 |
| 461 .global HoverGasMin |
| 462 .global HoverGasMin |
| 463 .section .bss |
| 466 HoverGasMin: |
| 467 004f 0000 .skip 2,0 |
| 468 .global StickGasHover |
| 469 .data |
| 472 StickGasHover: |
| 473 003f 7800 .word 120 |
| 474 .global GierGyroFehler |
| 475 .global GierGyroFehler |
| 476 .section .bss |
| 479 GierGyroFehler: |
| 480 0051 0000 .skip 2,0 |
| 481 .global Umschlag180Roll |
| 482 .data |
| 485 Umschlag180Roll: |
| 486 0041 90D0 0300 .long 250000 |
| 487 .global Umschlag180Nick |
| 490 Umschlag180Nick: |
| 491 0045 90D0 0300 .long 250000 |
| 492 .global TrichterFlug |
| 493 .global TrichterFlug |
| 494 .section .bss |
| 497 TrichterFlug: |
| 498 0053 00 .skip 1,0 |
| 499 .global HoehenReglerAktiv |
| 500 .global HoehenReglerAktiv |
| 503 HoehenReglerAktiv: |
| 504 0054 00 .skip 1,0 |
| 505 .global KompassSignalSchlecht |
| 506 .data |
| 509 KompassSignalSchlecht: |
| 510 0049 3200 .word 50 |
| 511 .global KompassFusion |
| 514 KompassFusion: |
| 515 004b 20 .byte 32 |
| 516 .global CalculateCompassTimer |
| 519 CalculateCompassTimer: |
| 520 004c 64 .byte 100 |
| 521 .global KompassSollWert |
| 522 .global KompassSollWert |
| 523 .section .bss |
| 526 KompassSollWert: |
| 527 0055 0000 .skip 2,0 |
| 528 .global KompassValue |
| 529 .data |
| 532 KompassValue: |
| 533 004d FFFF .word -1 |
| 534 .global Mess_Integral_Hoch |
| 535 .global Mess_Integral_Hoch |
| 536 .section .bss |
| 539 Mess_Integral_Hoch: |
| 540 0057 0000 0000 .skip 4,0 |
| 541 .global SummeRoll |
| 542 .global SummeRoll |
| 545 SummeRoll: |
| 546 005b 0000 0000 .skip 4,0 |
| 547 .global SummeNick |
| 548 .global SummeNick |
| 551 SummeNick: |
| 552 005f 0000 0000 .skip 4,0 |
| 553 .global Mess_Integral_Gier2 |
| 554 .global Mess_Integral_Gier2 |
| 557 Mess_Integral_Gier2: |
| 558 0063 0000 0000 .skip 4,0 |
| 559 .global Mess_Integral_Gier |
| 560 .global Mess_Integral_Gier |
| 563 Mess_Integral_Gier: |
| 564 0067 0000 0000 .skip 4,0 |
| 565 .global Mess_IntegralRoll2 |
| 566 .global Mess_IntegralRoll2 |
| 569 Mess_IntegralRoll2: |
| 570 006b 0000 0000 .skip 4,0 |
| 571 .global Mess_IntegralRoll |
| 572 .global Mess_IntegralRoll |
| 575 Mess_IntegralRoll: |
| 576 006f 0000 0000 .skip 4,0 |
| 577 .global Mess_IntegralNick2 |
| 578 .global Mess_IntegralNick2 |
| 581 Mess_IntegralNick2: |
| 582 0073 0000 0000 .skip 4,0 |
| 583 .global Mess_IntegralNick |
| 584 .global Mess_IntegralNick |
| 587 Mess_IntegralNick: |
| 588 0077 0000 0000 .skip 4,0 |
| 589 .global Integral_Gier |
| 590 .global Integral_Gier |
| 593 Integral_Gier: |
| 594 007b 0000 0000 .skip 4,0 |
| 595 .global IntegralAccZ |
| 596 .global IntegralAccZ |
| 599 IntegralAccZ: |
| 600 007f 0000 0000 .skip 4,0 |
| 601 .global IntegralAccRoll |
| 602 .global IntegralAccRoll |
| 605 IntegralAccRoll: |
| 606 0083 0000 0000 .skip 4,0 |
| 607 .global IntegralAccNick |
| 608 .global IntegralAccNick |
| 611 IntegralAccNick: |
| 612 0087 0000 0000 .skip 4,0 |
| 613 .global IntegralRoll2 |
| 614 .global IntegralRoll2 |
| 617 IntegralRoll2: |
| 618 008b 0000 0000 .skip 4,0 |
| 619 .global IntegralRoll |
| 620 .global IntegralRoll |
| 623 IntegralRoll: |
| 624 008f 0000 0000 .skip 4,0 |
| 625 .global IntegralNick2 |
| 626 .global IntegralNick2 |
| 629 IntegralNick2: |
| 630 0093 0000 0000 .skip 4,0 |
| 631 .global IntegralNick |
| 632 .global IntegralNick |
| 635 IntegralNick: |
| 636 0097 0000 0000 .skip 4,0 |
| 637 .global ControlHeading |
| 638 .global ControlHeading |
| 641 ControlHeading: |
| 642 009b 00 .skip 1,0 |
| 643 .global NeutralAccZ |
| 644 .global NeutralAccZ |
| 647 NeutralAccZ: |
| 648 009c 0000 .skip 2,0 |
| 649 .global NaviCntAcc |
| 650 .global NaviCntAcc |
| 653 NaviCntAcc: |
| 654 009e 0000 .skip 2,0 |
| 655 .global NeutralAccY |
| 656 .global NeutralAccY |
| 659 NeutralAccY: |
| 660 00a0 0000 .skip 2,0 |
| 661 .global NeutralAccX |
| 662 .global NeutralAccX |
| 665 NeutralAccX: |
| 666 00a2 0000 .skip 2,0 |
| 667 .global StartNeutralNick |
| 668 .global StartNeutralNick |
| 671 StartNeutralNick: |
| 672 00a4 0000 .skip 2,0 |
| 673 .global StartNeutralRoll |
| 674 .global StartNeutralRoll |
| 677 StartNeutralRoll: |
| 678 00a6 0000 .skip 2,0 |
| 679 .global AdNeutralGier |
| 680 .global AdNeutralGier |
| 683 AdNeutralGier: |
| 684 00a8 0000 .skip 2,0 |
| 685 .global AdNeutralRoll |
| 686 .global AdNeutralRoll |
| 689 AdNeutralRoll: |
| 690 00aa 0000 .skip 2,0 |
| 691 .global AdNeutralNick |
| 692 .global AdNeutralNick |
| 695 AdNeutralNick: |
| 696 00ac 0000 .skip 2,0 |
| 697 .global BaroExpandActive |
| 698 .global BaroExpandActive |
| 701 BaroExpandActive: |
| 702 00ae 0000 .skip 2,0 |
| 703 .text |
| 704 .global CopyDebugValues |
| 706 CopyDebugValues: |
| 707 /* prologue: frame size=0 */ |
| 708 0000 EF92 push r14 |
| 709 0002 FF92 push r15 |
| 710 0004 0F93 push r16 |
| 711 0006 1F93 push r17 |
| 712 /* prologue end (size=4) */ |
| 713 0008 8091 0000 lds r24,EE_Parameter+28 |
| 714 000c 9927 clr r25 |
| 715 000e 880F lsl r24 |
| 716 0010 991F rol r25 |
| 717 0012 880F lsl r24 |
| 718 0014 991F rol r25 |
| 719 0016 7C01 movw r14,r24 |
| 720 0018 0027 clr r16 |
| 721 001a F7FC sbrc r15,7 |
| 722 001c 0095 com r16 |
| 723 001e 102F mov r17,r16 |
| 724 0020 8091 0000 lds r24,IntegralNick |
| 725 0024 9091 0000 lds r25,(IntegralNick)+1 |
| 726 0028 A091 0000 lds r26,(IntegralNick)+2 |
| 727 002c B091 0000 lds r27,(IntegralNick)+3 |
| 728 0030 BC01 movw r22,r24 |
| 729 0032 CD01 movw r24,r26 |
| 730 0034 A801 movw r20,r16 |
| 731 0036 9701 movw r18,r14 |
| 732 0038 0E94 0000 call __divmodsi4 |
| 733 003c 3093 0000 sts (DebugOut+2)+1,r19 |
| 734 0040 2093 0000 sts DebugOut+2,r18 |
| 735 0044 8091 0000 lds r24,IntegralRoll |
| 736 0048 9091 0000 lds r25,(IntegralRoll)+1 |
| 737 004c A091 0000 lds r26,(IntegralRoll)+2 |
| 738 0050 B091 0000 lds r27,(IntegralRoll)+3 |
| 739 0054 BC01 movw r22,r24 |
| 740 0056 CD01 movw r24,r26 |
| 741 0058 A801 movw r20,r16 |
| 742 005a 9701 movw r18,r14 |
| 743 005c 0E94 0000 call __divmodsi4 |
| 744 0060 3093 0000 sts (DebugOut+4)+1,r19 |
| 745 0064 2093 0000 sts DebugOut+4,r18 |
| 746 0068 8091 0000 lds r24,Mittelwert_AccNick |
| 747 006c 9091 0000 lds r25,(Mittelwert_AccNick)+1 |
| 748 0070 97FD sbrc r25,7 |
| 749 0072 0396 adiw r24,3 |
| 750 .L2: |
| 751 0074 9595 asr r25 |
| 752 0076 8795 ror r24 |
| 753 0078 9595 asr r25 |
| 754 007a 8795 ror r24 |
| 755 007c 9093 0000 sts (DebugOut+6)+1,r25 |
| 756 0080 8093 0000 sts DebugOut+6,r24 |
| 757 0084 8091 0000 lds r24,Mittelwert_AccRoll |
| 758 0088 9091 0000 lds r25,(Mittelwert_AccRoll)+1 |
| 759 008c 97FD sbrc r25,7 |
| 760 008e 0396 adiw r24,3 |
| 761 .L3: |
| 762 0090 9595 asr r25 |
| 763 0092 8795 ror r24 |
| 764 0094 9595 asr r25 |
| 765 0096 8795 ror r24 |
| 766 0098 9093 0000 sts (DebugOut+8)+1,r25 |
| 767 009c 8093 0000 sts DebugOut+8,r24 |
| 768 00a0 8091 0000 lds r24,AdNeutralGier |
| 769 00a4 9091 0000 lds r25,(AdNeutralGier)+1 |
| 770 00a8 2091 0000 lds r18,AdWertGier |
| 771 00ac 3091 0000 lds r19,(AdWertGier)+1 |
| 772 00b0 821B sub r24,r18 |
| 773 00b2 930B sbc r25,r19 |
| 774 00b4 9093 0000 sts (DebugOut+10)+1,r25 |
| 775 00b8 8093 0000 sts DebugOut+10,r24 |
| 776 00bc 8091 0000 lds r24,HoehenWert |
| 777 00c0 9091 0000 lds r25,(HoehenWert)+1 |
| 778 00c4 A091 0000 lds r26,(HoehenWert)+2 |
| 779 00c8 B091 0000 lds r27,(HoehenWert)+3 |
| 780 00cc BC01 movw r22,r24 |
| 781 00ce CD01 movw r24,r26 |
| 782 00d0 25E0 ldi r18,lo8(5) |
| 783 00d2 30E0 ldi r19,hi8(5) |
| 784 00d4 40E0 ldi r20,hlo8(5) |
| 785 00d6 50E0 ldi r21,hhi8(5) |
| 786 00d8 0E94 0000 call __divmodsi4 |
| 787 00dc 3093 0000 sts (DebugOut+12)+1,r19 |
| 788 00e0 2093 0000 sts DebugOut+12,r18 |
| 789 00e4 8091 0000 lds r24,AdWertAccHoch |
| 790 00e8 9091 0000 lds r25,(AdWertAccHoch)+1 |
| 791 00ec 9093 0000 sts (DebugOut+14)+1,r25 |
| 792 00f0 8093 0000 sts DebugOut+14,r24 |
| 793 00f4 8091 0000 lds r24,KompassValue |
| 794 00f8 9091 0000 lds r25,(KompassValue)+1 |
| 795 00fc 9093 0000 sts (DebugOut+18)+1,r25 |
| 796 0100 8093 0000 sts DebugOut+18,r24 |
| 797 0104 8091 0000 lds r24,UBat |
| 798 0108 9091 0000 lds r25,(UBat)+1 |
| 799 010c 9093 0000 sts (DebugOut+20)+1,r25 |
| 800 0110 8093 0000 sts DebugOut+20,r24 |
| 801 0114 8091 0000 lds r24,SenderOkay |
| 802 0118 9927 clr r25 |
| 803 011a 9093 0000 sts (DebugOut+22)+1,r25 |
| 804 011e 8093 0000 sts DebugOut+22,r24 |
| 805 0122 8091 0000 lds r24,ErsatzKompassInGrad |
| 806 0126 9091 0000 lds r25,(ErsatzKompassInGrad)+1 |
| 807 012a 9093 0000 sts (DebugOut+24)+1,r25 |
| 808 012e 8093 0000 sts DebugOut+24,r24 |
| 809 0132 8091 0000 lds r24,Motor+1 |
| 810 0136 9927 clr r25 |
| 811 0138 9093 0000 sts (DebugOut+26)+1,r25 |
| 812 013c 8093 0000 sts DebugOut+26,r24 |
| 813 0140 8091 0000 lds r24,Motor+9 |
| 814 0144 9927 clr r25 |
| 815 0146 9093 0000 sts (DebugOut+28)+1,r25 |
| 816 014a 8093 0000 sts DebugOut+28,r24 |
| 817 014e 8091 0000 lds r24,Motor+17 |
| 818 0152 9927 clr r25 |
| 819 0154 9093 0000 sts (DebugOut+30)+1,r25 |
| 820 0158 8093 0000 sts DebugOut+30,r24 |
| 821 015c 8091 0000 lds r24,Motor+25 |
| 822 0160 9927 clr r25 |
| 823 0162 9093 0000 sts (DebugOut+32)+1,r25 |
| 824 0166 8093 0000 sts DebugOut+32,r24 |
| 825 016a 8091 0000 lds r24,ServoNickValue |
| 826 016e 9091 0000 lds r25,(ServoNickValue)+1 |
| 827 0172 9093 0000 sts (DebugOut+42)+1,r25 |
| 828 0176 8093 0000 sts DebugOut+42,r24 |
| 829 017a 8091 0000 lds r24,Capacity |
| 830 017e 9091 0000 lds r25,(Capacity)+1 |
| 831 0182 9093 0000 sts (DebugOut+46)+1,r25 |
| 832 0186 8093 0000 sts DebugOut+46,r24 |
| 833 018a 8091 0000 lds r24,Capacity+4 |
| 834 018e 9091 0000 lds r25,(Capacity+4)+1 |
| 835 0192 9093 0000 sts (DebugOut+48)+1,r25 |
| 836 0196 8093 0000 sts DebugOut+48,r24 |
| 837 019a 8091 0000 lds r24,SollHoehe |
| 838 019e 9091 0000 lds r25,(SollHoehe)+1 |
| 839 01a2 A091 0000 lds r26,(SollHoehe)+2 |
| 840 01a6 B091 0000 lds r27,(SollHoehe)+3 |
| 841 01aa BC01 movw r22,r24 |
| 842 01ac CD01 movw r24,r26 |
| 843 01ae 25E0 ldi r18,lo8(5) |
| 844 01b0 30E0 ldi r19,hi8(5) |
| 845 01b2 40E0 ldi r20,hlo8(5) |
| 846 01b4 50E0 ldi r21,hhi8(5) |
| 847 01b6 0E94 0000 call __divmodsi4 |
| 848 01ba 3093 0000 sts (DebugOut+50)+1,r19 |
| 849 01be 2093 0000 sts DebugOut+50,r18 |
| 850 01c2 8091 0000 lds r24,KompassSollWert |
| 851 01c6 9091 0000 lds r25,(KompassSollWert)+1 |
| 852 01ca 9093 0000 sts (DebugOut+56)+1,r25 |
| 853 01ce 8093 0000 sts DebugOut+56,r24 |
| 854 01d2 8091 0000 lds r24,Capacity+6 |
| 855 01d6 9927 clr r25 |
| 856 01d8 9093 0000 sts (DebugOut+60)+1,r25 |
| 857 01dc 8093 0000 sts DebugOut+60,r24 |
| 858 01e0 8091 0000 lds r24,GPS_Nick |
| 859 01e4 9091 0000 lds r25,(GPS_Nick)+1 |
| 860 01e8 9093 0000 sts (DebugOut+62)+1,r25 |
| 861 01ec 8093 0000 sts DebugOut+62,r24 |
| 862 01f0 8091 0000 lds r24,GPS_Roll |
| 863 01f4 9091 0000 lds r25,(GPS_Roll)+1 |
| 864 01f8 9093 0000 sts (DebugOut+64)+1,r25 |
| 865 01fc 8093 0000 sts DebugOut+64,r24 |
| 866 0200 8091 0000 lds r24,VersionInfo+5 |
| 867 0204 8823 tst r24 |
| 868 0206 01F4 brne .L5 |
| 869 0208 8091 0000 lds r24,VersionInfo+6 |
| 870 020c 8823 tst r24 |
| 871 020e 01F0 breq .L4 |
| 872 .L5: |
| 873 0210 8091 0000 lds r24,DebugOut+1 |
| 874 0214 8160 ori r24,lo8(1) |
| 875 0216 00C0 rjmp .L7 |
| 876 .L4: |
| 877 0218 8091 0000 lds r24,DebugOut+1 |
| 878 021c 8E7F andi r24,lo8(-2) |
| 879 .L7: |
| 880 021e 8093 0000 sts DebugOut+1,r24 |
| 881 /* epilogue: frame size=0 */ |
| 882 0222 1F91 pop r17 |
| 883 0224 0F91 pop r16 |
| 884 0226 FF90 pop r15 |
| 885 0228 EF90 pop r14 |
| 886 022a 0895 ret |
| 887 /* epilogue end (size=5) */ |
| 888 /* function CopyDebugValues size 280 (271) */ |
| 890 .global Piep |
| 892 Piep: |
| 893 /* prologue: frame size=0 */ |
| 894 022c EF92 push r14 |
| 895 022e FF92 push r15 |
| 896 0230 1F93 push r17 |
| 897 0232 CF93 push r28 |
| 898 0234 DF93 push r29 |
| 899 /* prologue end (size=5) */ |
| 900 0236 182F mov r17,r24 |
| 901 0238 7B01 movw r14,r22 |
| 902 023a 8091 0000 lds r24,MotorenEin |
| 903 023e 8823 tst r24 |
| 904 0240 01F4 brne .L8 |
| 905 0242 8091 0000 lds r24,PlatinenVersion |
| 906 0246 8C30 cpi r24,lo8(12) |
| 907 0248 00F0 brlo .L11 |
| 908 024a 8631 cpi r24,lo8(22) |
| 909 024c 01F4 brne .L10 |
| 910 .L11: |
| 911 024e 2998 cbi 37-0x20,1 |
| 912 0250 00C0 rjmp .L12 |
| 913 .L10: |
| 914 0252 299A sbi 37-0x20,1 |
| 915 .L12: |
| 916 0254 1150 subi r17,lo8(-(-1)) |
| 917 0256 1F3F cpi r17,lo8(-1) |
| 918 0258 01F0 breq .L26 |
| 919 025a F092 0000 sts (beeptime)+1,r15 |
| 920 025e E092 0000 sts beeptime,r14 |
| 921 0262 E701 movw r28,r14 |
| 922 .L34: |
| 923 0264 8091 0000 lds r24,beeptime |
| 924 0268 9091 0000 lds r25,(beeptime)+1 |
| 925 026c 892B or r24,r25 |
| 926 026e 01F4 brne .L31 |
| 927 0270 2097 sbiw r28,0 |
| 928 0272 01F0 breq .L12 |
| 929 .L31: |
| 930 0274 8091 0000 lds r24,UpdateMotor |
| 931 0278 8823 tst r24 |
| 932 027a 01F0 breq .L34 |
| 933 027c 1092 0000 sts UpdateMotor,__zero_reg__ |
| 934 0280 8091 0000 lds r24,beeptime |
| 935 0284 9091 0000 lds r25,(beeptime)+1 |
| 936 0288 892B or r24,r25 |
| 937 028a 01F4 brne .L19 |
| 938 028c 2197 sbiw r28,1 |
| 939 .L19: |
| 940 028e 0E94 0000 call LIBFC_Polling |
| 941 0292 00C0 rjmp .L34 |
| 942 .L26: |
| 943 0294 8091 0000 lds r24,PlatinenVersion |
| 944 0298 8C30 cpi r24,lo8(12) |
| 945 029a 00F0 brlo .L23 |
| 946 029c 8631 cpi r24,lo8(22) |
| 947 029e 01F4 brne .L22 |
| 948 .L23: |
| 949 02a0 299A sbi 37-0x20,1 |
| 950 02a2 00C0 rjmp .L8 |
| 951 .L22: |
| 952 02a4 2998 cbi 37-0x20,1 |
| 953 .L8: |
| 954 /* epilogue: frame size=0 */ |
| 955 02a6 DF91 pop r29 |
| 956 02a8 CF91 pop r28 |
| 957 02aa 1F91 pop r17 |
| 958 02ac FF90 pop r15 |
| 959 02ae EF90 pop r14 |
| 960 02b0 0895 ret |
| 961 /* epilogue end (size=6) */ |
| 962 /* function Piep size 67 (56) */ |
| 964 .global CalibrierMittelwert |
| 966 CalibrierMittelwert: |
| 967 /* prologue: frame size=0 */ |
| 968 02b2 CF93 push r28 |
| 969 02b4 DF93 push r29 |
| 970 /* prologue end (size=2) */ |
| 971 02b6 8091 0000 lds r24,PlatinenVersion |
| 972 02ba 8D30 cpi r24,lo8(13) |
| 973 02bc 01F4 brne .L36 |
| 974 02be 0E94 0000 call SucheGyroOffset |
| 975 .L36: |
| 976 02c2 1092 7A00 sts 122,__zero_reg__ |
| 977 02c6 8091 0000 lds r24,AdWertNick |
| 978 02ca 9091 0000 lds r25,(AdWertNick)+1 |
| 979 02ce 9093 0000 sts (MesswertNick)+1,r25 |
| 980 02d2 8093 0000 sts MesswertNick,r24 |
| 981 02d6 8091 0000 lds r24,AdWertRoll |
| 982 02da 9091 0000 lds r25,(AdWertRoll)+1 |
| 983 02de 9093 0000 sts (MesswertRoll)+1,r25 |
| 984 02e2 8093 0000 sts MesswertRoll,r24 |
| 985 02e6 8091 0000 lds r24,AdWertGier |
| 986 02ea 9091 0000 lds r25,(AdWertGier)+1 |
| 987 02ee 9093 0000 sts (MesswertGier)+1,r25 |
| 988 02f2 8093 0000 sts MesswertGier,r24 |
| 989 02f6 2091 0000 lds r18,AdWertAccNick |
| 990 02fa 3091 0000 lds r19,(AdWertAccNick)+1 |
| 991 02fe C901 movw r24,r18 |
| 992 0300 880F lsl r24 |
| 993 0302 991F rol r25 |
| 994 0304 880F lsl r24 |
| 995 0306 991F rol r25 |
| 996 0308 820F add r24,r18 |
| 997 030a 931F adc r25,r19 |
| 998 030c 820F add r24,r18 |
| 999 030e 931F adc r25,r19 |
| 1000 0310 9093 0000 sts (Mittelwert_AccNick)+1,r25 |
| 1001 0314 8093 0000 sts Mittelwert_AccNick,r24 |
| 1002 0318 2091 0000 lds r18,AdWertAccRoll |
| 1003 031c 3091 0000 lds r19,(AdWertAccRoll)+1 |
| 1004 0320 C901 movw r24,r18 |
| 1005 0322 880F lsl r24 |
| 1006 0324 991F rol r25 |
| 1007 0326 880F lsl r24 |
| 1008 0328 991F rol r25 |
| 1009 032a 820F add r24,r18 |
| 1010 032c 931F adc r25,r19 |
| 1011 032e 820F add r24,r18 |
| 1012 0330 931F adc r25,r19 |
| 1013 0332 9093 0000 sts (Mittelwert_AccRoll)+1,r25 |
| 1014 0336 8093 0000 sts Mittelwert_AccRoll,r24 |
| 1015 033a 8FEC ldi r24,lo8(-49) |
| 1016 033c 8093 7A00 sts 122,r24 |
| 1017 0340 A0E0 ldi r26,lo8(Poti) |
| 1018 0342 B0E0 ldi r27,hi8(Poti) |
| 1019 0344 C0E0 ldi r28,lo8(EE_Parameter+5) |
| 1020 0346 D0E0 ldi r29,hi8(EE_Parameter+5) |
| 1021 0348 97E0 ldi r25,lo8(7) |
| 1022 .L46: |
| 1023 034a 8991 ld r24,Y+ |
| 1024 034c E82F mov r30,r24 |
| 1025 034e FF27 clr r31 |
| 1026 0350 EE0F add r30,r30 |
| 1027 0352 FF1F adc r31,r31 |
| 1028 0354 E050 subi r30,lo8(-(PPM_in)) |
| 1029 0356 F040 sbci r31,hi8(-(PPM_in)) |
| 1030 0358 0190 ld __tmp_reg__,Z+ |
| 1031 035a F081 ld r31,Z |
| 1032 035c E02D mov r30,__tmp_reg__ |
| 1033 035e E158 subi r30,lo8(-(127)) |
| 1034 0360 FF4F sbci r31,hi8(-(127)) |
| 1035 0362 1E16 cp __zero_reg__,r30 |
| 1036 0364 1F06 cpc __zero_reg__,r31 |
| 1037 0366 04F0 brlt .L40 |
| 1038 0368 E0E0 ldi r30,lo8(0) |
| 1039 036a F0E0 ldi r31,hi8(0) |
| 1040 036c 00C0 rjmp .L41 |
| 1041 .L40: |
| 1042 036e EF3F cpi r30,255 |
| 1043 0370 F105 cpc r31,__zero_reg__ |
| 1044 0372 04F0 brlt .L41 |
| 1045 0374 EFEF ldi r30,lo8(255) |
| 1046 0376 F0E0 ldi r31,hi8(255) |
| 1047 .L41: |
| 1048 0378 8C91 ld r24,X |
| 1049 037a 282F mov r18,r24 |
| 1050 037c 3327 clr r19 |
| 1051 037e E217 cp r30,r18 |
| 1052 0380 F307 cpc r31,r19 |
| 1053 0382 04F4 brge .L43 |
| 1054 0384 8150 subi r24,lo8(-(-1)) |
| 1055 0386 00C0 rjmp .L49 |
| 1056 .L43: |
| 1057 0388 2E17 cp r18,r30 |
| 1058 038a 3F07 cpc r19,r31 |
| 1059 038c 04F4 brge .L39 |
| 1060 038e 8F5F subi r24,lo8(-(1)) |
| 1061 .L49: |
| 1062 0390 8C93 st X,r24 |
| 1063 .L39: |
| 1064 0392 9150 subi r25,lo8(-(-1)) |
| 1065 0394 1196 adiw r26,1 |
| 1066 0396 97FF sbrs r25,7 |
| 1067 0398 00C0 rjmp .L46 |
| 1068 039a 8091 0000 lds r24,EE_Parameter+65 |
| 1069 039e 9927 clr r25 |
| 1070 03a0 AA27 clr r26 |
| 1071 03a2 BB27 clr r27 |
| 1072 03a4 BC01 movw r22,r24 |
| 1073 03a6 CD01 movw r24,r26 |
| 1074 03a8 24EC ldi r18,lo8(2500) |
| 1075 03aa 39E0 ldi r19,hi8(2500) |
| 1076 03ac 40E0 ldi r20,hlo8(2500) |
| 1077 03ae 50E0 ldi r21,hhi8(2500) |
| 1078 03b0 0E94 0000 call __mulsi3 |
| 1079 03b4 DC01 movw r26,r24 |
| 1080 03b6 CB01 movw r24,r22 |
| 1081 03b8 8093 0000 sts Umschlag180Nick,r24 |
| 1082 03bc 9093 0000 sts (Umschlag180Nick)+1,r25 |
| 1083 03c0 A093 0000 sts (Umschlag180Nick)+2,r26 |
| 1084 03c4 B093 0000 sts (Umschlag180Nick)+3,r27 |
| 1085 03c8 8091 0000 lds r24,EE_Parameter+66 |
| 1086 03cc 9927 clr r25 |
| 1087 03ce AA27 clr r26 |
| 1088 03d0 BB27 clr r27 |
| 1089 03d2 BC01 movw r22,r24 |
| 1090 03d4 CD01 movw r24,r26 |
| 1091 03d6 0E94 0000 call __mulsi3 |
| 1092 03da DC01 movw r26,r24 |
| 1093 03dc CB01 movw r24,r22 |
| 1094 03de 8093 0000 sts Umschlag180Roll,r24 |
| 1095 03e2 9093 0000 sts (Umschlag180Roll)+1,r25 |
| 1096 03e6 A093 0000 sts (Umschlag180Roll)+2,r26 |
| 1097 03ea B093 0000 sts (Umschlag180Roll)+3,r27 |
| 1098 /* epilogue: frame size=0 */ |
| 1099 03ee DF91 pop r29 |
| 1100 03f0 CF91 pop r28 |
| 1101 03f2 0895 ret |
| 1102 /* epilogue end (size=3) */ |
| 1103 /* function CalibrierMittelwert size 161 (156) */ |
| 1105 .section .progmem.data,"a",@progbits |
| 1108 __c.35: |
| 1109 0000 0A0D 4143 .string "\n\rACC not calibrated!\r\n" |
| 1109 4320 6E6F |
| 1109 7420 6361 |
| 1109 6C69 6272 |
| 1109 6174 6564 |
| 1110 .text |
| 1111 .global SetNeutral |
| 1113 SetNeutral: |
| 1114 /* prologue: frame size=0 */ |
| 1115 03f4 A0E0 ldi r26,lo8(0) |
| 1116 03f6 B0E0 ldi r27,hi8(0) |
| 1117 03f8 E0E0 ldi r30,pm_lo8(1f) |
| 1118 03fa F0E0 ldi r31,pm_hi8(1f) |
| 1119 03fc 0C94 0000 jmp __prologue_saves__+12 |
| 1120 1: |
| 1121 /* prologue end (size=6) */ |
| 1122 0400 882E mov r8,r24 |
| 1123 0402 C0E0 ldi r28,lo8(0) |
| 1124 0404 D0E0 ldi r29,hi8(0) |
| 1125 0406 7E01 movw r14,r28 |
| 1126 0408 6E01 movw r12,r28 |
| 1127 040a 1092 0000 sts VersionInfo+5,__zero_reg__ |
| 1128 040e D093 0000 sts (NeutralAccX)+1,r29 |
| 1129 0412 C093 0000 sts NeutralAccX,r28 |
| 1130 0416 D093 0000 sts (NeutralAccY)+1,r29 |
| 1131 041a C093 0000 sts NeutralAccY,r28 |
| 1132 041e D093 0000 sts (NeutralAccZ)+1,r29 |
| 1133 0422 C093 0000 sts NeutralAccZ,r28 |
| 1134 0426 D093 0000 sts (AdNeutralNick)+1,r29 |
| 1135 042a C093 0000 sts AdNeutralNick,r28 |
| 1136 042e D093 0000 sts (AdNeutralRoll)+1,r29 |
| 1137 0432 C093 0000 sts AdNeutralRoll,r28 |
| 1138 0436 D093 0000 sts (AdNeutralGier)+1,r29 |
| 1139 043a C093 0000 sts AdNeutralGier,r28 |
| 1140 043e 1092 0000 sts Parameter_AchsKopplung1,__zero_reg__ |
| 1141 0442 1092 0000 sts Parameter_AchsKopplung2,__zero_reg__ |
| 1142 0446 1092 0000 sts ExpandBaro,__zero_reg__ |
| 1143 044a 0E94 0000 call CalibrierMittelwert |
| 1144 044e 84E6 ldi r24,lo8(100) |
| 1145 0450 90E0 ldi r25,hi8(100) |
| 1146 0452 0E94 0000 call Delay_ms_Mess |
| 1147 0456 0E94 0000 call CalibrierMittelwert |
| 1148 045a 8091 0000 lds r24,EE_Parameter+13 |
| 1149 045e 80FF sbrs r24,0 |
| 1150 0460 00C0 rjmp .L51 |
| 1151 0462 8091 0000 lds r24,MessLuftdruck |
| 1152 0466 9091 0000 lds r25,(MessLuftdruck)+1 |
| 1153 046a 875B subi r24,lo8(951) |
| 1154 046c 9340 sbci r25,hi8(951) |
| 1155 046e 00F4 brsh .L53 |
| 1156 0470 8091 0000 lds r24,MessLuftdruck |
| 1157 0474 9091 0000 lds r25,(MessLuftdruck)+1 |
| 1158 0478 8E5E subi r24,lo8(750) |
| 1159 047a 9240 sbci r25,hi8(750) |
| 1160 047c 00F4 brsh .L51 |
| 1161 .L53: |
| 1162 047e 0E94 0000 call SucheLuftruckOffset |
| 1163 .L51: |
| 1164 0482 0FE1 ldi r16,lo8(31) |
| 1165 .L57: |
| 1166 0484 8AE0 ldi r24,lo8(10) |
| 1167 0486 90E0 ldi r25,hi8(10) |
| 1168 0488 0E94 0000 call Delay_ms_Mess |
| 1169 048c 8091 0000 lds r24,AdWertGier |
| 1170 0490 9091 0000 lds r25,(AdWertGier)+1 |
| 1171 0494 C80F add r28,r24 |
| 1172 0496 D91F adc r29,r25 |
| 1173 0498 8091 0000 lds r24,AdWertNick |
| 1174 049c 9091 0000 lds r25,(AdWertNick)+1 |
| 1175 04a0 E80E add r14,r24 |
| 1176 04a2 F91E adc r15,r25 |
| 1177 04a4 8091 0000 lds r24,AdWertRoll |
| 1178 04a8 9091 0000 lds r25,(AdWertRoll)+1 |
| 1179 04ac C80E add r12,r24 |
| 1180 04ae D91E adc r13,r25 |
| 1181 04b0 0150 subi r16,lo8(-(-1)) |
| 1182 04b2 07FF sbrs r16,7 |
| 1183 04b4 00C0 rjmp .L57 |
| 1184 04b6 9701 movw r18,r14 |
| 1185 04b8 205F subi r18,lo8(-(16)) |
| 1186 04ba 3F4F sbci r19,hi8(-(16)) |
| 1187 04bc 3695 lsr r19 |
| 1188 04be 2795 ror r18 |
| 1189 04c0 3695 lsr r19 |
| 1190 04c2 2795 ror r18 |
| 1191 04c4 3093 0000 sts (AdNeutralNick)+1,r19 |
| 1192 04c8 2093 0000 sts AdNeutralNick,r18 |
| 1193 04cc C601 movw r24,r12 |
| 1194 04ce 4096 adiw r24,16 |
| 1195 04d0 9695 lsr r25 |
| 1196 04d2 8795 ror r24 |
| 1197 04d4 9695 lsr r25 |
| 1198 04d6 8795 ror r24 |
| 1199 04d8 9093 0000 sts (AdNeutralRoll)+1,r25 |
| 1200 04dc 8093 0000 sts AdNeutralRoll,r24 |
| 1201 04e0 6096 adiw r28,16 |
| 1202 04e2 F5E0 ldi r31,5 |
| 1203 04e4 D695 1: lsr r29 |
| 1204 04e6 C795 ror r28 |
| 1205 04e8 FA95 dec r31 |
| 1206 04ea 01F4 brne 1b |
| 1207 04ec D093 0000 sts (AdNeutralGier)+1,r29 |
| 1208 04f0 C093 0000 sts AdNeutralGier,r28 |
| 1209 04f4 9093 0000 sts (StartNeutralRoll)+1,r25 |
| 1210 04f8 8093 0000 sts StartNeutralRoll,r24 |
| 1211 04fc 3093 0000 sts (StartNeutralNick)+1,r19 |
| 1212 0500 2093 0000 sts StartNeutralNick,r18 |
| 1213 0504 8820 tst r8 |
| 1214 0506 01F4 brne .+2 |
| 1215 0508 00C0 rjmp .L58 |
| 1216 050a 8091 0000 lds r24,Mittelwert_AccNick |
| 1217 050e 9091 0000 lds r25,(Mittelwert_AccNick)+1 |
| 1218 0512 97FF sbrs r25,7 |
| 1219 0514 00C0 rjmp .L59 |
| 1220 0516 9095 com r25 |
| 1221 0518 8195 neg r24 |
| 1222 051a 9F4F sbci r25,lo8(-1) |
| 1223 .L59: |
| 1224 051c 6CE0 ldi r22,lo8(12) |
| 1225 051e 70E0 ldi r23,hi8(12) |
| 1226 0520 0E94 0000 call __divmodhi4 |
| 1227 0524 9B01 movw r18,r22 |
| 1228 0526 7093 0000 sts (NeutralAccX)+1,r23 |
| 1229 052a 6093 0000 sts NeutralAccX,r22 |
| 1230 052e 8091 0000 lds r24,Mittelwert_AccRoll |
| 1231 0532 9091 0000 lds r25,(Mittelwert_AccRoll)+1 |
| 1232 0536 97FF sbrs r25,7 |
| 1233 0538 00C0 rjmp .L60 |
| 1234 053a 9095 com r25 |
| 1235 053c 8195 neg r24 |
| 1236 053e 9F4F sbci r25,lo8(-1) |
| 1237 .L60: |
| 1238 0540 6CE0 ldi r22,lo8(12) |
| 1239 0542 70E0 ldi r23,hi8(12) |
| 1240 0544 0E94 0000 call __divmodhi4 |
| 1241 0548 7093 0000 sts (NeutralAccY)+1,r23 |
| 1242 054c 6093 0000 sts NeutralAccY,r22 |
| 1243 0550 8091 0000 lds r24,Aktuell_az |
| 1244 0554 9091 0000 lds r25,(Aktuell_az)+1 |
| 1245 0558 9093 0000 sts (NeutralAccZ)+1,r25 |
| 1246 055c 8093 0000 sts NeutralAccZ,r24 |
| 1247 0560 B901 movw r22,r18 |
| 1248 0562 84E0 ldi r24,lo8(4) |
| 1249 0564 90E0 ldi r25,hi8(4) |
| 1250 0566 0E94 0000 call SetParamWord |
| 1251 056a 6091 0000 lds r22,NeutralAccY |
| 1252 056e 7091 0000 lds r23,(NeutralAccY)+1 |
| 1253 0572 86E0 ldi r24,lo8(6) |
| 1254 0574 90E0 ldi r25,hi8(6) |
| 1255 0576 0E94 0000 call SetParamWord |
| 1256 057a 6091 0000 lds r22,NeutralAccZ |
| 1257 057e 7091 0000 lds r23,(NeutralAccZ)+1 |
| 1258 0582 88E0 ldi r24,lo8(8) |
| 1259 0584 90E0 ldi r25,hi8(8) |
| 1260 0586 0E94 0000 call SetParamWord |
| 1261 058a 00C0 rjmp .L61 |
| 1262 .L58: |
| 1263 058c 84E0 ldi r24,lo8(4) |
| 1264 058e 90E0 ldi r25,hi8(4) |
| 1265 0590 0E94 0000 call GetParamWord |
| 1266 0594 9093 0000 sts (NeutralAccX)+1,r25 |
| 1267 0598 8093 0000 sts NeutralAccX,r24 |
| 1268 059c 86E0 ldi r24,lo8(6) |
| 1269 059e 90E0 ldi r25,hi8(6) |
| 1270 05a0 0E94 0000 call GetParamWord |
| 1271 05a4 9093 0000 sts (NeutralAccY)+1,r25 |
| 1272 05a8 8093 0000 sts NeutralAccY,r24 |
| 1273 05ac 88E0 ldi r24,lo8(8) |
| 1274 05ae 90E0 ldi r25,hi8(8) |
| 1275 05b0 0E94 0000 call GetParamWord |
| 1276 05b4 9C01 movw r18,r24 |
| 1277 05b6 9093 0000 sts (NeutralAccZ)+1,r25 |
| 1278 05ba 8093 0000 sts NeutralAccZ,r24 |
| 1279 05be 8091 0000 lds r24,NeutralAccX |
| 1280 05c2 9091 0000 lds r25,(NeutralAccX)+1 |
| 1281 05c6 8150 subi r24,lo8(2049) |
| 1282 05c8 9840 sbci r25,hi8(2049) |
| 1283 05ca 00F4 brsh .L63 |
| 1284 05cc 8091 0000 lds r24,NeutralAccY |
| 1285 05d0 9091 0000 lds r25,(NeutralAccY)+1 |
| 1286 05d4 8150 subi r24,lo8(2049) |
| 1287 05d6 9840 sbci r25,hi8(2049) |
| 1288 05d8 00F4 brsh .L63 |
| 1289 05da 2150 subi r18,lo8(1025) |
| 1290 05dc 3440 sbci r19,hi8(1025) |
| 1291 05de 00F0 brlo .L61 |
| 1292 .L63: |
| 1293 05e0 80E0 ldi r24,lo8(__c.35) |
| 1294 05e2 90E0 ldi r25,hi8(__c.35) |
| 1295 05e4 9F93 push r25 |
| 1296 05e6 8F93 push r24 |
| 1297 05e8 80E0 ldi r24,lo8(pm(uart_putchar)) |
| 1298 05ea 90E0 ldi r25,hi8(pm(uart_putchar)) |
| 1299 05ec 9F93 push r25 |
| 1300 05ee 8F93 push r24 |
| 1301 05f0 E091 0000 lds r30,_printf_P |
| 1302 05f4 F091 0000 lds r31,(_printf_P)+1 |
| 1303 05f8 0995 icall |
| 1304 05fa 8091 0000 lds r24,Mittelwert_AccNick |
| 1305 05fe 9091 0000 lds r25,(Mittelwert_AccNick)+1 |
| 1306 0602 97FF sbrs r25,7 |
| 1307 0604 00C0 rjmp .L64 |
| 1308 0606 9095 com r25 |
| 1309 0608 8195 neg r24 |
| 1310 060a 9F4F sbci r25,lo8(-1) |
| 1311 .L64: |
| 1312 060c 6CE0 ldi r22,lo8(12) |
| 1313 060e 70E0 ldi r23,hi8(12) |
| 1314 0610 0E94 0000 call __divmodhi4 |
| 1315 0614 7093 0000 sts (NeutralAccX)+1,r23 |
| 1316 0618 6093 0000 sts NeutralAccX,r22 |
| 1317 061c 8091 0000 lds r24,Mittelwert_AccRoll |
| 1318 0620 9091 0000 lds r25,(Mittelwert_AccRoll)+1 |
| 1319 0624 97FF sbrs r25,7 |
| 1320 0626 00C0 rjmp .L65 |
| 1321 0628 9095 com r25 |
| 1322 062a 8195 neg r24 |
| 1323 062c 9F4F sbci r25,lo8(-1) |
| 1324 .L65: |
| 1325 062e 6CE0 ldi r22,lo8(12) |
| 1326 0630 70E0 ldi r23,hi8(12) |
| 1327 0632 0E94 0000 call __divmodhi4 |
| 1328 0636 7093 0000 sts (NeutralAccY)+1,r23 |
| 1329 063a 6093 0000 sts NeutralAccY,r22 |
| 1330 063e 8091 0000 lds r24,Aktuell_az |
| 1331 0642 9091 0000 lds r25,(Aktuell_az)+1 |
| 1332 0646 9093 0000 sts (NeutralAccZ)+1,r25 |
| 1333 064a 8093 0000 sts NeutralAccZ,r24 |
| 1334 064e 0F90 pop __tmp_reg__ |
| 1335 0650 0F90 pop __tmp_reg__ |
| 1336 0652 0F90 pop __tmp_reg__ |
| 1337 0654 0F90 pop __tmp_reg__ |
| 1338 .L61: |
| 1339 0656 1092 0000 sts (MesswertNick)+1,__zero_reg__ |
| 1340 065a 1092 0000 sts MesswertNick,__zero_reg__ |
| 1341 065e 1092 0000 sts (MesswertRoll)+1,__zero_reg__ |
| 1342 0662 1092 0000 sts MesswertRoll,__zero_reg__ |
| 1343 0666 1092 0000 sts (MesswertGier)+1,__zero_reg__ |
| 1344 066a 1092 0000 sts MesswertGier,__zero_reg__ |
| 1345 066e 84E6 ldi r24,lo8(100) |
| 1346 0670 90E0 ldi r25,hi8(100) |
| 1347 0672 0E94 0000 call Delay_ms_Mess |
| 1348 0676 8091 0000 lds r24,AdWertAccNick |
| 1349 067a 9091 0000 lds r25,(AdWertAccNick)+1 |
| 1350 067e 9C01 movw r18,r24 |
| 1351 0680 220F lsl r18 |
| 1352 0682 331F rol r19 |
| 1353 0684 220F lsl r18 |
| 1354 0686 331F rol r19 |
| 1355 0688 280F add r18,r24 |
| 1356 068a 391F adc r19,r25 |
| 1357 068c 280F add r18,r24 |
| 1358 068e 391F adc r19,r25 |
| 1359 0690 3093 0000 sts (Mittelwert_AccNick)+1,r19 |
| 1360 0694 2093 0000 sts Mittelwert_AccNick,r18 |
| 1361 0698 8091 0000 lds r24,AdWertAccRoll |
| 1362 069c 9091 0000 lds r25,(AdWertAccRoll)+1 |
| 1363 06a0 8C01 movw r16,r24 |
| 1364 06a2 000F lsl r16 |
| 1365 06a4 111F rol r17 |
| 1366 06a6 000F lsl r16 |
| 1367 06a8 111F rol r17 |
| 1368 06aa 080F add r16,r24 |
| 1369 06ac 191F adc r17,r25 |
| 1370 06ae 080F add r16,r24 |
| 1371 06b0 191F adc r17,r25 |
| 1372 06b2 1093 0000 sts (Mittelwert_AccRoll)+1,r17 |
| 1373 06b6 0093 0000 sts Mittelwert_AccRoll,r16 |
| 1374 06ba 8091 0000 lds r24,EE_Parameter+28 |
| 1375 06be C82E mov r12,r24 |
| 1376 06c0 DD24 clr r13 |
| 1377 06c2 EE24 clr r14 |
| 1378 06c4 FF24 clr r15 |
| 1379 06c6 4427 clr r20 |
| 1380 06c8 37FD sbrc r19,7 |
| 1381 06ca 4095 com r20 |
| 1382 06cc 542F mov r21,r20 |
| 1383 06ce C701 movw r24,r14 |
| 1384 06d0 B601 movw r22,r12 |
| 1385 06d2 0E94 0000 call __mulsi3 |
| 1386 06d6 4B01 movw r8,r22 |
| 1387 06d8 5C01 movw r10,r24 |
| 1388 06da 6093 0000 sts IntegralNick,r22 |
| 1389 06de 7093 0000 sts (IntegralNick)+1,r23 |
| 1390 06e2 8093 0000 sts (IntegralNick)+2,r24 |
| 1391 06e6 9093 0000 sts (IntegralNick)+3,r25 |
| 1392 06ea 9801 movw r18,r16 |
| 1393 06ec 4427 clr r20 |
| 1394 06ee 37FD sbrc r19,7 |
| 1395 06f0 4095 com r20 |
| 1396 06f2 542F mov r21,r20 |
| 1397 06f4 C701 movw r24,r14 |
| 1398 06f6 B601 movw r22,r12 |
| 1399 06f8 0E94 0000 call __mulsi3 |
| 1400 06fc DC01 movw r26,r24 |
| 1401 06fe CB01 movw r24,r22 |
| 1402 0700 8093 0000 sts IntegralRoll,r24 |
| 1403 0704 9093 0000 sts (IntegralRoll)+1,r25 |
| 1404 0708 A093 0000 sts (IntegralRoll)+2,r26 |
| 1405 070c B093 0000 sts (IntegralRoll)+3,r27 |
| 1406 0710 8092 0000 sts Mess_IntegralNick,r8 |
| 1407 0714 9092 0000 sts (Mess_IntegralNick)+1,r9 |
| 1408 0718 A092 0000 sts (Mess_IntegralNick)+2,r10 |
| 1409 071c B092 0000 sts (Mess_IntegralNick)+3,r11 |
| 1410 0720 8093 0000 sts Mess_IntegralRoll,r24 |
| 1411 0724 9093 0000 sts (Mess_IntegralRoll)+1,r25 |
| 1412 0728 A093 0000 sts (Mess_IntegralRoll)+2,r26 |
| 1413 072c B093 0000 sts (Mess_IntegralRoll)+3,r27 |
| 1414 0730 1092 0000 sts Mess_Integral_Gier,__zero_reg__ |
| 1415 0734 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__ |
| 1416 0738 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__ |
| 1417 073c 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__ |
| 1418 0740 8091 0000 lds r24,Luftdruck |
| 1419 0744 9091 0000 lds r25,(Luftdruck)+1 |
| 1420 0748 A091 0000 lds r26,(Luftdruck)+2 |
| 1421 074c B091 0000 lds r27,(Luftdruck)+3 |
| 1422 0750 9093 0000 sts (StartLuftdruck)+1,r25 |
| 1423 0754 8093 0000 sts StartLuftdruck,r24 |
| 1424 0758 1092 0000 sts (VarioMeter)+1,__zero_reg__ |
| 1425 075c 1092 0000 sts VarioMeter,__zero_reg__ |
| 1426 0760 1092 0000 sts Mess_Integral_Hoch,__zero_reg__ |
| 1427 0764 1092 0000 sts (Mess_Integral_Hoch)+1,__zero_reg__ |
| 1428 0768 1092 0000 sts (Mess_Integral_Hoch)+2,__zero_reg__ |
| 1429 076c 1092 0000 sts (Mess_Integral_Hoch)+3,__zero_reg__ |
| 1430 0770 0091 0000 lds r16,KompassValue |
| 1431 0774 1091 0000 lds r17,(KompassValue)+1 |
| 1432 0778 1093 0000 sts (KompassSollWert)+1,r17 |
| 1433 077c 0093 0000 sts KompassSollWert,r16 |
| 1434 0780 84E6 ldi r24,lo8(100) |
| 1435 0782 90E0 ldi r25,hi8(100) |
| 1436 0784 9093 0000 sts (KompassSignalSchlecht)+1,r25 |
| 1437 0788 8093 0000 sts KompassSignalSchlecht,r24 |
| 1438 078c 82E3 ldi r24,lo8(50) |
| 1439 078e 90E0 ldi r25,hi8(50) |
| 1440 0790 9093 0000 sts (beeptime)+1,r25 |
| 1441 0794 8093 0000 sts beeptime,r24 |
| 1442 0798 8091 0000 lds r24,EE_Parameter+65 |
| 1443 079c 9927 clr r25 |
| 1444 079e AA27 clr r26 |
| 1445 07a0 BB27 clr r27 |
| 1446 07a2 BC01 movw r22,r24 |
| 1447 07a4 CD01 movw r24,r26 |
| 1448 07a6 24EC ldi r18,lo8(2500) |
| 1449 07a8 39E0 ldi r19,hi8(2500) |
| 1450 07aa 40E0 ldi r20,hlo8(2500) |
| 1451 07ac 50E0 ldi r21,hhi8(2500) |
| 1452 07ae 0E94 0000 call __mulsi3 |
| 1453 07b2 DC01 movw r26,r24 |
| 1454 07b4 CB01 movw r24,r22 |
| 1455 07b6 8856 subi r24,lo8(-(15000)) |
| 1456 07b8 954C sbci r25,hi8(-(15000)) |
| 1457 07ba AF4F sbci r26,hlo8(-(15000)) |
| 1458 07bc BF4F sbci r27,hhi8(-(15000)) |
| 1459 07be 8093 0000 sts Umschlag180Nick,r24 |
| 1460 07c2 9093 0000 sts (Umschlag180Nick)+1,r25 |
| 1461 07c6 A093 0000 sts (Umschlag180Nick)+2,r26 |
| 1462 07ca B093 0000 sts (Umschlag180Nick)+3,r27 |
| 1463 07ce 8091 0000 lds r24,EE_Parameter+66 |
| 1464 07d2 9927 clr r25 |
| 1465 07d4 AA27 clr r26 |
| 1466 07d6 BB27 clr r27 |
| 1467 07d8 BC01 movw r22,r24 |
| 1468 07da CD01 movw r24,r26 |
| 1469 07dc 0E94 0000 call __mulsi3 |
| 1470 07e0 DC01 movw r26,r24 |
| 1471 07e2 CB01 movw r24,r22 |
| 1472 07e4 8856 subi r24,lo8(-(15000)) |
| 1473 07e6 954C sbci r25,hi8(-(15000)) |
| 1474 07e8 AF4F sbci r26,hlo8(-(15000)) |
| 1475 07ea BF4F sbci r27,hhi8(-(15000)) |
| 1476 07ec 8093 0000 sts Umschlag180Roll,r24 |
| 1477 07f0 9093 0000 sts (Umschlag180Roll)+1,r25 |
| 1478 07f4 A093 0000 sts (Umschlag180Roll)+2,r26 |
| 1479 07f8 B093 0000 sts (Umschlag180Roll)+3,r27 |
| 1480 07fc 1092 0000 sts (ExternHoehenValue)+1,__zero_reg__ |
| 1481 0800 1092 0000 sts ExternHoehenValue,__zero_reg__ |
| 1482 0804 C801 movw r24,r16 |
| 1483 0806 AA27 clr r26 |
| 1484 0808 97FD sbrc r25,7 |
| 1485 080a A095 com r26 |
| 1486 080c BA2F mov r27,r26 |
| 1487 080e 2091 0000 lds r18,GIER_GRAD_FAKTOR |
| 1488 0812 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1 |
| 1489 0816 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2 |
| 1490 081a 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3 |
| 1491 081e BC01 movw r22,r24 |
| 1492 0820 CD01 movw r24,r26 |
| 1493 0822 0E94 0000 call __mulsi3 |
| 1494 0826 DC01 movw r26,r24 |
| 1495 0828 CB01 movw r24,r22 |
| 1496 082a 8093 0000 sts ErsatzKompass,r24 |
| 1497 082e 9093 0000 sts (ErsatzKompass)+1,r25 |
| 1498 0832 A093 0000 sts (ErsatzKompass)+2,r26 |
| 1499 0836 B093 0000 sts (ErsatzKompass)+3,r27 |
| 1500 083a 1092 0000 sts (GierGyroFehler)+1,__zero_reg__ |
| 1501 083e 1092 0000 sts GierGyroFehler,__zero_reg__ |
| 1502 0842 0E94 0000 call LED_Init |
| 1503 0846 8091 0000 lds r24,FC_StatusFlags |
| 1504 084a 8460 ori r24,lo8(4) |
| 1505 084c 8093 0000 sts FC_StatusFlags,r24 |
| 1506 0850 8FEF ldi r24,lo8(-1) |
| 1507 0852 8093 0000 sts FromNaviCtrl_Value,r24 |
| 1508 0856 1092 0000 sts FromNaviCtrl_Value+1,__zero_reg__ |
| 1509 085a 80E2 ldi r24,lo8(32) |
| 1510 085c 8093 0000 sts FromNaviCtrl_Value+2,r24 |
| 1511 0860 C0E0 ldi r28,lo8(Poti) |
| 1512 0862 D0E0 ldi r29,hi8(Poti) |
| 1513 0864 A0E0 ldi r26,lo8(EE_Parameter+5) |
| 1514 0866 B0E0 ldi r27,hi8(EE_Parameter+5) |
| 1515 0868 07E0 ldi r16,lo8(7) |
| 1516 .L69: |
| 1517 086a 8D91 ld r24,X+ |
| 1518 086c E82F mov r30,r24 |
| 1519 086e FF27 clr r31 |
| 1520 0870 EE0F add r30,r30 |
| 1521 0872 FF1F adc r31,r31 |
| 1522 0874 E050 subi r30,lo8(-(PPM_in)) |
| 1523 0876 F040 sbci r31,hi8(-(PPM_in)) |
| 1524 0878 8081 ld r24,Z |
| 1525 087a 9181 ldd r25,Z+1 |
| 1526 087c 8158 subi r24,lo8(-(127)) |
| 1527 087e 8993 st Y+,r24 |
| 1528 0880 0150 subi r16,lo8(-(-1)) |
| 1529 0882 07FF sbrs r16,7 |
| 1530 0884 00C0 rjmp .L69 |
| 1531 0886 84E6 ldi r24,lo8(100) |
| 1532 0888 8093 0000 sts SenderOkay,r24 |
| 1533 088c 8091 0000 lds r24,ServoActive |
| 1534 0890 8823 tst r24 |
| 1535 0892 01F0 breq .L70 |
| 1536 0894 579A sbi 42-0x20,7 |
| 1537 0896 00C0 rjmp .L71 |
| 1538 .L70: |
| 1539 0898 80E0 ldi r24,lo8(4352) |
| 1540 089a 91E1 ldi r25,hi8(4352) |
| 1541 089c 9093 0000 sts (NickServoValue)+1,r25 |
| 1542 08a0 8093 0000 sts NickServoValue,r24 |
| 1543 .L71: |
| 1544 08a4 8091 0000 lds r24,AdNeutralNick |
| 1545 08a8 9091 0000 lds r25,(AdNeutralNick)+1 |
| 1546 08ac 8056 subi r24,lo8(-(-2400)) |
| 1547 08ae 9940 sbci r25,hi8(-(-2400)) |
| 1548 08b0 815C subi r24,lo8(11201) |
| 1549 08b2 9B42 sbci r25,hi8(11201) |
| 1550 08b4 00F0 brlo .L72 |
| 1551 08b6 8091 0000 lds r24,VersionInfo+5 |
| 1552 08ba 8160 ori r24,lo8(1) |
| 1553 08bc 8093 0000 sts VersionInfo+5,r24 |
| 1554 .L72: |
| 1555 08c0 8091 0000 lds r24,AdNeutralRoll |
| 1556 08c4 9091 0000 lds r25,(AdNeutralRoll)+1 |
| 1557 08c8 8056 subi r24,lo8(-(-2400)) |
| 1558 08ca 9940 sbci r25,hi8(-(-2400)) |
| 1559 08cc 815C subi r24,lo8(11201) |
| 1560 08ce 9B42 sbci r25,hi8(11201) |
| 1561 08d0 00F0 brlo .L73 |
| 1562 08d2 8091 0000 lds r24,VersionInfo+5 |
| 1563 08d6 8260 ori r24,lo8(2) |
| 1564 08d8 8093 0000 sts VersionInfo+5,r24 |
| 1565 .L73: |
| 1566 08dc 8091 0000 lds r24,AdNeutralGier |
| 1567 08e0 9091 0000 lds r25,(AdNeutralGier)+1 |
| 1568 08e4 8C52 subi r24,lo8(-(-300)) |
| 1569 08e6 9140 sbci r25,hi8(-(-300)) |
| 1570 08e8 8957 subi r24,lo8(1401) |
| 1571 08ea 9540 sbci r25,hi8(1401) |
| 1572 08ec 00F0 brlo .L74 |
| 1573 08ee 8091 0000 lds r24,VersionInfo+5 |
| 1574 08f2 8460 ori r24,lo8(4) |
| 1575 08f4 8093 0000 sts VersionInfo+5,r24 |
| 1576 .L74: |
| 1577 08f8 8091 0000 lds r24,NeutralAccX |
| 1578 08fc 9091 0000 lds r25,(NeutralAccX)+1 |
| 1579 0900 8C52 subi r24,lo8(-(-300)) |
| 1580 0902 9140 sbci r25,hi8(-(-300)) |
| 1581 0904 835C subi r24,lo8(451) |
| 1582 0906 9140 sbci r25,hi8(451) |
| 1583 0908 00F0 brlo .L75 |
| 1584 090a 8091 0000 lds r24,VersionInfo+5 |
| 1585 090e 8860 ori r24,lo8(8) |
| 1586 0910 8093 0000 sts VersionInfo+5,r24 |
| 1587 .L75: |
| 1588 0914 8091 0000 lds r24,NeutralAccY |
| 1589 0918 9091 0000 lds r25,(NeutralAccY)+1 |
| 1590 091c 8C52 subi r24,lo8(-(-300)) |
| 1591 091e 9140 sbci r25,hi8(-(-300)) |
| 1592 0920 835C subi r24,lo8(451) |
| 1593 0922 9140 sbci r25,hi8(451) |
| 1594 0924 00F0 brlo .L76 |
| 1595 0926 8091 0000 lds r24,VersionInfo+5 |
| 1596 092a 8061 ori r24,lo8(16) |
| 1597 092c 8093 0000 sts VersionInfo+5,r24 |
| 1598 .L76: |
| 1599 0930 8091 0000 lds r24,NeutralAccZ |
| 1600 0934 9091 0000 lds r25,(NeutralAccZ)+1 |
| 1601 0938 8050 subi r24,lo8(-(-512)) |
| 1602 093a 9240 sbci r25,hi8(-(-512)) |
| 1603 093c 8355 subi r24,lo8(339) |
| 1604 093e 9140 sbci r25,hi8(339) |
| 1605 0940 00F0 brlo .L77 |
| 1606 0942 8091 0000 lds r24,VersionInfo+5 |
| 1607 0946 8062 ori r24,lo8(32) |
| 1608 0948 8093 0000 sts VersionInfo+5,r24 |
| 1609 .L77: |
| 1610 094c 86E4 ldi r24,lo8(70) |
| 1611 094e 8093 0000 sts carefree_old,r24 |
| 1612 0952 0E94 0000 call LIBFC_HoTT_Clear |
| 1613 /* epilogue: frame size=0 */ |
| 1614 0956 ECE0 ldi r30,12 |
| 1615 0958 CDB7 in r28,__SP_L__ |
| 1616 095a DEB7 in r29,__SP_H__ |
| 1617 095c 0C94 0000 jmp __epilogue_restores__+12 |
| 1618 /* epilogue end (size=5) */ |
| 1619 /* function SetNeutral size 705 (694) */ |
| 1621 .lcomm tmpl.27,4 |
| 1622 .lcomm tmpl2.28,4 |
| 1623 .lcomm tmpl3.29,4 |
| 1624 .lcomm tmpl4.30,4 |
| 1625 .lcomm oldNick.31,2 |
| 1626 .lcomm oldRoll.32,2 |
| 1627 .lcomm d2Roll.33,2 |
| 1628 .lcomm d2Nick.34,2 |
| 1629 .global Mittelwert |
| 1631 Mittelwert: |
| 1632 /* prologue: frame size=19 */ |
| 1633 0960 A3E1 ldi r26,lo8(19) |
| 1634 0962 B0E0 ldi r27,hi8(19) |
| 1635 0964 E0E0 ldi r30,pm_lo8(1f) |
| 1636 0966 F0E0 ldi r31,pm_hi8(1f) |
| 1637 0968 0C94 0000 jmp __prologue_saves__+0 |
| 1638 1: |
| 1639 /* prologue end (size=6) */ |
| 1640 096c 8091 0000 lds r24,AdNeutralGier |
| 1641 0970 9091 0000 lds r25,(AdNeutralGier)+1 |
| 1642 0974 2091 0000 lds r18,AdWertGier |
| 1643 0978 3091 0000 lds r19,(AdWertGier)+1 |
| 1644 097c 821B sub r24,r18 |
| 1645 097e 930B sbc r25,r19 |
| 1646 0980 9093 0000 sts (MesswertGier)+1,r25 |
| 1647 0984 8093 0000 sts MesswertGier,r24 |
| 1648 0988 8091 0000 lds r24,AdWertNickFilter |
| 1649 098c 9091 0000 lds r25,(AdWertNickFilter)+1 |
| 1650 0990 97FD sbrc r25,7 |
| 1651 0992 0796 adiw r24,7 |
| 1652 .L83: |
| 1653 0994 9C01 movw r18,r24 |
| 1654 0996 13E0 ldi r17,3 |
| 1655 0998 3595 1: asr r19 |
| 1656 099a 2795 ror r18 |
| 1657 099c 1A95 dec r17 |
| 1658 099e 01F4 brne 1b |
| 1659 09a0 3093 0000 sts (MesswertNick)+1,r19 |
| 1660 09a4 2093 0000 sts MesswertNick,r18 |
| 1661 09a8 8091 0000 lds r24,AdWertRollFilter |
| 1662 09ac 9091 0000 lds r25,(AdWertRollFilter)+1 |
| 1663 09b0 97FD sbrc r25,7 |
| 1664 09b2 0796 adiw r24,7 |
| 1665 .L84: |
| 1666 09b4 B3E0 ldi r27,3 |
| 1667 09b6 9595 1: asr r25 |
| 1668 09b8 8795 ror r24 |
| 1669 09ba BA95 dec r27 |
| 1670 09bc 01F4 brne 1b |
| 1671 09be 9093 0000 sts (MesswertRoll)+1,r25 |
| 1672 09c2 8093 0000 sts MesswertRoll,r24 |
| 1673 09c6 3093 0000 sts (RohMesswertNick)+1,r19 |
| 1674 09ca 2093 0000 sts RohMesswertNick,r18 |
| 1675 09ce 9093 0000 sts (RohMesswertRoll)+1,r25 |
| 1676 09d2 8093 0000 sts RohMesswertRoll,r24 |
| 1677 09d6 8091 0000 lds r24,Mittelwert_AccNick |
| 1678 09da 9091 0000 lds r25,(Mittelwert_AccNick)+1 |
| 1679 09de AC01 movw r20,r24 |
| 1680 09e0 440F lsl r20 |
| 1681 09e2 551F rol r21 |
| 1682 09e4 480F add r20,r24 |
| 1683 09e6 591F adc r21,r25 |
| 1684 09e8 2091 0000 lds r18,AdWertAccNick |
| 1685 09ec 3091 0000 lds r19,(AdWertAccNick)+1 |
| 1686 09f0 C901 movw r24,r18 |
| 1687 09f2 880F lsl r24 |
| 1688 09f4 991F rol r25 |
| 1689 09f6 880F lsl r24 |
| 1690 09f8 991F rol r25 |
| 1691 09fa 820F add r24,r18 |
| 1692 09fc 931F adc r25,r19 |
| 1693 09fe 820F add r24,r18 |
| 1694 0a00 931F adc r25,r19 |
| 1695 0a02 480F add r20,r24 |
| 1696 0a04 591F adc r21,r25 |
| 1697 0a06 57FF sbrs r21,7 |
| 1698 0a08 00C0 rjmp .L85 |
| 1699 0a0a 4D5F subi r20,lo8(-(3)) |
| 1700 0a0c 5F4F sbci r21,hi8(-(3)) |
| 1701 .L85: |
| 1702 0a0e 5595 asr r21 |
| 1703 0a10 4795 ror r20 |
| 1704 0a12 5595 asr r21 |
| 1705 0a14 4795 ror r20 |
| 1706 0a16 5093 0000 sts (Mittelwert_AccNick)+1,r21 |
| 1707 0a1a 4093 0000 sts Mittelwert_AccNick,r20 |
| 1708 0a1e 8091 0000 lds r24,Mittelwert_AccRoll |
| 1709 0a22 9091 0000 lds r25,(Mittelwert_AccRoll)+1 |
| 1710 0a26 AC01 movw r20,r24 |
| 1711 0a28 440F lsl r20 |
| 1712 0a2a 551F rol r21 |
| 1713 0a2c 480F add r20,r24 |
| 1714 0a2e 591F adc r21,r25 |
| 1715 0a30 2091 0000 lds r18,AdWertAccRoll |
| 1716 0a34 3091 0000 lds r19,(AdWertAccRoll)+1 |
| 1717 0a38 C901 movw r24,r18 |
| 1718 0a3a 880F lsl r24 |
| 1719 0a3c 991F rol r25 |
| 1720 0a3e 880F lsl r24 |
| 1721 0a40 991F rol r25 |
| 1722 0a42 820F add r24,r18 |
| 1723 0a44 931F adc r25,r19 |
| 1724 0a46 820F add r24,r18 |
| 1725 0a48 931F adc r25,r19 |
| 1726 0a4a 480F add r20,r24 |
| 1727 0a4c 591F adc r21,r25 |
| 1728 0a4e 57FF sbrs r21,7 |
| 1729 0a50 00C0 rjmp .L86 |
| 1730 0a52 4D5F subi r20,lo8(-(3)) |
| 1731 0a54 5F4F sbci r21,hi8(-(3)) |
| 1732 .L86: |
| 1733 0a56 5595 asr r21 |
| 1734 0a58 4795 ror r20 |
| 1735 0a5a 5595 asr r21 |
| 1736 0a5c 4795 ror r20 |
| 1737 0a5e 5093 0000 sts (Mittelwert_AccRoll)+1,r21 |
| 1738 0a62 4093 0000 sts Mittelwert_AccRoll,r20 |
| 1739 0a66 2091 0000 lds r18,AdWertAccNick |
| 1740 0a6a 3091 0000 lds r19,(AdWertAccNick)+1 |
| 1741 0a6e C901 movw r24,r18 |
| 1742 0a70 880F lsl r24 |
| 1743 0a72 991F rol r25 |
| 1744 0a74 880F lsl r24 |
| 1745 0a76 991F rol r25 |
| 1746 0a78 820F add r24,r18 |
| 1747 0a7a 931F adc r25,r19 |
| 1748 0a7c 820F add r24,r18 |
| 1749 0a7e 931F adc r25,r19 |
| 1750 0a80 9C01 movw r18,r24 |
| 1751 0a82 4427 clr r20 |
| 1752 0a84 37FD sbrc r19,7 |
| 1753 0a86 4095 com r20 |
| 1754 0a88 542F mov r21,r20 |
| 1755 0a8a 8091 0000 lds r24,IntegralAccNick |
| 1756 0a8e 9091 0000 lds r25,(IntegralAccNick)+1 |
| 1757 0a92 A091 0000 lds r26,(IntegralAccNick)+2 |
| 1758 0a96 B091 0000 lds r27,(IntegralAccNick)+3 |
| 1759 0a9a 820F add r24,r18 |
| 1760 0a9c 931F adc r25,r19 |
| 1761 0a9e A41F adc r26,r20 |
| 1762 0aa0 B51F adc r27,r21 |
| 1763 0aa2 8093 0000 sts IntegralAccNick,r24 |
| 1764 0aa6 9093 0000 sts (IntegralAccNick)+1,r25 |
| 1765 0aaa A093 0000 sts (IntegralAccNick)+2,r26 |
| 1766 0aae B093 0000 sts (IntegralAccNick)+3,r27 |
| 1767 0ab2 2091 0000 lds r18,AdWertAccRoll |
| 1768 0ab6 3091 0000 lds r19,(AdWertAccRoll)+1 |
| 1769 0aba C901 movw r24,r18 |
| 1770 0abc 880F lsl r24 |
| 1771 0abe 991F rol r25 |
| 1772 0ac0 880F lsl r24 |
| 1773 0ac2 991F rol r25 |
| 1774 0ac4 820F add r24,r18 |
| 1775 0ac6 931F adc r25,r19 |
| 1776 0ac8 820F add r24,r18 |
| 1777 0aca 931F adc r25,r19 |
| 1778 0acc 9C01 movw r18,r24 |
| 1779 0ace 4427 clr r20 |
| 1780 0ad0 37FD sbrc r19,7 |
| 1781 0ad2 4095 com r20 |
| 1782 0ad4 542F mov r21,r20 |
| 1783 0ad6 8091 0000 lds r24,IntegralAccRoll |
| 1784 0ada 9091 0000 lds r25,(IntegralAccRoll)+1 |
| 1785 0ade A091 0000 lds r26,(IntegralAccRoll)+2 |
| 1786 0ae2 B091 0000 lds r27,(IntegralAccRoll)+3 |
| 1787 0ae6 820F add r24,r18 |
| 1788 0ae8 931F adc r25,r19 |
| 1789 0aea A41F adc r26,r20 |
| 1790 0aec B51F adc r27,r21 |
| 1791 0aee 8093 0000 sts IntegralAccRoll,r24 |
| 1792 0af2 9093 0000 sts (IntegralAccRoll)+1,r25 |
| 1793 0af6 A093 0000 sts (IntegralAccRoll)+2,r26 |
| 1794 0afa B093 0000 sts (IntegralAccRoll)+3,r27 |
| 1795 0afe 8091 0000 lds r24,NaviAccNick |
| 1796 0b02 9091 0000 lds r25,(NaviAccNick)+1 |
| 1797 0b06 2091 0000 lds r18,AdWertAccNick |
| 1798 0b0a 3091 0000 lds r19,(AdWertAccNick)+1 |
| 1799 0b0e 820F add r24,r18 |
| 1800 0b10 931F adc r25,r19 |
| 1801 0b12 9093 0000 sts (NaviAccNick)+1,r25 |
| 1802 0b16 8093 0000 sts NaviAccNick,r24 |
| 1803 0b1a 8091 0000 lds r24,NaviAccRoll |
| 1804 0b1e 9091 0000 lds r25,(NaviAccRoll)+1 |
| 1805 0b22 2091 0000 lds r18,AdWertAccRoll |
| 1806 0b26 3091 0000 lds r19,(AdWertAccRoll)+1 |
| 1807 0b2a 820F add r24,r18 |
| 1808 0b2c 931F adc r25,r19 |
| 1809 0b2e 9093 0000 sts (NaviAccRoll)+1,r25 |
| 1810 0b32 8093 0000 sts NaviAccRoll,r24 |
| 1811 0b36 8091 0000 lds r24,NaviCntAcc |
| 1812 0b3a 9091 0000 lds r25,(NaviCntAcc)+1 |
| 1813 0b3e 0196 adiw r24,1 |
| 1814 0b40 9093 0000 sts (NaviCntAcc)+1,r25 |
| 1815 0b44 8093 0000 sts NaviCntAcc,r24 |
| 1816 0b48 8091 0000 lds r24,Aktuell_az |
| 1817 0b4c 9091 0000 lds r25,(Aktuell_az)+1 |
| 1818 0b50 2091 0000 lds r18,NeutralAccZ |
| 1819 0b54 3091 0000 lds r19,(NeutralAccZ)+1 |
| 1820 0b58 821B sub r24,r18 |
| 1821 0b5a 930B sbc r25,r19 |
| 1822 0b5c 9C01 movw r18,r24 |
| 1823 0b5e 4427 clr r20 |
| 1824 0b60 37FD sbrc r19,7 |
| 1825 0b62 4095 com r20 |
| 1826 0b64 542F mov r21,r20 |
| 1827 0b66 8091 0000 lds r24,IntegralAccZ |
| 1828 0b6a 9091 0000 lds r25,(IntegralAccZ)+1 |
| 1829 0b6e A091 0000 lds r26,(IntegralAccZ)+2 |
| 1830 0b72 B091 0000 lds r27,(IntegralAccZ)+3 |
| 1831 0b76 820F add r24,r18 |
| 1832 0b78 931F adc r25,r19 |
| 1833 0b7a A41F adc r26,r20 |
| 1834 0b7c B51F adc r27,r21 |
| 1835 0b7e 8093 0000 sts IntegralAccZ,r24 |
| 1836 0b82 9093 0000 sts (IntegralAccZ)+1,r25 |
| 1837 0b86 A093 0000 sts (IntegralAccZ)+2,r26 |
| 1838 0b8a B093 0000 sts (IntegralAccZ)+3,r27 |
| 1839 0b8e 8FEC ldi r24,lo8(-49) |
| 1840 0b90 8093 7A00 sts 122,r24 |
| 1841 0b94 1092 0000 sts AdReady,__zero_reg__ |
| 1842 0b98 2091 0000 lds r18,Mess_IntegralRoll |
| 1843 0b9c 3091 0000 lds r19,(Mess_IntegralRoll)+1 |
| 1844 0ba0 4091 0000 lds r20,(Mess_IntegralRoll)+2 |
| 1845 0ba4 5091 0000 lds r21,(Mess_IntegralRoll)+3 |
| 1846 0ba8 2987 std Y+9,r18 |
| 1847 0baa 3A87 std Y+10,r19 |
| 1848 0bac 4B87 std Y+11,r20 |
| 1849 0bae 5C87 std Y+12,r21 |
| 1850 0bb0 2954 subi r18,lo8(93001) |
| 1851 0bb2 3B46 sbci r19,hi8(93001) |
| 1852 0bb4 4140 sbci r20,hlo8(93001) |
| 1853 0bb6 5040 sbci r21,hhi8(93001) |
| 1854 0bb8 04F0 brlt .L87 |
| 1855 0bba 28E4 ldi r18,lo8(93000) |
| 1856 0bbc 3BE6 ldi r19,hi8(93000) |
| 1857 0bbe 41E0 ldi r20,hlo8(93000) |
| 1858 0bc0 50E0 ldi r21,hhi8(93000) |
| 1859 0bc2 00C0 rjmp .L167 |
| 1860 .L87: |
| 1861 0bc4 8985 ldd r24,Y+9 |
| 1862 0bc6 9A85 ldd r25,Y+10 |
| 1863 0bc8 AB85 ldd r26,Y+11 |
| 1864 0bca BC85 ldd r27,Y+12 |
| 1865 0bcc 885B subi r24,lo8(-93000) |
| 1866 0bce 9449 sbci r25,hi8(-93000) |
| 1867 0bd0 AE4F sbci r26,hlo8(-93000) |
| 1868 0bd2 BF4F sbci r27,hhi8(-93000) |
| 1869 0bd4 04F4 brge .L89 |
| 1870 0bd6 28EB ldi r18,lo8(-93000) |
| 1871 0bd8 34E9 ldi r19,hi8(-93000) |
| 1872 0bda 4EEF ldi r20,hlo8(-93000) |
| 1873 0bdc 5FEF ldi r21,hhi8(-93000) |
| 1874 .L167: |
| 1875 0bde 2D83 std Y+5,r18 |
| 1876 0be0 3E83 std Y+6,r19 |
| 1877 0be2 4F83 std Y+7,r20 |
| 1878 0be4 5887 std Y+8,r21 |
| 1879 0be6 00C0 rjmp .L88 |
| 1880 .L89: |
| 1881 0be8 8985 ldd r24,Y+9 |
| 1882 0bea 9A85 ldd r25,Y+10 |
| 1883 0bec AB85 ldd r26,Y+11 |
| 1884 0bee BC85 ldd r27,Y+12 |
| 1885 0bf0 8D83 std Y+5,r24 |
| 1886 0bf2 9E83 std Y+6,r25 |
| 1887 0bf4 AF83 std Y+7,r26 |
| 1888 0bf6 B887 std Y+8,r27 |
| 1889 .L88: |
| 1890 0bf8 2091 0000 lds r18,Mess_IntegralNick |
| 1891 0bfc 3091 0000 lds r19,(Mess_IntegralNick)+1 |
| 1892 0c00 4091 0000 lds r20,(Mess_IntegralNick)+2 |
| 1893 0c04 5091 0000 lds r21,(Mess_IntegralNick)+3 |
| 1894 0c08 2D87 std Y+13,r18 |
| 1895 0c0a 3E87 std Y+14,r19 |
| 1896 0c0c 4F87 std Y+15,r20 |
| 1897 0c0e 588B std Y+16,r21 |
| 1898 0c10 2954 subi r18,lo8(93001) |
| 1899 0c12 3B46 sbci r19,hi8(93001) |
| 1900 0c14 4140 sbci r20,hlo8(93001) |
| 1901 0c16 5040 sbci r21,hhi8(93001) |
| 1902 0c18 04F0 brlt .L91 |
| 1903 0c1a 28E4 ldi r18,lo8(93000) |
| 1904 0c1c 3BE6 ldi r19,hi8(93000) |
| 1905 0c1e 41E0 ldi r20,hlo8(93000) |
| 1906 0c20 50E0 ldi r21,hhi8(93000) |
| 1907 0c22 00C0 rjmp .L168 |
| 1908 .L91: |
| 1909 0c24 8D85 ldd r24,Y+13 |
| 1910 0c26 9E85 ldd r25,Y+14 |
| 1911 0c28 AF85 ldd r26,Y+15 |
| 1912 0c2a B889 ldd r27,Y+16 |
| 1913 0c2c 885B subi r24,lo8(-93000) |
| 1914 0c2e 9449 sbci r25,hi8(-93000) |
| 1915 0c30 AE4F sbci r26,hlo8(-93000) |
| 1916 0c32 BF4F sbci r27,hhi8(-93000) |
| 1917 0c34 04F4 brge .L93 |
| 1918 0c36 28EB ldi r18,lo8(-93000) |
| 1919 0c38 34E9 ldi r19,hi8(-93000) |
| 1920 0c3a 4EEF ldi r20,hlo8(-93000) |
| 1921 0c3c 5FEF ldi r21,hhi8(-93000) |
| 1922 .L168: |
| 1923 0c3e 2983 std Y+1,r18 |
| 1924 0c40 3A83 std Y+2,r19 |
| 1925 0c42 4B83 std Y+3,r20 |
| 1926 0c44 5C83 std Y+4,r21 |
| 1927 0c46 00C0 rjmp .L92 |
| 1928 .L93: |
| 1929 0c48 8D85 ldd r24,Y+13 |
| 1930 0c4a 9E85 ldd r25,Y+14 |
| 1931 0c4c AF85 ldd r26,Y+15 |
| 1932 0c4e B889 ldd r27,Y+16 |
| 1933 0c50 8983 std Y+1,r24 |
| 1934 0c52 9A83 std Y+2,r25 |
| 1935 0c54 AB83 std Y+3,r26 |
| 1936 0c56 BC83 std Y+4,r27 |
| 1937 .L92: |
| 1938 0c58 A091 0000 lds r26,MesswertGier |
| 1939 0c5c B091 0000 lds r27,(MesswertGier)+1 |
| 1940 0c60 BB8B std Y+19,r27 |
| 1941 0c62 AA8B std Y+18,r26 |
| 1942 0c64 FD01 movw r30,r26 |
| 1943 0c66 CF01 movw r24,r30 |
| 1944 0c68 AA27 clr r26 |
| 1945 0c6a 97FD sbrc r25,7 |
| 1946 0c6c A095 com r26 |
| 1947 0c6e BA2F mov r27,r26 |
| 1948 0c70 A090 0000 lds r10,Mess_Integral_Gier |
| 1949 0c74 B090 0000 lds r11,(Mess_Integral_Gier)+1 |
| 1950 0c78 C090 0000 lds r12,(Mess_Integral_Gier)+2 |
| 1951 0c7c D090 0000 lds r13,(Mess_Integral_Gier)+3 |
| 1952 0c80 A80E add r10,r24 |
| 1953 0c82 B91E adc r11,r25 |
| 1954 0c84 CA1E adc r12,r26 |
| 1955 0c86 DB1E adc r13,r27 |
| 1956 0c88 A092 0000 sts Mess_Integral_Gier,r10 |
| 1957 0c8c B092 0000 sts (Mess_Integral_Gier)+1,r11 |
| 1958 0c90 C092 0000 sts (Mess_Integral_Gier)+2,r12 |
| 1959 0c94 D092 0000 sts (Mess_Integral_Gier)+3,r13 |
| 1960 0c98 E090 0000 lds r14,ErsatzKompass |
| 1961 0c9c F090 0000 lds r15,(ErsatzKompass)+1 |
| 1962 0ca0 0091 0000 lds r16,(ErsatzKompass)+2 |
| 1963 0ca4 1091 0000 lds r17,(ErsatzKompass)+3 |
| 1964 0ca8 E80E add r14,r24 |
| 1965 0caa F91E adc r15,r25 |
| 1966 0cac 0A1F adc r16,r26 |
| 1967 0cae 1B1F adc r17,r27 |
| 1968 0cb0 E092 0000 sts ErsatzKompass,r14 |
| 1969 0cb4 F092 0000 sts (ErsatzKompass)+1,r15 |
| 1970 0cb8 0093 0000 sts (ErsatzKompass)+2,r16 |
| 1971 0cbc 1093 0000 sts (ErsatzKompass)+3,r17 |
| 1972 0cc0 F091 0000 lds r31,Looping_Nick |
| 1973 0cc4 F98B std Y+17,r31 |
| 1974 0cc6 FF23 tst r31 |
| 1975 0cc8 01F0 breq .+2 |
| 1976 0cca 00C0 rjmp .L95 |
| 1977 0ccc 8091 0000 lds r24,Looping_Roll |
| 1978 0cd0 8823 tst r24 |
| 1979 0cd2 01F0 breq .+2 |
| 1980 0cd4 00C0 rjmp .L95 |
| 1981 0cd6 8091 0000 lds r24,Parameter_GlobalConfig |
| 1982 0cda 86FF sbrs r24,6 |
| 1983 0cdc 00C0 rjmp .L95 |
| 1984 0cde 8091 0000 lds r24,MesswertRoll |
| 1985 0ce2 9091 0000 lds r25,(MesswertRoll)+1 |
| 1986 0ce6 AA27 clr r26 |
| 1987 0ce8 97FD sbrc r25,7 |
| 1988 0cea A095 com r26 |
| 1989 0cec BA2F mov r27,r26 |
| 1990 0cee BC01 movw r22,r24 |
| 1991 0cf0 CD01 movw r24,r26 |
| 1992 0cf2 2981 ldd r18,Y+1 |
| 1993 0cf4 3A81 ldd r19,Y+2 |
| 1994 0cf6 4B81 ldd r20,Y+3 |
| 1995 0cf8 5C81 ldd r21,Y+4 |
| 1996 0cfa 0E94 0000 call __mulsi3 |
| 1997 0cfe 9B01 movw r18,r22 |
| 1998 0d00 AC01 movw r20,r24 |
| 1999 0d02 97FF sbrs r25,7 |
| 2000 0d04 00C0 rjmp .L96 |
| 2001 0d06 2150 subi r18,lo8(-(2047)) |
| 2002 0d08 384F sbci r19,hi8(-(2047)) |
| 2003 0d0a 4F4F sbci r20,hlo8(-(2047)) |
| 2004 0d0c 5F4F sbci r21,hhi8(-(2047)) |
| 2005 .L96: |
| 2006 0d0e BBE0 ldi r27,11 |
| 2007 0d10 5595 1: asr r21 |
| 2008 0d12 4795 ror r20 |
| 2009 0d14 3795 ror r19 |
| 2010 0d16 2795 ror r18 |
| 2011 0d18 BA95 dec r27 |
| 2012 0d1a 01F4 brne 1b |
| 2013 0d1c 8091 0000 lds r24,Parameter_AchsKopplung2 |
| 2014 0d20 682E mov r6,r24 |
| 2015 0d22 7724 clr r7 |
| 2016 0d24 8824 clr r8 |
| 2017 0d26 9924 clr r9 |
| 2018 0d28 CA01 movw r24,r20 |
| 2019 0d2a B901 movw r22,r18 |
| 2020 0d2c A401 movw r20,r8 |
| 2021 0d2e 9301 movw r18,r6 |
| 2022 0d30 0E94 0000 call __mulsi3 |
| 2023 0d34 DC01 movw r26,r24 |
| 2024 0d36 CB01 movw r24,r22 |
| 2025 0d38 8093 0000 sts tmpl3.29,r24 |
| 2026 0d3c 9093 0000 sts (tmpl3.29)+1,r25 |
| 2027 0d40 A093 0000 sts (tmpl3.29)+2,r26 |
| 2028 0d44 B093 0000 sts (tmpl3.29)+3,r27 |
| 2029 0d48 B7FF sbrs r27,7 |
| 2030 0d4a 00C0 rjmp .L97 |
| 2031 0d4c 8150 subi r24,lo8(-(4095)) |
| 2032 0d4e 904F sbci r25,hi8(-(4095)) |
| 2033 0d50 AF4F sbci r26,hlo8(-(4095)) |
| 2034 0d52 BF4F sbci r27,hhi8(-(4095)) |
| 2035 .L97: |
| 2036 0d54 1C01 movw r2,r24 |
| 2037 0d56 2D01 movw r4,r26 |
| 2038 0d58 ACE0 ldi r26,12 |
| 2039 0d5a 5594 1: asr r5 |
| 2040 0d5c 4794 ror r4 |
| 2041 0d5e 3794 ror r3 |
| 2042 0d60 2794 ror r2 |
| 2043 0d62 AA95 dec r26 |
| 2044 0d64 01F4 brne 1b |
| 2045 0d66 2092 0000 sts tmpl3.29,r2 |
| 2046 0d6a 3092 0000 sts (tmpl3.29)+1,r3 |
| 2047 0d6e 4092 0000 sts (tmpl3.29)+2,r4 |
| 2048 0d72 5092 0000 sts (tmpl3.29)+3,r5 |
| 2049 0d76 8091 0000 lds r24,MesswertNick |
| 2050 0d7a 9091 0000 lds r25,(MesswertNick)+1 |
| 2051 0d7e AA27 clr r26 |
| 2052 0d80 97FD sbrc r25,7 |
| 2053 0d82 A095 com r26 |
| 2054 0d84 BA2F mov r27,r26 |
| 2055 0d86 BC01 movw r22,r24 |
| 2056 0d88 CD01 movw r24,r26 |
| 2057 0d8a 2D81 ldd r18,Y+5 |
| 2058 0d8c 3E81 ldd r19,Y+6 |
| 2059 0d8e 4F81 ldd r20,Y+7 |
| 2060 0d90 5885 ldd r21,Y+8 |
| 2061 0d92 0E94 0000 call __mulsi3 |
| 2062 0d96 97FF sbrs r25,7 |
| 2063 0d98 00C0 rjmp .L98 |
| 2064 0d9a 6150 subi r22,lo8(-(2047)) |
| 2065 0d9c 784F sbci r23,hi8(-(2047)) |
| 2066 0d9e 8F4F sbci r24,hlo8(-(2047)) |
| 2067 0da0 9F4F sbci r25,hhi8(-(2047)) |
| 2068 .L98: |
| 2069 0da2 FBE0 ldi r31,11 |
| 2070 0da4 9595 1: asr r25 |
| 2071 0da6 8795 ror r24 |
| 2072 0da8 7795 ror r23 |
| 2073 0daa 6795 ror r22 |
| 2074 0dac FA95 dec r31 |
| 2075 0dae 01F4 brne 1b |
| 2076 0db0 A401 movw r20,r8 |
| 2077 0db2 9301 movw r18,r6 |
| 2078 0db4 0E94 0000 call __mulsi3 |
| 2079 0db8 DC01 movw r26,r24 |
| 2080 0dba CB01 movw r24,r22 |
| 2081 0dbc 8093 0000 sts tmpl4.30,r24 |
| 2082 0dc0 9093 0000 sts (tmpl4.30)+1,r25 |
| 2083 0dc4 A093 0000 sts (tmpl4.30)+2,r26 |
| 2084 0dc8 B093 0000 sts (tmpl4.30)+3,r27 |
| 2085 0dcc B7FF sbrs r27,7 |
| 2086 0dce 00C0 rjmp .L99 |
| 2087 0dd0 8150 subi r24,lo8(-(4095)) |
| 2088 0dd2 904F sbci r25,hi8(-(4095)) |
| 2089 0dd4 AF4F sbci r26,hlo8(-(4095)) |
| 2090 0dd6 BF4F sbci r27,hhi8(-(4095)) |
| 2091 .L99: |
| 2092 0dd8 9C01 movw r18,r24 |
| 2093 0dda AD01 movw r20,r26 |
| 2094 0ddc ECE0 ldi r30,12 |
| 2095 0dde 5595 1: asr r21 |
| 2096 0de0 4795 ror r20 |
| 2097 0de2 3795 ror r19 |
| 2098 0de4 2795 ror r18 |
| 2099 0de6 EA95 dec r30 |
| 2100 0de8 01F4 brne 1b |
| 2101 0dea 2093 0000 sts tmpl4.30,r18 |
| 2102 0dee 3093 0000 sts (tmpl4.30)+1,r19 |
| 2103 0df2 4093 0000 sts (tmpl4.30)+2,r20 |
| 2104 0df6 5093 0000 sts (tmpl4.30)+3,r21 |
| 2105 0dfa 8091 0000 lds r24,tmpl3.29 |
| 2106 0dfe 9091 0000 lds r25,(tmpl3.29)+1 |
| 2107 0e02 9093 0000 sts (KopplungsteilNickRoll)+1,r25 |
| 2108 0e06 8093 0000 sts KopplungsteilNickRoll,r24 |
| 2109 0e0a 8091 0000 lds r24,tmpl4.30 |
| 2110 0e0e 9091 0000 lds r25,(tmpl4.30)+1 |
| 2111 0e12 9093 0000 sts (KopplungsteilRollNick)+1,r25 |
| 2112 0e16 8093 0000 sts KopplungsteilRollNick,r24 |
| 2113 0e1a 2219 sub r18,r2 |
| 2114 0e1c 3309 sbc r19,r3 |
| 2115 0e1e 4409 sbc r20,r4 |
| 2116 0e20 5509 sbc r21,r5 |
| 2117 0e22 2093 0000 sts tmpl4.30,r18 |
| 2118 0e26 3093 0000 sts (tmpl4.30)+1,r19 |
| 2119 0e2a 4093 0000 sts (tmpl4.30)+2,r20 |
| 2120 0e2e 5093 0000 sts (tmpl4.30)+3,r21 |
| 2121 0e32 E20E add r14,r18 |
| 2122 0e34 F31E adc r15,r19 |
| 2123 0e36 041F adc r16,r20 |
| 2124 0e38 151F adc r17,r21 |
| 2125 0e3a E092 0000 sts ErsatzKompass,r14 |
| 2126 0e3e F092 0000 sts (ErsatzKompass)+1,r15 |
| 2127 0e42 0093 0000 sts (ErsatzKompass)+2,r16 |
| 2128 0e46 1093 0000 sts (ErsatzKompass)+3,r17 |
| 2129 0e4a 8091 0000 lds r24,Parameter_CouplingYawCorrection |
| 2130 0e4e 8823 tst r24 |
| 2131 0e50 01F4 brne .L100 |
| 2132 0e52 57FF sbrs r21,7 |
| 2133 0e54 00C0 rjmp .L101 |
| 2134 0e56 2F5F subi r18,lo8(-(1)) |
| 2135 0e58 3F4F sbci r19,hi8(-(1)) |
| 2136 0e5a 4F4F sbci r20,hlo8(-(1)) |
| 2137 0e5c 5F4F sbci r21,hhi8(-(1)) |
| 2138 .L101: |
| 2139 0e5e 5595 asr r21 |
| 2140 0e60 4795 ror r20 |
| 2141 0e62 3795 ror r19 |
| 2142 0e64 2795 ror r18 |
| 2143 0e66 A21A sub r10,r18 |
| 2144 0e68 B30A sbc r11,r19 |
| 2145 0e6a C40A sbc r12,r20 |
| 2146 0e6c D50A sbc r13,r21 |
| 2147 0e6e A092 0000 sts Mess_Integral_Gier,r10 |
| 2148 0e72 B092 0000 sts (Mess_Integral_Gier)+1,r11 |
| 2149 0e76 C092 0000 sts (Mess_Integral_Gier)+2,r12 |
| 2150 0e7a D092 0000 sts (Mess_Integral_Gier)+3,r13 |
| 2151 .L100: |
| 2152 0e7e 2A89 ldd r18,Y+18 |
| 2153 0e80 3B89 ldd r19,Y+19 |
| 2154 0e82 7901 movw r14,r18 |
| 2155 0e84 0027 clr r16 |
| 2156 0e86 F7FC sbrc r15,7 |
| 2157 0e88 0095 com r16 |
| 2158 0e8a 102F mov r17,r16 |
| 2159 0e8c 8091 0000 lds r24,tmpl4.30 |
| 2160 0e90 9091 0000 lds r25,(tmpl4.30)+1 |
| 2161 0e94 A091 0000 lds r26,(tmpl4.30)+2 |
| 2162 0e98 B091 0000 lds r27,(tmpl4.30)+3 |
| 2163 0e9c E80E add r14,r24 |
| 2164 0e9e F91E adc r15,r25 |
| 2165 0ea0 0A1F adc r16,r26 |
| 2166 0ea2 1B1F adc r17,r27 |
| 2167 0ea4 C801 movw r24,r16 |
| 2168 0ea6 B701 movw r22,r14 |
| 2169 0ea8 2981 ldd r18,Y+1 |
| 2170 0eaa 3A81 ldd r19,Y+2 |
| 2171 0eac 4B81 ldd r20,Y+3 |
| 2172 0eae 5C81 ldd r21,Y+4 |
| 2173 0eb0 0E94 0000 call __mulsi3 |
| 2174 0eb4 9B01 movw r18,r22 |
| 2175 0eb6 AC01 movw r20,r24 |
| 2176 0eb8 97FF sbrs r25,7 |
| 2177 0eba 00C0 rjmp .L102 |
| 2178 0ebc 2150 subi r18,lo8(-(2047)) |
| 2179 0ebe 384F sbci r19,hi8(-(2047)) |
| 2180 0ec0 4F4F sbci r20,hlo8(-(2047)) |
| 2181 0ec2 5F4F sbci r21,hhi8(-(2047)) |
| 2182 .L102: |
| 2183 0ec4 6BE0 ldi r22,11 |
| 2184 0ec6 5595 1: asr r21 |
| 2185 0ec8 4795 ror r20 |
| 2186 0eca 3795 ror r19 |
| 2187 0ecc 2795 ror r18 |
| 2188 0ece 6A95 dec r22 |
| 2189 0ed0 01F4 brne 1b |
| 2190 0ed2 8091 0000 lds r24,Parameter_AchsKopplung1 |
| 2191 0ed6 A82E mov r10,r24 |
| 2192 0ed8 BB24 clr r11 |
| 2193 0eda CC24 clr r12 |
| 2194 0edc DD24 clr r13 |
| 2195 0ede CA01 movw r24,r20 |
| 2196 0ee0 B901 movw r22,r18 |
| 2197 0ee2 A601 movw r20,r12 |
| 2198 0ee4 9501 movw r18,r10 |
| 2199 0ee6 0E94 0000 call __mulsi3 |
| 2200 0eea DC01 movw r26,r24 |
| 2201 0eec CB01 movw r24,r22 |
| 2202 0eee 8093 0000 sts tmpl.27,r24 |
| 2203 0ef2 9093 0000 sts (tmpl.27)+1,r25 |
| 2204 0ef6 A093 0000 sts (tmpl.27)+2,r26 |
| 2205 0efa B093 0000 sts (tmpl.27)+3,r27 |
| 2206 0efe B7FF sbrs r27,7 |
| 2207 0f00 00C0 rjmp .L103 |
| 2208 0f02 8150 subi r24,lo8(-(4095)) |
| 2209 0f04 904F sbci r25,hi8(-(4095)) |
| 2210 0f06 AF4F sbci r26,hlo8(-(4095)) |
| 2211 0f08 BF4F sbci r27,hhi8(-(4095)) |
| 2212 .L103: |
| 2213 0f0a 3C01 movw r6,r24 |
| 2214 0f0c 4D01 movw r8,r26 |
| 2215 0f0e 3CE0 ldi r19,12 |
| 2216 0f10 9594 1: asr r9 |
| 2217 0f12 8794 ror r8 |
| 2218 0f14 7794 ror r7 |
| 2219 0f16 6794 ror r6 |
| 2220 0f18 3A95 dec r19 |
| 2221 0f1a 01F4 brne 1b |
| 2222 0f1c 6092 0000 sts tmpl.27,r6 |
| 2223 0f20 7092 0000 sts (tmpl.27)+1,r7 |
| 2224 0f24 8092 0000 sts (tmpl.27)+2,r8 |
| 2225 0f28 9092 0000 sts (tmpl.27)+3,r9 |
| 2226 0f2c C801 movw r24,r16 |
| 2227 0f2e B701 movw r22,r14 |
| 2228 0f30 2D81 ldd r18,Y+5 |
| 2229 0f32 3E81 ldd r19,Y+6 |
| 2230 0f34 4F81 ldd r20,Y+7 |
| 2231 0f36 5885 ldd r21,Y+8 |
| 2232 0f38 0E94 0000 call __mulsi3 |
| 2233 0f3c 97FF sbrs r25,7 |
| 2234 0f3e 00C0 rjmp .L104 |
| 2235 0f40 6150 subi r22,lo8(-(2047)) |
| 2236 0f42 784F sbci r23,hi8(-(2047)) |
| 2237 0f44 8F4F sbci r24,hlo8(-(2047)) |
| 2238 0f46 9F4F sbci r25,hhi8(-(2047)) |
| 2239 .L104: |
| 2240 0f48 2BE0 ldi r18,11 |
| 2241 0f4a 9595 1: asr r25 |
| 2242 0f4c 8795 ror r24 |
| 2243 0f4e 7795 ror r23 |
| 2244 0f50 6795 ror r22 |
| 2245 0f52 2A95 dec r18 |
| 2246 0f54 01F4 brne 1b |
| 2247 0f56 A601 movw r20,r12 |
| 2248 0f58 9501 movw r18,r10 |
| 2249 0f5a 0E94 0000 call __mulsi3 |
| 2250 0f5e DC01 movw r26,r24 |
| 2251 0f60 CB01 movw r24,r22 |
| 2252 0f62 8093 0000 sts tmpl2.28,r24 |
| 2253 0f66 9093 0000 sts (tmpl2.28)+1,r25 |
| 2254 0f6a A093 0000 sts (tmpl2.28)+2,r26 |
| 2255 0f6e B093 0000 sts (tmpl2.28)+3,r27 |
| 2256 0f72 B7FF sbrs r27,7 |
| 2257 0f74 00C0 rjmp .L105 |
| 2258 0f76 8150 subi r24,lo8(-(4095)) |
| 2259 0f78 904F sbci r25,hi8(-(4095)) |
| 2260 0f7a AF4F sbci r26,hlo8(-(4095)) |
| 2261 0f7c BF4F sbci r27,hhi8(-(4095)) |
| 2262 .L105: |
| 2263 0f7e AC01 movw r20,r24 |
| 2264 0f80 BD01 movw r22,r26 |
| 2265 0f82 8CE0 ldi r24,12 |
| 2266 0f84 7595 1: asr r23 |
| 2267 0f86 6795 ror r22 |
| 2268 0f88 5795 ror r21 |
| 2269 0f8a 4795 ror r20 |
| 2270 0f8c 8A95 dec r24 |
| 2271 0f8e 01F4 brne 1b |
| 2272 0f90 4093 0000 sts tmpl2.28,r20 |
| 2273 0f94 5093 0000 sts (tmpl2.28)+1,r21 |
| 2274 0f98 6093 0000 sts (tmpl2.28)+2,r22 |
| 2275 0f9c 7093 0000 sts (tmpl2.28)+3,r23 |
| 2276 0fa0 2A89 ldd r18,Y+18 |
| 2277 0fa2 3B89 ldd r19,Y+19 |
| 2278 0fa4 37FF sbrs r19,7 |
| 2279 0fa6 00C0 rjmp .L107 |
| 2280 0fa8 3095 com r19 |
| 2281 0faa 2195 neg r18 |
| 2282 0fac 3F4F sbci r19,lo8(-1) |
| 2283 .L107: |
| 2284 0fae 2134 cpi r18,65 |
| 2285 0fb0 3105 cpc r19,__zero_reg__ |
| 2286 0fb2 04F0 brlt .L112 |
| 2287 0fb4 D401 movw r26,r8 |
| 2288 0fb6 C301 movw r24,r6 |
| 2289 0fb8 97FE sbrs r9,7 |
| 2290 0fba 00C0 rjmp .L110 |
| 2291 0fbc B095 com r27 |
| 2292 0fbe A095 com r26 |
| 2293 0fc0 9095 com r25 |
| 2294 0fc2 8195 neg r24 |
| 2295 0fc4 9F4F sbci r25,lo8(-1) |
| 2296 0fc6 AF4F sbci r26,lo8(-1) |
| 2297 0fc8 BF4F sbci r27,lo8(-1) |
| 2298 .L110: |
| 2299 0fca 8138 cpi r24,lo8(129) |
| 2300 0fcc 9105 cpc r25,__zero_reg__ |
| 2301 0fce A105 cpc r26,__zero_reg__ |
| 2302 0fd0 B105 cpc r27,__zero_reg__ |
| 2303 0fd2 04F4 brge .L109 |
| 2304 0fd4 DB01 movw r26,r22 |
| 2305 0fd6 CA01 movw r24,r20 |
| 2306 0fd8 77FF sbrs r23,7 |
| 2307 0fda 00C0 rjmp .L111 |
| 2308 0fdc B095 com r27 |
| 2309 0fde A095 com r26 |
| 2310 0fe0 9095 com r25 |
| 2311 0fe2 8195 neg r24 |
| 2312 0fe4 9F4F sbci r25,lo8(-1) |
| 2313 0fe6 AF4F sbci r26,lo8(-1) |
| 2314 0fe8 BF4F sbci r27,lo8(-1) |
| 2315 .L111: |
| 2316 0fea 8138 cpi r24,lo8(129) |
| 2317 0fec 9105 cpc r25,__zero_reg__ |
| 2318 0fee A105 cpc r26,__zero_reg__ |
| 2319 0ff0 B105 cpc r27,__zero_reg__ |
| 2320 0ff2 04F0 brlt .L112 |
| 2321 .L109: |
| 2322 0ff4 81E0 ldi r24,lo8(1) |
| 2323 0ff6 8093 0000 sts TrichterFlug,r24 |
| 2324 0ffa 00C0 rjmp .L112 |
| 2325 .L95: |
| 2326 0ffc 1092 0000 sts (KopplungsteilRollNick)+1,__zero_reg__ |
| 2327 1000 1092 0000 sts KopplungsteilRollNick,__zero_reg__ |
| 2328 1004 1092 0000 sts (KopplungsteilNickRoll)+1,__zero_reg__ |
| 2329 1008 1092 0000 sts KopplungsteilNickRoll,__zero_reg__ |
| 2330 100c 1092 0000 sts tmpl2.28,__zero_reg__ |
| 2331 1010 1092 0000 sts (tmpl2.28)+1,__zero_reg__ |
| 2332 1014 1092 0000 sts (tmpl2.28)+2,__zero_reg__ |
| 2333 1018 1092 0000 sts (tmpl2.28)+3,__zero_reg__ |
| 2334 101c 1092 0000 sts tmpl.27,__zero_reg__ |
| 2335 1020 1092 0000 sts (tmpl.27)+1,__zero_reg__ |
| 2336 1024 1092 0000 sts (tmpl.27)+2,__zero_reg__ |
| 2337 1028 1092 0000 sts (tmpl.27)+3,__zero_reg__ |
| 2338 .L112: |
| 2339 102c 8091 0000 lds r24,tmpl2.28 |
| 2340 1030 9091 0000 lds r25,(tmpl2.28)+1 |
| 2341 1034 A091 0000 lds r26,(tmpl2.28)+2 |
| 2342 1038 B091 0000 lds r27,(tmpl2.28)+3 |
| 2343 103c BC01 movw r22,r24 |
| 2344 103e CD01 movw r24,r26 |
| 2345 1040 24E6 ldi r18,lo8(100) |
| 2346 1042 30E0 ldi r19,hi8(100) |
| 2347 1044 40E0 ldi r20,hlo8(100) |
| 2348 1046 50E0 ldi r21,hhi8(100) |
| 2349 1048 0E94 0000 call __divmodsi4 |
| 2350 104c E090 0000 lds r14,tmpl.27 |
| 2351 1050 F090 0000 lds r15,(tmpl.27)+1 |
| 2352 1054 E21A sub r14,r18 |
| 2353 1056 F30A sbc r15,r19 |
| 2354 1058 F092 0000 sts (TrimRoll)+1,r15 |
| 2355 105c E092 0000 sts TrimRoll,r14 |
| 2356 1060 8091 0000 lds r24,tmpl.27 |
| 2357 1064 9091 0000 lds r25,(tmpl.27)+1 |
| 2358 1068 A091 0000 lds r26,(tmpl.27)+2 |
| 2359 106c B091 0000 lds r27,(tmpl.27)+3 |
| 2360 1070 BC01 movw r22,r24 |
| 2361 1072 CD01 movw r24,r26 |
| 2362 1074 24E6 ldi r18,lo8(100) |
| 2363 1076 30E0 ldi r19,hi8(100) |
| 2364 1078 40E0 ldi r20,hlo8(100) |
| 2365 107a 50E0 ldi r21,hhi8(100) |
| 2366 107c 0E94 0000 call __divmodsi4 |
| 2367 1080 DA01 movw r26,r20 |
| 2368 1082 C901 movw r24,r18 |
| 2369 1084 2091 0000 lds r18,tmpl2.28 |
| 2370 1088 3091 0000 lds r19,(tmpl2.28)+1 |
| 2371 108c 8C01 movw r16,r24 |
| 2372 108e 021B sub r16,r18 |
| 2373 1090 130B sbc r17,r19 |
| 2374 1092 1093 0000 sts (TrimNick)+1,r17 |
| 2375 1096 0093 0000 sts TrimNick,r16 |
| 2376 109a 8091 0000 lds r24,GIER_GRAD_FAKTOR |
| 2377 109e 9091 0000 lds r25,(GIER_GRAD_FAKTOR)+1 |
| 2378 10a2 A091 0000 lds r26,(GIER_GRAD_FAKTOR)+2 |
| 2379 10a6 B091 0000 lds r27,(GIER_GRAD_FAKTOR)+3 |
| 2380 10aa BC01 movw r22,r24 |
| 2381 10ac CD01 movw r24,r26 |
| 2382 10ae 28E6 ldi r18,lo8(360) |
| 2383 10b0 31E0 ldi r19,hi8(360) |
| 2384 10b2 40E0 ldi r20,hlo8(360) |
| 2385 10b4 50E0 ldi r21,hhi8(360) |
| 2386 10b6 0E94 0000 call __mulsi3 |
| 2387 10ba 2091 0000 lds r18,ErsatzKompass |
| 2388 10be 3091 0000 lds r19,(ErsatzKompass)+1 |
| 2389 10c2 4091 0000 lds r20,(ErsatzKompass)+2 |
| 2390 10c6 5091 0000 lds r21,(ErsatzKompass)+3 |
| 2391 10ca 2617 cp r18,r22 |
| 2392 10cc 3707 cpc r19,r23 |
| 2393 10ce 4807 cpc r20,r24 |
| 2394 10d0 5907 cpc r21,r25 |
| 2395 10d2 04F0 brlt .L113 |
| 2396 10d4 261B sub r18,r22 |
| 2397 10d6 370B sbc r19,r23 |
| 2398 10d8 480B sbc r20,r24 |
| 2399 10da 590B sbc r21,r25 |
| 2400 10dc 2093 0000 sts ErsatzKompass,r18 |
| 2401 10e0 3093 0000 sts (ErsatzKompass)+1,r19 |
| 2402 10e4 4093 0000 sts (ErsatzKompass)+2,r20 |
| 2403 10e8 5093 0000 sts (ErsatzKompass)+3,r21 |
| 2404 .L113: |
| 2405 10ec 2091 0000 lds r18,ErsatzKompass |
| 2406 10f0 3091 0000 lds r19,(ErsatzKompass)+1 |
| 2407 10f4 4091 0000 lds r20,(ErsatzKompass)+2 |
| 2408 10f8 5091 0000 lds r21,(ErsatzKompass)+3 |
| 2409 10fc 57FF sbrs r21,7 |
| 2410 10fe 00C0 rjmp .L114 |
| 2411 1100 260F add r18,r22 |
| 2412 1102 371F adc r19,r23 |
| 2413 1104 481F adc r20,r24 |
| 2414 1106 591F adc r21,r25 |
| 2415 1108 2093 0000 sts ErsatzKompass,r18 |
| 2416 110c 3093 0000 sts (ErsatzKompass)+1,r19 |
| 2417 1110 4093 0000 sts (ErsatzKompass)+2,r20 |
| 2418 1114 5093 0000 sts (ErsatzKompass)+3,r21 |
| 2419 .L114: |
| 2420 1118 6091 0000 lds r22,MesswertRoll |
| 2421 111c 7091 0000 lds r23,(MesswertRoll)+1 |
| 2422 1120 6E0D add r22,r14 |
| 2423 1122 7F1D adc r23,r15 |
| 2424 1124 9B01 movw r18,r22 |
| 2425 1126 4427 clr r20 |
| 2426 1128 37FD sbrc r19,7 |
| 2427 112a 4095 com r20 |
| 2428 112c 542F mov r21,r20 |
| 2429 112e 8091 0000 lds r24,Mess_IntegralRoll2 |
| 2430 1132 9091 0000 lds r25,(Mess_IntegralRoll2)+1 |
| 2431 1136 A091 0000 lds r26,(Mess_IntegralRoll2)+2 |
| 2432 113a B091 0000 lds r27,(Mess_IntegralRoll2)+3 |
| 2433 113e 820F add r24,r18 |
| 2434 1140 931F adc r25,r19 |
| 2435 1142 A41F adc r26,r20 |
| 2436 1144 B51F adc r27,r21 |
| 2437 1146 8093 0000 sts Mess_IntegralRoll2,r24 |
| 2438 114a 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
| 2439 114e A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
| 2440 1152 B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
| 2441 1156 8091 0000 lds r24,LageKorrekturRoll |
| 2442 115a 9091 0000 lds r25,(LageKorrekturRoll)+1 |
| 2443 115e 681B sub r22,r24 |
| 2444 1160 790B sbc r23,r25 |
| 2445 1162 CB01 movw r24,r22 |
| 2446 1164 AA27 clr r26 |
| 2447 1166 97FD sbrc r25,7 |
| 2448 1168 A095 com r26 |
| 2449 116a BA2F mov r27,r26 |
| 2450 116c 2985 ldd r18,Y+9 |
| 2451 116e 3A85 ldd r19,Y+10 |
| 2452 1170 4B85 ldd r20,Y+11 |
| 2453 1172 5C85 ldd r21,Y+12 |
| 2454 1174 820F add r24,r18 |
| 2455 1176 931F adc r25,r19 |
| 2456 1178 A41F adc r26,r20 |
| 2457 117a B51F adc r27,r21 |
| 2458 117c 8093 0000 sts Mess_IntegralRoll,r24 |
| 2459 1180 9093 0000 sts (Mess_IntegralRoll)+1,r25 |
| 2460 1184 A093 0000 sts (Mess_IntegralRoll)+2,r26 |
| 2461 1188 B093 0000 sts (Mess_IntegralRoll)+3,r27 |
| 2462 118c C090 0000 lds r12,Umschlag180Roll |
| 2463 1190 D090 0000 lds r13,(Umschlag180Roll)+1 |
| 2464 1194 E090 0000 lds r14,(Umschlag180Roll)+2 |
| 2465 1198 F090 0000 lds r15,(Umschlag180Roll)+3 |
| 2466 119c C816 cp r12,r24 |
| 2467 119e D906 cpc r13,r25 |
| 2468 11a0 EA06 cpc r14,r26 |
| 2469 11a2 FB06 cpc r15,r27 |
| 2470 11a4 04F4 brge .L115 |
| 2471 11a6 88EA ldi r24,lo8(25000) |
| 2472 11a8 91E6 ldi r25,hi8(25000) |
| 2473 11aa A0E0 ldi r26,hlo8(25000) |
| 2474 11ac B0E0 ldi r27,hhi8(25000) |
| 2475 11ae 8C19 sub r24,r12 |
| 2476 11b0 9D09 sbc r25,r13 |
| 2477 11b2 AE09 sbc r26,r14 |
| 2478 11b4 BF09 sbc r27,r15 |
| 2479 11b6 8093 0000 sts Mess_IntegralRoll,r24 |
| 2480 11ba 9093 0000 sts (Mess_IntegralRoll)+1,r25 |
| 2481 11be A093 0000 sts (Mess_IntegralRoll)+2,r26 |
| 2482 11c2 B093 0000 sts (Mess_IntegralRoll)+3,r27 |
| 2483 11c6 8093 0000 sts Mess_IntegralRoll2,r24 |
| 2484 11ca 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
| 2485 11ce A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
| 2486 11d2 B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
| 2487 .L115: |
| 2488 11d6 2227 clr r18 |
| 2489 11d8 3327 clr r19 |
| 2490 11da A901 movw r20,r18 |
| 2491 11dc 2C19 sub r18,r12 |
| 2492 11de 3D09 sbc r19,r13 |
| 2493 11e0 4E09 sbc r20,r14 |
| 2494 11e2 5F09 sbc r21,r15 |
| 2495 11e4 8091 0000 lds r24,Mess_IntegralRoll |
| 2496 11e8 9091 0000 lds r25,(Mess_IntegralRoll)+1 |
| 2497 11ec A091 0000 lds r26,(Mess_IntegralRoll)+2 |
| 2498 11f0 B091 0000 lds r27,(Mess_IntegralRoll)+3 |
| 2499 11f4 8217 cp r24,r18 |
| 2500 11f6 9307 cpc r25,r19 |
| 2501 11f8 A407 cpc r26,r20 |
| 2502 11fa B507 cpc r27,r21 |
| 2503 11fc 04F4 brge .L116 |
| 2504 11fe D701 movw r26,r14 |
| 2505 1200 C601 movw r24,r12 |
| 2506 1202 885A subi r24,lo8(-(-25000)) |
| 2507 1204 9146 sbci r25,hi8(-(-25000)) |
| 2508 1206 A040 sbci r26,hlo8(-(-25000)) |
| 2509 1208 B040 sbci r27,hhi8(-(-25000)) |
| 2510 120a 8093 0000 sts Mess_IntegralRoll,r24 |
| 2511 120e 9093 0000 sts (Mess_IntegralRoll)+1,r25 |
| 2512 1212 A093 0000 sts (Mess_IntegralRoll)+2,r26 |
| 2513 1216 B093 0000 sts (Mess_IntegralRoll)+3,r27 |
| 2514 121a 8093 0000 sts Mess_IntegralRoll2,r24 |
| 2515 121e 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
| 2516 1222 A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
| 2517 1226 B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
| 2518 .L116: |
| 2519 122a 6091 0000 lds r22,MesswertNick |
| 2520 122e 7091 0000 lds r23,(MesswertNick)+1 |
| 2521 1232 600F add r22,r16 |
| 2522 1234 711F adc r23,r17 |
| 2523 1236 9B01 movw r18,r22 |
| 2524 1238 4427 clr r20 |
| 2525 123a 37FD sbrc r19,7 |
| 2526 123c 4095 com r20 |
| 2527 123e 542F mov r21,r20 |
| 2528 1240 8091 0000 lds r24,Mess_IntegralNick2 |
| 2529 1244 9091 0000 lds r25,(Mess_IntegralNick2)+1 |
| 2530 1248 A091 0000 lds r26,(Mess_IntegralNick2)+2 |
| 2531 124c B091 0000 lds r27,(Mess_IntegralNick2)+3 |
| 2532 1250 820F add r24,r18 |
| 2533 1252 931F adc r25,r19 |
| 2534 1254 A41F adc r26,r20 |
| 2535 1256 B51F adc r27,r21 |
| 2536 1258 8093 0000 sts Mess_IntegralNick2,r24 |
| 2537 125c 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
| 2538 1260 A093 0000 sts (Mess_IntegralNick2)+2,r26 |
| 2539 1264 B093 0000 sts (Mess_IntegralNick2)+3,r27 |
| 2540 1268 8091 0000 lds r24,LageKorrekturNick |
| 2541 126c 9091 0000 lds r25,(LageKorrekturNick)+1 |
| 2542 1270 681B sub r22,r24 |
| 2543 1272 790B sbc r23,r25 |
| 2544 1274 CB01 movw r24,r22 |
| 2545 1276 AA27 clr r26 |
| 2546 1278 97FD sbrc r25,7 |
| 2547 127a A095 com r26 |
| 2548 127c BA2F mov r27,r26 |
| 2549 127e 2D85 ldd r18,Y+13 |
| 2550 1280 3E85 ldd r19,Y+14 |
| 2551 1282 4F85 ldd r20,Y+15 |
| 2552 1284 5889 ldd r21,Y+16 |
| 2553 1286 820F add r24,r18 |
| 2554 1288 931F adc r25,r19 |
| 2555 128a A41F adc r26,r20 |
| 2556 128c B51F adc r27,r21 |
| 2557 128e 8093 0000 sts Mess_IntegralNick,r24 |
| 2558 1292 9093 0000 sts (Mess_IntegralNick)+1,r25 |
| 2559 1296 A093 0000 sts (Mess_IntegralNick)+2,r26 |
| 2560 129a B093 0000 sts (Mess_IntegralNick)+3,r27 |
| 2561 129e E090 0000 lds r14,Umschlag180Nick |
| 2562 12a2 F090 0000 lds r15,(Umschlag180Nick)+1 |
| 2563 12a6 0091 0000 lds r16,(Umschlag180Nick)+2 |
| 2564 12aa 1091 0000 lds r17,(Umschlag180Nick)+3 |
| 2565 12ae E816 cp r14,r24 |
| 2566 12b0 F906 cpc r15,r25 |
| 2567 12b2 0A07 cpc r16,r26 |
| 2568 12b4 1B07 cpc r17,r27 |
| 2569 12b6 04F4 brge .L117 |
| 2570 12b8 88EA ldi r24,lo8(25000) |
| 2571 12ba 91E6 ldi r25,hi8(25000) |
| 2572 12bc A0E0 ldi r26,hlo8(25000) |
| 2573 12be B0E0 ldi r27,hhi8(25000) |
| 2574 12c0 8E19 sub r24,r14 |
| 2575 12c2 9F09 sbc r25,r15 |
| 2576 12c4 A00B sbc r26,r16 |
| 2577 12c6 B10B sbc r27,r17 |
| 2578 12c8 8093 0000 sts Mess_IntegralNick,r24 |
| 2579 12cc 9093 0000 sts (Mess_IntegralNick)+1,r25 |
| 2580 12d0 A093 0000 sts (Mess_IntegralNick)+2,r26 |
| 2581 12d4 B093 0000 sts (Mess_IntegralNick)+3,r27 |
| 2582 12d8 8093 0000 sts Mess_IntegralNick2,r24 |
| 2583 12dc 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
| 2584 12e0 A093 0000 sts (Mess_IntegralNick2)+2,r26 |
| 2585 12e4 B093 0000 sts (Mess_IntegralNick2)+3,r27 |
| 2586 .L117: |
| 2587 12e8 2227 clr r18 |
| 2588 12ea 3327 clr r19 |
| 2589 12ec A901 movw r20,r18 |
| 2590 12ee 2E19 sub r18,r14 |
| 2591 12f0 3F09 sbc r19,r15 |
| 2592 12f2 400B sbc r20,r16 |
| 2593 12f4 510B sbc r21,r17 |
| 2594 12f6 8091 0000 lds r24,Mess_IntegralNick |
| 2595 12fa 9091 0000 lds r25,(Mess_IntegralNick)+1 |
| 2596 12fe A091 0000 lds r26,(Mess_IntegralNick)+2 |
| 2597 1302 B091 0000 lds r27,(Mess_IntegralNick)+3 |
| 2598 1306 8217 cp r24,r18 |
| 2599 1308 9307 cpc r25,r19 |
| 2600 130a A407 cpc r26,r20 |
| 2601 130c B507 cpc r27,r21 |
| 2602 130e 04F4 brge .L118 |
| 2603 1310 D801 movw r26,r16 |
| 2604 1312 C701 movw r24,r14 |
| 2605 1314 885A subi r24,lo8(-(-25000)) |
| 2606 1316 9146 sbci r25,hi8(-(-25000)) |
| 2607 1318 A040 sbci r26,hlo8(-(-25000)) |
| 2608 131a B040 sbci r27,hhi8(-(-25000)) |
| 2609 131c 8093 0000 sts Mess_IntegralNick,r24 |
| 2610 1320 9093 0000 sts (Mess_IntegralNick)+1,r25 |
| 2611 1324 A093 0000 sts (Mess_IntegralNick)+2,r26 |
| 2612 1328 B093 0000 sts (Mess_IntegralNick)+3,r27 |
| 2613 132c 8093 0000 sts Mess_IntegralNick2,r24 |
| 2614 1330 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
| 2615 1334 A093 0000 sts (Mess_IntegralNick2)+2,r26 |
| 2616 1338 B093 0000 sts (Mess_IntegralNick2)+3,r27 |
| 2617 .L118: |
| 2618 133c 8091 0000 lds r24,Mess_Integral_Gier |
| 2619 1340 9091 0000 lds r25,(Mess_Integral_Gier)+1 |
| 2620 1344 A091 0000 lds r26,(Mess_Integral_Gier)+2 |
| 2621 1348 B091 0000 lds r27,(Mess_Integral_Gier)+3 |
| 2622 134c 8093 0000 sts Integral_Gier,r24 |
| 2623 1350 9093 0000 sts (Integral_Gier)+1,r25 |
| 2624 1354 A093 0000 sts (Integral_Gier)+2,r26 |
| 2625 1358 B093 0000 sts (Integral_Gier)+3,r27 |
| 2626 135c 8091 0000 lds r24,Mess_IntegralNick |
| 2627 1360 9091 0000 lds r25,(Mess_IntegralNick)+1 |
| 2628 1364 A091 0000 lds r26,(Mess_IntegralNick)+2 |
| 2629 1368 B091 0000 lds r27,(Mess_IntegralNick)+3 |
| 2630 136c 8093 0000 sts IntegralNick,r24 |
| 2631 1370 9093 0000 sts (IntegralNick)+1,r25 |
| 2632 1374 A093 0000 sts (IntegralNick)+2,r26 |
| 2633 1378 B093 0000 sts (IntegralNick)+3,r27 |
| 2634 137c 8091 0000 lds r24,Mess_IntegralRoll |
| 2635 1380 9091 0000 lds r25,(Mess_IntegralRoll)+1 |
| 2636 1384 A091 0000 lds r26,(Mess_IntegralRoll)+2 |
| 2637 1388 B091 0000 lds r27,(Mess_IntegralRoll)+3 |
| 2638 138c 8093 0000 sts IntegralRoll,r24 |
| 2639 1390 9093 0000 sts (IntegralRoll)+1,r25 |
| 2640 1394 A093 0000 sts (IntegralRoll)+2,r26 |
| 2641 1398 B093 0000 sts (IntegralRoll)+3,r27 |
| 2642 139c 8091 0000 lds r24,Mess_IntegralNick2 |
| 2643 13a0 9091 0000 lds r25,(Mess_IntegralNick2)+1 |
| 2644 13a4 A091 0000 lds r26,(Mess_IntegralNick2)+2 |
| 2645 13a8 B091 0000 lds r27,(Mess_IntegralNick2)+3 |
| 2646 13ac 8093 0000 sts IntegralNick2,r24 |
| 2647 13b0 9093 0000 sts (IntegralNick2)+1,r25 |
| 2648 13b4 A093 0000 sts (IntegralNick2)+2,r26 |
| 2649 13b8 B093 0000 sts (IntegralNick2)+3,r27 |
| 2650 13bc 8091 0000 lds r24,Mess_IntegralRoll2 |
| 2651 13c0 9091 0000 lds r25,(Mess_IntegralRoll2)+1 |
| 2652 13c4 A091 0000 lds r26,(Mess_IntegralRoll2)+2 |
| 2653 13c8 B091 0000 lds r27,(Mess_IntegralRoll2)+3 |
| 2654 13cc 8093 0000 sts IntegralRoll2,r24 |
| 2655 13d0 9093 0000 sts (IntegralRoll2)+1,r25 |
| 2656 13d4 A093 0000 sts (IntegralRoll2)+2,r26 |
| 2657 13d8 B093 0000 sts (IntegralRoll2)+3,r27 |
| 2658 13dc 8091 0000 lds r24,HiResNick |
| 2659 13e0 9091 0000 lds r25,(HiResNick)+1 |
| 2660 13e4 97FD sbrc r25,7 |
| 2661 13e6 0796 adiw r24,7 |
| 2662 .L119: |
| 2663 13e8 03E0 ldi r16,3 |
| 2664 13ea 9595 1: asr r25 |
| 2665 13ec 8795 ror r24 |
| 2666 13ee 0A95 dec r16 |
| 2667 13f0 01F4 brne 1b |
| 2668 13f2 9093 0000 sts (MesswertNick)+1,r25 |
| 2669 13f6 8093 0000 sts MesswertNick,r24 |
| 2670 13fa 8091 0000 lds r24,HiResRoll |
| 2671 13fe 9091 0000 lds r25,(HiResRoll)+1 |
| 2672 1402 97FD sbrc r25,7 |
| 2673 1404 0796 adiw r24,7 |
| 2674 .L120: |
| 2675 1406 13E0 ldi r17,3 |
| 2676 1408 9595 1: asr r25 |
| 2677 140a 8795 ror r24 |
| 2678 140c 1A95 dec r17 |
| 2679 140e 01F4 brne 1b |
| 2680 1410 9093 0000 sts (MesswertRoll)+1,r25 |
| 2681 1414 8093 0000 sts MesswertRoll,r24 |
| 2682 1418 8091 0000 lds r24,AdWertNick |
| 2683 141c 9091 0000 lds r25,(AdWertNick)+1 |
| 2684 1420 0F97 sbiw r24,15 |
| 2685 1422 04F4 brge .L121 |
| 2686 1424 88E1 ldi r24,lo8(-1000) |
| 2687 1426 9CEF ldi r25,hi8(-1000) |
| 2688 1428 9093 0000 sts (MesswertNick)+1,r25 |
| 2689 142c 8093 0000 sts MesswertNick,r24 |
| 2690 .L121: |
| 2691 1430 8091 0000 lds r24,AdWertNick |
| 2692 1434 9091 0000 lds r25,(AdWertNick)+1 |
| 2693 1438 0797 sbiw r24,7 |
| 2694 143a 04F4 brge .L122 |
| 2695 143c 80E3 ldi r24,lo8(-2000) |
| 2696 143e 98EF ldi r25,hi8(-2000) |
| 2697 1440 9093 0000 sts (MesswertNick)+1,r25 |
| 2698 1444 8093 0000 sts MesswertNick,r24 |
| 2699 .L122: |
| 2700 1448 2091 0000 lds r18,PlatinenVersion |
| 2701 144c 2A30 cpi r18,lo8(10) |
| 2702 144e 01F4 brne .L123 |
| 2703 1450 8091 0000 lds r24,AdWertNick |
| 2704 1454 9091 0000 lds r25,(AdWertNick)+1 |
| 2705 1458 835F subi r24,lo8(1011) |
| 2706 145a 9340 sbci r25,hi8(1011) |
| 2707 145c 04F0 brlt .L124 |
| 2708 145e 88EE ldi r24,lo8(1000) |
| 2709 1460 93E0 ldi r25,hi8(1000) |
| 2710 1462 9093 0000 sts (MesswertNick)+1,r25 |
| 2711 1466 8093 0000 sts MesswertNick,r24 |
| 2712 .L124: |
| 2713 146a 8091 0000 lds r24,AdWertNick |
| 2714 146e 9091 0000 lds r25,(AdWertNick)+1 |
| 2715 1472 8A5F subi r24,lo8(1018) |
| 2716 1474 9340 sbci r25,hi8(1018) |
| 2717 1476 04F0 brlt .L126 |
| 2718 1478 00C0 rjmp .L169 |
| 2719 .L123: |
| 2720 147a 8091 0000 lds r24,AdWertNick |
| 2721 147e 9091 0000 lds r25,(AdWertNick)+1 |
| 2722 1482 815D subi r24,lo8(2001) |
| 2723 1484 9740 sbci r25,hi8(2001) |
| 2724 1486 04F0 brlt .L127 |
| 2725 1488 88EE ldi r24,lo8(1000) |
| 2726 148a 93E0 ldi r25,hi8(1000) |
| 2727 148c 9093 0000 sts (MesswertNick)+1,r25 |
| 2728 1490 8093 0000 sts MesswertNick,r24 |
| 2729 .L127: |
| 2730 1494 8091 0000 lds r24,AdWertNick |
| 2731 1498 9091 0000 lds r25,(AdWertNick)+1 |
| 2732 149c 805E subi r24,lo8(2016) |
| 2733 149e 9740 sbci r25,hi8(2016) |
| 2734 14a0 04F0 brlt .L126 |
| 2735 .L169: |
| 2736 14a2 80ED ldi r24,lo8(2000) |
| 2737 14a4 97E0 ldi r25,hi8(2000) |
| 2738 14a6 9093 0000 sts (MesswertNick)+1,r25 |
| 2739 14aa 8093 0000 sts MesswertNick,r24 |
| 2740 .L126: |
| 2741 14ae 8091 0000 lds r24,AdWertRoll |
| 2742 14b2 9091 0000 lds r25,(AdWertRoll)+1 |
| 2743 14b6 0F97 sbiw r24,15 |
| 2744 14b8 04F4 brge .L129 |
| 2745 14ba 88E1 ldi r24,lo8(-1000) |
| 2746 14bc 9CEF ldi r25,hi8(-1000) |
| 2747 14be 9093 0000 sts (MesswertRoll)+1,r25 |
| 2748 14c2 8093 0000 sts MesswertRoll,r24 |
| 2749 .L129: |
| 2750 14c6 8091 0000 lds r24,AdWertRoll |
| 2751 14ca 9091 0000 lds r25,(AdWertRoll)+1 |
| 2752 14ce 0797 sbiw r24,7 |
| 2753 14d0 04F4 brge .L130 |
| 2754 14d2 80E3 ldi r24,lo8(-2000) |
| 2755 14d4 98EF ldi r25,hi8(-2000) |
| 2756 14d6 9093 0000 sts (MesswertRoll)+1,r25 |
| 2757 14da 8093 0000 sts MesswertRoll,r24 |
| 2758 .L130: |
| 2759 14de 2A30 cpi r18,lo8(10) |
| 2760 14e0 01F4 brne .L131 |
| 2761 14e2 8091 0000 lds r24,AdWertRoll |
| 2762 14e6 9091 0000 lds r25,(AdWertRoll)+1 |
| 2763 14ea 835F subi r24,lo8(1011) |
| 2764 14ec 9340 sbci r25,hi8(1011) |
| 2765 14ee 04F0 brlt .L132 |
| 2766 14f0 88EE ldi r24,lo8(1000) |
| 2767 14f2 93E0 ldi r25,hi8(1000) |
| 2768 14f4 9093 0000 sts (MesswertRoll)+1,r25 |
| 2769 14f8 8093 0000 sts MesswertRoll,r24 |
| 2770 .L132: |
| 2771 14fc 8091 0000 lds r24,AdWertRoll |
| 2772 1500 9091 0000 lds r25,(AdWertRoll)+1 |
| 2773 1504 8A5F subi r24,lo8(1018) |
| 2774 1506 9340 sbci r25,hi8(1018) |
| 2775 1508 04F0 brlt .L134 |
| 2776 150a 00C0 rjmp .L170 |
| 2777 .L131: |
| 2778 150c 8091 0000 lds r24,AdWertRoll |
| 2779 1510 9091 0000 lds r25,(AdWertRoll)+1 |
| 2780 1514 815D subi r24,lo8(2001) |
| 2781 1516 9740 sbci r25,hi8(2001) |
| 2782 1518 04F0 brlt .L135 |
| 2783 151a 88EE ldi r24,lo8(1000) |
| 2784 151c 93E0 ldi r25,hi8(1000) |
| 2785 151e 9093 0000 sts (MesswertRoll)+1,r25 |
| 2786 1522 8093 0000 sts MesswertRoll,r24 |
| 2787 .L135: |
| 2788 1526 8091 0000 lds r24,AdWertRoll |
| 2789 152a 9091 0000 lds r25,(AdWertRoll)+1 |
| 2790 152e 805E subi r24,lo8(2016) |
| 2791 1530 9740 sbci r25,hi8(2016) |
| 2792 1532 04F0 brlt .L134 |
| 2793 .L170: |
| 2794 1534 80ED ldi r24,lo8(2000) |
| 2795 1536 97E0 ldi r25,hi8(2000) |
| 2796 1538 9093 0000 sts (MesswertRoll)+1,r25 |
| 2797 153c 8093 0000 sts MesswertRoll,r24 |
| 2798 .L134: |
| 2799 1540 6091 0000 lds r22,Parameter_Gyro_D |
| 2800 1544 6623 tst r22 |
| 2801 1546 01F4 brne .+2 |
| 2802 1548 00C0 rjmp .L137 |
| 2803 154a 4091 0000 lds r20,HiResNick |
| 2804 154e 5091 0000 lds r21,(HiResNick)+1 |
| 2805 1552 8091 0000 lds r24,oldNick.31 |
| 2806 1556 9091 0000 lds r25,(oldNick.31)+1 |
| 2807 155a 481B sub r20,r24 |
| 2808 155c 590B sbc r21,r25 |
| 2809 155e 5093 0000 sts (d2Nick.34)+1,r21 |
| 2810 1562 4093 0000 sts d2Nick.34,r20 |
| 2811 1566 2091 0000 lds r18,HiResNick |
| 2812 156a 3091 0000 lds r19,(HiResNick)+1 |
| 2813 156e 280F add r18,r24 |
| 2814 1570 391F adc r19,r25 |
| 2815 1572 37FF sbrs r19,7 |
| 2816 1574 00C0 rjmp .L138 |
| 2817 1576 2F5F subi r18,lo8(-(1)) |
| 2818 1578 3F4F sbci r19,hi8(-(1)) |
| 2819 .L138: |
| 2820 157a 3595 asr r19 |
| 2821 157c 2795 ror r18 |
| 2822 157e 3093 0000 sts (oldNick.31)+1,r19 |
| 2823 1582 2093 0000 sts oldNick.31,r18 |
| 2824 1586 4138 cpi r20,129 |
| 2825 1588 5105 cpc r21,__zero_reg__ |
| 2826 158a 04F0 brlt .L139 |
| 2827 158c 80E8 ldi r24,lo8(128) |
| 2828 158e 90E0 ldi r25,hi8(128) |
| 2829 1590 00C0 rjmp .L171 |
| 2830 .L139: |
| 2831 1592 4058 subi r20,lo8(-128) |
| 2832 1594 5F4F sbci r21,hi8(-128) |
| 2833 1596 04F4 brge .L140 |
| 2834 1598 80E8 ldi r24,lo8(-128) |
| 2835 159a 9FEF ldi r25,hi8(-128) |
| 2836 .L171: |
| 2837 159c 9093 0000 sts (d2Nick.34)+1,r25 |
| 2838 15a0 8093 0000 sts d2Nick.34,r24 |
| 2839 .L140: |
| 2840 15a4 4091 0000 lds r20,HiResRoll |
| 2841 15a8 5091 0000 lds r21,(HiResRoll)+1 |
| 2842 15ac 8091 0000 lds r24,oldRoll.32 |
| 2843 15b0 9091 0000 lds r25,(oldRoll.32)+1 |
| 2844 15b4 481B sub r20,r24 |
| 2845 15b6 590B sbc r21,r25 |
| 2846 15b8 5093 0000 sts (d2Roll.33)+1,r21 |
| 2847 15bc 4093 0000 sts d2Roll.33,r20 |
| 2848 15c0 2091 0000 lds r18,HiResRoll |
| 2849 15c4 3091 0000 lds r19,(HiResRoll)+1 |
| 2850 15c8 280F add r18,r24 |
| 2851 15ca 391F adc r19,r25 |
| 2852 15cc 37FF sbrs r19,7 |
| 2853 15ce 00C0 rjmp .L142 |
| 2854 15d0 2F5F subi r18,lo8(-(1)) |
| 2855 15d2 3F4F sbci r19,hi8(-(1)) |
| 2856 .L142: |
| 2857 15d4 3595 asr r19 |
| 2858 15d6 2795 ror r18 |
| 2859 15d8 3093 0000 sts (oldRoll.32)+1,r19 |
| 2860 15dc 2093 0000 sts oldRoll.32,r18 |
| 2861 15e0 4138 cpi r20,129 |
| 2862 15e2 5105 cpc r21,__zero_reg__ |
| 2863 15e4 04F0 brlt .L143 |
| 2864 15e6 80E8 ldi r24,lo8(128) |
| 2865 15e8 90E0 ldi r25,hi8(128) |
| 2866 15ea 00C0 rjmp .L172 |
| 2867 .L143: |
| 2868 15ec 4058 subi r20,lo8(-128) |
| 2869 15ee 5F4F sbci r21,hi8(-128) |
| 2870 15f0 04F4 brge .L144 |
| 2871 15f2 80E8 ldi r24,lo8(-128) |
| 2872 15f4 9FEF ldi r25,hi8(-128) |
| 2873 .L172: |
| 2874 15f6 9093 0000 sts (d2Roll.33)+1,r25 |
| 2875 15fa 8093 0000 sts d2Roll.33,r24 |
| 2876 .L144: |
| 2877 15fe 462F mov r20,r22 |
| 2878 1600 5527 clr r21 |
| 2879 1602 8091 0000 lds r24,d2Nick.34 |
| 2880 1606 9091 0000 lds r25,(d2Nick.34)+1 |
| 2881 160a 849F mul r24,r20 |
| 2882 160c B001 movw r22,r0 |
| 2883 160e 859F mul r24,r21 |
| 2884 1610 700D add r23,r0 |
| 2885 1612 949F mul r25,r20 |
| 2886 1614 700D add r23,r0 |
| 2887 1616 1124 clr r1 |
| 2888 1618 9B01 movw r18,r22 |
| 2889 161a 77FF sbrs r23,7 |
| 2890 161c 00C0 rjmp .L146 |
| 2891 161e 215F subi r18,lo8(-(15)) |
| 2892 1620 3F4F sbci r19,hi8(-(15)) |
| 2893 .L146: |
| 2894 1622 F4E0 ldi r31,4 |
| 2895 1624 3595 1: asr r19 |
| 2896 1626 2795 ror r18 |
| 2897 1628 FA95 dec r31 |
| 2898 162a 01F4 brne 1b |
| 2899 162c 8091 0000 lds r24,MesswertNick |
| 2900 1630 9091 0000 lds r25,(MesswertNick)+1 |
| 2901 1634 820F add r24,r18 |
| 2902 1636 931F adc r25,r19 |
| 2903 1638 9093 0000 sts (MesswertNick)+1,r25 |
| 2904 163c 8093 0000 sts MesswertNick,r24 |
| 2905 1640 8091 0000 lds r24,d2Roll.33 |
| 2906 1644 9091 0000 lds r25,(d2Roll.33)+1 |
| 2907 1648 849F mul r24,r20 |
| 2908 164a D001 movw r26,r0 |
| 2909 164c 859F mul r24,r21 |
| 2910 164e B00D add r27,r0 |
| 2911 1650 949F mul r25,r20 |
| 2912 1652 B00D add r27,r0 |
| 2913 1654 1124 clr r1 |
| 2914 1656 AD01 movw r20,r26 |
| 2915 1658 9D01 movw r18,r26 |
| 2916 165a B7FF sbrs r27,7 |
| 2917 165c 00C0 rjmp .L147 |
| 2918 165e 215F subi r18,lo8(-(15)) |
| 2919 1660 3F4F sbci r19,hi8(-(15)) |
| 2920 .L147: |
| 2921 1662 E4E0 ldi r30,4 |
| 2922 1664 3595 1: asr r19 |
| 2923 1666 2795 ror r18 |
| 2924 1668 EA95 dec r30 |
| 2925 166a 01F4 brne 1b |
| 2926 166c 8091 0000 lds r24,MesswertRoll |
| 2927 1670 9091 0000 lds r25,(MesswertRoll)+1 |
| 2928 1674 820F add r24,r18 |
| 2929 1676 931F adc r25,r19 |
| 2930 1678 9093 0000 sts (MesswertRoll)+1,r25 |
| 2931 167c 8093 0000 sts MesswertRoll,r24 |
| 2932 1680 8091 0000 lds r24,HiResNick |
| 2933 1684 9091 0000 lds r25,(HiResNick)+1 |
| 2934 1688 860F add r24,r22 |
| 2935 168a 971F adc r25,r23 |
| 2936 168c 9093 0000 sts (HiResNick)+1,r25 |
| 2937 1690 8093 0000 sts HiResNick,r24 |
| 2938 1694 8091 0000 lds r24,HiResRoll |
| 2939 1698 9091 0000 lds r25,(HiResRoll)+1 |
| 2940 169c 840F add r24,r20 |
| 2941 169e 951F adc r25,r21 |
| 2942 16a0 9093 0000 sts (HiResRoll)+1,r25 |
| 2943 16a4 8093 0000 sts HiResRoll,r24 |
| 2944 .L137: |
| 2945 16a8 0091 0000 lds r16,RohMesswertRoll |
| 2946 16ac 1091 0000 lds r17,(RohMesswertRoll)+1 |
| 2947 16b0 8091 0000 lds r24,KopplungsteilNickRoll |
| 2948 16b4 9091 0000 lds r25,(KopplungsteilNickRoll)+1 |
| 2949 16b8 1016 cp __zero_reg__,r16 |
| 2950 16ba 1106 cpc __zero_reg__,r17 |
| 2951 16bc 04F4 brge .L148 |
| 2952 16be 9C01 movw r18,r24 |
| 2953 16c0 97FF sbrs r25,7 |
| 2954 16c2 00C0 rjmp .L149 |
| 2955 16c4 2227 clr r18 |
| 2956 16c6 3327 clr r19 |
| 2957 16c8 281B sub r18,r24 |
| 2958 16ca 390B sbc r19,r25 |
| 2959 .L149: |
| 2960 16cc C901 movw r24,r18 |
| 2961 16ce AA27 clr r26 |
| 2962 16d0 97FD sbrc r25,7 |
| 2963 16d2 A095 com r26 |
| 2964 16d4 BA2F mov r27,r26 |
| 2965 16d6 2091 0000 lds r18,Parameter_CouplingYawCorrection |
| 2966 16da 3327 clr r19 |
| 2967 16dc 4427 clr r20 |
| 2968 16de 5527 clr r21 |
| 2969 16e0 BC01 movw r22,r24 |
| 2970 16e2 CD01 movw r24,r26 |
| 2971 16e4 0E94 0000 call __mulsi3 |
| 2972 16e8 9B01 movw r18,r22 |
| 2973 16ea AC01 movw r20,r24 |
| 2974 16ec 97FF sbrs r25,7 |
| 2975 16ee 00C0 rjmp .L150 |
| 2976 16f0 215C subi r18,lo8(-(63)) |
| 2977 16f2 3F4F sbci r19,hi8(-(63)) |
| 2978 16f4 4F4F sbci r20,hlo8(-(63)) |
| 2979 16f6 5F4F sbci r21,hhi8(-(63)) |
| 2980 .L150: |
| 2981 16f8 76E0 ldi r23,6 |
| 2982 16fa 5595 1: asr r21 |
| 2983 16fc 4795 ror r20 |
| 2984 16fe 3795 ror r19 |
| 2985 1700 2795 ror r18 |
| 2986 1702 7A95 dec r23 |
| 2987 1704 01F4 brne 1b |
| 2988 1706 8091 0000 lds r24,TrimRoll |
| 2989 170a 9091 0000 lds r25,(TrimRoll)+1 |
| 2990 170e 820F add r24,r18 |
| 2991 1710 931F adc r25,r19 |
| 2992 1712 00C0 rjmp .L173 |
| 2993 .L148: |
| 2994 1714 97FF sbrs r25,7 |
| 2995 1716 00C0 rjmp .L152 |
| 2996 1718 9095 com r25 |
| 2997 171a 8195 neg r24 |
| 2998 171c 9F4F sbci r25,lo8(-1) |
| 2999 .L152: |
| 3000 171e AA27 clr r26 |
| 3001 1720 97FD sbrc r25,7 |
| 3002 1722 A095 com r26 |
| 3003 1724 BA2F mov r27,r26 |
| 3004 1726 2091 0000 lds r18,Parameter_CouplingYawCorrection |
| 3005 172a 3327 clr r19 |
| 3006 172c 4427 clr r20 |
| 3007 172e 5527 clr r21 |
| 3008 1730 BC01 movw r22,r24 |
| 3009 1732 CD01 movw r24,r26 |
| 3010 1734 0E94 0000 call __mulsi3 |
| 3011 1738 9B01 movw r18,r22 |
| 3012 173a AC01 movw r20,r24 |
| 3013 173c 97FF sbrs r25,7 |
| 3014 173e 00C0 rjmp .L153 |
| 3015 1740 215C subi r18,lo8(-(63)) |
| 3016 1742 3F4F sbci r19,hi8(-(63)) |
| 3017 1744 4F4F sbci r20,hlo8(-(63)) |
| 3018 1746 5F4F sbci r21,hhi8(-(63)) |
| 3019 .L153: |
| 3020 1748 66E0 ldi r22,6 |
| 3021 174a 5595 1: asr r21 |
| 3022 174c 4795 ror r20 |
| 3023 174e 3795 ror r19 |
| 3024 1750 2795 ror r18 |
| 3025 1752 6A95 dec r22 |
| 3026 1754 01F4 brne 1b |
| 3027 1756 8091 0000 lds r24,TrimRoll |
| 3028 175a 9091 0000 lds r25,(TrimRoll)+1 |
| 3029 175e 821B sub r24,r18 |
| 3030 1760 930B sbc r25,r19 |
| 3031 .L173: |
| 3032 1762 9093 0000 sts (TrimRoll)+1,r25 |
| 3033 1766 8093 0000 sts TrimRoll,r24 |
| 3034 176a E090 0000 lds r14,RohMesswertNick |
| 3035 176e F090 0000 lds r15,(RohMesswertNick)+1 |
| 3036 1772 8091 0000 lds r24,KopplungsteilRollNick |
| 3037 1776 9091 0000 lds r25,(KopplungsteilRollNick)+1 |
| 3038 177a 1E14 cp __zero_reg__,r14 |
| 3039 177c 1F04 cpc __zero_reg__,r15 |
| 3040 177e 04F4 brge .L154 |
| 3041 1780 9C01 movw r18,r24 |
| 3042 1782 97FF sbrs r25,7 |
| 3043 1784 00C0 rjmp .L155 |
| 3044 1786 2227 clr r18 |
| 3045 1788 3327 clr r19 |
| 3046 178a 281B sub r18,r24 |
| 3047 178c 390B sbc r19,r25 |
| 3048 .L155: |
| 3049 178e C901 movw r24,r18 |
| 3050 1790 AA27 clr r26 |
| 3051 1792 97FD sbrc r25,7 |
| 3052 1794 A095 com r26 |
| 3053 1796 BA2F mov r27,r26 |
| 3054 1798 2091 0000 lds r18,Parameter_CouplingYawCorrection |
| 3055 179c 3327 clr r19 |
| 3056 179e 4427 clr r20 |
| 3057 17a0 5527 clr r21 |
| 3058 17a2 BC01 movw r22,r24 |
| 3059 17a4 CD01 movw r24,r26 |
| 3060 17a6 0E94 0000 call __mulsi3 |
| 3061 17aa 9B01 movw r18,r22 |
| 3062 17ac AC01 movw r20,r24 |
| 3063 17ae 97FF sbrs r25,7 |
| 3064 17b0 00C0 rjmp .L156 |
| 3065 17b2 215C subi r18,lo8(-(63)) |
| 3066 17b4 3F4F sbci r19,hi8(-(63)) |
| 3067 17b6 4F4F sbci r20,hlo8(-(63)) |
| 3068 17b8 5F4F sbci r21,hhi8(-(63)) |
| 3069 .L156: |
| 3070 17ba 96E0 ldi r25,6 |
| 3071 17bc 5595 1: asr r21 |
| 3072 17be 4795 ror r20 |
| 3073 17c0 3795 ror r19 |
| 3074 17c2 2795 ror r18 |
| 3075 17c4 9A95 dec r25 |
| 3076 17c6 01F4 brne 1b |
| 3077 17c8 8091 0000 lds r24,TrimNick |
| 3078 17cc 9091 0000 lds r25,(TrimNick)+1 |
| 3079 17d0 820F add r24,r18 |
| 3080 17d2 931F adc r25,r19 |
| 3081 17d4 00C0 rjmp .L174 |
| 3082 .L154: |
| 3083 17d6 97FF sbrs r25,7 |
| 3084 17d8 00C0 rjmp .L158 |
| 3085 17da 9095 com r25 |
| 3086 17dc 8195 neg r24 |
| 3087 17de 9F4F sbci r25,lo8(-1) |
| 3088 .L158: |
| 3089 17e0 AA27 clr r26 |
| 3090 17e2 97FD sbrc r25,7 |
| 3091 17e4 A095 com r26 |
| 3092 17e6 BA2F mov r27,r26 |
| 3093 17e8 2091 0000 lds r18,Parameter_CouplingYawCorrection |
| 3094 17ec 3327 clr r19 |
| 3095 17ee 4427 clr r20 |
| 3096 17f0 5527 clr r21 |
| 3097 17f2 BC01 movw r22,r24 |
| 3098 17f4 CD01 movw r24,r26 |
| 3099 17f6 0E94 0000 call __mulsi3 |
| 3100 17fa 9B01 movw r18,r22 |
| 3101 17fc AC01 movw r20,r24 |
| 3102 17fe 97FF sbrs r25,7 |
| 3103 1800 00C0 rjmp .L159 |
| 3104 1802 215C subi r18,lo8(-(63)) |
| 3105 1804 3F4F sbci r19,hi8(-(63)) |
| 3106 1806 4F4F sbci r20,hlo8(-(63)) |
| 3107 1808 5F4F sbci r21,hhi8(-(63)) |
| 3108 .L159: |
| 3109 180a 86E0 ldi r24,6 |
| 3110 180c 5595 1: asr r21 |
| 3111 180e 4795 ror r20 |
| 3112 1810 3795 ror r19 |
| 3113 1812 2795 ror r18 |
| 3114 1814 8A95 dec r24 |
| 3115 1816 01F4 brne 1b |
| 3116 1818 8091 0000 lds r24,TrimNick |
| 3117 181c 9091 0000 lds r25,(TrimNick)+1 |
| 3118 1820 821B sub r24,r18 |
| 3119 1822 930B sbc r25,r19 |
| 3120 .L174: |
| 3121 1824 9093 0000 sts (TrimNick)+1,r25 |
| 3122 1828 8093 0000 sts TrimNick,r24 |
| 3123 182c 8091 0000 lds r24,Parameter_GlobalConfig |
| 3124 1830 87FF sbrs r24,7 |
| 3125 1832 00C0 rjmp .L82 |
| 3126 1834 B989 ldd r27,Y+17 |
| 3127 1836 BB23 tst r27 |
| 3128 1838 01F0 breq .+2 |
| 3129 183a 00C0 rjmp .L82 |
| 3130 183c 8091 0000 lds r24,Looping_Roll |
| 3131 1840 8823 tst r24 |
| 3132 1842 01F4 brne .L82 |
| 3133 1844 E1E0 ldi r30,lo8(257) |
| 3134 1846 EE16 cp r14,r30 |
| 3135 1848 E1E0 ldi r30,hi8(257) |
| 3136 184a FE06 cpc r15,r30 |
| 3137 184c 04F0 brlt .L161 |
| 3138 184e 8091 0000 lds r24,MesswertNick |
| 3139 1852 9091 0000 lds r25,(MesswertNick)+1 |
| 3140 1856 8E0D add r24,r14 |
| 3141 1858 9F1D adc r25,r15 |
| 3142 185a 8050 subi r24,lo8(-(-256)) |
| 3143 185c 9140 sbci r25,hi8(-(-256)) |
| 3144 185e 00C0 rjmp .L175 |
| 3145 .L161: |
| 3146 1860 F0E0 ldi r31,lo8(-256) |
| 3147 1862 EF16 cp r14,r31 |
| 3148 1864 FFEF ldi r31,hi8(-256) |
| 3149 1866 FF06 cpc r15,r31 |
| 3150 1868 04F4 brge .L162 |
| 3151 186a 8091 0000 lds r24,MesswertNick |
| 3152 186e 9091 0000 lds r25,(MesswertNick)+1 |
| 3153 1872 8E0D add r24,r14 |
| 3154 1874 9F1D adc r25,r15 |
| 3155 1876 8050 subi r24,lo8(-(256)) |
| 3156 1878 9F4F sbci r25,hi8(-(256)) |
| 3157 .L175: |
| 3158 187a 9093 0000 sts (MesswertNick)+1,r25 |
| 3159 187e 8093 0000 sts MesswertNick,r24 |
| 3160 .L162: |
| 3161 1882 21E0 ldi r18,hi8(257) |
| 3162 1884 0130 cpi r16,lo8(257) |
| 3163 1886 1207 cpc r17,r18 |
| 3164 1888 04F0 brlt .L164 |
| 3165 188a 8091 0000 lds r24,MesswertRoll |
| 3166 188e 9091 0000 lds r25,(MesswertRoll)+1 |
| 3167 1892 800F add r24,r16 |
| 3168 1894 911F adc r25,r17 |
| 3169 1896 8050 subi r24,lo8(-(-256)) |
| 3170 1898 9140 sbci r25,hi8(-(-256)) |
| 3171 189a 00C0 rjmp .L176 |
| 3172 .L164: |
| 3173 189c 3FEF ldi r19,hi8(-256) |
| 3174 189e 0030 cpi r16,lo8(-256) |
| 3175 18a0 1307 cpc r17,r19 |
| 3176 18a2 04F4 brge .L82 |
| 3177 18a4 8091 0000 lds r24,MesswertRoll |
| 3178 18a8 9091 0000 lds r25,(MesswertRoll)+1 |
| 3179 18ac 800F add r24,r16 |
| 3180 18ae 911F adc r25,r17 |
| 3181 18b0 8050 subi r24,lo8(-(256)) |
| 3182 18b2 9F4F sbci r25,hi8(-(256)) |
| 3183 .L176: |
| 3184 18b4 9093 0000 sts (MesswertRoll)+1,r25 |
| 3185 18b8 8093 0000 sts MesswertRoll,r24 |
| 3186 .L82: |
| 3187 /* epilogue: frame size=19 */ |
| 3188 18bc E2E1 ldi r30,18 |
| 3189 18be CD5E subi r28,-19 |
| 3190 18c0 0C94 0000 jmp __epilogue_restores__+0 |
| 3191 /* epilogue end (size=4) */ |
| 3192 /* function Mittelwert size 2000 (1990) */ |
| 3194 .global SendMotorData |
| 3196 SendMotorData: |
| 3197 /* prologue: frame size=0 */ |
| 3198 /* prologue end (size=0) */ |
| 3199 18c4 8091 0000 lds r24,MotorenEin |
| 3200 18c8 8823 tst r24 |
| 3201 18ca 01F4 brne .L178 |
| 3202 18cc 8091 0000 lds r24,FC_StatusFlags |
| 3203 18d0 8C7F andi r24,lo8(-4) |
| 3204 18d2 8093 0000 sts FC_StatusFlags,r24 |
| 3205 18d6 A0E0 ldi r26,lo8(MotorTest) |
| 3206 18d8 B0E0 ldi r27,hi8(MotorTest) |
| 3207 18da E0E0 ldi r30,lo8(Motor) |
| 3208 18dc F0E0 ldi r31,hi8(Motor) |
| 3209 18de 9BE0 ldi r25,lo8(11) |
| 3210 .L183: |
| 3211 18e0 8091 0000 lds r24,PC_MotortestActive |
| 3212 18e4 8823 tst r24 |
| 3213 18e6 01F4 brne .L182 |
| 3214 18e8 8C93 st X,r24 |
| 3215 .L182: |
| 3216 18ea 8D91 ld r24,X+ |
| 3217 18ec 8183 std Z+1,r24 |
| 3218 18ee 1282 std Z+2,__zero_reg__ |
| 3219 18f0 9150 subi r25,lo8(-(-1)) |
| 3220 18f2 3896 adiw r30,8 |
| 3221 18f4 97FF sbrs r25,7 |
| 3222 18f6 00C0 rjmp .L183 |
| 3223 18f8 8091 0000 lds r24,PC_MotortestActive |
| 3224 18fc 8823 tst r24 |
| 3225 18fe 01F0 breq .L185 |
| 3226 1900 8091 0000 lds r24,PC_MotortestActive |
| 3227 1904 8150 subi r24,lo8(-(-1)) |
| 3228 1906 8093 0000 sts PC_MotortestActive,r24 |
| 3229 190a 00C0 rjmp .L185 |
| 3230 .L178: |
| 3231 190c 8091 0000 lds r24,FC_StatusFlags |
| 3232 1910 8160 ori r24,lo8(1) |
| 3233 1912 8093 0000 sts FC_StatusFlags,r24 |
| 3234 .L185: |
| 3235 1916 8091 0000 lds r24,I2C_TransferActive |
| 3236 191a 8823 tst r24 |
| 3237 191c 01F0 breq .L186 |
| 3238 191e 1092 0000 sts I2C_TransferActive,__zero_reg__ |
| 3239 1922 0895 ret |
| 3240 .L186: |
| 3241 1924 8093 0000 sts motor_write,r24 |
| 3242 1928 8093 0000 sts twi_state,r24 |
| 3243 192c 8091 0000 lds r24,BLFlags |
| 3244 1930 8E7F andi r24,lo8(-2) |
| 3245 1932 8093 0000 sts BLFlags,r24 |
| 3246 1936 85EA ldi r24,lo8(-91) |
| 3247 1938 8093 BC00 sts 188,r24 |
| 3248 193c 0895 ret |
| 3249 /* epilogue: frame size=0 */ |
| 3250 /* epilogue: noreturn */ |
| 3251 /* epilogue end (size=0) */ |
| 3252 /* function SendMotorData size 61 (61) */ |
| 3254 .global ParameterZuordnung |
| 3256 ParameterZuordnung: |
| 3257 /* prologue: frame size=0 */ |
| 3258 193e CF93 push r28 |
| 3259 1940 DF93 push r29 |
| 3260 /* prologue end (size=2) */ |
| 3261 1942 A0E0 ldi r26,lo8(Poti) |
| 3262 1944 B0E0 ldi r27,hi8(Poti) |
| 3263 1946 C0E0 ldi r28,lo8(EE_Parameter+5) |
| 3264 1948 D0E0 ldi r29,hi8(EE_Parameter+5) |
| 3265 194a 57E0 ldi r21,lo8(7) |
| 3266 .L203: |
| 3267 194c 9991 ld r25,Y+ |
| 3268 194e E92F mov r30,r25 |
| 3269 1950 FF27 clr r31 |
| 3270 1952 EE0F add r30,r30 |
| 3271 1954 FF1F adc r31,r31 |
| 3272 1956 E050 subi r30,lo8(-(PPM_in)) |
| 3273 1958 F040 sbci r31,hi8(-(PPM_in)) |
| 3274 195a 0190 ld __tmp_reg__,Z+ |
| 3275 195c F081 ld r31,Z |
| 3276 195e E02D mov r30,__tmp_reg__ |
| 3277 1960 E158 subi r30,lo8(-(127)) |
| 3278 1962 FF4F sbci r31,hi8(-(127)) |
| 3279 1964 EF3F cpi r30,255 |
| 3280 1966 F105 cpc r31,__zero_reg__ |
| 3281 1968 01F0 breq .L194 |
| 3282 196a 04F0 brlt .L194 |
| 3283 196c EFEF ldi r30,lo8(255) |
| 3284 196e F0E0 ldi r31,hi8(255) |
| 3285 1970 00C0 rjmp .L195 |
| 3286 .L194: |
| 3287 1972 F7FF sbrs r31,7 |
| 3288 1974 00C0 rjmp .L195 |
| 3289 1976 E0E0 ldi r30,lo8(0) |
| 3290 1978 F0E0 ldi r31,hi8(0) |
| 3291 .L195: |
| 3292 197a 9931 cpi r25,lo8(25) |
| 3293 197c 01F4 brne .L197 |
| 3294 197e EC93 st X,r30 |
| 3295 1980 00C0 rjmp .L193 |
| 3296 .L197: |
| 3297 1982 4C91 ld r20,X |
| 3298 1984 242F mov r18,r20 |
| 3299 1986 3327 clr r19 |
| 3300 1988 E217 cp r30,r18 |
| 3301 198a F307 cpc r31,r19 |
| 3302 198c 01F0 breq .L193 |
| 3303 198e CF01 movw r24,r30 |
| 3304 1990 821B sub r24,r18 |
| 3305 1992 930B sbc r25,r19 |
| 3306 1994 97FD sbrc r25,7 |
| 3307 1996 0396 adiw r24,3 |
| 3308 .L200: |
| 3309 1998 9595 asr r25 |
| 3310 199a 8795 ror r24 |
| 3311 199c 9595 asr r25 |
| 3312 199e 8795 ror r24 |
| 3313 19a0 242F mov r18,r20 |
| 3314 19a2 280F add r18,r24 |
| 3315 19a4 2C93 st X,r18 |
| 3316 19a6 822F mov r24,r18 |
| 3317 19a8 9927 clr r25 |
| 3318 19aa E817 cp r30,r24 |
| 3319 19ac F907 cpc r31,r25 |
| 3320 19ae 04F4 brge .L201 |
| 3321 19b0 2150 subi r18,lo8(-(-1)) |
| 3322 19b2 00C0 rjmp .L323 |
| 3323 .L201: |
| 3324 19b4 2F5F subi r18,lo8(-(1)) |
| 3325 .L323: |
| 3326 19b6 2C93 st X,r18 |
| 3327 .L193: |
| 3328 19b8 5150 subi r21,lo8(-(-1)) |
| 3329 19ba 1196 adiw r26,1 |
| 3330 19bc 57FF sbrs r21,7 |
| 3331 19be 00C0 rjmp .L203 |
| 3332 19c0 8091 0000 lds r24,EE_Parameter+15 |
| 3333 19c4 883F cpi r24,lo8(-8) |
| 3334 19c6 00F0 brlo .L324 |
| 3335 19c8 EFEF ldi r30,lo8(255) |
| 3336 19ca F0E0 ldi r31,hi8(255) |
| 3337 19cc E81B sub r30,r24 |
| 3338 19ce F109 sbc r31,__zero_reg__ |
| 3339 19d0 E050 subi r30,lo8(-(Poti)) |
| 3340 19d2 F040 sbci r31,hi8(-(Poti)) |
| 3341 19d4 8081 ld r24,Z |
| 3342 .L324: |
| 3343 19d6 8093 0000 sts Parameter_Luftdruck_D,r24 |
| 3344 19da 8091 0000 lds r24,Parameter_Luftdruck_D |
| 3345 19de 8823 tst r24 |
| 3346 19e0 01F0 breq .L207 |
| 3347 19e2 8436 cpi r24,lo8(100) |
| 3348 19e4 00F0 brlo .L207 |
| 3349 19e6 84E6 ldi r24,lo8(100) |
| 3350 19e8 8093 0000 sts Parameter_Luftdruck_D,r24 |
| 3351 .L207: |
| 3352 19ec 8091 0000 lds r24,EE_Parameter+17 |
| 3353 19f0 883F cpi r24,lo8(-8) |
| 3354 19f2 00F0 brlo .L325 |
| 3355 19f4 EFEF ldi r30,lo8(255) |
| 3356 19f6 F0E0 ldi r31,hi8(255) |
| 3357 19f8 E81B sub r30,r24 |
| 3358 19fa F109 sbc r31,__zero_reg__ |
| 3359 19fc E050 subi r30,lo8(-(Poti)) |
| 3360 19fe F040 sbci r31,hi8(-(Poti)) |
| 3361 1a00 8081 ld r24,Z |
| 3362 .L325: |
| 3363 1a02 8093 0000 sts Parameter_Hoehe_P,r24 |
| 3364 1a06 8091 0000 lds r24,Parameter_Hoehe_P |
| 3365 1a0a 8823 tst r24 |
| 3366 1a0c 01F0 breq .L212 |
| 3367 1a0e 8436 cpi r24,lo8(100) |
| 3368 1a10 00F0 brlo .L212 |
| 3369 1a12 84E6 ldi r24,lo8(100) |
| 3370 1a14 8093 0000 sts Parameter_Hoehe_P,r24 |
| 3371 .L212: |
| 3372 1a18 8091 0000 lds r24,EE_Parameter+30 |
| 3373 1a1c 883F cpi r24,lo8(-8) |
| 3374 1a1e 00F0 brlo .L326 |
| 3375 1a20 EFEF ldi r30,lo8(255) |
| 3376 1a22 F0E0 ldi r31,hi8(255) |
| 3377 1a24 E81B sub r30,r24 |
| 3378 1a26 F109 sbc r31,__zero_reg__ |
| 3379 1a28 E050 subi r30,lo8(-(Poti)) |
| 3380 1a2a F040 sbci r31,hi8(-(Poti)) |
| 3381 1a2c 8081 ld r24,Z |
| 3382 .L326: |
| 3383 1a2e 8093 0000 sts Parameter_Gyro_P,r24 |
| 3384 1a32 8091 0000 lds r24,Parameter_Gyro_P |
| 3385 1a36 8B30 cpi r24,lo8(11) |
| 3386 1a38 00F4 brsh .L216 |
| 3387 1a3a 8AE0 ldi r24,lo8(10) |
| 3388 1a3c 00C0 rjmp .L327 |
| 3389 .L216: |
| 3390 1a3e 8F3F cpi r24,lo8(-1) |
| 3391 1a40 01F4 brne .L217 |
| 3392 .L327: |
| 3393 1a42 8093 0000 sts Parameter_Gyro_P,r24 |
| 3394 .L217: |
| 3395 1a46 8091 0000 lds r24,EE_Parameter+75 |
| 3396 1a4a 883F cpi r24,lo8(-8) |
| 3397 1a4c 00F0 brlo .L328 |
| 3398 1a4e EFEF ldi r30,lo8(255) |
| 3399 1a50 F0E0 ldi r31,hi8(255) |
| 3400 1a52 E81B sub r30,r24 |
| 3401 1a54 F109 sbc r31,__zero_reg__ |
| 3402 1a56 E050 subi r30,lo8(-(Poti)) |
| 3403 1a58 F040 sbci r31,hi8(-(Poti)) |
| 3404 1a5a 8081 ld r24,Z |
| 3405 .L328: |
| 3406 1a5c 8093 0000 sts Parameter_J16Timing,r24 |
| 3407 1a60 8091 0000 lds r24,Parameter_J16Timing |
| 3408 1a64 8630 cpi r24,lo8(6) |
| 3409 1a66 00F4 brsh .L221 |
| 3410 1a68 85E0 ldi r24,lo8(5) |
| 3411 1a6a 00C0 rjmp .L329 |
| 3412 .L221: |
| 3413 1a6c 8F3F cpi r24,lo8(-1) |
| 3414 1a6e 01F4 brne .L222 |
| 3415 .L329: |
| 3416 1a70 8093 0000 sts Parameter_J16Timing,r24 |
| 3417 .L222: |
| 3418 1a74 8091 0000 lds r24,EE_Parameter+77 |
| 3419 1a78 883F cpi r24,lo8(-8) |
| 3420 1a7a 00F0 brlo .L330 |
| 3421 1a7c EFEF ldi r30,lo8(255) |
| 3422 1a7e F0E0 ldi r31,hi8(255) |
| 3423 1a80 E81B sub r30,r24 |
| 3424 1a82 F109 sbc r31,__zero_reg__ |
| 3425 1a84 E050 subi r30,lo8(-(Poti)) |
| 3426 1a86 F040 sbci r31,hi8(-(Poti)) |
| 3427 1a88 8081 ld r24,Z |
| 3428 .L330: |
| 3429 1a8a 8093 0000 sts Parameter_J17Timing,r24 |
| 3430 1a8e 8091 0000 lds r24,Parameter_J17Timing |
| 3431 1a92 8630 cpi r24,lo8(6) |
| 3432 1a94 00F4 brsh .L226 |
| 3433 1a96 85E0 ldi r24,lo8(5) |
| 3434 1a98 00C0 rjmp .L331 |
| 3435 .L226: |
| 3436 1a9a 8F3F cpi r24,lo8(-1) |
| 3437 1a9c 01F4 brne .L227 |
| 3438 .L331: |
| 3439 1a9e 8093 0000 sts Parameter_J17Timing,r24 |
| 3440 .L227: |
| 3441 1aa2 8091 0000 lds r24,EE_Parameter+56 |
| 3442 1aa6 873F cpi r24,lo8(-9) |
| 3443 1aa8 01F4 brne .L229 |
| 3444 1aaa 4299 sbic 40-0x20,2 |
| 3445 1aac 00C0 rjmp .L362 |
| 3446 1aae 00C0 rjmp .L234 |
| 3447 .L229: |
| 3448 1ab0 863F cpi r24,lo8(-10) |
| 3449 1ab2 01F4 brne .L233 |
| 3450 1ab4 439B sbis 40-0x20,3 |
| 3451 1ab6 00C0 rjmp .L234 |
| 3452 .L362: |
| 3453 1ab8 8CE8 ldi r24,lo8(-116) |
| 3454 1aba 00C0 rjmp .L332 |
| 3455 .L234: |
| 3456 1abc 86E4 ldi r24,lo8(70) |
| 3457 1abe 00C0 rjmp .L332 |
| 3458 .L233: |
| 3459 1ac0 883F cpi r24,lo8(-8) |
| 3460 1ac2 00F0 brlo .L332 |
| 3461 1ac4 EFEF ldi r30,lo8(255) |
| 3462 1ac6 F0E0 ldi r31,hi8(255) |
| 3463 1ac8 E81B sub r30,r24 |
| 3464 1aca F109 sbc r31,__zero_reg__ |
| 3465 1acc E050 subi r30,lo8(-(Poti)) |
| 3466 1ace F040 sbci r31,hi8(-(Poti)) |
| 3467 1ad0 8081 ld r24,Z |
| 3468 .L332: |
| 3469 1ad2 8093 0000 sts Parameter_Servo3,r24 |
| 3470 1ad6 8091 0000 lds r24,EE_Parameter+57 |
| 3471 1ada 873F cpi r24,lo8(-9) |
| 3472 1adc 01F4 brne .L239 |
| 3473 1ade 4299 sbic 40-0x20,2 |
| 3474 1ae0 00C0 rjmp .L363 |
| 3475 1ae2 00C0 rjmp .L244 |
| 3476 .L239: |
| 3477 1ae4 863F cpi r24,lo8(-10) |
| 3478 1ae6 01F4 brne .L243 |
| 3479 1ae8 439B sbis 40-0x20,3 |
| 3480 1aea 00C0 rjmp .L244 |
| 3481 .L363: |
| 3482 1aec 8CE8 ldi r24,lo8(-116) |
| 3483 1aee 00C0 rjmp .L333 |
| 3484 .L244: |
| 3485 1af0 86E4 ldi r24,lo8(70) |
| 3486 1af2 00C0 rjmp .L333 |
| 3487 .L243: |
| 3488 1af4 883F cpi r24,lo8(-8) |
| 3489 1af6 00F0 brlo .L333 |
| 3490 1af8 EFEF ldi r30,lo8(255) |
| 3491 1afa F0E0 ldi r31,hi8(255) |
| 3492 1afc E81B sub r30,r24 |
| 3493 1afe F109 sbc r31,__zero_reg__ |
| 3494 1b00 E050 subi r30,lo8(-(Poti)) |
| 3495 1b02 F040 sbci r31,hi8(-(Poti)) |
| 3496 1b04 8081 ld r24,Z |
| 3497 .L333: |
| 3498 1b06 8093 0000 sts Parameter_Servo4,r24 |
| 3499 1b0a 8091 0000 lds r24,EE_Parameter+58 |
| 3500 1b0e 883F cpi r24,lo8(-8) |
| 3501 1b10 00F0 brlo .L334 |
| 3502 1b12 EFEF ldi r30,lo8(255) |
| 3503 1b14 F0E0 ldi r31,hi8(255) |
| 3504 1b16 E81B sub r30,r24 |
| 3505 1b18 F109 sbc r31,__zero_reg__ |
| 3506 1b1a E050 subi r30,lo8(-(Poti)) |
| 3507 1b1c F040 sbci r31,hi8(-(Poti)) |
| 3508 1b1e 8081 ld r24,Z |
| 3509 .L334: |
| 3510 1b20 8093 0000 sts Parameter_Servo5,r24 |
| 3511 1b24 8091 0000 lds r24,EE_Parameter+16 |
| 3512 1b28 883F cpi r24,lo8(-8) |
| 3513 1b2a 00F0 brlo .L335 |
| 3514 1b2c EFEF ldi r30,lo8(255) |
| 3515 1b2e F0E0 ldi r31,hi8(255) |
| 3516 1b30 E81B sub r30,r24 |
| 3517 1b32 F109 sbc r31,__zero_reg__ |
| 3518 1b34 E050 subi r30,lo8(-(Poti)) |
| 3519 1b36 F040 sbci r31,hi8(-(Poti)) |
| 3520 1b38 8081 ld r24,Z |
| 3521 .L335: |
| 3522 1b3a 8093 0000 sts Parameter_HoehenSchalter,r24 |
| 3523 1b3e 8091 0000 lds r24,EE_Parameter+19 |
| 3524 1b42 883F cpi r24,lo8(-8) |
| 3525 1b44 00F0 brlo .L336 |
| 3526 1b46 EFEF ldi r30,lo8(255) |
| 3527 1b48 F0E0 ldi r31,hi8(255) |
| 3528 1b4a E81B sub r30,r24 |
| 3529 1b4c F109 sbc r31,__zero_reg__ |
| 3530 1b4e E050 subi r30,lo8(-(Poti)) |
| 3531 1b50 F040 sbci r31,hi8(-(Poti)) |
| 3532 1b52 8081 ld r24,Z |
| 3533 .L336: |
| 3534 1b54 8093 0000 sts Parameter_Hoehe_ACC_Wirkung,r24 |
| 3535 1b58 8091 0000 lds r24,EE_Parameter+21 |
| 3536 1b5c 883F cpi r24,lo8(-8) |
| 3537 1b5e 00F0 brlo .L337 |
| 3538 1b60 EFEF ldi r30,lo8(255) |
| 3539 1b62 F0E0 ldi r31,hi8(255) |
| 3540 1b64 E81B sub r30,r24 |
| 3541 1b66 F109 sbc r31,__zero_reg__ |
| 3542 1b68 E050 subi r30,lo8(-(Poti)) |
| 3543 1b6a F040 sbci r31,hi8(-(Poti)) |
| 3544 1b6c 8081 ld r24,Z |
| 3545 .L337: |
| 3546 1b6e 8093 0000 sts Parameter_Hoehe_GPS_Z,r24 |
| 3547 1b72 8091 0000 lds r24,EE_Parameter+29 |
| 3548 1b76 883F cpi r24,lo8(-8) |
| 3549 1b78 00F0 brlo .L338 |
| 3550 1b7a EFEF ldi r30,lo8(255) |
| 3551 1b7c F0E0 ldi r31,hi8(255) |
| 3552 1b7e E81B sub r30,r24 |
| 3553 1b80 F109 sbc r31,__zero_reg__ |
| 3554 1b82 E050 subi r30,lo8(-(Poti)) |
| 3555 1b84 F040 sbci r31,hi8(-(Poti)) |
| 3556 1b86 8081 ld r24,Z |
| 3557 .L338: |
| 3558 1b88 8093 0000 sts Parameter_KompassWirkung,r24 |
| 3559 1b8c 8091 0000 lds r24,EE_Parameter+31 |
| 3560 1b90 883F cpi r24,lo8(-8) |
| 3561 1b92 00F0 brlo .L339 |
| 3562 1b94 EFEF ldi r30,lo8(255) |
| 3563 1b96 F0E0 ldi r31,hi8(255) |
| 3564 1b98 E81B sub r30,r24 |
| 3565 1b9a F109 sbc r31,__zero_reg__ |
| 3566 1b9c E050 subi r30,lo8(-(Poti)) |
| 3567 1b9e F040 sbci r31,hi8(-(Poti)) |
| 3568 1ba0 8081 ld r24,Z |
| 3569 .L339: |
| 3570 1ba2 8093 0000 sts Parameter_Gyro_I,r24 |
| 3571 1ba6 8091 0000 lds r24,EE_Parameter+32 |
| 3572 1baa 883F cpi r24,lo8(-8) |
| 3573 1bac 00F0 brlo .L340 |
| 3574 1bae EFEF ldi r30,lo8(255) |
| 3575 1bb0 F0E0 ldi r31,hi8(255) |
| 3576 1bb2 E81B sub r30,r24 |
| 3577 1bb4 F109 sbc r31,__zero_reg__ |
| 3578 1bb6 E050 subi r30,lo8(-(Poti)) |
| 3579 1bb8 F040 sbci r31,hi8(-(Poti)) |
| 3580 1bba 8081 ld r24,Z |
| 3581 .L340: |
| 3582 1bbc 8093 0000 sts Parameter_Gyro_D,r24 |
| 3583 1bc0 8091 0000 lds r24,EE_Parameter+33 |
| 3584 1bc4 883F cpi r24,lo8(-8) |
| 3585 1bc6 00F0 brlo .L341 |
| 3586 1bc8 EFEF ldi r30,lo8(255) |
| 3587 1bca F0E0 ldi r31,hi8(255) |
| 3588 1bcc E81B sub r30,r24 |
| 3589 1bce F109 sbc r31,__zero_reg__ |
| 3590 1bd0 E050 subi r30,lo8(-(Poti)) |
| 3591 1bd2 F040 sbci r31,hi8(-(Poti)) |
| 3592 1bd4 8081 ld r24,Z |
| 3593 .L341: |
| 3594 1bd6 8093 0000 sts Parameter_Gyro_Gier_P,r24 |
| 3595 1bda 8091 0000 lds r24,EE_Parameter+34 |
| 3596 1bde 883F cpi r24,lo8(-8) |
| 3597 1be0 00F0 brlo .L342 |
| 3598 1be2 EFEF ldi r30,lo8(255) |
| 3599 1be4 F0E0 ldi r31,hi8(255) |
| 3600 1be6 E81B sub r30,r24 |
| 3601 1be8 F109 sbc r31,__zero_reg__ |
| 3602 1bea E050 subi r30,lo8(-(Poti)) |
| 3603 1bec F040 sbci r31,hi8(-(Poti)) |
| 3604 1bee 8081 ld r24,Z |
| 3605 .L342: |
| 3606 1bf0 8093 0000 sts Parameter_Gyro_Gier_I,r24 |
| 3607 1bf4 8091 0000 lds r24,EE_Parameter+40 |
| 3608 1bf8 883F cpi r24,lo8(-8) |
| 3609 1bfa 00F0 brlo .L343 |
| 3610 1bfc EFEF ldi r30,lo8(255) |
| 3611 1bfe F0E0 ldi r31,hi8(255) |
| 3612 1c00 E81B sub r30,r24 |
| 3613 1c02 F109 sbc r31,__zero_reg__ |
| 3614 1c04 E050 subi r30,lo8(-(Poti)) |
| 3615 1c06 F040 sbci r31,hi8(-(Poti)) |
| 3616 1c08 8081 ld r24,Z |
| 3617 .L343: |
| 3618 1c0a 8093 0000 sts Parameter_I_Faktor,r24 |
| 3619 1c0e 8091 0000 lds r24,EE_Parameter+41 |
| 3620 1c12 883F cpi r24,lo8(-8) |
| 3621 1c14 00F0 brlo .L344 |
| 3622 1c16 EFEF ldi r30,lo8(255) |
| 3623 1c18 F0E0 ldi r31,hi8(255) |
| 3624 1c1a E81B sub r30,r24 |
| 3625 1c1c F109 sbc r31,__zero_reg__ |
| 3626 1c1e E050 subi r30,lo8(-(Poti)) |
| 3627 1c20 F040 sbci r31,hi8(-(Poti)) |
| 3628 1c22 8081 ld r24,Z |
| 3629 .L344: |
| 3630 1c24 8093 0000 sts Parameter_UserParam1,r24 |
| 3631 1c28 8091 0000 lds r24,EE_Parameter+42 |
| 3632 1c2c 883F cpi r24,lo8(-8) |
| 3633 1c2e 00F0 brlo .L345 |
| 3634 1c30 EFEF ldi r30,lo8(255) |
| 3635 1c32 F0E0 ldi r31,hi8(255) |
| 3636 1c34 E81B sub r30,r24 |
| 3637 1c36 F109 sbc r31,__zero_reg__ |
| 3638 1c38 E050 subi r30,lo8(-(Poti)) |
| 3639 1c3a F040 sbci r31,hi8(-(Poti)) |
| 3640 1c3c 8081 ld r24,Z |
| 3641 .L345: |
| 3642 1c3e 8093 0000 sts Parameter_UserParam2,r24 |
| 3643 1c42 8091 0000 lds r24,EE_Parameter+43 |
| 3644 1c46 883F cpi r24,lo8(-8) |
| 3645 1c48 00F0 brlo .L346 |
| 3646 1c4a EFEF ldi r30,lo8(255) |
| 3647 1c4c F0E0 ldi r31,hi8(255) |
| 3648 1c4e E81B sub r30,r24 |
| 3649 1c50 F109 sbc r31,__zero_reg__ |
| 3650 1c52 E050 subi r30,lo8(-(Poti)) |
| 3651 1c54 F040 sbci r31,hi8(-(Poti)) |
| 3652 1c56 8081 ld r24,Z |
| 3653 .L346: |
| 3654 1c58 8093 0000 sts Parameter_UserParam3,r24 |
| 3655 1c5c 8091 0000 lds r24,EE_Parameter+44 |
| 3656 1c60 883F cpi r24,lo8(-8) |
| 3657 1c62 00F0 brlo .L347 |
| 3658 1c64 EFEF ldi r30,lo8(255) |
| 3659 1c66 F0E0 ldi r31,hi8(255) |
| 3660 1c68 E81B sub r30,r24 |
| 3661 1c6a F109 sbc r31,__zero_reg__ |
| 3662 1c6c E050 subi r30,lo8(-(Poti)) |
| 3663 1c6e F040 sbci r31,hi8(-(Poti)) |
| 3664 1c70 8081 ld r24,Z |
| 3665 .L347: |
| 3666 1c72 8093 0000 sts Parameter_UserParam4,r24 |
| 3667 1c76 8091 0000 lds r24,EE_Parameter+70 |
| 3668 1c7a 883F cpi r24,lo8(-8) |
| 3669 1c7c 00F0 brlo .L348 |
| 3670 1c7e EFEF ldi r30,lo8(255) |
| 3671 1c80 F0E0 ldi r31,hi8(255) |
| 3672 1c82 E81B sub r30,r24 |
| 3673 1c84 F109 sbc r31,__zero_reg__ |
| 3674 1c86 E050 subi r30,lo8(-(Poti)) |
| 3675 1c88 F040 sbci r31,hi8(-(Poti)) |
| 3676 1c8a 8081 ld r24,Z |
| 3677 .L348: |
| 3678 1c8c 8093 0000 sts Parameter_UserParam5,r24 |
| 3679 1c90 8091 0000 lds r24,EE_Parameter+71 |
| 3680 1c94 883F cpi r24,lo8(-8) |
| 3681 1c96 00F0 brlo .L349 |
| 3682 1c98 EFEF ldi r30,lo8(255) |
| 3683 1c9a F0E0 ldi r31,hi8(255) |
| 3684 1c9c E81B sub r30,r24 |
| 3685 1c9e F109 sbc r31,__zero_reg__ |
| 3686 1ca0 E050 subi r30,lo8(-(Poti)) |
| 3687 1ca2 F040 sbci r31,hi8(-(Poti)) |
| 3688 1ca4 8081 ld r24,Z |
| 3689 .L349: |
| 3690 1ca6 8093 0000 sts Parameter_UserParam6,r24 |
| 3691 1caa 8091 0000 lds r24,EE_Parameter+72 |
| 3692 1cae 883F cpi r24,lo8(-8) |
| 3693 1cb0 00F0 brlo .L350 |
| 3694 1cb2 EFEF ldi r30,lo8(255) |
| 3695 1cb4 F0E0 ldi r31,hi8(255) |
| 3696 1cb6 E81B sub r30,r24 |
| 3697 1cb8 F109 sbc r31,__zero_reg__ |
| 3698 1cba E050 subi r30,lo8(-(Poti)) |
| 3699 1cbc F040 sbci r31,hi8(-(Poti)) |
| 3700 1cbe 8081 ld r24,Z |
| 3701 .L350: |
| 3702 1cc0 8093 0000 sts Parameter_UserParam7,r24 |
| 3703 1cc4 8091 0000 lds r24,EE_Parameter+73 |
| 3704 1cc8 883F cpi r24,lo8(-8) |
| 3705 1cca 00F0 brlo .L351 |
| 3706 1ccc EFEF ldi r30,lo8(255) |
| 3707 1cce F0E0 ldi r31,hi8(255) |
| 3708 1cd0 E81B sub r30,r24 |
| 3709 1cd2 F109 sbc r31,__zero_reg__ |
| 3710 1cd4 E050 subi r30,lo8(-(Poti)) |
| 3711 1cd6 F040 sbci r31,hi8(-(Poti)) |
| 3712 1cd8 8081 ld r24,Z |
| 3713 .L351: |
| 3714 1cda 8093 0000 sts Parameter_UserParam8,r24 |
| 3715 1cde 8091 0000 lds r24,EE_Parameter+45 |
| 3716 1ce2 883F cpi r24,lo8(-8) |
| 3717 1ce4 00F0 brlo .L352 |
| 3718 1ce6 EFEF ldi r30,lo8(255) |
| 3719 1ce8 F0E0 ldi r31,hi8(255) |
| 3720 1cea E81B sub r30,r24 |
| 3721 1cec F109 sbc r31,__zero_reg__ |
| 3722 1cee E050 subi r30,lo8(-(Poti)) |
| 3723 1cf0 F040 sbci r31,hi8(-(Poti)) |
| 3724 1cf2 8081 ld r24,Z |
| 3725 .L352: |
| 3726 1cf4 8093 0000 sts Parameter_ServoNickControl,r24 |
| 3727 1cf8 8091 0000 lds r24,EE_Parameter+49 |
| 3728 1cfc 883F cpi r24,lo8(-8) |
| 3729 1cfe 00F0 brlo .L353 |
| 3730 1d00 EFEF ldi r30,lo8(255) |
| 3731 1d02 F0E0 ldi r31,hi8(255) |
| 3732 1d04 E81B sub r30,r24 |
| 3733 1d06 F109 sbc r31,__zero_reg__ |
| 3734 1d08 E050 subi r30,lo8(-(Poti)) |
| 3735 1d0a F040 sbci r31,hi8(-(Poti)) |
| 3736 1d0c 8081 ld r24,Z |
| 3737 .L353: |
| 3738 1d0e 8093 0000 sts Parameter_ServoRollControl,r24 |
| 3739 1d12 8091 0000 lds r24,EE_Parameter+59 |
| 3740 1d16 883F cpi r24,lo8(-8) |
| 3741 1d18 00F0 brlo .L354 |
| 3742 1d1a EFEF ldi r30,lo8(255) |
| 3743 1d1c F0E0 ldi r31,hi8(255) |
| 3744 1d1e E81B sub r30,r24 |
| 3745 1d20 F109 sbc r31,__zero_reg__ |
| 3746 1d22 E050 subi r30,lo8(-(Poti)) |
| 3747 1d24 F040 sbci r31,hi8(-(Poti)) |
| 3748 1d26 8081 ld r24,Z |
| 3749 .L354: |
| 3750 1d28 8093 0000 sts Parameter_LoopGasLimit,r24 |
| 3751 1d2c 8091 0000 lds r24,EE_Parameter+62 |
| 3752 1d30 883F cpi r24,lo8(-8) |
| 3753 1d32 00F0 brlo .L355 |
| 3754 1d34 EFEF ldi r30,lo8(255) |
| 3755 1d36 F0E0 ldi r31,hi8(255) |
| 3756 1d38 E81B sub r30,r24 |
| 3757 1d3a F109 sbc r31,__zero_reg__ |
| 3758 1d3c E050 subi r30,lo8(-(Poti)) |
| 3759 1d3e F040 sbci r31,hi8(-(Poti)) |
| 3760 1d40 8081 ld r24,Z |
| 3761 .L355: |
| 3762 1d42 8093 0000 sts Parameter_AchsKopplung1,r24 |
| 3763 1d46 8091 0000 lds r24,EE_Parameter+63 |
| 3764 1d4a 883F cpi r24,lo8(-8) |
| 3765 1d4c 00F0 brlo .L356 |
| 3766 1d4e EFEF ldi r30,lo8(255) |
| 3767 1d50 F0E0 ldi r31,hi8(255) |
| 3768 1d52 E81B sub r30,r24 |
| 3769 1d54 F109 sbc r31,__zero_reg__ |
| 3770 1d56 E050 subi r30,lo8(-(Poti)) |
| 3771 1d58 F040 sbci r31,hi8(-(Poti)) |
| 3772 1d5a 8081 ld r24,Z |
| 3773 .L356: |
| 3774 1d5c 8093 0000 sts Parameter_AchsKopplung2,r24 |
| 3775 1d60 8091 0000 lds r24,EE_Parameter+64 |
| 3776 1d64 883F cpi r24,lo8(-8) |
| 3777 1d66 00F0 brlo .L357 |
| 3778 1d68 EFEF ldi r30,lo8(255) |
| 3779 1d6a F0E0 ldi r31,hi8(255) |
| 3780 1d6c E81B sub r30,r24 |
| 3781 1d6e F109 sbc r31,__zero_reg__ |
| 3782 1d70 E050 subi r30,lo8(-(Poti)) |
| 3783 1d72 F040 sbci r31,hi8(-(Poti)) |
| 3784 1d74 8081 ld r24,Z |
| 3785 .L357: |
| 3786 1d76 8093 0000 sts Parameter_CouplingYawCorrection,r24 |
| 3787 1d7a 8091 0000 lds r24,EE_Parameter+104 |
| 3788 1d7e 883F cpi r24,lo8(-8) |
| 3789 1d80 00F0 brlo .L358 |
| 3790 1d82 EFEF ldi r30,lo8(255) |
| 3791 1d84 F0E0 ldi r31,hi8(255) |
| 3792 1d86 E81B sub r30,r24 |
| 3793 1d88 F109 sbc r31,__zero_reg__ |
| 3794 1d8a E050 subi r30,lo8(-(Poti)) |
| 3795 1d8c F040 sbci r31,hi8(-(Poti)) |
| 3796 1d8e 8081 ld r24,Z |
| 3797 .L358: |
| 3798 1d90 8093 0000 sts Parameter_MaximumAltitude,r24 |
| 3799 1d94 9091 0000 lds r25,NC_To_FC_MaxAltitude |
| 3800 1d98 9923 tst r25 |
| 3801 1d9a 01F0 breq .L301 |
| 3802 1d9c 8091 0000 lds r24,Parameter_MaximumAltitude |
| 3803 1da0 9817 cp r25,r24 |
| 3804 1da2 00F0 brlo .L300 |
| 3805 .L301: |
| 3806 1da4 8091 0000 lds r24,Parameter_MaximumAltitude |
| 3807 1da8 8823 tst r24 |
| 3808 1daa 01F4 brne .L299 |
| 3809 .L300: |
| 3810 1dac 9093 0000 sts Parameter_MaximumAltitude,r25 |
| 3811 .L299: |
| 3812 1db0 8091 0000 lds r24,EE_Parameter+13 |
| 3813 1db4 8093 0000 sts Parameter_GlobalConfig,r24 |
| 3814 1db8 8091 0000 lds r24,EE_Parameter+110 |
| 3815 1dbc 8093 0000 sts Parameter_ExtraConfig,r24 |
| 3816 1dc0 8091 0000 lds r24,EE_Parameter+69 |
| 3817 1dc4 883F cpi r24,lo8(-8) |
| 3818 1dc6 00F0 brlo .L359 |
| 3819 1dc8 EFEF ldi r30,lo8(255) |
| 3820 1dca F0E0 ldi r31,hi8(255) |
| 3821 1dcc E81B sub r30,r24 |
| 3822 1dce F109 sbc r31,__zero_reg__ |
| 3823 1dd0 E050 subi r30,lo8(-(Poti)) |
| 3824 1dd2 F040 sbci r31,hi8(-(Poti)) |
| 3825 1dd4 8081 ld r24,Z |
| 3826 .L359: |
| 3827 1dd6 8093 0000 sts Parameter_DynamicStability,r24 |
| 3828 1dda 8091 0000 lds r24,EE_Parameter+97 |
| 3829 1dde 883F cpi r24,lo8(-8) |
| 3830 1de0 00F0 brlo .L360 |
| 3831 1de2 EFEF ldi r30,lo8(255) |
| 3832 1de4 F0E0 ldi r31,hi8(255) |
| 3833 1de6 E81B sub r30,r24 |
| 3834 1de8 F109 sbc r31,__zero_reg__ |
| 3835 1dea E050 subi r30,lo8(-(Poti)) |
| 3836 1dec F040 sbci r31,hi8(-(Poti)) |
| 3837 1dee 8081 ld r24,Z |
| 3838 .L360: |
| 3839 1df0 8093 0000 sts Parameter_ExternalControl,r24 |
| 3840 1df4 8091 0000 lds r24,Parameter_I_Faktor |
| 3841 1df8 282F mov r18,r24 |
| 3842 1dfa 3327 clr r19 |
| 3843 1dfc 2F5F subi r18,lo8(-(1)) |
| 3844 1dfe 3F4F sbci r19,hi8(-(1)) |
| 3845 1e00 8CE3 ldi r24,lo8(10300) |
| 3846 1e02 98E2 ldi r25,hi8(10300) |
| 3847 1e04 B901 movw r22,r18 |
| 3848 1e06 0E94 0000 call __divmodhi4 |
| 3849 1e0a 7093 0000 sts (Ki)+1,r23 |
| 3850 1e0e 6093 0000 sts Ki,r22 |
| 3851 1e12 8091 0000 lds r24,EE_Parameter+27 |
| 3852 1e16 8093 0000 sts MAX_GAS,r24 |
| 3853 1e1a 8091 0000 lds r24,EE_Parameter+26 |
| 3854 1e1e 8093 0000 sts MIN_GAS,r24 |
| 3855 1e22 9091 0000 lds r25,EE_Parameter+99 |
| 3856 1e26 9333 cpi r25,lo8(51) |
| 3857 1e28 00F4 brsh .+2 |
| 3858 1e2a 00C0 rjmp .L306 |
| 3859 1e2c 81E0 ldi r24,lo8(1) |
| 3860 1e2e 8093 0000 sts CareFree,r24 |
| 3861 1e32 983F cpi r25,lo8(-8) |
| 3862 1e34 00F0 brlo .L307 |
| 3863 1e36 EFEF ldi r30,lo8(255) |
| 3864 1e38 F0E0 ldi r31,hi8(255) |
| 3865 1e3a E91B sub r30,r25 |
| 3866 1e3c F109 sbc r31,__zero_reg__ |
| 3867 1e3e E050 subi r30,lo8(-(Poti)) |
| 3868 1e40 F040 sbci r31,hi8(-(Poti)) |
| 3869 1e42 8081 ld r24,Z |
| 3870 1e44 8233 cpi r24,lo8(50) |
| 3871 1e46 00F4 brsh .L307 |
| 3872 1e48 1092 0000 sts CareFree,__zero_reg__ |
| 3873 .L307: |
| 3874 1e4c 8091 0000 lds r24,carefree_old |
| 3875 1e50 2091 0000 lds r18,CareFree |
| 3876 1e54 8217 cp r24,r18 |
| 3877 1e56 01F0 breq .L308 |
| 3878 1e58 8330 cpi r24,lo8(3) |
| 3879 1e5a 00F4 brsh .L309 |
| 3880 1e5c 3091 0000 lds r19,SpeakHoTT |
| 3881 1e60 2223 tst r18 |
| 3882 1e62 01F0 breq .L310 |
| 3883 1e64 8CED ldi r24,lo8(1500) |
| 3884 1e66 95E0 ldi r25,hi8(1500) |
| 3885 1e68 9093 0000 sts (beeptime)+1,r25 |
| 3886 1e6c 8093 0000 sts beeptime,r24 |
| 3887 1e70 3323 tst r19 |
| 3888 1e72 01F4 brne .L312 |
| 3889 1e74 8EE2 ldi r24,lo8(46) |
| 3890 1e76 00C0 rjmp .L361 |
| 3891 .L310: |
| 3892 1e78 88EC ldi r24,lo8(200) |
| 3893 1e7a 90E0 ldi r25,hi8(200) |
| 3894 1e7c 9093 0000 sts (beeptime)+1,r25 |
| 3895 1e80 8093 0000 sts beeptime,r24 |
| 3896 1e84 3323 tst r19 |
| 3897 1e86 01F4 brne .L312 |
| 3898 1e88 87E1 ldi r24,lo8(23) |
| 3899 .L361: |
| 3900 1e8a 8093 0000 sts SpeakHoTT,r24 |
| 3901 .L312: |
| 3902 1e8e 85E0 ldi r24,lo8(5) |
| 3903 1e90 8093 0000 sts NeueKompassRichtungMerken,r24 |
| 3904 1e94 2093 0000 sts carefree_old,r18 |
| 3905 1e98 00C0 rjmp .L308 |
| 3906 .L309: |
| 3907 1e9a 8150 subi r24,lo8(-(-1)) |
| 3908 1e9c 8093 0000 sts carefree_old,r24 |
| 3909 .L308: |
| 3910 1ea0 8091 0000 lds r24,FromNaviCtrl+7 |
| 3911 1ea4 9091 0000 lds r25,(FromNaviCtrl+7)+1 |
| 3912 1ea8 97FF sbrs r25,7 |
| 3913 1eaa 00C0 rjmp .L316 |
| 3914 1eac 8091 0000 lds r24,CareFree |
| 3915 1eb0 8823 tst r24 |
| 3916 1eb2 01F0 breq .L316 |
| 3917 1eb4 8091 0000 lds r24,VersionInfo+5 |
| 3918 1eb8 8068 ori r24,lo8(-128) |
| 3919 1eba 8093 0000 sts VersionInfo+5,r24 |
| 3920 1ebe 00C0 rjmp .L316 |
| 3921 .L306: |
| 3922 1ec0 1092 0000 sts CareFree,__zero_reg__ |
| 3923 1ec4 8AE0 ldi r24,lo8(10) |
| 3924 1ec6 8093 0000 sts carefree_old,r24 |
| 3925 .L316: |
| 3926 1eca 8091 0000 lds r24,FromNaviCtrl+7 |
| 3927 1ece 9091 0000 lds r25,(FromNaviCtrl+7)+1 |
| 3928 1ed2 97FF sbrs r25,7 |
| 3929 1ed4 00C0 rjmp .L317 |
| 3930 1ed6 8091 0000 lds r24,MotorenEin |
| 3931 1eda 8823 tst r24 |
| 3932 1edc 01F0 breq .L317 |
| 3933 1ede 8091 0000 lds r24,CareFree |
| 3934 1ee2 8823 tst r24 |
| 3935 1ee4 01F0 breq .L317 |
| 3936 1ee6 8091 0000 lds r24,BeepMuster |
| 3937 1eea 9091 0000 lds r25,(BeepMuster)+1 |
| 3938 1eee 8F5F subi r24,lo8(-1) |
| 3939 1ef0 9F4F sbci r25,hi8(-1) |
| 3940 1ef2 01F4 brne .L317 |
| 3941 1ef4 88E9 ldi r24,lo8(15000) |
| 3942 1ef6 9AE3 ldi r25,hi8(15000) |
| 3943 1ef8 9093 0000 sts (beeptime)+1,r25 |
| 3944 1efc 8093 0000 sts beeptime,r24 |
| 3945 1f00 80E0 ldi r24,lo8(-23552) |
| 3946 1f02 94EA ldi r25,hi8(-23552) |
| 3947 1f04 9093 0000 sts (BeepMuster)+1,r25 |
| 3948 1f08 8093 0000 sts BeepMuster,r24 |
| 3949 1f0c 1092 0000 sts CareFree,__zero_reg__ |
| 3950 .L317: |
| 3951 1f10 8091 0000 lds r24,CareFree |
| 3952 1f14 8823 tst r24 |
| 3953 1f16 01F0 breq .L318 |
| 3954 1f18 8091 0000 lds r24,FC_StatusFlags2 |
| 3955 1f1c 8160 ori r24,lo8(1) |
| 3956 1f1e 8093 0000 sts FC_StatusFlags2,r24 |
| 3957 1f22 8091 0000 lds r24,Parameter_AchsKopplung1 |
| 3958 1f26 823D cpi r24,lo8(-46) |
| 3959 1f28 00F4 brsh .L190 |
| 3960 1f2a 825E subi r24,lo8(-(30)) |
| 3961 1f2c 8093 0000 sts Parameter_AchsKopplung1,r24 |
| 3962 1f30 00C0 rjmp .L190 |
| 3963 .L318: |
| 3964 1f32 8091 0000 lds r24,FC_StatusFlags2 |
| 3965 1f36 8E7F andi r24,lo8(-2) |
| 3966 1f38 8093 0000 sts FC_StatusFlags2,r24 |
| 3967 .L190: |
| 3968 /* epilogue: frame size=0 */ |
| 3969 1f3c DF91 pop r29 |
| 3970 1f3e CF91 pop r28 |
| 3971 1f40 0895 ret |
| 3972 /* epilogue end (size=3) */ |
| 3973 /* function ParameterZuordnung size 772 (767) */ |
| 3975 .lcomm sollGier.0,4 |
| 3976 .lcomm tmp_long.1,4 |
| 3977 .lcomm tmp_long2.2,4 |
| 3978 .lcomm IntegralFehlerNick.3,4 |
| 3979 .lcomm IntegralFehlerRoll.4,4 |
| 3980 .lcomm RcLostTimer.5,2 |
| 3981 .lcomm delay_neutral.6,1 |
| 3982 .lcomm delay_einschalten.7,1 |
| 3983 .lcomm delay_ausschalten.8,1 |
| 3984 .lcomm move_safety_switch.9,1 |
| 3985 .lcomm ausgleichNick.10,4 |
| 3986 .lcomm ausgleichRoll.11,4 |
| 3987 .lcomm stick_nick.12,2 |
| 3988 .lcomm stick_roll.13,2 |
| 3989 .lcomm cnt.14,2 |
| 3990 .lcomm last_n_p.15,1 |
| 3991 .lcomm last_n_n.16,1 |
| 3992 .lcomm last_r_p.17,1 |
| 3993 .lcomm last_r_n.18,1 |
| 3994 .lcomm MittelIntegralNick_Alt.19,4 |
| 3995 .lcomm MittelIntegralRoll_Alt.20,4 |
| 3996 .lcomm HeightTrimming.21,2 |
| 3997 .lcomm FilterHCGas.22,2 |
| 3998 .lcomm HoverGasFilter.23,4 |
| 3999 .data |
| 4002 delay.24: |
| 4003 004f 64 .byte 100 |
| 4004 .lcomm BaroAtUpperLimit.25,1 |
| 4005 .lcomm BaroAtLowerLimit.26,1 |
| 4006 .text |
| 4007 .global MotorRegler |
| 4009 MotorRegler: |
| 4010 /* prologue: frame size=23 */ |
| 4011 1f42 A7E1 ldi r26,lo8(23) |
| 4012 1f44 B0E0 ldi r27,hi8(23) |
| 4013 1f46 E0E0 ldi r30,pm_lo8(1f) |
| 4014 1f48 F0E0 ldi r31,pm_hi8(1f) |
| 4015 1f4a 0C94 0000 jmp __prologue_saves__+0 |
| 4016 1: |
| 4017 /* prologue end (size=6) */ |
| 4018 1f4e 0E94 0000 call Mittelwert |
| 4019 1f52 8091 0000 lds r24,FC_StatusFlags |
| 4020 1f56 9927 clr r25 |
| 4021 1f58 8471 andi r24,lo8(20) |
| 4022 1f5a 9070 andi r25,hi8(20) |
| 4023 1f5c 892B or r24,r25 |
| 4024 1f5e 01F4 brne .L365 |
| 4025 1f60 8091 0000 lds r24,EE_Parameter+111 |
| 4026 1f64 82FF sbrs r24,2 |
| 4027 1f66 00C0 rjmp .L366 |
| 4028 1f68 8091 0000 lds r24,HoverGas |
| 4029 1f6c 9091 0000 lds r25,(HoverGas)+1 |
| 4030 1f70 0097 sbiw r24,0 |
| 4031 1f72 01F0 breq .L367 |
| 4032 1f74 02E0 ldi r16,hi8(600) |
| 4033 1f76 8835 cpi r24,lo8(600) |
| 4034 1f78 9007 cpc r25,r16 |
| 4035 1f7a 04F4 brge .L367 |
| 4036 1f7c 9C01 movw r18,r24 |
| 4037 1f7e 97FF sbrs r25,7 |
| 4038 1f80 00C0 rjmp .L368 |
| 4039 1f82 2D5F subi r18,lo8(-(3)) |
| 4040 1f84 3F4F sbci r19,hi8(-(3)) |
| 4041 .L368: |
| 4042 1f86 3595 asr r19 |
| 4043 1f88 2795 ror r18 |
| 4044 1f8a 3595 asr r19 |
| 4045 1f8c 2795 ror r18 |
| 4046 1f8e 8091 0000 lds r24,EE_Parameter+37 |
| 4047 1f92 9927 clr r25 |
| 4048 1f94 289F mul r18,r24 |
| 4049 1f96 A001 movw r20,r0 |
| 4050 1f98 299F mul r18,r25 |
| 4051 1f9a 500D add r21,r0 |
| 4052 1f9c 389F mul r19,r24 |
| 4053 1f9e 500D add r21,r0 |
| 4054 1fa0 1124 clr r1 |
| 4055 1fa2 CA01 movw r24,r20 |
| 4056 1fa4 64E6 ldi r22,lo8(100) |
| 4057 1fa6 70E0 ldi r23,hi8(100) |
| 4058 1fa8 0E94 0000 call __divmodhi4 |
| 4059 1fac CB01 movw r24,r22 |
| 4060 1fae 00C0 rjmp .L887 |
| 4061 .L367: |
| 4062 1fb0 8DE2 ldi r24,lo8(45) |
| 4063 1fb2 90E0 ldi r25,hi8(45) |
| 4064 1fb4 00C0 rjmp .L887 |
| 4065 .L366: |
| 4066 1fb6 8091 0000 lds r24,EE_Parameter+37 |
| 4067 1fba 9927 clr r25 |
| 4068 .L887: |
| 4069 1fbc 9093 0000 sts (HooverGasEmergencyPercent)+1,r25 |
| 4070 1fc0 8093 0000 sts HooverGasEmergencyPercent,r24 |
| 4071 .L365: |
| 4072 1fc4 2091 0000 lds r18,GasIsZeroCnt |
| 4073 1fc8 3091 0000 lds r19,(GasIsZeroCnt)+1 |
| 4074 1fcc 55E7 ldi r21,hi8(30000) |
| 4075 1fce 2033 cpi r18,lo8(30000) |
| 4076 1fd0 3507 cpc r19,r21 |
| 4077 1fd2 01F4 brne .L371 |
| 4078 1fd4 1092 0000 sts (StickGas)+1,__zero_reg__ |
| 4079 1fd8 1092 0000 sts StickGas,__zero_reg__ |
| 4080 1fdc 8091 0000 lds r24,MIN_GAS |
| 4081 1fe0 9927 clr r25 |
| 4082 1fe2 9093 0000 sts (HooverGasEmergencyPercent)+1,r25 |
| 4083 1fe6 8093 0000 sts HooverGasEmergencyPercent,r24 |
| 4084 .L371: |
| 4085 1fea 6091 0000 lds r22,StickGas |
| 4086 1fee 7091 0000 lds r23,(StickGas)+1 |
| 4087 1ff2 7A83 std Y+2,r23 |
| 4088 1ff4 6983 std Y+1,r22 |
| 4089 1ff6 8091 0000 lds r24,MIN_GAS |
| 4090 1ffa 9927 clr r25 |
| 4091 1ffc 0A96 adiw r24,10 |
| 4092 1ffe 6817 cp r22,r24 |
| 4093 2000 7907 cpc r23,r25 |
| 4094 2002 04F4 brge .L372 |
| 4095 2004 9A83 std Y+2,r25 |
| 4096 2006 8983 std Y+1,r24 |
| 4097 .L372: |
| 4098 2008 8091 0000 lds r24,SenderOkay |
| 4099 200c 8436 cpi r24,lo8(100) |
| 4100 200e 00F0 brlo .+2 |
| 4101 2010 00C0 rjmp .L373 |
| 4102 2012 8091 0000 lds r24,FC_StatusFlags2 |
| 4103 2016 82FD sbrc r24,2 |
| 4104 2018 00C0 rjmp .L373 |
| 4105 201a 8091 0000 lds r24,RcLostTimer.5 |
| 4106 201e 9091 0000 lds r25,(RcLostTimer.5)+1 |
| 4107 2022 0097 sbiw r24,0 |
| 4108 2024 01F0 breq .L374 |
| 4109 2026 0197 sbiw r24,1 |
| 4110 2028 9093 0000 sts (RcLostTimer.5)+1,r25 |
| 4111 202c 8093 0000 sts RcLostTimer.5,r24 |
| 4112 2030 00C0 rjmp .L375 |
| 4113 .L374: |
| 4114 2032 1092 0000 sts MotorenEin,__zero_reg__ |
| 4115 2036 9093 0000 sts (modell_fliegt)+1,r25 |
| 4116 203a 8093 0000 sts modell_fliegt,r24 |
| 4117 203e 8091 0000 lds r24,FC_StatusFlags |
| 4118 2042 8D7E andi r24,lo8(-19) |
| 4119 2044 8093 0000 sts FC_StatusFlags,r24 |
| 4120 .L375: |
| 4121 2048 8091 0000 lds r24,PlatinenVersion |
| 4122 204c 8A30 cpi r24,lo8(10) |
| 4123 204e 01F0 breq .L377 |
| 4124 2050 8431 cpi r24,lo8(20) |
| 4125 2052 00F0 brlo .L376 |
| 4126 .L377: |
| 4127 2054 289A sbi 37-0x20,0 |
| 4128 2056 00C0 rjmp .L378 |
| 4129 .L376: |
| 4130 2058 2898 cbi 37-0x20,0 |
| 4131 .L378: |
| 4132 205a 8091 0000 lds r24,modell_fliegt |
| 4133 205e 9091 0000 lds r25,(modell_fliegt)+1 |
| 4134 2062 895E subi r24,lo8(1001) |
| 4135 2064 9340 sbci r25,hi8(1001) |
| 4136 2066 00F0 brlo .L379 |
| 4137 2068 8091 0000 lds r24,Capacity+6 |
| 4138 206c 8536 cpi r24,lo8(101) |
| 4139 206e 00F0 brlo .L379 |
| 4140 2070 8091 0000 lds r24,HooverGasEmergencyPercent |
| 4141 2074 9091 0000 lds r25,(HooverGasEmergencyPercent)+1 |
| 4142 2078 9A83 std Y+2,r25 |
| 4143 207a 8983 std Y+1,r24 |
| 4144 207c 8091 0000 lds r24,FC_StatusFlags |
| 4145 2080 8061 ori r24,lo8(16) |
| 4146 2082 8093 0000 sts FC_StatusFlags,r24 |
| 4147 2086 8091 0000 lds r24,EE_Parameter+1 |
| 4148 208a A82F mov r26,r24 |
| 4149 208c BB27 clr r27 |
| 4150 208e AA0F add r26,r26 |
| 4151 2090 BB1F adc r27,r27 |
| 4152 2092 FD01 movw r30,r26 |
| 4153 2094 E050 subi r30,lo8(-(PPM_diff)) |
| 4154 2096 F040 sbci r31,hi8(-(PPM_diff)) |
| 4155 2098 1182 std Z+1,__zero_reg__ |
| 4156 209a 1082 st Z,__zero_reg__ |
| 4157 209c 8091 0000 lds r24,EE_Parameter+2 |
| 4158 20a0 282F mov r18,r24 |
| 4159 20a2 3327 clr r19 |
| 4160 20a4 220F add r18,r18 |
| 4161 20a6 331F adc r19,r19 |
| 4162 20a8 C901 movw r24,r18 |
| 4163 20aa 8050 subi r24,lo8(-(PPM_diff)) |
| 4164 20ac 9040 sbci r25,hi8(-(PPM_diff)) |
| 4165 20ae FC01 movw r30,r24 |
| 4166 20b0 1182 std Z+1,__zero_reg__ |
| 4167 20b2 1082 st Z,__zero_reg__ |
| 4168 20b4 A050 subi r26,lo8(-(PPM_in)) |
| 4169 20b6 B040 sbci r27,hi8(-(PPM_in)) |
| 4170 20b8 1196 adiw r26,1 |
| 4171 20ba 1C92 st X,__zero_reg__ |
| 4172 20bc 1E92 st -X,__zero_reg__ |
| 4173 20be 2050 subi r18,lo8(-(PPM_in)) |
| 4174 20c0 3040 sbci r19,hi8(-(PPM_in)) |
| 4175 20c2 D901 movw r26,r18 |
| 4176 20c4 1196 adiw r26,1 |
| 4177 20c6 1C92 st X,__zero_reg__ |
| 4178 20c8 1E92 st -X,__zero_reg__ |
| 4179 20ca 8091 0000 lds r24,EE_Parameter+4 |
| 4180 20ce E82F mov r30,r24 |
| 4181 20d0 FF27 clr r31 |
| 4182 20d2 EE0F add r30,r30 |
| 4183 20d4 FF1F adc r31,r31 |
| 4184 20d6 E050 subi r30,lo8(-(PPM_in)) |
| 4185 20d8 F040 sbci r31,hi8(-(PPM_in)) |
| 4186 20da 1182 std Z+1,__zero_reg__ |
| 4187 20dc 1082 st Z,__zero_reg__ |
| 4188 20de 00C0 rjmp .L381 |
| 4189 .L379: |
| 4190 20e0 1092 0000 sts MotorenEin,__zero_reg__ |
| 4191 20e4 00C0 rjmp .L381 |
| 4192 .L373: |
| 4193 20e6 8091 0000 lds r24,SenderOkay |
| 4194 20ea 8D38 cpi r24,lo8(-115) |
| 4195 20ec 00F4 brsh .+2 |
| 4196 20ee 00C0 rjmp .L382 |
| 4197 20f0 8091 0000 lds r24,FC_StatusFlags |
| 4198 20f4 8F7E andi r24,lo8(-17) |
| 4199 20f6 8093 0000 sts FC_StatusFlags,r24 |
| 4200 20fa 9091 0000 lds r25,EE_Parameter+38 |
| 4201 20fe 82E3 ldi r24,lo8(50) |
| 4202 2100 989F mul r25,r24 |
| 4203 2102 C001 movw r24,r0 |
| 4204 2104 1124 clr r1 |
| 4205 2106 9093 0000 sts (RcLostTimer.5)+1,r25 |
| 4206 210a 8093 0000 sts RcLostTimer.5,r24 |
| 4207 210e E981 ldd r30,Y+1 |
| 4208 2110 FA81 ldd r31,Y+2 |
| 4209 2112 B997 sbiw r30,41 |
| 4210 2114 04F0 brlt .L383 |
| 4211 2116 8091 0000 lds r24,MotorenEin |
| 4212 211a 8823 tst r24 |
| 4213 211c 01F0 breq .L383 |
| 4214 211e 8091 0000 lds r24,modell_fliegt |
| 4215 2122 9091 0000 lds r25,(modell_fliegt)+1 |
| 4216 2126 FFEF ldi r31,hi8(-1) |
| 4217 2128 8F3F cpi r24,lo8(-1) |
| 4218 212a 9F07 cpc r25,r31 |
| 4219 212c 01F0 breq .L383 |
| 4220 212e 0196 adiw r24,1 |
| 4221 2130 9093 0000 sts (modell_fliegt)+1,r25 |
| 4222 2134 8093 0000 sts modell_fliegt,r24 |
| 4223 .L383: |
| 4224 2138 8091 0000 lds r24,modell_fliegt |
| 4225 213c 9091 0000 lds r25,(modell_fliegt)+1 |
| 4226 2140 8F3F cpi r24,255 |
| 4227 2142 9105 cpc r25,__zero_reg__ |
| 4228 2144 01F0 breq .+2 |
| 4229 2146 00F4 brsh .L385 |
| 4230 2148 1092 0000 sts SummeNick,__zero_reg__ |
| 4231 214c 1092 0000 sts (SummeNick)+1,__zero_reg__ |
| 4232 2150 1092 0000 sts (SummeNick)+2,__zero_reg__ |
| 4233 2154 1092 0000 sts (SummeNick)+3,__zero_reg__ |
| 4234 2158 1092 0000 sts SummeRoll,__zero_reg__ |
| 4235 215c 1092 0000 sts (SummeRoll)+1,__zero_reg__ |
| 4236 2160 1092 0000 sts (SummeRoll)+2,__zero_reg__ |
| 4237 2164 1092 0000 sts (SummeRoll)+3,__zero_reg__ |
| 4238 2168 1092 0000 sts sollGier.0,__zero_reg__ |
| 4239 216c 1092 0000 sts (sollGier.0)+1,__zero_reg__ |
| 4240 2170 1092 0000 sts (sollGier.0)+2,__zero_reg__ |
| 4241 2174 1092 0000 sts (sollGier.0)+3,__zero_reg__ |
| 4242 2178 1092 0000 sts Mess_Integral_Gier,__zero_reg__ |
| 4243 217c 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__ |
| 4244 2180 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__ |
| 4245 2184 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__ |
| 4246 2188 00C0 rjmp .L386 |
| 4247 .L385: |
| 4248 218a 8091 0000 lds r24,FC_StatusFlags |
| 4249 218e 8260 ori r24,lo8(2) |
| 4250 2190 8093 0000 sts FC_StatusFlags,r24 |
| 4251 .L386: |
| 4252 2194 8091 0000 lds r24,EE_Parameter+3 |
| 4253 2198 E82F mov r30,r24 |
| 4254 219a FF27 clr r31 |
| 4255 219c EE0F add r30,r30 |
| 4256 219e FF1F adc r31,r31 |
| 4257 21a0 E050 subi r30,lo8(-(PPM_in)) |
| 4258 21a2 F040 sbci r31,hi8(-(PPM_in)) |
| 4259 21a4 8081 ld r24,Z |
| 4260 21a6 9181 ldd r25,Z+1 |
| 4261 21a8 8135 cpi r24,81 |
| 4262 21aa 9105 cpc r25,__zero_reg__ |
| 4263 21ac 04F4 brge .+2 |
| 4264 21ae 00C0 rjmp .L387 |
| 4265 21b0 2091 0000 lds r18,MotorenEin |
| 4266 21b4 2223 tst r18 |
| 4267 21b6 01F0 breq .+2 |
| 4268 21b8 00C0 rjmp .L387 |
| 4269 21ba 8091 0000 lds r24,EE_Parameter+4 |
| 4270 21be E82F mov r30,r24 |
| 4271 21c0 FF27 clr r31 |
| 4272 21c2 EE0F add r30,r30 |
| 4273 21c4 FF1F adc r31,r31 |
| 4274 21c6 E050 subi r30,lo8(-(PPM_in)) |
| 4275 21c8 F040 sbci r31,hi8(-(PPM_in)) |
| 4276 21ca 8081 ld r24,Z |
| 4277 21cc 9181 ldd r25,Z+1 |
| 4278 21ce 8C34 cpi r24,76 |
| 4279 21d0 9105 cpc r25,__zero_reg__ |
| 4280 21d2 04F4 brge .+2 |
| 4281 21d4 00C0 rjmp .L388 |
| 4282 21d6 8091 0000 lds r24,delay_neutral.6 |
| 4283 21da 8F5F subi r24,lo8(-(1)) |
| 4284 21dc 8093 0000 sts delay_neutral.6,r24 |
| 4285 21e0 893C cpi r24,lo8(-55) |
| 4286 21e2 00F4 brsh .+2 |
| 4287 21e4 00C0 rjmp .L387 |
| 4288 21e6 2093 0000 sts delay_neutral.6,r18 |
| 4289 21ea 1092 0000 sts (modell_fliegt)+1,__zero_reg__ |
| 4290 21ee 1092 0000 sts modell_fliegt,__zero_reg__ |
| 4291 21f2 3091 0000 lds r19,EE_Parameter+1 |
| 4292 21f6 E32F mov r30,r19 |
| 4293 21f8 FF27 clr r31 |
| 4294 21fa EE0F add r30,r30 |
| 4295 21fc FF1F adc r31,r31 |
| 4296 21fe E050 subi r30,lo8(-(PPM_in)) |
| 4297 2200 F040 sbci r31,hi8(-(PPM_in)) |
| 4298 2202 8081 ld r24,Z |
| 4299 2204 9181 ldd r25,Z+1 |
| 4300 2206 8734 cpi r24,71 |
| 4301 2208 9105 cpc r25,__zero_reg__ |
| 4302 220a 04F4 brge .L391 |
| 4303 220c 8091 0000 lds r24,EE_Parameter+2 |
| 4304 2210 E82F mov r30,r24 |
| 4305 2212 FF27 clr r31 |
| 4306 2214 EE0F add r30,r30 |
| 4307 2216 FF1F adc r31,r31 |
| 4308 2218 E050 subi r30,lo8(-(PPM_in)) |
| 4309 221a F040 sbci r31,hi8(-(PPM_in)) |
| 4310 221c 8081 ld r24,Z |
| 4311 221e 9181 ldd r25,Z+1 |
| 4312 2220 0190 ld __tmp_reg__,Z+ |
| 4313 2222 F081 ld r31,Z |
| 4314 2224 E02D mov r30,__tmp_reg__ |
| 4315 2226 F7FF sbrs r31,7 |
| 4316 2228 00C0 rjmp .L392 |
| 4317 222a F095 com r31 |
| 4318 222c E195 neg r30 |
| 4319 222e FF4F sbci r31,lo8(-1) |
| 4320 .L392: |
| 4321 2230 E734 cpi r30,71 |
| 4322 2232 F105 cpc r31,__zero_reg__ |
| 4323 2234 04F4 brge .+2 |
| 4324 2236 00C0 rjmp .L390 |
| 4325 .L391: |
| 4326 2238 41E0 ldi r20,lo8(1) |
| 4327 223a 2091 0000 lds r18,EE_Parameter+2 |
| 4328 223e A22F mov r26,r18 |
| 4329 2240 BB27 clr r27 |
| 4330 2242 AA0F add r26,r26 |
| 4331 2244 BB1F adc r27,r27 |
| 4332 2246 A050 subi r26,lo8(-(PPM_in)) |
| 4333 2248 B040 sbci r27,hi8(-(PPM_in)) |
| 4334 224a 8D91 ld r24,X+ |
| 4335 224c 9C91 ld r25,X |
| 4336 224e 1197 sbiw r26,1 |
| 4337 2250 8734 cpi r24,71 |
| 4338 2252 9105 cpc r25,__zero_reg__ |
| 4339 2254 04F0 brlt .L393 |
| 4340 2256 E32F mov r30,r19 |
| 4341 2258 FF27 clr r31 |
| 4342 225a EE0F add r30,r30 |
| 4343 225c FF1F adc r31,r31 |
| 4344 225e E050 subi r30,lo8(-(PPM_in)) |
| 4345 2260 F040 sbci r31,hi8(-(PPM_in)) |
| 4346 2262 8081 ld r24,Z |
| 4347 2264 9181 ldd r25,Z+1 |
| 4348 .L393: |
| 4349 2266 8D91 ld r24,X+ |
| 4350 2268 9C91 ld r25,X |
| 4351 226a 8734 cpi r24,71 |
| 4352 226c 9105 cpc r25,__zero_reg__ |
| 4353 226e 04F0 brlt .L394 |
| 4354 2270 8091 0000 lds r24,EE_Parameter+1 |
| 4355 2274 E82F mov r30,r24 |
| 4356 2276 FF27 clr r31 |
| 4357 2278 EE0F add r30,r30 |
| 4358 227a FF1F adc r31,r31 |
| 4359 227c E050 subi r30,lo8(-(PPM_in)) |
| 4360 227e F040 sbci r31,hi8(-(PPM_in)) |
| 4361 2280 8081 ld r24,Z |
| 4362 2282 9181 ldd r25,Z+1 |
| 4363 2284 8734 cpi r24,71 |
| 4364 2286 9105 cpc r25,__zero_reg__ |
| 4365 2288 04F0 brlt .L394 |
| 4366 228a 42E0 ldi r20,lo8(2) |
| 4367 .L394: |
| 4368 228c E22F mov r30,r18 |
| 4369 228e FF27 clr r31 |
| 4370 2290 EE0F add r30,r30 |
| 4371 2292 FF1F adc r31,r31 |
| 4372 2294 E050 subi r30,lo8(-(PPM_in)) |
| 4373 2296 F040 sbci r31,hi8(-(PPM_in)) |
| 4374 2298 8081 ld r24,Z |
| 4375 229a 9181 ldd r25,Z+1 |
| 4376 229c 8634 cpi r24,70 |
| 4377 229e 9105 cpc r25,__zero_reg__ |
| 4378 22a0 04F4 brge .L395 |
| 4379 22a2 8091 0000 lds r24,EE_Parameter+1 |
| 4380 22a6 E82F mov r30,r24 |
| 4381 22a8 FF27 clr r31 |
| 4382 22aa EE0F add r30,r30 |
| 4383 22ac FF1F adc r31,r31 |
| 4384 22ae E050 subi r30,lo8(-(PPM_in)) |
| 4385 22b0 F040 sbci r31,hi8(-(PPM_in)) |
| 4386 22b2 8081 ld r24,Z |
| 4387 22b4 9181 ldd r25,Z+1 |
| 4388 22b6 8734 cpi r24,71 |
| 4389 22b8 9105 cpc r25,__zero_reg__ |
| 4390 22ba 04F0 brlt .L395 |
| 4391 22bc 43E0 ldi r20,lo8(3) |
| 4392 .L395: |
| 4393 22be E22F mov r30,r18 |
| 4394 22c0 FF27 clr r31 |
| 4395 22c2 EE0F add r30,r30 |
| 4396 22c4 FF1F adc r31,r31 |
| 4397 22c6 E050 subi r30,lo8(-(PPM_in)) |
| 4398 22c8 F040 sbci r31,hi8(-(PPM_in)) |
| 4399 22ca 8081 ld r24,Z |
| 4400 22cc 9181 ldd r25,Z+1 |
| 4401 22ce 8A5B subi r24,lo8(-70) |
| 4402 22d0 9F4F sbci r25,hi8(-70) |
| 4403 22d2 04F4 brge .L396 |
| 4404 22d4 8091 0000 lds r24,EE_Parameter+1 |
| 4405 22d8 E82F mov r30,r24 |
| 4406 22da FF27 clr r31 |
| 4407 22dc EE0F add r30,r30 |
| 4408 22de FF1F adc r31,r31 |
| 4409 22e0 E050 subi r30,lo8(-(PPM_in)) |
| 4410 22e2 F040 sbci r31,hi8(-(PPM_in)) |
| 4411 22e4 8081 ld r24,Z |
| 4412 22e6 9181 ldd r25,Z+1 |
| 4413 22e8 8734 cpi r24,71 |
| 4414 22ea 9105 cpc r25,__zero_reg__ |
| 4415 22ec 04F0 brlt .L396 |
| 4416 22ee 44E0 ldi r20,lo8(4) |
| 4417 .L396: |
| 4418 22f0 E22F mov r30,r18 |
| 4419 22f2 FF27 clr r31 |
| 4420 22f4 EE0F add r30,r30 |
| 4421 22f6 FF1F adc r31,r31 |
| 4422 22f8 E050 subi r30,lo8(-(PPM_in)) |
| 4423 22fa F040 sbci r31,hi8(-(PPM_in)) |
| 4424 22fc 8081 ld r24,Z |
| 4425 22fe 9181 ldd r25,Z+1 |
| 4426 2300 8A5B subi r24,lo8(-70) |
| 4427 2302 9F4F sbci r25,hi8(-70) |
| 4428 2304 04F4 brge .L397 |
| 4429 2306 8091 0000 lds r24,EE_Parameter+1 |
| 4430 230a E82F mov r30,r24 |
| 4431 230c FF27 clr r31 |
| 4432 230e EE0F add r30,r30 |
| 4433 2310 FF1F adc r31,r31 |
| 4434 2312 E050 subi r30,lo8(-(PPM_in)) |
| 4435 2314 F040 sbci r31,hi8(-(PPM_in)) |
| 4436 2316 8081 ld r24,Z |
| 4437 2318 9181 ldd r25,Z+1 |
| 4438 231a 8634 cpi r24,70 |
| 4439 231c 9105 cpc r25,__zero_reg__ |
| 4440 231e 04F4 brge .L397 |
| 4441 2320 45E0 ldi r20,lo8(5) |
| 4442 .L397: |
| 4443 2322 842F mov r24,r20 |
| 4444 2324 0E94 0000 call SetActiveParamSet |
| 4445 .L390: |
| 4446 2328 8091 0000 lds r24,EE_Parameter+2 |
| 4447 232c E82F mov r30,r24 |
| 4448 232e FF27 clr r31 |
| 4449 2330 EE0F add r30,r30 |
| 4450 2332 FF1F adc r31,r31 |
| 4451 2334 E050 subi r30,lo8(-(PPM_in)) |
| 4452 2336 F040 sbci r31,hi8(-(PPM_in)) |
| 4453 2338 8081 ld r24,Z |
| 4454 233a 9181 ldd r25,Z+1 |
| 4455 233c 0190 ld __tmp_reg__,Z+ |
| 4456 233e F081 ld r31,Z |
| 4457 2340 E02D mov r30,__tmp_reg__ |
| 4458 2342 F7FF sbrs r31,7 |
| 4459 2344 00C0 rjmp .L399 |
| 4460 2346 F095 com r31 |
| 4461 2348 E195 neg r30 |
| 4462 234a FF4F sbci r31,lo8(-1) |
| 4463 .L399: |
| 4464 234c 7E97 sbiw r30,30 |
| 4465 234e 04F4 brge .L398 |
| 4466 2350 8091 0000 lds r24,EE_Parameter+1 |
| 4467 2354 E82F mov r30,r24 |
| 4468 2356 FF27 clr r31 |
| 4469 2358 EE0F add r30,r30 |
| 4470 235a FF1F adc r31,r31 |
| 4471 235c E050 subi r30,lo8(-(PPM_in)) |
| 4472 235e F040 sbci r31,hi8(-(PPM_in)) |
| 4473 2360 8081 ld r24,Z |
| 4474 2362 9181 ldd r25,Z+1 |
| 4475 2364 8A5B subi r24,lo8(-70) |
| 4476 2366 9F4F sbci r25,hi8(-70) |
| 4477 2368 04F4 brge .L398 |
| 4478 236a 81E0 ldi r24,lo8(1) |
| 4479 236c 8093 0000 sts WinkelOut+6,r24 |
| 4480 2370 1092 0000 sts CalibrationDone,__zero_reg__ |
| 4481 2374 88EE ldi r24,lo8(1000) |
| 4482 2376 93E0 ldi r25,hi8(1000) |
| 4483 2378 9093 0000 sts (beeptime)+1,r25 |
| 4484 237c 8093 0000 sts beeptime,r24 |
| 4485 2380 00C0 rjmp .L387 |
| 4486 .L398: |
| 4487 2382 0E94 0000 call GetActiveParamSet |
| 4488 2386 0E94 0000 call ParamSet_ReadFromEEProm |
| 4489 238a 80E0 ldi r24,lo8(0) |
| 4490 238c 0E94 0000 call LipoDetection |
| 4491 2390 8091 0000 lds r24,EE_Parameter+39 |
| 4492 2394 0E94 0000 call LIBFC_ReceiverInit |
| 4493 2398 8091 0000 lds r24,Parameter_GlobalConfig |
| 4494 239c 80FF sbrs r24,0 |
| 4495 239e 00C0 rjmp .L401 |
| 4496 23a0 8091 0000 lds r24,MessLuftdruck |
| 4497 23a4 9091 0000 lds r25,(MessLuftdruck)+1 |
| 4498 23a8 875B subi r24,lo8(951) |
| 4499 23aa 9340 sbci r25,hi8(951) |
| 4500 23ac 00F4 brsh .L403 |
| 4501 23ae 8091 0000 lds r24,MessLuftdruck |
| 4502 23b2 9091 0000 lds r25,(MessLuftdruck)+1 |
| 4503 23b6 8E5E subi r24,lo8(750) |
| 4504 23b8 9240 sbci r25,hi8(750) |
| 4505 23ba 00F4 brsh .L401 |
| 4506 .L403: |
| 4507 23bc 0E94 0000 call SucheLuftruckOffset |
| 4508 .L401: |
| 4509 23c0 80E0 ldi r24,lo8(0) |
| 4510 23c2 0E94 0000 call SetNeutral |
| 4511 23c6 81E0 ldi r24,lo8(1) |
| 4512 23c8 8093 0000 sts CalibrationDone,r24 |
| 4513 23cc 8093 0000 sts ServoActive,r24 |
| 4514 23d0 579A sbi 42-0x20,7 |
| 4515 23d2 00C0 rjmp .L888 |
| 4516 .L388: |
| 4517 23d4 8081 ld r24,Z |
| 4518 23d6 9181 ldd r25,Z+1 |
| 4519 23d8 855B subi r24,lo8(-75) |
| 4520 23da 9F4F sbci r25,hi8(-75) |
| 4521 23dc 04F4 brge .L405 |
| 4522 23de 8091 0000 lds r24,delay_neutral.6 |
| 4523 23e2 8F5F subi r24,lo8(-(1)) |
| 4524 23e4 8093 0000 sts delay_neutral.6,r24 |
| 4525 23e8 893C cpi r24,lo8(-55) |
| 4526 23ea 00F0 brlo .L387 |
| 4527 23ec 2093 0000 sts MotorenEin,r18 |
| 4528 23f0 2093 0000 sts delay_neutral.6,r18 |
| 4529 23f4 1092 0000 sts (modell_fliegt)+1,__zero_reg__ |
| 4530 23f8 1092 0000 sts modell_fliegt,__zero_reg__ |
| 4531 23fc 81E0 ldi r24,lo8(1) |
| 4532 23fe 0E94 0000 call SetNeutral |
| 4533 2402 81E0 ldi r24,lo8(1) |
| 4534 2404 8093 0000 sts CalibrationDone,r24 |
| 4535 .L888: |
| 4536 2408 88E1 ldi r24,lo8(24) |
| 4537 240a 8093 0000 sts SpeakHoTT,r24 |
| 4538 240e 0E94 0000 call GetActiveParamSet |
| 4539 2412 68E7 ldi r22,lo8(120) |
| 4540 2414 70E0 ldi r23,hi8(120) |
| 4541 2416 0E94 0000 call Piep |
| 4542 241a 00C0 rjmp .L387 |
| 4543 .L405: |
| 4544 241c 2093 0000 sts delay_neutral.6,r18 |
| 4545 .L387: |
| 4546 2420 8091 0000 lds r24,EE_Parameter+3 |
| 4547 2424 E82F mov r30,r24 |
| 4548 2426 FF27 clr r31 |
| 4549 2428 EE0F add r30,r30 |
| 4550 242a FF1F adc r31,r31 |
| 4551 242c E050 subi r30,lo8(-(PPM_in)) |
| 4552 242e F040 sbci r31,hi8(-(PPM_in)) |
| 4553 2430 8081 ld r24,Z |
| 4554 2432 9181 ldd r25,Z+1 |
| 4555 2434 8B5A subi r24,lo8(-85) |
| 4556 2436 9F4F sbci r25,hi8(-85) |
| 4557 2438 04F0 brlt .+2 |
| 4558 243a 00C0 rjmp .L408 |
| 4559 243c 2091 0000 lds r18,EE_Parameter+100 |
| 4560 2440 E22F mov r30,r18 |
| 4561 2442 FF27 clr r31 |
| 4562 2444 EF77 andi r30,lo8(127) |
| 4563 2446 F070 andi r31,hi8(127) |
| 4564 2448 EE0F add r30,r30 |
| 4565 244a FF1F adc r31,r31 |
| 4566 244c E050 subi r30,lo8(-(PPM_diff)) |
| 4567 244e F040 sbci r31,hi8(-(PPM_diff)) |
| 4568 2450 8081 ld r24,Z |
| 4569 2452 9181 ldd r25,Z+1 |
| 4570 2454 0697 sbiw r24,6 |
| 4571 2456 04F0 brlt .L409 |
| 4572 2458 84E6 ldi r24,lo8(100) |
| 4573 245a 00C0 rjmp .L889 |
| 4574 .L409: |
| 4575 245c 8081 ld r24,Z |
| 4576 245e 9181 ldd r25,Z+1 |
| 4577 2460 8B5F subi r24,lo8(-5) |
| 4578 2462 9F4F sbci r25,hi8(-5) |
| 4579 2464 04F4 brge .L410 |
| 4580 2466 8CE9 ldi r24,lo8(-100) |
| 4581 .L889: |
| 4582 2468 8093 0000 sts move_safety_switch.9,r24 |
| 4583 .L410: |
| 4584 246c 8091 0000 lds r24,MotorenEin |
| 4585 2470 E091 0000 lds r30,EE_Parameter+4 |
| 4586 2474 8823 tst r24 |
| 4587 2476 01F0 breq .+2 |
| 4588 2478 00C0 rjmp .L412 |
| 4589 247a FF27 clr r31 |
| 4590 247c EE0F add r30,r30 |
| 4591 247e FF1F adc r31,r31 |
| 4592 2480 E050 subi r30,lo8(-(PPM_in)) |
| 4593 2482 F040 sbci r31,hi8(-(PPM_in)) |
| 4594 2484 8081 ld r24,Z |
| 4595 2486 9181 ldd r25,Z+1 |
| 4596 2488 855B subi r24,lo8(-75) |
| 4597 248a 9F4F sbci r25,hi8(-75) |
| 4598 248c 04F4 brge .L415 |
| 4599 248e 8091 0000 lds r24,EE_Parameter+111 |
| 4600 2492 83FD sbrc r24,3 |
| 4601 2494 00C0 rjmp .L416 |
| 4602 2496 E22F mov r30,r18 |
| 4603 2498 FF27 clr r31 |
| 4604 249a EE0F add r30,r30 |
| 4605 249c FF1F adc r31,r31 |
| 4606 249e E050 subi r30,lo8(-(PPM_in)) |
| 4607 24a0 F040 sbci r31,hi8(-(PPM_in)) |
| 4608 24a2 8081 ld r24,Z |
| 4609 24a4 9181 ldd r25,Z+1 |
| 4610 24a6 855B subi r24,lo8(-75) |
| 4611 24a8 9F4F sbci r25,hi8(-75) |
| 4612 24aa 04F0 brlt .L414 |
| 4613 .L416: |
| 4614 24ac 8091 0000 lds r24,EE_Parameter+100 |
| 4615 24b0 8823 tst r24 |
| 4616 24b2 01F0 breq .L414 |
| 4617 .L415: |
| 4618 24b4 8091 0000 lds r24,EE_Parameter+111 |
| 4619 24b8 83FF sbrs r24,3 |
| 4620 24ba 00C0 rjmp .L413 |
| 4621 24bc 8091 0000 lds r24,EE_Parameter+100 |
| 4622 24c0 E82F mov r30,r24 |
| 4623 24c2 FF27 clr r31 |
| 4624 24c4 EE0F add r30,r30 |
| 4625 24c6 FF1F adc r31,r31 |
| 4626 24c8 E050 subi r30,lo8(-(PPM_in)) |
| 4627 24ca F040 sbci r31,hi8(-(PPM_in)) |
| 4628 24cc 8081 ld r24,Z |
| 4629 24ce 9181 ldd r25,Z+1 |
| 4630 24d0 875F subi r24,lo8(-9) |
| 4631 24d2 9F4F sbci r25,hi8(-9) |
| 4632 24d4 04F4 brge .+2 |
| 4633 24d6 00C0 rjmp .L413 |
| 4634 24d8 8091 0000 lds r24,move_safety_switch.9 |
| 4635 24dc 8436 cpi r24,lo8(100) |
| 4636 24de 01F0 breq .+2 |
| 4637 24e0 00C0 rjmp .L413 |
| 4638 .L414: |
| 4639 24e2 2091 0000 lds r18,CalibrationDone |
| 4640 24e6 2223 tst r18 |
| 4641 24e8 01F0 breq .L417 |
| 4642 24ea 8091 0000 lds r24,FC_StatusFlags |
| 4643 24ee 8860 ori r24,lo8(8) |
| 4644 24f0 8093 0000 sts FC_StatusFlags,r24 |
| 4645 .L417: |
| 4646 24f4 8091 0000 lds r24,delay_einschalten.7 |
| 4647 24f8 8F5F subi r24,lo8(-(1)) |
| 4648 24fa 8093 0000 sts delay_einschalten.7,r24 |
| 4649 24fe 8E3F cpi r24,lo8(-2) |
| 4650 2500 00F4 brsh .+2 |
| 4651 2502 00C0 rjmp .L423 |
| 4652 2504 1092 0000 sts delay_einschalten.7,__zero_reg__ |
| 4653 2508 8091 0000 lds r24,VersionInfo+5 |
| 4654 250c 8823 tst r24 |
| 4655 250e 01F0 breq .+2 |
| 4656 2510 00C0 rjmp .L419 |
| 4657 2512 2223 tst r18 |
| 4658 2514 01F4 brne .+2 |
| 4659 2516 00C0 rjmp .L419 |
| 4660 2518 8091 0000 lds r24,NC_ErrorCode |
| 4661 251c 8823 tst r24 |
| 4662 251e 01F0 breq .+2 |
| 4663 2520 00C0 rjmp .L419 |
| 4664 2522 81E0 ldi r24,lo8(1) |
| 4665 2524 90E0 ldi r25,hi8(1) |
| 4666 2526 9093 0000 sts (modell_fliegt)+1,r25 |
| 4667 252a 8093 0000 sts modell_fliegt,r24 |
| 4668 252e 81E0 ldi r24,lo8(1) |
| 4669 2530 8093 0000 sts MotorenEin,r24 |
| 4670 2534 1092 0000 sts sollGier.0,__zero_reg__ |
| 4671 2538 1092 0000 sts (sollGier.0)+1,__zero_reg__ |
| 4672 253c 1092 0000 sts (sollGier.0)+2,__zero_reg__ |
| 4673 2540 1092 0000 sts (sollGier.0)+3,__zero_reg__ |
| 4674 2544 1092 0000 sts Mess_Integral_Gier,__zero_reg__ |
| 4675 2548 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__ |
| 4676 254c 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__ |
| 4677 2550 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__ |
| 4678 2554 1092 0000 sts Mess_Integral_Gier2,__zero_reg__ |
| 4679 2558 1092 0000 sts (Mess_Integral_Gier2)+1,__zero_reg__ |
| 4680 255c 1092 0000 sts (Mess_Integral_Gier2)+2,__zero_reg__ |
| 4681 2560 1092 0000 sts (Mess_Integral_Gier2)+3,__zero_reg__ |
| 4682 2564 8091 0000 lds r24,EE_Parameter+28 |
| 4683 2568 E82E mov r14,r24 |
| 4684 256a FF24 clr r15 |
| 4685 256c 0027 clr r16 |
| 4686 256e 1127 clr r17 |
| 4687 2570 8091 0000 lds r24,Mittelwert_AccNick |
| 4688 2574 9091 0000 lds r25,(Mittelwert_AccNick)+1 |
| 4689 2578 9C01 movw r18,r24 |
| 4690 257a 4427 clr r20 |
| 4691 257c 37FD sbrc r19,7 |
| 4692 257e 4095 com r20 |
| 4693 2580 542F mov r21,r20 |
| 4694 2582 C801 movw r24,r16 |
| 4695 2584 B701 movw r22,r14 |
| 4696 2586 0E94 0000 call __mulsi3 |
| 4697 258a DC01 movw r26,r24 |
| 4698 258c CB01 movw r24,r22 |
| 4699 258e 8093 0000 sts Mess_IntegralNick,r24 |
| 4700 2592 9093 0000 sts (Mess_IntegralNick)+1,r25 |
| 4701 2596 A093 0000 sts (Mess_IntegralNick)+2,r26 |
| 4702 259a B093 0000 sts (Mess_IntegralNick)+3,r27 |
| 4703 259e 8091 0000 lds r24,Mittelwert_AccRoll |
| 4704 25a2 9091 0000 lds r25,(Mittelwert_AccRoll)+1 |
| 4705 25a6 9C01 movw r18,r24 |
| 4706 25a8 4427 clr r20 |
| 4707 25aa 37FD sbrc r19,7 |
| 4708 25ac 4095 com r20 |
| 4709 25ae 542F mov r21,r20 |
| 4710 25b0 C801 movw r24,r16 |
| 4711 25b2 B701 movw r22,r14 |
| 4712 25b4 0E94 0000 call __mulsi3 |
| 4713 25b8 DC01 movw r26,r24 |
| 4714 25ba CB01 movw r24,r22 |
| 4715 25bc 8093 0000 sts Mess_IntegralRoll,r24 |
| 4716 25c0 9093 0000 sts (Mess_IntegralRoll)+1,r25 |
| 4717 25c4 A093 0000 sts (Mess_IntegralRoll)+2,r26 |
| 4718 25c8 B093 0000 sts (Mess_IntegralRoll)+3,r27 |
| 4719 25cc 8091 0000 lds r24,IntegralNick |
| 4720 25d0 9091 0000 lds r25,(IntegralNick)+1 |
| 4721 25d4 A091 0000 lds r26,(IntegralNick)+2 |
| 4722 25d8 B091 0000 lds r27,(IntegralNick)+3 |
| 4723 25dc 8093 0000 sts Mess_IntegralNick2,r24 |
| 4724 25e0 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
| 4725 25e4 A093 0000 sts (Mess_IntegralNick2)+2,r26 |
| 4726 25e8 B093 0000 sts (Mess_IntegralNick2)+3,r27 |
| 4727 25ec 8091 0000 lds r24,IntegralRoll |
| 4728 25f0 9091 0000 lds r25,(IntegralRoll)+1 |
| 4729 25f4 A091 0000 lds r26,(IntegralRoll)+2 |
| 4730 25f8 B091 0000 lds r27,(IntegralRoll)+3 |
| 4731 25fc 8093 0000 sts Mess_IntegralRoll2,r24 |
| 4732 2600 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
| 4733 2604 A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
| 4734 2608 B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
| 4735 260c 1092 0000 sts SummeNick,__zero_reg__ |
| 4736 2610 1092 0000 sts (SummeNick)+1,__zero_reg__ |
| 4737 2614 1092 0000 sts (SummeNick)+2,__zero_reg__ |
| 4738 2618 1092 0000 sts (SummeNick)+3,__zero_reg__ |
| 4739 261c 1092 0000 sts SummeRoll,__zero_reg__ |
| 4740 2620 1092 0000 sts (SummeRoll)+1,__zero_reg__ |
| 4741 2624 1092 0000 sts (SummeRoll)+2,__zero_reg__ |
| 4742 2628 1092 0000 sts (SummeRoll)+3,__zero_reg__ |
| 4743 262c 84E6 ldi r24,lo8(100) |
| 4744 262e 8093 0000 sts NeueKompassRichtungMerken,r24 |
| 4745 2632 84E3 ldi r24,lo8(52) |
| 4746 2634 00C0 rjmp .L890 |
| 4747 .L419: |
| 4748 2636 8CED ldi r24,lo8(1500) |
| 4749 2638 95E0 ldi r25,hi8(1500) |
| 4750 263a 9093 0000 sts (beeptime)+1,r25 |
| 4751 263e 8093 0000 sts beeptime,r24 |
| 4752 2642 2223 tst r18 |
| 4753 2644 01F0 breq .+2 |
| 4754 2646 00C0 rjmp .L423 |
| 4755 2648 81E0 ldi r24,lo8(1) |
| 4756 264a 00C0 rjmp .L890 |
| 4757 .L413: |
| 4758 264c 1092 0000 sts delay_einschalten.7,__zero_reg__ |
| 4759 2650 00C0 rjmp .L423 |
| 4760 .L412: |
| 4761 2652 FF27 clr r31 |
| 4762 2654 EE0F add r30,r30 |
| 4763 2656 FF1F adc r31,r31 |
| 4764 2658 E050 subi r30,lo8(-(PPM_in)) |
| 4765 265a F040 sbci r31,hi8(-(PPM_in)) |
| 4766 265c 8081 ld r24,Z |
| 4767 265e 9181 ldd r25,Z+1 |
| 4768 2660 8C34 cpi r24,76 |
| 4769 2662 9105 cpc r25,__zero_reg__ |
| 4770 2664 04F0 brlt .L426 |
| 4771 2666 8091 0000 lds r24,EE_Parameter+111 |
| 4772 266a 83FD sbrc r24,3 |
| 4773 266c 00C0 rjmp .L427 |
| 4774 266e E22F mov r30,r18 |
| 4775 2670 FF27 clr r31 |
| 4776 2672 EE0F add r30,r30 |
| 4777 2674 FF1F adc r31,r31 |
| 4778 2676 E050 subi r30,lo8(-(PPM_in)) |
| 4779 2678 F040 sbci r31,hi8(-(PPM_in)) |
| 4780 267a 8081 ld r24,Z |
| 4781 267c 9181 ldd r25,Z+1 |
| 4782 267e 855B subi r24,lo8(-75) |
| 4783 2680 9F4F sbci r25,hi8(-75) |
| 4784 2682 04F0 brlt .L425 |
| 4785 .L427: |
| 4786 2684 8091 0000 lds r24,EE_Parameter+100 |
| 4787 2688 8823 tst r24 |
| 4788 268a 01F0 breq .L425 |
| 4789 .L426: |
| 4790 268c 8091 0000 lds r24,EE_Parameter+111 |
| 4791 2690 83FF sbrs r24,3 |
| 4792 2692 00C0 rjmp .L424 |
| 4793 2694 8091 0000 lds r24,EE_Parameter+100 |
| 4794 2698 E82F mov r30,r24 |
| 4795 269a FF27 clr r31 |
| 4796 269c EE0F add r30,r30 |
| 4797 269e FF1F adc r31,r31 |
| 4798 26a0 E050 subi r30,lo8(-(PPM_in)) |
| 4799 26a2 F040 sbci r31,hi8(-(PPM_in)) |
| 4800 26a4 8081 ld r24,Z |
| 4801 26a6 9181 ldd r25,Z+1 |
| 4802 26a8 8E5C subi r24,lo8(-50) |
| 4803 26aa 9F4F sbci r25,hi8(-50) |
| 4804 26ac 04F4 brge .L424 |
| 4805 26ae 8091 0000 lds r24,move_safety_switch.9 |
| 4806 26b2 8C39 cpi r24,lo8(-100) |
| 4807 26b4 01F4 brne .L424 |
| 4808 .L425: |
| 4809 26b6 8091 0000 lds r24,delay_ausschalten.8 |
| 4810 26ba 8F5F subi r24,lo8(-(1)) |
| 4811 26bc 8093 0000 sts delay_ausschalten.8,r24 |
| 4812 26c0 8B3F cpi r24,lo8(-5) |
| 4813 26c2 00F0 brlo .L423 |
| 4814 26c4 1092 0000 sts MotorenEin,__zero_reg__ |
| 4815 26c8 1092 0000 sts delay_ausschalten.8,__zero_reg__ |
| 4816 26cc 1092 0000 sts (modell_fliegt)+1,__zero_reg__ |
| 4817 26d0 1092 0000 sts modell_fliegt,__zero_reg__ |
| 4818 26d4 86E2 ldi r24,lo8(38) |
| 4819 .L890: |
| 4820 26d6 8093 0000 sts SpeakHoTT,r24 |
| 4821 26da 00C0 rjmp .L423 |
| 4822 .L424: |
| 4823 26dc 1092 0000 sts delay_ausschalten.8,__zero_reg__ |
| 4824 .L423: |
| 4825 26e0 8091 0000 lds r24,GasIsZeroCnt |
| 4826 26e4 9091 0000 lds r25,(GasIsZeroCnt)+1 |
| 4827 26e8 13E0 ldi r17,hi8(1000) |
| 4828 26ea 883E cpi r24,lo8(1000) |
| 4829 26ec 9107 cpc r25,r17 |
| 4830 26ee 00F4 brsh .L381 |
| 4831 26f0 0196 adiw r24,1 |
| 4832 26f2 9093 0000 sts (GasIsZeroCnt)+1,r25 |
| 4833 26f6 8093 0000 sts GasIsZeroCnt,r24 |
| 4834 26fa 00C0 rjmp .L381 |
| 4835 .L408: |
| 4836 26fc 1092 0000 sts move_safety_switch.9,__zero_reg__ |
| 4837 2700 1092 0000 sts (GasIsZeroCnt)+1,__zero_reg__ |
| 4838 2704 1092 0000 sts GasIsZeroCnt,__zero_reg__ |
| 4839 2708 00C0 rjmp .L381 |
| 4840 .L382: |
| 4841 270a 2E5E subi r18,lo8(750) |
| 4842 270c 3240 sbci r19,hi8(750) |
| 4843 270e 00F0 brlo .L381 |
| 4844 2710 8091 0000 lds r24,GPSInfo+4 |
| 4845 2714 9091 0000 lds r25,(GPSInfo+4)+1 |
| 4846 2718 8059 subi r24,lo8(400) |
| 4847 271a 9140 sbci r25,hi8(400) |
| 4848 271c 00F4 brsh .L381 |
| 4849 271e 8091 0000 lds r24,HoehenWert |
| 4850 2722 9091 0000 lds r25,(HoehenWert)+1 |
| 4851 2726 A091 0000 lds r26,(HoehenWert)+2 |
| 4852 272a B091 0000 lds r27,(HoehenWert)+3 |
| 4853 272e 8C5D subi r24,lo8(1500) |
| 4854 2730 9540 sbci r25,hi8(1500) |
| 4855 2732 A040 sbci r26,hlo8(1500) |
| 4856 2734 B040 sbci r27,hhi8(1500) |
| 4857 2736 04F4 brge .L381 |
| 4858 2738 80E3 ldi r24,lo8(30000) |
| 4859 273a 95E7 ldi r25,hi8(30000) |
| 4860 273c 9093 0000 sts (GasIsZeroCnt)+1,r25 |
| 4861 2740 8093 0000 sts GasIsZeroCnt,r24 |
| 4862 2744 8091 0000 lds r24,modell_fliegt |
| 4863 2748 9091 0000 lds r25,(modell_fliegt)+1 |
| 4864 274c 8A5E subi r24,lo8(1002) |
| 4865 274e 9340 sbci r25,hi8(1002) |
| 4866 2750 00F0 brlo .L381 |
| 4867 2752 89EE ldi r24,lo8(1001) |
| 4868 2754 93E0 ldi r25,hi8(1001) |
| 4869 2756 9093 0000 sts (modell_fliegt)+1,r25 |
| 4870 275a 8093 0000 sts modell_fliegt,r24 |
| 4871 .L381: |
| 4872 275e 8091 0000 lds r24,NewPpmData |
| 4873 2762 8150 subi r24,lo8(-(-1)) |
| 4874 2764 8093 0000 sts NewPpmData,r24 |
| 4875 2768 8091 0000 lds r24,NewPpmData |
| 4876 276c 8F3F cpi r24,lo8(-1) |
| 4877 276e 01F0 breq .L437 |
| 4878 2770 8091 0000 lds r24,FC_StatusFlags |
| 4879 2774 84FF sbrs r24,4 |
| 4880 2776 00C0 rjmp .L436 |
| 4881 .L437: |
| 4882 2778 0E94 0000 call ParameterZuordnung |
| 4883 277c B090 0000 lds r11,EE_Parameter+23 |
| 4884 2780 8091 0000 lds r24,stick_nick.12 |
| 4885 2784 9091 0000 lds r25,(stick_nick.12)+1 |
| 4886 2788 9C01 movw r18,r24 |
| 4887 278a 220F lsl r18 |
| 4888 278c 331F rol r19 |
| 4889 278e 280F add r18,r24 |
| 4890 2790 391F adc r19,r25 |
| 4891 2792 C090 0000 lds r12,EE_Parameter+1 |
| 4892 2796 AC2D mov r26,r12 |
| 4893 2798 BB27 clr r27 |
| 4894 279a AA0F add r26,r26 |
| 4895 279c BB1F adc r27,r27 |
| 4896 279e FD01 movw r30,r26 |
| 4897 27a0 E050 subi r30,lo8(-(PPM_in)) |
| 4898 27a2 F040 sbci r31,hi8(-(PPM_in)) |
| 4899 27a4 4B2D mov r20,r11 |
| 4900 27a6 5527 clr r21 |
| 4901 27a8 8081 ld r24,Z |
| 4902 27aa 9181 ldd r25,Z+1 |
| 4903 27ac 849F mul r24,r20 |
| 4904 27ae F001 movw r30,r0 |
| 4905 27b0 859F mul r24,r21 |
| 4906 27b2 F00D add r31,r0 |
| 4907 27b4 949F mul r25,r20 |
| 4908 27b6 F00D add r31,r0 |
| 4909 27b8 1124 clr r1 |
| 4910 27ba 2E0F add r18,r30 |
| 4911 27bc 3F1F adc r19,r31 |
| 4912 27be 37FF sbrs r19,7 |
| 4913 27c0 00C0 rjmp .L438 |
| 4914 27c2 2D5F subi r18,lo8(-(3)) |
| 4915 27c4 3F4F sbci r19,hi8(-(3)) |
| 4916 .L438: |
| 4917 27c6 B901 movw r22,r18 |
| 4918 27c8 7595 asr r23 |
| 4919 27ca 6795 ror r22 |
| 4920 27cc 7595 asr r23 |
| 4921 27ce 6795 ror r22 |
| 4922 27d0 A050 subi r26,lo8(-(PPM_diff)) |
| 4923 27d2 B040 sbci r27,hi8(-(PPM_diff)) |
| 4924 27d4 8091 0000 lds r24,EE_Parameter+24 |
| 4925 27d8 082F mov r16,r24 |
| 4926 27da 1127 clr r17 |
| 4927 27dc 8D91 ld r24,X+ |
| 4928 27de 9C91 ld r25,X |
| 4929 27e0 809F mul r24,r16 |
| 4930 27e2 7001 movw r14,r0 |
| 4931 27e4 819F mul r24,r17 |
| 4932 27e6 F00C add r15,r0 |
| 4933 27e8 909F mul r25,r16 |
| 4934 27ea F00C add r15,r0 |
| 4935 27ec 1124 clr r1 |
| 4936 27ee 6E0D add r22,r14 |
| 4937 27f0 7F1D adc r23,r15 |
| 4938 27f2 7093 0000 sts (stick_nick.12)+1,r23 |
| 4939 27f6 6093 0000 sts stick_nick.12,r22 |
| 4940 27fa 8091 0000 lds r24,stick_roll.13 |
| 4941 27fe 9091 0000 lds r25,(stick_roll.13)+1 |
| 4942 2802 9C01 movw r18,r24 |
| 4943 2804 220F lsl r18 |
| 4944 2806 331F rol r19 |
| 4945 2808 280F add r18,r24 |
| 4946 280a 391F adc r19,r25 |
| 4947 280c D090 0000 lds r13,EE_Parameter+2 |
| 4948 2810 AD2D mov r26,r13 |
| 4949 2812 BB27 clr r27 |
| 4950 2814 AA0F add r26,r26 |
| 4951 2816 BB1F adc r27,r27 |
| 4952 2818 FD01 movw r30,r26 |
| 4953 281a E050 subi r30,lo8(-(PPM_in)) |
| 4954 281c F040 sbci r31,hi8(-(PPM_in)) |
| 4955 281e 8081 ld r24,Z |
| 4956 2820 9181 ldd r25,Z+1 |
| 4957 2822 849F mul r24,r20 |
| 4958 2824 F001 movw r30,r0 |
| 4959 2826 859F mul r24,r21 |
| 4960 2828 F00D add r31,r0 |
| 4961 282a 949F mul r25,r20 |
| 4962 282c F00D add r31,r0 |
| 4963 282e 1124 clr r1 |
| 4964 2830 2E0F add r18,r30 |
| 4965 2832 3F1F adc r19,r31 |
| 4966 2834 37FF sbrs r19,7 |
| 4967 2836 00C0 rjmp .L439 |
| 4968 2838 2D5F subi r18,lo8(-(3)) |
| 4969 283a 3F4F sbci r19,hi8(-(3)) |
| 4970 .L439: |
| 4971 283c A901 movw r20,r18 |
| 4972 283e 5595 asr r21 |
| 4973 2840 4795 ror r20 |
| 4974 2842 5595 asr r21 |
| 4975 2844 4795 ror r20 |
| 4976 2846 A050 subi r26,lo8(-(PPM_diff)) |
| 4977 2848 B040 sbci r27,hi8(-(PPM_diff)) |
| 4978 284a 8D91 ld r24,X+ |
| 4979 284c 9C91 ld r25,X |
| 4980 284e 809F mul r24,r16 |
| 4981 2850 7001 movw r14,r0 |
| 4982 2852 819F mul r24,r17 |
| 4983 2854 F00C add r15,r0 |
| 4984 2856 909F mul r25,r16 |
| 4985 2858 F00C add r15,r0 |
| 4986 285a 1124 clr r1 |
| 4987 285c 4E0D add r20,r14 |
| 4988 285e 5F1D adc r21,r15 |
| 4989 2860 5093 0000 sts (stick_roll.13)+1,r21 |
| 4990 2864 4093 0000 sts stick_roll.13,r20 |
| 4991 2868 8091 0000 lds r24,CareFree |
| 4992 286c 8823 tst r24 |
| 4993 286e 01F4 brne .+2 |
| 4994 2870 00C0 rjmp .L440 |
| 4995 2872 CB01 movw r24,r22 |
| 4996 2874 77FD sbrc r23,7 |
| 4997 2876 0396 adiw r24,3 |
| 4998 .L441: |
| 4999 2878 DC01 movw r26,r24 |
| 5000 287a B595 asr r27 |
| 5001 287c A795 ror r26 |
| 5002 287e B595 asr r27 |
| 5003 2880 A795 ror r26 |
| 5004 2882 CA01 movw r24,r20 |
| 5005 2884 57FD sbrc r21,7 |
| 5006 2886 0396 adiw r24,3 |
| 5007 .L442: |
| 5008 2888 FC01 movw r30,r24 |
| 5009 288a F595 asr r31 |
| 5010 288c E795 ror r30 |
| 5011 288e F595 asr r31 |
| 5012 2890 E795 ror r30 |
| 5013 2892 8091 0000 lds r24,FromNC_Rotate_C |
| 5014 2896 682F mov r22,r24 |
| 5015 2898 7727 clr r23 |
| 5016 289a 67FD sbrc r22,7 |
| 5017 289c 7095 com r23 |
| 5018 289e 6A9F mul r22,r26 |
| 5019 28a0 9001 movw r18,r0 |
| 5020 28a2 6B9F mul r22,r27 |
| 5021 28a4 300D add r19,r0 |
| 5022 28a6 7A9F mul r23,r26 |
| 5023 28a8 300D add r19,r0 |
| 5024 28aa 1124 clr r1 |
| 5025 28ac 8091 0000 lds r24,FromNC_Rotate_S |
| 5026 28b0 482F mov r20,r24 |
| 5027 28b2 5527 clr r21 |
| 5028 28b4 47FD sbrc r20,7 |
| 5029 28b6 5095 com r21 |
| 5030 28b8 4E9F mul r20,r30 |
| 5031 28ba C001 movw r24,r0 |
| 5032 28bc 4F9F mul r20,r31 |
| 5033 28be 900D add r25,r0 |
| 5034 28c0 5E9F mul r21,r30 |
| 5035 28c2 900D add r25,r0 |
| 5036 28c4 1124 clr r1 |
| 5037 28c6 280F add r18,r24 |
| 5038 28c8 391F adc r19,r25 |
| 5039 28ca 37FF sbrs r19,7 |
| 5040 28cc 00C0 rjmp .L443 |
| 5041 28ce 295F subi r18,lo8(-(7)) |
| 5042 28d0 3F4F sbci r19,hi8(-(7)) |
| 5043 .L443: |
| 5044 28d2 93E0 ldi r25,3 |
| 5045 28d4 3595 1: asr r19 |
| 5046 28d6 2795 ror r18 |
| 5047 28d8 9A95 dec r25 |
| 5048 28da 01F4 brne 1b |
| 5049 28dc 3093 0000 sts (StickNick)+1,r19 |
| 5050 28e0 2093 0000 sts StickNick,r18 |
| 5051 28e4 6E9F mul r22,r30 |
| 5052 28e6 9001 movw r18,r0 |
| 5053 28e8 6F9F mul r22,r31 |
| 5054 28ea 300D add r19,r0 |
| 5055 28ec 7E9F mul r23,r30 |
| 5056 28ee 300D add r19,r0 |
| 5057 28f0 1124 clr r1 |
| 5058 28f2 4A9F mul r20,r26 |
| 5059 28f4 C001 movw r24,r0 |
| 5060 28f6 4B9F mul r20,r27 |
| 5061 28f8 900D add r25,r0 |
| 5062 28fa 5A9F mul r21,r26 |
| 5063 28fc 900D add r25,r0 |
| 5064 28fe 1124 clr r1 |
| 5065 2900 00C0 rjmp .L919 |
| 5066 .L440: |
| 5067 2902 8091 0000 lds r24,EE_Parameter+98 |
| 5068 2906 E82F mov r30,r24 |
| 5069 2908 FF27 clr r31 |
| 5070 290a E050 subi r30,lo8(-(sintab)) |
| 5071 290c F040 sbci r31,hi8(-(sintab)) |
| 5072 290e 8681 ldd r24,Z+6 |
| 5073 2910 8093 0000 sts FromNC_Rotate_C,r24 |
| 5074 2914 9081 ld r25,Z |
| 5075 2916 9093 0000 sts FromNC_Rotate_S,r25 |
| 5076 291a A82F mov r26,r24 |
| 5077 291c BB27 clr r27 |
| 5078 291e A7FD sbrc r26,7 |
| 5079 2920 B095 com r27 |
| 5080 2922 A69F mul r26,r22 |
| 5081 2924 9001 movw r18,r0 |
| 5082 2926 A79F mul r26,r23 |
| 5083 2928 300D add r19,r0 |
| 5084 292a B69F mul r27,r22 |
| 5085 292c 300D add r19,r0 |
| 5086 292e 1124 clr r1 |
| 5087 2930 E92F mov r30,r25 |
| 5088 2932 FF27 clr r31 |
| 5089 2934 E7FD sbrc r30,7 |
| 5090 2936 F095 com r31 |
| 5091 2938 E49F mul r30,r20 |
| 5092 293a C001 movw r24,r0 |
| 5093 293c E59F mul r30,r21 |
| 5094 293e 900D add r25,r0 |
| 5095 2940 F49F mul r31,r20 |
| 5096 2942 900D add r25,r0 |
| 5097 2944 1124 clr r1 |
| 5098 2946 280F add r18,r24 |
| 5099 2948 391F adc r19,r25 |
| 5100 294a 37FF sbrs r19,7 |
| 5101 294c 00C0 rjmp .L446 |
| 5102 294e 295F subi r18,lo8(-(7)) |
| 5103 2950 3F4F sbci r19,hi8(-(7)) |
| 5104 .L446: |
| 5105 2952 83E0 ldi r24,3 |
| 5106 2954 3595 1: asr r19 |
| 5107 2956 2795 ror r18 |
| 5108 2958 8A95 dec r24 |
| 5109 295a 01F4 brne 1b |
| 5110 295c 3093 0000 sts (StickNick)+1,r19 |
| 5111 2960 2093 0000 sts StickNick,r18 |
| 5112 2964 A49F mul r26,r20 |
| 5113 2966 9001 movw r18,r0 |
| 5114 2968 A59F mul r26,r21 |
| 5115 296a 300D add r19,r0 |
| 5116 296c B49F mul r27,r20 |
| 5117 296e 300D add r19,r0 |
| 5118 2970 1124 clr r1 |
| 5119 2972 E69F mul r30,r22 |
| 5120 2974 C001 movw r24,r0 |
| 5121 2976 E79F mul r30,r23 |
| 5122 2978 900D add r25,r0 |
| 5123 297a F69F mul r31,r22 |
| 5124 297c 900D add r25,r0 |
| 5125 297e 1124 clr r1 |
| 5126 .L919: |
| 5127 2980 281B sub r18,r24 |
| 5128 2982 390B sbc r19,r25 |
| 5129 2984 37FF sbrs r19,7 |
| 5130 2986 00C0 rjmp .L447 |
| 5131 2988 295F subi r18,lo8(-(7)) |
| 5132 298a 3F4F sbci r19,hi8(-(7)) |
| 5133 .L447: |
| 5134 298c 03E0 ldi r16,3 |
| 5135 298e 3595 1: asr r19 |
| 5136 2990 2795 ror r18 |
| 5137 2992 0A95 dec r16 |
| 5138 2994 01F4 brne 1b |
| 5139 2996 3093 0000 sts (StickRoll)+1,r19 |
| 5140 299a 2093 0000 sts StickRoll,r18 |
| 5141 299e 8091 0000 lds r24,EE_Parameter+4 |
| 5142 29a2 E82F mov r30,r24 |
| 5143 29a4 FF27 clr r31 |
| 5144 29a6 EE0F add r30,r30 |
| 5145 29a8 FF1F adc r31,r31 |
| 5146 29aa E050 subi r30,lo8(-(PPM_in)) |
| 5147 29ac F040 sbci r31,hi8(-(PPM_in)) |
| 5148 29ae 8081 ld r24,Z |
| 5149 29b0 9181 ldd r25,Z+1 |
| 5150 29b2 9095 com r25 |
| 5151 29b4 8195 neg r24 |
| 5152 29b6 9F4F sbci r25,lo8(-1) |
| 5153 29b8 9093 0000 sts (StickGier)+1,r25 |
| 5154 29bc 8093 0000 sts StickGier,r24 |
| 5155 29c0 8530 cpi r24,5 |
| 5156 29c2 9105 cpc r25,__zero_reg__ |
| 5157 29c4 04F0 brlt .L448 |
| 5158 29c6 0497 sbiw r24,4 |
| 5159 29c8 00C0 rjmp .L891 |
| 5160 .L448: |
| 5161 29ca 0FEF ldi r16,hi8(-4) |
| 5162 29cc 8C3F cpi r24,lo8(-4) |
| 5163 29ce 9007 cpc r25,r16 |
| 5164 29d0 04F4 brge .L450 |
| 5165 29d2 0496 adiw r24,4 |
| 5166 .L891: |
| 5167 29d4 9093 0000 sts (StickGier)+1,r25 |
| 5168 29d8 8093 0000 sts StickGier,r24 |
| 5169 29dc 00C0 rjmp .L449 |
| 5170 .L450: |
| 5171 29de 1092 0000 sts (StickGier)+1,__zero_reg__ |
| 5172 29e2 1092 0000 sts StickGier,__zero_reg__ |
| 5173 .L449: |
| 5174 29e6 8091 0000 lds r24,GPS_Aid_StickMultiplikator |
| 5175 29ea 8823 tst r24 |
| 5176 29ec 01F4 brne .+2 |
| 5177 29ee 00C0 rjmp .L452 |
| 5178 29f0 282F mov r18,r24 |
| 5179 29f2 3327 clr r19 |
| 5180 29f4 8091 0000 lds r24,StickNick |
| 5181 29f8 9091 0000 lds r25,(StickNick)+1 |
| 5182 29fc 97FD sbrc r25,7 |
| 5183 29fe 0796 adiw r24,7 |
| 5184 .L453: |
| 5185 2a00 13E0 ldi r17,3 |
| 5186 2a02 9595 1: asr r25 |
| 5187 2a04 8795 ror r24 |
| 5188 2a06 1A95 dec r17 |
| 5189 2a08 01F4 brne 1b |
| 5190 2a0a 289F mul r18,r24 |
| 5191 2a0c A001 movw r20,r0 |
| 5192 2a0e 299F mul r18,r25 |
| 5193 2a10 500D add r21,r0 |
| 5194 2a12 389F mul r19,r24 |
| 5195 2a14 500D add r21,r0 |
| 5196 2a16 1124 clr r1 |
| 5197 2a18 CA01 movw r24,r20 |
| 5198 2a1a 57FD sbrc r21,7 |
| 5199 2a1c 0F96 adiw r24,15 |
| 5200 .L454: |
| 5201 2a1e B4E0 ldi r27,4 |
| 5202 2a20 9595 1: asr r25 |
| 5203 2a22 8795 ror r24 |
| 5204 2a24 BA95 dec r27 |
| 5205 2a26 01F4 brne 1b |
| 5206 2a28 9093 0000 sts (StickNick)+1,r25 |
| 5207 2a2c 8093 0000 sts StickNick,r24 |
| 5208 2a30 8091 0000 lds r24,StickRoll |
| 5209 2a34 9091 0000 lds r25,(StickRoll)+1 |
| 5210 2a38 97FD sbrc r25,7 |
| 5211 2a3a 0796 adiw r24,7 |
| 5212 .L455: |
| 5213 2a3c A3E0 ldi r26,3 |
| 5214 2a3e 9595 1: asr r25 |
| 5215 2a40 8795 ror r24 |
| 5216 2a42 AA95 dec r26 |
| 5217 2a44 01F4 brne 1b |
| 5218 2a46 289F mul r18,r24 |
| 5219 2a48 B001 movw r22,r0 |
| 5220 2a4a 299F mul r18,r25 |
| 5221 2a4c 700D add r23,r0 |
| 5222 2a4e 389F mul r19,r24 |
| 5223 2a50 700D add r23,r0 |
| 5224 2a52 1124 clr r1 |
| 5225 2a54 CB01 movw r24,r22 |
| 5226 2a56 77FD sbrc r23,7 |
| 5227 2a58 0F96 adiw r24,15 |
| 5228 .L456: |
| 5229 2a5a F4E0 ldi r31,4 |
| 5230 2a5c 9595 1: asr r25 |
| 5231 2a5e 8795 ror r24 |
| 5232 2a60 FA95 dec r31 |
| 5233 2a62 01F4 brne 1b |
| 5234 2a64 9093 0000 sts (StickRoll)+1,r25 |
| 5235 2a68 8093 0000 sts StickRoll,r24 |
| 5236 .L452: |
| 5237 2a6c 8090 0000 lds r8,StickNick |
| 5238 2a70 9090 0000 lds r9,(StickNick)+1 |
| 5239 2a74 8091 0000 lds r24,GPS_Nick |
| 5240 2a78 9091 0000 lds r25,(GPS_Nick)+1 |
| 5241 2a7c 881A sub r8,r24 |
| 5242 2a7e 990A sbc r9,r25 |
| 5243 2a80 9092 0000 sts (StickNick)+1,r9 |
| 5244 2a84 8092 0000 sts StickNick,r8 |
| 5245 2a88 0091 0000 lds r16,StickRoll |
| 5246 2a8c 1091 0000 lds r17,(StickRoll)+1 |
| 5247 2a90 8091 0000 lds r24,GPS_Roll |
| 5248 2a94 9091 0000 lds r25,(GPS_Roll)+1 |
| 5249 2a98 081B sub r16,r24 |
| 5250 2a9a 190B sbc r17,r25 |
| 5251 2a9c 1093 0000 sts (StickRoll)+1,r17 |
| 5252 2aa0 0093 0000 sts StickRoll,r16 |
| 5253 2aa4 8091 0000 lds r24,EE_Parameter+3 |
| 5254 2aa8 E82F mov r30,r24 |
| 5255 2aaa FF27 clr r31 |
| 5256 2aac EE0F add r30,r30 |
| 5257 2aae FF1F adc r31,r31 |
| 5258 2ab0 E050 subi r30,lo8(-(PPM_in)) |
| 5259 2ab2 F040 sbci r31,hi8(-(PPM_in)) |
| 5260 2ab4 E080 ld r14,Z |
| 5261 2ab6 F180 ldd r15,Z+1 |
| 5262 2ab8 8FE7 ldi r24,lo8(127) |
| 5263 2aba 90E0 ldi r25,hi8(127) |
| 5264 2abc E80E add r14,r24 |
| 5265 2abe F91E adc r15,r25 |
| 5266 2ac0 F092 0000 sts (StickGas)+1,r15 |
| 5267 2ac4 E092 0000 sts StickGas,r14 |
| 5268 2ac8 8091 0000 lds r24,Parameter_Gyro_P |
| 5269 2acc 9927 clr r25 |
| 5270 2ace AA27 clr r26 |
| 5271 2ad0 97FD sbrc r25,7 |
| 5272 2ad2 A095 com r26 |
| 5273 2ad4 BA2F mov r27,r26 |
| 5274 2ad6 BC01 movw r22,r24 |
| 5275 2ad8 CD01 movw r24,r26 |
| 5276 2ada 0E94 0000 call __floatsisf |
| 5277 2ade DC01 movw r26,r24 |
| 5278 2ae0 CB01 movw r24,r22 |
| 5279 2ae2 20E0 ldi r18,lo8(0x41200000) |
| 5280 2ae4 30E0 ldi r19,hi8(0x41200000) |
| 5281 2ae6 40E2 ldi r20,hlo8(0x41200000) |
| 5282 2ae8 51E4 ldi r21,hhi8(0x41200000) |
| 5283 2aea BC01 movw r22,r24 |
| 5284 2aec CD01 movw r24,r26 |
| 5285 2aee 0E94 0000 call __addsf3 |
| 5286 2af2 DC01 movw r26,r24 |
| 5287 2af4 CB01 movw r24,r22 |
| 5288 2af6 BC01 movw r22,r24 |
| 5289 2af8 CD01 movw r24,r26 |
| 5290 2afa 0E94 0000 call __fixunssfsi |
| 5291 2afe DC01 movw r26,r24 |
| 5292 2b00 CB01 movw r24,r22 |
| 5293 2b02 8093 0000 sts GyroFaktor,r24 |
| 5294 2b06 8091 0000 lds r24,Parameter_Gyro_I |
| 5295 2b0a 8093 0000 sts IntegralFaktor,r24 |
| 5296 2b0e 8091 0000 lds r24,Parameter_Gyro_Gier_P |
| 5297 2b12 9927 clr r25 |
| 5298 2b14 AA27 clr r26 |
| 5299 2b16 97FD sbrc r25,7 |
| 5300 2b18 A095 com r26 |
| 5301 2b1a BA2F mov r27,r26 |
| 5302 2b1c BC01 movw r22,r24 |
| 5303 2b1e CD01 movw r24,r26 |
| 5304 2b20 0E94 0000 call __floatsisf |
| 5305 2b24 DC01 movw r26,r24 |
| 5306 2b26 CB01 movw r24,r22 |
| 5307 2b28 20E0 ldi r18,lo8(0x41200000) |
| 5308 2b2a 30E0 ldi r19,hi8(0x41200000) |
| 5309 2b2c 40E2 ldi r20,hlo8(0x41200000) |
| 5310 2b2e 51E4 ldi r21,hhi8(0x41200000) |
| 5311 2b30 BC01 movw r22,r24 |
| 5312 2b32 CD01 movw r24,r26 |
| 5313 2b34 0E94 0000 call __addsf3 |
| 5314 2b38 DC01 movw r26,r24 |
| 5315 2b3a CB01 movw r24,r22 |
| 5316 2b3c BC01 movw r22,r24 |
| 5317 2b3e CD01 movw r24,r26 |
| 5318 2b40 0E94 0000 call __fixunssfsi |
| 5319 2b44 DC01 movw r26,r24 |
| 5320 2b46 CB01 movw r24,r22 |
| 5321 2b48 8093 0000 sts GyroFaktorGier,r24 |
| 5322 2b4c 8091 0000 lds r24,Parameter_Gyro_Gier_I |
| 5323 2b50 8093 0000 sts IntegralFaktorGier,r24 |
| 5324 2b54 8091 0000 lds r24,ExternControl+10 |
| 5325 2b58 80FF sbrs r24,0 |
| 5326 2b5a 00C0 rjmp .L457 |
| 5327 2b5c 8091 0000 lds r24,Parameter_ExternalControl |
| 5328 2b60 8138 cpi r24,lo8(-127) |
| 5329 2b62 00F4 brsh .+2 |
| 5330 2b64 00C0 rjmp .L457 |
| 5331 2b66 8091 0000 lds r24,ExternControl+3 |
| 5332 2b6a 9927 clr r25 |
| 5333 2b6c 87FD sbrc r24,7 |
| 5334 2b6e 9095 com r25 |
| 5335 2b70 2B2D mov r18,r11 |
| 5336 2b72 3327 clr r19 |
| 5337 2b74 829F mul r24,r18 |
| 5338 2b76 D001 movw r26,r0 |
| 5339 2b78 839F mul r24,r19 |
| 5340 2b7a B00D add r27,r0 |
| 5341 2b7c 929F mul r25,r18 |
| 5342 2b7e B00D add r27,r0 |
| 5343 2b80 1124 clr r1 |
| 5344 2b82 8A0E add r8,r26 |
| 5345 2b84 9B1E adc r9,r27 |
| 5346 2b86 9092 0000 sts (StickNick)+1,r9 |
| 5347 2b8a 8092 0000 sts StickNick,r8 |
| 5348 2b8e 8091 0000 lds r24,ExternControl+4 |
| 5349 2b92 9927 clr r25 |
| 5350 2b94 87FD sbrc r24,7 |
| 5351 2b96 9095 com r25 |
| 5352 2b98 829F mul r24,r18 |
| 5353 2b9a F001 movw r30,r0 |
| 5354 2b9c 839F mul r24,r19 |
| 5355 2b9e F00D add r31,r0 |
| 5356 2ba0 929F mul r25,r18 |
| 5357 2ba2 F00D add r31,r0 |
| 5358 2ba4 1124 clr r1 |
| 5359 2ba6 0E0F add r16,r30 |
| 5360 2ba8 1F1F adc r17,r31 |
| 5361 2baa 1093 0000 sts (StickRoll)+1,r17 |
| 5362 2bae 0093 0000 sts StickRoll,r16 |
| 5363 2bb2 8091 0000 lds r24,ExternControl+5 |
| 5364 2bb6 282F mov r18,r24 |
| 5365 2bb8 3327 clr r19 |
| 5366 2bba 27FD sbrc r18,7 |
| 5367 2bbc 3095 com r19 |
| 5368 2bbe 8091 0000 lds r24,StickGier |
| 5369 2bc2 9091 0000 lds r25,(StickGier)+1 |
| 5370 2bc6 820F add r24,r18 |
| 5371 2bc8 931F adc r25,r19 |
| 5372 2bca 9093 0000 sts (StickGier)+1,r25 |
| 5373 2bce 8093 0000 sts StickGier,r24 |
| 5374 2bd2 8091 0000 lds r24,ExternControl+7 |
| 5375 2bd6 282F mov r18,r24 |
| 5376 2bd8 3327 clr r19 |
| 5377 2bda 27FD sbrc r18,7 |
| 5378 2bdc 3095 com r19 |
| 5379 2bde 8091 0000 lds r24,EE_Parameter+18 |
| 5380 2be2 9927 clr r25 |
| 5381 2be4 289F mul r18,r24 |
| 5382 2be6 8001 movw r16,r0 |
| 5383 2be8 299F mul r18,r25 |
| 5384 2bea 100D add r17,r0 |
| 5385 2bec 389F mul r19,r24 |
| 5386 2bee 100D add r17,r0 |
| 5387 2bf0 1124 clr r1 |
| 5388 2bf2 1093 0000 sts (ExternHoehenValue)+1,r17 |
| 5389 2bf6 0093 0000 sts ExternHoehenValue,r16 |
| 5390 2bfa 8091 0000 lds r24,ExternControl+6 |
| 5391 2bfe 9927 clr r25 |
| 5392 2c00 8E15 cp r24,r14 |
| 5393 2c02 9F05 cpc r25,r15 |
| 5394 2c04 04F4 brge .L457 |
| 5395 2c06 9093 0000 sts (StickGas)+1,r25 |
| 5396 2c0a 8093 0000 sts StickGas,r24 |
| 5397 .L457: |
| 5398 2c0e 8091 0000 lds r24,StickGas |
| 5399 2c12 9091 0000 lds r25,(StickGas)+1 |
| 5400 2c16 97FF sbrs r25,7 |
| 5401 2c18 00C0 rjmp .L459 |
| 5402 2c1a 1092 0000 sts (StickGas)+1,__zero_reg__ |
| 5403 2c1e 1092 0000 sts StickGas,__zero_reg__ |
| 5404 .L459: |
| 5405 2c22 8091 0000 lds r24,Parameter_GlobalConfig |
| 5406 2c26 82FF sbrs r24,2 |
| 5407 2c28 00C0 rjmp .L460 |
| 5408 2c2a 1092 0000 sts IntegralFaktor,__zero_reg__ |
| 5409 .L460: |
| 5410 2c2e 4091 0000 lds r20,StickNick |
| 5411 2c32 5091 0000 lds r21,(StickNick)+1 |
| 5412 2c36 CA01 movw r24,r20 |
| 5413 2c38 57FD sbrc r21,7 |
| 5414 2c3a 0396 adiw r24,3 |
| 5415 .L462: |
| 5416 2c3c 9C01 movw r18,r24 |
| 5417 2c3e 3595 asr r19 |
| 5418 2c40 2795 ror r18 |
| 5419 2c42 3595 asr r19 |
| 5420 2c44 2795 ror r18 |
| 5421 2c46 37FF sbrs r19,7 |
| 5422 2c48 00C0 rjmp .L463 |
| 5423 2c4a 3095 com r19 |
| 5424 2c4c 2195 neg r18 |
| 5425 2c4e 3F4F sbci r19,lo8(-1) |
| 5426 .L463: |
| 5427 2c50 8091 0000 lds r24,MaxStickNick |
| 5428 2c54 9091 0000 lds r25,(MaxStickNick)+1 |
| 5429 2c58 8217 cp r24,r18 |
| 5430 2c5a 9307 cpc r25,r19 |
| 5431 2c5c 04F4 brge .L461 |
| 5432 2c5e CA01 movw r24,r20 |
| 5433 2c60 57FF sbrs r21,7 |
| 5434 2c62 00C0 rjmp .L464 |
| 5435 2c64 9095 com r25 |
| 5436 2c66 8195 neg r24 |
| 5437 2c68 9F4F sbci r25,lo8(-1) |
| 5438 .L464: |
| 5439 2c6a 97FD sbrc r25,7 |
| 5440 2c6c 0396 adiw r24,3 |
| 5441 .L465: |
| 5442 2c6e 9595 asr r25 |
| 5443 2c70 8795 ror r24 |
| 5444 2c72 9595 asr r25 |
| 5445 2c74 8795 ror r24 |
| 5446 2c76 9093 0000 sts (MaxStickNick)+1,r25 |
| 5447 2c7a 8093 0000 sts MaxStickNick,r24 |
| 5448 2c7e 8536 cpi r24,101 |
| 5449 2c80 9105 cpc r25,__zero_reg__ |
| 5450 2c82 04F0 brlt .L467 |
| 5451 2c84 84E6 ldi r24,lo8(100) |
| 5452 2c86 90E0 ldi r25,hi8(100) |
| 5453 2c88 00C0 rjmp .L892 |
| 5454 .L461: |
| 5455 2c8a 0197 sbiw r24,1 |
| 5456 .L892: |
| 5457 2c8c 9093 0000 sts (MaxStickNick)+1,r25 |
| 5458 2c90 8093 0000 sts MaxStickNick,r24 |
| 5459 .L467: |
| 5460 2c94 4091 0000 lds r20,StickRoll |
| 5461 2c98 5091 0000 lds r21,(StickRoll)+1 |
| 5462 2c9c CA01 movw r24,r20 |
| 5463 2c9e 57FD sbrc r21,7 |
| 5464 2ca0 0396 adiw r24,3 |
| 5465 .L469: |
| 5466 2ca2 9C01 movw r18,r24 |
| 5467 2ca4 3595 asr r19 |
| 5468 2ca6 2795 ror r18 |
| 5469 2ca8 3595 asr r19 |
| 5470 2caa 2795 ror r18 |
| 5471 2cac 37FF sbrs r19,7 |
| 5472 2cae 00C0 rjmp .L470 |
| 5473 2cb0 3095 com r19 |
| 5474 2cb2 2195 neg r18 |
| 5475 2cb4 3F4F sbci r19,lo8(-1) |
| 5476 .L470: |
| 5477 2cb6 8091 0000 lds r24,MaxStickRoll |
| 5478 2cba 9091 0000 lds r25,(MaxStickRoll)+1 |
| 5479 2cbe 8217 cp r24,r18 |
| 5480 2cc0 9307 cpc r25,r19 |
| 5481 2cc2 04F4 brge .L468 |
| 5482 2cc4 CA01 movw r24,r20 |
| 5483 2cc6 57FF sbrs r21,7 |
| 5484 2cc8 00C0 rjmp .L471 |
| 5485 2cca 9095 com r25 |
| 5486 2ccc 8195 neg r24 |
| 5487 2cce 9F4F sbci r25,lo8(-1) |
| 5488 .L471: |
| 5489 2cd0 97FD sbrc r25,7 |
| 5490 2cd2 0396 adiw r24,3 |
| 5491 .L472: |
| 5492 2cd4 9595 asr r25 |
| 5493 2cd6 8795 ror r24 |
| 5494 2cd8 9595 asr r25 |
| 5495 2cda 8795 ror r24 |
| 5496 2cdc 9093 0000 sts (MaxStickRoll)+1,r25 |
| 5497 2ce0 8093 0000 sts MaxStickRoll,r24 |
| 5498 2ce4 8536 cpi r24,101 |
| 5499 2ce6 9105 cpc r25,__zero_reg__ |
| 5500 2ce8 04F0 brlt .L474 |
| 5501 2cea 84E6 ldi r24,lo8(100) |
| 5502 2cec 90E0 ldi r25,hi8(100) |
| 5503 2cee 00C0 rjmp .L893 |
| 5504 .L468: |
| 5505 2cf0 0197 sbiw r24,1 |
| 5506 .L893: |
| 5507 2cf2 9093 0000 sts (MaxStickRoll)+1,r25 |
| 5508 2cf6 8093 0000 sts MaxStickRoll,r24 |
| 5509 .L474: |
| 5510 2cfa 8091 0000 lds r24,FC_StatusFlags |
| 5511 2cfe 84FF sbrs r24,4 |
| 5512 2d00 00C0 rjmp .L475 |
| 5513 2d02 1092 0000 sts (MaxStickNick)+1,__zero_reg__ |
| 5514 2d06 1092 0000 sts MaxStickNick,__zero_reg__ |
| 5515 2d0a 1092 0000 sts (MaxStickRoll)+1,__zero_reg__ |
| 5516 2d0e 1092 0000 sts MaxStickRoll,__zero_reg__ |
| 5517 .L475: |
| 5518 2d12 ED2D mov r30,r13 |
| 5519 2d14 FF27 clr r31 |
| 5520 2d16 EE0F add r30,r30 |
| 5521 2d18 FF1F adc r31,r31 |
| 5522 2d1a E050 subi r30,lo8(-(PPM_in)) |
| 5523 2d1c F040 sbci r31,hi8(-(PPM_in)) |
| 5524 2d1e 4091 0000 lds r20,EE_Parameter+60 |
| 5525 2d22 242F mov r18,r20 |
| 5526 2d24 3327 clr r19 |
| 5527 2d26 8081 ld r24,Z |
| 5528 2d28 9181 ldd r25,Z+1 |
| 5529 2d2a 2817 cp r18,r24 |
| 5530 2d2c 3907 cpc r19,r25 |
| 5531 2d2e 04F4 brge .L476 |
| 5532 2d30 8091 0000 lds r24,EE_Parameter+108 |
| 5533 2d34 82FF sbrs r24,2 |
| 5534 2d36 00C0 rjmp .L476 |
| 5535 2d38 81E0 ldi r24,lo8(1) |
| 5536 2d3a 8093 0000 sts Looping_Links,r24 |
| 5537 2d3e 00C0 rjmp .L477 |
| 5538 .L476: |
| 5539 2d40 ED2D mov r30,r13 |
| 5540 2d42 FF27 clr r31 |
| 5541 2d44 EE0F add r30,r30 |
| 5542 2d46 FF1F adc r31,r31 |
| 5543 2d48 E050 subi r30,lo8(-(PPM_in)) |
| 5544 2d4a F040 sbci r31,hi8(-(PPM_in)) |
| 5545 2d4c 842F mov r24,r20 |
| 5546 2d4e 9927 clr r25 |
| 5547 2d50 2091 0000 lds r18,EE_Parameter+61 |
| 5548 2d54 821B sub r24,r18 |
| 5549 2d56 9109 sbc r25,__zero_reg__ |
| 5550 2d58 2081 ld r18,Z |
| 5551 2d5a 3181 ldd r19,Z+1 |
| 5552 2d5c 2817 cp r18,r24 |
| 5553 2d5e 3907 cpc r19,r25 |
| 5554 2d60 04F4 brge .L477 |
| 5555 2d62 1092 0000 sts Looping_Links,__zero_reg__ |
| 5556 .L477: |
| 5557 2d66 4091 0000 lds r20,EE_Parameter+2 |
| 5558 2d6a E42F mov r30,r20 |
| 5559 2d6c FF27 clr r31 |
| 5560 2d6e EE0F add r30,r30 |
| 5561 2d70 FF1F adc r31,r31 |
| 5562 2d72 E050 subi r30,lo8(-(PPM_in)) |
| 5563 2d74 F040 sbci r31,hi8(-(PPM_in)) |
| 5564 2d76 5091 0000 lds r21,EE_Parameter+60 |
| 5565 2d7a 852F mov r24,r21 |
| 5566 2d7c 9927 clr r25 |
| 5567 2d7e 2227 clr r18 |
| 5568 2d80 3327 clr r19 |
| 5569 2d82 281B sub r18,r24 |
| 5570 2d84 390B sbc r19,r25 |
| 5571 2d86 8081 ld r24,Z |
| 5572 2d88 9181 ldd r25,Z+1 |
| 5573 2d8a 8217 cp r24,r18 |
| 5574 2d8c 9307 cpc r25,r19 |
| 5575 2d8e 04F4 brge .L479 |
| 5576 2d90 8091 0000 lds r24,EE_Parameter+108 |
| 5577 2d94 83FF sbrs r24,3 |
| 5578 2d96 00C0 rjmp .L479 |
| 5579 2d98 81E0 ldi r24,lo8(1) |
| 5580 2d9a 8093 0000 sts Looping_Rechts,r24 |
| 5581 2d9e 00C0 rjmp .L480 |
| 5582 .L479: |
| 5583 2da0 8091 0000 lds r24,Looping_Rechts |
| 5584 2da4 8823 tst r24 |
| 5585 2da6 01F0 breq .L480 |
| 5586 2da8 E42F mov r30,r20 |
| 5587 2daa FF27 clr r31 |
| 5588 2dac EE0F add r30,r30 |
| 5589 2dae FF1F adc r31,r31 |
| 5590 2db0 E050 subi r30,lo8(-(PPM_in)) |
| 5591 2db2 F040 sbci r31,hi8(-(PPM_in)) |
| 5592 2db4 8091 0000 lds r24,EE_Parameter+61 |
| 5593 2db8 9927 clr r25 |
| 5594 2dba 851B sub r24,r21 |
| 5595 2dbc 9109 sbc r25,__zero_reg__ |
| 5596 2dbe 2081 ld r18,Z |
| 5597 2dc0 3181 ldd r19,Z+1 |
| 5598 2dc2 8217 cp r24,r18 |
| 5599 2dc4 9307 cpc r25,r19 |
| 5600 2dc6 04F4 brge .L480 |
| 5601 2dc8 1092 0000 sts Looping_Rechts,__zero_reg__ |
| 5602 .L480: |
| 5603 2dcc EC2D mov r30,r12 |
| 5604 2dce FF27 clr r31 |
| 5605 2dd0 EE0F add r30,r30 |
| 5606 2dd2 FF1F adc r31,r31 |
| 5607 2dd4 E050 subi r30,lo8(-(PPM_in)) |
| 5608 2dd6 F040 sbci r31,hi8(-(PPM_in)) |
| 5609 2dd8 4091 0000 lds r20,EE_Parameter+60 |
| 5610 2ddc 242F mov r18,r20 |
| 5611 2dde 3327 clr r19 |
| 5612 2de0 8081 ld r24,Z |
| 5613 2de2 9181 ldd r25,Z+1 |
| 5614 2de4 2817 cp r18,r24 |
| 5615 2de6 3907 cpc r19,r25 |
| 5616 2de8 04F4 brge .L483 |
| 5617 2dea 8091 0000 lds r24,EE_Parameter+108 |
| 5618 2dee 80FF sbrs r24,0 |
| 5619 2df0 00C0 rjmp .L483 |
| 5620 2df2 81E0 ldi r24,lo8(1) |
| 5621 2df4 8093 0000 sts Looping_Oben,r24 |
| 5622 2df8 00C0 rjmp .L484 |
| 5623 .L483: |
| 5624 2dfa 8091 0000 lds r24,Looping_Oben |
| 5625 2dfe 8823 tst r24 |
| 5626 2e00 01F0 breq .L484 |
| 5627 2e02 EC2D mov r30,r12 |
| 5628 2e04 FF27 clr r31 |
| 5629 2e06 EE0F add r30,r30 |
| 5630 2e08 FF1F adc r31,r31 |
| 5631 2e0a E050 subi r30,lo8(-(PPM_in)) |
| 5632 2e0c F040 sbci r31,hi8(-(PPM_in)) |
| 5633 2e0e 842F mov r24,r20 |
| 5634 2e10 9927 clr r25 |
| 5635 2e12 2091 0000 lds r18,EE_Parameter+61 |
| 5636 2e16 821B sub r24,r18 |
| 5637 2e18 9109 sbc r25,__zero_reg__ |
| 5638 2e1a 2081 ld r18,Z |
| 5639 2e1c 3181 ldd r19,Z+1 |
| 5640 2e1e 2817 cp r18,r24 |
| 5641 2e20 3907 cpc r19,r25 |
| 5642 2e22 04F4 brge .L484 |
| 5643 2e24 1092 0000 sts Looping_Oben,__zero_reg__ |
| 5644 .L484: |
| 5645 2e28 4091 0000 lds r20,EE_Parameter+1 |
| 5646 2e2c E42F mov r30,r20 |
| 5647 2e2e FF27 clr r31 |
| 5648 2e30 EE0F add r30,r30 |
| 5649 2e32 FF1F adc r31,r31 |
| 5650 2e34 E050 subi r30,lo8(-(PPM_in)) |
| 5651 2e36 F040 sbci r31,hi8(-(PPM_in)) |
| 5652 2e38 5091 0000 lds r21,EE_Parameter+60 |
| 5653 2e3c 852F mov r24,r21 |
| 5654 2e3e 9927 clr r25 |
| 5655 2e40 2227 clr r18 |
| 5656 2e42 3327 clr r19 |
| 5657 2e44 281B sub r18,r24 |
| 5658 2e46 390B sbc r19,r25 |
| 5659 2e48 8081 ld r24,Z |
| 5660 2e4a 9181 ldd r25,Z+1 |
| 5661 2e4c 8217 cp r24,r18 |
| 5662 2e4e 9307 cpc r25,r19 |
| 5663 2e50 04F4 brge .L487 |
| 5664 2e52 8091 0000 lds r24,EE_Parameter+108 |
| 5665 2e56 81FF sbrs r24,1 |
| 5666 2e58 00C0 rjmp .L487 |
| 5667 2e5a 81E0 ldi r24,lo8(1) |
| 5668 2e5c 8093 0000 sts Looping_Unten,r24 |
| 5669 2e60 00C0 rjmp .L488 |
| 5670 .L487: |
| 5671 2e62 8091 0000 lds r24,Looping_Unten |
| 5672 2e66 8823 tst r24 |
| 5673 2e68 01F0 breq .L488 |
| 5674 2e6a E42F mov r30,r20 |
| 5675 2e6c FF27 clr r31 |
| 5676 2e6e EE0F add r30,r30 |
| 5677 2e70 FF1F adc r31,r31 |
| 5678 2e72 E050 subi r30,lo8(-(PPM_in)) |
| 5679 2e74 F040 sbci r31,hi8(-(PPM_in)) |
| 5680 2e76 8091 0000 lds r24,EE_Parameter+61 |
| 5681 2e7a 9927 clr r25 |
| 5682 2e7c 851B sub r24,r21 |
| 5683 2e7e 9109 sbc r25,__zero_reg__ |
| 5684 2e80 2081 ld r18,Z |
| 5685 2e82 3181 ldd r19,Z+1 |
| 5686 2e84 8217 cp r24,r18 |
| 5687 2e86 9307 cpc r25,r19 |
| 5688 2e88 04F4 brge .L488 |
| 5689 2e8a 1092 0000 sts Looping_Unten,__zero_reg__ |
| 5690 .L488: |
| 5691 2e8e 8091 0000 lds r24,Looping_Links |
| 5692 2e92 8823 tst r24 |
| 5693 2e94 01F4 brne .L492 |
| 5694 2e96 8091 0000 lds r24,Looping_Rechts |
| 5695 2e9a 8111 cpse r24,__zero_reg__ |
| 5696 .L492: |
| 5697 2e9c 81E0 ldi r24,lo8(1) |
| 5698 .L491: |
| 5699 2e9e 8093 0000 sts Looping_Roll,r24 |
| 5700 2ea2 8091 0000 lds r24,Looping_Oben |
| 5701 2ea6 8823 tst r24 |
| 5702 2ea8 01F4 brne .L495 |
| 5703 2eaa 8091 0000 lds r24,Looping_Unten |
| 5704 2eae 8823 tst r24 |
| 5705 2eb0 01F0 breq .L494 |
| 5706 .L495: |
| 5707 2eb2 81E0 ldi r24,lo8(1) |
| 5708 2eb4 8093 0000 sts Looping_Nick,r24 |
| 5709 2eb8 1092 0000 sts Looping_Roll,__zero_reg__ |
| 5710 2ebc 1092 0000 sts Looping_Links,__zero_reg__ |
| 5711 2ec0 1092 0000 sts Looping_Rechts,__zero_reg__ |
| 5712 2ec4 00C0 rjmp .L436 |
| 5713 .L494: |
| 5714 2ec6 8093 0000 sts Looping_Nick,r24 |
| 5715 .L436: |
| 5716 2eca 8091 0000 lds r24,Looping_Roll |
| 5717 2ece 8823 tst r24 |
| 5718 2ed0 01F4 brne .L498 |
| 5719 2ed2 8091 0000 lds r24,Looping_Nick |
| 5720 2ed6 8823 tst r24 |
| 5721 2ed8 01F0 breq .L497 |
| 5722 .L498: |
| 5723 2eda 8091 0000 lds r24,EE_Parameter+59 |
| 5724 2ede 9927 clr r25 |
| 5725 2ee0 2981 ldd r18,Y+1 |
| 5726 2ee2 3A81 ldd r19,Y+2 |
| 5727 2ee4 8217 cp r24,r18 |
| 5728 2ee6 9307 cpc r25,r19 |
| 5729 2ee8 04F4 brge .L499 |
| 5730 2eea 9A83 std Y+2,r25 |
| 5731 2eec 8983 std Y+1,r24 |
| 5732 .L499: |
| 5733 2eee 81E0 ldi r24,lo8(1) |
| 5734 2ef0 8093 0000 sts TrichterFlug,r24 |
| 5735 .L497: |
| 5736 2ef4 8091 0000 lds r24,FC_StatusFlags2 |
| 5737 2ef8 9927 clr r25 |
| 5738 2efa 9C01 movw r18,r24 |
| 5739 2efc 2470 andi r18,lo8(4) |
| 5740 2efe 3070 andi r19,hi8(4) |
| 5741 2f00 82FF sbrs r24,2 |
| 5742 2f02 00C0 rjmp .L500 |
| 5743 2f04 8091 0000 lds r24,GPS_Nick |
| 5744 2f08 9091 0000 lds r25,(GPS_Nick)+1 |
| 5745 2f0c 9095 com r25 |
| 5746 2f0e 8195 neg r24 |
| 5747 2f10 9F4F sbci r25,lo8(-1) |
| 5748 2f12 9093 0000 sts (StickNick)+1,r25 |
| 5749 2f16 8093 0000 sts StickNick,r24 |
| 5750 2f1a 8091 0000 lds r24,GPS_Roll |
| 5751 2f1e 9091 0000 lds r25,(GPS_Roll)+1 |
| 5752 2f22 9095 com r25 |
| 5753 2f24 8195 neg r24 |
| 5754 2f26 9F4F sbci r25,lo8(-1) |
| 5755 2f28 9093 0000 sts (StickRoll)+1,r25 |
| 5756 2f2c 8093 0000 sts StickRoll,r24 |
| 5757 2f30 8091 0000 lds r24,StickGasHover |
| 5758 2f34 9091 0000 lds r25,(StickGasHover)+1 |
| 5759 2f38 9093 0000 sts (StickGas)+1,r25 |
| 5760 2f3c 8093 0000 sts StickGas,r24 |
| 5761 2f40 8091 0000 lds r24,Parameter_GlobalConfig |
| 5762 2f44 8B77 andi r24,lo8(123) |
| 5763 2f46 8B66 ori r24,lo8(107) |
| 5764 2f48 8093 0000 sts Parameter_GlobalConfig,r24 |
| 5765 2f4c 8091 0000 lds r24,Parameter_ExtraConfig |
| 5766 2f50 8C7B andi r24,lo8(-68) |
| 5767 2f52 8093 0000 sts Parameter_ExtraConfig,r24 |
| 5768 2f56 88EC ldi r24,lo8(-56) |
| 5769 2f58 8093 0000 sts Parameter_HoehenSchalter,r24 |
| 5770 2f5c 00C0 rjmp .L501 |
| 5771 .L500: |
| 5772 2f5e 8091 0000 lds r24,FC_StatusFlags |
| 5773 2f62 84FF sbrs r24,4 |
| 5774 2f64 00C0 rjmp .L501 |
| 5775 2f66 3093 0000 sts (StickGier)+1,r19 |
| 5776 2f6a 2093 0000 sts StickGier,r18 |
| 5777 2f6e 3093 0000 sts (StickNick)+1,r19 |
| 5778 2f72 2093 0000 sts StickNick,r18 |
| 5779 2f76 3093 0000 sts (StickRoll)+1,r19 |
| 5780 2f7a 2093 0000 sts StickRoll,r18 |
| 5781 2f7e 9AE5 ldi r25,lo8(90) |
| 5782 2f80 9093 0000 sts GyroFaktor,r25 |
| 5783 2f84 88E7 ldi r24,lo8(120) |
| 5784 2f86 8093 0000 sts IntegralFaktor,r24 |
| 5785 2f8a 9093 0000 sts GyroFaktorGier,r25 |
| 5786 2f8e 8093 0000 sts IntegralFaktorGier,r24 |
| 5787 2f92 1092 0000 sts Looping_Roll,__zero_reg__ |
| 5788 2f96 1092 0000 sts Looping_Nick,__zero_reg__ |
| 5789 .L501: |
| 5790 2f9a 8091 0000 lds r24,MittelIntegralNick |
| 5791 2f9e 9091 0000 lds r25,(MittelIntegralNick)+1 |
| 5792 2fa2 A091 0000 lds r26,(MittelIntegralNick)+2 |
| 5793 2fa6 B091 0000 lds r27,(MittelIntegralNick)+3 |
| 5794 2faa 2091 0000 lds r18,IntegralNick |
| 5795 2fae 3091 0000 lds r19,(IntegralNick)+1 |
| 5796 2fb2 4091 0000 lds r20,(IntegralNick)+2 |
| 5797 2fb6 5091 0000 lds r21,(IntegralNick)+3 |
| 5798 2fba 820F add r24,r18 |
| 5799 2fbc 931F adc r25,r19 |
| 5800 2fbe A41F adc r26,r20 |
| 5801 2fc0 B51F adc r27,r21 |
| 5802 2fc2 8093 0000 sts MittelIntegralNick,r24 |
| 5803 2fc6 9093 0000 sts (MittelIntegralNick)+1,r25 |
| 5804 2fca A093 0000 sts (MittelIntegralNick)+2,r26 |
| 5805 2fce B093 0000 sts (MittelIntegralNick)+3,r27 |
| 5806 2fd2 8091 0000 lds r24,MittelIntegralRoll |
| 5807 2fd6 9091 0000 lds r25,(MittelIntegralRoll)+1 |
| 5808 2fda A091 0000 lds r26,(MittelIntegralRoll)+2 |
| 5809 2fde B091 0000 lds r27,(MittelIntegralRoll)+3 |
| 5810 2fe2 E090 0000 lds r14,IntegralRoll |
| 5811 2fe6 F090 0000 lds r15,(IntegralRoll)+1 |
| 5812 2fea 0091 0000 lds r16,(IntegralRoll)+2 |
| 5813 2fee 1091 0000 lds r17,(IntegralRoll)+3 |
| 5814 2ff2 EB82 std Y+3,r14 |
| 5815 2ff4 FC82 std Y+4,r15 |
| 5816 2ff6 0D83 std Y+5,r16 |
| 5817 2ff8 1E83 std Y+6,r17 |
| 5818 2ffa 8E0D add r24,r14 |
| 5819 2ffc 9F1D adc r25,r15 |
| 5820 2ffe A01F adc r26,r16 |
| 5821 3000 B11F adc r27,r17 |
| 5822 3002 8093 0000 sts MittelIntegralRoll,r24 |
| 5823 3006 9093 0000 sts (MittelIntegralRoll)+1,r25 |
| 5824 300a A093 0000 sts (MittelIntegralRoll)+2,r26 |
| 5825 300e B093 0000 sts (MittelIntegralRoll)+3,r27 |
| 5826 3012 8091 0000 lds r24,MittelIntegralNick2 |
| 5827 3016 9091 0000 lds r25,(MittelIntegralNick2)+1 |
| 5828 301a A091 0000 lds r26,(MittelIntegralNick2)+2 |
| 5829 301e B091 0000 lds r27,(MittelIntegralNick2)+3 |
| 5830 3022 E090 0000 lds r14,IntegralNick2 |
| 5831 3026 F090 0000 lds r15,(IntegralNick2)+1 |
| 5832 302a 0091 0000 lds r16,(IntegralNick2)+2 |
| 5833 302e 1091 0000 lds r17,(IntegralNick2)+3 |
| 5834 3032 EF82 std Y+7,r14 |
| 5835 3034 F886 std Y+8,r15 |
| 5836 3036 0987 std Y+9,r16 |
| 5837 3038 1A87 std Y+10,r17 |
| 5838 303a 8E0D add r24,r14 |
| 5839 303c 9F1D adc r25,r15 |
| 5840 303e A01F adc r26,r16 |
| 5841 3040 B11F adc r27,r17 |
| 5842 3042 8093 0000 sts MittelIntegralNick2,r24 |
| 5843 3046 9093 0000 sts (MittelIntegralNick2)+1,r25 |
| 5844 304a A093 0000 sts (MittelIntegralNick2)+2,r26 |
| 5845 304e B093 0000 sts (MittelIntegralNick2)+3,r27 |
| 5846 3052 8091 0000 lds r24,MittelIntegralRoll2 |
| 5847 3056 9091 0000 lds r25,(MittelIntegralRoll2)+1 |
| 5848 305a A091 0000 lds r26,(MittelIntegralRoll2)+2 |
| 5849 305e B091 0000 lds r27,(MittelIntegralRoll2)+3 |
| 5850 3062 E090 0000 lds r14,IntegralRoll2 |
| 5851 3066 F090 0000 lds r15,(IntegralRoll2)+1 |
| 5852 306a 0091 0000 lds r16,(IntegralRoll2)+2 |
| 5853 306e 1091 0000 lds r17,(IntegralRoll2)+3 |
| 5854 3072 EB86 std Y+11,r14 |
| 5855 3074 FC86 std Y+12,r15 |
| 5856 3076 0D87 std Y+13,r16 |
| 5857 3078 1E87 std Y+14,r17 |
| 5858 307a 8E0D add r24,r14 |
| 5859 307c 9F1D adc r25,r15 |
| 5860 307e A01F adc r26,r16 |
| 5861 3080 B11F adc r27,r17 |
| 5862 3082 8093 0000 sts MittelIntegralRoll2,r24 |
| 5863 3086 9093 0000 sts (MittelIntegralRoll2)+1,r25 |
| 5864 308a A093 0000 sts (MittelIntegralRoll2)+2,r26 |
| 5865 308e B093 0000 sts (MittelIntegralRoll2)+3,r27 |
| 5866 3092 F090 0000 lds r15,Looping_Nick |
| 5867 3096 FF86 std Y+15,r15 |
| 5868 3098 FF20 tst r15 |
| 5869 309a 01F4 brne .L504 |
| 5870 309c 8091 0000 lds r24,Looping_Roll |
| 5871 30a0 8823 tst r24 |
| 5872 30a2 01F4 brne .+2 |
| 5873 30a4 00C0 rjmp .L886 |
| 5874 .L504: |
| 5875 30a6 1092 0000 sts IntegralAccNick,__zero_reg__ |
| 5876 30aa 1092 0000 sts (IntegralAccNick)+1,__zero_reg__ |
| 5877 30ae 1092 0000 sts (IntegralAccNick)+2,__zero_reg__ |
| 5878 30b2 1092 0000 sts (IntegralAccNick)+3,__zero_reg__ |
| 5879 30b6 1092 0000 sts IntegralAccRoll,__zero_reg__ |
| 5880 30ba 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__ |
| 5881 30be 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__ |
| 5882 30c2 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__ |
| 5883 30c6 1092 0000 sts MittelIntegralNick,__zero_reg__ |
| 5884 30ca 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__ |
| 5885 30ce 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__ |
| 5886 30d2 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__ |
| 5887 30d6 1092 0000 sts MittelIntegralRoll,__zero_reg__ |
| 5888 30da 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__ |
| 5889 30de 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__ |
| 5890 30e2 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__ |
| 5891 30e6 1092 0000 sts MittelIntegralNick2,__zero_reg__ |
| 5892 30ea 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__ |
| 5893 30ee 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__ |
| 5894 30f2 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__ |
| 5895 30f6 1092 0000 sts MittelIntegralRoll2,__zero_reg__ |
| 5896 30fa 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__ |
| 5897 30fe 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__ |
| 5898 3102 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__ |
| 5899 3106 8091 0000 lds r24,Mess_IntegralNick |
| 5900 310a 9091 0000 lds r25,(Mess_IntegralNick)+1 |
| 5901 310e A091 0000 lds r26,(Mess_IntegralNick)+2 |
| 5902 3112 B091 0000 lds r27,(Mess_IntegralNick)+3 |
| 5903 3116 8093 0000 sts Mess_IntegralNick2,r24 |
| 5904 311a 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
| 5905 311e A093 0000 sts (Mess_IntegralNick2)+2,r26 |
| 5906 3122 B093 0000 sts (Mess_IntegralNick2)+3,r27 |
| 5907 3126 8091 0000 lds r24,Mess_IntegralRoll |
| 5908 312a 9091 0000 lds r25,(Mess_IntegralRoll)+1 |
| 5909 312e A091 0000 lds r26,(Mess_IntegralRoll)+2 |
| 5910 3132 B091 0000 lds r27,(Mess_IntegralRoll)+3 |
| 5911 3136 8093 0000 sts Mess_IntegralRoll2,r24 |
| 5912 313a 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
| 5913 313e A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
| 5914 3142 B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
| 5915 3146 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__ |
| 5916 314a 1092 0000 sts ZaehlMessungen,__zero_reg__ |
| 5917 314e 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__ |
| 5918 3152 1092 0000 sts LageKorrekturNick,__zero_reg__ |
| 5919 3156 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__ |
| 5920 315a 1092 0000 sts LageKorrekturRoll,__zero_reg__ |
| 5921 315e 0F85 ldd r16,Y+15 |
| 5922 3160 0023 tst r16 |
| 5923 3162 01F0 breq .+2 |
| 5924 3164 00C0 rjmp .L505 |
| 5925 .L886: |
| 5926 3166 8091 0000 lds r24,Looping_Roll |
| 5927 316a 8823 tst r24 |
| 5928 316c 01F0 breq .+2 |
| 5929 316e 00C0 rjmp .L505 |
| 5930 3170 8091 0000 lds r24,Aktuell_az |
| 5931 3174 9091 0000 lds r25,(Aktuell_az)+1 |
| 5932 3178 8150 subi r24,lo8(513) |
| 5933 317a 9240 sbci r25,hi8(513) |
| 5934 317c 04F4 brge .L506 |
| 5935 317e 8091 0000 lds r24,MotorenEin |
| 5936 3182 8823 tst r24 |
| 5937 3184 01F4 brne .+2 |
| 5938 3186 00C0 rjmp .L505 |
| 5939 .L506: |
| 5940 3188 9090 0000 lds r9,FromNaviCtrl_Value |
| 5941 318c A090 0000 lds r10,EE_Parameter+28 |
| 5942 3190 2090 0000 lds r2,Mittelwert_AccNick |
| 5943 3194 3090 0000 lds r3,(Mittelwert_AccNick)+1 |
| 5944 3198 4090 0000 lds r4,Mittelwert_AccRoll |
| 5945 319c 5090 0000 lds r5,(Mittelwert_AccRoll)+1 |
| 5946 31a0 1914 cp __zero_reg__,r9 |
| 5947 31a2 04F0 brlt .+2 |
| 5948 31a4 00C0 rjmp .L507 |
| 5949 31a6 BB24 clr r11 |
| 5950 31a8 CC24 clr r12 |
| 5951 31aa DD24 clr r13 |
| 5952 31ac CA01 movw r24,r20 |
| 5953 31ae B901 movw r22,r18 |
| 5954 31b0 A601 movw r20,r12 |
| 5955 31b2 9501 movw r18,r10 |
| 5956 31b4 0E94 0000 call __divmodsi4 |
| 5957 31b8 7901 movw r14,r18 |
| 5958 31ba 8A01 movw r16,r20 |
| 5959 31bc 8091 0000 lds r24,FromNaviCtrl+9 |
| 5960 31c0 9091 0000 lds r25,(FromNaviCtrl+9)+1 |
| 5961 31c4 281A sub r2,r24 |
| 5962 31c6 390A sbc r3,r25 |
| 5963 31c8 C101 movw r24,r2 |
| 5964 31ca AA27 clr r26 |
| 5965 31cc 97FD sbrc r25,7 |
| 5966 31ce A095 com r26 |
| 5967 31d0 BA2F mov r27,r26 |
| 5968 31d2 E81A sub r14,r24 |
| 5969 31d4 F90A sbc r15,r25 |
| 5970 31d6 0A0B sbc r16,r26 |
| 5971 31d8 1B0B sbc r17,r27 |
| 5972 31da 6B81 ldd r22,Y+3 |
| 5973 31dc 7C81 ldd r23,Y+4 |
| 5974 31de 8D81 ldd r24,Y+5 |
| 5975 31e0 9E81 ldd r25,Y+6 |
| 5976 31e2 A601 movw r20,r12 |
| 5977 31e4 9501 movw r18,r10 |
| 5978 31e6 0E94 0000 call __divmodsi4 |
| 5979 31ea 5901 movw r10,r18 |
| 5980 31ec 6A01 movw r12,r20 |
| 5981 31ee 8091 0000 lds r24,FromNaviCtrl+11 |
| 5982 31f2 9091 0000 lds r25,(FromNaviCtrl+11)+1 |
| 5983 31f6 481A sub r4,r24 |
| 5984 31f8 590A sbc r5,r25 |
| 5985 31fa C201 movw r24,r4 |
| 5986 31fc AA27 clr r26 |
| 5987 31fe 97FD sbrc r25,7 |
| 5988 3200 A095 com r26 |
| 5989 3202 BA2F mov r27,r26 |
| 5990 3204 A81A sub r10,r24 |
| 5991 3206 B90A sbc r11,r25 |
| 5992 3208 CA0A sbc r12,r26 |
| 5993 320a DB0A sbc r13,r27 |
| 5994 320c 292C mov r2,r9 |
| 5995 320e 3324 clr r3 |
| 5996 3210 27FC sbrc r2,7 |
| 5997 3212 3094 com r3 |
| 5998 3214 432C mov r4,r3 |
| 5999 3216 532C mov r5,r3 |
| 6000 3218 C801 movw r24,r16 |
| 6001 321a B701 movw r22,r14 |
| 6002 321c A201 movw r20,r4 |
| 6003 321e 9101 movw r18,r2 |
| 6004 3220 0E94 0000 call __mulsi3 |
| 6005 3224 97FF sbrs r25,7 |
| 6006 3226 00C0 rjmp .L508 |
| 6007 3228 6150 subi r22,lo8(-(511)) |
| 6008 322a 7E4F sbci r23,hi8(-(511)) |
| 6009 322c 8F4F sbci r24,hlo8(-(511)) |
| 6010 322e 9F4F sbci r25,hhi8(-(511)) |
| 6011 .L508: |
| 6012 3230 3B01 movw r6,r22 |
| 6013 3232 4C01 movw r8,r24 |
| 6014 3234 09E0 ldi r16,9 |
| 6015 3236 9594 1: asr r9 |
| 6016 3238 8794 ror r8 |
| 6017 323a 7794 ror r7 |
| 6018 323c 6794 ror r6 |
| 6019 323e 0A95 dec r16 |
| 6020 3240 01F4 brne 1b |
| 6021 3242 C601 movw r24,r12 |
| 6022 3244 B501 movw r22,r10 |
| 6023 3246 A201 movw r20,r4 |
| 6024 3248 9101 movw r18,r2 |
| 6025 324a 0E94 0000 call __mulsi3 |
| 6026 324e 97FF sbrs r25,7 |
| 6027 3250 00C0 rjmp .L509 |
| 6028 3252 6150 subi r22,lo8(-(511)) |
| 6029 3254 7E4F sbci r23,hi8(-(511)) |
| 6030 3256 8F4F sbci r24,hlo8(-(511)) |
| 6031 3258 9F4F sbci r25,hhi8(-(511)) |
| 6032 .L509: |
| 6033 325a 5B01 movw r10,r22 |
| 6034 325c 6C01 movw r12,r24 |
| 6035 325e 19E0 ldi r17,9 |
| 6036 3260 D594 1: asr r13 |
| 6037 3262 C794 ror r12 |
| 6038 3264 B794 ror r11 |
| 6039 3266 A794 ror r10 |
| 6040 3268 1A95 dec r17 |
| 6041 326a 01F4 brne 1b |
| 6042 326c 8091 0000 lds r24,MaxStickNick |
| 6043 3270 9091 0000 lds r25,(MaxStickNick)+1 |
| 6044 3274 8134 cpi r24,65 |
| 6045 3276 9105 cpc r25,__zero_reg__ |
| 6046 3278 04F4 brge .L511 |
| 6047 327a 8091 0000 lds r24,MaxStickRoll |
| 6048 327e 9091 0000 lds r25,(MaxStickRoll)+1 |
| 6049 3282 8134 cpi r24,65 |
| 6050 3284 9105 cpc r25,__zero_reg__ |
| 6051 3286 04F0 brlt .L510 |
| 6052 .L511: |
| 6053 3288 D401 movw r26,r8 |
| 6054 328a C301 movw r24,r6 |
| 6055 328c 97FE sbrs r9,7 |
| 6056 328e 00C0 rjmp .L512 |
| 6057 3290 0196 adiw r24,1 |
| 6058 3292 A11D adc r26,__zero_reg__ |
| 6059 3294 B11D adc r27,__zero_reg__ |
| 6060 .L512: |
| 6061 3296 3C01 movw r6,r24 |
| 6062 3298 4D01 movw r8,r26 |
| 6063 329a 9594 asr r9 |
| 6064 329c 8794 ror r8 |
| 6065 329e 7794 ror r7 |
| 6066 32a0 6794 ror r6 |
| 6067 32a2 D601 movw r26,r12 |
| 6068 32a4 C501 movw r24,r10 |
| 6069 32a6 D7FE sbrs r13,7 |
| 6070 32a8 00C0 rjmp .L513 |
| 6071 32aa 0196 adiw r24,1 |
| 6072 32ac A11D adc r26,__zero_reg__ |
| 6073 32ae B11D adc r27,__zero_reg__ |
| 6074 .L513: |
| 6075 32b0 5C01 movw r10,r24 |
| 6076 32b2 6D01 movw r12,r26 |
| 6077 32b4 D594 asr r13 |
| 6078 32b6 C794 ror r12 |
| 6079 32b8 B794 ror r11 |
| 6080 32ba A794 ror r10 |
| 6081 .L510: |
| 6082 32bc 8091 0000 lds r24,FromNaviCtrl_Value+2 |
| 6083 32c0 282F mov r18,r24 |
| 6084 32c2 3327 clr r19 |
| 6085 32c4 27FD sbrc r18,7 |
| 6086 32c6 3095 com r19 |
| 6087 32c8 432F mov r20,r19 |
| 6088 32ca 532F mov r21,r19 |
| 6089 32cc 2615 cp r18,r6 |
| 6090 32ce 3705 cpc r19,r7 |
| 6091 32d0 4805 cpc r20,r8 |
| 6092 32d2 5905 cpc r21,r9 |
| 6093 32d4 04F4 brge .L514 |
| 6094 32d6 3901 movw r6,r18 |
| 6095 32d8 4A01 movw r8,r20 |
| 6096 .L514: |
| 6097 32da 9927 clr r25 |
| 6098 32dc 87FD sbrc r24,7 |
| 6099 32de 9095 com r25 |
| 6100 32e0 9095 com r25 |
| 6101 32e2 8195 neg r24 |
| 6102 32e4 9F4F sbci r25,lo8(-1) |
| 6103 32e6 AA27 clr r26 |
| 6104 32e8 97FD sbrc r25,7 |
| 6105 32ea A095 com r26 |
| 6106 32ec BA2F mov r27,r26 |
| 6107 32ee 6816 cp r6,r24 |
| 6108 32f0 7906 cpc r7,r25 |
| 6109 32f2 8A06 cpc r8,r26 |
| 6110 32f4 9B06 cpc r9,r27 |
| 6111 32f6 04F4 brge .L515 |
| 6112 32f8 3C01 movw r6,r24 |
| 6113 32fa 4D01 movw r8,r26 |
| 6114 .L515: |
| 6115 32fc 2A15 cp r18,r10 |
| 6116 32fe 3B05 cpc r19,r11 |
| 6117 3300 4C05 cpc r20,r12 |
| 6118 3302 5D05 cpc r21,r13 |
| 6119 3304 04F4 brge .L516 |
| 6120 3306 5901 movw r10,r18 |
| 6121 3308 6A01 movw r12,r20 |
| 6122 .L516: |
| 6123 330a A816 cp r10,r24 |
| 6124 330c B906 cpc r11,r25 |
| 6125 330e CA06 cpc r12,r26 |
| 6126 3310 DB06 cpc r13,r27 |
| 6127 3312 04F0 brlt .+2 |
| 6128 3314 00C0 rjmp .L518 |
| 6129 3316 5C01 movw r10,r24 |
| 6130 3318 6D01 movw r12,r26 |
| 6131 331a 00C0 rjmp .L518 |
| 6132 .L507: |
| 6133 331c EA2C mov r14,r10 |
| 6134 331e FF24 clr r15 |
| 6135 3320 0027 clr r16 |
| 6136 3322 1127 clr r17 |
| 6137 3324 CA01 movw r24,r20 |
| 6138 3326 B901 movw r22,r18 |
| 6139 3328 A801 movw r20,r16 |
| 6140 332a 9701 movw r18,r14 |
| 6141 332c 0E94 0000 call __divmodsi4 |
| 6142 3330 3901 movw r6,r18 |
| 6143 3332 4A01 movw r8,r20 |
| 6144 3334 C101 movw r24,r2 |
| 6145 3336 AA27 clr r26 |
| 6146 3338 97FD sbrc r25,7 |
| 6147 333a A095 com r26 |
| 6148 333c BA2F mov r27,r26 |
| 6149 333e 681A sub r6,r24 |
| 6150 3340 790A sbc r7,r25 |
| 6151 3342 8A0A sbc r8,r26 |
| 6152 3344 9B0A sbc r9,r27 |
| 6153 3346 6B81 ldd r22,Y+3 |
| 6154 3348 7C81 ldd r23,Y+4 |
| 6155 334a 8D81 ldd r24,Y+5 |
| 6156 334c 9E81 ldd r25,Y+6 |
| 6157 334e A801 movw r20,r16 |
| 6158 3350 9701 movw r18,r14 |
| 6159 3352 0E94 0000 call __divmodsi4 |
| 6160 3356 5901 movw r10,r18 |
| 6161 3358 6A01 movw r12,r20 |
| 6162 335a C201 movw r24,r4 |
| 6163 335c AA27 clr r26 |
| 6164 335e 97FD sbrc r25,7 |
| 6165 3360 A095 com r26 |
| 6166 3362 BA2F mov r27,r26 |
| 6167 3364 A81A sub r10,r24 |
| 6168 3366 B90A sbc r11,r25 |
| 6169 3368 CA0A sbc r12,r26 |
| 6170 336a DB0A sbc r13,r27 |
| 6171 336c D401 movw r26,r8 |
| 6172 336e C301 movw r24,r6 |
| 6173 3370 97FE sbrs r9,7 |
| 6174 3372 00C0 rjmp .L519 |
| 6175 3374 0F96 adiw r24,15 |
| 6176 3376 A11D adc r26,__zero_reg__ |
| 6177 3378 B11D adc r27,__zero_reg__ |
| 6178 .L519: |
| 6179 337a 3C01 movw r6,r24 |
| 6180 337c 4D01 movw r8,r26 |
| 6181 337e F4E0 ldi r31,4 |
| 6182 3380 9594 1: asr r9 |
| 6183 3382 8794 ror r8 |
| 6184 3384 7794 ror r7 |
| 6185 3386 6794 ror r6 |
| 6186 3388 FA95 dec r31 |
| 6187 338a 01F4 brne 1b |
| 6188 338c D601 movw r26,r12 |
| 6189 338e C501 movw r24,r10 |
| 6190 3390 D7FE sbrs r13,7 |
| 6191 3392 00C0 rjmp .L520 |
| 6192 3394 0F96 adiw r24,15 |
| 6193 3396 A11D adc r26,__zero_reg__ |
| 6194 3398 B11D adc r27,__zero_reg__ |
| 6195 .L520: |
| 6196 339a 5C01 movw r10,r24 |
| 6197 339c 6D01 movw r12,r26 |
| 6198 339e E4E0 ldi r30,4 |
| 6199 33a0 D594 1: asr r13 |
| 6200 33a2 C794 ror r12 |
| 6201 33a4 B794 ror r11 |
| 6202 33a6 A794 ror r10 |
| 6203 33a8 EA95 dec r30 |
| 6204 33aa 01F4 brne 1b |
| 6205 33ac 8091 0000 lds r24,MaxStickNick |
| 6206 33b0 9091 0000 lds r25,(MaxStickNick)+1 |
| 6207 33b4 8134 cpi r24,65 |
| 6208 33b6 9105 cpc r25,__zero_reg__ |
| 6209 33b8 04F4 brge .L522 |
| 6210 33ba 8091 0000 lds r24,MaxStickRoll |
| 6211 33be 9091 0000 lds r25,(MaxStickRoll)+1 |
| 6212 33c2 8134 cpi r24,65 |
| 6213 33c4 9105 cpc r25,__zero_reg__ |
| 6214 33c6 04F0 brlt .L521 |
| 6215 .L522: |
| 6216 33c8 C401 movw r24,r8 |
| 6217 33ca B301 movw r22,r6 |
| 6218 33cc 23E0 ldi r18,lo8(3) |
| 6219 33ce 30E0 ldi r19,hi8(3) |
| 6220 33d0 40E0 ldi r20,hlo8(3) |
| 6221 33d2 50E0 ldi r21,hhi8(3) |
| 6222 33d4 0E94 0000 call __divmodsi4 |
| 6223 33d8 3901 movw r6,r18 |
| 6224 33da 4A01 movw r8,r20 |
| 6225 33dc C601 movw r24,r12 |
| 6226 33de B501 movw r22,r10 |
| 6227 33e0 23E0 ldi r18,lo8(3) |
| 6228 33e2 30E0 ldi r19,hi8(3) |
| 6229 33e4 40E0 ldi r20,hlo8(3) |
| 6230 33e6 50E0 ldi r21,hhi8(3) |
| 6231 33e8 0E94 0000 call __divmodsi4 |
| 6232 33ec 5901 movw r10,r18 |
| 6233 33ee 6A01 movw r12,r20 |
| 6234 .L521: |
| 6235 33f0 8091 0000 lds r24,EE_Parameter+4 |
| 6236 33f4 E82F mov r30,r24 |
| 6237 33f6 FF27 clr r31 |
| 6238 33f8 EE0F add r30,r30 |
| 6239 33fa FF1F adc r31,r31 |
| 6240 33fc E050 subi r30,lo8(-(PPM_in)) |
| 6241 33fe F040 sbci r31,hi8(-(PPM_in)) |
| 6242 3400 8081 ld r24,Z |
| 6243 3402 9181 ldd r25,Z+1 |
| 6244 3404 0190 ld __tmp_reg__,Z+ |
| 6245 3406 F081 ld r31,Z |
| 6246 3408 E02D mov r30,__tmp_reg__ |
| 6247 340a F7FF sbrs r31,7 |
| 6248 340c 00C0 rjmp .L524 |
| 6249 340e F095 com r31 |
| 6250 3410 E195 neg r30 |
| 6251 3412 FF4F sbci r31,lo8(-1) |
| 6252 .L524: |
| 6253 3414 7A97 sbiw r30,26 |
| 6254 3416 04F0 brlt .L523 |
| 6255 3418 C401 movw r24,r8 |
| 6256 341a B301 movw r22,r6 |
| 6257 341c 23E0 ldi r18,lo8(3) |
| 6258 341e 30E0 ldi r19,hi8(3) |
| 6259 3420 40E0 ldi r20,hlo8(3) |
| 6260 3422 50E0 ldi r21,hhi8(3) |
| 6261 3424 0E94 0000 call __divmodsi4 |
| 6262 3428 3901 movw r6,r18 |
| 6263 342a 4A01 movw r8,r20 |
| 6264 342c C601 movw r24,r12 |
| 6265 342e B501 movw r22,r10 |
| 6266 3430 23E0 ldi r18,lo8(3) |
| 6267 3432 30E0 ldi r19,hi8(3) |
| 6268 3434 40E0 ldi r20,hlo8(3) |
| 6269 3436 50E0 ldi r21,hhi8(3) |
| 6270 3438 0E94 0000 call __divmodsi4 |
| 6271 343c 5901 movw r10,r18 |
| 6272 343e 6A01 movw r12,r20 |
| 6273 .L523: |
| 6274 3440 89E1 ldi r24,lo8(25) |
| 6275 3442 8093 0000 sts KompassFusion,r24 |
| 6276 3446 21E2 ldi r18,lo8(33) |
| 6277 3448 6216 cp r6,r18 |
| 6278 344a 7104 cpc r7,__zero_reg__ |
| 6279 344c 8104 cpc r8,__zero_reg__ |
| 6280 344e 9104 cpc r9,__zero_reg__ |
| 6281 3450 04F0 brlt .L525 |
| 6282 3452 70E2 ldi r23,lo8(32) |
| 6283 3454 672E mov r6,r23 |
| 6284 3456 712C mov r7,__zero_reg__ |
| 6285 3458 812C mov r8,__zero_reg__ |
| 6286 345a 912C mov r9,__zero_reg__ |
| 6287 .L525: |
| 6288 345c 30EE ldi r19,lo8(-32) |
| 6289 345e 6316 cp r6,r19 |
| 6290 3460 3FEF ldi r19,hi8(-32) |
| 6291 3462 7306 cpc r7,r19 |
| 6292 3464 3FEF ldi r19,hlo8(-32) |
| 6293 3466 8306 cpc r8,r19 |
| 6294 3468 3FEF ldi r19,hhi8(-32) |
| 6295 346a 9306 cpc r9,r19 |
| 6296 346c 04F4 brge .L526 |
| 6297 346e 60EE ldi r22,lo8(-32) |
| 6298 3470 662E mov r6,r22 |
| 6299 3472 6FEF ldi r22,hi8(-32) |
| 6300 3474 762E mov r7,r22 |
| 6301 3476 6FEF ldi r22,hlo8(-32) |
| 6302 3478 862E mov r8,r22 |
| 6303 347a 6FEF ldi r22,hhi8(-32) |
| 6304 347c 962E mov r9,r22 |
| 6305 .L526: |
| 6306 347e 41E2 ldi r20,lo8(33) |
| 6307 3480 A416 cp r10,r20 |
| 6308 3482 B104 cpc r11,__zero_reg__ |
| 6309 3484 C104 cpc r12,__zero_reg__ |
| 6310 3486 D104 cpc r13,__zero_reg__ |
| 6311 3488 04F0 brlt .L527 |
| 6312 348a 50E2 ldi r21,lo8(32) |
| 6313 348c A52E mov r10,r21 |
| 6314 348e B12C mov r11,__zero_reg__ |
| 6315 3490 C12C mov r12,__zero_reg__ |
| 6316 3492 D12C mov r13,__zero_reg__ |
| 6317 .L527: |
| 6318 3494 50EE ldi r21,lo8(-32) |
| 6319 3496 A516 cp r10,r21 |
| 6320 3498 5FEF ldi r21,hi8(-32) |
| 6321 349a B506 cpc r11,r21 |
| 6322 349c 5FEF ldi r21,hlo8(-32) |
| 6323 349e C506 cpc r12,r21 |
| 6324 34a0 5FEF ldi r21,hhi8(-32) |
| 6325 34a2 D506 cpc r13,r21 |
| 6326 34a4 04F4 brge .L518 |
| 6327 34a6 40EE ldi r20,lo8(-32) |
| 6328 34a8 A42E mov r10,r20 |
| 6329 34aa 4FEF ldi r20,hi8(-32) |
| 6330 34ac B42E mov r11,r20 |
| 6331 34ae 4FEF ldi r20,hlo8(-32) |
| 6332 34b0 C42E mov r12,r20 |
| 6333 34b2 4FEF ldi r20,hhi8(-32) |
| 6334 34b4 D42E mov r13,r20 |
| 6335 .L518: |
| 6336 34b6 8091 0000 lds r24,Mess_IntegralNick |
| 6337 34ba 9091 0000 lds r25,(Mess_IntegralNick)+1 |
| 6338 34be A091 0000 lds r26,(Mess_IntegralNick)+2 |
| 6339 34c2 B091 0000 lds r27,(Mess_IntegralNick)+3 |
| 6340 34c6 8619 sub r24,r6 |
| 6341 34c8 9709 sbc r25,r7 |
| 6342 34ca A809 sbc r26,r8 |
| 6343 34cc B909 sbc r27,r9 |
| 6344 34ce 8093 0000 sts Mess_IntegralNick,r24 |
| 6345 34d2 9093 0000 sts (Mess_IntegralNick)+1,r25 |
| 6346 34d6 A093 0000 sts (Mess_IntegralNick)+2,r26 |
| 6347 34da B093 0000 sts (Mess_IntegralNick)+3,r27 |
| 6348 34de 8091 0000 lds r24,Mess_IntegralRoll |
| 6349 34e2 9091 0000 lds r25,(Mess_IntegralRoll)+1 |
| 6350 34e6 A091 0000 lds r26,(Mess_IntegralRoll)+2 |
| 6351 34ea B091 0000 lds r27,(Mess_IntegralRoll)+3 |
| 6352 34ee 8A19 sub r24,r10 |
| 6353 34f0 9B09 sbc r25,r11 |
| 6354 34f2 AC09 sbc r26,r12 |
| 6355 34f4 BD09 sbc r27,r13 |
| 6356 34f6 8093 0000 sts Mess_IntegralRoll,r24 |
| 6357 34fa 9093 0000 sts (Mess_IntegralRoll)+1,r25 |
| 6358 34fe A093 0000 sts (Mess_IntegralRoll)+2,r26 |
| 6359 3502 B093 0000 sts (Mess_IntegralRoll)+3,r27 |
| 6360 .L505: |
| 6361 3506 8091 0000 lds r24,ZaehlMessungen |
| 6362 350a 9091 0000 lds r25,(ZaehlMessungen)+1 |
| 6363 350e 8F3F cpi r24,255 |
| 6364 3510 9105 cpc r25,__zero_reg__ |
| 6365 3512 01F0 breq .+2 |
| 6366 3514 00F4 brsh .+2 |
| 6367 3516 00C0 rjmp .L529 |
| 6368 3518 6F85 ldd r22,Y+15 |
| 6369 351a 6623 tst r22 |
| 6370 351c 01F0 breq .+2 |
| 6371 351e 00C0 rjmp .L530 |
| 6372 3520 8091 0000 lds r24,Looping_Roll |
| 6373 3524 8823 tst r24 |
| 6374 3526 01F0 breq .+2 |
| 6375 3528 00C0 rjmp .L530 |
| 6376 352a 8091 0000 lds r24,TrichterFlug |
| 6377 352e 8823 tst r24 |
| 6378 3530 01F0 breq .+2 |
| 6379 3532 00C0 rjmp .L530 |
| 6380 3534 7091 0000 lds r23,EE_Parameter+68 |
| 6381 3538 788B std Y+16,r23 |
| 6382 353a 7723 tst r23 |
| 6383 353c 01F4 brne .+2 |
| 6384 353e 00C0 rjmp .L530 |
| 6385 3540 8091 0000 lds r24,MittelIntegralNick |
| 6386 3544 9091 0000 lds r25,(MittelIntegralNick)+1 |
| 6387 3548 A091 0000 lds r26,(MittelIntegralNick)+2 |
| 6388 354c B091 0000 lds r27,(MittelIntegralNick)+3 |
| 6389 3550 B7FF sbrs r27,7 |
| 6390 3552 00C0 rjmp .L531 |
| 6391 3554 8150 subi r24,lo8(-(255)) |
| 6392 3556 9F4F sbci r25,hi8(-(255)) |
| 6393 3558 AF4F sbci r26,hlo8(-(255)) |
| 6394 355a BF4F sbci r27,hhi8(-(255)) |
| 6395 .L531: |
| 6396 355c E92E mov r14,r25 |
| 6397 355e FA2E mov r15,r26 |
| 6398 3560 0B2F mov r16,r27 |
| 6399 3562 1127 clr r17 |
| 6400 3564 07FD sbrc r16,7 |
| 6401 3566 1A95 dec r17 |
| 6402 3568 E092 0000 sts MittelIntegralNick,r14 |
| 6403 356c F092 0000 sts (MittelIntegralNick)+1,r15 |
| 6404 3570 0093 0000 sts (MittelIntegralNick)+2,r16 |
| 6405 3574 1093 0000 sts (MittelIntegralNick)+3,r17 |
| 6406 3578 8091 0000 lds r24,MittelIntegralRoll |
| 6407 357c 9091 0000 lds r25,(MittelIntegralRoll)+1 |
| 6408 3580 A091 0000 lds r26,(MittelIntegralRoll)+2 |
| 6409 3584 B091 0000 lds r27,(MittelIntegralRoll)+3 |
| 6410 3588 B7FF sbrs r27,7 |
| 6411 358a 00C0 rjmp .L532 |
| 6412 358c 8150 subi r24,lo8(-(255)) |
| 6413 358e 9F4F sbci r25,hi8(-(255)) |
| 6414 3590 AF4F sbci r26,hlo8(-(255)) |
| 6415 3592 BF4F sbci r27,hhi8(-(255)) |
| 6416 .L532: |
| 6417 3594 892F mov r24,r25 |
| 6418 3596 9A2F mov r25,r26 |
| 6419 3598 AB2F mov r26,r27 |
| 6420 359a BB27 clr r27 |
| 6421 359c A7FD sbrc r26,7 |
| 6422 359e BA95 dec r27 |
| 6423 35a0 898B std Y+17,r24 |
| 6424 35a2 9A8B std Y+18,r25 |
| 6425 35a4 AB8B std Y+19,r26 |
| 6426 35a6 BC8B std Y+20,r27 |
| 6427 35a8 8093 0000 sts MittelIntegralRoll,r24 |
| 6428 35ac 9093 0000 sts (MittelIntegralRoll)+1,r25 |
| 6429 35b0 A093 0000 sts (MittelIntegralRoll)+2,r26 |
| 6430 35b4 B093 0000 sts (MittelIntegralRoll)+3,r27 |
| 6431 35b8 8091 0000 lds r24,EE_Parameter+28 |
| 6432 35bc A82E mov r10,r24 |
| 6433 35be BB24 clr r11 |
| 6434 35c0 CC24 clr r12 |
| 6435 35c2 DD24 clr r13 |
| 6436 35c4 2091 0000 lds r18,IntegralAccNick |
| 6437 35c8 3091 0000 lds r19,(IntegralAccNick)+1 |
| 6438 35cc 4091 0000 lds r20,(IntegralAccNick)+2 |
| 6439 35d0 5091 0000 lds r21,(IntegralAccNick)+3 |
| 6440 35d4 C601 movw r24,r12 |
| 6441 35d6 B501 movw r22,r10 |
| 6442 35d8 0E94 0000 call __mulsi3 |
| 6443 35dc 97FF sbrs r25,7 |
| 6444 35de 00C0 rjmp .L533 |
| 6445 35e0 6150 subi r22,lo8(-(255)) |
| 6446 35e2 7F4F sbci r23,hi8(-(255)) |
| 6447 35e4 8F4F sbci r24,hlo8(-(255)) |
| 6448 35e6 9F4F sbci r25,hhi8(-(255)) |
| 6449 .L533: |
| 6450 35e8 672E mov r6,r23 |
| 6451 35ea 782E mov r7,r24 |
| 6452 35ec 892E mov r8,r25 |
| 6453 35ee 9924 clr r9 |
| 6454 35f0 87FC sbrc r8,7 |
| 6455 35f2 9A94 dec r9 |
| 6456 35f4 6092 0000 sts IntegralAccNick,r6 |
| 6457 35f8 7092 0000 sts (IntegralAccNick)+1,r7 |
| 6458 35fc 8092 0000 sts (IntegralAccNick)+2,r8 |
| 6459 3600 9092 0000 sts (IntegralAccNick)+3,r9 |
| 6460 3604 2091 0000 lds r18,IntegralAccRoll |
| 6461 3608 3091 0000 lds r19,(IntegralAccRoll)+1 |
| 6462 360c 4091 0000 lds r20,(IntegralAccRoll)+2 |
| 6463 3610 5091 0000 lds r21,(IntegralAccRoll)+3 |
| 6464 3614 C601 movw r24,r12 |
| 6465 3616 B501 movw r22,r10 |
| 6466 3618 0E94 0000 call __mulsi3 |
| 6467 361c 97FF sbrs r25,7 |
| 6468 361e 00C0 rjmp .L534 |
| 6469 3620 6150 subi r22,lo8(-(255)) |
| 6470 3622 7F4F sbci r23,hi8(-(255)) |
| 6471 3624 8F4F sbci r24,hlo8(-(255)) |
| 6472 3626 9F4F sbci r25,hhi8(-(255)) |
| 6473 .L534: |
| 6474 3628 272E mov r2,r23 |
| 6475 362a 382E mov r3,r24 |
| 6476 362c 492E mov r4,r25 |
| 6477 362e 5524 clr r5 |
| 6478 3630 47FC sbrc r4,7 |
| 6479 3632 5A94 dec r5 |
| 6480 3634 2092 0000 sts IntegralAccRoll,r2 |
| 6481 3638 3092 0000 sts (IntegralAccRoll)+1,r3 |
| 6482 363c 4092 0000 sts (IntegralAccRoll)+2,r4 |
| 6483 3640 5092 0000 sts (IntegralAccRoll)+3,r5 |
| 6484 3644 8091 0000 lds r24,IntegralAccZ |
| 6485 3648 9091 0000 lds r25,(IntegralAccZ)+1 |
| 6486 364c A091 0000 lds r26,(IntegralAccZ)+2 |
| 6487 3650 B091 0000 lds r27,(IntegralAccZ)+3 |
| 6488 3654 B7FF sbrs r27,7 |
| 6489 3656 00C0 rjmp .L535 |
| 6490 3658 8150 subi r24,lo8(-(255)) |
| 6491 365a 9F4F sbci r25,hi8(-(255)) |
| 6492 365c AF4F sbci r26,hlo8(-(255)) |
| 6493 365e BF4F sbci r27,hhi8(-(255)) |
| 6494 .L535: |
| 6495 3660 892F mov r24,r25 |
| 6496 3662 9A2F mov r25,r26 |
| 6497 3664 AB2F mov r26,r27 |
| 6498 3666 BB27 clr r27 |
| 6499 3668 A7FD sbrc r26,7 |
| 6500 366a BA95 dec r27 |
| 6501 366c 8093 0000 sts IntegralAccZ,r24 |
| 6502 3670 9093 0000 sts (IntegralAccZ)+1,r25 |
| 6503 3674 A093 0000 sts (IntegralAccZ)+2,r26 |
| 6504 3678 B093 0000 sts (IntegralAccZ)+3,r27 |
| 6505 367c D801 movw r26,r16 |
| 6506 367e C701 movw r24,r14 |
| 6507 3680 8619 sub r24,r6 |
| 6508 3682 9709 sbc r25,r7 |
| 6509 3684 A809 sbc r26,r8 |
| 6510 3686 B909 sbc r27,r9 |
| 6511 3688 8093 0000 sts IntegralFehlerNick.3,r24 |
| 6512 368c 9093 0000 sts (IntegralFehlerNick.3)+1,r25 |
| 6513 3690 A093 0000 sts (IntegralFehlerNick.3)+2,r26 |
| 6514 3694 B093 0000 sts (IntegralFehlerNick.3)+3,r27 |
| 6515 3698 2091 0000 lds r18,EE_Parameter+67 |
| 6516 369c E22E mov r14,r18 |
| 6517 369e FF24 clr r15 |
| 6518 36a0 0027 clr r16 |
| 6519 36a2 1127 clr r17 |
| 6520 36a4 BC01 movw r22,r24 |
| 6521 36a6 CD01 movw r24,r26 |
| 6522 36a8 A801 movw r20,r16 |
| 6523 36aa 9701 movw r18,r14 |
| 6524 36ac 0E94 0000 call __divmodsi4 |
| 6525 36b0 5901 movw r10,r18 |
| 6526 36b2 6A01 movw r12,r20 |
| 6527 36b4 2093 0000 sts ausgleichNick.10,r18 |
| 6528 36b8 3093 0000 sts (ausgleichNick.10)+1,r19 |
| 6529 36bc 4093 0000 sts (ausgleichNick.10)+2,r20 |
| 6530 36c0 5093 0000 sts (ausgleichNick.10)+3,r21 |
| 6531 36c4 8989 ldd r24,Y+17 |
| 6532 36c6 9A89 ldd r25,Y+18 |
| 6533 36c8 AB89 ldd r26,Y+19 |
| 6534 36ca BC89 ldd r27,Y+20 |
| 6535 36cc 8219 sub r24,r2 |
| 6536 36ce 9309 sbc r25,r3 |
| 6537 36d0 A409 sbc r26,r4 |
| 6538 36d2 B509 sbc r27,r5 |
| 6539 36d4 8093 0000 sts IntegralFehlerRoll.4,r24 |
| 6540 36d8 9093 0000 sts (IntegralFehlerRoll.4)+1,r25 |
| 6541 36dc A093 0000 sts (IntegralFehlerRoll.4)+2,r26 |
| 6542 36e0 B093 0000 sts (IntegralFehlerRoll.4)+3,r27 |
| 6543 36e4 BC01 movw r22,r24 |
| 6544 36e6 CD01 movw r24,r26 |
| 6545 36e8 A801 movw r20,r16 |
| 6546 36ea 9701 movw r18,r14 |
| 6547 36ec 0E94 0000 call __divmodsi4 |
| 6548 36f0 2093 0000 sts ausgleichRoll.11,r18 |
| 6549 36f4 3093 0000 sts (ausgleichRoll.11)+1,r19 |
| 6550 36f8 4093 0000 sts (ausgleichRoll.11)+2,r20 |
| 6551 36fc 5093 0000 sts (ausgleichRoll.11)+3,r21 |
| 6552 3700 D601 movw r26,r12 |
| 6553 3702 C501 movw r24,r10 |
| 6554 3704 D7FE sbrs r13,7 |
| 6555 3706 00C0 rjmp .L536 |
| 6556 3708 8150 subi r24,lo8(-(255)) |
| 6557 370a 9F4F sbci r25,hi8(-(255)) |
| 6558 370c AF4F sbci r26,hlo8(-(255)) |
| 6559 370e BF4F sbci r27,hhi8(-(255)) |
| 6560 .L536: |
| 6561 3710 892F mov r24,r25 |
| 6562 3712 9A2F mov r25,r26 |
| 6563 3714 AB2F mov r26,r27 |
| 6564 3716 BB27 clr r27 |
| 6565 3718 A7FD sbrc r26,7 |
| 6566 371a BA95 dec r27 |
| 6567 371c 9093 0000 sts (LageKorrekturNick)+1,r25 |
| 6568 3720 8093 0000 sts LageKorrekturNick,r24 |
| 6569 3724 57FF sbrs r21,7 |
| 6570 3726 00C0 rjmp .L537 |
| 6571 3728 2150 subi r18,lo8(-(255)) |
| 6572 372a 3F4F sbci r19,hi8(-(255)) |
| 6573 372c 4F4F sbci r20,hlo8(-(255)) |
| 6574 372e 5F4F sbci r21,hhi8(-(255)) |
| 6575 .L537: |
| 6576 3730 BB27 clr r27 |
| 6577 3732 57FD sbrc r21,7 |
| 6578 3734 BA95 dec r27 |
| 6579 3736 A52F mov r26,r21 |
| 6580 3738 942F mov r25,r20 |
| 6581 373a 832F mov r24,r19 |
| 6582 373c 9093 0000 sts (LageKorrekturRoll)+1,r25 |
| 6583 3740 8093 0000 sts LageKorrekturRoll,r24 |
| 6584 3744 8091 0000 lds r24,MaxStickNick |
| 6585 3748 9091 0000 lds r25,(MaxStickNick)+1 |
| 6586 374c 8134 cpi r24,65 |
| 6587 374e 9105 cpc r25,__zero_reg__ |
| 6588 3750 04F4 brge .L539 |
| 6589 3752 8091 0000 lds r24,MaxStickRoll |
| 6590 3756 9091 0000 lds r25,(MaxStickRoll)+1 |
| 6591 375a 8134 cpi r24,65 |
| 6592 375c 9105 cpc r25,__zero_reg__ |
| 6593 375e 04F4 brge .L539 |
| 6594 3760 8091 0000 lds r24,EE_Parameter+4 |
| 6595 3764 E82F mov r30,r24 |
| 6596 3766 FF27 clr r31 |
| 6597 3768 EE0F add r30,r30 |
| 6598 376a FF1F adc r31,r31 |
| 6599 376c E050 subi r30,lo8(-(PPM_in)) |
| 6600 376e F040 sbci r31,hi8(-(PPM_in)) |
| 6601 3770 8081 ld r24,Z |
| 6602 3772 9181 ldd r25,Z+1 |
| 6603 3774 0190 ld __tmp_reg__,Z+ |
| 6604 3776 F081 ld r31,Z |
| 6605 3778 E02D mov r30,__tmp_reg__ |
| 6606 377a F7FF sbrs r31,7 |
| 6607 377c 00C0 rjmp .L540 |
| 6608 377e F095 com r31 |
| 6609 3780 E195 neg r30 |
| 6610 3782 FF4F sbci r31,lo8(-1) |
| 6611 .L540: |
| 6612 3784 7A97 sbiw r30,26 |
| 6613 3786 04F0 brlt .L538 |
| 6614 .L539: |
| 6615 3788 8091 0000 lds r24,FromNaviCtrl_Value |
| 6616 378c 8F3F cpi r24,lo8(-1) |
| 6617 378e 01F4 brne .L538 |
| 6618 3790 8091 0000 lds r24,LageKorrekturNick |
| 6619 3794 9091 0000 lds r25,(LageKorrekturNick)+1 |
| 6620 3798 97FD sbrc r25,7 |
| 6621 379a 0196 adiw r24,1 |
| 6622 .L541: |
| 6623 379c 9595 asr r25 |
| 6624 379e 8795 ror r24 |
| 6625 37a0 9093 0000 sts (LageKorrekturNick)+1,r25 |
| 6626 37a4 8093 0000 sts LageKorrekturNick,r24 |
| 6627 37a8 8091 0000 lds r24,LageKorrekturRoll |
| 6628 37ac 9091 0000 lds r25,(LageKorrekturRoll)+1 |
| 6629 37b0 97FD sbrc r25,7 |
| 6630 37b2 0196 adiw r24,1 |
| 6631 .L542: |
| 6632 37b4 9595 asr r25 |
| 6633 37b6 8795 ror r24 |
| 6634 37b8 9093 0000 sts (LageKorrekturRoll)+1,r25 |
| 6635 37bc 8093 0000 sts LageKorrekturRoll,r24 |
| 6636 .L538: |
| 6637 37c0 8091 0000 lds r24,MittelIntegralNick2 |
| 6638 37c4 9091 0000 lds r25,(MittelIntegralNick2)+1 |
| 6639 37c8 A091 0000 lds r26,(MittelIntegralNick2)+2 |
| 6640 37cc B091 0000 lds r27,(MittelIntegralNick2)+3 |
| 6641 37d0 B7FF sbrs r27,7 |
| 6642 37d2 00C0 rjmp .L543 |
| 6643 37d4 8150 subi r24,lo8(-(255)) |
| 6644 37d6 9F4F sbci r25,hi8(-(255)) |
| 6645 37d8 AF4F sbci r26,hlo8(-(255)) |
| 6646 37da BF4F sbci r27,hhi8(-(255)) |
| 6647 .L543: |
| 6648 37dc 892F mov r24,r25 |
| 6649 37de 9A2F mov r25,r26 |
| 6650 37e0 AB2F mov r26,r27 |
| 6651 37e2 BB27 clr r27 |
| 6652 37e4 A7FD sbrc r26,7 |
| 6653 37e6 BA95 dec r27 |
| 6654 37e8 8093 0000 sts MittelIntegralNick2,r24 |
| 6655 37ec 9093 0000 sts (MittelIntegralNick2)+1,r25 |
| 6656 37f0 A093 0000 sts (MittelIntegralNick2)+2,r26 |
| 6657 37f4 B093 0000 sts (MittelIntegralNick2)+3,r27 |
| 6658 37f8 8091 0000 lds r24,MittelIntegralRoll2 |
| 6659 37fc 9091 0000 lds r25,(MittelIntegralRoll2)+1 |
| 6660 3800 A091 0000 lds r26,(MittelIntegralRoll2)+2 |
| 6661 3804 B091 0000 lds r27,(MittelIntegralRoll2)+3 |
| 6662 3808 B7FF sbrs r27,7 |
| 6663 380a 00C0 rjmp .L544 |
| 6664 380c 8150 subi r24,lo8(-(255)) |
| 6665 380e 9F4F sbci r25,hi8(-(255)) |
| 6666 3810 AF4F sbci r26,hlo8(-(255)) |
| 6667 3812 BF4F sbci r27,hhi8(-(255)) |
| 6668 .L544: |
| 6669 3814 892F mov r24,r25 |
| 6670 3816 9A2F mov r25,r26 |
| 6671 3818 AB2F mov r26,r27 |
| 6672 381a BB27 clr r27 |
| 6673 381c A7FD sbrc r26,7 |
| 6674 381e BA95 dec r27 |
| 6675 3820 8093 0000 sts MittelIntegralRoll2,r24 |
| 6676 3824 9093 0000 sts (MittelIntegralRoll2)+1,r25 |
| 6677 3828 A093 0000 sts (MittelIntegralRoll2)+2,r26 |
| 6678 382c B093 0000 sts (MittelIntegralRoll2)+3,r27 |
| 6679 3830 8091 0000 lds r24,IntegralNick |
| 6680 3834 9091 0000 lds r25,(IntegralNick)+1 |
| 6681 3838 A091 0000 lds r26,(IntegralNick)+2 |
| 6682 383c B091 0000 lds r27,(IntegralNick)+3 |
| 6683 3840 2F81 ldd r18,Y+7 |
| 6684 3842 3885 ldd r19,Y+8 |
| 6685 3844 4985 ldd r20,Y+9 |
| 6686 3846 5A85 ldd r21,Y+10 |
| 6687 3848 281B sub r18,r24 |
| 6688 384a 390B sbc r19,r25 |
| 6689 384c 4A0B sbc r20,r26 |
| 6690 384e 5B0B sbc r21,r27 |
| 6691 3850 2093 0000 sts tmp_long.1,r18 |
| 6692 3854 3093 0000 sts (tmp_long.1)+1,r19 |
| 6693 3858 4093 0000 sts (tmp_long.1)+2,r20 |
| 6694 385c 5093 0000 sts (tmp_long.1)+3,r21 |
| 6695 3860 8091 0000 lds r24,IntegralRoll |
| 6696 3864 9091 0000 lds r25,(IntegralRoll)+1 |
| 6697 3868 A091 0000 lds r26,(IntegralRoll)+2 |
| 6698 386c B091 0000 lds r27,(IntegralRoll)+3 |
| 6699 3870 EB84 ldd r14,Y+11 |
| 6700 3872 FC84 ldd r15,Y+12 |
| 6701 3874 0D85 ldd r16,Y+13 |
| 6702 3876 1E85 ldd r17,Y+14 |
| 6703 3878 E81A sub r14,r24 |
| 6704 387a F90A sbc r15,r25 |
| 6705 387c 0A0B sbc r16,r26 |
| 6706 387e 1B0B sbc r17,r27 |
| 6707 3880 E092 0000 sts tmp_long2.2,r14 |
| 6708 3884 F092 0000 sts (tmp_long2.2)+1,r15 |
| 6709 3888 0093 0000 sts (tmp_long2.2)+2,r16 |
| 6710 388c 1093 0000 sts (tmp_long2.2)+3,r17 |
| 6711 3890 2093 0000 sts IntegralFehlerNick.3,r18 |
| 6712 3894 3093 0000 sts (IntegralFehlerNick.3)+1,r19 |
| 6713 3898 4093 0000 sts (IntegralFehlerNick.3)+2,r20 |
| 6714 389c 5093 0000 sts (IntegralFehlerNick.3)+3,r21 |
| 6715 38a0 E092 0000 sts IntegralFehlerRoll.4,r14 |
| 6716 38a4 F092 0000 sts (IntegralFehlerRoll.4)+1,r15 |
| 6717 38a8 0093 0000 sts (IntegralFehlerRoll.4)+2,r16 |
| 6718 38ac 1093 0000 sts (IntegralFehlerRoll.4)+3,r17 |
| 6719 38b0 8091 0000 lds r24,Mess_IntegralNick2 |
| 6720 38b4 9091 0000 lds r25,(Mess_IntegralNick2)+1 |
| 6721 38b8 A091 0000 lds r26,(Mess_IntegralNick2)+2 |
| 6722 38bc B091 0000 lds r27,(Mess_IntegralNick2)+3 |
| 6723 38c0 821B sub r24,r18 |
| 6724 38c2 930B sbc r25,r19 |
| 6725 38c4 A40B sbc r26,r20 |
| 6726 38c6 B50B sbc r27,r21 |
| 6727 38c8 8093 0000 sts Mess_IntegralNick2,r24 |
| 6728 38cc 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
| 6729 38d0 A093 0000 sts (Mess_IntegralNick2)+2,r26 |
| 6730 38d4 B093 0000 sts (Mess_IntegralNick2)+3,r27 |
| 6731 38d8 8091 0000 lds r24,Mess_IntegralRoll2 |
| 6732 38dc 9091 0000 lds r25,(Mess_IntegralRoll2)+1 |
| 6733 38e0 A091 0000 lds r26,(Mess_IntegralRoll2)+2 |
| 6734 38e4 B091 0000 lds r27,(Mess_IntegralRoll2)+3 |
| 6735 38e8 8E19 sub r24,r14 |
| 6736 38ea 9F09 sbc r25,r15 |
| 6737 38ec A00B sbc r26,r16 |
| 6738 38ee B10B sbc r27,r17 |
| 6739 38f0 8093 0000 sts Mess_IntegralRoll2,r24 |
| 6740 38f4 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
| 6741 38f8 A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
| 6742 38fc B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
| 6743 3900 8889 ldd r24,Y+16 |
| 6744 3902 8823 tst r24 |
| 6745 3904 01F0 breq .L545 |
| 6746 3906 2091 0000 lds r18,GierGyroFehler |
| 6747 390a 3091 0000 lds r19,(GierGyroFehler)+1 |
| 6748 390e 2138 cpi r18,129 |
| 6749 3910 3105 cpc r19,__zero_reg__ |
| 6750 3912 04F0 brlt .L546 |
| 6751 3914 8091 0000 lds r24,AdNeutralGier |
| 6752 3918 9091 0000 lds r25,(AdNeutralGier)+1 |
| 6753 391c 0196 adiw r24,1 |
| 6754 391e 9093 0000 sts (AdNeutralGier)+1,r25 |
| 6755 3922 8093 0000 sts AdNeutralGier,r24 |
| 6756 .L546: |
| 6757 3926 2058 subi r18,lo8(-128) |
| 6758 3928 3F4F sbci r19,hi8(-128) |
| 6759 392a 04F4 brge .L545 |
| 6760 392c 8091 0000 lds r24,AdNeutralGier |
| 6761 3930 9091 0000 lds r25,(AdNeutralGier)+1 |
| 6762 3934 0197 sbiw r24,1 |
| 6763 3936 9093 0000 sts (AdNeutralGier)+1,r25 |
| 6764 393a 8093 0000 sts AdNeutralGier,r24 |
| 6765 .L545: |
| 6766 393e 1092 0000 sts (GierGyroFehler)+1,__zero_reg__ |
| 6767 3942 1092 0000 sts GierGyroFehler,__zero_reg__ |
| 6768 3946 81E0 ldi r24,lo8(1) |
| 6769 3948 90E0 ldi r25,hi8(1) |
| 6770 394a 9093 0000 sts (cnt.14)+1,r25 |
| 6771 394e 8093 0000 sts cnt.14,r24 |
| 6772 3952 E090 0000 lds r14,IntegralFehlerNick.3 |
| 6773 3956 F090 0000 lds r15,(IntegralFehlerNick.3)+1 |
| 6774 395a 0091 0000 lds r16,(IntegralFehlerNick.3)+2 |
| 6775 395e 1091 0000 lds r17,(IntegralFehlerNick.3)+3 |
| 6776 3962 D801 movw r26,r16 |
| 6777 3964 C701 movw r24,r14 |
| 6778 3966 17FF sbrs r17,7 |
| 6779 3968 00C0 rjmp .L549 |
| 6780 396a 8827 clr r24 |
| 6781 396c 9927 clr r25 |
| 6782 396e DC01 movw r26,r24 |
| 6783 3970 8E19 sub r24,r14 |
| 6784 3972 9F09 sbc r25,r15 |
| 6785 3974 A00B sbc r26,r16 |
| 6786 3976 B10B sbc r27,r17 |
| 6787 .L549: |
| 6788 3978 8150 subi r24,lo8(513) |
| 6789 397a 9240 sbci r25,hi8(513) |
| 6790 397c A040 sbci r26,hlo8(513) |
| 6791 397e B040 sbci r27,hhi8(513) |
| 6792 3980 04F0 brlt .L548 |
| 6793 3982 84E0 ldi r24,lo8(4) |
| 6794 3984 90E0 ldi r25,hi8(4) |
| 6795 3986 9093 0000 sts (cnt.14)+1,r25 |
| 6796 398a 8093 0000 sts cnt.14,r24 |
| 6797 .L548: |
| 6798 398e 8091 0000 lds r24,MittelIntegralNick_Alt.19 |
| 6799 3992 9091 0000 lds r25,(MittelIntegralNick_Alt.19)+1 |
| 6800 3996 A091 0000 lds r26,(MittelIntegralNick_Alt.19)+2 |
| 6801 399a B091 0000 lds r27,(MittelIntegralNick_Alt.19)+3 |
| 6802 399e 2091 0000 lds r18,MittelIntegralNick |
| 6803 39a2 3091 0000 lds r19,(MittelIntegralNick)+1 |
| 6804 39a6 4091 0000 lds r20,(MittelIntegralNick)+2 |
| 6805 39aa 5091 0000 lds r21,(MittelIntegralNick)+3 |
| 6806 39ae 821B sub r24,r18 |
| 6807 39b0 930B sbc r25,r19 |
| 6808 39b2 A40B sbc r26,r20 |
| 6809 39b4 B50B sbc r27,r21 |
| 6810 39b6 815E subi r24,lo8(-(19999)) |
| 6811 39b8 914B sbci r25,hi8(-(19999)) |
| 6812 39ba AF4F sbci r26,hlo8(-(19999)) |
| 6813 39bc BF4F sbci r27,hhi8(-(19999)) |
| 6814 39be 8F53 subi r24,lo8(39999) |
| 6815 39c0 9C49 sbci r25,hi8(39999) |
| 6816 39c2 A040 sbci r26,hlo8(39999) |
| 6817 39c4 B040 sbci r27,hhi8(39999) |
| 6818 39c6 00F0 brlo .L551 |
| 6819 39c8 8091 0000 lds r24,FromNaviCtrl_Value+1 |
| 6820 39cc 8931 cpi r24,lo8(25) |
| 6821 39ce 04F4 brge .+2 |
| 6822 39d0 00C0 rjmp .L550 |
| 6823 .L551: |
| 6824 39d2 21E0 ldi r18,lo8(4097) |
| 6825 39d4 E216 cp r14,r18 |
| 6826 39d6 20E1 ldi r18,hi8(4097) |
| 6827 39d8 F206 cpc r15,r18 |
| 6828 39da 20E0 ldi r18,hlo8(4097) |
| 6829 39dc 0207 cpc r16,r18 |
| 6830 39de 20E0 ldi r18,hhi8(4097) |
| 6831 39e0 1207 cpc r17,r18 |
| 6832 39e2 04F4 brge .+2 |
| 6833 39e4 00C0 rjmp .L552 |
| 6834 39e6 8091 0000 lds r24,last_n_p.15 |
| 6835 39ea 8823 tst r24 |
| 6836 39ec 01F4 brne .+2 |
| 6837 39ee 00C0 rjmp .L553 |
| 6838 39f0 D801 movw r26,r16 |
| 6839 39f2 C701 movw r24,r14 |
| 6840 39f4 17FF sbrs r17,7 |
| 6841 39f6 00C0 rjmp .L554 |
| 6842 39f8 8827 clr r24 |
| 6843 39fa 9927 clr r25 |
| 6844 39fc DC01 movw r26,r24 |
| 6845 39fe 8E19 sub r24,r14 |
| 6846 3a00 9F09 sbc r25,r15 |
| 6847 3a02 A00B sbc r26,r16 |
| 6848 3a04 B10B sbc r27,r17 |
| 6849 .L554: |
| 6850 3a06 9C01 movw r18,r24 |
| 6851 3a08 AD01 movw r20,r26 |
| 6852 3a0a B7FF sbrs r27,7 |
| 6853 3a0c 00C0 rjmp .L555 |
| 6854 3a0e 2150 subi r18,lo8(-(511)) |
| 6855 3a10 3E4F sbci r19,hi8(-(511)) |
| 6856 3a12 4F4F sbci r20,hlo8(-(511)) |
| 6857 3a14 5F4F sbci r21,hhi8(-(511)) |
| 6858 .L555: |
| 6859 3a16 F9E0 ldi r31,9 |
| 6860 3a18 5595 1: asr r21 |
| 6861 3a1a 4795 ror r20 |
| 6862 3a1c 3795 ror r19 |
| 6863 3a1e 2795 ror r18 |
| 6864 3a20 FA95 dec r31 |
| 6865 3a22 01F4 brne 1b |
| 6866 3a24 8091 0000 lds r24,cnt.14 |
| 6867 3a28 9091 0000 lds r25,(cnt.14)+1 |
| 6868 3a2c 820F add r24,r18 |
| 6869 3a2e 931F adc r25,r19 |
| 6870 3a30 9093 0000 sts (cnt.14)+1,r25 |
| 6871 3a34 8093 0000 sts cnt.14,r24 |
| 6872 3a38 D801 movw r26,r16 |
| 6873 3a3a C701 movw r24,r14 |
| 6874 3a3c 17FF sbrs r17,7 |
| 6875 3a3e 00C0 rjmp .L556 |
| 6876 3a40 0796 adiw r24,7 |
| 6877 3a42 A11D adc r26,__zero_reg__ |
| 6878 3a44 B11D adc r27,__zero_reg__ |
| 6879 .L556: |
| 6880 3a46 E3E0 ldi r30,3 |
| 6881 3a48 B595 1: asr r27 |
| 6882 3a4a A795 ror r26 |
| 6883 3a4c 9795 ror r25 |
| 6884 3a4e 8795 ror r24 |
| 6885 3a50 EA95 dec r30 |
| 6886 3a52 01F4 brne 1b |
| 6887 3a54 8093 0000 sts ausgleichNick.10,r24 |
| 6888 3a58 9093 0000 sts (ausgleichNick.10)+1,r25 |
| 6889 3a5c A093 0000 sts (ausgleichNick.10)+2,r26 |
| 6890 3a60 B093 0000 sts (ausgleichNick.10)+3,r27 |
| 6891 3a64 8958 subi r24,lo8(5001) |
| 6892 3a66 9341 sbci r25,hi8(5001) |
| 6893 3a68 A040 sbci r26,hlo8(5001) |
| 6894 3a6a B040 sbci r27,hhi8(5001) |
| 6895 3a6c 04F0 brlt .L557 |
| 6896 3a6e 88E8 ldi r24,lo8(5000) |
| 6897 3a70 93E1 ldi r25,hi8(5000) |
| 6898 3a72 A0E0 ldi r26,hlo8(5000) |
| 6899 3a74 B0E0 ldi r27,hhi8(5000) |
| 6900 3a76 8093 0000 sts ausgleichNick.10,r24 |
| 6901 3a7a 9093 0000 sts (ausgleichNick.10)+1,r25 |
| 6902 3a7e A093 0000 sts (ausgleichNick.10)+2,r26 |
| 6903 3a82 B093 0000 sts (ausgleichNick.10)+3,r27 |
| 6904 .L557: |
| 6905 3a86 2091 0000 lds r18,ausgleichNick.10 |
| 6906 3a8a 3091 0000 lds r19,(ausgleichNick.10)+1 |
| 6907 3a8e 4091 0000 lds r20,(ausgleichNick.10)+2 |
| 6908 3a92 5091 0000 lds r21,(ausgleichNick.10)+3 |
| 6909 3a96 57FF sbrs r21,7 |
| 6910 3a98 00C0 rjmp .L558 |
| 6911 3a9a 2150 subi r18,lo8(-(255)) |
| 6912 3a9c 3F4F sbci r19,hi8(-(255)) |
| 6913 3a9e 4F4F sbci r20,hlo8(-(255)) |
| 6914 3aa0 5F4F sbci r21,hhi8(-(255)) |
| 6915 .L558: |
| 6916 3aa2 232F mov r18,r19 |
| 6917 3aa4 342F mov r19,r20 |
| 6918 3aa6 452F mov r20,r21 |
| 6919 3aa8 5527 clr r21 |
| 6920 3aaa 47FD sbrc r20,7 |
| 6921 3aac 5A95 dec r21 |
| 6922 3aae 8091 0000 lds r24,LageKorrekturNick |
| 6923 3ab2 9091 0000 lds r25,(LageKorrekturNick)+1 |
| 6924 3ab6 820F add r24,r18 |
| 6925 3ab8 931F adc r25,r19 |
| 6926 3aba 9093 0000 sts (LageKorrekturNick)+1,r25 |
| 6927 3abe 8093 0000 sts LageKorrekturNick,r24 |
| 6928 3ac2 00C0 rjmp .L560 |
| 6929 .L553: |
| 6930 3ac4 81E0 ldi r24,lo8(1) |
| 6931 3ac6 8093 0000 sts last_n_p.15,r24 |
| 6932 3aca 00C0 rjmp .L560 |
| 6933 .L552: |
| 6934 3acc 1092 0000 sts last_n_p.15,__zero_reg__ |
| 6935 .L560: |
| 6936 3ad0 40E0 ldi r20,lo8(-4096) |
| 6937 3ad2 E416 cp r14,r20 |
| 6938 3ad4 40EF ldi r20,hi8(-4096) |
| 6939 3ad6 F406 cpc r15,r20 |
| 6940 3ad8 4FEF ldi r20,hlo8(-4096) |
| 6941 3ada 0407 cpc r16,r20 |
| 6942 3adc 4FEF ldi r20,hhi8(-4096) |
| 6943 3ade 1407 cpc r17,r20 |
| 6944 3ae0 04F0 brlt .+2 |
| 6945 3ae2 00C0 rjmp .L561 |
| 6946 3ae4 8091 0000 lds r24,last_n_n.16 |
| 6947 3ae8 8823 tst r24 |
| 6948 3aea 01F4 brne .+2 |
| 6949 3aec 00C0 rjmp .L562 |
| 6950 3aee D801 movw r26,r16 |
| 6951 3af0 C701 movw r24,r14 |
| 6952 3af2 17FF sbrs r17,7 |
| 6953 3af4 00C0 rjmp .L563 |
| 6954 3af6 8827 clr r24 |
| 6955 3af8 9927 clr r25 |
| 6956 3afa DC01 movw r26,r24 |
| 6957 3afc 8E19 sub r24,r14 |
| 6958 3afe 9F09 sbc r25,r15 |
| 6959 3b00 A00B sbc r26,r16 |
| 6960 3b02 B10B sbc r27,r17 |
| 6961 .L563: |
| 6962 3b04 9C01 movw r18,r24 |
| 6963 3b06 AD01 movw r20,r26 |
| 6964 3b08 B7FF sbrs r27,7 |
| 6965 3b0a 00C0 rjmp .L564 |
| 6966 3b0c 2150 subi r18,lo8(-(511)) |
| 6967 3b0e 3E4F sbci r19,hi8(-(511)) |
| 6968 3b10 4F4F sbci r20,hlo8(-(511)) |
| 6969 3b12 5F4F sbci r21,hhi8(-(511)) |
| 6970 .L564: |
| 6971 3b14 69E0 ldi r22,9 |
| 6972 3b16 5595 1: asr r21 |
| 6973 3b18 4795 ror r20 |
| 6974 3b1a 3795 ror r19 |
| 6975 3b1c 2795 ror r18 |
| 6976 3b1e 6A95 dec r22 |
| 6977 3b20 01F4 brne 1b |
| 6978 3b22 8091 0000 lds r24,cnt.14 |
| 6979 3b26 9091 0000 lds r25,(cnt.14)+1 |
| 6980 3b2a 820F add r24,r18 |
| 6981 3b2c 931F adc r25,r19 |
| 6982 3b2e 9093 0000 sts (cnt.14)+1,r25 |
| 6983 3b32 8093 0000 sts cnt.14,r24 |
| 6984 3b36 D801 movw r26,r16 |
| 6985 3b38 C701 movw r24,r14 |
| 6986 3b3a 17FF sbrs r17,7 |
| 6987 3b3c 00C0 rjmp .L565 |
| 6988 3b3e 0796 adiw r24,7 |
| 6989 3b40 A11D adc r26,__zero_reg__ |
| 6990 3b42 B11D adc r27,__zero_reg__ |
| 6991 .L565: |
| 6992 3b44 23E0 ldi r18,3 |
| 6993 3b46 B595 1: asr r27 |
| 6994 3b48 A795 ror r26 |
| 6995 3b4a 9795 ror r25 |
| 6996 3b4c 8795 ror r24 |
| 6997 3b4e 2A95 dec r18 |
| 6998 3b50 01F4 brne 1b |
| 6999 3b52 8093 0000 sts ausgleichNick.10,r24 |
| 7000 3b56 9093 0000 sts (ausgleichNick.10)+1,r25 |
| 7001 3b5a A093 0000 sts (ausgleichNick.10)+2,r26 |
| 7002 3b5e B093 0000 sts (ausgleichNick.10)+3,r27 |
| 7003 3b62 8857 subi r24,lo8(-5000) |
| 7004 3b64 9C4E sbci r25,hi8(-5000) |
| 7005 3b66 AF4F sbci r26,hlo8(-5000) |
| 7006 3b68 BF4F sbci r27,hhi8(-5000) |
| 7007 3b6a 04F4 brge .L566 |
| 7008 3b6c 88E7 ldi r24,lo8(-5000) |
| 7009 3b6e 9CEE ldi r25,hi8(-5000) |
| 7010 3b70 AFEF ldi r26,hlo8(-5000) |
| 7011 3b72 BFEF ldi r27,hhi8(-5000) |
| 7012 3b74 8093 0000 sts ausgleichNick.10,r24 |
| 7013 3b78 9093 0000 sts (ausgleichNick.10)+1,r25 |
| 7014 3b7c A093 0000 sts (ausgleichNick.10)+2,r26 |
| 7015 3b80 B093 0000 sts (ausgleichNick.10)+3,r27 |
| 7016 .L566: |
| 7017 3b84 2091 0000 lds r18,ausgleichNick.10 |
| 7018 3b88 3091 0000 lds r19,(ausgleichNick.10)+1 |
| 7019 3b8c 4091 0000 lds r20,(ausgleichNick.10)+2 |
| 7020 3b90 5091 0000 lds r21,(ausgleichNick.10)+3 |
| 7021 3b94 57FF sbrs r21,7 |
| 7022 3b96 00C0 rjmp .L567 |
| 7023 3b98 2150 subi r18,lo8(-(255)) |
| 7024 3b9a 3F4F sbci r19,hi8(-(255)) |
| 7025 3b9c 4F4F sbci r20,hlo8(-(255)) |
| 7026 3b9e 5F4F sbci r21,hhi8(-(255)) |
| 7027 .L567: |
| 7028 3ba0 232F mov r18,r19 |
| 7029 3ba2 342F mov r19,r20 |
| 7030 3ba4 452F mov r20,r21 |
| 7031 3ba6 5527 clr r21 |
| 7032 3ba8 47FD sbrc r20,7 |
| 7033 3baa 5A95 dec r21 |
| 7034 3bac 8091 0000 lds r24,LageKorrekturNick |
| 7035 3bb0 9091 0000 lds r25,(LageKorrekturNick)+1 |
| 7036 3bb4 820F add r24,r18 |
| 7037 3bb6 931F adc r25,r19 |
| 7038 3bb8 9093 0000 sts (LageKorrekturNick)+1,r25 |
| 7039 3bbc 8093 0000 sts LageKorrekturNick,r24 |
| 7040 3bc0 00C0 rjmp .L570 |
| 7041 .L562: |
| 7042 3bc2 81E0 ldi r24,lo8(1) |
| 7043 3bc4 8093 0000 sts last_n_n.16,r24 |
| 7044 3bc8 00C0 rjmp .L570 |
| 7045 .L561: |
| 7046 3bca 1092 0000 sts last_n_n.16,__zero_reg__ |
| 7047 3bce 00C0 rjmp .L570 |
| 7048 .L550: |
| 7049 3bd0 1092 0000 sts (cnt.14)+1,__zero_reg__ |
| 7050 3bd4 1092 0000 sts cnt.14,__zero_reg__ |
| 7051 3bd8 84E6 ldi r24,lo8(100) |
| 7052 3bda 90E0 ldi r25,hi8(100) |
| 7053 3bdc 9093 0000 sts (KompassSignalSchlecht)+1,r25 |
| 7054 3be0 8093 0000 sts KompassSignalSchlecht,r24 |
| 7055 .L570: |
| 7056 3be4 6889 ldd r22,Y+16 |
| 7057 3be6 262F mov r18,r22 |
| 7058 3be8 3327 clr r19 |
| 7059 3bea 8091 0000 lds r24,cnt.14 |
| 7060 3bee 9091 0000 lds r25,(cnt.14)+1 |
| 7061 3bf2 2817 cp r18,r24 |
| 7062 3bf4 3907 cpc r19,r25 |
| 7063 3bf6 04F4 brge .L571 |
| 7064 3bf8 3093 0000 sts (cnt.14)+1,r19 |
| 7065 3bfc 2093 0000 sts cnt.14,r18 |
| 7066 .L571: |
| 7067 3c00 1091 0000 lds r17,FromNaviCtrl_Value+1 |
| 7068 3c04 1123 tst r17 |
| 7069 3c06 01F0 breq .L572 |
| 7070 3c08 212F mov r18,r17 |
| 7071 3c0a 3327 clr r19 |
| 7072 3c0c 27FD sbrc r18,7 |
| 7073 3c0e 3095 com r19 |
| 7074 3c10 8091 0000 lds r24,cnt.14 |
| 7075 3c14 9091 0000 lds r25,(cnt.14)+1 |
| 7076 3c18 2817 cp r18,r24 |
| 7077 3c1a 3907 cpc r19,r25 |
| 7078 3c1c 04F4 brge .L572 |
| 7079 3c1e 3093 0000 sts (cnt.14)+1,r19 |
| 7080 3c22 2093 0000 sts cnt.14,r18 |
| 7081 .L572: |
| 7082 3c26 4091 0000 lds r20,IntegralFehlerNick.3 |
| 7083 3c2a 5091 0000 lds r21,(IntegralFehlerNick.3)+1 |
| 7084 3c2e 6091 0000 lds r22,(IntegralFehlerNick.3)+2 |
| 7085 3c32 7091 0000 lds r23,(IntegralFehlerNick.3)+3 |
| 7086 3c36 4138 cpi r20,lo8(129) |
| 7087 3c38 5105 cpc r21,__zero_reg__ |
| 7088 3c3a 6105 cpc r22,__zero_reg__ |
| 7089 3c3c 7105 cpc r23,__zero_reg__ |
| 7090 3c3e 04F0 brlt .L574 |
| 7091 3c40 8091 0000 lds r24,AdNeutralNick |
| 7092 3c44 9091 0000 lds r25,(AdNeutralNick)+1 |
| 7093 3c48 2091 0000 lds r18,cnt.14 |
| 7094 3c4c 3091 0000 lds r19,(cnt.14)+1 |
| 7095 3c50 820F add r24,r18 |
| 7096 3c52 931F adc r25,r19 |
| 7097 3c54 9093 0000 sts (AdNeutralNick)+1,r25 |
| 7098 3c58 8093 0000 sts AdNeutralNick,r24 |
| 7099 .L574: |
| 7100 3c5c 4058 subi r20,lo8(-128) |
| 7101 3c5e 5F4F sbci r21,hi8(-128) |
| 7102 3c60 6F4F sbci r22,hlo8(-128) |
| 7103 3c62 7F4F sbci r23,hhi8(-128) |
| 7104 3c64 04F4 brge .L575 |
| 7105 3c66 8091 0000 lds r24,AdNeutralNick |
| 7106 3c6a 9091 0000 lds r25,(AdNeutralNick)+1 |
| 7107 3c6e 2091 0000 lds r18,cnt.14 |
| 7108 3c72 3091 0000 lds r19,(cnt.14)+1 |
| 7109 3c76 821B sub r24,r18 |
| 7110 3c78 930B sbc r25,r19 |
| 7111 3c7a 9093 0000 sts (AdNeutralNick)+1,r25 |
| 7112 3c7e 8093 0000 sts AdNeutralNick,r24 |
| 7113 .L575: |
| 7114 3c82 81E0 ldi r24,lo8(1) |
| 7115 3c84 90E0 ldi r25,hi8(1) |
| 7116 3c86 9093 0000 sts (cnt.14)+1,r25 |
| 7117 3c8a 8093 0000 sts cnt.14,r24 |
| 7118 3c8e C090 0000 lds r12,IntegralFehlerRoll.4 |
| 7119 3c92 D090 0000 lds r13,(IntegralFehlerRoll.4)+1 |
| 7120 3c96 E090 0000 lds r14,(IntegralFehlerRoll.4)+2 |
| 7121 3c9a F090 0000 lds r15,(IntegralFehlerRoll.4)+3 |
| 7122 3c9e D701 movw r26,r14 |
| 7123 3ca0 C601 movw r24,r12 |
| 7124 3ca2 F7FE sbrs r15,7 |
| 7125 3ca4 00C0 rjmp .L577 |
| 7126 3ca6 8827 clr r24 |
| 7127 3ca8 9927 clr r25 |
| 7128 3caa DC01 movw r26,r24 |
| 7129 3cac 8C19 sub r24,r12 |
| 7130 3cae 9D09 sbc r25,r13 |
| 7131 3cb0 AE09 sbc r26,r14 |
| 7132 3cb2 BF09 sbc r27,r15 |
| 7133 .L577: |
| 7134 3cb4 8150 subi r24,lo8(513) |
| 7135 3cb6 9240 sbci r25,hi8(513) |
| 7136 3cb8 A040 sbci r26,hlo8(513) |
| 7137 3cba B040 sbci r27,hhi8(513) |
| 7138 3cbc 04F0 brlt .L576 |
| 7139 3cbe 84E0 ldi r24,lo8(4) |
| 7140 3cc0 90E0 ldi r25,hi8(4) |
| 7141 3cc2 9093 0000 sts (cnt.14)+1,r25 |
| 7142 3cc6 8093 0000 sts cnt.14,r24 |
| 7143 .L576: |
| 7144 3cca 8091 0000 lds r24,MittelIntegralRoll_Alt.20 |
| 7145 3cce 9091 0000 lds r25,(MittelIntegralRoll_Alt.20)+1 |
| 7146 3cd2 A091 0000 lds r26,(MittelIntegralRoll_Alt.20)+2 |
| 7147 3cd6 B091 0000 lds r27,(MittelIntegralRoll_Alt.20)+3 |
| 7148 3cda 2091 0000 lds r18,MittelIntegralRoll |
| 7149 3cde 3091 0000 lds r19,(MittelIntegralRoll)+1 |
| 7150 3ce2 4091 0000 lds r20,(MittelIntegralRoll)+2 |
| 7151 3ce6 5091 0000 lds r21,(MittelIntegralRoll)+3 |
| 7152 3cea 821B sub r24,r18 |
| 7153 3cec 930B sbc r25,r19 |
| 7154 3cee A40B sbc r26,r20 |
| 7155 3cf0 B50B sbc r27,r21 |
| 7156 3cf2 815E subi r24,lo8(-(19999)) |
| 7157 3cf4 914B sbci r25,hi8(-(19999)) |
| 7158 3cf6 AF4F sbci r26,hlo8(-(19999)) |
| 7159 3cf8 BF4F sbci r27,hhi8(-(19999)) |
| 7160 3cfa 8F53 subi r24,lo8(39999) |
| 7161 3cfc 9C49 sbci r25,hi8(39999) |
| 7162 3cfe A040 sbci r26,hlo8(39999) |
| 7163 3d00 B040 sbci r27,hhi8(39999) |
| 7164 3d02 00F0 brlo .L579 |
| 7165 3d04 1931 cpi r17,lo8(25) |
| 7166 3d06 04F4 brge .+2 |
| 7167 3d08 00C0 rjmp .L578 |
| 7168 .L579: |
| 7169 3d0a 01E0 ldi r16,lo8(4097) |
| 7170 3d0c C016 cp r12,r16 |
| 7171 3d0e 00E1 ldi r16,hi8(4097) |
| 7172 3d10 D006 cpc r13,r16 |
| 7173 3d12 00E0 ldi r16,hlo8(4097) |
| 7174 3d14 E006 cpc r14,r16 |
| 7175 3d16 00E0 ldi r16,hhi8(4097) |
| 7176 3d18 F006 cpc r15,r16 |
| 7177 3d1a 04F4 brge .+2 |
| 7178 3d1c 00C0 rjmp .L580 |
| 7179 3d1e 8091 0000 lds r24,last_r_p.17 |
| 7180 3d22 8823 tst r24 |
| 7181 3d24 01F4 brne .+2 |
| 7182 3d26 00C0 rjmp .L581 |
| 7183 3d28 D701 movw r26,r14 |
| 7184 3d2a C601 movw r24,r12 |
| 7185 3d2c F7FE sbrs r15,7 |
| 7186 3d2e 00C0 rjmp .L582 |
| 7187 3d30 8827 clr r24 |
| 7188 3d32 9927 clr r25 |
| 7189 3d34 DC01 movw r26,r24 |
| 7190 3d36 8C19 sub r24,r12 |
| 7191 3d38 9D09 sbc r25,r13 |
| 7192 3d3a AE09 sbc r26,r14 |
| 7193 3d3c BF09 sbc r27,r15 |
| 7194 .L582: |
| 7195 3d3e 9C01 movw r18,r24 |
| 7196 3d40 AD01 movw r20,r26 |
| 7197 3d42 B7FF sbrs r27,7 |
| 7198 3d44 00C0 rjmp .L583 |
| 7199 3d46 2150 subi r18,lo8(-(511)) |
| 7200 3d48 3E4F sbci r19,hi8(-(511)) |
| 7201 3d4a 4F4F sbci r20,hlo8(-(511)) |
| 7202 3d4c 5F4F sbci r21,hhi8(-(511)) |
| 7203 .L583: |
| 7204 3d4e 09E0 ldi r16,9 |
| 7205 3d50 5595 1: asr r21 |
| 7206 3d52 4795 ror r20 |
| 7207 3d54 3795 ror r19 |
| 7208 3d56 2795 ror r18 |
| 7209 3d58 0A95 dec r16 |
| 7210 3d5a 01F4 brne 1b |
| 7211 3d5c 8091 0000 lds r24,cnt.14 |
| 7212 3d60 9091 0000 lds r25,(cnt.14)+1 |
| 7213 3d64 820F add r24,r18 |
| 7214 3d66 931F adc r25,r19 |
| 7215 3d68 9093 0000 sts (cnt.14)+1,r25 |
| 7216 3d6c 8093 0000 sts cnt.14,r24 |
| 7217 3d70 D701 movw r26,r14 |
| 7218 3d72 C601 movw r24,r12 |
| 7219 3d74 F7FE sbrs r15,7 |
| 7220 3d76 00C0 rjmp .L584 |
| 7221 3d78 0796 adiw r24,7 |
| 7222 3d7a A11D adc r26,__zero_reg__ |
| 7223 3d7c B11D adc r27,__zero_reg__ |
| 7224 .L584: |
| 7225 3d7e 13E0 ldi r17,3 |
| 7226 3d80 B595 1: asr r27 |
| 7227 3d82 A795 ror r26 |
| 7228 3d84 9795 ror r25 |
| 7229 3d86 8795 ror r24 |
| 7230 3d88 1A95 dec r17 |
| 7231 3d8a 01F4 brne 1b |
| 7232 3d8c 8093 0000 sts ausgleichRoll.11,r24 |
| 7233 3d90 9093 0000 sts (ausgleichRoll.11)+1,r25 |
| 7234 3d94 A093 0000 sts (ausgleichRoll.11)+2,r26 |
| 7235 3d98 B093 0000 sts (ausgleichRoll.11)+3,r27 |
| 7236 3d9c 8958 subi r24,lo8(5001) |
| 7237 3d9e 9341 sbci r25,hi8(5001) |
| 7238 3da0 A040 sbci r26,hlo8(5001) |
| 7239 3da2 B040 sbci r27,hhi8(5001) |
| 7240 3da4 04F0 brlt .L585 |
| 7241 3da6 88E8 ldi r24,lo8(5000) |
| 7242 3da8 93E1 ldi r25,hi8(5000) |
| 7243 3daa A0E0 ldi r26,hlo8(5000) |
| 7244 3dac B0E0 ldi r27,hhi8(5000) |
| 7245 3dae 8093 0000 sts ausgleichRoll.11,r24 |
| 7246 3db2 9093 0000 sts (ausgleichRoll.11)+1,r25 |
| 7247 3db6 A093 0000 sts (ausgleichRoll.11)+2,r26 |
| 7248 3dba B093 0000 sts (ausgleichRoll.11)+3,r27 |
| 7249 .L585: |
| 7250 3dbe 2091 0000 lds r18,ausgleichRoll.11 |
| 7251 3dc2 3091 0000 lds r19,(ausgleichRoll.11)+1 |
| 7252 3dc6 4091 0000 lds r20,(ausgleichRoll.11)+2 |
| 7253 3dca 5091 0000 lds r21,(ausgleichRoll.11)+3 |
| 7254 3dce 57FF sbrs r21,7 |
| 7255 3dd0 00C0 rjmp .L586 |
| 7256 3dd2 2150 subi r18,lo8(-(255)) |
| 7257 3dd4 3F4F sbci r19,hi8(-(255)) |
| 7258 3dd6 4F4F sbci r20,hlo8(-(255)) |
| 7259 3dd8 5F4F sbci r21,hhi8(-(255)) |
| 7260 .L586: |
| 7261 3dda 232F mov r18,r19 |
| 7262 3ddc 342F mov r19,r20 |
| 7263 3dde 452F mov r20,r21 |
| 7264 3de0 5527 clr r21 |
| 7265 3de2 47FD sbrc r20,7 |
| 7266 3de4 5A95 dec r21 |
| 7267 3de6 8091 0000 lds r24,LageKorrekturRoll |
| 7268 3dea 9091 0000 lds r25,(LageKorrekturRoll)+1 |
| 7269 3dee 820F add r24,r18 |
| 7270 3df0 931F adc r25,r19 |
| 7271 3df2 9093 0000 sts (LageKorrekturRoll)+1,r25 |
| 7272 3df6 8093 0000 sts LageKorrekturRoll,r24 |
| 7273 3dfa 00C0 rjmp .L588 |
| 7274 .L581: |
| 7275 3dfc 81E0 ldi r24,lo8(1) |
| 7276 3dfe 8093 0000 sts last_r_p.17,r24 |
| 7277 3e02 00C0 rjmp .L588 |
| 7278 .L580: |
| 7279 3e04 1092 0000 sts last_r_p.17,__zero_reg__ |
| 7280 .L588: |
| 7281 3e08 20E0 ldi r18,lo8(-4096) |
| 7282 3e0a C216 cp r12,r18 |
| 7283 3e0c 20EF ldi r18,hi8(-4096) |
| 7284 3e0e D206 cpc r13,r18 |
| 7285 3e10 2FEF ldi r18,hlo8(-4096) |
| 7286 3e12 E206 cpc r14,r18 |
| 7287 3e14 2FEF ldi r18,hhi8(-4096) |
| 7288 3e16 F206 cpc r15,r18 |
| 7289 3e18 04F0 brlt .+2 |
| 7290 3e1a 00C0 rjmp .L589 |
| 7291 3e1c 8091 0000 lds r24,last_r_n.18 |
| 7292 3e20 8823 tst r24 |
| 7293 3e22 01F4 brne .+2 |
| 7294 3e24 00C0 rjmp .L590 |
| 7295 3e26 D701 movw r26,r14 |
| 7296 3e28 C601 movw r24,r12 |
| 7297 3e2a F7FE sbrs r15,7 |
| 7298 3e2c 00C0 rjmp .L591 |
| 7299 3e2e 8827 clr r24 |
| 7300 3e30 9927 clr r25 |
| 7301 3e32 DC01 movw r26,r24 |
| 7302 3e34 8C19 sub r24,r12 |
| 7303 3e36 9D09 sbc r25,r13 |
| 7304 3e38 AE09 sbc r26,r14 |
| 7305 3e3a BF09 sbc r27,r15 |
| 7306 .L591: |
| 7307 3e3c 9C01 movw r18,r24 |
| 7308 3e3e AD01 movw r20,r26 |
| 7309 3e40 B7FF sbrs r27,7 |
| 7310 3e42 00C0 rjmp .L592 |
| 7311 3e44 2150 subi r18,lo8(-(511)) |
| 7312 3e46 3E4F sbci r19,hi8(-(511)) |
| 7313 3e48 4F4F sbci r20,hlo8(-(511)) |
| 7314 3e4a 5F4F sbci r21,hhi8(-(511)) |
| 7315 .L592: |
| 7316 3e4c E9E0 ldi r30,9 |
| 7317 3e4e 5595 1: asr r21 |
| 7318 3e50 4795 ror r20 |
| 7319 3e52 3795 ror r19 |
| 7320 3e54 2795 ror r18 |
| 7321 3e56 EA95 dec r30 |
| 7322 3e58 01F4 brne 1b |
| 7323 3e5a 8091 0000 lds r24,cnt.14 |
| 7324 3e5e 9091 0000 lds r25,(cnt.14)+1 |
| 7325 3e62 820F add r24,r18 |
| 7326 3e64 931F adc r25,r19 |
| 7327 3e66 9093 0000 sts (cnt.14)+1,r25 |
| 7328 3e6a 8093 0000 sts cnt.14,r24 |
| 7329 3e6e D701 movw r26,r14 |
| 7330 3e70 C601 movw r24,r12 |
| 7331 3e72 F7FE sbrs r15,7 |
| 7332 3e74 00C0 rjmp .L593 |
| 7333 3e76 0796 adiw r24,7 |
| 7334 3e78 A11D adc r26,__zero_reg__ |
| 7335 3e7a B11D adc r27,__zero_reg__ |
| 7336 .L593: |
| 7337 3e7c 73E0 ldi r23,3 |
| 7338 3e7e B595 1: asr r27 |
| 7339 3e80 A795 ror r26 |
| 7340 3e82 9795 ror r25 |
| 7341 3e84 8795 ror r24 |
| 7342 3e86 7A95 dec r23 |
| 7343 3e88 01F4 brne 1b |
| 7344 3e8a 8093 0000 sts ausgleichRoll.11,r24 |
| 7345 3e8e 9093 0000 sts (ausgleichRoll.11)+1,r25 |
| 7346 3e92 A093 0000 sts (ausgleichRoll.11)+2,r26 |
| 7347 3e96 B093 0000 sts (ausgleichRoll.11)+3,r27 |
| 7348 3e9a 8857 subi r24,lo8(-5000) |
| 7349 3e9c 9C4E sbci r25,hi8(-5000) |
| 7350 3e9e AF4F sbci r26,hlo8(-5000) |
| 7351 3ea0 BF4F sbci r27,hhi8(-5000) |
| 7352 3ea2 04F4 brge .L594 |
| 7353 3ea4 88E7 ldi r24,lo8(-5000) |
| 7354 3ea6 9CEE ldi r25,hi8(-5000) |
| 7355 3ea8 AFEF ldi r26,hlo8(-5000) |
| 7356 3eaa BFEF ldi r27,hhi8(-5000) |
| 7357 3eac 8093 0000 sts ausgleichRoll.11,r24 |
| 7358 3eb0 9093 0000 sts (ausgleichRoll.11)+1,r25 |
| 7359 3eb4 A093 0000 sts (ausgleichRoll.11)+2,r26 |
| 7360 3eb8 B093 0000 sts (ausgleichRoll.11)+3,r27 |
| 7361 .L594: |
| 7362 3ebc 2091 0000 lds r18,ausgleichRoll.11 |
| 7363 3ec0 3091 0000 lds r19,(ausgleichRoll.11)+1 |
| 7364 3ec4 4091 0000 lds r20,(ausgleichRoll.11)+2 |
| 7365 3ec8 5091 0000 lds r21,(ausgleichRoll.11)+3 |
| 7366 3ecc 57FF sbrs r21,7 |
| 7367 3ece 00C0 rjmp .L595 |
| 7368 3ed0 2150 subi r18,lo8(-(255)) |
| 7369 3ed2 3F4F sbci r19,hi8(-(255)) |
| 7370 3ed4 4F4F sbci r20,hlo8(-(255)) |
| 7371 3ed6 5F4F sbci r21,hhi8(-(255)) |
| 7372 .L595: |
| 7373 3ed8 232F mov r18,r19 |
| 7374 3eda 342F mov r19,r20 |
| 7375 3edc 452F mov r20,r21 |
| 7376 3ede 5527 clr r21 |
| 7377 3ee0 47FD sbrc r20,7 |
| 7378 3ee2 5A95 dec r21 |
| 7379 3ee4 8091 0000 lds r24,LageKorrekturRoll |
| 7380 3ee8 9091 0000 lds r25,(LageKorrekturRoll)+1 |
| 7381 3eec 820F add r24,r18 |
| 7382 3eee 931F adc r25,r19 |
| 7383 3ef0 9093 0000 sts (LageKorrekturRoll)+1,r25 |
| 7384 3ef4 8093 0000 sts LageKorrekturRoll,r24 |
| 7385 3ef8 00C0 rjmp .L598 |
| 7386 .L590: |
| 7387 3efa 81E0 ldi r24,lo8(1) |
| 7388 3efc 8093 0000 sts last_r_n.18,r24 |
| 7389 3f00 00C0 rjmp .L598 |
| 7390 .L589: |
| 7391 3f02 1092 0000 sts last_r_n.18,__zero_reg__ |
| 7392 3f06 00C0 rjmp .L598 |
| 7393 .L578: |
| 7394 3f08 1092 0000 sts (cnt.14)+1,__zero_reg__ |
| 7395 3f0c 1092 0000 sts cnt.14,__zero_reg__ |
| 7396 3f10 84E6 ldi r24,lo8(100) |
| 7397 3f12 90E0 ldi r25,hi8(100) |
| 7398 3f14 9093 0000 sts (KompassSignalSchlecht)+1,r25 |
| 7399 3f18 8093 0000 sts KompassSignalSchlecht,r24 |
| 7400 .L598: |
| 7401 3f1c 4889 ldd r20,Y+16 |
| 7402 3f1e 242F mov r18,r20 |
| 7403 3f20 3327 clr r19 |
| 7404 3f22 8091 0000 lds r24,cnt.14 |
| 7405 3f26 9091 0000 lds r25,(cnt.14)+1 |
| 7406 3f2a 2817 cp r18,r24 |
| 7407 3f2c 3907 cpc r19,r25 |
| 7408 3f2e 04F4 brge .L599 |
| 7409 3f30 3093 0000 sts (cnt.14)+1,r19 |
| 7410 3f34 2093 0000 sts cnt.14,r18 |
| 7411 .L599: |
| 7412 3f38 8091 0000 lds r24,FromNaviCtrl_Value+1 |
| 7413 3f3c 8823 tst r24 |
| 7414 3f3e 01F0 breq .L600 |
| 7415 3f40 282F mov r18,r24 |
| 7416 3f42 3327 clr r19 |
| 7417 3f44 27FD sbrc r18,7 |
| 7418 3f46 3095 com r19 |
| 7419 3f48 8091 0000 lds r24,cnt.14 |
| 7420 3f4c 9091 0000 lds r25,(cnt.14)+1 |
| 7421 3f50 2817 cp r18,r24 |
| 7422 3f52 3907 cpc r19,r25 |
| 7423 3f54 04F4 brge .L600 |
| 7424 3f56 3093 0000 sts (cnt.14)+1,r19 |
| 7425 3f5a 2093 0000 sts cnt.14,r18 |
| 7426 .L600: |
| 7427 3f5e 4091 0000 lds r20,IntegralFehlerRoll.4 |
| 7428 3f62 5091 0000 lds r21,(IntegralFehlerRoll.4)+1 |
| 7429 3f66 6091 0000 lds r22,(IntegralFehlerRoll.4)+2 |
| 7430 3f6a 7091 0000 lds r23,(IntegralFehlerRoll.4)+3 |
| 7431 3f6e 4138 cpi r20,lo8(129) |
| 7432 3f70 5105 cpc r21,__zero_reg__ |
| 7433 3f72 6105 cpc r22,__zero_reg__ |
| 7434 3f74 7105 cpc r23,__zero_reg__ |
| 7435 3f76 04F0 brlt .L602 |
| 7436 3f78 8091 0000 lds r24,AdNeutralRoll |
| 7437 3f7c 9091 0000 lds r25,(AdNeutralRoll)+1 |
| 7438 3f80 2091 0000 lds r18,cnt.14 |
| 7439 3f84 3091 0000 lds r19,(cnt.14)+1 |
| 7440 3f88 820F add r24,r18 |
| 7441 3f8a 931F adc r25,r19 |
| 7442 3f8c 9093 0000 sts (AdNeutralRoll)+1,r25 |
| 7443 3f90 8093 0000 sts AdNeutralRoll,r24 |
| 7444 .L602: |
| 7445 3f94 4058 subi r20,lo8(-128) |
| 7446 3f96 5F4F sbci r21,hi8(-128) |
| 7447 3f98 6F4F sbci r22,hlo8(-128) |
| 7448 3f9a 7F4F sbci r23,hhi8(-128) |
| 7449 3f9c 04F4 brge .L604 |
| 7450 3f9e 8091 0000 lds r24,AdNeutralRoll |
| 7451 3fa2 9091 0000 lds r25,(AdNeutralRoll)+1 |
| 7452 3fa6 2091 0000 lds r18,cnt.14 |
| 7453 3faa 3091 0000 lds r19,(cnt.14)+1 |
| 7454 3fae 821B sub r24,r18 |
| 7455 3fb0 930B sbc r25,r19 |
| 7456 3fb2 9093 0000 sts (AdNeutralRoll)+1,r25 |
| 7457 3fb6 8093 0000 sts AdNeutralRoll,r24 |
| 7458 3fba 00C0 rjmp .L604 |
| 7459 .L530: |
| 7460 3fbc 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__ |
| 7461 3fc0 1092 0000 sts LageKorrekturRoll,__zero_reg__ |
| 7462 3fc4 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__ |
| 7463 3fc8 1092 0000 sts LageKorrekturNick,__zero_reg__ |
| 7464 3fcc 1092 0000 sts TrichterFlug,__zero_reg__ |
| 7465 .L604: |
| 7466 3fd0 8091 0000 lds r24,IntegralFaktor |
| 7467 3fd4 8823 tst r24 |
| 7468 3fd6 01F4 brne .L605 |
| 7469 3fd8 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__ |
| 7470 3fdc 1092 0000 sts LageKorrekturRoll,__zero_reg__ |
| 7471 3fe0 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__ |
| 7472 3fe4 1092 0000 sts LageKorrekturNick,__zero_reg__ |
| 7473 .L605: |
| 7474 3fe8 8091 0000 lds r24,MittelIntegralNick |
| 7475 3fec 9091 0000 lds r25,(MittelIntegralNick)+1 |
| 7476 3ff0 A091 0000 lds r26,(MittelIntegralNick)+2 |
| 7477 3ff4 B091 0000 lds r27,(MittelIntegralNick)+3 |
| 7478 3ff8 8093 0000 sts MittelIntegralNick_Alt.19,r24 |
| 7479 3ffc 9093 0000 sts (MittelIntegralNick_Alt.19)+1,r25 |
| 7480 4000 A093 0000 sts (MittelIntegralNick_Alt.19)+2,r26 |
| 7481 4004 B093 0000 sts (MittelIntegralNick_Alt.19)+3,r27 |
| 7482 4008 8091 0000 lds r24,MittelIntegralRoll |
| 7483 400c 9091 0000 lds r25,(MittelIntegralRoll)+1 |
| 7484 4010 A091 0000 lds r26,(MittelIntegralRoll)+2 |
| 7485 4014 B091 0000 lds r27,(MittelIntegralRoll)+3 |
| 7486 4018 8093 0000 sts MittelIntegralRoll_Alt.20,r24 |
| 7487 401c 9093 0000 sts (MittelIntegralRoll_Alt.20)+1,r25 |
| 7488 4020 A093 0000 sts (MittelIntegralRoll_Alt.20)+2,r26 |
| 7489 4024 B093 0000 sts (MittelIntegralRoll_Alt.20)+3,r27 |
| 7490 4028 1092 0000 sts IntegralAccNick,__zero_reg__ |
| 7491 402c 1092 0000 sts (IntegralAccNick)+1,__zero_reg__ |
| 7492 4030 1092 0000 sts (IntegralAccNick)+2,__zero_reg__ |
| 7493 4034 1092 0000 sts (IntegralAccNick)+3,__zero_reg__ |
| 7494 4038 1092 0000 sts IntegralAccRoll,__zero_reg__ |
| 7495 403c 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__ |
| 7496 4040 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__ |
| 7497 4044 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__ |
| 7498 4048 1092 0000 sts IntegralAccZ,__zero_reg__ |
| 7499 404c 1092 0000 sts (IntegralAccZ)+1,__zero_reg__ |
| 7500 4050 1092 0000 sts (IntegralAccZ)+2,__zero_reg__ |
| 7501 4054 1092 0000 sts (IntegralAccZ)+3,__zero_reg__ |
| 7502 4058 1092 0000 sts MittelIntegralNick,__zero_reg__ |
| 7503 405c 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__ |
| 7504 4060 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__ |
| 7505 4064 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__ |
| 7506 4068 1092 0000 sts MittelIntegralRoll,__zero_reg__ |
| 7507 406c 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__ |
| 7508 4070 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__ |
| 7509 4074 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__ |
| 7510 4078 1092 0000 sts MittelIntegralNick2,__zero_reg__ |
| 7511 407c 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__ |
| 7512 4080 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__ |
| 7513 4084 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__ |
| 7514 4088 1092 0000 sts MittelIntegralRoll2,__zero_reg__ |
| 7515 408c 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__ |
| 7516 4090 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__ |
| 7517 4094 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__ |
| 7518 4098 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__ |
| 7519 409c 1092 0000 sts ZaehlMessungen,__zero_reg__ |
| 7520 .L529: |
| 7521 40a0 E090 0000 lds r14,StickGier |
| 7522 40a4 F090 0000 lds r15,(StickGier)+1 |
| 7523 40a8 C701 movw r24,r14 |
| 7524 40aa F7FE sbrs r15,7 |
| 7525 40ac 00C0 rjmp .L607 |
| 7526 40ae 8827 clr r24 |
| 7527 40b0 9927 clr r25 |
| 7528 40b2 8E19 sub r24,r14 |
| 7529 40b4 9F09 sbc r25,r15 |
| 7530 .L607: |
| 7531 40b6 0497 sbiw r24,4 |
| 7532 40b8 04F0 brlt .L606 |
| 7533 40ba 8091 0000 lds r24,Parameter_GlobalConfig |
| 7534 40be 84FD sbrc r24,4 |
| 7535 40c0 00C0 rjmp .L606 |
| 7536 40c2 82E3 ldi r24,lo8(50) |
| 7537 40c4 8093 0000 sts NeueKompassRichtungMerken,r24 |
| 7538 .L606: |
| 7539 40c8 1091 0000 lds r17,EE_Parameter+25 |
| 7540 40cc A12E mov r10,r17 |
| 7541 40ce BB24 clr r11 |
| 7542 40d0 CC24 clr r12 |
| 7543 40d2 DD24 clr r13 |
| 7544 40d4 B701 movw r22,r14 |
| 7545 40d6 8827 clr r24 |
| 7546 40d8 77FD sbrc r23,7 |
| 7547 40da 8095 com r24 |
| 7548 40dc 982F mov r25,r24 |
| 7549 40de 9701 movw r18,r14 |
| 7550 40e0 F7FE sbrs r15,7 |
| 7551 40e2 00C0 rjmp .L609 |
| 7552 40e4 2227 clr r18 |
| 7553 40e6 3327 clr r19 |
| 7554 40e8 2E19 sub r18,r14 |
| 7555 40ea 3F09 sbc r19,r15 |
| 7556 .L609: |
| 7557 40ec 4427 clr r20 |
| 7558 40ee 37FD sbrc r19,7 |
| 7559 40f0 4095 com r20 |
| 7560 40f2 542F mov r21,r20 |
| 7561 40f4 0E94 0000 call __mulsi3 |
| 7562 40f8 9B01 movw r18,r22 |
| 7563 40fa AC01 movw r20,r24 |
| 7564 40fc C601 movw r24,r12 |
| 7565 40fe B501 movw r22,r10 |
| 7566 4100 0E94 0000 call __mulsi3 |
| 7567 4104 97FF sbrs r25,7 |
| 7568 4106 00C0 rjmp .L610 |
| 7569 4108 6150 subi r22,lo8(-(511)) |
| 7570 410a 7E4F sbci r23,hi8(-(511)) |
| 7571 410c 8F4F sbci r24,hlo8(-(511)) |
| 7572 410e 9F4F sbci r25,hhi8(-(511)) |
| 7573 .L610: |
| 7574 4110 59E0 ldi r21,9 |
| 7575 4112 9595 1: asr r25 |
| 7576 4114 8795 ror r24 |
| 7577 4116 7795 ror r23 |
| 7578 4118 6795 ror r22 |
| 7579 411a 5A95 dec r21 |
| 7580 411c 01F4 brne 1b |
| 7581 411e 9B01 movw r18,r22 |
| 7582 4120 812F mov r24,r17 |
| 7583 4122 9927 clr r25 |
| 7584 4124 8E9D mul r24,r14 |
| 7585 4126 D001 movw r26,r0 |
| 7586 4128 8F9D mul r24,r15 |
| 7587 412a B00D add r27,r0 |
| 7588 412c 9E9D mul r25,r14 |
| 7589 412e B00D add r27,r0 |
| 7590 4130 1124 clr r1 |
| 7591 4132 CD01 movw r24,r26 |
| 7592 4134 B7FD sbrc r27,7 |
| 7593 4136 0396 adiw r24,3 |
| 7594 .L611: |
| 7595 4138 9595 asr r25 |
| 7596 413a 8795 ror r24 |
| 7597 413c 9595 asr r25 |
| 7598 413e 8795 ror r24 |
| 7599 4140 280F add r18,r24 |
| 7600 4142 391F adc r19,r25 |
| 7601 4144 8091 0000 lds r24,CompassGierSetpoint |
| 7602 4148 9091 0000 lds r25,(CompassGierSetpoint)+1 |
| 7603 414c 280F add r18,r24 |
| 7604 414e 391F adc r19,r25 |
| 7605 4150 4427 clr r20 |
| 7606 4152 37FD sbrc r19,7 |
| 7607 4154 4095 com r20 |
| 7608 4156 542F mov r21,r20 |
| 7609 4158 2093 0000 sts sollGier.0,r18 |
| 7610 415c 3093 0000 sts (sollGier.0)+1,r19 |
| 7611 4160 4093 0000 sts (sollGier.0)+2,r20 |
| 7612 4164 5093 0000 sts (sollGier.0)+3,r21 |
| 7613 4168 8091 0000 lds r24,Mess_Integral_Gier |
| 7614 416c 9091 0000 lds r25,(Mess_Integral_Gier)+1 |
| 7615 4170 A091 0000 lds r26,(Mess_Integral_Gier)+2 |
| 7616 4174 B091 0000 lds r27,(Mess_Integral_Gier)+3 |
| 7617 4178 821B sub r24,r18 |
| 7618 417a 930B sbc r25,r19 |
| 7619 417c A40B sbc r26,r20 |
| 7620 417e B50B sbc r27,r21 |
| 7621 4180 8093 0000 sts Mess_Integral_Gier,r24 |
| 7622 4184 9093 0000 sts (Mess_Integral_Gier)+1,r25 |
| 7623 4188 A093 0000 sts (Mess_Integral_Gier)+2,r26 |
| 7624 418c B093 0000 sts (Mess_Integral_Gier)+3,r27 |
| 7625 4190 8155 subi r24,lo8(50001) |
| 7626 4192 934C sbci r25,hi8(50001) |
| 7627 4194 A040 sbci r26,hlo8(50001) |
| 7628 4196 B040 sbci r27,hhi8(50001) |
| 7629 4198 04F0 brlt .L612 |
| 7630 419a 80E5 ldi r24,lo8(50000) |
| 7631 419c 93EC ldi r25,hi8(50000) |
| 7632 419e A0E0 ldi r26,hlo8(50000) |
| 7633 41a0 B0E0 ldi r27,hhi8(50000) |
| 7634 41a2 8093 0000 sts Mess_Integral_Gier,r24 |
| 7635 41a6 9093 0000 sts (Mess_Integral_Gier)+1,r25 |
| 7636 41aa A093 0000 sts (Mess_Integral_Gier)+2,r26 |
| 7637 41ae B093 0000 sts (Mess_Integral_Gier)+3,r27 |
| 7638 .L612: |
| 7639 41b2 8091 0000 lds r24,Mess_Integral_Gier |
| 7640 41b6 9091 0000 lds r25,(Mess_Integral_Gier)+1 |
| 7641 41ba A091 0000 lds r26,(Mess_Integral_Gier)+2 |
| 7642 41be B091 0000 lds r27,(Mess_Integral_Gier)+3 |
| 7643 41c2 805B subi r24,lo8(-50000) |
| 7644 41c4 9C43 sbci r25,hi8(-50000) |
| 7645 41c6 AF4F sbci r26,hlo8(-50000) |
| 7646 41c8 BF4F sbci r27,hhi8(-50000) |
| 7647 41ca 04F4 brge .L613 |
| 7648 41cc 80EB ldi r24,lo8(-50000) |
| 7649 41ce 9CE3 ldi r25,hi8(-50000) |
| 7650 41d0 AFEF ldi r26,hlo8(-50000) |
| 7651 41d2 BFEF ldi r27,hhi8(-50000) |
| 7652 41d4 8093 0000 sts Mess_Integral_Gier,r24 |
| 7653 41d8 9093 0000 sts (Mess_Integral_Gier)+1,r25 |
| 7654 41dc A093 0000 sts (Mess_Integral_Gier)+2,r26 |
| 7655 41e0 B093 0000 sts (Mess_Integral_Gier)+3,r27 |
| 7656 .L613: |
| 7657 41e4 0091 0000 lds r16,KompassValue |
| 7658 41e8 1091 0000 lds r17,(KompassValue)+1 |
| 7659 41ec 17FD sbrc r17,7 |
| 7660 41ee 00C0 rjmp .L614 |
| 7661 41f0 8091 0000 lds r24,Parameter_GlobalConfig |
| 7662 41f4 83FF sbrs r24,3 |
| 7663 41f6 00C0 rjmp .L614 |
| 7664 41f8 8091 0000 lds r24,CalculateCompassTimer |
| 7665 41fc 8150 subi r24,lo8(-(-1)) |
| 7666 41fe 8093 0000 sts CalculateCompassTimer,r24 |
| 7667 4202 8823 tst r24 |
| 7668 4204 01F0 breq .+2 |
| 7669 4206 00C0 rjmp .L631 |
| 7670 4208 8DE0 ldi r24,lo8(13) |
| 7671 420a 8093 0000 sts CalculateCompassTimer,r24 |
| 7672 420e 8091 0000 lds r24,IntegralNick |
| 7673 4212 9091 0000 lds r25,(IntegralNick)+1 |
| 7674 4216 A091 0000 lds r26,(IntegralNick)+2 |
| 7675 421a B091 0000 lds r27,(IntegralNick)+3 |
| 7676 421e B7FF sbrs r27,7 |
| 7677 4220 00C0 rjmp .L616 |
| 7678 4222 8150 subi r24,lo8(-(511)) |
| 7679 4224 9E4F sbci r25,hi8(-(511)) |
| 7680 4226 AF4F sbci r26,hlo8(-(511)) |
| 7681 4228 BF4F sbci r27,hhi8(-(511)) |
| 7682 .L616: |
| 7683 422a 39E0 ldi r19,9 |
| 7684 422c B595 1: asr r27 |
| 7685 422e A795 ror r26 |
| 7686 4230 9795 ror r25 |
| 7687 4232 8795 ror r24 |
| 7688 4234 3A95 dec r19 |
| 7689 4236 01F4 brne 1b |
| 7690 4238 7C01 movw r14,r24 |
| 7691 423a 97FF sbrs r25,7 |
| 7692 423c 00C0 rjmp .L617 |
| 7693 423e F094 com r15 |
| 7694 4240 E194 neg r14 |
| 7695 4242 F108 sbc r15,__zero_reg__ |
| 7696 4244 F394 inc r15 |
| 7697 .L617: |
| 7698 4246 8091 0000 lds r24,IntegralRoll |
| 7699 424a 9091 0000 lds r25,(IntegralRoll)+1 |
| 7700 424e A091 0000 lds r26,(IntegralRoll)+2 |
| 7701 4252 B091 0000 lds r27,(IntegralRoll)+3 |
| 7702 4256 B7FF sbrs r27,7 |
| 7703 4258 00C0 rjmp .L618 |
| 7704 425a 8150 subi r24,lo8(-(511)) |
| 7705 425c 9E4F sbci r25,hi8(-(511)) |
| 7706 425e AF4F sbci r26,hlo8(-(511)) |
| 7707 4260 BF4F sbci r27,hhi8(-(511)) |
| 7708 .L618: |
| 7709 4262 29E0 ldi r18,9 |
| 7710 4264 B595 1: asr r27 |
| 7711 4266 A795 ror r26 |
| 7712 4268 9795 ror r25 |
| 7713 426a 8795 ror r24 |
| 7714 426c 2A95 dec r18 |
| 7715 426e 01F4 brne 1b |
| 7716 4270 9C01 movw r18,r24 |
| 7717 4272 97FF sbrs r25,7 |
| 7718 4274 00C0 rjmp .L619 |
| 7719 4276 3095 com r19 |
| 7720 4278 2195 neg r18 |
| 7721 427a 3F4F sbci r19,lo8(-1) |
| 7722 .L619: |
| 7723 427c E216 cp r14,r18 |
| 7724 427e F306 cpc r15,r19 |
| 7725 4280 04F4 brge .L620 |
| 7726 4282 7901 movw r14,r18 |
| 7727 .L620: |
| 7728 4284 B701 movw r22,r14 |
| 7729 4286 F7FE sbrs r15,7 |
| 7730 4288 00C0 rjmp .L621 |
| 7731 428a 695F subi r22,lo8(-(7)) |
| 7732 428c 7F4F sbci r23,hi8(-(7)) |
| 7733 .L621: |
| 7734 428e 2B01 movw r4,r22 |
| 7735 4290 A3E0 ldi r26,3 |
| 7736 4292 5594 1: asr r5 |
| 7737 4294 4794 ror r4 |
| 7738 4296 AA95 dec r26 |
| 7739 4298 01F4 brne 1b |
| 7740 429a 22E0 ldi r18,lo8(2) |
| 7741 429c 30E0 ldi r19,hi8(2) |
| 7742 429e 420E add r4,r18 |
| 7743 42a0 531E adc r5,r19 |
| 7744 42a2 6090 0000 lds r6,ErsatzKompass |
| 7745 42a6 7090 0000 lds r7,(ErsatzKompass)+1 |
| 7746 42aa 8090 0000 lds r8,(ErsatzKompass)+2 |
| 7747 42ae 9090 0000 lds r9,(ErsatzKompass)+3 |
| 7748 42b2 2091 0000 lds r18,GIER_GRAD_FAKTOR |
| 7749 42b6 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1 |
| 7750 42ba 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2 |
| 7751 42be 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3 |
| 7752 42c2 C401 movw r24,r8 |
| 7753 42c4 B301 movw r22,r6 |
| 7754 42c6 0E94 0000 call __divmodsi4 |
| 7755 42ca 5901 movw r10,r18 |
| 7756 42cc 6A01 movw r12,r20 |
| 7757 42ce 3093 0000 sts (ErsatzKompassInGrad)+1,r19 |
| 7758 42d2 2093 0000 sts ErsatzKompassInGrad,r18 |
| 7759 42d6 021B sub r16,r18 |
| 7760 42d8 130B sbc r17,r19 |
| 7761 42da C801 movw r24,r16 |
| 7762 42dc 845E subi r24,lo8(-(540)) |
| 7763 42de 9D4F sbci r25,hi8(-(540)) |
| 7764 42e0 68E6 ldi r22,lo8(360) |
| 7765 42e2 71E0 ldi r23,hi8(360) |
| 7766 42e4 0E94 0000 call __divmodhi4 |
| 7767 42e8 9C01 movw r18,r24 |
| 7768 42ea 245B subi r18,lo8(-(-180)) |
| 7769 42ec 3040 sbci r19,hi8(-(-180)) |
| 7770 42ee 8091 0000 lds r24,KompassSignalSchlecht |
| 7771 42f2 9091 0000 lds r25,(KompassSignalSchlecht)+1 |
| 7772 42f6 0097 sbiw r24,0 |
| 7773 42f8 01F0 breq .L622 |
| 7774 42fa 0197 sbiw r24,1 |
| 7775 42fc 9093 0000 sts (KompassSignalSchlecht)+1,r25 |
| 7776 4300 8093 0000 sts KompassSignalSchlecht,r24 |
| 7777 4304 00C0 rjmp .L623 |
| 7778 .L622: |
| 7779 4306 49E1 ldi r20,lo8(25) |
| 7780 4308 E416 cp r14,r20 |
| 7781 430a F104 cpc r15,__zero_reg__ |
| 7782 430c 04F4 brge .L623 |
| 7783 430e 8091 0000 lds r24,GierGyroFehler |
| 7784 4312 9091 0000 lds r25,(GierGyroFehler)+1 |
| 7785 4316 820F add r24,r18 |
| 7786 4318 931F adc r25,r19 |
| 7787 431a 9093 0000 sts (GierGyroFehler)+1,r25 |
| 7788 431e 8093 0000 sts GierGyroFehler,r24 |
| 7789 4322 8091 0000 lds r24,NeueKompassRichtungMerken |
| 7790 4326 8823 tst r24 |
| 7791 4328 01F0 breq .L623 |
| 7792 432a 8150 subi r24,lo8(-(-1)) |
| 7793 432c 8093 0000 sts NeueKompassRichtungMerken,r24 |
| 7794 4330 8823 tst r24 |
| 7795 4332 01F4 brne .L623 |
| 7796 4334 B092 0000 sts (KompassSollWert)+1,r11 |
| 7797 4338 A092 0000 sts KompassSollWert,r10 |
| 7798 .L623: |
| 7799 433c 8091 0000 lds r24,KompassSignalSchlecht |
| 7800 4340 9091 0000 lds r25,(KompassSignalSchlecht)+1 |
| 7801 4344 892B or r24,r25 |
| 7802 4346 01F4 brne .L627 |
| 7803 4348 8091 0000 lds r24,KompassFusion |
| 7804 434c 9927 clr r25 |
| 7805 434e 289F mul r18,r24 |
| 7806 4350 B001 movw r22,r0 |
| 7807 4352 299F mul r18,r25 |
| 7808 4354 700D add r23,r0 |
| 7809 4356 389F mul r19,r24 |
| 7810 4358 700D add r23,r0 |
| 7811 435a 1124 clr r1 |
| 7812 435c CB01 movw r24,r22 |
| 7813 435e B201 movw r22,r4 |
| 7814 4360 0E94 0000 call __divmodhi4 |
| 7815 4364 CB01 movw r24,r22 |
| 7816 4366 AA27 clr r26 |
| 7817 4368 97FD sbrc r25,7 |
| 7818 436a A095 com r26 |
| 7819 436c BA2F mov r27,r26 |
| 7820 436e 680E add r6,r24 |
| 7821 4370 791E adc r7,r25 |
| 7822 4372 8A1E adc r8,r26 |
| 7823 4374 9B1E adc r9,r27 |
| 7824 4376 6092 0000 sts ErsatzKompass,r6 |
| 7825 437a 7092 0000 sts (ErsatzKompass)+1,r7 |
| 7826 437e 8092 0000 sts (ErsatzKompass)+2,r8 |
| 7827 4382 9092 0000 sts (ErsatzKompass)+3,r9 |
| 7828 .L627: |
| 7829 4386 8091 0000 lds r24,NeueKompassRichtungMerken |
| 7830 438a 8823 tst r24 |
| 7831 438c 01F4 brne .L614 |
| 7832 438e 8091 0000 lds r24,KompassSollWert |
| 7833 4392 9091 0000 lds r25,(KompassSollWert)+1 |
| 7834 4396 2091 0000 lds r18,ErsatzKompassInGrad |
| 7835 439a 3091 0000 lds r19,(ErsatzKompassInGrad)+1 |
| 7836 439e 821B sub r24,r18 |
| 7837 43a0 930B sbc r25,r19 |
| 7838 43a2 845E subi r24,lo8(-(540)) |
| 7839 43a4 9D4F sbci r25,hi8(-(540)) |
| 7840 43a6 68E6 ldi r22,lo8(360) |
| 7841 43a8 71E0 ldi r23,hi8(360) |
| 7842 43aa 0E94 0000 call __divmodhi4 |
| 7843 43ae 9C01 movw r18,r24 |
| 7844 43b0 245B subi r18,lo8(-(-180)) |
| 7845 43b2 3040 sbci r19,hi8(-(-180)) |
| 7846 43b4 8091 0000 lds r24,Parameter_KompassWirkung |
| 7847 43b8 8695 lsr r24 |
| 7848 43ba 9927 clr r25 |
| 7849 43bc 289F mul r18,r24 |
| 7850 43be D001 movw r26,r0 |
| 7851 43c0 299F mul r18,r25 |
| 7852 43c2 B00D add r27,r0 |
| 7853 43c4 389F mul r19,r24 |
| 7854 43c6 B00D add r27,r0 |
| 7855 43c8 1124 clr r1 |
| 7856 43ca 9D01 movw r18,r26 |
| 7857 43cc B7FF sbrs r27,7 |
| 7858 43ce 00C0 rjmp .L629 |
| 7859 43d0 215F subi r18,lo8(-(15)) |
| 7860 43d2 3F4F sbci r19,hi8(-(15)) |
| 7861 .L629: |
| 7862 43d4 F4E0 ldi r31,4 |
| 7863 43d6 3595 1: asr r19 |
| 7864 43d8 2795 ror r18 |
| 7865 43da FA95 dec r31 |
| 7866 43dc 01F4 brne 1b |
| 7867 43de 3093 0000 sts (CompassGierSetpoint)+1,r19 |
| 7868 43e2 2093 0000 sts CompassGierSetpoint,r18 |
| 7869 43e6 00C0 rjmp .L631 |
| 7870 .L614: |
| 7871 43e8 1092 0000 sts (CompassGierSetpoint)+1,__zero_reg__ |
| 7872 43ec 1092 0000 sts CompassGierSetpoint,__zero_reg__ |
| 7873 .L631: |
| 7874 43f0 8091 0000 lds r24,TrichterFlug |
| 7875 43f4 8823 tst r24 |
| 7876 43f6 01F0 breq .L632 |
| 7877 43f8 1092 0000 sts SummeRoll,__zero_reg__ |
| 7878 43fc 1092 0000 sts (SummeRoll)+1,__zero_reg__ |
| 7879 4400 1092 0000 sts (SummeRoll)+2,__zero_reg__ |
| 7880 4404 1092 0000 sts (SummeRoll)+3,__zero_reg__ |
| 7881 4408 1092 0000 sts SummeNick,__zero_reg__ |
| 7882 440c 1092 0000 sts (SummeNick)+1,__zero_reg__ |
| 7883 4410 1092 0000 sts (SummeNick)+2,__zero_reg__ |
| 7884 4414 1092 0000 sts (SummeNick)+3,__zero_reg__ |
| 7885 .L632: |
| 7886 4418 F090 0000 lds r15,Looping_Nick |
| 7887 441c FF20 tst r15 |
| 7888 441e 01F4 brne .L633 |
| 7889 4420 8091 0000 lds r24,IntegralFaktor |
| 7890 4424 282F mov r18,r24 |
| 7891 4426 3327 clr r19 |
| 7892 4428 4427 clr r20 |
| 7893 442a 5527 clr r21 |
| 7894 442c 8091 0000 lds r24,IntegralNick |
| 7895 4430 9091 0000 lds r25,(IntegralNick)+1 |
| 7896 4434 A091 0000 lds r26,(IntegralNick)+2 |
| 7897 4438 B091 0000 lds r27,(IntegralNick)+3 |
| 7898 443c BC01 movw r22,r24 |
| 7899 443e CD01 movw r24,r26 |
| 7900 4440 0E94 0000 call __mulsi3 |
| 7901 4444 DC01 movw r26,r24 |
| 7902 4446 CB01 movw r24,r22 |
| 7903 4448 BC01 movw r22,r24 |
| 7904 444a CD01 movw r24,r26 |
| 7905 444c 28EF ldi r18,lo8(11000) |
| 7906 444e 3AE2 ldi r19,hi8(11000) |
| 7907 4450 40E0 ldi r20,hlo8(11000) |
| 7908 4452 50E0 ldi r21,hhi8(11000) |
| 7909 4454 0E94 0000 call __divmodsi4 |
| 7910 4458 3901 movw r6,r18 |
| 7911 445a 00C0 rjmp .L634 |
| 7912 .L633: |
| 7913 445c 6624 clr r6 |
| 7914 445e 7724 clr r7 |
| 7915 .L634: |
| 7916 4460 E090 0000 lds r14,Looping_Roll |
| 7917 4464 EE20 tst r14 |
| 7918 4466 01F4 brne .L635 |
| 7919 4468 8091 0000 lds r24,IntegralFaktor |
| 7920 446c 282F mov r18,r24 |
| 7921 446e 3327 clr r19 |
| 7922 4470 4427 clr r20 |
| 7923 4472 5527 clr r21 |
| 7924 4474 8091 0000 lds r24,IntegralRoll |
| 7925 4478 9091 0000 lds r25,(IntegralRoll)+1 |
| 7926 447c A091 0000 lds r26,(IntegralRoll)+2 |
| 7927 4480 B091 0000 lds r27,(IntegralRoll)+3 |
| 7928 4484 BC01 movw r22,r24 |
| 7929 4486 CD01 movw r24,r26 |
| 7930 4488 0E94 0000 call __mulsi3 |
| 7931 448c DC01 movw r26,r24 |
| 7932 448e CB01 movw r24,r22 |
| 7933 4490 BC01 movw r22,r24 |
| 7934 4492 CD01 movw r24,r26 |
| 7935 4494 28EF ldi r18,lo8(11000) |
| 7936 4496 3AE2 ldi r19,hi8(11000) |
| 7937 4498 40E0 ldi r20,hlo8(11000) |
| 7938 449a 50E0 ldi r21,hhi8(11000) |
| 7939 449c 0E94 0000 call __divmodsi4 |
| 7940 44a0 2901 movw r4,r18 |
| 7941 44a2 00C0 rjmp .L636 |
| 7942 .L635: |
| 7943 44a4 4424 clr r4 |
| 7944 44a6 5524 clr r5 |
| 7945 .L636: |
| 7946 44a8 8091 0000 lds r24,TrimNick |
| 7947 44ac 9091 0000 lds r25,(TrimNick)+1 |
| 7948 44b0 893C cpi r24,201 |
| 7949 44b2 9105 cpc r25,__zero_reg__ |
| 7950 44b4 04F0 brlt .L637 |
| 7951 44b6 88EC ldi r24,lo8(200) |
| 7952 44b8 90E0 ldi r25,hi8(200) |
| 7953 44ba 00C0 rjmp .L894 |
| 7954 .L637: |
| 7955 44bc 8853 subi r24,lo8(-200) |
| 7956 44be 9F4F sbci r25,hi8(-200) |
| 7957 44c0 04F4 brge .L638 |
| 7958 44c2 88E3 ldi r24,lo8(-200) |
| 7959 44c4 9FEF ldi r25,hi8(-200) |
| 7960 .L894: |
| 7961 44c6 9093 0000 sts (TrimNick)+1,r25 |
| 7962 44ca 8093 0000 sts TrimNick,r24 |
| 7963 .L638: |
| 7964 44ce 8091 0000 lds r24,TrimRoll |
| 7965 44d2 9091 0000 lds r25,(TrimRoll)+1 |
| 7966 44d6 893C cpi r24,201 |
| 7967 44d8 9105 cpc r25,__zero_reg__ |
| 7968 44da 04F0 brlt .L640 |
| 7969 44dc 88EC ldi r24,lo8(200) |
| 7970 44de 90E0 ldi r25,hi8(200) |
| 7971 44e0 00C0 rjmp .L895 |
| 7972 .L640: |
| 7973 44e2 8853 subi r24,lo8(-200) |
| 7974 44e4 9F4F sbci r25,hi8(-200) |
| 7975 44e6 04F4 brge .L641 |
| 7976 44e8 88E3 ldi r24,lo8(-200) |
| 7977 44ea 9FEF ldi r25,hi8(-200) |
| 7978 .L895: |
| 7979 44ec 9093 0000 sts (TrimRoll)+1,r25 |
| 7980 44f0 8093 0000 sts TrimRoll,r24 |
| 7981 .L641: |
| 7982 44f4 8091 0000 lds r24,MesswertNick |
| 7983 44f8 9091 0000 lds r25,(MesswertNick)+1 |
| 7984 44fc AA27 clr r26 |
| 7985 44fe 97FD sbrc r25,7 |
| 7986 4500 A095 com r26 |
| 7987 4502 BA2F mov r27,r26 |
| 7988 4504 2091 0000 lds r18,GyroFaktor |
| 7989 4508 A22E mov r10,r18 |
| 7990 450a BB24 clr r11 |
| 7991 450c CC24 clr r12 |
| 7992 450e DD24 clr r13 |
| 7993 4510 BC01 movw r22,r24 |
| 7994 4512 CD01 movw r24,r26 |
| 7995 4514 A601 movw r20,r12 |
| 7996 4516 9501 movw r18,r10 |
| 7997 4518 0E94 0000 call __mulsi3 |
| 7998 451c 9B01 movw r18,r22 |
| 7999 451e AC01 movw r20,r24 |
| 8000 4520 8091 0000 lds r24,TrimNick |
| 8001 4524 9091 0000 lds r25,(TrimNick)+1 |
| 8002 4528 AA27 clr r26 |
| 8003 452a 97FD sbrc r25,7 |
| 8004 452c A095 com r26 |
| 8005 452e BA2F mov r27,r26 |
| 8006 4530 E7E0 ldi r30,7 |
| 8007 4532 880F 1: lsl r24 |
| 8008 4534 991F rol r25 |
| 8009 4536 AA1F rol r26 |
| 8010 4538 BB1F rol r27 |
| 8011 453a EA95 dec r30 |
| 8012 453c 01F4 brne 1b |
| 8013 453e 280F add r18,r24 |
| 8014 4540 391F adc r19,r25 |
| 8015 4542 4A1F adc r20,r26 |
| 8016 4544 5B1F adc r21,r27 |
| 8017 4546 57FF sbrs r21,7 |
| 8018 4548 00C0 rjmp .L643 |
| 8019 454a 215C subi r18,lo8(-(63)) |
| 8020 454c 3F4F sbci r19,hi8(-(63)) |
| 8021 454e 4F4F sbci r20,hlo8(-(63)) |
| 8022 4550 5F4F sbci r21,hhi8(-(63)) |
| 8023 .L643: |
| 8024 4552 76E0 ldi r23,6 |
| 8025 4554 5595 1: asr r21 |
| 8026 4556 4795 ror r20 |
| 8027 4558 3795 ror r19 |
| 8028 455a 2795 ror r18 |
| 8029 455c 7A95 dec r23 |
| 8030 455e 01F4 brne 1b |
| 8031 4560 8301 movw r16,r6 |
| 8032 4562 020F add r16,r18 |
| 8033 4564 131F adc r17,r19 |
| 8034 4566 1093 0000 sts (MesswertNick)+1,r17 |
| 8035 456a 0093 0000 sts MesswertNick,r16 |
| 8036 456e 8091 0000 lds r24,MesswertRoll |
| 8037 4572 9091 0000 lds r25,(MesswertRoll)+1 |
| 8038 4576 AA27 clr r26 |
| 8039 4578 97FD sbrc r25,7 |
| 8040 457a A095 com r26 |
| 8041 457c BA2F mov r27,r26 |
| 8042 457e BC01 movw r22,r24 |
| 8043 4580 CD01 movw r24,r26 |
| 8044 4582 A601 movw r20,r12 |
| 8045 4584 9501 movw r18,r10 |
| 8046 4586 0E94 0000 call __mulsi3 |
| 8047 458a 9B01 movw r18,r22 |
| 8048 458c AC01 movw r20,r24 |
| 8049 458e 8091 0000 lds r24,TrimRoll |
| 8050 4592 9091 0000 lds r25,(TrimRoll)+1 |
| 8051 4596 AA27 clr r26 |
| 8052 4598 97FD sbrc r25,7 |
| 8053 459a A095 com r26 |
| 8054 459c BA2F mov r27,r26 |
| 8055 459e 67E0 ldi r22,7 |
| 8056 45a0 880F 1: lsl r24 |
| 8057 45a2 991F rol r25 |
| 8058 45a4 AA1F rol r26 |
| 8059 45a6 BB1F rol r27 |
| 8060 45a8 6A95 dec r22 |
| 8061 45aa 01F4 brne 1b |
| 8062 45ac 280F add r18,r24 |
| 8063 45ae 391F adc r19,r25 |
| 8064 45b0 4A1F adc r20,r26 |
| 8065 45b2 5B1F adc r21,r27 |
| 8066 45b4 57FF sbrs r21,7 |
| 8067 45b6 00C0 rjmp .L644 |
| 8068 45b8 215C subi r18,lo8(-(63)) |
| 8069 45ba 3F4F sbci r19,hi8(-(63)) |
| 8070 45bc 4F4F sbci r20,hlo8(-(63)) |
| 8071 45be 5F4F sbci r21,hhi8(-(63)) |
| 8072 .L644: |
| 8073 45c0 F6E0 ldi r31,6 |
| 8074 45c2 5595 1: asr r21 |
| 8075 45c4 4795 ror r20 |
| 8076 45c6 3795 ror r19 |
| 8077 45c8 2795 ror r18 |
| 8078 45ca FA95 dec r31 |
| 8079 45cc 01F4 brne 1b |
| 8080 45ce 4201 movw r8,r4 |
| 8081 45d0 820E add r8,r18 |
| 8082 45d2 931E adc r9,r19 |
| 8083 45d4 9092 0000 sts (MesswertRoll)+1,r9 |
| 8084 45d8 8092 0000 sts MesswertRoll,r8 |
| 8085 45dc 8091 0000 lds r24,MesswertGier |
| 8086 45e0 9091 0000 lds r25,(MesswertGier)+1 |
| 8087 45e4 880F add r24,r24 |
| 8088 45e6 991F adc r25,r25 |
| 8089 45e8 AA27 clr r26 |
| 8090 45ea 97FD sbrc r25,7 |
| 8091 45ec A095 com r26 |
| 8092 45ee BA2F mov r27,r26 |
| 8093 45f0 2091 0000 lds r18,GyroFaktorGier |
| 8094 45f4 3327 clr r19 |
| 8095 45f6 4427 clr r20 |
| 8096 45f8 5527 clr r21 |
| 8097 45fa BC01 movw r22,r24 |
| 8098 45fc CD01 movw r24,r26 |
| 8099 45fe 0E94 0000 call __mulsi3 |
| 8100 4602 5B01 movw r10,r22 |
| 8101 4604 6C01 movw r12,r24 |
| 8102 4606 97FF sbrs r25,7 |
| 8103 4608 00C0 rjmp .L645 |
| 8104 460a 2FE3 ldi r18,lo8(63) |
| 8105 460c 30E0 ldi r19,hi8(63) |
| 8106 460e 40E0 ldi r20,hlo8(63) |
| 8107 4610 50E0 ldi r21,hhi8(63) |
| 8108 4612 A20E add r10,r18 |
| 8109 4614 B31E adc r11,r19 |
| 8110 4616 C41E adc r12,r20 |
| 8111 4618 D51E adc r13,r21 |
| 8112 .L645: |
| 8113 461a E6E0 ldi r30,6 |
| 8114 461c D594 1: asr r13 |
| 8115 461e C794 ror r12 |
| 8116 4620 B794 ror r11 |
| 8117 4622 A794 ror r10 |
| 8118 4624 EA95 dec r30 |
| 8119 4626 01F4 brne 1b |
| 8120 4628 8091 0000 lds r24,IntegralFaktorGier |
| 8121 462c 282F mov r18,r24 |
| 8122 462e 3327 clr r19 |
| 8123 4630 4427 clr r20 |
| 8124 4632 5527 clr r21 |
| 8125 4634 8091 0000 lds r24,Integral_Gier |
| 8126 4638 9091 0000 lds r25,(Integral_Gier)+1 |
| 8127 463c A091 0000 lds r26,(Integral_Gier)+2 |
| 8128 4640 B091 0000 lds r27,(Integral_Gier)+3 |
| 8129 4644 BC01 movw r22,r24 |
| 8130 4646 CD01 movw r24,r26 |
| 8131 4648 0E94 0000 call __mulsi3 |
| 8132 464c DC01 movw r26,r24 |
| 8133 464e CB01 movw r24,r22 |
| 8134 4650 BC01 movw r22,r24 |
| 8135 4652 CD01 movw r24,r26 |
| 8136 4654 20EF ldi r18,lo8(22000) |
| 8137 4656 35E5 ldi r19,hi8(22000) |
| 8138 4658 40E0 ldi r20,hlo8(22000) |
| 8139 465a 50E0 ldi r21,hhi8(22000) |
| 8140 465c 0E94 0000 call __divmodsi4 |
| 8141 4660 B501 movw r22,r10 |
| 8142 4662 620F add r22,r18 |
| 8143 4664 731F adc r23,r19 |
| 8144 4666 7093 0000 sts (MesswertGier)+1,r23 |
| 8145 466a 6093 0000 sts MesswertGier,r22 |
| 8146 466e 0150 subi r16,lo8(4097) |
| 8147 4670 1041 sbci r17,hi8(4097) |
| 8148 4672 04F0 brlt .L646 |
| 8149 4674 80E0 ldi r24,lo8(4096) |
| 8150 4676 90E1 ldi r25,hi8(4096) |
| 8151 4678 9093 0000 sts (MesswertNick)+1,r25 |
| 8152 467c 8093 0000 sts MesswertNick,r24 |
| 8153 .L646: |
| 8154 4680 8091 0000 lds r24,MesswertNick |
| 8155 4684 9091 0000 lds r25,(MesswertNick)+1 |
| 8156 4688 8050 subi r24,lo8(-4096) |
| 8157 468a 904F sbci r25,hi8(-4096) |
| 8158 468c 04F4 brge .L647 |
| 8159 468e 80E0 ldi r24,lo8(-4096) |
| 8160 4690 90EF ldi r25,hi8(-4096) |
| 8161 4692 9093 0000 sts (MesswertNick)+1,r25 |
| 8162 4696 8093 0000 sts MesswertNick,r24 |
| 8163 .L647: |
| 8164 469a 51E0 ldi r21,lo8(4097) |
| 8165 469c 8516 cp r8,r21 |
| 8166 469e 50E1 ldi r21,hi8(4097) |
| 8167 46a0 9506 cpc r9,r21 |
| 8168 46a2 04F0 brlt .L648 |
| 8169 46a4 80E0 ldi r24,lo8(4096) |
| 8170 46a6 90E1 ldi r25,hi8(4096) |
| 8171 46a8 9093 0000 sts (MesswertRoll)+1,r25 |
| 8172 46ac 8093 0000 sts MesswertRoll,r24 |
| 8173 .L648: |
| 8174 46b0 8091 0000 lds r24,MesswertRoll |
| 8175 46b4 9091 0000 lds r25,(MesswertRoll)+1 |
| 8176 46b8 8050 subi r24,lo8(-4096) |
| 8177 46ba 904F sbci r25,hi8(-4096) |
| 8178 46bc 04F4 brge .L649 |
| 8179 46be 80E0 ldi r24,lo8(-4096) |
| 8180 46c0 90EF ldi r25,hi8(-4096) |
| 8181 46c2 9093 0000 sts (MesswertRoll)+1,r25 |
| 8182 46c6 8093 0000 sts MesswertRoll,r24 |
| 8183 .L649: |
| 8184 46ca 6150 subi r22,lo8(4097) |
| 8185 46cc 7041 sbci r23,hi8(4097) |
| 8186 46ce 04F0 brlt .L650 |
| 8187 46d0 80E0 ldi r24,lo8(4096) |
| 8188 46d2 90E1 ldi r25,hi8(4096) |
| 8189 46d4 9093 0000 sts (MesswertGier)+1,r25 |
| 8190 46d8 8093 0000 sts MesswertGier,r24 |
| 8191 .L650: |
| 8192 46dc 8091 0000 lds r24,MesswertGier |
| 8193 46e0 9091 0000 lds r25,(MesswertGier)+1 |
| 8194 46e4 8050 subi r24,lo8(-4096) |
| 8195 46e6 904F sbci r25,hi8(-4096) |
| 8196 46e8 04F4 brge .L651 |
| 8197 46ea 80E0 ldi r24,lo8(-4096) |
| 8198 46ec 90EF ldi r25,hi8(-4096) |
| 8199 46ee 9093 0000 sts (MesswertGier)+1,r25 |
| 8200 46f2 8093 0000 sts MesswertGier,r24 |
| 8201 .L651: |
| 8202 46f6 8091 0000 lds r24,BattLowVoltageWarning |
| 8203 46fa 482F mov r20,r24 |
| 8204 46fc 5527 clr r21 |
| 8205 46fe 8091 0000 lds r24,UBat |
| 8206 4702 9091 0000 lds r25,(UBat)+1 |
| 8207 4706 4817 cp r20,r24 |
| 8208 4708 5907 cpc r21,r25 |
| 8209 470a 04F4 brge .L652 |
| 8210 470c 2091 0000 lds r18,UBat |
| 8211 4710 3091 0000 lds r19,(UBat)+1 |
| 8212 4714 0981 ldd r16,Y+1 |
| 8213 4716 1A81 ldd r17,Y+2 |
| 8214 4718 049F mul r16,r20 |
| 8215 471a C001 movw r24,r0 |
| 8216 471c 059F mul r16,r21 |
| 8217 471e 900D add r25,r0 |
| 8218 4720 149F mul r17,r20 |
| 8219 4722 900D add r25,r0 |
| 8220 4724 1124 clr r1 |
| 8221 4726 B901 movw r22,r18 |
| 8222 4728 0E94 0000 call __udivmodhi4 |
| 8223 472c 7A83 std Y+2,r23 |
| 8224 472e 6983 std Y+1,r22 |
| 8225 .L652: |
| 8226 4730 2981 ldd r18,Y+1 |
| 8227 4732 3A81 ldd r19,Y+2 |
| 8228 4734 220F lsl r18 |
| 8229 4736 331F rol r19 |
| 8230 4738 220F lsl r18 |
| 8231 473a 331F rol r19 |
| 8232 473c 3A83 std Y+2,r19 |
| 8233 473e 2983 std Y+1,r18 |
| 8234 4740 4091 0000 lds r20,Parameter_GlobalConfig |
| 8235 4744 40FD sbrc r20,0 |
| 8236 4746 00C0 rjmp .+4 |
| 8237 4748 0C94 0000 jmp .L653 |
| 8238 474c EE20 tst r14 |
| 8239 474e 01F0 breq .+4 |
| 8240 4750 0C94 0000 jmp .L653 |
| 8241 4754 FF20 tst r15 |
| 8242 4756 01F0 breq .+4 |
| 8243 4758 0C94 0000 jmp .L653 |
| 8244 475c 00E0 ldi r16,lo8(0) |
| 8245 475e 10E0 ldi r17,hi8(0) |
| 8246 4760 4801 movw r8,r16 |
| 8247 4762 8091 0000 lds r24,HoverGas |
| 8248 4766 9091 0000 lds r25,(HoverGas)+1 |
| 8249 476a 9093 0000 sts (DebugOut+44)+1,r25 |
| 8250 476e 8093 0000 sts DebugOut+44,r24 |
| 8251 4772 2091 0000 lds r18,BaroExpandActive |
| 8252 4776 3091 0000 lds r19,(BaroExpandActive)+1 |
| 8253 477a 2115 cp r18,__zero_reg__ |
| 8254 477c 3105 cpc r19,__zero_reg__ |
| 8255 477e 01F0 breq .+2 |
| 8256 4780 00C0 rjmp .L654 |
| 8257 4782 8091 0000 lds r24,MessLuftdruck |
| 8258 4786 9091 0000 lds r25,(MessLuftdruck)+1 |
| 8259 478a 8959 subi r24,lo8(921) |
| 8260 478c 9340 sbci r25,hi8(921) |
| 8261 478e 00F0 brlo .L655 |
| 8262 4790 87B5 in r24,71-0x20 |
| 8263 4792 803F cpi r24,lo8(-16) |
| 8264 4794 00F4 brsh .L656 |
| 8265 4796 8091 0000 lds r24,ExpandBaro |
| 8266 479a 8150 subi r24,lo8(-(-1)) |
| 8267 479c 00C0 rjmp .L896 |
| 8268 .L656: |
| 8269 479e 81E0 ldi r24,lo8(1) |
| 8270 47a0 8093 0000 sts BaroAtLowerLimit.26,r24 |
| 8271 47a4 00C0 rjmp .L663 |
| 8272 .L655: |
| 8273 47a6 8091 0000 lds r24,MessLuftdruck |
| 8274 47aa 9091 0000 lds r25,(MessLuftdruck)+1 |
| 8275 47ae 8436 cpi r24,100 |
| 8276 47b0 9105 cpc r25,__zero_reg__ |
| 8277 47b2 00F4 brsh .L659 |
| 8278 47b4 87B5 in r24,71-0x20 |
| 8279 47b6 8031 cpi r24,lo8(16) |
| 8280 47b8 00F0 brlo .L660 |
| 8281 47ba 8091 0000 lds r24,ExpandBaro |
| 8282 47be 8F5F subi r24,lo8(-(1)) |
| 8283 .L896: |
| 8284 47c0 8093 0000 sts ExpandBaro,r24 |
| 8285 47c4 9FE0 ldi r25,lo8(15) |
| 8286 47c6 8902 muls r24,r25 |
| 8287 47c8 9001 movw r18,r0 |
| 8288 47ca 1124 clr r1 |
| 8289 47cc 8091 0000 lds r24,DruckOffsetSetting |
| 8290 47d0 821B sub r24,r18 |
| 8291 47d2 87BD out 71-0x20,r24 |
| 8292 47d4 8CE2 ldi r24,lo8(300) |
| 8293 47d6 91E0 ldi r25,hi8(300) |
| 8294 47d8 9093 0000 sts (beeptime)+1,r25 |
| 8295 47dc 8093 0000 sts beeptime,r24 |
| 8296 47e0 8EE5 ldi r24,lo8(350) |
| 8297 47e2 91E0 ldi r25,hi8(350) |
| 8298 47e4 9093 0000 sts (BaroExpandActive)+1,r25 |
| 8299 47e8 8093 0000 sts BaroExpandActive,r24 |
| 8300 47ec 00C0 rjmp .L663 |
| 8301 .L660: |
| 8302 47ee 81E0 ldi r24,lo8(1) |
| 8303 47f0 8093 0000 sts BaroAtUpperLimit.25,r24 |
| 8304 47f4 00C0 rjmp .L663 |
| 8305 .L659: |
| 8306 47f6 F092 0000 sts BaroAtUpperLimit.25,r15 |
| 8307 47fa F092 0000 sts BaroAtLowerLimit.26,r15 |
| 8308 47fe 00C0 rjmp .L663 |
| 8309 .L654: |
| 8310 4800 8091 0000 lds r24,HoehenWert |
| 8311 4804 9091 0000 lds r25,(HoehenWert)+1 |
| 8312 4808 A091 0000 lds r26,(HoehenWert)+2 |
| 8313 480c B091 0000 lds r27,(HoehenWert)+3 |
| 8314 4810 64E0 ldi r22,4 |
| 8315 4812 880F 1: lsl r24 |
| 8316 4814 991F rol r25 |
| 8317 4816 AA1F rol r26 |
| 8318 4818 BB1F rol r27 |
| 8319 481a 6A95 dec r22 |
| 8320 481c 01F4 brne 1b |
| 8321 481e 8093 0000 sts SummenHoehe,r24 |
| 8322 4822 9093 0000 sts (SummenHoehe)+1,r25 |
| 8323 4826 A093 0000 sts (SummenHoehe)+2,r26 |
| 8324 482a B093 0000 sts (SummenHoehe)+3,r27 |
| 8325 482e 1093 0000 sts (VarioMeter)+1,r17 |
| 8326 4832 0093 0000 sts VarioMeter,r16 |
| 8327 4836 2150 subi r18,lo8(-(-1)) |
| 8328 4838 3040 sbci r19,hi8(-(-1)) |
| 8329 483a 3093 0000 sts (BaroExpandActive)+1,r19 |
| 8330 483e 2093 0000 sts BaroExpandActive,r18 |
| 8331 .L663: |
| 8332 4842 2091 0000 lds r18,Parameter_HoehenSchalter |
| 8333 4846 41FF sbrs r20,1 |
| 8334 4848 00C0 rjmp .L664 |
| 8335 484a 2233 cpi r18,lo8(50) |
| 8336 484c 00F4 brsh .L665 |
| 8337 484e 8091 0000 lds r24,delay.24 |
| 8338 4852 8150 subi r24,lo8(-(-1)) |
| 8339 4854 8093 0000 sts delay.24,r24 |
| 8340 4858 8F3F cpi r24,lo8(-1) |
| 8341 485a 01F0 breq .+2 |
| 8342 485c 00C0 rjmp .L671 |
| 8343 485e 8091 0000 lds r24,SpeakHoTT |
| 8344 4862 8823 tst r24 |
| 8345 4864 01F4 brne .L667 |
| 8346 4866 8091 0000 lds r24,HoehenReglerAktiv |
| 8347 486a 8823 tst r24 |
| 8348 486c 01F0 breq .L667 |
| 8349 486e 88E2 ldi r24,lo8(40) |
| 8350 4870 8093 0000 sts SpeakHoTT,r24 |
| 8351 .L667: |
| 8352 4874 1092 0000 sts HoehenReglerAktiv,__zero_reg__ |
| 8353 4878 8091 0000 lds r24,HoehenWert |
| 8354 487c 9091 0000 lds r25,(HoehenWert)+1 |
| 8355 4880 A091 0000 lds r26,(HoehenWert)+2 |
| 8356 4884 B091 0000 lds r27,(HoehenWert)+3 |
| 8357 4888 8093 0000 sts SollHoehe,r24 |
| 8358 488c 9093 0000 sts (SollHoehe)+1,r25 |
| 8359 4890 A093 0000 sts (SollHoehe)+2,r26 |
| 8360 4894 B093 0000 sts (SollHoehe)+3,r27 |
| 8361 4898 81E0 ldi r24,lo8(1) |
| 8362 489a 8093 0000 sts delay.24,r24 |
| 8363 489e 00C0 rjmp .L671 |
| 8364 .L665: |
| 8365 48a0 2734 cpi r18,lo8(71) |
| 8366 48a2 00F0 brlo .L671 |
| 8367 48a4 8091 0000 lds r24,SpeakHoTT |
| 8368 48a8 8823 tst r24 |
| 8369 48aa 01F4 brne .L670 |
| 8370 48ac 8091 0000 lds r24,HoehenReglerAktiv |
| 8371 48b0 8823 tst r24 |
| 8372 48b2 01F4 brne .L670 |
| 8373 48b4 87E2 ldi r24,lo8(39) |
| 8374 48b6 8093 0000 sts SpeakHoTT,r24 |
| 8375 .L670: |
| 8376 48ba 88EC ldi r24,lo8(-56) |
| 8377 48bc 8093 0000 sts delay.24,r24 |
| 8378 48c0 00C0 rjmp .L897 |
| 8379 .L664: |
| 8380 48c2 8091 0000 lds r24,ExternHoehenValue |
| 8381 48c6 9091 0000 lds r25,(ExternHoehenValue)+1 |
| 8382 48ca 820F add r24,r18 |
| 8383 48cc 911D adc r25,__zero_reg__ |
| 8384 48ce 2091 0000 lds r18,EE_Parameter+18 |
| 8385 48d2 3327 clr r19 |
| 8386 48d4 829F mul r24,r18 |
| 8387 48d6 A001 movw r20,r0 |
| 8388 48d8 839F mul r24,r19 |
| 8389 48da 500D add r21,r0 |
| 8390 48dc 929F mul r25,r18 |
| 8391 48de 500D add r21,r0 |
| 8392 48e0 1124 clr r1 |
| 8393 48e2 CA01 movw r24,r20 |
| 8394 48e4 AA27 clr r26 |
| 8395 48e6 97FD sbrc r25,7 |
| 8396 48e8 A095 com r26 |
| 8397 48ea BA2F mov r27,r26 |
| 8398 48ec 8093 0000 sts SollHoehe,r24 |
| 8399 48f0 9093 0000 sts (SollHoehe)+1,r25 |
| 8400 48f4 A093 0000 sts (SollHoehe)+2,r26 |
| 8401 48f8 B093 0000 sts (SollHoehe)+3,r27 |
| 8402 .L897: |
| 8403 48fc 81E0 ldi r24,lo8(1) |
| 8404 48fe 8093 0000 sts HoehenReglerAktiv,r24 |
| 8405 .L671: |
| 8406 4902 8091 0000 lds r24,IntegralNick |
| 8407 4906 9091 0000 lds r25,(IntegralNick)+1 |
| 8408 490a A091 0000 lds r26,(IntegralNick)+2 |
| 8409 490e B091 0000 lds r27,(IntegralNick)+3 |
| 8410 4912 E090 0000 lds r14,GIER_GRAD_FAKTOR |
| 8411 4916 F090 0000 lds r15,(GIER_GRAD_FAKTOR)+1 |
| 8412 491a 0091 0000 lds r16,(GIER_GRAD_FAKTOR)+2 |
| 8413 491e 1091 0000 lds r17,(GIER_GRAD_FAKTOR)+3 |
| 8414 4922 BC01 movw r22,r24 |
| 8415 4924 CD01 movw r24,r26 |
| 8416 4926 A801 movw r20,r16 |
| 8417 4928 9701 movw r18,r14 |
| 8418 492a 0E94 0000 call __divmodsi4 |
| 8419 492e 5901 movw r10,r18 |
| 8420 4930 6A01 movw r12,r20 |
| 8421 4932 8091 0000 lds r24,IntegralRoll |
| 8422 4936 9091 0000 lds r25,(IntegralRoll)+1 |
| 8423 493a A091 0000 lds r26,(IntegralRoll)+2 |
| 8424 493e B091 0000 lds r27,(IntegralRoll)+3 |
| 8425 4942 BC01 movw r22,r24 |
| 8426 4944 CD01 movw r24,r26 |
| 8427 4946 A801 movw r20,r16 |
| 8428 4948 9701 movw r18,r14 |
| 8429 494a 0E94 0000 call __divmodsi4 |
| 8430 494e B901 movw r22,r18 |
| 8431 4950 C501 movw r24,r10 |
| 8432 4952 0E94 0000 call ihypot |
| 8433 4956 5C01 movw r10,r24 |
| 8434 4958 CC97 sbiw r24,60 |
| 8435 495a 04F0 brlt .L672 |
| 8436 495c 5CE3 ldi r21,lo8(60) |
| 8437 495e A52E mov r10,r21 |
| 8438 4960 B12C mov r11,__zero_reg__ |
| 8439 .L672: |
| 8440 4962 C501 movw r24,r10 |
| 8441 4964 0E94 0000 call c_cos_8192 |
| 8442 4968 5C01 movw r10,r24 |
| 8443 496a 80E2 ldi r24,lo8(32) |
| 8444 496c 8093 0000 sts VarioCharacter,r24 |
| 8445 4970 1092 0000 sts (AltitudeSetpointTrimming)+1,__zero_reg__ |
| 8446 4974 1092 0000 sts AltitudeSetpointTrimming,__zero_reg__ |
| 8447 4978 8091 0000 lds r24,HoehenReglerAktiv |
| 8448 497c 8823 tst r24 |
| 8449 497e 01F4 brne .+2 |
| 8450 4980 00C0 rjmp .L673 |
| 8451 4982 8091 0000 lds r24,FC_StatusFlags |
| 8452 4986 9927 clr r25 |
| 8453 4988 9C01 movw r18,r24 |
| 8454 498a 2071 andi r18,lo8(16) |
| 8455 498c 3070 andi r19,hi8(16) |
| 8456 498e 84FD sbrc r24,4 |
| 8457 4990 00C0 rjmp .L673 |
| 8458 4992 8091 0000 lds r24,FC_StatusFlags2 |
| 8459 4996 8260 ori r24,lo8(2) |
| 8460 4998 8093 0000 sts FC_StatusFlags2,r24 |
| 8461 499c 7091 0000 lds r23,Parameter_ExtraConfig |
| 8462 49a0 872F mov r24,r23 |
| 8463 49a2 9927 clr r25 |
| 8464 49a4 41E0 ldi r20,lo8(1) |
| 8465 49a6 C42E mov r12,r20 |
| 8466 49a8 D12C mov r13,__zero_reg__ |
| 8467 49aa C822 and r12,r24 |
| 8468 49ac D922 and r13,r25 |
| 8469 49ae 80FD sbrc r24,0 |
| 8470 49b0 00C0 rjmp .L675 |
| 8471 49b2 8091 0000 lds r24,Parameter_GlobalConfig |
| 8472 49b6 81FD sbrc r24,1 |
| 8473 49b8 00C0 rjmp .L674 |
| 8474 .L675: |
| 8475 49ba C980 ldd r12,Y+1 |
| 8476 49bc DA80 ldd r13,Y+2 |
| 8477 49be 3093 0000 sts (HeightTrimming.21)+1,r19 |
| 8478 49c2 2093 0000 sts HeightTrimming.21,r18 |
| 8479 49c6 3093 0000 sts (AltitudeSetpointTrimming)+1,r19 |
| 8480 49ca 2093 0000 sts AltitudeSetpointTrimming,r18 |
| 8481 49ce 8091 0000 lds r24,FC_StatusFlags |
| 8482 49d2 806C ori r24,lo8(-64) |
| 8483 49d4 8093 0000 sts FC_StatusFlags,r24 |
| 8484 49d8 00C0 rjmp .L676 |
| 8485 .L674: |
| 8486 49da 8091 0000 lds r24,FC_StatusFlags |
| 8487 49de 81FF sbrs r24,1 |
| 8488 49e0 00C0 rjmp .L677 |
| 8489 49e2 0091 0000 lds r16,StickGasHover |
| 8490 49e6 1091 0000 lds r17,(StickGasHover)+1 |
| 8491 49ea C801 movw r24,r16 |
| 8492 49ec 0F96 adiw r24,15 |
| 8493 49ee 2090 0000 lds r2,StickGas |
| 8494 49f2 3090 0000 lds r3,(StickGas)+1 |
| 8495 49f6 8215 cp r24,r2 |
| 8496 49f8 9305 cpc r25,r3 |
| 8497 49fa 04F0 brlt .+2 |
| 8498 49fc 00C0 rjmp .L678 |
| 8499 49fe 8091 0000 lds r24,BaroAtUpperLimit.25 |
| 8500 4a02 8823 tst r24 |
| 8501 4a04 01F0 breq .+2 |
| 8502 4a06 00C0 rjmp .L678 |
| 8503 4a08 8091 0000 lds r24,FC_StatusFlags |
| 8504 4a0c 87FF sbrs r24,7 |
| 8505 4a0e 00C0 rjmp .L679 |
| 8506 4a10 8091 0000 lds r24,FC_StatusFlags |
| 8507 4a14 8F77 andi r24,lo8(127) |
| 8508 4a16 8093 0000 sts FC_StatusFlags,r24 |
| 8509 4a1a 8091 0000 lds r24,HoehenWert |
| 8510 4a1e 9091 0000 lds r25,(HoehenWert)+1 |
| 8511 4a22 A091 0000 lds r26,(HoehenWert)+2 |
| 8512 4a26 B091 0000 lds r27,(HoehenWert)+3 |
| 8513 4a2a 8093 0000 sts SollHoehe,r24 |
| 8514 4a2e 9093 0000 sts (SollHoehe)+1,r25 |
| 8515 4a32 A093 0000 sts (SollHoehe)+2,r26 |
| 8516 4a36 B093 0000 sts (SollHoehe)+3,r27 |
| 8517 .L679: |
| 8518 4a3a 8091 0000 lds r24,FC_StatusFlags |
| 8519 4a3e 8064 ori r24,lo8(64) |
| 8520 4a40 8093 0000 sts FC_StatusFlags,r24 |
| 8521 4a44 E090 0000 lds r14,Parameter_MaximumAltitude |
| 8522 4a48 EE20 tst r14 |
| 8523 4a4a 01F0 breq .L680 |
| 8524 4a4c 8091 0000 lds r24,SollHoehe |
| 8525 4a50 9091 0000 lds r25,(SollHoehe)+1 |
| 8526 4a54 A091 0000 lds r26,(SollHoehe)+2 |
| 8527 4a58 B091 0000 lds r27,(SollHoehe)+3 |
| 8528 4a5c BC01 movw r22,r24 |
| 8529 4a5e CD01 movw r24,r26 |
| 8530 4a60 24E6 ldi r18,lo8(100) |
| 8531 4a62 30E0 ldi r19,hi8(100) |
| 8532 4a64 40E0 ldi r20,hlo8(100) |
| 8533 4a66 50E0 ldi r21,hhi8(100) |
| 8534 4a68 0E94 0000 call __divmodsi4 |
| 8535 4a6c 8E2D mov r24,r14 |
| 8536 4a6e 9927 clr r25 |
| 8537 4a70 AA27 clr r26 |
| 8538 4a72 BB27 clr r27 |
| 8539 4a74 8217 cp r24,r18 |
| 8540 4a76 9307 cpc r25,r19 |
| 8541 4a78 A407 cpc r26,r20 |
| 8542 4a7a B507 cpc r27,r21 |
| 8543 4a7c 04F4 brge .L680 |
| 8544 4a7e D092 0000 sts (AltitudeSetpointTrimming)+1,r13 |
| 8545 4a82 C092 0000 sts AltitudeSetpointTrimming,r12 |
| 8546 4a86 00C0 rjmp .L681 |
| 8547 .L680: |
| 8548 4a88 C101 movw r24,r2 |
| 8549 4a8a 801B sub r24,r16 |
| 8550 4a8c 910B sbc r25,r17 |
| 8551 4a8e 0F97 sbiw r24,15 |
| 8552 4a90 97FF sbrs r25,7 |
| 8553 4a92 00C0 rjmp .L682 |
| 8554 4a94 9095 com r25 |
| 8555 4a96 8195 neg r24 |
| 8556 4a98 9F4F sbci r25,lo8(-1) |
| 8557 .L682: |
| 8558 4a9a 9093 0000 sts (AltitudeSetpointTrimming)+1,r25 |
| 8559 4a9e 8093 0000 sts AltitudeSetpointTrimming,r24 |
| 8560 4aa2 8BE2 ldi r24,lo8(43) |
| 8561 4aa4 8093 0000 sts VarioCharacter,r24 |
| 8562 .L681: |
| 8563 4aa8 1092 0000 sts WaypointTrimming,__zero_reg__ |
| 8564 4aac 00C0 rjmp .L683 |
| 8565 .L678: |
| 8566 4aae C801 movw r24,r16 |
| 8567 4ab0 0F97 sbiw r24,15 |
| 8568 4ab2 2816 cp r2,r24 |
| 8569 4ab4 3906 cpc r3,r25 |
| 8570 4ab6 04F4 brge .L684 |
| 8571 4ab8 2091 0000 lds r18,BaroAtLowerLimit.26 |
| 8572 4abc 2223 tst r18 |
| 8573 4abe 01F4 brne .L684 |
| 8574 4ac0 8091 0000 lds r24,FC_StatusFlags |
| 8575 4ac4 86FF sbrs r24,6 |
| 8576 4ac6 00C0 rjmp .L685 |
| 8577 4ac8 8091 0000 lds r24,FC_StatusFlags |
| 8578 4acc 8F7B andi r24,lo8(-65) |
| 8579 4ace 8093 0000 sts FC_StatusFlags,r24 |
| 8580 4ad2 8091 0000 lds r24,HoehenWert |
| 8581 4ad6 9091 0000 lds r25,(HoehenWert)+1 |
| 8582 4ada A091 0000 lds r26,(HoehenWert)+2 |
| 8583 4ade B091 0000 lds r27,(HoehenWert)+3 |
| 8584 4ae2 8093 0000 sts SollHoehe,r24 |
| 8585 4ae6 9093 0000 sts (SollHoehe)+1,r25 |
| 8586 4aea A093 0000 sts (SollHoehe)+2,r26 |
| 8587 4aee B093 0000 sts (SollHoehe)+3,r27 |
| 8588 .L685: |
| 8589 4af2 8091 0000 lds r24,FC_StatusFlags |
| 8590 4af6 8068 ori r24,lo8(-128) |
| 8591 4af8 8093 0000 sts FC_StatusFlags,r24 |
| 8592 4afc C101 movw r24,r2 |
| 8593 4afe 801B sub r24,r16 |
| 8594 4b00 910B sbc r25,r17 |
| 8595 4b02 0F96 adiw r24,15 |
| 8596 4b04 97FF sbrs r25,7 |
| 8597 4b06 00C0 rjmp .L686 |
| 8598 4b08 9095 com r25 |
| 8599 4b0a 8195 neg r24 |
| 8600 4b0c 9F4F sbci r25,lo8(-1) |
| 8601 .L686: |
| 8602 4b0e 9095 com r25 |
| 8603 4b10 8195 neg r24 |
| 8604 4b12 9F4F sbci r25,lo8(-1) |
| 8605 4b14 9093 0000 sts (AltitudeSetpointTrimming)+1,r25 |
| 8606 4b18 8093 0000 sts AltitudeSetpointTrimming,r24 |
| 8607 4b1c 8DE2 ldi r24,lo8(45) |
| 8608 4b1e 8093 0000 sts VarioCharacter,r24 |
| 8609 4b22 2093 0000 sts WaypointTrimming,r18 |
| 8610 4b26 00C0 rjmp .L683 |
| 8611 .L684: |
| 8612 4b28 8DE3 ldi r24,lo8(61) |
| 8613 4b2a 8093 0000 sts VarioCharacter,r24 |
| 8614 4b2e 6091 0000 lds r22,FromNC_AltitudeSpeed |
| 8615 4b32 6623 tst r22 |
| 8616 4b34 01F0 breq .L688 |
| 8617 4b36 2091 0000 lds r18,FromNC_AltitudeSetpoint |
| 8618 4b3a 3091 0000 lds r19,(FromNC_AltitudeSetpoint)+1 |
| 8619 4b3e 4091 0000 lds r20,(FromNC_AltitudeSetpoint)+2 |
| 8620 4b42 5091 0000 lds r21,(FromNC_AltitudeSetpoint)+3 |
| 8621 4b46 8091 0000 lds r24,SollHoehe |
| 8622 4b4a 9091 0000 lds r25,(SollHoehe)+1 |
| 8623 4b4e A091 0000 lds r26,(SollHoehe)+2 |
| 8624 4b52 B091 0000 lds r27,(SollHoehe)+3 |
| 8625 4b56 8217 cp r24,r18 |
| 8626 4b58 9307 cpc r25,r19 |
| 8627 4b5a A407 cpc r26,r20 |
| 8628 4b5c B507 cpc r27,r21 |
| 8629 4b5e 04F4 brge .L688 |
| 8630 4b60 8091 0000 lds r24,FC_StatusFlags |
| 8631 4b64 8064 ori r24,lo8(64) |
| 8632 4b66 8093 0000 sts FC_StatusFlags,r24 |
| 8633 4b6a 862F mov r24,r22 |
| 8634 4b6c 9927 clr r25 |
| 8635 4b6e 9093 0000 sts (AltitudeSetpointTrimming)+1,r25 |
| 8636 4b72 8093 0000 sts AltitudeSetpointTrimming,r24 |
| 8637 4b76 8AE0 ldi r24,lo8(10) |
| 8638 4b78 8093 0000 sts WaypointTrimming,r24 |
| 8639 4b7c 8EE5 ldi r24,lo8(94) |
| 8640 4b7e 8093 0000 sts VarioCharacter,r24 |
| 8641 4b82 8091 0000 lds r24,FC_StatusFlags |
| 8642 4b86 87FF sbrs r24,7 |
| 8643 4b88 00C0 rjmp .L683 |
| 8644 4b8a 8091 0000 lds r24,FC_StatusFlags |
| 8645 4b8e 8F77 andi r24,lo8(127) |
| 8646 4b90 00C0 rjmp .L899 |
| 8647 .L688: |
| 8648 4b92 6623 tst r22 |
| 8649 4b94 01F4 brne .+2 |
| 8650 4b96 00C0 rjmp .L691 |
| 8651 4b98 2091 0000 lds r18,FromNC_AltitudeSetpoint |
| 8652 4b9c 3091 0000 lds r19,(FromNC_AltitudeSetpoint)+1 |
| 8653 4ba0 4091 0000 lds r20,(FromNC_AltitudeSetpoint)+2 |
| 8654 4ba4 5091 0000 lds r21,(FromNC_AltitudeSetpoint)+3 |
| 8655 4ba8 8091 0000 lds r24,SollHoehe |
| 8656 4bac 9091 0000 lds r25,(SollHoehe)+1 |
| 8657 4bb0 A091 0000 lds r26,(SollHoehe)+2 |
| 8658 4bb4 B091 0000 lds r27,(SollHoehe)+3 |
| 8659 4bb8 2817 cp r18,r24 |
| 8660 4bba 3907 cpc r19,r25 |
| 8661 4bbc 4A07 cpc r20,r26 |
| 8662 4bbe 5B07 cpc r21,r27 |
| 8663 4bc0 04F4 brge .L691 |
| 8664 4bc2 8091 0000 lds r24,FC_StatusFlags |
| 8665 4bc6 8068 ori r24,lo8(-128) |
| 8666 4bc8 8093 0000 sts FC_StatusFlags,r24 |
| 8667 4bcc 862F mov r24,r22 |
| 8668 4bce 9927 clr r25 |
| 8669 4bd0 9095 com r25 |
| 8670 4bd2 8195 neg r24 |
| 8671 4bd4 9F4F sbci r25,lo8(-1) |
| 8672 4bd6 9093 0000 sts (AltitudeSetpointTrimming)+1,r25 |
| 8673 4bda 8093 0000 sts AltitudeSetpointTrimming,r24 |
| 8674 4bde 86EF ldi r24,lo8(-10) |
| 8675 4be0 8093 0000 sts WaypointTrimming,r24 |
| 8676 4be4 86E7 ldi r24,lo8(118) |
| 8677 4be6 8093 0000 sts VarioCharacter,r24 |
| 8678 4bea 8091 0000 lds r24,FC_StatusFlags |
| 8679 4bee 86FF sbrs r24,6 |
| 8680 4bf0 00C0 rjmp .L683 |
| 8681 4bf2 8091 0000 lds r24,FC_StatusFlags |
| 8682 4bf6 8F7B andi r24,lo8(-65) |
| 8683 .L899: |
| 8684 4bf8 8093 0000 sts FC_StatusFlags,r24 |
| 8685 4bfc 8091 0000 lds r24,HoehenWert |
| 8686 4c00 9091 0000 lds r25,(HoehenWert)+1 |
| 8687 4c04 A091 0000 lds r26,(HoehenWert)+2 |
| 8688 4c08 B091 0000 lds r27,(HoehenWert)+3 |
| 8689 4c0c 8093 0000 sts SollHoehe,r24 |
| 8690 4c10 9093 0000 sts (SollHoehe)+1,r25 |
| 8691 4c14 A093 0000 sts (SollHoehe)+2,r26 |
| 8692 4c18 B093 0000 sts (SollHoehe)+3,r27 |
| 8693 4c1c 00C0 rjmp .L683 |
| 8694 .L691: |
| 8695 4c1e 8091 0000 lds r24,FC_StatusFlags |
| 8696 4c22 807C andi r24,lo8(-64) |
| 8697 4c24 01F4 brne .+2 |
| 8698 4c26 00C0 rjmp .L683 |
| 8699 4c28 8091 0000 lds r24,WaypointTrimming |
| 8700 4c2c 8823 tst r24 |
| 8701 4c2e 01F4 brne .L695 |
| 8702 4c30 E090 0000 lds r14,HoehenWert |
| 8703 4c34 F090 0000 lds r15,(HoehenWert)+1 |
| 8704 4c38 0091 0000 lds r16,(HoehenWert)+2 |
| 8705 4c3c 1091 0000 lds r17,(HoehenWert)+3 |
| 8706 4c40 D801 movw r26,r16 |
| 8707 4c42 C701 movw r24,r14 |
| 8708 4c44 8058 subi r24,lo8(-(-128)) |
| 8709 4c46 9040 sbci r25,hi8(-(-128)) |
| 8710 4c48 A040 sbci r26,hlo8(-(-128)) |
| 8711 4c4a B040 sbci r27,hhi8(-(-128)) |
| 8712 4c4c 2091 0000 lds r18,SollHoehe |
| 8713 4c50 3091 0000 lds r19,(SollHoehe)+1 |
| 8714 4c54 4091 0000 lds r20,(SollHoehe)+2 |
| 8715 4c58 5091 0000 lds r21,(SollHoehe)+3 |
| 8716 4c5c 8217 cp r24,r18 |
| 8717 4c5e 9307 cpc r25,r19 |
| 8718 4c60 A407 cpc r26,r20 |
| 8719 4c62 B507 cpc r27,r21 |
| 8720 4c64 04F4 brge .L898 |
| 8721 4c66 D801 movw r26,r16 |
| 8722 4c68 C701 movw r24,r14 |
| 8723 4c6a 8058 subi r24,lo8(-(128)) |
| 8724 4c6c 9F4F sbci r25,hi8(-(128)) |
| 8725 4c6e AF4F sbci r26,hlo8(-(128)) |
| 8726 4c70 BF4F sbci r27,hhi8(-(128)) |
| 8727 4c72 2817 cp r18,r24 |
| 8728 4c74 3907 cpc r19,r25 |
| 8729 4c76 4A07 cpc r20,r26 |
| 8730 4c78 5B07 cpc r21,r27 |
| 8731 4c7a 04F0 brlt .L699 |
| 8732 .L898: |
| 8733 4c7c 8093 0000 sts SollHoehe,r24 |
| 8734 4c80 9093 0000 sts (SollHoehe)+1,r25 |
| 8735 4c84 A093 0000 sts (SollHoehe)+2,r26 |
| 8736 4c88 B093 0000 sts (SollHoehe)+3,r27 |
| 8737 4c8c 00C0 rjmp .L699 |
| 8738 .L695: |
| 8739 4c8e 1092 0000 sts WaypointTrimming,__zero_reg__ |
| 8740 .L699: |
| 8741 4c92 8091 0000 lds r24,FC_StatusFlags |
| 8742 4c96 8F73 andi r24,lo8(63) |
| 8743 4c98 8093 0000 sts FC_StatusFlags,r24 |
| 8744 4c9c 1092 0000 sts (HeightTrimming.21)+1,__zero_reg__ |
| 8745 4ca0 1092 0000 sts HeightTrimming.21,__zero_reg__ |
| 8746 4ca4 71FF sbrs r23,1 |
| 8747 4ca6 00C0 rjmp .L700 |
| 8748 4ca8 84EF ldi r24,lo8(500) |
| 8749 4caa 91E0 ldi r25,hi8(500) |
| 8750 4cac 9093 0000 sts (beeptime)+1,r25 |
| 8751 4cb0 8093 0000 sts beeptime,r24 |
| 8752 .L700: |
| 8753 4cb4 8091 0000 lds r24,StartTrigger |
| 8754 4cb8 8823 tst r24 |
| 8755 4cba 01F4 brne .L683 |
| 8756 4cbc 8091 0000 lds r24,HoehenWert |
| 8757 4cc0 9091 0000 lds r25,(HoehenWert)+1 |
| 8758 4cc4 A091 0000 lds r26,(HoehenWert)+2 |
| 8759 4cc8 B091 0000 lds r27,(HoehenWert)+3 |
| 8760 4ccc C397 sbiw r24,51 |
| 8761 4cce A105 cpc r26,__zero_reg__ |
| 8762 4cd0 B105 cpc r27,__zero_reg__ |
| 8763 4cd2 04F0 brlt .L683 |
| 8764 4cd4 81E0 ldi r24,lo8(1) |
| 8765 4cd6 8093 0000 sts StartTrigger,r24 |
| 8766 .L683: |
| 8767 4cda 6091 0000 lds r22,HeightTrimming.21 |
| 8768 4cde 7091 0000 lds r23,(HeightTrimming.21)+1 |
| 8769 4ce2 8091 0000 lds r24,AltitudeSetpointTrimming |
| 8770 4ce6 9091 0000 lds r25,(AltitudeSetpointTrimming)+1 |
| 8771 4cea 680F add r22,r24 |
| 8772 4cec 791F adc r23,r25 |
| 8773 4cee 7093 0000 sts (HeightTrimming.21)+1,r23 |
| 8774 4cf2 6093 0000 sts HeightTrimming.21,r22 |
| 8775 4cf6 CB01 movw r24,r22 |
| 8776 4cf8 77FF sbrs r23,7 |
| 8777 4cfa 00C0 rjmp .L703 |
| 8778 4cfc 8827 clr r24 |
| 8779 4cfe 9927 clr r25 |
| 8780 4d00 861B sub r24,r22 |
| 8781 4d02 970B sbc r25,r23 |
| 8782 .L703: |
| 8783 4d04 855F subi r24,lo8(501) |
| 8784 4d06 9140 sbci r25,hi8(501) |
| 8785 4d08 04F4 brge .+2 |
| 8786 4d0a 00C0 rjmp .L702 |
| 8787 4d0c 4091 0000 lds r20,WaypointTrimming |
| 8788 4d10 4423 tst r20 |
| 8789 4d12 01F0 breq .L704 |
| 8790 4d14 8091 0000 lds r24,FromNC_AltitudeSetpoint |
| 8791 4d18 9091 0000 lds r25,(FromNC_AltitudeSetpoint)+1 |
| 8792 4d1c 2091 0000 lds r18,SollHoehe |
| 8793 4d20 3091 0000 lds r19,(SollHoehe)+1 |
| 8794 4d24 821B sub r24,r18 |
| 8795 4d26 930B sbc r25,r19 |
| 8796 4d28 0996 adiw r24,9 |
| 8797 4d2a 4397 sbiw r24,19 |
| 8798 4d2c 00F4 brsh .L705 |
| 8799 4d2e 8091 0000 lds r24,FromNC_AltitudeSetpoint |
| 8800 4d32 9091 0000 lds r25,(FromNC_AltitudeSetpoint)+1 |
| 8801 4d36 A091 0000 lds r26,(FromNC_AltitudeSetpoint)+2 |
| 8802 4d3a B091 0000 lds r27,(FromNC_AltitudeSetpoint)+3 |
| 8803 4d3e 00C0 rjmp .L901 |
| 8804 .L705: |
| 8805 4d40 242F mov r18,r20 |
| 8806 4d42 3327 clr r19 |
| 8807 4d44 27FD sbrc r18,7 |
| 8808 4d46 3095 com r19 |
| 8809 4d48 432F mov r20,r19 |
| 8810 4d4a 532F mov r21,r19 |
| 8811 4d4c 8091 0000 lds r24,SollHoehe |
| 8812 4d50 9091 0000 lds r25,(SollHoehe)+1 |
| 8813 4d54 A091 0000 lds r26,(SollHoehe)+2 |
| 8814 4d58 B091 0000 lds r27,(SollHoehe)+3 |
| 8815 4d5c 820F add r24,r18 |
| 8816 4d5e 931F adc r25,r19 |
| 8817 4d60 A41F adc r26,r20 |
| 8818 4d62 B51F adc r27,r21 |
| 8819 .L901: |
| 8820 4d64 8093 0000 sts SollHoehe,r24 |
| 8821 4d68 9093 0000 sts (SollHoehe)+1,r25 |
| 8822 4d6c A093 0000 sts (SollHoehe)+2,r26 |
| 8823 4d70 B093 0000 sts (SollHoehe)+3,r27 |
| 8824 4d74 00C0 rjmp .L707 |
| 8825 .L704: |
| 8826 4d76 8091 0000 lds r24,EE_Parameter+18 |
| 8827 4d7a 2091 0000 lds r18,SollHoehe |
| 8828 4d7e 3091 0000 lds r19,(SollHoehe)+1 |
| 8829 4d82 4091 0000 lds r20,(SollHoehe)+2 |
| 8830 4d86 5091 0000 lds r21,(SollHoehe)+3 |
| 8831 4d8a 1616 cp __zero_reg__,r22 |
| 8832 4d8c 1706 cpc __zero_reg__,r23 |
| 8833 4d8e 04F4 brge .L708 |
| 8834 4d90 63E0 ldi r22,lo8(3) |
| 8835 4d92 0E94 0000 call __udivmodqi4 |
| 8836 4d96 280F add r18,r24 |
| 8837 4d98 311D adc r19,__zero_reg__ |
| 8838 4d9a 411D adc r20,__zero_reg__ |
| 8839 4d9c 511D adc r21,__zero_reg__ |
| 8840 4d9e 00C0 rjmp .L900 |
| 8841 .L708: |
| 8842 4da0 63E0 ldi r22,lo8(3) |
| 8843 4da2 0E94 0000 call __udivmodqi4 |
| 8844 4da6 281B sub r18,r24 |
| 8845 4da8 3109 sbc r19,__zero_reg__ |
| 8846 4daa 4109 sbc r20,__zero_reg__ |
| 8847 4dac 5109 sbc r21,__zero_reg__ |
| 8848 .L900: |
| 8849 4dae 2093 0000 sts SollHoehe,r18 |
| 8850 4db2 3093 0000 sts (SollHoehe)+1,r19 |
| 8851 4db6 4093 0000 sts (SollHoehe)+2,r20 |
| 8852 4dba 5093 0000 sts (SollHoehe)+3,r21 |
| 8853 .L707: |
| 8854 4dbe 1092 0000 sts (HeightTrimming.21)+1,__zero_reg__ |
| 8855 4dc2 1092 0000 sts HeightTrimming.21,__zero_reg__ |
| 8856 4dc6 E090 0000 lds r14,HoehenWert |
| 8857 4dca F090 0000 lds r15,(HoehenWert)+1 |
| 8858 4dce 0091 0000 lds r16,(HoehenWert)+2 |
| 8859 4dd2 1091 0000 lds r17,(HoehenWert)+3 |
| 8860 4dd6 D801 movw r26,r16 |
| 8861 4dd8 C701 movw r24,r14 |
| 8862 4dda 8050 subi r24,lo8(-(-1024)) |
| 8863 4ddc 9440 sbci r25,hi8(-(-1024)) |
| 8864 4dde A040 sbci r26,hlo8(-(-1024)) |
| 8865 4de0 B040 sbci r27,hhi8(-(-1024)) |
| 8866 4de2 2091 0000 lds r18,SollHoehe |
| 8867 4de6 3091 0000 lds r19,(SollHoehe)+1 |
| 8868 4dea 4091 0000 lds r20,(SollHoehe)+2 |
| 8869 4dee 5091 0000 lds r21,(SollHoehe)+3 |
| 8870 4df2 8217 cp r24,r18 |
| 8871 4df4 9307 cpc r25,r19 |
| 8872 4df6 A407 cpc r26,r20 |
| 8873 4df8 B507 cpc r27,r21 |
| 8874 4dfa 04F4 brge .L902 |
| 8875 4dfc D801 movw r26,r16 |
| 8876 4dfe C701 movw r24,r14 |
| 8877 4e00 8050 subi r24,lo8(-(1024)) |
| 8878 4e02 9C4F sbci r25,hi8(-(1024)) |
| 8879 4e04 AF4F sbci r26,hlo8(-(1024)) |
| 8880 4e06 BF4F sbci r27,hhi8(-(1024)) |
| 8881 4e08 2817 cp r18,r24 |
| 8882 4e0a 3907 cpc r19,r25 |
| 8883 4e0c 4A07 cpc r20,r26 |
| 8884 4e0e 5B07 cpc r21,r27 |
| 8885 4e10 04F0 brlt .L711 |
| 8886 .L902: |
| 8887 4e12 8093 0000 sts SollHoehe,r24 |
| 8888 4e16 9093 0000 sts (SollHoehe)+1,r25 |
| 8889 4e1a A093 0000 sts (SollHoehe)+2,r26 |
| 8890 4e1e B093 0000 sts (SollHoehe)+3,r27 |
| 8891 .L711: |
| 8892 4e22 8091 0000 lds r24,Parameter_ExtraConfig |
| 8893 4e26 81FF sbrs r24,1 |
| 8894 4e28 00C0 rjmp .L713 |
| 8895 4e2a 84E6 ldi r24,lo8(100) |
| 8896 4e2c 90E0 ldi r25,hi8(100) |
| 8897 4e2e 9093 0000 sts (beeptime)+1,r25 |
| 8898 4e32 8093 0000 sts beeptime,r24 |
| 8899 .L713: |
| 8900 4e36 8091 0000 lds r24,EE_Parameter+22 |
| 8901 4e3a 8823 tst r24 |
| 8902 4e3c 01F4 brne .L702 |
| 8903 4e3e 8091 0000 lds r24,FromNC_AltitudeSpeed |
| 8904 4e42 8823 tst r24 |
| 8905 4e44 01F4 brne .L702 |
| 8906 4e46 4091 0000 lds r20,HoverGas |
| 8907 4e4a 5091 0000 lds r21,(HoverGas)+1 |
| 8908 4e4e 57FF sbrs r21,7 |
| 8909 4e50 00C0 rjmp .L715 |
| 8910 4e52 4D5F subi r20,lo8(-(3)) |
| 8911 4e54 5F4F sbci r21,hi8(-(3)) |
| 8912 .L715: |
| 8913 4e56 5595 asr r21 |
| 8914 4e58 4795 ror r20 |
| 8915 4e5a 5595 asr r21 |
| 8916 4e5c 4795 ror r20 |
| 8917 4e5e 8091 0000 lds r24,UBat |
| 8918 4e62 9091 0000 lds r25,(UBat)+1 |
| 8919 4e66 2091 0000 lds r18,BattLowVoltageWarning |
| 8920 4e6a 3327 clr r19 |
| 8921 4e6c 489F mul r20,r24 |
| 8922 4e6e F001 movw r30,r0 |
| 8923 4e70 499F mul r20,r25 |
| 8924 4e72 F00D add r31,r0 |
| 8925 4e74 589F mul r21,r24 |
| 8926 4e76 F00D add r31,r0 |
| 8927 4e78 1124 clr r1 |
| 8928 4e7a CF01 movw r24,r30 |
| 8929 4e7c B901 movw r22,r18 |
| 8930 4e7e 0E94 0000 call __divmodhi4 |
| 8931 4e82 7093 0000 sts (StickGasHover)+1,r23 |
| 8932 4e86 6093 0000 sts StickGasHover,r22 |
| 8933 4e8a 6634 cpi r22,70 |
| 8934 4e8c 7105 cpc r23,__zero_reg__ |
| 8935 4e8e 04F4 brge .L716 |
| 8936 4e90 86E4 ldi r24,lo8(70) |
| 8937 4e92 90E0 ldi r25,hi8(70) |
| 8938 4e94 00C0 rjmp .L903 |
| 8939 .L716: |
| 8940 4e96 6739 cpi r22,151 |
| 8941 4e98 7105 cpc r23,__zero_reg__ |
| 8942 4e9a 04F0 brlt .L702 |
| 8943 4e9c 86E9 ldi r24,lo8(150) |
| 8944 4e9e 90E0 ldi r25,hi8(150) |
| 8945 .L903: |
| 8946 4ea0 9093 0000 sts (StickGasHover)+1,r25 |
| 8947 4ea4 8093 0000 sts StickGasHover,r24 |
| 8948 .L702: |
| 8949 4ea8 8091 0000 lds r24,BaroExpandActive |
| 8950 4eac 9091 0000 lds r25,(BaroExpandActive)+1 |
| 8951 4eb0 892B or r24,r25 |
| 8952 4eb2 01F0 breq .L720 |
| 8953 4eb4 8091 0000 lds r24,HoehenWert |
| 8954 4eb8 9091 0000 lds r25,(HoehenWert)+1 |
| 8955 4ebc A091 0000 lds r26,(HoehenWert)+2 |
| 8956 4ec0 B091 0000 lds r27,(HoehenWert)+3 |
| 8957 4ec4 8093 0000 sts SollHoehe,r24 |
| 8958 4ec8 9093 0000 sts (SollHoehe)+1,r25 |
| 8959 4ecc A093 0000 sts (SollHoehe)+2,r26 |
| 8960 4ed0 B093 0000 sts (SollHoehe)+3,r27 |
| 8961 4ed4 00C0 rjmp .L720 |
| 8962 .L677: |
| 8963 4ed6 8091 0000 lds r24,HoehenWert |
| 8964 4eda 9091 0000 lds r25,(HoehenWert)+1 |
| 8965 4ede A091 0000 lds r26,(HoehenWert)+2 |
| 8966 4ee2 B091 0000 lds r27,(HoehenWert)+3 |
| 8967 4ee6 8059 subi r24,lo8(-(-400)) |
| 8968 4ee8 9140 sbci r25,hi8(-(-400)) |
| 8969 4eea A040 sbci r26,hlo8(-(-400)) |
| 8970 4eec B040 sbci r27,hhi8(-(-400)) |
| 8971 4eee 8093 0000 sts SollHoehe,r24 |
| 8972 4ef2 9093 0000 sts (SollHoehe)+1,r25 |
| 8973 4ef6 A093 0000 sts (SollHoehe)+2,r26 |
| 8974 4efa B093 0000 sts (SollHoehe)+3,r27 |
| 8975 4efe 8091 0000 lds r24,EE_Parameter+22 |
| 8976 4f02 8823 tst r24 |
| 8977 4f04 01F0 breq .L721 |
| 8978 4f06 9927 clr r25 |
| 8979 4f08 00C0 rjmp .L904 |
| 8980 .L721: |
| 8981 4f0a 88E7 ldi r24,lo8(120) |
| 8982 4f0c 90E0 ldi r25,hi8(120) |
| 8983 .L904: |
| 8984 4f0e 9093 0000 sts (StickGasHover)+1,r25 |
| 8985 4f12 8093 0000 sts StickGasHover,r24 |
| 8986 4f16 E980 ldd r14,Y+1 |
| 8987 4f18 FA80 ldd r15,Y+2 |
| 8988 4f1a F092 0000 sts (HoverGas)+1,r15 |
| 8989 4f1e E092 0000 sts HoverGas,r14 |
| 8990 4f22 8EE2 ldi r24,lo8(46) |
| 8991 4f24 8093 0000 sts VarioCharacter,r24 |
| 8992 .L720: |
| 8993 4f28 C090 0000 lds r12,HoverGas |
| 8994 4f2c D090 0000 lds r13,(HoverGas)+1 |
| 8995 .L676: |
| 8996 4f30 E090 0000 lds r14,HoehenWert |
| 8997 4f34 F090 0000 lds r15,(HoehenWert)+1 |
| 8998 4f38 0091 0000 lds r16,(HoehenWert)+2 |
| 8999 4f3c 1091 0000 lds r17,(HoehenWert)+3 |
| 9000 4f40 2091 0000 lds r18,SollHoehe |
| 9001 4f44 3091 0000 lds r19,(SollHoehe)+1 |
| 9002 4f48 4091 0000 lds r20,(SollHoehe)+2 |
| 9003 4f4c 5091 0000 lds r21,(SollHoehe)+3 |
| 9004 4f50 2E15 cp r18,r14 |
| 9005 4f52 3F05 cpc r19,r15 |
| 9006 4f54 4007 cpc r20,r16 |
| 9007 4f56 5107 cpc r21,r17 |
| 9008 4f58 04F0 brlt .L724 |
| 9009 4f5a 8091 0000 lds r24,Parameter_ExtraConfig |
| 9010 4f5e 80FD sbrc r24,0 |
| 9011 4f60 00C0 rjmp .L782 |
| 9012 .L724: |
| 9013 4f62 8091 0000 lds r24,BaroExpandActive |
| 9014 4f66 9091 0000 lds r25,(BaroExpandActive)+1 |
| 9015 4f6a 892B or r24,r25 |
| 9016 4f6c 01F0 breq .L725 |
| 9017 4f6e C090 0000 lds r12,HoverGas |
| 9018 4f72 D090 0000 lds r13,(HoverGas)+1 |
| 9019 4f76 00E0 ldi r16,lo8(0) |
| 9020 4f78 10E0 ldi r17,hi8(0) |
| 9021 4f7a 00C0 rjmp .L726 |
| 9022 .L725: |
| 9023 4f7c D801 movw r26,r16 |
| 9024 4f7e C701 movw r24,r14 |
| 9025 4f80 821B sub r24,r18 |
| 9026 4f82 930B sbc r25,r19 |
| 9027 4f84 A40B sbc r26,r20 |
| 9028 4f86 B50B sbc r27,r21 |
| 9029 4f88 8093 0000 sts tmp_long.1,r24 |
| 9030 4f8c 9093 0000 sts (tmp_long.1)+1,r25 |
| 9031 4f90 A093 0000 sts (tmp_long.1)+2,r26 |
| 9032 4f94 B093 0000 sts (tmp_long.1)+3,r27 |
| 9033 4f98 8230 cpi r24,lo8(-32766) |
| 9034 4f9a 00E8 ldi r16,hi8(-32766) |
| 9035 4f9c 9007 cpc r25,r16 |
| 9036 4f9e 0FEF ldi r16,hlo8(-32766) |
| 9037 4fa0 A007 cpc r26,r16 |
| 9038 4fa2 0FEF ldi r16,hhi8(-32766) |
| 9039 4fa4 B007 cpc r27,r16 |
| 9040 4fa6 04F4 brge .L727 |
| 9041 4fa8 81E0 ldi r24,lo8(-32767) |
| 9042 4faa 90E8 ldi r25,hi8(-32767) |
| 9043 4fac AFEF ldi r26,hlo8(-32767) |
| 9044 4fae BFEF ldi r27,hhi8(-32767) |
| 9045 4fb0 00C0 rjmp .L905 |
| 9046 .L727: |
| 9047 4fb2 8F5F subi r24,lo8(32767) |
| 9048 4fb4 9F47 sbci r25,hi8(32767) |
| 9049 4fb6 A040 sbci r26,hlo8(32767) |
| 9050 4fb8 B040 sbci r27,hhi8(32767) |
| 9051 4fba 04F0 brlt .L728 |
| 9052 4fbc 8FEF ldi r24,lo8(32767) |
| 9053 4fbe 9FE7 ldi r25,hi8(32767) |
| 9054 4fc0 A0E0 ldi r26,hlo8(32767) |
| 9055 4fc2 B0E0 ldi r27,hhi8(32767) |
| 9056 .L905: |
| 9057 4fc4 8093 0000 sts tmp_long.1,r24 |
| 9058 4fc8 9093 0000 sts (tmp_long.1)+1,r25 |
| 9059 4fcc A093 0000 sts (tmp_long.1)+2,r26 |
| 9060 4fd0 B093 0000 sts (tmp_long.1)+3,r27 |
| 9061 .L728: |
| 9062 4fd4 0091 0000 lds r16,tmp_long.1 |
| 9063 4fd8 1091 0000 lds r17,(tmp_long.1)+1 |
| 9064 4fdc 8091 0000 lds r24,Parameter_Hoehe_P |
| 9065 4fe0 282F mov r18,r24 |
| 9066 4fe2 3327 clr r19 |
| 9067 4fe4 4427 clr r20 |
| 9068 4fe6 5527 clr r21 |
| 9069 4fe8 8091 0000 lds r24,tmp_long.1 |
| 9070 4fec 9091 0000 lds r25,(tmp_long.1)+1 |
| 9071 4ff0 A091 0000 lds r26,(tmp_long.1)+2 |
| 9072 4ff4 B091 0000 lds r27,(tmp_long.1)+3 |
| 9073 4ff8 BC01 movw r22,r24 |
| 9074 4ffa CD01 movw r24,r26 |
| 9075 4ffc 0E94 0000 call __mulsi3 |
| 9076 5000 97FF sbrs r25,7 |
| 9077 5002 00C0 rjmp .L730 |
| 9078 5004 615E subi r22,lo8(-(31)) |
| 9079 5006 7F4F sbci r23,hi8(-(31)) |
| 9080 5008 8F4F sbci r24,hlo8(-(31)) |
| 9081 500a 9F4F sbci r25,hhi8(-(31)) |
| 9082 .L730: |
| 9083 500c 25E0 ldi r18,5 |
| 9084 500e 9595 1: asr r25 |
| 9085 5010 8795 ror r24 |
| 9086 5012 7795 ror r23 |
| 9087 5014 6795 ror r22 |
| 9088 5016 2A95 dec r18 |
| 9089 5018 01F4 brne 1b |
| 9090 501a 6093 0000 sts tmp_long.1,r22 |
| 9091 501e 7093 0000 sts (tmp_long.1)+1,r23 |
| 9092 5022 8093 0000 sts (tmp_long.1)+2,r24 |
| 9093 5026 9093 0000 sts (tmp_long.1)+3,r25 |
| 9094 502a 6530 cpi r22,lo8(-507) |
| 9095 502c 2EEF ldi r18,hi8(-507) |
| 9096 502e 7207 cpc r23,r18 |
| 9097 5030 2FEF ldi r18,hlo8(-507) |
| 9098 5032 8207 cpc r24,r18 |
| 9099 5034 2FEF ldi r18,hhi8(-507) |
| 9100 5036 9207 cpc r25,r18 |
| 9101 5038 04F4 brge .L731 |
| 9102 503a 84E0 ldi r24,lo8(-508) |
| 9103 503c 9EEF ldi r25,hi8(-508) |
| 9104 503e AFEF ldi r26,hlo8(-508) |
| 9105 5040 BFEF ldi r27,hhi8(-508) |
| 9106 5042 00C0 rjmp .L906 |
| 9107 .L731: |
| 9108 5044 6050 subi r22,lo8(1024) |
| 9109 5046 7440 sbci r23,hi8(1024) |
| 9110 5048 8040 sbci r24,hlo8(1024) |
| 9111 504a 9040 sbci r25,hhi8(1024) |
| 9112 504c 04F0 brlt .L732 |
| 9113 504e 80E0 ldi r24,lo8(1024) |
| 9114 5050 94E0 ldi r25,hi8(1024) |
| 9115 5052 A0E0 ldi r26,hlo8(1024) |
| 9116 5054 B0E0 ldi r27,hhi8(1024) |
| 9117 .L906: |
| 9118 5056 8093 0000 sts tmp_long.1,r24 |
| 9119 505a 9093 0000 sts (tmp_long.1)+1,r25 |
| 9120 505e A093 0000 sts (tmp_long.1)+2,r26 |
| 9121 5062 B093 0000 sts (tmp_long.1)+3,r27 |
| 9122 .L732: |
| 9123 5066 8090 0000 lds r8,tmp_long.1 |
| 9124 506a 9090 0000 lds r9,(tmp_long.1)+1 |
| 9125 506e 2091 0000 lds r18,VarioMeter |
| 9126 5072 3091 0000 lds r19,(VarioMeter)+1 |
| 9127 5076 37FF sbrs r19,7 |
| 9128 5078 00C0 rjmp .L734 |
| 9129 507a 295F subi r18,lo8(-(7)) |
| 9130 507c 3F4F sbci r19,hi8(-(7)) |
| 9131 .L734: |
| 9132 507e 83E0 ldi r24,3 |
| 9133 5080 3595 1: asr r19 |
| 9134 5082 2795 ror r18 |
| 9135 5084 8A95 dec r24 |
| 9136 5086 01F4 brne 1b |
| 9137 5088 4FEF ldi r20,hi8(-126) |
| 9138 508a 2238 cpi r18,lo8(-126) |
| 9139 508c 3407 cpc r19,r20 |
| 9140 508e 04F4 brge .L735 |
| 9141 5090 21E8 ldi r18,lo8(-127) |
| 9142 5092 3FEF ldi r19,hi8(-127) |
| 9143 5094 00C0 rjmp .L736 |
| 9144 .L735: |
| 9145 5096 2038 cpi r18,128 |
| 9146 5098 3105 cpc r19,__zero_reg__ |
| 9147 509a 04F0 brlt .L736 |
| 9148 509c 20E8 ldi r18,lo8(128) |
| 9149 509e 30E0 ldi r19,hi8(128) |
| 9150 .L736: |
| 9151 50a0 C901 movw r24,r18 |
| 9152 50a2 AA27 clr r26 |
| 9153 50a4 97FD sbrc r25,7 |
| 9154 50a6 A095 com r26 |
| 9155 50a8 BA2F mov r27,r26 |
| 9156 50aa 2091 0000 lds r18,Parameter_Luftdruck_D |
| 9157 50ae 3327 clr r19 |
| 9158 50b0 4427 clr r20 |
| 9159 50b2 5527 clr r21 |
| 9160 50b4 BC01 movw r22,r24 |
| 9161 50b6 CD01 movw r24,r26 |
| 9162 50b8 0E94 0000 call __mulsi3 |
| 9163 50bc 97FF sbrs r25,7 |
| 9164 50be 00C0 rjmp .L738 |
| 9165 50c0 6D5F subi r22,lo8(-(3)) |
| 9166 50c2 7F4F sbci r23,hi8(-(3)) |
| 9167 50c4 8F4F sbci r24,hlo8(-(3)) |
| 9168 50c6 9F4F sbci r25,hhi8(-(3)) |
| 9169 .L738: |
| 9170 50c8 B2E0 ldi r27,2 |
| 9171 50ca 9595 1: asr r25 |
| 9172 50cc 8795 ror r24 |
| 9173 50ce 7795 ror r23 |
| 9174 50d0 6795 ror r22 |
| 9175 50d2 BA95 dec r27 |
| 9176 50d4 01F4 brne 1b |
| 9177 50d6 9B01 movw r18,r22 |
| 9178 50d8 5FEF ldi r21,hi8(-255) |
| 9179 50da 6130 cpi r22,lo8(-255) |
| 9180 50dc 7507 cpc r23,r21 |
| 9181 50de 04F4 brge .L739 |
| 9182 50e0 20E0 ldi r18,lo8(-256) |
| 9183 50e2 3FEF ldi r19,hi8(-256) |
| 9184 50e4 00C0 rjmp .L740 |
| 9185 .L739: |
| 9186 50e6 6F3F cpi r22,255 |
| 9187 50e8 7105 cpc r23,__zero_reg__ |
| 9188 50ea 01F0 breq .L740 |
| 9189 50ec 04F0 brlt .L740 |
| 9190 50ee 20E0 ldi r18,lo8(256) |
| 9191 50f0 31E0 ldi r19,hi8(256) |
| 9192 .L740: |
| 9193 50f2 8091 0000 lds r24,FC_StatusFlags |
| 9194 50f6 807C andi r24,lo8(-64) |
| 9195 50f8 01F0 breq .L742 |
| 9196 50fa C901 movw r24,r18 |
| 9197 50fc 37FD sbrc r19,7 |
| 9198 50fe 0396 adiw r24,3 |
| 9199 .L743: |
| 9200 5100 9C01 movw r18,r24 |
| 9201 5102 3595 asr r19 |
| 9202 5104 2795 ror r18 |
| 9203 5106 3595 asr r19 |
| 9204 5108 2795 ror r18 |
| 9205 510a 00C0 rjmp .L744 |
| 9206 .L742: |
| 9207 510c 8091 0000 lds r24,Parameter_ExtraConfig |
| 9208 5110 80FF sbrs r24,0 |
| 9209 5112 00C0 rjmp .L744 |
| 9210 5114 C901 movw r24,r18 |
| 9211 5116 37FD sbrc r19,7 |
| 9212 5118 0796 adiw r24,7 |
| 9213 .L746: |
| 9214 511a 9C01 movw r18,r24 |
| 9215 511c F3E0 ldi r31,3 |
| 9216 511e 3595 1: asr r19 |
| 9217 5120 2795 ror r18 |
| 9218 5122 FA95 dec r31 |
| 9219 5124 01F4 brne 1b |
| 9220 .L744: |
| 9221 5126 820E add r8,r18 |
| 9222 5128 931E adc r9,r19 |
| 9223 .L726: |
| 9224 512a 2091 0000 lds r18,Parameter_Hoehe_ACC_Wirkung |
| 9225 512e 2223 tst r18 |
| 9226 5130 01F4 brne .+2 |
| 9227 5132 00C0 rjmp .L747 |
| 9228 5134 6091 0000 lds r22,Mess_Integral_Hoch |
| 9229 5138 7091 0000 lds r23,(Mess_Integral_Hoch)+1 |
| 9230 513c 8091 0000 lds r24,(Mess_Integral_Hoch)+2 |
| 9231 5140 9091 0000 lds r25,(Mess_Integral_Hoch)+3 |
| 9232 5144 97FF sbrs r25,7 |
| 9233 5146 00C0 rjmp .L748 |
| 9234 5148 6158 subi r22,lo8(-(127)) |
| 9235 514a 7F4F sbci r23,hi8(-(127)) |
| 9236 514c 8F4F sbci r24,hlo8(-(127)) |
| 9237 514e 9F4F sbci r25,hhi8(-(127)) |
| 9238 .L748: |
| 9239 5150 E7E0 ldi r30,7 |
| 9240 5152 9595 1: asr r25 |
| 9241 5154 8795 ror r24 |
| 9242 5156 7795 ror r23 |
| 9243 5158 6795 ror r22 |
| 9244 515a EA95 dec r30 |
| 9245 515c 01F4 brne 1b |
| 9246 515e 3327 clr r19 |
| 9247 5160 4427 clr r20 |
| 9248 5162 5527 clr r21 |
| 9249 5164 0E94 0000 call __mulsi3 |
| 9250 5168 97FF sbrs r25,7 |
| 9251 516a 00C0 rjmp .L749 |
| 9252 516c 615E subi r22,lo8(-(31)) |
| 9253 516e 7F4F sbci r23,hi8(-(31)) |
| 9254 5170 8F4F sbci r24,hlo8(-(31)) |
| 9255 5172 9F4F sbci r25,hhi8(-(31)) |
| 9256 .L749: |
| 9257 5174 55E0 ldi r21,5 |
| 9258 5176 9595 1: asr r25 |
| 9259 5178 8795 ror r24 |
| 9260 517a 7795 ror r23 |
| 9261 517c 6795 ror r22 |
| 9262 517e 5A95 dec r21 |
| 9263 5180 01F4 brne 1b |
| 9264 5182 6093 0000 sts tmp_long.1,r22 |
| 9265 5186 7093 0000 sts (tmp_long.1)+1,r23 |
| 9266 518a 8093 0000 sts (tmp_long.1)+2,r24 |
| 9267 518e 9093 0000 sts (tmp_long.1)+3,r25 |
| 9268 5192 6138 cpi r22,lo8(-127) |
| 9269 5194 AFEF ldi r26,hi8(-127) |
| 9270 5196 7A07 cpc r23,r26 |
| 9271 5198 AFEF ldi r26,hlo8(-127) |
| 9272 519a 8A07 cpc r24,r26 |
| 9273 519c AFEF ldi r26,hhi8(-127) |
| 9274 519e 9A07 cpc r25,r26 |
| 9275 51a0 04F4 brge .L750 |
| 9276 51a2 80E8 ldi r24,lo8(-128) |
| 9277 51a4 9FEF ldi r25,hi8(-128) |
| 9278 51a6 AFEF ldi r26,hlo8(-128) |
| 9279 51a8 BFEF ldi r27,hhi8(-128) |
| 9280 51aa 00C0 rjmp .L907 |
| 9281 .L750: |
| 9282 51ac 6F3F cpi r22,lo8(255) |
| 9283 51ae 7105 cpc r23,__zero_reg__ |
| 9284 51b0 8105 cpc r24,__zero_reg__ |
| 9285 51b2 9105 cpc r25,__zero_reg__ |
| 9286 51b4 01F0 breq .L751 |
| 9287 51b6 04F0 brlt .L751 |
| 9288 51b8 80E0 ldi r24,lo8(256) |
| 9289 51ba 91E0 ldi r25,hi8(256) |
| 9290 51bc A0E0 ldi r26,hlo8(256) |
| 9291 51be B0E0 ldi r27,hhi8(256) |
| 9292 .L907: |
| 9293 51c0 8093 0000 sts tmp_long.1,r24 |
| 9294 51c4 9093 0000 sts (tmp_long.1)+1,r25 |
| 9295 51c8 A093 0000 sts (tmp_long.1)+2,r26 |
| 9296 51cc B093 0000 sts (tmp_long.1)+3,r27 |
| 9297 .L751: |
| 9298 51d0 8091 0000 lds r24,tmp_long.1 |
| 9299 51d4 9091 0000 lds r25,(tmp_long.1)+1 |
| 9300 51d8 880E add r8,r24 |
| 9301 51da 991E adc r9,r25 |
| 9302 .L747: |
| 9303 51dc 8091 0000 lds r24,Parameter_Hoehe_GPS_Z |
| 9304 51e0 282F mov r18,r24 |
| 9305 51e2 3327 clr r19 |
| 9306 51e4 8091 0000 lds r24,FromNaviCtrl_Value+4 |
| 9307 51e8 9927 clr r25 |
| 9308 51ea 87FD sbrc r24,7 |
| 9309 51ec 9095 com r25 |
| 9310 51ee 289F mul r18,r24 |
| 9311 51f0 F001 movw r30,r0 |
| 9312 51f2 299F mul r18,r25 |
| 9313 51f4 F00D add r31,r0 |
| 9314 51f6 389F mul r19,r24 |
| 9315 51f8 F00D add r31,r0 |
| 9316 51fa 1124 clr r1 |
| 9317 51fc 9F01 movw r18,r30 |
| 9318 51fe F7FF sbrs r31,7 |
| 9319 5200 00C0 rjmp .L753 |
| 9320 5202 2158 subi r18,lo8(-(127)) |
| 9321 5204 3F4F sbci r19,hi8(-(127)) |
| 9322 .L753: |
| 9323 5206 220F lsl r18 |
| 9324 5208 232F mov r18,r19 |
| 9325 520a 221F rol r18 |
| 9326 520c 330B sbc r19,r19 |
| 9327 520e FFEF ldi r31,hi8(-127) |
| 9328 5210 2138 cpi r18,lo8(-127) |
| 9329 5212 3F07 cpc r19,r31 |
| 9330 5214 04F4 brge .L754 |
| 9331 5216 20E8 ldi r18,lo8(-128) |
| 9332 5218 3FEF ldi r19,hi8(-128) |
| 9333 521a 00C0 rjmp .L755 |
| 9334 .L754: |
| 9335 521c 2F3F cpi r18,255 |
| 9336 521e 3105 cpc r19,__zero_reg__ |
| 9337 5220 01F0 breq .L755 |
| 9338 5222 04F0 brlt .L755 |
| 9339 5224 20E0 ldi r18,lo8(256) |
| 9340 5226 31E0 ldi r19,hi8(256) |
| 9341 .L755: |
| 9342 5228 820E add r8,r18 |
| 9343 522a 931E adc r9,r19 |
| 9344 522c C401 movw r24,r8 |
| 9345 522e AA27 clr r26 |
| 9346 5230 97FD sbrc r25,7 |
| 9347 5232 A095 com r26 |
| 9348 5234 BA2F mov r27,r26 |
| 9349 5236 E090 0000 lds r14,HoverGas |
| 9350 523a F090 0000 lds r15,(HoverGas)+1 |
| 9351 523e 9701 movw r18,r14 |
| 9352 5240 4427 clr r20 |
| 9353 5242 37FD sbrc r19,7 |
| 9354 5244 4095 com r20 |
| 9355 5246 542F mov r21,r20 |
| 9356 5248 BC01 movw r22,r24 |
| 9357 524a CD01 movw r24,r26 |
| 9358 524c 0E94 0000 call __mulsi3 |
| 9359 5250 97FF sbrs r25,7 |
| 9360 5252 00C0 rjmp .L757 |
| 9361 5254 6150 subi r22,lo8(-(511)) |
| 9362 5256 7E4F sbci r23,hi8(-(511)) |
| 9363 5258 8F4F sbci r24,hlo8(-(511)) |
| 9364 525a 9F4F sbci r25,hhi8(-(511)) |
| 9365 .L757: |
| 9366 525c 29E0 ldi r18,9 |
| 9367 525e 9595 1: asr r25 |
| 9368 5260 8795 ror r24 |
| 9369 5262 7795 ror r23 |
| 9370 5264 6795 ror r22 |
| 9371 5266 2A95 dec r18 |
| 9372 5268 01F4 brne 1b |
| 9373 526a C61A sub r12,r22 |
| 9374 526c D70A sbc r13,r23 |
| 9375 526e 8091 0000 lds r24,AltitudeSetpointTrimming |
| 9376 5272 9091 0000 lds r25,(AltitudeSetpointTrimming)+1 |
| 9377 5276 892B or r24,r25 |
| 9378 5278 01F0 breq .+2 |
| 9379 527a 00C0 rjmp .L758 |
| 9380 527c 1E14 cp __zero_reg__,r14 |
| 9381 527e 1F04 cpc __zero_reg__,r15 |
| 9382 5280 04F0 brlt .+2 |
| 9383 5282 00C0 rjmp .L758 |
| 9384 5284 9801 movw r18,r16 |
| 9385 5286 17FF sbrs r17,7 |
| 9386 5288 00C0 rjmp .L759 |
| 9387 528a 3095 com r19 |
| 9388 528c 2195 neg r18 |
| 9389 528e 3F4F sbci r19,lo8(-1) |
| 9390 .L759: |
| 9391 5290 2D33 cpi r18,61 |
| 9392 5292 3105 cpc r19,__zero_reg__ |
| 9393 5294 00F4 brsh .L760 |
| 9394 5296 8091 0000 lds r24,HoverGasMin |
| 9395 529a 9091 0000 lds r25,(HoverGasMin)+1 |
| 9396 529e 8C15 cp r24,r12 |
| 9397 52a0 9D05 cpc r25,r13 |
| 9398 52a2 04F4 brge .L909 |
| 9399 52a4 00C0 rjmp .L918 |
| 9400 .L760: |
| 9401 52a6 2C53 subi r18,lo8(-(-60)) |
| 9402 52a8 3040 sbci r19,hi8(-(-60)) |
| 9403 52aa 85E0 ldi r24,5 |
| 9404 52ac 3695 1: lsr r19 |
| 9405 52ae 2795 ror r18 |
| 9406 52b0 8A95 dec r24 |
| 9407 52b2 01F4 brne 1b |
| 9408 52b4 2031 cpi r18,16 |
| 9409 52b6 3105 cpc r19,__zero_reg__ |
| 9410 52b8 00F0 brlo .L765 |
| 9411 52ba 2FE0 ldi r18,lo8(15) |
| 9412 52bc 30E0 ldi r19,hi8(15) |
| 9413 .L765: |
| 9414 52be 4091 0000 lds r20,HoverGasMin |
| 9415 52c2 5091 0000 lds r21,(HoverGasMin)+1 |
| 9416 52c6 1016 cp __zero_reg__,r16 |
| 9417 52c8 1106 cpc __zero_reg__,r17 |
| 9418 52ca 04F4 brge .L766 |
| 9419 52cc 80E1 ldi r24,lo8(16) |
| 9420 52ce 90E0 ldi r25,hi8(16) |
| 9421 52d0 821B sub r24,r18 |
| 9422 52d2 930B sbc r25,r19 |
| 9423 52d4 489F mul r20,r24 |
| 9424 52d6 9001 movw r18,r0 |
| 9425 52d8 499F mul r20,r25 |
| 9426 52da 300D add r19,r0 |
| 9427 52dc 589F mul r21,r24 |
| 9428 52de 300D add r19,r0 |
| 9429 52e0 1124 clr r1 |
| 9430 52e2 B4E0 ldi r27,4 |
| 9431 52e4 3695 1: lsr r19 |
| 9432 52e6 2795 ror r18 |
| 9433 52e8 BA95 dec r27 |
| 9434 52ea 01F4 brne 1b |
| 9435 52ec 2C15 cp r18,r12 |
| 9436 52ee 3D05 cpc r19,r13 |
| 9437 52f0 00F4 brsh .L908 |
| 9438 .L918: |
| 9439 52f2 8091 0000 lds r24,HoverGasMax |
| 9440 52f6 9091 0000 lds r25,(HoverGasMax)+1 |
| 9441 52fa C816 cp r12,r24 |
| 9442 52fc D906 cpc r13,r25 |
| 9443 52fe 04F0 brlt .L758 |
| 9444 .L909: |
| 9445 5300 6C01 movw r12,r24 |
| 9446 5302 00C0 rjmp .L758 |
| 9447 .L766: |
| 9448 5304 205F subi r18,lo8(-(16)) |
| 9449 5306 3F4F sbci r19,hi8(-(16)) |
| 9450 5308 8091 0000 lds r24,HoverGasMax |
| 9451 530c 9091 0000 lds r25,(HoverGasMax)+1 |
| 9452 5310 829F mul r24,r18 |
| 9453 5312 8001 movw r16,r0 |
| 9454 5314 839F mul r24,r19 |
| 9455 5316 100D add r17,r0 |
| 9456 5318 929F mul r25,r18 |
| 9457 531a 100D add r17,r0 |
| 9458 531c 1124 clr r1 |
| 9459 531e 9801 movw r18,r16 |
| 9460 5320 A4E0 ldi r26,4 |
| 9461 5322 3695 1: lsr r19 |
| 9462 5324 2795 ror r18 |
| 9463 5326 AA95 dec r26 |
| 9464 5328 01F4 brne 1b |
| 9465 532a 4C15 cp r20,r12 |
| 9466 532c 5D05 cpc r21,r13 |
| 9467 532e 04F0 brlt .L771 |
| 9468 5330 6A01 movw r12,r20 |
| 9469 5332 00C0 rjmp .L758 |
| 9470 .L771: |
| 9471 5334 C216 cp r12,r18 |
| 9472 5336 D306 cpc r13,r19 |
| 9473 5338 00F0 brlo .L758 |
| 9474 .L908: |
| 9475 533a 6901 movw r12,r18 |
| 9476 .L758: |
| 9477 533c C601 movw r24,r12 |
| 9478 533e AA27 clr r26 |
| 9479 5340 97FD sbrc r25,7 |
| 9480 5342 A095 com r26 |
| 9481 5344 BA2F mov r27,r26 |
| 9482 5346 FDE0 ldi r31,13 |
| 9483 5348 880F 1: lsl r24 |
| 9484 534a 991F rol r25 |
| 9485 534c AA1F rol r26 |
| 9486 534e BB1F rol r27 |
| 9487 5350 FA95 dec r31 |
| 9488 5352 01F4 brne 1b |
| 9489 5354 9501 movw r18,r10 |
| 9490 5356 4427 clr r20 |
| 9491 5358 37FD sbrc r19,7 |
| 9492 535a 4095 com r20 |
| 9493 535c 542F mov r21,r20 |
| 9494 535e BC01 movw r22,r24 |
| 9495 5360 CD01 movw r24,r26 |
| 9496 5362 0E94 0000 call __divmodsi4 |
| 9497 5366 2093 0000 sts tmp_long2.2,r18 |
| 9498 536a 3093 0000 sts (tmp_long2.2)+1,r19 |
| 9499 536e 4093 0000 sts (tmp_long2.2)+2,r20 |
| 9500 5372 5093 0000 sts (tmp_long2.2)+3,r21 |
| 9501 5376 C090 0000 lds r12,tmp_long2.2 |
| 9502 537a D090 0000 lds r13,(tmp_long2.2)+1 |
| 9503 537e 8091 0000 lds r24,FilterHCGas.22 |
| 9504 5382 9091 0000 lds r25,(FilterHCGas.22)+1 |
| 9505 5386 9C01 movw r18,r24 |
| 9506 5388 220F lsl r18 |
| 9507 538a 331F rol r19 |
| 9508 538c 280F add r18,r24 |
| 9509 538e 391F adc r19,r25 |
| 9510 5390 2C0D add r18,r12 |
| 9511 5392 3D1D adc r19,r13 |
| 9512 5394 37FF sbrs r19,7 |
| 9513 5396 00C0 rjmp .L774 |
| 9514 5398 2D5F subi r18,lo8(-(3)) |
| 9515 539a 3F4F sbci r19,hi8(-(3)) |
| 9516 .L774: |
| 9517 539c A901 movw r20,r18 |
| 9518 539e 5595 asr r21 |
| 9519 53a0 4795 ror r20 |
| 9520 53a2 5595 asr r21 |
| 9521 53a4 4795 ror r20 |
| 9522 53a6 5093 0000 sts (FilterHCGas.22)+1,r21 |
| 9523 53aa 4093 0000 sts FilterHCGas.22,r20 |
| 9524 53ae 8091 0000 lds r24,EE_Parameter+14 |
| 9525 53b2 282F mov r18,r24 |
| 9526 53b4 3327 clr r19 |
| 9527 53b6 220F lsl r18 |
| 9528 53b8 331F rol r19 |
| 9529 53ba 220F lsl r18 |
| 9530 53bc 331F rol r19 |
| 9531 53be 2417 cp r18,r20 |
| 9532 53c0 3507 cpc r19,r21 |
| 9533 53c2 04F4 brge .L910 |
| 9534 53c4 8091 0000 lds r24,MAX_GAS |
| 9535 53c8 282F mov r18,r24 |
| 9536 53ca 3327 clr r19 |
| 9537 53cc 220F lsl r18 |
| 9538 53ce 331F rol r19 |
| 9539 53d0 220F lsl r18 |
| 9540 53d2 331F rol r19 |
| 9541 53d4 2055 subi r18,lo8(-(-80)) |
| 9542 53d6 3040 sbci r19,hi8(-(-80)) |
| 9543 53d8 4217 cp r20,r18 |
| 9544 53da 5307 cpc r21,r19 |
| 9545 53dc 04F0 brlt .L776 |
| 9546 .L910: |
| 9547 53de 3093 0000 sts (FilterHCGas.22)+1,r19 |
| 9548 53e2 2093 0000 sts FilterHCGas.22,r18 |
| 9549 .L776: |
| 9550 53e6 8091 0000 lds r24,Parameter_ExtraConfig |
| 9551 53ea 80FF sbrs r24,0 |
| 9552 53ec 00C0 rjmp .L778 |
| 9553 53ee 8091 0000 lds r24,FilterHCGas.22 |
| 9554 53f2 9091 0000 lds r25,(FilterHCGas.22)+1 |
| 9555 53f6 2981 ldd r18,Y+1 |
| 9556 53f8 3A81 ldd r19,Y+2 |
| 9557 53fa 8217 cp r24,r18 |
| 9558 53fc 9307 cpc r25,r19 |
| 9559 53fe 04F0 brlt .L779 |
| 9560 5400 3093 0000 sts (FilterHCGas.22)+1,r19 |
| 9561 5404 2093 0000 sts FilterHCGas.22,r18 |
| 9562 .L779: |
| 9563 5408 4091 0000 lds r20,FilterHCGas.22 |
| 9564 540c 5091 0000 lds r21,(FilterHCGas.22)+1 |
| 9565 5410 5A83 std Y+2,r21 |
| 9566 5412 4983 std Y+1,r20 |
| 9567 5414 00C0 rjmp .L782 |
| 9568 .L778: |
| 9569 5416 2981 ldd r18,Y+1 |
| 9570 5418 3A81 ldd r19,Y+2 |
| 9571 541a 2E19 sub r18,r14 |
| 9572 541c 3F09 sbc r19,r15 |
| 9573 541e 37FF sbrs r19,7 |
| 9574 5420 00C0 rjmp .L781 |
| 9575 5422 2D5F subi r18,lo8(-(3)) |
| 9576 5424 3F4F sbci r19,hi8(-(3)) |
| 9577 .L781: |
| 9578 5426 3595 asr r19 |
| 9579 5428 2795 ror r18 |
| 9580 542a 3595 asr r19 |
| 9581 542c 2795 ror r18 |
| 9582 542e 6091 0000 lds r22,FilterHCGas.22 |
| 9583 5432 7091 0000 lds r23,(FilterHCGas.22)+1 |
| 9584 5436 620F add r22,r18 |
| 9585 5438 731F adc r23,r19 |
| 9586 543a 7A83 std Y+2,r23 |
| 9587 543c 6983 std Y+1,r22 |
| 9588 543e 00C0 rjmp .L782 |
| 9589 .L673: |
| 9590 5440 8091 0000 lds r24,EE_Parameter+22 |
| 9591 5444 8823 tst r24 |
| 9592 5446 01F4 brne .L783 |
| 9593 5448 6091 0000 lds r22,HoverGas |
| 9594 544c 7091 0000 lds r23,(HoverGas)+1 |
| 9595 5450 77FF sbrs r23,7 |
| 9596 5452 00C0 rjmp .L784 |
| 9597 5454 6D5F subi r22,lo8(-(3)) |
| 9598 5456 7F4F sbci r23,hi8(-(3)) |
| 9599 .L784: |
| 9600 5458 7595 asr r23 |
| 9601 545a 6795 ror r22 |
| 9602 545c 7595 asr r23 |
| 9603 545e 6795 ror r22 |
| 9604 5460 4091 0000 lds r20,UBat |
| 9605 5464 5091 0000 lds r21,(UBat)+1 |
| 9606 5468 8091 0000 lds r24,BattLowVoltageWarning |
| 9607 546c 282F mov r18,r24 |
| 9608 546e 3327 clr r19 |
| 9609 5470 649F mul r22,r20 |
| 9610 5472 C001 movw r24,r0 |
| 9611 5474 659F mul r22,r21 |
| 9612 5476 900D add r25,r0 |
| 9613 5478 749F mul r23,r20 |
| 9614 547a 900D add r25,r0 |
| 9615 547c 1124 clr r1 |
| 9616 547e B901 movw r22,r18 |
| 9617 5480 0E94 0000 call __divmodhi4 |
| 9618 5484 CB01 movw r24,r22 |
| 9619 5486 00C0 rjmp .L911 |
| 9620 .L783: |
| 9621 5488 9927 clr r25 |
| 9622 .L911: |
| 9623 548a 9093 0000 sts (StickGasHover)+1,r25 |
| 9624 548e 8093 0000 sts StickGasHover,r24 |
| 9625 5492 8091 0000 lds r24,StickGasHover |
| 9626 5496 9091 0000 lds r25,(StickGasHover)+1 |
| 9627 549a 8734 cpi r24,71 |
| 9628 549c 9105 cpc r25,__zero_reg__ |
| 9629 549e 04F4 brge .L786 |
| 9630 54a0 86E4 ldi r24,lo8(70) |
| 9631 54a2 90E0 ldi r25,hi8(70) |
| 9632 54a4 00C0 rjmp .L912 |
| 9633 .L786: |
| 9634 54a6 8639 cpi r24,150 |
| 9635 54a8 9105 cpc r25,__zero_reg__ |
| 9636 54aa 04F0 brlt .L787 |
| 9637 54ac 86E9 ldi r24,lo8(150) |
| 9638 54ae 90E0 ldi r25,hi8(150) |
| 9639 .L912: |
| 9640 54b0 9093 0000 sts (StickGasHover)+1,r25 |
| 9641 54b4 8093 0000 sts StickGasHover,r24 |
| 9642 .L787: |
| 9643 54b8 8981 ldd r24,Y+1 |
| 9644 54ba 9A81 ldd r25,Y+2 |
| 9645 54bc 9093 0000 sts (FilterHCGas.22)+1,r25 |
| 9646 54c0 8093 0000 sts FilterHCGas.22,r24 |
| 9647 54c4 8091 0000 lds r24,FC_StatusFlags |
| 9648 54c8 806C ori r24,lo8(-64) |
| 9649 54ca 8093 0000 sts FC_StatusFlags,r24 |
| 9650 54ce 8091 0000 lds r24,FC_StatusFlags2 |
| 9651 54d2 8D7F andi r24,lo8(-3) |
| 9652 54d4 8093 0000 sts FC_StatusFlags2,r24 |
| 9653 .L782: |
| 9654 54d8 8091 0000 lds r24,FC_StatusFlags |
| 9655 54dc 9927 clr r25 |
| 9656 54de 9C01 movw r18,r24 |
| 9657 54e0 2270 andi r18,lo8(2) |
| 9658 54e2 3070 andi r19,hi8(2) |
| 9659 54e4 81FF sbrs r24,1 |
| 9660 54e6 00C0 rjmp .L789 |
| 9661 54e8 8091 0000 lds r24,HoverGasFilter.23 |
| 9662 54ec 9091 0000 lds r25,(HoverGasFilter.23)+1 |
| 9663 54f0 A091 0000 lds r26,(HoverGasFilter.23)+2 |
| 9664 54f4 B091 0000 lds r27,(HoverGasFilter.23)+3 |
| 9665 54f8 0097 sbiw r24,0 |
| 9666 54fa A105 cpc r26,__zero_reg__ |
| 9667 54fc B105 cpc r27,__zero_reg__ |
| 9668 54fe 01F0 breq .L791 |
| 9669 5500 8091 0000 lds r24,StartTrigger |
| 9670 5504 8130 cpi r24,lo8(1) |
| 9671 5506 01F4 brne .L790 |
| 9672 .L791: |
| 9673 5508 E981 ldd r30,Y+1 |
| 9674 550a FA81 ldd r31,Y+2 |
| 9675 550c CF01 movw r24,r30 |
| 9676 550e AA27 clr r26 |
| 9677 5510 97FD sbrc r25,7 |
| 9678 5512 A095 com r26 |
| 9679 5514 BA2F mov r27,r26 |
| 9680 5516 1EE0 ldi r17,14 |
| 9681 5518 880F 1: lsl r24 |
| 9682 551a 991F rol r25 |
| 9683 551c AA1F rol r26 |
| 9684 551e BB1F rol r27 |
| 9685 5520 1A95 dec r17 |
| 9686 5522 01F4 brne 1b |
| 9687 5524 8093 0000 sts HoverGasFilter.23,r24 |
| 9688 5528 9093 0000 sts (HoverGasFilter.23)+1,r25 |
| 9689 552c A093 0000 sts (HoverGasFilter.23)+2,r26 |
| 9690 5530 B093 0000 sts (HoverGasFilter.23)+3,r27 |
| 9691 .L790: |
| 9692 5534 8091 0000 lds r24,StartTrigger |
| 9693 5538 8130 cpi r24,lo8(1) |
| 9694 553a 01F4 brne .L792 |
| 9695 553c 82E0 ldi r24,lo8(2) |
| 9696 553e 8093 0000 sts StartTrigger,r24 |
| 9697 .L792: |
| 9698 5542 E980 ldd r14,Y+1 |
| 9699 5544 FA80 ldd r15,Y+2 |
| 9700 5546 C701 movw r24,r14 |
| 9701 5548 AA27 clr r26 |
| 9702 554a 97FD sbrc r25,7 |
| 9703 554c A095 com r26 |
| 9704 554e BA2F mov r27,r26 |
| 9705 5550 9501 movw r18,r10 |
| 9706 5552 4427 clr r20 |
| 9707 5554 37FD sbrc r19,7 |
| 9708 5556 4095 com r20 |
| 9709 5558 542F mov r21,r20 |
| 9710 555a BC01 movw r22,r24 |
| 9711 555c CD01 movw r24,r26 |
| 9712 555e 0E94 0000 call __mulsi3 |
| 9713 5562 DC01 movw r26,r24 |
| 9714 5564 CB01 movw r24,r22 |
| 9715 5566 8093 0000 sts tmp_long2.2,r24 |
| 9716 556a 9093 0000 sts (tmp_long2.2)+1,r25 |
| 9717 556e A093 0000 sts (tmp_long2.2)+2,r26 |
| 9718 5572 B093 0000 sts (tmp_long2.2)+3,r27 |
| 9719 5576 B7FF sbrs r27,7 |
| 9720 5578 00C0 rjmp .L793 |
| 9721 557a 8150 subi r24,lo8(-(8191)) |
| 9722 557c 904E sbci r25,hi8(-(8191)) |
| 9723 557e AF4F sbci r26,hlo8(-(8191)) |
| 9724 5580 BF4F sbci r27,hhi8(-(8191)) |
| 9725 .L793: |
| 9726 5582 7C01 movw r14,r24 |
| 9727 5584 8D01 movw r16,r26 |
| 9728 5586 ADE0 ldi r26,13 |
| 9729 5588 1595 1: asr r17 |
| 9730 558a 0795 ror r16 |
| 9731 558c F794 ror r15 |
| 9732 558e E794 ror r14 |
| 9733 5590 AA95 dec r26 |
| 9734 5592 01F4 brne 1b |
| 9735 5594 E092 0000 sts tmp_long2.2,r14 |
| 9736 5598 F092 0000 sts (tmp_long2.2)+1,r15 |
| 9737 559c 0093 0000 sts (tmp_long2.2)+2,r16 |
| 9738 55a0 1093 0000 sts (tmp_long2.2)+3,r17 |
| 9739 55a4 6091 0000 lds r22,modell_fliegt |
| 9740 55a8 7091 0000 lds r23,(modell_fliegt)+1 |
| 9741 55ac 2FE0 ldi r18,hi8(4000) |
| 9742 55ae 603A cpi r22,lo8(4000) |
| 9743 55b0 7207 cpc r23,r18 |
| 9744 55b2 00F4 brsh .L794 |
| 9745 55b4 8091 0000 lds r24,HoverGasFilter.23 |
| 9746 55b8 9091 0000 lds r25,(HoverGasFilter.23)+1 |
| 9747 55bc A091 0000 lds r26,(HoverGasFilter.23)+2 |
| 9748 55c0 B091 0000 lds r27,(HoverGasFilter.23)+3 |
| 9749 55c4 9C01 movw r18,r24 |
| 9750 55c6 AD01 movw r20,r26 |
| 9751 55c8 FAE0 ldi r31,10 |
| 9752 55ca 5695 1: lsr r21 |
| 9753 55cc 4795 ror r20 |
| 9754 55ce 3795 ror r19 |
| 9755 55d0 2795 ror r18 |
| 9756 55d2 FA95 dec r31 |
| 9757 55d4 01F4 brne 1b |
| 9758 55d6 821B sub r24,r18 |
| 9759 55d8 930B sbc r25,r19 |
| 9760 55da A40B sbc r26,r20 |
| 9761 55dc B50B sbc r27,r21 |
| 9762 55de A801 movw r20,r16 |
| 9763 55e0 9701 movw r18,r14 |
| 9764 55e2 E4E0 ldi r30,4 |
| 9765 55e4 220F 1: lsl r18 |
| 9766 55e6 331F rol r19 |
| 9767 55e8 441F rol r20 |
| 9768 55ea 551F rol r21 |
| 9769 55ec EA95 dec r30 |
| 9770 55ee 01F4 brne 1b |
| 9771 55f0 820F add r24,r18 |
| 9772 55f2 931F adc r25,r19 |
| 9773 55f4 A41F adc r26,r20 |
| 9774 55f6 B51F adc r27,r21 |
| 9775 55f8 8093 0000 sts HoverGasFilter.23,r24 |
| 9776 55fc 9093 0000 sts (HoverGasFilter.23)+1,r25 |
| 9777 5600 A093 0000 sts (HoverGasFilter.23)+2,r26 |
| 9778 5604 B093 0000 sts (HoverGasFilter.23)+3,r27 |
| 9779 .L794: |
| 9780 5608 6054 subi r22,lo8(8000) |
| 9781 560a 7F41 sbci r23,hi8(8000) |
| 9782 560c 00F4 brsh .L795 |
| 9783 560e 8091 0000 lds r24,HoverGasFilter.23 |
| 9784 5612 9091 0000 lds r25,(HoverGasFilter.23)+1 |
| 9785 5616 A091 0000 lds r26,(HoverGasFilter.23)+2 |
| 9786 561a B091 0000 lds r27,(HoverGasFilter.23)+3 |
| 9787 561e 9C01 movw r18,r24 |
| 9788 5620 AD01 movw r20,r26 |
| 9789 5622 6CE0 ldi r22,12 |
| 9790 5624 5695 1: lsr r21 |
| 9791 5626 4795 ror r20 |
| 9792 5628 3795 ror r19 |
| 9793 562a 2795 ror r18 |
| 9794 562c 6A95 dec r22 |
| 9795 562e 01F4 brne 1b |
| 9796 5630 821B sub r24,r18 |
| 9797 5632 930B sbc r25,r19 |
| 9798 5634 A40B sbc r26,r20 |
| 9799 5636 B50B sbc r27,r21 |
| 9800 5638 A801 movw r20,r16 |
| 9801 563a 9701 movw r18,r14 |
| 9802 563c F2E0 ldi r31,2 |
| 9803 563e 220F 1: lsl r18 |
| 9804 5640 331F rol r19 |
| 9805 5642 441F rol r20 |
| 9806 5644 551F rol r21 |
| 9807 5646 FA95 dec r31 |
| 9808 5648 01F4 brne 1b |
| 9809 564a 820F add r24,r18 |
| 9810 564c 931F adc r25,r19 |
| 9811 564e A41F adc r26,r20 |
| 9812 5650 B51F adc r27,r21 |
| 9813 5652 00C0 rjmp .L913 |
| 9814 .L795: |
| 9815 5654 8091 0000 lds r24,VarioMeter |
| 9816 5658 9091 0000 lds r25,(VarioMeter)+1 |
| 9817 565c 8091 0000 lds r24,VarioMeter |
| 9818 5660 9091 0000 lds r25,(VarioMeter)+1 |
| 9819 5664 97FF sbrs r25,7 |
| 9820 5666 00C0 rjmp .L798 |
| 9821 5668 9095 com r25 |
| 9822 566a 8195 neg r24 |
| 9823 566c 9F4F sbci r25,lo8(-1) |
| 9824 .L798: |
| 9825 566e 8436 cpi r24,100 |
| 9826 5670 9105 cpc r25,__zero_reg__ |
| 9827 5672 04F4 brge .L796 |
| 9828 5674 8091 0000 lds r24,HoehenWert |
| 9829 5678 9091 0000 lds r25,(HoehenWert)+1 |
| 9830 567c 2091 0000 lds r18,SollHoehe |
| 9831 5680 3091 0000 lds r19,(SollHoehe)+1 |
| 9832 5684 821B sub r24,r18 |
| 9833 5686 930B sbc r25,r19 |
| 9834 5688 8150 subi r24,lo8(-(255)) |
| 9835 568a 9F4F sbci r25,hi8(-(255)) |
| 9836 568c 8F5F subi r24,lo8(511) |
| 9837 568e 9140 sbci r25,hi8(511) |
| 9838 5690 00F4 brsh .L796 |
| 9839 5692 8091 0000 lds r24,HoverGasFilter.23 |
| 9840 5696 9091 0000 lds r25,(HoverGasFilter.23)+1 |
| 9841 569a A091 0000 lds r26,(HoverGasFilter.23)+2 |
| 9842 569e B091 0000 lds r27,(HoverGasFilter.23)+3 |
| 9843 56a2 9C01 movw r18,r24 |
| 9844 56a4 AD01 movw r20,r26 |
| 9845 56a6 EEE0 ldi r30,14 |
| 9846 56a8 5695 1: lsr r21 |
| 9847 56aa 4795 ror r20 |
| 9848 56ac 3795 ror r19 |
| 9849 56ae 2795 ror r18 |
| 9850 56b0 EA95 dec r30 |
| 9851 56b2 01F4 brne 1b |
| 9852 56b4 821B sub r24,r18 |
| 9853 56b6 930B sbc r25,r19 |
| 9854 56b8 A40B sbc r26,r20 |
| 9855 56ba B50B sbc r27,r21 |
| 9856 56bc 8E0D add r24,r14 |
| 9857 56be 9F1D adc r25,r15 |
| 9858 56c0 A01F adc r26,r16 |
| 9859 56c2 B11F adc r27,r17 |
| 9860 .L913: |
| 9861 56c4 8093 0000 sts HoverGasFilter.23,r24 |
| 9862 56c8 9093 0000 sts (HoverGasFilter.23)+1,r25 |
| 9863 56cc A093 0000 sts (HoverGasFilter.23)+2,r26 |
| 9864 56d0 B093 0000 sts (HoverGasFilter.23)+3,r27 |
| 9865 .L796: |
| 9866 56d4 8091 0000 lds r24,HoverGasFilter.23 |
| 9867 56d8 9091 0000 lds r25,(HoverGasFilter.23)+1 |
| 9868 56dc A091 0000 lds r26,(HoverGasFilter.23)+2 |
| 9869 56e0 B091 0000 lds r27,(HoverGasFilter.23)+3 |
| 9870 56e4 7EE0 ldi r23,14 |
| 9871 56e6 B695 1: lsr r27 |
| 9872 56e8 A795 ror r26 |
| 9873 56ea 9795 ror r25 |
| 9874 56ec 8795 ror r24 |
| 9875 56ee 7A95 dec r23 |
| 9876 56f0 01F4 brne 1b |
| 9877 56f2 9093 0000 sts (HoverGas)+1,r25 |
| 9878 56f6 8093 0000 sts HoverGas,r24 |
| 9879 56fa 4091 0000 lds r20,EE_Parameter+20 |
| 9880 56fe 4423 tst r20 |
| 9881 5700 01F0 breq .L799 |
| 9882 5702 5527 clr r21 |
| 9883 5704 9C01 movw r18,r24 |
| 9884 5706 BA01 movw r22,r20 |
| 9885 5708 0E94 0000 call __divmodhi4 |
| 9886 570c C901 movw r24,r18 |
| 9887 570e 861B sub r24,r22 |
| 9888 5710 970B sbc r25,r23 |
| 9889 5712 9093 0000 sts (HoverGasMin)+1,r25 |
| 9890 5716 8093 0000 sts HoverGasMin,r24 |
| 9891 571a 260F add r18,r22 |
| 9892 571c 371F adc r19,r23 |
| 9893 571e 3093 0000 sts (HoverGasMax)+1,r19 |
| 9894 5722 2093 0000 sts HoverGasMax,r18 |
| 9895 5726 00C0 rjmp .L802 |
| 9896 .L799: |
| 9897 5728 1092 0000 sts (HoverGasMin)+1,__zero_reg__ |
| 9898 572c 1092 0000 sts HoverGasMin,__zero_reg__ |
| 9899 5730 8FEF ldi r24,lo8(1023) |
| 9900 5732 93E0 ldi r25,hi8(1023) |
| 9901 5734 9093 0000 sts (HoverGasMax)+1,r25 |
| 9902 5738 8093 0000 sts HoverGasMax,r24 |
| 9903 573c 00C0 rjmp .L802 |
| 9904 .L789: |
| 9905 573e 1092 0000 sts StartTrigger,__zero_reg__ |
| 9906 5742 1092 0000 sts HoverGasFilter.23,__zero_reg__ |
| 9907 5746 1092 0000 sts (HoverGasFilter.23)+1,__zero_reg__ |
| 9908 574a 1092 0000 sts (HoverGasFilter.23)+2,__zero_reg__ |
| 9909 574e 1092 0000 sts (HoverGasFilter.23)+3,__zero_reg__ |
| 9910 5752 3093 0000 sts (HoverGas)+1,r19 |
| 9911 5756 2093 0000 sts HoverGas,r18 |
| 9912 575a 00C0 rjmp .L802 |
| 9913 .L653: |
| 9914 575c 8091 0000 lds r24,FC_StatusFlags |
| 9915 5760 806C ori r24,lo8(-64) |
| 9916 5762 8093 0000 sts FC_StatusFlags,r24 |
| 9917 .L802: |
| 9918 5766 8091 0000 lds r24,NC_To_FC_Flags |
| 9919 576a 81FF sbrs r24,1 |
| 9920 576c 00C0 rjmp .L803 |
| 9921 576e 8981 ldd r24,Y+1 |
| 9922 5770 9A81 ldd r25,Y+2 |
| 9923 5772 97FD sbrc r25,7 |
| 9924 5774 0396 adiw r24,3 |
| 9925 .L805: |
| 9926 5776 9595 asr r25 |
| 9927 5778 8795 ror r24 |
| 9928 577a 9595 asr r25 |
| 9929 577c 8795 ror r24 |
| 9930 577e 2091 0000 lds r18,HooverGasEmergencyPercent |
| 9931 5782 3091 0000 lds r19,(HooverGasEmergencyPercent)+1 |
| 9932 5786 2817 cp r18,r24 |
| 9933 5788 3907 cpc r19,r25 |
| 9934 578a 00F4 brsh .L804 |
| 9935 578c 8091 0000 lds r24,HoverGas |
| 9936 5790 9091 0000 lds r25,(HoverGas)+1 |
| 9937 5794 892B or r24,r25 |
| 9938 5796 01F0 breq .L804 |
| 9939 5798 220F lsl r18 |
| 9940 579a 331F rol r19 |
| 9941 579c 220F lsl r18 |
| 9942 579e 331F rol r19 |
| 9943 57a0 3A83 std Y+2,r19 |
| 9944 57a2 2983 std Y+1,r18 |
| 9945 .L804: |
| 9946 57a4 8091 0000 lds r24,HoehenWert |
| 9947 57a8 9091 0000 lds r25,(HoehenWert)+1 |
| 9948 57ac A091 0000 lds r26,(HoehenWert)+2 |
| 9949 57b0 B091 0000 lds r27,(HoehenWert)+3 |
| 9950 57b4 8093 0000 sts SollHoehe,r24 |
| 9951 57b8 9093 0000 sts (SollHoehe)+1,r25 |
| 9952 57bc A093 0000 sts (SollHoehe)+2,r26 |
| 9953 57c0 B093 0000 sts (SollHoehe)+3,r27 |
| 9954 57c4 88E9 ldi r24,lo8(15000) |
| 9955 57c6 9AE3 ldi r25,hi8(15000) |
| 9956 57c8 9093 0000 sts (beeptime)+1,r25 |
| 9957 57cc 8093 0000 sts beeptime,r24 |
| 9958 57d0 80E0 ldi r24,lo8(3584) |
| 9959 57d2 9EE0 ldi r25,hi8(3584) |
| 9960 57d4 9093 0000 sts (BeepMuster)+1,r25 |
| 9961 57d8 8093 0000 sts BeepMuster,r24 |
| 9962 .L803: |
| 9963 57dc 2091 0000 lds r18,MIN_GAS |
| 9964 57e0 822F mov r24,r18 |
| 9965 57e2 9927 clr r25 |
| 9966 57e4 880F lsl r24 |
| 9967 57e6 991F rol r25 |
| 9968 57e8 880F lsl r24 |
| 9969 57ea 991F rol r25 |
| 9970 57ec 8896 adiw r24,40 |
| 9971 57ee 6981 ldd r22,Y+1 |
| 9972 57f0 7A81 ldd r23,Y+2 |
| 9973 57f2 8617 cp r24,r22 |
| 9974 57f4 9707 cpc r25,r23 |
| 9975 57f6 04F0 brlt .L806 |
| 9976 57f8 9A83 std Y+2,r25 |
| 9977 57fa 8983 std Y+1,r24 |
| 9978 .L806: |
| 9979 57fc 7091 0000 lds r23,MAX_GAS |
| 9980 5800 7D8B std Y+21,r23 |
| 9981 5802 872F mov r24,r23 |
| 9982 5804 9927 clr r25 |
| 9983 5806 880F lsl r24 |
| 9984 5808 991F rol r25 |
| 9985 580a 880F lsl r24 |
| 9986 580c 991F rol r25 |
| 9987 580e 8055 subi r24,lo8(-(-80)) |
| 9988 5810 9040 sbci r25,hi8(-(-80)) |
| 9989 5812 A981 ldd r26,Y+1 |
| 9990 5814 BA81 ldd r27,Y+2 |
| 9991 5816 8A17 cp r24,r26 |
| 9992 5818 9B07 cpc r25,r27 |
| 9993 581a 04F4 brge .L807 |
| 9994 581c 9A83 std Y+2,r25 |
| 9995 581e 8983 std Y+1,r24 |
| 9996 .L807: |
| 9997 5820 8091 0000 lds r24,MissingMotor |
| 9998 5824 8823 tst r24 |
| 9999 5826 01F4 brne .L809 |
| 10000 5828 8091 0000 lds r24,Capacity+6 |
| 10001 582c 8F3F cpi r24,lo8(-1) |
| 10002 582e 01F4 brne .L809 |
| 10003 5830 8091 0000 lds r24,NC_ErrorCode |
| 10004 5834 8823 tst r24 |
| 10005 5836 01F0 breq .L808 |
| 10006 .L809: |
| 10007 5838 8091 0000 lds r24,modell_fliegt |
| 10008 583c 9091 0000 lds r25,(modell_fliegt)+1 |
| 10009 5840 0297 sbiw r24,2 |
| 10010 5842 C097 sbiw r24,48 |
| 10011 5844 00F4 brsh .L808 |
| 10012 5846 E981 ldd r30,Y+1 |
| 10013 5848 FA81 ldd r31,Y+2 |
| 10014 584a 1E16 cp __zero_reg__,r30 |
| 10015 584c 1F06 cpc __zero_reg__,r31 |
| 10016 584e 04F4 brge .L808 |
| 10017 5850 81E0 ldi r24,lo8(1) |
| 10018 5852 90E0 ldi r25,hi8(1) |
| 10019 5854 9093 0000 sts (modell_fliegt)+1,r25 |
| 10020 5858 8093 0000 sts modell_fliegt,r24 |
| 10021 585c E22E mov r14,r18 |
| 10022 585e FF24 clr r15 |
| 10023 5860 EE0C lsl r14 |
| 10024 5862 FF1C rol r15 |
| 10025 5864 EE0C lsl r14 |
| 10026 5866 FF1C rol r15 |
| 10027 5868 8701 movw r16,r14 |
| 10028 586a 085D subi r16,lo8(-(40)) |
| 10029 586c 1F4F sbci r17,hi8(-(40)) |
| 10030 586e 1A83 std Y+2,r17 |
| 10031 5870 0983 std Y+1,r16 |
| 10032 .L808: |
| 10033 5872 2981 ldd r18,Y+1 |
| 10034 5874 3A81 ldd r19,Y+2 |
| 10035 5876 3093 0000 sts (DebugOut+16)+1,r19 |
| 10036 587a 2093 0000 sts DebugOut+16,r18 |
| 10037 587e 8091 0000 lds r24,sollGier.0 |
| 10038 5882 9091 0000 lds r25,(sollGier.0)+1 |
| 10039 5886 A091 0000 lds r26,(sollGier.0)+2 |
| 10040 588a B091 0000 lds r27,(sollGier.0)+3 |
| 10041 588e 12E0 ldi r17,2 |
| 10042 5890 880F 1: lsl r24 |
| 10043 5892 991F rol r25 |
| 10044 5894 AA1F rol r26 |
| 10045 5896 BB1F rol r27 |
| 10046 5898 1A95 dec r17 |
| 10047 589a 01F4 brne 1b |
| 10048 589c 0091 0000 lds r16,MesswertGier |
| 10049 58a0 1091 0000 lds r17,(MesswertGier)+1 |
| 10050 58a4 081B sub r16,r24 |
| 10051 58a6 190B sbc r17,r25 |
| 10052 58a8 213A cpi r18,161 |
| 10053 58aa 3105 cpc r19,__zero_reg__ |
| 10054 58ac 04F0 brlt .L811 |
| 10055 58ae C901 movw r24,r18 |
| 10056 58b0 37FD sbrc r19,7 |
| 10057 58b2 0196 adiw r24,1 |
| 10058 .L813: |
| 10059 58b4 9595 asr r25 |
| 10060 58b6 8795 ror r24 |
| 10061 58b8 8017 cp r24,r16 |
| 10062 58ba 9107 cpc r25,r17 |
| 10063 58bc 04F4 brge .L812 |
| 10064 58be 8C01 movw r16,r24 |
| 10065 .L812: |
| 10066 58c0 9095 com r25 |
| 10067 58c2 8195 neg r24 |
| 10068 58c4 9F4F sbci r25,lo8(-1) |
| 10069 58c6 0817 cp r16,r24 |
| 10070 58c8 1907 cpc r17,r25 |
| 10071 58ca 04F4 brge .L818 |
| 10072 58cc 8C01 movw r16,r24 |
| 10073 58ce 00C0 rjmp .L818 |
| 10074 .L811: |
| 10075 58d0 0135 cpi r16,81 |
| 10076 58d2 1105 cpc r17,__zero_reg__ |
| 10077 58d4 04F0 brlt .L819 |
| 10078 58d6 00E5 ldi r16,lo8(80) |
| 10079 58d8 10E0 ldi r17,hi8(80) |
| 10080 .L819: |
| 10081 58da 3FEF ldi r19,hi8(-80) |
| 10082 58dc 003B cpi r16,lo8(-80) |
| 10083 58de 1307 cpc r17,r19 |
| 10084 58e0 04F4 brge .L818 |
| 10085 58e2 00EB ldi r16,lo8(-80) |
| 10086 58e4 1FEF ldi r17,hi8(-80) |
| 10087 .L818: |
| 10088 58e6 4D89 ldd r20,Y+21 |
| 10089 58e8 242F mov r18,r20 |
| 10090 58ea 3327 clr r19 |
| 10091 58ec 220F lsl r18 |
| 10092 58ee 331F rol r19 |
| 10093 58f0 220F lsl r18 |
| 10094 58f2 331F rol r19 |
| 10095 58f4 C901 movw r24,r18 |
| 10096 58f6 6981 ldd r22,Y+1 |
| 10097 58f8 7A81 ldd r23,Y+2 |
| 10098 58fa 861B sub r24,r22 |
| 10099 58fc 970B sbc r25,r23 |
| 10100 58fe 8017 cp r24,r16 |
| 10101 5900 9107 cpc r25,r17 |
| 10102 5902 04F4 brge .L821 |
| 10103 5904 8C01 movw r16,r24 |
| 10104 .L821: |
| 10105 5906 8981 ldd r24,Y+1 |
| 10106 5908 9A81 ldd r25,Y+2 |
| 10107 590a 821B sub r24,r18 |
| 10108 590c 930B sbc r25,r19 |
| 10109 590e 0817 cp r16,r24 |
| 10110 5910 1907 cpc r17,r25 |
| 10111 5912 04F4 brge .L822 |
| 10112 5914 8C01 movw r16,r24 |
| 10113 .L822: |
| 10114 5916 8091 0000 lds r24,MesswertNick |
| 10115 591a 9091 0000 lds r25,(MesswertNick)+1 |
| 10116 591e 6091 0000 lds r22,StickNick |
| 10117 5922 7091 0000 lds r23,(StickNick)+1 |
| 10118 5926 861B sub r24,r22 |
| 10119 5928 970B sbc r25,r23 |
| 10120 592a 9093 0000 sts (DiffNick)+1,r25 |
| 10121 592e 8093 0000 sts DiffNick,r24 |
| 10122 5932 D090 0000 lds r13,IntegralFaktor |
| 10123 5936 2091 0000 lds r18,SummeNick |
| 10124 593a 3091 0000 lds r19,(SummeNick)+1 |
| 10125 593e 4091 0000 lds r20,(SummeNick)+2 |
| 10126 5942 5091 0000 lds r21,(SummeNick)+3 |
| 10127 5946 DD20 tst r13 |
| 10128 5948 01F0 breq .L823 |
| 10129 594a 661A sub r6,r22 |
| 10130 594c 770A sbc r7,r23 |
| 10131 594e C301 movw r24,r6 |
| 10132 5950 AA27 clr r26 |
| 10133 5952 97FD sbrc r25,7 |
| 10134 5954 A095 com r26 |
| 10135 5956 BA2F mov r27,r26 |
| 10136 5958 00C0 rjmp .L914 |
| 10137 .L823: |
| 10138 595a AA27 clr r26 |
| 10139 595c 97FD sbrc r25,7 |
| 10140 595e A095 com r26 |
| 10141 5960 BA2F mov r27,r26 |
| 10142 .L914: |
| 10143 5962 280F add r18,r24 |
| 10144 5964 391F adc r19,r25 |
| 10145 5966 4A1F adc r20,r26 |
| 10146 5968 5B1F adc r21,r27 |
| 10147 596a 2093 0000 sts SummeNick,r18 |
| 10148 596e 3093 0000 sts (SummeNick)+1,r19 |
| 10149 5972 4093 0000 sts (SummeNick)+2,r20 |
| 10150 5976 5093 0000 sts (SummeNick)+3,r21 |
| 10151 597a 8091 0000 lds r24,SummeNick |
| 10152 597e 9091 0000 lds r25,(SummeNick)+1 |
| 10153 5982 A091 0000 lds r26,(SummeNick)+2 |
| 10154 5986 B091 0000 lds r27,(SummeNick)+3 |
| 10155 598a 8150 subi r24,lo8(64001) |
| 10156 598c 9A4F sbci r25,hi8(64001) |
| 10157 598e A040 sbci r26,hlo8(64001) |
| 10158 5990 B040 sbci r27,hhi8(64001) |
| 10159 5992 04F0 brlt .L825 |
| 10160 5994 80E0 ldi r24,lo8(64000) |
| 10161 5996 9AEF ldi r25,hi8(64000) |
| 10162 5998 A0E0 ldi r26,hlo8(64000) |
| 10163 599a B0E0 ldi r27,hhi8(64000) |
| 10164 599c 8093 0000 sts SummeNick,r24 |
| 10165 59a0 9093 0000 sts (SummeNick)+1,r25 |
| 10166 59a4 A093 0000 sts (SummeNick)+2,r26 |
| 10167 59a8 B093 0000 sts (SummeNick)+3,r27 |
| 10168 .L825: |
| 10169 59ac 8091 0000 lds r24,SummeNick |
| 10170 59b0 9091 0000 lds r25,(SummeNick)+1 |
| 10171 59b4 A091 0000 lds r26,(SummeNick)+2 |
| 10172 59b8 B091 0000 lds r27,(SummeNick)+3 |
| 10173 59bc 8050 subi r24,lo8(-64000) |
| 10174 59be 9640 sbci r25,hi8(-64000) |
| 10175 59c0 AF4F sbci r26,hlo8(-64000) |
| 10176 59c2 BF4F sbci r27,hhi8(-64000) |
| 10177 59c4 04F4 brge .L826 |
| 10178 59c6 80E0 ldi r24,lo8(-64000) |
| 10179 59c8 96E0 ldi r25,hi8(-64000) |
| 10180 59ca AFEF ldi r26,hlo8(-64000) |
| 10181 59cc BFEF ldi r27,hhi8(-64000) |
| 10182 59ce 8093 0000 sts SummeNick,r24 |
| 10183 59d2 9093 0000 sts (SummeNick)+1,r25 |
| 10184 59d6 A093 0000 sts (SummeNick)+2,r26 |
| 10185 59da B093 0000 sts (SummeNick)+3,r27 |
| 10186 .L826: |
| 10187 59de C090 0000 lds r12,EE_Parameter+35 |
| 10188 59e2 2091 0000 lds r18,DiffNick |
| 10189 59e6 3091 0000 lds r19,(DiffNick)+1 |
| 10190 59ea 78E0 ldi r23,lo8(8) |
| 10191 59ec E72E mov r14,r23 |
| 10192 59ee EC14 cp r14,r12 |
| 10193 59f0 00F0 brlo .L827 |
| 10194 59f2 8C2D mov r24,r12 |
| 10195 59f4 9927 clr r25 |
| 10196 59f6 829F mul r24,r18 |
| 10197 59f8 A001 movw r20,r0 |
| 10198 59fa 839F mul r24,r19 |
| 10199 59fc 500D add r21,r0 |
| 10200 59fe 929F mul r25,r18 |
| 10201 5a00 500D add r21,r0 |
| 10202 5a02 1124 clr r1 |
| 10203 5a04 CA01 movw r24,r20 |
| 10204 5a06 57FD sbrc r21,7 |
| 10205 5a08 0796 adiw r24,7 |
| 10206 .L828: |
| 10207 5a0a 7C01 movw r14,r24 |
| 10208 5a0c 63E0 ldi r22,3 |
| 10209 5a0e F594 1: asr r15 |
| 10210 5a10 E794 ror r14 |
| 10211 5a12 6A95 dec r22 |
| 10212 5a14 01F4 brne 1b |
| 10213 5a16 00C0 rjmp .L829 |
| 10214 .L827: |
| 10215 5a18 8C2D mov r24,r12 |
| 10216 5a1a 8695 lsr r24 |
| 10217 5a1c 9927 clr r25 |
| 10218 5a1e 829F mul r24,r18 |
| 10219 5a20 B001 movw r22,r0 |
| 10220 5a22 839F mul r24,r19 |
| 10221 5a24 700D add r23,r0 |
| 10222 5a26 929F mul r25,r18 |
| 10223 5a28 700D add r23,r0 |
| 10224 5a2a 1124 clr r1 |
| 10225 5a2c CB01 movw r24,r22 |
| 10226 5a2e 77FD sbrc r23,7 |
| 10227 5a30 0396 adiw r24,3 |
| 10228 .L830: |
| 10229 5a32 7C01 movw r14,r24 |
| 10230 5a34 F594 asr r15 |
| 10231 5a36 E794 ror r14 |
| 10232 5a38 F594 asr r15 |
| 10233 5a3a E794 ror r14 |
| 10234 .L829: |
| 10235 5a3c A090 0000 lds r10,Ki |
| 10236 5a40 B090 0000 lds r11,(Ki)+1 |
| 10237 5a44 9501 movw r18,r10 |
| 10238 5a46 4427 clr r20 |
| 10239 5a48 37FD sbrc r19,7 |
| 10240 5a4a 4095 com r20 |
| 10241 5a4c 542F mov r21,r20 |
| 10242 5a4e 8091 0000 lds r24,SummeNick |
| 10243 5a52 9091 0000 lds r25,(SummeNick)+1 |
| 10244 5a56 A091 0000 lds r26,(SummeNick)+2 |
| 10245 5a5a B091 0000 lds r27,(SummeNick)+3 |
| 10246 5a5e BC01 movw r22,r24 |
| 10247 5a60 CD01 movw r24,r26 |
| 10248 5a62 0E94 0000 call __divmodsi4 |
| 10249 5a66 E20E add r14,r18 |
| 10250 5a68 F31E adc r15,r19 |
| 10251 5a6a 9090 0000 lds r9,Parameter_DynamicStability |
| 10252 5a6e 692D mov r22,r9 |
| 10253 5a70 7727 clr r23 |
| 10254 5a72 8827 clr r24 |
| 10255 5a74 9927 clr r25 |
| 10256 5a76 9801 movw r18,r16 |
| 10257 5a78 17FF sbrs r17,7 |
| 10258 5a7a 00C0 rjmp .L831 |
| 10259 5a7c 2227 clr r18 |
| 10260 5a7e 3327 clr r19 |
| 10261 5a80 201B sub r18,r16 |
| 10262 5a82 310B sbc r19,r17 |
| 10263 .L831: |
| 10264 5a84 37FF sbrs r19,7 |
| 10265 5a86 00C0 rjmp .L832 |
| 10266 5a88 2F5F subi r18,lo8(-(1)) |
| 10267 5a8a 3F4F sbci r19,hi8(-(1)) |
| 10268 .L832: |
| 10269 5a8c 3595 asr r19 |
| 10270 5a8e 2795 ror r18 |
| 10271 5a90 A981 ldd r26,Y+1 |
| 10272 5a92 BA81 ldd r27,Y+2 |
| 10273 5a94 2A0F add r18,r26 |
| 10274 5a96 3B1F adc r19,r27 |
| 10275 5a98 4427 clr r20 |
| 10276 5a9a 37FD sbrc r19,7 |
| 10277 5a9c 4095 com r20 |
| 10278 5a9e 542F mov r21,r20 |
| 10279 5aa0 0E94 0000 call __mulsi3 |
| 10280 5aa4 97FF sbrs r25,7 |
| 10281 5aa6 00C0 rjmp .L833 |
| 10282 5aa8 615C subi r22,lo8(-(63)) |
| 10283 5aaa 7F4F sbci r23,hi8(-(63)) |
| 10284 5aac 8F4F sbci r24,hlo8(-(63)) |
| 10285 5aae 9F4F sbci r25,hhi8(-(63)) |
| 10286 .L833: |
| 10287 5ab0 26E0 ldi r18,6 |
| 10288 5ab2 9595 1: asr r25 |
| 10289 5ab4 8795 ror r24 |
| 10290 5ab6 7795 ror r23 |
| 10291 5ab8 6795 ror r22 |
| 10292 5aba 2A95 dec r18 |
| 10293 5abc 01F4 brne 1b |
| 10294 5abe 9B01 movw r18,r22 |
| 10295 5ac0 6E15 cp r22,r14 |
| 10296 5ac2 7F05 cpc r23,r15 |
| 10297 5ac4 04F4 brge .L834 |
| 10298 5ac6 7B01 movw r14,r22 |
| 10299 .L834: |
| 10300 5ac8 3095 com r19 |
| 10301 5aca 2195 neg r18 |
| 10302 5acc 3F4F sbci r19,lo8(-1) |
| 10303 5ace E216 cp r14,r18 |
| 10304 5ad0 F306 cpc r15,r19 |
| 10305 5ad2 04F4 brge .L835 |
| 10306 5ad4 7901 movw r14,r18 |
| 10307 .L835: |
| 10308 5ad6 8091 0000 lds r24,MesswertRoll |
| 10309 5ada 9091 0000 lds r25,(MesswertRoll)+1 |
| 10310 5ade 6091 0000 lds r22,StickRoll |
| 10311 5ae2 7091 0000 lds r23,(StickRoll)+1 |
| 10312 5ae6 861B sub r24,r22 |
| 10313 5ae8 970B sbc r25,r23 |
| 10314 5aea 9093 0000 sts (DiffRoll)+1,r25 |
| 10315 5aee 8093 0000 sts DiffRoll,r24 |
| 10316 5af2 2091 0000 lds r18,SummeRoll |
| 10317 5af6 3091 0000 lds r19,(SummeRoll)+1 |
| 10318 5afa 4091 0000 lds r20,(SummeRoll)+2 |
| 10319 5afe 5091 0000 lds r21,(SummeRoll)+3 |
| 10320 5b02 DD20 tst r13 |
| 10321 5b04 01F0 breq .L836 |
| 10322 5b06 461A sub r4,r22 |
| 10323 5b08 570A sbc r5,r23 |
| 10324 5b0a C201 movw r24,r4 |
| 10325 5b0c AA27 clr r26 |
| 10326 5b0e 97FD sbrc r25,7 |
| 10327 5b10 A095 com r26 |
| 10328 5b12 BA2F mov r27,r26 |
| 10329 5b14 00C0 rjmp .L915 |
| 10330 .L836: |
| 10331 5b16 AA27 clr r26 |
| 10332 5b18 97FD sbrc r25,7 |
| 10333 5b1a A095 com r26 |
| 10334 5b1c BA2F mov r27,r26 |
| 10335 .L915: |
| 10336 5b1e 280F add r18,r24 |
| 10337 5b20 391F adc r19,r25 |
| 10338 5b22 4A1F adc r20,r26 |
| 10339 5b24 5B1F adc r21,r27 |
| 10340 5b26 2093 0000 sts SummeRoll,r18 |
| 10341 5b2a 3093 0000 sts (SummeRoll)+1,r19 |
| 10342 5b2e 4093 0000 sts (SummeRoll)+2,r20 |
| 10343 5b32 5093 0000 sts (SummeRoll)+3,r21 |
| 10344 5b36 8091 0000 lds r24,SummeRoll |
| 10345 5b3a 9091 0000 lds r25,(SummeRoll)+1 |
| 10346 5b3e A091 0000 lds r26,(SummeRoll)+2 |
| 10347 5b42 B091 0000 lds r27,(SummeRoll)+3 |
| 10348 5b46 8150 subi r24,lo8(64001) |
| 10349 5b48 9A4F sbci r25,hi8(64001) |
| 10350 5b4a A040 sbci r26,hlo8(64001) |
| 10351 5b4c B040 sbci r27,hhi8(64001) |
| 10352 5b4e 04F0 brlt .L838 |
| 10353 5b50 80E0 ldi r24,lo8(64000) |
| 10354 5b52 9AEF ldi r25,hi8(64000) |
| 10355 5b54 A0E0 ldi r26,hlo8(64000) |
| 10356 5b56 B0E0 ldi r27,hhi8(64000) |
| 10357 5b58 8093 0000 sts SummeRoll,r24 |
| 10358 5b5c 9093 0000 sts (SummeRoll)+1,r25 |
| 10359 5b60 A093 0000 sts (SummeRoll)+2,r26 |
| 10360 5b64 B093 0000 sts (SummeRoll)+3,r27 |
| 10361 .L838: |
| 10362 5b68 8091 0000 lds r24,SummeRoll |
| 10363 5b6c 9091 0000 lds r25,(SummeRoll)+1 |
| 10364 5b70 A091 0000 lds r26,(SummeRoll)+2 |
| 10365 5b74 B091 0000 lds r27,(SummeRoll)+3 |
| 10366 5b78 8050 subi r24,lo8(-64000) |
| 10367 5b7a 9640 sbci r25,hi8(-64000) |
| 10368 5b7c AF4F sbci r26,hlo8(-64000) |
| 10369 5b7e BF4F sbci r27,hhi8(-64000) |
| 10370 5b80 04F4 brge .L839 |
| 10371 5b82 80E0 ldi r24,lo8(-64000) |
| 10372 5b84 96E0 ldi r25,hi8(-64000) |
| 10373 5b86 AFEF ldi r26,hlo8(-64000) |
| 10374 5b88 BFEF ldi r27,hhi8(-64000) |
| 10375 5b8a 8093 0000 sts SummeRoll,r24 |
| 10376 5b8e 9093 0000 sts (SummeRoll)+1,r25 |
| 10377 5b92 A093 0000 sts (SummeRoll)+2,r26 |
| 10378 5b96 B093 0000 sts (SummeRoll)+3,r27 |
| 10379 .L839: |
| 10380 5b9a 2091 0000 lds r18,DiffRoll |
| 10381 5b9e 3091 0000 lds r19,(DiffRoll)+1 |
| 10382 5ba2 48E0 ldi r20,lo8(8) |
| 10383 5ba4 4C15 cp r20,r12 |
| 10384 5ba6 00F0 brlo .L840 |
| 10385 5ba8 8C2D mov r24,r12 |
| 10386 5baa 9927 clr r25 |
| 10387 5bac 829F mul r24,r18 |
| 10388 5bae B001 movw r22,r0 |
| 10389 5bb0 839F mul r24,r19 |
| 10390 5bb2 700D add r23,r0 |
| 10391 5bb4 929F mul r25,r18 |
| 10392 5bb6 700D add r23,r0 |
| 10393 5bb8 1124 clr r1 |
| 10394 5bba CB01 movw r24,r22 |
| 10395 5bbc 77FD sbrc r23,7 |
| 10396 5bbe 0796 adiw r24,7 |
| 10397 .L841: |
| 10398 5bc0 6C01 movw r12,r24 |
| 10399 5bc2 B3E0 ldi r27,3 |
| 10400 5bc4 D594 1: asr r13 |
| 10401 5bc6 C794 ror r12 |
| 10402 5bc8 BA95 dec r27 |
| 10403 5bca 01F4 brne 1b |
| 10404 5bcc 00C0 rjmp .L842 |
| 10405 .L840: |
| 10406 5bce C694 lsr r12 |
| 10407 5bd0 8C2D mov r24,r12 |
| 10408 5bd2 9927 clr r25 |
| 10409 5bd4 829F mul r24,r18 |
| 10410 5bd6 D001 movw r26,r0 |
| 10411 5bd8 839F mul r24,r19 |
| 10412 5bda B00D add r27,r0 |
| 10413 5bdc 929F mul r25,r18 |
| 10414 5bde B00D add r27,r0 |
| 10415 5be0 1124 clr r1 |
| 10416 5be2 CD01 movw r24,r26 |
| 10417 5be4 B7FD sbrc r27,7 |
| 10418 5be6 0396 adiw r24,3 |
| 10419 .L843: |
| 10420 5be8 6C01 movw r12,r24 |
| 10421 5bea D594 asr r13 |
| 10422 5bec C794 ror r12 |
| 10423 5bee D594 asr r13 |
| 10424 5bf0 C794 ror r12 |
| 10425 .L842: |
| 10426 5bf2 9501 movw r18,r10 |
| 10427 5bf4 4427 clr r20 |
| 10428 5bf6 37FD sbrc r19,7 |
| 10429 5bf8 4095 com r20 |
| 10430 5bfa 542F mov r21,r20 |
| 10431 5bfc 8091 0000 lds r24,SummeRoll |
| 10432 5c00 9091 0000 lds r25,(SummeRoll)+1 |
| 10433 5c04 A091 0000 lds r26,(SummeRoll)+2 |
| 10434 5c08 B091 0000 lds r27,(SummeRoll)+3 |
| 10435 5c0c BC01 movw r22,r24 |
| 10436 5c0e CD01 movw r24,r26 |
| 10437 5c10 0E94 0000 call __divmodsi4 |
| 10438 5c14 C20E add r12,r18 |
| 10439 5c16 D31E adc r13,r19 |
| 10440 5c18 692D mov r22,r9 |
| 10441 5c1a 7727 clr r23 |
| 10442 5c1c 8827 clr r24 |
| 10443 5c1e 9927 clr r25 |
| 10444 5c20 9801 movw r18,r16 |
| 10445 5c22 17FF sbrs r17,7 |
| 10446 5c24 00C0 rjmp .L844 |
| 10447 5c26 2227 clr r18 |
| 10448 5c28 3327 clr r19 |
| 10449 5c2a 201B sub r18,r16 |
| 10450 5c2c 310B sbc r19,r17 |
| 10451 .L844: |
| 10452 5c2e 37FF sbrs r19,7 |
| 10453 5c30 00C0 rjmp .L845 |
| 10454 5c32 2F5F subi r18,lo8(-(1)) |
| 10455 5c34 3F4F sbci r19,hi8(-(1)) |
| 10456 .L845: |
| 10457 5c36 3595 asr r19 |
| 10458 5c38 2795 ror r18 |
| 10459 5c3a E981 ldd r30,Y+1 |
| 10460 5c3c FA81 ldd r31,Y+2 |
| 10461 5c3e 2E0F add r18,r30 |
| 10462 5c40 3F1F adc r19,r31 |
| 10463 5c42 4427 clr r20 |
| 10464 5c44 37FD sbrc r19,7 |
| 10465 5c46 4095 com r20 |
| 10466 5c48 542F mov r21,r20 |
| 10467 5c4a 0E94 0000 call __mulsi3 |
| 10468 5c4e 97FF sbrs r25,7 |
| 10469 5c50 00C0 rjmp .L846 |
| 10470 5c52 615C subi r22,lo8(-(63)) |
| 10471 5c54 7F4F sbci r23,hi8(-(63)) |
| 10472 5c56 8F4F sbci r24,hlo8(-(63)) |
| 10473 5c58 9F4F sbci r25,hhi8(-(63)) |
| 10474 .L846: |
| 10475 5c5a E6E0 ldi r30,6 |
| 10476 5c5c 9595 1: asr r25 |
| 10477 5c5e 8795 ror r24 |
| 10478 5c60 7795 ror r23 |
| 10479 5c62 6795 ror r22 |
| 10480 5c64 EA95 dec r30 |
| 10481 5c66 01F4 brne 1b |
| 10482 5c68 9B01 movw r18,r22 |
| 10483 5c6a 6C15 cp r22,r12 |
| 10484 5c6c 7D05 cpc r23,r13 |
| 10485 5c6e 04F4 brge .L847 |
| 10486 5c70 6B01 movw r12,r22 |
| 10487 .L847: |
| 10488 5c72 3095 com r19 |
| 10489 5c74 2195 neg r18 |
| 10490 5c76 3F4F sbci r19,lo8(-1) |
| 10491 5c78 C216 cp r12,r18 |
| 10492 5c7a D306 cpc r13,r19 |
| 10493 5c7c 04F4 brge .L848 |
| 10494 5c7e 6901 movw r12,r18 |
| 10495 .L848: |
| 10496 5c80 8091 0000 lds r24,MIN_GAS |
| 10497 5c84 282E mov r2,r24 |
| 10498 5c86 3324 clr r3 |
| 10499 5c88 5090 0000 lds r5,EE_Parameter+101 |
| 10500 5c8c 60E0 ldi r22,lo8(Motor) |
| 10501 5c8e 862E mov r8,r22 |
| 10502 5c90 60E0 ldi r22,hi8(Motor) |
| 10503 5c92 962E mov r9,r22 |
| 10504 5c94 50E0 ldi r21,lo8(Mixer+13) |
| 10505 5c96 A52E mov r10,r21 |
| 10506 5c98 50E0 ldi r21,hi8(Mixer+13) |
| 10507 5c9a B52E mov r11,r21 |
| 10508 5c9c 4BE0 ldi r20,lo8(11) |
| 10509 5c9e 442E mov r4,r20 |
| 10510 5ca0 30E0 ldi r19,lo8(tmp_motorwert) |
| 10511 5ca2 632E mov r6,r19 |
| 10512 5ca4 30E0 ldi r19,hi8(tmp_motorwert) |
| 10513 5ca6 732E mov r7,r19 |
| 10514 .L883: |
| 10515 5ca8 D501 movw r26,r10 |
| 10516 5caa 2C91 ld r18,X |
| 10517 5cac 1216 cp __zero_reg__,r18 |
| 10518 5cae 04F0 brlt .+2 |
| 10519 5cb0 00C0 rjmp .L852 |
| 10520 5cb2 2034 cpi r18,lo8(64) |
| 10521 5cb4 01F4 brne .L853 |
| 10522 5cb6 E981 ldd r30,Y+1 |
| 10523 5cb8 FA81 ldd r31,Y+2 |
| 10524 5cba FF8B std Y+23,r31 |
| 10525 5cbc EE8B std Y+22,r30 |
| 10526 5cbe 00C0 rjmp .L854 |
| 10527 .L853: |
| 10528 5cc0 4981 ldd r20,Y+1 |
| 10529 5cc2 5A81 ldd r21,Y+2 |
| 10530 5cc4 CA01 movw r24,r20 |
| 10531 5cc6 AA27 clr r26 |
| 10532 5cc8 97FD sbrc r25,7 |
| 10533 5cca A095 com r26 |
| 10534 5ccc BA2F mov r27,r26 |
| 10535 5cce 3327 clr r19 |
| 10536 5cd0 27FD sbrc r18,7 |
| 10537 5cd2 3095 com r19 |
| 10538 5cd4 432F mov r20,r19 |
| 10539 5cd6 532F mov r21,r19 |
| 10540 5cd8 BC01 movw r22,r24 |
| 10541 5cda CD01 movw r24,r26 |
| 10542 5cdc 0E94 0000 call __mulsi3 |
| 10543 5ce0 97FF sbrs r25,7 |
| 10544 5ce2 00C0 rjmp .L855 |
| 10545 5ce4 615C subi r22,lo8(-(63)) |
| 10546 5ce6 7F4F sbci r23,hi8(-(63)) |
| 10547 5ce8 8F4F sbci r24,hlo8(-(63)) |
| 10548 5cea 9F4F sbci r25,hhi8(-(63)) |
| 10549 .L855: |
| 10550 5cec 26E0 ldi r18,6 |
| 10551 5cee 9595 1: asr r25 |
| 10552 5cf0 8795 ror r24 |
| 10553 5cf2 7795 ror r23 |
| 10554 5cf4 6795 ror r22 |
| 10555 5cf6 2A95 dec r18 |
| 10556 5cf8 01F4 brne 1b |
| 10557 5cfa 7F8B std Y+23,r23 |
| 10558 5cfc 6E8B std Y+22,r22 |
| 10559 .L854: |
| 10560 5cfe F501 movw r30,r10 |
| 10561 5d00 2181 ldd r18,Z+1 |
| 10562 5d02 2034 cpi r18,lo8(64) |
| 10563 5d04 01F4 brne .L856 |
| 10564 5d06 2E89 ldd r18,Y+22 |
| 10565 5d08 3F89 ldd r19,Y+23 |
| 10566 5d0a 2E0D add r18,r14 |
| 10567 5d0c 3F1D adc r19,r15 |
| 10568 5d0e 3F8B std Y+23,r19 |
| 10569 5d10 2E8B std Y+22,r18 |
| 10570 5d12 00C0 rjmp .L857 |
| 10571 .L856: |
| 10572 5d14 203C cpi r18,lo8(-64) |
| 10573 5d16 01F4 brne .L858 |
| 10574 5d18 4E89 ldd r20,Y+22 |
| 10575 5d1a 5F89 ldd r21,Y+23 |
| 10576 5d1c 4E19 sub r20,r14 |
| 10577 5d1e 5F09 sbc r21,r15 |
| 10578 5d20 5F8B std Y+23,r21 |
| 10579 5d22 4E8B std Y+22,r20 |
| 10580 5d24 00C0 rjmp .L857 |
| 10581 .L858: |
| 10582 5d26 C701 movw r24,r14 |
| 10583 5d28 AA27 clr r26 |
| 10584 5d2a 97FD sbrc r25,7 |
| 10585 5d2c A095 com r26 |
| 10586 5d2e BA2F mov r27,r26 |
| 10587 5d30 3327 clr r19 |
| 10588 5d32 27FD sbrc r18,7 |
| 10589 5d34 3095 com r19 |
| 10590 5d36 432F mov r20,r19 |
| 10591 5d38 532F mov r21,r19 |
| 10592 5d3a BC01 movw r22,r24 |
| 10593 5d3c CD01 movw r24,r26 |
| 10594 5d3e 0E94 0000 call __mulsi3 |
| 10595 5d42 97FF sbrs r25,7 |
| 10596 5d44 00C0 rjmp .L860 |
| 10597 5d46 615C subi r22,lo8(-(63)) |
| 10598 5d48 7F4F sbci r23,hi8(-(63)) |
| 10599 5d4a 8F4F sbci r24,hlo8(-(63)) |
| 10600 5d4c 9F4F sbci r25,hhi8(-(63)) |
| 10601 .L860: |
| 10602 5d4e B6E0 ldi r27,6 |
| 10603 5d50 9595 1: asr r25 |
| 10604 5d52 8795 ror r24 |
| 10605 5d54 7795 ror r23 |
| 10606 5d56 6795 ror r22 |
| 10607 5d58 BA95 dec r27 |
| 10608 5d5a 01F4 brne 1b |
| 10609 5d5c AE89 ldd r26,Y+22 |
| 10610 5d5e BF89 ldd r27,Y+23 |
| 10611 5d60 A60F add r26,r22 |
| 10612 5d62 B71F adc r27,r23 |
| 10613 5d64 BF8B std Y+23,r27 |
| 10614 5d66 AE8B std Y+22,r26 |
| 10615 .L857: |
| 10616 5d68 F501 movw r30,r10 |
| 10617 5d6a 2281 ldd r18,Z+2 |
| 10618 5d6c 2034 cpi r18,lo8(64) |
| 10619 5d6e 01F4 brne .L861 |
| 10620 5d70 2E89 ldd r18,Y+22 |
| 10621 5d72 3F89 ldd r19,Y+23 |
| 10622 5d74 2C0D add r18,r12 |
| 10623 5d76 3D1D adc r19,r13 |
| 10624 5d78 3F8B std Y+23,r19 |
| 10625 5d7a 2E8B std Y+22,r18 |
| 10626 5d7c 00C0 rjmp .L862 |
| 10627 .L861: |
| 10628 5d7e 203C cpi r18,lo8(-64) |
| 10629 5d80 01F4 brne .L863 |
| 10630 5d82 4E89 ldd r20,Y+22 |
| 10631 5d84 5F89 ldd r21,Y+23 |
| 10632 5d86 4C19 sub r20,r12 |
| 10633 5d88 5D09 sbc r21,r13 |
| 10634 5d8a 5F8B std Y+23,r21 |
| 10635 5d8c 4E8B std Y+22,r20 |
| 10636 5d8e 00C0 rjmp .L862 |
| 10637 .L863: |
| 10638 5d90 C601 movw r24,r12 |
| 10639 5d92 AA27 clr r26 |
| 10640 5d94 97FD sbrc r25,7 |
| 10641 5d96 A095 com r26 |
| 10642 5d98 BA2F mov r27,r26 |
| 10643 5d9a 3327 clr r19 |
| 10644 5d9c 27FD sbrc r18,7 |
| 10645 5d9e 3095 com r19 |
| 10646 5da0 432F mov r20,r19 |
| 10647 5da2 532F mov r21,r19 |
| 10648 5da4 BC01 movw r22,r24 |
| 10649 5da6 CD01 movw r24,r26 |
| 10650 5da8 0E94 0000 call __mulsi3 |
| 10651 5dac 97FF sbrs r25,7 |
| 10652 5dae 00C0 rjmp .L865 |
| 10653 5db0 615C subi r22,lo8(-(63)) |
| 10654 5db2 7F4F sbci r23,hi8(-(63)) |
| 10655 5db4 8F4F sbci r24,hlo8(-(63)) |
| 10656 5db6 9F4F sbci r25,hhi8(-(63)) |
| 10657 .L865: |
| 10658 5db8 A6E0 ldi r26,6 |
| 10659 5dba 9595 1: asr r25 |
| 10660 5dbc 8795 ror r24 |
| 10661 5dbe 7795 ror r23 |
| 10662 5dc0 6795 ror r22 |
| 10663 5dc2 AA95 dec r26 |
| 10664 5dc4 01F4 brne 1b |
| 10665 5dc6 AE89 ldd r26,Y+22 |
| 10666 5dc8 BF89 ldd r27,Y+23 |
| 10667 5dca A60F add r26,r22 |
| 10668 5dcc B71F adc r27,r23 |
| 10669 5dce BF8B std Y+23,r27 |
| 10670 5dd0 AE8B std Y+22,r26 |
| 10671 .L862: |
| 10672 5dd2 F501 movw r30,r10 |
| 10673 5dd4 2381 ldd r18,Z+3 |
| 10674 5dd6 2034 cpi r18,lo8(64) |
| 10675 5dd8 01F4 brne .L866 |
| 10676 5dda 2E89 ldd r18,Y+22 |
| 10677 5ddc 3F89 ldd r19,Y+23 |
| 10678 5dde 200F add r18,r16 |
| 10679 5de0 311F adc r19,r17 |
| 10680 5de2 3F8B std Y+23,r19 |
| 10681 5de4 2E8B std Y+22,r18 |
| 10682 5de6 00C0 rjmp .L867 |
| 10683 .L866: |
| 10684 5de8 203C cpi r18,lo8(-64) |
| 10685 5dea 01F4 brne .L868 |
| 10686 5dec 4E89 ldd r20,Y+22 |
| 10687 5dee 5F89 ldd r21,Y+23 |
| 10688 5df0 401B sub r20,r16 |
| 10689 5df2 510B sbc r21,r17 |
| 10690 5df4 5F8B std Y+23,r21 |
| 10691 5df6 4E8B std Y+22,r20 |
| 10692 5df8 00C0 rjmp .L867 |
| 10693 .L868: |
| 10694 5dfa C801 movw r24,r16 |
| 10695 5dfc AA27 clr r26 |
| 10696 5dfe 97FD sbrc r25,7 |
| 10697 5e00 A095 com r26 |
| 10698 5e02 BA2F mov r27,r26 |
| 10699 5e04 3327 clr r19 |
| 10700 5e06 27FD sbrc r18,7 |
| 10701 5e08 3095 com r19 |
| 10702 5e0a 432F mov r20,r19 |
| 10703 5e0c 532F mov r21,r19 |
| 10704 5e0e BC01 movw r22,r24 |
| 10705 5e10 CD01 movw r24,r26 |
| 10706 5e12 0E94 0000 call __mulsi3 |
| 10707 5e16 97FF sbrs r25,7 |
| 10708 5e18 00C0 rjmp .L870 |
| 10709 5e1a 615C subi r22,lo8(-(63)) |
| 10710 5e1c 7F4F sbci r23,hi8(-(63)) |
| 10711 5e1e 8F4F sbci r24,hlo8(-(63)) |
| 10712 5e20 9F4F sbci r25,hhi8(-(63)) |
| 10713 .L870: |
| 10714 5e22 F6E0 ldi r31,6 |
| 10715 5e24 9595 1: asr r25 |
| 10716 5e26 8795 ror r24 |
| 10717 5e28 7795 ror r23 |
| 10718 5e2a 6795 ror r22 |
| 10719 5e2c FA95 dec r31 |
| 10720 5e2e 01F4 brne 1b |
| 10721 5e30 AE89 ldd r26,Y+22 |
| 10722 5e32 BF89 ldd r27,Y+23 |
| 10723 5e34 A60F add r26,r22 |
| 10724 5e36 B71F adc r27,r23 |
| 10725 5e38 BF8B std Y+23,r27 |
| 10726 5e3a AE8B std Y+22,r26 |
| 10727 .L867: |
| 10728 5e3c F301 movw r30,r6 |
| 10729 5e3e 8081 ld r24,Z |
| 10730 5e40 9181 ldd r25,Z+1 |
| 10731 5e42 2E89 ldd r18,Y+22 |
| 10732 5e44 3F89 ldd r19,Y+23 |
| 10733 5e46 8217 cp r24,r18 |
| 10734 5e48 9307 cpc r25,r19 |
| 10735 5e4a 04F4 brge .L871 |
| 10736 5e4c B901 movw r22,r18 |
| 10737 5e4e 680F add r22,r24 |
| 10738 5e50 791F adc r23,r25 |
| 10739 5e52 77FF sbrs r23,7 |
| 10740 5e54 00C0 rjmp .L872 |
| 10741 5e56 6F5F subi r22,lo8(-(1)) |
| 10742 5e58 7F4F sbci r23,hi8(-(1)) |
| 10743 .L872: |
| 10744 5e5a 7595 asr r23 |
| 10745 5e5c 6795 ror r22 |
| 10746 5e5e 7F8B std Y+23,r23 |
| 10747 5e60 6E8B std Y+22,r22 |
| 10748 5e62 00C0 rjmp .L873 |
| 10749 .L871: |
| 10750 5e64 5520 tst r5 |
| 10751 5e66 01F4 brne .L874 |
| 10752 5e68 4E89 ldd r20,Y+22 |
| 10753 5e6a 5F89 ldd r21,Y+23 |
| 10754 5e6c 440F add r20,r20 |
| 10755 5e6e 551F adc r21,r21 |
| 10756 5e70 481B sub r20,r24 |
| 10757 5e72 590B sbc r21,r25 |
| 10758 5e74 5F8B std Y+23,r21 |
| 10759 5e76 4E8B std Y+22,r20 |
| 10760 5e78 00C0 rjmp .L873 |
| 10761 .L874: |
| 10762 5e7a 51E0 ldi r21,lo8(1) |
| 10763 5e7c 5515 cp r21,r5 |
| 10764 5e7e 00F4 brsh .L873 |
| 10765 5e80 252D mov r18,r5 |
| 10766 5e82 3327 clr r19 |
| 10767 5e84 6E89 ldd r22,Y+22 |
| 10768 5e86 7F89 ldd r23,Y+23 |
| 10769 5e88 861B sub r24,r22 |
| 10770 5e8a 970B sbc r25,r23 |
| 10771 5e8c B901 movw r22,r18 |
| 10772 5e8e 0E94 0000 call __divmodhi4 |
| 10773 5e92 AE89 ldd r26,Y+22 |
| 10774 5e94 BF89 ldd r27,Y+23 |
| 10775 5e96 A60F add r26,r22 |
| 10776 5e98 B71F adc r27,r23 |
| 10777 5e9a BF8B std Y+23,r27 |
| 10778 5e9c AE8B std Y+22,r26 |
| 10779 .L873: |
| 10780 5e9e C101 movw r24,r2 |
| 10781 5ea0 880F lsl r24 |
| 10782 5ea2 991F rol r25 |
| 10783 5ea4 880F lsl r24 |
| 10784 5ea6 991F rol r25 |
| 10785 5ea8 EE89 ldd r30,Y+22 |
| 10786 5eaa FF89 ldd r31,Y+23 |
| 10787 5eac 8E17 cp r24,r30 |
| 10788 5eae 9F07 cpc r25,r31 |
| 10789 5eb0 04F4 brge .L916 |
| 10790 5eb2 FD89 ldd r31,Y+21 |
| 10791 5eb4 8F2F mov r24,r31 |
| 10792 5eb6 9927 clr r25 |
| 10793 5eb8 880F lsl r24 |
| 10794 5eba 991F rol r25 |
| 10795 5ebc 880F lsl r24 |
| 10796 5ebe 991F rol r25 |
| 10797 5ec0 2E89 ldd r18,Y+22 |
| 10798 5ec2 3F89 ldd r19,Y+23 |
| 10799 5ec4 2817 cp r18,r24 |
| 10800 5ec6 3907 cpc r19,r25 |
| 10801 5ec8 04F0 brlt .L878 |
| 10802 .L916: |
| 10803 5eca 9F8B std Y+23,r25 |
| 10804 5ecc 8E8B std Y+22,r24 |
| 10805 .L878: |
| 10806 5ece 8E89 ldd r24,Y+22 |
| 10807 5ed0 9F89 ldd r25,Y+23 |
| 10808 5ed2 97FD sbrc r25,7 |
| 10809 5ed4 0396 adiw r24,3 |
| 10810 .L880: |
| 10811 5ed6 9595 asr r25 |
| 10812 5ed8 8795 ror r24 |
| 10813 5eda 9595 asr r25 |
| 10814 5edc 8795 ror r24 |
| 10815 5ede F401 movw r30,r8 |
| 10816 5ee0 8183 std Z+1,r24 |
| 10817 5ee2 880F lsl r24 |
| 10818 5ee4 991F rol r25 |
| 10819 5ee6 880F lsl r24 |
| 10820 5ee8 991F rol r25 |
| 10821 5eea 2E89 ldd r18,Y+22 |
| 10822 5eec 3F89 ldd r19,Y+23 |
| 10823 5eee 281B sub r18,r24 |
| 10824 5ef0 390B sbc r19,r25 |
| 10825 5ef2 C901 movw r24,r18 |
| 10826 5ef4 880F lsl r24 |
| 10827 5ef6 8283 std Z+2,r24 |
| 10828 5ef8 EE89 ldd r30,Y+22 |
| 10829 5efa FF89 ldd r31,Y+23 |
| 10830 5efc D301 movw r26,r6 |
| 10831 5efe ED93 st X+,r30 |
| 10832 5f00 FC93 st X,r31 |
| 10833 5f02 00C0 rjmp .L851 |
| 10834 .L852: |
| 10835 5f04 F401 movw r30,r8 |
| 10836 5f06 1182 std Z+1,__zero_reg__ |
| 10837 5f08 1282 std Z+2,__zero_reg__ |
| 10838 .L851: |
| 10839 5f0a 4A94 dec r4 |
| 10840 5f0c 22E0 ldi r18,lo8(2) |
| 10841 5f0e 30E0 ldi r19,hi8(2) |
| 10842 5f10 620E add r6,r18 |
| 10843 5f12 731E adc r7,r19 |
| 10844 5f14 44E0 ldi r20,lo8(4) |
| 10845 5f16 50E0 ldi r21,hi8(4) |
| 10846 5f18 A40E add r10,r20 |
| 10847 5f1a B51E adc r11,r21 |
| 10848 5f1c 68E0 ldi r22,lo8(8) |
| 10849 5f1e 70E0 ldi r23,hi8(8) |
| 10850 5f20 860E add r8,r22 |
| 10851 5f22 971E adc r9,r23 |
| 10852 5f24 47FE sbrs r4,7 |
| 10853 5f26 00C0 rjmp .L883 |
| 10854 /* epilogue: frame size=23 */ |
| 10855 5f28 E2E1 ldi r30,18 |
| 10856 5f2a C95E subi r28,-23 |
| 10857 5f2c 0C94 0000 jmp __epilogue_restores__+0 |
| 10858 /* epilogue end (size=4) */ |
| 10859 /* function MotorRegler size 8305 (8295) */ |
| 10861 .comm TrimNick,2,1 |
| 10862 .comm TrimRoll,2,1 |
| 10863 .comm ErsatzKompass,4,1 |
| 10864 .comm ErsatzKompassInGrad,2,1 |
| 10865 .comm MesswertNick,2,1 |
| 10866 .comm MesswertRoll,2,1 |
| 10867 .comm MesswertGier,2,1 |
| 10868 .comm Mittelwert_AccNick,2,1 |
| 10869 .comm Mittelwert_AccRoll,2,1 |
| 10870 .comm NaviAccNick,2,1 |
| 10871 .comm NaviAccRoll,2,1 |
| 10872 .comm h,1,1 |
| 10873 .comm m,1,1 |
| 10874 .comm s,1,1 |
| 10875 .comm DiffNick,2,1 |
| 10876 .comm DiffRoll,2,1 |
| 10877 .comm Parameter_Servo3,1,1 |
| 10878 .comm Parameter_Servo4,1,1 |
| 10879 .comm Parameter_Servo5,1,1 |
| 10880 .comm Parameter_J16Bitmask,1,1 |
| 10881 .comm Parameter_J16Timing,1,1 |
| 10882 .comm Parameter_J17Bitmask,1,1 |
| 10883 .comm Parameter_J17Timing,1,1 |
| 10884 .comm Parameter_GlobalConfig,1,1 |
| 10885 .comm Parameter_ExtraConfig,1,1 |
| 10886 .comm MesswertGierBias,2,1 |
| 10887 .comm RohMesswertNick,2,1 |
| 10888 .comm RohMesswertRoll,2,1 |
| 10889 .comm MittelIntegralNick,4,1 |
| 10890 .comm MittelIntegralRoll,4,1 |
| 10891 .comm MittelIntegralNick2,4,1 |
| 10892 .comm MittelIntegralRoll2,4,1 |
| 10893 .comm MAX_GAS,1,1 |
| 10894 .comm MIN_GAS,1,1 |
| 10895 .comm GyroFaktor,1,1 |
| 10896 .comm GyroFaktorGier,1,1 |
| 10897 .comm IntegralFaktor,1,1 |
| 10898 .comm IntegralFaktorGier,1,1 |
| 10899 .comm Parameter_NaviGpsModeControl,1,1 |
| 10900 .comm Parameter_NaviGpsGain,1,1 |
| 10901 .comm Parameter_NaviGpsP,1,1 |
| 10902 .comm Parameter_NaviGpsI,1,1 |
| 10903 .comm Parameter_NaviGpsD,1,1 |
| 10904 .comm Parameter_NaviGpsACC,1,1 |
| 10905 .comm Parameter_NaviOperatingRadius,1,1 |
| 10906 .comm Parameter_NaviWindCorrection,1,1 |
| 10907 .comm Parameter_NaviSpeedCompensation,1,1 |
| 10908 .comm Parameter_ExternalControl,1,1 |
| 10909 .comm Parameter_MaximumAltitude,1,1 |
| 10910 .comm KopplungsteilNickRoll,2,1 |
| 10911 .comm KopplungsteilRollNick,2,1 |
| 10912 .comm tmp_motorwert,24,1 |
| 10913 /* File "fc.c": code 12351 = 0x303f (12290), prologues 31, epilogues 30 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 fc.c |
| C:\Temp/ccqfRHGa.s:3 *ABS*:0000003f __SREG__ |
| C:\Temp/ccqfRHGa.s:4 *ABS*:0000003e __SP_H__ |
| C:\Temp/ccqfRHGa.s:5 *ABS*:0000003d __SP_L__ |
| C:\Temp/ccqfRHGa.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\Temp/ccqfRHGa.s:7 *ABS*:00000001 __zero_reg__ |
| C:\Temp/ccqfRHGa.s:15 .bss:00000000 GasIsZeroCnt |
| C:\Temp/ccqfRHGa.s:21 .bss:00000002 HooverGasEmergencyPercent |
| C:\Temp/ccqfRHGa.s:27 .data:00000000 VarioCharacter |
| C:\Temp/ccqfRHGa.s:32 .data:00000001 GIER_GRAD_FAKTOR |
| C:\Temp/ccqfRHGa.s:39 .bss:00000004 FC_StatusFlags2 |
| C:\Temp/ccqfRHGa.s:45 .bss:00000005 FC_StatusFlags |
| C:\Temp/ccqfRHGa.s:51 .bss:00000006 modell_fliegt |
| C:\Temp/ccqfRHGa.s:57 .bss:00000008 MaxStickRoll |
| C:\Temp/ccqfRHGa.s:63 .bss:0000000a MaxStickNick |
| C:\Temp/ccqfRHGa.s:69 .data:00000005 ExternHoehenValue |
| C:\Temp/ccqfRHGa.s:76 .bss:0000000c ExternStickGier |
| C:\Temp/ccqfRHGa.s:82 .bss:0000000e ExternStickRoll |
| C:\Temp/ccqfRHGa.s:88 .bss:00000010 ExternStickNick |
| C:\Temp/ccqfRHGa.s:94 .data:00000007 sintab |
| C:\Temp/ccqfRHGa.s:131 .bss:00000012 CareFree |
| C:\Temp/ccqfRHGa.s:137 .data:00000026 Parameter_DynamicStability |
| C:\Temp/ccqfRHGa.s:142 .data:00000027 Parameter_CouplingYawCorrection |
| C:\Temp/ccqfRHGa.s:147 .data:00000028 Parameter_AchsKopplung2 |
| C:\Temp/ccqfRHGa.s:152 .data:00000029 Parameter_AchsKopplung1 |
| C:\Temp/ccqfRHGa.s:157 .data:0000002a Parameter_LoopGasLimit |
| C:\Temp/ccqfRHGa.s:162 .data:0000002b Parameter_ServoRollControl |
| C:\Temp/ccqfRHGa.s:167 .data:0000002c Parameter_ServoNickControl |
| C:\Temp/ccqfRHGa.s:174 .bss:00000013 Parameter_UserParam8 |
| C:\Temp/ccqfRHGa.s:180 .bss:00000014 Parameter_UserParam7 |
| C:\Temp/ccqfRHGa.s:186 .bss:00000015 Parameter_UserParam6 |
| C:\Temp/ccqfRHGa.s:192 .bss:00000016 Parameter_UserParam5 |
| C:\Temp/ccqfRHGa.s:198 .bss:00000017 Parameter_UserParam4 |
| C:\Temp/ccqfRHGa.s:204 .bss:00000018 Parameter_UserParam3 |
| C:\Temp/ccqfRHGa.s:210 .bss:00000019 Parameter_UserParam2 |
| C:\Temp/ccqfRHGa.s:216 .bss:0000001a Parameter_UserParam1 |
| C:\Temp/ccqfRHGa.s:222 .data:0000002d Parameter_I_Faktor |
| C:\Temp/ccqfRHGa.s:227 .data:0000002e Parameter_Gier_P |
| C:\Temp/ccqfRHGa.s:232 .data:0000002f Parameter_Gyro_Gier_I |
| C:\Temp/ccqfRHGa.s:237 .data:00000030 Parameter_Gyro_Gier_P |
| C:\Temp/ccqfRHGa.s:242 .data:00000031 Parameter_Gyro_I |
| C:\Temp/ccqfRHGa.s:247 .data:00000032 Parameter_Gyro_P |
| C:\Temp/ccqfRHGa.s:252 .data:00000033 Parameter_Gyro_D |
| C:\Temp/ccqfRHGa.s:257 .data:00000034 Parameter_Hoehe_GPS_Z |
| C:\Temp/ccqfRHGa.s:262 .data:00000035 Parameter_KompassWirkung |
| C:\Temp/ccqfRHGa.s:267 .data:00000036 Parameter_Hoehe_ACC_Wirkung |
| C:\Temp/ccqfRHGa.s:272 .data:00000037 Parameter_Hoehe_P |
| C:\Temp/ccqfRHGa.s:277 .data:00000038 Parameter_HoehenSchalter |
| C:\Temp/ccqfRHGa.s:282 .data:00000039 Parameter_Luftdruck_D |
| C:\Temp/ccqfRHGa.s:289 .bss:0000001b Looping_Oben |
| C:\Temp/ccqfRHGa.s:295 .bss:0000001c Looping_Unten |
| C:\Temp/ccqfRHGa.s:301 .bss:0000001d Looping_Rechts |
| C:\Temp/ccqfRHGa.s:307 .bss:0000001e Looping_Links |
| C:\Temp/ccqfRHGa.s:313 .bss:0000001f Looping_Roll |
| C:\Temp/ccqfRHGa.s:319 .bss:00000020 Looping_Nick |
| C:\Temp/ccqfRHGa.s:325 .data:0000003a Ki |
| C:\Temp/ccqfRHGa.s:332 .bss:00000021 HoverGas |
| C:\Temp/ccqfRHGa.s:338 .bss:00000023 LageKorrekturNick |
| C:\Temp/ccqfRHGa.s:344 .bss:00000025 LageKorrekturRoll |
| C:\Temp/ccqfRHGa.s:350 .bss:00000027 NeueKompassRichtungMerken |
| C:\Temp/ccqfRHGa.s:356 .bss:00000028 CalibrationDone |
| C:\Temp/ccqfRHGa.s:362 .bss:00000029 CompassGierSetpoint |
| C:\Temp/ccqfRHGa.s:368 .bss:0000002b WaypointTrimming |
| C:\Temp/ccqfRHGa.s:374 .data:0000003c carefree_old |
| C:\Temp/ccqfRHGa.s:381 .bss:0000002c FromNC_AltitudeSpeed |
| C:\Temp/ccqfRHGa.s:387 .bss:0000002d FromNC_AltitudeSetpoint |
| C:\Temp/ccqfRHGa.s:393 .bss:00000031 AltitudeSetpointTrimming |
| C:\Temp/ccqfRHGa.s:399 .bss:00000033 SollHoehe |
| C:\Temp/ccqfRHGa.s:405 .bss:00000037 HoehenWert |
| C:\Temp/ccqfRHGa.s:411 .bss:0000003b StartTrigger |
| C:\Temp/ccqfRHGa.s:417 .bss:0000003c MotorenEin |
| C:\Temp/ccqfRHGa.s:423 .bss:0000003d SenderOkay |
| C:\Temp/ccqfRHGa.s:429 .bss:0000003e Poti |
| C:\Temp/ccqfRHGa.s:435 .bss:00000047 StickGas |
| C:\Temp/ccqfRHGa.s:441 .bss:00000049 StickGier |
| C:\Temp/ccqfRHGa.s:447 .bss:0000004b StickRoll |
| C:\Temp/ccqfRHGa.s:453 .bss:0000004d StickNick |
| C:\Temp/ccqfRHGa.s:459 .data:0000003d HoverGasMax |
| C:\Temp/ccqfRHGa.s:466 .bss:0000004f HoverGasMin |
| C:\Temp/ccqfRHGa.s:472 .data:0000003f StickGasHover |
| C:\Temp/ccqfRHGa.s:479 .bss:00000051 GierGyroFehler |
| C:\Temp/ccqfRHGa.s:485 .data:00000041 Umschlag180Roll |
| C:\Temp/ccqfRHGa.s:490 .data:00000045 Umschlag180Nick |
| C:\Temp/ccqfRHGa.s:497 .bss:00000053 TrichterFlug |
| C:\Temp/ccqfRHGa.s:503 .bss:00000054 HoehenReglerAktiv |
| C:\Temp/ccqfRHGa.s:509 .data:00000049 KompassSignalSchlecht |
| C:\Temp/ccqfRHGa.s:514 .data:0000004b KompassFusion |
| C:\Temp/ccqfRHGa.s:519 .data:0000004c CalculateCompassTimer |
| C:\Temp/ccqfRHGa.s:526 .bss:00000055 KompassSollWert |
| C:\Temp/ccqfRHGa.s:532 .data:0000004d KompassValue |
| C:\Temp/ccqfRHGa.s:539 .bss:00000057 Mess_Integral_Hoch |
| C:\Temp/ccqfRHGa.s:545 .bss:0000005b SummeRoll |
| C:\Temp/ccqfRHGa.s:551 .bss:0000005f SummeNick |
| C:\Temp/ccqfRHGa.s:557 .bss:00000063 Mess_Integral_Gier2 |
| C:\Temp/ccqfRHGa.s:563 .bss:00000067 Mess_Integral_Gier |
| C:\Temp/ccqfRHGa.s:569 .bss:0000006b Mess_IntegralRoll2 |
| C:\Temp/ccqfRHGa.s:575 .bss:0000006f Mess_IntegralRoll |
| C:\Temp/ccqfRHGa.s:581 .bss:00000073 Mess_IntegralNick2 |
| C:\Temp/ccqfRHGa.s:587 .bss:00000077 Mess_IntegralNick |
| C:\Temp/ccqfRHGa.s:593 .bss:0000007b Integral_Gier |
| C:\Temp/ccqfRHGa.s:599 .bss:0000007f IntegralAccZ |
| C:\Temp/ccqfRHGa.s:605 .bss:00000083 IntegralAccRoll |
| C:\Temp/ccqfRHGa.s:611 .bss:00000087 IntegralAccNick |
| C:\Temp/ccqfRHGa.s:617 .bss:0000008b IntegralRoll2 |
| C:\Temp/ccqfRHGa.s:623 .bss:0000008f IntegralRoll |
| C:\Temp/ccqfRHGa.s:629 .bss:00000093 IntegralNick2 |
| C:\Temp/ccqfRHGa.s:635 .bss:00000097 IntegralNick |
| C:\Temp/ccqfRHGa.s:641 .bss:0000009b ControlHeading |
| C:\Temp/ccqfRHGa.s:647 .bss:0000009c NeutralAccZ |
| C:\Temp/ccqfRHGa.s:653 .bss:0000009e NaviCntAcc |
| C:\Temp/ccqfRHGa.s:659 .bss:000000a0 NeutralAccY |
| C:\Temp/ccqfRHGa.s:665 .bss:000000a2 NeutralAccX |
| C:\Temp/ccqfRHGa.s:671 .bss:000000a4 StartNeutralNick |
| C:\Temp/ccqfRHGa.s:677 .bss:000000a6 StartNeutralRoll |
| C:\Temp/ccqfRHGa.s:683 .bss:000000a8 AdNeutralGier |
| C:\Temp/ccqfRHGa.s:689 .bss:000000aa AdNeutralRoll |
| C:\Temp/ccqfRHGa.s:695 .bss:000000ac AdNeutralNick |
| C:\Temp/ccqfRHGa.s:701 .bss:000000ae BaroExpandActive |
| C:\Temp/ccqfRHGa.s:706 .text:00000000 CopyDebugValues |
| *COM*:00000002 Mittelwert_AccNick |
| *COM*:00000002 Mittelwert_AccRoll |
| *COM*:00000002 ErsatzKompassInGrad |
| C:\Temp/ccqfRHGa.s:892 .text:0000022c Piep |
| C:\Temp/ccqfRHGa.s:966 .text:000002b2 CalibrierMittelwert |
| *COM*:00000002 MesswertNick |
| *COM*:00000002 MesswertRoll |
| *COM*:00000002 MesswertGier |
| C:\Temp/ccqfRHGa.s:1108 .progmem.data:00000000 __c.35 |
| C:\Temp/ccqfRHGa.s:1113 .text:000003f4 SetNeutral |
| *COM*:00000004 ErsatzKompass |
| .bss:000000b0 tmpl.27 |
| C:\Temp/ccqfRHGa.s:1621 .bss:000000b4 tmpl2.28 |
| C:\Temp/ccqfRHGa.s:1622 .bss:000000b8 tmpl3.29 |
| C:\Temp/ccqfRHGa.s:1623 .bss:000000bc tmpl4.30 |
| C:\Temp/ccqfRHGa.s:1624 .bss:000000c0 oldNick.31 |
| C:\Temp/ccqfRHGa.s:1625 .bss:000000c2 oldRoll.32 |
| C:\Temp/ccqfRHGa.s:1626 .bss:000000c4 d2Roll.33 |
| C:\Temp/ccqfRHGa.s:1627 .bss:000000c6 d2Nick.34 |
| C:\Temp/ccqfRHGa.s:1631 .text:00000960 Mittelwert |
| *COM*:00000002 RohMesswertNick |
| *COM*:00000002 RohMesswertRoll |
| *COM*:00000002 NaviAccNick |
| *COM*:00000002 NaviAccRoll |
| *COM*:00000001 Parameter_GlobalConfig |
| *COM*:00000002 KopplungsteilNickRoll |
| *COM*:00000002 KopplungsteilRollNick |
| *COM*:00000002 TrimRoll |
| *COM*:00000002 TrimNick |
| C:\Temp/ccqfRHGa.s:3196 .text:000018c4 SendMotorData |
| C:\Temp/ccqfRHGa.s:3256 .text:0000193e ParameterZuordnung |
| *COM*:00000001 Parameter_J16Timing |
| *COM*:00000001 Parameter_J17Timing |
| *COM*:00000001 Parameter_Servo3 |
| *COM*:00000001 Parameter_Servo4 |
| *COM*:00000001 Parameter_Servo5 |
| *COM*:00000001 Parameter_MaximumAltitude |
| *COM*:00000001 Parameter_ExtraConfig |
| *COM*:00000001 Parameter_ExternalControl |
| *COM*:00000001 MAX_GAS |
| *COM*:00000001 MIN_GAS |
| C:\Temp/ccqfRHGa.s:1628 .bss:000000c8 sollGier.0 |
| C:\Temp/ccqfRHGa.s:3975 .bss:000000cc tmp_long.1 |
| C:\Temp/ccqfRHGa.s:3976 .bss:000000d0 tmp_long2.2 |
| C:\Temp/ccqfRHGa.s:3977 .bss:000000d4 IntegralFehlerNick.3 |
| C:\Temp/ccqfRHGa.s:3978 .bss:000000d8 IntegralFehlerRoll.4 |
| C:\Temp/ccqfRHGa.s:3979 .bss:000000dc RcLostTimer.5 |
| C:\Temp/ccqfRHGa.s:3980 .bss:000000de delay_neutral.6 |
| C:\Temp/ccqfRHGa.s:3981 .bss:000000df delay_einschalten.7 |
| C:\Temp/ccqfRHGa.s:3982 .bss:000000e0 delay_ausschalten.8 |
| C:\Temp/ccqfRHGa.s:3983 .bss:000000e1 move_safety_switch.9 |
| C:\Temp/ccqfRHGa.s:3984 .bss:000000e2 ausgleichNick.10 |
| C:\Temp/ccqfRHGa.s:3985 .bss:000000e6 ausgleichRoll.11 |
| C:\Temp/ccqfRHGa.s:3986 .bss:000000ea stick_nick.12 |
| C:\Temp/ccqfRHGa.s:3987 .bss:000000ec stick_roll.13 |
| C:\Temp/ccqfRHGa.s:3988 .bss:000000ee cnt.14 |
| C:\Temp/ccqfRHGa.s:3989 .bss:000000f0 last_n_p.15 |
| C:\Temp/ccqfRHGa.s:3990 .bss:000000f1 last_n_n.16 |
| C:\Temp/ccqfRHGa.s:3991 .bss:000000f2 last_r_p.17 |
| C:\Temp/ccqfRHGa.s:3992 .bss:000000f3 last_r_n.18 |
| C:\Temp/ccqfRHGa.s:3993 .bss:000000f4 MittelIntegralNick_Alt.19 |
| C:\Temp/ccqfRHGa.s:3994 .bss:000000f8 MittelIntegralRoll_Alt.20 |
| C:\Temp/ccqfRHGa.s:3995 .bss:000000fc HeightTrimming.21 |
| C:\Temp/ccqfRHGa.s:3996 .bss:000000fe FilterHCGas.22 |
| C:\Temp/ccqfRHGa.s:3997 .bss:00000100 HoverGasFilter.23 |
| C:\Temp/ccqfRHGa.s:4002 .data:0000004f delay.24 |
| C:\Temp/ccqfRHGa.s:3998 .bss:00000104 BaroAtUpperLimit.25 |
| C:\Temp/ccqfRHGa.s:4004 .bss:00000105 BaroAtLowerLimit.26 |
| C:\Temp/ccqfRHGa.s:4009 .text:00001f42 MotorRegler |
| *COM*:00000001 GyroFaktor |
| *COM*:00000001 IntegralFaktor |
| *COM*:00000001 GyroFaktorGier |
| *COM*:00000001 IntegralFaktorGier |
| *COM*:00000004 MittelIntegralNick |
| *COM*:00000004 MittelIntegralRoll |
| *COM*:00000004 MittelIntegralNick2 |
| *COM*:00000004 MittelIntegralRoll2 |
| *COM*:00000002 DiffNick |
| *COM*:00000002 DiffRoll |
| *COM*:00000018 tmp_motorwert |
| *COM*:00000001 h |
| *COM*:00000001 m |
| *COM*:00000001 s |
| *COM*:00000001 Parameter_J16Bitmask |
| *COM*:00000001 Parameter_J17Bitmask |
| *COM*:00000002 MesswertGierBias |
| *COM*:00000001 Parameter_NaviGpsModeControl |
| *COM*:00000001 Parameter_NaviGpsGain |
| *COM*:00000001 Parameter_NaviGpsP |
| *COM*:00000001 Parameter_NaviGpsI |
| *COM*:00000001 Parameter_NaviGpsD |
| *COM*:00000001 Parameter_NaviGpsACC |
| *COM*:00000001 Parameter_NaviOperatingRadius |
| *COM*:00000001 Parameter_NaviWindCorrection |
| *COM*:00000001 Parameter_NaviSpeedCompensation |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| EE_Parameter |
| __divmodsi4 |
| DebugOut |
| AdWertGier |
| AdWertAccHoch |
| UBat |
| Motor |
| ServoNickValue |
| Capacity |
| GPS_Nick |
| GPS_Roll |
| VersionInfo |
| PlatinenVersion |
| beeptime |
| UpdateMotor |
| LIBFC_Polling |
| SucheGyroOffset |
| AdWertNick |
| AdWertRoll |
| AdWertAccNick |
| AdWertAccRoll |
| PPM_in |
| __mulsi3 |
| __prologue_saves__ |
| ExpandBaro |
| Delay_ms_Mess |
| MessLuftdruck |
| SucheLuftruckOffset |
| __divmodhi4 |
| Aktuell_az |
| SetParamWord |
| GetParamWord |
| uart_putchar |
| _printf_P |
| Luftdruck |
| StartLuftdruck |
| VarioMeter |
| LED_Init |
| FromNaviCtrl_Value |
| ServoActive |
| NickServoValue |
| LIBFC_HoTT_Clear |
| __epilogue_restores__ |
| AdWertNickFilter |
| AdWertRollFilter |
| AdReady |
| HiResNick |
| HiResRoll |
| MotorTest |
| PC_MotortestActive |
| I2C_TransferActive |
| motor_write |
| twi_state |
| BLFlags |
| NC_To_FC_MaxAltitude |
| SpeakHoTT |
| FromNaviCtrl |
| BeepMuster |
| PPM_diff |
| SetActiveParamSet |
| WinkelOut |
| GetActiveParamSet |
| ParamSet_ReadFromEEProm |
| LipoDetection |
| LIBFC_ReceiverInit |
| NC_ErrorCode |
| GPSInfo |
| NewPpmData |
| FromNC_Rotate_C |
| FromNC_Rotate_S |
| GPS_Aid_StickMultiplikator |
| __floatsisf |
| __addsf3 |
| __fixunssfsi |
| ExternControl |
| ZaehlMessungen |
| BattLowVoltageWarning |
| __udivmodhi4 |
| DruckOffsetSetting |
| SummenHoehe |
| ihypot |
| c_cos_8192 |
| __udivmodqi4 |
| NC_To_FC_Flags |
| MissingMotor |
| Mixer |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/flight.pnproj |
|---|
| 0,0 → 1,0 |
| <Project name="Flight-Ctrl"><File path="uart.h"></File><File path="jeti.h"></File><File path="main.c"></File><File path="main.h"></File><File path="makefile"></File><File path="uart.c"></File><File path="printf_P.h"></File><File path="timer0.c"></File><File path="timer0.h"></File><File path="old_macros.h"></File><File path="twimaster.c"></File><File path="version.txt"></File><File path="twimaster.h"></File><File path="rc.c"></File><File path="rc.h"></File><File path="fc.h"></File><File path="menu.h"></File><File path="menu.c"></File><File path="_Settings.h"></File><File path="analog.c"></File><File path="analog.h"></File><File path="GPS.c"></File><File path="gps.h"></File><File path="License.txt"></File><File path="spi.h"></File><File path="spi.c"></File><File path="led.h"></File><File path="led.c"></File><File path="fc.c"></File><File path="mymath.c"></File><File path="mymath.h"></File><File path="isqrt.S"></File><File path="Spektrum.c"></File><File path="Spektrum.h"></File><File path="eeprom.h"></File><File path="eeprom.c"></File><File path="libfc.h"></File><File path="debug.c"></File><File path="debug.h"></File></Project> |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/flight.pnps |
|---|
| 0,0 → 1,0 |
| <pd><ViewState><e p="Flight-Ctrl" x="true"></e></ViewState></pd> |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/gps.h |
|---|
| 0,0 → 1,3 |
| extern signed int GPS_Nick; |
| extern signed int GPS_Roll; |
| extern unsigned char GPS_Aid_StickMultiplikator; |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/hottmenu.c |
|---|
| 0,0 → 1,810 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software Nutzungsbedingungen (english version: see below) |
| // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
| // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
| // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
| // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
| // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
| // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
| // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
| // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
| // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
| // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
| // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
| // + des Mitverschuldens offen. |
| // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
| // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
| // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
| // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
| // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
| // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
| // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software LICENSING TERMS |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
| // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
| // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
| // + The Software may only be used with the Licensor's products. |
| // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
| // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
| // + agreement shall be the property of the Licensor. |
| // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
| // + features that can be used to identify the program may not be altered or defaced by the customer. |
| // + The customer shall be responsible for taking reasonable precautions |
| // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
| // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
| // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
| // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
| // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
| // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
| // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
| // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
| // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
| // + #### END OF LICENSING TERMS #### |
| // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "libfc.h" |
| #include "printf_P.h" |
| #include "main.h" |
| #include "spi.h" |
| #include "capacity.h" |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| #define HoTT_printf(format, args...) { _printf_P(&LIBFC_HoTT_Putchar, PSTR(format) , ## args);} |
| #define HoTT_printfxy(x,y,format, args...) { LIBFC_HoTT_SetPos(y * 21 + x); _printf_P(&LIBFC_HoTT_Putchar, PSTR(format) , ## args);} |
| #define HoTT_printfxy_INV(x,y,format, args...) { LIBFC_HoTT_SetPos(y * 21 + x); _printf_P(&LIBFC_HoTT_Putchar_INV, PSTR(format) , ## args);} |
| #define HoTT_printfxy_BLINK(x,y,format, args...) { LIBFC_HoTT_SetPos(y * 21 + x); _printf_P(&LIBFC_HoTT_Putchar_BLINK, PSTR(format) , ## args);} |
| #define HoTT_printf_BLINK(format, args...) { _printf_P(&LIBFC_HoTT_Putchar_BLINK, PSTR(format) , ## args);} |
| #define HoTT_printf_INV(format, args...) { _printf_P(&LIBFC_HoTT_Putchar_INV, PSTR(format) , ## args);} |
| #define VOICE_MINIMALE_EINGANSSPANNUNG 16 |
| #define VOICE_BEEP 5 |
| #define HoTT_GRAD 96 |
| #define HoTT_LINKS 123 |
| #define HoTT_RECHTS 124 |
| #define HoTT_OBEN 125 |
| #define HoTT_UNTEN 126 |
| #define HOTT_KEY_RIGHT 1 |
| #define HOTT_KEY_DOWN 2 |
| #define HOTT_KEY_UP 4 |
| #define HOTT_KEY_SET 6 |
| #define HOTT_KEY_LEFT 8 |
| unsigned char NaviData_WaypointIndex = 0, NaviData_WaypointNumber = 0, NaviData_TargetHoldTime = 0; |
| unsigned int NaviData_TargetDistance = 0; |
| GPSPacket_t GPSPacket; |
| VarioPacket_t VarioPacket; |
| ASCIIPacket_t ASCIIPacket; |
| ElectricAirPacket_t ElectricAirPacket; |
| HoTTGeneral_t HoTTGeneral; |
| unsigned char SpeakHoTT = SPEAK_MIKROKOPTER; |
| unsigned char ToNC_SpeakHoTT = 0; |
| int HoTTVarioMeter = 0; |
| const char PROGMEM MIKROKOPTER[] = {" MikroKopter "}; |
| const char PROGMEM UNDERVOLTAGE[] = {" !! LiPo voltage !! "}; |
| const char PROGMEM NC_ERROR_TEXT[MAX_ERR_NUMBER][17] = |
| { |
| //0123456789123456 |
| "No Error \0", // 0 |
| "Not compatible \0", // 1 |
| "MK3Mag not compa\0", // 2 |
| "No FC communicat\0", // 3 |
| "Compass communic\0", // 4 |
| "GPS communicatio\0", // 5 |
| "compass value \0", // 6 |
| "RC Signal lost \0", // 7 |
| "FC spi rx error \0", // 8 |
| "No NC communicat\0", // 9 |
| "FC Nick Gyro \0", // 10 |
| "FC Roll Gyro \0", // 11 |
| "FC Yaw Gyro \0", // 12 |
| "FC Nick ACC \0", // 13 |
| "FC Roll ACC \0", // 14 |
| "FC Z-ACC \0", // 15 |
| "Pressure sensor \0", // 16 |
| "I2C FC->BL-Ctrl \0", // 17 |
| "Bl Missing \0", // 18 |
| "Mixer Error \0", // 19 |
| "Carefree Error \0", // 20 |
| "GPS Fix lost \0", // 21 |
| "Magnet Error \0", // 22 |
| "Motor restart \0", // 23 |
| "BL Limitation \0", // 24 |
| "GPS Range \0", // 25 |
| "No SD-Card \0", // 26 |
| "SD-Logging error\0", // 27 |
| "Flying range! \0", // 28 |
| "Max Altitude! \0", // 29 |
| "No GPS fix \0", // 30 |
| "compass not cal.\0" // 31 |
| }; |
| const char PROGMEM HOTT_ERROR[MAX_ERR_NUMBER][2] = |
| { // 1 -> only in flight 0 -> also on ground |
| //0123456789123456 |
| {0,0},// "No Error \0", // 0 |
| {SPEAK_ERROR,0},// "Not compatible \0", // 1 |
| {SPEAK_ERROR,0},// "MK3Mag not compa\0", // 2 |
| {SPEAK_ERR_NAVI,1},// "No FC communicat\0", // 3 |
| {SPEAK_ERR_COMPASS,1},// "MK3Mag communica\0", // 4 |
| {SPEAK_ERR_GPS,0},// "GPS communicatio\0", // 5 |
| {SPEAK_ERR_COMPASS,1},// "compass value \0", // 6 |
| {SPEAK_ERR_RECEICER,0},// "RC Signal lost \0", // 7 |
| {SPEAK_ERR_NAVI,0},// "FC spi rx error \0", // 8 |
| {SPEAK_ERR_NAVI,0},// "No NC communicat\0", // 9 |
| {SPEAK_ERR_SENSOR,0},// "FC Nick Gyro \0", // 10 |
| {SPEAK_ERR_SENSOR,0},// "FC Roll Gyro \0", // 11 |
| {SPEAK_ERR_SENSOR,0},// "FC Yaw Gyro \0", // 12 |
| {SPEAK_ERR_SENSOR,0},// "FC Nick ACC \0", // 13 |
| {SPEAK_ERR_SENSOR,0},// "FC Roll ACC \0", // 14 |
| {SPEAK_ERR_SENSOR,0},// "FC Z-ACC \0", // 15 |
| {SPEAK_ERR_SENSOR,0},// "Pressure sensor \0", // 16 |
| {SPEAK_ERR_DATABUS,1},// "I2C FC->BL-Ctrl \0", // 17 |
| {SPEAK_ERR_DATABUS,1},// "Bl Missing \0", // 18 |
| {SPEAK_ERROR,0},// "Mixer Error \0", // 19 |
| {SPEAK_CF_OFF,1},// "Carefree Error \0", // 20 |
| {SPEAK_GPS_FIX,1},// "GPS Fix lost \0", // 21 |
| {SPEAK_ERR_COMPASS,0},// "Magnet Error \0", // 22 |
| {SPEAK_ERR_MOTOR,1},// "Motor restart \0", // 23 |
| {SPEAK_MAX_TEMPERAT,1},// "BL Limitation \0", // 24 |
| {SPEAK_MAX_RANGE,1},// "GPS Range \0", // 25 |
| {SPEAK_ERROR,1},// "No SD-Card \0", // 26 |
| {SPEAK_ERROR,1},// "SD-Logging error\0", // 27 |
| {SPEAK_MAX_RANGE,1},// "Flying range! \0", // 28 |
| {SPEAK_MAX_ALTITUD,1},// "Max Altitude! \0" // 29 |
| {SPEAK_GPS_FIX,1}// "no GPS Fix, // 30 |
| }; |
| unsigned char MaxBlTempertaure = 0; |
| unsigned char MinBlTempertaure = 0; |
| unsigned char HottestBl = 0; |
| void GetHottestBl(void) |
| { |
| static unsigned char search = 0,tmp_max,tmp_min,who; |
| if(Motor[search].Temperature > tmp_max) { tmp_max = Motor[search].Temperature; who = search;} |
| else |
| if(Motor[search].Temperature) if(Motor[search].Temperature < tmp_min) tmp_min = Motor[search].Temperature; |
| if(++search > MAX_MOTORS) |
| { |
| search = 0; |
| if(tmp_min != 255) MinBlTempertaure = tmp_min; else MinBlTempertaure = 0; |
| MaxBlTempertaure = tmp_max; |
| HottestBl = who; |
| tmp_min = 255; |
| tmp_max = 0; |
| who = 0; |
| } |
| } |
| //--------------------------------------------------------------- |
| void Hott_ClearLine(unsigned char line) |
| { |
| HoTT_printfxy(0,line," "); |
| } |
| //--------------------------------------------------------------- |
| unsigned char HoTT_Waring(void) |
| { |
| unsigned char status = 0; |
| static char old_status = 0; |
| static int repeat; |
| //if(Parameter_UserParam1) return(Parameter_UserParam1); |
| ToNC_SpeakHoTT = SpeakHoTT; |
| if(FC_StatusFlags & FC_STATUS_LOWBAT) status = VOICE_MINIMALE_EINGANSSPANNUNG; |
| else |
| if(NC_ErrorCode) // Fehlercodes |
| { |
| if(MotorenEin || !pgm_read_byte(&HOTT_ERROR[NC_ErrorCode][1])) status = pgm_read_byte(&HOTT_ERROR[NC_ErrorCode][0]); |
| } |
| if(!status) // Sprachansagen |
| { |
| // if(!(GetParamByte(PID_SPEAK_HOTT_CFG) & 0x01)) SpeakHoTT = 0; // is the voice wanted? |
| if(!(EE_Parameter.GlobalConfig3 & CFG3_SPEAK_ALL)) SpeakHoTT = 0; // is the voice wanted? |
| else status = SpeakHoTT; |
| } |
| else ToNC_SpeakHoTT = status; |
| if(old_status == status) // Gleichen Fehler nur alle 5 sek bringen |
| { |
| if(!CheckDelay(repeat)) return(0); |
| repeat = SetDelay(5000); |
| } |
| else repeat = SetDelay(2000); |
| if(status) |
| { |
| if(status == SpeakHoTT) SpeakHoTT = 0; |
| } |
| old_status = status; |
| // DebugOut.Analog[16] = status; |
| return(status); |
| } |
| /* |
| unsigned char HoTTErrorCode(void) |
| { |
| return(NC_ErrorCode); |
| } |
| */ |
| //--------------------------------------------------------------- |
| void NC_Fills_HoTT_Telemety(void) |
| { |
| unsigned char *ptr = NULL; |
| unsigned char max = 0,i,z; |
| switch(FromNaviCtrl.Param.Byte[11]) |
| { |
| case HOTT_VARIO_PACKET_ID: |
| ptr = (unsigned char *) &VarioPacket; |
| max = sizeof(VarioPacket); |
| break; |
| case HOTT_GPS_PACKET_ID: |
| ptr = (unsigned char *) &GPSPacket; |
| max = sizeof(GPSPacket); |
| break; |
| case HOTT_ELECTRIC_AIR_PACKET_ID: |
| ptr = (unsigned char *) &ElectricAirPacket; |
| max = sizeof(ElectricAirPacket); |
| break; |
| case HOTT_GENERAL_PACKET_ID: |
| ptr = (unsigned char *) &HoTTGeneral; |
| max = sizeof(HoTTGeneral); |
| break; |
| } |
| z = FromNaviCtrl.Param.Byte[0]; // Data allocation |
| for(i=0; i < FromNaviCtrl.Param.Byte[1]; i++) |
| { |
| if(z >= max) break; |
| ptr[z] = FromNaviCtrl.Param.Byte[2+i]; |
| z++; |
| } |
| } |
| unsigned int BuildHoTT_Vario(void) |
| { |
| unsigned int tmp = 30000; |
| if(VarioCharacter == '+' || VarioCharacter == '-') |
| { |
| tmp = 30000 + (AltitudeSetpointTrimming * EE_Parameter.Hoehe_Verstaerkung) / 3; |
| if(tmp < 30000 && tmp > 30000 - 50) tmp = 30000 - 50; // weil es sonst erst bei < 0,5m/sek piept |
| } |
| else |
| if((VarioCharacter == ' ') && (FC_StatusFlags & FC_STATUS_FLY)) |
| { |
| tmp = 30000 + HoTTVarioMeter; |
| if(tmp > 30000) |
| { |
| if(tmp < 30000 + 100) tmp = 30000; |
| else tmp -= 100; |
| } |
| if(tmp < 30000) |
| { |
| if(tmp > 30000 - 100) tmp = 30000; |
| else tmp += 100; |
| } |
| } |
| else |
| if(VarioCharacter == '^') tmp = 30000 + FromNC_AltitudeSpeed * 10; |
| else |
| if(VarioCharacter == 'v') tmp = 30000 - FromNC_AltitudeSpeed * 10; |
| return(tmp); |
| } |
| //--------------------------------------------------------------- |
| unsigned char HoTT_Telemety(unsigned char packet_request) |
| { |
| unsigned char i; |
| //Debug("rqst: %02X",packet_request); |
| switch(packet_request) |
| { |
| case HOTT_VARIO_PACKET_ID: |
| VarioPacket.Altitude = HoehenWert/100 + 500; |
| VarioPacket.m_sec = BuildHoTT_Vario(); |
| VarioPacket.m_3sec = VarioPacket.m_sec; |
| VarioPacket.m_10sec = VarioPacket.m_sec; |
| if (VarioPacket.Altitude < VarioPacket.MinAltitude) VarioPacket.MinAltitude = VarioPacket.Altitude; |
| if (VarioPacket.Altitude > VarioPacket.MaxAltitude) VarioPacket.MaxAltitude = VarioPacket.Altitude; |
| VarioPacket.WarnBeep = 0;//HoTT_Waring(); |
| HoTT_DataPointer = (unsigned char *) &VarioPacket; |
| VarioPacket.FreeCharacters[0] = VarioCharacter; |
| if(FC_StatusFlags2 & FC_STATUS2_CAREFREE) VarioPacket.FreeCharacters[1] = 'C'; else VarioPacket.FreeCharacters[1] = ' '; |
| // VarioPacket.FreeCharacters[2] = ' '; |
| if(NC_ErrorCode) |
| { |
| VarioPacket.Text[0] = NC_ErrorCode/10 + '0'; |
| VarioPacket.Text[1] = NC_ErrorCode%10 + '0'; |
| VarioPacket.Text[2] = ':'; |
| for(i=0; i<16;i++) VarioPacket.Text[i+3] = pgm_read_byte(&NC_ERROR_TEXT[NC_ErrorCode][i]); |
| } |
| else |
| if(FC_StatusFlags & FC_STATUS_LOWBAT) for(i=0; i<21;i++) VarioPacket.Text[i] = pgm_read_byte(&UNDERVOLTAGE[i]); // no Error |
| else |
| if(NaviData_WaypointNumber) |
| { |
| unsigned int tmp_int; |
| unsigned char tmp; |
| VarioPacket.Text[0] = 'W'; VarioPacket.Text[1] = 'P'; |
| VarioPacket.Text[2] = ' '; |
| VarioPacket.Text[3] = '0'+(NaviData_WaypointIndex) / 10; |
| VarioPacket.Text[4] = '0'+(NaviData_WaypointIndex) % 10; |
| VarioPacket.Text[5] = '/'; |
| VarioPacket.Text[6] = '0'+(NaviData_WaypointNumber) / 10; |
| VarioPacket.Text[7] = '0'+(NaviData_WaypointNumber) % 10; |
| VarioPacket.Text[8] = ' '; |
| tmp_int = NaviData_TargetDistance; |
| if(tmp_int > 1000) { VarioPacket.Text[9] = '0'+(tmp_int) / 1000; tmp_int %= 1000;} |
| else VarioPacket.Text[9] = ' '; |
| if(tmp_int > 100) { VarioPacket.Text[10] = '0'+(tmp_int) / 100; tmp_int %= 100;} |
| else VarioPacket.Text[10] = ' '; |
| VarioPacket.Text[11] = '0'+(tmp_int) / 10; |
| VarioPacket.Text[12] = '0'+(tmp_int) % 10; |
| VarioPacket.Text[13] = 'm'; |
| VarioPacket.Text[14] = ' '; |
| tmp = NaviData_TargetHoldTime; |
| if(tmp > 100) { VarioPacket.Text[15] = '0'+(tmp) / 100; tmp %= 100;} else VarioPacket.Text[15] = ' '; |
| VarioPacket.Text[16] = '0'+(tmp) / 10; |
| VarioPacket.Text[17] = '0'+(tmp) % 10; |
| VarioPacket.Text[18] = 's'; |
| VarioPacket.Text[19] = ' '; |
| //unsigned char NaviData_WaypointIndex = 0, NaviData_WaypointNumber = 0, NaviData_TargetHoldTime = 0; |
| //unsigned int NaviData_TargetDistance = 0; |
| } |
| else |
| for(i=0; i<21;i++) VarioPacket.Text[i] = pgm_read_byte(&MIKROKOPTER[i]); // no Error |
| return(sizeof(VarioPacket)); |
| break; |
| case HOTT_GPS_PACKET_ID: |
| GPSPacket.Altitude = HoehenWert/100 + 500; |
| // GPSPacket.Distance = GPSInfo.HomeDistance/10; // macht die NC |
| // GPSPacket.Heading = GPSInfo.HomeBearing/2; // macht die NC |
| // GPSPacket.Speed = (GPSInfo.Speed * 36) / 10; // macht die NC |
| GPSPacket.m_sec = BuildHoTT_Vario(); |
| GPSPacket.m_3sec = 120; |
| GPSPacket.NumOfSats = GPSInfo.NumOfSats; |
| GPSPacket.WarnBeep = HoTT_Waring(); |
| if(GPSInfo.Flags & FLAG_DIFFSOLN) GPSPacket.SatFix = 'D'; |
| else |
| if(GPSInfo.SatFix == SATFIX_3D) GPSPacket.SatFix = ' '; |
| else GPSPacket.SatFix = '!'; |
| HoTT_DataPointer = (unsigned char *) &GPSPacket; |
| GPSPacket.FreeCharacters[0] = NC_GPS_ModeCharacter; |
| GPSPacket.FreeCharacters[2] = GPSPacket.SatFix; |
| GPSPacket.HomeDirection = GPSInfo.HomeBearing / 2;//230; |
| return(sizeof(GPSPacket)); |
| break; |
| case HOTT_ELECTRIC_AIR_PACKET_ID: |
| GetHottestBl(); |
| ElectricAirPacket.Altitude = HoehenWert/100 + 500; |
| ElectricAirPacket.Battery1 = UBat; |
| ElectricAirPacket.Battery2 = UBat; |
| ElectricAirPacket.VoltageCell1 = ErsatzKompassInGrad / 2; |
| ElectricAirPacket.VoltageCell8 = ElectricAirPacket.VoltageCell1; |
| ElectricAirPacket.VoltageCell6 = GPSInfo.HomeBearing / 2; |
| ElectricAirPacket.VoltageCell7 = GPSInfo.HomeDistance/20; |
| ElectricAirPacket.VoltageCell13 = ElectricAirPacket.VoltageCell6; |
| ElectricAirPacket.VoltageCell14 = ElectricAirPacket.VoltageCell7; |
| ElectricAirPacket.m_sec = BuildHoTT_Vario(); |
| ElectricAirPacket.m_3sec = 120; |
| ElectricAirPacket.InputVoltage = UBat; |
| ElectricAirPacket.Temperature1 = MinBlTempertaure + 20; |
| ElectricAirPacket.Temperature2 = MaxBlTempertaure + 20; |
| ElectricAirPacket.Capacity = Capacity.UsedCapacity/10; |
| ElectricAirPacket.WarnBeep = 0;//HoTT_Waring(); |
| ElectricAirPacket.Current = Capacity.ActualCurrent; |
| HoTT_DataPointer = (unsigned char *) &ElectricAirPacket; |
| ElectricAirPacket.FlightTimeMinutes = FlugSekunden / 60; |
| ElectricAirPacket.FlightTimeSeconds = FlugSekunden % 60; |
| return(sizeof(ElectricAirPacket)); |
| break; |
| case HOTT_GENERAL_PACKET_ID: |
| GetHottestBl(); |
| HoTTGeneral.Rpm = GPSInfo.HomeDistance/100; |
| HoTTGeneral.VoltageCell1 = ErsatzKompassInGrad / 2; |
| HoTTGeneral.VoltageCell6 = GPSInfo.HomeBearing / 2; |
| if(UBat > BattLowVoltageWarning + 5) HoTTGeneral.FuelPercent = (UBat - (BattLowVoltageWarning + 6)) * 3; |
| else HoTTGeneral.FuelPercent = 0; |
| HoTTGeneral.FuelCapacity = HoehenWert/100; |
| if(HoTTGeneral.FuelCapacity < 0) HoTTGeneral.FuelCapacity = 0; |
| HoTTGeneral.Altitude = HoehenWert/100 + 500; |
| HoTTGeneral.Battery1 = UBat; |
| HoTTGeneral.Battery2 = UBat; |
| HoTTGeneral.m_sec = BuildHoTT_Vario(); |
| HoTTGeneral.m_3sec = 120; |
| HoTTGeneral.InputVoltage = UBat; |
| HoTTGeneral.Temperature1 = MinBlTempertaure + 20; |
| HoTTGeneral.Temperature2 = MaxBlTempertaure + 20; |
| HoTTGeneral.Capacity = Capacity.UsedCapacity/10; |
| HoTTGeneral.WarnBeep = 0;//HoTT_Waring(); |
| HoTTGeneral.Current = Capacity.ActualCurrent; |
| //HoTTGeneral.ErrorNumber = HoTTErrorCode(); |
| HoTT_DataPointer = (unsigned char *) &HoTTGeneral; |
| return(sizeof(HoTTGeneral)); |
| break; |
| default: return(0); |
| } |
| } |
| //--------------------------------------------------------------- |
| void HoTT_Menu(void) |
| { |
| static unsigned char line, page = 0,show_current = 0,show_mag = 0, show_poti = 0; |
| unsigned char tmp; |
| HoTTVarioMeter = (HoTTVarioMeter * 7 + VarioMeter) / 8; |
| if(page == 0) |
| switch(line++) |
| { |
| case 0: |
| if(FC_StatusFlags & FC_STATUS_LOWBAT) |
| HoTT_printfxy_BLINK(0,0," %2i.%1iV ",UBat/10, UBat%10) |
| else |
| HoTT_printfxy(0,0," %2i.%1iV ",UBat/10, UBat%10) |
| if(Parameter_GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| if(HoehenReglerAktiv) HoTT_printfxy_INV(10,0,"ALT:%4im %c", (int16_t)(HoehenWert/100),VarioCharacter) |
| else HoTT_printfxy(10,0,"ALT:%4im ", (int16_t)(HoehenWert/100)) |
| } |
| else HoTT_printfxy(10,0,"ALT:---- "); |
| break; |
| case 1: |
| if(FC_StatusFlags & FC_STATUS_LOWBAT) |
| HoTT_printfxy_BLINK(0,1," %2i:%02i ",FlugSekunden/60,FlugSekunden%60) |
| else HoTT_printfxy(0,1," %2i:%02i ",FlugSekunden/60,FlugSekunden%60); |
| HoTT_printfxy(10,1,"DIR: %3d%c",ErsatzKompassInGrad, HoTT_GRAD); |
| if(FC_StatusFlags2 & FC_STATUS2_CAREFREE) HoTT_printfxy_INV(20,1,"C") else HoTT_printfxy(20,1," "); |
| break; |
| case 2: |
| if(FC_StatusFlags & FC_STATUS_LOWBAT) |
| HoTT_printfxy_BLINK(0,2," %5i ",Capacity.UsedCapacity) |
| else HoTT_printfxy(0,2," %5i ",Capacity.UsedCapacity); |
| HoTT_printfxy(12,2,"I:%2i.%1iA ",Capacity.ActualCurrent/10, Capacity.ActualCurrent%10); |
| break; |
| case 3: |
| HoTT_printfxy(9,0,":"); |
| HoTT_printfxy(9,1,":"); |
| HoTT_printfxy(9,2,":"); |
| HoTT_printfxy(0,3,"---------+-----------"); |
| // HoTT_printfxy(0,3,"---------------------"); |
| HoTT_printfxy(0,6,"---------------------"); |
| break; |
| case 4: |
| if(NaviDataOkay) |
| { |
| HoTT_printfxy(9,4,":"); |
| HoTT_printfxy(0,4,"SAT:%2d ",GPSInfo.NumOfSats); |
| HoTT_printfxy(10,4,"DIST:%3dm",GPSInfo.HomeDistance/10); |
| switch (GPSInfo.SatFix) |
| { |
| case SATFIX_3D: |
| if(GPSInfo.Flags & FLAG_DIFFSOLN) HoTT_printfxy(7,4,"D ") |
| else HoTT_printfxy(7,4,"3D"); |
| break; |
| default: |
| HoTT_printfxy_BLINK(7,4,"!!"); |
| break; |
| } |
| } |
| else |
| { |
| Hott_ClearLine(4); |
| } |
| break; |
| case 5: |
| if(NaviDataOkay) |
| { |
| if(show_mag) |
| { |
| HoTT_printfxy(0,5,"MAG:%3u%% ",EarthMagneticField); |
| HoTT_printfxy(12,5,"HM:%3d%c %c", GPSInfo.HomeBearing, HoTT_GRAD, NC_GPS_ModeCharacter); |
| HoTT_printfxy(9,5,"incl:%2d%c(%2i)",EarthMagneticInclination, HoTT_GRAD,EarthMagneticInclinationTheoretic); |
| } |
| else |
| { |
| HoTT_printfxy(0,5," %2um/s: HM:%3d%c %c",GPSInfo.Speed, GPSInfo.HomeBearing, HoTT_GRAD, NC_GPS_ModeCharacter); |
| } |
| } |
| else Hott_ClearLine(5); |
| break; |
| case 6: |
| break; |
| case 7: if(NC_ErrorCode) |
| { |
| if(HoTTBlink && NC_ErrorCode < MAX_ERR_NUMBER) |
| { |
| Hott_ClearLine(7); |
| HoTT_printfxy_INV(0,7,"ERR: %2d !",NC_ErrorCode); |
| } |
| else |
| { |
| HoTT_printfxy(0,7,"ERR: "); _printf_P(&LIBFC_HoTT_Putchar, NC_ERROR_TEXT[NC_ErrorCode] , 0);}; |
| } |
| else |
| if(FC_StatusFlags & FC_STATUS_LOWBAT) HoTT_printfxy(1,7,"!! LiPo voltage !!") |
| else HoTT_printfxy(0,7," www.MikroKopter.de "); |
| break; |
| case 8: //ASCIIPacket.WarnBeep = HoTT_Waring(); |
| // ASCIIPacket.WarnBeep = Parameter_UserParam1; |
| case 9: |
| case 10: |
| case 11: |
| case 12: |
| case 13: |
| case 14: |
| case 15: |
| case 16: |
| if(HottKeyboard == HOTT_KEY_SET) { if(show_mag) show_mag = 0; else show_mag = 1;} |
| else |
| if(HottKeyboard == HOTT_KEY_LEFT) { LIBFC_HoTT_Clear(); page = 1; line = 0;}; |
| HottKeyboard = 0; |
| break; |
| default: line = 0; |
| break; |
| } |
| else |
| if(page == 1) |
| switch(line++) |
| { |
| case 0: |
| if(FC_StatusFlags & FC_STATUS_LOWBAT) |
| HoTT_printfxy_BLINK(0,0," %2i:%02i %2i.%1iV %4imAh",FlugSekunden/60,FlugSekunden%60,UBat/10, UBat%10,Capacity.UsedCapacity) |
| else HoTT_printfxy(0,0," %2i:%02i %2i.%1iV %4imAh",FlugSekunden/60,FlugSekunden%60,UBat/10, UBat%10,Capacity.UsedCapacity); |
| break; |
| case 1: |
| HoTT_printfxy(0,1,"DIR:%3d%c",KompassValue, HoTT_GRAD); |
| if(Parameter_GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| if(HoehenReglerAktiv) HoTT_printfxy_INV(10,1,"ALT:%4im", (int16_t)(HoehenWert/100)) |
| else HoTT_printfxy(10,1,"ALT:%4im", (int16_t)(HoehenWert/100)) |
| } |
| else HoTT_printfxy(10,1,"ALT:---- "); |
| HoTT_printfxy(20,1,"%c",VarioCharacter); |
| break; |
| case 2: |
| if(NaviDataOkay) |
| { |
| HoTT_printfxy(1,2,"HM:%3d%c DIST:%3dm %c", GPSInfo.HomeBearing, HoTT_GRAD, GPSInfo.HomeDistance/10, NC_GPS_ModeCharacter); |
| } |
| else |
| { |
| Hott_ClearLine(2); |
| } |
| break; |
| case 3: |
| HoTT_printfxy(0,3,"PWR:%2i.%1iA (%iW) ",Capacity.ActualCurrent/10, Capacity.ActualCurrent%10,Capacity.ActualPower); |
| if(FC_StatusFlags2 & FC_STATUS2_CAREFREE) HoTT_printfxy_INV(19,3,"CF") else HoTT_printfxy(19,3," "); |
| break; |
| case 4: |
| if(NaviDataOkay) |
| { |
| HoTT_printfxy(0,4,"GPS:%2um/s SAT:%d ",GPSInfo.Speed,GPSInfo.NumOfSats); |
| switch (GPSInfo.SatFix) |
| { |
| case SATFIX_3D: |
| HoTT_printfxy(16,4," 3D "); |
| break; |
| //case SATFIX_2D: |
| //case SATFIX_NONE: |
| default: |
| HoTT_printfxy_BLINK(16,4,"NOFIX"); |
| break; |
| } |
| if(GPSInfo.Flags & FLAG_DIFFSOLN) |
| { |
| HoTT_printfxy(16,4,"DGPS "); |
| } |
| } |
| else |
| { //012345678901234567890 |
| HoTT_printfxy(0,4," No NaviCtrl "); |
| } |
| break; |
| case 5: |
| if(show_current) |
| { |
| HoTT_printfxy(0,5,"%2i.%i %2i.%i %2i.%i %2i.%iA", Motor[0].Current/10,Motor[0].Current%10,Motor[1].Current/10,Motor[1].Current%10,Motor[2].Current/10,Motor[2].Current%10,Motor[3].Current/10,Motor[3].Current%10); |
| } |
| else |
| { |
| HoTT_printfxy(0,5,"%3i %3i %3i %3i%cC", Motor[0].Temperature, Motor[1].Temperature, Motor[2].Temperature, Motor[3].Temperature,HoTT_GRAD); |
| } |
| break; |
| case 6: |
| if(show_current) |
| { |
| if(RequiredMotors == 4) Hott_ClearLine(6); |
| else |
| if(RequiredMotors == 6) HoTT_printfxy(0,6,"%2i.%i %2i.%iA", Motor[4].Current/10,Motor[4].Current%10,Motor[5].Current/10,Motor[5].Current%10) |
| else |
| if(RequiredMotors > 6) HoTT_printfxy(0,6,"%2i.%i %2i.%i %2i.%i %2i.%iA", Motor[4].Current/10,Motor[4].Current%10,Motor[5].Current/10,Motor[5].Current%10,Motor[6].Current/10,Motor[6].Current%10,Motor[7].Current/10,Motor[7].Current%10); |
| } |
| else |
| { |
| if(RequiredMotors == 4) Hott_ClearLine(6); |
| else |
| if(RequiredMotors == 6) HoTT_printfxy(0,6,"%3i %3i%cC ", Motor[4].Temperature, Motor[5].Temperature,HoTT_GRAD) |
| else |
| if(RequiredMotors > 6) HoTT_printfxy(0,6,"%3i %3i %3i %3i%cC", Motor[4].Temperature, Motor[5].Temperature, Motor[6].Temperature, Motor[7].Temperature,HoTT_GRAD); |
| } |
| break; |
| case 7: if(NC_ErrorCode) |
| { |
| if(HoTTBlink && NC_ErrorCode < MAX_ERR_NUMBER) |
| { |
| Hott_ClearLine(7); |
| HoTT_printfxy_INV(0,7,"ERR: %2d !",NC_ErrorCode); |
| } |
| else |
| { |
| HoTT_printfxy(0,7,"ERR: "); _printf_P(&LIBFC_HoTT_Putchar, NC_ERROR_TEXT[NC_ErrorCode] , 0);}; |
| } |
| else |
| if(FC_StatusFlags & FC_STATUS_LOWBAT) HoTT_printfxy(1,7,"!! LiPo voltage !!") |
| else HoTT_printfxy(0,7," www.MikroKopter.de "); |
| break; |
| case 8: // ASCIIPacket.WarnBeep = HoTT_Waring(); |
| // ASCIIPacket.WarnBeep = Parameter_UserParam1; |
| case 9: |
| case 10: |
| case 11: |
| case 12: |
| case 13: |
| case 14: |
| case 15: |
| case 16: |
| if(HottKeyboard == HOTT_KEY_SET) { if(show_current) show_current = 0; else show_current = 1; Hott_ClearLine(5); Hott_ClearLine(6);} |
| else |
| if(HottKeyboard == HOTT_KEY_LEFT) { LIBFC_HoTT_Clear(); page = 2; line = 0;} |
| else |
| if(HottKeyboard == HOTT_KEY_RIGHT) { LIBFC_HoTT_Clear(); page = 0; line = 0;} |
| //if(HottKeyboard) HoTT_printfxy(15,6,"%KEY:%02x ",HottKeyboard); |
| HottKeyboard = 0; |
| break; |
| default: line = 0; |
| break; |
| } |
| else |
| if(page == 2) |
| switch(line++) |
| { |
| case 0: |
| HoTT_printfxy_INV(0,0,"Setting:%u %s ",GetActiveParamSet(),EE_Parameter.Name); |
| break; |
| case 1: HoTT_printfxy(0,1,"Min:%2i.%1iV %s ",BattLowVoltageWarning/10, BattLowVoltageWarning%10, Mixer.Name); |
| break; |
| case 2: HoTT_printfxy(0,2,"ALT:"); |
| if(Parameter_GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| if(!(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)) HoTT_printf("POTI:%3u ", Parameter_HoehenSchalter) |
| else |
| { |
| if(Parameter_HoehenSchalter > 50) HoTT_printf("(ON) ") else HoTT_printf("(OFF) "); |
| if((Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT)) HoTT_printf("LIMIT", Parameter_HoehenSchalter) |
| else HoTT_printf("VARIO", Parameter_HoehenSchalter); |
| } |
| } |
| else |
| HoTT_printf("DISABLED"); |
| break; |
| case 3: HoTT_printfxy(0,3,"CF:"); |
| if(!EE_Parameter.CareFreeModeControl) HoTT_printf("DISABLED") |
| else |
| { |
| if(CareFree) HoTT_printf(" (ON) ") else HoTT_printf(" (OFF)"); |
| if(EE_Parameter.ExtraConfig & CFG_LEARNABLE_CAREFREE) HoTT_printf(" TEACH"); |
| } |
| break; |
| case 4: HoTT_printfxy(0,4,"GPS:"); |
| if(!(Parameter_GlobalConfig & CFG_GPS_AKTIV)) HoTT_printf("DISABLED") |
| else |
| { |
| CHK_POTI(tmp,EE_Parameter.NaviGpsModeControl); |
| if(tmp < 50) HoTT_printf("(FREE)") |
| else |
| if(tmp >= 180) HoTT_printf("(HOME)") |
| else |
| if(EE_Parameter.ExtraConfig & CFG_GPS_AID) HoTT_printf("(AID) ") |
| else HoTT_printf("(HOLD)") |
| } |
| if(EE_Parameter.FailSafeTime) HoTT_printfxy(10,4," FS:%usek ",EE_Parameter.FailSafeTime) |
| break; |
| case 5: HoTT_printfxy(0,5,"HOME ALT:"); |
| if(EE_Parameter.ComingHomeAltitude) HoTT_printf("%um",EE_Parameter.ComingHomeAltitude) else HoTT_printf("HOLD "); |
| break; |
| case 6: |
| if(!show_poti) |
| { |
| HoTT_printfxy(0,6,"Ni:%4i Ro:%4i C:%3i",PPM_in[EE_Parameter.Kanalbelegung[K_NICK]],PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]], Parameter_ServoNickControl); |
| HoTT_printfxy(0,7,"Gs:%4i Ya:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]+127,PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]); |
| } |
| else |
| { |
| HoTT_printfxy(0,6,"P1:%4i P2:%4i 3:%3i",Poti1,Poti2, Poti3); |
| HoTT_printfxy(0,7,"P4:%4i P5:%4i 6:%3i",Poti4,Poti5, Poti6); |
| } |
| break; |
| case 7: //HoTT_printfxy(0,6,"WARNINGS:"); |
| if(HoTTBlink) |
| { |
| LIBFC_HoTT_SetPos(6 * 21); |
| if(!(Parameter_GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) HoTT_printf_BLINK("COUPLING OFF! "); |
| if(EE_Parameter.BitConfig & (CFG_LOOP_LINKS | CFG_LOOP_RECHTS | CFG_LOOP_UNTEN | CFG_LOOP_OBEN)) HoTT_printf_BLINK("LOOPING! "); |
| if(Parameter_GlobalConfig & CFG_HEADING_HOLD) HoTT_printf_BLINK("HH! "); |
| if(!(Parameter_GlobalConfig & CFG_KOMPASS_AKTIV)) HoTT_printf_BLINK("COMPASS OFF! "); |
| } |
| break; |
| case 8: //ASCIIPacket.WarnBeep = HoTT_Waring(); |
| break; |
| case 9: |
| case 10: |
| case 11: |
| case 12: |
| case 13: |
| case 14: |
| case 15: |
| case 16: |
| if(HottKeyboard == HOTT_KEY_SET) { if(show_poti) show_poti = 0; else show_poti = 1; Hott_ClearLine(6); Hott_ClearLine(7);} |
| // else |
| // if(HottKeyboard == HOTT_KEY_LEFT) { LIBFC_HoTT_Clear(); page = 3; line = 0;} |
| else |
| if(HottKeyboard == HOTT_KEY_RIGHT) { LIBFC_HoTT_Clear(); page = 1; line = 0;}; |
| HottKeyboard = 0; |
| break; |
| default: line = 0; |
| break; |
| } |
| /* else |
| if(page == 3) |
| switch(line++) |
| { |
| case 0: |
| HoTT_printfxy(0,2,"Speak:"); |
| break; |
| case 1: |
| // if(GetParamByte(PID_SPEAK_HOTT_CFG) & 0x01) |
| if(!(GlobalConfig3 & CFG3_SPEAK_ALL) & 0x01)) HoTT_printfxy_INV(7,2,"All Messages ") |
| else HoTT_printfxy_INV(7,2,"Warnings only"); |
| break; |
| case 2: |
| HoTT_printfxy(1,4,"Use (set) to select"); |
| break; |
| default: |
| if(HottKeyboard == HOTT_KEY_SET) |
| { |
| SetParamByte(PID_SPEAK_HOTT_CFG, GetParamByte(PID_SPEAK_HOTT_CFG) ^ 0x01); |
| } |
| else |
| if(HottKeyboard == HOTT_KEY_RIGHT) { LIBFC_HoTT_Clear(); page = 2; line = 0;}; |
| HottKeyboard = 0; |
| line = 0; |
| break; |
| } |
| */ |
| else page = 0; |
| } |
| #endif |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/hottmenu.h |
|---|
| 0,0 → 1,230 |
| #ifndef _HOTTMENU_H |
| #define _HOTTMENU_H |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| #define SPEAK_ERR_CALIBARTION 1 |
| #define SPEAK_ERR_RECEICER 2 |
| #define SPEAK_ERR_DATABUS 3 |
| #define SPEAK_ERR_NAVI 4 |
| #define SPEAK_ERROR 5 |
| #define SPEAK_ERR_COMPASS 6 |
| #define SPEAK_ERR_SENSOR 7 |
| #define SPEAK_ERR_GPS 8 |
| #define SPEAK_ERR_MOTOR 9 |
| #define SPEAK_MAX_TEMPERAT 10 |
| #define SPEAK_ALTI_REACHED 11 |
| #define SPEAK_WP_REACHED 12 |
| #define SPEAK_NEXT_WP 13 |
| #define SPEAK_LANDING 14 |
| #define SPEAK_GPS_FIX 15 |
| #define SPEAK_UNDERVOLTAGE 16 |
| #define SPEAK_GPS_HOLD 17 |
| #define SPEAK_GPS_HOME 18 |
| #define SPEAK_GPS_OFF 19 |
| #define SPEAK_BEEP 20 |
| #define SPEAK_MIKROKOPTER 21 |
| #define SPEAK_CAPACITY 22 |
| #define SPEAK_CF_OFF 23 |
| #define SPEAK_CALIBRATE 24 |
| #define SPEAK_MAX_RANGE 25 |
| #define SPEAK_MAX_ALTITUD 26 |
| #define SPEAK_MK_OFF 38 |
| #define SPEAK_ALTITUDE_ON 39 |
| #define SPEAK_ALTITUDE_OFF 40 |
| #define SPEAK_CF_ON 46 |
| #define SPEAK_SINKING 47 |
| #define SPEAK_RISING 48 |
| #define SPEAK_HOLDING 49 |
| #define SPEAK_GPS_ON 50 |
| #define SPEAK_FOLLWING 51 |
| #define SPEAK_STARTING 52 |
| #define MAX_ERR_NUMBER (31+1) |
| extern const char PROGMEM NC_ERROR_TEXT[MAX_ERR_NUMBER][17]; |
| extern unsigned char NaviData_WaypointIndex, NaviData_WaypointNumber, NaviData_TargetHoldTime; |
| extern unsigned int NaviData_TargetDistance; |
| extern unsigned char HottKeyboard,HoTT_RequestedSensor; |
| extern unsigned char HottUpdate(unsigned char key); |
| extern unsigned char SpeakHoTT; |
| extern unsigned char ToNC_SpeakHoTT; |
| extern volatile unsigned char *HoTT_DataPointer; |
| extern unsigned char MaxBlTempertaure; |
| extern void CreateHoTT_Menu(void); |
| extern void LIBFC_HoTT_Putchar(char); |
| extern void LIBFC_HoTT_Putchar_INV(char); // print Invers |
| extern void LIBFC_HoTT_Putchar_BLINK(char); |
| extern void LIBFC_HoTT_SetPos(unsigned char); |
| extern void LIBFC_HoTT_Clear(void); |
| extern void NC_Fills_HoTT_Telemety(void); |
| extern void HoTT_Menu(void); |
| extern unsigned char HoTT_Telemety(unsigned char); |
| extern unsigned char HoTT_Waring(void); |
| extern volatile unsigned char HoTTBlink; |
| extern void GetHottestBl(void); |
| typedef struct |
| { |
| unsigned char StartByte; // 0x7C |
| unsigned char Packet_ID; // HOTT_GENERAL_PACKET_ID |
| unsigned char WarnBeep; // 3 Anzahl der Töne 0..36 |
| unsigned char SensorID; // 4 0xD0 |
| unsigned char InverseStatus1; // 5 |
| unsigned char InverseStatus2; // 6 |
| unsigned char VoltageCell1; // 7 208 = 4,16V (Voltage * 50 = Wert) |
| unsigned char VoltageCell2; // 8 209 = 4,18V |
| unsigned char VoltageCell3; // 9 |
| unsigned char VoltageCell4; // 10 |
| unsigned char VoltageCell5; // 11 |
| unsigned char VoltageCell6; // 12 |
| unsigned int Battery1; // 13+14 51 = 5,1V |
| unsigned int Battery2; // 15+16 51 = 5,1V |
| unsigned char Temperature1; // 17 44 = 24°C, 0 = -20°C |
| unsigned char Temperature2; // 18 44 = 24°C, 0 = -20°C |
| unsigned char FuelPercent; // 19 |
| signed int FuelCapacity; // 20+21 |
| unsigned int Rpm; // 22+23 |
| signed int Altitude; // 24+25 |
| unsigned int m_sec; // 26+27 3000 = 0 |
| unsigned char m_3sec; // 28 120 = 0 |
| unsigned int Current; // 29+30 1 = 0.1A |
| unsigned int InputVoltage; // 31+32 66 = 6,6V |
| unsigned int Capacity; // 33+34 1 = 10mAh |
| unsigned int Speed; // 35+36 |
| unsigned char LowestCellVoltage; // 37 |
| unsigned char LowestCellNumber; // 38 |
| unsigned int Rpm2; // 39+40 |
| unsigned char ErrorNumber; // 41 |
| unsigned char Pressure; // 42 in 0,1bar 20=2,0bar |
| unsigned char Version; // 43 |
| unsigned char EndByte; // 0x7D |
| } HoTTGeneral_t; |
| typedef struct |
| { |
| unsigned char StartByte; // 0x7C |
| unsigned char Packet_ID; // HOTT_ELECTRIC_AIR_PACKET_ID |
| unsigned char WarnBeep; // Anzahl der Töne 0..36 |
| unsigned char SensorID; // 4 0xE0 |
| unsigned char InverseStatus1; // 5 |
| unsigned char InverseStatus2; // 6 |
| unsigned char VoltageCell1; // 7 208 = 4,16V (Voltage * 50 = Wert) |
| unsigned char VoltageCell2; // 209 = 4,18V |
| unsigned char VoltageCell3; // |
| unsigned char VoltageCell4; // |
| unsigned char VoltageCell5; // |
| unsigned char VoltageCell6; // |
| unsigned char VoltageCell7; // |
| unsigned char VoltageCell8; // |
| unsigned char VoltageCell9; // |
| unsigned char VoltageCell10; // |
| unsigned char VoltageCell11; // |
| unsigned char VoltageCell12; // |
| unsigned char VoltageCell13; // |
| unsigned char VoltageCell14; // 20 |
| unsigned int Battery1; // 21+22 51 = 5,1V |
| unsigned int Battery2; // 23+24 51 = 5,1V |
| unsigned char Temperature1; // 25 44 = 24°C, 0 = -20°C |
| unsigned char Temperature2; // 26 44 = 24°C, 0 = -20°C |
| signed int Altitude; // 27+28 |
| unsigned int Current; // 29+30 1 = 0.1A |
| unsigned int InputVoltage; // 31+32 66 = 6,6V |
| unsigned int Capacity; // 33+34 1 = 10mAh |
| unsigned int m_sec; // 35+36 30000 = 0 |
| unsigned char m_3sec; // 37 120 = 0 |
| unsigned int Rpm; // 38+39 |
| unsigned char FlightTimeMinutes; // 40 |
| unsigned char FlightTimeSeconds; // 41 |
| unsigned char Speed; // 42 1=2km |
| unsigned char Version; // 43 0x00 |
| unsigned char EndByte; // 0x7D |
| } ElectricAirPacket_t; |
| typedef struct |
| { |
| unsigned char StartByte; // 0x7C |
| unsigned char Packet_ID; // 0x89 - Vario ID |
| unsigned char WarnBeep; //3 // Anzahl der Töne 0..36 |
| unsigned char SensorID; // 0x90 |
| unsigned char InverseStatus; |
| signed int Altitude; //6+7 // 500 = 0m |
| signed int MaxAltitude; //8+9 // 500 = 0m |
| signed int MinAltitude; //10+11 // 500 = 0m |
| unsigned int m_sec; //12+13 // 3000 = 0 |
| unsigned int m_3sec; //14+15 |
| unsigned int m_10sec; //26+17 |
| char Text[21]; //18-38 |
| char FreeCharacters[3]; // 39-41 |
| unsigned char NullByte; // 42 0x00 |
| unsigned char Version; // 43 |
| unsigned char EndByte; // 0x7D |
| } VarioPacket_t; |
| typedef struct |
| { |
| unsigned char StartByte; //0 // 0x7C |
| unsigned char Packet_ID; //1 // 0x8A - GPS ID |
| unsigned char WarnBeep; //2 // Anzahl der Töne 0..36 |
| unsigned char SensorID; // 4 0xA0 |
| unsigned char InverseStatus1; // 5 |
| unsigned char InverseStatus2; // 6 |
| unsigned char Heading; //7 // 1 = 2° |
| unsigned int Speed; //8+9 // in km/h |
| unsigned char Lat_North; //10 |
| unsigned char Lat_G; //11 |
| unsigned char Lat_M; //12 |
| unsigned char Lat_Sek1; //13 |
| unsigned char Lat_Sek2; //14 |
| unsigned char Lon_East; //15 |
| unsigned char Lon_G; //16 |
| unsigned char Lon_M; //17 |
| unsigned char Lon_Sek1; //18 |
| unsigned char Lon_Sek2; //19 |
| unsigned int Distance; //20+21 // 9000 = 0m |
| signed int Altitude; //22+23 // 500 = 0m |
| unsigned int m_sec; //24+25 // 3000 = 0 |
| unsigned char m_3sec; //26 120 = 0 |
| unsigned char NumOfSats; //27 |
| unsigned char SatFix; //28 |
| unsigned char HomeDirection; // 29 |
| unsigned char AngleX; // 30 |
| unsigned char AngleY; // 31 |
| unsigned char AngleZ; // 32 |
| signed int GyroX; //33+34 |
| signed int GyroY; //35+36 |
| signed int GyroZ; //37+38 |
| unsigned char Vibration; // 39 |
| char FreeCharacters[3]; // 40-42 |
| unsigned char Version; // 43 |
| unsigned char EndByte; // 0x7D |
| } GPSPacket_t; |
| typedef struct |
| { |
| unsigned char StartByte; // 0x7B |
| unsigned char Packet_ID; // |
| unsigned char WarnBeep; // Anzahl der Töne 0..36 |
| char Text[8*21]; |
| unsigned char EndByte; // 0x7D |
| } ASCIIPacket_t; |
| extern GPSPacket_t GPSPacket; |
| extern VarioPacket_t VarioPacket; |
| extern ASCIIPacket_t ASCIIPacket; |
| extern ElectricAirPacket_t ElectricAirPacket; |
| extern HoTTGeneral_t HoTTGeneral; |
| #define HOTT_VARIO_PACKET_ID 0x89 |
| #define HOTT_GPS_PACKET_ID 0x8A |
| #define HOTT_ELECTRIC_AIR_PACKET_ID 0x8E |
| #define HOTT_GENERAL_PACKET_ID 0x8D |
| #endif |
| #endif |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/hottmenu.lst |
|---|
| 0,0 → 1,4096 |
| 1 .file "hottmenu.c" |
| 2 .arch atmega1284p |
| 3 __SREG__ = 0x3f |
| 4 __SP_H__ = 0x3e |
| 5 __SP_L__ = 0x3d |
| 6 __tmp_reg__ = 0 |
| 7 __zero_reg__ = 1 |
| 8 .global __do_copy_data |
| 9 .global __do_clear_bss |
| 10 .global HottestBl |
| 11 .global HottestBl |
| 12 .section .bss |
| 15 HottestBl: |
| 16 0000 00 .skip 1,0 |
| 17 .global MinBlTempertaure |
| 18 .global MinBlTempertaure |
| 21 MinBlTempertaure: |
| 22 0001 00 .skip 1,0 |
| 23 .global MaxBlTempertaure |
| 24 .global MaxBlTempertaure |
| 27 MaxBlTempertaure: |
| 28 0002 00 .skip 1,0 |
| 29 .global HOTT_ERROR |
| 30 .section .progmem.data,"a",@progbits |
| 33 HOTT_ERROR: |
| 34 0000 00 .byte 0 |
| 35 0001 00 .byte 0 |
| 36 0002 05 .byte 5 |
| 37 0003 00 .byte 0 |
| 38 0004 05 .byte 5 |
| 39 0005 00 .byte 0 |
| 40 0006 04 .byte 4 |
| 41 0007 01 .byte 1 |
| 42 0008 06 .byte 6 |
| 43 0009 01 .byte 1 |
| 44 000a 08 .byte 8 |
| 45 000b 00 .byte 0 |
| 46 000c 06 .byte 6 |
| 47 000d 01 .byte 1 |
| 48 000e 02 .byte 2 |
| 49 000f 00 .byte 0 |
| 50 0010 04 .byte 4 |
| 51 0011 00 .byte 0 |
| 52 0012 04 .byte 4 |
| 53 0013 00 .byte 0 |
| 54 0014 07 .byte 7 |
| 55 0015 00 .byte 0 |
| 56 0016 07 .byte 7 |
| 57 0017 00 .byte 0 |
| 58 0018 07 .byte 7 |
| 59 0019 00 .byte 0 |
| 60 001a 07 .byte 7 |
| 61 001b 00 .byte 0 |
| 62 001c 07 .byte 7 |
| 63 001d 00 .byte 0 |
| 64 001e 07 .byte 7 |
| 65 001f 00 .byte 0 |
| 66 0020 07 .byte 7 |
| 67 0021 00 .byte 0 |
| 68 0022 03 .byte 3 |
| 69 0023 01 .byte 1 |
| 70 0024 03 .byte 3 |
| 71 0025 01 .byte 1 |
| 72 0026 05 .byte 5 |
| 73 0027 00 .byte 0 |
| 74 0028 17 .byte 23 |
| 75 0029 01 .byte 1 |
| 76 002a 0F .byte 15 |
| 77 002b 01 .byte 1 |
| 78 002c 06 .byte 6 |
| 79 002d 00 .byte 0 |
| 80 002e 09 .byte 9 |
| 81 002f 01 .byte 1 |
| 82 0030 0A .byte 10 |
| 83 0031 01 .byte 1 |
| 84 0032 19 .byte 25 |
| 85 0033 01 .byte 1 |
| 86 0034 05 .byte 5 |
| 87 0035 01 .byte 1 |
| 88 0036 05 .byte 5 |
| 89 0037 01 .byte 1 |
| 90 0038 19 .byte 25 |
| 91 0039 01 .byte 1 |
| 92 003a 1A .byte 26 |
| 93 003b 01 .byte 1 |
| 94 003c 0F .byte 15 |
| 95 003d 01 .byte 1 |
| 96 003e 0000 .skip 2,0 |
| 97 .global NC_ERROR_TEXT |
| 100 NC_ERROR_TEXT: |
| 101 0040 4E6F 2045 .string "No Error " |
| 101 7272 6F72 |
| 101 2020 2020 |
| 101 2020 2020 |
| 101 00 |
| 102 0051 4E6F 7420 .string "Not compatible " |
| 102 636F 6D70 |
| 102 6174 6962 |
| 102 6C65 2020 |
| 102 00 |
| 103 0062 4D4B 334D .string "MK3Mag not compa" |
| 103 6167 206E |
| 103 6F74 2063 |
| 103 6F6D 7061 |
| 103 00 |
| 104 0073 4E6F 2046 .string "No FC communicat" |
| 104 4320 636F |
| 104 6D6D 756E |
| 104 6963 6174 |
| 104 00 |
| 105 0084 436F 6D70 .string "Compass communic" |
| 105 6173 7320 |
| 105 636F 6D6D |
| 105 756E 6963 |
| 105 00 |
| 106 0095 4750 5320 .string "GPS communicatio" |
| 106 636F 6D6D |
| 106 756E 6963 |
| 106 6174 696F |
| 106 00 |
| 107 00a6 636F 6D70 .string "compass value " |
| 107 6173 7320 |
| 107 7661 6C75 |
| 107 6520 2020 |
| 107 00 |
| 108 00b7 5243 2053 .string "RC Signal lost " |
| 108 6967 6E61 |
| 108 6C20 6C6F |
| 108 7374 2020 |
| 108 00 |
| 109 00c8 4643 2073 .string "FC spi rx error " |
| 109 7069 2072 |
| 109 7820 6572 |
| 109 726F 7220 |
| 109 00 |
| 110 00d9 4E6F 204E .string "No NC communicat" |
| 110 4320 636F |
| 110 6D6D 756E |
| 110 6963 6174 |
| 110 00 |
| 111 00ea 4643 204E .string "FC Nick Gyro " |
| 111 6963 6B20 |
| 111 4779 726F |
| 111 2020 2020 |
| 111 00 |
| 112 00fb 4643 2052 .string "FC Roll Gyro " |
| 112 6F6C 6C20 |
| 112 4779 726F |
| 112 2020 2020 |
| 112 00 |
| 113 010c 4643 2059 .string "FC Yaw Gyro " |
| 113 6177 2047 |
| 113 7972 6F20 |
| 113 2020 2020 |
| 113 00 |
| 114 011d 4643 204E .string "FC Nick ACC " |
| 114 6963 6B20 |
| 114 4143 4320 |
| 114 2020 2020 |
| 114 00 |
| 115 012e 4643 2052 .string "FC Roll ACC " |
| 115 6F6C 6C20 |
| 115 4143 4320 |
| 115 2020 2020 |
| 115 00 |
| 116 013f 4643 205A .string "FC Z-ACC " |
| 116 2D41 4343 |
| 116 2020 2020 |
| 116 2020 2020 |
| 116 00 |
| 117 0150 5072 6573 .string "Pressure sensor " |
| 117 7375 7265 |
| 117 2073 656E |
| 117 736F 7220 |
| 117 00 |
| 118 0161 4932 4320 .string "I2C FC->BL-Ctrl " |
| 118 4643 2D3E |
| 118 424C 2D43 |
| 118 7472 6C20 |
| 118 00 |
| 119 0172 426C 204D .string "Bl Missing " |
| 119 6973 7369 |
| 119 6E67 2020 |
| 119 2020 2020 |
| 119 00 |
| 120 0183 4D69 7865 .string "Mixer Error " |
| 120 7220 4572 |
| 120 726F 7220 |
| 120 2020 2020 |
| 120 00 |
| 121 0194 4361 7265 .string "Carefree Error " |
| 121 6672 6565 |
| 121 2045 7272 |
| 121 6F72 2020 |
| 121 00 |
| 122 01a5 4750 5320 .string "GPS Fix lost " |
| 122 4669 7820 |
| 122 6C6F 7374 |
| 122 2020 2020 |
| 122 00 |
| 123 01b6 4D61 676E .string "Magnet Error " |
| 123 6574 2045 |
| 123 7272 6F72 |
| 123 2020 2020 |
| 123 00 |
| 124 01c7 4D6F 746F .string "Motor restart " |
| 124 7220 7265 |
| 124 7374 6172 |
| 124 7420 2020 |
| 124 00 |
| 125 01d8 424C 204C .string "BL Limitation " |
| 125 696D 6974 |
| 125 6174 696F |
| 125 6E20 2020 |
| 125 00 |
| 126 01e9 4750 5320 .string "GPS Range " |
| 126 5261 6E67 |
| 126 6520 2020 |
| 126 2020 2020 |
| 126 00 |
| 127 01fa 4E6F 2053 .string "No SD-Card " |
| 127 442D 4361 |
| 127 7264 2020 |
| 127 2020 2020 |
| 127 00 |
| 128 020b 5344 2D4C .string "SD-Logging error" |
| 128 6F67 6769 |
| 128 6E67 2065 |
| 128 7272 6F72 |
| 128 00 |
| 129 021c 466C 7969 .string "Flying range! " |
| 129 6E67 2072 |
| 129 616E 6765 |
| 129 2120 2020 |
| 129 00 |
| 130 022d 4D61 7820 .string "Max Altitude! " |
| 130 416C 7469 |
| 130 7475 6465 |
| 130 2120 2020 |
| 130 00 |
| 131 023e 4E6F 2047 .string "No GPS fix " |
| 131 5053 2066 |
| 131 6978 2020 |
| 131 2020 2020 |
| 131 00 |
| 132 024f 636F 6D70 .string "compass not cal." |
| 132 6173 7320 |
| 132 6E6F 7420 |
| 132 6361 6C2E |
| 132 00 |
| 133 .global UNDERVOLTAGE |
| 136 UNDERVOLTAGE: |
| 137 0260 2021 2120 .string " !! LiPo voltage !! " |
| 137 4C69 506F |
| 137 2076 6F6C |
| 137 7461 6765 |
| 137 2021 2120 |
| 138 .global MIKROKOPTER |
| 141 MIKROKOPTER: |
| 142 0276 2020 2020 .string " MikroKopter " |
| 142 204D 696B |
| 142 726F 4B6F |
| 142 7074 6572 |
| 142 2020 2020 |
| 143 .global HoTTVarioMeter |
| 144 .global HoTTVarioMeter |
| 145 .section .bss |
| 148 HoTTVarioMeter: |
| 149 0003 0000 .skip 2,0 |
| 150 .global ToNC_SpeakHoTT |
| 151 .global ToNC_SpeakHoTT |
| 154 ToNC_SpeakHoTT: |
| 155 0005 00 .skip 1,0 |
| 156 .global SpeakHoTT |
| 157 .data |
| 160 SpeakHoTT: |
| 161 0000 15 .byte 21 |
| 162 .global NaviData_TargetDistance |
| 163 .global NaviData_TargetDistance |
| 164 .section .bss |
| 167 NaviData_TargetDistance: |
| 168 0006 0000 .skip 2,0 |
| 169 .global NaviData_TargetHoldTime |
| 170 .global NaviData_TargetHoldTime |
| 173 NaviData_TargetHoldTime: |
| 174 0008 00 .skip 1,0 |
| 175 .global NaviData_WaypointNumber |
| 176 .global NaviData_WaypointNumber |
| 179 NaviData_WaypointNumber: |
| 180 0009 00 .skip 1,0 |
| 181 .global NaviData_WaypointIndex |
| 182 .global NaviData_WaypointIndex |
| 185 NaviData_WaypointIndex: |
| 186 000a 00 .skip 1,0 |
| 187 .lcomm search.98,1 |
| 188 .lcomm tmp_max.99,1 |
| 189 .lcomm tmp_min.100,1 |
| 190 .lcomm who.101,1 |
| 191 .text |
| 192 .global GetHottestBl |
| 194 GetHottestBl: |
| 195 /* prologue: frame size=0 */ |
| 196 /* prologue end (size=0) */ |
| 197 0000 3091 0000 lds r19,search.98 |
| 198 0004 E32F mov r30,r19 |
| 199 0006 FF27 clr r31 |
| 200 0008 83E0 ldi r24,3 |
| 201 000a EE0F 1: lsl r30 |
| 202 000c FF1F rol r31 |
| 203 000e 8A95 dec r24 |
| 204 0010 01F4 brne 1b |
| 205 0012 E050 subi r30,lo8(-(Motor)) |
| 206 0014 F040 sbci r31,hi8(-(Motor)) |
| 207 0016 2781 ldd r18,Z+7 |
| 208 0018 422F mov r20,r18 |
| 209 001a 5527 clr r21 |
| 210 001c 47FD sbrc r20,7 |
| 211 001e 5095 com r21 |
| 212 0020 8091 0000 lds r24,tmp_max.99 |
| 213 0024 9927 clr r25 |
| 214 0026 8417 cp r24,r20 |
| 215 0028 9507 cpc r25,r21 |
| 216 002a 04F4 brge .L2 |
| 217 002c 2093 0000 sts tmp_max.99,r18 |
| 218 0030 3093 0000 sts who.101,r19 |
| 219 0034 00C0 rjmp .L3 |
| 220 .L2: |
| 221 0036 2223 tst r18 |
| 222 0038 01F0 breq .L3 |
| 223 003a 8091 0000 lds r24,tmp_min.100 |
| 224 003e 9927 clr r25 |
| 225 0040 4817 cp r20,r24 |
| 226 0042 5907 cpc r21,r25 |
| 227 0044 04F4 brge .L3 |
| 228 0046 2093 0000 sts tmp_min.100,r18 |
| 229 .L3: |
| 230 004a 832F mov r24,r19 |
| 231 004c 8F5F subi r24,lo8(-(1)) |
| 232 004e 8093 0000 sts search.98,r24 |
| 233 0052 8D30 cpi r24,lo8(13) |
| 234 0054 00F0 brlo .L1 |
| 235 0056 1092 0000 sts search.98,__zero_reg__ |
| 236 005a 8091 0000 lds r24,tmp_min.100 |
| 237 005e 8F3F cpi r24,lo8(-1) |
| 238 0060 01F0 breq .L7 |
| 239 0062 8093 0000 sts MinBlTempertaure,r24 |
| 240 0066 00C0 rjmp .L8 |
| 241 .L7: |
| 242 0068 1092 0000 sts MinBlTempertaure,__zero_reg__ |
| 243 .L8: |
| 244 006c 8091 0000 lds r24,tmp_max.99 |
| 245 0070 8093 0000 sts MaxBlTempertaure,r24 |
| 246 0074 8091 0000 lds r24,who.101 |
| 247 0078 8093 0000 sts HottestBl,r24 |
| 248 007c 8FEF ldi r24,lo8(-1) |
| 249 007e 8093 0000 sts tmp_min.100,r24 |
| 250 0082 1092 0000 sts tmp_max.99,__zero_reg__ |
| 251 0086 1092 0000 sts who.101,__zero_reg__ |
| 252 .L1: |
| 253 008a 0895 ret |
| 254 /* epilogue: frame size=0 */ |
| 255 /* epilogue: noreturn */ |
| 256 /* epilogue end (size=0) */ |
| 257 /* function GetHottestBl size 70 (70) */ |
| 259 .section .progmem.data |
| 262 __c.97: |
| 263 028c 2020 2020 .string " " |
| 263 2020 2020 |
| 263 2020 2020 |
| 263 2020 2020 |
| 263 2020 2020 |
| 264 .text |
| 265 .global Hott_ClearLine |
| 267 Hott_ClearLine: |
| 268 /* prologue: frame size=0 */ |
| 269 /* prologue end (size=0) */ |
| 270 008c 95E1 ldi r25,lo8(21) |
| 271 008e 899F mul r24,r25 |
| 272 0090 802D mov r24,r0 |
| 273 0092 1124 clr r1 |
| 274 0094 0E94 0000 call LIBFC_HoTT_SetPos |
| 275 0098 80E0 ldi r24,lo8(__c.97) |
| 276 009a 90E0 ldi r25,hi8(__c.97) |
| 277 009c 9F93 push r25 |
| 278 009e 8F93 push r24 |
| 279 00a0 80E0 ldi r24,lo8(pm(LIBFC_HoTT_Putchar)) |
| 280 00a2 90E0 ldi r25,hi8(pm(LIBFC_HoTT_Putchar)) |
| 281 00a4 9F93 push r25 |
| 282 00a6 8F93 push r24 |
| 283 00a8 E091 0000 lds r30,_printf_P |
| 284 00ac F091 0000 lds r31,(_printf_P)+1 |
| 285 00b0 0995 icall |
| 286 00b2 0F90 pop __tmp_reg__ |
| 287 00b4 0F90 pop __tmp_reg__ |
| 288 00b6 0F90 pop __tmp_reg__ |
| 289 00b8 0F90 pop __tmp_reg__ |
| 290 /* epilogue: frame size=0 */ |
| 291 00ba 0895 ret |
| 292 /* epilogue end (size=1) */ |
| 293 /* function Hott_ClearLine size 24 (23) */ |
| 295 .lcomm old_status.95,1 |
| 296 .lcomm repeat.96,2 |
| 297 .global HoTT_Waring |
| 299 HoTT_Waring: |
| 300 /* prologue: frame size=0 */ |
| 301 00bc CF93 push r28 |
| 302 /* prologue end (size=1) */ |
| 303 00be C0E0 ldi r28,lo8(0) |
| 304 00c0 2091 0000 lds r18,SpeakHoTT |
| 305 00c4 2093 0000 sts ToNC_SpeakHoTT,r18 |
| 306 00c8 8091 0000 lds r24,FC_StatusFlags |
| 307 00cc 85FF sbrs r24,5 |
| 308 00ce 00C0 rjmp .L11 |
| 309 00d0 C0E1 ldi r28,lo8(16) |
| 310 00d2 00C0 rjmp .L16 |
| 311 .L11: |
| 312 00d4 9091 0000 lds r25,NC_ErrorCode |
| 313 00d8 9923 tst r25 |
| 314 00da 01F0 breq .L25 |
| 315 00dc 8091 0000 lds r24,MotorenEin |
| 316 00e0 8823 tst r24 |
| 317 00e2 01F4 brne .L15 |
| 318 00e4 E92F mov r30,r25 |
| 319 00e6 FF27 clr r31 |
| 320 00e8 EE0F add r30,r30 |
| 321 00ea FF1F adc r31,r31 |
| 322 00ec E050 subi r30,lo8(-(HOTT_ERROR+1)) |
| 323 00ee F040 sbci r31,hi8(-(HOTT_ERROR+1)) |
| 324 /* #APP */ |
| 325 00f0 8491 lpm r24, Z |
| 326 |
| 327 /* #NOAPP */ |
| 328 00f2 8823 tst r24 |
| 329 00f4 01F4 brne .L25 |
| 330 .L15: |
| 331 00f6 E92F mov r30,r25 |
| 332 00f8 FF27 clr r31 |
| 333 00fa EE0F add r30,r30 |
| 334 00fc FF1F adc r31,r31 |
| 335 00fe E050 subi r30,lo8(-(HOTT_ERROR)) |
| 336 0100 F040 sbci r31,hi8(-(HOTT_ERROR)) |
| 337 /* #APP */ |
| 338 0102 C491 lpm r28, Z |
| 339 |
| 340 /* #NOAPP */ |
| 341 0104 CC23 tst r28 |
| 342 0106 01F4 brne .L16 |
| 343 .L25: |
| 344 0108 8091 0000 lds r24,EE_Parameter+111 |
| 345 010c 86FD sbrc r24,6 |
| 346 010e 00C0 rjmp .L17 |
| 347 0110 1092 0000 sts SpeakHoTT,__zero_reg__ |
| 348 0114 00C0 rjmp .L19 |
| 349 .L17: |
| 350 0116 C22F mov r28,r18 |
| 351 0118 00C0 rjmp .L19 |
| 352 .L16: |
| 353 011a C093 0000 sts ToNC_SpeakHoTT,r28 |
| 354 .L19: |
| 355 011e 8091 0000 lds r24,old_status.95 |
| 356 0122 8C17 cp r24,r28 |
| 357 0124 01F4 brne .L20 |
| 358 0126 8091 0000 lds r24,repeat.96 |
| 359 012a 9091 0000 lds r25,(repeat.96)+1 |
| 360 012e 0E94 0000 call CheckDelay |
| 361 0132 8823 tst r24 |
| 362 0134 01F4 brne .L21 |
| 363 0136 80E0 ldi r24,lo8(0) |
| 364 0138 90E0 ldi r25,hi8(0) |
| 365 013a 00C0 rjmp .L10 |
| 366 .L21: |
| 367 013c 88E8 ldi r24,lo8(5000) |
| 368 013e 93E1 ldi r25,hi8(5000) |
| 369 0140 00C0 rjmp .L26 |
| 370 .L20: |
| 371 0142 80ED ldi r24,lo8(2000) |
| 372 0144 97E0 ldi r25,hi8(2000) |
| 373 .L26: |
| 374 0146 0E94 0000 call SetDelay |
| 375 014a 9093 0000 sts (repeat.96)+1,r25 |
| 376 014e 8093 0000 sts repeat.96,r24 |
| 377 0152 CC23 tst r28 |
| 378 0154 01F0 breq .L23 |
| 379 0156 8091 0000 lds r24,SpeakHoTT |
| 380 015a C817 cp r28,r24 |
| 381 015c 01F4 brne .L23 |
| 382 015e 1092 0000 sts SpeakHoTT,__zero_reg__ |
| 383 .L23: |
| 384 0162 C093 0000 sts old_status.95,r28 |
| 385 0166 8C2F mov r24,r28 |
| 386 0168 9927 clr r25 |
| 387 .L10: |
| 388 /* epilogue: frame size=0 */ |
| 389 016a CF91 pop r28 |
| 390 016c 0895 ret |
| 391 /* epilogue end (size=2) */ |
| 392 /* function HoTT_Waring size 95 (92) */ |
| 394 .global NC_Fills_HoTT_Telemety |
| 396 NC_Fills_HoTT_Telemety: |
| 397 /* prologue: frame size=0 */ |
| 398 /* prologue end (size=0) */ |
| 399 016e 40E0 ldi r20,lo8(0) |
| 400 0170 50E0 ldi r21,hi8(0) |
| 401 0172 30E0 ldi r19,lo8(0) |
| 402 0174 8091 0000 lds r24,FromNaviCtrl+30 |
| 403 0178 9927 clr r25 |
| 404 017a 8A38 cpi r24,138 |
| 405 017c 9105 cpc r25,__zero_reg__ |
| 406 017e 01F0 breq .L30 |
| 407 0180 8B38 cpi r24,139 |
| 408 0182 9105 cpc r25,__zero_reg__ |
| 409 0184 04F4 brge .L33 |
| 410 0186 8938 cpi r24,137 |
| 411 0188 9105 cpc r25,__zero_reg__ |
| 412 018a 01F0 breq .L29 |
| 413 018c 00C0 rjmp .L28 |
| 414 .L33: |
| 415 018e 8D38 cpi r24,141 |
| 416 0190 9105 cpc r25,__zero_reg__ |
| 417 0192 01F0 breq .L32 |
| 418 0194 8E38 cpi r24,142 |
| 419 0196 9105 cpc r25,__zero_reg__ |
| 420 0198 01F0 breq .L31 |
| 421 019a 00C0 rjmp .L28 |
| 422 .L29: |
| 423 019c 40E0 ldi r20,lo8(VarioPacket) |
| 424 019e 50E0 ldi r21,hi8(VarioPacket) |
| 425 01a0 00C0 rjmp .L40 |
| 426 .L30: |
| 427 01a2 40E0 ldi r20,lo8(GPSPacket) |
| 428 01a4 50E0 ldi r21,hi8(GPSPacket) |
| 429 01a6 00C0 rjmp .L40 |
| 430 .L31: |
| 431 01a8 40E0 ldi r20,lo8(ElectricAirPacket) |
| 432 01aa 50E0 ldi r21,hi8(ElectricAirPacket) |
| 433 01ac 00C0 rjmp .L40 |
| 434 .L32: |
| 435 01ae 40E0 ldi r20,lo8(HoTTGeneral) |
| 436 01b0 50E0 ldi r21,hi8(HoTTGeneral) |
| 437 .L40: |
| 438 01b2 3CE2 ldi r19,lo8(44) |
| 439 .L28: |
| 440 01b4 9091 0000 lds r25,FromNaviCtrl+19 |
| 441 01b8 20E0 ldi r18,lo8(0) |
| 442 .L41: |
| 443 01ba 8091 0000 lds r24,FromNaviCtrl+20 |
| 444 01be 2817 cp r18,r24 |
| 445 01c0 00F4 brsh .L35 |
| 446 01c2 9317 cp r25,r19 |
| 447 01c4 00F4 brsh .L35 |
| 448 01c6 DA01 movw r26,r20 |
| 449 01c8 A90F add r26,r25 |
| 450 01ca B11D adc r27,__zero_reg__ |
| 451 01cc E22F mov r30,r18 |
| 452 01ce FF27 clr r31 |
| 453 01d0 E050 subi r30,lo8(-(FromNaviCtrl)) |
| 454 01d2 F040 sbci r31,hi8(-(FromNaviCtrl)) |
| 455 01d4 8589 ldd r24,Z+21 |
| 456 01d6 8C93 st X,r24 |
| 457 01d8 9F5F subi r25,lo8(-(1)) |
| 458 01da 2F5F subi r18,lo8(-(1)) |
| 459 01dc 00C0 rjmp .L41 |
| 460 .L35: |
| 461 01de 0895 ret |
| 462 /* epilogue: frame size=0 */ |
| 463 /* epilogue: noreturn */ |
| 464 /* epilogue end (size=0) */ |
| 465 /* function NC_Fills_HoTT_Telemety size 57 (57) */ |
| 467 .global BuildHoTT_Vario |
| 469 BuildHoTT_Vario: |
| 470 /* prologue: frame size=0 */ |
| 471 /* prologue end (size=0) */ |
| 472 01e0 20E3 ldi r18,lo8(30000) |
| 473 01e2 35E7 ldi r19,hi8(30000) |
| 474 01e4 8091 0000 lds r24,VarioCharacter |
| 475 01e8 8B32 cpi r24,lo8(43) |
| 476 01ea 01F0 breq .L44 |
| 477 01ec 8D32 cpi r24,lo8(45) |
| 478 01ee 01F4 brne .L43 |
| 479 .L44: |
| 480 01f0 8091 0000 lds r24,EE_Parameter+18 |
| 481 01f4 282F mov r18,r24 |
| 482 01f6 3327 clr r19 |
| 483 01f8 8091 0000 lds r24,AltitudeSetpointTrimming |
| 484 01fc 9091 0000 lds r25,(AltitudeSetpointTrimming)+1 |
| 485 0200 829F mul r24,r18 |
| 486 0202 A001 movw r20,r0 |
| 487 0204 839F mul r24,r19 |
| 488 0206 500D add r21,r0 |
| 489 0208 929F mul r25,r18 |
| 490 020a 500D add r21,r0 |
| 491 020c 1124 clr r1 |
| 492 020e CA01 movw r24,r20 |
| 493 0210 63E0 ldi r22,lo8(3) |
| 494 0212 70E0 ldi r23,hi8(3) |
| 495 0214 0E94 0000 call __divmodhi4 |
| 496 0218 CB01 movw r24,r22 |
| 497 021a 9B01 movw r18,r22 |
| 498 021c 205D subi r18,lo8(-(30000)) |
| 499 021e 3A48 sbci r19,hi8(-(30000)) |
| 500 0220 C196 adiw r24,49 |
| 501 0222 C197 sbiw r24,49 |
| 502 0224 00F0 brlo .+2 |
| 503 0226 00C0 rjmp .L46 |
| 504 0228 2EEF ldi r18,lo8(29950) |
| 505 022a 34E7 ldi r19,hi8(29950) |
| 506 022c 00C0 rjmp .L46 |
| 507 .L43: |
| 508 022e 8032 cpi r24,lo8(32) |
| 509 0230 01F4 brne .L47 |
| 510 0232 8091 0000 lds r24,FC_StatusFlags |
| 511 0236 81FF sbrs r24,1 |
| 512 0238 00C0 rjmp .L46 |
| 513 023a 2091 0000 lds r18,HoTTVarioMeter |
| 514 023e 3091 0000 lds r19,(HoTTVarioMeter)+1 |
| 515 0242 205D subi r18,lo8(-(30000)) |
| 516 0244 3A48 sbci r19,hi8(-(30000)) |
| 517 0246 55E7 ldi r21,hi8(30001) |
| 518 0248 2133 cpi r18,lo8(30001) |
| 519 024a 3507 cpc r19,r21 |
| 520 024c 00F0 brlo .L48 |
| 521 024e 85E7 ldi r24,hi8(30100) |
| 522 0250 2439 cpi r18,lo8(30100) |
| 523 0252 3807 cpc r19,r24 |
| 524 0254 00F4 brsh .L49 |
| 525 0256 20E3 ldi r18,lo8(30000) |
| 526 0258 35E7 ldi r19,hi8(30000) |
| 527 025a 00C0 rjmp .L48 |
| 528 .L49: |
| 529 025c 2456 subi r18,lo8(-(-100)) |
| 530 025e 3040 sbci r19,hi8(-(-100)) |
| 531 .L48: |
| 532 0260 45E7 ldi r20,hi8(30000) |
| 533 0262 2033 cpi r18,lo8(30000) |
| 534 0264 3407 cpc r19,r20 |
| 535 0266 00F4 brsh .L46 |
| 536 0268 54E7 ldi r21,hi8(29901) |
| 537 026a 2D3C cpi r18,lo8(29901) |
| 538 026c 3507 cpc r19,r21 |
| 539 026e 00F0 brlo .L52 |
| 540 0270 20E3 ldi r18,lo8(30000) |
| 541 0272 35E7 ldi r19,hi8(30000) |
| 542 0274 00C0 rjmp .L46 |
| 543 .L52: |
| 544 0276 2C59 subi r18,lo8(-(100)) |
| 545 0278 3F4F sbci r19,hi8(-(100)) |
| 546 027a 00C0 rjmp .L46 |
| 547 .L47: |
| 548 027c 8E35 cpi r24,lo8(94) |
| 549 027e 01F4 brne .L55 |
| 550 0280 9091 0000 lds r25,FromNC_AltitudeSpeed |
| 551 0284 8AE0 ldi r24,lo8(10) |
| 552 0286 989F mul r25,r24 |
| 553 0288 9001 movw r18,r0 |
| 554 028a 1124 clr r1 |
| 555 028c 205D subi r18,lo8(-(30000)) |
| 556 028e 3A48 sbci r19,hi8(-(30000)) |
| 557 0290 00C0 rjmp .L46 |
| 558 .L55: |
| 559 0292 8637 cpi r24,lo8(118) |
| 560 0294 01F4 brne .L46 |
| 561 0296 9091 0000 lds r25,FromNC_AltitudeSpeed |
| 562 029a 8AE0 ldi r24,lo8(10) |
| 563 029c 989F mul r25,r24 |
| 564 029e C001 movw r24,r0 |
| 565 02a0 1124 clr r1 |
| 566 02a2 281B sub r18,r24 |
| 567 02a4 390B sbc r19,r25 |
| 568 .L46: |
| 569 02a6 C901 movw r24,r18 |
| 570 /* epilogue: frame size=0 */ |
| 571 02a8 0895 ret |
| 572 /* epilogue end (size=1) */ |
| 573 /* function BuildHoTT_Vario size 101 (100) */ |
| 575 .global HoTT_Telemety |
| 577 HoTT_Telemety: |
| 578 /* prologue: frame size=0 */ |
| 579 02aa EF92 push r14 |
| 580 02ac FF92 push r15 |
| 581 02ae 0F93 push r16 |
| 582 02b0 1F93 push r17 |
| 583 /* prologue end (size=4) */ |
| 584 02b2 9927 clr r25 |
| 585 02b4 8A38 cpi r24,138 |
| 586 02b6 9105 cpc r25,__zero_reg__ |
| 587 02b8 01F4 brne .+2 |
| 588 02ba 00C0 rjmp .L89 |
| 589 02bc 8B38 cpi r24,139 |
| 590 02be 9105 cpc r25,__zero_reg__ |
| 591 02c0 04F4 brge .L105 |
| 592 02c2 8938 cpi r24,137 |
| 593 02c4 9105 cpc r25,__zero_reg__ |
| 594 02c6 01F0 breq .L60 |
| 595 02c8 00C0 rjmp .L104 |
| 596 .L105: |
| 597 02ca 8D38 cpi r24,141 |
| 598 02cc 9105 cpc r25,__zero_reg__ |
| 599 02ce 01F4 brne .+2 |
| 600 02d0 00C0 rjmp .L98 |
| 601 02d2 8E38 cpi r24,142 |
| 602 02d4 9105 cpc r25,__zero_reg__ |
| 603 02d6 01F4 brne .+2 |
| 604 02d8 00C0 rjmp .L95 |
| 605 02da 00C0 rjmp .L104 |
| 606 .L60: |
| 607 02dc 8091 0000 lds r24,HoehenWert |
| 608 02e0 9091 0000 lds r25,(HoehenWert)+1 |
| 609 02e4 A091 0000 lds r26,(HoehenWert)+2 |
| 610 02e8 B091 0000 lds r27,(HoehenWert)+3 |
| 611 02ec BC01 movw r22,r24 |
| 612 02ee CD01 movw r24,r26 |
| 613 02f0 24E6 ldi r18,lo8(100) |
| 614 02f2 30E0 ldi r19,hi8(100) |
| 615 02f4 40E0 ldi r20,hlo8(100) |
| 616 02f6 50E0 ldi r21,hhi8(100) |
| 617 02f8 0E94 0000 call __divmodsi4 |
| 618 02fc DA01 movw r26,r20 |
| 619 02fe C901 movw r24,r18 |
| 620 0300 8C50 subi r24,lo8(-(500)) |
| 621 0302 9E4F sbci r25,hi8(-(500)) |
| 622 0304 9093 0000 sts (VarioPacket+5)+1,r25 |
| 623 0308 8093 0000 sts VarioPacket+5,r24 |
| 624 030c 0E94 0000 call BuildHoTT_Vario |
| 625 0310 9093 0000 sts (VarioPacket+11)+1,r25 |
| 626 0314 8093 0000 sts VarioPacket+11,r24 |
| 627 0318 9093 0000 sts (VarioPacket+13)+1,r25 |
| 628 031c 8093 0000 sts VarioPacket+13,r24 |
| 629 0320 9093 0000 sts (VarioPacket+15)+1,r25 |
| 630 0324 8093 0000 sts VarioPacket+15,r24 |
| 631 0328 2091 0000 lds r18,VarioPacket+5 |
| 632 032c 3091 0000 lds r19,(VarioPacket+5)+1 |
| 633 0330 8091 0000 lds r24,VarioPacket+9 |
| 634 0334 9091 0000 lds r25,(VarioPacket+9)+1 |
| 635 0338 2817 cp r18,r24 |
| 636 033a 3907 cpc r19,r25 |
| 637 033c 04F4 brge .L61 |
| 638 033e 3093 0000 sts (VarioPacket+9)+1,r19 |
| 639 0342 2093 0000 sts VarioPacket+9,r18 |
| 640 .L61: |
| 641 0346 8091 0000 lds r24,VarioPacket+7 |
| 642 034a 9091 0000 lds r25,(VarioPacket+7)+1 |
| 643 034e 8217 cp r24,r18 |
| 644 0350 9307 cpc r25,r19 |
| 645 0352 04F4 brge .L62 |
| 646 0354 3093 0000 sts (VarioPacket+7)+1,r19 |
| 647 0358 2093 0000 sts VarioPacket+7,r18 |
| 648 .L62: |
| 649 035c 1092 0000 sts VarioPacket+2,__zero_reg__ |
| 650 0360 80E0 ldi r24,lo8(VarioPacket) |
| 651 0362 90E0 ldi r25,hi8(VarioPacket) |
| 652 0364 9093 0000 sts (HoTT_DataPointer)+1,r25 |
| 653 0368 8093 0000 sts HoTT_DataPointer,r24 |
| 654 036c 8091 0000 lds r24,VarioCharacter |
| 655 0370 8093 0000 sts VarioPacket+38,r24 |
| 656 0374 8091 0000 lds r24,FC_StatusFlags2 |
| 657 0378 80FF sbrs r24,0 |
| 658 037a 00C0 rjmp .L63 |
| 659 037c 83E4 ldi r24,lo8(67) |
| 660 037e 00C0 rjmp .L111 |
| 661 .L63: |
| 662 0380 80E2 ldi r24,lo8(32) |
| 663 .L111: |
| 664 0382 8093 0000 sts VarioPacket+39,r24 |
| 665 0386 2091 0000 lds r18,NC_ErrorCode |
| 666 038a 2223 tst r18 |
| 667 038c 01F0 breq .L65 |
| 668 038e 822F mov r24,r18 |
| 669 0390 6AE0 ldi r22,lo8(10) |
| 670 0392 0E94 0000 call __udivmodqi4 |
| 671 0396 805D subi r24,lo8(-(48)) |
| 672 0398 8093 0000 sts VarioPacket+17,r24 |
| 673 039c 822F mov r24,r18 |
| 674 039e 0E94 0000 call __udivmodqi4 |
| 675 03a2 892F mov r24,r25 |
| 676 03a4 805D subi r24,lo8(-(48)) |
| 677 03a6 8093 0000 sts VarioPacket+18,r24 |
| 678 03aa 8AE3 ldi r24,lo8(58) |
| 679 03ac 8093 0000 sts VarioPacket+19,r24 |
| 680 03b0 81E1 ldi r24,lo8(17) |
| 681 03b2 289F mul r18,r24 |
| 682 03b4 F001 movw r30,r0 |
| 683 03b6 1124 clr r1 |
| 684 03b8 A0E0 ldi r26,lo8(VarioPacket+20) |
| 685 03ba B0E0 ldi r27,hi8(VarioPacket+20) |
| 686 03bc E050 subi r30,lo8(-(NC_ERROR_TEXT)) |
| 687 03be F040 sbci r31,hi8(-(NC_ERROR_TEXT)) |
| 688 03c0 9FE0 ldi r25,lo8(15) |
| 689 .L69: |
| 690 /* #APP */ |
| 691 03c2 8491 lpm r24, Z |
| 692 |
| 693 /* #NOAPP */ |
| 694 03c4 8D93 st X+,r24 |
| 695 03c6 9150 subi r25,lo8(-(-1)) |
| 696 03c8 3196 adiw r30,1 |
| 697 03ca 97FF sbrs r25,7 |
| 698 03cc 00C0 rjmp .L69 |
| 699 03ce 00C0 rjmp .L113 |
| 700 .L65: |
| 701 03d0 8091 0000 lds r24,FC_StatusFlags |
| 702 03d4 85FF sbrs r24,5 |
| 703 03d6 00C0 rjmp .L71 |
| 704 03d8 A0E0 ldi r26,lo8(VarioPacket+17) |
| 705 03da B0E0 ldi r27,hi8(VarioPacket+17) |
| 706 03dc E0E0 ldi r30,lo8(UNDERVOLTAGE) |
| 707 03de F0E0 ldi r31,hi8(UNDERVOLTAGE) |
| 708 03e0 94E1 ldi r25,lo8(20) |
| 709 .L75: |
| 710 /* #APP */ |
| 711 03e2 8491 lpm r24, Z |
| 712 |
| 713 /* #NOAPP */ |
| 714 03e4 8D93 st X+,r24 |
| 715 03e6 9150 subi r25,lo8(-(-1)) |
| 716 03e8 3196 adiw r30,1 |
| 717 03ea 97FF sbrs r25,7 |
| 718 03ec 00C0 rjmp .L75 |
| 719 03ee 00C0 rjmp .L113 |
| 720 .L71: |
| 721 03f0 3091 0000 lds r19,NaviData_WaypointNumber |
| 722 03f4 3323 tst r19 |
| 723 03f6 01F4 brne .+2 |
| 724 03f8 00C0 rjmp .L77 |
| 725 03fa 87E5 ldi r24,lo8(87) |
| 726 03fc 8093 0000 sts VarioPacket+17,r24 |
| 727 0400 80E5 ldi r24,lo8(80) |
| 728 0402 8093 0000 sts VarioPacket+18,r24 |
| 729 0406 40E2 ldi r20,lo8(32) |
| 730 0408 4093 0000 sts VarioPacket+19,r20 |
| 731 040c 2091 0000 lds r18,NaviData_WaypointIndex |
| 732 0410 822F mov r24,r18 |
| 733 0412 6AE0 ldi r22,lo8(10) |
| 734 0414 0E94 0000 call __udivmodqi4 |
| 735 0418 805D subi r24,lo8(-(48)) |
| 736 041a 8093 0000 sts VarioPacket+20,r24 |
| 737 041e 822F mov r24,r18 |
| 738 0420 0E94 0000 call __udivmodqi4 |
| 739 0424 892F mov r24,r25 |
| 740 0426 805D subi r24,lo8(-(48)) |
| 741 0428 8093 0000 sts VarioPacket+21,r24 |
| 742 042c 8FE2 ldi r24,lo8(47) |
| 743 042e 8093 0000 sts VarioPacket+22,r24 |
| 744 0432 832F mov r24,r19 |
| 745 0434 0E94 0000 call __udivmodqi4 |
| 746 0438 805D subi r24,lo8(-(48)) |
| 747 043a 8093 0000 sts VarioPacket+23,r24 |
| 748 043e 832F mov r24,r19 |
| 749 0440 0E94 0000 call __udivmodqi4 |
| 750 0444 892F mov r24,r25 |
| 751 0446 805D subi r24,lo8(-(48)) |
| 752 0448 8093 0000 sts VarioPacket+24,r24 |
| 753 044c 4093 0000 sts VarioPacket+25,r20 |
| 754 0450 2091 0000 lds r18,NaviData_TargetDistance |
| 755 0454 3091 0000 lds r19,(NaviData_TargetDistance)+1 |
| 756 0458 83E0 ldi r24,hi8(1001) |
| 757 045a 293E cpi r18,lo8(1001) |
| 758 045c 3807 cpc r19,r24 |
| 759 045e 00F0 brlo .L78 |
| 760 0460 C901 movw r24,r18 |
| 761 0462 68EE ldi r22,lo8(1000) |
| 762 0464 73E0 ldi r23,hi8(1000) |
| 763 0466 0E94 0000 call __udivmodhi4 |
| 764 046a CB01 movw r24,r22 |
| 765 046c 805D subi r24,lo8(-(48)) |
| 766 046e 8093 0000 sts VarioPacket+26,r24 |
| 767 0472 C901 movw r24,r18 |
| 768 0474 68EE ldi r22,lo8(1000) |
| 769 0476 73E0 ldi r23,hi8(1000) |
| 770 0478 0E94 0000 call __udivmodhi4 |
| 771 047c 9C01 movw r18,r24 |
| 772 047e 00C0 rjmp .L79 |
| 773 .L78: |
| 774 0480 4093 0000 sts VarioPacket+26,r20 |
| 775 .L79: |
| 776 0484 2536 cpi r18,101 |
| 777 0486 3105 cpc r19,__zero_reg__ |
| 778 0488 00F0 brlo .L80 |
| 779 048a C901 movw r24,r18 |
| 780 048c 64E6 ldi r22,lo8(100) |
| 781 048e 70E0 ldi r23,hi8(100) |
| 782 0490 0E94 0000 call __udivmodhi4 |
| 783 0494 CB01 movw r24,r22 |
| 784 0496 805D subi r24,lo8(-(48)) |
| 785 0498 8093 0000 sts VarioPacket+27,r24 |
| 786 049c C901 movw r24,r18 |
| 787 049e 64E6 ldi r22,lo8(100) |
| 788 04a0 70E0 ldi r23,hi8(100) |
| 789 04a2 0E94 0000 call __udivmodhi4 |
| 790 04a6 9C01 movw r18,r24 |
| 791 04a8 00C0 rjmp .L81 |
| 792 .L80: |
| 793 04aa 80E2 ldi r24,lo8(32) |
| 794 04ac 8093 0000 sts VarioPacket+27,r24 |
| 795 .L81: |
| 796 04b0 C901 movw r24,r18 |
| 797 04b2 6AE0 ldi r22,lo8(10) |
| 798 04b4 70E0 ldi r23,hi8(10) |
| 799 04b6 0E94 0000 call __udivmodhi4 |
| 800 04ba CB01 movw r24,r22 |
| 801 04bc 805D subi r24,lo8(-(48)) |
| 802 04be 8093 0000 sts VarioPacket+28,r24 |
| 803 04c2 C901 movw r24,r18 |
| 804 04c4 6AE0 ldi r22,lo8(10) |
| 805 04c6 70E0 ldi r23,hi8(10) |
| 806 04c8 0E94 0000 call __udivmodhi4 |
| 807 04cc 805D subi r24,lo8(-(48)) |
| 808 04ce 8093 0000 sts VarioPacket+29,r24 |
| 809 04d2 8DE6 ldi r24,lo8(109) |
| 810 04d4 8093 0000 sts VarioPacket+30,r24 |
| 811 04d8 80E2 ldi r24,lo8(32) |
| 812 04da 8093 0000 sts VarioPacket+31,r24 |
| 813 04de 2091 0000 lds r18,NaviData_TargetHoldTime |
| 814 04e2 2536 cpi r18,lo8(101) |
| 815 04e4 00F0 brlo .L82 |
| 816 04e6 822F mov r24,r18 |
| 817 04e8 64E6 ldi r22,lo8(100) |
| 818 04ea 0E94 0000 call __udivmodqi4 |
| 819 04ee 805D subi r24,lo8(-(48)) |
| 820 04f0 8093 0000 sts VarioPacket+32,r24 |
| 821 04f4 822F mov r24,r18 |
| 822 04f6 0E94 0000 call __udivmodqi4 |
| 823 04fa 292F mov r18,r25 |
| 824 04fc 00C0 rjmp .L83 |
| 825 .L82: |
| 826 04fe 8093 0000 sts VarioPacket+32,r24 |
| 827 .L83: |
| 828 0502 822F mov r24,r18 |
| 829 0504 6AE0 ldi r22,lo8(10) |
| 830 0506 0E94 0000 call __udivmodqi4 |
| 831 050a 805D subi r24,lo8(-(48)) |
| 832 050c 8093 0000 sts VarioPacket+33,r24 |
| 833 0510 822F mov r24,r18 |
| 834 0512 0E94 0000 call __udivmodqi4 |
| 835 0516 892F mov r24,r25 |
| 836 0518 805D subi r24,lo8(-(48)) |
| 837 051a 8093 0000 sts VarioPacket+34,r24 |
| 838 051e 83E7 ldi r24,lo8(115) |
| 839 0520 8093 0000 sts VarioPacket+35,r24 |
| 840 0524 80E2 ldi r24,lo8(32) |
| 841 0526 8093 0000 sts VarioPacket+36,r24 |
| 842 052a 00C0 rjmp .L113 |
| 843 .L77: |
| 844 052c A0E0 ldi r26,lo8(VarioPacket+17) |
| 845 052e B0E0 ldi r27,hi8(VarioPacket+17) |
| 846 0530 E0E0 ldi r30,lo8(MIKROKOPTER) |
| 847 0532 F0E0 ldi r31,hi8(MIKROKOPTER) |
| 848 0534 94E1 ldi r25,lo8(20) |
| 849 .L88: |
| 850 /* #APP */ |
| 851 0536 8491 lpm r24, Z |
| 852 |
| 853 /* #NOAPP */ |
| 854 0538 8D93 st X+,r24 |
| 855 053a 9150 subi r25,lo8(-(-1)) |
| 856 053c 3196 adiw r30,1 |
| 857 053e 97FF sbrs r25,7 |
| 858 0540 00C0 rjmp .L88 |
| 859 0542 00C0 rjmp .L113 |
| 860 .L89: |
| 861 0544 8091 0000 lds r24,HoehenWert |
| 862 0548 9091 0000 lds r25,(HoehenWert)+1 |
| 863 054c A091 0000 lds r26,(HoehenWert)+2 |
| 864 0550 B091 0000 lds r27,(HoehenWert)+3 |
| 865 0554 BC01 movw r22,r24 |
| 866 0556 CD01 movw r24,r26 |
| 867 0558 24E6 ldi r18,lo8(100) |
| 868 055a 30E0 ldi r19,hi8(100) |
| 869 055c 40E0 ldi r20,hlo8(100) |
| 870 055e 50E0 ldi r21,hhi8(100) |
| 871 0560 0E94 0000 call __divmodsi4 |
| 872 0564 DA01 movw r26,r20 |
| 873 0566 C901 movw r24,r18 |
| 874 0568 8C50 subi r24,lo8(-(500)) |
| 875 056a 9E4F sbci r25,hi8(-(500)) |
| 876 056c 9093 0000 sts (GPSPacket+21)+1,r25 |
| 877 0570 8093 0000 sts GPSPacket+21,r24 |
| 878 0574 0E94 0000 call BuildHoTT_Vario |
| 879 0578 9093 0000 sts (GPSPacket+23)+1,r25 |
| 880 057c 8093 0000 sts GPSPacket+23,r24 |
| 881 0580 88E7 ldi r24,lo8(120) |
| 882 0582 8093 0000 sts GPSPacket+25,r24 |
| 883 0586 8091 0000 lds r24,GPSInfo+1 |
| 884 058a 8093 0000 sts GPSPacket+26,r24 |
| 885 058e 0E94 0000 call HoTT_Waring |
| 886 0592 8093 0000 sts GPSPacket+2,r24 |
| 887 0596 8091 0000 lds r24,GPSInfo |
| 888 059a 81FF sbrs r24,1 |
| 889 059c 00C0 rjmp .L90 |
| 890 059e 84E4 ldi r24,lo8(68) |
| 891 05a0 00C0 rjmp .L112 |
| 892 .L90: |
| 893 05a2 8091 0000 lds r24,GPSInfo+2 |
| 894 05a6 8330 cpi r24,lo8(3) |
| 895 05a8 01F4 brne .L92 |
| 896 05aa 80E2 ldi r24,lo8(32) |
| 897 05ac 00C0 rjmp .L112 |
| 898 .L92: |
| 899 05ae 81E2 ldi r24,lo8(33) |
| 900 .L112: |
| 901 05b0 8093 0000 sts GPSPacket+27,r24 |
| 902 05b4 80E0 ldi r24,lo8(GPSPacket) |
| 903 05b6 90E0 ldi r25,hi8(GPSPacket) |
| 904 05b8 9093 0000 sts (HoTT_DataPointer)+1,r25 |
| 905 05bc 8093 0000 sts HoTT_DataPointer,r24 |
| 906 05c0 8091 0000 lds r24,NC_GPS_ModeCharacter |
| 907 05c4 8093 0000 sts GPSPacket+39,r24 |
| 908 05c8 8091 0000 lds r24,GPSPacket+27 |
| 909 05cc 8093 0000 sts GPSPacket+41,r24 |
| 910 05d0 8091 0000 lds r24,GPSInfo+6 |
| 911 05d4 9091 0000 lds r25,(GPSInfo+6)+1 |
| 912 05d8 97FD sbrc r25,7 |
| 913 05da 0196 adiw r24,1 |
| 914 .L94: |
| 915 05dc 9595 asr r25 |
| 916 05de 8795 ror r24 |
| 917 05e0 8093 0000 sts GPSPacket+28,r24 |
| 918 05e4 00C0 rjmp .L113 |
| 919 .L95: |
| 920 05e6 0E94 0000 call GetHottestBl |
| 921 05ea 8091 0000 lds r24,HoehenWert |
| 922 05ee 9091 0000 lds r25,(HoehenWert)+1 |
| 923 05f2 A091 0000 lds r26,(HoehenWert)+2 |
| 924 05f6 B091 0000 lds r27,(HoehenWert)+3 |
| 925 05fa BC01 movw r22,r24 |
| 926 05fc CD01 movw r24,r26 |
| 927 05fe 24E6 ldi r18,lo8(100) |
| 928 0600 30E0 ldi r19,hi8(100) |
| 929 0602 40E0 ldi r20,hlo8(100) |
| 930 0604 50E0 ldi r21,hhi8(100) |
| 931 0606 0E94 0000 call __divmodsi4 |
| 932 060a DA01 movw r26,r20 |
| 933 060c C901 movw r24,r18 |
| 934 060e 8C50 subi r24,lo8(-(500)) |
| 935 0610 9E4F sbci r25,hi8(-(500)) |
| 936 0612 9093 0000 sts (ElectricAirPacket+26)+1,r25 |
| 937 0616 8093 0000 sts ElectricAirPacket+26,r24 |
| 938 061a 8091 0000 lds r24,UBat |
| 939 061e 9091 0000 lds r25,(UBat)+1 |
| 940 0622 9093 0000 sts (ElectricAirPacket+20)+1,r25 |
| 941 0626 8093 0000 sts ElectricAirPacket+20,r24 |
| 942 062a 8091 0000 lds r24,UBat |
| 943 062e 9091 0000 lds r25,(UBat)+1 |
| 944 0632 9093 0000 sts (ElectricAirPacket+22)+1,r25 |
| 945 0636 8093 0000 sts ElectricAirPacket+22,r24 |
| 946 063a 8091 0000 lds r24,ErsatzKompassInGrad |
| 947 063e 9091 0000 lds r25,(ErsatzKompassInGrad)+1 |
| 948 0642 97FD sbrc r25,7 |
| 949 0644 0196 adiw r24,1 |
| 950 .L96: |
| 951 0646 9595 asr r25 |
| 952 0648 8795 ror r24 |
| 953 064a 8093 0000 sts ElectricAirPacket+6,r24 |
| 954 064e 8093 0000 sts ElectricAirPacket+13,r24 |
| 955 0652 2091 0000 lds r18,GPSInfo+6 |
| 956 0656 3091 0000 lds r19,(GPSInfo+6)+1 |
| 957 065a 37FF sbrs r19,7 |
| 958 065c 00C0 rjmp .L97 |
| 959 065e 2F5F subi r18,lo8(-(1)) |
| 960 0660 3F4F sbci r19,hi8(-(1)) |
| 961 .L97: |
| 962 0662 3595 asr r19 |
| 963 0664 2795 ror r18 |
| 964 0666 2093 0000 sts ElectricAirPacket+11,r18 |
| 965 066a 8091 0000 lds r24,GPSInfo+4 |
| 966 066e 9091 0000 lds r25,(GPSInfo+4)+1 |
| 967 0672 64E1 ldi r22,lo8(20) |
| 968 0674 70E0 ldi r23,hi8(20) |
| 969 0676 0E94 0000 call __udivmodhi4 |
| 970 067a 6093 0000 sts ElectricAirPacket+12,r22 |
| 971 067e 2093 0000 sts ElectricAirPacket+18,r18 |
| 972 0682 6093 0000 sts ElectricAirPacket+19,r22 |
| 973 0686 0E94 0000 call BuildHoTT_Vario |
| 974 068a 9093 0000 sts (ElectricAirPacket+34)+1,r25 |
| 975 068e 8093 0000 sts ElectricAirPacket+34,r24 |
| 976 0692 88E7 ldi r24,lo8(120) |
| 977 0694 8093 0000 sts ElectricAirPacket+36,r24 |
| 978 0698 8091 0000 lds r24,UBat |
| 979 069c 9091 0000 lds r25,(UBat)+1 |
| 980 06a0 9093 0000 sts (ElectricAirPacket+30)+1,r25 |
| 981 06a4 8093 0000 sts ElectricAirPacket+30,r24 |
| 982 06a8 8091 0000 lds r24,MinBlTempertaure |
| 983 06ac 8C5E subi r24,lo8(-(20)) |
| 984 06ae 8093 0000 sts ElectricAirPacket+24,r24 |
| 985 06b2 8091 0000 lds r24,MaxBlTempertaure |
| 986 06b6 8C5E subi r24,lo8(-(20)) |
| 987 06b8 8093 0000 sts ElectricAirPacket+25,r24 |
| 988 06bc 8091 0000 lds r24,Capacity+4 |
| 989 06c0 9091 0000 lds r25,(Capacity+4)+1 |
| 990 06c4 6AE0 ldi r22,lo8(10) |
| 991 06c6 70E0 ldi r23,hi8(10) |
| 992 06c8 0E94 0000 call __udivmodhi4 |
| 993 06cc 7093 0000 sts (ElectricAirPacket+32)+1,r23 |
| 994 06d0 6093 0000 sts ElectricAirPacket+32,r22 |
| 995 06d4 1092 0000 sts ElectricAirPacket+2,__zero_reg__ |
| 996 06d8 8091 0000 lds r24,Capacity |
| 997 06dc 9091 0000 lds r25,(Capacity)+1 |
| 998 06e0 9093 0000 sts (ElectricAirPacket+28)+1,r25 |
| 999 06e4 8093 0000 sts ElectricAirPacket+28,r24 |
| 1000 06e8 80E0 ldi r24,lo8(ElectricAirPacket) |
| 1001 06ea 90E0 ldi r25,hi8(ElectricAirPacket) |
| 1002 06ec 9093 0000 sts (HoTT_DataPointer)+1,r25 |
| 1003 06f0 8093 0000 sts HoTT_DataPointer,r24 |
| 1004 06f4 2091 0000 lds r18,FlugSekunden |
| 1005 06f8 3091 0000 lds r19,(FlugSekunden)+1 |
| 1006 06fc C901 movw r24,r18 |
| 1007 06fe 6CE3 ldi r22,lo8(60) |
| 1008 0700 70E0 ldi r23,hi8(60) |
| 1009 0702 0E94 0000 call __udivmodhi4 |
| 1010 0706 6093 0000 sts ElectricAirPacket+39,r22 |
| 1011 070a C901 movw r24,r18 |
| 1012 070c 6CE3 ldi r22,lo8(60) |
| 1013 070e 70E0 ldi r23,hi8(60) |
| 1014 0710 0E94 0000 call __udivmodhi4 |
| 1015 0714 8093 0000 sts ElectricAirPacket+40,r24 |
| 1016 0718 00C0 rjmp .L113 |
| 1017 .L98: |
| 1018 071a 0E94 0000 call GetHottestBl |
| 1019 071e 8091 0000 lds r24,GPSInfo+4 |
| 1020 0722 9091 0000 lds r25,(GPSInfo+4)+1 |
| 1021 0726 64E6 ldi r22,lo8(100) |
| 1022 0728 70E0 ldi r23,hi8(100) |
| 1023 072a 0E94 0000 call __udivmodhi4 |
| 1024 072e 7093 0000 sts (HoTTGeneral+21)+1,r23 |
| 1025 0732 6093 0000 sts HoTTGeneral+21,r22 |
| 1026 0736 8091 0000 lds r24,ErsatzKompassInGrad |
| 1027 073a 9091 0000 lds r25,(ErsatzKompassInGrad)+1 |
| 1028 073e 97FD sbrc r25,7 |
| 1029 0740 0196 adiw r24,1 |
| 1030 .L99: |
| 1031 0742 9595 asr r25 |
| 1032 0744 8795 ror r24 |
| 1033 0746 8093 0000 sts HoTTGeneral+6,r24 |
| 1034 074a 8091 0000 lds r24,GPSInfo+6 |
| 1035 074e 9091 0000 lds r25,(GPSInfo+6)+1 |
| 1036 0752 97FD sbrc r25,7 |
| 1037 0754 0196 adiw r24,1 |
| 1038 .L100: |
| 1039 0756 9595 asr r25 |
| 1040 0758 8795 ror r24 |
| 1041 075a 8093 0000 sts HoTTGeneral+11,r24 |
| 1042 075e 8091 0000 lds r24,BattLowVoltageWarning |
| 1043 0762 482F mov r20,r24 |
| 1044 0764 5527 clr r21 |
| 1045 0766 9A01 movw r18,r20 |
| 1046 0768 2B5F subi r18,lo8(-(5)) |
| 1047 076a 3F4F sbci r19,hi8(-(5)) |
| 1048 076c 8091 0000 lds r24,UBat |
| 1049 0770 9091 0000 lds r25,(UBat)+1 |
| 1050 0774 2817 cp r18,r24 |
| 1051 0776 3907 cpc r19,r25 |
| 1052 0778 04F4 brge .L101 |
| 1053 077a 8091 0000 lds r24,UBat |
| 1054 077e 9091 0000 lds r25,(UBat)+1 |
| 1055 0782 841B sub r24,r20 |
| 1056 0784 950B sbc r25,r21 |
| 1057 0786 9C01 movw r18,r24 |
| 1058 0788 220F lsl r18 |
| 1059 078a 331F rol r19 |
| 1060 078c 280F add r18,r24 |
| 1061 078e 391F adc r19,r25 |
| 1062 0790 822F mov r24,r18 |
| 1063 0792 8251 subi r24,lo8(-(-18)) |
| 1064 0794 8093 0000 sts HoTTGeneral+18,r24 |
| 1065 0798 00C0 rjmp .L102 |
| 1066 .L101: |
| 1067 079a 1092 0000 sts HoTTGeneral+18,__zero_reg__ |
| 1068 .L102: |
| 1069 079e E090 0000 lds r14,HoehenWert |
| 1070 07a2 F090 0000 lds r15,(HoehenWert)+1 |
| 1071 07a6 0091 0000 lds r16,(HoehenWert)+2 |
| 1072 07aa 1091 0000 lds r17,(HoehenWert)+3 |
| 1073 07ae C801 movw r24,r16 |
| 1074 07b0 B701 movw r22,r14 |
| 1075 07b2 24E6 ldi r18,lo8(100) |
| 1076 07b4 30E0 ldi r19,hi8(100) |
| 1077 07b6 40E0 ldi r20,hlo8(100) |
| 1078 07b8 50E0 ldi r21,hhi8(100) |
| 1079 07ba 0E94 0000 call __divmodsi4 |
| 1080 07be 3093 0000 sts (HoTTGeneral+19)+1,r19 |
| 1081 07c2 2093 0000 sts HoTTGeneral+19,r18 |
| 1082 07c6 37FF sbrs r19,7 |
| 1083 07c8 00C0 rjmp .L103 |
| 1084 07ca 1092 0000 sts (HoTTGeneral+19)+1,__zero_reg__ |
| 1085 07ce 1092 0000 sts HoTTGeneral+19,__zero_reg__ |
| 1086 .L103: |
| 1087 07d2 C801 movw r24,r16 |
| 1088 07d4 B701 movw r22,r14 |
| 1089 07d6 24E6 ldi r18,lo8(100) |
| 1090 07d8 30E0 ldi r19,hi8(100) |
| 1091 07da 40E0 ldi r20,hlo8(100) |
| 1092 07dc 50E0 ldi r21,hhi8(100) |
| 1093 07de 0E94 0000 call __divmodsi4 |
| 1094 07e2 DA01 movw r26,r20 |
| 1095 07e4 C901 movw r24,r18 |
| 1096 07e6 8C50 subi r24,lo8(-(500)) |
| 1097 07e8 9E4F sbci r25,hi8(-(500)) |
| 1098 07ea 9093 0000 sts (HoTTGeneral+23)+1,r25 |
| 1099 07ee 8093 0000 sts HoTTGeneral+23,r24 |
| 1100 07f2 8091 0000 lds r24,UBat |
| 1101 07f6 9091 0000 lds r25,(UBat)+1 |
| 1102 07fa 9093 0000 sts (HoTTGeneral+12)+1,r25 |
| 1103 07fe 8093 0000 sts HoTTGeneral+12,r24 |
| 1104 0802 8091 0000 lds r24,UBat |
| 1105 0806 9091 0000 lds r25,(UBat)+1 |
| 1106 080a 9093 0000 sts (HoTTGeneral+14)+1,r25 |
| 1107 080e 8093 0000 sts HoTTGeneral+14,r24 |
| 1108 0812 0E94 0000 call BuildHoTT_Vario |
| 1109 0816 9093 0000 sts (HoTTGeneral+25)+1,r25 |
| 1110 081a 8093 0000 sts HoTTGeneral+25,r24 |
| 1111 081e 88E7 ldi r24,lo8(120) |
| 1112 0820 8093 0000 sts HoTTGeneral+27,r24 |
| 1113 0824 8091 0000 lds r24,UBat |
| 1114 0828 9091 0000 lds r25,(UBat)+1 |
| 1115 082c 9093 0000 sts (HoTTGeneral+30)+1,r25 |
| 1116 0830 8093 0000 sts HoTTGeneral+30,r24 |
| 1117 0834 8091 0000 lds r24,MinBlTempertaure |
| 1118 0838 8C5E subi r24,lo8(-(20)) |
| 1119 083a 8093 0000 sts HoTTGeneral+16,r24 |
| 1120 083e 8091 0000 lds r24,MaxBlTempertaure |
| 1121 0842 8C5E subi r24,lo8(-(20)) |
| 1122 0844 8093 0000 sts HoTTGeneral+17,r24 |
| 1123 0848 8091 0000 lds r24,Capacity+4 |
| 1124 084c 9091 0000 lds r25,(Capacity+4)+1 |
| 1125 0850 6AE0 ldi r22,lo8(10) |
| 1126 0852 70E0 ldi r23,hi8(10) |
| 1127 0854 0E94 0000 call __udivmodhi4 |
| 1128 0858 7093 0000 sts (HoTTGeneral+32)+1,r23 |
| 1129 085c 6093 0000 sts HoTTGeneral+32,r22 |
| 1130 0860 1092 0000 sts HoTTGeneral+2,__zero_reg__ |
| 1131 0864 8091 0000 lds r24,Capacity |
| 1132 0868 9091 0000 lds r25,(Capacity)+1 |
| 1133 086c 9093 0000 sts (HoTTGeneral+28)+1,r25 |
| 1134 0870 8093 0000 sts HoTTGeneral+28,r24 |
| 1135 0874 80E0 ldi r24,lo8(HoTTGeneral) |
| 1136 0876 90E0 ldi r25,hi8(HoTTGeneral) |
| 1137 0878 9093 0000 sts (HoTT_DataPointer)+1,r25 |
| 1138 087c 8093 0000 sts HoTT_DataPointer,r24 |
| 1139 .L113: |
| 1140 0880 2CE2 ldi r18,lo8(44) |
| 1141 0882 30E0 ldi r19,hi8(44) |
| 1142 0884 00C0 rjmp .L58 |
| 1143 .L104: |
| 1144 0886 20E0 ldi r18,lo8(0) |
| 1145 0888 30E0 ldi r19,hi8(0) |
| 1146 .L58: |
| 1147 088a C901 movw r24,r18 |
| 1148 /* epilogue: frame size=0 */ |
| 1149 088c 1F91 pop r17 |
| 1150 088e 0F91 pop r16 |
| 1151 0890 FF90 pop r15 |
| 1152 0892 EF90 pop r14 |
| 1153 0894 0895 ret |
| 1154 /* epilogue end (size=5) */ |
| 1155 /* function HoTT_Telemety size 771 (762) */ |
| 1157 .lcomm line.0,1 |
| 1158 .lcomm page.1,1 |
| 1159 .lcomm show_current.2,1 |
| 1160 .lcomm show_mag.3,1 |
| 1161 .lcomm show_poti.4,1 |
| 1162 .section .progmem.data |
| 1165 __c.5: |
| 1166 02a2 2020 2532 .string " %2i.%1iV " |
| 1166 692E 2531 |
| 1166 6956 2020 |
| 1166 00 |
| 1169 __c.6: |
| 1170 02af 2020 2532 .string " %2i.%1iV " |
| 1170 692E 2531 |
| 1170 6956 2020 |
| 1170 00 |
| 1173 __c.7: |
| 1174 02bc 414C 543A .string "ALT:%4im %c" |
| 1174 2534 696D |
| 1174 2025 6300 |
| 1177 __c.8: |
| 1178 02c8 414C 543A .string "ALT:%4im " |
| 1178 2534 696D |
| 1178 2020 00 |
| 1181 __c.9: |
| 1182 02d3 414C 543A .string "ALT:---- " |
| 1182 2D2D 2D2D |
| 1182 2000 |
| 1185 __c.10: |
| 1186 02dd 2020 2532 .string " %2i:%02i " |
| 1186 693A 2530 |
| 1186 3269 2020 |
| 1186 00 |
| 1189 __c.11: |
| 1190 02ea 2020 2532 .string " %2i:%02i " |
| 1190 693A 2530 |
| 1190 3269 2020 |
| 1190 00 |
| 1193 __c.12: |
| 1194 02f7 4449 523A .string "DIR: %3d%c" |
| 1194 2025 3364 |
| 1194 2563 00 |
| 1197 __c.13: |
| 1198 0302 4300 .string "C" |
| 1201 __c.14: |
| 1202 0304 2000 .string " " |
| 1205 __c.15: |
| 1206 0306 2020 2535 .string " %5i " |
| 1206 6920 2000 |
| 1209 __c.16: |
| 1210 030e 2020 2535 .string " %5i " |
| 1210 6920 2000 |
| 1213 __c.17: |
| 1214 0316 493A 2532 .string "I:%2i.%1iA " |
| 1214 692E 2531 |
| 1214 6941 2000 |
| 1217 __c.18: |
| 1218 0322 3A00 .string ":" |
| 1221 __c.19: |
| 1222 0324 3A00 .string ":" |
| 1225 __c.20: |
| 1226 0326 3A00 .string ":" |
| 1229 __c.21: |
| 1230 0328 2D2D 2D2D .string "---------+-----------" |
| 1230 2D2D 2D2D |
| 1230 2D2B 2D2D |
| 1230 2D2D 2D2D |
| 1230 2D2D 2D2D |
| 1233 __c.22: |
| 1234 033e 2D2D 2D2D .string "---------------------" |
| 1234 2D2D 2D2D |
| 1234 2D2D 2D2D |
| 1234 2D2D 2D2D |
| 1234 2D2D 2D2D |
| 1237 __c.23: |
| 1238 0354 3A00 .string ":" |
| 1241 __c.24: |
| 1242 0356 5341 543A .string "SAT:%2d " |
| 1242 2532 6420 |
| 1242 00 |
| 1245 __c.25: |
| 1246 035f 4449 5354 .string "DIST:%3dm" |
| 1246 3A25 3364 |
| 1246 6D00 |
| 1249 __c.26: |
| 1250 0369 4420 00 .string "D " |
| 1253 __c.27: |
| 1254 036c 3344 00 .string "3D" |
| 1257 __c.28: |
| 1258 036f 2121 00 .string "!!" |
| 1261 __c.29: |
| 1262 0372 4D41 473A .string "MAG:%3u%% " |
| 1262 2533 7525 |
| 1262 2520 00 |
| 1265 __c.30: |
| 1266 037d 484D 3A25 .string "HM:%3d%c %c" |
| 1266 3364 2563 |
| 1266 2025 6300 |
| 1269 __c.31: |
| 1270 0389 696E 636C .string "incl:%2d%c(%2i)" |
| 1270 3A25 3264 |
| 1270 2563 2825 |
| 1270 3269 2900 |
| 1273 __c.32: |
| 1274 0399 2020 2020 .string " %2um/s: HM:%3d%c %c" |
| 1274 2532 756D |
| 1274 2F73 3A20 |
| 1274 2048 4D3A |
| 1274 2533 6425 |
| 1277 __c.33: |
| 1278 03b2 4552 523A .string "ERR: %2d !" |
| 1278 2025 3264 |
| 1278 2021 00 |
| 1281 __c.34: |
| 1282 03bd 4552 523A .string "ERR: " |
| 1282 2000 |
| 1285 __c.35: |
| 1286 03c3 2121 204C .string "!! LiPo voltage !!" |
| 1286 6950 6F20 |
| 1286 766F 6C74 |
| 1286 6167 6520 |
| 1286 2121 00 |
| 1289 __c.36: |
| 1290 03d6 2077 7777 .string " www.MikroKopter.de " |
| 1290 2E4D 696B |
| 1290 726F 4B6F |
| 1290 7074 6572 |
| 1290 2E64 6520 |
| 1293 __c.37: |
| 1294 03ec 2025 3269 .string " %2i:%02i %2i.%1iV %4imAh" |
| 1294 3A25 3032 |
| 1294 6920 2025 |
| 1294 3269 2E25 |
| 1294 3169 5620 |
| 1297 __c.38: |
| 1298 0407 2025 3269 .string " %2i:%02i %2i.%1iV %4imAh" |
| 1298 3A25 3032 |
| 1298 6920 2025 |
| 1298 3269 2E25 |
| 1298 3169 5620 |
| 1301 __c.39: |
| 1302 0422 4449 523A .string "DIR:%3d%c" |
| 1302 2533 6425 |
| 1302 6300 |
| 1305 __c.40: |
| 1306 042c 414C 543A .string "ALT:%4im" |
| 1306 2534 696D |
| 1306 00 |
| 1309 __c.41: |
| 1310 0435 414C 543A .string "ALT:%4im" |
| 1310 2534 696D |
| 1310 00 |
| 1313 __c.42: |
| 1314 043e 414C 543A .string "ALT:---- " |
| 1314 2D2D 2D2D |
| 1314 2000 |
| 1317 __c.43: |
| 1318 0448 2563 00 .string "%c" |
| 1321 __c.44: |
| 1322 044b 484D 3A25 .string "HM:%3d%c DIST:%3dm %c" |
| 1322 3364 2563 |
| 1322 2020 4449 |
| 1322 5354 3A25 |
| 1322 3364 6D20 |
| 1325 __c.45: |
| 1326 0462 5057 523A .string "PWR:%2i.%1iA (%iW) " |
| 1326 2532 692E |
| 1326 2531 6941 |
| 1326 2028 2569 |
| 1326 5729 2000 |
| 1329 __c.46: |
| 1330 0476 4346 00 .string "CF" |
| 1333 __c.47: |
| 1334 0479 2020 00 .string " " |
| 1337 __c.48: |
| 1338 047c 4750 533A .string "GPS:%2um/s SAT:%d " |
| 1338 2532 756D |
| 1338 2F73 2053 |
| 1338 4154 3A25 |
| 1338 6420 00 |
| 1341 __c.49: |
| 1342 048f 2020 3344 .string " 3D " |
| 1342 2000 |
| 1345 __c.50: |
| 1346 0495 4E4F 4649 .string "NOFIX" |
| 1346 5800 |
| 1349 __c.51: |
| 1350 049b 4447 5053 .string "DGPS " |
| 1350 2000 |
| 1353 __c.52: |
| 1354 04a1 2020 204E .string " No NaviCtrl " |
| 1354 6F20 4E61 |
| 1354 7669 4374 |
| 1354 726C 2020 |
| 1354 2020 2020 |
| 1357 __c.53: |
| 1358 04b7 2532 692E .string "%2i.%i %2i.%i %2i.%i %2i.%iA" |
| 1358 2569 2025 |
| 1358 3269 2E25 |
| 1358 6920 2532 |
| 1358 692E 2569 |
| 1361 __c.54: |
| 1362 04d4 2533 6920 .string "%3i %3i %3i %3i%cC" |
| 1362 2533 6920 |
| 1362 2533 6920 |
| 1362 2533 6925 |
| 1362 6343 00 |
| 1365 __c.55: |
| 1366 04e7 2532 692E .string "%2i.%i %2i.%iA" |
| 1366 2569 2025 |
| 1366 3269 2E25 |
| 1366 6941 00 |
| 1369 __c.56: |
| 1370 04f6 2532 692E .string "%2i.%i %2i.%i %2i.%i %2i.%iA" |
| 1370 2569 2025 |
| 1370 3269 2E25 |
| 1370 6920 2532 |
| 1370 692E 2569 |
| 1373 __c.57: |
| 1374 0513 2533 6920 .string "%3i %3i%cC " |
| 1374 2533 6925 |
| 1374 6343 2020 |
| 1374 2020 2020 |
| 1374 2020 00 |
| 1377 __c.58: |
| 1378 0526 2533 6920 .string "%3i %3i %3i %3i%cC" |
| 1378 2533 6920 |
| 1378 2533 6920 |
| 1378 2533 6925 |
| 1378 6343 00 |
| 1381 __c.59: |
| 1382 0539 4552 523A .string "ERR: %2d !" |
| 1382 2025 3264 |
| 1382 2021 00 |
| 1385 __c.60: |
| 1386 0544 4552 523A .string "ERR: " |
| 1386 2000 |
| 1389 __c.61: |
| 1390 054a 2121 204C .string "!! LiPo voltage !!" |
| 1390 6950 6F20 |
| 1390 766F 6C74 |
| 1390 6167 6520 |
| 1390 2121 00 |
| 1393 __c.62: |
| 1394 055d 2077 7777 .string " www.MikroKopter.de " |
| 1394 2E4D 696B |
| 1394 726F 4B6F |
| 1394 7074 6572 |
| 1394 2E64 6520 |
| 1397 __c.63: |
| 1398 0573 5365 7474 .string "Setting:%u %s " |
| 1398 696E 673A |
| 1398 2575 2025 |
| 1398 7320 00 |
| 1401 __c.64: |
| 1402 0582 4D69 6E3A .string "Min:%2i.%1iV %s " |
| 1402 2532 692E |
| 1402 2531 6956 |
| 1402 2025 7320 |
| 1402 00 |
| 1405 __c.65: |
| 1406 0593 414C 543A .string "ALT:" |
| 1406 00 |
| 1409 __c.66: |
| 1410 0598 504F 5449 .string "POTI:%3u " |
| 1410 3A25 3375 |
| 1410 2000 |
| 1413 __c.67: |
| 1414 05a2 284F 4E29 .string "(ON) " |
| 1414 2020 00 |
| 1417 __c.68: |
| 1418 05a9 284F 4646 .string "(OFF) " |
| 1418 2920 00 |
| 1421 __c.69: |
| 1422 05b0 4C49 4D49 .string "LIMIT" |
| 1422 5400 |
| 1425 __c.70: |
| 1426 05b6 5641 5249 .string "VARIO" |
| 1426 4F00 |
| 1429 __c.71: |
| 1430 05bc 4449 5341 .string "DISABLED" |
| 1430 424C 4544 |
| 1430 00 |
| 1433 __c.72: |
| 1434 05c5 4346 3A00 .string "CF:" |
| 1437 __c.73: |
| 1438 05c9 4449 5341 .string "DISABLED" |
| 1438 424C 4544 |
| 1438 00 |
| 1441 __c.74: |
| 1442 05d2 2028 4F4E .string " (ON) " |
| 1442 2920 00 |
| 1445 __c.75: |
| 1446 05d9 2028 4F46 .string " (OFF)" |
| 1446 4629 00 |
| 1449 __c.76: |
| 1450 05e0 2054 4541 .string " TEACH" |
| 1450 4348 00 |
| 1453 __c.77: |
| 1454 05e7 4750 533A .string "GPS:" |
| 1454 00 |
| 1457 __c.78: |
| 1458 05ec 4449 5341 .string "DISABLED" |
| 1458 424C 4544 |
| 1458 00 |
| 1461 __c.79: |
| 1462 05f5 2846 5245 .string "(FREE)" |
| 1462 4529 00 |
| 1465 __c.80: |
| 1466 05fc 2848 4F4D .string "(HOME)" |
| 1466 4529 00 |
| 1469 __c.81: |
| 1470 0603 2841 4944 .string "(AID) " |
| 1470 2920 00 |
| 1473 __c.82: |
| 1474 060a 2848 4F4C .string "(HOLD)" |
| 1474 4429 00 |
| 1477 __c.83: |
| 1478 0611 2046 533A .string " FS:%usek " |
| 1478 2575 7365 |
| 1478 6B20 00 |
| 1481 __c.84: |
| 1482 061c 484F 4D45 .string "HOME ALT:" |
| 1482 2041 4C54 |
| 1482 3A00 |
| 1485 __c.85: |
| 1486 0626 2575 6D00 .string "%um" |
| 1489 __c.86: |
| 1490 062a 484F 4C44 .string "HOLD " |
| 1490 2000 |
| 1493 __c.87: |
| 1494 0630 4E69 3A25 .string "Ni:%4i Ro:%4i C:%3i" |
| 1494 3469 2052 |
| 1494 6F3A 2534 |
| 1494 6920 433A |
| 1494 2533 6900 |
| 1497 __c.88: |
| 1498 0644 4773 3A25 .string "Gs:%4i Ya:%4i " |
| 1498 3469 2059 |
| 1498 613A 2534 |
| 1498 6920 00 |
| 1501 __c.89: |
| 1502 0653 5031 3A25 .string "P1:%4i P2:%4i 3:%3i" |
| 1502 3469 2050 |
| 1502 323A 2534 |
| 1502 6920 333A |
| 1502 2533 6900 |
| 1505 __c.90: |
| 1506 0667 5034 3A25 .string "P4:%4i P5:%4i 6:%3i" |
| 1506 3469 2050 |
| 1506 353A 2534 |
| 1506 6920 363A |
| 1506 2533 6900 |
| 1509 __c.91: |
| 1510 067b 434F 5550 .string "COUPLING OFF! " |
| 1510 4C49 4E47 |
| 1510 204F 4646 |
| 1510 2120 00 |
| 1513 __c.92: |
| 1514 068a 4C4F 4F50 .string "LOOPING! " |
| 1514 494E 4721 |
| 1514 2000 |
| 1517 __c.93: |
| 1518 0694 4848 2120 .string "HH! " |
| 1518 00 |
| 1521 __c.94: |
| 1522 0699 434F 4D50 .string "COMPASS OFF! " |
| 1522 4153 5320 |
| 1522 4F46 4621 |
| 1522 2000 |
| 1523 .text |
| 1524 .global HoTT_Menu |
| 1526 HoTT_Menu: |
| 1527 /* prologue: frame size=0 */ |
| 1528 0896 EF92 push r14 |
| 1529 0898 FF92 push r15 |
| 1530 089a 0F93 push r16 |
| 1531 089c 1F93 push r17 |
| 1532 089e CF93 push r28 |
| 1533 08a0 DF93 push r29 |
| 1534 /* prologue end (size=6) */ |
| 1535 08a2 8091 0000 lds r24,HoTTVarioMeter |
| 1536 08a6 9091 0000 lds r25,(HoTTVarioMeter)+1 |
| 1537 08aa 9C01 movw r18,r24 |
| 1538 08ac 53E0 ldi r21,3 |
| 1539 08ae 220F 1: lsl r18 |
| 1540 08b0 331F rol r19 |
| 1541 08b2 5A95 dec r21 |
| 1542 08b4 01F4 brne 1b |
| 1543 08b6 281B sub r18,r24 |
| 1544 08b8 390B sbc r19,r25 |
| 1545 08ba 8091 0000 lds r24,VarioMeter |
| 1546 08be 9091 0000 lds r25,(VarioMeter)+1 |
| 1547 08c2 280F add r18,r24 |
| 1548 08c4 391F adc r19,r25 |
| 1549 08c6 37FF sbrs r19,7 |
| 1550 08c8 00C0 rjmp .L115 |
| 1551 08ca 295F subi r18,lo8(-(7)) |
| 1552 08cc 3F4F sbci r19,hi8(-(7)) |
| 1553 .L115: |
| 1554 08ce 43E0 ldi r20,3 |
| 1555 08d0 3595 1: asr r19 |
| 1556 08d2 2795 ror r18 |
| 1557 08d4 4A95 dec r20 |
| 1558 08d6 01F4 brne 1b |
| 1559 08d8 3093 0000 sts (HoTTVarioMeter)+1,r19 |
| 1560 08dc 2093 0000 sts HoTTVarioMeter,r18 |
| 1561 08e0 9091 0000 lds r25,page.1 |
| 1562 08e4 9923 tst r25 |
| 1563 08e6 01F0 breq .+2 |
| 1564 08e8 00C0 rjmp .L116 |
| 1565 08ea 8091 0000 lds r24,line.0 |
| 1566 08ee 282F mov r18,r24 |
| 1567 08f0 3327 clr r19 |
| 1568 08f2 4427 clr r20 |
| 1569 08f4 5527 clr r21 |
| 1570 08f6 8F5F subi r24,lo8(-(1)) |
| 1571 08f8 8093 0000 sts line.0,r24 |
| 1572 08fc F901 movw r30,r18 |
| 1573 08fe 2131 cpi r18,17 |
| 1574 0900 3105 cpc r19,__zero_reg__ |
| 1575 0902 00F0 brlo .+2 |
| 1576 0904 00C0 rjmp .L169 |
| 1577 0906 E050 subi r30,lo8(-(pm(.L170))) |
| 1578 0908 F040 sbci r31,hi8(-(pm(.L170))) |
| 1579 090a 0C94 0000 jmp __tablejump2__ |
| 1580 .data |
| 1581 .section .progmem.gcc_sw_table, "a", @progbits |
| 1582 .p2align 1 |
| 1583 .L170: |
| 1584 0000 0000 .word pm(.L118) |
| 1585 0002 0000 .word pm(.L125) |
| 1586 0004 0000 .word pm(.L130) |
| 1587 0006 0000 .word pm(.L133) |
| 1588 0008 0000 .word pm(.L134) |
| 1589 000a 0000 .word pm(.L142) |
| 1590 000c 0000 .word pm(.L114) |
| 1591 000e 0000 .word pm(.L148) |
| 1592 0010 0000 .word pm(.L163) |
| 1593 0012 0000 .word pm(.L163) |
| 1594 0014 0000 .word pm(.L163) |
| 1595 0016 0000 .word pm(.L163) |
| 1596 0018 0000 .word pm(.L163) |
| 1597 001a 0000 .word pm(.L163) |
| 1598 001c 0000 .word pm(.L163) |
| 1599 001e 0000 .word pm(.L163) |
| 1600 0020 0000 .word pm(.L163) |
| 1601 .text |
| 1602 .L118: |
| 1603 090e 8091 0000 lds r24,FC_StatusFlags |
| 1604 0912 85FF sbrs r24,5 |
| 1605 0914 00C0 rjmp .L119 |
| 1606 0916 80E0 ldi r24,lo8(0) |
| 1607 0918 0E94 0000 call LIBFC_HoTT_SetPos |
| 1608 091c 8091 0000 lds r24,UBat |
| 1609 0920 9091 0000 lds r25,(UBat)+1 |
| 1610 0924 6AE0 ldi r22,lo8(10) |
| 1611 0926 70E0 ldi r23,hi8(10) |
| 1612 0928 0E94 0000 call __divmodhi4 |
| 1613 092c 9F93 push r25 |
| 1614 092e 8F93 push r24 |
| 1615 0930 8091 0000 lds r24,UBat |
| 1616 0934 9091 0000 lds r25,(UBat)+1 |
| 1617 0938 6AE0 ldi r22,lo8(10) |
| 1618 093a 70E0 ldi r23,hi8(10) |
| 1619 093c 0E94 0000 call __divmodhi4 |
| 1620 0940 7F93 push r23 |
| 1621 0942 6F93 push r22 |
| 1622 0944 80E0 ldi r24,lo8(__c.5) |
| 1623 0946 90E0 ldi r25,hi8(__c.5) |
| 1624 0948 9F93 push r25 |
| 1625 094a 8F93 push r24 |
| 1626 094c 80E0 ldi r24,lo8(pm(LIBFC_HoTT_Putchar_BLINK)) |
| 1627 094e 90E0 ldi r25,hi8(pm(LIBFC_HoTT_Putchar_BLINK)) |
| 1628 0950 9F93 push r25 |
| 1629 0952 8F93 push r24 |
| 1630 0954 E091 0000 lds r30,_printf_P |
| 1631 0958 F091 0000 lds r31,(_printf_P)+1 |
| 1632 095c 0995 icall |
| 1633 095e 2DB7 in r18,__SP_L__ |
| 1634 0960 3EB7 in r19,__SP_H__ |
| 1635 0962 285F subi r18,lo8(-(8)) |
| 1636 0964 3F4F sbci r19,hi8(-(8)) |
| 1637 0966 2DBF out __SP_L__,r18 |
| 1638 0968 00C0 rjmp .L120 |
| 1639 .L119: |
| 1640 096a 80E0 ldi r24,lo8(0) |
| 1641 096c 0E94 0000 call LIBFC_HoTT_SetPos |
| 1642 0970 8091 0000 lds r24,UBat |
| 1643 0974 9091 0000 lds r25,(UBat)+1 |
| 1644 0978 6AE0 ldi r22,lo8(10) |
| 1645 097a 70E0 ldi r23,hi8(10) |
| 1646 097c 0E94 0000 call __divmodhi4 |
| 1647 0980 9F93 push r25 |
| 1648 0982 8F93 push r24 |
| 1649 0984 8091 0000 lds r24,UBat |
| 1650 0988 9091 0000 lds r25,(UBat)+1 |
| 1651 098c 6AE0 ldi r22,lo8(10) |
| 1652 098e 70E0 ldi r23,hi8(10) |
| 1653 0990 0E94 0000 call __divmodhi4 |
| 1654 0994 7F93 push r23 |
| 1655 0996 6F93 push r22 |
| 1656 0998 80E0 ldi r24,lo8(__c.6) |
| 1657 099a 90E0 ldi r25,hi8(__c.6) |
| 1658 099c 9F93 push r25 |
| 1659 099e 8F93 push r24 |
| 1660 09a0 80E0 ldi r24,lo8(pm(LIBFC_HoTT_Putchar)) |
| 1661 09a2 90E0 ldi r25,hi8(pm(LIBFC_HoTT_Putchar)) |
| 1662 09a4 9F93 push r25 |
| 1663 09a6 8F93 push r24 |
| 1664 09a8 E091 0000 lds r30,_printf_P |
| 1665 09ac F091 0000 lds r31,(_printf_P)+1 |
| 1666 09b0 0995 icall |
| 1667 09b2 8DB7 in r24,__SP_L__ |
| 1668 09b4 9EB7 in r25,__SP_H__ |
| 1669 09b6 0896 adiw r24,8 |
| 1670 09b8 8DBF out __SP_L__,r24 |
| 1671 .L120: |
| 1672 09ba 8091 0000 lds r24,Parameter_GlobalConfig |
| 1673 09be 80FF sbrs r24,0 |
| 1674 09c0 00C0 rjmp .L121 |
| 1675 09c2 8091 0000 lds r24,HoehenReglerAktiv |
| 1676 09c6 8823 tst r24 |
| 1677 09c8 01F0 breq .L122 |
| 1678 09ca 8AE0 ldi r24,lo8(10) |
| 1679 09cc 0E94 0000 call LIBFC_HoTT_SetPos |
| 1680 09d0 8091 0000 lds r24,VarioCharacter |
| 1681 09d4 9927 clr r25 |
| 1682 09d6 9F93 push r25 |
| 1683 09d8 8F93 push r24 |
| 1684 09da 8091 0000 lds r24,HoehenWert |
| 1685 09de 9091 0000 lds r25,(HoehenWert)+1 |
| 1686 09e2 A091 0000 lds r26,(HoehenWert)+2 |
| 1687 09e6 B091 0000 lds r27,(HoehenWert)+3 |
| 1688 09ea BC01 movw r22,r24 |
| 1689 09ec CD01 movw r24,r26 |
| 1690 09ee 24E6 ldi r18,lo8(100) |
| 1691 09f0 30E0 ldi r19,hi8(100) |
| 1692 09f2 40E0 ldi r20,hlo8(100) |
| 1693 09f4 50E0 ldi r21,hhi8(100) |
| 1694 09f6 0E94 0000 call __divmodsi4 |
| 1695 09fa 3F93 push r19 |
| 1696 09fc 2F93 push r18 |
| 1697 09fe 80E0 ldi r24,lo8(__c.7) |
| 1698 0a00 90E0 ldi r25,hi8(__c.7) |
| 1699 0a02 00C0 rjmp .L313 |
| 1700 .L122: |
| 1701 0a04 8AE0 ldi r24,lo8(10) |
| 1702 0a06 0E94 0000 call LIBFC_HoTT_SetPos |
| 1703 0a0a 8091 0000 lds r24,HoehenWert |
| 1704 0a0e 9091 0000 lds r25,(HoehenWert)+1 |
| 1705 0a12 A091 0000 lds r26,(HoehenWert)+2 |
| 1706 0a16 B091 0000 lds r27,(HoehenWert)+3 |
| 1707 0a1a BC01 movw r22,r24 |
| 1708 0a1c CD01 movw r24,r26 |
| 1709 0a1e 24E6 ldi r18,lo8(100) |
| 1710 0a20 30E0 ldi r19,hi8(100) |
| 1711 0a22 40E0 ldi r20,hlo8(100) |
| 1712 0a24 50E0 ldi r21,hhi8(100) |
| 1713 0a26 0E94 0000 call __divmodsi4 |
| 1714 0a2a 3F93 push r19 |
| 1715 0a2c 2F93 push r18 |
| 1716 0a2e 80E0 ldi r24,lo8(__c.8) |
| 1717 0a30 90E0 ldi r25,hi8(__c.8) |
| 1718 0a32 00C0 rjmp .L331 |
| 1719 .L121: |
| 1720 0a34 8AE0 ldi r24,lo8(10) |
| 1721 0a36 0E94 0000 call LIBFC_HoTT_SetPos |
| 1722 0a3a 80E0 ldi r24,lo8(__c.9) |
| 1723 0a3c 90E0 ldi r25,hi8(__c.9) |
| 1724 0a3e 9F93 push r25 |
| 1725 0a40 8F93 push r24 |
| 1726 0a42 80E0 ldi r24,lo8(pm(LIBFC_HoTT_Putchar)) |
| 1727 0a44 90E0 ldi r25,hi8(pm(LIBFC_HoTT_Putchar)) |
| 1728 0a46 0C94 0000 jmp .L321 |
| 1729 .L125: |
| 1730 0a4a 8091 0000 lds r24,FC_StatusFlags |
| 1731 0a4e 85FF sbrs r24,5 |
| 1732 0a50 00C0 rjmp .L126 |
| 1733 0a52 85E1 ldi r24,lo8(21) |
| 1734 0a54 0E94 0000 call LIBFC_HoTT_SetPos |
| 1735 0a58 8091 0000 lds r24,FlugSekunden |
| 1736 0a5c 9091 0000 lds r25,(FlugSekunden)+1 |
| 1737 0a60 6CE3 ldi r22,lo8(60) |
| 1738 0a62 70E0 ldi r23,hi8(60) |
| 1739 0a64 0E94 0000 call __udivmodhi4 |
| 1740 0a68 9F93 push r25 |
| 1741 0a6a 8F93 push r24 |
| 1742 0a6c 8091 0000 lds r24,FlugSekunden |
| 1743 0a70 9091 0000 lds r25,(FlugSekunden)+1 |
| 1744 0a74 6CE3 ldi r22,lo8(60) |
| 1745 0a76 70E0 ldi r23,hi8(60) |
| 1746 0a78 0E94 0000 call __udivmodhi4 |
| 1747 0a7c 7F93 push r23 |
| 1748 0a7e 6F93 push r22 |
| 1749 0a80 80E0 ldi r24,lo8(__c.10) |
| 1750 0a82 90E0 ldi r25,hi8(__c.10) |
| 1751 0a84 9F93 push r25 |
| 1752 0a86 8F93 push r24 |
| 1753 0a88 80E0 ldi r24,lo8(pm(LIBFC_HoTT_Putchar_BLINK)) |
| 1754 0a8a 90E0 ldi r25,hi8(pm(LIBFC_HoTT_Putchar_BLINK)) |
| 1755 0a8c 9F93 push r25 |
| 1756 0a8e 8F93 push r24 |
| 1757 0a90 E091 0000 lds r30,_printf_P |
| 1758 0a94 F091 0000 lds r31,(_printf_P)+1 |
| 1759 0a98 0995 icall |
| 1760 0a9a 2DB7 in r18,__SP_L__ |
| 1761 0a9c 3EB7 in r19,__SP_H__ |
| 1762 0a9e 285F subi r18,lo8(-(8)) |
| 1763 0aa0 3F4F sbci r19,hi8(-(8)) |
| 1764 0aa2 2DBF out __SP_L__,r18 |
| 1765 0aa4 00C0 rjmp .L127 |
| 1766 .L126: |
| 1767 0aa6 85E1 ldi r24,lo8(21) |
| 1768 0aa8 0E94 0000 call LIBFC_HoTT_SetPos |
| 1769 0aac 8091 0000 lds r24,FlugSekunden |
| 1770 0ab0 9091 0000 lds r25,(FlugSekunden)+1 |
| 1771 0ab4 6CE3 ldi r22,lo8(60) |
| 1772 0ab6 70E0 ldi r23,hi8(60) |
| 1773 0ab8 0E94 0000 call __udivmodhi4 |
| 1774 0abc 9F93 push r25 |
| 1775 0abe 8F93 push r24 |
| 1776 0ac0 8091 0000 lds r24,FlugSekunden |
| 1777 0ac4 9091 0000 lds r25,(FlugSekunden)+1 |
| 1778 0ac8 6CE3 ldi r22,lo8(60) |
| 1779 0aca 70E0 ldi r23,hi8(60) |
| 1780 0acc 0E94 0000 call __udivmodhi4 |
| 1781 0ad0 7F93 push r23 |
| 1782 0ad2 6F93 push r22 |
| 1783 0ad4 80E0 ldi r24,lo8(__c.11) |
| 1784 0ad6 90E0 ldi r25,hi8(__c.11) |
| 1785 0ad8 9F93 push r25 |
| 1786 0ada 8F93 push r24 |
| 1787 0adc 80E0 ldi r24,lo8(pm(LIBFC_HoTT_Putchar)) |
| 1788 0ade 90E0 ldi r25,hi8(pm(LIBFC_HoTT_Putchar)) |
| 1789 0ae0 9F93 push r25 |
| 1790 0ae2 8F93 push r24 |
| 1791 0ae4 E091 0000 lds r30,_printf_P |
| 1792 0ae8 F091 0000 lds r31,(_printf_P)+1 |
| 1793 0aec 0995 icall |
| 1794 0aee 8DB7 in r24,__SP_L__ |
| 1795 0af0 9EB7 in r25,__SP_H__ |
| 1796 0af2 0896 adiw r24,8 |
| 1797 0af4 8DBF out __SP_L__,r24 |
| 1798 .L127: |
| 1799 0af6 8FE1 ldi r24,lo8(31) |
| 1800 0af8 0E94 0000 call LIBFC_HoTT_SetPos |
| 1801 0afc 80E6 ldi r24,lo8(96) |
| 1802 0afe 90E0 ldi r25,hi8(96) |
| 1803 0b00 9F93 push r25 |
| 1804 0b02 8F93 push r24 |
| 1805 0b04 8091 0000 lds r24,ErsatzKompassInGrad |
| 1806 0b08 9091 0000 lds r25,(ErsatzKompassInGrad)+1 |
| 1807 0b0c 9F93 push r25 |
| 1808 0b0e 8F93 push r24 |
| 1809 0b10 80E0 ldi r24,lo8(__c.12) |
| 1810 0b12 90E0 ldi r25,hi8(__c.12) |
| 1811 0b14 9F93 push r25 |
| 1812 0b16 8F93 push r24 |
| 1813 0b18 C0E0 ldi r28,lo8(pm(LIBFC_HoTT_Putchar)) |
| 1814 0b1a D0E0 ldi r29,hi8(pm(LIBFC_HoTT_Putchar)) |
| 1815 0b1c DF93 push r29 |
| 1816 0b1e CF93 push r28 |
| 1817 0b20 E091 0000 lds r30,_printf_P |
| 1818 0b24 F091 0000 lds r31,(_printf_P)+1 |
| 1819 0b28 0995 icall |
| 1820 0b2a 8091 0000 lds r24,FC_StatusFlags2 |
| 1821 0b2e 2DB7 in r18,__SP_L__ |
| 1822 0b30 3EB7 in r19,__SP_H__ |
| 1823 0b32 285F subi r18,lo8(-(8)) |
| 1824 0b34 3F4F sbci r19,hi8(-(8)) |
| 1825 0b36 2DBF out __SP_L__,r18 |
| 1826 0b38 80FF sbrs r24,0 |
| 1827 0b3a 00C0 rjmp .L128 |
| 1828 0b3c 89E2 ldi r24,lo8(41) |
| 1829 0b3e 0E94 0000 call LIBFC_HoTT_SetPos |
| 1830 0b42 80E0 ldi r24,lo8(__c.13) |
| 1831 0b44 90E0 ldi r25,hi8(__c.13) |
| 1832 0b46 00C0 rjmp .L333 |
| 1833 .L128: |
| 1834 0b48 89E2 ldi r24,lo8(41) |
| 1835 0b4a 0E94 0000 call LIBFC_HoTT_SetPos |
| 1836 0b4e 80E0 ldi r24,lo8(__c.14) |
| 1837 0b50 90E0 ldi r25,hi8(__c.14) |
| 1838 0b52 00C0 rjmp .L328 |
| 1839 .L130: |
| 1840 0b54 8091 0000 lds r24,FC_StatusFlags |
| 1841 0b58 85FF sbrs r24,5 |
| 1842 0b5a 00C0 rjmp .L131 |
| 1843 0b5c 8AE2 ldi r24,lo8(42) |
| 1844 0b5e 0E94 0000 call LIBFC_HoTT_SetPos |
| 1845 0b62 8091 0000 lds r24,Capacity+4 |
| 1846 0b66 9091 0000 lds r25,(Capacity+4)+1 |
| 1847 0b6a 9F93 push r25 |
| 1848 0b6c 8F93 push r24 |
| 1849 0b6e 80E0 ldi r24,lo8(__c.15) |
| 1850 0b70 90E0 ldi r25,hi8(__c.15) |
| 1851 0b72 9F93 push r25 |
| 1852 0b74 8F93 push r24 |
| 1853 0b76 80E0 ldi r24,lo8(pm(LIBFC_HoTT_Putchar_BLINK)) |
| 1854 0b78 90E0 ldi r25,hi8(pm(LIBFC_HoTT_Putchar_BLINK)) |
| 1855 0b7a 9F93 push r25 |
| 1856 0b7c 8F93 push r24 |
| 1857 0b7e E091 0000 lds r30,_printf_P |
| 1858 0b82 F091 0000 lds r31,(_printf_P)+1 |
| 1859 0b86 0995 icall |
| 1860 0b88 8DB7 in r24,__SP_L__ |
| 1861 0b8a 9EB7 in r25,__SP_H__ |
| 1862 0b8c 0696 adiw r24,6 |
| 1863 0b8e 8DBF out __SP_L__,r24 |
| 1864 0b90 00C0 rjmp .L132 |
| 1865 .L131: |
| 1866 0b92 8AE2 ldi r24,lo8(42) |
| 1867 0b94 0E94 0000 call LIBFC_HoTT_SetPos |
| 1868 0b98 8091 0000 lds r24,Capacity+4 |
| 1869 0b9c 9091 0000 lds r25,(Capacity+4)+1 |
| 1870 0ba0 9F93 push r25 |
| 1871 0ba2 8F93 push r24 |
| 1872 0ba4 80E0 ldi r24,lo8(__c.16) |
| 1873 0ba6 90E0 ldi r25,hi8(__c.16) |
| 1874 0ba8 9F93 push r25 |
| 1875 0baa 8F93 push r24 |
| 1876 0bac 80E0 ldi r24,lo8(pm(LIBFC_HoTT_Putchar)) |
| 1877 0bae 90E0 ldi r25,hi8(pm(LIBFC_HoTT_Putchar)) |
| 1878 0bb0 9F93 push r25 |
| 1879 0bb2 8F93 push r24 |
| 1880 0bb4 E091 0000 lds r30,_printf_P |
| 1881 0bb8 F091 0000 lds r31,(_printf_P)+1 |
| 1882 0bbc 0995 icall |
| 1883 0bbe 2DB7 in r18,__SP_L__ |
| 1884 0bc0 3EB7 in r19,__SP_H__ |
| 1885 0bc2 2A5F subi r18,lo8(-(6)) |
| 1886 0bc4 3F4F sbci r19,hi8(-(6)) |
| 1887 0bc6 2DBF out __SP_L__,r18 |
| 1888 .L132: |
| 1889 0bc8 86E3 ldi r24,lo8(54) |
| 1890 0bca 0E94 0000 call LIBFC_HoTT_SetPos |
| 1891 0bce 8091 0000 lds r24,Capacity |
| 1892 0bd2 9091 0000 lds r25,(Capacity)+1 |
| 1893 0bd6 6AE0 ldi r22,lo8(10) |
| 1894 0bd8 70E0 ldi r23,hi8(10) |
| 1895 0bda 0E94 0000 call __udivmodhi4 |
| 1896 0bde 9F93 push r25 |
| 1897 0be0 8F93 push r24 |
| 1898 0be2 8091 0000 lds r24,Capacity |
| 1899 0be6 9091 0000 lds r25,(Capacity)+1 |
| 1900 0bea 6AE0 ldi r22,lo8(10) |
| 1901 0bec 70E0 ldi r23,hi8(10) |
| 1902 0bee 0E94 0000 call __udivmodhi4 |
| 1903 0bf2 7F93 push r23 |
| 1904 0bf4 6F93 push r22 |
| 1905 0bf6 80E0 ldi r24,lo8(__c.17) |
| 1906 0bf8 90E0 ldi r25,hi8(__c.17) |
| 1907 0bfa 9F93 push r25 |
| 1908 0bfc 8F93 push r24 |
| 1909 0bfe 80E0 ldi r24,lo8(pm(LIBFC_HoTT_Putchar)) |
| 1910 0c00 90E0 ldi r25,hi8(pm(LIBFC_HoTT_Putchar)) |
| 1911 0c02 9F93 push r25 |
| 1912 0c04 8F93 push r24 |
| 1913 0c06 E091 0000 lds r30,_printf_P |
| 1914 0c0a F091 0000 lds r31,(_printf_P)+1 |
| 1915 0c0e 0995 icall |
| 1916 0c10 8DB7 in r24,__SP_L__ |
| 1917 0c12 9EB7 in r25,__SP_H__ |
| 1918 0c14 0896 adiw r24,8 |
| 1919 0c16 00C0 rjmp .L306 |
| 1920 .L133: |
| 1921 0c18 89E0 ldi r24,lo8(9) |
| 1922 0c1a 0E94 0000 call LIBFC_HoTT_SetPos |
| 1923 0c1e 80E0 ldi r24,lo8(__c.18) |
| 1924 0c20 90E0 ldi r25,hi8(__c.18) |
| 1925 0c22 9F93 push r25 |
| 1926 0c24 8F93 push r24 |
| 1927 0c26 00E0 ldi r16,lo8(pm(LIBFC_HoTT_Putchar)) |
| 1928 0c28 10E0 ldi r17,hi8(pm(LIBFC_HoTT_Putchar)) |
| 1929 0c2a 1F93 push r17 |
| 1930 0c2c 0F93 push r16 |
| 1931 0c2e E091 0000 lds r30,_printf_P |
| 1932 0c32 F091 0000 lds r31,(_printf_P)+1 |
| 1933 0c36 0995 icall |
| 1934 0c38 8EE1 ldi r24,lo8(30) |
| 1935 0c3a 0E94 0000 call LIBFC_HoTT_SetPos |
| 1936 0c3e 0F90 pop __tmp_reg__ |
| 1937 0c40 0F90 pop __tmp_reg__ |
| 1938 0c42 0F90 pop __tmp_reg__ |
| 1939 0c44 0F90 pop __tmp_reg__ |
| 1940 0c46 80E0 ldi r24,lo8(__c.19) |
| 1941 0c48 90E0 ldi r25,hi8(__c.19) |
| 1942 0c4a 9F93 push r25 |
| 1943 0c4c 8F93 push r24 |
| 1944 0c4e 1F93 push r17 |
| 1945 0c50 0F93 push r16 |
| 1946 0c52 E091 0000 lds r30,_printf_P |
| 1947 0c56 F091 0000 lds r31,(_printf_P)+1 |
| 1948 0c5a 0995 icall |
| 1949 0c5c 83E3 ldi r24,lo8(51) |
| 1950 0c5e 0E94 0000 call LIBFC_HoTT_SetPos |
| 1951 0c62 0F90 pop __tmp_reg__ |
| 1952 0c64 0F90 pop __tmp_reg__ |
| 1953 0c66 0F90 pop __tmp_reg__ |
| 1954 0c68 0F90 pop __tmp_reg__ |
| 1955 0c6a 80E0 ldi r24,lo8(__c.20) |
| 1956 0c6c 90E0 ldi r25,hi8(__c.20) |
| 1957 0c6e 9F93 push r25 |
| 1958 0c70 8F93 push r24 |
| 1959 0c72 1F93 push r17 |
| 1960 0c74 0F93 push r16 |
| 1961 0c76 E091 0000 lds r30,_printf_P |
| 1962 0c7a F091 0000 lds r31,(_printf_P)+1 |
| 1963 0c7e 0995 icall |
| 1964 0c80 8FE3 ldi r24,lo8(63) |
| 1965 0c82 0E94 0000 call LIBFC_HoTT_SetPos |
| 1966 0c86 0F90 pop __tmp_reg__ |
| 1967 0c88 0F90 pop __tmp_reg__ |
| 1968 0c8a 0F90 pop __tmp_reg__ |
| 1969 0c8c 0F90 pop __tmp_reg__ |
| 1970 0c8e 80E0 ldi r24,lo8(__c.21) |
| 1971 0c90 90E0 ldi r25,hi8(__c.21) |
| 1972 0c92 9F93 push r25 |
| 1973 0c94 8F93 push r24 |
| 1974 0c96 1F93 push r17 |
| 1975 0c98 0F93 push r16 |
| 1976 0c9a E091 0000 lds r30,_printf_P |
| 1977 0c9e F091 0000 lds r31,(_printf_P)+1 |
| 1978 0ca2 0995 icall |
| 1979 0ca4 8EE7 ldi r24,lo8(126) |
| 1980 0ca6 0E94 0000 call LIBFC_HoTT_SetPos |
| 1981 0caa 0F90 pop __tmp_reg__ |
| 1982 0cac 0F90 pop __tmp_reg__ |
| 1983 0cae 0F90 pop __tmp_reg__ |
| 1984 0cb0 0F90 pop __tmp_reg__ |
| 1985 0cb2 80E0 ldi r24,lo8(__c.22) |
| 1986 0cb4 90E0 ldi r25,hi8(__c.22) |
| 1987 0cb6 9F93 push r25 |
| 1988 0cb8 8F93 push r24 |
| 1989 0cba 1F93 push r17 |
| 1990 0cbc 0F93 push r16 |
| 1991 0cbe 00C0 rjmp .L322 |
| 1992 .L134: |
| 1993 0cc0 8091 0000 lds r24,NaviDataOkay |
| 1994 0cc4 8823 tst r24 |
| 1995 0cc6 01F4 brne .+2 |
| 1996 0cc8 00C0 rjmp .L135 |
| 1997 0cca 8DE5 ldi r24,lo8(93) |
| 1998 0ccc 0E94 0000 call LIBFC_HoTT_SetPos |
| 1999 0cd0 80E0 ldi r24,lo8(__c.23) |
| 2000 0cd2 90E0 ldi r25,hi8(__c.23) |
| 2001 0cd4 9F93 push r25 |
| 2002 0cd6 8F93 push r24 |
| 2003 0cd8 C0E0 ldi r28,lo8(pm(LIBFC_HoTT_Putchar)) |
| 2004 0cda D0E0 ldi r29,hi8(pm(LIBFC_HoTT_Putchar)) |
| 2005 0cdc DF93 push r29 |
| 2006 0cde CF93 push r28 |
| 2007 0ce0 E091 0000 lds r30,_printf_P |
| 2008 0ce4 F091 0000 lds r31,(_printf_P)+1 |
| 2009 0ce8 0995 icall |
| 2010 0cea 84E5 ldi r24,lo8(84) |
| 2011 0cec 0E94 0000 call LIBFC_HoTT_SetPos |
| 2012 0cf0 0F90 pop __tmp_reg__ |
| 2013 0cf2 0F90 pop __tmp_reg__ |
| 2014 0cf4 0F90 pop __tmp_reg__ |
| 2015 0cf6 0F90 pop __tmp_reg__ |
| 2016 0cf8 8091 0000 lds r24,GPSInfo+1 |
| 2017 0cfc 9927 clr r25 |
| 2018 0cfe 9F93 push r25 |
| 2019 0d00 8F93 push r24 |
| 2020 0d02 80E0 ldi r24,lo8(__c.24) |
| 2021 0d04 90E0 ldi r25,hi8(__c.24) |
| 2022 0d06 9F93 push r25 |
| 2023 0d08 8F93 push r24 |
| 2024 0d0a DF93 push r29 |
| 2025 0d0c CF93 push r28 |
| 2026 0d0e E091 0000 lds r30,_printf_P |
| 2027 0d12 F091 0000 lds r31,(_printf_P)+1 |
| 2028 0d16 0995 icall |
| 2029 0d18 8EE5 ldi r24,lo8(94) |
| 2030 0d1a 0E94 0000 call LIBFC_HoTT_SetPos |
| 2031 0d1e 2DB7 in r18,__SP_L__ |
| 2032 0d20 3EB7 in r19,__SP_H__ |
| 2033 0d22 2A5F subi r18,lo8(-(6)) |
| 2034 0d24 3F4F sbci r19,hi8(-(6)) |
| 2035 0d26 2DBF out __SP_L__,r18 |
| 2036 0d28 8091 0000 lds r24,GPSInfo+4 |
| 2037 0d2c 9091 0000 lds r25,(GPSInfo+4)+1 |
| 2038 0d30 6AE0 ldi r22,lo8(10) |
| 2039 0d32 70E0 ldi r23,hi8(10) |
| 2040 0d34 0E94 0000 call __udivmodhi4 |
| 2041 0d38 7F93 push r23 |
| 2042 0d3a 6F93 push r22 |
| 2043 0d3c 80E0 ldi r24,lo8(__c.25) |
| 2044 0d3e 90E0 ldi r25,hi8(__c.25) |
| 2045 0d40 9F93 push r25 |
| 2046 0d42 8F93 push r24 |
| 2047 0d44 DF93 push r29 |
| 2048 0d46 CF93 push r28 |
| 2049 0d48 E091 0000 lds r30,_printf_P |
| 2050 0d4c F091 0000 lds r31,(_printf_P)+1 |
| 2051 0d50 0995 icall |
| 2052 0d52 8DB7 in r24,__SP_L__ |
| 2053 0d54 9EB7 in r25,__SP_H__ |
| 2054 0d56 0696 adiw r24,6 |
| 2055 0d58 8DBF out __SP_L__,r24 |
| 2056 0d5a 8091 0000 lds r24,GPSInfo+2 |
| 2057 0d5e 8330 cpi r24,lo8(3) |
| 2058 0d60 01F4 brne .L140 |
| 2059 0d62 8091 0000 lds r24,GPSInfo |
| 2060 0d66 81FF sbrs r24,1 |
| 2061 0d68 00C0 rjmp .L138 |
| 2062 0d6a 8BE5 ldi r24,lo8(91) |
| 2063 0d6c 0E94 0000 call LIBFC_HoTT_SetPos |
| 2064 0d70 80E0 ldi r24,lo8(__c.26) |
| 2065 0d72 90E0 ldi r25,hi8(__c.26) |
| 2066 0d74 00C0 rjmp .L328 |
| 2067 .L138: |
| 2068 0d76 8BE5 ldi r24,lo8(91) |
| 2069 0d78 0E94 0000 call LIBFC_HoTT_SetPos |
| 2070 0d7c 80E0 ldi r24,lo8(__c.27) |
| 2071 0d7e 90E0 ldi r25,hi8(__c.27) |
| 2072 0d80 00C0 rjmp .L328 |
| 2073 .L140: |
| 2074 0d82 8BE5 ldi r24,lo8(91) |
| 2075 0d84 0E94 0000 call LIBFC_HoTT_SetPos |
| 2076 0d88 80E0 ldi r24,lo8(__c.28) |
| 2077 0d8a 90E0 ldi r25,hi8(__c.28) |
| 2078 0d8c 00C0 rjmp .L332 |
| 2079 .L135: |
| 2080 0d8e 84E0 ldi r24,lo8(4) |
| 2081 0d90 00C0 rjmp .L308 |
| 2082 .L142: |
| 2083 0d92 8091 0000 lds r24,NaviDataOkay |
| 2084 0d96 8823 tst r24 |
| 2085 0d98 01F4 brne .+2 |
| 2086 0d9a 00C0 rjmp .L143 |
| 2087 0d9c 8091 0000 lds r24,show_mag.3 |
| 2088 0da0 90E0 ldi r25,lo8(pm(LIBFC_HoTT_Putchar)) |
| 2089 0da2 E92E mov r14,r25 |
| 2090 0da4 90E0 ldi r25,hi8(pm(LIBFC_HoTT_Putchar)) |
| 2091 0da6 F92E mov r15,r25 |
| 2092 0da8 8823 tst r24 |
| 2093 0daa 01F4 brne .+2 |
| 2094 0dac 00C0 rjmp .L144 |
| 2095 0dae 89E6 ldi r24,lo8(105) |
| 2096 0db0 0E94 0000 call LIBFC_HoTT_SetPos |
| 2097 0db4 8091 0000 lds r24,EarthMagneticField |
| 2098 0db8 9927 clr r25 |
| 2099 0dba 9F93 push r25 |
| 2100 0dbc 8F93 push r24 |
| 2101 0dbe 80E0 ldi r24,lo8(__c.29) |
| 2102 0dc0 90E0 ldi r25,hi8(__c.29) |
| 2103 0dc2 9F93 push r25 |
| 2104 0dc4 8F93 push r24 |
| 2105 0dc6 FF92 push r15 |
| 2106 0dc8 EF92 push r14 |
| 2107 0dca E091 0000 lds r30,_printf_P |
| 2108 0dce F091 0000 lds r31,(_printf_P)+1 |
| 2109 0dd2 0995 icall |
| 2110 0dd4 85E7 ldi r24,lo8(117) |
| 2111 0dd6 0E94 0000 call LIBFC_HoTT_SetPos |
| 2112 0dda 2DB7 in r18,__SP_L__ |
| 2113 0ddc 3EB7 in r19,__SP_H__ |
| 2114 0dde 2A5F subi r18,lo8(-(6)) |
| 2115 0de0 3F4F sbci r19,hi8(-(6)) |
| 2116 0de2 2DBF out __SP_L__,r18 |
| 2117 0de4 8091 0000 lds r24,NC_GPS_ModeCharacter |
| 2118 0de8 9927 clr r25 |
| 2119 0dea 9F93 push r25 |
| 2120 0dec 8F93 push r24 |
| 2121 0dee 00E6 ldi r16,lo8(96) |
| 2122 0df0 10E0 ldi r17,hi8(96) |
| 2123 0df2 1F93 push r17 |
| 2124 0df4 0F93 push r16 |
| 2125 0df6 8091 0000 lds r24,GPSInfo+6 |
| 2126 0dfa 9091 0000 lds r25,(GPSInfo+6)+1 |
| 2127 0dfe 9F93 push r25 |
| 2128 0e00 8F93 push r24 |
| 2129 0e02 80E0 ldi r24,lo8(__c.30) |
| 2130 0e04 90E0 ldi r25,hi8(__c.30) |
| 2131 0e06 9F93 push r25 |
| 2132 0e08 8F93 push r24 |
| 2133 0e0a FF92 push r15 |
| 2134 0e0c EF92 push r14 |
| 2135 0e0e E091 0000 lds r30,_printf_P |
| 2136 0e12 F091 0000 lds r31,(_printf_P)+1 |
| 2137 0e16 0995 icall |
| 2138 0e18 82E7 ldi r24,lo8(114) |
| 2139 0e1a 0E94 0000 call LIBFC_HoTT_SetPos |
| 2140 0e1e 8DB7 in r24,__SP_L__ |
| 2141 0e20 9EB7 in r25,__SP_H__ |
| 2142 0e22 0A96 adiw r24,10 |
| 2143 0e24 8DBF out __SP_L__,r24 |
| 2144 0e26 8091 0000 lds r24,EarthMagneticInclinationTheoretic |
| 2145 0e2a 9927 clr r25 |
| 2146 0e2c 9F93 push r25 |
| 2147 0e2e 8F93 push r24 |
| 2148 0e30 1F93 push r17 |
| 2149 0e32 0F93 push r16 |
| 2150 0e34 8091 0000 lds r24,EarthMagneticInclination |
| 2151 0e38 9927 clr r25 |
| 2152 0e3a 9F93 push r25 |
| 2153 0e3c 8F93 push r24 |
| 2154 0e3e 80E0 ldi r24,lo8(__c.31) |
| 2155 0e40 90E0 ldi r25,hi8(__c.31) |
| 2156 0e42 00C0 rjmp .L314 |
| 2157 .L144: |
| 2158 0e44 89E6 ldi r24,lo8(105) |
| 2159 0e46 0E94 0000 call LIBFC_HoTT_SetPos |
| 2160 0e4a 8091 0000 lds r24,NC_GPS_ModeCharacter |
| 2161 0e4e 9927 clr r25 |
| 2162 0e50 9F93 push r25 |
| 2163 0e52 8F93 push r24 |
| 2164 0e54 80E6 ldi r24,lo8(96) |
| 2165 0e56 90E0 ldi r25,hi8(96) |
| 2166 0e58 9F93 push r25 |
| 2167 0e5a 8F93 push r24 |
| 2168 0e5c 8091 0000 lds r24,GPSInfo+6 |
| 2169 0e60 9091 0000 lds r25,(GPSInfo+6)+1 |
| 2170 0e64 9F93 push r25 |
| 2171 0e66 8F93 push r24 |
| 2172 0e68 8091 0000 lds r24,GPSInfo+3 |
| 2173 0e6c 9927 clr r25 |
| 2174 0e6e 9F93 push r25 |
| 2175 0e70 8F93 push r24 |
| 2176 0e72 80E0 ldi r24,lo8(__c.32) |
| 2177 0e74 90E0 ldi r25,hi8(__c.32) |
| 2178 0e76 9F93 push r25 |
| 2179 0e78 8F93 push r24 |
| 2180 0e7a FF92 push r15 |
| 2181 0e7c EF92 push r14 |
| 2182 0e7e E091 0000 lds r30,_printf_P |
| 2183 0e82 F091 0000 lds r31,(_printf_P)+1 |
| 2184 0e86 0995 icall |
| 2185 0e88 8DB7 in r24,__SP_L__ |
| 2186 0e8a 9EB7 in r25,__SP_H__ |
| 2187 0e8c 0C96 adiw r24,12 |
| 2188 0e8e 00C0 rjmp .L306 |
| 2189 .L143: |
| 2190 0e90 85E0 ldi r24,lo8(5) |
| 2191 0e92 00C0 rjmp .L308 |
| 2192 .L148: |
| 2193 0e94 9091 0000 lds r25,NC_ErrorCode |
| 2194 0e98 9923 tst r25 |
| 2195 0e9a 01F0 breq .L149 |
| 2196 0e9c 8091 0000 lds r24,HoTTBlink |
| 2197 0ea0 8823 tst r24 |
| 2198 0ea2 01F0 breq .L150 |
| 2199 0ea4 9032 cpi r25,lo8(32) |
| 2200 0ea6 00F4 brsh .L150 |
| 2201 0ea8 87E0 ldi r24,lo8(7) |
| 2202 0eaa 0E94 0000 call Hott_ClearLine |
| 2203 0eae 83E9 ldi r24,lo8(-109) |
| 2204 0eb0 0E94 0000 call LIBFC_HoTT_SetPos |
| 2205 0eb4 8091 0000 lds r24,NC_ErrorCode |
| 2206 0eb8 9927 clr r25 |
| 2207 0eba 9F93 push r25 |
| 2208 0ebc 8F93 push r24 |
| 2209 0ebe 80E0 ldi r24,lo8(__c.33) |
| 2210 0ec0 90E0 ldi r25,hi8(__c.33) |
| 2211 0ec2 00C0 rjmp .L315 |
| 2212 .L150: |
| 2213 0ec4 83E9 ldi r24,lo8(-109) |
| 2214 0ec6 0E94 0000 call LIBFC_HoTT_SetPos |
| 2215 0eca 80E0 ldi r24,lo8(__c.34) |
| 2216 0ecc 90E0 ldi r25,hi8(__c.34) |
| 2217 0ece 00C0 rjmp .L310 |
| 2218 .L149: |
| 2219 0ed0 8091 0000 lds r24,FC_StatusFlags |
| 2220 0ed4 00E0 ldi r16,lo8(pm(LIBFC_HoTT_Putchar)) |
| 2221 0ed6 E02E mov r14,r16 |
| 2222 0ed8 00E0 ldi r16,hi8(pm(LIBFC_HoTT_Putchar)) |
| 2223 0eda F02E mov r15,r16 |
| 2224 0edc 85FF sbrs r24,5 |
| 2225 0ede 00C0 rjmp .L153 |
| 2226 0ee0 84E9 ldi r24,lo8(-108) |
| 2227 0ee2 0E94 0000 call LIBFC_HoTT_SetPos |
| 2228 0ee6 80E0 ldi r24,lo8(__c.35) |
| 2229 0ee8 90E0 ldi r25,hi8(__c.35) |
| 2230 0eea 00C0 rjmp .L329 |
| 2231 .L153: |
| 2232 0eec 83E9 ldi r24,lo8(-109) |
| 2233 0eee 0E94 0000 call LIBFC_HoTT_SetPos |
| 2234 0ef2 80E0 ldi r24,lo8(__c.36) |
| 2235 0ef4 90E0 ldi r25,hi8(__c.36) |
| 2236 0ef6 00C0 rjmp .L329 |
| 2237 .L163: |
| 2238 0ef8 8091 0000 lds r24,HottKeyboard |
| 2239 0efc 8630 cpi r24,lo8(6) |
| 2240 0efe 01F4 brne .L164 |
| 2241 0f00 8091 0000 lds r24,show_mag.3 |
| 2242 0f04 8823 tst r24 |
| 2243 0f06 01F0 breq .L165 |
| 2244 0f08 1092 0000 sts show_mag.3,__zero_reg__ |
| 2245 0f0c 00C0 rjmp .L292 |
| 2246 .L165: |
| 2247 0f0e 81E0 ldi r24,lo8(1) |
| 2248 0f10 8093 0000 sts show_mag.3,r24 |
| 2249 0f14 00C0 rjmp .L292 |
| 2250 .L164: |
| 2251 0f16 8830 cpi r24,lo8(8) |
| 2252 0f18 01F0 breq .+2 |
| 2253 0f1a 00C0 rjmp .L292 |
| 2254 0f1c 0E94 0000 call LIBFC_HoTT_Clear |
| 2255 0f20 81E0 ldi r24,lo8(1) |
| 2256 0f22 00C0 rjmp .L330 |
| 2257 .L169: |
| 2258 0f24 9093 0000 sts line.0,r25 |
| 2259 0f28 00C0 rjmp .L114 |
| 2260 .L116: |
| 2261 0f2a 9130 cpi r25,lo8(1) |
| 2262 0f2c 01F0 breq .+2 |
| 2263 0f2e 00C0 rjmp .L172 |
| 2264 0f30 8091 0000 lds r24,line.0 |
| 2265 0f34 282F mov r18,r24 |
| 2266 0f36 3327 clr r19 |
| 2267 0f38 4427 clr r20 |
| 2268 0f3a 5527 clr r21 |
| 2269 0f3c 8F5F subi r24,lo8(-(1)) |
| 2270 0f3e 8093 0000 sts line.0,r24 |
| 2271 0f42 F901 movw r30,r18 |
| 2272 0f44 2131 cpi r18,17 |
| 2273 0f46 3105 cpc r19,__zero_reg__ |
| 2274 0f48 00F0 brlo .+2 |
| 2275 0f4a 00C0 rjmp .L294 |
| 2276 0f4c E050 subi r30,lo8(-(pm(.L235))) |
| 2277 0f4e F040 sbci r31,hi8(-(pm(.L235))) |
| 2278 0f50 0C94 0000 jmp __tablejump2__ |
| 2279 .data |
| 2280 .section .progmem.gcc_sw_table, "a", @progbits |
| 2281 .p2align 1 |
| 2282 .L235: |
| 2283 0022 0000 .word pm(.L174) |
| 2284 0024 0000 .word pm(.L177) |
| 2285 0026 0000 .word pm(.L182) |
| 2286 0028 0000 .word pm(.L185) |
| 2287 002a 0000 .word pm(.L188) |
| 2288 002c 0000 .word pm(.L195) |
| 2289 002e 0000 .word pm(.L198) |
| 2290 0030 0000 .word pm(.L211) |
| 2291 0032 0000 .word pm(.L226) |
| 2292 0034 0000 .word pm(.L226) |
| 2293 0036 0000 .word pm(.L226) |
| 2294 0038 0000 .word pm(.L226) |
| 2295 003a 0000 .word pm(.L226) |
| 2296 003c 0000 .word pm(.L226) |
| 2297 003e 0000 .word pm(.L226) |
| 2298 0040 0000 .word pm(.L226) |
| 2299 0042 0000 .word pm(.L226) |
| 2300 .text |
| 2301 .L174: |
| 2302 0f54 8091 0000 lds r24,FC_StatusFlags |
| 2303 0f58 85FF sbrs r24,5 |
| 2304 0f5a 00C0 rjmp .L175 |
| 2305 0f5c 80E0 ldi r24,lo8(0) |
| 2306 0f5e 0E94 0000 call LIBFC_HoTT_SetPos |
| 2307 0f62 8091 0000 lds r24,Capacity+4 |
| 2308 0f66 9091 0000 lds r25,(Capacity+4)+1 |
| 2309 0f6a 9F93 push r25 |
| 2310 0f6c 8F93 push r24 |
| 2311 0f6e 8091 0000 lds r24,UBat |
| 2312 0f72 9091 0000 lds r25,(UBat)+1 |
| 2313 0f76 6AE0 ldi r22,lo8(10) |
| 2314 0f78 70E0 ldi r23,hi8(10) |
| 2315 0f7a 0E94 0000 call __divmodhi4 |
| 2316 0f7e 9F93 push r25 |
| 2317 0f80 8F93 push r24 |
| 2318 0f82 8091 0000 lds r24,UBat |
| 2319 0f86 9091 0000 lds r25,(UBat)+1 |
| 2320 0f8a 6AE0 ldi r22,lo8(10) |
| 2321 0f8c 70E0 ldi r23,hi8(10) |
| 2322 0f8e 0E94 0000 call __divmodhi4 |
| 2323 0f92 7F93 push r23 |
| 2324 0f94 6F93 push r22 |
| 2325 0f96 8091 0000 lds r24,FlugSekunden |
| 2326 0f9a 9091 0000 lds r25,(FlugSekunden)+1 |
| 2327 0f9e 6CE3 ldi r22,lo8(60) |
| 2328 0fa0 70E0 ldi r23,hi8(60) |
| 2329 0fa2 0E94 0000 call __udivmodhi4 |
| 2330 0fa6 9F93 push r25 |
| 2331 0fa8 8F93 push r24 |
| 2332 0faa 8091 0000 lds r24,FlugSekunden |
| 2333 0fae 9091 0000 lds r25,(FlugSekunden)+1 |
| 2334 0fb2 6CE3 ldi r22,lo8(60) |
| 2335 0fb4 70E0 ldi r23,hi8(60) |
| 2336 0fb6 0E94 0000 call __udivmodhi4 |
| 2337 0fba 7F93 push r23 |
| 2338 0fbc 6F93 push r22 |
| 2339 0fbe 80E0 ldi r24,lo8(__c.37) |
| 2340 0fc0 90E0 ldi r25,hi8(__c.37) |
| 2341 0fc2 9F93 push r25 |
| 2342 0fc4 8F93 push r24 |
| 2343 0fc6 80E0 ldi r24,lo8(pm(LIBFC_HoTT_Putchar_BLINK)) |
| 2344 0fc8 90E0 ldi r25,hi8(pm(LIBFC_HoTT_Putchar_BLINK)) |
| 2345 0fca 9F93 push r25 |
| 2346 0fcc 8F93 push r24 |
| 2347 0fce E091 0000 lds r30,_printf_P |
| 2348 0fd2 F091 0000 lds r31,(_printf_P)+1 |
| 2349 0fd6 0995 icall |
| 2350 0fd8 2DB7 in r18,__SP_L__ |
| 2351 0fda 3EB7 in r19,__SP_H__ |
| 2352 0fdc 225F subi r18,lo8(-(14)) |
| 2353 0fde 3F4F sbci r19,hi8(-(14)) |
| 2354 0fe0 00C0 rjmp .L303 |
| 2355 .L175: |
| 2356 0fe2 80E0 ldi r24,lo8(0) |
| 2357 0fe4 0E94 0000 call LIBFC_HoTT_SetPos |
| 2358 0fe8 8091 0000 lds r24,Capacity+4 |
| 2359 0fec 9091 0000 lds r25,(Capacity+4)+1 |
| 2360 0ff0 9F93 push r25 |
| 2361 0ff2 8F93 push r24 |
| 2362 0ff4 8091 0000 lds r24,UBat |
| 2363 0ff8 9091 0000 lds r25,(UBat)+1 |
| 2364 0ffc 6AE0 ldi r22,lo8(10) |
| 2365 0ffe 70E0 ldi r23,hi8(10) |
| 2366 1000 0E94 0000 call __divmodhi4 |
| 2367 1004 9F93 push r25 |
| 2368 1006 8F93 push r24 |
| 2369 1008 8091 0000 lds r24,UBat |
| 2370 100c 9091 0000 lds r25,(UBat)+1 |
| 2371 1010 6AE0 ldi r22,lo8(10) |
| 2372 1012 70E0 ldi r23,hi8(10) |
| 2373 1014 0E94 0000 call __divmodhi4 |
| 2374 1018 7F93 push r23 |
| 2375 101a 6F93 push r22 |
| 2376 101c 8091 0000 lds r24,FlugSekunden |
| 2377 1020 9091 0000 lds r25,(FlugSekunden)+1 |
| 2378 1024 6CE3 ldi r22,lo8(60) |
| 2379 1026 70E0 ldi r23,hi8(60) |
| 2380 1028 0E94 0000 call __udivmodhi4 |
| 2381 102c 9F93 push r25 |
| 2382 102e 8F93 push r24 |
| 2383 1030 8091 0000 lds r24,FlugSekunden |
| 2384 1034 9091 0000 lds r25,(FlugSekunden)+1 |
| 2385 1038 6CE3 ldi r22,lo8(60) |
| 2386 103a 70E0 ldi r23,hi8(60) |
| 2387 103c 0E94 0000 call __udivmodhi4 |
| 2388 1040 7F93 push r23 |
| 2389 1042 6F93 push r22 |
| 2390 1044 80E0 ldi r24,lo8(__c.38) |
| 2391 1046 90E0 ldi r25,hi8(__c.38) |
| 2392 1048 00C0 rjmp .L325 |
| 2393 .L177: |
| 2394 104a 85E1 ldi r24,lo8(21) |
| 2395 104c 0E94 0000 call LIBFC_HoTT_SetPos |
| 2396 1050 80E6 ldi r24,lo8(96) |
| 2397 1052 90E0 ldi r25,hi8(96) |
| 2398 1054 9F93 push r25 |
| 2399 1056 8F93 push r24 |
| 2400 1058 8091 0000 lds r24,KompassValue |
| 2401 105c 9091 0000 lds r25,(KompassValue)+1 |
| 2402 1060 9F93 push r25 |
| 2403 1062 8F93 push r24 |
| 2404 1064 80E0 ldi r24,lo8(__c.39) |
| 2405 1066 90E0 ldi r25,hi8(__c.39) |
| 2406 1068 9F93 push r25 |
| 2407 106a 8F93 push r24 |
| 2408 106c C0E0 ldi r28,lo8(pm(LIBFC_HoTT_Putchar)) |
| 2409 106e D0E0 ldi r29,hi8(pm(LIBFC_HoTT_Putchar)) |
| 2410 1070 DF93 push r29 |
| 2411 1072 CF93 push r28 |
| 2412 1074 E091 0000 lds r30,_printf_P |
| 2413 1078 F091 0000 lds r31,(_printf_P)+1 |
| 2414 107c 0995 icall |
| 2415 107e 8091 0000 lds r24,Parameter_GlobalConfig |
| 2416 1082 2DB7 in r18,__SP_L__ |
| 2417 1084 3EB7 in r19,__SP_H__ |
| 2418 1086 285F subi r18,lo8(-(8)) |
| 2419 1088 3F4F sbci r19,hi8(-(8)) |
| 2420 108a 2DBF out __SP_L__,r18 |
| 2421 108c 80FF sbrs r24,0 |
| 2422 108e 00C0 rjmp .L178 |
| 2423 1090 8091 0000 lds r24,HoehenReglerAktiv |
| 2424 1094 8823 tst r24 |
| 2425 1096 01F0 breq .L179 |
| 2426 1098 8FE1 ldi r24,lo8(31) |
| 2427 109a 0E94 0000 call LIBFC_HoTT_SetPos |
| 2428 109e 8091 0000 lds r24,HoehenWert |
| 2429 10a2 9091 0000 lds r25,(HoehenWert)+1 |
| 2430 10a6 A091 0000 lds r26,(HoehenWert)+2 |
| 2431 10aa B091 0000 lds r27,(HoehenWert)+3 |
| 2432 10ae BC01 movw r22,r24 |
| 2433 10b0 CD01 movw r24,r26 |
| 2434 10b2 24E6 ldi r18,lo8(100) |
| 2435 10b4 30E0 ldi r19,hi8(100) |
| 2436 10b6 40E0 ldi r20,hlo8(100) |
| 2437 10b8 50E0 ldi r21,hhi8(100) |
| 2438 10ba 0E94 0000 call __divmodsi4 |
| 2439 10be 3F93 push r19 |
| 2440 10c0 2F93 push r18 |
| 2441 10c2 80E0 ldi r24,lo8(__c.40) |
| 2442 10c4 90E0 ldi r25,hi8(__c.40) |
| 2443 10c6 9F93 push r25 |
| 2444 10c8 8F93 push r24 |
| 2445 10ca 80E0 ldi r24,lo8(pm(LIBFC_HoTT_Putchar_INV)) |
| 2446 10cc 90E0 ldi r25,hi8(pm(LIBFC_HoTT_Putchar_INV)) |
| 2447 10ce 9F93 push r25 |
| 2448 10d0 8F93 push r24 |
| 2449 10d2 E091 0000 lds r30,_printf_P |
| 2450 10d6 F091 0000 lds r31,(_printf_P)+1 |
| 2451 10da 0995 icall |
| 2452 10dc 8DB7 in r24,__SP_L__ |
| 2453 10de 9EB7 in r25,__SP_H__ |
| 2454 10e0 0696 adiw r24,6 |
| 2455 10e2 8DBF out __SP_L__,r24 |
| 2456 10e4 00C0 rjmp .L181 |
| 2457 .L179: |
| 2458 10e6 8FE1 ldi r24,lo8(31) |
| 2459 10e8 0E94 0000 call LIBFC_HoTT_SetPos |
| 2460 10ec 8091 0000 lds r24,HoehenWert |
| 2461 10f0 9091 0000 lds r25,(HoehenWert)+1 |
| 2462 10f4 A091 0000 lds r26,(HoehenWert)+2 |
| 2463 10f8 B091 0000 lds r27,(HoehenWert)+3 |
| 2464 10fc BC01 movw r22,r24 |
| 2465 10fe CD01 movw r24,r26 |
| 2466 1100 24E6 ldi r18,lo8(100) |
| 2467 1102 30E0 ldi r19,hi8(100) |
| 2468 1104 40E0 ldi r20,hlo8(100) |
| 2469 1106 50E0 ldi r21,hhi8(100) |
| 2470 1108 0E94 0000 call __divmodsi4 |
| 2471 110c 3F93 push r19 |
| 2472 110e 2F93 push r18 |
| 2473 1110 80E0 ldi r24,lo8(__c.41) |
| 2474 1112 90E0 ldi r25,hi8(__c.41) |
| 2475 1114 9F93 push r25 |
| 2476 1116 8F93 push r24 |
| 2477 1118 DF93 push r29 |
| 2478 111a CF93 push r28 |
| 2479 111c E091 0000 lds r30,_printf_P |
| 2480 1120 F091 0000 lds r31,(_printf_P)+1 |
| 2481 1124 0995 icall |
| 2482 1126 2DB7 in r18,__SP_L__ |
| 2483 1128 3EB7 in r19,__SP_H__ |
| 2484 112a 2A5F subi r18,lo8(-(6)) |
| 2485 112c 3F4F sbci r19,hi8(-(6)) |
| 2486 112e 2DBF out __SP_L__,r18 |
| 2487 1130 00C0 rjmp .L181 |
| 2488 .L178: |
| 2489 1132 8FE1 ldi r24,lo8(31) |
| 2490 1134 0E94 0000 call LIBFC_HoTT_SetPos |
| 2491 1138 80E0 ldi r24,lo8(__c.42) |
| 2492 113a 90E0 ldi r25,hi8(__c.42) |
| 2493 113c 9F93 push r25 |
| 2494 113e 8F93 push r24 |
| 2495 1140 DF93 push r29 |
| 2496 1142 CF93 push r28 |
| 2497 1144 E091 0000 lds r30,_printf_P |
| 2498 1148 F091 0000 lds r31,(_printf_P)+1 |
| 2499 114c 0995 icall |
| 2500 114e 0F90 pop __tmp_reg__ |
| 2501 1150 0F90 pop __tmp_reg__ |
| 2502 1152 0F90 pop __tmp_reg__ |
| 2503 1154 0F90 pop __tmp_reg__ |
| 2504 .L181: |
| 2505 1156 89E2 ldi r24,lo8(41) |
| 2506 1158 0E94 0000 call LIBFC_HoTT_SetPos |
| 2507 115c 8091 0000 lds r24,VarioCharacter |
| 2508 1160 9927 clr r25 |
| 2509 1162 9F93 push r25 |
| 2510 1164 8F93 push r24 |
| 2511 1166 80E0 ldi r24,lo8(__c.43) |
| 2512 1168 90E0 ldi r25,hi8(__c.43) |
| 2513 116a 9F93 push r25 |
| 2514 116c 8F93 push r24 |
| 2515 116e DF93 push r29 |
| 2516 1170 CF93 push r28 |
| 2517 1172 00C0 rjmp .L327 |
| 2518 .L182: |
| 2519 1174 8091 0000 lds r24,NaviDataOkay |
| 2520 1178 8823 tst r24 |
| 2521 117a 01F0 breq .L183 |
| 2522 117c 8BE2 ldi r24,lo8(43) |
| 2523 117e 0E94 0000 call LIBFC_HoTT_SetPos |
| 2524 1182 8091 0000 lds r24,NC_GPS_ModeCharacter |
| 2525 1186 9927 clr r25 |
| 2526 1188 9F93 push r25 |
| 2527 118a 8F93 push r24 |
| 2528 118c 8091 0000 lds r24,GPSInfo+4 |
| 2529 1190 9091 0000 lds r25,(GPSInfo+4)+1 |
| 2530 1194 6AE0 ldi r22,lo8(10) |
| 2531 1196 70E0 ldi r23,hi8(10) |
| 2532 1198 0E94 0000 call __udivmodhi4 |
| 2533 119c 7F93 push r23 |
| 2534 119e 6F93 push r22 |
| 2535 11a0 80E6 ldi r24,lo8(96) |
| 2536 11a2 90E0 ldi r25,hi8(96) |
| 2537 11a4 9F93 push r25 |
| 2538 11a6 8F93 push r24 |
| 2539 11a8 8091 0000 lds r24,GPSInfo+6 |
| 2540 11ac 9091 0000 lds r25,(GPSInfo+6)+1 |
| 2541 11b0 9F93 push r25 |
| 2542 11b2 8F93 push r24 |
| 2543 11b4 80E0 ldi r24,lo8(__c.44) |
| 2544 11b6 90E0 ldi r25,hi8(__c.44) |
| 2545 11b8 00C0 rjmp .L316 |
| 2546 .L183: |
| 2547 11ba 82E0 ldi r24,lo8(2) |
| 2548 11bc 00C0 rjmp .L308 |
| 2549 .L185: |
| 2550 11be 8FE3 ldi r24,lo8(63) |
| 2551 11c0 0E94 0000 call LIBFC_HoTT_SetPos |
| 2552 11c4 8091 0000 lds r24,Capacity+2 |
| 2553 11c8 9091 0000 lds r25,(Capacity+2)+1 |
| 2554 11cc 9F93 push r25 |
| 2555 11ce 8F93 push r24 |
| 2556 11d0 8091 0000 lds r24,Capacity |
| 2557 11d4 9091 0000 lds r25,(Capacity)+1 |
| 2558 11d8 6AE0 ldi r22,lo8(10) |
| 2559 11da 70E0 ldi r23,hi8(10) |
| 2560 11dc 0E94 0000 call __udivmodhi4 |
| 2561 11e0 9F93 push r25 |
| 2562 11e2 8F93 push r24 |
| 2563 11e4 8091 0000 lds r24,Capacity |
| 2564 11e8 9091 0000 lds r25,(Capacity)+1 |
| 2565 11ec 6AE0 ldi r22,lo8(10) |
| 2566 11ee 70E0 ldi r23,hi8(10) |
| 2567 11f0 0E94 0000 call __udivmodhi4 |
| 2568 11f4 7F93 push r23 |
| 2569 11f6 6F93 push r22 |
| 2570 11f8 80E0 ldi r24,lo8(__c.45) |
| 2571 11fa 90E0 ldi r25,hi8(__c.45) |
| 2572 11fc 9F93 push r25 |
| 2573 11fe 8F93 push r24 |
| 2574 1200 C0E0 ldi r28,lo8(pm(LIBFC_HoTT_Putchar)) |
| 2575 1202 D0E0 ldi r29,hi8(pm(LIBFC_HoTT_Putchar)) |
| 2576 1204 DF93 push r29 |
| 2577 1206 CF93 push r28 |
| 2578 1208 E091 0000 lds r30,_printf_P |
| 2579 120c F091 0000 lds r31,(_printf_P)+1 |
| 2580 1210 0995 icall |
| 2581 1212 8091 0000 lds r24,FC_StatusFlags2 |
| 2582 1216 2DB7 in r18,__SP_L__ |
| 2583 1218 3EB7 in r19,__SP_H__ |
| 2584 121a 265F subi r18,lo8(-(10)) |
| 2585 121c 3F4F sbci r19,hi8(-(10)) |
| 2586 121e 2DBF out __SP_L__,r18 |
| 2587 1220 80FF sbrs r24,0 |
| 2588 1222 00C0 rjmp .L186 |
| 2589 1224 82E5 ldi r24,lo8(82) |
| 2590 1226 0E94 0000 call LIBFC_HoTT_SetPos |
| 2591 122a 80E0 ldi r24,lo8(__c.46) |
| 2592 122c 90E0 ldi r25,hi8(__c.46) |
| 2593 .L333: |
| 2594 122e 9F93 push r25 |
| 2595 1230 8F93 push r24 |
| 2596 1232 80E0 ldi r24,lo8(pm(LIBFC_HoTT_Putchar_INV)) |
| 2597 1234 90E0 ldi r25,hi8(pm(LIBFC_HoTT_Putchar_INV)) |
| 2598 1236 00C0 rjmp .L321 |
| 2599 .L186: |
| 2600 1238 82E5 ldi r24,lo8(82) |
| 2601 123a 0E94 0000 call LIBFC_HoTT_SetPos |
| 2602 123e 80E0 ldi r24,lo8(__c.47) |
| 2603 1240 90E0 ldi r25,hi8(__c.47) |
| 2604 1242 00C0 rjmp .L328 |
| 2605 .L188: |
| 2606 1244 8091 0000 lds r24,NaviDataOkay |
| 2607 1248 10E0 ldi r17,lo8(pm(LIBFC_HoTT_Putchar)) |
| 2608 124a E12E mov r14,r17 |
| 2609 124c 10E0 ldi r17,hi8(pm(LIBFC_HoTT_Putchar)) |
| 2610 124e F12E mov r15,r17 |
| 2611 1250 8823 tst r24 |
| 2612 1252 01F4 brne .+2 |
| 2613 1254 00C0 rjmp .L189 |
| 2614 1256 84E5 ldi r24,lo8(84) |
| 2615 1258 0E94 0000 call LIBFC_HoTT_SetPos |
| 2616 125c 8091 0000 lds r24,GPSInfo+1 |
| 2617 1260 9927 clr r25 |
| 2618 1262 9F93 push r25 |
| 2619 1264 8F93 push r24 |
| 2620 1266 8091 0000 lds r24,GPSInfo+3 |
| 2621 126a 9927 clr r25 |
| 2622 126c 9F93 push r25 |
| 2623 126e 8F93 push r24 |
| 2624 1270 80E0 ldi r24,lo8(__c.48) |
| 2625 1272 90E0 ldi r25,hi8(__c.48) |
| 2626 1274 9F93 push r25 |
| 2627 1276 8F93 push r24 |
| 2628 1278 E701 movw r28,r14 |
| 2629 127a FF92 push r15 |
| 2630 127c EF92 push r14 |
| 2631 127e E091 0000 lds r30,_printf_P |
| 2632 1282 F091 0000 lds r31,(_printf_P)+1 |
| 2633 1286 0995 icall |
| 2634 1288 8DB7 in r24,__SP_L__ |
| 2635 128a 9EB7 in r25,__SP_H__ |
| 2636 128c 0896 adiw r24,8 |
| 2637 128e 8DBF out __SP_L__,r24 |
| 2638 1290 8091 0000 lds r24,GPSInfo+2 |
| 2639 1294 8330 cpi r24,lo8(3) |
| 2640 1296 01F4 brne .L192 |
| 2641 1298 84E6 ldi r24,lo8(100) |
| 2642 129a 0E94 0000 call LIBFC_HoTT_SetPos |
| 2643 129e 80E0 ldi r24,lo8(__c.49) |
| 2644 12a0 90E0 ldi r25,hi8(__c.49) |
| 2645 12a2 9F93 push r25 |
| 2646 12a4 8F93 push r24 |
| 2647 12a6 FF92 push r15 |
| 2648 12a8 EF92 push r14 |
| 2649 12aa 00C0 rjmp .L297 |
| 2650 .L192: |
| 2651 12ac 84E6 ldi r24,lo8(100) |
| 2652 12ae 0E94 0000 call LIBFC_HoTT_SetPos |
| 2653 12b2 80E0 ldi r24,lo8(__c.50) |
| 2654 12b4 90E0 ldi r25,hi8(__c.50) |
| 2655 12b6 9F93 push r25 |
| 2656 12b8 8F93 push r24 |
| 2657 12ba 80E0 ldi r24,lo8(pm(LIBFC_HoTT_Putchar_BLINK)) |
| 2658 12bc 90E0 ldi r25,hi8(pm(LIBFC_HoTT_Putchar_BLINK)) |
| 2659 12be 9F93 push r25 |
| 2660 12c0 8F93 push r24 |
| 2661 .L297: |
| 2662 12c2 E091 0000 lds r30,_printf_P |
| 2663 12c6 F091 0000 lds r31,(_printf_P)+1 |
| 2664 12ca 0995 icall |
| 2665 12cc 0F90 pop __tmp_reg__ |
| 2666 12ce 0F90 pop __tmp_reg__ |
| 2667 12d0 0F90 pop __tmp_reg__ |
| 2668 12d2 0F90 pop __tmp_reg__ |
| 2669 12d4 8091 0000 lds r24,GPSInfo |
| 2670 12d8 81FF sbrs r24,1 |
| 2671 12da 00C0 rjmp .L114 |
| 2672 12dc 84E6 ldi r24,lo8(100) |
| 2673 12de 0E94 0000 call LIBFC_HoTT_SetPos |
| 2674 12e2 80E0 ldi r24,lo8(__c.51) |
| 2675 12e4 90E0 ldi r25,hi8(__c.51) |
| 2676 12e6 00C0 rjmp .L328 |
| 2677 .L189: |
| 2678 12e8 84E5 ldi r24,lo8(84) |
| 2679 12ea 0E94 0000 call LIBFC_HoTT_SetPos |
| 2680 12ee 80E0 ldi r24,lo8(__c.52) |
| 2681 12f0 90E0 ldi r25,hi8(__c.52) |
| 2682 12f2 00C0 rjmp .L329 |
| 2683 .L195: |
| 2684 12f4 8091 0000 lds r24,show_current.2 |
| 2685 12f8 C0E0 ldi r28,lo8(pm(LIBFC_HoTT_Putchar)) |
| 2686 12fa EC2E mov r14,r28 |
| 2687 12fc C0E0 ldi r28,hi8(pm(LIBFC_HoTT_Putchar)) |
| 2688 12fe FC2E mov r15,r28 |
| 2689 1300 8823 tst r24 |
| 2690 1302 01F4 brne .+2 |
| 2691 1304 00C0 rjmp .L196 |
| 2692 1306 89E6 ldi r24,lo8(105) |
| 2693 1308 0E94 0000 call LIBFC_HoTT_SetPos |
| 2694 130c 8091 0000 lds r24,Motor+29 |
| 2695 1310 6AE0 ldi r22,lo8(10) |
| 2696 1312 0E94 0000 call __udivmodqi4 |
| 2697 1316 892F mov r24,r25 |
| 2698 1318 9927 clr r25 |
| 2699 131a 9F93 push r25 |
| 2700 131c 8F93 push r24 |
| 2701 131e 8091 0000 lds r24,Motor+29 |
| 2702 1322 0E94 0000 call __udivmodqi4 |
| 2703 1326 9927 clr r25 |
| 2704 1328 9F93 push r25 |
| 2705 132a 8F93 push r24 |
| 2706 132c 8091 0000 lds r24,Motor+21 |
| 2707 1330 0E94 0000 call __udivmodqi4 |
| 2708 1334 892F mov r24,r25 |
| 2709 1336 9927 clr r25 |
| 2710 1338 9F93 push r25 |
| 2711 133a 8F93 push r24 |
| 2712 133c 8091 0000 lds r24,Motor+21 |
| 2713 1340 0E94 0000 call __udivmodqi4 |
| 2714 1344 9927 clr r25 |
| 2715 1346 9F93 push r25 |
| 2716 1348 8F93 push r24 |
| 2717 134a 8091 0000 lds r24,Motor+13 |
| 2718 134e 0E94 0000 call __udivmodqi4 |
| 2719 1352 892F mov r24,r25 |
| 2720 1354 9927 clr r25 |
| 2721 1356 9F93 push r25 |
| 2722 1358 8F93 push r24 |
| 2723 135a 8091 0000 lds r24,Motor+13 |
| 2724 135e 0E94 0000 call __udivmodqi4 |
| 2725 1362 9927 clr r25 |
| 2726 1364 9F93 push r25 |
| 2727 1366 8F93 push r24 |
| 2728 1368 8091 0000 lds r24,Motor+5 |
| 2729 136c 0E94 0000 call __udivmodqi4 |
| 2730 1370 892F mov r24,r25 |
| 2731 1372 9927 clr r25 |
| 2732 1374 9F93 push r25 |
| 2733 1376 8F93 push r24 |
| 2734 1378 8091 0000 lds r24,Motor+5 |
| 2735 137c 0E94 0000 call __udivmodqi4 |
| 2736 1380 9927 clr r25 |
| 2737 1382 9F93 push r25 |
| 2738 1384 8F93 push r24 |
| 2739 1386 80E0 ldi r24,lo8(__c.53) |
| 2740 1388 90E0 ldi r25,hi8(__c.53) |
| 2741 138a 9F93 push r25 |
| 2742 138c 8F93 push r24 |
| 2743 138e FF92 push r15 |
| 2744 1390 EF92 push r14 |
| 2745 1392 E091 0000 lds r30,_printf_P |
| 2746 1396 F091 0000 lds r31,(_printf_P)+1 |
| 2747 139a 0995 icall |
| 2748 139c 2DB7 in r18,__SP_L__ |
| 2749 139e 3EB7 in r19,__SP_H__ |
| 2750 13a0 2C5E subi r18,lo8(-(20)) |
| 2751 13a2 3F4F sbci r19,hi8(-(20)) |
| 2752 13a4 00C0 rjmp .L303 |
| 2753 .L196: |
| 2754 13a6 89E6 ldi r24,lo8(105) |
| 2755 13a8 0E94 0000 call LIBFC_HoTT_SetPos |
| 2756 13ac 80E6 ldi r24,lo8(96) |
| 2757 13ae 90E0 ldi r25,hi8(96) |
| 2758 13b0 9F93 push r25 |
| 2759 13b2 8F93 push r24 |
| 2760 13b4 8091 0000 lds r24,Motor+31 |
| 2761 13b8 9927 clr r25 |
| 2762 13ba 87FD sbrc r24,7 |
| 2763 13bc 9095 com r25 |
| 2764 13be 9F93 push r25 |
| 2765 13c0 8F93 push r24 |
| 2766 13c2 8091 0000 lds r24,Motor+23 |
| 2767 13c6 9927 clr r25 |
| 2768 13c8 87FD sbrc r24,7 |
| 2769 13ca 9095 com r25 |
| 2770 13cc 9F93 push r25 |
| 2771 13ce 8F93 push r24 |
| 2772 13d0 8091 0000 lds r24,Motor+15 |
| 2773 13d4 9927 clr r25 |
| 2774 13d6 87FD sbrc r24,7 |
| 2775 13d8 9095 com r25 |
| 2776 13da 9F93 push r25 |
| 2777 13dc 8F93 push r24 |
| 2778 13de 8091 0000 lds r24,Motor+7 |
| 2779 13e2 9927 clr r25 |
| 2780 13e4 87FD sbrc r24,7 |
| 2781 13e6 9095 com r25 |
| 2782 13e8 9F93 push r25 |
| 2783 13ea 8F93 push r24 |
| 2784 13ec 80E0 ldi r24,lo8(__c.54) |
| 2785 13ee 90E0 ldi r25,hi8(__c.54) |
| 2786 13f0 9F93 push r25 |
| 2787 13f2 8F93 push r24 |
| 2788 13f4 FF92 push r15 |
| 2789 13f6 EF92 push r14 |
| 2790 .L311: |
| 2791 13f8 E091 0000 lds r30,_printf_P |
| 2792 13fc F091 0000 lds r31,(_printf_P)+1 |
| 2793 1400 0995 icall |
| 2794 1402 8DB7 in r24,__SP_L__ |
| 2795 1404 9EB7 in r25,__SP_H__ |
| 2796 1406 0E96 adiw r24,14 |
| 2797 1408 00C0 rjmp .L306 |
| 2798 .L198: |
| 2799 140a 8091 0000 lds r24,show_current.2 |
| 2800 140e 9091 0000 lds r25,RequiredMotors |
| 2801 1412 8823 tst r24 |
| 2802 1414 01F4 brne .+2 |
| 2803 1416 00C0 rjmp .L199 |
| 2804 1418 9430 cpi r25,lo8(4) |
| 2805 141a 01F4 brne .+2 |
| 2806 141c 00C0 rjmp .L307 |
| 2807 141e 9630 cpi r25,lo8(6) |
| 2808 1420 01F4 brne .L202 |
| 2809 1422 8EE7 ldi r24,lo8(126) |
| 2810 1424 0E94 0000 call LIBFC_HoTT_SetPos |
| 2811 1428 8091 0000 lds r24,Motor+45 |
| 2812 142c 6AE0 ldi r22,lo8(10) |
| 2813 142e 0E94 0000 call __udivmodqi4 |
| 2814 1432 892F mov r24,r25 |
| 2815 1434 9927 clr r25 |
| 2816 1436 9F93 push r25 |
| 2817 1438 8F93 push r24 |
| 2818 143a 8091 0000 lds r24,Motor+45 |
| 2819 143e 0E94 0000 call __udivmodqi4 |
| 2820 1442 9927 clr r25 |
| 2821 1444 9F93 push r25 |
| 2822 1446 8F93 push r24 |
| 2823 1448 8091 0000 lds r24,Motor+37 |
| 2824 144c 0E94 0000 call __udivmodqi4 |
| 2825 1450 892F mov r24,r25 |
| 2826 1452 9927 clr r25 |
| 2827 1454 9F93 push r25 |
| 2828 1456 8F93 push r24 |
| 2829 1458 8091 0000 lds r24,Motor+37 |
| 2830 145c 0E94 0000 call __udivmodqi4 |
| 2831 1460 9927 clr r25 |
| 2832 1462 9F93 push r25 |
| 2833 1464 8F93 push r24 |
| 2834 1466 80E0 ldi r24,lo8(__c.55) |
| 2835 1468 90E0 ldi r25,hi8(__c.55) |
| 2836 .L316: |
| 2837 146a 9F93 push r25 |
| 2838 146c 8F93 push r24 |
| 2839 146e 80E0 ldi r24,lo8(pm(LIBFC_HoTT_Putchar)) |
| 2840 1470 90E0 ldi r25,hi8(pm(LIBFC_HoTT_Putchar)) |
| 2841 1472 9F93 push r25 |
| 2842 1474 8F93 push r24 |
| 2843 1476 E091 0000 lds r30,_printf_P |
| 2844 147a F091 0000 lds r31,(_printf_P)+1 |
| 2845 147e 0995 icall |
| 2846 1480 2DB7 in r18,__SP_L__ |
| 2847 1482 3EB7 in r19,__SP_H__ |
| 2848 1484 245F subi r18,lo8(-(12)) |
| 2849 1486 3F4F sbci r19,hi8(-(12)) |
| 2850 1488 00C0 rjmp .L303 |
| 2851 .L202: |
| 2852 148a 9730 cpi r25,lo8(7) |
| 2853 148c 00F4 brsh .+2 |
| 2854 148e 00C0 rjmp .L114 |
| 2855 1490 8EE7 ldi r24,lo8(126) |
| 2856 1492 0E94 0000 call LIBFC_HoTT_SetPos |
| 2857 1496 8091 0000 lds r24,Motor+61 |
| 2858 149a 6AE0 ldi r22,lo8(10) |
| 2859 149c 0E94 0000 call __udivmodqi4 |
| 2860 14a0 892F mov r24,r25 |
| 2861 14a2 9927 clr r25 |
| 2862 14a4 9F93 push r25 |
| 2863 14a6 8F93 push r24 |
| 2864 14a8 8091 0000 lds r24,Motor+61 |
| 2865 14ac 0E94 0000 call __udivmodqi4 |
| 2866 14b0 9927 clr r25 |
| 2867 14b2 9F93 push r25 |
| 2868 14b4 8F93 push r24 |
| 2869 14b6 8091 0000 lds r24,Motor+53 |
| 2870 14ba 0E94 0000 call __udivmodqi4 |
| 2871 14be 892F mov r24,r25 |
| 2872 14c0 9927 clr r25 |
| 2873 14c2 9F93 push r25 |
| 2874 14c4 8F93 push r24 |
| 2875 14c6 8091 0000 lds r24,Motor+53 |
| 2876 14ca 0E94 0000 call __udivmodqi4 |
| 2877 14ce 9927 clr r25 |
| 2878 14d0 9F93 push r25 |
| 2879 14d2 8F93 push r24 |
| 2880 14d4 8091 0000 lds r24,Motor+45 |
| 2881 14d8 0E94 0000 call __udivmodqi4 |
| 2882 14dc 892F mov r24,r25 |
| 2883 14de 9927 clr r25 |
| 2884 14e0 9F93 push r25 |
| 2885 14e2 8F93 push r24 |
| 2886 14e4 8091 0000 lds r24,Motor+45 |
| 2887 14e8 0E94 0000 call __udivmodqi4 |
| 2888 14ec 9927 clr r25 |
| 2889 14ee 9F93 push r25 |
| 2890 14f0 8F93 push r24 |
| 2891 14f2 8091 0000 lds r24,Motor+37 |
| 2892 14f6 0E94 0000 call __udivmodqi4 |
| 2893 14fa 892F mov r24,r25 |
| 2894 14fc 9927 clr r25 |
| 2895 14fe 9F93 push r25 |
| 2896 1500 8F93 push r24 |
| 2897 1502 8091 0000 lds r24,Motor+37 |
| 2898 1506 0E94 0000 call __udivmodqi4 |
| 2899 150a 9927 clr r25 |
| 2900 150c 9F93 push r25 |
| 2901 150e 8F93 push r24 |
| 2902 1510 80E0 ldi r24,lo8(__c.56) |
| 2903 1512 90E0 ldi r25,hi8(__c.56) |
| 2904 1514 9F93 push r25 |
| 2905 1516 8F93 push r24 |
| 2906 1518 80E0 ldi r24,lo8(pm(LIBFC_HoTT_Putchar)) |
| 2907 151a 90E0 ldi r25,hi8(pm(LIBFC_HoTT_Putchar)) |
| 2908 151c 9F93 push r25 |
| 2909 151e 8F93 push r24 |
| 2910 1520 E091 0000 lds r30,_printf_P |
| 2911 1524 F091 0000 lds r31,(_printf_P)+1 |
| 2912 1528 0995 icall |
| 2913 152a 8DB7 in r24,__SP_L__ |
| 2914 152c 9EB7 in r25,__SP_H__ |
| 2915 152e 4496 adiw r24,20 |
| 2916 1530 00C0 rjmp .L306 |
| 2917 .L199: |
| 2918 1532 9430 cpi r25,lo8(4) |
| 2919 1534 01F4 brne .L206 |
| 2920 .L307: |
| 2921 1536 86E0 ldi r24,lo8(6) |
| 2922 .L308: |
| 2923 1538 0E94 0000 call Hott_ClearLine |
| 2924 153c 00C0 rjmp .L114 |
| 2925 .L206: |
| 2926 153e 9630 cpi r25,lo8(6) |
| 2927 1540 01F4 brne .L208 |
| 2928 1542 8EE7 ldi r24,lo8(126) |
| 2929 1544 0E94 0000 call LIBFC_HoTT_SetPos |
| 2930 1548 80E6 ldi r24,lo8(96) |
| 2931 154a 90E0 ldi r25,hi8(96) |
| 2932 154c 9F93 push r25 |
| 2933 154e 8F93 push r24 |
| 2934 1550 8091 0000 lds r24,Motor+47 |
| 2935 1554 9927 clr r25 |
| 2936 1556 87FD sbrc r24,7 |
| 2937 1558 9095 com r25 |
| 2938 155a 9F93 push r25 |
| 2939 155c 8F93 push r24 |
| 2940 155e 8091 0000 lds r24,Motor+39 |
| 2941 1562 9927 clr r25 |
| 2942 1564 87FD sbrc r24,7 |
| 2943 1566 9095 com r25 |
| 2944 1568 9F93 push r25 |
| 2945 156a 8F93 push r24 |
| 2946 156c 80E0 ldi r24,lo8(__c.57) |
| 2947 156e 90E0 ldi r25,hi8(__c.57) |
| 2948 1570 9F93 push r25 |
| 2949 1572 8F93 push r24 |
| 2950 1574 80E0 ldi r24,lo8(pm(LIBFC_HoTT_Putchar)) |
| 2951 1576 90E0 ldi r25,hi8(pm(LIBFC_HoTT_Putchar)) |
| 2952 1578 9F93 push r25 |
| 2953 157a 8F93 push r24 |
| 2954 157c 00C0 rjmp .L317 |
| 2955 .L208: |
| 2956 157e 9730 cpi r25,lo8(7) |
| 2957 1580 00F4 brsh .+2 |
| 2958 1582 00C0 rjmp .L114 |
| 2959 1584 8EE7 ldi r24,lo8(126) |
| 2960 1586 0E94 0000 call LIBFC_HoTT_SetPos |
| 2961 158a 80E6 ldi r24,lo8(96) |
| 2962 158c 90E0 ldi r25,hi8(96) |
| 2963 158e 9F93 push r25 |
| 2964 1590 8F93 push r24 |
| 2965 1592 8091 0000 lds r24,Motor+63 |
| 2966 1596 9927 clr r25 |
| 2967 1598 87FD sbrc r24,7 |
| 2968 159a 9095 com r25 |
| 2969 159c 9F93 push r25 |
| 2970 159e 8F93 push r24 |
| 2971 15a0 8091 0000 lds r24,Motor+55 |
| 2972 15a4 9927 clr r25 |
| 2973 15a6 87FD sbrc r24,7 |
| 2974 15a8 9095 com r25 |
| 2975 15aa 9F93 push r25 |
| 2976 15ac 8F93 push r24 |
| 2977 15ae 8091 0000 lds r24,Motor+47 |
| 2978 15b2 9927 clr r25 |
| 2979 15b4 87FD sbrc r24,7 |
| 2980 15b6 9095 com r25 |
| 2981 15b8 9F93 push r25 |
| 2982 15ba 8F93 push r24 |
| 2983 15bc 8091 0000 lds r24,Motor+39 |
| 2984 15c0 9927 clr r25 |
| 2985 15c2 87FD sbrc r24,7 |
| 2986 15c4 9095 com r25 |
| 2987 15c6 9F93 push r25 |
| 2988 15c8 8F93 push r24 |
| 2989 15ca 80E0 ldi r24,lo8(__c.58) |
| 2990 15cc 90E0 ldi r25,hi8(__c.58) |
| 2991 .L325: |
| 2992 15ce 9F93 push r25 |
| 2993 15d0 8F93 push r24 |
| 2994 15d2 80E0 ldi r24,lo8(pm(LIBFC_HoTT_Putchar)) |
| 2995 15d4 90E0 ldi r25,hi8(pm(LIBFC_HoTT_Putchar)) |
| 2996 15d6 9F93 push r25 |
| 2997 15d8 8F93 push r24 |
| 2998 15da 00C0 rjmp .L311 |
| 2999 .L211: |
| 3000 15dc 9091 0000 lds r25,NC_ErrorCode |
| 3001 15e0 9923 tst r25 |
| 3002 15e2 01F4 brne .+2 |
| 3003 15e4 00C0 rjmp .L212 |
| 3004 15e6 8091 0000 lds r24,HoTTBlink |
| 3005 15ea 8823 tst r24 |
| 3006 15ec 01F0 breq .L213 |
| 3007 15ee 9032 cpi r25,lo8(32) |
| 3008 15f0 00F4 brsh .L213 |
| 3009 15f2 87E0 ldi r24,lo8(7) |
| 3010 15f4 0E94 0000 call Hott_ClearLine |
| 3011 15f8 83E9 ldi r24,lo8(-109) |
| 3012 15fa 0E94 0000 call LIBFC_HoTT_SetPos |
| 3013 15fe 8091 0000 lds r24,NC_ErrorCode |
| 3014 1602 9927 clr r25 |
| 3015 1604 9F93 push r25 |
| 3016 1606 8F93 push r24 |
| 3017 1608 80E0 ldi r24,lo8(__c.59) |
| 3018 160a 90E0 ldi r25,hi8(__c.59) |
| 3019 .L315: |
| 3020 160c 9F93 push r25 |
| 3021 160e 8F93 push r24 |
| 3022 1610 80E0 ldi r24,lo8(pm(LIBFC_HoTT_Putchar_INV)) |
| 3023 1612 90E0 ldi r25,hi8(pm(LIBFC_HoTT_Putchar_INV)) |
| 3024 1614 9F93 push r25 |
| 3025 1616 8F93 push r24 |
| 3026 .L318: |
| 3027 1618 E091 0000 lds r30,_printf_P |
| 3028 161c F091 0000 lds r31,(_printf_P)+1 |
| 3029 .L319: |
| 3030 1620 0995 icall |
| 3031 1622 2DB7 in r18,__SP_L__ |
| 3032 1624 3EB7 in r19,__SP_H__ |
| 3033 1626 2A5F subi r18,lo8(-(6)) |
| 3034 1628 3F4F sbci r19,hi8(-(6)) |
| 3035 162a 00C0 rjmp .L303 |
| 3036 .L213: |
| 3037 162c 83E9 ldi r24,lo8(-109) |
| 3038 162e 0E94 0000 call LIBFC_HoTT_SetPos |
| 3039 1632 80E0 ldi r24,lo8(__c.60) |
| 3040 1634 90E0 ldi r25,hi8(__c.60) |
| 3041 .L310: |
| 3042 1636 9F93 push r25 |
| 3043 1638 8F93 push r24 |
| 3044 163a 00E0 ldi r16,lo8(pm(LIBFC_HoTT_Putchar)) |
| 3045 163c 10E0 ldi r17,hi8(pm(LIBFC_HoTT_Putchar)) |
| 3046 163e 1F93 push r17 |
| 3047 1640 0F93 push r16 |
| 3048 1642 E091 0000 lds r30,_printf_P |
| 3049 1646 F091 0000 lds r31,(_printf_P)+1 |
| 3050 164a 0995 icall |
| 3051 164c 1F92 push __zero_reg__ |
| 3052 164e 1F92 push __zero_reg__ |
| 3053 1650 9091 0000 lds r25,NC_ErrorCode |
| 3054 1654 81E1 ldi r24,lo8(17) |
| 3055 1656 989F mul r25,r24 |
| 3056 1658 C001 movw r24,r0 |
| 3057 165a 1124 clr r1 |
| 3058 165c 8050 subi r24,lo8(-(NC_ERROR_TEXT)) |
| 3059 165e 9040 sbci r25,hi8(-(NC_ERROR_TEXT)) |
| 3060 1660 9F93 push r25 |
| 3061 1662 8F93 push r24 |
| 3062 1664 1F93 push r17 |
| 3063 1666 0F93 push r16 |
| 3064 1668 E091 0000 lds r30,_printf_P |
| 3065 166c F091 0000 lds r31,(_printf_P)+1 |
| 3066 1670 0995 icall |
| 3067 .L312: |
| 3068 1672 8DB7 in r24,__SP_L__ |
| 3069 1674 9EB7 in r25,__SP_H__ |
| 3070 1676 0A96 adiw r24,10 |
| 3071 1678 00C0 rjmp .L306 |
| 3072 .L212: |
| 3073 167a 8091 0000 lds r24,FC_StatusFlags |
| 3074 167e B0E0 ldi r27,lo8(pm(LIBFC_HoTT_Putchar)) |
| 3075 1680 EB2E mov r14,r27 |
| 3076 1682 B0E0 ldi r27,hi8(pm(LIBFC_HoTT_Putchar)) |
| 3077 1684 FB2E mov r15,r27 |
| 3078 1686 85FF sbrs r24,5 |
| 3079 1688 00C0 rjmp .L216 |
| 3080 168a 84E9 ldi r24,lo8(-108) |
| 3081 168c 0E94 0000 call LIBFC_HoTT_SetPos |
| 3082 1690 80E0 ldi r24,lo8(__c.61) |
| 3083 1692 90E0 ldi r25,hi8(__c.61) |
| 3084 1694 00C0 rjmp .L329 |
| 3085 .L216: |
| 3086 1696 83E9 ldi r24,lo8(-109) |
| 3087 1698 0E94 0000 call LIBFC_HoTT_SetPos |
| 3088 169c 80E0 ldi r24,lo8(__c.62) |
| 3089 169e 90E0 ldi r25,hi8(__c.62) |
| 3090 .L329: |
| 3091 16a0 9F93 push r25 |
| 3092 16a2 8F93 push r24 |
| 3093 16a4 FF92 push r15 |
| 3094 16a6 EF92 push r14 |
| 3095 16a8 00C0 rjmp .L322 |
| 3096 .L226: |
| 3097 16aa 8091 0000 lds r24,HottKeyboard |
| 3098 16ae 8630 cpi r24,lo8(6) |
| 3099 16b0 01F4 brne .L227 |
| 3100 16b2 8091 0000 lds r24,show_current.2 |
| 3101 16b6 8823 tst r24 |
| 3102 16b8 01F0 breq .L228 |
| 3103 16ba 1092 0000 sts show_current.2,__zero_reg__ |
| 3104 16be 00C0 rjmp .L229 |
| 3105 .L228: |
| 3106 16c0 81E0 ldi r24,lo8(1) |
| 3107 16c2 8093 0000 sts show_current.2,r24 |
| 3108 .L229: |
| 3109 16c6 85E0 ldi r24,lo8(5) |
| 3110 16c8 0E94 0000 call Hott_ClearLine |
| 3111 16cc 86E0 ldi r24,lo8(6) |
| 3112 16ce 00C0 rjmp .L323 |
| 3113 .L227: |
| 3114 16d0 8830 cpi r24,lo8(8) |
| 3115 16d2 01F4 brne .L231 |
| 3116 16d4 0E94 0000 call LIBFC_HoTT_Clear |
| 3117 16d8 82E0 ldi r24,lo8(2) |
| 3118 .L330: |
| 3119 16da 8093 0000 sts page.1,r24 |
| 3120 16de 00C0 rjmp .L324 |
| 3121 .L231: |
| 3122 16e0 8130 cpi r24,lo8(1) |
| 3123 16e2 01F0 breq .+2 |
| 3124 16e4 00C0 rjmp .L292 |
| 3125 16e6 0E94 0000 call LIBFC_HoTT_Clear |
| 3126 16ea 1092 0000 sts page.1,__zero_reg__ |
| 3127 16ee 00C0 rjmp .L324 |
| 3128 .L172: |
| 3129 16f0 9230 cpi r25,lo8(2) |
| 3130 16f2 01F0 breq .+2 |
| 3131 16f4 00C0 rjmp .L237 |
| 3132 16f6 8091 0000 lds r24,line.0 |
| 3133 16fa 282F mov r18,r24 |
| 3134 16fc 3327 clr r19 |
| 3135 16fe 4427 clr r20 |
| 3136 1700 5527 clr r21 |
| 3137 1702 8F5F subi r24,lo8(-(1)) |
| 3138 1704 8093 0000 sts line.0,r24 |
| 3139 1708 F901 movw r30,r18 |
| 3140 170a 2131 cpi r18,17 |
| 3141 170c 3105 cpc r19,__zero_reg__ |
| 3142 170e 00F0 brlo .+2 |
| 3143 1710 00C0 rjmp .L294 |
| 3144 1712 E050 subi r30,lo8(-(pm(.L295))) |
| 3145 1714 F040 sbci r31,hi8(-(pm(.L295))) |
| 3146 1716 0C94 0000 jmp __tablejump2__ |
| 3147 .data |
| 3148 .section .progmem.gcc_sw_table, "a", @progbits |
| 3149 .p2align 1 |
| 3150 .L295: |
| 3151 0044 0000 .word pm(.L239) |
| 3152 0046 0000 .word pm(.L240) |
| 3153 0048 0000 .word pm(.L241) |
| 3154 004a 0000 .word pm(.L250) |
| 3155 004c 0000 .word pm(.L256) |
| 3156 004e 0000 .word pm(.L268) |
| 3157 0050 0000 .word pm(.L271) |
| 3158 0052 0000 .word pm(.L274) |
| 3159 0054 0000 .word pm(.L114) |
| 3160 0056 0000 .word pm(.L288) |
| 3161 0058 0000 .word pm(.L288) |
| 3162 005a 0000 .word pm(.L288) |
| 3163 005c 0000 .word pm(.L288) |
| 3164 005e 0000 .word pm(.L288) |
| 3165 0060 0000 .word pm(.L288) |
| 3166 0062 0000 .word pm(.L288) |
| 3167 0064 0000 .word pm(.L288) |
| 3168 .text |
| 3169 .L239: |
| 3170 171a 80E0 ldi r24,lo8(0) |
| 3171 171c 0E94 0000 call LIBFC_HoTT_SetPos |
| 3172 1720 80E0 ldi r24,lo8(EE_Parameter+112) |
| 3173 1722 90E0 ldi r25,hi8(EE_Parameter+112) |
| 3174 1724 9F93 push r25 |
| 3175 1726 8F93 push r24 |
| 3176 1728 0E94 0000 call GetActiveParamSet |
| 3177 172c 9927 clr r25 |
| 3178 172e 9F93 push r25 |
| 3179 1730 8F93 push r24 |
| 3180 1732 80E0 ldi r24,lo8(__c.63) |
| 3181 1734 90E0 ldi r25,hi8(__c.63) |
| 3182 .L313: |
| 3183 1736 9F93 push r25 |
| 3184 1738 8F93 push r24 |
| 3185 173a 80E0 ldi r24,lo8(pm(LIBFC_HoTT_Putchar_INV)) |
| 3186 173c 90E0 ldi r25,hi8(pm(LIBFC_HoTT_Putchar_INV)) |
| 3187 173e 9F93 push r25 |
| 3188 1740 8F93 push r24 |
| 3189 .L320: |
| 3190 1742 E091 0000 lds r30,_printf_P |
| 3191 1746 F091 0000 lds r31,(_printf_P)+1 |
| 3192 174a 0995 icall |
| 3193 174c 2DB7 in r18,__SP_L__ |
| 3194 174e 3EB7 in r19,__SP_H__ |
| 3195 1750 285F subi r18,lo8(-(8)) |
| 3196 1752 3F4F sbci r19,hi8(-(8)) |
| 3197 1754 00C0 rjmp .L303 |
| 3198 .L240: |
| 3199 1756 85E1 ldi r24,lo8(21) |
| 3200 1758 0E94 0000 call LIBFC_HoTT_SetPos |
| 3201 175c 80E0 ldi r24,lo8(Mixer+1) |
| 3202 175e 90E0 ldi r25,hi8(Mixer+1) |
| 3203 1760 9F93 push r25 |
| 3204 1762 8F93 push r24 |
| 3205 1764 8091 0000 lds r24,BattLowVoltageWarning |
| 3206 1768 6AE0 ldi r22,lo8(10) |
| 3207 176a 0E94 0000 call __udivmodqi4 |
| 3208 176e 892F mov r24,r25 |
| 3209 1770 9927 clr r25 |
| 3210 1772 9F93 push r25 |
| 3211 1774 8F93 push r24 |
| 3212 1776 8091 0000 lds r24,BattLowVoltageWarning |
| 3213 177a 0E94 0000 call __udivmodqi4 |
| 3214 177e 9927 clr r25 |
| 3215 1780 9F93 push r25 |
| 3216 1782 8F93 push r24 |
| 3217 1784 80E0 ldi r24,lo8(__c.64) |
| 3218 1786 90E0 ldi r25,hi8(__c.64) |
| 3219 1788 9F93 push r25 |
| 3220 178a 8F93 push r24 |
| 3221 178c 80E0 ldi r24,lo8(pm(LIBFC_HoTT_Putchar)) |
| 3222 178e 90E0 ldi r25,hi8(pm(LIBFC_HoTT_Putchar)) |
| 3223 1790 9F93 push r25 |
| 3224 1792 8F93 push r24 |
| 3225 1794 E091 0000 lds r30,_printf_P |
| 3226 1798 F091 0000 lds r31,(_printf_P)+1 |
| 3227 179c 0995 icall |
| 3228 179e 00C0 rjmp .L312 |
| 3229 .L241: |
| 3230 17a0 8AE2 ldi r24,lo8(42) |
| 3231 17a2 0E94 0000 call LIBFC_HoTT_SetPos |
| 3232 17a6 80E0 ldi r24,lo8(__c.65) |
| 3233 17a8 90E0 ldi r25,hi8(__c.65) |
| 3234 17aa 9F93 push r25 |
| 3235 17ac 8F93 push r24 |
| 3236 17ae C0E0 ldi r28,lo8(pm(LIBFC_HoTT_Putchar)) |
| 3237 17b0 D0E0 ldi r29,hi8(pm(LIBFC_HoTT_Putchar)) |
| 3238 17b2 DF93 push r29 |
| 3239 17b4 CF93 push r28 |
| 3240 17b6 E091 0000 lds r30,_printf_P |
| 3241 17ba F091 0000 lds r31,(_printf_P)+1 |
| 3242 17be 0995 icall |
| 3243 17c0 8091 0000 lds r24,Parameter_GlobalConfig |
| 3244 17c4 0F90 pop __tmp_reg__ |
| 3245 17c6 0F90 pop __tmp_reg__ |
| 3246 17c8 0F90 pop __tmp_reg__ |
| 3247 17ca 0F90 pop __tmp_reg__ |
| 3248 17cc 80FF sbrs r24,0 |
| 3249 17ce 00C0 rjmp .L242 |
| 3250 17d0 8091 0000 lds r24,EE_Parameter+13 |
| 3251 17d4 9091 0000 lds r25,Parameter_HoehenSchalter |
| 3252 17d8 81FD sbrc r24,1 |
| 3253 17da 00C0 rjmp .L243 |
| 3254 17dc 892F mov r24,r25 |
| 3255 17de 9927 clr r25 |
| 3256 17e0 9F93 push r25 |
| 3257 17e2 8F93 push r24 |
| 3258 17e4 80E0 ldi r24,lo8(__c.66) |
| 3259 17e6 90E0 ldi r25,hi8(__c.66) |
| 3260 17e8 9F93 push r25 |
| 3261 17ea 8F93 push r24 |
| 3262 17ec DF93 push r29 |
| 3263 17ee CF93 push r28 |
| 3264 17f0 00C0 rjmp .L318 |
| 3265 .L243: |
| 3266 17f2 E091 0000 lds r30,_printf_P |
| 3267 17f6 F091 0000 lds r31,(_printf_P)+1 |
| 3268 17fa 9333 cpi r25,lo8(51) |
| 3269 17fc 00F0 brlo .L245 |
| 3270 17fe 80E0 ldi r24,lo8(__c.67) |
| 3271 1800 90E0 ldi r25,hi8(__c.67) |
| 3272 1802 00C0 rjmp .L299 |
| 3273 .L245: |
| 3274 1804 80E0 ldi r24,lo8(__c.68) |
| 3275 1806 90E0 ldi r25,hi8(__c.68) |
| 3276 .L299: |
| 3277 1808 9F93 push r25 |
| 3278 180a 8F93 push r24 |
| 3279 180c DF93 push r29 |
| 3280 180e CF93 push r28 |
| 3281 1810 0995 icall |
| 3282 1812 0F90 pop __tmp_reg__ |
| 3283 1814 0F90 pop __tmp_reg__ |
| 3284 1816 0F90 pop __tmp_reg__ |
| 3285 1818 0F90 pop __tmp_reg__ |
| 3286 181a 8091 0000 lds r24,Parameter_ExtraConfig |
| 3287 181e E091 0000 lds r30,_printf_P |
| 3288 1822 F091 0000 lds r31,(_printf_P)+1 |
| 3289 1826 9091 0000 lds r25,Parameter_HoehenSchalter |
| 3290 182a 80FF sbrs r24,0 |
| 3291 182c 00C0 rjmp .L247 |
| 3292 182e 892F mov r24,r25 |
| 3293 1830 9927 clr r25 |
| 3294 1832 9F93 push r25 |
| 3295 1834 8F93 push r24 |
| 3296 1836 80E0 ldi r24,lo8(__c.69) |
| 3297 1838 90E0 ldi r25,hi8(__c.69) |
| 3298 183a 9F93 push r25 |
| 3299 183c 8F93 push r24 |
| 3300 183e DF93 push r29 |
| 3301 1840 CF93 push r28 |
| 3302 1842 00C0 rjmp .L305 |
| 3303 .L247: |
| 3304 1844 892F mov r24,r25 |
| 3305 1846 9927 clr r25 |
| 3306 1848 9F93 push r25 |
| 3307 184a 8F93 push r24 |
| 3308 184c 80E0 ldi r24,lo8(__c.70) |
| 3309 184e 90E0 ldi r25,hi8(__c.70) |
| 3310 1850 00C0 rjmp .L326 |
| 3311 .L242: |
| 3312 1852 80E0 ldi r24,lo8(__c.71) |
| 3313 1854 90E0 ldi r25,hi8(__c.71) |
| 3314 1856 00C0 rjmp .L328 |
| 3315 .L250: |
| 3316 1858 8FE3 ldi r24,lo8(63) |
| 3317 185a 0E94 0000 call LIBFC_HoTT_SetPos |
| 3318 185e 80E0 ldi r24,lo8(__c.72) |
| 3319 1860 90E0 ldi r25,hi8(__c.72) |
| 3320 1862 9F93 push r25 |
| 3321 1864 8F93 push r24 |
| 3322 1866 C0E0 ldi r28,lo8(pm(LIBFC_HoTT_Putchar)) |
| 3323 1868 D0E0 ldi r29,hi8(pm(LIBFC_HoTT_Putchar)) |
| 3324 186a DF93 push r29 |
| 3325 186c CF93 push r28 |
| 3326 186e E091 0000 lds r30,_printf_P |
| 3327 1872 F091 0000 lds r31,(_printf_P)+1 |
| 3328 1876 0995 icall |
| 3329 1878 0F90 pop __tmp_reg__ |
| 3330 187a 0F90 pop __tmp_reg__ |
| 3331 187c 0F90 pop __tmp_reg__ |
| 3332 187e 0F90 pop __tmp_reg__ |
| 3333 1880 8091 0000 lds r24,EE_Parameter+99 |
| 3334 1884 8823 tst r24 |
| 3335 1886 01F4 brne .L251 |
| 3336 1888 80E0 ldi r24,lo8(__c.73) |
| 3337 188a 90E0 ldi r25,hi8(__c.73) |
| 3338 188c 00C0 rjmp .L328 |
| 3339 .L251: |
| 3340 188e 8091 0000 lds r24,CareFree |
| 3341 1892 E091 0000 lds r30,_printf_P |
| 3342 1896 F091 0000 lds r31,(_printf_P)+1 |
| 3343 189a 8823 tst r24 |
| 3344 189c 01F0 breq .L253 |
| 3345 189e 80E0 ldi r24,lo8(__c.74) |
| 3346 18a0 90E0 ldi r25,hi8(__c.74) |
| 3347 18a2 00C0 rjmp .L300 |
| 3348 .L253: |
| 3349 18a4 80E0 ldi r24,lo8(__c.75) |
| 3350 18a6 90E0 ldi r25,hi8(__c.75) |
| 3351 .L300: |
| 3352 18a8 9F93 push r25 |
| 3353 18aa 8F93 push r24 |
| 3354 18ac DF93 push r29 |
| 3355 18ae CF93 push r28 |
| 3356 18b0 0995 icall |
| 3357 18b2 0F90 pop __tmp_reg__ |
| 3358 18b4 0F90 pop __tmp_reg__ |
| 3359 18b6 0F90 pop __tmp_reg__ |
| 3360 18b8 0F90 pop __tmp_reg__ |
| 3361 18ba 8091 0000 lds r24,EE_Parameter+110 |
| 3362 18be 86FF sbrs r24,6 |
| 3363 18c0 00C0 rjmp .L114 |
| 3364 18c2 80E0 ldi r24,lo8(__c.76) |
| 3365 18c4 90E0 ldi r25,hi8(__c.76) |
| 3366 .L328: |
| 3367 18c6 9F93 push r25 |
| 3368 18c8 8F93 push r24 |
| 3369 18ca DF93 push r29 |
| 3370 18cc CF93 push r28 |
| 3371 18ce 00C0 rjmp .L322 |
| 3372 .L256: |
| 3373 18d0 84E5 ldi r24,lo8(84) |
| 3374 18d2 0E94 0000 call LIBFC_HoTT_SetPos |
| 3375 18d6 80E0 ldi r24,lo8(__c.77) |
| 3376 18d8 90E0 ldi r25,hi8(__c.77) |
| 3377 18da 9F93 push r25 |
| 3378 18dc 8F93 push r24 |
| 3379 18de C0E0 ldi r28,lo8(pm(LIBFC_HoTT_Putchar)) |
| 3380 18e0 D0E0 ldi r29,hi8(pm(LIBFC_HoTT_Putchar)) |
| 3381 18e2 DF93 push r29 |
| 3382 18e4 CF93 push r28 |
| 3383 18e6 E091 0000 lds r30,_printf_P |
| 3384 18ea F091 0000 lds r31,(_printf_P)+1 |
| 3385 18ee 0995 icall |
| 3386 18f0 8091 0000 lds r24,Parameter_GlobalConfig |
| 3387 18f4 0F90 pop __tmp_reg__ |
| 3388 18f6 0F90 pop __tmp_reg__ |
| 3389 18f8 0F90 pop __tmp_reg__ |
| 3390 18fa 0F90 pop __tmp_reg__ |
| 3391 18fc 85FD sbrc r24,5 |
| 3392 18fe 00C0 rjmp .L257 |
| 3393 1900 80E0 ldi r24,lo8(__c.78) |
| 3394 1902 90E0 ldi r25,hi8(__c.78) |
| 3395 1904 00C0 rjmp .L309 |
| 3396 .L257: |
| 3397 1906 8091 0000 lds r24,EE_Parameter+81 |
| 3398 190a 883F cpi r24,lo8(-8) |
| 3399 190c 00F4 brsh .L259 |
| 3400 190e E82F mov r30,r24 |
| 3401 1910 00C0 rjmp .L260 |
| 3402 .L259: |
| 3403 1912 EFEF ldi r30,lo8(255) |
| 3404 1914 F0E0 ldi r31,hi8(255) |
| 3405 1916 E81B sub r30,r24 |
| 3406 1918 F109 sbc r31,__zero_reg__ |
| 3407 191a E050 subi r30,lo8(-(Poti)) |
| 3408 191c F040 sbci r31,hi8(-(Poti)) |
| 3409 191e E081 ld r30,Z |
| 3410 .L260: |
| 3411 1920 E233 cpi r30,lo8(50) |
| 3412 1922 00F4 brsh .L261 |
| 3413 1924 80E0 ldi r24,lo8(__c.79) |
| 3414 1926 90E0 ldi r25,hi8(__c.79) |
| 3415 .L309: |
| 3416 1928 9F93 push r25 |
| 3417 192a 8F93 push r24 |
| 3418 192c DF93 push r29 |
| 3419 192e CF93 push r28 |
| 3420 1930 E091 0000 lds r30,_printf_P |
| 3421 1934 F091 0000 lds r31,(_printf_P)+1 |
| 3422 1938 00C0 rjmp .L302 |
| 3423 .L261: |
| 3424 193a E43B cpi r30,lo8(-76) |
| 3425 193c 00F0 brlo .L263 |
| 3426 193e 80E0 ldi r24,lo8(__c.80) |
| 3427 1940 90E0 ldi r25,hi8(__c.80) |
| 3428 1942 00C0 rjmp .L309 |
| 3429 .L263: |
| 3430 1944 8091 0000 lds r24,EE_Parameter+110 |
| 3431 1948 E091 0000 lds r30,_printf_P |
| 3432 194c F091 0000 lds r31,(_printf_P)+1 |
| 3433 1950 85FF sbrs r24,5 |
| 3434 1952 00C0 rjmp .L265 |
| 3435 1954 80E0 ldi r24,lo8(__c.81) |
| 3436 1956 90E0 ldi r25,hi8(__c.81) |
| 3437 1958 00C0 rjmp .L301 |
| 3438 .L265: |
| 3439 195a 80E0 ldi r24,lo8(__c.82) |
| 3440 195c 90E0 ldi r25,hi8(__c.82) |
| 3441 .L301: |
| 3442 195e 9F93 push r25 |
| 3443 1960 8F93 push r24 |
| 3444 1962 DF93 push r29 |
| 3445 1964 CF93 push r28 |
| 3446 .L302: |
| 3447 1966 0995 icall |
| 3448 1968 0F90 pop __tmp_reg__ |
| 3449 196a 0F90 pop __tmp_reg__ |
| 3450 196c 0F90 pop __tmp_reg__ |
| 3451 196e 0F90 pop __tmp_reg__ |
| 3452 1970 8091 0000 lds r24,EE_Parameter+103 |
| 3453 1974 8823 tst r24 |
| 3454 1976 01F4 brne .+2 |
| 3455 1978 00C0 rjmp .L114 |
| 3456 197a 8EE5 ldi r24,lo8(94) |
| 3457 197c 0E94 0000 call LIBFC_HoTT_SetPos |
| 3458 1980 8091 0000 lds r24,EE_Parameter+103 |
| 3459 1984 9927 clr r25 |
| 3460 1986 9F93 push r25 |
| 3461 1988 8F93 push r24 |
| 3462 198a 80E0 ldi r24,lo8(__c.83) |
| 3463 198c 90E0 ldi r25,hi8(__c.83) |
| 3464 .L331: |
| 3465 198e 9F93 push r25 |
| 3466 1990 8F93 push r24 |
| 3467 1992 80E0 ldi r24,lo8(pm(LIBFC_HoTT_Putchar)) |
| 3468 1994 90E0 ldi r25,hi8(pm(LIBFC_HoTT_Putchar)) |
| 3469 1996 9F93 push r25 |
| 3470 1998 8F93 push r24 |
| 3471 .L327: |
| 3472 199a E091 0000 lds r30,_printf_P |
| 3473 199e F091 0000 lds r31,(_printf_P)+1 |
| 3474 .L305: |
| 3475 19a2 0995 icall |
| 3476 19a4 8DB7 in r24,__SP_L__ |
| 3477 19a6 9EB7 in r25,__SP_H__ |
| 3478 19a8 0696 adiw r24,6 |
| 3479 .L306: |
| 3480 19aa 8DBF out __SP_L__,r24 |
| 3481 19ac 00C0 rjmp .L114 |
| 3482 .L268: |
| 3483 19ae 89E6 ldi r24,lo8(105) |
| 3484 19b0 0E94 0000 call LIBFC_HoTT_SetPos |
| 3485 19b4 80E0 ldi r24,lo8(__c.84) |
| 3486 19b6 90E0 ldi r25,hi8(__c.84) |
| 3487 19b8 9F93 push r25 |
| 3488 19ba 8F93 push r24 |
| 3489 19bc C0E0 ldi r28,lo8(pm(LIBFC_HoTT_Putchar)) |
| 3490 19be D0E0 ldi r29,hi8(pm(LIBFC_HoTT_Putchar)) |
| 3491 19c0 DF93 push r29 |
| 3492 19c2 CF93 push r28 |
| 3493 19c4 E091 0000 lds r30,_printf_P |
| 3494 19c8 F091 0000 lds r31,(_printf_P)+1 |
| 3495 19cc 0995 icall |
| 3496 19ce 0F90 pop __tmp_reg__ |
| 3497 19d0 0F90 pop __tmp_reg__ |
| 3498 19d2 0F90 pop __tmp_reg__ |
| 3499 19d4 0F90 pop __tmp_reg__ |
| 3500 19d6 8091 0000 lds r24,EE_Parameter+102 |
| 3501 19da E091 0000 lds r30,_printf_P |
| 3502 19de F091 0000 lds r31,(_printf_P)+1 |
| 3503 19e2 8823 tst r24 |
| 3504 19e4 01F0 breq .L269 |
| 3505 19e6 9927 clr r25 |
| 3506 19e8 9F93 push r25 |
| 3507 19ea 8F93 push r24 |
| 3508 19ec 80E0 ldi r24,lo8(__c.85) |
| 3509 19ee 90E0 ldi r25,hi8(__c.85) |
| 3510 .L326: |
| 3511 19f0 9F93 push r25 |
| 3512 19f2 8F93 push r24 |
| 3513 19f4 DF93 push r29 |
| 3514 19f6 CF93 push r28 |
| 3515 19f8 00C0 rjmp .L319 |
| 3516 .L269: |
| 3517 19fa 80E0 ldi r24,lo8(__c.86) |
| 3518 19fc 90E0 ldi r25,hi8(__c.86) |
| 3519 19fe 9F93 push r25 |
| 3520 1a00 8F93 push r24 |
| 3521 1a02 DF93 push r29 |
| 3522 1a04 CF93 push r28 |
| 3523 1a06 00C0 rjmp .L304 |
| 3524 .L271: |
| 3525 1a08 8091 0000 lds r24,show_poti.4 |
| 3526 1a0c A0E0 ldi r26,lo8(pm(LIBFC_HoTT_Putchar)) |
| 3527 1a0e EA2E mov r14,r26 |
| 3528 1a10 A0E0 ldi r26,hi8(pm(LIBFC_HoTT_Putchar)) |
| 3529 1a12 FA2E mov r15,r26 |
| 3530 1a14 8823 tst r24 |
| 3531 1a16 01F0 breq .+2 |
| 3532 1a18 00C0 rjmp .L272 |
| 3533 1a1a 8EE7 ldi r24,lo8(126) |
| 3534 1a1c 0E94 0000 call LIBFC_HoTT_SetPos |
| 3535 1a20 8091 0000 lds r24,Parameter_ServoNickControl |
| 3536 1a24 9927 clr r25 |
| 3537 1a26 9F93 push r25 |
| 3538 1a28 8F93 push r24 |
| 3539 1a2a 8091 0000 lds r24,EE_Parameter+2 |
| 3540 1a2e E82F mov r30,r24 |
| 3541 1a30 FF27 clr r31 |
| 3542 1a32 EE0F add r30,r30 |
| 3543 1a34 FF1F adc r31,r31 |
| 3544 1a36 E050 subi r30,lo8(-(PPM_in)) |
| 3545 1a38 F040 sbci r31,hi8(-(PPM_in)) |
| 3546 1a3a 8081 ld r24,Z |
| 3547 1a3c 9181 ldd r25,Z+1 |
| 3548 1a3e 9F93 push r25 |
| 3549 1a40 8F93 push r24 |
| 3550 1a42 8091 0000 lds r24,EE_Parameter+1 |
| 3551 1a46 E82F mov r30,r24 |
| 3552 1a48 FF27 clr r31 |
| 3553 1a4a EE0F add r30,r30 |
| 3554 1a4c FF1F adc r31,r31 |
| 3555 1a4e E050 subi r30,lo8(-(PPM_in)) |
| 3556 1a50 F040 sbci r31,hi8(-(PPM_in)) |
| 3557 1a52 8081 ld r24,Z |
| 3558 1a54 9181 ldd r25,Z+1 |
| 3559 1a56 9F93 push r25 |
| 3560 1a58 8F93 push r24 |
| 3561 1a5a 80E0 ldi r24,lo8(__c.87) |
| 3562 1a5c 90E0 ldi r25,hi8(__c.87) |
| 3563 1a5e 9F93 push r25 |
| 3564 1a60 8F93 push r24 |
| 3565 1a62 FF92 push r15 |
| 3566 1a64 EF92 push r14 |
| 3567 1a66 E091 0000 lds r30,_printf_P |
| 3568 1a6a F091 0000 lds r31,(_printf_P)+1 |
| 3569 1a6e 0995 icall |
| 3570 1a70 83E9 ldi r24,lo8(-109) |
| 3571 1a72 0E94 0000 call LIBFC_HoTT_SetPos |
| 3572 1a76 8DB7 in r24,__SP_L__ |
| 3573 1a78 9EB7 in r25,__SP_H__ |
| 3574 1a7a 0A96 adiw r24,10 |
| 3575 1a7c 8DBF out __SP_L__,r24 |
| 3576 1a7e 8091 0000 lds r24,EE_Parameter+4 |
| 3577 1a82 E82F mov r30,r24 |
| 3578 1a84 FF27 clr r31 |
| 3579 1a86 EE0F add r30,r30 |
| 3580 1a88 FF1F adc r31,r31 |
| 3581 1a8a E050 subi r30,lo8(-(PPM_in)) |
| 3582 1a8c F040 sbci r31,hi8(-(PPM_in)) |
| 3583 1a8e 8081 ld r24,Z |
| 3584 1a90 9181 ldd r25,Z+1 |
| 3585 1a92 9F93 push r25 |
| 3586 1a94 8F93 push r24 |
| 3587 1a96 8091 0000 lds r24,EE_Parameter+3 |
| 3588 1a9a E82F mov r30,r24 |
| 3589 1a9c FF27 clr r31 |
| 3590 1a9e EE0F add r30,r30 |
| 3591 1aa0 FF1F adc r31,r31 |
| 3592 1aa2 E050 subi r30,lo8(-(PPM_in)) |
| 3593 1aa4 F040 sbci r31,hi8(-(PPM_in)) |
| 3594 1aa6 8081 ld r24,Z |
| 3595 1aa8 9181 ldd r25,Z+1 |
| 3596 1aaa 8158 subi r24,lo8(-(127)) |
| 3597 1aac 9F4F sbci r25,hi8(-(127)) |
| 3598 1aae 9F93 push r25 |
| 3599 1ab0 8F93 push r24 |
| 3600 1ab2 80E0 ldi r24,lo8(__c.88) |
| 3601 1ab4 90E0 ldi r25,hi8(__c.88) |
| 3602 1ab6 9F93 push r25 |
| 3603 1ab8 8F93 push r24 |
| 3604 1aba FF92 push r15 |
| 3605 1abc EF92 push r14 |
| 3606 1abe 00C0 rjmp .L320 |
| 3607 .L272: |
| 3608 1ac0 8EE7 ldi r24,lo8(126) |
| 3609 1ac2 0E94 0000 call LIBFC_HoTT_SetPos |
| 3610 1ac6 8091 0000 lds r24,Poti+2 |
| 3611 1aca 9927 clr r25 |
| 3612 1acc 9F93 push r25 |
| 3613 1ace 8F93 push r24 |
| 3614 1ad0 8091 0000 lds r24,Poti+1 |
| 3615 1ad4 9927 clr r25 |
| 3616 1ad6 9F93 push r25 |
| 3617 1ad8 8F93 push r24 |
| 3618 1ada 8091 0000 lds r24,Poti |
| 3619 1ade 9927 clr r25 |
| 3620 1ae0 9F93 push r25 |
| 3621 1ae2 8F93 push r24 |
| 3622 1ae4 80E0 ldi r24,lo8(__c.89) |
| 3623 1ae6 90E0 ldi r25,hi8(__c.89) |
| 3624 1ae8 9F93 push r25 |
| 3625 1aea 8F93 push r24 |
| 3626 1aec FF92 push r15 |
| 3627 1aee EF92 push r14 |
| 3628 1af0 E091 0000 lds r30,_printf_P |
| 3629 1af4 F091 0000 lds r31,(_printf_P)+1 |
| 3630 1af8 0995 icall |
| 3631 1afa 83E9 ldi r24,lo8(-109) |
| 3632 1afc 0E94 0000 call LIBFC_HoTT_SetPos |
| 3633 1b00 8DB7 in r24,__SP_L__ |
| 3634 1b02 9EB7 in r25,__SP_H__ |
| 3635 1b04 0A96 adiw r24,10 |
| 3636 1b06 8DBF out __SP_L__,r24 |
| 3637 1b08 8091 0000 lds r24,Poti+5 |
| 3638 1b0c 9927 clr r25 |
| 3639 1b0e 9F93 push r25 |
| 3640 1b10 8F93 push r24 |
| 3641 1b12 8091 0000 lds r24,Poti+4 |
| 3642 1b16 9927 clr r25 |
| 3643 1b18 9F93 push r25 |
| 3644 1b1a 8F93 push r24 |
| 3645 1b1c 8091 0000 lds r24,Poti+3 |
| 3646 1b20 9927 clr r25 |
| 3647 1b22 9F93 push r25 |
| 3648 1b24 8F93 push r24 |
| 3649 1b26 80E0 ldi r24,lo8(__c.90) |
| 3650 1b28 90E0 ldi r25,hi8(__c.90) |
| 3651 .L314: |
| 3652 1b2a 9F93 push r25 |
| 3653 1b2c 8F93 push r24 |
| 3654 1b2e FF92 push r15 |
| 3655 1b30 EF92 push r14 |
| 3656 .L317: |
| 3657 1b32 E091 0000 lds r30,_printf_P |
| 3658 1b36 F091 0000 lds r31,(_printf_P)+1 |
| 3659 1b3a 0995 icall |
| 3660 1b3c 2DB7 in r18,__SP_L__ |
| 3661 1b3e 3EB7 in r19,__SP_H__ |
| 3662 1b40 265F subi r18,lo8(-(10)) |
| 3663 1b42 3F4F sbci r19,hi8(-(10)) |
| 3664 .L303: |
| 3665 1b44 2DBF out __SP_L__,r18 |
| 3666 1b46 00C0 rjmp .L114 |
| 3667 .L274: |
| 3668 1b48 8091 0000 lds r24,HoTTBlink |
| 3669 1b4c 8823 tst r24 |
| 3670 1b4e 01F4 brne .+2 |
| 3671 1b50 00C0 rjmp .L114 |
| 3672 1b52 8EE7 ldi r24,lo8(126) |
| 3673 1b54 0E94 0000 call LIBFC_HoTT_SetPos |
| 3674 1b58 8091 0000 lds r24,Parameter_GlobalConfig |
| 3675 1b5c 86FD sbrc r24,6 |
| 3676 1b5e 00C0 rjmp .L276 |
| 3677 1b60 80E0 ldi r24,lo8(__c.91) |
| 3678 1b62 90E0 ldi r25,hi8(__c.91) |
| 3679 1b64 9F93 push r25 |
| 3680 1b66 8F93 push r24 |
| 3681 1b68 80E0 ldi r24,lo8(pm(LIBFC_HoTT_Putchar_BLINK)) |
| 3682 1b6a 90E0 ldi r25,hi8(pm(LIBFC_HoTT_Putchar_BLINK)) |
| 3683 1b6c 9F93 push r25 |
| 3684 1b6e 8F93 push r24 |
| 3685 1b70 E091 0000 lds r30,_printf_P |
| 3686 1b74 F091 0000 lds r31,(_printf_P)+1 |
| 3687 1b78 0995 icall |
| 3688 1b7a 0F90 pop __tmp_reg__ |
| 3689 1b7c 0F90 pop __tmp_reg__ |
| 3690 1b7e 0F90 pop __tmp_reg__ |
| 3691 1b80 0F90 pop __tmp_reg__ |
| 3692 .L276: |
| 3693 1b82 8091 0000 lds r24,EE_Parameter+108 |
| 3694 1b86 9927 clr r25 |
| 3695 1b88 8F70 andi r24,lo8(15) |
| 3696 1b8a 9070 andi r25,hi8(15) |
| 3697 1b8c 892B or r24,r25 |
| 3698 1b8e 01F0 breq .L277 |
| 3699 1b90 80E0 ldi r24,lo8(__c.92) |
| 3700 1b92 90E0 ldi r25,hi8(__c.92) |
| 3701 1b94 9F93 push r25 |
| 3702 1b96 8F93 push r24 |
| 3703 1b98 80E0 ldi r24,lo8(pm(LIBFC_HoTT_Putchar_BLINK)) |
| 3704 1b9a 90E0 ldi r25,hi8(pm(LIBFC_HoTT_Putchar_BLINK)) |
| 3705 1b9c 9F93 push r25 |
| 3706 1b9e 8F93 push r24 |
| 3707 1ba0 E091 0000 lds r30,_printf_P |
| 3708 1ba4 F091 0000 lds r31,(_printf_P)+1 |
| 3709 1ba8 0995 icall |
| 3710 1baa 0F90 pop __tmp_reg__ |
| 3711 1bac 0F90 pop __tmp_reg__ |
| 3712 1bae 0F90 pop __tmp_reg__ |
| 3713 1bb0 0F90 pop __tmp_reg__ |
| 3714 .L277: |
| 3715 1bb2 8091 0000 lds r24,Parameter_GlobalConfig |
| 3716 1bb6 82FF sbrs r24,2 |
| 3717 1bb8 00C0 rjmp .L278 |
| 3718 1bba 80E0 ldi r24,lo8(__c.93) |
| 3719 1bbc 90E0 ldi r25,hi8(__c.93) |
| 3720 1bbe 9F93 push r25 |
| 3721 1bc0 8F93 push r24 |
| 3722 1bc2 80E0 ldi r24,lo8(pm(LIBFC_HoTT_Putchar_BLINK)) |
| 3723 1bc4 90E0 ldi r25,hi8(pm(LIBFC_HoTT_Putchar_BLINK)) |
| 3724 1bc6 9F93 push r25 |
| 3725 1bc8 8F93 push r24 |
| 3726 1bca E091 0000 lds r30,_printf_P |
| 3727 1bce F091 0000 lds r31,(_printf_P)+1 |
| 3728 1bd2 0995 icall |
| 3729 1bd4 0F90 pop __tmp_reg__ |
| 3730 1bd6 0F90 pop __tmp_reg__ |
| 3731 1bd8 0F90 pop __tmp_reg__ |
| 3732 1bda 0F90 pop __tmp_reg__ |
| 3733 .L278: |
| 3734 1bdc 8091 0000 lds r24,Parameter_GlobalConfig |
| 3735 1be0 83FD sbrc r24,3 |
| 3736 1be2 00C0 rjmp .L114 |
| 3737 1be4 80E0 ldi r24,lo8(__c.94) |
| 3738 1be6 90E0 ldi r25,hi8(__c.94) |
| 3739 .L332: |
| 3740 1be8 9F93 push r25 |
| 3741 1bea 8F93 push r24 |
| 3742 1bec 80E0 ldi r24,lo8(pm(LIBFC_HoTT_Putchar_BLINK)) |
| 3743 1bee 90E0 ldi r25,hi8(pm(LIBFC_HoTT_Putchar_BLINK)) |
| 3744 .L321: |
| 3745 1bf0 9F93 push r25 |
| 3746 1bf2 8F93 push r24 |
| 3747 .L322: |
| 3748 1bf4 E091 0000 lds r30,_printf_P |
| 3749 1bf8 F091 0000 lds r31,(_printf_P)+1 |
| 3750 .L304: |
| 3751 1bfc 0995 icall |
| 3752 1bfe 0F90 pop __tmp_reg__ |
| 3753 1c00 0F90 pop __tmp_reg__ |
| 3754 1c02 0F90 pop __tmp_reg__ |
| 3755 1c04 0F90 pop __tmp_reg__ |
| 3756 1c06 00C0 rjmp .L114 |
| 3757 .L288: |
| 3758 1c08 0091 0000 lds r16,HottKeyboard |
| 3759 1c0c 0630 cpi r16,lo8(6) |
| 3760 1c0e 01F4 brne .L289 |
| 3761 1c10 8091 0000 lds r24,show_poti.4 |
| 3762 1c14 8823 tst r24 |
| 3763 1c16 01F0 breq .L290 |
| 3764 1c18 1092 0000 sts show_poti.4,__zero_reg__ |
| 3765 1c1c 00C0 rjmp .L291 |
| 3766 .L290: |
| 3767 1c1e 81E0 ldi r24,lo8(1) |
| 3768 1c20 8093 0000 sts show_poti.4,r24 |
| 3769 .L291: |
| 3770 1c24 86E0 ldi r24,lo8(6) |
| 3771 1c26 0E94 0000 call Hott_ClearLine |
| 3772 1c2a 87E0 ldi r24,lo8(7) |
| 3773 .L323: |
| 3774 1c2c 0E94 0000 call Hott_ClearLine |
| 3775 1c30 00C0 rjmp .L292 |
| 3776 .L289: |
| 3777 1c32 0130 cpi r16,lo8(1) |
| 3778 1c34 01F4 brne .L292 |
| 3779 1c36 0E94 0000 call LIBFC_HoTT_Clear |
| 3780 1c3a 0093 0000 sts page.1,r16 |
| 3781 .L324: |
| 3782 1c3e 1092 0000 sts line.0,__zero_reg__ |
| 3783 .L292: |
| 3784 1c42 1092 0000 sts HottKeyboard,__zero_reg__ |
| 3785 1c46 00C0 rjmp .L114 |
| 3786 .L294: |
| 3787 1c48 1092 0000 sts line.0,__zero_reg__ |
| 3788 1c4c 00C0 rjmp .L114 |
| 3789 .L237: |
| 3790 1c4e 1092 0000 sts page.1,__zero_reg__ |
| 3791 .L114: |
| 3792 /* epilogue: frame size=0 */ |
| 3793 1c52 E6E0 ldi r30,6 |
| 3794 1c54 CDB7 in r28,__SP_L__ |
| 3795 1c56 DEB7 in r29,__SP_H__ |
| 3796 1c58 0C94 0000 jmp __epilogue_restores__+24 |
| 3797 /* epilogue end (size=5) */ |
| 3798 /* function HoTT_Menu size 2582 (2571) */ |
| 3800 .comm GPSPacket,44,1 |
| 3801 .comm VarioPacket,44,1 |
| 3802 .comm ASCIIPacket,172,1 |
| 3803 .comm ElectricAirPacket,44,1 |
| 3804 .comm HoTTGeneral,44,1 |
| 3805 /* File "hottmenu.c": code 3700 = 0x0e74 (3675), prologues 11, epilogues 14 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 hottmenu.c |
| C:\Temp/ccbFCWV3.s:3 *ABS*:0000003f __SREG__ |
| C:\Temp/ccbFCWV3.s:4 *ABS*:0000003e __SP_H__ |
| C:\Temp/ccbFCWV3.s:5 *ABS*:0000003d __SP_L__ |
| C:\Temp/ccbFCWV3.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\Temp/ccbFCWV3.s:7 *ABS*:00000001 __zero_reg__ |
| C:\Temp/ccbFCWV3.s:15 .bss:00000000 HottestBl |
| C:\Temp/ccbFCWV3.s:21 .bss:00000001 MinBlTempertaure |
| C:\Temp/ccbFCWV3.s:27 .bss:00000002 MaxBlTempertaure |
| C:\Temp/ccbFCWV3.s:33 .progmem.data:00000000 HOTT_ERROR |
| C:\Temp/ccbFCWV3.s:100 .progmem.data:00000040 NC_ERROR_TEXT |
| C:\Temp/ccbFCWV3.s:136 .progmem.data:00000260 UNDERVOLTAGE |
| C:\Temp/ccbFCWV3.s:141 .progmem.data:00000276 MIKROKOPTER |
| C:\Temp/ccbFCWV3.s:148 .bss:00000003 HoTTVarioMeter |
| C:\Temp/ccbFCWV3.s:154 .bss:00000005 ToNC_SpeakHoTT |
| C:\Temp/ccbFCWV3.s:160 .data:00000000 SpeakHoTT |
| C:\Temp/ccbFCWV3.s:167 .bss:00000006 NaviData_TargetDistance |
| C:\Temp/ccbFCWV3.s:173 .bss:00000008 NaviData_TargetHoldTime |
| C:\Temp/ccbFCWV3.s:179 .bss:00000009 NaviData_WaypointNumber |
| C:\Temp/ccbFCWV3.s:185 .bss:0000000a NaviData_WaypointIndex |
| .bss:0000000b search.98 |
| C:\Temp/ccbFCWV3.s:187 .bss:0000000c tmp_max.99 |
| C:\Temp/ccbFCWV3.s:188 .bss:0000000d tmp_min.100 |
| C:\Temp/ccbFCWV3.s:189 .bss:0000000e who.101 |
| C:\Temp/ccbFCWV3.s:194 .text:00000000 GetHottestBl |
| C:\Temp/ccbFCWV3.s:262 .progmem.data:0000028c __c.97 |
| C:\Temp/ccbFCWV3.s:267 .text:0000008c Hott_ClearLine |
| C:\Temp/ccbFCWV3.s:190 .bss:0000000f old_status.95 |
| C:\Temp/ccbFCWV3.s:295 .bss:00000010 repeat.96 |
| C:\Temp/ccbFCWV3.s:299 .text:000000bc HoTT_Waring |
| C:\Temp/ccbFCWV3.s:396 .text:0000016e NC_Fills_HoTT_Telemety |
| *COM*:0000002c VarioPacket |
| *COM*:0000002c GPSPacket |
| *COM*:0000002c ElectricAirPacket |
| *COM*:0000002c HoTTGeneral |
| C:\Temp/ccbFCWV3.s:469 .text:000001e0 BuildHoTT_Vario |
| C:\Temp/ccbFCWV3.s:577 .text:000002aa HoTT_Telemety |
| C:\Temp/ccbFCWV3.s:296 .bss:00000012 line.0 |
| C:\Temp/ccbFCWV3.s:1157 .bss:00000013 page.1 |
| C:\Temp/ccbFCWV3.s:1158 .bss:00000014 show_current.2 |
| C:\Temp/ccbFCWV3.s:1159 .bss:00000015 show_mag.3 |
| C:\Temp/ccbFCWV3.s:1160 .bss:00000016 show_poti.4 |
| C:\Temp/ccbFCWV3.s:1165 .progmem.data:000002a2 __c.5 |
| C:\Temp/ccbFCWV3.s:1169 .progmem.data:000002af __c.6 |
| C:\Temp/ccbFCWV3.s:1173 .progmem.data:000002bc __c.7 |
| C:\Temp/ccbFCWV3.s:1177 .progmem.data:000002c8 __c.8 |
| C:\Temp/ccbFCWV3.s:1181 .progmem.data:000002d3 __c.9 |
| C:\Temp/ccbFCWV3.s:1185 .progmem.data:000002dd __c.10 |
| C:\Temp/ccbFCWV3.s:1189 .progmem.data:000002ea __c.11 |
| C:\Temp/ccbFCWV3.s:1193 .progmem.data:000002f7 __c.12 |
| C:\Temp/ccbFCWV3.s:1197 .progmem.data:00000302 __c.13 |
| C:\Temp/ccbFCWV3.s:1201 .progmem.data:00000304 __c.14 |
| C:\Temp/ccbFCWV3.s:1205 .progmem.data:00000306 __c.15 |
| C:\Temp/ccbFCWV3.s:1209 .progmem.data:0000030e __c.16 |
| C:\Temp/ccbFCWV3.s:1213 .progmem.data:00000316 __c.17 |
| C:\Temp/ccbFCWV3.s:1217 .progmem.data:00000322 __c.18 |
| C:\Temp/ccbFCWV3.s:1221 .progmem.data:00000324 __c.19 |
| C:\Temp/ccbFCWV3.s:1225 .progmem.data:00000326 __c.20 |
| C:\Temp/ccbFCWV3.s:1229 .progmem.data:00000328 __c.21 |
| C:\Temp/ccbFCWV3.s:1233 .progmem.data:0000033e __c.22 |
| C:\Temp/ccbFCWV3.s:1237 .progmem.data:00000354 __c.23 |
| C:\Temp/ccbFCWV3.s:1241 .progmem.data:00000356 __c.24 |
| C:\Temp/ccbFCWV3.s:1245 .progmem.data:0000035f __c.25 |
| C:\Temp/ccbFCWV3.s:1249 .progmem.data:00000369 __c.26 |
| C:\Temp/ccbFCWV3.s:1253 .progmem.data:0000036c __c.27 |
| C:\Temp/ccbFCWV3.s:1257 .progmem.data:0000036f __c.28 |
| C:\Temp/ccbFCWV3.s:1261 .progmem.data:00000372 __c.29 |
| C:\Temp/ccbFCWV3.s:1265 .progmem.data:0000037d __c.30 |
| C:\Temp/ccbFCWV3.s:1269 .progmem.data:00000389 __c.31 |
| C:\Temp/ccbFCWV3.s:1273 .progmem.data:00000399 __c.32 |
| C:\Temp/ccbFCWV3.s:1277 .progmem.data:000003b2 __c.33 |
| C:\Temp/ccbFCWV3.s:1281 .progmem.data:000003bd __c.34 |
| C:\Temp/ccbFCWV3.s:1285 .progmem.data:000003c3 __c.35 |
| C:\Temp/ccbFCWV3.s:1289 .progmem.data:000003d6 __c.36 |
| C:\Temp/ccbFCWV3.s:1293 .progmem.data:000003ec __c.37 |
| C:\Temp/ccbFCWV3.s:1297 .progmem.data:00000407 __c.38 |
| C:\Temp/ccbFCWV3.s:1301 .progmem.data:00000422 __c.39 |
| C:\Temp/ccbFCWV3.s:1305 .progmem.data:0000042c __c.40 |
| C:\Temp/ccbFCWV3.s:1309 .progmem.data:00000435 __c.41 |
| C:\Temp/ccbFCWV3.s:1313 .progmem.data:0000043e __c.42 |
| C:\Temp/ccbFCWV3.s:1317 .progmem.data:00000448 __c.43 |
| C:\Temp/ccbFCWV3.s:1321 .progmem.data:0000044b __c.44 |
| C:\Temp/ccbFCWV3.s:1325 .progmem.data:00000462 __c.45 |
| C:\Temp/ccbFCWV3.s:1329 .progmem.data:00000476 __c.46 |
| C:\Temp/ccbFCWV3.s:1333 .progmem.data:00000479 __c.47 |
| C:\Temp/ccbFCWV3.s:1337 .progmem.data:0000047c __c.48 |
| C:\Temp/ccbFCWV3.s:1341 .progmem.data:0000048f __c.49 |
| C:\Temp/ccbFCWV3.s:1345 .progmem.data:00000495 __c.50 |
| C:\Temp/ccbFCWV3.s:1349 .progmem.data:0000049b __c.51 |
| C:\Temp/ccbFCWV3.s:1353 .progmem.data:000004a1 __c.52 |
| C:\Temp/ccbFCWV3.s:1357 .progmem.data:000004b7 __c.53 |
| C:\Temp/ccbFCWV3.s:1361 .progmem.data:000004d4 __c.54 |
| C:\Temp/ccbFCWV3.s:1365 .progmem.data:000004e7 __c.55 |
| C:\Temp/ccbFCWV3.s:1369 .progmem.data:000004f6 __c.56 |
| C:\Temp/ccbFCWV3.s:1373 .progmem.data:00000513 __c.57 |
| C:\Temp/ccbFCWV3.s:1377 .progmem.data:00000526 __c.58 |
| C:\Temp/ccbFCWV3.s:1381 .progmem.data:00000539 __c.59 |
| C:\Temp/ccbFCWV3.s:1385 .progmem.data:00000544 __c.60 |
| C:\Temp/ccbFCWV3.s:1389 .progmem.data:0000054a __c.61 |
| C:\Temp/ccbFCWV3.s:1393 .progmem.data:0000055d __c.62 |
| C:\Temp/ccbFCWV3.s:1397 .progmem.data:00000573 __c.63 |
| C:\Temp/ccbFCWV3.s:1401 .progmem.data:00000582 __c.64 |
| C:\Temp/ccbFCWV3.s:1405 .progmem.data:00000593 __c.65 |
| C:\Temp/ccbFCWV3.s:1409 .progmem.data:00000598 __c.66 |
| C:\Temp/ccbFCWV3.s:1413 .progmem.data:000005a2 __c.67 |
| C:\Temp/ccbFCWV3.s:1417 .progmem.data:000005a9 __c.68 |
| C:\Temp/ccbFCWV3.s:1421 .progmem.data:000005b0 __c.69 |
| C:\Temp/ccbFCWV3.s:1425 .progmem.data:000005b6 __c.70 |
| C:\Temp/ccbFCWV3.s:1429 .progmem.data:000005bc __c.71 |
| C:\Temp/ccbFCWV3.s:1433 .progmem.data:000005c5 __c.72 |
| C:\Temp/ccbFCWV3.s:1437 .progmem.data:000005c9 __c.73 |
| C:\Temp/ccbFCWV3.s:1441 .progmem.data:000005d2 __c.74 |
| C:\Temp/ccbFCWV3.s:1445 .progmem.data:000005d9 __c.75 |
| C:\Temp/ccbFCWV3.s:1449 .progmem.data:000005e0 __c.76 |
| C:\Temp/ccbFCWV3.s:1453 .progmem.data:000005e7 __c.77 |
| C:\Temp/ccbFCWV3.s:1457 .progmem.data:000005ec __c.78 |
| C:\Temp/ccbFCWV3.s:1461 .progmem.data:000005f5 __c.79 |
| C:\Temp/ccbFCWV3.s:1465 .progmem.data:000005fc __c.80 |
| C:\Temp/ccbFCWV3.s:1469 .progmem.data:00000603 __c.81 |
| C:\Temp/ccbFCWV3.s:1473 .progmem.data:0000060a __c.82 |
| C:\Temp/ccbFCWV3.s:1477 .progmem.data:00000611 __c.83 |
| C:\Temp/ccbFCWV3.s:1481 .progmem.data:0000061c __c.84 |
| C:\Temp/ccbFCWV3.s:1485 .progmem.data:00000626 __c.85 |
| C:\Temp/ccbFCWV3.s:1489 .progmem.data:0000062a __c.86 |
| C:\Temp/ccbFCWV3.s:1493 .progmem.data:00000630 __c.87 |
| C:\Temp/ccbFCWV3.s:1497 .progmem.data:00000644 __c.88 |
| C:\Temp/ccbFCWV3.s:1501 .progmem.data:00000653 __c.89 |
| C:\Temp/ccbFCWV3.s:1505 .progmem.data:00000667 __c.90 |
| C:\Temp/ccbFCWV3.s:1509 .progmem.data:0000067b __c.91 |
| C:\Temp/ccbFCWV3.s:1513 .progmem.data:0000068a __c.92 |
| C:\Temp/ccbFCWV3.s:1517 .progmem.data:00000694 __c.93 |
| C:\Temp/ccbFCWV3.s:1521 .progmem.data:00000699 __c.94 |
| C:\Temp/ccbFCWV3.s:1526 .text:00000896 HoTT_Menu |
| *COM*:000000ac ASCIIPacket |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| Motor |
| LIBFC_HoTT_SetPos |
| LIBFC_HoTT_Putchar |
| _printf_P |
| FC_StatusFlags |
| NC_ErrorCode |
| MotorenEin |
| EE_Parameter |
| CheckDelay |
| SetDelay |
| FromNaviCtrl |
| VarioCharacter |
| AltitudeSetpointTrimming |
| __divmodhi4 |
| FromNC_AltitudeSpeed |
| HoehenWert |
| __divmodsi4 |
| HoTT_DataPointer |
| FC_StatusFlags2 |
| __udivmodqi4 |
| __udivmodhi4 |
| GPSInfo |
| NC_GPS_ModeCharacter |
| UBat |
| ErsatzKompassInGrad |
| Capacity |
| FlugSekunden |
| BattLowVoltageWarning |
| VarioMeter |
| __tablejump2__ |
| LIBFC_HoTT_Putchar_BLINK |
| Parameter_GlobalConfig |
| HoehenReglerAktiv |
| NaviDataOkay |
| EarthMagneticField |
| EarthMagneticInclinationTheoretic |
| EarthMagneticInclination |
| HoTTBlink |
| HottKeyboard |
| LIBFC_HoTT_Clear |
| KompassValue |
| LIBFC_HoTT_Putchar_INV |
| RequiredMotors |
| GetActiveParamSet |
| Mixer |
| Parameter_HoehenSchalter |
| Parameter_ExtraConfig |
| CareFree |
| Poti |
| Parameter_ServoNickControl |
| PPM_in |
| __epilogue_restores__ |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/isqrt.S |
|---|
| 0,0 → 1,203 |
| ;-----------------------------------------------------------------------------; |
| ; Fast integer squareroot routines for avr-gcc project (C)ChaN, 2008 |
| ; http://elm-chan.org/docs/avrlib/sqrt32.S |
| ;-----------------------------------------------------------------------------; |
| ; uint16_t isqrt32 (uint32_t n); |
| ; uint8_t isqrt16 (uint16_t n); |
| ; uint16_t ihypot (int16_t x, int16_t y); |
| ;-----------------------------------------------------------------------------: |
| ; 32bit integer squareroot |
| ;-----------------------------------------------------------------------------; |
| ; uint16_t isqrt32 ( |
| ; uint32_t n |
| ; ); |
| ; |
| ; Return Value: |
| ; Squareroot of n. |
| ; |
| ; Size = 53 words |
| ; Clock = 532..548 cycles |
| ; Stack = 0 byte |
| .global isqrt32 |
| .func isqrt32 |
| isqrt32: |
| clr r0 |
| clr r18 |
| clr r19 |
| clr r20 |
| ldi r21, 1 |
| clr r27 |
| clr r30 |
| clr r31 |
| ldi r26, 16 |
| 1: lsl r22 |
| rol r23 |
| rol r24 |
| rol r25 |
| rol r0 |
| rol r18 |
| rol r19 |
| rol r20 |
| lsl r22 |
| rol r23 |
| rol r24 |
| rol r25 |
| rol r0 |
| rol r18 |
| rol r19 |
| rol r20 |
| brpl 2f |
| add r0, r21 |
| adc r18, r27 |
| adc r19, r30 |
| adc r20, r31 |
| rjmp 3f |
| 2: sub r0, r21 |
| sbc r18, r27 |
| sbc r19, r30 |
| sbc r20, r31 |
| 3: lsl r21 |
| rol r27 |
| rol r30 |
| andi r21, 0b11111000 |
| ori r21, 0b00000101 |
| sbrc r20, 7 |
| subi r21, 2 |
| dec r26 |
| brne 1b |
| lsr r30 |
| ror r27 |
| ror r21 |
| lsr r30 |
| ror r27 |
| ror r21 |
| mov r24, r21 |
| mov r25, r27 |
| ret |
| .endfunc |
| ;-----------------------------------------------------------------------------: |
| ; 16bit integer squareroot |
| ;-----------------------------------------------------------------------------; |
| ; uint8_t isqrt16 ( |
| ; uint16_t n |
| ; ); |
| ; |
| ; Return Value: |
| ; Squareroot of n. |
| ; |
| ; Size = 33 words |
| ; Clock = 181..189 cycles |
| ; Stack = 0 byte |
| .global isqrt16 |
| .func isqrt16 |
| isqrt16: |
| clr r18 |
| clr r19 |
| ldi r20, 1 |
| clr r21 |
| ldi r22, 8 |
| 1: lsl r24 |
| rol r25 |
| rol r18 |
| rol r19 |
| lsl r24 |
| rol r25 |
| rol r18 |
| rol r19 |
| brpl 2f |
| add r18, r20 |
| adc r19, r21 |
| rjmp 3f |
| 2: sub r18, r20 |
| sbc r19, r21 |
| 3: lsl r20 |
| rol r21 |
| andi r20, 0b11111000 |
| ori r20, 0b00000101 |
| sbrc r19, 7 |
| subi r20, 2 |
| dec r22 |
| brne 1b |
| lsr r21 |
| ror r20 |
| lsr r21 |
| ror r20 |
| mov r24, r20 |
| ret |
| .endfunc |
| ;-----------------------------------------------------------------------------: |
| ; 16bit integer hypot (megaAVR is required) |
| ;-----------------------------------------------------------------------------; |
| ; uint16_t ihypot ( |
| ; int16_t x, |
| ; int16_t y |
| ; ); |
| ; |
| ; Return Value: |
| ; Squareroot of (x*x + y*y) |
| ; |
| ; Size = 42 words |
| ; Clock = 581..597 cycles |
| ; Stack = 0 byte |
| .global ihypot |
| .func ihypot |
| ihypot: |
| clr r26 |
| sbrs r25, 7 |
| rjmp 1f |
| com r24 |
| com r25 |
| adc r24, r26 |
| adc r25, r26 |
| 1: sbrs r23, 7 |
| rjmp 2f |
| com r22 |
| com r23 |
| adc r22, r26 |
| adc r23, r26 |
| 2: mul r22, r22 |
| movw r18, r0 |
| mul r23, r23 |
| movw r20, r0 |
| mul r22, r23 |
| add r19, r0 |
| adc r20, r1 |
| adc r21, r26 |
| add r19, r0 |
| adc r20, r1 |
| adc r21, r26 |
| mul r24, r24 |
| movw r30, r0 |
| mul r25, r25 |
| add r18, r30 |
| adc r19, r31 |
| adc r20, r0 |
| adc r21, r1 |
| mul r24, r25 |
| add r19, r0 |
| adc r20, r1 |
| adc r21, r26 |
| add r19, r0 |
| adc r20, r1 |
| adc r21, r26 |
| movw r24, r20 |
| movw r22, r18 |
| clr r1 |
| rjmp isqrt32 |
| .endfunc |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/isqrt.h |
|---|
| 0,0 → 1,11 |
| #ifndef _ISQRT_H |
| #define _ISQRT_H |
| #include <inttypes.h> |
| // coded in assembler file |
| extern uint16_t isqrt32(uint32_t n); |
| extern uint8_t isqrt16(uint16_t n); |
| extern uint16_t ihypot(int16_t x, int16_t y); |
| #endif // _ISQRT_H |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/isqrt.lst |
|---|
| 0,0 → 1,209 |
| 1 # 1 "isqrt.S" |
| 1 ;-----------------------------------------------------------------------------; |
| 0 |
| 0 |
| 2 ;-----------------------------------------------------------------------------; |
| 3 ; Fast integer squareroot routines for avr-gcc project (C)ChaN, 2008 |
| 4 ; http://elm-chan.org/docs/avrlib/sqrt32.S |
| 5 ;-----------------------------------------------------------------------------; |
| 6 ; uint16_t isqrt32 (uint32_t n); |
| 7 ; uint8_t isqrt16 (uint16_t n); |
| 8 ; uint16_t ihypot (int16_t x, int16_t y); |
| 9 |
| 10 ;-----------------------------------------------------------------------------: |
| 11 ; 32bit integer squareroot |
| 12 ;-----------------------------------------------------------------------------; |
| 13 ; uint16_t isqrt32 ( |
| 14 ; uint32_t n |
| 15 ; ); |
| 16 ; |
| 17 ; Return Value: |
| 18 ; Squareroot of n. |
| 19 ; |
| 20 ; Size = 53 words |
| 21 ; Clock = 532..548 cycles |
| 22 ; Stack = 0 byte |
| 23 |
| 24 .global isqrt32 |
| 25 .func isqrt32 |
| 26 |
| 27:isqrt.S **** isqrt32: |
| 28:isqrt.S **** clr r0 |
| 29:isqrt.S **** clr r18 |
| 30:isqrt.S **** clr r19 |
| 31:isqrt.S **** clr r20 |
| 32:isqrt.S **** ldi r21, 1 |
| 33:isqrt.S **** clr r27 |
| 34:isqrt.S **** clr r30 |
| 35:isqrt.S **** clr r31 |
| 36:isqrt.S **** ldi r26, 16 |
| 37:isqrt.S **** 1: lsl r22 |
| 38:isqrt.S **** rol r23 |
| 39:isqrt.S **** rol r24 |
| 40:isqrt.S **** rol r25 |
| 41:isqrt.S **** rol r0 |
| 42:isqrt.S **** rol r18 |
| 43:isqrt.S **** rol r19 |
| 44:isqrt.S **** rol r20 |
| 45:isqrt.S **** lsl r22 |
| 46:isqrt.S **** rol r23 |
| 47:isqrt.S **** rol r24 |
| 48:isqrt.S **** rol r25 |
| 49:isqrt.S **** rol r0 |
| 50:isqrt.S **** rol r18 |
| 51:isqrt.S **** rol r19 |
| 52:isqrt.S **** rol r20 |
| 53:isqrt.S **** brpl 2f |
| 54:isqrt.S **** add r0, r21 |
| 55:isqrt.S **** adc r18, r27 |
| 56:isqrt.S **** adc r19, r30 |
| 57:isqrt.S **** adc r20, r31 |
| 58:isqrt.S **** rjmp 3f |
| 59:isqrt.S **** 2: sub r0, r21 |
| 60:isqrt.S **** sbc r18, r27 |
| 61:isqrt.S **** sbc r19, r30 |
| 62:isqrt.S **** sbc r20, r31 |
| 63:isqrt.S **** 3: lsl r21 |
| 64:isqrt.S **** rol r27 |
| 65:isqrt.S **** rol r30 |
| 66:isqrt.S **** andi r21, 0b11111000 |
| 67:isqrt.S **** ori r21, 0b00000101 |
| 68:isqrt.S **** sbrc r20, 7 |
| 69:isqrt.S **** subi r21, 2 |
| 70:isqrt.S **** dec r26 |
| 71:isqrt.S **** brne 1b |
| 72:isqrt.S **** lsr r30 |
| 73:isqrt.S **** ror r27 |
| 74:isqrt.S **** ror r21 |
| 75:isqrt.S **** lsr r30 |
| 76:isqrt.S **** ror r27 |
| 77:isqrt.S **** ror r21 |
| 78:isqrt.S **** mov r24, r21 |
| 79:isqrt.S **** mov r25, r27 |
| 80 ret |
| 81 .endfunc |
| 82 |
| 83 |
| 84 |
| 85 ;-----------------------------------------------------------------------------: |
| 86 ; 16bit integer squareroot |
| 87 ;-----------------------------------------------------------------------------; |
| 88 ; uint8_t isqrt16 ( |
| 89 ; uint16_t n |
| 90 ; ); |
| 91 ; |
| 92 ; Return Value: |
| 93 ; Squareroot of n. |
| 94 ; |
| 95 ; Size = 33 words |
| 96 ; Clock = 181..189 cycles |
| 97 ; Stack = 0 byte |
| 98 |
| 99 .global isqrt16 |
| 100 .func isqrt16 |
| 101 |
| 102:isqrt.S **** isqrt16: |
| 103:isqrt.S **** clr r18 |
| 104:isqrt.S **** clr r19 |
| 105:isqrt.S **** ldi r20, 1 |
| 106:isqrt.S **** clr r21 |
| 107:isqrt.S **** ldi r22, 8 |
| 108:isqrt.S **** 1: lsl r24 |
| 109:isqrt.S **** rol r25 |
| 110:isqrt.S **** rol r18 |
| 111:isqrt.S **** rol r19 |
| 112:isqrt.S **** lsl r24 |
| 113:isqrt.S **** rol r25 |
| 114:isqrt.S **** rol r18 |
| 115:isqrt.S **** rol r19 |
| 116:isqrt.S **** brpl 2f |
| 117:isqrt.S **** add r18, r20 |
| 118:isqrt.S **** adc r19, r21 |
| 119:isqrt.S **** rjmp 3f |
| 120:isqrt.S **** 2: sub r18, r20 |
| 121:isqrt.S **** sbc r19, r21 |
| 122:isqrt.S **** 3: lsl r20 |
| 123:isqrt.S **** rol r21 |
| 124:isqrt.S **** andi r20, 0b11111000 |
| 125:isqrt.S **** ori r20, 0b00000101 |
| 126:isqrt.S **** sbrc r19, 7 |
| 127:isqrt.S **** subi r20, 2 |
| 128:isqrt.S **** dec r22 |
| 129:isqrt.S **** brne 1b |
| 130:isqrt.S **** lsr r21 |
| 131:isqrt.S **** ror r20 |
| 132:isqrt.S **** lsr r21 |
| 133:isqrt.S **** ror r20 |
| 134:isqrt.S **** mov r24, r20 |
| 135 ret |
| 136 .endfunc |
| 137 |
| 138 |
| 139 |
| 140 ;-----------------------------------------------------------------------------: |
| 141 ; 16bit integer hypot (megaAVR is required) |
| 142 ;-----------------------------------------------------------------------------; |
| 143 ; uint16_t ihypot ( |
| 144 ; int16_t x, |
| 145 ; int16_t y |
| 146 ; ); |
| 147 ; |
| 148 ; Return Value: |
| 149 ; Squareroot of (x*x + y*y) |
| 150 ; |
| 151 ; Size = 42 words |
| 152 ; Clock = 581..597 cycles |
| 153 ; Stack = 0 byte |
| 154 |
| 155 .global ihypot |
| 156 .func ihypot |
| 157 |
| 158:isqrt.S **** ihypot: |
| 159:isqrt.S **** clr r26 |
| 160:isqrt.S **** sbrs r25, 7 |
| 161:isqrt.S **** rjmp 1f |
| 162:isqrt.S **** com r24 |
| 163:isqrt.S **** com r25 |
| 164:isqrt.S **** adc r24, r26 |
| 165:isqrt.S **** adc r25, r26 |
| 166:isqrt.S **** 1: sbrs r23, 7 |
| 167:isqrt.S **** rjmp 2f |
| 168:isqrt.S **** com r22 |
| 169:isqrt.S **** com r23 |
| 170:isqrt.S **** adc r22, r26 |
| 171:isqrt.S **** adc r23, r26 |
| 172:isqrt.S **** 2: mul r22, r22 |
| 173:isqrt.S **** movw r18, r0 |
| 174:isqrt.S **** mul r23, r23 |
| 175:isqrt.S **** movw r20, r0 |
| 176:isqrt.S **** mul r22, r23 |
| 177:isqrt.S **** add r19, r0 |
| 178:isqrt.S **** adc r20, r1 |
| 179:isqrt.S **** adc r21, r26 |
| 180:isqrt.S **** add r19, r0 |
| 181:isqrt.S **** adc r20, r1 |
| 182:isqrt.S **** adc r21, r26 |
| 183:isqrt.S **** mul r24, r24 |
| 184:isqrt.S **** movw r30, r0 |
| 185:isqrt.S **** mul r25, r25 |
| 186:isqrt.S **** add r18, r30 |
| 187:isqrt.S **** adc r19, r31 |
| 188:isqrt.S **** adc r20, r0 |
| 189:isqrt.S **** adc r21, r1 |
| 190:isqrt.S **** mul r24, r25 |
| 191:isqrt.S **** add r19, r0 |
| 192:isqrt.S **** adc r20, r1 |
| 193:isqrt.S **** adc r21, r26 |
| 194:isqrt.S **** add r19, r0 |
| 195:isqrt.S **** adc r20, r1 |
| 196:isqrt.S **** adc r21, r26 |
| 197:isqrt.S **** movw r24, r20 |
| 198:isqrt.S **** movw r22, r18 |
| 199:isqrt.S **** clr r1 |
| 200 rjmp isqrt32 |
| DEFINED SYMBOLS |
| isqrt.S:26 .text:00000000 isqrt32 |
| isqrt.S:101 .text:0000006a isqrt16 |
| isqrt.S:157 .text:000000ac ihypot |
| NO UNDEFINED SYMBOLS |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/jeti_ex.c |
|---|
| 0,0 → 1,140 |
| #include "libfc.h" |
| #include "printf_P.h" |
| #include "main.h" |
| #include "spi.h" |
| #include "capacity.h" |
| #include "jeti_ex.h" |
| #include "hottmenu.h" |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| const char PROGMEM JETI_CODE[53] = |
| { |
| 0, // 0 |
| 'O', // SPEAK_ERR_CALIBARTION 1 |
| 'P', // SPEAK_ERR_RECEICER 2 |
| 'Q', // SPEAK_ERR_DATABUS 3 |
| 'R', // SPEAK_ERR_NAVI 4 |
| 'S', // SPEAK_ERROR 5 |
| 'T', // SPEAK_ERR_COMPASS 6 |
| 'S', // SPEAK_ERR_SENSOR 7 |
| 'V', // SPEAK_ERR_GPS 8 |
| 'W', // SPEAK_ERR_MOTOR 9 |
| 'H', // SPEAK_MAX_TEMPERAT 10 |
| 0, // SPEAK_ALTI_REACHED 11 |
| 'X', // SPEAK_WP_REACHED 12 |
| 'Y', // SPEAK_NEXT_WP 13 |
| 0, // SPEAK_LANDING 14 |
| 'Z', // SPEAK_GPS_FIX 15 |
| 'U', // SPEAK_UNDERVOLTAGE 16 |
| 'E', // SPEAK_GPS_HOLD 17 |
| 'F', // SPEAK_GPS_HOME 18 |
| 'G', // SPEAK_GPS_OFF 19 |
| 'H', // SPEAK_BEEP 20 |
| 'A', // SPEAK_MIKROKOPTER 21 |
| 0, // SPEAK_CAPACITY 22 |
| 'I', // SPEAK_CF_OFF 23 |
| 'B', // SPEAK_CALIBRATE 24 |
| 'J', // SPEAK_MAX_RANGE 25 |
| 'J', // SPEAK_MAX_ALTITUD 26 |
| 0, // 27 |
| 0, // 28 |
| 0, // 29 |
| 0, // 30 |
| 0, // 31 |
| 0, // 32 |
| 0, // 33 |
| 0, // 34 |
| 0, // 35 |
| 0, // 36 |
| 0, // 37 |
| 'D', // SPEAK_MK_OFF 38 |
| 'L', // SPEAK_ALTITUDE_ON 39 |
| 'M', // SPEAK_ALTITUDE_OFF 40 |
| 0, // 41 |
| 0, // 42 |
| 0, // 43 |
| 0, // 44 |
| 0, // 45 |
| 'N', // SPEAK_CF_ON 46 |
| 0, // SPEAK_SINKING 47 |
| 0, // SPEAK_RISING 48 |
| 0, // SPEAK_HOLDING 49 |
| 'K', // SPEAK_GPS_ON 50 |
| 0, // SPEAK_FOLLWING 51 |
| 'C' // SPEAK_STARTING 52 |
| }; |
| JetiExPacket_t JetiExData[JETI_EX_PARAMETER_COUNT + 1] = // Parameter count + DeviceName (ID0) |
| { |
| // Label[10] unit[3], data type, Data , position of decimal point |
| // "1234567890", "123", |
| { "-=.M_K.=-" , " ", 1, 0 , 0 }, // first one is device name // datatype 1 = -8192...8192 |
| { "Voltage " , "V ", 1, 0 , 1 }, // ID 1 |
| { "Current " , "A ", 1, 0 , 1 }, // ID 2 |
| { "Capacity " , "Ah ", 1, 0 , 2 }, // ID 3 |
| { "Altitude " , "m ", 1, 0 , 0 }, // ID 4 |
| { "Compass " , "° ", 1, 0 , 0 }, // ID 5 |
| { "Sats " , " ", 1, 0 , 0 }, // ID 6 |
| { "Speed " , "m/s", 1, 0 , 0 }, // ID 7 |
| { "Distance " , "m ", 1, 0 , 0 }, // ID 8 |
| { "Home-Dir " , "° ", 1, 0 , 0 }, // ID 9 |
| { "max.Temp. " , "°C ", 1, 0 , 0 }, // ID 10 |
| { "Magn.field" , "% ", 1, 0 , 0 }, // ID 11 |
| { "Vario " , " ", 1, 0 , 0 }, // ID 12 |
| { "ErrorCode " , " ", 1, 0 , 0 }, // ID 13 |
| { "frei " , " ", 1, 0 , 3 }, // ID 14 |
| { "frei " , " ", 1, 0 , 3 }, // ID 15 |
| }; |
| void BuildJeti_Vario(void) |
| { |
| signed int tmp = 0; |
| static signed int JetiVarioMeter = 0; |
| JetiVarioMeter = (JetiVarioMeter * 3 + VarioMeter) / 4; |
| if(VarioCharacter == '+') |
| { |
| tmp = (AltitudeSetpointTrimming * EE_Parameter.Hoehe_Verstaerkung) / 32 + 5; |
| } |
| else |
| if(VarioCharacter == '-') |
| { |
| tmp = (AltitudeSetpointTrimming * EE_Parameter.Hoehe_Verstaerkung) / 32 - 5; |
| } |
| else |
| if((VarioCharacter == ' ') && (FC_StatusFlags & FC_STATUS_FLY)) |
| { |
| tmp = (JetiVarioMeter/32); |
| } |
| else |
| if(VarioCharacter == '^') tmp = FromNC_AltitudeSpeed; |
| else |
| if(VarioCharacter == 'v') tmp = tmp - FromNC_AltitudeSpeed; |
| JetiExData[12].Value = tmp; |
| } |
| // -------------------------------------------------------------------------------------------------- |
| void JetiEX_Update(void) |
| { |
| GetHottestBl(); |
| JetiExData[1].Value = UBat; |
| JetiExData[2].Value = Capacity.ActualCurrent; |
| JetiExData[3].Value = Capacity.UsedCapacity / 10; |
| JetiExData[4].Value = HoehenWert / 100; |
| JetiExData[5].Value = KompassValue; |
| JetiExData[6].Value = GPSInfo.NumOfSats; |
| JetiExData[7].Value = GPSInfo.Speed; |
| JetiExData[8].Value = GPSInfo.HomeDistance / 10; |
| JetiExData[9].Value = GPSInfo.HomeBearing; |
| JetiExData[10].Value = MaxBlTempertaure; |
| JetiExData[11].Value = EarthMagneticField; |
| // JetiExData[12].Value = Vario; |
| JetiExData[13].Value = NC_ErrorCode; |
| } |
| #endif |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/jeti_ex.h |
|---|
| 0,0 → 1,37 |
| #ifndef _JETI_EX_H |
| #define _JETI_EX_H |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| extern void BuildJeti_Vario(void); |
| // define here how many Jeti EX parameters should be transmitted (max. = 15) |
| // |
| #define JETI_EX_PARAMETER_COUNT 15 |
| // |
| // ------------------------------------------------------------------------- |
| extern const char PROGMEM JETI_CODE[53]; |
| typedef struct |
| { |
| char Label[10]; |
| char Unit[3]; |
| unsigned char DataType; |
| long Value; |
| unsigned char DecimalPointPos; |
| } JetiExPacket_t; |
| extern JetiExPacket_t JetiExData[]; |
| extern void JetiEX_Update(void); |
| #if (JETI_EX_PARAMETER_COUNT > 15) |
| #error "ERROR: Too many Jeti EX parameters (max. allowed 15)" |
| #endif |
| #endif |
| #endif //_JETI_EX_H |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/jeti_ex.lst |
|---|
| 0,0 → 1,477 |
| 1 .file "jeti_ex.c" |
| 2 .arch atmega1284p |
| 3 __SREG__ = 0x3f |
| 4 __SP_H__ = 0x3e |
| 5 __SP_L__ = 0x3d |
| 6 __tmp_reg__ = 0 |
| 7 __zero_reg__ = 1 |
| 8 .global __do_copy_data |
| 9 .global __do_clear_bss |
| 10 .global JetiExData |
| 11 .data |
| 14 JetiExData: |
| 15 0000 2D3D 2E4D .string "-=.M_K.=-" |
| 15 5F4B 2E3D |
| 15 2D00 |
| 16 000a 2020 20 .ascii " " |
| 17 000d 01 .byte 1 |
| 18 000e 0000 0000 .long 0 |
| 19 0012 00 .byte 0 |
| 20 0013 566F 6C74 .ascii "Voltage " |
| 20 6167 6520 |
| 20 2020 |
| 21 001d 5620 20 .ascii "V " |
| 22 0020 01 .byte 1 |
| 23 0021 0000 0000 .long 0 |
| 24 0025 01 .byte 1 |
| 25 0026 4375 7272 .ascii "Current " |
| 25 656E 7420 |
| 25 2020 |
| 26 0030 4120 20 .ascii "A " |
| 27 0033 01 .byte 1 |
| 28 0034 0000 0000 .long 0 |
| 29 0038 01 .byte 1 |
| 30 0039 4361 7061 .ascii "Capacity " |
| 30 6369 7479 |
| 30 2020 |
| 31 0043 4168 20 .ascii "Ah " |
| 32 0046 01 .byte 1 |
| 33 0047 0000 0000 .long 0 |
| 34 004b 02 .byte 2 |
| 35 004c 416C 7469 .ascii "Altitude " |
| 35 7475 6465 |
| 35 2020 |
| 36 0056 6D20 20 .ascii "m " |
| 37 0059 01 .byte 1 |
| 38 005a 0000 0000 .long 0 |
| 39 005e 00 .byte 0 |
| 40 005f 436F 6D70 .ascii "Compass " |
| 40 6173 7320 |
| 40 2020 |
| 41 0069 B020 20 .ascii "\260 " |
| 42 006c 01 .byte 1 |
| 43 006d 0000 0000 .long 0 |
| 44 0071 00 .byte 0 |
| 45 0072 5361 7473 .ascii "Sats " |
| 45 2020 2020 |
| 45 2020 |
| 46 007c 2020 20 .ascii " " |
| 47 007f 01 .byte 1 |
| 48 0080 0000 0000 .long 0 |
| 49 0084 00 .byte 0 |
| 50 0085 5370 6565 .ascii "Speed " |
| 50 6420 2020 |
| 50 2020 |
| 51 008f 6D2F 73 .ascii "m/s" |
| 52 0092 01 .byte 1 |
| 53 0093 0000 0000 .long 0 |
| 54 0097 00 .byte 0 |
| 55 0098 4469 7374 .ascii "Distance " |
| 55 616E 6365 |
| 55 2020 |
| 56 00a2 6D20 20 .ascii "m " |
| 57 00a5 01 .byte 1 |
| 58 00a6 0000 0000 .long 0 |
| 59 00aa 00 .byte 0 |
| 60 00ab 486F 6D65 .ascii "Home-Dir " |
| 60 2D44 6972 |
| 60 2020 |
| 61 00b5 B020 20 .ascii "\260 " |
| 62 00b8 01 .byte 1 |
| 63 00b9 0000 0000 .long 0 |
| 64 00bd 00 .byte 0 |
| 65 00be 6D61 782E .ascii "max.Temp. " |
| 65 5465 6D70 |
| 65 2E20 |
| 66 00c8 B043 20 .ascii "\260C " |
| 67 00cb 01 .byte 1 |
| 68 00cc 0000 0000 .long 0 |
| 69 00d0 00 .byte 0 |
| 70 00d1 4D61 676E .ascii "Magn.field" |
| 70 2E66 6965 |
| 70 6C64 |
| 71 00db 2520 20 .ascii "% " |
| 72 00de 01 .byte 1 |
| 73 00df 0000 0000 .long 0 |
| 74 00e3 00 .byte 0 |
| 75 00e4 5661 7269 .ascii "Vario " |
| 75 6F20 2020 |
| 75 2020 |
| 76 00ee 2020 20 .ascii " " |
| 77 00f1 01 .byte 1 |
| 78 00f2 0000 0000 .long 0 |
| 79 00f6 00 .byte 0 |
| 80 00f7 4572 726F .ascii "ErrorCode " |
| 80 7243 6F64 |
| 80 6520 |
| 81 0101 2020 20 .ascii " " |
| 82 0104 01 .byte 1 |
| 83 0105 0000 0000 .long 0 |
| 84 0109 00 .byte 0 |
| 85 010a 6672 6569 .ascii "frei " |
| 85 2020 2020 |
| 85 2020 |
| 86 0114 2020 20 .ascii " " |
| 87 0117 01 .byte 1 |
| 88 0118 0000 0000 .long 0 |
| 89 011c 03 .byte 3 |
| 90 011d 6672 6569 .ascii "frei " |
| 90 2020 2020 |
| 90 2020 |
| 91 0127 2020 20 .ascii " " |
| 92 012a 01 .byte 1 |
| 93 012b 0000 0000 .long 0 |
| 94 012f 03 .byte 3 |
| 95 .global JETI_CODE |
| 96 .section .progmem.data,"a",@progbits |
| 99 JETI_CODE: |
| 100 0000 00 .byte 0 |
| 101 0001 4F .byte 79 |
| 102 0002 50 .byte 80 |
| 103 0003 51 .byte 81 |
| 104 0004 52 .byte 82 |
| 105 0005 53 .byte 83 |
| 106 0006 54 .byte 84 |
| 107 0007 53 .byte 83 |
| 108 0008 56 .byte 86 |
| 109 0009 57 .byte 87 |
| 110 000a 48 .byte 72 |
| 111 000b 00 .byte 0 |
| 112 000c 58 .byte 88 |
| 113 000d 59 .byte 89 |
| 114 000e 00 .byte 0 |
| 115 000f 5A .byte 90 |
| 116 0010 55 .byte 85 |
| 117 0011 45 .byte 69 |
| 118 0012 46 .byte 70 |
| 119 0013 47 .byte 71 |
| 120 0014 48 .byte 72 |
| 121 0015 41 .byte 65 |
| 122 0016 00 .byte 0 |
| 123 0017 49 .byte 73 |
| 124 0018 42 .byte 66 |
| 125 0019 4A .byte 74 |
| 126 001a 4A .byte 74 |
| 127 001b 00 .byte 0 |
| 128 001c 00 .byte 0 |
| 129 001d 00 .byte 0 |
| 130 001e 00 .byte 0 |
| 131 001f 00 .byte 0 |
| 132 0020 00 .byte 0 |
| 133 0021 00 .byte 0 |
| 134 0022 00 .byte 0 |
| 135 0023 00 .byte 0 |
| 136 0024 00 .byte 0 |
| 137 0025 00 .byte 0 |
| 138 0026 44 .byte 68 |
| 139 0027 4C .byte 76 |
| 140 0028 4D .byte 77 |
| 141 0029 00 .byte 0 |
| 142 002a 00 .byte 0 |
| 143 002b 00 .byte 0 |
| 144 002c 00 .byte 0 |
| 145 002d 00 .byte 0 |
| 146 002e 4E .byte 78 |
| 147 002f 00 .byte 0 |
| 148 0030 00 .byte 0 |
| 149 0031 00 .byte 0 |
| 150 0032 4B .byte 75 |
| 151 0033 00 .byte 0 |
| 152 0034 43 .byte 67 |
| 153 .lcomm JetiVarioMeter.0,2 |
| 154 .text |
| 155 .global BuildJeti_Vario |
| 157 BuildJeti_Vario: |
| 158 /* prologue: frame size=0 */ |
| 159 /* prologue end (size=0) */ |
| 160 0000 40E0 ldi r20,lo8(0) |
| 161 0002 50E0 ldi r21,hi8(0) |
| 162 0004 8091 0000 lds r24,JetiVarioMeter.0 |
| 163 0008 9091 0000 lds r25,(JetiVarioMeter.0)+1 |
| 164 000c 9C01 movw r18,r24 |
| 165 000e 220F lsl r18 |
| 166 0010 331F rol r19 |
| 167 0012 280F add r18,r24 |
| 168 0014 391F adc r19,r25 |
| 169 0016 8091 0000 lds r24,VarioMeter |
| 170 001a 9091 0000 lds r25,(VarioMeter)+1 |
| 171 001e 280F add r18,r24 |
| 172 0020 391F adc r19,r25 |
| 173 0022 37FF sbrs r19,7 |
| 174 0024 00C0 rjmp .L2 |
| 175 0026 2D5F subi r18,lo8(-(3)) |
| 176 0028 3F4F sbci r19,hi8(-(3)) |
| 177 .L2: |
| 178 002a 3595 asr r19 |
| 179 002c 2795 ror r18 |
| 180 002e 3595 asr r19 |
| 181 0030 2795 ror r18 |
| 182 0032 3093 0000 sts (JetiVarioMeter.0)+1,r19 |
| 183 0036 2093 0000 sts JetiVarioMeter.0,r18 |
| 184 003a 8091 0000 lds r24,VarioCharacter |
| 185 003e 8B32 cpi r24,lo8(43) |
| 186 0040 01F4 brne .L3 |
| 187 0042 8091 0000 lds r24,EE_Parameter+18 |
| 188 0046 282F mov r18,r24 |
| 189 0048 3327 clr r19 |
| 190 004a 8091 0000 lds r24,AltitudeSetpointTrimming |
| 191 004e 9091 0000 lds r25,(AltitudeSetpointTrimming)+1 |
| 192 0052 829F mul r24,r18 |
| 193 0054 A001 movw r20,r0 |
| 194 0056 839F mul r24,r19 |
| 195 0058 500D add r21,r0 |
| 196 005a 929F mul r25,r18 |
| 197 005c 500D add r21,r0 |
| 198 005e 1124 clr r1 |
| 199 0060 CA01 movw r24,r20 |
| 200 0062 57FD sbrc r21,7 |
| 201 0064 4F96 adiw r24,31 |
| 202 .L4: |
| 203 0066 AC01 movw r20,r24 |
| 204 0068 25E0 ldi r18,5 |
| 205 006a 5595 1: asr r21 |
| 206 006c 4795 ror r20 |
| 207 006e 2A95 dec r18 |
| 208 0070 01F4 brne 1b |
| 209 0072 4B5F subi r20,lo8(-(5)) |
| 210 0074 5F4F sbci r21,hi8(-(5)) |
| 211 0076 00C0 rjmp .L5 |
| 212 .L3: |
| 213 0078 8D32 cpi r24,lo8(45) |
| 214 007a 01F4 brne .L6 |
| 215 007c 8091 0000 lds r24,EE_Parameter+18 |
| 216 0080 282F mov r18,r24 |
| 217 0082 3327 clr r19 |
| 218 0084 8091 0000 lds r24,AltitudeSetpointTrimming |
| 219 0088 9091 0000 lds r25,(AltitudeSetpointTrimming)+1 |
| 220 008c 829F mul r24,r18 |
| 221 008e A001 movw r20,r0 |
| 222 0090 839F mul r24,r19 |
| 223 0092 500D add r21,r0 |
| 224 0094 929F mul r25,r18 |
| 225 0096 500D add r21,r0 |
| 226 0098 1124 clr r1 |
| 227 009a CA01 movw r24,r20 |
| 228 009c 57FD sbrc r21,7 |
| 229 009e 4F96 adiw r24,31 |
| 230 .L7: |
| 231 00a0 AC01 movw r20,r24 |
| 232 00a2 95E0 ldi r25,5 |
| 233 00a4 5595 1: asr r21 |
| 234 00a6 4795 ror r20 |
| 235 00a8 9A95 dec r25 |
| 236 00aa 01F4 brne 1b |
| 237 00ac 4550 subi r20,lo8(-(-5)) |
| 238 00ae 5040 sbci r21,hi8(-(-5)) |
| 239 00b0 00C0 rjmp .L5 |
| 240 .L6: |
| 241 00b2 8032 cpi r24,lo8(32) |
| 242 00b4 01F4 brne .L9 |
| 243 00b6 8091 0000 lds r24,FC_StatusFlags |
| 244 00ba 81FF sbrs r24,1 |
| 245 00bc 00C0 rjmp .L5 |
| 246 00be C901 movw r24,r18 |
| 247 00c0 37FD sbrc r19,7 |
| 248 00c2 4F96 adiw r24,31 |
| 249 .L10: |
| 250 00c4 AC01 movw r20,r24 |
| 251 00c6 85E0 ldi r24,5 |
| 252 00c8 5595 1: asr r21 |
| 253 00ca 4795 ror r20 |
| 254 00cc 8A95 dec r24 |
| 255 00ce 01F4 brne 1b |
| 256 00d0 00C0 rjmp .L5 |
| 257 .L9: |
| 258 00d2 8E35 cpi r24,lo8(94) |
| 259 00d4 01F4 brne .L12 |
| 260 00d6 8091 0000 lds r24,FromNC_AltitudeSpeed |
| 261 00da 482F mov r20,r24 |
| 262 00dc 5527 clr r21 |
| 263 00de 00C0 rjmp .L5 |
| 264 .L12: |
| 265 00e0 8637 cpi r24,lo8(118) |
| 266 00e2 01F4 brne .L5 |
| 267 00e4 8091 0000 lds r24,FromNC_AltitudeSpeed |
| 268 00e8 9927 clr r25 |
| 269 00ea 4427 clr r20 |
| 270 00ec 5527 clr r21 |
| 271 00ee 481B sub r20,r24 |
| 272 00f0 590B sbc r21,r25 |
| 273 .L5: |
| 274 00f2 CA01 movw r24,r20 |
| 275 00f4 AA27 clr r26 |
| 276 00f6 97FD sbrc r25,7 |
| 277 00f8 A095 com r26 |
| 278 00fa BA2F mov r27,r26 |
| 279 00fc 8093 0000 sts JetiExData+242,r24 |
| 280 0100 9093 0000 sts (JetiExData+242)+1,r25 |
| 281 0104 A093 0000 sts (JetiExData+242)+2,r26 |
| 282 0108 B093 0000 sts (JetiExData+242)+3,r27 |
| 283 /* epilogue: frame size=0 */ |
| 284 010c 0895 ret |
| 285 /* epilogue end (size=1) */ |
| 286 /* function BuildJeti_Vario size 138 (137) */ |
| 288 .global JetiEX_Update |
| 290 JetiEX_Update: |
| 291 /* prologue: frame size=0 */ |
| 292 010e 0F93 push r16 |
| 293 0110 1F93 push r17 |
| 294 /* prologue end (size=2) */ |
| 295 0112 0E94 0000 call GetHottestBl |
| 296 0116 8091 0000 lds r24,UBat |
| 297 011a 9091 0000 lds r25,(UBat)+1 |
| 298 011e AA27 clr r26 |
| 299 0120 97FD sbrc r25,7 |
| 300 0122 A095 com r26 |
| 301 0124 BA2F mov r27,r26 |
| 302 0126 8093 0000 sts JetiExData+33,r24 |
| 303 012a 9093 0000 sts (JetiExData+33)+1,r25 |
| 304 012e A093 0000 sts (JetiExData+33)+2,r26 |
| 305 0132 B093 0000 sts (JetiExData+33)+3,r27 |
| 306 0136 8091 0000 lds r24,Capacity |
| 307 013a 9091 0000 lds r25,(Capacity)+1 |
| 308 013e AA27 clr r26 |
| 309 0140 BB27 clr r27 |
| 310 0142 8093 0000 sts JetiExData+52,r24 |
| 311 0146 9093 0000 sts (JetiExData+52)+1,r25 |
| 312 014a A093 0000 sts (JetiExData+52)+2,r26 |
| 313 014e B093 0000 sts (JetiExData+52)+3,r27 |
| 314 0152 0AE0 ldi r16,lo8(10) |
| 315 0154 10E0 ldi r17,hi8(10) |
| 316 0156 8091 0000 lds r24,Capacity+4 |
| 317 015a 9091 0000 lds r25,(Capacity+4)+1 |
| 318 015e B801 movw r22,r16 |
| 319 0160 0E94 0000 call __udivmodhi4 |
| 320 0164 CB01 movw r24,r22 |
| 321 0166 AA27 clr r26 |
| 322 0168 BB27 clr r27 |
| 323 016a 8093 0000 sts JetiExData+71,r24 |
| 324 016e 9093 0000 sts (JetiExData+71)+1,r25 |
| 325 0172 A093 0000 sts (JetiExData+71)+2,r26 |
| 326 0176 B093 0000 sts (JetiExData+71)+3,r27 |
| 327 017a 8091 0000 lds r24,HoehenWert |
| 328 017e 9091 0000 lds r25,(HoehenWert)+1 |
| 329 0182 A091 0000 lds r26,(HoehenWert)+2 |
| 330 0186 B091 0000 lds r27,(HoehenWert)+3 |
| 331 018a BC01 movw r22,r24 |
| 332 018c CD01 movw r24,r26 |
| 333 018e 24E6 ldi r18,lo8(100) |
| 334 0190 30E0 ldi r19,hi8(100) |
| 335 0192 40E0 ldi r20,hlo8(100) |
| 336 0194 50E0 ldi r21,hhi8(100) |
| 337 0196 0E94 0000 call __divmodsi4 |
| 338 019a 2093 0000 sts JetiExData+90,r18 |
| 339 019e 3093 0000 sts (JetiExData+90)+1,r19 |
| 340 01a2 4093 0000 sts (JetiExData+90)+2,r20 |
| 341 01a6 5093 0000 sts (JetiExData+90)+3,r21 |
| 342 01aa 8091 0000 lds r24,KompassValue |
| 343 01ae 9091 0000 lds r25,(KompassValue)+1 |
| 344 01b2 AA27 clr r26 |
| 345 01b4 97FD sbrc r25,7 |
| 346 01b6 A095 com r26 |
| 347 01b8 BA2F mov r27,r26 |
| 348 01ba 8093 0000 sts JetiExData+109,r24 |
| 349 01be 9093 0000 sts (JetiExData+109)+1,r25 |
| 350 01c2 A093 0000 sts (JetiExData+109)+2,r26 |
| 351 01c6 B093 0000 sts (JetiExData+109)+3,r27 |
| 352 01ca 8091 0000 lds r24,GPSInfo+1 |
| 353 01ce 9927 clr r25 |
| 354 01d0 AA27 clr r26 |
| 355 01d2 BB27 clr r27 |
| 356 01d4 8093 0000 sts JetiExData+128,r24 |
| 357 01d8 9093 0000 sts (JetiExData+128)+1,r25 |
| 358 01dc A093 0000 sts (JetiExData+128)+2,r26 |
| 359 01e0 B093 0000 sts (JetiExData+128)+3,r27 |
| 360 01e4 8091 0000 lds r24,GPSInfo+3 |
| 361 01e8 9927 clr r25 |
| 362 01ea AA27 clr r26 |
| 363 01ec BB27 clr r27 |
| 364 01ee 8093 0000 sts JetiExData+147,r24 |
| 365 01f2 9093 0000 sts (JetiExData+147)+1,r25 |
| 366 01f6 A093 0000 sts (JetiExData+147)+2,r26 |
| 367 01fa B093 0000 sts (JetiExData+147)+3,r27 |
| 368 01fe 8091 0000 lds r24,GPSInfo+4 |
| 369 0202 9091 0000 lds r25,(GPSInfo+4)+1 |
| 370 0206 B801 movw r22,r16 |
| 371 0208 0E94 0000 call __udivmodhi4 |
| 372 020c CB01 movw r24,r22 |
| 373 020e AA27 clr r26 |
| 374 0210 BB27 clr r27 |
| 375 0212 8093 0000 sts JetiExData+166,r24 |
| 376 0216 9093 0000 sts (JetiExData+166)+1,r25 |
| 377 021a A093 0000 sts (JetiExData+166)+2,r26 |
| 378 021e B093 0000 sts (JetiExData+166)+3,r27 |
| 379 0222 8091 0000 lds r24,GPSInfo+6 |
| 380 0226 9091 0000 lds r25,(GPSInfo+6)+1 |
| 381 022a AA27 clr r26 |
| 382 022c 97FD sbrc r25,7 |
| 383 022e A095 com r26 |
| 384 0230 BA2F mov r27,r26 |
| 385 0232 8093 0000 sts JetiExData+185,r24 |
| 386 0236 9093 0000 sts (JetiExData+185)+1,r25 |
| 387 023a A093 0000 sts (JetiExData+185)+2,r26 |
| 388 023e B093 0000 sts (JetiExData+185)+3,r27 |
| 389 0242 8091 0000 lds r24,MaxBlTempertaure |
| 390 0246 9927 clr r25 |
| 391 0248 AA27 clr r26 |
| 392 024a BB27 clr r27 |
| 393 024c 8093 0000 sts JetiExData+204,r24 |
| 394 0250 9093 0000 sts (JetiExData+204)+1,r25 |
| 395 0254 A093 0000 sts (JetiExData+204)+2,r26 |
| 396 0258 B093 0000 sts (JetiExData+204)+3,r27 |
| 397 025c 8091 0000 lds r24,EarthMagneticField |
| 398 0260 9927 clr r25 |
| 399 0262 AA27 clr r26 |
| 400 0264 BB27 clr r27 |
| 401 0266 8093 0000 sts JetiExData+223,r24 |
| 402 026a 9093 0000 sts (JetiExData+223)+1,r25 |
| 403 026e A093 0000 sts (JetiExData+223)+2,r26 |
| 404 0272 B093 0000 sts (JetiExData+223)+3,r27 |
| 405 0276 8091 0000 lds r24,NC_ErrorCode |
| 406 027a 9927 clr r25 |
| 407 027c AA27 clr r26 |
| 408 027e BB27 clr r27 |
| 409 0280 8093 0000 sts JetiExData+261,r24 |
| 410 0284 9093 0000 sts (JetiExData+261)+1,r25 |
| 411 0288 A093 0000 sts (JetiExData+261)+2,r26 |
| 412 028c B093 0000 sts (JetiExData+261)+3,r27 |
| 413 /* epilogue: frame size=0 */ |
| 414 0290 1F91 pop r17 |
| 415 0292 0F91 pop r16 |
| 416 0294 0895 ret |
| 417 /* epilogue end (size=3) */ |
| 418 /* function JetiEX_Update size 196 (191) */ |
| 420 /* File "jeti_ex.c": code 334 = 0x014e ( 328), prologues 2, epilogues 4 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 jeti_ex.c |
| C:\Temp/ccANnLno.s:3 *ABS*:0000003f __SREG__ |
| C:\Temp/ccANnLno.s:4 *ABS*:0000003e __SP_H__ |
| C:\Temp/ccANnLno.s:5 *ABS*:0000003d __SP_L__ |
| C:\Temp/ccANnLno.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\Temp/ccANnLno.s:7 *ABS*:00000001 __zero_reg__ |
| C:\Temp/ccANnLno.s:14 .data:00000000 JetiExData |
| C:\Temp/ccANnLno.s:99 .progmem.data:00000000 JETI_CODE |
| .bss:00000000 JetiVarioMeter.0 |
| C:\Temp/ccANnLno.s:157 .text:00000000 BuildJeti_Vario |
| C:\Temp/ccANnLno.s:290 .text:0000010e JetiEX_Update |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| VarioMeter |
| VarioCharacter |
| EE_Parameter |
| AltitudeSetpointTrimming |
| FC_StatusFlags |
| FromNC_AltitudeSpeed |
| GetHottestBl |
| UBat |
| Capacity |
| __udivmodhi4 |
| HoehenWert |
| __divmodsi4 |
| KompassValue |
| GPSInfo |
| MaxBlTempertaure |
| EarthMagneticField |
| NC_ErrorCode |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/jetimenu.c |
|---|
| 0,0 → 1,259 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software Nutzungsbedingungen (english version: see below) |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
| // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
| // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
| // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
| // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
| // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
| // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
| // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
| // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
| // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
| // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
| // + des Mitverschuldens offen. |
| // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
| // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
| // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
| // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
| // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
| // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
| // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software LICENSING TERMS |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
| // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
| // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
| // + The Software may only be used with the Licensor's products. |
| // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
| // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
| // + agreement shall be the property of the Licensor. |
| // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
| // + features that can be used to identify the program may not be altered or defaced by the customer. |
| // + The customer shall be responsible for taking reasonable precautions |
| // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
| // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
| // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
| // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
| // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
| // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
| // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
| // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
| // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
| // + #### END OF LICENSING TERMS #### |
| // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "jetimenu.h" |
| #include "libfc.h" |
| #include "printf_P.h" |
| #include "main.h" |
| #include "spi.h" |
| #include "capacity.h" |
| #include "hottmenu.h" |
| #define JETIBOX_KEY_RIGHT 0x1F |
| #define JETIBOX_KEY_UP 0x2F |
| #define JETIBOX_KEY_DOWN 0x4F |
| #define JETIBOX_KEY_LEFT 0x8F |
| #define JETIBOX_KEY_NONE 0x0F |
| #define JETIBOX_KEY_UNDEF 0x00 |
| #define JetiBox_printfxy(x,y,format, args...) { LIBFC_JetiBox_SetPos(y * 16 + x); _printf_P(&LIBFC_JetiBox_Putchar, PSTR(format) , ## args);} |
| #define JetiBox_printf(format, args...) { _printf_P(&LIBFC_JetiBox_Putchar, PSTR(format) , ## args);} |
| // ----------------------------------------------------------- |
| // the menu functions |
| // ----------------------------------------------------------- |
| void Menu_Status(uint8_t key) |
| { //0123456789ABCDEF |
| #if !defined (RECEIVER_SPEKTRUM_DX7EXP) && !defined (RECEIVER_SPEKTRUM_DX8EXP) |
| JetiBox_printfxy(0,0,"%2i.%1iV",UBat/10, UBat%10); |
| if(NaviDataOkay) |
| { |
| JetiBox_printfxy(6,0,"%3d%c %03dm%c",ErsatzKompassInGrad, 0xDF, GPSInfo.HomeDistance/10,NC_GPS_ModeCharacter); |
| } |
| else |
| { |
| JetiBox_printfxy(6,0,"Status"); |
| } |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| if(NC_ErrorCode) |
| { |
| static unsigned int timer; |
| static char toggle = 1; |
| if(CheckDelay(timer)) { if(toggle) toggle = 0; else toggle = 1; timer = SetDelay(1500);}; |
| if(toggle) |
| { |
| LIBFC_JetiBox_SetPos(0); |
| _printf_P(&LIBFC_JetiBox_Putchar, NC_ERROR_TEXT[NC_ErrorCode] , 0); |
| } |
| else |
| { |
| JetiBox_printfxy(6,0,"ERROR: %2d ",NC_ErrorCode); |
| if(MotorenEin) JetiBeep = 'O'; |
| } |
| } |
| #else |
| if(NC_ErrorCode) { JetiBox_printfxy(6,0,"ERROR: %2d ",NC_ErrorCode); if(MotorenEin) JetiBeep = 'O';}; |
| #endif |
| JetiBox_printfxy(0,1,"%4i %2i:%02i",Capacity.UsedCapacity,FlugSekunden/60,FlugSekunden%60); |
| if(Parameter_GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| JetiBox_printfxy(10,1,"%4im%c", (int16_t)(HoehenWert/100),VarioCharacter); |
| } |
| #endif |
| } |
| void Menu_Temperature(uint8_t key) |
| { //0123456789ABCDEF |
| #if !defined (RECEIVER_SPEKTRUM_DX7EXP) && !defined (RECEIVER_SPEKTRUM_DX8EXP) |
| JetiBox_printfxy(0,0,"%3i %3i %3i %3i", Motor[0].Temperature, Motor[1].Temperature, Motor[2].Temperature, Motor[3].Temperature); |
| JetiBox_printfxy(0,1,"%3i %3i %3i %3i", Motor[4].Temperature, Motor[5].Temperature, Motor[6].Temperature, Motor[7].Temperature); |
| if(RequiredMotors <= 4) |
| { |
| JetiBox_printfxy(0,1,"Temperatures "); |
| } |
| else |
| if(RequiredMotors <= 6) |
| { |
| JetiBox_printfxy(8,1,"\%cC ",0xdf); |
| } |
| #endif |
| } |
| void Menu_Battery(uint8_t key) |
| { //0123456789ABCDEF |
| #if !defined (RECEIVER_SPEKTRUM_DX7EXP) && !defined (RECEIVER_SPEKTRUM_DX8EXP) |
| JetiBox_printfxy(0,0,"%2i.%1iV %3i.%1iA", UBat/10, UBat%10, Capacity.ActualCurrent/10, Capacity.ActualCurrent%10); |
| JetiBox_printfxy(0,1,"%4iW %6imAh",Capacity.ActualPower, Capacity.UsedCapacity); |
| #endif |
| } |
| void Magnet_Values(uint8_t key) |
| { //0123456789ABCDEF |
| #if !defined (RECEIVER_SPEKTRUM_DX7EXP) && !defined (RECEIVER_SPEKTRUM_DX8EXP) |
| JetiBox_printfxy(0,0,"Magnet:%3i%% %3i%c",EarthMagneticField, KompassValue,0xDF); |
| JetiBox_printfxy(0,1,"Incli.:%3i%c (%i) ",EarthMagneticInclination, 0xDF,EarthMagneticInclinationTheoretic); |
| #endif |
| } |
| void Menu_PosInfo(uint8_t key) |
| { |
| #if !defined (RECEIVER_SPEKTRUM_DX7EXP) && !defined (RECEIVER_SPEKTRUM_DX8EXP) |
| if(NaviDataOkay) |
| { |
| JetiBox_printfxy(0,0,"%2um/s Sat:%d ",GPSInfo.Speed,GPSInfo.NumOfSats); |
| switch (GPSInfo.SatFix) |
| { |
| case SATFIX_3D: |
| JetiBox_printfxy(12,0," 3D"); |
| break; |
| // case SATFIX_2D: |
| // case SATFIX_NONE: |
| default: |
| JetiBox_printfxy(12,0,"NoFx"); |
| break; |
| } |
| if(GPSInfo.Flags & FLAG_DIFFSOLN) |
| { |
| JetiBox_printfxy(12,0,"DGPS"); |
| } |
| JetiBox_printfxy(0,1,"Home:%3dm %3d%c %c", GPSInfo.HomeDistance/10, GPSInfo.HomeBearing, 0xDF,NC_GPS_ModeCharacter); |
| } |
| else |
| { //0123456789ABCDEF |
| JetiBox_printfxy(2,0,"No NaviCtrl!"); |
| } |
| #endif |
| } |
| // ----------------------------------------------------------- |
| // the menu topology |
| // ----------------------------------------------------------- |
| typedef void (*pFctMenu) (uint8_t); // the menu item handler function pointer |
| typedef struct{ |
| int8_t left; |
| int8_t right; |
| int8_t up; |
| int8_t down; |
| pFctMenu pHandler; |
| } MENU_ENTRY; |
| // the menu navigation structure |
| /* | |
| 3 - 0 - 1 - 2 - 3 - 0 |
| */ |
| const MENU_ENTRY JetiBox_Menu[] PROGMEM= |
| { // l r u d pHandler |
| #if !defined (RECEIVER_SPEKTRUM_DX7EXP) && !defined (RECEIVER_SPEKTRUM_DX8EXP) |
| {4, 1, 0, 0, &Menu_Status }, // 0 |
| {0, 2, 1, 1, &Menu_Temperature }, // 1 |
| {1, 3, 2, 2, &Menu_Battery }, // 2 |
| {2, 4, 3, 3, &Menu_PosInfo }, // 3 |
| {3, 0, 4, 4, &Magnet_Values } // 4 |
| #endif |
| }; |
| // ----------------------------------------------------------- |
| // Update display buffer |
| // ----------------------------------------------------------- |
| unsigned char JetiBox_Update(unsigned char key) |
| { |
| #if !defined (RECEIVER_SPEKTRUM_DX7EXP) && !defined (RECEIVER_SPEKTRUM_DX8EXP) |
| static uint8_t item = 0, last_item = 0; // the menu item |
| static uint8_t updateDelay = 1; |
| // navigate within the menu by key action |
| last_item = item; |
| switch(key) |
| { |
| case JETIBOX_KEY_LEFT: |
| //if (item == 0) return (1); // switch back to jeti expander menu |
| // else |
| item = pgm_read_byte(&JetiBox_Menu[item].left); //trigger to left menu item |
| break; |
| case JETIBOX_KEY_RIGHT: |
| item = pgm_read_byte(&JetiBox_Menu[item].right); //trigger to right menu item |
| break; |
| case JETIBOX_KEY_UP: |
| item = pgm_read_byte(&JetiBox_Menu[item].up); //trigger to up menu item |
| break; |
| case JETIBOX_KEY_DOWN: |
| item = pgm_read_byte(&JetiBox_Menu[item].down); //trigger to down menu item |
| break; |
| default: |
| break; |
| } |
| // if the menu item has been changed, do not pass the key to the item handler |
| // to avoid jumping over to items |
| if(item != last_item) key = JETIBOX_KEY_UNDEF; |
| if (updateDelay++ & 0x01) |
| { |
| LIBFC_JetiBox_Clear(); |
| //execute menu item handler |
| ((pFctMenu)(pgm_read_word(&(JetiBox_Menu[item].pHandler))))(key); |
| } |
| #endif |
| return (0); |
| } |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/jetimenu.h |
|---|
| 0,0 → 1,6 |
| #ifndef _JETIMENU_H |
| #define _JETIMENU_H |
| extern unsigned char JetiBox_Update(unsigned char key); |
| #endif //_JETIMENU_H |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/jetimenu.lst |
|---|
| 0,0 → 1,82 |
| 1 .file "jetimenu.c" |
| 2 .arch atmega1284p |
| 3 __SREG__ = 0x3f |
| 4 __SP_H__ = 0x3e |
| 5 __SP_L__ = 0x3d |
| 6 __tmp_reg__ = 0 |
| 7 __zero_reg__ = 1 |
| 8 .global __do_copy_data |
| 9 .global __do_clear_bss |
| 10 .global JetiBox_Menu |
| 11 .section .progmem.data,"a",@progbits |
| 14 JetiBox_Menu: |
| 15 .text |
| 16 .global Menu_Status |
| 18 Menu_Status: |
| 19 /* prologue: frame size=0 */ |
| 20 /* prologue end (size=0) */ |
| 21 /* epilogue: frame size=0 */ |
| 22 0000 0895 ret |
| 23 /* epilogue end (size=1) */ |
| 24 /* function Menu_Status size 1 (0) */ |
| 26 .global Menu_Temperature |
| 28 Menu_Temperature: |
| 29 /* prologue: frame size=0 */ |
| 30 /* prologue end (size=0) */ |
| 31 /* epilogue: frame size=0 */ |
| 32 0002 0895 ret |
| 33 /* epilogue end (size=1) */ |
| 34 /* function Menu_Temperature size 1 (0) */ |
| 36 .global Menu_Battery |
| 38 Menu_Battery: |
| 39 /* prologue: frame size=0 */ |
| 40 /* prologue end (size=0) */ |
| 41 /* epilogue: frame size=0 */ |
| 42 0004 0895 ret |
| 43 /* epilogue end (size=1) */ |
| 44 /* function Menu_Battery size 1 (0) */ |
| 46 .global Magnet_Values |
| 48 Magnet_Values: |
| 49 /* prologue: frame size=0 */ |
| 50 /* prologue end (size=0) */ |
| 51 /* epilogue: frame size=0 */ |
| 52 0006 0895 ret |
| 53 /* epilogue end (size=1) */ |
| 54 /* function Magnet_Values size 1 (0) */ |
| 56 .global Menu_PosInfo |
| 58 Menu_PosInfo: |
| 59 /* prologue: frame size=0 */ |
| 60 /* prologue end (size=0) */ |
| 61 /* epilogue: frame size=0 */ |
| 62 0008 0895 ret |
| 63 /* epilogue end (size=1) */ |
| 64 /* function Menu_PosInfo size 1 (0) */ |
| 66 .global JetiBox_Update |
| 68 JetiBox_Update: |
| 69 /* prologue: frame size=0 */ |
| 70 /* prologue end (size=0) */ |
| 71 000a 80E0 ldi r24,lo8(0) |
| 72 000c 90E0 ldi r25,hi8(0) |
| 73 /* epilogue: frame size=0 */ |
| 74 000e 0895 ret |
| 75 /* epilogue end (size=1) */ |
| 76 /* function JetiBox_Update size 3 (2) */ |
| 78 /* File "jetimenu.c": code 8 = 0x0008 ( 2), prologues 0, epilogues 6 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 jetimenu.c |
| C:\Temp/ccvRbAMN.s:3 *ABS*:0000003f __SREG__ |
| C:\Temp/ccvRbAMN.s:4 *ABS*:0000003e __SP_H__ |
| C:\Temp/ccvRbAMN.s:5 *ABS*:0000003d __SP_L__ |
| C:\Temp/ccvRbAMN.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\Temp/ccvRbAMN.s:7 *ABS*:00000001 __zero_reg__ |
| C:\Temp/ccvRbAMN.s:14 .progmem.data:00000000 JetiBox_Menu |
| C:\Temp/ccvRbAMN.s:18 .text:00000000 Menu_Status |
| C:\Temp/ccvRbAMN.s:28 .text:00000002 Menu_Temperature |
| C:\Temp/ccvRbAMN.s:38 .text:00000004 Menu_Battery |
| C:\Temp/ccvRbAMN.s:48 .text:00000006 Magnet_Values |
| C:\Temp/ccvRbAMN.s:58 .text:00000008 Menu_PosInfo |
| C:\Temp/ccvRbAMN.s:68 .text:0000000a JetiBox_Update |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/led.c |
|---|
| 0,0 → 1,127 |
| #include <inttypes.h> |
| #include "main.h" |
| uint16_t LED1_Timing = 0; |
| uint16_t LED2_Timing = 0; |
| unsigned char J16Blinkcount = 0, J16Mask = 1; |
| unsigned char J17Blinkcount = 0, J17Mask = 1; |
| // initializes the LED control outputs J16, J17 |
| void LED_Init(void) |
| { |
| // set PC2 & PC3 as output (control of J16 & J17) |
| DDRC |= (1<<DDC2)|(1<<DDC3); |
| J16_OFF; |
| J17_OFF; |
| J16Blinkcount = 0; J16Mask = 128; |
| J17Blinkcount = 0; J17Mask = 128; |
| } |
| // called in UpdateMotors() every 2ms |
| void LED_Update(void) |
| { |
| static char delay = 0; |
| static unsigned char J16Bitmask = 0; |
| static unsigned char J17Bitmask = 0; |
| static unsigned char J16Warn = 0, J17Warn = 0; |
| static unsigned char from_nc = 0; |
| if(!delay--) // 20ms Intervall |
| { |
| delay = 9; |
| if(FromNC_WP_EventChannel != -127) from_nc = (unsigned char) FromNC_WP_EventChannel + 127; |
| if(FC_StatusFlags & (FC_STATUS_LOWBAT | FC_STATUS_EMERGENCY_LANDING) || (VersionInfo.HardwareError[1] & FC_ERROR1_I2C)) |
| { |
| if(EE_Parameter.WARN_J16_Bitmask) |
| { |
| if(!J16Warn) J16Blinkcount = 4; |
| J16Warn = 1; |
| } |
| if(EE_Parameter.WARN_J17_Bitmask) |
| { |
| if(!J17Warn) J17Blinkcount = 4; |
| J17Warn = 1; |
| } |
| } |
| else |
| { |
| J16Warn = 0; |
| J17Warn = 0; |
| J16Bitmask = EE_Parameter.J16Bitmask; |
| J17Bitmask = EE_Parameter.J17Bitmask; |
| } |
| //DebugOut.Analog[29] = EE_Parameter.GlobalConfig3; |
| // Output 1 |
| if(!J16Warn) |
| { |
| if((EE_Parameter.BitConfig & CFG_MOTOR_BLINK1) && !MotorenEin) {if(EE_Parameter.BitConfig & CFG_MOTOR_OFF_LED1) J16_ON; else J16_OFF;} |
| else |
| if((EE_Parameter.J16Timing > 247) && (Parameter_J16Timing > 220)) {if(J16Bitmask & 128) J16_ON; else J16_OFF; J16Mask = 1;} |
| else |
| if((EE_Parameter.J16Timing > 247) && (Parameter_J16Timing == 5)) {if(J16Bitmask & 128) J16_OFF; else J16_ON; J16Mask = 1;} |
| else |
| if(!J16Blinkcount--) |
| { |
| if(EE_Parameter.GlobalConfig3 & CFG3_USE_NC_FOR_OUT1) |
| { |
| J16Blinkcount = from_nc / 2; |
| if(!from_nc) { if(J16Bitmask & 128) J16_OFF; else J16_ON; J16Mask = 0; } // Ausschalten |
| else |
| { |
| if(J16Mask == 0) |
| { |
| from_nc = 0; |
| J16Mask = 128; |
| if(J16Bitmask & 128) J16_OFF; else J16_ON; // Ausschalten |
| } |
| else |
| { |
| if(J16Mask & J16Bitmask) J16_ON; else J16_OFF; |
| J16Mask /= 2; |
| } |
| } |
| } |
| else |
| { |
| J16Blinkcount = Parameter_J16Timing / 2; |
| if(J16Mask == 1) { from_nc = 0; J16Mask = 128; } else J16Mask /= 2; |
| if(J16Mask & J16Bitmask) J16_ON; else J16_OFF; |
| } |
| } |
| } |
| else // warning case |
| if(!J16Blinkcount--) |
| { |
| J16Blinkcount = 10-1; |
| if(J16Mask == 1) J16Mask = 128; else J16Mask /= 2; |
| if(J16Mask & EE_Parameter.WARN_J16_Bitmask) J16_ON; else J16_OFF; |
| } |
| // Output 2 |
| if(!J17Warn) |
| { |
| if((EE_Parameter.BitConfig & CFG_MOTOR_BLINK2) && !MotorenEin) {if(EE_Parameter.BitConfig & CFG_MOTOR_OFF_LED2) J17_ON; else J17_OFF;} |
| else |
| if((EE_Parameter.J17Timing > 247) && (Parameter_J17Timing > 220)) {if(J17Bitmask & 128) J17_ON; else J17_OFF; J17Mask = 1;} |
| else |
| if((EE_Parameter.J17Timing > 247) && (Parameter_J17Timing == 5)) {if(J17Bitmask & 128) J17_OFF; else J17_ON; J17Mask = 1;} |
| else |
| if(!J17Blinkcount--) |
| { |
| J17Blinkcount = Parameter_J17Timing / 2; |
| if(J17Mask == 1) J17Mask = 128; else J17Mask /= 2; |
| if(J17Mask & J17Bitmask) J17_ON; else J17_OFF; |
| } |
| } |
| else // warning case |
| if(!J17Blinkcount--) |
| { |
| J17Blinkcount = 10-1; |
| if(J17Mask == 1) J17Mask = 128; else J17Mask /= 2; |
| if(J17Mask & EE_Parameter.WARN_J17_Bitmask) J17_ON; else J17_OFF; |
| } |
| if(PORTC & (1<<PORTC2)) FC_StatusFlags2 |= FC_STATUS2_OUT1_ACTIVE; else FC_StatusFlags2 &= ~FC_STATUS2_OUT1_ACTIVE; // Out1 (J16) |
| if(PORTC & (1<<PORTC3)) FC_StatusFlags2 |= FC_STATUS2_OUT2_ACTIVE; else FC_StatusFlags2 &= ~FC_STATUS2_OUT2_ACTIVE; // Out2 (J17) |
| } |
| } |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/led.h |
|---|
| 0,0 → 1,11 |
| #include <avr/io.h> |
| #define J16_ON PORTC |= (1<<PORTC2) |
| #define J16_OFF PORTC &= ~(1<<PORTC2) |
| #define J16_TOGGLE PORTC ^= (1<<PORTC2) |
| #define J17_ON PORTC |= (1<<PORTC3) |
| #define J17_OFF PORTC &= ~(1<<PORTC3) |
| #define J17_TOGGLE PORTC ^= (1<<PORTC3) |
| extern void LED_Init(void); |
| extern void LED_Update(void); |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/led.lst |
|---|
| 0,0 → 1,412 |
| 1 .file "led.c" |
| 2 .arch atmega1284p |
| 3 __SREG__ = 0x3f |
| 4 __SP_H__ = 0x3e |
| 5 __SP_L__ = 0x3d |
| 6 __tmp_reg__ = 0 |
| 7 __zero_reg__ = 1 |
| 8 .global __do_copy_data |
| 9 .global __do_clear_bss |
| 10 .global J17Mask |
| 11 .data |
| 14 J17Mask: |
| 15 0000 01 .byte 1 |
| 16 .global J17Blinkcount |
| 17 .global J17Blinkcount |
| 18 .section .bss |
| 21 J17Blinkcount: |
| 22 0000 00 .skip 1,0 |
| 23 .global J16Mask |
| 24 .data |
| 27 J16Mask: |
| 28 0001 01 .byte 1 |
| 29 .global J16Blinkcount |
| 30 .global J16Blinkcount |
| 31 .section .bss |
| 34 J16Blinkcount: |
| 35 0001 00 .skip 1,0 |
| 36 .global LED2_Timing |
| 37 .global LED2_Timing |
| 40 LED2_Timing: |
| 41 0002 0000 .skip 2,0 |
| 42 .global LED1_Timing |
| 43 .global LED1_Timing |
| 46 LED1_Timing: |
| 47 0004 0000 .skip 2,0 |
| 48 .text |
| 49 .global LED_Init |
| 51 LED_Init: |
| 52 /* prologue: frame size=0 */ |
| 53 /* prologue end (size=0) */ |
| 54 0000 87B1 in r24,39-0x20 |
| 55 0002 8C60 ori r24,lo8(12) |
| 56 0004 87B9 out 39-0x20,r24 |
| 57 0006 4298 cbi 40-0x20,2 |
| 58 0008 4398 cbi 40-0x20,3 |
| 59 000a 1092 0000 sts J16Blinkcount,__zero_reg__ |
| 60 000e 80E8 ldi r24,lo8(-128) |
| 61 0010 8093 0000 sts J16Mask,r24 |
| 62 0014 1092 0000 sts J17Blinkcount,__zero_reg__ |
| 63 0018 8093 0000 sts J17Mask,r24 |
| 64 /* epilogue: frame size=0 */ |
| 65 001c 0895 ret |
| 66 /* epilogue end (size=1) */ |
| 67 /* function LED_Init size 15 (14) */ |
| 69 .lcomm delay.0,1 |
| 70 .lcomm J16Bitmask.1,1 |
| 71 .lcomm J17Bitmask.2,1 |
| 72 .lcomm J16Warn.3,1 |
| 73 .lcomm J17Warn.4,1 |
| 74 .lcomm from_nc.5,1 |
| 75 .global LED_Update |
| 77 LED_Update: |
| 78 /* prologue: frame size=0 */ |
| 79 /* prologue end (size=0) */ |
| 80 001e 8091 0000 lds r24,delay.0 |
| 81 0022 8150 subi r24,lo8(-(-1)) |
| 82 0024 8093 0000 sts delay.0,r24 |
| 83 0028 8F3F cpi r24,lo8(-1) |
| 84 002a 01F0 breq .+2 |
| 85 002c 00C0 rjmp .L2 |
| 86 002e 89E0 ldi r24,lo8(9) |
| 87 0030 8093 0000 sts delay.0,r24 |
| 88 0034 8091 0000 lds r24,PPM_in+50 |
| 89 0038 9091 0000 lds r25,(PPM_in+50)+1 |
| 90 003c 8158 subi r24,lo8(-127) |
| 91 003e 9F4F sbci r25,hi8(-127) |
| 92 0040 01F0 breq .L4 |
| 93 0042 8091 0000 lds r24,PPM_in+50 |
| 94 0046 9091 0000 lds r25,(PPM_in+50)+1 |
| 95 004a 8158 subi r24,lo8(-(127)) |
| 96 004c 8093 0000 sts from_nc.5,r24 |
| 97 .L4: |
| 98 0050 8091 0000 lds r24,FC_StatusFlags |
| 99 0054 9927 clr r25 |
| 100 0056 8073 andi r24,lo8(48) |
| 101 0058 9070 andi r25,hi8(48) |
| 102 005a 892B or r24,r25 |
| 103 005c 01F4 brne .L6 |
| 104 005e 8091 0000 lds r24,VersionInfo+6 |
| 105 0062 80FF sbrs r24,0 |
| 106 0064 00C0 rjmp .L5 |
| 107 .L6: |
| 108 0066 8091 0000 lds r24,EE_Parameter+78 |
| 109 006a 8823 tst r24 |
| 110 006c 01F0 breq .L7 |
| 111 006e 8091 0000 lds r24,J16Warn.3 |
| 112 0072 8823 tst r24 |
| 113 0074 01F4 brne .L8 |
| 114 0076 84E0 ldi r24,lo8(4) |
| 115 0078 8093 0000 sts J16Blinkcount,r24 |
| 116 .L8: |
| 117 007c 81E0 ldi r24,lo8(1) |
| 118 007e 8093 0000 sts J16Warn.3,r24 |
| 119 .L7: |
| 120 0082 8091 0000 lds r24,EE_Parameter+79 |
| 121 0086 8823 tst r24 |
| 122 0088 01F0 breq .L11 |
| 123 008a 8091 0000 lds r24,J17Warn.4 |
| 124 008e 8823 tst r24 |
| 125 0090 01F4 brne .L10 |
| 126 0092 84E0 ldi r24,lo8(4) |
| 127 0094 8093 0000 sts J17Blinkcount,r24 |
| 128 .L10: |
| 129 0098 81E0 ldi r24,lo8(1) |
| 130 009a 8093 0000 sts J17Warn.4,r24 |
| 131 009e 00C0 rjmp .L11 |
| 132 .L5: |
| 133 00a0 1092 0000 sts J16Warn.3,__zero_reg__ |
| 134 00a4 1092 0000 sts J17Warn.4,__zero_reg__ |
| 135 00a8 8091 0000 lds r24,EE_Parameter+74 |
| 136 00ac 8093 0000 sts J16Bitmask.1,r24 |
| 137 00b0 8091 0000 lds r24,EE_Parameter+76 |
| 138 00b4 8093 0000 sts J17Bitmask.2,r24 |
| 139 .L11: |
| 140 00b8 8091 0000 lds r24,J16Warn.3 |
| 141 00bc 8823 tst r24 |
| 142 00be 01F0 breq .+2 |
| 143 00c0 00C0 rjmp .L12 |
| 144 00c2 8091 0000 lds r24,EE_Parameter+108 |
| 145 00c6 282F mov r18,r24 |
| 146 00c8 3327 clr r19 |
| 147 00ca 24FF sbrs r18,4 |
| 148 00cc 00C0 rjmp .L13 |
| 149 00ce 8091 0000 lds r24,MotorenEin |
| 150 00d2 8823 tst r24 |
| 151 00d4 01F4 brne .L13 |
| 152 00d6 25FD sbrc r18,5 |
| 153 00d8 00C0 rjmp .L78 |
| 154 00da 00C0 rjmp .L46 |
| 155 .L13: |
| 156 00dc 9091 0000 lds r25,EE_Parameter+75 |
| 157 00e0 983F cpi r25,lo8(-8) |
| 158 00e2 00F0 brlo .L17 |
| 159 00e4 8091 0000 lds r24,Parameter_J16Timing |
| 160 00e8 8D3D cpi r24,lo8(-35) |
| 161 00ea 00F0 brlo .L17 |
| 162 00ec 8091 0000 lds r24,J16Bitmask.1 |
| 163 00f0 8823 tst r24 |
| 164 00f2 04F0 brlt .L22 |
| 165 00f4 00C0 rjmp .L87 |
| 166 .L17: |
| 167 00f6 983F cpi r25,lo8(-8) |
| 168 00f8 00F0 brlo .L21 |
| 169 00fa 8091 0000 lds r24,Parameter_J16Timing |
| 170 00fe 8530 cpi r24,lo8(5) |
| 171 0100 01F4 brne .L21 |
| 172 0102 8091 0000 lds r24,J16Bitmask.1 |
| 173 0106 87FF sbrs r24,7 |
| 174 0108 00C0 rjmp .L22 |
| 175 .L87: |
| 176 010a 4298 cbi 40-0x20,2 |
| 177 010c 00C0 rjmp .L23 |
| 178 .L22: |
| 179 010e 429A sbi 40-0x20,2 |
| 180 .L23: |
| 181 0110 81E0 ldi r24,lo8(1) |
| 182 0112 00C0 rjmp .L79 |
| 183 .L21: |
| 184 0114 8091 0000 lds r24,J16Blinkcount |
| 185 0118 8150 subi r24,lo8(-(-1)) |
| 186 011a 8093 0000 sts J16Blinkcount,r24 |
| 187 011e 8F3F cpi r24,lo8(-1) |
| 188 0120 01F0 breq .+2 |
| 189 0122 00C0 rjmp .L42 |
| 190 0124 8091 0000 lds r24,EE_Parameter+111 |
| 191 0128 85FF sbrs r24,5 |
| 192 012a 00C0 rjmp .L26 |
| 193 012c 9091 0000 lds r25,from_nc.5 |
| 194 0130 892F mov r24,r25 |
| 195 0132 8695 lsr r24 |
| 196 0134 8093 0000 sts J16Blinkcount,r24 |
| 197 0138 9923 tst r25 |
| 198 013a 01F4 brne .L27 |
| 199 013c 8091 0000 lds r24,J16Bitmask.1 |
| 200 0140 87FF sbrs r24,7 |
| 201 0142 00C0 rjmp .L28 |
| 202 0144 4298 cbi 40-0x20,2 |
| 203 0146 00C0 rjmp .L29 |
| 204 .L28: |
| 205 0148 429A sbi 40-0x20,2 |
| 206 .L29: |
| 207 014a 1092 0000 sts J16Mask,__zero_reg__ |
| 208 014e 00C0 rjmp .L42 |
| 209 .L27: |
| 210 0150 8091 0000 lds r24,J16Mask |
| 211 0154 9091 0000 lds r25,J16Bitmask.1 |
| 212 0158 8823 tst r24 |
| 213 015a 01F4 brne .L31 |
| 214 015c 8093 0000 sts from_nc.5,r24 |
| 215 0160 80E8 ldi r24,lo8(-128) |
| 216 0162 8093 0000 sts J16Mask,r24 |
| 217 0166 9923 tst r25 |
| 218 0168 04F0 brlt .L46 |
| 219 016a 00C0 rjmp .L78 |
| 220 .L31: |
| 221 016c 9823 and r25,r24 |
| 222 016e 01F0 breq .L35 |
| 223 0170 429A sbi 40-0x20,2 |
| 224 0172 00C0 rjmp .L36 |
| 225 .L35: |
| 226 0174 4298 cbi 40-0x20,2 |
| 227 .L36: |
| 228 0176 8695 lsr r24 |
| 229 .L79: |
| 230 0178 8093 0000 sts J16Mask,r24 |
| 231 017c 00C0 rjmp .L42 |
| 232 .L26: |
| 233 017e 8091 0000 lds r24,Parameter_J16Timing |
| 234 0182 8695 lsr r24 |
| 235 0184 8093 0000 sts J16Blinkcount,r24 |
| 236 0188 8091 0000 lds r24,J16Mask |
| 237 018c 8130 cpi r24,lo8(1) |
| 238 018e 01F4 brne .L38 |
| 239 0190 1092 0000 sts from_nc.5,__zero_reg__ |
| 240 0194 80E8 ldi r24,lo8(-128) |
| 241 0196 00C0 rjmp .L76 |
| 242 .L38: |
| 243 0198 8695 lsr r24 |
| 244 .L76: |
| 245 019a 8093 0000 sts J16Mask,r24 |
| 246 019e 8091 0000 lds r24,J16Mask |
| 247 01a2 9091 0000 lds r25,J16Bitmask.1 |
| 248 01a6 00C0 rjmp .L84 |
| 249 .L12: |
| 250 01a8 8091 0000 lds r24,J16Blinkcount |
| 251 01ac 8150 subi r24,lo8(-(-1)) |
| 252 01ae 8093 0000 sts J16Blinkcount,r24 |
| 253 01b2 8F3F cpi r24,lo8(-1) |
| 254 01b4 01F4 brne .L42 |
| 255 01b6 89E0 ldi r24,lo8(9) |
| 256 01b8 8093 0000 sts J16Blinkcount,r24 |
| 257 01bc 8091 0000 lds r24,J16Mask |
| 258 01c0 8130 cpi r24,lo8(1) |
| 259 01c2 01F4 brne .L44 |
| 260 01c4 80E8 ldi r24,lo8(-128) |
| 261 01c6 00C0 rjmp .L77 |
| 262 .L44: |
| 263 01c8 8695 lsr r24 |
| 264 .L77: |
| 265 01ca 8093 0000 sts J16Mask,r24 |
| 266 01ce 8091 0000 lds r24,J16Mask |
| 267 01d2 9091 0000 lds r25,EE_Parameter+78 |
| 268 .L84: |
| 269 01d6 8923 and r24,r25 |
| 270 01d8 01F0 breq .L46 |
| 271 .L78: |
| 272 01da 429A sbi 40-0x20,2 |
| 273 01dc 00C0 rjmp .L42 |
| 274 .L46: |
| 275 01de 4298 cbi 40-0x20,2 |
| 276 .L42: |
| 277 01e0 8091 0000 lds r24,J17Warn.4 |
| 278 01e4 8823 tst r24 |
| 279 01e6 01F0 breq .+2 |
| 280 01e8 00C0 rjmp .L48 |
| 281 01ea 9091 0000 lds r25,EE_Parameter+108 |
| 282 01ee 97FF sbrs r25,7 |
| 283 01f0 00C0 rjmp .L49 |
| 284 01f2 8091 0000 lds r24,MotorenEin |
| 285 01f6 8823 tst r24 |
| 286 01f8 01F4 brne .L49 |
| 287 01fa 96FD sbrc r25,6 |
| 288 01fc 00C0 rjmp .L82 |
| 289 01fe 00C0 rjmp .L70 |
| 290 .L49: |
| 291 0200 9091 0000 lds r25,EE_Parameter+77 |
| 292 0204 983F cpi r25,lo8(-8) |
| 293 0206 00F0 brlo .L53 |
| 294 0208 8091 0000 lds r24,Parameter_J17Timing |
| 295 020c 8D3D cpi r24,lo8(-35) |
| 296 020e 00F0 brlo .L53 |
| 297 0210 8091 0000 lds r24,J17Bitmask.2 |
| 298 0214 8823 tst r24 |
| 299 0216 04F0 brlt .L58 |
| 300 0218 00C0 rjmp .L85 |
| 301 .L53: |
| 302 021a 983F cpi r25,lo8(-8) |
| 303 021c 00F0 brlo .L57 |
| 304 021e 8091 0000 lds r24,Parameter_J17Timing |
| 305 0222 8530 cpi r24,lo8(5) |
| 306 0224 01F4 brne .L57 |
| 307 0226 8091 0000 lds r24,J17Bitmask.2 |
| 308 022a 87FF sbrs r24,7 |
| 309 022c 00C0 rjmp .L58 |
| 310 .L85: |
| 311 022e 4398 cbi 40-0x20,3 |
| 312 0230 00C0 rjmp .L59 |
| 313 .L58: |
| 314 0232 439A sbi 40-0x20,3 |
| 315 .L59: |
| 316 0234 81E0 ldi r24,lo8(1) |
| 317 0236 8093 0000 sts J17Mask,r24 |
| 318 023a 00C0 rjmp .L66 |
| 319 .L57: |
| 320 023c 8091 0000 lds r24,J17Blinkcount |
| 321 0240 8150 subi r24,lo8(-(-1)) |
| 322 0242 8093 0000 sts J17Blinkcount,r24 |
| 323 0246 8F3F cpi r24,lo8(-1) |
| 324 0248 01F4 brne .L66 |
| 325 024a 8091 0000 lds r24,Parameter_J17Timing |
| 326 024e 8695 lsr r24 |
| 327 0250 8093 0000 sts J17Blinkcount,r24 |
| 328 0254 8091 0000 lds r24,J17Mask |
| 329 0258 8130 cpi r24,lo8(1) |
| 330 025a 01F4 brne .L62 |
| 331 025c 80E8 ldi r24,lo8(-128) |
| 332 025e 00C0 rjmp .L80 |
| 333 .L62: |
| 334 0260 8695 lsr r24 |
| 335 .L80: |
| 336 0262 8093 0000 sts J17Mask,r24 |
| 337 0266 8091 0000 lds r24,J17Mask |
| 338 026a 9091 0000 lds r25,J17Bitmask.2 |
| 339 026e 00C0 rjmp .L86 |
| 340 .L48: |
| 341 0270 8091 0000 lds r24,J17Blinkcount |
| 342 0274 8150 subi r24,lo8(-(-1)) |
| 343 0276 8093 0000 sts J17Blinkcount,r24 |
| 344 027a 8F3F cpi r24,lo8(-1) |
| 345 027c 01F4 brne .L66 |
| 346 027e 89E0 ldi r24,lo8(9) |
| 347 0280 8093 0000 sts J17Blinkcount,r24 |
| 348 0284 8091 0000 lds r24,J17Mask |
| 349 0288 8130 cpi r24,lo8(1) |
| 350 028a 01F4 brne .L68 |
| 351 028c 80E8 ldi r24,lo8(-128) |
| 352 028e 00C0 rjmp .L81 |
| 353 .L68: |
| 354 0290 8695 lsr r24 |
| 355 .L81: |
| 356 0292 8093 0000 sts J17Mask,r24 |
| 357 0296 8091 0000 lds r24,J17Mask |
| 358 029a 9091 0000 lds r25,EE_Parameter+79 |
| 359 .L86: |
| 360 029e 8923 and r24,r25 |
| 361 02a0 01F0 breq .L70 |
| 362 .L82: |
| 363 02a2 439A sbi 40-0x20,3 |
| 364 02a4 00C0 rjmp .L66 |
| 365 .L70: |
| 366 02a6 4398 cbi 40-0x20,3 |
| 367 .L66: |
| 368 02a8 429B sbis 40-0x20,2 |
| 369 02aa 00C0 rjmp .L72 |
| 370 02ac 8091 0000 lds r24,FC_StatusFlags2 |
| 371 02b0 8860 ori r24,lo8(8) |
| 372 02b2 00C0 rjmp .L83 |
| 373 .L72: |
| 374 02b4 8091 0000 lds r24,FC_StatusFlags2 |
| 375 02b8 877F andi r24,lo8(-9) |
| 376 .L83: |
| 377 02ba 8093 0000 sts FC_StatusFlags2,r24 |
| 378 02be 439B sbis 40-0x20,3 |
| 379 02c0 00C0 rjmp .L74 |
| 380 02c2 8091 0000 lds r24,FC_StatusFlags2 |
| 381 02c6 8061 ori r24,lo8(16) |
| 382 02c8 8093 0000 sts FC_StatusFlags2,r24 |
| 383 02cc 0895 ret |
| 384 .L74: |
| 385 02ce 8091 0000 lds r24,FC_StatusFlags2 |
| 386 02d2 8F7E andi r24,lo8(-17) |
| 387 02d4 8093 0000 sts FC_StatusFlags2,r24 |
| 388 .L2: |
| 389 02d8 0895 ret |
| 390 /* epilogue: frame size=0 */ |
| 391 /* epilogue: noreturn */ |
| 392 /* epilogue end (size=0) */ |
| 393 /* function LED_Update size 357 (357) */ |
| 395 /* File "led.c": code 372 = 0x0174 ( 371), prologues 0, epilogues 1 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 led.c |
| C:\Temp/ccffEeZr.s:3 *ABS*:0000003f __SREG__ |
| C:\Temp/ccffEeZr.s:4 *ABS*:0000003e __SP_H__ |
| C:\Temp/ccffEeZr.s:5 *ABS*:0000003d __SP_L__ |
| C:\Temp/ccffEeZr.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\Temp/ccffEeZr.s:7 *ABS*:00000001 __zero_reg__ |
| C:\Temp/ccffEeZr.s:14 .data:00000000 J17Mask |
| C:\Temp/ccffEeZr.s:21 .bss:00000000 J17Blinkcount |
| C:\Temp/ccffEeZr.s:27 .data:00000001 J16Mask |
| C:\Temp/ccffEeZr.s:34 .bss:00000001 J16Blinkcount |
| C:\Temp/ccffEeZr.s:40 .bss:00000002 LED2_Timing |
| C:\Temp/ccffEeZr.s:46 .bss:00000004 LED1_Timing |
| C:\Temp/ccffEeZr.s:51 .text:00000000 LED_Init |
| .bss:00000006 delay.0 |
| C:\Temp/ccffEeZr.s:69 .bss:00000007 J16Bitmask.1 |
| C:\Temp/ccffEeZr.s:70 .bss:00000008 J17Bitmask.2 |
| C:\Temp/ccffEeZr.s:71 .bss:00000009 J16Warn.3 |
| C:\Temp/ccffEeZr.s:72 .bss:0000000a J17Warn.4 |
| C:\Temp/ccffEeZr.s:73 .bss:0000000b from_nc.5 |
| C:\Temp/ccffEeZr.s:77 .text:0000001e LED_Update |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| PPM_in |
| FC_StatusFlags |
| VersionInfo |
| EE_Parameter |
| MotorenEin |
| Parameter_J16Timing |
| Parameter_J17Timing |
| FC_StatusFlags2 |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/libfc.h |
|---|
| 0,0 → 1,21 |
| #ifndef _LIBFC_H |
| #define _LIBFC_H |
| #define CPU_UNKNOWN 0 |
| #define CPU_ATMEGA644 1 |
| #define CPU_ATMEGA644P 2 |
| #define CPU_ATMEGA1284 3 |
| #define CPU_ATMEGA1284P 4 |
| extern void LIBFC_Init(void); |
| extern void LIBFC_Polling(void); |
| extern void LIBFC_ReceiverInit(unsigned char rtype); |
| extern void LIBFC_JetiBox_Putchar(char c); |
| extern void LIBFC_JetiBox_SetPos(unsigned char index); |
| extern void LIBFC_JetiBox_Clear(void); |
| extern void LIBFC_CheckSettings(void); |
| extern unsigned char LIBFC_GetCPUType(void); |
| #endif //_LIBFC_H |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/main.c |
|---|
| 0,0 → 1,435 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software Nutzungsbedingungen (english version: see below) |
| // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
| // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
| // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
| // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
| // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
| // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
| // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
| // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
| // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
| // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
| // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
| // + des Mitverschuldens offen. |
| // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
| // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
| // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
| // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
| // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
| // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
| // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software LICENSING TERMS |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
| // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
| // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
| // + The Software may only be used with the Licensor's products. |
| // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
| // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
| // + agreement shall be the property of the Licensor. |
| // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
| // + features that can be used to identify the program may not be altered or defaced by the customer. |
| // + The customer shall be responsible for taking reasonable precautions |
| // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
| // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
| // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
| // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
| // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
| // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
| // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
| // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
| // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
| // + #### END OF LICENSING TERMS #### |
| // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| unsigned char DisableRcOffBeeping = 0; |
| unsigned char PlatinenVersion = 10; |
| unsigned char BattLowVoltageWarning = 94; |
| unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0; |
| unsigned int FlugSekunden = 0; |
| pVoidFnct_pVoidFnctChar_const_fmt _printf_P; |
| unsigned char FoundMotors = 0; |
| unsigned char JetiBeep = 0; // to allow any Morse-Beeping of the Jeti-Box |
| void PrintLine(void) |
| { |
| printf("\n\r==================================="); |
| } |
| void CalMk3Mag(void) |
| { |
| static unsigned char stick = 1; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0; |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick) |
| { |
| stick = 1; |
| WinkelOut.CalcState++; |
| if(WinkelOut.CalcState > 4) |
| { |
| // WinkelOut.CalcState = 0; // in Uart.c |
| beeptime = 1000; |
| } |
| else Piep(WinkelOut.CalcState,150); |
| } |
| DebugOut.Analog[19] = WinkelOut.CalcState; |
| } |
| void LipoDetection(unsigned char print) |
| { |
| #define MAX_CELL_VOLTAGE 43 // max cell volatage for LiPO |
| unsigned int timer, cells; |
| if(print) printf("\n\rBatt:"); |
| if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung |
| { |
| timer = SetDelay(500); |
| if(print) while (!CheckDelay(timer)); |
| // up to 6s LiPo, less than 2s is technical impossible |
| for(cells = 2; cells < 7; cells++) |
| { |
| if(UBat < cells * MAX_CELL_VOLTAGE) break; |
| } |
| BattLowVoltageWarning = cells * EE_Parameter.UnterspannungsWarnung; |
| if(print) |
| { |
| Piep(cells, 200); |
| printf(" %d Cells ", cells); |
| } |
| } |
| else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung; |
| if(print) printf(" Low warning: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10); |
| } |
| //############################################################################ |
| //Hauptprogramm |
| int main (void) |
| //############################################################################ |
| { |
| unsigned int timer,i,timer2 = 0, timerPolling; |
| DDRB = 0x00; |
| PORTB = 0x00; |
| for(timer = 0; timer < 1000; timer++); // verzögern |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| if(PINB & 0x02) PlatinenVersion = 21; |
| else |
| { |
| PlatinenVersion = 22; |
| // ACC_AMPLIFY = 7; // der ACC-Sensor hat etwa 16% weniger Ausschlag |
| } |
| #else |
| if(PINB & 0x01) |
| { |
| if(PINB & 0x02) PlatinenVersion = 13; |
| else PlatinenVersion = 11; |
| } |
| else |
| { |
| if(PINB & 0x02) PlatinenVersion = 20; |
| else PlatinenVersion = 10; |
| } |
| #endif |
| DDRC = 0x81; // SCL |
| DDRC |=0x40; // HEF4017 Reset |
| PORTC = 0xff; // Pullup SDA |
| DDRB = 0x1B; // LEDs und Druckoffset |
| PORTB = 0x01; // LED_Rot |
| DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
| PORTD = 0x47; // LED |
| HEF4017Reset_ON; |
| MCUSR &=~(1<<WDRF); |
| WDTCSR |= (1<<WDCE)|(1<<WDE); |
| WDTCSR = 0; |
| beeptime = 2500; |
| StickGier = 0; PPM_in[K_GAS] = 0; StickRoll = 0; StickNick = 0; |
| if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1220; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC |
| ROT_OFF; |
| GRN_ON; |
| Timer_Init(); |
| TIMER2_Init(); |
| UART_Init(); |
| rc_sum_init(); |
| ADC_Init(); |
| I2C_Init(1); |
| SPI_MasterInit(); |
| Capacity_Init(); |
| LIBFC_Init(); |
| GRN_ON; |
| sei(); |
| ParamSet_Init(); |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Check connected BL-Ctrls |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Check connected BL-Ctrls |
| BLFlags |= BLFLAG_READ_VERSION; |
| motor_read = 0; // read the first I2C-Data |
| SendMotorData(); |
| timer = SetDelay(500); |
| while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
| printf("\n\rFound BL-Ctrl: "); |
| timer = SetDelay(4000); |
| for(i=0; i < MAX_MOTORS; i++) |
| { |
| SendMotorData(); |
| while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
| if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up |
| { |
| while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) ) |
| { |
| SendMotorData(); |
| while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
| } |
| } |
| if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) |
| { |
| printf("%d",i+1); |
| FoundMotors++; |
| // if(Motor[i].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) printf("(new) "); |
| } |
| } |
| for(i=0; i < MAX_MOTORS; i++) |
| { |
| if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0) |
| { |
| printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1); |
| ServoActive = 2; // just in case the FC would be used as camera-stabilizer |
| } |
| Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter |
| } |
| PrintLine();// ("\n\r==================================="); |
| if(RequiredMotors < FoundMotors) VersionInfo.HardwareError[1] |= FC_ERROR1_MIXER; |
| //if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| printf("\n\rCalibrating pressure sensor.."); |
| timer = SetDelay(1000); |
| SucheLuftruckOffset(); |
| while (!CheckDelay(timer)); |
| printf("OK\n\r"); |
| } |
| SetNeutral(0); |
| ROT_OFF; |
| beeptime = 2000; |
| ExternControl.Digital[0] = 0x55; |
| FlugMinuten = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES + 1); |
| FlugMinutenGesamt = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL + 1); |
| if((FlugMinutenGesamt == 0xFFFF) || (FlugMinuten == 0xFFFF)) |
| { |
| FlugMinuten = 0; |
| FlugMinutenGesamt = 0; |
| } |
| printf("\n\rFlight-time %u min Total:%u min", FlugMinuten, FlugMinutenGesamt); |
| LcdClear(); |
| I2CTimeout = 5000; |
| WinkelOut.Orientation = 1; |
| LipoDetection(1); |
| LIBFC_ReceiverInit(EE_Parameter.Receiver); |
| PrintLine();// ("\n\r==================================="); |
| //SpektrumBinding(); |
| timer = SetDelay(2000); |
| timerPolling = SetDelay(250); |
| Debug(ANSI_CLEAR "FC-Start!\n\rFlugzeit: %d min", FlugMinutenGesamt); // Note: this won't waste flash memory, if #DEBUG is not active |
| DebugOut.Status[0] = 0x01 | 0x02; |
| JetiBeep = 0; |
| if(EE_Parameter.ExtraConfig & CFG_NO_RCOFF_BEEPING) DisableRcOffBeeping = 1; |
| while (1) |
| { |
| if(ReceiverUpdateModeActive) while (1) PORTC &= ~(1<<7); // Beeper off |
| //GRN_ON; |
| if(UpdateMotor && AdReady) // ReglerIntervall |
| { |
| //GRN_OFF; |
| UpdateMotor=0; |
| if(WinkelOut.CalcState) CalMk3Mag(); |
| else MotorRegler(); |
| SendMotorData(); |
| ROT_OFF; |
| if(SenderOkay) { SenderOkay--; /*VersionInfo.HardwareError[1] &= ~FC_ERROR1_PPM;*/ } |
| else |
| { |
| TIMSK1 |= _BV(ICIE1); // enable PPM-Input |
| PPM_in[0] = 0; // set RSSI to zero on data timeout |
| VersionInfo.HardwareError[1] |= FC_ERROR1_PPM; |
| } |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160; |
| //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101; |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(!--I2CTimeout || MissingMotor) |
| { |
| if(!I2CTimeout) |
| { |
| I2C_Reset(); |
| I2CTimeout = 5; |
| DebugOut.Analog[28]++; // I2C-Error |
| VersionInfo.HardwareError[1] |= FC_ERROR1_I2C; |
| DebugOut.Status[1] |= 0x02; // BL-Error-Status |
| } |
| if((BeepMuster == 0xffff) && MotorenEin) |
| { |
| beeptime = 25000; |
| BeepMuster = 0x0080; |
| } |
| } |
| else |
| { |
| ROT_OFF; |
| } |
| LIBFC_Polling(); |
| if(!UpdateMotor) |
| { |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| if(NewSBusData) ProcessSBus(); |
| else |
| #endif |
| { |
| if(CalculateServoSignals) CalculateServo(); |
| DatenUebertragung(); |
| BearbeiteRxDaten(); |
| if(CheckDelay(timer)) |
| { |
| static unsigned char second; |
| timer += 20; // 20 ms interval |
| CalcNickServoValue(); |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| if(EE_Parameter.Receiver == RECEIVER_HOTT) HoTT_Menu(); |
| else |
| if(EE_Parameter.Receiver == RECEIVER_JETI) BuildJeti_Vario(); |
| #endif |
| if(MissingMotor) |
| { |
| VersionInfo.HardwareError[1] |= FC_ERROR1_BL_MISSING; |
| DebugOut.Status[1] |= 0x02; // BL-Error-Status |
| } |
| else |
| { |
| if(!beeptime) |
| { |
| if(I2CTimeout > 6) DebugOut.Status[1] &= ~0x02; // BL-Error-Status |
| } |
| } |
| if(DisableRcOffBeeping) if(SenderOkay > 150) { DisableRcOffBeeping = 0; beeptime = 5000;}; |
| if(PcZugriff) PcZugriff--; |
| else |
| { |
| ExternControl.Config = 0; |
| ExternStickNick = 0; |
| ExternStickRoll = 0; |
| ExternStickGier = 0; |
| if(!SenderOkay) |
| { |
| if(BeepMuster == 0xffff && DisableRcOffBeeping != 2) |
| { |
| beeptime = 15000; |
| BeepMuster = 0x0c00; |
| if(DisableRcOffBeeping) DisableRcOffBeeping = 2; |
| } |
| } |
| } |
| if(NaviDataOkay > 200) |
| { |
| NaviDataOkay--; |
| VersionInfo.HardwareError[1] &= ~FC_ERROR1_SPI_RX; |
| } |
| else |
| { |
| if(NC_Version.Compatible) |
| { |
| VersionInfo.HardwareError[1] |= FC_ERROR1_SPI_RX; |
| NC_ErrorCode = 9; // "ERR: no NC communication" |
| if(BeepMuster == 0xffff && MotorenEin) |
| { |
| beeptime = 15000; |
| BeepMuster = 0xA800; |
| } |
| } |
| GPS_Nick = 0; |
| GPS_Roll = 0; |
| GPS_Aid_StickMultiplikator = 0; |
| GPSInfo.Flags = 0; |
| FromNaviCtrl.AccErrorN = 0; |
| FromNaviCtrl.AccErrorR = 0; |
| FromNaviCtrl.CompassValue = -1; |
| NaviDataOkay = 0; |
| } |
| if(UBat < BattLowVoltageWarning) |
| { |
| FC_StatusFlags |= FC_STATUS_LOWBAT; |
| if(BeepMuster == 0xffff) |
| { |
| beeptime = 6000; |
| BeepMuster = 0x0300; |
| } |
| } |
| else if(!beeptime) FC_StatusFlags &= ~FC_STATUS_LOWBAT; |
| SPI_StartTransmitPacket(); |
| SendSPI = 4; |
| // +++++++++++++++++++++++++++++++++ |
| // Sekundentakt |
| if(++second == 49) |
| { |
| second = 0; |
| if(FC_StatusFlags & FC_STATUS_FLY) FlugSekunden++; |
| else |
| { |
| timer2 = 1450; // 0,5 Minuten aufrunden |
| if(StartLuftdruck < Luftdruck) StartLuftdruck++; |
| else |
| if(StartLuftdruck > Luftdruck) StartLuftdruck--; |
| } |
| } |
| // +++++++++++++++++++++++++++++++++ |
| if(++timer2 == 2930) // eine Minute |
| { |
| timer2 = 0; |
| FlugMinuten++; |
| FlugMinutenGesamt++; |
| SetParamByte(PID_FLIGHT_MINUTES,FlugMinuten / 256); |
| SetParamByte(PID_FLIGHT_MINUTES+1,FlugMinuten % 256); |
| SetParamByte(PID_FLIGHT_MINUTES_TOTAL,FlugMinutenGesamt / 256); |
| SetParamByte(PID_FLIGHT_MINUTES_TOTAL+1,FlugMinutenGesamt % 256); |
| timer = SetDelay(20); // falls "timer += 20;" mal nicht geht |
| } |
| } |
| LED_Update(); |
| Capacity_Update(); |
| } //else DebugOut.Analog[26]++; |
| } |
| } |
| if(!SendSPI) { SPI_TransmitByte(); } |
| } |
| return (1); |
| } |
| //DebugOut.Analog[16] |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/main.h |
|---|
| 0,0 → 1,82 |
| #ifndef _MAIN_H |
| #define _MAIN_H |
| //#define DEBUG // use to activate debug output to MK-Tool: use Debug(text); |
| //#define ACT_S3D_SUMMENSIGNAL |
| //#define UserParameter8_FAILSAFE |
| #define RECEIVER_SPEKTRUM_DX7EXP |
| //#define RECEIVER_SPEKTRUM_DX8EXP |
| // neue Hardware |
| #define ROT_OFF {if((PlatinenVersion == 10)||(PlatinenVersion >= 20)) PORTB &=~0x01; else PORTB |= 0x01;} |
| #define ROT_ON {if((PlatinenVersion == 10)||(PlatinenVersion >= 20)) PORTB |= 0x01; else PORTB &=~0x01;} |
| #define ROT_FLASH PORTB ^= 0x01 |
| #define GRN_OFF {if((PlatinenVersion < 12) || PlatinenVersion == 22) PORTB &=~0x02; else PORTB |= 0x02;} |
| #define GRN_ON {if((PlatinenVersion < 12) || PlatinenVersion == 22) PORTB |= 0x02; else PORTB &=~0x02;} |
| #define GRN_FLASH PORTB ^= 0x02 |
| #define SYSCLK F_CPU |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #define J3High PORTD |= 0x20 |
| #define J3Low PORTD &= ~0x20 |
| #define J4High PORTD |= 0x10 |
| #define J4Low PORTD &= ~0x10 |
| #define J5High PORTD |= 0x08 |
| #define J5Low PORTD &= ~0x08 |
| extern volatile unsigned char SenderOkay; |
| extern unsigned char BattLowVoltageWarning; |
| extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
| extern unsigned char PlatinenVersion; |
| extern unsigned char FoundMotors,DisableRcOffBeeping; |
| extern unsigned char JetiBeep; |
| void LipoDetection(unsigned char print); |
| extern unsigned int FlugMinuten,FlugMinutenGesamt,FlugSekunden; |
| extern void PrintLine(void); // "=================================" |
| #include <avr/pgmspace.h> |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| #endif |
| #include <stdlib.h> |
| #include <string.h> |
| #include <avr/io.h> |
| #include <avr/pgmspace.h> |
| #include <avr/interrupt.h> |
| #include <avr/eeprom.h> |
| #include <avr/boot.h> |
| #include <avr/wdt.h> |
| #include "old_macros.h" |
| #include "printf_P.h" |
| #include "timer0.h" |
| #include "uart.h" |
| #include "analog.h" |
| #include "twimaster.h" |
| #include "menu.h" |
| #include "rc.h" |
| #include "fc.h" |
| #include "gps.h" |
| #include "spi.h" |
| #include "led.h" |
| #include "spektrum.h" |
| #include "capacity.h" |
| #include "eeprom.h" |
| #include "libfc.h" |
| #include "hottmenu.h" |
| #include "debug.h" |
| #include "sbus.h" |
| #include "jeti_ex.h" |
| #endif //_MAIN_H |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/main.lst |
|---|
| 0,0 → 1,1331 |
| 1 .file "main.c" |
| 2 .arch atmega1284p |
| 3 __SREG__ = 0x3f |
| 4 __SP_H__ = 0x3e |
| 5 __SP_L__ = 0x3d |
| 6 __tmp_reg__ = 0 |
| 7 __zero_reg__ = 1 |
| 8 .global __do_copy_data |
| 9 .global __do_clear_bss |
| 10 .global JetiBeep |
| 11 .global JetiBeep |
| 12 .section .bss |
| 15 JetiBeep: |
| 16 0000 00 .skip 1,0 |
| 17 .global FoundMotors |
| 18 .global FoundMotors |
| 21 FoundMotors: |
| 22 0001 00 .skip 1,0 |
| 23 .global FlugSekunden |
| 24 .global FlugSekunden |
| 27 FlugSekunden: |
| 28 0002 0000 .skip 2,0 |
| 29 .global FlugMinutenGesamt |
| 30 .global FlugMinutenGesamt |
| 33 FlugMinutenGesamt: |
| 34 0004 0000 .skip 2,0 |
| 35 .global FlugMinuten |
| 36 .global FlugMinuten |
| 39 FlugMinuten: |
| 40 0006 0000 .skip 2,0 |
| 41 .global BattLowVoltageWarning |
| 42 .data |
| 45 BattLowVoltageWarning: |
| 46 0000 5E .byte 94 |
| 47 .global PlatinenVersion |
| 50 PlatinenVersion: |
| 51 0001 0A .byte 10 |
| 52 .global DisableRcOffBeeping |
| 53 .global DisableRcOffBeeping |
| 54 .section .bss |
| 57 DisableRcOffBeeping: |
| 58 0008 00 .skip 1,0 |
| 59 .section .progmem.data,"a",@progbits |
| 62 __c.11: |
| 63 0000 0A0D 3D3D .string "\n\r===================================" |
| 63 3D3D 3D3D |
| 63 3D3D 3D3D |
| 63 3D3D 3D3D |
| 63 3D3D 3D3D |
| 64 .text |
| 65 .global PrintLine |
| 67 PrintLine: |
| 68 /* prologue: frame size=0 */ |
| 69 /* prologue end (size=0) */ |
| 70 0000 80E0 ldi r24,lo8(__c.11) |
| 71 0002 90E0 ldi r25,hi8(__c.11) |
| 72 0004 9F93 push r25 |
| 73 0006 8F93 push r24 |
| 74 0008 80E0 ldi r24,lo8(pm(uart_putchar)) |
| 75 000a 90E0 ldi r25,hi8(pm(uart_putchar)) |
| 76 000c 9F93 push r25 |
| 77 000e 8F93 push r24 |
| 78 0010 E091 0000 lds r30,_printf_P |
| 79 0014 F091 0000 lds r31,(_printf_P)+1 |
| 80 0018 0995 icall |
| 81 001a 0F90 pop __tmp_reg__ |
| 82 001c 0F90 pop __tmp_reg__ |
| 83 001e 0F90 pop __tmp_reg__ |
| 84 0020 0F90 pop __tmp_reg__ |
| 85 /* epilogue: frame size=0 */ |
| 86 0022 0895 ret |
| 87 /* epilogue end (size=1) */ |
| 88 /* function PrintLine size 18 (17) */ |
| 90 .data |
| 93 stick.10: |
| 94 0002 01 .byte 1 |
| 95 .text |
| 96 .global CalMk3Mag |
| 98 CalMk3Mag: |
| 99 /* prologue: frame size=0 */ |
| 100 /* prologue end (size=0) */ |
| 101 0024 8091 0000 lds r24,EE_Parameter+1 |
| 102 0028 E82F mov r30,r24 |
| 103 002a FF27 clr r31 |
| 104 002c EE0F add r30,r30 |
| 105 002e FF1F adc r31,r31 |
| 106 0030 E050 subi r30,lo8(-(PPM_in)) |
| 107 0032 F040 sbci r31,hi8(-(PPM_in)) |
| 108 0034 8081 ld r24,Z |
| 109 0036 9181 ldd r25,Z+1 |
| 110 0038 8D5E subi r24,lo8(-19) |
| 111 003a 9F4F sbci r25,hi8(-19) |
| 112 003c 04F0 brlt .L3 |
| 113 003e 1092 0000 sts stick.10,__zero_reg__ |
| 114 .L3: |
| 115 0042 8081 ld r24,Z |
| 116 0044 9181 ldd r25,Z+1 |
| 117 0046 8A5B subi r24,lo8(-70) |
| 118 0048 9F4F sbci r25,hi8(-70) |
| 119 004a 04F4 brge .L4 |
| 120 004c 8091 0000 lds r24,stick.10 |
| 121 0050 8823 tst r24 |
| 122 0052 01F4 brne .L4 |
| 123 0054 81E0 ldi r24,lo8(1) |
| 124 0056 8093 0000 sts stick.10,r24 |
| 125 005a 8091 0000 lds r24,WinkelOut+6 |
| 126 005e 8F5F subi r24,lo8(-(1)) |
| 127 0060 8093 0000 sts WinkelOut+6,r24 |
| 128 0064 8530 cpi r24,lo8(5) |
| 129 0066 00F0 brlo .L5 |
| 130 0068 88EE ldi r24,lo8(1000) |
| 131 006a 93E0 ldi r25,hi8(1000) |
| 132 006c 9093 0000 sts (beeptime)+1,r25 |
| 133 0070 8093 0000 sts beeptime,r24 |
| 134 0074 00C0 rjmp .L4 |
| 135 .L5: |
| 136 0076 66E9 ldi r22,lo8(150) |
| 137 0078 70E0 ldi r23,hi8(150) |
| 138 007a 0E94 0000 call Piep |
| 139 .L4: |
| 140 007e 8091 0000 lds r24,WinkelOut+6 |
| 141 0082 9927 clr r25 |
| 142 0084 9093 0000 sts (DebugOut+40)+1,r25 |
| 143 0088 8093 0000 sts DebugOut+40,r24 |
| 144 /* epilogue: frame size=0 */ |
| 145 008c 0895 ret |
| 146 /* epilogue end (size=1) */ |
| 147 /* function CalMk3Mag size 55 (54) */ |
| 149 .section .progmem.data |
| 152 __c.7: |
| 153 0026 0A0D 4261 .string "\n\rBatt:" |
| 153 7474 3A00 |
| 156 __c.8: |
| 157 002e 2025 6420 .string " %d Cells " |
| 157 4365 6C6C |
| 157 7320 00 |
| 160 __c.9: |
| 161 0039 204C 6F77 .string " Low warning: %d.%d" |
| 161 2077 6172 |
| 161 6E69 6E67 |
| 161 3A20 2564 |
| 161 2E25 6400 |
| 162 .text |
| 163 .global LipoDetection |
| 165 LipoDetection: |
| 166 /* prologue: frame size=0 */ |
| 167 008e 1F93 push r17 |
| 168 0090 CF93 push r28 |
| 169 0092 DF93 push r29 |
| 170 /* prologue end (size=3) */ |
| 171 0094 182F mov r17,r24 |
| 172 0096 8823 tst r24 |
| 173 0098 01F0 breq .L8 |
| 174 009a 80E0 ldi r24,lo8(__c.7) |
| 175 009c 90E0 ldi r25,hi8(__c.7) |
| 176 009e 9F93 push r25 |
| 177 00a0 8F93 push r24 |
| 178 00a2 80E0 ldi r24,lo8(pm(uart_putchar)) |
| 179 00a4 90E0 ldi r25,hi8(pm(uart_putchar)) |
| 180 00a6 9F93 push r25 |
| 181 00a8 8F93 push r24 |
| 182 00aa E091 0000 lds r30,_printf_P |
| 183 00ae F091 0000 lds r31,(_printf_P)+1 |
| 184 00b2 0995 icall |
| 185 00b4 0F90 pop __tmp_reg__ |
| 186 00b6 0F90 pop __tmp_reg__ |
| 187 00b8 0F90 pop __tmp_reg__ |
| 188 00ba 0F90 pop __tmp_reg__ |
| 189 .L8: |
| 190 00bc 8091 0000 lds r24,EE_Parameter+36 |
| 191 00c0 8233 cpi r24,lo8(50) |
| 192 00c2 00F0 brlo .+2 |
| 193 00c4 00C0 rjmp .L9 |
| 194 00c6 84EF ldi r24,lo8(500) |
| 195 00c8 91E0 ldi r25,hi8(500) |
| 196 00ca 0E94 0000 call SetDelay |
| 197 00ce EC01 movw r28,r24 |
| 198 00d0 1123 tst r17 |
| 199 00d2 01F0 breq .L10 |
| 200 .L11: |
| 201 00d4 CE01 movw r24,r28 |
| 202 00d6 0E94 0000 call CheckDelay |
| 203 00da 8823 tst r24 |
| 204 00dc 01F0 breq .L11 |
| 205 .L10: |
| 206 00de C2E0 ldi r28,lo8(2) |
| 207 00e0 D0E0 ldi r29,hi8(2) |
| 208 00e2 26E5 ldi r18,lo8(86) |
| 209 00e4 30E0 ldi r19,hi8(86) |
| 210 .L18: |
| 211 00e6 8091 0000 lds r24,UBat |
| 212 00ea 9091 0000 lds r25,(UBat)+1 |
| 213 00ee 8217 cp r24,r18 |
| 214 00f0 9307 cpc r25,r19 |
| 215 00f2 00F0 brlo .L15 |
| 216 00f4 2196 adiw r28,1 |
| 217 00f6 255D subi r18,lo8(-(43)) |
| 218 00f8 3F4F sbci r19,hi8(-(43)) |
| 219 00fa C730 cpi r28,7 |
| 220 00fc D105 cpc r29,__zero_reg__ |
| 221 00fe 00F0 brlo .L18 |
| 222 .L15: |
| 223 0100 8091 0000 lds r24,EE_Parameter+36 |
| 224 0104 9927 clr r25 |
| 225 0106 C89F mul r28,r24 |
| 226 0108 9001 movw r18,r0 |
| 227 010a C99F mul r28,r25 |
| 228 010c 300D add r19,r0 |
| 229 010e D89F mul r29,r24 |
| 230 0110 300D add r19,r0 |
| 231 0112 1124 clr r1 |
| 232 0114 2093 0000 sts BattLowVoltageWarning,r18 |
| 233 0118 1123 tst r17 |
| 234 011a 01F0 breq .L20 |
| 235 011c 68EC ldi r22,lo8(200) |
| 236 011e 70E0 ldi r23,hi8(200) |
| 237 0120 8C2F mov r24,r28 |
| 238 0122 0E94 0000 call Piep |
| 239 0126 DF93 push r29 |
| 240 0128 CF93 push r28 |
| 241 012a 80E0 ldi r24,lo8(__c.8) |
| 242 012c 90E0 ldi r25,hi8(__c.8) |
| 243 012e 9F93 push r25 |
| 244 0130 8F93 push r24 |
| 245 0132 80E0 ldi r24,lo8(pm(uart_putchar)) |
| 246 0134 90E0 ldi r25,hi8(pm(uart_putchar)) |
| 247 0136 9F93 push r25 |
| 248 0138 8F93 push r24 |
| 249 013a E091 0000 lds r30,_printf_P |
| 250 013e F091 0000 lds r31,(_printf_P)+1 |
| 251 0142 0995 icall |
| 252 0144 8DB7 in r24,__SP_L__ |
| 253 0146 9EB7 in r25,__SP_H__ |
| 254 0148 0696 adiw r24,6 |
| 255 014a 8DBF out __SP_L__,r24 |
| 256 014c 00C0 rjmp .L20 |
| 257 .L9: |
| 258 014e 8093 0000 sts BattLowVoltageWarning,r24 |
| 259 .L20: |
| 260 0152 1123 tst r17 |
| 261 0154 01F0 breq .L7 |
| 262 0156 8091 0000 lds r24,BattLowVoltageWarning |
| 263 015a 6AE0 ldi r22,lo8(10) |
| 264 015c 0E94 0000 call __udivmodqi4 |
| 265 0160 892F mov r24,r25 |
| 266 0162 9927 clr r25 |
| 267 0164 9F93 push r25 |
| 268 0166 8F93 push r24 |
| 269 0168 8091 0000 lds r24,BattLowVoltageWarning |
| 270 016c 0E94 0000 call __udivmodqi4 |
| 271 0170 9927 clr r25 |
| 272 0172 9F93 push r25 |
| 273 0174 8F93 push r24 |
| 274 0176 80E0 ldi r24,lo8(__c.9) |
| 275 0178 90E0 ldi r25,hi8(__c.9) |
| 276 017a 9F93 push r25 |
| 277 017c 8F93 push r24 |
| 278 017e 80E0 ldi r24,lo8(pm(uart_putchar)) |
| 279 0180 90E0 ldi r25,hi8(pm(uart_putchar)) |
| 280 0182 9F93 push r25 |
| 281 0184 8F93 push r24 |
| 282 0186 E091 0000 lds r30,_printf_P |
| 283 018a F091 0000 lds r31,(_printf_P)+1 |
| 284 018e 0995 icall |
| 285 0190 2DB7 in r18,__SP_L__ |
| 286 0192 3EB7 in r19,__SP_H__ |
| 287 0194 285F subi r18,lo8(-(8)) |
| 288 0196 3F4F sbci r19,hi8(-(8)) |
| 289 0198 2DBF out __SP_L__,r18 |
| 290 .L7: |
| 291 /* epilogue: frame size=0 */ |
| 292 019a DF91 pop r29 |
| 293 019c CF91 pop r28 |
| 294 019e 1F91 pop r17 |
| 295 01a0 0895 ret |
| 296 /* epilogue end (size=4) */ |
| 297 /* function LipoDetection size 138 (131) */ |
| 299 .section .progmem.data |
| 302 __c.0: |
| 303 004d 0A0D 466F .string "\n\rFound BL-Ctrl: " |
| 303 756E 6420 |
| 303 424C 2D43 |
| 303 7472 6C3A |
| 303 2000 |
| 306 __c.1: |
| 307 005f 2564 00 .string "%d" |
| 310 __c.2: |
| 311 0062 0A0D 0A0D .string "\n\r\n\r!! MISSING BL-CTRL: %d !!" |
| 311 2121 204D |
| 311 4953 5349 |
| 311 4E47 2042 |
| 311 4C2D 4354 |
| 314 __c.3: |
| 315 0080 0A0D 4361 .string "\n\rCalibrating pressure sensor.." |
| 315 6C69 6272 |
| 315 6174 696E |
| 315 6720 7072 |
| 315 6573 7375 |
| 318 __c.4: |
| 319 00a0 4F4B 0A0D .string "OK\n\r" |
| 319 00 |
| 322 __c.5: |
| 323 00a5 0A0D 466C .string "\n\rFlight-time %u min Total:%u min" |
| 323 6967 6874 |
| 323 2D74 696D |
| 323 6520 2575 |
| 323 206D 696E |
| 324 .lcomm second.6,1 |
| 325 .text |
| 326 .global main |
| 328 main: |
| 329 /* prologue: frame size=0 */ |
| 330 01a2 C0E0 ldi r28,lo8(__stack - 0) |
| 331 01a4 D0E0 ldi r29,hi8(__stack - 0) |
| 332 01a6 DEBF out __SP_H__,r29 |
| 333 01a8 CDBF out __SP_L__,r28 |
| 334 /* prologue end (size=4) */ |
| 335 01aa 8824 clr r8 |
| 336 01ac 9924 clr r9 |
| 337 01ae 14B8 out 36-0x20,__zero_reg__ |
| 338 01b0 15B8 out 37-0x20,__zero_reg__ |
| 339 01b2 B7EE ldi r27,lo8(999) |
| 340 01b4 EB2E mov r14,r27 |
| 341 01b6 B3E0 ldi r27,hi8(999) |
| 342 01b8 FB2E mov r15,r27 |
| 343 .L27: |
| 344 01ba 2EEC ldi r18,lo8(-50) |
| 345 01bc 3FEF ldi r19,hi8(-50) |
| 346 01be E20E add r14,r18 |
| 347 01c0 F31E adc r15,r19 |
| 348 01c2 F7FE sbrs r15,7 |
| 349 01c4 00C0 rjmp .L27 |
| 350 01c6 199B sbis 35-0x20,1 |
| 351 01c8 00C0 rjmp .L28 |
| 352 01ca 85E1 ldi r24,lo8(21) |
| 353 01cc 00C0 rjmp .L242 |
| 354 .L28: |
| 355 01ce 86E1 ldi r24,lo8(22) |
| 356 .L242: |
| 357 01d0 8093 0000 sts PlatinenVersion,r24 |
| 358 01d4 81E8 ldi r24,lo8(-127) |
| 359 01d6 87B9 out 39-0x20,r24 |
| 360 01d8 3E9A sbi 39-0x20,6 |
| 361 01da 8FEF ldi r24,lo8(-1) |
| 362 01dc 88B9 out 40-0x20,r24 |
| 363 01de 8BE1 ldi r24,lo8(27) |
| 364 01e0 84B9 out 36-0x20,r24 |
| 365 01e2 81E0 ldi r24,lo8(1) |
| 366 01e4 85B9 out 37-0x20,r24 |
| 367 01e6 8EE3 ldi r24,lo8(62) |
| 368 01e8 8AB9 out 42-0x20,r24 |
| 369 01ea 87E4 ldi r24,lo8(71) |
| 370 01ec 8BB9 out 43-0x20,r24 |
| 371 01ee 469A sbi 40-0x20,6 |
| 372 01f0 84B7 in r24,84-0x20 |
| 373 01f2 877F andi r24,lo8(-9) |
| 374 01f4 84BF out 84-0x20,r24 |
| 375 01f6 8091 6000 lds r24,96 |
| 376 01fa 8861 ori r24,lo8(24) |
| 377 01fc 8093 6000 sts 96,r24 |
| 378 0200 1092 6000 sts 96,__zero_reg__ |
| 379 0204 84EC ldi r24,lo8(2500) |
| 380 0206 99E0 ldi r25,hi8(2500) |
| 381 0208 9093 0000 sts (beeptime)+1,r25 |
| 382 020c 8093 0000 sts beeptime,r24 |
| 383 0210 1092 0000 sts (StickGier)+1,__zero_reg__ |
| 384 0214 1092 0000 sts StickGier,__zero_reg__ |
| 385 0218 1092 0000 sts (PPM_in+4)+1,__zero_reg__ |
| 386 021c 1092 0000 sts PPM_in+4,__zero_reg__ |
| 387 0220 1092 0000 sts (StickRoll)+1,__zero_reg__ |
| 388 0224 1092 0000 sts StickRoll,__zero_reg__ |
| 389 0228 1092 0000 sts (StickNick)+1,__zero_reg__ |
| 390 022c 1092 0000 sts StickNick,__zero_reg__ |
| 391 0230 2091 0000 lds r18,PlatinenVersion |
| 392 0234 2431 cpi r18,lo8(20) |
| 393 0236 00F0 brlo .L30 |
| 394 0238 84EC ldi r24,lo8(1220) |
| 395 023a 94E0 ldi r25,hi8(1220) |
| 396 023c A0E0 ldi r26,hlo8(1220) |
| 397 023e B0E0 ldi r27,hhi8(1220) |
| 398 0240 00C0 rjmp .L243 |
| 399 .L30: |
| 400 0242 8BE0 ldi r24,lo8(1291) |
| 401 0244 95E0 ldi r25,hi8(1291) |
| 402 0246 A0E0 ldi r26,hlo8(1291) |
| 403 0248 B0E0 ldi r27,hhi8(1291) |
| 404 .L243: |
| 405 024a 8093 0000 sts GIER_GRAD_FAKTOR,r24 |
| 406 024e 9093 0000 sts (GIER_GRAD_FAKTOR)+1,r25 |
| 407 0252 A093 0000 sts (GIER_GRAD_FAKTOR)+2,r26 |
| 408 0256 B093 0000 sts (GIER_GRAD_FAKTOR)+3,r27 |
| 409 025a 2A30 cpi r18,lo8(10) |
| 410 025c 01F0 breq .L33 |
| 411 025e 2431 cpi r18,lo8(20) |
| 412 0260 00F0 brlo .L32 |
| 413 .L33: |
| 414 0262 2898 cbi 37-0x20,0 |
| 415 0264 00C0 rjmp .L34 |
| 416 .L32: |
| 417 0266 289A sbi 37-0x20,0 |
| 418 .L34: |
| 419 0268 2C30 cpi r18,lo8(12) |
| 420 026a 00F0 brlo .L36 |
| 421 026c 2631 cpi r18,lo8(22) |
| 422 026e 01F4 brne .L35 |
| 423 .L36: |
| 424 0270 299A sbi 37-0x20,1 |
| 425 0272 00C0 rjmp .L37 |
| 426 .L35: |
| 427 0274 2998 cbi 37-0x20,1 |
| 428 .L37: |
| 429 0276 0E94 0000 call Timer_Init |
| 430 027a 0E94 0000 call TIMER2_Init |
| 431 027e 0E94 0000 call UART_Init |
| 432 0282 0E94 0000 call rc_sum_init |
| 433 0286 0E94 0000 call ADC_Init |
| 434 028a 81E0 ldi r24,lo8(1) |
| 435 028c 0E94 0000 call I2C_Init |
| 436 0290 0E94 0000 call SPI_MasterInit |
| 437 0294 0E94 0000 call Capacity_Init |
| 438 0298 0E94 0000 call LIBFC_Init |
| 439 029c 8091 0000 lds r24,PlatinenVersion |
| 440 02a0 8C30 cpi r24,lo8(12) |
| 441 02a2 00F0 brlo .L39 |
| 442 02a4 8631 cpi r24,lo8(22) |
| 443 02a6 01F4 brne .L38 |
| 444 .L39: |
| 445 02a8 299A sbi 37-0x20,1 |
| 446 02aa 00C0 rjmp .L40 |
| 447 .L38: |
| 448 02ac 2998 cbi 37-0x20,1 |
| 449 .L40: |
| 450 /* #APP */ |
| 451 02ae 7894 sei |
| 452 /* #NOAPP */ |
| 453 02b0 0E94 0000 call ParamSet_Init |
| 454 02b4 8091 0000 lds r24,BLFlags |
| 455 02b8 8260 ori r24,lo8(2) |
| 456 02ba 8093 0000 sts BLFlags,r24 |
| 457 02be 1092 0000 sts motor_read,__zero_reg__ |
| 458 02c2 0E94 0000 call SendMotorData |
| 459 02c6 84EF ldi r24,lo8(500) |
| 460 02c8 91E0 ldi r25,hi8(500) |
| 461 02ca 0E94 0000 call SetDelay |
| 462 02ce 7C01 movw r14,r24 |
| 463 .L41: |
| 464 02d0 8091 0000 lds r24,BLFlags |
| 465 02d4 80FD sbrc r24,0 |
| 466 02d6 00C0 rjmp .L42 |
| 467 02d8 C701 movw r24,r14 |
| 468 02da 0E94 0000 call CheckDelay |
| 469 02de 8823 tst r24 |
| 470 02e0 01F0 breq .L41 |
| 471 .L42: |
| 472 02e2 80E0 ldi r24,lo8(__c.0) |
| 473 02e4 90E0 ldi r25,hi8(__c.0) |
| 474 02e6 9F93 push r25 |
| 475 02e8 8F93 push r24 |
| 476 02ea A0E0 ldi r26,lo8(pm(uart_putchar)) |
| 477 02ec AA2E mov r10,r26 |
| 478 02ee A0E0 ldi r26,hi8(pm(uart_putchar)) |
| 479 02f0 BA2E mov r11,r26 |
| 480 02f2 BF92 push r11 |
| 481 02f4 AF92 push r10 |
| 482 02f6 E091 0000 lds r30,_printf_P |
| 483 02fa F091 0000 lds r31,(_printf_P)+1 |
| 484 02fe 0995 icall |
| 485 0300 80EA ldi r24,lo8(4000) |
| 486 0302 9FE0 ldi r25,hi8(4000) |
| 487 0304 0E94 0000 call SetDelay |
| 488 0308 7C01 movw r14,r24 |
| 489 030a C0E0 ldi r28,lo8(0) |
| 490 030c D0E0 ldi r29,hi8(0) |
| 491 030e 0F90 pop __tmp_reg__ |
| 492 0310 0F90 pop __tmp_reg__ |
| 493 0312 0F90 pop __tmp_reg__ |
| 494 0314 0F90 pop __tmp_reg__ |
| 495 0316 00E0 ldi r16,lo8(Motor+3) |
| 496 0318 10E0 ldi r17,hi8(Motor+3) |
| 497 031a F0E0 ldi r31,lo8(Mixer+13) |
| 498 031c CF2E mov r12,r31 |
| 499 031e F0E0 ldi r31,hi8(Mixer+13) |
| 500 0320 DF2E mov r13,r31 |
| 501 .L58: |
| 502 0322 0E94 0000 call SendMotorData |
| 503 .L47: |
| 504 0326 8091 0000 lds r24,BLFlags |
| 505 032a 80FD sbrc r24,0 |
| 506 032c 00C0 rjmp .L48 |
| 507 032e C701 movw r24,r14 |
| 508 0330 0E94 0000 call CheckDelay |
| 509 0334 8823 tst r24 |
| 510 0336 01F0 breq .L47 |
| 511 .L48: |
| 512 0338 F601 movw r30,r12 |
| 513 033a 8081 ld r24,Z |
| 514 033c 1816 cp __zero_reg__,r24 |
| 515 033e 04F4 brge .L50 |
| 516 0340 00C0 rjmp .L246 |
| 517 .L56: |
| 518 0342 0E94 0000 call SendMotorData |
| 519 .L53: |
| 520 0346 8091 0000 lds r24,BLFlags |
| 521 034a 80FD sbrc r24,0 |
| 522 034c 00C0 rjmp .L246 |
| 523 034e C701 movw r24,r14 |
| 524 0350 0E94 0000 call CheckDelay |
| 525 0354 8823 tst r24 |
| 526 0356 01F0 breq .L53 |
| 527 .L246: |
| 528 0358 C701 movw r24,r14 |
| 529 035a 0E94 0000 call CheckDelay |
| 530 035e 8823 tst r24 |
| 531 0360 01F4 brne .L50 |
| 532 0362 F801 movw r30,r16 |
| 533 0364 8081 ld r24,Z |
| 534 0366 8823 tst r24 |
| 535 0368 04F4 brge .L56 |
| 536 .L50: |
| 537 036a F801 movw r30,r16 |
| 538 036c 8081 ld r24,Z |
| 539 036e 87FF sbrs r24,7 |
| 540 0370 00C0 rjmp .L46 |
| 541 0372 2196 adiw r28,1 |
| 542 0374 DF93 push r29 |
| 543 0376 CF93 push r28 |
| 544 0378 2197 sbiw r28,1 |
| 545 037a 80E0 ldi r24,lo8(__c.1) |
| 546 037c 90E0 ldi r25,hi8(__c.1) |
| 547 037e 9F93 push r25 |
| 548 0380 8F93 push r24 |
| 549 0382 BF92 push r11 |
| 550 0384 AF92 push r10 |
| 551 0386 E091 0000 lds r30,_printf_P |
| 552 038a F091 0000 lds r31,(_printf_P)+1 |
| 553 038e 0995 icall |
| 554 0390 8091 0000 lds r24,FoundMotors |
| 555 0394 8F5F subi r24,lo8(-(1)) |
| 556 0396 8093 0000 sts FoundMotors,r24 |
| 557 039a 2DB7 in r18,__SP_L__ |
| 558 039c 3EB7 in r19,__SP_H__ |
| 559 039e 2A5F subi r18,lo8(-(6)) |
| 560 03a0 3F4F sbci r19,hi8(-(6)) |
| 561 03a2 2DBF out __SP_L__,r18 |
| 562 .L46: |
| 563 03a4 2196 adiw r28,1 |
| 564 03a6 84E0 ldi r24,lo8(4) |
| 565 03a8 90E0 ldi r25,hi8(4) |
| 566 03aa C80E add r12,r24 |
| 567 03ac D91E adc r13,r25 |
| 568 03ae 085F subi r16,lo8(-(8)) |
| 569 03b0 1F4F sbci r17,hi8(-(8)) |
| 570 03b2 CC30 cpi r28,12 |
| 571 03b4 D105 cpc r29,__zero_reg__ |
| 572 03b6 00F4 brsh .+2 |
| 573 03b8 00C0 rjmp .L58 |
| 574 03ba C0E0 ldi r28,lo8(0) |
| 575 03bc D0E0 ldi r29,hi8(0) |
| 576 03be 00E0 ldi r16,lo8(Motor) |
| 577 03c0 10E0 ldi r17,hi8(Motor) |
| 578 03c2 E0E0 ldi r30,lo8(Mixer+13) |
| 579 03c4 EE2E mov r14,r30 |
| 580 03c6 E0E0 ldi r30,hi8(Mixer+13) |
| 581 03c8 FE2E mov r15,r30 |
| 582 .L63: |
| 583 03ca F801 movw r30,r16 |
| 584 03cc 8381 ldd r24,Z+3 |
| 585 03ce 87FD sbrc r24,7 |
| 586 03d0 00C0 rjmp .L62 |
| 587 03d2 F701 movw r30,r14 |
| 588 03d4 8081 ld r24,Z |
| 589 03d6 1816 cp __zero_reg__,r24 |
| 590 03d8 04F4 brge .L62 |
| 591 03da 2196 adiw r28,1 |
| 592 03dc DF93 push r29 |
| 593 03de CF93 push r28 |
| 594 03e0 2197 sbiw r28,1 |
| 595 03e2 80E0 ldi r24,lo8(__c.2) |
| 596 03e4 90E0 ldi r25,hi8(__c.2) |
| 597 03e6 9F93 push r25 |
| 598 03e8 8F93 push r24 |
| 599 03ea 80E0 ldi r24,lo8(pm(uart_putchar)) |
| 600 03ec 90E0 ldi r25,hi8(pm(uart_putchar)) |
| 601 03ee 9F93 push r25 |
| 602 03f0 8F93 push r24 |
| 603 03f2 E091 0000 lds r30,_printf_P |
| 604 03f6 F091 0000 lds r31,(_printf_P)+1 |
| 605 03fa 0995 icall |
| 606 03fc 82E0 ldi r24,lo8(2) |
| 607 03fe 8093 0000 sts ServoActive,r24 |
| 608 0402 2DB7 in r18,__SP_L__ |
| 609 0404 3EB7 in r19,__SP_H__ |
| 610 0406 2A5F subi r18,lo8(-(6)) |
| 611 0408 3F4F sbci r19,hi8(-(6)) |
| 612 040a 2DBF out __SP_L__,r18 |
| 613 .L62: |
| 614 040c F801 movw r30,r16 |
| 615 040e 8381 ldd r24,Z+3 |
| 616 0410 8078 andi r24,lo8(-128) |
| 617 0412 8383 std Z+3,r24 |
| 618 0414 2196 adiw r28,1 |
| 619 0416 24E0 ldi r18,lo8(4) |
| 620 0418 30E0 ldi r19,hi8(4) |
| 621 041a E20E add r14,r18 |
| 622 041c F31E adc r15,r19 |
| 623 041e 085F subi r16,lo8(-(8)) |
| 624 0420 1F4F sbci r17,hi8(-(8)) |
| 625 0422 CC30 cpi r28,12 |
| 626 0424 D105 cpc r29,__zero_reg__ |
| 627 0426 00F0 brlo .L63 |
| 628 0428 0E94 0000 call PrintLine |
| 629 042c 9091 0000 lds r25,RequiredMotors |
| 630 0430 8091 0000 lds r24,FoundMotors |
| 631 0434 9817 cp r25,r24 |
| 632 0436 00F4 brsh .L64 |
| 633 0438 8091 0000 lds r24,VersionInfo+6 |
| 634 043c 8061 ori r24,lo8(16) |
| 635 043e 8093 0000 sts VersionInfo+6,r24 |
| 636 .L64: |
| 637 0442 80E0 ldi r24,lo8(__c.3) |
| 638 0444 90E0 ldi r25,hi8(__c.3) |
| 639 0446 9F93 push r25 |
| 640 0448 8F93 push r24 |
| 641 044a C0E0 ldi r28,lo8(pm(uart_putchar)) |
| 642 044c D0E0 ldi r29,hi8(pm(uart_putchar)) |
| 643 044e DF93 push r29 |
| 644 0450 CF93 push r28 |
| 645 0452 E091 0000 lds r30,_printf_P |
| 646 0456 F091 0000 lds r31,(_printf_P)+1 |
| 647 045a 0995 icall |
| 648 045c 88EE ldi r24,lo8(1000) |
| 649 045e 93E0 ldi r25,hi8(1000) |
| 650 0460 0E94 0000 call SetDelay |
| 651 0464 7C01 movw r14,r24 |
| 652 0466 0E94 0000 call SucheLuftruckOffset |
| 653 046a 0F90 pop __tmp_reg__ |
| 654 046c 0F90 pop __tmp_reg__ |
| 655 046e 0F90 pop __tmp_reg__ |
| 656 0470 0F90 pop __tmp_reg__ |
| 657 .L65: |
| 658 0472 C701 movw r24,r14 |
| 659 0474 0E94 0000 call CheckDelay |
| 660 0478 8823 tst r24 |
| 661 047a 01F0 breq .L65 |
| 662 047c 80E0 ldi r24,lo8(__c.4) |
| 663 047e 90E0 ldi r25,hi8(__c.4) |
| 664 0480 9F93 push r25 |
| 665 0482 8F93 push r24 |
| 666 0484 DF93 push r29 |
| 667 0486 CF93 push r28 |
| 668 0488 E091 0000 lds r30,_printf_P |
| 669 048c F091 0000 lds r31,(_printf_P)+1 |
| 670 0490 0995 icall |
| 671 0492 80E0 ldi r24,lo8(0) |
| 672 0494 0E94 0000 call SetNeutral |
| 673 0498 8091 0000 lds r24,PlatinenVersion |
| 674 049c 0F90 pop __tmp_reg__ |
| 675 049e 0F90 pop __tmp_reg__ |
| 676 04a0 0F90 pop __tmp_reg__ |
| 677 04a2 0F90 pop __tmp_reg__ |
| 678 04a4 8A30 cpi r24,lo8(10) |
| 679 04a6 01F0 breq .L69 |
| 680 04a8 8431 cpi r24,lo8(20) |
| 681 04aa 00F0 brlo .L68 |
| 682 .L69: |
| 683 04ac 2898 cbi 37-0x20,0 |
| 684 04ae 00C0 rjmp .L70 |
| 685 .L68: |
| 686 04b0 289A sbi 37-0x20,0 |
| 687 .L70: |
| 688 04b2 80ED ldi r24,lo8(2000) |
| 689 04b4 97E0 ldi r25,hi8(2000) |
| 690 04b6 9093 0000 sts (beeptime)+1,r25 |
| 691 04ba 8093 0000 sts beeptime,r24 |
| 692 04be 85E5 ldi r24,lo8(85) |
| 693 04c0 8093 0000 sts ExternControl,r24 |
| 694 04c4 8EE0 ldi r24,lo8(14) |
| 695 04c6 90E0 ldi r25,hi8(14) |
| 696 04c8 0E94 0000 call GetParamByte |
| 697 04cc 9927 clr r25 |
| 698 04ce 182F mov r17,r24 |
| 699 04d0 0027 clr r16 |
| 700 04d2 8FE0 ldi r24,lo8(15) |
| 701 04d4 90E0 ldi r25,hi8(15) |
| 702 04d6 0E94 0000 call GetParamByte |
| 703 04da 080F add r16,r24 |
| 704 04dc 111D adc r17,__zero_reg__ |
| 705 04de 1093 0000 sts (FlugMinuten)+1,r17 |
| 706 04e2 0093 0000 sts FlugMinuten,r16 |
| 707 04e6 8AE0 ldi r24,lo8(10) |
| 708 04e8 90E0 ldi r25,hi8(10) |
| 709 04ea 0E94 0000 call GetParamByte |
| 710 04ee 9927 clr r25 |
| 711 04f0 182F mov r17,r24 |
| 712 04f2 0027 clr r16 |
| 713 04f4 8BE0 ldi r24,lo8(11) |
| 714 04f6 90E0 ldi r25,hi8(11) |
| 715 04f8 0E94 0000 call GetParamByte |
| 716 04fc 080F add r16,r24 |
| 717 04fe 111D adc r17,__zero_reg__ |
| 718 0500 1093 0000 sts (FlugMinutenGesamt)+1,r17 |
| 719 0504 0093 0000 sts FlugMinutenGesamt,r16 |
| 720 0508 0F5F subi r16,lo8(-1) |
| 721 050a 1F4F sbci r17,hi8(-1) |
| 722 050c 01F0 breq .L72 |
| 723 050e 8091 0000 lds r24,FlugMinuten |
| 724 0512 9091 0000 lds r25,(FlugMinuten)+1 |
| 725 0516 8F5F subi r24,lo8(-1) |
| 726 0518 9F4F sbci r25,hi8(-1) |
| 727 051a 01F4 brne .L71 |
| 728 .L72: |
| 729 051c 1092 0000 sts (FlugMinuten)+1,__zero_reg__ |
| 730 0520 1092 0000 sts FlugMinuten,__zero_reg__ |
| 731 0524 1092 0000 sts (FlugMinutenGesamt)+1,__zero_reg__ |
| 732 0528 1092 0000 sts FlugMinutenGesamt,__zero_reg__ |
| 733 .L71: |
| 734 052c 8091 0000 lds r24,FlugMinutenGesamt |
| 735 0530 9091 0000 lds r25,(FlugMinutenGesamt)+1 |
| 736 0534 9F93 push r25 |
| 737 0536 8F93 push r24 |
| 738 0538 8091 0000 lds r24,FlugMinuten |
| 739 053c 9091 0000 lds r25,(FlugMinuten)+1 |
| 740 0540 9F93 push r25 |
| 741 0542 8F93 push r24 |
| 742 0544 80E0 ldi r24,lo8(__c.5) |
| 743 0546 90E0 ldi r25,hi8(__c.5) |
| 744 0548 9F93 push r25 |
| 745 054a 8F93 push r24 |
| 746 054c DF93 push r29 |
| 747 054e CF93 push r28 |
| 748 0550 E091 0000 lds r30,_printf_P |
| 749 0554 F091 0000 lds r31,(_printf_P)+1 |
| 750 0558 0995 icall |
| 751 055a 0E94 0000 call LcdClear |
| 752 055e 88E8 ldi r24,lo8(5000) |
| 753 0560 93E1 ldi r25,hi8(5000) |
| 754 0562 9093 0000 sts (I2CTimeout)+1,r25 |
| 755 0566 8093 0000 sts I2CTimeout,r24 |
| 756 056a C1E0 ldi r28,lo8(1) |
| 757 056c C093 0000 sts WinkelOut+7,r28 |
| 758 0570 8C2F mov r24,r28 |
| 759 0572 0E94 0000 call LipoDetection |
| 760 0576 8091 0000 lds r24,EE_Parameter+39 |
| 761 057a 0E94 0000 call LIBFC_ReceiverInit |
| 762 057e 0E94 0000 call PrintLine |
| 763 0582 80ED ldi r24,lo8(2000) |
| 764 0584 97E0 ldi r25,hi8(2000) |
| 765 0586 0E94 0000 call SetDelay |
| 766 058a 7C01 movw r14,r24 |
| 767 058c 8AEF ldi r24,lo8(250) |
| 768 058e 90E0 ldi r25,hi8(250) |
| 769 0590 0E94 0000 call SetDelay |
| 770 0594 83E0 ldi r24,lo8(3) |
| 771 0596 8093 0000 sts DebugOut,r24 |
| 772 059a 1092 0000 sts JetiBeep,__zero_reg__ |
| 773 059e 8091 0000 lds r24,EE_Parameter+110 |
| 774 05a2 2DB7 in r18,__SP_L__ |
| 775 05a4 3EB7 in r19,__SP_H__ |
| 776 05a6 285F subi r18,lo8(-(8)) |
| 777 05a8 3F4F sbci r19,hi8(-(8)) |
| 778 05aa 2DBF out __SP_L__,r18 |
| 779 05ac 84FF sbrs r24,4 |
| 780 05ae 00C0 rjmp .L247 |
| 781 05b0 C093 0000 sts DisableRcOffBeeping,r28 |
| 782 .L247: |
| 783 05b4 8091 0000 lds r24,ReceiverUpdateModeActive |
| 784 05b8 8823 tst r24 |
| 785 05ba 01F0 breq .L76 |
| 786 .L77: |
| 787 05bc 4798 cbi 40-0x20,7 |
| 788 05be 00C0 rjmp .L77 |
| 789 .L76: |
| 790 05c0 8091 0000 lds r24,UpdateMotor |
| 791 05c4 8823 tst r24 |
| 792 05c6 01F4 brne .+2 |
| 793 05c8 00C0 rjmp .L79 |
| 794 05ca 8091 0000 lds r24,AdReady |
| 795 05ce 8823 tst r24 |
| 796 05d0 01F4 brne .+2 |
| 797 05d2 00C0 rjmp .L79 |
| 798 05d4 1092 0000 sts UpdateMotor,__zero_reg__ |
| 799 05d8 8091 0000 lds r24,WinkelOut+6 |
| 800 05dc 8823 tst r24 |
| 801 05de 01F0 breq .L80 |
| 802 05e0 0E94 0000 call CalMk3Mag |
| 803 05e4 00C0 rjmp .L81 |
| 804 .L80: |
| 805 05e6 0E94 0000 call MotorRegler |
| 806 .L81: |
| 807 05ea 0E94 0000 call SendMotorData |
| 808 05ee 2091 0000 lds r18,PlatinenVersion |
| 809 05f2 2A30 cpi r18,lo8(10) |
| 810 05f4 01F0 breq .L83 |
| 811 05f6 2431 cpi r18,lo8(20) |
| 812 05f8 00F0 brlo .L82 |
| 813 .L83: |
| 814 05fa 2898 cbi 37-0x20,0 |
| 815 05fc 00C0 rjmp .L84 |
| 816 .L82: |
| 817 05fe 289A sbi 37-0x20,0 |
| 818 .L84: |
| 819 0600 8091 0000 lds r24,SenderOkay |
| 820 0604 8823 tst r24 |
| 821 0606 01F0 breq .L85 |
| 822 0608 8091 0000 lds r24,SenderOkay |
| 823 060c 8150 subi r24,lo8(-(-1)) |
| 824 060e 8093 0000 sts SenderOkay,r24 |
| 825 0612 00C0 rjmp .L86 |
| 826 .L85: |
| 827 0614 8091 6F00 lds r24,111 |
| 828 0618 8062 ori r24,lo8(32) |
| 829 061a 8093 6F00 sts 111,r24 |
| 830 061e 1092 0000 sts (PPM_in)+1,__zero_reg__ |
| 831 0622 1092 0000 sts PPM_in,__zero_reg__ |
| 832 0626 8091 0000 lds r24,VersionInfo+6 |
| 833 062a 8860 ori r24,lo8(8) |
| 834 062c 8093 0000 sts VersionInfo+6,r24 |
| 835 .L86: |
| 836 0630 8091 0000 lds r24,I2CTimeout |
| 837 0634 9091 0000 lds r25,(I2CTimeout)+1 |
| 838 0638 0197 sbiw r24,1 |
| 839 063a 9093 0000 sts (I2CTimeout)+1,r25 |
| 840 063e 8093 0000 sts I2CTimeout,r24 |
| 841 0642 8091 0000 lds r24,I2CTimeout |
| 842 0646 9091 0000 lds r25,(I2CTimeout)+1 |
| 843 064a 892B or r24,r25 |
| 844 064c 01F0 breq .L88 |
| 845 064e 8091 0000 lds r24,MissingMotor |
| 846 0652 8823 tst r24 |
| 847 0654 01F0 breq .L87 |
| 848 .L88: |
| 849 0656 8091 0000 lds r24,I2CTimeout |
| 850 065a 9091 0000 lds r25,(I2CTimeout)+1 |
| 851 065e 892B or r24,r25 |
| 852 0660 01F4 brne .L89 |
| 853 0662 0E94 0000 call I2C_Reset |
| 854 0666 85E0 ldi r24,lo8(5) |
| 855 0668 90E0 ldi r25,hi8(5) |
| 856 066a 9093 0000 sts (I2CTimeout)+1,r25 |
| 857 066e 8093 0000 sts I2CTimeout,r24 |
| 858 0672 8091 0000 lds r24,DebugOut+58 |
| 859 0676 9091 0000 lds r25,(DebugOut+58)+1 |
| 860 067a 0196 adiw r24,1 |
| 861 067c 9093 0000 sts (DebugOut+58)+1,r25 |
| 862 0680 8093 0000 sts DebugOut+58,r24 |
| 863 0684 8091 0000 lds r24,VersionInfo+6 |
| 864 0688 8160 ori r24,lo8(1) |
| 865 068a 8093 0000 sts VersionInfo+6,r24 |
| 866 068e 8091 0000 lds r24,DebugOut+1 |
| 867 0692 8260 ori r24,lo8(2) |
| 868 0694 8093 0000 sts DebugOut+1,r24 |
| 869 .L89: |
| 870 0698 8091 0000 lds r24,BeepMuster |
| 871 069c 9091 0000 lds r25,(BeepMuster)+1 |
| 872 06a0 8F5F subi r24,lo8(-1) |
| 873 06a2 9F4F sbci r25,hi8(-1) |
| 874 06a4 01F4 brne .L91 |
| 875 06a6 8091 0000 lds r24,MotorenEin |
| 876 06aa 8823 tst r24 |
| 877 06ac 01F0 breq .L91 |
| 878 06ae 88EA ldi r24,lo8(25000) |
| 879 06b0 91E6 ldi r25,hi8(25000) |
| 880 06b2 9093 0000 sts (beeptime)+1,r25 |
| 881 06b6 8093 0000 sts beeptime,r24 |
| 882 06ba 80E8 ldi r24,lo8(128) |
| 883 06bc 90E0 ldi r25,hi8(128) |
| 884 06be 9093 0000 sts (BeepMuster)+1,r25 |
| 885 06c2 8093 0000 sts BeepMuster,r24 |
| 886 06c6 00C0 rjmp .L91 |
| 887 .L87: |
| 888 06c8 2A30 cpi r18,lo8(10) |
| 889 06ca 01F0 breq .L93 |
| 890 06cc 2431 cpi r18,lo8(20) |
| 891 06ce 00F0 brlo .L92 |
| 892 .L93: |
| 893 06d0 2898 cbi 37-0x20,0 |
| 894 06d2 00C0 rjmp .L91 |
| 895 .L92: |
| 896 06d4 289A sbi 37-0x20,0 |
| 897 .L91: |
| 898 06d6 0E94 0000 call LIBFC_Polling |
| 899 06da 8091 0000 lds r24,UpdateMotor |
| 900 06de 8823 tst r24 |
| 901 06e0 01F0 breq .+2 |
| 902 06e2 00C0 rjmp .L79 |
| 903 06e4 8091 0000 lds r24,NewSBusData |
| 904 06e8 8823 tst r24 |
| 905 06ea 01F0 breq .L96 |
| 906 06ec 0E94 0000 call ProcessSBus |
| 907 06f0 00C0 rjmp .L79 |
| 908 .L96: |
| 909 06f2 8091 0000 lds r24,CalculateServoSignals |
| 910 06f6 8823 tst r24 |
| 911 06f8 01F0 breq .L98 |
| 912 06fa 0E94 0000 call CalculateServo |
| 913 .L98: |
| 914 06fe 0E94 0000 call DatenUebertragung |
| 915 0702 0E94 0000 call BearbeiteRxDaten |
| 916 0706 C701 movw r24,r14 |
| 917 0708 0E94 0000 call CheckDelay |
| 918 070c 8823 tst r24 |
| 919 070e 01F4 brne .+2 |
| 920 0710 00C0 rjmp .L99 |
| 921 0712 84E1 ldi r24,lo8(20) |
| 922 0714 90E0 ldi r25,hi8(20) |
| 923 0716 E80E add r14,r24 |
| 924 0718 F91E adc r15,r25 |
| 925 071a 0E94 0000 call CalcNickServoValue |
| 926 071e 8091 0000 lds r24,EE_Parameter+39 |
| 927 0722 8630 cpi r24,lo8(6) |
| 928 0724 01F4 brne .L100 |
| 929 0726 0E94 0000 call HoTT_Menu |
| 930 072a 00C0 rjmp .L101 |
| 931 .L100: |
| 932 072c 8430 cpi r24,lo8(4) |
| 933 072e 01F4 brne .L101 |
| 934 0730 0E94 0000 call BuildJeti_Vario |
| 935 .L101: |
| 936 0734 8091 0000 lds r24,MissingMotor |
| 937 0738 8823 tst r24 |
| 938 073a 01F0 breq .L103 |
| 939 073c 8091 0000 lds r24,VersionInfo+6 |
| 940 0740 8260 ori r24,lo8(2) |
| 941 0742 8093 0000 sts VersionInfo+6,r24 |
| 942 0746 8091 0000 lds r24,DebugOut+1 |
| 943 074a 8260 ori r24,lo8(2) |
| 944 074c 00C0 rjmp .L244 |
| 945 .L103: |
| 946 074e 8091 0000 lds r24,beeptime |
| 947 0752 9091 0000 lds r25,(beeptime)+1 |
| 948 0756 892B or r24,r25 |
| 949 0758 01F4 brne .L104 |
| 950 075a 8091 0000 lds r24,I2CTimeout |
| 951 075e 9091 0000 lds r25,(I2CTimeout)+1 |
| 952 0762 0797 sbiw r24,7 |
| 953 0764 00F0 brlo .L104 |
| 954 0766 8091 0000 lds r24,DebugOut+1 |
| 955 076a 8D7F andi r24,lo8(-3) |
| 956 .L244: |
| 957 076c 8093 0000 sts DebugOut+1,r24 |
| 958 .L104: |
| 959 0770 8091 0000 lds r24,DisableRcOffBeeping |
| 960 0774 8823 tst r24 |
| 961 0776 01F0 breq .L107 |
| 962 0778 8091 0000 lds r24,SenderOkay |
| 963 077c 8739 cpi r24,lo8(-105) |
| 964 077e 00F0 brlo .L107 |
| 965 0780 1092 0000 sts DisableRcOffBeeping,__zero_reg__ |
| 966 0784 88E8 ldi r24,lo8(5000) |
| 967 0786 93E1 ldi r25,hi8(5000) |
| 968 0788 9093 0000 sts (beeptime)+1,r25 |
| 969 078c 8093 0000 sts beeptime,r24 |
| 970 .L107: |
| 971 0790 8091 0000 lds r24,PcZugriff |
| 972 0794 8823 tst r24 |
| 973 0796 01F0 breq .L109 |
| 974 0798 8150 subi r24,lo8(-(-1)) |
| 975 079a 8093 0000 sts PcZugriff,r24 |
| 976 079e 00C0 rjmp .L110 |
| 977 .L109: |
| 978 07a0 8093 0000 sts ExternControl+10,r24 |
| 979 07a4 1092 0000 sts (ExternStickNick)+1,__zero_reg__ |
| 980 07a8 1092 0000 sts ExternStickNick,__zero_reg__ |
| 981 07ac 1092 0000 sts (ExternStickRoll)+1,__zero_reg__ |
| 982 07b0 1092 0000 sts ExternStickRoll,__zero_reg__ |
| 983 07b4 1092 0000 sts (ExternStickGier)+1,__zero_reg__ |
| 984 07b8 1092 0000 sts ExternStickGier,__zero_reg__ |
| 985 07bc 8091 0000 lds r24,SenderOkay |
| 986 07c0 8823 tst r24 |
| 987 07c2 01F4 brne .L110 |
| 988 07c4 8091 0000 lds r24,BeepMuster |
| 989 07c8 9091 0000 lds r25,(BeepMuster)+1 |
| 990 07cc 8F5F subi r24,lo8(-1) |
| 991 07ce 9F4F sbci r25,hi8(-1) |
| 992 07d0 01F4 brne .L110 |
| 993 07d2 2091 0000 lds r18,DisableRcOffBeeping |
| 994 07d6 2230 cpi r18,lo8(2) |
| 995 07d8 01F0 breq .L110 |
| 996 07da 88E9 ldi r24,lo8(15000) |
| 997 07dc 9AE3 ldi r25,hi8(15000) |
| 998 07de 9093 0000 sts (beeptime)+1,r25 |
| 999 07e2 8093 0000 sts beeptime,r24 |
| 1000 07e6 80E0 ldi r24,lo8(3072) |
| 1001 07e8 9CE0 ldi r25,hi8(3072) |
| 1002 07ea 9093 0000 sts (BeepMuster)+1,r25 |
| 1003 07ee 8093 0000 sts BeepMuster,r24 |
| 1004 07f2 2223 tst r18 |
| 1005 07f4 01F0 breq .L110 |
| 1006 07f6 82E0 ldi r24,lo8(2) |
| 1007 07f8 8093 0000 sts DisableRcOffBeeping,r24 |
| 1008 .L110: |
| 1009 07fc 8091 0000 lds r24,NaviDataOkay |
| 1010 0800 893C cpi r24,lo8(-55) |
| 1011 0802 00F0 brlo .L114 |
| 1012 0804 8150 subi r24,lo8(-(-1)) |
| 1013 0806 8093 0000 sts NaviDataOkay,r24 |
| 1014 080a 8091 0000 lds r24,VersionInfo+6 |
| 1015 080e 8B7F andi r24,lo8(-5) |
| 1016 0810 8093 0000 sts VersionInfo+6,r24 |
| 1017 0814 00C0 rjmp .L115 |
| 1018 .L114: |
| 1019 0816 8091 0000 lds r24,NC_Version+3 |
| 1020 081a 8823 tst r24 |
| 1021 081c 01F0 breq .L116 |
| 1022 081e 8091 0000 lds r24,VersionInfo+6 |
| 1023 0822 8460 ori r24,lo8(4) |
| 1024 0824 8093 0000 sts VersionInfo+6,r24 |
| 1025 0828 89E0 ldi r24,lo8(9) |
| 1026 082a 8093 0000 sts NC_ErrorCode,r24 |
| 1027 082e 8091 0000 lds r24,BeepMuster |
| 1028 0832 9091 0000 lds r25,(BeepMuster)+1 |
| 1029 0836 8F5F subi r24,lo8(-1) |
| 1030 0838 9F4F sbci r25,hi8(-1) |
| 1031 083a 01F4 brne .L116 |
| 1032 083c 8091 0000 lds r24,MotorenEin |
| 1033 0840 8823 tst r24 |
| 1034 0842 01F0 breq .L116 |
| 1035 0844 88E9 ldi r24,lo8(15000) |
| 1036 0846 9AE3 ldi r25,hi8(15000) |
| 1037 0848 9093 0000 sts (beeptime)+1,r25 |
| 1038 084c 8093 0000 sts beeptime,r24 |
| 1039 0850 80E0 ldi r24,lo8(-22528) |
| 1040 0852 98EA ldi r25,hi8(-22528) |
| 1041 0854 9093 0000 sts (BeepMuster)+1,r25 |
| 1042 0858 8093 0000 sts BeepMuster,r24 |
| 1043 .L116: |
| 1044 085c 1092 0000 sts (GPS_Nick)+1,__zero_reg__ |
| 1045 0860 1092 0000 sts GPS_Nick,__zero_reg__ |
| 1046 0864 1092 0000 sts (GPS_Roll)+1,__zero_reg__ |
| 1047 0868 1092 0000 sts GPS_Roll,__zero_reg__ |
| 1048 086c 1092 0000 sts GPS_Aid_StickMultiplikator,__zero_reg__ |
| 1049 0870 1092 0000 sts GPSInfo,__zero_reg__ |
| 1050 0874 1092 0000 sts (FromNaviCtrl+9)+1,__zero_reg__ |
| 1051 0878 1092 0000 sts FromNaviCtrl+9,__zero_reg__ |
| 1052 087c 1092 0000 sts (FromNaviCtrl+11)+1,__zero_reg__ |
| 1053 0880 1092 0000 sts FromNaviCtrl+11,__zero_reg__ |
| 1054 0884 8FEF ldi r24,lo8(-1) |
| 1055 0886 9FEF ldi r25,hi8(-1) |
| 1056 0888 9093 0000 sts (FromNaviCtrl+7)+1,r25 |
| 1057 088c 8093 0000 sts FromNaviCtrl+7,r24 |
| 1058 0890 1092 0000 sts NaviDataOkay,__zero_reg__ |
| 1059 .L115: |
| 1060 0894 8091 0000 lds r24,BattLowVoltageWarning |
| 1061 0898 282F mov r18,r24 |
| 1062 089a 3327 clr r19 |
| 1063 089c 8091 0000 lds r24,UBat |
| 1064 08a0 9091 0000 lds r25,(UBat)+1 |
| 1065 08a4 8217 cp r24,r18 |
| 1066 08a6 9307 cpc r25,r19 |
| 1067 08a8 04F4 brge .L118 |
| 1068 08aa 8091 0000 lds r24,FC_StatusFlags |
| 1069 08ae 8062 ori r24,lo8(32) |
| 1070 08b0 8093 0000 sts FC_StatusFlags,r24 |
| 1071 08b4 8091 0000 lds r24,BeepMuster |
| 1072 08b8 9091 0000 lds r25,(BeepMuster)+1 |
| 1073 08bc 8F5F subi r24,lo8(-1) |
| 1074 08be 9F4F sbci r25,hi8(-1) |
| 1075 08c0 01F4 brne .L120 |
| 1076 08c2 80E7 ldi r24,lo8(6000) |
| 1077 08c4 97E1 ldi r25,hi8(6000) |
| 1078 08c6 9093 0000 sts (beeptime)+1,r25 |
| 1079 08ca 8093 0000 sts beeptime,r24 |
| 1080 08ce 80E0 ldi r24,lo8(768) |
| 1081 08d0 93E0 ldi r25,hi8(768) |
| 1082 08d2 9093 0000 sts (BeepMuster)+1,r25 |
| 1083 08d6 8093 0000 sts BeepMuster,r24 |
| 1084 08da 00C0 rjmp .L120 |
| 1085 .L118: |
| 1086 08dc 8091 0000 lds r24,beeptime |
| 1087 08e0 9091 0000 lds r25,(beeptime)+1 |
| 1088 08e4 892B or r24,r25 |
| 1089 08e6 01F4 brne .L120 |
| 1090 08e8 8091 0000 lds r24,FC_StatusFlags |
| 1091 08ec 8F7D andi r24,lo8(-33) |
| 1092 08ee 8093 0000 sts FC_StatusFlags,r24 |
| 1093 .L120: |
| 1094 08f2 0E94 0000 call SPI_StartTransmitPacket |
| 1095 08f6 84E0 ldi r24,lo8(4) |
| 1096 08f8 8093 0000 sts SendSPI,r24 |
| 1097 08fc 8091 0000 lds r24,second.6 |
| 1098 0900 8F5F subi r24,lo8(-(1)) |
| 1099 0902 8093 0000 sts second.6,r24 |
| 1100 0906 8133 cpi r24,lo8(49) |
| 1101 0908 01F0 breq .+2 |
| 1102 090a 00C0 rjmp .L122 |
| 1103 090c 1092 0000 sts second.6,__zero_reg__ |
| 1104 0910 8091 0000 lds r24,FC_StatusFlags |
| 1105 0914 81FF sbrs r24,1 |
| 1106 0916 00C0 rjmp .L123 |
| 1107 0918 8091 0000 lds r24,FlugSekunden |
| 1108 091c 9091 0000 lds r25,(FlugSekunden)+1 |
| 1109 0920 0196 adiw r24,1 |
| 1110 0922 9093 0000 sts (FlugSekunden)+1,r25 |
| 1111 0926 8093 0000 sts FlugSekunden,r24 |
| 1112 092a 00C0 rjmp .L122 |
| 1113 .L123: |
| 1114 092c 5AEA ldi r21,lo8(1450) |
| 1115 092e 852E mov r8,r21 |
| 1116 0930 55E0 ldi r21,hi8(1450) |
| 1117 0932 952E mov r9,r21 |
| 1118 0934 8091 0000 lds r24,StartLuftdruck |
| 1119 0938 9091 0000 lds r25,(StartLuftdruck)+1 |
| 1120 093c 9C01 movw r18,r24 |
| 1121 093e 4427 clr r20 |
| 1122 0940 37FD sbrc r19,7 |
| 1123 0942 4095 com r20 |
| 1124 0944 542F mov r21,r20 |
| 1125 0946 8091 0000 lds r24,Luftdruck |
| 1126 094a 9091 0000 lds r25,(Luftdruck)+1 |
| 1127 094e A091 0000 lds r26,(Luftdruck)+2 |
| 1128 0952 B091 0000 lds r27,(Luftdruck)+3 |
| 1129 0956 2817 cp r18,r24 |
| 1130 0958 3907 cpc r19,r25 |
| 1131 095a 4A07 cpc r20,r26 |
| 1132 095c 5B07 cpc r21,r27 |
| 1133 095e 04F4 brge .L125 |
| 1134 0960 8091 0000 lds r24,StartLuftdruck |
| 1135 0964 9091 0000 lds r25,(StartLuftdruck)+1 |
| 1136 0968 0196 adiw r24,1 |
| 1137 096a 00C0 rjmp .L245 |
| 1138 .L125: |
| 1139 096c 8091 0000 lds r24,StartLuftdruck |
| 1140 0970 9091 0000 lds r25,(StartLuftdruck)+1 |
| 1141 0974 9C01 movw r18,r24 |
| 1142 0976 4427 clr r20 |
| 1143 0978 37FD sbrc r19,7 |
| 1144 097a 4095 com r20 |
| 1145 097c 542F mov r21,r20 |
| 1146 097e 8091 0000 lds r24,Luftdruck |
| 1147 0982 9091 0000 lds r25,(Luftdruck)+1 |
| 1148 0986 A091 0000 lds r26,(Luftdruck)+2 |
| 1149 098a B091 0000 lds r27,(Luftdruck)+3 |
| 1150 098e 8217 cp r24,r18 |
| 1151 0990 9307 cpc r25,r19 |
| 1152 0992 A407 cpc r26,r20 |
| 1153 0994 B507 cpc r27,r21 |
| 1154 0996 04F4 brge .L122 |
| 1155 0998 8091 0000 lds r24,StartLuftdruck |
| 1156 099c 9091 0000 lds r25,(StartLuftdruck)+1 |
| 1157 09a0 0197 sbiw r24,1 |
| 1158 .L245: |
| 1159 09a2 9093 0000 sts (StartLuftdruck)+1,r25 |
| 1160 09a6 8093 0000 sts StartLuftdruck,r24 |
| 1161 .L122: |
| 1162 09aa 0894 sec |
| 1163 09ac 811C adc r8,__zero_reg__ |
| 1164 09ae 911C adc r9,__zero_reg__ |
| 1165 09b0 32E7 ldi r19,lo8(2930) |
| 1166 09b2 8316 cp r8,r19 |
| 1167 09b4 3BE0 ldi r19,hi8(2930) |
| 1168 09b6 9306 cpc r9,r19 |
| 1169 09b8 01F0 breq .+2 |
| 1170 09ba 00C0 rjmp .L99 |
| 1171 09bc 8824 clr r8 |
| 1172 09be 9924 clr r9 |
| 1173 09c0 2091 0000 lds r18,FlugMinuten |
| 1174 09c4 3091 0000 lds r19,(FlugMinuten)+1 |
| 1175 09c8 2F5F subi r18,lo8(-(1)) |
| 1176 09ca 3F4F sbci r19,hi8(-(1)) |
| 1177 09cc 3093 0000 sts (FlugMinuten)+1,r19 |
| 1178 09d0 2093 0000 sts FlugMinuten,r18 |
| 1179 09d4 8091 0000 lds r24,FlugMinutenGesamt |
| 1180 09d8 9091 0000 lds r25,(FlugMinutenGesamt)+1 |
| 1181 09dc 0196 adiw r24,1 |
| 1182 09de 9093 0000 sts (FlugMinutenGesamt)+1,r25 |
| 1183 09e2 8093 0000 sts FlugMinutenGesamt,r24 |
| 1184 09e6 832F mov r24,r19 |
| 1185 09e8 9927 clr r25 |
| 1186 09ea 682F mov r22,r24 |
| 1187 09ec 8EE0 ldi r24,lo8(14) |
| 1188 09ee 90E0 ldi r25,hi8(14) |
| 1189 09f0 0E94 0000 call SetParamByte |
| 1190 09f4 8091 0000 lds r24,FlugMinuten |
| 1191 09f8 9091 0000 lds r25,(FlugMinuten)+1 |
| 1192 09fc 9070 andi r25,hi8(255) |
| 1193 09fe 682F mov r22,r24 |
| 1194 0a00 8FE0 ldi r24,lo8(15) |
| 1195 0a02 90E0 ldi r25,hi8(15) |
| 1196 0a04 0E94 0000 call SetParamByte |
| 1197 0a08 8091 0000 lds r24,FlugMinutenGesamt |
| 1198 0a0c 9091 0000 lds r25,(FlugMinutenGesamt)+1 |
| 1199 0a10 892F mov r24,r25 |
| 1200 0a12 9927 clr r25 |
| 1201 0a14 682F mov r22,r24 |
| 1202 0a16 8AE0 ldi r24,lo8(10) |
| 1203 0a18 90E0 ldi r25,hi8(10) |
| 1204 0a1a 0E94 0000 call SetParamByte |
| 1205 0a1e 8091 0000 lds r24,FlugMinutenGesamt |
| 1206 0a22 9091 0000 lds r25,(FlugMinutenGesamt)+1 |
| 1207 0a26 9070 andi r25,hi8(255) |
| 1208 0a28 682F mov r22,r24 |
| 1209 0a2a 8BE0 ldi r24,lo8(11) |
| 1210 0a2c 90E0 ldi r25,hi8(11) |
| 1211 0a2e 0E94 0000 call SetParamByte |
| 1212 0a32 84E1 ldi r24,lo8(20) |
| 1213 0a34 90E0 ldi r25,hi8(20) |
| 1214 0a36 0E94 0000 call SetDelay |
| 1215 0a3a 7C01 movw r14,r24 |
| 1216 .L99: |
| 1217 0a3c 0E94 0000 call LED_Update |
| 1218 0a40 0E94 0000 call Capacity_Update |
| 1219 .L79: |
| 1220 0a44 8091 0000 lds r24,SendSPI |
| 1221 0a48 8823 tst r24 |
| 1222 0a4a 01F0 breq .+2 |
| 1223 0a4c 00C0 rjmp .L247 |
| 1224 0a4e 0E94 0000 call SPI_TransmitByte |
| 1225 0a52 00C0 rjmp .L247 |
| 1226 /* epilogue: frame size=0 */ |
| 1227 /* epilogue: noreturn */ |
| 1228 /* epilogue end (size=0) */ |
| 1229 /* function main size 1124 (1120) */ |
| 1231 .comm _printf_P,2,1 |
| 1232 /* File "main.c": code 1335 = 0x0537 (1322), prologues 7, epilogues 6 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 main.c |
| C:\Temp/ccNa7tFS.s:3 *ABS*:0000003f __SREG__ |
| C:\Temp/ccNa7tFS.s:4 *ABS*:0000003e __SP_H__ |
| C:\Temp/ccNa7tFS.s:5 *ABS*:0000003d __SP_L__ |
| C:\Temp/ccNa7tFS.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\Temp/ccNa7tFS.s:7 *ABS*:00000001 __zero_reg__ |
| C:\Temp/ccNa7tFS.s:15 .bss:00000000 JetiBeep |
| C:\Temp/ccNa7tFS.s:21 .bss:00000001 FoundMotors |
| C:\Temp/ccNa7tFS.s:27 .bss:00000002 FlugSekunden |
| C:\Temp/ccNa7tFS.s:33 .bss:00000004 FlugMinutenGesamt |
| C:\Temp/ccNa7tFS.s:39 .bss:00000006 FlugMinuten |
| C:\Temp/ccNa7tFS.s:45 .data:00000000 BattLowVoltageWarning |
| C:\Temp/ccNa7tFS.s:50 .data:00000001 PlatinenVersion |
| C:\Temp/ccNa7tFS.s:57 .bss:00000008 DisableRcOffBeeping |
| C:\Temp/ccNa7tFS.s:62 .progmem.data:00000000 __c.11 |
| C:\Temp/ccNa7tFS.s:67 .text:00000000 PrintLine |
| *COM*:00000002 _printf_P |
| C:\Temp/ccNa7tFS.s:93 .data:00000002 stick.10 |
| C:\Temp/ccNa7tFS.s:98 .text:00000024 CalMk3Mag |
| C:\Temp/ccNa7tFS.s:152 .progmem.data:00000026 __c.7 |
| C:\Temp/ccNa7tFS.s:156 .progmem.data:0000002e __c.8 |
| C:\Temp/ccNa7tFS.s:160 .progmem.data:00000039 __c.9 |
| C:\Temp/ccNa7tFS.s:165 .text:0000008e LipoDetection |
| C:\Temp/ccNa7tFS.s:302 .progmem.data:0000004d __c.0 |
| C:\Temp/ccNa7tFS.s:306 .progmem.data:0000005f __c.1 |
| C:\Temp/ccNa7tFS.s:310 .progmem.data:00000062 __c.2 |
| C:\Temp/ccNa7tFS.s:314 .progmem.data:00000080 __c.3 |
| C:\Temp/ccNa7tFS.s:318 .progmem.data:000000a0 __c.4 |
| C:\Temp/ccNa7tFS.s:322 .progmem.data:000000a5 __c.5 |
| .bss:00000009 second.6 |
| C:\Temp/ccNa7tFS.s:328 .text:000001a2 main |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| uart_putchar |
| EE_Parameter |
| PPM_in |
| WinkelOut |
| beeptime |
| Piep |
| DebugOut |
| SetDelay |
| CheckDelay |
| UBat |
| __udivmodqi4 |
| __stack |
| StickGier |
| StickRoll |
| StickNick |
| GIER_GRAD_FAKTOR |
| Timer_Init |
| TIMER2_Init |
| UART_Init |
| rc_sum_init |
| ADC_Init |
| I2C_Init |
| SPI_MasterInit |
| Capacity_Init |
| LIBFC_Init |
| ParamSet_Init |
| BLFlags |
| motor_read |
| SendMotorData |
| Motor |
| Mixer |
| ServoActive |
| RequiredMotors |
| VersionInfo |
| SucheLuftruckOffset |
| SetNeutral |
| ExternControl |
| GetParamByte |
| LcdClear |
| I2CTimeout |
| LIBFC_ReceiverInit |
| ReceiverUpdateModeActive |
| UpdateMotor |
| AdReady |
| MotorRegler |
| SenderOkay |
| MissingMotor |
| I2C_Reset |
| BeepMuster |
| MotorenEin |
| LIBFC_Polling |
| NewSBusData |
| ProcessSBus |
| CalculateServoSignals |
| CalculateServo |
| DatenUebertragung |
| BearbeiteRxDaten |
| CalcNickServoValue |
| HoTT_Menu |
| BuildJeti_Vario |
| PcZugriff |
| ExternStickNick |
| ExternStickRoll |
| ExternStickGier |
| NaviDataOkay |
| NC_Version |
| NC_ErrorCode |
| GPS_Nick |
| GPS_Roll |
| GPS_Aid_StickMultiplikator |
| GPSInfo |
| FromNaviCtrl |
| FC_StatusFlags |
| SPI_StartTransmitPacket |
| SendSPI |
| StartLuftdruck |
| Luftdruck |
| SetParamByte |
| LED_Update |
| Capacity_Update |
| SPI_TransmitByte |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/makefile |
|---|
| 0,0 → 1,495 |
| #-------------------------------------------------------------------- |
| # MCU name |
| MCU = atmega1284p |
| #MCU = atmega644p |
| F_CPU = 20000000 |
| #------------------------------------------------------------------- |
| VERSION_MAJOR = 0 |
| VERSION_MINOR = 90 |
| VERSION_PATCH = 3 |
| VERSION_SERIAL_MAJOR = 11 # Serial Protocol |
| VERSION_SERIAL_MINOR = 0 # Serial Protocol |
| NC_SPI_COMPATIBLE = 52 # Navi-Kompatibilität |
| #------------------------------------------------------------------- |
| # ATMEGA644: 63487 is maximum |
| #------------------------------------------------------------------- |
| # 0 a |
| # 1 b |
| # 2 c |
| # 3 d |
| # 4 e |
| # 5 f |
| # 6 g |
| # 7 h |
| # 8 i |
| # 9 j |
| # 10 k |
| # 11 L |
| #------------------------------------------------------------------- |
| # get SVN revision |
| REV := $(shell sh -c "cat .svn/entries | sed -n '4p'") |
| ifeq ($(MCU), atmega1284p) |
| FUSE_SETTINGS = -u -U lfuse:w:0xff:m -U hfuse:w:0xdf:m |
| HEX_NAME = MEGA1284P |
| LIBFC_EXT = 1284 |
| endif |
| ifeq ($(MCU), atmega644p) |
| FUSE_SETTINGS = -u -U lfuse:w:0xff:m -U hfuse:w:0xdf:m |
| HEX_NAME = MEGA644 |
| LIBFC_EXT = 644 |
| endif |
| ifeq ($(F_CPU), 16000000) |
| QUARZ = 16MHZ |
| endif |
| ifeq ($(F_CPU), 20000000) |
| QUARZ = 20MHZ |
| endif |
| # Output format. (can be srec, ihex, binary) |
| FORMAT = ihex |
| # Target file name (without extension). |
| ifeq ($(VERSION_PATCH), 0) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)a_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 1) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)b_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 2) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)c_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 3) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)d_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 4) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)e_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 5) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)f_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 6) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)g_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 7) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)h_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 8) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)i_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 9) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)j_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 10) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)k_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 11) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)L_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 12) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)m_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 13) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)n_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 14) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)o_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 15) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)p_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 16) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)q_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 17) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)r_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 18) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)s_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 19) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)t_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 20) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)u_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 21) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)v_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 22) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)w_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 23) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)x_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 24) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)y_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 25) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)z_SVN$(REV) |
| endif |
| # Optimization level, can be [0, 1, 2, 3, s]. 0 turns off optimization. |
| # (Note: 3 is not always the best optimization level. See avr-libc FAQ.) |
| OPT = s |
| #OPT = 2 |
| ########################################################################################################## |
| # List C source files here. (C dependencies are automatically generated.) |
| SRC = main.c uart.c timer0.c analog.c menu.c eeprom.c |
| SRC += twimaster.c rc.c fc.c GPS.c spi.c led.c Spektrum.c |
| SRC += mymath.c jetimenu.c capacity.c debug.c |
| SRC += hottmenu.c sbus.c user_receiver.c |
| SRC += jeti_ex.c |
| ########################################################################################################## |
| # List Assembler source files here. |
| # Make them always end in a capital .S. Files ending in a lowercase .s |
| # will not be considered source files but generated files (assembler |
| # output from the compiler), and will be deleted upon "make clean"! |
| # Even though the DOS/Win* filesystem matches both .s and .S the same, |
| # it will preserve the spelling of the filenames, and gcc itself does |
| # care about how the name is spelled on its command-line. |
| ASRC = isqrt.S |
| # List any extra directories to look for include files here. |
| # Each directory must be seperated by a space. |
| EXTRAINCDIRS = |
| # Optional compiler flags. |
| # -g: generate debugging information (for GDB, or for COFF conversion) |
| # -O*: optimization level |
| # -f...: tuning, see gcc manual and avr-libc documentation |
| # -Wall...: warning level |
| # -Wa,...: tell GCC to pass this to the assembler. |
| # -ahlms: create assembler listing |
| CFLAGS = -O$(OPT) -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -Wall -Wstrict-prototypes -Wa,-adhlns=$(<:%.c=%.lst) $(patsubst %,-I%,$(EXTRAINCDIRS)) |
| # Set a "language standard" compiler flag. |
| # Unremark just one line below to set the language standard to use. |
| # gnu99 = C99 + GNU extensions. See GCC manual for more information. |
| #CFLAGS += -std=c89 |
| #CFLAGS += -std=gnu89 |
| #CFLAGS += -std=c99 |
| CFLAGS += -std=gnu99 |
| # shrink code size |
| CFLAGS += -mtiny-stack |
| #CFLAGS += -fno-inline-functions |
| CFLAGS += -mcall-prologues |
| CFLAGS += -DF_CPU=$(F_CPU) -DVERSION_MAJOR=$(VERSION_MAJOR) -DVERSION_MINOR=$(VERSION_MINOR) -DVERSION_PATCH=$(VERSION_PATCH) -DVERSION_SERIAL_MAJOR=$(VERSION_SERIAL_MAJOR) -DVERSION_SERIAL_MINOR=$(VERSION_SERIAL_MINOR) -DNC_SPI_COMPATIBLE=$(NC_SPI_COMPATIBLE) |
| # Optional assembler flags. |
| # -Wa,...: tell GCC to pass this to the assembler. |
| # -ahlms: create listing |
| # -gstabs: have the assembler create line number information; note that |
| # for use in COFF files, additional information about filenames |
| # and function names needs to be present in the assembler source |
| # files -- see avr-libc docs [FIXME: not yet described there] |
| ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs |
| # Optional linker flags. |
| # -Wl,...: tell GCC to pass this to linker. |
| # -Map: create map file |
| # --cref: add cross reference to map file |
| LDFLAGS = -Wl,-Map=$(TARGET).map,--cref |
| # Additional libraries |
| # Minimalistic printf version |
| #LDFLAGS += -Wl,-u,vfprintf -lprintf_min |
| # Floating point printf version (requires -lm below) |
| #LDFLAGS += -Wl,-u,vfprintf -lprintf_flt |
| # -lm = math library |
| LDFLAGS += -lm |
| LDFLAGS += libfc$(LIBFC_EXT).a |
| ##LDFLAGS += -T./linkerfile/avr5.x |
| # Programming support using avrdude. Settings and variables. |
| # Programming hardware: alf avr910 avrisp bascom bsd |
| # dt006 pavr picoweb pony-stk200 sp12 stk200 stk500 |
| # |
| # Type: avrdude -c ? |
| # to get a full listing. |
| # |
| #AVRDUDE_PROGRAMMER = dt006 |
| #AVRDUDE_PROGRAMMER = stk200 |
| #AVRDUDE_PROGRAMMER = ponyser |
| AVRDUDE_PROGRAMMER = avrispv2 |
| #falls Ponyser ausgewählt wird, muss sich unsere avrdude-Configdatei im Bin-Verzeichnis des Compilers befinden |
| #AVRDUDE_PORT = com1 # programmer connected to serial device |
| #AVRDUDE_PORT = lpt1 # programmer connected to parallel port |
| AVRDUDE_PORT = usb # programmer connected to USB |
| #AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex |
| AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex $(FUSE_SETTINGS) |
| #AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep |
| #avrdude -c avrispv2 -P usb -p m32 -U flash:w:blink.hex |
| AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) |
| # Uncomment the following if you want avrdude's erase cycle counter. |
| # Note that this counter needs to be initialized first using -Yn, |
| # see avrdude manual. |
| #AVRDUDE_ERASE += -y |
| # Uncomment the following if you do /not/ wish a verification to be |
| # performed after programming the device. |
| AVRDUDE_FLAGS += -V |
| # Increase verbosity level. Please use this when submitting bug |
| # reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude> |
| # to submit bug reports. |
| #AVRDUDE_FLAGS += -v -v |
| # --------------------------------------------------------------------------- |
| # Define directories, if needed. |
| DIRAVR = c:/winavr |
| DIRAVRBIN = $(DIRAVR)/bin |
| DIRAVRUTILS = $(DIRAVR)/utils/bin |
| DIRINC = . |
| DIRLIB = $(DIRAVR)/avr/lib |
| # Define programs and commands. |
| SHELL = sh |
| CC = avr-gcc |
| OBJCOPY = avr-objcopy |
| OBJDUMP = avr-objdump |
| SIZE = avr-size |
| # Programming support using avrdude. |
| AVRDUDE = avrdude |
| REMOVE = rm -f |
| COPY = cp |
| HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex |
| ELFSIZE = $(SIZE) -x -A $(TARGET).elf |
| LIMITS = $(SIZE) --mcu=$(MCU) -C $(TARGET).elf |
| # Define Messages |
| # English |
| MSG_ERRORS_NONE = Errors: none |
| MSG_BEGIN = -------- begin -------- |
| MSG_END = -------- end -------- |
| MSG_SIZE_BEFORE = Size before: |
| MSG_SIZE_AFTER = Size after: |
| MSG_COFF = Converting to AVR COFF: |
| MSG_EXTENDED_COFF = Converting to AVR Extended COFF: |
| MSG_FLASH = Creating load file for Flash: |
| MSG_EEPROM = Creating load file for EEPROM: |
| MSG_EXTENDED_LISTING = Creating Extended Listing: |
| MSG_SYMBOL_TABLE = Creating Symbol Table: |
| MSG_LINKING = Linking: |
| MSG_COMPILING = Compiling: |
| MSG_ASSEMBLING = Assembling: |
| MSG_CLEANING = Cleaning project: |
| # Define all object files. |
| OBJ = $(SRC:.c=.o) $(ASRC:.S=.o) |
| # Define all listing files. |
| LST = $(ASRC:.S=.lst) $(SRC:.c=.lst) |
| # Combine all necessary flags and optional flags. |
| # Add target processor to flags. |
| #ALL_CFLAGS = -mmcu=$(MCU) -DF_CPU=$(F_CPU) -I. $(CFLAGS) |
| ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) |
| ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) |
| # Default target. |
| all: begin gccversion sizebefore $(TARGET).elf $(TARGET).hex sizeafter finished end |
| # Eye candy. |
| # AVR Studio 3.x does not check make's exit code but relies on |
| # the following magic strings to be generated by the compile job. |
| begin: |
| @echo |
| @echo $(MSG_BEGIN) |
| finished: |
| @echo $(MSG_ERRORS_NONE) |
| end: |
| @echo $(MSG_END) |
| @echo |
| # Display size of file. |
| sizebefore: |
| @if [ -f $(TARGET).elf ]; then echo Size before:; $(ELFSIZE); $(HEXSIZE); $(LIMITS); echo; fi |
| sizeafter: |
| @if [ -f $(TARGET).elf ]; then echo Size after:; $(ELFSIZE); $(HEXSIZE); $(LIMITS); echo; fi |
| # Display compiler version information. |
| gccversion : |
| @$(CC) --version |
| # Convert ELF to COFF for use in debugging / simulating in |
| # AVR Studio or VMLAB. |
| COFFCONVERT=$(OBJCOPY) --debugging \ |
| --change-section-address .data-0x800000 \ |
| --change-section-address .bss-0x800000 \ |
| --change-section-address .noinit-0x800000 \ |
| --change-section-address .eeprom-0x810000 |
| coff: $(TARGET).elf |
| @echo |
| @echo $(MSG_COFF) $(TARGET).cof |
| $(COFFCONVERT) -O coff-avr $< $(TARGET).cof |
| extcoff: $(TARGET).elf |
| @echo |
| @echo $(MSG_EXTENDED_COFF) $(TARGET).cof |
| $(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof |
| # Program the device. |
| program: $(TARGET).hex $(TARGET).eep |
| $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM) |
| # Create final output files (.hex, .eep) from ELF output file. |
| %.hex: %.elf |
| @echo |
| @echo $(MSG_FLASH) $@ |
| $(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@ |
| %.eep: %.elf |
| @echo |
| @echo $(MSG_EEPROM) $@ |
| -$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ |
| --change-section-lma .eeprom=0 -O $(FORMAT) $< $@ |
| # Create extended listing file from ELF output file. |
| %.lss: %.elf |
| @echo |
| @echo $(MSG_EXTENDED_LISTING) $@ |
| $(OBJDUMP) -h -S $< > $@ |
| # Create a symbol table from ELF output file. |
| %.sym: %.elf |
| @echo |
| @echo $(MSG_SYMBOL_TABLE) $@ |
| avr-nm -n $< > $@ |
| # Link: create ELF output file from object files. |
| .SECONDARY : $(TARGET).elf |
| .PRECIOUS : $(OBJ) |
| %.elf: $(OBJ) |
| @echo |
| @echo $(MSG_LINKING) $@ |
| $(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS) |
| # Compile: create object files from C source files. |
| %.o : %.c |
| @echo |
| @echo $(MSG_COMPILING) $< |
| $(CC) -c $(ALL_CFLAGS) $< -o $@ |
| # Compile: create assembler files from C source files. |
| %.s : %.c |
| $(CC) -S $(ALL_CFLAGS) $< -o $@ |
| # Assemble: create object files from assembler source files. |
| %.o : %.S |
| @echo |
| @echo $(MSG_ASSEMBLING) $< |
| $(CC) -c $(ALL_ASFLAGS) $< -o $@ |
| # Target: clean project. |
| clean: begin clean_list finished end |
| clean_list : |
| @echo |
| @echo $(MSG_CLEANING) |
| $(REMOVE) Flight-Ctrl_*.hex |
| $(REMOVE) Flight-Ctrl_*.eep |
| $(REMOVE) $(TARGET).obj |
| $(REMOVE) $(TARGET).cof |
| $(REMOVE) Flight-Ctrl_*.elf |
| $(REMOVE) Flight-Ctrl_*.map |
| $(REMOVE) $(TARGET).obj |
| $(REMOVE) $(TARGET).a90 |
| $(REMOVE) Flight-Ctrl_*.sym |
| $(REMOVE) $(TARGET).lnk |
| $(REMOVE) $(TARGET).lss |
| $(REMOVE) $(OBJ) |
| $(REMOVE) $(LST) |
| $(REMOVE) $(SRC:.c=.s) |
| $(REMOVE) $(SRC:.c=.d) |
| $(REMOVE) $(SRC:.c=.o) |
| # Automatically generate C source code dependencies. |
| # (Code originally taken from the GNU make user manual and modified |
| # (See README.txt Credits).) |
| # |
| # Note that this will work with sh (bash) and sed that is shipped with WinAVR |
| # (see the SHELL variable defined above). |
| # This may not work with other shells or other seds. |
| # |
| %.d: %.c |
| set -e; $(CC) -MM $(ALL_CFLAGS) $< \ |
| | sed 's,\(.*\)\.o[ :]*,\1.o \1.d : ,g' > $@; \ |
| [ -s $@ ] || rm -f $@ |
| # Remove the '-' if you want to see the dependency files generated. |
| -include $(SRC:%.c=%.d) |
| # Listing of phony targets. |
| .PHONY : all begin finish end sizebefore sizeafter gccversion coff extcoff \ |
| clean clean_list program |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/menu.c |
|---|
| 0,0 → 1,262 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software Nutzungsbedingungen (english version: see below) |
| // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
| // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
| // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
| // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
| // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
| // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
| // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
| // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
| // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
| // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
| // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
| // + des Mitverschuldens offen. |
| // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
| // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
| // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
| // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
| // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
| // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
| // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software LICENSING TERMS |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
| // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
| // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
| // + The Software may only be used with the Licensor's products. |
| // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
| // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
| // + agreement shall be the property of the Licensor. |
| // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
| // + features that can be used to identify the program may not be altered or defaced by the customer. |
| // + The customer shall be responsible for taking reasonable precautions |
| // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
| // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
| // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
| // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
| // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
| // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
| // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
| // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
| // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
| // + #### END OF LICENSING TERMS #### |
| // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| #include "eeprom.h" |
| char DisplayBuff[80]; |
| unsigned char DispPtr = 0; |
| unsigned char MaxMenue = 16; |
| unsigned char MenuePunkt = 0; |
| unsigned char RemoteKeys = 0; |
| #define KEY1 0x01 |
| #define KEY2 0x02 |
| #define KEY3 0x04 |
| #define KEY4 0x08 |
| #define KEY5 0x10 |
| void LcdClear(void) |
| { |
| unsigned char i; |
| for(i=0;i<80;i++) DisplayBuff[i] = ' '; |
| } |
| void Menu_Putchar(char c) |
| { |
| if(DispPtr < 80) DisplayBuff[DispPtr++] = c; |
| } |
| void Menu(void) |
| { |
| unsigned char i; |
| if(RemoteKeys & KEY1) { if(MenuePunkt) MenuePunkt--; else MenuePunkt = MaxMenue;} |
| if(RemoteKeys & KEY2) { if(MenuePunkt == MaxMenue) MenuePunkt = 0; else MenuePunkt++;} |
| if((RemoteKeys & KEY1) && (RemoteKeys & KEY2)) MenuePunkt = 0; |
| LcdClear(); |
| if(MenuePunkt < 10) {LCD_printfxy(17,0,"[%i]",MenuePunkt);} |
| else {LCD_printfxy(16,0,"[%i]",MenuePunkt);}; |
| switch(MenuePunkt) |
| { |
| case 0: |
| LCD_printfxy(0,0,"+ MikroKopter +"); |
| LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%d%c V4",PlatinenVersion/10,PlatinenVersion%10, VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH +'a'); |
| LCD_printfxy(0,2,"Setting:%d %s", GetActiveParamSet(),Mixer.Name); |
| if(VersionInfo.HardwareError[1] & FC_ERROR1_MIXER) LCD_printfxy(0,3,"Mixer Error!") |
| else |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| if(NC_ErrorCode) |
| { |
| LCD_printfxy(0,3,"ERR%2d:",NC_ErrorCode); |
| _printf_P(&Menu_Putchar, NC_ERROR_TEXT[NC_ErrorCode] , 0); |
| } |
| else |
| #endif |
| if(VersionInfo.HardwareError[0]) LCD_printfxy(0,3,"Hardware Error 1:%d !!",VersionInfo.HardwareError[0]) |
| else |
| if(MissingMotor) LCD_printfxy(0,3,"Missing BL-Ctrl:%d!!",MissingMotor) |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| #else |
| else |
| if(NC_ErrorCode) |
| { |
| LCD_printfxy(0,3,"! NC-ERR: %2d ! ",NC_ErrorCode); |
| } |
| #endif |
| // if(VersionInfo.HardwareError[1]) LCD_printfxy(0,3,"Error 2:%d !!",VersionInfo.HardwareError[1]) |
| else |
| if(I2CTimeout < 6) LCD_printfxy(0,3,"I2C ERROR!!!") |
| break; |
| case 1: |
| if(Parameter_GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| LCD_printfxy(0,0,"Height: %5i",(int)(HoehenWert/5)); |
| LCD_printfxy(0,1,"Setpoint:%5i",(int)(SollHoehe/5)); |
| LCD_printfxy(0,2,"Pressure:%5i",MessLuftdruck); |
| LCD_printfxy(0,3,"Offset: %5i",OCR0A); |
| } |
| else |
| { |
| LCD_printfxy(0,0,"Height control"); |
| LCD_printfxy(0,1,"DISABLED"); |
| //LCD_printfxy(0,2,"Height control"); |
| //LCD_printfxy(0,3,"DISABLED"); |
| } |
| break; |
| case 2: |
| LCD_printfxy(0,0,"act. bearing"); |
| LCD_printfxy(0,1,"Nick: %5i",IntegralNick/1024); |
| LCD_printfxy(0,2,"Roll: %5i",IntegralRoll/1024); |
| LCD_printfxy(0,3,"Compass: %5i",ErsatzKompassInGrad); |
| break; |
| case 3: |
| for(i=1;i<9;i+=2) LCD_printfxy(0,i/2,"K%i:%4i K%i:%4i ",i,PPM_in[i],i+1,PPM_in[i+1]); |
| break; |
| case 4: |
| LCD_printfxy(0,0,"Ni:%4i Ro:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_NICK]],PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]); |
| LCD_printfxy(0,1,"Gs:%4i Gi:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]+127,PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]); |
| LCD_printfxy(0,2,"P1:%4i P2:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]]+127,PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]]+127); |
| LCD_printfxy(0,3,"P3:%4i P4:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]]+127,PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]]+127); |
| break; |
| case 5: |
| LCD_printfxy(0,0,"Gyro - Sensor"); |
| if(PlatinenVersion == 10) |
| { |
| LCD_printfxy(0,1,"Nick%4i (%3i.%i)",AdWertNick - AdNeutralNick/8, AdNeutralNick/8, AdNeutralNick%8); |
| LCD_printfxy(0,2,"Roll%4i (%3i.%i)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll/8, AdNeutralRoll%8); |
| LCD_printfxy(0,3,"Gier%4i (%3i)",AdNeutralGier - AdWertGier, AdNeutralGier); |
| } |
| else |
| if((PlatinenVersion == 11) || (PlatinenVersion >= 20)) |
| { |
| LCD_printfxy(0,1,"Nick %4i (%3i.%x)",AdWertNick - AdNeutralNick/8, AdNeutralNick/16, (AdNeutralNick%16)/2); |
| LCD_printfxy(0,2,"Roll %4i (%3i.%x)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll/16, (AdNeutralRoll%16)/2); |
| LCD_printfxy(0,3,"Yaw %4i (%3i)",AdNeutralGier - AdWertGier, AdNeutralGier/2); |
| } |
| else |
| if(PlatinenVersion == 13) |
| { |
| LCD_printfxy(0,1,"Nick %4i (%3i)(%3i)",AdWertNick - AdNeutralNick/8, AdNeutralNick/16,AnalogOffsetNick); |
| LCD_printfxy(0,2,"Roll %4i (%3i)(%3i)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll/16,AnalogOffsetRoll); |
| LCD_printfxy(0,3,"Yaw %4i (%3i)(%3i)",AdNeutralGier - AdWertGier, AdNeutralGier/2,AnalogOffsetGier); |
| } |
| break; |
| case 6: |
| LCD_printfxy(0,0,"ACC - Sensor"); |
| LCD_printfxy(0,1,"Nick %4i (%3i)",AdWertAccNick,NeutralAccX); |
| LCD_printfxy(0,2,"Roll %4i (%3i)",AdWertAccRoll,NeutralAccY); |
| LCD_printfxy(0,3,"Z %4i (%3i)",AdWertAccHoch,(int)NeutralAccZ); |
| break; |
| case 7: |
| LCD_printfxy(0,0,"Voltage: %3i.%1iV",UBat/10, UBat%10); |
| LCD_printfxy(0,1,"Current: %3i.%1iA",Capacity.ActualCurrent/10, Capacity.ActualCurrent%10); |
| LCD_printfxy(0,2,"Power: %4iW",Capacity.ActualPower); |
| LCD_printfxy(0,3,"Discharge: %5imAh", Capacity.UsedCapacity); |
| break; |
| case 8: |
| LCD_printfxy(0,0,"Receiver"); |
| LCD_printfxy(0,1,"RC-RSSI: %4i", PPM_in[0]); |
| LCD_printfxy(0,2,"RC-Quality: %4i", SenderOkay); |
| LCD_printfxy(0,3,"RC-Channels:%4i", Channels-1); |
| break; |
| case 9: |
| LCD_printfxy(0,0,"Compass"); |
| LCD_printfxy(0,1,"Magnet: %5i",KompassValue); |
| LCD_printfxy(0,2,"Gyro: %5i",ErsatzKompassInGrad); |
| LCD_printfxy(0,3,"Setpoint: %5i",KompassSollWert); |
| break; |
| case 10: |
| for(i=0;i<4;i++) LCD_printfxy(0,i,"Poti%i: %3i",i+1,Poti[i]); |
| break; |
| case 11: |
| for(i=0;i<4;i++) LCD_printfxy(0,i,"Poti%i: %3i",i+5,Poti[i+4]); |
| break; |
| case 12: |
| LCD_printfxy(0,0,"Servo " ); |
| LCD_printfxy(0,1,"Setpoint %3i",Parameter_ServoNickControl); |
| LCD_printfxy(0,2,"Position: %3i",ServoNickValue/4); |
| LCD_printfxy(0,3,"Range:%3i-%3i",EE_Parameter.ServoNickMin,EE_Parameter.ServoNickMax); |
| break; |
| /* case 13: |
| LCD_printfxy(0,0,"ExternControl " ); |
| LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",ExternControl.Nick,ExternControl.Roll); |
| LCD_printfxy(0,2,"Gs:%4i Gi:%4i ",ExternControl.Gas,ExternControl.Gier); |
| LCD_printfxy(0,3,"Hi:%4i Cf:%4i ",ExternControl.Hight,ExternControl.Config); |
| break; |
| */ |
| case 13: |
| LCD_printfxy(0,0,"BL-Ctrl Errors " ); |
| for(i=0;i<3;i++) |
| { |
| LCD_printfxy(0,i+1,"%3d %3d %3d %3d ",Motor[i*4].State & MOTOR_STATE_ERROR_MASK,Motor[i*4+1].State & MOTOR_STATE_ERROR_MASK,Motor[i*4+2].State & MOTOR_STATE_ERROR_MASK,Motor[i*4+3].State & MOTOR_STATE_ERROR_MASK); |
| // if(i*4 >= RequiredMotors) break; |
| } |
| break; |
| case 14: |
| LCD_printfxy(0,0,"BL Temperature" ); |
| for(i=0;i<3;i++) |
| { |
| LCD_printfxy(0,i+1,"%3d %3d %3d %3d ",Motor[i*4].Temperature,Motor[i*4+1].Temperature,Motor[i*4+2].Temperature,Motor[i*4+3].Temperature); |
| // if(4 + i * 4 >= RequiredMotors) break; |
| } |
| break; |
| case 15: |
| LCD_printfxy(0,0,"BL-Ctrl found " ); |
| LCD_printfxy(0,1," %c %c %c %c ",'-' + 4 * (Motor[0].State>>7),'-' + 5 * (Motor[1].State>>7),'-' + 6 * (Motor[2].State>>7),'-' + 7 * (Motor[3].State>>7)); |
| LCD_printfxy(0,2," %c %c %c %c ",'-' + 8 * (Motor[4].State>>7),'-' + 9 * (Motor[5].State>>7),'-' + 10 * (Motor[6].State>>7),'-' + 11 * (Motor[7].State>>7)); |
| LCD_printfxy(0,3," %c - - - ",'-' + 12 * (Motor[8].State>>7)); |
| if(Motor[9].State>>7) LCD_printfxy(4,3,"10"); |
| if(Motor[10].State>>7) LCD_printfxy(8,3,"11"); |
| if(Motor[11].State>>7) LCD_printfxy(12,3,"12"); |
| break; |
| case 16: |
| LCD_printfxy(0,0,"Flight-Time " ); |
| LCD_printfxy(0,1,"Total:%5umin",FlugMinutenGesamt); |
| LCD_printfxy(0,2,"Act: %5umin",FlugMinuten); |
| LCD_printfxy(13,3,"(reset)"); |
| if(RemoteKeys & KEY4) |
| { |
| FlugMinuten = 0; |
| SetParamWord(PID_FLIGHT_MINUTES, FlugMinuten); |
| } |
| break; |
| default: |
| if(MenuePunkt == MaxMenue) MaxMenue--; |
| MenuePunkt = 0; |
| break; |
| } |
| RemoteKeys = 0; |
| } |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/menu.h |
|---|
| 0,0 → 1,17 |
| #ifndef _MENU_H |
| #define _MENU_H |
| extern void Menu(void); |
| extern void LcdClear(void); |
| extern void Menu_Putchar(char c); |
| extern char DisplayBuff[80]; |
| extern unsigned char DispPtr; |
| extern unsigned char MaxMenue; |
| extern unsigned char MenuePunkt; |
| extern unsigned char RemoteKeys; |
| #define LCD_printfxy(x,y,format, args...) { DispPtr = (y) * 20 + (x); _printf_P(&Menu_Putchar,PSTR(format) , ## args);} |
| #define LCD_printf(format, args...) { _printf_P(&Menu_Putchar, PSTR(format) , ## args);} |
| #endif //_MENU_H |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/menu.lst |
|---|
| 0,0 → 1,2726 |
| 1 .file "menu.c" |
| 2 .arch atmega1284p |
| 3 __SREG__ = 0x3f |
| 4 __SP_H__ = 0x3e |
| 5 __SP_L__ = 0x3d |
| 6 __tmp_reg__ = 0 |
| 7 __zero_reg__ = 1 |
| 8 .global __do_copy_data |
| 9 .global __do_clear_bss |
| 10 .global RemoteKeys |
| 11 .global RemoteKeys |
| 12 .section .bss |
| 15 RemoteKeys: |
| 16 0000 00 .skip 1,0 |
| 17 .global MenuePunkt |
| 18 .global MenuePunkt |
| 21 MenuePunkt: |
| 22 0001 00 .skip 1,0 |
| 23 .global MaxMenue |
| 24 .data |
| 27 MaxMenue: |
| 28 0000 10 .byte 16 |
| 29 .global DispPtr |
| 30 .global DispPtr |
| 31 .section .bss |
| 34 DispPtr: |
| 35 0002 00 .skip 1,0 |
| 36 .text |
| 37 .global LcdClear |
| 39 LcdClear: |
| 40 /* prologue: frame size=0 */ |
| 41 /* prologue end (size=0) */ |
| 42 0000 90E2 ldi r25,lo8(32) |
| 43 0002 E0E0 ldi r30,lo8(DisplayBuff) |
| 44 0004 F0E0 ldi r31,hi8(DisplayBuff) |
| 45 0006 8FE4 ldi r24,lo8(79) |
| 46 .L5: |
| 47 0008 9193 st Z+,r25 |
| 48 000a 8150 subi r24,lo8(-(-1)) |
| 49 000c 87FF sbrs r24,7 |
| 50 000e 00C0 rjmp .L5 |
| 51 /* epilogue: frame size=0 */ |
| 52 0010 0895 ret |
| 53 /* epilogue end (size=1) */ |
| 54 /* function LcdClear size 9 (8) */ |
| 56 .global Menu_Putchar |
| 58 Menu_Putchar: |
| 59 /* prologue: frame size=0 */ |
| 60 /* prologue end (size=0) */ |
| 61 0012 9091 0000 lds r25,DispPtr |
| 62 0016 9035 cpi r25,lo8(80) |
| 63 0018 00F4 brsh .L8 |
| 64 001a E92F mov r30,r25 |
| 65 001c FF27 clr r31 |
| 66 001e E050 subi r30,lo8(-(DisplayBuff)) |
| 67 0020 F040 sbci r31,hi8(-(DisplayBuff)) |
| 68 0022 8083 st Z,r24 |
| 69 0024 9F5F subi r25,lo8(-(1)) |
| 70 0026 9093 0000 sts DispPtr,r25 |
| 71 .L8: |
| 72 002a 0895 ret |
| 73 /* epilogue: frame size=0 */ |
| 74 /* epilogue: noreturn */ |
| 75 /* epilogue end (size=0) */ |
| 76 /* function Menu_Putchar size 13 (13) */ |
| 78 .section .progmem.data,"a",@progbits |
| 81 __c.0: |
| 82 0000 5B25 695D .string "[%i]" |
| 82 00 |
| 85 __c.1: |
| 86 0005 5B25 695D .string "[%i]" |
| 86 00 |
| 89 __c.2: |
| 90 000a 2B20 4D69 .string "+ MikroKopter +" |
| 90 6B72 6F4B |
| 90 6F70 7465 |
| 90 7220 2B00 |
| 93 __c.3: |
| 94 001a 4857 3A56 .string "HW:V%d.%d SW:%d.%d%c V4" |
| 94 2564 2E25 |
| 94 6420 5357 |
| 94 3A25 642E |
| 94 2564 2563 |
| 97 __c.4: |
| 98 0032 5365 7474 .string "Setting:%d %s" |
| 98 696E 673A |
| 98 2564 2025 |
| 98 7300 |
| 101 __c.5: |
| 102 0040 4D69 7865 .string "Mixer Error!" |
| 102 7220 4572 |
| 102 726F 7221 |
| 102 00 |
| 105 __c.6: |
| 106 004d 4552 5225 .string "ERR%2d:" |
| 106 3264 3A00 |
| 109 __c.7: |
| 110 0055 4861 7264 .string "Hardware Error 1:%d !!" |
| 110 7761 7265 |
| 110 2045 7272 |
| 110 6F72 2031 |
| 110 3A25 6420 |
| 113 __c.8: |
| 114 006c 4D69 7373 .string "Missing BL-Ctrl:%d!!" |
| 114 696E 6720 |
| 114 424C 2D43 |
| 114 7472 6C3A |
| 114 2564 2121 |
| 117 __c.9: |
| 118 0081 4932 4320 .string "I2C ERROR!!!" |
| 118 4552 524F |
| 118 5221 2121 |
| 118 00 |
| 121 __c.10: |
| 122 008e 4865 6967 .string "Height: %5i" |
| 122 6874 3A20 |
| 122 2025 3569 |
| 122 00 |
| 125 __c.11: |
| 126 009b 5365 7470 .string "Setpoint:%5i" |
| 126 6F69 6E74 |
| 126 3A25 3569 |
| 126 00 |
| 129 __c.12: |
| 130 00a8 5072 6573 .string "Pressure:%5i" |
| 130 7375 7265 |
| 130 3A25 3569 |
| 130 00 |
| 133 __c.13: |
| 134 00b5 4F66 6673 .string "Offset: %5i" |
| 134 6574 3A20 |
| 134 2025 3569 |
| 134 00 |
| 137 __c.14: |
| 138 00c2 4865 6967 .string "Height control" |
| 138 6874 2063 |
| 138 6F6E 7472 |
| 138 6F6C 00 |
| 141 __c.15: |
| 142 00d1 4449 5341 .string "DISABLED" |
| 142 424C 4544 |
| 142 00 |
| 145 __c.16: |
| 146 00da 6163 742E .string "act. bearing" |
| 146 2062 6561 |
| 146 7269 6E67 |
| 146 00 |
| 149 __c.17: |
| 150 00e7 4E69 636B .string "Nick: %5i" |
| 150 3A20 2020 |
| 150 2020 2025 |
| 150 3569 00 |
| 153 __c.18: |
| 154 00f6 526F 6C6C .string "Roll: %5i" |
| 154 3A20 2020 |
| 154 2020 2025 |
| 154 3569 00 |
| 157 __c.19: |
| 158 0105 436F 6D70 .string "Compass: %5i" |
| 158 6173 733A |
| 158 2020 2025 |
| 158 3569 00 |
| 161 __c.20: |
| 162 0114 4B25 693A .string "K%i:%4i K%i:%4i " |
| 162 2534 6920 |
| 162 204B 2569 |
| 162 3A25 3469 |
| 162 2000 |
| 165 __c.21: |
| 166 0126 4E69 3A25 .string "Ni:%4i Ro:%4i " |
| 166 3469 2020 |
| 166 526F 3A25 |
| 166 3469 2000 |
| 169 __c.22: |
| 170 0136 4773 3A25 .string "Gs:%4i Gi:%4i " |
| 170 3469 2020 |
| 170 4769 3A25 |
| 170 3469 2000 |
| 173 __c.23: |
| 174 0146 5031 3A25 .string "P1:%4i P2:%4i " |
| 174 3469 2020 |
| 174 5032 3A25 |
| 174 3469 2000 |
| 177 __c.24: |
| 178 0156 5033 3A25 .string "P3:%4i P4:%4i " |
| 178 3469 2020 |
| 178 5034 3A25 |
| 178 3469 2000 |
| 181 __c.25: |
| 182 0166 4779 726F .string "Gyro - Sensor" |
| 182 202D 2053 |
| 182 656E 736F |
| 182 7200 |
| 185 __c.26: |
| 186 0174 4E69 636B .string "Nick%4i (%3i.%i)" |
| 186 2534 6920 |
| 186 2825 3369 |
| 186 2E25 6929 |
| 186 00 |
| 189 __c.27: |
| 190 0185 526F 6C6C .string "Roll%4i (%3i.%i)" |
| 190 2534 6920 |
| 190 2825 3369 |
| 190 2E25 6929 |
| 190 00 |
| 193 __c.28: |
| 194 0196 4769 6572 .string "Gier%4i (%3i)" |
| 194 2534 6920 |
| 194 2825 3369 |
| 194 2900 |
| 197 __c.29: |
| 198 01a4 4E69 636B .string "Nick %4i (%3i.%x)" |
| 198 2025 3469 |
| 198 2028 2533 |
| 198 692E 2578 |
| 198 2900 |
| 201 __c.30: |
| 202 01b6 526F 6C6C .string "Roll %4i (%3i.%x)" |
| 202 2025 3469 |
| 202 2028 2533 |
| 202 692E 2578 |
| 202 2900 |
| 205 __c.31: |
| 206 01c8 5961 7720 .string "Yaw %4i (%3i)" |
| 206 2025 3469 |
| 206 2028 2533 |
| 206 6929 00 |
| 209 __c.32: |
| 210 01d7 4E69 636B .string "Nick %4i (%3i)(%3i)" |
| 210 2025 3469 |
| 210 2028 2533 |
| 210 6929 2825 |
| 210 3369 2900 |
| 213 __c.33: |
| 214 01eb 526F 6C6C .string "Roll %4i (%3i)(%3i)" |
| 214 2025 3469 |
| 214 2028 2533 |
| 214 6929 2825 |
| 214 3369 2900 |
| 217 __c.34: |
| 218 01ff 5961 7720 .string "Yaw %4i (%3i)(%3i)" |
| 218 2025 3469 |
| 218 2028 2533 |
| 218 6929 2825 |
| 218 3369 2900 |
| 221 __c.35: |
| 222 0213 4143 4320 .string "ACC - Sensor" |
| 222 2D20 5365 |
| 222 6E73 6F72 |
| 222 00 |
| 225 __c.36: |
| 226 0220 4E69 636B .string "Nick %4i (%3i)" |
| 226 2025 3469 |
| 226 2028 2533 |
| 226 6929 00 |
| 229 __c.37: |
| 230 022f 526F 6C6C .string "Roll %4i (%3i)" |
| 230 2025 3469 |
| 230 2028 2533 |
| 230 6929 00 |
| 233 __c.38: |
| 234 023e 5A20 2020 .string "Z %4i (%3i)" |
| 234 2025 3469 |
| 234 2028 2533 |
| 234 6929 00 |
| 237 __c.39: |
| 238 024d 566F 6C74 .string "Voltage: %3i.%1iV" |
| 238 6167 653A |
| 238 2020 2025 |
| 238 3369 2E25 |
| 238 3169 5600 |
| 241 __c.40: |
| 242 0261 4375 7272 .string "Current: %3i.%1iA" |
| 242 656E 743A |
| 242 2020 2025 |
| 242 3369 2E25 |
| 242 3169 4100 |
| 245 __c.41: |
| 246 0275 506F 7765 .string "Power: %4iW" |
| 246 723A 2020 |
| 246 2020 2025 |
| 246 3469 5700 |
| 249 __c.42: |
| 250 0285 4469 7363 .string "Discharge: %5imAh" |
| 250 6861 7267 |
| 250 653A 2025 |
| 250 3569 6D41 |
| 250 6800 |
| 253 __c.43: |
| 254 0297 5265 6365 .string "Receiver" |
| 254 6976 6572 |
| 254 00 |
| 257 __c.44: |
| 258 02a0 5243 2D52 .string "RC-RSSI: %4i" |
| 258 5353 493A |
| 258 2020 2020 |
| 258 2534 6900 |
| 261 __c.45: |
| 262 02b0 5243 2D51 .string "RC-Quality: %4i" |
| 262 7561 6C69 |
| 262 7479 3A20 |
| 262 2534 6900 |
| 265 __c.46: |
| 266 02c0 5243 2D43 .string "RC-Channels:%4i" |
| 266 6861 6E6E |
| 266 656C 733A |
| 266 2534 6900 |
| 269 __c.47: |
| 270 02d0 436F 6D70 .string "Compass" |
| 270 6173 7300 |
| 273 __c.48: |
| 274 02d8 4D61 676E .string "Magnet: %5i" |
| 274 6574 3A20 |
| 274 2020 2535 |
| 274 6900 |
| 277 __c.49: |
| 278 02e6 4779 726F .string "Gyro: %5i" |
| 278 3A20 2020 |
| 278 2020 2535 |
| 278 6900 |
| 281 __c.50: |
| 282 02f4 5365 7470 .string "Setpoint: %5i" |
| 282 6F69 6E74 |
| 282 3A20 2535 |
| 282 6900 |
| 285 __c.51: |
| 286 0302 506F 7469 .string "Poti%i: %3i" |
| 286 2569 3A20 |
| 286 2025 3369 |
| 286 00 |
| 289 __c.52: |
| 290 030f 506F 7469 .string "Poti%i: %3i" |
| 290 2569 3A20 |
| 290 2025 3369 |
| 290 00 |
| 293 __c.53: |
| 294 031c 5365 7276 .string "Servo " |
| 294 6F20 2000 |
| 297 __c.54: |
| 298 0324 5365 7470 .string "Setpoint %3i" |
| 298 6F69 6E74 |
| 298 2020 2533 |
| 298 6900 |
| 301 __c.55: |
| 302 0332 506F 7369 .string "Position: %3i" |
| 302 7469 6F6E |
| 302 3A20 2533 |
| 302 6900 |
| 305 __c.56: |
| 306 0340 5261 6E67 .string "Range:%3i-%3i" |
| 306 653A 2533 |
| 306 692D 2533 |
| 306 6900 |
| 309 __c.57: |
| 310 034e 424C 2D43 .string "BL-Ctrl Errors " |
| 310 7472 6C20 |
| 310 4572 726F |
| 310 7273 2000 |
| 313 __c.58: |
| 314 035e 2533 6420 .string "%3d %3d %3d %3d " |
| 314 2533 6420 |
| 314 2533 6420 |
| 314 2533 6420 |
| 314 00 |
| 317 __c.59: |
| 318 036f 424C 2054 .string "BL Temperature" |
| 318 656D 7065 |
| 318 7261 7475 |
| 318 7265 00 |
| 321 __c.60: |
| 322 037e 2533 6420 .string "%3d %3d %3d %3d " |
| 322 2533 6420 |
| 322 2533 6420 |
| 322 2533 6420 |
| 322 00 |
| 325 __c.61: |
| 326 038f 424C 2D43 .string "BL-Ctrl found " |
| 326 7472 6C20 |
| 326 666F 756E |
| 326 6420 00 |
| 329 __c.62: |
| 330 039e 2025 6320 .string " %c %c %c %c " |
| 330 2020 2563 |
| 330 2020 2025 |
| 330 6320 2020 |
| 330 2563 2000 |
| 333 __c.63: |
| 334 03b2 2025 6320 .string " %c %c %c %c " |
| 334 2020 2563 |
| 334 2020 2025 |
| 334 6320 2020 |
| 334 2563 2000 |
| 337 __c.64: |
| 338 03c6 2025 6320 .string " %c - - - " |
| 338 2020 2D20 |
| 338 2020 2D20 |
| 338 2020 2D20 |
| 338 00 |
| 341 __c.65: |
| 342 03d7 3130 00 .string "10" |
| 345 __c.66: |
| 346 03da 3131 00 .string "11" |
| 349 __c.67: |
| 350 03dd 3132 00 .string "12" |
| 353 __c.68: |
| 354 03e0 466C 6967 .string "Flight-Time " |
| 354 6874 2D54 |
| 354 696D 6520 |
| 354 2000 |
| 357 __c.69: |
| 358 03ee 546F 7461 .string "Total:%5umin" |
| 358 6C3A 2535 |
| 358 756D 696E |
| 358 00 |
| 361 __c.70: |
| 362 03fb 4163 743A .string "Act: %5umin" |
| 362 2020 2535 |
| 362 756D 696E |
| 362 00 |
| 365 __c.71: |
| 366 0408 2872 6573 .string "(reset)" |
| 366 6574 2900 |
| 367 .text |
| 368 .global Menu |
| 370 Menu: |
| 371 /* prologue: frame size=0 */ |
| 372 002c AF92 push r10 |
| 373 002e BF92 push r11 |
| 374 0030 CF92 push r12 |
| 375 0032 DF92 push r13 |
| 376 0034 FF92 push r15 |
| 377 0036 0F93 push r16 |
| 378 0038 1F93 push r17 |
| 379 003a CF93 push r28 |
| 380 003c DF93 push r29 |
| 381 /* prologue end (size=9) */ |
| 382 003e 2091 0000 lds r18,RemoteKeys |
| 383 0042 20FF sbrs r18,0 |
| 384 0044 00C0 rjmp .L11 |
| 385 0046 8091 0000 lds r24,MenuePunkt |
| 386 004a 8823 tst r24 |
| 387 004c 01F0 breq .L12 |
| 388 004e 8150 subi r24,lo8(-(-1)) |
| 389 0050 00C0 rjmp .L115 |
| 390 .L12: |
| 391 0052 8091 0000 lds r24,MaxMenue |
| 392 .L115: |
| 393 0056 8093 0000 sts MenuePunkt,r24 |
| 394 .L11: |
| 395 005a 21FF sbrs r18,1 |
| 396 005c 00C0 rjmp .L14 |
| 397 005e 9091 0000 lds r25,MenuePunkt |
| 398 0062 8091 0000 lds r24,MaxMenue |
| 399 0066 9817 cp r25,r24 |
| 400 0068 01F4 brne .L15 |
| 401 006a 1092 0000 sts MenuePunkt,__zero_reg__ |
| 402 006e 00C0 rjmp .L14 |
| 403 .L15: |
| 404 0070 9F5F subi r25,lo8(-(1)) |
| 405 0072 9093 0000 sts MenuePunkt,r25 |
| 406 .L14: |
| 407 0076 822F mov r24,r18 |
| 408 0078 9927 clr r25 |
| 409 007a 80FF sbrs r24,0 |
| 410 007c 00C0 rjmp .L17 |
| 411 007e 81FF sbrs r24,1 |
| 412 0080 00C0 rjmp .L17 |
| 413 0082 1092 0000 sts MenuePunkt,__zero_reg__ |
| 414 .L17: |
| 415 0086 0E94 0000 call LcdClear |
| 416 008a 8091 0000 lds r24,MenuePunkt |
| 417 008e 282F mov r18,r24 |
| 418 0090 3327 clr r19 |
| 419 0092 90E0 ldi r25,lo8(pm(Menu_Putchar)) |
| 420 0094 C92E mov r12,r25 |
| 421 0096 90E0 ldi r25,hi8(pm(Menu_Putchar)) |
| 422 0098 D92E mov r13,r25 |
| 423 009a C091 0000 lds r28,_printf_P |
| 424 009e D091 0000 lds r29,(_printf_P)+1 |
| 425 00a2 8A30 cpi r24,lo8(10) |
| 426 00a4 00F4 brsh .L18 |
| 427 00a6 81E1 ldi r24,lo8(17) |
| 428 00a8 8093 0000 sts DispPtr,r24 |
| 429 00ac 3F93 push r19 |
| 430 00ae 2F93 push r18 |
| 431 00b0 80E0 ldi r24,lo8(__c.0) |
| 432 00b2 90E0 ldi r25,hi8(__c.0) |
| 433 00b4 9F93 push r25 |
| 434 00b6 8F93 push r24 |
| 435 00b8 DF92 push r13 |
| 436 00ba CF92 push r12 |
| 437 00bc FE01 movw r30,r28 |
| 438 00be 0995 icall |
| 439 00c0 2DB7 in r18,__SP_L__ |
| 440 00c2 3EB7 in r19,__SP_H__ |
| 441 00c4 2A5F subi r18,lo8(-(6)) |
| 442 00c6 3F4F sbci r19,hi8(-(6)) |
| 443 00c8 2DBF out __SP_L__,r18 |
| 444 00ca 00C0 rjmp .L19 |
| 445 .L18: |
| 446 00cc 80E1 ldi r24,lo8(16) |
| 447 00ce 8093 0000 sts DispPtr,r24 |
| 448 00d2 3F93 push r19 |
| 449 00d4 2F93 push r18 |
| 450 00d6 80E0 ldi r24,lo8(__c.1) |
| 451 00d8 90E0 ldi r25,hi8(__c.1) |
| 452 00da 9F93 push r25 |
| 453 00dc 8F93 push r24 |
| 454 00de DF92 push r13 |
| 455 00e0 CF92 push r12 |
| 456 00e2 FE01 movw r30,r28 |
| 457 00e4 0995 icall |
| 458 00e6 8DB7 in r24,__SP_L__ |
| 459 00e8 9EB7 in r25,__SP_H__ |
| 460 00ea 0696 adiw r24,6 |
| 461 00ec 8DBF out __SP_L__,r24 |
| 462 .L19: |
| 463 00ee 2091 0000 lds r18,MenuePunkt |
| 464 00f2 822F mov r24,r18 |
| 465 00f4 9927 clr r25 |
| 466 00f6 AA27 clr r26 |
| 467 00f8 BB27 clr r27 |
| 468 00fa FC01 movw r30,r24 |
| 469 00fc 4197 sbiw r24,17 |
| 470 00fe 00F0 brlo .+4 |
| 471 0100 0C94 0000 jmp .L102 |
| 472 0104 E050 subi r30,lo8(-(pm(.L104))) |
| 473 0106 F040 sbci r31,hi8(-(pm(.L104))) |
| 474 0108 00E0 ldi r16,lo8(pm(Menu_Putchar)) |
| 475 010a C02E mov r12,r16 |
| 476 010c 00E0 ldi r16,hi8(pm(Menu_Putchar)) |
| 477 010e D02E mov r13,r16 |
| 478 0110 C091 0000 lds r28,_printf_P |
| 479 0114 D091 0000 lds r29,(_printf_P)+1 |
| 480 0118 0C94 0000 jmp __tablejump2__ |
| 481 .data |
| 482 .section .progmem.gcc_sw_table, "a", @progbits |
| 483 .p2align 1 |
| 484 .L104: |
| 485 0000 0000 .word pm(.L21) |
| 486 0002 0000 .word pm(.L31) |
| 487 0004 0000 .word pm(.L34) |
| 488 0006 0000 .word pm(.L37) |
| 489 0008 0000 .word pm(.L42) |
| 490 000a 0000 .word pm(.L43) |
| 491 000c 0000 .word pm(.L70) |
| 492 000e 0000 .word pm(.L71) |
| 493 0010 0000 .word pm(.L72) |
| 494 0012 0000 .word pm(.L73) |
| 495 0014 0000 .word pm(.L74) |
| 496 0016 0000 .word pm(.L79) |
| 497 0018 0000 .word pm(.L84) |
| 498 001a 0000 .word pm(.L86) |
| 499 001c 0000 .word pm(.L91) |
| 500 001e 0000 .word pm(.L96) |
| 501 0020 0000 .word pm(.L100) |
| 502 .text |
| 503 .L21: |
| 504 011c 1092 0000 sts DispPtr,__zero_reg__ |
| 505 0120 80E0 ldi r24,lo8(__c.2) |
| 506 0122 90E0 ldi r25,hi8(__c.2) |
| 507 0124 9F93 push r25 |
| 508 0126 8F93 push r24 |
| 509 0128 00E0 ldi r16,lo8(pm(Menu_Putchar)) |
| 510 012a 10E0 ldi r17,hi8(pm(Menu_Putchar)) |
| 511 012c DF92 push r13 |
| 512 012e CF92 push r12 |
| 513 0130 FE01 movw r30,r28 |
| 514 0132 0995 icall |
| 515 0134 84E1 ldi r24,lo8(20) |
| 516 0136 8093 0000 sts DispPtr,r24 |
| 517 013a 0F90 pop __tmp_reg__ |
| 518 013c 0F90 pop __tmp_reg__ |
| 519 013e 0F90 pop __tmp_reg__ |
| 520 0140 0F90 pop __tmp_reg__ |
| 521 0142 84E6 ldi r24,lo8(100) |
| 522 0144 90E0 ldi r25,hi8(100) |
| 523 0146 9F93 push r25 |
| 524 0148 8F93 push r24 |
| 525 014a 8AE5 ldi r24,lo8(90) |
| 526 014c 90E0 ldi r25,hi8(90) |
| 527 014e 9F93 push r25 |
| 528 0150 8F93 push r24 |
| 529 0152 1F92 push __zero_reg__ |
| 530 0154 1F92 push __zero_reg__ |
| 531 0156 8091 0000 lds r24,PlatinenVersion |
| 532 015a 6AE0 ldi r22,lo8(10) |
| 533 015c 0E94 0000 call __udivmodqi4 |
| 534 0160 892F mov r24,r25 |
| 535 0162 9927 clr r25 |
| 536 0164 9F93 push r25 |
| 537 0166 8F93 push r24 |
| 538 0168 8091 0000 lds r24,PlatinenVersion |
| 539 016c 0E94 0000 call __udivmodqi4 |
| 540 0170 9927 clr r25 |
| 541 0172 9F93 push r25 |
| 542 0174 8F93 push r24 |
| 543 0176 80E0 ldi r24,lo8(__c.3) |
| 544 0178 90E0 ldi r25,hi8(__c.3) |
| 545 017a 9F93 push r25 |
| 546 017c 8F93 push r24 |
| 547 017e DF92 push r13 |
| 548 0180 CF92 push r12 |
| 549 0182 E091 0000 lds r30,_printf_P |
| 550 0186 F091 0000 lds r31,(_printf_P)+1 |
| 551 018a 0995 icall |
| 552 018c 88E2 ldi r24,lo8(40) |
| 553 018e 8093 0000 sts DispPtr,r24 |
| 554 0192 EDB7 in r30,__SP_L__ |
| 555 0194 FEB7 in r31,__SP_H__ |
| 556 0196 3E96 adiw r30,14 |
| 557 0198 EDBF out __SP_L__,r30 |
| 558 019a 80E0 ldi r24,lo8(Mixer+1) |
| 559 019c 90E0 ldi r25,hi8(Mixer+1) |
| 560 019e 9F93 push r25 |
| 561 01a0 8F93 push r24 |
| 562 01a2 0E94 0000 call GetActiveParamSet |
| 563 01a6 9927 clr r25 |
| 564 01a8 9F93 push r25 |
| 565 01aa 8F93 push r24 |
| 566 01ac 80E0 ldi r24,lo8(__c.4) |
| 567 01ae 90E0 ldi r25,hi8(__c.4) |
| 568 01b0 9F93 push r25 |
| 569 01b2 8F93 push r24 |
| 570 01b4 DF92 push r13 |
| 571 01b6 CF92 push r12 |
| 572 01b8 E091 0000 lds r30,_printf_P |
| 573 01bc F091 0000 lds r31,(_printf_P)+1 |
| 574 01c0 0995 icall |
| 575 01c2 8091 0000 lds r24,VersionInfo+6 |
| 576 01c6 9927 clr r25 |
| 577 01c8 2DB7 in r18,__SP_L__ |
| 578 01ca 3EB7 in r19,__SP_H__ |
| 579 01cc 285F subi r18,lo8(-(8)) |
| 580 01ce 3F4F sbci r19,hi8(-(8)) |
| 581 01d0 2DBF out __SP_L__,r18 |
| 582 01d2 EC01 movw r28,r24 |
| 583 01d4 C071 andi r28,lo8(16) |
| 584 01d6 D070 andi r29,hi8(16) |
| 585 01d8 84FF sbrs r24,4 |
| 586 01da 00C0 rjmp .L22 |
| 587 01dc 8CE3 ldi r24,lo8(60) |
| 588 01de 8093 0000 sts DispPtr,r24 |
| 589 01e2 80E0 ldi r24,lo8(__c.5) |
| 590 01e4 90E0 ldi r25,hi8(__c.5) |
| 591 01e6 00C0 rjmp .L124 |
| 592 .L22: |
| 593 01e8 9091 0000 lds r25,NC_ErrorCode |
| 594 01ec 9923 tst r25 |
| 595 01ee 01F0 breq .L24 |
| 596 01f0 8CE3 ldi r24,lo8(60) |
| 597 01f2 8093 0000 sts DispPtr,r24 |
| 598 01f6 892F mov r24,r25 |
| 599 01f8 9927 clr r25 |
| 600 01fa 9F93 push r25 |
| 601 01fc 8F93 push r24 |
| 602 01fe 80E0 ldi r24,lo8(__c.6) |
| 603 0200 90E0 ldi r25,hi8(__c.6) |
| 604 0202 9F93 push r25 |
| 605 0204 8F93 push r24 |
| 606 0206 1F93 push r17 |
| 607 0208 0F93 push r16 |
| 608 020a E091 0000 lds r30,_printf_P |
| 609 020e F091 0000 lds r31,(_printf_P)+1 |
| 610 0212 0995 icall |
| 611 0214 DF93 push r29 |
| 612 0216 CF93 push r28 |
| 613 0218 9091 0000 lds r25,NC_ErrorCode |
| 614 021c 81E1 ldi r24,lo8(17) |
| 615 021e 989F mul r25,r24 |
| 616 0220 C001 movw r24,r0 |
| 617 0222 1124 clr r1 |
| 618 0224 8050 subi r24,lo8(-(NC_ERROR_TEXT)) |
| 619 0226 9040 sbci r25,hi8(-(NC_ERROR_TEXT)) |
| 620 0228 9F93 push r25 |
| 621 022a 8F93 push r24 |
| 622 022c 1F93 push r17 |
| 623 022e 0F93 push r16 |
| 624 0230 E091 0000 lds r30,_printf_P |
| 625 0234 F091 0000 lds r31,(_printf_P)+1 |
| 626 0238 0995 icall |
| 627 023a 8DB7 in r24,__SP_L__ |
| 628 023c 9EB7 in r25,__SP_H__ |
| 629 023e 0C96 adiw r24,12 |
| 630 0240 00C0 rjmp .L120 |
| 631 .L24: |
| 632 0242 9091 0000 lds r25,VersionInfo+5 |
| 633 0246 9923 tst r25 |
| 634 0248 01F0 breq .L26 |
| 635 024a 8CE3 ldi r24,lo8(60) |
| 636 024c 8093 0000 sts DispPtr,r24 |
| 637 0250 892F mov r24,r25 |
| 638 0252 9927 clr r25 |
| 639 0254 9F93 push r25 |
| 640 0256 8F93 push r24 |
| 641 0258 80E0 ldi r24,lo8(__c.7) |
| 642 025a 90E0 ldi r25,hi8(__c.7) |
| 643 025c 9F93 push r25 |
| 644 025e 8F93 push r24 |
| 645 0260 1F93 push r17 |
| 646 0262 0F93 push r16 |
| 647 0264 E091 0000 lds r30,_printf_P |
| 648 0268 F091 0000 lds r31,(_printf_P)+1 |
| 649 026c 0995 icall |
| 650 026e EDB7 in r30,__SP_L__ |
| 651 0270 FEB7 in r31,__SP_H__ |
| 652 0272 3696 adiw r30,6 |
| 653 0274 00C0 rjmp .L117 |
| 654 .L26: |
| 655 0276 9091 0000 lds r25,MissingMotor |
| 656 027a 9923 tst r25 |
| 657 027c 01F0 breq .L28 |
| 658 027e 8CE3 ldi r24,lo8(60) |
| 659 0280 8093 0000 sts DispPtr,r24 |
| 660 0284 892F mov r24,r25 |
| 661 0286 9927 clr r25 |
| 662 0288 9F93 push r25 |
| 663 028a 8F93 push r24 |
| 664 028c 80E0 ldi r24,lo8(__c.8) |
| 665 028e 90E0 ldi r25,hi8(__c.8) |
| 666 0290 9F93 push r25 |
| 667 0292 8F93 push r24 |
| 668 0294 1F93 push r17 |
| 669 0296 0F93 push r16 |
| 670 0298 00C0 rjmp .L123 |
| 671 .L28: |
| 672 029a 8091 0000 lds r24,I2CTimeout |
| 673 029e 9091 0000 lds r25,(I2CTimeout)+1 |
| 674 02a2 0697 sbiw r24,6 |
| 675 02a4 00F0 brlo .+4 |
| 676 02a6 0C94 0000 jmp .L20 |
| 677 02aa 8CE3 ldi r24,lo8(60) |
| 678 02ac 8093 0000 sts DispPtr,r24 |
| 679 02b0 80E0 ldi r24,lo8(__c.9) |
| 680 02b2 90E0 ldi r25,hi8(__c.9) |
| 681 02b4 00C0 rjmp .L125 |
| 682 .L31: |
| 683 02b6 8091 0000 lds r24,Parameter_GlobalConfig |
| 684 02ba 10E0 ldi r17,lo8(pm(Menu_Putchar)) |
| 685 02bc C12E mov r12,r17 |
| 686 02be 10E0 ldi r17,hi8(pm(Menu_Putchar)) |
| 687 02c0 D12E mov r13,r17 |
| 688 02c2 C091 0000 lds r28,_printf_P |
| 689 02c6 D091 0000 lds r29,(_printf_P)+1 |
| 690 02ca 80FF sbrs r24,0 |
| 691 02cc 00C0 rjmp .L32 |
| 692 02ce 1092 0000 sts DispPtr,__zero_reg__ |
| 693 02d2 8091 0000 lds r24,HoehenWert |
| 694 02d6 9091 0000 lds r25,(HoehenWert)+1 |
| 695 02da A091 0000 lds r26,(HoehenWert)+2 |
| 696 02de B091 0000 lds r27,(HoehenWert)+3 |
| 697 02e2 BC01 movw r22,r24 |
| 698 02e4 CD01 movw r24,r26 |
| 699 02e6 25E0 ldi r18,lo8(5) |
| 700 02e8 30E0 ldi r19,hi8(5) |
| 701 02ea 40E0 ldi r20,hlo8(5) |
| 702 02ec 50E0 ldi r21,hhi8(5) |
| 703 02ee 0E94 0000 call __divmodsi4 |
| 704 02f2 3F93 push r19 |
| 705 02f4 2F93 push r18 |
| 706 02f6 80E0 ldi r24,lo8(__c.10) |
| 707 02f8 90E0 ldi r25,hi8(__c.10) |
| 708 02fa 9F93 push r25 |
| 709 02fc 8F93 push r24 |
| 710 02fe DF92 push r13 |
| 711 0300 CF92 push r12 |
| 712 0302 FE01 movw r30,r28 |
| 713 0304 0995 icall |
| 714 0306 84E1 ldi r24,lo8(20) |
| 715 0308 8093 0000 sts DispPtr,r24 |
| 716 030c 8DB7 in r24,__SP_L__ |
| 717 030e 9EB7 in r25,__SP_H__ |
| 718 0310 0696 adiw r24,6 |
| 719 0312 8DBF out __SP_L__,r24 |
| 720 0314 8091 0000 lds r24,SollHoehe |
| 721 0318 9091 0000 lds r25,(SollHoehe)+1 |
| 722 031c A091 0000 lds r26,(SollHoehe)+2 |
| 723 0320 B091 0000 lds r27,(SollHoehe)+3 |
| 724 0324 BC01 movw r22,r24 |
| 725 0326 CD01 movw r24,r26 |
| 726 0328 25E0 ldi r18,lo8(5) |
| 727 032a 30E0 ldi r19,hi8(5) |
| 728 032c 40E0 ldi r20,hlo8(5) |
| 729 032e 50E0 ldi r21,hhi8(5) |
| 730 0330 0E94 0000 call __divmodsi4 |
| 731 0334 3F93 push r19 |
| 732 0336 2F93 push r18 |
| 733 0338 80E0 ldi r24,lo8(__c.11) |
| 734 033a 90E0 ldi r25,hi8(__c.11) |
| 735 033c 9F93 push r25 |
| 736 033e 8F93 push r24 |
| 737 0340 DF92 push r13 |
| 738 0342 CF92 push r12 |
| 739 0344 E091 0000 lds r30,_printf_P |
| 740 0348 F091 0000 lds r31,(_printf_P)+1 |
| 741 034c 0995 icall |
| 742 034e 88E2 ldi r24,lo8(40) |
| 743 0350 8093 0000 sts DispPtr,r24 |
| 744 0354 EDB7 in r30,__SP_L__ |
| 745 0356 FEB7 in r31,__SP_H__ |
| 746 0358 3696 adiw r30,6 |
| 747 035a EDBF out __SP_L__,r30 |
| 748 035c 8091 0000 lds r24,MessLuftdruck |
| 749 0360 9091 0000 lds r25,(MessLuftdruck)+1 |
| 750 0364 9F93 push r25 |
| 751 0366 8F93 push r24 |
| 752 0368 80E0 ldi r24,lo8(__c.12) |
| 753 036a 90E0 ldi r25,hi8(__c.12) |
| 754 036c 9F93 push r25 |
| 755 036e 8F93 push r24 |
| 756 0370 DF92 push r13 |
| 757 0372 CF92 push r12 |
| 758 0374 E091 0000 lds r30,_printf_P |
| 759 0378 F091 0000 lds r31,(_printf_P)+1 |
| 760 037c 0995 icall |
| 761 037e 8CE3 ldi r24,lo8(60) |
| 762 0380 8093 0000 sts DispPtr,r24 |
| 763 0384 2DB7 in r18,__SP_L__ |
| 764 0386 3EB7 in r19,__SP_H__ |
| 765 0388 2A5F subi r18,lo8(-(6)) |
| 766 038a 3F4F sbci r19,hi8(-(6)) |
| 767 038c 2DBF out __SP_L__,r18 |
| 768 038e 87B5 in r24,71-0x20 |
| 769 0390 9927 clr r25 |
| 770 0392 9F93 push r25 |
| 771 0394 8F93 push r24 |
| 772 0396 80E0 ldi r24,lo8(__c.13) |
| 773 0398 90E0 ldi r25,hi8(__c.13) |
| 774 039a 9F93 push r25 |
| 775 039c 8F93 push r24 |
| 776 039e DF92 push r13 |
| 777 03a0 CF92 push r12 |
| 778 03a2 00C0 rjmp .L119 |
| 779 .L32: |
| 780 03a4 1092 0000 sts DispPtr,__zero_reg__ |
| 781 03a8 80E0 ldi r24,lo8(__c.14) |
| 782 03aa 90E0 ldi r25,hi8(__c.14) |
| 783 03ac 9F93 push r25 |
| 784 03ae 8F93 push r24 |
| 785 03b0 DF92 push r13 |
| 786 03b2 CF92 push r12 |
| 787 03b4 FE01 movw r30,r28 |
| 788 03b6 0995 icall |
| 789 03b8 84E1 ldi r24,lo8(20) |
| 790 03ba 8093 0000 sts DispPtr,r24 |
| 791 03be 0F90 pop __tmp_reg__ |
| 792 03c0 0F90 pop __tmp_reg__ |
| 793 03c2 0F90 pop __tmp_reg__ |
| 794 03c4 0F90 pop __tmp_reg__ |
| 795 03c6 80E0 ldi r24,lo8(__c.15) |
| 796 03c8 90E0 ldi r25,hi8(__c.15) |
| 797 .L124: |
| 798 03ca 9F93 push r25 |
| 799 03cc 8F93 push r24 |
| 800 03ce DF92 push r13 |
| 801 03d0 CF92 push r12 |
| 802 03d2 00C0 rjmp .L118 |
| 803 .L34: |
| 804 03d4 1092 0000 sts DispPtr,__zero_reg__ |
| 805 03d8 80E0 ldi r24,lo8(__c.16) |
| 806 03da 90E0 ldi r25,hi8(__c.16) |
| 807 03dc 9F93 push r25 |
| 808 03de 8F93 push r24 |
| 809 03e0 00E0 ldi r16,lo8(pm(Menu_Putchar)) |
| 810 03e2 10E0 ldi r17,hi8(pm(Menu_Putchar)) |
| 811 03e4 DF92 push r13 |
| 812 03e6 CF92 push r12 |
| 813 03e8 FE01 movw r30,r28 |
| 814 03ea 0995 icall |
| 815 03ec 84E1 ldi r24,lo8(20) |
| 816 03ee 8093 0000 sts DispPtr,r24 |
| 817 03f2 0F90 pop __tmp_reg__ |
| 818 03f4 0F90 pop __tmp_reg__ |
| 819 03f6 0F90 pop __tmp_reg__ |
| 820 03f8 0F90 pop __tmp_reg__ |
| 821 03fa 8091 0000 lds r24,IntegralNick |
| 822 03fe 9091 0000 lds r25,(IntegralNick)+1 |
| 823 0402 A091 0000 lds r26,(IntegralNick)+2 |
| 824 0406 B091 0000 lds r27,(IntegralNick)+3 |
| 825 040a B7FF sbrs r27,7 |
| 826 040c 00C0 rjmp .L35 |
| 827 040e 8150 subi r24,lo8(-(1023)) |
| 828 0410 9C4F sbci r25,hi8(-(1023)) |
| 829 0412 AF4F sbci r26,hlo8(-(1023)) |
| 830 0414 BF4F sbci r27,hhi8(-(1023)) |
| 831 .L35: |
| 832 0416 CAE0 ldi r28,10 |
| 833 0418 B595 1: asr r27 |
| 834 041a A795 ror r26 |
| 835 041c 9795 ror r25 |
| 836 041e 8795 ror r24 |
| 837 0420 CA95 dec r28 |
| 838 0422 01F4 brne 1b |
| 839 0424 BF93 push r27 |
| 840 0426 AF93 push r26 |
| 841 0428 9F93 push r25 |
| 842 042a 8F93 push r24 |
| 843 042c 80E0 ldi r24,lo8(__c.17) |
| 844 042e 90E0 ldi r25,hi8(__c.17) |
| 845 0430 9F93 push r25 |
| 846 0432 8F93 push r24 |
| 847 0434 1F93 push r17 |
| 848 0436 0F93 push r16 |
| 849 0438 E091 0000 lds r30,_printf_P |
| 850 043c F091 0000 lds r31,(_printf_P)+1 |
| 851 0440 0995 icall |
| 852 0442 88E2 ldi r24,lo8(40) |
| 853 0444 8093 0000 sts DispPtr,r24 |
| 854 0448 EDB7 in r30,__SP_L__ |
| 855 044a FEB7 in r31,__SP_H__ |
| 856 044c 3896 adiw r30,8 |
| 857 044e EDBF out __SP_L__,r30 |
| 858 0450 8091 0000 lds r24,IntegralRoll |
| 859 0454 9091 0000 lds r25,(IntegralRoll)+1 |
| 860 0458 A091 0000 lds r26,(IntegralRoll)+2 |
| 861 045c B091 0000 lds r27,(IntegralRoll)+3 |
| 862 0460 B7FF sbrs r27,7 |
| 863 0462 00C0 rjmp .L36 |
| 864 0464 8150 subi r24,lo8(-(1023)) |
| 865 0466 9C4F sbci r25,hi8(-(1023)) |
| 866 0468 AF4F sbci r26,hlo8(-(1023)) |
| 867 046a BF4F sbci r27,hhi8(-(1023)) |
| 868 .L36: |
| 869 046c FAE0 ldi r31,10 |
| 870 046e B595 1: asr r27 |
| 871 0470 A795 ror r26 |
| 872 0472 9795 ror r25 |
| 873 0474 8795 ror r24 |
| 874 0476 FA95 dec r31 |
| 875 0478 01F4 brne 1b |
| 876 047a BF93 push r27 |
| 877 047c AF93 push r26 |
| 878 047e 9F93 push r25 |
| 879 0480 8F93 push r24 |
| 880 0482 80E0 ldi r24,lo8(__c.18) |
| 881 0484 90E0 ldi r25,hi8(__c.18) |
| 882 0486 9F93 push r25 |
| 883 0488 8F93 push r24 |
| 884 048a 1F93 push r17 |
| 885 048c 0F93 push r16 |
| 886 048e E091 0000 lds r30,_printf_P |
| 887 0492 F091 0000 lds r31,(_printf_P)+1 |
| 888 0496 0995 icall |
| 889 0498 8CE3 ldi r24,lo8(60) |
| 890 049a 8093 0000 sts DispPtr,r24 |
| 891 049e 2DB7 in r18,__SP_L__ |
| 892 04a0 3EB7 in r19,__SP_H__ |
| 893 04a2 285F subi r18,lo8(-(8)) |
| 894 04a4 3F4F sbci r19,hi8(-(8)) |
| 895 04a6 2DBF out __SP_L__,r18 |
| 896 04a8 8091 0000 lds r24,ErsatzKompassInGrad |
| 897 04ac 9091 0000 lds r25,(ErsatzKompassInGrad)+1 |
| 898 04b0 9F93 push r25 |
| 899 04b2 8F93 push r24 |
| 900 04b4 80E0 ldi r24,lo8(__c.19) |
| 901 04b6 90E0 ldi r25,hi8(__c.19) |
| 902 04b8 9F93 push r25 |
| 903 04ba 8F93 push r24 |
| 904 04bc 1F93 push r17 |
| 905 04be 0F93 push r16 |
| 906 .L119: |
| 907 04c0 E091 0000 lds r30,_printf_P |
| 908 04c4 F091 0000 lds r31,(_printf_P)+1 |
| 909 04c8 0995 icall |
| 910 04ca 8DB7 in r24,__SP_L__ |
| 911 04cc 9EB7 in r25,__SP_H__ |
| 912 04ce 0696 adiw r24,6 |
| 913 .L120: |
| 914 04d0 8DBF out __SP_L__,r24 |
| 915 04d2 00C0 rjmp .L20 |
| 916 .L37: |
| 917 04d4 E1E0 ldi r30,lo8(1) |
| 918 04d6 FE2E mov r15,r30 |
| 919 04d8 C1E0 ldi r28,lo8(1) |
| 920 04da D0E0 ldi r29,hi8(1) |
| 921 04dc 00E0 ldi r16,lo8(PPM_in+2) |
| 922 04de 10E0 ldi r17,hi8(PPM_in+2) |
| 923 .L41: |
| 924 04e0 9F2D mov r25,r15 |
| 925 04e2 9695 lsr r25 |
| 926 04e4 84E1 ldi r24,lo8(20) |
| 927 04e6 989F mul r25,r24 |
| 928 04e8 C001 movw r24,r0 |
| 929 04ea 1124 clr r1 |
| 930 04ec 8093 0000 sts DispPtr,r24 |
| 931 04f0 F801 movw r30,r16 |
| 932 04f2 8281 ldd r24,Z+2 |
| 933 04f4 9381 ldd r25,Z+3 |
| 934 04f6 9F93 push r25 |
| 935 04f8 8F93 push r24 |
| 936 04fa 2196 adiw r28,1 |
| 937 04fc DF93 push r29 |
| 938 04fe CF93 push r28 |
| 939 0500 2197 sbiw r28,1 |
| 940 0502 8081 ld r24,Z |
| 941 0504 9181 ldd r25,Z+1 |
| 942 0506 9F93 push r25 |
| 943 0508 8F93 push r24 |
| 944 050a DF93 push r29 |
| 945 050c CF93 push r28 |
| 946 050e 80E0 ldi r24,lo8(__c.20) |
| 947 0510 90E0 ldi r25,hi8(__c.20) |
| 948 0512 9F93 push r25 |
| 949 0514 8F93 push r24 |
| 950 0516 80E0 ldi r24,lo8(pm(Menu_Putchar)) |
| 951 0518 90E0 ldi r25,hi8(pm(Menu_Putchar)) |
| 952 051a 9F93 push r25 |
| 953 051c 8F93 push r24 |
| 954 051e E091 0000 lds r30,_printf_P |
| 955 0522 F091 0000 lds r31,(_printf_P)+1 |
| 956 0526 0995 icall |
| 957 0528 2DB7 in r18,__SP_L__ |
| 958 052a 3EB7 in r19,__SP_H__ |
| 959 052c 245F subi r18,lo8(-(12)) |
| 960 052e 3F4F sbci r19,hi8(-(12)) |
| 961 0530 2DBF out __SP_L__,r18 |
| 962 0532 32E0 ldi r19,lo8(2) |
| 963 0534 F30E add r15,r19 |
| 964 0536 2296 adiw r28,2 |
| 965 0538 0C5F subi r16,lo8(-(4)) |
| 966 053a 1F4F sbci r17,hi8(-(4)) |
| 967 053c 88E0 ldi r24,lo8(8) |
| 968 053e 8F15 cp r24,r15 |
| 969 0540 00F4 brsh .L41 |
| 970 0542 00C0 rjmp .L20 |
| 971 .L42: |
| 972 0544 1092 0000 sts DispPtr,__zero_reg__ |
| 973 0548 8091 0000 lds r24,EE_Parameter+2 |
| 974 054c E82F mov r30,r24 |
| 975 054e FF27 clr r31 |
| 976 0550 EE0F add r30,r30 |
| 977 0552 FF1F adc r31,r31 |
| 978 0554 E050 subi r30,lo8(-(PPM_in)) |
| 979 0556 F040 sbci r31,hi8(-(PPM_in)) |
| 980 0558 8081 ld r24,Z |
| 981 055a 9181 ldd r25,Z+1 |
| 982 055c 9F93 push r25 |
| 983 055e 8F93 push r24 |
| 984 0560 8091 0000 lds r24,EE_Parameter+1 |
| 985 0564 E82F mov r30,r24 |
| 986 0566 FF27 clr r31 |
| 987 0568 EE0F add r30,r30 |
| 988 056a FF1F adc r31,r31 |
| 989 056c E050 subi r30,lo8(-(PPM_in)) |
| 990 056e F040 sbci r31,hi8(-(PPM_in)) |
| 991 0570 8081 ld r24,Z |
| 992 0572 9181 ldd r25,Z+1 |
| 993 0574 9F93 push r25 |
| 994 0576 8F93 push r24 |
| 995 0578 80E0 ldi r24,lo8(__c.21) |
| 996 057a 90E0 ldi r25,hi8(__c.21) |
| 997 057c 9F93 push r25 |
| 998 057e 8F93 push r24 |
| 999 0580 DF92 push r13 |
| 1000 0582 CF92 push r12 |
| 1001 0584 FE01 movw r30,r28 |
| 1002 0586 0995 icall |
| 1003 0588 84E1 ldi r24,lo8(20) |
| 1004 058a 8093 0000 sts DispPtr,r24 |
| 1005 058e EDB7 in r30,__SP_L__ |
| 1006 0590 FEB7 in r31,__SP_H__ |
| 1007 0592 3896 adiw r30,8 |
| 1008 0594 EDBF out __SP_L__,r30 |
| 1009 0596 8091 0000 lds r24,EE_Parameter+4 |
| 1010 059a E82F mov r30,r24 |
| 1011 059c FF27 clr r31 |
| 1012 059e EE0F add r30,r30 |
| 1013 05a0 FF1F adc r31,r31 |
| 1014 05a2 E050 subi r30,lo8(-(PPM_in)) |
| 1015 05a4 F040 sbci r31,hi8(-(PPM_in)) |
| 1016 05a6 8081 ld r24,Z |
| 1017 05a8 9181 ldd r25,Z+1 |
| 1018 05aa 9F93 push r25 |
| 1019 05ac 8F93 push r24 |
| 1020 05ae 8091 0000 lds r24,EE_Parameter+3 |
| 1021 05b2 E82F mov r30,r24 |
| 1022 05b4 FF27 clr r31 |
| 1023 05b6 EE0F add r30,r30 |
| 1024 05b8 FF1F adc r31,r31 |
| 1025 05ba E050 subi r30,lo8(-(PPM_in)) |
| 1026 05bc F040 sbci r31,hi8(-(PPM_in)) |
| 1027 05be 8081 ld r24,Z |
| 1028 05c0 9181 ldd r25,Z+1 |
| 1029 05c2 8158 subi r24,lo8(-(127)) |
| 1030 05c4 9F4F sbci r25,hi8(-(127)) |
| 1031 05c6 9F93 push r25 |
| 1032 05c8 8F93 push r24 |
| 1033 05ca 80E0 ldi r24,lo8(__c.22) |
| 1034 05cc 90E0 ldi r25,hi8(__c.22) |
| 1035 05ce 9F93 push r25 |
| 1036 05d0 8F93 push r24 |
| 1037 05d2 DF92 push r13 |
| 1038 05d4 CF92 push r12 |
| 1039 05d6 E091 0000 lds r30,_printf_P |
| 1040 05da F091 0000 lds r31,(_printf_P)+1 |
| 1041 05de 0995 icall |
| 1042 05e0 88E2 ldi r24,lo8(40) |
| 1043 05e2 8093 0000 sts DispPtr,r24 |
| 1044 05e6 2DB7 in r18,__SP_L__ |
| 1045 05e8 3EB7 in r19,__SP_H__ |
| 1046 05ea 285F subi r18,lo8(-(8)) |
| 1047 05ec 3F4F sbci r19,hi8(-(8)) |
| 1048 05ee 2DBF out __SP_L__,r18 |
| 1049 05f0 8091 0000 lds r24,EE_Parameter+6 |
| 1050 05f4 E82F mov r30,r24 |
| 1051 05f6 FF27 clr r31 |
| 1052 05f8 EE0F add r30,r30 |
| 1053 05fa FF1F adc r31,r31 |
| 1054 05fc E050 subi r30,lo8(-(PPM_in)) |
| 1055 05fe F040 sbci r31,hi8(-(PPM_in)) |
| 1056 0600 8081 ld r24,Z |
| 1057 0602 9181 ldd r25,Z+1 |
| 1058 0604 8158 subi r24,lo8(-(127)) |
| 1059 0606 9F4F sbci r25,hi8(-(127)) |
| 1060 0608 9F93 push r25 |
| 1061 060a 8F93 push r24 |
| 1062 060c 8091 0000 lds r24,EE_Parameter+5 |
| 1063 0610 E82F mov r30,r24 |
| 1064 0612 FF27 clr r31 |
| 1065 0614 EE0F add r30,r30 |
| 1066 0616 FF1F adc r31,r31 |
| 1067 0618 E050 subi r30,lo8(-(PPM_in)) |
| 1068 061a F040 sbci r31,hi8(-(PPM_in)) |
| 1069 061c 8081 ld r24,Z |
| 1070 061e 9181 ldd r25,Z+1 |
| 1071 0620 8158 subi r24,lo8(-(127)) |
| 1072 0622 9F4F sbci r25,hi8(-(127)) |
| 1073 0624 9F93 push r25 |
| 1074 0626 8F93 push r24 |
| 1075 0628 80E0 ldi r24,lo8(__c.23) |
| 1076 062a 90E0 ldi r25,hi8(__c.23) |
| 1077 062c 9F93 push r25 |
| 1078 062e 8F93 push r24 |
| 1079 0630 DF92 push r13 |
| 1080 0632 CF92 push r12 |
| 1081 0634 E091 0000 lds r30,_printf_P |
| 1082 0638 F091 0000 lds r31,(_printf_P)+1 |
| 1083 063c 0995 icall |
| 1084 063e 8CE3 ldi r24,lo8(60) |
| 1085 0640 8093 0000 sts DispPtr,r24 |
| 1086 0644 8DB7 in r24,__SP_L__ |
| 1087 0646 9EB7 in r25,__SP_H__ |
| 1088 0648 0896 adiw r24,8 |
| 1089 064a 8DBF out __SP_L__,r24 |
| 1090 064c 8091 0000 lds r24,EE_Parameter+8 |
| 1091 0650 E82F mov r30,r24 |
| 1092 0652 FF27 clr r31 |
| 1093 0654 EE0F add r30,r30 |
| 1094 0656 FF1F adc r31,r31 |
| 1095 0658 E050 subi r30,lo8(-(PPM_in)) |
| 1096 065a F040 sbci r31,hi8(-(PPM_in)) |
| 1097 065c 8081 ld r24,Z |
| 1098 065e 9181 ldd r25,Z+1 |
| 1099 0660 8158 subi r24,lo8(-(127)) |
| 1100 0662 9F4F sbci r25,hi8(-(127)) |
| 1101 0664 9F93 push r25 |
| 1102 0666 8F93 push r24 |
| 1103 0668 8091 0000 lds r24,EE_Parameter+7 |
| 1104 066c E82F mov r30,r24 |
| 1105 066e FF27 clr r31 |
| 1106 0670 EE0F add r30,r30 |
| 1107 0672 FF1F adc r31,r31 |
| 1108 0674 E050 subi r30,lo8(-(PPM_in)) |
| 1109 0676 F040 sbci r31,hi8(-(PPM_in)) |
| 1110 0678 8081 ld r24,Z |
| 1111 067a 9181 ldd r25,Z+1 |
| 1112 067c 8158 subi r24,lo8(-(127)) |
| 1113 067e 9F4F sbci r25,hi8(-(127)) |
| 1114 0680 9F93 push r25 |
| 1115 0682 8F93 push r24 |
| 1116 0684 80E0 ldi r24,lo8(__c.24) |
| 1117 0686 90E0 ldi r25,hi8(__c.24) |
| 1118 0688 00C0 rjmp .L121 |
| 1119 .L43: |
| 1120 068a 1092 0000 sts DispPtr,__zero_reg__ |
| 1121 068e 80E0 ldi r24,lo8(__c.25) |
| 1122 0690 90E0 ldi r25,hi8(__c.25) |
| 1123 0692 9F93 push r25 |
| 1124 0694 8F93 push r24 |
| 1125 0696 00E0 ldi r16,lo8(pm(Menu_Putchar)) |
| 1126 0698 10E0 ldi r17,hi8(pm(Menu_Putchar)) |
| 1127 069a DF92 push r13 |
| 1128 069c CF92 push r12 |
| 1129 069e FE01 movw r30,r28 |
| 1130 06a0 0995 icall |
| 1131 06a2 8091 0000 lds r24,PlatinenVersion |
| 1132 06a6 0F90 pop __tmp_reg__ |
| 1133 06a8 0F90 pop __tmp_reg__ |
| 1134 06aa 0F90 pop __tmp_reg__ |
| 1135 06ac 0F90 pop __tmp_reg__ |
| 1136 06ae 8A30 cpi r24,lo8(10) |
| 1137 06b0 01F0 breq .+2 |
| 1138 06b2 00C0 rjmp .L44 |
| 1139 06b4 84E1 ldi r24,lo8(20) |
| 1140 06b6 8093 0000 sts DispPtr,r24 |
| 1141 06ba 8091 0000 lds r24,AdNeutralNick |
| 1142 06be 9091 0000 lds r25,(AdNeutralNick)+1 |
| 1143 06c2 9C01 movw r18,r24 |
| 1144 06c4 97FF sbrs r25,7 |
| 1145 06c6 00C0 rjmp .L45 |
| 1146 06c8 295F subi r18,lo8(-(7)) |
| 1147 06ca 3F4F sbci r19,hi8(-(7)) |
| 1148 .L45: |
| 1149 06cc 287F andi r18,lo8(-8) |
| 1150 06ce 821B sub r24,r18 |
| 1151 06d0 930B sbc r25,r19 |
| 1152 06d2 9F93 push r25 |
| 1153 06d4 8F93 push r24 |
| 1154 06d6 8091 0000 lds r24,AdNeutralNick |
| 1155 06da 9091 0000 lds r25,(AdNeutralNick)+1 |
| 1156 06de 97FD sbrc r25,7 |
| 1157 06e0 0796 adiw r24,7 |
| 1158 .L46: |
| 1159 06e2 73E0 ldi r23,3 |
| 1160 06e4 9595 1: asr r25 |
| 1161 06e6 8795 ror r24 |
| 1162 06e8 7A95 dec r23 |
| 1163 06ea 01F4 brne 1b |
| 1164 06ec 9F93 push r25 |
| 1165 06ee 8F93 push r24 |
| 1166 06f0 2091 0000 lds r18,AdNeutralNick |
| 1167 06f4 3091 0000 lds r19,(AdNeutralNick)+1 |
| 1168 06f8 37FF sbrs r19,7 |
| 1169 06fa 00C0 rjmp .L47 |
| 1170 06fc 295F subi r18,lo8(-(7)) |
| 1171 06fe 3F4F sbci r19,hi8(-(7)) |
| 1172 .L47: |
| 1173 0700 63E0 ldi r22,3 |
| 1174 0702 3595 1: asr r19 |
| 1175 0704 2795 ror r18 |
| 1176 0706 6A95 dec r22 |
| 1177 0708 01F4 brne 1b |
| 1178 070a 8091 0000 lds r24,AdWertNick |
| 1179 070e 9091 0000 lds r25,(AdWertNick)+1 |
| 1180 0712 821B sub r24,r18 |
| 1181 0714 930B sbc r25,r19 |
| 1182 0716 9F93 push r25 |
| 1183 0718 8F93 push r24 |
| 1184 071a 80E0 ldi r24,lo8(__c.26) |
| 1185 071c 90E0 ldi r25,hi8(__c.26) |
| 1186 071e 9F93 push r25 |
| 1187 0720 8F93 push r24 |
| 1188 0722 1F93 push r17 |
| 1189 0724 0F93 push r16 |
| 1190 0726 E091 0000 lds r30,_printf_P |
| 1191 072a F091 0000 lds r31,(_printf_P)+1 |
| 1192 072e 0995 icall |
| 1193 0730 88E2 ldi r24,lo8(40) |
| 1194 0732 8093 0000 sts DispPtr,r24 |
| 1195 0736 2DB7 in r18,__SP_L__ |
| 1196 0738 3EB7 in r19,__SP_H__ |
| 1197 073a 265F subi r18,lo8(-(10)) |
| 1198 073c 3F4F sbci r19,hi8(-(10)) |
| 1199 073e 2DBF out __SP_L__,r18 |
| 1200 0740 8091 0000 lds r24,AdNeutralRoll |
| 1201 0744 9091 0000 lds r25,(AdNeutralRoll)+1 |
| 1202 0748 9C01 movw r18,r24 |
| 1203 074a 97FF sbrs r25,7 |
| 1204 074c 00C0 rjmp .L48 |
| 1205 074e 295F subi r18,lo8(-(7)) |
| 1206 0750 3F4F sbci r19,hi8(-(7)) |
| 1207 .L48: |
| 1208 0752 287F andi r18,lo8(-8) |
| 1209 0754 821B sub r24,r18 |
| 1210 0756 930B sbc r25,r19 |
| 1211 0758 9F93 push r25 |
| 1212 075a 8F93 push r24 |
| 1213 075c 8091 0000 lds r24,AdNeutralRoll |
| 1214 0760 9091 0000 lds r25,(AdNeutralRoll)+1 |
| 1215 0764 97FD sbrc r25,7 |
| 1216 0766 0796 adiw r24,7 |
| 1217 .L49: |
| 1218 0768 53E0 ldi r21,3 |
| 1219 076a 9595 1: asr r25 |
| 1220 076c 8795 ror r24 |
| 1221 076e 5A95 dec r21 |
| 1222 0770 01F4 brne 1b |
| 1223 0772 9F93 push r25 |
| 1224 0774 8F93 push r24 |
| 1225 0776 2091 0000 lds r18,AdNeutralRoll |
| 1226 077a 3091 0000 lds r19,(AdNeutralRoll)+1 |
| 1227 077e 37FF sbrs r19,7 |
| 1228 0780 00C0 rjmp .L50 |
| 1229 0782 295F subi r18,lo8(-(7)) |
| 1230 0784 3F4F sbci r19,hi8(-(7)) |
| 1231 .L50: |
| 1232 0786 43E0 ldi r20,3 |
| 1233 0788 3595 1: asr r19 |
| 1234 078a 2795 ror r18 |
| 1235 078c 4A95 dec r20 |
| 1236 078e 01F4 brne 1b |
| 1237 0790 8091 0000 lds r24,AdWertRoll |
| 1238 0794 9091 0000 lds r25,(AdWertRoll)+1 |
| 1239 0798 821B sub r24,r18 |
| 1240 079a 930B sbc r25,r19 |
| 1241 079c 9F93 push r25 |
| 1242 079e 8F93 push r24 |
| 1243 07a0 80E0 ldi r24,lo8(__c.27) |
| 1244 07a2 90E0 ldi r25,hi8(__c.27) |
| 1245 07a4 9F93 push r25 |
| 1246 07a6 8F93 push r24 |
| 1247 07a8 1F93 push r17 |
| 1248 07aa 0F93 push r16 |
| 1249 07ac E091 0000 lds r30,_printf_P |
| 1250 07b0 F091 0000 lds r31,(_printf_P)+1 |
| 1251 07b4 0995 icall |
| 1252 07b6 8CE3 ldi r24,lo8(60) |
| 1253 07b8 8093 0000 sts DispPtr,r24 |
| 1254 07bc 8DB7 in r24,__SP_L__ |
| 1255 07be 9EB7 in r25,__SP_H__ |
| 1256 07c0 0A96 adiw r24,10 |
| 1257 07c2 8DBF out __SP_L__,r24 |
| 1258 07c4 8091 0000 lds r24,AdNeutralGier |
| 1259 07c8 9091 0000 lds r25,(AdNeutralGier)+1 |
| 1260 07cc 9F93 push r25 |
| 1261 07ce 8F93 push r24 |
| 1262 07d0 8091 0000 lds r24,AdNeutralGier |
| 1263 07d4 9091 0000 lds r25,(AdNeutralGier)+1 |
| 1264 07d8 2091 0000 lds r18,AdWertGier |
| 1265 07dc 3091 0000 lds r19,(AdWertGier)+1 |
| 1266 07e0 821B sub r24,r18 |
| 1267 07e2 930B sbc r25,r19 |
| 1268 07e4 9F93 push r25 |
| 1269 07e6 8F93 push r24 |
| 1270 07e8 80E0 ldi r24,lo8(__c.28) |
| 1271 07ea 90E0 ldi r25,hi8(__c.28) |
| 1272 07ec 00C0 rjmp .L126 |
| 1273 .L44: |
| 1274 07ee 8B30 cpi r24,lo8(11) |
| 1275 07f0 01F0 breq .L53 |
| 1276 07f2 8431 cpi r24,lo8(20) |
| 1277 07f4 00F4 brsh .+2 |
| 1278 07f6 00C0 rjmp .L52 |
| 1279 .L53: |
| 1280 07f8 84E1 ldi r24,lo8(20) |
| 1281 07fa 8093 0000 sts DispPtr,r24 |
| 1282 07fe 8091 0000 lds r24,AdNeutralNick |
| 1283 0802 9091 0000 lds r25,(AdNeutralNick)+1 |
| 1284 0806 9C01 movw r18,r24 |
| 1285 0808 97FF sbrs r25,7 |
| 1286 080a 00C0 rjmp .L54 |
| 1287 080c 215F subi r18,lo8(-(15)) |
| 1288 080e 3F4F sbci r19,hi8(-(15)) |
| 1289 .L54: |
| 1290 0810 207F andi r18,lo8(-16) |
| 1291 0812 821B sub r24,r18 |
| 1292 0814 930B sbc r25,r19 |
| 1293 0816 97FD sbrc r25,7 |
| 1294 0818 0196 adiw r24,1 |
| 1295 .L55: |
| 1296 081a 9595 asr r25 |
| 1297 081c 8795 ror r24 |
| 1298 081e 9F93 push r25 |
| 1299 0820 8F93 push r24 |
| 1300 0822 8091 0000 lds r24,AdNeutralNick |
| 1301 0826 9091 0000 lds r25,(AdNeutralNick)+1 |
| 1302 082a 97FD sbrc r25,7 |
| 1303 082c 0F96 adiw r24,15 |
| 1304 .L56: |
| 1305 082e 24E0 ldi r18,4 |
| 1306 0830 9595 1: asr r25 |
| 1307 0832 8795 ror r24 |
| 1308 0834 2A95 dec r18 |
| 1309 0836 01F4 brne 1b |
| 1310 0838 9F93 push r25 |
| 1311 083a 8F93 push r24 |
| 1312 083c 2091 0000 lds r18,AdNeutralNick |
| 1313 0840 3091 0000 lds r19,(AdNeutralNick)+1 |
| 1314 0844 37FF sbrs r19,7 |
| 1315 0846 00C0 rjmp .L57 |
| 1316 0848 295F subi r18,lo8(-(7)) |
| 1317 084a 3F4F sbci r19,hi8(-(7)) |
| 1318 .L57: |
| 1319 084c C3E0 ldi r28,3 |
| 1320 084e 3595 1: asr r19 |
| 1321 0850 2795 ror r18 |
| 1322 0852 CA95 dec r28 |
| 1323 0854 01F4 brne 1b |
| 1324 0856 8091 0000 lds r24,AdWertNick |
| 1325 085a 9091 0000 lds r25,(AdWertNick)+1 |
| 1326 085e 821B sub r24,r18 |
| 1327 0860 930B sbc r25,r19 |
| 1328 0862 9F93 push r25 |
| 1329 0864 8F93 push r24 |
| 1330 0866 80E0 ldi r24,lo8(__c.29) |
| 1331 0868 90E0 ldi r25,hi8(__c.29) |
| 1332 086a 9F93 push r25 |
| 1333 086c 8F93 push r24 |
| 1334 086e 1F93 push r17 |
| 1335 0870 0F93 push r16 |
| 1336 0872 E091 0000 lds r30,_printf_P |
| 1337 0876 F091 0000 lds r31,(_printf_P)+1 |
| 1338 087a 0995 icall |
| 1339 087c 88E2 ldi r24,lo8(40) |
| 1340 087e 8093 0000 sts DispPtr,r24 |
| 1341 0882 2DB7 in r18,__SP_L__ |
| 1342 0884 3EB7 in r19,__SP_H__ |
| 1343 0886 265F subi r18,lo8(-(10)) |
| 1344 0888 3F4F sbci r19,hi8(-(10)) |
| 1345 088a 2DBF out __SP_L__,r18 |
| 1346 088c 8091 0000 lds r24,AdNeutralRoll |
| 1347 0890 9091 0000 lds r25,(AdNeutralRoll)+1 |
| 1348 0894 9C01 movw r18,r24 |
| 1349 0896 97FF sbrs r25,7 |
| 1350 0898 00C0 rjmp .L58 |
| 1351 089a 215F subi r18,lo8(-(15)) |
| 1352 089c 3F4F sbci r19,hi8(-(15)) |
| 1353 .L58: |
| 1354 089e 207F andi r18,lo8(-16) |
| 1355 08a0 821B sub r24,r18 |
| 1356 08a2 930B sbc r25,r19 |
| 1357 08a4 97FD sbrc r25,7 |
| 1358 08a6 0196 adiw r24,1 |
| 1359 .L59: |
| 1360 08a8 9595 asr r25 |
| 1361 08aa 8795 ror r24 |
| 1362 08ac 9F93 push r25 |
| 1363 08ae 8F93 push r24 |
| 1364 08b0 8091 0000 lds r24,AdNeutralRoll |
| 1365 08b4 9091 0000 lds r25,(AdNeutralRoll)+1 |
| 1366 08b8 97FD sbrc r25,7 |
| 1367 08ba 0F96 adiw r24,15 |
| 1368 .L60: |
| 1369 08bc A4E0 ldi r26,4 |
| 1370 08be 9595 1: asr r25 |
| 1371 08c0 8795 ror r24 |
| 1372 08c2 AA95 dec r26 |
| 1373 08c4 01F4 brne 1b |
| 1374 08c6 9F93 push r25 |
| 1375 08c8 8F93 push r24 |
| 1376 08ca 2091 0000 lds r18,AdNeutralRoll |
| 1377 08ce 3091 0000 lds r19,(AdNeutralRoll)+1 |
| 1378 08d2 37FF sbrs r19,7 |
| 1379 08d4 00C0 rjmp .L61 |
| 1380 08d6 295F subi r18,lo8(-(7)) |
| 1381 08d8 3F4F sbci r19,hi8(-(7)) |
| 1382 .L61: |
| 1383 08da F3E0 ldi r31,3 |
| 1384 08dc 3595 1: asr r19 |
| 1385 08de 2795 ror r18 |
| 1386 08e0 FA95 dec r31 |
| 1387 08e2 01F4 brne 1b |
| 1388 08e4 8091 0000 lds r24,AdWertRoll |
| 1389 08e8 9091 0000 lds r25,(AdWertRoll)+1 |
| 1390 08ec 821B sub r24,r18 |
| 1391 08ee 930B sbc r25,r19 |
| 1392 08f0 9F93 push r25 |
| 1393 08f2 8F93 push r24 |
| 1394 08f4 80E0 ldi r24,lo8(__c.30) |
| 1395 08f6 90E0 ldi r25,hi8(__c.30) |
| 1396 08f8 9F93 push r25 |
| 1397 08fa 8F93 push r24 |
| 1398 08fc 1F93 push r17 |
| 1399 08fe 0F93 push r16 |
| 1400 0900 E091 0000 lds r30,_printf_P |
| 1401 0904 F091 0000 lds r31,(_printf_P)+1 |
| 1402 0908 0995 icall |
| 1403 090a 8CE3 ldi r24,lo8(60) |
| 1404 090c 8093 0000 sts DispPtr,r24 |
| 1405 0910 8DB7 in r24,__SP_L__ |
| 1406 0912 9EB7 in r25,__SP_H__ |
| 1407 0914 0A96 adiw r24,10 |
| 1408 0916 8DBF out __SP_L__,r24 |
| 1409 0918 8091 0000 lds r24,AdNeutralGier |
| 1410 091c 9091 0000 lds r25,(AdNeutralGier)+1 |
| 1411 0920 97FD sbrc r25,7 |
| 1412 0922 0196 adiw r24,1 |
| 1413 .L62: |
| 1414 0924 9595 asr r25 |
| 1415 0926 8795 ror r24 |
| 1416 0928 9F93 push r25 |
| 1417 092a 8F93 push r24 |
| 1418 092c 8091 0000 lds r24,AdNeutralGier |
| 1419 0930 9091 0000 lds r25,(AdNeutralGier)+1 |
| 1420 0934 2091 0000 lds r18,AdWertGier |
| 1421 0938 3091 0000 lds r19,(AdWertGier)+1 |
| 1422 093c 821B sub r24,r18 |
| 1423 093e 930B sbc r25,r19 |
| 1424 0940 9F93 push r25 |
| 1425 0942 8F93 push r24 |
| 1426 0944 80E0 ldi r24,lo8(__c.31) |
| 1427 0946 90E0 ldi r25,hi8(__c.31) |
| 1428 .L126: |
| 1429 0948 9F93 push r25 |
| 1430 094a 8F93 push r24 |
| 1431 094c 1F93 push r17 |
| 1432 094e 0F93 push r16 |
| 1433 0950 00C0 rjmp .L122 |
| 1434 .L52: |
| 1435 0952 8D30 cpi r24,lo8(13) |
| 1436 0954 01F0 breq .+2 |
| 1437 0956 00C0 rjmp .L20 |
| 1438 0958 84E1 ldi r24,lo8(20) |
| 1439 095a 8093 0000 sts DispPtr,r24 |
| 1440 095e 8091 0000 lds r24,AnalogOffsetNick |
| 1441 0962 9927 clr r25 |
| 1442 0964 9F93 push r25 |
| 1443 0966 8F93 push r24 |
| 1444 0968 8091 0000 lds r24,AdNeutralNick |
| 1445 096c 9091 0000 lds r25,(AdNeutralNick)+1 |
| 1446 0970 97FD sbrc r25,7 |
| 1447 0972 0F96 adiw r24,15 |
| 1448 .L65: |
| 1449 0974 74E0 ldi r23,4 |
| 1450 0976 9595 1: asr r25 |
| 1451 0978 8795 ror r24 |
| 1452 097a 7A95 dec r23 |
| 1453 097c 01F4 brne 1b |
| 1454 097e 9F93 push r25 |
| 1455 0980 8F93 push r24 |
| 1456 0982 2091 0000 lds r18,AdNeutralNick |
| 1457 0986 3091 0000 lds r19,(AdNeutralNick)+1 |
| 1458 098a 37FF sbrs r19,7 |
| 1459 098c 00C0 rjmp .L66 |
| 1460 098e 295F subi r18,lo8(-(7)) |
| 1461 0990 3F4F sbci r19,hi8(-(7)) |
| 1462 .L66: |
| 1463 0992 63E0 ldi r22,3 |
| 1464 0994 3595 1: asr r19 |
| 1465 0996 2795 ror r18 |
| 1466 0998 6A95 dec r22 |
| 1467 099a 01F4 brne 1b |
| 1468 099c 8091 0000 lds r24,AdWertNick |
| 1469 09a0 9091 0000 lds r25,(AdWertNick)+1 |
| 1470 09a4 821B sub r24,r18 |
| 1471 09a6 930B sbc r25,r19 |
| 1472 09a8 9F93 push r25 |
| 1473 09aa 8F93 push r24 |
| 1474 09ac 80E0 ldi r24,lo8(__c.32) |
| 1475 09ae 90E0 ldi r25,hi8(__c.32) |
| 1476 09b0 9F93 push r25 |
| 1477 09b2 8F93 push r24 |
| 1478 09b4 1F93 push r17 |
| 1479 09b6 0F93 push r16 |
| 1480 09b8 E091 0000 lds r30,_printf_P |
| 1481 09bc F091 0000 lds r31,(_printf_P)+1 |
| 1482 09c0 0995 icall |
| 1483 09c2 88E2 ldi r24,lo8(40) |
| 1484 09c4 8093 0000 sts DispPtr,r24 |
| 1485 09c8 2DB7 in r18,__SP_L__ |
| 1486 09ca 3EB7 in r19,__SP_H__ |
| 1487 09cc 265F subi r18,lo8(-(10)) |
| 1488 09ce 3F4F sbci r19,hi8(-(10)) |
| 1489 09d0 2DBF out __SP_L__,r18 |
| 1490 09d2 8091 0000 lds r24,AnalogOffsetRoll |
| 1491 09d6 9927 clr r25 |
| 1492 09d8 9F93 push r25 |
| 1493 09da 8F93 push r24 |
| 1494 09dc 8091 0000 lds r24,AdNeutralRoll |
| 1495 09e0 9091 0000 lds r25,(AdNeutralRoll)+1 |
| 1496 09e4 97FD sbrc r25,7 |
| 1497 09e6 0F96 adiw r24,15 |
| 1498 .L67: |
| 1499 09e8 54E0 ldi r21,4 |
| 1500 09ea 9595 1: asr r25 |
| 1501 09ec 8795 ror r24 |
| 1502 09ee 5A95 dec r21 |
| 1503 09f0 01F4 brne 1b |
| 1504 09f2 9F93 push r25 |
| 1505 09f4 8F93 push r24 |
| 1506 09f6 2091 0000 lds r18,AdNeutralRoll |
| 1507 09fa 3091 0000 lds r19,(AdNeutralRoll)+1 |
| 1508 09fe 37FF sbrs r19,7 |
| 1509 0a00 00C0 rjmp .L68 |
| 1510 0a02 295F subi r18,lo8(-(7)) |
| 1511 0a04 3F4F sbci r19,hi8(-(7)) |
| 1512 .L68: |
| 1513 0a06 43E0 ldi r20,3 |
| 1514 0a08 3595 1: asr r19 |
| 1515 0a0a 2795 ror r18 |
| 1516 0a0c 4A95 dec r20 |
| 1517 0a0e 01F4 brne 1b |
| 1518 0a10 8091 0000 lds r24,AdWertRoll |
| 1519 0a14 9091 0000 lds r25,(AdWertRoll)+1 |
| 1520 0a18 821B sub r24,r18 |
| 1521 0a1a 930B sbc r25,r19 |
| 1522 0a1c 9F93 push r25 |
| 1523 0a1e 8F93 push r24 |
| 1524 0a20 80E0 ldi r24,lo8(__c.33) |
| 1525 0a22 90E0 ldi r25,hi8(__c.33) |
| 1526 0a24 9F93 push r25 |
| 1527 0a26 8F93 push r24 |
| 1528 0a28 1F93 push r17 |
| 1529 0a2a 0F93 push r16 |
| 1530 0a2c E091 0000 lds r30,_printf_P |
| 1531 0a30 F091 0000 lds r31,(_printf_P)+1 |
| 1532 0a34 0995 icall |
| 1533 0a36 8CE3 ldi r24,lo8(60) |
| 1534 0a38 8093 0000 sts DispPtr,r24 |
| 1535 0a3c 8DB7 in r24,__SP_L__ |
| 1536 0a3e 9EB7 in r25,__SP_H__ |
| 1537 0a40 0A96 adiw r24,10 |
| 1538 0a42 8DBF out __SP_L__,r24 |
| 1539 0a44 8091 0000 lds r24,AnalogOffsetGier |
| 1540 0a48 9927 clr r25 |
| 1541 0a4a 9F93 push r25 |
| 1542 0a4c 8F93 push r24 |
| 1543 0a4e 8091 0000 lds r24,AdNeutralGier |
| 1544 0a52 9091 0000 lds r25,(AdNeutralGier)+1 |
| 1545 0a56 97FD sbrc r25,7 |
| 1546 0a58 0196 adiw r24,1 |
| 1547 .L69: |
| 1548 0a5a 9595 asr r25 |
| 1549 0a5c 8795 ror r24 |
| 1550 0a5e 9F93 push r25 |
| 1551 0a60 8F93 push r24 |
| 1552 0a62 8091 0000 lds r24,AdNeutralGier |
| 1553 0a66 9091 0000 lds r25,(AdNeutralGier)+1 |
| 1554 0a6a 2091 0000 lds r18,AdWertGier |
| 1555 0a6e 3091 0000 lds r19,(AdWertGier)+1 |
| 1556 0a72 821B sub r24,r18 |
| 1557 0a74 930B sbc r25,r19 |
| 1558 0a76 9F93 push r25 |
| 1559 0a78 8F93 push r24 |
| 1560 0a7a 80E0 ldi r24,lo8(__c.34) |
| 1561 0a7c 90E0 ldi r25,hi8(__c.34) |
| 1562 0a7e 9F93 push r25 |
| 1563 0a80 8F93 push r24 |
| 1564 0a82 1F93 push r17 |
| 1565 0a84 0F93 push r16 |
| 1566 0a86 E091 0000 lds r30,_printf_P |
| 1567 0a8a F091 0000 lds r31,(_printf_P)+1 |
| 1568 0a8e 0995 icall |
| 1569 0a90 EDB7 in r30,__SP_L__ |
| 1570 0a92 FEB7 in r31,__SP_H__ |
| 1571 0a94 3A96 adiw r30,10 |
| 1572 0a96 00C0 rjmp .L117 |
| 1573 .L70: |
| 1574 0a98 1092 0000 sts DispPtr,__zero_reg__ |
| 1575 0a9c 80E0 ldi r24,lo8(__c.35) |
| 1576 0a9e 90E0 ldi r25,hi8(__c.35) |
| 1577 0aa0 9F93 push r25 |
| 1578 0aa2 8F93 push r24 |
| 1579 0aa4 DF92 push r13 |
| 1580 0aa6 CF92 push r12 |
| 1581 0aa8 FE01 movw r30,r28 |
| 1582 0aaa 0995 icall |
| 1583 0aac 84E1 ldi r24,lo8(20) |
| 1584 0aae 8093 0000 sts DispPtr,r24 |
| 1585 0ab2 0F90 pop __tmp_reg__ |
| 1586 0ab4 0F90 pop __tmp_reg__ |
| 1587 0ab6 0F90 pop __tmp_reg__ |
| 1588 0ab8 0F90 pop __tmp_reg__ |
| 1589 0aba 8091 0000 lds r24,NeutralAccX |
| 1590 0abe 9091 0000 lds r25,(NeutralAccX)+1 |
| 1591 0ac2 9F93 push r25 |
| 1592 0ac4 8F93 push r24 |
| 1593 0ac6 8091 0000 lds r24,AdWertAccNick |
| 1594 0aca 9091 0000 lds r25,(AdWertAccNick)+1 |
| 1595 0ace 9F93 push r25 |
| 1596 0ad0 8F93 push r24 |
| 1597 0ad2 80E0 ldi r24,lo8(__c.36) |
| 1598 0ad4 90E0 ldi r25,hi8(__c.36) |
| 1599 0ad6 9F93 push r25 |
| 1600 0ad8 8F93 push r24 |
| 1601 0ada DF92 push r13 |
| 1602 0adc CF92 push r12 |
| 1603 0ade E091 0000 lds r30,_printf_P |
| 1604 0ae2 F091 0000 lds r31,(_printf_P)+1 |
| 1605 0ae6 0995 icall |
| 1606 0ae8 88E2 ldi r24,lo8(40) |
| 1607 0aea 8093 0000 sts DispPtr,r24 |
| 1608 0aee 2DB7 in r18,__SP_L__ |
| 1609 0af0 3EB7 in r19,__SP_H__ |
| 1610 0af2 285F subi r18,lo8(-(8)) |
| 1611 0af4 3F4F sbci r19,hi8(-(8)) |
| 1612 0af6 2DBF out __SP_L__,r18 |
| 1613 0af8 8091 0000 lds r24,NeutralAccY |
| 1614 0afc 9091 0000 lds r25,(NeutralAccY)+1 |
| 1615 0b00 9F93 push r25 |
| 1616 0b02 8F93 push r24 |
| 1617 0b04 8091 0000 lds r24,AdWertAccRoll |
| 1618 0b08 9091 0000 lds r25,(AdWertAccRoll)+1 |
| 1619 0b0c 9F93 push r25 |
| 1620 0b0e 8F93 push r24 |
| 1621 0b10 80E0 ldi r24,lo8(__c.37) |
| 1622 0b12 90E0 ldi r25,hi8(__c.37) |
| 1623 0b14 9F93 push r25 |
| 1624 0b16 8F93 push r24 |
| 1625 0b18 DF92 push r13 |
| 1626 0b1a CF92 push r12 |
| 1627 0b1c E091 0000 lds r30,_printf_P |
| 1628 0b20 F091 0000 lds r31,(_printf_P)+1 |
| 1629 0b24 0995 icall |
| 1630 0b26 8CE3 ldi r24,lo8(60) |
| 1631 0b28 8093 0000 sts DispPtr,r24 |
| 1632 0b2c 8DB7 in r24,__SP_L__ |
| 1633 0b2e 9EB7 in r25,__SP_H__ |
| 1634 0b30 0896 adiw r24,8 |
| 1635 0b32 8DBF out __SP_L__,r24 |
| 1636 0b34 8091 0000 lds r24,NeutralAccZ |
| 1637 0b38 9091 0000 lds r25,(NeutralAccZ)+1 |
| 1638 0b3c 9F93 push r25 |
| 1639 0b3e 8F93 push r24 |
| 1640 0b40 8091 0000 lds r24,AdWertAccHoch |
| 1641 0b44 9091 0000 lds r25,(AdWertAccHoch)+1 |
| 1642 0b48 9F93 push r25 |
| 1643 0b4a 8F93 push r24 |
| 1644 0b4c 80E0 ldi r24,lo8(__c.38) |
| 1645 0b4e 90E0 ldi r25,hi8(__c.38) |
| 1646 .L121: |
| 1647 0b50 9F93 push r25 |
| 1648 0b52 8F93 push r24 |
| 1649 0b54 DF92 push r13 |
| 1650 0b56 CF92 push r12 |
| 1651 .L122: |
| 1652 0b58 E091 0000 lds r30,_printf_P |
| 1653 0b5c F091 0000 lds r31,(_printf_P)+1 |
| 1654 0b60 0995 icall |
| 1655 0b62 EDB7 in r30,__SP_L__ |
| 1656 0b64 FEB7 in r31,__SP_H__ |
| 1657 0b66 3896 adiw r30,8 |
| 1658 .L117: |
| 1659 0b68 EDBF out __SP_L__,r30 |
| 1660 0b6a 00C0 rjmp .L20 |
| 1661 .L71: |
| 1662 0b6c 1092 0000 sts DispPtr,__zero_reg__ |
| 1663 0b70 8091 0000 lds r24,UBat |
| 1664 0b74 9091 0000 lds r25,(UBat)+1 |
| 1665 0b78 6AE0 ldi r22,lo8(10) |
| 1666 0b7a 70E0 ldi r23,hi8(10) |
| 1667 0b7c 0E94 0000 call __divmodhi4 |
| 1668 0b80 9F93 push r25 |
| 1669 0b82 8F93 push r24 |
| 1670 0b84 8091 0000 lds r24,UBat |
| 1671 0b88 9091 0000 lds r25,(UBat)+1 |
| 1672 0b8c 6AE0 ldi r22,lo8(10) |
| 1673 0b8e 70E0 ldi r23,hi8(10) |
| 1674 0b90 0E94 0000 call __divmodhi4 |
| 1675 0b94 7F93 push r23 |
| 1676 0b96 6F93 push r22 |
| 1677 0b98 80E0 ldi r24,lo8(__c.39) |
| 1678 0b9a 90E0 ldi r25,hi8(__c.39) |
| 1679 0b9c 9F93 push r25 |
| 1680 0b9e 8F93 push r24 |
| 1681 0ba0 DF92 push r13 |
| 1682 0ba2 CF92 push r12 |
| 1683 0ba4 FE01 movw r30,r28 |
| 1684 0ba6 0995 icall |
| 1685 0ba8 84E1 ldi r24,lo8(20) |
| 1686 0baa 8093 0000 sts DispPtr,r24 |
| 1687 0bae 2DB7 in r18,__SP_L__ |
| 1688 0bb0 3EB7 in r19,__SP_H__ |
| 1689 0bb2 285F subi r18,lo8(-(8)) |
| 1690 0bb4 3F4F sbci r19,hi8(-(8)) |
| 1691 0bb6 2DBF out __SP_L__,r18 |
| 1692 0bb8 8091 0000 lds r24,Capacity |
| 1693 0bbc 9091 0000 lds r25,(Capacity)+1 |
| 1694 0bc0 6AE0 ldi r22,lo8(10) |
| 1695 0bc2 70E0 ldi r23,hi8(10) |
| 1696 0bc4 0E94 0000 call __udivmodhi4 |
| 1697 0bc8 9F93 push r25 |
| 1698 0bca 8F93 push r24 |
| 1699 0bcc 8091 0000 lds r24,Capacity |
| 1700 0bd0 9091 0000 lds r25,(Capacity)+1 |
| 1701 0bd4 6AE0 ldi r22,lo8(10) |
| 1702 0bd6 70E0 ldi r23,hi8(10) |
| 1703 0bd8 0E94 0000 call __udivmodhi4 |
| 1704 0bdc 7F93 push r23 |
| 1705 0bde 6F93 push r22 |
| 1706 0be0 80E0 ldi r24,lo8(__c.40) |
| 1707 0be2 90E0 ldi r25,hi8(__c.40) |
| 1708 0be4 9F93 push r25 |
| 1709 0be6 8F93 push r24 |
| 1710 0be8 DF92 push r13 |
| 1711 0bea CF92 push r12 |
| 1712 0bec E091 0000 lds r30,_printf_P |
| 1713 0bf0 F091 0000 lds r31,(_printf_P)+1 |
| 1714 0bf4 0995 icall |
| 1715 0bf6 88E2 ldi r24,lo8(40) |
| 1716 0bf8 8093 0000 sts DispPtr,r24 |
| 1717 0bfc 8DB7 in r24,__SP_L__ |
| 1718 0bfe 9EB7 in r25,__SP_H__ |
| 1719 0c00 0896 adiw r24,8 |
| 1720 0c02 8DBF out __SP_L__,r24 |
| 1721 0c04 8091 0000 lds r24,Capacity+2 |
| 1722 0c08 9091 0000 lds r25,(Capacity+2)+1 |
| 1723 0c0c 9F93 push r25 |
| 1724 0c0e 8F93 push r24 |
| 1725 0c10 80E0 ldi r24,lo8(__c.41) |
| 1726 0c12 90E0 ldi r25,hi8(__c.41) |
| 1727 0c14 9F93 push r25 |
| 1728 0c16 8F93 push r24 |
| 1729 0c18 DF92 push r13 |
| 1730 0c1a CF92 push r12 |
| 1731 0c1c E091 0000 lds r30,_printf_P |
| 1732 0c20 F091 0000 lds r31,(_printf_P)+1 |
| 1733 0c24 0995 icall |
| 1734 0c26 8CE3 ldi r24,lo8(60) |
| 1735 0c28 8093 0000 sts DispPtr,r24 |
| 1736 0c2c EDB7 in r30,__SP_L__ |
| 1737 0c2e FEB7 in r31,__SP_H__ |
| 1738 0c30 3696 adiw r30,6 |
| 1739 0c32 EDBF out __SP_L__,r30 |
| 1740 0c34 8091 0000 lds r24,Capacity+4 |
| 1741 0c38 9091 0000 lds r25,(Capacity+4)+1 |
| 1742 0c3c 9F93 push r25 |
| 1743 0c3e 8F93 push r24 |
| 1744 0c40 80E0 ldi r24,lo8(__c.42) |
| 1745 0c42 90E0 ldi r25,hi8(__c.42) |
| 1746 .L127: |
| 1747 0c44 9F93 push r25 |
| 1748 0c46 8F93 push r24 |
| 1749 0c48 DF92 push r13 |
| 1750 0c4a CF92 push r12 |
| 1751 .L123: |
| 1752 0c4c E091 0000 lds r30,_printf_P |
| 1753 0c50 F091 0000 lds r31,(_printf_P)+1 |
| 1754 0c54 0995 icall |
| 1755 0c56 2DB7 in r18,__SP_L__ |
| 1756 0c58 3EB7 in r19,__SP_H__ |
| 1757 0c5a 2A5F subi r18,lo8(-(6)) |
| 1758 0c5c 3F4F sbci r19,hi8(-(6)) |
| 1759 0c5e 00C0 rjmp .L116 |
| 1760 .L72: |
| 1761 0c60 1092 0000 sts DispPtr,__zero_reg__ |
| 1762 0c64 80E0 ldi r24,lo8(__c.43) |
| 1763 0c66 90E0 ldi r25,hi8(__c.43) |
| 1764 0c68 9F93 push r25 |
| 1765 0c6a 8F93 push r24 |
| 1766 0c6c DF92 push r13 |
| 1767 0c6e CF92 push r12 |
| 1768 0c70 FE01 movw r30,r28 |
| 1769 0c72 0995 icall |
| 1770 0c74 84E1 ldi r24,lo8(20) |
| 1771 0c76 8093 0000 sts DispPtr,r24 |
| 1772 0c7a 0F90 pop __tmp_reg__ |
| 1773 0c7c 0F90 pop __tmp_reg__ |
| 1774 0c7e 0F90 pop __tmp_reg__ |
| 1775 0c80 0F90 pop __tmp_reg__ |
| 1776 0c82 8091 0000 lds r24,PPM_in |
| 1777 0c86 9091 0000 lds r25,(PPM_in)+1 |
| 1778 0c8a 9F93 push r25 |
| 1779 0c8c 8F93 push r24 |
| 1780 0c8e 80E0 ldi r24,lo8(__c.44) |
| 1781 0c90 90E0 ldi r25,hi8(__c.44) |
| 1782 0c92 9F93 push r25 |
| 1783 0c94 8F93 push r24 |
| 1784 0c96 DF92 push r13 |
| 1785 0c98 CF92 push r12 |
| 1786 0c9a E091 0000 lds r30,_printf_P |
| 1787 0c9e F091 0000 lds r31,(_printf_P)+1 |
| 1788 0ca2 0995 icall |
| 1789 0ca4 88E2 ldi r24,lo8(40) |
| 1790 0ca6 8093 0000 sts DispPtr,r24 |
| 1791 0caa 8DB7 in r24,__SP_L__ |
| 1792 0cac 9EB7 in r25,__SP_H__ |
| 1793 0cae 0696 adiw r24,6 |
| 1794 0cb0 8DBF out __SP_L__,r24 |
| 1795 0cb2 8091 0000 lds r24,SenderOkay |
| 1796 0cb6 9927 clr r25 |
| 1797 0cb8 9F93 push r25 |
| 1798 0cba 8F93 push r24 |
| 1799 0cbc 80E0 ldi r24,lo8(__c.45) |
| 1800 0cbe 90E0 ldi r25,hi8(__c.45) |
| 1801 0cc0 9F93 push r25 |
| 1802 0cc2 8F93 push r24 |
| 1803 0cc4 DF92 push r13 |
| 1804 0cc6 CF92 push r12 |
| 1805 0cc8 E091 0000 lds r30,_printf_P |
| 1806 0ccc F091 0000 lds r31,(_printf_P)+1 |
| 1807 0cd0 0995 icall |
| 1808 0cd2 8CE3 ldi r24,lo8(60) |
| 1809 0cd4 8093 0000 sts DispPtr,r24 |
| 1810 0cd8 EDB7 in r30,__SP_L__ |
| 1811 0cda FEB7 in r31,__SP_H__ |
| 1812 0cdc 3696 adiw r30,6 |
| 1813 0cde EDBF out __SP_L__,r30 |
| 1814 0ce0 8091 0000 lds r24,Channels |
| 1815 0ce4 9927 clr r25 |
| 1816 0ce6 0197 sbiw r24,1 |
| 1817 0ce8 9F93 push r25 |
| 1818 0cea 8F93 push r24 |
| 1819 0cec 80E0 ldi r24,lo8(__c.46) |
| 1820 0cee 90E0 ldi r25,hi8(__c.46) |
| 1821 0cf0 00C0 rjmp .L127 |
| 1822 .L73: |
| 1823 0cf2 1092 0000 sts DispPtr,__zero_reg__ |
| 1824 0cf6 80E0 ldi r24,lo8(__c.47) |
| 1825 0cf8 90E0 ldi r25,hi8(__c.47) |
| 1826 0cfa 9F93 push r25 |
| 1827 0cfc 8F93 push r24 |
| 1828 0cfe DF92 push r13 |
| 1829 0d00 CF92 push r12 |
| 1830 0d02 FE01 movw r30,r28 |
| 1831 0d04 0995 icall |
| 1832 0d06 84E1 ldi r24,lo8(20) |
| 1833 0d08 8093 0000 sts DispPtr,r24 |
| 1834 0d0c 0F90 pop __tmp_reg__ |
| 1835 0d0e 0F90 pop __tmp_reg__ |
| 1836 0d10 0F90 pop __tmp_reg__ |
| 1837 0d12 0F90 pop __tmp_reg__ |
| 1838 0d14 8091 0000 lds r24,KompassValue |
| 1839 0d18 9091 0000 lds r25,(KompassValue)+1 |
| 1840 0d1c 9F93 push r25 |
| 1841 0d1e 8F93 push r24 |
| 1842 0d20 80E0 ldi r24,lo8(__c.48) |
| 1843 0d22 90E0 ldi r25,hi8(__c.48) |
| 1844 0d24 9F93 push r25 |
| 1845 0d26 8F93 push r24 |
| 1846 0d28 DF92 push r13 |
| 1847 0d2a CF92 push r12 |
| 1848 0d2c E091 0000 lds r30,_printf_P |
| 1849 0d30 F091 0000 lds r31,(_printf_P)+1 |
| 1850 0d34 0995 icall |
| 1851 0d36 88E2 ldi r24,lo8(40) |
| 1852 0d38 8093 0000 sts DispPtr,r24 |
| 1853 0d3c 8DB7 in r24,__SP_L__ |
| 1854 0d3e 9EB7 in r25,__SP_H__ |
| 1855 0d40 0696 adiw r24,6 |
| 1856 0d42 8DBF out __SP_L__,r24 |
| 1857 0d44 8091 0000 lds r24,ErsatzKompassInGrad |
| 1858 0d48 9091 0000 lds r25,(ErsatzKompassInGrad)+1 |
| 1859 0d4c 9F93 push r25 |
| 1860 0d4e 8F93 push r24 |
| 1861 0d50 80E0 ldi r24,lo8(__c.49) |
| 1862 0d52 90E0 ldi r25,hi8(__c.49) |
| 1863 0d54 9F93 push r25 |
| 1864 0d56 8F93 push r24 |
| 1865 0d58 DF92 push r13 |
| 1866 0d5a CF92 push r12 |
| 1867 0d5c E091 0000 lds r30,_printf_P |
| 1868 0d60 F091 0000 lds r31,(_printf_P)+1 |
| 1869 0d64 0995 icall |
| 1870 0d66 8CE3 ldi r24,lo8(60) |
| 1871 0d68 8093 0000 sts DispPtr,r24 |
| 1872 0d6c EDB7 in r30,__SP_L__ |
| 1873 0d6e FEB7 in r31,__SP_H__ |
| 1874 0d70 3696 adiw r30,6 |
| 1875 0d72 EDBF out __SP_L__,r30 |
| 1876 0d74 8091 0000 lds r24,KompassSollWert |
| 1877 0d78 9091 0000 lds r25,(KompassSollWert)+1 |
| 1878 0d7c 9F93 push r25 |
| 1879 0d7e 8F93 push r24 |
| 1880 0d80 80E0 ldi r24,lo8(__c.50) |
| 1881 0d82 90E0 ldi r25,hi8(__c.50) |
| 1882 0d84 00C0 rjmp .L127 |
| 1883 .L74: |
| 1884 0d86 C0E0 ldi r28,lo8(Poti) |
| 1885 0d88 CC2E mov r12,r28 |
| 1886 0d8a C0E0 ldi r28,hi8(Poti) |
| 1887 0d8c DC2E mov r13,r28 |
| 1888 0d8e 20E0 ldi r18,lo8(0) |
| 1889 0d90 30E0 ldi r19,hi8(0) |
| 1890 0d92 E901 movw r28,r18 |
| 1891 0d94 B3E0 ldi r27,lo8(3) |
| 1892 0d96 FB2E mov r15,r27 |
| 1893 .L78: |
| 1894 0d98 C093 0000 sts DispPtr,r28 |
| 1895 0d9c F601 movw r30,r12 |
| 1896 0d9e 8191 ld r24,Z+ |
| 1897 0da0 6F01 movw r12,r30 |
| 1898 0da2 9927 clr r25 |
| 1899 0da4 9F93 push r25 |
| 1900 0da6 8F93 push r24 |
| 1901 0da8 8901 movw r16,r18 |
| 1902 0daa 0F5F subi r16,lo8(-(1)) |
| 1903 0dac 1F4F sbci r17,hi8(-(1)) |
| 1904 0dae 1F93 push r17 |
| 1905 0db0 0F93 push r16 |
| 1906 0db2 80E0 ldi r24,lo8(__c.51) |
| 1907 0db4 90E0 ldi r25,hi8(__c.51) |
| 1908 0db6 9F93 push r25 |
| 1909 0db8 8F93 push r24 |
| 1910 0dba 80E0 ldi r24,lo8(pm(Menu_Putchar)) |
| 1911 0dbc 90E0 ldi r25,hi8(pm(Menu_Putchar)) |
| 1912 0dbe 9F93 push r25 |
| 1913 0dc0 8F93 push r24 |
| 1914 0dc2 E091 0000 lds r30,_printf_P |
| 1915 0dc6 F091 0000 lds r31,(_printf_P)+1 |
| 1916 0dca 0995 icall |
| 1917 0dcc 2DB7 in r18,__SP_L__ |
| 1918 0dce 3EB7 in r19,__SP_H__ |
| 1919 0dd0 285F subi r18,lo8(-(8)) |
| 1920 0dd2 3F4F sbci r19,hi8(-(8)) |
| 1921 0dd4 2DBF out __SP_L__,r18 |
| 1922 0dd6 FA94 dec r15 |
| 1923 0dd8 6496 adiw r28,20 |
| 1924 0dda 9801 movw r18,r16 |
| 1925 0ddc F7FE sbrs r15,7 |
| 1926 0dde 00C0 rjmp .L78 |
| 1927 0de0 00C0 rjmp .L20 |
| 1928 .L79: |
| 1929 0de2 A0E0 ldi r26,lo8(Poti+4) |
| 1930 0de4 CA2E mov r12,r26 |
| 1931 0de6 A0E0 ldi r26,hi8(Poti+4) |
| 1932 0de8 DA2E mov r13,r26 |
| 1933 0dea C0E0 ldi r28,lo8(0) |
| 1934 0dec D0E0 ldi r29,hi8(0) |
| 1935 0dee 8E01 movw r16,r28 |
| 1936 0df0 F3E0 ldi r31,lo8(3) |
| 1937 0df2 FF2E mov r15,r31 |
| 1938 .L83: |
| 1939 0df4 0093 0000 sts DispPtr,r16 |
| 1940 0df8 F601 movw r30,r12 |
| 1941 0dfa 8191 ld r24,Z+ |
| 1942 0dfc 6F01 movw r12,r30 |
| 1943 0dfe 9927 clr r25 |
| 1944 0e00 9F93 push r25 |
| 1945 0e02 8F93 push r24 |
| 1946 0e04 2596 adiw r28,5 |
| 1947 0e06 DF93 push r29 |
| 1948 0e08 CF93 push r28 |
| 1949 0e0a 80E0 ldi r24,lo8(__c.52) |
| 1950 0e0c 90E0 ldi r25,hi8(__c.52) |
| 1951 0e0e 9F93 push r25 |
| 1952 0e10 8F93 push r24 |
| 1953 0e12 80E0 ldi r24,lo8(pm(Menu_Putchar)) |
| 1954 0e14 90E0 ldi r25,hi8(pm(Menu_Putchar)) |
| 1955 0e16 9F93 push r25 |
| 1956 0e18 8F93 push r24 |
| 1957 0e1a E091 0000 lds r30,_printf_P |
| 1958 0e1e F091 0000 lds r31,(_printf_P)+1 |
| 1959 0e22 0995 icall |
| 1960 0e24 2DB7 in r18,__SP_L__ |
| 1961 0e26 3EB7 in r19,__SP_H__ |
| 1962 0e28 285F subi r18,lo8(-(8)) |
| 1963 0e2a 3F4F sbci r19,hi8(-(8)) |
| 1964 0e2c 2DBF out __SP_L__,r18 |
| 1965 0e2e FA94 dec r15 |
| 1966 0e30 0C5E subi r16,lo8(-(20)) |
| 1967 0e32 1F4F sbci r17,hi8(-(20)) |
| 1968 0e34 2497 sbiw r28,4 |
| 1969 0e36 F7FE sbrs r15,7 |
| 1970 0e38 00C0 rjmp .L83 |
| 1971 0e3a 00C0 rjmp .L20 |
| 1972 .L84: |
| 1973 0e3c 1092 0000 sts DispPtr,__zero_reg__ |
| 1974 0e40 80E0 ldi r24,lo8(__c.53) |
| 1975 0e42 90E0 ldi r25,hi8(__c.53) |
| 1976 0e44 9F93 push r25 |
| 1977 0e46 8F93 push r24 |
| 1978 0e48 00E0 ldi r16,lo8(pm(Menu_Putchar)) |
| 1979 0e4a 10E0 ldi r17,hi8(pm(Menu_Putchar)) |
| 1980 0e4c DF92 push r13 |
| 1981 0e4e CF92 push r12 |
| 1982 0e50 FE01 movw r30,r28 |
| 1983 0e52 0995 icall |
| 1984 0e54 84E1 ldi r24,lo8(20) |
| 1985 0e56 8093 0000 sts DispPtr,r24 |
| 1986 0e5a 0F90 pop __tmp_reg__ |
| 1987 0e5c 0F90 pop __tmp_reg__ |
| 1988 0e5e 0F90 pop __tmp_reg__ |
| 1989 0e60 0F90 pop __tmp_reg__ |
| 1990 0e62 8091 0000 lds r24,Parameter_ServoNickControl |
| 1991 0e66 9927 clr r25 |
| 1992 0e68 9F93 push r25 |
| 1993 0e6a 8F93 push r24 |
| 1994 0e6c 80E0 ldi r24,lo8(__c.54) |
| 1995 0e6e 90E0 ldi r25,hi8(__c.54) |
| 1996 0e70 9F93 push r25 |
| 1997 0e72 8F93 push r24 |
| 1998 0e74 DF92 push r13 |
| 1999 0e76 CF92 push r12 |
| 2000 0e78 E091 0000 lds r30,_printf_P |
| 2001 0e7c F091 0000 lds r31,(_printf_P)+1 |
| 2002 0e80 0995 icall |
| 2003 0e82 88E2 ldi r24,lo8(40) |
| 2004 0e84 8093 0000 sts DispPtr,r24 |
| 2005 0e88 8DB7 in r24,__SP_L__ |
| 2006 0e8a 9EB7 in r25,__SP_H__ |
| 2007 0e8c 0696 adiw r24,6 |
| 2008 0e8e 8DBF out __SP_L__,r24 |
| 2009 0e90 8091 0000 lds r24,ServoNickValue |
| 2010 0e94 9091 0000 lds r25,(ServoNickValue)+1 |
| 2011 0e98 97FD sbrc r25,7 |
| 2012 0e9a 0396 adiw r24,3 |
| 2013 .L85: |
| 2014 0e9c 9595 asr r25 |
| 2015 0e9e 8795 ror r24 |
| 2016 0ea0 9595 asr r25 |
| 2017 0ea2 8795 ror r24 |
| 2018 0ea4 9F93 push r25 |
| 2019 0ea6 8F93 push r24 |
| 2020 0ea8 80E0 ldi r24,lo8(__c.55) |
| 2021 0eaa 90E0 ldi r25,hi8(__c.55) |
| 2022 0eac 9F93 push r25 |
| 2023 0eae 8F93 push r24 |
| 2024 0eb0 1F93 push r17 |
| 2025 0eb2 0F93 push r16 |
| 2026 0eb4 E091 0000 lds r30,_printf_P |
| 2027 0eb8 F091 0000 lds r31,(_printf_P)+1 |
| 2028 0ebc 0995 icall |
| 2029 0ebe 8CE3 ldi r24,lo8(60) |
| 2030 0ec0 8093 0000 sts DispPtr,r24 |
| 2031 0ec4 EDB7 in r30,__SP_L__ |
| 2032 0ec6 FEB7 in r31,__SP_H__ |
| 2033 0ec8 3696 adiw r30,6 |
| 2034 0eca EDBF out __SP_L__,r30 |
| 2035 0ecc 8091 0000 lds r24,EE_Parameter+48 |
| 2036 0ed0 9927 clr r25 |
| 2037 0ed2 9F93 push r25 |
| 2038 0ed4 8F93 push r24 |
| 2039 0ed6 8091 0000 lds r24,EE_Parameter+47 |
| 2040 0eda 9927 clr r25 |
| 2041 0edc 9F93 push r25 |
| 2042 0ede 8F93 push r24 |
| 2043 0ee0 80E0 ldi r24,lo8(__c.56) |
| 2044 0ee2 90E0 ldi r25,hi8(__c.56) |
| 2045 0ee4 9F93 push r25 |
| 2046 0ee6 8F93 push r24 |
| 2047 0ee8 1F93 push r17 |
| 2048 0eea 0F93 push r16 |
| 2049 0eec E091 0000 lds r30,_printf_P |
| 2050 0ef0 F091 0000 lds r31,(_printf_P)+1 |
| 2051 0ef4 0995 icall |
| 2052 0ef6 2DB7 in r18,__SP_L__ |
| 2053 0ef8 3EB7 in r19,__SP_H__ |
| 2054 0efa 285F subi r18,lo8(-(8)) |
| 2055 0efc 3F4F sbci r19,hi8(-(8)) |
| 2056 .L116: |
| 2057 0efe 2DBF out __SP_L__,r18 |
| 2058 0f00 00C0 rjmp .L20 |
| 2059 .L86: |
| 2060 0f02 1092 0000 sts DispPtr,__zero_reg__ |
| 2061 0f06 80E0 ldi r24,lo8(__c.57) |
| 2062 0f08 90E0 ldi r25,hi8(__c.57) |
| 2063 0f0a 9F93 push r25 |
| 2064 0f0c 8F93 push r24 |
| 2065 0f0e 70E0 ldi r23,lo8(pm(Menu_Putchar)) |
| 2066 0f10 A72E mov r10,r23 |
| 2067 0f12 70E0 ldi r23,hi8(pm(Menu_Putchar)) |
| 2068 0f14 B72E mov r11,r23 |
| 2069 0f16 DF92 push r13 |
| 2070 0f18 CF92 push r12 |
| 2071 0f1a FE01 movw r30,r28 |
| 2072 0f1c 0995 icall |
| 2073 0f1e 0F90 pop __tmp_reg__ |
| 2074 0f20 0F90 pop __tmp_reg__ |
| 2075 0f22 0F90 pop __tmp_reg__ |
| 2076 0f24 0F90 pop __tmp_reg__ |
| 2077 0f26 C0E0 ldi r28,lo8(Motor) |
| 2078 0f28 D0E0 ldi r29,hi8(Motor) |
| 2079 0f2a 00E0 ldi r16,lo8(0) |
| 2080 0f2c 10E0 ldi r17,hi8(0) |
| 2081 0f2e 62E0 ldi r22,lo8(2) |
| 2082 0f30 F62E mov r15,r22 |
| 2083 .L90: |
| 2084 0f32 802F mov r24,r16 |
| 2085 0f34 8C5E subi r24,lo8(-(20)) |
| 2086 0f36 8093 0000 sts DispPtr,r24 |
| 2087 0f3a 8B8D ldd r24,Y+27 |
| 2088 0f3c 9927 clr r25 |
| 2089 0f3e 8F77 andi r24,lo8(127) |
| 2090 0f40 9070 andi r25,hi8(127) |
| 2091 0f42 9F93 push r25 |
| 2092 0f44 8F93 push r24 |
| 2093 0f46 8B89 ldd r24,Y+19 |
| 2094 0f48 9927 clr r25 |
| 2095 0f4a 8F77 andi r24,lo8(127) |
| 2096 0f4c 9070 andi r25,hi8(127) |
| 2097 0f4e 9F93 push r25 |
| 2098 0f50 8F93 push r24 |
| 2099 0f52 8B85 ldd r24,Y+11 |
| 2100 0f54 9927 clr r25 |
| 2101 0f56 8F77 andi r24,lo8(127) |
| 2102 0f58 9070 andi r25,hi8(127) |
| 2103 0f5a 9F93 push r25 |
| 2104 0f5c 8F93 push r24 |
| 2105 0f5e 8B81 ldd r24,Y+3 |
| 2106 0f60 9927 clr r25 |
| 2107 0f62 8F77 andi r24,lo8(127) |
| 2108 0f64 9070 andi r25,hi8(127) |
| 2109 0f66 9F93 push r25 |
| 2110 0f68 8F93 push r24 |
| 2111 0f6a 80E0 ldi r24,lo8(__c.58) |
| 2112 0f6c 90E0 ldi r25,hi8(__c.58) |
| 2113 0f6e 9F93 push r25 |
| 2114 0f70 8F93 push r24 |
| 2115 0f72 BF92 push r11 |
| 2116 0f74 AF92 push r10 |
| 2117 0f76 E091 0000 lds r30,_printf_P |
| 2118 0f7a F091 0000 lds r31,(_printf_P)+1 |
| 2119 0f7e 0995 icall |
| 2120 0f80 8DB7 in r24,__SP_L__ |
| 2121 0f82 9EB7 in r25,__SP_H__ |
| 2122 0f84 0C96 adiw r24,12 |
| 2123 0f86 8DBF out __SP_L__,r24 |
| 2124 0f88 FA94 dec r15 |
| 2125 0f8a 0C5E subi r16,lo8(-(20)) |
| 2126 0f8c 1F4F sbci r17,hi8(-(20)) |
| 2127 0f8e A096 adiw r28,32 |
| 2128 0f90 F7FE sbrs r15,7 |
| 2129 0f92 00C0 rjmp .L90 |
| 2130 0f94 00C0 rjmp .L20 |
| 2131 .L91: |
| 2132 0f96 1092 0000 sts DispPtr,__zero_reg__ |
| 2133 0f9a 80E0 ldi r24,lo8(__c.59) |
| 2134 0f9c 90E0 ldi r25,hi8(__c.59) |
| 2135 0f9e 9F93 push r25 |
| 2136 0fa0 8F93 push r24 |
| 2137 0fa2 50E0 ldi r21,lo8(pm(Menu_Putchar)) |
| 2138 0fa4 A52E mov r10,r21 |
| 2139 0fa6 50E0 ldi r21,hi8(pm(Menu_Putchar)) |
| 2140 0fa8 B52E mov r11,r21 |
| 2141 0faa DF92 push r13 |
| 2142 0fac CF92 push r12 |
| 2143 0fae FE01 movw r30,r28 |
| 2144 0fb0 0995 icall |
| 2145 0fb2 0F90 pop __tmp_reg__ |
| 2146 0fb4 0F90 pop __tmp_reg__ |
| 2147 0fb6 0F90 pop __tmp_reg__ |
| 2148 0fb8 0F90 pop __tmp_reg__ |
| 2149 0fba C0E0 ldi r28,lo8(Motor) |
| 2150 0fbc D0E0 ldi r29,hi8(Motor) |
| 2151 0fbe 00E0 ldi r16,lo8(0) |
| 2152 0fc0 10E0 ldi r17,hi8(0) |
| 2153 0fc2 42E0 ldi r20,lo8(2) |
| 2154 0fc4 F42E mov r15,r20 |
| 2155 .L95: |
| 2156 0fc6 802F mov r24,r16 |
| 2157 0fc8 8C5E subi r24,lo8(-(20)) |
| 2158 0fca 8093 0000 sts DispPtr,r24 |
| 2159 0fce 8F8D ldd r24,Y+31 |
| 2160 0fd0 9927 clr r25 |
| 2161 0fd2 87FD sbrc r24,7 |
| 2162 0fd4 9095 com r25 |
| 2163 0fd6 9F93 push r25 |
| 2164 0fd8 8F93 push r24 |
| 2165 0fda 8F89 ldd r24,Y+23 |
| 2166 0fdc 9927 clr r25 |
| 2167 0fde 87FD sbrc r24,7 |
| 2168 0fe0 9095 com r25 |
| 2169 0fe2 9F93 push r25 |
| 2170 0fe4 8F93 push r24 |
| 2171 0fe6 8F85 ldd r24,Y+15 |
| 2172 0fe8 9927 clr r25 |
| 2173 0fea 87FD sbrc r24,7 |
| 2174 0fec 9095 com r25 |
| 2175 0fee 9F93 push r25 |
| 2176 0ff0 8F93 push r24 |
| 2177 0ff2 8F81 ldd r24,Y+7 |
| 2178 0ff4 9927 clr r25 |
| 2179 0ff6 87FD sbrc r24,7 |
| 2180 0ff8 9095 com r25 |
| 2181 0ffa 9F93 push r25 |
| 2182 0ffc 8F93 push r24 |
| 2183 0ffe 80E0 ldi r24,lo8(__c.60) |
| 2184 1000 90E0 ldi r25,hi8(__c.60) |
| 2185 1002 9F93 push r25 |
| 2186 1004 8F93 push r24 |
| 2187 1006 BF92 push r11 |
| 2188 1008 AF92 push r10 |
| 2189 100a E091 0000 lds r30,_printf_P |
| 2190 100e F091 0000 lds r31,(_printf_P)+1 |
| 2191 1012 0995 icall |
| 2192 1014 EDB7 in r30,__SP_L__ |
| 2193 1016 FEB7 in r31,__SP_H__ |
| 2194 1018 3C96 adiw r30,12 |
| 2195 101a EDBF out __SP_L__,r30 |
| 2196 101c FA94 dec r15 |
| 2197 101e 0C5E subi r16,lo8(-(20)) |
| 2198 1020 1F4F sbci r17,hi8(-(20)) |
| 2199 1022 A096 adiw r28,32 |
| 2200 1024 F7FE sbrs r15,7 |
| 2201 1026 00C0 rjmp .L95 |
| 2202 1028 00C0 rjmp .L20 |
| 2203 .L96: |
| 2204 102a 1092 0000 sts DispPtr,__zero_reg__ |
| 2205 102e 80E0 ldi r24,lo8(__c.61) |
| 2206 1030 90E0 ldi r25,hi8(__c.61) |
| 2207 1032 9F93 push r25 |
| 2208 1034 8F93 push r24 |
| 2209 1036 00E0 ldi r16,lo8(pm(Menu_Putchar)) |
| 2210 1038 10E0 ldi r17,hi8(pm(Menu_Putchar)) |
| 2211 103a DF92 push r13 |
| 2212 103c CF92 push r12 |
| 2213 103e FE01 movw r30,r28 |
| 2214 1040 0995 icall |
| 2215 1042 84E1 ldi r24,lo8(20) |
| 2216 1044 8093 0000 sts DispPtr,r24 |
| 2217 1048 0F90 pop __tmp_reg__ |
| 2218 104a 0F90 pop __tmp_reg__ |
| 2219 104c 0F90 pop __tmp_reg__ |
| 2220 104e 0F90 pop __tmp_reg__ |
| 2221 1050 8091 0000 lds r24,Motor+27 |
| 2222 1054 881F rol r24 |
| 2223 1056 8827 clr r24 |
| 2224 1058 881F rol r24 |
| 2225 105a 97E0 ldi r25,lo8(7) |
| 2226 105c 899F mul r24,r25 |
| 2227 105e C001 movw r24,r0 |
| 2228 1060 1124 clr r1 |
| 2229 1062 8D96 adiw r24,45 |
| 2230 1064 9F93 push r25 |
| 2231 1066 8F93 push r24 |
| 2232 1068 8091 0000 lds r24,Motor+19 |
| 2233 106c 881F rol r24 |
| 2234 106e 8827 clr r24 |
| 2235 1070 881F rol r24 |
| 2236 1072 96E0 ldi r25,lo8(6) |
| 2237 1074 899F mul r24,r25 |
| 2238 1076 C001 movw r24,r0 |
| 2239 1078 1124 clr r1 |
| 2240 107a 8D96 adiw r24,45 |
| 2241 107c 9F93 push r25 |
| 2242 107e 8F93 push r24 |
| 2243 1080 8091 0000 lds r24,Motor+11 |
| 2244 1084 881F rol r24 |
| 2245 1086 8827 clr r24 |
| 2246 1088 881F rol r24 |
| 2247 108a 95E0 ldi r25,lo8(5) |
| 2248 108c 899F mul r24,r25 |
| 2249 108e C001 movw r24,r0 |
| 2250 1090 1124 clr r1 |
| 2251 1092 8D96 adiw r24,45 |
| 2252 1094 9F93 push r25 |
| 2253 1096 8F93 push r24 |
| 2254 1098 8091 0000 lds r24,Motor+3 |
| 2255 109c 881F rol r24 |
| 2256 109e 8827 clr r24 |
| 2257 10a0 881F rol r24 |
| 2258 10a2 9927 clr r25 |
| 2259 10a4 880F lsl r24 |
| 2260 10a6 991F rol r25 |
| 2261 10a8 880F lsl r24 |
| 2262 10aa 991F rol r25 |
| 2263 10ac 8D96 adiw r24,45 |
| 2264 10ae 9F93 push r25 |
| 2265 10b0 8F93 push r24 |
| 2266 10b2 80E0 ldi r24,lo8(__c.62) |
| 2267 10b4 90E0 ldi r25,hi8(__c.62) |
| 2268 10b6 9F93 push r25 |
| 2269 10b8 8F93 push r24 |
| 2270 10ba DF92 push r13 |
| 2271 10bc CF92 push r12 |
| 2272 10be E091 0000 lds r30,_printf_P |
| 2273 10c2 F091 0000 lds r31,(_printf_P)+1 |
| 2274 10c6 0995 icall |
| 2275 10c8 88E2 ldi r24,lo8(40) |
| 2276 10ca 8093 0000 sts DispPtr,r24 |
| 2277 10ce 2DB7 in r18,__SP_L__ |
| 2278 10d0 3EB7 in r19,__SP_H__ |
| 2279 10d2 245F subi r18,lo8(-(12)) |
| 2280 10d4 3F4F sbci r19,hi8(-(12)) |
| 2281 10d6 2DBF out __SP_L__,r18 |
| 2282 10d8 8091 0000 lds r24,Motor+59 |
| 2283 10dc 881F rol r24 |
| 2284 10de 8827 clr r24 |
| 2285 10e0 881F rol r24 |
| 2286 10e2 9BE0 ldi r25,lo8(11) |
| 2287 10e4 899F mul r24,r25 |
| 2288 10e6 C001 movw r24,r0 |
| 2289 10e8 1124 clr r1 |
| 2290 10ea 8D96 adiw r24,45 |
| 2291 10ec 9F93 push r25 |
| 2292 10ee 8F93 push r24 |
| 2293 10f0 8091 0000 lds r24,Motor+51 |
| 2294 10f4 881F rol r24 |
| 2295 10f6 8827 clr r24 |
| 2296 10f8 881F rol r24 |
| 2297 10fa 9AE0 ldi r25,lo8(10) |
| 2298 10fc 899F mul r24,r25 |
| 2299 10fe C001 movw r24,r0 |
| 2300 1100 1124 clr r1 |
| 2301 1102 8D96 adiw r24,45 |
| 2302 1104 9F93 push r25 |
| 2303 1106 8F93 push r24 |
| 2304 1108 8091 0000 lds r24,Motor+43 |
| 2305 110c 881F rol r24 |
| 2306 110e 8827 clr r24 |
| 2307 1110 881F rol r24 |
| 2308 1112 99E0 ldi r25,lo8(9) |
| 2309 1114 899F mul r24,r25 |
| 2310 1116 C001 movw r24,r0 |
| 2311 1118 1124 clr r1 |
| 2312 111a 8D96 adiw r24,45 |
| 2313 111c 9F93 push r25 |
| 2314 111e 8F93 push r24 |
| 2315 1120 8091 0000 lds r24,Motor+35 |
| 2316 1124 881F rol r24 |
| 2317 1126 8827 clr r24 |
| 2318 1128 881F rol r24 |
| 2319 112a 9927 clr r25 |
| 2320 112c 23E0 ldi r18,3 |
| 2321 112e 880F 1: lsl r24 |
| 2322 1130 991F rol r25 |
| 2323 1132 2A95 dec r18 |
| 2324 1134 01F4 brne 1b |
| 2325 1136 8D96 adiw r24,45 |
| 2326 1138 9F93 push r25 |
| 2327 113a 8F93 push r24 |
| 2328 113c 80E0 ldi r24,lo8(__c.63) |
| 2329 113e 90E0 ldi r25,hi8(__c.63) |
| 2330 1140 9F93 push r25 |
| 2331 1142 8F93 push r24 |
| 2332 1144 DF92 push r13 |
| 2333 1146 CF92 push r12 |
| 2334 1148 E091 0000 lds r30,_printf_P |
| 2335 114c F091 0000 lds r31,(_printf_P)+1 |
| 2336 1150 0995 icall |
| 2337 1152 8CE3 ldi r24,lo8(60) |
| 2338 1154 8093 0000 sts DispPtr,r24 |
| 2339 1158 8DB7 in r24,__SP_L__ |
| 2340 115a 9EB7 in r25,__SP_H__ |
| 2341 115c 0C96 adiw r24,12 |
| 2342 115e 8DBF out __SP_L__,r24 |
| 2343 1160 8091 0000 lds r24,Motor+67 |
| 2344 1164 881F rol r24 |
| 2345 1166 8827 clr r24 |
| 2346 1168 881F rol r24 |
| 2347 116a 9CE0 ldi r25,lo8(12) |
| 2348 116c 899F mul r24,r25 |
| 2349 116e C001 movw r24,r0 |
| 2350 1170 1124 clr r1 |
| 2351 1172 8D96 adiw r24,45 |
| 2352 1174 9F93 push r25 |
| 2353 1176 8F93 push r24 |
| 2354 1178 80E0 ldi r24,lo8(__c.64) |
| 2355 117a 90E0 ldi r25,hi8(__c.64) |
| 2356 117c 9F93 push r25 |
| 2357 117e 8F93 push r24 |
| 2358 1180 DF92 push r13 |
| 2359 1182 CF92 push r12 |
| 2360 1184 E091 0000 lds r30,_printf_P |
| 2361 1188 F091 0000 lds r31,(_printf_P)+1 |
| 2362 118c 0995 icall |
| 2363 118e 8091 0000 lds r24,Motor+75 |
| 2364 1192 EDB7 in r30,__SP_L__ |
| 2365 1194 FEB7 in r31,__SP_H__ |
| 2366 1196 3696 adiw r30,6 |
| 2367 1198 EDBF out __SP_L__,r30 |
| 2368 119a 87FF sbrs r24,7 |
| 2369 119c 00C0 rjmp .L97 |
| 2370 119e 80E4 ldi r24,lo8(64) |
| 2371 11a0 8093 0000 sts DispPtr,r24 |
| 2372 11a4 80E0 ldi r24,lo8(__c.65) |
| 2373 11a6 90E0 ldi r25,hi8(__c.65) |
| 2374 11a8 9F93 push r25 |
| 2375 11aa 8F93 push r24 |
| 2376 11ac DF92 push r13 |
| 2377 11ae CF92 push r12 |
| 2378 11b0 E091 0000 lds r30,_printf_P |
| 2379 11b4 F091 0000 lds r31,(_printf_P)+1 |
| 2380 11b8 0995 icall |
| 2381 11ba 0F90 pop __tmp_reg__ |
| 2382 11bc 0F90 pop __tmp_reg__ |
| 2383 11be 0F90 pop __tmp_reg__ |
| 2384 11c0 0F90 pop __tmp_reg__ |
| 2385 .L97: |
| 2386 11c2 8091 0000 lds r24,Motor+83 |
| 2387 11c6 87FF sbrs r24,7 |
| 2388 11c8 00C0 rjmp .L98 |
| 2389 11ca 84E4 ldi r24,lo8(68) |
| 2390 11cc 8093 0000 sts DispPtr,r24 |
| 2391 11d0 80E0 ldi r24,lo8(__c.66) |
| 2392 11d2 90E0 ldi r25,hi8(__c.66) |
| 2393 11d4 9F93 push r25 |
| 2394 11d6 8F93 push r24 |
| 2395 11d8 1F93 push r17 |
| 2396 11da 0F93 push r16 |
| 2397 11dc E091 0000 lds r30,_printf_P |
| 2398 11e0 F091 0000 lds r31,(_printf_P)+1 |
| 2399 11e4 0995 icall |
| 2400 11e6 0F90 pop __tmp_reg__ |
| 2401 11e8 0F90 pop __tmp_reg__ |
| 2402 11ea 0F90 pop __tmp_reg__ |
| 2403 11ec 0F90 pop __tmp_reg__ |
| 2404 .L98: |
| 2405 11ee 8091 0000 lds r24,Motor+91 |
| 2406 11f2 87FF sbrs r24,7 |
| 2407 11f4 00C0 rjmp .L20 |
| 2408 11f6 88E4 ldi r24,lo8(72) |
| 2409 11f8 8093 0000 sts DispPtr,r24 |
| 2410 11fc 80E0 ldi r24,lo8(__c.67) |
| 2411 11fe 90E0 ldi r25,hi8(__c.67) |
| 2412 .L125: |
| 2413 1200 9F93 push r25 |
| 2414 1202 8F93 push r24 |
| 2415 1204 1F93 push r17 |
| 2416 1206 0F93 push r16 |
| 2417 .L118: |
| 2418 1208 E091 0000 lds r30,_printf_P |
| 2419 120c F091 0000 lds r31,(_printf_P)+1 |
| 2420 1210 0995 icall |
| 2421 1212 0F90 pop __tmp_reg__ |
| 2422 1214 0F90 pop __tmp_reg__ |
| 2423 1216 0F90 pop __tmp_reg__ |
| 2424 1218 0F90 pop __tmp_reg__ |
| 2425 121a 00C0 rjmp .L20 |
| 2426 .L100: |
| 2427 121c 1092 0000 sts DispPtr,__zero_reg__ |
| 2428 1220 80E0 ldi r24,lo8(__c.68) |
| 2429 1222 90E0 ldi r25,hi8(__c.68) |
| 2430 1224 9F93 push r25 |
| 2431 1226 8F93 push r24 |
| 2432 1228 DF92 push r13 |
| 2433 122a CF92 push r12 |
| 2434 122c FE01 movw r30,r28 |
| 2435 122e 0995 icall |
| 2436 1230 84E1 ldi r24,lo8(20) |
| 2437 1232 8093 0000 sts DispPtr,r24 |
| 2438 1236 0F90 pop __tmp_reg__ |
| 2439 1238 0F90 pop __tmp_reg__ |
| 2440 123a 0F90 pop __tmp_reg__ |
| 2441 123c 0F90 pop __tmp_reg__ |
| 2442 123e 8091 0000 lds r24,FlugMinutenGesamt |
| 2443 1242 9091 0000 lds r25,(FlugMinutenGesamt)+1 |
| 2444 1246 9F93 push r25 |
| 2445 1248 8F93 push r24 |
| 2446 124a 80E0 ldi r24,lo8(__c.69) |
| 2447 124c 90E0 ldi r25,hi8(__c.69) |
| 2448 124e 9F93 push r25 |
| 2449 1250 8F93 push r24 |
| 2450 1252 DF92 push r13 |
| 2451 1254 CF92 push r12 |
| 2452 1256 E091 0000 lds r30,_printf_P |
| 2453 125a F091 0000 lds r31,(_printf_P)+1 |
| 2454 125e 0995 icall |
| 2455 1260 88E2 ldi r24,lo8(40) |
| 2456 1262 8093 0000 sts DispPtr,r24 |
| 2457 1266 2DB7 in r18,__SP_L__ |
| 2458 1268 3EB7 in r19,__SP_H__ |
| 2459 126a 2A5F subi r18,lo8(-(6)) |
| 2460 126c 3F4F sbci r19,hi8(-(6)) |
| 2461 126e 2DBF out __SP_L__,r18 |
| 2462 1270 8091 0000 lds r24,FlugMinuten |
| 2463 1274 9091 0000 lds r25,(FlugMinuten)+1 |
| 2464 1278 9F93 push r25 |
| 2465 127a 8F93 push r24 |
| 2466 127c 80E0 ldi r24,lo8(__c.70) |
| 2467 127e 90E0 ldi r25,hi8(__c.70) |
| 2468 1280 9F93 push r25 |
| 2469 1282 8F93 push r24 |
| 2470 1284 DF92 push r13 |
| 2471 1286 CF92 push r12 |
| 2472 1288 E091 0000 lds r30,_printf_P |
| 2473 128c F091 0000 lds r31,(_printf_P)+1 |
| 2474 1290 0995 icall |
| 2475 1292 89E4 ldi r24,lo8(73) |
| 2476 1294 8093 0000 sts DispPtr,r24 |
| 2477 1298 8DB7 in r24,__SP_L__ |
| 2478 129a 9EB7 in r25,__SP_H__ |
| 2479 129c 0696 adiw r24,6 |
| 2480 129e 8DBF out __SP_L__,r24 |
| 2481 12a0 80E0 ldi r24,lo8(__c.71) |
| 2482 12a2 90E0 ldi r25,hi8(__c.71) |
| 2483 12a4 9F93 push r25 |
| 2484 12a6 8F93 push r24 |
| 2485 12a8 DF92 push r13 |
| 2486 12aa CF92 push r12 |
| 2487 12ac E091 0000 lds r30,_printf_P |
| 2488 12b0 F091 0000 lds r31,(_printf_P)+1 |
| 2489 12b4 0995 icall |
| 2490 12b6 8091 0000 lds r24,RemoteKeys |
| 2491 12ba 0F90 pop __tmp_reg__ |
| 2492 12bc 0F90 pop __tmp_reg__ |
| 2493 12be 0F90 pop __tmp_reg__ |
| 2494 12c0 0F90 pop __tmp_reg__ |
| 2495 12c2 83FF sbrs r24,3 |
| 2496 12c4 00C0 rjmp .L20 |
| 2497 12c6 1092 0000 sts (FlugMinuten)+1,__zero_reg__ |
| 2498 12ca 1092 0000 sts FlugMinuten,__zero_reg__ |
| 2499 12ce 60E0 ldi r22,lo8(0) |
| 2500 12d0 70E0 ldi r23,hi8(0) |
| 2501 12d2 8EE0 ldi r24,lo8(14) |
| 2502 12d4 90E0 ldi r25,hi8(14) |
| 2503 12d6 0E94 0000 call SetParamWord |
| 2504 12da 00C0 rjmp .L20 |
| 2505 .L102: |
| 2506 12dc 8091 0000 lds r24,MaxMenue |
| 2507 12e0 2817 cp r18,r24 |
| 2508 12e2 01F4 brne .L103 |
| 2509 12e4 2150 subi r18,lo8(-(-1)) |
| 2510 12e6 2093 0000 sts MaxMenue,r18 |
| 2511 .L103: |
| 2512 12ea 1092 0000 sts MenuePunkt,__zero_reg__ |
| 2513 .L20: |
| 2514 12ee 1092 0000 sts RemoteKeys,__zero_reg__ |
| 2515 /* epilogue: frame size=0 */ |
| 2516 12f2 DF91 pop r29 |
| 2517 12f4 CF91 pop r28 |
| 2518 12f6 1F91 pop r17 |
| 2519 12f8 0F91 pop r16 |
| 2520 12fa FF90 pop r15 |
| 2521 12fc DF90 pop r13 |
| 2522 12fe CF90 pop r12 |
| 2523 1300 BF90 pop r11 |
| 2524 1302 AF90 pop r10 |
| 2525 1304 0895 ret |
| 2526 /* epilogue end (size=10) */ |
| 2527 /* function Menu size 2447 (2428) */ |
| 2529 .comm DisplayBuff,80,1 |
| 2530 /* File "menu.c": code 2469 = 0x09a5 (2449), prologues 9, epilogues 11 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 menu.c |
| C:\Temp/ccvGmRUy.s:3 *ABS*:0000003f __SREG__ |
| C:\Temp/ccvGmRUy.s:4 *ABS*:0000003e __SP_H__ |
| C:\Temp/ccvGmRUy.s:5 *ABS*:0000003d __SP_L__ |
| C:\Temp/ccvGmRUy.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\Temp/ccvGmRUy.s:7 *ABS*:00000001 __zero_reg__ |
| C:\Temp/ccvGmRUy.s:15 .bss:00000000 RemoteKeys |
| C:\Temp/ccvGmRUy.s:21 .bss:00000001 MenuePunkt |
| C:\Temp/ccvGmRUy.s:27 .data:00000000 MaxMenue |
| C:\Temp/ccvGmRUy.s:34 .bss:00000002 DispPtr |
| C:\Temp/ccvGmRUy.s:39 .text:00000000 LcdClear |
| *COM*:00000050 DisplayBuff |
| C:\Temp/ccvGmRUy.s:58 .text:00000012 Menu_Putchar |
| C:\Temp/ccvGmRUy.s:81 .progmem.data:00000000 __c.0 |
| C:\Temp/ccvGmRUy.s:85 .progmem.data:00000005 __c.1 |
| C:\Temp/ccvGmRUy.s:89 .progmem.data:0000000a __c.2 |
| C:\Temp/ccvGmRUy.s:93 .progmem.data:0000001a __c.3 |
| C:\Temp/ccvGmRUy.s:97 .progmem.data:00000032 __c.4 |
| C:\Temp/ccvGmRUy.s:101 .progmem.data:00000040 __c.5 |
| C:\Temp/ccvGmRUy.s:105 .progmem.data:0000004d __c.6 |
| C:\Temp/ccvGmRUy.s:109 .progmem.data:00000055 __c.7 |
| C:\Temp/ccvGmRUy.s:113 .progmem.data:0000006c __c.8 |
| C:\Temp/ccvGmRUy.s:117 .progmem.data:00000081 __c.9 |
| C:\Temp/ccvGmRUy.s:121 .progmem.data:0000008e __c.10 |
| C:\Temp/ccvGmRUy.s:125 .progmem.data:0000009b __c.11 |
| C:\Temp/ccvGmRUy.s:129 .progmem.data:000000a8 __c.12 |
| C:\Temp/ccvGmRUy.s:133 .progmem.data:000000b5 __c.13 |
| C:\Temp/ccvGmRUy.s:137 .progmem.data:000000c2 __c.14 |
| C:\Temp/ccvGmRUy.s:141 .progmem.data:000000d1 __c.15 |
| C:\Temp/ccvGmRUy.s:145 .progmem.data:000000da __c.16 |
| C:\Temp/ccvGmRUy.s:149 .progmem.data:000000e7 __c.17 |
| C:\Temp/ccvGmRUy.s:153 .progmem.data:000000f6 __c.18 |
| C:\Temp/ccvGmRUy.s:157 .progmem.data:00000105 __c.19 |
| C:\Temp/ccvGmRUy.s:161 .progmem.data:00000114 __c.20 |
| C:\Temp/ccvGmRUy.s:165 .progmem.data:00000126 __c.21 |
| C:\Temp/ccvGmRUy.s:169 .progmem.data:00000136 __c.22 |
| C:\Temp/ccvGmRUy.s:173 .progmem.data:00000146 __c.23 |
| C:\Temp/ccvGmRUy.s:177 .progmem.data:00000156 __c.24 |
| C:\Temp/ccvGmRUy.s:181 .progmem.data:00000166 __c.25 |
| C:\Temp/ccvGmRUy.s:185 .progmem.data:00000174 __c.26 |
| C:\Temp/ccvGmRUy.s:189 .progmem.data:00000185 __c.27 |
| C:\Temp/ccvGmRUy.s:193 .progmem.data:00000196 __c.28 |
| C:\Temp/ccvGmRUy.s:197 .progmem.data:000001a4 __c.29 |
| C:\Temp/ccvGmRUy.s:201 .progmem.data:000001b6 __c.30 |
| C:\Temp/ccvGmRUy.s:205 .progmem.data:000001c8 __c.31 |
| C:\Temp/ccvGmRUy.s:209 .progmem.data:000001d7 __c.32 |
| C:\Temp/ccvGmRUy.s:213 .progmem.data:000001eb __c.33 |
| C:\Temp/ccvGmRUy.s:217 .progmem.data:000001ff __c.34 |
| C:\Temp/ccvGmRUy.s:221 .progmem.data:00000213 __c.35 |
| C:\Temp/ccvGmRUy.s:225 .progmem.data:00000220 __c.36 |
| C:\Temp/ccvGmRUy.s:229 .progmem.data:0000022f __c.37 |
| C:\Temp/ccvGmRUy.s:233 .progmem.data:0000023e __c.38 |
| C:\Temp/ccvGmRUy.s:237 .progmem.data:0000024d __c.39 |
| C:\Temp/ccvGmRUy.s:241 .progmem.data:00000261 __c.40 |
| C:\Temp/ccvGmRUy.s:245 .progmem.data:00000275 __c.41 |
| C:\Temp/ccvGmRUy.s:249 .progmem.data:00000285 __c.42 |
| C:\Temp/ccvGmRUy.s:253 .progmem.data:00000297 __c.43 |
| C:\Temp/ccvGmRUy.s:257 .progmem.data:000002a0 __c.44 |
| C:\Temp/ccvGmRUy.s:261 .progmem.data:000002b0 __c.45 |
| C:\Temp/ccvGmRUy.s:265 .progmem.data:000002c0 __c.46 |
| C:\Temp/ccvGmRUy.s:269 .progmem.data:000002d0 __c.47 |
| C:\Temp/ccvGmRUy.s:273 .progmem.data:000002d8 __c.48 |
| C:\Temp/ccvGmRUy.s:277 .progmem.data:000002e6 __c.49 |
| C:\Temp/ccvGmRUy.s:281 .progmem.data:000002f4 __c.50 |
| C:\Temp/ccvGmRUy.s:285 .progmem.data:00000302 __c.51 |
| C:\Temp/ccvGmRUy.s:289 .progmem.data:0000030f __c.52 |
| C:\Temp/ccvGmRUy.s:293 .progmem.data:0000031c __c.53 |
| C:\Temp/ccvGmRUy.s:297 .progmem.data:00000324 __c.54 |
| C:\Temp/ccvGmRUy.s:301 .progmem.data:00000332 __c.55 |
| C:\Temp/ccvGmRUy.s:305 .progmem.data:00000340 __c.56 |
| C:\Temp/ccvGmRUy.s:309 .progmem.data:0000034e __c.57 |
| C:\Temp/ccvGmRUy.s:313 .progmem.data:0000035e __c.58 |
| C:\Temp/ccvGmRUy.s:317 .progmem.data:0000036f __c.59 |
| C:\Temp/ccvGmRUy.s:321 .progmem.data:0000037e __c.60 |
| C:\Temp/ccvGmRUy.s:325 .progmem.data:0000038f __c.61 |
| C:\Temp/ccvGmRUy.s:329 .progmem.data:0000039e __c.62 |
| C:\Temp/ccvGmRUy.s:333 .progmem.data:000003b2 __c.63 |
| C:\Temp/ccvGmRUy.s:337 .progmem.data:000003c6 __c.64 |
| C:\Temp/ccvGmRUy.s:341 .progmem.data:000003d7 __c.65 |
| C:\Temp/ccvGmRUy.s:345 .progmem.data:000003da __c.66 |
| C:\Temp/ccvGmRUy.s:349 .progmem.data:000003dd __c.67 |
| C:\Temp/ccvGmRUy.s:353 .progmem.data:000003e0 __c.68 |
| C:\Temp/ccvGmRUy.s:357 .progmem.data:000003ee __c.69 |
| C:\Temp/ccvGmRUy.s:361 .progmem.data:000003fb __c.70 |
| C:\Temp/ccvGmRUy.s:365 .progmem.data:00000408 __c.71 |
| C:\Temp/ccvGmRUy.s:370 .text:0000002c Menu |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| _printf_P |
| __tablejump2__ |
| PlatinenVersion |
| __udivmodqi4 |
| Mixer |
| GetActiveParamSet |
| VersionInfo |
| NC_ErrorCode |
| NC_ERROR_TEXT |
| MissingMotor |
| I2CTimeout |
| Parameter_GlobalConfig |
| HoehenWert |
| __divmodsi4 |
| SollHoehe |
| MessLuftdruck |
| IntegralNick |
| IntegralRoll |
| ErsatzKompassInGrad |
| PPM_in |
| EE_Parameter |
| AdNeutralNick |
| AdWertNick |
| AdNeutralRoll |
| AdWertRoll |
| AdNeutralGier |
| AdWertGier |
| AnalogOffsetNick |
| AnalogOffsetRoll |
| AnalogOffsetGier |
| NeutralAccX |
| AdWertAccNick |
| NeutralAccY |
| AdWertAccRoll |
| NeutralAccZ |
| AdWertAccHoch |
| UBat |
| __divmodhi4 |
| Capacity |
| __udivmodhi4 |
| SenderOkay |
| Channels |
| KompassValue |
| KompassSollWert |
| Poti |
| Parameter_ServoNickControl |
| ServoNickValue |
| Motor |
| FlugMinutenGesamt |
| FlugMinuten |
| SetParamWord |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/mymath.c |
|---|
| 0,0 → 1,41 |
| #include <stdlib.h> |
| #include <avr/pgmspace.h> |
| #include "mymath.h" |
| // discrete mathematics |
| // Sinus with argument in degree at an angular resolution of 1 degree and a discretisation of 13 bit. |
| const uint16_t pgm_sinlookup[91] PROGMEM = {0, 143, 286, 429, 571, 714, 856, 998, 1140, 1282, 1423, 1563, 1703, 1843, 1982, 2120, 2258, 2395, 2531, 2667, 2802, 2936, 3069, 3201, 3332, 3462, 3591, 3719, 3846, 3972, 4096, 4219, 4341, 4462, 4581, 4699, 4815, 4930, 5043, 5155, 5266, 5374, 5482, 5587, 5691, 5793, 5893, 5991, 6088, 6183, 6275, 6366, 6455, 6542, 6627, 6710, 6791, 6870, 6947, 7022, 7094, 7165, 7233, 7299, 7363, 7424, 7484, 7541, 7595, 7648, 7698, 7746, 7791, 7834, 7875, 7913, 7949, 7982, 8013, 8041, 8068, 8091, 8112, 8131, 8147, 8161, 8172, 8181, 8187, 8191, 8192}; |
| int16_t c_sin_8192(int16_t angle) |
| { |
| int8_t m,n; |
| int16_t sinus; |
| // avoid negative angles |
| if (angle < 0) |
| { |
| m = -1; |
| angle = abs(angle); |
| } |
| else m = +1; |
| // fold angle to intervall 0 to 359 |
| angle %= 360; |
| // check quadrant |
| if (angle <= 90) n=1; // first quadrant |
| else if ((angle > 90) && (angle <= 180)) {angle = 180 - angle; n = 1;} // second quadrant |
| else if ((angle > 180) && (angle <= 270)) {angle = angle - 180; n = -1;} // third quadrant |
| else {angle = 360 - angle; n = -1;} //fourth quadrant |
| // get lookup value |
| sinus = pgm_read_word(&pgm_sinlookup[angle]); |
| // calculate sinus value |
| return (sinus * m * n); |
| } |
| // Cosinus with argument in degree at an angular resolution of 1 degree and a discretisation of 13 bit. |
| int16_t c_cos_8192(int16_t angle) |
| { |
| return (c_sin_8192(90 - angle)); |
| } |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/mymath.h |
|---|
| 0,0 → 1,10 |
| #ifndef _MYMATH_H |
| #define _MYMATH_H |
| #include <inttypes.h> |
| extern int16_t c_sin_8192(int16_t angle); |
| extern int16_t c_cos_8192(int16_t angle); |
| extern int16_t c_atan2(int16_t y, int16_t x); |
| extern uint32_t c_sqrt(uint32_t a); |
| #endif // _MYMATH_H |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/mymath.lst |
|---|
| 0,0 → 1,226 |
| 1 .file "mymath.c" |
| 2 .arch atmega1284p |
| 3 __SREG__ = 0x3f |
| 4 __SP_H__ = 0x3e |
| 5 __SP_L__ = 0x3d |
| 6 __tmp_reg__ = 0 |
| 7 __zero_reg__ = 1 |
| 8 .global __do_copy_data |
| 9 .global __do_clear_bss |
| 10 .global pgm_sinlookup |
| 11 .section .progmem.data,"a",@progbits |
| 14 pgm_sinlookup: |
| 15 0000 0000 .word 0 |
| 16 0002 8F00 .word 143 |
| 17 0004 1E01 .word 286 |
| 18 0006 AD01 .word 429 |
| 19 0008 3B02 .word 571 |
| 20 000a CA02 .word 714 |
| 21 000c 5803 .word 856 |
| 22 000e E603 .word 998 |
| 23 0010 7404 .word 1140 |
| 24 0012 0205 .word 1282 |
| 25 0014 8F05 .word 1423 |
| 26 0016 1B06 .word 1563 |
| 27 0018 A706 .word 1703 |
| 28 001a 3307 .word 1843 |
| 29 001c BE07 .word 1982 |
| 30 001e 4808 .word 2120 |
| 31 0020 D208 .word 2258 |
| 32 0022 5B09 .word 2395 |
| 33 0024 E309 .word 2531 |
| 34 0026 6B0A .word 2667 |
| 35 0028 F20A .word 2802 |
| 36 002a 780B .word 2936 |
| 37 002c FD0B .word 3069 |
| 38 002e 810C .word 3201 |
| 39 0030 040D .word 3332 |
| 40 0032 860D .word 3462 |
| 41 0034 070E .word 3591 |
| 42 0036 870E .word 3719 |
| 43 0038 060F .word 3846 |
| 44 003a 840F .word 3972 |
| 45 003c 0010 .word 4096 |
| 46 003e 7B10 .word 4219 |
| 47 0040 F510 .word 4341 |
| 48 0042 6E11 .word 4462 |
| 49 0044 E511 .word 4581 |
| 50 0046 5B12 .word 4699 |
| 51 0048 CF12 .word 4815 |
| 52 004a 4213 .word 4930 |
| 53 004c B313 .word 5043 |
| 54 004e 2314 .word 5155 |
| 55 0050 9214 .word 5266 |
| 56 0052 FE14 .word 5374 |
| 57 0054 6A15 .word 5482 |
| 58 0056 D315 .word 5587 |
| 59 0058 3B16 .word 5691 |
| 60 005a A116 .word 5793 |
| 61 005c 0517 .word 5893 |
| 62 005e 6717 .word 5991 |
| 63 0060 C817 .word 6088 |
| 64 0062 2718 .word 6183 |
| 65 0064 8318 .word 6275 |
| 66 0066 DE18 .word 6366 |
| 67 0068 3719 .word 6455 |
| 68 006a 8E19 .word 6542 |
| 69 006c E319 .word 6627 |
| 70 006e 361A .word 6710 |
| 71 0070 871A .word 6791 |
| 72 0072 D61A .word 6870 |
| 73 0074 231B .word 6947 |
| 74 0076 6E1B .word 7022 |
| 75 0078 B61B .word 7094 |
| 76 007a FD1B .word 7165 |
| 77 007c 411C .word 7233 |
| 78 007e 831C .word 7299 |
| 79 0080 C31C .word 7363 |
| 80 0082 001D .word 7424 |
| 81 0084 3C1D .word 7484 |
| 82 0086 751D .word 7541 |
| 83 0088 AB1D .word 7595 |
| 84 008a E01D .word 7648 |
| 85 008c 121E .word 7698 |
| 86 008e 421E .word 7746 |
| 87 0090 6F1E .word 7791 |
| 88 0092 9A1E .word 7834 |
| 89 0094 C31E .word 7875 |
| 90 0096 E91E .word 7913 |
| 91 0098 0D1F .word 7949 |
| 92 009a 2E1F .word 7982 |
| 93 009c 4D1F .word 8013 |
| 94 009e 691F .word 8041 |
| 95 00a0 841F .word 8068 |
| 96 00a2 9B1F .word 8091 |
| 97 00a4 B01F .word 8112 |
| 98 00a6 C31F .word 8131 |
| 99 00a8 D31F .word 8147 |
| 100 00aa E11F .word 8161 |
| 101 00ac EC1F .word 8172 |
| 102 00ae F51F .word 8181 |
| 103 00b0 FB1F .word 8187 |
| 104 00b2 FF1F .word 8191 |
| 105 00b4 0020 .word 8192 |
| 106 .text |
| 107 .global c_sin_8192 |
| 109 c_sin_8192: |
| 110 /* prologue: frame size=0 */ |
| 111 0000 CF93 push r28 |
| 112 /* prologue end (size=1) */ |
| 113 0002 FC01 movw r30,r24 |
| 114 0004 97FF sbrs r25,7 |
| 115 0006 00C0 rjmp .L2 |
| 116 0008 CFEF ldi r28,lo8(-1) |
| 117 000a F095 com r31 |
| 118 000c E195 neg r30 |
| 119 000e FF4F sbci r31,lo8(-1) |
| 120 0010 00C0 rjmp .L4 |
| 121 .L2: |
| 122 0012 C1E0 ldi r28,lo8(1) |
| 123 .L4: |
| 124 0014 28E6 ldi r18,lo8(360) |
| 125 0016 31E0 ldi r19,hi8(360) |
| 126 0018 CF01 movw r24,r30 |
| 127 001a B901 movw r22,r18 |
| 128 001c 0E94 0000 call __divmodhi4 |
| 129 0020 FC01 movw r30,r24 |
| 130 0022 8B35 cpi r24,91 |
| 131 0024 9105 cpc r25,__zero_reg__ |
| 132 0026 04F0 brlt .L12 |
| 133 0028 8B55 subi r24,lo8(-(-91)) |
| 134 002a 9040 sbci r25,hi8(-(-91)) |
| 135 002c 8A35 cpi r24,90 |
| 136 002e 9105 cpc r25,__zero_reg__ |
| 137 0030 00F4 brsh .L7 |
| 138 0032 84EB ldi r24,lo8(180) |
| 139 0034 90E0 ldi r25,hi8(180) |
| 140 0036 8E1B sub r24,r30 |
| 141 0038 9F0B sbc r25,r31 |
| 142 003a FC01 movw r30,r24 |
| 143 .L12: |
| 144 003c 41E0 ldi r20,lo8(1) |
| 145 003e 00C0 rjmp .L6 |
| 146 .L7: |
| 147 0040 CF01 movw r24,r30 |
| 148 0042 855B subi r24,lo8(-(-181)) |
| 149 0044 9040 sbci r25,hi8(-(-181)) |
| 150 0046 8A35 cpi r24,90 |
| 151 0048 9105 cpc r25,__zero_reg__ |
| 152 004a 00F4 brsh .L9 |
| 153 004c E45B subi r30,lo8(-(-180)) |
| 154 004e F040 sbci r31,hi8(-(-180)) |
| 155 0050 00C0 rjmp .L11 |
| 156 .L9: |
| 157 0052 2E1B sub r18,r30 |
| 158 0054 3F0B sbc r19,r31 |
| 159 0056 F901 movw r30,r18 |
| 160 .L11: |
| 161 0058 4FEF ldi r20,lo8(-1) |
| 162 .L6: |
| 163 005a EE0F add r30,r30 |
| 164 005c FF1F adc r31,r31 |
| 165 005e E050 subi r30,lo8(-(pgm_sinlookup)) |
| 166 0060 F040 sbci r31,hi8(-(pgm_sinlookup)) |
| 167 /* #APP */ |
| 168 0062 2591 lpm r18, Z+ |
| 169 0064 3491 lpm r19, Z |
| 170 |
| 171 /* #NOAPP */ |
| 172 0066 8C2F mov r24,r28 |
| 173 0068 9927 clr r25 |
| 174 006a 87FD sbrc r24,7 |
| 175 006c 9095 com r25 |
| 176 006e 289F mul r18,r24 |
| 177 0070 B001 movw r22,r0 |
| 178 0072 299F mul r18,r25 |
| 179 0074 700D add r23,r0 |
| 180 0076 389F mul r19,r24 |
| 181 0078 700D add r23,r0 |
| 182 007a 1124 clr r1 |
| 183 007c 842F mov r24,r20 |
| 184 007e 9927 clr r25 |
| 185 0080 87FD sbrc r24,7 |
| 186 0082 9095 com r25 |
| 187 0084 689F mul r22,r24 |
| 188 0086 A001 movw r20,r0 |
| 189 0088 699F mul r22,r25 |
| 190 008a 500D add r21,r0 |
| 191 008c 789F mul r23,r24 |
| 192 008e 500D add r21,r0 |
| 193 0090 1124 clr r1 |
| 194 0092 CA01 movw r24,r20 |
| 195 /* epilogue: frame size=0 */ |
| 196 0094 CF91 pop r28 |
| 197 0096 0895 ret |
| 198 /* epilogue end (size=2) */ |
| 199 /* function c_sin_8192 size 80 (77) */ |
| 201 .global c_cos_8192 |
| 203 c_cos_8192: |
| 204 /* prologue: frame size=0 */ |
| 205 /* prologue end (size=0) */ |
| 206 0098 2AE5 ldi r18,lo8(90) |
| 207 009a 30E0 ldi r19,hi8(90) |
| 208 009c 281B sub r18,r24 |
| 209 009e 390B sbc r19,r25 |
| 210 00a0 C901 movw r24,r18 |
| 211 00a2 0E94 0000 call c_sin_8192 |
| 212 /* epilogue: frame size=0 */ |
| 213 00a6 0895 ret |
| 214 /* epilogue end (size=1) */ |
| 215 /* function c_cos_8192 size 8 (7) */ |
| 217 /* File "mymath.c": code 88 = 0x0058 ( 84), prologues 1, epilogues 3 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 mymath.c |
| C:\Temp/cctSHyeF.s:3 *ABS*:0000003f __SREG__ |
| C:\Temp/cctSHyeF.s:4 *ABS*:0000003e __SP_H__ |
| C:\Temp/cctSHyeF.s:5 *ABS*:0000003d __SP_L__ |
| C:\Temp/cctSHyeF.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\Temp/cctSHyeF.s:7 *ABS*:00000001 __zero_reg__ |
| C:\Temp/cctSHyeF.s:14 .progmem.data:00000000 pgm_sinlookup |
| C:\Temp/cctSHyeF.s:109 .text:00000000 c_sin_8192 |
| C:\Temp/cctSHyeF.s:203 .text:00000098 c_cos_8192 |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| __divmodhi4 |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/old_macros.h |
|---|
| 0,0 → 1,47 |
| /* |
| For backwards compatibility only. |
| Ingo Busker ingo@mikrocontroller.com |
| */ |
| #ifndef cbi |
| #define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit)) |
| #endif |
| #ifndef sbi |
| #define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit)) |
| #endif |
| #ifndef inb |
| #define inb(sfr) _SFR_BYTE(sfr) |
| #endif |
| #ifndef outb |
| #define outb(sfr, val) (_SFR_BYTE(sfr) = (val)) |
| #endif |
| #ifndef inw |
| #define inw(sfr) _SFR_WORD(sfr) |
| #endif |
| #ifndef outw |
| #define outw(sfr, val) (_SFR_WORD(sfr) = (val)) |
| #endif |
| #ifndef outp |
| #define outp(val, sfr) outb(sfr, val) |
| #endif |
| #ifndef inp |
| #define inp(sfr) inb(sfr) |
| #endif |
| #ifndef BV |
| #define BV(bit) _BV(bit) |
| #endif |
| #ifndef PRG_RDB |
| #define PRG_RDB pgm_read_byte |
| #endif |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/printf_P.h |
|---|
| 0,0 → 1,69 |
| // Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist nicht von der Lizenz für den MikroKopter-Teil unterstellt |
| /* |
| Copyright (C) 1993 Free Software Foundation |
| This file is part of the GNU IO Library. This library is free |
| software; you can redistribute it and/or modify it under the |
| terms of the GNU General Public License as published by the |
| Free Software Foundation; either version 2, or (at your option) |
| any later version. |
| This library is distributed in the hope that it will be useful, |
| but WITHOUT ANY WARRANTY; without even the implied warranty of |
| MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| GNU General Public License for more details. |
| You should have received a copy of the GNU General Public License |
| along with this library; see the file COPYING. If not, write to the Free |
| Software Foundation, 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. |
| As a special exception, if you link this library with files |
| compiled with a GNU compiler to produce an executable, this does not cause |
| the resulting executable to be covered by the GNU General Public License. |
| This exception does not however invalidate any other reasons why |
| the executable file might be covered by the GNU General Public License. */ |
| /* |
| * Copyright (c) 1990 Regents of the University of California. |
| * All rights reserved. |
| * |
| * Redistribution and use in source and binary forms, with or without |
| * modification, are permitted provided that the following conditions |
| * are met: |
| * 1. Redistributions of source code must retain the above copyright |
| * notice, this list of conditions and the following disclaimer. |
| * 2. Redistributions in binary form must reproduce the above copyright |
| * notice, this list of conditions and the following disclaimer in the |
| * documentation and/or other materials provided with the distribution. |
| * 3. [rescinded 22 July 1999] |
| * 4. Neither the name of the University nor the names of its contributors |
| * may be used to endorse or promote products derived from this software |
| * without specific prior written permission. |
| * |
| * THIS SOFTWARE IS PROVIDED BY THE REGENTS AND CONTRIBUTORS ``AS IS'' AND |
| * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| * ARE DISCLAIMED. IN NO EVENT SHALL THE REGENTS OR CONTRIBUTORS BE LIABLE |
| * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
| * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS |
| * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) |
| * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY |
| * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF |
| * SUCH DAMAGE. |
| */ |
| /******************************************************************************/ |
| #ifndef _PRINTF_P_H_ |
| #define _PRINTF_P_H_ |
| #include <avr/pgmspace.h> |
| // function pointer to external callback function |
| typedef void (*pVoidFnctChar) (char ); |
| typedef void (*pVoidFnct_pVoidFnctChar_const_fmt) (pVoidFnctChar, char const *fmt0, ...); |
| extern pVoidFnct_pVoidFnctChar_const_fmt _printf_P; |
| #endif //_PRINTF_P_H_ |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/rc.c |
|---|
| 0,0 → 1,269 |
| /*####################################################################################### |
| Decodieren eines RC Summen Signals |
| #######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software Nutzungsbedingungen (english version: see below) |
| // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
| // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
| // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
| // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
| // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
| // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
| // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
| // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
| // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
| // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
| // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
| // + des Mitverschuldens offen. |
| // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
| // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
| // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
| // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
| // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
| // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
| // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software LICENSING TERMS |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
| // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
| // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
| // + The Software may only be used with the Licensor's products. |
| // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
| // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
| // + agreement shall be the property of the Licensor. |
| // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
| // + features that can be used to identify the program may not be altered or defaced by the customer. |
| // + The customer shall be responsible for taking reasonable precautions |
| // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
| // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
| // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
| // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
| // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
| // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
| // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
| // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
| // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
| // + #### END OF LICENSING TERMS #### |
| // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "rc.h" |
| #include "main.h" |
| // Achtung: ACT_S3D_SUMMENSIGNAL wird in der Main.h gesetzt |
| volatile int PPM_in[26]; |
| volatile int PPM_diff[26]; // das diffenzierte Stick-Signal |
| volatile char Channels,tmpChannels = 0; |
| volatile unsigned char NewPpmData = 1; |
| unsigned int PPM_Neutral = 466; |
| //############################################################################ |
| // Clear the values |
| void rc_sum_init (void) |
| //############################################################################ |
| { |
| unsigned char i; |
| for(i=0;i<26;i++) |
| { |
| if(i < 5) PPM_in[i] = 0; else PPM_in[i] = -127; |
| PPM_diff[i] = 0; |
| } |
| AdNeutralGier = 0; |
| AdNeutralRoll = 0; |
| AdNeutralNick = 0; |
| return; |
| } |
| #ifndef ACT_S3D_SUMMENSIGNAL |
| //############################################################################ |
| // Interrupt function for the PPM-Input |
| ISR(TIMER1_CAPT_vect) |
| //############################################################################ |
| { |
| if(!(EE_Parameter.ExtraConfig & CFG_SENSITIVE_RC)) |
| { |
| static unsigned int AltICR=0; |
| signed int signal = 0,tmp; |
| static int index; |
| signal = (unsigned int) ICR1 - AltICR; |
| AltICR = ICR1; |
| //Syncronisationspause? (3.52 ms < signal < 25.6 ms) |
| if((signal > 1100) && (signal < 8000)) |
| { |
| Channels = index; |
| if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
| index = 1; |
| } |
| else |
| { |
| if(index < 13) |
| { |
| if((signal > 250) && (signal < 687)) |
| { |
| signal -= PPM_Neutral; |
| // Stabiles Signal |
| if(EE_Parameter.FailsafeChannel == 0 || PPM_in[EE_Parameter.FailsafeChannel] < 100) // forces Failsafe if the receiver doesn't have 'signal loss' on Failsafe |
| { |
| if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10; else SenderOkay = 200;} |
| } |
| tmp = (3 * (PPM_in[index]) + signal) / 4; |
| if(tmp > signal+1) tmp--; else |
| if(tmp < signal-1) tmp++; |
| if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
| else PPM_diff[index] = 0; |
| PPM_in[index] = tmp; |
| } |
| index++; |
| if(PlatinenVersion < 20) |
| { |
| if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
| if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen |
| if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
| } |
| } |
| } |
| } |
| else |
| { |
| static unsigned int AltICR=0; |
| static int ppm_in[13]; |
| static int ppm_diff[13]; |
| static int old_ppm_in[13]; |
| static int old_ppm_diff[13]; |
| signed int signal = 0,tmp; |
| static unsigned char index, okay_cnt = 0; |
| signal = (unsigned int) ICR1 - AltICR; |
| AltICR = ICR1; |
| //Syncronisationspause? (3.52 ms < signal < 25.6 ms) |
| if((signal > 1100) && (signal < 8000)) |
| { |
| tmpChannels = index; |
| if(tmpChannels >= 4 && Channels == tmpChannels) |
| { |
| if(okay_cnt > 10) |
| { |
| NewPpmData = 0; // Null bedeutet: Neue Daten |
| for(index = 0; index < 13; index++) |
| { |
| if(okay_cnt > 30) |
| { |
| old_ppm_in[index] = PPM_in[index]; |
| old_ppm_diff[index] = PPM_diff[index]; |
| } |
| PPM_in[index] = ppm_in[index]; |
| PPM_diff[index] = ppm_diff[index]; |
| } |
| } |
| if(okay_cnt < 255) okay_cnt++; |
| } |
| else |
| { |
| if(okay_cnt > 100) okay_cnt = 10; else okay_cnt = 0; |
| ROT_ON; |
| } |
| index = 1; |
| if(!MotorenEin) Channels = tmpChannels; |
| } |
| else |
| { |
| if(index < 13) |
| { |
| if((signal > 250) && (signal < 687)) |
| { |
| signal -= PPM_Neutral; |
| // Stabiles Signal |
| if((abs(signal - ppm_in[index]) < 6)) |
| { |
| if(EE_Parameter.FailsafeChannel == 0 || PPM_in[EE_Parameter.FailsafeChannel] < 100) // forces Failsafe if the receiver doesn't have 'signal loss' on Failsafe |
| { |
| if(okay_cnt > 25) SenderOkay += 10; |
| else |
| if(okay_cnt > 10) SenderOkay += 2; |
| if(SenderOkay > 200) SenderOkay = 200; |
| } |
| } |
| tmp = (3 * (ppm_in[index]) + signal) / 4; |
| if(tmp > signal+1) tmp--; else |
| if(tmp < signal-1) tmp++; |
| if(SenderOkay >= 190) ppm_diff[index] = ((tmp - ppm_in[index]) / 3) * 3; |
| else ppm_diff[index] = 0; |
| ppm_in[index] = tmp; |
| } |
| else ROT_ON; |
| if(PlatinenVersion < 20) |
| { |
| if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
| if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen |
| if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
| } |
| } |
| if(index < 20) index++; |
| else |
| if(index == 20) |
| { |
| unsigned char i; |
| ROT_ON; |
| index = 30; |
| for(i=0;i<13;i++) // restore from older data |
| { |
| PPM_in[i] = old_ppm_in[i]; |
| PPM_diff[i] = 0; |
| // okay_cnt /= 2; |
| } |
| } |
| } |
| } |
| } |
| #else |
| //############################################################################ |
| // Interrupt function for the PPM-Input |
| ISR(TIMER1_CAPT_vect) |
| //############################################################################ |
| { |
| static unsigned int AltICR=0; |
| signed int signal = 0,tmp; |
| static int index; |
| signal = (unsigned int) ICR1 - AltICR; |
| signal /= 2; |
| AltICR = ICR1; |
| //Syncronisationspause? |
| if((signal > 1100*2) && (signal < 8000*2)) |
| { |
| if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
| index = 1; |
| } |
| else |
| { |
| if(index < 13) |
| { |
| if((signal > 250) && (signal < 687*2)) |
| { |
| signal -= 962; |
| // Stabiles Signal |
| if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
| tmp = (3 * (PPM_in[index]) + signal) / 4; |
| if(tmp > signal+1) tmp--; else |
| if(tmp < signal-1) tmp++; |
| if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
| else PPM_diff[index] = 0; |
| PPM_in[index] = tmp; |
| } |
| index++; |
| } |
| } |
| } |
| #endif |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/rc.h |
|---|
| 0,0 → 1,27 |
| /*####################################################################################### |
| Derkodieren eines RC Summen Signals |
| #######################################################################################*/ |
| #ifndef _RC_H |
| #define _RC_H |
| #if defined (__AVR_ATmega644__) |
| #define TIMER_RELOAD_VALUE 250 |
| #endif |
| #if defined (__AVR_ATmega644P__) |
| #define TIMER_RELOAD_VALUE 250 |
| #endif |
| #define GAS PPM_in[2] |
| #define FromNC_WP_EventChannel PPM_in[25] // WP_EVENT-Channel-Value |
| extern void rc_sum_init (void); |
| extern volatile int PPM_in[26]; |
| extern volatile int PPM_diff[26]; // das diffenzierte Stick-Signal |
| extern volatile unsigned char NewPpmData; |
| extern volatile char Channels,tmpChannels; |
| extern unsigned int PPM_Neutral; |
| #endif //_RC_H |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/rc.lst |
|---|
| 0,0 → 1,741 |
| 1 .file "rc.c" |
| 2 .arch atmega1284p |
| 3 __SREG__ = 0x3f |
| 4 __SP_H__ = 0x3e |
| 5 __SP_L__ = 0x3d |
| 6 __tmp_reg__ = 0 |
| 7 __zero_reg__ = 1 |
| 8 .global __do_copy_data |
| 9 .global __do_clear_bss |
| 10 .global PPM_Neutral |
| 11 .data |
| 14 PPM_Neutral: |
| 15 0000 D201 .word 466 |
| 16 .global NewPpmData |
| 19 NewPpmData: |
| 20 0002 01 .byte 1 |
| 21 .global tmpChannels |
| 22 .global tmpChannels |
| 23 .section .bss |
| 26 tmpChannels: |
| 27 0000 00 .skip 1,0 |
| 28 .text |
| 29 .global rc_sum_init |
| 31 rc_sum_init: |
| 32 /* prologue: frame size=0 */ |
| 33 0000 CF93 push r28 |
| 34 0002 DF93 push r29 |
| 35 /* prologue end (size=2) */ |
| 36 0004 80E0 ldi r24,lo8(0) |
| 37 0006 21E8 ldi r18,lo8(-127) |
| 38 0008 3FEF ldi r19,hi8(-127) |
| 39 000a C0E0 ldi r28,lo8(PPM_diff) |
| 40 000c D0E0 ldi r29,hi8(PPM_diff) |
| 41 000e E0E0 ldi r30,lo8(PPM_in) |
| 42 0010 F0E0 ldi r31,hi8(PPM_in) |
| 43 0012 DF01 movw r26,r30 |
| 44 .L7: |
| 45 0014 8530 cpi r24,lo8(5) |
| 46 0016 00F4 brsh .L5 |
| 47 0018 1196 adiw r26,1 |
| 48 001a 1C92 st X,__zero_reg__ |
| 49 001c 1E92 st -X,__zero_reg__ |
| 50 001e 00C0 rjmp .L6 |
| 51 .L5: |
| 52 0020 3183 std Z+1,r19 |
| 53 0022 2083 st Z,r18 |
| 54 .L6: |
| 55 0024 1982 std Y+1,__zero_reg__ |
| 56 0026 1882 st Y,__zero_reg__ |
| 57 0028 2296 adiw r28,2 |
| 58 002a 8F5F subi r24,lo8(-(1)) |
| 59 002c 1296 adiw r26,2 |
| 60 002e 3296 adiw r30,2 |
| 61 0030 8A31 cpi r24,lo8(26) |
| 62 0032 00F0 brlo .L7 |
| 63 0034 1092 0000 sts (AdNeutralGier)+1,__zero_reg__ |
| 64 0038 1092 0000 sts AdNeutralGier,__zero_reg__ |
| 65 003c 1092 0000 sts (AdNeutralRoll)+1,__zero_reg__ |
| 66 0040 1092 0000 sts AdNeutralRoll,__zero_reg__ |
| 67 0044 1092 0000 sts (AdNeutralNick)+1,__zero_reg__ |
| 68 0048 1092 0000 sts AdNeutralNick,__zero_reg__ |
| 69 /* epilogue: frame size=0 */ |
| 70 004c DF91 pop r29 |
| 71 004e CF91 pop r28 |
| 72 0050 0895 ret |
| 73 /* epilogue end (size=3) */ |
| 74 /* function rc_sum_init size 41 (36) */ |
| 76 .lcomm AltICR.0,2 |
| 77 .lcomm index.1,2 |
| 78 .lcomm AltICR.2,2 |
| 79 .lcomm ppm_in.3,26 |
| 80 .lcomm ppm_diff.4,26 |
| 81 .lcomm old_ppm_in.5,26 |
| 82 .lcomm old_ppm_diff.6,26 |
| 83 .lcomm index.7,1 |
| 84 .lcomm okay_cnt.8,1 |
| 85 .global __vector_12 |
| 87 __vector_12: |
| 88 /* prologue: frame size=0 */ |
| 89 0052 1F92 push __zero_reg__ |
| 90 0054 0F92 push __tmp_reg__ |
| 91 0056 0FB6 in __tmp_reg__,__SREG__ |
| 92 0058 0F92 push __tmp_reg__ |
| 93 005a 1124 clr __zero_reg__ |
| 94 005c 0F93 push r16 |
| 95 005e 1F93 push r17 |
| 96 0060 2F93 push r18 |
| 97 0062 3F93 push r19 |
| 98 0064 4F93 push r20 |
| 99 0066 5F93 push r21 |
| 100 0068 6F93 push r22 |
| 101 006a 7F93 push r23 |
| 102 006c 8F93 push r24 |
| 103 006e 9F93 push r25 |
| 104 0070 AF93 push r26 |
| 105 0072 BF93 push r27 |
| 106 0074 CF93 push r28 |
| 107 0076 DF93 push r29 |
| 108 0078 EF93 push r30 |
| 109 007a FF93 push r31 |
| 110 /* prologue end (size=21) */ |
| 111 007c 8091 0000 lds r24,EE_Parameter+110 |
| 112 0080 82FD sbrc r24,2 |
| 113 0082 00C0 rjmp .L11 |
| 114 0084 4091 8600 lds r20,134 |
| 115 0088 5091 8700 lds r21,(134)+1 |
| 116 008c 8091 0000 lds r24,AltICR.0 |
| 117 0090 9091 0000 lds r25,(AltICR.0)+1 |
| 118 0094 481B sub r20,r24 |
| 119 0096 590B sbc r21,r25 |
| 120 0098 8091 8600 lds r24,134 |
| 121 009c 9091 8700 lds r25,(134)+1 |
| 122 00a0 9093 0000 sts (AltICR.0)+1,r25 |
| 123 00a4 8093 0000 sts AltICR.0,r24 |
| 124 00a8 CA01 movw r24,r20 |
| 125 00aa 8D54 subi r24,lo8(-(-1101)) |
| 126 00ac 9440 sbci r25,hi8(-(-1101)) |
| 127 00ae A091 0000 lds r26,index.1 |
| 128 00b2 B091 0000 lds r27,(index.1)+1 |
| 129 00b6 835F subi r24,lo8(6899) |
| 130 00b8 9A41 sbci r25,hi8(6899) |
| 131 00ba 00F4 brsh .L12 |
| 132 00bc 8091 0000 lds r24,index.1 |
| 133 00c0 8093 0000 sts Channels,r24 |
| 134 00c4 1497 sbiw r26,4 |
| 135 00c6 04F0 brlt .L13 |
| 136 00c8 1092 0000 sts NewPpmData,__zero_reg__ |
| 137 .L13: |
| 138 00cc 81E0 ldi r24,lo8(1) |
| 139 00ce 90E0 ldi r25,hi8(1) |
| 140 00d0 9093 0000 sts (index.1)+1,r25 |
| 141 00d4 8093 0000 sts index.1,r24 |
| 142 00d8 00C0 rjmp .L10 |
| 143 .L12: |
| 144 00da AD30 cpi r26,13 |
| 145 00dc B105 cpc r27,__zero_reg__ |
| 146 00de 04F0 brlt .+2 |
| 147 00e0 00C0 rjmp .L10 |
| 148 00e2 CA01 movw r24,r20 |
| 149 00e4 8B5F subi r24,lo8(-(-251)) |
| 150 00e6 9040 sbci r25,hi8(-(-251)) |
| 151 00e8 845B subi r24,lo8(436) |
| 152 00ea 9140 sbci r25,hi8(436) |
| 153 00ec 00F0 brlo .+2 |
| 154 00ee 00C0 rjmp .L16 |
| 155 00f0 8091 0000 lds r24,PPM_Neutral |
| 156 00f4 9091 0000 lds r25,(PPM_Neutral)+1 |
| 157 00f8 481B sub r20,r24 |
| 158 00fa 590B sbc r21,r25 |
| 159 00fc E091 0000 lds r30,EE_Parameter+105 |
| 160 0100 EE23 tst r30 |
| 161 0102 01F0 breq .L18 |
| 162 0104 FF27 clr r31 |
| 163 0106 EE0F add r30,r30 |
| 164 0108 FF1F adc r31,r31 |
| 165 010a E050 subi r30,lo8(-(PPM_in)) |
| 166 010c F040 sbci r31,hi8(-(PPM_in)) |
| 167 010e 8081 ld r24,Z |
| 168 0110 9181 ldd r25,Z+1 |
| 169 0112 8436 cpi r24,100 |
| 170 0114 9105 cpc r25,__zero_reg__ |
| 171 0116 04F4 brge .L17 |
| 172 .L18: |
| 173 0118 FD01 movw r30,r26 |
| 174 011a EA0F add r30,r26 |
| 175 011c FB1F adc r31,r27 |
| 176 011e E050 subi r30,lo8(-(PPM_in)) |
| 177 0120 F040 sbci r31,hi8(-(PPM_in)) |
| 178 0122 8081 ld r24,Z |
| 179 0124 9181 ldd r25,Z+1 |
| 180 0126 FA01 movw r30,r20 |
| 181 0128 E81B sub r30,r24 |
| 182 012a F90B sbc r31,r25 |
| 183 012c CF01 movw r24,r30 |
| 184 012e F7FF sbrs r31,7 |
| 185 0130 00C0 rjmp .L20 |
| 186 0132 9095 com r25 |
| 187 0134 8195 neg r24 |
| 188 0136 9F4F sbci r25,lo8(-1) |
| 189 .L20: |
| 190 0138 0697 sbiw r24,6 |
| 191 013a 04F4 brge .L17 |
| 192 013c 8091 0000 lds r24,SenderOkay |
| 193 0140 883C cpi r24,lo8(-56) |
| 194 0142 00F4 brsh .L21 |
| 195 0144 8091 0000 lds r24,SenderOkay |
| 196 0148 865F subi r24,lo8(-(10)) |
| 197 014a 00C0 rjmp .L93 |
| 198 .L21: |
| 199 014c 88EC ldi r24,lo8(-56) |
| 200 .L93: |
| 201 014e 8093 0000 sts SenderOkay,r24 |
| 202 .L17: |
| 203 0152 FD01 movw r30,r26 |
| 204 0154 EA0F add r30,r26 |
| 205 0156 FB1F adc r31,r27 |
| 206 0158 E050 subi r30,lo8(-(PPM_in)) |
| 207 015a F040 sbci r31,hi8(-(PPM_in)) |
| 208 015c 8081 ld r24,Z |
| 209 015e 9181 ldd r25,Z+1 |
| 210 0160 9C01 movw r18,r24 |
| 211 0162 220F lsl r18 |
| 212 0164 331F rol r19 |
| 213 0166 280F add r18,r24 |
| 214 0168 391F adc r19,r25 |
| 215 016a 240F add r18,r20 |
| 216 016c 351F adc r19,r21 |
| 217 016e 37FF sbrs r19,7 |
| 218 0170 00C0 rjmp .L23 |
| 219 0172 2D5F subi r18,lo8(-(3)) |
| 220 0174 3F4F sbci r19,hi8(-(3)) |
| 221 .L23: |
| 222 0176 E901 movw r28,r18 |
| 223 0178 D595 asr r29 |
| 224 017a C795 ror r28 |
| 225 017c D595 asr r29 |
| 226 017e C795 ror r28 |
| 227 0180 CA01 movw r24,r20 |
| 228 0182 0196 adiw r24,1 |
| 229 0184 8C17 cp r24,r28 |
| 230 0186 9D07 cpc r25,r29 |
| 231 0188 04F4 brge .L24 |
| 232 018a 2197 sbiw r28,1 |
| 233 018c 00C0 rjmp .L25 |
| 234 .L24: |
| 235 018e 4150 subi r20,lo8(-(-1)) |
| 236 0190 5040 sbci r21,hi8(-(-1)) |
| 237 0192 C417 cp r28,r20 |
| 238 0194 D507 cpc r29,r21 |
| 239 0196 04F4 brge .L25 |
| 240 0198 2196 adiw r28,1 |
| 241 .L25: |
| 242 019a 8091 0000 lds r24,SenderOkay |
| 243 019e 833C cpi r24,lo8(-61) |
| 244 01a0 00F0 brlo .L27 |
| 245 01a2 8D01 movw r16,r26 |
| 246 01a4 0A0F add r16,r26 |
| 247 01a6 1B1F adc r17,r27 |
| 248 01a8 F801 movw r30,r16 |
| 249 01aa E050 subi r30,lo8(-(PPM_in)) |
| 250 01ac F040 sbci r31,hi8(-(PPM_in)) |
| 251 01ae 8081 ld r24,Z |
| 252 01b0 9181 ldd r25,Z+1 |
| 253 01b2 9E01 movw r18,r28 |
| 254 01b4 281B sub r18,r24 |
| 255 01b6 390B sbc r19,r25 |
| 256 01b8 C901 movw r24,r18 |
| 257 01ba 63E0 ldi r22,lo8(3) |
| 258 01bc 70E0 ldi r23,hi8(3) |
| 259 01be 0E94 0000 call __divmodhi4 |
| 260 01c2 CB01 movw r24,r22 |
| 261 01c4 880F lsl r24 |
| 262 01c6 991F rol r25 |
| 263 01c8 860F add r24,r22 |
| 264 01ca 971F adc r25,r23 |
| 265 01cc 0050 subi r16,lo8(-(PPM_diff)) |
| 266 01ce 1040 sbci r17,hi8(-(PPM_diff)) |
| 267 01d0 D801 movw r26,r16 |
| 268 01d2 1196 adiw r26,1 |
| 269 01d4 9C93 st X,r25 |
| 270 01d6 8E93 st -X,r24 |
| 271 01d8 00C0 rjmp .L28 |
| 272 .L27: |
| 273 01da AA0F add r26,r26 |
| 274 01dc BB1F adc r27,r27 |
| 275 01de A050 subi r26,lo8(-(PPM_diff)) |
| 276 01e0 B040 sbci r27,hi8(-(PPM_diff)) |
| 277 01e2 1196 adiw r26,1 |
| 278 01e4 1C92 st X,__zero_reg__ |
| 279 01e6 1E92 st -X,__zero_reg__ |
| 280 .L28: |
| 281 01e8 E091 0000 lds r30,index.1 |
| 282 01ec F091 0000 lds r31,(index.1)+1 |
| 283 01f0 EE0F add r30,r30 |
| 284 01f2 FF1F adc r31,r31 |
| 285 01f4 E050 subi r30,lo8(-(PPM_in)) |
| 286 01f6 F040 sbci r31,hi8(-(PPM_in)) |
| 287 01f8 D183 std Z+1,r29 |
| 288 01fa C083 st Z,r28 |
| 289 .L16: |
| 290 01fc 2091 0000 lds r18,index.1 |
| 291 0200 3091 0000 lds r19,(index.1)+1 |
| 292 0204 2F5F subi r18,lo8(-(1)) |
| 293 0206 3F4F sbci r19,hi8(-(1)) |
| 294 0208 3093 0000 sts (index.1)+1,r19 |
| 295 020c 2093 0000 sts index.1,r18 |
| 296 0210 8091 0000 lds r24,PlatinenVersion |
| 297 0214 8431 cpi r24,lo8(20) |
| 298 0216 00F0 brlo .+2 |
| 299 0218 00C0 rjmp .L10 |
| 300 021a 2530 cpi r18,5 |
| 301 021c 3105 cpc r19,__zero_reg__ |
| 302 021e 01F4 brne .L30 |
| 303 0220 5D9A sbi 43-0x20,5 |
| 304 0222 00C0 rjmp .L31 |
| 305 .L30: |
| 306 0224 5D98 cbi 43-0x20,5 |
| 307 .L31: |
| 308 0226 8091 0000 lds r24,index.1 |
| 309 022a 9091 0000 lds r25,(index.1)+1 |
| 310 022e 8630 cpi r24,6 |
| 311 0230 9105 cpc r25,__zero_reg__ |
| 312 0232 01F4 brne .L32 |
| 313 0234 5C9A sbi 43-0x20,4 |
| 314 0236 00C0 rjmp .L33 |
| 315 .L32: |
| 316 0238 5C98 cbi 43-0x20,4 |
| 317 .L33: |
| 318 023a 0797 sbiw r24,7 |
| 319 023c 01F4 brne .L34 |
| 320 023e 5B9A sbi 43-0x20,3 |
| 321 0240 00C0 rjmp .L10 |
| 322 .L34: |
| 323 0242 5B98 cbi 43-0x20,3 |
| 324 0244 00C0 rjmp .L10 |
| 325 .L11: |
| 326 0246 4091 8600 lds r20,134 |
| 327 024a 5091 8700 lds r21,(134)+1 |
| 328 024e 8091 0000 lds r24,AltICR.2 |
| 329 0252 9091 0000 lds r25,(AltICR.2)+1 |
| 330 0256 481B sub r20,r24 |
| 331 0258 590B sbc r21,r25 |
| 332 025a 8091 8600 lds r24,134 |
| 333 025e 9091 8700 lds r25,(134)+1 |
| 334 0262 9093 0000 sts (AltICR.2)+1,r25 |
| 335 0266 8093 0000 sts AltICR.2,r24 |
| 336 026a CA01 movw r24,r20 |
| 337 026c 8D54 subi r24,lo8(-(-1101)) |
| 338 026e 9440 sbci r25,hi8(-(-1101)) |
| 339 0270 6091 0000 lds r22,index.7 |
| 340 0274 835F subi r24,lo8(6899) |
| 341 0276 9A41 sbci r25,hi8(6899) |
| 342 0278 00F0 brlo .+2 |
| 343 027a 00C0 rjmp .L37 |
| 344 027c 6093 0000 sts tmpChannels,r22 |
| 345 0280 8091 0000 lds r24,tmpChannels |
| 346 0284 8430 cpi r24,lo8(4) |
| 347 0286 00F4 brsh .+2 |
| 348 0288 00C0 rjmp .L38 |
| 349 028a 9091 0000 lds r25,Channels |
| 350 028e 8091 0000 lds r24,tmpChannels |
| 351 0292 9817 cp r25,r24 |
| 352 0294 01F0 breq .+2 |
| 353 0296 00C0 rjmp .L38 |
| 354 0298 5091 0000 lds r21,okay_cnt.8 |
| 355 029c 5B30 cpi r21,lo8(11) |
| 356 029e 00F4 brsh .+2 |
| 357 02a0 00C0 rjmp .L39 |
| 358 02a2 1092 0000 sts NewPpmData,__zero_reg__ |
| 359 02a6 1092 0000 sts index.7,__zero_reg__ |
| 360 02aa 40E0 ldi r20,lo8(0) |
| 361 .L44: |
| 362 02ac 5F31 cpi r21,lo8(31) |
| 363 02ae 00F0 brlo .L43 |
| 364 02b0 E42F mov r30,r20 |
| 365 02b2 FF27 clr r31 |
| 366 02b4 EE0F add r30,r30 |
| 367 02b6 FF1F adc r31,r31 |
| 368 02b8 9F01 movw r18,r30 |
| 369 02ba 2050 subi r18,lo8(-(old_ppm_in.5)) |
| 370 02bc 3040 sbci r19,hi8(-(old_ppm_in.5)) |
| 371 02be DF01 movw r26,r30 |
| 372 02c0 A050 subi r26,lo8(-(PPM_in)) |
| 373 02c2 B040 sbci r27,hi8(-(PPM_in)) |
| 374 02c4 8D91 ld r24,X+ |
| 375 02c6 9C91 ld r25,X |
| 376 02c8 D901 movw r26,r18 |
| 377 02ca 8D93 st X+,r24 |
| 378 02cc 9C93 st X,r25 |
| 379 02ce DF01 movw r26,r30 |
| 380 02d0 A050 subi r26,lo8(-(PPM_diff)) |
| 381 02d2 B040 sbci r27,hi8(-(PPM_diff)) |
| 382 02d4 8D91 ld r24,X+ |
| 383 02d6 9C91 ld r25,X |
| 384 02d8 E050 subi r30,lo8(-(old_ppm_diff.6)) |
| 385 02da F040 sbci r31,hi8(-(old_ppm_diff.6)) |
| 386 02dc 9183 std Z+1,r25 |
| 387 02de 8083 st Z,r24 |
| 388 .L43: |
| 389 02e0 E42F mov r30,r20 |
| 390 02e2 FF27 clr r31 |
| 391 02e4 EE0F add r30,r30 |
| 392 02e6 FF1F adc r31,r31 |
| 393 02e8 9F01 movw r18,r30 |
| 394 02ea 2050 subi r18,lo8(-(PPM_in)) |
| 395 02ec 3040 sbci r19,hi8(-(PPM_in)) |
| 396 02ee DF01 movw r26,r30 |
| 397 02f0 A050 subi r26,lo8(-(ppm_in.3)) |
| 398 02f2 B040 sbci r27,hi8(-(ppm_in.3)) |
| 399 02f4 8D91 ld r24,X+ |
| 400 02f6 9C91 ld r25,X |
| 401 02f8 D901 movw r26,r18 |
| 402 02fa 1196 adiw r26,1 |
| 403 02fc 9C93 st X,r25 |
| 404 02fe 8E93 st -X,r24 |
| 405 0300 DF01 movw r26,r30 |
| 406 0302 A050 subi r26,lo8(-(ppm_diff.4)) |
| 407 0304 B040 sbci r27,hi8(-(ppm_diff.4)) |
| 408 0306 8D91 ld r24,X+ |
| 409 0308 9C91 ld r25,X |
| 410 030a E050 subi r30,lo8(-(PPM_diff)) |
| 411 030c F040 sbci r31,hi8(-(PPM_diff)) |
| 412 030e 9183 std Z+1,r25 |
| 413 0310 8083 st Z,r24 |
| 414 0312 842F mov r24,r20 |
| 415 0314 8F5F subi r24,lo8(-(1)) |
| 416 0316 482F mov r20,r24 |
| 417 0318 8D30 cpi r24,lo8(13) |
| 418 031a 00F0 brlo .L44 |
| 419 031c 8093 0000 sts index.7,r24 |
| 420 .L39: |
| 421 0320 8091 0000 lds r24,okay_cnt.8 |
| 422 0324 8F3F cpi r24,lo8(-1) |
| 423 0326 01F0 breq .L46 |
| 424 0328 8F5F subi r24,lo8(-(1)) |
| 425 032a 8093 0000 sts okay_cnt.8,r24 |
| 426 032e 00C0 rjmp .L46 |
| 427 .L38: |
| 428 0330 8091 0000 lds r24,okay_cnt.8 |
| 429 0334 8536 cpi r24,lo8(101) |
| 430 0336 00F0 brlo .L47 |
| 431 0338 8AE0 ldi r24,lo8(10) |
| 432 033a 8093 0000 sts okay_cnt.8,r24 |
| 433 033e 00C0 rjmp .L48 |
| 434 .L47: |
| 435 0340 1092 0000 sts okay_cnt.8,__zero_reg__ |
| 436 .L48: |
| 437 0344 8091 0000 lds r24,PlatinenVersion |
| 438 0348 8A30 cpi r24,lo8(10) |
| 439 034a 01F0 breq .L50 |
| 440 034c 8431 cpi r24,lo8(20) |
| 441 034e 00F0 brlo .L49 |
| 442 .L50: |
| 443 0350 289A sbi 37-0x20,0 |
| 444 0352 00C0 rjmp .L46 |
| 445 .L49: |
| 446 0354 2898 cbi 37-0x20,0 |
| 447 .L46: |
| 448 0356 81E0 ldi r24,lo8(1) |
| 449 0358 8093 0000 sts index.7,r24 |
| 450 035c 8091 0000 lds r24,MotorenEin |
| 451 0360 8823 tst r24 |
| 452 0362 01F0 breq .+2 |
| 453 0364 00C0 rjmp .L10 |
| 454 0366 8091 0000 lds r24,tmpChannels |
| 455 036a 8093 0000 sts Channels,r24 |
| 456 036e 00C0 rjmp .L10 |
| 457 .L37: |
| 458 0370 6D30 cpi r22,lo8(13) |
| 459 0372 00F0 brlo .+2 |
| 460 0374 00C0 rjmp .L54 |
| 461 0376 CA01 movw r24,r20 |
| 462 0378 8B5F subi r24,lo8(-(-251)) |
| 463 037a 9040 sbci r25,hi8(-(-251)) |
| 464 037c 845B subi r24,lo8(436) |
| 465 037e 9140 sbci r25,hi8(436) |
| 466 0380 00F0 brlo .+2 |
| 467 0382 00C0 rjmp .L55 |
| 468 0384 8091 0000 lds r24,PPM_Neutral |
| 469 0388 9091 0000 lds r25,(PPM_Neutral)+1 |
| 470 038c 481B sub r20,r24 |
| 471 038e 590B sbc r21,r25 |
| 472 0390 E62F mov r30,r22 |
| 473 0392 FF27 clr r31 |
| 474 0394 EE0F add r30,r30 |
| 475 0396 FF1F adc r31,r31 |
| 476 0398 E050 subi r30,lo8(-(ppm_in.3)) |
| 477 039a F040 sbci r31,hi8(-(ppm_in.3)) |
| 478 039c 8081 ld r24,Z |
| 479 039e 9181 ldd r25,Z+1 |
| 480 03a0 FA01 movw r30,r20 |
| 481 03a2 E81B sub r30,r24 |
| 482 03a4 F90B sbc r31,r25 |
| 483 03a6 CF01 movw r24,r30 |
| 484 03a8 0596 adiw r24,5 |
| 485 03aa 0B97 sbiw r24,11 |
| 486 03ac 00F4 brsh .L56 |
| 487 03ae E091 0000 lds r30,EE_Parameter+105 |
| 488 03b2 EE23 tst r30 |
| 489 03b4 01F0 breq .L58 |
| 490 03b6 FF27 clr r31 |
| 491 03b8 EE0F add r30,r30 |
| 492 03ba FF1F adc r31,r31 |
| 493 03bc E050 subi r30,lo8(-(PPM_in)) |
| 494 03be F040 sbci r31,hi8(-(PPM_in)) |
| 495 03c0 8081 ld r24,Z |
| 496 03c2 9181 ldd r25,Z+1 |
| 497 03c4 8436 cpi r24,100 |
| 498 03c6 9105 cpc r25,__zero_reg__ |
| 499 03c8 04F4 brge .L56 |
| 500 .L58: |
| 501 03ca 8091 0000 lds r24,okay_cnt.8 |
| 502 03ce 8A31 cpi r24,lo8(26) |
| 503 03d0 00F0 brlo .L59 |
| 504 03d2 8091 0000 lds r24,SenderOkay |
| 505 03d6 865F subi r24,lo8(-(10)) |
| 506 03d8 00C0 rjmp .L94 |
| 507 .L59: |
| 508 03da 8B30 cpi r24,lo8(11) |
| 509 03dc 00F0 brlo .L60 |
| 510 03de 8091 0000 lds r24,SenderOkay |
| 511 03e2 8E5F subi r24,lo8(-(2)) |
| 512 .L94: |
| 513 03e4 8093 0000 sts SenderOkay,r24 |
| 514 .L60: |
| 515 03e8 8091 0000 lds r24,SenderOkay |
| 516 03ec 893C cpi r24,lo8(-55) |
| 517 03ee 00F0 brlo .L56 |
| 518 03f0 88EC ldi r24,lo8(-56) |
| 519 03f2 8093 0000 sts SenderOkay,r24 |
| 520 .L56: |
| 521 03f6 E62F mov r30,r22 |
| 522 03f8 FF27 clr r31 |
| 523 03fa EE0F add r30,r30 |
| 524 03fc FF1F adc r31,r31 |
| 525 03fe E050 subi r30,lo8(-(ppm_in.3)) |
| 526 0400 F040 sbci r31,hi8(-(ppm_in.3)) |
| 527 0402 8081 ld r24,Z |
| 528 0404 9181 ldd r25,Z+1 |
| 529 0406 9C01 movw r18,r24 |
| 530 0408 220F lsl r18 |
| 531 040a 331F rol r19 |
| 532 040c 280F add r18,r24 |
| 533 040e 391F adc r19,r25 |
| 534 0410 240F add r18,r20 |
| 535 0412 351F adc r19,r21 |
| 536 0414 37FF sbrs r19,7 |
| 537 0416 00C0 rjmp .L63 |
| 538 0418 2D5F subi r18,lo8(-(3)) |
| 539 041a 3F4F sbci r19,hi8(-(3)) |
| 540 .L63: |
| 541 041c E901 movw r28,r18 |
| 542 041e D595 asr r29 |
| 543 0420 C795 ror r28 |
| 544 0422 D595 asr r29 |
| 545 0424 C795 ror r28 |
| 546 0426 CA01 movw r24,r20 |
| 547 0428 0196 adiw r24,1 |
| 548 042a 8C17 cp r24,r28 |
| 549 042c 9D07 cpc r25,r29 |
| 550 042e 04F4 brge .L64 |
| 551 0430 2197 sbiw r28,1 |
| 552 0432 00C0 rjmp .L65 |
| 553 .L64: |
| 554 0434 4150 subi r20,lo8(-(-1)) |
| 555 0436 5040 sbci r21,hi8(-(-1)) |
| 556 0438 C417 cp r28,r20 |
| 557 043a D507 cpc r29,r21 |
| 558 043c 04F4 brge .L65 |
| 559 043e 2196 adiw r28,1 |
| 560 .L65: |
| 561 0440 8091 0000 lds r24,SenderOkay |
| 562 0444 8E3B cpi r24,lo8(-66) |
| 563 0446 00F0 brlo .L67 |
| 564 0448 E62F mov r30,r22 |
| 565 044a FF27 clr r31 |
| 566 044c EE0F add r30,r30 |
| 567 044e FF1F adc r31,r31 |
| 568 0450 DF01 movw r26,r30 |
| 569 0452 A050 subi r26,lo8(-(ppm_in.3)) |
| 570 0454 B040 sbci r27,hi8(-(ppm_in.3)) |
| 571 0456 8D91 ld r24,X+ |
| 572 0458 9C91 ld r25,X |
| 573 045a 9E01 movw r18,r28 |
| 574 045c 281B sub r18,r24 |
| 575 045e 390B sbc r19,r25 |
| 576 0460 C901 movw r24,r18 |
| 577 0462 63E0 ldi r22,lo8(3) |
| 578 0464 70E0 ldi r23,hi8(3) |
| 579 0466 0E94 0000 call __divmodhi4 |
| 580 046a CB01 movw r24,r22 |
| 581 046c 880F lsl r24 |
| 582 046e 991F rol r25 |
| 583 0470 860F add r24,r22 |
| 584 0472 971F adc r25,r23 |
| 585 0474 E050 subi r30,lo8(-(ppm_diff.4)) |
| 586 0476 F040 sbci r31,hi8(-(ppm_diff.4)) |
| 587 0478 9183 std Z+1,r25 |
| 588 047a 8083 st Z,r24 |
| 589 047c 00C0 rjmp .L68 |
| 590 .L67: |
| 591 047e E62F mov r30,r22 |
| 592 0480 FF27 clr r31 |
| 593 0482 EE0F add r30,r30 |
| 594 0484 FF1F adc r31,r31 |
| 595 0486 E050 subi r30,lo8(-(ppm_diff.4)) |
| 596 0488 F040 sbci r31,hi8(-(ppm_diff.4)) |
| 597 048a 1182 std Z+1,__zero_reg__ |
| 598 048c 1082 st Z,__zero_reg__ |
| 599 .L68: |
| 600 048e 8091 0000 lds r24,index.7 |
| 601 0492 E82F mov r30,r24 |
| 602 0494 FF27 clr r31 |
| 603 0496 EE0F add r30,r30 |
| 604 0498 FF1F adc r31,r31 |
| 605 049a E050 subi r30,lo8(-(ppm_in.3)) |
| 606 049c F040 sbci r31,hi8(-(ppm_in.3)) |
| 607 049e D183 std Z+1,r29 |
| 608 04a0 C083 st Z,r28 |
| 609 04a2 00C0 rjmp .L69 |
| 610 .L55: |
| 611 04a4 8091 0000 lds r24,PlatinenVersion |
| 612 04a8 8A30 cpi r24,lo8(10) |
| 613 04aa 01F0 breq .L71 |
| 614 04ac 8431 cpi r24,lo8(20) |
| 615 04ae 00F0 brlo .L70 |
| 616 .L71: |
| 617 04b0 289A sbi 37-0x20,0 |
| 618 04b2 00C0 rjmp .L69 |
| 619 .L70: |
| 620 04b4 2898 cbi 37-0x20,0 |
| 621 .L69: |
| 622 04b6 8091 0000 lds r24,PlatinenVersion |
| 623 04ba 8431 cpi r24,lo8(20) |
| 624 04bc 00F4 brsh .L54 |
| 625 04be 8091 0000 lds r24,index.7 |
| 626 04c2 8530 cpi r24,lo8(5) |
| 627 04c4 01F4 brne .L74 |
| 628 04c6 5D9A sbi 43-0x20,5 |
| 629 04c8 00C0 rjmp .L76 |
| 630 .L74: |
| 631 04ca 5D98 cbi 43-0x20,5 |
| 632 04cc 8630 cpi r24,lo8(6) |
| 633 04ce 01F4 brne .L76 |
| 634 04d0 5C9A sbi 43-0x20,4 |
| 635 04d2 00C0 rjmp .L78 |
| 636 .L76: |
| 637 04d4 5C98 cbi 43-0x20,4 |
| 638 04d6 8730 cpi r24,lo8(7) |
| 639 04d8 01F4 brne .L78 |
| 640 04da 5B9A sbi 43-0x20,3 |
| 641 04dc 00C0 rjmp .L54 |
| 642 .L78: |
| 643 04de 5B98 cbi 43-0x20,3 |
| 644 .L54: |
| 645 04e0 8091 0000 lds r24,index.7 |
| 646 04e4 8431 cpi r24,lo8(20) |
| 647 04e6 00F4 brsh .L80 |
| 648 04e8 8F5F subi r24,lo8(-(1)) |
| 649 04ea 8093 0000 sts index.7,r24 |
| 650 04ee 00C0 rjmp .L10 |
| 651 .L80: |
| 652 04f0 8431 cpi r24,lo8(20) |
| 653 04f2 01F4 brne .L10 |
| 654 04f4 8091 0000 lds r24,PlatinenVersion |
| 655 04f8 8A30 cpi r24,lo8(10) |
| 656 04fa 01F0 breq .L84 |
| 657 04fc 8431 cpi r24,lo8(20) |
| 658 04fe 00F0 brlo .L83 |
| 659 .L84: |
| 660 0500 289A sbi 37-0x20,0 |
| 661 0502 00C0 rjmp .L85 |
| 662 .L83: |
| 663 0504 2898 cbi 37-0x20,0 |
| 664 .L85: |
| 665 0506 8EE1 ldi r24,lo8(30) |
| 666 0508 8093 0000 sts index.7,r24 |
| 667 050c 2CE0 ldi r18,lo8(12) |
| 668 050e C0E0 ldi r28,lo8(PPM_diff) |
| 669 0510 D0E0 ldi r29,hi8(PPM_diff) |
| 670 0512 A0E0 ldi r26,lo8(old_ppm_in.5) |
| 671 0514 B0E0 ldi r27,hi8(old_ppm_in.5) |
| 672 0516 E0E0 ldi r30,lo8(PPM_in) |
| 673 0518 F0E0 ldi r31,hi8(PPM_in) |
| 674 .L89: |
| 675 051a 8D91 ld r24,X+ |
| 676 051c 9D91 ld r25,X+ |
| 677 051e 9183 std Z+1,r25 |
| 678 0520 8083 st Z,r24 |
| 679 0522 3296 adiw r30,2 |
| 680 0524 1982 std Y+1,__zero_reg__ |
| 681 0526 1882 st Y,__zero_reg__ |
| 682 0528 2296 adiw r28,2 |
| 683 052a 2150 subi r18,lo8(-(-1)) |
| 684 052c 27FF sbrs r18,7 |
| 685 052e 00C0 rjmp .L89 |
| 686 .L10: |
| 687 /* epilogue: frame size=0 */ |
| 688 0530 FF91 pop r31 |
| 689 0532 EF91 pop r30 |
| 690 0534 DF91 pop r29 |
| 691 0536 CF91 pop r28 |
| 692 0538 BF91 pop r27 |
| 693 053a AF91 pop r26 |
| 694 053c 9F91 pop r25 |
| 695 053e 8F91 pop r24 |
| 696 0540 7F91 pop r23 |
| 697 0542 6F91 pop r22 |
| 698 0544 5F91 pop r21 |
| 699 0546 4F91 pop r20 |
| 700 0548 3F91 pop r19 |
| 701 054a 2F91 pop r18 |
| 702 054c 1F91 pop r17 |
| 703 054e 0F91 pop r16 |
| 704 0550 0F90 pop __tmp_reg__ |
| 705 0552 0FBE out __SREG__,__tmp_reg__ |
| 706 0554 0F90 pop __tmp_reg__ |
| 707 0556 1F90 pop __zero_reg__ |
| 708 0558 1895 reti |
| 709 /* epilogue end (size=21) */ |
| 710 /* function __vector_12 size 651 (609) */ |
| 712 .comm PPM_in,52,1 |
| 713 .comm PPM_diff,52,1 |
| 714 .comm Channels,1,1 |
| 715 /* File "rc.c": code 692 = 0x02b4 ( 645), prologues 23, epilogues 24 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 rc.c |
| C:\Temp/cctnQZFd.s:3 *ABS*:0000003f __SREG__ |
| C:\Temp/cctnQZFd.s:4 *ABS*:0000003e __SP_H__ |
| C:\Temp/cctnQZFd.s:5 *ABS*:0000003d __SP_L__ |
| C:\Temp/cctnQZFd.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\Temp/cctnQZFd.s:7 *ABS*:00000001 __zero_reg__ |
| C:\Temp/cctnQZFd.s:14 .data:00000000 PPM_Neutral |
| C:\Temp/cctnQZFd.s:19 .data:00000002 NewPpmData |
| C:\Temp/cctnQZFd.s:26 .bss:00000000 tmpChannels |
| C:\Temp/cctnQZFd.s:31 .text:00000000 rc_sum_init |
| *COM*:00000034 PPM_diff |
| *COM*:00000034 PPM_in |
| .bss:00000001 AltICR.0 |
| C:\Temp/cctnQZFd.s:76 .bss:00000003 index.1 |
| C:\Temp/cctnQZFd.s:77 .bss:00000005 AltICR.2 |
| C:\Temp/cctnQZFd.s:78 .bss:00000007 ppm_in.3 |
| C:\Temp/cctnQZFd.s:79 .bss:00000021 ppm_diff.4 |
| C:\Temp/cctnQZFd.s:80 .bss:0000003b old_ppm_in.5 |
| C:\Temp/cctnQZFd.s:81 .bss:00000055 old_ppm_diff.6 |
| C:\Temp/cctnQZFd.s:82 .bss:0000006f index.7 |
| C:\Temp/cctnQZFd.s:83 .bss:00000070 okay_cnt.8 |
| C:\Temp/cctnQZFd.s:87 .text:00000052 __vector_12 |
| *COM*:00000001 Channels |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| AdNeutralGier |
| AdNeutralRoll |
| AdNeutralNick |
| EE_Parameter |
| SenderOkay |
| __divmodhi4 |
| PlatinenVersion |
| MotorenEin |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/sbus.c |
|---|
| 0,0 → 1,199 |
| /*####################################################################################### |
| Decodes the sbus protocol |
| #######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software Nutzungsbedingungen (english version: see below) |
| // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
| // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
| // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
| // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
| // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
| // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
| // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
| // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
| // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
| // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
| // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
| // + des Mitverschuldens offen. |
| // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
| // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
| // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
| // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
| // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
| // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
| // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software LICENSING TERMS |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
| // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
| // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
| // + The Software may only be used with the Licensor's products. |
| // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
| // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
| // + agreement shall be the property of the Licensor. |
| // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
| // + features that can be used to identify the program may not be altered or defaced by the customer. |
| // + The customer shall be responsible for taking reasonable precautions |
| // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
| // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
| // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
| // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
| // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
| // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
| // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
| // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
| // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
| // + #### END OF LICENSING TERMS #### |
| // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "sbus.h" |
| #include "main.h" |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| unsigned char NewSBusData = 0, sBusBuffer[25]; |
| //############################################################################ |
| // USART1 initialisation from killagreg |
| void SbusUartInit(void) |
| //############################################################################ |
| { |
| // -- Start of USART1 initialisation for Spekturm seriell-mode |
| // USART1 Control and Status Register A, B, C and baud rate register |
| uint8_t sreg = SREG; |
| uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * 100000) - 1); |
| // disable all interrupts before reconfiguration |
| cli(); |
| // disable RX-Interrupt |
| UCSR1B &= ~(1 << RXCIE1); |
| // disable TX-Interrupt |
| UCSR1B &= ~(1 << TXCIE1); |
| // disable DRE-Interrupt |
| UCSR1B &= ~(1 << UDRIE1); |
| // set direction of RXD1 and TXD1 pins |
| // set RXD1 (PD2) as an input pin |
| PORTD |= (1 << PORTD2); |
| DDRD &= ~(1 << DDD2); |
| // set TXD1 (PD3) as an output pin |
| PORTD |= (1 << PORTD3); |
| DDRD |= (1 << DDD3); |
| // USART0 Baud Rate Register |
| // set clock divider |
| UBRR1H = (uint8_t)(ubrr>>8); |
| UBRR1L = (uint8_t)ubrr; |
| // enable double speed operation |
| UCSR1A |= (1 << U2X1); |
| // enable receiver and transmitter |
| //UCSR1B = (1<<RXEN1)|(1<<TXEN1); |
| UCSR1B = (1<<RXEN1); |
| // set asynchronous mode |
| UCSR1C &= ~(1 << UMSEL11); |
| UCSR1C &= ~(1 << UMSEL10); |
| // parity |
| UCSR1C <= (1 << UPM11); // even |
| UCSR1C &= ~(1 << UPM10); |
| // stop bit |
| UCSR1C |= (1 << USBS1); // two |
| // 8-bit |
| UCSR1B &= ~(1 << UCSZ12); |
| UCSR1C |= (1 << UCSZ11); |
| UCSR1C |= (1 << UCSZ10); |
| // flush receive buffer explicit |
| while(UCSR1A & (1<<RXC1)) UDR1; |
| // enable RX-interrupts at the end |
| UCSR1B |= (1 << RXCIE1); |
| // -- End of USART1 initialisation |
| // restore global interrupt flags |
| sBusBuffer[23] |= 4; // This Bit contains the 'Signal loss' |
| SREG = sreg; |
| return; |
| } |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #define MIN_FRAMEGAP 68 // 7ms |
| #define MAX_BYTEGAP 3 // 310us |
| //############################################################################ |
| // Is called by the uart RX interrupt |
| //############################################################################ |
| void SbusParser(unsigned char udr) |
| { |
| static unsigned char ptr = 0; |
| if(!SpektrumTimer && udr == 0x0f) // wait for the start |
| { |
| ptr = 0; |
| SpektrumTimer = 80; // 8ms gap |
| } |
| else |
| { |
| if(++ptr == 24) // last byte |
| { |
| NewSBusData = 1; |
| } |
| else |
| if(ptr > 24) ptr = 25; |
| else |
| { |
| sBusBuffer[ptr] = udr; // collect all bytes |
| } |
| } |
| } |
| void ProcessSBus(void) |
| { |
| static unsigned char load = 0; |
| unsigned char bitmask8 = 1, sbyte = 2, i, index = 1, process; |
| unsigned int bitmask11 = 256; |
| signed int signal = 0,tmp; |
| if(!(sBusBuffer[23] & 4)) // This Bit contains the 'Signal loss' |
| { |
| TIMSK1 &= ~_BV(ICIE1); // disable PPM-Input |
| if(EE_Parameter.FailsafeChannel == 0 || PPM_in[EE_Parameter.FailsafeChannel] < 100) // forces Failsafe if the receiver doesn't have 'signal loss' on Failsafe |
| { |
| if(SenderOkay < 200) SenderOkay += 20; else SenderOkay = 200; |
| } |
| signal = sBusBuffer[1]; |
| if(!load--) { process = (12*11 - 8); load = 2;} else process = (4*11 - 8); // lowers the processor load |
| for(i = 0; i < process; i++) // collect the single bits |
| { |
| if(sBusBuffer[sbyte] & bitmask8) signal |= bitmask11; |
| bitmask8 *= 2; |
| if(!bitmask8) |
| { |
| bitmask8 = 1; |
| sbyte++; |
| } |
| bitmask11 *= 2; |
| if(bitmask11 == 2048) |
| { |
| bitmask11 = 1; |
| signal = (signal-1024) / 5; // the resolution is higher than required |
| tmp = (3 * (PPM_in[index]) + signal) / 4; |
| if(tmp > signal+1) tmp--; else |
| if(tmp < signal-1) tmp++; |
| if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
| else PPM_diff[index] = 0; |
| PPM_in[index] = tmp; |
| signal = 0; |
| index++; // next channel |
| } |
| } |
| NewPpmData = 0; // Null bedeutet: Neue Daten |
| } |
| NewSBusData = 0; |
| } |
| #endif |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/sbus.h |
|---|
| 0,0 → 1,11 |
| #ifndef _SBUS_H |
| #define _SBUS_H |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| extern unsigned char NewSBusData, sBusBuffer[25]; |
| extern void SbusParser(unsigned char); |
| extern void SbusUartInit(void); |
| extern void ProcessSBus(void); |
| #endif |
| #endif |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/sbus.lst |
|---|
| 0,0 → 1,369 |
| 1 .file "sbus.c" |
| 2 .arch atmega1284p |
| 3 __SREG__ = 0x3f |
| 4 __SP_H__ = 0x3e |
| 5 __SP_L__ = 0x3d |
| 6 __tmp_reg__ = 0 |
| 7 __zero_reg__ = 1 |
| 8 .global __do_copy_data |
| 9 .global __do_clear_bss |
| 10 .global NewSBusData |
| 11 .global NewSBusData |
| 12 .section .bss |
| 15 NewSBusData: |
| 16 0000 00 .skip 1,0 |
| 17 .text |
| 18 .global SbusUartInit |
| 20 SbusUartInit: |
| 21 /* prologue: frame size=0 */ |
| 22 /* prologue end (size=0) */ |
| 23 0000 4FB7 in r20,95-0x20 |
| 24 0002 28E1 ldi r18,lo8(24) |
| 25 0004 30E0 ldi r19,hi8(24) |
| 26 /* #APP */ |
| 27 0006 F894 cli |
| 28 /* #NOAPP */ |
| 29 0008 8091 C900 lds r24,201 |
| 30 000c 8F77 andi r24,lo8(127) |
| 31 000e 8093 C900 sts 201,r24 |
| 32 0012 8091 C900 lds r24,201 |
| 33 0016 8F7B andi r24,lo8(-65) |
| 34 0018 8093 C900 sts 201,r24 |
| 35 001c 8091 C900 lds r24,201 |
| 36 0020 8F7D andi r24,lo8(-33) |
| 37 0022 8093 C900 sts 201,r24 |
| 38 0026 5A9A sbi 43-0x20,2 |
| 39 0028 5298 cbi 42-0x20,2 |
| 40 002a 5B9A sbi 43-0x20,3 |
| 41 002c 539A sbi 42-0x20,3 |
| 42 002e 832F mov r24,r19 |
| 43 0030 9927 clr r25 |
| 44 0032 8093 CD00 sts 205,r24 |
| 45 0036 2093 CC00 sts 204,r18 |
| 46 003a 8091 C800 lds r24,200 |
| 47 003e 8260 ori r24,lo8(2) |
| 48 0040 8093 C800 sts 200,r24 |
| 49 0044 80E1 ldi r24,lo8(16) |
| 50 0046 8093 C900 sts 201,r24 |
| 51 004a 8091 CA00 lds r24,202 |
| 52 004e 8F77 andi r24,lo8(127) |
| 53 0050 8093 CA00 sts 202,r24 |
| 54 0054 8091 CA00 lds r24,202 |
| 55 0058 8F7B andi r24,lo8(-65) |
| 56 005a 8093 CA00 sts 202,r24 |
| 57 005e 8091 CA00 lds r24,202 |
| 58 0062 8091 CA00 lds r24,202 |
| 59 0066 8F7E andi r24,lo8(-17) |
| 60 0068 8093 CA00 sts 202,r24 |
| 61 006c 8091 CA00 lds r24,202 |
| 62 0070 8860 ori r24,lo8(8) |
| 63 0072 8093 CA00 sts 202,r24 |
| 64 0076 8091 C900 lds r24,201 |
| 65 007a 8B7F andi r24,lo8(-5) |
| 66 007c 8093 C900 sts 201,r24 |
| 67 0080 8091 CA00 lds r24,202 |
| 68 0084 8460 ori r24,lo8(4) |
| 69 0086 8093 CA00 sts 202,r24 |
| 70 008a 8091 CA00 lds r24,202 |
| 71 008e 8260 ori r24,lo8(2) |
| 72 0090 8093 CA00 sts 202,r24 |
| 73 .L7: |
| 74 0094 8091 C800 lds r24,200 |
| 75 0098 87FF sbrs r24,7 |
| 76 009a 00C0 rjmp .L6 |
| 77 009c 8091 CE00 lds r24,206 |
| 78 00a0 00C0 rjmp .L7 |
| 79 .L6: |
| 80 00a2 8091 C900 lds r24,201 |
| 81 00a6 8068 ori r24,lo8(-128) |
| 82 00a8 8093 C900 sts 201,r24 |
| 83 00ac 8091 0000 lds r24,sBusBuffer+23 |
| 84 00b0 8460 ori r24,lo8(4) |
| 85 00b2 8093 0000 sts sBusBuffer+23,r24 |
| 86 00b6 4FBF out 95-0x20,r20 |
| 87 /* epilogue: frame size=0 */ |
| 88 00b8 0895 ret |
| 89 /* epilogue end (size=1) */ |
| 90 /* function SbusUartInit size 94 (93) */ |
| 92 .lcomm ptr.1,1 |
| 93 .global SbusParser |
| 95 SbusParser: |
| 96 /* prologue: frame size=0 */ |
| 97 /* prologue end (size=0) */ |
| 98 00ba 9091 0000 lds r25,SpektrumTimer |
| 99 00be 9923 tst r25 |
| 100 00c0 01F4 brne .L9 |
| 101 00c2 8F30 cpi r24,lo8(15) |
| 102 00c4 01F4 brne .L9 |
| 103 00c6 9093 0000 sts ptr.1,r25 |
| 104 00ca 80E5 ldi r24,lo8(80) |
| 105 00cc 8093 0000 sts SpektrumTimer,r24 |
| 106 00d0 0895 ret |
| 107 .L9: |
| 108 00d2 E091 0000 lds r30,ptr.1 |
| 109 00d6 EF5F subi r30,lo8(-(1)) |
| 110 00d8 E093 0000 sts ptr.1,r30 |
| 111 00dc E831 cpi r30,lo8(24) |
| 112 00de 01F4 brne .L11 |
| 113 00e0 81E0 ldi r24,lo8(1) |
| 114 00e2 8093 0000 sts NewSBusData,r24 |
| 115 00e6 0895 ret |
| 116 .L11: |
| 117 00e8 E931 cpi r30,lo8(25) |
| 118 00ea 00F0 brlo .L13 |
| 119 00ec 89E1 ldi r24,lo8(25) |
| 120 00ee 8093 0000 sts ptr.1,r24 |
| 121 00f2 0895 ret |
| 122 .L13: |
| 123 00f4 FF27 clr r31 |
| 124 00f6 E050 subi r30,lo8(-(sBusBuffer)) |
| 125 00f8 F040 sbci r31,hi8(-(sBusBuffer)) |
| 126 00fa 8083 st Z,r24 |
| 127 00fc 0895 ret |
| 128 /* epilogue: frame size=0 */ |
| 129 /* epilogue: noreturn */ |
| 130 /* epilogue end (size=0) */ |
| 131 /* function SbusParser size 34 (34) */ |
| 133 .lcomm load.0,1 |
| 134 .global ProcessSBus |
| 136 ProcessSBus: |
| 137 /* prologue: frame size=0 */ |
| 138 00fe A0E0 ldi r26,lo8(0) |
| 139 0100 B0E0 ldi r27,hi8(0) |
| 140 0102 E0E0 ldi r30,pm_lo8(1f) |
| 141 0104 F0E0 ldi r31,pm_hi8(1f) |
| 142 0106 0C94 0000 jmp __prologue_saves__+16 |
| 143 1: |
| 144 /* prologue end (size=6) */ |
| 145 010a 91E0 ldi r25,lo8(1) |
| 146 010c D92E mov r13,r25 |
| 147 010e 82E0 ldi r24,lo8(2) |
| 148 0110 A82E mov r10,r24 |
| 149 0112 BD2C mov r11,r13 |
| 150 0114 E12C mov r14,__zero_reg__ |
| 151 0116 01E0 ldi r16,hi8(256) |
| 152 0118 F02E mov r15,r16 |
| 153 011a 8091 0000 lds r24,sBusBuffer+23 |
| 154 011e 82FD sbrc r24,2 |
| 155 0120 00C0 rjmp .L16 |
| 156 0122 8091 6F00 lds r24,111 |
| 157 0126 8F7D andi r24,lo8(-33) |
| 158 0128 8093 6F00 sts 111,r24 |
| 159 012c E091 0000 lds r30,EE_Parameter+105 |
| 160 0130 EE23 tst r30 |
| 161 0132 01F0 breq .L18 |
| 162 0134 FF27 clr r31 |
| 163 0136 EE0F add r30,r30 |
| 164 0138 FF1F adc r31,r31 |
| 165 013a E050 subi r30,lo8(-(PPM_in)) |
| 166 013c F040 sbci r31,hi8(-(PPM_in)) |
| 167 013e 8081 ld r24,Z |
| 168 0140 9181 ldd r25,Z+1 |
| 169 0142 8436 cpi r24,100 |
| 170 0144 9105 cpc r25,__zero_reg__ |
| 171 0146 04F4 brge .L17 |
| 172 .L18: |
| 173 0148 8091 0000 lds r24,SenderOkay |
| 174 014c 883C cpi r24,lo8(-56) |
| 175 014e 00F4 brsh .L19 |
| 176 0150 8091 0000 lds r24,SenderOkay |
| 177 0154 8C5E subi r24,lo8(-(20)) |
| 178 0156 00C0 rjmp .L38 |
| 179 .L19: |
| 180 0158 88EC ldi r24,lo8(-56) |
| 181 .L38: |
| 182 015a 8093 0000 sts SenderOkay,r24 |
| 183 .L17: |
| 184 015e 8091 0000 lds r24,sBusBuffer+1 |
| 185 0162 682F mov r22,r24 |
| 186 0164 7727 clr r23 |
| 187 0166 8091 0000 lds r24,load.0 |
| 188 016a 8150 subi r24,lo8(-(-1)) |
| 189 016c 8093 0000 sts load.0,r24 |
| 190 0170 8F3F cpi r24,lo8(-1) |
| 191 0172 01F4 brne .L21 |
| 192 0174 1CE7 ldi r17,lo8(124) |
| 193 0176 C12E mov r12,r17 |
| 194 0178 82E0 ldi r24,lo8(2) |
| 195 017a 8093 0000 sts load.0,r24 |
| 196 017e 00C0 rjmp .L22 |
| 197 .L21: |
| 198 0180 C4E2 ldi r28,lo8(36) |
| 199 0182 CC2E mov r12,r28 |
| 200 .L22: |
| 201 0184 40E0 ldi r20,lo8(0) |
| 202 .L39: |
| 203 0186 4C15 cp r20,r12 |
| 204 0188 00F0 brlo .+2 |
| 205 018a 00C0 rjmp .L37 |
| 206 018c EA2D mov r30,r10 |
| 207 018e FF27 clr r31 |
| 208 0190 E050 subi r30,lo8(-(sBusBuffer)) |
| 209 0192 F040 sbci r31,hi8(-(sBusBuffer)) |
| 210 0194 8081 ld r24,Z |
| 211 0196 8D21 and r24,r13 |
| 212 0198 01F0 breq .L26 |
| 213 019a 6E29 or r22,r14 |
| 214 019c 7F29 or r23,r15 |
| 215 .L26: |
| 216 019e 8D2D mov r24,r13 |
| 217 01a0 9927 clr r25 |
| 218 01a2 880F add r24,r24 |
| 219 01a4 991F adc r25,r25 |
| 220 01a6 D82E mov r13,r24 |
| 221 01a8 8823 tst r24 |
| 222 01aa 01F4 brne .L27 |
| 223 01ac B1E0 ldi r27,lo8(1) |
| 224 01ae DB2E mov r13,r27 |
| 225 01b0 AD0C add r10,r13 |
| 226 .L27: |
| 227 01b2 EE0C add r14,r14 |
| 228 01b4 FF1C adc r15,r15 |
| 229 01b6 20E0 ldi r18,lo8(2048) |
| 230 01b8 E216 cp r14,r18 |
| 231 01ba 28E0 ldi r18,hi8(2048) |
| 232 01bc F206 cpc r15,r18 |
| 233 01be 01F0 breq .+2 |
| 234 01c0 00C0 rjmp .L25 |
| 235 01c2 A1E0 ldi r26,lo8(1) |
| 236 01c4 EA2E mov r14,r26 |
| 237 01c6 F12C mov r15,__zero_reg__ |
| 238 01c8 CB01 movw r24,r22 |
| 239 01ca 8050 subi r24,lo8(-(-1024)) |
| 240 01cc 9440 sbci r25,hi8(-(-1024)) |
| 241 01ce 65E0 ldi r22,lo8(5) |
| 242 01d0 70E0 ldi r23,hi8(5) |
| 243 01d2 0E94 0000 call __divmodhi4 |
| 244 01d6 AB2D mov r26,r11 |
| 245 01d8 BB27 clr r27 |
| 246 01da FD01 movw r30,r26 |
| 247 01dc EA0F add r30,r26 |
| 248 01de FB1F adc r31,r27 |
| 249 01e0 E050 subi r30,lo8(-(PPM_in)) |
| 250 01e2 F040 sbci r31,hi8(-(PPM_in)) |
| 251 01e4 8081 ld r24,Z |
| 252 01e6 9181 ldd r25,Z+1 |
| 253 01e8 9C01 movw r18,r24 |
| 254 01ea 220F lsl r18 |
| 255 01ec 331F rol r19 |
| 256 01ee 280F add r18,r24 |
| 257 01f0 391F adc r19,r25 |
| 258 01f2 260F add r18,r22 |
| 259 01f4 371F adc r19,r23 |
| 260 01f6 37FF sbrs r19,7 |
| 261 01f8 00C0 rjmp .L29 |
| 262 01fa 2D5F subi r18,lo8(-(3)) |
| 263 01fc 3F4F sbci r19,hi8(-(3)) |
| 264 .L29: |
| 265 01fe E901 movw r28,r18 |
| 266 0200 D595 asr r29 |
| 267 0202 C795 ror r28 |
| 268 0204 D595 asr r29 |
| 269 0206 C795 ror r28 |
| 270 0208 CB01 movw r24,r22 |
| 271 020a 0196 adiw r24,1 |
| 272 020c 8C17 cp r24,r28 |
| 273 020e 9D07 cpc r25,r29 |
| 274 0210 04F4 brge .L30 |
| 275 0212 2197 sbiw r28,1 |
| 276 0214 00C0 rjmp .L31 |
| 277 .L30: |
| 278 0216 6150 subi r22,lo8(-(-1)) |
| 279 0218 7040 sbci r23,hi8(-(-1)) |
| 280 021a C617 cp r28,r22 |
| 281 021c D707 cpc r29,r23 |
| 282 021e 04F4 brge .L31 |
| 283 0220 2196 adiw r28,1 |
| 284 .L31: |
| 285 0222 8091 0000 lds r24,SenderOkay |
| 286 0226 833C cpi r24,lo8(-61) |
| 287 0228 00F0 brlo .L33 |
| 288 022a 8D01 movw r16,r26 |
| 289 022c 0A0F add r16,r26 |
| 290 022e 1B1F adc r17,r27 |
| 291 0230 F801 movw r30,r16 |
| 292 0232 E050 subi r30,lo8(-(PPM_in)) |
| 293 0234 F040 sbci r31,hi8(-(PPM_in)) |
| 294 0236 8081 ld r24,Z |
| 295 0238 9181 ldd r25,Z+1 |
| 296 023a FE01 movw r30,r28 |
| 297 023c E81B sub r30,r24 |
| 298 023e F90B sbc r31,r25 |
| 299 0240 CF01 movw r24,r30 |
| 300 0242 63E0 ldi r22,lo8(3) |
| 301 0244 70E0 ldi r23,hi8(3) |
| 302 0246 0E94 0000 call __divmodhi4 |
| 303 024a CB01 movw r24,r22 |
| 304 024c 880F lsl r24 |
| 305 024e 991F rol r25 |
| 306 0250 860F add r24,r22 |
| 307 0252 971F adc r25,r23 |
| 308 0254 0050 subi r16,lo8(-(PPM_diff)) |
| 309 0256 1040 sbci r17,hi8(-(PPM_diff)) |
| 310 0258 F801 movw r30,r16 |
| 311 025a 9183 std Z+1,r25 |
| 312 025c 8083 st Z,r24 |
| 313 025e 00C0 rjmp .L34 |
| 314 .L33: |
| 315 0260 AA0F add r26,r26 |
| 316 0262 BB1F adc r27,r27 |
| 317 0264 A050 subi r26,lo8(-(PPM_diff)) |
| 318 0266 B040 sbci r27,hi8(-(PPM_diff)) |
| 319 0268 1196 adiw r26,1 |
| 320 026a 1C92 st X,__zero_reg__ |
| 321 026c 1E92 st -X,__zero_reg__ |
| 322 .L34: |
| 323 026e EB2D mov r30,r11 |
| 324 0270 FF27 clr r31 |
| 325 0272 EE0F add r30,r30 |
| 326 0274 FF1F adc r31,r31 |
| 327 0276 E050 subi r30,lo8(-(PPM_in)) |
| 328 0278 F040 sbci r31,hi8(-(PPM_in)) |
| 329 027a D183 std Z+1,r29 |
| 330 027c C083 st Z,r28 |
| 331 027e 60E0 ldi r22,lo8(0) |
| 332 0280 70E0 ldi r23,hi8(0) |
| 333 0282 B394 inc r11 |
| 334 .L25: |
| 335 0284 4F5F subi r20,lo8(-(1)) |
| 336 0286 00C0 rjmp .L39 |
| 337 .L37: |
| 338 0288 1092 0000 sts NewPpmData,__zero_reg__ |
| 339 .L16: |
| 340 028c 1092 0000 sts NewSBusData,__zero_reg__ |
| 341 /* epilogue: frame size=0 */ |
| 342 0290 EAE0 ldi r30,10 |
| 343 0292 CDB7 in r28,__SP_L__ |
| 344 0294 DEB7 in r29,__SP_H__ |
| 345 0296 0C94 0000 jmp __epilogue_restores__+16 |
| 346 /* epilogue end (size=5) */ |
| 347 /* function ProcessSBus size 207 (196) */ |
| 349 .comm sBusBuffer,25,1 |
| 350 /* File "sbus.c": code 335 = 0x014f ( 323), prologues 6, epilogues 6 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 sbus.c |
| C:\Temp/ccCCtwIg.s:3 *ABS*:0000003f __SREG__ |
| C:\Temp/ccCCtwIg.s:4 *ABS*:0000003e __SP_H__ |
| C:\Temp/ccCCtwIg.s:5 *ABS*:0000003d __SP_L__ |
| C:\Temp/ccCCtwIg.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\Temp/ccCCtwIg.s:7 *ABS*:00000001 __zero_reg__ |
| C:\Temp/ccCCtwIg.s:15 .bss:00000000 NewSBusData |
| C:\Temp/ccCCtwIg.s:20 .text:00000000 SbusUartInit |
| *COM*:00000019 sBusBuffer |
| .bss:00000001 ptr.1 |
| C:\Temp/ccCCtwIg.s:95 .text:000000ba SbusParser |
| C:\Temp/ccCCtwIg.s:92 .bss:00000002 load.0 |
| C:\Temp/ccCCtwIg.s:136 .text:000000fe ProcessSBus |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| SpektrumTimer |
| __prologue_saves__ |
| EE_Parameter |
| PPM_in |
| SenderOkay |
| __divmodhi4 |
| PPM_diff |
| NewPpmData |
| __epilogue_restores__ |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/spi.c |
|---|
| 0,0 → 1,417 |
| // ######################## SPI - FlightCtrl ################### |
| #include "main.h" |
| #include "eeprom.h" |
| //struct str_ToNaviCtrl_Version ToNaviCtrl_Version; |
| //struct str_FromNaviCtrl_Version FromNaviCtrl_Version; |
| struct str_ToNaviCtrl ToNaviCtrl; |
| struct str_FromNaviCtrl FromNaviCtrl; |
| struct str_FromNaviCtrl_Value FromNaviCtrl_Value; |
| struct str_SPI_VersionInfo NC_Version; |
| struct str_GPSInfo GPSInfo; |
| unsigned char SPI_BufferIndex; |
| unsigned char SPI_RxBufferIndex; |
| signed char FromNC_Rotate_C = 32, FromNC_Rotate_S = 0; |
| volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl)]; |
| unsigned char *SPI_TX_Buffer; |
| unsigned char SPITransferCompleted, SPI_ChkSum; |
| unsigned char SPI_RxDataValid,NaviDataOkay = 250; |
| unsigned char SPI_CommandSequence[] = { SPI_FCCMD_STICK, SPI_FCCMD_USER, SPI_FCCMD_PARAMETER1, |
| SPI_FCCMD_STICK, SPI_FCCMD_MISC, SPI_FCCMD_VERSION, |
| SPI_FCCMD_STICK, SPI_FCCMD_SERVOS, SPI_FCCMD_ACCU, |
| SPI_FCCMD_STICK, SPI_FCCMD_PARAMETER2 |
| }; |
| unsigned char SPI_CommandCounter = 0; |
| unsigned char NC_ErrorCode = 0; |
| unsigned char NC_GPS_ModeCharacter = ' '; |
| unsigned char EarthMagneticField = 0; |
| unsigned char EarthMagneticInclination = 0, EarthMagneticInclinationTheoretic = 0; |
| unsigned char NC_To_FC_Flags = 0; |
| unsigned char NC_To_FC_MaxAltitude = 0; // this is a Parameter on the SD-card |
| signed int POI_KameraNick = 0; // in 0,1° |
| vector16_t MagVec = {0,0,0}; |
| #ifdef USE_SPI_COMMUNICATION |
| //------------------------------------------------------ |
| void SPI_MasterInit(void) |
| { |
| DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input |
| SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); |
| SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPR0)|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64 |
| SPSR = 0;//(1<<SPI2X); |
| SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); |
| SPITransferCompleted = 1; |
| //SPDR = 0x00; // dummy write |
| ToNaviCtrl.Sync1 = 0xAA; |
| ToNaviCtrl.Sync2 = 0x83; |
| ToNaviCtrl.Command = SPI_FCCMD_USER; |
| ToNaviCtrl.IntegralNick = 0; |
| ToNaviCtrl.IntegralRoll = 0; |
| FromNaviCtrl_Value.SerialDataOkay = 0; |
| SPI_RxDataValid = 0; |
| } |
| //------------------------------------------------------ |
| void SPI_StartTransmitPacket(void) |
| { |
| //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed |
| if (!SPITransferCompleted) return; |
| // _delay_us(30); |
| SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
| SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl; |
| ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
| if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
| SPITransferCompleted = 0; |
| UpdateSPI_Buffer(); // update buffer |
| SPI_BufferIndex = 1; |
| // -- Debug-Output --- |
| //---- |
| asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
| asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
| asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
| ToNaviCtrl.Chksum = ToNaviCtrl.Sync1; |
| SPDR = ToNaviCtrl.Sync1; // Start transmission |
| // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
| } |
| //------------------------------------------------------ |
| //SIGNAL(SIG_SPI) |
| void SPI_TransmitByte(void) |
| { |
| static unsigned char SPI_RXState = 0; |
| unsigned char rxdata; |
| static unsigned char rxchksum; |
| if (SPITransferCompleted) return; |
| if (!(SPSR & (1 << SPIF))) return; |
| SendSPI = 4; |
| // _delay_us(30); |
| SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
| rxdata = SPDR; |
| switch ( SPI_RXState) |
| { |
| case 0: |
| SPI_RxBufferIndex = 0; |
| rxchksum = rxdata; |
| if (rxdata == 0x81 ) { SPI_RXState = 1; } // 1. Syncbyte ok |
| break; |
| case 1: |
| if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState = 2; } // 2. Syncbyte ok |
| else SPI_RXState = 0; |
| break; |
| case 2: |
| SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data |
| //DebugOut.Analog[19]++; |
| if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl)) |
| { |
| if (rxdata == rxchksum) |
| { |
| unsigned char *ptr = (unsigned char *)&FromNaviCtrl; |
| memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer)); |
| SPI_RxDataValid = 1; |
| } |
| else |
| { |
| SPI_RxDataValid = 0; |
| } |
| SPI_RXState = 0; |
| } |
| else rxchksum += rxdata; |
| break; |
| } |
| if (SPI_BufferIndex < sizeof(ToNaviCtrl)) |
| { |
| SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
| asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
| asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
| asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
| SPDR = SPI_TX_Buffer[SPI_BufferIndex]; |
| ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex]; |
| // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
| } |
| else SPITransferCompleted = 1; |
| SPI_BufferIndex++; |
| } |
| //------------------------------------------------------ |
| void UpdateSPI_Buffer(void) |
| { |
| signed int tmp; |
| static unsigned char motorindex, oldcommand = SPI_NCCMD_VERSION; |
| ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4)); |
| ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4)); |
| ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR; |
| ToNaviCtrl.GyroGier = (signed int) AdNeutralGier - AdWertGier; |
| ToNaviCtrl.AccNick = ((int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc))/4; |
| ToNaviCtrl.AccRoll = ((int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc))/4; |
| NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |
| // ToNaviCtrl.User8 = Parameter_UserParam8; |
| // ToNaviCtrl.CalState = WinkelOut.CalcState; |
| switch(ToNaviCtrl.Command) // |
| { |
| case SPI_FCCMD_USER: |
| ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1; |
| ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2; |
| ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3; |
| ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4; |
| ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5; |
| ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6; |
| ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7; |
| ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8; |
| ToNaviCtrl.Param.Byte[8] = FC_StatusFlags; |
| FC_StatusFlags &= ~(FC_STATUS_CALIBRATE | FC_STATUS_START); |
| ToNaviCtrl.Param.Byte[9] = GetActiveParamSet(); |
| ToNaviCtrl.Param.Byte[10] = EE_Parameter.ComingHomeAltitude; |
| ToNaviCtrl.Param.Byte[11] = FC_StatusFlags2; |
| break; |
| case SPI_FCCMD_ACCU: |
| ToNaviCtrl.Param.Int[0] = Capacity.ActualCurrent; // 0.1A |
| ToNaviCtrl.Param.Int[1] = Capacity.UsedCapacity; // mAh |
| ToNaviCtrl.Param.Byte[4] = (unsigned char) UBat; // 0.1V |
| ToNaviCtrl.Param.Byte[5] = (unsigned char) BattLowVoltageWarning; //0.1V |
| ToNaviCtrl.Param.Byte[6] = VarioCharacter; |
| ToNaviCtrl.Param.Byte[7] = motorindex; |
| ToNaviCtrl.Param.Byte[8] = Motor[motorindex].MaxPWM; |
| ToNaviCtrl.Param.Byte[9] = Motor[motorindex].State; |
| ToNaviCtrl.Param.Byte[10] = Motor[motorindex].Temperature; |
| ToNaviCtrl.Param.Byte[11] = Motor[motorindex++].Current; |
| motorindex %= 12; |
| break; |
| case SPI_FCCMD_PARAMETER1: |
| ToNaviCtrl.Param.Byte[0] = EE_Parameter.NaviGpsModeControl; // Parameters for the Naviboard |
| ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain; |
| ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP; |
| ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI; |
| ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsD; |
| ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsACC; |
| ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat; |
| ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold; |
| ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviOperatingRadius; |
| ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviWindCorrection; |
| ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviAccCompensation; |
| ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation; |
| break; |
| case SPI_FCCMD_PARAMETER2: |
| ToNaviCtrl.Param.Byte[0] = EE_Parameter.NaviOut1Parameter; // Distance between Photo releases |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| // create the ToNC_SpeakHoTT |
| if(EE_Parameter.Receiver != RECEIVER_HOTT) |
| { |
| if(JetiBeep != 'B') JetiBeep = pgm_read_byte(&JETI_CODE[HoTT_Waring()]); |
| else HoTT_Waring(); |
| } |
| ToNaviCtrl.Param.Byte[1] = ToNC_SpeakHoTT; |
| #else |
| ToNaviCtrl.Param.Byte[1] = 0; |
| #endif |
| break; |
| case SPI_FCCMD_STICK: |
| cli(); |
| tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
| ToNaviCtrl.Param.Byte[0] = (char) tmp; |
| tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
| ToNaviCtrl.Param.Byte[1] = (char) tmp; |
| tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
| ToNaviCtrl.Param.Byte[2] = (char) tmp; |
| tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
| sei(); |
| ToNaviCtrl.Param.Byte[3] = (char) tmp; |
| ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti[0]; |
| ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti[1]; |
| ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti[2]; |
| ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti[3]; |
| ToNaviCtrl.Param.Byte[8] = (unsigned char) Poti[4]; |
| ToNaviCtrl.Param.Byte[9] = (unsigned char) Poti[5]; |
| ToNaviCtrl.Param.Byte[10] = (unsigned char) Poti[6]; |
| ToNaviCtrl.Param.Byte[11] = (unsigned char) Poti[7]; |
| break; |
| case SPI_FCCMD_MISC: |
| if(WinkelOut.CalcState > 5) |
| { |
| WinkelOut.CalcState = 0; |
| ToNaviCtrl.Param.Byte[0] = 5; |
| } |
| else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState; |
| ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviPH_LoginTime; |
| ToNaviCtrl.Param.Int[1] = (int)(HoehenWert/5); |
| ToNaviCtrl.Param.Int[2] = (int)(SollHoehe/5); |
| ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsPLimit; |
| ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviGpsILimit; |
| ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviGpsDLimit; |
| ToNaviCtrl.Param.Byte[9] = (unsigned char) SenderOkay; |
| ToNaviCtrl.Param.Byte[10] = (unsigned char) PPM_in[0]; |
| ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[7] / 4; //GasMischanteil |
| break; |
| case SPI_FCCMD_VERSION: |
| ToNaviCtrl.Param.Byte[0] = VERSION_MAJOR; |
| ToNaviCtrl.Param.Byte[1] = VERSION_MINOR; |
| ToNaviCtrl.Param.Byte[2] = VERSION_PATCH; |
| ToNaviCtrl.Param.Byte[3] = NC_SPI_COMPATIBLE; |
| ToNaviCtrl.Param.Byte[4] = PlatinenVersion; |
| ToNaviCtrl.Param.Byte[5] = VersionInfo.HardwareError[0]; |
| ToNaviCtrl.Param.Byte[6] = VersionInfo.HardwareError[1]; |
| VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; // VersionInfo.HardwareError[0] = 0; |
| VersionInfo.HardwareError[1] &= FC_ERROR1_MIXER; |
| ToNaviCtrl.Param.Byte[7] = VersionInfo.HardwareError[2]; // unused |
| ToNaviCtrl.Param.Byte[8] = Parameter_GlobalConfig; |
| ToNaviCtrl.Param.Byte[9] = Parameter_ExtraConfig; |
| ToNaviCtrl.Param.Byte[10] = EE_Parameter.OrientationAngle; |
| ToNaviCtrl.Param.Byte[11] = EE_Parameter.GlobalConfig3; |
| break; |
| case SPI_FCCMD_SERVOS: |
| ToNaviCtrl.Param.Byte[0] = EE_Parameter.ServoNickRefresh; // Parameters for the Servo Control |
| ToNaviCtrl.Param.Byte[1] = EE_Parameter.ServoCompInvert; |
| ToNaviCtrl.Param.Byte[2] = Parameter_ServoNickControl; |
| ToNaviCtrl.Param.Byte[3] = EE_Parameter.ServoNickComp; |
| ToNaviCtrl.Param.Byte[4] = EE_Parameter.ServoNickMin; |
| ToNaviCtrl.Param.Byte[5] = EE_Parameter.ServoNickMax; |
| ToNaviCtrl.Param.Byte[6] = Parameter_ServoRollControl; |
| ToNaviCtrl.Param.Byte[7] = EE_Parameter.ServoRollComp; |
| ToNaviCtrl.Param.Byte[8] = EE_Parameter.ServoRollMin; |
| ToNaviCtrl.Param.Byte[9] = EE_Parameter.ServoRollMax; |
| ToNaviCtrl.Param.Byte[10] = Capacity.MinOfMaxPWM; |
| ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[28]; // I2C-Error counter |
| break; |
| } |
| if(SPI_RxDataValid) |
| { |
| if(FromNaviCtrl.Command != oldcommand) NaviDataOkay = 250; |
| oldcommand = FromNaviCtrl.Command; |
| CalculateCompassTimer = 1; |
| if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV)) |
| { |
| GPS_Nick = FromNaviCtrl.GPS_Nick; |
| GPS_Roll = FromNaviCtrl.GPS_Roll; |
| } |
| // update compass readings |
| // MagVec.x = FromNaviCtrl.MagVecX; |
| // MagVec.y = FromNaviCtrl.MagVecY; |
| // MagVec.z = FromNaviCtrl.MagVecZ; |
| if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue; |
| // KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180; |
| if(FromNaviCtrl.BeepTime > beeptime && !DisableRcOffBeeping) beeptime = FromNaviCtrl.BeepTime; |
| switch (FromNaviCtrl.Command) |
| { |
| case SPI_NCCMD_KALMAN: |
| FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0]; |
| FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1]; |
| FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2]; |
| KompassFusion = FromNaviCtrl.Param.sByte[3]; |
| FromNaviCtrl_Value.GpsZ = FromNaviCtrl.Param.Byte[4]; |
| FromNC_Rotate_C = FromNaviCtrl.Param.Byte[5]; |
| FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6]; |
| GPS_Aid_StickMultiplikator = FromNaviCtrl.Param.Byte[7]; |
| if(CareFree && FromNaviCtrl.Param.sInt[4] >= 0) |
| { |
| KompassSollWert = FromNaviCtrl.Param.sInt[4]; // bei Carefree kann NC den Kompass-Sollwinkel vorgeben |
| if(EE_Parameter.CamOrientation) // Kamera angle is not front |
| { |
| KompassSollWert += 360 - ((unsigned int) EE_Parameter.CamOrientation * 15); |
| KompassSollWert %= 360; |
| } |
| } |
| POI_KameraNick = (POI_KameraNick + FromNaviCtrl.Param.sInt[5]) / 2; // FromNaviCtrl.Param.sInt[5]; // Nickwinkel |
| break; |
| case SPI_NCCMD_VERSION: |
| NC_Version.Major = FromNaviCtrl.Param.Byte[0]; |
| NC_Version.Minor = FromNaviCtrl.Param.Byte[1]; |
| NC_Version.Patch = FromNaviCtrl.Param.Byte[2]; |
| NC_Version.Compatible = FromNaviCtrl.Param.Byte[3]; |
| NC_Version.Hardware = FromNaviCtrl.Param.Byte[4]; |
| DebugOut.Status[0] |= FromNaviCtrl.Param.Byte[5]; |
| DebugOut.Status[1] = (DebugOut.Status[1] & (0x01|0x02)) | (FromNaviCtrl.Param.Byte[6] & (0x04 | 0x08)); |
| NC_ErrorCode = FromNaviCtrl.Param.Byte[7]; |
| NC_GPS_ModeCharacter = FromNaviCtrl.Param.Byte[8]; |
| FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[9]; |
| NC_To_FC_Flags = FromNaviCtrl.Param.Byte[10]; |
| NC_To_FC_MaxAltitude = FromNaviCtrl.Param.Byte[11]; |
| break; |
| case SPI_NCCMD_GPSINFO: |
| GPSInfo.Flags = FromNaviCtrl.Param.Byte[0]; |
| GPSInfo.NumOfSats = FromNaviCtrl.Param.Byte[1]; |
| GPSInfo.SatFix = FromNaviCtrl.Param.Byte[2]; |
| GPSInfo.Speed = FromNaviCtrl.Param.Byte[3]; |
| GPSInfo.HomeDistance = FromNaviCtrl.Param.Int[2]; |
| GPSInfo.HomeBearing = FromNaviCtrl.Param.sInt[3]; |
| PPM_in[25] = (signed char) FromNaviCtrl.Param.Byte[8]; // WP_EVENT-Channel-Value (FromNC_WP_EventChannel) |
| FromNC_AltitudeSpeed = FromNaviCtrl.Param.Byte[9]; |
| FromNC_AltitudeSetpoint = (long) FromNaviCtrl.Param.sInt[5] * 10; // in cm |
| break; |
| case SPI_MISC: |
| EarthMagneticField = FromNaviCtrl.Param.Byte[0]; |
| EarthMagneticInclination = FromNaviCtrl.Param.Byte[1]; |
| EarthMagneticInclinationTheoretic = FromNaviCtrl.Param.Byte[2]; |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| if(FromNaviCtrl.Param.Byte[3]) |
| if(!SpeakHoTT || (SpeakHoTT >= SPEAK_GPS_HOLD && SpeakHoTT <= SPEAK_GPS_OFF)) SpeakHoTT = FromNaviCtrl.Param.Byte[3]; |
| NaviData_WaypointIndex = FromNaviCtrl.Param.Byte[4]; |
| NaviData_WaypointNumber = FromNaviCtrl.Param.Byte[5]; |
| NaviData_TargetDistance = FromNaviCtrl.Param.Int[3]; |
| NaviData_TargetHoldTime = FromNaviCtrl.Param.Byte[8]; |
| #endif |
| break; |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| case SPI_NCCMD_HOTT_DATA: |
| if(EE_Parameter.Receiver == RECEIVER_HOTT) NC_Fills_HoTT_Telemety(); |
| break; |
| #endif |
| // 0 = 0,1 |
| // 1 = 2,3 |
| // 2 = 4,5 |
| // 3 = 6,7 |
| // 4 = 8,9 |
| // 5 = 10,11 |
| default: |
| break; |
| } |
| } |
| else |
| { |
| // KompassValue = 0; |
| // KompassRichtung = 0; |
| GPS_Nick = 0; |
| GPS_Roll = 0; |
| } |
| } |
| #endif |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/spi.h |
|---|
| 0,0 → 1,197 |
| // ######################## SPI - FlightCtrl ################### |
| #ifndef _SPI_H |
| #define _SPI_H |
| #include <util/delay.h> |
| #include "vector.h" |
| #define USE_SPI_COMMUNICATION |
| //----------------------------------------- |
| #define DDR_SPI DDRB |
| #define SLAVE_SELECT_DDR_PORT DDRC |
| #define SLAVE_SELECT_PORT PORTC |
| #if defined(__AVR_ATmega1284P__) |
| #define DD_SS PORTB4 |
| #define DD_SCK PORTB7 |
| #define DD_MOSI PORTB5 |
| #define DD_MISO PORTB6 |
| #define SPI_SLAVE_SELECT PORTC5 |
| #else |
| #define DD_SS PB4 |
| #define DD_SCK PB7 |
| #define DD_MOSI PB5 |
| #define DD_MISO PB6 |
| #define SPI_SLAVE_SELECT PC5 |
| #endif |
| // for compatibility reasons gcc3.x <-> gcc4.x |
| #ifndef SPCR |
| #define SPCR SPCR0 |
| #endif |
| #ifndef SPE |
| #define SPE SPE0 |
| #endif |
| #ifndef MSTR |
| #define MSTR MSTR0 |
| #endif |
| #ifndef SPR1 |
| #define SPR1 SPR01 |
| #endif |
| #ifndef SPR0 |
| #define SPR0 SPR00 |
| #endif |
| #ifndef SPIE |
| #define SPIE SPIE0 |
| #endif |
| #ifndef SPDR |
| #define SPDR SPDR0 |
| #endif |
| #ifndef SPIF |
| #define SPIF SPIF0 |
| #endif |
| #ifndef SPSR |
| #define SPSR SPSR0 |
| #endif |
| // ------------------------- |
| #define SPI_FCCMD_USER 10 |
| #define SPI_FCCMD_STICK 11 |
| #define SPI_FCCMD_MISC 12 |
| #define SPI_FCCMD_PARAMETER1 13 |
| #define SPI_FCCMD_VERSION 14 |
| #define SPI_FCCMD_SERVOS 15 |
| #define SPI_FCCMD_ACCU 16 |
| #define SPI_FCCMD_PARAMETER2 17 |
| struct str_ToNaviCtrl |
| { |
| unsigned char Sync1, Sync2; |
| unsigned char Command; |
| signed int IntegralNick; |
| signed int IntegralRoll; |
| signed int AccNick; |
| signed int AccRoll; |
| signed int GyroCompass; |
| signed int GyroNick; |
| signed int GyroRoll; |
| signed int GyroGier; |
| unsigned int FCStatus; |
| union |
| { |
| unsigned char Byte[12]; |
| char sByte[12]; |
| unsigned int Int[6]; |
| int sInt[6]; |
| unsigned long Long[3]; |
| long sLong[3]; |
| float Float[3]; |
| } Param; |
| unsigned char Chksum; |
| }; |
| #define SPI_NCCMD_KALMAN 103 |
| #define SPI_NCCMD_VERSION 104 |
| #define SPI_NCCMD_GPSINFO 105 |
| #define SPI_NCCMD_HOTT_DATA 106 |
| #define SPI_MISC 107 |
| struct str_FromNaviCtrl |
| { |
| unsigned char Command; |
| signed int GPS_Nick; |
| signed int GPS_Roll; |
| signed int MagVecX; |
| signed int CompassValue; |
| signed int AccErrorN; |
| signed int AccErrorR; |
| signed int MagVecY; |
| signed int MagVecZ; |
| unsigned int BeepTime; |
| union |
| { |
| unsigned char Byte[12]; |
| char sByte[12]; |
| unsigned int Int[6]; |
| int sInt[6]; |
| unsigned long Long[3]; |
| long sLong[3]; |
| float Float[3]; |
| } Param; |
| unsigned char Chksum; |
| }; |
| struct str_FromNaviCtrl_Value |
| { |
| signed char Kalman_K; |
| signed char Kalman_MaxDrift; |
| signed char Kalman_MaxFusion; |
| unsigned char SerialDataOkay; |
| signed char GpsZ; |
| }; |
| struct str_SPI_VersionInfo |
| { |
| unsigned char Major; |
| unsigned char Minor; |
| unsigned char Patch; |
| unsigned char Compatible; |
| unsigned char Hardware; |
| }; |
| // Satfix types for GPSData.SatFix |
| #define SATFIX_NONE 0x00 |
| #define SATFIX_DEADRECKOING 0x01 |
| #define SATFIX_2D 0x02 |
| #define SATFIX_3D 0x03 |
| #define SATFIX_GPS_DEADRECKOING 0x04 |
| #define SATFIX_TIMEONLY 0x05 |
| // Flags for interpretation of the GPSData.Flags |
| #define FLAG_GPSFIXOK 0x01 // (i.e. within DOP & ACC Masks) |
| #define FLAG_DIFFSOLN 0x02 // (is DGPS used) |
| #define FLAG_WKNSET 0x04 // (is Week Number valid) |
| #define FLAG_TOWSET 0x08 // (is Time of Week valid) |
| #define FLAG_GPS_NAVIGATION_ACTIVE 0x10 // NC to FC -> NC is ready to navigate |
| struct str_GPSInfo |
| { |
| unsigned char Flags; // Status Flags |
| unsigned char NumOfSats; // number of satelites |
| unsigned char SatFix; // type of satfix |
| unsigned char Speed; // m/sek |
| unsigned int HomeDistance; // distance to Home in dm |
| int HomeBearing; // bearing to home in deg |
| }; |
| #ifdef USE_SPI_COMMUNICATION |
| extern struct str_GPSInfo GPSInfo; |
| extern struct str_SPI_VersionInfo NC_Version; |
| extern struct str_FromNaviCtrl_Value FromNaviCtrl_Value; |
| extern struct str_ToNaviCtrl ToNaviCtrl; |
| extern struct str_FromNaviCtrl FromNaviCtrl; |
| extern unsigned char SPI_CommandCounter,NaviDataOkay; |
| extern signed char FromNC_Rotate_C, FromNC_Rotate_S; |
| extern unsigned char NC_ErrorCode; |
| extern void SPI_MasterInit(void); |
| extern void SPI_StartTransmitPacket(void); |
| extern void UpdateSPI_Buffer(void); |
| extern void SPI_TransmitByte(void); |
| extern signed int POI_KameraNick; |
| extern unsigned char NC_GPS_ModeCharacter, NC_To_FC_Flags, NC_To_FC_MaxAltitude; |
| extern vector16_t MagVec; |
| extern unsigned char EarthMagneticField; |
| extern unsigned char EarthMagneticInclination,EarthMagneticInclinationTheoretic; |
| #else |
| // -------------------------------- Dummy ----------------------------------------- |
| #define SPI_MasterInit() ; |
| #define SPI_StartTransmitPacket() ; |
| #define UpdateSPI_Buffer() ; |
| #define SPI_TransmitByte() ; |
| #endif |
| #endif |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/spi.lst |
|---|
| 0,0 → 1,1243 |
| 1 .file "spi.c" |
| 2 .arch atmega1284p |
| 3 __SREG__ = 0x3f |
| 4 __SP_H__ = 0x3e |
| 5 __SP_L__ = 0x3d |
| 6 __tmp_reg__ = 0 |
| 7 __zero_reg__ = 1 |
| 8 .global __do_copy_data |
| 9 .global __do_clear_bss |
| 10 .global MagVec |
| 11 .global MagVec |
| 12 .section .bss |
| 15 MagVec: |
| 16 0000 0000 0000 .skip 6,0 |
| 16 0000 |
| 17 .global POI_KameraNick |
| 18 .global POI_KameraNick |
| 21 POI_KameraNick: |
| 22 0006 0000 .skip 2,0 |
| 23 .global NC_To_FC_MaxAltitude |
| 24 .global NC_To_FC_MaxAltitude |
| 27 NC_To_FC_MaxAltitude: |
| 28 0008 00 .skip 1,0 |
| 29 .global NC_To_FC_Flags |
| 30 .global NC_To_FC_Flags |
| 33 NC_To_FC_Flags: |
| 34 0009 00 .skip 1,0 |
| 35 .global EarthMagneticInclinationTheoretic |
| 36 .global EarthMagneticInclinationTheoretic |
| 39 EarthMagneticInclinationTheoretic: |
| 40 000a 00 .skip 1,0 |
| 41 .global EarthMagneticInclination |
| 42 .global EarthMagneticInclination |
| 45 EarthMagneticInclination: |
| 46 000b 00 .skip 1,0 |
| 47 .global EarthMagneticField |
| 48 .global EarthMagneticField |
| 51 EarthMagneticField: |
| 52 000c 00 .skip 1,0 |
| 53 .global NC_GPS_ModeCharacter |
| 54 .data |
| 57 NC_GPS_ModeCharacter: |
| 58 0000 20 .byte 32 |
| 59 .global NC_ErrorCode |
| 60 .global NC_ErrorCode |
| 61 .section .bss |
| 64 NC_ErrorCode: |
| 65 000d 00 .skip 1,0 |
| 66 .global SPI_CommandCounter |
| 67 .global SPI_CommandCounter |
| 70 SPI_CommandCounter: |
| 71 000e 00 .skip 1,0 |
| 72 .global SPI_CommandSequence |
| 73 .data |
| 76 SPI_CommandSequence: |
| 77 0001 0B .byte 11 |
| 78 0002 0A .byte 10 |
| 79 0003 0D .byte 13 |
| 80 0004 0B .byte 11 |
| 81 0005 0C .byte 12 |
| 82 0006 0E .byte 14 |
| 83 0007 0B .byte 11 |
| 84 0008 0F .byte 15 |
| 85 0009 10 .byte 16 |
| 86 000a 0B .byte 11 |
| 87 000b 11 .byte 17 |
| 88 .global NaviDataOkay |
| 91 NaviDataOkay: |
| 92 000c FA .byte -6 |
| 93 .global FromNC_Rotate_S |
| 94 .global FromNC_Rotate_S |
| 95 .section .bss |
| 98 FromNC_Rotate_S: |
| 99 000f 00 .skip 1,0 |
| 100 .global FromNC_Rotate_C |
| 101 .data |
| 104 FromNC_Rotate_C: |
| 105 000d 20 .byte 32 |
| 106 .text |
| 107 .global SPI_MasterInit |
| 109 SPI_MasterInit: |
| 110 /* prologue: frame size=0 */ |
| 111 /* prologue end (size=0) */ |
| 112 0000 84B1 in r24,36-0x20 |
| 113 0002 806A ori r24,lo8(-96) |
| 114 0004 84B9 out 36-0x20,r24 |
| 115 0006 3D9A sbi 39-0x20,5 |
| 116 0008 82E5 ldi r24,lo8(82) |
| 117 000a 8CBD out 76-0x20,r24 |
| 118 000c 1DBC out 77-0x20,__zero_reg__ |
| 119 000e 459A sbi 40-0x20,5 |
| 120 0010 81E0 ldi r24,lo8(1) |
| 121 0012 8093 0000 sts SPITransferCompleted,r24 |
| 122 0016 8AEA ldi r24,lo8(-86) |
| 123 0018 8093 0000 sts ToNaviCtrl,r24 |
| 124 001c 83E8 ldi r24,lo8(-125) |
| 125 001e 8093 0000 sts ToNaviCtrl+1,r24 |
| 126 0022 8AE0 ldi r24,lo8(10) |
| 127 0024 8093 0000 sts ToNaviCtrl+2,r24 |
| 128 0028 1092 0000 sts (ToNaviCtrl+3)+1,__zero_reg__ |
| 129 002c 1092 0000 sts ToNaviCtrl+3,__zero_reg__ |
| 130 0030 1092 0000 sts (ToNaviCtrl+5)+1,__zero_reg__ |
| 131 0034 1092 0000 sts ToNaviCtrl+5,__zero_reg__ |
| 132 0038 1092 0000 sts FromNaviCtrl_Value+3,__zero_reg__ |
| 133 003c 1092 0000 sts SPI_RxDataValid,__zero_reg__ |
| 134 /* epilogue: frame size=0 */ |
| 135 0040 0895 ret |
| 136 /* epilogue end (size=1) */ |
| 137 /* function SPI_MasterInit size 33 (32) */ |
| 139 .lcomm SPI_RXState.2,1 |
| 140 .lcomm rxchksum.3,1 |
| 141 .global SPI_TransmitByte |
| 143 SPI_TransmitByte: |
| 144 /* prologue: frame size=0 */ |
| 145 /* prologue end (size=0) */ |
| 146 0042 3091 0000 lds r19,SPITransferCompleted |
| 147 0046 3323 tst r19 |
| 148 0048 01F0 breq .+2 |
| 149 004a 00C0 rjmp .L2 |
| 150 004c 0DB4 in __tmp_reg__,77-0x20 |
| 151 004e 07FE sbrs __tmp_reg__,7 |
| 152 0050 00C0 rjmp .L2 |
| 153 0052 84E0 ldi r24,lo8(4) |
| 154 0054 8093 0000 sts SendSPI,r24 |
| 155 0058 459A sbi 40-0x20,5 |
| 156 005a 2EB5 in r18,78-0x20 |
| 157 005c 8091 0000 lds r24,SPI_RXState.2 |
| 158 0060 9927 clr r25 |
| 159 0062 8130 cpi r24,1 |
| 160 0064 9105 cpc r25,__zero_reg__ |
| 161 0066 01F0 breq .L8 |
| 162 0068 8230 cpi r24,2 |
| 163 006a 9105 cpc r25,__zero_reg__ |
| 164 006c 04F4 brge .L16 |
| 165 006e 892B or r24,r25 |
| 166 0070 01F0 breq .L6 |
| 167 0072 00C0 rjmp .L5 |
| 168 .L16: |
| 169 0074 0297 sbiw r24,2 |
| 170 0076 01F0 breq .L11 |
| 171 0078 00C0 rjmp .L5 |
| 172 .L6: |
| 173 007a 3093 0000 sts SPI_RxBufferIndex,r19 |
| 174 007e 2093 0000 sts rxchksum.3,r18 |
| 175 0082 2138 cpi r18,lo8(-127) |
| 176 0084 01F4 brne .L5 |
| 177 0086 81E0 ldi r24,lo8(1) |
| 178 0088 00C0 rjmp .L19 |
| 179 .L8: |
| 180 008a 2535 cpi r18,lo8(85) |
| 181 008c 01F4 brne .L9 |
| 182 008e 8091 0000 lds r24,rxchksum.3 |
| 183 0092 820F add r24,r18 |
| 184 0094 8093 0000 sts rxchksum.3,r24 |
| 185 0098 82E0 ldi r24,lo8(2) |
| 186 .L19: |
| 187 009a 8093 0000 sts SPI_RXState.2,r24 |
| 188 009e 00C0 rjmp .L5 |
| 189 .L9: |
| 190 00a0 3093 0000 sts SPI_RXState.2,r19 |
| 191 00a4 00C0 rjmp .L5 |
| 192 .L11: |
| 193 00a6 8091 0000 lds r24,SPI_RxBufferIndex |
| 194 00aa E82F mov r30,r24 |
| 195 00ac FF27 clr r31 |
| 196 00ae E050 subi r30,lo8(-(SPI_Buffer)) |
| 197 00b0 F040 sbci r31,hi8(-(SPI_Buffer)) |
| 198 00b2 2083 st Z,r18 |
| 199 00b4 8F5F subi r24,lo8(-(1)) |
| 200 00b6 8093 0000 sts SPI_RxBufferIndex,r24 |
| 201 00ba 9091 0000 lds r25,rxchksum.3 |
| 202 00be 8032 cpi r24,lo8(32) |
| 203 00c0 00F0 brlo .L12 |
| 204 00c2 2917 cp r18,r25 |
| 205 00c4 01F4 brne .L13 |
| 206 00c6 80E2 ldi r24,lo8(32) |
| 207 00c8 A0E0 ldi r26,lo8(SPI_Buffer) |
| 208 00ca B0E0 ldi r27,hi8(SPI_Buffer) |
| 209 00cc E0E0 ldi r30,lo8(FromNaviCtrl) |
| 210 00ce F0E0 ldi r31,hi8(FromNaviCtrl) |
| 211 00d0 0D90 ld __tmp_reg__,X+ |
| 212 00d2 0192 st Z+,__tmp_reg__ |
| 213 00d4 8A95 dec r24 |
| 214 00d6 01F4 brne .-8 |
| 215 00d8 81E0 ldi r24,lo8(1) |
| 216 00da 8093 0000 sts SPI_RxDataValid,r24 |
| 217 00de 00C0 rjmp .L14 |
| 218 .L13: |
| 219 00e0 3093 0000 sts SPI_RxDataValid,r19 |
| 220 .L14: |
| 221 00e4 1092 0000 sts SPI_RXState.2,__zero_reg__ |
| 222 00e8 00C0 rjmp .L5 |
| 223 .L12: |
| 224 00ea 920F add r25,r18 |
| 225 00ec 9093 0000 sts rxchksum.3,r25 |
| 226 .L5: |
| 227 00f0 2091 0000 lds r18,SPI_BufferIndex |
| 228 00f4 2232 cpi r18,lo8(34) |
| 229 00f6 00F0 brlo .+2 |
| 230 00f8 00C0 rjmp .L17 |
| 231 00fa 4598 cbi 40-0x20,5 |
| 232 /* #APP */ |
| 233 00fc 0000 nop |
| 234 00fe 0000 nop |
| 235 0100 0000 nop |
| 236 0102 0000 nop |
| 237 0104 0000 nop |
| 238 0106 0000 nop |
| 239 0108 0000 nop |
| 240 010a 0000 nop |
| 241 010c 0000 nop |
| 242 010e 0000 nop |
| 243 0110 0000 nop |
| 244 0112 0000 nop |
| 245 0114 0000 nop |
| 246 0116 0000 nop |
| 247 0118 0000 nop |
| 248 011a 0000 nop |
| 249 011c 0000 nop |
| 250 011e 0000 nop |
| 251 0120 0000 nop |
| 252 0122 0000 nop |
| 253 0124 0000 nop |
| 254 0126 0000 nop |
| 255 0128 0000 nop |
| 256 012a 0000 nop |
| 257 /* #NOAPP */ |
| 258 012c E091 0000 lds r30,SPI_TX_Buffer |
| 259 0130 F091 0000 lds r31,(SPI_TX_Buffer)+1 |
| 260 0134 E20F add r30,r18 |
| 261 0136 F11D adc r31,__zero_reg__ |
| 262 0138 8081 ld r24,Z |
| 263 013a 8EBD out 78-0x20,r24 |
| 264 013c 8091 0000 lds r24,ToNaviCtrl+33 |
| 265 0140 9081 ld r25,Z |
| 266 0142 890F add r24,r25 |
| 267 0144 8093 0000 sts ToNaviCtrl+33,r24 |
| 268 0148 00C0 rjmp .L18 |
| 269 .L17: |
| 270 014a 81E0 ldi r24,lo8(1) |
| 271 014c 8093 0000 sts SPITransferCompleted,r24 |
| 272 .L18: |
| 273 0150 2F5F subi r18,lo8(-(1)) |
| 274 0152 2093 0000 sts SPI_BufferIndex,r18 |
| 275 .L2: |
| 276 0156 0895 ret |
| 277 /* epilogue: frame size=0 */ |
| 278 /* epilogue: noreturn */ |
| 279 /* epilogue end (size=0) */ |
| 280 /* function SPI_TransmitByte size 164 (164) */ |
| 282 .lcomm motorindex.0,1 |
| 283 .data |
| 286 oldcommand.1: |
| 287 000e 68 .byte 104 |
| 288 .text |
| 289 .global UpdateSPI_Buffer |
| 291 UpdateSPI_Buffer: |
| 292 /* prologue: frame size=0 */ |
| 293 0158 EF92 push r14 |
| 294 015a FF92 push r15 |
| 295 015c 0F93 push r16 |
| 296 015e 1F93 push r17 |
| 297 /* prologue end (size=4) */ |
| 298 0160 8091 0000 lds r24,EE_Parameter+28 |
| 299 0164 9927 clr r25 |
| 300 0166 880F lsl r24 |
| 301 0168 991F rol r25 |
| 302 016a 880F lsl r24 |
| 303 016c 991F rol r25 |
| 304 016e 7C01 movw r14,r24 |
| 305 0170 0027 clr r16 |
| 306 0172 F7FC sbrc r15,7 |
| 307 0174 0095 com r16 |
| 308 0176 102F mov r17,r16 |
| 309 0178 8091 0000 lds r24,IntegralNick |
| 310 017c 9091 0000 lds r25,(IntegralNick)+1 |
| 311 0180 A091 0000 lds r26,(IntegralNick)+2 |
| 312 0184 B091 0000 lds r27,(IntegralNick)+3 |
| 313 0188 BC01 movw r22,r24 |
| 314 018a CD01 movw r24,r26 |
| 315 018c A801 movw r20,r16 |
| 316 018e 9701 movw r18,r14 |
| 317 0190 0E94 0000 call __divmodsi4 |
| 318 0194 3093 0000 sts (ToNaviCtrl+3)+1,r19 |
| 319 0198 2093 0000 sts ToNaviCtrl+3,r18 |
| 320 019c 8091 0000 lds r24,IntegralRoll |
| 321 01a0 9091 0000 lds r25,(IntegralRoll)+1 |
| 322 01a4 A091 0000 lds r26,(IntegralRoll)+2 |
| 323 01a8 B091 0000 lds r27,(IntegralRoll)+3 |
| 324 01ac BC01 movw r22,r24 |
| 325 01ae CD01 movw r24,r26 |
| 326 01b0 A801 movw r20,r16 |
| 327 01b2 9701 movw r18,r14 |
| 328 01b4 0E94 0000 call __divmodsi4 |
| 329 01b8 3093 0000 sts (ToNaviCtrl+5)+1,r19 |
| 330 01bc 2093 0000 sts ToNaviCtrl+5,r18 |
| 331 01c0 2091 0000 lds r18,ErsatzKompass |
| 332 01c4 3091 0000 lds r19,(ErsatzKompass)+1 |
| 333 01c8 4091 0000 lds r20,(ErsatzKompass)+2 |
| 334 01cc 5091 0000 lds r21,(ErsatzKompass)+3 |
| 335 01d0 DA01 movw r26,r20 |
| 336 01d2 C901 movw r24,r18 |
| 337 01d4 63E0 ldi r22,3 |
| 338 01d6 880F 1: lsl r24 |
| 339 01d8 991F rol r25 |
| 340 01da AA1F rol r26 |
| 341 01dc BB1F rol r27 |
| 342 01de 6A95 dec r22 |
| 343 01e0 01F4 brne 1b |
| 344 01e2 820F add r24,r18 |
| 345 01e4 931F adc r25,r19 |
| 346 01e6 A41F adc r26,r20 |
| 347 01e8 B51F adc r27,r21 |
| 348 01ea 820F add r24,r18 |
| 349 01ec 931F adc r25,r19 |
| 350 01ee A41F adc r26,r20 |
| 351 01f0 B51F adc r27,r21 |
| 352 01f2 2091 0000 lds r18,GIER_GRAD_FAKTOR |
| 353 01f6 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1 |
| 354 01fa 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2 |
| 355 01fe 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3 |
| 356 0202 BC01 movw r22,r24 |
| 357 0204 CD01 movw r24,r26 |
| 358 0206 0E94 0000 call __divmodsi4 |
| 359 020a 3093 0000 sts (ToNaviCtrl+11)+1,r19 |
| 360 020e 2093 0000 sts ToNaviCtrl+11,r18 |
| 361 0212 8091 0000 lds r24,AdNeutralGier |
| 362 0216 9091 0000 lds r25,(AdNeutralGier)+1 |
| 363 021a 2091 0000 lds r18,AdWertGier |
| 364 021e 3091 0000 lds r19,(AdWertGier)+1 |
| 365 0222 821B sub r24,r18 |
| 366 0224 930B sbc r25,r19 |
| 367 0226 9093 0000 sts (ToNaviCtrl+17)+1,r25 |
| 368 022a 8093 0000 sts ToNaviCtrl+17,r24 |
| 369 022e E091 0000 lds r30,NaviCntAcc |
| 370 0232 F091 0000 lds r31,(NaviCntAcc)+1 |
| 371 0236 8091 0000 lds r24,NaviAccNick |
| 372 023a 9091 0000 lds r25,(NaviAccNick)+1 |
| 373 023e BF01 movw r22,r30 |
| 374 0240 0E94 0000 call __divmodhi4 |
| 375 0244 9B01 movw r18,r22 |
| 376 0246 220F lsl r18 |
| 377 0248 331F rol r19 |
| 378 024a 220F lsl r18 |
| 379 024c 331F rol r19 |
| 380 024e 260F add r18,r22 |
| 381 0250 371F adc r19,r23 |
| 382 0252 260F add r18,r22 |
| 383 0254 371F adc r19,r23 |
| 384 0256 37FF sbrs r19,7 |
| 385 0258 00C0 rjmp .L21 |
| 386 025a 2D5F subi r18,lo8(-(3)) |
| 387 025c 3F4F sbci r19,hi8(-(3)) |
| 388 .L21: |
| 389 025e 3595 asr r19 |
| 390 0260 2795 ror r18 |
| 391 0262 3595 asr r19 |
| 392 0264 2795 ror r18 |
| 393 0266 3093 0000 sts (ToNaviCtrl+7)+1,r19 |
| 394 026a 2093 0000 sts ToNaviCtrl+7,r18 |
| 395 026e 8091 0000 lds r24,NaviAccRoll |
| 396 0272 9091 0000 lds r25,(NaviAccRoll)+1 |
| 397 0276 BF01 movw r22,r30 |
| 398 0278 0E94 0000 call __divmodhi4 |
| 399 027c 9B01 movw r18,r22 |
| 400 027e 220F lsl r18 |
| 401 0280 331F rol r19 |
| 402 0282 220F lsl r18 |
| 403 0284 331F rol r19 |
| 404 0286 260F add r18,r22 |
| 405 0288 371F adc r19,r23 |
| 406 028a 260F add r18,r22 |
| 407 028c 371F adc r19,r23 |
| 408 028e 37FF sbrs r19,7 |
| 409 0290 00C0 rjmp .L22 |
| 410 0292 2D5F subi r18,lo8(-(3)) |
| 411 0294 3F4F sbci r19,hi8(-(3)) |
| 412 .L22: |
| 413 0296 3595 asr r19 |
| 414 0298 2795 ror r18 |
| 415 029a 3595 asr r19 |
| 416 029c 2795 ror r18 |
| 417 029e 3093 0000 sts (ToNaviCtrl+9)+1,r19 |
| 418 02a2 2093 0000 sts ToNaviCtrl+9,r18 |
| 419 02a6 1092 0000 sts (NaviCntAcc)+1,__zero_reg__ |
| 420 02aa 1092 0000 sts NaviCntAcc,__zero_reg__ |
| 421 02ae 1092 0000 sts (NaviAccNick)+1,__zero_reg__ |
| 422 02b2 1092 0000 sts NaviAccNick,__zero_reg__ |
| 423 02b6 1092 0000 sts (NaviAccRoll)+1,__zero_reg__ |
| 424 02ba 1092 0000 sts NaviAccRoll,__zero_reg__ |
| 425 02be 8091 0000 lds r24,ToNaviCtrl+2 |
| 426 02c2 9927 clr r25 |
| 427 02c4 AA27 clr r26 |
| 428 02c6 BB27 clr r27 |
| 429 02c8 FC01 movw r30,r24 |
| 430 02ca 3A97 sbiw r30,10 |
| 431 02cc E830 cpi r30,8 |
| 432 02ce F105 cpc r31,__zero_reg__ |
| 433 02d0 00F0 brlo .+2 |
| 434 02d2 00C0 rjmp .L23 |
| 435 02d4 E050 subi r30,lo8(-(pm(.L50))) |
| 436 02d6 F040 sbci r31,hi8(-(pm(.L50))) |
| 437 02d8 0C94 0000 jmp __tablejump2__ |
| 438 .data |
| 439 .section .progmem.gcc_sw_table, "a", @progbits |
| 440 .p2align 1 |
| 441 .L50: |
| 442 0000 0000 .word pm(.L24) |
| 443 0002 0000 .word pm(.L31) |
| 444 0004 0000 .word pm(.L44) |
| 445 0006 0000 .word pm(.L26) |
| 446 0008 0000 .word pm(.L48) |
| 447 000a 0000 .word pm(.L49) |
| 448 000c 0000 .word pm(.L25) |
| 449 000e 0000 .word pm(.L27) |
| 450 .text |
| 451 .L24: |
| 452 02dc 8091 0000 lds r24,Parameter_UserParam1 |
| 453 02e0 8093 0000 sts ToNaviCtrl+21,r24 |
| 454 02e4 8091 0000 lds r24,Parameter_UserParam2 |
| 455 02e8 8093 0000 sts ToNaviCtrl+22,r24 |
| 456 02ec 8091 0000 lds r24,Parameter_UserParam3 |
| 457 02f0 8093 0000 sts ToNaviCtrl+23,r24 |
| 458 02f4 8091 0000 lds r24,Parameter_UserParam4 |
| 459 02f8 8093 0000 sts ToNaviCtrl+24,r24 |
| 460 02fc 8091 0000 lds r24,Parameter_UserParam5 |
| 461 0300 8093 0000 sts ToNaviCtrl+25,r24 |
| 462 0304 8091 0000 lds r24,Parameter_UserParam6 |
| 463 0308 8093 0000 sts ToNaviCtrl+26,r24 |
| 464 030c 8091 0000 lds r24,Parameter_UserParam7 |
| 465 0310 8093 0000 sts ToNaviCtrl+27,r24 |
| 466 0314 8091 0000 lds r24,Parameter_UserParam8 |
| 467 0318 8093 0000 sts ToNaviCtrl+28,r24 |
| 468 031c 8091 0000 lds r24,FC_StatusFlags |
| 469 0320 8093 0000 sts ToNaviCtrl+29,r24 |
| 470 0324 8091 0000 lds r24,FC_StatusFlags |
| 471 0328 837F andi r24,lo8(-13) |
| 472 032a 8093 0000 sts FC_StatusFlags,r24 |
| 473 032e 0E94 0000 call GetActiveParamSet |
| 474 0332 8093 0000 sts ToNaviCtrl+30,r24 |
| 475 0336 8091 0000 lds r24,EE_Parameter+102 |
| 476 033a 8093 0000 sts ToNaviCtrl+31,r24 |
| 477 033e 8091 0000 lds r24,FC_StatusFlags2 |
| 478 0342 00C0 rjmp .L72 |
| 479 .L25: |
| 480 0344 8091 0000 lds r24,Capacity |
| 481 0348 9091 0000 lds r25,(Capacity)+1 |
| 482 034c 9093 0000 sts (ToNaviCtrl+21)+1,r25 |
| 483 0350 8093 0000 sts ToNaviCtrl+21,r24 |
| 484 0354 8091 0000 lds r24,Capacity+4 |
| 485 0358 9091 0000 lds r25,(Capacity+4)+1 |
| 486 035c 9093 0000 sts (ToNaviCtrl+23)+1,r25 |
| 487 0360 8093 0000 sts ToNaviCtrl+23,r24 |
| 488 0364 8091 0000 lds r24,UBat |
| 489 0368 9091 0000 lds r25,(UBat)+1 |
| 490 036c 8093 0000 sts ToNaviCtrl+25,r24 |
| 491 0370 8091 0000 lds r24,BattLowVoltageWarning |
| 492 0374 8093 0000 sts ToNaviCtrl+26,r24 |
| 493 0378 8091 0000 lds r24,VarioCharacter |
| 494 037c 8093 0000 sts ToNaviCtrl+27,r24 |
| 495 0380 9091 0000 lds r25,motorindex.0 |
| 496 0384 9093 0000 sts ToNaviCtrl+28,r25 |
| 497 0388 E92F mov r30,r25 |
| 498 038a FF27 clr r31 |
| 499 038c A3E0 ldi r26,3 |
| 500 038e EE0F 1: lsl r30 |
| 501 0390 FF1F rol r31 |
| 502 0392 AA95 dec r26 |
| 503 0394 01F4 brne 1b |
| 504 0396 E050 subi r30,lo8(-(Motor)) |
| 505 0398 F040 sbci r31,hi8(-(Motor)) |
| 506 039a 8681 ldd r24,Z+6 |
| 507 039c 8093 0000 sts ToNaviCtrl+29,r24 |
| 508 03a0 8381 ldd r24,Z+3 |
| 509 03a2 8093 0000 sts ToNaviCtrl+30,r24 |
| 510 03a6 8781 ldd r24,Z+7 |
| 511 03a8 8093 0000 sts ToNaviCtrl+31,r24 |
| 512 03ac 8581 ldd r24,Z+5 |
| 513 03ae 8093 0000 sts ToNaviCtrl+32,r24 |
| 514 03b2 892F mov r24,r25 |
| 515 03b4 8F5F subi r24,lo8(-(1)) |
| 516 03b6 6CE0 ldi r22,lo8(12) |
| 517 03b8 0E94 0000 call __udivmodqi4 |
| 518 03bc 9093 0000 sts motorindex.0,r25 |
| 519 03c0 00C0 rjmp .L23 |
| 520 .L26: |
| 521 03c2 8091 0000 lds r24,EE_Parameter+81 |
| 522 03c6 8093 0000 sts ToNaviCtrl+21,r24 |
| 523 03ca 8091 0000 lds r24,EE_Parameter+82 |
| 524 03ce 8093 0000 sts ToNaviCtrl+22,r24 |
| 525 03d2 8091 0000 lds r24,EE_Parameter+83 |
| 526 03d6 8093 0000 sts ToNaviCtrl+23,r24 |
| 527 03da 8091 0000 lds r24,EE_Parameter+84 |
| 528 03de 8093 0000 sts ToNaviCtrl+24,r24 |
| 529 03e2 8091 0000 lds r24,EE_Parameter+85 |
| 530 03e6 8093 0000 sts ToNaviCtrl+25,r24 |
| 531 03ea 8091 0000 lds r24,EE_Parameter+89 |
| 532 03ee 8093 0000 sts ToNaviCtrl+26,r24 |
| 533 03f2 8091 0000 lds r24,EE_Parameter+90 |
| 534 03f6 8093 0000 sts ToNaviCtrl+27,r24 |
| 535 03fa 8091 0000 lds r24,EE_Parameter+91 |
| 536 03fe 8093 0000 sts ToNaviCtrl+28,r24 |
| 537 0402 8091 0000 lds r24,EE_Parameter+94 |
| 538 0406 8093 0000 sts ToNaviCtrl+29,r24 |
| 539 040a 8091 0000 lds r24,EE_Parameter+92 |
| 540 040e 8093 0000 sts ToNaviCtrl+30,r24 |
| 541 0412 8091 0000 lds r24,EE_Parameter+93 |
| 542 0416 8093 0000 sts ToNaviCtrl+31,r24 |
| 543 041a 8091 0000 lds r24,EE_Parameter+95 |
| 544 041e 00C0 rjmp .L72 |
| 545 .L27: |
| 546 0420 8091 0000 lds r24,EE_Parameter+80 |
| 547 0424 8093 0000 sts ToNaviCtrl+21,r24 |
| 548 0428 8091 0000 lds r24,EE_Parameter+39 |
| 549 042c 8630 cpi r24,lo8(6) |
| 550 042e 01F0 breq .L28 |
| 551 0430 8091 0000 lds r24,JetiBeep |
| 552 0434 8234 cpi r24,lo8(66) |
| 553 0436 01F0 breq .L29 |
| 554 0438 0E94 0000 call HoTT_Waring |
| 555 043c E82F mov r30,r24 |
| 556 043e FF27 clr r31 |
| 557 0440 E050 subi r30,lo8(-(JETI_CODE)) |
| 558 0442 F040 sbci r31,hi8(-(JETI_CODE)) |
| 559 /* #APP */ |
| 560 0444 8491 lpm r24, Z |
| 561 |
| 562 /* #NOAPP */ |
| 563 0446 8093 0000 sts JetiBeep,r24 |
| 564 044a 00C0 rjmp .L28 |
| 565 .L29: |
| 566 044c 0E94 0000 call HoTT_Waring |
| 567 .L28: |
| 568 0450 8091 0000 lds r24,ToNC_SpeakHoTT |
| 569 0454 8093 0000 sts ToNaviCtrl+22,r24 |
| 570 0458 00C0 rjmp .L23 |
| 571 .L31: |
| 572 /* #APP */ |
| 573 045a F894 cli |
| 574 /* #NOAPP */ |
| 575 045c 8091 0000 lds r24,EE_Parameter+3 |
| 576 0460 E82F mov r30,r24 |
| 577 0462 FF27 clr r31 |
| 578 0464 EE0F add r30,r30 |
| 579 0466 FF1F adc r31,r31 |
| 580 0468 E050 subi r30,lo8(-(PPM_in)) |
| 581 046a F040 sbci r31,hi8(-(PPM_in)) |
| 582 046c 0190 ld __tmp_reg__,Z+ |
| 583 046e F081 ld r31,Z |
| 584 0470 E02D mov r30,__tmp_reg__ |
| 585 0472 E038 cpi r30,128 |
| 586 0474 F105 cpc r31,__zero_reg__ |
| 587 0476 04F0 brlt .L32 |
| 588 0478 EFE7 ldi r30,lo8(127) |
| 589 047a F0E0 ldi r31,hi8(127) |
| 590 047c 00C0 rjmp .L33 |
| 591 .L32: |
| 592 047e 2FEF ldi r18,hi8(-127) |
| 593 0480 E138 cpi r30,lo8(-127) |
| 594 0482 F207 cpc r31,r18 |
| 595 0484 04F4 brge .L33 |
| 596 0486 E1E8 ldi r30,lo8(-127) |
| 597 0488 FFEF ldi r31,hi8(-127) |
| 598 .L33: |
| 599 048a E093 0000 sts ToNaviCtrl+21,r30 |
| 600 048e 8091 0000 lds r24,EE_Parameter+4 |
| 601 0492 E82F mov r30,r24 |
| 602 0494 FF27 clr r31 |
| 603 0496 EE0F add r30,r30 |
| 604 0498 FF1F adc r31,r31 |
| 605 049a E050 subi r30,lo8(-(PPM_in)) |
| 606 049c F040 sbci r31,hi8(-(PPM_in)) |
| 607 049e 0190 ld __tmp_reg__,Z+ |
| 608 04a0 F081 ld r31,Z |
| 609 04a2 E02D mov r30,__tmp_reg__ |
| 610 04a4 E038 cpi r30,128 |
| 611 04a6 F105 cpc r31,__zero_reg__ |
| 612 04a8 04F0 brlt .L35 |
| 613 04aa EFE7 ldi r30,lo8(127) |
| 614 04ac F0E0 ldi r31,hi8(127) |
| 615 04ae 00C0 rjmp .L36 |
| 616 .L35: |
| 617 04b0 7FEF ldi r23,hi8(-127) |
| 618 04b2 E138 cpi r30,lo8(-127) |
| 619 04b4 F707 cpc r31,r23 |
| 620 04b6 04F4 brge .L36 |
| 621 04b8 E1E8 ldi r30,lo8(-127) |
| 622 04ba FFEF ldi r31,hi8(-127) |
| 623 .L36: |
| 624 04bc E093 0000 sts ToNaviCtrl+22,r30 |
| 625 04c0 8091 0000 lds r24,EE_Parameter+2 |
| 626 04c4 E82F mov r30,r24 |
| 627 04c6 FF27 clr r31 |
| 628 04c8 EE0F add r30,r30 |
| 629 04ca FF1F adc r31,r31 |
| 630 04cc E050 subi r30,lo8(-(PPM_in)) |
| 631 04ce F040 sbci r31,hi8(-(PPM_in)) |
| 632 04d0 0190 ld __tmp_reg__,Z+ |
| 633 04d2 F081 ld r31,Z |
| 634 04d4 E02D mov r30,__tmp_reg__ |
| 635 04d6 E038 cpi r30,128 |
| 636 04d8 F105 cpc r31,__zero_reg__ |
| 637 04da 04F0 brlt .L38 |
| 638 04dc EFE7 ldi r30,lo8(127) |
| 639 04de F0E0 ldi r31,hi8(127) |
| 640 04e0 00C0 rjmp .L39 |
| 641 .L38: |
| 642 04e2 8FEF ldi r24,hi8(-127) |
| 643 04e4 E138 cpi r30,lo8(-127) |
| 644 04e6 F807 cpc r31,r24 |
| 645 04e8 04F4 brge .L39 |
| 646 04ea E1E8 ldi r30,lo8(-127) |
| 647 04ec FFEF ldi r31,hi8(-127) |
| 648 .L39: |
| 649 04ee E093 0000 sts ToNaviCtrl+23,r30 |
| 650 04f2 8091 0000 lds r24,EE_Parameter+1 |
| 651 04f6 E82F mov r30,r24 |
| 652 04f8 FF27 clr r31 |
| 653 04fa EE0F add r30,r30 |
| 654 04fc FF1F adc r31,r31 |
| 655 04fe E050 subi r30,lo8(-(PPM_in)) |
| 656 0500 F040 sbci r31,hi8(-(PPM_in)) |
| 657 0502 0190 ld __tmp_reg__,Z+ |
| 658 0504 F081 ld r31,Z |
| 659 0506 E02D mov r30,__tmp_reg__ |
| 660 0508 E038 cpi r30,128 |
| 661 050a F105 cpc r31,__zero_reg__ |
| 662 050c 04F0 brlt .L41 |
| 663 050e EFE7 ldi r30,lo8(127) |
| 664 0510 F0E0 ldi r31,hi8(127) |
| 665 0512 00C0 rjmp .L42 |
| 666 .L41: |
| 667 0514 2FEF ldi r18,hi8(-127) |
| 668 0516 E138 cpi r30,lo8(-127) |
| 669 0518 F207 cpc r31,r18 |
| 670 051a 04F4 brge .L42 |
| 671 051c E1E8 ldi r30,lo8(-127) |
| 672 051e FFEF ldi r31,hi8(-127) |
| 673 .L42: |
| 674 /* #APP */ |
| 675 0520 7894 sei |
| 676 /* #NOAPP */ |
| 677 0522 E093 0000 sts ToNaviCtrl+24,r30 |
| 678 0526 8091 0000 lds r24,Poti |
| 679 052a 8093 0000 sts ToNaviCtrl+25,r24 |
| 680 052e 8091 0000 lds r24,Poti+1 |
| 681 0532 8093 0000 sts ToNaviCtrl+26,r24 |
| 682 0536 8091 0000 lds r24,Poti+2 |
| 683 053a 8093 0000 sts ToNaviCtrl+27,r24 |
| 684 053e 8091 0000 lds r24,Poti+3 |
| 685 0542 8093 0000 sts ToNaviCtrl+28,r24 |
| 686 0546 8091 0000 lds r24,Poti+4 |
| 687 054a 8093 0000 sts ToNaviCtrl+29,r24 |
| 688 054e 8091 0000 lds r24,Poti+5 |
| 689 0552 8093 0000 sts ToNaviCtrl+30,r24 |
| 690 0556 8091 0000 lds r24,Poti+6 |
| 691 055a 8093 0000 sts ToNaviCtrl+31,r24 |
| 692 055e 8091 0000 lds r24,Poti+7 |
| 693 0562 00C0 rjmp .L72 |
| 694 .L44: |
| 695 0564 8091 0000 lds r24,WinkelOut+6 |
| 696 0568 8630 cpi r24,lo8(6) |
| 697 056a 00F0 brlo .L45 |
| 698 056c 1092 0000 sts WinkelOut+6,__zero_reg__ |
| 699 0570 85E0 ldi r24,lo8(5) |
| 700 .L45: |
| 701 0572 8093 0000 sts ToNaviCtrl+21,r24 |
| 702 0576 8091 0000 lds r24,EE_Parameter+96 |
| 703 057a 8093 0000 sts ToNaviCtrl+22,r24 |
| 704 057e 8091 0000 lds r24,HoehenWert |
| 705 0582 9091 0000 lds r25,(HoehenWert)+1 |
| 706 0586 A091 0000 lds r26,(HoehenWert)+2 |
| 707 058a B091 0000 lds r27,(HoehenWert)+3 |
| 708 058e BC01 movw r22,r24 |
| 709 0590 CD01 movw r24,r26 |
| 710 0592 25E0 ldi r18,lo8(5) |
| 711 0594 30E0 ldi r19,hi8(5) |
| 712 0596 40E0 ldi r20,hlo8(5) |
| 713 0598 50E0 ldi r21,hhi8(5) |
| 714 059a 0E94 0000 call __divmodsi4 |
| 715 059e 3093 0000 sts (ToNaviCtrl+23)+1,r19 |
| 716 05a2 2093 0000 sts ToNaviCtrl+23,r18 |
| 717 05a6 8091 0000 lds r24,SollHoehe |
| 718 05aa 9091 0000 lds r25,(SollHoehe)+1 |
| 719 05ae A091 0000 lds r26,(SollHoehe)+2 |
| 720 05b2 B091 0000 lds r27,(SollHoehe)+3 |
| 721 05b6 BC01 movw r22,r24 |
| 722 05b8 CD01 movw r24,r26 |
| 723 05ba 25E0 ldi r18,lo8(5) |
| 724 05bc 30E0 ldi r19,hi8(5) |
| 725 05be 40E0 ldi r20,hlo8(5) |
| 726 05c0 50E0 ldi r21,hhi8(5) |
| 727 05c2 0E94 0000 call __divmodsi4 |
| 728 05c6 3093 0000 sts (ToNaviCtrl+25)+1,r19 |
| 729 05ca 2093 0000 sts ToNaviCtrl+25,r18 |
| 730 05ce 8091 0000 lds r24,EE_Parameter+86 |
| 731 05d2 8093 0000 sts ToNaviCtrl+27,r24 |
| 732 05d6 8091 0000 lds r24,EE_Parameter+87 |
| 733 05da 8093 0000 sts ToNaviCtrl+28,r24 |
| 734 05de 8091 0000 lds r24,EE_Parameter+88 |
| 735 05e2 8093 0000 sts ToNaviCtrl+29,r24 |
| 736 05e6 8091 0000 lds r24,SenderOkay |
| 737 05ea 8093 0000 sts ToNaviCtrl+30,r24 |
| 738 05ee 8091 0000 lds r24,PPM_in |
| 739 05f2 9091 0000 lds r25,(PPM_in)+1 |
| 740 05f6 8093 0000 sts ToNaviCtrl+31,r24 |
| 741 05fa 8091 0000 lds r24,DebugOut+16 |
| 742 05fe 9091 0000 lds r25,(DebugOut+16)+1 |
| 743 0602 97FD sbrc r25,7 |
| 744 0604 0396 adiw r24,3 |
| 745 .L47: |
| 746 0606 9595 asr r25 |
| 747 0608 8795 ror r24 |
| 748 060a 9595 asr r25 |
| 749 060c 8795 ror r24 |
| 750 060e 00C0 rjmp .L72 |
| 751 .L48: |
| 752 0610 1092 0000 sts ToNaviCtrl+21,__zero_reg__ |
| 753 0614 8AE5 ldi r24,lo8(90) |
| 754 0616 8093 0000 sts ToNaviCtrl+22,r24 |
| 755 061a 83E0 ldi r24,lo8(3) |
| 756 061c 8093 0000 sts ToNaviCtrl+23,r24 |
| 757 0620 84E3 ldi r24,lo8(52) |
| 758 0622 8093 0000 sts ToNaviCtrl+24,r24 |
| 759 0626 8091 0000 lds r24,PlatinenVersion |
| 760 062a 8093 0000 sts ToNaviCtrl+25,r24 |
| 761 062e 8091 0000 lds r24,VersionInfo+5 |
| 762 0632 8093 0000 sts ToNaviCtrl+26,r24 |
| 763 0636 9091 0000 lds r25,VersionInfo+6 |
| 764 063a 9093 0000 sts ToNaviCtrl+27,r25 |
| 765 063e 8F77 andi r24,lo8(127) |
| 766 0640 8093 0000 sts VersionInfo+5,r24 |
| 767 0644 9071 andi r25,lo8(16) |
| 768 0646 9093 0000 sts VersionInfo+6,r25 |
| 769 064a 8091 0000 lds r24,VersionInfo+7 |
| 770 064e 8093 0000 sts ToNaviCtrl+28,r24 |
| 771 0652 8091 0000 lds r24,Parameter_GlobalConfig |
| 772 0656 8093 0000 sts ToNaviCtrl+29,r24 |
| 773 065a 8091 0000 lds r24,Parameter_ExtraConfig |
| 774 065e 8093 0000 sts ToNaviCtrl+30,r24 |
| 775 0662 8091 0000 lds r24,EE_Parameter+98 |
| 776 0666 8093 0000 sts ToNaviCtrl+31,r24 |
| 777 066a 8091 0000 lds r24,EE_Parameter+111 |
| 778 066e 00C0 rjmp .L72 |
| 779 .L49: |
| 780 0670 8091 0000 lds r24,EE_Parameter+53 |
| 781 0674 8093 0000 sts ToNaviCtrl+21,r24 |
| 782 0678 8091 0000 lds r24,EE_Parameter+109 |
| 783 067c 8093 0000 sts ToNaviCtrl+22,r24 |
| 784 0680 8091 0000 lds r24,Parameter_ServoNickControl |
| 785 0684 8093 0000 sts ToNaviCtrl+23,r24 |
| 786 0688 8091 0000 lds r24,EE_Parameter+46 |
| 787 068c 8093 0000 sts ToNaviCtrl+24,r24 |
| 788 0690 8091 0000 lds r24,EE_Parameter+47 |
| 789 0694 8093 0000 sts ToNaviCtrl+25,r24 |
| 790 0698 8091 0000 lds r24,EE_Parameter+48 |
| 791 069c 8093 0000 sts ToNaviCtrl+26,r24 |
| 792 06a0 8091 0000 lds r24,Parameter_ServoRollControl |
| 793 06a4 8093 0000 sts ToNaviCtrl+27,r24 |
| 794 06a8 8091 0000 lds r24,EE_Parameter+50 |
| 795 06ac 8093 0000 sts ToNaviCtrl+28,r24 |
| 796 06b0 8091 0000 lds r24,EE_Parameter+51 |
| 797 06b4 8093 0000 sts ToNaviCtrl+29,r24 |
| 798 06b8 8091 0000 lds r24,EE_Parameter+52 |
| 799 06bc 8093 0000 sts ToNaviCtrl+30,r24 |
| 800 06c0 8091 0000 lds r24,Capacity+6 |
| 801 06c4 8093 0000 sts ToNaviCtrl+31,r24 |
| 802 06c8 8091 0000 lds r24,DebugOut+58 |
| 803 .L72: |
| 804 06cc 8093 0000 sts ToNaviCtrl+32,r24 |
| 805 .L23: |
| 806 06d0 8091 0000 lds r24,SPI_RxDataValid |
| 807 06d4 8823 tst r24 |
| 808 06d6 01F4 brne .+2 |
| 809 06d8 00C0 rjmp .L51 |
| 810 06da 6091 0000 lds r22,FromNaviCtrl |
| 811 06de 8091 0000 lds r24,oldcommand.1 |
| 812 06e2 6817 cp r22,r24 |
| 813 06e4 01F0 breq .L52 |
| 814 06e6 8AEF ldi r24,lo8(-6) |
| 815 06e8 8093 0000 sts NaviDataOkay,r24 |
| 816 .L52: |
| 817 06ec 6093 0000 sts oldcommand.1,r22 |
| 818 06f0 81E0 ldi r24,lo8(1) |
| 819 06f2 8093 0000 sts CalculateCompassTimer,r24 |
| 820 06f6 4091 0000 lds r20,FromNaviCtrl+1 |
| 821 06fa 5091 0000 lds r21,(FromNaviCtrl+1)+1 |
| 822 06fe CA01 movw r24,r20 |
| 823 0700 8150 subi r24,lo8(-(511)) |
| 824 0702 9E4F sbci r25,hi8(-(511)) |
| 825 0704 8F5F subi r24,lo8(1023) |
| 826 0706 9340 sbci r25,hi8(1023) |
| 827 0708 00F4 brsh .L53 |
| 828 070a 2091 0000 lds r18,FromNaviCtrl+3 |
| 829 070e 3091 0000 lds r19,(FromNaviCtrl+3)+1 |
| 830 0712 C901 movw r24,r18 |
| 831 0714 8150 subi r24,lo8(-(511)) |
| 832 0716 9E4F sbci r25,hi8(-(511)) |
| 833 0718 8F5F subi r24,lo8(1023) |
| 834 071a 9340 sbci r25,hi8(1023) |
| 835 071c 00F4 brsh .L53 |
| 836 071e 8091 0000 lds r24,EE_Parameter+13 |
| 837 0722 85FF sbrs r24,5 |
| 838 0724 00C0 rjmp .L53 |
| 839 0726 5093 0000 sts (GPS_Nick)+1,r21 |
| 840 072a 4093 0000 sts GPS_Nick,r20 |
| 841 072e 3093 0000 sts (GPS_Roll)+1,r19 |
| 842 0732 2093 0000 sts GPS_Roll,r18 |
| 843 .L53: |
| 844 0736 8091 0000 lds r24,FromNaviCtrl+7 |
| 845 073a 9091 0000 lds r25,(FromNaviCtrl+7)+1 |
| 846 073e 21E0 ldi r18,hi8(361) |
| 847 0740 8936 cpi r24,lo8(361) |
| 848 0742 9207 cpc r25,r18 |
| 849 0744 04F4 brge .L54 |
| 850 0746 9093 0000 sts (KompassValue)+1,r25 |
| 851 074a 8093 0000 sts KompassValue,r24 |
| 852 .L54: |
| 853 074e 2091 0000 lds r18,FromNaviCtrl+17 |
| 854 0752 3091 0000 lds r19,(FromNaviCtrl+17)+1 |
| 855 0756 8091 0000 lds r24,beeptime |
| 856 075a 9091 0000 lds r25,(beeptime)+1 |
| 857 075e 8217 cp r24,r18 |
| 858 0760 9307 cpc r25,r19 |
| 859 0762 00F4 brsh .L55 |
| 860 0764 8091 0000 lds r24,DisableRcOffBeeping |
| 861 0768 8823 tst r24 |
| 862 076a 01F4 brne .L55 |
| 863 076c 3093 0000 sts (beeptime)+1,r19 |
| 864 0770 2093 0000 sts beeptime,r18 |
| 865 .L55: |
| 866 0774 862F mov r24,r22 |
| 867 0776 9927 clr r25 |
| 868 0778 8936 cpi r24,105 |
| 869 077a 9105 cpc r25,__zero_reg__ |
| 870 077c 01F4 brne .+2 |
| 871 077e 00C0 rjmp .L62 |
| 872 0780 8A36 cpi r24,106 |
| 873 0782 9105 cpc r25,__zero_reg__ |
| 874 0784 04F4 brge .L70 |
| 875 0786 8736 cpi r24,103 |
| 876 0788 9105 cpc r25,__zero_reg__ |
| 877 078a 01F0 breq .L57 |
| 878 078c 8836 cpi r24,104 |
| 879 078e 9105 cpc r25,__zero_reg__ |
| 880 0790 01F4 brne .+2 |
| 881 0792 00C0 rjmp .L61 |
| 882 0794 00C0 rjmp .L20 |
| 883 .L70: |
| 884 0796 8A36 cpi r24,106 |
| 885 0798 9105 cpc r25,__zero_reg__ |
| 886 079a 01F4 brne .+2 |
| 887 079c 00C0 rjmp .L67 |
| 888 079e 8B36 cpi r24,107 |
| 889 07a0 9105 cpc r25,__zero_reg__ |
| 890 07a2 01F4 brne .+2 |
| 891 07a4 00C0 rjmp .L63 |
| 892 07a6 00C0 rjmp .L20 |
| 893 .L57: |
| 894 07a8 8091 0000 lds r24,FromNaviCtrl+19 |
| 895 07ac 8093 0000 sts FromNaviCtrl_Value,r24 |
| 896 07b0 8091 0000 lds r24,FromNaviCtrl+20 |
| 897 07b4 8093 0000 sts FromNaviCtrl_Value+2,r24 |
| 898 07b8 8091 0000 lds r24,FromNaviCtrl+21 |
| 899 07bc 8093 0000 sts FromNaviCtrl_Value+1,r24 |
| 900 07c0 8091 0000 lds r24,FromNaviCtrl+22 |
| 901 07c4 8093 0000 sts KompassFusion,r24 |
| 902 07c8 8091 0000 lds r24,FromNaviCtrl+23 |
| 903 07cc 8093 0000 sts FromNaviCtrl_Value+4,r24 |
| 904 07d0 8091 0000 lds r24,FromNaviCtrl+24 |
| 905 07d4 8093 0000 sts FromNC_Rotate_C,r24 |
| 906 07d8 8091 0000 lds r24,FromNaviCtrl+25 |
| 907 07dc 8093 0000 sts FromNC_Rotate_S,r24 |
| 908 07e0 8091 0000 lds r24,FromNaviCtrl+26 |
| 909 07e4 8093 0000 sts GPS_Aid_StickMultiplikator,r24 |
| 910 07e8 8091 0000 lds r24,CareFree |
| 911 07ec 8823 tst r24 |
| 912 07ee 01F0 breq .L58 |
| 913 07f0 2091 0000 lds r18,FromNaviCtrl+27 |
| 914 07f4 3091 0000 lds r19,(FromNaviCtrl+27)+1 |
| 915 07f8 37FD sbrc r19,7 |
| 916 07fa 00C0 rjmp .L58 |
| 917 07fc 3093 0000 sts (KompassSollWert)+1,r19 |
| 918 0800 2093 0000 sts KompassSollWert,r18 |
| 919 0804 9091 0000 lds r25,EE_Parameter+55 |
| 920 0808 9923 tst r25 |
| 921 080a 01F0 breq .L58 |
| 922 080c 8FE0 ldi r24,lo8(15) |
| 923 080e 989F mul r25,r24 |
| 924 0810 C001 movw r24,r0 |
| 925 0812 1124 clr r1 |
| 926 0814 281B sub r18,r24 |
| 927 0816 390B sbc r19,r25 |
| 928 0818 C901 movw r24,r18 |
| 929 081a 8859 subi r24,lo8(-(360)) |
| 930 081c 9E4F sbci r25,hi8(-(360)) |
| 931 081e 68E6 ldi r22,lo8(360) |
| 932 0820 71E0 ldi r23,hi8(360) |
| 933 0822 0E94 0000 call __divmodhi4 |
| 934 0826 9093 0000 sts (KompassSollWert)+1,r25 |
| 935 082a 8093 0000 sts KompassSollWert,r24 |
| 936 .L58: |
| 937 082e 2091 0000 lds r18,POI_KameraNick |
| 938 0832 3091 0000 lds r19,(POI_KameraNick)+1 |
| 939 0836 8091 0000 lds r24,FromNaviCtrl+29 |
| 940 083a 9091 0000 lds r25,(FromNaviCtrl+29)+1 |
| 941 083e 280F add r18,r24 |
| 942 0840 391F adc r19,r25 |
| 943 0842 37FF sbrs r19,7 |
| 944 0844 00C0 rjmp .L60 |
| 945 0846 2F5F subi r18,lo8(-(1)) |
| 946 0848 3F4F sbci r19,hi8(-(1)) |
| 947 .L60: |
| 948 084a 3595 asr r19 |
| 949 084c 2795 ror r18 |
| 950 084e 3093 0000 sts (POI_KameraNick)+1,r19 |
| 951 0852 2093 0000 sts POI_KameraNick,r18 |
| 952 0856 00C0 rjmp .L20 |
| 953 .L61: |
| 954 0858 8091 0000 lds r24,FromNaviCtrl+19 |
| 955 085c 8093 0000 sts NC_Version,r24 |
| 956 0860 8091 0000 lds r24,FromNaviCtrl+20 |
| 957 0864 8093 0000 sts NC_Version+1,r24 |
| 958 0868 8091 0000 lds r24,FromNaviCtrl+21 |
| 959 086c 8093 0000 sts NC_Version+2,r24 |
| 960 0870 8091 0000 lds r24,FromNaviCtrl+22 |
| 961 0874 8093 0000 sts NC_Version+3,r24 |
| 962 0878 8091 0000 lds r24,FromNaviCtrl+23 |
| 963 087c 8093 0000 sts NC_Version+4,r24 |
| 964 0880 8091 0000 lds r24,DebugOut |
| 965 0884 9091 0000 lds r25,FromNaviCtrl+24 |
| 966 0888 892B or r24,r25 |
| 967 088a 8093 0000 sts DebugOut,r24 |
| 968 088e 9091 0000 lds r25,DebugOut+1 |
| 969 0892 9370 andi r25,lo8(3) |
| 970 0894 8091 0000 lds r24,FromNaviCtrl+25 |
| 971 0898 8C70 andi r24,lo8(12) |
| 972 089a 982B or r25,r24 |
| 973 089c 9093 0000 sts DebugOut+1,r25 |
| 974 08a0 8091 0000 lds r24,FromNaviCtrl+26 |
| 975 08a4 8093 0000 sts NC_ErrorCode,r24 |
| 976 08a8 8091 0000 lds r24,FromNaviCtrl+27 |
| 977 08ac 8093 0000 sts NC_GPS_ModeCharacter,r24 |
| 978 08b0 8091 0000 lds r24,FromNaviCtrl+28 |
| 979 08b4 8093 0000 sts FromNaviCtrl_Value+3,r24 |
| 980 08b8 8091 0000 lds r24,FromNaviCtrl+29 |
| 981 08bc 8093 0000 sts NC_To_FC_Flags,r24 |
| 982 08c0 8091 0000 lds r24,FromNaviCtrl+30 |
| 983 08c4 8093 0000 sts NC_To_FC_MaxAltitude,r24 |
| 984 08c8 00C0 rjmp .L20 |
| 985 .L62: |
| 986 08ca 8091 0000 lds r24,FromNaviCtrl+19 |
| 987 08ce 8093 0000 sts GPSInfo,r24 |
| 988 08d2 8091 0000 lds r24,FromNaviCtrl+20 |
| 989 08d6 8093 0000 sts GPSInfo+1,r24 |
| 990 08da 8091 0000 lds r24,FromNaviCtrl+21 |
| 991 08de 8093 0000 sts GPSInfo+2,r24 |
| 992 08e2 8091 0000 lds r24,FromNaviCtrl+22 |
| 993 08e6 8093 0000 sts GPSInfo+3,r24 |
| 994 08ea 8091 0000 lds r24,FromNaviCtrl+23 |
| 995 08ee 9091 0000 lds r25,(FromNaviCtrl+23)+1 |
| 996 08f2 9093 0000 sts (GPSInfo+4)+1,r25 |
| 997 08f6 8093 0000 sts GPSInfo+4,r24 |
| 998 08fa 8091 0000 lds r24,FromNaviCtrl+25 |
| 999 08fe 9091 0000 lds r25,(FromNaviCtrl+25)+1 |
| 1000 0902 9093 0000 sts (GPSInfo+6)+1,r25 |
| 1001 0906 8093 0000 sts GPSInfo+6,r24 |
| 1002 090a 8091 0000 lds r24,FromNaviCtrl+27 |
| 1003 090e 9927 clr r25 |
| 1004 0910 87FD sbrc r24,7 |
| 1005 0912 9095 com r25 |
| 1006 0914 9093 0000 sts (PPM_in+50)+1,r25 |
| 1007 0918 8093 0000 sts PPM_in+50,r24 |
| 1008 091c 8091 0000 lds r24,FromNaviCtrl+28 |
| 1009 0920 8093 0000 sts FromNC_AltitudeSpeed,r24 |
| 1010 0924 8091 0000 lds r24,FromNaviCtrl+29 |
| 1011 0928 9091 0000 lds r25,(FromNaviCtrl+29)+1 |
| 1012 092c 9C01 movw r18,r24 |
| 1013 092e 4427 clr r20 |
| 1014 0930 37FD sbrc r19,7 |
| 1015 0932 4095 com r20 |
| 1016 0934 542F mov r21,r20 |
| 1017 0936 DA01 movw r26,r20 |
| 1018 0938 C901 movw r24,r18 |
| 1019 093a 63E0 ldi r22,3 |
| 1020 093c 880F 1: lsl r24 |
| 1021 093e 991F rol r25 |
| 1022 0940 AA1F rol r26 |
| 1023 0942 BB1F rol r27 |
| 1024 0944 6A95 dec r22 |
| 1025 0946 01F4 brne 1b |
| 1026 0948 820F add r24,r18 |
| 1027 094a 931F adc r25,r19 |
| 1028 094c A41F adc r26,r20 |
| 1029 094e B51F adc r27,r21 |
| 1030 0950 820F add r24,r18 |
| 1031 0952 931F adc r25,r19 |
| 1032 0954 A41F adc r26,r20 |
| 1033 0956 B51F adc r27,r21 |
| 1034 0958 8093 0000 sts FromNC_AltitudeSetpoint,r24 |
| 1035 095c 9093 0000 sts (FromNC_AltitudeSetpoint)+1,r25 |
| 1036 0960 A093 0000 sts (FromNC_AltitudeSetpoint)+2,r26 |
| 1037 0964 B093 0000 sts (FromNC_AltitudeSetpoint)+3,r27 |
| 1038 0968 00C0 rjmp .L20 |
| 1039 .L63: |
| 1040 096a 8091 0000 lds r24,FromNaviCtrl+19 |
| 1041 096e 8093 0000 sts EarthMagneticField,r24 |
| 1042 0972 8091 0000 lds r24,FromNaviCtrl+20 |
| 1043 0976 8093 0000 sts EarthMagneticInclination,r24 |
| 1044 097a 8091 0000 lds r24,FromNaviCtrl+21 |
| 1045 097e 8093 0000 sts EarthMagneticInclinationTheoretic,r24 |
| 1046 0982 9091 0000 lds r25,FromNaviCtrl+22 |
| 1047 0986 9923 tst r25 |
| 1048 0988 01F0 breq .L64 |
| 1049 098a 8091 0000 lds r24,SpeakHoTT |
| 1050 098e 8823 tst r24 |
| 1051 0990 01F0 breq .L66 |
| 1052 0992 8151 subi r24,lo8(-(-17)) |
| 1053 0994 8330 cpi r24,lo8(3) |
| 1054 0996 00F4 brsh .L64 |
| 1055 .L66: |
| 1056 0998 9093 0000 sts SpeakHoTT,r25 |
| 1057 .L64: |
| 1058 099c 8091 0000 lds r24,FromNaviCtrl+23 |
| 1059 09a0 8093 0000 sts NaviData_WaypointIndex,r24 |
| 1060 09a4 8091 0000 lds r24,FromNaviCtrl+24 |
| 1061 09a8 8093 0000 sts NaviData_WaypointNumber,r24 |
| 1062 09ac 8091 0000 lds r24,FromNaviCtrl+25 |
| 1063 09b0 9091 0000 lds r25,(FromNaviCtrl+25)+1 |
| 1064 09b4 9093 0000 sts (NaviData_TargetDistance)+1,r25 |
| 1065 09b8 8093 0000 sts NaviData_TargetDistance,r24 |
| 1066 09bc 8091 0000 lds r24,FromNaviCtrl+27 |
| 1067 09c0 8093 0000 sts NaviData_TargetHoldTime,r24 |
| 1068 09c4 00C0 rjmp .L20 |
| 1069 .L67: |
| 1070 09c6 8091 0000 lds r24,EE_Parameter+39 |
| 1071 09ca 8630 cpi r24,lo8(6) |
| 1072 09cc 01F4 brne .L20 |
| 1073 09ce 0E94 0000 call NC_Fills_HoTT_Telemety |
| 1074 09d2 00C0 rjmp .L20 |
| 1075 .L51: |
| 1076 09d4 1092 0000 sts (GPS_Nick)+1,__zero_reg__ |
| 1077 09d8 1092 0000 sts GPS_Nick,__zero_reg__ |
| 1078 09dc 1092 0000 sts (GPS_Roll)+1,__zero_reg__ |
| 1079 09e0 1092 0000 sts GPS_Roll,__zero_reg__ |
| 1080 .L20: |
| 1081 /* epilogue: frame size=0 */ |
| 1082 09e4 1F91 pop r17 |
| 1083 09e6 0F91 pop r16 |
| 1084 09e8 FF90 pop r15 |
| 1085 09ea EF90 pop r14 |
| 1086 09ec 0895 ret |
| 1087 /* epilogue end (size=5) */ |
| 1088 /* function UpdateSPI_Buffer size 1115 (1106) */ |
| 1090 .global SPI_StartTransmitPacket |
| 1092 SPI_StartTransmitPacket: |
| 1093 /* prologue: frame size=0 */ |
| 1094 /* prologue end (size=0) */ |
| 1095 09ee 8091 0000 lds r24,SPITransferCompleted |
| 1096 09f2 8823 tst r24 |
| 1097 09f4 01F4 brne .+2 |
| 1098 09f6 00C0 rjmp .L73 |
| 1099 09f8 4598 cbi 40-0x20,5 |
| 1100 09fa 80E0 ldi r24,lo8(ToNaviCtrl) |
| 1101 09fc 90E0 ldi r25,hi8(ToNaviCtrl) |
| 1102 09fe 9093 0000 sts (SPI_TX_Buffer)+1,r25 |
| 1103 0a02 8093 0000 sts SPI_TX_Buffer,r24 |
| 1104 0a06 9091 0000 lds r25,SPI_CommandCounter |
| 1105 0a0a E92F mov r30,r25 |
| 1106 0a0c FF27 clr r31 |
| 1107 0a0e E050 subi r30,lo8(-(SPI_CommandSequence)) |
| 1108 0a10 F040 sbci r31,hi8(-(SPI_CommandSequence)) |
| 1109 0a12 9F5F subi r25,lo8(-(1)) |
| 1110 0a14 9093 0000 sts SPI_CommandCounter,r25 |
| 1111 0a18 8081 ld r24,Z |
| 1112 0a1a 8093 0000 sts ToNaviCtrl+2,r24 |
| 1113 0a1e 9B30 cpi r25,lo8(11) |
| 1114 0a20 00F0 brlo .L75 |
| 1115 0a22 1092 0000 sts SPI_CommandCounter,__zero_reg__ |
| 1116 .L75: |
| 1117 0a26 1092 0000 sts SPITransferCompleted,__zero_reg__ |
| 1118 0a2a 0E94 0000 call UpdateSPI_Buffer |
| 1119 0a2e 81E0 ldi r24,lo8(1) |
| 1120 0a30 8093 0000 sts SPI_BufferIndex,r24 |
| 1121 /* #APP */ |
| 1122 0a34 0000 nop |
| 1123 0a36 0000 nop |
| 1124 0a38 0000 nop |
| 1125 0a3a 0000 nop |
| 1126 0a3c 0000 nop |
| 1127 0a3e 0000 nop |
| 1128 0a40 0000 nop |
| 1129 0a42 0000 nop |
| 1130 0a44 0000 nop |
| 1131 0a46 0000 nop |
| 1132 0a48 0000 nop |
| 1133 0a4a 0000 nop |
| 1134 0a4c 0000 nop |
| 1135 0a4e 0000 nop |
| 1136 0a50 0000 nop |
| 1137 0a52 0000 nop |
| 1138 0a54 0000 nop |
| 1139 0a56 0000 nop |
| 1140 0a58 0000 nop |
| 1141 0a5a 0000 nop |
| 1142 0a5c 0000 nop |
| 1143 0a5e 0000 nop |
| 1144 0a60 0000 nop |
| 1145 0a62 0000 nop |
| 1146 /* #NOAPP */ |
| 1147 0a64 8091 0000 lds r24,ToNaviCtrl |
| 1148 0a68 8093 0000 sts ToNaviCtrl+33,r24 |
| 1149 0a6c 8EBD out 78-0x20,r24 |
| 1150 .L73: |
| 1151 0a6e 0895 ret |
| 1152 /* epilogue: frame size=0 */ |
| 1153 /* epilogue: noreturn */ |
| 1154 /* epilogue end (size=0) */ |
| 1155 /* function SPI_StartTransmitPacket size 89 (89) */ |
| 1157 .comm GPSInfo,8,1 |
| 1158 .comm NC_Version,5,1 |
| 1159 .comm FromNaviCtrl_Value,5,1 |
| 1160 .comm ToNaviCtrl,34,1 |
| 1161 .comm FromNaviCtrl,32,1 |
| 1162 .comm SPI_BufferIndex,1,1 |
| 1163 .comm SPI_RxBufferIndex,1,1 |
| 1164 .comm SPI_Buffer,32,1 |
| 1165 .comm SPI_TX_Buffer,2,1 |
| 1166 .comm SPITransferCompleted,1,1 |
| 1167 .comm SPI_ChkSum,1,1 |
| 1168 .comm SPI_RxDataValid,1,1 |
| 1169 /* File "spi.c": code 1401 = 0x0579 (1391), prologues 4, epilogues 6 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 spi.c |
| C:\Temp/ccnBcmNg.s:3 *ABS*:0000003f __SREG__ |
| C:\Temp/ccnBcmNg.s:4 *ABS*:0000003e __SP_H__ |
| C:\Temp/ccnBcmNg.s:5 *ABS*:0000003d __SP_L__ |
| C:\Temp/ccnBcmNg.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\Temp/ccnBcmNg.s:7 *ABS*:00000001 __zero_reg__ |
| C:\Temp/ccnBcmNg.s:15 .bss:00000000 MagVec |
| C:\Temp/ccnBcmNg.s:21 .bss:00000006 POI_KameraNick |
| C:\Temp/ccnBcmNg.s:27 .bss:00000008 NC_To_FC_MaxAltitude |
| C:\Temp/ccnBcmNg.s:33 .bss:00000009 NC_To_FC_Flags |
| C:\Temp/ccnBcmNg.s:39 .bss:0000000a EarthMagneticInclinationTheoretic |
| C:\Temp/ccnBcmNg.s:45 .bss:0000000b EarthMagneticInclination |
| C:\Temp/ccnBcmNg.s:51 .bss:0000000c EarthMagneticField |
| C:\Temp/ccnBcmNg.s:57 .data:00000000 NC_GPS_ModeCharacter |
| C:\Temp/ccnBcmNg.s:64 .bss:0000000d NC_ErrorCode |
| C:\Temp/ccnBcmNg.s:70 .bss:0000000e SPI_CommandCounter |
| C:\Temp/ccnBcmNg.s:76 .data:00000001 SPI_CommandSequence |
| C:\Temp/ccnBcmNg.s:91 .data:0000000c NaviDataOkay |
| C:\Temp/ccnBcmNg.s:98 .bss:0000000f FromNC_Rotate_S |
| C:\Temp/ccnBcmNg.s:104 .data:0000000d FromNC_Rotate_C |
| C:\Temp/ccnBcmNg.s:109 .text:00000000 SPI_MasterInit |
| *COM*:00000001 SPITransferCompleted |
| *COM*:00000022 ToNaviCtrl |
| *COM*:00000005 FromNaviCtrl_Value |
| *COM*:00000001 SPI_RxDataValid |
| .bss:00000010 SPI_RXState.2 |
| C:\Temp/ccnBcmNg.s:139 .bss:00000011 rxchksum.3 |
| C:\Temp/ccnBcmNg.s:143 .text:00000042 SPI_TransmitByte |
| *COM*:00000001 SPI_RxBufferIndex |
| *COM*:00000020 SPI_Buffer |
| *COM*:00000020 FromNaviCtrl |
| *COM*:00000001 SPI_BufferIndex |
| *COM*:00000002 SPI_TX_Buffer |
| C:\Temp/ccnBcmNg.s:140 .bss:00000012 motorindex.0 |
| C:\Temp/ccnBcmNg.s:286 .data:0000000e oldcommand.1 |
| C:\Temp/ccnBcmNg.s:291 .text:00000158 UpdateSPI_Buffer |
| *COM*:00000005 NC_Version |
| *COM*:00000008 GPSInfo |
| C:\Temp/ccnBcmNg.s:1092 .text:000009ee SPI_StartTransmitPacket |
| *COM*:00000001 SPI_ChkSum |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| SendSPI |
| EE_Parameter |
| IntegralNick |
| __divmodsi4 |
| IntegralRoll |
| ErsatzKompass |
| GIER_GRAD_FAKTOR |
| AdNeutralGier |
| AdWertGier |
| NaviCntAcc |
| NaviAccNick |
| __divmodhi4 |
| NaviAccRoll |
| __tablejump2__ |
| Parameter_UserParam1 |
| Parameter_UserParam2 |
| Parameter_UserParam3 |
| Parameter_UserParam4 |
| Parameter_UserParam5 |
| Parameter_UserParam6 |
| Parameter_UserParam7 |
| Parameter_UserParam8 |
| FC_StatusFlags |
| GetActiveParamSet |
| FC_StatusFlags2 |
| Capacity |
| UBat |
| BattLowVoltageWarning |
| VarioCharacter |
| Motor |
| __udivmodqi4 |
| JetiBeep |
| HoTT_Waring |
| JETI_CODE |
| ToNC_SpeakHoTT |
| PPM_in |
| Poti |
| WinkelOut |
| HoehenWert |
| SollHoehe |
| SenderOkay |
| DebugOut |
| PlatinenVersion |
| VersionInfo |
| Parameter_GlobalConfig |
| Parameter_ExtraConfig |
| Parameter_ServoNickControl |
| Parameter_ServoRollControl |
| CalculateCompassTimer |
| GPS_Nick |
| GPS_Roll |
| KompassValue |
| beeptime |
| DisableRcOffBeeping |
| KompassFusion |
| GPS_Aid_StickMultiplikator |
| CareFree |
| KompassSollWert |
| FromNC_AltitudeSpeed |
| FromNC_AltitudeSetpoint |
| SpeakHoTT |
| NaviData_WaypointIndex |
| NaviData_WaypointNumber |
| NaviData_TargetDistance |
| NaviData_TargetHoldTime |
| NC_Fills_HoTT_Telemety |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/timer0.c |
|---|
| 0,0 → 1,478 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software Nutzungsbedingungen (english version: see below) |
| // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
| // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
| // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
| // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
| // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
| // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
| // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
| // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
| // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
| // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
| // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
| // + des Mitverschuldens offen. |
| // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
| // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
| // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
| // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
| // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
| // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
| // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software LICENSING TERMS |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
| // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
| // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
| // + The Software may only be used with the Licensor's products. |
| // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
| // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
| // + agreement shall be the property of the Licensor. |
| // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
| // + features that can be used to identify the program may not be altered or defaced by the customer. |
| // + The customer shall be responsible for taking reasonable precautions |
| // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
| // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
| // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
| // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
| // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
| // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
| // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
| // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
| // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
| // + #### END OF LICENSING TERMS #### |
| // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| #define MULTIPLYER 4 |
| volatile unsigned int CountMilliseconds = 0; |
| volatile unsigned int tim_main; |
| volatile unsigned char UpdateMotor = 0; |
| volatile unsigned int cntKompass = 0; |
| volatile unsigned int beeptime = 0; |
| volatile unsigned char SendSPI = 0, ServoActive = 0, CalculateServoSignals = 1; |
| uint16_t RemainingPulse = 0; |
| volatile int16_t ServoNickOffset = (255 / 2) * MULTIPLYER * 16; // initial value near center positon |
| volatile int16_t ServoRollOffset = (255 / 2) * MULTIPLYER * 16; // initial value near center positon |
| unsigned int BeepMuster = 0xffff; |
| signed int NickServoValue = 128 * MULTIPLYER * 16; |
| volatile int16_t ServoNickValue = 0; |
| volatile int16_t ServoRollValue = 0; |
| enum { |
| STOP = 0, |
| CK = 1, |
| CK8 = 2, |
| CK64 = 3, |
| CK256 = 4, |
| CK1024 = 5, |
| T0_FALLING_EDGE = 6, |
| T0_RISING_EDGE = 7 |
| }; |
| ISR(TIMER0_OVF_vect) // 9,7kHz |
| { |
| static unsigned char cnt_1ms = 1,cnt = 0, compass_active = 0; |
| unsigned char pieper_ein = 0; |
| if(SendSPI) SendSPI--; |
| if(SpektrumTimer) SpektrumTimer--; |
| if(!cnt--) |
| { |
| cnt = 9; |
| CountMilliseconds++; |
| cnt_1ms++; |
| cnt_1ms %= 2; |
| if(!cnt_1ms) UpdateMotor = 1; |
| if(!(PINC & 0x10)) compass_active = 1; |
| if(beeptime) |
| { |
| if(beeptime > 10) beeptime -= 10; else beeptime = 0; |
| if(beeptime & BeepMuster) |
| { |
| pieper_ein = 1; |
| } |
| else pieper_ein = 0; |
| } |
| else |
| { |
| pieper_ein = 0; |
| BeepMuster = 0xffff; |
| } |
| if(pieper_ein) |
| { |
| if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2 |
| else PORTC |= (1<<7); // Speaker an PORTC.7 |
| } |
| else |
| { |
| if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
| else PORTC &= ~(1<<7); |
| } |
| } |
| if(compass_active && !NaviDataOkay && Parameter_GlobalConfig & CFG_KOMPASS_AKTIV) |
| { |
| if(PINC & 0x10) |
| { |
| if(++cntKompass > 1000) compass_active = 0; |
| } |
| else |
| { |
| if((cntKompass) && (cntKompass < 362)) |
| { |
| cntKompass += cntKompass / 41; |
| if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0; |
| // KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180; |
| } |
| cntKompass = 0; |
| } |
| } |
| } |
| // ----------------------------------------------------------------------- |
| unsigned int SetDelay(unsigned int t) |
| { |
| // TIMSK0 &= ~_BV(TOIE0); |
| return(CountMilliseconds + t + 1); |
| // TIMSK0 |= _BV(TOIE0); |
| } |
| // ----------------------------------------------------------------------- |
| char CheckDelay(unsigned int t) |
| { |
| // TIMSK0 &= ~_BV(TOIE0); |
| return(((t - CountMilliseconds) & 0x8000) >> 9); |
| // TIMSK0 |= _BV(TOIE0); |
| } |
| // ----------------------------------------------------------------------- |
| void Delay_ms(unsigned int w) |
| { |
| unsigned int akt; |
| akt = SetDelay(w); |
| while (!CheckDelay(akt)); |
| } |
| void Delay_ms_Mess(unsigned int w) |
| { |
| unsigned int akt; |
| akt = SetDelay(w); |
| while (!CheckDelay(akt)) if(AdReady) {AdReady = 0; ANALOG_ON;} |
| } |
| /*****************************************************/ |
| /* Initialize Timer 2 */ |
| /*****************************************************/ |
| // The timer 2 is used to generate the PWM at PD7 (J7) |
| // to control a camera servo for nick compensation. |
| void TIMER2_Init(void) |
| { |
| uint8_t sreg = SREG; |
| // disable all interrupts before reconfiguration |
| cli(); |
| PORTD &= ~(1<<PORTD7); // set PD7 to low |
| DDRC |= (1<<DDC6); // set PC6 as output (Reset for HEF4017) |
| HEF4017Reset_ON; |
| // Timer/Counter 2 Control Register A |
| // Timer Mode is FastPWM with timer reload at OCR2A (Bits: WGM22 = 1, WGM21 = 1, WGM20 = 1) |
| // PD7: Normal port operation, OC2A disconnected, (Bits: COM2A1 = 0, COM2A0 = 0) |
| // PD6: Normal port operation, OC2B disconnected, (Bits: COM2B1 = 0, COM2B0 = 0) |
| TCCR2A &= ~((1<<COM2A1)|(1<<COM2A0)|(1<<COM2B1)|(1<<COM2B0)); |
| TCCR2A |= (1<<WGM21)|(1<<WGM20); |
| // Timer/Counter 2 Control Register B |
| // Set clock divider for timer 2 to SYSKLOCK/32 = 20MHz / 32 = 625 kHz |
| // The timer increments from 0x00 to 0xFF with an update rate of 625 kHz or 1.6 us |
| // hence the timer overflow interrupt frequency is 625 kHz / 256 = 2.44 kHz or 0.4096 ms |
| // divider 32 (Bits: CS022 = 0, CS21 = 1, CS20 = 1) |
| TCCR2B &= ~((1<<FOC2A)|(1<<FOC2B)|(1<<CS22)); |
| TCCR2B |= (1<<CS21)|(1<<CS20)|(1<<WGM22); |
| // Initialize the Timer/Counter 2 Register |
| TCNT2 = 0; |
| // Initialize the Output Compare Register A used for PWM generation on port PD7. |
| OCR2A = 255; |
| TCCR2A |= (1<<COM2A1); // set or clear at compare match depends on value of COM2A0 |
| // Timer/Counter 2 Interrupt Mask Register |
| // Enable timer output compare match A Interrupt only |
| TIMSK2 &= ~((1<<OCIE2B)|(1<<TOIE2)); |
| TIMSK2 |= (1<<OCIE2A); |
| SREG = sreg; |
| } |
| //---------------------------- |
| void Timer_Init(void) |
| { |
| tim_main = SetDelay(10); |
| TCCR0B = CK8; |
| TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
| OCR0A = 0; |
| OCR0B = 180; |
| TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload |
| //OCR1 = 0x00; |
| TIMSK0 |= _BV(TOIE0); |
| } |
| /*****************************************************/ |
| /* Control Servo Position */ |
| /*****************************************************/ |
| void CalcNickServoValue(void) |
| { |
| signed int max, min; |
| if(EE_Parameter.ServoCompInvert & SERVO_RELATIVE) // relative moving of the servo value |
| { |
| max = ((unsigned int) EE_Parameter.ServoNickMax * MULTIPLYER * 15); |
| min = ((unsigned int) EE_Parameter.ServoNickMin * MULTIPLYER * 20); |
| NickServoValue -= ((signed char) (Parameter_ServoNickControl - 128) / 4) * 6; |
| LIMIT_MIN_MAX(NickServoValue,min, max); |
| } |
| else NickServoValue = (int16_t)Parameter_ServoNickControl * (MULTIPLYER*16); // direct poti control |
| } |
| void CalculateServo(void) |
| { |
| signed char cosinus, sinus; |
| signed long nick, roll; |
| cosinus = sintab[EE_Parameter.CamOrientation + 6]; |
| sinus = sintab[EE_Parameter.CamOrientation]; |
| if(CalculateServoSignals == 1) |
| { |
| nick = (cosinus * IntegralNick) / 128L - (sinus * IntegralRoll) / 128L; |
| nick -= POI_KameraNick * 7; |
| nick = ((long)EE_Parameter.ServoNickComp * nick) / 512L; |
| // offset (Range from 0 to 255 * 3 = 765) |
| if(EE_Parameter.ServoCompInvert & SERVO_RELATIVE) ServoNickOffset = NickServoValue; |
| else ServoNickOffset += (NickServoValue - ServoNickOffset) / EE_Parameter.ServoManualControlSpeed; |
| if(EE_Parameter.ServoCompInvert & SERVO_NICK_INV) // inverting movement of servo |
| { |
| nick = ServoNickOffset / 16 + nick; |
| } |
| else |
| { // inverting movement of servo |
| nick = ServoNickOffset / 16 - nick; |
| } |
| if(EE_Parameter.ServoFilterNick) ServoNickValue = ((ServoNickValue * EE_Parameter.ServoFilterNick) + nick) / (EE_Parameter.ServoFilterNick + 1); |
| else ServoNickValue = nick; |
| // limit servo value to its parameter range definition |
| if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER)) |
| { |
| ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER; |
| } |
| else |
| if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER)) |
| { |
| ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER; |
| } |
| if(PlatinenVersion < 20) CalculateServoSignals = 0; else CalculateServoSignals++; |
| } |
| else |
| { |
| roll = (cosinus * IntegralRoll) / 128L + (sinus * IntegralNick) / 128L; |
| roll = ((long)EE_Parameter.ServoRollComp * roll) / 512L; |
| ServoRollOffset += ((int16_t)Parameter_ServoRollControl * (MULTIPLYER*16) - ServoRollOffset) / EE_Parameter.ServoManualControlSpeed; |
| if(EE_Parameter.ServoCompInvert & SERVO_ROLL_INV) |
| { // inverting movement of servo |
| roll = ServoRollOffset / 16 + roll; |
| } |
| else |
| { // inverting movement of servo |
| roll = ServoRollOffset / 16 - roll; |
| } |
| if(EE_Parameter.ServoFilterRoll) ServoRollValue = ((ServoRollValue * EE_Parameter.ServoFilterRoll) + roll) / (EE_Parameter.ServoFilterRoll + 1); |
| else ServoRollValue = roll; |
| // limit servo value to its parameter range definition |
| if(ServoRollValue < ((int16_t)EE_Parameter.ServoRollMin * MULTIPLYER)) |
| { |
| ServoRollValue = (int16_t)EE_Parameter.ServoRollMin * MULTIPLYER; |
| } |
| else |
| if(ServoRollValue > ((int16_t)EE_Parameter.ServoRollMax * MULTIPLYER)) |
| { |
| ServoRollValue = (int16_t)EE_Parameter.ServoRollMax * MULTIPLYER; |
| } |
| CalculateServoSignals = 0; |
| } |
| } |
| ISR(TIMER2_COMPA_vect) |
| { |
| // frame len 22.5 ms = 14063 * 1.6 us |
| // stop pulse: 0.3 ms = 188 * 1.6 us |
| // min servo pulse: 0.6 ms = 375 * 1.6 us |
| // max servo pulse: 2.4 ms = 1500 * 1.6 us |
| // resolution: 1500 - 375 = 1125 steps |
| #define IRS_RUNTIME 127 |
| #define PPM_STOPPULSE 188 |
| #define PPM_FRAMELEN (1757 * EE_Parameter.ServoNickRefresh) |
| #define MINSERVOPULSE 375 |
| #define MAXSERVOPULSE 1500 |
| #define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE) |
| static uint8_t PulseOutput = 0; |
| static uint16_t ServoFrameTime = 0; |
| static uint8_t ServoIndex = 0; |
| if(PlatinenVersion < 20) |
| { |
| //--------------------------- |
| // Nick servo state machine |
| //--------------------------- |
| if(!PulseOutput) // pulse output complete |
| { |
| if(TCCR2A & (1<<COM2A0)) // we had a low pulse |
| { |
| TCCR2A &= ~(1<<COM2A0);// make a high pulse |
| RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms |
| RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
| // range servo pulse width |
| if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit |
| else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit |
| // accumulate time for correct update rate |
| ServoFrameTime = RemainingPulse; |
| } |
| else // we had a high pulse |
| { |
| TCCR2A |= (1<<COM2A0); // make a low pulse |
| RemainingPulse = PPM_FRAMELEN - ServoFrameTime; |
| CalculateServoSignals = 1; |
| } |
| // set pulse output active |
| PulseOutput = 1; |
| } |
| } // EOF Nick servo state machine |
| else |
| { |
| //----------------------------------------------------- |
| // PPM state machine, onboard demultiplexed by HEF4017 |
| //----------------------------------------------------- |
| if(!PulseOutput) // pulse output complete |
| { |
| if(TCCR2A & (1<<COM2A0)) // we had a low pulse |
| { |
| TCCR2A &= ~(1<<COM2A0);// make a high pulse |
| if(ServoIndex == 0) // if we are at the sync gap |
| { |
| RemainingPulse = PPM_FRAMELEN - ServoFrameTime; // generate sync gap by filling time to full frame time |
| ServoFrameTime = 0; // reset servo frame time |
| HEF4017Reset_ON; // enable HEF4017 reset |
| } |
| else // servo channels |
| if(ServoIndex > EE_Parameter.ServoNickRefresh) |
| { |
| RemainingPulse = 10; // end it here |
| } |
| else |
| { |
| RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms |
| switch(ServoIndex) // map servo channels |
| { |
| case 1: // Nick Compensation Servo |
| RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
| break; |
| case 2: // Roll Compensation Servo |
| RemainingPulse += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
| break; |
| case 3: |
| RemainingPulse += ((int16_t)Parameter_Servo3 * MULTIPLYER) - (256 / 2) * MULTIPLYER; |
| break; |
| case 4: |
| RemainingPulse += ((int16_t)Parameter_Servo4 * MULTIPLYER) - (256 / 2) * MULTIPLYER; |
| break; |
| case 5: |
| RemainingPulse += ((int16_t)Parameter_Servo5 * MULTIPLYER) - (256 / 2) * MULTIPLYER; |
| break; |
| default: // other servo channels |
| RemainingPulse += 2 * PPM_in[ServoIndex]; // add channel value, factor of 2 because timer 1 increments 3.2µs |
| break; |
| } |
| // range servo pulse width |
| if(RemainingPulse > MAXSERVOPULSE) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit |
| else if(RemainingPulse < MINSERVOPULSE) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit |
| // substract stop pulse width |
| RemainingPulse -= PPM_STOPPULSE; |
| // accumulate time for correct sync gap |
| ServoFrameTime += RemainingPulse; |
| } |
| } |
| else // we had a high pulse |
| { |
| TCCR2A |= (1<<COM2A0); // make a low pulse |
| // set pulsewidth to stop pulse width |
| RemainingPulse = PPM_STOPPULSE; |
| // accumulate time for correct sync gap |
| ServoFrameTime += RemainingPulse; |
| if((ServoActive && SenderOkay) || ServoActive == 2) HEF4017Reset_OFF; // disable HEF4017 reset |
| else HEF4017Reset_ON; |
| ServoIndex++; |
| if(ServoIndex > EE_Parameter.ServoNickRefresh+1) |
| { |
| CalculateServoSignals = 1; |
| ServoIndex = 0; // reset to the sync gap |
| } |
| } |
| // set pulse output active |
| PulseOutput = 1; |
| } |
| } // EOF PPM state machine |
| // General pulse output generator |
| if(RemainingPulse > (255 + IRS_RUNTIME)) |
| { |
| OCR2A = 255; |
| RemainingPulse -= 255; |
| } |
| else |
| { |
| if(RemainingPulse > 255) // this is the 2nd last part |
| { |
| if((RemainingPulse - 255) < IRS_RUNTIME) |
| { |
| OCR2A = 255 - IRS_RUNTIME; |
| RemainingPulse -= 255 - IRS_RUNTIME; |
| } |
| else // last part > ISR_RUNTIME |
| { |
| OCR2A = 255; |
| RemainingPulse -= 255; |
| } |
| } |
| else // this is the last part |
| { |
| OCR2A = RemainingPulse; |
| RemainingPulse = 0; |
| PulseOutput = 0; // trigger to stop pulse |
| } |
| } // EOF general pulse output generator |
| } |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/timer0.h |
|---|
| 0,0 → 1,24 |
| #define TIMER_TEILER CK8 |
| #define TIMER_RELOAD_VALUE 250 |
| #define HEF4017Reset_ON PORTC |= (1<<PORTC6) |
| #define HEF4017Reset_OFF PORTC &= ~(1<<PORTC6) |
| void Timer_Init(void); |
| void TIMER2_Init(void); |
| void Delay_ms(unsigned int); |
| void Delay_ms_Mess(unsigned int); |
| unsigned int SetDelay (unsigned int t); |
| char CheckDelay (unsigned int t); |
| void CalculateServo(void); |
| void CalcNickServoValue(void); |
| extern volatile unsigned int CountMilliseconds; |
| extern volatile unsigned char UpdateMotor; |
| extern volatile unsigned int beeptime; |
| extern volatile unsigned int cntKompass; |
| extern unsigned int BeepMuster; |
| extern volatile unsigned char SendSPI, ServoActive, CalculateServoSignals; |
| extern volatile int16_t ServoNickValue; |
| extern volatile int16_t ServoRollValue; |
| extern signed int NickServoValue; |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/timer0.lst |
|---|
| 0,0 → 1,1376 |
| 1 .file "timer0.c" |
| 2 .arch atmega1284p |
| 3 __SREG__ = 0x3f |
| 4 __SP_H__ = 0x3e |
| 5 __SP_L__ = 0x3d |
| 6 __tmp_reg__ = 0 |
| 7 __zero_reg__ = 1 |
| 8 .global __do_copy_data |
| 9 .global __do_clear_bss |
| 10 .global ServoRollValue |
| 11 .global ServoRollValue |
| 12 .section .bss |
| 15 ServoRollValue: |
| 16 0000 0000 .skip 2,0 |
| 17 .global ServoNickValue |
| 18 .global ServoNickValue |
| 21 ServoNickValue: |
| 22 0002 0000 .skip 2,0 |
| 23 .global NickServoValue |
| 24 .data |
| 27 NickServoValue: |
| 28 0000 0020 .word 8192 |
| 29 .global BeepMuster |
| 32 BeepMuster: |
| 33 0002 FFFF .word -1 |
| 34 .global ServoRollOffset |
| 37 ServoRollOffset: |
| 38 0004 C01F .word 8128 |
| 39 .global ServoNickOffset |
| 42 ServoNickOffset: |
| 43 0006 C01F .word 8128 |
| 44 .global RemainingPulse |
| 45 .global RemainingPulse |
| 46 .section .bss |
| 49 RemainingPulse: |
| 50 0004 0000 .skip 2,0 |
| 51 .global CalculateServoSignals |
| 52 .data |
| 55 CalculateServoSignals: |
| 56 0008 01 .byte 1 |
| 57 .global ServoActive |
| 58 .global ServoActive |
| 59 .section .bss |
| 62 ServoActive: |
| 63 0006 00 .skip 1,0 |
| 64 .global SendSPI |
| 65 .global SendSPI |
| 68 SendSPI: |
| 69 0007 00 .skip 1,0 |
| 70 .global beeptime |
| 71 .global beeptime |
| 74 beeptime: |
| 75 0008 0000 .skip 2,0 |
| 76 .global cntKompass |
| 77 .global cntKompass |
| 80 cntKompass: |
| 81 000a 0000 .skip 2,0 |
| 82 .global UpdateMotor |
| 83 .global UpdateMotor |
| 86 UpdateMotor: |
| 87 000c 00 .skip 1,0 |
| 88 .global CountMilliseconds |
| 89 .global CountMilliseconds |
| 92 CountMilliseconds: |
| 93 000d 0000 .skip 2,0 |
| 94 .data |
| 97 cnt_1ms.3: |
| 98 0009 01 .byte 1 |
| 99 .lcomm cnt.4,1 |
| 100 .lcomm compass_active.5,1 |
| 101 .text |
| 102 .global __vector_18 |
| 104 __vector_18: |
| 105 /* prologue: frame size=0 */ |
| 106 0000 1F92 push __zero_reg__ |
| 107 0002 0F92 push __tmp_reg__ |
| 108 0004 0FB6 in __tmp_reg__,__SREG__ |
| 109 0006 0F92 push __tmp_reg__ |
| 110 0008 1124 clr __zero_reg__ |
| 111 000a 2F93 push r18 |
| 112 000c 3F93 push r19 |
| 113 000e 5F93 push r21 |
| 114 0010 6F93 push r22 |
| 115 0012 7F93 push r23 |
| 116 0014 8F93 push r24 |
| 117 0016 9F93 push r25 |
| 118 0018 AF93 push r26 |
| 119 001a BF93 push r27 |
| 120 001c EF93 push r30 |
| 121 001e FF93 push r31 |
| 122 /* prologue end (size=16) */ |
| 123 0020 20E0 ldi r18,lo8(0) |
| 124 0022 8091 0000 lds r24,SendSPI |
| 125 0026 8823 tst r24 |
| 126 0028 01F0 breq .L2 |
| 127 002a 8091 0000 lds r24,SendSPI |
| 128 002e 8150 subi r24,lo8(-(-1)) |
| 129 0030 8093 0000 sts SendSPI,r24 |
| 130 .L2: |
| 131 0034 8091 0000 lds r24,SpektrumTimer |
| 132 0038 8823 tst r24 |
| 133 003a 01F0 breq .L3 |
| 134 003c 8150 subi r24,lo8(-(-1)) |
| 135 003e 8093 0000 sts SpektrumTimer,r24 |
| 136 .L3: |
| 137 0042 8091 0000 lds r24,cnt.4 |
| 138 0046 8150 subi r24,lo8(-(-1)) |
| 139 0048 8093 0000 sts cnt.4,r24 |
| 140 004c 8F3F cpi r24,lo8(-1) |
| 141 004e 01F0 breq .+2 |
| 142 0050 00C0 rjmp .L4 |
| 143 0052 89E0 ldi r24,lo8(9) |
| 144 0054 8093 0000 sts cnt.4,r24 |
| 145 0058 8091 0000 lds r24,CountMilliseconds |
| 146 005c 9091 0000 lds r25,(CountMilliseconds)+1 |
| 147 0060 0196 adiw r24,1 |
| 148 0062 9093 0000 sts (CountMilliseconds)+1,r25 |
| 149 0066 8093 0000 sts CountMilliseconds,r24 |
| 150 006a 8091 0000 lds r24,cnt_1ms.3 |
| 151 006e 8F5F subi r24,lo8(-(1)) |
| 152 0070 8170 andi r24,lo8(1) |
| 153 0072 8093 0000 sts cnt_1ms.3,r24 |
| 154 0076 8823 tst r24 |
| 155 0078 01F4 brne .L5 |
| 156 007a 81E0 ldi r24,lo8(1) |
| 157 007c 8093 0000 sts UpdateMotor,r24 |
| 158 .L5: |
| 159 0080 3499 sbic 38-0x20,4 |
| 160 0082 00C0 rjmp .L6 |
| 161 0084 81E0 ldi r24,lo8(1) |
| 162 0086 8093 0000 sts compass_active.5,r24 |
| 163 .L6: |
| 164 008a 8091 0000 lds r24,beeptime |
| 165 008e 9091 0000 lds r25,(beeptime)+1 |
| 166 0092 892B or r24,r25 |
| 167 0094 01F0 breq .L7 |
| 168 0096 8091 0000 lds r24,beeptime |
| 169 009a 9091 0000 lds r25,(beeptime)+1 |
| 170 009e 0B97 sbiw r24,11 |
| 171 00a0 00F0 brlo .L8 |
| 172 00a2 8091 0000 lds r24,beeptime |
| 173 00a6 9091 0000 lds r25,(beeptime)+1 |
| 174 00aa 0A97 sbiw r24,10 |
| 175 00ac 9093 0000 sts (beeptime)+1,r25 |
| 176 00b0 8093 0000 sts beeptime,r24 |
| 177 00b4 00C0 rjmp .L9 |
| 178 .L8: |
| 179 00b6 1092 0000 sts (beeptime)+1,__zero_reg__ |
| 180 00ba 1092 0000 sts beeptime,__zero_reg__ |
| 181 .L9: |
| 182 00be 8091 0000 lds r24,beeptime |
| 183 00c2 9091 0000 lds r25,(beeptime)+1 |
| 184 00c6 2091 0000 lds r18,BeepMuster |
| 185 00ca 3091 0000 lds r19,(BeepMuster)+1 |
| 186 00ce 8223 and r24,r18 |
| 187 00d0 9323 and r25,r19 |
| 188 00d2 892B or r24,r25 |
| 189 00d4 01F0 breq .L10 |
| 190 00d6 21E0 ldi r18,lo8(1) |
| 191 00d8 00C0 rjmp .L12 |
| 192 .L10: |
| 193 00da 20E0 ldi r18,lo8(0) |
| 194 00dc 00C0 rjmp .L12 |
| 195 .L7: |
| 196 00de 8FEF ldi r24,lo8(-1) |
| 197 00e0 9FEF ldi r25,hi8(-1) |
| 198 00e2 9093 0000 sts (BeepMuster)+1,r25 |
| 199 00e6 8093 0000 sts BeepMuster,r24 |
| 200 .L12: |
| 201 00ea 8091 0000 lds r24,PlatinenVersion |
| 202 00ee 2223 tst r18 |
| 203 00f0 01F0 breq .L13 |
| 204 00f2 8A30 cpi r24,lo8(10) |
| 205 00f4 01F4 brne .L14 |
| 206 00f6 5A9A sbi 43-0x20,2 |
| 207 00f8 00C0 rjmp .L4 |
| 208 .L14: |
| 209 00fa 479A sbi 40-0x20,7 |
| 210 00fc 00C0 rjmp .L4 |
| 211 .L13: |
| 212 00fe 8A30 cpi r24,lo8(10) |
| 213 0100 01F4 brne .L17 |
| 214 0102 5A98 cbi 43-0x20,2 |
| 215 0104 00C0 rjmp .L4 |
| 216 .L17: |
| 217 0106 4798 cbi 40-0x20,7 |
| 218 .L4: |
| 219 0108 8091 0000 lds r24,compass_active.5 |
| 220 010c 8823 tst r24 |
| 221 010e 01F4 brne .+2 |
| 222 0110 00C0 rjmp .L1 |
| 223 0112 2091 0000 lds r18,NaviDataOkay |
| 224 0116 2223 tst r18 |
| 225 0118 01F0 breq .+2 |
| 226 011a 00C0 rjmp .L1 |
| 227 011c 8091 0000 lds r24,Parameter_GlobalConfig |
| 228 0120 83FF sbrs r24,3 |
| 229 0122 00C0 rjmp .L1 |
| 230 0124 86B1 in r24,38-0x20 |
| 231 0126 9927 clr r25 |
| 232 0128 FC01 movw r30,r24 |
| 233 012a E071 andi r30,lo8(16) |
| 234 012c F070 andi r31,hi8(16) |
| 235 012e 84FF sbrs r24,4 |
| 236 0130 00C0 rjmp .L20 |
| 237 0132 8091 0000 lds r24,cntKompass |
| 238 0136 9091 0000 lds r25,(cntKompass)+1 |
| 239 013a 0196 adiw r24,1 |
| 240 013c 9093 0000 sts (cntKompass)+1,r25 |
| 241 0140 8093 0000 sts cntKompass,r24 |
| 242 0144 8091 0000 lds r24,cntKompass |
| 243 0148 9091 0000 lds r25,(cntKompass)+1 |
| 244 014c 895E subi r24,lo8(1001) |
| 245 014e 9340 sbci r25,hi8(1001) |
| 246 0150 00F0 brlo .L1 |
| 247 0152 2093 0000 sts compass_active.5,r18 |
| 248 0156 00C0 rjmp .L1 |
| 249 .L20: |
| 250 0158 8091 0000 lds r24,cntKompass |
| 251 015c 9091 0000 lds r25,(cntKompass)+1 |
| 252 0160 892B or r24,r25 |
| 253 0162 01F0 breq .L23 |
| 254 0164 8091 0000 lds r24,cntKompass |
| 255 0168 9091 0000 lds r25,(cntKompass)+1 |
| 256 016c 8A56 subi r24,lo8(362) |
| 257 016e 9140 sbci r25,hi8(362) |
| 258 0170 00F4 brsh .L23 |
| 259 0172 8091 0000 lds r24,cntKompass |
| 260 0176 9091 0000 lds r25,(cntKompass)+1 |
| 261 017a 69E2 ldi r22,lo8(41) |
| 262 017c 70E0 ldi r23,hi8(41) |
| 263 017e 0E94 0000 call __udivmodhi4 |
| 264 0182 8091 0000 lds r24,cntKompass |
| 265 0186 9091 0000 lds r25,(cntKompass)+1 |
| 266 018a 860F add r24,r22 |
| 267 018c 971F adc r25,r23 |
| 268 018e 9093 0000 sts (cntKompass)+1,r25 |
| 269 0192 8093 0000 sts cntKompass,r24 |
| 270 0196 8091 0000 lds r24,cntKompass |
| 271 019a 9091 0000 lds r25,(cntKompass)+1 |
| 272 019e 0B97 sbiw r24,11 |
| 273 01a0 00F0 brlo .L24 |
| 274 01a2 8091 0000 lds r24,cntKompass |
| 275 01a6 9091 0000 lds r25,(cntKompass)+1 |
| 276 01aa 0A97 sbiw r24,10 |
| 277 01ac 9093 0000 sts (KompassValue)+1,r25 |
| 278 01b0 8093 0000 sts KompassValue,r24 |
| 279 01b4 00C0 rjmp .L23 |
| 280 .L24: |
| 281 01b6 F093 0000 sts (KompassValue)+1,r31 |
| 282 01ba E093 0000 sts KompassValue,r30 |
| 283 .L23: |
| 284 01be 1092 0000 sts (cntKompass)+1,__zero_reg__ |
| 285 01c2 1092 0000 sts cntKompass,__zero_reg__ |
| 286 .L1: |
| 287 /* epilogue: frame size=0 */ |
| 288 01c6 FF91 pop r31 |
| 289 01c8 EF91 pop r30 |
| 290 01ca BF91 pop r27 |
| 291 01cc AF91 pop r26 |
| 292 01ce 9F91 pop r25 |
| 293 01d0 8F91 pop r24 |
| 294 01d2 7F91 pop r23 |
| 295 01d4 6F91 pop r22 |
| 296 01d6 5F91 pop r21 |
| 297 01d8 3F91 pop r19 |
| 298 01da 2F91 pop r18 |
| 299 01dc 0F90 pop __tmp_reg__ |
| 300 01de 0FBE out __SREG__,__tmp_reg__ |
| 301 01e0 0F90 pop __tmp_reg__ |
| 302 01e2 1F90 pop __zero_reg__ |
| 303 01e4 1895 reti |
| 304 /* epilogue end (size=16) */ |
| 305 /* function __vector_18 size 247 (215) */ |
| 307 .global SetDelay |
| 309 SetDelay: |
| 310 /* prologue: frame size=0 */ |
| 311 /* prologue end (size=0) */ |
| 312 01e6 2091 0000 lds r18,CountMilliseconds |
| 313 01ea 3091 0000 lds r19,(CountMilliseconds)+1 |
| 314 01ee 280F add r18,r24 |
| 315 01f0 391F adc r19,r25 |
| 316 01f2 C901 movw r24,r18 |
| 317 01f4 0196 adiw r24,1 |
| 318 /* epilogue: frame size=0 */ |
| 319 01f6 0895 ret |
| 320 /* epilogue end (size=1) */ |
| 321 /* function SetDelay size 9 (8) */ |
| 323 .global CheckDelay |
| 325 CheckDelay: |
| 326 /* prologue: frame size=0 */ |
| 327 /* prologue end (size=0) */ |
| 328 01f8 2091 0000 lds r18,CountMilliseconds |
| 329 01fc 3091 0000 lds r19,(CountMilliseconds)+1 |
| 330 0200 821B sub r24,r18 |
| 331 0202 930B sbc r25,r19 |
| 332 0204 892F mov r24,r25 |
| 333 0206 9927 clr r25 |
| 334 0208 8695 lsr r24 |
| 335 020a 8074 andi r24,lo8(64) |
| 336 020c 9070 andi r25,hi8(64) |
| 337 /* epilogue: frame size=0 */ |
| 338 020e 0895 ret |
| 339 /* epilogue end (size=1) */ |
| 340 /* function CheckDelay size 12 (11) */ |
| 342 .global Delay_ms |
| 344 Delay_ms: |
| 345 /* prologue: frame size=0 */ |
| 346 0210 CF93 push r28 |
| 347 0212 DF93 push r29 |
| 348 /* prologue end (size=2) */ |
| 349 0214 0E94 0000 call SetDelay |
| 350 0218 EC01 movw r28,r24 |
| 351 .L29: |
| 352 021a CE01 movw r24,r28 |
| 353 021c 0E94 0000 call CheckDelay |
| 354 0220 8823 tst r24 |
| 355 0222 01F0 breq .L29 |
| 356 /* epilogue: frame size=0 */ |
| 357 0224 DF91 pop r29 |
| 358 0226 CF91 pop r28 |
| 359 0228 0895 ret |
| 360 /* epilogue end (size=3) */ |
| 361 /* function Delay_ms size 13 (8) */ |
| 363 .global Delay_ms_Mess |
| 365 Delay_ms_Mess: |
| 366 /* prologue: frame size=0 */ |
| 367 022a CF93 push r28 |
| 368 022c DF93 push r29 |
| 369 /* prologue end (size=2) */ |
| 370 022e 0E94 0000 call SetDelay |
| 371 0232 EC01 movw r28,r24 |
| 372 0234 00C0 rjmp .L40 |
| 373 .L36: |
| 374 0236 8091 0000 lds r24,AdReady |
| 375 023a 8823 tst r24 |
| 376 023c 01F0 breq .L40 |
| 377 023e 9093 0000 sts AdReady,r25 |
| 378 0242 8FEC ldi r24,lo8(-49) |
| 379 0244 8093 7A00 sts 122,r24 |
| 380 .L40: |
| 381 0248 CE01 movw r24,r28 |
| 382 024a 0E94 0000 call CheckDelay |
| 383 024e 982F mov r25,r24 |
| 384 0250 8823 tst r24 |
| 385 0252 01F0 breq .L36 |
| 386 /* epilogue: frame size=0 */ |
| 387 0254 DF91 pop r29 |
| 388 0256 CF91 pop r28 |
| 389 0258 0895 ret |
| 390 /* epilogue end (size=3) */ |
| 391 /* function Delay_ms_Mess size 24 (19) */ |
| 393 .global TIMER2_Init |
| 395 TIMER2_Init: |
| 396 /* prologue: frame size=0 */ |
| 397 /* prologue end (size=0) */ |
| 398 025a 9FB7 in r25,95-0x20 |
| 399 /* #APP */ |
| 400 025c F894 cli |
| 401 /* #NOAPP */ |
| 402 025e 5F98 cbi 43-0x20,7 |
| 403 0260 3E9A sbi 39-0x20,6 |
| 404 0262 469A sbi 40-0x20,6 |
| 405 0264 8091 B000 lds r24,176 |
| 406 0268 8F70 andi r24,lo8(15) |
| 407 026a 8093 B000 sts 176,r24 |
| 408 026e 8091 B000 lds r24,176 |
| 409 0272 8360 ori r24,lo8(3) |
| 410 0274 8093 B000 sts 176,r24 |
| 411 0278 8091 B100 lds r24,177 |
| 412 027c 8B73 andi r24,lo8(59) |
| 413 027e 8093 B100 sts 177,r24 |
| 414 0282 8091 B100 lds r24,177 |
| 415 0286 8B60 ori r24,lo8(11) |
| 416 0288 8093 B100 sts 177,r24 |
| 417 028c 1092 B200 sts 178,__zero_reg__ |
| 418 0290 8FEF ldi r24,lo8(-1) |
| 419 0292 8093 B300 sts 179,r24 |
| 420 0296 8091 B000 lds r24,176 |
| 421 029a 8068 ori r24,lo8(-128) |
| 422 029c 8093 B000 sts 176,r24 |
| 423 02a0 8091 7000 lds r24,112 |
| 424 02a4 8A7F andi r24,lo8(-6) |
| 425 02a6 8093 7000 sts 112,r24 |
| 426 02aa 8091 7000 lds r24,112 |
| 427 02ae 8260 ori r24,lo8(2) |
| 428 02b0 8093 7000 sts 112,r24 |
| 429 02b4 9FBF out 95-0x20,r25 |
| 430 /* epilogue: frame size=0 */ |
| 431 02b6 0895 ret |
| 432 /* epilogue end (size=1) */ |
| 433 /* function TIMER2_Init size 48 (47) */ |
| 435 .global Timer_Init |
| 437 Timer_Init: |
| 438 /* prologue: frame size=0 */ |
| 439 /* prologue end (size=0) */ |
| 440 02b8 8AE0 ldi r24,lo8(10) |
| 441 02ba 90E0 ldi r25,hi8(10) |
| 442 02bc 0E94 0000 call SetDelay |
| 443 02c0 9093 0000 sts (tim_main)+1,r25 |
| 444 02c4 8093 0000 sts tim_main,r24 |
| 445 02c8 82E0 ldi r24,lo8(2) |
| 446 02ca 85BD out 69-0x20,r24 |
| 447 02cc 83EA ldi r24,lo8(-93) |
| 448 02ce 84BD out 68-0x20,r24 |
| 449 02d0 17BC out 71-0x20,__zero_reg__ |
| 450 02d2 84EB ldi r24,lo8(-76) |
| 451 02d4 88BD out 72-0x20,r24 |
| 452 02d6 86E0 ldi r24,lo8(6) |
| 453 02d8 86BD out 70-0x20,r24 |
| 454 02da 8091 6E00 lds r24,110 |
| 455 02de 8160 ori r24,lo8(1) |
| 456 02e0 8093 6E00 sts 110,r24 |
| 457 /* epilogue: frame size=0 */ |
| 458 02e4 0895 ret |
| 459 /* epilogue end (size=1) */ |
| 460 /* function Timer_Init size 23 (22) */ |
| 462 .global CalcNickServoValue |
| 464 CalcNickServoValue: |
| 465 /* prologue: frame size=0 */ |
| 466 /* prologue end (size=0) */ |
| 467 02e6 8091 0000 lds r24,EE_Parameter+109 |
| 468 02ea 2091 0000 lds r18,Parameter_ServoNickControl |
| 469 02ee 82FF sbrs r24,2 |
| 470 02f0 00C0 rjmp .L44 |
| 471 02f2 9091 0000 lds r25,EE_Parameter+48 |
| 472 02f6 8CE3 ldi r24,lo8(60) |
| 473 02f8 989F mul r25,r24 |
| 474 02fa B001 movw r22,r0 |
| 475 02fc 1124 clr r1 |
| 476 02fe 9091 0000 lds r25,EE_Parameter+47 |
| 477 0302 80E5 ldi r24,lo8(80) |
| 478 0304 989F mul r25,r24 |
| 479 0306 A001 movw r20,r0 |
| 480 0308 1124 clr r1 |
| 481 030a 922F mov r25,r18 |
| 482 030c 9058 subi r25,lo8(-(-128)) |
| 483 030e 97FD sbrc r25,7 |
| 484 0310 9D5F subi r25,lo8(-(3)) |
| 485 .L45: |
| 486 0312 9595 asr r25 |
| 487 0314 9595 asr r25 |
| 488 0316 86E0 ldi r24,lo8(6) |
| 489 0318 9802 muls r25,r24 |
| 490 031a C001 movw r24,r0 |
| 491 031c 1124 clr r1 |
| 492 031e 2091 0000 lds r18,NickServoValue |
| 493 0322 3091 0000 lds r19,(NickServoValue)+1 |
| 494 0326 281B sub r18,r24 |
| 495 0328 390B sbc r19,r25 |
| 496 032a 3093 0000 sts (NickServoValue)+1,r19 |
| 497 032e 2093 0000 sts NickServoValue,r18 |
| 498 0332 4217 cp r20,r18 |
| 499 0334 5307 cpc r21,r19 |
| 500 0336 04F0 brlt .L46 |
| 501 0338 5093 0000 sts (NickServoValue)+1,r21 |
| 502 033c 4093 0000 sts NickServoValue,r20 |
| 503 0340 0895 ret |
| 504 .L46: |
| 505 0342 2617 cp r18,r22 |
| 506 0344 3707 cpc r19,r23 |
| 507 0346 04F0 brlt .L43 |
| 508 0348 7093 0000 sts (NickServoValue)+1,r23 |
| 509 034c 6093 0000 sts NickServoValue,r22 |
| 510 0350 0895 ret |
| 511 .L44: |
| 512 0352 822F mov r24,r18 |
| 513 0354 9927 clr r25 |
| 514 0356 36E0 ldi r19,6 |
| 515 0358 880F 1: lsl r24 |
| 516 035a 991F rol r25 |
| 517 035c 3A95 dec r19 |
| 518 035e 01F4 brne 1b |
| 519 0360 9093 0000 sts (NickServoValue)+1,r25 |
| 520 0364 8093 0000 sts NickServoValue,r24 |
| 521 .L43: |
| 522 0368 0895 ret |
| 523 /* epilogue: frame size=0 */ |
| 524 /* epilogue: noreturn */ |
| 525 /* epilogue end (size=0) */ |
| 526 /* function CalcNickServoValue size 67 (67) */ |
| 528 .global CalculateServo |
| 530 CalculateServo: |
| 531 /* prologue: frame size=0 */ |
| 532 036a A0E0 ldi r26,lo8(0) |
| 533 036c B0E0 ldi r27,hi8(0) |
| 534 036e E0E0 ldi r30,pm_lo8(1f) |
| 535 0370 F0E0 ldi r31,pm_hi8(1f) |
| 536 0372 0C94 0000 jmp __prologue_saves__+22 |
| 537 1: |
| 538 /* prologue end (size=6) */ |
| 539 0376 8091 0000 lds r24,EE_Parameter+55 |
| 540 037a E82F mov r30,r24 |
| 541 037c FF27 clr r31 |
| 542 037e E050 subi r30,lo8(-(sintab)) |
| 543 0380 F040 sbci r31,hi8(-(sintab)) |
| 544 0382 9681 ldd r25,Z+6 |
| 545 0384 D080 ld r13,Z |
| 546 0386 8091 0000 lds r24,CalculateServoSignals |
| 547 038a A92F mov r26,r25 |
| 548 038c BB27 clr r27 |
| 549 038e A7FD sbrc r26,7 |
| 550 0390 B095 com r27 |
| 551 0392 CB2F mov r28,r27 |
| 552 0394 DB2F mov r29,r27 |
| 553 0396 8130 cpi r24,lo8(1) |
| 554 0398 01F0 breq .+2 |
| 555 039a 00C0 rjmp .L51 |
| 556 039c 2091 0000 lds r18,IntegralNick |
| 557 03a0 3091 0000 lds r19,(IntegralNick)+1 |
| 558 03a4 4091 0000 lds r20,(IntegralNick)+2 |
| 559 03a8 5091 0000 lds r21,(IntegralNick)+3 |
| 560 03ac BD01 movw r22,r26 |
| 561 03ae CE01 movw r24,r28 |
| 562 03b0 0E94 0000 call __mulsi3 |
| 563 03b4 97FF sbrs r25,7 |
| 564 03b6 00C0 rjmp .L52 |
| 565 03b8 6158 subi r22,lo8(-(127)) |
| 566 03ba 7F4F sbci r23,hi8(-(127)) |
| 567 03bc 8F4F sbci r24,hlo8(-(127)) |
| 568 03be 9F4F sbci r25,hhi8(-(127)) |
| 569 .L52: |
| 570 03c0 7B01 movw r14,r22 |
| 571 03c2 8C01 movw r16,r24 |
| 572 03c4 C7E0 ldi r28,7 |
| 573 03c6 1595 1: asr r17 |
| 574 03c8 0795 ror r16 |
| 575 03ca F794 ror r15 |
| 576 03cc E794 ror r14 |
| 577 03ce CA95 dec r28 |
| 578 03d0 01F4 brne 1b |
| 579 03d2 8D2D mov r24,r13 |
| 580 03d4 9927 clr r25 |
| 581 03d6 87FD sbrc r24,7 |
| 582 03d8 9095 com r25 |
| 583 03da A92F mov r26,r25 |
| 584 03dc B92F mov r27,r25 |
| 585 03de 2091 0000 lds r18,IntegralRoll |
| 586 03e2 3091 0000 lds r19,(IntegralRoll)+1 |
| 587 03e6 4091 0000 lds r20,(IntegralRoll)+2 |
| 588 03ea 5091 0000 lds r21,(IntegralRoll)+3 |
| 589 03ee BC01 movw r22,r24 |
| 590 03f0 CD01 movw r24,r26 |
| 591 03f2 0E94 0000 call __mulsi3 |
| 592 03f6 97FF sbrs r25,7 |
| 593 03f8 00C0 rjmp .L53 |
| 594 03fa 6158 subi r22,lo8(-(127)) |
| 595 03fc 7F4F sbci r23,hi8(-(127)) |
| 596 03fe 8F4F sbci r24,hlo8(-(127)) |
| 597 0400 9F4F sbci r25,hhi8(-(127)) |
| 598 .L53: |
| 599 0402 B7E0 ldi r27,7 |
| 600 0404 9595 1: asr r25 |
| 601 0406 8795 ror r24 |
| 602 0408 7795 ror r23 |
| 603 040a 6795 ror r22 |
| 604 040c BA95 dec r27 |
| 605 040e 01F4 brne 1b |
| 606 0410 F801 movw r30,r16 |
| 607 0412 E701 movw r28,r14 |
| 608 0414 C61B sub r28,r22 |
| 609 0416 D70B sbc r29,r23 |
| 610 0418 E80B sbc r30,r24 |
| 611 041a F90B sbc r31,r25 |
| 612 041c 2091 0000 lds r18,POI_KameraNick |
| 613 0420 3091 0000 lds r19,(POI_KameraNick)+1 |
| 614 0424 C901 movw r24,r18 |
| 615 0426 A3E0 ldi r26,3 |
| 616 0428 880F 1: lsl r24 |
| 617 042a 991F rol r25 |
| 618 042c AA95 dec r26 |
| 619 042e 01F4 brne 1b |
| 620 0430 821B sub r24,r18 |
| 621 0432 930B sbc r25,r19 |
| 622 0434 AA27 clr r26 |
| 623 0436 97FD sbrc r25,7 |
| 624 0438 A095 com r26 |
| 625 043a BA2F mov r27,r26 |
| 626 043c C81B sub r28,r24 |
| 627 043e D90B sbc r29,r25 |
| 628 0440 EA0B sbc r30,r26 |
| 629 0442 FB0B sbc r31,r27 |
| 630 0444 8091 0000 lds r24,EE_Parameter+46 |
| 631 0448 9927 clr r25 |
| 632 044a AA27 clr r26 |
| 633 044c BB27 clr r27 |
| 634 044e BC01 movw r22,r24 |
| 635 0450 CD01 movw r24,r26 |
| 636 0452 9E01 movw r18,r28 |
| 637 0454 AF01 movw r20,r30 |
| 638 0456 0E94 0000 call __mulsi3 |
| 639 045a 97FF sbrs r25,7 |
| 640 045c 00C0 rjmp .L54 |
| 641 045e 6150 subi r22,lo8(-(511)) |
| 642 0460 7E4F sbci r23,hi8(-(511)) |
| 643 0462 8F4F sbci r24,hlo8(-(511)) |
| 644 0464 9F4F sbci r25,hhi8(-(511)) |
| 645 .L54: |
| 646 0466 FC01 movw r30,r24 |
| 647 0468 EB01 movw r28,r22 |
| 648 046a 79E0 ldi r23,9 |
| 649 046c F595 1: asr r31 |
| 650 046e E795 ror r30 |
| 651 0470 D795 ror r29 |
| 652 0472 C795 ror r28 |
| 653 0474 7A95 dec r23 |
| 654 0476 01F4 brne 1b |
| 655 0478 1091 0000 lds r17,EE_Parameter+109 |
| 656 047c 6091 0000 lds r22,NickServoValue |
| 657 0480 7091 0000 lds r23,(NickServoValue)+1 |
| 658 0484 12FF sbrs r17,2 |
| 659 0486 00C0 rjmp .L55 |
| 660 0488 7093 0000 sts (ServoNickOffset)+1,r23 |
| 661 048c 6093 0000 sts ServoNickOffset,r22 |
| 662 0490 00C0 rjmp .L56 |
| 663 .L55: |
| 664 0492 4091 0000 lds r20,ServoNickOffset |
| 665 0496 5091 0000 lds r21,(ServoNickOffset)+1 |
| 666 049a 8091 0000 lds r24,EE_Parameter+54 |
| 667 049e 282F mov r18,r24 |
| 668 04a0 3327 clr r19 |
| 669 04a2 CB01 movw r24,r22 |
| 670 04a4 841B sub r24,r20 |
| 671 04a6 950B sbc r25,r21 |
| 672 04a8 B901 movw r22,r18 |
| 673 04aa 0E94 0000 call __divmodhi4 |
| 674 04ae 8091 0000 lds r24,ServoNickOffset |
| 675 04b2 9091 0000 lds r25,(ServoNickOffset)+1 |
| 676 04b6 860F add r24,r22 |
| 677 04b8 971F adc r25,r23 |
| 678 04ba 9093 0000 sts (ServoNickOffset)+1,r25 |
| 679 04be 8093 0000 sts ServoNickOffset,r24 |
| 680 .L56: |
| 681 04c2 10FF sbrs r17,0 |
| 682 04c4 00C0 rjmp .L57 |
| 683 04c6 8091 0000 lds r24,ServoNickOffset |
| 684 04ca 9091 0000 lds r25,(ServoNickOffset)+1 |
| 685 04ce 97FD sbrc r25,7 |
| 686 04d0 0F96 adiw r24,15 |
| 687 .L58: |
| 688 04d2 64E0 ldi r22,4 |
| 689 04d4 9595 1: asr r25 |
| 690 04d6 8795 ror r24 |
| 691 04d8 6A95 dec r22 |
| 692 04da 01F4 brne 1b |
| 693 04dc AA27 clr r26 |
| 694 04de 97FD sbrc r25,7 |
| 695 04e0 A095 com r26 |
| 696 04e2 BA2F mov r27,r26 |
| 697 04e4 C80F add r28,r24 |
| 698 04e6 D91F adc r29,r25 |
| 699 04e8 EA1F adc r30,r26 |
| 700 04ea FB1F adc r31,r27 |
| 701 04ec 00C0 rjmp .L59 |
| 702 .L57: |
| 703 04ee 8091 0000 lds r24,ServoNickOffset |
| 704 04f2 9091 0000 lds r25,(ServoNickOffset)+1 |
| 705 04f6 97FD sbrc r25,7 |
| 706 04f8 0F96 adiw r24,15 |
| 707 .L60: |
| 708 04fa 54E0 ldi r21,4 |
| 709 04fc 9595 1: asr r25 |
| 710 04fe 8795 ror r24 |
| 711 0500 5A95 dec r21 |
| 712 0502 01F4 brne 1b |
| 713 0504 AA27 clr r26 |
| 714 0506 97FD sbrc r25,7 |
| 715 0508 A095 com r26 |
| 716 050a BA2F mov r27,r26 |
| 717 050c 8C1B sub r24,r28 |
| 718 050e 9D0B sbc r25,r29 |
| 719 0510 AE0B sbc r26,r30 |
| 720 0512 BF0B sbc r27,r31 |
| 721 0514 FD01 movw r30,r26 |
| 722 0516 EC01 movw r28,r24 |
| 723 .L59: |
| 724 0518 2091 0000 lds r18,EE_Parameter+106 |
| 725 051c 2223 tst r18 |
| 726 051e 01F0 breq .L61 |
| 727 0520 3327 clr r19 |
| 728 0522 8091 0000 lds r24,ServoNickValue |
| 729 0526 9091 0000 lds r25,(ServoNickValue)+1 |
| 730 052a 829F mul r24,r18 |
| 731 052c A001 movw r20,r0 |
| 732 052e 839F mul r24,r19 |
| 733 0530 500D add r21,r0 |
| 734 0532 929F mul r25,r18 |
| 735 0534 500D add r21,r0 |
| 736 0536 1124 clr r1 |
| 737 0538 CA01 movw r24,r20 |
| 738 053a AA27 clr r26 |
| 739 053c 97FD sbrc r25,7 |
| 740 053e A095 com r26 |
| 741 0540 BA2F mov r27,r26 |
| 742 0542 8C0F add r24,r28 |
| 743 0544 9D1F adc r25,r29 |
| 744 0546 AE1F adc r26,r30 |
| 745 0548 BF1F adc r27,r31 |
| 746 054a 2F5F subi r18,lo8(-(1)) |
| 747 054c 3F4F sbci r19,hi8(-(1)) |
| 748 054e 4427 clr r20 |
| 749 0550 37FD sbrc r19,7 |
| 750 0552 4095 com r20 |
| 751 0554 542F mov r21,r20 |
| 752 0556 BC01 movw r22,r24 |
| 753 0558 CD01 movw r24,r26 |
| 754 055a 0E94 0000 call __divmodsi4 |
| 755 055e 3093 0000 sts (ServoNickValue)+1,r19 |
| 756 0562 2093 0000 sts ServoNickValue,r18 |
| 757 0566 00C0 rjmp .L62 |
| 758 .L61: |
| 759 0568 D093 0000 sts (ServoNickValue)+1,r29 |
| 760 056c C093 0000 sts ServoNickValue,r28 |
| 761 .L62: |
| 762 0570 8091 0000 lds r24,EE_Parameter+47 |
| 763 0574 282F mov r18,r24 |
| 764 0576 3327 clr r19 |
| 765 0578 220F lsl r18 |
| 766 057a 331F rol r19 |
| 767 057c 220F lsl r18 |
| 768 057e 331F rol r19 |
| 769 0580 8091 0000 lds r24,ServoNickValue |
| 770 0584 9091 0000 lds r25,(ServoNickValue)+1 |
| 771 0588 8217 cp r24,r18 |
| 772 058a 9307 cpc r25,r19 |
| 773 058c 04F0 brlt .L81 |
| 774 058e 8091 0000 lds r24,EE_Parameter+48 |
| 775 0592 282F mov r18,r24 |
| 776 0594 3327 clr r19 |
| 777 0596 220F lsl r18 |
| 778 0598 331F rol r19 |
| 779 059a 220F lsl r18 |
| 780 059c 331F rol r19 |
| 781 059e 8091 0000 lds r24,ServoNickValue |
| 782 05a2 9091 0000 lds r25,(ServoNickValue)+1 |
| 783 05a6 2817 cp r18,r24 |
| 784 05a8 3907 cpc r19,r25 |
| 785 05aa 04F4 brge .L64 |
| 786 .L81: |
| 787 05ac 3093 0000 sts (ServoNickValue)+1,r19 |
| 788 05b0 2093 0000 sts ServoNickValue,r18 |
| 789 .L64: |
| 790 05b4 8091 0000 lds r24,PlatinenVersion |
| 791 05b8 8431 cpi r24,lo8(20) |
| 792 05ba 00F4 brsh .+2 |
| 793 05bc 00C0 rjmp .L79 |
| 794 05be 8091 0000 lds r24,CalculateServoSignals |
| 795 05c2 8F5F subi r24,lo8(-(1)) |
| 796 05c4 8093 0000 sts CalculateServoSignals,r24 |
| 797 05c8 00C0 rjmp .L50 |
| 798 .L51: |
| 799 05ca 2091 0000 lds r18,IntegralRoll |
| 800 05ce 3091 0000 lds r19,(IntegralRoll)+1 |
| 801 05d2 4091 0000 lds r20,(IntegralRoll)+2 |
| 802 05d6 5091 0000 lds r21,(IntegralRoll)+3 |
| 803 05da BD01 movw r22,r26 |
| 804 05dc CE01 movw r24,r28 |
| 805 05de 0E94 0000 call __mulsi3 |
| 806 05e2 97FF sbrs r25,7 |
| 807 05e4 00C0 rjmp .L69 |
| 808 05e6 6158 subi r22,lo8(-(127)) |
| 809 05e8 7F4F sbci r23,hi8(-(127)) |
| 810 05ea 8F4F sbci r24,hlo8(-(127)) |
| 811 05ec 9F4F sbci r25,hhi8(-(127)) |
| 812 .L69: |
| 813 05ee 7B01 movw r14,r22 |
| 814 05f0 8C01 movw r16,r24 |
| 815 05f2 87E0 ldi r24,7 |
| 816 05f4 1595 1: asr r17 |
| 817 05f6 0795 ror r16 |
| 818 05f8 F794 ror r15 |
| 819 05fa E794 ror r14 |
| 820 05fc 8A95 dec r24 |
| 821 05fe 01F4 brne 1b |
| 822 0600 8D2D mov r24,r13 |
| 823 0602 9927 clr r25 |
| 824 0604 87FD sbrc r24,7 |
| 825 0606 9095 com r25 |
| 826 0608 A92F mov r26,r25 |
| 827 060a B92F mov r27,r25 |
| 828 060c 2091 0000 lds r18,IntegralNick |
| 829 0610 3091 0000 lds r19,(IntegralNick)+1 |
| 830 0614 4091 0000 lds r20,(IntegralNick)+2 |
| 831 0618 5091 0000 lds r21,(IntegralNick)+3 |
| 832 061c BC01 movw r22,r24 |
| 833 061e CD01 movw r24,r26 |
| 834 0620 0E94 0000 call __mulsi3 |
| 835 0624 9B01 movw r18,r22 |
| 836 0626 AC01 movw r20,r24 |
| 837 0628 97FF sbrs r25,7 |
| 838 062a 00C0 rjmp .L70 |
| 839 062c 2158 subi r18,lo8(-(127)) |
| 840 062e 3F4F sbci r19,hi8(-(127)) |
| 841 0630 4F4F sbci r20,hlo8(-(127)) |
| 842 0632 5F4F sbci r21,hhi8(-(127)) |
| 843 .L70: |
| 844 0634 C7E0 ldi r28,7 |
| 845 0636 5595 1: asr r21 |
| 846 0638 4795 ror r20 |
| 847 063a 3795 ror r19 |
| 848 063c 2795 ror r18 |
| 849 063e CA95 dec r28 |
| 850 0640 01F4 brne 1b |
| 851 0642 2E0D add r18,r14 |
| 852 0644 3F1D adc r19,r15 |
| 853 0646 401F adc r20,r16 |
| 854 0648 511F adc r21,r17 |
| 855 064a 8091 0000 lds r24,EE_Parameter+50 |
| 856 064e 9927 clr r25 |
| 857 0650 AA27 clr r26 |
| 858 0652 BB27 clr r27 |
| 859 0654 BC01 movw r22,r24 |
| 860 0656 CD01 movw r24,r26 |
| 861 0658 0E94 0000 call __mulsi3 |
| 862 065c 97FF sbrs r25,7 |
| 863 065e 00C0 rjmp .L71 |
| 864 0660 6150 subi r22,lo8(-(511)) |
| 865 0662 7E4F sbci r23,hi8(-(511)) |
| 866 0664 8F4F sbci r24,hlo8(-(511)) |
| 867 0666 9F4F sbci r25,hhi8(-(511)) |
| 868 .L71: |
| 869 0668 FC01 movw r30,r24 |
| 870 066a EB01 movw r28,r22 |
| 871 066c B9E0 ldi r27,9 |
| 872 066e F595 1: asr r31 |
| 873 0670 E795 ror r30 |
| 874 0672 D795 ror r29 |
| 875 0674 C795 ror r28 |
| 876 0676 BA95 dec r27 |
| 877 0678 01F4 brne 1b |
| 878 067a 8091 0000 lds r24,Parameter_ServoRollControl |
| 879 067e 9927 clr r25 |
| 880 0680 A6E0 ldi r26,6 |
| 881 0682 880F 1: lsl r24 |
| 882 0684 991F rol r25 |
| 883 0686 AA95 dec r26 |
| 884 0688 01F4 brne 1b |
| 885 068a 4091 0000 lds r20,ServoRollOffset |
| 886 068e 5091 0000 lds r21,(ServoRollOffset)+1 |
| 887 0692 2091 0000 lds r18,EE_Parameter+54 |
| 888 0696 3327 clr r19 |
| 889 0698 841B sub r24,r20 |
| 890 069a 950B sbc r25,r21 |
| 891 069c B901 movw r22,r18 |
| 892 069e 0E94 0000 call __divmodhi4 |
| 893 06a2 8091 0000 lds r24,ServoRollOffset |
| 894 06a6 9091 0000 lds r25,(ServoRollOffset)+1 |
| 895 06aa 860F add r24,r22 |
| 896 06ac 971F adc r25,r23 |
| 897 06ae 9093 0000 sts (ServoRollOffset)+1,r25 |
| 898 06b2 8093 0000 sts ServoRollOffset,r24 |
| 899 06b6 8091 0000 lds r24,EE_Parameter+109 |
| 900 06ba 81FF sbrs r24,1 |
| 901 06bc 00C0 rjmp .L72 |
| 902 06be 8091 0000 lds r24,ServoRollOffset |
| 903 06c2 9091 0000 lds r25,(ServoRollOffset)+1 |
| 904 06c6 97FD sbrc r25,7 |
| 905 06c8 0F96 adiw r24,15 |
| 906 .L73: |
| 907 06ca 74E0 ldi r23,4 |
| 908 06cc 9595 1: asr r25 |
| 909 06ce 8795 ror r24 |
| 910 06d0 7A95 dec r23 |
| 911 06d2 01F4 brne 1b |
| 912 06d4 AA27 clr r26 |
| 913 06d6 97FD sbrc r25,7 |
| 914 06d8 A095 com r26 |
| 915 06da BA2F mov r27,r26 |
| 916 06dc C80F add r28,r24 |
| 917 06de D91F adc r29,r25 |
| 918 06e0 EA1F adc r30,r26 |
| 919 06e2 FB1F adc r31,r27 |
| 920 06e4 00C0 rjmp .L74 |
| 921 .L72: |
| 922 06e6 8091 0000 lds r24,ServoRollOffset |
| 923 06ea 9091 0000 lds r25,(ServoRollOffset)+1 |
| 924 06ee 97FD sbrc r25,7 |
| 925 06f0 0F96 adiw r24,15 |
| 926 .L75: |
| 927 06f2 64E0 ldi r22,4 |
| 928 06f4 9595 1: asr r25 |
| 929 06f6 8795 ror r24 |
| 930 06f8 6A95 dec r22 |
| 931 06fa 01F4 brne 1b |
| 932 06fc AA27 clr r26 |
| 933 06fe 97FD sbrc r25,7 |
| 934 0700 A095 com r26 |
| 935 0702 BA2F mov r27,r26 |
| 936 0704 8C1B sub r24,r28 |
| 937 0706 9D0B sbc r25,r29 |
| 938 0708 AE0B sbc r26,r30 |
| 939 070a BF0B sbc r27,r31 |
| 940 070c FD01 movw r30,r26 |
| 941 070e EC01 movw r28,r24 |
| 942 .L74: |
| 943 0710 2091 0000 lds r18,EE_Parameter+107 |
| 944 0714 2223 tst r18 |
| 945 0716 01F0 breq .L76 |
| 946 0718 3327 clr r19 |
| 947 071a 8091 0000 lds r24,ServoRollValue |
| 948 071e 9091 0000 lds r25,(ServoRollValue)+1 |
| 949 0722 829F mul r24,r18 |
| 950 0724 A001 movw r20,r0 |
| 951 0726 839F mul r24,r19 |
| 952 0728 500D add r21,r0 |
| 953 072a 929F mul r25,r18 |
| 954 072c 500D add r21,r0 |
| 955 072e 1124 clr r1 |
| 956 0730 CA01 movw r24,r20 |
| 957 0732 AA27 clr r26 |
| 958 0734 97FD sbrc r25,7 |
| 959 0736 A095 com r26 |
| 960 0738 BA2F mov r27,r26 |
| 961 073a 8C0F add r24,r28 |
| 962 073c 9D1F adc r25,r29 |
| 963 073e AE1F adc r26,r30 |
| 964 0740 BF1F adc r27,r31 |
| 965 0742 2F5F subi r18,lo8(-(1)) |
| 966 0744 3F4F sbci r19,hi8(-(1)) |
| 967 0746 4427 clr r20 |
| 968 0748 37FD sbrc r19,7 |
| 969 074a 4095 com r20 |
| 970 074c 542F mov r21,r20 |
| 971 074e BC01 movw r22,r24 |
| 972 0750 CD01 movw r24,r26 |
| 973 0752 0E94 0000 call __divmodsi4 |
| 974 0756 3093 0000 sts (ServoRollValue)+1,r19 |
| 975 075a 2093 0000 sts ServoRollValue,r18 |
| 976 075e 00C0 rjmp .L77 |
| 977 .L76: |
| 978 0760 D093 0000 sts (ServoRollValue)+1,r29 |
| 979 0764 C093 0000 sts ServoRollValue,r28 |
| 980 .L77: |
| 981 0768 8091 0000 lds r24,EE_Parameter+51 |
| 982 076c 282F mov r18,r24 |
| 983 076e 3327 clr r19 |
| 984 0770 220F lsl r18 |
| 985 0772 331F rol r19 |
| 986 0774 220F lsl r18 |
| 987 0776 331F rol r19 |
| 988 0778 8091 0000 lds r24,ServoRollValue |
| 989 077c 9091 0000 lds r25,(ServoRollValue)+1 |
| 990 0780 8217 cp r24,r18 |
| 991 0782 9307 cpc r25,r19 |
| 992 0784 04F0 brlt .L82 |
| 993 0786 8091 0000 lds r24,EE_Parameter+52 |
| 994 078a 282F mov r18,r24 |
| 995 078c 3327 clr r19 |
| 996 078e 220F lsl r18 |
| 997 0790 331F rol r19 |
| 998 0792 220F lsl r18 |
| 999 0794 331F rol r19 |
| 1000 0796 8091 0000 lds r24,ServoRollValue |
| 1001 079a 9091 0000 lds r25,(ServoRollValue)+1 |
| 1002 079e 2817 cp r18,r24 |
| 1003 07a0 3907 cpc r19,r25 |
| 1004 07a2 04F4 brge .L79 |
| 1005 .L82: |
| 1006 07a4 3093 0000 sts (ServoRollValue)+1,r19 |
| 1007 07a8 2093 0000 sts ServoRollValue,r18 |
| 1008 .L79: |
| 1009 07ac 1092 0000 sts CalculateServoSignals,__zero_reg__ |
| 1010 .L50: |
| 1011 /* epilogue: frame size=0 */ |
| 1012 07b0 E7E0 ldi r30,7 |
| 1013 07b2 CDB7 in r28,__SP_L__ |
| 1014 07b4 DEB7 in r29,__SP_H__ |
| 1015 07b6 0C94 0000 jmp __epilogue_restores__+22 |
| 1016 /* epilogue end (size=5) */ |
| 1017 /* function CalculateServo size 556 (545) */ |
| 1019 .lcomm PulseOutput.0,1 |
| 1020 .lcomm ServoFrameTime.1,2 |
| 1021 .lcomm ServoIndex.2,1 |
| 1022 .global __vector_9 |
| 1024 __vector_9: |
| 1025 /* prologue: frame size=0 */ |
| 1026 07ba 1F92 push __zero_reg__ |
| 1027 07bc 0F92 push __tmp_reg__ |
| 1028 07be 0FB6 in __tmp_reg__,__SREG__ |
| 1029 07c0 0F92 push __tmp_reg__ |
| 1030 07c2 1124 clr __zero_reg__ |
| 1031 07c4 2F93 push r18 |
| 1032 07c6 3F93 push r19 |
| 1033 07c8 4F93 push r20 |
| 1034 07ca 5F93 push r21 |
| 1035 07cc 8F93 push r24 |
| 1036 07ce 9F93 push r25 |
| 1037 07d0 EF93 push r30 |
| 1038 07d2 FF93 push r31 |
| 1039 /* prologue end (size=13) */ |
| 1040 07d4 8091 0000 lds r24,PlatinenVersion |
| 1041 07d8 9091 0000 lds r25,PulseOutput.0 |
| 1042 07dc 8431 cpi r24,lo8(20) |
| 1043 07de 00F0 brlo .+2 |
| 1044 07e0 00C0 rjmp .L84 |
| 1045 07e2 9923 tst r25 |
| 1046 07e4 01F0 breq .+2 |
| 1047 07e6 00C0 rjmp .L91 |
| 1048 07e8 8091 B000 lds r24,176 |
| 1049 07ec 86FF sbrs r24,6 |
| 1050 07ee 00C0 rjmp .L86 |
| 1051 07f0 8091 B000 lds r24,176 |
| 1052 07f4 8F7B andi r24,lo8(-65) |
| 1053 07f6 8093 B000 sts 176,r24 |
| 1054 07fa 8091 0000 lds r24,ServoNickValue |
| 1055 07fe 9091 0000 lds r25,(ServoNickValue)+1 |
| 1056 0802 8755 subi r24,lo8(-(425)) |
| 1057 0804 9E4F sbci r25,hi8(-(425)) |
| 1058 0806 9093 0000 sts (RemainingPulse)+1,r25 |
| 1059 080a 8093 0000 sts RemainingPulse,r24 |
| 1060 080e 25E0 ldi r18,hi8(1501) |
| 1061 0810 8D3D cpi r24,lo8(1501) |
| 1062 0812 9207 cpc r25,r18 |
| 1063 0814 00F0 brlo .L87 |
| 1064 0816 8CED ldi r24,lo8(1500) |
| 1065 0818 95E0 ldi r25,hi8(1500) |
| 1066 081a 00C0 rjmp .L121 |
| 1067 .L87: |
| 1068 081c 8757 subi r24,lo8(375) |
| 1069 081e 9140 sbci r25,hi8(375) |
| 1070 0820 00F4 brsh .L88 |
| 1071 0822 87E7 ldi r24,lo8(375) |
| 1072 0824 91E0 ldi r25,hi8(375) |
| 1073 .L121: |
| 1074 0826 9093 0000 sts (RemainingPulse)+1,r25 |
| 1075 082a 8093 0000 sts RemainingPulse,r24 |
| 1076 .L88: |
| 1077 082e 8091 0000 lds r24,RemainingPulse |
| 1078 0832 9091 0000 lds r25,(RemainingPulse)+1 |
| 1079 0836 00C0 rjmp .L126 |
| 1080 .L86: |
| 1081 0838 8091 B000 lds r24,176 |
| 1082 083c 8064 ori r24,lo8(64) |
| 1083 083e 8093 B000 sts 176,r24 |
| 1084 0842 8091 0000 lds r24,EE_Parameter+53 |
| 1085 0846 282F mov r18,r24 |
| 1086 0848 3327 clr r19 |
| 1087 084a 8DED ldi r24,lo8(1757) |
| 1088 084c 96E0 ldi r25,hi8(1757) |
| 1089 084e 289F mul r18,r24 |
| 1090 0850 A001 movw r20,r0 |
| 1091 0852 299F mul r18,r25 |
| 1092 0854 500D add r21,r0 |
| 1093 0856 389F mul r19,r24 |
| 1094 0858 500D add r21,r0 |
| 1095 085a 1124 clr r1 |
| 1096 085c CA01 movw r24,r20 |
| 1097 085e 2091 0000 lds r18,ServoFrameTime.1 |
| 1098 0862 3091 0000 lds r19,(ServoFrameTime.1)+1 |
| 1099 0866 821B sub r24,r18 |
| 1100 0868 930B sbc r25,r19 |
| 1101 086a 9093 0000 sts (RemainingPulse)+1,r25 |
| 1102 086e 8093 0000 sts RemainingPulse,r24 |
| 1103 0872 81E0 ldi r24,lo8(1) |
| 1104 0874 8093 0000 sts CalculateServoSignals,r24 |
| 1105 0878 00C0 rjmp .L109 |
| 1106 .L84: |
| 1107 087a 9923 tst r25 |
| 1108 087c 01F0 breq .+2 |
| 1109 087e 00C0 rjmp .L91 |
| 1110 0880 8091 B000 lds r24,176 |
| 1111 0884 86FF sbrs r24,6 |
| 1112 0886 00C0 rjmp .L93 |
| 1113 0888 8091 B000 lds r24,176 |
| 1114 088c 8F7B andi r24,lo8(-65) |
| 1115 088e 8093 B000 sts 176,r24 |
| 1116 0892 E091 0000 lds r30,ServoIndex.2 |
| 1117 0896 2091 0000 lds r18,EE_Parameter+53 |
| 1118 089a EE23 tst r30 |
| 1119 089c 01F4 brne .L94 |
| 1120 089e 3327 clr r19 |
| 1121 08a0 8DED ldi r24,lo8(1757) |
| 1122 08a2 96E0 ldi r25,hi8(1757) |
| 1123 08a4 289F mul r18,r24 |
| 1124 08a6 A001 movw r20,r0 |
| 1125 08a8 299F mul r18,r25 |
| 1126 08aa 500D add r21,r0 |
| 1127 08ac 389F mul r19,r24 |
| 1128 08ae 500D add r21,r0 |
| 1129 08b0 1124 clr r1 |
| 1130 08b2 CA01 movw r24,r20 |
| 1131 08b4 2091 0000 lds r18,ServoFrameTime.1 |
| 1132 08b8 3091 0000 lds r19,(ServoFrameTime.1)+1 |
| 1133 08bc 821B sub r24,r18 |
| 1134 08be 930B sbc r25,r19 |
| 1135 08c0 9093 0000 sts (RemainingPulse)+1,r25 |
| 1136 08c4 8093 0000 sts RemainingPulse,r24 |
| 1137 08c8 1092 0000 sts (ServoFrameTime.1)+1,__zero_reg__ |
| 1138 08cc 1092 0000 sts ServoFrameTime.1,__zero_reg__ |
| 1139 08d0 469A sbi 40-0x20,6 |
| 1140 08d2 00C0 rjmp .L109 |
| 1141 .L94: |
| 1142 08d4 2E17 cp r18,r30 |
| 1143 08d6 00F4 brsh .L96 |
| 1144 08d8 8AE0 ldi r24,lo8(10) |
| 1145 08da 90E0 ldi r25,hi8(10) |
| 1146 08dc 9093 0000 sts (RemainingPulse)+1,r25 |
| 1147 08e0 8093 0000 sts RemainingPulse,r24 |
| 1148 08e4 00C0 rjmp .L109 |
| 1149 .L96: |
| 1150 08e6 89EA ldi r24,lo8(937) |
| 1151 08e8 93E0 ldi r25,hi8(937) |
| 1152 08ea 9093 0000 sts (RemainingPulse)+1,r25 |
| 1153 08ee 8093 0000 sts RemainingPulse,r24 |
| 1154 08f2 8E2F mov r24,r30 |
| 1155 08f4 9927 clr r25 |
| 1156 08f6 8330 cpi r24,3 |
| 1157 08f8 9105 cpc r25,__zero_reg__ |
| 1158 08fa 01F0 breq .L101 |
| 1159 08fc 8430 cpi r24,4 |
| 1160 08fe 9105 cpc r25,__zero_reg__ |
| 1161 0900 04F4 brge .L105 |
| 1162 0902 8130 cpi r24,1 |
| 1163 0904 9105 cpc r25,__zero_reg__ |
| 1164 0906 01F0 breq .L99 |
| 1165 0908 0297 sbiw r24,2 |
| 1166 090a 01F0 breq .L100 |
| 1167 090c 00C0 rjmp .L104 |
| 1168 .L105: |
| 1169 090e 8430 cpi r24,4 |
| 1170 0910 9105 cpc r25,__zero_reg__ |
| 1171 0912 01F0 breq .L102 |
| 1172 0914 0597 sbiw r24,5 |
| 1173 0916 01F0 breq .L103 |
| 1174 0918 00C0 rjmp .L104 |
| 1175 .L99: |
| 1176 091a 8091 0000 lds r24,ServoNickValue |
| 1177 091e 9091 0000 lds r25,(ServoNickValue)+1 |
| 1178 0922 00C0 rjmp .L125 |
| 1179 .L100: |
| 1180 0924 8091 0000 lds r24,ServoRollValue |
| 1181 0928 9091 0000 lds r25,(ServoRollValue)+1 |
| 1182 .L125: |
| 1183 092c 8755 subi r24,lo8(-(425)) |
| 1184 092e 9E4F sbci r25,hi8(-(425)) |
| 1185 0930 00C0 rjmp .L122 |
| 1186 .L101: |
| 1187 0932 8091 0000 lds r24,Parameter_Servo3 |
| 1188 0936 00C0 rjmp .L127 |
| 1189 .L102: |
| 1190 0938 8091 0000 lds r24,Parameter_Servo4 |
| 1191 093c 00C0 rjmp .L127 |
| 1192 .L103: |
| 1193 093e 8091 0000 lds r24,Parameter_Servo5 |
| 1194 .L127: |
| 1195 0942 9927 clr r25 |
| 1196 0944 880F lsl r24 |
| 1197 0946 991F rol r25 |
| 1198 0948 880F lsl r24 |
| 1199 094a 991F rol r25 |
| 1200 094c 00C0 rjmp .L125 |
| 1201 .L104: |
| 1202 094e FF27 clr r31 |
| 1203 0950 EE0F add r30,r30 |
| 1204 0952 FF1F adc r31,r31 |
| 1205 0954 E050 subi r30,lo8(-(PPM_in)) |
| 1206 0956 F040 sbci r31,hi8(-(PPM_in)) |
| 1207 0958 2081 ld r18,Z |
| 1208 095a 3181 ldd r19,Z+1 |
| 1209 095c 220F add r18,r18 |
| 1210 095e 331F adc r19,r19 |
| 1211 0960 8091 0000 lds r24,RemainingPulse |
| 1212 0964 9091 0000 lds r25,(RemainingPulse)+1 |
| 1213 0968 820F add r24,r18 |
| 1214 096a 931F adc r25,r19 |
| 1215 .L122: |
| 1216 096c 9093 0000 sts (RemainingPulse)+1,r25 |
| 1217 0970 8093 0000 sts RemainingPulse,r24 |
| 1218 0974 8091 0000 lds r24,RemainingPulse |
| 1219 0978 9091 0000 lds r25,(RemainingPulse)+1 |
| 1220 097c 55E0 ldi r21,hi8(1501) |
| 1221 097e 8D3D cpi r24,lo8(1501) |
| 1222 0980 9507 cpc r25,r21 |
| 1223 0982 00F0 brlo .L106 |
| 1224 0984 8CED ldi r24,lo8(1500) |
| 1225 0986 95E0 ldi r25,hi8(1500) |
| 1226 0988 00C0 rjmp .L123 |
| 1227 .L106: |
| 1228 098a 8757 subi r24,lo8(375) |
| 1229 098c 9140 sbci r25,hi8(375) |
| 1230 098e 00F4 brsh .L107 |
| 1231 0990 87E7 ldi r24,lo8(375) |
| 1232 0992 91E0 ldi r25,hi8(375) |
| 1233 .L123: |
| 1234 0994 9093 0000 sts (RemainingPulse)+1,r25 |
| 1235 0998 8093 0000 sts RemainingPulse,r24 |
| 1236 .L107: |
| 1237 099c 2091 0000 lds r18,RemainingPulse |
| 1238 09a0 3091 0000 lds r19,(RemainingPulse)+1 |
| 1239 09a4 2C5B subi r18,lo8(-(-188)) |
| 1240 09a6 3040 sbci r19,hi8(-(-188)) |
| 1241 09a8 3093 0000 sts (RemainingPulse)+1,r19 |
| 1242 09ac 2093 0000 sts RemainingPulse,r18 |
| 1243 09b0 8091 0000 lds r24,ServoFrameTime.1 |
| 1244 09b4 9091 0000 lds r25,(ServoFrameTime.1)+1 |
| 1245 09b8 820F add r24,r18 |
| 1246 09ba 931F adc r25,r19 |
| 1247 .L126: |
| 1248 09bc 9093 0000 sts (ServoFrameTime.1)+1,r25 |
| 1249 09c0 8093 0000 sts ServoFrameTime.1,r24 |
| 1250 09c4 00C0 rjmp .L109 |
| 1251 .L93: |
| 1252 09c6 8091 B000 lds r24,176 |
| 1253 09ca 8064 ori r24,lo8(64) |
| 1254 09cc 8093 B000 sts 176,r24 |
| 1255 09d0 8CEB ldi r24,lo8(188) |
| 1256 09d2 90E0 ldi r25,hi8(188) |
| 1257 09d4 9093 0000 sts (RemainingPulse)+1,r25 |
| 1258 09d8 8093 0000 sts RemainingPulse,r24 |
| 1259 09dc 8091 0000 lds r24,ServoFrameTime.1 |
| 1260 09e0 9091 0000 lds r25,(ServoFrameTime.1)+1 |
| 1261 09e4 8454 subi r24,lo8(-(188)) |
| 1262 09e6 9F4F sbci r25,hi8(-(188)) |
| 1263 09e8 9093 0000 sts (ServoFrameTime.1)+1,r25 |
| 1264 09ec 8093 0000 sts ServoFrameTime.1,r24 |
| 1265 09f0 8091 0000 lds r24,ServoActive |
| 1266 09f4 8823 tst r24 |
| 1267 09f6 01F0 breq .L112 |
| 1268 09f8 8091 0000 lds r24,SenderOkay |
| 1269 09fc 8823 tst r24 |
| 1270 09fe 01F4 brne .L111 |
| 1271 .L112: |
| 1272 0a00 8091 0000 lds r24,ServoActive |
| 1273 0a04 8230 cpi r24,lo8(2) |
| 1274 0a06 01F4 brne .L110 |
| 1275 .L111: |
| 1276 0a08 4698 cbi 40-0x20,6 |
| 1277 0a0a 00C0 rjmp .L113 |
| 1278 .L110: |
| 1279 0a0c 469A sbi 40-0x20,6 |
| 1280 .L113: |
| 1281 0a0e 8091 0000 lds r24,ServoIndex.2 |
| 1282 0a12 8F5F subi r24,lo8(-(1)) |
| 1283 0a14 8093 0000 sts ServoIndex.2,r24 |
| 1284 0a18 282F mov r18,r24 |
| 1285 0a1a 3327 clr r19 |
| 1286 0a1c 8091 0000 lds r24,EE_Parameter+53 |
| 1287 0a20 9927 clr r25 |
| 1288 0a22 0196 adiw r24,1 |
| 1289 0a24 8217 cp r24,r18 |
| 1290 0a26 9307 cpc r25,r19 |
| 1291 0a28 04F4 brge .L109 |
| 1292 0a2a 81E0 ldi r24,lo8(1) |
| 1293 0a2c 8093 0000 sts CalculateServoSignals,r24 |
| 1294 0a30 1092 0000 sts ServoIndex.2,__zero_reg__ |
| 1295 .L109: |
| 1296 0a34 81E0 ldi r24,lo8(1) |
| 1297 0a36 8093 0000 sts PulseOutput.0,r24 |
| 1298 .L91: |
| 1299 0a3a 2091 0000 lds r18,RemainingPulse |
| 1300 0a3e 3091 0000 lds r19,(RemainingPulse)+1 |
| 1301 0a42 41E0 ldi r20,hi8(383) |
| 1302 0a44 2F37 cpi r18,lo8(383) |
| 1303 0a46 3407 cpc r19,r20 |
| 1304 0a48 00F0 brlo .L115 |
| 1305 0a4a 8FEF ldi r24,lo8(-1) |
| 1306 0a4c 8093 B300 sts 179,r24 |
| 1307 0a50 2F5F subi r18,lo8(-(-255)) |
| 1308 0a52 3040 sbci r19,hi8(-(-255)) |
| 1309 0a54 00C0 rjmp .L124 |
| 1310 .L115: |
| 1311 0a56 2F3F cpi r18,255 |
| 1312 0a58 3105 cpc r19,__zero_reg__ |
| 1313 0a5a 01F0 breq .L117 |
| 1314 0a5c 00F0 brlo .L117 |
| 1315 0a5e A901 movw r20,r18 |
| 1316 0a60 4F5F subi r20,lo8(-(-255)) |
| 1317 0a62 5040 sbci r21,hi8(-(-255)) |
| 1318 0a64 4F37 cpi r20,127 |
| 1319 0a66 5105 cpc r21,__zero_reg__ |
| 1320 0a68 00F4 brsh .L118 |
| 1321 0a6a 80E8 ldi r24,lo8(-128) |
| 1322 0a6c 8093 B300 sts 179,r24 |
| 1323 0a70 2058 subi r18,lo8(-(-128)) |
| 1324 0a72 3040 sbci r19,hi8(-(-128)) |
| 1325 .L124: |
| 1326 0a74 3093 0000 sts (RemainingPulse)+1,r19 |
| 1327 0a78 2093 0000 sts RemainingPulse,r18 |
| 1328 0a7c 00C0 rjmp .L83 |
| 1329 .L118: |
| 1330 0a7e 8FEF ldi r24,lo8(-1) |
| 1331 0a80 8093 B300 sts 179,r24 |
| 1332 0a84 5093 0000 sts (RemainingPulse)+1,r21 |
| 1333 0a88 4093 0000 sts RemainingPulse,r20 |
| 1334 0a8c 00C0 rjmp .L83 |
| 1335 .L117: |
| 1336 0a8e 8091 0000 lds r24,RemainingPulse |
| 1337 0a92 8093 B300 sts 179,r24 |
| 1338 0a96 1092 0000 sts (RemainingPulse)+1,__zero_reg__ |
| 1339 0a9a 1092 0000 sts RemainingPulse,__zero_reg__ |
| 1340 0a9e 1092 0000 sts PulseOutput.0,__zero_reg__ |
| 1341 .L83: |
| 1342 /* epilogue: frame size=0 */ |
| 1343 0aa2 FF91 pop r31 |
| 1344 0aa4 EF91 pop r30 |
| 1345 0aa6 9F91 pop r25 |
| 1346 0aa8 8F91 pop r24 |
| 1347 0aaa 5F91 pop r21 |
| 1348 0aac 4F91 pop r20 |
| 1349 0aae 3F91 pop r19 |
| 1350 0ab0 2F91 pop r18 |
| 1351 0ab2 0F90 pop __tmp_reg__ |
| 1352 0ab4 0FBE out __SREG__,__tmp_reg__ |
| 1353 0ab6 0F90 pop __tmp_reg__ |
| 1354 0ab8 1F90 pop __zero_reg__ |
| 1355 0aba 1895 reti |
| 1356 /* epilogue end (size=13) */ |
| 1357 /* function __vector_9 size 389 (363) */ |
| 1359 .comm tim_main,2,1 |
| 1360 /* File "timer0.c": code 1388 = 0x056c (1305), prologues 39, epilogues 44 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 timer0.c |
| C:\Temp/ccpPrtda.s:3 *ABS*:0000003f __SREG__ |
| C:\Temp/ccpPrtda.s:4 *ABS*:0000003e __SP_H__ |
| C:\Temp/ccpPrtda.s:5 *ABS*:0000003d __SP_L__ |
| C:\Temp/ccpPrtda.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\Temp/ccpPrtda.s:7 *ABS*:00000001 __zero_reg__ |
| C:\Temp/ccpPrtda.s:15 .bss:00000000 ServoRollValue |
| C:\Temp/ccpPrtda.s:21 .bss:00000002 ServoNickValue |
| C:\Temp/ccpPrtda.s:27 .data:00000000 NickServoValue |
| C:\Temp/ccpPrtda.s:32 .data:00000002 BeepMuster |
| C:\Temp/ccpPrtda.s:37 .data:00000004 ServoRollOffset |
| C:\Temp/ccpPrtda.s:42 .data:00000006 ServoNickOffset |
| C:\Temp/ccpPrtda.s:49 .bss:00000004 RemainingPulse |
| C:\Temp/ccpPrtda.s:55 .data:00000008 CalculateServoSignals |
| C:\Temp/ccpPrtda.s:62 .bss:00000006 ServoActive |
| C:\Temp/ccpPrtda.s:68 .bss:00000007 SendSPI |
| C:\Temp/ccpPrtda.s:74 .bss:00000008 beeptime |
| C:\Temp/ccpPrtda.s:80 .bss:0000000a cntKompass |
| C:\Temp/ccpPrtda.s:86 .bss:0000000c UpdateMotor |
| C:\Temp/ccpPrtda.s:92 .bss:0000000d CountMilliseconds |
| C:\Temp/ccpPrtda.s:97 .data:00000009 cnt_1ms.3 |
| .bss:0000000f cnt.4 |
| C:\Temp/ccpPrtda.s:99 .bss:00000010 compass_active.5 |
| C:\Temp/ccpPrtda.s:104 .text:00000000 __vector_18 |
| C:\Temp/ccpPrtda.s:309 .text:000001e6 SetDelay |
| C:\Temp/ccpPrtda.s:325 .text:000001f8 CheckDelay |
| C:\Temp/ccpPrtda.s:344 .text:00000210 Delay_ms |
| C:\Temp/ccpPrtda.s:365 .text:0000022a Delay_ms_Mess |
| C:\Temp/ccpPrtda.s:395 .text:0000025a TIMER2_Init |
| C:\Temp/ccpPrtda.s:437 .text:000002b8 Timer_Init |
| *COM*:00000002 tim_main |
| C:\Temp/ccpPrtda.s:464 .text:000002e6 CalcNickServoValue |
| C:\Temp/ccpPrtda.s:530 .text:0000036a CalculateServo |
| C:\Temp/ccpPrtda.s:100 .bss:00000011 PulseOutput.0 |
| C:\Temp/ccpPrtda.s:1019 .bss:00000012 ServoFrameTime.1 |
| C:\Temp/ccpPrtda.s:1020 .bss:00000014 ServoIndex.2 |
| C:\Temp/ccpPrtda.s:1024 .text:000007ba __vector_9 |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| SpektrumTimer |
| PlatinenVersion |
| NaviDataOkay |
| Parameter_GlobalConfig |
| __udivmodhi4 |
| KompassValue |
| AdReady |
| EE_Parameter |
| Parameter_ServoNickControl |
| __prologue_saves__ |
| sintab |
| IntegralNick |
| __mulsi3 |
| IntegralRoll |
| POI_KameraNick |
| __divmodhi4 |
| __divmodsi4 |
| Parameter_ServoRollControl |
| __epilogue_restores__ |
| Parameter_Servo3 |
| Parameter_Servo4 |
| Parameter_Servo5 |
| PPM_in |
| SenderOkay |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/twimaster.c |
|---|
| 0,0 → 1,469 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software Nutzungsbedingungen (english version: see below) |
| // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
| // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
| // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
| // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
| // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
| // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
| // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
| // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
| // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
| // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
| // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
| // + des Mitverschuldens offen. |
| // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
| // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
| // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
| // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
| // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
| // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
| // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software LICENSING TERMS |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
| // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
| // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
| // + The Software may only be used with the Licensor's products. |
| // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
| // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
| // + agreement shall be the property of the Licensor. |
| // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
| // + features that can be used to identify the program may not be altered or defaced by the customer. |
| // + The customer shall be responsible for taking reasonable precautions |
| // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
| // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
| // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
| // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
| // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
| // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
| // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
| // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
| // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
| // + #### END OF LICENSING TERMS #### |
| // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include <avr/io.h> |
| #include <avr/interrupt.h> |
| #include <util/twi.h> |
| #include "eeprom.h" |
| #include "twimaster.h" |
| #include "fc.h" |
| #include "analog.h" |
| #include "uart.h" |
| #include "timer0.h" |
| volatile uint8_t twi_state = TWI_STATE_MOTOR_TX; |
| volatile uint8_t dac_channel = 0; |
| volatile uint8_t motor_write = 0; |
| volatile uint8_t motor_read = 0; |
| volatile uint8_t I2C_TransferActive = 0; |
| volatile uint16_t I2CTimeout = 100; |
| uint8_t MissingMotor = 0; |
| volatile uint8_t BLFlags = 0; |
| MotorData_t Motor[MAX_MOTORS]; |
| // bit mask for witch BL the configuration should be sent |
| volatile uint16_t BLConfig_WriteMask = 0; |
| // bit mask for witch BL the configuration should be read |
| volatile uint16_t BLConfig_ReadMask = 0; |
| // buffer for BL Configuration |
| BLConfig_t BLConfig; |
| #define I2C_WriteByte(byte) {TWDR = byte; TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);} |
| #define I2C_ReceiveByte() {TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA);} |
| #define I2C_ReceiveLastByte() {TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);} |
| #define SCL_CLOCK 200000L |
| #define I2C_TIMEOUT 30000 |
| #define TWI_BASE_ADDRESS 0x52 |
| /**************************************************/ |
| /* Initialize I2C (TWI) */ |
| /**************************************************/ |
| void I2C_Init(char clear) |
| { |
| uint8_t i; |
| uint8_t sreg = SREG; |
| cli(); |
| // SDA is INPUT |
| DDRC &= ~(1<<DDC1); |
| // SCL is output |
| DDRC |= (1<<DDC0); |
| // pull up SDA |
| PORTC |= (1<<PORTC0)|(1<<PORTC1); |
| // TWI Status Register |
| // prescaler 1 (TWPS1 = 0, TWPS0 = 0) |
| TWSR &= ~((1<<TWPS1)|(1<<TWPS0)); |
| // set TWI Bit Rate Register |
| TWBR = ((F_CPU/SCL_CLOCK)-16)/2; |
| twi_state = TWI_STATE_MOTOR_TX; |
| motor_write = 0; |
| motor_read = 0; |
| if(clear) for(i=0; i < MAX_MOTORS; i++) |
| { |
| Motor[i].Version = 0; |
| Motor[i].SetPoint = 0; |
| Motor[i].SetPointLowerBits = 0; |
| Motor[i].State = 0; |
| Motor[i].ReadMode = BL_READMODE_STATUS; |
| Motor[i].Current = 0; |
| Motor[i].MaxPWM = 0; |
| Motor[i].Temperature = 0; |
| } |
| sei(); |
| SREG = sreg; |
| } |
| void I2C_Reset(void) |
| { |
| // stop i2c bus |
| I2C_Stop(TWI_STATE_MOTOR_TX); |
| TWCR = (1<<TWINT); // reset to original state incl. interrupt flag reset |
| TWAMR = 0; |
| TWAR = 0; |
| TWDR = 0; |
| TWSR = 0; |
| TWBR = 0; |
| I2C_TransferActive = 0; |
| I2C_Init(0); |
| I2C_WriteByte(0); |
| BLFlags |= BLFLAG_READ_VERSION; |
| } |
| /****************************************/ |
| /* I2C ISR */ |
| /****************************************/ |
| ISR (TWI_vect) |
| { |
| static uint8_t missing_motor = 0, motor_read_temperature = 0; |
| static uint8_t *pBuff = 0; |
| static uint8_t BuffLen = 0; |
| switch (twi_state++) |
| { |
| // Master Transmit |
| case 0: // TWI_STATE_MOTOR_TX |
| I2C_TransferActive = 1; |
| // skip motor if not used in mixer |
| while((Mixer.Motor[motor_write][MIX_GAS] <= 0) && (motor_write < MAX_MOTORS)) motor_write++; |
| if(motor_write >= MAX_MOTORS) // writing finished, read now |
| { |
| BLConfig_WriteMask = 0; // reset configuration bitmask |
| motor_write = 0; // reset motor write counter for next cycle |
| twi_state = TWI_STATE_MOTOR_RX; |
| I2C_WriteByte(TWI_BASE_ADDRESS + TW_READ + (motor_read<<1) ); // select slave address in rx mode |
| } |
| else I2C_WriteByte(TWI_BASE_ADDRESS + TW_WRITE + (motor_write<<1) ); // select slave address in tx mode |
| break; |
| case 1: // Send Data to Slave |
| I2C_WriteByte(Motor[motor_write].SetPoint); // transmit setpoint |
| // if old version has been detected |
| if(!(Motor[motor_write].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) |
| { |
| twi_state = 4; //jump over sending more data |
| } |
| // the new version has been detected |
| else if(!( (Motor[motor_write].SetPointLowerBits && (RequiredMotors < 7)) || BLConfig_WriteMask || BLConfig_ReadMask ) ) |
| { // or LowerBits are zero and no BlConfig should be sent (saves round trip time) |
| twi_state = 4; //jump over sending more data |
| } |
| break; |
| case 2: // lower bits of setpoint (higher resolution) |
| if ((0x0001<<motor_write) & BLConfig_ReadMask) |
| { |
| Motor[motor_write].ReadMode = BL_READMODE_CONFIG; // configuration request |
| } |
| else |
| { |
| Motor[motor_write].ReadMode = BL_READMODE_STATUS; // normal status request |
| } |
| // send read mode and the lower bits of setpoint |
| I2C_WriteByte((Motor[motor_write].ReadMode<<3)|(Motor[motor_write].SetPointLowerBits & 0x07)); |
| // configuration tranmission request? |
| if((0x0001<<motor_write) & BLConfig_WriteMask) |
| { // redirect tx pointer to configuration data |
| pBuff = (uint8_t*)&BLConfig; // select config for motor |
| BuffLen = sizeof(BLConfig_t); |
| } |
| else |
| { // jump to end of transmission for that motor |
| twi_state = 4; |
| } |
| break; |
| case 3: // send configuration |
| I2C_WriteByte(*pBuff); |
| pBuff++; |
| if(--BuffLen > 0) twi_state = 3; // if there are some bytes left |
| break; |
| case 4: // repeat case 0-4 for all motors |
| if(TWSR == TW_MT_DATA_NACK) // Data transmitted, NACK received |
| { |
| if(!missing_motor) missing_motor = motor_write + 1; |
| if((Motor[motor_write].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[motor_write].State++; // increment error counter and handle overflow |
| } |
| I2C_Stop(TWI_STATE_MOTOR_TX); |
| I2CTimeout = 10; |
| motor_write++; // next motor |
| I2C_Start(TWI_STATE_MOTOR_TX); // Repeated start -> switch slave or switch Master Transmit -> Master Receive |
| break; |
| // Master Receive Data |
| case 5: // TWI_STATE_MOTOR_RX |
| if(TWSR != TW_MR_SLA_ACK) // SLA+R transmitted but no ACK received |
| { // no response from the addressed slave received |
| Motor[motor_read].State &= ~MOTOR_STATE_PRESENT_MASK; // clear present bit |
| if(++motor_read >= MAX_MOTORS) |
| { // all motors read |
| motor_read = 0; // restart from beginning |
| BLConfig_ReadMask = 0; // reset read configuration bitmask |
| if(++motor_read_temperature >= MAX_MOTORS) |
| { |
| motor_read_temperature = 0; |
| BLFlags &= ~BLFLAG_READ_VERSION; |
| } |
| } |
| BLFlags |= BLFLAG_TX_COMPLETE; |
| I2C_Stop(TWI_STATE_MOTOR_TX); |
| I2C_TransferActive = 0; |
| } |
| else |
| { // motor successfully addressed |
| Motor[motor_read].State |= MOTOR_STATE_PRESENT_MASK; // set present bit |
| if(Motor[motor_read].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) |
| { |
| // new BL found |
| switch(Motor[motor_read].ReadMode) |
| { |
| case BL_READMODE_CONFIG: |
| pBuff = (uint8_t*)&BLConfig; |
| BuffLen = sizeof(BLConfig_t); |
| break; |
| case BL_READMODE_STATUS: |
| pBuff = (uint8_t*)&(Motor[motor_read].Current); |
| if(motor_read == motor_read_temperature) BuffLen = 3; // read Current, MaxPwm & Temp |
| else BuffLen = 1;// read Current only |
| break; |
| } |
| } |
| else // old BL version |
| { |
| pBuff = (uint8_t*)&(Motor[motor_read].Current); |
| if((BLFlags & BLFLAG_READ_VERSION) || (motor_read == motor_read_temperature)) BuffLen = 2; // Current & MaxPwm |
| else BuffLen = 1; // read Current only |
| } |
| if(BuffLen == 1) |
| { |
| I2C_ReceiveLastByte(); // read last byte |
| } |
| else |
| { |
| I2C_ReceiveByte(); // read next byte |
| } |
| } |
| MissingMotor = missing_motor; |
| missing_motor = 0; |
| break; |
| case 6: // receive bytes |
| *pBuff = TWDR; |
| pBuff++; |
| BuffLen--; |
| if(BuffLen>1) |
| { |
| I2C_ReceiveByte(); // read next byte |
| } |
| else if (BuffLen == 1) |
| { |
| I2C_ReceiveLastByte(); // read last byte |
| } |
| else // nothing left |
| { |
| if(BLFlags & BLFLAG_READ_VERSION) |
| { |
| if(!(FC_StatusFlags & FC_STATUS_MOTOR_RUN) && (Motor[motor_read].MaxPWM == 250) ) Motor[motor_read].Version |= MOTOR_STATE_NEW_PROTOCOL_MASK; |
| else Motor[motor_read].Version = 0; |
| } |
| if(++motor_read >= MAX_MOTORS) |
| { |
| motor_read = 0; // restart from beginning |
| BLConfig_ReadMask = 0; // reset read configuration bitmask |
| if(++motor_read_temperature >= MAX_MOTORS) |
| { |
| motor_read_temperature = 0; |
| BLFlags &= ~BLFLAG_READ_VERSION; |
| } |
| } |
| I2C_Stop(TWI_STATE_MOTOR_TX); |
| BLFlags |= BLFLAG_TX_COMPLETE; |
| I2C_TransferActive = 0; |
| return; |
| } |
| twi_state = 6; // if there are some bytes left |
| break; |
| // writing Gyro-Offsets |
| case 18: |
| I2C_WriteByte(0x98); // Address the DAC |
| break; |
| case 19: |
| I2C_WriteByte(0x10 + (dac_channel * 2)); // Select DAC Channel (0x10 = A, 0x12 = B, 0x14 = C) |
| break; |
| case 20: |
| switch(dac_channel) |
| { |
| case 0: |
| I2C_WriteByte(AnalogOffsetNick); // 1st byte for Channel A |
| break; |
| case 1: |
| I2C_WriteByte(AnalogOffsetRoll); // 1st byte for Channel B |
| break; |
| case 2: |
| I2C_WriteByte(AnalogOffsetGier); // 1st byte for Channel C |
| break; |
| } |
| break; |
| case 21: |
| I2C_WriteByte(0x80); // 2nd byte for all channels is 0x80 |
| break; |
| case 22: |
| I2C_Stop(TWI_STATE_MOTOR_TX); |
| I2C_TransferActive = 0; |
| I2CTimeout = 10; |
| // repeat case 18...22 until all DAC Channels are updated |
| if(dac_channel < 2) |
| { |
| dac_channel ++; // jump to next channel |
| I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // start transmission for next channel |
| } |
| else |
| { |
| dac_channel = 0; // reset dac channel counter |
| BLFlags |= BLFLAG_TX_COMPLETE; |
| } |
| break; |
| default: |
| I2C_Stop(TWI_STATE_MOTOR_TX); |
| BLFlags |= BLFLAG_TX_COMPLETE; |
| I2CTimeout = 10; |
| motor_write = 0; |
| motor_read = 0; |
| I2C_TransferActive = 0; |
| break; |
| } |
| } |
| uint8_t I2C_WriteBLConfig(uint8_t motor) |
| { |
| uint8_t i; |
| uint16_t timer; |
| if(MotorenEin || PC_MotortestActive) return(BLCONFIG_ERR_MOTOR_RUNNING); // not when motors are running! |
| if(motor > MAX_MOTORS) return (BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
| if(motor) |
| { |
| if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK)) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
| if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) return(BLCONFIG_ERR_HW_NOT_COMPATIBLE); // not a new BL! |
| } |
| // check BL configuration to send |
| if(BLConfig.Revision != BLCONFIG_REVISION) return (BLCONFIG_ERR_SW_NOT_COMPATIBLE); // bad revison |
| i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1); |
| if(i != BLConfig.crc) return(BLCONFIG_ERR_CHECKSUM); // bad checksum |
| timer = SetDelay(2000); |
| while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
| // prepare the bitmask |
| if(!motor) // 0 means all |
| { |
| BLConfig_WriteMask = 0xFF; // all motors at once with the same configuration |
| } |
| else //only one specific motor |
| { |
| BLConfig_WriteMask = 0x0001<<(motor-1); |
| } |
| for(i = 0; i < MAX_MOTORS; i++) |
| { |
| if((0x0001<<i) & BLConfig_WriteMask) |
| { |
| Motor[i].SetPoint = 0; |
| Motor[i].SetPointLowerBits = 0; |
| } |
| } |
| motor_write = 0; |
| // needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms) |
| do |
| { |
| I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission |
| while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
| }while(BLConfig_WriteMask && !CheckDelay(timer)); // repeat until the BL config has been sent |
| if(BLConfig_WriteMask) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); |
| return(BLCONFIG_SUCCESS); |
| } |
| uint8_t I2C_ReadBLConfig(uint8_t motor) |
| { |
| uint8_t i; |
| uint16_t timer; |
| if(MotorenEin || PC_MotortestActive) return(BLCONFIG_ERR_MOTOR_RUNNING); // not when motors are running! |
| if(motor > MAX_MOTORS) return (BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
| if(motor == 0) return (BLCONFIG_ERR_READ_NOT_POSSIBLE); |
| if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK)) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
| if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) return(BLCONFIG_ERR_HW_NOT_COMPATIBLE); // not a new BL! |
| timer = SetDelay(2000); |
| while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
| // prepare the bitmask |
| BLConfig_ReadMask = 0x0001<<(motor-1); |
| for(i = 0; i < MAX_MOTORS; i++) |
| { |
| if((0x0001<<i) & BLConfig_ReadMask) |
| { |
| Motor[i].SetPoint = 0; |
| Motor[i].SetPointLowerBits = 0; |
| } |
| } |
| motor_read = 0; |
| BLConfig.Revision = 0; // bad revision |
| BLConfig.crc = 0; // bad checksum |
| // needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms) |
| do |
| { |
| I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission |
| while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
| }while(BLConfig_ReadMask && !CheckDelay(timer)); // repeat until the BL config has been received from all motors |
| // validate result |
| if(BLConfig.Revision != BLCONFIG_REVISION) return (BLCONFIG_ERR_SW_NOT_COMPATIBLE); // bad revison |
| i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1); |
| if(i != BLConfig.crc) return(BLCONFIG_ERR_CHECKSUM); // bad checksum |
| return(BLCONFIG_SUCCESS); |
| } |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/twimaster.h |
|---|
| 0,0 → 1,100 |
| #ifndef _I2C_MASTER_H |
| #define _I2C_MASTER_H |
| + |
| +#include <inttypes.h> |
| + |
| +#define TWI_STATE_MOTOR_TX 0 |
| +#define TWI_STATE_MOTOR_RX 5 |
| +#define TWI_STATE_GYRO_OFFSET_TX 18 |
| + |
| +extern volatile uint8_t twi_state; |
| +extern volatile uint8_t motor_write; |
| +extern volatile uint8_t motor_read; |
| +extern volatile uint8_t I2C_TransferActive; |
| + |
| +extern uint8_t MissingMotor; |
| + |
| +#define MAX_MOTORS 12 |
| +#define MOTOR_STATE_PRESENT_MASK 0x80 |
| +#define MOTOR_STATE_ERROR_MASK 0x7F |
| + |
| +#define MOTOR_STATE_NEW_PROTOCOL_MASK 0x01 |
| + |
| +#define BLFLAG_TX_COMPLETE 0x01 |
| +#define BLFLAG_READ_VERSION 0x02 |
| + |
| +extern volatile uint8_t BLFlags; |
| + |
| + |
| +#define BL_READMODE_STATUS 0 |
| +#define BL_READMODE_CONFIG 16 |
| + |
| +typedef struct |
| +{ |
| + uint8_t Version; // the version of the BL (0 = old) |
| + uint8_t SetPoint; // written by attitude controller |
| + uint8_t SetPointLowerBits; // for higher Resolution of new BLs |
| + uint8_t State; // 7 bit for I2C error counter, highest bit indicates if motor is present |
| + uint8_t ReadMode; // select data to read |
| + // the following bytes must be exactly in that order! |
| + uint8_t Current; // in 0.1 A steps, read back from BL |
| + uint8_t MaxPWM; // read back from BL -> is less than 255 if BL is in current limit, not running (250) or starting (40) |
| + int8_t Temperature; // old BL-Ctrl will return a 255 here, the new version the temp. in °C |
| +} __attribute__((packed)) MotorData_t; |
| + |
| +extern MotorData_t Motor[MAX_MOTORS]; |
| + |
| +#define BLCONFIG_REVISION 2 |
| + |
| +#define MASK_SET_PWM_SCALING 0x01 |
| +#define MASK_SET_CURRENT_LIMIT 0x02 |
| +#define MASK_SET_TEMP_LIMIT 0x04 |
| +#define MASK_SET_CURRENT_SCALING 0x08 |
| +#define MASK_SET_BITCONFIG 0x10 |
| +#define MASK_RESET_CAPCOUNTER 0x20 |
| +#define MASK_SET_DEFAULT_PARAMS 0x40 |
| +#define MASK_SET_SAVE_EEPROM 0x80 |
| + |
| +#define BITCONF_REVERSE_ROTATION 0x01 |
| +#define BITCONF_RES1 0x02 |
| +#define BITCONF_RES2 0x04 |
| +#define BITCONF_RES3 0x08 |
| +#define BITCONF_RES4 0x10 |
| +#define BITCONF_RES5 0x20 |
| +#define BITCONF_RES6 0x40 |
| +#define BITCONF_RES7 0x80 |
| + |
| +typedef struct |
| +{ |
| + uint8_t Revision; // must be BL_REVISION |
| + uint8_t SetMask; // settings mask |
| + uint8_t PwmScaling; // maximum value of control pwm, acts like a thrust limit |
| + uint8_t CurrentLimit; // current limit in A |
| + uint8_t TempLimit; // in °C |
| + uint8_t CurrentScaling; // scaling factor for current measurement |
| + uint8_t BitConfig; // see defines above |
| + uint8_t crc; // checksum |
| +} __attribute__((packed)) BLConfig_t; |
| + |
| +extern BLConfig_t BLConfig; |
| + |
| +extern volatile uint16_t I2CTimeout; |
| + |
| +void I2C_Init(char); // Initialize I2C |
| +#define I2C_Start(start_state) {twi_state = start_state; BLFlags &= ~BLFLAG_TX_COMPLETE; TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE);} |
| +#define I2C_Stop(start_state) {twi_state = start_state; TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT);} |
| +void I2C_Reset(void); // Reset I2C |
| + |
| +#define BLCONFIG_SUCCESS 0 |
| +#define BLCONFIG_ERR_MOTOR_RUNNING 1 |
| +#define BLCONFIG_ERR_MOTOR_NOT_EXIST 2 |
| +#define BLCONFIG_ERR_HW_NOT_COMPATIBLE 3 |
| +#define BLCONFIG_ERR_SW_NOT_COMPATIBLE 4 |
| +#define BLCONFIG_ERR_CHECKSUM 5 |
| +#define BLCONFIG_ERR_READ_NOT_POSSIBLE 6 |
| + |
| +uint8_t I2C_WriteBLConfig(uint8_t motor); |
| +uint8_t I2C_ReadBLConfig(uint8_t motor); |
| + |
| +#endif |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/twimaster.lst |
|---|
| 0,0 → 1,1208 |
| 1 .file "twimaster.c" |
| 2 .arch atmega1284p |
| 3 __SREG__ = 0x3f |
| 4 __SP_H__ = 0x3e |
| 5 __SP_L__ = 0x3d |
| 6 __tmp_reg__ = 0 |
| 7 __zero_reg__ = 1 |
| 8 .global __do_copy_data |
| 9 .global __do_clear_bss |
| 10 .global BLConfig_ReadMask |
| 11 .global BLConfig_ReadMask |
| 12 .section .bss |
| 15 BLConfig_ReadMask: |
| 16 0000 0000 .skip 2,0 |
| 17 .global BLConfig_WriteMask |
| 18 .global BLConfig_WriteMask |
| 21 BLConfig_WriteMask: |
| 22 0002 0000 .skip 2,0 |
| 23 .global BLFlags |
| 24 .global BLFlags |
| 27 BLFlags: |
| 28 0004 00 .skip 1,0 |
| 29 .global MissingMotor |
| 30 .global MissingMotor |
| 33 MissingMotor: |
| 34 0005 00 .skip 1,0 |
| 35 .global I2CTimeout |
| 36 .data |
| 39 I2CTimeout: |
| 40 0000 6400 .word 100 |
| 41 .global I2C_TransferActive |
| 42 .global I2C_TransferActive |
| 43 .section .bss |
| 46 I2C_TransferActive: |
| 47 0006 00 .skip 1,0 |
| 48 .global motor_read |
| 49 .global motor_read |
| 52 motor_read: |
| 53 0007 00 .skip 1,0 |
| 54 .global motor_write |
| 55 .global motor_write |
| 58 motor_write: |
| 59 0008 00 .skip 1,0 |
| 60 .global dac_channel |
| 61 .global dac_channel |
| 64 dac_channel: |
| 65 0009 00 .skip 1,0 |
| 66 .global twi_state |
| 67 .global twi_state |
| 70 twi_state: |
| 71 000a 00 .skip 1,0 |
| 72 .text |
| 73 .global I2C_Init |
| 75 I2C_Init: |
| 76 /* prologue: frame size=0 */ |
| 77 /* prologue end (size=0) */ |
| 78 0000 982F mov r25,r24 |
| 79 0002 2FB7 in r18,95-0x20 |
| 80 /* #APP */ |
| 81 0004 F894 cli |
| 82 /* #NOAPP */ |
| 83 0006 3998 cbi 39-0x20,1 |
| 84 0008 389A sbi 39-0x20,0 |
| 85 000a 88B1 in r24,40-0x20 |
| 86 000c 8360 ori r24,lo8(3) |
| 87 000e 88B9 out 40-0x20,r24 |
| 88 0010 8091 B900 lds r24,185 |
| 89 0014 8C7F andi r24,lo8(-4) |
| 90 0016 8093 B900 sts 185,r24 |
| 91 001a 8AE2 ldi r24,lo8(42) |
| 92 001c 8093 B800 sts 184,r24 |
| 93 0020 1092 0000 sts twi_state,__zero_reg__ |
| 94 0024 1092 0000 sts motor_write,__zero_reg__ |
| 95 0028 1092 0000 sts motor_read,__zero_reg__ |
| 96 002c 9923 tst r25 |
| 97 002e 01F0 breq .L2 |
| 98 0030 E0E0 ldi r30,lo8(Motor) |
| 99 0032 F0E0 ldi r31,hi8(Motor) |
| 100 0034 8BE0 ldi r24,lo8(11) |
| 101 .L6: |
| 102 0036 1082 st Z,__zero_reg__ |
| 103 0038 1182 std Z+1,__zero_reg__ |
| 104 003a 1282 std Z+2,__zero_reg__ |
| 105 003c 1382 std Z+3,__zero_reg__ |
| 106 003e 1482 std Z+4,__zero_reg__ |
| 107 0040 1582 std Z+5,__zero_reg__ |
| 108 0042 1682 std Z+6,__zero_reg__ |
| 109 0044 1782 std Z+7,__zero_reg__ |
| 110 0046 8150 subi r24,lo8(-(-1)) |
| 111 0048 3896 adiw r30,8 |
| 112 004a 87FF sbrs r24,7 |
| 113 004c 00C0 rjmp .L6 |
| 114 .L2: |
| 115 /* #APP */ |
| 116 004e 7894 sei |
| 117 /* #NOAPP */ |
| 118 0050 2FBF out 95-0x20,r18 |
| 119 /* epilogue: frame size=0 */ |
| 120 0052 0895 ret |
| 121 /* epilogue end (size=1) */ |
| 122 /* function I2C_Init size 44 (43) */ |
| 124 .global I2C_Reset |
| 126 I2C_Reset: |
| 127 /* prologue: frame size=0 */ |
| 128 /* prologue end (size=0) */ |
| 129 0054 1092 0000 sts twi_state,__zero_reg__ |
| 130 0058 84E9 ldi r24,lo8(-108) |
| 131 005a 8093 BC00 sts 188,r24 |
| 132 005e 80E8 ldi r24,lo8(-128) |
| 133 0060 8093 BC00 sts 188,r24 |
| 134 0064 1092 BD00 sts 189,__zero_reg__ |
| 135 0068 1092 BA00 sts 186,__zero_reg__ |
| 136 006c 1092 BB00 sts 187,__zero_reg__ |
| 137 0070 1092 B900 sts 185,__zero_reg__ |
| 138 0074 1092 B800 sts 184,__zero_reg__ |
| 139 0078 1092 0000 sts I2C_TransferActive,__zero_reg__ |
| 140 007c 80E0 ldi r24,lo8(0) |
| 141 007e 0E94 0000 call I2C_Init |
| 142 0082 1092 BB00 sts 187,__zero_reg__ |
| 143 0086 85E8 ldi r24,lo8(-123) |
| 144 0088 8093 BC00 sts 188,r24 |
| 145 008c 8091 0000 lds r24,BLFlags |
| 146 0090 8260 ori r24,lo8(2) |
| 147 0092 8093 0000 sts BLFlags,r24 |
| 148 /* epilogue: frame size=0 */ |
| 149 0096 0895 ret |
| 150 /* epilogue end (size=1) */ |
| 151 /* function I2C_Reset size 34 (33) */ |
| 153 .lcomm missing_motor.0,1 |
| 154 .lcomm motor_read_temperature.1,1 |
| 155 .lcomm pBuff.2,2 |
| 156 .lcomm BuffLen.3,1 |
| 157 .global __vector_26 |
| 159 __vector_26: |
| 160 /* prologue: frame size=0 */ |
| 161 0098 1F92 push __zero_reg__ |
| 162 009a 0F92 push __tmp_reg__ |
| 163 009c 0FB6 in __tmp_reg__,__SREG__ |
| 164 009e 0F92 push __tmp_reg__ |
| 165 00a0 1124 clr __zero_reg__ |
| 166 00a2 2F93 push r18 |
| 167 00a4 3F93 push r19 |
| 168 00a6 4F93 push r20 |
| 169 00a8 5F93 push r21 |
| 170 00aa 8F93 push r24 |
| 171 00ac 9F93 push r25 |
| 172 00ae EF93 push r30 |
| 173 00b0 FF93 push r31 |
| 174 /* prologue end (size=13) */ |
| 175 00b2 8091 0000 lds r24,twi_state |
| 176 00b6 282F mov r18,r24 |
| 177 00b8 3327 clr r19 |
| 178 00ba 4427 clr r20 |
| 179 00bc 5527 clr r21 |
| 180 00be 8F5F subi r24,lo8(-(1)) |
| 181 00c0 8093 0000 sts twi_state,r24 |
| 182 00c4 F901 movw r30,r18 |
| 183 00c6 2731 cpi r18,23 |
| 184 00c8 3105 cpc r19,__zero_reg__ |
| 185 00ca 00F0 brlo .+2 |
| 186 00cc 00C0 rjmp .L72 |
| 187 00ce E050 subi r30,lo8(-(pm(.L73))) |
| 188 00d0 F040 sbci r31,hi8(-(pm(.L73))) |
| 189 00d2 0C94 0000 jmp __tablejump2__ |
| 190 .data |
| 191 .section .progmem.gcc_sw_table, "a", @progbits |
| 192 .p2align 1 |
| 193 .L73: |
| 194 0000 0000 .word pm(.L11) |
| 195 0002 0000 .word pm(.L17) |
| 196 0004 0000 .word pm(.L22) |
| 197 0006 0000 .word pm(.L27) |
| 198 0008 0000 .word pm(.L29) |
| 199 000a 0000 .word pm(.L33) |
| 200 000c 0000 .word pm(.L50) |
| 201 000e 0000 .word pm(.L72) |
| 202 0010 0000 .word pm(.L72) |
| 203 0012 0000 .word pm(.L72) |
| 204 0014 0000 .word pm(.L72) |
| 205 0016 0000 .word pm(.L72) |
| 206 0018 0000 .word pm(.L72) |
| 207 001a 0000 .word pm(.L72) |
| 208 001c 0000 .word pm(.L72) |
| 209 001e 0000 .word pm(.L72) |
| 210 0020 0000 .word pm(.L72) |
| 211 0022 0000 .word pm(.L72) |
| 212 0024 0000 .word pm(.L60) |
| 213 0026 0000 .word pm(.L61) |
| 214 0028 0000 .word pm(.L62) |
| 215 002a 0000 .word pm(.L68) |
| 216 002c 0000 .word pm(.L69) |
| 217 .text |
| 218 .L11: |
| 219 00d6 81E0 ldi r24,lo8(1) |
| 220 00d8 8093 0000 sts I2C_TransferActive,r24 |
| 221 00dc 00C0 rjmp .L76 |
| 222 .L75: |
| 223 00de 8091 0000 lds r24,motor_write |
| 224 00e2 8C30 cpi r24,lo8(12) |
| 225 00e4 00F4 brsh .L13 |
| 226 00e6 8091 0000 lds r24,motor_write |
| 227 00ea 8F5F subi r24,lo8(-(1)) |
| 228 00ec 8093 0000 sts motor_write,r24 |
| 229 .L76: |
| 230 00f0 8091 0000 lds r24,motor_write |
| 231 00f4 E82F mov r30,r24 |
| 232 00f6 FF27 clr r31 |
| 233 00f8 EE0F lsl r30 |
| 234 00fa FF1F rol r31 |
| 235 00fc EE0F lsl r30 |
| 236 00fe FF1F rol r31 |
| 237 0100 E050 subi r30,lo8(-(Mixer)) |
| 238 0102 F040 sbci r31,hi8(-(Mixer)) |
| 239 0104 8585 ldd r24,Z+13 |
| 240 0106 1816 cp __zero_reg__,r24 |
| 241 0108 04F4 brge .L75 |
| 242 .L13: |
| 243 010a 8091 0000 lds r24,motor_write |
| 244 010e 8C30 cpi r24,lo8(12) |
| 245 0110 00F0 brlo .L15 |
| 246 0112 1092 0000 sts (BLConfig_WriteMask)+1,__zero_reg__ |
| 247 0116 1092 0000 sts BLConfig_WriteMask,__zero_reg__ |
| 248 011a 1092 0000 sts motor_write,__zero_reg__ |
| 249 011e 85E0 ldi r24,lo8(5) |
| 250 0120 8093 0000 sts twi_state,r24 |
| 251 0124 8091 0000 lds r24,motor_read |
| 252 0128 880F lsl r24 |
| 253 012a 8D5A subi r24,lo8(-(83)) |
| 254 012c 00C0 rjmp .L84 |
| 255 .L15: |
| 256 012e 8091 0000 lds r24,motor_write |
| 257 0132 880F lsl r24 |
| 258 0134 8E5A subi r24,lo8(-(82)) |
| 259 .L84: |
| 260 0136 8093 BB00 sts 187,r24 |
| 261 013a 85E8 ldi r24,lo8(-123) |
| 262 013c 00C0 rjmp .L80 |
| 263 .L17: |
| 264 013e 8091 0000 lds r24,motor_write |
| 265 0142 E82F mov r30,r24 |
| 266 0144 FF27 clr r31 |
| 267 0146 83E0 ldi r24,3 |
| 268 0148 EE0F 1: lsl r30 |
| 269 014a FF1F rol r31 |
| 270 014c 8A95 dec r24 |
| 271 014e 01F4 brne 1b |
| 272 0150 E050 subi r30,lo8(-(Motor)) |
| 273 0152 F040 sbci r31,hi8(-(Motor)) |
| 274 0154 8181 ldd r24,Z+1 |
| 275 0156 8093 BB00 sts 187,r24 |
| 276 015a 85E8 ldi r24,lo8(-123) |
| 277 015c 8093 BC00 sts 188,r24 |
| 278 0160 8091 0000 lds r24,motor_write |
| 279 0164 E82F mov r30,r24 |
| 280 0166 FF27 clr r31 |
| 281 0168 EE0F lsl r30 |
| 282 016a FF1F rol r31 |
| 283 016c EE0F lsl r30 |
| 284 016e FF1F rol r31 |
| 285 0170 EE0F lsl r30 |
| 286 0172 FF1F rol r31 |
| 287 0174 E050 subi r30,lo8(-(Motor)) |
| 288 0176 F040 sbci r31,hi8(-(Motor)) |
| 289 0178 8081 ld r24,Z |
| 290 017a 80FF sbrs r24,0 |
| 291 017c 00C0 rjmp .L25 |
| 292 017e 8091 0000 lds r24,motor_write |
| 293 0182 E82F mov r30,r24 |
| 294 0184 FF27 clr r31 |
| 295 0186 EE0F lsl r30 |
| 296 0188 FF1F rol r31 |
| 297 018a EE0F lsl r30 |
| 298 018c FF1F rol r31 |
| 299 018e EE0F lsl r30 |
| 300 0190 FF1F rol r31 |
| 301 0192 E050 subi r30,lo8(-(Motor)) |
| 302 0194 F040 sbci r31,hi8(-(Motor)) |
| 303 0196 8281 ldd r24,Z+2 |
| 304 0198 8823 tst r24 |
| 305 019a 01F0 breq .L21 |
| 306 019c 8091 0000 lds r24,RequiredMotors |
| 307 01a0 8730 cpi r24,lo8(7) |
| 308 01a2 00F4 brsh .+2 |
| 309 01a4 00C0 rjmp .L9 |
| 310 .L21: |
| 311 01a6 8091 0000 lds r24,BLConfig_WriteMask |
| 312 01aa 9091 0000 lds r25,(BLConfig_WriteMask)+1 |
| 313 01ae 892B or r24,r25 |
| 314 01b0 01F0 breq .+2 |
| 315 01b2 00C0 rjmp .L9 |
| 316 01b4 8091 0000 lds r24,BLConfig_ReadMask |
| 317 01b8 9091 0000 lds r25,(BLConfig_ReadMask)+1 |
| 318 01bc 892B or r24,r25 |
| 319 01be 01F0 breq .+2 |
| 320 01c0 00C0 rjmp .L9 |
| 321 01c2 00C0 rjmp .L25 |
| 322 .L22: |
| 323 01c4 8091 0000 lds r24,motor_write |
| 324 01c8 21E0 ldi r18,lo8(1) |
| 325 01ca 30E0 ldi r19,hi8(1) |
| 326 01cc 00C0 rjmp 2f |
| 327 01ce 220F 1: lsl r18 |
| 328 01d0 331F rol r19 |
| 329 01d2 8A95 2: dec r24 |
| 330 01d4 02F4 brpl 1b |
| 331 01d6 8091 0000 lds r24,BLConfig_ReadMask |
| 332 01da 9091 0000 lds r25,(BLConfig_ReadMask)+1 |
| 333 01de 2823 and r18,r24 |
| 334 01e0 3923 and r19,r25 |
| 335 01e2 232B or r18,r19 |
| 336 01e4 01F0 breq .L23 |
| 337 01e6 8091 0000 lds r24,motor_write |
| 338 01ea E82F mov r30,r24 |
| 339 01ec FF27 clr r31 |
| 340 01ee EE0F lsl r30 |
| 341 01f0 FF1F rol r31 |
| 342 01f2 EE0F lsl r30 |
| 343 01f4 FF1F rol r31 |
| 344 01f6 EE0F lsl r30 |
| 345 01f8 FF1F rol r31 |
| 346 01fa E050 subi r30,lo8(-(Motor)) |
| 347 01fc F040 sbci r31,hi8(-(Motor)) |
| 348 01fe 80E1 ldi r24,lo8(16) |
| 349 0200 8483 std Z+4,r24 |
| 350 0202 00C0 rjmp .L24 |
| 351 .L23: |
| 352 0204 8091 0000 lds r24,motor_write |
| 353 0208 E82F mov r30,r24 |
| 354 020a FF27 clr r31 |
| 355 020c EE0F lsl r30 |
| 356 020e FF1F rol r31 |
| 357 0210 EE0F lsl r30 |
| 358 0212 FF1F rol r31 |
| 359 0214 EE0F lsl r30 |
| 360 0216 FF1F rol r31 |
| 361 0218 E050 subi r30,lo8(-(Motor)) |
| 362 021a F040 sbci r31,hi8(-(Motor)) |
| 363 021c 1482 std Z+4,__zero_reg__ |
| 364 .L24: |
| 365 021e 8091 0000 lds r24,motor_write |
| 366 0222 E82F mov r30,r24 |
| 367 0224 FF27 clr r31 |
| 368 0226 53E0 ldi r21,3 |
| 369 0228 EE0F 1: lsl r30 |
| 370 022a FF1F rol r31 |
| 371 022c 5A95 dec r21 |
| 372 022e 01F4 brne 1b |
| 373 0230 E050 subi r30,lo8(-(Motor)) |
| 374 0232 F040 sbci r31,hi8(-(Motor)) |
| 375 0234 8481 ldd r24,Z+4 |
| 376 0236 282F mov r18,r24 |
| 377 0238 3327 clr r19 |
| 378 023a 43E0 ldi r20,3 |
| 379 023c 220F 1: lsl r18 |
| 380 023e 331F rol r19 |
| 381 0240 4A95 dec r20 |
| 382 0242 01F4 brne 1b |
| 383 0244 8091 0000 lds r24,motor_write |
| 384 0248 E82F mov r30,r24 |
| 385 024a FF27 clr r31 |
| 386 024c 93E0 ldi r25,3 |
| 387 024e EE0F 1: lsl r30 |
| 388 0250 FF1F rol r31 |
| 389 0252 9A95 dec r25 |
| 390 0254 01F4 brne 1b |
| 391 0256 E050 subi r30,lo8(-(Motor)) |
| 392 0258 F040 sbci r31,hi8(-(Motor)) |
| 393 025a 8281 ldd r24,Z+2 |
| 394 025c 8770 andi r24,lo8(7) |
| 395 025e 822B or r24,r18 |
| 396 0260 8093 BB00 sts 187,r24 |
| 397 0264 85E8 ldi r24,lo8(-123) |
| 398 0266 8093 BC00 sts 188,r24 |
| 399 026a 2091 0000 lds r18,motor_write |
| 400 026e 81E0 ldi r24,lo8(1) |
| 401 0270 90E0 ldi r25,hi8(1) |
| 402 0272 00C0 rjmp 2f |
| 403 0274 880F 1: lsl r24 |
| 404 0276 991F rol r25 |
| 405 0278 2A95 2: dec r18 |
| 406 027a 02F4 brpl 1b |
| 407 027c 2091 0000 lds r18,BLConfig_WriteMask |
| 408 0280 3091 0000 lds r19,(BLConfig_WriteMask)+1 |
| 409 0284 8223 and r24,r18 |
| 410 0286 9323 and r25,r19 |
| 411 0288 892B or r24,r25 |
| 412 028a 01F0 breq .L25 |
| 413 028c 80E0 ldi r24,lo8(BLConfig) |
| 414 028e 90E0 ldi r25,hi8(BLConfig) |
| 415 0290 9093 0000 sts (pBuff.2)+1,r25 |
| 416 0294 8093 0000 sts pBuff.2,r24 |
| 417 0298 88E0 ldi r24,lo8(8) |
| 418 029a 8093 0000 sts BuffLen.3,r24 |
| 419 029e 00C0 rjmp .L9 |
| 420 .L25: |
| 421 02a0 84E0 ldi r24,lo8(4) |
| 422 02a2 00C0 rjmp .L82 |
| 423 .L27: |
| 424 02a4 E091 0000 lds r30,pBuff.2 |
| 425 02a8 F091 0000 lds r31,(pBuff.2)+1 |
| 426 02ac 8191 ld r24,Z+ |
| 427 02ae 8093 BB00 sts 187,r24 |
| 428 02b2 85E8 ldi r24,lo8(-123) |
| 429 02b4 8093 BC00 sts 188,r24 |
| 430 02b8 F093 0000 sts (pBuff.2)+1,r31 |
| 431 02bc E093 0000 sts pBuff.2,r30 |
| 432 02c0 8091 0000 lds r24,BuffLen.3 |
| 433 02c4 8150 subi r24,lo8(-(-1)) |
| 434 02c6 8093 0000 sts BuffLen.3,r24 |
| 435 02ca 8823 tst r24 |
| 436 02cc 01F4 brne .+2 |
| 437 02ce 00C0 rjmp .L9 |
| 438 02d0 83E0 ldi r24,lo8(3) |
| 439 02d2 00C0 rjmp .L82 |
| 440 .L29: |
| 441 02d4 8091 B900 lds r24,185 |
| 442 02d8 8033 cpi r24,lo8(48) |
| 443 02da 01F4 brne .L30 |
| 444 02dc 8091 0000 lds r24,missing_motor.0 |
| 445 02e0 8823 tst r24 |
| 446 02e2 01F4 brne .L31 |
| 447 02e4 8091 0000 lds r24,motor_write |
| 448 02e8 8F5F subi r24,lo8(-(1)) |
| 449 02ea 8093 0000 sts missing_motor.0,r24 |
| 450 .L31: |
| 451 02ee 8091 0000 lds r24,motor_write |
| 452 02f2 E82F mov r30,r24 |
| 453 02f4 FF27 clr r31 |
| 454 02f6 83E0 ldi r24,3 |
| 455 02f8 EE0F 1: lsl r30 |
| 456 02fa FF1F rol r31 |
| 457 02fc 8A95 dec r24 |
| 458 02fe 01F4 brne 1b |
| 459 0300 E050 subi r30,lo8(-(Motor)) |
| 460 0302 F040 sbci r31,hi8(-(Motor)) |
| 461 0304 8381 ldd r24,Z+3 |
| 462 0306 9927 clr r25 |
| 463 0308 8F77 andi r24,lo8(127) |
| 464 030a 9070 andi r25,hi8(127) |
| 465 030c 8F37 cpi r24,127 |
| 466 030e 9105 cpc r25,__zero_reg__ |
| 467 0310 04F4 brge .L30 |
| 468 0312 8091 0000 lds r24,motor_write |
| 469 0316 E82F mov r30,r24 |
| 470 0318 FF27 clr r31 |
| 471 031a EE0F lsl r30 |
| 472 031c FF1F rol r31 |
| 473 031e EE0F lsl r30 |
| 474 0320 FF1F rol r31 |
| 475 0322 EE0F lsl r30 |
| 476 0324 FF1F rol r31 |
| 477 0326 E050 subi r30,lo8(-(Motor)) |
| 478 0328 F040 sbci r31,hi8(-(Motor)) |
| 479 032a 8381 ldd r24,Z+3 |
| 480 032c 8F5F subi r24,lo8(-(1)) |
| 481 032e 8383 std Z+3,r24 |
| 482 .L30: |
| 483 0330 1092 0000 sts twi_state,__zero_reg__ |
| 484 0334 84E9 ldi r24,lo8(-108) |
| 485 0336 8093 BC00 sts 188,r24 |
| 486 033a 8AE0 ldi r24,lo8(10) |
| 487 033c 90E0 ldi r25,hi8(10) |
| 488 033e 9093 0000 sts (I2CTimeout)+1,r25 |
| 489 0342 8093 0000 sts I2CTimeout,r24 |
| 490 0346 8091 0000 lds r24,motor_write |
| 491 034a 8F5F subi r24,lo8(-(1)) |
| 492 034c 8093 0000 sts motor_write,r24 |
| 493 0350 1092 0000 sts twi_state,__zero_reg__ |
| 494 0354 00C0 rjmp .L85 |
| 495 .L33: |
| 496 0356 8091 B900 lds r24,185 |
| 497 035a 8034 cpi r24,lo8(64) |
| 498 035c 01F0 breq .L34 |
| 499 035e 8091 0000 lds r24,motor_read |
| 500 0362 E82F mov r30,r24 |
| 501 0364 FF27 clr r31 |
| 502 0366 EE0F lsl r30 |
| 503 0368 FF1F rol r31 |
| 504 036a EE0F lsl r30 |
| 505 036c FF1F rol r31 |
| 506 036e EE0F lsl r30 |
| 507 0370 FF1F rol r31 |
| 508 0372 E050 subi r30,lo8(-(Motor)) |
| 509 0374 F040 sbci r31,hi8(-(Motor)) |
| 510 0376 8381 ldd r24,Z+3 |
| 511 0378 8F77 andi r24,lo8(127) |
| 512 037a 8383 std Z+3,r24 |
| 513 037c 8091 0000 lds r24,motor_read |
| 514 0380 8F5F subi r24,lo8(-(1)) |
| 515 0382 8093 0000 sts motor_read,r24 |
| 516 0386 8091 0000 lds r24,motor_read |
| 517 038a 8C30 cpi r24,lo8(12) |
| 518 038c 00F0 brlo .L35 |
| 519 038e 1092 0000 sts motor_read,__zero_reg__ |
| 520 0392 1092 0000 sts (BLConfig_ReadMask)+1,__zero_reg__ |
| 521 0396 1092 0000 sts BLConfig_ReadMask,__zero_reg__ |
| 522 039a 8091 0000 lds r24,motor_read_temperature.1 |
| 523 039e 8F5F subi r24,lo8(-(1)) |
| 524 03a0 8093 0000 sts motor_read_temperature.1,r24 |
| 525 03a4 8C30 cpi r24,lo8(12) |
| 526 03a6 00F0 brlo .L35 |
| 527 03a8 1092 0000 sts motor_read_temperature.1,__zero_reg__ |
| 528 03ac 8091 0000 lds r24,BLFlags |
| 529 03b0 8D7F andi r24,lo8(-3) |
| 530 03b2 8093 0000 sts BLFlags,r24 |
| 531 .L35: |
| 532 03b6 8091 0000 lds r24,BLFlags |
| 533 03ba 8160 ori r24,lo8(1) |
| 534 03bc 8093 0000 sts BLFlags,r24 |
| 535 03c0 1092 0000 sts twi_state,__zero_reg__ |
| 536 03c4 84E9 ldi r24,lo8(-108) |
| 537 03c6 8093 BC00 sts 188,r24 |
| 538 03ca 1092 0000 sts I2C_TransferActive,__zero_reg__ |
| 539 03ce 00C0 rjmp .L37 |
| 540 .L34: |
| 541 03d0 8091 0000 lds r24,motor_read |
| 542 03d4 E82F mov r30,r24 |
| 543 03d6 FF27 clr r31 |
| 544 03d8 EE0F lsl r30 |
| 545 03da FF1F rol r31 |
| 546 03dc EE0F lsl r30 |
| 547 03de FF1F rol r31 |
| 548 03e0 EE0F lsl r30 |
| 549 03e2 FF1F rol r31 |
| 550 03e4 E050 subi r30,lo8(-(Motor)) |
| 551 03e6 F040 sbci r31,hi8(-(Motor)) |
| 552 03e8 8381 ldd r24,Z+3 |
| 553 03ea 8068 ori r24,lo8(-128) |
| 554 03ec 8383 std Z+3,r24 |
| 555 03ee 8091 0000 lds r24,motor_read |
| 556 03f2 E82F mov r30,r24 |
| 557 03f4 FF27 clr r31 |
| 558 03f6 EE0F lsl r30 |
| 559 03f8 FF1F rol r31 |
| 560 03fa EE0F lsl r30 |
| 561 03fc FF1F rol r31 |
| 562 03fe EE0F lsl r30 |
| 563 0400 FF1F rol r31 |
| 564 0402 E050 subi r30,lo8(-(Motor)) |
| 565 0404 F040 sbci r31,hi8(-(Motor)) |
| 566 0406 8081 ld r24,Z |
| 567 0408 80FF sbrs r24,0 |
| 568 040a 00C0 rjmp .L38 |
| 569 040c 8091 0000 lds r24,motor_read |
| 570 0410 E82F mov r30,r24 |
| 571 0412 FF27 clr r31 |
| 572 0414 53E0 ldi r21,3 |
| 573 0416 EE0F 1: lsl r30 |
| 574 0418 FF1F rol r31 |
| 575 041a 5A95 dec r21 |
| 576 041c 01F4 brne 1b |
| 577 041e E050 subi r30,lo8(-(Motor)) |
| 578 0420 F040 sbci r31,hi8(-(Motor)) |
| 579 0422 8481 ldd r24,Z+4 |
| 580 0424 9927 clr r25 |
| 581 0426 0097 sbiw r24,0 |
| 582 0428 01F0 breq .L41 |
| 583 042a 4097 sbiw r24,16 |
| 584 042c 01F4 brne .L44 |
| 585 042e 80E0 ldi r24,lo8(BLConfig) |
| 586 0430 90E0 ldi r25,hi8(BLConfig) |
| 587 0432 9093 0000 sts (pBuff.2)+1,r25 |
| 588 0436 8093 0000 sts pBuff.2,r24 |
| 589 043a 88E0 ldi r24,lo8(8) |
| 590 043c 00C0 rjmp .L77 |
| 591 .L41: |
| 592 043e 8091 0000 lds r24,motor_read |
| 593 0442 9927 clr r25 |
| 594 0444 43E0 ldi r20,3 |
| 595 0446 880F 1: lsl r24 |
| 596 0448 991F rol r25 |
| 597 044a 4A95 dec r20 |
| 598 044c 01F4 brne 1b |
| 599 044e 8050 subi r24,lo8(-(Motor+5)) |
| 600 0450 9040 sbci r25,hi8(-(Motor+5)) |
| 601 0452 9093 0000 sts (pBuff.2)+1,r25 |
| 602 0456 8093 0000 sts pBuff.2,r24 |
| 603 045a 9091 0000 lds r25,motor_read |
| 604 045e 8091 0000 lds r24,motor_read_temperature.1 |
| 605 0462 9817 cp r25,r24 |
| 606 0464 01F4 brne .L45 |
| 607 0466 83E0 ldi r24,lo8(3) |
| 608 0468 00C0 rjmp .L77 |
| 609 .L38: |
| 610 046a 8091 0000 lds r24,motor_read |
| 611 046e 9927 clr r25 |
| 612 0470 33E0 ldi r19,3 |
| 613 0472 880F 1: lsl r24 |
| 614 0474 991F rol r25 |
| 615 0476 3A95 dec r19 |
| 616 0478 01F4 brne 1b |
| 617 047a 8050 subi r24,lo8(-(Motor+5)) |
| 618 047c 9040 sbci r25,hi8(-(Motor+5)) |
| 619 047e 9093 0000 sts (pBuff.2)+1,r25 |
| 620 0482 8093 0000 sts pBuff.2,r24 |
| 621 0486 8091 0000 lds r24,BLFlags |
| 622 048a 81FD sbrc r24,1 |
| 623 048c 00C0 rjmp .L46 |
| 624 048e 9091 0000 lds r25,motor_read |
| 625 0492 8091 0000 lds r24,motor_read_temperature.1 |
| 626 0496 9817 cp r25,r24 |
| 627 0498 01F4 brne .L45 |
| 628 .L46: |
| 629 049a 82E0 ldi r24,lo8(2) |
| 630 049c 00C0 rjmp .L77 |
| 631 .L45: |
| 632 049e 81E0 ldi r24,lo8(1) |
| 633 .L77: |
| 634 04a0 8093 0000 sts BuffLen.3,r24 |
| 635 .L44: |
| 636 04a4 8091 0000 lds r24,BuffLen.3 |
| 637 04a8 8130 cpi r24,lo8(1) |
| 638 04aa 01F4 brne .L48 |
| 639 04ac 85E8 ldi r24,lo8(-123) |
| 640 04ae 00C0 rjmp .L78 |
| 641 .L48: |
| 642 04b0 85EC ldi r24,lo8(-59) |
| 643 .L78: |
| 644 04b2 8093 BC00 sts 188,r24 |
| 645 .L37: |
| 646 04b6 8091 0000 lds r24,missing_motor.0 |
| 647 04ba 8093 0000 sts MissingMotor,r24 |
| 648 04be 1092 0000 sts missing_motor.0,__zero_reg__ |
| 649 04c2 00C0 rjmp .L9 |
| 650 .L50: |
| 651 04c4 E091 0000 lds r30,pBuff.2 |
| 652 04c8 F091 0000 lds r31,(pBuff.2)+1 |
| 653 04cc 8091 BB00 lds r24,187 |
| 654 04d0 8083 st Z,r24 |
| 655 04d2 8091 0000 lds r24,pBuff.2 |
| 656 04d6 9091 0000 lds r25,(pBuff.2)+1 |
| 657 04da 0196 adiw r24,1 |
| 658 04dc 9093 0000 sts (pBuff.2)+1,r25 |
| 659 04e0 8093 0000 sts pBuff.2,r24 |
| 660 04e4 8091 0000 lds r24,BuffLen.3 |
| 661 04e8 8150 subi r24,lo8(-(-1)) |
| 662 04ea 8093 0000 sts BuffLen.3,r24 |
| 663 04ee 8230 cpi r24,lo8(2) |
| 664 04f0 00F0 brlo .L51 |
| 665 04f2 85EC ldi r24,lo8(-59) |
| 666 04f4 00C0 rjmp .L79 |
| 667 .L51: |
| 668 04f6 8130 cpi r24,lo8(1) |
| 669 04f8 01F4 brne .L53 |
| 670 04fa 85E8 ldi r24,lo8(-123) |
| 671 04fc 00C0 rjmp .L79 |
| 672 .L53: |
| 673 04fe 8091 0000 lds r24,BLFlags |
| 674 0502 81FF sbrs r24,1 |
| 675 0504 00C0 rjmp .L55 |
| 676 0506 8091 0000 lds r24,FC_StatusFlags |
| 677 050a 80FD sbrc r24,0 |
| 678 050c 00C0 rjmp .L56 |
| 679 050e 8091 0000 lds r24,motor_read |
| 680 0512 E82F mov r30,r24 |
| 681 0514 FF27 clr r31 |
| 682 0516 23E0 ldi r18,3 |
| 683 0518 EE0F 1: lsl r30 |
| 684 051a FF1F rol r31 |
| 685 051c 2A95 dec r18 |
| 686 051e 01F4 brne 1b |
| 687 0520 E050 subi r30,lo8(-(Motor)) |
| 688 0522 F040 sbci r31,hi8(-(Motor)) |
| 689 0524 8681 ldd r24,Z+6 |
| 690 0526 8A3F cpi r24,lo8(-6) |
| 691 0528 01F4 brne .L56 |
| 692 052a 8091 0000 lds r24,motor_read |
| 693 052e E82F mov r30,r24 |
| 694 0530 FF27 clr r31 |
| 695 0532 93E0 ldi r25,3 |
| 696 0534 EE0F 1: lsl r30 |
| 697 0536 FF1F rol r31 |
| 698 0538 9A95 dec r25 |
| 699 053a 01F4 brne 1b |
| 700 053c E050 subi r30,lo8(-(Motor)) |
| 701 053e F040 sbci r31,hi8(-(Motor)) |
| 702 0540 8081 ld r24,Z |
| 703 0542 8160 ori r24,lo8(1) |
| 704 0544 8083 st Z,r24 |
| 705 0546 00C0 rjmp .L55 |
| 706 .L56: |
| 707 0548 8091 0000 lds r24,motor_read |
| 708 054c E82F mov r30,r24 |
| 709 054e FF27 clr r31 |
| 710 0550 83E0 ldi r24,3 |
| 711 0552 EE0F 1: lsl r30 |
| 712 0554 FF1F rol r31 |
| 713 0556 8A95 dec r24 |
| 714 0558 01F4 brne 1b |
| 715 055a E050 subi r30,lo8(-(Motor)) |
| 716 055c F040 sbci r31,hi8(-(Motor)) |
| 717 055e 1082 st Z,__zero_reg__ |
| 718 .L55: |
| 719 0560 8091 0000 lds r24,motor_read |
| 720 0564 8F5F subi r24,lo8(-(1)) |
| 721 0566 8093 0000 sts motor_read,r24 |
| 722 056a 8091 0000 lds r24,motor_read |
| 723 056e 8C30 cpi r24,lo8(12) |
| 724 0570 00F0 brlo .L58 |
| 725 0572 1092 0000 sts motor_read,__zero_reg__ |
| 726 0576 1092 0000 sts (BLConfig_ReadMask)+1,__zero_reg__ |
| 727 057a 1092 0000 sts BLConfig_ReadMask,__zero_reg__ |
| 728 057e 8091 0000 lds r24,motor_read_temperature.1 |
| 729 0582 8F5F subi r24,lo8(-(1)) |
| 730 0584 8093 0000 sts motor_read_temperature.1,r24 |
| 731 0588 8C30 cpi r24,lo8(12) |
| 732 058a 00F0 brlo .L58 |
| 733 058c 1092 0000 sts motor_read_temperature.1,__zero_reg__ |
| 734 0590 8091 0000 lds r24,BLFlags |
| 735 0594 8D7F andi r24,lo8(-3) |
| 736 0596 8093 0000 sts BLFlags,r24 |
| 737 .L58: |
| 738 059a 1092 0000 sts twi_state,__zero_reg__ |
| 739 059e 84E9 ldi r24,lo8(-108) |
| 740 05a0 8093 BC00 sts 188,r24 |
| 741 05a4 8091 0000 lds r24,BLFlags |
| 742 05a8 8160 ori r24,lo8(1) |
| 743 05aa 8093 0000 sts BLFlags,r24 |
| 744 05ae 00C0 rjmp .L81 |
| 745 .L79: |
| 746 05b0 8093 BC00 sts 188,r24 |
| 747 05b4 86E0 ldi r24,lo8(6) |
| 748 .L82: |
| 749 05b6 8093 0000 sts twi_state,r24 |
| 750 05ba 00C0 rjmp .L9 |
| 751 .L60: |
| 752 05bc 88E9 ldi r24,lo8(-104) |
| 753 05be 00C0 rjmp .L84 |
| 754 .L61: |
| 755 05c0 8091 0000 lds r24,dac_channel |
| 756 05c4 880F lsl r24 |
| 757 05c6 805F subi r24,lo8(-(16)) |
| 758 05c8 00C0 rjmp .L84 |
| 759 .L62: |
| 760 05ca 8091 0000 lds r24,dac_channel |
| 761 05ce 9927 clr r25 |
| 762 05d0 8130 cpi r24,1 |
| 763 05d2 9105 cpc r25,__zero_reg__ |
| 764 05d4 01F0 breq .L65 |
| 765 05d6 8230 cpi r24,2 |
| 766 05d8 9105 cpc r25,__zero_reg__ |
| 767 05da 04F4 brge .L67 |
| 768 05dc 892B or r24,r25 |
| 769 05de 01F0 breq .L64 |
| 770 05e0 00C0 rjmp .L9 |
| 771 .L67: |
| 772 05e2 0297 sbiw r24,2 |
| 773 05e4 01F0 breq .L66 |
| 774 05e6 00C0 rjmp .L9 |
| 775 .L64: |
| 776 05e8 8091 0000 lds r24,AnalogOffsetNick |
| 777 05ec 00C0 rjmp .L84 |
| 778 .L65: |
| 779 05ee 8091 0000 lds r24,AnalogOffsetRoll |
| 780 05f2 00C0 rjmp .L84 |
| 781 .L66: |
| 782 05f4 8091 0000 lds r24,AnalogOffsetGier |
| 783 05f8 00C0 rjmp .L84 |
| 784 .L68: |
| 785 05fa 80E8 ldi r24,lo8(-128) |
| 786 05fc 00C0 rjmp .L84 |
| 787 .L69: |
| 788 05fe 1092 0000 sts twi_state,__zero_reg__ |
| 789 0602 84E9 ldi r24,lo8(-108) |
| 790 0604 8093 BC00 sts 188,r24 |
| 791 0608 1092 0000 sts I2C_TransferActive,__zero_reg__ |
| 792 060c 8AE0 ldi r24,lo8(10) |
| 793 060e 90E0 ldi r25,hi8(10) |
| 794 0610 9093 0000 sts (I2CTimeout)+1,r25 |
| 795 0614 8093 0000 sts I2CTimeout,r24 |
| 796 0618 8091 0000 lds r24,dac_channel |
| 797 061c 8230 cpi r24,lo8(2) |
| 798 061e 00F4 brsh .L70 |
| 799 0620 8091 0000 lds r24,dac_channel |
| 800 0624 8F5F subi r24,lo8(-(1)) |
| 801 0626 8093 0000 sts dac_channel,r24 |
| 802 062a 82E1 ldi r24,lo8(18) |
| 803 062c 8093 0000 sts twi_state,r24 |
| 804 .L85: |
| 805 0630 8091 0000 lds r24,BLFlags |
| 806 0634 8E7F andi r24,lo8(-2) |
| 807 0636 8093 0000 sts BLFlags,r24 |
| 808 063a 85EA ldi r24,lo8(-91) |
| 809 .L80: |
| 810 063c 8093 BC00 sts 188,r24 |
| 811 0640 00C0 rjmp .L9 |
| 812 .L70: |
| 813 0642 1092 0000 sts dac_channel,__zero_reg__ |
| 814 0646 8091 0000 lds r24,BLFlags |
| 815 064a 8160 ori r24,lo8(1) |
| 816 064c 8093 0000 sts BLFlags,r24 |
| 817 0650 00C0 rjmp .L9 |
| 818 .L72: |
| 819 0652 1092 0000 sts twi_state,__zero_reg__ |
| 820 0656 84E9 ldi r24,lo8(-108) |
| 821 0658 8093 BC00 sts 188,r24 |
| 822 065c 8091 0000 lds r24,BLFlags |
| 823 0660 8160 ori r24,lo8(1) |
| 824 0662 8093 0000 sts BLFlags,r24 |
| 825 0666 8AE0 ldi r24,lo8(10) |
| 826 0668 90E0 ldi r25,hi8(10) |
| 827 066a 9093 0000 sts (I2CTimeout)+1,r25 |
| 828 066e 8093 0000 sts I2CTimeout,r24 |
| 829 0672 1092 0000 sts motor_write,__zero_reg__ |
| 830 0676 1092 0000 sts motor_read,__zero_reg__ |
| 831 .L81: |
| 832 067a 1092 0000 sts I2C_TransferActive,__zero_reg__ |
| 833 .L9: |
| 834 /* epilogue: frame size=0 */ |
| 835 067e FF91 pop r31 |
| 836 0680 EF91 pop r30 |
| 837 0682 9F91 pop r25 |
| 838 0684 8F91 pop r24 |
| 839 0686 5F91 pop r21 |
| 840 0688 4F91 pop r20 |
| 841 068a 3F91 pop r19 |
| 842 068c 2F91 pop r18 |
| 843 068e 0F90 pop __tmp_reg__ |
| 844 0690 0FBE out __SREG__,__tmp_reg__ |
| 845 0692 0F90 pop __tmp_reg__ |
| 846 0694 1F90 pop __zero_reg__ |
| 847 0696 1895 reti |
| 848 /* epilogue end (size=13) */ |
| 849 /* function __vector_26 size 796 (770) */ |
| 851 .global I2C_WriteBLConfig |
| 853 I2C_WriteBLConfig: |
| 854 /* prologue: frame size=0 */ |
| 855 0698 1F93 push r17 |
| 856 069a CF93 push r28 |
| 857 069c DF93 push r29 |
| 858 /* prologue end (size=3) */ |
| 859 069e 182F mov r17,r24 |
| 860 06a0 8091 0000 lds r24,MotorenEin |
| 861 06a4 8823 tst r24 |
| 862 06a6 01F4 brne .L88 |
| 863 06a8 8091 0000 lds r24,PC_MotortestActive |
| 864 06ac 8823 tst r24 |
| 865 06ae 01F0 breq .L87 |
| 866 .L88: |
| 867 06b0 81E0 ldi r24,lo8(1) |
| 868 06b2 90E0 ldi r25,hi8(1) |
| 869 06b4 00C0 rjmp .L86 |
| 870 .L87: |
| 871 06b6 1D30 cpi r17,lo8(13) |
| 872 06b8 00F0 brlo .+2 |
| 873 06ba 00C0 rjmp .L115 |
| 874 06bc 1123 tst r17 |
| 875 06be 01F0 breq .L90 |
| 876 06c0 E12F mov r30,r17 |
| 877 06c2 FF27 clr r31 |
| 878 06c4 23E0 ldi r18,3 |
| 879 06c6 EE0F 1: lsl r30 |
| 880 06c8 FF1F rol r31 |
| 881 06ca 2A95 dec r18 |
| 882 06cc 01F4 brne 1b |
| 883 06ce E050 subi r30,lo8(-(Motor)) |
| 884 06d0 F040 sbci r31,hi8(-(Motor)) |
| 885 06d2 3597 sbiw r30,5 |
| 886 06d4 8081 ld r24,Z |
| 887 06d6 3596 adiw r30,5 |
| 888 06d8 8823 tst r24 |
| 889 06da 04F0 brlt .+2 |
| 890 06dc 00C0 rjmp .L115 |
| 891 06de 3897 sbiw r30,8 |
| 892 06e0 8081 ld r24,Z |
| 893 06e2 80FD sbrc r24,0 |
| 894 06e4 00C0 rjmp .L90 |
| 895 06e6 83E0 ldi r24,lo8(3) |
| 896 06e8 90E0 ldi r25,hi8(3) |
| 897 06ea 00C0 rjmp .L86 |
| 898 .L90: |
| 899 06ec 8091 0000 lds r24,BLConfig |
| 900 06f0 8230 cpi r24,lo8(2) |
| 901 06f2 01F0 breq .L93 |
| 902 06f4 84E0 ldi r24,lo8(4) |
| 903 06f6 90E0 ldi r25,hi8(4) |
| 904 06f8 00C0 rjmp .L86 |
| 905 .L93: |
| 906 06fa 67E0 ldi r22,lo8(7) |
| 907 06fc 70E0 ldi r23,hi8(7) |
| 908 06fe 80E0 ldi r24,lo8(BLConfig) |
| 909 0700 90E0 ldi r25,hi8(BLConfig) |
| 910 0702 0E94 0000 call RAM_Checksum |
| 911 0706 9091 0000 lds r25,BLConfig+7 |
| 912 070a 8917 cp r24,r25 |
| 913 070c 01F0 breq .L94 |
| 914 070e 85E0 ldi r24,lo8(5) |
| 915 0710 90E0 ldi r25,hi8(5) |
| 916 0712 00C0 rjmp .L86 |
| 917 .L94: |
| 918 0714 80ED ldi r24,lo8(2000) |
| 919 0716 97E0 ldi r25,hi8(2000) |
| 920 0718 0E94 0000 call SetDelay |
| 921 071c EC01 movw r28,r24 |
| 922 .L95: |
| 923 071e 8091 0000 lds r24,BLFlags |
| 924 0722 80FD sbrc r24,0 |
| 925 0724 00C0 rjmp .L96 |
| 926 0726 CE01 movw r24,r28 |
| 927 0728 0E94 0000 call CheckDelay |
| 928 072c 8823 tst r24 |
| 929 072e 01F0 breq .L95 |
| 930 .L96: |
| 931 0730 1123 tst r17 |
| 932 0732 01F4 brne .L98 |
| 933 0734 8FEF ldi r24,lo8(255) |
| 934 0736 90E0 ldi r25,hi8(255) |
| 935 0738 00C0 rjmp .L114 |
| 936 .L98: |
| 937 073a 212F mov r18,r17 |
| 938 073c 3327 clr r19 |
| 939 073e 2150 subi r18,lo8(-(-1)) |
| 940 0740 3040 sbci r19,hi8(-(-1)) |
| 941 0742 81E0 ldi r24,lo8(1) |
| 942 0744 90E0 ldi r25,hi8(1) |
| 943 0746 00C0 rjmp 2f |
| 944 0748 880F 1: lsl r24 |
| 945 074a 991F rol r25 |
| 946 074c 2A95 2: dec r18 |
| 947 074e 02F4 brpl 1b |
| 948 .L114: |
| 949 0750 9093 0000 sts (BLConfig_WriteMask)+1,r25 |
| 950 0754 8093 0000 sts BLConfig_WriteMask,r24 |
| 951 0758 A1E0 ldi r26,lo8(1) |
| 952 075a B0E0 ldi r27,hi8(1) |
| 953 075c E0E0 ldi r30,lo8(Motor) |
| 954 075e F0E0 ldi r31,hi8(Motor) |
| 955 0760 40E0 ldi r20,lo8(0) |
| 956 0762 50E0 ldi r21,hi8(0) |
| 957 0764 6BE0 ldi r22,lo8(11) |
| 958 .L104: |
| 959 0766 CD01 movw r24,r26 |
| 960 0768 042E mov r0,r20 |
| 961 076a 00C0 rjmp 2f |
| 962 076c 880F 1: lsl r24 |
| 963 076e 991F rol r25 |
| 964 0770 0A94 2: dec r0 |
| 965 0772 02F4 brpl 1b |
| 966 0774 2091 0000 lds r18,BLConfig_WriteMask |
| 967 0778 3091 0000 lds r19,(BLConfig_WriteMask)+1 |
| 968 077c 8223 and r24,r18 |
| 969 077e 9323 and r25,r19 |
| 970 0780 892B or r24,r25 |
| 971 0782 01F0 breq .L102 |
| 972 0784 1182 std Z+1,__zero_reg__ |
| 973 0786 1282 std Z+2,__zero_reg__ |
| 974 .L102: |
| 975 0788 6150 subi r22,lo8(-(-1)) |
| 976 078a 4F5F subi r20,lo8(-(1)) |
| 977 078c 5F4F sbci r21,hi8(-(1)) |
| 978 078e 3896 adiw r30,8 |
| 979 0790 67FF sbrs r22,7 |
| 980 0792 00C0 rjmp .L104 |
| 981 0794 1092 0000 sts motor_write,__zero_reg__ |
| 982 .L105: |
| 983 0798 1092 0000 sts twi_state,__zero_reg__ |
| 984 079c 8091 0000 lds r24,BLFlags |
| 985 07a0 8E7F andi r24,lo8(-2) |
| 986 07a2 8093 0000 sts BLFlags,r24 |
| 987 07a6 85EA ldi r24,lo8(-91) |
| 988 07a8 8093 BC00 sts 188,r24 |
| 989 .L108: |
| 990 07ac 8091 0000 lds r24,BLFlags |
| 991 07b0 80FD sbrc r24,0 |
| 992 07b2 00C0 rjmp .L109 |
| 993 07b4 CE01 movw r24,r28 |
| 994 07b6 0E94 0000 call CheckDelay |
| 995 07ba 8823 tst r24 |
| 996 07bc 01F0 breq .L108 |
| 997 .L109: |
| 998 07be 8091 0000 lds r24,BLConfig_WriteMask |
| 999 07c2 9091 0000 lds r25,(BLConfig_WriteMask)+1 |
| 1000 07c6 892B or r24,r25 |
| 1001 07c8 01F0 breq .L106 |
| 1002 07ca CE01 movw r24,r28 |
| 1003 07cc 0E94 0000 call CheckDelay |
| 1004 07d0 8823 tst r24 |
| 1005 07d2 01F0 breq .L105 |
| 1006 .L106: |
| 1007 07d4 8091 0000 lds r24,BLConfig_WriteMask |
| 1008 07d8 9091 0000 lds r25,(BLConfig_WriteMask)+1 |
| 1009 07dc 0097 sbiw r24,0 |
| 1010 07de 01F0 breq .L86 |
| 1011 .L115: |
| 1012 07e0 82E0 ldi r24,lo8(2) |
| 1013 07e2 90E0 ldi r25,hi8(2) |
| 1014 .L86: |
| 1015 /* epilogue: frame size=0 */ |
| 1016 07e4 DF91 pop r29 |
| 1017 07e6 CF91 pop r28 |
| 1018 07e8 1F91 pop r17 |
| 1019 07ea 0895 ret |
| 1020 /* epilogue end (size=4) */ |
| 1021 /* function I2C_WriteBLConfig size 172 (165) */ |
| 1023 .global I2C_ReadBLConfig |
| 1025 I2C_ReadBLConfig: |
| 1026 /* prologue: frame size=0 */ |
| 1027 07ec 0F93 push r16 |
| 1028 07ee 1F93 push r17 |
| 1029 07f0 CF93 push r28 |
| 1030 07f2 DF93 push r29 |
| 1031 /* prologue end (size=4) */ |
| 1032 07f4 982F mov r25,r24 |
| 1033 07f6 8091 0000 lds r24,MotorenEin |
| 1034 07fa 8823 tst r24 |
| 1035 07fc 01F4 brne .L118 |
| 1036 07fe 8091 0000 lds r24,PC_MotortestActive |
| 1037 0802 8823 tst r24 |
| 1038 0804 01F0 breq .L117 |
| 1039 .L118: |
| 1040 0806 81E0 ldi r24,lo8(1) |
| 1041 0808 90E0 ldi r25,hi8(1) |
| 1042 080a 00C0 rjmp .L116 |
| 1043 .L117: |
| 1044 080c 9D30 cpi r25,lo8(13) |
| 1045 080e 00F4 brsh .L141 |
| 1046 0810 9923 tst r25 |
| 1047 0812 01F4 brne .L120 |
| 1048 0814 86E0 ldi r24,lo8(6) |
| 1049 0816 90E0 ldi r25,hi8(6) |
| 1050 0818 00C0 rjmp .L116 |
| 1051 .L120: |
| 1052 081a C92F mov r28,r25 |
| 1053 081c DD27 clr r29 |
| 1054 081e FE01 movw r30,r28 |
| 1055 0820 33E0 ldi r19,3 |
| 1056 0822 EE0F 1: lsl r30 |
| 1057 0824 FF1F rol r31 |
| 1058 0826 3A95 dec r19 |
| 1059 0828 01F4 brne 1b |
| 1060 082a E050 subi r30,lo8(-(Motor)) |
| 1061 082c F040 sbci r31,hi8(-(Motor)) |
| 1062 082e 3597 sbiw r30,5 |
| 1063 0830 8081 ld r24,Z |
| 1064 0832 3596 adiw r30,5 |
| 1065 0834 87FD sbrc r24,7 |
| 1066 0836 00C0 rjmp .L121 |
| 1067 .L141: |
| 1068 0838 82E0 ldi r24,lo8(2) |
| 1069 083a 90E0 ldi r25,hi8(2) |
| 1070 083c 00C0 rjmp .L116 |
| 1071 .L121: |
| 1072 083e 3897 sbiw r30,8 |
| 1073 0840 8081 ld r24,Z |
| 1074 0842 80FD sbrc r24,0 |
| 1075 0844 00C0 rjmp .L122 |
| 1076 0846 83E0 ldi r24,lo8(3) |
| 1077 0848 90E0 ldi r25,hi8(3) |
| 1078 084a 00C0 rjmp .L116 |
| 1079 .L122: |
| 1080 084c 80ED ldi r24,lo8(2000) |
| 1081 084e 97E0 ldi r25,hi8(2000) |
| 1082 0850 0E94 0000 call SetDelay |
| 1083 0854 8C01 movw r16,r24 |
| 1084 .L123: |
| 1085 0856 8091 0000 lds r24,BLFlags |
| 1086 085a 80FD sbrc r24,0 |
| 1087 085c 00C0 rjmp .L124 |
| 1088 085e C801 movw r24,r16 |
| 1089 0860 0E94 0000 call CheckDelay |
| 1090 0864 8823 tst r24 |
| 1091 0866 01F0 breq .L123 |
| 1092 .L124: |
| 1093 0868 2197 sbiw r28,1 |
| 1094 086a 21E0 ldi r18,lo8(1) |
| 1095 086c 30E0 ldi r19,hi8(1) |
| 1096 086e C901 movw r24,r18 |
| 1097 0870 00C0 rjmp 2f |
| 1098 0872 880F 1: lsl r24 |
| 1099 0874 991F rol r25 |
| 1100 0876 CA95 2: dec r28 |
| 1101 0878 02F4 brpl 1b |
| 1102 087a 9093 0000 sts (BLConfig_ReadMask)+1,r25 |
| 1103 087e 8093 0000 sts BLConfig_ReadMask,r24 |
| 1104 0882 D901 movw r26,r18 |
| 1105 0884 E0E0 ldi r30,lo8(Motor) |
| 1106 0886 F0E0 ldi r31,hi8(Motor) |
| 1107 0888 40E0 ldi r20,lo8(0) |
| 1108 088a 50E0 ldi r21,hi8(0) |
| 1109 088c 6BE0 ldi r22,lo8(11) |
| 1110 .L130: |
| 1111 088e CD01 movw r24,r26 |
| 1112 0890 042E mov r0,r20 |
| 1113 0892 00C0 rjmp 2f |
| 1114 0894 880F 1: lsl r24 |
| 1115 0896 991F rol r25 |
| 1116 0898 0A94 2: dec r0 |
| 1117 089a 02F4 brpl 1b |
| 1118 089c 2091 0000 lds r18,BLConfig_ReadMask |
| 1119 08a0 3091 0000 lds r19,(BLConfig_ReadMask)+1 |
| 1120 08a4 8223 and r24,r18 |
| 1121 08a6 9323 and r25,r19 |
| 1122 08a8 892B or r24,r25 |
| 1123 08aa 01F0 breq .L128 |
| 1124 08ac 1182 std Z+1,__zero_reg__ |
| 1125 08ae 1282 std Z+2,__zero_reg__ |
| 1126 .L128: |
| 1127 08b0 6150 subi r22,lo8(-(-1)) |
| 1128 08b2 4F5F subi r20,lo8(-(1)) |
| 1129 08b4 5F4F sbci r21,hi8(-(1)) |
| 1130 08b6 3896 adiw r30,8 |
| 1131 08b8 67FF sbrs r22,7 |
| 1132 08ba 00C0 rjmp .L130 |
| 1133 08bc 1092 0000 sts motor_read,__zero_reg__ |
| 1134 08c0 1092 0000 sts BLConfig,__zero_reg__ |
| 1135 08c4 1092 0000 sts BLConfig+7,__zero_reg__ |
| 1136 .L131: |
| 1137 08c8 1092 0000 sts twi_state,__zero_reg__ |
| 1138 08cc 8091 0000 lds r24,BLFlags |
| 1139 08d0 8E7F andi r24,lo8(-2) |
| 1140 08d2 8093 0000 sts BLFlags,r24 |
| 1141 08d6 85EA ldi r24,lo8(-91) |
| 1142 08d8 8093 BC00 sts 188,r24 |
| 1143 .L134: |
| 1144 08dc 8091 0000 lds r24,BLFlags |
| 1145 08e0 80FD sbrc r24,0 |
| 1146 08e2 00C0 rjmp .L135 |
| 1147 08e4 C801 movw r24,r16 |
| 1148 08e6 0E94 0000 call CheckDelay |
| 1149 08ea 8823 tst r24 |
| 1150 08ec 01F0 breq .L134 |
| 1151 .L135: |
| 1152 08ee 8091 0000 lds r24,BLConfig_ReadMask |
| 1153 08f2 9091 0000 lds r25,(BLConfig_ReadMask)+1 |
| 1154 08f6 892B or r24,r25 |
| 1155 08f8 01F0 breq .L132 |
| 1156 08fa C801 movw r24,r16 |
| 1157 08fc 0E94 0000 call CheckDelay |
| 1158 0900 8823 tst r24 |
| 1159 0902 01F0 breq .L131 |
| 1160 .L132: |
| 1161 0904 8091 0000 lds r24,BLConfig |
| 1162 0908 8230 cpi r24,lo8(2) |
| 1163 090a 01F0 breq .L137 |
| 1164 090c 84E0 ldi r24,lo8(4) |
| 1165 090e 90E0 ldi r25,hi8(4) |
| 1166 0910 00C0 rjmp .L116 |
| 1167 .L137: |
| 1168 0912 67E0 ldi r22,lo8(7) |
| 1169 0914 70E0 ldi r23,hi8(7) |
| 1170 0916 80E0 ldi r24,lo8(BLConfig) |
| 1171 0918 90E0 ldi r25,hi8(BLConfig) |
| 1172 091a 0E94 0000 call RAM_Checksum |
| 1173 091e 9091 0000 lds r25,BLConfig+7 |
| 1174 0922 8917 cp r24,r25 |
| 1175 0924 01F0 breq .L138 |
| 1176 0926 85E0 ldi r24,lo8(5) |
| 1177 0928 90E0 ldi r25,hi8(5) |
| 1178 092a 00C0 rjmp .L116 |
| 1179 .L138: |
| 1180 092c 80E0 ldi r24,lo8(0) |
| 1181 092e 90E0 ldi r25,hi8(0) |
| 1182 .L116: |
| 1183 /* epilogue: frame size=0 */ |
| 1184 0930 DF91 pop r29 |
| 1185 0932 CF91 pop r28 |
| 1186 0934 1F91 pop r17 |
| 1187 0936 0F91 pop r16 |
| 1188 0938 0895 ret |
| 1189 /* epilogue end (size=5) */ |
| 1190 /* function I2C_ReadBLConfig size 168 (159) */ |
| 1192 .comm Motor,96,1 |
| 1193 .comm BLConfig,8,1 |
| 1194 /* File "twimaster.c": code 1214 = 0x04be (1170), prologues 20, epilogues 24 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 twimaster.c |
| C:\Temp/ccpDF3o1.s:3 *ABS*:0000003f __SREG__ |
| C:\Temp/ccpDF3o1.s:4 *ABS*:0000003e __SP_H__ |
| C:\Temp/ccpDF3o1.s:5 *ABS*:0000003d __SP_L__ |
| C:\Temp/ccpDF3o1.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\Temp/ccpDF3o1.s:7 *ABS*:00000001 __zero_reg__ |
| C:\Temp/ccpDF3o1.s:15 .bss:00000000 BLConfig_ReadMask |
| C:\Temp/ccpDF3o1.s:21 .bss:00000002 BLConfig_WriteMask |
| C:\Temp/ccpDF3o1.s:27 .bss:00000004 BLFlags |
| C:\Temp/ccpDF3o1.s:33 .bss:00000005 MissingMotor |
| C:\Temp/ccpDF3o1.s:39 .data:00000000 I2CTimeout |
| C:\Temp/ccpDF3o1.s:46 .bss:00000006 I2C_TransferActive |
| C:\Temp/ccpDF3o1.s:52 .bss:00000007 motor_read |
| C:\Temp/ccpDF3o1.s:58 .bss:00000008 motor_write |
| C:\Temp/ccpDF3o1.s:64 .bss:00000009 dac_channel |
| C:\Temp/ccpDF3o1.s:70 .bss:0000000a twi_state |
| C:\Temp/ccpDF3o1.s:75 .text:00000000 I2C_Init |
| *COM*:00000060 Motor |
| C:\Temp/ccpDF3o1.s:126 .text:00000054 I2C_Reset |
| .bss:0000000b missing_motor.0 |
| C:\Temp/ccpDF3o1.s:153 .bss:0000000c motor_read_temperature.1 |
| C:\Temp/ccpDF3o1.s:154 .bss:0000000d pBuff.2 |
| C:\Temp/ccpDF3o1.s:155 .bss:0000000f BuffLen.3 |
| C:\Temp/ccpDF3o1.s:159 .text:00000098 __vector_26 |
| *COM*:00000008 BLConfig |
| C:\Temp/ccpDF3o1.s:853 .text:00000698 I2C_WriteBLConfig |
| C:\Temp/ccpDF3o1.s:1025 .text:000007ec I2C_ReadBLConfig |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| __tablejump2__ |
| Mixer |
| RequiredMotors |
| FC_StatusFlags |
| AnalogOffsetNick |
| AnalogOffsetRoll |
| AnalogOffsetGier |
| MotorenEin |
| PC_MotortestActive |
| RAM_Checksum |
| SetDelay |
| CheckDelay |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/uart.c |
|---|
| 0,0 → 1,795 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software Nutzungsbedingungen (english version: see below) |
| // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
| // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
| // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
| // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
| // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
| // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
| // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
| // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
| // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
| // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
| // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
| // + des Mitverschuldens offen. |
| // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
| // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
| // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
| // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
| // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
| // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
| // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software LICENSING TERMS |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
| // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
| // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
| // + The Software may only be used with the Licensor's products. |
| // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
| // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
| // + agreement shall be the property of the Licensor. |
| // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
| // + features that can be used to identify the program may not be altered or defaced by the customer. |
| // + The customer shall be responsible for taking reasonable precautions |
| // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
| // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
| // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
| // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
| // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
| // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
| // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
| // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
| // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
| // + #### END OF LICENSING TERMS #### |
| // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include <stdarg.h> |
| #include <string.h> |
| #include <avr/pgmspace.h> |
| #include "main.h" |
| #include "uart.h" |
| #include "libfc.h" |
| #include "eeprom.h" |
| #define FC_ADDRESS 1 |
| #define NC_ADDRESS 2 |
| #define MK3MAG_ADDRESS 3 |
| #define BL_CTRL_ADDRESS 5 |
| #define ABO_TIMEOUT 4000 // disable abo after 4 seconds |
| #define MAX_SENDE_BUFF 175 |
| #define MAX_EMPFANGS_BUFF 175 |
| #define BLPARAM_REVISION 1 |
| #define MASK_SET_PWM_SCALING 0x01 |
| #define MASK_SET_CURRENT_LIMIT 0x02 |
| #define MASK_SET_TEMP_LIMIT 0x04 |
| #define MASK_SET_CURRENT_SCALING 0x08 |
| #define MASK_SET_BITCONFIG 0x10 |
| #define MASK_RESET_CAPCOUNTER 0x20 |
| #define MASK_SET_DEFAULT_PARAMS 0x40 |
| #define MASK_SET_SAVE_EEPROM 0x80 |
| unsigned char GetExternalControl = 0,DebugDisplayAnforderung1 = 0, DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0, GetPPMChannelAnforderung = 0; |
| unsigned char DisplayLine = 0; |
| unsigned volatile char SioTmp = 0; |
| unsigned volatile char NeuerDatensatzEmpfangen = 0; |
| unsigned volatile char NeueKoordinateEmpfangen = 0; |
| unsigned volatile char UebertragungAbgeschlossen = 1; |
| unsigned volatile char CntCrcError = 0; |
| unsigned volatile char AnzahlEmpfangsBytes = 0; |
| unsigned volatile char TxdBuffer[MAX_SENDE_BUFF]; |
| unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
| unsigned char *pRxData = 0; |
| unsigned char RxDataLen = 0; |
| unsigned volatile char PC_DebugTimeout = 0; |
| unsigned volatile char PC_MotortestActive = 0; |
| unsigned char DebugTextAnforderung = 255; |
| unsigned char PcZugriff = 100; |
| unsigned char MotorTest[16]; |
| unsigned char MeineSlaveAdresse = 1; // Flight-Ctrl |
| unsigned char ConfirmFrame; |
| struct str_DebugOut DebugOut; |
| struct str_ExternControl ExternControl; |
| struct str_VersionInfo VersionInfo; |
| struct str_WinkelOut WinkelOut; |
| struct str_Data3D Data3D; |
| int Display_Timer, Debug_Timer,Kompass_Timer,Timer3D; |
| unsigned int DebugDataIntervall = 0, Intervall3D = 0, Display_Interval = 0; |
| unsigned int AboTimeOut = 0; |
| unsigned volatile char ReceiverUpdateModeActive = 0; // 1 = Update 2 = JetiBox-Simulation |
| const unsigned char ANALOG_TEXT[32][16] PROGMEM = |
| { |
| //1234567890123456 |
| "AngleNick ", //0 |
| "AngleRoll ", |
| "AccNick ", |
| "AccRoll ", |
| "YawGyro ", |
| "Height Value ", //5 |
| "AccZ ", |
| "Gas ", |
| "Compass Value ", |
| "Voltage [0.1V] ", |
| "Receiver Level ", //10 |
| "Gyro Compass ", |
| "Motor 1 ", |
| "Motor 2 ", |
| "Motor 3 ", |
| "Motor 4 ", //15 |
| "16 ", |
| "17 ", |
| "18 ", |
| "19 ", |
| "Servo ", //20 |
| "Hovergas ", |
| "Current [0.1A] ", |
| "Capacity [mAh] ", |
| "Height Setpoint ", |
| "25 ", //25 |
| "26 ", //"26 CPU OverLoad ", |
| "Compass Setpoint", |
| "I2C-Error ", |
| "BL Limit ", |
| "GPS_Nick ", //30 |
| "GPS_Roll " |
| }; |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //++ Sende-Part der Datenübertragung |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| ISR(USART0_TX_vect) |
| { |
| static unsigned int ptr = 0; |
| unsigned char tmp_tx; |
| if(!UebertragungAbgeschlossen) |
| { |
| ptr++; // die [0] wurde schon gesendet |
| tmp_tx = TxdBuffer[ptr]; |
| if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
| { |
| ptr = 0; |
| UebertragungAbgeschlossen = 1; |
| } |
| UDR0 = tmp_tx; |
| } |
| else ptr = 0; |
| } |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| ISR(USART0_RX_vect) |
| { |
| static unsigned int crc; |
| static unsigned char crc1,crc2,buf_ptr; |
| static unsigned char UartState = 0; |
| unsigned char CrcOkay = 0; |
| if (ReceiverUpdateModeActive == 1) { UDR1 = UDR0; return; } // 1 = Update |
| if (ReceiverUpdateModeActive == 2) { RxdBuffer[0] = UDR0; return; } // 2 = JetiBox-Simulation |
| SioTmp = UDR0; |
| if(buf_ptr >= MAX_SENDE_BUFF) UartState = 0; |
| if(SioTmp == '\r' && UartState == 2) |
| { |
| UartState = 0; |
| crc -= RxdBuffer[buf_ptr-2]; |
| crc -= RxdBuffer[buf_ptr-1]; |
| crc %= 4096; |
| crc1 = '=' + crc / 64; |
| crc2 = '=' + crc % 64; |
| CrcOkay = 0; |
| if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
| if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
| { |
| NeuerDatensatzEmpfangen = 1; |
| AnzahlEmpfangsBytes = buf_ptr + 1; |
| RxdBuffer[buf_ptr] = '\r'; |
| if(RxdBuffer[2] == 'R') |
| { |
| LcdClear(); |
| wdt_enable(WDTO_250MS); // Reset-Commando |
| ServoActive = 0; |
| } |
| } |
| } |
| else |
| switch(UartState) |
| { |
| case 0: |
| if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
| buf_ptr = 0; |
| RxdBuffer[buf_ptr++] = SioTmp; |
| crc = SioTmp; |
| break; |
| case 1: // Adresse auswerten |
| UartState++; |
| RxdBuffer[buf_ptr++] = SioTmp; |
| crc += SioTmp; |
| break; |
| case 2: // Eingangsdaten sammeln |
| RxdBuffer[buf_ptr] = SioTmp; |
| if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
| else UartState = 0; |
| crc += SioTmp; |
| break; |
| default: |
| UartState = 0; |
| break; |
| } |
| } |
| // -------------------------------------------------------------------------- |
| void AddCRC(unsigned int wieviele) |
| { |
| unsigned int tmpCRC = 0,i; |
| for(i = 0; i < wieviele;i++) |
| { |
| tmpCRC += TxdBuffer[i]; |
| } |
| tmpCRC %= 4096; |
| TxdBuffer[i++] = '=' + tmpCRC / 64; |
| TxdBuffer[i++] = '=' + tmpCRC % 64; |
| TxdBuffer[i++] = '\r'; |
| UebertragungAbgeschlossen = 0; |
| UDR0 = TxdBuffer[0]; |
| } |
| // -------------------------------------------------------------------------- |
| void SendOutData(unsigned char cmd,unsigned char address, unsigned char BufferAnzahl, ...) //unsigned char *snd, unsigned char len) |
| { |
| va_list ap; |
| unsigned int pt = 0; |
| unsigned char a,b,c; |
| unsigned char ptr = 0; |
| unsigned char *snd = 0; |
| int len = 0; |
| TxdBuffer[pt++] = '#'; // Startzeichen |
| TxdBuffer[pt++] = 'a' + address; // Adresse (a=0; b=1,...) |
| TxdBuffer[pt++] = cmd; // Commando |
| va_start(ap, BufferAnzahl); |
| if(BufferAnzahl) |
| { |
| snd = va_arg(ap, unsigned char*); |
| len = va_arg(ap, int); |
| ptr = 0; |
| BufferAnzahl--; |
| } |
| while(len) |
| { |
| if(len) |
| { |
| a = snd[ptr++]; |
| len--; |
| if((!len) && BufferAnzahl) |
| { |
| snd = va_arg(ap, unsigned char*); |
| len = va_arg(ap, int); |
| ptr = 0; |
| BufferAnzahl--; |
| } |
| } |
| else a = 0; |
| if(len) |
| { |
| b = snd[ptr++]; |
| len--; |
| if((!len) && BufferAnzahl) |
| { |
| snd = va_arg(ap, unsigned char*); |
| len = va_arg(ap, int); |
| ptr = 0; |
| BufferAnzahl--; |
| } |
| } |
| else b = 0; |
| if(len) |
| { |
| c = snd[ptr++]; |
| len--; |
| if((!len) && BufferAnzahl) |
| { |
| snd = va_arg(ap, unsigned char*); |
| len = va_arg(ap, int); |
| ptr = 0; |
| BufferAnzahl--; |
| } |
| } |
| else c = 0; |
| TxdBuffer[pt++] = '=' + (a >> 2); |
| TxdBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
| TxdBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
| TxdBuffer[pt++] = '=' + ( c & 0x3f); |
| } |
| va_end(ap); |
| AddCRC(pt); |
| } |
| // -------------------------------------------------------------------------- |
| void Decode64(void) // die daten werden im rx buffer dekodiert, das geht nur, weil aus 4 byte immer 3 gemacht werden. |
| { |
| unsigned char a,b,c,d; |
| unsigned char x,y,z; |
| unsigned char ptrIn = 3; // start at begin of data block |
| unsigned char ptrOut = 3; |
| unsigned char len = AnzahlEmpfangsBytes - 6; // von der Gesamtbytezahl eines Frames gehen 3 Bytes des Headers ('#',Addr, Cmd) und 3 Bytes des Footers (CRC1, CRC2, '\r') ab. |
| while(len) |
| { |
| a = RxdBuffer[ptrIn++] - '='; |
| b = RxdBuffer[ptrIn++] - '='; |
| c = RxdBuffer[ptrIn++] - '='; |
| d = RxdBuffer[ptrIn++] - '='; |
| x = (a << 2) | (b >> 4); |
| y = ((b & 0x0f) << 4) | (c >> 2); |
| z = ((c & 0x03) << 6) | d; |
| if(len--) RxdBuffer[ptrOut++] = x; else break; |
| if(len--) RxdBuffer[ptrOut++] = y; else break; |
| if(len--) RxdBuffer[ptrOut++] = z; else break; |
| } |
| pRxData = (unsigned char*)&RxdBuffer[3]; // decodierte Daten beginnen beim 4. Byte |
| RxDataLen = ptrOut - 3; // wie viele Bytes wurden dekodiert? |
| } |
| // -------------------------------------------------------------------------- |
| void BearbeiteRxDaten(void) |
| { |
| if(!NeuerDatensatzEmpfangen) return; |
| unsigned char tempchar1, tempchar2; |
| Decode64(); // dekodiere datenblock im Empfangsbuffer |
| switch(RxdBuffer[1]-'a') // check for Slave Address |
| { |
| case FC_ADDRESS: // FC special commands |
| switch(RxdBuffer[2]) |
| { |
| case 'K':// Kompasswert |
| memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
| // KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180; |
| break; |
| case 't':// Motortest |
| if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
| else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
| PC_MotortestActive = 240; |
| //while(!UebertragungAbgeschlossen); |
| //SendOutData('T', MeineSlaveAdresse, 0); |
| PcZugriff = 255; |
| break; |
| case 'n':// "Get Mixer |
| while(!UebertragungAbgeschlossen); |
| SendOutData('N', FC_ADDRESS, 1, (unsigned char *) &Mixer, sizeof(Mixer) - 1); |
| Debug("Mixer lesen"); |
| break; |
| case 'm':// "Write Mixer |
| if(pRxData[0] == EEMIXER_REVISION) |
| { |
| memcpy(&Mixer, (unsigned char *)pRxData, sizeof(Mixer) - 1); |
| MixerTable_WriteToEEProm(); |
| tempchar1 = 1; |
| VersionInfo.HardwareError[1] &= ~FC_ERROR1_MIXER; |
| } |
| else |
| { |
| tempchar1 = 0; |
| } |
| while(!UebertragungAbgeschlossen); |
| SendOutData('M', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
| break; |
| case 'p': // get PPM Channels |
| GetPPMChannelAnforderung = 1; |
| PcZugriff = 255; |
| break; |
| case 'q':// "Get"-Anforderung für Settings |
| // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| if((10 <= pRxData[0]) && (pRxData[0] < 20)) |
| { |
| tempchar1 = pRxData[0] - 10; |
| if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
| else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
| SetDefaultParameter(tempchar1, 1); |
| } |
| else if((20 <= pRxData[0]) && (pRxData[0] < 30)) |
| { |
| tempchar1 = pRxData[0] - 20; |
| if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
| else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
| SetDefaultParameter(tempchar1, 0); |
| } |
| else |
| { |
| tempchar1 = pRxData[0]; |
| if(tempchar1 == 0xFF) |
| { |
| tempchar1 = GetActiveParamSet(); |
| } |
| if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
| else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
| // load requested parameter set |
| ParamSet_ReadFromEEProm(tempchar1); |
| } |
| while(!UebertragungAbgeschlossen); |
| SendOutData('Q', FC_ADDRESS, 2, &tempchar1, sizeof(tempchar1), (unsigned char *) &EE_Parameter, sizeof(EE_Parameter) - 1); |
| Debug("Lese Setting %d", tempchar1); |
| break; |
| case 's': // Parametersatz speichern |
| if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EEPARAM_REVISION) && MotorenEin == 0) // check for setting to be in range |
| { |
| memcpy(&EE_Parameter, (uint8_t*)&pRxData[1], sizeof(EE_Parameter) - 1); |
| ParamSet_WriteToEEProm(pRxData[0]); |
| Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
| Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
| tempchar1 = GetActiveParamSet(); |
| } |
| else |
| { |
| tempchar1 = 0; // mark in response an invlid setting |
| } |
| while(!UebertragungAbgeschlossen); |
| SendOutData('S', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
| if(!MotorenEin) Piep(tempchar1,110); |
| LipoDetection(0); |
| LIBFC_ReceiverInit(EE_Parameter.Receiver); |
| break; |
| case 'f': // auf anderen Parametersatz umschalten |
| if((1 <= pRxData[0]) && (pRxData[0] <= 5)) ParamSet_ReadFromEEProm(pRxData[0]); |
| tempchar1 = GetActiveParamSet(); |
| while(!UebertragungAbgeschlossen); |
| SendOutData('F', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
| if(!MotorenEin) Piep(tempchar1,110); |
| LipoDetection(0); |
| LIBFC_ReceiverInit(EE_Parameter.Receiver); |
| break; |
| case 'y':// serial Potis |
| PPM_in[13] = (signed char) pRxData[0]; PPM_in[14] = (signed char) pRxData[1]; PPM_in[15] = (signed char) pRxData[2]; PPM_in[16] = (signed char) pRxData[3]; |
| PPM_in[17] = (signed char) pRxData[4]; PPM_in[18] = (signed char) pRxData[5]; PPM_in[19] = (signed char) pRxData[6]; PPM_in[20] = (signed char) pRxData[7]; |
| PPM_in[21] = (signed char) pRxData[8]; PPM_in[22] = (signed char) pRxData[9]; PPM_in[23] = (signed char) pRxData[10]; PPM_in[24] = (signed char) pRxData[11]; |
| break; |
| case 'u': // request BL parameter |
| Debug("Reading BL %d", pRxData[0]); |
| // try to read BL configuration |
| tempchar2 = I2C_ReadBLConfig(pRxData[0]); |
| if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1; |
| else tempchar1 = 0; |
| while(!UebertragungAbgeschlossen); // wait for previous frame to be sent |
| SendOutData('U', FC_ADDRESS, 4, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2), &pRxData[0], 1, &BLConfig, sizeof(BLConfig_t)); |
| break; |
| case 'w': // write BL parameter |
| Debug("Writing BL %d", pRxData[0]); |
| if(RxDataLen >= 1+sizeof(BLConfig_t)) |
| { |
| memcpy(&BLConfig, (uint8_t*)(&pRxData[1]), sizeof(BLConfig_t)); |
| tempchar2 = I2C_WriteBLConfig(pRxData[0]); |
| if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1; |
| else tempchar1 = 0; // indicate error |
| while(!UebertragungAbgeschlossen); // wait for previous frame to be sent |
| SendOutData('W', FC_ADDRESS,2, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2)); |
| } |
| break; |
| case 'j': |
| if(MotorenEin) break; |
| tempchar1 = LIBFC_GetCPUType(); |
| if((tempchar1 == CPU_ATMEGA644P) || (tempchar1 == CPU_ATMEGA1284P)) |
| { |
| uint16_t ubrr = (uint16_t) ((uint32_t) F_CPU/ (8 * 38400L) - 1); |
| cli(); |
| // UART0 & UART1 disable RX and TX-Interrupt |
| UCSR0B &= ~((1 << RXCIE0)|(1 << TXCIE0)); |
| UCSR1B &= ~((1 << RXCIE1)|(1 << TXCIE1)); |
| // UART0 & UART1 disable receiver and transmitter |
| UCSR0B &= ~((1 << TXEN0) | (1 << RXEN0)); |
| UCSR1B &= ~((1 << TXEN1) | (1 << RXEN1)); |
| // UART0 & UART1 flush receive buffer explicit |
| while ( UCSR1A & (1<<RXC1) ) UDR1; |
| while ( UCSR0A & (1<<RXC0) ) UDR0; |
| if(pRxData[0] == 1) ReceiverUpdateModeActive = 2; |
| else |
| { // Jeti or HoTT update |
| //#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| if(pRxData[0] == 100) ubrr = (uint16_t) ((uint32_t) F_CPU/ (8 * 19200L) - 1); // HoTT |
| //#endif |
| ReceiverUpdateModeActive = 1; |
| // UART0 & UART1 set baudrate |
| UBRR1H = (uint8_t)(ubrr>>8); |
| UBRR1L = (uint8_t)ubrr; |
| UBRR0H = UBRR1H; |
| UBRR0L = UBRR1L; |
| // UART1 no parity |
| UCSR1C &= ~(1 << UPM11); |
| UCSR1C &= ~(1 << UPM10); |
| // UART1 8-bit |
| UCSR1B &= ~(1 << UCSZ12); |
| UCSR1C |= (1 << UCSZ11); |
| UCSR1C |= (1 << UCSZ10); |
| } |
| // UART0 & UART1 1 stop bit |
| UCSR1C &= ~(1 << USBS1); |
| UCSR0C &= ~(1 << USBS0); |
| // UART1 clear 9th bit |
| UCSR1B &= ~(1<<TXB81); |
| // enable receiver and transmitter for UART0 and UART1 |
| UCSR0B |= (1 << TXEN0) | (1 << RXEN0); |
| UCSR1B |= (1 << TXEN1) | (1 << RXEN1); |
| // enable RX-Interrupt for UART0 and UART1 |
| UCSR0B |= (1 << RXCIE0); |
| UCSR1B |= (1 << RXCIE1); |
| // disable other Interrupts |
| TIMSK0 = 0; |
| TIMSK1 = 0; |
| TIMSK2 = 0; |
| sei(); |
| } |
| break; |
| } // case FC_ADDRESS: |
| default: // any Slave Address |
| switch(RxdBuffer[2]) |
| { |
| // 't' comand placed here only for compatibility to BL |
| case 't':// Motortest |
| if(AnzahlEmpfangsBytes >= sizeof(MotorTest)) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
| else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
| while(!UebertragungAbgeschlossen); |
| SendOutData('T', MeineSlaveAdresse, 0); |
| PC_MotortestActive = 250; |
| PcZugriff = 255; |
| AboTimeOut = SetDelay(ABO_TIMEOUT); |
| break; |
| // 'K' comand placed here only for compatibility to old MK3MAG software, that does not send the right Slave Address |
| case 'K':// Kompasswert |
| memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
| // KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180; |
| break; |
| case 'a':// Texte der Analogwerte |
| DebugTextAnforderung = pRxData[0]; |
| if (DebugTextAnforderung > 31) DebugTextAnforderung = 31; |
| PcZugriff = 255; |
| break; |
| case 'b': |
| memcpy((unsigned char *)&ExternControl, (unsigned char *)pRxData, sizeof(ExternControl)); |
| ConfirmFrame = ExternControl.Frame; |
| PcZugriff = 255; |
| break; |
| case 'c': // Poll the 3D-Data |
| if(!Intervall3D) { if(pRxData[0]) Timer3D = SetDelay(pRxData[0] * 10);} |
| Intervall3D = pRxData[0] * 10; |
| AboTimeOut = SetDelay(ABO_TIMEOUT); |
| break; |
| case 'd': // Poll the debug data |
| PcZugriff = 255; |
| DebugDataIntervall = (unsigned int)pRxData[0] * 10; |
| if(DebugDataIntervall > 0) DebugDataAnforderung = 1; |
| AboTimeOut = SetDelay(ABO_TIMEOUT); |
| break; |
| case 'h':// x-1 Displayzeilen |
| PcZugriff = 255; |
| if((pRxData[0] & 0x80) == 0x00) // old format |
| { |
| DisplayLine = 2; |
| Display_Interval = 0; |
| } |
| else // new format |
| { |
| RemoteKeys |= ~pRxData[0]; |
| Display_Interval = (unsigned int)pRxData[1] * 10; |
| DisplayLine = 4; |
| AboTimeOut = SetDelay(ABO_TIMEOUT); |
| } |
| DebugDisplayAnforderung = 1; |
| break; |
| case 'l':// x-1 Displayzeilen |
| PcZugriff = 255; |
| MenuePunkt = pRxData[0]; |
| DebugDisplayAnforderung1 = 1; |
| break; |
| case 'v': // Version-Anforderung und Ausbaustufe |
| GetVersionAnforderung = 1; |
| break; |
| case 'g':// |
| GetExternalControl = 1; |
| break; |
| default: |
| //unsupported command received |
| break; |
| } |
| break; // default: |
| } |
| NeuerDatensatzEmpfangen = 0; |
| pRxData = 0; |
| RxDataLen = 0; |
| } |
| //############################################################################ |
| //Routine für die Serielle Ausgabe |
| void uart_putchar (char c) |
| //############################################################################ |
| { |
| //Warten solange bis Zeichen gesendet wurde |
| loop_until_bit_is_set(UCSR0A, UDRE0); |
| //Ausgabe des Zeichens |
| UDR0 = c; |
| } |
| //############################################################################ |
| //INstallation der Seriellen Schnittstelle |
| void UART_Init (void) |
| //############################################################################ |
| { |
| unsigned int ubrr = (unsigned int) ((unsigned long) F_CPU/(8 * USART0_BAUD) - 1); |
| //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
| UCSR0B = (1 << TXEN0) | (1 << RXEN0); |
| // UART Double Speed (U2X) |
| UCSR0A |= (1 << U2X0); |
| // RX-Interrupt Freigabe |
| UCSR0B |= (1 << RXCIE0); |
| // TX-Interrupt Freigabe |
| UCSR0B |= (1 << TXCIE0); |
| // USART0 Baud Rate Register |
| // set clock divider |
| UBRR0H = (uint8_t)(ubrr >> 8); |
| UBRR0L = (uint8_t)ubrr; |
| Debug_Timer = SetDelay(DebugDataIntervall); |
| Kompass_Timer = SetDelay(220); |
| VersionInfo.SWMajor = VERSION_MAJOR; |
| VersionInfo.SWMinor = VERSION_MINOR; |
| VersionInfo.SWPatch = VERSION_PATCH; |
| VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
| VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
| pRxData = 0; |
| RxDataLen = 0; |
| } |
| //--------------------------------------------------------------------------------------------- |
| void DatenUebertragung(void) |
| { |
| if(!UebertragungAbgeschlossen) return; |
| if(CheckDelay(AboTimeOut)) |
| { |
| Display_Interval = 0; |
| DebugDataIntervall = 0; |
| Intervall3D = 0; |
| } |
| if(((Display_Interval>0 && CheckDelay(Display_Timer)) || DebugDisplayAnforderung) && UebertragungAbgeschlossen) |
| { |
| if(DisplayLine > 3)// new format |
| { |
| Menu(); |
| SendOutData('H', FC_ADDRESS, 1, (uint8_t *)DisplayBuff, 80); |
| } |
| else // old format |
| { |
| LCD_printfxy(0,0,"!!! INCOMPATIBLE !!!"); |
| SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), (uint8_t *)DisplayBuff, 20); |
| if(DisplayLine++ > 3) DisplayLine = 0; |
| } |
| Display_Timer = SetDelay(Display_Interval); |
| DebugDisplayAnforderung = 0; |
| } |
| if(DebugDisplayAnforderung1 && UebertragungAbgeschlossen) |
| { |
| Menu(); |
| SendOutData('L', FC_ADDRESS, 3, &MenuePunkt, sizeof(MenuePunkt), &MaxMenue, sizeof(MaxMenue), DisplayBuff, sizeof(DisplayBuff)); |
| DebugDisplayAnforderung1 = 0; |
| } |
| if(GetVersionAnforderung && UebertragungAbgeschlossen) |
| { |
| SendOutData('V', FC_ADDRESS, 1, (unsigned char *) &VersionInfo, sizeof(VersionInfo)); |
| GetVersionAnforderung = 0; |
| Debug_OK("Version gesendet"); |
| } |
| if(GetExternalControl && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| { |
| SendOutData('G',MeineSlaveAdresse, 1, (unsigned char *) &ExternControl, sizeof(ExternControl)); |
| GetExternalControl = 0; |
| } |
| if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
| { |
| WinkelOut.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| WinkelOut.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| WinkelOut.UserParameter[0] = Parameter_UserParam1; |
| WinkelOut.UserParameter[1] = Parameter_UserParam2; |
| SendOutData('k', MK3MAG_ADDRESS, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
| if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
| Kompass_Timer = SetDelay(99); |
| } |
| if(((DebugDataIntervall>0 && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
| { |
| CopyDebugValues(); |
| SendOutData('D', FC_ADDRESS, 1, (unsigned char *) &DebugOut,sizeof(DebugOut)); |
| DebugDataAnforderung = 0; |
| if(DebugDataIntervall>0) Debug_Timer = SetDelay(DebugDataIntervall); |
| } |
| if(Intervall3D > 0 && CheckDelay(Timer3D) && UebertragungAbgeschlossen) |
| { |
| Data3D.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| Data3D.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| Data3D.Winkel[2] = (int) ((10 * ErsatzKompass) / GIER_GRAD_FAKTOR); |
| Data3D.Centroid[0] = SummeNick >> 9; |
| Data3D.Centroid[1] = SummeRoll >> 9; |
| Data3D.Centroid[2] = Mess_Integral_Gier >> 9; |
| SendOutData('C', FC_ADDRESS, 1, (unsigned char *) &Data3D,sizeof(Data3D)); |
| Timer3D = SetDelay(Intervall3D); |
| } |
| if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
| { |
| unsigned char label[16]; // local sram buffer |
| memcpy_P(label, ANALOG_TEXT[DebugTextAnforderung], 16); // read lable from flash to sra |
| SendOutData('A', FC_ADDRESS, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),label, 16); |
| DebugTextAnforderung = 255; |
| } |
| if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz bestätigen |
| { |
| SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
| ConfirmFrame = 0; |
| } |
| if(GetPPMChannelAnforderung && UebertragungAbgeschlossen) |
| { |
| SendOutData('P', FC_ADDRESS, 1, (unsigned char *) &PPM_in, sizeof(PPM_in)); |
| GetPPMChannelAnforderung = 0; |
| } |
| #ifdef DEBUG // only include functions if DEBUG is defined |
| if(SendDebugOutput && UebertragungAbgeschlossen) |
| { |
| SendOutData('0', FC_ADDRESS, 1, (unsigned char *) &tDebug, sizeof(tDebug)); |
| SendDebugOutput = 0; |
| } |
| #endif |
| } |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/uart.h |
|---|
| 0,0 → 1,107 |
| #ifndef _UART_H |
| #define _UART_H |
| #define printf_P(format, args...) _printf_P(&uart_putchar, format , ## args) |
| #define printf(format, args...) _printf_P(&uart_putchar, PSTR(format) , ## args) |
| void BearbeiteRxDaten(void); |
| extern unsigned char DebugGetAnforderung; |
| extern unsigned volatile char ReceiverUpdateModeActive; |
| extern unsigned volatile char UebertragungAbgeschlossen; |
| extern unsigned volatile char PC_DebugTimeout; |
| extern unsigned volatile char NeueKoordinateEmpfangen; |
| extern unsigned volatile char PC_MotortestActive; |
| extern unsigned char MeineSlaveAdresse; |
| extern unsigned char PcZugriff; |
| extern unsigned char RemotePollDisplayLine; |
| extern unsigned volatile char RxdBuffer[]; |
| extern int Debug_Timer,Kompass_Timer; |
| extern void UART_Init (void); |
| extern void uart_putchar (char c); |
| //extern void boot_program_page (uint32_t page, uint8_t *buf); |
| extern void DatenUebertragung(void); |
| extern void Uart1Init(void); |
| extern void BearbeiteRxDaten(void); |
| extern unsigned char MotorTest[16]; |
| struct str_DebugOut |
| { |
| unsigned char Status[2]; |
| signed int Analog[32]; // Debugwerte |
| }; |
| extern struct str_DebugOut DebugOut; |
| struct str_WinkelOut |
| { |
| signed int Winkel[2]; |
| unsigned char UserParameter[2]; |
| unsigned char CalcState; |
| unsigned char Orientation; |
| }; |
| extern struct str_WinkelOut WinkelOut; |
| struct str_Data3D |
| { |
| signed int Winkel[3]; // nick, roll, compass in 0,1° |
| signed char Centroid[3]; |
| signed char reserve[5]; |
| }; |
| extern struct str_Data3D Data3D; |
| struct str_ExternControl |
| { |
| unsigned char Digital[2]; |
| unsigned char RemoteTasten; |
| signed char Nick; |
| signed char Roll; |
| signed char Gier; |
| unsigned char Gas; |
| signed char Hight; |
| unsigned char free; |
| unsigned char Frame; |
| unsigned char Config; |
| }; |
| extern struct str_ExternControl ExternControl; |
| // FC hardware errors |
| // bitmask for UART_VersionInfo_t.HardwareError[0] |
| #define FC_ERROR0_GYRO_NICK 0x01 |
| #define FC_ERROR0_GYRO_ROLL 0x02 |
| #define FC_ERROR0_GYRO_YAW 0x04 |
| #define FC_ERROR0_ACC_NICK 0x08 |
| #define FC_ERROR0_ACC_ROLL 0x10 |
| #define FC_ERROR0_ACC_TOP 0x20 |
| #define FC_ERROR0_PRESSURE 0x40 |
| #define FC_ERROR0_CAREFREE 0x80 |
| // bitmask for UART_VersionInfo_t.HardwareError[1] |
| #define FC_ERROR1_I2C 0x01 |
| #define FC_ERROR1_BL_MISSING 0x02 |
| #define FC_ERROR1_SPI_RX 0x04 |
| #define FC_ERROR1_PPM 0x08 |
| #define FC_ERROR1_MIXER 0x10 |
| #define FC_ERROR1_RES1 0x20 |
| #define FC_ERROR1_RES2 0x40 |
| #define FC_ERROR1_RES3 0x80 |
| struct str_VersionInfo |
| { |
| unsigned char SWMajor; |
| unsigned char SWMinor; |
| unsigned char ProtoMajor; |
| unsigned char ProtoMinor; |
| unsigned char SWPatch; |
| unsigned char HardwareError[5]; |
| }; |
| extern struct str_VersionInfo VersionInfo; |
| //#define USART0_BAUD 9600 |
| //#define USART0_BAUD 14400 |
| //#define USART0_BAUD 28800 |
| //#define USART0_BAUD 38400 |
| #define USART0_BAUD 57600 |
| #endif //_UART_H |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/uart.lst |
|---|
| 0,0 → 1,2665 |
| 1 .file "uart.c" |
| 2 .arch atmega1284p |
| 3 __SREG__ = 0x3f |
| 4 __SP_H__ = 0x3e |
| 5 __SP_L__ = 0x3d |
| 6 __tmp_reg__ = 0 |
| 7 __zero_reg__ = 1 |
| 8 .global __do_copy_data |
| 9 .global __do_clear_bss |
| 10 .global ANALOG_TEXT |
| 11 .section .progmem.data,"a",@progbits |
| 14 ANALOG_TEXT: |
| 15 0000 416E 676C .ascii "AngleNick " |
| 15 654E 6963 |
| 15 6B20 2020 |
| 15 2020 2020 |
| 16 0010 416E 676C .ascii "AngleRoll " |
| 16 6552 6F6C |
| 16 6C20 2020 |
| 16 2020 2020 |
| 17 0020 4163 634E .ascii "AccNick " |
| 17 6963 6B20 |
| 17 2020 2020 |
| 17 2020 2020 |
| 18 0030 4163 6352 .ascii "AccRoll " |
| 18 6F6C 6C20 |
| 18 2020 2020 |
| 18 2020 2020 |
| 19 0040 5961 7747 .ascii "YawGyro " |
| 19 7972 6F20 |
| 19 2020 2020 |
| 19 2020 2020 |
| 20 0050 4865 6967 .ascii "Height Value " |
| 20 6874 2056 |
| 20 616C 7565 |
| 20 2020 2020 |
| 21 0060 4163 635A .ascii "AccZ " |
| 21 2020 2020 |
| 21 2020 2020 |
| 21 2020 2020 |
| 22 0070 4761 7320 .ascii "Gas " |
| 22 2020 2020 |
| 22 2020 2020 |
| 22 2020 2020 |
| 23 0080 436F 6D70 .ascii "Compass Value " |
| 23 6173 7320 |
| 23 5661 6C75 |
| 23 6520 2020 |
| 24 0090 566F 6C74 .ascii "Voltage [0.1V] " |
| 24 6167 6520 |
| 24 5B30 2E31 |
| 24 565D 2020 |
| 25 00a0 5265 6365 .ascii "Receiver Level " |
| 25 6976 6572 |
| 25 204C 6576 |
| 25 656C 2020 |
| 26 00b0 4779 726F .ascii "Gyro Compass " |
| 26 2043 6F6D |
| 26 7061 7373 |
| 26 2020 2020 |
| 27 00c0 4D6F 746F .ascii "Motor 1 " |
| 27 7220 3120 |
| 27 2020 2020 |
| 27 2020 2020 |
| 28 00d0 4D6F 746F .ascii "Motor 2 " |
| 28 7220 3220 |
| 28 2020 2020 |
| 28 2020 2020 |
| 29 00e0 4D6F 746F .ascii "Motor 3 " |
| 29 7220 3320 |
| 29 2020 2020 |
| 29 2020 2020 |
| 30 00f0 4D6F 746F .ascii "Motor 4 " |
| 30 7220 3420 |
| 30 2020 2020 |
| 30 2020 2020 |
| 31 0100 3136 2020 .ascii "16 " |
| 31 2020 2020 |
| 31 2020 2020 |
| 31 2020 2020 |
| 32 0110 3137 2020 .ascii "17 " |
| 32 2020 2020 |
| 32 2020 2020 |
| 32 2020 2020 |
| 33 0120 3138 2020 .ascii "18 " |
| 33 2020 2020 |
| 33 2020 2020 |
| 33 2020 2020 |
| 34 0130 3139 2020 .ascii "19 " |
| 34 2020 2020 |
| 34 2020 2020 |
| 34 2020 2020 |
| 35 0140 5365 7276 .ascii "Servo " |
| 35 6F20 2020 |
| 35 2020 2020 |
| 35 2020 2020 |
| 36 0150 486F 7665 .ascii "Hovergas " |
| 36 7267 6173 |
| 36 2020 2020 |
| 36 2020 2020 |
| 37 0160 4375 7272 .ascii "Current [0.1A] " |
| 37 656E 7420 |
| 37 5B30 2E31 |
| 37 415D 2020 |
| 38 0170 4361 7061 .ascii "Capacity [mAh] " |
| 38 6369 7479 |
| 38 205B 6D41 |
| 38 685D 2020 |
| 39 0180 4865 6967 .ascii "Height Setpoint " |
| 39 6874 2053 |
| 39 6574 706F |
| 39 696E 7420 |
| 40 0190 3235 2020 .ascii "25 " |
| 40 2020 2020 |
| 40 2020 2020 |
| 40 2020 2020 |
| 41 01a0 3236 2020 .ascii "26 " |
| 41 2020 2020 |
| 41 2020 2020 |
| 41 2020 2020 |
| 42 01b0 436F 6D70 .ascii "Compass Setpoint" |
| 42 6173 7320 |
| 42 5365 7470 |
| 42 6F69 6E74 |
| 43 01c0 4932 432D .ascii "I2C-Error " |
| 43 4572 726F |
| 43 7220 2020 |
| 43 2020 2020 |
| 44 01d0 424C 204C .ascii "BL Limit " |
| 44 696D 6974 |
| 44 2020 2020 |
| 44 2020 2020 |
| 45 01e0 4750 535F .ascii "GPS_Nick " |
| 45 4E69 636B |
| 45 2020 2020 |
| 45 2020 2020 |
| 46 01f0 4750 535F .ascii "GPS_Roll " |
| 46 526F 6C6C |
| 46 2020 2020 |
| 46 2020 2020 |
| 47 .global ReceiverUpdateModeActive |
| 48 .global ReceiverUpdateModeActive |
| 49 .section .bss |
| 52 ReceiverUpdateModeActive: |
| 53 0000 00 .skip 1,0 |
| 54 .global AboTimeOut |
| 55 .global AboTimeOut |
| 58 AboTimeOut: |
| 59 0001 0000 .skip 2,0 |
| 60 .global Display_Interval |
| 61 .global Display_Interval |
| 64 Display_Interval: |
| 65 0003 0000 .skip 2,0 |
| 66 .global Intervall3D |
| 67 .global Intervall3D |
| 70 Intervall3D: |
| 71 0005 0000 .skip 2,0 |
| 72 .global DebugDataIntervall |
| 73 .global DebugDataIntervall |
| 76 DebugDataIntervall: |
| 77 0007 0000 .skip 2,0 |
| 78 .global MeineSlaveAdresse |
| 79 .data |
| 82 MeineSlaveAdresse: |
| 83 0000 01 .byte 1 |
| 84 .global PcZugriff |
| 87 PcZugriff: |
| 88 0001 64 .byte 100 |
| 89 .global DebugTextAnforderung |
| 92 DebugTextAnforderung: |
| 93 0002 FF .byte -1 |
| 94 .global PC_MotortestActive |
| 95 .global PC_MotortestActive |
| 96 .section .bss |
| 99 PC_MotortestActive: |
| 100 0009 00 .skip 1,0 |
| 101 .global PC_DebugTimeout |
| 102 .global PC_DebugTimeout |
| 105 PC_DebugTimeout: |
| 106 000a 00 .skip 1,0 |
| 107 .global RxDataLen |
| 108 .global RxDataLen |
| 111 RxDataLen: |
| 112 000b 00 .skip 1,0 |
| 113 .global pRxData |
| 114 .global pRxData |
| 117 pRxData: |
| 118 000c 0000 .skip 2,0 |
| 119 .global AnzahlEmpfangsBytes |
| 120 .global AnzahlEmpfangsBytes |
| 123 AnzahlEmpfangsBytes: |
| 124 000e 00 .skip 1,0 |
| 125 .global CntCrcError |
| 126 .global CntCrcError |
| 129 CntCrcError: |
| 130 000f 00 .skip 1,0 |
| 131 .global UebertragungAbgeschlossen |
| 132 .data |
| 135 UebertragungAbgeschlossen: |
| 136 0003 01 .byte 1 |
| 137 .global NeueKoordinateEmpfangen |
| 138 .global NeueKoordinateEmpfangen |
| 139 .section .bss |
| 142 NeueKoordinateEmpfangen: |
| 143 0010 00 .skip 1,0 |
| 144 .global NeuerDatensatzEmpfangen |
| 145 .global NeuerDatensatzEmpfangen |
| 148 NeuerDatensatzEmpfangen: |
| 149 0011 00 .skip 1,0 |
| 150 .global SioTmp |
| 151 .global SioTmp |
| 154 SioTmp: |
| 155 0012 00 .skip 1,0 |
| 156 .global DisplayLine |
| 157 .global DisplayLine |
| 160 DisplayLine: |
| 161 0013 00 .skip 1,0 |
| 162 .global GetPPMChannelAnforderung |
| 163 .global GetPPMChannelAnforderung |
| 166 GetPPMChannelAnforderung: |
| 167 0014 00 .skip 1,0 |
| 168 .global GetVersionAnforderung |
| 169 .global GetVersionAnforderung |
| 172 GetVersionAnforderung: |
| 173 0015 00 .skip 1,0 |
| 174 .global DebugDataAnforderung |
| 175 .global DebugDataAnforderung |
| 178 DebugDataAnforderung: |
| 179 0016 00 .skip 1,0 |
| 180 .global DebugDisplayAnforderung |
| 181 .global DebugDisplayAnforderung |
| 184 DebugDisplayAnforderung: |
| 185 0017 00 .skip 1,0 |
| 186 .global DebugDisplayAnforderung1 |
| 187 .global DebugDisplayAnforderung1 |
| 190 DebugDisplayAnforderung1: |
| 191 0018 00 .skip 1,0 |
| 192 .global GetExternalControl |
| 193 .global GetExternalControl |
| 196 GetExternalControl: |
| 197 0019 00 .skip 1,0 |
| 198 .lcomm ptr.6,2 |
| 199 .text |
| 200 .global __vector_22 |
| 202 __vector_22: |
| 203 /* prologue: frame size=0 */ |
| 204 0000 1F92 push __zero_reg__ |
| 205 0002 0F92 push __tmp_reg__ |
| 206 0004 0FB6 in __tmp_reg__,__SREG__ |
| 207 0006 0F92 push __tmp_reg__ |
| 208 0008 1124 clr __zero_reg__ |
| 209 000a 8F93 push r24 |
| 210 000c 9F93 push r25 |
| 211 000e EF93 push r30 |
| 212 0010 FF93 push r31 |
| 213 /* prologue end (size=9) */ |
| 214 0012 8091 0000 lds r24,UebertragungAbgeschlossen |
| 215 0016 8823 tst r24 |
| 216 0018 01F4 brne .L2 |
| 217 001a 8091 0000 lds r24,ptr.6 |
| 218 001e 9091 0000 lds r25,(ptr.6)+1 |
| 219 0022 0196 adiw r24,1 |
| 220 0024 9093 0000 sts (ptr.6)+1,r25 |
| 221 0028 8093 0000 sts ptr.6,r24 |
| 222 002c FC01 movw r30,r24 |
| 223 002e E050 subi r30,lo8(-(TxdBuffer)) |
| 224 0030 F040 sbci r31,hi8(-(TxdBuffer)) |
| 225 0032 E081 ld r30,Z |
| 226 0034 ED30 cpi r30,lo8(13) |
| 227 0036 01F0 breq .L4 |
| 228 0038 8F3A cpi r24,175 |
| 229 003a 9105 cpc r25,__zero_reg__ |
| 230 003c 01F4 brne .L3 |
| 231 .L4: |
| 232 003e 1092 0000 sts (ptr.6)+1,__zero_reg__ |
| 233 0042 1092 0000 sts ptr.6,__zero_reg__ |
| 234 0046 81E0 ldi r24,lo8(1) |
| 235 0048 8093 0000 sts UebertragungAbgeschlossen,r24 |
| 236 .L3: |
| 237 004c E093 C600 sts 198,r30 |
| 238 0050 00C0 rjmp .L1 |
| 239 .L2: |
| 240 0052 1092 0000 sts (ptr.6)+1,__zero_reg__ |
| 241 0056 1092 0000 sts ptr.6,__zero_reg__ |
| 242 .L1: |
| 243 /* epilogue: frame size=0 */ |
| 244 005a FF91 pop r31 |
| 245 005c EF91 pop r30 |
| 246 005e 9F91 pop r25 |
| 247 0060 8F91 pop r24 |
| 248 0062 0F90 pop __tmp_reg__ |
| 249 0064 0FBE out __SREG__,__tmp_reg__ |
| 250 0066 0F90 pop __tmp_reg__ |
| 251 0068 1F90 pop __zero_reg__ |
| 252 006a 1895 reti |
| 253 /* epilogue end (size=9) */ |
| 254 /* function __vector_22 size 54 (36) */ |
| 256 .lcomm crc.1,2 |
| 257 .lcomm crc1.2,1 |
| 258 .lcomm crc2.3,1 |
| 259 .lcomm buf_ptr.4,1 |
| 260 .lcomm UartState.5,1 |
| 261 .global __vector_20 |
| 263 __vector_20: |
| 264 /* prologue: frame size=0 */ |
| 265 006c 1F92 push __zero_reg__ |
| 266 006e 0F92 push __tmp_reg__ |
| 267 0070 0FB6 in __tmp_reg__,__SREG__ |
| 268 0072 0F92 push __tmp_reg__ |
| 269 0074 1124 clr __zero_reg__ |
| 270 0076 2F93 push r18 |
| 271 0078 3F93 push r19 |
| 272 007a 4F93 push r20 |
| 273 007c 5F93 push r21 |
| 274 007e 6F93 push r22 |
| 275 0080 7F93 push r23 |
| 276 0082 8F93 push r24 |
| 277 0084 9F93 push r25 |
| 278 0086 AF93 push r26 |
| 279 0088 BF93 push r27 |
| 280 008a CF93 push r28 |
| 281 008c EF93 push r30 |
| 282 008e FF93 push r31 |
| 283 /* prologue end (size=18) */ |
| 284 0090 90E0 ldi r25,lo8(0) |
| 285 0092 8091 0000 lds r24,ReceiverUpdateModeActive |
| 286 0096 8130 cpi r24,lo8(1) |
| 287 0098 01F4 brne .L7 |
| 288 009a 8091 C600 lds r24,198 |
| 289 009e 8093 CE00 sts 206,r24 |
| 290 00a2 00C0 rjmp .L6 |
| 291 .L7: |
| 292 00a4 8091 0000 lds r24,ReceiverUpdateModeActive |
| 293 00a8 8230 cpi r24,lo8(2) |
| 294 00aa 01F4 brne .L8 |
| 295 00ac 8091 C600 lds r24,198 |
| 296 00b0 8093 0000 sts RxdBuffer,r24 |
| 297 00b4 00C0 rjmp .L6 |
| 298 .L8: |
| 299 00b6 8091 C600 lds r24,198 |
| 300 00ba 8093 0000 sts SioTmp,r24 |
| 301 00be 5091 0000 lds r21,buf_ptr.4 |
| 302 00c2 5F3A cpi r21,lo8(-81) |
| 303 00c4 00F0 brlo .L9 |
| 304 00c6 9093 0000 sts UartState.5,r25 |
| 305 .L9: |
| 306 00ca 8091 0000 lds r24,SioTmp |
| 307 00ce 8D30 cpi r24,lo8(13) |
| 308 00d0 01F0 breq .+2 |
| 309 00d2 00C0 rjmp .L10 |
| 310 00d4 8091 0000 lds r24,UartState.5 |
| 311 00d8 8230 cpi r24,lo8(2) |
| 312 00da 01F0 breq .+2 |
| 313 00dc 00C0 rjmp .L10 |
| 314 00de 9093 0000 sts UartState.5,r25 |
| 315 00e2 852F mov r24,r21 |
| 316 00e4 9927 clr r25 |
| 317 00e6 8050 subi r24,lo8(-(RxdBuffer)) |
| 318 00e8 9040 sbci r25,hi8(-(RxdBuffer)) |
| 319 00ea FC01 movw r30,r24 |
| 320 00ec 3297 sbiw r30,2 |
| 321 00ee 4081 ld r20,Z |
| 322 00f0 2091 0000 lds r18,crc.1 |
| 323 00f4 3091 0000 lds r19,(crc.1)+1 |
| 324 00f8 241B sub r18,r20 |
| 325 00fa 3109 sbc r19,__zero_reg__ |
| 326 00fc DC01 movw r26,r24 |
| 327 00fe 1197 sbiw r26,1 |
| 328 0100 8C91 ld r24,X |
| 329 0102 281B sub r18,r24 |
| 330 0104 3109 sbc r19,__zero_reg__ |
| 331 0106 C901 movw r24,r18 |
| 332 0108 9F70 andi r25,hi8(4095) |
| 333 010a 9093 0000 sts (crc.1)+1,r25 |
| 334 010e 8093 0000 sts crc.1,r24 |
| 335 0112 46E0 ldi r20,6 |
| 336 0114 9695 1: lsr r25 |
| 337 0116 8795 ror r24 |
| 338 0118 4A95 dec r20 |
| 339 011a 01F4 brne 1b |
| 340 011c 982F mov r25,r24 |
| 341 011e 935C subi r25,lo8(-(61)) |
| 342 0120 9093 0000 sts crc1.2,r25 |
| 343 0124 2F73 andi r18,lo8(63) |
| 344 0126 3070 andi r19,hi8(63) |
| 345 0128 235C subi r18,lo8(-(61)) |
| 346 012a 2093 0000 sts crc2.3,r18 |
| 347 012e 8081 ld r24,Z |
| 348 0130 9817 cp r25,r24 |
| 349 0132 01F4 brne .L11 |
| 350 0134 8C91 ld r24,X |
| 351 0136 2817 cp r18,r24 |
| 352 0138 01F4 brne .L11 |
| 353 013a 91E0 ldi r25,lo8(1) |
| 354 013c 00C0 rjmp .L12 |
| 355 .L11: |
| 356 013e 90E0 ldi r25,lo8(0) |
| 357 0140 8091 0000 lds r24,CntCrcError |
| 358 0144 8F5F subi r24,lo8(-(1)) |
| 359 0146 8093 0000 sts CntCrcError,r24 |
| 360 .L12: |
| 361 014a C091 0000 lds r28,NeuerDatensatzEmpfangen |
| 362 014e CC23 tst r28 |
| 363 0150 01F0 breq .+2 |
| 364 0152 00C0 rjmp .L6 |
| 365 0154 9923 tst r25 |
| 366 0156 01F4 brne .+2 |
| 367 0158 00C0 rjmp .L6 |
| 368 015a 81E0 ldi r24,lo8(1) |
| 369 015c 8093 0000 sts NeuerDatensatzEmpfangen,r24 |
| 370 0160 580F add r21,r24 |
| 371 0162 5093 0000 sts AnzahlEmpfangsBytes,r21 |
| 372 0166 5150 subi r21,lo8(-(-1)) |
| 373 0168 E52F mov r30,r21 |
| 374 016a FF27 clr r31 |
| 375 016c E050 subi r30,lo8(-(RxdBuffer)) |
| 376 016e F040 sbci r31,hi8(-(RxdBuffer)) |
| 377 0170 8DE0 ldi r24,lo8(13) |
| 378 0172 8083 st Z,r24 |
| 379 0174 8091 0000 lds r24,RxdBuffer+2 |
| 380 0178 8235 cpi r24,lo8(82) |
| 381 017a 01F0 breq .+2 |
| 382 017c 00C0 rjmp .L6 |
| 383 017e 0E94 0000 call LcdClear |
| 384 0182 88E1 ldi r24,lo8(24) |
| 385 0184 90E0 ldi r25,hi8(24) |
| 386 0186 2CE0 ldi r18,lo8(12) |
| 387 /* #APP */ |
| 388 0188 0FB6 in __tmp_reg__,__SREG__ |
| 389 018a F894 cli |
| 390 018c A895 wdr |
| 391 018e 8093 6000 sts 96,r24 |
| 392 0192 0FBE out __SREG__,__tmp_reg__ |
| 393 0194 2093 6000 sts 96,r18 |
| 394 |
| 395 /* #NOAPP */ |
| 396 0198 C093 0000 sts ServoActive,r28 |
| 397 019c 00C0 rjmp .L6 |
| 398 .L10: |
| 399 019e 2091 0000 lds r18,UartState.5 |
| 400 01a2 822F mov r24,r18 |
| 401 01a4 9927 clr r25 |
| 402 01a6 8130 cpi r24,1 |
| 403 01a8 9105 cpc r25,__zero_reg__ |
| 404 01aa 01F0 breq .L19 |
| 405 01ac 8230 cpi r24,2 |
| 406 01ae 9105 cpc r25,__zero_reg__ |
| 407 01b0 04F4 brge .L24 |
| 408 01b2 892B or r24,r25 |
| 409 01b4 01F0 breq .L17 |
| 410 01b6 00C0 rjmp .L23 |
| 411 .L24: |
| 412 01b8 0297 sbiw r24,2 |
| 413 01ba 01F0 breq .L20 |
| 414 01bc 00C0 rjmp .L23 |
| 415 .L17: |
| 416 01be 8091 0000 lds r24,SioTmp |
| 417 01c2 8332 cpi r24,lo8(35) |
| 418 01c4 01F4 brne .L18 |
| 419 01c6 8091 0000 lds r24,NeuerDatensatzEmpfangen |
| 420 01ca 8823 tst r24 |
| 421 01cc 01F4 brne .L18 |
| 422 01ce 81E0 ldi r24,lo8(1) |
| 423 01d0 8093 0000 sts UartState.5,r24 |
| 424 .L18: |
| 425 01d4 8091 0000 lds r24,SioTmp |
| 426 01d8 8093 0000 sts RxdBuffer,r24 |
| 427 01dc 81E0 ldi r24,lo8(1) |
| 428 01de 8093 0000 sts buf_ptr.4,r24 |
| 429 01e2 8091 0000 lds r24,SioTmp |
| 430 01e6 9927 clr r25 |
| 431 01e8 00C0 rjmp .L25 |
| 432 .L19: |
| 433 01ea 2F5F subi r18,lo8(-(1)) |
| 434 01ec 2093 0000 sts UartState.5,r18 |
| 435 01f0 E52F mov r30,r21 |
| 436 01f2 FF27 clr r31 |
| 437 01f4 E050 subi r30,lo8(-(RxdBuffer)) |
| 438 01f6 F040 sbci r31,hi8(-(RxdBuffer)) |
| 439 01f8 8091 0000 lds r24,SioTmp |
| 440 01fc 8083 st Z,r24 |
| 441 01fe 00C0 rjmp .L26 |
| 442 .L20: |
| 443 0200 E52F mov r30,r21 |
| 444 0202 FF27 clr r31 |
| 445 0204 E050 subi r30,lo8(-(RxdBuffer)) |
| 446 0206 F040 sbci r31,hi8(-(RxdBuffer)) |
| 447 0208 8091 0000 lds r24,SioTmp |
| 448 020c 8083 st Z,r24 |
| 449 020e 5F3A cpi r21,lo8(-81) |
| 450 0210 00F4 brsh .L21 |
| 451 .L26: |
| 452 0212 5F5F subi r21,lo8(-(1)) |
| 453 0214 5093 0000 sts buf_ptr.4,r21 |
| 454 0218 00C0 rjmp .L22 |
| 455 .L21: |
| 456 021a 1092 0000 sts UartState.5,__zero_reg__ |
| 457 .L22: |
| 458 021e 2091 0000 lds r18,SioTmp |
| 459 0222 8091 0000 lds r24,crc.1 |
| 460 0226 9091 0000 lds r25,(crc.1)+1 |
| 461 022a 820F add r24,r18 |
| 462 022c 911D adc r25,__zero_reg__ |
| 463 .L25: |
| 464 022e 9093 0000 sts (crc.1)+1,r25 |
| 465 0232 8093 0000 sts crc.1,r24 |
| 466 0236 00C0 rjmp .L6 |
| 467 .L23: |
| 468 0238 1092 0000 sts UartState.5,__zero_reg__ |
| 469 .L6: |
| 470 /* epilogue: frame size=0 */ |
| 471 023c FF91 pop r31 |
| 472 023e EF91 pop r30 |
| 473 0240 CF91 pop r28 |
| 474 0242 BF91 pop r27 |
| 475 0244 AF91 pop r26 |
| 476 0246 9F91 pop r25 |
| 477 0248 8F91 pop r24 |
| 478 024a 7F91 pop r23 |
| 479 024c 6F91 pop r22 |
| 480 024e 5F91 pop r21 |
| 481 0250 4F91 pop r20 |
| 482 0252 3F91 pop r19 |
| 483 0254 2F91 pop r18 |
| 484 0256 0F90 pop __tmp_reg__ |
| 485 0258 0FBE out __SREG__,__tmp_reg__ |
| 486 025a 0F90 pop __tmp_reg__ |
| 487 025c 1F90 pop __zero_reg__ |
| 488 025e 1895 reti |
| 489 /* epilogue end (size=18) */ |
| 490 /* function __vector_20 size 258 (222) */ |
| 492 .global AddCRC |
| 494 AddCRC: |
| 495 /* prologue: frame size=0 */ |
| 496 /* prologue end (size=0) */ |
| 497 0260 AC01 movw r20,r24 |
| 498 0262 A0E0 ldi r26,lo8(0) |
| 499 0264 B0E0 ldi r27,hi8(0) |
| 500 0266 9D01 movw r18,r26 |
| 501 0268 A817 cp r26,r24 |
| 502 026a B907 cpc r27,r25 |
| 503 026c 00F4 brsh .L33 |
| 504 026e E0E0 ldi r30,lo8(TxdBuffer) |
| 505 0270 F0E0 ldi r31,hi8(TxdBuffer) |
| 506 .L31: |
| 507 0272 8191 ld r24,Z+ |
| 508 0274 280F add r18,r24 |
| 509 0276 311D adc r19,__zero_reg__ |
| 510 0278 1196 adiw r26,1 |
| 511 027a A417 cp r26,r20 |
| 512 027c B507 cpc r27,r21 |
| 513 027e 00F0 brlo .L31 |
| 514 .L33: |
| 515 0280 3F70 andi r19,hi8(4095) |
| 516 0282 FD01 movw r30,r26 |
| 517 0284 E050 subi r30,lo8(-(TxdBuffer)) |
| 518 0286 F040 sbci r31,hi8(-(TxdBuffer)) |
| 519 0288 C901 movw r24,r18 |
| 520 028a 56E0 ldi r21,6 |
| 521 028c 9695 1: lsr r25 |
| 522 028e 8795 ror r24 |
| 523 0290 5A95 dec r21 |
| 524 0292 01F4 brne 1b |
| 525 0294 835C subi r24,lo8(-(61)) |
| 526 0296 8083 st Z,r24 |
| 527 0298 1196 adiw r26,1 |
| 528 029a FD01 movw r30,r26 |
| 529 029c E050 subi r30,lo8(-(TxdBuffer)) |
| 530 029e F040 sbci r31,hi8(-(TxdBuffer)) |
| 531 02a0 2F73 andi r18,lo8(63) |
| 532 02a2 3070 andi r19,hi8(63) |
| 533 02a4 822F mov r24,r18 |
| 534 02a6 835C subi r24,lo8(-(61)) |
| 535 02a8 8083 st Z,r24 |
| 536 02aa A050 subi r26,lo8(-(TxdBuffer+1)) |
| 537 02ac B040 sbci r27,hi8(-(TxdBuffer+1)) |
| 538 02ae 8DE0 ldi r24,lo8(13) |
| 539 02b0 8C93 st X,r24 |
| 540 02b2 1092 0000 sts UebertragungAbgeschlossen,__zero_reg__ |
| 541 02b6 8091 0000 lds r24,TxdBuffer |
| 542 02ba 8093 C600 sts 198,r24 |
| 543 /* epilogue: frame size=0 */ |
| 544 02be 0895 ret |
| 545 /* epilogue end (size=1) */ |
| 546 /* function AddCRC size 49 (48) */ |
| 548 .global SendOutData |
| 550 SendOutData: |
| 551 /* prologue: frame size=0 */ |
| 552 02c0 A0E0 ldi r26,lo8(0) |
| 553 02c2 B0E0 ldi r27,hi8(0) |
| 554 02c4 E0E0 ldi r30,pm_lo8(1f) |
| 555 02c6 F0E0 ldi r31,pm_hi8(1f) |
| 556 02c8 0C94 0000 jmp __prologue_saves__+18 |
| 557 1: |
| 558 /* prologue end (size=6) */ |
| 559 02cc 2C85 ldd r18,Y+12 |
| 560 02ce 9D85 ldd r25,Y+13 |
| 561 02d0 0E85 ldd r16,Y+14 |
| 562 02d2 BB24 clr r11 |
| 563 02d4 83E2 ldi r24,lo8(35) |
| 564 02d6 8093 0000 sts TxdBuffer,r24 |
| 565 02da 9F59 subi r25,lo8(-(97)) |
| 566 02dc 9093 0000 sts TxdBuffer+1,r25 |
| 567 02e0 2093 0000 sts TxdBuffer+2,r18 |
| 568 02e4 33E0 ldi r19,lo8(3) |
| 569 02e6 E32E mov r14,r19 |
| 570 02e8 F12C mov r15,__zero_reg__ |
| 571 02ea 0023 tst r16 |
| 572 02ec 01F4 brne .+2 |
| 573 02ee 00C0 rjmp .L49 |
| 574 02f0 CF84 ldd r12,Y+15 |
| 575 02f2 D888 ldd r13,Y+16 |
| 576 02f4 BE01 movw r22,r28 |
| 577 02f6 6D5E subi r22,lo8(-(19)) |
| 578 02f8 7F4F sbci r23,hi8(-(19)) |
| 579 02fa A989 ldd r26,Y+17 |
| 580 02fc BA89 ldd r27,Y+18 |
| 581 02fe 0150 subi r16,lo8(-(-1)) |
| 582 .L50: |
| 583 0300 1097 sbiw r26,0 |
| 584 0302 01F4 brne .+2 |
| 585 0304 00C0 rjmp .L49 |
| 586 0306 1097 sbiw r26,0 |
| 587 0308 01F0 breq .L38 |
| 588 030a F601 movw r30,r12 |
| 589 030c EB0D add r30,r11 |
| 590 030e F11D adc r31,__zero_reg__ |
| 591 0310 B394 inc r11 |
| 592 0312 9081 ld r25,Z |
| 593 0314 1197 sbiw r26,1 |
| 594 0316 01F4 brne .L40 |
| 595 0318 0023 tst r16 |
| 596 031a 01F0 breq .L41 |
| 597 031c FB01 movw r30,r22 |
| 598 031e 6E5F subi r22,lo8(-(2)) |
| 599 0320 7F4F sbci r23,hi8(-(2)) |
| 600 0322 DB01 movw r26,r22 |
| 601 0324 C080 ld r12,Z |
| 602 0326 D180 ldd r13,Z+1 |
| 603 0328 6E5F subi r22,lo8(-(2)) |
| 604 032a 7F4F sbci r23,hi8(-(2)) |
| 605 032c 0D90 ld __tmp_reg__,X+ |
| 606 032e BC91 ld r27,X |
| 607 0330 A02D mov r26,__tmp_reg__ |
| 608 0332 BB24 clr r11 |
| 609 0334 0150 subi r16,lo8(-(-1)) |
| 610 0336 00C0 rjmp .L40 |
| 611 .L38: |
| 612 0338 90E0 ldi r25,lo8(0) |
| 613 033a 00C0 rjmp .L41 |
| 614 .L40: |
| 615 033c 1097 sbiw r26,0 |
| 616 033e 01F0 breq .L41 |
| 617 0340 F601 movw r30,r12 |
| 618 0342 EB0D add r30,r11 |
| 619 0344 F11D adc r31,__zero_reg__ |
| 620 0346 B394 inc r11 |
| 621 0348 4081 ld r20,Z |
| 622 034a 1197 sbiw r26,1 |
| 623 034c 01F4 brne .L43 |
| 624 034e 0023 tst r16 |
| 625 0350 01F0 breq .L44 |
| 626 0352 FB01 movw r30,r22 |
| 627 0354 6E5F subi r22,lo8(-(2)) |
| 628 0356 7F4F sbci r23,hi8(-(2)) |
| 629 0358 DB01 movw r26,r22 |
| 630 035a C080 ld r12,Z |
| 631 035c D180 ldd r13,Z+1 |
| 632 035e 6E5F subi r22,lo8(-(2)) |
| 633 0360 7F4F sbci r23,hi8(-(2)) |
| 634 0362 0D90 ld __tmp_reg__,X+ |
| 635 0364 BC91 ld r27,X |
| 636 0366 A02D mov r26,__tmp_reg__ |
| 637 0368 BB24 clr r11 |
| 638 036a 0150 subi r16,lo8(-(-1)) |
| 639 036c 00C0 rjmp .L43 |
| 640 .L41: |
| 641 036e 40E0 ldi r20,lo8(0) |
| 642 0370 00C0 rjmp .L44 |
| 643 .L43: |
| 644 0372 1097 sbiw r26,0 |
| 645 0374 01F0 breq .L44 |
| 646 0376 F601 movw r30,r12 |
| 647 0378 EB0D add r30,r11 |
| 648 037a F11D adc r31,__zero_reg__ |
| 649 037c B394 inc r11 |
| 650 037e 1081 ld r17,Z |
| 651 0380 1197 sbiw r26,1 |
| 652 0382 01F4 brne .L46 |
| 653 0384 0023 tst r16 |
| 654 0386 01F0 breq .L46 |
| 655 0388 FB01 movw r30,r22 |
| 656 038a 3296 adiw r30,2 |
| 657 038c DB01 movw r26,r22 |
| 658 038e CD90 ld r12,X+ |
| 659 0390 DC90 ld r13,X |
| 660 0392 BF01 movw r22,r30 |
| 661 0394 6E5F subi r22,lo8(-(2)) |
| 662 0396 7F4F sbci r23,hi8(-(2)) |
| 663 0398 A081 ld r26,Z |
| 664 039a B181 ldd r27,Z+1 |
| 665 039c BB24 clr r11 |
| 666 039e 0150 subi r16,lo8(-(-1)) |
| 667 03a0 00C0 rjmp .L46 |
| 668 .L44: |
| 669 03a2 10E0 ldi r17,lo8(0) |
| 670 .L46: |
| 671 03a4 F701 movw r30,r14 |
| 672 03a6 E050 subi r30,lo8(-(TxdBuffer)) |
| 673 03a8 F040 sbci r31,hi8(-(TxdBuffer)) |
| 674 03aa 892F mov r24,r25 |
| 675 03ac 8695 lsr r24 |
| 676 03ae 8695 lsr r24 |
| 677 03b0 835C subi r24,lo8(-(61)) |
| 678 03b2 8083 st Z,r24 |
| 679 03b4 0894 sec |
| 680 03b6 E11C adc r14,__zero_reg__ |
| 681 03b8 F11C adc r15,__zero_reg__ |
| 682 03ba F701 movw r30,r14 |
| 683 03bc E050 subi r30,lo8(-(TxdBuffer)) |
| 684 03be F040 sbci r31,hi8(-(TxdBuffer)) |
| 685 03c0 892F mov r24,r25 |
| 686 03c2 9927 clr r25 |
| 687 03c4 8370 andi r24,lo8(3) |
| 688 03c6 9070 andi r25,hi8(3) |
| 689 03c8 24E0 ldi r18,4 |
| 690 03ca 880F 1: lsl r24 |
| 691 03cc 991F rol r25 |
| 692 03ce 2A95 dec r18 |
| 693 03d0 01F4 brne 1b |
| 694 03d2 5527 clr r21 |
| 695 03d4 9A01 movw r18,r20 |
| 696 03d6 94E0 ldi r25,4 |
| 697 03d8 3695 1: lsr r19 |
| 698 03da 2795 ror r18 |
| 699 03dc 9A95 dec r25 |
| 700 03de 01F4 brne 1b |
| 701 03e0 822B or r24,r18 |
| 702 03e2 835C subi r24,lo8(-(61)) |
| 703 03e4 8083 st Z,r24 |
| 704 03e6 0894 sec |
| 705 03e8 E11C adc r14,__zero_reg__ |
| 706 03ea F11C adc r15,__zero_reg__ |
| 707 03ec F701 movw r30,r14 |
| 708 03ee E050 subi r30,lo8(-(TxdBuffer)) |
| 709 03f0 F040 sbci r31,hi8(-(TxdBuffer)) |
| 710 03f2 4F70 andi r20,lo8(15) |
| 711 03f4 5070 andi r21,hi8(15) |
| 712 03f6 440F lsl r20 |
| 713 03f8 551F rol r21 |
| 714 03fa 440F lsl r20 |
| 715 03fc 551F rol r21 |
| 716 03fe 812F mov r24,r17 |
| 717 0400 9927 clr r25 |
| 718 0402 26E0 ldi r18,6 |
| 719 0404 9695 1: lsr r25 |
| 720 0406 8795 ror r24 |
| 721 0408 2A95 dec r18 |
| 722 040a 01F4 brne 1b |
| 723 040c 842B or r24,r20 |
| 724 040e 835C subi r24,lo8(-(61)) |
| 725 0410 8083 st Z,r24 |
| 726 0412 0894 sec |
| 727 0414 E11C adc r14,__zero_reg__ |
| 728 0416 F11C adc r15,__zero_reg__ |
| 729 0418 F701 movw r30,r14 |
| 730 041a E050 subi r30,lo8(-(TxdBuffer)) |
| 731 041c F040 sbci r31,hi8(-(TxdBuffer)) |
| 732 041e 1F73 andi r17,lo8(63) |
| 733 0420 135C subi r17,lo8(-(61)) |
| 734 0422 1083 st Z,r17 |
| 735 0424 0894 sec |
| 736 0426 E11C adc r14,__zero_reg__ |
| 737 0428 F11C adc r15,__zero_reg__ |
| 738 042a 00C0 rjmp .L50 |
| 739 .L49: |
| 740 042c C701 movw r24,r14 |
| 741 042e 0E94 0000 call AddCRC |
| 742 /* epilogue: frame size=0 */ |
| 743 0432 E9E0 ldi r30,9 |
| 744 0434 0C94 0000 jmp __epilogue_restores__+18 |
| 745 /* epilogue end (size=3) */ |
| 746 /* function SendOutData size 191 (182) */ |
| 748 .global Decode64 |
| 750 Decode64: |
| 751 /* prologue: frame size=0 */ |
| 752 /* prologue end (size=0) */ |
| 753 0438 A3E0 ldi r26,lo8(3) |
| 754 043a 7A2F mov r23,r26 |
| 755 043c 4091 0000 lds r20,AnzahlEmpfangsBytes |
| 756 0440 4650 subi r20,lo8(-(-6)) |
| 757 .L62: |
| 758 0442 4423 tst r20 |
| 759 0444 01F4 brne .+2 |
| 760 0446 00C0 rjmp .L53 |
| 761 0448 E72F mov r30,r23 |
| 762 044a FF27 clr r31 |
| 763 044c E050 subi r30,lo8(-(RxdBuffer)) |
| 764 044e F040 sbci r31,hi8(-(RxdBuffer)) |
| 765 0450 8081 ld r24,Z |
| 766 0452 8D53 subi r24,lo8(-(-61)) |
| 767 0454 7F5F subi r23,lo8(-(1)) |
| 768 0456 E72F mov r30,r23 |
| 769 0458 FF27 clr r31 |
| 770 045a E050 subi r30,lo8(-(RxdBuffer)) |
| 771 045c F040 sbci r31,hi8(-(RxdBuffer)) |
| 772 045e 2081 ld r18,Z |
| 773 0460 2D53 subi r18,lo8(-(-61)) |
| 774 0462 7F5F subi r23,lo8(-(1)) |
| 775 0464 E72F mov r30,r23 |
| 776 0466 FF27 clr r31 |
| 777 0468 E050 subi r30,lo8(-(RxdBuffer)) |
| 778 046a F040 sbci r31,hi8(-(RxdBuffer)) |
| 779 046c 3081 ld r19,Z |
| 780 046e 3D53 subi r19,lo8(-(-61)) |
| 781 0470 7F5F subi r23,lo8(-(1)) |
| 782 0472 E72F mov r30,r23 |
| 783 0474 FF27 clr r31 |
| 784 0476 E050 subi r30,lo8(-(RxdBuffer)) |
| 785 0478 F040 sbci r31,hi8(-(RxdBuffer)) |
| 786 047a 6081 ld r22,Z |
| 787 047c 6D53 subi r22,lo8(-(-61)) |
| 788 047e 7F5F subi r23,lo8(-(1)) |
| 789 0480 9927 clr r25 |
| 790 0482 880F lsl r24 |
| 791 0484 991F rol r25 |
| 792 0486 880F lsl r24 |
| 793 0488 991F rol r25 |
| 794 048a 522F mov r21,r18 |
| 795 048c 5295 swap r21 |
| 796 048e 5F70 andi r21,0x0f |
| 797 0490 582B or r21,r24 |
| 798 0492 822F mov r24,r18 |
| 799 0494 9927 clr r25 |
| 800 0496 8F70 andi r24,lo8(15) |
| 801 0498 9070 andi r25,hi8(15) |
| 802 049a F4E0 ldi r31,4 |
| 803 049c 880F 1: lsl r24 |
| 804 049e 991F rol r25 |
| 805 04a0 FA95 dec r31 |
| 806 04a2 01F4 brne 1b |
| 807 04a4 232F mov r18,r19 |
| 808 04a6 2695 lsr r18 |
| 809 04a8 2695 lsr r18 |
| 810 04aa 282B or r18,r24 |
| 811 04ac 832F mov r24,r19 |
| 812 04ae 9927 clr r25 |
| 813 04b0 8370 andi r24,lo8(3) |
| 814 04b2 9070 andi r25,hi8(3) |
| 815 04b4 E6E0 ldi r30,6 |
| 816 04b6 880F 1: lsl r24 |
| 817 04b8 991F rol r25 |
| 818 04ba EA95 dec r30 |
| 819 04bc 01F4 brne 1b |
| 820 04be 682B or r22,r24 |
| 821 04c0 4150 subi r20,lo8(-(-1)) |
| 822 04c2 4F3F cpi r20,lo8(-1) |
| 823 04c4 01F0 breq .L53 |
| 824 04c6 EA2F mov r30,r26 |
| 825 04c8 FF27 clr r31 |
| 826 04ca E050 subi r30,lo8(-(RxdBuffer)) |
| 827 04cc F040 sbci r31,hi8(-(RxdBuffer)) |
| 828 04ce 5083 st Z,r21 |
| 829 04d0 AF5F subi r26,lo8(-(1)) |
| 830 04d2 4150 subi r20,lo8(-(-1)) |
| 831 04d4 4F3F cpi r20,lo8(-1) |
| 832 04d6 01F0 breq .L53 |
| 833 04d8 EA2F mov r30,r26 |
| 834 04da FF27 clr r31 |
| 835 04dc E050 subi r30,lo8(-(RxdBuffer)) |
| 836 04de F040 sbci r31,hi8(-(RxdBuffer)) |
| 837 04e0 2083 st Z,r18 |
| 838 04e2 AF5F subi r26,lo8(-(1)) |
| 839 04e4 4150 subi r20,lo8(-(-1)) |
| 840 04e6 4F3F cpi r20,lo8(-1) |
| 841 04e8 01F0 breq .L53 |
| 842 04ea EA2F mov r30,r26 |
| 843 04ec FF27 clr r31 |
| 844 04ee E050 subi r30,lo8(-(RxdBuffer)) |
| 845 04f0 F040 sbci r31,hi8(-(RxdBuffer)) |
| 846 04f2 6083 st Z,r22 |
| 847 04f4 AF5F subi r26,lo8(-(1)) |
| 848 04f6 00C0 rjmp .L62 |
| 849 .L53: |
| 850 04f8 80E0 ldi r24,lo8(RxdBuffer+3) |
| 851 04fa 90E0 ldi r25,hi8(RxdBuffer+3) |
| 852 04fc 9093 0000 sts (pRxData)+1,r25 |
| 853 0500 8093 0000 sts pRxData,r24 |
| 854 0504 A350 subi r26,lo8(-(-3)) |
| 855 0506 A093 0000 sts RxDataLen,r26 |
| 856 /* epilogue: frame size=0 */ |
| 857 050a 0895 ret |
| 858 /* epilogue end (size=1) */ |
| 859 /* function Decode64 size 106 (105) */ |
| 861 .global BearbeiteRxDaten |
| 863 BearbeiteRxDaten: |
| 864 /* prologue: frame size=2 */ |
| 865 050c A2E0 ldi r26,lo8(2) |
| 866 050e B0E0 ldi r27,hi8(2) |
| 867 0510 E0E0 ldi r30,pm_lo8(1f) |
| 868 0512 F0E0 ldi r31,pm_hi8(1f) |
| 869 0514 0C94 0000 jmp __prologue_saves__+30 |
| 870 1: |
| 871 /* prologue end (size=6) */ |
| 872 0518 8091 0000 lds r24,NeuerDatensatzEmpfangen |
| 873 051c 8823 tst r24 |
| 874 051e 01F4 brne .+2 |
| 875 0520 00C0 rjmp .L63 |
| 876 0522 0E94 0000 call Decode64 |
| 877 0526 8091 0000 lds r24,RxdBuffer+1 |
| 878 052a 8236 cpi r24,lo8(98) |
| 879 052c 01F0 breq .+2 |
| 880 052e 00C0 rjmp .L145 |
| 881 0530 8091 0000 lds r24,RxdBuffer+2 |
| 882 0534 9927 clr r25 |
| 883 0536 8037 cpi r24,112 |
| 884 0538 9105 cpc r25,__zero_reg__ |
| 885 053a 01F4 brne .+2 |
| 886 053c 00C0 rjmp .L82 |
| 887 053e 8137 cpi r24,113 |
| 888 0540 9105 cpc r25,__zero_reg__ |
| 889 0542 04F4 brge .L141 |
| 890 0544 8A36 cpi r24,106 |
| 891 0546 9105 cpc r25,__zero_reg__ |
| 892 0548 01F4 brne .+2 |
| 893 054a 00C0 rjmp .L128 |
| 894 054c 8B36 cpi r24,107 |
| 895 054e 9105 cpc r25,__zero_reg__ |
| 896 0550 04F4 brge .L142 |
| 897 0552 8B34 cpi r24,75 |
| 898 0554 9105 cpc r25,__zero_reg__ |
| 899 0556 01F0 breq .L68 |
| 900 0558 8636 cpi r24,102 |
| 901 055a 9105 cpc r25,__zero_reg__ |
| 902 055c 01F4 brne .+2 |
| 903 055e 00C0 rjmp .L108 |
| 904 0560 00C0 rjmp .L145 |
| 905 .L142: |
| 906 0562 8D36 cpi r24,109 |
| 907 0564 9105 cpc r25,__zero_reg__ |
| 908 0566 01F4 brne .+2 |
| 909 0568 00C0 rjmp .L76 |
| 910 056a 8E36 cpi r24,110 |
| 911 056c 9105 cpc r25,__zero_reg__ |
| 912 056e 01F4 brne .+2 |
| 913 0570 00C0 rjmp .L73 |
| 914 0572 00C0 rjmp .L145 |
| 915 .L141: |
| 916 0574 8437 cpi r24,116 |
| 917 0576 9105 cpc r25,__zero_reg__ |
| 918 0578 01F0 breq .L69 |
| 919 057a 8537 cpi r24,117 |
| 920 057c 9105 cpc r25,__zero_reg__ |
| 921 057e 04F4 brge .L143 |
| 922 0580 8137 cpi r24,113 |
| 923 0582 9105 cpc r25,__zero_reg__ |
| 924 0584 01F4 brne .+2 |
| 925 0586 00C0 rjmp .L83 |
| 926 0588 8337 cpi r24,115 |
| 927 058a 9105 cpc r25,__zero_reg__ |
| 928 058c 01F4 brne .+2 |
| 929 058e 00C0 rjmp .L101 |
| 930 0590 00C0 rjmp .L145 |
| 931 .L143: |
| 932 0592 8737 cpi r24,119 |
| 933 0594 9105 cpc r25,__zero_reg__ |
| 934 0596 01F4 brne .+2 |
| 935 0598 00C0 rjmp .L121 |
| 936 059a 8837 cpi r24,120 |
| 937 059c 9105 cpc r25,__zero_reg__ |
| 938 059e 04F4 brge .L144 |
| 939 05a0 8537 cpi r24,117 |
| 940 05a2 9105 cpc r25,__zero_reg__ |
| 941 05a4 01F4 brne .+2 |
| 942 05a6 00C0 rjmp .L115 |
| 943 05a8 00C0 rjmp .L145 |
| 944 .L144: |
| 945 05aa 8937 cpi r24,121 |
| 946 05ac 9105 cpc r25,__zero_reg__ |
| 947 05ae 01F4 brne .+2 |
| 948 05b0 00C0 rjmp .L114 |
| 949 05b2 00C0 rjmp .L145 |
| 950 .L68: |
| 951 05b4 E091 0000 lds r30,pRxData |
| 952 05b8 F091 0000 lds r31,(pRxData)+1 |
| 953 05bc 8081 ld r24,Z |
| 954 05be 9181 ldd r25,Z+1 |
| 955 05c0 9093 0000 sts (KompassValue)+1,r25 |
| 956 05c4 8093 0000 sts KompassValue,r24 |
| 957 05c8 00C0 rjmp .L145 |
| 958 .L69: |
| 959 05ca 8091 0000 lds r24,AnzahlEmpfangsBytes |
| 960 05ce A091 0000 lds r26,pRxData |
| 961 05d2 B091 0000 lds r27,(pRxData)+1 |
| 962 05d6 8531 cpi r24,lo8(21) |
| 963 05d8 00F0 brlo .L70 |
| 964 05da 80E1 ldi r24,lo8(16) |
| 965 05dc E0E0 ldi r30,lo8(MotorTest) |
| 966 05de F0E0 ldi r31,hi8(MotorTest) |
| 967 05e0 0D90 ld __tmp_reg__,X+ |
| 968 05e2 0192 st Z+,__tmp_reg__ |
| 969 05e4 8A95 dec r24 |
| 970 05e6 01F4 brne .-8 |
| 971 05e8 00C0 rjmp .L71 |
| 972 .L70: |
| 973 05ea 8D91 ld r24,X+ |
| 974 05ec 9D91 ld r25,X+ |
| 975 05ee 0D90 ld __tmp_reg__,X+ |
| 976 05f0 BC91 ld r27,X |
| 977 05f2 A02D mov r26,__tmp_reg__ |
| 978 05f4 8093 0000 sts MotorTest,r24 |
| 979 05f8 9093 0000 sts (MotorTest)+1,r25 |
| 980 05fc A093 0000 sts (MotorTest)+2,r26 |
| 981 0600 B093 0000 sts (MotorTest)+3,r27 |
| 982 .L71: |
| 983 0604 80EF ldi r24,lo8(-16) |
| 984 0606 8093 0000 sts PC_MotortestActive,r24 |
| 985 060a 00C0 rjmp .L182 |
| 986 .L73: |
| 987 060c 8091 0000 lds r24,UebertragungAbgeschlossen |
| 988 0610 8823 tst r24 |
| 989 0612 01F0 breq .L73 |
| 990 0614 8DE4 ldi r24,lo8(77) |
| 991 0616 90E0 ldi r25,hi8(77) |
| 992 0618 9F93 push r25 |
| 993 061a 8F93 push r24 |
| 994 061c 80E0 ldi r24,lo8(Mixer) |
| 995 061e 90E0 ldi r25,hi8(Mixer) |
| 996 0620 9F93 push r25 |
| 997 0622 8F93 push r24 |
| 998 0624 81E0 ldi r24,lo8(1) |
| 999 0626 8F93 push r24 |
| 1000 0628 8F93 push r24 |
| 1001 062a 8EE4 ldi r24,lo8(78) |
| 1002 062c 8F93 push r24 |
| 1003 062e 0E94 0000 call SendOutData |
| 1004 0632 8DB7 in r24,__SP_L__ |
| 1005 0634 9EB7 in r25,__SP_H__ |
| 1006 0636 0796 adiw r24,7 |
| 1007 0638 8DBF out __SP_L__,r24 |
| 1008 063a 00C0 rjmp .L145 |
| 1009 .L76: |
| 1010 063c A091 0000 lds r26,pRxData |
| 1011 0640 B091 0000 lds r27,(pRxData)+1 |
| 1012 0644 1C91 ld r17,X |
| 1013 0646 1130 cpi r17,lo8(1) |
| 1014 0648 01F4 brne .L77 |
| 1015 064a 8DE4 ldi r24,lo8(77) |
| 1016 064c E0E0 ldi r30,lo8(Mixer) |
| 1017 064e F0E0 ldi r31,hi8(Mixer) |
| 1018 0650 0D90 ld __tmp_reg__,X+ |
| 1019 0652 0192 st Z+,__tmp_reg__ |
| 1020 0654 8A95 dec r24 |
| 1021 0656 01F4 brne .-8 |
| 1022 0658 0E94 0000 call MixerTable_WriteToEEProm |
| 1023 065c 1983 std Y+1,r17 |
| 1024 065e 8091 0000 lds r24,VersionInfo+6 |
| 1025 0662 8F7E andi r24,lo8(-17) |
| 1026 0664 8093 0000 sts VersionInfo+6,r24 |
| 1027 0668 00C0 rjmp .L79 |
| 1028 .L77: |
| 1029 066a 1982 std Y+1,__zero_reg__ |
| 1030 .L79: |
| 1031 066c 8091 0000 lds r24,UebertragungAbgeschlossen |
| 1032 0670 8823 tst r24 |
| 1033 0672 01F0 breq .L79 |
| 1034 0674 81E0 ldi r24,lo8(1) |
| 1035 0676 90E0 ldi r25,hi8(1) |
| 1036 0678 9F93 push r25 |
| 1037 067a 8F93 push r24 |
| 1038 067c CE01 movw r24,r28 |
| 1039 067e 0196 adiw r24,1 |
| 1040 0680 9F93 push r25 |
| 1041 0682 8F93 push r24 |
| 1042 0684 81E0 ldi r24,lo8(1) |
| 1043 0686 8F93 push r24 |
| 1044 0688 8F93 push r24 |
| 1045 068a 8DE4 ldi r24,lo8(77) |
| 1046 068c 8F93 push r24 |
| 1047 068e 0E94 0000 call SendOutData |
| 1048 0692 ADB7 in r26,__SP_L__ |
| 1049 0694 BEB7 in r27,__SP_H__ |
| 1050 0696 1796 adiw r26,7 |
| 1051 0698 ADBF out __SP_L__,r26 |
| 1052 069a 00C0 rjmp .L145 |
| 1053 .L82: |
| 1054 069c 81E0 ldi r24,lo8(1) |
| 1055 069e 8093 0000 sts GetPPMChannelAnforderung,r24 |
| 1056 .L182: |
| 1057 06a2 8FEF ldi r24,lo8(-1) |
| 1058 06a4 8093 0000 sts PcZugriff,r24 |
| 1059 06a8 00C0 rjmp .L145 |
| 1060 .L83: |
| 1061 06aa E091 0000 lds r30,pRxData |
| 1062 06ae F091 0000 lds r31,(pRxData)+1 |
| 1063 06b2 E081 ld r30,Z |
| 1064 06b4 8E2F mov r24,r30 |
| 1065 06b6 8A50 subi r24,lo8(-(-10)) |
| 1066 06b8 8A30 cpi r24,lo8(10) |
| 1067 06ba 00F4 brsh .L84 |
| 1068 06bc 8983 std Y+1,r24 |
| 1069 06be 8823 tst r24 |
| 1070 06c0 01F4 brne .L85 |
| 1071 06c2 81E0 ldi r24,lo8(1) |
| 1072 06c4 00C0 rjmp .L176 |
| 1073 .L85: |
| 1074 06c6 8630 cpi r24,lo8(6) |
| 1075 06c8 00F0 brlo .L86 |
| 1076 06ca 85E0 ldi r24,lo8(5) |
| 1077 .L176: |
| 1078 06cc 8983 std Y+1,r24 |
| 1079 .L86: |
| 1080 06ce 61E0 ldi r22,lo8(1) |
| 1081 06d0 00C0 rjmp .L179 |
| 1082 .L84: |
| 1083 06d2 8E2F mov r24,r30 |
| 1084 06d4 8451 subi r24,lo8(-(-20)) |
| 1085 06d6 8A30 cpi r24,lo8(10) |
| 1086 06d8 00F4 brsh .L89 |
| 1087 06da 8983 std Y+1,r24 |
| 1088 06dc 8823 tst r24 |
| 1089 06de 01F4 brne .L90 |
| 1090 06e0 81E0 ldi r24,lo8(1) |
| 1091 06e2 00C0 rjmp .L177 |
| 1092 .L90: |
| 1093 06e4 8630 cpi r24,lo8(6) |
| 1094 06e6 00F0 brlo .L91 |
| 1095 06e8 85E0 ldi r24,lo8(5) |
| 1096 .L177: |
| 1097 06ea 8983 std Y+1,r24 |
| 1098 .L91: |
| 1099 06ec 60E0 ldi r22,lo8(0) |
| 1100 .L179: |
| 1101 06ee 8981 ldd r24,Y+1 |
| 1102 06f0 0E94 0000 call SetDefaultParameter |
| 1103 06f4 00C0 rjmp .L98 |
| 1104 .L89: |
| 1105 06f6 E983 std Y+1,r30 |
| 1106 06f8 EF3F cpi r30,lo8(-1) |
| 1107 06fa 01F4 brne .L94 |
| 1108 06fc 0E94 0000 call GetActiveParamSet |
| 1109 0700 8983 std Y+1,r24 |
| 1110 .L94: |
| 1111 0702 8981 ldd r24,Y+1 |
| 1112 0704 8823 tst r24 |
| 1113 0706 01F4 brne .L95 |
| 1114 0708 81E0 ldi r24,lo8(1) |
| 1115 070a 00C0 rjmp .L178 |
| 1116 .L95: |
| 1117 070c 8630 cpi r24,lo8(6) |
| 1118 070e 00F0 brlo .L96 |
| 1119 0710 85E0 ldi r24,lo8(5) |
| 1120 .L178: |
| 1121 0712 8983 std Y+1,r24 |
| 1122 .L96: |
| 1123 0714 8981 ldd r24,Y+1 |
| 1124 0716 0E94 0000 call ParamSet_ReadFromEEProm |
| 1125 .L98: |
| 1126 071a 8091 0000 lds r24,UebertragungAbgeschlossen |
| 1127 071e 8823 tst r24 |
| 1128 0720 01F0 breq .L98 |
| 1129 0722 8CE7 ldi r24,lo8(124) |
| 1130 0724 90E0 ldi r25,hi8(124) |
| 1131 0726 9F93 push r25 |
| 1132 0728 8F93 push r24 |
| 1133 072a 80E0 ldi r24,lo8(EE_Parameter) |
| 1134 072c 90E0 ldi r25,hi8(EE_Parameter) |
| 1135 072e 9F93 push r25 |
| 1136 0730 8F93 push r24 |
| 1137 0732 81E0 ldi r24,lo8(1) |
| 1138 0734 90E0 ldi r25,hi8(1) |
| 1139 0736 9F93 push r25 |
| 1140 0738 8F93 push r24 |
| 1141 073a CE01 movw r24,r28 |
| 1142 073c 0196 adiw r24,1 |
| 1143 073e 9F93 push r25 |
| 1144 0740 8F93 push r24 |
| 1145 0742 82E0 ldi r24,lo8(2) |
| 1146 0744 8F93 push r24 |
| 1147 0746 81E0 ldi r24,lo8(1) |
| 1148 0748 8F93 push r24 |
| 1149 074a 81E5 ldi r24,lo8(81) |
| 1150 074c 00C0 rjmp .L185 |
| 1151 .L101: |
| 1152 074e 2091 0000 lds r18,pRxData |
| 1153 0752 3091 0000 lds r19,(pRxData)+1 |
| 1154 0756 D901 movw r26,r18 |
| 1155 0758 8C91 ld r24,X |
| 1156 075a 8150 subi r24,lo8(-(-1)) |
| 1157 075c 8530 cpi r24,lo8(5) |
| 1158 075e 00F0 brlo .+2 |
| 1159 0760 00C0 rjmp .L102 |
| 1160 0762 F901 movw r30,r18 |
| 1161 0764 8181 ldd r24,Z+1 |
| 1162 0766 8C35 cpi r24,lo8(92) |
| 1163 0768 01F0 breq .+2 |
| 1164 076a 00C0 rjmp .L102 |
| 1165 076c 8091 0000 lds r24,MotorenEin |
| 1166 0770 8823 tst r24 |
| 1167 0772 01F4 brne .L102 |
| 1168 0774 2F5F subi r18,lo8(-(1)) |
| 1169 0776 3F4F sbci r19,hi8(-(1)) |
| 1170 0778 8CE7 ldi r24,lo8(124) |
| 1171 077a E0E0 ldi r30,lo8(EE_Parameter) |
| 1172 077c F0E0 ldi r31,hi8(EE_Parameter) |
| 1173 077e D901 movw r26,r18 |
| 1174 0780 0D90 ld __tmp_reg__,X+ |
| 1175 0782 0192 st Z+,__tmp_reg__ |
| 1176 0784 8A95 dec r24 |
| 1177 0786 01F4 brne .-8 |
| 1178 0788 F901 movw r30,r18 |
| 1179 078a 8291 ld r24,-Z |
| 1180 078c 0E94 0000 call ParamSet_WriteToEEProm |
| 1181 0790 8091 0000 lds r24,EE_Parameter+65 |
| 1182 0794 9927 clr r25 |
| 1183 0796 AA27 clr r26 |
| 1184 0798 BB27 clr r27 |
| 1185 079a BC01 movw r22,r24 |
| 1186 079c CD01 movw r24,r26 |
| 1187 079e 24EC ldi r18,lo8(2500) |
| 1188 07a0 39E0 ldi r19,hi8(2500) |
| 1189 07a2 40E0 ldi r20,hlo8(2500) |
| 1190 07a4 50E0 ldi r21,hhi8(2500) |
| 1191 07a6 0E94 0000 call __mulsi3 |
| 1192 07aa DC01 movw r26,r24 |
| 1193 07ac CB01 movw r24,r22 |
| 1194 07ae 8093 0000 sts Umschlag180Nick,r24 |
| 1195 07b2 9093 0000 sts (Umschlag180Nick)+1,r25 |
| 1196 07b6 A093 0000 sts (Umschlag180Nick)+2,r26 |
| 1197 07ba B093 0000 sts (Umschlag180Nick)+3,r27 |
| 1198 07be 8091 0000 lds r24,EE_Parameter+66 |
| 1199 07c2 9927 clr r25 |
| 1200 07c4 AA27 clr r26 |
| 1201 07c6 BB27 clr r27 |
| 1202 07c8 BC01 movw r22,r24 |
| 1203 07ca CD01 movw r24,r26 |
| 1204 07cc 0E94 0000 call __mulsi3 |
| 1205 07d0 DC01 movw r26,r24 |
| 1206 07d2 CB01 movw r24,r22 |
| 1207 07d4 8093 0000 sts Umschlag180Roll,r24 |
| 1208 07d8 9093 0000 sts (Umschlag180Roll)+1,r25 |
| 1209 07dc A093 0000 sts (Umschlag180Roll)+2,r26 |
| 1210 07e0 B093 0000 sts (Umschlag180Roll)+3,r27 |
| 1211 07e4 0E94 0000 call GetActiveParamSet |
| 1212 07e8 8983 std Y+1,r24 |
| 1213 07ea 00C0 rjmp .L104 |
| 1214 .L102: |
| 1215 07ec 1982 std Y+1,__zero_reg__ |
| 1216 .L104: |
| 1217 07ee 8091 0000 lds r24,UebertragungAbgeschlossen |
| 1218 07f2 8823 tst r24 |
| 1219 07f4 01F0 breq .L104 |
| 1220 07f6 81E0 ldi r24,lo8(1) |
| 1221 07f8 90E0 ldi r25,hi8(1) |
| 1222 07fa 9F93 push r25 |
| 1223 07fc 8F93 push r24 |
| 1224 07fe CE01 movw r24,r28 |
| 1225 0800 0196 adiw r24,1 |
| 1226 0802 9F93 push r25 |
| 1227 0804 8F93 push r24 |
| 1228 0806 81E0 ldi r24,lo8(1) |
| 1229 0808 8F93 push r24 |
| 1230 080a 8F93 push r24 |
| 1231 080c 83E5 ldi r24,lo8(83) |
| 1232 080e 8F93 push r24 |
| 1233 0810 0E94 0000 call SendOutData |
| 1234 0814 8DB7 in r24,__SP_L__ |
| 1235 0816 9EB7 in r25,__SP_H__ |
| 1236 0818 0796 adiw r24,7 |
| 1237 081a 8DBF out __SP_L__,r24 |
| 1238 081c 00C0 rjmp .L186 |
| 1239 .L108: |
| 1240 081e E091 0000 lds r30,pRxData |
| 1241 0822 F091 0000 lds r31,(pRxData)+1 |
| 1242 0826 E081 ld r30,Z |
| 1243 0828 8E2F mov r24,r30 |
| 1244 082a 8150 subi r24,lo8(-(-1)) |
| 1245 082c 8530 cpi r24,lo8(5) |
| 1246 082e 00F4 brsh .L109 |
| 1247 0830 8E2F mov r24,r30 |
| 1248 0832 0E94 0000 call ParamSet_ReadFromEEProm |
| 1249 .L109: |
| 1250 0836 0E94 0000 call GetActiveParamSet |
| 1251 083a 8983 std Y+1,r24 |
| 1252 .L110: |
| 1253 083c 8091 0000 lds r24,UebertragungAbgeschlossen |
| 1254 0840 8823 tst r24 |
| 1255 0842 01F0 breq .L110 |
| 1256 0844 81E0 ldi r24,lo8(1) |
| 1257 0846 90E0 ldi r25,hi8(1) |
| 1258 0848 9F93 push r25 |
| 1259 084a 8F93 push r24 |
| 1260 084c CE01 movw r24,r28 |
| 1261 084e 0196 adiw r24,1 |
| 1262 0850 9F93 push r25 |
| 1263 0852 8F93 push r24 |
| 1264 0854 81E0 ldi r24,lo8(1) |
| 1265 0856 8F93 push r24 |
| 1266 0858 8F93 push r24 |
| 1267 085a 86E4 ldi r24,lo8(70) |
| 1268 085c 8F93 push r24 |
| 1269 085e 0E94 0000 call SendOutData |
| 1270 0862 ADB7 in r26,__SP_L__ |
| 1271 0864 BEB7 in r27,__SP_H__ |
| 1272 0866 1796 adiw r26,7 |
| 1273 0868 ADBF out __SP_L__,r26 |
| 1274 .L186: |
| 1275 086a 8091 0000 lds r24,MotorenEin |
| 1276 086e 8823 tst r24 |
| 1277 0870 01F4 brne .L113 |
| 1278 0872 6EE6 ldi r22,lo8(110) |
| 1279 0874 70E0 ldi r23,hi8(110) |
| 1280 0876 8981 ldd r24,Y+1 |
| 1281 0878 0E94 0000 call Piep |
| 1282 .L113: |
| 1283 087c 80E0 ldi r24,lo8(0) |
| 1284 087e 0E94 0000 call LipoDetection |
| 1285 0882 8091 0000 lds r24,EE_Parameter+39 |
| 1286 0886 0E94 0000 call LIBFC_ReceiverInit |
| 1287 088a 00C0 rjmp .L145 |
| 1288 .L114: |
| 1289 088c E091 0000 lds r30,pRxData |
| 1290 0890 F091 0000 lds r31,(pRxData)+1 |
| 1291 0894 8081 ld r24,Z |
| 1292 0896 9927 clr r25 |
| 1293 0898 87FD sbrc r24,7 |
| 1294 089a 9095 com r25 |
| 1295 089c 9093 0000 sts (PPM_in+26)+1,r25 |
| 1296 08a0 8093 0000 sts PPM_in+26,r24 |
| 1297 08a4 8181 ldd r24,Z+1 |
| 1298 08a6 9927 clr r25 |
| 1299 08a8 87FD sbrc r24,7 |
| 1300 08aa 9095 com r25 |
| 1301 08ac 9093 0000 sts (PPM_in+28)+1,r25 |
| 1302 08b0 8093 0000 sts PPM_in+28,r24 |
| 1303 08b4 8281 ldd r24,Z+2 |
| 1304 08b6 9927 clr r25 |
| 1305 08b8 87FD sbrc r24,7 |
| 1306 08ba 9095 com r25 |
| 1307 08bc 9093 0000 sts (PPM_in+30)+1,r25 |
| 1308 08c0 8093 0000 sts PPM_in+30,r24 |
| 1309 08c4 8381 ldd r24,Z+3 |
| 1310 08c6 9927 clr r25 |
| 1311 08c8 87FD sbrc r24,7 |
| 1312 08ca 9095 com r25 |
| 1313 08cc 9093 0000 sts (PPM_in+32)+1,r25 |
| 1314 08d0 8093 0000 sts PPM_in+32,r24 |
| 1315 08d4 8481 ldd r24,Z+4 |
| 1316 08d6 9927 clr r25 |
| 1317 08d8 87FD sbrc r24,7 |
| 1318 08da 9095 com r25 |
| 1319 08dc 9093 0000 sts (PPM_in+34)+1,r25 |
| 1320 08e0 8093 0000 sts PPM_in+34,r24 |
| 1321 08e4 8581 ldd r24,Z+5 |
| 1322 08e6 9927 clr r25 |
| 1323 08e8 87FD sbrc r24,7 |
| 1324 08ea 9095 com r25 |
| 1325 08ec 9093 0000 sts (PPM_in+36)+1,r25 |
| 1326 08f0 8093 0000 sts PPM_in+36,r24 |
| 1327 08f4 8681 ldd r24,Z+6 |
| 1328 08f6 9927 clr r25 |
| 1329 08f8 87FD sbrc r24,7 |
| 1330 08fa 9095 com r25 |
| 1331 08fc 9093 0000 sts (PPM_in+38)+1,r25 |
| 1332 0900 8093 0000 sts PPM_in+38,r24 |
| 1333 0904 8781 ldd r24,Z+7 |
| 1334 0906 9927 clr r25 |
| 1335 0908 87FD sbrc r24,7 |
| 1336 090a 9095 com r25 |
| 1337 090c 9093 0000 sts (PPM_in+40)+1,r25 |
| 1338 0910 8093 0000 sts PPM_in+40,r24 |
| 1339 0914 8085 ldd r24,Z+8 |
| 1340 0916 9927 clr r25 |
| 1341 0918 87FD sbrc r24,7 |
| 1342 091a 9095 com r25 |
| 1343 091c 9093 0000 sts (PPM_in+42)+1,r25 |
| 1344 0920 8093 0000 sts PPM_in+42,r24 |
| 1345 0924 8185 ldd r24,Z+9 |
| 1346 0926 9927 clr r25 |
| 1347 0928 87FD sbrc r24,7 |
| 1348 092a 9095 com r25 |
| 1349 092c 9093 0000 sts (PPM_in+44)+1,r25 |
| 1350 0930 8093 0000 sts PPM_in+44,r24 |
| 1351 0934 8285 ldd r24,Z+10 |
| 1352 0936 9927 clr r25 |
| 1353 0938 87FD sbrc r24,7 |
| 1354 093a 9095 com r25 |
| 1355 093c 9093 0000 sts (PPM_in+46)+1,r25 |
| 1356 0940 8093 0000 sts PPM_in+46,r24 |
| 1357 0944 8385 ldd r24,Z+11 |
| 1358 0946 9927 clr r25 |
| 1359 0948 87FD sbrc r24,7 |
| 1360 094a 9095 com r25 |
| 1361 094c 9093 0000 sts (PPM_in+48)+1,r25 |
| 1362 0950 8093 0000 sts PPM_in+48,r24 |
| 1363 0954 00C0 rjmp .L145 |
| 1364 .L115: |
| 1365 0956 E091 0000 lds r30,pRxData |
| 1366 095a F091 0000 lds r31,(pRxData)+1 |
| 1367 095e 8081 ld r24,Z |
| 1368 0960 0E94 0000 call I2C_ReadBLConfig |
| 1369 0964 8A83 std Y+2,r24 |
| 1370 0966 8823 tst r24 |
| 1371 0968 01F4 brne .L116 |
| 1372 096a 81E0 ldi r24,lo8(1) |
| 1373 096c 8983 std Y+1,r24 |
| 1374 096e 00C0 rjmp .L118 |
| 1375 .L116: |
| 1376 0970 1982 std Y+1,__zero_reg__ |
| 1377 .L118: |
| 1378 0972 8091 0000 lds r24,UebertragungAbgeschlossen |
| 1379 0976 8823 tst r24 |
| 1380 0978 01F0 breq .L118 |
| 1381 097a 88E0 ldi r24,lo8(8) |
| 1382 097c 90E0 ldi r25,hi8(8) |
| 1383 097e 9F93 push r25 |
| 1384 0980 8F93 push r24 |
| 1385 0982 80E0 ldi r24,lo8(BLConfig) |
| 1386 0984 90E0 ldi r25,hi8(BLConfig) |
| 1387 0986 9F93 push r25 |
| 1388 0988 8F93 push r24 |
| 1389 098a 21E0 ldi r18,lo8(1) |
| 1390 098c 30E0 ldi r19,hi8(1) |
| 1391 098e 3F93 push r19 |
| 1392 0990 2F93 push r18 |
| 1393 0992 8091 0000 lds r24,pRxData |
| 1394 0996 9091 0000 lds r25,(pRxData)+1 |
| 1395 099a 9F93 push r25 |
| 1396 099c 8F93 push r24 |
| 1397 099e 3F93 push r19 |
| 1398 09a0 2F93 push r18 |
| 1399 09a2 CE01 movw r24,r28 |
| 1400 09a4 0296 adiw r24,2 |
| 1401 09a6 9F93 push r25 |
| 1402 09a8 8F93 push r24 |
| 1403 09aa 3F93 push r19 |
| 1404 09ac 2F93 push r18 |
| 1405 09ae CE01 movw r24,r28 |
| 1406 09b0 820F add r24,r18 |
| 1407 09b2 931F adc r25,r19 |
| 1408 09b4 9F93 push r25 |
| 1409 09b6 8F93 push r24 |
| 1410 09b8 84E0 ldi r24,lo8(4) |
| 1411 09ba 8F93 push r24 |
| 1412 09bc 81E0 ldi r24,lo8(1) |
| 1413 09be 8F93 push r24 |
| 1414 09c0 85E5 ldi r24,lo8(85) |
| 1415 09c2 8F93 push r24 |
| 1416 09c4 0E94 0000 call SendOutData |
| 1417 09c8 EDB7 in r30,__SP_L__ |
| 1418 09ca FEB7 in r31,__SP_H__ |
| 1419 09cc 7396 adiw r30,19 |
| 1420 09ce 00C0 rjmp .L181 |
| 1421 .L121: |
| 1422 09d0 8091 0000 lds r24,RxDataLen |
| 1423 09d4 8930 cpi r24,lo8(9) |
| 1424 09d6 00F4 brsh .+2 |
| 1425 09d8 00C0 rjmp .L145 |
| 1426 09da 2091 0000 lds r18,pRxData |
| 1427 09de 3091 0000 lds r19,(pRxData)+1 |
| 1428 09e2 2F5F subi r18,lo8(-(1)) |
| 1429 09e4 3F4F sbci r19,hi8(-(1)) |
| 1430 09e6 88E0 ldi r24,lo8(8) |
| 1431 09e8 A0E0 ldi r26,lo8(BLConfig) |
| 1432 09ea B0E0 ldi r27,hi8(BLConfig) |
| 1433 09ec F901 movw r30,r18 |
| 1434 09ee 0190 ld __tmp_reg__,Z+ |
| 1435 09f0 0D92 st X+,__tmp_reg__ |
| 1436 09f2 8A95 dec r24 |
| 1437 09f4 01F4 brne .-8 |
| 1438 09f6 D901 movw r26,r18 |
| 1439 09f8 8E91 ld r24,-X |
| 1440 09fa 0E94 0000 call I2C_WriteBLConfig |
| 1441 09fe 8A83 std Y+2,r24 |
| 1442 0a00 8823 tst r24 |
| 1443 0a02 01F4 brne .L123 |
| 1444 0a04 81E0 ldi r24,lo8(1) |
| 1445 0a06 8983 std Y+1,r24 |
| 1446 0a08 00C0 rjmp .L125 |
| 1447 .L123: |
| 1448 0a0a 1982 std Y+1,__zero_reg__ |
| 1449 .L125: |
| 1450 0a0c 8091 0000 lds r24,UebertragungAbgeschlossen |
| 1451 0a10 8823 tst r24 |
| 1452 0a12 01F0 breq .L125 |
| 1453 0a14 21E0 ldi r18,lo8(1) |
| 1454 0a16 30E0 ldi r19,hi8(1) |
| 1455 0a18 3F93 push r19 |
| 1456 0a1a 2F93 push r18 |
| 1457 0a1c CE01 movw r24,r28 |
| 1458 0a1e 0296 adiw r24,2 |
| 1459 0a20 9F93 push r25 |
| 1460 0a22 8F93 push r24 |
| 1461 0a24 3F93 push r19 |
| 1462 0a26 2F93 push r18 |
| 1463 0a28 CE01 movw r24,r28 |
| 1464 0a2a 820F add r24,r18 |
| 1465 0a2c 931F adc r25,r19 |
| 1466 0a2e 9F93 push r25 |
| 1467 0a30 8F93 push r24 |
| 1468 0a32 82E0 ldi r24,lo8(2) |
| 1469 0a34 8F93 push r24 |
| 1470 0a36 81E0 ldi r24,lo8(1) |
| 1471 0a38 8F93 push r24 |
| 1472 0a3a 87E5 ldi r24,lo8(87) |
| 1473 .L185: |
| 1474 0a3c 8F93 push r24 |
| 1475 0a3e 0E94 0000 call SendOutData |
| 1476 0a42 EDB7 in r30,__SP_L__ |
| 1477 0a44 FEB7 in r31,__SP_H__ |
| 1478 0a46 3B96 adiw r30,11 |
| 1479 .L181: |
| 1480 0a48 EDBF out __SP_L__,r30 |
| 1481 0a4a 00C0 rjmp .L145 |
| 1482 .L128: |
| 1483 0a4c 8091 0000 lds r24,MotorenEin |
| 1484 0a50 8823 tst r24 |
| 1485 0a52 01F0 breq .+2 |
| 1486 0a54 00C0 rjmp .L145 |
| 1487 0a56 0E94 0000 call LIBFC_GetCPUType |
| 1488 0a5a 8983 std Y+1,r24 |
| 1489 0a5c 8230 cpi r24,lo8(2) |
| 1490 0a5e 01F0 breq .L131 |
| 1491 0a60 8430 cpi r24,lo8(4) |
| 1492 0a62 01F0 breq .+2 |
| 1493 0a64 00C0 rjmp .L145 |
| 1494 .L131: |
| 1495 0a66 20E4 ldi r18,lo8(64) |
| 1496 0a68 30E0 ldi r19,hi8(64) |
| 1497 /* #APP */ |
| 1498 0a6a F894 cli |
| 1499 /* #NOAPP */ |
| 1500 0a6c 8091 C100 lds r24,193 |
| 1501 0a70 8F73 andi r24,lo8(63) |
| 1502 0a72 8093 C100 sts 193,r24 |
| 1503 0a76 8091 C900 lds r24,201 |
| 1504 0a7a 8F73 andi r24,lo8(63) |
| 1505 0a7c 8093 C900 sts 201,r24 |
| 1506 0a80 8091 C100 lds r24,193 |
| 1507 0a84 877E andi r24,lo8(-25) |
| 1508 0a86 8093 C100 sts 193,r24 |
| 1509 0a8a 8091 C900 lds r24,201 |
| 1510 0a8e 877E andi r24,lo8(-25) |
| 1511 0a90 8093 C900 sts 201,r24 |
| 1512 .L180: |
| 1513 0a94 8091 C800 lds r24,200 |
| 1514 0a98 87FF sbrs r24,7 |
| 1515 0a9a 00C0 rjmp .L173 |
| 1516 0a9c 8091 CE00 lds r24,206 |
| 1517 0aa0 00C0 rjmp .L180 |
| 1518 .L173: |
| 1519 0aa2 8091 C000 lds r24,192 |
| 1520 0aa6 87FF sbrs r24,7 |
| 1521 0aa8 00C0 rjmp .L175 |
| 1522 0aaa 8091 C600 lds r24,198 |
| 1523 0aae 00C0 rjmp .L173 |
| 1524 .L175: |
| 1525 0ab0 E091 0000 lds r30,pRxData |
| 1526 0ab4 F091 0000 lds r31,(pRxData)+1 |
| 1527 0ab8 E081 ld r30,Z |
| 1528 0aba E130 cpi r30,lo8(1) |
| 1529 0abc 01F4 brne .L138 |
| 1530 0abe 82E0 ldi r24,lo8(2) |
| 1531 0ac0 8093 0000 sts ReceiverUpdateModeActive,r24 |
| 1532 0ac4 00C0 rjmp .L139 |
| 1533 .L138: |
| 1534 0ac6 E436 cpi r30,lo8(100) |
| 1535 0ac8 01F4 brne .L140 |
| 1536 0aca 21E8 ldi r18,lo8(129) |
| 1537 0acc 30E0 ldi r19,hi8(129) |
| 1538 .L140: |
| 1539 0ace 81E0 ldi r24,lo8(1) |
| 1540 0ad0 8093 0000 sts ReceiverUpdateModeActive,r24 |
| 1541 0ad4 832F mov r24,r19 |
| 1542 0ad6 9927 clr r25 |
| 1543 0ad8 8093 CD00 sts 205,r24 |
| 1544 0adc 2093 CC00 sts 204,r18 |
| 1545 0ae0 8091 CD00 lds r24,205 |
| 1546 0ae4 8093 C500 sts 197,r24 |
| 1547 0ae8 8091 CC00 lds r24,204 |
| 1548 0aec 8093 C400 sts 196,r24 |
| 1549 0af0 8091 CA00 lds r24,202 |
| 1550 0af4 8F7D andi r24,lo8(-33) |
| 1551 0af6 8093 CA00 sts 202,r24 |
| 1552 0afa 8091 CA00 lds r24,202 |
| 1553 0afe 8F7E andi r24,lo8(-17) |
| 1554 0b00 8093 CA00 sts 202,r24 |
| 1555 0b04 8091 C900 lds r24,201 |
| 1556 0b08 8B7F andi r24,lo8(-5) |
| 1557 0b0a 8093 C900 sts 201,r24 |
| 1558 0b0e 8091 CA00 lds r24,202 |
| 1559 0b12 8460 ori r24,lo8(4) |
| 1560 0b14 8093 CA00 sts 202,r24 |
| 1561 0b18 8091 CA00 lds r24,202 |
| 1562 0b1c 8260 ori r24,lo8(2) |
| 1563 0b1e 8093 CA00 sts 202,r24 |
| 1564 .L139: |
| 1565 0b22 8091 CA00 lds r24,202 |
| 1566 0b26 877F andi r24,lo8(-9) |
| 1567 0b28 8093 CA00 sts 202,r24 |
| 1568 0b2c 8091 C200 lds r24,194 |
| 1569 0b30 877F andi r24,lo8(-9) |
| 1570 0b32 8093 C200 sts 194,r24 |
| 1571 0b36 8091 C900 lds r24,201 |
| 1572 0b3a 8E7F andi r24,lo8(-2) |
| 1573 0b3c 8093 C900 sts 201,r24 |
| 1574 0b40 8091 C100 lds r24,193 |
| 1575 0b44 8861 ori r24,lo8(24) |
| 1576 0b46 8093 C100 sts 193,r24 |
| 1577 0b4a 8091 C900 lds r24,201 |
| 1578 0b4e 8861 ori r24,lo8(24) |
| 1579 0b50 8093 C900 sts 201,r24 |
| 1580 0b54 8091 C100 lds r24,193 |
| 1581 0b58 8068 ori r24,lo8(-128) |
| 1582 0b5a 8093 C100 sts 193,r24 |
| 1583 0b5e 8091 C900 lds r24,201 |
| 1584 0b62 8068 ori r24,lo8(-128) |
| 1585 0b64 8093 C900 sts 201,r24 |
| 1586 0b68 1092 6E00 sts 110,__zero_reg__ |
| 1587 0b6c 1092 6F00 sts 111,__zero_reg__ |
| 1588 0b70 1092 7000 sts 112,__zero_reg__ |
| 1589 /* #APP */ |
| 1590 0b74 7894 sei |
| 1591 /* #NOAPP */ |
| 1592 .L145: |
| 1593 0b76 8091 0000 lds r24,RxdBuffer+2 |
| 1594 0b7a 9927 clr r25 |
| 1595 0b7c 8436 cpi r24,100 |
| 1596 0b7e 9105 cpc r25,__zero_reg__ |
| 1597 0b80 01F4 brne .+2 |
| 1598 0b82 00C0 rjmp .L160 |
| 1599 0b84 8536 cpi r24,101 |
| 1600 0b86 9105 cpc r25,__zero_reg__ |
| 1601 0b88 04F4 brge .L169 |
| 1602 0b8a 8136 cpi r24,97 |
| 1603 0b8c 9105 cpc r25,__zero_reg__ |
| 1604 0b8e 01F4 brne .+2 |
| 1605 0b90 00C0 rjmp .L154 |
| 1606 0b92 8236 cpi r24,98 |
| 1607 0b94 9105 cpc r25,__zero_reg__ |
| 1608 0b96 04F4 brge .L170 |
| 1609 0b98 8B34 cpi r24,75 |
| 1610 0b9a 9105 cpc r25,__zero_reg__ |
| 1611 0b9c 01F4 brne .+2 |
| 1612 0b9e 00C0 rjmp .L153 |
| 1613 0ba0 00C0 rjmp .L65 |
| 1614 .L170: |
| 1615 0ba2 8236 cpi r24,98 |
| 1616 0ba4 9105 cpc r25,__zero_reg__ |
| 1617 0ba6 01F4 brne .+2 |
| 1618 0ba8 00C0 rjmp .L156 |
| 1619 0baa 8336 cpi r24,99 |
| 1620 0bac 9105 cpc r25,__zero_reg__ |
| 1621 0bae 01F4 brne .+2 |
| 1622 0bb0 00C0 rjmp .L157 |
| 1623 0bb2 00C0 rjmp .L65 |
| 1624 .L169: |
| 1625 0bb4 8C36 cpi r24,108 |
| 1626 0bb6 9105 cpc r25,__zero_reg__ |
| 1627 0bb8 01F4 brne .+2 |
| 1628 0bba 00C0 rjmp .L165 |
| 1629 0bbc 8D36 cpi r24,109 |
| 1630 0bbe 9105 cpc r25,__zero_reg__ |
| 1631 0bc0 04F4 brge .L171 |
| 1632 0bc2 8736 cpi r24,103 |
| 1633 0bc4 9105 cpc r25,__zero_reg__ |
| 1634 0bc6 01F4 brne .+2 |
| 1635 0bc8 00C0 rjmp .L167 |
| 1636 0bca 8836 cpi r24,104 |
| 1637 0bcc 9105 cpc r25,__zero_reg__ |
| 1638 0bce 01F4 brne .+2 |
| 1639 0bd0 00C0 rjmp .L162 |
| 1640 0bd2 00C0 rjmp .L65 |
| 1641 .L171: |
| 1642 0bd4 8437 cpi r24,116 |
| 1643 0bd6 9105 cpc r25,__zero_reg__ |
| 1644 0bd8 01F0 breq .L147 |
| 1645 0bda 8637 cpi r24,118 |
| 1646 0bdc 9105 cpc r25,__zero_reg__ |
| 1647 0bde 01F4 brne .+2 |
| 1648 0be0 00C0 rjmp .L166 |
| 1649 0be2 00C0 rjmp .L65 |
| 1650 .L147: |
| 1651 0be4 8091 0000 lds r24,AnzahlEmpfangsBytes |
| 1652 0be8 A091 0000 lds r26,pRxData |
| 1653 0bec B091 0000 lds r27,(pRxData)+1 |
| 1654 0bf0 8031 cpi r24,lo8(16) |
| 1655 0bf2 00F0 brlo .L148 |
| 1656 0bf4 80E1 ldi r24,lo8(16) |
| 1657 0bf6 E0E0 ldi r30,lo8(MotorTest) |
| 1658 0bf8 F0E0 ldi r31,hi8(MotorTest) |
| 1659 0bfa 0D90 ld __tmp_reg__,X+ |
| 1660 0bfc 0192 st Z+,__tmp_reg__ |
| 1661 0bfe 8A95 dec r24 |
| 1662 0c00 01F4 brne .-8 |
| 1663 0c02 00C0 rjmp .L150 |
| 1664 .L148: |
| 1665 0c04 8D91 ld r24,X+ |
| 1666 0c06 9D91 ld r25,X+ |
| 1667 0c08 0D90 ld __tmp_reg__,X+ |
| 1668 0c0a BC91 ld r27,X |
| 1669 0c0c A02D mov r26,__tmp_reg__ |
| 1670 0c0e 8093 0000 sts MotorTest,r24 |
| 1671 0c12 9093 0000 sts (MotorTest)+1,r25 |
| 1672 0c16 A093 0000 sts (MotorTest)+2,r26 |
| 1673 0c1a B093 0000 sts (MotorTest)+3,r27 |
| 1674 .L150: |
| 1675 0c1e 8091 0000 lds r24,UebertragungAbgeschlossen |
| 1676 0c22 8823 tst r24 |
| 1677 0c24 01F0 breq .L150 |
| 1678 0c26 1F92 push __zero_reg__ |
| 1679 0c28 8091 0000 lds r24,MeineSlaveAdresse |
| 1680 0c2c 8F93 push r24 |
| 1681 0c2e 84E5 ldi r24,lo8(84) |
| 1682 0c30 8F93 push r24 |
| 1683 0c32 0E94 0000 call SendOutData |
| 1684 0c36 8AEF ldi r24,lo8(-6) |
| 1685 0c38 8093 0000 sts PC_MotortestActive,r24 |
| 1686 0c3c 8FEF ldi r24,lo8(-1) |
| 1687 0c3e 8093 0000 sts PcZugriff,r24 |
| 1688 0c42 80EA ldi r24,lo8(4000) |
| 1689 0c44 9FE0 ldi r25,hi8(4000) |
| 1690 0c46 0E94 0000 call SetDelay |
| 1691 0c4a 9093 0000 sts (AboTimeOut)+1,r25 |
| 1692 0c4e 8093 0000 sts AboTimeOut,r24 |
| 1693 0c52 0F90 pop __tmp_reg__ |
| 1694 0c54 0F90 pop __tmp_reg__ |
| 1695 0c56 0F90 pop __tmp_reg__ |
| 1696 0c58 00C0 rjmp .L65 |
| 1697 .L153: |
| 1698 0c5a E091 0000 lds r30,pRxData |
| 1699 0c5e F091 0000 lds r31,(pRxData)+1 |
| 1700 0c62 8081 ld r24,Z |
| 1701 0c64 9181 ldd r25,Z+1 |
| 1702 0c66 9093 0000 sts (KompassValue)+1,r25 |
| 1703 0c6a 8093 0000 sts KompassValue,r24 |
| 1704 0c6e 00C0 rjmp .L65 |
| 1705 .L154: |
| 1706 0c70 E091 0000 lds r30,pRxData |
| 1707 0c74 F091 0000 lds r31,(pRxData)+1 |
| 1708 0c78 8081 ld r24,Z |
| 1709 0c7a 8093 0000 sts DebugTextAnforderung,r24 |
| 1710 0c7e 8032 cpi r24,lo8(32) |
| 1711 0c80 00F0 brlo .L183 |
| 1712 0c82 8FE1 ldi r24,lo8(31) |
| 1713 0c84 8093 0000 sts DebugTextAnforderung,r24 |
| 1714 0c88 00C0 rjmp .L183 |
| 1715 .L156: |
| 1716 0c8a A091 0000 lds r26,pRxData |
| 1717 0c8e B091 0000 lds r27,(pRxData)+1 |
| 1718 0c92 8BE0 ldi r24,lo8(11) |
| 1719 0c94 E0E0 ldi r30,lo8(ExternControl) |
| 1720 0c96 F0E0 ldi r31,hi8(ExternControl) |
| 1721 0c98 0D90 ld __tmp_reg__,X+ |
| 1722 0c9a 0192 st Z+,__tmp_reg__ |
| 1723 0c9c 8A95 dec r24 |
| 1724 0c9e 01F4 brne .-8 |
| 1725 0ca0 8091 0000 lds r24,ExternControl+9 |
| 1726 0ca4 8093 0000 sts ConfirmFrame,r24 |
| 1727 .L183: |
| 1728 0ca8 8FEF ldi r24,lo8(-1) |
| 1729 0caa 8093 0000 sts PcZugriff,r24 |
| 1730 0cae 00C0 rjmp .L65 |
| 1731 .L157: |
| 1732 0cb0 8091 0000 lds r24,Intervall3D |
| 1733 0cb4 9091 0000 lds r25,(Intervall3D)+1 |
| 1734 0cb8 892B or r24,r25 |
| 1735 0cba 01F4 brne .L158 |
| 1736 0cbc E091 0000 lds r30,pRxData |
| 1737 0cc0 F091 0000 lds r31,(pRxData)+1 |
| 1738 0cc4 E081 ld r30,Z |
| 1739 0cc6 EE23 tst r30 |
| 1740 0cc8 01F0 breq .L158 |
| 1741 0cca 8AE0 ldi r24,lo8(10) |
| 1742 0ccc E89F mul r30,r24 |
| 1743 0cce C001 movw r24,r0 |
| 1744 0cd0 1124 clr r1 |
| 1745 0cd2 0E94 0000 call SetDelay |
| 1746 0cd6 9093 0000 sts (Timer3D)+1,r25 |
| 1747 0cda 8093 0000 sts Timer3D,r24 |
| 1748 .L158: |
| 1749 0cde E091 0000 lds r30,pRxData |
| 1750 0ce2 F091 0000 lds r31,(pRxData)+1 |
| 1751 0ce6 9081 ld r25,Z |
| 1752 0ce8 8AE0 ldi r24,lo8(10) |
| 1753 0cea 989F mul r25,r24 |
| 1754 0cec C001 movw r24,r0 |
| 1755 0cee 1124 clr r1 |
| 1756 0cf0 9093 0000 sts (Intervall3D)+1,r25 |
| 1757 0cf4 8093 0000 sts Intervall3D,r24 |
| 1758 0cf8 00C0 rjmp .L161 |
| 1759 .L160: |
| 1760 0cfa 8FEF ldi r24,lo8(-1) |
| 1761 0cfc 8093 0000 sts PcZugriff,r24 |
| 1762 0d00 E091 0000 lds r30,pRxData |
| 1763 0d04 F091 0000 lds r31,(pRxData)+1 |
| 1764 0d08 9081 ld r25,Z |
| 1765 0d0a 8AE0 ldi r24,lo8(10) |
| 1766 0d0c 989F mul r25,r24 |
| 1767 0d0e C001 movw r24,r0 |
| 1768 0d10 1124 clr r1 |
| 1769 0d12 9093 0000 sts (DebugDataIntervall)+1,r25 |
| 1770 0d16 8093 0000 sts DebugDataIntervall,r24 |
| 1771 0d1a 892B or r24,r25 |
| 1772 0d1c 01F0 breq .L161 |
| 1773 0d1e 81E0 ldi r24,lo8(1) |
| 1774 0d20 8093 0000 sts DebugDataAnforderung,r24 |
| 1775 .L161: |
| 1776 0d24 80EA ldi r24,lo8(4000) |
| 1777 0d26 9FE0 ldi r25,hi8(4000) |
| 1778 0d28 0E94 0000 call SetDelay |
| 1779 0d2c 9093 0000 sts (AboTimeOut)+1,r25 |
| 1780 0d30 8093 0000 sts AboTimeOut,r24 |
| 1781 0d34 00C0 rjmp .L65 |
| 1782 .L162: |
| 1783 0d36 8FEF ldi r24,lo8(-1) |
| 1784 0d38 8093 0000 sts PcZugriff,r24 |
| 1785 0d3c E091 0000 lds r30,pRxData |
| 1786 0d40 F091 0000 lds r31,(pRxData)+1 |
| 1787 0d44 9081 ld r25,Z |
| 1788 0d46 97FD sbrc r25,7 |
| 1789 0d48 00C0 rjmp .L163 |
| 1790 0d4a 82E0 ldi r24,lo8(2) |
| 1791 0d4c 8093 0000 sts DisplayLine,r24 |
| 1792 0d50 1092 0000 sts (Display_Interval)+1,__zero_reg__ |
| 1793 0d54 1092 0000 sts Display_Interval,__zero_reg__ |
| 1794 0d58 00C0 rjmp .L164 |
| 1795 .L163: |
| 1796 0d5a 9095 com r25 |
| 1797 0d5c 8091 0000 lds r24,RemoteKeys |
| 1798 0d60 892B or r24,r25 |
| 1799 0d62 8093 0000 sts RemoteKeys,r24 |
| 1800 0d66 9181 ldd r25,Z+1 |
| 1801 0d68 8AE0 ldi r24,lo8(10) |
| 1802 0d6a 989F mul r25,r24 |
| 1803 0d6c C001 movw r24,r0 |
| 1804 0d6e 1124 clr r1 |
| 1805 0d70 9093 0000 sts (Display_Interval)+1,r25 |
| 1806 0d74 8093 0000 sts Display_Interval,r24 |
| 1807 0d78 84E0 ldi r24,lo8(4) |
| 1808 0d7a 8093 0000 sts DisplayLine,r24 |
| 1809 0d7e 80EA ldi r24,lo8(4000) |
| 1810 0d80 9FE0 ldi r25,hi8(4000) |
| 1811 0d82 0E94 0000 call SetDelay |
| 1812 0d86 9093 0000 sts (AboTimeOut)+1,r25 |
| 1813 0d8a 8093 0000 sts AboTimeOut,r24 |
| 1814 .L164: |
| 1815 0d8e 81E0 ldi r24,lo8(1) |
| 1816 0d90 8093 0000 sts DebugDisplayAnforderung,r24 |
| 1817 0d94 00C0 rjmp .L65 |
| 1818 .L165: |
| 1819 0d96 8FEF ldi r24,lo8(-1) |
| 1820 0d98 8093 0000 sts PcZugriff,r24 |
| 1821 0d9c E091 0000 lds r30,pRxData |
| 1822 0da0 F091 0000 lds r31,(pRxData)+1 |
| 1823 0da4 8081 ld r24,Z |
| 1824 0da6 8093 0000 sts MenuePunkt,r24 |
| 1825 0daa 81E0 ldi r24,lo8(1) |
| 1826 0dac 8093 0000 sts DebugDisplayAnforderung1,r24 |
| 1827 0db0 00C0 rjmp .L65 |
| 1828 .L166: |
| 1829 0db2 81E0 ldi r24,lo8(1) |
| 1830 0db4 8093 0000 sts GetVersionAnforderung,r24 |
| 1831 0db8 00C0 rjmp .L65 |
| 1832 .L167: |
| 1833 0dba 81E0 ldi r24,lo8(1) |
| 1834 0dbc 8093 0000 sts GetExternalControl,r24 |
| 1835 .L65: |
| 1836 0dc0 1092 0000 sts NeuerDatensatzEmpfangen,__zero_reg__ |
| 1837 0dc4 1092 0000 sts (pRxData)+1,__zero_reg__ |
| 1838 0dc8 1092 0000 sts pRxData,__zero_reg__ |
| 1839 0dcc 1092 0000 sts RxDataLen,__zero_reg__ |
| 1840 .L63: |
| 1841 /* epilogue: frame size=2 */ |
| 1842 0dd0 E3E0 ldi r30,3 |
| 1843 0dd2 CE5F subi r28,-2 |
| 1844 0dd4 0C94 0000 jmp __epilogue_restores__+30 |
| 1845 /* epilogue end (size=4) */ |
| 1846 /* function BearbeiteRxDaten size 1128 (1118) */ |
| 1848 .global uart_putchar |
| 1850 uart_putchar: |
| 1851 /* prologue: frame size=0 */ |
| 1852 /* prologue end (size=0) */ |
| 1853 0dd8 982F mov r25,r24 |
| 1854 .L188: |
| 1855 0dda 8091 C000 lds r24,192 |
| 1856 0dde 85FF sbrs r24,5 |
| 1857 0de0 00C0 rjmp .L188 |
| 1858 0de2 9093 C600 sts 198,r25 |
| 1859 /* epilogue: frame size=0 */ |
| 1860 0de6 0895 ret |
| 1861 /* epilogue end (size=1) */ |
| 1862 /* function uart_putchar size 8 (7) */ |
| 1864 .global UART_Init |
| 1866 UART_Init: |
| 1867 /* prologue: frame size=0 */ |
| 1868 0de8 0F93 push r16 |
| 1869 0dea 1F93 push r17 |
| 1870 /* prologue end (size=2) */ |
| 1871 0dec 88E1 ldi r24,lo8(24) |
| 1872 0dee 8093 C100 sts 193,r24 |
| 1873 0df2 8091 C000 lds r24,192 |
| 1874 0df6 8260 ori r24,lo8(2) |
| 1875 0df8 8093 C000 sts 192,r24 |
| 1876 0dfc 8091 C100 lds r24,193 |
| 1877 0e00 8068 ori r24,lo8(-128) |
| 1878 0e02 8093 C100 sts 193,r24 |
| 1879 0e06 8091 C100 lds r24,193 |
| 1880 0e0a 8064 ori r24,lo8(64) |
| 1881 0e0c 8093 C100 sts 193,r24 |
| 1882 0e10 00E0 ldi r16,lo8(0) |
| 1883 0e12 10E0 ldi r17,hi8(0) |
| 1884 0e14 0093 C500 sts 197,r16 |
| 1885 0e18 8AE2 ldi r24,lo8(42) |
| 1886 0e1a 90E0 ldi r25,hi8(42) |
| 1887 0e1c 8093 C400 sts 196,r24 |
| 1888 0e20 8091 0000 lds r24,DebugDataIntervall |
| 1889 0e24 9091 0000 lds r25,(DebugDataIntervall)+1 |
| 1890 0e28 0E94 0000 call SetDelay |
| 1891 0e2c 9093 0000 sts (Debug_Timer)+1,r25 |
| 1892 0e30 8093 0000 sts Debug_Timer,r24 |
| 1893 0e34 8CED ldi r24,lo8(220) |
| 1894 0e36 90E0 ldi r25,hi8(220) |
| 1895 0e38 0E94 0000 call SetDelay |
| 1896 0e3c 9093 0000 sts (Kompass_Timer)+1,r25 |
| 1897 0e40 8093 0000 sts Kompass_Timer,r24 |
| 1898 0e44 1092 0000 sts VersionInfo,__zero_reg__ |
| 1899 0e48 8AE5 ldi r24,lo8(90) |
| 1900 0e4a 8093 0000 sts VersionInfo+1,r24 |
| 1901 0e4e 83E0 ldi r24,lo8(3) |
| 1902 0e50 8093 0000 sts VersionInfo+4,r24 |
| 1903 0e54 8BE0 ldi r24,lo8(11) |
| 1904 0e56 8093 0000 sts VersionInfo+2,r24 |
| 1905 0e5a 1092 0000 sts VersionInfo+3,__zero_reg__ |
| 1906 0e5e 1093 0000 sts (pRxData)+1,r17 |
| 1907 0e62 0093 0000 sts pRxData,r16 |
| 1908 0e66 1092 0000 sts RxDataLen,__zero_reg__ |
| 1909 /* epilogue: frame size=0 */ |
| 1910 0e6a 1F91 pop r17 |
| 1911 0e6c 0F91 pop r16 |
| 1912 0e6e 0895 ret |
| 1913 /* epilogue end (size=3) */ |
| 1914 /* function UART_Init size 68 (63) */ |
| 1916 .section .progmem.data |
| 1919 __c.0: |
| 1920 0200 2121 2120 .string "!!! INCOMPATIBLE !!!" |
| 1920 494E 434F |
| 1920 4D50 4154 |
| 1920 4942 4C45 |
| 1920 2021 2121 |
| 1921 .text |
| 1922 .global DatenUebertragung |
| 1924 DatenUebertragung: |
| 1925 /* prologue: frame size=16 */ |
| 1926 0e70 A0E1 ldi r26,lo8(16) |
| 1927 0e72 B0E0 ldi r27,hi8(16) |
| 1928 0e74 E0E0 ldi r30,pm_lo8(1f) |
| 1929 0e76 F0E0 ldi r31,pm_hi8(1f) |
| 1930 0e78 0C94 0000 jmp __prologue_saves__+24 |
| 1931 1: |
| 1932 /* prologue end (size=6) */ |
| 1933 0e7c 8091 0000 lds r24,UebertragungAbgeschlossen |
| 1934 0e80 8823 tst r24 |
| 1935 0e82 01F4 brne .+2 |
| 1936 0e84 00C0 rjmp .L192 |
| 1937 0e86 8091 0000 lds r24,AboTimeOut |
| 1938 0e8a 9091 0000 lds r25,(AboTimeOut)+1 |
| 1939 0e8e 0E94 0000 call CheckDelay |
| 1940 0e92 8823 tst r24 |
| 1941 0e94 01F0 breq .L194 |
| 1942 0e96 1092 0000 sts (Display_Interval)+1,__zero_reg__ |
| 1943 0e9a 1092 0000 sts Display_Interval,__zero_reg__ |
| 1944 0e9e 1092 0000 sts (DebugDataIntervall)+1,__zero_reg__ |
| 1945 0ea2 1092 0000 sts DebugDataIntervall,__zero_reg__ |
| 1946 0ea6 1092 0000 sts (Intervall3D)+1,__zero_reg__ |
| 1947 0eaa 1092 0000 sts Intervall3D,__zero_reg__ |
| 1948 .L194: |
| 1949 0eae 8091 0000 lds r24,Display_Interval |
| 1950 0eb2 9091 0000 lds r25,(Display_Interval)+1 |
| 1951 0eb6 892B or r24,r25 |
| 1952 0eb8 01F0 breq .L197 |
| 1953 0eba 8091 0000 lds r24,Display_Timer |
| 1954 0ebe 9091 0000 lds r25,(Display_Timer)+1 |
| 1955 0ec2 0E94 0000 call CheckDelay |
| 1956 0ec6 8823 tst r24 |
| 1957 0ec8 01F4 brne .L196 |
| 1958 .L197: |
| 1959 0eca 8091 0000 lds r24,DebugDisplayAnforderung |
| 1960 0ece 8823 tst r24 |
| 1961 0ed0 01F4 brne .+2 |
| 1962 0ed2 00C0 rjmp .L195 |
| 1963 .L196: |
| 1964 0ed4 8091 0000 lds r24,UebertragungAbgeschlossen |
| 1965 0ed8 8823 tst r24 |
| 1966 0eda 01F4 brne .+2 |
| 1967 0edc 00C0 rjmp .L195 |
| 1968 0ede 8091 0000 lds r24,DisplayLine |
| 1969 0ee2 00E0 ldi r16,lo8(DisplayBuff) |
| 1970 0ee4 10E0 ldi r17,hi8(DisplayBuff) |
| 1971 0ee6 8430 cpi r24,lo8(4) |
| 1972 0ee8 00F0 brlo .L198 |
| 1973 0eea 0E94 0000 call Menu |
| 1974 0eee 80E5 ldi r24,lo8(80) |
| 1975 0ef0 90E0 ldi r25,hi8(80) |
| 1976 0ef2 9F93 push r25 |
| 1977 0ef4 8F93 push r24 |
| 1978 0ef6 1F93 push r17 |
| 1979 0ef8 0F93 push r16 |
| 1980 0efa 81E0 ldi r24,lo8(1) |
| 1981 0efc 8F93 push r24 |
| 1982 0efe 8F93 push r24 |
| 1983 0f00 88E4 ldi r24,lo8(72) |
| 1984 0f02 8F93 push r24 |
| 1985 0f04 0E94 0000 call SendOutData |
| 1986 0f08 2DB7 in r18,__SP_L__ |
| 1987 0f0a 3EB7 in r19,__SP_H__ |
| 1988 0f0c 295F subi r18,lo8(-(7)) |
| 1989 0f0e 3F4F sbci r19,hi8(-(7)) |
| 1990 0f10 2DBF out __SP_L__,r18 |
| 1991 0f12 00C0 rjmp .L199 |
| 1992 .L198: |
| 1993 0f14 1092 0000 sts DispPtr,__zero_reg__ |
| 1994 0f18 80E0 ldi r24,lo8(__c.0) |
| 1995 0f1a 90E0 ldi r25,hi8(__c.0) |
| 1996 0f1c 9F93 push r25 |
| 1997 0f1e 8F93 push r24 |
| 1998 0f20 80E0 ldi r24,lo8(pm(Menu_Putchar)) |
| 1999 0f22 90E0 ldi r25,hi8(pm(Menu_Putchar)) |
| 2000 0f24 9F93 push r25 |
| 2001 0f26 8F93 push r24 |
| 2002 0f28 E091 0000 lds r30,_printf_P |
| 2003 0f2c F091 0000 lds r31,(_printf_P)+1 |
| 2004 0f30 0995 icall |
| 2005 0f32 84E1 ldi r24,lo8(20) |
| 2006 0f34 90E0 ldi r25,hi8(20) |
| 2007 0f36 9F93 push r25 |
| 2008 0f38 8F93 push r24 |
| 2009 0f3a 1F93 push r17 |
| 2010 0f3c 0F93 push r16 |
| 2011 0f3e 81E0 ldi r24,lo8(1) |
| 2012 0f40 90E0 ldi r25,hi8(1) |
| 2013 0f42 9F93 push r25 |
| 2014 0f44 8F93 push r24 |
| 2015 0f46 80E0 ldi r24,lo8(DisplayLine) |
| 2016 0f48 90E0 ldi r25,hi8(DisplayLine) |
| 2017 0f4a 9F93 push r25 |
| 2018 0f4c 8F93 push r24 |
| 2019 0f4e 82E0 ldi r24,lo8(2) |
| 2020 0f50 8F93 push r24 |
| 2021 0f52 81E0 ldi r24,lo8(1) |
| 2022 0f54 8F93 push r24 |
| 2023 0f56 88E4 ldi r24,lo8(72) |
| 2024 0f58 8F93 push r24 |
| 2025 0f5a 0E94 0000 call SendOutData |
| 2026 0f5e 8091 0000 lds r24,DisplayLine |
| 2027 0f62 982F mov r25,r24 |
| 2028 0f64 8F5F subi r24,lo8(-(1)) |
| 2029 0f66 8093 0000 sts DisplayLine,r24 |
| 2030 0f6a 2DB7 in r18,__SP_L__ |
| 2031 0f6c 3EB7 in r19,__SP_H__ |
| 2032 0f6e 215F subi r18,lo8(-(15)) |
| 2033 0f70 3F4F sbci r19,hi8(-(15)) |
| 2034 0f72 2DBF out __SP_L__,r18 |
| 2035 0f74 9430 cpi r25,lo8(4) |
| 2036 0f76 00F0 brlo .L199 |
| 2037 0f78 1092 0000 sts DisplayLine,__zero_reg__ |
| 2038 .L199: |
| 2039 0f7c 8091 0000 lds r24,Display_Interval |
| 2040 0f80 9091 0000 lds r25,(Display_Interval)+1 |
| 2041 0f84 0E94 0000 call SetDelay |
| 2042 0f88 9093 0000 sts (Display_Timer)+1,r25 |
| 2043 0f8c 8093 0000 sts Display_Timer,r24 |
| 2044 0f90 1092 0000 sts DebugDisplayAnforderung,__zero_reg__ |
| 2045 .L195: |
| 2046 0f94 8091 0000 lds r24,DebugDisplayAnforderung1 |
| 2047 0f98 8823 tst r24 |
| 2048 0f9a 01F0 breq .L201 |
| 2049 0f9c 8091 0000 lds r24,UebertragungAbgeschlossen |
| 2050 0fa0 8823 tst r24 |
| 2051 0fa2 01F0 breq .L201 |
| 2052 0fa4 0E94 0000 call Menu |
| 2053 0fa8 80E5 ldi r24,lo8(80) |
| 2054 0faa 90E0 ldi r25,hi8(80) |
| 2055 0fac 9F93 push r25 |
| 2056 0fae 8F93 push r24 |
| 2057 0fb0 80E0 ldi r24,lo8(DisplayBuff) |
| 2058 0fb2 90E0 ldi r25,hi8(DisplayBuff) |
| 2059 0fb4 9F93 push r25 |
| 2060 0fb6 8F93 push r24 |
| 2061 0fb8 21E0 ldi r18,lo8(1) |
| 2062 0fba 30E0 ldi r19,hi8(1) |
| 2063 0fbc 3F93 push r19 |
| 2064 0fbe 2F93 push r18 |
| 2065 0fc0 80E0 ldi r24,lo8(MaxMenue) |
| 2066 0fc2 90E0 ldi r25,hi8(MaxMenue) |
| 2067 0fc4 9F93 push r25 |
| 2068 0fc6 8F93 push r24 |
| 2069 0fc8 3F93 push r19 |
| 2070 0fca 2F93 push r18 |
| 2071 0fcc 80E0 ldi r24,lo8(MenuePunkt) |
| 2072 0fce 90E0 ldi r25,hi8(MenuePunkt) |
| 2073 0fd0 9F93 push r25 |
| 2074 0fd2 8F93 push r24 |
| 2075 0fd4 83E0 ldi r24,lo8(3) |
| 2076 0fd6 8F93 push r24 |
| 2077 0fd8 81E0 ldi r24,lo8(1) |
| 2078 0fda 8F93 push r24 |
| 2079 0fdc 8CE4 ldi r24,lo8(76) |
| 2080 0fde 8F93 push r24 |
| 2081 0fe0 0E94 0000 call SendOutData |
| 2082 0fe4 1092 0000 sts DebugDisplayAnforderung1,__zero_reg__ |
| 2083 0fe8 8DB7 in r24,__SP_L__ |
| 2084 0fea 9EB7 in r25,__SP_H__ |
| 2085 0fec 0F96 adiw r24,15 |
| 2086 0fee 8DBF out __SP_L__,r24 |
| 2087 .L201: |
| 2088 0ff0 8091 0000 lds r24,GetVersionAnforderung |
| 2089 0ff4 8823 tst r24 |
| 2090 0ff6 01F0 breq .L202 |
| 2091 0ff8 8091 0000 lds r24,UebertragungAbgeschlossen |
| 2092 0ffc 8823 tst r24 |
| 2093 0ffe 01F0 breq .L202 |
| 2094 1000 8AE0 ldi r24,lo8(10) |
| 2095 1002 90E0 ldi r25,hi8(10) |
| 2096 1004 9F93 push r25 |
| 2097 1006 8F93 push r24 |
| 2098 1008 80E0 ldi r24,lo8(VersionInfo) |
| 2099 100a 90E0 ldi r25,hi8(VersionInfo) |
| 2100 100c 9F93 push r25 |
| 2101 100e 8F93 push r24 |
| 2102 1010 81E0 ldi r24,lo8(1) |
| 2103 1012 8F93 push r24 |
| 2104 1014 8F93 push r24 |
| 2105 1016 86E5 ldi r24,lo8(86) |
| 2106 1018 8F93 push r24 |
| 2107 101a 0E94 0000 call SendOutData |
| 2108 101e 1092 0000 sts GetVersionAnforderung,__zero_reg__ |
| 2109 1022 2DB7 in r18,__SP_L__ |
| 2110 1024 3EB7 in r19,__SP_H__ |
| 2111 1026 295F subi r18,lo8(-(7)) |
| 2112 1028 3F4F sbci r19,hi8(-(7)) |
| 2113 102a 2DBF out __SP_L__,r18 |
| 2114 .L202: |
| 2115 102c 8091 0000 lds r24,GetExternalControl |
| 2116 1030 8823 tst r24 |
| 2117 1032 01F0 breq .L203 |
| 2118 1034 8091 0000 lds r24,UebertragungAbgeschlossen |
| 2119 1038 8823 tst r24 |
| 2120 103a 01F0 breq .L203 |
| 2121 103c 8BE0 ldi r24,lo8(11) |
| 2122 103e 90E0 ldi r25,hi8(11) |
| 2123 1040 9F93 push r25 |
| 2124 1042 8F93 push r24 |
| 2125 1044 80E0 ldi r24,lo8(ExternControl) |
| 2126 1046 90E0 ldi r25,hi8(ExternControl) |
| 2127 1048 9F93 push r25 |
| 2128 104a 8F93 push r24 |
| 2129 104c 81E0 ldi r24,lo8(1) |
| 2130 104e 8F93 push r24 |
| 2131 1050 8091 0000 lds r24,MeineSlaveAdresse |
| 2132 1054 8F93 push r24 |
| 2133 1056 87E4 ldi r24,lo8(71) |
| 2134 1058 8F93 push r24 |
| 2135 105a 0E94 0000 call SendOutData |
| 2136 105e 1092 0000 sts GetExternalControl,__zero_reg__ |
| 2137 1062 8DB7 in r24,__SP_L__ |
| 2138 1064 9EB7 in r25,__SP_H__ |
| 2139 1066 0796 adiw r24,7 |
| 2140 1068 8DBF out __SP_L__,r24 |
| 2141 .L203: |
| 2142 106a 8091 0000 lds r24,Kompass_Timer |
| 2143 106e 9091 0000 lds r25,(Kompass_Timer)+1 |
| 2144 1072 0E94 0000 call CheckDelay |
| 2145 1076 8823 tst r24 |
| 2146 1078 01F4 brne .+2 |
| 2147 107a 00C0 rjmp .L204 |
| 2148 107c 8091 0000 lds r24,UebertragungAbgeschlossen |
| 2149 1080 8823 tst r24 |
| 2150 1082 01F4 brne .+2 |
| 2151 1084 00C0 rjmp .L204 |
| 2152 1086 8091 0000 lds r24,EE_Parameter+28 |
| 2153 108a 9927 clr r25 |
| 2154 108c 880F lsl r24 |
| 2155 108e 991F rol r25 |
| 2156 1090 880F lsl r24 |
| 2157 1092 991F rol r25 |
| 2158 1094 7C01 movw r14,r24 |
| 2159 1096 0027 clr r16 |
| 2160 1098 F7FC sbrc r15,7 |
| 2161 109a 0095 com r16 |
| 2162 109c 102F mov r17,r16 |
| 2163 109e 8091 0000 lds r24,IntegralNick |
| 2164 10a2 9091 0000 lds r25,(IntegralNick)+1 |
| 2165 10a6 A091 0000 lds r26,(IntegralNick)+2 |
| 2166 10aa B091 0000 lds r27,(IntegralNick)+3 |
| 2167 10ae BC01 movw r22,r24 |
| 2168 10b0 CD01 movw r24,r26 |
| 2169 10b2 A801 movw r20,r16 |
| 2170 10b4 9701 movw r18,r14 |
| 2171 10b6 0E94 0000 call __divmodsi4 |
| 2172 10ba 3093 0000 sts (WinkelOut)+1,r19 |
| 2173 10be 2093 0000 sts WinkelOut,r18 |
| 2174 10c2 8091 0000 lds r24,IntegralRoll |
| 2175 10c6 9091 0000 lds r25,(IntegralRoll)+1 |
| 2176 10ca A091 0000 lds r26,(IntegralRoll)+2 |
| 2177 10ce B091 0000 lds r27,(IntegralRoll)+3 |
| 2178 10d2 BC01 movw r22,r24 |
| 2179 10d4 CD01 movw r24,r26 |
| 2180 10d6 A801 movw r20,r16 |
| 2181 10d8 9701 movw r18,r14 |
| 2182 10da 0E94 0000 call __divmodsi4 |
| 2183 10de 3093 0000 sts (WinkelOut+2)+1,r19 |
| 2184 10e2 2093 0000 sts WinkelOut+2,r18 |
| 2185 10e6 8091 0000 lds r24,Parameter_UserParam1 |
| 2186 10ea 8093 0000 sts WinkelOut+4,r24 |
| 2187 10ee 8091 0000 lds r24,Parameter_UserParam2 |
| 2188 10f2 8093 0000 sts WinkelOut+5,r24 |
| 2189 10f6 88E0 ldi r24,lo8(8) |
| 2190 10f8 90E0 ldi r25,hi8(8) |
| 2191 10fa 9F93 push r25 |
| 2192 10fc 8F93 push r24 |
| 2193 10fe 80E0 ldi r24,lo8(WinkelOut) |
| 2194 1100 90E0 ldi r25,hi8(WinkelOut) |
| 2195 1102 9F93 push r25 |
| 2196 1104 8F93 push r24 |
| 2197 1106 81E0 ldi r24,lo8(1) |
| 2198 1108 8F93 push r24 |
| 2199 110a 83E0 ldi r24,lo8(3) |
| 2200 110c 8F93 push r24 |
| 2201 110e 8BE6 ldi r24,lo8(107) |
| 2202 1110 8F93 push r24 |
| 2203 1112 0E94 0000 call SendOutData |
| 2204 1116 8091 0000 lds r24,WinkelOut+6 |
| 2205 111a 2DB7 in r18,__SP_L__ |
| 2206 111c 3EB7 in r19,__SP_H__ |
| 2207 111e 295F subi r18,lo8(-(7)) |
| 2208 1120 3F4F sbci r19,hi8(-(7)) |
| 2209 1122 2DBF out __SP_L__,r18 |
| 2210 1124 8530 cpi r24,lo8(5) |
| 2211 1126 00F0 brlo .L205 |
| 2212 1128 86E0 ldi r24,lo8(6) |
| 2213 112a 8093 0000 sts WinkelOut+6,r24 |
| 2214 .L205: |
| 2215 112e 83E6 ldi r24,lo8(99) |
| 2216 1130 90E0 ldi r25,hi8(99) |
| 2217 1132 0E94 0000 call SetDelay |
| 2218 1136 9093 0000 sts (Kompass_Timer)+1,r25 |
| 2219 113a 8093 0000 sts Kompass_Timer,r24 |
| 2220 .L204: |
| 2221 113e 8091 0000 lds r24,DebugDataIntervall |
| 2222 1142 9091 0000 lds r25,(DebugDataIntervall)+1 |
| 2223 1146 892B or r24,r25 |
| 2224 1148 01F0 breq .L208 |
| 2225 114a 8091 0000 lds r24,Debug_Timer |
| 2226 114e 9091 0000 lds r25,(Debug_Timer)+1 |
| 2227 1152 0E94 0000 call CheckDelay |
| 2228 1156 8823 tst r24 |
| 2229 1158 01F4 brne .L207 |
| 2230 .L208: |
| 2231 115a 8091 0000 lds r24,DebugDataAnforderung |
| 2232 115e 8823 tst r24 |
| 2233 1160 01F0 breq .L206 |
| 2234 .L207: |
| 2235 1162 8091 0000 lds r24,UebertragungAbgeschlossen |
| 2236 1166 8823 tst r24 |
| 2237 1168 01F0 breq .L206 |
| 2238 116a 0E94 0000 call CopyDebugValues |
| 2239 116e 82E4 ldi r24,lo8(66) |
| 2240 1170 90E0 ldi r25,hi8(66) |
| 2241 1172 9F93 push r25 |
| 2242 1174 8F93 push r24 |
| 2243 1176 80E0 ldi r24,lo8(DebugOut) |
| 2244 1178 90E0 ldi r25,hi8(DebugOut) |
| 2245 117a 9F93 push r25 |
| 2246 117c 8F93 push r24 |
| 2247 117e 81E0 ldi r24,lo8(1) |
| 2248 1180 8F93 push r24 |
| 2249 1182 8F93 push r24 |
| 2250 1184 84E4 ldi r24,lo8(68) |
| 2251 1186 8F93 push r24 |
| 2252 1188 0E94 0000 call SendOutData |
| 2253 118c 1092 0000 sts DebugDataAnforderung,__zero_reg__ |
| 2254 1190 8DB7 in r24,__SP_L__ |
| 2255 1192 9EB7 in r25,__SP_H__ |
| 2256 1194 0796 adiw r24,7 |
| 2257 1196 8DBF out __SP_L__,r24 |
| 2258 1198 8091 0000 lds r24,DebugDataIntervall |
| 2259 119c 9091 0000 lds r25,(DebugDataIntervall)+1 |
| 2260 11a0 0097 sbiw r24,0 |
| 2261 11a2 01F0 breq .L206 |
| 2262 11a4 0E94 0000 call SetDelay |
| 2263 11a8 9093 0000 sts (Debug_Timer)+1,r25 |
| 2264 11ac 8093 0000 sts Debug_Timer,r24 |
| 2265 .L206: |
| 2266 11b0 8091 0000 lds r24,Intervall3D |
| 2267 11b4 9091 0000 lds r25,(Intervall3D)+1 |
| 2268 11b8 892B or r24,r25 |
| 2269 11ba 01F4 brne .+2 |
| 2270 11bc 00C0 rjmp .L210 |
| 2271 11be 8091 0000 lds r24,Timer3D |
| 2272 11c2 9091 0000 lds r25,(Timer3D)+1 |
| 2273 11c6 0E94 0000 call CheckDelay |
| 2274 11ca 8823 tst r24 |
| 2275 11cc 01F4 brne .+2 |
| 2276 11ce 00C0 rjmp .L210 |
| 2277 11d0 8091 0000 lds r24,UebertragungAbgeschlossen |
| 2278 11d4 8823 tst r24 |
| 2279 11d6 01F4 brne .+2 |
| 2280 11d8 00C0 rjmp .L210 |
| 2281 11da 8091 0000 lds r24,EE_Parameter+28 |
| 2282 11de 9927 clr r25 |
| 2283 11e0 880F lsl r24 |
| 2284 11e2 991F rol r25 |
| 2285 11e4 880F lsl r24 |
| 2286 11e6 991F rol r25 |
| 2287 11e8 7C01 movw r14,r24 |
| 2288 11ea 0027 clr r16 |
| 2289 11ec F7FC sbrc r15,7 |
| 2290 11ee 0095 com r16 |
| 2291 11f0 102F mov r17,r16 |
| 2292 11f2 8091 0000 lds r24,IntegralNick |
| 2293 11f6 9091 0000 lds r25,(IntegralNick)+1 |
| 2294 11fa A091 0000 lds r26,(IntegralNick)+2 |
| 2295 11fe B091 0000 lds r27,(IntegralNick)+3 |
| 2296 1202 BC01 movw r22,r24 |
| 2297 1204 CD01 movw r24,r26 |
| 2298 1206 A801 movw r20,r16 |
| 2299 1208 9701 movw r18,r14 |
| 2300 120a 0E94 0000 call __divmodsi4 |
| 2301 120e 3093 0000 sts (Data3D)+1,r19 |
| 2302 1212 2093 0000 sts Data3D,r18 |
| 2303 1216 8091 0000 lds r24,IntegralRoll |
| 2304 121a 9091 0000 lds r25,(IntegralRoll)+1 |
| 2305 121e A091 0000 lds r26,(IntegralRoll)+2 |
| 2306 1222 B091 0000 lds r27,(IntegralRoll)+3 |
| 2307 1226 BC01 movw r22,r24 |
| 2308 1228 CD01 movw r24,r26 |
| 2309 122a A801 movw r20,r16 |
| 2310 122c 9701 movw r18,r14 |
| 2311 122e 0E94 0000 call __divmodsi4 |
| 2312 1232 3093 0000 sts (Data3D+2)+1,r19 |
| 2313 1236 2093 0000 sts Data3D+2,r18 |
| 2314 123a 2091 0000 lds r18,ErsatzKompass |
| 2315 123e 3091 0000 lds r19,(ErsatzKompass)+1 |
| 2316 1242 4091 0000 lds r20,(ErsatzKompass)+2 |
| 2317 1246 5091 0000 lds r21,(ErsatzKompass)+3 |
| 2318 124a DA01 movw r26,r20 |
| 2319 124c C901 movw r24,r18 |
| 2320 124e 63E0 ldi r22,3 |
| 2321 1250 880F 1: lsl r24 |
| 2322 1252 991F rol r25 |
| 2323 1254 AA1F rol r26 |
| 2324 1256 BB1F rol r27 |
| 2325 1258 6A95 dec r22 |
| 2326 125a 01F4 brne 1b |
| 2327 125c 820F add r24,r18 |
| 2328 125e 931F adc r25,r19 |
| 2329 1260 A41F adc r26,r20 |
| 2330 1262 B51F adc r27,r21 |
| 2331 1264 820F add r24,r18 |
| 2332 1266 931F adc r25,r19 |
| 2333 1268 A41F adc r26,r20 |
| 2334 126a B51F adc r27,r21 |
| 2335 126c 2091 0000 lds r18,GIER_GRAD_FAKTOR |
| 2336 1270 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1 |
| 2337 1274 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2 |
| 2338 1278 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3 |
| 2339 127c BC01 movw r22,r24 |
| 2340 127e CD01 movw r24,r26 |
| 2341 1280 0E94 0000 call __divmodsi4 |
| 2342 1284 3093 0000 sts (Data3D+4)+1,r19 |
| 2343 1288 2093 0000 sts Data3D+4,r18 |
| 2344 128c 8091 0000 lds r24,SummeNick |
| 2345 1290 9091 0000 lds r25,(SummeNick)+1 |
| 2346 1294 A091 0000 lds r26,(SummeNick)+2 |
| 2347 1298 B091 0000 lds r27,(SummeNick)+3 |
| 2348 129c 49E0 ldi r20,9 |
| 2349 129e B595 1: asr r27 |
| 2350 12a0 A795 ror r26 |
| 2351 12a2 9795 ror r25 |
| 2352 12a4 8795 ror r24 |
| 2353 12a6 4A95 dec r20 |
| 2354 12a8 01F4 brne 1b |
| 2355 12aa 8093 0000 sts Data3D+6,r24 |
| 2356 12ae 8091 0000 lds r24,SummeRoll |
| 2357 12b2 9091 0000 lds r25,(SummeRoll)+1 |
| 2358 12b6 A091 0000 lds r26,(SummeRoll)+2 |
| 2359 12ba B091 0000 lds r27,(SummeRoll)+3 |
| 2360 12be 39E0 ldi r19,9 |
| 2361 12c0 B595 1: asr r27 |
| 2362 12c2 A795 ror r26 |
| 2363 12c4 9795 ror r25 |
| 2364 12c6 8795 ror r24 |
| 2365 12c8 3A95 dec r19 |
| 2366 12ca 01F4 brne 1b |
| 2367 12cc 8093 0000 sts Data3D+7,r24 |
| 2368 12d0 8091 0000 lds r24,Mess_Integral_Gier |
| 2369 12d4 9091 0000 lds r25,(Mess_Integral_Gier)+1 |
| 2370 12d8 A091 0000 lds r26,(Mess_Integral_Gier)+2 |
| 2371 12dc B091 0000 lds r27,(Mess_Integral_Gier)+3 |
| 2372 12e0 29E0 ldi r18,9 |
| 2373 12e2 B595 1: asr r27 |
| 2374 12e4 A795 ror r26 |
| 2375 12e6 9795 ror r25 |
| 2376 12e8 8795 ror r24 |
| 2377 12ea 2A95 dec r18 |
| 2378 12ec 01F4 brne 1b |
| 2379 12ee 8093 0000 sts Data3D+8,r24 |
| 2380 12f2 8EE0 ldi r24,lo8(14) |
| 2381 12f4 90E0 ldi r25,hi8(14) |
| 2382 12f6 9F93 push r25 |
| 2383 12f8 8F93 push r24 |
| 2384 12fa 80E0 ldi r24,lo8(Data3D) |
| 2385 12fc 90E0 ldi r25,hi8(Data3D) |
| 2386 12fe 9F93 push r25 |
| 2387 1300 8F93 push r24 |
| 2388 1302 81E0 ldi r24,lo8(1) |
| 2389 1304 8F93 push r24 |
| 2390 1306 8F93 push r24 |
| 2391 1308 83E4 ldi r24,lo8(67) |
| 2392 130a 8F93 push r24 |
| 2393 130c 0E94 0000 call SendOutData |
| 2394 1310 8091 0000 lds r24,Intervall3D |
| 2395 1314 9091 0000 lds r25,(Intervall3D)+1 |
| 2396 1318 0E94 0000 call SetDelay |
| 2397 131c 9093 0000 sts (Timer3D)+1,r25 |
| 2398 1320 8093 0000 sts Timer3D,r24 |
| 2399 1324 2DB7 in r18,__SP_L__ |
| 2400 1326 3EB7 in r19,__SP_H__ |
| 2401 1328 295F subi r18,lo8(-(7)) |
| 2402 132a 3F4F sbci r19,hi8(-(7)) |
| 2403 132c 2DBF out __SP_L__,r18 |
| 2404 .L210: |
| 2405 132e 8091 0000 lds r24,DebugTextAnforderung |
| 2406 1332 8F3F cpi r24,lo8(-1) |
| 2407 1334 01F0 breq .L211 |
| 2408 1336 9927 clr r25 |
| 2409 1338 04E0 ldi r16,4 |
| 2410 133a 880F 1: lsl r24 |
| 2411 133c 991F rol r25 |
| 2412 133e 0A95 dec r16 |
| 2413 1340 01F4 brne 1b |
| 2414 1342 8050 subi r24,lo8(-(ANALOG_TEXT)) |
| 2415 1344 9040 sbci r25,hi8(-(ANALOG_TEXT)) |
| 2416 1346 40E1 ldi r20,lo8(16) |
| 2417 1348 50E0 ldi r21,hi8(16) |
| 2418 134a BC01 movw r22,r24 |
| 2419 134c CE01 movw r24,r28 |
| 2420 134e 0196 adiw r24,1 |
| 2421 1350 0E94 0000 call memcpy_P |
| 2422 1354 80E1 ldi r24,lo8(16) |
| 2423 1356 90E0 ldi r25,hi8(16) |
| 2424 1358 9F93 push r25 |
| 2425 135a 8F93 push r24 |
| 2426 135c CE01 movw r24,r28 |
| 2427 135e 0196 adiw r24,1 |
| 2428 1360 9F93 push r25 |
| 2429 1362 8F93 push r24 |
| 2430 1364 81E0 ldi r24,lo8(1) |
| 2431 1366 90E0 ldi r25,hi8(1) |
| 2432 1368 9F93 push r25 |
| 2433 136a 8F93 push r24 |
| 2434 136c 80E0 ldi r24,lo8(DebugTextAnforderung) |
| 2435 136e 90E0 ldi r25,hi8(DebugTextAnforderung) |
| 2436 1370 9F93 push r25 |
| 2437 1372 8F93 push r24 |
| 2438 1374 82E0 ldi r24,lo8(2) |
| 2439 1376 8F93 push r24 |
| 2440 1378 81E0 ldi r24,lo8(1) |
| 2441 137a 8F93 push r24 |
| 2442 137c 81E4 ldi r24,lo8(65) |
| 2443 137e 8F93 push r24 |
| 2444 1380 0E94 0000 call SendOutData |
| 2445 1384 8FEF ldi r24,lo8(-1) |
| 2446 1386 8093 0000 sts DebugTextAnforderung,r24 |
| 2447 138a 8DB7 in r24,__SP_L__ |
| 2448 138c 9EB7 in r25,__SP_H__ |
| 2449 138e 0B96 adiw r24,11 |
| 2450 1390 8DBF out __SP_L__,r24 |
| 2451 .L211: |
| 2452 1392 8091 0000 lds r24,ConfirmFrame |
| 2453 1396 8823 tst r24 |
| 2454 1398 01F0 breq .L212 |
| 2455 139a 8091 0000 lds r24,UebertragungAbgeschlossen |
| 2456 139e 8823 tst r24 |
| 2457 13a0 01F0 breq .L212 |
| 2458 13a2 81E0 ldi r24,lo8(1) |
| 2459 13a4 90E0 ldi r25,hi8(1) |
| 2460 13a6 9F93 push r25 |
| 2461 13a8 8F93 push r24 |
| 2462 13aa 80E0 ldi r24,lo8(ConfirmFrame) |
| 2463 13ac 90E0 ldi r25,hi8(ConfirmFrame) |
| 2464 13ae 9F93 push r25 |
| 2465 13b0 8F93 push r24 |
| 2466 13b2 81E0 ldi r24,lo8(1) |
| 2467 13b4 8F93 push r24 |
| 2468 13b6 8F93 push r24 |
| 2469 13b8 82E4 ldi r24,lo8(66) |
| 2470 13ba 8F93 push r24 |
| 2471 13bc 0E94 0000 call SendOutData |
| 2472 13c0 1092 0000 sts ConfirmFrame,__zero_reg__ |
| 2473 13c4 2DB7 in r18,__SP_L__ |
| 2474 13c6 3EB7 in r19,__SP_H__ |
| 2475 13c8 295F subi r18,lo8(-(7)) |
| 2476 13ca 3F4F sbci r19,hi8(-(7)) |
| 2477 13cc 2DBF out __SP_L__,r18 |
| 2478 .L212: |
| 2479 13ce 8091 0000 lds r24,GetPPMChannelAnforderung |
| 2480 13d2 8823 tst r24 |
| 2481 13d4 01F0 breq .L192 |
| 2482 13d6 8091 0000 lds r24,UebertragungAbgeschlossen |
| 2483 13da 8823 tst r24 |
| 2484 13dc 01F0 breq .L192 |
| 2485 13de 84E3 ldi r24,lo8(52) |
| 2486 13e0 90E0 ldi r25,hi8(52) |
| 2487 13e2 9F93 push r25 |
| 2488 13e4 8F93 push r24 |
| 2489 13e6 80E0 ldi r24,lo8(PPM_in) |
| 2490 13e8 90E0 ldi r25,hi8(PPM_in) |
| 2491 13ea 9F93 push r25 |
| 2492 13ec 8F93 push r24 |
| 2493 13ee 81E0 ldi r24,lo8(1) |
| 2494 13f0 8F93 push r24 |
| 2495 13f2 8F93 push r24 |
| 2496 13f4 80E5 ldi r24,lo8(80) |
| 2497 13f6 8F93 push r24 |
| 2498 13f8 0E94 0000 call SendOutData |
| 2499 13fc 1092 0000 sts GetPPMChannelAnforderung,__zero_reg__ |
| 2500 1400 8DB7 in r24,__SP_L__ |
| 2501 1402 9EB7 in r25,__SP_H__ |
| 2502 1404 0796 adiw r24,7 |
| 2503 1406 8DBF out __SP_L__,r24 |
| 2504 .L192: |
| 2505 /* epilogue: frame size=16 */ |
| 2506 1408 E6E0 ldi r30,6 |
| 2507 140a C05F subi r28,-16 |
| 2508 140c 0C94 0000 jmp __epilogue_restores__+24 |
| 2509 /* epilogue end (size=4) */ |
| 2510 /* function DatenUebertragung size 720 (710) */ |
| 2512 .comm RxdBuffer,175,1 |
| 2513 .comm Debug_Timer,2,1 |
| 2514 .comm Kompass_Timer,2,1 |
| 2515 .comm MotorTest,16,1 |
| 2516 .comm DebugOut,66,1 |
| 2517 .comm WinkelOut,8,1 |
| 2518 .comm Data3D,14,1 |
| 2519 .comm ExternControl,11,1 |
| 2520 .comm VersionInfo,10,1 |
| 2521 .comm TxdBuffer,175,1 |
| 2522 .comm ConfirmFrame,1,1 |
| 2523 .comm Display_Timer,2,1 |
| 2524 .comm Timer3D,2,1 |
| 2525 /* File "uart.c": code 2582 = 0x0a16 (2491), prologues 47, epilogues 44 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 uart.c |
| C:\Temp/cc8UwPV0.s:3 *ABS*:0000003f __SREG__ |
| C:\Temp/cc8UwPV0.s:4 *ABS*:0000003e __SP_H__ |
| C:\Temp/cc8UwPV0.s:5 *ABS*:0000003d __SP_L__ |
| C:\Temp/cc8UwPV0.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\Temp/cc8UwPV0.s:7 *ABS*:00000001 __zero_reg__ |
| C:\Temp/cc8UwPV0.s:14 .progmem.data:00000000 ANALOG_TEXT |
| C:\Temp/cc8UwPV0.s:52 .bss:00000000 ReceiverUpdateModeActive |
| C:\Temp/cc8UwPV0.s:58 .bss:00000001 AboTimeOut |
| C:\Temp/cc8UwPV0.s:64 .bss:00000003 Display_Interval |
| C:\Temp/cc8UwPV0.s:70 .bss:00000005 Intervall3D |
| C:\Temp/cc8UwPV0.s:76 .bss:00000007 DebugDataIntervall |
| C:\Temp/cc8UwPV0.s:82 .data:00000000 MeineSlaveAdresse |
| C:\Temp/cc8UwPV0.s:87 .data:00000001 PcZugriff |
| C:\Temp/cc8UwPV0.s:92 .data:00000002 DebugTextAnforderung |
| C:\Temp/cc8UwPV0.s:99 .bss:00000009 PC_MotortestActive |
| C:\Temp/cc8UwPV0.s:105 .bss:0000000a PC_DebugTimeout |
| C:\Temp/cc8UwPV0.s:111 .bss:0000000b RxDataLen |
| C:\Temp/cc8UwPV0.s:117 .bss:0000000c pRxData |
| C:\Temp/cc8UwPV0.s:123 .bss:0000000e AnzahlEmpfangsBytes |
| C:\Temp/cc8UwPV0.s:129 .bss:0000000f CntCrcError |
| C:\Temp/cc8UwPV0.s:135 .data:00000003 UebertragungAbgeschlossen |
| C:\Temp/cc8UwPV0.s:142 .bss:00000010 NeueKoordinateEmpfangen |
| C:\Temp/cc8UwPV0.s:148 .bss:00000011 NeuerDatensatzEmpfangen |
| C:\Temp/cc8UwPV0.s:154 .bss:00000012 SioTmp |
| C:\Temp/cc8UwPV0.s:160 .bss:00000013 DisplayLine |
| C:\Temp/cc8UwPV0.s:166 .bss:00000014 GetPPMChannelAnforderung |
| C:\Temp/cc8UwPV0.s:172 .bss:00000015 GetVersionAnforderung |
| C:\Temp/cc8UwPV0.s:178 .bss:00000016 DebugDataAnforderung |
| C:\Temp/cc8UwPV0.s:184 .bss:00000017 DebugDisplayAnforderung |
| C:\Temp/cc8UwPV0.s:190 .bss:00000018 DebugDisplayAnforderung1 |
| C:\Temp/cc8UwPV0.s:196 .bss:00000019 GetExternalControl |
| .bss:0000001a ptr.6 |
| C:\Temp/cc8UwPV0.s:202 .text:00000000 __vector_22 |
| *COM*:000000af TxdBuffer |
| C:\Temp/cc8UwPV0.s:198 .bss:0000001c crc.1 |
| C:\Temp/cc8UwPV0.s:256 .bss:0000001e crc1.2 |
| C:\Temp/cc8UwPV0.s:257 .bss:0000001f crc2.3 |
| C:\Temp/cc8UwPV0.s:258 .bss:00000020 buf_ptr.4 |
| C:\Temp/cc8UwPV0.s:259 .bss:00000021 UartState.5 |
| C:\Temp/cc8UwPV0.s:263 .text:0000006c __vector_20 |
| *COM*:000000af RxdBuffer |
| C:\Temp/cc8UwPV0.s:494 .text:00000260 AddCRC |
| C:\Temp/cc8UwPV0.s:550 .text:000002c0 SendOutData |
| C:\Temp/cc8UwPV0.s:750 .text:00000438 Decode64 |
| C:\Temp/cc8UwPV0.s:863 .text:0000050c BearbeiteRxDaten |
| *COM*:00000010 MotorTest |
| *COM*:0000000a VersionInfo |
| *COM*:0000000b ExternControl |
| *COM*:00000001 ConfirmFrame |
| *COM*:00000002 Timer3D |
| C:\Temp/cc8UwPV0.s:1850 .text:00000dd8 uart_putchar |
| C:\Temp/cc8UwPV0.s:1866 .text:00000de8 UART_Init |
| *COM*:00000002 Debug_Timer |
| *COM*:00000002 Kompass_Timer |
| C:\Temp/cc8UwPV0.s:1919 .progmem.data:00000200 __c.0 |
| C:\Temp/cc8UwPV0.s:1924 .text:00000e70 DatenUebertragung |
| *COM*:00000002 Display_Timer |
| *COM*:00000008 WinkelOut |
| *COM*:00000042 DebugOut |
| *COM*:0000000e Data3D |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| LcdClear |
| ServoActive |
| __prologue_saves__ |
| __epilogue_restores__ |
| KompassValue |
| Mixer |
| MixerTable_WriteToEEProm |
| SetDefaultParameter |
| GetActiveParamSet |
| ParamSet_ReadFromEEProm |
| EE_Parameter |
| MotorenEin |
| ParamSet_WriteToEEProm |
| __mulsi3 |
| Umschlag180Nick |
| Umschlag180Roll |
| Piep |
| LipoDetection |
| LIBFC_ReceiverInit |
| PPM_in |
| I2C_ReadBLConfig |
| BLConfig |
| I2C_WriteBLConfig |
| LIBFC_GetCPUType |
| SetDelay |
| RemoteKeys |
| MenuePunkt |
| CheckDelay |
| DisplayBuff |
| Menu |
| DispPtr |
| Menu_Putchar |
| _printf_P |
| MaxMenue |
| IntegralNick |
| __divmodsi4 |
| IntegralRoll |
| Parameter_UserParam1 |
| Parameter_UserParam2 |
| CopyDebugValues |
| ErsatzKompass |
| GIER_GRAD_FAKTOR |
| SummeNick |
| SummeRoll |
| Mess_Integral_Gier |
| memcpy_P |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/user_receiver.c |
|---|
| 0,0 → 1,23 |
| //############################################################################ |
| // Implement your own RC-decoding routines here |
| //############################################################################ |
| //############################################################################ |
| // Initialize the UART here |
| //############################################################################ |
| void User_Receiver_Init(void) |
| { |
| // SpektrumUartInit(); // or use an existing routine like this |
| }; |
| //############################################################################ |
| // Is called by the uart RX interrupt |
| // UDR contains the received byte |
| //############################################################################ |
| void User_RX_Parser(unsigned char udr) |
| { |
| }; |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/user_receiver.h |
|---|
| 0,0 → 1,4 |
| // for own implementations |
| void User_Receiver_Init(void); |
| void User_RX_Parser(unsigned char); |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/user_receiver.lst |
|---|
| 0,0 → 1,40 |
| 1 .file "user_receiver.c" |
| 2 .arch atmega1284p |
| 3 __SREG__ = 0x3f |
| 4 __SP_H__ = 0x3e |
| 5 __SP_L__ = 0x3d |
| 6 __tmp_reg__ = 0 |
| 7 __zero_reg__ = 1 |
| 8 .global __do_copy_data |
| 9 .global __do_clear_bss |
| 10 .text |
| 11 .global User_Receiver_Init |
| 13 User_Receiver_Init: |
| 14 /* prologue: frame size=0 */ |
| 15 /* prologue end (size=0) */ |
| 16 /* epilogue: frame size=0 */ |
| 17 0000 0895 ret |
| 18 /* epilogue end (size=1) */ |
| 19 /* function User_Receiver_Init size 1 (0) */ |
| 21 .global User_RX_Parser |
| 23 User_RX_Parser: |
| 24 /* prologue: frame size=0 */ |
| 25 /* prologue end (size=0) */ |
| 26 /* epilogue: frame size=0 */ |
| 27 0002 0895 ret |
| 28 /* epilogue end (size=1) */ |
| 29 /* function User_RX_Parser size 1 (0) */ |
| 31 /* File "user_receiver.c": code 2 = 0x0002 ( 0), prologues 0, epilogues 2 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 user_receiver.c |
| C:\Temp/ccW27kvk.s:3 *ABS*:0000003f __SREG__ |
| C:\Temp/ccW27kvk.s:4 *ABS*:0000003e __SP_H__ |
| C:\Temp/ccW27kvk.s:5 *ABS*:0000003d __SP_L__ |
| C:\Temp/ccW27kvk.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\Temp/ccW27kvk.s:7 *ABS*:00000001 __zero_reg__ |
| C:\Temp/ccW27kvk.s:13 .text:00000000 User_Receiver_Init |
| C:\Temp/ccW27kvk.s:23 .text:00000002 User_RX_Parser |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/vector.h |
|---|
| 0,0 → 1,19 |
| #ifndef _VECTOR_H |
| #define _VECTOR_H |
| typedef struct |
| { |
| int32_t x; |
| int32_t y; |
| int32_t z; |
| } __attribute__((packed)) vector32_t; |
| typedef struct |
| { |
| int16_t x; |
| int16_t y; |
| int16_t z; |
| } __attribute__((packed)) vector16_t; |
| #endif //_VECTOR_H |
| /branches/v0.90d_Ernstl_4-Motoren+Sexpander/version.txt |
|---|
| 0,0 → 1,566 |
| ------- |
| V0.53 27.04.2007 H.Buss |
| - erste öffentliche Version |
| V0.53b 29.04.2007 H.Buss |
| - der FAKTOR_I war versehentlich auf Null, dann liegt der MikroKopter nicht so hart in der Luft |
| V0.53c 29.04.2007 H.Buss |
| - es gib ein Menü, in dem die Werte der Kanäle nach Nick, Roll, Gas,... sortiert sind. |
| Die angezeigten Werte waren nicht die Werte der Funke |
| V0.54 01.05.2007 H.Buss |
| - die Paramtersätze können jetzt vor dem Start ausgewählt werden |
| Dazu wird beim Kalibrieren der Messwerte (Gashebel oben links) der Nick-Rollhebel abgefragt: |
| 2 3 4 |
| 1 x 5 |
| - - - |
| Bedeutet: Nick-Rollhebel Links Mitte = Setting:1 Links Oben = Setting:2 usw. |
| - der Faktor_I für den Hauptregler ist hinzugekommen. Im Heading-Hold-Modus sollte er vergössert werden, was Stabilität bringt |
| V0.55 14.05.2007 H.Buss |
| - es können nun Servos an J3,J4,J5 mit den Kanälen 5-7 gesteuert werden |
| V0.56 14.05.2007 H.Buss |
| - es gab Probleme mit Funken, die mehr als 8 Kanäle haben, wenn mehrere Kanäle dann auf Null waren |
| - Funken, die nicht bis +-120 aussteuern können, sollten jetzt auch gehen |
| V0.57 24.05.2007 H.Buss |
| - Der Höhenregler kann nun auch mittels Schalter bedient werden |
| - Bug im Gier-Algorithmus behoben; Schnelles Gieren fürhrte dazu, dass der MK zu weit gedreht hat |
| - Kompass-Einfluss dämpfen bei Neigung |
| - Man kann zwischen Kompass FIX (Richtung beim Kalibrieren) und Variabel (einstellbar per Gier) wählen |
| - Der Motortest vom Kopter-Tool geht jetzt |
| - Man kann den Parametersätzen einen Namen geben |
| - Das Kamerasetting ist unter Setting 2 defaultmässig integriert |
| V0.58 30.05.2007 H.Buss |
| - Der Höhenregler-Algorithmus wird nun umgangen, wenn der Höhenreglerschalter aus ist |
| V0.60 17.08.2007 H.Buss |
| - "Schwindel-Bug" behoben |
| - Die Poti-Werte werden jetzt auf Unterlauf (<0) überprüft |
| - Poti4 zugefügt |
| - Es werden jetzt 8 Kanäle ausgewertet |
| - Kamera-Servo (an J7) |
| - Die Settings müssen überschrieben werden |
| V0.61 - V0.63 H.Buss 27.09.2007 |
| - Poti 4 und Kanal 8 werden im Menü angezeigt |
| - ein paar Kleinigkeiten bei den DefaultKonstanten2 bereinigt |
| - Analog.c: Aktuell_ax korrigiert |
| - auf 32 Debug-Kanäle erweitert |
| - Loopings sind jetzt möglich und einzeln im KopterTool freischaltbar |
| - leichte Anpassungen im Gier - Geschwindigkeit und Drift |
| - die Hardwareversion V1.1 wird erkannt und das Programm stellt sich auf die geänderte Gyroverstärkung und die geänderten Portpins ein |
| - die Software startet nach dem Einschalten schneller, weil der Luftdruckoffset schneller gefunden wird |
| - die PPM-Ausgänge liegen wieder an den Pins an |
| - Details an der Sensordatenverarbeitung -> es fliegt sich geringfügig anders |
| - der MK ist bei wenig Gas nicht mehr so giftig -> soll das Landen vereinfachen |
| - I2C-Bus läuft jetzt sicher nach einer Störung wieder an |
| - Sticksignale werden präziser ausgewertet |
| - Stick-Kanäle werden ans Kopter-Tool übertragen |
| - Es muss die Version V1.47 des Kopter-Tool verwendet werden |
| - Die Settings werden auf Default zurückgesetzt |
| - am Piepen kann man die Fehlerart unterscheiden |
| 1. einzelnes Piepen beim Einschalten und Kalibrieren |
| 2. langsames Intervall mindestens 1 Sek -> Empfangsausfall |
| 3. schnelleres Intervall mindestens 1 Sek -> Akku |
| 4. sehr schnelles Intervall mindestens 1 Sek -> Kommunikation zu den Reglern gestört |
| V0.64 H.Buss 30.09.2007 |
| - beim Gieren wurden die Achsen nicht hart genug geregelt |
| V0.65a H.Buss 15.10.2007 |
| - Integral im Mischer wieder integriert |
| - Feinabstimmung im ACC/Gyro Abgleich -> 1/32 & 100 |
| - ACC/Gyro Abgleich auch bei HH |
| V0.66a H.Buss 3.11.2007 |
| - Messwertverarbeitung aus dem Analog-Interrupt entfernt |
| - Analogmessung hängt jetzt am FC-Timing |
| - Looping-Stick-Hysterese eingebaut |
| - Looping-180°-Umschlag einstellbar |
| - Achsenkopplung: Gierbewegung verkoppelt Nick und Roll |
| - Lageregelung nach ACC-Sensor verbessert |
| - zusätzlicher I-Anteil in der Lageregelung verbessert die Neutrallage |
| - Gyrodriftkompensation überarbeitet |
| - Bug in der Gier-Stick-Berechnung behoben |
| - Gyro-Messung auf 1kHz beschleunigt |
| V0.67a H.Buss 16.11.2007 |
| - der Hauptregler-I-Anteil wirkt jetzt nur noch auf den Winkel (ausser im HH-Mode) |
| - Gyro-Acc-Abgleich jetzt wieder in jedem Zyklus |
| - Feinabstimmung |
| - Beim HH-Modus gab es noch Bugs |
| V0.67e H.Buss 29.11.2007 |
| - Parameter: Dynamic Stability und Driftfaktor eingeführt |
| - Die Namen der Analogwerte werden jetzt zum Koptertool übertragen |
| - Kompatibilität zum Koptertool erhöht |
| V0.67f H.Buss 04.12.2007 |
| - Das Integral des Hauptreglers wird jetzt linear entladen und nicht mehr proportional |
| - Schub für Gier wird jetzt auf den Gaswert begrenzt, dadurch steigt der MK nicht mehr beim Gieren. Gier ist allerdings nicht mehr so agressiv |
| - Die ACC-Nullwerte können jetzt dauerhaft im EEPROM gespeichert werden (Stick:Vollgas und Gier rechts) |
| V0.68a I.Busker 28.12.2007 |
| - SPI.c & SPI.h ins Projekt aufgenommen |
| SPI-Kommuikation kann in SPI.h aktiviert/deaktivert werden |
| V0.68c H.Buss 05.01.2008 |
| - Stickauswertung verbessert -> träger und präziser |
| - Alle Settings angepasst |
| V0.69e H.Buss 05.05.2008 |
| - kleinere Bugs beseitigt |
| - Schneller Sinkflug jetzt möglich |
| - Min- und Maxgas in den Settings geändert |
| - Lagewinkel wird jetzt in 0,1 Grad an Kompass und Navi gesendet |
| - Kalibrierung für MK3Mag -> Nick unten beim Kalibrieren |
| - Kompassroutine um den Ersatzkompass (Gyro unterstützt Kompasswert) erweitert |
| V0.69h H.Buss 21.05.2008 |
| - STICK_GAIN = 4 eingeführt. Das erhöht die Auflösung der Sollwerte. Stick_P und Stick_I müssen nun um Faktor 4 erhöht werden |
| - SenderOkay auch an das Naviboard übertragen |
| - Bessere Parameter bei Senderausfall |
| V0.69j H.Buss 30.05.2008 |
| - Höhere Präzision der Achsenkopplung |
| V0.69k H.Buss 31.05.2008 |
| - Bug in SPI.C behoben |
| - in 0.69h war ein Bug, der zu ungewollten Loopings führen konnte |
| V0.69L H.Buss 14.06.2008 |
| - feinere Cam-Servo-Auflösung |
| V0.70a H.Buss 01.07.2008 |
| - Unterstützung der V1.3-Hardware mit automatischem Hardware-Gyro-Abgleich |
| V0.70b H.Buss 14.07.2008 |
| - flexible Einstellungsmöglichkeit von J16 und J17 (Transistorausgänge) |
| - eigene Parameter für GPS-Naviboard |
| - eigener Parameter für ExternalControl (war vorher UserParameter1 bzw. 8) |
| - neue Parameter im EEPROM-Datensatz: J16Bitmask, J16Timing, ExternalControl, Navi... |
| - MikroKopterFlags eingeführt, damit das Navi den Status des MKs kennt |
| - KopterTool-Kompatibilität auf 8 erhöht |
| V0.70c H.Buss 30.07.2008 |
| - Parameter der Datenfusion leicht modifiziert |
| - EEPROM-Parameter für Looping-Umschlag angepasst (von 100 auf 85) |
| - MaxStick wird auf 100 begrenzt |
| V0.70d H.Buss 02.08.2008 |
| - Transistorausgänge: das oberste Bit der Blinkmaske (im KopterTool linkes Bit) gibt nun den Zustand des Ausgangs im Schalterbetrieb an |
| 0.71b: H.Buss 19.10.2008 |
| Kommunikation zum Navi erweitert: |
| - Beeptime jetzt 32Bit |
| - Datenfusion und Driftkopensation wird durch NaviBoard unterstützt |
| 0.71c: H.Buss 20.10.2008 |
| - LoopConfig heisst jetzt BitConfig |
| - 3-Fach-Schalter für Höhensteuerung möglich -> kann man mit GPS-Schalter zusammenlegen |
| - bei den Settings wurde Setting[0] mit abgespeichert, welches es nicht gab. |
| - in Zukunft werden bei neuen EEPROM-Settings die Kanäle von Setting 1 übernommen |
| - Variablen NaviWindCorrection, NaviSpeedCompensation, NaviOperatingRadius eingeführt |
| 0.71f: H.Buss 15.11.2008 |
| - Ausschalten der Höhenregelung per Schalter um 0,3 sek verzögert |
| - bei der seriellen Übertragung hat die FC jetzt als SlaveAdresse die 1 |
| - VersionInfo.NaviKompatibel eingeführt |
| - wenn manuell gegiert wird, wird der GyroKompass-Wert auf den Kompasswert gesetzt |
| - Luftdruckwert wird an das Navi übertragen |
| - Der Baro-Offset wird jetzt nachgeführt, um den Messbereich zu erweitern. Geht nur bei Höhenregler mit Schalter |
| - Debugdaten können jetzt mit 'f' gepollt werden |
| 0.71g: Gregor 09.12.2008 |
| - Kommunikation überarbeitet |
| Infos hier: http://www.mikrokopter.de/ucwiki/en/SerialCommands |
| 0.71h: H.Buss 15.12.2008 |
| - Freigegebene Version |
| - NaviAngleLimitation als Parameter zum Navi implementiert |
| - Antwort auf CMD: 't' entfernt |
| 0.72d: H.Buss 22.01.2009 |
| - OCTO als Compilerschalter |
| - Unterstützung der FC 2.0 (ME) |
| - GYRO_D eingeführt |
| - Achsenkopplung jetzt auch auf Nick/Roll-Bewegung |
| 0.72e: H.Buss 27.01.2009 |
| - die 0.72d hatte kein Integral im Gier |
| - Parameter eingeführt: |
| EE_Parameter.NaviGpsPLimit |
| EE_Parameter.NaviGpsILimit |
| EE_Parameter.NaviGpsDLimit |
| EE_Parameter.NaviPH_LoginTime |
| EE_Parameter.AchsKopplung2 |
| EE_Parameter.CouplingYawCorrection |
| 0.72f: H.Buss 28.01.2009 |
| - Bug im Ersatzkompass entfernt |
| 0.72h: H.Buss 05.02.2009 |
| - Algorithmen beschleunigt -> Floats durch Fixkomma ersetzt |
| - Achsentkopplung weiter verbessert |
| - Nick- und Roll im Octo-Mischer auf jeweils vier Motoren aufgeteilt |
| 0.72i: H.Buss 07.02.2009 |
| - Abtastrate von 1kHz auf 2kHz erhöht |
| 0.72j: H.Buss 09.02.2009 |
| - neue Implementierung der Servoausgänge |
| 0.72k: H.Buss 10.02.2009 |
| - Abtastrate auf 5kHz erhöht |
| 0.72L: H.Buss 13.02.2009 |
| - Signalfilterung überarbeitet |
| - OCTO2 implementiert |
| 0.72M: H.Buss 13.02.2009 |
| - Code Cleanup |
| 0.72o: H.Buss 24.02.2009 |
| - Abtastrate auf 2kHz |
| - HW-Version an Navi |
| - neuer Datensatz 'c' -> Lagedaten für 3D-Grafik |
| - Auswerteroutine für Spectrum-Satteliten implementiert |
| - Kanalsettings werden beim Parameterreset nicht mehr gelöscht |
| - die Driftkompensation wird jetzt feiner aufgelöst --> EE_Parameter.Driftkomp muss mal 8 genommen werden |
| - die Integrale und ACC-Werte werden jetzt im Scope in ca. 0,1° angezeigt (wie beim NaviBrd) |
| 0.72p: H.Buss 01.03.2009 |
| - Octo3 erstellt |
| - Analogwerte umbenannt |
| 0.73a-d: H.Buss 05.04.2009 |
| - MixerTabelle implementiert |
| - I2C-Bus auf bis zu 12 Motoren erweitert |
| - die Busfehler der BL-Regler werden im Menü angezeigt |
| - Revision der MixerTabelle eingeführt |
| - MixerTabelle wird bei Parameterreset neu initialisiert |
| - Motortest auf [12] erweitert |
| - Motorschalter nicht mehr 3-Stufig |
| 0.74a |
| - Datenfusion im Flug auch, wenn ACC-Z < 512 |
| - Wert für die Luftdruck-Messbereichserweiterung abgefangen |
| 0.74d |
| - Die Driftkompensation ist jetzt dreistufig -> 0,5% pro sekunde zusätzlich eingeführts |
| 0.75a G.Stobrawa 22.5.2009 |
| - Extern Control also received from NC via SPI |
| 0.75b H.Buss 27.05.2009 |
| - Spektrum-Singale schalten den PPM-Eingang aus |
| - max. 2 Sekunden nach dem Start auf die BL-Regler warten |
| - Automatische Zellenerkennung, wenn Spannungswarnung < 5,0V |
| - Bei automatischer Zellenerkennung piept es je nach Zellenzahl |
| - EE_DATENREVISION auf 76 erhöht |
| - Servo: |
| - Roll-Servo für FC ME implementiert |
| - Update-Cmd stoppt Servos |
| - Servos werden erst nach dem ersten Kalibrieren aktiviert |
| 0.75c G.Stobrawa 25.7.2009 |
| - Übertragung der Servo-Settings zur NC |
| - RSSI wird an NC gesendet, derzeit wird der Wert nicht gesetzt |
| - Bugfix Messbereichsumschaltung des Luftdrucksensors springt |
| - Auflösung des Luftdrucks nun bis auf 1 cm (5mal feiner) zur genaueren Berechnung des D-Anteils |
| - Unterstützung von Warnings-Bitmasks für die J16, J17-Outputs bei Unterspannung |
| - Unterspannung für einzelne Zelle´n von 3.2V auf 3.3V angehoben (9.6V --> 9.9V für 3S) |
| 0.75d H.Buss 13.8.2009 |
| - RC-Routine: Empfangsausfall soll sicherer erkannt werden |
| - Zellenerkennung nun auch beim Speichern der Settings |
| - Warnungs-Blinkmaske auch bei Empfangsausfall |
| 0.75e H.Buss 18.8.2009 |
| - LED-Blinken kann an die Motoren gekoppelt werden |
| - Feinabstimmung des Höhenreglers |
| 0.75f H.Buss 27.8.2009 |
| - D-Anteil des Höhenreglers jetzt mit Quadratischer Komponente |
| - Lagewinkel wirkt jetzt mit 1/Cos(x) mit in den Höhenregler |
| - leichte Modifikation der RC-Empfangroutine |
| 0.75g H.Buss 31.08.2009 |
| - die Akkuspannung geht jetzt antiproportional ins Gas ein |
| 0.75h H.Buss 3.09.2009 |
| - im Höhenregler werden jetzt die Stellwerte begrenzt --> max +- 16% vom geschätzten Schwebegas |
| 0.75i H.Buss 7.09.2009 |
| - GpsZ vom Navi zur FC für den Höhenregler |
| - "hoovergas-Variation" als Parameter |
| - Kompatibilität zu NC und PC erhöht |
| 0.75j H.Buss 17.09.2009 |
| - Laufzeitzähler eingebaut |
| 0.75k H.Buss 22.09.2009 |
| - zweite Variante (Gregor) der Höhenregelung implementiert |
| - umschaltbare RC-Routine |
| 0.75L H.Buss 23.09.2009 |
| - SollHoehe und Gas geht nun auch an die NC |
| 0.75M H.Buss 29.09.2009 |
| - Spektrum-Timing wird nun überwacht |
| - die FC kann nun stand-Alone als Kamera-Stabilizer eingesetzt werden, weil die Servos aktiviert werden, wenn I2C fehlt |
| 0.75N H.Buss 29.09.2009 |
| - Hoover-Stickpunkt wird bei aktivem Höhenregler nicht nachgeführt |
| - Hoover-Stickpunkt kann per Parameter fest eingestellt werden |
| - Baro-Messbereichserweiterung auch bei aktiviertem Höhenregler |
| - Gyro_Gier_P und Gyro_Gier_I eingeführt |
| - I2C_fehler-Zähler jetzt in den Analogdaten |
| 0.75o H.Buss 01.10.2009 |
| - der Höhenregler wird jetzt nur alle 10ms bearbeitet |
| - Baro-Messbereichserweiterung auch bei Poti als Sollwert |
| 0.76d H.Buss 10.10.2009 |
| - bei aktiver Messbereichserweiterung wird die aktuelle Höhe übernommen |
| 0.76e H.Buss 27.10.2009 |
| - es werden beim Start einmal alle BL-Regler angesprochen, damit BL-Regler#8 auch einen Selbsttest macht |
| - S3D-ACT-Summensignal als Compilerschalter |
| 0.76f H.Buss 05.11.2009 |
| - untere Spannungsgrenze der Unterspannungswarnung (9,3V) entfernt |
| 0.76g H.Buss 10.11.2009 |
| - Casting-Fehler in der Gas-Berechnung |
| 0.77a H.Buss 11.11.2009 |
| - Erweiterung auf 12 Kanäle |
| - Bei Koptertool-Kanalabfrage kein Empfangsausfall-Piepsen |
| - serielle Kanalerweiterung eingebaut -> PPM_in auf 25 erweitert |
| - Servos3-5 einstellbar |
| - neues Kommando "f" -> schaltet auf anderen Parametersatz um |
| 0.77b H.Buss 09.12.2009 |
| - JetiBox: Menü wird übertragen |
| - neu: FCFlags |= FCFLAG_I2CERR; |
| - LED-Warn-Blinken nun mit festem Timing und abschaltbar |
| 0.77c H.Buss 07.01.2010 |
| - zwei weitere Spektrum-Varianten implementiert |
| 0.77d H.Buss 25.01.2010 |
| - Strom-Messung eingebaut |
| 0.78a H.Buss 03.02.2010 |
| - Bugfix: Settingsumschaltung im Flug |
| 0.78b H.Buss |
| - veröffentlichte Version |
| 0.78c H.Buss + G.Stobrawa 22.2.2010 |
| - Bewegungsbegrenzung an Servo 3 to 5 der FC 2.0 |
| - Theoretischer Variablenüberlauf bei Vario-Höhenregler |
| - Anzeige des "SPI RX communication error" wenn GPS Option nicht aktiv |
| - LED-Schwellwerte fürs Blinken waren unterschiedlich |
| 0.78c H.Buss + G.Stobrawa 04.3.2010 |
| - Code cosmetics |
| 0.78f H.Buss + I.Busker 23.3.2010 |
| - Unterstützung für Jeti-Expander |
| - Begrenzung des Vario-Höhenreglers auf ein 10m-Fenster um Überläufe zu verhindern |
| - Einführung eines Vario-Zeichens (+/-/ ) auf der Jetibox |
| - BL-Timeout beim Start erhöht |
| 0.80a-d H. Buss + G.Stobrawa 20.5.2010 - 22.7.2010 |
| - Motoren Starten nicht ohne Kalibrierung |
| - Unterstützung der BL2.0-Regler |
| - statt 8 nun 10 Bit Auflösung der Lageregekung |
| - Unterstützung der BL2.0-Regler Konfiguration via MK-Tool |
| - Parametersätze werden per I2C an die BL-Regler durchgereicht |
| - "Care-Free" implementiert |
| - Freie Belegung der "Vorne"-Richtung |
| - nur wenn Motoren laufen: Beepen, wenn Carefree ohne Navi oder ohne gültigen MK3Mag-Wert |
| - nur wenn Motoren laufen: Beepen wenn NC plötzlich ausfällt |
| - #define RECEIVER_SPEKTRUM_EXP eingeführt |
| - #define SWITCH_LEARNS_CAREFREE eingeführt |
| - Schwerpunktanzeige in den 3D-Daten |
| - Checksummen gesicherte Datenablage im EEProm |
| - Fehlerdiagnose implementiert (Wiki: ErrorCodes) |
| - ErrorCode aufs Jeti-Display |
| - JetiMenü: bis acht Temperaturen der BL-Regler |
| - GPSInfo.Speed im Jeti-Display |
| - Compass-Richtung nun im Jeti-menü |
| - diverse Änderungen im Höhenregler |
| - P wirkt schwächer |
| - D wirkt stärker |
| - Anpassung der Höhenregelung auf Level des Hoovergases |
| - AccZ schneller nachführen |
| Parameter modifiziert: |
| - EEPROM-Kompatibilität auf 84 -> Parameter werden resettet |
| - EE_Parameter.Hoehe_ACC_Wirkung = 0; // war 30 |
| - EE_Parameter.Hoehe_HoverBand = 8; // war 5 |
| - Notgas = 45 |
| - NotgasZeit = 90 |
| - Beginnersetting: EE_Parameter.DynamicStability = 70; |
| - Neu: GyroStability = 6 |
| - GPS-Login-Time auf 2 reduziert |
| 0.80e H.Buss 02.08.2010 |
| - MK3Mag ohne NC ging nicht |
| 0.80f H.Buss 04.08.2010 |
| - Beim Höhenregler "Deckel" wird das Gas wieder wie in der alten Version behandelt und der D-Anteil auf das alte Verhalten (um Faktor 8) reduziert |
| 0.80g H.Buss 11.08.2010 |
| - erweitetern Messbereich für Luftdruck bei der FC2.1 aktiviert |
| 0.80h H.Buss 30.08.2010 |
| - bei I2C-Fehlern wurden die Counter zurück gesetzt und für einige ms die Interrupts angehalten - das ist jetzt behoben |
| - Nur I2C-Daten senden, wenn das alte Paket komplett raus ist |
| 0.82a H.Buss 08.11.2010 |
| - MotorSafetySwitch - Verriegelt das Ein/Ausschalten |
| - ServoManualControlSpeed - Verlangsamt das Cam-Servo |
| - CamOrientation - für verdrehte Kamera-Servos |
| - Position der Status-Bits verändert |
| - "Zucken" der Servos bei kurzen Empfangsausfällen behoben |
| - jeti update command 'j' added |
| - Poti-Auswertung nach ParameterZuordnung() verschoben -> FC-Code schneller |
| - Waypont-Events z.B. zum Triggern der Kamera |
| - Gyro-Sytbility: Werte bis 16 möglich |
| 0.82b H.Buss 08.12.2010 |
| - Unterstützung von 3,3V-Referenzspannung (nur ATMEGA128) |
| 0.84a H.Buss 21.03.2011 (Release: 30.03.2011) |
| - nur starten, wenn NC_ErrorCode = 0 |
| - Beeptime von NC auch beim Kalibrieren durchlassen |
| - Varible "JetiBeep" eingeführt |
| - Kompass-Winkelvorgabe von NaviControl -> POI |
| - Piepen beim Umschalten von CareFree |
| - Compass-Routinen überarbeitet |
| - Dafaultvalues Servo-Min/MAx an MKDS18 angepasst |
| - Defaultreceiver ist RECEIVER_JETI |
| - GPS-Operation-Radius per default auf 245m bzw. 100% |
| - Höhenvorgabe im Vario-Mode durch Waypoints |
| - bei laufenden Motoren keine neuen Settings annehmen |
| - immer einmal Carefree Beepen nach dem Kalibrieren |
| - Kanaloffset für Potis von 110 auf 127 erhöht, damit es gleich ist mit allen anderen Kanälen |
| - POI-Richtung (Soll-Himmelsrichtung) bezieht sich auf den Kamera-Winkel |
| 0.86a H.Buss 13.09.2011 |
| - Variable "JetiBeep" wird gelöscht, wenn an den Empfänger gesendet wurde |
| - wenn GPS deaktiviert ist, keinen Fehler bringen, wenn GPS fehlt. Auch dann nicht piepsen |
| - GPS-Sollwertverschiebung |
| - Empfangs-Piepen unterdrücken -> einstellbar |
| - MotorSmooth einstellbar |
| - Höhenregler: keine 'harte' IstWert-Übernahme bei Bewegen des Sticks in die Hoover-Position |
| - Coming Home mit Höhenvorgabe |
| - Coming Home als Failsafe |
| - Einführung des GPS-Characters (- / W H D P) |
| - Klartext bei den Jeti-Fehlermeldungen |
| - Jeti-Beep "3*kurz" bei NC-Errors |
| - Jeti-LCD-Aufruf nur noch alle 300ms, weil die Werte zu unruhig waren |
| - Mixer-Settings werden nicht gelöscht, wenn sich die Parameter-Revision ändert |
| - GPS-Angle limit von 100 auf 140 |
| - GPS-I-Limit von 75 auf 85 |
| - GAS-Offset von 120 auf 127 erhöht, damit es für alle Kanäle gleich ist |
| - EE_Parameter.Hoehe_StickNeutralPoint auf Werte zwischen 80 und 180 begrenzt |
| - PPM_Neutral eingeführt, um den Offset bei HoTT auszugleichen; |
| - LED_Update() nun nur noch alle 20ms, weil die schnellste Ausgabe (bei Potivorgabe) ohnehin nur 40ms sind |
| - Jeti & HoTT: Nur beim Fehler auch JetiBeep, wenn die Motoren laufen -> sonst nervt das bei der Fehlerbehebung (Compass-Kalibrieren usw.) |
| - Error-Text auch im virtuellen Display des Koptertools |
| - virtuelles LCD-Menü: |
| - "ExternControl" aus Platzgründen aus dem virtuellen LCD-Menü entfernt. |
| - keine BL-Temperaturen und I2C-Fehler anzeigen, wenn die BL-Regler nicht verwendet werden |
| - nach dem Gieren nicht den Ersatzkompass auf den Kompasswert stellen, die Umschaltung war zu hart |
| - ACC Correction eingeführt |
| - I2C Fehler kamen nicht bei der NC an, weil die zu kurz waren - jetzt meldet die NC die Fehler mind. 8 Sekunden |
| - Fehlermeldungen stehen jetzt mind. so lange an, bis sie an die Nc ge sendet wurden |
| - neue Fehlermeldungen: |
| "No NC communicat", // 9 |
| "GPS Fix lost ", // 21 |
| "Magnet Error ", // 22 |
| "Motor restart ", // 23 |
| "BL Limitation " // 24 |
| - LED: Schaltfläche "nur bei Motor start" bei beiden getrennt |
| - Ausbau der HoTT-Telemetrie |
| - Variable "KompassRichtung" entfernt |
| - ErsatzKompassInGrad sinvoll genutzt |
| - HoTT-Update per Uart-Durchschleifen |
| - AltitudeSetpointTrimming eingeführt |
| - Vario-Anzeige für HoTT |
| - Verhindern eines Überlaufs im Vario |
| - echter Varioton auch ohne Vario-Höhenregler |
| - Flugminuten laufen jetzt bei (FC_StatusFlags & FC_STATUS_FLY) los, weil sonst die Zeit zur NC verschieden war |
| - KompassFusion wird jetzt getrennt von der NC berechnet |
| - Sport-Setting entfernt und ein "Easy-Setting" eingeführt (leicht reduzierte Sticks); "Beginner" ist jetzt "Normal" |
| - MagnetError kann man in der Startphase ignorieren |
| - BL-Temperaturen, I2C-Fehler und BL-MaxPWM zum Loggen an NC |
| - Einzelströme nun auch bei HoTT angezeigt |
| 0.86b H.Buss 20.09.2011 |
| - Höhenbegrenzung bewirkt nur, dass im Vario-Mode der Sollwert nicht weiter nach oben geschoben werden kann |
| - grüne LED ging aus - gefixt |
| - K1-K8 wurden im LCD mit 0-7 bezeichnet |
| 0.86c H.Buss 22.09.2011 |
| - Neue Anzeige: Magnetfeld und Inklination bei HoTT und Jeti |
| - Neuer SPI-Block 'SPI_MISC' |
| - Kompass-Fusions-Dämpfung bei Neigung leicht verringert |
| - '.' im Vario-Höhenregler |
| 0.86d H.Buss 26.09.2011 |
| - Analog.c: Vario Überlauf anders verhinden |
| - Poti1-6 auch im HoTT-Display |
| 0.88 H.Buss 12.12.2011 - 26.03.2012 |
| - Failsafe-Kanal |
| - Failsafe: 5 Sekunden warten & Höhe ändern (macht die NC) |
| - Option: Failsafe-Sinkflug xx% Schwebegas |
| - Stopp der Motoren wenn bei Failsafe ein Motor blockiert |
| - von 30 auf 60 Sekunden Failsafe-Zeit verlängert |
| - Höhenwert auf cm kalibriert (zeigte ca. 10% zu viel an) |
| - Neue Error-Codes: "No SD-Card", "Flying range!" und "Error SD-Logging" |
| - Wenn die Motoren aus sind, den Luftduckwert langsam nachführen |
| - das sbus-protokoll implementiert (nur FC2.1) |
| - Schaltkanal auf Servo-Ausgang |
| - Filter auf den Ausgängen der Servos |
| - Option: Failsafe-Sinkflug xx% Schwebegas |
| - "Max Altitude" als Parameter auf der SD-Karte im Navi -> Beeinflusst "Parameter_MaximumAltitude" (das niedrigste gilt) und es gibt eine Fehlermeldung "ERR:Max Altitude" |
| - SPI-Protokoll: BL.Status eingefügt und Parameter.GlobalConfig & Parameter.ExtraConfig verschoben |
| - Senden der Out1 & Out2-Zustände an die NC, damit es in der OSD-Darstellung angezeigt werden kann |
| - Kompassrichtung neu merken, wenn CF geschaltet wird |
| - "I" aus dem Hott-Menü entfernt und durch ":" ersetzt, weil das nur auf der mx-20 gut aussah |
| - Höhenregler-Settings: GPS-Z von 64 auf 20 reduziert |
| 0.88M H.Buss 15.05.2012 |
| - HoTT V4 |
| - Kamera-Servo beim Kalibrieren weiter laufen lassen. |
| - Error 30: no GPS fix bei Start |
| - echter MotorSchalter |
| 0.88n H.Buss 06.07.2012 |
| - Bugfix: Der letzte angesteuerte Servo-Puls war zu kurz |
| 0.90 H.Buss 04.03.2013 |
| - Anzeige WP x/Y in der HoTT-Telemetrie |
| - Schalter und WP-Event gleichzeitig |
| - Photo-Auslösung als Entfernungsintervalle |
| - Jeti + |
| - Kamera-Neitung als Integral |
| - RC-Lost am Startpunkt macht kein Failsafe, wenn GAS auf Null für 1,5sek war |
| - Auswahl:Speak-All nun in der KopterTool-Config |
| 0.90 Ernstl 4-Motoren und Sexpander für DX7 |
| - Aktivierung der Sexpanderunterstützung |