/Spektrum-Diversity/README.txt |
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0,0 → 1,5 |
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/Spektrum-Diversity/V0.82a/Flight-Ctrl_MEGA644_V0_82a_SVN1849.map |
---|
0,0 → 1,2207 |
Archive member included because of file (symbol) |
c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(addsf3.o) |
fc.o (__addsf3) |
c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(addsf3x.o) |
c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(addsf3.o) (__addsf3x) |
c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(fixunssfsi.o) |
fc.o (__fixunssfsi) |
c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(floatsisf.o) |
fc.o (__floatsisf) |
c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(fp_inf.o) |
c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(addsf3x.o) (__fp_inf) |
c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(fp_nan.o) |
c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(addsf3x.o) (__fp_nan) |
c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(fp_pscA.o) |
c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(addsf3x.o) (__fp_pscA) |
c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(fp_pscB.o) |
c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(addsf3x.o) (__fp_pscB) |
c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(fp_round.o) |
c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(addsf3.o) (__fp_round) |
c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(fp_split3.o) |
c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(addsf3x.o) (__fp_split3) |
c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(fp_zero.o) |
c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(addsf3x.o) (__fp_zero) |
libfc644.a(libfc.o) jetimenu.o (LIBFC_JetiBox_Putchar) |
c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_mulsi3.o) |
uart.o (__mulsi3) |
c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_udivmodqi4.o) |
main.o (__udivmodqi4) |
c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_udivmodhi4.o) |
timer0.o (__udivmodhi4) |
c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_divmodhi4.o) |
uart.o (__divmodhi4) |
c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_udivmodsi4.o) |
libfc644.a(libfc.o) (__udivmodsi4) |
c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_divmodsi4.o) |
uart.o (__divmodsi4) |
c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_prologue.o) |
main.o (__prologue_saves__) |
c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_epilogue.o) |
uart.o (__epilogue_restores__) |
c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_exit.o) |
c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5/crtm644p.o (exit) |
c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_tablejump.o) |
analog.o (__tablejump2__) |
c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_copy_data.o) |
main.o (__do_copy_data) |
c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_clear_bss.o) |
main.o (__do_clear_bss) |
c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libc.a(memcpy_P.o) |
uart.o (memcpy_P) |
c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libc.a(memchr.o) |
libfc644.a(libfc.o) (memchr) |
c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libc.a(ee_rb.1F2021.o) |
eeprom.o (__eeprom_read_byte_1F2021) |
c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libc.a(ee_rblk.1F2021.o) |
eeprom.o (__eeprom_read_block_1F2021) |
c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libc.a(ee_rw.1F2021.o) |
eeprom.o (__eeprom_read_word_1F2021) |
c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libc.a(ee_wb.1F2021.o) |
eeprom.o (__eeprom_write_byte_1F2021) |
c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libc.a(ee_ww.1F2021.o) |
eeprom.o (__eeprom_write_word_1F2021) |
c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libc.a(ee_wblk.1F2021.o) |
eeprom.o (__eeprom_write_block_1F2021) |
Allocating common symbols |
Common symbol size file |
KopplungsteilNickRoll |
0x2 fc.o |
MesswertGierBias 0x2 fc.o |
SPITransferCompleted |
0x1 spi.o |
KopplungsteilRollNick |
0x2 fc.o |
RequiredMotors 0x1 eeprom.o |
Parameter_Servo4 0x1 fc.o |
GPSInfo 0x8 spi.o |
EE_Parameter 0x74 eeprom.o |
DiffRoll 0x2 fc.o |
MesswertRoll 0x2 fc.o |
TrimNick 0x2 fc.o |
Parameter_NaviGpsP 0x1 fc.o |
ErsatzKompassInGrad |
0x2 fc.o |
GyroFaktorGier 0x1 fc.o |
MittelIntegralRoll2 |
0x4 fc.o |
Parameter_NaviGpsModeControl |
0x1 fc.o |
TrimRoll 0x2 fc.o |
SPI_TX_Buffer 0x2 spi.o |
MesswertNick 0x2 fc.o |
NC_Version 0x5 spi.o |
SPI_BufferIndex 0x1 spi.o |
Aktuell_ay 0x2 analog.o |
ToNaviCtrl 0x20 spi.o |
Data3D 0xe uart.o |
Parameter_NaviGpsI 0x1 fc.o |
Capacity 0x7 capacity.o |
Timer3D 0x2 uart.o |
SPI_ChkSum 0x1 spi.o |
RohMesswertRoll 0x2 fc.o |
MIN_GAS 0x1 fc.o |
Parameter_NaviGpsACC |
0x1 fc.o |
MittelIntegralNick2 |
0x4 fc.o |
Channels 0x1 rc.o |
Debug_Timer 0x2 uart.o |
RohMesswertNick 0x2 fc.o |
IntegralFaktorGier 0x1 fc.o |
fdknerTjg5i83th589v44 |
0x6 libfc644.a(libfc.o) |
DiffNick 0x2 fc.o |
MittelIntegralNick 0x4 fc.o |
Parameter_Servo3 0x1 fc.o |
VersionInfo 0xa uart.o |
MotorTest 0x10 uart.o |
SPI_RxBufferIndex 0x1 spi.o |
NaviAccNick 0x2 fc.o |
Parameter_J16Timing |
0x1 fc.o |
MittelIntegralRoll 0x4 fc.o |
NeutralAccZ_float 0x4 analog.o |
Parameter_Servo5 0x1 fc.o |
SPI_RxDataValid 0x1 spi.o |
PPM_in 0x34 rc.o |
WinkelOut 0x8 uart.o |
ExternControl 0xb uart.o |
IntegralFaktor 0x1 fc.o |
Aktuell_az 0x2 analog.o |
FromNaviCtrl 0x1a spi.o |
StartLuftdruck 0x2 analog.o |
_printf_P 0x2 main.o |
tmp_motorwert 0x18 fc.o |
Kompass_Timer 0x2 uart.o |
RxdBuffer 0xaa uart.o |
Mixer 0x4e eeprom.o |
Display_Timer 0x2 uart.o |
Parameter_NaviOperatingRadius |
0x1 fc.o |
TxdBuffer 0xaa uart.o |
SPI_Buffer 0x1a spi.o |
Aktuell_Nick 0x2 analog.o |
Aktuell_Roll 0x2 analog.o |
IlIlIlIIIIIIIlIllllll |
0x23 libfc644.a(libfc.o) |
Aktuell_ax 0x2 analog.o |
Parameter_NaviWindCorrection |
0x1 fc.o |
s 0x1 fc.o |
h 0x1 fc.o |
Mittelwert_AccNick 0x2 fc.o |
Parameter_NaviSpeedCompensation |
0x1 fc.o |
DebugOut 0x42 uart.o |
DruckOffsetSetting 0x1 analog.o |
FromNaviCtrl_Value 0x5 spi.o |
BLConfig 0x8 twimaster.o |
Motor 0x60 twimaster.o |
Aktuell_Gier 0x2 analog.o |
Parameter_J17Timing |
0x1 fc.o |
MAX_GAS 0x1 fc.o |
MesswertGier 0x2 fc.o |
Parameter_J16Bitmask |
0x1 fc.o |
ConfirmFrame 0x1 uart.o |
NaviAccRoll 0x2 fc.o |
GyroFaktor 0x1 fc.o |
m 0x1 fc.o |
ErsatzKompass 0x4 fc.o |
Mittelwert_AccRoll 0x2 fc.o |
Parameter_NaviGpsGain |
0x1 fc.o |
fgfdogjWEti45e9tjh394 |
0x4 libfc644.a(libfc.o) |
PPM_diff 0x34 rc.o |
Parameter_ExternalControl |
0x1 fc.o |
Parameter_J17Bitmask |
0x1 fc.o |
Parameter_NaviGpsD 0x1 fc.o |
Memory Configuration |
Name Origin Length Attributes |
text 0x00000000 0x00020000 xr |
data 0x00800060 0x0000ffa0 rw !x |
eeprom 0x00810000 0x00010000 rw !x |
fuse 0x00820000 0x00000400 rw !x |
lock 0x00830000 0x00000400 rw !x |
signature 0x00840000 0x00000400 rw !x |
*default* 0x00000000 0xffffffff |
Linker script and memory map |
Address of section .data set to 0x800100 |
LOAD c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5/crtm644p.o |
LOAD main.o |
LOAD uart.o |
LOAD timer0.o |
LOAD analog.o |
LOAD menu.o |
LOAD eeprom.o |
LOAD twimaster.o |
LOAD rc.o |
LOAD fc.o |
LOAD GPS.o |
LOAD spi.o |
LOAD led.o |
LOAD Spektrum.o |
LOAD mymath.o |
LOAD jetimenu.o |
LOAD capacity.o |
LOAD debug.o |
LOAD isqrt.o |
LOAD c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a |
LOAD libfc644.a |
LOAD c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a |
LOAD c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libc.a |
LOAD c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a |
.hash |
*(.hash) |
.dynsym |
*(.dynsym) |
.dynstr |
*(.dynstr) |
.gnu.version |
*(.gnu.version) |
.gnu.version_d |
*(.gnu.version_d) |
.gnu.version_r |
*(.gnu.version_r) |
.rel.init |
*(.rel.init) |
.rela.init |
*(.rela.init) |
.rel.text |
*(.rel.text) |
*(.rel.text.*) |
*(.rel.gnu.linkonce.t*) |
.rela.text |
*(.rela.text) |
*(.rela.text.*) |
*(.rela.gnu.linkonce.t*) |
.rel.fini |
*(.rel.fini) |
.rela.fini |
*(.rela.fini) |
.rel.rodata |
*(.rel.rodata) |
*(.rel.rodata.*) |
*(.rel.gnu.linkonce.r*) |
.rela.rodata |
*(.rela.rodata) |
*(.rela.rodata.*) |
*(.rela.gnu.linkonce.r*) |
.rel.data |
*(.rel.data) |
*(.rel.data.*) |
*(.rel.gnu.linkonce.d*) |
.rela.data |
*(.rela.data) |
*(.rela.data.*) |
*(.rela.gnu.linkonce.d*) |
.rel.ctors |
*(.rel.ctors) |
.rela.ctors |
*(.rela.ctors) |
.rel.dtors |
*(.rel.dtors) |
.rela.dtors |
*(.rela.dtors) |
.rel.got |
*(.rel.got) |
.rela.got |
*(.rela.got) |
.rel.bss |
*(.rel.bss) |
.rela.bss |
*(.rela.bss) |
.rel.plt |
*(.rel.plt) |
.rela.plt |
*(.rela.plt) |
.text 0x00000000 0xe314 |
*(.vectors) |
.vectors 0x00000000 0x7c c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5/crtm644p.o |
0x00000000 __vectors |
0x00000000 __vector_default |
*(.vectors) |
*(.progmem.gcc*) |
.progmem.gcc_sw_table |
0x0000007c 0x24 analog.o |
.progmem.gcc_sw_table |
0x000000a0 0x24 menu.o |
.progmem.gcc_sw_table |
0x000000c4 0x2e twimaster.o |
*(.progmem*) |
.progmem.data 0x000000f2 0x12b main.o |
.progmem.data 0x0000021d 0x215 uart.o |
0x0000021d ANALOG_TEXT |
.progmem.data 0x00000432 0x39 analog.o |
.progmem.data 0x0000046b 0x515 menu.o |
.progmem.data 0x00000980 0xa2 eeprom.o |
.progmem.data 0x00000a22 0x18 fc.o |
.progmem.data 0x00000a3a 0xb6 mymath.o |
0x00000a3a pgm_sinlookup |
.progmem.data 0x00000af0 0xe7 jetimenu.o |
0x00000af0 JetiBox_Menu |
.progmem.data 0x00000bd7 0x1aa libfc644.a(libfc.o) |
0x00000bff Msg1 |
0x00000c65 Rec_Spektrum_LOW_RES |
0x00000bd7 Msg2 |
0x00000c57 Rec_Jeti |
0x00000cb3 Rec_PPM |
0x00000c4f Rec_ACT_DSL |
0x00000ca1 Rec_Spektrum |
0x00000c88 Rec_Spektrum_HI_RES |
0x00000d82 . = ALIGN (0x2) |
*fill* 0x00000d81 0x1 00 |
0x00000d82 __trampolines_start = . |
*(.trampolines) |
.trampolines 0x00000d82 0x0 linker stubs |
*(.trampolines*) |
0x00000d82 __trampolines_end = . |
*(.jumptables) |
*(.jumptables*) |
*(.lowtext) |
*(.lowtext*) |
0x00000d82 __ctors_start = . |
*(.ctors) |
0x00000d82 __ctors_end = . |
0x00000d82 __dtors_start = . |
*(.dtors) |
0x00000d82 __dtors_end = . |
SORT(*)(.ctors) |
SORT(*)(.dtors) |
*(.init0) |
.init0 0x00000d82 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5/crtm644p.o |
0x00000d82 __init |
*(.init0) |
*(.init1) |
*(.init1) |
*(.init2) |
.init2 0x00000d82 0xc c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5/crtm644p.o |
*(.init2) |
*(.init3) |
*(.init3) |
*(.init4) |
.init4 0x00000d8e 0x16 c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_copy_data.o) |
0x00000d8e __do_copy_data |
.init4 0x00000da4 0x10 c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_clear_bss.o) |
0x00000da4 __do_clear_bss |
*(.init4) |
*(.init5) |
.init5 0x00000db4 0x52 libfc644.a(libfc.o) |
0x00000db4 ndfcvbghs |
*(.init5) |
*(.init6) |
*(.init6) |
*(.init7) |
*(.init7) |
*(.init8) |
*(.init8) |
*(.init9) |
.init9 0x00000e06 0x8 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5/crtm644p.o |
*(.init9) |
*(.text) |
.text 0x00000e0e 0x4 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5/crtm644p.o |
0x00000e0e __vector_1 |
0x00000e0e __bad_interrupt |
0x00000e0e __vector_6 |
0x00000e0e __vector_3 |
0x00000e0e __vector_23 |
0x00000e0e __vector_25 |
0x00000e0e __vector_11 |
0x00000e0e __vector_13 |
0x00000e0e __vector_17 |
0x00000e0e __vector_19 |
0x00000e0e __vector_7 |
0x00000e0e __vector_27 |
0x00000e0e __vector_5 |
0x00000e0e __vector_4 |
0x00000e0e __vector_2 |
0x00000e0e __vector_21 |
0x00000e0e __vector_15 |
0x00000e0e __vector_29 |
0x00000e0e __vector_8 |
0x00000e0e __vector_14 |
0x00000e0e __vector_10 |
0x00000e0e __vector_16 |
.text 0x00000e12 0x9e2 main.o |
0x00000e12 LipoDetection |
0x00000f2a CalMk3Mag |
0x00000f94 main |
.text 0x000017f4 0x1358 uart.o |
0x000017f4 __vector_22 |
0x00001982 UART_Init |
0x000020ec BearbeiteRxDaten |
0x00001860 AddCRC |
0x00001b7a DatenUebertragung |
0x000018be Decode64 |
0x000019f4 SendOutData |
0x0000296a __vector_20 |
0x00001972 uart_putchar |
.text 0x00002b4c 0x8ac timer0.o |
0x00002d52 SetDelay |
0x00002d7c TIMER2_Init |
0x00003350 Timer_Init |
0x00002dca CalculateServo |
0x00002d64 CheckDelay |
0x000033c6 Delay_ms |
0x00003380 Delay_ms_Mess |
0x00003084 __vector_9 |
0x00002b4c __vector_18 |
.text 0x000033f8 0xa16 analog.o |
0x00003404 __vector_24 |
0x00003b6c SucheGyroOffset |
0x000033f8 ADC_Init |
0x00003d44 SucheLuftruckOffset |
.text 0x00003e0e 0x1406 menu.o |
0x00003e0e LcdClear |
0x00003e20 Menu_Putchar |
0x00003e36 Menu |
.text 0x00005214 0x81e eeprom.o |
0x0000548c SetActiveParamSet |
0x00005238 EEProm_Checksum |
0x00005444 GetParamByte |
0x000055aa ParamSet_DefaultSet3 |
0x000054e2 MixerTable_ReadFromEEProm |
0x00005214 RAM_Checksum |
0x000052aa CommonDefaults |
0x00005450 SetParamByte |
0x0000545a GetParamWord |
0x00005464 SetParamWord |
0x00005526 MixerTable_Default |
0x00005788 ParamSet_ReadFromEEProm |
0x000054a6 MixerTable_WriteToEEProm |
0x00005702 ParamSet_WriteToEEProm |
0x000057f4 SetDefaultParameter |
0x00005866 ParamSet_Init |
0x0000546e GetActiveParamSet |
0x0000568e ParamSet_DefaultSet1 |
0x0000561c ParamSet_DefaultSet2 |
0x00005260 ParamSet_DefaultStickMapping |
.text 0x00005a32 0x902 twimaster.o |
0x00005a84 I2C_Reset |
0x00005a32 I2C_Init |
0x000061e2 I2C_WriteBLConfig |
0x00006098 I2C_ReadBLConfig |
0x00005ae0 __vector_26 |
.text 0x00006334 0x4a2 rc.o |
0x00006374 __vector_12 |
0x00006334 rc_sum_init |
.text 0x000067d6 0x50c4 fc.o |
0x000067d6 CopyDebugValues |
0x00007730 SendMotorData |
0x000069d0 Mittelwert |
0x00008332 Piep |
0x00007cd0 CalibrierMittelwert |
0x00007dfa SetNeutral |
0x000077aa ParameterZuordnung |
0x0000837a MotorRegler |
.text 0x0000b89a 0x54 GPS.o |
0x0000b89a GPS_Neutral |
0x0000b8dc GPS_BerechneZielrichtung |
.text 0x0000b8ee 0x818 spi.o |
0x0000b930 UpdateSPI_Buffer |
0x0000bf80 SPI_StartTransmitPacket |
0x0000c002 SPI_TransmitByte |
0x0000b8ee SPI_MasterInit |
.text 0x0000c106 0x204 led.o |
0x0000c106 LED_Init |
0x0000c124 LED_Update |
.text 0x0000c30a 0x31e Spektrum.o |
0x0000c30a SpektrumUartInit |
0x0000c3ba SpektrumParser |
.text 0x0000c628 0xa2 mymath.o |
0x0000c6ba c_cos_8192 |
0x0000c628 c_sin_8192 |
.text 0x0000c6ca 0x5a0 jetimenu.o |
0x0000c894 Menu_Battery |
0x0000ca74 Menu_Status |
0x0000c766 Menu_PosInfo |
0x0000c956 Menu_Temperature |
0x0000c6ca JetiBox_Update |
.text 0x0000cc6a 0x1a2 capacity.o |
0x0000cc6a Capacity_Update |
0x0000cdde Capacity_Init |
.text 0x0000ce0c 0x0 debug.o |
.text 0x0000ce0c 0x100 isqrt.o |
0x0000ce0c isqrt32 |
0x0000ceb8 ihypot |
0x0000ce76 isqrt16 |
.text 0x0000cf0c 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(addsf3.o) |
.text 0x0000cf0c 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(addsf3x.o) |
.text 0x0000cf0c 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(fixunssfsi.o) |
.text 0x0000cf0c 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(floatsisf.o) |
.text 0x0000cf0c 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(fp_inf.o) |
.text 0x0000cf0c 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(fp_nan.o) |
.text 0x0000cf0c 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(fp_pscA.o) |
.text 0x0000cf0c 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(fp_pscB.o) |
.text 0x0000cf0c 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(fp_round.o) |
.text 0x0000cf0c 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(fp_split3.o) |
.text 0x0000cf0c 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(fp_zero.o) |
.text 0x0000cf0c 0xfb4 libfc644.a(libfc.o) |
0x0000de1a __vector_28 |
0x0000db4c LIBFC_ReceiverInit |
0x0000cfc2 FGRT0589rge90gj459gg4 |
0x0000dc80 LIBFC_Init |
0x0000d290 LIBFC_JetiBox_Clear |
0x0000d1e8 FGtj76uzh56z3grEg5t45 |
0x0000d412 __vector_30 |
0x0000d2a2 INiuzBtergGIBuB76T0G5 |
0x0000d26a LIBFC_JetiBox_Putchar |
0x0000d570 IIllllIllIlllIIlllII |
0x0000ddf8 LIBFC_Polling |
0x0000d384 a48784362857632195659 |
0x0000d52c fgmjgnrtuth587th9rTrw |
0x0000dab2 LIBFC_GetCPUType |
0x0000cf0c fomklkdtn89SFGrsgt9rf |
0x0000d4ce njkvnfuhgbuzrgezgf483 |
0x0000d36a KLNMIOHMUHG76GFGr43r3 |
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0x0000d54e wqqeRT45jth8g758735h4 |
0x0000db0a awokdjwqdjcjuhcuweih |
0x0000d284 LIBFC_JetiBox_SetPos |
0x0000d4fc lkvgnfdgun57th38rgh84 |
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.text 0x0000dec0 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_divmodsi4.o) |
.text 0x0000dec0 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_prologue.o) |
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.text 0x0000dec0 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_exit.o) |
.text 0x0000dec0 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_tablejump.o) |
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0x0000dec0 memcpy_P |
.text 0x0000ded2 0x1a c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libc.a(memchr.o) |
0x0000ded2 memchr |
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0x0000deec . = ALIGN (0x2) |
*(.text.*) |
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0x0000df10 __addsf3x |
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0x0000e12a __mulsi3 |
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.text.libgcc 0x0000e1ce 0x44 c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_udivmodsi4.o) |
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.text.libgcc 0x0000e248 0x38 c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_prologue.o) |
0x0000e248 __prologue_saves__ |
.text.libgcc 0x0000e280 0x36 c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_epilogue.o) |
0x0000e280 __epilogue_restores__ |
.text.libgcc 0x0000e2b6 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_exit.o) |
.text.libgcc 0x0000e2b6 0xc c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_tablejump.o) |
0x0000e2ba __tablejump__ |
0x0000e2b6 __tablejump2__ |
.text.libgcc 0x0000e2c2 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_copy_data.o) |
.text.libgcc 0x0000e2c2 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_clear_bss.o) |
.text.eeprom 0x0000e2c2 0x10 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libc.a(ee_rb.1F2021.o) |
0x0000e2c2 __eeprom_read_byte_1F2021 |
.text.eeprom 0x0000e2d2 0xa c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libc.a(ee_rblk.1F2021.o) |
0x0000e2d2 __eeprom_read_block_1F2021 |
.text.eeprom 0x0000e2dc 0xa c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libc.a(ee_rw.1F2021.o) |
0x0000e2dc __eeprom_read_word_1F2021 |
.text.eeprom 0x0000e2e6 0x18 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libc.a(ee_wb.1F2021.o) |
0x0000e2e6 __eeprom_write_byte_1F2021 |
.text.eeprom 0x0000e2fe 0xa c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libc.a(ee_ww.1F2021.o) |
0x0000e2fe __eeprom_write_word_1F2021 |
.text.eeprom 0x0000e308 0xa c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libc.a(ee_wblk.1F2021.o) |
0x0000e308 __eeprom_write_block_1F2021 |
0x0000e312 . = ALIGN (0x2) |
*(.fini9) |
.fini9 0x0000e312 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_exit.o) |
0x0000e312 exit |
0x0000e312 _exit |
*(.fini9) |
*(.fini8) |
*(.fini8) |
*(.fini7) |
*(.fini7) |
*(.fini6) |
*(.fini6) |
*(.fini5) |
*(.fini5) |
*(.fini4) |
*(.fini4) |
*(.fini3) |
*(.fini3) |
*(.fini2) |
*(.fini2) |
*(.fini1) |
*(.fini1) |
*(.fini0) |
.fini0 0x0000e312 0x2 c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_exit.o) |
*(.fini0) |
0x0000e314 _etext = . |
.data 0x00800100 0xf2 load address 0x0000e314 |
0x00800100 PROVIDE (__data_start, .) |
*(.data) |
.data 0x00800100 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5/crtm644p.o |
.data 0x00800100 0x4 main.o |
0x00800100 PlatinenVersion |
0x00800102 BattLowVoltageWarning |
0x00800101 SendVersionToNavi |
.data 0x00800104 0x4 uart.o |
0x00800107 MeineSlaveAdresse |
0x00800106 PcZugriff |
0x00800104 UebertragungAbgeschlossen |
0x00800105 DebugTextAnforderung |
.data 0x00800108 0x8 timer0.o |
0x0080010b ServoRollOffset |
0x00800108 CalculateServoSignals |
0x0080010d BeepMuster |
0x00800109 ServoNickOffset |
.data 0x00800110 0x10 analog.o |
0x00800110 UBat |
0x0080011c AnalogOffsetNick |
0x0080011e AnalogOffsetGier |
0x00800114 HiResRoll |
0x0080011f AdReady |
0x0080011d AnalogOffsetRoll |
0x0080011a MessLuftdruck |
0x00800116 Luftdruck |
0x00800112 HiResNick |
.data 0x00800120 0x51 menu.o |
0x00800170 MaxMenue |
0x00800120 DisplayBuff |
.data 0x00800171 0x21 eeprom.o |
.data 0x00800192 0x2 twimaster.o |
0x00800192 I2CTimeout |
.data 0x00800194 0x1 rc.o |
0x00800194 NewPpmData |
.data 0x00800195 0x4b fc.o |
0x008001b3 Parameter_CouplingYawCorrection |
0x00800197 Umschlag180Nick |
0x0080019f Ki |
0x008001a1 Parameter_Luftdruck_D |
0x008001b4 Parameter_DynamicStability |
0x008001aa Parameter_Gyro_Gier_P |
0x008001a5 Parameter_KompassWirkung |
0x008001ae Parameter_ServoNickControl |
0x008001a8 Parameter_Gyro_P |
0x008001a7 Parameter_Gyro_D |
0x008001a3 Parameter_Hoehe_P |
0x008001b2 Parameter_AchsKopplung2 |
0x008001d4 ExternHoehenValue |
0x008001a4 Parameter_Hoehe_ACC_Wirkung |
0x008001d6 GIER_GRAD_FAKTOR |
0x008001b0 Parameter_LoopGasLimit |
0x008001b1 Parameter_AchsKopplung1 |
0x008001b5 sintab |
0x008001a9 Parameter_Gyro_I |
0x008001ab Parameter_Gyro_Gier_I |
0x0080019b Umschlag180Roll |
0x008001a2 Parameter_MaxHoehe |
0x008001ad Parameter_I_Faktor |
0x008001a6 Parameter_Hoehe_GPS_Z |
0x008001da VarioCharacter |
0x008001af Parameter_ServoRollControl |
0x00800195 KompassSignalSchlecht |
0x008001ac Parameter_Gier_P |
.data 0x008001e0 0x0 GPS.o |
.data 0x008001e0 0xb spi.o |
0x008001e2 SPI_CommandSequence |
0x008001e0 FromNC_Rotate_C |
0x008001e1 NaviDataOkay |
.data 0x008001eb 0x2 led.o |
0x008001eb J16Mask |
0x008001ec J17Mask |
.data 0x008001ed 0x1 Spektrum.o |
.data 0x008001ee 0x0 mymath.o |
.data 0x008001ee 0x0 jetimenu.o |
.data 0x008001ee 0x0 capacity.o |
.data 0x008001ee 0x0 debug.o |
.data 0x008001ee 0x0 isqrt.o |
.data 0x008001ee 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(addsf3.o) |
.data 0x008001ee 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(addsf3x.o) |
.data 0x008001ee 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(fixunssfsi.o) |
.data 0x008001ee 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(floatsisf.o) |
.data 0x008001ee 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(fp_inf.o) |
.data 0x008001ee 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(fp_nan.o) |
.data 0x008001ee 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(fp_pscA.o) |
.data 0x008001ee 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(fp_pscB.o) |
.data 0x008001ee 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(fp_round.o) |
.data 0x008001ee 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(fp_split3.o) |
.data 0x008001ee 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(fp_zero.o) |
.data 0x008001ee 0x4 libfc644.a(libfc.o) |
0x008001ef kf089uwjef89234hffhh |
0x008001ee md5 |
0x008001f0 f8jhreghreGerg45gE542 |
.data 0x008001f2 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_mulsi3.o) |
.data 0x008001f2 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_udivmodqi4.o) |
.data 0x008001f2 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_udivmodhi4.o) |
.data 0x008001f2 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_divmodhi4.o) |
.data 0x008001f2 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_udivmodsi4.o) |
.data 0x008001f2 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_divmodsi4.o) |
.data 0x008001f2 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_prologue.o) |
.data 0x008001f2 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_epilogue.o) |
.data 0x008001f2 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_exit.o) |
.data 0x008001f2 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_tablejump.o) |
.data 0x008001f2 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_copy_data.o) |
.data 0x008001f2 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_clear_bss.o) |
.data 0x008001f2 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libc.a(memcpy_P.o) |
.data 0x008001f2 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libc.a(memchr.o) |
.data 0x008001f2 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libc.a(ee_rb.1F2021.o) |
.data 0x008001f2 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libc.a(ee_rblk.1F2021.o) |
.data 0x008001f2 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libc.a(ee_rw.1F2021.o) |
.data 0x008001f2 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libc.a(ee_wb.1F2021.o) |
.data 0x008001f2 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libc.a(ee_ww.1F2021.o) |
.data 0x008001f2 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libc.a(ee_wblk.1F2021.o) |
*(.data*) |
*(.rodata) |
*(.rodata*) |
*(.gnu.linkonce.d*) |
0x008001f2 . = ALIGN (0x2) |
0x008001f2 _edata = . |
0x008001f2 PROVIDE (__data_end, .) |
.bss 0x008001f2 0x6c2 load address 0x0000e406 |
0x008001f2 PROVIDE (__bss_start, .) |
*(.bss) |
.bss 0x008001f2 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5/crtm644p.o |
.bss 0x008001f2 0x8 main.o |
0x008001f6 FlugSekunden |
0x008001f2 FlugMinuten |
0x008001f4 FlugMinutenGesamt |
0x008001f8 FoundMotors |
.bss 0x008001fa 0x22 uart.o |
0x00800201 SioTmp |
0x0080020f Display_Interval |
0x00800209 PC_DebugTimeout |
0x008001fe GetVersionAnforderung |
0x00800203 NeueKoordinateEmpfangen |
0x0080020d Intervall3D |
0x008001fd DebugDataAnforderung |
0x0080020a PC_MotortestActive |
0x00800202 NeuerDatensatzEmpfangen |
0x008001fc DebugDisplayAnforderung |
0x0080020b DebugDataIntervall |
0x00800204 CntCrcError |
0x00800211 AboTimeOut |
0x008001ff GetPPMChannelAnforderung |
0x008001fb DebugDisplayAnforderung1 |
0x00800200 DisplayLine |
0x008001fa GetExternalControl |
0x00800206 pRxData |
0x00800208 RxDataLen |
0x00800205 AnzahlEmpfangsBytes |
0x00800213 JetiUpdateModeActive |
.bss 0x0080021c 0x17 timer0.o |
0x00800223 SendSPI |
0x00800225 RemainingPulse |
0x00800221 beeptime |
0x00800227 ServoNickValue |
0x0080021c CountMilliseconds |
0x00800224 ServoActive |
0x0080021f cntKompass |
0x0080021e UpdateMotor |
0x00800229 ServoRollValue |
.bss 0x00800233 0x32 analog.o |
0x00800245 messanzahl_AccHoch |
0x0080024d ZaehlMessungen |
0x0080024b VarioMeter |
0x0080024a ExpandBaro |
0x0080023b AdWertRoll |
0x00800241 AdWertAccNick |
0x00800239 AdWertNick |
0x00800237 AdWertGierFilter |
0x0080023d AdWertGier |
0x00800233 AdWertNickFilter |
0x0080023f AdWertAccRoll |
0x00800246 SummenHoehe |
0x00800235 AdWertRollFilter |
0x00800243 AdWertAccHoch |
.bss 0x00800265 0x3 menu.o |
0x00800265 DispPtr |
0x00800266 MenuePunkt |
0x00800267 RemoteKeys |
.bss 0x00800268 0x0 eeprom.o |
.bss 0x00800268 0x10 twimaster.o |
0x0080026a motor_write |
0x0080026e BLFlags |
0x00800268 twi_state |
0x0080026d MissingMotor |
0x0080026b motor_read |
0x00800269 dac_channel |
0x0080026c I2C_TransferActive |
0x0080026f BLConfig_WriteMask |
0x00800271 BLConfig_ReadMask |
.bss 0x00800278 0x71 rc.o |
0x00800278 tmpChannels |
.bss 0x008002e9 0xfa fc.o |
0x00800332 Mess_Integral_Gier2 |
0x00800368 LageKorrekturRoll |
0x0080035a StickGier |
0x00800373 Looping_Oben |
0x00800322 Mess_IntegralNick2 |
0x00800302 IntegralNick2 |
0x00800355 SenderOkay |
0x00800378 Parameter_UserParam5 |
0x00800316 IntegralAccZ |
0x0080031a Integral_Gier |
0x00800356 StickNick |
0x0080035e MotorenEin |
0x008002fd ControlHeading |
0x0080036e Looping_Nick |
0x0080030e IntegralAccNick |
0x00800360 HoehenWert |
0x0080032a Mess_IntegralRoll2 |
0x00800381 ExternStickGier |
0x00800372 Looping_Unten |
0x00800385 MaxStickRoll |
0x00800387 modell_fliegt |
0x00800374 Parameter_UserParam1 |
0x008002ed AdNeutralRoll |
0x0080036c HoverGas |
0x00800370 Looping_Links |
0x008002fe IntegralNick |
0x0080033e Mess_Integral_Hoch |
0x0080037a Parameter_UserParam7 |
0x008002e9 BaroExpandActive |
0x008002f9 NaviCntAcc |
0x00800349 TrichterFlug |
0x008002f5 NeutralAccX |
0x0080033a SummeRoll |
0x0080032e Mess_Integral_Gier |
0x0080035f StartTrigger |
0x0080036a LageKorrekturNick |
0x00800377 Parameter_UserParam4 |
0x00800344 KompassStartwert |
0x0080035c StickGas |
0x0080036f Looping_Roll |
0x0080037c CareFree |
0x0080037d ExternStickNick |
0x00800375 Parameter_UserParam2 |
0x008002f3 StartNeutralNick |
0x00800342 KompassValue |
0x00800312 IntegralAccRoll |
0x00800346 KompassRichtung |
0x00800326 Mess_IntegralRoll |
0x00800358 StickRoll |
0x008002eb AdNeutralNick |
0x008002f7 NeutralAccY |
0x0080034c Poti |
0x008002fb NeutralAccZ |
0x00800379 Parameter_UserParam6 |
0x0080030a IntegralRoll2 |
0x00800383 MaxStickNick |
0x00800389 FC_StatusFlags |
0x00800376 Parameter_UserParam3 |
0x008002ef AdNeutralGier |
0x008002f1 StartNeutralRoll |
0x00800371 Looping_Rechts |
0x0080037f ExternStickRoll |
0x00800348 HoehenReglerAktiv |
0x00800364 SollHoehe |
0x0080037b Parameter_UserParam8 |
0x0080034a GierGyroFehler |
0x0080031e Mess_IntegralNick |
0x00800336 SummeNick |
0x00800306 IntegralRoll |
.bss 0x008003e3 0x18 GPS.o |
0x008003f3 GpsZiel_X |
0x008003e9 GPS_Roll2 |
0x008003ef GpsAktuell_Y |
0x008003e3 GPS_Nick |
0x008003e7 GPS_Nick2 |
0x008003eb GpsAktuell_X |
0x008003f7 GpsZiel_Y |
0x008003e5 GPS_Roll |
.bss 0x008003fb 0x5 spi.o |
0x008003fb FromNC_Rotate_S |
0x008003fd NC_ErrorCode |
0x008003fc SPI_CommandCounter |
.bss 0x00800400 0xb led.o |
0x00800402 LED2_Timing |
0x00800400 LED1_Timing |
0x00800405 J17Blinkcount |
0x00800404 J16Blinkcount |
.bss 0x0080040b 0x5 Spektrum.o |
0x0080040b SpektrumTimer |
.bss 0x00800410 0x0 mymath.o |
.bss 0x00800410 0x2 jetimenu.o |
.bss 0x00800412 0xa capacity.o |
0x00800412 update_timer |
.bss 0x0080041c 0x0 debug.o |
.bss 0x0080041c 0x0 isqrt.o |
.bss 0x0080041c 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(addsf3.o) |
.bss 0x0080041c 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(addsf3x.o) |
.bss 0x0080041c 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(fixunssfsi.o) |
.bss 0x0080041c 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(floatsisf.o) |
.bss 0x0080041c 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(fp_inf.o) |
.bss 0x0080041c 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(fp_nan.o) |
.bss 0x0080041c 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(fp_pscA.o) |
.bss 0x0080041c 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(fp_pscB.o) |
.bss 0x0080041c 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(fp_round.o) |
.bss 0x0080041c 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(fp_split3.o) |
.bss 0x0080041c 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(fp_zero.o) |
.bss 0x0080041c 0xc libfc644.a(libfc.o) |
0x0080041d IllIIllIlIlIlIllllII |
0x00800420 DJFIORJHcvjr894hjhffj |
0x0080041f IIIIIlIllllllIIllIIll |
0x0080041c weiuncefcnsavsgvghjc |
0x00800421 fij48zrhoih3498fhfo90 |
0x00800422 fojk48fj478fhw7fhw39 |
0x0080041e XSasC2389ufwejiCjuz32 |
.bss 0x00800428 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_mulsi3.o) |
.bss 0x00800428 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_udivmodqi4.o) |
.bss 0x00800428 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_udivmodhi4.o) |
.bss 0x00800428 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_divmodhi4.o) |
.bss 0x00800428 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_udivmodsi4.o) |
.bss 0x00800428 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_divmodsi4.o) |
.bss 0x00800428 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_prologue.o) |
.bss 0x00800428 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_epilogue.o) |
.bss 0x00800428 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_exit.o) |
.bss 0x00800428 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_tablejump.o) |
.bss 0x00800428 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_copy_data.o) |
.bss 0x00800428 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_clear_bss.o) |
.bss 0x00800428 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libc.a(memcpy_P.o) |
.bss 0x00800428 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libc.a(memchr.o) |
.bss 0x00800428 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libc.a(ee_rb.1F2021.o) |
.bss 0x00800428 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libc.a(ee_rblk.1F2021.o) |
.bss 0x00800428 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libc.a(ee_rw.1F2021.o) |
.bss 0x00800428 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libc.a(ee_wb.1F2021.o) |
.bss 0x00800428 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libc.a(ee_ww.1F2021.o) |
.bss 0x00800428 0x0 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libc.a(ee_wblk.1F2021.o) |
*(.bss*) |
*(COMMON) |
COMMON 0x00800428 0x2 main.o |
0x00800428 _printf_P |
COMMON 0x0080042a 0x1da uart.o |
0x0080042a Data3D |
0x00800438 Timer3D |
0x0080043a Debug_Timer |
0x0080043c VersionInfo |
0x00800446 MotorTest |
0x00800456 WinkelOut |
0x0080045e ExternControl |
0x00800469 Kompass_Timer |
0x0080046b RxdBuffer |
0x00800515 Display_Timer |
0x00800517 TxdBuffer |
0x008005c1 DebugOut |
0x00800603 ConfirmFrame |
COMMON 0x00800604 0x13 analog.o |
0x00800604 Aktuell_ay |
0x00800606 NeutralAccZ_float |
0x0080060a Aktuell_az |
0x0080060c StartLuftdruck |
0x0080060e Aktuell_Nick |
0x00800610 Aktuell_Roll |
0x00800612 Aktuell_ax |
0x00800614 DruckOffsetSetting |
0x00800615 Aktuell_Gier |
COMMON 0x00800617 0xc3 eeprom.o |
0x00800617 RequiredMotors |
0x00800618 EE_Parameter |
0x0080068c Mixer |
COMMON 0x008006da 0x68 twimaster.o |
0x008006da BLConfig |
0x008006e2 Motor |
COMMON 0x00800742 0x69 rc.o |
0x00800742 Channels |
0x00800743 PPM_in |
0x00800777 PPM_diff |
COMMON 0x008007ab 0x68 fc.o |
0x008007ab KopplungsteilNickRoll |
0x008007ad MesswertGierBias |
0x008007af KopplungsteilRollNick |
0x008007b1 Parameter_Servo4 |
0x008007b2 DiffRoll |
0x008007b4 MesswertRoll |
0x008007b6 TrimNick |
0x008007b8 Parameter_NaviGpsP |
0x008007b9 ErsatzKompassInGrad |
0x008007bb GyroFaktorGier |
0x008007bc MittelIntegralRoll2 |
0x008007c0 Parameter_NaviGpsModeControl |
0x008007c1 TrimRoll |
0x008007c3 MesswertNick |
0x008007c5 Parameter_NaviGpsI |
0x008007c6 RohMesswertRoll |
0x008007c8 MIN_GAS |
0x008007c9 Parameter_NaviGpsACC |
0x008007ca MittelIntegralNick2 |
0x008007ce RohMesswertNick |
0x008007d0 IntegralFaktorGier |
0x008007d1 DiffNick |
0x008007d3 MittelIntegralNick |
0x008007d7 Parameter_Servo3 |
0x008007d8 NaviAccNick |
0x008007da Parameter_J16Timing |
0x008007db MittelIntegralRoll |
0x008007df Parameter_Servo5 |
0x008007e0 IntegralFaktor |
0x008007e1 tmp_motorwert |
0x008007f9 Parameter_NaviOperatingRadius |
0x008007fa Parameter_NaviWindCorrection |
0x008007fb s |
0x008007fc h |
0x008007fd Mittelwert_AccNick |
0x008007ff Parameter_NaviSpeedCompensation |
0x00800800 Parameter_J17Timing |
0x00800801 MAX_GAS |
0x00800802 MesswertGier |
0x00800804 Parameter_J16Bitmask |
0x00800805 NaviAccRoll |
0x00800807 GyroFaktor |
0x00800808 m |
0x00800809 ErsatzKompass |
0x0080080d Mittelwert_AccRoll |
0x0080080f Parameter_NaviGpsGain |
0x00800810 Parameter_ExternalControl |
0x00800811 Parameter_J17Bitmask |
0x00800812 Parameter_NaviGpsD |
COMMON 0x00800813 0x6d spi.o |
0x00800813 SPITransferCompleted |
0x00800814 GPSInfo |
0x0080081c SPI_TX_Buffer |
0x0080081e NC_Version |
0x00800823 SPI_BufferIndex |
0x00800824 ToNaviCtrl |
0x00800844 SPI_ChkSum |
0x00800845 SPI_RxBufferIndex |
0x00800846 SPI_RxDataValid |
0x00800847 FromNaviCtrl |
0x00800861 SPI_Buffer |
0x0080087b FromNaviCtrl_Value |
COMMON 0x00800880 0x7 capacity.o |
0x00800880 Capacity |
COMMON 0x00800887 0x2d libfc644.a(libfc.o) |
0x00800887 fdknerTjg5i83th589v44 |
0x0080088d IlIlIlIIIIIIIlIllllll |
0x008008b0 fgfdogjWEti45e9tjh394 |
0x008008b4 PROVIDE (__bss_end, .) |
0x0000e314 __data_load_start = LOADADDR (.data) |
0x0000e406 __data_load_end = (__data_load_start + SIZEOF (.data)) |
.noinit 0x008008b4 0x0 |
0x008008b4 PROVIDE (__noinit_start, .) |
*(.noinit*) |
0x008008b4 PROVIDE (__noinit_end, .) |
0x008008b4 _end = . |
0x008008b4 PROVIDE (__heap_start, .) |
.eeprom 0x00810000 0x0 |
*(.eeprom*) |
0x00810000 __eeprom_end = . |
.fuse |
*(.fuse) |
*(.lfuse) |
*(.hfuse) |
*(.efuse) |
.lock |
*(.lock*) |
.signature |
*(.signature*) |
.stab 0x00000000 0x9e4 |
*(.stab) |
.stab 0x00000000 0x378 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5/crtm644p.o |
.stab 0x00000378 0x66c isqrt.o |
0x678 (size before relaxing) |
.stabstr 0x00000000 0xb2 |
*(.stabstr) |
.stabstr 0x00000000 0xb2 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5/crtm644p.o |
.stab.excl |
*(.stab.excl) |
.stab.exclstr |
*(.stab.exclstr) |
.stab.index |
*(.stab.index) |
.stab.indexstr |
*(.stab.indexstr) |
.comment |
*(.comment) |
.debug |
*(.debug) |
.line |
*(.line) |
.debug_srcinfo |
*(.debug_srcinfo) |
.debug_sfnames |
*(.debug_sfnames) |
.debug_aranges |
*(.debug_aranges) |
.debug_pubnames |
*(.debug_pubnames) |
.debug_info |
*(.debug_info) |
*(.gnu.linkonce.wi.*) |
.debug_abbrev |
*(.debug_abbrev) |
.debug_line |
*(.debug_line) |
.debug_frame |
*(.debug_frame) |
.debug_str |
*(.debug_str) |
.debug_loc |
*(.debug_loc) |
.debug_macinfo |
*(.debug_macinfo) |
OUTPUT(Flight-Ctrl_MEGA644_V0_82a_SVN1849.elf elf32-avr) |
LOAD linker stubs |
Cross Reference Table |
Symbol File |
ADC_Init analog.o |
main.o |
ANALOG_TEXT uart.o |
AboTimeOut uart.o |
AdNeutralGier fc.o |
spi.o |
rc.o |
menu.o |
AdNeutralNick fc.o |
rc.o |
menu.o |
analog.o |
AdNeutralRoll fc.o |
rc.o |
menu.o |
analog.o |
AdReady analog.o |
fc.o |
timer0.o |
main.o |
AdWertAccHoch analog.o |
fc.o |
menu.o |
AdWertAccNick analog.o |
fc.o |
menu.o |
AdWertAccRoll analog.o |
fc.o |
menu.o |
AdWertGier analog.o |
spi.o |
fc.o |
menu.o |
AdWertGierFilter analog.o |
AdWertNick analog.o |
fc.o |
menu.o |
AdWertNickFilter analog.o |
fc.o |
AdWertRoll analog.o |
fc.o |
menu.o |
AdWertRollFilter analog.o |
fc.o |
AddCRC uart.o |
Aktuell_Gier analog.o |
Aktuell_Nick analog.o |
Aktuell_Roll analog.o |
Aktuell_ax analog.o |
Aktuell_ay analog.o |
Aktuell_az fc.o |
analog.o |
AnalogOffsetGier analog.o |
twimaster.o |
menu.o |
AnalogOffsetNick analog.o |
twimaster.o |
menu.o |
AnalogOffsetRoll analog.o |
twimaster.o |
menu.o |
AnzahlEmpfangsBytes uart.o |
BLConfig twimaster.o |
uart.o |
BLConfig_ReadMask twimaster.o |
BLConfig_WriteMask twimaster.o |
BLFlags twimaster.o |
fc.o |
analog.o |
main.o |
BaroExpandActive fc.o |
BattLowVoltageWarning main.o |
spi.o |
fc.o |
BearbeiteRxDaten uart.o |
main.o |
BeepMuster timer0.o |
fc.o |
main.o |
CalMk3Mag main.o |
CalculateServo timer0.o |
main.o |
CalculateServoSignals timer0.o |
main.o |
CalibrierMittelwert fc.o |
Capacity capacity.o |
jetimenu.o |
spi.o |
fc.o |
menu.o |
Capacity_Init capacity.o |
main.o |
Capacity_Update capacity.o |
main.o |
CareFree fc.o |
Channels libfc644.a(libfc.o) |
rc.o |
menu.o |
CheckDelay timer0.o |
capacity.o |
twimaster.o |
analog.o |
uart.o |
main.o |
CntCrcError uart.o |
CommonDefaults eeprom.o |
ConfirmFrame uart.o |
ControlHeading fc.o |
spi.o |
CopyDebugValues fc.o |
uart.o |
CountMilliseconds timer0.o |
DFGeefWEF43tgt5uGreg5 libfc644.a(libfc.o) |
DJFIORJHcvjr894hjhffj libfc644.a(libfc.o) |
Data3D uart.o |
DatenUebertragung uart.o |
main.o |
DebugDataAnforderung uart.o |
DebugDataIntervall uart.o |
DebugDisplayAnforderung uart.o |
DebugDisplayAnforderung1 uart.o |
DebugOut spi.o |
fc.o |
uart.o |
main.o |
DebugTextAnforderung uart.o |
Debug_Timer uart.o |
Decode64 uart.o |
Delay_ms timer0.o |
fc.o |
Delay_ms_Mess timer0.o |
fc.o |
analog.o |
DiffNick fc.o |
DiffRoll fc.o |
DispPtr menu.o |
uart.o |
DisplayBuff menu.o |
uart.o |
DisplayLine uart.o |
Display_Interval uart.o |
Display_Timer uart.o |
DruckOffsetSetting fc.o |
analog.o |
EEProm_Checksum eeprom.o |
EE_Parameter libfc644.a(libfc.o) |
jetimenu.o |
Spektrum.o |
led.o |
spi.o |
fc.o |
rc.o |
eeprom.o |
menu.o |
analog.o |
timer0.o |
uart.o |
main.o |
ErsatzKompass jetimenu.o |
spi.o |
fc.o |
uart.o |
ErsatzKompassInGrad fc.o |
ExpandBaro analog.o |
fc.o |
ExternControl fc.o |
menu.o |
uart.o |
main.o |
ExternHoehenValue fc.o |
ExternStickGier fc.o |
main.o |
ExternStickNick fc.o |
main.o |
ExternStickRoll fc.o |
main.o |
FC_StatusFlags fc.o |
libfc644.a(libfc.o) |
led.o |
spi.o |
twimaster.o |
main.o |
FGRT0589rge90gj459gg4 libfc644.a(libfc.o) |
FGtj76uzh56z3grEg5t45 libfc644.a(libfc.o) |
FlugMinuten main.o |
menu.o |
FlugMinutenGesamt main.o |
menu.o |
FlugSekunden main.o |
jetimenu.o |
FoundMotors main.o |
FromNC_Rotate_C spi.o |
fc.o |
FromNC_Rotate_S spi.o |
fc.o |
FromNaviCtrl spi.o |
fc.o |
main.o |
FromNaviCtrl_Value spi.o |
fc.o |
GIER_GRAD_FAKTOR fc.o |
jetimenu.o |
spi.o |
uart.o |
main.o |
GPSInfo jetimenu.o |
spi.o |
GPS_BerechneZielrichtung GPS.o |
GPS_Neutral GPS.o |
fc.o |
GPS_Nick GPS.o |
spi.o |
fc.o |
main.o |
GPS_Nick2 GPS.o |
fc.o |
GPS_Roll GPS.o |
spi.o |
fc.o |
main.o |
GPS_Roll2 GPS.o |
fc.o |
GetActiveParamSet eeprom.o |
spi.o |
fc.o |
menu.o |
uart.o |
GetExternalControl uart.o |
GetPPMChannelAnforderung uart.o |
GetParamByte eeprom.o |
analog.o |
main.o |
GetParamWord eeprom.o |
fc.o |
GetVersionAnforderung uart.o |
GierGyroFehler fc.o |
GpsAktuell_X GPS.o |
GpsAktuell_Y GPS.o |
GpsZiel_X GPS.o |
GpsZiel_Y GPS.o |
GyroFaktor fc.o |
GyroFaktorGier fc.o |
HiResNick analog.o |
fc.o |
HiResRoll analog.o |
fc.o |
HoehenReglerAktiv fc.o |
HoehenWert fc.o |
jetimenu.o |
spi.o |
menu.o |
analog.o |
HoverGas fc.o |
I2CTimeout twimaster.o |
menu.o |
main.o |
I2C_Init twimaster.o |
main.o |
I2C_ReadBLConfig twimaster.o |
uart.o |
I2C_Reset twimaster.o |
main.o |
I2C_TransferActive twimaster.o |
fc.o |
I2C_WriteBLConfig twimaster.o |
uart.o |
IIIIIlIllllllIIllIIll libfc644.a(libfc.o) |
IIllllIllIlllIIlllII libfc644.a(libfc.o) |
INiuzBtergGIBuB76T0G5 libfc644.a(libfc.o) |
IlIlIlIIIIIIIlIllllll libfc644.a(libfc.o) |
IllIIllIlIlIlIllllII libfc644.a(libfc.o) |
IntegralAccNick fc.o |
IntegralAccRoll fc.o |
IntegralAccZ fc.o |
IntegralFaktor fc.o |
IntegralFaktorGier fc.o |
IntegralNick fc.o |
spi.o |
menu.o |
timer0.o |
uart.o |
IntegralNick2 fc.o |
IntegralRoll fc.o |
spi.o |
menu.o |
timer0.o |
uart.o |
IntegralRoll2 fc.o |
Integral_Gier fc.o |
Intervall3D uart.o |
J16Blinkcount led.o |
J16Mask led.o |
J17Blinkcount led.o |
J17Mask led.o |
JetiBox_Menu jetimenu.o |
JetiBox_Update jetimenu.o |
libfc644.a(libfc.o) |
JetiUpdateModeActive uart.o |
libfc644.a(libfc.o) |
main.o |
KLNMIOHMUHG76GFGr43r3 libfc644.a(libfc.o) |
Ki fc.o |
KompassRichtung fc.o |
spi.o |
menu.o |
timer0.o |
uart.o |
KompassSignalSchlecht fc.o |
KompassStartwert fc.o |
spi.o |
menu.o |
timer0.o |
uart.o |
KompassValue fc.o |
spi.o |
menu.o |
timer0.o |
uart.o |
Kompass_Timer uart.o |
KopplungsteilNickRoll fc.o |
KopplungsteilRollNick fc.o |
LED1_Timing led.o |
LED2_Timing led.o |
LED_Init led.o |
fc.o |
eeprom.o |
LED_Update led.o |
main.o |
LIBFC_GetCPUType libfc644.a(libfc.o) |
uart.o |
LIBFC_Init libfc644.a(libfc.o) |
main.o |
LIBFC_JetiBox_Clear libfc644.a(libfc.o) |
jetimenu.o |
LIBFC_JetiBox_Putchar libfc644.a(libfc.o) |
jetimenu.o |
LIBFC_JetiBox_SetPos libfc644.a(libfc.o) |
jetimenu.o |
LIBFC_Polling libfc644.a(libfc.o) |
main.o |
LIBFC_ReceiverInit libfc644.a(libfc.o) |
fc.o |
uart.o |
main.o |
LageKorrekturNick fc.o |
LageKorrekturRoll fc.o |
LcdClear menu.o |
uart.o |
main.o |
LipoDetection main.o |
fc.o |
uart.o |
Looping_Links fc.o |
Looping_Nick fc.o |
Looping_Oben fc.o |
Looping_Rechts fc.o |
Looping_Roll fc.o |
Looping_Unten fc.o |
Luftdruck analog.o |
fc.o |
MAX_GAS fc.o |
MIN_GAS fc.o |
MaxMenue menu.o |
uart.o |
MaxStickNick fc.o |
MaxStickRoll fc.o |
MeineSlaveAdresse uart.o |
Menu menu.o |
uart.o |
Menu_Battery jetimenu.o |
Menu_PosInfo jetimenu.o |
Menu_Putchar menu.o |
uart.o |
Menu_Status jetimenu.o |
Menu_Temperature jetimenu.o |
MenuePunkt menu.o |
uart.o |
MessLuftdruck analog.o |
fc.o |
menu.o |
Mess_IntegralNick fc.o |
Mess_IntegralNick2 fc.o |
Mess_IntegralRoll fc.o |
Mess_IntegralRoll2 fc.o |
Mess_Integral_Gier fc.o |
uart.o |
Mess_Integral_Gier2 fc.o |
Mess_Integral_Hoch fc.o |
analog.o |
MesswertGier fc.o |
MesswertGierBias fc.o |
MesswertNick fc.o |
MesswertRoll fc.o |
MissingMotor twimaster.o |
fc.o |
menu.o |
main.o |
MittelIntegralNick fc.o |
MittelIntegralNick2 fc.o |
MittelIntegralRoll fc.o |
MittelIntegralRoll2 fc.o |
Mittelwert fc.o |
Mittelwert_AccNick fc.o |
Mittelwert_AccRoll fc.o |
Mixer fc.o |
twimaster.o |
eeprom.o |
menu.o |
uart.o |
main.o |
MixerTable_Default eeprom.o |
MixerTable_ReadFromEEProm eeprom.o |
MixerTable_WriteToEEProm eeprom.o |
uart.o |
Motor capacity.o |
jetimenu.o |
fc.o |
twimaster.o |
menu.o |
main.o |
MotorRegler fc.o |
main.o |
MotorTest fc.o |
uart.o |
MotorenEin fc.o |
led.o |
rc.o |
twimaster.o |
uart.o |
main.o |
Msg1 libfc644.a(libfc.o) |
Msg2 libfc644.a(libfc.o) |
NC_ErrorCode spi.o |
jetimenu.o |
NC_Version spi.o |
main.o |
NaviAccNick spi.o |
fc.o |
NaviAccRoll spi.o |
fc.o |
NaviCntAcc fc.o |
spi.o |
NaviDataOkay spi.o |
jetimenu.o |
timer0.o |
main.o |
NeueKoordinateEmpfangen uart.o |
NeuerDatensatzEmpfangen uart.o |
NeutralAccX fc.o |
menu.o |
analog.o |
NeutralAccY fc.o |
menu.o |
analog.o |
NeutralAccZ fc.o |
menu.o |
analog.o |
NeutralAccZ_float analog.o |
NewPpmData rc.o |
libfc644.a(libfc.o) |
Spektrum.o |
fc.o |
PC_DebugTimeout uart.o |
PC_MotortestActive uart.o |
fc.o |
twimaster.o |
PPM_diff libfc644.a(libfc.o) |
Spektrum.o |
fc.o |
rc.o |
PPM_in libfc644.a(libfc.o) |
Spektrum.o |
spi.o |
fc.o |
rc.o |
menu.o |
timer0.o |
uart.o |
main.o |
ParamSet_DefaultSet1 eeprom.o |
ParamSet_DefaultSet2 eeprom.o |
ParamSet_DefaultSet3 eeprom.o |
ParamSet_DefaultStickMapping eeprom.o |
ParamSet_Init eeprom.o |
main.o |
ParamSet_ReadFromEEProm eeprom.o |
fc.o |
uart.o |
ParamSet_WriteToEEProm eeprom.o |
uart.o |
ParameterZuordnung fc.o |
Parameter_AchsKopplung1 fc.o |
Parameter_AchsKopplung2 fc.o |
Parameter_CouplingYawCorrection fc.o |
Parameter_DynamicStability fc.o |
Parameter_ExternalControl fc.o |
Parameter_Gier_P fc.o |
Parameter_Gyro_D fc.o |
Parameter_Gyro_Gier_I fc.o |
Parameter_Gyro_Gier_P fc.o |
Parameter_Gyro_I fc.o |
Parameter_Gyro_P fc.o |
Parameter_Hoehe_ACC_Wirkung fc.o |
Parameter_Hoehe_GPS_Z fc.o |
Parameter_Hoehe_P fc.o |
Parameter_I_Faktor fc.o |
Parameter_J16Bitmask fc.o |
Parameter_J16Timing led.o |
fc.o |
Parameter_J17Bitmask fc.o |
Parameter_J17Timing led.o |
fc.o |
Parameter_KompassWirkung fc.o |
Parameter_LoopGasLimit fc.o |
Parameter_Luftdruck_D fc.o |
Parameter_MaxHoehe fc.o |
Parameter_NaviGpsACC fc.o |
Parameter_NaviGpsD fc.o |
Parameter_NaviGpsGain fc.o |
Parameter_NaviGpsI fc.o |
Parameter_NaviGpsModeControl fc.o |
Parameter_NaviGpsP fc.o |
Parameter_NaviOperatingRadius fc.o |
Parameter_NaviSpeedCompensation fc.o |
Parameter_NaviWindCorrection fc.o |
Parameter_Servo3 fc.o |
timer0.o |
Parameter_Servo4 fc.o |
timer0.o |
Parameter_Servo5 fc.o |
timer0.o |
Parameter_ServoNickControl fc.o |
spi.o |
menu.o |
timer0.o |
Parameter_ServoRollControl fc.o |
spi.o |
timer0.o |
Parameter_UserParam1 fc.o |
spi.o |
uart.o |
Parameter_UserParam2 fc.o |
spi.o |
uart.o |
Parameter_UserParam3 fc.o |
spi.o |
Parameter_UserParam4 fc.o |
spi.o |
Parameter_UserParam5 fc.o |
spi.o |
Parameter_UserParam6 fc.o |
spi.o |
Parameter_UserParam7 fc.o |
spi.o |
Parameter_UserParam8 fc.o |
spi.o |
PcZugriff uart.o |
main.o |
Piep fc.o |
uart.o |
main.o |
PlatinenVersion main.o |
libfc644.a(libfc.o) |
spi.o |
fc.o |
rc.o |
eeprom.o |
menu.o |
analog.o |
timer0.o |
Poti fc.o |
spi.o |
menu.o |
RAM_Checksum eeprom.o |
twimaster.o |
Rec_ACT_DSL libfc644.a(libfc.o) |
Rec_Jeti libfc644.a(libfc.o) |
Rec_PPM libfc644.a(libfc.o) |
Rec_Spektrum libfc644.a(libfc.o) |
Rec_Spektrum_HI_RES libfc644.a(libfc.o) |
Rec_Spektrum_LOW_RES libfc644.a(libfc.o) |
RemainingPulse timer0.o |
RemoteKeys menu.o |
uart.o |
RequiredMotors jetimenu.o |
twimaster.o |
eeprom.o |
main.o |
RohMesswertNick fc.o |
RohMesswertRoll fc.o |
RxDataLen uart.o |
RxdBuffer libfc644.a(libfc.o) |
uart.o |
SPITransferCompleted spi.o |
SPI_Buffer spi.o |
SPI_BufferIndex spi.o |
SPI_ChkSum spi.o |
SPI_CommandCounter spi.o |
SPI_CommandSequence spi.o |
SPI_MasterInit spi.o |
main.o |
SPI_RxBufferIndex spi.o |
SPI_RxDataValid spi.o |
SPI_StartTransmitPacket spi.o |
main.o |
SPI_TX_Buffer spi.o |
SPI_TransmitByte spi.o |
main.o |
SendMotorData fc.o |
main.o |
SendOutData uart.o |
SendSPI timer0.o |
spi.o |
main.o |
SendVersionToNavi main.o |
fc.o |
SenderOkay fc.o |
libfc644.a(libfc.o) |
Spektrum.o |
spi.o |
rc.o |
menu.o |
timer0.o |
main.o |
ServoActive timer0.o |
fc.o |
uart.o |
main.o |
ServoNickOffset timer0.o |
ServoNickValue timer0.o |
fc.o |
menu.o |
ServoRollOffset timer0.o |
ServoRollValue timer0.o |
SetActiveParamSet eeprom.o |
fc.o |
SetDefaultParameter eeprom.o |
uart.o |
SetDelay timer0.o |
capacity.o |
twimaster.o |
analog.o |
uart.o |
main.o |
SetNeutral fc.o |
main.o |
SetParamByte eeprom.o |
analog.o |
main.o |
SetParamWord eeprom.o |
fc.o |
menu.o |
SioTmp uart.o |
SollHoehe fc.o |
spi.o |
menu.o |
SpektrumParser Spektrum.o |
libfc644.a(libfc.o) |
SpektrumTimer Spektrum.o |
timer0.o |
SpektrumUartInit Spektrum.o |
libfc644.a(libfc.o) |
StartLuftdruck fc.o |
analog.o |
StartNeutralNick fc.o |
StartNeutralRoll fc.o |
StartTrigger fc.o |
StickGas fc.o |
StickGier fc.o |
main.o |
StickNick fc.o |
main.o |
StickRoll fc.o |
main.o |
SucheGyroOffset analog.o |
fc.o |
SucheLuftruckOffset analog.o |
fc.o |
SummeNick fc.o |
uart.o |
SummeRoll fc.o |
uart.o |
SummenHoehe analog.o |
fc.o |
TIMER2_Init timer0.o |
main.o |
Timer3D uart.o |
Timer_Init timer0.o |
main.o |
ToNaviCtrl spi.o |
TrichterFlug fc.o |
TrimNick fc.o |
TrimRoll fc.o |
TxdBuffer uart.o |
UART_Init uart.o |
main.o |
UBat analog.o |
capacity.o |
jetimenu.o |
spi.o |
fc.o |
menu.o |
main.o |
UebertragungAbgeschlossen uart.o |
Umschlag180Nick fc.o |
uart.o |
Umschlag180Roll fc.o |
uart.o |
UpdateMotor timer0.o |
main.o |
UpdateSPI_Buffer spi.o |
VarioCharacter fc.o |
jetimenu.o |
VarioMeter analog.o |
fc.o |
VersionInfo led.o |
spi.o |
fc.o |
menu.o |
analog.o |
uart.o |
main.o |
WinkelOut spi.o |
fc.o |
uart.o |
main.o |
XSasC2389ufwejiCjuz32 libfc644.a(libfc.o) |
ZaehlMessungen analog.o |
fc.o |
__addsf3 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(addsf3.o) |
fc.o |
__addsf3x c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(addsf3x.o) |
c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(addsf3.o) |
__bad_interrupt c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5/crtm644p.o |
__bss_end c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_clear_bss.o) |
__bss_start c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_clear_bss.o) |
__data_end c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_copy_data.o) |
__data_load_start c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_copy_data.o) |
__data_start c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_copy_data.o) |
__divmodhi4 c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_divmodhi4.o) |
libfc644.a(libfc.o) |
jetimenu.o |
mymath.o |
Spektrum.o |
spi.o |
fc.o |
rc.o |
menu.o |
analog.o |
timer0.o |
uart.o |
__divmodsi4 c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_divmodsi4.o) |
jetimenu.o |
spi.o |
fc.o |
menu.o |
analog.o |
timer0.o |
uart.o |
__do_clear_bss c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_clear_bss.o) |
libfc644.a(libfc.o) |
debug.o |
capacity.o |
jetimenu.o |
mymath.o |
Spektrum.o |
led.o |
spi.o |
GPS.o |
fc.o |
rc.o |
twimaster.o |
eeprom.o |
menu.o |
analog.o |
timer0.o |
uart.o |
main.o |
__do_copy_data c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_copy_data.o) |
libfc644.a(libfc.o) |
debug.o |
capacity.o |
jetimenu.o |
mymath.o |
Spektrum.o |
led.o |
spi.o |
GPS.o |
fc.o |
rc.o |
twimaster.o |
eeprom.o |
menu.o |
analog.o |
timer0.o |
uart.o |
main.o |
__eeprom_read_block_1F2021 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libc.a(ee_rblk.1F2021.o) |
eeprom.o |
__eeprom_read_byte_1F2021 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libc.a(ee_rb.1F2021.o) |
c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libc.a(ee_rw.1F2021.o) |
c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libc.a(ee_rblk.1F2021.o) |
eeprom.o |
__eeprom_read_word_1F2021 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libc.a(ee_rw.1F2021.o) |
eeprom.o |
__eeprom_write_block_1F2021 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libc.a(ee_wblk.1F2021.o) |
eeprom.o |
__eeprom_write_byte_1F2021 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libc.a(ee_wb.1F2021.o) |
c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libc.a(ee_wblk.1F2021.o) |
c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libc.a(ee_ww.1F2021.o) |
eeprom.o |
__eeprom_write_word_1F2021 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libc.a(ee_ww.1F2021.o) |
eeprom.o |
__epilogue_restores__ c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_epilogue.o) |
libfc644.a(libfc.o) |
jetimenu.o |
fc.o |
eeprom.o |
menu.o |
analog.o |
timer0.o |
uart.o |
__fixunssfsi c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(fixunssfsi.o) |
fc.o |
__floatsisf c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(floatsisf.o) |
fc.o |
__floatunssisf c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(floatsisf.o) |
__fp_inf c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(fp_inf.o) |
c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(addsf3x.o) |
__fp_nan c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(fp_nan.o) |
c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(addsf3x.o) |
__fp_pscA c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(fp_pscA.o) |
c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(addsf3x.o) |
__fp_pscB c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(fp_pscB.o) |
c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(addsf3x.o) |
__fp_round c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(fp_round.o) |
c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(addsf3.o) |
__fp_split3 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(fp_split3.o) |
c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(addsf3x.o) |
__fp_splitA c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(fp_split3.o) |
c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(fixunssfsi.o) |
__fp_szero c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(fp_zero.o) |
__fp_zero c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(fp_zero.o) |
c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(fixunssfsi.o) |
c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(addsf3x.o) |
__heap_end c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5/crtm644p.o |
__init c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5/crtm644p.o |
__mulsi3 c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_mulsi3.o) |
spi.o |
fc.o |
analog.o |
timer0.o |
uart.o |
__prologue_saves__ c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_prologue.o) |
libfc644.a(libfc.o) |
fc.o |
eeprom.o |
menu.o |
analog.o |
timer0.o |
uart.o |
main.o |
__stack c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5/crtm644p.o |
__subsf3 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libm.a(addsf3.o) |
__tablejump2__ c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_tablejump.o) |
twimaster.o |
menu.o |
analog.o |
__tablejump__ c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_tablejump.o) |
__udivmodhi4 c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_udivmodhi4.o) |
c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_divmodhi4.o) |
libfc644.a(libfc.o) |
capacity.o |
jetimenu.o |
fc.o |
menu.o |
analog.o |
timer0.o |
__udivmodqi4 c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_udivmodqi4.o) |
libfc644.a(libfc.o) |
menu.o |
main.o |
__udivmodsi4 c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_udivmodsi4.o) |
c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_divmodsi4.o) |
libfc644.a(libfc.o) |
__vector_1 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5/crtm644p.o |
__vector_10 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5/crtm644p.o |
__vector_11 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5/crtm644p.o |
__vector_12 rc.o |
c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5/crtm644p.o |
__vector_13 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5/crtm644p.o |
__vector_14 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5/crtm644p.o |
__vector_15 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5/crtm644p.o |
__vector_16 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5/crtm644p.o |
__vector_17 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5/crtm644p.o |
__vector_18 timer0.o |
c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5/crtm644p.o |
__vector_19 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5/crtm644p.o |
__vector_2 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5/crtm644p.o |
__vector_20 uart.o |
c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5/crtm644p.o |
__vector_21 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5/crtm644p.o |
__vector_22 uart.o |
c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5/crtm644p.o |
__vector_23 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5/crtm644p.o |
__vector_24 analog.o |
c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5/crtm644p.o |
__vector_25 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5/crtm644p.o |
__vector_26 twimaster.o |
c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5/crtm644p.o |
__vector_27 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5/crtm644p.o |
__vector_28 libfc644.a(libfc.o) |
c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5/crtm644p.o |
__vector_29 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5/crtm644p.o |
__vector_3 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5/crtm644p.o |
__vector_30 libfc644.a(libfc.o) |
c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5/crtm644p.o |
__vector_4 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5/crtm644p.o |
__vector_5 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5/crtm644p.o |
__vector_6 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5/crtm644p.o |
__vector_7 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5/crtm644p.o |
__vector_8 c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5/crtm644p.o |
__vector_9 timer0.o |
c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5/crtm644p.o |
__vector_default c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5/crtm644p.o |
__vectors c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5/crtm644p.o |
_div c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_divmodhi4.o) |
_exit c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_exit.o) |
_printf_P libfc644.a(libfc.o) |
jetimenu.o |
fc.o |
eeprom.o |
menu.o |
analog.o |
uart.o |
main.o |
a48784362857632195659 libfc644.a(libfc.o) |
awokdjwqdjcjuhcuweih libfc644.a(libfc.o) |
beeptime timer0.o |
spi.o |
fc.o |
main.o |
c_cos_8192 mymath.o |
fc.o |
c_sin_8192 mymath.o |
cntKompass timer0.o |
dac_channel twimaster.o |
exit c:/winavr/bin/../lib/gcc/avr/4.2.2/avr5\libgcc.a(_exit.o) |
c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5/crtm644p.o |
f8jhreghreGerg45gE542 libfc644.a(libfc.o) |
fdknerTjg5i83th589v44 libfc644.a(libfc.o) |
fgfdogjWEti45e9tjh394 libfc644.a(libfc.o) |
fgmjgnrtuth587th9rTrw libfc644.a(libfc.o) |
fij48zrhoih3498fhfo90 libfc644.a(libfc.o) |
fojk48fj478fhw7fhw39 libfc644.a(libfc.o) |
fomklkdtn89SFGrsgt9rf libfc644.a(libfc.o) |
h fc.o |
ihypot isqrt.o |
fc.o |
isqrt16 isqrt.o |
isqrt32 isqrt.o |
kf089uwjef89234hffhh libfc644.a(libfc.o) |
lkvgnfdgun57th38rgh84 libfc644.a(libfc.o) |
m fc.o |
main main.o |
c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5/crtm644p.o |
md5 libfc644.a(libfc.o) |
memchr c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libc.a(memchr.o) |
libfc644.a(libfc.o) |
memcpy_P c:/winavr/bin/../lib/gcc/avr/4.2.2/../../../../avr/lib/avr5\libc.a(memcpy_P.o) |
uart.o |
messanzahl_AccHoch analog.o |
modell_fliegt fc.o |
analog.o |
motor_read twimaster.o |
main.o |
motor_write twimaster.o |
fc.o |
ndfcvbghs libfc644.a(libfc.o) |
njkvnfuhgbuzrgezgf483 libfc644.a(libfc.o) |
pRxData uart.o |
pgm_sinlookup mymath.o |
rc_sum_init rc.o |
main.o |
s fc.o |
sintab fc.o |
timer0.o |
tmpChannels rc.o |
tmp_motorwert fc.o |
twi_state twimaster.o |
fc.o |
analog.o |
uart_putchar uart.o |
libfc644.a(libfc.o) |
fc.o |
eeprom.o |
analog.o |
main.o |
update_timer capacity.o |
weiuncefcnsavsgvghjc libfc644.a(libfc.o) |
wqqeRT45jth8g758735h4 libfc644.a(libfc.o) |
/Spektrum-Diversity/V0.82a/FlightCtrl.aps |
---|
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 Simulator</CURRENT_TARGET><CURRENT_PART>ATmega644.xml</CURRENT_PART><BREAKPOINTS></BREAKPOINTS><IO_EXPAND><HIDE>false</HIDE></IO_EXPAND><REGISTERNAMES><Register>R00</Register><Register>R01</Register><Register>R02</Register><Register>R03</Register><Register>R04</Register><Register>R05</Register><Register>R06</Register><Register>R07</Register><Register>R08</Register><Register>R09</Register><Register>R10</Register><Register>R11</Register><Register>R12</Register><Register>R13</Register><Register>R14</Register><Register>R15</Register><Register>R16</Register><Register>R17</Register><Register>R18</Register><Register>R19</Register><Register>R20</Register><Register>R21</Register><Register>R22</Register><Register>R23</Register><Register>R24</Register><Register>R25</Register><Register>R26</Register><Register>R27</Register><Register>R28</Register><Register>R29</Register><Register>R30</Register><Register>R31</Register></REGISTERNAMES><COM>Auto</COM><COMType>0</COMType><WATCHNUM>0</WATCHNUM><WATCHNAMES><Pane0></Pane0><Pane1></Pane1><Pane2></Pane2><Pane3></Pane3></WATCHNAMES><BreakOnTrcaeFull>0</BreakOnTrcaeFull></DEBUG_TARGET><Debugger><Triggers></Triggers></Debugger><AVRGCCPLUGIN><FILES><SOURCEFILE>uart.c</SOURCEFILE><SOURCEFILE>analog.c</SOURCEFILE><SOURCEFILE>eeprom.c</SOURCEFILE><SOURCEFILE>fc.c</SOURCEFILE><SOURCEFILE>GPS.c</SOURCEFILE><SOURCEFILE>main.c</SOURCEFILE><SOURCEFILE>menu.c</SOURCEFILE><SOURCEFILE>printf_P.c</SOURCEFILE><SOURCEFILE>rc.c</SOURCEFILE><SOURCEFILE>timer0.c</SOURCEFILE><SOURCEFILE>twimaster.c</SOURCEFILE><HEADERFILE>uart.h</HEADERFILE><HEADERFILE>_Settings.h</HEADERFILE><HEADERFILE>analog.h</HEADERFILE><HEADERFILE>fc.h</HEADERFILE><HEADERFILE>gps.h</HEADERFILE><HEADERFILE>main.h</HEADERFILE><HEADERFILE>menu.h</HEADERFILE><HEADERFILE>old_macros.h</HEADERFILE><HEADERFILE>printf_P.h</HEADERFILE><HEADERFILE>rc.h</HEADERFILE><HEADERFILE>Settings.h</HEADERFILE><HEADERFILE>timer0.h</HEADERFILE><HEADERFILE>twimaster.h</HEADERFILE></FILES><CONFIGS><CONFIG><NAME>default</NAME><USESEXTERNALMAKEFILE>NO</USESEXTERNALMAKEFILE><EXTERNALMAKEFILE></EXTERNALMAKEFILE><PART>atmega644</PART><HEX>1</HEX><LIST>1</LIST><MAP>1</MAP><OUTPUTFILENAME>Flight-Ctrl.elf</OUTPUTFILENAME><OUTPUTDIR>default\</OUTPUTDIR><ISDIRTY>1</ISDIRTY><OPTIONS><OPTION><FILE>GPS.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>analog.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>eeprom.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>fc.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>main.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>menu.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>printf_P.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>rc.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>timer0.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>twimaster.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>uart.c</FILE><OPTIONLIST></OPTIONLIST></OPTION></OPTIONS><INCDIRS/><LIBDIRS/><LIBS><LIB>libc.a</LIB><LIB>libm.a</LIB></LIBS><LINKOBJECTS/><OPTIONSFORALL>-Wall -gdwarf-2 -Wstrict-prototypes -std=gnu99 -Os -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -DVERSION_HAUPTVERSION=0 -DVERSION_NEBENVERSION=64 -DVERSION_KOMPATIBEL=5</OPTIONSFORALL><LINKEROPTIONS></LINKEROPTIONS><SEGMENTS/></CONFIG></CONFIGS><LASTCONFIG>default</LASTCONFIG><USES_WINAVR>1</USES_WINAVR><GCC_LOC>C:\Program Files\WinAVR\bin\avr-gcc.exe</GCC_LOC><MAKE_LOC>C:\Program 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> |
/Spektrum-Diversity/V0.82a/GPS.c |
---|
0,0 → 1,32 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + 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; |
signed int GPS_Nick2 = 0; |
signed int GPS_Roll2 = 0; |
long GpsAktuell_X = 0; |
long GpsAktuell_Y = 0; |
long GpsZiel_X = 0; |
long GpsZiel_Y = 0; |
void GPS_Neutral(void) |
{ |
GpsZiel_X = GpsAktuell_X; |
GpsZiel_Y = GpsAktuell_Y; |
} |
void GPS_BerechneZielrichtung(void) |
{ |
GPS_Nick = 0; |
GPS_Roll = 0; |
} |
/Spektrum-Diversity/V0.82a/GPS.d |
---|
0,0 → 1,3 |
GPS.o GPS.d : GPS.c main.h old_macros.h printf_P.h timer0.h uart.h analog.h \ |
twimaster.h menu.h rc.h fc.h gps.h spi.h led.h spektrum.h capacity.h \ |
eeprom.h libfc.h debug.h |
/Spektrum-Diversity/V0.82a/GPS.lst |
---|
0,0 → 1,100 |
1 .file "GPS.c" |
2 __SREG__ = 0x3f |
3 __SP_H__ = 0x3e |
4 __SP_L__ = 0x3d |
5 __tmp_reg__ = 0 |
6 __zero_reg__ = 1 |
7 .global __do_copy_data |
8 .global __do_clear_bss |
9 .text |
10 .global GPS_Neutral |
12 GPS_Neutral: |
13 /* prologue: frame size=0 */ |
14 /* prologue end (size=0) */ |
15 0000 8091 0000 lds r24,GpsAktuell_X |
16 0004 9091 0000 lds r25,(GpsAktuell_X)+1 |
17 0008 A091 0000 lds r26,(GpsAktuell_X)+2 |
18 000c B091 0000 lds r27,(GpsAktuell_X)+3 |
19 0010 8093 0000 sts GpsZiel_X,r24 |
20 0014 9093 0000 sts (GpsZiel_X)+1,r25 |
21 0018 A093 0000 sts (GpsZiel_X)+2,r26 |
22 001c B093 0000 sts (GpsZiel_X)+3,r27 |
23 0020 8091 0000 lds r24,GpsAktuell_Y |
24 0024 9091 0000 lds r25,(GpsAktuell_Y)+1 |
25 0028 A091 0000 lds r26,(GpsAktuell_Y)+2 |
26 002c B091 0000 lds r27,(GpsAktuell_Y)+3 |
27 0030 8093 0000 sts GpsZiel_Y,r24 |
28 0034 9093 0000 sts (GpsZiel_Y)+1,r25 |
29 0038 A093 0000 sts (GpsZiel_Y)+2,r26 |
30 003c B093 0000 sts (GpsZiel_Y)+3,r27 |
31 /* epilogue: frame size=0 */ |
32 0040 0895 ret |
33 /* epilogue end (size=1) */ |
34 /* function GPS_Neutral size 33 (32) */ |
36 .global GPS_BerechneZielrichtung |
38 GPS_BerechneZielrichtung: |
39 /* prologue: frame size=0 */ |
40 /* prologue end (size=0) */ |
41 0042 1092 0000 sts (GPS_Nick)+1,__zero_reg__ |
42 0046 1092 0000 sts GPS_Nick,__zero_reg__ |
43 004a 1092 0000 sts (GPS_Roll)+1,__zero_reg__ |
44 004e 1092 0000 sts GPS_Roll,__zero_reg__ |
45 /* epilogue: frame size=0 */ |
46 0052 0895 ret |
47 /* epilogue end (size=1) */ |
48 /* function GPS_BerechneZielrichtung size 9 (8) */ |
50 .global GPS_Nick |
51 .global GPS_Nick |
52 .section .bss |
55 GPS_Nick: |
56 0000 0000 .skip 2,0 |
57 .global GPS_Roll |
58 .global GPS_Roll |
61 GPS_Roll: |
62 0002 0000 .skip 2,0 |
63 .global GPS_Nick2 |
64 .global GPS_Nick2 |
67 GPS_Nick2: |
68 0004 0000 .skip 2,0 |
69 .global GPS_Roll2 |
70 .global GPS_Roll2 |
73 GPS_Roll2: |
74 0006 0000 .skip 2,0 |
75 .global GpsAktuell_X |
76 .global GpsAktuell_X |
79 GpsAktuell_X: |
80 0008 0000 0000 .skip 4,0 |
81 .global GpsAktuell_Y |
82 .global GpsAktuell_Y |
85 GpsAktuell_Y: |
86 000c 0000 0000 .skip 4,0 |
87 .global GpsZiel_X |
88 .global GpsZiel_X |
91 GpsZiel_X: |
92 0010 0000 0000 .skip 4,0 |
93 .global GpsZiel_Y |
94 .global GpsZiel_Y |
97 GpsZiel_Y: |
98 0014 0000 0000 .skip 4,0 |
99 /* File "GPS.c": code 42 = 0x002a ( 40), prologues 0, epilogues 2 */ |
DEFINED SYMBOLS |
*ABS*:00000000 GPS.c |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccmgQhu9.s:2 *ABS*:0000003f __SREG__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccmgQhu9.s:3 *ABS*:0000003e __SP_H__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccmgQhu9.s:4 *ABS*:0000003d __SP_L__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccmgQhu9.s:5 *ABS*:00000000 __tmp_reg__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccmgQhu9.s:6 *ABS*:00000001 __zero_reg__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccmgQhu9.s:12 .text:00000000 GPS_Neutral |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccmgQhu9.s:79 .bss:00000008 GpsAktuell_X |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccmgQhu9.s:91 .bss:00000010 GpsZiel_X |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccmgQhu9.s:85 .bss:0000000c GpsAktuell_Y |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccmgQhu9.s:97 .bss:00000014 GpsZiel_Y |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccmgQhu9.s:38 .text:00000042 GPS_BerechneZielrichtung |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccmgQhu9.s:55 .bss:00000000 GPS_Nick |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccmgQhu9.s:61 .bss:00000002 GPS_Roll |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccmgQhu9.s:67 .bss:00000004 GPS_Nick2 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccmgQhu9.s:73 .bss:00000006 GPS_Roll2 |
UNDEFINED SYMBOLS |
__do_copy_data |
__do_clear_bss |
/Spektrum-Diversity/V0.82a/Hex-Files/BootLoader_MEGA644P_20MHZ_V0_1.hex |
---|
0,0 → 1,64 |
:10F8000011241FBECFEFD0E1DEBFCDBF11E0A0E0DD |
:10F81000B1E0E0EEFBEF02C005900D92A030B10721 |
:10F82000D9F712E0A0E0B1E001C01D92A230B1070B |
:10F83000E1F70C943B7C0C941D7C0895982F8091EB |
:10F84000C00085FFFCCF9093C60008958091C00052 |
:10F850008823E4F78091C600992708958DE40E94DB |
:10F860001E7C8BE40E941E7C82E40E941E7C8CE441 |
:10F870000E941E7C0895CFEFD0E1DEBFCDBFE0E057 |
:10F88000F0E014915F01772474BE98E10FB6F8940C |
:10F8900090936000109260000FBE7092C5008AE2E3 |
:10F8A0008093C4008091C00082608093C0009093D8 |
:10F8B000C10086E08093C200EF01072D8091C00057 |
:10F8C00087FF0DC0013031F48091C6008A3AB1F152 |
:10F8D00000E005C08091C6008B3109F401E0CE0143 |
:10F8E00021968436910528F11F3F41F0112331F014 |
:10F8F000E0910001F091010109951BC01092C50033 |
:10F900008AE28093C4008AE00E941E7C8DE00E94FF |
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:10F940000E94267C813611F489E547C1813471F427 |
:10F950000E94267CA82EBB24BA2CAA240E94267CB6 |
:10F960009927A82AB92AB694A79406C1823629F401 |
:10F9700089E50E941E7C81E00BC1823409F083C0BE |
:10F980000E94267C9927D82FCC270E94267C992775 |
:10F99000C82BD92B0E94267C082F12E0812E11E063 |
:10F9A000912EEE24FF2464010894811C911CEC1616 |
:10F9B000FD0618F40E94267C01C08FEFD6018C93BF |
:10F9C0000894E11CF11CBFEFEB16F10461F358F34E |
:10F9D000E4E77E1609F0DEC0063409F03DC0FFEF13 |
:10F9E000AF16F7EFBF0608F033C0DE01A5016627AA |
:10F9F0007727440F551F661F771F6A017B01C2E0FE |
:10FA0000D1E001E08991992729913327322F2227CC |
:10FA1000822B932B0C01FA0100935700E8951124D7 |
:10FA20004E5F5F4F6F4F7F4F129761F785E0F60192 |
:10FA300080935700E89507B600FCFDCF81E18093E5 |
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:10FA800091F75F0179C0873609F047C00E94267C54 |
:10FA90009927D82ECC240E94267C9927C82AD92AB7 |
:10FAA0000E94267C863411F5E6016501EE24FF24D0 |
:10FAB000CC0CDD1CEE1CFF1CF60105911491802F6F |
:10FAC0000E941E7C812F99270E941E7C82E090E07C |
:10FAD000A0E0B0E0C80ED91EEA1EFB1E229761F717 |
:10FAE000F694E794D794C79456012ACF853409F049 |
:10FAF00027CF7501E1BC8F2D992782BDF89A089414 |
:10FB0000E11CF11C80B50E941E7C0894C108D1083C |
:10FB1000C114D10479F7570113CF853601F594E765 |
:10FB2000791651F580E090E0A0E0B0E023E0FC0120 |
:10FB300020935700E89507B600FCFDCF80509F4FFB |
:10FB4000AF4FBF4F8F3FE7EF9E07E0E0AE07E0E02B |
:10FB5000BE0768F381E180935700E8950DC08534B6 |
:10FB600069F488E190E02CE00FB6F894A8958093B2 |
:10FB700060000FBE209360008DE02FC08035E1F360 |
:10FB80008C34D1F3803711F483E527C0843721F416 |
:10FB90000E941E7C80E021C0843521F40E94267CD6 |
:10FBA000782EEACF8B3109F4C9CE8A3A09F4C6CE51 |
:10FBB000863529F480E30E941E7C81E30EC08337E2 |
:10FBC00041F489E00E941E7C86E90E941E7C8EE141 |
:10FBD00004C08B3109F4B4CE8FE30E941E7CB0CEFA |
:040000030000F80001 |
:00000001FF |
/Spektrum-Diversity/V0.82a/Hex-Files/BootLoader_MEGA644_20MHZ_V0_1.hex |
---|
0,0 → 1,64 |
:10F8000011241FBECFEFD0E1DEBFCDBF11E0A0E0DD |
:10F81000B1E0E0EEFBEF02C005900D92A030B10721 |
:10F82000D9F712E0A0E0B1E001C01D92A230B1070B |
:10F83000E1F70C943B7C0C941D7C0895982F8091EB |
:10F84000C00085FFFCCF9093C60008958091C00052 |
:10F850008823E4F78091C600992708958DE40E94DB |
:10F860001E7C8BE40E941E7C82E40E941E7C8CE441 |
:10F870000E941E7C0895CFEFD0E1DEBFCDBFE0E057 |
:10F88000F0E014915F01772474BE98E10FB6F8940C |
:10F8900090936000109260000FBE7092C5008AE2E3 |
:10F8A0008093C4008091C00082608093C0009093D8 |
:10F8B000C10086E08093C200EF01072D8091C00057 |
:10F8C00087FF0DC0013031F48091C6008A3AB1F152 |
:10F8D00000E005C08091C6008B3109F401E0CE0143 |
:10F8E00021968436910528F11F3F41F0112331F014 |
:10F8F000E0910001F091010109951BC01092C50033 |
:10F900008AE28093C4008AE00E941E7C8DE00E94FF |
:10F910001E7C86E50E941E7C80E30E941E7C8EE297 |
:10F920000E941E7C81E30E941E7C8AE30E941E7C52 |
:10F9300005C080E593EC0197F1F7C0CF0E942E7CC3 |
:10F940000E94267C813611F489E547C1813471F427 |
:10F950000E94267CA82EBB24BA2CAA240E94267CB6 |
:10F960009927A82AB92AB694A79406C1823629F401 |
:10F9700089E50E941E7C81E00BC1823409F083C0BE |
:10F980000E94267C9927D82FCC270E94267C992775 |
:10F99000C82BD92B0E94267C082F12E0812E11E063 |
:10F9A000912EEE24FF2464010894811C911CEC1616 |
:10F9B000FD0618F40E94267C01C08FEFD6018C93BF |
:10F9C0000894E11CF11CBFEFEB16F10461F358F34E |
:10F9D000E4E77E1609F0DEC0063409F03DC0FFEF13 |
:10F9E000AF16F7EFBF0608F033C0DE01A5016627AA |
:10F9F0007727440F551F661F771F6A017B01C2E0FE |
:10FA0000D1E001E08991992729913327322F2227CC |
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:10FA300080935700E89507B600FCFDCF81E18093E5 |
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:10FB300020935700E89507B600FCFDCF80509F4FFB |
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:10FBD00004C08B3109F4B4CE8FE30E941E7CB0CEFA |
:040000030000F80001 |
:00000001FF |
/Spektrum-Diversity/V0.82a/Hex-Files/Flight-Ctrl_MEGA1284p_V0_82a.hex |
---|
0,0 → 1,3896 |
:100000000C94C4060C9413070C9413070C94130758 |
:100010000C9413070C9413070C9413070C941307F8 |
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:10EE50007095809590959B01AC01BD01CF010895FF |
:10EE600097FB092E05260ED057FD04D0D7DF0AD018 |
:10EE7000001C38F450954095309521953F4F4F4FE9 |
:10EE80005F4F0895F6F790958095709561957F4F47 |
:10EE90008F4F9F4F08952F923F924F925F926F92A4 |
:10EEA0007F928F929F92AF92BF92CF92DF92EF921A |
:10EEB000FF920F931F93CF93DF93CDB7DEB7CA1B9B |
:10EEC000DB0B0FB6F894DEBF0FBECDBF09942A88C6 |
:10EED000398848885F846E847D848C849B84AA846E |
:10EEE000B984C884DF80EE80FD800C811B81AA81FB |
:10EEF000B981CE0FD11D0FB6F894DEBF0FBECDBFC6 |
:10EF0000ED010895EE0FFF1F0590F491E02D099497 |
:02EF1000FFCF31 |
:10EF12005E010A010164FF01FFFFC01FC01F010162 |
:10EF220001737373FF03007D0000C409C409640008 |
:10EF32001148656C6C6F20576F726C6400000000A2 |
:10EF420000000000000000000000000000000000BF |
:10EF520000000000000000000000000000000000AF |
:10EF6200000000000000000000000000000000009F |
:10EF7200000000000000000000000000000000008F |
:10EF82000053706F727400004E6F726D616C0000FE |
:10EF9200426567696E6E6572000051756164726FD9 |
:10EFA2000000640001200B050000ECFF00020406D3 |
:10EFB200070808080706040200FEFCFAF9F8F8F848 |
:10EFC200F9FAFCFE000204060708086440415A46AA |
:10EFD20064640A02969696960840403A10FB3038CE |
:10EFE2000190D0030090D00300F4017800FF036485 |
:10EFF2000B0A0D0B0C0E0B0F10FA2001010170FF12 |
:02F00200010FFC |
:00000001FF |
/Spektrum-Diversity/V0.82a/Hex-Files/WasIstWas.txt |
---|
0,0 → 1,17 |
+++++++++++++++++++++++++ |
+ Flight-Ctrl: |
+++++++++++++++++++++++++ |
BootLoader_MEGA644_20MHZ_V0_1.hex |
Der Bootloader wird per ISP eingespielt |
Der Bootloader nur dann eingespielt werden, wenn noch nie ein Bootloader eingespielt wurde! |
Danach können Softwareupdates seriell eingespielt werden. |
Flight-Ctrl_MEGA644_Vx_yy.hex |
Aktuelle Firmware |
Wird per serielle Schnittstelle (durch den Bootloader) eingespielt |
Achtung: Die Programme für den ATMEGA1284 dürfen ausschliesslich per Bootloader, also seriell eingespielt werden und NICHT per ISP |
Warning: do not program the ATMEGA1284 (FC2.1) via SPI. Only use the MKUSB and the Koptertool for update! |
/Spektrum-Diversity/V0.82a/License.txt |
---|
0,0 → 1,52 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) Holger Buss, Ingo Busker |
// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
// + www.MikroKopter.com |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
// + dass eine Nutzung (auch auszugsweise) nur für den privaten und nichtkommerziellen Gebrauch zulässig ist. |
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
// + bzgl. der Nutzungsbedingungen aufzunehmen. |
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
// + Verkauf von Luftbildaufnahmen, usw. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
// + eindeutig als Ursprung verlinkt und genannt werden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
// + Benutzung auf eigene Gefahr |
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
// + mit unserer Zustimmung zulässig |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
// + this list of conditions and the following disclaimer. |
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-profit use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet, our webpage (http://www.MikroKopter.de) must be |
// + clearly linked and named as origin |
// + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS 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 COPYRIGHT OWNER 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. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
/Spektrum-Diversity/V0.82a/Settings.h |
---|
--- Spektrum-Diversity/V0.82a/Spektrum.c (nonexistent) |
+++ Spektrum-Diversity/V0.82a/Spektrum.c (revision 911) |
@@ -0,0 +1,407 @@ |
+/*####################################################################################### |
+Decodieren eines RC Summen Signals oder Spektrum Empfänger-Satellit |
+#######################################################################################*/ |
+ |
+#include "Spektrum.h" |
+#include "main.h" |
+// Achtung: RECEIVER_SPEKTRUM_EXP wird in der Main.h gesetzt |
+ |
+unsigned char SpektrumTimer = 0; |
+ |
+#ifdef RECEIVER_SPEKTRUM_EXP |
+unsigned char s_excnt = 0; // Counter for Spektrum-Expander |
+unsigned char s_exparity = 0; // Parity Bit for Spektrum-Expander |
+signed char s_exdata[11]; // Data for Spektrum-Expander |
+#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 |
+#ifdef RECEIVER_SPEKTRUM_EXP |
+ 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(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_EXP |
+ 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) PPM_in[5] = -125; // Reconstruct tripole Flight-Mode value (CH5) |
+ else if (s_exdata[1] == -125 && s_exdata[2] == -125) PPM_in[5] = 0; // Reconstruct tripole Flight-Mode value (CH5) |
+ else if (s_exdata[1] == -125 && s_exdata[2] == 125) PPM_in[5] = 125; // Reconstruct tripole Flight-Mode value (CH5) |
+ PPM_in[6] = s_exdata[3]; // Elevator (CH6) |
+ PPM_in[11] = s_exdata[4]; // Aileron (CH11) |
+ PPM_in[12] = s_exdata[5]; // Rudder (CH12) |
+ |
+ if (s_excnt == 9) // New Mode (12 Channels) |
+ { |
+ if (s_exdata[7] == 125) PPM_in[8] += 5; // Hover Pitch UP (CH8) |
+ if (s_exdata[8] == 125) 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 |
+ PPM_in[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 |
+ } |
+ |
+ } |
+#endif |
+ if(SenderOkay >= 180) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
+ else PPM_diff[index] = 0; |
+ |
+#ifdef RECEIVER_SPEKTRUM_EXP |
+ if (index < 5 ) PPM_in[index] = tmp; // Update normal potis (CH1-4) |
+ else if (index == 5) PPM_in[7] = signal; // Gear (CH7) |
+ else if (index == 7) PPM_in[9] = signal; // Hover Throttle (CH9) |
+#else |
+ 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; |
+ } |
+ } |
+} |
/Spektrum-Diversity/V0.82a/Spektrum.d |
---|
0,0 → 1,3 |
Spektrum.o Spektrum.d : Spektrum.c Spektrum.h main.h old_macros.h printf_P.h timer0.h \ |
uart.h analog.h twimaster.h menu.h rc.h fc.h gps.h spi.h led.h \ |
spektrum.h capacity.h eeprom.h libfc.h debug.h |
/Spektrum-Diversity/V0.82a/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 |
/Spektrum-Diversity/V0.82a/Spektrum.lst |
---|
0,0 → 1,406 |
1 .file "Spektrum.c" |
2 __SREG__ = 0x3f |
3 __SP_H__ = 0x3e |
4 __SP_L__ = 0x3d |
5 __tmp_reg__ = 0 |
6 __zero_reg__ = 1 |
7 .global __do_copy_data |
8 .global __do_clear_bss |
9 .text |
10 .global SpektrumUartInit |
12 SpektrumUartInit: |
13 /* prologue: frame size=0 */ |
14 /* prologue end (size=0) */ |
15 0000 9FB7 in r25,95-0x20 |
16 /* #APP */ |
17 0002 F894 cli |
18 /* #NOAPP */ |
19 0004 8091 C900 lds r24,201 |
20 0008 8F77 andi r24,lo8(127) |
21 000a 8093 C900 sts 201,r24 |
22 000e 8091 C900 lds r24,201 |
23 0012 8F7B andi r24,lo8(-65) |
24 0014 8093 C900 sts 201,r24 |
25 0018 8091 C900 lds r24,201 |
26 001c 8F7D andi r24,lo8(-33) |
27 001e 8093 C900 sts 201,r24 |
28 0022 5A9A sbi 43-0x20,2 |
29 0024 5298 cbi 42-0x20,2 |
30 0026 5B9A sbi 43-0x20,3 |
31 0028 539A sbi 42-0x20,3 |
32 002a 1092 CD00 sts 205,__zero_reg__ |
33 002e 84E1 ldi r24,lo8(20) |
34 0030 8093 CC00 sts 204,r24 |
35 0034 8091 C800 lds r24,200 |
36 0038 8260 ori r24,lo8(2) |
37 003a 8093 C800 sts 200,r24 |
38 003e 80E1 ldi r24,lo8(16) |
39 0040 8093 C900 sts 201,r24 |
40 0044 8091 CA00 lds r24,202 |
41 0048 8F77 andi r24,lo8(127) |
42 004a 8093 CA00 sts 202,r24 |
43 004e 8091 CA00 lds r24,202 |
44 0052 8F7B andi r24,lo8(-65) |
45 0054 8093 CA00 sts 202,r24 |
46 0058 8091 CA00 lds r24,202 |
47 005c 8F7D andi r24,lo8(-33) |
48 005e 8093 CA00 sts 202,r24 |
49 0062 8091 CA00 lds r24,202 |
50 0066 8F7E andi r24,lo8(-17) |
51 0068 8093 CA00 sts 202,r24 |
52 006c 8091 CA00 lds r24,202 |
53 0070 877F andi r24,lo8(-9) |
54 0072 8093 CA00 sts 202,r24 |
55 0076 8091 C900 lds r24,201 |
56 007a 8B7F andi r24,lo8(-5) |
57 007c 8093 C900 sts 201,r24 |
58 0080 8091 CA00 lds r24,202 |
59 0084 8460 ori r24,lo8(4) |
60 0086 8093 CA00 sts 202,r24 |
61 008a 8091 CA00 lds r24,202 |
62 008e 8260 ori r24,lo8(2) |
63 0090 8093 CA00 sts 202,r24 |
64 0094 00C0 rjmp .L2 |
65 .L3: |
66 0096 8091 CE00 lds r24,206 |
67 .L2: |
68 009a 8091 C800 lds r24,200 |
69 009e 87FD sbrc r24,7 |
70 00a0 00C0 rjmp .L3 |
71 00a2 8091 C900 lds r24,201 |
72 00a6 8068 ori r24,lo8(-128) |
73 00a8 8093 C900 sts 201,r24 |
74 00ac 9FBF out 95-0x20,r25 |
75 /* epilogue: frame size=0 */ |
76 00ae 0895 ret |
77 /* epilogue end (size=1) */ |
78 /* function SpektrumUartInit size 89 (88) */ |
80 .global SpektrumParser |
82 SpektrumParser: |
83 /* prologue: frame size=0 */ |
84 00b0 0F93 push r16 |
85 00b2 1F93 push r17 |
86 00b4 CF93 push r28 |
87 00b6 DF93 push r29 |
88 /* prologue end (size=4) */ |
89 00b8 982F mov r25,r24 |
90 00ba 8091 0000 lds r24,ReSync.2543 |
91 00be 8130 cpi r24,lo8(1) |
92 00c0 01F4 brne .L7 |
93 00c2 1092 0000 sts ReSync.2543,__zero_reg__ |
94 00c6 84E4 ldi r24,lo8(68) |
95 00c8 8093 0000 sts SpektrumTimer,r24 |
96 00cc 1092 0000 sts FrameCnt.2541,__zero_reg__ |
97 00d0 1092 0000 sts Sync.2540,__zero_reg__ |
98 00d4 1092 0000 sts ByteHigh.2542,__zero_reg__ |
99 00d8 00C0 rjmp .L50 |
100 .L7: |
101 00da 20E0 ldi r18,lo8(0) |
102 00dc 8091 0000 lds r24,SpektrumTimer |
103 00e0 8823 tst r24 |
104 00e2 01F4 brne .L10 |
105 00e4 21E0 ldi r18,lo8(1) |
106 .L10: |
107 00e6 8091 0000 lds r24,Sync.2540 |
108 00ea 8823 tst r24 |
109 00ec 01F4 brne .L11 |
110 00ee 2223 tst r18 |
111 00f0 01F0 breq .L13 |
112 00f2 81E0 ldi r24,lo8(1) |
113 00f4 00C0 rjmp .L54 |
114 .L13: |
115 00f6 84E4 ldi r24,lo8(68) |
116 00f8 8093 0000 sts SpektrumTimer,r24 |
117 00fc 1092 0000 sts FrameCnt.2541,__zero_reg__ |
118 0100 1092 0000 sts Sync.2540,__zero_reg__ |
119 0104 1092 0000 sts ByteHigh.2542,__zero_reg__ |
120 0108 00C0 rjmp .L15 |
121 .L11: |
122 010a 8130 cpi r24,lo8(1) |
123 010c 01F4 brne .L16 |
124 010e 2223 tst r18 |
125 0110 01F0 breq .+2 |
126 0112 00C0 rjmp .L25 |
127 0114 82E0 ldi r24,lo8(2) |
128 .L54: |
129 0116 8093 0000 sts Sync.2540,r24 |
130 011a 8091 0000 lds r24,FrameCnt.2541 |
131 011e 8F5F subi r24,lo8(-(1)) |
132 0120 8093 0000 sts FrameCnt.2541,r24 |
133 0124 83E0 ldi r24,lo8(3) |
134 0126 00C0 rjmp .L53 |
135 .L16: |
136 0128 8230 cpi r24,lo8(2) |
137 012a 01F4 brne .L19 |
138 012c 2223 tst r18 |
139 012e 01F0 breq .+2 |
140 0130 00C0 rjmp .L25 |
141 0132 83E0 ldi r24,lo8(3) |
142 0134 8093 0000 sts SpektrumTimer,r24 |
143 0138 9093 0000 sts ByteHigh.2542,r25 |
144 013c 2091 0000 lds r18,FrameCnt.2541 |
145 0140 2230 cpi r18,lo8(2) |
146 0142 01F4 brne .L22 |
147 0144 1092 0000 sts Frame2.2544,__zero_reg__ |
148 0148 97FF sbrs r25,7 |
149 014a 00C0 rjmp .L22 |
150 014c 81E0 ldi r24,lo8(1) |
151 014e 8093 0000 sts Frame2.2544,r24 |
152 .L22: |
153 0152 83E0 ldi r24,lo8(3) |
154 0154 8093 0000 sts Sync.2540,r24 |
155 0158 2F5F subi r18,lo8(-(1)) |
156 015a 2093 0000 sts FrameCnt.2541,r18 |
157 015e 00C0 rjmp .L15 |
158 .L19: |
159 0160 8330 cpi r24,lo8(3) |
160 0162 01F0 breq .+2 |
161 0164 00C0 rjmp .L25 |
162 0166 2223 tst r18 |
163 0168 01F0 breq .+2 |
164 016a 00C0 rjmp .L25 |
165 016c 8093 0000 sts SpektrumTimer,r24 |
166 0170 82E0 ldi r24,lo8(2) |
167 0172 8093 0000 sts Sync.2540,r24 |
168 0176 8091 0000 lds r24,FrameCnt.2541 |
169 017a 8F5F subi r24,lo8(-(1)) |
170 017c 8093 0000 sts FrameCnt.2541,r24 |
171 0180 4091 0000 lds r20,ByteHigh.2542 |
172 0184 292F mov r18,r25 |
173 0186 30E0 ldi r19,lo8(0) |
174 0188 842F mov r24,r20 |
175 018a 90E0 ldi r25,lo8(0) |
176 018c 982F mov r25,r24 |
177 018e 8827 clr r24 |
178 0190 282B or r18,r24 |
179 0192 392B or r19,r25 |
180 0194 8091 0000 lds r24,EE_Parameter+39 |
181 0198 8130 cpi r24,lo8(1) |
182 019a 01F4 brne .L28 |
183 019c 3370 andi r19,hi8(1023) |
184 019e C901 movw r24,r18 |
185 01a0 8050 subi r24,lo8(-(-512)) |
186 01a2 9240 sbci r25,hi8(-(-512)) |
187 01a4 63E0 ldi r22,lo8(3) |
188 01a6 70E0 ldi r23,hi8(3) |
189 01a8 00C0 rjmp .L51 |
190 .L28: |
191 01aa 8230 cpi r24,lo8(2) |
192 01ac 01F4 brne .L31 |
193 01ae 3770 andi r19,hi8(2047) |
194 01b0 C901 movw r24,r18 |
195 01b2 8050 subi r24,lo8(-(-1024)) |
196 01b4 9440 sbci r25,hi8(-(-1024)) |
197 01b6 66E0 ldi r22,lo8(6) |
198 01b8 70E0 ldi r23,hi8(6) |
199 01ba 0E94 0000 call __divmodhi4 |
200 01be EB01 movw r28,r22 |
201 01c0 4695 lsr r20 |
202 01c2 4695 lsr r20 |
203 01c4 4695 lsr r20 |
204 01c6 00C0 rjmp .L52 |
205 .L31: |
206 01c8 3370 andi r19,hi8(1023) |
207 01ca C901 movw r24,r18 |
208 01cc 8856 subi r24,lo8(-(-360)) |
209 01ce 9140 sbci r25,hi8(-(-360)) |
210 01d0 62E0 ldi r22,lo8(2) |
211 01d2 70E0 ldi r23,hi8(2) |
212 .L51: |
213 01d4 0E94 0000 call __divmodhi4 |
214 01d8 EB01 movw r28,r22 |
215 01da 4695 lsr r20 |
216 01dc 4695 lsr r20 |
217 .L52: |
218 01de 842F mov r24,r20 |
219 01e0 90E0 ldi r25,lo8(0) |
220 01e2 8F70 andi r24,lo8(15) |
221 01e4 9070 andi r25,hi8(15) |
222 01e6 8C01 movw r16,r24 |
223 01e8 0F5F subi r16,lo8(-(1)) |
224 01ea 1F4F sbci r17,hi8(-(1)) |
225 01ec 0D30 cpi r16,13 |
226 01ee 1105 cpc r17,__zero_reg__ |
227 01f0 00F0 brlo .+2 |
228 01f2 00C0 rjmp .L15 |
229 01f4 F801 movw r30,r16 |
230 01f6 EE0F lsl r30 |
231 01f8 FF1F rol r31 |
232 01fa E050 subi r30,lo8(-(PPM_in)) |
233 01fc F040 sbci r31,hi8(-(PPM_in)) |
234 01fe 8081 ld r24,Z |
235 0200 9181 ldd r25,Z+1 |
236 0202 9E01 movw r18,r28 |
237 0204 281B sub r18,r24 |
238 0206 390B sbc r19,r25 |
239 0208 C901 movw r24,r18 |
240 020a 37FF sbrs r19,7 |
241 020c 00C0 rjmp .L35 |
242 020e 9095 com r25 |
243 0210 8195 neg r24 |
244 0212 9F4F sbci r25,lo8(-1) |
245 .L35: |
246 0214 0697 sbiw r24,6 |
247 0216 04F4 brge .L34 |
248 0218 8091 0000 lds r24,SenderOkay |
249 021c 883C cpi r24,lo8(-56) |
250 021e 00F4 brsh .L37 |
251 0220 8091 0000 lds r24,SenderOkay |
252 0224 865F subi r24,lo8(-(10)) |
253 0226 8093 0000 sts SenderOkay,r24 |
254 022a 00C0 rjmp .L34 |
255 .L37: |
256 022c 88EC ldi r24,lo8(-56) |
257 022e 8093 0000 sts SenderOkay,r24 |
258 0232 8091 6F00 lds r24,111 |
259 0236 8F7D andi r24,lo8(-33) |
260 0238 8093 6F00 sts 111,r24 |
261 .L34: |
262 023c F801 movw r30,r16 |
263 023e EE0F lsl r30 |
264 0240 FF1F rol r31 |
265 0242 E050 subi r30,lo8(-(PPM_in)) |
266 0244 F040 sbci r31,hi8(-(PPM_in)) |
267 0246 2081 ld r18,Z |
268 0248 3181 ldd r19,Z+1 |
269 024a C901 movw r24,r18 |
270 024c 880F lsl r24 |
271 024e 991F rol r25 |
272 0250 820F add r24,r18 |
273 0252 931F adc r25,r19 |
274 0254 8C0F add r24,r28 |
275 0256 9D1F adc r25,r29 |
276 0258 64E0 ldi r22,lo8(4) |
277 025a 70E0 ldi r23,hi8(4) |
278 025c 0E94 0000 call __divmodhi4 |
279 0260 9B01 movw r18,r22 |
280 0262 CE01 movw r24,r28 |
281 0264 0196 adiw r24,1 |
282 0266 8617 cp r24,r22 |
283 0268 9707 cpc r25,r23 |
284 026a 04F4 brge .L39 |
285 026c 2150 subi r18,lo8(-(-1)) |
286 026e 3040 sbci r19,hi8(-(-1)) |
287 0270 00C0 rjmp .L41 |
288 .L39: |
289 0272 2197 sbiw r28,1 |
290 0274 6C17 cp r22,r28 |
291 0276 7D07 cpc r23,r29 |
292 0278 04F4 brge .L41 |
293 027a 2F5F subi r18,lo8(-(1)) |
294 027c 3F4F sbci r19,hi8(-(1)) |
295 .L41: |
296 027e 8091 0000 lds r24,SenderOkay |
297 0282 E801 movw r28,r16 |
298 0284 CC0F lsl r28 |
299 0286 DD1F rol r29 |
300 0288 843B cpi r24,lo8(-76) |
301 028a 00F0 brlo .L43 |
302 028c FE01 movw r30,r28 |
303 028e E050 subi r30,lo8(-(PPM_in)) |
304 0290 F040 sbci r31,hi8(-(PPM_in)) |
305 0292 8081 ld r24,Z |
306 0294 9181 ldd r25,Z+1 |
307 0296 A901 movw r20,r18 |
308 0298 481B sub r20,r24 |
309 029a 590B sbc r21,r25 |
310 029c CA01 movw r24,r20 |
311 029e 63E0 ldi r22,lo8(3) |
312 02a0 70E0 ldi r23,hi8(3) |
313 02a2 0E94 0000 call __divmodhi4 |
314 02a6 CB01 movw r24,r22 |
315 02a8 880F lsl r24 |
316 02aa 991F rol r25 |
317 02ac 860F add r24,r22 |
318 02ae 971F adc r25,r23 |
319 02b0 C050 subi r28,lo8(-(PPM_diff)) |
320 02b2 D040 sbci r29,hi8(-(PPM_diff)) |
321 02b4 9983 std Y+1,r25 |
322 02b6 8883 st Y,r24 |
323 02b8 00C0 rjmp .L45 |
324 .L43: |
325 02ba C050 subi r28,lo8(-(PPM_diff)) |
326 02bc D040 sbci r29,hi8(-(PPM_diff)) |
327 02be 1982 std Y+1,__zero_reg__ |
328 02c0 1882 st Y,__zero_reg__ |
329 .L45: |
330 02c2 000F lsl r16 |
331 02c4 111F rol r17 |
332 02c6 0050 subi r16,lo8(-(PPM_in)) |
333 02c8 1040 sbci r17,hi8(-(PPM_in)) |
334 02ca F801 movw r30,r16 |
335 02cc 3183 std Z+1,r19 |
336 02ce 2083 st Z,r18 |
337 02d0 00C0 rjmp .L15 |
338 .L25: |
339 02d2 81E0 ldi r24,lo8(1) |
340 02d4 8093 0000 sts ReSync.2543,r24 |
341 02d8 1092 0000 sts FrameCnt.2541,__zero_reg__ |
342 02dc 1092 0000 sts Frame2.2544,__zero_reg__ |
343 02e0 84E4 ldi r24,lo8(68) |
344 .L53: |
345 02e2 8093 0000 sts SpektrumTimer,r24 |
346 .L15: |
347 02e6 8091 0000 lds r24,FrameCnt.2541 |
348 02ea 8031 cpi r24,lo8(16) |
349 02ec 00F0 brlo .L50 |
350 02ee 8091 0000 lds r24,Frame2.2544 |
351 02f2 8823 tst r24 |
352 02f4 01F4 brne .L47 |
353 02f6 8091 0000 lds r24,ReSync.2543 |
354 02fa 8823 tst r24 |
355 02fc 01F4 brne .L47 |
356 02fe 1092 0000 sts NewPpmData,__zero_reg__ |
357 .L47: |
358 0302 1092 0000 sts FrameCnt.2541,__zero_reg__ |
359 0306 1092 0000 sts Frame2.2544,__zero_reg__ |
360 030a 1092 0000 sts Sync.2540,__zero_reg__ |
361 030e 84E4 ldi r24,lo8(68) |
362 0310 8093 0000 sts SpektrumTimer,r24 |
363 .L50: |
364 /* epilogue: frame size=0 */ |
365 0314 DF91 pop r29 |
366 0316 CF91 pop r28 |
367 0318 1F91 pop r17 |
368 031a 0F91 pop r16 |
369 031c 0895 ret |
370 /* epilogue end (size=5) */ |
371 /* function SpektrumParser size 315 (306) */ |
373 .global SpektrumTimer |
374 .global SpektrumTimer |
375 .section .bss |
378 SpektrumTimer: |
379 0000 00 .skip 1,0 |
380 .lcomm Frame2.2544,1 |
381 .data |
384 ReSync.2543: |
385 0000 01 .byte 1 |
386 .lcomm ByteHigh.2542,1 |
387 .lcomm FrameCnt.2541,1 |
388 .lcomm Sync.2540,1 |
389 /* File "Spektrum.c": code 404 = 0x0194 ( 394), prologues 4, epilogues 6 */ |
DEFINED SYMBOLS |
*ABS*:00000000 Spektrum.c |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cctPB7zO.s:2 *ABS*:0000003f __SREG__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cctPB7zO.s:3 *ABS*:0000003e __SP_H__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cctPB7zO.s:4 *ABS*:0000003d __SP_L__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cctPB7zO.s:5 *ABS*:00000000 __tmp_reg__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cctPB7zO.s:6 *ABS*:00000001 __zero_reg__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cctPB7zO.s:12 .text:00000000 SpektrumUartInit |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cctPB7zO.s:82 .text:000000b0 SpektrumParser |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cctPB7zO.s:384 .data:00000000 ReSync.2543 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cctPB7zO.s:378 .bss:00000000 SpektrumTimer |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cctPB7zO.s:386 .bss:00000003 FrameCnt.2541 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cctPB7zO.s:387 .bss:00000004 Sync.2540 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cctPB7zO.s:380 .bss:00000002 ByteHigh.2542 |
.bss:00000001 Frame2.2544 |
UNDEFINED SYMBOLS |
__do_copy_data |
__do_clear_bss |
EE_Parameter |
__divmodhi4 |
PPM_in |
SenderOkay |
PPM_diff |
NewPpmData |
/Spektrum-Diversity/V0.82a/analog.c |
---|
0,0 → 1,283 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) Holger Buss, Ingo Busker |
// + only for non-profit use |
// + www.MikroKopter.com |
// + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
// + see the File "License.txt" for further Informations |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#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 char messanzahl_AccHoch = 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; |
float NeutralAccZ_float; |
//####################################################################################### |
// |
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: |
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 >= 18) |
{ |
Luftdruck = (7 * Luftdruck + tmpLuftdruck - (18 * 523) * (long)ExpandBaro + 4) / 8; // -523.19 counts per 10 counts offset step |
HoehenWert = StartLuftdruck - Luftdruck; |
SummenHoehe -= SummenHoehe/SM_FILTER; |
SummenHoehe += HoehenWert; |
VarioMeter = (31 * VarioMeter + 8 * (int)(HoehenWert - SummenHoehe/SM_FILTER))/32; |
tmpLuftdruck /= 2; |
messanzahl_Druck = 18/2; |
} |
kanal = AD_NICK; |
break; |
default: |
kanal = 0; state = 0; kanal = AD_NICK; |
break; |
} |
ADMUX = kanal; |
if(state != 0) ANALOG_ON; |
} |
/Spektrum-Diversity/V0.82a/analog.d |
---|
0,0 → 1,3 |
analog.o analog.d : analog.c main.h old_macros.h printf_P.h timer0.h uart.h \ |
analog.h twimaster.h menu.h rc.h fc.h gps.h spi.h led.h spektrum.h \ |
capacity.h eeprom.h libfc.h debug.h |
/Spektrum-Diversity/V0.82a/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 |
/Spektrum-Diversity/V0.82a/analog.lst |
---|
0,0 → 1,1262 |
1 .file "analog.c" |
2 __SREG__ = 0x3f |
3 __SP_H__ = 0x3e |
4 __SP_L__ = 0x3d |
5 __tmp_reg__ = 0 |
6 __zero_reg__ = 1 |
7 .global __do_copy_data |
8 .global __do_clear_bss |
9 .text |
10 .global ADC_Init |
12 ADC_Init: |
13 /* prologue: frame size=0 */ |
14 /* prologue end (size=0) */ |
15 0000 1092 7C00 sts 124,__zero_reg__ |
16 0004 8FEC ldi r24,lo8(-49) |
17 0006 8093 7A00 sts 122,r24 |
18 /* epilogue: frame size=0 */ |
19 000a 0895 ret |
20 /* epilogue end (size=1) */ |
21 /* function ADC_Init size 6 (5) */ |
23 .global __vector_24 |
25 __vector_24: |
26 /* prologue: frame size=0 */ |
27 000c 1F92 push __zero_reg__ |
28 000e 0F92 push __tmp_reg__ |
29 0010 0FB6 in __tmp_reg__,__SREG__ |
30 0012 0F92 push __tmp_reg__ |
31 0014 1124 clr __zero_reg__ |
32 0016 6F92 push r6 |
33 0018 7F92 push r7 |
34 001a 8F92 push r8 |
35 001c 9F92 push r9 |
36 001e AF92 push r10 |
37 0020 BF92 push r11 |
38 0022 CF92 push r12 |
39 0024 DF92 push r13 |
40 0026 EF92 push r14 |
41 0028 FF92 push r15 |
42 002a 0F93 push r16 |
43 002c 1F93 push r17 |
44 002e 2F93 push r18 |
45 0030 3F93 push r19 |
46 0032 4F93 push r20 |
47 0034 5F93 push r21 |
48 0036 6F93 push r22 |
49 0038 7F93 push r23 |
50 003a 8F93 push r24 |
51 003c 9F93 push r25 |
52 003e AF93 push r26 |
53 0040 BF93 push r27 |
54 0042 EF93 push r30 |
55 0044 FF93 push r31 |
56 /* prologue end (size=29) */ |
57 0046 8091 0000 lds r24,state.2593 |
58 004a 8F5F subi r24,lo8(-(1)) |
59 004c 8093 0000 sts state.2593,r24 |
60 0050 8150 subi r24,lo8(-(-1)) |
61 0052 E82F mov r30,r24 |
62 0054 F0E0 ldi r31,lo8(0) |
63 0056 E231 cpi r30,18 |
64 0058 F105 cpc r31,__zero_reg__ |
65 005a 00F0 brlo .+2 |
66 005c 00C0 rjmp .L4 |
67 005e E050 subi r30,lo8(-(gs(.L23))) |
**** Warning:expression dangerous with linker stubs |
68 0060 F040 sbci r31,hi8(-(gs(.L23))) |
**** Warning:expression dangerous with linker stubs |
69 0062 0C94 0000 jmp __tablejump2__ |
70 .data |
71 .section .progmem.gcc_sw_table, "a", @progbits |
72 .p2align 1 |
73 .L23: |
74 .data |
75 .section .progmem.gcc_sw_table, "a", @progbits |
76 .p2align 1 |
77 0000 0000 .word gs(.L5) |
78 0002 0000 .word gs(.L6) |
79 0004 0000 .word gs(.L7) |
80 0006 0000 .word gs(.L8) |
81 0008 0000 .word gs(.L9) |
82 000a 0000 .word gs(.L15) |
83 000c 0000 .word gs(.L11) |
84 000e 0000 .word gs(.L12) |
85 0010 0000 .word gs(.L13) |
86 0012 0000 .word gs(.L14) |
87 0014 0000 .word gs(.L15) |
88 0016 0000 .word gs(.L16) |
89 0018 0000 .word gs(.L17) |
90 001a 0000 .word gs(.L18) |
91 001c 0000 .word gs(.L19) |
92 001e 0000 .word gs(.L20) |
93 0020 0000 .word gs(.L21) |
94 0022 0000 .word gs(.L22) |
95 .text |
96 .L5: |
97 0066 8091 7800 lds r24,120 |
98 006a 9091 7900 lds r25,(120)+1 |
99 006e 9093 0000 sts (nick1.2597)+1,r25 |
100 0072 8093 0000 sts nick1.2597,r24 |
101 0076 00C0 rjmp .L59 |
102 .L6: |
103 0078 8091 7800 lds r24,120 |
104 007c 9091 7900 lds r25,(120)+1 |
105 0080 00C0 rjmp .L58 |
106 .L7: |
107 0082 8091 7800 lds r24,120 |
108 0086 9091 7900 lds r25,(120)+1 |
109 008a 9093 0000 sts (gier1.2595)+1,r25 |
110 008e 8093 0000 sts gier1.2595,r24 |
111 0092 00C0 rjmp .L60 |
112 .L8: |
113 0094 2091 7800 lds r18,120 |
114 0098 3091 7900 lds r19,(120)+1 |
115 009c 8091 0000 lds r24,NeutralAccY |
116 00a0 9091 0000 lds r25,(NeutralAccY)+1 |
117 00a4 821B sub r24,r18 |
118 00a6 930B sbc r25,r19 |
119 00a8 9093 0000 sts (Aktuell_ay)+1,r25 |
120 00ac 8093 0000 sts Aktuell_ay,r24 |
121 00b0 8091 0000 lds r24,Aktuell_ay |
122 00b4 9091 0000 lds r25,(Aktuell_ay)+1 |
123 00b8 9093 0000 sts (accy.2600)+1,r25 |
124 00bc 8093 0000 sts accy.2600,r24 |
125 00c0 00C0 rjmp .L61 |
126 .L9: |
127 00c2 8091 7800 lds r24,120 |
128 00c6 9091 7900 lds r25,(120)+1 |
129 00ca 2091 0000 lds r18,NeutralAccX |
130 00ce 3091 0000 lds r19,(NeutralAccX)+1 |
131 00d2 821B sub r24,r18 |
132 00d4 930B sbc r25,r19 |
133 00d6 9093 0000 sts (Aktuell_ax)+1,r25 |
134 00da 8093 0000 sts Aktuell_ax,r24 |
135 00de 8091 0000 lds r24,Aktuell_ax |
136 00e2 9091 0000 lds r25,(Aktuell_ax)+1 |
137 00e6 9093 0000 sts (accx.2601)+1,r25 |
138 00ea 8093 0000 sts accx.2601,r24 |
139 00ee 00C0 rjmp .L62 |
140 .L11: |
141 00f0 8091 7800 lds r24,120 |
142 00f4 9091 7900 lds r25,(120)+1 |
143 00f8 2091 0000 lds r18,roll1.2596 |
144 00fc 3091 0000 lds r19,(roll1.2596)+1 |
145 0100 280F add r18,r24 |
146 0102 391F adc r19,r25 |
147 0104 3093 0000 sts (roll1.2596)+1,r19 |
148 0108 2093 0000 sts roll1.2596,r18 |
149 010c 84E0 ldi r24,lo8(4) |
150 010e 00C0 rjmp .L57 |
151 .L12: |
152 0110 4091 0000 lds r20,UBat |
153 0114 5091 0000 lds r21,(UBat)+1 |
154 0118 8091 7800 lds r24,120 |
155 011c 9091 7900 lds r25,(120)+1 |
156 0120 9A01 movw r18,r20 |
157 0122 220F lsl r18 |
158 0124 331F rol r19 |
159 0126 240F add r18,r20 |
160 0128 351F adc r19,r21 |
161 012a 63E0 ldi r22,lo8(3) |
162 012c 70E0 ldi r23,hi8(3) |
163 012e 0E94 0000 call __udivmodhi4 |
164 0132 260F add r18,r22 |
165 0134 371F adc r19,r23 |
166 0136 3695 lsr r19 |
167 0138 2795 ror r18 |
168 013a 3695 lsr r19 |
169 013c 2795 ror r18 |
170 013e 3093 0000 sts (UBat)+1,r19 |
171 0142 2093 0000 sts UBat,r18 |
172 0146 85E0 ldi r24,lo8(5) |
173 0148 00C0 rjmp .L57 |
174 .L13: |
175 014a 8091 7800 lds r24,120 |
176 014e 9091 7900 lds r25,(120)+1 |
177 0152 4091 0000 lds r20,NeutralAccZ |
178 0156 5091 0000 lds r21,(NeutralAccZ)+1 |
179 015a 841B sub r24,r20 |
180 015c 950B sbc r25,r21 |
181 015e 9093 0000 sts (AdWertAccHoch)+1,r25 |
182 0162 8093 0000 sts AdWertAccHoch,r24 |
183 0166 8091 0000 lds r24,AdWertAccHoch |
184 016a 9091 0000 lds r25,(AdWertAccHoch)+1 |
185 016e 0297 sbiw r24,2 |
186 0170 04F0 brlt .L25 |
187 0172 22E0 ldi r18,hi8(750) |
188 0174 4E3E cpi r20,lo8(750) |
189 0176 5207 cpc r21,r18 |
190 0178 04F4 brge .L27 |
191 017a 2091 0000 lds r18,subcount.2594 |
192 017e 2B5F subi r18,lo8(-(5)) |
193 0180 2093 0000 sts subcount.2594,r18 |
194 0184 2550 subi r18,lo8(-(-5)) |
195 0186 8091 0000 lds r24,modell_fliegt |
196 018a 9091 0000 lds r25,(modell_fliegt)+1 |
197 018e 845F subi r24,lo8(500) |
198 0190 9140 sbci r25,hi8(500) |
199 0192 00F4 brsh .L27 |
200 0194 215F subi r18,lo8(-(15)) |
201 0196 2093 0000 sts subcount.2594,r18 |
202 .L27: |
203 019a 8091 0000 lds r24,subcount.2594 |
204 019e 8536 cpi r24,lo8(101) |
205 01a0 04F0 brlt .L30 |
206 01a2 4F5F subi r20,lo8(-(1)) |
207 01a4 5F4F sbci r21,hi8(-(1)) |
208 01a6 5093 0000 sts (NeutralAccZ)+1,r21 |
209 01aa 4093 0000 sts NeutralAccZ,r20 |
210 01ae 8456 subi r24,lo8(-(-100)) |
211 01b0 00C0 rjmp .L53 |
212 .L25: |
213 01b2 8091 0000 lds r24,AdWertAccHoch |
214 01b6 9091 0000 lds r25,(AdWertAccHoch)+1 |
215 01ba 8F5F subi r24,lo8(-1) |
216 01bc 9F4F sbci r25,hi8(-1) |
217 01be 04F4 brge .L30 |
218 01c0 B2E0 ldi r27,hi8(551) |
219 01c2 4732 cpi r20,lo8(551) |
220 01c4 5B07 cpc r21,r27 |
221 01c6 04F0 brlt .L30 |
222 01c8 2091 0000 lds r18,subcount.2594 |
223 01cc 2550 subi r18,lo8(-(-5)) |
224 01ce 2093 0000 sts subcount.2594,r18 |
225 01d2 2B5F subi r18,lo8(-(5)) |
226 01d4 8091 0000 lds r24,modell_fliegt |
227 01d8 9091 0000 lds r25,(modell_fliegt)+1 |
228 01dc 845F subi r24,lo8(500) |
229 01de 9140 sbci r25,hi8(500) |
230 01e0 00F4 brsh .L34 |
231 01e2 2F50 subi r18,lo8(-(-15)) |
232 01e4 2093 0000 sts subcount.2594,r18 |
233 .L34: |
234 01e8 8091 0000 lds r24,subcount.2594 |
235 01ec 8C39 cpi r24,lo8(-100) |
236 01ee 04F4 brge .L30 |
237 01f0 4150 subi r20,lo8(-(-1)) |
238 01f2 5040 sbci r21,hi8(-(-1)) |
239 01f4 5093 0000 sts (NeutralAccZ)+1,r21 |
240 01f8 4093 0000 sts NeutralAccZ,r20 |
241 01fc 8C59 subi r24,lo8(-(100)) |
242 .L53: |
243 01fe 8093 0000 sts subcount.2594,r24 |
244 .L30: |
245 0202 81E0 ldi r24,lo8(1) |
246 0204 8093 0000 sts messanzahl_AccHoch,r24 |
247 0208 8091 7800 lds r24,120 |
248 020c 9091 7900 lds r25,(120)+1 |
249 0210 9093 0000 sts (Aktuell_az)+1,r25 |
250 0214 8093 0000 sts Aktuell_az,r24 |
251 0218 2091 0000 lds r18,Mess_Integral_Hoch |
252 021c 3091 0000 lds r19,(Mess_Integral_Hoch)+1 |
253 0220 4091 0000 lds r20,(Mess_Integral_Hoch)+2 |
254 0224 5091 0000 lds r21,(Mess_Integral_Hoch)+3 |
255 0228 8091 0000 lds r24,AdWertAccHoch |
256 022c 9091 0000 lds r25,(AdWertAccHoch)+1 |
257 0230 AA27 clr r26 |
258 0232 97FD sbrc r25,7 |
259 0234 A095 com r26 |
260 0236 BA2F mov r27,r26 |
261 0238 820F add r24,r18 |
262 023a 931F adc r25,r19 |
263 023c A41F adc r26,r20 |
264 023e B51F adc r27,r21 |
265 0240 8093 0000 sts Mess_Integral_Hoch,r24 |
266 0244 9093 0000 sts (Mess_Integral_Hoch)+1,r25 |
267 0248 A093 0000 sts (Mess_Integral_Hoch)+2,r26 |
268 024c B093 0000 sts (Mess_Integral_Hoch)+3,r27 |
269 0250 E090 0000 lds r14,Mess_Integral_Hoch |
270 0254 F090 0000 lds r15,(Mess_Integral_Hoch)+1 |
271 0258 0091 0000 lds r16,(Mess_Integral_Hoch)+2 |
272 025c 1091 0000 lds r17,(Mess_Integral_Hoch)+3 |
273 0260 6091 0000 lds r22,Mess_Integral_Hoch |
274 0264 7091 0000 lds r23,(Mess_Integral_Hoch)+1 |
275 0268 8091 0000 lds r24,(Mess_Integral_Hoch)+2 |
276 026c 9091 0000 lds r25,(Mess_Integral_Hoch)+3 |
277 0270 20E0 ldi r18,lo8(1024) |
278 0272 34E0 ldi r19,hi8(1024) |
279 0274 40E0 ldi r20,hlo8(1024) |
280 0276 50E0 ldi r21,hhi8(1024) |
281 0278 0E94 0000 call __divmodsi4 |
282 027c E21A sub r14,r18 |
283 027e F30A sbc r15,r19 |
284 0280 040B sbc r16,r20 |
285 0282 150B sbc r17,r21 |
286 0284 E092 0000 sts Mess_Integral_Hoch,r14 |
287 0288 F092 0000 sts (Mess_Integral_Hoch)+1,r15 |
288 028c 0093 0000 sts (Mess_Integral_Hoch)+2,r16 |
289 0290 1093 0000 sts (Mess_Integral_Hoch)+3,r17 |
290 0294 00C0 rjmp .L63 |
291 .L15: |
292 0296 8091 7800 lds r24,120 |
293 029a 9091 7900 lds r25,(120)+1 |
294 029e 2091 0000 lds r18,nick1.2597 |
295 02a2 3091 0000 lds r19,(nick1.2597)+1 |
296 02a6 280F add r18,r24 |
297 02a8 391F adc r19,r25 |
298 02aa 3093 0000 sts (nick1.2597)+1,r19 |
299 02ae 2093 0000 sts nick1.2597,r18 |
300 02b2 00C0 rjmp .L59 |
301 .L16: |
302 02b4 2091 7800 lds r18,120 |
303 02b8 3091 7900 lds r19,(120)+1 |
304 02bc 8091 0000 lds r24,roll1.2596 |
305 02c0 9091 0000 lds r25,(roll1.2596)+1 |
306 02c4 820F add r24,r18 |
307 02c6 931F adc r25,r19 |
308 .L58: |
309 02c8 9093 0000 sts (roll1.2596)+1,r25 |
310 02cc 8093 0000 sts roll1.2596,r24 |
311 02d0 1092 0000 sts kanal.2592,__zero_reg__ |
312 02d4 00C0 rjmp .L24 |
313 .L17: |
314 02d6 8091 0000 lds r24,PlatinenVersion |
315 02da 8A30 cpi r24,lo8(10) |
316 02dc 01F4 brne .L37 |
317 02de 8091 7800 lds r24,120 |
318 02e2 9091 7900 lds r25,(120)+1 |
319 02e6 0196 adiw r24,1 |
320 02e8 2091 0000 lds r18,gier1.2595 |
321 02ec 3091 0000 lds r19,(gier1.2595)+1 |
322 02f0 820F add r24,r18 |
323 02f2 931F adc r25,r19 |
324 02f4 9695 lsr r25 |
325 02f6 8795 ror r24 |
326 02f8 00C0 rjmp .L54 |
327 .L37: |
328 02fa 4091 0000 lds r20,gier1.2595 |
329 02fe 5091 0000 lds r21,(gier1.2595)+1 |
330 0302 8431 cpi r24,lo8(20) |
331 0304 00F0 brlo .L40 |
332 0306 2091 7800 lds r18,120 |
333 030a 3091 7900 lds r19,(120)+1 |
334 030e 8FEF ldi r24,lo8(2047) |
335 0310 97E0 ldi r25,hi8(2047) |
336 0312 821B sub r24,r18 |
337 0314 930B sbc r25,r19 |
338 0316 841B sub r24,r20 |
339 0318 950B sbc r25,r21 |
340 031a 00C0 rjmp .L54 |
341 .L40: |
342 031c 8091 7800 lds r24,120 |
343 0320 9091 7900 lds r25,(120)+1 |
344 0324 840F add r24,r20 |
345 0326 951F adc r25,r21 |
346 .L54: |
347 0328 9093 0000 sts (AdWertGier)+1,r25 |
348 032c 8093 0000 sts AdWertGier,r24 |
349 .L60: |
350 0330 86E0 ldi r24,lo8(6) |
351 0332 00C0 rjmp .L57 |
352 .L18: |
353 0334 2091 7800 lds r18,120 |
354 0338 3091 7900 lds r19,(120)+1 |
355 033c 8091 0000 lds r24,NeutralAccY |
356 0340 9091 0000 lds r25,(NeutralAccY)+1 |
357 0344 821B sub r24,r18 |
358 0346 930B sbc r25,r19 |
359 0348 9093 0000 sts (Aktuell_ay)+1,r25 |
360 034c 8093 0000 sts Aktuell_ay,r24 |
361 0350 8091 0000 lds r24,Aktuell_ay |
362 0354 9091 0000 lds r25,(Aktuell_ay)+1 |
363 0358 2091 0000 lds r18,accy.2600 |
364 035c 3091 0000 lds r19,(accy.2600)+1 |
365 0360 820F add r24,r18 |
366 0362 931F adc r25,r19 |
367 0364 9093 0000 sts (AdWertAccRoll)+1,r25 |
368 0368 8093 0000 sts AdWertAccRoll,r24 |
369 .L61: |
370 036c 87E0 ldi r24,lo8(7) |
371 036e 00C0 rjmp .L57 |
372 .L19: |
373 0370 8091 7800 lds r24,120 |
374 0374 9091 7900 lds r25,(120)+1 |
375 0378 2091 0000 lds r18,NeutralAccX |
376 037c 3091 0000 lds r19,(NeutralAccX)+1 |
377 0380 821B sub r24,r18 |
378 0382 930B sbc r25,r19 |
379 0384 9093 0000 sts (Aktuell_ax)+1,r25 |
380 0388 8093 0000 sts Aktuell_ax,r24 |
381 038c 8091 0000 lds r24,Aktuell_ax |
382 0390 9091 0000 lds r25,(Aktuell_ax)+1 |
383 0394 2091 0000 lds r18,accx.2601 |
384 0398 3091 0000 lds r19,(accx.2601)+1 |
385 039c 820F add r24,r18 |
386 039e 931F adc r25,r19 |
387 03a0 9093 0000 sts (AdWertAccNick)+1,r25 |
388 03a4 8093 0000 sts AdWertAccNick,r24 |
389 03a8 00C0 rjmp .L62 |
390 .L20: |
391 03aa 2091 7800 lds r18,120 |
392 03ae 3091 7900 lds r19,(120)+1 |
393 03b2 8091 0000 lds r24,nick1.2597 |
394 03b6 9091 0000 lds r25,(nick1.2597)+1 |
395 03ba 280F add r18,r24 |
396 03bc 391F adc r19,r25 |
397 03be 3093 0000 sts (nick1.2597)+1,r19 |
398 03c2 2093 0000 sts nick1.2597,r18 |
399 03c6 8091 0000 lds r24,PlatinenVersion |
400 03ca 8A30 cpi r24,lo8(10) |
401 03cc 01F4 brne .L42 |
402 03ce 220F lsl r18 |
403 03d0 331F rol r19 |
404 03d2 00C0 rjmp .L55 |
405 .L42: |
406 03d4 220F lsl r18 |
407 03d6 331F rol r19 |
408 03d8 220F lsl r18 |
409 03da 331F rol r19 |
410 .L55: |
411 03dc 3093 0000 sts (nick1.2597)+1,r19 |
412 03e0 2093 0000 sts nick1.2597,r18 |
413 03e4 2091 0000 lds r18,nick1.2597 |
414 03e8 3091 0000 lds r19,(nick1.2597)+1 |
415 03ec C901 movw r24,r18 |
416 03ee 68E0 ldi r22,lo8(8) |
417 03f0 70E0 ldi r23,hi8(8) |
418 03f2 0E94 0000 call __divmodhi4 |
419 03f6 7093 0000 sts (AdWertNick)+1,r23 |
420 03fa 6093 0000 sts AdWertNick,r22 |
421 03fe 8091 0000 lds r24,nick_filter.2598 |
422 0402 9091 0000 lds r25,(nick_filter.2598)+1 |
423 0406 820F add r24,r18 |
424 0408 931F adc r25,r19 |
425 040a 62E0 ldi r22,lo8(2) |
426 040c 70E0 ldi r23,hi8(2) |
427 040e 0E94 0000 call __divmodhi4 |
428 0412 7093 0000 sts (nick_filter.2598)+1,r23 |
429 0416 6093 0000 sts nick_filter.2598,r22 |
430 041a 8091 0000 lds r24,AdNeutralNick |
431 041e 9091 0000 lds r25,(AdNeutralNick)+1 |
432 0422 681B sub r22,r24 |
433 0424 790B sbc r23,r25 |
434 0426 7093 0000 sts (HiResNick)+1,r23 |
435 042a 6093 0000 sts HiResNick,r22 |
436 042e 2091 0000 lds r18,AdWertNickFilter |
437 0432 3091 0000 lds r19,(AdWertNickFilter)+1 |
438 0436 8091 0000 lds r24,HiResNick |
439 043a 9091 0000 lds r25,(HiResNick)+1 |
440 043e 820F add r24,r18 |
441 0440 931F adc r25,r19 |
442 0442 62E0 ldi r22,lo8(2) |
443 0444 70E0 ldi r23,hi8(2) |
444 0446 0E94 0000 call __divmodhi4 |
445 044a 7093 0000 sts (AdWertNickFilter)+1,r23 |
446 044e 6093 0000 sts AdWertNickFilter,r22 |
447 .L59: |
448 0452 81E0 ldi r24,lo8(1) |
449 0454 00C0 rjmp .L57 |
450 .L21: |
451 0456 2091 7800 lds r18,120 |
452 045a 3091 7900 lds r19,(120)+1 |
453 045e 8091 0000 lds r24,roll1.2596 |
454 0462 9091 0000 lds r25,(roll1.2596)+1 |
455 0466 280F add r18,r24 |
456 0468 391F adc r19,r25 |
457 046a 3093 0000 sts (roll1.2596)+1,r19 |
458 046e 2093 0000 sts roll1.2596,r18 |
459 0472 8091 0000 lds r24,PlatinenVersion |
460 0476 8A30 cpi r24,lo8(10) |
461 0478 01F4 brne .L45 |
462 047a 220F lsl r18 |
463 047c 331F rol r19 |
464 047e 00C0 rjmp .L56 |
465 .L45: |
466 0480 220F lsl r18 |
467 0482 331F rol r19 |
468 0484 220F lsl r18 |
469 0486 331F rol r19 |
470 .L56: |
471 0488 3093 0000 sts (roll1.2596)+1,r19 |
472 048c 2093 0000 sts roll1.2596,r18 |
473 0490 2091 0000 lds r18,roll1.2596 |
474 0494 3091 0000 lds r19,(roll1.2596)+1 |
475 0498 C901 movw r24,r18 |
476 049a 68E0 ldi r22,lo8(8) |
477 049c 70E0 ldi r23,hi8(8) |
478 049e 0E94 0000 call __divmodhi4 |
479 04a2 7093 0000 sts (AdWertRoll)+1,r23 |
480 04a6 6093 0000 sts AdWertRoll,r22 |
481 04aa 8091 0000 lds r24,roll_filter.2599 |
482 04ae 9091 0000 lds r25,(roll_filter.2599)+1 |
483 04b2 820F add r24,r18 |
484 04b4 931F adc r25,r19 |
485 04b6 62E0 ldi r22,lo8(2) |
486 04b8 70E0 ldi r23,hi8(2) |
487 04ba 0E94 0000 call __divmodhi4 |
488 04be 7093 0000 sts (roll_filter.2599)+1,r23 |
489 04c2 6093 0000 sts roll_filter.2599,r22 |
490 04c6 8091 0000 lds r24,AdNeutralRoll |
491 04ca 9091 0000 lds r25,(AdNeutralRoll)+1 |
492 04ce 681B sub r22,r24 |
493 04d0 790B sbc r23,r25 |
494 04d2 7093 0000 sts (HiResRoll)+1,r23 |
495 04d6 6093 0000 sts HiResRoll,r22 |
496 04da 2091 0000 lds r18,AdWertRollFilter |
497 04de 3091 0000 lds r19,(AdWertRollFilter)+1 |
498 04e2 8091 0000 lds r24,HiResRoll |
499 04e6 9091 0000 lds r25,(HiResRoll)+1 |
500 04ea 820F add r24,r18 |
501 04ec 931F adc r25,r19 |
502 04ee 62E0 ldi r22,lo8(2) |
503 04f0 70E0 ldi r23,hi8(2) |
504 04f2 0E94 0000 call __divmodhi4 |
505 04f6 7093 0000 sts (AdWertRollFilter)+1,r23 |
506 04fa 6093 0000 sts AdWertRollFilter,r22 |
507 .L63: |
508 04fe 83E0 ldi r24,lo8(3) |
509 0500 00C0 rjmp .L57 |
510 .L22: |
511 0502 1092 0000 sts state.2593,__zero_reg__ |
512 0506 81E0 ldi r24,lo8(1) |
513 0508 8093 0000 sts AdReady,r24 |
514 050c 8091 0000 lds r24,ZaehlMessungen |
515 0510 9091 0000 lds r25,(ZaehlMessungen)+1 |
516 0514 0196 adiw r24,1 |
517 0516 9093 0000 sts (ZaehlMessungen)+1,r25 |
518 051a 8093 0000 sts ZaehlMessungen,r24 |
519 .L14: |
520 051e 8091 7800 lds r24,120 |
521 0522 9091 7900 lds r25,(120)+1 |
522 0526 9093 0000 sts (MessLuftdruck)+1,r25 |
523 052a 8093 0000 sts MessLuftdruck,r24 |
524 052e 8091 0000 lds r24,MessLuftdruck |
525 0532 9091 0000 lds r25,(MessLuftdruck)+1 |
526 0536 3C01 movw r6,r24 |
527 0538 8824 clr r8 |
528 053a 9924 clr r9 |
529 053c 8091 0000 lds r24,tmpLuftdruck.2602 |
530 0540 9091 0000 lds r25,(tmpLuftdruck.2602)+1 |
531 0544 A091 0000 lds r26,(tmpLuftdruck.2602)+2 |
532 0548 B091 0000 lds r27,(tmpLuftdruck.2602)+3 |
533 054c 680E add r6,r24 |
534 054e 791E adc r7,r25 |
535 0550 8A1E adc r8,r26 |
536 0552 9B1E adc r9,r27 |
537 0554 6092 0000 sts tmpLuftdruck.2602,r6 |
538 0558 7092 0000 sts (tmpLuftdruck.2602)+1,r7 |
539 055c 8092 0000 sts (tmpLuftdruck.2602)+2,r8 |
540 0560 9092 0000 sts (tmpLuftdruck.2602)+3,r9 |
541 0564 8091 0000 lds r24,messanzahl_Druck.2603 |
542 0568 8F5F subi r24,lo8(-(1)) |
543 056a 8093 0000 sts messanzahl_Druck.2603,r24 |
544 056e 8231 cpi r24,lo8(18) |
545 0570 00F4 brsh .+2 |
546 0572 00C0 rjmp .L62 |
547 0574 8091 0000 lds r24,Luftdruck |
548 0578 9091 0000 lds r25,(Luftdruck)+1 |
549 057c A091 0000 lds r26,(Luftdruck)+2 |
550 0580 B091 0000 lds r27,(Luftdruck)+3 |
551 0584 7C01 movw r14,r24 |
552 0586 8D01 movw r16,r26 |
553 0588 43E0 ldi r20,3 |
554 058a EE0C 1: lsl r14 |
555 058c FF1C rol r15 |
556 058e 001F rol r16 |
557 0590 111F rol r17 |
558 0592 4A95 dec r20 |
559 0594 01F4 brne 1b |
560 0596 E81A sub r14,r24 |
561 0598 F90A sbc r15,r25 |
562 059a 0A0B sbc r16,r26 |
563 059c 1B0B sbc r17,r27 |
564 059e 84E0 ldi r24,lo8(4) |
565 05a0 90E0 ldi r25,hi8(4) |
566 05a2 A0E0 ldi r26,hlo8(4) |
567 05a4 B0E0 ldi r27,hhi8(4) |
568 05a6 E80E add r14,r24 |
569 05a8 F91E adc r15,r25 |
570 05aa 0A1F adc r16,r26 |
571 05ac 1B1F adc r17,r27 |
572 05ae E60C add r14,r6 |
573 05b0 F71C adc r15,r7 |
574 05b2 081D adc r16,r8 |
575 05b4 191D adc r17,r9 |
576 05b6 6091 0000 lds r22,ExpandBaro |
577 05ba 7727 clr r23 |
578 05bc 67FD sbrc r22,7 |
579 05be 7095 com r23 |
580 05c0 872F mov r24,r23 |
581 05c2 972F mov r25,r23 |
582 05c4 26EC ldi r18,lo8(9414) |
583 05c6 34E2 ldi r19,hi8(9414) |
584 05c8 40E0 ldi r20,hlo8(9414) |
585 05ca 50E0 ldi r21,hhi8(9414) |
586 05cc 0E94 0000 call __mulsi3 |
587 05d0 E61A sub r14,r22 |
588 05d2 F70A sbc r15,r23 |
589 05d4 080B sbc r16,r24 |
590 05d6 190B sbc r17,r25 |
591 05d8 C801 movw r24,r16 |
592 05da B701 movw r22,r14 |
593 05dc 28E0 ldi r18,lo8(8) |
594 05de 30E0 ldi r19,hi8(8) |
595 05e0 40E0 ldi r20,hlo8(8) |
596 05e2 50E0 ldi r21,hhi8(8) |
597 05e4 0E94 0000 call __divmodsi4 |
598 05e8 2093 0000 sts Luftdruck,r18 |
599 05ec 3093 0000 sts (Luftdruck)+1,r19 |
600 05f0 4093 0000 sts (Luftdruck)+2,r20 |
601 05f4 5093 0000 sts (Luftdruck)+3,r21 |
602 05f8 E090 0000 lds r14,StartLuftdruck |
603 05fc F090 0000 lds r15,(StartLuftdruck)+1 |
604 0600 8091 0000 lds r24,Luftdruck |
605 0604 9091 0000 lds r25,(Luftdruck)+1 |
606 0608 A091 0000 lds r26,(Luftdruck)+2 |
607 060c B091 0000 lds r27,(Luftdruck)+3 |
608 0610 0027 clr r16 |
609 0612 F7FC sbrc r15,7 |
610 0614 0095 com r16 |
611 0616 102F mov r17,r16 |
612 0618 E81A sub r14,r24 |
613 061a F90A sbc r15,r25 |
614 061c 0A0B sbc r16,r26 |
615 061e 1B0B sbc r17,r27 |
616 0620 E092 0000 sts HoehenWert,r14 |
617 0624 F092 0000 sts (HoehenWert)+1,r15 |
618 0628 0093 0000 sts (HoehenWert)+2,r16 |
619 062c 1093 0000 sts (HoehenWert)+3,r17 |
620 0630 A090 0000 lds r10,SummenHoehe |
621 0634 B090 0000 lds r11,(SummenHoehe)+1 |
622 0638 C090 0000 lds r12,(SummenHoehe)+2 |
623 063c D090 0000 lds r13,(SummenHoehe)+3 |
624 0640 6091 0000 lds r22,SummenHoehe |
625 0644 7091 0000 lds r23,(SummenHoehe)+1 |
626 0648 8091 0000 lds r24,(SummenHoehe)+2 |
627 064c 9091 0000 lds r25,(SummenHoehe)+3 |
628 0650 20E1 ldi r18,lo8(16) |
629 0652 30E0 ldi r19,hi8(16) |
630 0654 40E0 ldi r20,hlo8(16) |
631 0656 50E0 ldi r21,hhi8(16) |
632 0658 0E94 0000 call __divmodsi4 |
633 065c A21A sub r10,r18 |
634 065e B30A sbc r11,r19 |
635 0660 C40A sbc r12,r20 |
636 0662 D50A sbc r13,r21 |
637 0664 A092 0000 sts SummenHoehe,r10 |
638 0668 B092 0000 sts (SummenHoehe)+1,r11 |
639 066c C092 0000 sts (SummenHoehe)+2,r12 |
640 0670 D092 0000 sts (SummenHoehe)+3,r13 |
641 0674 8091 0000 lds r24,SummenHoehe |
642 0678 9091 0000 lds r25,(SummenHoehe)+1 |
643 067c A091 0000 lds r26,(SummenHoehe)+2 |
644 0680 B091 0000 lds r27,(SummenHoehe)+3 |
645 0684 8E0D add r24,r14 |
646 0686 9F1D adc r25,r15 |
647 0688 A01F adc r26,r16 |
648 068a B11F adc r27,r17 |
649 068c 8093 0000 sts SummenHoehe,r24 |
650 0690 9093 0000 sts (SummenHoehe)+1,r25 |
651 0694 A093 0000 sts (SummenHoehe)+2,r26 |
652 0698 B093 0000 sts (SummenHoehe)+3,r27 |
653 069c C090 0000 lds r12,VarioMeter |
654 06a0 D090 0000 lds r13,(VarioMeter)+1 |
655 06a4 6091 0000 lds r22,SummenHoehe |
656 06a8 7091 0000 lds r23,(SummenHoehe)+1 |
657 06ac 8091 0000 lds r24,(SummenHoehe)+2 |
658 06b0 9091 0000 lds r25,(SummenHoehe)+3 |
659 06b4 20E1 ldi r18,lo8(16) |
660 06b6 30E0 ldi r19,hi8(16) |
661 06b8 40E0 ldi r20,hlo8(16) |
662 06ba 50E0 ldi r21,hhi8(16) |
663 06bc 0E94 0000 call __divmodsi4 |
664 06c0 E21A sub r14,r18 |
665 06c2 F30A sbc r15,r19 |
666 06c4 33E0 ldi r19,3 |
667 06c6 EE0C 1: lsl r14 |
668 06c8 FF1C rol r15 |
669 06ca 3A95 dec r19 |
670 06cc 01F4 brne 1b |
671 06ce C601 movw r24,r12 |
672 06d0 25E0 ldi r18,5 |
673 06d2 880F 1: lsl r24 |
674 06d4 991F rol r25 |
675 06d6 2A95 dec r18 |
676 06d8 01F4 brne 1b |
677 06da 8C19 sub r24,r12 |
678 06dc 9D09 sbc r25,r13 |
679 06de 8E0D add r24,r14 |
680 06e0 9F1D adc r25,r15 |
681 06e2 60E2 ldi r22,lo8(32) |
682 06e4 70E0 ldi r23,hi8(32) |
683 06e6 0E94 0000 call __divmodhi4 |
684 06ea 7093 0000 sts (VarioMeter)+1,r23 |
685 06ee 6093 0000 sts VarioMeter,r22 |
686 06f2 C401 movw r24,r8 |
687 06f4 B301 movw r22,r6 |
688 06f6 22E0 ldi r18,lo8(2) |
689 06f8 30E0 ldi r19,hi8(2) |
690 06fa 40E0 ldi r20,hlo8(2) |
691 06fc 50E0 ldi r21,hhi8(2) |
692 06fe 0E94 0000 call __divmodsi4 |
693 0702 2093 0000 sts tmpLuftdruck.2602,r18 |
694 0706 3093 0000 sts (tmpLuftdruck.2602)+1,r19 |
695 070a 4093 0000 sts (tmpLuftdruck.2602)+2,r20 |
696 070e 5093 0000 sts (tmpLuftdruck.2602)+3,r21 |
697 0712 89E0 ldi r24,lo8(9) |
698 0714 8093 0000 sts messanzahl_Druck.2603,r24 |
699 0718 00C0 rjmp .L62 |
700 .L4: |
701 071a 1092 0000 sts state.2593,__zero_reg__ |
702 .L62: |
703 071e 82E0 ldi r24,lo8(2) |
704 .L57: |
705 0720 8093 0000 sts kanal.2592,r24 |
706 .L24: |
707 0724 8091 0000 lds r24,kanal.2592 |
708 0728 8093 7C00 sts 124,r24 |
709 072c 8091 0000 lds r24,state.2593 |
710 0730 8823 tst r24 |
711 0732 01F0 breq .L52 |
712 0734 8FEC ldi r24,lo8(-49) |
713 0736 8093 7A00 sts 122,r24 |
714 .L52: |
715 /* epilogue: frame size=0 */ |
716 073a FF91 pop r31 |
717 073c EF91 pop r30 |
718 073e BF91 pop r27 |
719 0740 AF91 pop r26 |
720 0742 9F91 pop r25 |
721 0744 8F91 pop r24 |
722 0746 7F91 pop r23 |
723 0748 6F91 pop r22 |
724 074a 5F91 pop r21 |
725 074c 4F91 pop r20 |
726 074e 3F91 pop r19 |
727 0750 2F91 pop r18 |
728 0752 1F91 pop r17 |
729 0754 0F91 pop r16 |
730 0756 FF90 pop r15 |
731 0758 EF90 pop r14 |
732 075a DF90 pop r13 |
733 075c CF90 pop r12 |
734 075e BF90 pop r11 |
735 0760 AF90 pop r10 |
736 0762 9F90 pop r9 |
737 0764 8F90 pop r8 |
738 0766 7F90 pop r7 |
739 0768 6F90 pop r6 |
740 076a 0F90 pop __tmp_reg__ |
741 076c 0FBE out __SREG__,__tmp_reg__ |
742 076e 0F90 pop __tmp_reg__ |
743 0770 1F90 pop __zero_reg__ |
744 0772 1895 reti |
745 /* epilogue end (size=29) */ |
746 /* function __vector_24 size 970 (912) */ |
748 .global SucheGyroOffset |
750 SucheGyroOffset: |
751 /* prologue: frame size=0 */ |
752 0774 A0E0 ldi r26,lo8(0) |
753 0776 B0E0 ldi r27,hi8(0) |
754 0778 E0E0 ldi r30,pm_lo8(1f) |
755 077a F0E0 ldi r31,pm_hi8(1f) |
756 077c 0C94 0000 jmp __prologue_saves__+20 |
757 1: |
758 /* prologue end (size=6) */ |
759 0780 80ED ldi r24,lo8(2000) |
760 0782 97E0 ldi r25,hi8(2000) |
761 0784 0E94 0000 call SetDelay |
762 0788 EC01 movw r28,r24 |
763 078a 0CE8 ldi r16,lo8(-116) |
764 078c 10E0 ldi r17,lo8(0) |
765 078e 90E0 ldi r25,lo8(__c.2547) |
766 0790 C92E mov r12,r25 |
767 0792 90E0 ldi r25,hi8(__c.2547) |
768 0794 D92E mov r13,r25 |
769 0796 80E0 ldi r24,lo8(gs(uart_putchar)) |
770 0798 E82E mov r14,r24 |
771 079a 80E0 ldi r24,hi8(gs(uart_putchar)) |
772 079c F82E mov r15,r24 |
773 .L65: |
774 079e 1330 cpi r17,lo8(3) |
775 07a0 01F4 brne .L66 |
776 07a2 0B30 cpi r16,lo8(11) |
777 07a4 00F0 brlo .L66 |
778 07a6 09E0 ldi r16,lo8(9) |
779 .L66: |
780 07a8 8091 0000 lds r24,AdWertNick |
781 07ac 9091 0000 lds r25,(AdWertNick)+1 |
782 07b0 8C5F subi r24,lo8(1020) |
783 07b2 9340 sbci r25,hi8(1020) |
784 07b4 04F4 brge .L69 |
785 07b6 8091 0000 lds r24,AnalogOffsetNick |
786 07ba 8150 subi r24,lo8(-(-1)) |
787 07bc 00C0 rjmp .L112 |
788 .L69: |
789 07be 8091 0000 lds r24,AdWertNick |
790 07c2 9091 0000 lds r25,(AdWertNick)+1 |
791 07c6 8750 subi r24,lo8(1031) |
792 07c8 9440 sbci r25,hi8(1031) |
793 07ca 04F4 brge .L72 |
794 07cc 11E0 ldi r17,lo8(1) |
795 07ce 00C0 rjmp .L71 |
796 .L72: |
797 07d0 8091 0000 lds r24,AnalogOffsetNick |
798 07d4 8F5F subi r24,lo8(-(1)) |
799 .L112: |
800 07d6 8093 0000 sts AnalogOffsetNick,r24 |
801 07da 10E0 ldi r17,lo8(0) |
802 .L71: |
803 07dc 8091 0000 lds r24,AdWertRoll |
804 07e0 9091 0000 lds r25,(AdWertRoll)+1 |
805 07e4 8C5F subi r24,lo8(1020) |
806 07e6 9340 sbci r25,hi8(1020) |
807 07e8 04F4 brge .L74 |
808 07ea 8091 0000 lds r24,AnalogOffsetRoll |
809 07ee 8150 subi r24,lo8(-(-1)) |
810 07f0 00C0 rjmp .L113 |
811 .L74: |
812 07f2 8091 0000 lds r24,AdWertRoll |
813 07f6 9091 0000 lds r25,(AdWertRoll)+1 |
814 07fa 8750 subi r24,lo8(1031) |
815 07fc 9440 sbci r25,hi8(1031) |
816 07fe 04F0 brlt .L77 |
817 0800 8091 0000 lds r24,AnalogOffsetRoll |
818 0804 8F5F subi r24,lo8(-(1)) |
819 .L113: |
820 0806 8093 0000 sts AnalogOffsetRoll,r24 |
821 080a 00C0 rjmp .L76 |
822 .L77: |
823 080c 1F5F subi r17,lo8(-(1)) |
824 .L76: |
825 080e 8091 0000 lds r24,AdWertGier |
826 0812 9091 0000 lds r25,(AdWertGier)+1 |
827 0816 8C5F subi r24,lo8(1020) |
828 0818 9340 sbci r25,hi8(1020) |
829 081a 04F4 brge .L79 |
830 081c 8091 0000 lds r24,AnalogOffsetGier |
831 0820 8150 subi r24,lo8(-(-1)) |
832 0822 00C0 rjmp .L114 |
833 .L79: |
834 0824 8091 0000 lds r24,AdWertGier |
835 0828 9091 0000 lds r25,(AdWertGier)+1 |
836 082c 8750 subi r24,lo8(1031) |
837 082e 9440 sbci r25,hi8(1031) |
838 0830 04F0 brlt .L82 |
839 0832 8091 0000 lds r24,AnalogOffsetGier |
840 0836 8F5F subi r24,lo8(-(1)) |
841 .L114: |
842 0838 8093 0000 sts AnalogOffsetGier,r24 |
843 083c 00C0 rjmp .L81 |
844 .L82: |
845 083e 1F5F subi r17,lo8(-(1)) |
846 .L81: |
847 0840 82E1 ldi r24,lo8(18) |
848 0842 8093 0000 sts twi_state,r24 |
849 0846 8091 0000 lds r24,BLFlags |
850 084a 8E7F andi r24,lo8(-2) |
851 084c 8093 0000 sts BLFlags,r24 |
852 0850 85EA ldi r24,lo8(-91) |
853 0852 8093 BC00 sts 188,r24 |
854 0856 8091 0000 lds r24,AnalogOffsetNick |
855 085a 8A30 cpi r24,lo8(10) |
856 085c 00F4 brsh .L84 |
857 085e 8091 0000 lds r24,VersionInfo+5 |
858 0862 8160 ori r24,lo8(1) |
859 0864 8093 0000 sts VersionInfo+5,r24 |
860 0868 8AE0 ldi r24,lo8(10) |
861 086a 8093 0000 sts AnalogOffsetNick,r24 |
862 .L84: |
863 086e 8091 0000 lds r24,AnalogOffsetNick |
864 0872 863F cpi r24,lo8(-10) |
865 0874 00F0 brlo .L86 |
866 0876 8091 0000 lds r24,VersionInfo+5 |
867 087a 8160 ori r24,lo8(1) |
868 087c 8093 0000 sts VersionInfo+5,r24 |
869 0880 85EF ldi r24,lo8(-11) |
870 0882 8093 0000 sts AnalogOffsetNick,r24 |
871 .L86: |
872 0886 8091 0000 lds r24,AnalogOffsetRoll |
873 088a 8A30 cpi r24,lo8(10) |
874 088c 00F4 brsh .L88 |
875 088e 8091 0000 lds r24,VersionInfo+5 |
876 0892 8260 ori r24,lo8(2) |
877 0894 8093 0000 sts VersionInfo+5,r24 |
878 0898 8AE0 ldi r24,lo8(10) |
879 089a 8093 0000 sts AnalogOffsetRoll,r24 |
880 .L88: |
881 089e 8091 0000 lds r24,AnalogOffsetRoll |
882 08a2 863F cpi r24,lo8(-10) |
883 08a4 00F0 brlo .L90 |
884 08a6 8091 0000 lds r24,VersionInfo+5 |
885 08aa 8260 ori r24,lo8(2) |
886 08ac 8093 0000 sts VersionInfo+5,r24 |
887 08b0 85EF ldi r24,lo8(-11) |
888 08b2 8093 0000 sts AnalogOffsetRoll,r24 |
889 .L90: |
890 08b6 8091 0000 lds r24,AnalogOffsetGier |
891 08ba 8A30 cpi r24,lo8(10) |
892 08bc 00F4 brsh .L92 |
893 08be 8091 0000 lds r24,VersionInfo+5 |
894 08c2 8460 ori r24,lo8(4) |
895 08c4 8093 0000 sts VersionInfo+5,r24 |
896 08c8 8AE0 ldi r24,lo8(10) |
897 08ca 8093 0000 sts AnalogOffsetGier,r24 |
898 .L92: |
899 08ce 8091 0000 lds r24,AnalogOffsetGier |
900 08d2 863F cpi r24,lo8(-10) |
901 08d4 00F0 brlo .L105 |
902 08d6 8091 0000 lds r24,VersionInfo+5 |
903 08da 8460 ori r24,lo8(4) |
904 08dc 8093 0000 sts VersionInfo+5,r24 |
905 08e0 85EF ldi r24,lo8(-11) |
906 08e2 8093 0000 sts AnalogOffsetGier,r24 |
907 08e6 00C0 rjmp .L105 |
908 .L96: |
909 08e8 CE01 movw r24,r28 |
910 08ea 0E94 0000 call CheckDelay |
911 08ee 8823 tst r24 |
912 08f0 01F0 breq .L105 |
913 08f2 E091 0000 lds r30,_printf_P |
914 08f6 F091 0000 lds r31,(_printf_P)+1 |
915 08fa DF92 push r13 |
916 08fc CF92 push r12 |
917 08fe FF92 push r15 |
918 0900 EF92 push r14 |
919 0902 0995 icall |
920 0904 0F90 pop __tmp_reg__ |
921 0906 0F90 pop __tmp_reg__ |
922 0908 0F90 pop __tmp_reg__ |
923 090a 0F90 pop __tmp_reg__ |
924 090c 00C0 rjmp .L98 |
925 .L105: |
926 090e 8091 0000 lds r24,twi_state |
927 0912 8823 tst r24 |
928 0914 01F4 brne .L96 |
929 .L98: |
930 0916 1092 0000 sts AdReady,__zero_reg__ |
931 091a 8FEC ldi r24,lo8(-49) |
932 091c 8093 7A00 sts 122,r24 |
933 .L99: |
934 0920 8091 0000 lds r24,AdReady |
935 0924 8823 tst r24 |
936 0926 01F0 breq .L99 |
937 0928 0A30 cpi r16,lo8(10) |
938 092a 00F4 brsh .L101 |
939 092c 8AE0 ldi r24,lo8(10) |
940 092e 90E0 ldi r25,hi8(10) |
941 0930 0E94 0000 call Delay_ms_Mess |
942 .L101: |
943 0934 0150 subi r16,lo8(-(-1)) |
944 0936 01F0 breq .+2 |
945 0938 00C0 rjmp .L65 |
946 093a 86E4 ldi r24,lo8(70) |
947 093c 90E0 ldi r25,hi8(70) |
948 093e 0E94 0000 call Delay_ms_Mess |
949 /* epilogue: frame size=0 */ |
950 0942 E8E0 ldi r30,8 |
951 0944 CDB7 in r28,__SP_L__ |
952 0946 DEB7 in r29,__SP_H__ |
953 0948 0C94 0000 jmp __epilogue_restores__+20 |
954 /* epilogue end (size=5) */ |
955 /* function SucheGyroOffset size 243 (232) */ |
957 .global SucheLuftruckOffset |
959 SucheLuftruckOffset: |
960 /* prologue: frame size=0 */ |
961 094c EF92 push r14 |
962 094e FF92 push r15 |
963 0950 0F93 push r16 |
964 0952 1F93 push r17 |
965 0954 CF93 push r28 |
966 0956 DF93 push r29 |
967 /* prologue end (size=6) */ |
968 0958 1092 0000 sts ExpandBaro,__zero_reg__ |
969 095c 83E0 ldi r24,lo8(3) |
970 095e 90E0 ldi r25,hi8(3) |
971 0960 0E94 0000 call GetParamByte |
972 0964 C82F mov r28,r24 |
973 0966 D0E0 ldi r29,lo8(0) |
974 0968 C531 cpi r28,21 |
975 096a D105 cpc r29,__zero_reg__ |
976 096c 00F0 brlo .L116 |
977 096e 2A97 sbiw r28,10 |
978 .L116: |
979 0970 C7BD out 71-0x20,r28 |
980 0972 84E6 ldi r24,lo8(100) |
981 0974 90E0 ldi r25,hi8(100) |
982 0976 0E94 0000 call Delay_ms_Mess |
983 097a 8091 0000 lds r24,MessLuftdruck |
984 097e 9091 0000 lds r25,(MessLuftdruck)+1 |
985 0982 8052 subi r24,lo8(800) |
986 0984 9340 sbci r25,hi8(800) |
987 0986 00F4 brsh .L118 |
988 0988 C0E0 ldi r28,lo8(0) |
989 098a D0E0 ldi r29,hi8(0) |
990 098c 00C0 rjmp .L118 |
991 .L120: |
992 098e C7BD out 71-0x20,r28 |
993 0990 82E3 ldi r24,lo8(50) |
994 0992 90E0 ldi r25,hi8(50) |
995 0994 0E94 0000 call Delay_ms_Mess |
996 0998 E091 0000 lds r30,_printf_P |
997 099c F091 0000 lds r31,(_printf_P)+1 |
998 09a0 FF92 push r15 |
999 09a2 EF92 push r14 |
1000 09a4 1F93 push r17 |
1001 09a6 0F93 push r16 |
1002 09a8 0995 icall |
1003 09aa 8091 0000 lds r24,MessLuftdruck |
1004 09ae 9091 0000 lds r25,(MessLuftdruck)+1 |
1005 09b2 0F90 pop __tmp_reg__ |
1006 09b4 0F90 pop __tmp_reg__ |
1007 09b6 0F90 pop __tmp_reg__ |
1008 09b8 0F90 pop __tmp_reg__ |
1009 09ba 8052 subi r24,lo8(800) |
1010 09bc 9340 sbci r25,hi8(800) |
1011 09be 00F0 brlo .L121 |
1012 09c0 2196 adiw r28,1 |
1013 09c2 00C0 rjmp .L127 |
1014 .L118: |
1015 09c4 20E0 ldi r18,lo8(__c.2520) |
1016 09c6 E22E mov r14,r18 |
1017 09c8 20E0 ldi r18,hi8(__c.2520) |
1018 09ca F22E mov r15,r18 |
1019 09cc 00E0 ldi r16,lo8(gs(uart_putchar)) |
1020 09ce 10E0 ldi r17,hi8(gs(uart_putchar)) |
1021 .L127: |
1022 09d0 CA3F cpi r28,250 |
1023 09d2 D105 cpc r29,__zero_reg__ |
1024 09d4 00F0 brlo .L120 |
1025 .L121: |
1026 09d6 1C2F mov r17,r28 |
1027 09d8 C093 0000 sts DruckOffsetSetting,r28 |
1028 09dc 6C2F mov r22,r28 |
1029 09de 83E0 ldi r24,lo8(3) |
1030 09e0 90E0 ldi r25,hi8(3) |
1031 09e2 0E94 0000 call SetParamByte |
1032 09e6 8091 0000 lds r24,EE_Parameter+13 |
1033 09ea 80FF sbrs r24,0 |
1034 09ec 00C0 rjmp .L123 |
1035 09ee 8091 0000 lds r24,DruckOffsetSetting |
1036 09f2 8A50 subi r24,lo8(-(-10)) |
1037 09f4 8B3E cpi r24,lo8(-21) |
1038 09f6 00F0 brlo .L123 |
1039 09f8 8091 0000 lds r24,VersionInfo+5 |
1040 09fc 8064 ori r24,lo8(64) |
1041 09fe 8093 0000 sts VersionInfo+5,r24 |
1042 .L123: |
1043 0a02 17BD out 71-0x20,r17 |
1044 0a04 8CE2 ldi r24,lo8(300) |
1045 0a06 91E0 ldi r25,hi8(300) |
1046 0a08 0E94 0000 call Delay_ms_Mess |
1047 /* epilogue: frame size=0 */ |
1048 0a0c E6E0 ldi r30,6 |
1049 0a0e CDB7 in r28,__SP_L__ |
1050 0a10 DEB7 in r29,__SP_H__ |
1051 0a12 0C94 0000 jmp __epilogue_restores__+24 |
1052 /* epilogue end (size=5) */ |
1053 /* function SucheLuftruckOffset size 103 (92) */ |
1055 .global UBat |
1056 .data |
1059 UBat: |
1060 0000 6400 .word 100 |
1061 .global AdWertNickFilter |
1062 .global AdWertNickFilter |
1063 .section .bss |
1066 AdWertNickFilter: |
1067 0000 0000 .skip 2,0 |
1068 .global AdWertRollFilter |
1069 .global AdWertRollFilter |
1072 AdWertRollFilter: |
1073 0002 0000 .skip 2,0 |
1074 .global AdWertGierFilter |
1075 .global AdWertGierFilter |
1078 AdWertGierFilter: |
1079 0004 0000 .skip 2,0 |
1080 .global HiResNick |
1081 .data |
1084 HiResNick: |
1085 0002 C409 .word 2500 |
1086 .global HiResRoll |
1089 HiResRoll: |
1090 0004 C409 .word 2500 |
1091 .global AdWertNick |
1092 .global AdWertNick |
1093 .section .bss |
1096 AdWertNick: |
1097 0006 0000 .skip 2,0 |
1098 .global AdWertRoll |
1099 .global AdWertRoll |
1102 AdWertRoll: |
1103 0008 0000 .skip 2,0 |
1104 .global AdWertGier |
1105 .global AdWertGier |
1108 AdWertGier: |
1109 000a 0000 .skip 2,0 |
1110 .global AdWertAccRoll |
1111 .global AdWertAccRoll |
1114 AdWertAccRoll: |
1115 000c 0000 .skip 2,0 |
1116 .global AdWertAccNick |
1117 .global AdWertAccNick |
1120 AdWertAccNick: |
1121 000e 0000 .skip 2,0 |
1122 .global AdWertAccHoch |
1123 .global AdWertAccHoch |
1126 AdWertAccHoch: |
1127 0010 0000 .skip 2,0 |
1128 .global messanzahl_AccHoch |
1129 .global messanzahl_AccHoch |
1132 messanzahl_AccHoch: |
1133 0012 00 .skip 1,0 |
1134 .global Luftdruck |
1135 .data |
1138 Luftdruck: |
1139 0006 00 .byte 0 |
1140 0007 7D .byte 125 |
1141 0008 00 .byte 0 |
1142 0009 00 .byte 0 |
1143 .global SummenHoehe |
1144 .global SummenHoehe |
1145 .section .bss |
1148 SummenHoehe: |
1149 0013 0000 0000 .skip 4,0 |
1150 .global MessLuftdruck |
1151 .data |
1154 MessLuftdruck: |
1155 000a FF03 .word 1023 |
1156 .global ExpandBaro |
1157 .global ExpandBaro |
1158 .section .bss |
1161 ExpandBaro: |
1162 0017 00 .skip 1,0 |
1163 .global VarioMeter |
1164 .global VarioMeter |
1167 VarioMeter: |
1168 0018 0000 .skip 2,0 |
1169 .global ZaehlMessungen |
1170 .global ZaehlMessungen |
1173 ZaehlMessungen: |
1174 001a 0000 .skip 2,0 |
1175 .global AnalogOffsetNick |
1176 .data |
1179 AnalogOffsetNick: |
1180 000c 73 .byte 115 |
1181 .global AnalogOffsetRoll |
1184 AnalogOffsetRoll: |
1185 000d 73 .byte 115 |
1186 .global AnalogOffsetGier |
1189 AnalogOffsetGier: |
1190 000e 73 .byte 115 |
1191 .global AdReady |
1194 AdReady: |
1195 000f 01 .byte 1 |
1196 .lcomm messanzahl_Druck.2603,1 |
1197 .lcomm tmpLuftdruck.2602,4 |
1198 .lcomm accx.2601,2 |
1199 .lcomm accy.2600,2 |
1200 .lcomm roll_filter.2599,2 |
1201 .lcomm nick_filter.2598,2 |
1202 .lcomm nick1.2597,2 |
1203 .lcomm roll1.2596,2 |
1204 .lcomm gier1.2595,2 |
1205 .lcomm subcount.2594,1 |
1206 .lcomm state.2593,1 |
1207 .lcomm kanal.2592,1 |
1208 .section .progmem.data,"a",@progbits |
1211 __c.2547: |
1212 0000 0A0D 2044 .string "\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl" |
1212 4143 206F |
1212 7220 4932 |
1212 4320 4552 |
1212 524F 5221 |
1215 __c.2520: |
1216 0037 2E00 .string "." |
1217 .comm Aktuell_Nick,2,1 |
1218 .comm Aktuell_Roll,2,1 |
1219 .comm Aktuell_Gier,2,1 |
1220 .comm Aktuell_ax,2,1 |
1221 .comm Aktuell_ay,2,1 |
1222 .comm Aktuell_az,2,1 |
1223 .comm DruckOffsetSetting,1,1 |
1224 .comm StartLuftdruck,2,1 |
1225 .comm NeutralAccZ_float,4,1 |
1226 /* File "analog.c": code 1322 = 0x052a (1241), prologues 41, epilogues 40 */ |
DEFINED SYMBOLS |
*ABS*:00000000 analog.c |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccOyZXzb.s:2 *ABS*:0000003f __SREG__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccOyZXzb.s:3 *ABS*:0000003e __SP_H__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccOyZXzb.s:4 *ABS*:0000003d __SP_L__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccOyZXzb.s:5 *ABS*:00000000 __tmp_reg__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccOyZXzb.s:6 *ABS*:00000001 __zero_reg__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccOyZXzb.s:12 .text:00000000 ADC_Init |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccOyZXzb.s:25 .text:0000000c __vector_24 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccOyZXzb.s:1205 .bss:00000030 state.2593 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccOyZXzb.s:1201 .bss:00000029 nick1.2597 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccOyZXzb.s:1203 .bss:0000002d gier1.2595 |
*COM*:00000002 Aktuell_ay |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccOyZXzb.s:1198 .bss:00000023 accy.2600 |
*COM*:00000002 Aktuell_ax |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccOyZXzb.s:1197 .bss:00000021 accx.2601 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccOyZXzb.s:1202 .bss:0000002b roll1.2596 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccOyZXzb.s:1059 .data:00000000 UBat |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccOyZXzb.s:1126 .bss:00000010 AdWertAccHoch |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccOyZXzb.s:1204 .bss:0000002f subcount.2594 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccOyZXzb.s:1132 .bss:00000012 messanzahl_AccHoch |
*COM*:00000002 Aktuell_az |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccOyZXzb.s:1206 .bss:00000031 kanal.2592 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccOyZXzb.s:1108 .bss:0000000a AdWertGier |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccOyZXzb.s:1114 .bss:0000000c AdWertAccRoll |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccOyZXzb.s:1120 .bss:0000000e AdWertAccNick |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccOyZXzb.s:1096 .bss:00000006 AdWertNick |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccOyZXzb.s:1200 .bss:00000027 nick_filter.2598 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccOyZXzb.s:1084 .data:00000002 HiResNick |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccOyZXzb.s:1066 .bss:00000000 AdWertNickFilter |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccOyZXzb.s:1102 .bss:00000008 AdWertRoll |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccOyZXzb.s:1199 .bss:00000025 roll_filter.2599 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccOyZXzb.s:1089 .data:00000004 HiResRoll |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccOyZXzb.s:1072 .bss:00000002 AdWertRollFilter |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccOyZXzb.s:1194 .data:0000000f AdReady |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccOyZXzb.s:1173 .bss:0000001a ZaehlMessungen |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccOyZXzb.s:1154 .data:0000000a MessLuftdruck |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccOyZXzb.s:1196 .bss:0000001d tmpLuftdruck.2602 |
.bss:0000001c messanzahl_Druck.2603 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccOyZXzb.s:1138 .data:00000006 Luftdruck |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccOyZXzb.s:1161 .bss:00000017 ExpandBaro |
*COM*:00000002 StartLuftdruck |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccOyZXzb.s:1148 .bss:00000013 SummenHoehe |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccOyZXzb.s:1167 .bss:00000018 VarioMeter |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccOyZXzb.s:750 .text:00000774 SucheGyroOffset |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccOyZXzb.s:1211 .progmem.data:00000000 __c.2547 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccOyZXzb.s:1179 .data:0000000c AnalogOffsetNick |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccOyZXzb.s:1184 .data:0000000d AnalogOffsetRoll |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccOyZXzb.s:1189 .data:0000000e AnalogOffsetGier |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccOyZXzb.s:959 .text:0000094c SucheLuftruckOffset |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccOyZXzb.s:1215 .progmem.data:00000037 __c.2520 |
*COM*:00000001 DruckOffsetSetting |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccOyZXzb.s:1078 .bss:00000004 AdWertGierFilter |
*COM*:00000002 Aktuell_Nick |
*COM*:00000002 Aktuell_Roll |
*COM*:00000002 Aktuell_Gier |
*COM*:00000004 NeutralAccZ_float |
UNDEFINED SYMBOLS |
__do_copy_data |
__do_clear_bss |
__tablejump2__ |
NeutralAccY |
NeutralAccX |
__udivmodhi4 |
NeutralAccZ |
modell_fliegt |
Mess_Integral_Hoch |
__divmodsi4 |
PlatinenVersion |
__divmodhi4 |
AdNeutralNick |
AdNeutralRoll |
__mulsi3 |
HoehenWert |
__prologue_saves__ |
SetDelay |
uart_putchar |
twi_state |
BLFlags |
VersionInfo |
CheckDelay |
_printf_P |
Delay_ms_Mess |
__epilogue_restores__ |
GetParamByte |
SetParamByte |
EE_Parameter |
/Spektrum-Diversity/V0.82a/capacity.c |
---|
0,0 → 1,143 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) Holger Buss, Ingo Busker |
// + Thanks to Marcel Haller (Lion) for the nice idea and first implementation |
// + Nur für den privaten Gebrauch |
// + www.MikroKopter.com |
// + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
// + bzgl. der Nutzungsbedingungen aufzunehmen. |
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
// + Verkauf von Luftbildaufnahmen, usw. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
// + eindeutig als Ursprung verlinkt werden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
// + Benutzung auf eigene Gefahr |
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
// + mit unserer Zustimmung zulässig |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
// + this list of conditions and the following disclaimer. |
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
// + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS 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 COPYRIGHT OWNER 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. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#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 |
} |
/Spektrum-Diversity/V0.82a/capacity.d |
---|
0,0 → 1,3 |
capacity.o capacity.d : capacity.c capacity.h twimaster.h main.h old_macros.h \ |
printf_P.h timer0.h uart.h analog.h menu.h rc.h fc.h gps.h spi.h led.h \ |
spektrum.h eeprom.h libfc.h debug.h |
/Spektrum-Diversity/V0.82a/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 |
/Spektrum-Diversity/V0.82a/capacity.lst |
---|
0,0 → 1,226 |
1 .file "capacity.c" |
2 __SREG__ = 0x3f |
3 __SP_H__ = 0x3e |
4 __SP_L__ = 0x3d |
5 __tmp_reg__ = 0 |
6 __zero_reg__ = 1 |
7 .global __do_copy_data |
8 .global __do_clear_bss |
9 .text |
10 .global Capacity_Update |
12 Capacity_Update: |
13 /* prologue: frame size=0 */ |
14 /* prologue end (size=0) */ |
15 0000 8091 0000 lds r24,update_timer |
16 0004 9091 0000 lds r25,(update_timer)+1 |
17 0008 0E94 0000 call CheckDelay |
18 000c 8823 tst r24 |
19 000e 01F4 brne .+2 |
20 0010 00C0 rjmp .L19 |
21 0012 8091 0000 lds r24,update_timer |
22 0016 9091 0000 lds r25,(update_timer)+1 |
23 001a 0A96 adiw r24,10 |
24 001c 9093 0000 sts (update_timer)+1,r25 |
25 0020 8093 0000 sts update_timer,r24 |
26 0024 E0E0 ldi r30,lo8(Motor) |
27 0026 F0E0 ldi r31,hi8(Motor) |
28 0028 60E0 ldi r22,lo8(0) |
29 002a 70E0 ldi r23,hi8(0) |
30 002c 40E0 ldi r20,lo8(0) |
31 002e 50E0 ldi r21,hi8(0) |
32 0030 90E0 ldi r25,lo8(0) |
33 0032 AFEF ldi r26,lo8(-1) |
34 .L4: |
35 0034 8381 ldd r24,Z+3 |
36 0036 87FF sbrs r24,7 |
37 0038 00C0 rjmp .L5 |
38 003a 9F5F subi r25,lo8(-(1)) |
39 003c 8581 ldd r24,Z+5 |
40 003e 680F add r22,r24 |
41 0040 711D adc r23,__zero_reg__ |
42 0042 8181 ldd r24,Z+1 |
43 0044 480F add r20,r24 |
44 0046 511D adc r21,__zero_reg__ |
45 0048 8681 ldd r24,Z+6 |
46 004a 8A17 cp r24,r26 |
47 004c 00F4 brsh .L5 |
48 004e A82F mov r26,r24 |
49 .L5: |
50 0050 3896 adiw r30,8 |
51 0052 20E0 ldi r18,hi8(Motor+96) |
52 0054 E030 cpi r30,lo8(Motor+96) |
53 0056 F207 cpc r31,r18 |
54 0058 01F4 brne .L4 |
55 005a A093 0000 sts Capacity+6,r26 |
56 005e 452B or r20,r21 |
57 0060 01F4 brne .L9 |
58 0062 8091 0000 lds r24,SumCurrentOffset.2516 |
59 0066 9091 0000 lds r25,(SumCurrentOffset.2516)+1 |
60 006a A091 0000 lds r26,(SumCurrentOffset.2516)+2 |
61 006e B091 0000 lds r27,(SumCurrentOffset.2516)+3 |
62 0072 292F mov r18,r25 |
63 0074 3A2F mov r19,r26 |
64 0076 4B2F mov r20,r27 |
65 0078 5527 clr r21 |
66 007a 3093 0000 sts (CurrentOffset.2515)+1,r19 |
67 007e 2093 0000 sts CurrentOffset.2515,r18 |
68 0082 40E0 ldi r20,lo8(0) |
69 0084 50E0 ldi r21,hi8(0) |
70 0086 821B sub r24,r18 |
71 0088 930B sbc r25,r19 |
72 008a A40B sbc r26,r20 |
73 008c B50B sbc r27,r21 |
74 008e 9B01 movw r18,r22 |
75 0090 40E0 ldi r20,lo8(0) |
76 0092 50E0 ldi r21,hi8(0) |
77 0094 820F add r24,r18 |
78 0096 931F adc r25,r19 |
79 0098 A41F adc r26,r20 |
80 009a B51F adc r27,r21 |
81 009c 8093 0000 sts SumCurrentOffset.2516,r24 |
82 00a0 9093 0000 sts (SumCurrentOffset.2516)+1,r25 |
83 00a4 A093 0000 sts (SumCurrentOffset.2516)+2,r26 |
84 00a8 B093 0000 sts (SumCurrentOffset.2516)+3,r27 |
85 00ac E5E0 ldi r30,lo8(5) |
86 00ae F0E0 ldi r31,hi8(5) |
87 00b0 00C0 rjmp .L11 |
88 .L9: |
89 00b2 2091 0000 lds r18,CurrentOffset.2515 |
90 00b6 3091 0000 lds r19,(CurrentOffset.2515)+1 |
91 00ba 2617 cp r18,r22 |
92 00bc 3707 cpc r19,r23 |
93 00be 00F0 brlo .L12 |
94 00c0 20E0 ldi r18,lo8(0) |
95 00c2 30E0 ldi r19,hi8(0) |
96 00c4 00C0 rjmp .L14 |
97 .L12: |
98 00c6 621B sub r22,r18 |
99 00c8 730B sbc r23,r19 |
100 00ca 9B01 movw r18,r22 |
101 .L14: |
102 00cc E92F mov r30,r25 |
103 00ce F0E0 ldi r31,lo8(0) |
104 00d0 EE0F lsl r30 |
105 00d2 FF1F rol r31 |
106 00d4 3596 adiw r30,5 |
107 00d6 E20F add r30,r18 |
108 00d8 F31F adc r31,r19 |
109 .L11: |
110 00da F093 0000 sts (Capacity)+1,r31 |
111 00de E093 0000 sts Capacity,r30 |
112 00e2 EF3F cpi r30,255 |
113 00e4 F105 cpc r31,__zero_reg__ |
114 00e6 00F4 brsh .L15 |
115 00e8 8091 0000 lds r24,UBat |
116 00ec 9091 0000 lds r25,(UBat)+1 |
117 00f0 AC01 movw r20,r24 |
118 00f2 E49F mul r30,r20 |
119 00f4 C001 movw r24,r0 |
120 00f6 E59F mul r30,r21 |
121 00f8 900D add r25,r0 |
122 00fa F49F mul r31,r20 |
123 00fc 900D add r25,r0 |
124 00fe 1124 clr r1 |
125 0100 64E6 ldi r22,lo8(100) |
126 0102 70E0 ldi r23,hi8(100) |
127 0104 00C0 rjmp .L22 |
128 .L15: |
129 0106 8091 0000 lds r24,UBat |
130 010a 9091 0000 lds r25,(UBat)+1 |
131 010e 9F01 movw r18,r30 |
132 0110 3695 lsr r19 |
133 0112 2795 ror r18 |
134 0114 3695 lsr r19 |
135 0116 2795 ror r18 |
136 0118 AC01 movw r20,r24 |
137 011a 249F mul r18,r20 |
138 011c C001 movw r24,r0 |
139 011e 259F mul r18,r21 |
140 0120 900D add r25,r0 |
141 0122 349F mul r19,r20 |
142 0124 900D add r25,r0 |
143 0126 1124 clr r1 |
144 0128 69E1 ldi r22,lo8(25) |
145 012a 70E0 ldi r23,hi8(25) |
146 .L22: |
147 012c 0E94 0000 call __udivmodhi4 |
148 0130 7093 0000 sts (Capacity+2)+1,r23 |
149 0134 6093 0000 sts Capacity+2,r22 |
150 0138 2091 0000 lds r18,SubCounter.2514 |
151 013c 3091 0000 lds r19,(SubCounter.2514)+1 |
152 0140 2E0F add r18,r30 |
153 0142 3F1F adc r19,r31 |
154 0144 3093 0000 sts (SubCounter.2514)+1,r19 |
155 0148 2093 0000 sts SubCounter.2514,r18 |
156 014c 5EE0 ldi r21,hi8(3601) |
157 014e 2131 cpi r18,lo8(3601) |
158 0150 3507 cpc r19,r21 |
159 0152 00F0 brlo .L19 |
160 0154 8091 0000 lds r24,Capacity+4 |
161 0158 9091 0000 lds r25,(Capacity+4)+1 |
162 015c 0196 adiw r24,1 |
163 015e 9093 0000 sts (Capacity+4)+1,r25 |
164 0162 8093 0000 sts Capacity+4,r24 |
165 0166 2051 subi r18,lo8(-(-3600)) |
166 0168 3E40 sbci r19,hi8(-(-3600)) |
167 016a 3093 0000 sts (SubCounter.2514)+1,r19 |
168 016e 2093 0000 sts SubCounter.2514,r18 |
169 .L19: |
170 0172 0895 ret |
171 /* epilogue: frame size=0 */ |
172 /* epilogue: noreturn */ |
173 /* epilogue end (size=0) */ |
174 /* function Capacity_Update size 186 (186) */ |
176 .global Capacity_Init |
178 Capacity_Init: |
179 /* prologue: frame size=0 */ |
180 /* prologue end (size=0) */ |
181 0174 1092 0000 sts (Capacity)+1,__zero_reg__ |
182 0178 1092 0000 sts Capacity,__zero_reg__ |
183 017c 1092 0000 sts (Capacity+4)+1,__zero_reg__ |
184 0180 1092 0000 sts Capacity+4,__zero_reg__ |
185 0184 1092 0000 sts (Capacity+2)+1,__zero_reg__ |
186 0188 1092 0000 sts Capacity+2,__zero_reg__ |
187 018c 1092 0000 sts Capacity+6,__zero_reg__ |
188 0190 8AE0 ldi r24,lo8(10) |
189 0192 90E0 ldi r25,hi8(10) |
190 0194 0E94 0000 call SetDelay |
191 0198 9093 0000 sts (update_timer)+1,r25 |
192 019c 8093 0000 sts update_timer,r24 |
193 /* epilogue: frame size=0 */ |
194 01a0 0895 ret |
195 /* epilogue end (size=1) */ |
196 /* function Capacity_Init size 23 (22) */ |
198 .global update_timer |
199 .global update_timer |
200 .section .bss |
203 update_timer: |
204 0000 0000 .skip 2,0 |
205 .lcomm SumCurrentOffset.2516,4 |
206 .lcomm CurrentOffset.2515,2 |
207 .lcomm SubCounter.2514,2 |
208 .comm Capacity,7,1 |
209 /* File "capacity.c": code 209 = 0x00d1 ( 208), prologues 0, epilogues 1 */ |
DEFINED SYMBOLS |
*ABS*:00000000 capacity.c |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgWDiSh.s:2 *ABS*:0000003f __SREG__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgWDiSh.s:3 *ABS*:0000003e __SP_H__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgWDiSh.s:4 *ABS*:0000003d __SP_L__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgWDiSh.s:5 *ABS*:00000000 __tmp_reg__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgWDiSh.s:6 *ABS*:00000001 __zero_reg__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgWDiSh.s:12 .text:00000000 Capacity_Update |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgWDiSh.s:203 .bss:00000000 update_timer |
*COM*:00000007 Capacity |
.bss:00000002 SumCurrentOffset.2516 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgWDiSh.s:205 .bss:00000006 CurrentOffset.2515 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgWDiSh.s:206 .bss:00000008 SubCounter.2514 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgWDiSh.s:178 .text:00000174 Capacity_Init |
UNDEFINED SYMBOLS |
__do_copy_data |
__do_clear_bss |
CheckDelay |
Motor |
UBat |
__udivmodhi4 |
SetDelay |
/Spektrum-Diversity/V0.82a/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 |
*/ |
/Spektrum-Diversity/V0.82a/debug.d |
---|
0,0 → 1,3 |
debug.o debug.d : debug.c main.h old_macros.h printf_P.h timer0.h uart.h analog.h \ |
twimaster.h menu.h rc.h fc.h gps.h spi.h led.h spektrum.h capacity.h \ |
eeprom.h libfc.h debug.h |
/Spektrum-Diversity/V0.82a/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 |
/Spektrum-Diversity/V0.82a/debug.lst |
---|
0,0 → 1,20 |
1 .file "debug.c" |
2 __SREG__ = 0x3f |
3 __SP_H__ = 0x3e |
4 __SP_L__ = 0x3d |
5 __tmp_reg__ = 0 |
6 __zero_reg__ = 1 |
7 .global __do_copy_data |
8 .global __do_clear_bss |
9 /* File "debug.c": code 0 = 0x0000 ( 0), prologues 0, epilogues 0 */ |
DEFINED SYMBOLS |
*ABS*:00000000 debug.c |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccYUPR3s.s:2 *ABS*:0000003f __SREG__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccYUPR3s.s:3 *ABS*:0000003e __SP_H__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccYUPR3s.s:4 *ABS*:0000003d __SP_L__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccYUPR3s.s:5 *ABS*:00000000 __tmp_reg__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccYUPR3s.s:6 *ABS*:00000001 __zero_reg__ |
UNDEFINED SYMBOLS |
__do_copy_data |
__do_clear_bss |
/Spektrum-Diversity/V0.82a/eeprom.c |
---|
0,0 → 1,595 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) Holger Buss, Ingo Busker |
// + Nur für den privaten Gebrauch |
// + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
// + www.MikroKopter.com |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
// + bzgl. der Nutzungsbedingungen aufzunehmen. |
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
// + Verkauf von Luftbildaufnahmen, usw. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
// + eindeutig als Ursprung verlinkt werden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
// + Benutzung auf eigene Gefahr |
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
// + mit unserer Zustimmung zulässig |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
// + this list of conditions and the following disclaimer. |
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
// + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS 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 COPYRIGHT OWNER 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 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; |
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.GlobalConfig = CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER; |
EE_Parameter.ExtraConfig = CFG2_HEIGHT_LIMIT | CFG2_VARIO_BEEP; |
EE_Parameter.Receiver = RECEIVER_SPEKTRUM; |
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 = 128; // 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 = 64; // Wert : 0-247 |
EE_Parameter.Hoehe_StickNeutralPoint = 0;// Wert : 0-247 (0 = Hover-Estimation) |
EE_Parameter.Hoehe_Verstaerkung = 15; // Wert : 0-50 |
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 = 120; // Wert : 0-247 // Stellung des Servos |
EE_Parameter.ServoNickComp = 40; // 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 = 247; // Wert : 0-247 // Anschlag |
EE_Parameter.ServoNickRefresh = 5; |
EE_Parameter.Servo3 = 125; |
EE_Parameter.Servo4 = 125; |
EE_Parameter.Servo5 = 125; |
EE_Parameter.ServoRollControl = 120; // Wert : 0-247 // Stellung des Servos |
EE_Parameter.ServoRollComp = 90; // Wert : 0-247 // Einfluss Gyro/Servo |
EE_Parameter.ServoRollMin = 0; // Wert : 0-247 // Anschlag |
EE_Parameter.ServoRollMax = 247; // Wert : 0-247 // Anschlag |
EE_Parameter.ServoManualControlSpeed = 40; |
EE_Parameter.CamOrientation = 0; |
EE_Parameter.J16Bitmask = 95; |
EE_Parameter.J17Bitmask = 243; |
EE_Parameter.WARN_J16_Bitmask = 0xAA; |
EE_Parameter.WARN_J17_Bitmask = 0xAA; |
EE_Parameter.J16Timing = 20; |
EE_Parameter.J17Timing = 20; |
EE_Parameter.LoopGasLimit = 50; |
EE_Parameter.LoopThreshold = 90; // Wert: 0-247 Schwelle für Stickausschlag |
EE_Parameter.LoopHysterese = 50; |
EE_Parameter.BitConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
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 = 75; |
EE_Parameter.NaviGpsDLimit = 75; |
EE_Parameter.NaviGpsACC = 0; |
EE_Parameter.NaviGpsMinSat = 6; |
EE_Parameter.NaviStickThreshold = 8; |
EE_Parameter.NaviWindCorrection = 90; |
EE_Parameter.NaviSpeedCompensation = 30; |
EE_Parameter.NaviOperatingRadius = 100; |
EE_Parameter.NaviAngleLimitation = 100; |
EE_Parameter.NaviPH_LoginTime = 2; |
EE_Parameter.OrientationAngle = 0; |
EE_Parameter.OrientationModeControl = 0; |
EE_Parameter.UnterspannungsWarnung = 33; // Wert : 0-247 ( Automatische Zellenerkennung bei < 50) |
EE_Parameter.NotGas = 45; // Wert : 0-247 // Gaswert bei Empangsverlust |
EE_Parameter.NotGasZeit = 90; // Wert : 0-247 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
} |
void ParamSet_DefaultSet1(void) // sport |
{ |
CommonDefaults(); |
EE_Parameter.Stick_P = 14; // Wert : 1-20 |
EE_Parameter.Stick_D = 16; // Wert : 0-20 |
EE_Parameter.Gier_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.AchsKopplung1 = 90; |
EE_Parameter.AchsKopplung2 = 80; |
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 2 */ |
/***************************************************/ |
void ParamSet_DefaultSet2(void) // normal |
{ |
CommonDefaults(); |
EE_Parameter.Stick_P = 10; // Wert : 1-20 |
EE_Parameter.Stick_D = 16; // Wert : 0-20 |
EE_Parameter.Gier_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.AchsKopplung1 = 90; |
EE_Parameter.AchsKopplung2 = 80; |
EE_Parameter.CouplingYawCorrection = 60; |
EE_Parameter.GyroAccAbgleich = 32; // 1/k |
EE_Parameter.DynamicStability = 75; |
memcpy(EE_Parameter.Name, "Normal\0", 12); |
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 = 8; // Wert : 1-20 |
EE_Parameter.Stick_D = 16; // Wert : 0-20 |
EE_Parameter.Gier_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.AchsKopplung1 = 90; |
EE_Parameter.AchsKopplung2 = 80; |
EE_Parameter.CouplingYawCorrection = 70; |
EE_Parameter.GyroAccAbgleich = 32; // 1/k |
EE_Parameter.DynamicStability = 70; |
memcpy(EE_Parameter.Name, "Beginner\0", 12); |
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(); |
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; |
// 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(); |
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", 7); |
Mixer.crc = 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 |
SetParamByte(PID_EE_REVISION, EEPARAM_REVISION); |
} |
// 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(ee_default || !MixerTable_ReadFromEEProm() ) |
{ |
printf("\n\rGenerating default Mixer Table"); |
MixerTable_Default(); // Quadro |
MixerTable_WriteToEEProm(); |
} |
// 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); |
printf("\n\r=============================="); |
} |
/Spektrum-Diversity/V0.82a/eeprom.d |
---|
0,0 → 1,3 |
eeprom.o eeprom.d : eeprom.c eeprom.h twimaster.h uart.h led.h main.h old_macros.h \ |
printf_P.h timer0.h analog.h menu.h rc.h fc.h gps.h spi.h spektrum.h \ |
capacity.h libfc.h debug.h |
/Spektrum-Diversity/V0.82a/eeprom.h |
---|
0,0 → 1,241 |
#ifndef _EEPROM_H |
#define _EEPROM_H |
#include <inttypes.h> |
#include "twimaster.h" |
#define EEPARAM_REVISION 85 // 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 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; |
#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 |
#define CFG_LOOP_OBEN 0x01 |
#define CFG_LOOP_UNTEN 0x02 |
#define CFG_LOOP_LINKS 0x04 |
#define CFG_LOOP_RECHTS 0x08 |
#define CFG_MOTOR_BLINK 0x10 |
#define CFG_MOTOR_OFF_LED1 0x20 |
#define CFG_MOTOR_OFF_LED2 0x40 |
#define CFG_RES4 0x80 |
#define CFG2_HEIGHT_LIMIT 0x01 |
#define CFG2_VARIO_BEEP 0x02 |
#define CFG_SENSITIVE_RC 0x04 |
// 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 |
// 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_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 Gier_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 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 NaviSpeedCompensation; |
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 OrientationModeControl; // switch for CareFree |
unsigned char MotorSafetySwitch; |
//------------------------------------------------ |
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 0 oder 1 // WICHTIG!!! am Ende lassen |
unsigned char ExtraConfig; // 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 |
/Spektrum-Diversity/V0.82a/eeprom.lst |
---|
0,0 → 1,1168 |
1 .file "eeprom.c" |
2 __SREG__ = 0x3f |
3 __SP_H__ = 0x3e |
4 __SP_L__ = 0x3d |
5 __tmp_reg__ = 0 |
6 __zero_reg__ = 1 |
7 .global __do_copy_data |
8 .global __do_clear_bss |
9 .text |
10 .global RAM_Checksum |
12 RAM_Checksum: |
13 /* prologue: frame size=0 */ |
14 /* prologue end (size=0) */ |
15 0000 DC01 movw r26,r24 |
16 0002 4AEA ldi r20,lo8(-86) |
17 0004 20E0 ldi r18,lo8(0) |
18 0006 30E0 ldi r19,hi8(0) |
19 0008 00C0 rjmp .L2 |
20 .L3: |
21 000a FD01 movw r30,r26 |
22 000c E20F add r30,r18 |
23 000e F31F adc r31,r19 |
24 0010 8081 ld r24,Z |
25 0012 480F add r20,r24 |
26 0014 2F5F subi r18,lo8(-(1)) |
27 0016 3F4F sbci r19,hi8(-(1)) |
28 .L2: |
29 0018 2617 cp r18,r22 |
30 001a 3707 cpc r19,r23 |
31 001c 01F4 brne .L3 |
32 001e 842F mov r24,r20 |
33 0020 90E0 ldi r25,lo8(0) |
34 /* epilogue: frame size=0 */ |
35 0022 0895 ret |
36 /* epilogue end (size=1) */ |
37 /* function RAM_Checksum size 18 (17) */ |
39 .global EEProm_Checksum |
41 EEProm_Checksum: |
42 /* prologue: frame size=0 */ |
43 /* prologue end (size=0) */ |
44 0024 FC01 movw r30,r24 |
45 0026 4AEA ldi r20,lo8(-86) |
46 0028 20E0 ldi r18,lo8(0) |
47 002a 30E0 ldi r19,hi8(0) |
48 002c 00C0 rjmp .L7 |
49 .L8: |
50 002e DF01 movw r26,r30 |
51 0030 A20F add r26,r18 |
52 0032 B31F adc r27,r19 |
53 /* #APP */ |
54 0034 0E94 0000 call __eeprom_read_byte_1F2021 |
55 0038 802D mov r24,__tmp_reg__ |
56 /* #NOAPP */ |
57 003a 480F add r20,r24 |
58 003c 2F5F subi r18,lo8(-(1)) |
59 003e 3F4F sbci r19,hi8(-(1)) |
60 .L7: |
61 0040 2617 cp r18,r22 |
62 0042 3707 cpc r19,r23 |
63 0044 01F4 brne .L8 |
64 0046 842F mov r24,r20 |
65 0048 90E0 ldi r25,lo8(0) |
66 /* epilogue: frame size=0 */ |
67 004a 0895 ret |
68 /* epilogue end (size=1) */ |
69 /* function EEProm_Checksum size 21 (20) */ |
71 .global ParamSet_DefaultStickMapping |
73 ParamSet_DefaultStickMapping: |
74 /* prologue: frame size=0 */ |
75 /* prologue end (size=0) */ |
76 004c 81E0 ldi r24,lo8(1) |
77 004e 8093 0000 sts EE_Parameter+3,r24 |
78 0052 82E0 ldi r24,lo8(2) |
79 0054 8093 0000 sts EE_Parameter+2,r24 |
80 0058 83E0 ldi r24,lo8(3) |
81 005a 8093 0000 sts EE_Parameter+1,r24 |
82 005e 84E0 ldi r24,lo8(4) |
83 0060 8093 0000 sts EE_Parameter+4,r24 |
84 0064 85E0 ldi r24,lo8(5) |
85 0066 8093 0000 sts EE_Parameter+5,r24 |
86 006a 86E0 ldi r24,lo8(6) |
87 006c 8093 0000 sts EE_Parameter+6,r24 |
88 0070 87E0 ldi r24,lo8(7) |
89 0072 8093 0000 sts EE_Parameter+7,r24 |
90 0076 88E0 ldi r24,lo8(8) |
91 0078 8093 0000 sts EE_Parameter+8,r24 |
92 007c 89E0 ldi r24,lo8(9) |
93 007e 8093 0000 sts EE_Parameter+9,r24 |
94 0082 8AE0 ldi r24,lo8(10) |
95 0084 8093 0000 sts EE_Parameter+10,r24 |
96 0088 8BE0 ldi r24,lo8(11) |
97 008a 8093 0000 sts EE_Parameter+11,r24 |
98 008e 8CE0 ldi r24,lo8(12) |
99 0090 8093 0000 sts EE_Parameter+12,r24 |
100 /* epilogue: frame size=0 */ |
101 0094 0895 ret |
102 /* epilogue end (size=1) */ |
103 /* function ParamSet_DefaultStickMapping size 37 (36) */ |
105 .global CommonDefaults |
107 CommonDefaults: |
108 /* prologue: frame size=0 */ |
109 /* prologue end (size=0) */ |
110 0096 95E5 ldi r25,lo8(85) |
111 0098 9093 0000 sts EE_Parameter,r25 |
112 009c 8091 0000 lds r24,PlatinenVersion |
113 00a0 8431 cpi r24,lo8(20) |
114 00a2 00F0 brlo .L14 |
115 00a4 8AE0 ldi r24,lo8(10) |
116 00a6 8093 0000 sts EE_Parameter+32,r24 |
117 00aa 1092 0000 sts EE_Parameter+68,__zero_reg__ |
118 00ae 8BE1 ldi r24,lo8(27) |
119 00b0 8093 0000 sts EE_Parameter+28,r24 |
120 00b4 8EE4 ldi r24,lo8(78) |
121 00b6 8093 0000 sts EE_Parameter+65,r24 |
122 00ba 8093 0000 sts EE_Parameter+66,r24 |
123 00be 00C0 rjmp .L16 |
124 .L14: |
125 00c0 83E0 ldi r24,lo8(3) |
126 00c2 8093 0000 sts EE_Parameter+32,r24 |
127 00c6 80E2 ldi r24,lo8(32) |
128 00c8 8093 0000 sts EE_Parameter+68,r24 |
129 00cc 8EE1 ldi r24,lo8(30) |
130 00ce 8093 0000 sts EE_Parameter+28,r24 |
131 00d2 9093 0000 sts EE_Parameter+65,r25 |
132 00d6 9093 0000 sts EE_Parameter+66,r25 |
133 .L16: |
134 00da 8AE6 ldi r24,lo8(106) |
135 00dc 8093 0000 sts EE_Parameter+13,r24 |
136 00e0 83E0 ldi r24,lo8(3) |
137 00e2 8093 0000 sts EE_Parameter+102,r24 |
138 00e6 81E0 ldi r24,lo8(1) |
139 00e8 8093 0000 sts EE_Parameter+39,r24 |
140 00ec 1092 0000 sts EE_Parameter+99,__zero_reg__ |
141 00f0 1092 0000 sts EE_Parameter+96,__zero_reg__ |
142 00f4 68E0 ldi r22,lo8(8) |
143 00f6 6093 0000 sts EE_Parameter+26,r22 |
144 00fa 86EE ldi r24,lo8(-26) |
145 00fc 8093 0000 sts EE_Parameter+27,r24 |
146 0100 80E8 ldi r24,lo8(-128) |
147 0102 8093 0000 sts EE_Parameter+29,r24 |
148 0106 5EE1 ldi r21,lo8(30) |
149 0108 5093 0000 sts EE_Parameter+14,r21 |
150 010c 8FEF ldi r24,lo8(-1) |
151 010e 8093 0000 sts EE_Parameter+16,r24 |
152 0112 9FE0 ldi r25,lo8(15) |
153 0114 9093 0000 sts EE_Parameter+17,r25 |
154 0118 5093 0000 sts EE_Parameter+15,r21 |
155 011c 1092 0000 sts EE_Parameter+19,__zero_reg__ |
156 0120 6093 0000 sts EE_Parameter+20,r22 |
157 0124 80E4 ldi r24,lo8(64) |
158 0126 8093 0000 sts EE_Parameter+21,r24 |
159 012a 1092 0000 sts EE_Parameter+22,__zero_reg__ |
160 012e 9093 0000 sts EE_Parameter+18,r25 |
161 0132 1092 0000 sts EE_Parameter+41,__zero_reg__ |
162 0136 1092 0000 sts EE_Parameter+42,__zero_reg__ |
163 013a 1092 0000 sts EE_Parameter+43,__zero_reg__ |
164 013e 1092 0000 sts EE_Parameter+44,__zero_reg__ |
165 0142 1092 0000 sts EE_Parameter+70,__zero_reg__ |
166 0146 1092 0000 sts EE_Parameter+71,__zero_reg__ |
167 014a 1092 0000 sts EE_Parameter+72,__zero_reg__ |
168 014e 1092 0000 sts EE_Parameter+73,__zero_reg__ |
169 0152 38E7 ldi r19,lo8(120) |
170 0154 3093 0000 sts EE_Parameter+45,r19 |
171 0158 48E2 ldi r20,lo8(40) |
172 015a 4093 0000 sts EE_Parameter+46,r20 |
173 015e 72E0 ldi r23,lo8(2) |
174 0160 7093 0000 sts EE_Parameter+101,r23 |
175 0164 9093 0000 sts EE_Parameter+47,r25 |
176 0168 27EF ldi r18,lo8(-9) |
177 016a 2093 0000 sts EE_Parameter+48,r18 |
178 016e 85E0 ldi r24,lo8(5) |
179 0170 8093 0000 sts EE_Parameter+53,r24 |
180 0174 8DE7 ldi r24,lo8(125) |
181 0176 8093 0000 sts EE_Parameter+56,r24 |
182 017a 8093 0000 sts EE_Parameter+57,r24 |
183 017e 8093 0000 sts EE_Parameter+58,r24 |
184 0182 3093 0000 sts EE_Parameter+49,r19 |
185 0186 9AE5 ldi r25,lo8(90) |
186 0188 9093 0000 sts EE_Parameter+50,r25 |
187 018c 1092 0000 sts EE_Parameter+51,__zero_reg__ |
188 0190 2093 0000 sts EE_Parameter+52,r18 |
189 0194 4093 0000 sts EE_Parameter+54,r20 |
190 0198 1092 0000 sts EE_Parameter+55,__zero_reg__ |
191 019c 8FE5 ldi r24,lo8(95) |
192 019e 8093 0000 sts EE_Parameter+74,r24 |
193 01a2 83EF ldi r24,lo8(-13) |
194 01a4 8093 0000 sts EE_Parameter+76,r24 |
195 01a8 8AEA ldi r24,lo8(-86) |
196 01aa 8093 0000 sts EE_Parameter+78,r24 |
197 01ae 8093 0000 sts EE_Parameter+79,r24 |
198 01b2 84E1 ldi r24,lo8(20) |
199 01b4 8093 0000 sts EE_Parameter+75,r24 |
200 01b8 8093 0000 sts EE_Parameter+77,r24 |
201 01bc 82E3 ldi r24,lo8(50) |
202 01be 8093 0000 sts EE_Parameter+59,r24 |
203 01c2 9093 0000 sts EE_Parameter+60,r25 |
204 01c6 8093 0000 sts EE_Parameter+61,r24 |
205 01ca 1092 0000 sts EE_Parameter+100,__zero_reg__ |
206 01ce 8EEF ldi r24,lo8(-2) |
207 01d0 8093 0000 sts EE_Parameter+80,r24 |
208 01d4 24E6 ldi r18,lo8(100) |
209 01d6 2093 0000 sts EE_Parameter+81,r18 |
210 01da 9093 0000 sts EE_Parameter+82,r25 |
211 01de 9093 0000 sts EE_Parameter+83,r25 |
212 01e2 9093 0000 sts EE_Parameter+84,r25 |
213 01e6 8BE4 ldi r24,lo8(75) |
214 01e8 8093 0000 sts EE_Parameter+85,r24 |
215 01ec 8093 0000 sts EE_Parameter+86,r24 |
216 01f0 8093 0000 sts EE_Parameter+87,r24 |
217 01f4 1092 0000 sts EE_Parameter+88,__zero_reg__ |
218 01f8 86E0 ldi r24,lo8(6) |
219 01fa 8093 0000 sts EE_Parameter+89,r24 |
220 01fe 6093 0000 sts EE_Parameter+90,r22 |
221 0202 9093 0000 sts EE_Parameter+91,r25 |
222 0206 5093 0000 sts EE_Parameter+92,r21 |
223 020a 2093 0000 sts EE_Parameter+93,r18 |
224 020e 2093 0000 sts EE_Parameter+94,r18 |
225 0212 7093 0000 sts EE_Parameter+95,r23 |
226 0216 1092 0000 sts EE_Parameter+97,__zero_reg__ |
227 021a 1092 0000 sts EE_Parameter+98,__zero_reg__ |
228 021e 81E2 ldi r24,lo8(33) |
229 0220 8093 0000 sts EE_Parameter+36,r24 |
230 0224 8DE2 ldi r24,lo8(45) |
231 0226 8093 0000 sts EE_Parameter+37,r24 |
232 022a 9093 0000 sts EE_Parameter+38,r25 |
233 /* epilogue: frame size=0 */ |
234 022e 0895 ret |
235 /* epilogue end (size=1) */ |
236 /* function CommonDefaults size 205 (204) */ |
238 .global GetParamByte |
240 GetParamByte: |
241 /* prologue: frame size=0 */ |
242 /* prologue end (size=0) */ |
243 0230 DC01 movw r26,r24 |
244 /* #APP */ |
245 0232 0E94 0000 call __eeprom_read_byte_1F2021 |
246 0236 802D mov r24,__tmp_reg__ |
247 /* #NOAPP */ |
248 0238 90E0 ldi r25,lo8(0) |
249 /* epilogue: frame size=0 */ |
250 023a 0895 ret |
251 /* epilogue end (size=1) */ |
252 /* function GetParamByte size 7 (6) */ |
254 .global SetParamByte |
256 SetParamByte: |
257 /* prologue: frame size=0 */ |
258 /* prologue end (size=0) */ |
259 023c DC01 movw r26,r24 |
260 /* #APP */ |
261 023e 062E mov __tmp_reg__,r22 |
262 0240 0E94 0000 call __eeprom_write_byte_1F2021 |
263 /* #NOAPP */ |
264 /* epilogue: frame size=0 */ |
265 0244 0895 ret |
266 /* epilogue end (size=1) */ |
267 /* function SetParamByte size 6 (5) */ |
269 .global GetParamWord |
271 GetParamWord: |
272 /* prologue: frame size=0 */ |
273 /* prologue end (size=0) */ |
274 0246 DC01 movw r26,r24 |
275 /* #APP */ |
276 0248 0E94 0000 call __eeprom_read_word_1F2021 |
277 |
278 /* #NOAPP */ |
279 024c CF01 movw r24,r30 |
280 /* epilogue: frame size=0 */ |
281 024e 0895 ret |
282 /* epilogue end (size=1) */ |
283 /* function GetParamWord size 7 (6) */ |
285 .global SetParamWord |
287 SetParamWord: |
288 /* prologue: frame size=0 */ |
289 /* prologue end (size=0) */ |
290 0250 DC01 movw r26,r24 |
291 /* #APP */ |
292 0252 0B01 movw __tmp_reg__,r22 |
293 0254 0E94 0000 call __eeprom_write_word_1F2021 |
294 |
295 /* #NOAPP */ |
296 /* epilogue: frame size=0 */ |
297 0258 0895 ret |
298 /* epilogue end (size=1) */ |
299 /* function SetParamWord size 8 (7) */ |
301 .global GetActiveParamSet |
303 GetActiveParamSet: |
304 /* prologue: frame size=0 */ |
305 /* prologue end (size=0) */ |
306 025a 22E0 ldi r18,lo8(2) |
307 025c 30E0 ldi r19,hi8(2) |
308 025e D901 movw r26,r18 |
309 /* #APP */ |
310 0260 0E94 0000 call __eeprom_read_byte_1F2021 |
311 0264 802D mov r24,__tmp_reg__ |
312 /* #NOAPP */ |
313 0266 8630 cpi r24,lo8(6) |
314 0268 00F0 brlo .L27 |
315 026a 83E0 ldi r24,lo8(3) |
316 026c D901 movw r26,r18 |
317 /* #APP */ |
318 026e 082E mov __tmp_reg__,r24 |
319 0270 0E94 0000 call __eeprom_write_byte_1F2021 |
320 /* #NOAPP */ |
321 .L27: |
322 0274 90E0 ldi r25,lo8(0) |
323 /* epilogue: frame size=0 */ |
324 0276 0895 ret |
325 /* epilogue end (size=1) */ |
326 /* function GetActiveParamSet size 17 (16) */ |
328 .global SetActiveParamSet |
330 SetActiveParamSet: |
331 /* prologue: frame size=0 */ |
332 /* prologue end (size=0) */ |
333 0278 8630 cpi r24,lo8(6) |
334 027a 00F0 brlo .L31 |
335 027c 85E0 ldi r24,lo8(5) |
336 027e 00C0 rjmp .L33 |
337 .L31: |
338 0280 8823 tst r24 |
339 0282 01F4 brne .L33 |
340 0284 81E0 ldi r24,lo8(1) |
341 .L33: |
342 0286 A2E0 ldi r26,lo8(2) |
343 0288 B0E0 ldi r27,hi8(2) |
344 /* #APP */ |
345 028a 082E mov __tmp_reg__,r24 |
346 028c 0E94 0000 call __eeprom_write_byte_1F2021 |
347 /* #NOAPP */ |
348 /* epilogue: frame size=0 */ |
349 0290 0895 ret |
350 /* epilogue end (size=1) */ |
351 /* function SetActiveParamSet size 14 (13) */ |
353 .global MixerTable_WriteToEEProm |
355 MixerTable_WriteToEEProm: |
356 /* prologue: frame size=0 */ |
357 0292 CF93 push r28 |
358 0294 DF93 push r29 |
359 /* prologue end (size=2) */ |
360 0296 C0E0 ldi r28,lo8(Mixer) |
361 0298 D0E0 ldi r29,hi8(Mixer) |
362 029a 8091 0000 lds r24,Mixer |
363 029e 8130 cpi r24,lo8(1) |
364 02a0 01F0 breq .L37 |
365 02a2 80E0 ldi r24,lo8(0) |
366 02a4 90E0 ldi r25,hi8(0) |
367 02a6 00C0 rjmp .L39 |
368 .L37: |
369 02a8 6DE4 ldi r22,lo8(77) |
370 02aa 70E0 ldi r23,hi8(77) |
371 02ac CE01 movw r24,r28 |
372 02ae 0E94 0000 call RAM_Checksum |
373 02b2 8093 0000 sts Mixer+77,r24 |
374 02b6 8EE4 ldi r24,lo8(78) |
375 02b8 A8EE ldi r26,lo8(1000) |
376 02ba B3E0 ldi r27,hi8(1000) |
377 02bc FE01 movw r30,r28 |
378 /* #APP */ |
379 02be 182E mov __zero_reg__,r24 |
380 02c0 0E94 0000 call __eeprom_write_block_1F2021 |
381 /* #NOAPP */ |
382 02c4 81E0 ldi r24,lo8(1) |
383 02c6 90E0 ldi r25,hi8(1) |
384 .L39: |
385 /* epilogue: frame size=0 */ |
386 02c8 DF91 pop r29 |
387 02ca CF91 pop r28 |
388 02cc 0895 ret |
389 /* epilogue end (size=3) */ |
390 /* function MixerTable_WriteToEEProm size 31 (26) */ |
392 .global MixerTable_ReadFromEEProm |
394 MixerTable_ReadFromEEProm: |
395 /* prologue: frame size=0 */ |
396 /* prologue end (size=0) */ |
397 02ce 6DE4 ldi r22,lo8(77) |
398 02d0 70E0 ldi r23,hi8(77) |
399 02d2 88EE ldi r24,lo8(1000) |
400 02d4 93E0 ldi r25,hi8(1000) |
401 02d6 0E94 0000 call EEProm_Checksum |
402 02da A5E3 ldi r26,lo8(1077) |
403 02dc B4E0 ldi r27,hi8(1077) |
404 /* #APP */ |
405 02de 0E94 0000 call __eeprom_read_byte_1F2021 |
406 02e2 902D mov r25,__tmp_reg__ |
407 /* #NOAPP */ |
408 02e4 8917 cp r24,r25 |
409 02e6 01F4 brne .L42 |
410 02e8 28EE ldi r18,lo8(1000) |
411 02ea 33E0 ldi r19,hi8(1000) |
412 02ec D901 movw r26,r18 |
413 /* #APP */ |
414 02ee 0E94 0000 call __eeprom_read_byte_1F2021 |
415 02f2 802D mov r24,__tmp_reg__ |
416 /* #NOAPP */ |
417 02f4 8130 cpi r24,lo8(1) |
418 02f6 01F4 brne .L42 |
419 02f8 8EE4 ldi r24,lo8(78) |
420 02fa E0E0 ldi r30,lo8(Mixer) |
421 02fc F0E0 ldi r31,hi8(Mixer) |
422 02fe D901 movw r26,r18 |
423 /* #APP */ |
424 0300 182E mov __zero_reg__,r24 |
425 0302 0E94 0000 call __eeprom_read_block_1F2021 |
426 /* #NOAPP */ |
427 0306 81E0 ldi r24,lo8(1) |
428 0308 90E0 ldi r25,hi8(1) |
429 030a 0895 ret |
430 .L42: |
431 030c 80E0 ldi r24,lo8(0) |
432 030e 90E0 ldi r25,hi8(0) |
433 0310 0895 ret |
434 /* epilogue: frame size=0 */ |
435 /* epilogue: noreturn */ |
436 /* epilogue end (size=0) */ |
437 /* function MixerTable_ReadFromEEProm size 37 (37) */ |
439 .data |
440 .LC0: |
441 0000 5175 6164 .string "Quadro" |
441 726F 00 |
442 0007 00 .string "" |
443 .text |
444 .global MixerTable_Default |
446 MixerTable_Default: |
447 /* prologue: frame size=0 */ |
448 /* prologue end (size=0) */ |
449 0312 81E0 ldi r24,lo8(1) |
450 0314 8093 0000 sts Mixer,r24 |
451 0318 E0E0 ldi r30,lo8(Mixer+13) |
452 031a F0E0 ldi r31,hi8(Mixer+13) |
453 .L48: |
454 031c 1082 st Z,__zero_reg__ |
455 031e 1182 std Z+1,__zero_reg__ |
456 0320 1282 std Z+2,__zero_reg__ |
457 0322 1382 std Z+3,__zero_reg__ |
458 0324 3496 adiw r30,4 |
459 0326 80E0 ldi r24,hi8(Mixer+77) |
460 0328 E030 cpi r30,lo8(Mixer+77) |
461 032a F807 cpc r31,r24 |
462 032c 01F4 brne .L48 |
463 032e 80E4 ldi r24,lo8(64) |
464 0330 8093 0000 sts Mixer+13,r24 |
465 0334 8093 0000 sts Mixer+14,r24 |
466 0338 1092 0000 sts Mixer+15,__zero_reg__ |
467 033c 8093 0000 sts Mixer+16,r24 |
468 0340 8093 0000 sts Mixer+17,r24 |
469 0344 90EC ldi r25,lo8(-64) |
470 0346 9093 0000 sts Mixer+18,r25 |
471 034a 1092 0000 sts Mixer+19,__zero_reg__ |
472 034e 8093 0000 sts Mixer+20,r24 |
473 0352 8093 0000 sts Mixer+21,r24 |
474 0356 1092 0000 sts Mixer+22,__zero_reg__ |
475 035a 9093 0000 sts Mixer+23,r25 |
476 035e 9093 0000 sts Mixer+24,r25 |
477 0362 8093 0000 sts Mixer+25,r24 |
478 0366 1092 0000 sts Mixer+26,__zero_reg__ |
479 036a 8093 0000 sts Mixer+27,r24 |
480 036e 9093 0000 sts Mixer+28,r25 |
481 0372 A0E0 ldi r26,lo8(Mixer+1) |
482 0374 B0E0 ldi r27,hi8(Mixer+1) |
483 0376 E0E0 ldi r30,lo8(.LC0) |
484 0378 F0E0 ldi r31,hi8(.LC0) |
485 037a 87E0 ldi r24,lo8(7) |
486 .L50: |
487 037c 0190 ld r0,Z+ |
488 037e 0D92 st X+,r0 |
489 0380 8150 subi r24,lo8(-(-1)) |
490 0382 01F4 brne .L50 |
491 0384 6DE4 ldi r22,lo8(77) |
492 0386 70E0 ldi r23,hi8(77) |
493 0388 80E0 ldi r24,lo8(Mixer) |
494 038a 90E0 ldi r25,hi8(Mixer) |
495 038c 0E94 0000 call RAM_Checksum |
496 0390 8093 0000 sts Mixer+77,r24 |
497 /* epilogue: frame size=0 */ |
498 0394 0895 ret |
499 /* epilogue end (size=1) */ |
500 /* function MixerTable_Default size 67 (66) */ |
502 .data |
503 .LC1: |
504 0008 4265 6769 .string "Beginner" |
504 6E6E 6572 |
504 00 |
505 0011 00 .string "" |
506 .text |
507 .global ParamSet_DefaultSet3 |
509 ParamSet_DefaultSet3: |
510 /* prologue: frame size=0 */ |
511 /* prologue end (size=0) */ |
512 0396 0E94 0000 call CommonDefaults |
513 039a 88E0 ldi r24,lo8(8) |
514 039c 8093 0000 sts EE_Parameter+23,r24 |
515 03a0 30E1 ldi r19,lo8(16) |
516 03a2 3093 0000 sts EE_Parameter+24,r19 |
517 03a6 26E0 ldi r18,lo8(6) |
518 03a8 2093 0000 sts EE_Parameter+25,r18 |
519 03ac 94E6 ldi r25,lo8(100) |
520 03ae 9093 0000 sts EE_Parameter+30,r25 |
521 03b2 88E7 ldi r24,lo8(120) |
522 03b4 8093 0000 sts EE_Parameter+31,r24 |
523 03b8 9093 0000 sts EE_Parameter+33,r25 |
524 03bc 8093 0000 sts EE_Parameter+34,r24 |
525 03c0 2093 0000 sts EE_Parameter+35,r18 |
526 03c4 3093 0000 sts EE_Parameter+40,r19 |
527 03c8 8AE5 ldi r24,lo8(90) |
528 03ca 8093 0000 sts EE_Parameter+62,r24 |
529 03ce 80E5 ldi r24,lo8(80) |
530 03d0 8093 0000 sts EE_Parameter+63,r24 |
531 03d4 96E4 ldi r25,lo8(70) |
532 03d6 9093 0000 sts EE_Parameter+64,r25 |
533 03da 80E2 ldi r24,lo8(32) |
534 03dc 8093 0000 sts EE_Parameter+67,r24 |
535 03e0 9093 0000 sts EE_Parameter+69,r25 |
536 03e4 A0E0 ldi r26,lo8(EE_Parameter+103) |
537 03e6 B0E0 ldi r27,hi8(EE_Parameter+103) |
538 03e8 E0E0 ldi r30,lo8(.LC1) |
539 03ea F0E0 ldi r31,hi8(.LC1) |
540 03ec 8CE0 ldi r24,lo8(12) |
541 .L57: |
542 03ee 0190 ld r0,Z+ |
543 03f0 0D92 st X+,r0 |
544 03f2 8150 subi r24,lo8(-(-1)) |
545 03f4 01F4 brne .L57 |
546 03f6 63E7 ldi r22,lo8(115) |
547 03f8 70E0 ldi r23,hi8(115) |
548 03fa 80E0 ldi r24,lo8(EE_Parameter) |
549 03fc 90E0 ldi r25,hi8(EE_Parameter) |
550 03fe 0E94 0000 call RAM_Checksum |
551 0402 8093 0000 sts EE_Parameter+115,r24 |
552 /* epilogue: frame size=0 */ |
553 0406 0895 ret |
554 /* epilogue end (size=1) */ |
555 /* function ParamSet_DefaultSet3 size 58 (57) */ |
557 .data |
558 .LC2: |
559 0012 4E6F 726D .string "Normal" |
559 616C 00 |
560 0019 00 .string "" |
561 .text |
562 .global ParamSet_DefaultSet2 |
564 ParamSet_DefaultSet2: |
565 /* prologue: frame size=0 */ |
566 /* prologue end (size=0) */ |
567 0408 0E94 0000 call CommonDefaults |
568 040c 8AE0 ldi r24,lo8(10) |
569 040e 8093 0000 sts EE_Parameter+23,r24 |
570 0412 80E1 ldi r24,lo8(16) |
571 0414 8093 0000 sts EE_Parameter+24,r24 |
572 0418 26E0 ldi r18,lo8(6) |
573 041a 2093 0000 sts EE_Parameter+25,r18 |
574 041e 9AE5 ldi r25,lo8(90) |
575 0420 9093 0000 sts EE_Parameter+30,r25 |
576 0424 88E7 ldi r24,lo8(120) |
577 0426 8093 0000 sts EE_Parameter+31,r24 |
578 042a 9093 0000 sts EE_Parameter+33,r25 |
579 042e 8093 0000 sts EE_Parameter+34,r24 |
580 0432 2093 0000 sts EE_Parameter+35,r18 |
581 0436 20E2 ldi r18,lo8(32) |
582 0438 2093 0000 sts EE_Parameter+40,r18 |
583 043c 9093 0000 sts EE_Parameter+62,r25 |
584 0440 80E5 ldi r24,lo8(80) |
585 0442 8093 0000 sts EE_Parameter+63,r24 |
586 0446 8CE3 ldi r24,lo8(60) |
587 0448 8093 0000 sts EE_Parameter+64,r24 |
588 044c 2093 0000 sts EE_Parameter+67,r18 |
589 0450 8BE4 ldi r24,lo8(75) |
590 0452 8093 0000 sts EE_Parameter+69,r24 |
591 0456 A0E0 ldi r26,lo8(EE_Parameter+103) |
592 0458 B0E0 ldi r27,hi8(EE_Parameter+103) |
593 045a E0E0 ldi r30,lo8(.LC2) |
594 045c F0E0 ldi r31,hi8(.LC2) |
595 045e 8CE0 ldi r24,lo8(12) |
596 .L62: |
597 0460 0190 ld r0,Z+ |
598 0462 0D92 st X+,r0 |
599 0464 8150 subi r24,lo8(-(-1)) |
600 0466 01F4 brne .L62 |
601 0468 63E7 ldi r22,lo8(115) |
602 046a 70E0 ldi r23,hi8(115) |
603 046c 80E0 ldi r24,lo8(EE_Parameter) |
604 046e 90E0 ldi r25,hi8(EE_Parameter) |
605 0470 0E94 0000 call RAM_Checksum |
606 0474 8093 0000 sts EE_Parameter+115,r24 |
607 /* epilogue: frame size=0 */ |
608 0478 0895 ret |
609 /* epilogue end (size=1) */ |
610 /* function ParamSet_DefaultSet2 size 58 (57) */ |
612 .data |
613 .LC3: |
614 001a 5370 6F72 .string "Sport" |
614 7400 |
615 0020 00 .string "" |
616 .text |
617 .global ParamSet_DefaultSet1 |
619 ParamSet_DefaultSet1: |
620 /* prologue: frame size=0 */ |
621 /* prologue end (size=0) */ |
622 047a 0E94 0000 call CommonDefaults |
623 047e 8EE0 ldi r24,lo8(14) |
624 0480 8093 0000 sts EE_Parameter+23,r24 |
625 0484 20E1 ldi r18,lo8(16) |
626 0486 2093 0000 sts EE_Parameter+24,r18 |
627 048a 8CE0 ldi r24,lo8(12) |
628 048c 8093 0000 sts EE_Parameter+25,r24 |
629 0490 90E5 ldi r25,lo8(80) |
630 0492 9093 0000 sts EE_Parameter+30,r25 |
631 0496 86E9 ldi r24,lo8(-106) |
632 0498 8093 0000 sts EE_Parameter+31,r24 |
633 049c 9093 0000 sts EE_Parameter+33,r25 |
634 04a0 8093 0000 sts EE_Parameter+34,r24 |
635 04a4 86E0 ldi r24,lo8(6) |
636 04a6 8093 0000 sts EE_Parameter+35,r24 |
637 04aa 80E2 ldi r24,lo8(32) |
638 04ac 8093 0000 sts EE_Parameter+40,r24 |
639 04b0 8AE5 ldi r24,lo8(90) |
640 04b2 8093 0000 sts EE_Parameter+62,r24 |
641 04b6 9093 0000 sts EE_Parameter+63,r25 |
642 04ba 81E0 ldi r24,lo8(1) |
643 04bc 8093 0000 sts EE_Parameter+64,r24 |
644 04c0 2093 0000 sts EE_Parameter+67,r18 |
645 04c4 84E6 ldi r24,lo8(100) |
646 04c6 8093 0000 sts EE_Parameter+69,r24 |
647 04ca A0E0 ldi r26,lo8(EE_Parameter+103) |
648 04cc B0E0 ldi r27,hi8(EE_Parameter+103) |
649 04ce E0E0 ldi r30,lo8(.LC3) |
650 04d0 F0E0 ldi r31,hi8(.LC3) |
651 04d2 8CE0 ldi r24,lo8(12) |
652 .L67: |
653 04d4 0190 ld r0,Z+ |
654 04d6 0D92 st X+,r0 |
655 04d8 8150 subi r24,lo8(-(-1)) |
656 04da 01F4 brne .L67 |
657 04dc 63E7 ldi r22,lo8(115) |
658 04de 70E0 ldi r23,hi8(115) |
659 04e0 80E0 ldi r24,lo8(EE_Parameter) |
660 04e2 90E0 ldi r25,hi8(EE_Parameter) |
661 04e4 0E94 0000 call RAM_Checksum |
662 04e8 8093 0000 sts EE_Parameter+115,r24 |
663 /* epilogue: frame size=0 */ |
664 04ec 0895 ret |
665 /* epilogue end (size=1) */ |
666 /* function ParamSet_DefaultSet1 size 59 (58) */ |
668 .global ParamSet_WriteToEEProm |
670 ParamSet_WriteToEEProm: |
671 /* prologue: frame size=0 */ |
672 04ee FF92 push r15 |
673 04f0 0F93 push r16 |
674 04f2 1F93 push r17 |
675 /* prologue end (size=3) */ |
676 04f4 F82E mov r15,r24 |
677 04f6 8091 0000 lds r24,EE_Parameter |
678 04fa 8535 cpi r24,lo8(85) |
679 04fc 01F4 brne .L72 |
680 04fe 85E0 ldi r24,lo8(5) |
681 0500 8F15 cp r24,r15 |
682 0502 00F4 brsh .L74 |
683 0504 85E0 ldi r24,lo8(5) |
684 0506 F82E mov r15,r24 |
685 0508 00C0 rjmp .L76 |
686 .L74: |
687 050a FF20 tst r15 |
688 050c 01F0 breq .L72 |
689 .L76: |
690 050e 00E0 ldi r16,lo8(EE_Parameter) |
691 0510 10E0 ldi r17,hi8(EE_Parameter) |
692 0512 63E7 ldi r22,lo8(115) |
693 0514 70E0 ldi r23,hi8(115) |
694 0516 C801 movw r24,r16 |
695 0518 0E94 0000 call RAM_Checksum |
696 051c 8093 0000 sts EE_Parameter+115,r24 |
697 0520 84E7 ldi r24,lo8(116) |
698 0522 F89E mul r15,r24 |
699 0524 D001 movw r26,r0 |
700 0526 1124 clr r1 |
701 0528 5097 sbiw r26,16 |
702 052a F801 movw r30,r16 |
703 /* #APP */ |
704 052c 182E mov __zero_reg__,r24 |
705 052e 0E94 0000 call __eeprom_write_block_1F2021 |
706 /* #NOAPP */ |
707 0532 8CE0 ldi r24,lo8(12) |
708 0534 0F5F subi r16,lo8(-(1)) |
709 0536 1F4F sbci r17,hi8(-(1)) |
710 0538 A0E5 ldi r26,lo8(80) |
711 053a B0E0 ldi r27,hi8(80) |
712 053c F801 movw r30,r16 |
713 /* #APP */ |
714 053e 182E mov __zero_reg__,r24 |
715 0540 0E94 0000 call __eeprom_write_block_1F2021 |
716 /* #NOAPP */ |
717 0544 6CE0 ldi r22,lo8(12) |
718 0546 70E0 ldi r23,hi8(12) |
719 0548 C801 movw r24,r16 |
720 054a 0E94 0000 call RAM_Checksum |
721 054e ACE5 ldi r26,lo8(92) |
722 0550 B0E0 ldi r27,hi8(92) |
723 /* #APP */ |
724 0552 082E mov __tmp_reg__,r24 |
725 0554 0E94 0000 call __eeprom_write_byte_1F2021 |
726 /* #NOAPP */ |
727 0558 8F2D mov r24,r15 |
728 055a 0E94 0000 call SetActiveParamSet |
729 055e 0E94 0000 call LED_Init |
730 0562 81E0 ldi r24,lo8(1) |
731 0564 90E0 ldi r25,hi8(1) |
732 0566 00C0 rjmp .L77 |
733 .L72: |
734 0568 80E0 ldi r24,lo8(0) |
735 056a 90E0 ldi r25,hi8(0) |
736 .L77: |
737 /* epilogue: frame size=0 */ |
738 056c 1F91 pop r17 |
739 056e 0F91 pop r16 |
740 0570 FF90 pop r15 |
741 0572 0895 ret |
742 /* epilogue end (size=4) */ |
743 /* function ParamSet_WriteToEEProm size 70 (63) */ |
745 .global ParamSet_ReadFromEEProm |
747 ParamSet_ReadFromEEProm: |
748 /* prologue: frame size=0 */ |
749 0574 FF92 push r15 |
750 0576 0F93 push r16 |
751 0578 1F93 push r17 |
752 057a CF93 push r28 |
753 057c DF93 push r29 |
754 /* prologue end (size=5) */ |
755 057e 982F mov r25,r24 |
756 0580 8150 subi r24,lo8(-(-1)) |
757 0582 8530 cpi r24,lo8(5) |
758 0584 00F0 brlo .L80 |
759 0586 93E0 ldi r25,lo8(3) |
760 .L80: |
761 0588 24E7 ldi r18,lo8(116) |
762 058a F22E mov r15,r18 |
763 058c 9F9D mul r25,r15 |
764 058e 8001 movw r16,r0 |
765 0590 1124 clr r1 |
766 0592 E801 movw r28,r16 |
767 0594 6097 sbiw r28,16 |
768 0596 63E7 ldi r22,lo8(115) |
769 0598 70E0 ldi r23,hi8(115) |
770 059a CE01 movw r24,r28 |
771 059c 0E94 0000 call EEProm_Checksum |
772 05a0 0D59 subi r16,lo8(-(99)) |
773 05a2 1F4F sbci r17,hi8(-(99)) |
774 05a4 D801 movw r26,r16 |
775 /* #APP */ |
776 05a6 0E94 0000 call __eeprom_read_byte_1F2021 |
777 05aa 902D mov r25,__tmp_reg__ |
778 /* #NOAPP */ |
779 05ac 8917 cp r24,r25 |
780 05ae 01F4 brne .L82 |
781 05b0 DE01 movw r26,r28 |
782 /* #APP */ |
783 05b2 0E94 0000 call __eeprom_read_byte_1F2021 |
784 05b6 802D mov r24,__tmp_reg__ |
785 /* #NOAPP */ |
786 05b8 8535 cpi r24,lo8(85) |
787 05ba 01F4 brne .L82 |
788 05bc E0E0 ldi r30,lo8(EE_Parameter) |
789 05be F0E0 ldi r31,hi8(EE_Parameter) |
790 05c0 DE01 movw r26,r28 |
791 /* #APP */ |
792 05c2 1F2C mov __zero_reg__,r15 |
793 05c4 0E94 0000 call __eeprom_read_block_1F2021 |
794 /* #NOAPP */ |
795 05c8 0E94 0000 call LED_Init |
796 05cc 81E0 ldi r24,lo8(1) |
797 05ce 90E0 ldi r25,hi8(1) |
798 05d0 00C0 rjmp .L85 |
799 .L82: |
800 05d2 80E0 ldi r24,lo8(0) |
801 05d4 90E0 ldi r25,hi8(0) |
802 .L85: |
803 /* epilogue: frame size=0 */ |
804 05d6 E5E0 ldi r30,5 |
805 05d8 CDB7 in r28,__SP_L__ |
806 05da DEB7 in r29,__SP_H__ |
807 05dc 0C94 0000 jmp __epilogue_restores__+26 |
808 /* epilogue end (size=5) */ |
809 /* function ParamSet_ReadFromEEProm size 57 (47) */ |
811 .global SetDefaultParameter |
813 SetDefaultParameter: |
814 /* prologue: frame size=0 */ |
815 05e0 0F93 push r16 |
816 05e2 1F93 push r17 |
817 /* prologue end (size=2) */ |
818 05e4 182F mov r17,r24 |
819 05e6 062F mov r16,r22 |
820 05e8 8630 cpi r24,lo8(6) |
821 05ea 00F4 brsh .L88 |
822 05ec 8823 tst r24 |
823 05ee 01F4 brne .L90 |
824 05f0 11E0 ldi r17,lo8(1) |
825 05f2 00C0 rjmp .L92 |
826 .L90: |
827 05f4 8230 cpi r24,lo8(2) |
828 05f6 01F0 breq .L94 |
829 05f8 8330 cpi r24,lo8(3) |
830 05fa 01F0 breq .L93 |
831 05fc 8130 cpi r24,lo8(1) |
832 05fe 01F4 brne .L93 |
833 .L92: |
834 0600 0E94 0000 call ParamSet_DefaultSet1 |
835 0604 00C0 rjmp .L96 |
836 .L94: |
837 0606 0E94 0000 call ParamSet_DefaultSet2 |
838 060a 00C0 rjmp .L96 |
839 .L88: |
840 060c 15E0 ldi r17,lo8(5) |
841 .L93: |
842 060e 0E94 0000 call ParamSet_DefaultSet3 |
843 .L96: |
844 0612 0023 tst r16 |
845 0614 01F0 breq .L97 |
846 0616 6CE0 ldi r22,lo8(12) |
847 0618 70E0 ldi r23,hi8(12) |
848 061a 80E5 ldi r24,lo8(80) |
849 061c 90E0 ldi r25,hi8(80) |
850 061e 0E94 0000 call EEProm_Checksum |
851 0622 ACE5 ldi r26,lo8(92) |
852 0624 B0E0 ldi r27,hi8(92) |
853 /* #APP */ |
854 0626 0E94 0000 call __eeprom_read_byte_1F2021 |
855 062a 902D mov r25,__tmp_reg__ |
856 /* #NOAPP */ |
857 062c 8917 cp r24,r25 |
858 062e 01F4 brne .L97 |
859 0630 8CE0 ldi r24,lo8(12) |
860 0632 E0E0 ldi r30,lo8(EE_Parameter+1) |
861 0634 F0E0 ldi r31,hi8(EE_Parameter+1) |
862 0636 A0E5 ldi r26,lo8(80) |
863 0638 B0E0 ldi r27,hi8(80) |
864 /* #APP */ |
865 063a 182E mov __zero_reg__,r24 |
866 063c 0E94 0000 call __eeprom_read_block_1F2021 |
867 /* #NOAPP */ |
868 0640 00C0 rjmp .L101 |
869 .L97: |
870 0642 0E94 0000 call ParamSet_DefaultStickMapping |
871 .L101: |
872 0646 812F mov r24,r17 |
873 0648 0E94 0000 call ParamSet_WriteToEEProm |
874 /* epilogue: frame size=0 */ |
875 064c 1F91 pop r17 |
876 064e 0F91 pop r16 |
877 0650 0895 ret |
878 /* epilogue end (size=3) */ |
879 /* function SetDefaultParameter size 59 (54) */ |
881 .global ParamSet_Init |
883 ParamSet_Init: |
884 /* prologue: frame size=0 */ |
885 0652 A0E0 ldi r26,lo8(0) |
886 0654 B0E0 ldi r27,hi8(0) |
887 0656 E0E0 ldi r30,pm_lo8(1f) |
888 0658 F0E0 ldi r31,pm_hi8(1f) |
889 065a 0C94 0000 jmp __prologue_saves__+10 |
890 1: |
891 /* prologue end (size=6) */ |
892 065e 21E0 ldi r18,lo8(1) |
893 0660 30E0 ldi r19,hi8(1) |
894 0662 D901 movw r26,r18 |
895 /* #APP */ |
896 0664 0E94 0000 call __eeprom_read_byte_1F2021 |
897 0668 802D mov r24,__tmp_reg__ |
898 /* #NOAPP */ |
899 066a 8535 cpi r24,lo8(85) |
900 066c 01F4 brne .L104 |
901 066e DD24 clr r13 |
902 0670 00C0 rjmp .L106 |
903 .L104: |
904 0672 85E5 ldi r24,lo8(85) |
905 0674 D901 movw r26,r18 |
906 /* #APP */ |
907 0676 082E mov __tmp_reg__,r24 |
908 0678 0E94 0000 call __eeprom_write_byte_1F2021 |
909 /* #NOAPP */ |
910 067c DD24 clr r13 |
911 067e D394 inc r13 |
912 .L106: |
913 0680 6CE0 ldi r22,lo8(12) |
914 0682 70E0 ldi r23,hi8(12) |
915 0684 80E5 ldi r24,lo8(80) |
916 0686 90E0 ldi r25,hi8(80) |
917 0688 0E94 0000 call EEProm_Checksum |
918 068c 782E mov r7,r24 |
919 068e ACE5 ldi r26,lo8(92) |
920 0690 B0E0 ldi r27,hi8(92) |
921 /* #APP */ |
922 0692 0E94 0000 call __eeprom_read_byte_1F2021 |
923 0696 C02C mov r12,__tmp_reg__ |
924 /* #NOAPP */ |
925 0698 10E0 ldi r17,lo8(0) |
926 069a C1E0 ldi r28,lo8(1) |
927 069c D0E0 ldi r29,hi8(1) |
928 069e 50E0 ldi r21,lo8(__c.2643) |
929 06a0 852E mov r8,r21 |
930 06a2 50E0 ldi r21,hi8(__c.2643) |
931 06a4 952E mov r9,r21 |
932 06a6 40E0 ldi r20,lo8(gs(uart_putchar)) |
933 06a8 A42E mov r10,r20 |
934 06aa 40E0 ldi r20,hi8(gs(uart_putchar)) |
935 06ac B42E mov r11,r20 |
936 06ae 30E0 ldi r19,lo8(EE_Parameter+1) |
937 06b0 E32E mov r14,r19 |
938 06b2 30E0 ldi r19,hi8(EE_Parameter+1) |
939 06b4 F32E mov r15,r19 |
940 .L107: |
941 06b6 0C2F mov r16,r28 |
942 06b8 DD20 tst r13 |
943 06ba 01F4 brne .L108 |
944 06bc 8C2F mov r24,r28 |
945 06be 0E94 0000 call ParamSet_ReadFromEEProm |
946 06c2 8823 tst r24 |
947 06c4 01F4 brne .L110 |
948 .L108: |
949 06c6 DF93 push r29 |
950 06c8 CF93 push r28 |
951 06ca 9F92 push r9 |
952 06cc 8F92 push r8 |
953 06ce BF92 push r11 |
954 06d0 AF92 push r10 |
955 06d2 E091 0000 lds r30,_printf_P |
956 06d6 F091 0000 lds r31,(_printf_P)+1 |
957 06da 0995 icall |
958 06dc 8DB7 in r24,__SP_L__ |
959 06de 9EB7 in r25,__SP_H__ |
960 06e0 0696 adiw r24,6 |
961 06e2 8DBF out __SP_L__,r24 |
962 06e4 0230 cpi r16,lo8(2) |
963 06e6 01F0 breq .L113 |
964 06e8 0330 cpi r16,lo8(3) |
965 06ea 01F0 breq .L111 |
966 06ec 0130 cpi r16,lo8(1) |
967 06ee 01F4 brne .L111 |
968 06f0 0E94 0000 call ParamSet_DefaultSet1 |
969 06f4 00C0 rjmp .L115 |
970 .L113: |
971 06f6 0E94 0000 call ParamSet_DefaultSet2 |
972 06fa 00C0 rjmp .L115 |
973 .L111: |
974 06fc 0E94 0000 call ParamSet_DefaultSet3 |
975 .L115: |
976 0700 7C14 cp r7,r12 |
977 0702 01F4 brne .L116 |
978 0704 8CE0 ldi r24,lo8(12) |
979 0706 A0E5 ldi r26,lo8(80) |
980 0708 B0E0 ldi r27,hi8(80) |
981 070a F701 movw r30,r14 |
982 /* #APP */ |
983 070c 182E mov __zero_reg__,r24 |
984 070e 0E94 0000 call __eeprom_read_block_1F2021 |
985 /* #NOAPP */ |
986 0712 00C0 rjmp .L118 |
987 .L116: |
988 0714 0E94 0000 call ParamSet_DefaultStickMapping |
989 .L118: |
990 0718 802F mov r24,r16 |
991 071a 0E94 0000 call ParamSet_WriteToEEProm |
992 071e 11E0 ldi r17,lo8(1) |
993 .L110: |
994 0720 2196 adiw r28,1 |
995 0722 C630 cpi r28,6 |
996 0724 D105 cpc r29,__zero_reg__ |
997 0726 01F4 brne .L107 |
998 0728 1123 tst r17 |
999 072a 01F0 breq .L120 |
1000 072c 83E0 ldi r24,lo8(3) |
1001 072e 0E94 0000 call SetActiveParamSet |
1002 .L120: |
1003 0732 22E0 ldi r18,lo8(2) |
1004 0734 30E0 ldi r19,hi8(2) |
1005 0736 D901 movw r26,r18 |
1006 /* #APP */ |
1007 0738 0E94 0000 call __eeprom_read_byte_1F2021 |
1008 073c 002D mov r16,__tmp_reg__ |
1009 /* #NOAPP */ |
1010 073e 0630 cpi r16,lo8(6) |
1011 0740 00F0 brlo .L122 |
1012 0742 83E0 ldi r24,lo8(3) |
1013 0744 D901 movw r26,r18 |
1014 /* #APP */ |
1015 0746 082E mov __tmp_reg__,r24 |
1016 0748 0E94 0000 call __eeprom_write_byte_1F2021 |
1017 /* #NOAPP */ |
1018 074c 03E0 ldi r16,lo8(3) |
1019 .L122: |
1020 074e 802F mov r24,r16 |
1021 0750 0E94 0000 call ParamSet_ReadFromEEProm |
1022 0754 802F mov r24,r16 |
1023 0756 90E0 ldi r25,lo8(0) |
1024 0758 9F93 push r25 |
1025 075a 8F93 push r24 |
1026 075c 80E0 ldi r24,lo8(__c.2653) |
1027 075e 90E0 ldi r25,hi8(__c.2653) |
1028 0760 9F93 push r25 |
1029 0762 8F93 push r24 |
1030 0764 C0E0 ldi r28,lo8(gs(uart_putchar)) |
1031 0766 D0E0 ldi r29,hi8(gs(uart_putchar)) |
1032 0768 DF93 push r29 |
1033 076a CF93 push r28 |
1034 076c E091 0000 lds r30,_printf_P |
1035 0770 F091 0000 lds r31,(_printf_P)+1 |
1036 0774 0995 icall |
1037 0776 8DB7 in r24,__SP_L__ |
1038 0778 9EB7 in r25,__SP_H__ |
1039 077a 0696 adiw r24,6 |
1040 077c 8DBF out __SP_L__,r24 |
1041 077e DD20 tst r13 |
1042 0780 01F4 brne .L124 |
1043 0782 0E94 0000 call MixerTable_ReadFromEEProm |
1044 0786 8823 tst r24 |
1045 0788 01F4 brne .L126 |
1046 .L124: |
1047 078a 80E0 ldi r24,lo8(__c.2655) |
1048 078c 90E0 ldi r25,hi8(__c.2655) |
1049 078e 9F93 push r25 |
1050 0790 8F93 push r24 |
1051 0792 DF93 push r29 |
1052 0794 CF93 push r28 |
1053 0796 E091 0000 lds r30,_printf_P |
1054 079a F091 0000 lds r31,(_printf_P)+1 |
1055 079e 0995 icall |
1056 07a0 0E94 0000 call MixerTable_Default |
1057 07a4 0E94 0000 call MixerTable_WriteToEEProm |
1058 07a8 0F90 pop __tmp_reg__ |
1059 07aa 0F90 pop __tmp_reg__ |
1060 07ac 0F90 pop __tmp_reg__ |
1061 07ae 0F90 pop __tmp_reg__ |
1062 .L126: |
1063 07b0 E0E0 ldi r30,lo8(Mixer+13) |
1064 07b2 F0E0 ldi r31,hi8(Mixer+13) |
1065 07b4 90E0 ldi r25,lo8(0) |
1066 .L127: |
1067 07b6 8081 ld r24,Z |
1068 07b8 1816 cp __zero_reg__,r24 |
1069 07ba 04F4 brge .L128 |
1070 07bc 9F5F subi r25,lo8(-(1)) |
1071 .L128: |
1072 07be 3496 adiw r30,4 |
1073 07c0 80E0 ldi r24,hi8(Mixer+77) |
1074 07c2 E030 cpi r30,lo8(Mixer+77) |
1075 07c4 F807 cpc r31,r24 |
1076 07c6 01F4 brne .L127 |
1077 07c8 9093 0000 sts RequiredMotors,r25 |
1078 07cc 892F mov r24,r25 |
1079 07ce 90E0 ldi r25,lo8(0) |
1080 07d0 9F93 push r25 |
1081 07d2 8F93 push r24 |
1082 07d4 80E0 ldi r24,lo8(Mixer+1) |
1083 07d6 90E0 ldi r25,hi8(Mixer+1) |
1084 07d8 9F93 push r25 |
1085 07da 8F93 push r24 |
1086 07dc 80E0 ldi r24,lo8(__c.2660) |
1087 07de 90E0 ldi r25,hi8(__c.2660) |
1088 07e0 9F93 push r25 |
1089 07e2 8F93 push r24 |
1090 07e4 00E0 ldi r16,lo8(gs(uart_putchar)) |
1091 07e6 10E0 ldi r17,hi8(gs(uart_putchar)) |
1092 07e8 1F93 push r17 |
1093 07ea 0F93 push r16 |
1094 07ec E091 0000 lds r30,_printf_P |
1095 07f0 F091 0000 lds r31,(_printf_P)+1 |
1096 07f4 0995 icall |
1097 07f6 80E0 ldi r24,lo8(__c.2662) |
1098 07f8 90E0 ldi r25,hi8(__c.2662) |
1099 07fa 9F93 push r25 |
1100 07fc 8F93 push r24 |
1101 07fe 1F93 push r17 |
1102 0800 0F93 push r16 |
1103 0802 E091 0000 lds r30,_printf_P |
1104 0806 F091 0000 lds r31,(_printf_P)+1 |
1105 080a 0995 icall |
1106 080c EDB7 in r30,__SP_L__ |
1107 080e FEB7 in r31,__SP_H__ |
1108 0810 3C96 adiw r30,12 |
1109 0812 EDBF out __SP_L__,r30 |
1110 /* epilogue: frame size=0 */ |
1111 0814 EDE0 ldi r30,13 |
1112 0816 CDB7 in r28,__SP_L__ |
1113 0818 DEB7 in r29,__SP_H__ |
1114 081a 0C94 0000 jmp __epilogue_restores__+10 |
1115 /* epilogue end (size=5) */ |
1116 /* function ParamSet_Init size 236 (225) */ |
1118 .section .progmem.data,"a",@progbits |
1121 __c.2662: |
1122 0000 0A0D 3D3D .string "\n\r==============================" |
1122 3D3D 3D3D |
1122 3D3D 3D3D |
1122 3D3D 3D3D |
1122 3D3D 3D3D |
1125 __c.2660: |
1126 0021 0A0D 4D69 .string "\n\rMixer-Config: '%s' (%u Motors)" |
1126 7865 722D |
1126 436F 6E66 |
1126 6967 3A20 |
1126 2725 7327 |
1129 __c.2655: |
1130 0042 0A0D 4765 .string "\n\rGenerating default Mixer Table" |
1130 6E65 7261 |
1130 7469 6E67 |
1130 2064 6566 |
1130 6175 6C74 |
1133 __c.2653: |
1134 0063 0A0D 5573 .string "\n\rUsing Parameter Set %d" |
1134 696E 6720 |
1134 5061 7261 |
1134 6D65 7465 |
1134 7220 5365 |
1137 __c.2643: |
1138 007c 0A0D 4765 .string "\n\rGenerating default Parameter Set %d" |
1138 6E65 7261 |
1138 7469 6E67 |
1138 2064 6566 |
1138 6175 6C74 |
1139 .comm Mixer,78,1 |
1140 .comm RequiredMotors,1,1 |
1141 .comm EE_Parameter,116,1 |
1142 /* File "eeprom.c": code 1072 = 0x0430 (1020), prologues 18, epilogues 34 */ |
DEFINED SYMBOLS |
*ABS*:00000000 eeprom.c |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cc9cj6yR.s:2 *ABS*:0000003f __SREG__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cc9cj6yR.s:3 *ABS*:0000003e __SP_H__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cc9cj6yR.s:4 *ABS*:0000003d __SP_L__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cc9cj6yR.s:5 *ABS*:00000000 __tmp_reg__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cc9cj6yR.s:6 *ABS*:00000001 __zero_reg__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cc9cj6yR.s:12 .text:00000000 RAM_Checksum |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cc9cj6yR.s:41 .text:00000024 EEProm_Checksum |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cc9cj6yR.s:73 .text:0000004c ParamSet_DefaultStickMapping |
*COM*:00000074 EE_Parameter |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cc9cj6yR.s:107 .text:00000096 CommonDefaults |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cc9cj6yR.s:240 .text:00000230 GetParamByte |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cc9cj6yR.s:256 .text:0000023c SetParamByte |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cc9cj6yR.s:271 .text:00000246 GetParamWord |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cc9cj6yR.s:287 .text:00000250 SetParamWord |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cc9cj6yR.s:303 .text:0000025a GetActiveParamSet |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cc9cj6yR.s:330 .text:00000278 SetActiveParamSet |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cc9cj6yR.s:355 .text:00000292 MixerTable_WriteToEEProm |
*COM*:0000004e Mixer |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cc9cj6yR.s:394 .text:000002ce MixerTable_ReadFromEEProm |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cc9cj6yR.s:446 .text:00000312 MixerTable_Default |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cc9cj6yR.s:509 .text:00000396 ParamSet_DefaultSet3 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cc9cj6yR.s:564 .text:00000408 ParamSet_DefaultSet2 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cc9cj6yR.s:619 .text:0000047a ParamSet_DefaultSet1 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cc9cj6yR.s:670 .text:000004ee ParamSet_WriteToEEProm |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cc9cj6yR.s:747 .text:00000574 ParamSet_ReadFromEEProm |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cc9cj6yR.s:813 .text:000005e0 SetDefaultParameter |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cc9cj6yR.s:883 .text:00000652 ParamSet_Init |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cc9cj6yR.s:1137 .progmem.data:0000007c __c.2643 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cc9cj6yR.s:1133 .progmem.data:00000063 __c.2653 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cc9cj6yR.s:1129 .progmem.data:00000042 __c.2655 |
*COM*:00000001 RequiredMotors |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cc9cj6yR.s:1125 .progmem.data:00000021 __c.2660 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cc9cj6yR.s:1121 .progmem.data:00000000 __c.2662 |
UNDEFINED SYMBOLS |
__do_copy_data |
__do_clear_bss |
__eeprom_read_byte_1F2021 |
PlatinenVersion |
__eeprom_write_byte_1F2021 |
__eeprom_read_word_1F2021 |
__eeprom_write_word_1F2021 |
__eeprom_write_block_1F2021 |
__eeprom_read_block_1F2021 |
LED_Init |
__epilogue_restores__ |
__prologue_saves__ |
uart_putchar |
_printf_P |
/Spektrum-Diversity/V0.82a/fc.c |
---|
0,0 → 1,1732 |
/*####################################################################################### |
Flight Control |
#######################################################################################*/ |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) Holger Buss, Ingo Busker |
// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
// + www.MikroKopter.com |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
// + bzgl. der Nutzungsbedingungen aufzunehmen. |
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
// + Verkauf von Luftbildaufnahmen, usw. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
// + eindeutig als Ursprung verlinkt werden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
// + Benutzung auf eigene Gefahr |
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
// + mit unserer Zustimmung zulässig |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
// + this list of conditions and the following disclaimer. |
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
// + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS 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 COPYRIGHT OWNER 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. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#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 = 0; |
int KompassStartwert = 0; |
int KompassRichtung = 0; |
unsigned int KompassSignalSchlecht = 500; |
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 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; |
int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
char MotorenEin = 0,StartTrigger = 0; |
long HoehenWert = 0; |
long SollHoehe = 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_MaxHoehe = 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_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}; |
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; |
long GIER_GRAD_FAKTOR = 1291; |
signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
signed int tmp_motorwert[MAX_MOTORS]; |
char VarioCharacter = ' '; |
#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;} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// 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] = ErsatzKompass / GIER_GRAD_FAKTOR; |
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[22] = FromNaviCtrl_Value.GpsZ; |
// DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
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; |
//if(Capacity.MinOfMaxPWM < 250/* && modell_fliegt > 500*/) { beeptime = 1000; DebugOut.Analog[25]++; } |
} |
void Piep(unsigned char Anzahl, unsigned int dauer) |
{ |
if(MotorenEin) return; //auf keinen Fall im Flug! |
while(Anzahl--) |
{ |
beeptime = dauer; |
while(beeptime); |
Delay_ms(dauer * 2); |
} |
} |
//############################################################################ |
// 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]] + 110; |
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; |
HEF4017R_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_IntegralNick2 = IntegralNick; |
Mess_IntegralRoll2 = IntegralRoll; |
Mess_Integral_Gier = 0; |
StartLuftdruck = Luftdruck; |
VarioMeter = 0; |
Mess_Integral_Hoch = 0; |
KompassStartwert = KompassValue; |
GPS_Neutral(); |
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; |
SendVersionToNavi = 1; |
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]] + 110; |
} |
SenderOkay = 100; |
if(ServoActive) |
{ |
HEF4017R_ON; |
DDRD |=0x80; // enable J7 -> Servo signal |
} |
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; }; |
} |
//############################################################################ |
// 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; |
unsigned char i; |
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 && (EE_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(EE_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; |
#define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];} |
#define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);} |
for(i=0;i<8;i++) |
{ |
int tmp2; |
tmp2 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
if(tmp2 > 255) tmp2 = 255; else if(tmp2 < 0) tmp2 = 0; |
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,1,255); |
CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,1,255); |
CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3); |
CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4); |
CHK_POTI(Parameter_Servo5,EE_Parameter.Servo5); |
CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
CHK_POTI(Parameter_MaxHoehe,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_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.OrientationModeControl; |
if(tmp > 50) |
{ |
#ifdef SWITCH_LEARNS_CAREFREE |
if(!CareFree) ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
#endif |
CareFree = 1; |
if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
if(FromNaviCtrl.CompassValue < 0 && CareFree) VersionInfo.HardwareError[0] |= FC_ERROR0_CAREFREE; else VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; |
} |
else CareFree = 0; |
if(FromNaviCtrl.CompassValue < 0 && MotorenEin && CareFree && BeepMuster == 0xffff) // ungültiger Kompasswert |
{ |
beeptime = 15000; |
BeepMuster = 0xA400; |
CareFree = 0; |
} |
if(CareFree) {if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} |
} |
//############################################################################ |
// |
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 unsigned char calibration_done = 0; |
static char NeueKompassRichtungMerken = 0; |
static long ausgleichNick, ausgleichRoll; |
int IntegralNickMalFaktor,IntegralRollMalFaktor; |
unsigned char i; |
Mittelwert(); |
GRN_ON; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Gaswert ermitteln |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
GasMischanteil = StickGas; |
if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Empfang schlecht |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(SenderOkay < 100) |
{ |
if(RcLostTimer) RcLostTimer--; |
else |
{ |
MotorenEin = 0; |
FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING; |
} |
ROT_ON; |
if(modell_fliegt > 1000) // wahrscheinlich in der Luft --> langsam absenken |
{ |
GasMischanteil = EE_Parameter.NotGas; |
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; |
if(modell_fliegt == 250) |
{ |
NeueKompassRichtungMerken = 1; |
} |
} 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 |
{ |
GRN_OFF; |
MotorenEin = 0; |
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; |
beeptime = 1000; |
} |
else |
{ |
ParamSet_ReadFromEEProm(GetActiveParamSet()); |
LipoDetection(0); |
LIBFC_ReceiverInit(EE_Parameter.Receiver); |
if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
{ |
if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
} |
ServoActive = 0; |
SetNeutral(0); |
calibration_done = 1; |
ServoActive = 1; |
DDRD |=0x80; // enable J7 -> Servo signal |
Piep(GetActiveParamSet(),120); |
} |
} |
} |
else |
if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
{ |
if(++delay_neutral > 200) // nicht sofort |
{ |
GRN_OFF; |
MotorenEin = 0; |
delay_neutral = 0; |
modell_fliegt = 0; |
SetNeutral(1); |
calibration_done = 1; |
Piep(GetActiveParamSet(),120); |
} |
} |
else delay_neutral = 0; |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Gas ist unten |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
{ |
// Motoren Starten |
if(!MotorenEin) |
{ |
if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
{ |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Einschalten |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(++delay_einschalten > 200) |
{ |
delay_einschalten = 0; |
if(!VersionInfo.HardwareError[0] && calibration_done) |
{ |
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; |
FC_StatusFlags |= FC_STATUS_START; |
ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
} |
else |
{ |
beeptime = 1500; // indicate missing calibration |
} |
} |
} |
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(++delay_ausschalten > 200) // nicht sofort |
{ |
MotorenEin = 0; |
delay_ausschalten = 0; |
modell_fliegt = 0; |
} |
} |
else delay_ausschalten = 0; |
} |
} |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// neue Werte von der Funke |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(!NewPpmData-- || (FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
{ |
static int stick_nick,stick_roll; |
ParameterZuordnung(); |
stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.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]] * EE_Parameter.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 > 2) StickGier -= 2; else |
if(StickGier < -2) StickGier += 2; else StickGier = 0; |
StickNick -= (GPS_Nick + GPS_Nick2); |
StickRoll -= (GPS_Roll + GPS_Roll2); |
StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
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(EE_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_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 != -1 /*&& !TrichterFlug*/) |
{ |
tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
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; |
} |
#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 = 1000; |
} |
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 = 1000; |
} |
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) > 15) // war 35 |
{ |
KompassSignalSchlecht = 1000; |
if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) |
{ |
NeueKompassRichtungMerken = 1; |
}; |
} |
tmp_int = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
tmp_int += (EE_Parameter.Gier_P * StickGier) / 4; |
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 && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
{ |
int w,v,r,fehler,korrektur; |
w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
v = abs(IntegralRoll /512); |
if(v > w) w = v; // grösste Neigung ermitteln |
korrektur = w / 8 + 2; |
fehler = ((540 + KompassValue - (ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180; |
//fehler += MesswertGier / 12; |
if(!KompassSignalSchlecht && w < 25) |
{ |
GierGyroFehler += fehler; |
if(NeueKompassRichtungMerken) |
{ |
ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
KompassStartwert = (ErsatzKompass/GIER_GRAD_FAKTOR); |
NeueKompassRichtungMerken = 0; |
} |
} |
ErsatzKompass += (fehler * 16) / korrektur; |
w = (w * Parameter_KompassWirkung) / 32; // auf die Wirkung normieren |
w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
if(w >= 0) |
{ |
if(!KompassSignalSchlecht) |
{ |
v = 64 + ((MaxStickNick + MaxStickRoll)) / 8; |
r = ((540 + (ErsatzKompass/GIER_GRAD_FAKTOR) - KompassStartwert) % 360) - 180; |
v = (r * w) / v; // nach Kompass ausrichten |
w = 3 * Parameter_KompassWirkung; |
if(v > w) v = w; // Begrenzen |
else |
if(v < -w) v = -w; |
Mess_Integral_Gier += v; |
} |
if(KompassSignalSchlecht) KompassSignalSchlecht--; |
} |
else KompassSignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// 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*STICK_GAIN) |
#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((EE_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 int StickGasHover = 120, HoverGasMin = 0, HoverGasMax = 1023; |
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(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
{ // check if parameter is less than activation threshold |
if(Parameter_MaxHoehe < 50) // for 3 or 2-state switch height control is disabled in lowest position |
{ //height control not active |
if(!delay--) |
{ |
HoehenReglerAktiv = 0; // disable height control |
SollHoehe = HoehenWert; // update SetPoint with current reading |
delay = 1; |
} |
} |
else |
{ //height control is activated |
HoehenReglerAktiv = 1; // enable height control |
delay = 200; |
} |
} |
else // no switchable height control |
{ |
SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_MaxHoehe) * (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 = ' '; |
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. |
if((EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) || !(EE_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; |
// 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; |
HeightTrimming += abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
VarioCharacter = '+'; |
} // 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; |
HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
VarioCharacter = '-'; |
} |
else // Gas Stick in Hover Range |
{ |
if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) |
{ |
FC_StatusFlags &= ~(FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
HeightTrimming = 0; |
SollHoehe = HoehenWert; // update setpoint to current height |
if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500; |
if(!StartTrigger && HoehenWert > 50) |
{ |
StartTrigger = 1; |
} |
} |
VarioCharacter = '='; |
} |
// Trim height set point |
if(abs(HeightTrimming) > 512) |
{ |
SollHoehe += (HeightTrimming * EE_Parameter.Hoehe_Verstaerkung)/(5 * 512 / 2); // move setpoint |
HeightTrimming = 0; |
LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 100; |
//update hoover gas stick value when setpoint is shifted |
if(!EE_Parameter.Hoehe_StickNeutralPoint) |
{ |
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; |
} |
HCGas = HoverGas; // take hover gas (neutral point) |
} |
if(HoehenWert > SollHoehe || !(EE_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(EE_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(!HeightTrimming && 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(EE_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); |
} |
// 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) // only on small vertical speed |
{ |
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 ParamSet.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 |
// 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) |
if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) |
{ |
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; // Ãœberlauf 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; // Ãœberlauf 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]; // MotorSmoothing |
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; |
} |
} |
} |
/Spektrum-Diversity/V0.82a/fc.d |
---|
0,0 → 1,3 |
fc.o fc.d : fc.c main.h old_macros.h printf_P.h timer0.h uart.h analog.h \ |
twimaster.h menu.h rc.h fc.h gps.h spi.h led.h spektrum.h capacity.h \ |
eeprom.h libfc.h debug.h mymath.h isqrt.h |
/Spektrum-Diversity/V0.82a/fc.h |
---|
0,0 → 1,109 |
/*####################################################################################### |
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 STATUS FLAGS |
#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 |
extern volatile unsigned char FC_StatusFlags; |
#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] |
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 KompassStartwert; |
extern int KompassRichtung; |
extern unsigned char ControlHeading; |
extern int TrimNick, TrimRoll; |
extern long ErsatzKompass; |
extern int ErsatzKompassInGrad; // Kompasswert in Grad |
extern long HoehenWert; |
extern long SollHoehe; |
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 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 Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
extern char VarioCharacter; |
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 signed char MixerTable[MAX_MOTORS][4]; |
extern const signed char sintab[31]; |
#endif //_FC_H |
/Spektrum-Diversity/V0.82a/fc.lst |
---|
0,0 → 1,9163 |
1 .file "fc.c" |
2 __SREG__ = 0x3f |
3 __SP_H__ = 0x3e |
4 __SP_L__ = 0x3d |
5 __tmp_reg__ = 0 |
6 __zero_reg__ = 1 |
7 .global __do_copy_data |
8 .global __do_clear_bss |
9 .text |
10 .global CopyDebugValues |
12 CopyDebugValues: |
13 /* prologue: frame size=0 */ |
14 0000 EF92 push r14 |
15 0002 FF92 push r15 |
16 0004 0F93 push r16 |
17 0006 1F93 push r17 |
18 /* prologue end (size=4) */ |
19 0008 E090 0000 lds r14,EE_Parameter+28 |
20 000c FF24 clr r15 |
21 000e EE0C lsl r14 |
22 0010 FF1C rol r15 |
23 0012 EE0C lsl r14 |
24 0014 FF1C rol r15 |
25 0016 0027 clr r16 |
26 0018 F7FC sbrc r15,7 |
27 001a 0095 com r16 |
28 001c 102F mov r17,r16 |
29 001e 6091 0000 lds r22,IntegralNick |
30 0022 7091 0000 lds r23,(IntegralNick)+1 |
31 0026 8091 0000 lds r24,(IntegralNick)+2 |
32 002a 9091 0000 lds r25,(IntegralNick)+3 |
33 002e A801 movw r20,r16 |
34 0030 9701 movw r18,r14 |
35 0032 0E94 0000 call __divmodsi4 |
36 0036 3093 0000 sts (DebugOut+2)+1,r19 |
37 003a 2093 0000 sts DebugOut+2,r18 |
38 003e 6091 0000 lds r22,IntegralRoll |
39 0042 7091 0000 lds r23,(IntegralRoll)+1 |
40 0046 8091 0000 lds r24,(IntegralRoll)+2 |
41 004a 9091 0000 lds r25,(IntegralRoll)+3 |
42 004e A801 movw r20,r16 |
43 0050 9701 movw r18,r14 |
44 0052 0E94 0000 call __divmodsi4 |
45 0056 3093 0000 sts (DebugOut+4)+1,r19 |
46 005a 2093 0000 sts DebugOut+4,r18 |
47 005e 8091 0000 lds r24,Mittelwert_AccNick |
48 0062 9091 0000 lds r25,(Mittelwert_AccNick)+1 |
49 0066 64E0 ldi r22,lo8(4) |
50 0068 70E0 ldi r23,hi8(4) |
51 006a 0E94 0000 call __divmodhi4 |
52 006e 7093 0000 sts (DebugOut+6)+1,r23 |
53 0072 6093 0000 sts DebugOut+6,r22 |
54 0076 8091 0000 lds r24,Mittelwert_AccRoll |
55 007a 9091 0000 lds r25,(Mittelwert_AccRoll)+1 |
56 007e 64E0 ldi r22,lo8(4) |
57 0080 70E0 ldi r23,hi8(4) |
58 0082 0E94 0000 call __divmodhi4 |
59 0086 7093 0000 sts (DebugOut+8)+1,r23 |
60 008a 6093 0000 sts DebugOut+8,r22 |
61 008e 2091 0000 lds r18,AdWertGier |
62 0092 3091 0000 lds r19,(AdWertGier)+1 |
63 0096 8091 0000 lds r24,AdNeutralGier |
64 009a 9091 0000 lds r25,(AdNeutralGier)+1 |
65 009e 821B sub r24,r18 |
66 00a0 930B sbc r25,r19 |
67 00a2 9093 0000 sts (DebugOut+10)+1,r25 |
68 00a6 8093 0000 sts DebugOut+10,r24 |
69 00aa 6091 0000 lds r22,HoehenWert |
70 00ae 7091 0000 lds r23,(HoehenWert)+1 |
71 00b2 8091 0000 lds r24,(HoehenWert)+2 |
72 00b6 9091 0000 lds r25,(HoehenWert)+3 |
73 00ba 25E0 ldi r18,lo8(5) |
74 00bc 30E0 ldi r19,hi8(5) |
75 00be 40E0 ldi r20,hlo8(5) |
76 00c0 50E0 ldi r21,hhi8(5) |
77 00c2 0E94 0000 call __divmodsi4 |
78 00c6 3093 0000 sts (DebugOut+12)+1,r19 |
79 00ca 2093 0000 sts DebugOut+12,r18 |
80 00ce 8091 0000 lds r24,AdWertAccHoch |
81 00d2 9091 0000 lds r25,(AdWertAccHoch)+1 |
82 00d6 9093 0000 sts (DebugOut+14)+1,r25 |
83 00da 8093 0000 sts DebugOut+14,r24 |
84 00de 8091 0000 lds r24,KompassValue |
85 00e2 9091 0000 lds r25,(KompassValue)+1 |
86 00e6 9093 0000 sts (DebugOut+18)+1,r25 |
87 00ea 8093 0000 sts DebugOut+18,r24 |
88 00ee 8091 0000 lds r24,UBat |
89 00f2 9091 0000 lds r25,(UBat)+1 |
90 00f6 9093 0000 sts (DebugOut+20)+1,r25 |
91 00fa 8093 0000 sts DebugOut+20,r24 |
92 00fe 8091 0000 lds r24,SenderOkay |
93 0102 90E0 ldi r25,lo8(0) |
94 0104 9093 0000 sts (DebugOut+22)+1,r25 |
95 0108 8093 0000 sts DebugOut+22,r24 |
96 010c 6091 0000 lds r22,ErsatzKompass |
97 0110 7091 0000 lds r23,(ErsatzKompass)+1 |
98 0114 8091 0000 lds r24,(ErsatzKompass)+2 |
99 0118 9091 0000 lds r25,(ErsatzKompass)+3 |
100 011c 2091 0000 lds r18,GIER_GRAD_FAKTOR |
101 0120 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1 |
102 0124 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2 |
103 0128 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3 |
104 012c 0E94 0000 call __divmodsi4 |
105 0130 3093 0000 sts (DebugOut+24)+1,r19 |
106 0134 2093 0000 sts DebugOut+24,r18 |
107 0138 8091 0000 lds r24,Motor+1 |
108 013c 90E0 ldi r25,lo8(0) |
109 013e 9093 0000 sts (DebugOut+26)+1,r25 |
110 0142 8093 0000 sts DebugOut+26,r24 |
111 0146 8091 0000 lds r24,Motor+9 |
112 014a 90E0 ldi r25,lo8(0) |
113 014c 9093 0000 sts (DebugOut+28)+1,r25 |
114 0150 8093 0000 sts DebugOut+28,r24 |
115 0154 8091 0000 lds r24,Motor+17 |
116 0158 90E0 ldi r25,lo8(0) |
117 015a 9093 0000 sts (DebugOut+30)+1,r25 |
118 015e 8093 0000 sts DebugOut+30,r24 |
119 0162 8091 0000 lds r24,Motor+25 |
120 0166 90E0 ldi r25,lo8(0) |
121 0168 9093 0000 sts (DebugOut+32)+1,r25 |
122 016c 8093 0000 sts DebugOut+32,r24 |
123 0170 8091 0000 lds r24,ServoNickValue |
124 0174 9091 0000 lds r25,(ServoNickValue)+1 |
125 0178 9093 0000 sts (DebugOut+42)+1,r25 |
126 017c 8093 0000 sts DebugOut+42,r24 |
127 0180 8091 0000 lds r24,Capacity |
128 0184 9091 0000 lds r25,(Capacity)+1 |
129 0188 9093 0000 sts (DebugOut+46)+1,r25 |
130 018c 8093 0000 sts DebugOut+46,r24 |
131 0190 8091 0000 lds r24,Capacity+4 |
132 0194 9091 0000 lds r25,(Capacity+4)+1 |
133 0198 9093 0000 sts (DebugOut+48)+1,r25 |
134 019c 8093 0000 sts DebugOut+48,r24 |
135 01a0 8091 0000 lds r24,Capacity+6 |
136 01a4 90E0 ldi r25,lo8(0) |
137 01a6 9093 0000 sts (DebugOut+60)+1,r25 |
138 01aa 8093 0000 sts DebugOut+60,r24 |
139 01ae 8091 0000 lds r24,GPS_Nick |
140 01b2 9091 0000 lds r25,(GPS_Nick)+1 |
141 01b6 9093 0000 sts (DebugOut+62)+1,r25 |
142 01ba 8093 0000 sts DebugOut+62,r24 |
143 01be 8091 0000 lds r24,GPS_Roll |
144 01c2 9091 0000 lds r25,(GPS_Roll)+1 |
145 01c6 9093 0000 sts (DebugOut+64)+1,r25 |
146 01ca 8093 0000 sts DebugOut+64,r24 |
147 01ce 8091 0000 lds r24,VersionInfo+5 |
148 01d2 8823 tst r24 |
149 01d4 01F4 brne .L2 |
150 01d6 8091 0000 lds r24,VersionInfo+6 |
151 01da 8823 tst r24 |
152 01dc 01F0 breq .L4 |
153 .L2: |
154 01de 8091 0000 lds r24,DebugOut+1 |
155 01e2 8160 ori r24,lo8(1) |
156 01e4 00C0 rjmp .L7 |
157 .L4: |
158 01e6 8091 0000 lds r24,DebugOut+1 |
159 01ea 8E7F andi r24,lo8(-2) |
160 .L7: |
161 01ec 8093 0000 sts DebugOut+1,r24 |
162 /* epilogue: frame size=0 */ |
163 01f0 1F91 pop r17 |
164 01f2 0F91 pop r16 |
165 01f4 FF90 pop r15 |
166 01f6 EF90 pop r14 |
167 01f8 0895 ret |
168 /* epilogue end (size=5) */ |
169 /* function CopyDebugValues size 253 (244) */ |
171 .global Mittelwert |
173 Mittelwert: |
174 /* prologue: frame size=27 */ |
175 01fa ABE1 ldi r26,lo8(27) |
176 01fc B0E0 ldi r27,hi8(27) |
177 01fe E0E0 ldi r30,pm_lo8(1f) |
178 0200 F0E0 ldi r31,pm_hi8(1f) |
179 0202 0C94 0000 jmp __prologue_saves__+0 |
180 1: |
181 /* prologue end (size=6) */ |
182 0206 8091 0000 lds r24,AdWertGier |
183 020a 9091 0000 lds r25,(AdWertGier)+1 |
184 020e 2091 0000 lds r18,AdNeutralGier |
185 0212 3091 0000 lds r19,(AdNeutralGier)+1 |
186 0216 281B sub r18,r24 |
187 0218 390B sbc r19,r25 |
188 021a 3B8F std Y+27,r19 |
189 021c 2A8F std Y+26,r18 |
190 021e 3093 0000 sts (MesswertGier)+1,r19 |
191 0222 2093 0000 sts MesswertGier,r18 |
192 0226 8091 0000 lds r24,AdWertNickFilter |
193 022a 9091 0000 lds r25,(AdWertNickFilter)+1 |
194 022e 68E0 ldi r22,lo8(8) |
195 0230 70E0 ldi r23,hi8(8) |
196 0232 0E94 0000 call __divmodhi4 |
197 0236 798F std Y+25,r23 |
198 0238 688F std Y+24,r22 |
199 023a 8091 0000 lds r24,AdWertRollFilter |
200 023e 9091 0000 lds r25,(AdWertRollFilter)+1 |
201 0242 68E0 ldi r22,lo8(8) |
202 0244 70E0 ldi r23,hi8(8) |
203 0246 0E94 0000 call __divmodhi4 |
204 024a 7F8B std Y+23,r23 |
205 024c 6E8B std Y+22,r22 |
206 024e 488D ldd r20,Y+24 |
207 0250 598D ldd r21,Y+25 |
208 0252 5093 0000 sts (RohMesswertNick)+1,r21 |
209 0256 4093 0000 sts RohMesswertNick,r20 |
210 025a 7093 0000 sts (RohMesswertRoll)+1,r23 |
211 025e 6093 0000 sts RohMesswertRoll,r22 |
212 0262 2091 0000 lds r18,AdWertAccNick |
213 0266 3091 0000 lds r19,(AdWertAccNick)+1 |
214 026a C901 movw r24,r18 |
215 026c 880F lsl r24 |
216 026e 991F rol r25 |
217 0270 820F add r24,r18 |
218 0272 931F adc r25,r19 |
219 0274 880F lsl r24 |
220 0276 991F rol r25 |
221 0278 4091 0000 lds r20,Mittelwert_AccNick |
222 027c 5091 0000 lds r21,(Mittelwert_AccNick)+1 |
223 0280 9A01 movw r18,r20 |
224 0282 220F lsl r18 |
225 0284 331F rol r19 |
226 0286 240F add r18,r20 |
227 0288 351F adc r19,r21 |
228 028a 820F add r24,r18 |
229 028c 931F adc r25,r19 |
230 028e 64E0 ldi r22,lo8(4) |
231 0290 70E0 ldi r23,hi8(4) |
232 0292 0E94 0000 call __divmodhi4 |
233 0296 7093 0000 sts (Mittelwert_AccNick)+1,r23 |
234 029a 6093 0000 sts Mittelwert_AccNick,r22 |
235 029e 2091 0000 lds r18,AdWertAccRoll |
236 02a2 3091 0000 lds r19,(AdWertAccRoll)+1 |
237 02a6 C901 movw r24,r18 |
238 02a8 880F lsl r24 |
239 02aa 991F rol r25 |
240 02ac 820F add r24,r18 |
241 02ae 931F adc r25,r19 |
242 02b0 880F lsl r24 |
243 02b2 991F rol r25 |
244 02b4 4091 0000 lds r20,Mittelwert_AccRoll |
245 02b8 5091 0000 lds r21,(Mittelwert_AccRoll)+1 |
246 02bc 9A01 movw r18,r20 |
247 02be 220F lsl r18 |
248 02c0 331F rol r19 |
249 02c2 240F add r18,r20 |
250 02c4 351F adc r19,r21 |
251 02c6 820F add r24,r18 |
252 02c8 931F adc r25,r19 |
253 02ca 64E0 ldi r22,lo8(4) |
254 02cc 70E0 ldi r23,hi8(4) |
255 02ce 0E94 0000 call __divmodhi4 |
256 02d2 7093 0000 sts (Mittelwert_AccRoll)+1,r23 |
257 02d6 6093 0000 sts Mittelwert_AccRoll,r22 |
258 02da 2091 0000 lds r18,AdWertAccNick |
259 02de 3091 0000 lds r19,(AdWertAccNick)+1 |
260 02e2 C901 movw r24,r18 |
261 02e4 880F lsl r24 |
262 02e6 991F rol r25 |
263 02e8 820F add r24,r18 |
264 02ea 931F adc r25,r19 |
265 02ec 880F lsl r24 |
266 02ee 991F rol r25 |
267 02f0 AA27 clr r26 |
268 02f2 97FD sbrc r25,7 |
269 02f4 A095 com r26 |
270 02f6 BA2F mov r27,r26 |
271 02f8 2091 0000 lds r18,IntegralAccNick |
272 02fc 3091 0000 lds r19,(IntegralAccNick)+1 |
273 0300 4091 0000 lds r20,(IntegralAccNick)+2 |
274 0304 5091 0000 lds r21,(IntegralAccNick)+3 |
275 0308 280F add r18,r24 |
276 030a 391F adc r19,r25 |
277 030c 4A1F adc r20,r26 |
278 030e 5B1F adc r21,r27 |
279 0310 2093 0000 sts IntegralAccNick,r18 |
280 0314 3093 0000 sts (IntegralAccNick)+1,r19 |
281 0318 4093 0000 sts (IntegralAccNick)+2,r20 |
282 031c 5093 0000 sts (IntegralAccNick)+3,r21 |
283 0320 2091 0000 lds r18,AdWertAccRoll |
284 0324 3091 0000 lds r19,(AdWertAccRoll)+1 |
285 0328 C901 movw r24,r18 |
286 032a 880F lsl r24 |
287 032c 991F rol r25 |
288 032e 820F add r24,r18 |
289 0330 931F adc r25,r19 |
290 0332 880F lsl r24 |
291 0334 991F rol r25 |
292 0336 AA27 clr r26 |
293 0338 97FD sbrc r25,7 |
294 033a A095 com r26 |
295 033c BA2F mov r27,r26 |
296 033e 2091 0000 lds r18,IntegralAccRoll |
297 0342 3091 0000 lds r19,(IntegralAccRoll)+1 |
298 0346 4091 0000 lds r20,(IntegralAccRoll)+2 |
299 034a 5091 0000 lds r21,(IntegralAccRoll)+3 |
300 034e 280F add r18,r24 |
301 0350 391F adc r19,r25 |
302 0352 4A1F adc r20,r26 |
303 0354 5B1F adc r21,r27 |
304 0356 2093 0000 sts IntegralAccRoll,r18 |
305 035a 3093 0000 sts (IntegralAccRoll)+1,r19 |
306 035e 4093 0000 sts (IntegralAccRoll)+2,r20 |
307 0362 5093 0000 sts (IntegralAccRoll)+3,r21 |
308 0366 2091 0000 lds r18,AdWertAccNick |
309 036a 3091 0000 lds r19,(AdWertAccNick)+1 |
310 036e 8091 0000 lds r24,NaviAccNick |
311 0372 9091 0000 lds r25,(NaviAccNick)+1 |
312 0376 820F add r24,r18 |
313 0378 931F adc r25,r19 |
314 037a 9093 0000 sts (NaviAccNick)+1,r25 |
315 037e 8093 0000 sts NaviAccNick,r24 |
316 0382 2091 0000 lds r18,AdWertAccRoll |
317 0386 3091 0000 lds r19,(AdWertAccRoll)+1 |
318 038a 8091 0000 lds r24,NaviAccRoll |
319 038e 9091 0000 lds r25,(NaviAccRoll)+1 |
320 0392 820F add r24,r18 |
321 0394 931F adc r25,r19 |
322 0396 9093 0000 sts (NaviAccRoll)+1,r25 |
323 039a 8093 0000 sts NaviAccRoll,r24 |
324 039e 8091 0000 lds r24,NaviCntAcc |
325 03a2 9091 0000 lds r25,(NaviCntAcc)+1 |
326 03a6 0196 adiw r24,1 |
327 03a8 9093 0000 sts (NaviCntAcc)+1,r25 |
328 03ac 8093 0000 sts NaviCntAcc,r24 |
329 03b0 2091 0000 lds r18,Aktuell_az |
330 03b4 3091 0000 lds r19,(Aktuell_az)+1 |
331 03b8 8091 0000 lds r24,NeutralAccZ |
332 03bc 9091 0000 lds r25,(NeutralAccZ)+1 |
333 03c0 281B sub r18,r24 |
334 03c2 390B sbc r19,r25 |
335 03c4 4427 clr r20 |
336 03c6 37FD sbrc r19,7 |
337 03c8 4095 com r20 |
338 03ca 542F mov r21,r20 |
339 03cc 8091 0000 lds r24,IntegralAccZ |
340 03d0 9091 0000 lds r25,(IntegralAccZ)+1 |
341 03d4 A091 0000 lds r26,(IntegralAccZ)+2 |
342 03d8 B091 0000 lds r27,(IntegralAccZ)+3 |
343 03dc 820F add r24,r18 |
344 03de 931F adc r25,r19 |
345 03e0 A41F adc r26,r20 |
346 03e2 B51F adc r27,r21 |
347 03e4 8093 0000 sts IntegralAccZ,r24 |
348 03e8 9093 0000 sts (IntegralAccZ)+1,r25 |
349 03ec A093 0000 sts (IntegralAccZ)+2,r26 |
350 03f0 B093 0000 sts (IntegralAccZ)+3,r27 |
351 03f4 8FEC ldi r24,lo8(-49) |
352 03f6 8093 7A00 sts 122,r24 |
353 03fa 1092 0000 sts AdReady,__zero_reg__ |
354 03fe 2091 0000 lds r18,Mess_IntegralRoll |
355 0402 3091 0000 lds r19,(Mess_IntegralRoll)+1 |
356 0406 4091 0000 lds r20,(Mess_IntegralRoll)+2 |
357 040a 5091 0000 lds r21,(Mess_IntegralRoll)+3 |
358 040e 2A8B std Y+18,r18 |
359 0410 3B8B std Y+19,r19 |
360 0412 4C8B std Y+20,r20 |
361 0414 5D8B std Y+21,r21 |
362 0416 8091 0000 lds r24,Mess_IntegralNick |
363 041a 9091 0000 lds r25,(Mess_IntegralNick)+1 |
364 041e A091 0000 lds r26,(Mess_IntegralNick)+2 |
365 0422 B091 0000 lds r27,(Mess_IntegralNick)+3 |
366 0426 8E87 std Y+14,r24 |
367 0428 9F87 std Y+15,r25 |
368 042a A88B std Y+16,r26 |
369 042c B98B std Y+17,r27 |
370 042e 2A8D ldd r18,Y+26 |
371 0430 3B8D ldd r19,Y+27 |
372 0432 4427 clr r20 |
373 0434 37FD sbrc r19,7 |
374 0436 4095 com r20 |
375 0438 542F mov r21,r20 |
376 043a 2A87 std Y+10,r18 |
377 043c 3B87 std Y+11,r19 |
378 043e 4C87 std Y+12,r20 |
379 0440 5D87 std Y+13,r21 |
380 0442 2090 0000 lds r2,Mess_Integral_Gier |
381 0446 3090 0000 lds r3,(Mess_Integral_Gier)+1 |
382 044a 4090 0000 lds r4,(Mess_Integral_Gier)+2 |
383 044e 5090 0000 lds r5,(Mess_Integral_Gier)+3 |
384 0452 220E add r2,r18 |
385 0454 331E adc r3,r19 |
386 0456 441E adc r4,r20 |
387 0458 551E adc r5,r21 |
388 045a 2092 0000 sts Mess_Integral_Gier,r2 |
389 045e 3092 0000 sts (Mess_Integral_Gier)+1,r3 |
390 0462 4092 0000 sts (Mess_Integral_Gier)+2,r4 |
391 0466 5092 0000 sts (Mess_Integral_Gier)+3,r5 |
392 046a 6090 0000 lds r6,ErsatzKompass |
393 046e 7090 0000 lds r7,(ErsatzKompass)+1 |
394 0472 8090 0000 lds r8,(ErsatzKompass)+2 |
395 0476 9090 0000 lds r9,(ErsatzKompass)+3 |
396 047a 620E add r6,r18 |
397 047c 731E adc r7,r19 |
398 047e 841E adc r8,r20 |
399 0480 951E adc r9,r21 |
400 0482 6092 0000 sts ErsatzKompass,r6 |
401 0486 7092 0000 sts (ErsatzKompass)+1,r7 |
402 048a 8092 0000 sts (ErsatzKompass)+2,r8 |
403 048e 9092 0000 sts (ErsatzKompass)+3,r9 |
404 0492 3091 0000 lds r19,Looping_Nick |
405 0496 3987 std Y+9,r19 |
406 0498 3323 tst r19 |
407 049a 01F0 breq .+2 |
408 049c 00C0 rjmp .L9 |
409 049e 8091 0000 lds r24,Looping_Roll |
410 04a2 8823 tst r24 |
411 04a4 01F0 breq .+2 |
412 04a6 00C0 rjmp .L9 |
413 04a8 8091 0000 lds r24,EE_Parameter+13 |
414 04ac 86FF sbrs r24,6 |
415 04ae 00C0 rjmp .L9 |
416 04b0 2A89 ldd r18,Y+18 |
417 04b2 3B89 ldd r19,Y+19 |
418 04b4 4C89 ldd r20,Y+20 |
419 04b6 5D89 ldd r21,Y+21 |
420 04b8 283B cpi r18,lo8(-93000) |
421 04ba 64E9 ldi r22,hi8(-93000) |
422 04bc 3607 cpc r19,r22 |
423 04be 6EEF ldi r22,hlo8(-93000) |
424 04c0 4607 cpc r20,r22 |
425 04c2 6FEF ldi r22,hhi8(-93000) |
426 04c4 5607 cpc r21,r22 |
427 04c6 04F4 brge .L13 |
428 04c8 28EB ldi r18,lo8(-93000) |
429 04ca 34E9 ldi r19,hi8(-93000) |
430 04cc 4EEF ldi r20,hlo8(-93000) |
431 04ce 5FEF ldi r21,hhi8(-93000) |
432 .L13: |
433 04d0 2983 std Y+1,r18 |
434 04d2 3A83 std Y+2,r19 |
435 04d4 4B83 std Y+3,r20 |
436 04d6 5C83 std Y+4,r21 |
437 04d8 2954 subi r18,lo8(93001) |
438 04da 3B46 sbci r19,hi8(93001) |
439 04dc 4140 sbci r20,hlo8(93001) |
440 04de 5040 sbci r21,hhi8(93001) |
441 04e0 04F0 brlt .L14 |
442 04e2 28E4 ldi r18,lo8(93000) |
443 04e4 3BE6 ldi r19,hi8(93000) |
444 04e6 41E0 ldi r20,hlo8(93000) |
445 04e8 50E0 ldi r21,hhi8(93000) |
446 04ea 2983 std Y+1,r18 |
447 04ec 3A83 std Y+2,r19 |
448 04ee 4B83 std Y+3,r20 |
449 04f0 5C83 std Y+4,r21 |
450 .L14: |
451 04f2 2E85 ldd r18,Y+14 |
452 04f4 3F85 ldd r19,Y+15 |
453 04f6 4889 ldd r20,Y+16 |
454 04f8 5989 ldd r21,Y+17 |
455 04fa 283B cpi r18,lo8(-93000) |
456 04fc 64E9 ldi r22,hi8(-93000) |
457 04fe 3607 cpc r19,r22 |
458 0500 6EEF ldi r22,hlo8(-93000) |
459 0502 4607 cpc r20,r22 |
460 0504 6FEF ldi r22,hhi8(-93000) |
461 0506 5607 cpc r21,r22 |
462 0508 04F4 brge .L15 |
463 050a 28EB ldi r18,lo8(-93000) |
464 050c 34E9 ldi r19,hi8(-93000) |
465 050e 4EEF ldi r20,hlo8(-93000) |
466 0510 5FEF ldi r21,hhi8(-93000) |
467 .L15: |
468 0512 2D83 std Y+5,r18 |
469 0514 3E83 std Y+6,r19 |
470 0516 4F83 std Y+7,r20 |
471 0518 5887 std Y+8,r21 |
472 051a 2954 subi r18,lo8(93001) |
473 051c 3B46 sbci r19,hi8(93001) |
474 051e 4140 sbci r20,hlo8(93001) |
475 0520 5040 sbci r21,hhi8(93001) |
476 0522 04F0 brlt .L16 |
477 0524 28E4 ldi r18,lo8(93000) |
478 0526 3BE6 ldi r19,hi8(93000) |
479 0528 41E0 ldi r20,hlo8(93000) |
480 052a 50E0 ldi r21,hhi8(93000) |
481 052c 2D83 std Y+5,r18 |
482 052e 3E83 std Y+6,r19 |
483 0530 4F83 std Y+7,r20 |
484 0532 5887 std Y+8,r21 |
485 .L16: |
486 0534 A090 0000 lds r10,Parameter_AchsKopplung2 |
487 0538 BB24 clr r11 |
488 053a CC24 clr r12 |
489 053c DD24 clr r13 |
490 053e 8E89 ldd r24,Y+22 |
491 0540 9F89 ldd r25,Y+23 |
492 0542 9C01 movw r18,r24 |
493 0544 4427 clr r20 |
494 0546 37FD sbrc r19,7 |
495 0548 4095 com r20 |
496 054a 542F mov r21,r20 |
497 054c 6D81 ldd r22,Y+5 |
498 054e 7E81 ldd r23,Y+6 |
499 0550 8F81 ldd r24,Y+7 |
500 0552 9885 ldd r25,Y+8 |
501 0554 0E94 0000 call __mulsi3 |
502 0558 20E0 ldi r18,lo8(2048) |
503 055a 38E0 ldi r19,hi8(2048) |
504 055c 40E0 ldi r20,hlo8(2048) |
505 055e 50E0 ldi r21,hhi8(2048) |
506 0560 0E94 0000 call __divmodsi4 |
507 0564 CA01 movw r24,r20 |
508 0566 B901 movw r22,r18 |
509 0568 A601 movw r20,r12 |
510 056a 9501 movw r18,r10 |
511 056c 0E94 0000 call __mulsi3 |
512 0570 20E0 ldi r18,lo8(4096) |
513 0572 30E1 ldi r19,hi8(4096) |
514 0574 40E0 ldi r20,hlo8(4096) |
515 0576 50E0 ldi r21,hhi8(4096) |
516 0578 0E94 0000 call __divmodsi4 |
517 057c 7901 movw r14,r18 |
518 057e 8A01 movw r16,r20 |
519 0580 2093 0000 sts tmpl3.2870,r18 |
520 0584 3093 0000 sts (tmpl3.2870)+1,r19 |
521 0588 4093 0000 sts (tmpl3.2870)+2,r20 |
522 058c 5093 0000 sts (tmpl3.2870)+3,r21 |
523 0590 A88D ldd r26,Y+24 |
524 0592 B98D ldd r27,Y+25 |
525 0594 9D01 movw r18,r26 |
526 0596 4427 clr r20 |
527 0598 37FD sbrc r19,7 |
528 059a 4095 com r20 |
529 059c 542F mov r21,r20 |
530 059e 6981 ldd r22,Y+1 |
531 05a0 7A81 ldd r23,Y+2 |
532 05a2 8B81 ldd r24,Y+3 |
533 05a4 9C81 ldd r25,Y+4 |
534 05a6 0E94 0000 call __mulsi3 |
535 05aa 20E0 ldi r18,lo8(2048) |
536 05ac 38E0 ldi r19,hi8(2048) |
537 05ae 40E0 ldi r20,hlo8(2048) |
538 05b0 50E0 ldi r21,hhi8(2048) |
539 05b2 0E94 0000 call __divmodsi4 |
540 05b6 CA01 movw r24,r20 |
541 05b8 B901 movw r22,r18 |
542 05ba A601 movw r20,r12 |
543 05bc 9501 movw r18,r10 |
544 05be 0E94 0000 call __mulsi3 |
545 05c2 20E0 ldi r18,lo8(4096) |
546 05c4 30E1 ldi r19,hi8(4096) |
547 05c6 40E0 ldi r20,hlo8(4096) |
548 05c8 50E0 ldi r21,hhi8(4096) |
549 05ca 0E94 0000 call __divmodsi4 |
550 05ce F092 0000 sts (KopplungsteilNickRoll)+1,r15 |
551 05d2 E092 0000 sts KopplungsteilNickRoll,r14 |
552 05d6 3093 0000 sts (KopplungsteilRollNick)+1,r19 |
553 05da 2093 0000 sts KopplungsteilRollNick,r18 |
554 05de 2E19 sub r18,r14 |
555 05e0 3F09 sbc r19,r15 |
556 05e2 400B sbc r20,r16 |
557 05e4 510B sbc r21,r17 |
558 05e6 7901 movw r14,r18 |
559 05e8 8A01 movw r16,r20 |
560 05ea 2093 0000 sts tmpl4.2871,r18 |
561 05ee 3093 0000 sts (tmpl4.2871)+1,r19 |
562 05f2 4093 0000 sts (tmpl4.2871)+2,r20 |
563 05f6 5093 0000 sts (tmpl4.2871)+3,r21 |
564 05fa 620E add r6,r18 |
565 05fc 731E adc r7,r19 |
566 05fe 841E adc r8,r20 |
567 0600 951E adc r9,r21 |
568 0602 6092 0000 sts ErsatzKompass,r6 |
569 0606 7092 0000 sts (ErsatzKompass)+1,r7 |
570 060a 8092 0000 sts (ErsatzKompass)+2,r8 |
571 060e 9092 0000 sts (ErsatzKompass)+3,r9 |
572 0612 8091 0000 lds r24,Parameter_CouplingYawCorrection |
573 0616 8823 tst r24 |
574 0618 01F4 brne .L17 |
575 061a CA01 movw r24,r20 |
576 061c B901 movw r22,r18 |
577 061e 22E0 ldi r18,lo8(2) |
578 0620 30E0 ldi r19,hi8(2) |
579 0622 40E0 ldi r20,hlo8(2) |
580 0624 50E0 ldi r21,hhi8(2) |
581 0626 0E94 0000 call __divmodsi4 |
582 062a 221A sub r2,r18 |
583 062c 330A sbc r3,r19 |
584 062e 440A sbc r4,r20 |
585 0630 550A sbc r5,r21 |
586 0632 2092 0000 sts Mess_Integral_Gier,r2 |
587 0636 3092 0000 sts (Mess_Integral_Gier)+1,r3 |
588 063a 4092 0000 sts (Mess_Integral_Gier)+2,r4 |
589 063e 5092 0000 sts (Mess_Integral_Gier)+3,r5 |
590 .L17: |
591 0642 AA84 ldd r10,Y+10 |
592 0644 BB84 ldd r11,Y+11 |
593 0646 CC84 ldd r12,Y+12 |
594 0648 DD84 ldd r13,Y+13 |
595 064a AE0C add r10,r14 |
596 064c BF1C adc r11,r15 |
597 064e C01E adc r12,r16 |
598 0650 D11E adc r13,r17 |
599 0652 E090 0000 lds r14,Parameter_AchsKopplung1 |
600 0656 FF24 clr r15 |
601 0658 00E0 ldi r16,lo8(0) |
602 065a 10E0 ldi r17,hi8(0) |
603 065c C601 movw r24,r12 |
604 065e B501 movw r22,r10 |
605 0660 2D81 ldd r18,Y+5 |
606 0662 3E81 ldd r19,Y+6 |
607 0664 4F81 ldd r20,Y+7 |
608 0666 5885 ldd r21,Y+8 |
609 0668 0E94 0000 call __mulsi3 |
610 066c 20E0 ldi r18,lo8(2048) |
611 066e 38E0 ldi r19,hi8(2048) |
612 0670 40E0 ldi r20,hlo8(2048) |
613 0672 50E0 ldi r21,hhi8(2048) |
614 0674 0E94 0000 call __divmodsi4 |
615 0678 CA01 movw r24,r20 |
616 067a B901 movw r22,r18 |
617 067c A801 movw r20,r16 |
618 067e 9701 movw r18,r14 |
619 0680 0E94 0000 call __mulsi3 |
620 0684 20E0 ldi r18,lo8(4096) |
621 0686 30E1 ldi r19,hi8(4096) |
622 0688 40E0 ldi r20,hlo8(4096) |
623 068a 50E0 ldi r21,hhi8(4096) |
624 068c 0E94 0000 call __divmodsi4 |
625 0690 3901 movw r6,r18 |
626 0692 4A01 movw r8,r20 |
627 0694 2093 0000 sts tmpl.2868,r18 |
628 0698 3093 0000 sts (tmpl.2868)+1,r19 |
629 069c 4093 0000 sts (tmpl.2868)+2,r20 |
630 06a0 5093 0000 sts (tmpl.2868)+3,r21 |
631 06a4 C601 movw r24,r12 |
632 06a6 B501 movw r22,r10 |
633 06a8 2981 ldd r18,Y+1 |
634 06aa 3A81 ldd r19,Y+2 |
635 06ac 4B81 ldd r20,Y+3 |
636 06ae 5C81 ldd r21,Y+4 |
637 06b0 0E94 0000 call __mulsi3 |
638 06b4 20E0 ldi r18,lo8(2048) |
639 06b6 38E0 ldi r19,hi8(2048) |
640 06b8 40E0 ldi r20,hlo8(2048) |
641 06ba 50E0 ldi r21,hhi8(2048) |
642 06bc 0E94 0000 call __divmodsi4 |
643 06c0 CA01 movw r24,r20 |
644 06c2 B901 movw r22,r18 |
645 06c4 A801 movw r20,r16 |
646 06c6 9701 movw r18,r14 |
647 06c8 0E94 0000 call __mulsi3 |
648 06cc 20E0 ldi r18,lo8(4096) |
649 06ce 30E1 ldi r19,hi8(4096) |
650 06d0 40E0 ldi r20,hlo8(4096) |
651 06d2 50E0 ldi r21,hhi8(4096) |
652 06d4 0E94 0000 call __divmodsi4 |
653 06d8 7901 movw r14,r18 |
654 06da 8A01 movw r16,r20 |
655 06dc 2093 0000 sts tmpl2.2869,r18 |
656 06e0 3093 0000 sts (tmpl2.2869)+1,r19 |
657 06e4 4093 0000 sts (tmpl2.2869)+2,r20 |
658 06e8 5093 0000 sts (tmpl2.2869)+3,r21 |
659 06ec 8A8D ldd r24,Y+26 |
660 06ee 9B8D ldd r25,Y+27 |
661 06f0 97FF sbrs r25,7 |
662 06f2 00C0 rjmp .L20 |
663 06f4 9095 com r25 |
664 06f6 8195 neg r24 |
665 06f8 9F4F sbci r25,lo8(-1) |
666 .L20: |
667 06fa 8134 cpi r24,65 |
668 06fc 9105 cpc r25,__zero_reg__ |
669 06fe 04F0 brlt .L19 |
670 0700 A401 movw r20,r8 |
671 0702 9301 movw r18,r6 |
672 0704 97FE sbrs r9,7 |
673 0706 00C0 rjmp .L23 |
674 0708 5095 com r21 |
675 070a 4095 com r20 |
676 070c 3095 com r19 |
677 070e 2195 neg r18 |
678 0710 3F4F sbci r19,lo8(-1) |
679 0712 4F4F sbci r20,lo8(-1) |
680 0714 5F4F sbci r21,lo8(-1) |
681 .L23: |
682 0716 2138 cpi r18,lo8(129) |
683 0718 3105 cpc r19,__zero_reg__ |
684 071a 4105 cpc r20,__zero_reg__ |
685 071c 5105 cpc r21,__zero_reg__ |
686 071e 04F4 brge .L22 |
687 0720 A801 movw r20,r16 |
688 0722 9701 movw r18,r14 |
689 0724 17FF sbrs r17,7 |
690 0726 00C0 rjmp .L25 |
691 0728 5095 com r21 |
692 072a 4095 com r20 |
693 072c 3095 com r19 |
694 072e 2195 neg r18 |
695 0730 3F4F sbci r19,lo8(-1) |
696 0732 4F4F sbci r20,lo8(-1) |
697 0734 5F4F sbci r21,lo8(-1) |
698 .L25: |
699 0736 2138 cpi r18,lo8(129) |
700 0738 3105 cpc r19,__zero_reg__ |
701 073a 4105 cpc r20,__zero_reg__ |
702 073c 5105 cpc r21,__zero_reg__ |
703 073e 04F0 brlt .L19 |
704 .L22: |
705 0740 81E0 ldi r24,lo8(1) |
706 0742 8093 0000 sts TrichterFlug,r24 |
707 0746 00C0 rjmp .L19 |
708 .L9: |
709 0748 1092 0000 sts (KopplungsteilRollNick)+1,__zero_reg__ |
710 074c 1092 0000 sts KopplungsteilRollNick,__zero_reg__ |
711 0750 1092 0000 sts (KopplungsteilNickRoll)+1,__zero_reg__ |
712 0754 1092 0000 sts KopplungsteilNickRoll,__zero_reg__ |
713 0758 1092 0000 sts tmpl2.2869,__zero_reg__ |
714 075c 1092 0000 sts (tmpl2.2869)+1,__zero_reg__ |
715 0760 1092 0000 sts (tmpl2.2869)+2,__zero_reg__ |
716 0764 1092 0000 sts (tmpl2.2869)+3,__zero_reg__ |
717 0768 1092 0000 sts tmpl.2868,__zero_reg__ |
718 076c 1092 0000 sts (tmpl.2868)+1,__zero_reg__ |
719 0770 1092 0000 sts (tmpl.2868)+2,__zero_reg__ |
720 0774 1092 0000 sts (tmpl.2868)+3,__zero_reg__ |
721 .L19: |
722 0778 E090 0000 lds r14,tmpl.2868 |
723 077c F090 0000 lds r15,(tmpl.2868)+1 |
724 0780 0091 0000 lds r16,(tmpl.2868)+2 |
725 0784 1091 0000 lds r17,(tmpl.2868)+3 |
726 0788 A090 0000 lds r10,tmpl2.2869 |
727 078c B090 0000 lds r11,(tmpl2.2869)+1 |
728 0790 C090 0000 lds r12,(tmpl2.2869)+2 |
729 0794 D090 0000 lds r13,(tmpl2.2869)+3 |
730 0798 C601 movw r24,r12 |
731 079a B501 movw r22,r10 |
732 079c 24E6 ldi r18,lo8(100) |
733 079e 30E0 ldi r19,hi8(100) |
734 07a0 40E0 ldi r20,hlo8(100) |
735 07a2 50E0 ldi r21,hhi8(100) |
736 07a4 0E94 0000 call __divmodsi4 |
737 07a8 4701 movw r8,r14 |
738 07aa 821A sub r8,r18 |
739 07ac 930A sbc r9,r19 |
740 07ae 9092 0000 sts (TrimRoll)+1,r9 |
741 07b2 8092 0000 sts TrimRoll,r8 |
742 07b6 C801 movw r24,r16 |
743 07b8 B701 movw r22,r14 |
744 07ba 24E6 ldi r18,lo8(100) |
745 07bc 30E0 ldi r19,hi8(100) |
746 07be 40E0 ldi r20,hlo8(100) |
747 07c0 50E0 ldi r21,hhi8(100) |
748 07c2 0E94 0000 call __divmodsi4 |
749 07c6 3901 movw r6,r18 |
750 07c8 6A18 sub r6,r10 |
751 07ca 7B08 sbc r7,r11 |
752 07cc 7092 0000 sts (TrimNick)+1,r7 |
753 07d0 6092 0000 sts TrimNick,r6 |
754 07d4 E090 0000 lds r14,ErsatzKompass |
755 07d8 F090 0000 lds r15,(ErsatzKompass)+1 |
756 07dc 0091 0000 lds r16,(ErsatzKompass)+2 |
757 07e0 1091 0000 lds r17,(ErsatzKompass)+3 |
758 07e4 6091 0000 lds r22,GIER_GRAD_FAKTOR |
759 07e8 7091 0000 lds r23,(GIER_GRAD_FAKTOR)+1 |
760 07ec 8091 0000 lds r24,(GIER_GRAD_FAKTOR)+2 |
761 07f0 9091 0000 lds r25,(GIER_GRAD_FAKTOR)+3 |
762 07f4 28E6 ldi r18,lo8(360) |
763 07f6 31E0 ldi r19,hi8(360) |
764 07f8 40E0 ldi r20,hlo8(360) |
765 07fa 50E0 ldi r21,hhi8(360) |
766 07fc 0E94 0000 call __mulsi3 |
767 0800 E616 cp r14,r22 |
768 0802 F706 cpc r15,r23 |
769 0804 0807 cpc r16,r24 |
770 0806 1907 cpc r17,r25 |
771 0808 04F0 brlt .L26 |
772 080a E61A sub r14,r22 |
773 080c F70A sbc r15,r23 |
774 080e 080B sbc r16,r24 |
775 0810 190B sbc r17,r25 |
776 0812 E092 0000 sts ErsatzKompass,r14 |
777 0816 F092 0000 sts (ErsatzKompass)+1,r15 |
778 081a 0093 0000 sts (ErsatzKompass)+2,r16 |
779 081e 1093 0000 sts (ErsatzKompass)+3,r17 |
780 .L26: |
781 0822 2091 0000 lds r18,ErsatzKompass |
782 0826 3091 0000 lds r19,(ErsatzKompass)+1 |
783 082a 4091 0000 lds r20,(ErsatzKompass)+2 |
784 082e 5091 0000 lds r21,(ErsatzKompass)+3 |
785 0832 57FF sbrs r21,7 |
786 0834 00C0 rjmp .L28 |
787 0836 260F add r18,r22 |
788 0838 371F adc r19,r23 |
789 083a 481F adc r20,r24 |
790 083c 591F adc r21,r25 |
791 083e 2093 0000 sts ErsatzKompass,r18 |
792 0842 3093 0000 sts (ErsatzKompass)+1,r19 |
793 0846 4093 0000 sts (ErsatzKompass)+2,r20 |
794 084a 5093 0000 sts (ErsatzKompass)+3,r21 |
795 .L28: |
796 084e 2E89 ldd r18,Y+22 |
797 0850 3F89 ldd r19,Y+23 |
798 0852 280D add r18,r8 |
799 0854 391D adc r19,r9 |
800 0856 7901 movw r14,r18 |
801 0858 0027 clr r16 |
802 085a F7FC sbrc r15,7 |
803 085c 0095 com r16 |
804 085e 102F mov r17,r16 |
805 0860 8091 0000 lds r24,Mess_IntegralRoll2 |
806 0864 9091 0000 lds r25,(Mess_IntegralRoll2)+1 |
807 0868 A091 0000 lds r26,(Mess_IntegralRoll2)+2 |
808 086c B091 0000 lds r27,(Mess_IntegralRoll2)+3 |
809 0870 8E0D add r24,r14 |
810 0872 9F1D adc r25,r15 |
811 0874 A01F adc r26,r16 |
812 0876 B11F adc r27,r17 |
813 0878 8093 0000 sts Mess_IntegralRoll2,r24 |
814 087c 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
815 0880 A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
816 0884 B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
817 0888 8091 0000 lds r24,LageKorrekturRoll |
818 088c 9091 0000 lds r25,(LageKorrekturRoll)+1 |
819 0890 281B sub r18,r24 |
820 0892 390B sbc r19,r25 |
821 0894 4427 clr r20 |
822 0896 37FD sbrc r19,7 |
823 0898 4095 com r20 |
824 089a 542F mov r21,r20 |
825 089c 8A89 ldd r24,Y+18 |
826 089e 9B89 ldd r25,Y+19 |
827 08a0 AC89 ldd r26,Y+20 |
828 08a2 BD89 ldd r27,Y+21 |
829 08a4 280F add r18,r24 |
830 08a6 391F adc r19,r25 |
831 08a8 4A1F adc r20,r26 |
832 08aa 5B1F adc r21,r27 |
833 08ac 2093 0000 sts Mess_IntegralRoll,r18 |
834 08b0 3093 0000 sts (Mess_IntegralRoll)+1,r19 |
835 08b4 4093 0000 sts (Mess_IntegralRoll)+2,r20 |
836 08b8 5093 0000 sts (Mess_IntegralRoll)+3,r21 |
837 08bc E090 0000 lds r14,Umschlag180Roll |
838 08c0 F090 0000 lds r15,(Umschlag180Roll)+1 |
839 08c4 0091 0000 lds r16,(Umschlag180Roll)+2 |
840 08c8 1091 0000 lds r17,(Umschlag180Roll)+3 |
841 08cc E216 cp r14,r18 |
842 08ce F306 cpc r15,r19 |
843 08d0 0407 cpc r16,r20 |
844 08d2 1507 cpc r17,r21 |
845 08d4 04F4 brge .L30 |
846 08d6 88EA ldi r24,lo8(25000) |
847 08d8 91E6 ldi r25,hi8(25000) |
848 08da A0E0 ldi r26,hlo8(25000) |
849 08dc B0E0 ldi r27,hhi8(25000) |
850 08de 8E19 sub r24,r14 |
851 08e0 9F09 sbc r25,r15 |
852 08e2 A00B sbc r26,r16 |
853 08e4 B10B sbc r27,r17 |
854 08e6 8093 0000 sts Mess_IntegralRoll,r24 |
855 08ea 9093 0000 sts (Mess_IntegralRoll)+1,r25 |
856 08ee A093 0000 sts (Mess_IntegralRoll)+2,r26 |
857 08f2 B093 0000 sts (Mess_IntegralRoll)+3,r27 |
858 08f6 8093 0000 sts Mess_IntegralRoll2,r24 |
859 08fa 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
860 08fe A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
861 0902 B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
862 .L30: |
863 0906 2227 clr r18 |
864 0908 3327 clr r19 |
865 090a A901 movw r20,r18 |
866 090c 2E19 sub r18,r14 |
867 090e 3F09 sbc r19,r15 |
868 0910 400B sbc r20,r16 |
869 0912 510B sbc r21,r17 |
870 0914 8091 0000 lds r24,Mess_IntegralRoll |
871 0918 9091 0000 lds r25,(Mess_IntegralRoll)+1 |
872 091c A091 0000 lds r26,(Mess_IntegralRoll)+2 |
873 0920 B091 0000 lds r27,(Mess_IntegralRoll)+3 |
874 0924 8217 cp r24,r18 |
875 0926 9307 cpc r25,r19 |
876 0928 A407 cpc r26,r20 |
877 092a B507 cpc r27,r21 |
878 092c 04F4 brge .L32 |
879 092e D801 movw r26,r16 |
880 0930 C701 movw r24,r14 |
881 0932 885A subi r24,lo8(-(-25000)) |
882 0934 9146 sbci r25,hi8(-(-25000)) |
883 0936 A040 sbci r26,hlo8(-(-25000)) |
884 0938 B040 sbci r27,hhi8(-(-25000)) |
885 093a 8093 0000 sts Mess_IntegralRoll,r24 |
886 093e 9093 0000 sts (Mess_IntegralRoll)+1,r25 |
887 0942 A093 0000 sts (Mess_IntegralRoll)+2,r26 |
888 0946 B093 0000 sts (Mess_IntegralRoll)+3,r27 |
889 094a 8093 0000 sts Mess_IntegralRoll2,r24 |
890 094e 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
891 0952 A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
892 0956 B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
893 .L32: |
894 095a 288D ldd r18,Y+24 |
895 095c 398D ldd r19,Y+25 |
896 095e 260D add r18,r6 |
897 0960 371D adc r19,r7 |
898 0962 7901 movw r14,r18 |
899 0964 0027 clr r16 |
900 0966 F7FC sbrc r15,7 |
901 0968 0095 com r16 |
902 096a 102F mov r17,r16 |
903 096c 8091 0000 lds r24,Mess_IntegralNick2 |
904 0970 9091 0000 lds r25,(Mess_IntegralNick2)+1 |
905 0974 A091 0000 lds r26,(Mess_IntegralNick2)+2 |
906 0978 B091 0000 lds r27,(Mess_IntegralNick2)+3 |
907 097c 8E0D add r24,r14 |
908 097e 9F1D adc r25,r15 |
909 0980 A01F adc r26,r16 |
910 0982 B11F adc r27,r17 |
911 0984 8093 0000 sts Mess_IntegralNick2,r24 |
912 0988 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
913 098c A093 0000 sts (Mess_IntegralNick2)+2,r26 |
914 0990 B093 0000 sts (Mess_IntegralNick2)+3,r27 |
915 0994 8091 0000 lds r24,LageKorrekturNick |
916 0998 9091 0000 lds r25,(LageKorrekturNick)+1 |
917 099c 281B sub r18,r24 |
918 099e 390B sbc r19,r25 |
919 09a0 4427 clr r20 |
920 09a2 37FD sbrc r19,7 |
921 09a4 4095 com r20 |
922 09a6 542F mov r21,r20 |
923 09a8 8E85 ldd r24,Y+14 |
924 09aa 9F85 ldd r25,Y+15 |
925 09ac A889 ldd r26,Y+16 |
926 09ae B989 ldd r27,Y+17 |
927 09b0 280F add r18,r24 |
928 09b2 391F adc r19,r25 |
929 09b4 4A1F adc r20,r26 |
930 09b6 5B1F adc r21,r27 |
931 09b8 2093 0000 sts Mess_IntegralNick,r18 |
932 09bc 3093 0000 sts (Mess_IntegralNick)+1,r19 |
933 09c0 4093 0000 sts (Mess_IntegralNick)+2,r20 |
934 09c4 5093 0000 sts (Mess_IntegralNick)+3,r21 |
935 09c8 E090 0000 lds r14,Umschlag180Nick |
936 09cc F090 0000 lds r15,(Umschlag180Nick)+1 |
937 09d0 0091 0000 lds r16,(Umschlag180Nick)+2 |
938 09d4 1091 0000 lds r17,(Umschlag180Nick)+3 |
939 09d8 E216 cp r14,r18 |
940 09da F306 cpc r15,r19 |
941 09dc 0407 cpc r16,r20 |
942 09de 1507 cpc r17,r21 |
943 09e0 04F4 brge .L34 |
944 09e2 88EA ldi r24,lo8(25000) |
945 09e4 91E6 ldi r25,hi8(25000) |
946 09e6 A0E0 ldi r26,hlo8(25000) |
947 09e8 B0E0 ldi r27,hhi8(25000) |
948 09ea 8E19 sub r24,r14 |
949 09ec 9F09 sbc r25,r15 |
950 09ee A00B sbc r26,r16 |
951 09f0 B10B sbc r27,r17 |
952 09f2 8093 0000 sts Mess_IntegralNick,r24 |
953 09f6 9093 0000 sts (Mess_IntegralNick)+1,r25 |
954 09fa A093 0000 sts (Mess_IntegralNick)+2,r26 |
955 09fe B093 0000 sts (Mess_IntegralNick)+3,r27 |
956 0a02 8093 0000 sts Mess_IntegralNick2,r24 |
957 0a06 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
958 0a0a A093 0000 sts (Mess_IntegralNick2)+2,r26 |
959 0a0e B093 0000 sts (Mess_IntegralNick2)+3,r27 |
960 .L34: |
961 0a12 2227 clr r18 |
962 0a14 3327 clr r19 |
963 0a16 A901 movw r20,r18 |
964 0a18 2E19 sub r18,r14 |
965 0a1a 3F09 sbc r19,r15 |
966 0a1c 400B sbc r20,r16 |
967 0a1e 510B sbc r21,r17 |
968 0a20 8091 0000 lds r24,Mess_IntegralNick |
969 0a24 9091 0000 lds r25,(Mess_IntegralNick)+1 |
970 0a28 A091 0000 lds r26,(Mess_IntegralNick)+2 |
971 0a2c B091 0000 lds r27,(Mess_IntegralNick)+3 |
972 0a30 8217 cp r24,r18 |
973 0a32 9307 cpc r25,r19 |
974 0a34 A407 cpc r26,r20 |
975 0a36 B507 cpc r27,r21 |
976 0a38 04F4 brge .L36 |
977 0a3a D801 movw r26,r16 |
978 0a3c C701 movw r24,r14 |
979 0a3e 885A subi r24,lo8(-(-25000)) |
980 0a40 9146 sbci r25,hi8(-(-25000)) |
981 0a42 A040 sbci r26,hlo8(-(-25000)) |
982 0a44 B040 sbci r27,hhi8(-(-25000)) |
983 0a46 8093 0000 sts Mess_IntegralNick,r24 |
984 0a4a 9093 0000 sts (Mess_IntegralNick)+1,r25 |
985 0a4e A093 0000 sts (Mess_IntegralNick)+2,r26 |
986 0a52 B093 0000 sts (Mess_IntegralNick)+3,r27 |
987 0a56 8093 0000 sts Mess_IntegralNick2,r24 |
988 0a5a 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
989 0a5e A093 0000 sts (Mess_IntegralNick2)+2,r26 |
990 0a62 B093 0000 sts (Mess_IntegralNick2)+3,r27 |
991 .L36: |
992 0a66 8091 0000 lds r24,Mess_Integral_Gier |
993 0a6a 9091 0000 lds r25,(Mess_Integral_Gier)+1 |
994 0a6e A091 0000 lds r26,(Mess_Integral_Gier)+2 |
995 0a72 B091 0000 lds r27,(Mess_Integral_Gier)+3 |
996 0a76 8093 0000 sts Integral_Gier,r24 |
997 0a7a 9093 0000 sts (Integral_Gier)+1,r25 |
998 0a7e A093 0000 sts (Integral_Gier)+2,r26 |
999 0a82 B093 0000 sts (Integral_Gier)+3,r27 |
1000 0a86 8091 0000 lds r24,Mess_IntegralNick |
1001 0a8a 9091 0000 lds r25,(Mess_IntegralNick)+1 |
1002 0a8e A091 0000 lds r26,(Mess_IntegralNick)+2 |
1003 0a92 B091 0000 lds r27,(Mess_IntegralNick)+3 |
1004 0a96 8093 0000 sts IntegralNick,r24 |
1005 0a9a 9093 0000 sts (IntegralNick)+1,r25 |
1006 0a9e A093 0000 sts (IntegralNick)+2,r26 |
1007 0aa2 B093 0000 sts (IntegralNick)+3,r27 |
1008 0aa6 8091 0000 lds r24,Mess_IntegralRoll |
1009 0aaa 9091 0000 lds r25,(Mess_IntegralRoll)+1 |
1010 0aae A091 0000 lds r26,(Mess_IntegralRoll)+2 |
1011 0ab2 B091 0000 lds r27,(Mess_IntegralRoll)+3 |
1012 0ab6 8093 0000 sts IntegralRoll,r24 |
1013 0aba 9093 0000 sts (IntegralRoll)+1,r25 |
1014 0abe A093 0000 sts (IntegralRoll)+2,r26 |
1015 0ac2 B093 0000 sts (IntegralRoll)+3,r27 |
1016 0ac6 8091 0000 lds r24,Mess_IntegralNick2 |
1017 0aca 9091 0000 lds r25,(Mess_IntegralNick2)+1 |
1018 0ace A091 0000 lds r26,(Mess_IntegralNick2)+2 |
1019 0ad2 B091 0000 lds r27,(Mess_IntegralNick2)+3 |
1020 0ad6 8093 0000 sts IntegralNick2,r24 |
1021 0ada 9093 0000 sts (IntegralNick2)+1,r25 |
1022 0ade A093 0000 sts (IntegralNick2)+2,r26 |
1023 0ae2 B093 0000 sts (IntegralNick2)+3,r27 |
1024 0ae6 8091 0000 lds r24,Mess_IntegralRoll2 |
1025 0aea 9091 0000 lds r25,(Mess_IntegralRoll2)+1 |
1026 0aee A091 0000 lds r26,(Mess_IntegralRoll2)+2 |
1027 0af2 B091 0000 lds r27,(Mess_IntegralRoll2)+3 |
1028 0af6 8093 0000 sts IntegralRoll2,r24 |
1029 0afa 9093 0000 sts (IntegralRoll2)+1,r25 |
1030 0afe A093 0000 sts (IntegralRoll2)+2,r26 |
1031 0b02 B093 0000 sts (IntegralRoll2)+3,r27 |
1032 0b06 8091 0000 lds r24,HiResNick |
1033 0b0a 9091 0000 lds r25,(HiResNick)+1 |
1034 0b0e 68E0 ldi r22,lo8(8) |
1035 0b10 70E0 ldi r23,hi8(8) |
1036 0b12 0E94 0000 call __divmodhi4 |
1037 0b16 7093 0000 sts (MesswertNick)+1,r23 |
1038 0b1a 6093 0000 sts MesswertNick,r22 |
1039 0b1e 8091 0000 lds r24,HiResRoll |
1040 0b22 9091 0000 lds r25,(HiResRoll)+1 |
1041 0b26 68E0 ldi r22,lo8(8) |
1042 0b28 70E0 ldi r23,hi8(8) |
1043 0b2a 0E94 0000 call __divmodhi4 |
1044 0b2e 7093 0000 sts (MesswertRoll)+1,r23 |
1045 0b32 6093 0000 sts MesswertRoll,r22 |
1046 0b36 8091 0000 lds r24,AdWertNick |
1047 0b3a 9091 0000 lds r25,(AdWertNick)+1 |
1048 0b3e 0F97 sbiw r24,15 |
1049 0b40 04F4 brge .L38 |
1050 0b42 88E1 ldi r24,lo8(-1000) |
1051 0b44 9CEF ldi r25,hi8(-1000) |
1052 0b46 9093 0000 sts (MesswertNick)+1,r25 |
1053 0b4a 8093 0000 sts MesswertNick,r24 |
1054 .L38: |
1055 0b4e 8091 0000 lds r24,AdWertNick |
1056 0b52 9091 0000 lds r25,(AdWertNick)+1 |
1057 0b56 0797 sbiw r24,7 |
1058 0b58 04F4 brge .L40 |
1059 0b5a 80E3 ldi r24,lo8(-2000) |
1060 0b5c 98EF ldi r25,hi8(-2000) |
1061 0b5e 9093 0000 sts (MesswertNick)+1,r25 |
1062 0b62 8093 0000 sts MesswertNick,r24 |
1063 .L40: |
1064 0b66 2091 0000 lds r18,PlatinenVersion |
1065 0b6a 2A30 cpi r18,lo8(10) |
1066 0b6c 01F4 brne .L42 |
1067 0b6e 8091 0000 lds r24,AdWertNick |
1068 0b72 9091 0000 lds r25,(AdWertNick)+1 |
1069 0b76 835F subi r24,lo8(1011) |
1070 0b78 9340 sbci r25,hi8(1011) |
1071 0b7a 04F0 brlt .L44 |
1072 0b7c 88EE ldi r24,lo8(1000) |
1073 0b7e 93E0 ldi r25,hi8(1000) |
1074 0b80 9093 0000 sts (MesswertNick)+1,r25 |
1075 0b84 8093 0000 sts MesswertNick,r24 |
1076 .L44: |
1077 0b88 8091 0000 lds r24,AdWertNick |
1078 0b8c 9091 0000 lds r25,(AdWertNick)+1 |
1079 0b90 8A5F subi r24,lo8(1018) |
1080 0b92 9340 sbci r25,hi8(1018) |
1081 0b94 04F0 brlt .L46 |
1082 0b96 00C0 rjmp .L96 |
1083 .L42: |
1084 0b98 8091 0000 lds r24,AdWertNick |
1085 0b9c 9091 0000 lds r25,(AdWertNick)+1 |
1086 0ba0 815D subi r24,lo8(2001) |
1087 0ba2 9740 sbci r25,hi8(2001) |
1088 0ba4 04F0 brlt .L48 |
1089 0ba6 88EE ldi r24,lo8(1000) |
1090 0ba8 93E0 ldi r25,hi8(1000) |
1091 0baa 9093 0000 sts (MesswertNick)+1,r25 |
1092 0bae 8093 0000 sts MesswertNick,r24 |
1093 .L48: |
1094 0bb2 8091 0000 lds r24,AdWertNick |
1095 0bb6 9091 0000 lds r25,(AdWertNick)+1 |
1096 0bba 805E subi r24,lo8(2016) |
1097 0bbc 9740 sbci r25,hi8(2016) |
1098 0bbe 04F0 brlt .L46 |
1099 .L96: |
1100 0bc0 80ED ldi r24,lo8(2000) |
1101 0bc2 97E0 ldi r25,hi8(2000) |
1102 0bc4 9093 0000 sts (MesswertNick)+1,r25 |
1103 0bc8 8093 0000 sts MesswertNick,r24 |
1104 .L46: |
1105 0bcc 8091 0000 lds r24,AdWertRoll |
1106 0bd0 9091 0000 lds r25,(AdWertRoll)+1 |
1107 0bd4 0F97 sbiw r24,15 |
1108 0bd6 04F4 brge .L51 |
1109 0bd8 88E1 ldi r24,lo8(-1000) |
1110 0bda 9CEF ldi r25,hi8(-1000) |
1111 0bdc 9093 0000 sts (MesswertRoll)+1,r25 |
1112 0be0 8093 0000 sts MesswertRoll,r24 |
1113 .L51: |
1114 0be4 8091 0000 lds r24,AdWertRoll |
1115 0be8 9091 0000 lds r25,(AdWertRoll)+1 |
1116 0bec 0797 sbiw r24,7 |
1117 0bee 04F4 brge .L53 |
1118 0bf0 80E3 ldi r24,lo8(-2000) |
1119 0bf2 98EF ldi r25,hi8(-2000) |
1120 0bf4 9093 0000 sts (MesswertRoll)+1,r25 |
1121 0bf8 8093 0000 sts MesswertRoll,r24 |
1122 .L53: |
1123 0bfc 2A30 cpi r18,lo8(10) |
1124 0bfe 01F4 brne .L55 |
1125 0c00 8091 0000 lds r24,AdWertRoll |
1126 0c04 9091 0000 lds r25,(AdWertRoll)+1 |
1127 0c08 835F subi r24,lo8(1011) |
1128 0c0a 9340 sbci r25,hi8(1011) |
1129 0c0c 04F0 brlt .L57 |
1130 0c0e 88EE ldi r24,lo8(1000) |
1131 0c10 93E0 ldi r25,hi8(1000) |
1132 0c12 9093 0000 sts (MesswertRoll)+1,r25 |
1133 0c16 8093 0000 sts MesswertRoll,r24 |
1134 .L57: |
1135 0c1a 8091 0000 lds r24,AdWertRoll |
1136 0c1e 9091 0000 lds r25,(AdWertRoll)+1 |
1137 0c22 8A5F subi r24,lo8(1018) |
1138 0c24 9340 sbci r25,hi8(1018) |
1139 0c26 04F0 brlt .L59 |
1140 0c28 00C0 rjmp .L97 |
1141 .L55: |
1142 0c2a 8091 0000 lds r24,AdWertRoll |
1143 0c2e 9091 0000 lds r25,(AdWertRoll)+1 |
1144 0c32 815D subi r24,lo8(2001) |
1145 0c34 9740 sbci r25,hi8(2001) |
1146 0c36 04F0 brlt .L61 |
1147 0c38 88EE ldi r24,lo8(1000) |
1148 0c3a 93E0 ldi r25,hi8(1000) |
1149 0c3c 9093 0000 sts (MesswertRoll)+1,r25 |
1150 0c40 8093 0000 sts MesswertRoll,r24 |
1151 .L61: |
1152 0c44 8091 0000 lds r24,AdWertRoll |
1153 0c48 9091 0000 lds r25,(AdWertRoll)+1 |
1154 0c4c 805E subi r24,lo8(2016) |
1155 0c4e 9740 sbci r25,hi8(2016) |
1156 0c50 04F0 brlt .L59 |
1157 .L97: |
1158 0c52 80ED ldi r24,lo8(2000) |
1159 0c54 97E0 ldi r25,hi8(2000) |
1160 0c56 9093 0000 sts (MesswertRoll)+1,r25 |
1161 0c5a 8093 0000 sts MesswertRoll,r24 |
1162 .L59: |
1163 0c5e 4091 0000 lds r20,Parameter_Gyro_D |
1164 0c62 4423 tst r20 |
1165 0c64 01F4 brne .+2 |
1166 0c66 00C0 rjmp .L64 |
1167 0c68 E091 0000 lds r30,HiResNick |
1168 0c6c F091 0000 lds r31,(HiResNick)+1 |
1169 0c70 2091 0000 lds r18,oldNick.2872 |
1170 0c74 3091 0000 lds r19,(oldNick.2872)+1 |
1171 0c78 E21B sub r30,r18 |
1172 0c7a F30B sbc r31,r19 |
1173 0c7c F093 0000 sts (d2Nick.2875)+1,r31 |
1174 0c80 E093 0000 sts d2Nick.2875,r30 |
1175 0c84 8091 0000 lds r24,HiResNick |
1176 0c88 9091 0000 lds r25,(HiResNick)+1 |
1177 0c8c 820F add r24,r18 |
1178 0c8e 931F adc r25,r19 |
1179 0c90 62E0 ldi r22,lo8(2) |
1180 0c92 70E0 ldi r23,hi8(2) |
1181 0c94 0E94 0000 call __divmodhi4 |
1182 0c98 7093 0000 sts (oldNick.2872)+1,r23 |
1183 0c9c 6093 0000 sts oldNick.2872,r22 |
1184 0ca0 E138 cpi r30,129 |
1185 0ca2 F105 cpc r31,__zero_reg__ |
1186 0ca4 04F0 brlt .L66 |
1187 0ca6 80E8 ldi r24,lo8(128) |
1188 0ca8 90E0 ldi r25,hi8(128) |
1189 0caa 00C0 rjmp .L98 |
1190 .L66: |
1191 0cac E058 subi r30,lo8(-128) |
1192 0cae FF4F sbci r31,hi8(-128) |
1193 0cb0 04F4 brge .L68 |
1194 0cb2 80E8 ldi r24,lo8(-128) |
1195 0cb4 9FEF ldi r25,hi8(-128) |
1196 .L98: |
1197 0cb6 9093 0000 sts (d2Nick.2875)+1,r25 |
1198 0cba 8093 0000 sts d2Nick.2875,r24 |
1199 .L68: |
1200 0cbe E091 0000 lds r30,HiResRoll |
1201 0cc2 F091 0000 lds r31,(HiResRoll)+1 |
1202 0cc6 2091 0000 lds r18,oldRoll.2873 |
1203 0cca 3091 0000 lds r19,(oldRoll.2873)+1 |
1204 0cce E21B sub r30,r18 |
1205 0cd0 F30B sbc r31,r19 |
1206 0cd2 F093 0000 sts (d2Roll.2874)+1,r31 |
1207 0cd6 E093 0000 sts d2Roll.2874,r30 |
1208 0cda 8091 0000 lds r24,HiResRoll |
1209 0cde 9091 0000 lds r25,(HiResRoll)+1 |
1210 0ce2 820F add r24,r18 |
1211 0ce4 931F adc r25,r19 |
1212 0ce6 62E0 ldi r22,lo8(2) |
1213 0ce8 70E0 ldi r23,hi8(2) |
1214 0cea 0E94 0000 call __divmodhi4 |
1215 0cee 7093 0000 sts (oldRoll.2873)+1,r23 |
1216 0cf2 6093 0000 sts oldRoll.2873,r22 |
1217 0cf6 E138 cpi r30,129 |
1218 0cf8 F105 cpc r31,__zero_reg__ |
1219 0cfa 04F0 brlt .L70 |
1220 0cfc 80E8 ldi r24,lo8(128) |
1221 0cfe 90E0 ldi r25,hi8(128) |
1222 0d00 00C0 rjmp .L99 |
1223 .L70: |
1224 0d02 E058 subi r30,lo8(-128) |
1225 0d04 FF4F sbci r31,hi8(-128) |
1226 0d06 04F4 brge .L72 |
1227 0d08 80E8 ldi r24,lo8(-128) |
1228 0d0a 9FEF ldi r25,hi8(-128) |
1229 .L99: |
1230 0d0c 9093 0000 sts (d2Roll.2874)+1,r25 |
1231 0d10 8093 0000 sts d2Roll.2874,r24 |
1232 .L72: |
1233 0d14 242F mov r18,r20 |
1234 0d16 30E0 ldi r19,lo8(0) |
1235 0d18 8091 0000 lds r24,d2Nick.2875 |
1236 0d1c 9091 0000 lds r25,(d2Nick.2875)+1 |
1237 0d20 289F mul r18,r24 |
1238 0d22 F001 movw r30,r0 |
1239 0d24 299F mul r18,r25 |
1240 0d26 F00D add r31,r0 |
1241 0d28 389F mul r19,r24 |
1242 0d2a F00D add r31,r0 |
1243 0d2c 1124 clr r1 |
1244 0d2e CF01 movw r24,r30 |
1245 0d30 60E1 ldi r22,lo8(16) |
1246 0d32 70E0 ldi r23,hi8(16) |
1247 0d34 0E94 0000 call __divmodhi4 |
1248 0d38 8091 0000 lds r24,MesswertNick |
1249 0d3c 9091 0000 lds r25,(MesswertNick)+1 |
1250 0d40 860F add r24,r22 |
1251 0d42 971F adc r25,r23 |
1252 0d44 9093 0000 sts (MesswertNick)+1,r25 |
1253 0d48 8093 0000 sts MesswertNick,r24 |
1254 0d4c 8091 0000 lds r24,d2Roll.2874 |
1255 0d50 9091 0000 lds r25,(d2Roll.2874)+1 |
1256 0d54 D901 movw r26,r18 |
1257 0d56 A89F mul r26,r24 |
1258 0d58 9001 movw r18,r0 |
1259 0d5a A99F mul r26,r25 |
1260 0d5c 300D add r19,r0 |
1261 0d5e B89F mul r27,r24 |
1262 0d60 300D add r19,r0 |
1263 0d62 1124 clr r1 |
1264 0d64 C901 movw r24,r18 |
1265 0d66 60E1 ldi r22,lo8(16) |
1266 0d68 70E0 ldi r23,hi8(16) |
1267 0d6a 0E94 0000 call __divmodhi4 |
1268 0d6e 8091 0000 lds r24,MesswertRoll |
1269 0d72 9091 0000 lds r25,(MesswertRoll)+1 |
1270 0d76 860F add r24,r22 |
1271 0d78 971F adc r25,r23 |
1272 0d7a 9093 0000 sts (MesswertRoll)+1,r25 |
1273 0d7e 8093 0000 sts MesswertRoll,r24 |
1274 0d82 8091 0000 lds r24,HiResNick |
1275 0d86 9091 0000 lds r25,(HiResNick)+1 |
1276 0d8a E80F add r30,r24 |
1277 0d8c F91F adc r31,r25 |
1278 0d8e F093 0000 sts (HiResNick)+1,r31 |
1279 0d92 E093 0000 sts HiResNick,r30 |
1280 0d96 8091 0000 lds r24,HiResRoll |
1281 0d9a 9091 0000 lds r25,(HiResRoll)+1 |
1282 0d9e 280F add r18,r24 |
1283 0da0 391F adc r19,r25 |
1284 0da2 3093 0000 sts (HiResRoll)+1,r19 |
1285 0da6 2093 0000 sts HiResRoll,r18 |
1286 .L64: |
1287 0daa 6091 0000 lds r22,KopplungsteilNickRoll |
1288 0dae 7091 0000 lds r23,(KopplungsteilNickRoll)+1 |
1289 0db2 EE89 ldd r30,Y+22 |
1290 0db4 FF89 ldd r31,Y+23 |
1291 0db6 1E16 cp __zero_reg__,r30 |
1292 0db8 1F06 cpc __zero_reg__,r31 |
1293 0dba 04F4 brge .L74 |
1294 0dbc CB01 movw r24,r22 |
1295 0dbe 77FF sbrs r23,7 |
1296 0dc0 00C0 rjmp .L76 |
1297 0dc2 8827 clr r24 |
1298 0dc4 9927 clr r25 |
1299 0dc6 861B sub r24,r22 |
1300 0dc8 970B sbc r25,r23 |
1301 .L76: |
1302 0dca 9C01 movw r18,r24 |
1303 0dcc B901 movw r22,r18 |
1304 0dce 8827 clr r24 |
1305 0dd0 77FD sbrc r23,7 |
1306 0dd2 8095 com r24 |
1307 0dd4 982F mov r25,r24 |
1308 0dd6 2091 0000 lds r18,Parameter_CouplingYawCorrection |
1309 0dda 30E0 ldi r19,lo8(0) |
1310 0ddc 40E0 ldi r20,lo8(0) |
1311 0dde 50E0 ldi r21,hi8(0) |
1312 0de0 0E94 0000 call __mulsi3 |
1313 0de4 20E4 ldi r18,lo8(64) |
1314 0de6 30E0 ldi r19,hi8(64) |
1315 0de8 40E0 ldi r20,hlo8(64) |
1316 0dea 50E0 ldi r21,hhi8(64) |
1317 0dec 0E94 0000 call __divmodsi4 |
1318 0df0 820E add r8,r18 |
1319 0df2 931E adc r9,r19 |
1320 0df4 00C0 rjmp .L100 |
1321 .L74: |
1322 0df6 77FF sbrs r23,7 |
1323 0df8 00C0 rjmp .L78 |
1324 0dfa 7095 com r23 |
1325 0dfc 6195 neg r22 |
1326 0dfe 7F4F sbci r23,lo8(-1) |
1327 .L78: |
1328 0e00 8827 clr r24 |
1329 0e02 77FD sbrc r23,7 |
1330 0e04 8095 com r24 |
1331 0e06 982F mov r25,r24 |
1332 0e08 2091 0000 lds r18,Parameter_CouplingYawCorrection |
1333 0e0c 30E0 ldi r19,lo8(0) |
1334 0e0e 40E0 ldi r20,lo8(0) |
1335 0e10 50E0 ldi r21,hi8(0) |
1336 0e12 0E94 0000 call __mulsi3 |
1337 0e16 20E4 ldi r18,lo8(64) |
1338 0e18 30E0 ldi r19,hi8(64) |
1339 0e1a 40E0 ldi r20,hlo8(64) |
1340 0e1c 50E0 ldi r21,hhi8(64) |
1341 0e1e 0E94 0000 call __divmodsi4 |
1342 0e22 821A sub r8,r18 |
1343 0e24 930A sbc r9,r19 |
1344 .L100: |
1345 0e26 9092 0000 sts (TrimRoll)+1,r9 |
1346 0e2a 8092 0000 sts TrimRoll,r8 |
1347 0e2e 6091 0000 lds r22,KopplungsteilRollNick |
1348 0e32 7091 0000 lds r23,(KopplungsteilRollNick)+1 |
1349 0e36 488D ldd r20,Y+24 |
1350 0e38 598D ldd r21,Y+25 |
1351 0e3a 1416 cp __zero_reg__,r20 |
1352 0e3c 1506 cpc __zero_reg__,r21 |
1353 0e3e 04F4 brge .L79 |
1354 0e40 CB01 movw r24,r22 |
1355 0e42 77FF sbrs r23,7 |
1356 0e44 00C0 rjmp .L81 |
1357 0e46 8827 clr r24 |
1358 0e48 9927 clr r25 |
1359 0e4a 861B sub r24,r22 |
1360 0e4c 970B sbc r25,r23 |
1361 .L81: |
1362 0e4e DC01 movw r26,r24 |
1363 0e50 BD01 movw r22,r26 |
1364 0e52 8827 clr r24 |
1365 0e54 77FD sbrc r23,7 |
1366 0e56 8095 com r24 |
1367 0e58 982F mov r25,r24 |
1368 0e5a 2091 0000 lds r18,Parameter_CouplingYawCorrection |
1369 0e5e 30E0 ldi r19,lo8(0) |
1370 0e60 40E0 ldi r20,lo8(0) |
1371 0e62 50E0 ldi r21,hi8(0) |
1372 0e64 0E94 0000 call __mulsi3 |
1373 0e68 20E4 ldi r18,lo8(64) |
1374 0e6a 30E0 ldi r19,hi8(64) |
1375 0e6c 40E0 ldi r20,hlo8(64) |
1376 0e6e 50E0 ldi r21,hhi8(64) |
1377 0e70 0E94 0000 call __divmodsi4 |
1378 0e74 620E add r6,r18 |
1379 0e76 731E adc r7,r19 |
1380 0e78 00C0 rjmp .L101 |
1381 .L79: |
1382 0e7a 77FF sbrs r23,7 |
1383 0e7c 00C0 rjmp .L83 |
1384 0e7e 7095 com r23 |
1385 0e80 6195 neg r22 |
1386 0e82 7F4F sbci r23,lo8(-1) |
1387 .L83: |
1388 0e84 8827 clr r24 |
1389 0e86 77FD sbrc r23,7 |
1390 0e88 8095 com r24 |
1391 0e8a 982F mov r25,r24 |
1392 0e8c 2091 0000 lds r18,Parameter_CouplingYawCorrection |
1393 0e90 30E0 ldi r19,lo8(0) |
1394 0e92 40E0 ldi r20,lo8(0) |
1395 0e94 50E0 ldi r21,hi8(0) |
1396 0e96 0E94 0000 call __mulsi3 |
1397 0e9a 20E4 ldi r18,lo8(64) |
1398 0e9c 30E0 ldi r19,hi8(64) |
1399 0e9e 40E0 ldi r20,hlo8(64) |
1400 0ea0 50E0 ldi r21,hhi8(64) |
1401 0ea2 0E94 0000 call __divmodsi4 |
1402 0ea6 621A sub r6,r18 |
1403 0ea8 730A sbc r7,r19 |
1404 .L101: |
1405 0eaa 7092 0000 sts (TrimNick)+1,r7 |
1406 0eae 6092 0000 sts TrimNick,r6 |
1407 0eb2 8091 0000 lds r24,EE_Parameter+13 |
1408 0eb6 87FF sbrs r24,7 |
1409 0eb8 00C0 rjmp .L95 |
1410 0eba B985 ldd r27,Y+9 |
1411 0ebc BB23 tst r27 |
1412 0ebe 01F0 breq .+2 |
1413 0ec0 00C0 rjmp .L95 |
1414 0ec2 8091 0000 lds r24,Looping_Roll |
1415 0ec6 8823 tst r24 |
1416 0ec8 01F0 breq .+2 |
1417 0eca 00C0 rjmp .L95 |
1418 0ecc E88D ldd r30,Y+24 |
1419 0ece F98D ldd r31,Y+25 |
1420 0ed0 21E0 ldi r18,hi8(257) |
1421 0ed2 E130 cpi r30,lo8(257) |
1422 0ed4 F207 cpc r31,r18 |
1423 0ed6 04F0 brlt .L88 |
1424 0ed8 8091 0000 lds r24,MesswertNick |
1425 0edc 9091 0000 lds r25,(MesswertNick)+1 |
1426 0ee0 8050 subi r24,lo8(-(-256)) |
1427 0ee2 9140 sbci r25,hi8(-(-256)) |
1428 0ee4 8E0F add r24,r30 |
1429 0ee6 9F1F adc r25,r31 |
1430 0ee8 00C0 rjmp .L102 |
1431 .L88: |
1432 0eea 488D ldd r20,Y+24 |
1433 0eec 598D ldd r21,Y+25 |
1434 0eee 6FEF ldi r22,hi8(-256) |
1435 0ef0 4030 cpi r20,lo8(-256) |
1436 0ef2 5607 cpc r21,r22 |
1437 0ef4 04F4 brge .L90 |
1438 0ef6 8091 0000 lds r24,MesswertNick |
1439 0efa 9091 0000 lds r25,(MesswertNick)+1 |
1440 0efe 8050 subi r24,lo8(-(256)) |
1441 0f00 9F4F sbci r25,hi8(-(256)) |
1442 0f02 840F add r24,r20 |
1443 0f04 951F adc r25,r21 |
1444 .L102: |
1445 0f06 9093 0000 sts (MesswertNick)+1,r25 |
1446 0f0a 8093 0000 sts MesswertNick,r24 |
1447 .L90: |
1448 0f0e 8E89 ldd r24,Y+22 |
1449 0f10 9F89 ldd r25,Y+23 |
1450 0f12 8150 subi r24,lo8(257) |
1451 0f14 9140 sbci r25,hi8(257) |
1452 0f16 04F0 brlt .L92 |
1453 0f18 8091 0000 lds r24,MesswertRoll |
1454 0f1c 9091 0000 lds r25,(MesswertRoll)+1 |
1455 0f20 8050 subi r24,lo8(-(-256)) |
1456 0f22 9140 sbci r25,hi8(-(-256)) |
1457 0f24 EE89 ldd r30,Y+22 |
1458 0f26 FF89 ldd r31,Y+23 |
1459 0f28 8E0F add r24,r30 |
1460 0f2a 9F1F adc r25,r31 |
1461 0f2c 00C0 rjmp .L103 |
1462 .L92: |
1463 0f2e 2E89 ldd r18,Y+22 |
1464 0f30 3F89 ldd r19,Y+23 |
1465 0f32 4FEF ldi r20,hi8(-256) |
1466 0f34 2030 cpi r18,lo8(-256) |
1467 0f36 3407 cpc r19,r20 |
1468 0f38 04F4 brge .L95 |
1469 0f3a 8091 0000 lds r24,MesswertRoll |
1470 0f3e 9091 0000 lds r25,(MesswertRoll)+1 |
1471 0f42 8050 subi r24,lo8(-(256)) |
1472 0f44 9F4F sbci r25,hi8(-(256)) |
1473 0f46 820F add r24,r18 |
1474 0f48 931F adc r25,r19 |
1475 .L103: |
1476 0f4a 9093 0000 sts (MesswertRoll)+1,r25 |
1477 0f4e 8093 0000 sts MesswertRoll,r24 |
1478 .L95: |
1479 /* epilogue: frame size=27 */ |
1480 0f52 E2E1 ldi r30,18 |
1481 0f54 C55E subi r28,-27 |
1482 0f56 0C94 0000 jmp __epilogue_restores__+0 |
1483 /* epilogue end (size=4) */ |
1484 /* function Mittelwert size 1733 (1723) */ |
1486 .global SendMotorData |
1488 SendMotorData: |
1489 /* prologue: frame size=0 */ |
1490 /* prologue end (size=0) */ |
1491 0f5a 8091 0000 lds r24,MotorenEin |
1492 0f5e 8823 tst r24 |
1493 0f60 01F4 brne .L105 |
1494 0f62 8091 0000 lds r24,FC_StatusFlags |
1495 0f66 8C7F andi r24,lo8(-4) |
1496 0f68 8093 0000 sts FC_StatusFlags,r24 |
1497 0f6c A0E0 ldi r26,lo8(MotorTest) |
1498 0f6e B0E0 ldi r27,hi8(MotorTest) |
1499 0f70 E0E0 ldi r30,lo8(Motor+1) |
1500 0f72 F0E0 ldi r31,hi8(Motor+1) |
1501 .L107: |
1502 0f74 8091 0000 lds r24,PC_MotortestActive |
1503 0f78 8823 tst r24 |
1504 0f7a 01F4 brne .L108 |
1505 0f7c 1C92 st X,__zero_reg__ |
1506 .L108: |
1507 0f7e 8D91 ld r24,X+ |
1508 0f80 8083 st Z,r24 |
1509 0f82 1182 std Z+1,__zero_reg__ |
1510 0f84 3896 adiw r30,8 |
1511 0f86 80E0 ldi r24,hi8(MotorTest+12) |
1512 0f88 A030 cpi r26,lo8(MotorTest+12) |
1513 0f8a B807 cpc r27,r24 |
1514 0f8c 01F4 brne .L107 |
1515 0f8e 8091 0000 lds r24,PC_MotortestActive |
1516 0f92 8823 tst r24 |
1517 0f94 01F0 breq .L111 |
1518 0f96 8091 0000 lds r24,PC_MotortestActive |
1519 0f9a 8150 subi r24,lo8(-(-1)) |
1520 0f9c 8093 0000 sts PC_MotortestActive,r24 |
1521 0fa0 00C0 rjmp .L111 |
1522 .L105: |
1523 0fa2 8091 0000 lds r24,FC_StatusFlags |
1524 0fa6 8160 ori r24,lo8(1) |
1525 0fa8 8093 0000 sts FC_StatusFlags,r24 |
1526 .L111: |
1527 0fac 8091 0000 lds r24,I2C_TransferActive |
1528 0fb0 8823 tst r24 |
1529 0fb2 01F0 breq .L113 |
1530 0fb4 1092 0000 sts I2C_TransferActive,__zero_reg__ |
1531 0fb8 0895 ret |
1532 .L113: |
1533 0fba 1092 0000 sts motor_write,__zero_reg__ |
1534 0fbe 1092 0000 sts twi_state,__zero_reg__ |
1535 0fc2 8091 0000 lds r24,BLFlags |
1536 0fc6 8E7F andi r24,lo8(-2) |
1537 0fc8 8093 0000 sts BLFlags,r24 |
1538 0fcc 85EA ldi r24,lo8(-91) |
1539 0fce 8093 BC00 sts 188,r24 |
1540 0fd2 0895 ret |
1541 /* epilogue: frame size=0 */ |
1542 /* epilogue: noreturn */ |
1543 /* epilogue end (size=0) */ |
1544 /* function SendMotorData size 61 (61) */ |
1546 .global ParameterZuordnung |
1548 ParameterZuordnung: |
1549 /* prologue: frame size=0 */ |
1550 0fd4 0F93 push r16 |
1551 0fd6 1F93 push r17 |
1552 0fd8 CF93 push r28 |
1553 0fda DF93 push r29 |
1554 /* prologue end (size=4) */ |
1555 0fdc 00E0 ldi r16,lo8(EE_Parameter+5) |
1556 0fde 10E0 ldi r17,hi8(EE_Parameter+5) |
1557 0fe0 C0E0 ldi r28,lo8(Poti) |
1558 0fe2 D0E0 ldi r29,hi8(Poti) |
1559 .L120: |
1560 0fe4 D801 movw r26,r16 |
1561 0fe6 EC91 ld r30,X |
1562 0fe8 F0E0 ldi r31,lo8(0) |
1563 0fea EE0F lsl r30 |
1564 0fec FF1F rol r31 |
1565 0fee E050 subi r30,lo8(-(PPM_in)) |
1566 0ff0 F040 sbci r31,hi8(-(PPM_in)) |
1567 0ff2 8081 ld r24,Z |
1568 0ff4 9181 ldd r25,Z+1 |
1569 0ff6 8259 subi r24,lo8(-(110)) |
1570 0ff8 9F4F sbci r25,hi8(-(110)) |
1571 0ffa 97FF sbrs r25,7 |
1572 0ffc 00C0 rjmp .L121 |
1573 0ffe 80E0 ldi r24,lo8(0) |
1574 1000 90E0 ldi r25,hi8(0) |
1575 .L121: |
1576 1002 FC01 movw r30,r24 |
1577 1004 8F3F cpi r24,255 |
1578 1006 9105 cpc r25,__zero_reg__ |
1579 1008 01F0 breq .L122 |
1580 100a 04F0 brlt .L122 |
1581 100c EFEF ldi r30,lo8(255) |
1582 100e F0E0 ldi r31,hi8(255) |
1583 .L122: |
1584 1010 2881 ld r18,Y |
1585 1012 822F mov r24,r18 |
1586 1014 90E0 ldi r25,lo8(0) |
1587 1016 E817 cp r30,r24 |
1588 1018 F907 cpc r31,r25 |
1589 101a 01F0 breq .L123 |
1590 101c AF01 movw r20,r30 |
1591 101e 481B sub r20,r24 |
1592 1020 590B sbc r21,r25 |
1593 1022 CA01 movw r24,r20 |
1594 1024 64E0 ldi r22,lo8(4) |
1595 1026 70E0 ldi r23,hi8(4) |
1596 1028 0E94 0000 call __divmodhi4 |
1597 102c 260F add r18,r22 |
1598 102e 2883 st Y,r18 |
1599 1030 822F mov r24,r18 |
1600 1032 90E0 ldi r25,lo8(0) |
1601 1034 E817 cp r30,r24 |
1602 1036 F907 cpc r31,r25 |
1603 1038 04F4 brge .L125 |
1604 103a 2150 subi r18,lo8(-(-1)) |
1605 103c 00C0 rjmp .L267 |
1606 .L125: |
1607 103e 2F5F subi r18,lo8(-(1)) |
1608 .L267: |
1609 1040 2883 st Y,r18 |
1610 .L123: |
1611 1042 0F5F subi r16,lo8(-(1)) |
1612 1044 1F4F sbci r17,hi8(-(1)) |
1613 1046 2196 adiw r28,1 |
1614 1048 50E0 ldi r21,hi8(EE_Parameter+13) |
1615 104a 0030 cpi r16,lo8(EE_Parameter+13) |
1616 104c 1507 cpc r17,r21 |
1617 104e 01F4 brne .L120 |
1618 1050 8091 0000 lds r24,EE_Parameter+15 |
1619 1054 883F cpi r24,lo8(-8) |
1620 1056 00F0 brlo .L268 |
1621 1058 EFEF ldi r30,lo8(255) |
1622 105a F0E0 ldi r31,hi8(255) |
1623 105c E81B sub r30,r24 |
1624 105e F109 sbc r31,__zero_reg__ |
1625 1060 E050 subi r30,lo8(-(Poti)) |
1626 1062 F040 sbci r31,hi8(-(Poti)) |
1627 1064 8081 ld r24,Z |
1628 .L268: |
1629 1066 8093 0000 sts Parameter_Luftdruck_D,r24 |
1630 106a 8091 0000 lds r24,Parameter_Luftdruck_D |
1631 106e 8823 tst r24 |
1632 1070 01F4 brne .L131 |
1633 1072 1092 0000 sts Parameter_Luftdruck_D,__zero_reg__ |
1634 1076 00C0 rjmp .L133 |
1635 .L131: |
1636 1078 8436 cpi r24,lo8(100) |
1637 107a 00F0 brlo .L133 |
1638 107c 84E6 ldi r24,lo8(100) |
1639 107e 8093 0000 sts Parameter_Luftdruck_D,r24 |
1640 .L133: |
1641 1082 8091 0000 lds r24,EE_Parameter+17 |
1642 1086 883F cpi r24,lo8(-8) |
1643 1088 00F0 brlo .L269 |
1644 108a EFEF ldi r30,lo8(255) |
1645 108c F0E0 ldi r31,hi8(255) |
1646 108e E81B sub r30,r24 |
1647 1090 F109 sbc r31,__zero_reg__ |
1648 1092 E050 subi r30,lo8(-(Poti)) |
1649 1094 F040 sbci r31,hi8(-(Poti)) |
1650 1096 8081 ld r24,Z |
1651 .L269: |
1652 1098 8093 0000 sts Parameter_Hoehe_P,r24 |
1653 109c 8091 0000 lds r24,Parameter_Hoehe_P |
1654 10a0 8823 tst r24 |
1655 10a2 01F4 brne .L138 |
1656 10a4 1092 0000 sts Parameter_Hoehe_P,__zero_reg__ |
1657 10a8 00C0 rjmp .L140 |
1658 .L138: |
1659 10aa 8436 cpi r24,lo8(100) |
1660 10ac 00F0 brlo .L140 |
1661 10ae 84E6 ldi r24,lo8(100) |
1662 10b0 8093 0000 sts Parameter_Hoehe_P,r24 |
1663 .L140: |
1664 10b4 8091 0000 lds r24,EE_Parameter+30 |
1665 10b8 883F cpi r24,lo8(-8) |
1666 10ba 00F0 brlo .L270 |
1667 10bc EFEF ldi r30,lo8(255) |
1668 10be F0E0 ldi r31,hi8(255) |
1669 10c0 E81B sub r30,r24 |
1670 10c2 F109 sbc r31,__zero_reg__ |
1671 10c4 E050 subi r30,lo8(-(Poti)) |
1672 10c6 F040 sbci r31,hi8(-(Poti)) |
1673 10c8 8081 ld r24,Z |
1674 .L270: |
1675 10ca 8093 0000 sts Parameter_Gyro_P,r24 |
1676 10ce 8091 0000 lds r24,Parameter_Gyro_P |
1677 10d2 8B30 cpi r24,lo8(11) |
1678 10d4 00F4 brsh .L145 |
1679 10d6 8AE0 ldi r24,lo8(10) |
1680 10d8 00C0 rjmp .L271 |
1681 .L145: |
1682 10da 8F3F cpi r24,lo8(-1) |
1683 10dc 01F4 brne .L147 |
1684 .L271: |
1685 10de 8093 0000 sts Parameter_Gyro_P,r24 |
1686 .L147: |
1687 10e2 8091 0000 lds r24,EE_Parameter+75 |
1688 10e6 883F cpi r24,lo8(-8) |
1689 10e8 00F0 brlo .L272 |
1690 10ea EFEF ldi r30,lo8(255) |
1691 10ec F0E0 ldi r31,hi8(255) |
1692 10ee E81B sub r30,r24 |
1693 10f0 F109 sbc r31,__zero_reg__ |
1694 10f2 E050 subi r30,lo8(-(Poti)) |
1695 10f4 F040 sbci r31,hi8(-(Poti)) |
1696 10f6 8081 ld r24,Z |
1697 .L272: |
1698 10f8 8093 0000 sts Parameter_J16Timing,r24 |
1699 10fc 8091 0000 lds r24,Parameter_J16Timing |
1700 1100 8230 cpi r24,lo8(2) |
1701 1102 00F4 brsh .L152 |
1702 1104 81E0 ldi r24,lo8(1) |
1703 1106 00C0 rjmp .L273 |
1704 .L152: |
1705 1108 8F3F cpi r24,lo8(-1) |
1706 110a 01F4 brne .L154 |
1707 .L273: |
1708 110c 8093 0000 sts Parameter_J16Timing,r24 |
1709 .L154: |
1710 1110 8091 0000 lds r24,EE_Parameter+77 |
1711 1114 883F cpi r24,lo8(-8) |
1712 1116 00F0 brlo .L274 |
1713 1118 EFEF ldi r30,lo8(255) |
1714 111a F0E0 ldi r31,hi8(255) |
1715 111c E81B sub r30,r24 |
1716 111e F109 sbc r31,__zero_reg__ |
1717 1120 E050 subi r30,lo8(-(Poti)) |
1718 1122 F040 sbci r31,hi8(-(Poti)) |
1719 1124 8081 ld r24,Z |
1720 .L274: |
1721 1126 8093 0000 sts Parameter_J17Timing,r24 |
1722 112a 8091 0000 lds r24,Parameter_J17Timing |
1723 112e 8230 cpi r24,lo8(2) |
1724 1130 00F4 brsh .L159 |
1725 1132 81E0 ldi r24,lo8(1) |
1726 1134 00C0 rjmp .L275 |
1727 .L159: |
1728 1136 8F3F cpi r24,lo8(-1) |
1729 1138 01F4 brne .L161 |
1730 .L275: |
1731 113a 8093 0000 sts Parameter_J17Timing,r24 |
1732 .L161: |
1733 113e 8091 0000 lds r24,EE_Parameter+56 |
1734 1142 883F cpi r24,lo8(-8) |
1735 1144 00F0 brlo .L276 |
1736 1146 EFEF ldi r30,lo8(255) |
1737 1148 F0E0 ldi r31,hi8(255) |
1738 114a E81B sub r30,r24 |
1739 114c F109 sbc r31,__zero_reg__ |
1740 114e E050 subi r30,lo8(-(Poti)) |
1741 1150 F040 sbci r31,hi8(-(Poti)) |
1742 1152 8081 ld r24,Z |
1743 .L276: |
1744 1154 8093 0000 sts Parameter_Servo3,r24 |
1745 1158 8091 0000 lds r24,EE_Parameter+57 |
1746 115c 883F cpi r24,lo8(-8) |
1747 115e 00F0 brlo .L277 |
1748 1160 EFEF ldi r30,lo8(255) |
1749 1162 F0E0 ldi r31,hi8(255) |
1750 1164 E81B sub r30,r24 |
1751 1166 F109 sbc r31,__zero_reg__ |
1752 1168 E050 subi r30,lo8(-(Poti)) |
1753 116a F040 sbci r31,hi8(-(Poti)) |
1754 116c 8081 ld r24,Z |
1755 .L277: |
1756 116e 8093 0000 sts Parameter_Servo4,r24 |
1757 1172 8091 0000 lds r24,EE_Parameter+58 |
1758 1176 883F cpi r24,lo8(-8) |
1759 1178 00F0 brlo .L278 |
1760 117a EFEF ldi r30,lo8(255) |
1761 117c F0E0 ldi r31,hi8(255) |
1762 117e E81B sub r30,r24 |
1763 1180 F109 sbc r31,__zero_reg__ |
1764 1182 E050 subi r30,lo8(-(Poti)) |
1765 1184 F040 sbci r31,hi8(-(Poti)) |
1766 1186 8081 ld r24,Z |
1767 .L278: |
1768 1188 8093 0000 sts Parameter_Servo5,r24 |
1769 118c 8091 0000 lds r24,EE_Parameter+16 |
1770 1190 883F cpi r24,lo8(-8) |
1771 1192 00F0 brlo .L279 |
1772 1194 EFEF ldi r30,lo8(255) |
1773 1196 F0E0 ldi r31,hi8(255) |
1774 1198 E81B sub r30,r24 |
1775 119a F109 sbc r31,__zero_reg__ |
1776 119c E050 subi r30,lo8(-(Poti)) |
1777 119e F040 sbci r31,hi8(-(Poti)) |
1778 11a0 8081 ld r24,Z |
1779 .L279: |
1780 11a2 8093 0000 sts Parameter_MaxHoehe,r24 |
1781 11a6 8091 0000 lds r24,EE_Parameter+19 |
1782 11aa 883F cpi r24,lo8(-8) |
1783 11ac 00F0 brlo .L280 |
1784 11ae EFEF ldi r30,lo8(255) |
1785 11b0 F0E0 ldi r31,hi8(255) |
1786 11b2 E81B sub r30,r24 |
1787 11b4 F109 sbc r31,__zero_reg__ |
1788 11b6 E050 subi r30,lo8(-(Poti)) |
1789 11b8 F040 sbci r31,hi8(-(Poti)) |
1790 11ba 8081 ld r24,Z |
1791 .L280: |
1792 11bc 8093 0000 sts Parameter_Hoehe_ACC_Wirkung,r24 |
1793 11c0 8091 0000 lds r24,EE_Parameter+21 |
1794 11c4 883F cpi r24,lo8(-8) |
1795 11c6 00F0 brlo .L281 |
1796 11c8 EFEF ldi r30,lo8(255) |
1797 11ca F0E0 ldi r31,hi8(255) |
1798 11cc E81B sub r30,r24 |
1799 11ce F109 sbc r31,__zero_reg__ |
1800 11d0 E050 subi r30,lo8(-(Poti)) |
1801 11d2 F040 sbci r31,hi8(-(Poti)) |
1802 11d4 8081 ld r24,Z |
1803 .L281: |
1804 11d6 8093 0000 sts Parameter_Hoehe_GPS_Z,r24 |
1805 11da 8091 0000 lds r24,EE_Parameter+29 |
1806 11de 883F cpi r24,lo8(-8) |
1807 11e0 00F0 brlo .L282 |
1808 11e2 EFEF ldi r30,lo8(255) |
1809 11e4 F0E0 ldi r31,hi8(255) |
1810 11e6 E81B sub r30,r24 |
1811 11e8 F109 sbc r31,__zero_reg__ |
1812 11ea E050 subi r30,lo8(-(Poti)) |
1813 11ec F040 sbci r31,hi8(-(Poti)) |
1814 11ee 8081 ld r24,Z |
1815 .L282: |
1816 11f0 8093 0000 sts Parameter_KompassWirkung,r24 |
1817 11f4 8091 0000 lds r24,EE_Parameter+31 |
1818 11f8 883F cpi r24,lo8(-8) |
1819 11fa 00F0 brlo .L283 |
1820 11fc EFEF ldi r30,lo8(255) |
1821 11fe F0E0 ldi r31,hi8(255) |
1822 1200 E81B sub r30,r24 |
1823 1202 F109 sbc r31,__zero_reg__ |
1824 1204 E050 subi r30,lo8(-(Poti)) |
1825 1206 F040 sbci r31,hi8(-(Poti)) |
1826 1208 8081 ld r24,Z |
1827 .L283: |
1828 120a 8093 0000 sts Parameter_Gyro_I,r24 |
1829 120e 8091 0000 lds r24,EE_Parameter+32 |
1830 1212 883F cpi r24,lo8(-8) |
1831 1214 00F0 brlo .L284 |
1832 1216 EFEF ldi r30,lo8(255) |
1833 1218 F0E0 ldi r31,hi8(255) |
1834 121a E81B sub r30,r24 |
1835 121c F109 sbc r31,__zero_reg__ |
1836 121e E050 subi r30,lo8(-(Poti)) |
1837 1220 F040 sbci r31,hi8(-(Poti)) |
1838 1222 8081 ld r24,Z |
1839 .L284: |
1840 1224 8093 0000 sts Parameter_Gyro_D,r24 |
1841 1228 8091 0000 lds r24,EE_Parameter+33 |
1842 122c 883F cpi r24,lo8(-8) |
1843 122e 00F0 brlo .L285 |
1844 1230 EFEF ldi r30,lo8(255) |
1845 1232 F0E0 ldi r31,hi8(255) |
1846 1234 E81B sub r30,r24 |
1847 1236 F109 sbc r31,__zero_reg__ |
1848 1238 E050 subi r30,lo8(-(Poti)) |
1849 123a F040 sbci r31,hi8(-(Poti)) |
1850 123c 8081 ld r24,Z |
1851 .L285: |
1852 123e 8093 0000 sts Parameter_Gyro_Gier_P,r24 |
1853 1242 8091 0000 lds r24,EE_Parameter+34 |
1854 1246 883F cpi r24,lo8(-8) |
1855 1248 00F0 brlo .L286 |
1856 124a EFEF ldi r30,lo8(255) |
1857 124c F0E0 ldi r31,hi8(255) |
1858 124e E81B sub r30,r24 |
1859 1250 F109 sbc r31,__zero_reg__ |
1860 1252 E050 subi r30,lo8(-(Poti)) |
1861 1254 F040 sbci r31,hi8(-(Poti)) |
1862 1256 8081 ld r24,Z |
1863 .L286: |
1864 1258 8093 0000 sts Parameter_Gyro_Gier_I,r24 |
1865 125c 8091 0000 lds r24,EE_Parameter+40 |
1866 1260 883F cpi r24,lo8(-8) |
1867 1262 00F0 brlo .L287 |
1868 1264 EFEF ldi r30,lo8(255) |
1869 1266 F0E0 ldi r31,hi8(255) |
1870 1268 E81B sub r30,r24 |
1871 126a F109 sbc r31,__zero_reg__ |
1872 126c E050 subi r30,lo8(-(Poti)) |
1873 126e F040 sbci r31,hi8(-(Poti)) |
1874 1270 8081 ld r24,Z |
1875 .L287: |
1876 1272 8093 0000 sts Parameter_I_Faktor,r24 |
1877 1276 8091 0000 lds r24,EE_Parameter+41 |
1878 127a 883F cpi r24,lo8(-8) |
1879 127c 00F0 brlo .L288 |
1880 127e EFEF ldi r30,lo8(255) |
1881 1280 F0E0 ldi r31,hi8(255) |
1882 1282 E81B sub r30,r24 |
1883 1284 F109 sbc r31,__zero_reg__ |
1884 1286 E050 subi r30,lo8(-(Poti)) |
1885 1288 F040 sbci r31,hi8(-(Poti)) |
1886 128a 8081 ld r24,Z |
1887 .L288: |
1888 128c 8093 0000 sts Parameter_UserParam1,r24 |
1889 1290 8091 0000 lds r24,EE_Parameter+42 |
1890 1294 883F cpi r24,lo8(-8) |
1891 1296 00F0 brlo .L289 |
1892 1298 EFEF ldi r30,lo8(255) |
1893 129a F0E0 ldi r31,hi8(255) |
1894 129c E81B sub r30,r24 |
1895 129e F109 sbc r31,__zero_reg__ |
1896 12a0 E050 subi r30,lo8(-(Poti)) |
1897 12a2 F040 sbci r31,hi8(-(Poti)) |
1898 12a4 8081 ld r24,Z |
1899 .L289: |
1900 12a6 8093 0000 sts Parameter_UserParam2,r24 |
1901 12aa 8091 0000 lds r24,EE_Parameter+43 |
1902 12ae 883F cpi r24,lo8(-8) |
1903 12b0 00F0 brlo .L290 |
1904 12b2 EFEF ldi r30,lo8(255) |
1905 12b4 F0E0 ldi r31,hi8(255) |
1906 12b6 E81B sub r30,r24 |
1907 12b8 F109 sbc r31,__zero_reg__ |
1908 12ba E050 subi r30,lo8(-(Poti)) |
1909 12bc F040 sbci r31,hi8(-(Poti)) |
1910 12be 8081 ld r24,Z |
1911 .L290: |
1912 12c0 8093 0000 sts Parameter_UserParam3,r24 |
1913 12c4 8091 0000 lds r24,EE_Parameter+44 |
1914 12c8 883F cpi r24,lo8(-8) |
1915 12ca 00F0 brlo .L291 |
1916 12cc EFEF ldi r30,lo8(255) |
1917 12ce F0E0 ldi r31,hi8(255) |
1918 12d0 E81B sub r30,r24 |
1919 12d2 F109 sbc r31,__zero_reg__ |
1920 12d4 E050 subi r30,lo8(-(Poti)) |
1921 12d6 F040 sbci r31,hi8(-(Poti)) |
1922 12d8 8081 ld r24,Z |
1923 .L291: |
1924 12da 8093 0000 sts Parameter_UserParam4,r24 |
1925 12de 8091 0000 lds r24,EE_Parameter+70 |
1926 12e2 883F cpi r24,lo8(-8) |
1927 12e4 00F0 brlo .L292 |
1928 12e6 EFEF ldi r30,lo8(255) |
1929 12e8 F0E0 ldi r31,hi8(255) |
1930 12ea E81B sub r30,r24 |
1931 12ec F109 sbc r31,__zero_reg__ |
1932 12ee E050 subi r30,lo8(-(Poti)) |
1933 12f0 F040 sbci r31,hi8(-(Poti)) |
1934 12f2 8081 ld r24,Z |
1935 .L292: |
1936 12f4 8093 0000 sts Parameter_UserParam5,r24 |
1937 12f8 8091 0000 lds r24,EE_Parameter+71 |
1938 12fc 883F cpi r24,lo8(-8) |
1939 12fe 00F0 brlo .L293 |
1940 1300 EFEF ldi r30,lo8(255) |
1941 1302 F0E0 ldi r31,hi8(255) |
1942 1304 E81B sub r30,r24 |
1943 1306 F109 sbc r31,__zero_reg__ |
1944 1308 E050 subi r30,lo8(-(Poti)) |
1945 130a F040 sbci r31,hi8(-(Poti)) |
1946 130c 8081 ld r24,Z |
1947 .L293: |
1948 130e 8093 0000 sts Parameter_UserParam6,r24 |
1949 1312 8091 0000 lds r24,EE_Parameter+72 |
1950 1316 883F cpi r24,lo8(-8) |
1951 1318 00F0 brlo .L294 |
1952 131a EFEF ldi r30,lo8(255) |
1953 131c F0E0 ldi r31,hi8(255) |
1954 131e E81B sub r30,r24 |
1955 1320 F109 sbc r31,__zero_reg__ |
1956 1322 E050 subi r30,lo8(-(Poti)) |
1957 1324 F040 sbci r31,hi8(-(Poti)) |
1958 1326 8081 ld r24,Z |
1959 .L294: |
1960 1328 8093 0000 sts Parameter_UserParam7,r24 |
1961 132c 8091 0000 lds r24,EE_Parameter+73 |
1962 1330 883F cpi r24,lo8(-8) |
1963 1332 00F0 brlo .L295 |
1964 1334 EFEF ldi r30,lo8(255) |
1965 1336 F0E0 ldi r31,hi8(255) |
1966 1338 E81B sub r30,r24 |
1967 133a F109 sbc r31,__zero_reg__ |
1968 133c E050 subi r30,lo8(-(Poti)) |
1969 133e F040 sbci r31,hi8(-(Poti)) |
1970 1340 8081 ld r24,Z |
1971 .L295: |
1972 1342 8093 0000 sts Parameter_UserParam8,r24 |
1973 1346 8091 0000 lds r24,EE_Parameter+45 |
1974 134a 883F cpi r24,lo8(-8) |
1975 134c 00F0 brlo .L296 |
1976 134e EFEF ldi r30,lo8(255) |
1977 1350 F0E0 ldi r31,hi8(255) |
1978 1352 E81B sub r30,r24 |
1979 1354 F109 sbc r31,__zero_reg__ |
1980 1356 E050 subi r30,lo8(-(Poti)) |
1981 1358 F040 sbci r31,hi8(-(Poti)) |
1982 135a 8081 ld r24,Z |
1983 .L296: |
1984 135c 8093 0000 sts Parameter_ServoNickControl,r24 |
1985 1360 8091 0000 lds r24,EE_Parameter+49 |
1986 1364 883F cpi r24,lo8(-8) |
1987 1366 00F0 brlo .L297 |
1988 1368 EFEF ldi r30,lo8(255) |
1989 136a F0E0 ldi r31,hi8(255) |
1990 136c E81B sub r30,r24 |
1991 136e F109 sbc r31,__zero_reg__ |
1992 1370 E050 subi r30,lo8(-(Poti)) |
1993 1372 F040 sbci r31,hi8(-(Poti)) |
1994 1374 8081 ld r24,Z |
1995 .L297: |
1996 1376 8093 0000 sts Parameter_ServoRollControl,r24 |
1997 137a 8091 0000 lds r24,EE_Parameter+59 |
1998 137e 883F cpi r24,lo8(-8) |
1999 1380 00F0 brlo .L298 |
2000 1382 EFEF ldi r30,lo8(255) |
2001 1384 F0E0 ldi r31,hi8(255) |
2002 1386 E81B sub r30,r24 |
2003 1388 F109 sbc r31,__zero_reg__ |
2004 138a E050 subi r30,lo8(-(Poti)) |
2005 138c F040 sbci r31,hi8(-(Poti)) |
2006 138e 8081 ld r24,Z |
2007 .L298: |
2008 1390 8093 0000 sts Parameter_LoopGasLimit,r24 |
2009 1394 8091 0000 lds r24,EE_Parameter+62 |
2010 1398 883F cpi r24,lo8(-8) |
2011 139a 00F0 brlo .L299 |
2012 139c EFEF ldi r30,lo8(255) |
2013 139e F0E0 ldi r31,hi8(255) |
2014 13a0 E81B sub r30,r24 |
2015 13a2 F109 sbc r31,__zero_reg__ |
2016 13a4 E050 subi r30,lo8(-(Poti)) |
2017 13a6 F040 sbci r31,hi8(-(Poti)) |
2018 13a8 8081 ld r24,Z |
2019 .L299: |
2020 13aa 8093 0000 sts Parameter_AchsKopplung1,r24 |
2021 13ae 8091 0000 lds r24,EE_Parameter+63 |
2022 13b2 883F cpi r24,lo8(-8) |
2023 13b4 00F0 brlo .L300 |
2024 13b6 EFEF ldi r30,lo8(255) |
2025 13b8 F0E0 ldi r31,hi8(255) |
2026 13ba E81B sub r30,r24 |
2027 13bc F109 sbc r31,__zero_reg__ |
2028 13be E050 subi r30,lo8(-(Poti)) |
2029 13c0 F040 sbci r31,hi8(-(Poti)) |
2030 13c2 8081 ld r24,Z |
2031 .L300: |
2032 13c4 8093 0000 sts Parameter_AchsKopplung2,r24 |
2033 13c8 8091 0000 lds r24,EE_Parameter+64 |
2034 13cc 883F cpi r24,lo8(-8) |
2035 13ce 00F0 brlo .L301 |
2036 13d0 EFEF ldi r30,lo8(255) |
2037 13d2 F0E0 ldi r31,hi8(255) |
2038 13d4 E81B sub r30,r24 |
2039 13d6 F109 sbc r31,__zero_reg__ |
2040 13d8 E050 subi r30,lo8(-(Poti)) |
2041 13da F040 sbci r31,hi8(-(Poti)) |
2042 13dc 8081 ld r24,Z |
2043 .L301: |
2044 13de 8093 0000 sts Parameter_CouplingYawCorrection,r24 |
2045 13e2 8091 0000 lds r24,EE_Parameter+69 |
2046 13e6 883F cpi r24,lo8(-8) |
2047 13e8 00F0 brlo .L302 |
2048 13ea EFEF ldi r30,lo8(255) |
2049 13ec F0E0 ldi r31,hi8(255) |
2050 13ee E81B sub r30,r24 |
2051 13f0 F109 sbc r31,__zero_reg__ |
2052 13f2 E050 subi r30,lo8(-(Poti)) |
2053 13f4 F040 sbci r31,hi8(-(Poti)) |
2054 13f6 8081 ld r24,Z |
2055 .L302: |
2056 13f8 8093 0000 sts Parameter_DynamicStability,r24 |
2057 13fc 8091 0000 lds r24,EE_Parameter+96 |
2058 1400 883F cpi r24,lo8(-8) |
2059 1402 00F0 brlo .L303 |
2060 1404 EFEF ldi r30,lo8(255) |
2061 1406 F0E0 ldi r31,hi8(255) |
2062 1408 E81B sub r30,r24 |
2063 140a F109 sbc r31,__zero_reg__ |
2064 140c E050 subi r30,lo8(-(Poti)) |
2065 140e F040 sbci r31,hi8(-(Poti)) |
2066 1410 8081 ld r24,Z |
2067 .L303: |
2068 1412 8093 0000 sts Parameter_ExternalControl,r24 |
2069 1416 6091 0000 lds r22,Parameter_I_Faktor |
2070 141a 70E0 ldi r23,lo8(0) |
2071 141c 6F5F subi r22,lo8(-(1)) |
2072 141e 7F4F sbci r23,hi8(-(1)) |
2073 1420 8CE3 ldi r24,lo8(10300) |
2074 1422 98E2 ldi r25,hi8(10300) |
2075 1424 0E94 0000 call __divmodhi4 |
2076 1428 7093 0000 sts (Ki)+1,r23 |
2077 142c 6093 0000 sts Ki,r22 |
2078 1430 8091 0000 lds r24,EE_Parameter+27 |
2079 1434 8093 0000 sts MAX_GAS,r24 |
2080 1438 8091 0000 lds r24,EE_Parameter+26 |
2081 143c 8093 0000 sts MIN_GAS,r24 |
2082 1440 9091 0000 lds r25,EE_Parameter+98 |
2083 1444 9333 cpi r25,lo8(51) |
2084 1446 00F0 brlo .L247 |
2085 1448 81E0 ldi r24,lo8(1) |
2086 144a 8093 0000 sts CareFree,r24 |
2087 144e 983F cpi r25,lo8(-8) |
2088 1450 00F0 brlo .L249 |
2089 1452 EFEF ldi r30,lo8(255) |
2090 1454 F0E0 ldi r31,hi8(255) |
2091 1456 E91B sub r30,r25 |
2092 1458 F109 sbc r31,__zero_reg__ |
2093 145a E050 subi r30,lo8(-(Poti)) |
2094 145c F040 sbci r31,hi8(-(Poti)) |
2095 145e 8081 ld r24,Z |
2096 1460 8233 cpi r24,lo8(50) |
2097 1462 00F4 brsh .L249 |
2098 1464 1092 0000 sts CareFree,__zero_reg__ |
2099 .L249: |
2100 1468 8091 0000 lds r24,FromNaviCtrl+7 |
2101 146c 9091 0000 lds r25,(FromNaviCtrl+7)+1 |
2102 1470 97FF sbrs r25,7 |
2103 1472 00C0 rjmp .L252 |
2104 1474 8091 0000 lds r24,CareFree |
2105 1478 8823 tst r24 |
2106 147a 01F0 breq .L252 |
2107 147c 8091 0000 lds r24,VersionInfo+5 |
2108 1480 8068 ori r24,lo8(-128) |
2109 1482 00C0 rjmp .L304 |
2110 .L252: |
2111 1484 8091 0000 lds r24,VersionInfo+5 |
2112 1488 8F77 andi r24,lo8(127) |
2113 .L304: |
2114 148a 8093 0000 sts VersionInfo+5,r24 |
2115 148e 00C0 rjmp .L255 |
2116 .L247: |
2117 1490 1092 0000 sts CareFree,__zero_reg__ |
2118 .L255: |
2119 1494 8091 0000 lds r24,FromNaviCtrl+7 |
2120 1498 9091 0000 lds r25,(FromNaviCtrl+7)+1 |
2121 149c 97FF sbrs r25,7 |
2122 149e 00C0 rjmp .L256 |
2123 14a0 8091 0000 lds r24,MotorenEin |
2124 14a4 8823 tst r24 |
2125 14a6 01F0 breq .L256 |
2126 14a8 8091 0000 lds r24,CareFree |
2127 14ac 8823 tst r24 |
2128 14ae 01F0 breq .L256 |
2129 14b0 8091 0000 lds r24,BeepMuster |
2130 14b4 9091 0000 lds r25,(BeepMuster)+1 |
2131 14b8 8F5F subi r24,lo8(-1) |
2132 14ba 9F4F sbci r25,hi8(-1) |
2133 14bc 01F4 brne .L256 |
2134 14be 88E9 ldi r24,lo8(15000) |
2135 14c0 9AE3 ldi r25,hi8(15000) |
2136 14c2 9093 0000 sts (beeptime)+1,r25 |
2137 14c6 8093 0000 sts beeptime,r24 |
2138 14ca 80E0 ldi r24,lo8(-23552) |
2139 14cc 94EA ldi r25,hi8(-23552) |
2140 14ce 9093 0000 sts (BeepMuster)+1,r25 |
2141 14d2 8093 0000 sts BeepMuster,r24 |
2142 14d6 1092 0000 sts CareFree,__zero_reg__ |
2143 .L256: |
2144 14da 8091 0000 lds r24,CareFree |
2145 14de 8823 tst r24 |
2146 14e0 01F0 breq .L264 |
2147 14e2 8091 0000 lds r24,Parameter_AchsKopplung1 |
2148 14e6 823D cpi r24,lo8(-46) |
2149 14e8 00F4 brsh .L264 |
2150 14ea 825E subi r24,lo8(-(30)) |
2151 14ec 8093 0000 sts Parameter_AchsKopplung1,r24 |
2152 .L264: |
2153 /* epilogue: frame size=0 */ |
2154 14f0 DF91 pop r29 |
2155 14f2 CF91 pop r28 |
2156 14f4 1F91 pop r17 |
2157 14f6 0F91 pop r16 |
2158 14f8 0895 ret |
2159 /* epilogue end (size=5) */ |
2160 /* function ParameterZuordnung size 660 (651) */ |
2162 .global CalibrierMittelwert |
2164 CalibrierMittelwert: |
2165 /* prologue: frame size=0 */ |
2166 14fa CF93 push r28 |
2167 14fc DF93 push r29 |
2168 /* prologue end (size=2) */ |
2169 14fe 8091 0000 lds r24,PlatinenVersion |
2170 1502 8D30 cpi r24,lo8(13) |
2171 1504 01F4 brne .L306 |
2172 1506 0E94 0000 call SucheGyroOffset |
2173 .L306: |
2174 150a 1092 7A00 sts 122,__zero_reg__ |
2175 150e 8091 0000 lds r24,AdWertNick |
2176 1512 9091 0000 lds r25,(AdWertNick)+1 |
2177 1516 9093 0000 sts (MesswertNick)+1,r25 |
2178 151a 8093 0000 sts MesswertNick,r24 |
2179 151e 8091 0000 lds r24,AdWertRoll |
2180 1522 9091 0000 lds r25,(AdWertRoll)+1 |
2181 1526 9093 0000 sts (MesswertRoll)+1,r25 |
2182 152a 8093 0000 sts MesswertRoll,r24 |
2183 152e 8091 0000 lds r24,AdWertGier |
2184 1532 9091 0000 lds r25,(AdWertGier)+1 |
2185 1536 9093 0000 sts (MesswertGier)+1,r25 |
2186 153a 8093 0000 sts MesswertGier,r24 |
2187 153e 2091 0000 lds r18,AdWertAccNick |
2188 1542 3091 0000 lds r19,(AdWertAccNick)+1 |
2189 1546 C901 movw r24,r18 |
2190 1548 880F lsl r24 |
2191 154a 991F rol r25 |
2192 154c 820F add r24,r18 |
2193 154e 931F adc r25,r19 |
2194 1550 880F lsl r24 |
2195 1552 991F rol r25 |
2196 1554 9093 0000 sts (Mittelwert_AccNick)+1,r25 |
2197 1558 8093 0000 sts Mittelwert_AccNick,r24 |
2198 155c 2091 0000 lds r18,AdWertAccRoll |
2199 1560 3091 0000 lds r19,(AdWertAccRoll)+1 |
2200 1564 C901 movw r24,r18 |
2201 1566 880F lsl r24 |
2202 1568 991F rol r25 |
2203 156a 820F add r24,r18 |
2204 156c 931F adc r25,r19 |
2205 156e 880F lsl r24 |
2206 1570 991F rol r25 |
2207 1572 9093 0000 sts (Mittelwert_AccRoll)+1,r25 |
2208 1576 8093 0000 sts Mittelwert_AccRoll,r24 |
2209 157a 8FEC ldi r24,lo8(-49) |
2210 157c 8093 7A00 sts 122,r24 |
2211 1580 C0E0 ldi r28,lo8(EE_Parameter+5) |
2212 1582 D0E0 ldi r29,hi8(EE_Parameter+5) |
2213 1584 A0E0 ldi r26,lo8(Poti) |
2214 1586 B0E0 ldi r27,hi8(Poti) |
2215 .L308: |
2216 1588 E881 ld r30,Y |
2217 158a F0E0 ldi r31,lo8(0) |
2218 158c EE0F lsl r30 |
2219 158e FF1F rol r31 |
2220 1590 E050 subi r30,lo8(-(PPM_in)) |
2221 1592 F040 sbci r31,hi8(-(PPM_in)) |
2222 1594 0190 ld __tmp_reg__,Z+ |
2223 1596 F081 ld r31,Z |
2224 1598 E02D mov r30,__tmp_reg__ |
2225 159a E259 subi r30,lo8(-(110)) |
2226 159c FF4F sbci r31,hi8(-(110)) |
2227 159e 1E16 cp __zero_reg__,r30 |
2228 15a0 1F06 cpc __zero_reg__,r31 |
2229 15a2 04F0 brlt .L309 |
2230 15a4 E0E0 ldi r30,lo8(0) |
2231 15a6 F0E0 ldi r31,hi8(0) |
2232 15a8 00C0 rjmp .L311 |
2233 .L309: |
2234 15aa EF3F cpi r30,255 |
2235 15ac F105 cpc r31,__zero_reg__ |
2236 15ae 04F0 brlt .L311 |
2237 15b0 EFEF ldi r30,lo8(255) |
2238 15b2 F0E0 ldi r31,hi8(255) |
2239 .L311: |
2240 15b4 8C91 ld r24,X |
2241 15b6 282F mov r18,r24 |
2242 15b8 30E0 ldi r19,lo8(0) |
2243 15ba E217 cp r30,r18 |
2244 15bc F307 cpc r31,r19 |
2245 15be 04F4 brge .L313 |
2246 15c0 8150 subi r24,lo8(-(-1)) |
2247 15c2 00C0 rjmp .L321 |
2248 .L313: |
2249 15c4 2E17 cp r18,r30 |
2250 15c6 3F07 cpc r19,r31 |
2251 15c8 04F4 brge .L315 |
2252 15ca 8F5F subi r24,lo8(-(1)) |
2253 .L321: |
2254 15cc 8C93 st X,r24 |
2255 .L315: |
2256 15ce 2196 adiw r28,1 |
2257 15d0 1196 adiw r26,1 |
2258 15d2 80E0 ldi r24,hi8(EE_Parameter+13) |
2259 15d4 C030 cpi r28,lo8(EE_Parameter+13) |
2260 15d6 D807 cpc r29,r24 |
2261 15d8 01F4 brne .L308 |
2262 15da 6091 0000 lds r22,EE_Parameter+65 |
2263 15de 70E0 ldi r23,lo8(0) |
2264 15e0 80E0 ldi r24,lo8(0) |
2265 15e2 90E0 ldi r25,hi8(0) |
2266 15e4 24EC ldi r18,lo8(2500) |
2267 15e6 39E0 ldi r19,hi8(2500) |
2268 15e8 40E0 ldi r20,hlo8(2500) |
2269 15ea 50E0 ldi r21,hhi8(2500) |
2270 15ec 0E94 0000 call __mulsi3 |
2271 15f0 6093 0000 sts Umschlag180Nick,r22 |
2272 15f4 7093 0000 sts (Umschlag180Nick)+1,r23 |
2273 15f8 8093 0000 sts (Umschlag180Nick)+2,r24 |
2274 15fc 9093 0000 sts (Umschlag180Nick)+3,r25 |
2275 1600 6091 0000 lds r22,EE_Parameter+66 |
2276 1604 70E0 ldi r23,lo8(0) |
2277 1606 80E0 ldi r24,lo8(0) |
2278 1608 90E0 ldi r25,hi8(0) |
2279 160a 0E94 0000 call __mulsi3 |
2280 160e 6093 0000 sts Umschlag180Roll,r22 |
2281 1612 7093 0000 sts (Umschlag180Roll)+1,r23 |
2282 1616 8093 0000 sts (Umschlag180Roll)+2,r24 |
2283 161a 9093 0000 sts (Umschlag180Roll)+3,r25 |
2284 /* epilogue: frame size=0 */ |
2285 161e DF91 pop r29 |
2286 1620 CF91 pop r28 |
2287 1622 0895 ret |
2288 /* epilogue end (size=3) */ |
2289 /* function CalibrierMittelwert size 149 (144) */ |
2291 .global SetNeutral |
2293 SetNeutral: |
2294 /* prologue: frame size=0 */ |
2295 1624 A0E0 ldi r26,lo8(0) |
2296 1626 B0E0 ldi r27,hi8(0) |
2297 1628 E0E0 ldi r30,pm_lo8(1f) |
2298 162a F0E0 ldi r31,pm_hi8(1f) |
2299 162c 0C94 0000 jmp __prologue_saves__+8 |
2300 1: |
2301 /* prologue end (size=6) */ |
2302 1630 682E mov r6,r24 |
2303 1632 1092 0000 sts VersionInfo+5,__zero_reg__ |
2304 1636 469A sbi 40-0x20,6 |
2305 1638 1092 0000 sts (NeutralAccX)+1,__zero_reg__ |
2306 163c 1092 0000 sts NeutralAccX,__zero_reg__ |
2307 1640 1092 0000 sts (NeutralAccY)+1,__zero_reg__ |
2308 1644 1092 0000 sts NeutralAccY,__zero_reg__ |
2309 1648 1092 0000 sts (NeutralAccZ)+1,__zero_reg__ |
2310 164c 1092 0000 sts NeutralAccZ,__zero_reg__ |
2311 1650 1092 0000 sts (AdNeutralNick)+1,__zero_reg__ |
2312 1654 1092 0000 sts AdNeutralNick,__zero_reg__ |
2313 1658 1092 0000 sts (AdNeutralRoll)+1,__zero_reg__ |
2314 165c 1092 0000 sts AdNeutralRoll,__zero_reg__ |
2315 1660 1092 0000 sts (AdNeutralGier)+1,__zero_reg__ |
2316 1664 1092 0000 sts AdNeutralGier,__zero_reg__ |
2317 1668 1092 0000 sts Parameter_AchsKopplung1,__zero_reg__ |
2318 166c 1092 0000 sts Parameter_AchsKopplung2,__zero_reg__ |
2319 1670 1092 0000 sts ExpandBaro,__zero_reg__ |
2320 1674 0E94 0000 call CalibrierMittelwert |
2321 1678 84E6 ldi r24,lo8(100) |
2322 167a 90E0 ldi r25,hi8(100) |
2323 167c 0E94 0000 call Delay_ms_Mess |
2324 1680 0E94 0000 call CalibrierMittelwert |
2325 1684 8091 0000 lds r24,EE_Parameter+13 |
2326 1688 80FF sbrs r24,0 |
2327 168a 00C0 rjmp .L323 |
2328 168c 8091 0000 lds r24,MessLuftdruck |
2329 1690 9091 0000 lds r25,(MessLuftdruck)+1 |
2330 1694 875B subi r24,lo8(951) |
2331 1696 9340 sbci r25,hi8(951) |
2332 1698 00F4 brsh .L325 |
2333 169a 8091 0000 lds r24,MessLuftdruck |
2334 169e 9091 0000 lds r25,(MessLuftdruck)+1 |
2335 16a2 8E5E subi r24,lo8(750) |
2336 16a4 9240 sbci r25,hi8(750) |
2337 16a6 00F4 brsh .L323 |
2338 .L325: |
2339 16a8 0E94 0000 call SucheLuftruckOffset |
2340 .L323: |
2341 16ac AA24 clr r10 |
2342 16ae C0E0 ldi r28,lo8(0) |
2343 16b0 D0E0 ldi r29,hi8(0) |
2344 16b2 00E0 ldi r16,lo8(0) |
2345 16b4 10E0 ldi r17,hi8(0) |
2346 16b6 EE24 clr r14 |
2347 16b8 FF24 clr r15 |
2348 .L327: |
2349 16ba 8AE0 ldi r24,lo8(10) |
2350 16bc 90E0 ldi r25,hi8(10) |
2351 16be 0E94 0000 call Delay_ms_Mess |
2352 16c2 8091 0000 lds r24,AdWertGier |
2353 16c6 9091 0000 lds r25,(AdWertGier)+1 |
2354 16ca C80F add r28,r24 |
2355 16cc D91F adc r29,r25 |
2356 16ce 8091 0000 lds r24,AdWertNick |
2357 16d2 9091 0000 lds r25,(AdWertNick)+1 |
2358 16d6 080F add r16,r24 |
2359 16d8 191F adc r17,r25 |
2360 16da 8091 0000 lds r24,AdWertRoll |
2361 16de 9091 0000 lds r25,(AdWertRoll)+1 |
2362 16e2 E80E add r14,r24 |
2363 16e4 F91E adc r15,r25 |
2364 16e6 A394 inc r10 |
2365 16e8 80E2 ldi r24,lo8(32) |
2366 16ea A816 cp r10,r24 |
2367 16ec 01F4 brne .L327 |
2368 16ee 9801 movw r18,r16 |
2369 16f0 205F subi r18,lo8(-(16)) |
2370 16f2 3F4F sbci r19,hi8(-(16)) |
2371 16f4 3695 lsr r19 |
2372 16f6 2795 ror r18 |
2373 16f8 3695 lsr r19 |
2374 16fa 2795 ror r18 |
2375 16fc 3093 0000 sts (AdNeutralNick)+1,r19 |
2376 1700 2093 0000 sts AdNeutralNick,r18 |
2377 1704 C701 movw r24,r14 |
2378 1706 4096 adiw r24,16 |
2379 1708 9695 lsr r25 |
2380 170a 8795 ror r24 |
2381 170c 9695 lsr r25 |
2382 170e 8795 ror r24 |
2383 1710 9093 0000 sts (AdNeutralRoll)+1,r25 |
2384 1714 8093 0000 sts AdNeutralRoll,r24 |
2385 1718 6096 adiw r28,16 |
2386 171a 15E0 ldi r17,5 |
2387 171c D695 1: lsr r29 |
2388 171e C795 ror r28 |
2389 1720 1A95 dec r17 |
2390 1722 01F4 brne 1b |
2391 1724 D093 0000 sts (AdNeutralGier)+1,r29 |
2392 1728 C093 0000 sts AdNeutralGier,r28 |
2393 172c 9093 0000 sts (StartNeutralRoll)+1,r25 |
2394 1730 8093 0000 sts StartNeutralRoll,r24 |
2395 1734 3093 0000 sts (StartNeutralNick)+1,r19 |
2396 1738 2093 0000 sts StartNeutralNick,r18 |
2397 173c 6620 tst r6 |
2398 173e 01F4 brne .+2 |
2399 1740 00C0 rjmp .L329 |
2400 1742 8091 0000 lds r24,Mittelwert_AccNick |
2401 1746 9091 0000 lds r25,(Mittelwert_AccNick)+1 |
2402 174a 97FF sbrs r25,7 |
2403 174c 00C0 rjmp .L331 |
2404 174e 9095 com r25 |
2405 1750 8195 neg r24 |
2406 1752 9F4F sbci r25,lo8(-1) |
2407 .L331: |
2408 1754 6CE0 ldi r22,lo8(12) |
2409 1756 70E0 ldi r23,hi8(12) |
2410 1758 0E94 0000 call __divmodhi4 |
2411 175c 9B01 movw r18,r22 |
2412 175e 7093 0000 sts (NeutralAccX)+1,r23 |
2413 1762 6093 0000 sts NeutralAccX,r22 |
2414 1766 8091 0000 lds r24,Mittelwert_AccRoll |
2415 176a 9091 0000 lds r25,(Mittelwert_AccRoll)+1 |
2416 176e 97FF sbrs r25,7 |
2417 1770 00C0 rjmp .L332 |
2418 1772 9095 com r25 |
2419 1774 8195 neg r24 |
2420 1776 9F4F sbci r25,lo8(-1) |
2421 .L332: |
2422 1778 6CE0 ldi r22,lo8(12) |
2423 177a 70E0 ldi r23,hi8(12) |
2424 177c 0E94 0000 call __divmodhi4 |
2425 1780 7093 0000 sts (NeutralAccY)+1,r23 |
2426 1784 6093 0000 sts NeutralAccY,r22 |
2427 1788 8091 0000 lds r24,Aktuell_az |
2428 178c 9091 0000 lds r25,(Aktuell_az)+1 |
2429 1790 9093 0000 sts (NeutralAccZ)+1,r25 |
2430 1794 8093 0000 sts NeutralAccZ,r24 |
2431 1798 B901 movw r22,r18 |
2432 179a 84E0 ldi r24,lo8(4) |
2433 179c 90E0 ldi r25,hi8(4) |
2434 179e 0E94 0000 call SetParamWord |
2435 17a2 6091 0000 lds r22,NeutralAccY |
2436 17a6 7091 0000 lds r23,(NeutralAccY)+1 |
2437 17aa 86E0 ldi r24,lo8(6) |
2438 17ac 90E0 ldi r25,hi8(6) |
2439 17ae 0E94 0000 call SetParamWord |
2440 17b2 6091 0000 lds r22,NeutralAccZ |
2441 17b6 7091 0000 lds r23,(NeutralAccZ)+1 |
2442 17ba 88E0 ldi r24,lo8(8) |
2443 17bc 90E0 ldi r25,hi8(8) |
2444 17be 0E94 0000 call SetParamWord |
2445 17c2 00C0 rjmp .L333 |
2446 .L329: |
2447 17c4 84E0 ldi r24,lo8(4) |
2448 17c6 90E0 ldi r25,hi8(4) |
2449 17c8 0E94 0000 call GetParamWord |
2450 17cc 9093 0000 sts (NeutralAccX)+1,r25 |
2451 17d0 8093 0000 sts NeutralAccX,r24 |
2452 17d4 86E0 ldi r24,lo8(6) |
2453 17d6 90E0 ldi r25,hi8(6) |
2454 17d8 0E94 0000 call GetParamWord |
2455 17dc 9093 0000 sts (NeutralAccY)+1,r25 |
2456 17e0 8093 0000 sts NeutralAccY,r24 |
2457 17e4 88E0 ldi r24,lo8(8) |
2458 17e6 90E0 ldi r25,hi8(8) |
2459 17e8 0E94 0000 call GetParamWord |
2460 17ec 9C01 movw r18,r24 |
2461 17ee 9093 0000 sts (NeutralAccZ)+1,r25 |
2462 17f2 8093 0000 sts NeutralAccZ,r24 |
2463 17f6 8091 0000 lds r24,NeutralAccX |
2464 17fa 9091 0000 lds r25,(NeutralAccX)+1 |
2465 17fe 8150 subi r24,lo8(2049) |
2466 1800 9840 sbci r25,hi8(2049) |
2467 1802 00F4 brsh .L334 |
2468 1804 8091 0000 lds r24,NeutralAccY |
2469 1808 9091 0000 lds r25,(NeutralAccY)+1 |
2470 180c 8150 subi r24,lo8(2049) |
2471 180e 9840 sbci r25,hi8(2049) |
2472 1810 00F4 brsh .L334 |
2473 1812 2150 subi r18,lo8(1025) |
2474 1814 3440 sbci r19,hi8(1025) |
2475 1816 00F0 brlo .L333 |
2476 .L334: |
2477 1818 E091 0000 lds r30,_printf_P |
2478 181c F091 0000 lds r31,(_printf_P)+1 |
2479 1820 80E0 ldi r24,lo8(__c.2753) |
2480 1822 90E0 ldi r25,hi8(__c.2753) |
2481 1824 9F93 push r25 |
2482 1826 8F93 push r24 |
2483 1828 80E0 ldi r24,lo8(gs(uart_putchar)) |
2484 182a 90E0 ldi r25,hi8(gs(uart_putchar)) |
2485 182c 9F93 push r25 |
2486 182e 8F93 push r24 |
2487 1830 0995 icall |
2488 1832 8091 0000 lds r24,Mittelwert_AccNick |
2489 1836 9091 0000 lds r25,(Mittelwert_AccNick)+1 |
2490 183a 97FF sbrs r25,7 |
2491 183c 00C0 rjmp .L337 |
2492 183e 9095 com r25 |
2493 1840 8195 neg r24 |
2494 1842 9F4F sbci r25,lo8(-1) |
2495 .L337: |
2496 1844 6CE0 ldi r22,lo8(12) |
2497 1846 70E0 ldi r23,hi8(12) |
2498 1848 0E94 0000 call __divmodhi4 |
2499 184c 7093 0000 sts (NeutralAccX)+1,r23 |
2500 1850 6093 0000 sts NeutralAccX,r22 |
2501 1854 8091 0000 lds r24,Mittelwert_AccRoll |
2502 1858 9091 0000 lds r25,(Mittelwert_AccRoll)+1 |
2503 185c 97FF sbrs r25,7 |
2504 185e 00C0 rjmp .L338 |
2505 1860 9095 com r25 |
2506 1862 8195 neg r24 |
2507 1864 9F4F sbci r25,lo8(-1) |
2508 .L338: |
2509 1866 6CE0 ldi r22,lo8(12) |
2510 1868 70E0 ldi r23,hi8(12) |
2511 186a 0E94 0000 call __divmodhi4 |
2512 186e 7093 0000 sts (NeutralAccY)+1,r23 |
2513 1872 6093 0000 sts NeutralAccY,r22 |
2514 1876 8091 0000 lds r24,Aktuell_az |
2515 187a 9091 0000 lds r25,(Aktuell_az)+1 |
2516 187e 9093 0000 sts (NeutralAccZ)+1,r25 |
2517 1882 8093 0000 sts NeutralAccZ,r24 |
2518 1886 0F90 pop __tmp_reg__ |
2519 1888 0F90 pop __tmp_reg__ |
2520 188a 0F90 pop __tmp_reg__ |
2521 188c 0F90 pop __tmp_reg__ |
2522 .L333: |
2523 188e 1092 0000 sts (MesswertNick)+1,__zero_reg__ |
2524 1892 1092 0000 sts MesswertNick,__zero_reg__ |
2525 1896 1092 0000 sts (MesswertRoll)+1,__zero_reg__ |
2526 189a 1092 0000 sts MesswertRoll,__zero_reg__ |
2527 189e 1092 0000 sts (MesswertGier)+1,__zero_reg__ |
2528 18a2 1092 0000 sts MesswertGier,__zero_reg__ |
2529 18a6 84E6 ldi r24,lo8(100) |
2530 18a8 90E0 ldi r25,hi8(100) |
2531 18aa 0E94 0000 call Delay_ms_Mess |
2532 18ae 2091 0000 lds r18,AdWertAccNick |
2533 18b2 3091 0000 lds r19,(AdWertAccNick)+1 |
2534 18b6 B901 movw r22,r18 |
2535 18b8 660F lsl r22 |
2536 18ba 771F rol r23 |
2537 18bc 620F add r22,r18 |
2538 18be 731F adc r23,r19 |
2539 18c0 660F lsl r22 |
2540 18c2 771F rol r23 |
2541 18c4 7093 0000 sts (Mittelwert_AccNick)+1,r23 |
2542 18c8 6093 0000 sts Mittelwert_AccNick,r22 |
2543 18cc 2091 0000 lds r18,AdWertAccRoll |
2544 18d0 3091 0000 lds r19,(AdWertAccRoll)+1 |
2545 18d4 7901 movw r14,r18 |
2546 18d6 EE0C lsl r14 |
2547 18d8 FF1C rol r15 |
2548 18da E20E add r14,r18 |
2549 18dc F31E adc r15,r19 |
2550 18de EE0C lsl r14 |
2551 18e0 FF1C rol r15 |
2552 18e2 F092 0000 sts (Mittelwert_AccRoll)+1,r15 |
2553 18e6 E092 0000 sts Mittelwert_AccRoll,r14 |
2554 18ea A090 0000 lds r10,EE_Parameter+28 |
2555 18ee BB24 clr r11 |
2556 18f0 CC24 clr r12 |
2557 18f2 DD24 clr r13 |
2558 18f4 8827 clr r24 |
2559 18f6 77FD sbrc r23,7 |
2560 18f8 8095 com r24 |
2561 18fa 982F mov r25,r24 |
2562 18fc A601 movw r20,r12 |
2563 18fe 9501 movw r18,r10 |
2564 1900 0E94 0000 call __mulsi3 |
2565 1904 3B01 movw r6,r22 |
2566 1906 4C01 movw r8,r24 |
2567 1908 6093 0000 sts IntegralNick,r22 |
2568 190c 7093 0000 sts (IntegralNick)+1,r23 |
2569 1910 8093 0000 sts (IntegralNick)+2,r24 |
2570 1914 9093 0000 sts (IntegralNick)+3,r25 |
2571 1918 0027 clr r16 |
2572 191a F7FC sbrc r15,7 |
2573 191c 0095 com r16 |
2574 191e 102F mov r17,r16 |
2575 1920 C801 movw r24,r16 |
2576 1922 B701 movw r22,r14 |
2577 1924 0E94 0000 call __mulsi3 |
2578 1928 6093 0000 sts IntegralRoll,r22 |
2579 192c 7093 0000 sts (IntegralRoll)+1,r23 |
2580 1930 8093 0000 sts (IntegralRoll)+2,r24 |
2581 1934 9093 0000 sts (IntegralRoll)+3,r25 |
2582 1938 6092 0000 sts Mess_IntegralNick2,r6 |
2583 193c 7092 0000 sts (Mess_IntegralNick2)+1,r7 |
2584 1940 8092 0000 sts (Mess_IntegralNick2)+2,r8 |
2585 1944 9092 0000 sts (Mess_IntegralNick2)+3,r9 |
2586 1948 6093 0000 sts Mess_IntegralRoll2,r22 |
2587 194c 7093 0000 sts (Mess_IntegralRoll2)+1,r23 |
2588 1950 8093 0000 sts (Mess_IntegralRoll2)+2,r24 |
2589 1954 9093 0000 sts (Mess_IntegralRoll2)+3,r25 |
2590 1958 1092 0000 sts Mess_Integral_Gier,__zero_reg__ |
2591 195c 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__ |
2592 1960 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__ |
2593 1964 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__ |
2594 1968 8091 0000 lds r24,Luftdruck |
2595 196c 9091 0000 lds r25,(Luftdruck)+1 |
2596 1970 A091 0000 lds r26,(Luftdruck)+2 |
2597 1974 B091 0000 lds r27,(Luftdruck)+3 |
2598 1978 9093 0000 sts (StartLuftdruck)+1,r25 |
2599 197c 8093 0000 sts StartLuftdruck,r24 |
2600 1980 1092 0000 sts (VarioMeter)+1,__zero_reg__ |
2601 1984 1092 0000 sts VarioMeter,__zero_reg__ |
2602 1988 1092 0000 sts Mess_Integral_Hoch,__zero_reg__ |
2603 198c 1092 0000 sts (Mess_Integral_Hoch)+1,__zero_reg__ |
2604 1990 1092 0000 sts (Mess_Integral_Hoch)+2,__zero_reg__ |
2605 1994 1092 0000 sts (Mess_Integral_Hoch)+3,__zero_reg__ |
2606 1998 8091 0000 lds r24,KompassValue |
2607 199c 9091 0000 lds r25,(KompassValue)+1 |
2608 19a0 9093 0000 sts (KompassStartwert)+1,r25 |
2609 19a4 8093 0000 sts KompassStartwert,r24 |
2610 19a8 0E94 0000 call GPS_Neutral |
2611 19ac 82E3 ldi r24,lo8(50) |
2612 19ae 90E0 ldi r25,hi8(50) |
2613 19b0 9093 0000 sts (beeptime)+1,r25 |
2614 19b4 8093 0000 sts beeptime,r24 |
2615 19b8 6091 0000 lds r22,EE_Parameter+65 |
2616 19bc 70E0 ldi r23,lo8(0) |
2617 19be 80E0 ldi r24,lo8(0) |
2618 19c0 90E0 ldi r25,hi8(0) |
2619 19c2 24EC ldi r18,lo8(2500) |
2620 19c4 39E0 ldi r19,hi8(2500) |
2621 19c6 40E0 ldi r20,hlo8(2500) |
2622 19c8 50E0 ldi r21,hhi8(2500) |
2623 19ca 0E94 0000 call __mulsi3 |
2624 19ce 6856 subi r22,lo8(-(15000)) |
2625 19d0 754C sbci r23,hi8(-(15000)) |
2626 19d2 8F4F sbci r24,hlo8(-(15000)) |
2627 19d4 9F4F sbci r25,hhi8(-(15000)) |
2628 19d6 6093 0000 sts Umschlag180Nick,r22 |
2629 19da 7093 0000 sts (Umschlag180Nick)+1,r23 |
2630 19de 8093 0000 sts (Umschlag180Nick)+2,r24 |
2631 19e2 9093 0000 sts (Umschlag180Nick)+3,r25 |
2632 19e6 6091 0000 lds r22,EE_Parameter+66 |
2633 19ea 70E0 ldi r23,lo8(0) |
2634 19ec 80E0 ldi r24,lo8(0) |
2635 19ee 90E0 ldi r25,hi8(0) |
2636 19f0 0E94 0000 call __mulsi3 |
2637 19f4 6856 subi r22,lo8(-(15000)) |
2638 19f6 754C sbci r23,hi8(-(15000)) |
2639 19f8 8F4F sbci r24,hlo8(-(15000)) |
2640 19fa 9F4F sbci r25,hhi8(-(15000)) |
2641 19fc 6093 0000 sts Umschlag180Roll,r22 |
2642 1a00 7093 0000 sts (Umschlag180Roll)+1,r23 |
2643 1a04 8093 0000 sts (Umschlag180Roll)+2,r24 |
2644 1a08 9093 0000 sts (Umschlag180Roll)+3,r25 |
2645 1a0c 1092 0000 sts (ExternHoehenValue)+1,__zero_reg__ |
2646 1a10 1092 0000 sts ExternHoehenValue,__zero_reg__ |
2647 1a14 6091 0000 lds r22,KompassValue |
2648 1a18 7091 0000 lds r23,(KompassValue)+1 |
2649 1a1c 8827 clr r24 |
2650 1a1e 77FD sbrc r23,7 |
2651 1a20 8095 com r24 |
2652 1a22 982F mov r25,r24 |
2653 1a24 2091 0000 lds r18,GIER_GRAD_FAKTOR |
2654 1a28 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1 |
2655 1a2c 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2 |
2656 1a30 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3 |
2657 1a34 0E94 0000 call __mulsi3 |
2658 1a38 6093 0000 sts ErsatzKompass,r22 |
2659 1a3c 7093 0000 sts (ErsatzKompass)+1,r23 |
2660 1a40 8093 0000 sts (ErsatzKompass)+2,r24 |
2661 1a44 9093 0000 sts (ErsatzKompass)+3,r25 |
2662 1a48 1092 0000 sts (GierGyroFehler)+1,__zero_reg__ |
2663 1a4c 1092 0000 sts GierGyroFehler,__zero_reg__ |
2664 1a50 81E0 ldi r24,lo8(1) |
2665 1a52 8093 0000 sts SendVersionToNavi,r24 |
2666 1a56 0E94 0000 call LED_Init |
2667 1a5a 8091 0000 lds r24,FC_StatusFlags |
2668 1a5e 8460 ori r24,lo8(4) |
2669 1a60 8093 0000 sts FC_StatusFlags,r24 |
2670 1a64 8FEF ldi r24,lo8(-1) |
2671 1a66 8093 0000 sts FromNaviCtrl_Value,r24 |
2672 1a6a 1092 0000 sts FromNaviCtrl_Value+1,__zero_reg__ |
2673 1a6e 80E2 ldi r24,lo8(32) |
2674 1a70 8093 0000 sts FromNaviCtrl_Value+2,r24 |
2675 1a74 A0E0 ldi r26,lo8(EE_Parameter+5) |
2676 1a76 B0E0 ldi r27,hi8(EE_Parameter+5) |
2677 1a78 C0E0 ldi r28,lo8(Poti) |
2678 1a7a D0E0 ldi r29,hi8(Poti) |
2679 .L339: |
2680 1a7c ED91 ld r30,X+ |
2681 1a7e F0E0 ldi r31,lo8(0) |
2682 1a80 EE0F lsl r30 |
2683 1a82 FF1F rol r31 |
2684 1a84 E050 subi r30,lo8(-(PPM_in)) |
2685 1a86 F040 sbci r31,hi8(-(PPM_in)) |
2686 1a88 8081 ld r24,Z |
2687 1a8a 9181 ldd r25,Z+1 |
2688 1a8c 8259 subi r24,lo8(-(110)) |
2689 1a8e 8993 st Y+,r24 |
2690 1a90 20E0 ldi r18,hi8(EE_Parameter+13) |
2691 1a92 A030 cpi r26,lo8(EE_Parameter+13) |
2692 1a94 B207 cpc r27,r18 |
2693 1a96 01F4 brne .L339 |
2694 1a98 84E6 ldi r24,lo8(100) |
2695 1a9a 8093 0000 sts SenderOkay,r24 |
2696 1a9e 8091 0000 lds r24,ServoActive |
2697 1aa2 8823 tst r24 |
2698 1aa4 01F0 breq .L341 |
2699 1aa6 469A sbi 40-0x20,6 |
2700 1aa8 579A sbi 42-0x20,7 |
2701 .L341: |
2702 1aaa 8091 0000 lds r24,AdNeutralNick |
2703 1aae 9091 0000 lds r25,(AdNeutralNick)+1 |
2704 1ab2 8056 subi r24,lo8(-(-2400)) |
2705 1ab4 9940 sbci r25,hi8(-(-2400)) |
2706 1ab6 815C subi r24,lo8(11201) |
2707 1ab8 9B42 sbci r25,hi8(11201) |
2708 1aba 00F0 brlo .L343 |
2709 1abc 8091 0000 lds r24,VersionInfo+5 |
2710 1ac0 8160 ori r24,lo8(1) |
2711 1ac2 8093 0000 sts VersionInfo+5,r24 |
2712 .L343: |
2713 1ac6 8091 0000 lds r24,AdNeutralRoll |
2714 1aca 9091 0000 lds r25,(AdNeutralRoll)+1 |
2715 1ace 8056 subi r24,lo8(-(-2400)) |
2716 1ad0 9940 sbci r25,hi8(-(-2400)) |
2717 1ad2 815C subi r24,lo8(11201) |
2718 1ad4 9B42 sbci r25,hi8(11201) |
2719 1ad6 00F0 brlo .L345 |
2720 1ad8 8091 0000 lds r24,VersionInfo+5 |
2721 1adc 8260 ori r24,lo8(2) |
2722 1ade 8093 0000 sts VersionInfo+5,r24 |
2723 .L345: |
2724 1ae2 8091 0000 lds r24,AdNeutralGier |
2725 1ae6 9091 0000 lds r25,(AdNeutralGier)+1 |
2726 1aea 8C52 subi r24,lo8(-(-300)) |
2727 1aec 9140 sbci r25,hi8(-(-300)) |
2728 1aee 8957 subi r24,lo8(1401) |
2729 1af0 9540 sbci r25,hi8(1401) |
2730 1af2 00F0 brlo .L347 |
2731 1af4 8091 0000 lds r24,VersionInfo+5 |
2732 1af8 8460 ori r24,lo8(4) |
2733 1afa 8093 0000 sts VersionInfo+5,r24 |
2734 .L347: |
2735 1afe 8091 0000 lds r24,NeutralAccX |
2736 1b02 9091 0000 lds r25,(NeutralAccX)+1 |
2737 1b06 8C52 subi r24,lo8(-(-300)) |
2738 1b08 9140 sbci r25,hi8(-(-300)) |
2739 1b0a 835C subi r24,lo8(451) |
2740 1b0c 9140 sbci r25,hi8(451) |
2741 1b0e 00F0 brlo .L349 |
2742 1b10 8091 0000 lds r24,VersionInfo+5 |
2743 1b14 8860 ori r24,lo8(8) |
2744 1b16 8093 0000 sts VersionInfo+5,r24 |
2745 .L349: |
2746 1b1a 8091 0000 lds r24,NeutralAccY |
2747 1b1e 9091 0000 lds r25,(NeutralAccY)+1 |
2748 1b22 8C52 subi r24,lo8(-(-300)) |
2749 1b24 9140 sbci r25,hi8(-(-300)) |
2750 1b26 835C subi r24,lo8(451) |
2751 1b28 9140 sbci r25,hi8(451) |
2752 1b2a 00F0 brlo .L351 |
2753 1b2c 8091 0000 lds r24,VersionInfo+5 |
2754 1b30 8061 ori r24,lo8(16) |
2755 1b32 8093 0000 sts VersionInfo+5,r24 |
2756 .L351: |
2757 1b36 8091 0000 lds r24,NeutralAccZ |
2758 1b3a 9091 0000 lds r25,(NeutralAccZ)+1 |
2759 1b3e 8050 subi r24,lo8(-(-512)) |
2760 1b40 9240 sbci r25,hi8(-(-512)) |
2761 1b42 8355 subi r24,lo8(339) |
2762 1b44 9140 sbci r25,hi8(339) |
2763 1b46 00F0 brlo .L355 |
2764 1b48 8091 0000 lds r24,VersionInfo+5 |
2765 1b4c 8062 ori r24,lo8(32) |
2766 1b4e 8093 0000 sts VersionInfo+5,r24 |
2767 .L355: |
2768 /* epilogue: frame size=0 */ |
2769 1b52 EEE0 ldi r30,14 |
2770 1b54 CDB7 in r28,__SP_L__ |
2771 1b56 DEB7 in r29,__SP_H__ |
2772 1b58 0C94 0000 jmp __epilogue_restores__+8 |
2773 /* epilogue end (size=5) */ |
2774 /* function SetNeutral size 679 (668) */ |
2776 .global Piep |
2778 Piep: |
2779 /* prologue: frame size=0 */ |
2780 1b5c EF92 push r14 |
2781 1b5e FF92 push r15 |
2782 1b60 1F93 push r17 |
2783 1b62 CF93 push r28 |
2784 1b64 DF93 push r29 |
2785 /* prologue end (size=5) */ |
2786 1b66 182F mov r17,r24 |
2787 1b68 EB01 movw r28,r22 |
2788 1b6a 8091 0000 lds r24,MotorenEin |
2789 1b6e 8823 tst r24 |
2790 1b70 01F4 brne .L367 |
2791 1b72 7B01 movw r14,r22 |
2792 1b74 EE0C lsl r14 |
2793 1b76 FF1C rol r15 |
2794 1b78 00C0 rjmp .L363 |
2795 .L364: |
2796 1b7a D093 0000 sts (beeptime)+1,r29 |
2797 1b7e C093 0000 sts beeptime,r28 |
2798 .L365: |
2799 1b82 8091 0000 lds r24,beeptime |
2800 1b86 9091 0000 lds r25,(beeptime)+1 |
2801 1b8a 892B or r24,r25 |
2802 1b8c 01F4 brne .L365 |
2803 1b8e C701 movw r24,r14 |
2804 1b90 0E94 0000 call Delay_ms |
2805 .L363: |
2806 1b94 1150 subi r17,1 |
2807 1b96 00F4 brcc .L364 |
2808 .L367: |
2809 /* epilogue: frame size=0 */ |
2810 1b98 DF91 pop r29 |
2811 1b9a CF91 pop r28 |
2812 1b9c 1F91 pop r17 |
2813 1b9e FF90 pop r15 |
2814 1ba0 EF90 pop r14 |
2815 1ba2 0895 ret |
2816 /* epilogue end (size=6) */ |
2817 /* function Piep size 37 (26) */ |
2819 .global MotorRegler |
2821 MotorRegler: |
2822 /* prologue: frame size=52 */ |
2823 1ba4 A4E3 ldi r26,lo8(52) |
2824 1ba6 B0E0 ldi r27,hi8(52) |
2825 1ba8 E0E0 ldi r30,pm_lo8(1f) |
2826 1baa F0E0 ldi r31,pm_hi8(1f) |
2827 1bac 0C94 0000 jmp __prologue_saves__+0 |
2828 1: |
2829 /* prologue end (size=6) */ |
2830 1bb0 0E94 0000 call Mittelwert |
2831 1bb4 4091 0000 lds r20,PlatinenVersion |
2832 1bb8 4C30 cpi r20,lo8(12) |
2833 1bba 00F4 brsh .L371 |
2834 1bbc 299A sbi 37-0x20,1 |
2835 1bbe 00C0 rjmp .L373 |
2836 .L371: |
2837 1bc0 2998 cbi 37-0x20,1 |
2838 .L373: |
2839 1bc2 2091 0000 lds r18,StickGas |
2840 1bc6 3091 0000 lds r19,(StickGas)+1 |
2841 1bca 8091 0000 lds r24,MIN_GAS |
2842 1bce E82E mov r14,r24 |
2843 1bd0 FF24 clr r15 |
2844 1bd2 8701 movw r16,r14 |
2845 1bd4 065F subi r16,lo8(-(10)) |
2846 1bd6 1F4F sbci r17,hi8(-(10)) |
2847 1bd8 1D8B std Y+21,r17 |
2848 1bda 0C8B std Y+20,r16 |
2849 1bdc 0217 cp r16,r18 |
2850 1bde 1307 cpc r17,r19 |
2851 1be0 04F4 brge .L374 |
2852 1be2 3D8B std Y+21,r19 |
2853 1be4 2C8B std Y+20,r18 |
2854 .L374: |
2855 1be6 8091 0000 lds r24,SenderOkay |
2856 1bea 8436 cpi r24,lo8(100) |
2857 1bec 00F0 brlo .+2 |
2858 1bee 00C0 rjmp .L375 |
2859 1bf0 8091 0000 lds r24,RcLostTimer.3312 |
2860 1bf4 9091 0000 lds r25,(RcLostTimer.3312)+1 |
2861 1bf8 0097 sbiw r24,0 |
2862 1bfa 01F0 breq .L377 |
2863 1bfc 0197 sbiw r24,1 |
2864 1bfe 9093 0000 sts (RcLostTimer.3312)+1,r25 |
2865 1c02 8093 0000 sts RcLostTimer.3312,r24 |
2866 1c06 00C0 rjmp .L379 |
2867 .L377: |
2868 1c08 1092 0000 sts MotorenEin,__zero_reg__ |
2869 1c0c 8091 0000 lds r24,FC_StatusFlags |
2870 1c10 8F7E andi r24,lo8(-17) |
2871 1c12 8093 0000 sts FC_StatusFlags,r24 |
2872 .L379: |
2873 1c16 4A30 cpi r20,lo8(10) |
2874 1c18 01F0 breq .L380 |
2875 1c1a 4431 cpi r20,lo8(20) |
2876 1c1c 00F0 brlo .L382 |
2877 .L380: |
2878 1c1e 289A sbi 37-0x20,0 |
2879 1c20 00C0 rjmp .L383 |
2880 .L382: |
2881 1c22 2898 cbi 37-0x20,0 |
2882 .L383: |
2883 1c24 8091 0000 lds r24,modell_fliegt |
2884 1c28 9091 0000 lds r25,(modell_fliegt)+1 |
2885 1c2c 895E subi r24,lo8(1001) |
2886 1c2e 9340 sbci r25,hi8(1001) |
2887 1c30 00F0 brlo .L384 |
2888 1c32 8091 0000 lds r24,EE_Parameter+37 |
2889 1c36 282F mov r18,r24 |
2890 1c38 30E0 ldi r19,lo8(0) |
2891 1c3a 3D8B std Y+21,r19 |
2892 1c3c 2C8B std Y+20,r18 |
2893 1c3e 8091 0000 lds r24,FC_StatusFlags |
2894 1c42 8061 ori r24,lo8(16) |
2895 1c44 8093 0000 sts FC_StatusFlags,r24 |
2896 1c48 A091 0000 lds r26,EE_Parameter+1 |
2897 1c4c B0E0 ldi r27,lo8(0) |
2898 1c4e AA0F lsl r26 |
2899 1c50 BB1F rol r27 |
2900 1c52 FD01 movw r30,r26 |
2901 1c54 E050 subi r30,lo8(-(PPM_diff)) |
2902 1c56 F040 sbci r31,hi8(-(PPM_diff)) |
2903 1c58 1182 std Z+1,__zero_reg__ |
2904 1c5a 1082 st Z,__zero_reg__ |
2905 1c5c E091 0000 lds r30,EE_Parameter+2 |
2906 1c60 2E2F mov r18,r30 |
2907 1c62 30E0 ldi r19,lo8(0) |
2908 1c64 220F lsl r18 |
2909 1c66 331F rol r19 |
2910 1c68 C901 movw r24,r18 |
2911 1c6a 8050 subi r24,lo8(-(PPM_diff)) |
2912 1c6c 9040 sbci r25,hi8(-(PPM_diff)) |
2913 1c6e FC01 movw r30,r24 |
2914 1c70 1182 std Z+1,__zero_reg__ |
2915 1c72 1082 st Z,__zero_reg__ |
2916 1c74 A050 subi r26,lo8(-(PPM_in)) |
2917 1c76 B040 sbci r27,hi8(-(PPM_in)) |
2918 1c78 1196 adiw r26,1 |
2919 1c7a 1C92 st X,__zero_reg__ |
2920 1c7c 1E92 st -X,__zero_reg__ |
2921 1c7e 2050 subi r18,lo8(-(PPM_in)) |
2922 1c80 3040 sbci r19,hi8(-(PPM_in)) |
2923 1c82 D901 movw r26,r18 |
2924 1c84 1196 adiw r26,1 |
2925 1c86 1C92 st X,__zero_reg__ |
2926 1c88 1E92 st -X,__zero_reg__ |
2927 1c8a E091 0000 lds r30,EE_Parameter+4 |
2928 1c8e F0E0 ldi r31,lo8(0) |
2929 1c90 EE0F lsl r30 |
2930 1c92 FF1F rol r31 |
2931 1c94 E050 subi r30,lo8(-(PPM_in)) |
2932 1c96 F040 sbci r31,hi8(-(PPM_in)) |
2933 1c98 1182 std Z+1,__zero_reg__ |
2934 1c9a 1082 st Z,__zero_reg__ |
2935 1c9c 00C0 rjmp .L386 |
2936 .L384: |
2937 1c9e 1092 0000 sts MotorenEin,__zero_reg__ |
2938 1ca2 00C0 rjmp .L386 |
2939 .L375: |
2940 1ca4 8091 0000 lds r24,SenderOkay |
2941 1ca8 8D38 cpi r24,lo8(-115) |
2942 1caa 00F4 brsh .+2 |
2943 1cac 00C0 rjmp .L386 |
2944 1cae 8091 0000 lds r24,FC_StatusFlags |
2945 1cb2 8F7E andi r24,lo8(-17) |
2946 1cb4 8093 0000 sts FC_StatusFlags,r24 |
2947 1cb8 8091 0000 lds r24,EE_Parameter+38 |
2948 1cbc 22E3 ldi r18,lo8(50) |
2949 1cbe 829F mul r24,r18 |
2950 1cc0 C001 movw r24,r0 |
2951 1cc2 1124 clr r1 |
2952 1cc4 9093 0000 sts (RcLostTimer.3312)+1,r25 |
2953 1cc8 8093 0000 sts RcLostTimer.3312,r24 |
2954 1ccc EC89 ldd r30,Y+20 |
2955 1cce FD89 ldd r31,Y+21 |
2956 1cd0 B997 sbiw r30,41 |
2957 1cd2 04F0 brlt .L388 |
2958 1cd4 8091 0000 lds r24,MotorenEin |
2959 1cd8 8823 tst r24 |
2960 1cda 01F0 breq .L388 |
2961 1cdc 8091 0000 lds r24,modell_fliegt |
2962 1ce0 9091 0000 lds r25,(modell_fliegt)+1 |
2963 1ce4 FFEF ldi r31,hi8(-1) |
2964 1ce6 8F3F cpi r24,lo8(-1) |
2965 1ce8 9F07 cpc r25,r31 |
2966 1cea 01F0 breq .L388 |
2967 1cec 0196 adiw r24,1 |
2968 1cee 9093 0000 sts (modell_fliegt)+1,r25 |
2969 1cf2 8093 0000 sts modell_fliegt,r24 |
2970 .L388: |
2971 1cf6 8091 0000 lds r24,modell_fliegt |
2972 1cfa 9091 0000 lds r25,(modell_fliegt)+1 |
2973 1cfe 8F3F cpi r24,255 |
2974 1d00 9105 cpc r25,__zero_reg__ |
2975 1d02 01F0 breq .+2 |
2976 1d04 00F4 brsh .L392 |
2977 1d06 1092 0000 sts SummeNick,__zero_reg__ |
2978 1d0a 1092 0000 sts (SummeNick)+1,__zero_reg__ |
2979 1d0e 1092 0000 sts (SummeNick)+2,__zero_reg__ |
2980 1d12 1092 0000 sts (SummeNick)+3,__zero_reg__ |
2981 1d16 1092 0000 sts SummeRoll,__zero_reg__ |
2982 1d1a 1092 0000 sts (SummeRoll)+1,__zero_reg__ |
2983 1d1e 1092 0000 sts (SummeRoll)+2,__zero_reg__ |
2984 1d22 1092 0000 sts (SummeRoll)+3,__zero_reg__ |
2985 1d26 1092 0000 sts sollGier.3307,__zero_reg__ |
2986 1d2a 1092 0000 sts (sollGier.3307)+1,__zero_reg__ |
2987 1d2e 1092 0000 sts (sollGier.3307)+2,__zero_reg__ |
2988 1d32 1092 0000 sts (sollGier.3307)+3,__zero_reg__ |
2989 1d36 1092 0000 sts Mess_Integral_Gier,__zero_reg__ |
2990 1d3a 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__ |
2991 1d3e 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__ |
2992 1d42 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__ |
2993 1d46 8A3F cpi r24,250 |
2994 1d48 9105 cpc r25,__zero_reg__ |
2995 1d4a 01F4 brne .L394 |
2996 1d4c 81E0 ldi r24,lo8(1) |
2997 1d4e 8093 0000 sts NeueKompassRichtungMerken.3317,r24 |
2998 1d52 00C0 rjmp .L394 |
2999 .L392: |
3000 1d54 8091 0000 lds r24,FC_StatusFlags |
3001 1d58 8260 ori r24,lo8(2) |
3002 1d5a 8093 0000 sts FC_StatusFlags,r24 |
3003 .L394: |
3004 1d5e E091 0000 lds r30,EE_Parameter+3 |
3005 1d62 F0E0 ldi r31,lo8(0) |
3006 1d64 EE0F lsl r30 |
3007 1d66 FF1F rol r31 |
3008 1d68 E050 subi r30,lo8(-(PPM_in)) |
3009 1d6a F040 sbci r31,hi8(-(PPM_in)) |
3010 1d6c 8081 ld r24,Z |
3011 1d6e 9181 ldd r25,Z+1 |
3012 1d70 8135 cpi r24,81 |
3013 1d72 9105 cpc r25,__zero_reg__ |
3014 1d74 04F4 brge .+2 |
3015 1d76 00C0 rjmp .L396 |
3016 1d78 8091 0000 lds r24,MotorenEin |
3017 1d7c 8823 tst r24 |
3018 1d7e 01F0 breq .+2 |
3019 1d80 00C0 rjmp .L396 |
3020 1d82 8091 0000 lds r24,EE_Parameter+4 |
3021 1d86 E82F mov r30,r24 |
3022 1d88 F0E0 ldi r31,lo8(0) |
3023 1d8a EE0F lsl r30 |
3024 1d8c FF1F rol r31 |
3025 1d8e E050 subi r30,lo8(-(PPM_in)) |
3026 1d90 F040 sbci r31,hi8(-(PPM_in)) |
3027 1d92 8081 ld r24,Z |
3028 1d94 9181 ldd r25,Z+1 |
3029 1d96 8C34 cpi r24,76 |
3030 1d98 9105 cpc r25,__zero_reg__ |
3031 1d9a 04F4 brge .+2 |
3032 1d9c 00C0 rjmp .L399 |
3033 1d9e 8091 0000 lds r24,delay_neutral.3313 |
3034 1da2 8F5F subi r24,lo8(-(1)) |
3035 1da4 8093 0000 sts delay_neutral.3313,r24 |
3036 1da8 893C cpi r24,lo8(-55) |
3037 1daa 00F4 brsh .+2 |
3038 1dac 00C0 rjmp .L396 |
3039 1dae 4C30 cpi r20,lo8(12) |
3040 1db0 00F4 brsh .L402 |
3041 1db2 2998 cbi 37-0x20,1 |
3042 1db4 00C0 rjmp .L404 |
3043 .L402: |
3044 1db6 299A sbi 37-0x20,1 |
3045 .L404: |
3046 1db8 1092 0000 sts MotorenEin,__zero_reg__ |
3047 1dbc 1092 0000 sts delay_neutral.3313,__zero_reg__ |
3048 1dc0 1092 0000 sts (modell_fliegt)+1,__zero_reg__ |
3049 1dc4 1092 0000 sts modell_fliegt,__zero_reg__ |
3050 1dc8 8091 0000 lds r24,EE_Parameter+1 |
3051 1dcc 282F mov r18,r24 |
3052 1dce 30E0 ldi r19,lo8(0) |
3053 1dd0 F901 movw r30,r18 |
3054 1dd2 EE0F lsl r30 |
3055 1dd4 FF1F rol r31 |
3056 1dd6 E050 subi r30,lo8(-(PPM_in)) |
3057 1dd8 F040 sbci r31,hi8(-(PPM_in)) |
3058 1dda 8081 ld r24,Z |
3059 1ddc 9181 ldd r25,Z+1 |
3060 1dde 8734 cpi r24,71 |
3061 1de0 9105 cpc r25,__zero_reg__ |
3062 1de2 04F4 brge .L405 |
3063 1de4 E091 0000 lds r30,EE_Parameter+2 |
3064 1de8 F0E0 ldi r31,lo8(0) |
3065 1dea EE0F lsl r30 |
3066 1dec FF1F rol r31 |
3067 1dee E050 subi r30,lo8(-(PPM_in)) |
3068 1df0 F040 sbci r31,hi8(-(PPM_in)) |
3069 1df2 0190 ld __tmp_reg__,Z+ |
3070 1df4 F081 ld r31,Z |
3071 1df6 E02D mov r30,__tmp_reg__ |
3072 1df8 F7FF sbrs r31,7 |
3073 1dfa 00C0 rjmp .L408 |
3074 1dfc F095 com r31 |
3075 1dfe E195 neg r30 |
3076 1e00 FF4F sbci r31,lo8(-1) |
3077 .L408: |
3078 1e02 E734 cpi r30,71 |
3079 1e04 F105 cpc r31,__zero_reg__ |
3080 1e06 04F4 brge .+2 |
3081 1e08 00C0 rjmp .L407 |
3082 .L405: |
3083 1e0a 8091 0000 lds r24,EE_Parameter+2 |
3084 1e0e 682F mov r22,r24 |
3085 1e10 70E0 ldi r23,lo8(0) |
3086 1e12 DB01 movw r26,r22 |
3087 1e14 AA0F lsl r26 |
3088 1e16 BB1F rol r27 |
3089 1e18 A050 subi r26,lo8(-(PPM_in)) |
3090 1e1a B040 sbci r27,hi8(-(PPM_in)) |
3091 1e1c 8D91 ld r24,X+ |
3092 1e1e 9C91 ld r25,X |
3093 1e20 1197 sbiw r26,1 |
3094 1e22 8734 cpi r24,71 |
3095 1e24 9105 cpc r25,__zero_reg__ |
3096 1e26 04F0 brlt .L409 |
3097 1e28 F901 movw r30,r18 |
3098 1e2a EE0F lsl r30 |
3099 1e2c FF1F rol r31 |
3100 1e2e E050 subi r30,lo8(-(PPM_in)) |
3101 1e30 F040 sbci r31,hi8(-(PPM_in)) |
3102 1e32 8081 ld r24,Z |
3103 1e34 9181 ldd r25,Z+1 |
3104 .L409: |
3105 1e36 8D91 ld r24,X+ |
3106 1e38 9C91 ld r25,X |
3107 1e3a 8734 cpi r24,71 |
3108 1e3c 9105 cpc r25,__zero_reg__ |
3109 1e3e 04F0 brlt .L411 |
3110 1e40 F901 movw r30,r18 |
3111 1e42 EE0F lsl r30 |
3112 1e44 FF1F rol r31 |
3113 1e46 E050 subi r30,lo8(-(PPM_in)) |
3114 1e48 F040 sbci r31,hi8(-(PPM_in)) |
3115 1e4a 8081 ld r24,Z |
3116 1e4c 9181 ldd r25,Z+1 |
3117 1e4e 8734 cpi r24,71 |
3118 1e50 9105 cpc r25,__zero_reg__ |
3119 1e52 04F0 brlt .L411 |
3120 1e54 42E0 ldi r20,lo8(2) |
3121 1e56 00C0 rjmp .L414 |
3122 .L411: |
3123 1e58 41E0 ldi r20,lo8(1) |
3124 .L414: |
3125 1e5a FB01 movw r30,r22 |
3126 1e5c EE0F lsl r30 |
3127 1e5e FF1F rol r31 |
3128 1e60 E050 subi r30,lo8(-(PPM_in)) |
3129 1e62 F040 sbci r31,hi8(-(PPM_in)) |
3130 1e64 8081 ld r24,Z |
3131 1e66 9181 ldd r25,Z+1 |
3132 1e68 8634 cpi r24,70 |
3133 1e6a 9105 cpc r25,__zero_reg__ |
3134 1e6c 04F4 brge .L415 |
3135 1e6e F901 movw r30,r18 |
3136 1e70 EE0F lsl r30 |
3137 1e72 FF1F rol r31 |
3138 1e74 E050 subi r30,lo8(-(PPM_in)) |
3139 1e76 F040 sbci r31,hi8(-(PPM_in)) |
3140 1e78 8081 ld r24,Z |
3141 1e7a 9181 ldd r25,Z+1 |
3142 1e7c 8734 cpi r24,71 |
3143 1e7e 9105 cpc r25,__zero_reg__ |
3144 1e80 04F0 brlt .L415 |
3145 1e82 43E0 ldi r20,lo8(3) |
3146 .L415: |
3147 1e84 FB01 movw r30,r22 |
3148 1e86 EE0F lsl r30 |
3149 1e88 FF1F rol r31 |
3150 1e8a E050 subi r30,lo8(-(PPM_in)) |
3151 1e8c F040 sbci r31,hi8(-(PPM_in)) |
3152 1e8e 8081 ld r24,Z |
3153 1e90 9181 ldd r25,Z+1 |
3154 1e92 8A5B subi r24,lo8(-70) |
3155 1e94 9F4F sbci r25,hi8(-70) |
3156 1e96 04F4 brge .L418 |
3157 1e98 F901 movw r30,r18 |
3158 1e9a EE0F lsl r30 |
3159 1e9c FF1F rol r31 |
3160 1e9e E050 subi r30,lo8(-(PPM_in)) |
3161 1ea0 F040 sbci r31,hi8(-(PPM_in)) |
3162 1ea2 8081 ld r24,Z |
3163 1ea4 9181 ldd r25,Z+1 |
3164 1ea6 8734 cpi r24,71 |
3165 1ea8 9105 cpc r25,__zero_reg__ |
3166 1eaa 04F0 brlt .L418 |
3167 1eac 44E0 ldi r20,lo8(4) |
3168 .L418: |
3169 1eae 660F lsl r22 |
3170 1eb0 771F rol r23 |
3171 1eb2 6050 subi r22,lo8(-(PPM_in)) |
3172 1eb4 7040 sbci r23,hi8(-(PPM_in)) |
3173 1eb6 DB01 movw r26,r22 |
3174 1eb8 8D91 ld r24,X+ |
3175 1eba 9C91 ld r25,X |
3176 1ebc 8A5B subi r24,lo8(-70) |
3177 1ebe 9F4F sbci r25,hi8(-70) |
3178 1ec0 04F4 brge .L421 |
3179 1ec2 220F lsl r18 |
3180 1ec4 331F rol r19 |
3181 1ec6 2050 subi r18,lo8(-(PPM_in)) |
3182 1ec8 3040 sbci r19,hi8(-(PPM_in)) |
3183 1eca F901 movw r30,r18 |
3184 1ecc 8081 ld r24,Z |
3185 1ece 9181 ldd r25,Z+1 |
3186 1ed0 8634 cpi r24,70 |
3187 1ed2 9105 cpc r25,__zero_reg__ |
3188 1ed4 04F4 brge .L421 |
3189 1ed6 45E0 ldi r20,lo8(5) |
3190 .L421: |
3191 1ed8 842F mov r24,r20 |
3192 1eda 0E94 0000 call SetActiveParamSet |
3193 .L407: |
3194 1ede E091 0000 lds r30,EE_Parameter+2 |
3195 1ee2 F0E0 ldi r31,lo8(0) |
3196 1ee4 EE0F lsl r30 |
3197 1ee6 FF1F rol r31 |
3198 1ee8 E050 subi r30,lo8(-(PPM_in)) |
3199 1eea F040 sbci r31,hi8(-(PPM_in)) |
3200 1eec 0190 ld __tmp_reg__,Z+ |
3201 1eee F081 ld r31,Z |
3202 1ef0 E02D mov r30,__tmp_reg__ |
3203 1ef2 F7FF sbrs r31,7 |
3204 1ef4 00C0 rjmp .L425 |
3205 1ef6 F095 com r31 |
3206 1ef8 E195 neg r30 |
3207 1efa FF4F sbci r31,lo8(-1) |
3208 .L425: |
3209 1efc 7E97 sbiw r30,30 |
3210 1efe 04F4 brge .L424 |
3211 1f00 E091 0000 lds r30,EE_Parameter+1 |
3212 1f04 F0E0 ldi r31,lo8(0) |
3213 1f06 EE0F lsl r30 |
3214 1f08 FF1F rol r31 |
3215 1f0a E050 subi r30,lo8(-(PPM_in)) |
3216 1f0c F040 sbci r31,hi8(-(PPM_in)) |
3217 1f0e 8081 ld r24,Z |
3218 1f10 9181 ldd r25,Z+1 |
3219 1f12 8A5B subi r24,lo8(-70) |
3220 1f14 9F4F sbci r25,hi8(-70) |
3221 1f16 04F4 brge .L424 |
3222 1f18 81E0 ldi r24,lo8(1) |
3223 1f1a 8093 0000 sts WinkelOut+6,r24 |
3224 1f1e 88EE ldi r24,lo8(1000) |
3225 1f20 93E0 ldi r25,hi8(1000) |
3226 1f22 9093 0000 sts (beeptime)+1,r25 |
3227 1f26 8093 0000 sts beeptime,r24 |
3228 1f2a 00C0 rjmp .L396 |
3229 .L424: |
3230 1f2c 0E94 0000 call GetActiveParamSet |
3231 1f30 0E94 0000 call ParamSet_ReadFromEEProm |
3232 1f34 80E0 ldi r24,lo8(0) |
3233 1f36 0E94 0000 call LipoDetection |
3234 1f3a 8091 0000 lds r24,EE_Parameter+39 |
3235 1f3e 0E94 0000 call LIBFC_ReceiverInit |
3236 1f42 8091 0000 lds r24,EE_Parameter+13 |
3237 1f46 80FF sbrs r24,0 |
3238 1f48 00C0 rjmp .L428 |
3239 1f4a 8091 0000 lds r24,MessLuftdruck |
3240 1f4e 9091 0000 lds r25,(MessLuftdruck)+1 |
3241 1f52 875B subi r24,lo8(951) |
3242 1f54 9340 sbci r25,hi8(951) |
3243 1f56 00F4 brsh .L430 |
3244 1f58 8091 0000 lds r24,MessLuftdruck |
3245 1f5c 9091 0000 lds r25,(MessLuftdruck)+1 |
3246 1f60 8E5E subi r24,lo8(750) |
3247 1f62 9240 sbci r25,hi8(750) |
3248 1f64 00F4 brsh .L428 |
3249 .L430: |
3250 1f66 0E94 0000 call SucheLuftruckOffset |
3251 .L428: |
3252 1f6a 1092 0000 sts ServoActive,__zero_reg__ |
3253 1f6e 80E0 ldi r24,lo8(0) |
3254 1f70 0E94 0000 call SetNeutral |
3255 1f74 81E0 ldi r24,lo8(1) |
3256 1f76 8093 0000 sts calibration_done.3316,r24 |
3257 1f7a 8093 0000 sts ServoActive,r24 |
3258 1f7e 579A sbi 42-0x20,7 |
3259 1f80 00C0 rjmp .L913 |
3260 .L399: |
3261 1f82 8081 ld r24,Z |
3262 1f84 9181 ldd r25,Z+1 |
3263 1f86 855B subi r24,lo8(-75) |
3264 1f88 9F4F sbci r25,hi8(-75) |
3265 1f8a 04F4 brge .L432 |
3266 1f8c 8091 0000 lds r24,delay_neutral.3313 |
3267 1f90 8F5F subi r24,lo8(-(1)) |
3268 1f92 8093 0000 sts delay_neutral.3313,r24 |
3269 1f96 893C cpi r24,lo8(-55) |
3270 1f98 00F0 brlo .L396 |
3271 1f9a 4C30 cpi r20,lo8(12) |
3272 1f9c 00F4 brsh .L435 |
3273 1f9e 2998 cbi 37-0x20,1 |
3274 1fa0 00C0 rjmp .L437 |
3275 .L435: |
3276 1fa2 299A sbi 37-0x20,1 |
3277 .L437: |
3278 1fa4 1092 0000 sts MotorenEin,__zero_reg__ |
3279 1fa8 1092 0000 sts delay_neutral.3313,__zero_reg__ |
3280 1fac 1092 0000 sts (modell_fliegt)+1,__zero_reg__ |
3281 1fb0 1092 0000 sts modell_fliegt,__zero_reg__ |
3282 1fb4 81E0 ldi r24,lo8(1) |
3283 1fb6 0E94 0000 call SetNeutral |
3284 1fba 81E0 ldi r24,lo8(1) |
3285 1fbc 8093 0000 sts calibration_done.3316,r24 |
3286 .L913: |
3287 1fc0 0E94 0000 call GetActiveParamSet |
3288 1fc4 68E7 ldi r22,lo8(120) |
3289 1fc6 70E0 ldi r23,hi8(120) |
3290 1fc8 0E94 0000 call Piep |
3291 1fcc 00C0 rjmp .L396 |
3292 .L432: |
3293 1fce 1092 0000 sts delay_neutral.3313,__zero_reg__ |
3294 .L396: |
3295 1fd2 E091 0000 lds r30,EE_Parameter+3 |
3296 1fd6 F0E0 ldi r31,lo8(0) |
3297 1fd8 EE0F lsl r30 |
3298 1fda FF1F rol r31 |
3299 1fdc E050 subi r30,lo8(-(PPM_in)) |
3300 1fde F040 sbci r31,hi8(-(PPM_in)) |
3301 1fe0 8081 ld r24,Z |
3302 1fe2 9181 ldd r25,Z+1 |
3303 1fe4 8B5A subi r24,lo8(-85) |
3304 1fe6 9F4F sbci r25,hi8(-85) |
3305 1fe8 04F0 brlt .+2 |
3306 1fea 00C0 rjmp .L386 |
3307 1fec 8091 0000 lds r24,MotorenEin |
3308 1ff0 E091 0000 lds r30,EE_Parameter+4 |
3309 1ff4 8823 tst r24 |
3310 1ff6 01F0 breq .+2 |
3311 1ff8 00C0 rjmp .L439 |
3312 1ffa F0E0 ldi r31,lo8(0) |
3313 1ffc EE0F lsl r30 |
3314 1ffe FF1F rol r31 |
3315 2000 E050 subi r30,lo8(-(PPM_in)) |
3316 2002 F040 sbci r31,hi8(-(PPM_in)) |
3317 2004 8081 ld r24,Z |
3318 2006 9181 ldd r25,Z+1 |
3319 2008 855B subi r24,lo8(-75) |
3320 200a 9F4F sbci r25,hi8(-75) |
3321 200c 04F0 brlt .+2 |
3322 200e 00C0 rjmp .L441 |
3323 2010 2091 0000 lds r18,EE_Parameter+99 |
3324 2014 E22F mov r30,r18 |
3325 2016 F0E0 ldi r31,lo8(0) |
3326 2018 EE0F lsl r30 |
3327 201a FF1F rol r31 |
3328 201c E050 subi r30,lo8(-(PPM_in)) |
3329 201e F040 sbci r31,hi8(-(PPM_in)) |
3330 2020 8081 ld r24,Z |
3331 2022 9181 ldd r25,Z+1 |
3332 2024 855B subi r24,lo8(-75) |
3333 2026 9F4F sbci r25,hi8(-75) |
3334 2028 04F0 brlt .L443 |
3335 202a 2223 tst r18 |
3336 202c 01F0 breq .+2 |
3337 202e 00C0 rjmp .L441 |
3338 .L443: |
3339 2030 8091 0000 lds r24,delay_einschalten.3314 |
3340 2034 8F5F subi r24,lo8(-(1)) |
3341 2036 8093 0000 sts delay_einschalten.3314,r24 |
3342 203a 893C cpi r24,lo8(-55) |
3343 203c 00F4 brsh .+2 |
3344 203e 00C0 rjmp .L386 |
3345 2040 1092 0000 sts delay_einschalten.3314,__zero_reg__ |
3346 2044 8091 0000 lds r24,VersionInfo+5 |
3347 2048 8823 tst r24 |
3348 204a 01F0 breq .+2 |
3349 204c 00C0 rjmp .L446 |
3350 204e 8091 0000 lds r24,calibration_done.3316 |
3351 2052 8823 tst r24 |
3352 2054 01F4 brne .+2 |
3353 2056 00C0 rjmp .L446 |
3354 2058 81E0 ldi r24,lo8(1) |
3355 205a 90E0 ldi r25,hi8(1) |
3356 205c 9093 0000 sts (modell_fliegt)+1,r25 |
3357 2060 8093 0000 sts modell_fliegt,r24 |
3358 2064 81E0 ldi r24,lo8(1) |
3359 2066 8093 0000 sts MotorenEin,r24 |
3360 206a 1092 0000 sts sollGier.3307,__zero_reg__ |
3361 206e 1092 0000 sts (sollGier.3307)+1,__zero_reg__ |
3362 2072 1092 0000 sts (sollGier.3307)+2,__zero_reg__ |
3363 2076 1092 0000 sts (sollGier.3307)+3,__zero_reg__ |
3364 207a 1092 0000 sts Mess_Integral_Gier,__zero_reg__ |
3365 207e 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__ |
3366 2082 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__ |
3367 2086 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__ |
3368 208a 1092 0000 sts Mess_Integral_Gier2,__zero_reg__ |
3369 208e 1092 0000 sts (Mess_Integral_Gier2)+1,__zero_reg__ |
3370 2092 1092 0000 sts (Mess_Integral_Gier2)+2,__zero_reg__ |
3371 2096 1092 0000 sts (Mess_Integral_Gier2)+3,__zero_reg__ |
3372 209a E090 0000 lds r14,EE_Parameter+28 |
3373 209e FF24 clr r15 |
3374 20a0 00E0 ldi r16,lo8(0) |
3375 20a2 10E0 ldi r17,hi8(0) |
3376 20a4 6091 0000 lds r22,Mittelwert_AccNick |
3377 20a8 7091 0000 lds r23,(Mittelwert_AccNick)+1 |
3378 20ac 8827 clr r24 |
3379 20ae 77FD sbrc r23,7 |
3380 20b0 8095 com r24 |
3381 20b2 982F mov r25,r24 |
3382 20b4 A801 movw r20,r16 |
3383 20b6 9701 movw r18,r14 |
3384 20b8 0E94 0000 call __mulsi3 |
3385 20bc 6093 0000 sts Mess_IntegralNick,r22 |
3386 20c0 7093 0000 sts (Mess_IntegralNick)+1,r23 |
3387 20c4 8093 0000 sts (Mess_IntegralNick)+2,r24 |
3388 20c8 9093 0000 sts (Mess_IntegralNick)+3,r25 |
3389 20cc 6091 0000 lds r22,Mittelwert_AccRoll |
3390 20d0 7091 0000 lds r23,(Mittelwert_AccRoll)+1 |
3391 20d4 8827 clr r24 |
3392 20d6 77FD sbrc r23,7 |
3393 20d8 8095 com r24 |
3394 20da 982F mov r25,r24 |
3395 20dc 0E94 0000 call __mulsi3 |
3396 20e0 6093 0000 sts Mess_IntegralRoll,r22 |
3397 20e4 7093 0000 sts (Mess_IntegralRoll)+1,r23 |
3398 20e8 8093 0000 sts (Mess_IntegralRoll)+2,r24 |
3399 20ec 9093 0000 sts (Mess_IntegralRoll)+3,r25 |
3400 20f0 8091 0000 lds r24,IntegralNick |
3401 20f4 9091 0000 lds r25,(IntegralNick)+1 |
3402 20f8 A091 0000 lds r26,(IntegralNick)+2 |
3403 20fc B091 0000 lds r27,(IntegralNick)+3 |
3404 2100 8093 0000 sts Mess_IntegralNick2,r24 |
3405 2104 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
3406 2108 A093 0000 sts (Mess_IntegralNick2)+2,r26 |
3407 210c B093 0000 sts (Mess_IntegralNick2)+3,r27 |
3408 2110 8091 0000 lds r24,IntegralRoll |
3409 2114 9091 0000 lds r25,(IntegralRoll)+1 |
3410 2118 A091 0000 lds r26,(IntegralRoll)+2 |
3411 211c B091 0000 lds r27,(IntegralRoll)+3 |
3412 2120 8093 0000 sts Mess_IntegralRoll2,r24 |
3413 2124 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
3414 2128 A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
3415 212c B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
3416 2130 1092 0000 sts SummeNick,__zero_reg__ |
3417 2134 1092 0000 sts (SummeNick)+1,__zero_reg__ |
3418 2138 1092 0000 sts (SummeNick)+2,__zero_reg__ |
3419 213c 1092 0000 sts (SummeNick)+3,__zero_reg__ |
3420 2140 1092 0000 sts SummeRoll,__zero_reg__ |
3421 2144 1092 0000 sts (SummeRoll)+1,__zero_reg__ |
3422 2148 1092 0000 sts (SummeRoll)+2,__zero_reg__ |
3423 214c 1092 0000 sts (SummeRoll)+3,__zero_reg__ |
3424 2150 8091 0000 lds r24,FC_StatusFlags |
3425 2154 8860 ori r24,lo8(8) |
3426 2156 8093 0000 sts FC_StatusFlags,r24 |
3427 215a 8091 0000 lds r24,EE_Parameter+97 |
3428 215e 2FE0 ldi r18,lo8(15) |
3429 2160 829F mul r24,r18 |
3430 2162 C001 movw r24,r0 |
3431 2164 1124 clr r1 |
3432 2166 2091 0000 lds r18,KompassValue |
3433 216a 3091 0000 lds r19,(KompassValue)+1 |
3434 216e 820F add r24,r18 |
3435 2170 931F adc r25,r19 |
3436 2172 68E6 ldi r22,lo8(360) |
3437 2174 71E0 ldi r23,hi8(360) |
3438 2176 0E94 0000 call __divmodhi4 |
3439 217a 62E0 ldi r22,lo8(2) |
3440 217c 70E0 ldi r23,hi8(2) |
3441 217e 0E94 0000 call __divmodhi4 |
3442 2182 6093 0000 sts ControlHeading,r22 |
3443 2186 00C0 rjmp .L386 |
3444 .L446: |
3445 2188 8CED ldi r24,lo8(1500) |
3446 218a 95E0 ldi r25,hi8(1500) |
3447 218c 9093 0000 sts (beeptime)+1,r25 |
3448 2190 8093 0000 sts beeptime,r24 |
3449 2194 00C0 rjmp .L386 |
3450 .L441: |
3451 2196 1092 0000 sts delay_einschalten.3314,__zero_reg__ |
3452 219a 00C0 rjmp .L386 |
3453 .L439: |
3454 219c F0E0 ldi r31,lo8(0) |
3455 219e EE0F lsl r30 |
3456 21a0 FF1F rol r31 |
3457 21a2 E050 subi r30,lo8(-(PPM_in)) |
3458 21a4 F040 sbci r31,hi8(-(PPM_in)) |
3459 21a6 8081 ld r24,Z |
3460 21a8 9181 ldd r25,Z+1 |
3461 21aa 8C34 cpi r24,76 |
3462 21ac 9105 cpc r25,__zero_reg__ |
3463 21ae 04F0 brlt .L449 |
3464 21b0 2091 0000 lds r18,EE_Parameter+99 |
3465 21b4 E22F mov r30,r18 |
3466 21b6 F0E0 ldi r31,lo8(0) |
3467 21b8 EE0F lsl r30 |
3468 21ba FF1F rol r31 |
3469 21bc E050 subi r30,lo8(-(PPM_in)) |
3470 21be F040 sbci r31,hi8(-(PPM_in)) |
3471 21c0 8081 ld r24,Z |
3472 21c2 9181 ldd r25,Z+1 |
3473 21c4 855B subi r24,lo8(-75) |
3474 21c6 9F4F sbci r25,hi8(-75) |
3475 21c8 04F0 brlt .L451 |
3476 21ca 2223 tst r18 |
3477 21cc 01F4 brne .L449 |
3478 .L451: |
3479 21ce 8091 0000 lds r24,delay_ausschalten.3315 |
3480 21d2 8F5F subi r24,lo8(-(1)) |
3481 21d4 8093 0000 sts delay_ausschalten.3315,r24 |
3482 21d8 893C cpi r24,lo8(-55) |
3483 21da 00F0 brlo .L386 |
3484 21dc 1092 0000 sts MotorenEin,__zero_reg__ |
3485 21e0 1092 0000 sts delay_ausschalten.3315,__zero_reg__ |
3486 21e4 1092 0000 sts (modell_fliegt)+1,__zero_reg__ |
3487 21e8 1092 0000 sts modell_fliegt,__zero_reg__ |
3488 21ec 00C0 rjmp .L386 |
3489 .L449: |
3490 21ee 1092 0000 sts delay_ausschalten.3315,__zero_reg__ |
3491 .L386: |
3492 21f2 8091 0000 lds r24,NewPpmData |
3493 21f6 8150 subi r24,lo8(-(-1)) |
3494 21f8 8093 0000 sts NewPpmData,r24 |
3495 21fc 8091 0000 lds r24,NewPpmData |
3496 2200 8F3F cpi r24,lo8(-1) |
3497 2202 01F0 breq .L454 |
3498 2204 8091 0000 lds r24,FC_StatusFlags |
3499 2208 84FF sbrs r24,4 |
3500 220a 00C0 rjmp .L456 |
3501 .L454: |
3502 220c 0E94 0000 call ParameterZuordnung |
3503 2210 8091 0000 lds r24,EE_Parameter+1 |
3504 2214 882E mov r8,r24 |
3505 2216 9924 clr r9 |
3506 2218 D401 movw r26,r8 |
3507 221a AA0F lsl r26 |
3508 221c BB1F rol r27 |
3509 221e FD01 movw r30,r26 |
3510 2220 E050 subi r30,lo8(-(PPM_in)) |
3511 2222 F040 sbci r31,hi8(-(PPM_in)) |
3512 2224 2081 ld r18,Z |
3513 2226 3181 ldd r19,Z+1 |
3514 2228 8091 0000 lds r24,EE_Parameter+23 |
3515 222c 682E mov r6,r24 |
3516 222e 7724 clr r7 |
3517 2230 A050 subi r26,lo8(-(PPM_diff)) |
3518 2232 B040 sbci r27,hi8(-(PPM_diff)) |
3519 2234 ED91 ld r30,X+ |
3520 2236 FC91 ld r31,X |
3521 2238 0091 0000 lds r16,EE_Parameter+24 |
3522 223c 10E0 ldi r17,lo8(0) |
3523 223e 269D mul r18,r6 |
3524 2240 C001 movw r24,r0 |
3525 2242 279D mul r18,r7 |
3526 2244 900D add r25,r0 |
3527 2246 369D mul r19,r6 |
3528 2248 900D add r25,r0 |
3529 224a 1124 clr r1 |
3530 224c 4091 0000 lds r20,stick_nick.3324 |
3531 2250 5091 0000 lds r21,(stick_nick.3324)+1 |
3532 2254 9A01 movw r18,r20 |
3533 2256 220F lsl r18 |
3534 2258 331F rol r19 |
3535 225a 240F add r18,r20 |
3536 225c 351F adc r19,r21 |
3537 225e 820F add r24,r18 |
3538 2260 931F adc r25,r19 |
3539 2262 64E0 ldi r22,lo8(4) |
3540 2264 70E0 ldi r23,hi8(4) |
3541 2266 0E94 0000 call __divmodhi4 |
3542 226a 7B01 movw r14,r22 |
3543 226c E09F mul r30,r16 |
3544 226e C001 movw r24,r0 |
3545 2270 E19F mul r30,r17 |
3546 2272 900D add r25,r0 |
3547 2274 F09F mul r31,r16 |
3548 2276 900D add r25,r0 |
3549 2278 1124 clr r1 |
3550 227a E80E add r14,r24 |
3551 227c F91E adc r15,r25 |
3552 227e F092 0000 sts (stick_nick.3324)+1,r15 |
3553 2282 E092 0000 sts stick_nick.3324,r14 |
3554 2286 8091 0000 lds r24,EE_Parameter+2 |
3555 228a A82E mov r10,r24 |
3556 228c BB24 clr r11 |
3557 228e F501 movw r30,r10 |
3558 2290 EE0F lsl r30 |
3559 2292 FF1F rol r31 |
3560 2294 DF01 movw r26,r30 |
3561 2296 A050 subi r26,lo8(-(PPM_in)) |
3562 2298 B040 sbci r27,hi8(-(PPM_in)) |
3563 229a 8D91 ld r24,X+ |
3564 229c 9C91 ld r25,X |
3565 229e E050 subi r30,lo8(-(PPM_diff)) |
3566 22a0 F040 sbci r31,hi8(-(PPM_diff)) |
3567 22a2 0190 ld __tmp_reg__,Z+ |
3568 22a4 F081 ld r31,Z |
3569 22a6 E02D mov r30,__tmp_reg__ |
3570 22a8 DC01 movw r26,r24 |
3571 22aa A69D mul r26,r6 |
3572 22ac C001 movw r24,r0 |
3573 22ae A79D mul r26,r7 |
3574 22b0 900D add r25,r0 |
3575 22b2 B69D mul r27,r6 |
3576 22b4 900D add r25,r0 |
3577 22b6 1124 clr r1 |
3578 22b8 4091 0000 lds r20,stick_roll.3325 |
3579 22bc 5091 0000 lds r21,(stick_roll.3325)+1 |
3580 22c0 9A01 movw r18,r20 |
3581 22c2 220F lsl r18 |
3582 22c4 331F rol r19 |
3583 22c6 240F add r18,r20 |
3584 22c8 351F adc r19,r21 |
3585 22ca 820F add r24,r18 |
3586 22cc 931F adc r25,r19 |
3587 22ce 64E0 ldi r22,lo8(4) |
3588 22d0 70E0 ldi r23,hi8(4) |
3589 22d2 0E94 0000 call __divmodhi4 |
3590 22d6 2B01 movw r4,r22 |
3591 22d8 E09F mul r30,r16 |
3592 22da C001 movw r24,r0 |
3593 22dc E19F mul r30,r17 |
3594 22de 900D add r25,r0 |
3595 22e0 F09F mul r31,r16 |
3596 22e2 900D add r25,r0 |
3597 22e4 1124 clr r1 |
3598 22e6 480E add r4,r24 |
3599 22e8 591E adc r5,r25 |
3600 22ea 5092 0000 sts (stick_roll.3325)+1,r5 |
3601 22ee 4092 0000 sts stick_roll.3325,r4 |
3602 22f2 8091 0000 lds r24,CareFree |
3603 22f6 8823 tst r24 |
3604 22f8 01F0 breq .L457 |
3605 22fa C701 movw r24,r14 |
3606 22fc 64E0 ldi r22,lo8(4) |
3607 22fe 70E0 ldi r23,hi8(4) |
3608 2300 0E94 0000 call __divmodhi4 |
3609 2304 6B01 movw r12,r22 |
3610 2306 C201 movw r24,r4 |
3611 2308 64E0 ldi r22,lo8(4) |
3612 230a 70E0 ldi r23,hi8(4) |
3613 230c 0E94 0000 call __divmodhi4 |
3614 2310 7B01 movw r14,r22 |
3615 2312 0091 0000 lds r16,FromNC_Rotate_C |
3616 2316 1127 clr r17 |
3617 2318 07FD sbrc r16,7 |
3618 231a 1095 com r17 |
3619 231c E091 0000 lds r30,FromNC_Rotate_S |
3620 2320 FF27 clr r31 |
3621 2322 E7FD sbrc r30,7 |
3622 2324 F095 com r31 |
3623 2326 6E9F mul r22,r30 |
3624 2328 C001 movw r24,r0 |
3625 232a 6F9F mul r22,r31 |
3626 232c 900D add r25,r0 |
3627 232e 7E9F mul r23,r30 |
3628 2330 900D add r25,r0 |
3629 2332 1124 clr r1 |
3630 2334 C09E mul r12,r16 |
3631 2336 9001 movw r18,r0 |
3632 2338 C19E mul r12,r17 |
3633 233a 300D add r19,r0 |
3634 233c D09E mul r13,r16 |
3635 233e 300D add r19,r0 |
3636 2340 1124 clr r1 |
3637 2342 820F add r24,r18 |
3638 2344 931F adc r25,r19 |
3639 2346 68E0 ldi r22,lo8(8) |
3640 2348 70E0 ldi r23,hi8(8) |
3641 234a 0E94 0000 call __divmodhi4 |
3642 234e 7093 0000 sts (StickNick)+1,r23 |
3643 2352 6093 0000 sts StickNick,r22 |
3644 2356 E09E mul r14,r16 |
3645 2358 C001 movw r24,r0 |
3646 235a E19E mul r14,r17 |
3647 235c 900D add r25,r0 |
3648 235e F09E mul r15,r16 |
3649 2360 900D add r25,r0 |
3650 2362 1124 clr r1 |
3651 2364 CE9E mul r12,r30 |
3652 2366 9001 movw r18,r0 |
3653 2368 CF9E mul r12,r31 |
3654 236a 300D add r19,r0 |
3655 236c DE9E mul r13,r30 |
3656 236e 300D add r19,r0 |
3657 2370 1124 clr r1 |
3658 2372 00C0 rjmp .L914 |
3659 .L457: |
3660 2374 E091 0000 lds r30,EE_Parameter+97 |
3661 2378 F0E0 ldi r31,lo8(0) |
3662 237a E050 subi r30,lo8(-(sintab)) |
3663 237c F040 sbci r31,hi8(-(sintab)) |
3664 237e 0681 ldd r16,Z+6 |
3665 2380 0093 0000 sts FromNC_Rotate_C,r16 |
3666 2384 E081 ld r30,Z |
3667 2386 E093 0000 sts FromNC_Rotate_S,r30 |
3668 238a 1127 clr r17 |
3669 238c 07FD sbrc r16,7 |
3670 238e 1095 com r17 |
3671 2390 FF27 clr r31 |
3672 2392 E7FD sbrc r30,7 |
3673 2394 F095 com r31 |
3674 2396 4E9E mul r4,r30 |
3675 2398 C001 movw r24,r0 |
3676 239a 4F9E mul r4,r31 |
3677 239c 900D add r25,r0 |
3678 239e 5E9E mul r5,r30 |
3679 23a0 900D add r25,r0 |
3680 23a2 1124 clr r1 |
3681 23a4 E09E mul r14,r16 |
3682 23a6 9001 movw r18,r0 |
3683 23a8 E19E mul r14,r17 |
3684 23aa 300D add r19,r0 |
3685 23ac F09E mul r15,r16 |
3686 23ae 300D add r19,r0 |
3687 23b0 1124 clr r1 |
3688 23b2 820F add r24,r18 |
3689 23b4 931F adc r25,r19 |
3690 23b6 68E0 ldi r22,lo8(8) |
3691 23b8 70E0 ldi r23,hi8(8) |
3692 23ba 0E94 0000 call __divmodhi4 |
3693 23be 7093 0000 sts (StickNick)+1,r23 |
3694 23c2 6093 0000 sts StickNick,r22 |
3695 23c6 409E mul r4,r16 |
3696 23c8 C001 movw r24,r0 |
3697 23ca 419E mul r4,r17 |
3698 23cc 900D add r25,r0 |
3699 23ce 509E mul r5,r16 |
3700 23d0 900D add r25,r0 |
3701 23d2 1124 clr r1 |
3702 23d4 EE9E mul r14,r30 |
3703 23d6 9001 movw r18,r0 |
3704 23d8 EF9E mul r14,r31 |
3705 23da 300D add r19,r0 |
3706 23dc FE9E mul r15,r30 |
3707 23de 300D add r19,r0 |
3708 23e0 1124 clr r1 |
3709 .L914: |
3710 23e2 821B sub r24,r18 |
3711 23e4 930B sbc r25,r19 |
3712 23e6 68E0 ldi r22,lo8(8) |
3713 23e8 70E0 ldi r23,hi8(8) |
3714 23ea 0E94 0000 call __divmodhi4 |
3715 23ee 7093 0000 sts (StickRoll)+1,r23 |
3716 23f2 6093 0000 sts StickRoll,r22 |
3717 23f6 E091 0000 lds r30,EE_Parameter+4 |
3718 23fa F0E0 ldi r31,lo8(0) |
3719 23fc EE0F lsl r30 |
3720 23fe FF1F rol r31 |
3721 2400 E050 subi r30,lo8(-(PPM_in)) |
3722 2402 F040 sbci r31,hi8(-(PPM_in)) |
3723 2404 8081 ld r24,Z |
3724 2406 9181 ldd r25,Z+1 |
3725 2408 9095 com r25 |
3726 240a 8195 neg r24 |
3727 240c 9F4F sbci r25,lo8(-1) |
3728 240e 9093 0000 sts (StickGier)+1,r25 |
3729 2412 8093 0000 sts StickGier,r24 |
3730 2416 8330 cpi r24,3 |
3731 2418 9105 cpc r25,__zero_reg__ |
3732 241a 04F0 brlt .L460 |
3733 241c 0297 sbiw r24,2 |
3734 241e 00C0 rjmp .L915 |
3735 .L460: |
3736 2420 BFEF ldi r27,hi8(-2) |
3737 2422 8E3F cpi r24,lo8(-2) |
3738 2424 9B07 cpc r25,r27 |
3739 2426 04F4 brge .L463 |
3740 2428 0296 adiw r24,2 |
3741 .L915: |
3742 242a 9093 0000 sts (StickGier)+1,r25 |
3743 242e 8093 0000 sts StickGier,r24 |
3744 2432 00C0 rjmp .L462 |
3745 .L463: |
3746 2434 1092 0000 sts (StickGier)+1,__zero_reg__ |
3747 2438 1092 0000 sts StickGier,__zero_reg__ |
3748 .L462: |
3749 243c 8091 0000 lds r24,GPS_Nick2 |
3750 2440 9091 0000 lds r25,(GPS_Nick2)+1 |
3751 2444 0027 clr r16 |
3752 2446 1127 clr r17 |
3753 2448 081B sub r16,r24 |
3754 244a 190B sbc r17,r25 |
3755 244c 8091 0000 lds r24,GPS_Nick |
3756 2450 9091 0000 lds r25,(GPS_Nick)+1 |
3757 2454 081B sub r16,r24 |
3758 2456 190B sbc r17,r25 |
3759 2458 8091 0000 lds r24,StickNick |
3760 245c 9091 0000 lds r25,(StickNick)+1 |
3761 2460 080F add r16,r24 |
3762 2462 191F adc r17,r25 |
3763 2464 1093 0000 sts (StickNick)+1,r17 |
3764 2468 0093 0000 sts StickNick,r16 |
3765 246c 8091 0000 lds r24,GPS_Roll2 |
3766 2470 9091 0000 lds r25,(GPS_Roll2)+1 |
3767 2474 CC24 clr r12 |
3768 2476 DD24 clr r13 |
3769 2478 C81A sub r12,r24 |
3770 247a D90A sbc r13,r25 |
3771 247c 8091 0000 lds r24,GPS_Roll |
3772 2480 9091 0000 lds r25,(GPS_Roll)+1 |
3773 2484 C81A sub r12,r24 |
3774 2486 D90A sbc r13,r25 |
3775 2488 8091 0000 lds r24,StickRoll |
3776 248c 9091 0000 lds r25,(StickRoll)+1 |
3777 2490 C80E add r12,r24 |
3778 2492 D91E adc r13,r25 |
3779 2494 D092 0000 sts (StickRoll)+1,r13 |
3780 2498 C092 0000 sts StickRoll,r12 |
3781 249c E091 0000 lds r30,EE_Parameter+3 |
3782 24a0 F0E0 ldi r31,lo8(0) |
3783 24a2 EE0F lsl r30 |
3784 24a4 FF1F rol r31 |
3785 24a6 E050 subi r30,lo8(-(PPM_in)) |
3786 24a8 F040 sbci r31,hi8(-(PPM_in)) |
3787 24aa E080 ld r14,Z |
3788 24ac F180 ldd r15,Z+1 |
3789 24ae E8E7 ldi r30,lo8(120) |
3790 24b0 F0E0 ldi r31,hi8(120) |
3791 24b2 EE0E add r14,r30 |
3792 24b4 FF1E adc r15,r31 |
3793 24b6 F092 0000 sts (StickGas)+1,r15 |
3794 24ba E092 0000 sts StickGas,r14 |
3795 24be 6091 0000 lds r22,Parameter_Gyro_P |
3796 24c2 70E0 ldi r23,lo8(0) |
3797 24c4 8827 clr r24 |
3798 24c6 77FD sbrc r23,7 |
3799 24c8 8095 com r24 |
3800 24ca 982F mov r25,r24 |
3801 24cc 0E94 0000 call __floatsisf |
3802 24d0 20E0 ldi r18,lo8(0x41200000) |
3803 24d2 30E0 ldi r19,hi8(0x41200000) |
3804 24d4 40E2 ldi r20,hlo8(0x41200000) |
3805 24d6 51E4 ldi r21,hhi8(0x41200000) |
3806 24d8 0E94 0000 call __addsf3 |
3807 24dc 0E94 0000 call __fixunssfsi |
3808 24e0 6093 0000 sts GyroFaktor,r22 |
3809 24e4 8091 0000 lds r24,Parameter_Gyro_I |
3810 24e8 8093 0000 sts IntegralFaktor,r24 |
3811 24ec 6091 0000 lds r22,Parameter_Gyro_Gier_P |
3812 24f0 70E0 ldi r23,lo8(0) |
3813 24f2 8827 clr r24 |
3814 24f4 77FD sbrc r23,7 |
3815 24f6 8095 com r24 |
3816 24f8 982F mov r25,r24 |
3817 24fa 0E94 0000 call __floatsisf |
3818 24fe 20E0 ldi r18,lo8(0x41200000) |
3819 2500 30E0 ldi r19,hi8(0x41200000) |
3820 2502 40E2 ldi r20,hlo8(0x41200000) |
3821 2504 51E4 ldi r21,hhi8(0x41200000) |
3822 2506 0E94 0000 call __addsf3 |
3823 250a 0E94 0000 call __fixunssfsi |
3824 250e 6093 0000 sts GyroFaktorGier,r22 |
3825 2512 8091 0000 lds r24,Parameter_Gyro_Gier_I |
3826 2516 8093 0000 sts IntegralFaktorGier,r24 |
3827 251a 8091 0000 lds r24,ExternControl+10 |
3828 251e 80FF sbrs r24,0 |
3829 2520 00C0 rjmp .L465 |
3830 2522 8091 0000 lds r24,Parameter_ExternalControl |
3831 2526 8138 cpi r24,lo8(-127) |
3832 2528 00F4 brsh .+2 |
3833 252a 00C0 rjmp .L465 |
3834 252c 8091 0000 lds r24,ExternControl+3 |
3835 2530 9927 clr r25 |
3836 2532 87FD sbrc r24,7 |
3837 2534 9095 com r25 |
3838 2536 9C01 movw r18,r24 |
3839 2538 269D mul r18,r6 |
3840 253a C001 movw r24,r0 |
3841 253c 279D mul r18,r7 |
3842 253e 900D add r25,r0 |
3843 2540 369D mul r19,r6 |
3844 2542 900D add r25,r0 |
3845 2544 1124 clr r1 |
3846 2546 080F add r16,r24 |
3847 2548 191F adc r17,r25 |
3848 254a 1093 0000 sts (StickNick)+1,r17 |
3849 254e 0093 0000 sts StickNick,r16 |
3850 2552 8091 0000 lds r24,ExternControl+4 |
3851 2556 9927 clr r25 |
3852 2558 87FD sbrc r24,7 |
3853 255a 9095 com r25 |
3854 255c AC01 movw r20,r24 |
3855 255e 469D mul r20,r6 |
3856 2560 C001 movw r24,r0 |
3857 2562 479D mul r20,r7 |
3858 2564 900D add r25,r0 |
3859 2566 569D mul r21,r6 |
3860 2568 900D add r25,r0 |
3861 256a 1124 clr r1 |
3862 256c C80E add r12,r24 |
3863 256e D91E adc r13,r25 |
3864 2570 D092 0000 sts (StickRoll)+1,r13 |
3865 2574 C092 0000 sts StickRoll,r12 |
3866 2578 2091 0000 lds r18,ExternControl+5 |
3867 257c 3327 clr r19 |
3868 257e 27FD sbrc r18,7 |
3869 2580 3095 com r19 |
3870 2582 8091 0000 lds r24,StickGier |
3871 2586 9091 0000 lds r25,(StickGier)+1 |
3872 258a 820F add r24,r18 |
3873 258c 931F adc r25,r19 |
3874 258e 9093 0000 sts (StickGier)+1,r25 |
3875 2592 8093 0000 sts StickGier,r24 |
3876 2596 2091 0000 lds r18,EE_Parameter+18 |
3877 259a 30E0 ldi r19,lo8(0) |
3878 259c 8091 0000 lds r24,ExternControl+7 |
3879 25a0 9927 clr r25 |
3880 25a2 87FD sbrc r24,7 |
3881 25a4 9095 com r25 |
3882 25a6 BC01 movw r22,r24 |
3883 25a8 269F mul r18,r22 |
3884 25aa C001 movw r24,r0 |
3885 25ac 279F mul r18,r23 |
3886 25ae 900D add r25,r0 |
3887 25b0 369F mul r19,r22 |
3888 25b2 900D add r25,r0 |
3889 25b4 1124 clr r1 |
3890 25b6 9093 0000 sts (ExternHoehenValue)+1,r25 |
3891 25ba 8093 0000 sts ExternHoehenValue,r24 |
3892 25be 8091 0000 lds r24,ExternControl+6 |
3893 25c2 90E0 ldi r25,lo8(0) |
3894 25c4 8E15 cp r24,r14 |
3895 25c6 9F05 cpc r25,r15 |
3896 25c8 04F4 brge .L465 |
3897 25ca 9093 0000 sts (StickGas)+1,r25 |
3898 25ce 8093 0000 sts StickGas,r24 |
3899 .L465: |
3900 25d2 8091 0000 lds r24,StickGas |
3901 25d6 9091 0000 lds r25,(StickGas)+1 |
3902 25da 97FF sbrs r25,7 |
3903 25dc 00C0 rjmp .L469 |
3904 25de 1092 0000 sts (StickGas)+1,__zero_reg__ |
3905 25e2 1092 0000 sts StickGas,__zero_reg__ |
3906 .L469: |
3907 25e6 8091 0000 lds r24,EE_Parameter+13 |
3908 25ea 82FF sbrs r24,2 |
3909 25ec 00C0 rjmp .L471 |
3910 25ee 1092 0000 sts IntegralFaktor,__zero_reg__ |
3911 .L471: |
3912 25f2 E091 0000 lds r30,StickNick |
3913 25f6 F091 0000 lds r31,(StickNick)+1 |
3914 25fa 2091 0000 lds r18,MaxStickNick |
3915 25fe 3091 0000 lds r19,(MaxStickNick)+1 |
3916 2602 CF01 movw r24,r30 |
3917 2604 64E0 ldi r22,lo8(4) |
3918 2606 70E0 ldi r23,hi8(4) |
3919 2608 0E94 0000 call __divmodhi4 |
3920 260c 77FF sbrs r23,7 |
3921 260e 00C0 rjmp .L474 |
3922 2610 7095 com r23 |
3923 2612 6195 neg r22 |
3924 2614 7F4F sbci r23,lo8(-1) |
3925 .L474: |
3926 2616 2617 cp r18,r22 |
3927 2618 3707 cpc r19,r23 |
3928 261a 04F4 brge .L473 |
3929 261c CF01 movw r24,r30 |
3930 261e F7FF sbrs r31,7 |
3931 2620 00C0 rjmp .L476 |
3932 2622 9095 com r25 |
3933 2624 8195 neg r24 |
3934 2626 9F4F sbci r25,lo8(-1) |
3935 .L476: |
3936 2628 64E0 ldi r22,lo8(4) |
3937 262a 70E0 ldi r23,hi8(4) |
3938 262c 0E94 0000 call __divmodhi4 |
3939 2630 7093 0000 sts (MaxStickNick)+1,r23 |
3940 2634 6093 0000 sts MaxStickNick,r22 |
3941 2638 6536 cpi r22,101 |
3942 263a 7105 cpc r23,__zero_reg__ |
3943 263c 04F0 brlt .L477 |
3944 263e 84E6 ldi r24,lo8(100) |
3945 2640 90E0 ldi r25,hi8(100) |
3946 2642 9093 0000 sts (MaxStickNick)+1,r25 |
3947 2646 8093 0000 sts MaxStickNick,r24 |
3948 264a 00C0 rjmp .L477 |
3949 .L473: |
3950 264c 2150 subi r18,lo8(-(-1)) |
3951 264e 3040 sbci r19,hi8(-(-1)) |
3952 2650 3093 0000 sts (MaxStickNick)+1,r19 |
3953 2654 2093 0000 sts MaxStickNick,r18 |
3954 .L477: |
3955 2658 E091 0000 lds r30,StickRoll |
3956 265c F091 0000 lds r31,(StickRoll)+1 |
3957 2660 2091 0000 lds r18,MaxStickRoll |
3958 2664 3091 0000 lds r19,(MaxStickRoll)+1 |
3959 2668 CF01 movw r24,r30 |
3960 266a 64E0 ldi r22,lo8(4) |
3961 266c 70E0 ldi r23,hi8(4) |
3962 266e 0E94 0000 call __divmodhi4 |
3963 2672 77FF sbrs r23,7 |
3964 2674 00C0 rjmp .L480 |
3965 2676 7095 com r23 |
3966 2678 6195 neg r22 |
3967 267a 7F4F sbci r23,lo8(-1) |
3968 .L480: |
3969 267c 2617 cp r18,r22 |
3970 267e 3707 cpc r19,r23 |
3971 2680 04F4 brge .L479 |
3972 2682 CF01 movw r24,r30 |
3973 2684 F7FF sbrs r31,7 |
3974 2686 00C0 rjmp .L482 |
3975 2688 9095 com r25 |
3976 268a 8195 neg r24 |
3977 268c 9F4F sbci r25,lo8(-1) |
3978 .L482: |
3979 268e 64E0 ldi r22,lo8(4) |
3980 2690 70E0 ldi r23,hi8(4) |
3981 2692 0E94 0000 call __divmodhi4 |
3982 2696 7093 0000 sts (MaxStickRoll)+1,r23 |
3983 269a 6093 0000 sts MaxStickRoll,r22 |
3984 269e 6536 cpi r22,101 |
3985 26a0 7105 cpc r23,__zero_reg__ |
3986 26a2 04F0 brlt .L483 |
3987 26a4 84E6 ldi r24,lo8(100) |
3988 26a6 90E0 ldi r25,hi8(100) |
3989 26a8 9093 0000 sts (MaxStickRoll)+1,r25 |
3990 26ac 8093 0000 sts MaxStickRoll,r24 |
3991 26b0 00C0 rjmp .L483 |
3992 .L479: |
3993 26b2 2150 subi r18,lo8(-(-1)) |
3994 26b4 3040 sbci r19,hi8(-(-1)) |
3995 26b6 3093 0000 sts (MaxStickRoll)+1,r19 |
3996 26ba 2093 0000 sts MaxStickRoll,r18 |
3997 .L483: |
3998 26be 8091 0000 lds r24,FC_StatusFlags |
3999 26c2 84FF sbrs r24,4 |
4000 26c4 00C0 rjmp .L485 |
4001 26c6 1092 0000 sts (MaxStickNick)+1,__zero_reg__ |
4002 26ca 1092 0000 sts MaxStickNick,__zero_reg__ |
4003 26ce 1092 0000 sts (MaxStickRoll)+1,__zero_reg__ |
4004 26d2 1092 0000 sts MaxStickRoll,__zero_reg__ |
4005 .L485: |
4006 26d6 F501 movw r30,r10 |
4007 26d8 EE0F lsl r30 |
4008 26da FF1F rol r31 |
4009 26dc E050 subi r30,lo8(-(PPM_in)) |
4010 26de F040 sbci r31,hi8(-(PPM_in)) |
4011 26e0 2081 ld r18,Z |
4012 26e2 3181 ldd r19,Z+1 |
4013 26e4 8091 0000 lds r24,EE_Parameter+60 |
4014 26e8 482F mov r20,r24 |
4015 26ea 50E0 ldi r21,lo8(0) |
4016 26ec 4217 cp r20,r18 |
4017 26ee 5307 cpc r21,r19 |
4018 26f0 04F4 brge .L487 |
4019 26f2 8091 0000 lds r24,EE_Parameter+100 |
4020 26f6 82FF sbrs r24,2 |
4021 26f8 00C0 rjmp .L487 |
4022 26fa 81E0 ldi r24,lo8(1) |
4023 26fc 8093 0000 sts Looping_Links,r24 |
4024 2700 00C0 rjmp .L490 |
4025 .L487: |
4026 2702 F501 movw r30,r10 |
4027 2704 EE0F lsl r30 |
4028 2706 FF1F rol r31 |
4029 2708 E050 subi r30,lo8(-(PPM_in)) |
4030 270a F040 sbci r31,hi8(-(PPM_in)) |
4031 270c 2081 ld r18,Z |
4032 270e 3181 ldd r19,Z+1 |
4033 2710 8091 0000 lds r24,EE_Parameter+61 |
4034 2714 DA01 movw r26,r20 |
4035 2716 A81B sub r26,r24 |
4036 2718 B109 sbc r27,__zero_reg__ |
4037 271a 2A17 cp r18,r26 |
4038 271c 3B07 cpc r19,r27 |
4039 271e 04F4 brge .L490 |
4040 2720 1092 0000 sts Looping_Links,__zero_reg__ |
4041 .L490: |
4042 2724 F501 movw r30,r10 |
4043 2726 EE0F lsl r30 |
4044 2728 FF1F rol r31 |
4045 272a E050 subi r30,lo8(-(PPM_in)) |
4046 272c F040 sbci r31,hi8(-(PPM_in)) |
4047 272e 8081 ld r24,Z |
4048 2730 9181 ldd r25,Z+1 |
4049 2732 6627 clr r22 |
4050 2734 7727 clr r23 |
4051 2736 641B sub r22,r20 |
4052 2738 750B sbc r23,r21 |
4053 273a 8617 cp r24,r22 |
4054 273c 9707 cpc r25,r23 |
4055 273e 04F4 brge .L492 |
4056 2740 8091 0000 lds r24,EE_Parameter+100 |
4057 2744 83FF sbrs r24,3 |
4058 2746 00C0 rjmp .L492 |
4059 2748 81E0 ldi r24,lo8(1) |
4060 274a 8093 0000 sts Looping_Rechts,r24 |
4061 274e 00C0 rjmp .L495 |
4062 .L492: |
4063 2750 8091 0000 lds r24,Looping_Rechts |
4064 2754 8823 tst r24 |
4065 2756 01F0 breq .L495 |
4066 2758 AA0C lsl r10 |
4067 275a BB1C rol r11 |
4068 275c E0E0 ldi r30,lo8(PPM_in) |
4069 275e F0E0 ldi r31,hi8(PPM_in) |
4070 2760 AE0E add r10,r30 |
4071 2762 BF1E adc r11,r31 |
4072 2764 D501 movw r26,r10 |
4073 2766 2D91 ld r18,X+ |
4074 2768 3C91 ld r19,X |
4075 276a 8091 0000 lds r24,EE_Parameter+61 |
4076 276e 90E0 ldi r25,lo8(0) |
4077 2770 841B sub r24,r20 |
4078 2772 950B sbc r25,r21 |
4079 2774 8217 cp r24,r18 |
4080 2776 9307 cpc r25,r19 |
4081 2778 04F4 brge .L495 |
4082 277a 1092 0000 sts Looping_Rechts,__zero_reg__ |
4083 .L495: |
4084 277e F401 movw r30,r8 |
4085 2780 EE0F lsl r30 |
4086 2782 FF1F rol r31 |
4087 2784 E050 subi r30,lo8(-(PPM_in)) |
4088 2786 F040 sbci r31,hi8(-(PPM_in)) |
4089 2788 8081 ld r24,Z |
4090 278a 9181 ldd r25,Z+1 |
4091 278c 4817 cp r20,r24 |
4092 278e 5907 cpc r21,r25 |
4093 2790 04F4 brge .L498 |
4094 2792 8091 0000 lds r24,EE_Parameter+100 |
4095 2796 80FF sbrs r24,0 |
4096 2798 00C0 rjmp .L498 |
4097 279a 81E0 ldi r24,lo8(1) |
4098 279c 8093 0000 sts Looping_Oben,r24 |
4099 27a0 00C0 rjmp .L501 |
4100 .L498: |
4101 27a2 8091 0000 lds r24,Looping_Oben |
4102 27a6 8823 tst r24 |
4103 27a8 01F0 breq .L501 |
4104 27aa F401 movw r30,r8 |
4105 27ac EE0F lsl r30 |
4106 27ae FF1F rol r31 |
4107 27b0 E050 subi r30,lo8(-(PPM_in)) |
4108 27b2 F040 sbci r31,hi8(-(PPM_in)) |
4109 27b4 2081 ld r18,Z |
4110 27b6 3181 ldd r19,Z+1 |
4111 27b8 8091 0000 lds r24,EE_Parameter+61 |
4112 27bc FA01 movw r30,r20 |
4113 27be E81B sub r30,r24 |
4114 27c0 F109 sbc r31,__zero_reg__ |
4115 27c2 2E17 cp r18,r30 |
4116 27c4 3F07 cpc r19,r31 |
4117 27c6 04F4 brge .L501 |
4118 27c8 1092 0000 sts Looping_Oben,__zero_reg__ |
4119 .L501: |
4120 27cc F401 movw r30,r8 |
4121 27ce EE0F lsl r30 |
4122 27d0 FF1F rol r31 |
4123 27d2 E050 subi r30,lo8(-(PPM_in)) |
4124 27d4 F040 sbci r31,hi8(-(PPM_in)) |
4125 27d6 8081 ld r24,Z |
4126 27d8 9181 ldd r25,Z+1 |
4127 27da 8617 cp r24,r22 |
4128 27dc 9707 cpc r25,r23 |
4129 27de 04F4 brge .L504 |
4130 27e0 8091 0000 lds r24,EE_Parameter+100 |
4131 27e4 81FF sbrs r24,1 |
4132 27e6 00C0 rjmp .L504 |
4133 27e8 81E0 ldi r24,lo8(1) |
4134 27ea 8093 0000 sts Looping_Unten,r24 |
4135 27ee 00C0 rjmp .L507 |
4136 .L504: |
4137 27f0 8091 0000 lds r24,Looping_Unten |
4138 27f4 8823 tst r24 |
4139 27f6 01F0 breq .L507 |
4140 27f8 880C lsl r8 |
4141 27fa 991C rol r9 |
4142 27fc 10E0 ldi r17,lo8(PPM_in) |
4143 27fe E12E mov r14,r17 |
4144 2800 10E0 ldi r17,hi8(PPM_in) |
4145 2802 F12E mov r15,r17 |
4146 2804 8E0C add r8,r14 |
4147 2806 9F1C adc r9,r15 |
4148 2808 D401 movw r26,r8 |
4149 280a 2D91 ld r18,X+ |
4150 280c 3C91 ld r19,X |
4151 280e 8091 0000 lds r24,EE_Parameter+61 |
4152 2812 90E0 ldi r25,lo8(0) |
4153 2814 841B sub r24,r20 |
4154 2816 950B sbc r25,r21 |
4155 2818 8217 cp r24,r18 |
4156 281a 9307 cpc r25,r19 |
4157 281c 04F4 brge .L507 |
4158 281e 1092 0000 sts Looping_Unten,__zero_reg__ |
4159 .L507: |
4160 2822 8091 0000 lds r24,Looping_Links |
4161 2826 8823 tst r24 |
4162 2828 01F4 brne .L510 |
4163 282a 8091 0000 lds r24,Looping_Rechts |
4164 282e 8823 tst r24 |
4165 2830 01F0 breq .L512 |
4166 .L510: |
4167 2832 81E0 ldi r24,lo8(1) |
4168 2834 8093 0000 sts Looping_Roll,r24 |
4169 2838 00C0 rjmp .L513 |
4170 .L512: |
4171 283a 1092 0000 sts Looping_Roll,__zero_reg__ |
4172 .L513: |
4173 283e 8091 0000 lds r24,Looping_Oben |
4174 2842 8823 tst r24 |
4175 2844 01F4 brne .L514 |
4176 2846 8091 0000 lds r24,Looping_Unten |
4177 284a 8823 tst r24 |
4178 284c 01F0 breq .L516 |
4179 .L514: |
4180 284e 81E0 ldi r24,lo8(1) |
4181 2850 8093 0000 sts Looping_Nick,r24 |
4182 2854 1092 0000 sts Looping_Roll,__zero_reg__ |
4183 2858 1092 0000 sts Looping_Links,__zero_reg__ |
4184 285c 1092 0000 sts Looping_Rechts,__zero_reg__ |
4185 2860 00C0 rjmp .L456 |
4186 .L516: |
4187 2862 1092 0000 sts Looping_Nick,__zero_reg__ |
4188 .L456: |
4189 2866 8091 0000 lds r24,Looping_Roll |
4190 286a 8823 tst r24 |
4191 286c 01F4 brne .L517 |
4192 286e 8091 0000 lds r24,Looping_Nick |
4193 2872 8823 tst r24 |
4194 2874 01F0 breq .L519 |
4195 .L517: |
4196 2876 8091 0000 lds r24,EE_Parameter+59 |
4197 287a 90E0 ldi r25,lo8(0) |
4198 287c EC89 ldd r30,Y+20 |
4199 287e FD89 ldd r31,Y+21 |
4200 2880 8E17 cp r24,r30 |
4201 2882 9F07 cpc r25,r31 |
4202 2884 04F4 brge .L520 |
4203 2886 9D8B std Y+21,r25 |
4204 2888 8C8B std Y+20,r24 |
4205 .L520: |
4206 288a 81E0 ldi r24,lo8(1) |
4207 288c 8093 0000 sts TrichterFlug,r24 |
4208 .L519: |
4209 2890 8091 0000 lds r24,FC_StatusFlags |
4210 2894 84FF sbrs r24,4 |
4211 2896 00C0 rjmp .L521 |
4212 2898 1092 0000 sts (StickGier)+1,__zero_reg__ |
4213 289c 1092 0000 sts StickGier,__zero_reg__ |
4214 28a0 1092 0000 sts (StickNick)+1,__zero_reg__ |
4215 28a4 1092 0000 sts StickNick,__zero_reg__ |
4216 28a8 1092 0000 sts (StickRoll)+1,__zero_reg__ |
4217 28ac 1092 0000 sts StickRoll,__zero_reg__ |
4218 28b0 9AE5 ldi r25,lo8(90) |
4219 28b2 9093 0000 sts GyroFaktor,r25 |
4220 28b6 88E7 ldi r24,lo8(120) |
4221 28b8 8093 0000 sts IntegralFaktor,r24 |
4222 28bc 9093 0000 sts GyroFaktorGier,r25 |
4223 28c0 8093 0000 sts IntegralFaktorGier,r24 |
4224 28c4 1092 0000 sts Looping_Roll,__zero_reg__ |
4225 28c8 1092 0000 sts Looping_Nick,__zero_reg__ |
4226 .L521: |
4227 28cc E090 0000 lds r14,IntegralNick |
4228 28d0 F090 0000 lds r15,(IntegralNick)+1 |
4229 28d4 0091 0000 lds r16,(IntegralNick)+2 |
4230 28d8 1091 0000 lds r17,(IntegralNick)+3 |
4231 28dc E982 std Y+1,r14 |
4232 28de FA82 std Y+2,r15 |
4233 28e0 0B83 std Y+3,r16 |
4234 28e2 1C83 std Y+4,r17 |
4235 28e4 8091 0000 lds r24,MittelIntegralNick |
4236 28e8 9091 0000 lds r25,(MittelIntegralNick)+1 |
4237 28ec A091 0000 lds r26,(MittelIntegralNick)+2 |
4238 28f0 B091 0000 lds r27,(MittelIntegralNick)+3 |
4239 28f4 8E0D add r24,r14 |
4240 28f6 9F1D adc r25,r15 |
4241 28f8 A01F adc r26,r16 |
4242 28fa B11F adc r27,r17 |
4243 28fc 8093 0000 sts MittelIntegralNick,r24 |
4244 2900 9093 0000 sts (MittelIntegralNick)+1,r25 |
4245 2904 A093 0000 sts (MittelIntegralNick)+2,r26 |
4246 2908 B093 0000 sts (MittelIntegralNick)+3,r27 |
4247 290c 0091 0000 lds r16,IntegralRoll |
4248 2910 1091 0000 lds r17,(IntegralRoll)+1 |
4249 2914 2091 0000 lds r18,(IntegralRoll)+2 |
4250 2918 3091 0000 lds r19,(IntegralRoll)+3 |
4251 291c 0D83 std Y+5,r16 |
4252 291e 1E83 std Y+6,r17 |
4253 2920 2F83 std Y+7,r18 |
4254 2922 3887 std Y+8,r19 |
4255 2924 8091 0000 lds r24,MittelIntegralRoll |
4256 2928 9091 0000 lds r25,(MittelIntegralRoll)+1 |
4257 292c A091 0000 lds r26,(MittelIntegralRoll)+2 |
4258 2930 B091 0000 lds r27,(MittelIntegralRoll)+3 |
4259 2934 800F add r24,r16 |
4260 2936 911F adc r25,r17 |
4261 2938 A21F adc r26,r18 |
4262 293a B31F adc r27,r19 |
4263 293c 8093 0000 sts MittelIntegralRoll,r24 |
4264 2940 9093 0000 sts (MittelIntegralRoll)+1,r25 |
4265 2944 A093 0000 sts (MittelIntegralRoll)+2,r26 |
4266 2948 B093 0000 sts (MittelIntegralRoll)+3,r27 |
4267 294c 2091 0000 lds r18,IntegralNick2 |
4268 2950 3091 0000 lds r19,(IntegralNick2)+1 |
4269 2954 4091 0000 lds r20,(IntegralNick2)+2 |
4270 2958 5091 0000 lds r21,(IntegralNick2)+3 |
4271 295c 2F8F std Y+31,r18 |
4272 295e 38A3 std Y+32,r19 |
4273 2960 49A3 std Y+33,r20 |
4274 2962 5AA3 std Y+34,r21 |
4275 2964 8091 0000 lds r24,MittelIntegralNick2 |
4276 2968 9091 0000 lds r25,(MittelIntegralNick2)+1 |
4277 296c A091 0000 lds r26,(MittelIntegralNick2)+2 |
4278 2970 B091 0000 lds r27,(MittelIntegralNick2)+3 |
4279 2974 820F add r24,r18 |
4280 2976 931F adc r25,r19 |
4281 2978 A41F adc r26,r20 |
4282 297a B51F adc r27,r21 |
4283 297c 8093 0000 sts MittelIntegralNick2,r24 |
4284 2980 9093 0000 sts (MittelIntegralNick2)+1,r25 |
4285 2984 A093 0000 sts (MittelIntegralNick2)+2,r26 |
4286 2988 B093 0000 sts (MittelIntegralNick2)+3,r27 |
4287 298c 4091 0000 lds r20,IntegralRoll2 |
4288 2990 5091 0000 lds r21,(IntegralRoll2)+1 |
4289 2994 6091 0000 lds r22,(IntegralRoll2)+2 |
4290 2998 7091 0000 lds r23,(IntegralRoll2)+3 |
4291 299c 4B8F std Y+27,r20 |
4292 299e 5C8F std Y+28,r21 |
4293 29a0 6D8F std Y+29,r22 |
4294 29a2 7E8F std Y+30,r23 |
4295 29a4 8091 0000 lds r24,MittelIntegralRoll2 |
4296 29a8 9091 0000 lds r25,(MittelIntegralRoll2)+1 |
4297 29ac A091 0000 lds r26,(MittelIntegralRoll2)+2 |
4298 29b0 B091 0000 lds r27,(MittelIntegralRoll2)+3 |
4299 29b4 840F add r24,r20 |
4300 29b6 951F adc r25,r21 |
4301 29b8 A61F adc r26,r22 |
4302 29ba B71F adc r27,r23 |
4303 29bc 8093 0000 sts MittelIntegralRoll2,r24 |
4304 29c0 9093 0000 sts (MittelIntegralRoll2)+1,r25 |
4305 29c4 A093 0000 sts (MittelIntegralRoll2)+2,r26 |
4306 29c8 B093 0000 sts (MittelIntegralRoll2)+3,r27 |
4307 29cc 5091 0000 lds r21,Looping_Nick |
4308 29d0 5987 std Y+9,r21 |
4309 29d2 5523 tst r21 |
4310 29d4 01F4 brne .L523 |
4311 29d6 8091 0000 lds r24,Looping_Roll |
4312 29da 8823 tst r24 |
4313 29dc 01F4 brne .+2 |
4314 29de 00C0 rjmp .L525 |
4315 .L523: |
4316 29e0 1092 0000 sts IntegralAccNick,__zero_reg__ |
4317 29e4 1092 0000 sts (IntegralAccNick)+1,__zero_reg__ |
4318 29e8 1092 0000 sts (IntegralAccNick)+2,__zero_reg__ |
4319 29ec 1092 0000 sts (IntegralAccNick)+3,__zero_reg__ |
4320 29f0 1092 0000 sts IntegralAccRoll,__zero_reg__ |
4321 29f4 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__ |
4322 29f8 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__ |
4323 29fc 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__ |
4324 2a00 1092 0000 sts MittelIntegralNick,__zero_reg__ |
4325 2a04 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__ |
4326 2a08 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__ |
4327 2a0c 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__ |
4328 2a10 1092 0000 sts MittelIntegralRoll,__zero_reg__ |
4329 2a14 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__ |
4330 2a18 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__ |
4331 2a1c 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__ |
4332 2a20 1092 0000 sts MittelIntegralNick2,__zero_reg__ |
4333 2a24 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__ |
4334 2a28 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__ |
4335 2a2c 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__ |
4336 2a30 1092 0000 sts MittelIntegralRoll2,__zero_reg__ |
4337 2a34 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__ |
4338 2a38 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__ |
4339 2a3c 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__ |
4340 2a40 8091 0000 lds r24,Mess_IntegralNick |
4341 2a44 9091 0000 lds r25,(Mess_IntegralNick)+1 |
4342 2a48 A091 0000 lds r26,(Mess_IntegralNick)+2 |
4343 2a4c B091 0000 lds r27,(Mess_IntegralNick)+3 |
4344 2a50 8093 0000 sts Mess_IntegralNick2,r24 |
4345 2a54 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
4346 2a58 A093 0000 sts (Mess_IntegralNick2)+2,r26 |
4347 2a5c B093 0000 sts (Mess_IntegralNick2)+3,r27 |
4348 2a60 8091 0000 lds r24,Mess_IntegralRoll |
4349 2a64 9091 0000 lds r25,(Mess_IntegralRoll)+1 |
4350 2a68 A091 0000 lds r26,(Mess_IntegralRoll)+2 |
4351 2a6c B091 0000 lds r27,(Mess_IntegralRoll)+3 |
4352 2a70 8093 0000 sts Mess_IntegralRoll2,r24 |
4353 2a74 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
4354 2a78 A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
4355 2a7c B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
4356 2a80 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__ |
4357 2a84 1092 0000 sts ZaehlMessungen,__zero_reg__ |
4358 2a88 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__ |
4359 2a8c 1092 0000 sts LageKorrekturNick,__zero_reg__ |
4360 2a90 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__ |
4361 2a94 1092 0000 sts LageKorrekturRoll,__zero_reg__ |
4362 2a98 6985 ldd r22,Y+9 |
4363 2a9a 6623 tst r22 |
4364 2a9c 01F0 breq .+2 |
4365 2a9e 00C0 rjmp .L526 |
4366 .L525: |
4367 2aa0 8091 0000 lds r24,Looping_Roll |
4368 2aa4 8823 tst r24 |
4369 2aa6 01F0 breq .+2 |
4370 2aa8 00C0 rjmp .L526 |
4371 2aaa 8091 0000 lds r24,Aktuell_az |
4372 2aae 9091 0000 lds r25,(Aktuell_az)+1 |
4373 2ab2 8150 subi r24,lo8(513) |
4374 2ab4 9240 sbci r25,hi8(513) |
4375 2ab6 04F4 brge .L528 |
4376 2ab8 8091 0000 lds r24,MotorenEin |
4377 2abc 8823 tst r24 |
4378 2abe 01F4 brne .+2 |
4379 2ac0 00C0 rjmp .L526 |
4380 .L528: |
4381 2ac2 8091 0000 lds r24,FromNaviCtrl_Value |
4382 2ac6 E090 0000 lds r14,EE_Parameter+28 |
4383 2aca 4090 0000 lds r4,Mittelwert_AccNick |
4384 2ace 5090 0000 lds r5,(Mittelwert_AccNick)+1 |
4385 2ad2 8090 0000 lds r8,Mittelwert_AccRoll |
4386 2ad6 9090 0000 lds r9,(Mittelwert_AccRoll)+1 |
4387 2ada 6090 0000 lds r6,MaxStickNick |
4388 2ade 7090 0000 lds r7,(MaxStickNick)+1 |
4389 2ae2 8F3F cpi r24,lo8(-1) |
4390 2ae4 01F4 brne .+2 |
4391 2ae6 00C0 rjmp .L530 |
4392 2ae8 FF24 clr r15 |
4393 2aea 00E0 ldi r16,lo8(0) |
4394 2aec 10E0 ldi r17,hi8(0) |
4395 2aee A82E mov r10,r24 |
4396 2af0 BB24 clr r11 |
4397 2af2 A7FC sbrc r10,7 |
4398 2af4 B094 com r11 |
4399 2af6 CB2C mov r12,r11 |
4400 2af8 DB2C mov r13,r11 |
4401 2afa 6981 ldd r22,Y+1 |
4402 2afc 7A81 ldd r23,Y+2 |
4403 2afe 8B81 ldd r24,Y+3 |
4404 2b00 9C81 ldd r25,Y+4 |
4405 2b02 A801 movw r20,r16 |
4406 2b04 9701 movw r18,r14 |
4407 2b06 0E94 0000 call __divmodsi4 |
4408 2b0a C201 movw r24,r4 |
4409 2b0c AA27 clr r26 |
4410 2b0e 97FD sbrc r25,7 |
4411 2b10 A095 com r26 |
4412 2b12 BA2F mov r27,r26 |
4413 2b14 281B sub r18,r24 |
4414 2b16 390B sbc r19,r25 |
4415 2b18 4A0B sbc r20,r26 |
4416 2b1a 5B0B sbc r21,r27 |
4417 2b1c CA01 movw r24,r20 |
4418 2b1e B901 movw r22,r18 |
4419 2b20 A601 movw r20,r12 |
4420 2b22 9501 movw r18,r10 |
4421 2b24 0E94 0000 call __mulsi3 |
4422 2b28 20E0 ldi r18,lo8(512) |
4423 2b2a 32E0 ldi r19,hi8(512) |
4424 2b2c 40E0 ldi r20,hlo8(512) |
4425 2b2e 50E0 ldi r21,hhi8(512) |
4426 2b30 0E94 0000 call __divmodsi4 |
4427 2b34 1901 movw r2,r18 |
4428 2b36 2A01 movw r4,r20 |
4429 2b38 6D81 ldd r22,Y+5 |
4430 2b3a 7E81 ldd r23,Y+6 |
4431 2b3c 8F81 ldd r24,Y+7 |
4432 2b3e 9885 ldd r25,Y+8 |
4433 2b40 A801 movw r20,r16 |
4434 2b42 9701 movw r18,r14 |
4435 2b44 0E94 0000 call __divmodsi4 |
4436 2b48 C401 movw r24,r8 |
4437 2b4a AA27 clr r26 |
4438 2b4c 97FD sbrc r25,7 |
4439 2b4e A095 com r26 |
4440 2b50 BA2F mov r27,r26 |
4441 2b52 281B sub r18,r24 |
4442 2b54 390B sbc r19,r25 |
4443 2b56 4A0B sbc r20,r26 |
4444 2b58 5B0B sbc r21,r27 |
4445 2b5a CA01 movw r24,r20 |
4446 2b5c B901 movw r22,r18 |
4447 2b5e A601 movw r20,r12 |
4448 2b60 9501 movw r18,r10 |
4449 2b62 0E94 0000 call __mulsi3 |
4450 2b66 20E0 ldi r18,lo8(512) |
4451 2b68 32E0 ldi r19,hi8(512) |
4452 2b6a 40E0 ldi r20,hlo8(512) |
4453 2b6c 50E0 ldi r21,hhi8(512) |
4454 2b6e 0E94 0000 call __divmodsi4 |
4455 2b72 7901 movw r14,r18 |
4456 2b74 8A01 movw r16,r20 |
4457 2b76 81E4 ldi r24,lo8(65) |
4458 2b78 6816 cp r6,r24 |
4459 2b7a 7104 cpc r7,__zero_reg__ |
4460 2b7c 04F4 brge .L532 |
4461 2b7e 8091 0000 lds r24,MaxStickRoll |
4462 2b82 9091 0000 lds r25,(MaxStickRoll)+1 |
4463 2b86 8134 cpi r24,65 |
4464 2b88 9105 cpc r25,__zero_reg__ |
4465 2b8a 04F0 brlt .L534 |
4466 .L532: |
4467 2b8c C201 movw r24,r4 |
4468 2b8e B101 movw r22,r2 |
4469 2b90 22E0 ldi r18,lo8(2) |
4470 2b92 30E0 ldi r19,hi8(2) |
4471 2b94 40E0 ldi r20,hlo8(2) |
4472 2b96 50E0 ldi r21,hhi8(2) |
4473 2b98 0E94 0000 call __divmodsi4 |
4474 2b9c 1901 movw r2,r18 |
4475 2b9e 2A01 movw r4,r20 |
4476 2ba0 C801 movw r24,r16 |
4477 2ba2 B701 movw r22,r14 |
4478 2ba4 22E0 ldi r18,lo8(2) |
4479 2ba6 30E0 ldi r19,hi8(2) |
4480 2ba8 40E0 ldi r20,hlo8(2) |
4481 2baa 50E0 ldi r21,hhi8(2) |
4482 2bac 0E94 0000 call __divmodsi4 |
4483 2bb0 7901 movw r14,r18 |
4484 2bb2 8A01 movw r16,r20 |
4485 .L534: |
4486 2bb4 E091 0000 lds r30,EE_Parameter+4 |
4487 2bb8 F0E0 ldi r31,lo8(0) |
4488 2bba EE0F lsl r30 |
4489 2bbc FF1F rol r31 |
4490 2bbe E050 subi r30,lo8(-(PPM_in)) |
4491 2bc0 F040 sbci r31,hi8(-(PPM_in)) |
4492 2bc2 0190 ld __tmp_reg__,Z+ |
4493 2bc4 F081 ld r31,Z |
4494 2bc6 E02D mov r30,__tmp_reg__ |
4495 2bc8 F7FF sbrs r31,7 |
4496 2bca 00C0 rjmp .L536 |
4497 2bcc F095 com r31 |
4498 2bce E195 neg r30 |
4499 2bd0 FF4F sbci r31,lo8(-1) |
4500 .L536: |
4501 2bd2 7A97 sbiw r30,26 |
4502 2bd4 04F0 brlt .L535 |
4503 2bd6 C201 movw r24,r4 |
4504 2bd8 B101 movw r22,r2 |
4505 2bda 23E0 ldi r18,lo8(3) |
4506 2bdc 30E0 ldi r19,hi8(3) |
4507 2bde 40E0 ldi r20,hlo8(3) |
4508 2be0 50E0 ldi r21,hhi8(3) |
4509 2be2 0E94 0000 call __divmodsi4 |
4510 2be6 1901 movw r2,r18 |
4511 2be8 2A01 movw r4,r20 |
4512 2bea C801 movw r24,r16 |
4513 2bec B701 movw r22,r14 |
4514 2bee 23E0 ldi r18,lo8(3) |
4515 2bf0 30E0 ldi r19,hi8(3) |
4516 2bf2 40E0 ldi r20,hlo8(3) |
4517 2bf4 50E0 ldi r21,hhi8(3) |
4518 2bf6 0E94 0000 call __divmodsi4 |
4519 2bfa 7901 movw r14,r18 |
4520 2bfc 8A01 movw r16,r20 |
4521 .L535: |
4522 2bfe 8091 0000 lds r24,FromNaviCtrl_Value+2 |
4523 2c02 682E mov r6,r24 |
4524 2c04 7724 clr r7 |
4525 2c06 67FC sbrc r6,7 |
4526 2c08 7094 com r7 |
4527 2c0a 872C mov r8,r7 |
4528 2c0c 972C mov r9,r7 |
4529 2c0e A201 movw r20,r4 |
4530 2c10 9101 movw r18,r2 |
4531 2c12 6214 cp r6,r2 |
4532 2c14 7304 cpc r7,r3 |
4533 2c16 8404 cpc r8,r4 |
4534 2c18 9504 cpc r9,r5 |
4535 2c1a 04F4 brge .L538 |
4536 2c1c A401 movw r20,r8 |
4537 2c1e 9301 movw r18,r6 |
4538 .L538: |
4539 2c20 9927 clr r25 |
4540 2c22 87FD sbrc r24,7 |
4541 2c24 9095 com r25 |
4542 2c26 9095 com r25 |
4543 2c28 8195 neg r24 |
4544 2c2a 9F4F sbci r25,lo8(-1) |
4545 2c2c AA27 clr r26 |
4546 2c2e 97FD sbrc r25,7 |
4547 2c30 A095 com r26 |
4548 2c32 BA2F mov r27,r26 |
4549 2c34 5901 movw r10,r18 |
4550 2c36 6A01 movw r12,r20 |
4551 2c38 2817 cp r18,r24 |
4552 2c3a 3907 cpc r19,r25 |
4553 2c3c 4A07 cpc r20,r26 |
4554 2c3e 5B07 cpc r21,r27 |
4555 2c40 04F4 brge .L539 |
4556 2c42 5C01 movw r10,r24 |
4557 2c44 6D01 movw r12,r26 |
4558 .L539: |
4559 2c46 6E14 cp r6,r14 |
4560 2c48 7F04 cpc r7,r15 |
4561 2c4a 8006 cpc r8,r16 |
4562 2c4c 9106 cpc r9,r17 |
4563 2c4e 04F4 brge .L540 |
4564 2c50 8401 movw r16,r8 |
4565 2c52 7301 movw r14,r6 |
4566 .L540: |
4567 2c54 E816 cp r14,r24 |
4568 2c56 F906 cpc r15,r25 |
4569 2c58 0A07 cpc r16,r26 |
4570 2c5a 1B07 cpc r17,r27 |
4571 2c5c 04F0 brlt .+2 |
4572 2c5e 00C0 rjmp .L541 |
4573 2c60 7C01 movw r14,r24 |
4574 2c62 8D01 movw r16,r26 |
4575 2c64 00C0 rjmp .L541 |
4576 .L530: |
4577 2c66 FF24 clr r15 |
4578 2c68 00E0 ldi r16,lo8(0) |
4579 2c6a 10E0 ldi r17,hi8(0) |
4580 2c6c 6981 ldd r22,Y+1 |
4581 2c6e 7A81 ldd r23,Y+2 |
4582 2c70 8B81 ldd r24,Y+3 |
4583 2c72 9C81 ldd r25,Y+4 |
4584 2c74 A801 movw r20,r16 |
4585 2c76 9701 movw r18,r14 |
4586 2c78 0E94 0000 call __divmodsi4 |
4587 2c7c 5901 movw r10,r18 |
4588 2c7e 6A01 movw r12,r20 |
4589 2c80 C201 movw r24,r4 |
4590 2c82 AA27 clr r26 |
4591 2c84 97FD sbrc r25,7 |
4592 2c86 A095 com r26 |
4593 2c88 BA2F mov r27,r26 |
4594 2c8a A81A sub r10,r24 |
4595 2c8c B90A sbc r11,r25 |
4596 2c8e CA0A sbc r12,r26 |
4597 2c90 DB0A sbc r13,r27 |
4598 2c92 6D81 ldd r22,Y+5 |
4599 2c94 7E81 ldd r23,Y+6 |
4600 2c96 8F81 ldd r24,Y+7 |
4601 2c98 9885 ldd r25,Y+8 |
4602 2c9a A801 movw r20,r16 |
4603 2c9c 9701 movw r18,r14 |
4604 2c9e 0E94 0000 call __divmodsi4 |
4605 2ca2 7901 movw r14,r18 |
4606 2ca4 8A01 movw r16,r20 |
4607 2ca6 C401 movw r24,r8 |
4608 2ca8 AA27 clr r26 |
4609 2caa 97FD sbrc r25,7 |
4610 2cac A095 com r26 |
4611 2cae BA2F mov r27,r26 |
4612 2cb0 E81A sub r14,r24 |
4613 2cb2 F90A sbc r15,r25 |
4614 2cb4 0A0B sbc r16,r26 |
4615 2cb6 1B0B sbc r17,r27 |
4616 2cb8 C601 movw r24,r12 |
4617 2cba B501 movw r22,r10 |
4618 2cbc 20E1 ldi r18,lo8(16) |
4619 2cbe 30E0 ldi r19,hi8(16) |
4620 2cc0 40E0 ldi r20,hlo8(16) |
4621 2cc2 50E0 ldi r21,hhi8(16) |
4622 2cc4 0E94 0000 call __divmodsi4 |
4623 2cc8 5901 movw r10,r18 |
4624 2cca 6A01 movw r12,r20 |
4625 2ccc C801 movw r24,r16 |
4626 2cce B701 movw r22,r14 |
4627 2cd0 20E1 ldi r18,lo8(16) |
4628 2cd2 30E0 ldi r19,hi8(16) |
4629 2cd4 40E0 ldi r20,hlo8(16) |
4630 2cd6 50E0 ldi r21,hhi8(16) |
4631 2cd8 0E94 0000 call __divmodsi4 |
4632 2cdc 7901 movw r14,r18 |
4633 2cde 8A01 movw r16,r20 |
4634 2ce0 91E4 ldi r25,lo8(65) |
4635 2ce2 6916 cp r6,r25 |
4636 2ce4 7104 cpc r7,__zero_reg__ |
4637 2ce6 04F4 brge .L543 |
4638 2ce8 8091 0000 lds r24,MaxStickRoll |
4639 2cec 9091 0000 lds r25,(MaxStickRoll)+1 |
4640 2cf0 8134 cpi r24,65 |
4641 2cf2 9105 cpc r25,__zero_reg__ |
4642 2cf4 04F0 brlt .L545 |
4643 .L543: |
4644 2cf6 C601 movw r24,r12 |
4645 2cf8 B501 movw r22,r10 |
4646 2cfa 23E0 ldi r18,lo8(3) |
4647 2cfc 30E0 ldi r19,hi8(3) |
4648 2cfe 40E0 ldi r20,hlo8(3) |
4649 2d00 50E0 ldi r21,hhi8(3) |
4650 2d02 0E94 0000 call __divmodsi4 |
4651 2d06 5901 movw r10,r18 |
4652 2d08 6A01 movw r12,r20 |
4653 2d0a C801 movw r24,r16 |
4654 2d0c B701 movw r22,r14 |
4655 2d0e 23E0 ldi r18,lo8(3) |
4656 2d10 30E0 ldi r19,hi8(3) |
4657 2d12 40E0 ldi r20,hlo8(3) |
4658 2d14 50E0 ldi r21,hhi8(3) |
4659 2d16 0E94 0000 call __divmodsi4 |
4660 2d1a 7901 movw r14,r18 |
4661 2d1c 8A01 movw r16,r20 |
4662 .L545: |
4663 2d1e E091 0000 lds r30,EE_Parameter+4 |
4664 2d22 F0E0 ldi r31,lo8(0) |
4665 2d24 EE0F lsl r30 |
4666 2d26 FF1F rol r31 |
4667 2d28 E050 subi r30,lo8(-(PPM_in)) |
4668 2d2a F040 sbci r31,hi8(-(PPM_in)) |
4669 2d2c 0190 ld __tmp_reg__,Z+ |
4670 2d2e F081 ld r31,Z |
4671 2d30 E02D mov r30,__tmp_reg__ |
4672 2d32 F7FF sbrs r31,7 |
4673 2d34 00C0 rjmp .L547 |
4674 2d36 F095 com r31 |
4675 2d38 E195 neg r30 |
4676 2d3a FF4F sbci r31,lo8(-1) |
4677 .L547: |
4678 2d3c 7A97 sbiw r30,26 |
4679 2d3e 04F0 brlt .L546 |
4680 2d40 C601 movw r24,r12 |
4681 2d42 B501 movw r22,r10 |
4682 2d44 23E0 ldi r18,lo8(3) |
4683 2d46 30E0 ldi r19,hi8(3) |
4684 2d48 40E0 ldi r20,hlo8(3) |
4685 2d4a 50E0 ldi r21,hhi8(3) |
4686 2d4c 0E94 0000 call __divmodsi4 |
4687 2d50 5901 movw r10,r18 |
4688 2d52 6A01 movw r12,r20 |
4689 2d54 C801 movw r24,r16 |
4690 2d56 B701 movw r22,r14 |
4691 2d58 23E0 ldi r18,lo8(3) |
4692 2d5a 30E0 ldi r19,hi8(3) |
4693 2d5c 40E0 ldi r20,hlo8(3) |
4694 2d5e 50E0 ldi r21,hhi8(3) |
4695 2d60 0E94 0000 call __divmodsi4 |
4696 2d64 7901 movw r14,r18 |
4697 2d66 8A01 movw r16,r20 |
4698 .L546: |
4699 2d68 A1E2 ldi r26,lo8(33) |
4700 2d6a AA16 cp r10,r26 |
4701 2d6c B104 cpc r11,__zero_reg__ |
4702 2d6e C104 cpc r12,__zero_reg__ |
4703 2d70 D104 cpc r13,__zero_reg__ |
4704 2d72 04F0 brlt .L549 |
4705 2d74 70E2 ldi r23,lo8(32) |
4706 2d76 A72E mov r10,r23 |
4707 2d78 B12C mov r11,__zero_reg__ |
4708 2d7a C12C mov r12,__zero_reg__ |
4709 2d7c D12C mov r13,__zero_reg__ |
4710 2d7e 00C0 rjmp .L551 |
4711 .L549: |
4712 2d80 B0EE ldi r27,lo8(-32) |
4713 2d82 AB16 cp r10,r27 |
4714 2d84 BFEF ldi r27,hi8(-32) |
4715 2d86 BB06 cpc r11,r27 |
4716 2d88 BFEF ldi r27,hlo8(-32) |
4717 2d8a CB06 cpc r12,r27 |
4718 2d8c BFEF ldi r27,hhi8(-32) |
4719 2d8e DB06 cpc r13,r27 |
4720 2d90 04F4 brge .L551 |
4721 2d92 60EE ldi r22,lo8(-32) |
4722 2d94 A62E mov r10,r22 |
4723 2d96 6FEF ldi r22,hi8(-32) |
4724 2d98 B62E mov r11,r22 |
4725 2d9a 6FEF ldi r22,hlo8(-32) |
4726 2d9c C62E mov r12,r22 |
4727 2d9e 6FEF ldi r22,hhi8(-32) |
4728 2da0 D62E mov r13,r22 |
4729 .L551: |
4730 2da2 E1E2 ldi r30,lo8(33) |
4731 2da4 EE16 cp r14,r30 |
4732 2da6 F104 cpc r15,__zero_reg__ |
4733 2da8 0105 cpc r16,__zero_reg__ |
4734 2daa 1105 cpc r17,__zero_reg__ |
4735 2dac 04F0 brlt .L553 |
4736 2dae 50E2 ldi r21,lo8(32) |
4737 2db0 E52E mov r14,r21 |
4738 2db2 F12C mov r15,__zero_reg__ |
4739 2db4 012D mov r16,__zero_reg__ |
4740 2db6 112D mov r17,__zero_reg__ |
4741 2db8 00C0 rjmp .L541 |
4742 .L553: |
4743 2dba F0EE ldi r31,lo8(-32) |
4744 2dbc EF16 cp r14,r31 |
4745 2dbe FFEF ldi r31,hi8(-32) |
4746 2dc0 FF06 cpc r15,r31 |
4747 2dc2 FFEF ldi r31,hlo8(-32) |
4748 2dc4 0F07 cpc r16,r31 |
4749 2dc6 FFEF ldi r31,hhi8(-32) |
4750 2dc8 1F07 cpc r17,r31 |
4751 2dca 04F4 brge .L541 |
4752 2dcc 40EE ldi r20,lo8(-32) |
4753 2dce E42E mov r14,r20 |
4754 2dd0 4FEF ldi r20,hi8(-32) |
4755 2dd2 F42E mov r15,r20 |
4756 2dd4 4FEF ldi r20,hlo8(-32) |
4757 2dd6 042F mov r16,r20 |
4758 2dd8 4FEF ldi r20,hhi8(-32) |
4759 2dda 142F mov r17,r20 |
4760 .L541: |
4761 2ddc 8091 0000 lds r24,Mess_IntegralNick |
4762 2de0 9091 0000 lds r25,(Mess_IntegralNick)+1 |
4763 2de4 A091 0000 lds r26,(Mess_IntegralNick)+2 |
4764 2de8 B091 0000 lds r27,(Mess_IntegralNick)+3 |
4765 2dec 8A19 sub r24,r10 |
4766 2dee 9B09 sbc r25,r11 |
4767 2df0 AC09 sbc r26,r12 |
4768 2df2 BD09 sbc r27,r13 |
4769 2df4 8093 0000 sts Mess_IntegralNick,r24 |
4770 2df8 9093 0000 sts (Mess_IntegralNick)+1,r25 |
4771 2dfc A093 0000 sts (Mess_IntegralNick)+2,r26 |
4772 2e00 B093 0000 sts (Mess_IntegralNick)+3,r27 |
4773 2e04 8091 0000 lds r24,Mess_IntegralRoll |
4774 2e08 9091 0000 lds r25,(Mess_IntegralRoll)+1 |
4775 2e0c A091 0000 lds r26,(Mess_IntegralRoll)+2 |
4776 2e10 B091 0000 lds r27,(Mess_IntegralRoll)+3 |
4777 2e14 8E19 sub r24,r14 |
4778 2e16 9F09 sbc r25,r15 |
4779 2e18 A00B sbc r26,r16 |
4780 2e1a B10B sbc r27,r17 |
4781 2e1c 8093 0000 sts Mess_IntegralRoll,r24 |
4782 2e20 9093 0000 sts (Mess_IntegralRoll)+1,r25 |
4783 2e24 A093 0000 sts (Mess_IntegralRoll)+2,r26 |
4784 2e28 B093 0000 sts (Mess_IntegralRoll)+3,r27 |
4785 .L526: |
4786 2e2c 8091 0000 lds r24,ZaehlMessungen |
4787 2e30 9091 0000 lds r25,(ZaehlMessungen)+1 |
4788 2e34 8F3F cpi r24,255 |
4789 2e36 9105 cpc r25,__zero_reg__ |
4790 2e38 01F0 breq .+2 |
4791 2e3a 00F4 brsh .+2 |
4792 2e3c 00C0 rjmp .L556 |
4793 2e3e E984 ldd r14,Y+9 |
4794 2e40 EE20 tst r14 |
4795 2e42 01F0 breq .+2 |
4796 2e44 00C0 rjmp .L558 |
4797 2e46 8091 0000 lds r24,Looping_Roll |
4798 2e4a 8823 tst r24 |
4799 2e4c 01F0 breq .+2 |
4800 2e4e 00C0 rjmp .L558 |
4801 2e50 8091 0000 lds r24,TrichterFlug |
4802 2e54 8823 tst r24 |
4803 2e56 01F0 breq .+2 |
4804 2e58 00C0 rjmp .L558 |
4805 2e5a F090 0000 lds r15,EE_Parameter+68 |
4806 2e5e FA8E std Y+26,r15 |
4807 2e60 FF20 tst r15 |
4808 2e62 01F4 brne .+2 |
4809 2e64 00C0 rjmp .L558 |
4810 2e66 6091 0000 lds r22,MittelIntegralNick |
4811 2e6a 7091 0000 lds r23,(MittelIntegralNick)+1 |
4812 2e6e 8091 0000 lds r24,(MittelIntegralNick)+2 |
4813 2e72 9091 0000 lds r25,(MittelIntegralNick)+3 |
4814 2e76 20E0 ldi r18,lo8(256) |
4815 2e78 31E0 ldi r19,hi8(256) |
4816 2e7a 40E0 ldi r20,hlo8(256) |
4817 2e7c 50E0 ldi r21,hhi8(256) |
4818 2e7e 0E94 0000 call __divmodsi4 |
4819 2e82 1901 movw r2,r18 |
4820 2e84 2A01 movw r4,r20 |
4821 2e86 2093 0000 sts MittelIntegralNick,r18 |
4822 2e8a 3093 0000 sts (MittelIntegralNick)+1,r19 |
4823 2e8e 4093 0000 sts (MittelIntegralNick)+2,r20 |
4824 2e92 5093 0000 sts (MittelIntegralNick)+3,r21 |
4825 2e96 6091 0000 lds r22,MittelIntegralRoll |
4826 2e9a 7091 0000 lds r23,(MittelIntegralRoll)+1 |
4827 2e9e 8091 0000 lds r24,(MittelIntegralRoll)+2 |
4828 2ea2 9091 0000 lds r25,(MittelIntegralRoll)+3 |
4829 2ea6 20E0 ldi r18,lo8(256) |
4830 2ea8 31E0 ldi r19,hi8(256) |
4831 2eaa 40E0 ldi r20,hlo8(256) |
4832 2eac 50E0 ldi r21,hhi8(256) |
4833 2eae 0E94 0000 call __divmodsi4 |
4834 2eb2 2E8B std Y+22,r18 |
4835 2eb4 3F8B std Y+23,r19 |
4836 2eb6 488F std Y+24,r20 |
4837 2eb8 598F std Y+25,r21 |
4838 2eba 2093 0000 sts MittelIntegralRoll,r18 |
4839 2ebe 3093 0000 sts (MittelIntegralRoll)+1,r19 |
4840 2ec2 4093 0000 sts (MittelIntegralRoll)+2,r20 |
4841 2ec6 5093 0000 sts (MittelIntegralRoll)+3,r21 |
4842 2eca E090 0000 lds r14,EE_Parameter+28 |
4843 2ece FF24 clr r15 |
4844 2ed0 00E0 ldi r16,lo8(0) |
4845 2ed2 10E0 ldi r17,hi8(0) |
4846 2ed4 2091 0000 lds r18,IntegralAccNick |
4847 2ed8 3091 0000 lds r19,(IntegralAccNick)+1 |
4848 2edc 4091 0000 lds r20,(IntegralAccNick)+2 |
4849 2ee0 5091 0000 lds r21,(IntegralAccNick)+3 |
4850 2ee4 C801 movw r24,r16 |
4851 2ee6 B701 movw r22,r14 |
4852 2ee8 0E94 0000 call __mulsi3 |
4853 2eec 20E0 ldi r18,lo8(256) |
4854 2eee 31E0 ldi r19,hi8(256) |
4855 2ef0 40E0 ldi r20,hlo8(256) |
4856 2ef2 50E0 ldi r21,hhi8(256) |
4857 2ef4 0E94 0000 call __divmodsi4 |
4858 2ef8 5901 movw r10,r18 |
4859 2efa 6A01 movw r12,r20 |
4860 2efc 2093 0000 sts IntegralAccNick,r18 |
4861 2f00 3093 0000 sts (IntegralAccNick)+1,r19 |
4862 2f04 4093 0000 sts (IntegralAccNick)+2,r20 |
4863 2f08 5093 0000 sts (IntegralAccNick)+3,r21 |
4864 2f0c 2091 0000 lds r18,IntegralAccRoll |
4865 2f10 3091 0000 lds r19,(IntegralAccRoll)+1 |
4866 2f14 4091 0000 lds r20,(IntegralAccRoll)+2 |
4867 2f18 5091 0000 lds r21,(IntegralAccRoll)+3 |
4868 2f1c C801 movw r24,r16 |
4869 2f1e B701 movw r22,r14 |
4870 2f20 0E94 0000 call __mulsi3 |
4871 2f24 20E0 ldi r18,lo8(256) |
4872 2f26 31E0 ldi r19,hi8(256) |
4873 2f28 40E0 ldi r20,hlo8(256) |
4874 2f2a 50E0 ldi r21,hhi8(256) |
4875 2f2c 0E94 0000 call __divmodsi4 |
4876 2f30 3901 movw r6,r18 |
4877 2f32 4A01 movw r8,r20 |
4878 2f34 2093 0000 sts IntegralAccRoll,r18 |
4879 2f38 3093 0000 sts (IntegralAccRoll)+1,r19 |
4880 2f3c 4093 0000 sts (IntegralAccRoll)+2,r20 |
4881 2f40 5093 0000 sts (IntegralAccRoll)+3,r21 |
4882 2f44 6091 0000 lds r22,IntegralAccZ |
4883 2f48 7091 0000 lds r23,(IntegralAccZ)+1 |
4884 2f4c 8091 0000 lds r24,(IntegralAccZ)+2 |
4885 2f50 9091 0000 lds r25,(IntegralAccZ)+3 |
4886 2f54 20E0 ldi r18,lo8(256) |
4887 2f56 31E0 ldi r19,hi8(256) |
4888 2f58 40E0 ldi r20,hlo8(256) |
4889 2f5a 50E0 ldi r21,hhi8(256) |
4890 2f5c 0E94 0000 call __divmodsi4 |
4891 2f60 2093 0000 sts IntegralAccZ,r18 |
4892 2f64 3093 0000 sts (IntegralAccZ)+1,r19 |
4893 2f68 4093 0000 sts (IntegralAccZ)+2,r20 |
4894 2f6c 5093 0000 sts (IntegralAccZ)+3,r21 |
4895 2f70 E090 0000 lds r14,EE_Parameter+67 |
4896 2f74 FF24 clr r15 |
4897 2f76 00E0 ldi r16,lo8(0) |
4898 2f78 10E0 ldi r17,hi8(0) |
4899 2f7a C201 movw r24,r4 |
4900 2f7c B101 movw r22,r2 |
4901 2f7e 6A19 sub r22,r10 |
4902 2f80 7B09 sbc r23,r11 |
4903 2f82 8C09 sbc r24,r12 |
4904 2f84 9D09 sbc r25,r13 |
4905 2f86 A801 movw r20,r16 |
4906 2f88 9701 movw r18,r14 |
4907 2f8a 0E94 0000 call __divmodsi4 |
4908 2f8e 5901 movw r10,r18 |
4909 2f90 6A01 movw r12,r20 |
4910 2f92 2093 0000 sts ausgleichNick.3318,r18 |
4911 2f96 3093 0000 sts (ausgleichNick.3318)+1,r19 |
4912 2f9a 4093 0000 sts (ausgleichNick.3318)+2,r20 |
4913 2f9e 5093 0000 sts (ausgleichNick.3318)+3,r21 |
4914 2fa2 6E89 ldd r22,Y+22 |
4915 2fa4 7F89 ldd r23,Y+23 |
4916 2fa6 888D ldd r24,Y+24 |
4917 2fa8 998D ldd r25,Y+25 |
4918 2faa 6619 sub r22,r6 |
4919 2fac 7709 sbc r23,r7 |
4920 2fae 8809 sbc r24,r8 |
4921 2fb0 9909 sbc r25,r9 |
4922 2fb2 A801 movw r20,r16 |
4923 2fb4 9701 movw r18,r14 |
4924 2fb6 0E94 0000 call __divmodsi4 |
4925 2fba 7901 movw r14,r18 |
4926 2fbc 8A01 movw r16,r20 |
4927 2fbe 2093 0000 sts ausgleichRoll.3319,r18 |
4928 2fc2 3093 0000 sts (ausgleichRoll.3319)+1,r19 |
4929 2fc6 4093 0000 sts (ausgleichRoll.3319)+2,r20 |
4930 2fca 5093 0000 sts (ausgleichRoll.3319)+3,r21 |
4931 2fce C601 movw r24,r12 |
4932 2fd0 B501 movw r22,r10 |
4933 2fd2 20E0 ldi r18,lo8(256) |
4934 2fd4 31E0 ldi r19,hi8(256) |
4935 2fd6 40E0 ldi r20,hlo8(256) |
4936 2fd8 50E0 ldi r21,hhi8(256) |
4937 2fda 0E94 0000 call __divmodsi4 |
4938 2fde 6901 movw r12,r18 |
4939 2fe0 3093 0000 sts (LageKorrekturNick)+1,r19 |
4940 2fe4 2093 0000 sts LageKorrekturNick,r18 |
4941 2fe8 C801 movw r24,r16 |
4942 2fea B701 movw r22,r14 |
4943 2fec 20E0 ldi r18,lo8(256) |
4944 2fee 31E0 ldi r19,hi8(256) |
4945 2ff0 40E0 ldi r20,hlo8(256) |
4946 2ff2 50E0 ldi r21,hhi8(256) |
4947 2ff4 0E94 0000 call __divmodsi4 |
4948 2ff8 8901 movw r16,r18 |
4949 2ffa 3093 0000 sts (LageKorrekturRoll)+1,r19 |
4950 2ffe 2093 0000 sts LageKorrekturRoll,r18 |
4951 3002 8091 0000 lds r24,MaxStickNick |
4952 3006 9091 0000 lds r25,(MaxStickNick)+1 |
4953 300a 8134 cpi r24,65 |
4954 300c 9105 cpc r25,__zero_reg__ |
4955 300e 04F4 brge .L563 |
4956 3010 8091 0000 lds r24,MaxStickRoll |
4957 3014 9091 0000 lds r25,(MaxStickRoll)+1 |
4958 3018 8134 cpi r24,65 |
4959 301a 9105 cpc r25,__zero_reg__ |
4960 301c 04F4 brge .L563 |
4961 301e E091 0000 lds r30,EE_Parameter+4 |
4962 3022 F0E0 ldi r31,lo8(0) |
4963 3024 EE0F lsl r30 |
4964 3026 FF1F rol r31 |
4965 3028 E050 subi r30,lo8(-(PPM_in)) |
4966 302a F040 sbci r31,hi8(-(PPM_in)) |
4967 302c 0190 ld __tmp_reg__,Z+ |
4968 302e F081 ld r31,Z |
4969 3030 E02D mov r30,__tmp_reg__ |
4970 3032 F7FF sbrs r31,7 |
4971 3034 00C0 rjmp .L567 |
4972 3036 F095 com r31 |
4973 3038 E195 neg r30 |
4974 303a FF4F sbci r31,lo8(-1) |
4975 .L567: |
4976 303c 7A97 sbiw r30,26 |
4977 303e 04F0 brlt .L566 |
4978 .L563: |
4979 3040 8091 0000 lds r24,FromNaviCtrl_Value |
4980 3044 8F3F cpi r24,lo8(-1) |
4981 3046 01F4 brne .L566 |
4982 3048 C601 movw r24,r12 |
4983 304a 62E0 ldi r22,lo8(2) |
4984 304c 70E0 ldi r23,hi8(2) |
4985 304e 0E94 0000 call __divmodhi4 |
4986 3052 7093 0000 sts (LageKorrekturNick)+1,r23 |
4987 3056 6093 0000 sts LageKorrekturNick,r22 |
4988 305a C801 movw r24,r16 |
4989 305c 62E0 ldi r22,lo8(2) |
4990 305e 70E0 ldi r23,hi8(2) |
4991 3060 0E94 0000 call __divmodhi4 |
4992 3064 7093 0000 sts (LageKorrekturRoll)+1,r23 |
4993 3068 6093 0000 sts LageKorrekturRoll,r22 |
4994 .L566: |
4995 306c 6091 0000 lds r22,MittelIntegralNick2 |
4996 3070 7091 0000 lds r23,(MittelIntegralNick2)+1 |
4997 3074 8091 0000 lds r24,(MittelIntegralNick2)+2 |
4998 3078 9091 0000 lds r25,(MittelIntegralNick2)+3 |
4999 307c 20E0 ldi r18,lo8(256) |
5000 307e 31E0 ldi r19,hi8(256) |
5001 3080 40E0 ldi r20,hlo8(256) |
5002 3082 50E0 ldi r21,hhi8(256) |
5003 3084 0E94 0000 call __divmodsi4 |
5004 3088 2093 0000 sts MittelIntegralNick2,r18 |
5005 308c 3093 0000 sts (MittelIntegralNick2)+1,r19 |
5006 3090 4093 0000 sts (MittelIntegralNick2)+2,r20 |
5007 3094 5093 0000 sts (MittelIntegralNick2)+3,r21 |
5008 3098 6091 0000 lds r22,MittelIntegralRoll2 |
5009 309c 7091 0000 lds r23,(MittelIntegralRoll2)+1 |
5010 30a0 8091 0000 lds r24,(MittelIntegralRoll2)+2 |
5011 30a4 9091 0000 lds r25,(MittelIntegralRoll2)+3 |
5012 30a8 20E0 ldi r18,lo8(256) |
5013 30aa 31E0 ldi r19,hi8(256) |
5014 30ac 40E0 ldi r20,hlo8(256) |
5015 30ae 50E0 ldi r21,hhi8(256) |
5016 30b0 0E94 0000 call __divmodsi4 |
5017 30b4 2093 0000 sts MittelIntegralRoll2,r18 |
5018 30b8 3093 0000 sts (MittelIntegralRoll2)+1,r19 |
5019 30bc 4093 0000 sts (MittelIntegralRoll2)+2,r20 |
5020 30c0 5093 0000 sts (MittelIntegralRoll2)+3,r21 |
5021 30c4 EF8C ldd r14,Y+31 |
5022 30c6 F8A0 ldd r15,Y+32 |
5023 30c8 09A1 ldd r16,Y+33 |
5024 30ca 1AA1 ldd r17,Y+34 |
5025 30cc 2981 ldd r18,Y+1 |
5026 30ce 3A81 ldd r19,Y+2 |
5027 30d0 4B81 ldd r20,Y+3 |
5028 30d2 5C81 ldd r21,Y+4 |
5029 30d4 E21A sub r14,r18 |
5030 30d6 F30A sbc r15,r19 |
5031 30d8 040B sbc r16,r20 |
5032 30da 150B sbc r17,r21 |
5033 30dc E092 0000 sts tmp_long.3308,r14 |
5034 30e0 F092 0000 sts (tmp_long.3308)+1,r15 |
5035 30e4 0093 0000 sts (tmp_long.3308)+2,r16 |
5036 30e8 1093 0000 sts (tmp_long.3308)+3,r17 |
5037 30ec AB8C ldd r10,Y+27 |
5038 30ee BC8C ldd r11,Y+28 |
5039 30f0 CD8C ldd r12,Y+29 |
5040 30f2 DE8C ldd r13,Y+30 |
5041 30f4 4D81 ldd r20,Y+5 |
5042 30f6 5E81 ldd r21,Y+6 |
5043 30f8 6F81 ldd r22,Y+7 |
5044 30fa 7885 ldd r23,Y+8 |
5045 30fc A41A sub r10,r20 |
5046 30fe B50A sbc r11,r21 |
5047 3100 C60A sbc r12,r22 |
5048 3102 D70A sbc r13,r23 |
5049 3104 A092 0000 sts tmp_long2.3309,r10 |
5050 3108 B092 0000 sts (tmp_long2.3309)+1,r11 |
5051 310c C092 0000 sts (tmp_long2.3309)+2,r12 |
5052 3110 D092 0000 sts (tmp_long2.3309)+3,r13 |
5053 3114 E092 0000 sts IntegralFehlerNick.3310,r14 |
5054 3118 F092 0000 sts (IntegralFehlerNick.3310)+1,r15 |
5055 311c 0093 0000 sts (IntegralFehlerNick.3310)+2,r16 |
5056 3120 1093 0000 sts (IntegralFehlerNick.3310)+3,r17 |
5057 3124 A092 0000 sts IntegralFehlerRoll.3311,r10 |
5058 3128 B092 0000 sts (IntegralFehlerRoll.3311)+1,r11 |
5059 312c C092 0000 sts (IntegralFehlerRoll.3311)+2,r12 |
5060 3130 D092 0000 sts (IntegralFehlerRoll.3311)+3,r13 |
5061 3134 8091 0000 lds r24,Mess_IntegralNick2 |
5062 3138 9091 0000 lds r25,(Mess_IntegralNick2)+1 |
5063 313c A091 0000 lds r26,(Mess_IntegralNick2)+2 |
5064 3140 B091 0000 lds r27,(Mess_IntegralNick2)+3 |
5065 3144 8E19 sub r24,r14 |
5066 3146 9F09 sbc r25,r15 |
5067 3148 A00B sbc r26,r16 |
5068 314a B10B sbc r27,r17 |
5069 314c 8093 0000 sts Mess_IntegralNick2,r24 |
5070 3150 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
5071 3154 A093 0000 sts (Mess_IntegralNick2)+2,r26 |
5072 3158 B093 0000 sts (Mess_IntegralNick2)+3,r27 |
5073 315c 8091 0000 lds r24,Mess_IntegralRoll2 |
5074 3160 9091 0000 lds r25,(Mess_IntegralRoll2)+1 |
5075 3164 A091 0000 lds r26,(Mess_IntegralRoll2)+2 |
5076 3168 B091 0000 lds r27,(Mess_IntegralRoll2)+3 |
5077 316c 8A19 sub r24,r10 |
5078 316e 9B09 sbc r25,r11 |
5079 3170 AC09 sbc r26,r12 |
5080 3172 BD09 sbc r27,r13 |
5081 3174 8093 0000 sts Mess_IntegralRoll2,r24 |
5082 3178 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
5083 317c A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
5084 3180 B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
5085 3184 2091 0000 lds r18,GierGyroFehler |
5086 3188 3091 0000 lds r19,(GierGyroFehler)+1 |
5087 318c 2138 cpi r18,129 |
5088 318e 3105 cpc r19,__zero_reg__ |
5089 3190 04F0 brlt .L569 |
5090 3192 8091 0000 lds r24,AdNeutralGier |
5091 3196 9091 0000 lds r25,(AdNeutralGier)+1 |
5092 319a 0196 adiw r24,1 |
5093 319c 9093 0000 sts (AdNeutralGier)+1,r25 |
5094 31a0 8093 0000 sts AdNeutralGier,r24 |
5095 .L569: |
5096 31a4 2058 subi r18,lo8(-128) |
5097 31a6 3F4F sbci r19,hi8(-128) |
5098 31a8 04F4 brge .L571 |
5099 31aa 8091 0000 lds r24,AdNeutralGier |
5100 31ae 9091 0000 lds r25,(AdNeutralGier)+1 |
5101 31b2 0197 sbiw r24,1 |
5102 31b4 9093 0000 sts (AdNeutralGier)+1,r25 |
5103 31b8 8093 0000 sts AdNeutralGier,r24 |
5104 .L571: |
5105 31bc 1092 0000 sts (GierGyroFehler)+1,__zero_reg__ |
5106 31c0 1092 0000 sts GierGyroFehler,__zero_reg__ |
5107 31c4 81E0 ldi r24,lo8(1) |
5108 31c6 90E0 ldi r25,hi8(1) |
5109 31c8 9093 0000 sts (cnt.3330)+1,r25 |
5110 31cc 8093 0000 sts cnt.3330,r24 |
5111 31d0 A801 movw r20,r16 |
5112 31d2 9701 movw r18,r14 |
5113 31d4 17FF sbrs r17,7 |
5114 31d6 00C0 rjmp .L573 |
5115 31d8 2227 clr r18 |
5116 31da 3327 clr r19 |
5117 31dc A901 movw r20,r18 |
5118 31de 2E19 sub r18,r14 |
5119 31e0 3F09 sbc r19,r15 |
5120 31e2 400B sbc r20,r16 |
5121 31e4 510B sbc r21,r17 |
5122 .L573: |
5123 31e6 2130 cpi r18,lo8(513) |
5124 31e8 62E0 ldi r22,hi8(513) |
5125 31ea 3607 cpc r19,r22 |
5126 31ec 60E0 ldi r22,hlo8(513) |
5127 31ee 4607 cpc r20,r22 |
5128 31f0 60E0 ldi r22,hhi8(513) |
5129 31f2 5607 cpc r21,r22 |
5130 31f4 04F0 brlt .L574 |
5131 31f6 84E0 ldi r24,lo8(4) |
5132 31f8 90E0 ldi r25,hi8(4) |
5133 31fa 9093 0000 sts (cnt.3330)+1,r25 |
5134 31fe 8093 0000 sts cnt.3330,r24 |
5135 .L574: |
5136 3202 8091 0000 lds r24,MittelIntegralNick_Alt.3335 |
5137 3206 9091 0000 lds r25,(MittelIntegralNick_Alt.3335)+1 |
5138 320a A091 0000 lds r26,(MittelIntegralNick_Alt.3335)+2 |
5139 320e B091 0000 lds r27,(MittelIntegralNick_Alt.3335)+3 |
5140 3212 8219 sub r24,r2 |
5141 3214 9309 sbc r25,r3 |
5142 3216 A409 sbc r26,r4 |
5143 3218 B509 sbc r27,r5 |
5144 321a 815E subi r24,lo8(-(19999)) |
5145 321c 914B sbci r25,hi8(-(19999)) |
5146 321e AF4F sbci r26,hlo8(-(19999)) |
5147 3220 BF4F sbci r27,hhi8(-(19999)) |
5148 3222 8F53 subi r24,lo8(39999) |
5149 3224 9C49 sbci r25,hi8(39999) |
5150 3226 A040 sbci r26,hlo8(39999) |
5151 3228 B040 sbci r27,hhi8(39999) |
5152 322a 00F0 brlo .L576 |
5153 322c 8091 0000 lds r24,FromNaviCtrl_Value+1 |
5154 3230 8931 cpi r24,lo8(25) |
5155 3232 04F4 brge .+2 |
5156 3234 00C0 rjmp .L578 |
5157 .L576: |
5158 3236 81E0 ldi r24,lo8(4097) |
5159 3238 E816 cp r14,r24 |
5160 323a 80E1 ldi r24,hi8(4097) |
5161 323c F806 cpc r15,r24 |
5162 323e 80E0 ldi r24,hlo8(4097) |
5163 3240 0807 cpc r16,r24 |
5164 3242 80E0 ldi r24,hhi8(4097) |
5165 3244 1807 cpc r17,r24 |
5166 3246 04F4 brge .+2 |
5167 3248 00C0 rjmp .L579 |
5168 324a 8091 0000 lds r24,last_n_p.3331 |
5169 324e 8823 tst r24 |
5170 3250 01F4 brne .+2 |
5171 3252 00C0 rjmp .L581 |
5172 3254 CA01 movw r24,r20 |
5173 3256 B901 movw r22,r18 |
5174 3258 20E0 ldi r18,lo8(512) |
5175 325a 32E0 ldi r19,hi8(512) |
5176 325c 40E0 ldi r20,hlo8(512) |
5177 325e 50E0 ldi r21,hhi8(512) |
5178 3260 0E94 0000 call __divmodsi4 |
5179 3264 8091 0000 lds r24,cnt.3330 |
5180 3268 9091 0000 lds r25,(cnt.3330)+1 |
5181 326c 820F add r24,r18 |
5182 326e 931F adc r25,r19 |
5183 3270 9093 0000 sts (cnt.3330)+1,r25 |
5184 3274 8093 0000 sts cnt.3330,r24 |
5185 3278 D801 movw r26,r16 |
5186 327a C701 movw r24,r14 |
5187 327c 23E0 ldi r18,3 |
5188 327e B595 1: asr r27 |
5189 3280 A795 ror r26 |
5190 3282 9795 ror r25 |
5191 3284 8795 ror r24 |
5192 3286 2A95 dec r18 |
5193 3288 01F4 brne 1b |
5194 328a 8093 0000 sts ausgleichNick.3318,r24 |
5195 328e 9093 0000 sts (ausgleichNick.3318)+1,r25 |
5196 3292 A093 0000 sts (ausgleichNick.3318)+2,r26 |
5197 3296 B093 0000 sts (ausgleichNick.3318)+3,r27 |
5198 329a 8958 subi r24,lo8(5001) |
5199 329c 9341 sbci r25,hi8(5001) |
5200 329e A040 sbci r26,hlo8(5001) |
5201 32a0 B040 sbci r27,hhi8(5001) |
5202 32a2 04F0 brlt .L583 |
5203 32a4 88E8 ldi r24,lo8(5000) |
5204 32a6 93E1 ldi r25,hi8(5000) |
5205 32a8 A0E0 ldi r26,hlo8(5000) |
5206 32aa B0E0 ldi r27,hhi8(5000) |
5207 32ac 8093 0000 sts ausgleichNick.3318,r24 |
5208 32b0 9093 0000 sts (ausgleichNick.3318)+1,r25 |
5209 32b4 A093 0000 sts (ausgleichNick.3318)+2,r26 |
5210 32b8 B093 0000 sts (ausgleichNick.3318)+3,r27 |
5211 .L583: |
5212 32bc 6091 0000 lds r22,ausgleichNick.3318 |
5213 32c0 7091 0000 lds r23,(ausgleichNick.3318)+1 |
5214 32c4 8091 0000 lds r24,(ausgleichNick.3318)+2 |
5215 32c8 9091 0000 lds r25,(ausgleichNick.3318)+3 |
5216 32cc 20E0 ldi r18,lo8(256) |
5217 32ce 31E0 ldi r19,hi8(256) |
5218 32d0 40E0 ldi r20,hlo8(256) |
5219 32d2 50E0 ldi r21,hhi8(256) |
5220 32d4 0E94 0000 call __divmodsi4 |
5221 32d8 8091 0000 lds r24,LageKorrekturNick |
5222 32dc 9091 0000 lds r25,(LageKorrekturNick)+1 |
5223 32e0 820F add r24,r18 |
5224 32e2 931F adc r25,r19 |
5225 32e4 9093 0000 sts (LageKorrekturNick)+1,r25 |
5226 32e8 8093 0000 sts LageKorrekturNick,r24 |
5227 32ec 00C0 rjmp .L585 |
5228 .L581: |
5229 32ee 81E0 ldi r24,lo8(1) |
5230 32f0 8093 0000 sts last_n_p.3331,r24 |
5231 32f4 00C0 rjmp .L585 |
5232 .L579: |
5233 32f6 1092 0000 sts last_n_p.3331,__zero_reg__ |
5234 32fa F0E0 ldi r31,lo8(-4096) |
5235 32fc EF16 cp r14,r31 |
5236 32fe F0EF ldi r31,hi8(-4096) |
5237 3300 FF06 cpc r15,r31 |
5238 3302 FFEF ldi r31,hlo8(-4096) |
5239 3304 0F07 cpc r16,r31 |
5240 3306 FFEF ldi r31,hhi8(-4096) |
5241 3308 1F07 cpc r17,r31 |
5242 330a 04F0 brlt .+2 |
5243 330c 00C0 rjmp .L585 |
5244 330e 8091 0000 lds r24,last_n_n.3332 |
5245 3312 8823 tst r24 |
5246 3314 01F4 brne .+2 |
5247 3316 00C0 rjmp .L587 |
5248 3318 CA01 movw r24,r20 |
5249 331a B901 movw r22,r18 |
5250 331c 20E0 ldi r18,lo8(512) |
5251 331e 32E0 ldi r19,hi8(512) |
5252 3320 40E0 ldi r20,hlo8(512) |
5253 3322 50E0 ldi r21,hhi8(512) |
5254 3324 0E94 0000 call __divmodsi4 |
5255 3328 8091 0000 lds r24,cnt.3330 |
5256 332c 9091 0000 lds r25,(cnt.3330)+1 |
5257 3330 820F add r24,r18 |
5258 3332 931F adc r25,r19 |
5259 3334 9093 0000 sts (cnt.3330)+1,r25 |
5260 3338 8093 0000 sts cnt.3330,r24 |
5261 333c C801 movw r24,r16 |
5262 333e B701 movw r22,r14 |
5263 3340 28E0 ldi r18,lo8(8) |
5264 3342 30E0 ldi r19,hi8(8) |
5265 3344 40E0 ldi r20,hlo8(8) |
5266 3346 50E0 ldi r21,hhi8(8) |
5267 3348 0E94 0000 call __divmodsi4 |
5268 334c 2093 0000 sts ausgleichNick.3318,r18 |
5269 3350 3093 0000 sts (ausgleichNick.3318)+1,r19 |
5270 3354 4093 0000 sts (ausgleichNick.3318)+2,r20 |
5271 3358 5093 0000 sts (ausgleichNick.3318)+3,r21 |
5272 335c 2857 subi r18,lo8(-5000) |
5273 335e 3C4E sbci r19,hi8(-5000) |
5274 3360 4F4F sbci r20,hlo8(-5000) |
5275 3362 5F4F sbci r21,hhi8(-5000) |
5276 3364 04F4 brge .L589 |
5277 3366 88E7 ldi r24,lo8(-5000) |
5278 3368 9CEE ldi r25,hi8(-5000) |
5279 336a AFEF ldi r26,hlo8(-5000) |
5280 336c BFEF ldi r27,hhi8(-5000) |
5281 336e 8093 0000 sts ausgleichNick.3318,r24 |
5282 3372 9093 0000 sts (ausgleichNick.3318)+1,r25 |
5283 3376 A093 0000 sts (ausgleichNick.3318)+2,r26 |
5284 337a B093 0000 sts (ausgleichNick.3318)+3,r27 |
5285 .L589: |
5286 337e 6091 0000 lds r22,ausgleichNick.3318 |
5287 3382 7091 0000 lds r23,(ausgleichNick.3318)+1 |
5288 3386 8091 0000 lds r24,(ausgleichNick.3318)+2 |
5289 338a 9091 0000 lds r25,(ausgleichNick.3318)+3 |
5290 338e 20E0 ldi r18,lo8(256) |
5291 3390 31E0 ldi r19,hi8(256) |
5292 3392 40E0 ldi r20,hlo8(256) |
5293 3394 50E0 ldi r21,hhi8(256) |
5294 3396 0E94 0000 call __divmodsi4 |
5295 339a 8091 0000 lds r24,LageKorrekturNick |
5296 339e 9091 0000 lds r25,(LageKorrekturNick)+1 |
5297 33a2 820F add r24,r18 |
5298 33a4 931F adc r25,r19 |
5299 33a6 9093 0000 sts (LageKorrekturNick)+1,r25 |
5300 33aa 8093 0000 sts LageKorrekturNick,r24 |
5301 33ae 00C0 rjmp .L591 |
5302 .L587: |
5303 33b0 81E0 ldi r24,lo8(1) |
5304 33b2 8093 0000 sts last_n_n.3332,r24 |
5305 33b6 00C0 rjmp .L591 |
5306 .L585: |
5307 33b8 1092 0000 sts last_n_n.3332,__zero_reg__ |
5308 33bc 00C0 rjmp .L591 |
5309 .L578: |
5310 33be 1092 0000 sts (cnt.3330)+1,__zero_reg__ |
5311 33c2 1092 0000 sts cnt.3330,__zero_reg__ |
5312 33c6 88EE ldi r24,lo8(1000) |
5313 33c8 93E0 ldi r25,hi8(1000) |
5314 33ca 9093 0000 sts (KompassSignalSchlecht)+1,r25 |
5315 33ce 8093 0000 sts KompassSignalSchlecht,r24 |
5316 .L591: |
5317 33d2 7A8D ldd r23,Y+26 |
5318 33d4 672E mov r6,r23 |
5319 33d6 7724 clr r7 |
5320 33d8 8091 0000 lds r24,cnt.3330 |
5321 33dc 9091 0000 lds r25,(cnt.3330)+1 |
5322 33e0 6816 cp r6,r24 |
5323 33e2 7906 cpc r7,r25 |
5324 33e4 04F4 brge .L592 |
5325 33e6 7092 0000 sts (cnt.3330)+1,r7 |
5326 33ea 6092 0000 sts cnt.3330,r6 |
5327 .L592: |
5328 33ee 9090 0000 lds r9,FromNaviCtrl_Value+1 |
5329 33f2 9920 tst r9 |
5330 33f4 01F0 breq .L594 |
5331 33f6 292D mov r18,r9 |
5332 33f8 3327 clr r19 |
5333 33fa 27FD sbrc r18,7 |
5334 33fc 3095 com r19 |
5335 33fe 8091 0000 lds r24,cnt.3330 |
5336 3402 9091 0000 lds r25,(cnt.3330)+1 |
5337 3406 2817 cp r18,r24 |
5338 3408 3907 cpc r19,r25 |
5339 340a 04F4 brge .L594 |
5340 340c 3093 0000 sts (cnt.3330)+1,r19 |
5341 3410 2093 0000 sts cnt.3330,r18 |
5342 .L594: |
5343 3414 81E8 ldi r24,lo8(129) |
5344 3416 E816 cp r14,r24 |
5345 3418 F104 cpc r15,__zero_reg__ |
5346 341a 0105 cpc r16,__zero_reg__ |
5347 341c 1105 cpc r17,__zero_reg__ |
5348 341e 04F0 brlt .L597 |
5349 3420 8091 0000 lds r24,AdNeutralNick |
5350 3424 9091 0000 lds r25,(AdNeutralNick)+1 |
5351 3428 2091 0000 lds r18,cnt.3330 |
5352 342c 3091 0000 lds r19,(cnt.3330)+1 |
5353 3430 820F add r24,r18 |
5354 3432 931F adc r25,r19 |
5355 3434 9093 0000 sts (AdNeutralNick)+1,r25 |
5356 3438 8093 0000 sts AdNeutralNick,r24 |
5357 .L597: |
5358 343c 90E8 ldi r25,lo8(-128) |
5359 343e E916 cp r14,r25 |
5360 3440 9FEF ldi r25,hi8(-128) |
5361 3442 F906 cpc r15,r25 |
5362 3444 9FEF ldi r25,hlo8(-128) |
5363 3446 0907 cpc r16,r25 |
5364 3448 9FEF ldi r25,hhi8(-128) |
5365 344a 1907 cpc r17,r25 |
5366 344c 04F4 brge .L599 |
5367 344e 8091 0000 lds r24,AdNeutralNick |
5368 3452 9091 0000 lds r25,(AdNeutralNick)+1 |
5369 3456 2091 0000 lds r18,cnt.3330 |
5370 345a 3091 0000 lds r19,(cnt.3330)+1 |
5371 345e 821B sub r24,r18 |
5372 3460 930B sbc r25,r19 |
5373 3462 9093 0000 sts (AdNeutralNick)+1,r25 |
5374 3466 8093 0000 sts AdNeutralNick,r24 |
5375 .L599: |
5376 346a 81E0 ldi r24,lo8(1) |
5377 346c 90E0 ldi r25,hi8(1) |
5378 346e 9093 0000 sts (cnt.3330)+1,r25 |
5379 3472 8093 0000 sts cnt.3330,r24 |
5380 3476 A601 movw r20,r12 |
5381 3478 9501 movw r18,r10 |
5382 347a D7FE sbrs r13,7 |
5383 347c 00C0 rjmp .L601 |
5384 347e 2227 clr r18 |
5385 3480 3327 clr r19 |
5386 3482 A901 movw r20,r18 |
5387 3484 2A19 sub r18,r10 |
5388 3486 3B09 sbc r19,r11 |
5389 3488 4C09 sbc r20,r12 |
5390 348a 5D09 sbc r21,r13 |
5391 .L601: |
5392 348c 2130 cpi r18,lo8(513) |
5393 348e A2E0 ldi r26,hi8(513) |
5394 3490 3A07 cpc r19,r26 |
5395 3492 A0E0 ldi r26,hlo8(513) |
5396 3494 4A07 cpc r20,r26 |
5397 3496 A0E0 ldi r26,hhi8(513) |
5398 3498 5A07 cpc r21,r26 |
5399 349a 04F0 brlt .L602 |
5400 349c 84E0 ldi r24,lo8(4) |
5401 349e 90E0 ldi r25,hi8(4) |
5402 34a0 9093 0000 sts (cnt.3330)+1,r25 |
5403 34a4 8093 0000 sts cnt.3330,r24 |
5404 .L602: |
5405 34a8 8091 0000 lds r24,MittelIntegralRoll_Alt.3336 |
5406 34ac 9091 0000 lds r25,(MittelIntegralRoll_Alt.3336)+1 |
5407 34b0 A091 0000 lds r26,(MittelIntegralRoll_Alt.3336)+2 |
5408 34b4 B091 0000 lds r27,(MittelIntegralRoll_Alt.3336)+3 |
5409 34b8 EE88 ldd r14,Y+22 |
5410 34ba FF88 ldd r15,Y+23 |
5411 34bc 088D ldd r16,Y+24 |
5412 34be 198D ldd r17,Y+25 |
5413 34c0 8E19 sub r24,r14 |
5414 34c2 9F09 sbc r25,r15 |
5415 34c4 A00B sbc r26,r16 |
5416 34c6 B10B sbc r27,r17 |
5417 34c8 815E subi r24,lo8(-(19999)) |
5418 34ca 914B sbci r25,hi8(-(19999)) |
5419 34cc AF4F sbci r26,hlo8(-(19999)) |
5420 34ce BF4F sbci r27,hhi8(-(19999)) |
5421 34d0 8F53 subi r24,lo8(39999) |
5422 34d2 9C49 sbci r25,hi8(39999) |
5423 34d4 A040 sbci r26,hlo8(39999) |
5424 34d6 B040 sbci r27,hhi8(39999) |
5425 34d8 00F0 brlo .L604 |
5426 34da 18E1 ldi r17,lo8(24) |
5427 34dc 1915 cp r17,r9 |
5428 34de 04F0 brlt .+2 |
5429 34e0 00C0 rjmp .L606 |
5430 .L604: |
5431 34e2 61E0 ldi r22,lo8(4097) |
5432 34e4 A616 cp r10,r22 |
5433 34e6 60E1 ldi r22,hi8(4097) |
5434 34e8 B606 cpc r11,r22 |
5435 34ea 60E0 ldi r22,hlo8(4097) |
5436 34ec C606 cpc r12,r22 |
5437 34ee 60E0 ldi r22,hhi8(4097) |
5438 34f0 D606 cpc r13,r22 |
5439 34f2 04F4 brge .+2 |
5440 34f4 00C0 rjmp .L607 |
5441 34f6 8091 0000 lds r24,last_r_p.3333 |
5442 34fa 8823 tst r24 |
5443 34fc 01F4 brne .+2 |
5444 34fe 00C0 rjmp .L609 |
5445 3500 CA01 movw r24,r20 |
5446 3502 B901 movw r22,r18 |
5447 3504 20E0 ldi r18,lo8(512) |
5448 3506 32E0 ldi r19,hi8(512) |
5449 3508 40E0 ldi r20,hlo8(512) |
5450 350a 50E0 ldi r21,hhi8(512) |
5451 350c 0E94 0000 call __divmodsi4 |
5452 3510 8091 0000 lds r24,cnt.3330 |
5453 3514 9091 0000 lds r25,(cnt.3330)+1 |
5454 3518 820F add r24,r18 |
5455 351a 931F adc r25,r19 |
5456 351c 9093 0000 sts (cnt.3330)+1,r25 |
5457 3520 8093 0000 sts cnt.3330,r24 |
5458 3524 D601 movw r26,r12 |
5459 3526 C501 movw r24,r10 |
5460 3528 13E0 ldi r17,3 |
5461 352a B595 1: asr r27 |
5462 352c A795 ror r26 |
5463 352e 9795 ror r25 |
5464 3530 8795 ror r24 |
5465 3532 1A95 dec r17 |
5466 3534 01F4 brne 1b |
5467 3536 8093 0000 sts ausgleichRoll.3319,r24 |
5468 353a 9093 0000 sts (ausgleichRoll.3319)+1,r25 |
5469 353e A093 0000 sts (ausgleichRoll.3319)+2,r26 |
5470 3542 B093 0000 sts (ausgleichRoll.3319)+3,r27 |
5471 3546 8958 subi r24,lo8(5001) |
5472 3548 9341 sbci r25,hi8(5001) |
5473 354a A040 sbci r26,hlo8(5001) |
5474 354c B040 sbci r27,hhi8(5001) |
5475 354e 04F0 brlt .L611 |
5476 3550 88E8 ldi r24,lo8(5000) |
5477 3552 93E1 ldi r25,hi8(5000) |
5478 3554 A0E0 ldi r26,hlo8(5000) |
5479 3556 B0E0 ldi r27,hhi8(5000) |
5480 3558 8093 0000 sts ausgleichRoll.3319,r24 |
5481 355c 9093 0000 sts (ausgleichRoll.3319)+1,r25 |
5482 3560 A093 0000 sts (ausgleichRoll.3319)+2,r26 |
5483 3564 B093 0000 sts (ausgleichRoll.3319)+3,r27 |
5484 .L611: |
5485 3568 6091 0000 lds r22,ausgleichRoll.3319 |
5486 356c 7091 0000 lds r23,(ausgleichRoll.3319)+1 |
5487 3570 8091 0000 lds r24,(ausgleichRoll.3319)+2 |
5488 3574 9091 0000 lds r25,(ausgleichRoll.3319)+3 |
5489 3578 20E0 ldi r18,lo8(256) |
5490 357a 31E0 ldi r19,hi8(256) |
5491 357c 40E0 ldi r20,hlo8(256) |
5492 357e 50E0 ldi r21,hhi8(256) |
5493 3580 0E94 0000 call __divmodsi4 |
5494 3584 8091 0000 lds r24,LageKorrekturRoll |
5495 3588 9091 0000 lds r25,(LageKorrekturRoll)+1 |
5496 358c 820F add r24,r18 |
5497 358e 931F adc r25,r19 |
5498 3590 9093 0000 sts (LageKorrekturRoll)+1,r25 |
5499 3594 8093 0000 sts LageKorrekturRoll,r24 |
5500 3598 00C0 rjmp .L613 |
5501 .L609: |
5502 359a 81E0 ldi r24,lo8(1) |
5503 359c 8093 0000 sts last_r_p.3333,r24 |
5504 35a0 00C0 rjmp .L613 |
5505 .L607: |
5506 35a2 1092 0000 sts last_r_p.3333,__zero_reg__ |
5507 35a6 80E0 ldi r24,lo8(-4096) |
5508 35a8 A816 cp r10,r24 |
5509 35aa 80EF ldi r24,hi8(-4096) |
5510 35ac B806 cpc r11,r24 |
5511 35ae 8FEF ldi r24,hlo8(-4096) |
5512 35b0 C806 cpc r12,r24 |
5513 35b2 8FEF ldi r24,hhi8(-4096) |
5514 35b4 D806 cpc r13,r24 |
5515 35b6 04F0 brlt .+2 |
5516 35b8 00C0 rjmp .L613 |
5517 35ba 8091 0000 lds r24,last_r_n.3334 |
5518 35be 8823 tst r24 |
5519 35c0 01F4 brne .+2 |
5520 35c2 00C0 rjmp .L615 |
5521 35c4 CA01 movw r24,r20 |
5522 35c6 B901 movw r22,r18 |
5523 35c8 20E0 ldi r18,lo8(512) |
5524 35ca 32E0 ldi r19,hi8(512) |
5525 35cc 40E0 ldi r20,hlo8(512) |
5526 35ce 50E0 ldi r21,hhi8(512) |
5527 35d0 0E94 0000 call __divmodsi4 |
5528 35d4 8091 0000 lds r24,cnt.3330 |
5529 35d8 9091 0000 lds r25,(cnt.3330)+1 |
5530 35dc 820F add r24,r18 |
5531 35de 931F adc r25,r19 |
5532 35e0 9093 0000 sts (cnt.3330)+1,r25 |
5533 35e4 8093 0000 sts cnt.3330,r24 |
5534 35e8 C601 movw r24,r12 |
5535 35ea B501 movw r22,r10 |
5536 35ec 28E0 ldi r18,lo8(8) |
5537 35ee 30E0 ldi r19,hi8(8) |
5538 35f0 40E0 ldi r20,hlo8(8) |
5539 35f2 50E0 ldi r21,hhi8(8) |
5540 35f4 0E94 0000 call __divmodsi4 |
5541 35f8 2093 0000 sts ausgleichRoll.3319,r18 |
5542 35fc 3093 0000 sts (ausgleichRoll.3319)+1,r19 |
5543 3600 4093 0000 sts (ausgleichRoll.3319)+2,r20 |
5544 3604 5093 0000 sts (ausgleichRoll.3319)+3,r21 |
5545 3608 2857 subi r18,lo8(-5000) |
5546 360a 3C4E sbci r19,hi8(-5000) |
5547 360c 4F4F sbci r20,hlo8(-5000) |
5548 360e 5F4F sbci r21,hhi8(-5000) |
5549 3610 04F4 brge .L617 |
5550 3612 88E7 ldi r24,lo8(-5000) |
5551 3614 9CEE ldi r25,hi8(-5000) |
5552 3616 AFEF ldi r26,hlo8(-5000) |
5553 3618 BFEF ldi r27,hhi8(-5000) |
5554 361a 8093 0000 sts ausgleichRoll.3319,r24 |
5555 361e 9093 0000 sts (ausgleichRoll.3319)+1,r25 |
5556 3622 A093 0000 sts (ausgleichRoll.3319)+2,r26 |
5557 3626 B093 0000 sts (ausgleichRoll.3319)+3,r27 |
5558 .L617: |
5559 362a 6091 0000 lds r22,ausgleichRoll.3319 |
5560 362e 7091 0000 lds r23,(ausgleichRoll.3319)+1 |
5561 3632 8091 0000 lds r24,(ausgleichRoll.3319)+2 |
5562 3636 9091 0000 lds r25,(ausgleichRoll.3319)+3 |
5563 363a 20E0 ldi r18,lo8(256) |
5564 363c 31E0 ldi r19,hi8(256) |
5565 363e 40E0 ldi r20,hlo8(256) |
5566 3640 50E0 ldi r21,hhi8(256) |
5567 3642 0E94 0000 call __divmodsi4 |
5568 3646 8091 0000 lds r24,LageKorrekturRoll |
5569 364a 9091 0000 lds r25,(LageKorrekturRoll)+1 |
5570 364e 820F add r24,r18 |
5571 3650 931F adc r25,r19 |
5572 3652 9093 0000 sts (LageKorrekturRoll)+1,r25 |
5573 3656 8093 0000 sts LageKorrekturRoll,r24 |
5574 365a 00C0 rjmp .L619 |
5575 .L615: |
5576 365c 81E0 ldi r24,lo8(1) |
5577 365e 8093 0000 sts last_r_n.3334,r24 |
5578 3662 00C0 rjmp .L619 |
5579 .L613: |
5580 3664 1092 0000 sts last_r_n.3334,__zero_reg__ |
5581 3668 00C0 rjmp .L619 |
5582 .L606: |
5583 366a 1092 0000 sts (cnt.3330)+1,__zero_reg__ |
5584 366e 1092 0000 sts cnt.3330,__zero_reg__ |
5585 3672 88EE ldi r24,lo8(1000) |
5586 3674 93E0 ldi r25,hi8(1000) |
5587 3676 9093 0000 sts (KompassSignalSchlecht)+1,r25 |
5588 367a 8093 0000 sts KompassSignalSchlecht,r24 |
5589 .L619: |
5590 367e 8091 0000 lds r24,cnt.3330 |
5591 3682 9091 0000 lds r25,(cnt.3330)+1 |
5592 3686 6816 cp r6,r24 |
5593 3688 7906 cpc r7,r25 |
5594 368a 04F4 brge .L620 |
5595 368c 7092 0000 sts (cnt.3330)+1,r7 |
5596 3690 6092 0000 sts cnt.3330,r6 |
5597 .L620: |
5598 3694 9920 tst r9 |
5599 3696 01F0 breq .L622 |
5600 3698 292D mov r18,r9 |
5601 369a 3327 clr r19 |
5602 369c 27FD sbrc r18,7 |
5603 369e 3095 com r19 |
5604 36a0 8091 0000 lds r24,cnt.3330 |
5605 36a4 9091 0000 lds r25,(cnt.3330)+1 |
5606 36a8 2817 cp r18,r24 |
5607 36aa 3907 cpc r19,r25 |
5608 36ac 04F4 brge .L622 |
5609 36ae 3093 0000 sts (cnt.3330)+1,r19 |
5610 36b2 2093 0000 sts cnt.3330,r18 |
5611 .L622: |
5612 36b6 A1E8 ldi r26,lo8(129) |
5613 36b8 AA16 cp r10,r26 |
5614 36ba B104 cpc r11,__zero_reg__ |
5615 36bc C104 cpc r12,__zero_reg__ |
5616 36be D104 cpc r13,__zero_reg__ |
5617 36c0 04F0 brlt .L625 |
5618 36c2 8091 0000 lds r24,AdNeutralRoll |
5619 36c6 9091 0000 lds r25,(AdNeutralRoll)+1 |
5620 36ca 2091 0000 lds r18,cnt.3330 |
5621 36ce 3091 0000 lds r19,(cnt.3330)+1 |
5622 36d2 820F add r24,r18 |
5623 36d4 931F adc r25,r19 |
5624 36d6 9093 0000 sts (AdNeutralRoll)+1,r25 |
5625 36da 8093 0000 sts AdNeutralRoll,r24 |
5626 .L625: |
5627 36de B0E8 ldi r27,lo8(-128) |
5628 36e0 AB16 cp r10,r27 |
5629 36e2 BFEF ldi r27,hi8(-128) |
5630 36e4 BB06 cpc r11,r27 |
5631 36e6 BFEF ldi r27,hlo8(-128) |
5632 36e8 CB06 cpc r12,r27 |
5633 36ea BFEF ldi r27,hhi8(-128) |
5634 36ec DB06 cpc r13,r27 |
5635 36ee 04F4 brge .L627 |
5636 36f0 8091 0000 lds r24,AdNeutralRoll |
5637 36f4 9091 0000 lds r25,(AdNeutralRoll)+1 |
5638 36f8 2091 0000 lds r18,cnt.3330 |
5639 36fc 3091 0000 lds r19,(cnt.3330)+1 |
5640 3700 821B sub r24,r18 |
5641 3702 930B sbc r25,r19 |
5642 3704 9093 0000 sts (AdNeutralRoll)+1,r25 |
5643 3708 8093 0000 sts AdNeutralRoll,r24 |
5644 370c 00C0 rjmp .L627 |
5645 .L558: |
5646 370e 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__ |
5647 3712 1092 0000 sts LageKorrekturRoll,__zero_reg__ |
5648 3716 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__ |
5649 371a 1092 0000 sts LageKorrekturNick,__zero_reg__ |
5650 371e 1092 0000 sts TrichterFlug,__zero_reg__ |
5651 .L627: |
5652 3722 8091 0000 lds r24,IntegralFaktor |
5653 3726 8823 tst r24 |
5654 3728 01F4 brne .L629 |
5655 372a 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__ |
5656 372e 1092 0000 sts LageKorrekturRoll,__zero_reg__ |
5657 3732 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__ |
5658 3736 1092 0000 sts LageKorrekturNick,__zero_reg__ |
5659 .L629: |
5660 373a 8091 0000 lds r24,MittelIntegralNick |
5661 373e 9091 0000 lds r25,(MittelIntegralNick)+1 |
5662 3742 A091 0000 lds r26,(MittelIntegralNick)+2 |
5663 3746 B091 0000 lds r27,(MittelIntegralNick)+3 |
5664 374a 8093 0000 sts MittelIntegralNick_Alt.3335,r24 |
5665 374e 9093 0000 sts (MittelIntegralNick_Alt.3335)+1,r25 |
5666 3752 A093 0000 sts (MittelIntegralNick_Alt.3335)+2,r26 |
5667 3756 B093 0000 sts (MittelIntegralNick_Alt.3335)+3,r27 |
5668 375a 8091 0000 lds r24,MittelIntegralRoll |
5669 375e 9091 0000 lds r25,(MittelIntegralRoll)+1 |
5670 3762 A091 0000 lds r26,(MittelIntegralRoll)+2 |
5671 3766 B091 0000 lds r27,(MittelIntegralRoll)+3 |
5672 376a 8093 0000 sts MittelIntegralRoll_Alt.3336,r24 |
5673 376e 9093 0000 sts (MittelIntegralRoll_Alt.3336)+1,r25 |
5674 3772 A093 0000 sts (MittelIntegralRoll_Alt.3336)+2,r26 |
5675 3776 B093 0000 sts (MittelIntegralRoll_Alt.3336)+3,r27 |
5676 377a 1092 0000 sts IntegralAccNick,__zero_reg__ |
5677 377e 1092 0000 sts (IntegralAccNick)+1,__zero_reg__ |
5678 3782 1092 0000 sts (IntegralAccNick)+2,__zero_reg__ |
5679 3786 1092 0000 sts (IntegralAccNick)+3,__zero_reg__ |
5680 378a 1092 0000 sts IntegralAccRoll,__zero_reg__ |
5681 378e 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__ |
5682 3792 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__ |
5683 3796 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__ |
5684 379a 1092 0000 sts IntegralAccZ,__zero_reg__ |
5685 379e 1092 0000 sts (IntegralAccZ)+1,__zero_reg__ |
5686 37a2 1092 0000 sts (IntegralAccZ)+2,__zero_reg__ |
5687 37a6 1092 0000 sts (IntegralAccZ)+3,__zero_reg__ |
5688 37aa 1092 0000 sts MittelIntegralNick,__zero_reg__ |
5689 37ae 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__ |
5690 37b2 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__ |
5691 37b6 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__ |
5692 37ba 1092 0000 sts MittelIntegralRoll,__zero_reg__ |
5693 37be 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__ |
5694 37c2 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__ |
5695 37c6 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__ |
5696 37ca 1092 0000 sts MittelIntegralNick2,__zero_reg__ |
5697 37ce 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__ |
5698 37d2 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__ |
5699 37d6 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__ |
5700 37da 1092 0000 sts MittelIntegralRoll2,__zero_reg__ |
5701 37de 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__ |
5702 37e2 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__ |
5703 37e6 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__ |
5704 37ea 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__ |
5705 37ee 1092 0000 sts ZaehlMessungen,__zero_reg__ |
5706 .L556: |
5707 37f2 C090 0000 lds r12,StickGier |
5708 37f6 D090 0000 lds r13,(StickGier)+1 |
5709 37fa 8601 movw r16,r12 |
5710 37fc D7FE sbrs r13,7 |
5711 37fe 00C0 rjmp .L631 |
5712 3800 0027 clr r16 |
5713 3802 1127 clr r17 |
5714 3804 0C19 sub r16,r12 |
5715 3806 1D09 sbc r17,r13 |
5716 .L631: |
5717 3808 0031 cpi r16,16 |
5718 380a 1105 cpc r17,__zero_reg__ |
5719 380c 04F0 brlt .L632 |
5720 380e 88EE ldi r24,lo8(1000) |
5721 3810 93E0 ldi r25,hi8(1000) |
5722 3812 9093 0000 sts (KompassSignalSchlecht)+1,r25 |
5723 3816 8093 0000 sts KompassSignalSchlecht,r24 |
5724 381a 8091 0000 lds r24,EE_Parameter+13 |
5725 381e 84FD sbrc r24,4 |
5726 3820 00C0 rjmp .L632 |
5727 3822 81E0 ldi r24,lo8(1) |
5728 3824 8093 0000 sts NeueKompassRichtungMerken.3317,r24 |
5729 .L632: |
5730 3828 E090 0000 lds r14,EE_Parameter+25 |
5731 382c B601 movw r22,r12 |
5732 382e 8827 clr r24 |
5733 3830 77FD sbrc r23,7 |
5734 3832 8095 com r24 |
5735 3834 982F mov r25,r24 |
5736 3836 2E2D mov r18,r14 |
5737 3838 30E0 ldi r19,lo8(0) |
5738 383a 40E0 ldi r20,lo8(0) |
5739 383c 50E0 ldi r21,hi8(0) |
5740 383e 0E94 0000 call __mulsi3 |
5741 3842 9801 movw r18,r16 |
5742 3844 4427 clr r20 |
5743 3846 37FD sbrc r19,7 |
5744 3848 4095 com r20 |
5745 384a 542F mov r21,r20 |
5746 384c 0E94 0000 call __mulsi3 |
5747 3850 20E0 ldi r18,lo8(512) |
5748 3852 32E0 ldi r19,hi8(512) |
5749 3854 40E0 ldi r20,hlo8(512) |
5750 3856 50E0 ldi r21,hhi8(512) |
5751 3858 0E94 0000 call __divmodsi4 |
5752 385c 8901 movw r16,r18 |
5753 385e 9A01 movw r18,r20 |
5754 3860 FF24 clr r15 |
5755 3862 EC9C mul r14,r12 |
5756 3864 C001 movw r24,r0 |
5757 3866 ED9C mul r14,r13 |
5758 3868 900D add r25,r0 |
5759 386a FC9C mul r15,r12 |
5760 386c 900D add r25,r0 |
5761 386e 1124 clr r1 |
5762 3870 64E0 ldi r22,lo8(4) |
5763 3872 70E0 ldi r23,hi8(4) |
5764 3874 0E94 0000 call __divmodhi4 |
5765 3878 600F add r22,r16 |
5766 387a 711F adc r23,r17 |
5767 387c 8827 clr r24 |
5768 387e 77FD sbrc r23,7 |
5769 3880 8095 com r24 |
5770 3882 982F mov r25,r24 |
5771 3884 6093 0000 sts sollGier.3307,r22 |
5772 3888 7093 0000 sts (sollGier.3307)+1,r23 |
5773 388c 8093 0000 sts (sollGier.3307)+2,r24 |
5774 3890 9093 0000 sts (sollGier.3307)+3,r25 |
5775 3894 2091 0000 lds r18,Mess_Integral_Gier |
5776 3898 3091 0000 lds r19,(Mess_Integral_Gier)+1 |
5777 389c 4091 0000 lds r20,(Mess_Integral_Gier)+2 |
5778 38a0 5091 0000 lds r21,(Mess_Integral_Gier)+3 |
5779 38a4 261B sub r18,r22 |
5780 38a6 370B sbc r19,r23 |
5781 38a8 480B sbc r20,r24 |
5782 38aa 590B sbc r21,r25 |
5783 38ac 2093 0000 sts Mess_Integral_Gier,r18 |
5784 38b0 3093 0000 sts (Mess_Integral_Gier)+1,r19 |
5785 38b4 4093 0000 sts (Mess_Integral_Gier)+2,r20 |
5786 38b8 5093 0000 sts (Mess_Integral_Gier)+3,r21 |
5787 38bc 2155 subi r18,lo8(50001) |
5788 38be 334C sbci r19,hi8(50001) |
5789 38c0 4040 sbci r20,hlo8(50001) |
5790 38c2 5040 sbci r21,hhi8(50001) |
5791 38c4 04F0 brlt .L635 |
5792 38c6 80E5 ldi r24,lo8(50000) |
5793 38c8 93EC ldi r25,hi8(50000) |
5794 38ca A0E0 ldi r26,hlo8(50000) |
5795 38cc B0E0 ldi r27,hhi8(50000) |
5796 38ce 8093 0000 sts Mess_Integral_Gier,r24 |
5797 38d2 9093 0000 sts (Mess_Integral_Gier)+1,r25 |
5798 38d6 A093 0000 sts (Mess_Integral_Gier)+2,r26 |
5799 38da B093 0000 sts (Mess_Integral_Gier)+3,r27 |
5800 .L635: |
5801 38de 8091 0000 lds r24,Mess_Integral_Gier |
5802 38e2 9091 0000 lds r25,(Mess_Integral_Gier)+1 |
5803 38e6 A091 0000 lds r26,(Mess_Integral_Gier)+2 |
5804 38ea B091 0000 lds r27,(Mess_Integral_Gier)+3 |
5805 38ee 805B subi r24,lo8(-50000) |
5806 38f0 9C43 sbci r25,hi8(-50000) |
5807 38f2 AF4F sbci r26,hlo8(-50000) |
5808 38f4 BF4F sbci r27,hhi8(-50000) |
5809 38f6 04F4 brge .L637 |
5810 38f8 80EB ldi r24,lo8(-50000) |
5811 38fa 9CE3 ldi r25,hi8(-50000) |
5812 38fc AFEF ldi r26,hlo8(-50000) |
5813 38fe BFEF ldi r27,hhi8(-50000) |
5814 3900 8093 0000 sts Mess_Integral_Gier,r24 |
5815 3904 9093 0000 sts (Mess_Integral_Gier)+1,r25 |
5816 3908 A093 0000 sts (Mess_Integral_Gier)+2,r26 |
5817 390c B093 0000 sts (Mess_Integral_Gier)+3,r27 |
5818 .L637: |
5819 3910 8090 0000 lds r8,KompassValue |
5820 3914 9090 0000 lds r9,(KompassValue)+1 |
5821 3918 8114 cp r8,__zero_reg__ |
5822 391a 9104 cpc r9,__zero_reg__ |
5823 391c 01F4 brne .+2 |
5824 391e 00C0 rjmp .L639 |
5825 3920 8091 0000 lds r24,EE_Parameter+13 |
5826 3924 83FF sbrs r24,3 |
5827 3926 00C0 rjmp .L639 |
5828 3928 6981 ldd r22,Y+1 |
5829 392a 7A81 ldd r23,Y+2 |
5830 392c 8B81 ldd r24,Y+3 |
5831 392e 9C81 ldd r25,Y+4 |
5832 3930 20E0 ldi r18,lo8(512) |
5833 3932 32E0 ldi r19,hi8(512) |
5834 3934 40E0 ldi r20,hlo8(512) |
5835 3936 50E0 ldi r21,hhi8(512) |
5836 3938 0E94 0000 call __divmodsi4 |
5837 393c 8901 movw r16,r18 |
5838 393e 37FF sbrs r19,7 |
5839 3940 00C0 rjmp .L642 |
5840 3942 1095 com r17 |
5841 3944 0195 neg r16 |
5842 3946 1F4F sbci r17,lo8(-1) |
5843 .L642: |
5844 3948 6D81 ldd r22,Y+5 |
5845 394a 7E81 ldd r23,Y+6 |
5846 394c 8F81 ldd r24,Y+7 |
5847 394e 9885 ldd r25,Y+8 |
5848 3950 20E0 ldi r18,lo8(512) |
5849 3952 32E0 ldi r19,hi8(512) |
5850 3954 40E0 ldi r20,hlo8(512) |
5851 3956 50E0 ldi r21,hhi8(512) |
5852 3958 0E94 0000 call __divmodsi4 |
5853 395c 6901 movw r12,r18 |
5854 395e 37FF sbrs r19,7 |
5855 3960 00C0 rjmp .L643 |
5856 3962 D094 com r13 |
5857 3964 C194 neg r12 |
5858 3966 D108 sbc r13,__zero_reg__ |
5859 3968 D394 inc r13 |
5860 .L643: |
5861 396a C016 cp r12,r16 |
5862 396c D106 cpc r13,r17 |
5863 396e 04F4 brge .L644 |
5864 3970 6801 movw r12,r16 |
5865 .L644: |
5866 3972 4090 0000 lds r4,GIER_GRAD_FAKTOR |
5867 3976 5090 0000 lds r5,(GIER_GRAD_FAKTOR)+1 |
5868 397a 6090 0000 lds r6,(GIER_GRAD_FAKTOR)+2 |
5869 397e 7090 0000 lds r7,(GIER_GRAD_FAKTOR)+3 |
5870 3982 ACE1 ldi r26,lo8(540) |
5871 3984 EA2E mov r14,r26 |
5872 3986 A2E0 ldi r26,hi8(540) |
5873 3988 FA2E mov r15,r26 |
5874 398a 8E0C add r8,r14 |
5875 398c 9F1C adc r9,r15 |
5876 398e 7401 movw r14,r8 |
5877 3990 0027 clr r16 |
5878 3992 F7FC sbrc r15,7 |
5879 3994 0095 com r16 |
5880 3996 102F mov r17,r16 |
5881 3998 24EE ldi r18,lo8(-540) |
5882 399a 3DEF ldi r19,hi8(-540) |
5883 399c 820E add r8,r18 |
5884 399e 931E adc r9,r19 |
5885 39a0 6091 0000 lds r22,ErsatzKompass |
5886 39a4 7091 0000 lds r23,(ErsatzKompass)+1 |
5887 39a8 8091 0000 lds r24,(ErsatzKompass)+2 |
5888 39ac 9091 0000 lds r25,(ErsatzKompass)+3 |
5889 39b0 A301 movw r20,r6 |
5890 39b2 9201 movw r18,r4 |
5891 39b4 0E94 0000 call __divmodsi4 |
5892 39b8 E21A sub r14,r18 |
5893 39ba F30A sbc r15,r19 |
5894 39bc 040B sbc r16,r20 |
5895 39be 150B sbc r17,r21 |
5896 39c0 C801 movw r24,r16 |
5897 39c2 B701 movw r22,r14 |
5898 39c4 28E6 ldi r18,lo8(360) |
5899 39c6 31E0 ldi r19,hi8(360) |
5900 39c8 40E0 ldi r20,hlo8(360) |
5901 39ca 50E0 ldi r21,hhi8(360) |
5902 39cc 0E94 0000 call __divmodsi4 |
5903 39d0 FCE4 ldi r31,lo8(-180) |
5904 39d2 AF2E mov r10,r31 |
5905 39d4 FFEF ldi r31,hi8(-180) |
5906 39d6 BF2E mov r11,r31 |
5907 39d8 A60E add r10,r22 |
5908 39da B71E adc r11,r23 |
5909 39dc E090 0000 lds r14,KompassSignalSchlecht |
5910 39e0 F090 0000 lds r15,(KompassSignalSchlecht)+1 |
5911 39e4 E114 cp r14,__zero_reg__ |
5912 39e6 F104 cpc r15,__zero_reg__ |
5913 39e8 01F4 brne .L645 |
5914 39ea 39E1 ldi r19,lo8(25) |
5915 39ec C316 cp r12,r19 |
5916 39ee D104 cpc r13,__zero_reg__ |
5917 39f0 04F4 brge .L645 |
5918 39f2 8091 0000 lds r24,GierGyroFehler |
5919 39f6 9091 0000 lds r25,(GierGyroFehler)+1 |
5920 39fa 8A0D add r24,r10 |
5921 39fc 9B1D adc r25,r11 |
5922 39fe 9093 0000 sts (GierGyroFehler)+1,r25 |
5923 3a02 8093 0000 sts GierGyroFehler,r24 |
5924 3a06 8091 0000 lds r24,NeueKompassRichtungMerken.3317 |
5925 3a0a 8823 tst r24 |
5926 3a0c 01F0 breq .L645 |
5927 3a0e B401 movw r22,r8 |
5928 3a10 8827 clr r24 |
5929 3a12 77FD sbrc r23,7 |
5930 3a14 8095 com r24 |
5931 3a16 982F mov r25,r24 |
5932 3a18 A301 movw r20,r6 |
5933 3a1a 9201 movw r18,r4 |
5934 3a1c 0E94 0000 call __mulsi3 |
5935 3a20 6093 0000 sts ErsatzKompass,r22 |
5936 3a24 7093 0000 sts (ErsatzKompass)+1,r23 |
5937 3a28 8093 0000 sts (ErsatzKompass)+2,r24 |
5938 3a2c 9093 0000 sts (ErsatzKompass)+3,r25 |
5939 3a30 0E94 0000 call __divmodsi4 |
5940 3a34 3093 0000 sts (KompassStartwert)+1,r19 |
5941 3a38 2093 0000 sts KompassStartwert,r18 |
5942 3a3c 1092 0000 sts NeueKompassRichtungMerken.3317,__zero_reg__ |
5943 .L645: |
5944 3a40 0091 0000 lds r16,ErsatzKompass |
5945 3a44 1091 0000 lds r17,(ErsatzKompass)+1 |
5946 3a48 2091 0000 lds r18,(ErsatzKompass)+2 |
5947 3a4c 3091 0000 lds r19,(ErsatzKompass)+3 |
5948 3a50 C601 movw r24,r12 |
5949 3a52 68E0 ldi r22,lo8(8) |
5950 3a54 70E0 ldi r23,hi8(8) |
5951 3a56 0E94 0000 call __divmodhi4 |
5952 3a5a 6E5F subi r22,lo8(-(2)) |
5953 3a5c 7F4F sbci r23,hi8(-(2)) |
5954 3a5e C501 movw r24,r10 |
5955 3a60 E4E0 ldi r30,4 |
5956 3a62 880F 1: lsl r24 |
5957 3a64 991F rol r25 |
5958 3a66 EA95 dec r30 |
5959 3a68 01F4 brne 1b |
5960 3a6a 0E94 0000 call __divmodhi4 |
5961 3a6e 4B01 movw r8,r22 |
5962 3a70 AA24 clr r10 |
5963 3a72 97FC sbrc r9,7 |
5964 3a74 A094 com r10 |
5965 3a76 BA2C mov r11,r10 |
5966 3a78 800E add r8,r16 |
5967 3a7a 911E adc r9,r17 |
5968 3a7c A21E adc r10,r18 |
5969 3a7e B31E adc r11,r19 |
5970 3a80 8092 0000 sts ErsatzKompass,r8 |
5971 3a84 9092 0000 sts (ErsatzKompass)+1,r9 |
5972 3a88 A092 0000 sts (ErsatzKompass)+2,r10 |
5973 3a8c B092 0000 sts (ErsatzKompass)+3,r11 |
5974 3a90 8091 0000 lds r24,Parameter_KompassWirkung |
5975 3a94 482F mov r20,r24 |
5976 3a96 50E0 ldi r21,lo8(0) |
5977 3a98 5CAB std Y+52,r21 |
5978 3a9a 4BAB std Y+51,r20 |
5979 3a9c C49E mul r12,r20 |
5980 3a9e C001 movw r24,r0 |
5981 3aa0 C59E mul r12,r21 |
5982 3aa2 900D add r25,r0 |
5983 3aa4 D49E mul r13,r20 |
5984 3aa6 900D add r25,r0 |
5985 3aa8 1124 clr r1 |
5986 3aaa 60E2 ldi r22,lo8(32) |
5987 3aac 70E0 ldi r23,hi8(32) |
5988 3aae 0E94 0000 call __divmodhi4 |
5989 3ab2 2BA8 ldd r2,Y+51 |
5990 3ab4 3CA8 ldd r3,Y+52 |
5991 3ab6 261A sub r2,r22 |
5992 3ab8 370A sbc r3,r23 |
5993 3aba 37FC sbrc r3,7 |
5994 3abc 00C0 rjmp .L649 |
5995 3abe E114 cp r14,__zero_reg__ |
5996 3ac0 F104 cpc r15,__zero_reg__ |
5997 3ac2 01F0 breq .+4 |
5998 3ac4 0C94 0000 jmp .L651 |
5999 3ac8 8091 0000 lds r24,MaxStickRoll |
6000 3acc 9091 0000 lds r25,(MaxStickRoll)+1 |
6001 3ad0 2091 0000 lds r18,MaxStickNick |
6002 3ad4 3091 0000 lds r19,(MaxStickNick)+1 |
6003 3ad8 820F add r24,r18 |
6004 3ada 931F adc r25,r19 |
6005 3adc 68E0 ldi r22,lo8(8) |
6006 3ade 70E0 ldi r23,hi8(8) |
6007 3ae0 0E94 0000 call __divmodhi4 |
6008 3ae4 6B01 movw r12,r22 |
6009 3ae6 60E4 ldi r22,lo8(64) |
6010 3ae8 70E0 ldi r23,hi8(64) |
6011 3aea C60E add r12,r22 |
6012 3aec D71E adc r13,r23 |
6013 3aee 8091 0000 lds r24,KompassStartwert |
6014 3af2 9091 0000 lds r25,(KompassStartwert)+1 |
6015 3af6 AA27 clr r26 |
6016 3af8 97FD sbrc r25,7 |
6017 3afa A095 com r26 |
6018 3afc BA2F mov r27,r26 |
6019 3afe 5CE1 ldi r21,lo8(540) |
6020 3b00 E52E mov r14,r21 |
6021 3b02 52E0 ldi r21,hi8(540) |
6022 3b04 F52E mov r15,r21 |
6023 3b06 012D mov r16,__zero_reg__ |
6024 3b08 112D mov r17,__zero_reg__ |
6025 3b0a E81A sub r14,r24 |
6026 3b0c F90A sbc r15,r25 |
6027 3b0e 0A0B sbc r16,r26 |
6028 3b10 1B0B sbc r17,r27 |
6029 3b12 C501 movw r24,r10 |
6030 3b14 B401 movw r22,r8 |
6031 3b16 A301 movw r20,r6 |
6032 3b18 9201 movw r18,r4 |
6033 3b1a 0E94 0000 call __divmodsi4 |
6034 3b1e E20E add r14,r18 |
6035 3b20 F31E adc r15,r19 |
6036 3b22 041F adc r16,r20 |
6037 3b24 151F adc r17,r21 |
6038 3b26 C801 movw r24,r16 |
6039 3b28 B701 movw r22,r14 |
6040 3b2a 28E6 ldi r18,lo8(360) |
6041 3b2c 31E0 ldi r19,hi8(360) |
6042 3b2e 40E0 ldi r20,hlo8(360) |
6043 3b30 50E0 ldi r21,hhi8(360) |
6044 3b32 0E94 0000 call __divmodsi4 |
6045 3b36 645B subi r22,lo8(-(-180)) |
6046 3b38 7040 sbci r23,hi8(-(-180)) |
6047 3b3a 629D mul r22,r2 |
6048 3b3c C001 movw r24,r0 |
6049 3b3e 639D mul r22,r3 |
6050 3b40 900D add r25,r0 |
6051 3b42 729D mul r23,r2 |
6052 3b44 900D add r25,r0 |
6053 3b46 1124 clr r1 |
6054 3b48 B601 movw r22,r12 |
6055 3b4a 0E94 0000 call __divmodhi4 |
6056 3b4e 2BA9 ldd r18,Y+51 |
6057 3b50 3CA9 ldd r19,Y+52 |
6058 3b52 220F lsl r18 |
6059 3b54 331F rol r19 |
6060 3b56 8BA9 ldd r24,Y+51 |
6061 3b58 9CA9 ldd r25,Y+52 |
6062 3b5a 280F add r18,r24 |
6063 3b5c 391F adc r19,r25 |
6064 3b5e 2617 cp r18,r22 |
6065 3b60 3707 cpc r19,r23 |
6066 3b62 04F0 brlt .L916 |
6067 3b64 3095 com r19 |
6068 3b66 2195 neg r18 |
6069 3b68 3F4F sbci r19,lo8(-1) |
6070 3b6a 6217 cp r22,r18 |
6071 3b6c 7307 cpc r23,r19 |
6072 3b6e 04F4 brge .L655 |
6073 .L916: |
6074 3b70 B901 movw r22,r18 |
6075 .L655: |
6076 3b72 9B01 movw r18,r22 |
6077 3b74 4427 clr r20 |
6078 3b76 37FD sbrc r19,7 |
6079 3b78 4095 com r20 |
6080 3b7a 542F mov r21,r20 |
6081 3b7c 8091 0000 lds r24,Mess_Integral_Gier |
6082 3b80 9091 0000 lds r25,(Mess_Integral_Gier)+1 |
6083 3b84 A091 0000 lds r26,(Mess_Integral_Gier)+2 |
6084 3b88 B091 0000 lds r27,(Mess_Integral_Gier)+3 |
6085 3b8c 820F add r24,r18 |
6086 3b8e 931F adc r25,r19 |
6087 3b90 A41F adc r26,r20 |
6088 3b92 B51F adc r27,r21 |
6089 3b94 8093 0000 sts Mess_Integral_Gier,r24 |
6090 3b98 9093 0000 sts (Mess_Integral_Gier)+1,r25 |
6091 3b9c A093 0000 sts (Mess_Integral_Gier)+2,r26 |
6092 3ba0 B093 0000 sts (Mess_Integral_Gier)+3,r27 |
6093 3ba4 00C0 rjmp .L639 |
6094 .L649: |
6095 3ba6 84EF ldi r24,lo8(500) |
6096 3ba8 91E0 ldi r25,hi8(500) |
6097 3baa 9093 0000 sts (KompassSignalSchlecht)+1,r25 |
6098 3bae 8093 0000 sts KompassSignalSchlecht,r24 |
6099 .L639: |
6100 3bb2 8091 0000 lds r24,TrichterFlug |
6101 3bb6 8823 tst r24 |
6102 3bb8 01F0 breq .L657 |
6103 3bba 1092 0000 sts SummeRoll,__zero_reg__ |
6104 3bbe 1092 0000 sts (SummeRoll)+1,__zero_reg__ |
6105 3bc2 1092 0000 sts (SummeRoll)+2,__zero_reg__ |
6106 3bc6 1092 0000 sts (SummeRoll)+3,__zero_reg__ |
6107 3bca 1092 0000 sts SummeNick,__zero_reg__ |
6108 3bce 1092 0000 sts (SummeNick)+1,__zero_reg__ |
6109 3bd2 1092 0000 sts (SummeNick)+2,__zero_reg__ |
6110 3bd6 1092 0000 sts (SummeNick)+3,__zero_reg__ |
6111 .L657: |
6112 3bda 9985 ldd r25,Y+9 |
6113 3bdc 9923 tst r25 |
6114 3bde 01F0 breq .L659 |
6115 3be0 1B8A std Y+19,__zero_reg__ |
6116 3be2 1A8A std Y+18,__zero_reg__ |
6117 3be4 00C0 rjmp .L661 |
6118 .L659: |
6119 3be6 6091 0000 lds r22,IntegralFaktor |
6120 3bea 70E0 ldi r23,lo8(0) |
6121 3bec 80E0 ldi r24,lo8(0) |
6122 3bee 90E0 ldi r25,hi8(0) |
6123 3bf0 2981 ldd r18,Y+1 |
6124 3bf2 3A81 ldd r19,Y+2 |
6125 3bf4 4B81 ldd r20,Y+3 |
6126 3bf6 5C81 ldd r21,Y+4 |
6127 3bf8 0E94 0000 call __mulsi3 |
6128 3bfc 28EF ldi r18,lo8(11000) |
6129 3bfe 3AE2 ldi r19,hi8(11000) |
6130 3c00 40E0 ldi r20,hlo8(11000) |
6131 3c02 50E0 ldi r21,hhi8(11000) |
6132 3c04 0E94 0000 call __divmodsi4 |
6133 3c08 3B8B std Y+19,r19 |
6134 3c0a 2A8B std Y+18,r18 |
6135 .L661: |
6136 3c0c 5090 0000 lds r5,Looping_Roll |
6137 3c10 5520 tst r5 |
6138 3c12 01F0 breq .L662 |
6139 3c14 198A std Y+17,__zero_reg__ |
6140 3c16 188A std Y+16,__zero_reg__ |
6141 3c18 00C0 rjmp .L664 |
6142 .L662: |
6143 3c1a 6091 0000 lds r22,IntegralFaktor |
6144 3c1e 70E0 ldi r23,lo8(0) |
6145 3c20 80E0 ldi r24,lo8(0) |
6146 3c22 90E0 ldi r25,hi8(0) |
6147 3c24 2D81 ldd r18,Y+5 |
6148 3c26 3E81 ldd r19,Y+6 |
6149 3c28 4F81 ldd r20,Y+7 |
6150 3c2a 5885 ldd r21,Y+8 |
6151 3c2c 0E94 0000 call __mulsi3 |
6152 3c30 28EF ldi r18,lo8(11000) |
6153 3c32 3AE2 ldi r19,hi8(11000) |
6154 3c34 40E0 ldi r20,hlo8(11000) |
6155 3c36 50E0 ldi r21,hhi8(11000) |
6156 3c38 0E94 0000 call __divmodsi4 |
6157 3c3c 398B std Y+17,r19 |
6158 3c3e 288B std Y+16,r18 |
6159 .L664: |
6160 3c40 8091 0000 lds r24,TrimNick |
6161 3c44 9091 0000 lds r25,(TrimNick)+1 |
6162 3c48 893C cpi r24,201 |
6163 3c4a 9105 cpc r25,__zero_reg__ |
6164 3c4c 04F0 brlt .L665 |
6165 3c4e 88EC ldi r24,lo8(200) |
6166 3c50 90E0 ldi r25,hi8(200) |
6167 3c52 00C0 rjmp .L917 |
6168 .L665: |
6169 3c54 8853 subi r24,lo8(-200) |
6170 3c56 9F4F sbci r25,hi8(-200) |
6171 3c58 04F4 brge .L667 |
6172 3c5a 88E3 ldi r24,lo8(-200) |
6173 3c5c 9FEF ldi r25,hi8(-200) |
6174 .L917: |
6175 3c5e 9093 0000 sts (TrimNick)+1,r25 |
6176 3c62 8093 0000 sts TrimNick,r24 |
6177 .L667: |
6178 3c66 8091 0000 lds r24,TrimRoll |
6179 3c6a 9091 0000 lds r25,(TrimRoll)+1 |
6180 3c6e 893C cpi r24,201 |
6181 3c70 9105 cpc r25,__zero_reg__ |
6182 3c72 04F0 brlt .L669 |
6183 3c74 88EC ldi r24,lo8(200) |
6184 3c76 90E0 ldi r25,hi8(200) |
6185 3c78 00C0 rjmp .L918 |
6186 .L669: |
6187 3c7a 8853 subi r24,lo8(-200) |
6188 3c7c 9F4F sbci r25,hi8(-200) |
6189 3c7e 04F4 brge .L671 |
6190 3c80 88E3 ldi r24,lo8(-200) |
6191 3c82 9FEF ldi r25,hi8(-200) |
6192 .L918: |
6193 3c84 9093 0000 sts (TrimRoll)+1,r25 |
6194 3c88 8093 0000 sts TrimRoll,r24 |
6195 .L671: |
6196 3c8c A090 0000 lds r10,GyroFaktor |
6197 3c90 BB24 clr r11 |
6198 3c92 CC24 clr r12 |
6199 3c94 DD24 clr r13 |
6200 3c96 E090 0000 lds r14,TrimNick |
6201 3c9a F090 0000 lds r15,(TrimNick)+1 |
6202 3c9e 0027 clr r16 |
6203 3ca0 F7FC sbrc r15,7 |
6204 3ca2 0095 com r16 |
6205 3ca4 102F mov r17,r16 |
6206 3ca6 27E0 ldi r18,7 |
6207 3ca8 EE0C 1: lsl r14 |
6208 3caa FF1C rol r15 |
6209 3cac 001F rol r16 |
6210 3cae 111F rol r17 |
6211 3cb0 2A95 dec r18 |
6212 3cb2 01F4 brne 1b |
6213 3cb4 2091 0000 lds r18,MesswertNick |
6214 3cb8 3091 0000 lds r19,(MesswertNick)+1 |
6215 3cbc 4427 clr r20 |
6216 3cbe 37FD sbrc r19,7 |
6217 3cc0 4095 com r20 |
6218 3cc2 542F mov r21,r20 |
6219 3cc4 C601 movw r24,r12 |
6220 3cc6 B501 movw r22,r10 |
6221 3cc8 0E94 0000 call __mulsi3 |
6222 3ccc E60E add r14,r22 |
6223 3cce F71E adc r15,r23 |
6224 3cd0 081F adc r16,r24 |
6225 3cd2 191F adc r17,r25 |
6226 3cd4 C801 movw r24,r16 |
6227 3cd6 B701 movw r22,r14 |
6228 3cd8 20E4 ldi r18,lo8(64) |
6229 3cda 30E0 ldi r19,hi8(64) |
6230 3cdc 40E0 ldi r20,hlo8(64) |
6231 3cde 50E0 ldi r21,hhi8(64) |
6232 3ce0 0E94 0000 call __divmodsi4 |
6233 3ce4 8A88 ldd r8,Y+18 |
6234 3ce6 9B88 ldd r9,Y+19 |
6235 3ce8 820E add r8,r18 |
6236 3cea 931E adc r9,r19 |
6237 3cec 9092 0000 sts (MesswertNick)+1,r9 |
6238 3cf0 8092 0000 sts MesswertNick,r8 |
6239 3cf4 E090 0000 lds r14,TrimRoll |
6240 3cf8 F090 0000 lds r15,(TrimRoll)+1 |
6241 3cfc 0027 clr r16 |
6242 3cfe F7FC sbrc r15,7 |
6243 3d00 0095 com r16 |
6244 3d02 102F mov r17,r16 |
6245 3d04 97E0 ldi r25,7 |
6246 3d06 EE0C 1: lsl r14 |
6247 3d08 FF1C rol r15 |
6248 3d0a 001F rol r16 |
6249 3d0c 111F rol r17 |
6250 3d0e 9A95 dec r25 |
6251 3d10 01F4 brne 1b |
6252 3d12 6091 0000 lds r22,MesswertRoll |
6253 3d16 7091 0000 lds r23,(MesswertRoll)+1 |
6254 3d1a 8827 clr r24 |
6255 3d1c 77FD sbrc r23,7 |
6256 3d1e 8095 com r24 |
6257 3d20 982F mov r25,r24 |
6258 3d22 A601 movw r20,r12 |
6259 3d24 9501 movw r18,r10 |
6260 3d26 0E94 0000 call __mulsi3 |
6261 3d2a E60E add r14,r22 |
6262 3d2c F71E adc r15,r23 |
6263 3d2e 081F adc r16,r24 |
6264 3d30 191F adc r17,r25 |
6265 3d32 C801 movw r24,r16 |
6266 3d34 B701 movw r22,r14 |
6267 3d36 20E4 ldi r18,lo8(64) |
6268 3d38 30E0 ldi r19,hi8(64) |
6269 3d3a 40E0 ldi r20,hlo8(64) |
6270 3d3c 50E0 ldi r21,hhi8(64) |
6271 3d3e 0E94 0000 call __divmodsi4 |
6272 3d42 C888 ldd r12,Y+16 |
6273 3d44 D988 ldd r13,Y+17 |
6274 3d46 C20E add r12,r18 |
6275 3d48 D31E adc r13,r19 |
6276 3d4a D092 0000 sts (MesswertRoll)+1,r13 |
6277 3d4e C092 0000 sts MesswertRoll,r12 |
6278 3d52 6091 0000 lds r22,MesswertGier |
6279 3d56 7091 0000 lds r23,(MesswertGier)+1 |
6280 3d5a 660F lsl r22 |
6281 3d5c 771F rol r23 |
6282 3d5e 8827 clr r24 |
6283 3d60 77FD sbrc r23,7 |
6284 3d62 8095 com r24 |
6285 3d64 982F mov r25,r24 |
6286 3d66 2091 0000 lds r18,GyroFaktorGier |
6287 3d6a 30E0 ldi r19,lo8(0) |
6288 3d6c 40E0 ldi r20,lo8(0) |
6289 3d6e 50E0 ldi r21,hi8(0) |
6290 3d70 0E94 0000 call __mulsi3 |
6291 3d74 20E4 ldi r18,lo8(64) |
6292 3d76 30E0 ldi r19,hi8(64) |
6293 3d78 40E0 ldi r20,hlo8(64) |
6294 3d7a 50E0 ldi r21,hhi8(64) |
6295 3d7c 0E94 0000 call __divmodsi4 |
6296 3d80 7901 movw r14,r18 |
6297 3d82 8A01 movw r16,r20 |
6298 3d84 6091 0000 lds r22,IntegralFaktorGier |
6299 3d88 70E0 ldi r23,lo8(0) |
6300 3d8a 80E0 ldi r24,lo8(0) |
6301 3d8c 90E0 ldi r25,hi8(0) |
6302 3d8e 2091 0000 lds r18,Integral_Gier |
6303 3d92 3091 0000 lds r19,(Integral_Gier)+1 |
6304 3d96 4091 0000 lds r20,(Integral_Gier)+2 |
6305 3d9a 5091 0000 lds r21,(Integral_Gier)+3 |
6306 3d9e 0E94 0000 call __mulsi3 |
6307 3da2 20EF ldi r18,lo8(22000) |
6308 3da4 35E5 ldi r19,hi8(22000) |
6309 3da6 40E0 ldi r20,hlo8(22000) |
6310 3da8 50E0 ldi r21,hhi8(22000) |
6311 3daa 0E94 0000 call __divmodsi4 |
6312 3dae E20E add r14,r18 |
6313 3db0 F31E adc r15,r19 |
6314 3db2 F092 0000 sts (MesswertGier)+1,r15 |
6315 3db6 E092 0000 sts MesswertGier,r14 |
6316 3dba E1E0 ldi r30,lo8(4097) |
6317 3dbc 8E16 cp r8,r30 |
6318 3dbe E0E1 ldi r30,hi8(4097) |
6319 3dc0 9E06 cpc r9,r30 |
6320 3dc2 04F0 brlt .L673 |
6321 3dc4 80E0 ldi r24,lo8(4096) |
6322 3dc6 90E1 ldi r25,hi8(4096) |
6323 3dc8 9093 0000 sts (MesswertNick)+1,r25 |
6324 3dcc 8093 0000 sts MesswertNick,r24 |
6325 .L673: |
6326 3dd0 8091 0000 lds r24,MesswertNick |
6327 3dd4 9091 0000 lds r25,(MesswertNick)+1 |
6328 3dd8 8050 subi r24,lo8(-4096) |
6329 3dda 904F sbci r25,hi8(-4096) |
6330 3ddc 04F4 brge .L675 |
6331 3dde 80E0 ldi r24,lo8(-4096) |
6332 3de0 90EF ldi r25,hi8(-4096) |
6333 3de2 9093 0000 sts (MesswertNick)+1,r25 |
6334 3de6 8093 0000 sts MesswertNick,r24 |
6335 .L675: |
6336 3dea 01E0 ldi r16,lo8(4097) |
6337 3dec C016 cp r12,r16 |
6338 3dee 00E1 ldi r16,hi8(4097) |
6339 3df0 D006 cpc r13,r16 |
6340 3df2 04F0 brlt .L677 |
6341 3df4 80E0 ldi r24,lo8(4096) |
6342 3df6 90E1 ldi r25,hi8(4096) |
6343 3df8 9093 0000 sts (MesswertRoll)+1,r25 |
6344 3dfc 8093 0000 sts MesswertRoll,r24 |
6345 .L677: |
6346 3e00 8091 0000 lds r24,MesswertRoll |
6347 3e04 9091 0000 lds r25,(MesswertRoll)+1 |
6348 3e08 8050 subi r24,lo8(-4096) |
6349 3e0a 904F sbci r25,hi8(-4096) |
6350 3e0c 04F4 brge .L679 |
6351 3e0e 80E0 ldi r24,lo8(-4096) |
6352 3e10 90EF ldi r25,hi8(-4096) |
6353 3e12 9093 0000 sts (MesswertRoll)+1,r25 |
6354 3e16 8093 0000 sts MesswertRoll,r24 |
6355 .L679: |
6356 3e1a 21E0 ldi r18,lo8(4097) |
6357 3e1c E216 cp r14,r18 |
6358 3e1e 20E1 ldi r18,hi8(4097) |
6359 3e20 F206 cpc r15,r18 |
6360 3e22 04F0 brlt .L681 |
6361 3e24 80E0 ldi r24,lo8(4096) |
6362 3e26 90E1 ldi r25,hi8(4096) |
6363 3e28 9093 0000 sts (MesswertGier)+1,r25 |
6364 3e2c 8093 0000 sts MesswertGier,r24 |
6365 .L681: |
6366 3e30 8091 0000 lds r24,MesswertGier |
6367 3e34 9091 0000 lds r25,(MesswertGier)+1 |
6368 3e38 8050 subi r24,lo8(-4096) |
6369 3e3a 904F sbci r25,hi8(-4096) |
6370 3e3c 04F4 brge .L683 |
6371 3e3e 80E0 ldi r24,lo8(-4096) |
6372 3e40 90EF ldi r25,hi8(-4096) |
6373 3e42 9093 0000 sts (MesswertGier)+1,r25 |
6374 3e46 8093 0000 sts MesswertGier,r24 |
6375 .L683: |
6376 3e4a 2091 0000 lds r18,UBat |
6377 3e4e 3091 0000 lds r19,(UBat)+1 |
6378 3e52 8091 0000 lds r24,BattLowVoltageWarning |
6379 3e56 90E0 ldi r25,lo8(0) |
6380 3e58 8217 cp r24,r18 |
6381 3e5a 9307 cpc r25,r19 |
6382 3e5c 04F4 brge .L685 |
6383 3e5e 6091 0000 lds r22,UBat |
6384 3e62 7091 0000 lds r23,(UBat)+1 |
6385 3e66 4C89 ldd r20,Y+20 |
6386 3e68 5D89 ldd r21,Y+21 |
6387 3e6a DC01 movw r26,r24 |
6388 3e6c 4A9F mul r20,r26 |
6389 3e6e C001 movw r24,r0 |
6390 3e70 4B9F mul r20,r27 |
6391 3e72 900D add r25,r0 |
6392 3e74 5A9F mul r21,r26 |
6393 3e76 900D add r25,r0 |
6394 3e78 1124 clr r1 |
6395 3e7a 0E94 0000 call __udivmodhi4 |
6396 3e7e 7D8B std Y+21,r23 |
6397 3e80 6C8B std Y+20,r22 |
6398 .L685: |
6399 3e82 6C88 ldd r6,Y+20 |
6400 3e84 7D88 ldd r7,Y+21 |
6401 3e86 660C lsl r6 |
6402 3e88 771C rol r7 |
6403 3e8a 660C lsl r6 |
6404 3e8c 771C rol r7 |
6405 3e8e 8091 0000 lds r24,EE_Parameter+13 |
6406 3e92 482F mov r20,r24 |
6407 3e94 80FF sbrs r24,0 |
6408 3e96 00C0 rjmp .L687 |
6409 3e98 5520 tst r5 |
6410 3e9a 01F0 breq .+2 |
6411 3e9c 00C0 rjmp .L687 |
6412 3e9e B985 ldd r27,Y+9 |
6413 3ea0 BB23 tst r27 |
6414 3ea2 01F0 breq .+2 |
6415 3ea4 00C0 rjmp .L687 |
6416 3ea6 8091 0000 lds r24,HoverGas |
6417 3eaa 9091 0000 lds r25,(HoverGas)+1 |
6418 3eae 9093 0000 sts (DebugOut+44)+1,r25 |
6419 3eb2 8093 0000 sts DebugOut+44,r24 |
6420 3eb6 2091 0000 lds r18,BaroExpandActive |
6421 3eba 3091 0000 lds r19,(BaroExpandActive)+1 |
6422 3ebe 2115 cp r18,__zero_reg__ |
6423 3ec0 3105 cpc r19,__zero_reg__ |
6424 3ec2 01F0 breq .+2 |
6425 3ec4 00C0 rjmp .L691 |
6426 3ec6 8091 0000 lds r24,MessLuftdruck |
6427 3eca 9091 0000 lds r25,(MessLuftdruck)+1 |
6428 3ece 8959 subi r24,lo8(921) |
6429 3ed0 9340 sbci r25,hi8(921) |
6430 3ed2 00F0 brlo .L693 |
6431 3ed4 87B5 in r24,71-0x20 |
6432 3ed6 853F cpi r24,lo8(-11) |
6433 3ed8 00F4 brsh .L695 |
6434 3eda 8091 0000 lds r24,ExpandBaro |
6435 3ede 8150 subi r24,lo8(-(-1)) |
6436 3ee0 00C0 rjmp .L919 |
6437 .L695: |
6438 3ee2 81E0 ldi r24,lo8(1) |
6439 3ee4 8093 0000 sts BaroAtLowerLimit.3353,r24 |
6440 3ee8 00C0 rjmp .L697 |
6441 .L693: |
6442 3eea 8091 0000 lds r24,MessLuftdruck |
6443 3eee 9091 0000 lds r25,(MessLuftdruck)+1 |
6444 3ef2 8436 cpi r24,100 |
6445 3ef4 9105 cpc r25,__zero_reg__ |
6446 3ef6 00F4 brsh .L698 |
6447 3ef8 87B5 in r24,71-0x20 |
6448 3efa 8B30 cpi r24,lo8(11) |
6449 3efc 00F0 brlo .L700 |
6450 3efe 8091 0000 lds r24,ExpandBaro |
6451 3f02 8F5F subi r24,lo8(-(1)) |
6452 .L919: |
6453 3f04 8093 0000 sts ExpandBaro,r24 |
6454 3f08 2AE0 ldi r18,lo8(10) |
6455 3f0a 8202 muls r24,r18 |
6456 3f0c C001 movw r24,r0 |
6457 3f0e 1124 clr r1 |
6458 3f10 2091 0000 lds r18,DruckOffsetSetting |
6459 3f14 281B sub r18,r24 |
6460 3f16 27BD out 71-0x20,r18 |
6461 3f18 8CE2 ldi r24,lo8(300) |
6462 3f1a 91E0 ldi r25,hi8(300) |
6463 3f1c 9093 0000 sts (beeptime)+1,r25 |
6464 3f20 8093 0000 sts beeptime,r24 |
6465 3f24 8EE5 ldi r24,lo8(350) |
6466 3f26 91E0 ldi r25,hi8(350) |
6467 3f28 9093 0000 sts (BaroExpandActive)+1,r25 |
6468 3f2c 8093 0000 sts BaroExpandActive,r24 |
6469 3f30 00C0 rjmp .L697 |
6470 .L700: |
6471 3f32 81E0 ldi r24,lo8(1) |
6472 3f34 8093 0000 sts BaroAtUpperLimit.3352,r24 |
6473 3f38 00C0 rjmp .L697 |
6474 .L698: |
6475 3f3a 1092 0000 sts BaroAtUpperLimit.3352,__zero_reg__ |
6476 3f3e 1092 0000 sts BaroAtLowerLimit.3353,__zero_reg__ |
6477 3f42 00C0 rjmp .L697 |
6478 .L691: |
6479 3f44 8091 0000 lds r24,HoehenWert |
6480 3f48 9091 0000 lds r25,(HoehenWert)+1 |
6481 3f4c A091 0000 lds r26,(HoehenWert)+2 |
6482 3f50 B091 0000 lds r27,(HoehenWert)+3 |
6483 3f54 14E0 ldi r17,4 |
6484 3f56 880F 1: lsl r24 |
6485 3f58 991F rol r25 |
6486 3f5a AA1F rol r26 |
6487 3f5c BB1F rol r27 |
6488 3f5e 1A95 dec r17 |
6489 3f60 01F4 brne 1b |
6490 3f62 8093 0000 sts SummenHoehe,r24 |
6491 3f66 9093 0000 sts (SummenHoehe)+1,r25 |
6492 3f6a A093 0000 sts (SummenHoehe)+2,r26 |
6493 3f6e B093 0000 sts (SummenHoehe)+3,r27 |
6494 3f72 1092 0000 sts (VarioMeter)+1,__zero_reg__ |
6495 3f76 1092 0000 sts VarioMeter,__zero_reg__ |
6496 3f7a 2150 subi r18,lo8(-(-1)) |
6497 3f7c 3040 sbci r19,hi8(-(-1)) |
6498 3f7e 3093 0000 sts (BaroExpandActive)+1,r19 |
6499 3f82 2093 0000 sts BaroExpandActive,r18 |
6500 .L697: |
6501 3f86 8091 0000 lds r24,Parameter_MaxHoehe |
6502 3f8a 41FF sbrs r20,1 |
6503 3f8c 00C0 rjmp .L702 |
6504 3f8e 8233 cpi r24,lo8(50) |
6505 3f90 00F4 brsh .L704 |
6506 3f92 8091 0000 lds r24,delay.3351 |
6507 3f96 8150 subi r24,lo8(-(-1)) |
6508 3f98 8093 0000 sts delay.3351,r24 |
6509 3f9c 8F3F cpi r24,lo8(-1) |
6510 3f9e 01F4 brne .L706 |
6511 3fa0 1092 0000 sts HoehenReglerAktiv,__zero_reg__ |
6512 3fa4 8091 0000 lds r24,HoehenWert |
6513 3fa8 9091 0000 lds r25,(HoehenWert)+1 |
6514 3fac A091 0000 lds r26,(HoehenWert)+2 |
6515 3fb0 B091 0000 lds r27,(HoehenWert)+3 |
6516 3fb4 8093 0000 sts SollHoehe,r24 |
6517 3fb8 9093 0000 sts (SollHoehe)+1,r25 |
6518 3fbc A093 0000 sts (SollHoehe)+2,r26 |
6519 3fc0 B093 0000 sts (SollHoehe)+3,r27 |
6520 3fc4 81E0 ldi r24,lo8(1) |
6521 3fc6 00C0 rjmp .L920 |
6522 .L704: |
6523 3fc8 81E0 ldi r24,lo8(1) |
6524 3fca 8093 0000 sts HoehenReglerAktiv,r24 |
6525 3fce 88EC ldi r24,lo8(-56) |
6526 .L920: |
6527 3fd0 8093 0000 sts delay.3351,r24 |
6528 3fd4 00C0 rjmp .L706 |
6529 .L702: |
6530 3fd6 2091 0000 lds r18,ExternHoehenValue |
6531 3fda 3091 0000 lds r19,(ExternHoehenValue)+1 |
6532 3fde 280F add r18,r24 |
6533 3fe0 311D adc r19,__zero_reg__ |
6534 3fe2 8091 0000 lds r24,EE_Parameter+18 |
6535 3fe6 90E0 ldi r25,lo8(0) |
6536 3fe8 7C01 movw r14,r24 |
6537 3fea 2E9D mul r18,r14 |
6538 3fec C001 movw r24,r0 |
6539 3fee 2F9D mul r18,r15 |
6540 3ff0 900D add r25,r0 |
6541 3ff2 3E9D mul r19,r14 |
6542 3ff4 900D add r25,r0 |
6543 3ff6 1124 clr r1 |
6544 3ff8 AA27 clr r26 |
6545 3ffa 97FD sbrc r25,7 |
6546 3ffc A095 com r26 |
6547 3ffe BA2F mov r27,r26 |
6548 4000 8093 0000 sts SollHoehe,r24 |
6549 4004 9093 0000 sts (SollHoehe)+1,r25 |
6550 4008 A093 0000 sts (SollHoehe)+2,r26 |
6551 400c B093 0000 sts (SollHoehe)+3,r27 |
6552 4010 81E0 ldi r24,lo8(1) |
6553 4012 8093 0000 sts HoehenReglerAktiv,r24 |
6554 .L706: |
6555 4016 E090 0000 lds r14,GIER_GRAD_FAKTOR |
6556 401a F090 0000 lds r15,(GIER_GRAD_FAKTOR)+1 |
6557 401e 0091 0000 lds r16,(GIER_GRAD_FAKTOR)+2 |
6558 4022 1091 0000 lds r17,(GIER_GRAD_FAKTOR)+3 |
6559 4026 6981 ldd r22,Y+1 |
6560 4028 7A81 ldd r23,Y+2 |
6561 402a 8B81 ldd r24,Y+3 |
6562 402c 9C81 ldd r25,Y+4 |
6563 402e A801 movw r20,r16 |
6564 4030 9701 movw r18,r14 |
6565 4032 0E94 0000 call __divmodsi4 |
6566 4036 5901 movw r10,r18 |
6567 4038 6A01 movw r12,r20 |
6568 403a 6D81 ldd r22,Y+5 |
6569 403c 7E81 ldd r23,Y+6 |
6570 403e 8F81 ldd r24,Y+7 |
6571 4040 9885 ldd r25,Y+8 |
6572 4042 A801 movw r20,r16 |
6573 4044 9701 movw r18,r14 |
6574 4046 0E94 0000 call __divmodsi4 |
6575 404a B901 movw r22,r18 |
6576 404c C501 movw r24,r10 |
6577 404e 0E94 0000 call ihypot |
6578 4052 8C33 cpi r24,60 |
6579 4054 9105 cpc r25,__zero_reg__ |
6580 4056 04F0 brlt .L708 |
6581 4058 8CE3 ldi r24,lo8(60) |
6582 405a 90E0 ldi r25,hi8(60) |
6583 .L708: |
6584 405c 0E94 0000 call c_cos_8192 |
6585 4060 9B87 std Y+11,r25 |
6586 4062 8A87 std Y+10,r24 |
6587 4064 80E2 ldi r24,lo8(32) |
6588 4066 8093 0000 sts VarioCharacter,r24 |
6589 406a 8091 0000 lds r24,HoehenReglerAktiv |
6590 406e 8823 tst r24 |
6591 4070 01F4 brne .+2 |
6592 4072 00C0 rjmp .L710 |
6593 4074 8091 0000 lds r24,FC_StatusFlags |
6594 4078 84FD sbrc r24,4 |
6595 407a 00C0 rjmp .L710 |
6596 407c 8091 0000 lds r24,EE_Parameter+102 |
6597 4080 E82F mov r30,r24 |
6598 4082 F0E0 ldi r31,lo8(0) |
6599 4084 B1E0 ldi r27,lo8(1) |
6600 4086 2B2E mov r2,r27 |
6601 4088 312C mov r3,__zero_reg__ |
6602 408a 2E22 and r2,r30 |
6603 408c 3F22 and r3,r31 |
6604 408e 80FD sbrc r24,0 |
6605 4090 00C0 rjmp .L713 |
6606 4092 8091 0000 lds r24,EE_Parameter+13 |
6607 4096 81FD sbrc r24,1 |
6608 4098 00C0 rjmp .L715 |
6609 .L713: |
6610 409a 1092 0000 sts (HeightTrimming.3345)+1,__zero_reg__ |
6611 409e 1092 0000 sts HeightTrimming.3345,__zero_reg__ |
6612 40a2 8091 0000 lds r24,FC_StatusFlags |
6613 40a6 806C ori r24,lo8(-64) |
6614 40a8 8093 0000 sts FC_StatusFlags,r24 |
6615 40ac 2301 movw r4,r6 |
6616 40ae 00C0 rjmp .L716 |
6617 .L715: |
6618 40b0 8091 0000 lds r24,FC_StatusFlags |
6619 40b4 81FF sbrs r24,1 |
6620 40b6 00C0 rjmp .L717 |
6621 40b8 4091 0000 lds r20,StickGas |
6622 40bc 5091 0000 lds r21,(StickGas)+1 |
6623 40c0 2091 0000 lds r18,StickGasHover.3347 |
6624 40c4 3091 0000 lds r19,(StickGasHover.3347)+1 |
6625 40c8 B901 movw r22,r18 |
6626 40ca 615F subi r22,lo8(-(15)) |
6627 40cc 7F4F sbci r23,hi8(-(15)) |
6628 40ce 6417 cp r22,r20 |
6629 40d0 7507 cpc r23,r21 |
6630 40d2 04F4 brge .L719 |
6631 40d4 8091 0000 lds r24,BaroAtUpperLimit.3352 |
6632 40d8 8823 tst r24 |
6633 40da 01F4 brne .L719 |
6634 40dc 8091 0000 lds r24,FC_StatusFlags |
6635 40e0 87FF sbrs r24,7 |
6636 40e2 00C0 rjmp .L722 |
6637 40e4 8091 0000 lds r24,FC_StatusFlags |
6638 40e8 8F77 andi r24,lo8(127) |
6639 40ea 8093 0000 sts FC_StatusFlags,r24 |
6640 40ee 8091 0000 lds r24,HoehenWert |
6641 40f2 9091 0000 lds r25,(HoehenWert)+1 |
6642 40f6 A091 0000 lds r26,(HoehenWert)+2 |
6643 40fa B091 0000 lds r27,(HoehenWert)+3 |
6644 40fe 8093 0000 sts SollHoehe,r24 |
6645 4102 9093 0000 sts (SollHoehe)+1,r25 |
6646 4106 A093 0000 sts (SollHoehe)+2,r26 |
6647 410a B093 0000 sts (SollHoehe)+3,r27 |
6648 .L722: |
6649 410e 8091 0000 lds r24,FC_StatusFlags |
6650 4112 8064 ori r24,lo8(64) |
6651 4114 8093 0000 sts FC_StatusFlags,r24 |
6652 4118 9A01 movw r18,r20 |
6653 411a 261B sub r18,r22 |
6654 411c 370B sbc r19,r23 |
6655 411e 37FF sbrs r19,7 |
6656 4120 00C0 rjmp .L724 |
6657 4122 3095 com r19 |
6658 4124 2195 neg r18 |
6659 4126 3F4F sbci r19,lo8(-1) |
6660 .L724: |
6661 4128 8091 0000 lds r24,HeightTrimming.3345 |
6662 412c 9091 0000 lds r25,(HeightTrimming.3345)+1 |
6663 4130 820F add r24,r18 |
6664 4132 931F adc r25,r19 |
6665 4134 9093 0000 sts (HeightTrimming.3345)+1,r25 |
6666 4138 8093 0000 sts HeightTrimming.3345,r24 |
6667 413c 8BE2 ldi r24,lo8(43) |
6668 413e 00C0 rjmp .L921 |
6669 .L719: |
6670 4140 2F50 subi r18,lo8(-(-15)) |
6671 4142 3040 sbci r19,hi8(-(-15)) |
6672 4144 4217 cp r20,r18 |
6673 4146 5307 cpc r21,r19 |
6674 4148 04F4 brge .L726 |
6675 414a 8091 0000 lds r24,BaroAtLowerLimit.3353 |
6676 414e 8823 tst r24 |
6677 4150 01F4 brne .L726 |
6678 4152 8091 0000 lds r24,FC_StatusFlags |
6679 4156 86FF sbrs r24,6 |
6680 4158 00C0 rjmp .L729 |
6681 415a 8091 0000 lds r24,FC_StatusFlags |
6682 415e 8F7B andi r24,lo8(-65) |
6683 4160 8093 0000 sts FC_StatusFlags,r24 |
6684 4164 8091 0000 lds r24,HoehenWert |
6685 4168 9091 0000 lds r25,(HoehenWert)+1 |
6686 416c A091 0000 lds r26,(HoehenWert)+2 |
6687 4170 B091 0000 lds r27,(HoehenWert)+3 |
6688 4174 8093 0000 sts SollHoehe,r24 |
6689 4178 9093 0000 sts (SollHoehe)+1,r25 |
6690 417c A093 0000 sts (SollHoehe)+2,r26 |
6691 4180 B093 0000 sts (SollHoehe)+3,r27 |
6692 .L729: |
6693 4184 8091 0000 lds r24,FC_StatusFlags |
6694 4188 8068 ori r24,lo8(-128) |
6695 418a 8093 0000 sts FC_StatusFlags,r24 |
6696 418e 421B sub r20,r18 |
6697 4190 530B sbc r21,r19 |
6698 4192 9A01 movw r18,r20 |
6699 4194 57FF sbrs r21,7 |
6700 4196 00C0 rjmp .L731 |
6701 4198 3095 com r19 |
6702 419a 2195 neg r18 |
6703 419c 3F4F sbci r19,lo8(-1) |
6704 .L731: |
6705 419e 8091 0000 lds r24,HeightTrimming.3345 |
6706 41a2 9091 0000 lds r25,(HeightTrimming.3345)+1 |
6707 41a6 821B sub r24,r18 |
6708 41a8 930B sbc r25,r19 |
6709 41aa 9093 0000 sts (HeightTrimming.3345)+1,r25 |
6710 41ae 8093 0000 sts HeightTrimming.3345,r24 |
6711 41b2 8DE2 ldi r24,lo8(45) |
6712 41b4 00C0 rjmp .L921 |
6713 .L726: |
6714 41b6 8091 0000 lds r24,FC_StatusFlags |
6715 41ba 807C andi r24,lo8(-64) |
6716 41bc 01F0 breq .L732 |
6717 41be 8091 0000 lds r24,FC_StatusFlags |
6718 41c2 8F73 andi r24,lo8(63) |
6719 41c4 8093 0000 sts FC_StatusFlags,r24 |
6720 41c8 1092 0000 sts (HeightTrimming.3345)+1,__zero_reg__ |
6721 41cc 1092 0000 sts HeightTrimming.3345,__zero_reg__ |
6722 41d0 2091 0000 lds r18,HoehenWert |
6723 41d4 3091 0000 lds r19,(HoehenWert)+1 |
6724 41d8 4091 0000 lds r20,(HoehenWert)+2 |
6725 41dc 5091 0000 lds r21,(HoehenWert)+3 |
6726 41e0 2093 0000 sts SollHoehe,r18 |
6727 41e4 3093 0000 sts (SollHoehe)+1,r19 |
6728 41e8 4093 0000 sts (SollHoehe)+2,r20 |
6729 41ec 5093 0000 sts (SollHoehe)+3,r21 |
6730 41f0 E1FF sbrs r30,1 |
6731 41f2 00C0 rjmp .L734 |
6732 41f4 84EF ldi r24,lo8(500) |
6733 41f6 91E0 ldi r25,hi8(500) |
6734 41f8 9093 0000 sts (beeptime)+1,r25 |
6735 41fc 8093 0000 sts beeptime,r24 |
6736 .L734: |
6737 4200 8091 0000 lds r24,StartTrigger |
6738 4204 8823 tst r24 |
6739 4206 01F4 brne .L732 |
6740 4208 2333 cpi r18,lo8(51) |
6741 420a 3105 cpc r19,__zero_reg__ |
6742 420c 4105 cpc r20,__zero_reg__ |
6743 420e 5105 cpc r21,__zero_reg__ |
6744 4210 04F0 brlt .L732 |
6745 4212 81E0 ldi r24,lo8(1) |
6746 4214 8093 0000 sts StartTrigger,r24 |
6747 .L732: |
6748 4218 8DE3 ldi r24,lo8(61) |
6749 .L921: |
6750 421a 8093 0000 sts VarioCharacter,r24 |
6751 421e 4091 0000 lds r20,HeightTrimming.3345 |
6752 4222 5091 0000 lds r21,(HeightTrimming.3345)+1 |
6753 4226 CA01 movw r24,r20 |
6754 4228 57FF sbrs r21,7 |
6755 422a 00C0 rjmp .L739 |
6756 422c 8827 clr r24 |
6757 422e 9927 clr r25 |
6758 4230 841B sub r24,r20 |
6759 4232 950B sbc r25,r21 |
6760 .L739: |
6761 4234 8150 subi r24,lo8(513) |
6762 4236 9240 sbci r25,hi8(513) |
6763 4238 04F4 brge .+2 |
6764 423a 00C0 rjmp .L738 |
6765 423c 0091 0000 lds r16,SollHoehe |
6766 4240 1091 0000 lds r17,(SollHoehe)+1 |
6767 4244 2091 0000 lds r18,(SollHoehe)+2 |
6768 4248 3091 0000 lds r19,(SollHoehe)+3 |
6769 424c 8091 0000 lds r24,EE_Parameter+18 |
6770 4250 90E0 ldi r25,lo8(0) |
6771 4252 BC01 movw r22,r24 |
6772 4254 649F mul r22,r20 |
6773 4256 C001 movw r24,r0 |
6774 4258 659F mul r22,r21 |
6775 425a 900D add r25,r0 |
6776 425c 749F mul r23,r20 |
6777 425e 900D add r25,r0 |
6778 4260 1124 clr r1 |
6779 4262 60E0 ldi r22,lo8(1280) |
6780 4264 75E0 ldi r23,hi8(1280) |
6781 4266 0E94 0000 call __divmodhi4 |
6782 426a 8827 clr r24 |
6783 426c 77FD sbrc r23,7 |
6784 426e 8095 com r24 |
6785 4270 982F mov r25,r24 |
6786 4272 600F add r22,r16 |
6787 4274 711F adc r23,r17 |
6788 4276 821F adc r24,r18 |
6789 4278 931F adc r25,r19 |
6790 427a 6093 0000 sts SollHoehe,r22 |
6791 427e 7093 0000 sts (SollHoehe)+1,r23 |
6792 4282 8093 0000 sts (SollHoehe)+2,r24 |
6793 4286 9093 0000 sts (SollHoehe)+3,r25 |
6794 428a 1092 0000 sts (HeightTrimming.3345)+1,__zero_reg__ |
6795 428e 1092 0000 sts HeightTrimming.3345,__zero_reg__ |
6796 4292 E090 0000 lds r14,HoehenWert |
6797 4296 F090 0000 lds r15,(HoehenWert)+1 |
6798 429a 0091 0000 lds r16,(HoehenWert)+2 |
6799 429e 1091 0000 lds r17,(HoehenWert)+3 |
6800 42a2 A801 movw r20,r16 |
6801 42a4 9701 movw r18,r14 |
6802 42a6 2050 subi r18,lo8(-(-1024)) |
6803 42a8 3440 sbci r19,hi8(-(-1024)) |
6804 42aa 4040 sbci r20,hlo8(-(-1024)) |
6805 42ac 5040 sbci r21,hhi8(-(-1024)) |
6806 42ae 2617 cp r18,r22 |
6807 42b0 3707 cpc r19,r23 |
6808 42b2 4807 cpc r20,r24 |
6809 42b4 5907 cpc r21,r25 |
6810 42b6 04F4 brge .L922 |
6811 42b8 A801 movw r20,r16 |
6812 42ba 9701 movw r18,r14 |
6813 42bc 2050 subi r18,lo8(-(1024)) |
6814 42be 3C4F sbci r19,hi8(-(1024)) |
6815 42c0 4F4F sbci r20,hlo8(-(1024)) |
6816 42c2 5F4F sbci r21,hhi8(-(1024)) |
6817 42c4 6217 cp r22,r18 |
6818 42c6 7307 cpc r23,r19 |
6819 42c8 8407 cpc r24,r20 |
6820 42ca 9507 cpc r25,r21 |
6821 42cc 04F0 brlt .L743 |
6822 .L922: |
6823 42ce 2093 0000 sts SollHoehe,r18 |
6824 42d2 3093 0000 sts (SollHoehe)+1,r19 |
6825 42d6 4093 0000 sts (SollHoehe)+2,r20 |
6826 42da 5093 0000 sts (SollHoehe)+3,r21 |
6827 .L743: |
6828 42de E1FF sbrs r30,1 |
6829 42e0 00C0 rjmp .L745 |
6830 42e2 84E6 ldi r24,lo8(100) |
6831 42e4 90E0 ldi r25,hi8(100) |
6832 42e6 9093 0000 sts (beeptime)+1,r25 |
6833 42ea 8093 0000 sts beeptime,r24 |
6834 .L745: |
6835 42ee 8091 0000 lds r24,EE_Parameter+22 |
6836 42f2 8823 tst r24 |
6837 42f4 01F4 brne .L738 |
6838 42f6 2091 0000 lds r18,UBat |
6839 42fa 3091 0000 lds r19,(UBat)+1 |
6840 42fe 8091 0000 lds r24,HoverGas |
6841 4302 9091 0000 lds r25,(HoverGas)+1 |
6842 4306 64E0 ldi r22,lo8(4) |
6843 4308 70E0 ldi r23,hi8(4) |
6844 430a 0E94 0000 call __divmodhi4 |
6845 430e CB01 movw r24,r22 |
6846 4310 6091 0000 lds r22,BattLowVoltageWarning |
6847 4314 70E0 ldi r23,lo8(0) |
6848 4316 DC01 movw r26,r24 |
6849 4318 A29F mul r26,r18 |
6850 431a C001 movw r24,r0 |
6851 431c A39F mul r26,r19 |
6852 431e 900D add r25,r0 |
6853 4320 B29F mul r27,r18 |
6854 4322 900D add r25,r0 |
6855 4324 1124 clr r1 |
6856 4326 0E94 0000 call __divmodhi4 |
6857 432a 7093 0000 sts (StickGasHover.3347)+1,r23 |
6858 432e 6093 0000 sts StickGasHover.3347,r22 |
6859 4332 6634 cpi r22,70 |
6860 4334 7105 cpc r23,__zero_reg__ |
6861 4336 04F4 brge .L748 |
6862 4338 86E4 ldi r24,lo8(70) |
6863 433a 90E0 ldi r25,hi8(70) |
6864 433c 00C0 rjmp .L923 |
6865 .L748: |
6866 433e 6739 cpi r22,151 |
6867 4340 7105 cpc r23,__zero_reg__ |
6868 4342 04F0 brlt .L738 |
6869 4344 86E9 ldi r24,lo8(150) |
6870 4346 90E0 ldi r25,hi8(150) |
6871 .L923: |
6872 4348 9093 0000 sts (StickGasHover.3347)+1,r25 |
6873 434c 8093 0000 sts StickGasHover.3347,r24 |
6874 .L738: |
6875 4350 8091 0000 lds r24,BaroExpandActive |
6876 4354 9091 0000 lds r25,(BaroExpandActive)+1 |
6877 4358 892B or r24,r25 |
6878 435a 01F0 breq .L751 |
6879 435c 8091 0000 lds r24,HoehenWert |
6880 4360 9091 0000 lds r25,(HoehenWert)+1 |
6881 4364 A091 0000 lds r26,(HoehenWert)+2 |
6882 4368 B091 0000 lds r27,(HoehenWert)+3 |
6883 436c 8093 0000 sts SollHoehe,r24 |
6884 4370 9093 0000 sts (SollHoehe)+1,r25 |
6885 4374 A093 0000 sts (SollHoehe)+2,r26 |
6886 4378 B093 0000 sts (SollHoehe)+3,r27 |
6887 437c 00C0 rjmp .L751 |
6888 .L717: |
6889 437e 8091 0000 lds r24,HoehenWert |
6890 4382 9091 0000 lds r25,(HoehenWert)+1 |
6891 4386 A091 0000 lds r26,(HoehenWert)+2 |
6892 438a B091 0000 lds r27,(HoehenWert)+3 |
6893 438e 8059 subi r24,lo8(-(-400)) |
6894 4390 9140 sbci r25,hi8(-(-400)) |
6895 4392 A040 sbci r26,hlo8(-(-400)) |
6896 4394 B040 sbci r27,hhi8(-(-400)) |
6897 4396 8093 0000 sts SollHoehe,r24 |
6898 439a 9093 0000 sts (SollHoehe)+1,r25 |
6899 439e A093 0000 sts (SollHoehe)+2,r26 |
6900 43a2 B093 0000 sts (SollHoehe)+3,r27 |
6901 43a6 8091 0000 lds r24,EE_Parameter+22 |
6902 43aa 8823 tst r24 |
6903 43ac 01F0 breq .L753 |
6904 43ae 90E0 ldi r25,lo8(0) |
6905 43b0 00C0 rjmp .L924 |
6906 .L753: |
6907 43b2 88E7 ldi r24,lo8(120) |
6908 43b4 90E0 ldi r25,hi8(120) |
6909 .L924: |
6910 43b6 9093 0000 sts (StickGasHover.3347)+1,r25 |
6911 43ba 8093 0000 sts StickGasHover.3347,r24 |
6912 43be 7092 0000 sts (HoverGas)+1,r7 |
6913 43c2 6092 0000 sts HoverGas,r6 |
6914 .L751: |
6915 43c6 4090 0000 lds r4,HoverGas |
6916 43ca 5090 0000 lds r5,(HoverGas)+1 |
6917 .L716: |
6918 43ce E090 0000 lds r14,HoehenWert |
6919 43d2 F090 0000 lds r15,(HoehenWert)+1 |
6920 43d6 0091 0000 lds r16,(HoehenWert)+2 |
6921 43da 1091 0000 lds r17,(HoehenWert)+3 |
6922 43de 2091 0000 lds r18,SollHoehe |
6923 43e2 3091 0000 lds r19,(SollHoehe)+1 |
6924 43e6 4091 0000 lds r20,(SollHoehe)+2 |
6925 43ea 5091 0000 lds r21,(SollHoehe)+3 |
6926 43ee 2E15 cp r18,r14 |
6927 43f0 3F05 cpc r19,r15 |
6928 43f2 4007 cpc r20,r16 |
6929 43f4 5107 cpc r21,r17 |
6930 43f6 04F0 brlt .L756 |
6931 43f8 2114 cp r2,__zero_reg__ |
6932 43fa 3104 cpc r3,__zero_reg__ |
6933 43fc 01F0 breq .+2 |
6934 43fe 00C0 rjmp .L758 |
6935 .L756: |
6936 4400 8091 0000 lds r24,BaroExpandActive |
6937 4404 9091 0000 lds r25,(BaroExpandActive)+1 |
6938 4408 892B or r24,r25 |
6939 440a 01F0 breq .L759 |
6940 440c 4090 0000 lds r4,HoverGas |
6941 4410 5090 0000 lds r5,(HoverGas)+1 |
6942 4414 8824 clr r8 |
6943 4416 9924 clr r9 |
6944 4418 CC24 clr r12 |
6945 441a DD24 clr r13 |
6946 441c 00C0 rjmp .L761 |
6947 .L759: |
6948 441e D801 movw r26,r16 |
6949 4420 C701 movw r24,r14 |
6950 4422 821B sub r24,r18 |
6951 4424 930B sbc r25,r19 |
6952 4426 A40B sbc r26,r20 |
6953 4428 B50B sbc r27,r21 |
6954 442a 8093 0000 sts tmp_long.3308,r24 |
6955 442e 9093 0000 sts (tmp_long.3308)+1,r25 |
6956 4432 A093 0000 sts (tmp_long.3308)+2,r26 |
6957 4436 B093 0000 sts (tmp_long.3308)+3,r27 |
6958 443a 8230 cpi r24,lo8(-32766) |
6959 443c E0E8 ldi r30,hi8(-32766) |
6960 443e 9E07 cpc r25,r30 |
6961 4440 EFEF ldi r30,hlo8(-32766) |
6962 4442 AE07 cpc r26,r30 |
6963 4444 EFEF ldi r30,hhi8(-32766) |
6964 4446 BE07 cpc r27,r30 |
6965 4448 04F4 brge .L762 |
6966 444a 81E0 ldi r24,lo8(-32767) |
6967 444c 90E8 ldi r25,hi8(-32767) |
6968 444e AFEF ldi r26,hlo8(-32767) |
6969 4450 BFEF ldi r27,hhi8(-32767) |
6970 4452 00C0 rjmp .L925 |
6971 .L762: |
6972 4454 8F5F subi r24,lo8(32767) |
6973 4456 9F47 sbci r25,hi8(32767) |
6974 4458 A040 sbci r26,hlo8(32767) |
6975 445a B040 sbci r27,hhi8(32767) |
6976 445c 04F0 brlt .L764 |
6977 445e 8FEF ldi r24,lo8(32767) |
6978 4460 9FE7 ldi r25,hi8(32767) |
6979 4462 A0E0 ldi r26,hlo8(32767) |
6980 4464 B0E0 ldi r27,hhi8(32767) |
6981 .L925: |
6982 4466 8093 0000 sts tmp_long.3308,r24 |
6983 446a 9093 0000 sts (tmp_long.3308)+1,r25 |
6984 446e A093 0000 sts (tmp_long.3308)+2,r26 |
6985 4472 B093 0000 sts (tmp_long.3308)+3,r27 |
6986 .L764: |
6987 4476 E090 0000 lds r14,tmp_long.3308 |
6988 447a F090 0000 lds r15,(tmp_long.3308)+1 |
6989 447e 0091 0000 lds r16,(tmp_long.3308)+2 |
6990 4482 1091 0000 lds r17,(tmp_long.3308)+3 |
6991 4486 6091 0000 lds r22,Parameter_Hoehe_P |
6992 448a 70E0 ldi r23,lo8(0) |
6993 448c 80E0 ldi r24,lo8(0) |
6994 448e 90E0 ldi r25,hi8(0) |
6995 4490 A801 movw r20,r16 |
6996 4492 9701 movw r18,r14 |
6997 4494 0E94 0000 call __mulsi3 |
6998 4498 20E2 ldi r18,lo8(32) |
6999 449a 30E0 ldi r19,hi8(32) |
7000 449c 40E0 ldi r20,hlo8(32) |
7001 449e 50E0 ldi r21,hhi8(32) |
7002 44a0 0E94 0000 call __divmodsi4 |
7003 44a4 2093 0000 sts tmp_long.3308,r18 |
7004 44a8 3093 0000 sts (tmp_long.3308)+1,r19 |
7005 44ac 4093 0000 sts (tmp_long.3308)+2,r20 |
7006 44b0 5093 0000 sts (tmp_long.3308)+3,r21 |
7007 44b4 2530 cpi r18,lo8(-507) |
7008 44b6 6EEF ldi r22,hi8(-507) |
7009 44b8 3607 cpc r19,r22 |
7010 44ba 6FEF ldi r22,hlo8(-507) |
7011 44bc 4607 cpc r20,r22 |
7012 44be 6FEF ldi r22,hhi8(-507) |
7013 44c0 5607 cpc r21,r22 |
7014 44c2 04F4 brge .L766 |
7015 44c4 84E0 ldi r24,lo8(-508) |
7016 44c6 9EEF ldi r25,hi8(-508) |
7017 44c8 AFEF ldi r26,hlo8(-508) |
7018 44ca BFEF ldi r27,hhi8(-508) |
7019 44cc 00C0 rjmp .L926 |
7020 .L766: |
7021 44ce 2050 subi r18,lo8(1024) |
7022 44d0 3440 sbci r19,hi8(1024) |
7023 44d2 4040 sbci r20,hlo8(1024) |
7024 44d4 5040 sbci r21,hhi8(1024) |
7025 44d6 04F0 brlt .L768 |
7026 44d8 80E0 ldi r24,lo8(1024) |
7027 44da 94E0 ldi r25,hi8(1024) |
7028 44dc A0E0 ldi r26,hlo8(1024) |
7029 44de B0E0 ldi r27,hhi8(1024) |
7030 .L926: |
7031 44e0 8093 0000 sts tmp_long.3308,r24 |
7032 44e4 9093 0000 sts (tmp_long.3308)+1,r25 |
7033 44e8 A093 0000 sts (tmp_long.3308)+2,r26 |
7034 44ec B093 0000 sts (tmp_long.3308)+3,r27 |
7035 .L768: |
7036 44f0 A090 0000 lds r10,tmp_long.3308 |
7037 44f4 B090 0000 lds r11,(tmp_long.3308)+1 |
7038 44f8 C090 0000 lds r12,(tmp_long.3308)+2 |
7039 44fc D090 0000 lds r13,(tmp_long.3308)+3 |
7040 4500 8091 0000 lds r24,VarioMeter |
7041 4504 9091 0000 lds r25,(VarioMeter)+1 |
7042 4508 68E0 ldi r22,lo8(8) |
7043 450a 70E0 ldi r23,hi8(8) |
7044 450c 0E94 0000 call __divmodhi4 |
7045 4510 8FEF ldi r24,hi8(-126) |
7046 4512 6238 cpi r22,lo8(-126) |
7047 4514 7807 cpc r23,r24 |
7048 4516 04F4 brge .L770 |
7049 4518 61E8 ldi r22,lo8(-127) |
7050 451a 7FEF ldi r23,hi8(-127) |
7051 451c 00C0 rjmp .L772 |
7052 .L770: |
7053 451e 6038 cpi r22,128 |
7054 4520 7105 cpc r23,__zero_reg__ |
7055 4522 04F0 brlt .L772 |
7056 4524 60E8 ldi r22,lo8(128) |
7057 4526 70E0 ldi r23,hi8(128) |
7058 .L772: |
7059 4528 8827 clr r24 |
7060 452a 77FD sbrc r23,7 |
7061 452c 8095 com r24 |
7062 452e 982F mov r25,r24 |
7063 4530 2091 0000 lds r18,Parameter_Luftdruck_D |
7064 4534 30E0 ldi r19,lo8(0) |
7065 4536 40E0 ldi r20,lo8(0) |
7066 4538 50E0 ldi r21,hi8(0) |
7067 453a 0E94 0000 call __mulsi3 |
7068 453e 24E0 ldi r18,lo8(4) |
7069 4540 30E0 ldi r19,hi8(4) |
7070 4542 40E0 ldi r20,hlo8(4) |
7071 4544 50E0 ldi r21,hhi8(4) |
7072 4546 0E94 0000 call __divmodsi4 |
7073 454a B901 movw r22,r18 |
7074 454c 9FEF ldi r25,hi8(-255) |
7075 454e 2130 cpi r18,lo8(-255) |
7076 4550 3907 cpc r19,r25 |
7077 4552 04F4 brge .L774 |
7078 4554 60E0 ldi r22,lo8(-256) |
7079 4556 7FEF ldi r23,hi8(-256) |
7080 4558 00C0 rjmp .L776 |
7081 .L774: |
7082 455a 2F3F cpi r18,255 |
7083 455c 3105 cpc r19,__zero_reg__ |
7084 455e 01F0 breq .L776 |
7085 4560 04F0 brlt .L776 |
7086 4562 60E0 ldi r22,lo8(256) |
7087 4564 71E0 ldi r23,hi8(256) |
7088 .L776: |
7089 4566 8091 0000 lds r24,FC_StatusFlags |
7090 456a 807C andi r24,lo8(-64) |
7091 456c 01F0 breq .L778 |
7092 456e CB01 movw r24,r22 |
7093 4570 64E0 ldi r22,lo8(4) |
7094 4572 70E0 ldi r23,hi8(4) |
7095 4574 00C0 rjmp .L927 |
7096 .L778: |
7097 4576 2114 cp r2,__zero_reg__ |
7098 4578 3104 cpc r3,__zero_reg__ |
7099 457a 01F0 breq .L780 |
7100 457c CB01 movw r24,r22 |
7101 457e 68E0 ldi r22,lo8(8) |
7102 4580 70E0 ldi r23,hi8(8) |
7103 .L927: |
7104 4582 0E94 0000 call __divmodhi4 |
7105 .L780: |
7106 4586 4701 movw r8,r14 |
7107 4588 6501 movw r12,r10 |
7108 458a C60E add r12,r22 |
7109 458c D71E adc r13,r23 |
7110 .L761: |
7111 458e E090 0000 lds r14,Parameter_Hoehe_ACC_Wirkung |
7112 4592 EE20 tst r14 |
7113 4594 01F4 brne .+2 |
7114 4596 00C0 rjmp .L782 |
7115 4598 6091 0000 lds r22,Mess_Integral_Hoch |
7116 459c 7091 0000 lds r23,(Mess_Integral_Hoch)+1 |
7117 45a0 8091 0000 lds r24,(Mess_Integral_Hoch)+2 |
7118 45a4 9091 0000 lds r25,(Mess_Integral_Hoch)+3 |
7119 45a8 FF24 clr r15 |
7120 45aa 00E0 ldi r16,lo8(0) |
7121 45ac 10E0 ldi r17,hi8(0) |
7122 45ae 20E8 ldi r18,lo8(128) |
7123 45b0 30E0 ldi r19,hi8(128) |
7124 45b2 40E0 ldi r20,hlo8(128) |
7125 45b4 50E0 ldi r21,hhi8(128) |
7126 45b6 0E94 0000 call __divmodsi4 |
7127 45ba C801 movw r24,r16 |
7128 45bc B701 movw r22,r14 |
7129 45be 0E94 0000 call __mulsi3 |
7130 45c2 20E2 ldi r18,lo8(32) |
7131 45c4 30E0 ldi r19,hi8(32) |
7132 45c6 40E0 ldi r20,hlo8(32) |
7133 45c8 50E0 ldi r21,hhi8(32) |
7134 45ca 0E94 0000 call __divmodsi4 |
7135 45ce 2093 0000 sts tmp_long.3308,r18 |
7136 45d2 3093 0000 sts (tmp_long.3308)+1,r19 |
7137 45d6 4093 0000 sts (tmp_long.3308)+2,r20 |
7138 45da 5093 0000 sts (tmp_long.3308)+3,r21 |
7139 45de 2138 cpi r18,lo8(-127) |
7140 45e0 AFEF ldi r26,hi8(-127) |
7141 45e2 3A07 cpc r19,r26 |
7142 45e4 AFEF ldi r26,hlo8(-127) |
7143 45e6 4A07 cpc r20,r26 |
7144 45e8 AFEF ldi r26,hhi8(-127) |
7145 45ea 5A07 cpc r21,r26 |
7146 45ec 04F4 brge .L784 |
7147 45ee 80E8 ldi r24,lo8(-128) |
7148 45f0 9FEF ldi r25,hi8(-128) |
7149 45f2 AFEF ldi r26,hlo8(-128) |
7150 45f4 BFEF ldi r27,hhi8(-128) |
7151 45f6 00C0 rjmp .L928 |
7152 .L784: |
7153 45f8 2F3F cpi r18,lo8(255) |
7154 45fa 3105 cpc r19,__zero_reg__ |
7155 45fc 4105 cpc r20,__zero_reg__ |
7156 45fe 5105 cpc r21,__zero_reg__ |
7157 4600 01F0 breq .L786 |
7158 4602 04F0 brlt .L786 |
7159 4604 80E0 ldi r24,lo8(256) |
7160 4606 91E0 ldi r25,hi8(256) |
7161 4608 A0E0 ldi r26,hlo8(256) |
7162 460a B0E0 ldi r27,hhi8(256) |
7163 .L928: |
7164 460c 8093 0000 sts tmp_long.3308,r24 |
7165 4610 9093 0000 sts (tmp_long.3308)+1,r25 |
7166 4614 A093 0000 sts (tmp_long.3308)+2,r26 |
7167 4618 B093 0000 sts (tmp_long.3308)+3,r27 |
7168 .L786: |
7169 461c 8091 0000 lds r24,tmp_long.3308 |
7170 4620 9091 0000 lds r25,(tmp_long.3308)+1 |
7171 4624 C80E add r12,r24 |
7172 4626 D91E adc r13,r25 |
7173 .L782: |
7174 4628 8091 0000 lds r24,FromNaviCtrl_Value+4 |
7175 462c 9927 clr r25 |
7176 462e 87FD sbrc r24,7 |
7177 4630 9095 com r25 |
7178 4632 2091 0000 lds r18,Parameter_Hoehe_GPS_Z |
7179 4636 30E0 ldi r19,lo8(0) |
7180 4638 FC01 movw r30,r24 |
7181 463a E29F mul r30,r18 |
7182 463c C001 movw r24,r0 |
7183 463e E39F mul r30,r19 |
7184 4640 900D add r25,r0 |
7185 4642 F29F mul r31,r18 |
7186 4644 900D add r25,r0 |
7187 4646 1124 clr r1 |
7188 4648 60E8 ldi r22,lo8(128) |
7189 464a 70E0 ldi r23,hi8(128) |
7190 464c 0E94 0000 call __divmodhi4 |
7191 4650 0091 0000 lds r16,HoverGas |
7192 4654 1091 0000 lds r17,(HoverGas)+1 |
7193 4658 FFEF ldi r31,hi8(-128) |
7194 465a 6038 cpi r22,lo8(-128) |
7195 465c 7F07 cpc r23,r31 |
7196 465e 04F4 brge .L788 |
7197 4660 60E8 ldi r22,lo8(-128) |
7198 4662 7FEF ldi r23,hi8(-128) |
7199 .L788: |
7200 4664 C60E add r12,r22 |
7201 4666 D71E adc r13,r23 |
7202 4668 B601 movw r22,r12 |
7203 466a 8827 clr r24 |
7204 466c 77FD sbrc r23,7 |
7205 466e 8095 com r24 |
7206 4670 982F mov r25,r24 |
7207 4672 9801 movw r18,r16 |
7208 4674 4427 clr r20 |
7209 4676 37FD sbrc r19,7 |
7210 4678 4095 com r20 |
7211 467a 542F mov r21,r20 |
7212 467c 0E94 0000 call __mulsi3 |
7213 4680 20E0 ldi r18,lo8(512) |
7214 4682 32E0 ldi r19,hi8(512) |
7215 4684 40E0 ldi r20,hlo8(512) |
7216 4686 50E0 ldi r21,hhi8(512) |
7217 4688 0E94 0000 call __divmodsi4 |
7218 468c B201 movw r22,r4 |
7219 468e 621B sub r22,r18 |
7220 4690 730B sbc r23,r19 |
7221 4692 8091 0000 lds r24,HeightTrimming.3345 |
7222 4696 9091 0000 lds r25,(HeightTrimming.3345)+1 |
7223 469a 892B or r24,r25 |
7224 469c 01F0 breq .+2 |
7225 469e 00C0 rjmp .L789 |
7226 46a0 1016 cp __zero_reg__,r16 |
7227 46a2 1106 cpc __zero_reg__,r17 |
7228 46a4 04F0 brlt .+2 |
7229 46a6 00C0 rjmp .L789 |
7230 46a8 C401 movw r24,r8 |
7231 46aa 97FE sbrs r9,7 |
7232 46ac 00C0 rjmp .L792 |
7233 46ae 8827 clr r24 |
7234 46b0 9927 clr r25 |
7235 46b2 8819 sub r24,r8 |
7236 46b4 9909 sbc r25,r9 |
7237 .L792: |
7238 46b6 8D33 cpi r24,61 |
7239 46b8 9105 cpc r25,__zero_reg__ |
7240 46ba 00F4 brsh .L793 |
7241 46bc 8091 0000 lds r24,HoverGasMin.3348 |
7242 46c0 9091 0000 lds r25,(HoverGasMin.3348)+1 |
7243 46c4 8617 cp r24,r22 |
7244 46c6 9707 cpc r25,r23 |
7245 46c8 04F0 brlt .+2 |
7246 46ca 00C0 rjmp .L929 |
7247 46cc 00C0 rjmp .L801 |
7248 .L793: |
7249 46ce 9C01 movw r18,r24 |
7250 46d0 2C53 subi r18,lo8(-(-60)) |
7251 46d2 3040 sbci r19,hi8(-(-60)) |
7252 46d4 A5E0 ldi r26,5 |
7253 46d6 3695 1: lsr r19 |
7254 46d8 2795 ror r18 |
7255 46da AA95 dec r26 |
7256 46dc 01F4 brne 1b |
7257 46de 2031 cpi r18,16 |
7258 46e0 3105 cpc r19,__zero_reg__ |
7259 46e2 00F0 brlo .L798 |
7260 46e4 2FE0 ldi r18,lo8(15) |
7261 46e6 30E0 ldi r19,hi8(15) |
7262 .L798: |
7263 46e8 4091 0000 lds r20,HoverGasMin.3348 |
7264 46ec 5091 0000 lds r21,(HoverGasMin.3348)+1 |
7265 46f0 1814 cp __zero_reg__,r8 |
7266 46f2 1904 cpc __zero_reg__,r9 |
7267 46f4 04F4 brge .L799 |
7268 46f6 80E1 ldi r24,lo8(16) |
7269 46f8 90E0 ldi r25,hi8(16) |
7270 46fa 821B sub r24,r18 |
7271 46fc 930B sbc r25,r19 |
7272 46fe 7C01 movw r14,r24 |
7273 4700 E49E mul r14,r20 |
7274 4702 C001 movw r24,r0 |
7275 4704 E59E mul r14,r21 |
7276 4706 900D add r25,r0 |
7277 4708 F49E mul r15,r20 |
7278 470a 900D add r25,r0 |
7279 470c 1124 clr r1 |
7280 470e F4E0 ldi r31,4 |
7281 4710 9695 1: lsr r25 |
7282 4712 8795 ror r24 |
7283 4714 FA95 dec r31 |
7284 4716 01F4 brne 1b |
7285 4718 8617 cp r24,r22 |
7286 471a 9707 cpc r25,r23 |
7287 471c 00F4 brsh .L929 |
7288 .L801: |
7289 471e 8091 0000 lds r24,HoverGasMax.3349 |
7290 4722 9091 0000 lds r25,(HoverGasMax.3349)+1 |
7291 4726 8617 cp r24,r22 |
7292 4728 9707 cpc r25,r23 |
7293 472a 04F4 brge .L789 |
7294 472c 00C0 rjmp .L929 |
7295 .L799: |
7296 472e 8091 0000 lds r24,HoverGasMax.3349 |
7297 4732 9091 0000 lds r25,(HoverGasMax.3349)+1 |
7298 4736 4617 cp r20,r22 |
7299 4738 5707 cpc r21,r23 |
7300 473a 04F0 brlt .L804 |
7301 473c BA01 movw r22,r20 |
7302 473e 00C0 rjmp .L789 |
7303 .L804: |
7304 4740 205F subi r18,lo8(-(16)) |
7305 4742 3F4F sbci r19,hi8(-(16)) |
7306 4744 AC01 movw r20,r24 |
7307 4746 249F mul r18,r20 |
7308 4748 C001 movw r24,r0 |
7309 474a 259F mul r18,r21 |
7310 474c 900D add r25,r0 |
7311 474e 349F mul r19,r20 |
7312 4750 900D add r25,r0 |
7313 4752 1124 clr r1 |
7314 4754 E4E0 ldi r30,4 |
7315 4756 9695 1: lsr r25 |
7316 4758 8795 ror r24 |
7317 475a EA95 dec r30 |
7318 475c 01F4 brne 1b |
7319 475e 6817 cp r22,r24 |
7320 4760 7907 cpc r23,r25 |
7321 4762 00F0 brlo .L789 |
7322 .L929: |
7323 4764 BC01 movw r22,r24 |
7324 .L789: |
7325 4766 8827 clr r24 |
7326 4768 77FD sbrc r23,7 |
7327 476a 8095 com r24 |
7328 476c 982F mov r25,r24 |
7329 476e 5DE0 ldi r21,13 |
7330 4770 660F 1: lsl r22 |
7331 4772 771F rol r23 |
7332 4774 881F rol r24 |
7333 4776 991F rol r25 |
7334 4778 5A95 dec r21 |
7335 477a 01F4 brne 1b |
7336 477c AA85 ldd r26,Y+10 |
7337 477e BB85 ldd r27,Y+11 |
7338 4780 9D01 movw r18,r26 |
7339 4782 4427 clr r20 |
7340 4784 37FD sbrc r19,7 |
7341 4786 4095 com r20 |
7342 4788 542F mov r21,r20 |
7343 478a 0E94 0000 call __divmodsi4 |
7344 478e 2093 0000 sts tmp_long2.3309,r18 |
7345 4792 3093 0000 sts (tmp_long2.3309)+1,r19 |
7346 4796 4093 0000 sts (tmp_long2.3309)+2,r20 |
7347 479a 5093 0000 sts (tmp_long2.3309)+3,r21 |
7348 479e 6091 0000 lds r22,FilterHCGas.3346 |
7349 47a2 7091 0000 lds r23,(FilterHCGas.3346)+1 |
7350 47a6 CB01 movw r24,r22 |
7351 47a8 880F lsl r24 |
7352 47aa 991F rol r25 |
7353 47ac 860F add r24,r22 |
7354 47ae 971F adc r25,r23 |
7355 47b0 820F add r24,r18 |
7356 47b2 931F adc r25,r19 |
7357 47b4 64E0 ldi r22,lo8(4) |
7358 47b6 70E0 ldi r23,hi8(4) |
7359 47b8 0E94 0000 call __divmodhi4 |
7360 47bc 7093 0000 sts (FilterHCGas.3346)+1,r23 |
7361 47c0 6093 0000 sts FilterHCGas.3346,r22 |
7362 47c4 8091 0000 lds r24,EE_Parameter+14 |
7363 47c8 90E0 ldi r25,lo8(0) |
7364 47ca 880F lsl r24 |
7365 47cc 991F rol r25 |
7366 47ce 880F lsl r24 |
7367 47d0 991F rol r25 |
7368 47d2 8617 cp r24,r22 |
7369 47d4 9707 cpc r25,r23 |
7370 47d6 04F4 brge .L930 |
7371 47d8 8091 0000 lds r24,MAX_GAS |
7372 47dc 90E0 ldi r25,lo8(0) |
7373 47de 880F lsl r24 |
7374 47e0 991F rol r25 |
7375 47e2 880F lsl r24 |
7376 47e4 991F rol r25 |
7377 47e6 8055 subi r24,lo8(-(-80)) |
7378 47e8 9040 sbci r25,hi8(-(-80)) |
7379 47ea 6817 cp r22,r24 |
7380 47ec 7907 cpc r23,r25 |
7381 47ee 04F0 brlt .L809 |
7382 .L930: |
7383 47f0 9093 0000 sts (FilterHCGas.3346)+1,r25 |
7384 47f4 8093 0000 sts FilterHCGas.3346,r24 |
7385 .L809: |
7386 47f8 2091 0000 lds r18,FilterHCGas.3346 |
7387 47fc 3091 0000 lds r19,(FilterHCGas.3346)+1 |
7388 4800 2328 or r2,r3 |
7389 4802 01F0 breq .L811 |
7390 4804 2615 cp r18,r6 |
7391 4806 3705 cpc r19,r7 |
7392 4808 04F0 brlt .L813 |
7393 480a 7092 0000 sts (FilterHCGas.3346)+1,r7 |
7394 480e 6092 0000 sts FilterHCGas.3346,r6 |
7395 .L813: |
7396 4812 6090 0000 lds r6,FilterHCGas.3346 |
7397 4816 7090 0000 lds r7,(FilterHCGas.3346)+1 |
7398 481a 00C0 rjmp .L758 |
7399 .L811: |
7400 481c C301 movw r24,r6 |
7401 481e 801B sub r24,r16 |
7402 4820 910B sbc r25,r17 |
7403 4822 64E0 ldi r22,lo8(4) |
7404 4824 70E0 ldi r23,hi8(4) |
7405 4826 0E94 0000 call __divmodhi4 |
7406 482a 3B01 movw r6,r22 |
7407 482c 620E add r6,r18 |
7408 482e 731E adc r7,r19 |
7409 4830 00C0 rjmp .L758 |
7410 .L710: |
7411 4832 8091 0000 lds r24,EE_Parameter+22 |
7412 4836 8823 tst r24 |
7413 4838 01F4 brne .L815 |
7414 483a 8091 0000 lds r24,HoverGas |
7415 483e 9091 0000 lds r25,(HoverGas)+1 |
7416 4842 64E0 ldi r22,lo8(4) |
7417 4844 70E0 ldi r23,hi8(4) |
7418 4846 0E94 0000 call __divmodhi4 |
7419 484a 9B01 movw r18,r22 |
7420 484c 8091 0000 lds r24,UBat |
7421 4850 9091 0000 lds r25,(UBat)+1 |
7422 4854 6091 0000 lds r22,BattLowVoltageWarning |
7423 4858 70E0 ldi r23,lo8(0) |
7424 485a FC01 movw r30,r24 |
7425 485c 2E9F mul r18,r30 |
7426 485e C001 movw r24,r0 |
7427 4860 2F9F mul r18,r31 |
7428 4862 900D add r25,r0 |
7429 4864 3E9F mul r19,r30 |
7430 4866 900D add r25,r0 |
7431 4868 1124 clr r1 |
7432 486a 0E94 0000 call __divmodhi4 |
7433 486e 7093 0000 sts (StickGasHover.3347)+1,r23 |
7434 4872 6093 0000 sts StickGasHover.3347,r22 |
7435 4876 00C0 rjmp .L817 |
7436 .L815: |
7437 4878 90E0 ldi r25,lo8(0) |
7438 487a 9093 0000 sts (StickGasHover.3347)+1,r25 |
7439 487e 8093 0000 sts StickGasHover.3347,r24 |
7440 .L817: |
7441 4882 8091 0000 lds r24,StickGasHover.3347 |
7442 4886 9091 0000 lds r25,(StickGasHover.3347)+1 |
7443 488a 8734 cpi r24,71 |
7444 488c 9105 cpc r25,__zero_reg__ |
7445 488e 04F4 brge .L818 |
7446 4890 86E4 ldi r24,lo8(70) |
7447 4892 90E0 ldi r25,hi8(70) |
7448 4894 00C0 rjmp .L931 |
7449 .L818: |
7450 4896 8639 cpi r24,150 |
7451 4898 9105 cpc r25,__zero_reg__ |
7452 489a 04F0 brlt .L820 |
7453 489c 86E9 ldi r24,lo8(150) |
7454 489e 90E0 ldi r25,hi8(150) |
7455 .L931: |
7456 48a0 9093 0000 sts (StickGasHover.3347)+1,r25 |
7457 48a4 8093 0000 sts StickGasHover.3347,r24 |
7458 .L820: |
7459 48a8 7092 0000 sts (FilterHCGas.3346)+1,r7 |
7460 48ac 6092 0000 sts FilterHCGas.3346,r6 |
7461 48b0 8091 0000 lds r24,FC_StatusFlags |
7462 48b4 806C ori r24,lo8(-64) |
7463 48b6 8093 0000 sts FC_StatusFlags,r24 |
7464 .L758: |
7465 48ba 8091 0000 lds r24,FC_StatusFlags |
7466 48be 81FF sbrs r24,1 |
7467 48c0 00C0 rjmp .L822 |
7468 48c2 8091 0000 lds r24,HoverGasFilter.3350 |
7469 48c6 9091 0000 lds r25,(HoverGasFilter.3350)+1 |
7470 48ca A091 0000 lds r26,(HoverGasFilter.3350)+2 |
7471 48ce B091 0000 lds r27,(HoverGasFilter.3350)+3 |
7472 48d2 0097 sbiw r24,0 |
7473 48d4 A105 cpc r26,__zero_reg__ |
7474 48d6 B105 cpc r27,__zero_reg__ |
7475 48d8 01F0 breq .L824 |
7476 48da 8091 0000 lds r24,StartTrigger |
7477 48de 8130 cpi r24,lo8(1) |
7478 48e0 01F4 brne .L826 |
7479 .L824: |
7480 48e2 C301 movw r24,r6 |
7481 48e4 AA27 clr r26 |
7482 48e6 97FD sbrc r25,7 |
7483 48e8 A095 com r26 |
7484 48ea BA2F mov r27,r26 |
7485 48ec FEE0 ldi r31,14 |
7486 48ee 880F 1: lsl r24 |
7487 48f0 991F rol r25 |
7488 48f2 AA1F rol r26 |
7489 48f4 BB1F rol r27 |
7490 48f6 FA95 dec r31 |
7491 48f8 01F4 brne 1b |
7492 48fa 8093 0000 sts HoverGasFilter.3350,r24 |
7493 48fe 9093 0000 sts (HoverGasFilter.3350)+1,r25 |
7494 4902 A093 0000 sts (HoverGasFilter.3350)+2,r26 |
7495 4906 B093 0000 sts (HoverGasFilter.3350)+3,r27 |
7496 .L826: |
7497 490a 8091 0000 lds r24,StartTrigger |
7498 490e 8130 cpi r24,lo8(1) |
7499 4910 01F4 brne .L827 |
7500 4912 82E0 ldi r24,lo8(2) |
7501 4914 8093 0000 sts StartTrigger,r24 |
7502 .L827: |
7503 4918 B301 movw r22,r6 |
7504 491a 8827 clr r24 |
7505 491c 77FD sbrc r23,7 |
7506 491e 8095 com r24 |
7507 4920 982F mov r25,r24 |
7508 4922 EA84 ldd r14,Y+10 |
7509 4924 FB84 ldd r15,Y+11 |
7510 4926 9701 movw r18,r14 |
7511 4928 4427 clr r20 |
7512 492a 37FD sbrc r19,7 |
7513 492c 4095 com r20 |
7514 492e 542F mov r21,r20 |
7515 4930 0E94 0000 call __mulsi3 |
7516 4934 20E0 ldi r18,lo8(8192) |
7517 4936 30E2 ldi r19,hi8(8192) |
7518 4938 40E0 ldi r20,hlo8(8192) |
7519 493a 50E0 ldi r21,hhi8(8192) |
7520 493c 0E94 0000 call __divmodsi4 |
7521 4940 7901 movw r14,r18 |
7522 4942 8A01 movw r16,r20 |
7523 4944 2093 0000 sts tmp_long2.3309,r18 |
7524 4948 3093 0000 sts (tmp_long2.3309)+1,r19 |
7525 494c 4093 0000 sts (tmp_long2.3309)+2,r20 |
7526 4950 5093 0000 sts (tmp_long2.3309)+3,r21 |
7527 4954 6091 0000 lds r22,modell_fliegt |
7528 4958 7091 0000 lds r23,(modell_fliegt)+1 |
7529 495c 2FE0 ldi r18,hi8(4000) |
7530 495e 603A cpi r22,lo8(4000) |
7531 4960 7207 cpc r23,r18 |
7532 4962 00F4 brsh .L829 |
7533 4964 8091 0000 lds r24,HoverGasFilter.3350 |
7534 4968 9091 0000 lds r25,(HoverGasFilter.3350)+1 |
7535 496c A091 0000 lds r26,(HoverGasFilter.3350)+2 |
7536 4970 B091 0000 lds r27,(HoverGasFilter.3350)+3 |
7537 4974 9C01 movw r18,r24 |
7538 4976 AD01 movw r20,r26 |
7539 4978 EAE0 ldi r30,10 |
7540 497a 5695 1: lsr r21 |
7541 497c 4795 ror r20 |
7542 497e 3795 ror r19 |
7543 4980 2795 ror r18 |
7544 4982 EA95 dec r30 |
7545 4984 01F4 brne 1b |
7546 4986 821B sub r24,r18 |
7547 4988 930B sbc r25,r19 |
7548 498a A40B sbc r26,r20 |
7549 498c B50B sbc r27,r21 |
7550 498e A801 movw r20,r16 |
7551 4990 9701 movw r18,r14 |
7552 4992 F4E0 ldi r31,4 |
7553 4994 220F 1: lsl r18 |
7554 4996 331F rol r19 |
7555 4998 441F rol r20 |
7556 499a 551F rol r21 |
7557 499c FA95 dec r31 |
7558 499e 01F4 brne 1b |
7559 49a0 280F add r18,r24 |
7560 49a2 391F adc r19,r25 |
7561 49a4 4A1F adc r20,r26 |
7562 49a6 5B1F adc r21,r27 |
7563 49a8 2093 0000 sts HoverGasFilter.3350,r18 |
7564 49ac 3093 0000 sts (HoverGasFilter.3350)+1,r19 |
7565 49b0 4093 0000 sts (HoverGasFilter.3350)+2,r20 |
7566 49b4 5093 0000 sts (HoverGasFilter.3350)+3,r21 |
7567 .L829: |
7568 49b8 6054 subi r22,lo8(8000) |
7569 49ba 7F41 sbci r23,hi8(8000) |
7570 49bc 00F4 brsh .L831 |
7571 49be 8091 0000 lds r24,HoverGasFilter.3350 |
7572 49c2 9091 0000 lds r25,(HoverGasFilter.3350)+1 |
7573 49c6 A091 0000 lds r26,(HoverGasFilter.3350)+2 |
7574 49ca B091 0000 lds r27,(HoverGasFilter.3350)+3 |
7575 49ce 9C01 movw r18,r24 |
7576 49d0 AD01 movw r20,r26 |
7577 49d2 ECE0 ldi r30,12 |
7578 49d4 5695 1: lsr r21 |
7579 49d6 4795 ror r20 |
7580 49d8 3795 ror r19 |
7581 49da 2795 ror r18 |
7582 49dc EA95 dec r30 |
7583 49de 01F4 brne 1b |
7584 49e0 821B sub r24,r18 |
7585 49e2 930B sbc r25,r19 |
7586 49e4 A40B sbc r26,r20 |
7587 49e6 B50B sbc r27,r21 |
7588 49e8 72E0 ldi r23,2 |
7589 49ea EE0C 1: lsl r14 |
7590 49ec FF1C rol r15 |
7591 49ee 001F rol r16 |
7592 49f0 111F rol r17 |
7593 49f2 7A95 dec r23 |
7594 49f4 01F4 brne 1b |
7595 49f6 00C0 rjmp .L932 |
7596 .L831: |
7597 49f8 8091 0000 lds r24,VarioMeter |
7598 49fc 9091 0000 lds r25,(VarioMeter)+1 |
7599 4a00 97FF sbrs r25,7 |
7600 4a02 00C0 rjmp .L834 |
7601 4a04 9095 com r25 |
7602 4a06 8195 neg r24 |
7603 4a08 9F4F sbci r25,lo8(-1) |
7604 .L834: |
7605 4a0a 8436 cpi r24,100 |
7606 4a0c 9105 cpc r25,__zero_reg__ |
7607 4a0e 04F4 brge .L833 |
7608 4a10 8091 0000 lds r24,HoverGasFilter.3350 |
7609 4a14 9091 0000 lds r25,(HoverGasFilter.3350)+1 |
7610 4a18 A091 0000 lds r26,(HoverGasFilter.3350)+2 |
7611 4a1c B091 0000 lds r27,(HoverGasFilter.3350)+3 |
7612 4a20 9C01 movw r18,r24 |
7613 4a22 AD01 movw r20,r26 |
7614 4a24 6EE0 ldi r22,14 |
7615 4a26 5695 1: lsr r21 |
7616 4a28 4795 ror r20 |
7617 4a2a 3795 ror r19 |
7618 4a2c 2795 ror r18 |
7619 4a2e 6A95 dec r22 |
7620 4a30 01F4 brne 1b |
7621 4a32 821B sub r24,r18 |
7622 4a34 930B sbc r25,r19 |
7623 4a36 A40B sbc r26,r20 |
7624 4a38 B50B sbc r27,r21 |
7625 .L932: |
7626 4a3a 8E0D add r24,r14 |
7627 4a3c 9F1D adc r25,r15 |
7628 4a3e A01F adc r26,r16 |
7629 4a40 B11F adc r27,r17 |
7630 4a42 8093 0000 sts HoverGasFilter.3350,r24 |
7631 4a46 9093 0000 sts (HoverGasFilter.3350)+1,r25 |
7632 4a4a A093 0000 sts (HoverGasFilter.3350)+2,r26 |
7633 4a4e B093 0000 sts (HoverGasFilter.3350)+3,r27 |
7634 .L833: |
7635 4a52 8091 0000 lds r24,HoverGasFilter.3350 |
7636 4a56 9091 0000 lds r25,(HoverGasFilter.3350)+1 |
7637 4a5a A091 0000 lds r26,(HoverGasFilter.3350)+2 |
7638 4a5e B091 0000 lds r27,(HoverGasFilter.3350)+3 |
7639 4a62 1EE0 ldi r17,14 |
7640 4a64 B695 1: lsr r27 |
7641 4a66 A795 ror r26 |
7642 4a68 9795 ror r25 |
7643 4a6a 8795 ror r24 |
7644 4a6c 1A95 dec r17 |
7645 4a6e 01F4 brne 1b |
7646 4a70 9C01 movw r18,r24 |
7647 4a72 9093 0000 sts (HoverGas)+1,r25 |
7648 4a76 8093 0000 sts HoverGas,r24 |
7649 4a7a 6091 0000 lds r22,EE_Parameter+20 |
7650 4a7e 6623 tst r22 |
7651 4a80 01F0 breq .L836 |
7652 4a82 70E0 ldi r23,lo8(0) |
7653 4a84 0E94 0000 call __divmodhi4 |
7654 4a88 C901 movw r24,r18 |
7655 4a8a 861B sub r24,r22 |
7656 4a8c 970B sbc r25,r23 |
7657 4a8e 9093 0000 sts (HoverGasMin.3348)+1,r25 |
7658 4a92 8093 0000 sts HoverGasMin.3348,r24 |
7659 4a96 260F add r18,r22 |
7660 4a98 371F adc r19,r23 |
7661 4a9a 3093 0000 sts (HoverGasMax.3349)+1,r19 |
7662 4a9e 2093 0000 sts HoverGasMax.3349,r18 |
7663 4aa2 00C0 rjmp .L838 |
7664 .L836: |
7665 4aa4 1092 0000 sts (HoverGasMin.3348)+1,__zero_reg__ |
7666 4aa8 1092 0000 sts HoverGasMin.3348,__zero_reg__ |
7667 4aac 8FEF ldi r24,lo8(1023) |
7668 4aae 93E0 ldi r25,hi8(1023) |
7669 4ab0 9093 0000 sts (HoverGasMax.3349)+1,r25 |
7670 4ab4 8093 0000 sts HoverGasMax.3349,r24 |
7671 4ab8 00C0 rjmp .L838 |
7672 .L822: |
7673 4aba 1092 0000 sts StartTrigger,__zero_reg__ |
7674 4abe 1092 0000 sts HoverGasFilter.3350,__zero_reg__ |
7675 4ac2 1092 0000 sts (HoverGasFilter.3350)+1,__zero_reg__ |
7676 4ac6 1092 0000 sts (HoverGasFilter.3350)+2,__zero_reg__ |
7677 4aca 1092 0000 sts (HoverGasFilter.3350)+3,__zero_reg__ |
7678 4ace 1092 0000 sts (HoverGas)+1,__zero_reg__ |
7679 4ad2 1092 0000 sts HoverGas,__zero_reg__ |
7680 4ad6 00C0 rjmp .L838 |
7681 .L687: |
7682 4ad8 8091 0000 lds r24,FC_StatusFlags |
7683 4adc 806C ori r24,lo8(-64) |
7684 4ade 8093 0000 sts FC_StatusFlags,r24 |
7685 .L838: |
7686 4ae2 8091 0000 lds r24,MIN_GAS |
7687 4ae6 482F mov r20,r24 |
7688 4ae8 50E0 ldi r21,lo8(0) |
7689 4aea 440F lsl r20 |
7690 4aec 551F rol r21 |
7691 4aee 440F lsl r20 |
7692 4af0 551F rol r21 |
7693 4af2 5D87 std Y+13,r21 |
7694 4af4 4C87 std Y+12,r20 |
7695 4af6 9A01 movw r18,r20 |
7696 4af8 285D subi r18,lo8(-(40)) |
7697 4afa 3F4F sbci r19,hi8(-(40)) |
7698 4afc B301 movw r22,r6 |
7699 4afe 6216 cp r6,r18 |
7700 4b00 7306 cpc r7,r19 |
7701 4b02 04F4 brge .L839 |
7702 4b04 B901 movw r22,r18 |
7703 .L839: |
7704 4b06 8091 0000 lds r24,MAX_GAS |
7705 4b0a 682E mov r6,r24 |
7706 4b0c 7724 clr r7 |
7707 4b0e 660C lsl r6 |
7708 4b10 771C rol r7 |
7709 4b12 660C lsl r6 |
7710 4b14 771C rol r7 |
7711 4b16 C301 movw r24,r6 |
7712 4b18 8055 subi r24,lo8(-(-80)) |
7713 4b1a 9040 sbci r25,hi8(-(-80)) |
7714 4b1c 5B01 movw r10,r22 |
7715 4b1e 8617 cp r24,r22 |
7716 4b20 9707 cpc r25,r23 |
7717 4b22 04F4 brge .L840 |
7718 4b24 5C01 movw r10,r24 |
7719 .L840: |
7720 4b26 8091 0000 lds r24,MissingMotor |
7721 4b2a 8823 tst r24 |
7722 4b2c 01F4 brne .L841 |
7723 4b2e 8091 0000 lds r24,Capacity+6 |
7724 4b32 8F3F cpi r24,lo8(-1) |
7725 4b34 01F0 breq .L843 |
7726 .L841: |
7727 4b36 8091 0000 lds r24,modell_fliegt |
7728 4b3a 9091 0000 lds r25,(modell_fliegt)+1 |
7729 4b3e 0297 sbiw r24,2 |
7730 4b40 C097 sbiw r24,48 |
7731 4b42 00F4 brsh .L843 |
7732 4b44 1A14 cp __zero_reg__,r10 |
7733 4b46 1B04 cpc __zero_reg__,r11 |
7734 4b48 04F4 brge .L843 |
7735 4b4a 81E0 ldi r24,lo8(1) |
7736 4b4c 90E0 ldi r25,hi8(1) |
7737 4b4e 9093 0000 sts (modell_fliegt)+1,r25 |
7738 4b52 8093 0000 sts modell_fliegt,r24 |
7739 4b56 5901 movw r10,r18 |
7740 .L843: |
7741 4b58 B092 0000 sts (DebugOut+16)+1,r11 |
7742 4b5c A092 0000 sts DebugOut+16,r10 |
7743 4b60 8091 0000 lds r24,sollGier.3307 |
7744 4b64 9091 0000 lds r25,(sollGier.3307)+1 |
7745 4b68 A091 0000 lds r26,(sollGier.3307)+2 |
7746 4b6c B091 0000 lds r27,(sollGier.3307)+3 |
7747 4b70 62E0 ldi r22,2 |
7748 4b72 880F 1: lsl r24 |
7749 4b74 991F rol r25 |
7750 4b76 AA1F rol r26 |
7751 4b78 BB1F rol r27 |
7752 4b7a 6A95 dec r22 |
7753 4b7c 01F4 brne 1b |
7754 4b7e 2091 0000 lds r18,MesswertGier |
7755 4b82 3091 0000 lds r19,(MesswertGier)+1 |
7756 4b86 281B sub r18,r24 |
7757 4b88 390B sbc r19,r25 |
7758 4b8a 51EA ldi r21,lo8(161) |
7759 4b8c A516 cp r10,r21 |
7760 4b8e B104 cpc r11,__zero_reg__ |
7761 4b90 04F0 brlt .L846 |
7762 4b92 F501 movw r30,r10 |
7763 4b94 F595 asr r31 |
7764 4b96 E795 ror r30 |
7765 4b98 2E17 cp r18,r30 |
7766 4b9a 3F07 cpc r19,r31 |
7767 4b9c 04F4 brge .L848 |
7768 4b9e F901 movw r30,r18 |
7769 .L848: |
7770 4ba0 C501 movw r24,r10 |
7771 4ba2 62E0 ldi r22,lo8(2) |
7772 4ba4 70E0 ldi r23,hi8(2) |
7773 4ba6 0E94 0000 call __divmodhi4 |
7774 4baa 7095 com r23 |
7775 4bac 6195 neg r22 |
7776 4bae 7F4F sbci r23,lo8(-1) |
7777 4bb0 CF01 movw r24,r30 |
7778 4bb2 E617 cp r30,r22 |
7779 4bb4 F707 cpc r31,r23 |
7780 4bb6 04F4 brge .L850 |
7781 4bb8 CB01 movw r24,r22 |
7782 4bba 00C0 rjmp .L850 |
7783 .L846: |
7784 4bbc C901 movw r24,r18 |
7785 4bbe 205B subi r18,lo8(-80) |
7786 4bc0 3F4F sbci r19,hi8(-80) |
7787 4bc2 04F4 brge .L851 |
7788 4bc4 80EB ldi r24,lo8(-80) |
7789 4bc6 9FEF ldi r25,hi8(-80) |
7790 .L851: |
7791 4bc8 8135 cpi r24,81 |
7792 4bca 9105 cpc r25,__zero_reg__ |
7793 4bcc 04F0 brlt .L850 |
7794 4bce 80E5 ldi r24,lo8(80) |
7795 4bd0 90E0 ldi r25,hi8(80) |
7796 .L850: |
7797 4bd2 9301 movw r18,r6 |
7798 4bd4 2A19 sub r18,r10 |
7799 4bd6 3B09 sbc r19,r11 |
7800 4bd8 2817 cp r18,r24 |
7801 4bda 3907 cpc r19,r25 |
7802 4bdc 04F4 brge .L853 |
7803 4bde C901 movw r24,r18 |
7804 .L853: |
7805 4be0 9501 movw r18,r10 |
7806 4be2 2619 sub r18,r6 |
7807 4be4 3709 sbc r19,r7 |
7808 4be6 4C01 movw r8,r24 |
7809 4be8 8217 cp r24,r18 |
7810 4bea 9307 cpc r25,r19 |
7811 4bec 04F4 brge .L854 |
7812 4bee 4901 movw r8,r18 |
7813 .L854: |
7814 4bf0 8091 0000 lds r24,StickNick |
7815 4bf4 9091 0000 lds r25,(StickNick)+1 |
7816 4bf8 6091 0000 lds r22,MesswertNick |
7817 4bfc 7091 0000 lds r23,(MesswertNick)+1 |
7818 4c00 681B sub r22,r24 |
7819 4c02 790B sbc r23,r25 |
7820 4c04 7093 0000 sts (DiffNick)+1,r23 |
7821 4c08 6093 0000 sts DiffNick,r22 |
7822 4c0c C090 0000 lds r12,IntegralFaktor |
7823 4c10 2091 0000 lds r18,SummeNick |
7824 4c14 3091 0000 lds r19,(SummeNick)+1 |
7825 4c18 4091 0000 lds r20,(SummeNick)+2 |
7826 4c1c 5091 0000 lds r21,(SummeNick)+3 |
7827 4c20 CC20 tst r12 |
7828 4c22 01F0 breq .L855 |
7829 4c24 AA89 ldd r26,Y+18 |
7830 4c26 BB89 ldd r27,Y+19 |
7831 4c28 A81B sub r26,r24 |
7832 4c2a B90B sbc r27,r25 |
7833 4c2c FD01 movw r30,r26 |
7834 4c2e CF01 movw r24,r30 |
7835 4c30 AA27 clr r26 |
7836 4c32 97FD sbrc r25,7 |
7837 4c34 A095 com r26 |
7838 4c36 BA2F mov r27,r26 |
7839 4c38 00C0 rjmp .L933 |
7840 .L855: |
7841 4c3a CB01 movw r24,r22 |
7842 4c3c AA27 clr r26 |
7843 4c3e 97FD sbrc r25,7 |
7844 4c40 A095 com r26 |
7845 4c42 BA2F mov r27,r26 |
7846 .L933: |
7847 4c44 280F add r18,r24 |
7848 4c46 391F adc r19,r25 |
7849 4c48 4A1F adc r20,r26 |
7850 4c4a 5B1F adc r21,r27 |
7851 4c4c 2093 0000 sts SummeNick,r18 |
7852 4c50 3093 0000 sts (SummeNick)+1,r19 |
7853 4c54 4093 0000 sts (SummeNick)+2,r20 |
7854 4c58 5093 0000 sts (SummeNick)+3,r21 |
7855 4c5c 8091 0000 lds r24,SummeNick |
7856 4c60 9091 0000 lds r25,(SummeNick)+1 |
7857 4c64 A091 0000 lds r26,(SummeNick)+2 |
7858 4c68 B091 0000 lds r27,(SummeNick)+3 |
7859 4c6c 8150 subi r24,lo8(64001) |
7860 4c6e 9A4F sbci r25,hi8(64001) |
7861 4c70 A040 sbci r26,hlo8(64001) |
7862 4c72 B040 sbci r27,hhi8(64001) |
7863 4c74 04F0 brlt .L858 |
7864 4c76 80E0 ldi r24,lo8(64000) |
7865 4c78 9AEF ldi r25,hi8(64000) |
7866 4c7a A0E0 ldi r26,hlo8(64000) |
7867 4c7c B0E0 ldi r27,hhi8(64000) |
7868 4c7e 8093 0000 sts SummeNick,r24 |
7869 4c82 9093 0000 sts (SummeNick)+1,r25 |
7870 4c86 A093 0000 sts (SummeNick)+2,r26 |
7871 4c8a B093 0000 sts (SummeNick)+3,r27 |
7872 .L858: |
7873 4c8e 8091 0000 lds r24,SummeNick |
7874 4c92 9091 0000 lds r25,(SummeNick)+1 |
7875 4c96 A091 0000 lds r26,(SummeNick)+2 |
7876 4c9a B091 0000 lds r27,(SummeNick)+3 |
7877 4c9e 8050 subi r24,lo8(-64000) |
7878 4ca0 9640 sbci r25,hi8(-64000) |
7879 4ca2 AF4F sbci r26,hlo8(-64000) |
7880 4ca4 BF4F sbci r27,hhi8(-64000) |
7881 4ca6 04F4 brge .L860 |
7882 4ca8 80E0 ldi r24,lo8(-64000) |
7883 4caa 96E0 ldi r25,hi8(-64000) |
7884 4cac AFEF ldi r26,hlo8(-64000) |
7885 4cae BFEF ldi r27,hhi8(-64000) |
7886 4cb0 8093 0000 sts SummeNick,r24 |
7887 4cb4 9093 0000 sts (SummeNick)+1,r25 |
7888 4cb8 A093 0000 sts (SummeNick)+2,r26 |
7889 4cbc B093 0000 sts (SummeNick)+3,r27 |
7890 .L860: |
7891 4cc0 D090 0000 lds r13,EE_Parameter+35 |
7892 4cc4 18E0 ldi r17,lo8(8) |
7893 4cc6 1D15 cp r17,r13 |
7894 4cc8 00F0 brlo .L862 |
7895 4cca 8D2D mov r24,r13 |
7896 4ccc 90E0 ldi r25,lo8(0) |
7897 4cce 9C01 movw r18,r24 |
7898 4cd0 269F mul r18,r22 |
7899 4cd2 C001 movw r24,r0 |
7900 4cd4 279F mul r18,r23 |
7901 4cd6 900D add r25,r0 |
7902 4cd8 369F mul r19,r22 |
7903 4cda 900D add r25,r0 |
7904 4cdc 1124 clr r1 |
7905 4cde 68E0 ldi r22,lo8(8) |
7906 4ce0 70E0 ldi r23,hi8(8) |
7907 4ce2 00C0 rjmp .L934 |
7908 .L862: |
7909 4ce4 8D2D mov r24,r13 |
7910 4ce6 8695 lsr r24 |
7911 4ce8 90E0 ldi r25,lo8(0) |
7912 4cea AC01 movw r20,r24 |
7913 4cec 469F mul r20,r22 |
7914 4cee C001 movw r24,r0 |
7915 4cf0 479F mul r20,r23 |
7916 4cf2 900D add r25,r0 |
7917 4cf4 569F mul r21,r22 |
7918 4cf6 900D add r25,r0 |
7919 4cf8 1124 clr r1 |
7920 4cfa 64E0 ldi r22,lo8(4) |
7921 4cfc 70E0 ldi r23,hi8(4) |
7922 .L934: |
7923 4cfe 0E94 0000 call __divmodhi4 |
7924 4d02 8B01 movw r16,r22 |
7925 4d04 8091 0000 lds r24,Ki |
7926 4d08 9091 0000 lds r25,(Ki)+1 |
7927 4d0c 1C01 movw r2,r24 |
7928 4d0e 4424 clr r4 |
7929 4d10 37FC sbrc r3,7 |
7930 4d12 4094 com r4 |
7931 4d14 542C mov r5,r4 |
7932 4d16 6091 0000 lds r22,SummeNick |
7933 4d1a 7091 0000 lds r23,(SummeNick)+1 |
7934 4d1e 8091 0000 lds r24,(SummeNick)+2 |
7935 4d22 9091 0000 lds r25,(SummeNick)+3 |
7936 4d26 A201 movw r20,r4 |
7937 4d28 9101 movw r18,r2 |
7938 4d2a 0E94 0000 call __divmodsi4 |
7939 4d2e 020F add r16,r18 |
7940 4d30 131F adc r17,r19 |
7941 4d32 C401 movw r24,r8 |
7942 4d34 97FE sbrs r9,7 |
7943 4d36 00C0 rjmp .L865 |
7944 4d38 8827 clr r24 |
7945 4d3a 9927 clr r25 |
7946 4d3c 8819 sub r24,r8 |
7947 4d3e 9909 sbc r25,r9 |
7948 .L865: |
7949 4d40 62E0 ldi r22,lo8(2) |
7950 4d42 70E0 ldi r23,hi8(2) |
7951 4d44 0E94 0000 call __divmodhi4 |
7952 4d48 6A0D add r22,r10 |
7953 4d4a 7B1D adc r23,r11 |
7954 4d4c 8827 clr r24 |
7955 4d4e 77FD sbrc r23,7 |
7956 4d50 8095 com r24 |
7957 4d52 982F mov r25,r24 |
7958 4d54 2091 0000 lds r18,Parameter_DynamicStability |
7959 4d58 30E0 ldi r19,lo8(0) |
7960 4d5a 40E0 ldi r20,lo8(0) |
7961 4d5c 50E0 ldi r21,hi8(0) |
7962 4d5e 0E94 0000 call __mulsi3 |
7963 4d62 20E4 ldi r18,lo8(64) |
7964 4d64 30E0 ldi r19,hi8(64) |
7965 4d66 40E0 ldi r20,hlo8(64) |
7966 4d68 50E0 ldi r21,hhi8(64) |
7967 4d6a 0E94 0000 call __divmodsi4 |
7968 4d6e 7901 movw r14,r18 |
7969 4d70 B801 movw r22,r16 |
7970 4d72 2017 cp r18,r16 |
7971 4d74 3107 cpc r19,r17 |
7972 4d76 04F4 brge .L866 |
7973 4d78 B901 movw r22,r18 |
7974 .L866: |
7975 4d7a 0027 clr r16 |
7976 4d7c 1127 clr r17 |
7977 4d7e 0E19 sub r16,r14 |
7978 4d80 1F09 sbc r17,r15 |
7979 4d82 7F87 std Y+15,r23 |
7980 4d84 6E87 std Y+14,r22 |
7981 4d86 6017 cp r22,r16 |
7982 4d88 7107 cpc r23,r17 |
7983 4d8a 04F4 brge .L867 |
7984 4d8c 1F87 std Y+15,r17 |
7985 4d8e 0E87 std Y+14,r16 |
7986 .L867: |
7987 4d90 8091 0000 lds r24,StickRoll |
7988 4d94 9091 0000 lds r25,(StickRoll)+1 |
7989 4d98 6091 0000 lds r22,MesswertRoll |
7990 4d9c 7091 0000 lds r23,(MesswertRoll)+1 |
7991 4da0 681B sub r22,r24 |
7992 4da2 790B sbc r23,r25 |
7993 4da4 7093 0000 sts (DiffRoll)+1,r23 |
7994 4da8 6093 0000 sts DiffRoll,r22 |
7995 4dac 2091 0000 lds r18,SummeRoll |
7996 4db0 3091 0000 lds r19,(SummeRoll)+1 |
7997 4db4 4091 0000 lds r20,(SummeRoll)+2 |
7998 4db8 5091 0000 lds r21,(SummeRoll)+3 |
7999 4dbc CC20 tst r12 |
8000 4dbe 01F0 breq .L868 |
8001 4dc0 A889 ldd r26,Y+16 |
8002 4dc2 B989 ldd r27,Y+17 |
8003 4dc4 A81B sub r26,r24 |
8004 4dc6 B90B sbc r27,r25 |
8005 4dc8 FD01 movw r30,r26 |
8006 4dca CF01 movw r24,r30 |
8007 4dcc AA27 clr r26 |
8008 4dce 97FD sbrc r25,7 |
8009 4dd0 A095 com r26 |
8010 4dd2 BA2F mov r27,r26 |
8011 4dd4 00C0 rjmp .L935 |
8012 .L868: |
8013 4dd6 CB01 movw r24,r22 |
8014 4dd8 AA27 clr r26 |
8015 4dda 97FD sbrc r25,7 |
8016 4ddc A095 com r26 |
8017 4dde BA2F mov r27,r26 |
8018 .L935: |
8019 4de0 280F add r18,r24 |
8020 4de2 391F adc r19,r25 |
8021 4de4 4A1F adc r20,r26 |
8022 4de6 5B1F adc r21,r27 |
8023 4de8 2093 0000 sts SummeRoll,r18 |
8024 4dec 3093 0000 sts (SummeRoll)+1,r19 |
8025 4df0 4093 0000 sts (SummeRoll)+2,r20 |
8026 4df4 5093 0000 sts (SummeRoll)+3,r21 |
8027 4df8 8091 0000 lds r24,SummeRoll |
8028 4dfc 9091 0000 lds r25,(SummeRoll)+1 |
8029 4e00 A091 0000 lds r26,(SummeRoll)+2 |
8030 4e04 B091 0000 lds r27,(SummeRoll)+3 |
8031 4e08 8150 subi r24,lo8(64001) |
8032 4e0a 9A4F sbci r25,hi8(64001) |
8033 4e0c A040 sbci r26,hlo8(64001) |
8034 4e0e B040 sbci r27,hhi8(64001) |
8035 4e10 04F0 brlt .L871 |
8036 4e12 80E0 ldi r24,lo8(64000) |
8037 4e14 9AEF ldi r25,hi8(64000) |
8038 4e16 A0E0 ldi r26,hlo8(64000) |
8039 4e18 B0E0 ldi r27,hhi8(64000) |
8040 4e1a 8093 0000 sts SummeRoll,r24 |
8041 4e1e 9093 0000 sts (SummeRoll)+1,r25 |
8042 4e22 A093 0000 sts (SummeRoll)+2,r26 |
8043 4e26 B093 0000 sts (SummeRoll)+3,r27 |
8044 .L871: |
8045 4e2a 8091 0000 lds r24,SummeRoll |
8046 4e2e 9091 0000 lds r25,(SummeRoll)+1 |
8047 4e32 A091 0000 lds r26,(SummeRoll)+2 |
8048 4e36 B091 0000 lds r27,(SummeRoll)+3 |
8049 4e3a 8050 subi r24,lo8(-64000) |
8050 4e3c 9640 sbci r25,hi8(-64000) |
8051 4e3e AF4F sbci r26,hlo8(-64000) |
8052 4e40 BF4F sbci r27,hhi8(-64000) |
8053 4e42 04F4 brge .L873 |
8054 4e44 80E0 ldi r24,lo8(-64000) |
8055 4e46 96E0 ldi r25,hi8(-64000) |
8056 4e48 AFEF ldi r26,hlo8(-64000) |
8057 4e4a BFEF ldi r27,hhi8(-64000) |
8058 4e4c 8093 0000 sts SummeRoll,r24 |
8059 4e50 9093 0000 sts (SummeRoll)+1,r25 |
8060 4e54 A093 0000 sts (SummeRoll)+2,r26 |
8061 4e58 B093 0000 sts (SummeRoll)+3,r27 |
8062 .L873: |
8063 4e5c 38E0 ldi r19,lo8(8) |
8064 4e5e 3D15 cp r19,r13 |
8065 4e60 00F0 brlo .L875 |
8066 4e62 8D2D mov r24,r13 |
8067 4e64 90E0 ldi r25,lo8(0) |
8068 4e66 AC01 movw r20,r24 |
8069 4e68 469F mul r20,r22 |
8070 4e6a C001 movw r24,r0 |
8071 4e6c 479F mul r20,r23 |
8072 4e6e 900D add r25,r0 |
8073 4e70 569F mul r21,r22 |
8074 4e72 900D add r25,r0 |
8075 4e74 1124 clr r1 |
8076 4e76 68E0 ldi r22,lo8(8) |
8077 4e78 70E0 ldi r23,hi8(8) |
8078 4e7a 00C0 rjmp .L936 |
8079 .L875: |
8080 4e7c D694 lsr r13 |
8081 4e7e 8D2D mov r24,r13 |
8082 4e80 90E0 ldi r25,lo8(0) |
8083 4e82 DC01 movw r26,r24 |
8084 4e84 A69F mul r26,r22 |
8085 4e86 C001 movw r24,r0 |
8086 4e88 A79F mul r26,r23 |
8087 4e8a 900D add r25,r0 |
8088 4e8c B69F mul r27,r22 |
8089 4e8e 900D add r25,r0 |
8090 4e90 1124 clr r1 |
8091 4e92 64E0 ldi r22,lo8(4) |
8092 4e94 70E0 ldi r23,hi8(4) |
8093 .L936: |
8094 4e96 0E94 0000 call __divmodhi4 |
8095 4e9a 6B01 movw r12,r22 |
8096 4e9c 6091 0000 lds r22,SummeRoll |
8097 4ea0 7091 0000 lds r23,(SummeRoll)+1 |
8098 4ea4 8091 0000 lds r24,(SummeRoll)+2 |
8099 4ea8 9091 0000 lds r25,(SummeRoll)+3 |
8100 4eac A201 movw r20,r4 |
8101 4eae 9101 movw r18,r2 |
8102 4eb0 0E94 0000 call __divmodsi4 |
8103 4eb4 B601 movw r22,r12 |
8104 4eb6 620F add r22,r18 |
8105 4eb8 731F adc r23,r19 |
8106 4eba E616 cp r14,r22 |
8107 4ebc F706 cpc r15,r23 |
8108 4ebe 04F4 brge .L878 |
8109 4ec0 B701 movw r22,r14 |
8110 .L878: |
8111 4ec2 7B01 movw r14,r22 |
8112 4ec4 6017 cp r22,r16 |
8113 4ec6 7107 cpc r23,r17 |
8114 4ec8 04F4 brge .L879 |
8115 4eca 7801 movw r14,r16 |
8116 .L879: |
8117 4ecc 00E0 ldi r16,lo8(Mixer+13) |
8118 4ece 10E0 ldi r17,hi8(Mixer+13) |
8119 4ed0 40E0 ldi r20,lo8(Motor+1) |
8120 4ed2 C42E mov r12,r20 |
8121 4ed4 40E0 ldi r20,hi8(Motor+1) |
8122 4ed6 D42E mov r13,r20 |
8123 4ed8 30E0 ldi r19,lo8(tmp_motorwert) |
8124 4eda 432E mov r4,r19 |
8125 4edc 30E0 ldi r19,hi8(tmp_motorwert) |
8126 4ede 532E mov r5,r19 |
8127 4ee0 9401 movw r18,r8 |
8128 4ee2 4427 clr r20 |
8129 4ee4 37FD sbrc r19,7 |
8130 4ee6 4095 com r20 |
8131 4ee8 542F mov r21,r20 |
8132 4eea 2BA3 std Y+35,r18 |
8133 4eec 3CA3 std Y+36,r19 |
8134 4eee 4DA3 std Y+37,r20 |
8135 4ef0 5EA3 std Y+38,r21 |
8136 4ef2 A701 movw r20,r14 |
8137 4ef4 6627 clr r22 |
8138 4ef6 57FD sbrc r21,7 |
8139 4ef8 6095 com r22 |
8140 4efa 762F mov r23,r22 |
8141 4efc 4FA3 std Y+39,r20 |
8142 4efe 58A7 std Y+40,r21 |
8143 4f00 69A7 std Y+41,r22 |
8144 4f02 7AA7 std Y+42,r23 |
8145 4f04 6E85 ldd r22,Y+14 |
8146 4f06 7F85 ldd r23,Y+15 |
8147 4f08 8827 clr r24 |
8148 4f0a 77FD sbrc r23,7 |
8149 4f0c 8095 com r24 |
8150 4f0e 982F mov r25,r24 |
8151 4f10 6BA7 std Y+43,r22 |
8152 4f12 7CA7 std Y+44,r23 |
8153 4f14 8DA7 std Y+45,r24 |
8154 4f16 9EA7 std Y+46,r25 |
8155 4f18 C501 movw r24,r10 |
8156 4f1a AA27 clr r26 |
8157 4f1c 97FD sbrc r25,7 |
8158 4f1e A095 com r26 |
8159 4f20 BA2F mov r27,r26 |
8160 4f22 8FA7 std Y+47,r24 |
8161 4f24 98AB std Y+48,r25 |
8162 4f26 A9AB std Y+49,r26 |
8163 4f28 BAAB std Y+50,r27 |
8164 .L880: |
8165 4f2a D801 movw r26,r16 |
8166 4f2c 2C91 ld r18,X |
8167 4f2e 1216 cp __zero_reg__,r18 |
8168 4f30 04F0 brlt .+2 |
8169 4f32 00C0 rjmp .L881 |
8170 4f34 2034 cpi r18,lo8(64) |
8171 4f36 01F4 brne .L883 |
8172 4f38 1501 movw r2,r10 |
8173 4f3a 00C0 rjmp .L885 |
8174 .L883: |
8175 4f3c 3327 clr r19 |
8176 4f3e 27FD sbrc r18,7 |
8177 4f40 3095 com r19 |
8178 4f42 432F mov r20,r19 |
8179 4f44 532F mov r21,r19 |
8180 4f46 6FA5 ldd r22,Y+47 |
8181 4f48 78A9 ldd r23,Y+48 |
8182 4f4a 89A9 ldd r24,Y+49 |
8183 4f4c 9AA9 ldd r25,Y+50 |
8184 4f4e 0E94 0000 call __mulsi3 |
8185 4f52 20E4 ldi r18,lo8(64) |
8186 4f54 30E0 ldi r19,hi8(64) |
8187 4f56 40E0 ldi r20,hlo8(64) |
8188 4f58 50E0 ldi r21,hhi8(64) |
8189 4f5a 0E94 0000 call __divmodsi4 |
8190 4f5e 1901 movw r2,r18 |
8191 .L885: |
8192 4f60 F801 movw r30,r16 |
8193 4f62 2181 ldd r18,Z+1 |
8194 4f64 2034 cpi r18,lo8(64) |
8195 4f66 01F4 brne .L886 |
8196 4f68 2E85 ldd r18,Y+14 |
8197 4f6a 3F85 ldd r19,Y+15 |
8198 4f6c 00C0 rjmp .L937 |
8199 .L886: |
8200 4f6e 203C cpi r18,lo8(-64) |
8201 4f70 01F4 brne .L889 |
8202 4f72 4E85 ldd r20,Y+14 |
8203 4f74 5F85 ldd r21,Y+15 |
8204 4f76 241A sub r2,r20 |
8205 4f78 350A sbc r3,r21 |
8206 4f7a 00C0 rjmp .L888 |
8207 .L889: |
8208 4f7c 3327 clr r19 |
8209 4f7e 27FD sbrc r18,7 |
8210 4f80 3095 com r19 |
8211 4f82 432F mov r20,r19 |
8212 4f84 532F mov r21,r19 |
8213 4f86 6BA5 ldd r22,Y+43 |
8214 4f88 7CA5 ldd r23,Y+44 |
8215 4f8a 8DA5 ldd r24,Y+45 |
8216 4f8c 9EA5 ldd r25,Y+46 |
8217 4f8e 0E94 0000 call __mulsi3 |
8218 4f92 20E4 ldi r18,lo8(64) |
8219 4f94 30E0 ldi r19,hi8(64) |
8220 4f96 40E0 ldi r20,hlo8(64) |
8221 4f98 50E0 ldi r21,hhi8(64) |
8222 4f9a 0E94 0000 call __divmodsi4 |
8223 .L937: |
8224 4f9e 220E add r2,r18 |
8225 4fa0 331E adc r3,r19 |
8226 .L888: |
8227 4fa2 F801 movw r30,r16 |
8228 4fa4 2281 ldd r18,Z+2 |
8229 4fa6 2034 cpi r18,lo8(64) |
8230 4fa8 01F4 brne .L891 |
8231 4faa 2E0C add r2,r14 |
8232 4fac 3F1C adc r3,r15 |
8233 4fae 00C0 rjmp .L893 |
8234 .L891: |
8235 4fb0 203C cpi r18,lo8(-64) |
8236 4fb2 01F4 brne .L894 |
8237 4fb4 2E18 sub r2,r14 |
8238 4fb6 3F08 sbc r3,r15 |
8239 4fb8 00C0 rjmp .L893 |
8240 .L894: |
8241 4fba 3327 clr r19 |
8242 4fbc 27FD sbrc r18,7 |
8243 4fbe 3095 com r19 |
8244 4fc0 432F mov r20,r19 |
8245 4fc2 532F mov r21,r19 |
8246 4fc4 6FA1 ldd r22,Y+39 |
8247 4fc6 78A5 ldd r23,Y+40 |
8248 4fc8 89A5 ldd r24,Y+41 |
8249 4fca 9AA5 ldd r25,Y+42 |
8250 4fcc 0E94 0000 call __mulsi3 |
8251 4fd0 20E4 ldi r18,lo8(64) |
8252 4fd2 30E0 ldi r19,hi8(64) |
8253 4fd4 40E0 ldi r20,hlo8(64) |
8254 4fd6 50E0 ldi r21,hhi8(64) |
8255 4fd8 0E94 0000 call __divmodsi4 |
8256 4fdc 220E add r2,r18 |
8257 4fde 331E adc r3,r19 |
8258 .L893: |
8259 4fe0 F801 movw r30,r16 |
8260 4fe2 2381 ldd r18,Z+3 |
8261 4fe4 2034 cpi r18,lo8(64) |
8262 4fe6 01F4 brne .L896 |
8263 4fe8 9101 movw r18,r2 |
8264 4fea 280D add r18,r8 |
8265 4fec 391D adc r19,r9 |
8266 4fee 00C0 rjmp .L898 |
8267 .L896: |
8268 4ff0 203C cpi r18,lo8(-64) |
8269 4ff2 01F4 brne .L899 |
8270 4ff4 9101 movw r18,r2 |
8271 4ff6 2819 sub r18,r8 |
8272 4ff8 3909 sbc r19,r9 |
8273 4ffa 00C0 rjmp .L898 |
8274 .L899: |
8275 4ffc 3327 clr r19 |
8276 4ffe 27FD sbrc r18,7 |
8277 5000 3095 com r19 |
8278 5002 432F mov r20,r19 |
8279 5004 532F mov r21,r19 |
8280 5006 6BA1 ldd r22,Y+35 |
8281 5008 7CA1 ldd r23,Y+36 |
8282 500a 8DA1 ldd r24,Y+37 |
8283 500c 9EA1 ldd r25,Y+38 |
8284 500e 0E94 0000 call __mulsi3 |
8285 5012 20E4 ldi r18,lo8(64) |
8286 5014 30E0 ldi r19,hi8(64) |
8287 5016 40E0 ldi r20,hlo8(64) |
8288 5018 50E0 ldi r21,hhi8(64) |
8289 501a 0E94 0000 call __divmodsi4 |
8290 501e 220D add r18,r2 |
8291 5020 331D adc r19,r3 |
8292 .L898: |
8293 5022 D201 movw r26,r4 |
8294 5024 ED91 ld r30,X+ |
8295 5026 FC91 ld r31,X |
8296 5028 E217 cp r30,r18 |
8297 502a F307 cpc r31,r19 |
8298 502c 04F4 brge .L901 |
8299 502e C901 movw r24,r18 |
8300 5030 8E0F add r24,r30 |
8301 5032 9F1F adc r25,r31 |
8302 5034 62E0 ldi r22,lo8(2) |
8303 5036 70E0 ldi r23,hi8(2) |
8304 5038 0E94 0000 call __divmodhi4 |
8305 503c 00C0 rjmp .L903 |
8306 .L901: |
8307 503e B901 movw r22,r18 |
8308 5040 660F lsl r22 |
8309 5042 771F rol r23 |
8310 5044 6E1B sub r22,r30 |
8311 5046 7F0B sbc r23,r31 |
8312 .L903: |
8313 5048 EC85 ldd r30,Y+12 |
8314 504a FD85 ldd r31,Y+13 |
8315 504c E617 cp r30,r22 |
8316 504e F707 cpc r31,r23 |
8317 5050 04F0 brlt .L904 |
8318 5052 9F01 movw r18,r30 |
8319 5054 00C0 rjmp .L906 |
8320 .L904: |
8321 5056 9B01 movw r18,r22 |
8322 5058 6616 cp r6,r22 |
8323 505a 7706 cpc r7,r23 |
8324 505c 04F4 brge .L906 |
8325 505e 9301 movw r18,r6 |
8326 .L906: |
8327 5060 C901 movw r24,r18 |
8328 5062 64E0 ldi r22,lo8(4) |
8329 5064 70E0 ldi r23,hi8(4) |
8330 5066 0E94 0000 call __divmodhi4 |
8331 506a D601 movw r26,r12 |
8332 506c 6C93 st X,r22 |
8333 506e C901 movw r24,r18 |
8334 5070 64E0 ldi r22,lo8(4) |
8335 5072 70E0 ldi r23,hi8(4) |
8336 5074 0E94 0000 call __divmodhi4 |
8337 5078 880F lsl r24 |
8338 507a F601 movw r30,r12 |
8339 507c 8183 std Z+1,r24 |
8340 507e D201 movw r26,r4 |
8341 5080 2D93 st X+,r18 |
8342 5082 3C93 st X,r19 |
8343 5084 00C0 rjmp .L908 |
8344 .L881: |
8345 5086 F601 movw r30,r12 |
8346 5088 1082 st Z,__zero_reg__ |
8347 508a 1182 std Z+1,__zero_reg__ |
8348 .L908: |
8349 508c 0C5F subi r16,lo8(-(4)) |
8350 508e 1F4F sbci r17,hi8(-(4)) |
8351 5090 28E0 ldi r18,lo8(8) |
8352 5092 30E0 ldi r19,hi8(8) |
8353 5094 C20E add r12,r18 |
8354 5096 D31E adc r13,r19 |
8355 5098 42E0 ldi r20,lo8(2) |
8356 509a 50E0 ldi r21,hi8(2) |
8357 509c 440E add r4,r20 |
8358 509e 551E adc r5,r21 |
8359 50a0 50E0 ldi r21,hi8(Mixer+61) |
8360 50a2 0030 cpi r16,lo8(Mixer+61) |
8361 50a4 1507 cpc r17,r21 |
8362 50a6 01F0 breq .L912 |
8363 50a8 00C0 rjmp .L880 |
8364 .L651: |
8365 50aa 0894 sec |
8366 50ac E108 sbc r14,__zero_reg__ |
8367 50ae F108 sbc r15,__zero_reg__ |
8368 50b0 F092 0000 sts (KompassSignalSchlecht)+1,r15 |
8369 50b4 E092 0000 sts KompassSignalSchlecht,r14 |
8370 50b8 0C94 0000 jmp .L639 |
8371 .L912: |
8372 /* epilogue: frame size=52 */ |
8373 50bc E2E1 ldi r30,18 |
8374 50be CC5C subi r28,-52 |
8375 50c0 0C94 0000 jmp __epilogue_restores__+0 |
8376 /* epilogue end (size=4) */ |
8377 /* function MotorRegler size 6872 (6862) */ |
8379 .global BaroExpandActive |
8380 .global BaroExpandActive |
8381 .section .bss |
8384 BaroExpandActive: |
8385 0000 0000 .skip 2,0 |
8386 .global AdNeutralNick |
8387 .global AdNeutralNick |
8390 AdNeutralNick: |
8391 0002 0000 .skip 2,0 |
8392 .global AdNeutralRoll |
8393 .global AdNeutralRoll |
8396 AdNeutralRoll: |
8397 0004 0000 .skip 2,0 |
8398 .global AdNeutralGier |
8399 .global AdNeutralGier |
8402 AdNeutralGier: |
8403 0006 0000 .skip 2,0 |
8404 .global StartNeutralRoll |
8405 .global StartNeutralRoll |
8408 StartNeutralRoll: |
8409 0008 0000 .skip 2,0 |
8410 .global StartNeutralNick |
8411 .global StartNeutralNick |
8414 StartNeutralNick: |
8415 000a 0000 .skip 2,0 |
8416 .global NeutralAccX |
8417 .global NeutralAccX |
8420 NeutralAccX: |
8421 000c 0000 .skip 2,0 |
8422 .global NeutralAccY |
8423 .global NeutralAccY |
8426 NeutralAccY: |
8427 000e 0000 .skip 2,0 |
8428 .global NaviCntAcc |
8429 .global NaviCntAcc |
8432 NaviCntAcc: |
8433 0010 0000 .skip 2,0 |
8434 .global NeutralAccZ |
8435 .global NeutralAccZ |
8438 NeutralAccZ: |
8439 0012 0000 .skip 2,0 |
8440 .global ControlHeading |
8441 .global ControlHeading |
8444 ControlHeading: |
8445 0014 00 .skip 1,0 |
8446 .global IntegralNick |
8447 .global IntegralNick |
8450 IntegralNick: |
8451 0015 0000 0000 .skip 4,0 |
8452 .global IntegralNick2 |
8453 .global IntegralNick2 |
8456 IntegralNick2: |
8457 0019 0000 0000 .skip 4,0 |
8458 .global IntegralRoll |
8459 .global IntegralRoll |
8462 IntegralRoll: |
8463 001d 0000 0000 .skip 4,0 |
8464 .global IntegralRoll2 |
8465 .global IntegralRoll2 |
8468 IntegralRoll2: |
8469 0021 0000 0000 .skip 4,0 |
8470 .global IntegralAccNick |
8471 .global IntegralAccNick |
8474 IntegralAccNick: |
8475 0025 0000 0000 .skip 4,0 |
8476 .global IntegralAccRoll |
8477 .global IntegralAccRoll |
8480 IntegralAccRoll: |
8481 0029 0000 0000 .skip 4,0 |
8482 .global IntegralAccZ |
8483 .global IntegralAccZ |
8486 IntegralAccZ: |
8487 002d 0000 0000 .skip 4,0 |
8488 .global Integral_Gier |
8489 .global Integral_Gier |
8492 Integral_Gier: |
8493 0031 0000 0000 .skip 4,0 |
8494 .global Mess_IntegralNick |
8495 .global Mess_IntegralNick |
8498 Mess_IntegralNick: |
8499 0035 0000 0000 .skip 4,0 |
8500 .global Mess_IntegralNick2 |
8501 .global Mess_IntegralNick2 |
8504 Mess_IntegralNick2: |
8505 0039 0000 0000 .skip 4,0 |
8506 .global Mess_IntegralRoll |
8507 .global Mess_IntegralRoll |
8510 Mess_IntegralRoll: |
8511 003d 0000 0000 .skip 4,0 |
8512 .global Mess_IntegralRoll2 |
8513 .global Mess_IntegralRoll2 |
8516 Mess_IntegralRoll2: |
8517 0041 0000 0000 .skip 4,0 |
8518 .global Mess_Integral_Gier |
8519 .global Mess_Integral_Gier |
8522 Mess_Integral_Gier: |
8523 0045 0000 0000 .skip 4,0 |
8524 .global Mess_Integral_Gier2 |
8525 .global Mess_Integral_Gier2 |
8528 Mess_Integral_Gier2: |
8529 0049 0000 0000 .skip 4,0 |
8530 .global SummeNick |
8531 .global SummeNick |
8534 SummeNick: |
8535 004d 0000 0000 .skip 4,0 |
8536 .global SummeRoll |
8537 .global SummeRoll |
8540 SummeRoll: |
8541 0051 0000 0000 .skip 4,0 |
8542 .global Mess_Integral_Hoch |
8543 .global Mess_Integral_Hoch |
8546 Mess_Integral_Hoch: |
8547 0055 0000 0000 .skip 4,0 |
8548 .global KompassValue |
8549 .global KompassValue |
8552 KompassValue: |
8553 0059 0000 .skip 2,0 |
8554 .global KompassStartwert |
8555 .global KompassStartwert |
8558 KompassStartwert: |
8559 005b 0000 .skip 2,0 |
8560 .global KompassRichtung |
8561 .global KompassRichtung |
8564 KompassRichtung: |
8565 005d 0000 .skip 2,0 |
8566 .global KompassSignalSchlecht |
8567 .data |
8570 KompassSignalSchlecht: |
8571 0000 F401 .word 500 |
8572 .global HoehenReglerAktiv |
8573 .global HoehenReglerAktiv |
8574 .section .bss |
8577 HoehenReglerAktiv: |
8578 005f 00 .skip 1,0 |
8579 .global TrichterFlug |
8580 .global TrichterFlug |
8583 TrichterFlug: |
8584 0060 00 .skip 1,0 |
8585 .global Umschlag180Nick |
8586 .data |
8589 Umschlag180Nick: |
8590 0002 90 .byte -112 |
8591 0003 D0 .byte -48 |
8592 0004 03 .byte 3 |
8593 0005 00 .byte 0 |
8594 .global Umschlag180Roll |
8597 Umschlag180Roll: |
8598 0006 90 .byte -112 |
8599 0007 D0 .byte -48 |
8600 0008 03 .byte 3 |
8601 0009 00 .byte 0 |
8602 .global GierGyroFehler |
8603 .global GierGyroFehler |
8604 .section .bss |
8607 GierGyroFehler: |
8608 0061 0000 .skip 2,0 |
8609 .global Poti |
8610 .global Poti |
8613 Poti: |
8614 0063 0000 0000 .skip 9,0 |
8614 0000 0000 |
8614 00 |
8615 .global SenderOkay |
8616 .global SenderOkay |
8619 SenderOkay: |
8620 006c 00 .skip 1,0 |
8621 .global StickNick |
8622 .global StickNick |
8625 StickNick: |
8626 006d 0000 .skip 2,0 |
8627 .global StickRoll |
8628 .global StickRoll |
8631 StickRoll: |
8632 006f 0000 .skip 2,0 |
8633 .global StickGier |
8634 .global StickGier |
8637 StickGier: |
8638 0071 0000 .skip 2,0 |
8639 .global StickGas |
8640 .global StickGas |
8643 StickGas: |
8644 0073 0000 .skip 2,0 |
8645 .global MotorenEin |
8646 .global MotorenEin |
8649 MotorenEin: |
8650 0075 00 .skip 1,0 |
8651 .global StartTrigger |
8652 .global StartTrigger |
8655 StartTrigger: |
8656 0076 00 .skip 1,0 |
8657 .global HoehenWert |
8658 .global HoehenWert |
8661 HoehenWert: |
8662 0077 0000 0000 .skip 4,0 |
8663 .global SollHoehe |
8664 .global SollHoehe |
8667 SollHoehe: |
8668 007b 0000 0000 .skip 4,0 |
8669 .global LageKorrekturRoll |
8670 .global LageKorrekturRoll |
8673 LageKorrekturRoll: |
8674 007f 0000 .skip 2,0 |
8675 .global LageKorrekturNick |
8676 .global LageKorrekturNick |
8679 LageKorrekturNick: |
8680 0081 0000 .skip 2,0 |
8681 .global HoverGas |
8682 .global HoverGas |
8685 HoverGas: |
8686 0083 0000 .skip 2,0 |
8687 .global Ki |
8688 .data |
8691 Ki: |
8692 000a 3801 .word 312 |
8693 .global Looping_Nick |
8694 .global Looping_Nick |
8695 .section .bss |
8698 Looping_Nick: |
8699 0085 00 .skip 1,0 |
8700 .global Looping_Roll |
8701 .global Looping_Roll |
8704 Looping_Roll: |
8705 0086 00 .skip 1,0 |
8706 .global Looping_Links |
8707 .global Looping_Links |
8710 Looping_Links: |
8711 0087 00 .skip 1,0 |
8712 .global Looping_Rechts |
8713 .global Looping_Rechts |
8716 Looping_Rechts: |
8717 0088 00 .skip 1,0 |
8718 .global Looping_Unten |
8719 .global Looping_Unten |
8722 Looping_Unten: |
8723 0089 00 .skip 1,0 |
8724 .global Looping_Oben |
8725 .global Looping_Oben |
8728 Looping_Oben: |
8729 008a 00 .skip 1,0 |
8730 .global Parameter_Luftdruck_D |
8731 .data |
8734 Parameter_Luftdruck_D: |
8735 000c 30 .byte 48 |
8736 .global Parameter_MaxHoehe |
8739 Parameter_MaxHoehe: |
8740 000d FB .byte -5 |
8741 .global Parameter_Hoehe_P |
8744 Parameter_Hoehe_P: |
8745 000e 10 .byte 16 |
8746 .global Parameter_Hoehe_ACC_Wirkung |
8749 Parameter_Hoehe_ACC_Wirkung: |
8750 000f 3A .byte 58 |
8751 .global Parameter_KompassWirkung |
8754 Parameter_KompassWirkung: |
8755 0010 40 .byte 64 |
8756 .global Parameter_Hoehe_GPS_Z |
8759 Parameter_Hoehe_GPS_Z: |
8760 0011 40 .byte 64 |
8761 .global Parameter_Gyro_D |
8764 Parameter_Gyro_D: |
8765 0012 08 .byte 8 |
8766 .global Parameter_Gyro_P |
8769 Parameter_Gyro_P: |
8770 0013 96 .byte -106 |
8771 .global Parameter_Gyro_I |
8774 Parameter_Gyro_I: |
8775 0014 96 .byte -106 |
8776 .global Parameter_Gyro_Gier_P |
8779 Parameter_Gyro_Gier_P: |
8780 0015 96 .byte -106 |
8781 .global Parameter_Gyro_Gier_I |
8784 Parameter_Gyro_Gier_I: |
8785 0016 96 .byte -106 |
8786 .global Parameter_Gier_P |
8789 Parameter_Gier_P: |
8790 0017 02 .byte 2 |
8791 .global Parameter_I_Faktor |
8794 Parameter_I_Faktor: |
8795 0018 0A .byte 10 |
8796 .global Parameter_UserParam1 |
8797 .global Parameter_UserParam1 |
8798 .section .bss |
8801 Parameter_UserParam1: |
8802 008b 00 .skip 1,0 |
8803 .global Parameter_UserParam2 |
8804 .global Parameter_UserParam2 |
8807 Parameter_UserParam2: |
8808 008c 00 .skip 1,0 |
8809 .global Parameter_UserParam3 |
8810 .global Parameter_UserParam3 |
8813 Parameter_UserParam3: |
8814 008d 00 .skip 1,0 |
8815 .global Parameter_UserParam4 |
8816 .global Parameter_UserParam4 |
8819 Parameter_UserParam4: |
8820 008e 00 .skip 1,0 |
8821 .global Parameter_UserParam5 |
8822 .global Parameter_UserParam5 |
8825 Parameter_UserParam5: |
8826 008f 00 .skip 1,0 |
8827 .global Parameter_UserParam6 |
8828 .global Parameter_UserParam6 |
8831 Parameter_UserParam6: |
8832 0090 00 .skip 1,0 |
8833 .global Parameter_UserParam7 |
8834 .global Parameter_UserParam7 |
8837 Parameter_UserParam7: |
8838 0091 00 .skip 1,0 |
8839 .global Parameter_UserParam8 |
8840 .global Parameter_UserParam8 |
8843 Parameter_UserParam8: |
8844 0092 00 .skip 1,0 |
8845 .global Parameter_ServoNickControl |
8846 .data |
8849 Parameter_ServoNickControl: |
8850 0019 64 .byte 100 |
8851 .global Parameter_ServoRollControl |
8854 Parameter_ServoRollControl: |
8855 001a 64 .byte 100 |
8856 .global Parameter_LoopGasLimit |
8859 Parameter_LoopGasLimit: |
8860 001b 46 .byte 70 |
8861 .global Parameter_AchsKopplung1 |
8864 Parameter_AchsKopplung1: |
8865 001c 5A .byte 90 |
8866 .global Parameter_AchsKopplung2 |
8869 Parameter_AchsKopplung2: |
8870 001d 41 .byte 65 |
8871 .global Parameter_CouplingYawCorrection |
8874 Parameter_CouplingYawCorrection: |
8875 001e 40 .byte 64 |
8876 .global Parameter_DynamicStability |
8879 Parameter_DynamicStability: |
8880 001f 64 .byte 100 |
8881 .global CareFree |
8882 .global CareFree |
8883 .section .bss |
8886 CareFree: |
8887 0093 00 .skip 1,0 |
8888 .global sintab |
8889 .data |
8892 sintab: |
8893 0020 00 .byte 0 |
8894 0021 02 .byte 2 |
8895 0022 04 .byte 4 |
8896 0023 06 .byte 6 |
8897 0024 07 .byte 7 |
8898 0025 08 .byte 8 |
8899 0026 08 .byte 8 |
8900 0027 08 .byte 8 |
8901 0028 07 .byte 7 |
8902 0029 06 .byte 6 |
8903 002a 04 .byte 4 |
8904 002b 02 .byte 2 |
8905 002c 00 .byte 0 |
8906 002d FE .byte -2 |
8907 002e FC .byte -4 |
8908 002f FA .byte -6 |
8909 0030 F9 .byte -7 |
8910 0031 F8 .byte -8 |
8911 0032 F8 .byte -8 |
8912 0033 F8 .byte -8 |
8913 0034 F9 .byte -7 |
8914 0035 FA .byte -6 |
8915 0036 FC .byte -4 |
8916 0037 FE .byte -2 |
8917 0038 00 .byte 0 |
8918 0039 02 .byte 2 |
8919 003a 04 .byte 4 |
8920 003b 06 .byte 6 |
8921 003c 07 .byte 7 |
8922 003d 08 .byte 8 |
8923 003e 08 .byte 8 |
8924 .global ExternStickNick |
8925 .global ExternStickNick |
8926 .section .bss |
8929 ExternStickNick: |
8930 0094 0000 .skip 2,0 |
8931 .global ExternStickRoll |
8932 .global ExternStickRoll |
8935 ExternStickRoll: |
8936 0096 0000 .skip 2,0 |
8937 .global ExternStickGier |
8938 .global ExternStickGier |
8941 ExternStickGier: |
8942 0098 0000 .skip 2,0 |
8943 .global ExternHoehenValue |
8944 .data |
8947 ExternHoehenValue: |
8948 003f ECFF .word -20 |
8949 .global MaxStickNick |
8950 .global MaxStickNick |
8951 .section .bss |
8954 MaxStickNick: |
8955 009a 0000 .skip 2,0 |
8956 .global MaxStickRoll |
8957 .global MaxStickRoll |
8960 MaxStickRoll: |
8961 009c 0000 .skip 2,0 |
8962 .global modell_fliegt |
8963 .global modell_fliegt |
8966 modell_fliegt: |
8967 009e 0000 .skip 2,0 |
8968 .global FC_StatusFlags |
8969 .global FC_StatusFlags |
8972 FC_StatusFlags: |
8973 00a0 00 .skip 1,0 |
8974 .global GIER_GRAD_FAKTOR |
8975 .data |
8978 GIER_GRAD_FAKTOR: |
8979 0041 0B .byte 11 |
8980 0042 05 .byte 5 |
8981 0043 00 .byte 0 |
8982 0044 00 .byte 0 |
8983 .global VarioCharacter |
8986 VarioCharacter: |
8987 0045 20 .byte 32 |
8988 .lcomm BaroAtLowerLimit.3353,1 |
8989 .lcomm BaroAtUpperLimit.3352,1 |
8992 delay.3351: |
8993 0046 64 .byte 100 |
8994 .lcomm HoverGasFilter.3350,4 |
8997 HoverGasMax.3349: |
8998 0047 FF03 .word 1023 |
8999 .lcomm HoverGasMin.3348,2 |
9002 StickGasHover.3347: |
9003 0049 7800 .word 120 |
9004 .lcomm FilterHCGas.3346,2 |
9005 .lcomm HeightTrimming.3345,2 |
9006 .lcomm MittelIntegralRoll_Alt.3336,4 |
9007 .lcomm MittelIntegralNick_Alt.3335,4 |
9008 .lcomm last_r_n.3334,1 |
9009 .lcomm last_r_p.3333,1 |
9010 .lcomm last_n_n.3332,1 |
9011 .lcomm last_n_p.3331,1 |
9012 .lcomm cnt.3330,2 |
9013 .lcomm stick_roll.3325,2 |
9014 .lcomm stick_nick.3324,2 |
9015 .lcomm ausgleichRoll.3319,4 |
9016 .lcomm ausgleichNick.3318,4 |
9017 .lcomm NeueKompassRichtungMerken.3317,1 |
9018 .lcomm calibration_done.3316,1 |
9019 .lcomm delay_ausschalten.3315,1 |
9020 .lcomm delay_einschalten.3314,1 |
9021 .lcomm delay_neutral.3313,1 |
9022 .lcomm RcLostTimer.3312,2 |
9023 .lcomm IntegralFehlerRoll.3311,4 |
9024 .lcomm IntegralFehlerNick.3310,4 |
9025 .lcomm tmp_long2.3309,4 |
9026 .lcomm tmp_long.3308,4 |
9027 .lcomm sollGier.3307,4 |
9028 .lcomm d2Nick.2875,2 |
9029 .lcomm d2Roll.2874,2 |
9030 .lcomm oldRoll.2873,2 |
9031 .lcomm oldNick.2872,2 |
9032 .lcomm tmpl4.2871,4 |
9033 .lcomm tmpl3.2870,4 |
9034 .lcomm tmpl2.2869,4 |
9035 .lcomm tmpl.2868,4 |
9036 .section .progmem.data,"a",@progbits |
9039 __c.2753: |
9040 0000 0A0D 4143 .string "\n\rACC not calibrated!\r\n" |
9040 4320 6E6F |
9040 7420 6361 |
9040 6C69 6272 |
9040 6174 6564 |
9041 .comm TrimNick,2,1 |
9042 .comm TrimRoll,2,1 |
9043 .comm ErsatzKompass,4,1 |
9044 .comm ErsatzKompassInGrad,2,1 |
9045 .comm MesswertNick,2,1 |
9046 .comm MesswertRoll,2,1 |
9047 .comm MesswertGier,2,1 |
9048 .comm Mittelwert_AccNick,2,1 |
9049 .comm Mittelwert_AccRoll,2,1 |
9050 .comm NaviAccNick,2,1 |
9051 .comm NaviAccRoll,2,1 |
9052 .comm h,1,1 |
9053 .comm m,1,1 |
9054 .comm s,1,1 |
9055 .comm DiffNick,2,1 |
9056 .comm DiffRoll,2,1 |
9057 .comm Parameter_Servo3,1,1 |
9058 .comm Parameter_Servo4,1,1 |
9059 .comm Parameter_Servo5,1,1 |
9060 .comm Parameter_J16Bitmask,1,1 |
9061 .comm Parameter_J16Timing,1,1 |
9062 .comm Parameter_J17Bitmask,1,1 |
9063 .comm Parameter_J17Timing,1,1 |
9064 .comm MesswertGierBias,2,1 |
9065 .comm RohMesswertNick,2,1 |
9066 .comm RohMesswertRoll,2,1 |
9067 .comm MittelIntegralNick,4,1 |
9068 .comm MittelIntegralRoll,4,1 |
9069 .comm MittelIntegralNick2,4,1 |
9070 .comm MittelIntegralRoll2,4,1 |
9071 .comm MAX_GAS,1,1 |
9072 .comm MIN_GAS,1,1 |
9073 .comm GyroFaktor,1,1 |
9074 .comm GyroFaktorGier,1,1 |
9075 .comm IntegralFaktor,1,1 |
9076 .comm IntegralFaktorGier,1,1 |
9077 .comm Parameter_NaviGpsModeControl,1,1 |
9078 .comm Parameter_NaviGpsGain,1,1 |
9079 .comm Parameter_NaviGpsP,1,1 |
9080 .comm Parameter_NaviGpsI,1,1 |
9081 .comm Parameter_NaviGpsD,1,1 |
9082 .comm Parameter_NaviGpsACC,1,1 |
9083 .comm Parameter_NaviOperatingRadius,1,1 |
9084 .comm Parameter_NaviWindCorrection,1,1 |
9085 .comm Parameter_NaviSpeedCompensation,1,1 |
9086 .comm Parameter_ExternalControl,1,1 |
9087 .comm KopplungsteilNickRoll,2,1 |
9088 .comm KopplungsteilRollNick,2,1 |
9089 .comm tmp_motorwert,24,1 |
9090 /* File "fc.c": code 10444 = 0x28cc (10379), prologues 33, epilogues 32 */ |
DEFINED SYMBOLS |
*ABS*:00000000 fc.c |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:2 *ABS*:0000003f __SREG__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:3 *ABS*:0000003e __SP_H__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:4 *ABS*:0000003d __SP_L__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:5 *ABS*:00000000 __tmp_reg__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:6 *ABS*:00000001 __zero_reg__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:12 .text:00000000 CopyDebugValues |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8450 .bss:00000015 IntegralNick |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8462 .bss:0000001d IntegralRoll |
*COM*:00000002 Mittelwert_AccNick |
*COM*:00000002 Mittelwert_AccRoll |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8402 .bss:00000006 AdNeutralGier |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8661 .bss:00000077 HoehenWert |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8552 .bss:00000059 KompassValue |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8619 .bss:0000006c SenderOkay |
*COM*:00000004 ErsatzKompass |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8978 .data:00000041 GIER_GRAD_FAKTOR |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:173 .text:000001fa Mittelwert |
*COM*:00000002 MesswertGier |
*COM*:00000002 RohMesswertNick |
*COM*:00000002 RohMesswertRoll |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8474 .bss:00000025 IntegralAccNick |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8480 .bss:00000029 IntegralAccRoll |
*COM*:00000002 NaviAccNick |
*COM*:00000002 NaviAccRoll |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8432 .bss:00000010 NaviCntAcc |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8438 .bss:00000012 NeutralAccZ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8486 .bss:0000002d IntegralAccZ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8510 .bss:0000003d Mess_IntegralRoll |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8498 .bss:00000035 Mess_IntegralNick |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8522 .bss:00000045 Mess_Integral_Gier |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8698 .bss:00000085 Looping_Nick |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8704 .bss:00000086 Looping_Roll |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8869 .data:0000001d Parameter_AchsKopplung2 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9032 .bss:000000ee tmpl3.2870 |
*COM*:00000002 KopplungsteilNickRoll |
*COM*:00000002 KopplungsteilRollNick |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9031 .bss:000000ea tmpl4.2871 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8874 .data:0000001e Parameter_CouplingYawCorrection |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8864 .data:0000001c Parameter_AchsKopplung1 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9034 .bss:000000f6 tmpl.2868 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9033 .bss:000000f2 tmpl2.2869 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8583 .bss:00000060 TrichterFlug |
*COM*:00000002 TrimRoll |
*COM*:00000002 TrimNick |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8516 .bss:00000041 Mess_IntegralRoll2 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8673 .bss:0000007f LageKorrekturRoll |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8597 .data:00000006 Umschlag180Roll |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8504 .bss:00000039 Mess_IntegralNick2 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8679 .bss:00000081 LageKorrekturNick |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8589 .data:00000002 Umschlag180Nick |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8492 .bss:00000031 Integral_Gier |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8456 .bss:00000019 IntegralNick2 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8468 .bss:00000021 IntegralRoll2 |
*COM*:00000002 MesswertNick |
*COM*:00000002 MesswertRoll |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8764 .data:00000012 Parameter_Gyro_D |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9030 .bss:000000e8 oldNick.2872 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9027 .bss:000000e2 d2Nick.2875 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9029 .bss:000000e6 oldRoll.2873 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9028 .bss:000000e4 d2Roll.2874 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:1488 .text:00000f5a SendMotorData |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8649 .bss:00000075 MotorenEin |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8972 .bss:000000a0 FC_StatusFlags |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:1548 .text:00000fd4 ParameterZuordnung |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8613 .bss:00000063 Poti |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8734 .data:0000000c Parameter_Luftdruck_D |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8744 .data:0000000e Parameter_Hoehe_P |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8769 .data:00000013 Parameter_Gyro_P |
*COM*:00000001 Parameter_J16Timing |
*COM*:00000001 Parameter_J17Timing |
*COM*:00000001 Parameter_Servo3 |
*COM*:00000001 Parameter_Servo4 |
*COM*:00000001 Parameter_Servo5 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8739 .data:0000000d Parameter_MaxHoehe |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8749 .data:0000000f Parameter_Hoehe_ACC_Wirkung |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8759 .data:00000011 Parameter_Hoehe_GPS_Z |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8754 .data:00000010 Parameter_KompassWirkung |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8774 .data:00000014 Parameter_Gyro_I |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8779 .data:00000015 Parameter_Gyro_Gier_P |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8784 .data:00000016 Parameter_Gyro_Gier_I |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8794 .data:00000018 Parameter_I_Faktor |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8801 .bss:0000008b Parameter_UserParam1 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8807 .bss:0000008c Parameter_UserParam2 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8813 .bss:0000008d Parameter_UserParam3 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8819 .bss:0000008e Parameter_UserParam4 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8825 .bss:0000008f Parameter_UserParam5 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8831 .bss:00000090 Parameter_UserParam6 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8837 .bss:00000091 Parameter_UserParam7 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8843 .bss:00000092 Parameter_UserParam8 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8849 .data:00000019 Parameter_ServoNickControl |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8854 .data:0000001a Parameter_ServoRollControl |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8859 .data:0000001b Parameter_LoopGasLimit |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8879 .data:0000001f Parameter_DynamicStability |
*COM*:00000001 Parameter_ExternalControl |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8691 .data:0000000a Ki |
*COM*:00000001 MAX_GAS |
*COM*:00000001 MIN_GAS |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8886 .bss:00000093 CareFree |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:2164 .text:000014fa CalibrierMittelwert |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:2293 .text:00001624 SetNeutral |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8420 .bss:0000000c NeutralAccX |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8426 .bss:0000000e NeutralAccY |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8390 .bss:00000002 AdNeutralNick |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8396 .bss:00000004 AdNeutralRoll |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8408 .bss:00000008 StartNeutralRoll |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8414 .bss:0000000a StartNeutralNick |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9039 .progmem.data:00000000 __c.2753 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8546 .bss:00000055 Mess_Integral_Hoch |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8558 .bss:0000005b KompassStartwert |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8947 .data:0000003f ExternHoehenValue |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8607 .bss:00000061 GierGyroFehler |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:2778 .text:00001b5c Piep |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:2821 .text:00001ba4 MotorRegler |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8643 .bss:00000073 StickGas |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9021 .bss:000000cc RcLostTimer.3312 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8966 .bss:0000009e modell_fliegt |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8534 .bss:0000004d SummeNick |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8540 .bss:00000051 SummeRoll |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9026 .bss:000000de sollGier.3307 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9016 .bss:000000c7 NeueKompassRichtungMerken.3317 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9020 .bss:000000cb delay_neutral.3313 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9017 .bss:000000c8 calibration_done.3316 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9019 .bss:000000ca delay_einschalten.3314 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8528 .bss:00000049 Mess_Integral_Gier2 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8444 .bss:00000014 ControlHeading |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9018 .bss:000000c9 delay_ausschalten.3315 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9013 .bss:000000bd stick_nick.3324 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9012 .bss:000000bb stick_roll.3325 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8625 .bss:0000006d StickNick |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8892 .data:00000020 sintab |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8631 .bss:0000006f StickRoll |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8637 .bss:00000071 StickGier |
*COM*:00000001 GyroFaktor |
*COM*:00000001 IntegralFaktor |
*COM*:00000001 GyroFaktorGier |
*COM*:00000001 IntegralFaktorGier |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8954 .bss:0000009a MaxStickNick |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8960 .bss:0000009c MaxStickRoll |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8710 .bss:00000087 Looping_Links |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8716 .bss:00000088 Looping_Rechts |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8728 .bss:0000008a Looping_Oben |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8722 .bss:00000089 Looping_Unten |
*COM*:00000004 MittelIntegralNick |
*COM*:00000004 MittelIntegralRoll |
*COM*:00000004 MittelIntegralNick2 |
*COM*:00000004 MittelIntegralRoll2 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9015 .bss:000000c3 ausgleichNick.3318 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9014 .bss:000000bf ausgleichRoll.3319 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9025 .bss:000000da tmp_long.3308 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9024 .bss:000000d6 tmp_long2.3309 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9023 .bss:000000d2 IntegralFehlerNick.3310 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9022 .bss:000000ce IntegralFehlerRoll.3311 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9011 .bss:000000b9 cnt.3330 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9006 .bss:000000b1 MittelIntegralNick_Alt.3335 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9010 .bss:000000b8 last_n_p.3331 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9009 .bss:000000b7 last_n_n.3332 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8570 .data:00000000 KompassSignalSchlecht |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9005 .bss:000000ad MittelIntegralRoll_Alt.3336 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9008 .bss:000000b6 last_r_p.3333 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9007 .bss:000000b5 last_r_n.3334 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8685 .bss:00000083 HoverGas |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8384 .bss:00000000 BaroExpandActive |
.bss:000000a1 BaroAtLowerLimit.3353 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8988 .bss:000000a2 BaroAtUpperLimit.3352 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8992 .data:00000046 delay.3351 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8577 .bss:0000005f HoehenReglerAktiv |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8667 .bss:0000007b SollHoehe |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8986 .data:00000045 VarioCharacter |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9004 .bss:000000ab HeightTrimming.3345 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:9002 .data:00000049 StickGasHover.3347 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8655 .bss:00000076 StartTrigger |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8994 .bss:000000a7 HoverGasMin.3348 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8997 .data:00000047 HoverGasMax.3349 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8999 .bss:000000a9 FilterHCGas.3346 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8989 .bss:000000a3 HoverGasFilter.3350 |
*COM*:00000002 DiffNick |
*COM*:00000002 DiffRoll |
*COM*:00000018 tmp_motorwert |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8564 .bss:0000005d KompassRichtung |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8789 .data:00000017 Parameter_Gier_P |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8929 .bss:00000094 ExternStickNick |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8935 .bss:00000096 ExternStickRoll |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccqBBwiV.s:8941 .bss:00000098 ExternStickGier |
*COM*:00000002 ErsatzKompassInGrad |
*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 |
__divmodhi4 |
AdWertGier |
AdWertAccHoch |
UBat |
Motor |
ServoNickValue |
Capacity |
GPS_Nick |
GPS_Roll |
VersionInfo |
__prologue_saves__ |
AdWertNickFilter |
AdWertRollFilter |
AdWertAccNick |
AdWertAccRoll |
Aktuell_az |
AdReady |
__mulsi3 |
HiResNick |
HiResRoll |
AdWertNick |
PlatinenVersion |
AdWertRoll |
__epilogue_restores__ |
MotorTest |
PC_MotortestActive |
I2C_TransferActive |
motor_write |
twi_state |
BLFlags |
PPM_in |
FromNaviCtrl |
BeepMuster |
beeptime |
SucheGyroOffset |
ExpandBaro |
Delay_ms_Mess |
MessLuftdruck |
SucheLuftruckOffset |
SetParamWord |
GetParamWord |
_printf_P |
uart_putchar |
Luftdruck |
StartLuftdruck |
VarioMeter |
GPS_Neutral |
SendVersionToNavi |
LED_Init |
FromNaviCtrl_Value |
ServoActive |
Delay_ms |
PPM_diff |
SetActiveParamSet |
WinkelOut |
GetActiveParamSet |
ParamSet_ReadFromEEProm |
LipoDetection |
LIBFC_ReceiverInit |
NewPpmData |
FromNC_Rotate_C |
FromNC_Rotate_S |
GPS_Nick2 |
GPS_Roll2 |
__floatsisf |
__addsf3 |
__fixunssfsi |
ExternControl |
ZaehlMessungen |
BattLowVoltageWarning |
__udivmodhi4 |
DruckOffsetSetting |
SummenHoehe |
ihypot |
c_cos_8192 |
MissingMotor |
Mixer |
/Spektrum-Diversity/V0.82a/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> |
/Spektrum-Diversity/V0.82a/flight.pnps |
---|
0,0 → 1,0 |
<pd><ViewState><e p="Flight-Ctrl" x="true"></e></ViewState></pd> |
/Spektrum-Diversity/V0.82a/gps.h |
---|
0,0 → 1,7 |
extern signed int GPS_Nick; |
extern signed int GPS_Roll; |
extern signed int GPS_Nick2; |
extern signed int GPS_Roll2; |
void GPS_Neutral(void); |
void GPS_BerechneZielrichtung(void); |
/Spektrum-Diversity/V0.82a/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 |
/Spektrum-Diversity/V0.82a/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 |
/Spektrum-Diversity/V0.82a/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 |
/Spektrum-Diversity/V0.82a/jetimenu.c |
---|
0,0 → 1,162 |
#include "jetimenu.h" |
#include "libfc.h" |
#include "printf_P.h" |
#include "main.h" |
#include "spi.h" |
#include "capacity.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 |
JetiBox_printfxy(0,0,"%2i.%1iV",UBat/10, UBat%10); |
if(NaviDataOkay) |
{ |
// JetiBox_printfxy(6,0,"%03dm %03d%c", GPSInfo.HomeDistance/10,GPSInfo.HomeBearing, 0xDF); |
JetiBox_printfxy(6,0,"%3d%c %03dm",(int)(ErsatzKompass / GIER_GRAD_FAKTOR), 0xDF, GPSInfo.HomeDistance/10); |
} |
else |
{ |
JetiBox_printfxy(6,0,"Status"); |
} |
if(NC_ErrorCode) JetiBox_printfxy(6,0,"ERROR: %2d",NC_ErrorCode); |
JetiBox_printfxy(0,1,"%4i %2i:%02i",Capacity.UsedCapacity,FlugSekunden/60,FlugSekunden%60); |
if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
{ |
JetiBox_printfxy(10,1,"%4im%c", (int16_t)(HoehenWert/100),VarioCharacter); |
} |
} |
void Menu_Temperature(uint8_t key) |
{ //0123456789ABCDEF |
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); |
} |
} |
void Menu_Battery(uint8_t key) |
{ //0123456789ABCDEF |
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); |
} |
void Menu_PosInfo(uint8_t key) |
{ |
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", GPSInfo.HomeDistance/10, GPSInfo.HomeBearing, 0xDF); |
} |
else |
{ //0123456789ABCDEF |
JetiBox_printfxy(2,0,"No NaviCtrl!"); |
} |
} |
// ----------------------------------------------------------- |
// 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 |
{3, 1, 0, 0, &Menu_Status }, // 0 |
{0, 2, 1, 1, &Menu_Temperature }, // 1 |
{1, 3, 2, 2, &Menu_Battery }, // 2 |
{2, 0, 3, 3, &Menu_PosInfo }, // 3 |
}; |
// ----------------------------------------------------------- |
// Update display buffer |
// ----------------------------------------------------------- |
unsigned char JetiBox_Update(unsigned char key) |
{ |
static uint8_t item = 0, last_item = 0; // the menu item |
// 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; |
LIBFC_JetiBox_Clear(); |
//execute menu item handler |
((pFctMenu)(pgm_read_word(&(JetiBox_Menu[item].pHandler))))(key); |
return (0); |
} |
/Spektrum-Diversity/V0.82a/jetimenu.d |
---|
0,0 → 1,3 |
jetimenu.o jetimenu.d : jetimenu.c jetimenu.h libfc.h printf_P.h main.h old_macros.h \ |
timer0.h uart.h analog.h twimaster.h menu.h rc.h fc.h gps.h spi.h led.h \ |
spektrum.h capacity.h eeprom.h debug.h |
/Spektrum-Diversity/V0.82a/jetimenu.h |
---|
0,0 → 1,6 |
#ifndef _JETIMENU_H |
#define _JETIMENU_H |
extern unsigned char JetiBox_Update(unsigned char key); |
#endif //_JETIMENU_H |
/Spektrum-Diversity/V0.82a/jetimenu.lst |
---|
0,0 → 1,834 |
1 .file "jetimenu.c" |
2 __SREG__ = 0x3f |
3 __SP_H__ = 0x3e |
4 __SP_L__ = 0x3d |
5 __tmp_reg__ = 0 |
6 __zero_reg__ = 1 |
7 .global __do_copy_data |
8 .global __do_clear_bss |
9 .text |
10 .global JetiBox_Update |
12 JetiBox_Update: |
13 /* prologue: frame size=0 */ |
14 0000 1F93 push r17 |
15 /* prologue end (size=1) */ |
16 0002 182F mov r17,r24 |
17 0004 9091 0000 lds r25,item.2616 |
18 0008 9093 0000 sts last_item.2617,r25 |
19 000c 8F32 cpi r24,lo8(47) |
20 000e 01F0 breq .L4 |
21 0010 8033 cpi r24,lo8(48) |
22 0012 00F4 brsh .L7 |
23 0014 8F31 cpi r24,lo8(31) |
24 0016 01F4 brne .L2 |
25 0018 00C0 rjmp .L3 |
26 .L7: |
27 001a 8F34 cpi r24,lo8(79) |
28 001c 01F0 breq .L5 |
29 001e 8F38 cpi r24,lo8(-113) |
30 0020 01F4 brne .L2 |
31 0022 9923 tst r25 |
32 0024 01F4 brne .L8 |
33 0026 81E0 ldi r24,lo8(1) |
34 0028 90E0 ldi r25,hi8(1) |
35 002a 00C0 rjmp .L10 |
36 .L8: |
37 002c E6E0 ldi r30,lo8(6) |
38 002e 9E9F mul r25,r30 |
39 0030 F001 movw r30,r0 |
40 0032 1124 clr r1 |
41 0034 E050 subi r30,lo8(-(JetiBox_Menu)) |
42 0036 F040 sbci r31,hi8(-(JetiBox_Menu)) |
43 /* #APP */ |
44 0038 E491 lpm r30, Z |
45 |
46 /* #NOAPP */ |
47 003a 00C0 rjmp .L14 |
48 .L3: |
49 003c E6E0 ldi r30,lo8(6) |
50 003e 9E9F mul r25,r30 |
51 0040 F001 movw r30,r0 |
52 0042 1124 clr r1 |
53 0044 E050 subi r30,lo8(-(JetiBox_Menu+1)) |
54 0046 F040 sbci r31,hi8(-(JetiBox_Menu+1)) |
55 /* #APP */ |
56 0048 E491 lpm r30, Z |
57 |
58 /* #NOAPP */ |
59 004a 00C0 rjmp .L14 |
60 .L4: |
61 004c E6E0 ldi r30,lo8(6) |
62 004e 9E9F mul r25,r30 |
63 0050 F001 movw r30,r0 |
64 0052 1124 clr r1 |
65 0054 E050 subi r30,lo8(-(JetiBox_Menu+2)) |
66 0056 F040 sbci r31,hi8(-(JetiBox_Menu+2)) |
67 /* #APP */ |
68 0058 E491 lpm r30, Z |
69 |
70 /* #NOAPP */ |
71 005a 00C0 rjmp .L14 |
72 .L5: |
73 005c E6E0 ldi r30,lo8(6) |
74 005e 9E9F mul r25,r30 |
75 0060 F001 movw r30,r0 |
76 0062 1124 clr r1 |
77 0064 E050 subi r30,lo8(-(JetiBox_Menu+3)) |
78 0066 F040 sbci r31,hi8(-(JetiBox_Menu+3)) |
79 /* #APP */ |
80 0068 E491 lpm r30, Z |
81 |
82 /* #NOAPP */ |
83 .L14: |
84 006a E093 0000 sts item.2616,r30 |
85 .L2: |
86 006e 8091 0000 lds r24,item.2616 |
87 0072 8913 cpse r24,r25 |
88 0074 10E0 ldi r17,lo8(0) |
89 .L11: |
90 0076 0E94 0000 call LIBFC_JetiBox_Clear |
91 007a E091 0000 lds r30,item.2616 |
92 007e 86E0 ldi r24,lo8(6) |
93 0080 E89F mul r30,r24 |
94 0082 F001 movw r30,r0 |
95 0084 1124 clr r1 |
96 0086 E050 subi r30,lo8(-(JetiBox_Menu+4)) |
97 0088 F040 sbci r31,hi8(-(JetiBox_Menu+4)) |
98 /* #APP */ |
99 008a 2591 lpm r18, Z+ |
100 008c 3491 lpm r19, Z |
101 |
102 /* #NOAPP */ |
103 008e 812F mov r24,r17 |
104 0090 F901 movw r30,r18 |
105 0092 0995 icall |
106 0094 80E0 ldi r24,lo8(0) |
107 0096 90E0 ldi r25,hi8(0) |
108 .L10: |
109 /* epilogue: frame size=0 */ |
110 0098 1F91 pop r17 |
111 009a 0895 ret |
112 /* epilogue end (size=2) */ |
113 /* function JetiBox_Update size 95 (92) */ |
115 .global Menu_PosInfo |
117 Menu_PosInfo: |
118 /* prologue: frame size=0 */ |
119 009c CF93 push r28 |
120 009e DF93 push r29 |
121 /* prologue end (size=2) */ |
122 00a0 8091 0000 lds r24,NaviDataOkay |
123 00a4 C0E0 ldi r28,lo8(gs(LIBFC_JetiBox_Putchar)) |
124 00a6 D0E0 ldi r29,hi8(gs(LIBFC_JetiBox_Putchar)) |
125 00a8 8823 tst r24 |
126 00aa 01F4 brne .+2 |
127 00ac 00C0 rjmp .L16 |
128 00ae 80E0 ldi r24,lo8(0) |
129 00b0 0E94 0000 call LIBFC_JetiBox_SetPos |
130 00b4 8091 0000 lds r24,GPSInfo+1 |
131 00b8 90E0 ldi r25,lo8(0) |
132 00ba 9F93 push r25 |
133 00bc 8F93 push r24 |
134 00be 8091 0000 lds r24,GPSInfo+3 |
135 00c2 90E0 ldi r25,lo8(0) |
136 00c4 9F93 push r25 |
137 00c6 8F93 push r24 |
138 00c8 80E0 ldi r24,lo8(__c.2572) |
139 00ca 90E0 ldi r25,hi8(__c.2572) |
140 00cc 9F93 push r25 |
141 00ce 8F93 push r24 |
142 00d0 DF93 push r29 |
143 00d2 CF93 push r28 |
144 00d4 E091 0000 lds r30,_printf_P |
145 00d8 F091 0000 lds r31,(_printf_P)+1 |
146 00dc 0995 icall |
147 00de 8DB7 in r24,__SP_L__ |
148 00e0 9EB7 in r25,__SP_H__ |
149 00e2 0896 adiw r24,8 |
150 00e4 8DBF out __SP_L__,r24 |
151 00e6 8091 0000 lds r24,GPSInfo+2 |
152 00ea 8330 cpi r24,lo8(3) |
153 00ec 01F4 brne .L18 |
154 00ee 8CE0 ldi r24,lo8(12) |
155 00f0 0E94 0000 call LIBFC_JetiBox_SetPos |
156 00f4 80E0 ldi r24,lo8(__c.2575) |
157 00f6 90E0 ldi r25,hi8(__c.2575) |
158 00f8 00C0 rjmp .L25 |
159 .L18: |
160 00fa 8CE0 ldi r24,lo8(12) |
161 00fc 0E94 0000 call LIBFC_JetiBox_SetPos |
162 0100 80E0 ldi r24,lo8(__c.2581) |
163 0102 90E0 ldi r25,hi8(__c.2581) |
164 .L25: |
165 0104 9F93 push r25 |
166 0106 8F93 push r24 |
167 0108 DF93 push r29 |
168 010a CF93 push r28 |
169 010c E091 0000 lds r30,_printf_P |
170 0110 F091 0000 lds r31,(_printf_P)+1 |
171 0114 0995 icall |
172 0116 0F90 pop __tmp_reg__ |
173 0118 0F90 pop __tmp_reg__ |
174 011a 0F90 pop __tmp_reg__ |
175 011c 0F90 pop __tmp_reg__ |
176 011e 8091 0000 lds r24,GPSInfo |
177 0122 81FF sbrs r24,1 |
178 0124 00C0 rjmp .L21 |
179 0126 8CE0 ldi r24,lo8(12) |
180 0128 0E94 0000 call LIBFC_JetiBox_SetPos |
181 012c 80E0 ldi r24,lo8(__c.2583) |
182 012e 90E0 ldi r25,hi8(__c.2583) |
183 0130 9F93 push r25 |
184 0132 8F93 push r24 |
185 0134 80E0 ldi r24,lo8(gs(LIBFC_JetiBox_Putchar)) |
186 0136 90E0 ldi r25,hi8(gs(LIBFC_JetiBox_Putchar)) |
187 0138 9F93 push r25 |
188 013a 8F93 push r24 |
189 013c E091 0000 lds r30,_printf_P |
190 0140 F091 0000 lds r31,(_printf_P)+1 |
191 0144 0995 icall |
192 0146 0F90 pop __tmp_reg__ |
193 0148 0F90 pop __tmp_reg__ |
194 014a 0F90 pop __tmp_reg__ |
195 014c 0F90 pop __tmp_reg__ |
196 .L21: |
197 014e 80E1 ldi r24,lo8(16) |
198 0150 0E94 0000 call LIBFC_JetiBox_SetPos |
199 0154 8FED ldi r24,lo8(223) |
200 0156 90E0 ldi r25,hi8(223) |
201 0158 9F93 push r25 |
202 015a 8F93 push r24 |
203 015c 8091 0000 lds r24,GPSInfo+6 |
204 0160 9091 0000 lds r25,(GPSInfo+6)+1 |
205 0164 9F93 push r25 |
206 0166 8F93 push r24 |
207 0168 8091 0000 lds r24,GPSInfo+4 |
208 016c 9091 0000 lds r25,(GPSInfo+4)+1 |
209 0170 6AE0 ldi r22,lo8(10) |
210 0172 70E0 ldi r23,hi8(10) |
211 0174 0E94 0000 call __udivmodhi4 |
212 0178 7F93 push r23 |
213 017a 6F93 push r22 |
214 017c 80E0 ldi r24,lo8(__c.2585) |
215 017e 90E0 ldi r25,hi8(__c.2585) |
216 0180 9F93 push r25 |
217 0182 8F93 push r24 |
218 0184 80E0 ldi r24,lo8(gs(LIBFC_JetiBox_Putchar)) |
219 0186 90E0 ldi r25,hi8(gs(LIBFC_JetiBox_Putchar)) |
220 0188 9F93 push r25 |
221 018a 8F93 push r24 |
222 018c E091 0000 lds r30,_printf_P |
223 0190 F091 0000 lds r31,(_printf_P)+1 |
224 0194 0995 icall |
225 0196 8DB7 in r24,__SP_L__ |
226 0198 9EB7 in r25,__SP_H__ |
227 019a 0A96 adiw r24,10 |
228 019c 8DBF out __SP_L__,r24 |
229 019e 00C0 rjmp .L24 |
230 .L16: |
231 01a0 82E0 ldi r24,lo8(2) |
232 01a2 0E94 0000 call LIBFC_JetiBox_SetPos |
233 01a6 80E0 ldi r24,lo8(__c.2587) |
234 01a8 90E0 ldi r25,hi8(__c.2587) |
235 01aa 9F93 push r25 |
236 01ac 8F93 push r24 |
237 01ae DF93 push r29 |
238 01b0 CF93 push r28 |
239 01b2 E091 0000 lds r30,_printf_P |
240 01b6 F091 0000 lds r31,(_printf_P)+1 |
241 01ba 0995 icall |
242 01bc 0F90 pop __tmp_reg__ |
243 01be 0F90 pop __tmp_reg__ |
244 01c0 0F90 pop __tmp_reg__ |
245 01c2 0F90 pop __tmp_reg__ |
246 .L24: |
247 /* epilogue: frame size=0 */ |
248 01c4 DF91 pop r29 |
249 01c6 CF91 pop r28 |
250 01c8 0895 ret |
251 /* epilogue end (size=3) */ |
252 /* function Menu_PosInfo size 151 (146) */ |
254 .global Menu_Battery |
256 Menu_Battery: |
257 /* prologue: frame size=0 */ |
258 01ca EF92 push r14 |
259 01cc FF92 push r15 |
260 01ce 0F93 push r16 |
261 01d0 1F93 push r17 |
262 /* prologue end (size=4) */ |
263 01d2 80E0 ldi r24,lo8(0) |
264 01d4 0E94 0000 call LIBFC_JetiBox_SetPos |
265 01d8 E090 0000 lds r14,_printf_P |
266 01dc F090 0000 lds r15,(_printf_P)+1 |
267 01e0 2091 0000 lds r18,Capacity |
268 01e4 3091 0000 lds r19,(Capacity)+1 |
269 01e8 C901 movw r24,r18 |
270 01ea 6AE0 ldi r22,lo8(10) |
271 01ec 70E0 ldi r23,hi8(10) |
272 01ee 0E94 0000 call __udivmodhi4 |
273 01f2 8C01 movw r16,r24 |
274 01f4 C901 movw r24,r18 |
275 01f6 6AE0 ldi r22,lo8(10) |
276 01f8 70E0 ldi r23,hi8(10) |
277 01fa 0E94 0000 call __udivmodhi4 |
278 01fe FB01 movw r30,r22 |
279 0200 8091 0000 lds r24,UBat |
280 0204 9091 0000 lds r25,(UBat)+1 |
281 0208 6AE0 ldi r22,lo8(10) |
282 020a 70E0 ldi r23,hi8(10) |
283 020c 0E94 0000 call __divmodhi4 |
284 0210 9C01 movw r18,r24 |
285 0212 8091 0000 lds r24,UBat |
286 0216 9091 0000 lds r25,(UBat)+1 |
287 021a 6AE0 ldi r22,lo8(10) |
288 021c 70E0 ldi r23,hi8(10) |
289 021e 0E94 0000 call __divmodhi4 |
290 0222 1F93 push r17 |
291 0224 0F93 push r16 |
292 0226 FF93 push r31 |
293 0228 EF93 push r30 |
294 022a 3F93 push r19 |
295 022c 2F93 push r18 |
296 022e 7F93 push r23 |
297 0230 6F93 push r22 |
298 0232 80E0 ldi r24,lo8(__c.2555) |
299 0234 90E0 ldi r25,hi8(__c.2555) |
300 0236 9F93 push r25 |
301 0238 8F93 push r24 |
302 023a 00E0 ldi r16,lo8(gs(LIBFC_JetiBox_Putchar)) |
303 023c 10E0 ldi r17,hi8(gs(LIBFC_JetiBox_Putchar)) |
304 023e 1F93 push r17 |
305 0240 0F93 push r16 |
306 0242 F701 movw r30,r14 |
307 0244 0995 icall |
308 0246 80E1 ldi r24,lo8(16) |
309 0248 0E94 0000 call LIBFC_JetiBox_SetPos |
310 024c E091 0000 lds r30,_printf_P |
311 0250 F091 0000 lds r31,(_printf_P)+1 |
312 0254 8091 0000 lds r24,Capacity+4 |
313 0258 9091 0000 lds r25,(Capacity+4)+1 |
314 025c 2091 0000 lds r18,Capacity+2 |
315 0260 3091 0000 lds r19,(Capacity+2)+1 |
316 0264 9F93 push r25 |
317 0266 8F93 push r24 |
318 0268 3F93 push r19 |
319 026a 2F93 push r18 |
320 026c 80E0 ldi r24,lo8(__c.2557) |
321 026e 90E0 ldi r25,hi8(__c.2557) |
322 0270 9F93 push r25 |
323 0272 8F93 push r24 |
324 0274 1F93 push r17 |
325 0276 0F93 push r16 |
326 0278 0995 icall |
327 027a 8DB7 in r24,__SP_L__ |
328 027c 9EB7 in r25,__SP_H__ |
329 027e 4496 adiw r24,20 |
330 0280 8DBF out __SP_L__,r24 |
331 /* epilogue: frame size=0 */ |
332 0282 1F91 pop r17 |
333 0284 0F91 pop r16 |
334 0286 FF90 pop r15 |
335 0288 EF90 pop r14 |
336 028a 0895 ret |
337 /* epilogue end (size=5) */ |
338 /* function Menu_Battery size 97 (88) */ |
340 .global Menu_Temperature |
342 Menu_Temperature: |
343 /* prologue: frame size=0 */ |
344 028c CF93 push r28 |
345 028e DF93 push r29 |
346 /* prologue end (size=2) */ |
347 0290 80E0 ldi r24,lo8(0) |
348 0292 0E94 0000 call LIBFC_JetiBox_SetPos |
349 0296 8091 0000 lds r24,Motor+31 |
350 029a 9927 clr r25 |
351 029c 87FD sbrc r24,7 |
352 029e 9095 com r25 |
353 02a0 9F93 push r25 |
354 02a2 8F93 push r24 |
355 02a4 8091 0000 lds r24,Motor+23 |
356 02a8 9927 clr r25 |
357 02aa 87FD sbrc r24,7 |
358 02ac 9095 com r25 |
359 02ae 9F93 push r25 |
360 02b0 8F93 push r24 |
361 02b2 8091 0000 lds r24,Motor+15 |
362 02b6 9927 clr r25 |
363 02b8 87FD sbrc r24,7 |
364 02ba 9095 com r25 |
365 02bc 9F93 push r25 |
366 02be 8F93 push r24 |
367 02c0 8091 0000 lds r24,Motor+7 |
368 02c4 9927 clr r25 |
369 02c6 87FD sbrc r24,7 |
370 02c8 9095 com r25 |
371 02ca 9F93 push r25 |
372 02cc 8F93 push r24 |
373 02ce 80E0 ldi r24,lo8(__c.2526) |
374 02d0 90E0 ldi r25,hi8(__c.2526) |
375 02d2 9F93 push r25 |
376 02d4 8F93 push r24 |
377 02d6 C0E0 ldi r28,lo8(gs(LIBFC_JetiBox_Putchar)) |
378 02d8 D0E0 ldi r29,hi8(gs(LIBFC_JetiBox_Putchar)) |
379 02da DF93 push r29 |
380 02dc CF93 push r28 |
381 02de E091 0000 lds r30,_printf_P |
382 02e2 F091 0000 lds r31,(_printf_P)+1 |
383 02e6 0995 icall |
384 02e8 80E1 ldi r24,lo8(16) |
385 02ea 0E94 0000 call LIBFC_JetiBox_SetPos |
386 02ee 8091 0000 lds r24,Motor+63 |
387 02f2 9927 clr r25 |
388 02f4 87FD sbrc r24,7 |
389 02f6 9095 com r25 |
390 02f8 9F93 push r25 |
391 02fa 8F93 push r24 |
392 02fc 8091 0000 lds r24,Motor+55 |
393 0300 9927 clr r25 |
394 0302 87FD sbrc r24,7 |
395 0304 9095 com r25 |
396 0306 9F93 push r25 |
397 0308 8F93 push r24 |
398 030a 8091 0000 lds r24,Motor+47 |
399 030e 9927 clr r25 |
400 0310 87FD sbrc r24,7 |
401 0312 9095 com r25 |
402 0314 9F93 push r25 |
403 0316 8F93 push r24 |
404 0318 8091 0000 lds r24,Motor+39 |
405 031c 9927 clr r25 |
406 031e 87FD sbrc r24,7 |
407 0320 9095 com r25 |
408 0322 9F93 push r25 |
409 0324 8F93 push r24 |
410 0326 80E0 ldi r24,lo8(__c.2528) |
411 0328 90E0 ldi r25,hi8(__c.2528) |
412 032a 9F93 push r25 |
413 032c 8F93 push r24 |
414 032e DF93 push r29 |
415 0330 CF93 push r28 |
416 0332 E091 0000 lds r30,_printf_P |
417 0336 F091 0000 lds r31,(_printf_P)+1 |
418 033a 0995 icall |
419 033c 8091 0000 lds r24,RequiredMotors |
420 0340 2DB7 in r18,__SP_L__ |
421 0342 3EB7 in r19,__SP_H__ |
422 0344 285E subi r18,lo8(-(24)) |
423 0346 3F4F sbci r19,hi8(-(24)) |
424 0348 2DBF out __SP_L__,r18 |
425 034a 8530 cpi r24,lo8(5) |
426 034c 00F4 brsh .L29 |
427 034e 80E1 ldi r24,lo8(16) |
428 0350 0E94 0000 call LIBFC_JetiBox_SetPos |
429 0354 80E0 ldi r24,lo8(__c.2530) |
430 0356 90E0 ldi r25,hi8(__c.2530) |
431 0358 9F93 push r25 |
432 035a 8F93 push r24 |
433 035c DF93 push r29 |
434 035e CF93 push r28 |
435 0360 E091 0000 lds r30,_printf_P |
436 0364 F091 0000 lds r31,(_printf_P)+1 |
437 0368 0995 icall |
438 036a 0F90 pop __tmp_reg__ |
439 036c 0F90 pop __tmp_reg__ |
440 036e 0F90 pop __tmp_reg__ |
441 0370 0F90 pop __tmp_reg__ |
442 0372 00C0 rjmp .L33 |
443 .L29: |
444 0374 8730 cpi r24,lo8(7) |
445 0376 00F4 brsh .L33 |
446 0378 88E1 ldi r24,lo8(24) |
447 037a 0E94 0000 call LIBFC_JetiBox_SetPos |
448 037e 8FED ldi r24,lo8(223) |
449 0380 90E0 ldi r25,hi8(223) |
450 0382 9F93 push r25 |
451 0384 8F93 push r24 |
452 0386 80E0 ldi r24,lo8(__c.2532) |
453 0388 90E0 ldi r25,hi8(__c.2532) |
454 038a 9F93 push r25 |
455 038c 8F93 push r24 |
456 038e DF93 push r29 |
457 0390 CF93 push r28 |
458 0392 E091 0000 lds r30,_printf_P |
459 0396 F091 0000 lds r31,(_printf_P)+1 |
460 039a 0995 icall |
461 039c 8DB7 in r24,__SP_L__ |
462 039e 9EB7 in r25,__SP_H__ |
463 03a0 0696 adiw r24,6 |
464 03a2 8DBF out __SP_L__,r24 |
465 .L33: |
466 /* epilogue: frame size=0 */ |
467 03a4 DF91 pop r29 |
468 03a6 CF91 pop r28 |
469 03a8 0895 ret |
470 /* epilogue end (size=3) */ |
471 /* function Menu_Temperature size 143 (138) */ |
473 .global Menu_Status |
475 Menu_Status: |
476 /* prologue: frame size=0 */ |
477 03aa EF92 push r14 |
478 03ac FF92 push r15 |
479 03ae 0F93 push r16 |
480 03b0 1F93 push r17 |
481 03b2 CF93 push r28 |
482 03b4 DF93 push r29 |
483 /* prologue end (size=6) */ |
484 03b6 80E0 ldi r24,lo8(0) |
485 03b8 0E94 0000 call LIBFC_JetiBox_SetPos |
486 03bc E091 0000 lds r30,_printf_P |
487 03c0 F091 0000 lds r31,(_printf_P)+1 |
488 03c4 8091 0000 lds r24,UBat |
489 03c8 9091 0000 lds r25,(UBat)+1 |
490 03cc 6AE0 ldi r22,lo8(10) |
491 03ce 70E0 ldi r23,hi8(10) |
492 03d0 0E94 0000 call __divmodhi4 |
493 03d4 9C01 movw r18,r24 |
494 03d6 8091 0000 lds r24,UBat |
495 03da 9091 0000 lds r25,(UBat)+1 |
496 03de 6AE0 ldi r22,lo8(10) |
497 03e0 70E0 ldi r23,hi8(10) |
498 03e2 0E94 0000 call __divmodhi4 |
499 03e6 3F93 push r19 |
500 03e8 2F93 push r18 |
501 03ea 7F93 push r23 |
502 03ec 6F93 push r22 |
503 03ee 80E0 ldi r24,lo8(__c.2484) |
504 03f0 90E0 ldi r25,hi8(__c.2484) |
505 03f2 9F93 push r25 |
506 03f4 8F93 push r24 |
507 03f6 C0E0 ldi r28,lo8(gs(LIBFC_JetiBox_Putchar)) |
508 03f8 D0E0 ldi r29,hi8(gs(LIBFC_JetiBox_Putchar)) |
509 03fa DF93 push r29 |
510 03fc CF93 push r28 |
511 03fe 0995 icall |
512 0400 2DB7 in r18,__SP_L__ |
513 0402 3EB7 in r19,__SP_H__ |
514 0404 285F subi r18,lo8(-(8)) |
515 0406 3F4F sbci r19,hi8(-(8)) |
516 0408 2DBF out __SP_L__,r18 |
517 040a 8091 0000 lds r24,NaviDataOkay |
518 040e 8823 tst r24 |
519 0410 01F0 breq .L35 |
520 0412 86E0 ldi r24,lo8(6) |
521 0414 0E94 0000 call LIBFC_JetiBox_SetPos |
522 0418 E090 0000 lds r14,_printf_P |
523 041c F090 0000 lds r15,(_printf_P)+1 |
524 0420 8091 0000 lds r24,GPSInfo+4 |
525 0424 9091 0000 lds r25,(GPSInfo+4)+1 |
526 0428 6AE0 ldi r22,lo8(10) |
527 042a 70E0 ldi r23,hi8(10) |
528 042c 0E94 0000 call __udivmodhi4 |
529 0430 8B01 movw r16,r22 |
530 0432 6091 0000 lds r22,ErsatzKompass |
531 0436 7091 0000 lds r23,(ErsatzKompass)+1 |
532 043a 8091 0000 lds r24,(ErsatzKompass)+2 |
533 043e 9091 0000 lds r25,(ErsatzKompass)+3 |
534 0442 2091 0000 lds r18,GIER_GRAD_FAKTOR |
535 0446 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1 |
536 044a 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2 |
537 044e 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3 |
538 0452 0E94 0000 call __divmodsi4 |
539 0456 1F93 push r17 |
540 0458 0F93 push r16 |
541 045a 8FED ldi r24,lo8(223) |
542 045c 90E0 ldi r25,hi8(223) |
543 045e 9F93 push r25 |
544 0460 8F93 push r24 |
545 0462 3F93 push r19 |
546 0464 2F93 push r18 |
547 0466 80E0 ldi r24,lo8(__c.2486) |
548 0468 90E0 ldi r25,hi8(__c.2486) |
549 046a 9F93 push r25 |
550 046c 8F93 push r24 |
551 046e DF93 push r29 |
552 0470 CF93 push r28 |
553 0472 F701 movw r30,r14 |
554 0474 0995 icall |
555 0476 8DB7 in r24,__SP_L__ |
556 0478 9EB7 in r25,__SP_H__ |
557 047a 0A96 adiw r24,10 |
558 047c 8DBF out __SP_L__,r24 |
559 047e 00C0 rjmp .L37 |
560 .L35: |
561 0480 86E0 ldi r24,lo8(6) |
562 0482 0E94 0000 call LIBFC_JetiBox_SetPos |
563 0486 E091 0000 lds r30,_printf_P |
564 048a F091 0000 lds r31,(_printf_P)+1 |
565 048e 80E0 ldi r24,lo8(__c.2488) |
566 0490 90E0 ldi r25,hi8(__c.2488) |
567 0492 9F93 push r25 |
568 0494 8F93 push r24 |
569 0496 DF93 push r29 |
570 0498 CF93 push r28 |
571 049a 0995 icall |
572 049c 0F90 pop __tmp_reg__ |
573 049e 0F90 pop __tmp_reg__ |
574 04a0 0F90 pop __tmp_reg__ |
575 04a2 0F90 pop __tmp_reg__ |
576 .L37: |
577 04a4 8091 0000 lds r24,NC_ErrorCode |
578 04a8 8823 tst r24 |
579 04aa 01F0 breq .L38 |
580 04ac 86E0 ldi r24,lo8(6) |
581 04ae 0E94 0000 call LIBFC_JetiBox_SetPos |
582 04b2 E091 0000 lds r30,_printf_P |
583 04b6 F091 0000 lds r31,(_printf_P)+1 |
584 04ba 8091 0000 lds r24,NC_ErrorCode |
585 04be 90E0 ldi r25,lo8(0) |
586 04c0 9F93 push r25 |
587 04c2 8F93 push r24 |
588 04c4 80E0 ldi r24,lo8(__c.2490) |
589 04c6 90E0 ldi r25,hi8(__c.2490) |
590 04c8 9F93 push r25 |
591 04ca 8F93 push r24 |
592 04cc 80E0 ldi r24,lo8(gs(LIBFC_JetiBox_Putchar)) |
593 04ce 90E0 ldi r25,hi8(gs(LIBFC_JetiBox_Putchar)) |
594 04d0 9F93 push r25 |
595 04d2 8F93 push r24 |
596 04d4 0995 icall |
597 04d6 2DB7 in r18,__SP_L__ |
598 04d8 3EB7 in r19,__SP_H__ |
599 04da 2A5F subi r18,lo8(-(6)) |
600 04dc 3F4F sbci r19,hi8(-(6)) |
601 04de 2DBF out __SP_L__,r18 |
602 .L38: |
603 04e0 80E1 ldi r24,lo8(16) |
604 04e2 0E94 0000 call LIBFC_JetiBox_SetPos |
605 04e6 0091 0000 lds r16,_printf_P |
606 04ea 1091 0000 lds r17,(_printf_P)+1 |
607 04ee 2091 0000 lds r18,FlugSekunden |
608 04f2 3091 0000 lds r19,(FlugSekunden)+1 |
609 04f6 C901 movw r24,r18 |
610 04f8 6CE3 ldi r22,lo8(60) |
611 04fa 70E0 ldi r23,hi8(60) |
612 04fc 0E94 0000 call __udivmodhi4 |
613 0500 FC01 movw r30,r24 |
614 0502 C901 movw r24,r18 |
615 0504 6CE3 ldi r22,lo8(60) |
616 0506 70E0 ldi r23,hi8(60) |
617 0508 0E94 0000 call __udivmodhi4 |
618 050c 8091 0000 lds r24,Capacity+4 |
619 0510 9091 0000 lds r25,(Capacity+4)+1 |
620 0514 FF93 push r31 |
621 0516 EF93 push r30 |
622 0518 7F93 push r23 |
623 051a 6F93 push r22 |
624 051c 9F93 push r25 |
625 051e 8F93 push r24 |
626 0520 80E0 ldi r24,lo8(__c.2492) |
627 0522 90E0 ldi r25,hi8(__c.2492) |
628 0524 9F93 push r25 |
629 0526 8F93 push r24 |
630 0528 C0E0 ldi r28,lo8(gs(LIBFC_JetiBox_Putchar)) |
631 052a D0E0 ldi r29,hi8(gs(LIBFC_JetiBox_Putchar)) |
632 052c DF93 push r29 |
633 052e CF93 push r28 |
634 0530 F801 movw r30,r16 |
635 0532 0995 icall |
636 0534 8091 0000 lds r24,EE_Parameter+13 |
637 0538 2DB7 in r18,__SP_L__ |
638 053a 3EB7 in r19,__SP_H__ |
639 053c 265F subi r18,lo8(-(10)) |
640 053e 3F4F sbci r19,hi8(-(10)) |
641 0540 2DBF out __SP_L__,r18 |
642 0542 80FF sbrs r24,0 |
643 0544 00C0 rjmp .L42 |
644 0546 8AE1 ldi r24,lo8(26) |
645 0548 0E94 0000 call LIBFC_JetiBox_SetPos |
646 054c E090 0000 lds r14,_printf_P |
647 0550 F090 0000 lds r15,(_printf_P)+1 |
648 0554 0091 0000 lds r16,VarioCharacter |
649 0558 10E0 ldi r17,lo8(0) |
650 055a 6091 0000 lds r22,HoehenWert |
651 055e 7091 0000 lds r23,(HoehenWert)+1 |
652 0562 8091 0000 lds r24,(HoehenWert)+2 |
653 0566 9091 0000 lds r25,(HoehenWert)+3 |
654 056a 24E6 ldi r18,lo8(100) |
655 056c 30E0 ldi r19,hi8(100) |
656 056e 40E0 ldi r20,hlo8(100) |
657 0570 50E0 ldi r21,hhi8(100) |
658 0572 0E94 0000 call __divmodsi4 |
659 0576 1F93 push r17 |
660 0578 0F93 push r16 |
661 057a 3F93 push r19 |
662 057c 2F93 push r18 |
663 057e 80E0 ldi r24,lo8(__c.2494) |
664 0580 90E0 ldi r25,hi8(__c.2494) |
665 0582 9F93 push r25 |
666 0584 8F93 push r24 |
667 0586 DF93 push r29 |
668 0588 CF93 push r28 |
669 058a F701 movw r30,r14 |
670 058c 0995 icall |
671 058e 8DB7 in r24,__SP_L__ |
672 0590 9EB7 in r25,__SP_H__ |
673 0592 0896 adiw r24,8 |
674 0594 8DBF out __SP_L__,r24 |
675 .L42: |
676 /* epilogue: frame size=0 */ |
677 0596 E6E0 ldi r30,6 |
678 0598 CDB7 in r28,__SP_L__ |
679 059a DEB7 in r29,__SP_H__ |
680 059c 0C94 0000 jmp __epilogue_restores__+24 |
681 /* epilogue end (size=5) */ |
682 /* function Menu_Status size 251 (240) */ |
684 .global JetiBox_Menu |
685 .section .progmem.data,"a",@progbits |
688 JetiBox_Menu: |
689 0000 03 .byte 3 |
690 0001 01 .byte 1 |
691 0002 00 .byte 0 |
692 0003 00 .byte 0 |
693 0004 0000 .word gs(Menu_Status) |
694 0006 00 .byte 0 |
695 0007 02 .byte 2 |
696 0008 01 .byte 1 |
697 0009 01 .byte 1 |
698 000a 0000 .word gs(Menu_Temperature) |
699 000c 01 .byte 1 |
700 000d 03 .byte 3 |
701 000e 02 .byte 2 |
702 000f 02 .byte 2 |
703 0010 0000 .word gs(Menu_Battery) |
704 0012 02 .byte 2 |
705 0013 00 .byte 0 |
706 0014 03 .byte 3 |
707 0015 03 .byte 3 |
708 0016 0000 .word gs(Menu_PosInfo) |
709 .lcomm last_item.2617,1 |
710 .lcomm item.2616,1 |
713 __c.2587: |
714 0018 4E6F 204E .string "No NaviCtrl!" |
714 6176 6943 |
714 7472 6C21 |
714 00 |
717 __c.2585: |
718 0025 486F 6D65 .string "Home:%3dm %3d%c" |
718 3A25 3364 |
718 6D20 2533 |
718 6425 6300 |
721 __c.2583: |
722 0035 4447 5053 .string "DGPS" |
722 00 |
725 __c.2581: |
726 003a 4E6F 4678 .string "NoFx" |
726 00 |
729 __c.2575: |
730 003f 2020 3344 .string " 3D" |
730 00 |
733 __c.2572: |
734 0044 2532 756D .string "%2um/s Sat:%d " |
734 2F73 2053 |
734 6174 3A25 |
734 6420 00 |
737 __c.2557: |
738 0053 2534 6957 .string "%4iW %6imAh" |
738 2025 3669 |
738 6D41 6800 |
741 __c.2555: |
742 005f 2532 692E .string "%2i.%1iV %3i.%1iA" |
742 2531 6956 |
742 2020 2533 |
742 692E 2531 |
742 6941 00 |
745 __c.2532: |
746 0072 2563 4320 .string "%cC " |
746 2020 2020 |
746 00 |
749 __c.2530: |
750 007b 5465 6D70 .string "Temperatures " |
750 6572 6174 |
750 7572 6573 |
750 2020 2020 |
750 00 |
753 __c.2528: |
754 008c 2533 6920 .string "%3i %3i %3i %3i" |
754 2533 6920 |
754 2533 6920 |
754 2533 6900 |
757 __c.2526: |
758 009c 2533 6920 .string "%3i %3i %3i %3i" |
758 2533 6920 |
758 2533 6920 |
758 2533 6900 |
761 __c.2494: |
762 00ac 2534 696D .string "%4im%c" |
762 2563 00 |
765 __c.2492: |
766 00b3 2534 6920 .string "%4i %2i:%02i" |
766 2532 693A |
766 2530 3269 |
766 00 |
769 __c.2490: |
770 00c0 4552 524F .string "ERROR: %2d" |
770 523A 2025 |
770 3264 00 |
773 __c.2488: |
774 00cb 5374 6174 .string "Status" |
774 7573 00 |
777 __c.2486: |
778 00d2 2533 6425 .string "%3d%c %03dm" |
778 6320 2530 |
778 3364 6D00 |
781 __c.2484: |
782 00de 2532 692E .string "%2i.%1iV" |
782 2531 6956 |
782 00 |
783 /* File "jetimenu.c": code 737 = 0x02e1 ( 704), prologues 15, epilogues 18 */ |
DEFINED SYMBOLS |
*ABS*:00000000 jetimenu.c |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccFZFH6c.s:2 *ABS*:0000003f __SREG__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccFZFH6c.s:3 *ABS*:0000003e __SP_H__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccFZFH6c.s:4 *ABS*:0000003d __SP_L__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccFZFH6c.s:5 *ABS*:00000000 __tmp_reg__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccFZFH6c.s:6 *ABS*:00000001 __zero_reg__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccFZFH6c.s:12 .text:00000000 JetiBox_Update |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccFZFH6c.s:709 .bss:00000001 item.2616 |
.bss:00000000 last_item.2617 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccFZFH6c.s:688 .progmem.data:00000000 JetiBox_Menu |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccFZFH6c.s:117 .text:0000009c Menu_PosInfo |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccFZFH6c.s:733 .progmem.data:00000044 __c.2572 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccFZFH6c.s:729 .progmem.data:0000003f __c.2575 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccFZFH6c.s:725 .progmem.data:0000003a __c.2581 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccFZFH6c.s:721 .progmem.data:00000035 __c.2583 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccFZFH6c.s:717 .progmem.data:00000025 __c.2585 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccFZFH6c.s:713 .progmem.data:00000018 __c.2587 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccFZFH6c.s:256 .text:000001ca Menu_Battery |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccFZFH6c.s:741 .progmem.data:0000005f __c.2555 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccFZFH6c.s:737 .progmem.data:00000053 __c.2557 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccFZFH6c.s:342 .text:0000028c Menu_Temperature |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccFZFH6c.s:757 .progmem.data:0000009c __c.2526 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccFZFH6c.s:753 .progmem.data:0000008c __c.2528 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccFZFH6c.s:749 .progmem.data:0000007b __c.2530 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccFZFH6c.s:745 .progmem.data:00000072 __c.2532 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccFZFH6c.s:475 .text:000003aa Menu_Status |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccFZFH6c.s:781 .progmem.data:000000de __c.2484 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccFZFH6c.s:777 .progmem.data:000000d2 __c.2486 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccFZFH6c.s:773 .progmem.data:000000cb __c.2488 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccFZFH6c.s:769 .progmem.data:000000c0 __c.2490 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccFZFH6c.s:765 .progmem.data:000000b3 __c.2492 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccFZFH6c.s:761 .progmem.data:000000ac __c.2494 |
UNDEFINED SYMBOLS |
__do_copy_data |
__do_clear_bss |
LIBFC_JetiBox_Clear |
NaviDataOkay |
LIBFC_JetiBox_Putchar |
LIBFC_JetiBox_SetPos |
GPSInfo |
_printf_P |
__udivmodhi4 |
Capacity |
UBat |
__divmodhi4 |
Motor |
RequiredMotors |
ErsatzKompass |
GIER_GRAD_FAKTOR |
__divmodsi4 |
NC_ErrorCode |
FlugSekunden |
EE_Parameter |
VarioCharacter |
HoehenWert |
__epilogue_restores__ |
/Spektrum-Diversity/V0.82a/led.c |
---|
0,0 → 1,98 |
#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; |
if(!delay--) // 10ms Intervall |
{ |
delay = 4; |
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; |
} |
if(!J16Warn) |
{ |
if((EE_Parameter.BitConfig & CFG_MOTOR_BLINK) && !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;} |
else |
if((EE_Parameter.J16Timing > 247) && (Parameter_J16Timing < 10)) {if(J16Bitmask & 128) J16_OFF; else J16_ON;} |
else |
if(!J16Blinkcount--) |
{ |
J16Blinkcount = Parameter_J16Timing-1; |
if(J16Mask == 1) J16Mask = 128; else J16Mask /= 2; |
if(J16Mask & J16Bitmask) J16_ON; else J16_OFF; |
} |
} |
else |
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; |
} |
if(!J17Warn) |
{ |
if((EE_Parameter.BitConfig & CFG_MOTOR_BLINK) && !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;} |
else |
if((EE_Parameter.J17Timing > 247) && (Parameter_J17Timing < 10)) {if(J17Bitmask & 128) J17_OFF; else J17_ON;} |
else |
if(!J17Blinkcount--) |
{ |
J17Blinkcount = Parameter_J17Timing-1; |
if(J17Mask == 1) J17Mask = 128; else J17Mask /= 2; |
if(J17Mask & J17Bitmask) J17_ON; else J17_OFF; |
} |
} |
else |
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; |
} |
} |
} |
/Spektrum-Diversity/V0.82a/led.d |
---|
0,0 → 1,3 |
led.o led.d : led.c main.h old_macros.h printf_P.h timer0.h uart.h analog.h \ |
twimaster.h menu.h rc.h fc.h gps.h spi.h led.h spektrum.h capacity.h \ |
eeprom.h libfc.h debug.h |
/Spektrum-Diversity/V0.82a/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); |
/Spektrum-Diversity/V0.82a/led.lst |
---|
0,0 → 1,308 |
1 .file "led.c" |
2 __SREG__ = 0x3f |
3 __SP_H__ = 0x3e |
4 __SP_L__ = 0x3d |
5 __tmp_reg__ = 0 |
6 __zero_reg__ = 1 |
7 .global __do_copy_data |
8 .global __do_clear_bss |
9 .text |
10 .global LED_Init |
12 LED_Init: |
13 /* prologue: frame size=0 */ |
14 /* prologue end (size=0) */ |
15 0000 87B1 in r24,39-0x20 |
16 0002 8C60 ori r24,lo8(12) |
17 0004 87B9 out 39-0x20,r24 |
18 0006 4298 cbi 40-0x20,2 |
19 0008 4398 cbi 40-0x20,3 |
20 000a 1092 0000 sts J16Blinkcount,__zero_reg__ |
21 000e 80E8 ldi r24,lo8(-128) |
22 0010 8093 0000 sts J16Mask,r24 |
23 0014 1092 0000 sts J17Blinkcount,__zero_reg__ |
24 0018 8093 0000 sts J17Mask,r24 |
25 /* epilogue: frame size=0 */ |
26 001c 0895 ret |
27 /* epilogue end (size=1) */ |
28 /* function LED_Init size 15 (14) */ |
30 .global LED_Update |
32 LED_Update: |
33 /* prologue: frame size=0 */ |
34 /* prologue end (size=0) */ |
35 001e 8091 0000 lds r24,delay.2499 |
36 0022 8150 subi r24,lo8(-(-1)) |
37 0024 8093 0000 sts delay.2499,r24 |
38 0028 8F3F cpi r24,lo8(-1) |
39 002a 01F0 breq .+2 |
40 002c 00C0 rjmp .L74 |
41 002e 94E0 ldi r25,lo8(4) |
42 0030 9093 0000 sts delay.2499,r25 |
43 0034 8091 0000 lds r24,FC_StatusFlags |
44 0038 8073 andi r24,lo8(48) |
45 003a 01F4 brne .L6 |
46 003c 8091 0000 lds r24,VersionInfo+6 |
47 0040 80FF sbrs r24,0 |
48 0042 00C0 rjmp .L8 |
49 .L6: |
50 0044 8091 0000 lds r24,EE_Parameter+78 |
51 0048 8823 tst r24 |
52 004a 01F0 breq .L9 |
53 004c 8091 0000 lds r24,J16Warn.2502 |
54 0050 8823 tst r24 |
55 0052 01F4 brne .L11 |
56 0054 9093 0000 sts J16Blinkcount,r25 |
57 .L11: |
58 0058 81E0 ldi r24,lo8(1) |
59 005a 8093 0000 sts J16Warn.2502,r24 |
60 .L9: |
61 005e 8091 0000 lds r24,EE_Parameter+79 |
62 0062 8823 tst r24 |
63 0064 01F0 breq .L13 |
64 0066 8091 0000 lds r24,J17Warn.2503 |
65 006a 8823 tst r24 |
66 006c 01F4 brne .L15 |
67 006e 84E0 ldi r24,lo8(4) |
68 0070 8093 0000 sts J17Blinkcount,r24 |
69 .L15: |
70 0074 81E0 ldi r24,lo8(1) |
71 0076 8093 0000 sts J17Warn.2503,r24 |
72 007a 00C0 rjmp .L13 |
73 .L8: |
74 007c 1092 0000 sts J16Warn.2502,__zero_reg__ |
75 0080 1092 0000 sts J17Warn.2503,__zero_reg__ |
76 0084 8091 0000 lds r24,EE_Parameter+74 |
77 0088 8093 0000 sts J16Bitmask.2500,r24 |
78 008c 8091 0000 lds r24,EE_Parameter+76 |
79 0090 8093 0000 sts J17Bitmask.2501,r24 |
80 .L13: |
81 0094 8091 0000 lds r24,J16Warn.2502 |
82 0098 8823 tst r24 |
83 009a 01F4 brne .L17 |
84 009c 8091 0000 lds r24,EE_Parameter+100 |
85 00a0 282F mov r18,r24 |
86 00a2 84FF sbrs r24,4 |
87 00a4 00C0 rjmp .L19 |
88 00a6 8091 0000 lds r24,MotorenEin |
89 00aa 8823 tst r24 |
90 00ac 01F4 brne .L19 |
91 00ae 25FD sbrc r18,5 |
92 00b0 00C0 rjmp .L78 |
93 00b2 00C0 rjmp .L44 |
94 .L19: |
95 00b4 8091 0000 lds r24,EE_Parameter+75 |
96 00b8 883F cpi r24,lo8(-8) |
97 00ba 00F0 brlo .L25 |
98 00bc 8091 0000 lds r24,Parameter_J16Timing |
99 00c0 8D3D cpi r24,lo8(-35) |
100 00c2 00F0 brlo .L27 |
101 00c4 8091 0000 lds r24,J16Bitmask.2500 |
102 00c8 8823 tst r24 |
103 00ca 04F0 brlt .L78 |
104 00cc 00C0 rjmp .L44 |
105 .L27: |
106 00ce 8A30 cpi r24,lo8(10) |
107 00d0 00F4 brsh .L25 |
108 00d2 8091 0000 lds r24,J16Bitmask.2500 |
109 00d6 8823 tst r24 |
110 00d8 04F0 brlt .L44 |
111 00da 00C0 rjmp .L78 |
112 .L25: |
113 00dc 8091 0000 lds r24,J16Blinkcount |
114 00e0 8150 subi r24,lo8(-(-1)) |
115 00e2 8093 0000 sts J16Blinkcount,r24 |
116 00e6 8F3F cpi r24,lo8(-1) |
117 00e8 01F4 brne .L24 |
118 00ea 8091 0000 lds r24,Parameter_J16Timing |
119 00ee 8150 subi r24,lo8(-(-1)) |
120 00f0 8093 0000 sts J16Blinkcount,r24 |
121 00f4 8091 0000 lds r24,J16Mask |
122 00f8 8130 cpi r24,lo8(1) |
123 00fa 01F4 brne .L35 |
124 00fc 80E8 ldi r24,lo8(-128) |
125 00fe 00C0 rjmp .L75 |
126 .L35: |
127 0100 8695 lsr r24 |
128 .L75: |
129 0102 8093 0000 sts J16Mask,r24 |
130 0106 8091 0000 lds r24,J16Bitmask.2500 |
131 010a 00C0 rjmp .L82 |
132 .L17: |
133 010c 8091 0000 lds r24,J16Blinkcount |
134 0110 8150 subi r24,lo8(-(-1)) |
135 0112 8093 0000 sts J16Blinkcount,r24 |
136 0116 8F3F cpi r24,lo8(-1) |
137 0118 01F4 brne .L24 |
138 011a 89E0 ldi r24,lo8(9) |
139 011c 8093 0000 sts J16Blinkcount,r24 |
140 0120 8091 0000 lds r24,J16Mask |
141 0124 8130 cpi r24,lo8(1) |
142 0126 01F4 brne .L41 |
143 0128 80E8 ldi r24,lo8(-128) |
144 012a 00C0 rjmp .L76 |
145 .L41: |
146 012c 8695 lsr r24 |
147 .L76: |
148 012e 8093 0000 sts J16Mask,r24 |
149 0132 8091 0000 lds r24,EE_Parameter+78 |
150 .L82: |
151 0136 9091 0000 lds r25,J16Mask |
152 013a 8923 and r24,r25 |
153 013c 01F0 breq .L44 |
154 .L78: |
155 013e 429A sbi 40-0x20,2 |
156 0140 00C0 rjmp .L24 |
157 .L44: |
158 0142 4298 cbi 40-0x20,2 |
159 .L24: |
160 0144 8091 0000 lds r24,J17Warn.2503 |
161 0148 8823 tst r24 |
162 014a 01F0 breq .+2 |
163 014c 00C0 rjmp .L46 |
164 014e 8091 0000 lds r24,EE_Parameter+100 |
165 0152 282F mov r18,r24 |
166 0154 84FF sbrs r24,4 |
167 0156 00C0 rjmp .L48 |
168 0158 8091 0000 lds r24,MotorenEin |
169 015c 8823 tst r24 |
170 015e 01F4 brne .L48 |
171 0160 26FD sbrc r18,6 |
172 0162 00C0 rjmp .L81 |
173 0164 00C0 rjmp .L66 |
174 .L48: |
175 0166 8091 0000 lds r24,EE_Parameter+77 |
176 016a 883F cpi r24,lo8(-8) |
177 016c 00F0 brlo .L53 |
178 016e 8091 0000 lds r24,Parameter_J17Timing |
179 0172 8D3D cpi r24,lo8(-35) |
180 0174 00F0 brlo .L55 |
181 0176 8091 0000 lds r24,J17Bitmask.2501 |
182 017a 8823 tst r24 |
183 017c 04F4 brge .+2 |
184 017e 00C0 rjmp .L81 |
185 0180 00C0 rjmp .L66 |
186 .L55: |
187 0182 8A30 cpi r24,lo8(10) |
188 0184 00F4 brsh .L53 |
189 0186 8091 0000 lds r24,J17Bitmask.2501 |
190 018a 8823 tst r24 |
191 018c 04F0 brlt .L66 |
192 018e 00C0 rjmp .L81 |
193 .L53: |
194 0190 8091 0000 lds r24,J17Blinkcount |
195 0194 8150 subi r24,lo8(-(-1)) |
196 0196 8093 0000 sts J17Blinkcount,r24 |
197 019a 8F3F cpi r24,lo8(-1) |
198 019c 01F4 brne .L74 |
199 019e 8091 0000 lds r24,Parameter_J17Timing |
200 01a2 8150 subi r24,lo8(-(-1)) |
201 01a4 8093 0000 sts J17Blinkcount,r24 |
202 01a8 8091 0000 lds r24,J17Mask |
203 01ac 8130 cpi r24,lo8(1) |
204 01ae 01F4 brne .L63 |
205 01b0 80E8 ldi r24,lo8(-128) |
206 01b2 00C0 rjmp .L79 |
207 .L63: |
208 01b4 8695 lsr r24 |
209 .L79: |
210 01b6 8093 0000 sts J17Mask,r24 |
211 01ba 8091 0000 lds r24,J17Bitmask.2501 |
212 01be 9091 0000 lds r25,J17Mask |
213 01c2 8923 and r24,r25 |
214 01c4 01F4 brne .L81 |
215 .L66: |
216 01c6 4398 cbi 40-0x20,3 |
217 01c8 0895 ret |
218 .L46: |
219 01ca 8091 0000 lds r24,J17Blinkcount |
220 01ce 8150 subi r24,lo8(-(-1)) |
221 01d0 8093 0000 sts J17Blinkcount,r24 |
222 01d4 8F3F cpi r24,lo8(-1) |
223 01d6 01F4 brne .L74 |
224 01d8 89E0 ldi r24,lo8(9) |
225 01da 8093 0000 sts J17Blinkcount,r24 |
226 01de 8091 0000 lds r24,J17Mask |
227 01e2 8130 cpi r24,lo8(1) |
228 01e4 01F4 brne .L69 |
229 01e6 80E8 ldi r24,lo8(-128) |
230 01e8 00C0 rjmp .L80 |
231 .L69: |
232 01ea 8695 lsr r24 |
233 .L80: |
234 01ec 8093 0000 sts J17Mask,r24 |
235 01f0 8091 0000 lds r24,EE_Parameter+79 |
236 01f4 9091 0000 lds r25,J17Mask |
237 01f8 8923 and r24,r25 |
238 01fa 01F0 breq .L72 |
239 .L81: |
240 01fc 439A sbi 40-0x20,3 |
241 01fe 0895 ret |
242 .L72: |
243 0200 4398 cbi 40-0x20,3 |
244 .L74: |
245 0202 0895 ret |
246 /* epilogue: frame size=0 */ |
247 /* epilogue: noreturn */ |
248 /* epilogue end (size=0) */ |
249 /* function LED_Update size 251 (251) */ |
251 .global LED1_Timing |
252 .global LED1_Timing |
253 .section .bss |
256 LED1_Timing: |
257 0000 0000 .skip 2,0 |
258 .global LED2_Timing |
259 .global LED2_Timing |
262 LED2_Timing: |
263 0002 0000 .skip 2,0 |
264 .global J16Blinkcount |
265 .global J16Blinkcount |
268 J16Blinkcount: |
269 0004 00 .skip 1,0 |
270 .global J16Mask |
271 .data |
274 J16Mask: |
275 0000 01 .byte 1 |
276 .global J17Blinkcount |
277 .global J17Blinkcount |
278 .section .bss |
281 J17Blinkcount: |
282 0005 00 .skip 1,0 |
283 .global J17Mask |
284 .data |
287 J17Mask: |
288 0001 01 .byte 1 |
289 .lcomm J17Warn.2503,1 |
290 .lcomm J16Warn.2502,1 |
291 .lcomm J17Bitmask.2501,1 |
292 .lcomm J16Bitmask.2500,1 |
293 .lcomm delay.2499,1 |
294 /* File "led.c": code 266 = 0x010a ( 265), prologues 0, epilogues 1 */ |
DEFINED SYMBOLS |
*ABS*:00000000 led.c |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccP8EcZA.s:2 *ABS*:0000003f __SREG__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccP8EcZA.s:3 *ABS*:0000003e __SP_H__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccP8EcZA.s:4 *ABS*:0000003d __SP_L__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccP8EcZA.s:5 *ABS*:00000000 __tmp_reg__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccP8EcZA.s:6 *ABS*:00000001 __zero_reg__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccP8EcZA.s:12 .text:00000000 LED_Init |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccP8EcZA.s:268 .bss:00000004 J16Blinkcount |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccP8EcZA.s:274 .data:00000000 J16Mask |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccP8EcZA.s:281 .bss:00000005 J17Blinkcount |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccP8EcZA.s:287 .data:00000001 J17Mask |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccP8EcZA.s:32 .text:0000001e LED_Update |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccP8EcZA.s:292 .bss:0000000a delay.2499 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccP8EcZA.s:289 .bss:00000007 J16Warn.2502 |
.bss:00000006 J17Warn.2503 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccP8EcZA.s:291 .bss:00000009 J16Bitmask.2500 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccP8EcZA.s:290 .bss:00000008 J17Bitmask.2501 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccP8EcZA.s:256 .bss:00000000 LED1_Timing |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccP8EcZA.s:262 .bss:00000002 LED2_Timing |
UNDEFINED SYMBOLS |
__do_copy_data |
__do_clear_bss |
FC_StatusFlags |
VersionInfo |
EE_Parameter |
MotorenEin |
Parameter_J16Timing |
Parameter_J17Timing |
/Spektrum-Diversity/V0.82a/libfc.h |
---|
0,0 → 1,20 |
#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 unsigned char LIBFC_GetCPUType(void); |
#endif //_LIBFC_H |
/Spektrum-Diversity/V0.82a/main.c |
---|
0,0 → 1,409 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) Holger Buss, Ingo Busker |
// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
// + www.MikroKopter.com |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
// + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
// + bzgl. der Nutzungsbedingungen aufzunehmen. |
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
// + Verkauf von Luftbildaufnahmen, usw. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
// + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
// + eindeutig als Ursprung verlinkt und genannt werden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
// + Benutzung auf eigene Gefahr |
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
// + mit unserer Zustimmung zulässig |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
// + this list of conditions and the following disclaimer. |
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
// + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS 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 COPYRIGHT OWNER 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. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#include "main.h" |
unsigned char PlatinenVersion = 10; |
unsigned char SendVersionToNavi = 1; |
unsigned char BattLowVoltageWarning = 94; |
unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0; |
unsigned int FlugSekunden = 0; |
pVoidFnct_pVoidFnctChar_const_fmt _printf_P; |
unsigned char FoundMotors = 0; |
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 level: %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__)) |
PlatinenVersion = 21; |
#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 |
HEF4017R_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; |
// printf("\n\rInitialising: "); |
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(); |
printf("\n\rInitialised:\n\r"); |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + 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 |
} |
printf("\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"); |
printf("\n\rCalibrating IR 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); |
printf("\n\rControl: "); |
if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
else printf("Normal (ACC-Mode)"); |
LcdClear(); |
I2CTimeout = 5000; |
WinkelOut.Orientation = 1; |
LipoDetection(1); |
LIBFC_ReceiverInit(EE_Parameter.Receiver); |
printf("\n\r===================================\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; |
while (1) |
{ |
if (JetiUpdateModeActive) while (1); |
if(CheckDelay(timerPolling)) |
{ |
timerPolling = SetDelay(100); |
LIBFC_Polling(); |
} |
if(UpdateMotor && AdReady) // ReglerIntervall |
{ |
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 = 10000; |
BeepMuster = 0x0080; |
} |
} |
else |
{ |
ROT_OFF; |
if(!beeptime) |
{ |
VersionInfo.HardwareError[1] &= ~FC_ERROR1_I2C; |
} |
} |
if(!UpdateMotor) |
{ |
if(CalculateServoSignals) CalculateServo(); |
DatenUebertragung(); |
BearbeiteRxDaten(); |
if(CheckDelay(timer)) |
{ |
static unsigned char second; |
timer += 20; // 20 ms interval |
if(MissingMotor) |
{ |
VersionInfo.HardwareError[1] |= FC_ERROR1_BL_MISSING; |
DebugOut.Status[1] |= 0x02; // BL-Error-Status |
} |
else |
{ |
VersionInfo.HardwareError[1] &= ~FC_ERROR1_BL_MISSING; |
if(I2CTimeout > 6) DebugOut.Status[1] &= ~0x02; // BL-Error-Status |
} |
if(I2CTimeout > 6) VersionInfo.HardwareError[1] &= ~FC_ERROR1_I2C; |
if(PcZugriff) PcZugriff--; |
else |
{ |
ExternControl.Config = 0; |
ExternStickNick = 0; |
ExternStickRoll = 0; |
ExternStickGier = 0; |
if(BeepMuster == 0xffff && SenderOkay == 0) |
{ |
beeptime = 15000; |
BeepMuster = 0x0c00; |
} |
} |
if(NaviDataOkay > 200) |
{ |
NaviDataOkay--; |
VersionInfo.HardwareError[1] &= ~FC_ERROR1_SPI_RX; |
} |
else |
{ |
if(NC_Version.Compatible) |
{ |
VersionInfo.HardwareError[1] |= FC_ERROR1_SPI_RX; |
if(BeepMuster == 0xffff && MotorenEin) |
{ |
beeptime = 15000; |
BeepMuster = 0xA800; |
} |
} |
GPS_Nick = 0; |
GPS_Roll = 0; |
//if(!beeptime) |
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; |
if(!MotorenEin) timer2 = 1450; // 0,5 Minuten aufrunden |
else |
if(++second == 49) |
{ |
second = 0; |
FlugSekunden++; |
} |
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(); |
} |
} |
if(!SendSPI) { SPI_TransmitByte(); } |
} |
return (1); |
} |
/Spektrum-Diversity/V0.82a/main.d |
---|
0,0 → 1,3 |
main.o main.d : main.c main.h old_macros.h printf_P.h timer0.h uart.h analog.h \ |
twimaster.h menu.h rc.h fc.h gps.h spi.h led.h spektrum.h capacity.h \ |
eeprom.h libfc.h debug.h |
/Spektrum-Diversity/V0.82a/main.h |
---|
0,0 → 1,75 |
#ifndef _MAIN_H |
#define _MAIN_H |
//#define DEBUG // use to activate debug output to MK-Tool: use Debug(text); |
//#define ACT_S3D_SUMMENSIGNAL |
//#define SWITCH_LEARNS_CAREFREE |
//#define RECEIVER_SPEKTRUM_EXP |
// 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)) PORTB &=~0x02; else PORTB |= 0x02;} |
#define GRN_ON {if((PlatinenVersion < 12)) 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 SendVersionToNavi; |
extern unsigned char FoundMotors; |
void LipoDetection(unsigned char print); |
extern unsigned int FlugMinuten,FlugMinutenGesamt,FlugSekunden; |
#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 "debug.h" |
#endif //_MAIN_H |
/Spektrum-Diversity/V0.82a/main.lst |
---|
0,0 → 1,1299 |
1 .file "main.c" |
2 __SREG__ = 0x3f |
3 __SP_H__ = 0x3e |
4 __SP_L__ = 0x3d |
5 __tmp_reg__ = 0 |
6 __zero_reg__ = 1 |
7 .global __do_copy_data |
8 .global __do_clear_bss |
9 .text |
10 .global LipoDetection |
12 LipoDetection: |
13 /* prologue: frame size=0 */ |
14 0000 1F93 push r17 |
15 0002 CF93 push r28 |
16 0004 DF93 push r29 |
17 /* prologue end (size=3) */ |
18 0006 182F mov r17,r24 |
19 0008 8823 tst r24 |
20 000a 01F0 breq .L2 |
21 000c E091 0000 lds r30,_printf_P |
22 0010 F091 0000 lds r31,(_printf_P)+1 |
23 0014 80E0 ldi r24,lo8(__c.2504) |
24 0016 90E0 ldi r25,hi8(__c.2504) |
25 0018 9F93 push r25 |
26 001a 8F93 push r24 |
27 001c 80E0 ldi r24,lo8(gs(uart_putchar)) |
28 001e 90E0 ldi r25,hi8(gs(uart_putchar)) |
29 0020 9F93 push r25 |
30 0022 8F93 push r24 |
31 0024 0995 icall |
32 0026 0F90 pop __tmp_reg__ |
33 0028 0F90 pop __tmp_reg__ |
34 002a 0F90 pop __tmp_reg__ |
35 002c 0F90 pop __tmp_reg__ |
36 .L2: |
37 002e 8091 0000 lds r24,EE_Parameter+36 |
38 0032 8233 cpi r24,lo8(50) |
39 0034 00F0 brlo .+2 |
40 0036 00C0 rjmp .L4 |
41 0038 84EF ldi r24,lo8(500) |
42 003a 91E0 ldi r25,hi8(500) |
43 003c 0E94 0000 call SetDelay |
44 0040 EC01 movw r28,r24 |
45 0042 1123 tst r17 |
46 0044 01F0 breq .L6 |
47 .L15: |
48 0046 CE01 movw r24,r28 |
49 0048 0E94 0000 call CheckDelay |
50 004c 8823 tst r24 |
51 004e 01F0 breq .L15 |
52 .L6: |
53 0050 C2E0 ldi r28,lo8(2) |
54 0052 D0E0 ldi r29,hi8(2) |
55 0054 26E5 ldi r18,lo8(86) |
56 0056 30E0 ldi r19,hi8(86) |
57 .L8: |
58 0058 8091 0000 lds r24,UBat |
59 005c 9091 0000 lds r25,(UBat)+1 |
60 0060 8217 cp r24,r18 |
61 0062 9307 cpc r25,r19 |
62 0064 00F0 brlo .L9 |
63 0066 2196 adiw r28,1 |
64 0068 255D subi r18,lo8(-(43)) |
65 006a 3F4F sbci r19,hi8(-(43)) |
66 006c C730 cpi r28,7 |
67 006e D105 cpc r29,__zero_reg__ |
68 0070 01F4 brne .L8 |
69 .L9: |
70 0072 8091 0000 lds r24,EE_Parameter+36 |
71 0076 90E0 ldi r25,lo8(0) |
72 0078 9C01 movw r18,r24 |
73 007a C29F mul r28,r18 |
74 007c C001 movw r24,r0 |
75 007e C39F mul r28,r19 |
76 0080 900D add r25,r0 |
77 0082 D29F mul r29,r18 |
78 0084 900D add r25,r0 |
79 0086 1124 clr r1 |
80 0088 8093 0000 sts BattLowVoltageWarning,r24 |
81 008c 1123 tst r17 |
82 008e 01F4 brne .+2 |
83 0090 00C0 rjmp .L14 |
84 0092 68EC ldi r22,lo8(200) |
85 0094 70E0 ldi r23,hi8(200) |
86 0096 8C2F mov r24,r28 |
87 0098 0E94 0000 call Piep |
88 009c E091 0000 lds r30,_printf_P |
89 00a0 F091 0000 lds r31,(_printf_P)+1 |
90 00a4 DF93 push r29 |
91 00a6 CF93 push r28 |
92 00a8 80E0 ldi r24,lo8(__c.2512) |
93 00aa 90E0 ldi r25,hi8(__c.2512) |
94 00ac 9F93 push r25 |
95 00ae 8F93 push r24 |
96 00b0 80E0 ldi r24,lo8(gs(uart_putchar)) |
97 00b2 90E0 ldi r25,hi8(gs(uart_putchar)) |
98 00b4 9F93 push r25 |
99 00b6 8F93 push r24 |
100 00b8 0995 icall |
101 00ba 8DB7 in r24,__SP_L__ |
102 00bc 9EB7 in r25,__SP_H__ |
103 00be 0696 adiw r24,6 |
104 00c0 8DBF out __SP_L__,r24 |
105 00c2 00C0 rjmp .L13 |
106 .L4: |
107 00c4 8093 0000 sts BattLowVoltageWarning,r24 |
108 00c8 1123 tst r17 |
109 00ca 01F0 breq .L14 |
110 .L13: |
111 00cc E091 0000 lds r30,_printf_P |
112 00d0 F091 0000 lds r31,(_printf_P)+1 |
113 00d4 4091 0000 lds r20,BattLowVoltageWarning |
114 00d8 842F mov r24,r20 |
115 00da 6AE0 ldi r22,lo8(10) |
116 00dc 0E94 0000 call __udivmodqi4 |
117 00e0 292F mov r18,r25 |
118 00e2 30E0 ldi r19,lo8(0) |
119 00e4 842F mov r24,r20 |
120 00e6 0E94 0000 call __udivmodqi4 |
121 00ea 90E0 ldi r25,lo8(0) |
122 00ec 3F93 push r19 |
123 00ee 2F93 push r18 |
124 00f0 9F93 push r25 |
125 00f2 8F93 push r24 |
126 00f4 80E0 ldi r24,lo8(__c.2514) |
127 00f6 90E0 ldi r25,hi8(__c.2514) |
128 00f8 9F93 push r25 |
129 00fa 8F93 push r24 |
130 00fc 80E0 ldi r24,lo8(gs(uart_putchar)) |
131 00fe 90E0 ldi r25,hi8(gs(uart_putchar)) |
132 0100 9F93 push r25 |
133 0102 8F93 push r24 |
134 0104 0995 icall |
135 0106 2DB7 in r18,__SP_L__ |
136 0108 3EB7 in r19,__SP_H__ |
137 010a 285F subi r18,lo8(-(8)) |
138 010c 3F4F sbci r19,hi8(-(8)) |
139 010e 2DBF out __SP_L__,r18 |
140 .L14: |
141 /* epilogue: frame size=0 */ |
142 0110 DF91 pop r29 |
143 0112 CF91 pop r28 |
144 0114 1F91 pop r17 |
145 0116 0895 ret |
146 /* epilogue end (size=4) */ |
147 /* function LipoDetection size 139 (132) */ |
149 .global CalMk3Mag |
151 CalMk3Mag: |
152 /* prologue: frame size=0 */ |
153 /* prologue end (size=0) */ |
154 0118 8091 0000 lds r24,EE_Parameter+1 |
155 011c E82F mov r30,r24 |
156 011e F0E0 ldi r31,lo8(0) |
157 0120 EE0F lsl r30 |
158 0122 FF1F rol r31 |
159 0124 E050 subi r30,lo8(-(PPM_in)) |
160 0126 F040 sbci r31,hi8(-(PPM_in)) |
161 0128 8081 ld r24,Z |
162 012a 9181 ldd r25,Z+1 |
163 012c 8D5E subi r24,lo8(-19) |
164 012e 9F4F sbci r25,hi8(-19) |
165 0130 04F0 brlt .L19 |
166 0132 1092 0000 sts stick.2490,__zero_reg__ |
167 .L19: |
168 0136 8081 ld r24,Z |
169 0138 9181 ldd r25,Z+1 |
170 013a 8A5B subi r24,lo8(-70) |
171 013c 9F4F sbci r25,hi8(-70) |
172 013e 04F4 brge .L21 |
173 0140 8091 0000 lds r24,stick.2490 |
174 0144 8823 tst r24 |
175 0146 01F4 brne .L21 |
176 0148 81E0 ldi r24,lo8(1) |
177 014a 8093 0000 sts stick.2490,r24 |
178 014e 8091 0000 lds r24,WinkelOut+6 |
179 0152 8F5F subi r24,lo8(-(1)) |
180 0154 8093 0000 sts WinkelOut+6,r24 |
181 0158 8530 cpi r24,lo8(5) |
182 015a 00F0 brlo .L24 |
183 015c 88EE ldi r24,lo8(1000) |
184 015e 93E0 ldi r25,hi8(1000) |
185 0160 9093 0000 sts (beeptime)+1,r25 |
186 0164 8093 0000 sts beeptime,r24 |
187 0168 00C0 rjmp .L21 |
188 .L24: |
189 016a 66E9 ldi r22,lo8(150) |
190 016c 70E0 ldi r23,hi8(150) |
191 016e 0E94 0000 call Piep |
192 .L21: |
193 0172 8091 0000 lds r24,WinkelOut+6 |
194 0176 90E0 ldi r25,lo8(0) |
195 0178 9093 0000 sts (DebugOut+40)+1,r25 |
196 017c 8093 0000 sts DebugOut+40,r24 |
197 /* epilogue: frame size=0 */ |
198 0180 0895 ret |
199 /* epilogue end (size=1) */ |
200 /* function CalMk3Mag size 55 (54) */ |
202 .global main |
204 main: |
205 /* prologue: frame size=0 */ |
206 0182 A0E0 ldi r26,lo8(0) |
207 0184 B0E0 ldi r27,hi8(0) |
208 0186 E0E0 ldi r30,pm_lo8(1f) |
209 0188 F0E0 ldi r31,pm_hi8(1f) |
210 018a 0C94 0000 jmp __prologue_saves__+4 |
211 1: |
212 /* prologue end (size=6) */ |
213 018e 14B8 out 36-0x20,__zero_reg__ |
214 0190 15B8 out 37-0x20,__zero_reg__ |
215 0192 189B sbis 35-0x20,0 |
216 0194 00C0 rjmp .L28 |
217 0196 199B sbis 35-0x20,1 |
218 0198 00C0 rjmp .L30 |
219 019a 8DE0 ldi r24,lo8(13) |
220 019c 00C0 rjmp .L164 |
221 .L30: |
222 019e 8BE0 ldi r24,lo8(11) |
223 01a0 00C0 rjmp .L164 |
224 .L28: |
225 01a2 199B sbis 35-0x20,1 |
226 01a4 00C0 rjmp .L33 |
227 01a6 84E1 ldi r24,lo8(20) |
228 01a8 00C0 rjmp .L164 |
229 .L33: |
230 01aa 8AE0 ldi r24,lo8(10) |
231 .L164: |
232 01ac 8093 0000 sts PlatinenVersion,r24 |
233 01b0 81E8 ldi r24,lo8(-127) |
234 01b2 87B9 out 39-0x20,r24 |
235 01b4 3E9A sbi 39-0x20,6 |
236 01b6 8FEF ldi r24,lo8(-1) |
237 01b8 88B9 out 40-0x20,r24 |
238 01ba 8BE1 ldi r24,lo8(27) |
239 01bc 84B9 out 36-0x20,r24 |
240 01be 81E0 ldi r24,lo8(1) |
241 01c0 85B9 out 37-0x20,r24 |
242 01c2 8EE3 ldi r24,lo8(62) |
243 01c4 8AB9 out 42-0x20,r24 |
244 01c6 87E4 ldi r24,lo8(71) |
245 01c8 8BB9 out 43-0x20,r24 |
246 01ca 469A sbi 40-0x20,6 |
247 01cc 84B7 in r24,84-0x20 |
248 01ce 877F andi r24,lo8(-9) |
249 01d0 84BF out 84-0x20,r24 |
250 01d2 8091 6000 lds r24,96 |
251 01d6 8861 ori r24,lo8(24) |
252 01d8 8093 6000 sts 96,r24 |
253 01dc 1092 6000 sts 96,__zero_reg__ |
254 01e0 84EC ldi r24,lo8(2500) |
255 01e2 99E0 ldi r25,hi8(2500) |
256 01e4 9093 0000 sts (beeptime)+1,r25 |
257 01e8 8093 0000 sts beeptime,r24 |
258 01ec 1092 0000 sts (StickGier)+1,__zero_reg__ |
259 01f0 1092 0000 sts StickGier,__zero_reg__ |
260 01f4 1092 0000 sts (PPM_in+4)+1,__zero_reg__ |
261 01f8 1092 0000 sts PPM_in+4,__zero_reg__ |
262 01fc 1092 0000 sts (StickRoll)+1,__zero_reg__ |
263 0200 1092 0000 sts StickRoll,__zero_reg__ |
264 0204 1092 0000 sts (StickNick)+1,__zero_reg__ |
265 0208 1092 0000 sts StickNick,__zero_reg__ |
266 020c 2091 0000 lds r18,PlatinenVersion |
267 0210 2431 cpi r18,lo8(20) |
268 0212 00F0 brlo .L35 |
269 0214 84EC ldi r24,lo8(1220) |
270 0216 94E0 ldi r25,hi8(1220) |
271 0218 A0E0 ldi r26,hlo8(1220) |
272 021a B0E0 ldi r27,hhi8(1220) |
273 021c 00C0 rjmp .L165 |
274 .L35: |
275 021e 8BE0 ldi r24,lo8(1291) |
276 0220 95E0 ldi r25,hi8(1291) |
277 0222 A0E0 ldi r26,hlo8(1291) |
278 0224 B0E0 ldi r27,hhi8(1291) |
279 .L165: |
280 0226 8093 0000 sts GIER_GRAD_FAKTOR,r24 |
281 022a 9093 0000 sts (GIER_GRAD_FAKTOR)+1,r25 |
282 022e A093 0000 sts (GIER_GRAD_FAKTOR)+2,r26 |
283 0232 B093 0000 sts (GIER_GRAD_FAKTOR)+3,r27 |
284 0236 2A30 cpi r18,lo8(10) |
285 0238 01F0 breq .L38 |
286 023a 2431 cpi r18,lo8(20) |
287 023c 00F0 brlo .L40 |
288 .L38: |
289 023e 2898 cbi 37-0x20,0 |
290 0240 00C0 rjmp .L41 |
291 .L40: |
292 0242 289A sbi 37-0x20,0 |
293 .L41: |
294 0244 0E94 0000 call Timer_Init |
295 0248 0E94 0000 call TIMER2_Init |
296 024c 0E94 0000 call UART_Init |
297 0250 0E94 0000 call rc_sum_init |
298 0254 0E94 0000 call ADC_Init |
299 0258 81E0 ldi r24,lo8(1) |
300 025a 0E94 0000 call I2C_Init |
301 025e 0E94 0000 call SPI_MasterInit |
302 0262 0E94 0000 call Capacity_Init |
303 0266 0E94 0000 call LIBFC_Init |
304 026a 8091 0000 lds r24,PlatinenVersion |
305 026e 8C30 cpi r24,lo8(12) |
306 0270 00F4 brsh .L42 |
307 0272 299A sbi 37-0x20,1 |
308 0274 00C0 rjmp .L44 |
309 .L42: |
310 0276 2998 cbi 37-0x20,1 |
311 .L44: |
312 /* #APP */ |
313 0278 7894 sei |
314 /* #NOAPP */ |
315 027a 0E94 0000 call ParamSet_Init |
316 027e E091 0000 lds r30,_printf_P |
317 0282 F091 0000 lds r31,(_printf_P)+1 |
318 0286 80E0 ldi r24,lo8(__c.2542) |
319 0288 90E0 ldi r25,hi8(__c.2542) |
320 028a 9F93 push r25 |
321 028c 8F93 push r24 |
322 028e 80E0 ldi r24,lo8(gs(uart_putchar)) |
323 0290 90E0 ldi r25,hi8(gs(uart_putchar)) |
324 0292 9F93 push r25 |
325 0294 8F93 push r24 |
326 0296 0995 icall |
327 0298 8091 0000 lds r24,BLFlags |
328 029c 8260 ori r24,lo8(2) |
329 029e 8093 0000 sts BLFlags,r24 |
330 02a2 1092 0000 sts motor_read,__zero_reg__ |
331 02a6 0E94 0000 call SendMotorData |
332 02aa 84EF ldi r24,lo8(500) |
333 02ac 91E0 ldi r25,hi8(500) |
334 02ae 0E94 0000 call SetDelay |
335 02b2 EC01 movw r28,r24 |
336 02b4 0F90 pop __tmp_reg__ |
337 02b6 0F90 pop __tmp_reg__ |
338 02b8 0F90 pop __tmp_reg__ |
339 02ba 0F90 pop __tmp_reg__ |
340 .L45: |
341 02bc 8091 0000 lds r24,BLFlags |
342 02c0 80FD sbrc r24,0 |
343 02c2 00C0 rjmp .L46 |
344 02c4 CE01 movw r24,r28 |
345 02c6 0E94 0000 call CheckDelay |
346 02ca 8823 tst r24 |
347 02cc 01F0 breq .L45 |
348 .L46: |
349 02ce E091 0000 lds r30,_printf_P |
350 02d2 F091 0000 lds r31,(_printf_P)+1 |
351 02d6 80E0 ldi r24,lo8(__c.2547) |
352 02d8 90E0 ldi r25,hi8(__c.2547) |
353 02da 9F93 push r25 |
354 02dc 8F93 push r24 |
355 02de 00E0 ldi r16,lo8(gs(uart_putchar)) |
356 02e0 10E0 ldi r17,hi8(gs(uart_putchar)) |
357 02e2 1F93 push r17 |
358 02e4 0F93 push r16 |
359 02e6 0995 icall |
360 02e8 80EA ldi r24,lo8(4000) |
361 02ea 9FE0 ldi r25,hi8(4000) |
362 02ec 0E94 0000 call SetDelay |
363 02f0 EC01 movw r28,r24 |
364 02f2 F0E0 ldi r31,lo8(Motor+3) |
365 02f4 AF2E mov r10,r31 |
366 02f6 F0E0 ldi r31,hi8(Motor+3) |
367 02f8 BF2E mov r11,r31 |
368 02fa E0E0 ldi r30,lo8(Mixer+13) |
369 02fc 6E2E mov r6,r30 |
370 02fe E0E0 ldi r30,hi8(Mixer+13) |
371 0300 7E2E mov r7,r30 |
372 0302 6501 movw r12,r10 |
373 0304 4301 movw r8,r6 |
374 0306 71E0 ldi r23,lo8(1) |
375 0308 E72E mov r14,r23 |
376 030a F12C mov r15,__zero_reg__ |
377 030c 0F90 pop __tmp_reg__ |
378 030e 0F90 pop __tmp_reg__ |
379 0310 0F90 pop __tmp_reg__ |
380 0312 0F90 pop __tmp_reg__ |
381 0314 60E0 ldi r22,lo8(__c.2558) |
382 0316 462E mov r4,r22 |
383 0318 60E0 ldi r22,hi8(__c.2558) |
384 031a 562E mov r5,r22 |
385 .L48: |
386 031c 0E94 0000 call SendMotorData |
387 .L49: |
388 0320 8091 0000 lds r24,BLFlags |
389 0324 80FD sbrc r24,0 |
390 0326 00C0 rjmp .L50 |
391 0328 CE01 movw r24,r28 |
392 032a 0E94 0000 call CheckDelay |
393 032e 8823 tst r24 |
394 0330 01F0 breq .L49 |
395 .L50: |
396 0332 F401 movw r30,r8 |
397 0334 8081 ld r24,Z |
398 0336 1816 cp __zero_reg__,r24 |
399 0338 04F0 brlt .L169 |
400 033a 00C0 rjmp .L53 |
401 .L54: |
402 033c 0E94 0000 call SendMotorData |
403 .L55: |
404 0340 8091 0000 lds r24,BLFlags |
405 0344 80FD sbrc r24,0 |
406 0346 00C0 rjmp .L169 |
407 0348 CE01 movw r24,r28 |
408 034a 0E94 0000 call CheckDelay |
409 034e 8823 tst r24 |
410 0350 01F0 breq .L55 |
411 .L169: |
412 0352 CE01 movw r24,r28 |
413 0354 0E94 0000 call CheckDelay |
414 0358 8823 tst r24 |
415 035a 01F4 brne .L53 |
416 035c F601 movw r30,r12 |
417 035e 8081 ld r24,Z |
418 0360 87FF sbrs r24,7 |
419 0362 00C0 rjmp .L54 |
420 .L53: |
421 0364 F601 movw r30,r12 |
422 0366 8081 ld r24,Z |
423 0368 87FF sbrs r24,7 |
424 036a 00C0 rjmp .L58 |
425 036c E091 0000 lds r30,_printf_P |
426 0370 F091 0000 lds r31,(_printf_P)+1 |
427 0374 FF92 push r15 |
428 0376 EF92 push r14 |
429 0378 5F92 push r5 |
430 037a 4F92 push r4 |
431 037c 1F93 push r17 |
432 037e 0F93 push r16 |
433 0380 0995 icall |
434 0382 8091 0000 lds r24,FoundMotors |
435 0386 8F5F subi r24,lo8(-(1)) |
436 0388 8093 0000 sts FoundMotors,r24 |
437 038c 2DB7 in r18,__SP_L__ |
438 038e 3EB7 in r19,__SP_H__ |
439 0390 2A5F subi r18,lo8(-(6)) |
440 0392 3F4F sbci r19,hi8(-(6)) |
441 0394 2DBF out __SP_L__,r18 |
442 .L58: |
443 0396 0894 sec |
444 0398 E11C adc r14,__zero_reg__ |
445 039a F11C adc r15,__zero_reg__ |
446 039c 88E0 ldi r24,lo8(8) |
447 039e 90E0 ldi r25,hi8(8) |
448 03a0 C80E add r12,r24 |
449 03a2 D91E adc r13,r25 |
450 03a4 E4E0 ldi r30,lo8(4) |
451 03a6 F0E0 ldi r31,hi8(4) |
452 03a8 8E0E add r8,r30 |
453 03aa 9F1E adc r9,r31 |
454 03ac FDE0 ldi r31,lo8(13) |
455 03ae EF16 cp r14,r31 |
456 03b0 F104 cpc r15,__zero_reg__ |
457 03b2 01F0 breq .+2 |
458 03b4 00C0 rjmp .L48 |
459 03b6 C1E0 ldi r28,lo8(1) |
460 03b8 D0E0 ldi r29,hi8(1) |
461 03ba 50E0 ldi r21,lo8(__c.2563) |
462 03bc E52E mov r14,r21 |
463 03be 50E0 ldi r21,hi8(__c.2563) |
464 03c0 F52E mov r15,r21 |
465 03c2 00E0 ldi r16,lo8(gs(uart_putchar)) |
466 03c4 10E0 ldi r17,hi8(gs(uart_putchar)) |
467 .L61: |
468 03c6 F501 movw r30,r10 |
469 03c8 8081 ld r24,Z |
470 03ca 87FD sbrc r24,7 |
471 03cc 00C0 rjmp .L62 |
472 03ce F301 movw r30,r6 |
473 03d0 8081 ld r24,Z |
474 03d2 1816 cp __zero_reg__,r24 |
475 03d4 04F4 brge .L62 |
476 03d6 E091 0000 lds r30,_printf_P |
477 03da F091 0000 lds r31,(_printf_P)+1 |
478 03de DF93 push r29 |
479 03e0 CF93 push r28 |
480 03e2 FF92 push r15 |
481 03e4 EF92 push r14 |
482 03e6 1F93 push r17 |
483 03e8 0F93 push r16 |
484 03ea 0995 icall |
485 03ec 82E0 ldi r24,lo8(2) |
486 03ee 8093 0000 sts ServoActive,r24 |
487 03f2 2DB7 in r18,__SP_L__ |
488 03f4 3EB7 in r19,__SP_H__ |
489 03f6 2A5F subi r18,lo8(-(6)) |
490 03f8 3F4F sbci r19,hi8(-(6)) |
491 03fa 2DBF out __SP_L__,r18 |
492 .L62: |
493 03fc F501 movw r30,r10 |
494 03fe 8081 ld r24,Z |
495 0400 8078 andi r24,lo8(-128) |
496 0402 8083 st Z,r24 |
497 0404 2196 adiw r28,1 |
498 0406 28E0 ldi r18,lo8(8) |
499 0408 30E0 ldi r19,hi8(8) |
500 040a A20E add r10,r18 |
501 040c B31E adc r11,r19 |
502 040e 84E0 ldi r24,lo8(4) |
503 0410 90E0 ldi r25,hi8(4) |
504 0412 680E add r6,r24 |
505 0414 791E adc r7,r25 |
506 0416 CD30 cpi r28,13 |
507 0418 D105 cpc r29,__zero_reg__ |
508 041a 01F4 brne .L61 |
509 041c E091 0000 lds r30,_printf_P |
510 0420 F091 0000 lds r31,(_printf_P)+1 |
511 0424 80E0 ldi r24,lo8(__c.2568) |
512 0426 90E0 ldi r25,hi8(__c.2568) |
513 0428 9F93 push r25 |
514 042a 8F93 push r24 |
515 042c C0E0 ldi r28,lo8(gs(uart_putchar)) |
516 042e D0E0 ldi r29,hi8(gs(uart_putchar)) |
517 0430 DF93 push r29 |
518 0432 CF93 push r28 |
519 0434 0995 icall |
520 0436 0F90 pop __tmp_reg__ |
521 0438 0F90 pop __tmp_reg__ |
522 043a 0F90 pop __tmp_reg__ |
523 043c 0F90 pop __tmp_reg__ |
524 043e 9091 0000 lds r25,RequiredMotors |
525 0442 8091 0000 lds r24,FoundMotors |
526 0446 9817 cp r25,r24 |
527 0448 00F4 brsh .L66 |
528 044a 8091 0000 lds r24,VersionInfo+6 |
529 044e 8061 ori r24,lo8(16) |
530 0450 8093 0000 sts VersionInfo+6,r24 |
531 .L66: |
532 0454 E091 0000 lds r30,_printf_P |
533 0458 F091 0000 lds r31,(_printf_P)+1 |
534 045c 80E0 ldi r24,lo8(__c.2570) |
535 045e 90E0 ldi r25,hi8(__c.2570) |
536 0460 9F93 push r25 |
537 0462 8F93 push r24 |
538 0464 DF93 push r29 |
539 0466 CF93 push r28 |
540 0468 0995 icall |
541 046a 88EE ldi r24,lo8(1000) |
542 046c 93E0 ldi r25,hi8(1000) |
543 046e 0E94 0000 call SetDelay |
544 0472 EC01 movw r28,r24 |
545 0474 0F90 pop __tmp_reg__ |
546 0476 0F90 pop __tmp_reg__ |
547 0478 0F90 pop __tmp_reg__ |
548 047a 0F90 pop __tmp_reg__ |
549 .L68: |
550 047c CE01 movw r24,r28 |
551 047e 0E94 0000 call CheckDelay |
552 0482 8823 tst r24 |
553 0484 01F0 breq .L68 |
554 0486 E091 0000 lds r30,_printf_P |
555 048a F091 0000 lds r31,(_printf_P)+1 |
556 048e 80E0 ldi r24,lo8(__c.2575) |
557 0490 90E0 ldi r25,hi8(__c.2575) |
558 0492 9F93 push r25 |
559 0494 8F93 push r24 |
560 0496 80E0 ldi r24,lo8(gs(uart_putchar)) |
561 0498 90E0 ldi r25,hi8(gs(uart_putchar)) |
562 049a 9F93 push r25 |
563 049c 8F93 push r24 |
564 049e 0995 icall |
565 04a0 80E0 ldi r24,lo8(0) |
566 04a2 0E94 0000 call SetNeutral |
567 04a6 8091 0000 lds r24,PlatinenVersion |
568 04aa 0F90 pop __tmp_reg__ |
569 04ac 0F90 pop __tmp_reg__ |
570 04ae 0F90 pop __tmp_reg__ |
571 04b0 0F90 pop __tmp_reg__ |
572 04b2 8A30 cpi r24,lo8(10) |
573 04b4 01F0 breq .L70 |
574 04b6 8431 cpi r24,lo8(20) |
575 04b8 00F0 brlo .L72 |
576 .L70: |
577 04ba 2898 cbi 37-0x20,0 |
578 04bc 00C0 rjmp .L73 |
579 .L72: |
580 04be 289A sbi 37-0x20,0 |
581 .L73: |
582 04c0 80ED ldi r24,lo8(2000) |
583 04c2 97E0 ldi r25,hi8(2000) |
584 04c4 9093 0000 sts (beeptime)+1,r25 |
585 04c8 8093 0000 sts beeptime,r24 |
586 04cc 85E5 ldi r24,lo8(85) |
587 04ce 8093 0000 sts ExternControl,r24 |
588 04d2 8EE0 ldi r24,lo8(14) |
589 04d4 90E0 ldi r25,hi8(14) |
590 04d6 0E94 0000 call GetParamByte |
591 04da 082F mov r16,r24 |
592 04dc 8FE0 ldi r24,lo8(15) |
593 04de 90E0 ldi r25,hi8(15) |
594 04e0 0E94 0000 call GetParamByte |
595 04e4 10E0 ldi r17,lo8(0) |
596 04e6 102F mov r17,r16 |
597 04e8 0027 clr r16 |
598 04ea 080F add r16,r24 |
599 04ec 111D adc r17,__zero_reg__ |
600 04ee 1093 0000 sts (FlugMinuten)+1,r17 |
601 04f2 0093 0000 sts FlugMinuten,r16 |
602 04f6 8AE0 ldi r24,lo8(10) |
603 04f8 90E0 ldi r25,hi8(10) |
604 04fa 0E94 0000 call GetParamByte |
605 04fe 082F mov r16,r24 |
606 0500 8BE0 ldi r24,lo8(11) |
607 0502 90E0 ldi r25,hi8(11) |
608 0504 0E94 0000 call GetParamByte |
609 0508 10E0 ldi r17,lo8(0) |
610 050a 102F mov r17,r16 |
611 050c 0027 clr r16 |
612 050e 080F add r16,r24 |
613 0510 111D adc r17,__zero_reg__ |
614 0512 1093 0000 sts (FlugMinutenGesamt)+1,r17 |
615 0516 0093 0000 sts FlugMinutenGesamt,r16 |
616 051a 0F5F subi r16,lo8(-1) |
617 051c 1F4F sbci r17,hi8(-1) |
618 051e 01F0 breq .L74 |
619 0520 8091 0000 lds r24,FlugMinuten |
620 0524 9091 0000 lds r25,(FlugMinuten)+1 |
621 0528 8F5F subi r24,lo8(-1) |
622 052a 9F4F sbci r25,hi8(-1) |
623 052c 01F4 brne .L76 |
624 .L74: |
625 052e 1092 0000 sts (FlugMinuten)+1,__zero_reg__ |
626 0532 1092 0000 sts FlugMinuten,__zero_reg__ |
627 0536 1092 0000 sts (FlugMinutenGesamt)+1,__zero_reg__ |
628 053a 1092 0000 sts FlugMinutenGesamt,__zero_reg__ |
629 .L76: |
630 053e E091 0000 lds r30,_printf_P |
631 0542 F091 0000 lds r31,(_printf_P)+1 |
632 0546 8091 0000 lds r24,FlugMinutenGesamt |
633 054a 9091 0000 lds r25,(FlugMinutenGesamt)+1 |
634 054e 2091 0000 lds r18,FlugMinuten |
635 0552 3091 0000 lds r19,(FlugMinuten)+1 |
636 0556 9F93 push r25 |
637 0558 8F93 push r24 |
638 055a 3F93 push r19 |
639 055c 2F93 push r18 |
640 055e 80E0 ldi r24,lo8(__c.2577) |
641 0560 90E0 ldi r25,hi8(__c.2577) |
642 0562 9F93 push r25 |
643 0564 8F93 push r24 |
644 0566 C0E0 ldi r28,lo8(gs(uart_putchar)) |
645 0568 D0E0 ldi r29,hi8(gs(uart_putchar)) |
646 056a DF93 push r29 |
647 056c CF93 push r28 |
648 056e 0995 icall |
649 0570 E091 0000 lds r30,_printf_P |
650 0574 F091 0000 lds r31,(_printf_P)+1 |
651 0578 80E0 ldi r24,lo8(__c.2579) |
652 057a 90E0 ldi r25,hi8(__c.2579) |
653 057c 9F93 push r25 |
654 057e 8F93 push r24 |
655 0580 DF93 push r29 |
656 0582 CF93 push r28 |
657 0584 0995 icall |
658 0586 8091 0000 lds r24,EE_Parameter+13 |
659 058a 2DB7 in r18,__SP_L__ |
660 058c 3EB7 in r19,__SP_H__ |
661 058e 245F subi r18,lo8(-(12)) |
662 0590 3F4F sbci r19,hi8(-(12)) |
663 0592 2DBF out __SP_L__,r18 |
664 0594 E091 0000 lds r30,_printf_P |
665 0598 F091 0000 lds r31,(_printf_P)+1 |
666 059c 82FF sbrs r24,2 |
667 059e 00C0 rjmp .L77 |
668 05a0 80E0 ldi r24,lo8(__c.2581) |
669 05a2 90E0 ldi r25,hi8(__c.2581) |
670 05a4 00C0 rjmp .L166 |
671 .L77: |
672 05a6 80E0 ldi r24,lo8(__c.2583) |
673 05a8 90E0 ldi r25,hi8(__c.2583) |
674 .L166: |
675 05aa 9F93 push r25 |
676 05ac 8F93 push r24 |
677 05ae DF93 push r29 |
678 05b0 CF93 push r28 |
679 05b2 0995 icall |
680 05b4 0F90 pop __tmp_reg__ |
681 05b6 0F90 pop __tmp_reg__ |
682 05b8 0F90 pop __tmp_reg__ |
683 05ba 0F90 pop __tmp_reg__ |
684 05bc 0E94 0000 call LcdClear |
685 05c0 88E8 ldi r24,lo8(5000) |
686 05c2 93E1 ldi r25,hi8(5000) |
687 05c4 9093 0000 sts (I2CTimeout)+1,r25 |
688 05c8 8093 0000 sts I2CTimeout,r24 |
689 05cc 81E0 ldi r24,lo8(1) |
690 05ce 8093 0000 sts WinkelOut+7,r24 |
691 05d2 0E94 0000 call LipoDetection |
692 05d6 8091 0000 lds r24,EE_Parameter+39 |
693 05da 0E94 0000 call LIBFC_ReceiverInit |
694 05de E091 0000 lds r30,_printf_P |
695 05e2 F091 0000 lds r31,(_printf_P)+1 |
696 05e6 80E0 ldi r24,lo8(__c.2585) |
697 05e8 90E0 ldi r25,hi8(__c.2585) |
698 05ea 9F93 push r25 |
699 05ec 8F93 push r24 |
700 05ee 80E0 ldi r24,lo8(gs(uart_putchar)) |
701 05f0 90E0 ldi r25,hi8(gs(uart_putchar)) |
702 05f2 9F93 push r25 |
703 05f4 8F93 push r24 |
704 05f6 0995 icall |
705 05f8 80ED ldi r24,lo8(2000) |
706 05fa 97E0 ldi r25,hi8(2000) |
707 05fc 0E94 0000 call SetDelay |
708 0600 EC01 movw r28,r24 |
709 0602 8AEF ldi r24,lo8(250) |
710 0604 90E0 ldi r25,hi8(250) |
711 0606 0E94 0000 call SetDelay |
712 060a 7C01 movw r14,r24 |
713 060c 83E0 ldi r24,lo8(3) |
714 060e 8093 0000 sts DebugOut,r24 |
715 0612 00E0 ldi r16,lo8(0) |
716 0614 10E0 ldi r17,hi8(0) |
717 0616 0F90 pop __tmp_reg__ |
718 0618 0F90 pop __tmp_reg__ |
719 061a 0F90 pop __tmp_reg__ |
720 061c 0F90 pop __tmp_reg__ |
721 .L170: |
722 061e 8091 0000 lds r24,JetiUpdateModeActive |
723 0622 8111 cpse r24,__zero_reg__ |
724 .L161: |
725 0624 00C0 rjmp .L161 |
726 .L81: |
727 0626 C701 movw r24,r14 |
728 0628 0E94 0000 call CheckDelay |
729 062c 8823 tst r24 |
730 062e 01F0 breq .L83 |
731 0630 84E6 ldi r24,lo8(100) |
732 0632 90E0 ldi r25,hi8(100) |
733 0634 0E94 0000 call SetDelay |
734 0638 7C01 movw r14,r24 |
735 063a 0E94 0000 call LIBFC_Polling |
736 .L83: |
737 063e 8091 0000 lds r24,UpdateMotor |
738 0642 8823 tst r24 |
739 0644 01F4 brne .+2 |
740 0646 00C0 rjmp .L85 |
741 0648 8091 0000 lds r24,AdReady |
742 064c 8823 tst r24 |
743 064e 01F4 brne .+2 |
744 0650 00C0 rjmp .L85 |
745 0652 1092 0000 sts UpdateMotor,__zero_reg__ |
746 0656 8091 0000 lds r24,WinkelOut+6 |
747 065a 8823 tst r24 |
748 065c 01F0 breq .L88 |
749 065e 0E94 0000 call CalMk3Mag |
750 0662 00C0 rjmp .L90 |
751 .L88: |
752 0664 0E94 0000 call MotorRegler |
753 .L90: |
754 0668 0E94 0000 call SendMotorData |
755 066c 2091 0000 lds r18,PlatinenVersion |
756 0670 2A30 cpi r18,lo8(10) |
757 0672 01F0 breq .L91 |
758 0674 2431 cpi r18,lo8(20) |
759 0676 00F0 brlo .L93 |
760 .L91: |
761 0678 2898 cbi 37-0x20,0 |
762 067a 00C0 rjmp .L94 |
763 .L93: |
764 067c 289A sbi 37-0x20,0 |
765 .L94: |
766 067e 8091 0000 lds r24,SenderOkay |
767 0682 9091 0000 lds r25,VersionInfo+6 |
768 0686 8823 tst r24 |
769 0688 01F0 breq .L95 |
770 068a 8091 0000 lds r24,SenderOkay |
771 068e 8150 subi r24,lo8(-(-1)) |
772 0690 8093 0000 sts SenderOkay,r24 |
773 0694 977F andi r25,lo8(-9) |
774 0696 00C0 rjmp .L167 |
775 .L95: |
776 0698 8091 6F00 lds r24,111 |
777 069c 8062 ori r24,lo8(32) |
778 069e 8093 6F00 sts 111,r24 |
779 06a2 1092 0000 sts (PPM_in)+1,__zero_reg__ |
780 06a6 1092 0000 sts PPM_in,__zero_reg__ |
781 06aa 9860 ori r25,lo8(8) |
782 .L167: |
783 06ac 9093 0000 sts VersionInfo+6,r25 |
784 06b0 8091 0000 lds r24,I2CTimeout |
785 06b4 9091 0000 lds r25,(I2CTimeout)+1 |
786 06b8 0197 sbiw r24,1 |
787 06ba 9093 0000 sts (I2CTimeout)+1,r25 |
788 06be 8093 0000 sts I2CTimeout,r24 |
789 06c2 8091 0000 lds r24,I2CTimeout |
790 06c6 9091 0000 lds r25,(I2CTimeout)+1 |
791 06ca 892B or r24,r25 |
792 06cc 01F0 breq .L98 |
793 06ce 8091 0000 lds r24,MissingMotor |
794 06d2 8823 tst r24 |
795 06d4 01F0 breq .L100 |
796 .L98: |
797 06d6 8091 0000 lds r24,I2CTimeout |
798 06da 9091 0000 lds r25,(I2CTimeout)+1 |
799 06de 892B or r24,r25 |
800 06e0 01F4 brne .L101 |
801 06e2 0E94 0000 call I2C_Reset |
802 06e6 85E0 ldi r24,lo8(5) |
803 06e8 90E0 ldi r25,hi8(5) |
804 06ea 9093 0000 sts (I2CTimeout)+1,r25 |
805 06ee 8093 0000 sts I2CTimeout,r24 |
806 06f2 8091 0000 lds r24,DebugOut+58 |
807 06f6 9091 0000 lds r25,(DebugOut+58)+1 |
808 06fa 0196 adiw r24,1 |
809 06fc 9093 0000 sts (DebugOut+58)+1,r25 |
810 0700 8093 0000 sts DebugOut+58,r24 |
811 0704 8091 0000 lds r24,VersionInfo+6 |
812 0708 8160 ori r24,lo8(1) |
813 070a 8093 0000 sts VersionInfo+6,r24 |
814 070e 8091 0000 lds r24,DebugOut+1 |
815 0712 8260 ori r24,lo8(2) |
816 0714 8093 0000 sts DebugOut+1,r24 |
817 .L101: |
818 0718 8091 0000 lds r24,BeepMuster |
819 071c 9091 0000 lds r25,(BeepMuster)+1 |
820 0720 8F5F subi r24,lo8(-1) |
821 0722 9F4F sbci r25,hi8(-1) |
822 0724 01F4 brne .L103 |
823 0726 8091 0000 lds r24,MotorenEin |
824 072a 8823 tst r24 |
825 072c 01F0 breq .L103 |
826 072e 80E1 ldi r24,lo8(10000) |
827 0730 97E2 ldi r25,hi8(10000) |
828 0732 9093 0000 sts (beeptime)+1,r25 |
829 0736 8093 0000 sts beeptime,r24 |
830 073a 80E8 ldi r24,lo8(128) |
831 073c 90E0 ldi r25,hi8(128) |
832 073e 9093 0000 sts (BeepMuster)+1,r25 |
833 0742 8093 0000 sts BeepMuster,r24 |
834 0746 00C0 rjmp .L103 |
835 .L100: |
836 0748 2A30 cpi r18,lo8(10) |
837 074a 01F0 breq .L106 |
838 074c 2431 cpi r18,lo8(20) |
839 074e 00F0 brlo .L108 |
840 .L106: |
841 0750 2898 cbi 37-0x20,0 |
842 0752 00C0 rjmp .L109 |
843 .L108: |
844 0754 289A sbi 37-0x20,0 |
845 .L109: |
846 0756 8091 0000 lds r24,beeptime |
847 075a 9091 0000 lds r25,(beeptime)+1 |
848 075e 892B or r24,r25 |
849 0760 01F4 brne .L103 |
850 0762 8091 0000 lds r24,VersionInfo+6 |
851 0766 8E7F andi r24,lo8(-2) |
852 0768 8093 0000 sts VersionInfo+6,r24 |
853 .L103: |
854 076c 8091 0000 lds r24,UpdateMotor |
855 0770 8823 tst r24 |
856 0772 01F0 breq .+2 |
857 0774 00C0 rjmp .L85 |
858 0776 8091 0000 lds r24,CalculateServoSignals |
859 077a 8823 tst r24 |
860 077c 01F0 breq .L112 |
861 077e 0E94 0000 call CalculateServo |
862 .L112: |
863 0782 0E94 0000 call DatenUebertragung |
864 0786 0E94 0000 call BearbeiteRxDaten |
865 078a CE01 movw r24,r28 |
866 078c 0E94 0000 call CheckDelay |
867 0790 8823 tst r24 |
868 0792 01F4 brne .+2 |
869 0794 00C0 rjmp .L114 |
870 0796 8091 0000 lds r24,MissingMotor |
871 079a 9091 0000 lds r25,VersionInfo+6 |
872 079e 8823 tst r24 |
873 07a0 01F0 breq .L116 |
874 07a2 9260 ori r25,lo8(2) |
875 07a4 9093 0000 sts VersionInfo+6,r25 |
876 07a8 8091 0000 lds r24,DebugOut+1 |
877 07ac 8260 ori r24,lo8(2) |
878 07ae 00C0 rjmp .L168 |
879 .L116: |
880 07b0 9D7F andi r25,lo8(-3) |
881 07b2 9093 0000 sts VersionInfo+6,r25 |
882 07b6 8091 0000 lds r24,I2CTimeout |
883 07ba 9091 0000 lds r25,(I2CTimeout)+1 |
884 07be 0797 sbiw r24,7 |
885 07c0 00F0 brlo .L118 |
886 07c2 8091 0000 lds r24,DebugOut+1 |
887 07c6 8D7F andi r24,lo8(-3) |
888 .L168: |
889 07c8 8093 0000 sts DebugOut+1,r24 |
890 .L118: |
891 07cc 8091 0000 lds r24,I2CTimeout |
892 07d0 9091 0000 lds r25,(I2CTimeout)+1 |
893 07d4 0797 sbiw r24,7 |
894 07d6 00F0 brlo .L120 |
895 07d8 8091 0000 lds r24,VersionInfo+6 |
896 07dc 8E7F andi r24,lo8(-2) |
897 07de 8093 0000 sts VersionInfo+6,r24 |
898 .L120: |
899 07e2 8091 0000 lds r24,PcZugriff |
900 07e6 8823 tst r24 |
901 07e8 01F0 breq .L122 |
902 07ea 8150 subi r24,lo8(-(-1)) |
903 07ec 8093 0000 sts PcZugriff,r24 |
904 07f0 00C0 rjmp .L124 |
905 .L122: |
906 07f2 1092 0000 sts ExternControl+10,__zero_reg__ |
907 07f6 1092 0000 sts (ExternStickNick)+1,__zero_reg__ |
908 07fa 1092 0000 sts ExternStickNick,__zero_reg__ |
909 07fe 1092 0000 sts (ExternStickRoll)+1,__zero_reg__ |
910 0802 1092 0000 sts ExternStickRoll,__zero_reg__ |
911 0806 1092 0000 sts (ExternStickGier)+1,__zero_reg__ |
912 080a 1092 0000 sts ExternStickGier,__zero_reg__ |
913 080e 8091 0000 lds r24,BeepMuster |
914 0812 9091 0000 lds r25,(BeepMuster)+1 |
915 0816 8F5F subi r24,lo8(-1) |
916 0818 9F4F sbci r25,hi8(-1) |
917 081a 01F4 brne .L124 |
918 081c 8091 0000 lds r24,SenderOkay |
919 0820 8823 tst r24 |
920 0822 01F4 brne .L124 |
921 0824 88E9 ldi r24,lo8(15000) |
922 0826 9AE3 ldi r25,hi8(15000) |
923 0828 9093 0000 sts (beeptime)+1,r25 |
924 082c 8093 0000 sts beeptime,r24 |
925 0830 80E0 ldi r24,lo8(3072) |
926 0832 9CE0 ldi r25,hi8(3072) |
927 0834 9093 0000 sts (BeepMuster)+1,r25 |
928 0838 8093 0000 sts BeepMuster,r24 |
929 .L124: |
930 083c 8091 0000 lds r24,NaviDataOkay |
931 0840 893C cpi r24,lo8(-55) |
932 0842 00F0 brlo .L127 |
933 0844 8150 subi r24,lo8(-(-1)) |
934 0846 8093 0000 sts NaviDataOkay,r24 |
935 084a 8091 0000 lds r24,VersionInfo+6 |
936 084e 8B7F andi r24,lo8(-5) |
937 0850 8093 0000 sts VersionInfo+6,r24 |
938 0854 00C0 rjmp .L129 |
939 .L127: |
940 0856 8091 0000 lds r24,NC_Version+3 |
941 085a 8823 tst r24 |
942 085c 01F0 breq .L130 |
943 085e 8091 0000 lds r24,VersionInfo+6 |
944 0862 8460 ori r24,lo8(4) |
945 0864 8093 0000 sts VersionInfo+6,r24 |
946 0868 8091 0000 lds r24,BeepMuster |
947 086c 9091 0000 lds r25,(BeepMuster)+1 |
948 0870 8F5F subi r24,lo8(-1) |
949 0872 9F4F sbci r25,hi8(-1) |
950 0874 01F4 brne .L130 |
951 0876 8091 0000 lds r24,MotorenEin |
952 087a 8823 tst r24 |
953 087c 01F0 breq .L130 |
954 087e 88E9 ldi r24,lo8(15000) |
955 0880 9AE3 ldi r25,hi8(15000) |
956 0882 9093 0000 sts (beeptime)+1,r25 |
957 0886 8093 0000 sts beeptime,r24 |
958 088a 80E0 ldi r24,lo8(-22528) |
959 088c 98EA ldi r25,hi8(-22528) |
960 088e 9093 0000 sts (BeepMuster)+1,r25 |
961 0892 8093 0000 sts BeepMuster,r24 |
962 .L130: |
963 0896 1092 0000 sts (GPS_Nick)+1,__zero_reg__ |
964 089a 1092 0000 sts GPS_Nick,__zero_reg__ |
965 089e 1092 0000 sts (GPS_Roll)+1,__zero_reg__ |
966 08a2 1092 0000 sts GPS_Roll,__zero_reg__ |
967 08a6 8FEF ldi r24,lo8(-1) |
968 08a8 9FEF ldi r25,hi8(-1) |
969 08aa 9093 0000 sts (FromNaviCtrl+7)+1,r25 |
970 08ae 8093 0000 sts FromNaviCtrl+7,r24 |
971 08b2 1092 0000 sts NaviDataOkay,__zero_reg__ |
972 .L129: |
973 08b6 2091 0000 lds r18,UBat |
974 08ba 3091 0000 lds r19,(UBat)+1 |
975 08be 8091 0000 lds r24,BattLowVoltageWarning |
976 08c2 90E0 ldi r25,lo8(0) |
977 08c4 2817 cp r18,r24 |
978 08c6 3907 cpc r19,r25 |
979 08c8 04F4 brge .L134 |
980 08ca 8091 0000 lds r24,FC_StatusFlags |
981 08ce 8062 ori r24,lo8(32) |
982 08d0 8093 0000 sts FC_StatusFlags,r24 |
983 08d4 8091 0000 lds r24,BeepMuster |
984 08d8 9091 0000 lds r25,(BeepMuster)+1 |
985 08dc 8F5F subi r24,lo8(-1) |
986 08de 9F4F sbci r25,hi8(-1) |
987 08e0 01F4 brne .L136 |
988 08e2 80E7 ldi r24,lo8(6000) |
989 08e4 97E1 ldi r25,hi8(6000) |
990 08e6 9093 0000 sts (beeptime)+1,r25 |
991 08ea 8093 0000 sts beeptime,r24 |
992 08ee 80E0 ldi r24,lo8(768) |
993 08f0 93E0 ldi r25,hi8(768) |
994 08f2 9093 0000 sts (BeepMuster)+1,r25 |
995 08f6 8093 0000 sts BeepMuster,r24 |
996 08fa 00C0 rjmp .L136 |
997 .L134: |
998 08fc 8091 0000 lds r24,beeptime |
999 0900 9091 0000 lds r25,(beeptime)+1 |
1000 0904 892B or r24,r25 |
1001 0906 01F4 brne .L136 |
1002 0908 8091 0000 lds r24,FC_StatusFlags |
1003 090c 8F7D andi r24,lo8(-33) |
1004 090e 8093 0000 sts FC_StatusFlags,r24 |
1005 .L136: |
1006 0912 0E94 0000 call SPI_StartTransmitPacket |
1007 0916 84E0 ldi r24,lo8(4) |
1008 0918 8093 0000 sts SendSPI,r24 |
1009 091c 8091 0000 lds r24,MotorenEin |
1010 0920 8823 tst r24 |
1011 0922 01F4 brne .L139 |
1012 0924 0AEA ldi r16,lo8(1450) |
1013 0926 15E0 ldi r17,hi8(1450) |
1014 0928 00C0 rjmp .L141 |
1015 .L139: |
1016 092a 8091 0000 lds r24,second.2588 |
1017 092e 8F5F subi r24,lo8(-(1)) |
1018 0930 8093 0000 sts second.2588,r24 |
1019 0934 8133 cpi r24,lo8(49) |
1020 0936 01F4 brne .L141 |
1021 0938 1092 0000 sts second.2588,__zero_reg__ |
1022 093c 8091 0000 lds r24,FlugSekunden |
1023 0940 9091 0000 lds r25,(FlugSekunden)+1 |
1024 0944 0196 adiw r24,1 |
1025 0946 9093 0000 sts (FlugSekunden)+1,r25 |
1026 094a 8093 0000 sts FlugSekunden,r24 |
1027 .L141: |
1028 094e 0F5F subi r16,lo8(-(1)) |
1029 0950 1F4F sbci r17,hi8(-(1)) |
1030 0952 3BE0 ldi r19,hi8(2930) |
1031 0954 0237 cpi r16,lo8(2930) |
1032 0956 1307 cpc r17,r19 |
1033 0958 01F0 breq .L143 |
1034 095a 6496 adiw r28,20 |
1035 095c 00C0 rjmp .L114 |
1036 .L143: |
1037 095e 6091 0000 lds r22,FlugMinuten |
1038 0962 7091 0000 lds r23,(FlugMinuten)+1 |
1039 0966 6F5F subi r22,lo8(-(1)) |
1040 0968 7F4F sbci r23,hi8(-(1)) |
1041 096a 7093 0000 sts (FlugMinuten)+1,r23 |
1042 096e 6093 0000 sts FlugMinuten,r22 |
1043 0972 8091 0000 lds r24,FlugMinutenGesamt |
1044 0976 9091 0000 lds r25,(FlugMinutenGesamt)+1 |
1045 097a 0196 adiw r24,1 |
1046 097c 9093 0000 sts (FlugMinutenGesamt)+1,r25 |
1047 0980 8093 0000 sts FlugMinutenGesamt,r24 |
1048 0984 672F mov r22,r23 |
1049 0986 7727 clr r23 |
1050 0988 8EE0 ldi r24,lo8(14) |
1051 098a 90E0 ldi r25,hi8(14) |
1052 098c 0E94 0000 call SetParamByte |
1053 0990 6091 0000 lds r22,FlugMinuten |
1054 0994 8FE0 ldi r24,lo8(15) |
1055 0996 90E0 ldi r25,hi8(15) |
1056 0998 0E94 0000 call SetParamByte |
1057 099c 6091 0000 lds r22,FlugMinutenGesamt |
1058 09a0 7091 0000 lds r23,(FlugMinutenGesamt)+1 |
1059 09a4 672F mov r22,r23 |
1060 09a6 7727 clr r23 |
1061 09a8 8AE0 ldi r24,lo8(10) |
1062 09aa 90E0 ldi r25,hi8(10) |
1063 09ac 0E94 0000 call SetParamByte |
1064 09b0 6091 0000 lds r22,FlugMinutenGesamt |
1065 09b4 8BE0 ldi r24,lo8(11) |
1066 09b6 90E0 ldi r25,hi8(11) |
1067 09b8 0E94 0000 call SetParamByte |
1068 09bc 84E1 ldi r24,lo8(20) |
1069 09be 90E0 ldi r25,hi8(20) |
1070 09c0 0E94 0000 call SetDelay |
1071 09c4 EC01 movw r28,r24 |
1072 09c6 00E0 ldi r16,lo8(0) |
1073 09c8 10E0 ldi r17,hi8(0) |
1074 .L114: |
1075 09ca 0E94 0000 call LED_Update |
1076 09ce 0E94 0000 call Capacity_Update |
1077 .L85: |
1078 09d2 8091 0000 lds r24,SendSPI |
1079 09d6 8823 tst r24 |
1080 09d8 01F0 breq .+2 |
1081 09da 00C0 rjmp .L170 |
1082 09dc 0E94 0000 call SPI_TransmitByte |
1083 09e0 00C0 rjmp .L170 |
1084 /* epilogue: frame size=0 */ |
1085 /* epilogue: noreturn */ |
1086 /* epilogue end (size=0) */ |
1087 /* function main size 1082 (1076) */ |
1089 .global PlatinenVersion |
1090 .data |
1093 PlatinenVersion: |
1094 0000 0A .byte 10 |
1095 .global SendVersionToNavi |
1098 SendVersionToNavi: |
1099 0001 01 .byte 1 |
1100 .global BattLowVoltageWarning |
1103 BattLowVoltageWarning: |
1104 0002 5E .byte 94 |
1105 .global FlugMinuten |
1106 .global FlugMinuten |
1107 .section .bss |
1110 FlugMinuten: |
1111 0000 0000 .skip 2,0 |
1112 .global FlugMinutenGesamt |
1113 .global FlugMinutenGesamt |
1116 FlugMinutenGesamt: |
1117 0002 0000 .skip 2,0 |
1118 .global FlugSekunden |
1119 .global FlugSekunden |
1122 FlugSekunden: |
1123 0004 0000 .skip 2,0 |
1124 .global FoundMotors |
1125 .global FoundMotors |
1128 FoundMotors: |
1129 0006 00 .skip 1,0 |
1130 .lcomm second.2588,1 |
1131 .section .progmem.data,"a",@progbits |
1134 __c.2585: |
1135 0000 0A0D 3D3D .string "\n\r===================================\n\r" |
1135 3D3D 3D3D |
1135 3D3D 3D3D |
1135 3D3D 3D3D |
1135 3D3D 3D3D |
1138 __c.2583: |
1139 0028 4E6F 726D .string "Normal (ACC-Mode)" |
1139 616C 2028 |
1139 4143 432D |
1139 4D6F 6465 |
1139 2900 |
1142 __c.2581: |
1143 003a 4865 6164 .string "HeadingHold" |
1143 696E 6748 |
1143 6F6C 6400 |
1146 __c.2579: |
1147 0046 0A0D 436F .string "\n\rControl: " |
1147 6E74 726F |
1147 6C3A 2000 |
1150 __c.2577: |
1151 0052 0A0D 466C .string "\n\rFlight-time %u min Total:%u min" |
1151 6967 6874 |
1151 2D74 696D |
1151 6520 2575 |
1151 206D 696E |
1154 __c.2575: |
1155 0075 4F4B 0A0D .string "OK\n\r" |
1155 00 |
1158 __c.2570: |
1159 007a 0A0D 4361 .string "\n\rCalibrating IR sensor.." |
1159 6C69 6272 |
1159 6174 696E |
1159 6720 4952 |
1159 2073 656E |
1162 __c.2568: |
1163 0094 0A0D 3D3D .string "\n\r===================================" |
1163 3D3D 3D3D |
1163 3D3D 3D3D |
1163 3D3D 3D3D |
1163 3D3D 3D3D |
1166 __c.2563: |
1167 00ba 0A0D 0A0D .string "\n\r\n\r!! MISSING BL-CTRL: %d !!" |
1167 2121 204D |
1167 4953 5349 |
1167 4E47 2042 |
1167 4C2D 4354 |
1170 __c.2558: |
1171 00d8 2564 00 .string "%d" |
1174 __c.2547: |
1175 00db 0A0D 466F .string "\n\rFound BL-Ctrl: " |
1175 756E 6420 |
1175 424C 2D43 |
1175 7472 6C3A |
1175 2000 |
1178 __c.2542: |
1179 00ed 0A0D 496E .string "\n\rInitialised:\n\r" |
1179 6974 6961 |
1179 6C69 7365 |
1179 643A 0A0D |
1179 00 |
1182 __c.2514: |
1183 00fe 204C 6F77 .string " Low warning level: %d.%d" |
1183 2077 6172 |
1183 6E69 6E67 |
1183 206C 6576 |
1183 656C 3A20 |
1186 __c.2512: |
1187 0118 2025 6420 .string " %d Cells " |
1187 4365 6C6C |
1187 7320 00 |
1190 __c.2504: |
1191 0123 0A0D 4261 .string "\n\rBatt:" |
1191 7474 3A00 |
1192 .data |
1195 stick.2490: |
1196 0003 01 .byte 1 |
1197 .comm _printf_P,2,1 |
1198 /* File "main.c": code 1276 = 0x04fc (1262), prologues 9, epilogues 5 */ |
DEFINED SYMBOLS |
*ABS*:00000000 main.c |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cczHFcZA.s:2 *ABS*:0000003f __SREG__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cczHFcZA.s:3 *ABS*:0000003e __SP_H__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cczHFcZA.s:4 *ABS*:0000003d __SP_L__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cczHFcZA.s:5 *ABS*:00000000 __tmp_reg__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cczHFcZA.s:6 *ABS*:00000001 __zero_reg__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cczHFcZA.s:12 .text:00000000 LipoDetection |
*COM*:00000002 _printf_P |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cczHFcZA.s:1190 .progmem.data:00000123 __c.2504 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cczHFcZA.s:1103 .data:00000002 BattLowVoltageWarning |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cczHFcZA.s:1186 .progmem.data:00000118 __c.2512 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cczHFcZA.s:1182 .progmem.data:000000fe __c.2514 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cczHFcZA.s:151 .text:00000118 CalMk3Mag |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cczHFcZA.s:1195 .data:00000003 stick.2490 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cczHFcZA.s:204 .text:00000182 main |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cczHFcZA.s:1093 .data:00000000 PlatinenVersion |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cczHFcZA.s:1178 .progmem.data:000000ed __c.2542 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cczHFcZA.s:1174 .progmem.data:000000db __c.2547 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cczHFcZA.s:1170 .progmem.data:000000d8 __c.2558 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cczHFcZA.s:1128 .bss:00000006 FoundMotors |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cczHFcZA.s:1166 .progmem.data:000000ba __c.2563 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cczHFcZA.s:1162 .progmem.data:00000094 __c.2568 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cczHFcZA.s:1158 .progmem.data:0000007a __c.2570 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cczHFcZA.s:1154 .progmem.data:00000075 __c.2575 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cczHFcZA.s:1110 .bss:00000000 FlugMinuten |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cczHFcZA.s:1116 .bss:00000002 FlugMinutenGesamt |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cczHFcZA.s:1150 .progmem.data:00000052 __c.2577 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cczHFcZA.s:1146 .progmem.data:00000046 __c.2579 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cczHFcZA.s:1142 .progmem.data:0000003a __c.2581 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cczHFcZA.s:1138 .progmem.data:00000028 __c.2583 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cczHFcZA.s:1134 .progmem.data:00000000 __c.2585 |
.bss:00000007 second.2588 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cczHFcZA.s:1122 .bss:00000004 FlugSekunden |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cczHFcZA.s:1098 .data:00000001 SendVersionToNavi |
UNDEFINED SYMBOLS |
__do_copy_data |
__do_clear_bss |
uart_putchar |
EE_Parameter |
SetDelay |
CheckDelay |
UBat |
Piep |
__udivmodqi4 |
PPM_in |
WinkelOut |
beeptime |
DebugOut |
__prologue_saves__ |
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 |
SetNeutral |
ExternControl |
GetParamByte |
LcdClear |
I2CTimeout |
LIBFC_ReceiverInit |
JetiUpdateModeActive |
LIBFC_Polling |
UpdateMotor |
AdReady |
MotorRegler |
SenderOkay |
MissingMotor |
I2C_Reset |
BeepMuster |
MotorenEin |
CalculateServoSignals |
CalculateServo |
DatenUebertragung |
BearbeiteRxDaten |
PcZugriff |
ExternStickNick |
ExternStickRoll |
ExternStickGier |
NaviDataOkay |
NC_Version |
GPS_Nick |
GPS_Roll |
FromNaviCtrl |
FC_StatusFlags |
SPI_StartTransmitPacket |
SendSPI |
SetParamByte |
LED_Update |
Capacity_Update |
SPI_TransmitByte |
/Spektrum-Diversity/V0.82a/makefile |
---|
0,0 → 1,464 |
#-------------------------------------------------------------------- |
# MCU name |
#MCU = atmega1284p |
MCU = atmega644p |
F_CPU = 20000000 |
#------------------------------------------------------------------- |
VERSION_MAJOR = 0 |
VERSION_MINOR = 82 |
VERSION_PATCH = 0 |
VERSION_SERIAL_MAJOR = 11 # Serial Protocol |
VERSION_SERIAL_MINOR = 0 # Serial Protocol |
NC_SPI_COMPATIBLE = 16 # Navi-Kompatibilität |
#------------------------------------------------------------------- |
# 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 |
# 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 |
########################################################################################################## |
# 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 |
/Spektrum-Diversity/V0.82a/menu.c |
---|
0,0 → 1,204 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) Holger Buss, Ingo Busker |
// + only for non-profit use |
// + www.MikroKopter.com |
// + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
// + see the File "License.txt" for further Informations |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#include "main.h" |
#include "eeprom.h" |
char DisplayBuff[80] = "Hello World"; |
unsigned char DispPtr = 0; |
unsigned char MaxMenue = 17; |
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) |
{ |
DisplayBuff[DispPtr++] = c; |
} |
void Menu(void) |
{ |
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",PlatinenVersion/10,PlatinenVersion%10, VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH +'a'); |
LCD_printfxy(0,2,"Setting:%d %s", GetActiveParamSet(),Mixer.Name); |
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) |
else |
if(VersionInfo.HardwareError[1] & FC_ERROR1_MIXER) LCD_printfxy(0,3,"Mixer Error!") |
else |
// 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(EE_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",KompassValue); |
break; |
case 3: |
LCD_printfxy(0,0,"K1:%4i K2:%4i ",PPM_in[1],PPM_in[2]); |
LCD_printfxy(0,1,"K3:%4i K4:%4i ",PPM_in[3],PPM_in[4]); |
LCD_printfxy(0,2,"K5:%4i K6:%4i ",PPM_in[5],PPM_in[6]); |
LCD_printfxy(0,3,"K7:%4i K8:%4i ",PPM_in[7],PPM_in[8]); |
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]]+120,PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]); |
LCD_printfxy(0,2,"P1:%4i P2:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]]+110,PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]]+110); |
LCD_printfxy(0,3,"P3:%4i P4:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]]+110,PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]]+110); |
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,"Heading: %5i",KompassRichtung); |
LCD_printfxy(0,2,"Value: %5i",KompassValue); |
LCD_printfxy(0,3,"Start: %5i",KompassStartwert); |
break; |
case 10: |
LCD_printfxy(0,0,"Poti1: %3i",Poti[0]); |
LCD_printfxy(0,1,"Poti2: %3i",Poti[1]); |
LCD_printfxy(0,2,"Poti3: %3i",Poti[2]); |
LCD_printfxy(0,3,"Poti4: %3i",Poti[3]); |
break; |
case 11: |
LCD_printfxy(0,0,"Poti5: %3i",Poti[4]); |
LCD_printfxy(0,1,"Poti6: %3i",Poti[5]); |
LCD_printfxy(0,2,"Poti7: %3i",Poti[6]); |
LCD_printfxy(0,3,"Poti8: %3i",Poti[7]); |
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 14: |
LCD_printfxy(0,0,"BL-Ctrl Errors " ); |
LCD_printfxy(0,1,"%3d %3d %3d %3d ",Motor[0].State & MOTOR_STATE_ERROR_MASK,Motor[1].State & MOTOR_STATE_ERROR_MASK,Motor[2].State & MOTOR_STATE_ERROR_MASK,Motor[3].State & MOTOR_STATE_ERROR_MASK); |
LCD_printfxy(0,2,"%3d %3d %3d %3d ",Motor[4].State & MOTOR_STATE_ERROR_MASK,Motor[5].State & MOTOR_STATE_ERROR_MASK,Motor[6].State & MOTOR_STATE_ERROR_MASK,Motor[7].State & MOTOR_STATE_ERROR_MASK); |
LCD_printfxy(0,3,"%3d %3d %3d %3d ",Motor[8].State & MOTOR_STATE_ERROR_MASK,Motor[9].State & MOTOR_STATE_ERROR_MASK,Motor[10].State & MOTOR_STATE_ERROR_MASK,Motor[11].State & MOTOR_STATE_ERROR_MASK); |
break; |
case 15: |
LCD_printfxy(0,0,"BL Temperature" ); |
LCD_printfxy(0,1,"%3i %3i %3i %3i ",Motor[0].Temperature,Motor[1].Temperature,Motor[2].Temperature,Motor[3].Temperature); |
LCD_printfxy(0,2,"%3i %3i %3i %3i ",Motor[4].Temperature,Motor[5].Temperature,Motor[6].Temperature,Motor[7].Temperature); |
LCD_printfxy(0,3,"%3i %3i %3i %3i ",Motor[8].Temperature,Motor[9].Temperature,Motor[10].Temperature,Motor[11].Temperature); |
break; |
case 16: |
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 17: |
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; |
} |
/Spektrum-Diversity/V0.82a/menu.d |
---|
0,0 → 1,3 |
menu.o menu.d : menu.c main.h old_macros.h printf_P.h timer0.h uart.h analog.h \ |
twimaster.h menu.h rc.h fc.h gps.h spi.h led.h spektrum.h capacity.h \ |
eeprom.h libfc.h debug.h |
/Spektrum-Diversity/V0.82a/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 |
/Spektrum-Diversity/V0.82a/menu.lst |
---|
0,0 → 1,2830 |
1 .file "menu.c" |
2 __SREG__ = 0x3f |
3 __SP_H__ = 0x3e |
4 __SP_L__ = 0x3d |
5 __tmp_reg__ = 0 |
6 __zero_reg__ = 1 |
7 .global __do_copy_data |
8 .global __do_clear_bss |
9 .text |
10 .global LcdClear |
12 LcdClear: |
13 /* prologue: frame size=0 */ |
14 /* prologue end (size=0) */ |
15 0000 E0E0 ldi r30,lo8(DisplayBuff) |
16 0002 F0E0 ldi r31,hi8(DisplayBuff) |
17 .L2: |
18 0004 80E2 ldi r24,lo8(32) |
19 0006 8193 st Z+,r24 |
20 0008 80E0 ldi r24,hi8(DisplayBuff+80) |
21 000a E030 cpi r30,lo8(DisplayBuff+80) |
22 000c F807 cpc r31,r24 |
23 000e 01F4 brne .L2 |
24 /* epilogue: frame size=0 */ |
25 0010 0895 ret |
26 /* epilogue end (size=1) */ |
27 /* function LcdClear size 9 (8) */ |
29 .global Menu_Putchar |
31 Menu_Putchar: |
32 /* prologue: frame size=0 */ |
33 /* prologue end (size=0) */ |
34 0012 9091 0000 lds r25,DispPtr |
35 0016 E0E0 ldi r30,lo8(DisplayBuff) |
36 0018 F0E0 ldi r31,hi8(DisplayBuff) |
37 001a E90F add r30,r25 |
38 001c F11D adc r31,__zero_reg__ |
39 001e 8083 st Z,r24 |
40 0020 9F5F subi r25,lo8(-(1)) |
41 0022 9093 0000 sts DispPtr,r25 |
42 /* epilogue: frame size=0 */ |
43 0026 0895 ret |
44 /* epilogue end (size=1) */ |
45 /* function Menu_Putchar size 11 (10) */ |
47 .global Menu |
49 Menu: |
50 /* prologue: frame size=0 */ |
51 0028 A0E0 ldi r26,lo8(0) |
52 002a B0E0 ldi r27,hi8(0) |
53 002c E0E0 ldi r30,pm_lo8(1f) |
54 002e F0E0 ldi r31,pm_hi8(1f) |
55 0030 0C94 0000 jmp __prologue_saves__+16 |
56 1: |
57 /* prologue end (size=6) */ |
58 0034 8091 0000 lds r24,RemoteKeys |
59 0038 282F mov r18,r24 |
60 003a 30E0 ldi r19,lo8(0) |
61 003c C901 movw r24,r18 |
62 003e 8170 andi r24,lo8(1) |
63 0040 9070 andi r25,hi8(1) |
64 0042 682F mov r22,r24 |
65 0044 8823 tst r24 |
66 0046 01F0 breq .L10 |
67 0048 8091 0000 lds r24,MenuePunkt |
68 004c 8823 tst r24 |
69 004e 01F0 breq .L12 |
70 0050 8150 subi r24,lo8(-(-1)) |
71 0052 00C0 rjmp .L73 |
72 .L12: |
73 0054 8091 0000 lds r24,MaxMenue |
74 .L73: |
75 0058 8093 0000 sts MenuePunkt,r24 |
76 .L10: |
77 005c A901 movw r20,r18 |
78 005e 4270 andi r20,lo8(2) |
79 0060 5070 andi r21,hi8(2) |
80 0062 21FF sbrs r18,1 |
81 0064 00C0 rjmp .L14 |
82 0066 9091 0000 lds r25,MenuePunkt |
83 006a 8091 0000 lds r24,MaxMenue |
84 006e 9817 cp r25,r24 |
85 0070 01F4 brne .L16 |
86 0072 1092 0000 sts MenuePunkt,__zero_reg__ |
87 0076 00C0 rjmp .L14 |
88 .L16: |
89 0078 9F5F subi r25,lo8(-(1)) |
90 007a 9093 0000 sts MenuePunkt,r25 |
91 .L14: |
92 007e 6623 tst r22 |
93 0080 01F0 breq .L18 |
94 0082 452B or r20,r21 |
95 0084 01F0 breq .L18 |
96 0086 1092 0000 sts MenuePunkt,__zero_reg__ |
97 .L18: |
98 008a E0E0 ldi r30,lo8(DisplayBuff) |
99 008c F0E0 ldi r31,hi8(DisplayBuff) |
100 .L21: |
101 008e 80E2 ldi r24,lo8(32) |
102 0090 8193 st Z+,r24 |
103 0092 20E0 ldi r18,hi8(DisplayBuff+80) |
104 0094 E030 cpi r30,lo8(DisplayBuff+80) |
105 0096 F207 cpc r31,r18 |
106 0098 01F4 brne .L21 |
107 009a 8091 0000 lds r24,MenuePunkt |
108 009e C091 0000 lds r28,_printf_P |
109 00a2 D091 0000 lds r29,(_printf_P)+1 |
110 00a6 282F mov r18,r24 |
111 00a8 30E0 ldi r19,lo8(0) |
112 00aa 90E0 ldi r25,lo8(gs(Menu_Putchar)) |
113 00ac E92E mov r14,r25 |
114 00ae 90E0 ldi r25,hi8(gs(Menu_Putchar)) |
115 00b0 F92E mov r15,r25 |
116 00b2 8A30 cpi r24,lo8(10) |
117 00b4 00F4 brsh .L23 |
118 00b6 81E1 ldi r24,lo8(17) |
119 00b8 8093 0000 sts DispPtr,r24 |
120 00bc 3F93 push r19 |
121 00be 2F93 push r18 |
122 00c0 80E0 ldi r24,lo8(__c.2501) |
123 00c2 90E0 ldi r25,hi8(__c.2501) |
124 00c4 9F93 push r25 |
125 00c6 8F93 push r24 |
126 00c8 FF92 push r15 |
127 00ca EF92 push r14 |
128 00cc FE01 movw r30,r28 |
129 00ce 0995 icall |
130 00d0 4DB7 in r20,__SP_L__ |
131 00d2 5EB7 in r21,__SP_H__ |
132 00d4 4A5F subi r20,lo8(-(6)) |
133 00d6 5F4F sbci r21,hi8(-(6)) |
134 00d8 4DBF out __SP_L__,r20 |
135 00da 00C0 rjmp .L25 |
136 .L23: |
137 00dc 80E1 ldi r24,lo8(16) |
138 00de 8093 0000 sts DispPtr,r24 |
139 00e2 3F93 push r19 |
140 00e4 2F93 push r18 |
141 00e6 80E0 ldi r24,lo8(__c.2503) |
142 00e8 90E0 ldi r25,hi8(__c.2503) |
143 00ea 9F93 push r25 |
144 00ec 8F93 push r24 |
145 00ee FF92 push r15 |
146 00f0 EF92 push r14 |
147 00f2 FE01 movw r30,r28 |
148 00f4 0995 icall |
149 00f6 8DB7 in r24,__SP_L__ |
150 00f8 9EB7 in r25,__SP_H__ |
151 00fa 0696 adiw r24,6 |
152 00fc 8DBF out __SP_L__,r24 |
153 .L25: |
154 00fe 9091 0000 lds r25,MenuePunkt |
155 0102 E92F mov r30,r25 |
156 0104 F0E0 ldi r31,lo8(0) |
157 0106 E231 cpi r30,18 |
158 0108 F105 cpc r31,__zero_reg__ |
159 010a 00F0 brlo .+4 |
160 010c 0C94 0000 jmp .L26 |
161 0110 E050 subi r30,lo8(-(gs(.L45))) |
**** Warning:expression dangerous with linker stubs |
162 0112 F040 sbci r31,hi8(-(gs(.L45))) |
**** Warning:expression dangerous with linker stubs |
163 0114 C091 0000 lds r28,_printf_P |
164 0118 D091 0000 lds r29,(_printf_P)+1 |
165 011c 80E0 ldi r24,lo8(gs(Menu_Putchar)) |
166 011e E82E mov r14,r24 |
167 0120 80E0 ldi r24,hi8(gs(Menu_Putchar)) |
168 0122 F82E mov r15,r24 |
169 0124 0C94 0000 jmp __tablejump2__ |
170 .data |
171 .section .progmem.gcc_sw_table, "a", @progbits |
172 .p2align 1 |
173 .L45: |
174 .data |
175 .section .progmem.gcc_sw_table, "a", @progbits |
176 .p2align 1 |
177 0000 0000 .word gs(.L27) |
178 0002 0000 .word gs(.L28) |
179 0004 0000 .word gs(.L29) |
180 0006 0000 .word gs(.L30) |
181 0008 0000 .word gs(.L31) |
182 000a 0000 .word gs(.L32) |
183 000c 0000 .word gs(.L33) |
184 000e 0000 .word gs(.L34) |
185 0010 0000 .word gs(.L35) |
186 0012 0000 .word gs(.L36) |
187 0014 0000 .word gs(.L37) |
188 0016 0000 .word gs(.L38) |
189 0018 0000 .word gs(.L39) |
190 001a 0000 .word gs(.L40) |
191 001c 0000 .word gs(.L41) |
192 001e 0000 .word gs(.L42) |
193 0020 0000 .word gs(.L43) |
194 0022 0000 .word gs(.L44) |
195 .text |
196 .L27: |
197 0128 1092 0000 sts DispPtr,__zero_reg__ |
198 012c 80E0 ldi r24,lo8(__c.2506) |
199 012e 90E0 ldi r25,hi8(__c.2506) |
200 0130 9F93 push r25 |
201 0132 8F93 push r24 |
202 0134 00E0 ldi r16,lo8(gs(Menu_Putchar)) |
203 0136 A02E mov r10,r16 |
204 0138 00E0 ldi r16,hi8(gs(Menu_Putchar)) |
205 013a B02E mov r11,r16 |
206 013c FF92 push r15 |
207 013e EF92 push r14 |
208 0140 FE01 movw r30,r28 |
209 0142 0995 icall |
210 0144 84E1 ldi r24,lo8(20) |
211 0146 8093 0000 sts DispPtr,r24 |
212 014a E091 0000 lds r30,_printf_P |
213 014e F091 0000 lds r31,(_printf_P)+1 |
214 0152 2091 0000 lds r18,PlatinenVersion |
215 0156 822F mov r24,r18 |
216 0158 6AE0 ldi r22,lo8(10) |
217 015a 0E94 0000 call __udivmodqi4 |
218 015e 492F mov r20,r25 |
219 0160 50E0 ldi r21,lo8(0) |
220 0162 822F mov r24,r18 |
221 0164 0E94 0000 call __udivmodqi4 |
222 0168 90E0 ldi r25,lo8(0) |
223 016a 21E6 ldi r18,lo8(97) |
224 016c 30E0 ldi r19,hi8(97) |
225 016e 3F93 push r19 |
226 0170 2F93 push r18 |
227 0172 22E5 ldi r18,lo8(82) |
228 0174 30E0 ldi r19,hi8(82) |
229 0176 3F93 push r19 |
230 0178 2F93 push r18 |
231 017a 1F92 push __zero_reg__ |
232 017c 1F92 push __zero_reg__ |
233 017e 5F93 push r21 |
234 0180 4F93 push r20 |
235 0182 9F93 push r25 |
236 0184 8F93 push r24 |
237 0186 80E0 ldi r24,lo8(__c.2508) |
238 0188 90E0 ldi r25,hi8(__c.2508) |
239 018a 9F93 push r25 |
240 018c 8F93 push r24 |
241 018e FF92 push r15 |
242 0190 EF92 push r14 |
243 0192 0995 icall |
244 0194 88E2 ldi r24,lo8(40) |
245 0196 8093 0000 sts DispPtr,r24 |
246 019a 0091 0000 lds r16,_printf_P |
247 019e 1091 0000 lds r17,(_printf_P)+1 |
248 01a2 0E94 0000 call GetActiveParamSet |
249 01a6 90E0 ldi r25,lo8(0) |
250 01a8 20E0 ldi r18,lo8(Mixer+1) |
251 01aa 30E0 ldi r19,hi8(Mixer+1) |
252 01ac 3F93 push r19 |
253 01ae 2F93 push r18 |
254 01b0 9F93 push r25 |
255 01b2 8F93 push r24 |
256 01b4 80E0 ldi r24,lo8(__c.2510) |
257 01b6 90E0 ldi r25,hi8(__c.2510) |
258 01b8 9F93 push r25 |
259 01ba 8F93 push r24 |
260 01bc FF92 push r15 |
261 01be EF92 push r14 |
262 01c0 F801 movw r30,r16 |
263 01c2 0995 icall |
264 01c4 9091 0000 lds r25,VersionInfo+5 |
265 01c8 2DB7 in r18,__SP_L__ |
266 01ca 3EB7 in r19,__SP_H__ |
267 01cc 265E subi r18,lo8(-(26)) |
268 01ce 3F4F sbci r19,hi8(-(26)) |
269 01d0 2DBF out __SP_L__,r18 |
270 01d2 9923 tst r25 |
271 01d4 01F0 breq .L46 |
272 01d6 8CE3 ldi r24,lo8(60) |
273 01d8 8093 0000 sts DispPtr,r24 |
274 01dc E091 0000 lds r30,_printf_P |
275 01e0 F091 0000 lds r31,(_printf_P)+1 |
276 01e4 892F mov r24,r25 |
277 01e6 90E0 ldi r25,lo8(0) |
278 01e8 9F93 push r25 |
279 01ea 8F93 push r24 |
280 01ec 80E0 ldi r24,lo8(__c.2512) |
281 01ee 90E0 ldi r25,hi8(__c.2512) |
282 01f0 9F93 push r25 |
283 01f2 8F93 push r24 |
284 01f4 BF92 push r11 |
285 01f6 AF92 push r10 |
286 01f8 0995 icall |
287 01fa 4DB7 in r20,__SP_L__ |
288 01fc 5EB7 in r21,__SP_H__ |
289 01fe 4A5F subi r20,lo8(-(6)) |
290 0200 5F4F sbci r21,hi8(-(6)) |
291 0202 00C0 rjmp .L74 |
292 .L46: |
293 0204 9091 0000 lds r25,MissingMotor |
294 0208 9923 tst r25 |
295 020a 01F0 breq .L49 |
296 020c 8CE3 ldi r24,lo8(60) |
297 020e 8093 0000 sts DispPtr,r24 |
298 0212 E091 0000 lds r30,_printf_P |
299 0216 F091 0000 lds r31,(_printf_P)+1 |
300 021a 892F mov r24,r25 |
301 021c 90E0 ldi r25,lo8(0) |
302 021e 9F93 push r25 |
303 0220 8F93 push r24 |
304 0222 80E0 ldi r24,lo8(__c.2514) |
305 0224 90E0 ldi r25,hi8(__c.2514) |
306 0226 9F93 push r25 |
307 0228 8F93 push r24 |
308 022a BF92 push r11 |
309 022c AF92 push r10 |
310 022e 0995 icall |
311 0230 8DB7 in r24,__SP_L__ |
312 0232 9EB7 in r25,__SP_H__ |
313 0234 0696 adiw r24,6 |
314 0236 00C0 rjmp .L76 |
315 .L49: |
316 0238 8091 0000 lds r24,VersionInfo+6 |
317 023c 84FF sbrs r24,4 |
318 023e 00C0 rjmp .L51 |
319 0240 8CE3 ldi r24,lo8(60) |
320 0242 8093 0000 sts DispPtr,r24 |
321 0246 E091 0000 lds r30,_printf_P |
322 024a F091 0000 lds r31,(_printf_P)+1 |
323 024e 80E0 ldi r24,lo8(__c.2516) |
324 0250 90E0 ldi r25,hi8(__c.2516) |
325 0252 00C0 rjmp .L82 |
326 .L51: |
327 0254 8091 0000 lds r24,I2CTimeout |
328 0258 9091 0000 lds r25,(I2CTimeout)+1 |
329 025c 0697 sbiw r24,6 |
330 025e 00F0 brlo .+4 |
331 0260 0C94 0000 jmp .L48 |
332 0264 8CE3 ldi r24,lo8(60) |
333 0266 8093 0000 sts DispPtr,r24 |
334 026a E091 0000 lds r30,_printf_P |
335 026e F091 0000 lds r31,(_printf_P)+1 |
336 0272 80E0 ldi r24,lo8(__c.2518) |
337 0274 90E0 ldi r25,hi8(__c.2518) |
338 .L82: |
339 0276 9F93 push r25 |
340 0278 8F93 push r24 |
341 027a BF92 push r11 |
342 027c AF92 push r10 |
343 027e 0C94 0000 jmp .L77 |
344 .L28: |
345 0282 8091 0000 lds r24,EE_Parameter+13 |
346 0286 C091 0000 lds r28,_printf_P |
347 028a D091 0000 lds r29,(_printf_P)+1 |
348 028e 10E0 ldi r17,lo8(gs(Menu_Putchar)) |
349 0290 E12E mov r14,r17 |
350 0292 10E0 ldi r17,hi8(gs(Menu_Putchar)) |
351 0294 F12E mov r15,r17 |
352 0296 80FF sbrs r24,0 |
353 0298 00C0 rjmp .L54 |
354 029a 1092 0000 sts DispPtr,__zero_reg__ |
355 029e 6091 0000 lds r22,HoehenWert |
356 02a2 7091 0000 lds r23,(HoehenWert)+1 |
357 02a6 8091 0000 lds r24,(HoehenWert)+2 |
358 02aa 9091 0000 lds r25,(HoehenWert)+3 |
359 02ae 25E0 ldi r18,lo8(5) |
360 02b0 30E0 ldi r19,hi8(5) |
361 02b2 40E0 ldi r20,hlo8(5) |
362 02b4 50E0 ldi r21,hhi8(5) |
363 02b6 0E94 0000 call __divmodsi4 |
364 02ba 3F93 push r19 |
365 02bc 2F93 push r18 |
366 02be 80E0 ldi r24,lo8(__c.2522) |
367 02c0 90E0 ldi r25,hi8(__c.2522) |
368 02c2 9F93 push r25 |
369 02c4 8F93 push r24 |
370 02c6 FF92 push r15 |
371 02c8 EF92 push r14 |
372 02ca FE01 movw r30,r28 |
373 02cc 0995 icall |
374 02ce 84E1 ldi r24,lo8(20) |
375 02d0 8093 0000 sts DispPtr,r24 |
376 02d4 0091 0000 lds r16,_printf_P |
377 02d8 1091 0000 lds r17,(_printf_P)+1 |
378 02dc 6091 0000 lds r22,SollHoehe |
379 02e0 7091 0000 lds r23,(SollHoehe)+1 |
380 02e4 8091 0000 lds r24,(SollHoehe)+2 |
381 02e8 9091 0000 lds r25,(SollHoehe)+3 |
382 02ec 25E0 ldi r18,lo8(5) |
383 02ee 30E0 ldi r19,hi8(5) |
384 02f0 40E0 ldi r20,hlo8(5) |
385 02f2 50E0 ldi r21,hhi8(5) |
386 02f4 0E94 0000 call __divmodsi4 |
387 02f8 3F93 push r19 |
388 02fa 2F93 push r18 |
389 02fc 80E0 ldi r24,lo8(__c.2524) |
390 02fe 90E0 ldi r25,hi8(__c.2524) |
391 0300 9F93 push r25 |
392 0302 8F93 push r24 |
393 0304 FF92 push r15 |
394 0306 EF92 push r14 |
395 0308 F801 movw r30,r16 |
396 030a 0995 icall |
397 030c 88E2 ldi r24,lo8(40) |
398 030e 8093 0000 sts DispPtr,r24 |
399 0312 E091 0000 lds r30,_printf_P |
400 0316 F091 0000 lds r31,(_printf_P)+1 |
401 031a 8091 0000 lds r24,MessLuftdruck |
402 031e 9091 0000 lds r25,(MessLuftdruck)+1 |
403 0322 9F93 push r25 |
404 0324 8F93 push r24 |
405 0326 80E0 ldi r24,lo8(__c.2526) |
406 0328 90E0 ldi r25,hi8(__c.2526) |
407 032a 9F93 push r25 |
408 032c 8F93 push r24 |
409 032e FF92 push r15 |
410 0330 EF92 push r14 |
411 0332 0995 icall |
412 0334 8CE3 ldi r24,lo8(60) |
413 0336 8093 0000 sts DispPtr,r24 |
414 033a E091 0000 lds r30,_printf_P |
415 033e F091 0000 lds r31,(_printf_P)+1 |
416 0342 87B5 in r24,71-0x20 |
417 0344 90E0 ldi r25,lo8(0) |
418 0346 9F93 push r25 |
419 0348 8F93 push r24 |
420 034a 80E0 ldi r24,lo8(__c.2528) |
421 034c 90E0 ldi r25,hi8(__c.2528) |
422 034e 00C0 rjmp .L78 |
423 .L54: |
424 0350 1092 0000 sts DispPtr,__zero_reg__ |
425 0354 80E0 ldi r24,lo8(__c.2530) |
426 0356 90E0 ldi r25,hi8(__c.2530) |
427 0358 9F93 push r25 |
428 035a 8F93 push r24 |
429 035c FF92 push r15 |
430 035e EF92 push r14 |
431 0360 FE01 movw r30,r28 |
432 0362 0995 icall |
433 0364 84E1 ldi r24,lo8(20) |
434 0366 8093 0000 sts DispPtr,r24 |
435 036a E091 0000 lds r30,_printf_P |
436 036e F091 0000 lds r31,(_printf_P)+1 |
437 0372 80E0 ldi r24,lo8(__c.2532) |
438 0374 90E0 ldi r25,hi8(__c.2532) |
439 0376 9F93 push r25 |
440 0378 8F93 push r24 |
441 037a FF92 push r15 |
442 037c EF92 push r14 |
443 037e 0995 icall |
444 0380 88E2 ldi r24,lo8(40) |
445 0382 8093 0000 sts DispPtr,r24 |
446 0386 E091 0000 lds r30,_printf_P |
447 038a F091 0000 lds r31,(_printf_P)+1 |
448 038e 80E0 ldi r24,lo8(__c.2534) |
449 0390 90E0 ldi r25,hi8(__c.2534) |
450 0392 9F93 push r25 |
451 0394 8F93 push r24 |
452 0396 FF92 push r15 |
453 0398 EF92 push r14 |
454 039a 0995 icall |
455 039c 8CE3 ldi r24,lo8(60) |
456 039e 8093 0000 sts DispPtr,r24 |
457 03a2 E091 0000 lds r30,_printf_P |
458 03a6 F091 0000 lds r31,(_printf_P)+1 |
459 03aa 80E0 ldi r24,lo8(__c.2536) |
460 03ac 90E0 ldi r25,hi8(__c.2536) |
461 03ae 9F93 push r25 |
462 03b0 8F93 push r24 |
463 03b2 FF92 push r15 |
464 03b4 EF92 push r14 |
465 03b6 0995 icall |
466 03b8 4DB7 in r20,__SP_L__ |
467 03ba 5EB7 in r21,__SP_H__ |
468 03bc 405F subi r20,lo8(-(16)) |
469 03be 5F4F sbci r21,hi8(-(16)) |
470 .L74: |
471 03c0 4DBF out __SP_L__,r20 |
472 03c2 0C94 0000 jmp .L48 |
473 .L29: |
474 03c6 1092 0000 sts DispPtr,__zero_reg__ |
475 03ca 80E0 ldi r24,lo8(__c.2539) |
476 03cc 90E0 ldi r25,hi8(__c.2539) |
477 03ce 9F93 push r25 |
478 03d0 8F93 push r24 |
479 03d2 FF92 push r15 |
480 03d4 EF92 push r14 |
481 03d6 FE01 movw r30,r28 |
482 03d8 0995 icall |
483 03da 84E1 ldi r24,lo8(20) |
484 03dc 8093 0000 sts DispPtr,r24 |
485 03e0 0091 0000 lds r16,_printf_P |
486 03e4 1091 0000 lds r17,(_printf_P)+1 |
487 03e8 6091 0000 lds r22,IntegralNick |
488 03ec 7091 0000 lds r23,(IntegralNick)+1 |
489 03f0 8091 0000 lds r24,(IntegralNick)+2 |
490 03f4 9091 0000 lds r25,(IntegralNick)+3 |
491 03f8 20E0 ldi r18,lo8(1024) |
492 03fa 34E0 ldi r19,hi8(1024) |
493 03fc 40E0 ldi r20,hlo8(1024) |
494 03fe 50E0 ldi r21,hhi8(1024) |
495 0400 0E94 0000 call __divmodsi4 |
496 0404 5F93 push r21 |
497 0406 4F93 push r20 |
498 0408 3F93 push r19 |
499 040a 2F93 push r18 |
500 040c 80E0 ldi r24,lo8(__c.2541) |
501 040e 90E0 ldi r25,hi8(__c.2541) |
502 0410 9F93 push r25 |
503 0412 8F93 push r24 |
504 0414 FF92 push r15 |
505 0416 EF92 push r14 |
506 0418 F801 movw r30,r16 |
507 041a 0995 icall |
508 041c 88E2 ldi r24,lo8(40) |
509 041e 8093 0000 sts DispPtr,r24 |
510 0422 0091 0000 lds r16,_printf_P |
511 0426 1091 0000 lds r17,(_printf_P)+1 |
512 042a 6091 0000 lds r22,IntegralRoll |
513 042e 7091 0000 lds r23,(IntegralRoll)+1 |
514 0432 8091 0000 lds r24,(IntegralRoll)+2 |
515 0436 9091 0000 lds r25,(IntegralRoll)+3 |
516 043a 20E0 ldi r18,lo8(1024) |
517 043c 34E0 ldi r19,hi8(1024) |
518 043e 40E0 ldi r20,hlo8(1024) |
519 0440 50E0 ldi r21,hhi8(1024) |
520 0442 0E94 0000 call __divmodsi4 |
521 0446 5F93 push r21 |
522 0448 4F93 push r20 |
523 044a 3F93 push r19 |
524 044c 2F93 push r18 |
525 044e 80E0 ldi r24,lo8(__c.2543) |
526 0450 90E0 ldi r25,hi8(__c.2543) |
527 0452 9F93 push r25 |
528 0454 8F93 push r24 |
529 0456 FF92 push r15 |
530 0458 EF92 push r14 |
531 045a F801 movw r30,r16 |
532 045c 0995 icall |
533 045e 8CE3 ldi r24,lo8(60) |
534 0460 8093 0000 sts DispPtr,r24 |
535 0464 E091 0000 lds r30,_printf_P |
536 0468 F091 0000 lds r31,(_printf_P)+1 |
537 046c 8091 0000 lds r24,KompassValue |
538 0470 9091 0000 lds r25,(KompassValue)+1 |
539 0474 9F93 push r25 |
540 0476 8F93 push r24 |
541 0478 80E0 ldi r24,lo8(__c.2545) |
542 047a 90E0 ldi r25,hi8(__c.2545) |
543 047c 9F93 push r25 |
544 047e 8F93 push r24 |
545 0480 FF92 push r15 |
546 0482 EF92 push r14 |
547 0484 0995 icall |
548 0486 8DB7 in r24,__SP_L__ |
549 0488 9EB7 in r25,__SP_H__ |
550 048a 4A96 adiw r24,26 |
551 048c 00C0 rjmp .L76 |
552 .L30: |
553 048e 1092 0000 sts DispPtr,__zero_reg__ |
554 0492 8091 0000 lds r24,PPM_in+4 |
555 0496 9091 0000 lds r25,(PPM_in+4)+1 |
556 049a 2091 0000 lds r18,PPM_in+2 |
557 049e 3091 0000 lds r19,(PPM_in+2)+1 |
558 04a2 9F93 push r25 |
559 04a4 8F93 push r24 |
560 04a6 3F93 push r19 |
561 04a8 2F93 push r18 |
562 04aa 80E0 ldi r24,lo8(__c.2548) |
563 04ac 90E0 ldi r25,hi8(__c.2548) |
564 04ae 9F93 push r25 |
565 04b0 8F93 push r24 |
566 04b2 FF92 push r15 |
567 04b4 EF92 push r14 |
568 04b6 FE01 movw r30,r28 |
569 04b8 0995 icall |
570 04ba 84E1 ldi r24,lo8(20) |
571 04bc 8093 0000 sts DispPtr,r24 |
572 04c0 E091 0000 lds r30,_printf_P |
573 04c4 F091 0000 lds r31,(_printf_P)+1 |
574 04c8 8091 0000 lds r24,PPM_in+8 |
575 04cc 9091 0000 lds r25,(PPM_in+8)+1 |
576 04d0 2091 0000 lds r18,PPM_in+6 |
577 04d4 3091 0000 lds r19,(PPM_in+6)+1 |
578 04d8 9F93 push r25 |
579 04da 8F93 push r24 |
580 04dc 3F93 push r19 |
581 04de 2F93 push r18 |
582 04e0 80E0 ldi r24,lo8(__c.2550) |
583 04e2 90E0 ldi r25,hi8(__c.2550) |
584 04e4 9F93 push r25 |
585 04e6 8F93 push r24 |
586 04e8 FF92 push r15 |
587 04ea EF92 push r14 |
588 04ec 0995 icall |
589 04ee 88E2 ldi r24,lo8(40) |
590 04f0 8093 0000 sts DispPtr,r24 |
591 04f4 E091 0000 lds r30,_printf_P |
592 04f8 F091 0000 lds r31,(_printf_P)+1 |
593 04fc 8091 0000 lds r24,PPM_in+12 |
594 0500 9091 0000 lds r25,(PPM_in+12)+1 |
595 0504 2091 0000 lds r18,PPM_in+10 |
596 0508 3091 0000 lds r19,(PPM_in+10)+1 |
597 050c 9F93 push r25 |
598 050e 8F93 push r24 |
599 0510 3F93 push r19 |
600 0512 2F93 push r18 |
601 0514 80E0 ldi r24,lo8(__c.2552) |
602 0516 90E0 ldi r25,hi8(__c.2552) |
603 0518 9F93 push r25 |
604 051a 8F93 push r24 |
605 051c FF92 push r15 |
606 051e EF92 push r14 |
607 0520 0995 icall |
608 0522 8CE3 ldi r24,lo8(60) |
609 0524 8093 0000 sts DispPtr,r24 |
610 0528 E091 0000 lds r30,_printf_P |
611 052c F091 0000 lds r31,(_printf_P)+1 |
612 0530 8091 0000 lds r24,PPM_in+16 |
613 0534 9091 0000 lds r25,(PPM_in+16)+1 |
614 0538 2091 0000 lds r18,PPM_in+14 |
615 053c 3091 0000 lds r19,(PPM_in+14)+1 |
616 0540 9F93 push r25 |
617 0542 8F93 push r24 |
618 0544 3F93 push r19 |
619 0546 2F93 push r18 |
620 0548 80E0 ldi r24,lo8(__c.2554) |
621 054a 90E0 ldi r25,hi8(__c.2554) |
622 054c 9F93 push r25 |
623 054e 8F93 push r24 |
624 0550 FF92 push r15 |
625 0552 EF92 push r14 |
626 0554 0995 icall |
627 0556 2DB7 in r18,__SP_L__ |
628 0558 3EB7 in r19,__SP_H__ |
629 055a 205E subi r18,lo8(-(32)) |
630 055c 3F4F sbci r19,hi8(-(32)) |
631 .L75: |
632 055e 2DBF out __SP_L__,r18 |
633 0560 00C0 rjmp .L48 |
634 .L31: |
635 0562 1092 0000 sts DispPtr,__zero_reg__ |
636 0566 E091 0000 lds r30,EE_Parameter+2 |
637 056a F0E0 ldi r31,lo8(0) |
638 056c EE0F lsl r30 |
639 056e FF1F rol r31 |
640 0570 E050 subi r30,lo8(-(PPM_in)) |
641 0572 F040 sbci r31,hi8(-(PPM_in)) |
642 0574 2081 ld r18,Z |
643 0576 3181 ldd r19,Z+1 |
644 0578 E091 0000 lds r30,EE_Parameter+1 |
645 057c F0E0 ldi r31,lo8(0) |
646 057e EE0F lsl r30 |
647 0580 FF1F rol r31 |
648 0582 E050 subi r30,lo8(-(PPM_in)) |
649 0584 F040 sbci r31,hi8(-(PPM_in)) |
650 0586 8081 ld r24,Z |
651 0588 9181 ldd r25,Z+1 |
652 058a 3F93 push r19 |
653 058c 2F93 push r18 |
654 058e 9F93 push r25 |
655 0590 8F93 push r24 |
656 0592 80E0 ldi r24,lo8(__c.2557) |
657 0594 90E0 ldi r25,hi8(__c.2557) |
658 0596 9F93 push r25 |
659 0598 8F93 push r24 |
660 059a FF92 push r15 |
661 059c EF92 push r14 |
662 059e FE01 movw r30,r28 |
663 05a0 0995 icall |
664 05a2 84E1 ldi r24,lo8(20) |
665 05a4 8093 0000 sts DispPtr,r24 |
666 05a8 4091 0000 lds r20,_printf_P |
667 05ac 5091 0000 lds r21,(_printf_P)+1 |
668 05b0 E091 0000 lds r30,EE_Parameter+4 |
669 05b4 F0E0 ldi r31,lo8(0) |
670 05b6 EE0F lsl r30 |
671 05b8 FF1F rol r31 |
672 05ba E050 subi r30,lo8(-(PPM_in)) |
673 05bc F040 sbci r31,hi8(-(PPM_in)) |
674 05be 2081 ld r18,Z |
675 05c0 3181 ldd r19,Z+1 |
676 05c2 E091 0000 lds r30,EE_Parameter+3 |
677 05c6 F0E0 ldi r31,lo8(0) |
678 05c8 EE0F lsl r30 |
679 05ca FF1F rol r31 |
680 05cc E050 subi r30,lo8(-(PPM_in)) |
681 05ce F040 sbci r31,hi8(-(PPM_in)) |
682 05d0 8081 ld r24,Z |
683 05d2 9181 ldd r25,Z+1 |
684 05d4 8858 subi r24,lo8(-(120)) |
685 05d6 9F4F sbci r25,hi8(-(120)) |
686 05d8 3F93 push r19 |
687 05da 2F93 push r18 |
688 05dc 9F93 push r25 |
689 05de 8F93 push r24 |
690 05e0 80E0 ldi r24,lo8(__c.2559) |
691 05e2 90E0 ldi r25,hi8(__c.2559) |
692 05e4 9F93 push r25 |
693 05e6 8F93 push r24 |
694 05e8 FF92 push r15 |
695 05ea EF92 push r14 |
696 05ec FA01 movw r30,r20 |
697 05ee 0995 icall |
698 05f0 88E2 ldi r24,lo8(40) |
699 05f2 8093 0000 sts DispPtr,r24 |
700 05f6 4091 0000 lds r20,_printf_P |
701 05fa 5091 0000 lds r21,(_printf_P)+1 |
702 05fe E091 0000 lds r30,EE_Parameter+6 |
703 0602 F0E0 ldi r31,lo8(0) |
704 0604 EE0F lsl r30 |
705 0606 FF1F rol r31 |
706 0608 E050 subi r30,lo8(-(PPM_in)) |
707 060a F040 sbci r31,hi8(-(PPM_in)) |
708 060c 2081 ld r18,Z |
709 060e 3181 ldd r19,Z+1 |
710 0610 2259 subi r18,lo8(-(110)) |
711 0612 3F4F sbci r19,hi8(-(110)) |
712 0614 E091 0000 lds r30,EE_Parameter+5 |
713 0618 F0E0 ldi r31,lo8(0) |
714 061a EE0F lsl r30 |
715 061c FF1F rol r31 |
716 061e E050 subi r30,lo8(-(PPM_in)) |
717 0620 F040 sbci r31,hi8(-(PPM_in)) |
718 0622 8081 ld r24,Z |
719 0624 9181 ldd r25,Z+1 |
720 0626 8259 subi r24,lo8(-(110)) |
721 0628 9F4F sbci r25,hi8(-(110)) |
722 062a 3F93 push r19 |
723 062c 2F93 push r18 |
724 062e 9F93 push r25 |
725 0630 8F93 push r24 |
726 0632 80E0 ldi r24,lo8(__c.2561) |
727 0634 90E0 ldi r25,hi8(__c.2561) |
728 0636 9F93 push r25 |
729 0638 8F93 push r24 |
730 063a FF92 push r15 |
731 063c EF92 push r14 |
732 063e FA01 movw r30,r20 |
733 0640 0995 icall |
734 0642 8CE3 ldi r24,lo8(60) |
735 0644 8093 0000 sts DispPtr,r24 |
736 0648 4091 0000 lds r20,_printf_P |
737 064c 5091 0000 lds r21,(_printf_P)+1 |
738 0650 E091 0000 lds r30,EE_Parameter+8 |
739 0654 F0E0 ldi r31,lo8(0) |
740 0656 EE0F lsl r30 |
741 0658 FF1F rol r31 |
742 065a E050 subi r30,lo8(-(PPM_in)) |
743 065c F040 sbci r31,hi8(-(PPM_in)) |
744 065e 2081 ld r18,Z |
745 0660 3181 ldd r19,Z+1 |
746 0662 2259 subi r18,lo8(-(110)) |
747 0664 3F4F sbci r19,hi8(-(110)) |
748 0666 E091 0000 lds r30,EE_Parameter+7 |
749 066a F0E0 ldi r31,lo8(0) |
750 066c EE0F lsl r30 |
751 066e FF1F rol r31 |
752 0670 E050 subi r30,lo8(-(PPM_in)) |
753 0672 F040 sbci r31,hi8(-(PPM_in)) |
754 0674 8081 ld r24,Z |
755 0676 9181 ldd r25,Z+1 |
756 0678 8259 subi r24,lo8(-(110)) |
757 067a 9F4F sbci r25,hi8(-(110)) |
758 067c 3F93 push r19 |
759 067e 2F93 push r18 |
760 0680 9F93 push r25 |
761 0682 8F93 push r24 |
762 0684 80E0 ldi r24,lo8(__c.2563) |
763 0686 90E0 ldi r25,hi8(__c.2563) |
764 0688 9F93 push r25 |
765 068a 8F93 push r24 |
766 068c FF92 push r15 |
767 068e EF92 push r14 |
768 0690 FA01 movw r30,r20 |
769 0692 0995 icall |
770 0694 4DB7 in r20,__SP_L__ |
771 0696 5EB7 in r21,__SP_H__ |
772 0698 405E subi r20,lo8(-(32)) |
773 069a 5F4F sbci r21,hi8(-(32)) |
774 069c 00C0 rjmp .L74 |
775 .L32: |
776 069e 1092 0000 sts DispPtr,__zero_reg__ |
777 06a2 80E0 ldi r24,lo8(__c.2566) |
778 06a4 90E0 ldi r25,hi8(__c.2566) |
779 06a6 9F93 push r25 |
780 06a8 8F93 push r24 |
781 06aa 10E0 ldi r17,lo8(gs(Menu_Putchar)) |
782 06ac A12E mov r10,r17 |
783 06ae 10E0 ldi r17,hi8(gs(Menu_Putchar)) |
784 06b0 B12E mov r11,r17 |
785 06b2 FF92 push r15 |
786 06b4 EF92 push r14 |
787 06b6 FE01 movw r30,r28 |
788 06b8 0995 icall |
789 06ba 8091 0000 lds r24,PlatinenVersion |
790 06be 0F90 pop __tmp_reg__ |
791 06c0 0F90 pop __tmp_reg__ |
792 06c2 0F90 pop __tmp_reg__ |
793 06c4 0F90 pop __tmp_reg__ |
794 06c6 8A30 cpi r24,lo8(10) |
795 06c8 01F0 breq .+2 |
796 06ca 00C0 rjmp .L56 |
797 06cc 84E1 ldi r24,lo8(20) |
798 06ce 8093 0000 sts DispPtr,r24 |
799 06d2 0091 0000 lds r16,_printf_P |
800 06d6 1091 0000 lds r17,(_printf_P)+1 |
801 06da 2091 0000 lds r18,AdNeutralNick |
802 06de 3091 0000 lds r19,(AdNeutralNick)+1 |
803 06e2 C901 movw r24,r18 |
804 06e4 68E0 ldi r22,lo8(8) |
805 06e6 70E0 ldi r23,hi8(8) |
806 06e8 0E94 0000 call __divmodhi4 |
807 06ec FC01 movw r30,r24 |
808 06ee C901 movw r24,r18 |
809 06f0 68E0 ldi r22,lo8(8) |
810 06f2 70E0 ldi r23,hi8(8) |
811 06f4 0E94 0000 call __divmodhi4 |
812 06f8 8091 0000 lds r24,AdWertNick |
813 06fc 9091 0000 lds r25,(AdWertNick)+1 |
814 0700 861B sub r24,r22 |
815 0702 970B sbc r25,r23 |
816 0704 FF93 push r31 |
817 0706 EF93 push r30 |
818 0708 7F93 push r23 |
819 070a 6F93 push r22 |
820 070c 9F93 push r25 |
821 070e 8F93 push r24 |
822 0710 80E0 ldi r24,lo8(__c.2568) |
823 0712 90E0 ldi r25,hi8(__c.2568) |
824 0714 9F93 push r25 |
825 0716 8F93 push r24 |
826 0718 BF92 push r11 |
827 071a AF92 push r10 |
828 071c F801 movw r30,r16 |
829 071e 0995 icall |
830 0720 88E2 ldi r24,lo8(40) |
831 0722 8093 0000 sts DispPtr,r24 |
832 0726 0091 0000 lds r16,_printf_P |
833 072a 1091 0000 lds r17,(_printf_P)+1 |
834 072e 2091 0000 lds r18,AdNeutralRoll |
835 0732 3091 0000 lds r19,(AdNeutralRoll)+1 |
836 0736 C901 movw r24,r18 |
837 0738 68E0 ldi r22,lo8(8) |
838 073a 70E0 ldi r23,hi8(8) |
839 073c 0E94 0000 call __divmodhi4 |
840 0740 FC01 movw r30,r24 |
841 0742 C901 movw r24,r18 |
842 0744 68E0 ldi r22,lo8(8) |
843 0746 70E0 ldi r23,hi8(8) |
844 0748 0E94 0000 call __divmodhi4 |
845 074c 8091 0000 lds r24,AdWertRoll |
846 0750 9091 0000 lds r25,(AdWertRoll)+1 |
847 0754 861B sub r24,r22 |
848 0756 970B sbc r25,r23 |
849 0758 FF93 push r31 |
850 075a EF93 push r30 |
851 075c 7F93 push r23 |
852 075e 6F93 push r22 |
853 0760 9F93 push r25 |
854 0762 8F93 push r24 |
855 0764 80E0 ldi r24,lo8(__c.2570) |
856 0766 90E0 ldi r25,hi8(__c.2570) |
857 0768 9F93 push r25 |
858 076a 8F93 push r24 |
859 076c BF92 push r11 |
860 076e AF92 push r10 |
861 0770 F801 movw r30,r16 |
862 0772 0995 icall |
863 0774 8CE3 ldi r24,lo8(60) |
864 0776 8093 0000 sts DispPtr,r24 |
865 077a E091 0000 lds r30,_printf_P |
866 077e F091 0000 lds r31,(_printf_P)+1 |
867 0782 2091 0000 lds r18,AdNeutralGier |
868 0786 3091 0000 lds r19,(AdNeutralGier)+1 |
869 078a 8091 0000 lds r24,AdWertGier |
870 078e 9091 0000 lds r25,(AdWertGier)+1 |
871 0792 A901 movw r20,r18 |
872 0794 481B sub r20,r24 |
873 0796 590B sbc r21,r25 |
874 0798 3F93 push r19 |
875 079a 2F93 push r18 |
876 079c 5F93 push r21 |
877 079e 4F93 push r20 |
878 07a0 80E0 ldi r24,lo8(__c.2572) |
879 07a2 90E0 ldi r25,hi8(__c.2572) |
880 07a4 9F93 push r25 |
881 07a6 8F93 push r24 |
882 07a8 BF92 push r11 |
883 07aa AF92 push r10 |
884 .L80: |
885 07ac 0995 icall |
886 07ae 8DB7 in r24,__SP_L__ |
887 07b0 9EB7 in r25,__SP_H__ |
888 07b2 4C96 adiw r24,28 |
889 .L76: |
890 07b4 8DBF out __SP_L__,r24 |
891 07b6 00C0 rjmp .L48 |
892 .L56: |
893 07b8 8B30 cpi r24,lo8(11) |
894 07ba 01F0 breq .L58 |
895 07bc 8431 cpi r24,lo8(20) |
896 07be 00F4 brsh .+2 |
897 07c0 00C0 rjmp .L60 |
898 .L58: |
899 07c2 84E1 ldi r24,lo8(20) |
900 07c4 8093 0000 sts DispPtr,r24 |
901 07c8 C090 0000 lds r12,_printf_P |
902 07cc D090 0000 lds r13,(_printf_P)+1 |
903 07d0 E091 0000 lds r30,AdNeutralNick |
904 07d4 F091 0000 lds r31,(AdNeutralNick)+1 |
905 07d8 CF01 movw r24,r30 |
906 07da 60E1 ldi r22,lo8(16) |
907 07dc 70E0 ldi r23,hi8(16) |
908 07de 0E94 0000 call __divmodhi4 |
909 07e2 62E0 ldi r22,lo8(2) |
910 07e4 70E0 ldi r23,hi8(2) |
911 07e6 0E94 0000 call __divmodhi4 |
912 07ea 7B01 movw r14,r22 |
913 07ec CF01 movw r24,r30 |
914 07ee 60E1 ldi r22,lo8(16) |
915 07f0 70E0 ldi r23,hi8(16) |
916 07f2 0E94 0000 call __divmodhi4 |
917 07f6 8B01 movw r16,r22 |
918 07f8 2091 0000 lds r18,AdWertNick |
919 07fc 3091 0000 lds r19,(AdWertNick)+1 |
920 0800 CF01 movw r24,r30 |
921 0802 68E0 ldi r22,lo8(8) |
922 0804 70E0 ldi r23,hi8(8) |
923 0806 0E94 0000 call __divmodhi4 |
924 080a 261B sub r18,r22 |
925 080c 370B sbc r19,r23 |
926 080e FF92 push r15 |
927 0810 EF92 push r14 |
928 0812 1F93 push r17 |
929 0814 0F93 push r16 |
930 0816 3F93 push r19 |
931 0818 2F93 push r18 |
932 081a 80E0 ldi r24,lo8(__c.2574) |
933 081c 90E0 ldi r25,hi8(__c.2574) |
934 081e 9F93 push r25 |
935 0820 8F93 push r24 |
936 0822 BF92 push r11 |
937 0824 AF92 push r10 |
938 0826 F601 movw r30,r12 |
939 0828 0995 icall |
940 082a 88E2 ldi r24,lo8(40) |
941 082c 8093 0000 sts DispPtr,r24 |
942 0830 C090 0000 lds r12,_printf_P |
943 0834 D090 0000 lds r13,(_printf_P)+1 |
944 0838 E091 0000 lds r30,AdNeutralRoll |
945 083c F091 0000 lds r31,(AdNeutralRoll)+1 |
946 0840 CF01 movw r24,r30 |
947 0842 60E1 ldi r22,lo8(16) |
948 0844 70E0 ldi r23,hi8(16) |
949 0846 0E94 0000 call __divmodhi4 |
950 084a 62E0 ldi r22,lo8(2) |
951 084c 70E0 ldi r23,hi8(2) |
952 084e 0E94 0000 call __divmodhi4 |
953 0852 7B01 movw r14,r22 |
954 0854 CF01 movw r24,r30 |
955 0856 60E1 ldi r22,lo8(16) |
956 0858 70E0 ldi r23,hi8(16) |
957 085a 0E94 0000 call __divmodhi4 |
958 085e 8B01 movw r16,r22 |
959 0860 2091 0000 lds r18,AdWertRoll |
960 0864 3091 0000 lds r19,(AdWertRoll)+1 |
961 0868 CF01 movw r24,r30 |
962 086a 68E0 ldi r22,lo8(8) |
963 086c 70E0 ldi r23,hi8(8) |
964 086e 0E94 0000 call __divmodhi4 |
965 0872 261B sub r18,r22 |
966 0874 370B sbc r19,r23 |
967 0876 FF92 push r15 |
968 0878 EF92 push r14 |
969 087a 1F93 push r17 |
970 087c 0F93 push r16 |
971 087e 3F93 push r19 |
972 0880 2F93 push r18 |
973 0882 80E0 ldi r24,lo8(__c.2576) |
974 0884 90E0 ldi r25,hi8(__c.2576) |
975 0886 9F93 push r25 |
976 0888 8F93 push r24 |
977 088a BF92 push r11 |
978 088c AF92 push r10 |
979 088e F601 movw r30,r12 |
980 0890 0995 icall |
981 0892 8CE3 ldi r24,lo8(60) |
982 0894 8093 0000 sts DispPtr,r24 |
983 0898 E091 0000 lds r30,_printf_P |
984 089c F091 0000 lds r31,(_printf_P)+1 |
985 08a0 2091 0000 lds r18,AdNeutralGier |
986 08a4 3091 0000 lds r19,(AdNeutralGier)+1 |
987 08a8 C901 movw r24,r18 |
988 08aa 62E0 ldi r22,lo8(2) |
989 08ac 70E0 ldi r23,hi8(2) |
990 08ae 0E94 0000 call __divmodhi4 |
991 08b2 8091 0000 lds r24,AdWertGier |
992 08b6 9091 0000 lds r25,(AdWertGier)+1 |
993 08ba 281B sub r18,r24 |
994 08bc 390B sbc r19,r25 |
995 08be 7F93 push r23 |
996 08c0 6F93 push r22 |
997 08c2 3F93 push r19 |
998 08c4 2F93 push r18 |
999 08c6 80E0 ldi r24,lo8(__c.2578) |
1000 08c8 90E0 ldi r25,hi8(__c.2578) |
1001 08ca 9F93 push r25 |
1002 08cc 8F93 push r24 |
1003 08ce BF92 push r11 |
1004 08d0 AF92 push r10 |
1005 08d2 00C0 rjmp .L81 |
1006 .L60: |
1007 08d4 8D30 cpi r24,lo8(13) |
1008 08d6 01F0 breq .+2 |
1009 08d8 00C0 rjmp .L48 |
1010 08da 84E1 ldi r24,lo8(20) |
1011 08dc 8093 0000 sts DispPtr,r24 |
1012 08e0 C090 0000 lds r12,_printf_P |
1013 08e4 D090 0000 lds r13,(_printf_P)+1 |
1014 08e8 E091 0000 lds r30,AnalogOffsetNick |
1015 08ec F0E0 ldi r31,lo8(0) |
1016 08ee 0091 0000 lds r16,AdNeutralNick |
1017 08f2 1091 0000 lds r17,(AdNeutralNick)+1 |
1018 08f6 C801 movw r24,r16 |
1019 08f8 60E1 ldi r22,lo8(16) |
1020 08fa 70E0 ldi r23,hi8(16) |
1021 08fc 0E94 0000 call __divmodhi4 |
1022 0900 7B01 movw r14,r22 |
1023 0902 2091 0000 lds r18,AdWertNick |
1024 0906 3091 0000 lds r19,(AdWertNick)+1 |
1025 090a C801 movw r24,r16 |
1026 090c 68E0 ldi r22,lo8(8) |
1027 090e 70E0 ldi r23,hi8(8) |
1028 0910 0E94 0000 call __divmodhi4 |
1029 0914 261B sub r18,r22 |
1030 0916 370B sbc r19,r23 |
1031 0918 FF93 push r31 |
1032 091a EF93 push r30 |
1033 091c FF92 push r15 |
1034 091e EF92 push r14 |
1035 0920 3F93 push r19 |
1036 0922 2F93 push r18 |
1037 0924 80E0 ldi r24,lo8(__c.2580) |
1038 0926 90E0 ldi r25,hi8(__c.2580) |
1039 0928 9F93 push r25 |
1040 092a 8F93 push r24 |
1041 092c BF92 push r11 |
1042 092e AF92 push r10 |
1043 0930 F601 movw r30,r12 |
1044 0932 0995 icall |
1045 0934 88E2 ldi r24,lo8(40) |
1046 0936 8093 0000 sts DispPtr,r24 |
1047 093a C090 0000 lds r12,_printf_P |
1048 093e D090 0000 lds r13,(_printf_P)+1 |
1049 0942 E091 0000 lds r30,AnalogOffsetRoll |
1050 0946 F0E0 ldi r31,lo8(0) |
1051 0948 0091 0000 lds r16,AdNeutralRoll |
1052 094c 1091 0000 lds r17,(AdNeutralRoll)+1 |
1053 0950 C801 movw r24,r16 |
1054 0952 60E1 ldi r22,lo8(16) |
1055 0954 70E0 ldi r23,hi8(16) |
1056 0956 0E94 0000 call __divmodhi4 |
1057 095a 7B01 movw r14,r22 |
1058 095c 2091 0000 lds r18,AdWertRoll |
1059 0960 3091 0000 lds r19,(AdWertRoll)+1 |
1060 0964 C801 movw r24,r16 |
1061 0966 68E0 ldi r22,lo8(8) |
1062 0968 70E0 ldi r23,hi8(8) |
1063 096a 0E94 0000 call __divmodhi4 |
1064 096e 261B sub r18,r22 |
1065 0970 370B sbc r19,r23 |
1066 0972 FF93 push r31 |
1067 0974 EF93 push r30 |
1068 0976 FF92 push r15 |
1069 0978 EF92 push r14 |
1070 097a 3F93 push r19 |
1071 097c 2F93 push r18 |
1072 097e 80E0 ldi r24,lo8(__c.2582) |
1073 0980 90E0 ldi r25,hi8(__c.2582) |
1074 0982 9F93 push r25 |
1075 0984 8F93 push r24 |
1076 0986 BF92 push r11 |
1077 0988 AF92 push r10 |
1078 098a F601 movw r30,r12 |
1079 098c 0995 icall |
1080 098e 8CE3 ldi r24,lo8(60) |
1081 0990 8093 0000 sts DispPtr,r24 |
1082 0994 0091 0000 lds r16,_printf_P |
1083 0998 1091 0000 lds r17,(_printf_P)+1 |
1084 099c E091 0000 lds r30,AnalogOffsetGier |
1085 09a0 F0E0 ldi r31,lo8(0) |
1086 09a2 2091 0000 lds r18,AdNeutralGier |
1087 09a6 3091 0000 lds r19,(AdNeutralGier)+1 |
1088 09aa C901 movw r24,r18 |
1089 09ac 62E0 ldi r22,lo8(2) |
1090 09ae 70E0 ldi r23,hi8(2) |
1091 09b0 0E94 0000 call __divmodhi4 |
1092 09b4 8091 0000 lds r24,AdWertGier |
1093 09b8 9091 0000 lds r25,(AdWertGier)+1 |
1094 09bc 281B sub r18,r24 |
1095 09be 390B sbc r19,r25 |
1096 09c0 FF93 push r31 |
1097 09c2 EF93 push r30 |
1098 09c4 7F93 push r23 |
1099 09c6 6F93 push r22 |
1100 09c8 3F93 push r19 |
1101 09ca 2F93 push r18 |
1102 09cc 80E0 ldi r24,lo8(__c.2584) |
1103 09ce 90E0 ldi r25,hi8(__c.2584) |
1104 09d0 9F93 push r25 |
1105 09d2 8F93 push r24 |
1106 09d4 BF92 push r11 |
1107 09d6 AF92 push r10 |
1108 09d8 F801 movw r30,r16 |
1109 09da 0995 icall |
1110 09dc 4DB7 in r20,__SP_L__ |
1111 09de 5EB7 in r21,__SP_H__ |
1112 09e0 425E subi r20,lo8(-(30)) |
1113 09e2 5F4F sbci r21,hi8(-(30)) |
1114 09e4 00C0 rjmp .L74 |
1115 .L33: |
1116 09e6 1092 0000 sts DispPtr,__zero_reg__ |
1117 09ea 80E0 ldi r24,lo8(__c.2587) |
1118 09ec 90E0 ldi r25,hi8(__c.2587) |
1119 09ee 9F93 push r25 |
1120 09f0 8F93 push r24 |
1121 09f2 FF92 push r15 |
1122 09f4 EF92 push r14 |
1123 09f6 FE01 movw r30,r28 |
1124 09f8 0995 icall |
1125 09fa 84E1 ldi r24,lo8(20) |
1126 09fc 8093 0000 sts DispPtr,r24 |
1127 0a00 E091 0000 lds r30,_printf_P |
1128 0a04 F091 0000 lds r31,(_printf_P)+1 |
1129 0a08 8091 0000 lds r24,NeutralAccX |
1130 0a0c 9091 0000 lds r25,(NeutralAccX)+1 |
1131 0a10 2091 0000 lds r18,AdWertAccNick |
1132 0a14 3091 0000 lds r19,(AdWertAccNick)+1 |
1133 0a18 9F93 push r25 |
1134 0a1a 8F93 push r24 |
1135 0a1c 3F93 push r19 |
1136 0a1e 2F93 push r18 |
1137 0a20 80E0 ldi r24,lo8(__c.2589) |
1138 0a22 90E0 ldi r25,hi8(__c.2589) |
1139 0a24 9F93 push r25 |
1140 0a26 8F93 push r24 |
1141 0a28 FF92 push r15 |
1142 0a2a EF92 push r14 |
1143 0a2c 0995 icall |
1144 0a2e 88E2 ldi r24,lo8(40) |
1145 0a30 8093 0000 sts DispPtr,r24 |
1146 0a34 E091 0000 lds r30,_printf_P |
1147 0a38 F091 0000 lds r31,(_printf_P)+1 |
1148 0a3c 8091 0000 lds r24,NeutralAccY |
1149 0a40 9091 0000 lds r25,(NeutralAccY)+1 |
1150 0a44 2091 0000 lds r18,AdWertAccRoll |
1151 0a48 3091 0000 lds r19,(AdWertAccRoll)+1 |
1152 0a4c 9F93 push r25 |
1153 0a4e 8F93 push r24 |
1154 0a50 3F93 push r19 |
1155 0a52 2F93 push r18 |
1156 0a54 80E0 ldi r24,lo8(__c.2591) |
1157 0a56 90E0 ldi r25,hi8(__c.2591) |
1158 0a58 9F93 push r25 |
1159 0a5a 8F93 push r24 |
1160 0a5c FF92 push r15 |
1161 0a5e EF92 push r14 |
1162 0a60 0995 icall |
1163 0a62 8CE3 ldi r24,lo8(60) |
1164 0a64 8093 0000 sts DispPtr,r24 |
1165 0a68 E091 0000 lds r30,_printf_P |
1166 0a6c F091 0000 lds r31,(_printf_P)+1 |
1167 0a70 8091 0000 lds r24,NeutralAccZ |
1168 0a74 9091 0000 lds r25,(NeutralAccZ)+1 |
1169 0a78 2091 0000 lds r18,AdWertAccHoch |
1170 0a7c 3091 0000 lds r19,(AdWertAccHoch)+1 |
1171 0a80 9F93 push r25 |
1172 0a82 8F93 push r24 |
1173 0a84 3F93 push r19 |
1174 0a86 2F93 push r18 |
1175 0a88 80E0 ldi r24,lo8(__c.2593) |
1176 0a8a 90E0 ldi r25,hi8(__c.2593) |
1177 0a8c 9F93 push r25 |
1178 0a8e 8F93 push r24 |
1179 0a90 FF92 push r15 |
1180 0a92 EF92 push r14 |
1181 0a94 00C0 rjmp .L80 |
1182 .L34: |
1183 0a96 1092 0000 sts DispPtr,__zero_reg__ |
1184 0a9a 8091 0000 lds r24,UBat |
1185 0a9e 9091 0000 lds r25,(UBat)+1 |
1186 0aa2 6AE0 ldi r22,lo8(10) |
1187 0aa4 70E0 ldi r23,hi8(10) |
1188 0aa6 0E94 0000 call __divmodhi4 |
1189 0aaa 9C01 movw r18,r24 |
1190 0aac 8091 0000 lds r24,UBat |
1191 0ab0 9091 0000 lds r25,(UBat)+1 |
1192 0ab4 6AE0 ldi r22,lo8(10) |
1193 0ab6 70E0 ldi r23,hi8(10) |
1194 0ab8 0E94 0000 call __divmodhi4 |
1195 0abc 3F93 push r19 |
1196 0abe 2F93 push r18 |
1197 0ac0 7F93 push r23 |
1198 0ac2 6F93 push r22 |
1199 0ac4 80E0 ldi r24,lo8(__c.2596) |
1200 0ac6 90E0 ldi r25,hi8(__c.2596) |
1201 0ac8 9F93 push r25 |
1202 0aca 8F93 push r24 |
1203 0acc FF92 push r15 |
1204 0ace EF92 push r14 |
1205 0ad0 FE01 movw r30,r28 |
1206 0ad2 0995 icall |
1207 0ad4 84E1 ldi r24,lo8(20) |
1208 0ad6 8093 0000 sts DispPtr,r24 |
1209 0ada 0091 0000 lds r16,_printf_P |
1210 0ade 1091 0000 lds r17,(_printf_P)+1 |
1211 0ae2 2091 0000 lds r18,Capacity |
1212 0ae6 3091 0000 lds r19,(Capacity)+1 |
1213 0aea C901 movw r24,r18 |
1214 0aec 6AE0 ldi r22,lo8(10) |
1215 0aee 70E0 ldi r23,hi8(10) |
1216 0af0 0E94 0000 call __udivmodhi4 |
1217 0af4 FC01 movw r30,r24 |
1218 0af6 C901 movw r24,r18 |
1219 0af8 6AE0 ldi r22,lo8(10) |
1220 0afa 70E0 ldi r23,hi8(10) |
1221 0afc 0E94 0000 call __udivmodhi4 |
1222 0b00 FF93 push r31 |
1223 0b02 EF93 push r30 |
1224 0b04 7F93 push r23 |
1225 0b06 6F93 push r22 |
1226 0b08 80E0 ldi r24,lo8(__c.2598) |
1227 0b0a 90E0 ldi r25,hi8(__c.2598) |
1228 0b0c 9F93 push r25 |
1229 0b0e 8F93 push r24 |
1230 0b10 FF92 push r15 |
1231 0b12 EF92 push r14 |
1232 0b14 F801 movw r30,r16 |
1233 0b16 0995 icall |
1234 0b18 88E2 ldi r24,lo8(40) |
1235 0b1a 8093 0000 sts DispPtr,r24 |
1236 0b1e E091 0000 lds r30,_printf_P |
1237 0b22 F091 0000 lds r31,(_printf_P)+1 |
1238 0b26 8091 0000 lds r24,Capacity+2 |
1239 0b2a 9091 0000 lds r25,(Capacity+2)+1 |
1240 0b2e 9F93 push r25 |
1241 0b30 8F93 push r24 |
1242 0b32 80E0 ldi r24,lo8(__c.2600) |
1243 0b34 90E0 ldi r25,hi8(__c.2600) |
1244 0b36 9F93 push r25 |
1245 0b38 8F93 push r24 |
1246 0b3a FF92 push r15 |
1247 0b3c EF92 push r14 |
1248 0b3e 0995 icall |
1249 0b40 8CE3 ldi r24,lo8(60) |
1250 0b42 8093 0000 sts DispPtr,r24 |
1251 0b46 E091 0000 lds r30,_printf_P |
1252 0b4a F091 0000 lds r31,(_printf_P)+1 |
1253 0b4e 8091 0000 lds r24,Capacity+4 |
1254 0b52 9091 0000 lds r25,(Capacity+4)+1 |
1255 0b56 9F93 push r25 |
1256 0b58 8F93 push r24 |
1257 0b5a 80E0 ldi r24,lo8(__c.2602) |
1258 0b5c 90E0 ldi r25,hi8(__c.2602) |
1259 0b5e 9F93 push r25 |
1260 0b60 8F93 push r24 |
1261 0b62 FF92 push r15 |
1262 0b64 EF92 push r14 |
1263 0b66 0995 icall |
1264 .L79: |
1265 0b68 2DB7 in r18,__SP_L__ |
1266 0b6a 3EB7 in r19,__SP_H__ |
1267 0b6c 245E subi r18,lo8(-(28)) |
1268 0b6e 3F4F sbci r19,hi8(-(28)) |
1269 0b70 00C0 rjmp .L75 |
1270 .L35: |
1271 0b72 1092 0000 sts DispPtr,__zero_reg__ |
1272 0b76 80E0 ldi r24,lo8(__c.2605) |
1273 0b78 90E0 ldi r25,hi8(__c.2605) |
1274 0b7a 9F93 push r25 |
1275 0b7c 8F93 push r24 |
1276 0b7e FF92 push r15 |
1277 0b80 EF92 push r14 |
1278 0b82 FE01 movw r30,r28 |
1279 0b84 0995 icall |
1280 0b86 84E1 ldi r24,lo8(20) |
1281 0b88 8093 0000 sts DispPtr,r24 |
1282 0b8c E091 0000 lds r30,_printf_P |
1283 0b90 F091 0000 lds r31,(_printf_P)+1 |
1284 0b94 8091 0000 lds r24,PPM_in |
1285 0b98 9091 0000 lds r25,(PPM_in)+1 |
1286 0b9c 9F93 push r25 |
1287 0b9e 8F93 push r24 |
1288 0ba0 80E0 ldi r24,lo8(__c.2607) |
1289 0ba2 90E0 ldi r25,hi8(__c.2607) |
1290 0ba4 9F93 push r25 |
1291 0ba6 8F93 push r24 |
1292 0ba8 FF92 push r15 |
1293 0baa EF92 push r14 |
1294 0bac 0995 icall |
1295 0bae 88E2 ldi r24,lo8(40) |
1296 0bb0 8093 0000 sts DispPtr,r24 |
1297 0bb4 E091 0000 lds r30,_printf_P |
1298 0bb8 F091 0000 lds r31,(_printf_P)+1 |
1299 0bbc 8091 0000 lds r24,SenderOkay |
1300 0bc0 90E0 ldi r25,lo8(0) |
1301 0bc2 9F93 push r25 |
1302 0bc4 8F93 push r24 |
1303 0bc6 80E0 ldi r24,lo8(__c.2609) |
1304 0bc8 90E0 ldi r25,hi8(__c.2609) |
1305 0bca 9F93 push r25 |
1306 0bcc 8F93 push r24 |
1307 0bce FF92 push r15 |
1308 0bd0 EF92 push r14 |
1309 0bd2 0995 icall |
1310 0bd4 8CE3 ldi r24,lo8(60) |
1311 0bd6 8093 0000 sts DispPtr,r24 |
1312 0bda E091 0000 lds r30,_printf_P |
1313 0bde F091 0000 lds r31,(_printf_P)+1 |
1314 0be2 8091 0000 lds r24,Channels |
1315 0be6 90E0 ldi r25,lo8(0) |
1316 0be8 0197 sbiw r24,1 |
1317 0bea 9F93 push r25 |
1318 0bec 8F93 push r24 |
1319 0bee 80E0 ldi r24,lo8(__c.2611) |
1320 0bf0 90E0 ldi r25,hi8(__c.2611) |
1321 0bf2 9F93 push r25 |
1322 0bf4 8F93 push r24 |
1323 0bf6 FF92 push r15 |
1324 0bf8 EF92 push r14 |
1325 0bfa 0995 icall |
1326 0bfc 4DB7 in r20,__SP_L__ |
1327 0bfe 5EB7 in r21,__SP_H__ |
1328 0c00 4A5E subi r20,lo8(-(22)) |
1329 0c02 5F4F sbci r21,hi8(-(22)) |
1330 0c04 00C0 rjmp .L74 |
1331 .L36: |
1332 0c06 1092 0000 sts DispPtr,__zero_reg__ |
1333 0c0a 80E0 ldi r24,lo8(__c.2614) |
1334 0c0c 90E0 ldi r25,hi8(__c.2614) |
1335 0c0e 9F93 push r25 |
1336 0c10 8F93 push r24 |
1337 0c12 FF92 push r15 |
1338 0c14 EF92 push r14 |
1339 0c16 FE01 movw r30,r28 |
1340 0c18 0995 icall |
1341 0c1a 84E1 ldi r24,lo8(20) |
1342 0c1c 8093 0000 sts DispPtr,r24 |
1343 0c20 E091 0000 lds r30,_printf_P |
1344 0c24 F091 0000 lds r31,(_printf_P)+1 |
1345 0c28 8091 0000 lds r24,KompassRichtung |
1346 0c2c 9091 0000 lds r25,(KompassRichtung)+1 |
1347 0c30 9F93 push r25 |
1348 0c32 8F93 push r24 |
1349 0c34 80E0 ldi r24,lo8(__c.2616) |
1350 0c36 90E0 ldi r25,hi8(__c.2616) |
1351 0c38 9F93 push r25 |
1352 0c3a 8F93 push r24 |
1353 0c3c FF92 push r15 |
1354 0c3e EF92 push r14 |
1355 0c40 0995 icall |
1356 0c42 88E2 ldi r24,lo8(40) |
1357 0c44 8093 0000 sts DispPtr,r24 |
1358 0c48 E091 0000 lds r30,_printf_P |
1359 0c4c F091 0000 lds r31,(_printf_P)+1 |
1360 0c50 8091 0000 lds r24,KompassValue |
1361 0c54 9091 0000 lds r25,(KompassValue)+1 |
1362 0c58 9F93 push r25 |
1363 0c5a 8F93 push r24 |
1364 0c5c 80E0 ldi r24,lo8(__c.2618) |
1365 0c5e 90E0 ldi r25,hi8(__c.2618) |
1366 0c60 9F93 push r25 |
1367 0c62 8F93 push r24 |
1368 0c64 FF92 push r15 |
1369 0c66 EF92 push r14 |
1370 0c68 0995 icall |
1371 0c6a 8CE3 ldi r24,lo8(60) |
1372 0c6c 8093 0000 sts DispPtr,r24 |
1373 0c70 E091 0000 lds r30,_printf_P |
1374 0c74 F091 0000 lds r31,(_printf_P)+1 |
1375 0c78 8091 0000 lds r24,KompassStartwert |
1376 0c7c 9091 0000 lds r25,(KompassStartwert)+1 |
1377 0c80 9F93 push r25 |
1378 0c82 8F93 push r24 |
1379 0c84 80E0 ldi r24,lo8(__c.2620) |
1380 0c86 90E0 ldi r25,hi8(__c.2620) |
1381 0c88 9F93 push r25 |
1382 0c8a 8F93 push r24 |
1383 0c8c FF92 push r15 |
1384 0c8e EF92 push r14 |
1385 0c90 0995 icall |
1386 0c92 8DB7 in r24,__SP_L__ |
1387 0c94 9EB7 in r25,__SP_H__ |
1388 0c96 4696 adiw r24,22 |
1389 0c98 00C0 rjmp .L76 |
1390 .L37: |
1391 0c9a 1092 0000 sts DispPtr,__zero_reg__ |
1392 0c9e 8091 0000 lds r24,Poti |
1393 0ca2 90E0 ldi r25,lo8(0) |
1394 0ca4 9F93 push r25 |
1395 0ca6 8F93 push r24 |
1396 0ca8 80E0 ldi r24,lo8(__c.2623) |
1397 0caa 90E0 ldi r25,hi8(__c.2623) |
1398 0cac 9F93 push r25 |
1399 0cae 8F93 push r24 |
1400 0cb0 FF92 push r15 |
1401 0cb2 EF92 push r14 |
1402 0cb4 FE01 movw r30,r28 |
1403 0cb6 0995 icall |
1404 0cb8 84E1 ldi r24,lo8(20) |
1405 0cba 8093 0000 sts DispPtr,r24 |
1406 0cbe E091 0000 lds r30,_printf_P |
1407 0cc2 F091 0000 lds r31,(_printf_P)+1 |
1408 0cc6 8091 0000 lds r24,Poti+1 |
1409 0cca 90E0 ldi r25,lo8(0) |
1410 0ccc 9F93 push r25 |
1411 0cce 8F93 push r24 |
1412 0cd0 80E0 ldi r24,lo8(__c.2625) |
1413 0cd2 90E0 ldi r25,hi8(__c.2625) |
1414 0cd4 9F93 push r25 |
1415 0cd6 8F93 push r24 |
1416 0cd8 FF92 push r15 |
1417 0cda EF92 push r14 |
1418 0cdc 0995 icall |
1419 0cde 88E2 ldi r24,lo8(40) |
1420 0ce0 8093 0000 sts DispPtr,r24 |
1421 0ce4 E091 0000 lds r30,_printf_P |
1422 0ce8 F091 0000 lds r31,(_printf_P)+1 |
1423 0cec 8091 0000 lds r24,Poti+2 |
1424 0cf0 90E0 ldi r25,lo8(0) |
1425 0cf2 9F93 push r25 |
1426 0cf4 8F93 push r24 |
1427 0cf6 80E0 ldi r24,lo8(__c.2627) |
1428 0cf8 90E0 ldi r25,hi8(__c.2627) |
1429 0cfa 9F93 push r25 |
1430 0cfc 8F93 push r24 |
1431 0cfe FF92 push r15 |
1432 0d00 EF92 push r14 |
1433 0d02 0995 icall |
1434 0d04 8CE3 ldi r24,lo8(60) |
1435 0d06 8093 0000 sts DispPtr,r24 |
1436 0d0a E091 0000 lds r30,_printf_P |
1437 0d0e F091 0000 lds r31,(_printf_P)+1 |
1438 0d12 8091 0000 lds r24,Poti+3 |
1439 0d16 90E0 ldi r25,lo8(0) |
1440 0d18 9F93 push r25 |
1441 0d1a 8F93 push r24 |
1442 0d1c 80E0 ldi r24,lo8(__c.2629) |
1443 0d1e 90E0 ldi r25,hi8(__c.2629) |
1444 .L78: |
1445 0d20 9F93 push r25 |
1446 0d22 8F93 push r24 |
1447 0d24 FF92 push r15 |
1448 0d26 EF92 push r14 |
1449 0d28 0995 icall |
1450 0d2a 2DB7 in r18,__SP_L__ |
1451 0d2c 3EB7 in r19,__SP_H__ |
1452 0d2e 285E subi r18,lo8(-(24)) |
1453 0d30 3F4F sbci r19,hi8(-(24)) |
1454 0d32 00C0 rjmp .L75 |
1455 .L38: |
1456 0d34 1092 0000 sts DispPtr,__zero_reg__ |
1457 0d38 8091 0000 lds r24,Poti+4 |
1458 0d3c 90E0 ldi r25,lo8(0) |
1459 0d3e 9F93 push r25 |
1460 0d40 8F93 push r24 |
1461 0d42 80E0 ldi r24,lo8(__c.2632) |
1462 0d44 90E0 ldi r25,hi8(__c.2632) |
1463 0d46 9F93 push r25 |
1464 0d48 8F93 push r24 |
1465 0d4a FF92 push r15 |
1466 0d4c EF92 push r14 |
1467 0d4e FE01 movw r30,r28 |
1468 0d50 0995 icall |
1469 0d52 84E1 ldi r24,lo8(20) |
1470 0d54 8093 0000 sts DispPtr,r24 |
1471 0d58 E091 0000 lds r30,_printf_P |
1472 0d5c F091 0000 lds r31,(_printf_P)+1 |
1473 0d60 8091 0000 lds r24,Poti+5 |
1474 0d64 90E0 ldi r25,lo8(0) |
1475 0d66 9F93 push r25 |
1476 0d68 8F93 push r24 |
1477 0d6a 80E0 ldi r24,lo8(__c.2634) |
1478 0d6c 90E0 ldi r25,hi8(__c.2634) |
1479 0d6e 9F93 push r25 |
1480 0d70 8F93 push r24 |
1481 0d72 FF92 push r15 |
1482 0d74 EF92 push r14 |
1483 0d76 0995 icall |
1484 0d78 88E2 ldi r24,lo8(40) |
1485 0d7a 8093 0000 sts DispPtr,r24 |
1486 0d7e E091 0000 lds r30,_printf_P |
1487 0d82 F091 0000 lds r31,(_printf_P)+1 |
1488 0d86 8091 0000 lds r24,Poti+6 |
1489 0d8a 90E0 ldi r25,lo8(0) |
1490 0d8c 9F93 push r25 |
1491 0d8e 8F93 push r24 |
1492 0d90 80E0 ldi r24,lo8(__c.2636) |
1493 0d92 90E0 ldi r25,hi8(__c.2636) |
1494 0d94 9F93 push r25 |
1495 0d96 8F93 push r24 |
1496 0d98 FF92 push r15 |
1497 0d9a EF92 push r14 |
1498 0d9c 0995 icall |
1499 0d9e 8CE3 ldi r24,lo8(60) |
1500 0da0 8093 0000 sts DispPtr,r24 |
1501 0da4 E091 0000 lds r30,_printf_P |
1502 0da8 F091 0000 lds r31,(_printf_P)+1 |
1503 0dac 8091 0000 lds r24,Poti+7 |
1504 0db0 90E0 ldi r25,lo8(0) |
1505 0db2 9F93 push r25 |
1506 0db4 8F93 push r24 |
1507 0db6 80E0 ldi r24,lo8(__c.2638) |
1508 0db8 90E0 ldi r25,hi8(__c.2638) |
1509 0dba 9F93 push r25 |
1510 0dbc 8F93 push r24 |
1511 0dbe FF92 push r15 |
1512 0dc0 EF92 push r14 |
1513 0dc2 0995 icall |
1514 0dc4 4DB7 in r20,__SP_L__ |
1515 0dc6 5EB7 in r21,__SP_H__ |
1516 0dc8 485E subi r20,lo8(-(24)) |
1517 0dca 5F4F sbci r21,hi8(-(24)) |
1518 0dcc 00C0 rjmp .L74 |
1519 .L39: |
1520 0dce 1092 0000 sts DispPtr,__zero_reg__ |
1521 0dd2 80E0 ldi r24,lo8(__c.2641) |
1522 0dd4 90E0 ldi r25,hi8(__c.2641) |
1523 0dd6 9F93 push r25 |
1524 0dd8 8F93 push r24 |
1525 0dda FF92 push r15 |
1526 0ddc EF92 push r14 |
1527 0dde FE01 movw r30,r28 |
1528 0de0 0995 icall |
1529 0de2 84E1 ldi r24,lo8(20) |
1530 0de4 8093 0000 sts DispPtr,r24 |
1531 0de8 E091 0000 lds r30,_printf_P |
1532 0dec F091 0000 lds r31,(_printf_P)+1 |
1533 0df0 8091 0000 lds r24,Parameter_ServoNickControl |
1534 0df4 90E0 ldi r25,lo8(0) |
1535 0df6 9F93 push r25 |
1536 0df8 8F93 push r24 |
1537 0dfa 80E0 ldi r24,lo8(__c.2643) |
1538 0dfc 90E0 ldi r25,hi8(__c.2643) |
1539 0dfe 9F93 push r25 |
1540 0e00 8F93 push r24 |
1541 0e02 FF92 push r15 |
1542 0e04 EF92 push r14 |
1543 0e06 0995 icall |
1544 0e08 88E2 ldi r24,lo8(40) |
1545 0e0a 8093 0000 sts DispPtr,r24 |
1546 0e0e E091 0000 lds r30,_printf_P |
1547 0e12 F091 0000 lds r31,(_printf_P)+1 |
1548 0e16 8091 0000 lds r24,ServoNickValue |
1549 0e1a 9091 0000 lds r25,(ServoNickValue)+1 |
1550 0e1e 64E0 ldi r22,lo8(4) |
1551 0e20 70E0 ldi r23,hi8(4) |
1552 0e22 0E94 0000 call __divmodhi4 |
1553 0e26 7F93 push r23 |
1554 0e28 6F93 push r22 |
1555 0e2a 80E0 ldi r24,lo8(__c.2645) |
1556 0e2c 90E0 ldi r25,hi8(__c.2645) |
1557 0e2e 9F93 push r25 |
1558 0e30 8F93 push r24 |
1559 0e32 FF92 push r15 |
1560 0e34 EF92 push r14 |
1561 0e36 0995 icall |
1562 0e38 8CE3 ldi r24,lo8(60) |
1563 0e3a 8093 0000 sts DispPtr,r24 |
1564 0e3e E091 0000 lds r30,_printf_P |
1565 0e42 F091 0000 lds r31,(_printf_P)+1 |
1566 0e46 2091 0000 lds r18,EE_Parameter+48 |
1567 0e4a 30E0 ldi r19,lo8(0) |
1568 0e4c 8091 0000 lds r24,EE_Parameter+47 |
1569 0e50 90E0 ldi r25,lo8(0) |
1570 0e52 3F93 push r19 |
1571 0e54 2F93 push r18 |
1572 0e56 9F93 push r25 |
1573 0e58 8F93 push r24 |
1574 0e5a 80E0 ldi r24,lo8(__c.2647) |
1575 0e5c 90E0 ldi r25,hi8(__c.2647) |
1576 0e5e 9F93 push r25 |
1577 0e60 8F93 push r24 |
1578 0e62 FF92 push r15 |
1579 0e64 EF92 push r14 |
1580 0e66 0995 icall |
1581 0e68 8DB7 in r24,__SP_L__ |
1582 0e6a 9EB7 in r25,__SP_H__ |
1583 0e6c 4896 adiw r24,24 |
1584 0e6e 00C0 rjmp .L76 |
1585 .L40: |
1586 0e70 1092 0000 sts DispPtr,__zero_reg__ |
1587 0e74 80E0 ldi r24,lo8(__c.2650) |
1588 0e76 90E0 ldi r25,hi8(__c.2650) |
1589 0e78 9F93 push r25 |
1590 0e7a 8F93 push r24 |
1591 0e7c FF92 push r15 |
1592 0e7e EF92 push r14 |
1593 0e80 FE01 movw r30,r28 |
1594 0e82 0995 icall |
1595 0e84 84E1 ldi r24,lo8(20) |
1596 0e86 8093 0000 sts DispPtr,r24 |
1597 0e8a E091 0000 lds r30,_printf_P |
1598 0e8e F091 0000 lds r31,(_printf_P)+1 |
1599 0e92 2091 0000 lds r18,ExternControl+4 |
1600 0e96 3327 clr r19 |
1601 0e98 27FD sbrc r18,7 |
1602 0e9a 3095 com r19 |
1603 0e9c 8091 0000 lds r24,ExternControl+3 |
1604 0ea0 9927 clr r25 |
1605 0ea2 87FD sbrc r24,7 |
1606 0ea4 9095 com r25 |
1607 0ea6 3F93 push r19 |
1608 0ea8 2F93 push r18 |
1609 0eaa 9F93 push r25 |
1610 0eac 8F93 push r24 |
1611 0eae 80E0 ldi r24,lo8(__c.2652) |
1612 0eb0 90E0 ldi r25,hi8(__c.2652) |
1613 0eb2 9F93 push r25 |
1614 0eb4 8F93 push r24 |
1615 0eb6 FF92 push r15 |
1616 0eb8 EF92 push r14 |
1617 0eba 0995 icall |
1618 0ebc 88E2 ldi r24,lo8(40) |
1619 0ebe 8093 0000 sts DispPtr,r24 |
1620 0ec2 E091 0000 lds r30,_printf_P |
1621 0ec6 F091 0000 lds r31,(_printf_P)+1 |
1622 0eca 2091 0000 lds r18,ExternControl+5 |
1623 0ece 3327 clr r19 |
1624 0ed0 27FD sbrc r18,7 |
1625 0ed2 3095 com r19 |
1626 0ed4 8091 0000 lds r24,ExternControl+6 |
1627 0ed8 90E0 ldi r25,lo8(0) |
1628 0eda 3F93 push r19 |
1629 0edc 2F93 push r18 |
1630 0ede 9F93 push r25 |
1631 0ee0 8F93 push r24 |
1632 0ee2 80E0 ldi r24,lo8(__c.2654) |
1633 0ee4 90E0 ldi r25,hi8(__c.2654) |
1634 0ee6 9F93 push r25 |
1635 0ee8 8F93 push r24 |
1636 0eea FF92 push r15 |
1637 0eec EF92 push r14 |
1638 0eee 0995 icall |
1639 0ef0 8CE3 ldi r24,lo8(60) |
1640 0ef2 8093 0000 sts DispPtr,r24 |
1641 0ef6 E091 0000 lds r30,_printf_P |
1642 0efa F091 0000 lds r31,(_printf_P)+1 |
1643 0efe 2091 0000 lds r18,ExternControl+10 |
1644 0f02 30E0 ldi r19,lo8(0) |
1645 0f04 8091 0000 lds r24,ExternControl+7 |
1646 0f08 9927 clr r25 |
1647 0f0a 87FD sbrc r24,7 |
1648 0f0c 9095 com r25 |
1649 0f0e 3F93 push r19 |
1650 0f10 2F93 push r18 |
1651 0f12 9F93 push r25 |
1652 0f14 8F93 push r24 |
1653 0f16 80E0 ldi r24,lo8(__c.2656) |
1654 0f18 90E0 ldi r25,hi8(__c.2656) |
1655 0f1a 9F93 push r25 |
1656 0f1c 8F93 push r24 |
1657 0f1e FF92 push r15 |
1658 0f20 EF92 push r14 |
1659 .L81: |
1660 0f22 0995 icall |
1661 0f24 00C0 rjmp .L79 |
1662 .L41: |
1663 0f26 1092 0000 sts DispPtr,__zero_reg__ |
1664 0f2a 80E0 ldi r24,lo8(__c.2659) |
1665 0f2c 90E0 ldi r25,hi8(__c.2659) |
1666 0f2e 9F93 push r25 |
1667 0f30 8F93 push r24 |
1668 0f32 FF92 push r15 |
1669 0f34 EF92 push r14 |
1670 0f36 FE01 movw r30,r28 |
1671 0f38 0995 icall |
1672 0f3a 84E1 ldi r24,lo8(20) |
1673 0f3c 8093 0000 sts DispPtr,r24 |
1674 0f40 E091 0000 lds r30,_printf_P |
1675 0f44 F091 0000 lds r31,(_printf_P)+1 |
1676 0f48 6091 0000 lds r22,Motor+27 |
1677 0f4c 70E0 ldi r23,lo8(0) |
1678 0f4e 6F77 andi r22,lo8(127) |
1679 0f50 7070 andi r23,hi8(127) |
1680 0f52 4091 0000 lds r20,Motor+19 |
1681 0f56 50E0 ldi r21,lo8(0) |
1682 0f58 4F77 andi r20,lo8(127) |
1683 0f5a 5070 andi r21,hi8(127) |
1684 0f5c 2091 0000 lds r18,Motor+11 |
1685 0f60 30E0 ldi r19,lo8(0) |
1686 0f62 2F77 andi r18,lo8(127) |
1687 0f64 3070 andi r19,hi8(127) |
1688 0f66 8091 0000 lds r24,Motor+3 |
1689 0f6a 90E0 ldi r25,lo8(0) |
1690 0f6c 8F77 andi r24,lo8(127) |
1691 0f6e 9070 andi r25,hi8(127) |
1692 0f70 7F93 push r23 |
1693 0f72 6F93 push r22 |
1694 0f74 5F93 push r21 |
1695 0f76 4F93 push r20 |
1696 0f78 3F93 push r19 |
1697 0f7a 2F93 push r18 |
1698 0f7c 9F93 push r25 |
1699 0f7e 8F93 push r24 |
1700 0f80 80E0 ldi r24,lo8(__c.2661) |
1701 0f82 90E0 ldi r25,hi8(__c.2661) |
1702 0f84 9F93 push r25 |
1703 0f86 8F93 push r24 |
1704 0f88 FF92 push r15 |
1705 0f8a EF92 push r14 |
1706 0f8c 0995 icall |
1707 0f8e 88E2 ldi r24,lo8(40) |
1708 0f90 8093 0000 sts DispPtr,r24 |
1709 0f94 E091 0000 lds r30,_printf_P |
1710 0f98 F091 0000 lds r31,(_printf_P)+1 |
1711 0f9c 6091 0000 lds r22,Motor+59 |
1712 0fa0 70E0 ldi r23,lo8(0) |
1713 0fa2 6F77 andi r22,lo8(127) |
1714 0fa4 7070 andi r23,hi8(127) |
1715 0fa6 4091 0000 lds r20,Motor+51 |
1716 0faa 50E0 ldi r21,lo8(0) |
1717 0fac 4F77 andi r20,lo8(127) |
1718 0fae 5070 andi r21,hi8(127) |
1719 0fb0 2091 0000 lds r18,Motor+43 |
1720 0fb4 30E0 ldi r19,lo8(0) |
1721 0fb6 2F77 andi r18,lo8(127) |
1722 0fb8 3070 andi r19,hi8(127) |
1723 0fba 8091 0000 lds r24,Motor+35 |
1724 0fbe 90E0 ldi r25,lo8(0) |
1725 0fc0 8F77 andi r24,lo8(127) |
1726 0fc2 9070 andi r25,hi8(127) |
1727 0fc4 7F93 push r23 |
1728 0fc6 6F93 push r22 |
1729 0fc8 5F93 push r21 |
1730 0fca 4F93 push r20 |
1731 0fcc 3F93 push r19 |
1732 0fce 2F93 push r18 |
1733 0fd0 9F93 push r25 |
1734 0fd2 8F93 push r24 |
1735 0fd4 80E0 ldi r24,lo8(__c.2663) |
1736 0fd6 90E0 ldi r25,hi8(__c.2663) |
1737 0fd8 9F93 push r25 |
1738 0fda 8F93 push r24 |
1739 0fdc FF92 push r15 |
1740 0fde EF92 push r14 |
1741 0fe0 0995 icall |
1742 0fe2 8CE3 ldi r24,lo8(60) |
1743 0fe4 8093 0000 sts DispPtr,r24 |
1744 0fe8 E091 0000 lds r30,_printf_P |
1745 0fec F091 0000 lds r31,(_printf_P)+1 |
1746 0ff0 6091 0000 lds r22,Motor+91 |
1747 0ff4 70E0 ldi r23,lo8(0) |
1748 0ff6 6F77 andi r22,lo8(127) |
1749 0ff8 7070 andi r23,hi8(127) |
1750 0ffa 4091 0000 lds r20,Motor+83 |
1751 0ffe 50E0 ldi r21,lo8(0) |
1752 1000 4F77 andi r20,lo8(127) |
1753 1002 5070 andi r21,hi8(127) |
1754 1004 2091 0000 lds r18,Motor+75 |
1755 1008 30E0 ldi r19,lo8(0) |
1756 100a 2F77 andi r18,lo8(127) |
1757 100c 3070 andi r19,hi8(127) |
1758 100e 8091 0000 lds r24,Motor+67 |
1759 1012 90E0 ldi r25,lo8(0) |
1760 1014 8F77 andi r24,lo8(127) |
1761 1016 9070 andi r25,hi8(127) |
1762 1018 7F93 push r23 |
1763 101a 6F93 push r22 |
1764 101c 5F93 push r21 |
1765 101e 4F93 push r20 |
1766 1020 3F93 push r19 |
1767 1022 2F93 push r18 |
1768 1024 9F93 push r25 |
1769 1026 8F93 push r24 |
1770 1028 80E0 ldi r24,lo8(__c.2665) |
1771 102a 90E0 ldi r25,hi8(__c.2665) |
1772 102c 9F93 push r25 |
1773 102e 8F93 push r24 |
1774 1030 FF92 push r15 |
1775 1032 EF92 push r14 |
1776 1034 0995 icall |
1777 1036 4DB7 in r20,__SP_L__ |
1778 1038 5EB7 in r21,__SP_H__ |
1779 103a 485D subi r20,lo8(-(40)) |
1780 103c 5F4F sbci r21,hi8(-(40)) |
1781 103e 00C0 rjmp .L74 |
1782 .L42: |
1783 1040 1092 0000 sts DispPtr,__zero_reg__ |
1784 1044 80E0 ldi r24,lo8(__c.2668) |
1785 1046 90E0 ldi r25,hi8(__c.2668) |
1786 1048 9F93 push r25 |
1787 104a 8F93 push r24 |
1788 104c FF92 push r15 |
1789 104e EF92 push r14 |
1790 1050 FE01 movw r30,r28 |
1791 1052 0995 icall |
1792 1054 84E1 ldi r24,lo8(20) |
1793 1056 8093 0000 sts DispPtr,r24 |
1794 105a E091 0000 lds r30,_printf_P |
1795 105e F091 0000 lds r31,(_printf_P)+1 |
1796 1062 6091 0000 lds r22,Motor+31 |
1797 1066 7727 clr r23 |
1798 1068 67FD sbrc r22,7 |
1799 106a 7095 com r23 |
1800 106c 4091 0000 lds r20,Motor+23 |
1801 1070 5527 clr r21 |
1802 1072 47FD sbrc r20,7 |
1803 1074 5095 com r21 |
1804 1076 2091 0000 lds r18,Motor+15 |
1805 107a 3327 clr r19 |
1806 107c 27FD sbrc r18,7 |
1807 107e 3095 com r19 |
1808 1080 8091 0000 lds r24,Motor+7 |
1809 1084 9927 clr r25 |
1810 1086 87FD sbrc r24,7 |
1811 1088 9095 com r25 |
1812 108a 7F93 push r23 |
1813 108c 6F93 push r22 |
1814 108e 5F93 push r21 |
1815 1090 4F93 push r20 |
1816 1092 3F93 push r19 |
1817 1094 2F93 push r18 |
1818 1096 9F93 push r25 |
1819 1098 8F93 push r24 |
1820 109a 80E0 ldi r24,lo8(__c.2670) |
1821 109c 90E0 ldi r25,hi8(__c.2670) |
1822 109e 9F93 push r25 |
1823 10a0 8F93 push r24 |
1824 10a2 FF92 push r15 |
1825 10a4 EF92 push r14 |
1826 10a6 0995 icall |
1827 10a8 88E2 ldi r24,lo8(40) |
1828 10aa 8093 0000 sts DispPtr,r24 |
1829 10ae E091 0000 lds r30,_printf_P |
1830 10b2 F091 0000 lds r31,(_printf_P)+1 |
1831 10b6 6091 0000 lds r22,Motor+63 |
1832 10ba 7727 clr r23 |
1833 10bc 67FD sbrc r22,7 |
1834 10be 7095 com r23 |
1835 10c0 4091 0000 lds r20,Motor+55 |
1836 10c4 5527 clr r21 |
1837 10c6 47FD sbrc r20,7 |
1838 10c8 5095 com r21 |
1839 10ca 2091 0000 lds r18,Motor+47 |
1840 10ce 3327 clr r19 |
1841 10d0 27FD sbrc r18,7 |
1842 10d2 3095 com r19 |
1843 10d4 8091 0000 lds r24,Motor+39 |
1844 10d8 9927 clr r25 |
1845 10da 87FD sbrc r24,7 |
1846 10dc 9095 com r25 |
1847 10de 7F93 push r23 |
1848 10e0 6F93 push r22 |
1849 10e2 5F93 push r21 |
1850 10e4 4F93 push r20 |
1851 10e6 3F93 push r19 |
1852 10e8 2F93 push r18 |
1853 10ea 9F93 push r25 |
1854 10ec 8F93 push r24 |
1855 10ee 80E0 ldi r24,lo8(__c.2672) |
1856 10f0 90E0 ldi r25,hi8(__c.2672) |
1857 10f2 9F93 push r25 |
1858 10f4 8F93 push r24 |
1859 10f6 FF92 push r15 |
1860 10f8 EF92 push r14 |
1861 10fa 0995 icall |
1862 10fc 8CE3 ldi r24,lo8(60) |
1863 10fe 8093 0000 sts DispPtr,r24 |
1864 1102 E091 0000 lds r30,_printf_P |
1865 1106 F091 0000 lds r31,(_printf_P)+1 |
1866 110a 6091 0000 lds r22,Motor+95 |
1867 110e 7727 clr r23 |
1868 1110 67FD sbrc r22,7 |
1869 1112 7095 com r23 |
1870 1114 4091 0000 lds r20,Motor+87 |
1871 1118 5527 clr r21 |
1872 111a 47FD sbrc r20,7 |
1873 111c 5095 com r21 |
1874 111e 2091 0000 lds r18,Motor+79 |
1875 1122 3327 clr r19 |
1876 1124 27FD sbrc r18,7 |
1877 1126 3095 com r19 |
1878 1128 8091 0000 lds r24,Motor+71 |
1879 112c 9927 clr r25 |
1880 112e 87FD sbrc r24,7 |
1881 1130 9095 com r25 |
1882 1132 7F93 push r23 |
1883 1134 6F93 push r22 |
1884 1136 5F93 push r21 |
1885 1138 4F93 push r20 |
1886 113a 3F93 push r19 |
1887 113c 2F93 push r18 |
1888 113e 9F93 push r25 |
1889 1140 8F93 push r24 |
1890 1142 80E0 ldi r24,lo8(__c.2674) |
1891 1144 90E0 ldi r25,hi8(__c.2674) |
1892 1146 9F93 push r25 |
1893 1148 8F93 push r24 |
1894 114a FF92 push r15 |
1895 114c EF92 push r14 |
1896 114e 0995 icall |
1897 1150 8DB7 in r24,__SP_L__ |
1898 1152 9EB7 in r25,__SP_H__ |
1899 1154 8896 adiw r24,40 |
1900 1156 00C0 rjmp .L76 |
1901 .L43: |
1902 1158 1092 0000 sts DispPtr,__zero_reg__ |
1903 115c 80E0 ldi r24,lo8(__c.2677) |
1904 115e 90E0 ldi r25,hi8(__c.2677) |
1905 1160 9F93 push r25 |
1906 1162 8F93 push r24 |
1907 1164 00E0 ldi r16,lo8(gs(Menu_Putchar)) |
1908 1166 10E0 ldi r17,hi8(gs(Menu_Putchar)) |
1909 1168 FF92 push r15 |
1910 116a EF92 push r14 |
1911 116c FE01 movw r30,r28 |
1912 116e 0995 icall |
1913 1170 84E1 ldi r24,lo8(20) |
1914 1172 8093 0000 sts DispPtr,r24 |
1915 1176 E091 0000 lds r30,_printf_P |
1916 117a F091 0000 lds r31,(_printf_P)+1 |
1917 117e 6091 0000 lds r22,Motor+27 |
1918 1182 661F rol r22 |
1919 1184 6627 clr r22 |
1920 1186 661F rol r22 |
1921 1188 87E0 ldi r24,lo8(7) |
1922 118a 689F mul r22,r24 |
1923 118c B001 movw r22,r0 |
1924 118e 1124 clr r1 |
1925 1190 635D subi r22,lo8(-(45)) |
1926 1192 7F4F sbci r23,hi8(-(45)) |
1927 1194 4091 0000 lds r20,Motor+19 |
1928 1198 441F rol r20 |
1929 119a 4427 clr r20 |
1930 119c 441F rol r20 |
1931 119e 86E0 ldi r24,lo8(6) |
1932 11a0 489F mul r20,r24 |
1933 11a2 A001 movw r20,r0 |
1934 11a4 1124 clr r1 |
1935 11a6 435D subi r20,lo8(-(45)) |
1936 11a8 5F4F sbci r21,hi8(-(45)) |
1937 11aa 2091 0000 lds r18,Motor+11 |
1938 11ae 221F rol r18 |
1939 11b0 2227 clr r18 |
1940 11b2 221F rol r18 |
1941 11b4 85E0 ldi r24,lo8(5) |
1942 11b6 289F mul r18,r24 |
1943 11b8 9001 movw r18,r0 |
1944 11ba 1124 clr r1 |
1945 11bc 235D subi r18,lo8(-(45)) |
1946 11be 3F4F sbci r19,hi8(-(45)) |
1947 11c0 8091 0000 lds r24,Motor+3 |
1948 11c4 881F rol r24 |
1949 11c6 8827 clr r24 |
1950 11c8 881F rol r24 |
1951 11ca 90E0 ldi r25,lo8(0) |
1952 11cc 880F lsl r24 |
1953 11ce 991F rol r25 |
1954 11d0 880F lsl r24 |
1955 11d2 991F rol r25 |
1956 11d4 8D96 adiw r24,45 |
1957 11d6 7F93 push r23 |
1958 11d8 6F93 push r22 |
1959 11da 5F93 push r21 |
1960 11dc 4F93 push r20 |
1961 11de 3F93 push r19 |
1962 11e0 2F93 push r18 |
1963 11e2 9F93 push r25 |
1964 11e4 8F93 push r24 |
1965 11e6 80E0 ldi r24,lo8(__c.2679) |
1966 11e8 90E0 ldi r25,hi8(__c.2679) |
1967 11ea 9F93 push r25 |
1968 11ec 8F93 push r24 |
1969 11ee FF92 push r15 |
1970 11f0 EF92 push r14 |
1971 11f2 0995 icall |
1972 11f4 88E2 ldi r24,lo8(40) |
1973 11f6 8093 0000 sts DispPtr,r24 |
1974 11fa E091 0000 lds r30,_printf_P |
1975 11fe F091 0000 lds r31,(_printf_P)+1 |
1976 1202 6091 0000 lds r22,Motor+59 |
1977 1206 661F rol r22 |
1978 1208 6627 clr r22 |
1979 120a 661F rol r22 |
1980 120c 8BE0 ldi r24,lo8(11) |
1981 120e 689F mul r22,r24 |
1982 1210 B001 movw r22,r0 |
1983 1212 1124 clr r1 |
1984 1214 635D subi r22,lo8(-(45)) |
1985 1216 7F4F sbci r23,hi8(-(45)) |
1986 1218 4091 0000 lds r20,Motor+51 |
1987 121c 441F rol r20 |
1988 121e 4427 clr r20 |
1989 1220 441F rol r20 |
1990 1222 8AE0 ldi r24,lo8(10) |
1991 1224 489F mul r20,r24 |
1992 1226 A001 movw r20,r0 |
1993 1228 1124 clr r1 |
1994 122a 435D subi r20,lo8(-(45)) |
1995 122c 5F4F sbci r21,hi8(-(45)) |
1996 122e 2091 0000 lds r18,Motor+43 |
1997 1232 221F rol r18 |
1998 1234 2227 clr r18 |
1999 1236 221F rol r18 |
2000 1238 89E0 ldi r24,lo8(9) |
2001 123a 289F mul r18,r24 |
2002 123c 9001 movw r18,r0 |
2003 123e 1124 clr r1 |
2004 1240 235D subi r18,lo8(-(45)) |
2005 1242 3F4F sbci r19,hi8(-(45)) |
2006 1244 8091 0000 lds r24,Motor+35 |
2007 1248 881F rol r24 |
2008 124a 8827 clr r24 |
2009 124c 881F rol r24 |
2010 124e 90E0 ldi r25,lo8(0) |
2011 1250 A3E0 ldi r26,3 |
2012 1252 880F 1: lsl r24 |
2013 1254 991F rol r25 |
2014 1256 AA95 dec r26 |
2015 1258 01F4 brne 1b |
2016 125a 8D96 adiw r24,45 |
2017 125c 7F93 push r23 |
2018 125e 6F93 push r22 |
2019 1260 5F93 push r21 |
2020 1262 4F93 push r20 |
2021 1264 3F93 push r19 |
2022 1266 2F93 push r18 |
2023 1268 9F93 push r25 |
2024 126a 8F93 push r24 |
2025 126c 80E0 ldi r24,lo8(__c.2681) |
2026 126e 90E0 ldi r25,hi8(__c.2681) |
2027 1270 9F93 push r25 |
2028 1272 8F93 push r24 |
2029 1274 FF92 push r15 |
2030 1276 EF92 push r14 |
2031 1278 0995 icall |
2032 127a 8CE3 ldi r24,lo8(60) |
2033 127c 8093 0000 sts DispPtr,r24 |
2034 1280 E091 0000 lds r30,_printf_P |
2035 1284 F091 0000 lds r31,(_printf_P)+1 |
2036 1288 8091 0000 lds r24,Motor+67 |
2037 128c 881F rol r24 |
2038 128e 8827 clr r24 |
2039 1290 881F rol r24 |
2040 1292 2CE0 ldi r18,lo8(12) |
2041 1294 829F mul r24,r18 |
2042 1296 C001 movw r24,r0 |
2043 1298 1124 clr r1 |
2044 129a 8D96 adiw r24,45 |
2045 129c 9F93 push r25 |
2046 129e 8F93 push r24 |
2047 12a0 80E0 ldi r24,lo8(__c.2683) |
2048 12a2 90E0 ldi r25,hi8(__c.2683) |
2049 12a4 9F93 push r25 |
2050 12a6 8F93 push r24 |
2051 12a8 FF92 push r15 |
2052 12aa EF92 push r14 |
2053 12ac 0995 icall |
2054 12ae 2DB7 in r18,__SP_L__ |
2055 12b0 3EB7 in r19,__SP_H__ |
2056 12b2 2E5D subi r18,lo8(-(34)) |
2057 12b4 3F4F sbci r19,hi8(-(34)) |
2058 12b6 2DBF out __SP_L__,r18 |
2059 12b8 8091 0000 lds r24,Motor+75 |
2060 12bc 87FF sbrs r24,7 |
2061 12be 00C0 rjmp .L62 |
2062 12c0 80E4 ldi r24,lo8(64) |
2063 12c2 8093 0000 sts DispPtr,r24 |
2064 12c6 E091 0000 lds r30,_printf_P |
2065 12ca F091 0000 lds r31,(_printf_P)+1 |
2066 12ce 80E0 ldi r24,lo8(__c.2685) |
2067 12d0 90E0 ldi r25,hi8(__c.2685) |
2068 12d2 9F93 push r25 |
2069 12d4 8F93 push r24 |
2070 12d6 1F93 push r17 |
2071 12d8 0F93 push r16 |
2072 12da 0995 icall |
2073 12dc 0F90 pop __tmp_reg__ |
2074 12de 0F90 pop __tmp_reg__ |
2075 12e0 0F90 pop __tmp_reg__ |
2076 12e2 0F90 pop __tmp_reg__ |
2077 .L62: |
2078 12e4 8091 0000 lds r24,Motor+83 |
2079 12e8 87FF sbrs r24,7 |
2080 12ea 00C0 rjmp .L64 |
2081 12ec 84E4 ldi r24,lo8(68) |
2082 12ee 8093 0000 sts DispPtr,r24 |
2083 12f2 E091 0000 lds r30,_printf_P |
2084 12f6 F091 0000 lds r31,(_printf_P)+1 |
2085 12fa 80E0 ldi r24,lo8(__c.2687) |
2086 12fc 90E0 ldi r25,hi8(__c.2687) |
2087 12fe 9F93 push r25 |
2088 1300 8F93 push r24 |
2089 1302 1F93 push r17 |
2090 1304 0F93 push r16 |
2091 1306 0995 icall |
2092 1308 0F90 pop __tmp_reg__ |
2093 130a 0F90 pop __tmp_reg__ |
2094 130c 0F90 pop __tmp_reg__ |
2095 130e 0F90 pop __tmp_reg__ |
2096 .L64: |
2097 1310 8091 0000 lds r24,Motor+91 |
2098 1314 87FF sbrs r24,7 |
2099 1316 00C0 rjmp .L48 |
2100 1318 88E4 ldi r24,lo8(72) |
2101 131a 8093 0000 sts DispPtr,r24 |
2102 131e E091 0000 lds r30,_printf_P |
2103 1322 F091 0000 lds r31,(_printf_P)+1 |
2104 1326 80E0 ldi r24,lo8(__c.2689) |
2105 1328 90E0 ldi r25,hi8(__c.2689) |
2106 132a 9F93 push r25 |
2107 132c 8F93 push r24 |
2108 132e 1F93 push r17 |
2109 1330 0F93 push r16 |
2110 .L77: |
2111 1332 0995 icall |
2112 1334 0F90 pop __tmp_reg__ |
2113 1336 0F90 pop __tmp_reg__ |
2114 1338 0F90 pop __tmp_reg__ |
2115 133a 0F90 pop __tmp_reg__ |
2116 133c 00C0 rjmp .L48 |
2117 .L44: |
2118 133e 1092 0000 sts DispPtr,__zero_reg__ |
2119 1342 80E0 ldi r24,lo8(__c.2692) |
2120 1344 90E0 ldi r25,hi8(__c.2692) |
2121 1346 9F93 push r25 |
2122 1348 8F93 push r24 |
2123 134a FF92 push r15 |
2124 134c EF92 push r14 |
2125 134e FE01 movw r30,r28 |
2126 1350 0995 icall |
2127 1352 84E1 ldi r24,lo8(20) |
2128 1354 8093 0000 sts DispPtr,r24 |
2129 1358 E091 0000 lds r30,_printf_P |
2130 135c F091 0000 lds r31,(_printf_P)+1 |
2131 1360 8091 0000 lds r24,FlugMinutenGesamt |
2132 1364 9091 0000 lds r25,(FlugMinutenGesamt)+1 |
2133 1368 9F93 push r25 |
2134 136a 8F93 push r24 |
2135 136c 80E0 ldi r24,lo8(__c.2694) |
2136 136e 90E0 ldi r25,hi8(__c.2694) |
2137 1370 9F93 push r25 |
2138 1372 8F93 push r24 |
2139 1374 FF92 push r15 |
2140 1376 EF92 push r14 |
2141 1378 0995 icall |
2142 137a 88E2 ldi r24,lo8(40) |
2143 137c 8093 0000 sts DispPtr,r24 |
2144 1380 E091 0000 lds r30,_printf_P |
2145 1384 F091 0000 lds r31,(_printf_P)+1 |
2146 1388 8091 0000 lds r24,FlugMinuten |
2147 138c 9091 0000 lds r25,(FlugMinuten)+1 |
2148 1390 9F93 push r25 |
2149 1392 8F93 push r24 |
2150 1394 80E0 ldi r24,lo8(__c.2696) |
2151 1396 90E0 ldi r25,hi8(__c.2696) |
2152 1398 9F93 push r25 |
2153 139a 8F93 push r24 |
2154 139c FF92 push r15 |
2155 139e EF92 push r14 |
2156 13a0 0995 icall |
2157 13a2 89E4 ldi r24,lo8(73) |
2158 13a4 8093 0000 sts DispPtr,r24 |
2159 13a8 E091 0000 lds r30,_printf_P |
2160 13ac F091 0000 lds r31,(_printf_P)+1 |
2161 13b0 80E0 ldi r24,lo8(__c.2698) |
2162 13b2 90E0 ldi r25,hi8(__c.2698) |
2163 13b4 9F93 push r25 |
2164 13b6 8F93 push r24 |
2165 13b8 FF92 push r15 |
2166 13ba EF92 push r14 |
2167 13bc 0995 icall |
2168 13be 8091 0000 lds r24,RemoteKeys |
2169 13c2 4DB7 in r20,__SP_L__ |
2170 13c4 5EB7 in r21,__SP_H__ |
2171 13c6 4C5E subi r20,lo8(-(20)) |
2172 13c8 5F4F sbci r21,hi8(-(20)) |
2173 13ca 4DBF out __SP_L__,r20 |
2174 13cc 83FF sbrs r24,3 |
2175 13ce 00C0 rjmp .L48 |
2176 13d0 1092 0000 sts (FlugMinuten)+1,__zero_reg__ |
2177 13d4 1092 0000 sts FlugMinuten,__zero_reg__ |
2178 13d8 60E0 ldi r22,lo8(0) |
2179 13da 70E0 ldi r23,hi8(0) |
2180 13dc 8EE0 ldi r24,lo8(14) |
2181 13de 90E0 ldi r25,hi8(14) |
2182 13e0 0E94 0000 call SetParamWord |
2183 13e4 00C0 rjmp .L48 |
2184 .L26: |
2185 13e6 8091 0000 lds r24,MaxMenue |
2186 13ea 9817 cp r25,r24 |
2187 13ec 01F4 brne .L68 |
2188 13ee 9150 subi r25,lo8(-(-1)) |
2189 13f0 9093 0000 sts MaxMenue,r25 |
2190 .L68: |
2191 13f4 1092 0000 sts MenuePunkt,__zero_reg__ |
2192 .L48: |
2193 13f8 1092 0000 sts RemoteKeys,__zero_reg__ |
2194 /* epilogue: frame size=0 */ |
2195 13fc EAE0 ldi r30,10 |
2196 13fe CDB7 in r28,__SP_L__ |
2197 1400 DEB7 in r29,__SP_H__ |
2198 1402 0C94 0000 jmp __epilogue_restores__+16 |
2199 /* epilogue end (size=5) */ |
2200 /* function Menu size 2562 (2551) */ |
2202 .global DisplayBuff |
2203 .data |
2206 DisplayBuff: |
2207 0000 4865 6C6C .string "Hello World" |
2207 6F20 576F |
2207 726C 6400 |
2208 000c 0000 0000 .skip 68,0 |
2208 0000 0000 |
2208 0000 0000 |
2208 0000 0000 |
2208 0000 0000 |
2209 .global DispPtr |
2210 .global DispPtr |
2211 .section .bss |
2214 DispPtr: |
2215 0000 00 .skip 1,0 |
2216 .global MaxMenue |
2217 .data |
2220 MaxMenue: |
2221 0050 11 .byte 17 |
2222 .global MenuePunkt |
2223 .global MenuePunkt |
2224 .section .bss |
2227 MenuePunkt: |
2228 0001 00 .skip 1,0 |
2229 .global RemoteKeys |
2230 .global RemoteKeys |
2233 RemoteKeys: |
2234 0002 00 .skip 1,0 |
2235 .section .progmem.data,"a",@progbits |
2238 __c.2698: |
2239 0000 2872 6573 .string "(reset)" |
2239 6574 2900 |
2242 __c.2696: |
2243 0008 4163 743A .string "Act: %5umin" |
2243 2020 2535 |
2243 756D 696E |
2243 00 |
2246 __c.2694: |
2247 0015 546F 7461 .string "Total:%5umin" |
2247 6C3A 2535 |
2247 756D 696E |
2247 00 |
2250 __c.2692: |
2251 0022 466C 6967 .string "Flight-Time " |
2251 6874 2D54 |
2251 696D 6520 |
2251 2000 |
2254 __c.2689: |
2255 0030 3132 00 .string "12" |
2258 __c.2687: |
2259 0033 3131 00 .string "11" |
2262 __c.2685: |
2263 0036 3130 00 .string "10" |
2266 __c.2683: |
2267 0039 2025 6320 .string " %c - - - " |
2267 2020 2D20 |
2267 2020 2D20 |
2267 2020 2D20 |
2267 00 |
2270 __c.2681: |
2271 004a 2025 6320 .string " %c %c %c %c " |
2271 2020 2563 |
2271 2020 2025 |
2271 6320 2020 |
2271 2563 2000 |
2274 __c.2679: |
2275 005e 2025 6320 .string " %c %c %c %c " |
2275 2020 2563 |
2275 2020 2025 |
2275 6320 2020 |
2275 2563 2000 |
2278 __c.2677: |
2279 0072 424C 2D43 .string "BL-Ctrl found " |
2279 7472 6C20 |
2279 666F 756E |
2279 6420 00 |
2282 __c.2674: |
2283 0081 2533 6920 .string "%3i %3i %3i %3i " |
2283 2533 6920 |
2283 2533 6920 |
2283 2533 6920 |
2283 00 |
2286 __c.2672: |
2287 0092 2533 6920 .string "%3i %3i %3i %3i " |
2287 2533 6920 |
2287 2533 6920 |
2287 2533 6920 |
2287 00 |
2290 __c.2670: |
2291 00a3 2533 6920 .string "%3i %3i %3i %3i " |
2291 2533 6920 |
2291 2533 6920 |
2291 2533 6920 |
2291 00 |
2294 __c.2668: |
2295 00b4 424C 2054 .string "BL Temperature" |
2295 656D 7065 |
2295 7261 7475 |
2295 7265 00 |
2298 __c.2665: |
2299 00c3 2533 6420 .string "%3d %3d %3d %3d " |
2299 2533 6420 |
2299 2533 6420 |
2299 2533 6420 |
2299 00 |
2302 __c.2663: |
2303 00d4 2533 6420 .string "%3d %3d %3d %3d " |
2303 2533 6420 |
2303 2533 6420 |
2303 2533 6420 |
2303 00 |
2306 __c.2661: |
2307 00e5 2533 6420 .string "%3d %3d %3d %3d " |
2307 2533 6420 |
2307 2533 6420 |
2307 2533 6420 |
2307 00 |
2310 __c.2659: |
2311 00f6 424C 2D43 .string "BL-Ctrl Errors " |
2311 7472 6C20 |
2311 4572 726F |
2311 7273 2000 |
2314 __c.2656: |
2315 0106 4869 3A25 .string "Hi:%4i Cf:%4i " |
2315 3469 2020 |
2315 4366 3A25 |
2315 3469 2000 |
2318 __c.2654: |
2319 0116 4773 3A25 .string "Gs:%4i Gi:%4i " |
2319 3469 2020 |
2319 4769 3A25 |
2319 3469 2000 |
2322 __c.2652: |
2323 0126 4E69 3A25 .string "Ni:%4i Ro:%4i " |
2323 3469 2020 |
2323 526F 3A25 |
2323 3469 2000 |
2326 __c.2650: |
2327 0136 4578 7465 .string "ExternControl " |
2327 726E 436F |
2327 6E74 726F |
2327 6C20 2000 |
2330 __c.2647: |
2331 0146 5261 6E67 .string "Range:%3i-%3i" |
2331 653A 2533 |
2331 692D 2533 |
2331 6900 |
2334 __c.2645: |
2335 0154 506F 7369 .string "Position: %3i" |
2335 7469 6F6E |
2335 3A20 2533 |
2335 6900 |
2338 __c.2643: |
2339 0162 5365 7470 .string "Setpoint %3i" |
2339 6F69 6E74 |
2339 2020 2533 |
2339 6900 |
2342 __c.2641: |
2343 0170 5365 7276 .string "Servo " |
2343 6F20 2000 |
2346 __c.2638: |
2347 0178 506F 7469 .string "Poti8: %3i" |
2347 383A 2020 |
2347 2533 6900 |
2350 __c.2636: |
2351 0184 506F 7469 .string "Poti7: %3i" |
2351 373A 2020 |
2351 2533 6900 |
2354 __c.2634: |
2355 0190 506F 7469 .string "Poti6: %3i" |
2355 363A 2020 |
2355 2533 6900 |
2358 __c.2632: |
2359 019c 506F 7469 .string "Poti5: %3i" |
2359 353A 2020 |
2359 2533 6900 |
2362 __c.2629: |
2363 01a8 506F 7469 .string "Poti4: %3i" |
2363 343A 2020 |
2363 2533 6900 |
2366 __c.2627: |
2367 01b4 506F 7469 .string "Poti3: %3i" |
2367 333A 2020 |
2367 2533 6900 |
2370 __c.2625: |
2371 01c0 506F 7469 .string "Poti2: %3i" |
2371 323A 2020 |
2371 2533 6900 |
2374 __c.2623: |
2375 01cc 506F 7469 .string "Poti1: %3i" |
2375 313A 2020 |
2375 2533 6900 |
2378 __c.2620: |
2379 01d8 5374 6172 .string "Start: %5i" |
2379 743A 2020 |
2379 2020 2535 |
2379 6900 |
2382 __c.2618: |
2383 01e6 5661 6C75 .string "Value: %5i" |
2383 653A 2020 |
2383 2020 2535 |
2383 6900 |
2386 __c.2616: |
2387 01f4 4865 6164 .string "Heading: %5i" |
2387 696E 673A |
2387 2020 2535 |
2387 6900 |
2390 __c.2614: |
2391 0202 436F 6D70 .string "Compass" |
2391 6173 7300 |
2394 __c.2611: |
2395 020a 5243 2D43 .string "RC-Channels:%4i" |
2395 6861 6E6E |
2395 656C 733A |
2395 2534 6900 |
2398 __c.2609: |
2399 021a 5243 2D51 .string "RC-Quality: %4i" |
2399 7561 6C69 |
2399 7479 3A20 |
2399 2534 6900 |
2402 __c.2607: |
2403 022a 5243 2D52 .string "RC-RSSI: %4i" |
2403 5353 493A |
2403 2020 2020 |
2403 2534 6900 |
2406 __c.2605: |
2407 023a 5265 6365 .string "Receiver" |
2407 6976 6572 |
2407 00 |
2410 __c.2602: |
2411 0243 4469 7363 .string "Discharge: %5imAh" |
2411 6861 7267 |
2411 653A 2025 |
2411 3569 6D41 |
2411 6800 |
2414 __c.2600: |
2415 0255 506F 7765 .string "Power: %4iW" |
2415 723A 2020 |
2415 2020 2025 |
2415 3469 5700 |
2418 __c.2598: |
2419 0265 4375 7272 .string "Current: %3i.%1iA" |
2419 656E 743A |
2419 2020 2025 |
2419 3369 2E25 |
2419 3169 4100 |
2422 __c.2596: |
2423 0279 566F 6C74 .string "Voltage: %3i.%1iV" |
2423 6167 653A |
2423 2020 2025 |
2423 3369 2E25 |
2423 3169 5600 |
2426 __c.2593: |
2427 028d 5A20 2020 .string "Z %4i (%3i)" |
2427 2025 3469 |
2427 2028 2533 |
2427 6929 00 |
2430 __c.2591: |
2431 029c 526F 6C6C .string "Roll %4i (%3i)" |
2431 2025 3469 |
2431 2028 2533 |
2431 6929 00 |
2434 __c.2589: |
2435 02ab 4E69 636B .string "Nick %4i (%3i)" |
2435 2025 3469 |
2435 2028 2533 |
2435 6929 00 |
2438 __c.2587: |
2439 02ba 4143 4320 .string "ACC - Sensor" |
2439 2D20 5365 |
2439 6E73 6F72 |
2439 00 |
2442 __c.2584: |
2443 02c7 5961 7720 .string "Yaw %4i (%3i)(%3i)" |
2443 2025 3469 |
2443 2028 2533 |
2443 6929 2825 |
2443 3369 2900 |
2446 __c.2582: |
2447 02db 526F 6C6C .string "Roll %4i (%3i)(%3i)" |
2447 2025 3469 |
2447 2028 2533 |
2447 6929 2825 |
2447 3369 2900 |
2450 __c.2580: |
2451 02ef 4E69 636B .string "Nick %4i (%3i)(%3i)" |
2451 2025 3469 |
2451 2028 2533 |
2451 6929 2825 |
2451 3369 2900 |
2454 __c.2578: |
2455 0303 5961 7720 .string "Yaw %4i (%3i)" |
2455 2025 3469 |
2455 2028 2533 |
2455 6929 00 |
2458 __c.2576: |
2459 0312 526F 6C6C .string "Roll %4i (%3i.%x)" |
2459 2025 3469 |
2459 2028 2533 |
2459 692E 2578 |
2459 2900 |
2462 __c.2574: |
2463 0324 4E69 636B .string "Nick %4i (%3i.%x)" |
2463 2025 3469 |
2463 2028 2533 |
2463 692E 2578 |
2463 2900 |
2466 __c.2572: |
2467 0336 4769 6572 .string "Gier%4i (%3i)" |
2467 2534 6920 |
2467 2825 3369 |
2467 2900 |
2470 __c.2570: |
2471 0344 526F 6C6C .string "Roll%4i (%3i.%i)" |
2471 2534 6920 |
2471 2825 3369 |
2471 2E25 6929 |
2471 00 |
2474 __c.2568: |
2475 0355 4E69 636B .string "Nick%4i (%3i.%i)" |
2475 2534 6920 |
2475 2825 3369 |
2475 2E25 6929 |
2475 00 |
2478 __c.2566: |
2479 0366 4779 726F .string "Gyro - Sensor" |
2479 202D 2053 |
2479 656E 736F |
2479 7200 |
2482 __c.2563: |
2483 0374 5033 3A25 .string "P3:%4i P4:%4i " |
2483 3469 2020 |
2483 5034 3A25 |
2483 3469 2000 |
2486 __c.2561: |
2487 0384 5031 3A25 .string "P1:%4i P2:%4i " |
2487 3469 2020 |
2487 5032 3A25 |
2487 3469 2000 |
2490 __c.2559: |
2491 0394 4773 3A25 .string "Gs:%4i Gi:%4i " |
2491 3469 2020 |
2491 4769 3A25 |
2491 3469 2000 |
2494 __c.2557: |
2495 03a4 4E69 3A25 .string "Ni:%4i Ro:%4i " |
2495 3469 2020 |
2495 526F 3A25 |
2495 3469 2000 |
2498 __c.2554: |
2499 03b4 4B37 3A25 .string "K7:%4i K8:%4i " |
2499 3469 2020 |
2499 4B38 3A25 |
2499 3469 2000 |
2502 __c.2552: |
2503 03c4 4B35 3A25 .string "K5:%4i K6:%4i " |
2503 3469 2020 |
2503 4B36 3A25 |
2503 3469 2000 |
2506 __c.2550: |
2507 03d4 4B33 3A25 .string "K3:%4i K4:%4i " |
2507 3469 2020 |
2507 4B34 3A25 |
2507 3469 2000 |
2510 __c.2548: |
2511 03e4 4B31 3A25 .string "K1:%4i K2:%4i " |
2511 3469 2020 |
2511 4B32 3A25 |
2511 3469 2000 |
2514 __c.2545: |
2515 03f4 436F 6D70 .string "Compass: %5i" |
2515 6173 733A |
2515 2020 2025 |
2515 3569 00 |
2518 __c.2543: |
2519 0403 526F 6C6C .string "Roll: %5i" |
2519 3A20 2020 |
2519 2020 2025 |
2519 3569 00 |
2522 __c.2541: |
2523 0412 4E69 636B .string "Nick: %5i" |
2523 3A20 2020 |
2523 2020 2025 |
2523 3569 00 |
2526 __c.2539: |
2527 0421 6163 742E .string "act. bearing" |
2527 2062 6561 |
2527 7269 6E67 |
2527 00 |
2530 __c.2536: |
2531 042e 4449 5341 .string "DISABLED" |
2531 424C 4544 |
2531 00 |
2534 __c.2534: |
2535 0437 4865 6967 .string "Height control" |
2535 6874 2063 |
2535 6F6E 7472 |
2535 6F6C 00 |
2538 __c.2532: |
2539 0446 4449 5341 .string "DISABLED" |
2539 424C 4544 |
2539 00 |
2542 __c.2530: |
2543 044f 4865 6967 .string "Height control" |
2543 6874 2063 |
2543 6F6E 7472 |
2543 6F6C 00 |
2546 __c.2528: |
2547 045e 4F66 6673 .string "Offset: %5i" |
2547 6574 3A20 |
2547 2025 3569 |
2547 00 |
2550 __c.2526: |
2551 046b 5072 6573 .string "Pressure:%5i" |
2551 7375 7265 |
2551 3A25 3569 |
2551 00 |
2554 __c.2524: |
2555 0478 5365 7470 .string "Setpoint:%5i" |
2555 6F69 6E74 |
2555 3A25 3569 |
2555 00 |
2558 __c.2522: |
2559 0485 4865 6967 .string "Height: %5i" |
2559 6874 3A20 |
2559 2025 3569 |
2559 00 |
2562 __c.2518: |
2563 0492 4932 4320 .string "I2C ERROR!!!" |
2563 4552 524F |
2563 5221 2121 |
2563 00 |
2566 __c.2516: |
2567 049f 4D69 7865 .string "Mixer Error!" |
2567 7220 4572 |
2567 726F 7221 |
2567 00 |
2570 __c.2514: |
2571 04ac 4D69 7373 .string "Missing BL-Ctrl:%d!!" |
2571 696E 6720 |
2571 424C 2D43 |
2571 7472 6C3A |
2571 2564 2121 |
2574 __c.2512: |
2575 04c1 4861 7264 .string "Hardware Error 1:%d !!" |
2575 7761 7265 |
2575 2045 7272 |
2575 6F72 2031 |
2575 3A25 6420 |
2578 __c.2510: |
2579 04d8 5365 7474 .string "Setting:%d %s" |
2579 696E 673A |
2579 2564 2025 |
2579 7300 |
2582 __c.2508: |
2583 04e6 4857 3A56 .string "HW:V%d.%d SW:%d.%d%c" |
2583 2564 2E25 |
2583 6420 5357 |
2583 3A25 642E |
2583 2564 2563 |
2586 __c.2506: |
2587 04fb 2B20 4D69 .string "+ MikroKopter +" |
2587 6B72 6F4B |
2587 6F70 7465 |
2587 7220 2B00 |
2590 __c.2503: |
2591 050b 5B25 695D .string "[%i]" |
2591 00 |
2594 __c.2501: |
2595 0510 5B25 695D .string "[%i]" |
2595 00 |
2596 /* File "menu.c": code 2582 = 0x0a16 (2569), prologues 6, epilogues 7 */ |
DEFINED SYMBOLS |
*ABS*:00000000 menu.c |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2 *ABS*:0000003f __SREG__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:3 *ABS*:0000003e __SP_H__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:4 *ABS*:0000003d __SP_L__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:5 *ABS*:00000000 __tmp_reg__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:6 *ABS*:00000001 __zero_reg__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:12 .text:00000000 LcdClear |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2206 .data:00000000 DisplayBuff |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:31 .text:00000012 Menu_Putchar |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2214 .bss:00000000 DispPtr |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:49 .text:00000028 Menu |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2233 .bss:00000002 RemoteKeys |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2227 .bss:00000001 MenuePunkt |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2220 .data:00000050 MaxMenue |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2594 .progmem.data:00000510 __c.2501 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2590 .progmem.data:0000050b __c.2503 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2586 .progmem.data:000004fb __c.2506 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2582 .progmem.data:000004e6 __c.2508 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2578 .progmem.data:000004d8 __c.2510 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2574 .progmem.data:000004c1 __c.2512 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2570 .progmem.data:000004ac __c.2514 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2566 .progmem.data:0000049f __c.2516 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2562 .progmem.data:00000492 __c.2518 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2558 .progmem.data:00000485 __c.2522 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2554 .progmem.data:00000478 __c.2524 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2550 .progmem.data:0000046b __c.2526 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2546 .progmem.data:0000045e __c.2528 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2542 .progmem.data:0000044f __c.2530 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2538 .progmem.data:00000446 __c.2532 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2534 .progmem.data:00000437 __c.2534 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2530 .progmem.data:0000042e __c.2536 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2526 .progmem.data:00000421 __c.2539 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2522 .progmem.data:00000412 __c.2541 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2518 .progmem.data:00000403 __c.2543 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2514 .progmem.data:000003f4 __c.2545 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2510 .progmem.data:000003e4 __c.2548 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2506 .progmem.data:000003d4 __c.2550 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2502 .progmem.data:000003c4 __c.2552 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2498 .progmem.data:000003b4 __c.2554 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2494 .progmem.data:000003a4 __c.2557 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2490 .progmem.data:00000394 __c.2559 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2486 .progmem.data:00000384 __c.2561 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2482 .progmem.data:00000374 __c.2563 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2478 .progmem.data:00000366 __c.2566 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2474 .progmem.data:00000355 __c.2568 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2470 .progmem.data:00000344 __c.2570 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2466 .progmem.data:00000336 __c.2572 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2462 .progmem.data:00000324 __c.2574 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2458 .progmem.data:00000312 __c.2576 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2454 .progmem.data:00000303 __c.2578 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2450 .progmem.data:000002ef __c.2580 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2446 .progmem.data:000002db __c.2582 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2442 .progmem.data:000002c7 __c.2584 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2438 .progmem.data:000002ba __c.2587 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2434 .progmem.data:000002ab __c.2589 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2430 .progmem.data:0000029c __c.2591 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2426 .progmem.data:0000028d __c.2593 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2422 .progmem.data:00000279 __c.2596 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2418 .progmem.data:00000265 __c.2598 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2414 .progmem.data:00000255 __c.2600 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2410 .progmem.data:00000243 __c.2602 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2406 .progmem.data:0000023a __c.2605 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2402 .progmem.data:0000022a __c.2607 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2398 .progmem.data:0000021a __c.2609 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2394 .progmem.data:0000020a __c.2611 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2390 .progmem.data:00000202 __c.2614 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2386 .progmem.data:000001f4 __c.2616 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2382 .progmem.data:000001e6 __c.2618 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2378 .progmem.data:000001d8 __c.2620 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2374 .progmem.data:000001cc __c.2623 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2370 .progmem.data:000001c0 __c.2625 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2366 .progmem.data:000001b4 __c.2627 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2362 .progmem.data:000001a8 __c.2629 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2358 .progmem.data:0000019c __c.2632 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2354 .progmem.data:00000190 __c.2634 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2350 .progmem.data:00000184 __c.2636 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2346 .progmem.data:00000178 __c.2638 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2342 .progmem.data:00000170 __c.2641 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2338 .progmem.data:00000162 __c.2643 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2334 .progmem.data:00000154 __c.2645 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2330 .progmem.data:00000146 __c.2647 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2326 .progmem.data:00000136 __c.2650 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2322 .progmem.data:00000126 __c.2652 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2318 .progmem.data:00000116 __c.2654 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2314 .progmem.data:00000106 __c.2656 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2310 .progmem.data:000000f6 __c.2659 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2306 .progmem.data:000000e5 __c.2661 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2302 .progmem.data:000000d4 __c.2663 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2298 .progmem.data:000000c3 __c.2665 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2294 .progmem.data:000000b4 __c.2668 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2290 .progmem.data:000000a3 __c.2670 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2286 .progmem.data:00000092 __c.2672 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2282 .progmem.data:00000081 __c.2674 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2278 .progmem.data:00000072 __c.2677 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2274 .progmem.data:0000005e __c.2679 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2270 .progmem.data:0000004a __c.2681 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2266 .progmem.data:00000039 __c.2683 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2262 .progmem.data:00000036 __c.2685 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2258 .progmem.data:00000033 __c.2687 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2254 .progmem.data:00000030 __c.2689 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2250 .progmem.data:00000022 __c.2692 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2246 .progmem.data:00000015 __c.2694 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2242 .progmem.data:00000008 __c.2696 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccgZSiDw.s:2238 .progmem.data:00000000 __c.2698 |
UNDEFINED SYMBOLS |
__do_copy_data |
__do_clear_bss |
__prologue_saves__ |
_printf_P |
__tablejump2__ |
PlatinenVersion |
__udivmodqi4 |
GetActiveParamSet |
Mixer |
VersionInfo |
MissingMotor |
I2CTimeout |
EE_Parameter |
HoehenWert |
__divmodsi4 |
SollHoehe |
MessLuftdruck |
IntegralNick |
IntegralRoll |
KompassValue |
PPM_in |
AdNeutralNick |
__divmodhi4 |
AdWertNick |
AdNeutralRoll |
AdWertRoll |
AdNeutralGier |
AdWertGier |
AnalogOffsetNick |
AnalogOffsetRoll |
AnalogOffsetGier |
NeutralAccX |
AdWertAccNick |
NeutralAccY |
AdWertAccRoll |
NeutralAccZ |
AdWertAccHoch |
UBat |
Capacity |
__udivmodhi4 |
SenderOkay |
Channels |
KompassRichtung |
KompassStartwert |
Poti |
Parameter_ServoNickControl |
ServoNickValue |
ExternControl |
Motor |
FlugMinutenGesamt |
FlugMinuten |
SetParamWord |
__epilogue_restores__ |
/Spektrum-Diversity/V0.82a/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)); |
} |
/Spektrum-Diversity/V0.82a/mymath.d |
---|
0,0 → 1,0 |
mymath.o mymath.d : mymath.c mymath.h |
/Spektrum-Diversity/V0.82a/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 |
/Spektrum-Diversity/V0.82a/mymath.lst |
---|
0,0 → 1,222 |
1 .file "mymath.c" |
2 __SREG__ = 0x3f |
3 __SP_H__ = 0x3e |
4 __SP_L__ = 0x3d |
5 __tmp_reg__ = 0 |
6 __zero_reg__ = 1 |
7 .global __do_copy_data |
8 .global __do_clear_bss |
9 .text |
10 .global c_sin_8192 |
12 c_sin_8192: |
13 /* prologue: frame size=0 */ |
14 /* prologue end (size=0) */ |
15 0000 97FD sbrc r25,7 |
16 0002 00C0 rjmp .L2 |
17 0004 41E0 ldi r20,lo8(1) |
18 0006 00C0 rjmp .L4 |
19 .L2: |
20 0008 9095 com r25 |
21 000a 8195 neg r24 |
22 000c 9F4F sbci r25,lo8(-1) |
23 000e 4FEF ldi r20,lo8(-1) |
24 .L4: |
25 0010 68E6 ldi r22,lo8(360) |
26 0012 71E0 ldi r23,hi8(360) |
27 0014 0E94 0000 call __divmodhi4 |
28 0018 FC01 movw r30,r24 |
29 001a 8B35 cpi r24,91 |
30 001c 9105 cpc r25,__zero_reg__ |
31 001e 04F0 brlt .L13 |
32 0020 8B55 subi r24,lo8(-(-91)) |
33 0022 9040 sbci r25,hi8(-(-91)) |
34 0024 8A35 cpi r24,90 |
35 0026 9105 cpc r25,__zero_reg__ |
36 0028 00F4 brsh .L8 |
37 002a 84EB ldi r24,lo8(180) |
38 002c 90E0 ldi r25,hi8(180) |
39 002e 8E1B sub r24,r30 |
40 0030 9F0B sbc r25,r31 |
41 0032 FC01 movw r30,r24 |
42 .L13: |
43 0034 81E0 ldi r24,lo8(1) |
44 0036 00C0 rjmp .L7 |
45 .L8: |
46 0038 CF01 movw r24,r30 |
47 003a 855B subi r24,lo8(-(-181)) |
48 003c 9040 sbci r25,hi8(-(-181)) |
49 003e 8A35 cpi r24,90 |
50 0040 9105 cpc r25,__zero_reg__ |
51 0042 00F4 brsh .L10 |
52 0044 E45B subi r30,lo8(-(-180)) |
53 0046 F040 sbci r31,hi8(-(-180)) |
54 0048 00C0 rjmp .L14 |
55 .L10: |
56 004a 88E6 ldi r24,lo8(360) |
57 004c 91E0 ldi r25,hi8(360) |
58 004e 8E1B sub r24,r30 |
59 0050 9F0B sbc r25,r31 |
60 0052 FC01 movw r30,r24 |
61 .L14: |
62 0054 8FEF ldi r24,lo8(-1) |
63 .L7: |
64 0056 EE0F lsl r30 |
65 0058 FF1F rol r31 |
66 005a E050 subi r30,lo8(-(pgm_sinlookup)) |
67 005c F040 sbci r31,hi8(-(pgm_sinlookup)) |
68 /* #APP */ |
69 005e 2591 lpm r18, Z+ |
70 0060 3491 lpm r19, Z |
71 |
72 /* #NOAPP */ |
73 0062 9927 clr r25 |
74 0064 87FD sbrc r24,7 |
75 0066 9095 com r25 |
76 0068 B901 movw r22,r18 |
77 006a 689F mul r22,r24 |
78 006c 9001 movw r18,r0 |
79 006e 699F mul r22,r25 |
80 0070 300D add r19,r0 |
81 0072 789F mul r23,r24 |
82 0074 300D add r19,r0 |
83 0076 1124 clr r1 |
84 0078 842F mov r24,r20 |
85 007a 9927 clr r25 |
86 007c 87FD sbrc r24,7 |
87 007e 9095 com r25 |
88 0080 AC01 movw r20,r24 |
89 0082 249F mul r18,r20 |
90 0084 C001 movw r24,r0 |
91 0086 259F mul r18,r21 |
92 0088 900D add r25,r0 |
93 008a 349F mul r19,r20 |
94 008c 900D add r25,r0 |
95 008e 1124 clr r1 |
96 /* epilogue: frame size=0 */ |
97 0090 0895 ret |
98 /* epilogue end (size=1) */ |
99 /* function c_sin_8192 size 77 (76) */ |
101 .global c_cos_8192 |
103 c_cos_8192: |
104 /* prologue: frame size=0 */ |
105 /* prologue end (size=0) */ |
106 0092 2AE5 ldi r18,lo8(90) |
107 0094 30E0 ldi r19,hi8(90) |
108 0096 281B sub r18,r24 |
109 0098 390B sbc r19,r25 |
110 009a C901 movw r24,r18 |
111 009c 0E94 0000 call c_sin_8192 |
112 /* epilogue: frame size=0 */ |
113 00a0 0895 ret |
114 /* epilogue end (size=1) */ |
115 /* function c_cos_8192 size 8 (7) */ |
117 .global pgm_sinlookup |
118 .section .progmem.data,"a",@progbits |
121 pgm_sinlookup: |
122 0000 0000 .word 0 |
123 0002 8F00 .word 143 |
124 0004 1E01 .word 286 |
125 0006 AD01 .word 429 |
126 0008 3B02 .word 571 |
127 000a CA02 .word 714 |
128 000c 5803 .word 856 |
129 000e E603 .word 998 |
130 0010 7404 .word 1140 |
131 0012 0205 .word 1282 |
132 0014 8F05 .word 1423 |
133 0016 1B06 .word 1563 |
134 0018 A706 .word 1703 |
135 001a 3307 .word 1843 |
136 001c BE07 .word 1982 |
137 001e 4808 .word 2120 |
138 0020 D208 .word 2258 |
139 0022 5B09 .word 2395 |
140 0024 E309 .word 2531 |
141 0026 6B0A .word 2667 |
142 0028 F20A .word 2802 |
143 002a 780B .word 2936 |
144 002c FD0B .word 3069 |
145 002e 810C .word 3201 |
146 0030 040D .word 3332 |
147 0032 860D .word 3462 |
148 0034 070E .word 3591 |
149 0036 870E .word 3719 |
150 0038 060F .word 3846 |
151 003a 840F .word 3972 |
152 003c 0010 .word 4096 |
153 003e 7B10 .word 4219 |
154 0040 F510 .word 4341 |
155 0042 6E11 .word 4462 |
156 0044 E511 .word 4581 |
157 0046 5B12 .word 4699 |
158 0048 CF12 .word 4815 |
159 004a 4213 .word 4930 |
160 004c B313 .word 5043 |
161 004e 2314 .word 5155 |
162 0050 9214 .word 5266 |
163 0052 FE14 .word 5374 |
164 0054 6A15 .word 5482 |
165 0056 D315 .word 5587 |
166 0058 3B16 .word 5691 |
167 005a A116 .word 5793 |
168 005c 0517 .word 5893 |
169 005e 6717 .word 5991 |
170 0060 C817 .word 6088 |
171 0062 2718 .word 6183 |
172 0064 8318 .word 6275 |
173 0066 DE18 .word 6366 |
174 0068 3719 .word 6455 |
175 006a 8E19 .word 6542 |
176 006c E319 .word 6627 |
177 006e 361A .word 6710 |
178 0070 871A .word 6791 |
179 0072 D61A .word 6870 |
180 0074 231B .word 6947 |
181 0076 6E1B .word 7022 |
182 0078 B61B .word 7094 |
183 007a FD1B .word 7165 |
184 007c 411C .word 7233 |
185 007e 831C .word 7299 |
186 0080 C31C .word 7363 |
187 0082 001D .word 7424 |
188 0084 3C1D .word 7484 |
189 0086 751D .word 7541 |
190 0088 AB1D .word 7595 |
191 008a E01D .word 7648 |
192 008c 121E .word 7698 |
193 008e 421E .word 7746 |
194 0090 6F1E .word 7791 |
195 0092 9A1E .word 7834 |
196 0094 C31E .word 7875 |
197 0096 E91E .word 7913 |
198 0098 0D1F .word 7949 |
199 009a 2E1F .word 7982 |
200 009c 4D1F .word 8013 |
201 009e 691F .word 8041 |
202 00a0 841F .word 8068 |
203 00a2 9B1F .word 8091 |
204 00a4 B01F .word 8112 |
205 00a6 C31F .word 8131 |
206 00a8 D31F .word 8147 |
207 00aa E11F .word 8161 |
208 00ac EC1F .word 8172 |
209 00ae F51F .word 8181 |
210 00b0 FB1F .word 8187 |
211 00b2 FF1F .word 8191 |
212 00b4 0020 .word 8192 |
213 /* File "mymath.c": code 85 = 0x0055 ( 83), prologues 0, epilogues 2 */ |
DEFINED SYMBOLS |
*ABS*:00000000 mymath.c |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccfYxgU3.s:2 *ABS*:0000003f __SREG__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccfYxgU3.s:3 *ABS*:0000003e __SP_H__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccfYxgU3.s:4 *ABS*:0000003d __SP_L__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccfYxgU3.s:5 *ABS*:00000000 __tmp_reg__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccfYxgU3.s:6 *ABS*:00000001 __zero_reg__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccfYxgU3.s:12 .text:00000000 c_sin_8192 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccfYxgU3.s:121 .progmem.data:00000000 pgm_sinlookup |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccfYxgU3.s:103 .text:00000092 c_cos_8192 |
UNDEFINED SYMBOLS |
__do_copy_data |
__do_clear_bss |
__divmodhi4 |
/Spektrum-Diversity/V0.82a/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 |
/Spektrum-Diversity/V0.82a/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_ |
/Spektrum-Diversity/V0.82a/rc.c |
---|
0,0 → 1,217 |
/*####################################################################################### |
Decodieren eines RC Summen Signals |
#######################################################################################*/ |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) Holger Buss, Ingo Busker |
// + only for non-profit use |
// + www.MikroKopter.com |
// + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
// + see the File "License.txt" for further Informations |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#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; |
//############################################################################ |
//zum decodieren des PPM-Signals wird Timer1 mit seiner Input |
//Capture Funktion benutzt: |
void rc_sum_init (void) |
//############################################################################ |
{ |
unsigned char i; |
for(i=0;i<26;i++) |
{ |
PPM_in[i] = 0; |
PPM_diff[i] = 0; |
} |
AdNeutralGier = 0; |
AdNeutralRoll = 0; |
AdNeutralNick = 0; |
return; |
} |
#ifndef ACT_S3D_SUMMENSIGNAL |
//############################################################################ |
//Diese Routine startet und inizialisiert den Timer für RC |
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 -= 466; |
// Stabiles Signal |
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 -= 466; |
// Stabiles Signal |
if((abs(signal - ppm_in[index]) < 6)) |
{ |
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 |
//############################################################################ |
//Diese Routine startet und inizialisiert den Timer für RC |
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 |
/Spektrum-Diversity/V0.82a/rc.d |
---|
0,0 → 1,3 |
rc.o rc.d : rc.c rc.h main.h old_macros.h printf_P.h timer0.h uart.h analog.h \ |
twimaster.h menu.h fc.h gps.h spi.h led.h spektrum.h capacity.h \ |
eeprom.h libfc.h debug.h |
/Spektrum-Diversity/V0.82a/rc.h |
---|
0,0 → 1,31 |
/*####################################################################################### |
Derkodieren eines RC Summen Signals |
#######################################################################################*/ |
#ifndef _RC_H |
#define _RC_H |
#if defined (__AVR_ATmega32__) |
#define TIMER_TEILER CK64 |
#define TIMER_RELOAD_VALUE 250 |
#endif |
#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] |
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; |
#endif //_RC_H |
/Spektrum-Diversity/V0.82a/rc.lst |
---|
0,0 → 1,654 |
1 .file "rc.c" |
2 __SREG__ = 0x3f |
3 __SP_H__ = 0x3e |
4 __SP_L__ = 0x3d |
5 __tmp_reg__ = 0 |
6 __zero_reg__ = 1 |
7 .global __do_copy_data |
8 .global __do_clear_bss |
9 .text |
10 .global rc_sum_init |
12 rc_sum_init: |
13 /* prologue: frame size=0 */ |
14 /* prologue end (size=0) */ |
15 0000 80E0 ldi r24,lo8(0) |
16 0002 90E0 ldi r25,hi8(0) |
17 .L2: |
18 0004 FC01 movw r30,r24 |
19 0006 EE0F lsl r30 |
20 0008 FF1F rol r31 |
21 000a DF01 movw r26,r30 |
22 000c A050 subi r26,lo8(-(PPM_in)) |
23 000e B040 sbci r27,hi8(-(PPM_in)) |
24 0010 1196 adiw r26,1 |
25 0012 1C92 st X,__zero_reg__ |
26 0014 1E92 st -X,__zero_reg__ |
27 0016 E050 subi r30,lo8(-(PPM_diff)) |
28 0018 F040 sbci r31,hi8(-(PPM_diff)) |
29 001a 1182 std Z+1,__zero_reg__ |
30 001c 1082 st Z,__zero_reg__ |
31 001e 0196 adiw r24,1 |
32 0020 8A31 cpi r24,26 |
33 0022 9105 cpc r25,__zero_reg__ |
34 0024 01F4 brne .L2 |
35 0026 1092 0000 sts (AdNeutralGier)+1,__zero_reg__ |
36 002a 1092 0000 sts AdNeutralGier,__zero_reg__ |
37 002e 1092 0000 sts (AdNeutralRoll)+1,__zero_reg__ |
38 0032 1092 0000 sts AdNeutralRoll,__zero_reg__ |
39 0036 1092 0000 sts (AdNeutralNick)+1,__zero_reg__ |
40 003a 1092 0000 sts AdNeutralNick,__zero_reg__ |
41 /* epilogue: frame size=0 */ |
42 003e 0895 ret |
43 /* epilogue end (size=1) */ |
44 /* function rc_sum_init size 32 (31) */ |
46 .global __vector_12 |
48 __vector_12: |
49 /* prologue: frame size=0 */ |
50 0040 1F92 push __zero_reg__ |
51 0042 0F92 push __tmp_reg__ |
52 0044 0FB6 in __tmp_reg__,__SREG__ |
53 0046 0F92 push __tmp_reg__ |
54 0048 1124 clr __zero_reg__ |
55 004a 0F93 push r16 |
56 004c 1F93 push r17 |
57 004e 2F93 push r18 |
58 0050 3F93 push r19 |
59 0052 4F93 push r20 |
60 0054 5F93 push r21 |
61 0056 6F93 push r22 |
62 0058 7F93 push r23 |
63 005a 8F93 push r24 |
64 005c 9F93 push r25 |
65 005e AF93 push r26 |
66 0060 BF93 push r27 |
67 0062 CF93 push r28 |
68 0064 DF93 push r29 |
69 0066 EF93 push r30 |
70 0068 FF93 push r31 |
71 /* prologue end (size=21) */ |
72 006a 8091 0000 lds r24,EE_Parameter+102 |
73 006e 82FD sbrc r24,2 |
74 0070 00C0 rjmp .L8 |
75 0072 2091 8600 lds r18,134 |
76 0076 3091 8700 lds r19,(134)+1 |
77 007a 8091 0000 lds r24,AltICR.2497 |
78 007e 9091 0000 lds r25,(AltICR.2497)+1 |
79 0082 281B sub r18,r24 |
80 0084 390B sbc r19,r25 |
81 0086 8091 8600 lds r24,134 |
82 008a 9091 8700 lds r25,(134)+1 |
83 008e 9093 0000 sts (AltICR.2497)+1,r25 |
84 0092 8093 0000 sts AltICR.2497,r24 |
85 0096 C901 movw r24,r18 |
86 0098 8D54 subi r24,lo8(-(-1101)) |
87 009a 9440 sbci r25,hi8(-(-1101)) |
88 009c 0091 0000 lds r16,index.2500 |
89 00a0 1091 0000 lds r17,(index.2500)+1 |
90 00a4 835F subi r24,lo8(6899) |
91 00a6 9A41 sbci r25,hi8(6899) |
92 00a8 00F4 brsh .L10 |
93 00aa 0093 0000 sts Channels,r16 |
94 00ae 0430 cpi r16,4 |
95 00b0 1105 cpc r17,__zero_reg__ |
96 00b2 04F0 brlt .L12 |
97 00b4 1092 0000 sts NewPpmData,__zero_reg__ |
98 .L12: |
99 00b8 81E0 ldi r24,lo8(1) |
100 00ba 90E0 ldi r25,hi8(1) |
101 00bc 9093 0000 sts (index.2500)+1,r25 |
102 00c0 8093 0000 sts index.2500,r24 |
103 00c4 00C0 rjmp .L94 |
104 .L10: |
105 00c6 0D30 cpi r16,13 |
106 00c8 1105 cpc r17,__zero_reg__ |
107 00ca 04F0 brlt .+2 |
108 00cc 00C0 rjmp .L94 |
109 00ce C901 movw r24,r18 |
110 00d0 8B5F subi r24,lo8(-(-251)) |
111 00d2 9040 sbci r25,hi8(-(-251)) |
112 00d4 845B subi r24,lo8(436) |
113 00d6 9140 sbci r25,hi8(436) |
114 00d8 00F0 brlo .+2 |
115 00da 00C0 rjmp .L16 |
116 00dc E901 movw r28,r18 |
117 00de C25D subi r28,lo8(-(-466)) |
118 00e0 D140 sbci r29,hi8(-(-466)) |
119 00e2 F801 movw r30,r16 |
120 00e4 EE0F lsl r30 |
121 00e6 FF1F rol r31 |
122 00e8 E050 subi r30,lo8(-(PPM_in)) |
123 00ea F040 sbci r31,hi8(-(PPM_in)) |
124 00ec 8081 ld r24,Z |
125 00ee 9181 ldd r25,Z+1 |
126 00f0 FE01 movw r30,r28 |
127 00f2 E81B sub r30,r24 |
128 00f4 F90B sbc r31,r25 |
129 00f6 CF01 movw r24,r30 |
130 00f8 F7FF sbrs r31,7 |
131 00fa 00C0 rjmp .L19 |
132 00fc 9095 com r25 |
133 00fe 8195 neg r24 |
134 0100 9F4F sbci r25,lo8(-1) |
135 .L19: |
136 0102 0697 sbiw r24,6 |
137 0104 04F4 brge .L18 |
138 0106 8091 0000 lds r24,SenderOkay |
139 010a 883C cpi r24,lo8(-56) |
140 010c 00F4 brsh .L21 |
141 010e 8091 0000 lds r24,SenderOkay |
142 0112 865F subi r24,lo8(-(10)) |
143 0114 00C0 rjmp .L96 |
144 .L21: |
145 0116 88EC ldi r24,lo8(-56) |
146 .L96: |
147 0118 8093 0000 sts SenderOkay,r24 |
148 .L18: |
149 011c F801 movw r30,r16 |
150 011e EE0F lsl r30 |
151 0120 FF1F rol r31 |
152 0122 E050 subi r30,lo8(-(PPM_in)) |
153 0124 F040 sbci r31,hi8(-(PPM_in)) |
154 0126 2081 ld r18,Z |
155 0128 3181 ldd r19,Z+1 |
156 012a C901 movw r24,r18 |
157 012c 880F lsl r24 |
158 012e 991F rol r25 |
159 0130 820F add r24,r18 |
160 0132 931F adc r25,r19 |
161 0134 8C0F add r24,r28 |
162 0136 9D1F adc r25,r29 |
163 0138 64E0 ldi r22,lo8(4) |
164 013a 70E0 ldi r23,hi8(4) |
165 013c 0E94 0000 call __divmodhi4 |
166 0140 9B01 movw r18,r22 |
167 0142 CE01 movw r24,r28 |
168 0144 0196 adiw r24,1 |
169 0146 8617 cp r24,r22 |
170 0148 9707 cpc r25,r23 |
171 014a 04F4 brge .L23 |
172 014c 2150 subi r18,lo8(-(-1)) |
173 014e 3040 sbci r19,hi8(-(-1)) |
174 0150 00C0 rjmp .L25 |
175 .L23: |
176 0152 2197 sbiw r28,1 |
177 0154 6C17 cp r22,r28 |
178 0156 7D07 cpc r23,r29 |
179 0158 04F4 brge .L25 |
180 015a 2F5F subi r18,lo8(-(1)) |
181 015c 3F4F sbci r19,hi8(-(1)) |
182 .L25: |
183 015e 8091 0000 lds r24,SenderOkay |
184 0162 E801 movw r28,r16 |
185 0164 CC0F lsl r28 |
186 0166 DD1F rol r29 |
187 0168 833C cpi r24,lo8(-61) |
188 016a 00F0 brlo .L27 |
189 016c FE01 movw r30,r28 |
190 016e E050 subi r30,lo8(-(PPM_in)) |
191 0170 F040 sbci r31,hi8(-(PPM_in)) |
192 0172 8081 ld r24,Z |
193 0174 9181 ldd r25,Z+1 |
194 0176 A901 movw r20,r18 |
195 0178 481B sub r20,r24 |
196 017a 590B sbc r21,r25 |
197 017c CA01 movw r24,r20 |
198 017e 63E0 ldi r22,lo8(3) |
199 0180 70E0 ldi r23,hi8(3) |
200 0182 0E94 0000 call __divmodhi4 |
201 0186 CB01 movw r24,r22 |
202 0188 880F lsl r24 |
203 018a 991F rol r25 |
204 018c 860F add r24,r22 |
205 018e 971F adc r25,r23 |
206 0190 C050 subi r28,lo8(-(PPM_diff)) |
207 0192 D040 sbci r29,hi8(-(PPM_diff)) |
208 0194 9983 std Y+1,r25 |
209 0196 8883 st Y,r24 |
210 0198 00C0 rjmp .L29 |
211 .L27: |
212 019a C050 subi r28,lo8(-(PPM_diff)) |
213 019c D040 sbci r29,hi8(-(PPM_diff)) |
214 019e 1982 std Y+1,__zero_reg__ |
215 01a0 1882 st Y,__zero_reg__ |
216 .L29: |
217 01a2 F801 movw r30,r16 |
218 01a4 EE0F lsl r30 |
219 01a6 FF1F rol r31 |
220 01a8 E050 subi r30,lo8(-(PPM_in)) |
221 01aa F040 sbci r31,hi8(-(PPM_in)) |
222 01ac 3183 std Z+1,r19 |
223 01ae 2083 st Z,r18 |
224 .L16: |
225 01b0 F801 movw r30,r16 |
226 01b2 3196 adiw r30,1 |
227 01b4 F093 0000 sts (index.2500)+1,r31 |
228 01b8 E093 0000 sts index.2500,r30 |
229 01bc 8091 0000 lds r24,PlatinenVersion |
230 01c0 8431 cpi r24,lo8(20) |
231 01c2 00F0 brlo .+2 |
232 01c4 00C0 rjmp .L94 |
233 01c6 E530 cpi r30,5 |
234 01c8 F105 cpc r31,__zero_reg__ |
235 01ca 01F4 brne .L31 |
236 01cc 5D9A sbi 43-0x20,5 |
237 01ce 00C0 rjmp .L33 |
238 .L31: |
239 01d0 5D98 cbi 43-0x20,5 |
240 01d2 E630 cpi r30,6 |
241 01d4 F105 cpc r31,__zero_reg__ |
242 01d6 01F4 brne .L33 |
243 01d8 5C9A sbi 43-0x20,4 |
244 01da 00C0 rjmp .L35 |
245 .L33: |
246 01dc 5C98 cbi 43-0x20,4 |
247 01de 3797 sbiw r30,7 |
248 01e0 01F4 brne .L35 |
249 01e2 5B9A sbi 43-0x20,3 |
250 01e4 00C0 rjmp .L94 |
251 .L35: |
252 01e6 5B98 cbi 43-0x20,3 |
253 01e8 00C0 rjmp .L94 |
254 .L8: |
255 01ea 2091 8600 lds r18,134 |
256 01ee 3091 8700 lds r19,(134)+1 |
257 01f2 8091 0000 lds r24,AltICR.2501 |
258 01f6 9091 0000 lds r25,(AltICR.2501)+1 |
259 01fa 281B sub r18,r24 |
260 01fc 390B sbc r19,r25 |
261 01fe 8091 8600 lds r24,134 |
262 0202 9091 8700 lds r25,(134)+1 |
263 0206 9093 0000 sts (AltICR.2501)+1,r25 |
264 020a 8093 0000 sts AltICR.2501,r24 |
265 020e C901 movw r24,r18 |
266 0210 8D54 subi r24,lo8(-(-1101)) |
267 0212 9440 sbci r25,hi8(-(-1101)) |
268 0214 4091 0000 lds r20,index.2508 |
269 0218 835F subi r24,lo8(6899) |
270 021a 9A41 sbci r25,hi8(6899) |
271 021c 00F0 brlo .+2 |
272 021e 00C0 rjmp .L37 |
273 0220 4093 0000 sts tmpChannels,r20 |
274 0224 8091 0000 lds r24,tmpChannels |
275 0228 8430 cpi r24,lo8(4) |
276 022a 00F4 brsh .+2 |
277 022c 00C0 rjmp .L39 |
278 022e 9091 0000 lds r25,Channels |
279 0232 8091 0000 lds r24,tmpChannels |
280 0236 9817 cp r25,r24 |
281 0238 01F0 breq .+2 |
282 023a 00C0 rjmp .L39 |
283 023c 2091 0000 lds r18,okay_cnt.2509 |
284 0240 2B30 cpi r18,lo8(11) |
285 0242 00F0 brlo .L42 |
286 0244 1092 0000 sts NewPpmData,__zero_reg__ |
287 0248 30E0 ldi r19,lo8(0) |
288 024a 00C0 rjmp .L44 |
289 .L45: |
290 024c 2F31 cpi r18,lo8(31) |
291 024e 00F0 brlo .L46 |
292 0250 E32F mov r30,r19 |
293 0252 F0E0 ldi r31,lo8(0) |
294 0254 EE0F lsl r30 |
295 0256 FF1F rol r31 |
296 0258 DF01 movw r26,r30 |
297 025a A050 subi r26,lo8(-(PPM_in)) |
298 025c B040 sbci r27,hi8(-(PPM_in)) |
299 025e 8D91 ld r24,X+ |
300 0260 9C91 ld r25,X |
301 0262 DF01 movw r26,r30 |
302 0264 A050 subi r26,lo8(-(old_ppm_in.2504)) |
303 0266 B040 sbci r27,hi8(-(old_ppm_in.2504)) |
304 0268 8D93 st X+,r24 |
305 026a 9C93 st X,r25 |
306 026c DF01 movw r26,r30 |
307 026e A050 subi r26,lo8(-(PPM_diff)) |
308 0270 B040 sbci r27,hi8(-(PPM_diff)) |
309 0272 8D91 ld r24,X+ |
310 0274 9C91 ld r25,X |
311 0276 E050 subi r30,lo8(-(old_ppm_diff.2505)) |
312 0278 F040 sbci r31,hi8(-(old_ppm_diff.2505)) |
313 027a 9183 std Z+1,r25 |
314 027c 8083 st Z,r24 |
315 .L46: |
316 027e E32F mov r30,r19 |
317 0280 F0E0 ldi r31,lo8(0) |
318 0282 EE0F lsl r30 |
319 0284 FF1F rol r31 |
320 0286 DF01 movw r26,r30 |
321 0288 A050 subi r26,lo8(-(ppm_in.2502)) |
322 028a B040 sbci r27,hi8(-(ppm_in.2502)) |
323 028c 8D91 ld r24,X+ |
324 028e 9C91 ld r25,X |
325 0290 DF01 movw r26,r30 |
326 0292 A050 subi r26,lo8(-(PPM_in)) |
327 0294 B040 sbci r27,hi8(-(PPM_in)) |
328 0296 1196 adiw r26,1 |
329 0298 9C93 st X,r25 |
330 029a 8E93 st -X,r24 |
331 029c DF01 movw r26,r30 |
332 029e A050 subi r26,lo8(-(ppm_diff.2503)) |
333 02a0 B040 sbci r27,hi8(-(ppm_diff.2503)) |
334 02a2 8D91 ld r24,X+ |
335 02a4 9C91 ld r25,X |
336 02a6 E050 subi r30,lo8(-(PPM_diff)) |
337 02a8 F040 sbci r31,hi8(-(PPM_diff)) |
338 02aa 9183 std Z+1,r25 |
339 02ac 8083 st Z,r24 |
340 02ae 3F5F subi r19,lo8(-(1)) |
341 .L44: |
342 02b0 3D30 cpi r19,lo8(13) |
343 02b2 00F0 brlo .L45 |
344 02b4 3093 0000 sts index.2508,r19 |
345 02b8 2F3F cpi r18,lo8(-1) |
346 02ba 01F0 breq .L49 |
347 .L42: |
348 02bc 2F5F subi r18,lo8(-(1)) |
349 02be 2093 0000 sts okay_cnt.2509,r18 |
350 02c2 00C0 rjmp .L49 |
351 .L39: |
352 02c4 8091 0000 lds r24,okay_cnt.2509 |
353 02c8 8536 cpi r24,lo8(101) |
354 02ca 00F0 brlo .L50 |
355 02cc 8AE0 ldi r24,lo8(10) |
356 02ce 8093 0000 sts okay_cnt.2509,r24 |
357 02d2 00C0 rjmp .L52 |
358 .L50: |
359 02d4 1092 0000 sts okay_cnt.2509,__zero_reg__ |
360 .L52: |
361 02d8 8091 0000 lds r24,PlatinenVersion |
362 02dc 8A30 cpi r24,lo8(10) |
363 02de 01F0 breq .L53 |
364 02e0 8431 cpi r24,lo8(20) |
365 02e2 00F0 brlo .L55 |
366 .L53: |
367 02e4 289A sbi 37-0x20,0 |
368 02e6 00C0 rjmp .L49 |
369 .L55: |
370 02e8 2898 cbi 37-0x20,0 |
371 .L49: |
372 02ea 81E0 ldi r24,lo8(1) |
373 02ec 8093 0000 sts index.2508,r24 |
374 02f0 8091 0000 lds r24,MotorenEin |
375 02f4 8823 tst r24 |
376 02f6 01F0 breq .+2 |
377 02f8 00C0 rjmp .L94 |
378 02fa 8091 0000 lds r24,tmpChannels |
379 02fe 8093 0000 sts Channels,r24 |
380 0302 00C0 rjmp .L94 |
381 .L37: |
382 0304 4D30 cpi r20,lo8(13) |
383 0306 00F0 brlo .+2 |
384 0308 00C0 rjmp .L57 |
385 030a C901 movw r24,r18 |
386 030c 8B5F subi r24,lo8(-(-251)) |
387 030e 9040 sbci r25,hi8(-(-251)) |
388 0310 845B subi r24,lo8(436) |
389 0312 9140 sbci r25,hi8(436) |
390 0314 00F0 brlo .+2 |
391 0316 00C0 rjmp .L59 |
392 0318 E901 movw r28,r18 |
393 031a C25D subi r28,lo8(-(-466)) |
394 031c D140 sbci r29,hi8(-(-466)) |
395 031e 042F mov r16,r20 |
396 0320 10E0 ldi r17,lo8(0) |
397 0322 F801 movw r30,r16 |
398 0324 EE0F lsl r30 |
399 0326 FF1F rol r31 |
400 0328 E050 subi r30,lo8(-(ppm_in.2502)) |
401 032a F040 sbci r31,hi8(-(ppm_in.2502)) |
402 032c 0190 ld __tmp_reg__,Z+ |
403 032e F081 ld r31,Z |
404 0330 E02D mov r30,__tmp_reg__ |
405 0332 CE01 movw r24,r28 |
406 0334 8E1B sub r24,r30 |
407 0336 9F0B sbc r25,r31 |
408 0338 0596 adiw r24,5 |
409 033a 0B97 sbiw r24,11 |
410 033c 00F4 brsh .L61 |
411 033e 8091 0000 lds r24,okay_cnt.2509 |
412 0342 8A31 cpi r24,lo8(26) |
413 0344 00F0 brlo .L63 |
414 0346 8091 0000 lds r24,SenderOkay |
415 034a 865F subi r24,lo8(-(10)) |
416 034c 00C0 rjmp .L97 |
417 .L63: |
418 034e 8B30 cpi r24,lo8(11) |
419 0350 00F0 brlo .L65 |
420 0352 8091 0000 lds r24,SenderOkay |
421 0356 8E5F subi r24,lo8(-(2)) |
422 .L97: |
423 0358 8093 0000 sts SenderOkay,r24 |
424 .L65: |
425 035c 8091 0000 lds r24,SenderOkay |
426 0360 893C cpi r24,lo8(-55) |
427 0362 00F0 brlo .L61 |
428 0364 88EC ldi r24,lo8(-56) |
429 0366 8093 0000 sts SenderOkay,r24 |
430 .L61: |
431 036a CF01 movw r24,r30 |
432 036c 880F lsl r24 |
433 036e 991F rol r25 |
434 0370 8E0F add r24,r30 |
435 0372 9F1F adc r25,r31 |
436 0374 8C0F add r24,r28 |
437 0376 9D1F adc r25,r29 |
438 0378 64E0 ldi r22,lo8(4) |
439 037a 70E0 ldi r23,hi8(4) |
440 037c 0E94 0000 call __divmodhi4 |
441 0380 9B01 movw r18,r22 |
442 0382 CE01 movw r24,r28 |
443 0384 0196 adiw r24,1 |
444 0386 8617 cp r24,r22 |
445 0388 9707 cpc r25,r23 |
446 038a 04F4 brge .L68 |
447 038c 2150 subi r18,lo8(-(-1)) |
448 038e 3040 sbci r19,hi8(-(-1)) |
449 0390 00C0 rjmp .L70 |
450 .L68: |
451 0392 2197 sbiw r28,1 |
452 0394 6C17 cp r22,r28 |
453 0396 7D07 cpc r23,r29 |
454 0398 04F4 brge .L70 |
455 039a 2F5F subi r18,lo8(-(1)) |
456 039c 3F4F sbci r19,hi8(-(1)) |
457 .L70: |
458 039e 8091 0000 lds r24,SenderOkay |
459 03a2 E801 movw r28,r16 |
460 03a4 CC0F lsl r28 |
461 03a6 DD1F rol r29 |
462 03a8 8E3B cpi r24,lo8(-66) |
463 03aa 00F0 brlo .L72 |
464 03ac C050 subi r28,lo8(-(ppm_diff.2503)) |
465 03ae D040 sbci r29,hi8(-(ppm_diff.2503)) |
466 03b0 C901 movw r24,r18 |
467 03b2 8E1B sub r24,r30 |
468 03b4 9F0B sbc r25,r31 |
469 03b6 63E0 ldi r22,lo8(3) |
470 03b8 70E0 ldi r23,hi8(3) |
471 03ba 0E94 0000 call __divmodhi4 |
472 03be CB01 movw r24,r22 |
473 03c0 880F lsl r24 |
474 03c2 991F rol r25 |
475 03c4 860F add r24,r22 |
476 03c6 971F adc r25,r23 |
477 03c8 9983 std Y+1,r25 |
478 03ca 8883 st Y,r24 |
479 03cc 00C0 rjmp .L74 |
480 .L72: |
481 03ce C050 subi r28,lo8(-(ppm_diff.2503)) |
482 03d0 D040 sbci r29,hi8(-(ppm_diff.2503)) |
483 03d2 1982 std Y+1,__zero_reg__ |
484 03d4 1882 st Y,__zero_reg__ |
485 .L74: |
486 03d6 000F lsl r16 |
487 03d8 111F rol r17 |
488 03da 0050 subi r16,lo8(-(ppm_in.2502)) |
489 03dc 1040 sbci r17,hi8(-(ppm_in.2502)) |
490 03de F801 movw r30,r16 |
491 03e0 3183 std Z+1,r19 |
492 03e2 2083 st Z,r18 |
493 03e4 00C0 rjmp .L75 |
494 .L59: |
495 03e6 8091 0000 lds r24,PlatinenVersion |
496 03ea 8A30 cpi r24,lo8(10) |
497 03ec 01F0 breq .L76 |
498 03ee 8431 cpi r24,lo8(20) |
499 03f0 00F0 brlo .L78 |
500 .L76: |
501 03f2 289A sbi 37-0x20,0 |
502 03f4 00C0 rjmp .L75 |
503 .L78: |
504 03f6 2898 cbi 37-0x20,0 |
505 .L75: |
506 03f8 8091 0000 lds r24,PlatinenVersion |
507 03fc 8431 cpi r24,lo8(20) |
508 03fe 00F4 brsh .L79 |
509 0400 4530 cpi r20,lo8(5) |
510 0402 01F4 brne .L81 |
511 0404 5D9A sbi 43-0x20,5 |
512 0406 00C0 rjmp .L83 |
513 .L81: |
514 0408 5D98 cbi 43-0x20,5 |
515 040a 4630 cpi r20,lo8(6) |
516 040c 01F4 brne .L83 |
517 040e 5C9A sbi 43-0x20,4 |
518 0410 00C0 rjmp .L85 |
519 .L83: |
520 0412 5C98 cbi 43-0x20,4 |
521 0414 4730 cpi r20,lo8(7) |
522 0416 01F4 brne .L85 |
523 0418 5B9A sbi 43-0x20,3 |
524 041a 00C0 rjmp .L79 |
525 .L85: |
526 041c 5B98 cbi 43-0x20,3 |
527 041e 00C0 rjmp .L79 |
528 .L57: |
529 0420 4431 cpi r20,lo8(20) |
530 0422 00F4 brsh .L87 |
531 .L79: |
532 0424 4F5F subi r20,lo8(-(1)) |
533 0426 4093 0000 sts index.2508,r20 |
534 042a 00C0 rjmp .L94 |
535 .L87: |
536 042c 4431 cpi r20,lo8(20) |
537 042e 01F4 brne .L94 |
538 0430 8091 0000 lds r24,PlatinenVersion |
539 0434 8A30 cpi r24,lo8(10) |
540 0436 01F0 breq .L89 |
541 0438 8431 cpi r24,lo8(20) |
542 043a 00F0 brlo .L91 |
543 .L89: |
544 043c 289A sbi 37-0x20,0 |
545 043e 00C0 rjmp .L92 |
546 .L91: |
547 0440 2898 cbi 37-0x20,0 |
548 .L92: |
549 0442 8EE1 ldi r24,lo8(30) |
550 0444 8093 0000 sts index.2508,r24 |
551 0448 C0E0 ldi r28,lo8(old_ppm_in.2504) |
552 044a D0E0 ldi r29,hi8(old_ppm_in.2504) |
553 044c 20E0 ldi r18,lo8(0) |
554 044e 30E0 ldi r19,hi8(0) |
555 .L93: |
556 0450 8991 ld r24,Y+ |
557 0452 9991 ld r25,Y+ |
558 0454 F901 movw r30,r18 |
559 0456 EE0F lsl r30 |
560 0458 FF1F rol r31 |
561 045a DF01 movw r26,r30 |
562 045c A050 subi r26,lo8(-(PPM_in)) |
563 045e B040 sbci r27,hi8(-(PPM_in)) |
564 0460 1196 adiw r26,1 |
565 0462 9C93 st X,r25 |
566 0464 8E93 st -X,r24 |
567 0466 E050 subi r30,lo8(-(PPM_diff)) |
568 0468 F040 sbci r31,hi8(-(PPM_diff)) |
569 046a 1182 std Z+1,__zero_reg__ |
570 046c 1082 st Z,__zero_reg__ |
571 046e 2F5F subi r18,lo8(-(1)) |
572 0470 3F4F sbci r19,hi8(-(1)) |
573 0472 2D30 cpi r18,13 |
574 0474 3105 cpc r19,__zero_reg__ |
575 0476 01F4 brne .L93 |
576 .L94: |
577 /* epilogue: frame size=0 */ |
578 0478 FF91 pop r31 |
579 047a EF91 pop r30 |
580 047c DF91 pop r29 |
581 047e CF91 pop r28 |
582 0480 BF91 pop r27 |
583 0482 AF91 pop r26 |
584 0484 9F91 pop r25 |
585 0486 8F91 pop r24 |
586 0488 7F91 pop r23 |
587 048a 6F91 pop r22 |
588 048c 5F91 pop r21 |
589 048e 4F91 pop r20 |
590 0490 3F91 pop r19 |
591 0492 2F91 pop r18 |
592 0494 1F91 pop r17 |
593 0496 0F91 pop r16 |
594 0498 0F90 pop __tmp_reg__ |
595 049a 0FBE out __SREG__,__tmp_reg__ |
596 049c 0F90 pop __tmp_reg__ |
597 049e 1F90 pop __zero_reg__ |
598 04a0 1895 reti |
599 /* epilogue end (size=21) */ |
600 /* function __vector_12 size 568 (526) */ |
602 .global tmpChannels |
603 .global tmpChannels |
604 .section .bss |
607 tmpChannels: |
608 0000 00 .skip 1,0 |
609 .global NewPpmData |
610 .data |
613 NewPpmData: |
614 0000 01 .byte 1 |
615 .lcomm okay_cnt.2509,1 |
616 .lcomm index.2508,1 |
617 .lcomm old_ppm_diff.2505,26 |
618 .lcomm old_ppm_in.2504,26 |
619 .lcomm ppm_diff.2503,26 |
620 .lcomm ppm_in.2502,26 |
621 .lcomm AltICR.2501,2 |
622 .lcomm index.2500,2 |
623 .lcomm AltICR.2497,2 |
624 .comm PPM_in,52,1 |
625 .comm PPM_diff,52,1 |
626 .comm Channels,1,1 |
627 /* File "rc.c": code 600 = 0x0258 ( 557), prologues 21, epilogues 22 */ |
DEFINED SYMBOLS |
*ABS*:00000000 rc.c |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccWx6mqG.s:2 *ABS*:0000003f __SREG__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccWx6mqG.s:3 *ABS*:0000003e __SP_H__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccWx6mqG.s:4 *ABS*:0000003d __SP_L__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccWx6mqG.s:5 *ABS*:00000000 __tmp_reg__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccWx6mqG.s:6 *ABS*:00000001 __zero_reg__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccWx6mqG.s:12 .text:00000000 rc_sum_init |
*COM*:00000034 PPM_in |
*COM*:00000034 PPM_diff |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccWx6mqG.s:48 .text:00000040 __vector_12 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccWx6mqG.s:622 .bss:0000006f AltICR.2497 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccWx6mqG.s:621 .bss:0000006d index.2500 |
*COM*:00000001 Channels |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccWx6mqG.s:613 .data:00000000 NewPpmData |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccWx6mqG.s:620 .bss:0000006b AltICR.2501 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccWx6mqG.s:615 .bss:00000002 index.2508 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccWx6mqG.s:607 .bss:00000000 tmpChannels |
.bss:00000001 okay_cnt.2509 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccWx6mqG.s:617 .bss:0000001d old_ppm_in.2504 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccWx6mqG.s:616 .bss:00000003 old_ppm_diff.2505 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccWx6mqG.s:619 .bss:00000051 ppm_in.2502 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccWx6mqG.s:618 .bss:00000037 ppm_diff.2503 |
UNDEFINED SYMBOLS |
__do_copy_data |
__do_clear_bss |
AdNeutralGier |
AdNeutralRoll |
AdNeutralNick |
EE_Parameter |
SenderOkay |
__divmodhi4 |
PlatinenVersion |
MotorenEin |
/Spektrum-Diversity/V0.82a/spi.c |
---|
0,0 → 1,333 |
// ######################## 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}; |
unsigned char SPI_CommandCounter = 0; |
unsigned char NC_ErrorCode = 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; |
//ebugOut.Analog[16]++; |
// -- 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; |
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] = ControlHeading; |
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 |
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.NaviSpeedCompensation; |
ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation; |
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]; |
ToNaviCtrl.Param.Byte[7] = VersionInfo.HardwareError[2]; |
ToNaviCtrl.Param.Byte[8] = VersionInfo.HardwareError[3]; |
ToNaviCtrl.Param.Byte[9] = VersionInfo.HardwareError[4]; |
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; |
break; |
} |
if(SPI_RxDataValid) |
{ |
NaviDataOkay = 250; |
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; |
} |
if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue; |
KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
if(FromNaviCtrl.BeepTime > beeptime && !WinkelOut.CalcState) 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]; |
FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[3]; |
FromNaviCtrl_Value.GpsZ = FromNaviCtrl.Param.Byte[4]; |
FromNC_Rotate_C = FromNaviCtrl.Param.Byte[5]; |
FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6]; |
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]; |
NC_ErrorCode = FromNaviCtrl.Param.Byte[6]; |
DebugOut.Status[1] = (DebugOut.Status[1] & (0x01|0x02)) | (FromNaviCtrl.Param.Byte[6] & (0x04 | 0x08)); |
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 |
break; |
default: |
break; |
} |
} |
else |
{ |
// KompassValue = 0; |
// KompassRichtung = 0; |
GPS_Nick = 0; |
GPS_Roll = 0; |
} |
} |
#endif |
/Spektrum-Diversity/V0.82a/spi.d |
---|
0,0 → 1,3 |
spi.o spi.d : spi.c main.h old_macros.h printf_P.h timer0.h uart.h analog.h \ |
twimaster.h menu.h rc.h fc.h gps.h spi.h led.h spektrum.h capacity.h \ |
eeprom.h libfc.h debug.h |
/Spektrum-Diversity/V0.82a/spi.h |
---|
0,0 → 1,183 |
// ######################## SPI - FlightCtrl ################### |
#ifndef _SPI_H |
#define _SPI_H |
#include <util/delay.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 |
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; |
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 |
struct str_FromNaviCtrl |
{ |
unsigned char Command; |
signed int GPS_Nick; |
signed int GPS_Roll; |
signed int GPS_Gier; |
signed int CompassValue; |
signed int Status; |
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) |
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); |
#else |
// -------------------------------- Dummy ----------------------------------------- |
#define SPI_MasterInit() ; |
#define SPI_StartTransmitPacket() ; |
#define UpdateSPI_Buffer() ; |
#define SPI_TransmitByte() ; |
#endif |
#endif |
/Spektrum-Diversity/V0.82a/spi.lst |
---|
0,0 → 1,917 |
1 .file "spi.c" |
2 __SREG__ = 0x3f |
3 __SP_H__ = 0x3e |
4 __SP_L__ = 0x3d |
5 __tmp_reg__ = 0 |
6 __zero_reg__ = 1 |
7 .global __do_copy_data |
8 .global __do_clear_bss |
9 .text |
10 .global SPI_MasterInit |
12 SPI_MasterInit: |
13 /* prologue: frame size=0 */ |
14 /* prologue end (size=0) */ |
15 0000 84B1 in r24,36-0x20 |
16 0002 806A ori r24,lo8(-96) |
17 0004 84B9 out 36-0x20,r24 |
18 0006 3D9A sbi 39-0x20,5 |
19 0008 82E5 ldi r24,lo8(82) |
20 000a 8CBD out 76-0x20,r24 |
21 000c 1DBC out 77-0x20,__zero_reg__ |
22 000e 459A sbi 40-0x20,5 |
23 0010 81E0 ldi r24,lo8(1) |
24 0012 8093 0000 sts SPITransferCompleted,r24 |
25 0016 8AEA ldi r24,lo8(-86) |
26 0018 8093 0000 sts ToNaviCtrl,r24 |
27 001c 83E8 ldi r24,lo8(-125) |
28 001e 8093 0000 sts ToNaviCtrl+1,r24 |
29 0022 8AE0 ldi r24,lo8(10) |
30 0024 8093 0000 sts ToNaviCtrl+2,r24 |
31 0028 1092 0000 sts (ToNaviCtrl+3)+1,__zero_reg__ |
32 002c 1092 0000 sts ToNaviCtrl+3,__zero_reg__ |
33 0030 1092 0000 sts (ToNaviCtrl+5)+1,__zero_reg__ |
34 0034 1092 0000 sts ToNaviCtrl+5,__zero_reg__ |
35 0038 1092 0000 sts FromNaviCtrl_Value+3,__zero_reg__ |
36 003c 1092 0000 sts SPI_RxDataValid,__zero_reg__ |
37 /* epilogue: frame size=0 */ |
38 0040 0895 ret |
39 /* epilogue end (size=1) */ |
40 /* function SPI_MasterInit size 33 (32) */ |
42 .global UpdateSPI_Buffer |
44 UpdateSPI_Buffer: |
45 /* prologue: frame size=0 */ |
46 0042 EF92 push r14 |
47 0044 FF92 push r15 |
48 0046 0F93 push r16 |
49 0048 1F93 push r17 |
50 /* prologue end (size=4) */ |
51 004a E090 0000 lds r14,EE_Parameter+28 |
52 004e FF24 clr r15 |
53 0050 EE0C lsl r14 |
54 0052 FF1C rol r15 |
55 0054 EE0C lsl r14 |
56 0056 FF1C rol r15 |
57 0058 0027 clr r16 |
58 005a F7FC sbrc r15,7 |
59 005c 0095 com r16 |
60 005e 102F mov r17,r16 |
61 0060 6091 0000 lds r22,IntegralNick |
62 0064 7091 0000 lds r23,(IntegralNick)+1 |
63 0068 8091 0000 lds r24,(IntegralNick)+2 |
64 006c 9091 0000 lds r25,(IntegralNick)+3 |
65 0070 A801 movw r20,r16 |
66 0072 9701 movw r18,r14 |
67 0074 0E94 0000 call __divmodsi4 |
68 0078 3093 0000 sts (ToNaviCtrl+3)+1,r19 |
69 007c 2093 0000 sts ToNaviCtrl+3,r18 |
70 0080 6091 0000 lds r22,IntegralRoll |
71 0084 7091 0000 lds r23,(IntegralRoll)+1 |
72 0088 8091 0000 lds r24,(IntegralRoll)+2 |
73 008c 9091 0000 lds r25,(IntegralRoll)+3 |
74 0090 A801 movw r20,r16 |
75 0092 9701 movw r18,r14 |
76 0094 0E94 0000 call __divmodsi4 |
77 0098 3093 0000 sts (ToNaviCtrl+5)+1,r19 |
78 009c 2093 0000 sts ToNaviCtrl+5,r18 |
79 00a0 6091 0000 lds r22,ErsatzKompass |
80 00a4 7091 0000 lds r23,(ErsatzKompass)+1 |
81 00a8 8091 0000 lds r24,(ErsatzKompass)+2 |
82 00ac 9091 0000 lds r25,(ErsatzKompass)+3 |
83 00b0 2AE0 ldi r18,lo8(10) |
84 00b2 30E0 ldi r19,hi8(10) |
85 00b4 40E0 ldi r20,hlo8(10) |
86 00b6 50E0 ldi r21,hhi8(10) |
87 00b8 0E94 0000 call __mulsi3 |
88 00bc 2091 0000 lds r18,GIER_GRAD_FAKTOR |
89 00c0 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1 |
90 00c4 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2 |
91 00c8 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3 |
92 00cc 0E94 0000 call __divmodsi4 |
93 00d0 3093 0000 sts (ToNaviCtrl+11)+1,r19 |
94 00d4 2093 0000 sts ToNaviCtrl+11,r18 |
95 00d8 2091 0000 lds r18,AdWertGier |
96 00dc 3091 0000 lds r19,(AdWertGier)+1 |
97 00e0 8091 0000 lds r24,AdNeutralGier |
98 00e4 9091 0000 lds r25,(AdNeutralGier)+1 |
99 00e8 821B sub r24,r18 |
100 00ea 930B sbc r25,r19 |
101 00ec 9093 0000 sts (ToNaviCtrl+17)+1,r25 |
102 00f0 8093 0000 sts ToNaviCtrl+17,r24 |
103 00f4 2091 0000 lds r18,NaviCntAcc |
104 00f8 3091 0000 lds r19,(NaviCntAcc)+1 |
105 00fc 8091 0000 lds r24,NaviAccNick |
106 0100 9091 0000 lds r25,(NaviAccNick)+1 |
107 0104 B901 movw r22,r18 |
108 0106 0E94 0000 call __divmodhi4 |
109 010a CB01 movw r24,r22 |
110 010c 880F lsl r24 |
111 010e 991F rol r25 |
112 0110 860F add r24,r22 |
113 0112 971F adc r25,r23 |
114 0114 880F lsl r24 |
115 0116 991F rol r25 |
116 0118 64E0 ldi r22,lo8(4) |
117 011a 70E0 ldi r23,hi8(4) |
118 011c 0E94 0000 call __divmodhi4 |
119 0120 7093 0000 sts (ToNaviCtrl+7)+1,r23 |
120 0124 6093 0000 sts ToNaviCtrl+7,r22 |
121 0128 8091 0000 lds r24,NaviAccRoll |
122 012c 9091 0000 lds r25,(NaviAccRoll)+1 |
123 0130 B901 movw r22,r18 |
124 0132 0E94 0000 call __divmodhi4 |
125 0136 CB01 movw r24,r22 |
126 0138 880F lsl r24 |
127 013a 991F rol r25 |
128 013c 860F add r24,r22 |
129 013e 971F adc r25,r23 |
130 0140 880F lsl r24 |
131 0142 991F rol r25 |
132 0144 64E0 ldi r22,lo8(4) |
133 0146 70E0 ldi r23,hi8(4) |
134 0148 0E94 0000 call __divmodhi4 |
135 014c 7093 0000 sts (ToNaviCtrl+9)+1,r23 |
136 0150 6093 0000 sts ToNaviCtrl+9,r22 |
137 0154 1092 0000 sts (NaviCntAcc)+1,__zero_reg__ |
138 0158 1092 0000 sts NaviCntAcc,__zero_reg__ |
139 015c 1092 0000 sts (NaviAccNick)+1,__zero_reg__ |
140 0160 1092 0000 sts NaviAccNick,__zero_reg__ |
141 0164 1092 0000 sts (NaviAccRoll)+1,__zero_reg__ |
142 0168 1092 0000 sts NaviAccRoll,__zero_reg__ |
143 016c 8091 0000 lds r24,ToNaviCtrl+2 |
144 0170 8D30 cpi r24,lo8(13) |
145 0172 01F4 brne .+2 |
146 0174 00C0 rjmp .L8 |
147 0176 8E30 cpi r24,lo8(14) |
148 0178 00F4 brsh .L12 |
149 017a 8B30 cpi r24,lo8(11) |
150 017c 01F4 brne .+2 |
151 017e 00C0 rjmp .L6 |
152 0180 8C30 cpi r24,lo8(12) |
153 0182 00F0 brlo .+2 |
154 0184 00C0 rjmp .L7 |
155 0186 8A30 cpi r24,lo8(10) |
156 0188 01F0 breq .+2 |
157 018a 00C0 rjmp .L4 |
158 018c 00C0 rjmp .L5 |
159 .L12: |
160 018e 8F30 cpi r24,lo8(15) |
161 0190 01F4 brne .+2 |
162 0192 00C0 rjmp .L10 |
163 0194 8F30 cpi r24,lo8(15) |
164 0196 00F4 brsh .+2 |
165 0198 00C0 rjmp .L9 |
166 019a 8031 cpi r24,lo8(16) |
167 019c 01F0 breq .+2 |
168 019e 00C0 rjmp .L4 |
169 01a0 00C0 rjmp .L11 |
170 .L5: |
171 01a2 8091 0000 lds r24,Parameter_UserParam1 |
172 01a6 8093 0000 sts ToNaviCtrl+19,r24 |
173 01aa 8091 0000 lds r24,Parameter_UserParam2 |
174 01ae 8093 0000 sts ToNaviCtrl+20,r24 |
175 01b2 8091 0000 lds r24,Parameter_UserParam3 |
176 01b6 8093 0000 sts ToNaviCtrl+21,r24 |
177 01ba 8091 0000 lds r24,Parameter_UserParam4 |
178 01be 8093 0000 sts ToNaviCtrl+22,r24 |
179 01c2 8091 0000 lds r24,Parameter_UserParam5 |
180 01c6 8093 0000 sts ToNaviCtrl+23,r24 |
181 01ca 8091 0000 lds r24,Parameter_UserParam6 |
182 01ce 8093 0000 sts ToNaviCtrl+24,r24 |
183 01d2 8091 0000 lds r24,Parameter_UserParam7 |
184 01d6 8093 0000 sts ToNaviCtrl+25,r24 |
185 01da 8091 0000 lds r24,Parameter_UserParam8 |
186 01de 8093 0000 sts ToNaviCtrl+26,r24 |
187 01e2 8091 0000 lds r24,FC_StatusFlags |
188 01e6 8093 0000 sts ToNaviCtrl+27,r24 |
189 01ea 8091 0000 lds r24,FC_StatusFlags |
190 01ee 837F andi r24,lo8(-13) |
191 01f0 8093 0000 sts FC_StatusFlags,r24 |
192 01f4 0E94 0000 call GetActiveParamSet |
193 01f8 8093 0000 sts ToNaviCtrl+28,r24 |
194 01fc 8091 0000 lds r24,ControlHeading |
195 0200 8093 0000 sts ToNaviCtrl+29,r24 |
196 0204 00C0 rjmp .L4 |
197 .L11: |
198 0206 8091 0000 lds r24,Capacity |
199 020a 9091 0000 lds r25,(Capacity)+1 |
200 020e 9093 0000 sts (ToNaviCtrl+19)+1,r25 |
201 0212 8093 0000 sts ToNaviCtrl+19,r24 |
202 0216 8091 0000 lds r24,Capacity+4 |
203 021a 9091 0000 lds r25,(Capacity+4)+1 |
204 021e 9093 0000 sts (ToNaviCtrl+21)+1,r25 |
205 0222 8093 0000 sts ToNaviCtrl+21,r24 |
206 0226 8091 0000 lds r24,UBat |
207 022a 9091 0000 lds r25,(UBat)+1 |
208 022e 8093 0000 sts ToNaviCtrl+23,r24 |
209 0232 8091 0000 lds r24,BattLowVoltageWarning |
210 0236 8093 0000 sts ToNaviCtrl+24,r24 |
211 023a 00C0 rjmp .L4 |
212 .L8: |
213 023c 8091 0000 lds r24,EE_Parameter+80 |
214 0240 8093 0000 sts ToNaviCtrl+19,r24 |
215 0244 8091 0000 lds r24,EE_Parameter+81 |
216 0248 8093 0000 sts ToNaviCtrl+20,r24 |
217 024c 8091 0000 lds r24,EE_Parameter+82 |
218 0250 8093 0000 sts ToNaviCtrl+21,r24 |
219 0254 8091 0000 lds r24,EE_Parameter+83 |
220 0258 8093 0000 sts ToNaviCtrl+22,r24 |
221 025c 8091 0000 lds r24,EE_Parameter+84 |
222 0260 8093 0000 sts ToNaviCtrl+23,r24 |
223 0264 8091 0000 lds r24,EE_Parameter+88 |
224 0268 8093 0000 sts ToNaviCtrl+24,r24 |
225 026c 8091 0000 lds r24,EE_Parameter+89 |
226 0270 8093 0000 sts ToNaviCtrl+25,r24 |
227 0274 8091 0000 lds r24,EE_Parameter+90 |
228 0278 8093 0000 sts ToNaviCtrl+26,r24 |
229 027c 8091 0000 lds r24,EE_Parameter+93 |
230 0280 8093 0000 sts ToNaviCtrl+27,r24 |
231 0284 8091 0000 lds r24,EE_Parameter+91 |
232 0288 8093 0000 sts ToNaviCtrl+28,r24 |
233 028c 8091 0000 lds r24,EE_Parameter+92 |
234 0290 8093 0000 sts ToNaviCtrl+29,r24 |
235 0294 8091 0000 lds r24,EE_Parameter+94 |
236 0298 00C0 rjmp .L40 |
237 .L6: |
238 /* #APP */ |
239 029a F894 cli |
240 /* #NOAPP */ |
241 029c E091 0000 lds r30,EE_Parameter+3 |
242 02a0 F0E0 ldi r31,lo8(0) |
243 02a2 EE0F lsl r30 |
244 02a4 FF1F rol r31 |
245 02a6 E050 subi r30,lo8(-(PPM_in)) |
246 02a8 F040 sbci r31,hi8(-(PPM_in)) |
247 02aa 0190 ld __tmp_reg__,Z+ |
248 02ac F081 ld r31,Z |
249 02ae E02D mov r30,__tmp_reg__ |
250 02b0 2FEF ldi r18,hi8(-127) |
251 02b2 E138 cpi r30,lo8(-127) |
252 02b4 F207 cpc r31,r18 |
253 02b6 04F4 brge .L13 |
254 02b8 E1E8 ldi r30,lo8(-127) |
255 02ba FFEF ldi r31,hi8(-127) |
256 .L13: |
257 02bc E038 cpi r30,128 |
258 02be F105 cpc r31,__zero_reg__ |
259 02c0 04F0 brlt .L14 |
260 02c2 EFE7 ldi r30,lo8(127) |
261 02c4 F0E0 ldi r31,hi8(127) |
262 .L14: |
263 02c6 E093 0000 sts ToNaviCtrl+19,r30 |
264 02ca E091 0000 lds r30,EE_Parameter+4 |
265 02ce F0E0 ldi r31,lo8(0) |
266 02d0 EE0F lsl r30 |
267 02d2 FF1F rol r31 |
268 02d4 E050 subi r30,lo8(-(PPM_in)) |
269 02d6 F040 sbci r31,hi8(-(PPM_in)) |
270 02d8 0190 ld __tmp_reg__,Z+ |
271 02da F081 ld r31,Z |
272 02dc E02D mov r30,__tmp_reg__ |
273 02de 6FEF ldi r22,hi8(-127) |
274 02e0 E138 cpi r30,lo8(-127) |
275 02e2 F607 cpc r31,r22 |
276 02e4 04F4 brge .L15 |
277 02e6 E1E8 ldi r30,lo8(-127) |
278 02e8 FFEF ldi r31,hi8(-127) |
279 .L15: |
280 02ea E038 cpi r30,128 |
281 02ec F105 cpc r31,__zero_reg__ |
282 02ee 04F0 brlt .L16 |
283 02f0 EFE7 ldi r30,lo8(127) |
284 02f2 F0E0 ldi r31,hi8(127) |
285 .L16: |
286 02f4 E093 0000 sts ToNaviCtrl+20,r30 |
287 02f8 E091 0000 lds r30,EE_Parameter+2 |
288 02fc F0E0 ldi r31,lo8(0) |
289 02fe EE0F lsl r30 |
290 0300 FF1F rol r31 |
291 0302 E050 subi r30,lo8(-(PPM_in)) |
292 0304 F040 sbci r31,hi8(-(PPM_in)) |
293 0306 0190 ld __tmp_reg__,Z+ |
294 0308 F081 ld r31,Z |
295 030a E02D mov r30,__tmp_reg__ |
296 030c 8FEF ldi r24,hi8(-127) |
297 030e E138 cpi r30,lo8(-127) |
298 0310 F807 cpc r31,r24 |
299 0312 04F4 brge .L17 |
300 0314 E1E8 ldi r30,lo8(-127) |
301 0316 FFEF ldi r31,hi8(-127) |
302 .L17: |
303 0318 E038 cpi r30,128 |
304 031a F105 cpc r31,__zero_reg__ |
305 031c 04F0 brlt .L18 |
306 031e EFE7 ldi r30,lo8(127) |
307 0320 F0E0 ldi r31,hi8(127) |
308 .L18: |
309 0322 E093 0000 sts ToNaviCtrl+21,r30 |
310 0326 E091 0000 lds r30,EE_Parameter+1 |
311 032a F0E0 ldi r31,lo8(0) |
312 032c EE0F lsl r30 |
313 032e FF1F rol r31 |
314 0330 E050 subi r30,lo8(-(PPM_in)) |
315 0332 F040 sbci r31,hi8(-(PPM_in)) |
316 0334 0190 ld __tmp_reg__,Z+ |
317 0336 F081 ld r31,Z |
318 0338 E02D mov r30,__tmp_reg__ |
319 033a 2FEF ldi r18,hi8(-127) |
320 033c E138 cpi r30,lo8(-127) |
321 033e F207 cpc r31,r18 |
322 0340 04F4 brge .L19 |
323 0342 E1E8 ldi r30,lo8(-127) |
324 0344 FFEF ldi r31,hi8(-127) |
325 .L19: |
326 /* #APP */ |
327 0346 7894 sei |
328 /* #NOAPP */ |
329 0348 E038 cpi r30,128 |
330 034a F105 cpc r31,__zero_reg__ |
331 034c 04F0 brlt .L20 |
332 034e EFE7 ldi r30,lo8(127) |
333 0350 F0E0 ldi r31,hi8(127) |
334 .L20: |
335 0352 E093 0000 sts ToNaviCtrl+22,r30 |
336 0356 8091 0000 lds r24,Poti |
337 035a 8093 0000 sts ToNaviCtrl+23,r24 |
338 035e 8091 0000 lds r24,Poti+1 |
339 0362 8093 0000 sts ToNaviCtrl+24,r24 |
340 0366 8091 0000 lds r24,Poti+2 |
341 036a 8093 0000 sts ToNaviCtrl+25,r24 |
342 036e 8091 0000 lds r24,Poti+3 |
343 0372 8093 0000 sts ToNaviCtrl+26,r24 |
344 0376 8091 0000 lds r24,Poti+4 |
345 037a 8093 0000 sts ToNaviCtrl+27,r24 |
346 037e 8091 0000 lds r24,Poti+5 |
347 0382 8093 0000 sts ToNaviCtrl+28,r24 |
348 0386 8091 0000 lds r24,Poti+6 |
349 038a 8093 0000 sts ToNaviCtrl+29,r24 |
350 038e 8091 0000 lds r24,Poti+7 |
351 .L40: |
352 0392 8093 0000 sts ToNaviCtrl+30,r24 |
353 0396 00C0 rjmp .L4 |
354 .L7: |
355 0398 8091 0000 lds r24,WinkelOut+6 |
356 039c 8630 cpi r24,lo8(6) |
357 039e 00F0 brlo .L21 |
358 03a0 1092 0000 sts WinkelOut+6,__zero_reg__ |
359 03a4 85E0 ldi r24,lo8(5) |
360 .L21: |
361 03a6 8093 0000 sts ToNaviCtrl+19,r24 |
362 03aa 8091 0000 lds r24,EE_Parameter+95 |
363 03ae 8093 0000 sts ToNaviCtrl+20,r24 |
364 03b2 6091 0000 lds r22,HoehenWert |
365 03b6 7091 0000 lds r23,(HoehenWert)+1 |
366 03ba 8091 0000 lds r24,(HoehenWert)+2 |
367 03be 9091 0000 lds r25,(HoehenWert)+3 |
368 03c2 25E0 ldi r18,lo8(5) |
369 03c4 30E0 ldi r19,hi8(5) |
370 03c6 40E0 ldi r20,hlo8(5) |
371 03c8 50E0 ldi r21,hhi8(5) |
372 03ca 0E94 0000 call __divmodsi4 |
373 03ce 3093 0000 sts (ToNaviCtrl+21)+1,r19 |
374 03d2 2093 0000 sts ToNaviCtrl+21,r18 |
375 03d6 6091 0000 lds r22,SollHoehe |
376 03da 7091 0000 lds r23,(SollHoehe)+1 |
377 03de 8091 0000 lds r24,(SollHoehe)+2 |
378 03e2 9091 0000 lds r25,(SollHoehe)+3 |
379 03e6 25E0 ldi r18,lo8(5) |
380 03e8 30E0 ldi r19,hi8(5) |
381 03ea 40E0 ldi r20,hlo8(5) |
382 03ec 50E0 ldi r21,hhi8(5) |
383 03ee 0E94 0000 call __divmodsi4 |
384 03f2 3093 0000 sts (ToNaviCtrl+23)+1,r19 |
385 03f6 2093 0000 sts ToNaviCtrl+23,r18 |
386 03fa 8091 0000 lds r24,EE_Parameter+85 |
387 03fe 8093 0000 sts ToNaviCtrl+25,r24 |
388 0402 8091 0000 lds r24,EE_Parameter+86 |
389 0406 8093 0000 sts ToNaviCtrl+26,r24 |
390 040a 8091 0000 lds r24,EE_Parameter+87 |
391 040e 8093 0000 sts ToNaviCtrl+27,r24 |
392 0412 8091 0000 lds r24,SenderOkay |
393 0416 8093 0000 sts ToNaviCtrl+28,r24 |
394 041a 8091 0000 lds r24,PPM_in |
395 041e 9091 0000 lds r25,(PPM_in)+1 |
396 0422 8093 0000 sts ToNaviCtrl+29,r24 |
397 0426 8091 0000 lds r24,DebugOut+16 |
398 042a 9091 0000 lds r25,(DebugOut+16)+1 |
399 042e 64E0 ldi r22,lo8(4) |
400 0430 70E0 ldi r23,hi8(4) |
401 0432 0E94 0000 call __divmodhi4 |
402 0436 6093 0000 sts ToNaviCtrl+30,r22 |
403 043a 00C0 rjmp .L4 |
404 .L9: |
405 043c 1092 0000 sts ToNaviCtrl+19,__zero_reg__ |
406 0440 82E5 ldi r24,lo8(82) |
407 0442 8093 0000 sts ToNaviCtrl+20,r24 |
408 0446 1092 0000 sts ToNaviCtrl+21,__zero_reg__ |
409 044a 80E1 ldi r24,lo8(16) |
410 044c 8093 0000 sts ToNaviCtrl+22,r24 |
411 0450 8091 0000 lds r24,PlatinenVersion |
412 0454 8093 0000 sts ToNaviCtrl+23,r24 |
413 0458 8091 0000 lds r24,VersionInfo+5 |
414 045c 8093 0000 sts ToNaviCtrl+24,r24 |
415 0460 8091 0000 lds r24,VersionInfo+6 |
416 0464 8093 0000 sts ToNaviCtrl+25,r24 |
417 0468 8091 0000 lds r24,VersionInfo+7 |
418 046c 8093 0000 sts ToNaviCtrl+26,r24 |
419 0470 8091 0000 lds r24,VersionInfo+8 |
420 0474 8093 0000 sts ToNaviCtrl+27,r24 |
421 0478 8091 0000 lds r24,VersionInfo+9 |
422 047c 00C0 rjmp .L41 |
423 .L10: |
424 047e 8091 0000 lds r24,EE_Parameter+53 |
425 0482 8093 0000 sts ToNaviCtrl+19,r24 |
426 0486 8091 0000 lds r24,EE_Parameter+101 |
427 048a 8093 0000 sts ToNaviCtrl+20,r24 |
428 048e 8091 0000 lds r24,Parameter_ServoNickControl |
429 0492 8093 0000 sts ToNaviCtrl+21,r24 |
430 0496 8091 0000 lds r24,EE_Parameter+46 |
431 049a 8093 0000 sts ToNaviCtrl+22,r24 |
432 049e 8091 0000 lds r24,EE_Parameter+47 |
433 04a2 8093 0000 sts ToNaviCtrl+23,r24 |
434 04a6 8091 0000 lds r24,EE_Parameter+48 |
435 04aa 8093 0000 sts ToNaviCtrl+24,r24 |
436 04ae 8091 0000 lds r24,Parameter_ServoRollControl |
437 04b2 8093 0000 sts ToNaviCtrl+25,r24 |
438 04b6 8091 0000 lds r24,EE_Parameter+50 |
439 04ba 8093 0000 sts ToNaviCtrl+26,r24 |
440 04be 8091 0000 lds r24,EE_Parameter+51 |
441 04c2 8093 0000 sts ToNaviCtrl+27,r24 |
442 04c6 8091 0000 lds r24,EE_Parameter+52 |
443 .L41: |
444 04ca 8093 0000 sts ToNaviCtrl+28,r24 |
445 .L4: |
446 04ce 8091 0000 lds r24,SPI_RxDataValid |
447 04d2 8823 tst r24 |
448 04d4 01F4 brne .+2 |
449 04d6 00C0 rjmp .L24 |
450 04d8 8AEF ldi r24,lo8(-6) |
451 04da 8093 0000 sts NaviDataOkay,r24 |
452 04de 4091 0000 lds r20,FromNaviCtrl+1 |
453 04e2 5091 0000 lds r21,(FromNaviCtrl+1)+1 |
454 04e6 CA01 movw r24,r20 |
455 04e8 8150 subi r24,lo8(-(511)) |
456 04ea 9E4F sbci r25,hi8(-(511)) |
457 04ec 8F5F subi r24,lo8(1023) |
458 04ee 9340 sbci r25,hi8(1023) |
459 04f0 00F4 brsh .L26 |
460 04f2 2091 0000 lds r18,FromNaviCtrl+3 |
461 04f6 3091 0000 lds r19,(FromNaviCtrl+3)+1 |
462 04fa C901 movw r24,r18 |
463 04fc 8150 subi r24,lo8(-(511)) |
464 04fe 9E4F sbci r25,hi8(-(511)) |
465 0500 8F5F subi r24,lo8(1023) |
466 0502 9340 sbci r25,hi8(1023) |
467 0504 00F4 brsh .L26 |
468 0506 8091 0000 lds r24,EE_Parameter+13 |
469 050a 85FF sbrs r24,5 |
470 050c 00C0 rjmp .L26 |
471 050e 5093 0000 sts (GPS_Nick)+1,r21 |
472 0512 4093 0000 sts GPS_Nick,r20 |
473 0516 3093 0000 sts (GPS_Roll)+1,r19 |
474 051a 2093 0000 sts GPS_Roll,r18 |
475 .L26: |
476 051e 8091 0000 lds r24,FromNaviCtrl+7 |
477 0522 9091 0000 lds r25,(FromNaviCtrl+7)+1 |
478 0526 21E0 ldi r18,hi8(361) |
479 0528 8936 cpi r24,lo8(361) |
480 052a 9207 cpc r25,r18 |
481 052c 04F4 brge .L30 |
482 052e 9093 0000 sts (KompassValue)+1,r25 |
483 0532 8093 0000 sts KompassValue,r24 |
484 .L30: |
485 0536 8091 0000 lds r24,KompassValue |
486 053a 9091 0000 lds r25,(KompassValue)+1 |
487 053e 845E subi r24,lo8(-(540)) |
488 0540 9D4F sbci r25,hi8(-(540)) |
489 0542 2091 0000 lds r18,KompassStartwert |
490 0546 3091 0000 lds r19,(KompassStartwert)+1 |
491 054a 821B sub r24,r18 |
492 054c 930B sbc r25,r19 |
493 054e 68E6 ldi r22,lo8(360) |
494 0550 71E0 ldi r23,hi8(360) |
495 0552 0E94 0000 call __divmodhi4 |
496 0556 845B subi r24,lo8(-(-180)) |
497 0558 9040 sbci r25,hi8(-(-180)) |
498 055a 9093 0000 sts (KompassRichtung)+1,r25 |
499 055e 8093 0000 sts KompassRichtung,r24 |
500 0562 2091 0000 lds r18,FromNaviCtrl+11 |
501 0566 3091 0000 lds r19,(FromNaviCtrl+11)+1 |
502 056a 8091 0000 lds r24,beeptime |
503 056e 9091 0000 lds r25,(beeptime)+1 |
504 0572 8217 cp r24,r18 |
505 0574 9307 cpc r25,r19 |
506 0576 00F4 brsh .L32 |
507 0578 8091 0000 lds r24,WinkelOut+6 |
508 057c 8823 tst r24 |
509 057e 01F4 brne .L32 |
510 0580 3093 0000 sts (beeptime)+1,r19 |
511 0584 2093 0000 sts beeptime,r18 |
512 .L32: |
513 0588 8091 0000 lds r24,FromNaviCtrl |
514 058c 8836 cpi r24,lo8(104) |
515 058e 01F0 breq .L37 |
516 0590 8936 cpi r24,lo8(105) |
517 0592 01F4 brne .+2 |
518 0594 00C0 rjmp .L38 |
519 0596 8736 cpi r24,lo8(103) |
520 0598 01F0 breq .+2 |
521 059a 00C0 rjmp .L39 |
522 059c 8091 0000 lds r24,FromNaviCtrl+13 |
523 05a0 8093 0000 sts FromNaviCtrl_Value,r24 |
524 05a4 8091 0000 lds r24,FromNaviCtrl+14 |
525 05a8 8093 0000 sts FromNaviCtrl_Value+2,r24 |
526 05ac 8091 0000 lds r24,FromNaviCtrl+15 |
527 05b0 8093 0000 sts FromNaviCtrl_Value+1,r24 |
528 05b4 8091 0000 lds r24,FromNaviCtrl+16 |
529 05b8 8093 0000 sts FromNaviCtrl_Value+3,r24 |
530 05bc 8091 0000 lds r24,FromNaviCtrl+17 |
531 05c0 8093 0000 sts FromNaviCtrl_Value+4,r24 |
532 05c4 8091 0000 lds r24,FromNaviCtrl+18 |
533 05c8 8093 0000 sts FromNC_Rotate_C,r24 |
534 05cc 8091 0000 lds r24,FromNaviCtrl+19 |
535 05d0 8093 0000 sts FromNC_Rotate_S,r24 |
536 05d4 00C0 rjmp .L39 |
537 .L37: |
538 05d6 8091 0000 lds r24,FromNaviCtrl+13 |
539 05da 8093 0000 sts NC_Version,r24 |
540 05de 8091 0000 lds r24,FromNaviCtrl+14 |
541 05e2 8093 0000 sts NC_Version+1,r24 |
542 05e6 8091 0000 lds r24,FromNaviCtrl+15 |
543 05ea 8093 0000 sts NC_Version+2,r24 |
544 05ee 8091 0000 lds r24,FromNaviCtrl+16 |
545 05f2 8093 0000 sts NC_Version+3,r24 |
546 05f6 8091 0000 lds r24,FromNaviCtrl+17 |
547 05fa 8093 0000 sts NC_Version+4,r24 |
548 05fe 8091 0000 lds r24,FromNaviCtrl+18 |
549 0602 9091 0000 lds r25,DebugOut |
550 0606 892B or r24,r25 |
551 0608 8093 0000 sts DebugOut,r24 |
552 060c 9091 0000 lds r25,FromNaviCtrl+19 |
553 0610 9093 0000 sts NC_ErrorCode,r25 |
554 0614 9C70 andi r25,lo8(12) |
555 0616 8091 0000 lds r24,DebugOut+1 |
556 061a 8370 andi r24,lo8(3) |
557 061c 982B or r25,r24 |
558 061e 9093 0000 sts DebugOut+1,r25 |
559 0622 00C0 rjmp .L39 |
560 .L38: |
561 0624 8091 0000 lds r24,FromNaviCtrl+13 |
562 0628 8093 0000 sts GPSInfo,r24 |
563 062c 8091 0000 lds r24,FromNaviCtrl+14 |
564 0630 8093 0000 sts GPSInfo+1,r24 |
565 0634 8091 0000 lds r24,FromNaviCtrl+15 |
566 0638 8093 0000 sts GPSInfo+2,r24 |
567 063c 8091 0000 lds r24,FromNaviCtrl+16 |
568 0640 8093 0000 sts GPSInfo+3,r24 |
569 0644 8091 0000 lds r24,FromNaviCtrl+17 |
570 0648 9091 0000 lds r25,(FromNaviCtrl+17)+1 |
571 064c 9093 0000 sts (GPSInfo+4)+1,r25 |
572 0650 8093 0000 sts GPSInfo+4,r24 |
573 0654 8091 0000 lds r24,FromNaviCtrl+19 |
574 0658 9091 0000 lds r25,(FromNaviCtrl+19)+1 |
575 065c 9093 0000 sts (GPSInfo+6)+1,r25 |
576 0660 8093 0000 sts GPSInfo+6,r24 |
577 0664 8091 0000 lds r24,FromNaviCtrl+21 |
578 0668 9927 clr r25 |
579 066a 87FD sbrc r24,7 |
580 066c 9095 com r25 |
581 066e 9093 0000 sts (PPM_in+50)+1,r25 |
582 0672 8093 0000 sts PPM_in+50,r24 |
583 0676 00C0 rjmp .L39 |
584 .L24: |
585 0678 1092 0000 sts (GPS_Nick)+1,__zero_reg__ |
586 067c 1092 0000 sts GPS_Nick,__zero_reg__ |
587 0680 1092 0000 sts (GPS_Roll)+1,__zero_reg__ |
588 0684 1092 0000 sts GPS_Roll,__zero_reg__ |
589 .L39: |
590 /* epilogue: frame size=0 */ |
591 0688 1F91 pop r17 |
592 068a 0F91 pop r16 |
593 068c FF90 pop r15 |
594 068e EF90 pop r14 |
595 0690 0895 ret |
596 /* epilogue end (size=5) */ |
597 /* function UpdateSPI_Buffer size 812 (803) */ |
599 .global SPI_StartTransmitPacket |
601 SPI_StartTransmitPacket: |
602 /* prologue: frame size=0 */ |
603 /* prologue end (size=0) */ |
604 0692 8091 0000 lds r24,SPITransferCompleted |
605 0696 8823 tst r24 |
606 0698 01F4 brne .+2 |
607 069a 00C0 rjmp .L47 |
608 069c 4598 cbi 40-0x20,5 |
609 069e 80E0 ldi r24,lo8(ToNaviCtrl) |
610 06a0 90E0 ldi r25,hi8(ToNaviCtrl) |
611 06a2 9093 0000 sts (SPI_TX_Buffer)+1,r25 |
612 06a6 8093 0000 sts SPI_TX_Buffer,r24 |
613 06aa 9091 0000 lds r25,SPI_CommandCounter |
614 06ae E92F mov r30,r25 |
615 06b0 F0E0 ldi r31,lo8(0) |
616 06b2 E050 subi r30,lo8(-(SPI_CommandSequence)) |
617 06b4 F040 sbci r31,hi8(-(SPI_CommandSequence)) |
618 06b6 8081 ld r24,Z |
619 06b8 8093 0000 sts ToNaviCtrl+2,r24 |
620 06bc 9F5F subi r25,lo8(-(1)) |
621 06be 9093 0000 sts SPI_CommandCounter,r25 |
622 06c2 9930 cpi r25,lo8(9) |
623 06c4 00F0 brlo .L45 |
624 06c6 1092 0000 sts SPI_CommandCounter,__zero_reg__ |
625 .L45: |
626 06ca 1092 0000 sts SPITransferCompleted,__zero_reg__ |
627 06ce 0E94 0000 call UpdateSPI_Buffer |
628 06d2 81E0 ldi r24,lo8(1) |
629 06d4 8093 0000 sts SPI_BufferIndex,r24 |
630 /* #APP */ |
631 06d8 0000 nop |
632 06da 0000 nop |
633 06dc 0000 nop |
634 06de 0000 nop |
635 06e0 0000 nop |
636 06e2 0000 nop |
637 06e4 0000 nop |
638 06e6 0000 nop |
639 06e8 0000 nop |
640 06ea 0000 nop |
641 06ec 0000 nop |
642 06ee 0000 nop |
643 06f0 0000 nop |
644 06f2 0000 nop |
645 06f4 0000 nop |
646 06f6 0000 nop |
647 06f8 0000 nop |
648 06fa 0000 nop |
649 06fc 0000 nop |
650 06fe 0000 nop |
651 0700 0000 nop |
652 0702 0000 nop |
653 0704 0000 nop |
654 0706 0000 nop |
655 /* #NOAPP */ |
656 0708 8091 0000 lds r24,ToNaviCtrl |
657 070c 8093 0000 sts ToNaviCtrl+31,r24 |
658 0710 8EBD out 78-0x20,r24 |
659 .L47: |
660 0712 0895 ret |
661 /* epilogue: frame size=0 */ |
662 /* epilogue: noreturn */ |
663 /* epilogue end (size=0) */ |
664 /* function SPI_StartTransmitPacket size 89 (89) */ |
666 .global SPI_TransmitByte |
668 SPI_TransmitByte: |
669 /* prologue: frame size=0 */ |
670 /* prologue end (size=0) */ |
671 0714 8091 0000 lds r24,SPITransferCompleted |
672 0718 8823 tst r24 |
673 071a 01F0 breq .+2 |
674 071c 00C0 rjmp .L68 |
675 071e 0DB4 in __tmp_reg__,77-0x20 |
676 0720 07FE sbrs __tmp_reg__,7 |
677 0722 00C0 rjmp .L68 |
678 0724 84E0 ldi r24,lo8(4) |
679 0726 8093 0000 sts SendSPI,r24 |
680 072a 459A sbi 40-0x20,5 |
681 072c 2EB5 in r18,78-0x20 |
682 072e 8091 0000 lds r24,SPI_RXState.2528 |
683 0732 8130 cpi r24,lo8(1) |
684 0734 01F0 breq .L54 |
685 0736 8130 cpi r24,lo8(1) |
686 0738 00F0 brlo .L53 |
687 073a 8230 cpi r24,lo8(2) |
688 073c 01F4 brne .L52 |
689 073e 00C0 rjmp .L55 |
690 .L53: |
691 0740 1092 0000 sts SPI_RxBufferIndex,__zero_reg__ |
692 0744 2093 0000 sts rxchksum.2530,r18 |
693 0748 2138 cpi r18,lo8(-127) |
694 074a 01F4 brne .L52 |
695 074c 81E0 ldi r24,lo8(1) |
696 074e 00C0 rjmp .L71 |
697 .L54: |
698 0750 2535 cpi r18,lo8(85) |
699 0752 01F4 brne .L64 |
700 0754 8091 0000 lds r24,rxchksum.2530 |
701 0758 8B5A subi r24,lo8(-(85)) |
702 075a 8093 0000 sts rxchksum.2530,r24 |
703 075e 82E0 ldi r24,lo8(2) |
704 .L71: |
705 0760 8093 0000 sts SPI_RXState.2528,r24 |
706 0764 00C0 rjmp .L52 |
707 .L55: |
708 0766 8091 0000 lds r24,SPI_RxBufferIndex |
709 076a E82F mov r30,r24 |
710 076c F0E0 ldi r31,lo8(0) |
711 076e E050 subi r30,lo8(-(SPI_Buffer)) |
712 0770 F040 sbci r31,hi8(-(SPI_Buffer)) |
713 0772 2083 st Z,r18 |
714 0774 8F5F subi r24,lo8(-(1)) |
715 0776 8093 0000 sts SPI_RxBufferIndex,r24 |
716 077a 9091 0000 lds r25,rxchksum.2530 |
717 077e 8A31 cpi r24,lo8(26) |
718 0780 00F0 brlo .L59 |
719 0782 2917 cp r18,r25 |
720 0784 01F4 brne .L61 |
721 0786 A0E0 ldi r26,lo8(FromNaviCtrl) |
722 0788 B0E0 ldi r27,hi8(FromNaviCtrl) |
723 078a E0E0 ldi r30,lo8(SPI_Buffer) |
724 078c F0E0 ldi r31,hi8(SPI_Buffer) |
725 078e 8AE1 ldi r24,lo8(26) |
726 .L63: |
727 0790 0190 ld r0,Z+ |
728 0792 0D92 st X+,r0 |
729 0794 8150 subi r24,lo8(-(-1)) |
730 0796 01F4 brne .L63 |
731 0798 81E0 ldi r24,lo8(1) |
732 079a 8093 0000 sts SPI_RxDataValid,r24 |
733 079e 00C0 rjmp .L64 |
734 .L61: |
735 07a0 1092 0000 sts SPI_RxDataValid,__zero_reg__ |
736 .L64: |
737 07a4 1092 0000 sts SPI_RXState.2528,__zero_reg__ |
738 07a8 00C0 rjmp .L52 |
739 .L59: |
740 07aa 920F add r25,r18 |
741 07ac 9093 0000 sts rxchksum.2530,r25 |
742 .L52: |
743 07b0 2091 0000 lds r18,SPI_BufferIndex |
744 07b4 2032 cpi r18,lo8(32) |
745 07b6 00F0 brlo .+2 |
746 07b8 00C0 rjmp .L65 |
747 07ba 4598 cbi 40-0x20,5 |
748 /* #APP */ |
749 07bc 0000 nop |
750 07be 0000 nop |
751 07c0 0000 nop |
752 07c2 0000 nop |
753 07c4 0000 nop |
754 07c6 0000 nop |
755 07c8 0000 nop |
756 07ca 0000 nop |
757 07cc 0000 nop |
758 07ce 0000 nop |
759 07d0 0000 nop |
760 07d2 0000 nop |
761 07d4 0000 nop |
762 07d6 0000 nop |
763 07d8 0000 nop |
764 07da 0000 nop |
765 07dc 0000 nop |
766 07de 0000 nop |
767 07e0 0000 nop |
768 07e2 0000 nop |
769 07e4 0000 nop |
770 07e6 0000 nop |
771 07e8 0000 nop |
772 07ea 0000 nop |
773 /* #NOAPP */ |
774 07ec E091 0000 lds r30,SPI_TX_Buffer |
775 07f0 F091 0000 lds r31,(SPI_TX_Buffer)+1 |
776 07f4 E20F add r30,r18 |
777 07f6 F11D adc r31,__zero_reg__ |
778 07f8 8081 ld r24,Z |
779 07fa 8EBD out 78-0x20,r24 |
780 07fc 8081 ld r24,Z |
781 07fe 9091 0000 lds r25,ToNaviCtrl+31 |
782 0802 890F add r24,r25 |
783 0804 8093 0000 sts ToNaviCtrl+31,r24 |
784 0808 00C0 rjmp .L67 |
785 .L65: |
786 080a 81E0 ldi r24,lo8(1) |
787 080c 8093 0000 sts SPITransferCompleted,r24 |
788 .L67: |
789 0810 2F5F subi r18,lo8(-(1)) |
790 0812 2093 0000 sts SPI_BufferIndex,r18 |
791 .L68: |
792 0816 0895 ret |
793 /* epilogue: frame size=0 */ |
794 /* epilogue: noreturn */ |
795 /* epilogue end (size=0) */ |
796 /* function SPI_TransmitByte size 155 (155) */ |
798 .global FromNC_Rotate_C |
799 .data |
802 FromNC_Rotate_C: |
803 0000 20 .byte 32 |
804 .global FromNC_Rotate_S |
805 .global FromNC_Rotate_S |
806 .section .bss |
809 FromNC_Rotate_S: |
810 0000 00 .skip 1,0 |
811 .global NaviDataOkay |
812 .data |
815 NaviDataOkay: |
816 0001 FA .byte -6 |
817 .global SPI_CommandSequence |
820 SPI_CommandSequence: |
821 0002 0B .byte 11 |
822 0003 0A .byte 10 |
823 0004 0D .byte 13 |
824 0005 0B .byte 11 |
825 0006 0C .byte 12 |
826 0007 0E .byte 14 |
827 0008 0B .byte 11 |
828 0009 0F .byte 15 |
829 000a 10 .byte 16 |
830 .global SPI_CommandCounter |
831 .global SPI_CommandCounter |
832 .section .bss |
835 SPI_CommandCounter: |
836 0001 00 .skip 1,0 |
837 .global NC_ErrorCode |
838 .global NC_ErrorCode |
841 NC_ErrorCode: |
842 0002 00 .skip 1,0 |
843 .lcomm rxchksum.2530,1 |
844 .lcomm SPI_RXState.2528,1 |
845 .comm GPSInfo,8,1 |
846 .comm NC_Version,5,1 |
847 .comm FromNaviCtrl_Value,5,1 |
848 .comm ToNaviCtrl,32,1 |
849 .comm FromNaviCtrl,26,1 |
850 .comm SPI_BufferIndex,1,1 |
851 .comm SPI_RxBufferIndex,1,1 |
852 .comm SPI_Buffer,26,1 |
853 .comm SPI_TX_Buffer,2,1 |
854 .comm SPITransferCompleted,1,1 |
855 .comm SPI_ChkSum,1,1 |
856 .comm SPI_RxDataValid,1,1 |
857 /* File "spi.c": code 1089 = 0x0441 (1079), prologues 4, epilogues 6 */ |
DEFINED SYMBOLS |
*ABS*:00000000 spi.c |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cc50rVab.s:2 *ABS*:0000003f __SREG__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cc50rVab.s:3 *ABS*:0000003e __SP_H__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cc50rVab.s:4 *ABS*:0000003d __SP_L__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cc50rVab.s:5 *ABS*:00000000 __tmp_reg__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cc50rVab.s:6 *ABS*:00000001 __zero_reg__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cc50rVab.s:12 .text:00000000 SPI_MasterInit |
*COM*:00000001 SPITransferCompleted |
*COM*:00000020 ToNaviCtrl |
*COM*:00000005 FromNaviCtrl_Value |
*COM*:00000001 SPI_RxDataValid |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cc50rVab.s:44 .text:00000042 UpdateSPI_Buffer |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cc50rVab.s:815 .data:00000001 NaviDataOkay |
*COM*:0000001a FromNaviCtrl |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cc50rVab.s:802 .data:00000000 FromNC_Rotate_C |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cc50rVab.s:809 .bss:00000000 FromNC_Rotate_S |
*COM*:00000005 NC_Version |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cc50rVab.s:841 .bss:00000002 NC_ErrorCode |
*COM*:00000008 GPSInfo |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cc50rVab.s:601 .text:00000692 SPI_StartTransmitPacket |
*COM*:00000002 SPI_TX_Buffer |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cc50rVab.s:835 .bss:00000001 SPI_CommandCounter |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cc50rVab.s:820 .data:00000002 SPI_CommandSequence |
*COM*:00000001 SPI_BufferIndex |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cc50rVab.s:668 .text:00000714 SPI_TransmitByte |
C:\DOCUME~1\Owner\LOCALS~1\Temp/cc50rVab.s:843 .bss:00000004 SPI_RXState.2528 |
*COM*:00000001 SPI_RxBufferIndex |
.bss:00000003 rxchksum.2530 |
*COM*:0000001a SPI_Buffer |
*COM*:00000001 SPI_ChkSum |
UNDEFINED SYMBOLS |
__do_copy_data |
__do_clear_bss |
EE_Parameter |
IntegralNick |
__divmodsi4 |
IntegralRoll |
ErsatzKompass |
__mulsi3 |
GIER_GRAD_FAKTOR |
AdWertGier |
AdNeutralGier |
NaviCntAcc |
NaviAccNick |
__divmodhi4 |
NaviAccRoll |
Parameter_UserParam1 |
Parameter_UserParam2 |
Parameter_UserParam3 |
Parameter_UserParam4 |
Parameter_UserParam5 |
Parameter_UserParam6 |
Parameter_UserParam7 |
Parameter_UserParam8 |
FC_StatusFlags |
GetActiveParamSet |
ControlHeading |
Capacity |
UBat |
BattLowVoltageWarning |
PPM_in |
Poti |
WinkelOut |
HoehenWert |
SollHoehe |
SenderOkay |
DebugOut |
PlatinenVersion |
VersionInfo |
Parameter_ServoNickControl |
Parameter_ServoRollControl |
GPS_Nick |
GPS_Roll |
KompassValue |
KompassStartwert |
KompassRichtung |
beeptime |
SendSPI |
/Spektrum-Diversity/V0.82a/timer0.c |
---|
0,0 → 1,402 |
#include "main.h" |
#define MULTIPLYER 4 |
volatile unsigned int CountMilliseconds = 0; |
volatile static 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; |
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 && EE_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 - KompassStartwert) % 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) |
HEF4017R_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 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 = ((long)EE_Parameter.ServoNickComp * nick) / 512L; |
ServoNickOffset += ((int16_t)Parameter_ServoNickControl * (MULTIPLYER*16) - ServoNickOffset) / EE_Parameter.ServoManualControlSpeed; |
ServoNickValue = ServoNickOffset / 16; // offset (Range from 0 to 255 * 3 = 765) |
if(EE_Parameter.ServoCompInvert & 0x01) |
{ // inverting movement of servo |
ServoNickValue += nick;//(int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * nick) / (256L) ); |
} |
else |
{ // non inverting movement of servo |
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; |
ServoRollValue = ServoRollOffset/16; // offset (Range from 0 to 255 * 3 = 765) |
if(EE_Parameter.ServoCompInvert & 0x02) |
{ // inverting movement of servo |
ServoRollValue += roll; |
} |
else |
{ // non inverting movement of servo |
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 |
HEF4017R_ON; // enable HEF4017 reset |
} |
else // servo channels |
{ |
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 > 50) || ServoActive == 2) HEF4017R_OFF; // disable HEF4017 reset |
else HEF4017R_ON; |
ServoIndex++; // change to next servo channel |
if(ServoIndex > EE_Parameter.ServoNickRefresh) |
{ |
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 |
} |
/Spektrum-Diversity/V0.82a/timer0.d |
---|
0,0 → 1,3 |
timer0.o timer0.d : timer0.c main.h old_macros.h printf_P.h timer0.h uart.h \ |
analog.h twimaster.h menu.h rc.h fc.h gps.h spi.h led.h spektrum.h \ |
capacity.h eeprom.h libfc.h debug.h |
/Spektrum-Diversity/V0.82a/timer0.h |
---|
0,0 → 1,22 |
#define TIMER_TEILER CK8 |
#define TIMER_RELOAD_VALUE 250 |
#define HEF4017R_ON PORTC |= (1<<PORTC6) |
#define HEF4017R_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); |
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; |
/Spektrum-Diversity/V0.82a/timer0.lst |
---|
0,0 → 1,1112 |
1 .file "timer0.c" |
2 __SREG__ = 0x3f |
3 __SP_H__ = 0x3e |
4 __SP_L__ = 0x3d |
5 __tmp_reg__ = 0 |
6 __zero_reg__ = 1 |
7 .global __do_copy_data |
8 .global __do_clear_bss |
9 .text |
10 .global __vector_18 |
12 __vector_18: |
13 /* prologue: frame size=0 */ |
14 0000 1F92 push __zero_reg__ |
15 0002 0F92 push __tmp_reg__ |
16 0004 0FB6 in __tmp_reg__,__SREG__ |
17 0006 0F92 push __tmp_reg__ |
18 0008 1124 clr __zero_reg__ |
19 000a 2F93 push r18 |
20 000c 3F93 push r19 |
21 000e 5F93 push r21 |
22 0010 6F93 push r22 |
23 0012 7F93 push r23 |
24 0014 8F93 push r24 |
25 0016 9F93 push r25 |
26 0018 AF93 push r26 |
27 001a BF93 push r27 |
28 /* prologue end (size=14) */ |
29 001c 8091 0000 lds r24,SendSPI |
30 0020 8823 tst r24 |
31 0022 01F0 breq .L2 |
32 0024 8091 0000 lds r24,SendSPI |
33 0028 8150 subi r24,lo8(-(-1)) |
34 002a 8093 0000 sts SendSPI,r24 |
35 .L2: |
36 002e 8091 0000 lds r24,SpektrumTimer |
37 0032 8823 tst r24 |
38 0034 01F0 breq .L4 |
39 0036 8150 subi r24,lo8(-(-1)) |
40 0038 8093 0000 sts SpektrumTimer,r24 |
41 .L4: |
42 003c 8091 0000 lds r24,cnt.2508 |
43 0040 8150 subi r24,lo8(-(-1)) |
44 0042 8093 0000 sts cnt.2508,r24 |
45 0046 8F3F cpi r24,lo8(-1) |
46 0048 01F0 breq .+2 |
47 004a 00C0 rjmp .L6 |
48 004c 89E0 ldi r24,lo8(9) |
49 004e 8093 0000 sts cnt.2508,r24 |
50 0052 8091 0000 lds r24,CountMilliseconds |
51 0056 9091 0000 lds r25,(CountMilliseconds)+1 |
52 005a 0196 adiw r24,1 |
53 005c 9093 0000 sts (CountMilliseconds)+1,r25 |
54 0060 8093 0000 sts CountMilliseconds,r24 |
55 0064 8091 0000 lds r24,cnt_1ms.2507 |
56 0068 8F5F subi r24,lo8(-(1)) |
57 006a 8170 andi r24,lo8(1) |
58 006c 8093 0000 sts cnt_1ms.2507,r24 |
59 0070 8823 tst r24 |
60 0072 01F4 brne .L8 |
61 0074 81E0 ldi r24,lo8(1) |
62 0076 8093 0000 sts UpdateMotor,r24 |
63 .L8: |
64 007a 3499 sbic 38-0x20,4 |
65 007c 00C0 rjmp .L10 |
66 007e 81E0 ldi r24,lo8(1) |
67 0080 8093 0000 sts compass_active.2509,r24 |
68 .L10: |
69 0084 8091 0000 lds r24,beeptime |
70 0088 9091 0000 lds r25,(beeptime)+1 |
71 008c 892B or r24,r25 |
72 008e 01F0 breq .L12 |
73 0090 8091 0000 lds r24,beeptime |
74 0094 9091 0000 lds r25,(beeptime)+1 |
75 0098 0B97 sbiw r24,11 |
76 009a 00F0 brlo .L14 |
77 009c 8091 0000 lds r24,beeptime |
78 00a0 9091 0000 lds r25,(beeptime)+1 |
79 00a4 0A97 sbiw r24,10 |
80 00a6 9093 0000 sts (beeptime)+1,r25 |
81 00aa 8093 0000 sts beeptime,r24 |
82 00ae 00C0 rjmp .L16 |
83 .L14: |
84 00b0 1092 0000 sts (beeptime)+1,__zero_reg__ |
85 00b4 1092 0000 sts beeptime,__zero_reg__ |
86 .L16: |
87 00b8 8091 0000 lds r24,beeptime |
88 00bc 9091 0000 lds r25,(beeptime)+1 |
89 00c0 2091 0000 lds r18,BeepMuster |
90 00c4 3091 0000 lds r19,(BeepMuster)+1 |
91 00c8 8223 and r24,r18 |
92 00ca 9323 and r25,r19 |
93 00cc 892B or r24,r25 |
94 00ce 01F0 breq .+2 |
95 00d0 00C0 rjmp .L17 |
96 00d2 00C0 rjmp .L18 |
97 .L12: |
98 00d4 8FEF ldi r24,lo8(-1) |
99 00d6 9FEF ldi r25,hi8(-1) |
100 00d8 9093 0000 sts (BeepMuster)+1,r25 |
101 00dc 8093 0000 sts BeepMuster,r24 |
102 .L18: |
103 00e0 8091 0000 lds r24,PlatinenVersion |
104 00e4 8A30 cpi r24,lo8(10) |
105 00e6 01F4 brne .L37 |
106 00e8 00C0 rjmp .L19 |
107 .L21: |
108 00ea 5A9A sbi 43-0x20,2 |
109 00ec 00C0 rjmp .L6 |
110 .L38: |
111 00ee 479A sbi 40-0x20,7 |
112 00f0 00C0 rjmp .L6 |
113 .L19: |
114 00f2 5A98 cbi 43-0x20,2 |
115 00f4 00C0 rjmp .L6 |
116 .L37: |
117 00f6 4798 cbi 40-0x20,7 |
118 .L6: |
119 00f8 8091 0000 lds r24,compass_active.2509 |
120 00fc 8823 tst r24 |
121 00fe 01F4 brne .+2 |
122 0100 00C0 rjmp .L36 |
123 0102 8091 0000 lds r24,NaviDataOkay |
124 0106 8823 tst r24 |
125 0108 01F0 breq .+2 |
126 010a 00C0 rjmp .L36 |
127 010c 8091 0000 lds r24,EE_Parameter+13 |
128 0110 83FF sbrs r24,3 |
129 0112 00C0 rjmp .L36 |
130 0114 349B sbis 38-0x20,4 |
131 0116 00C0 rjmp .L27 |
132 0118 8091 0000 lds r24,cntKompass |
133 011c 9091 0000 lds r25,(cntKompass)+1 |
134 0120 0196 adiw r24,1 |
135 0122 9093 0000 sts (cntKompass)+1,r25 |
136 0126 8093 0000 sts cntKompass,r24 |
137 012a 8091 0000 lds r24,cntKompass |
138 012e 9091 0000 lds r25,(cntKompass)+1 |
139 0132 895E subi r24,lo8(1001) |
140 0134 9340 sbci r25,hi8(1001) |
141 0136 00F4 brsh .+2 |
142 0138 00C0 rjmp .L36 |
143 013a 1092 0000 sts compass_active.2509,__zero_reg__ |
144 013e 00C0 rjmp .L36 |
145 .L27: |
146 0140 8091 0000 lds r24,cntKompass |
147 0144 9091 0000 lds r25,(cntKompass)+1 |
148 0148 892B or r24,r25 |
149 014a 01F4 brne .+2 |
150 014c 00C0 rjmp .L30 |
151 014e 8091 0000 lds r24,cntKompass |
152 0152 9091 0000 lds r25,(cntKompass)+1 |
153 0156 8A56 subi r24,lo8(362) |
154 0158 9140 sbci r25,hi8(362) |
155 015a 00F4 brsh .L30 |
156 015c 2091 0000 lds r18,cntKompass |
157 0160 3091 0000 lds r19,(cntKompass)+1 |
158 0164 8091 0000 lds r24,cntKompass |
159 0168 9091 0000 lds r25,(cntKompass)+1 |
160 016c 69E2 ldi r22,lo8(41) |
161 016e 70E0 ldi r23,hi8(41) |
162 0170 0E94 0000 call __udivmodhi4 |
163 0174 260F add r18,r22 |
164 0176 371F adc r19,r23 |
165 0178 3093 0000 sts (cntKompass)+1,r19 |
166 017c 2093 0000 sts cntKompass,r18 |
167 0180 8091 0000 lds r24,cntKompass |
168 0184 9091 0000 lds r25,(cntKompass)+1 |
169 0188 0B97 sbiw r24,11 |
170 018a 00F0 brlo .L33 |
171 018c 8091 0000 lds r24,cntKompass |
172 0190 9091 0000 lds r25,(cntKompass)+1 |
173 0194 0A97 sbiw r24,10 |
174 0196 9093 0000 sts (KompassValue)+1,r25 |
175 019a 8093 0000 sts KompassValue,r24 |
176 019e 00C0 rjmp .L35 |
177 .L33: |
178 01a0 1092 0000 sts (KompassValue)+1,__zero_reg__ |
179 01a4 1092 0000 sts KompassValue,__zero_reg__ |
180 .L35: |
181 01a8 8091 0000 lds r24,KompassValue |
182 01ac 9091 0000 lds r25,(KompassValue)+1 |
183 01b0 845E subi r24,lo8(-(540)) |
184 01b2 9D4F sbci r25,hi8(-(540)) |
185 01b4 2091 0000 lds r18,KompassStartwert |
186 01b8 3091 0000 lds r19,(KompassStartwert)+1 |
187 01bc 821B sub r24,r18 |
188 01be 930B sbc r25,r19 |
189 01c0 68E6 ldi r22,lo8(360) |
190 01c2 71E0 ldi r23,hi8(360) |
191 01c4 0E94 0000 call __divmodhi4 |
192 01c8 845B subi r24,lo8(-(-180)) |
193 01ca 9040 sbci r25,hi8(-(-180)) |
194 01cc 9093 0000 sts (KompassRichtung)+1,r25 |
195 01d0 8093 0000 sts KompassRichtung,r24 |
196 .L30: |
197 01d4 1092 0000 sts (cntKompass)+1,__zero_reg__ |
198 01d8 1092 0000 sts cntKompass,__zero_reg__ |
199 01dc 00C0 rjmp .L36 |
200 .L17: |
201 01de 8091 0000 lds r24,PlatinenVersion |
202 01e2 8A30 cpi r24,lo8(10) |
203 01e4 01F0 breq .+2 |
204 01e6 00C0 rjmp .L38 |
205 01e8 00C0 rjmp .L21 |
206 .L36: |
207 /* epilogue: frame size=0 */ |
208 01ea BF91 pop r27 |
209 01ec AF91 pop r26 |
210 01ee 9F91 pop r25 |
211 01f0 8F91 pop r24 |
212 01f2 7F91 pop r23 |
213 01f4 6F91 pop r22 |
214 01f6 5F91 pop r21 |
215 01f8 3F91 pop r19 |
216 01fa 2F91 pop r18 |
217 01fc 0F90 pop __tmp_reg__ |
218 01fe 0FBE out __SREG__,__tmp_reg__ |
219 0200 0F90 pop __tmp_reg__ |
220 0202 1F90 pop __zero_reg__ |
221 0204 1895 reti |
222 /* epilogue end (size=14) */ |
223 /* function __vector_18 size 263 (235) */ |
225 .global SetDelay |
227 SetDelay: |
228 /* prologue: frame size=0 */ |
229 /* prologue end (size=0) */ |
230 0206 2091 0000 lds r18,CountMilliseconds |
231 020a 3091 0000 lds r19,(CountMilliseconds)+1 |
232 020e 2F5F subi r18,lo8(-(1)) |
233 0210 3F4F sbci r19,hi8(-(1)) |
234 0212 820F add r24,r18 |
235 0214 931F adc r25,r19 |
236 /* epilogue: frame size=0 */ |
237 0216 0895 ret |
238 /* epilogue end (size=1) */ |
239 /* function SetDelay size 9 (8) */ |
241 .global CheckDelay |
243 CheckDelay: |
244 /* prologue: frame size=0 */ |
245 /* prologue end (size=0) */ |
246 0218 2091 0000 lds r18,CountMilliseconds |
247 021c 3091 0000 lds r19,(CountMilliseconds)+1 |
248 0220 821B sub r24,r18 |
249 0222 930B sbc r25,r19 |
250 0224 892F mov r24,r25 |
251 0226 9927 clr r25 |
252 0228 8695 lsr r24 |
253 022a 8074 andi r24,lo8(64) |
254 022c 90E0 ldi r25,lo8(0) |
255 /* epilogue: frame size=0 */ |
256 022e 0895 ret |
257 /* epilogue end (size=1) */ |
258 /* function CheckDelay size 12 (11) */ |
260 .global TIMER2_Init |
262 TIMER2_Init: |
263 /* prologue: frame size=0 */ |
264 /* prologue end (size=0) */ |
265 0230 9FB7 in r25,95-0x20 |
266 /* #APP */ |
267 0232 F894 cli |
268 /* #NOAPP */ |
269 0234 5F98 cbi 43-0x20,7 |
270 0236 3E9A sbi 39-0x20,6 |
271 0238 469A sbi 40-0x20,6 |
272 023a A0EB ldi r26,lo8(176) |
273 023c B0E0 ldi r27,hi8(176) |
274 023e 8C91 ld r24,X |
275 0240 8F70 andi r24,lo8(15) |
276 0242 8C93 st X,r24 |
277 0244 8C91 ld r24,X |
278 0246 8360 ori r24,lo8(3) |
279 0248 8C93 st X,r24 |
280 024a E1EB ldi r30,lo8(177) |
281 024c F0E0 ldi r31,hi8(177) |
282 024e 8081 ld r24,Z |
283 0250 8B73 andi r24,lo8(59) |
284 0252 8083 st Z,r24 |
285 0254 8081 ld r24,Z |
286 0256 8B60 ori r24,lo8(11) |
287 0258 8083 st Z,r24 |
288 025a 1092 B200 sts 178,__zero_reg__ |
289 025e 8FEF ldi r24,lo8(-1) |
290 0260 8093 B300 sts 179,r24 |
291 0264 8C91 ld r24,X |
292 0266 8068 ori r24,lo8(-128) |
293 0268 8C93 st X,r24 |
294 026a E0E7 ldi r30,lo8(112) |
295 026c F0E0 ldi r31,hi8(112) |
296 026e 8081 ld r24,Z |
297 0270 8A7F andi r24,lo8(-6) |
298 0272 8083 st Z,r24 |
299 0274 8081 ld r24,Z |
300 0276 8260 ori r24,lo8(2) |
301 0278 8083 st Z,r24 |
302 027a 9FBF out 95-0x20,r25 |
303 /* epilogue: frame size=0 */ |
304 027c 0895 ret |
305 /* epilogue end (size=1) */ |
306 /* function TIMER2_Init size 40 (39) */ |
308 .global CalculateServo |
310 CalculateServo: |
311 /* prologue: frame size=2 */ |
312 027e A2E0 ldi r26,lo8(2) |
313 0280 B0E0 ldi r27,hi8(2) |
314 0282 E0E0 ldi r30,pm_lo8(1f) |
315 0284 F0E0 ldi r31,pm_hi8(1f) |
316 0286 0C94 0000 jmp __prologue_saves__+0 |
317 1: |
318 /* prologue end (size=6) */ |
319 028a E091 0000 lds r30,EE_Parameter+55 |
320 028e F0E0 ldi r31,lo8(0) |
321 0290 E050 subi r30,lo8(-(sintab)) |
322 0292 F040 sbci r31,hi8(-(sintab)) |
323 0294 8681 ldd r24,Z+6 |
324 0296 9081 ld r25,Z |
325 0298 2091 0000 lds r18,CalculateServoSignals |
326 029c 482F mov r20,r24 |
327 029e 5527 clr r21 |
328 02a0 47FD sbrc r20,7 |
329 02a2 5095 com r21 |
330 02a4 652F mov r22,r21 |
331 02a6 752F mov r23,r21 |
332 02a8 6090 0000 lds r6,IntegralNick |
333 02ac 7090 0000 lds r7,(IntegralNick)+1 |
334 02b0 8090 0000 lds r8,(IntegralNick)+2 |
335 02b4 9090 0000 lds r9,(IntegralNick)+3 |
336 02b8 292E mov r2,r25 |
337 02ba 3324 clr r3 |
338 02bc 27FC sbrc r2,7 |
339 02be 3094 com r3 |
340 02c0 432C mov r4,r3 |
341 02c2 532C mov r5,r3 |
342 02c4 A090 0000 lds r10,IntegralRoll |
343 02c8 B090 0000 lds r11,(IntegralRoll)+1 |
344 02cc C090 0000 lds r12,(IntegralRoll)+2 |
345 02d0 D090 0000 lds r13,(IntegralRoll)+3 |
346 02d4 8091 0000 lds r24,EE_Parameter+54 |
347 02d8 8983 std Y+1,r24 |
348 02da E091 0000 lds r30,EE_Parameter+101 |
349 02de EA83 std Y+2,r30 |
350 02e0 2130 cpi r18,lo8(1) |
351 02e2 01F0 breq .+2 |
352 02e4 00C0 rjmp .L46 |
353 02e6 CB01 movw r24,r22 |
354 02e8 BA01 movw r22,r20 |
355 02ea A401 movw r20,r8 |
356 02ec 9301 movw r18,r6 |
357 02ee 0E94 0000 call __mulsi3 |
358 02f2 20E8 ldi r18,lo8(128) |
359 02f4 30E0 ldi r19,hi8(128) |
360 02f6 40E0 ldi r20,hlo8(128) |
361 02f8 50E0 ldi r21,hhi8(128) |
362 02fa 0E94 0000 call __divmodsi4 |
363 02fe 7901 movw r14,r18 |
364 0300 8A01 movw r16,r20 |
365 0302 C201 movw r24,r4 |
366 0304 B101 movw r22,r2 |
367 0306 A601 movw r20,r12 |
368 0308 9501 movw r18,r10 |
369 030a 0E94 0000 call __mulsi3 |
370 030e 20E8 ldi r18,lo8(128) |
371 0310 30E0 ldi r19,hi8(128) |
372 0312 40E0 ldi r20,hlo8(128) |
373 0314 50E0 ldi r21,hhi8(128) |
374 0316 0E94 0000 call __divmodsi4 |
375 031a E21A sub r14,r18 |
376 031c F30A sbc r15,r19 |
377 031e 040B sbc r16,r20 |
378 0320 150B sbc r17,r21 |
379 0322 2091 0000 lds r18,EE_Parameter+46 |
380 0326 30E0 ldi r19,lo8(0) |
381 0328 40E0 ldi r20,lo8(0) |
382 032a 50E0 ldi r21,hi8(0) |
383 032c C801 movw r24,r16 |
384 032e B701 movw r22,r14 |
385 0330 0E94 0000 call __mulsi3 |
386 0334 20E0 ldi r18,lo8(512) |
387 0336 32E0 ldi r19,hi8(512) |
388 0338 40E0 ldi r20,hlo8(512) |
389 033a 50E0 ldi r21,hhi8(512) |
390 033c 0E94 0000 call __divmodsi4 |
391 0340 5901 movw r10,r18 |
392 0342 6A01 movw r12,r20 |
393 0344 2091 0000 lds r18,ServoNickOffset |
394 0348 3091 0000 lds r19,(ServoNickOffset)+1 |
395 034c 4091 0000 lds r20,ServoNickOffset |
396 0350 5091 0000 lds r21,(ServoNickOffset)+1 |
397 0354 8091 0000 lds r24,Parameter_ServoNickControl |
398 0358 90E0 ldi r25,lo8(0) |
399 035a F6E0 ldi r31,6 |
400 035c 880F 1: lsl r24 |
401 035e 991F rol r25 |
402 0360 FA95 dec r31 |
403 0362 01F4 brne 1b |
404 0364 F981 ldd r31,Y+1 |
405 0366 6F2F mov r22,r31 |
406 0368 70E0 ldi r23,lo8(0) |
407 036a 841B sub r24,r20 |
408 036c 950B sbc r25,r21 |
409 036e 0E94 0000 call __divmodhi4 |
410 0372 260F add r18,r22 |
411 0374 371F adc r19,r23 |
412 0376 3093 0000 sts (ServoNickOffset)+1,r19 |
413 037a 2093 0000 sts ServoNickOffset,r18 |
414 037e 8091 0000 lds r24,ServoNickOffset |
415 0382 9091 0000 lds r25,(ServoNickOffset)+1 |
416 0386 60E1 ldi r22,lo8(16) |
417 0388 70E0 ldi r23,hi8(16) |
418 038a 0E94 0000 call __divmodhi4 |
419 038e 7093 0000 sts (ServoNickValue)+1,r23 |
420 0392 6093 0000 sts ServoNickValue,r22 |
421 0396 8A81 ldd r24,Y+2 |
422 0398 80FF sbrs r24,0 |
423 039a 00C0 rjmp .L48 |
424 039c 8091 0000 lds r24,ServoNickValue |
425 03a0 9091 0000 lds r25,(ServoNickValue)+1 |
426 03a4 8A0D add r24,r10 |
427 03a6 9B1D adc r25,r11 |
428 03a8 00C0 rjmp .L66 |
429 .L48: |
430 03aa 8091 0000 lds r24,ServoNickValue |
431 03ae 9091 0000 lds r25,(ServoNickValue)+1 |
432 03b2 8A19 sub r24,r10 |
433 03b4 9B09 sbc r25,r11 |
434 .L66: |
435 03b6 9093 0000 sts (ServoNickValue)+1,r25 |
436 03ba 8093 0000 sts ServoNickValue,r24 |
437 03be 2091 0000 lds r18,ServoNickValue |
438 03c2 3091 0000 lds r19,(ServoNickValue)+1 |
439 03c6 8091 0000 lds r24,EE_Parameter+47 |
440 03ca 90E0 ldi r25,lo8(0) |
441 03cc 880F lsl r24 |
442 03ce 991F rol r25 |
443 03d0 880F lsl r24 |
444 03d2 991F rol r25 |
445 03d4 2817 cp r18,r24 |
446 03d6 3907 cpc r19,r25 |
447 03d8 04F0 brlt .L67 |
448 03da 2091 0000 lds r18,ServoNickValue |
449 03de 3091 0000 lds r19,(ServoNickValue)+1 |
450 03e2 8091 0000 lds r24,EE_Parameter+48 |
451 03e6 90E0 ldi r25,lo8(0) |
452 03e8 880F lsl r24 |
453 03ea 991F rol r25 |
454 03ec 880F lsl r24 |
455 03ee 991F rol r25 |
456 03f0 8217 cp r24,r18 |
457 03f2 9307 cpc r25,r19 |
458 03f4 04F4 brge .L53 |
459 .L67: |
460 03f6 9093 0000 sts (ServoNickValue)+1,r25 |
461 03fa 8093 0000 sts ServoNickValue,r24 |
462 .L53: |
463 03fe 8091 0000 lds r24,PlatinenVersion |
464 0402 8431 cpi r24,lo8(20) |
465 0404 00F4 brsh .+2 |
466 0406 00C0 rjmp .L63 |
467 0408 8091 0000 lds r24,CalculateServoSignals |
468 040c 8F5F subi r24,lo8(-(1)) |
469 040e 8093 0000 sts CalculateServoSignals,r24 |
470 0412 00C0 rjmp .L65 |
471 .L46: |
472 0414 CB01 movw r24,r22 |
473 0416 BA01 movw r22,r20 |
474 0418 A601 movw r20,r12 |
475 041a 9501 movw r18,r10 |
476 041c 0E94 0000 call __mulsi3 |
477 0420 20E8 ldi r18,lo8(128) |
478 0422 30E0 ldi r19,hi8(128) |
479 0424 40E0 ldi r20,hlo8(128) |
480 0426 50E0 ldi r21,hhi8(128) |
481 0428 0E94 0000 call __divmodsi4 |
482 042c 7901 movw r14,r18 |
483 042e 8A01 movw r16,r20 |
484 0430 C201 movw r24,r4 |
485 0432 B101 movw r22,r2 |
486 0434 A401 movw r20,r8 |
487 0436 9301 movw r18,r6 |
488 0438 0E94 0000 call __mulsi3 |
489 043c 20E8 ldi r18,lo8(128) |
490 043e 30E0 ldi r19,hi8(128) |
491 0440 40E0 ldi r20,hlo8(128) |
492 0442 50E0 ldi r21,hhi8(128) |
493 0444 0E94 0000 call __divmodsi4 |
494 0448 E20E add r14,r18 |
495 044a F31E adc r15,r19 |
496 044c 041F adc r16,r20 |
497 044e 151F adc r17,r21 |
498 0450 2091 0000 lds r18,EE_Parameter+50 |
499 0454 30E0 ldi r19,lo8(0) |
500 0456 40E0 ldi r20,lo8(0) |
501 0458 50E0 ldi r21,hi8(0) |
502 045a C801 movw r24,r16 |
503 045c B701 movw r22,r14 |
504 045e 0E94 0000 call __mulsi3 |
505 0462 20E0 ldi r18,lo8(512) |
506 0464 32E0 ldi r19,hi8(512) |
507 0466 40E0 ldi r20,hlo8(512) |
508 0468 50E0 ldi r21,hhi8(512) |
509 046a 0E94 0000 call __divmodsi4 |
510 046e 5901 movw r10,r18 |
511 0470 6A01 movw r12,r20 |
512 0472 2091 0000 lds r18,ServoRollOffset |
513 0476 3091 0000 lds r19,(ServoRollOffset)+1 |
514 047a 4091 0000 lds r20,ServoRollOffset |
515 047e 5091 0000 lds r21,(ServoRollOffset)+1 |
516 0482 8091 0000 lds r24,Parameter_ServoRollControl |
517 0486 90E0 ldi r25,lo8(0) |
518 0488 66E0 ldi r22,6 |
519 048a 880F 1: lsl r24 |
520 048c 991F rol r25 |
521 048e 6A95 dec r22 |
522 0490 01F4 brne 1b |
523 0492 E981 ldd r30,Y+1 |
524 0494 6E2F mov r22,r30 |
525 0496 70E0 ldi r23,lo8(0) |
526 0498 841B sub r24,r20 |
527 049a 950B sbc r25,r21 |
528 049c 0E94 0000 call __divmodhi4 |
529 04a0 260F add r18,r22 |
530 04a2 371F adc r19,r23 |
531 04a4 3093 0000 sts (ServoRollOffset)+1,r19 |
532 04a8 2093 0000 sts ServoRollOffset,r18 |
533 04ac 8091 0000 lds r24,ServoRollOffset |
534 04b0 9091 0000 lds r25,(ServoRollOffset)+1 |
535 04b4 60E1 ldi r22,lo8(16) |
536 04b6 70E0 ldi r23,hi8(16) |
537 04b8 0E94 0000 call __divmodhi4 |
538 04bc 7093 0000 sts (ServoRollValue)+1,r23 |
539 04c0 6093 0000 sts ServoRollValue,r22 |
540 04c4 FA81 ldd r31,Y+2 |
541 04c6 F1FF sbrs r31,1 |
542 04c8 00C0 rjmp .L58 |
543 04ca 8091 0000 lds r24,ServoRollValue |
544 04ce 9091 0000 lds r25,(ServoRollValue)+1 |
545 04d2 8A0D add r24,r10 |
546 04d4 9B1D adc r25,r11 |
547 04d6 00C0 rjmp .L68 |
548 .L58: |
549 04d8 8091 0000 lds r24,ServoRollValue |
550 04dc 9091 0000 lds r25,(ServoRollValue)+1 |
551 04e0 8A19 sub r24,r10 |
552 04e2 9B09 sbc r25,r11 |
553 .L68: |
554 04e4 9093 0000 sts (ServoRollValue)+1,r25 |
555 04e8 8093 0000 sts ServoRollValue,r24 |
556 04ec 2091 0000 lds r18,ServoRollValue |
557 04f0 3091 0000 lds r19,(ServoRollValue)+1 |
558 04f4 8091 0000 lds r24,EE_Parameter+51 |
559 04f8 90E0 ldi r25,lo8(0) |
560 04fa 880F lsl r24 |
561 04fc 991F rol r25 |
562 04fe 880F lsl r24 |
563 0500 991F rol r25 |
564 0502 2817 cp r18,r24 |
565 0504 3907 cpc r19,r25 |
566 0506 04F0 brlt .L69 |
567 0508 2091 0000 lds r18,ServoRollValue |
568 050c 3091 0000 lds r19,(ServoRollValue)+1 |
569 0510 8091 0000 lds r24,EE_Parameter+52 |
570 0514 90E0 ldi r25,lo8(0) |
571 0516 880F lsl r24 |
572 0518 991F rol r25 |
573 051a 880F lsl r24 |
574 051c 991F rol r25 |
575 051e 8217 cp r24,r18 |
576 0520 9307 cpc r25,r19 |
577 0522 04F4 brge .L63 |
578 .L69: |
579 0524 9093 0000 sts (ServoRollValue)+1,r25 |
580 0528 8093 0000 sts ServoRollValue,r24 |
581 .L63: |
582 052c 1092 0000 sts CalculateServoSignals,__zero_reg__ |
583 .L65: |
584 /* epilogue: frame size=2 */ |
585 0530 E2E1 ldi r30,18 |
586 0532 CE5F subi r28,-2 |
587 0534 0C94 0000 jmp __epilogue_restores__+0 |
588 /* epilogue end (size=4) */ |
589 /* function CalculateServo size 349 (339) */ |
591 .global __vector_9 |
593 __vector_9: |
594 /* prologue: frame size=0 */ |
595 0538 1F92 push __zero_reg__ |
596 053a 0F92 push __tmp_reg__ |
597 053c 0FB6 in __tmp_reg__,__SREG__ |
598 053e 0F92 push __tmp_reg__ |
599 0540 1124 clr __zero_reg__ |
600 0542 2F93 push r18 |
601 0544 3F93 push r19 |
602 0546 4F93 push r20 |
603 0548 5F93 push r21 |
604 054a 8F93 push r24 |
605 054c 9F93 push r25 |
606 054e EF93 push r30 |
607 0550 FF93 push r31 |
608 /* prologue end (size=13) */ |
609 0552 8091 0000 lds r24,PlatinenVersion |
610 0556 9091 0000 lds r25,PulseOutput.2750 |
611 055a 8431 cpi r24,lo8(20) |
612 055c 00F0 brlo .+2 |
613 055e 00C0 rjmp .L71 |
614 0560 9923 tst r25 |
615 0562 01F0 breq .+2 |
616 0564 00C0 rjmp .L73 |
617 0566 8091 B000 lds r24,176 |
618 056a 86FF sbrs r24,6 |
619 056c 00C0 rjmp .L75 |
620 056e 8091 B000 lds r24,176 |
621 0572 8F7B andi r24,lo8(-65) |
622 0574 8093 B000 sts 176,r24 |
623 0578 8091 0000 lds r24,ServoNickValue |
624 057c 9091 0000 lds r25,(ServoNickValue)+1 |
625 0580 8755 subi r24,lo8(-(425)) |
626 0582 9E4F sbci r25,hi8(-(425)) |
627 0584 9093 0000 sts (RemainingPulse)+1,r25 |
628 0588 8093 0000 sts RemainingPulse,r24 |
629 058c 25E0 ldi r18,hi8(1501) |
630 058e 8D3D cpi r24,lo8(1501) |
631 0590 9207 cpc r25,r18 |
632 0592 00F0 brlo .L77 |
633 0594 8CED ldi r24,lo8(1500) |
634 0596 95E0 ldi r25,hi8(1500) |
635 0598 00C0 rjmp .L114 |
636 .L77: |
637 059a 8757 subi r24,lo8(375) |
638 059c 9140 sbci r25,hi8(375) |
639 059e 00F4 brsh .L79 |
640 05a0 87E7 ldi r24,lo8(375) |
641 05a2 91E0 ldi r25,hi8(375) |
642 .L114: |
643 05a4 9093 0000 sts (RemainingPulse)+1,r25 |
644 05a8 8093 0000 sts RemainingPulse,r24 |
645 .L79: |
646 05ac 8091 0000 lds r24,RemainingPulse |
647 05b0 9091 0000 lds r25,(RemainingPulse)+1 |
648 05b4 00C0 rjmp .L119 |
649 .L75: |
650 05b6 8091 B000 lds r24,176 |
651 05ba 8064 ori r24,lo8(64) |
652 05bc 8093 B000 sts 176,r24 |
653 05c0 8091 0000 lds r24,EE_Parameter+53 |
654 05c4 90E0 ldi r25,lo8(0) |
655 05c6 2DED ldi r18,lo8(1757) |
656 05c8 36E0 ldi r19,hi8(1757) |
657 05ca AC01 movw r20,r24 |
658 05cc 429F mul r20,r18 |
659 05ce C001 movw r24,r0 |
660 05d0 439F mul r20,r19 |
661 05d2 900D add r25,r0 |
662 05d4 529F mul r21,r18 |
663 05d6 900D add r25,r0 |
664 05d8 1124 clr r1 |
665 05da 2091 0000 lds r18,ServoFrameTime.2751 |
666 05de 3091 0000 lds r19,(ServoFrameTime.2751)+1 |
667 05e2 821B sub r24,r18 |
668 05e4 930B sbc r25,r19 |
669 05e6 9093 0000 sts (RemainingPulse)+1,r25 |
670 05ea 8093 0000 sts RemainingPulse,r24 |
671 05ee 81E0 ldi r24,lo8(1) |
672 05f0 8093 0000 sts CalculateServoSignals,r24 |
673 05f4 00C0 rjmp .L87 |
674 .L71: |
675 05f6 9923 tst r25 |
676 05f8 01F0 breq .+2 |
677 05fa 00C0 rjmp .L73 |
678 05fc 8091 B000 lds r24,176 |
679 0600 86FF sbrs r24,6 |
680 0602 00C0 rjmp .L83 |
681 0604 8091 B000 lds r24,176 |
682 0608 8F7B andi r24,lo8(-65) |
683 060a 8093 B000 sts 176,r24 |
684 060e E091 0000 lds r30,ServoIndex.2752 |
685 0612 EE23 tst r30 |
686 0614 01F4 brne .L85 |
687 0616 8091 0000 lds r24,EE_Parameter+53 |
688 061a 90E0 ldi r25,lo8(0) |
689 061c 2DED ldi r18,lo8(1757) |
690 061e 36E0 ldi r19,hi8(1757) |
691 0620 AC01 movw r20,r24 |
692 0622 429F mul r20,r18 |
693 0624 C001 movw r24,r0 |
694 0626 439F mul r20,r19 |
695 0628 900D add r25,r0 |
696 062a 529F mul r21,r18 |
697 062c 900D add r25,r0 |
698 062e 1124 clr r1 |
699 0630 2091 0000 lds r18,ServoFrameTime.2751 |
700 0634 3091 0000 lds r19,(ServoFrameTime.2751)+1 |
701 0638 821B sub r24,r18 |
702 063a 930B sbc r25,r19 |
703 063c 9093 0000 sts (RemainingPulse)+1,r25 |
704 0640 8093 0000 sts RemainingPulse,r24 |
705 0644 1092 0000 sts (ServoFrameTime.2751)+1,__zero_reg__ |
706 0648 1092 0000 sts ServoFrameTime.2751,__zero_reg__ |
707 064c 469A sbi 40-0x20,6 |
708 064e 00C0 rjmp .L87 |
709 .L85: |
710 0650 89EA ldi r24,lo8(937) |
711 0652 93E0 ldi r25,hi8(937) |
712 0654 9093 0000 sts (RemainingPulse)+1,r25 |
713 0658 8093 0000 sts RemainingPulse,r24 |
714 065c E330 cpi r30,lo8(3) |
715 065e 01F0 breq .L91 |
716 0660 E430 cpi r30,lo8(4) |
717 0662 00F4 brsh .L94 |
718 0664 E130 cpi r30,lo8(1) |
719 0666 01F0 breq .L89 |
720 0668 E230 cpi r30,lo8(2) |
721 066a 01F4 brne .L88 |
722 066c 00C0 rjmp .L90 |
723 .L94: |
724 066e E430 cpi r30,lo8(4) |
725 0670 01F0 breq .L92 |
726 0672 E530 cpi r30,lo8(5) |
727 0674 01F4 brne .L88 |
728 0676 00C0 rjmp .L93 |
729 .L89: |
730 0678 8091 0000 lds r24,ServoNickValue |
731 067c 9091 0000 lds r25,(ServoNickValue)+1 |
732 0680 00C0 rjmp .L118 |
733 .L90: |
734 0682 8091 0000 lds r24,ServoRollValue |
735 0686 9091 0000 lds r25,(ServoRollValue)+1 |
736 068a 00C0 rjmp .L118 |
737 .L91: |
738 068c 8091 0000 lds r24,Parameter_Servo3 |
739 0690 00C0 rjmp .L120 |
740 .L92: |
741 0692 8091 0000 lds r24,Parameter_Servo4 |
742 0696 00C0 rjmp .L120 |
743 .L93: |
744 0698 8091 0000 lds r24,Parameter_Servo5 |
745 .L120: |
746 069c 90E0 ldi r25,lo8(0) |
747 069e 880F lsl r24 |
748 06a0 991F rol r25 |
749 06a2 880F lsl r24 |
750 06a4 991F rol r25 |
751 .L118: |
752 06a6 8755 subi r24,lo8(-(425)) |
753 06a8 9E4F sbci r25,hi8(-(425)) |
754 06aa 00C0 rjmp .L115 |
755 .L88: |
756 06ac F0E0 ldi r31,lo8(0) |
757 06ae EE0F lsl r30 |
758 06b0 FF1F rol r31 |
759 06b2 E050 subi r30,lo8(-(PPM_in)) |
760 06b4 F040 sbci r31,hi8(-(PPM_in)) |
761 06b6 8081 ld r24,Z |
762 06b8 9181 ldd r25,Z+1 |
763 06ba 880F lsl r24 |
764 06bc 991F rol r25 |
765 06be 8755 subi r24,lo8(-(937)) |
766 06c0 9C4F sbci r25,hi8(-(937)) |
767 .L115: |
768 06c2 9093 0000 sts (RemainingPulse)+1,r25 |
769 06c6 8093 0000 sts RemainingPulse,r24 |
770 06ca 8091 0000 lds r24,RemainingPulse |
771 06ce 9091 0000 lds r25,(RemainingPulse)+1 |
772 06d2 55E0 ldi r21,hi8(1501) |
773 06d4 8D3D cpi r24,lo8(1501) |
774 06d6 9507 cpc r25,r21 |
775 06d8 00F0 brlo .L96 |
776 06da 8CED ldi r24,lo8(1500) |
777 06dc 95E0 ldi r25,hi8(1500) |
778 06de 00C0 rjmp .L116 |
779 .L96: |
780 06e0 8757 subi r24,lo8(375) |
781 06e2 9140 sbci r25,hi8(375) |
782 06e4 00F4 brsh .L98 |
783 06e6 87E7 ldi r24,lo8(375) |
784 06e8 91E0 ldi r25,hi8(375) |
785 .L116: |
786 06ea 9093 0000 sts (RemainingPulse)+1,r25 |
787 06ee 8093 0000 sts RemainingPulse,r24 |
788 .L98: |
789 06f2 2091 0000 lds r18,RemainingPulse |
790 06f6 3091 0000 lds r19,(RemainingPulse)+1 |
791 06fa 2C5B subi r18,lo8(-(-188)) |
792 06fc 3040 sbci r19,hi8(-(-188)) |
793 06fe 3093 0000 sts (RemainingPulse)+1,r19 |
794 0702 2093 0000 sts RemainingPulse,r18 |
795 0706 8091 0000 lds r24,ServoFrameTime.2751 |
796 070a 9091 0000 lds r25,(ServoFrameTime.2751)+1 |
797 070e 820F add r24,r18 |
798 0710 931F adc r25,r19 |
799 .L119: |
800 0712 9093 0000 sts (ServoFrameTime.2751)+1,r25 |
801 0716 8093 0000 sts ServoFrameTime.2751,r24 |
802 071a 00C0 rjmp .L87 |
803 .L83: |
804 071c 8091 B000 lds r24,176 |
805 0720 8064 ori r24,lo8(64) |
806 0722 8093 B000 sts 176,r24 |
807 0726 8CEB ldi r24,lo8(188) |
808 0728 90E0 ldi r25,hi8(188) |
809 072a 9093 0000 sts (RemainingPulse)+1,r25 |
810 072e 8093 0000 sts RemainingPulse,r24 |
811 0732 8091 0000 lds r24,ServoFrameTime.2751 |
812 0736 9091 0000 lds r25,(ServoFrameTime.2751)+1 |
813 073a 8454 subi r24,lo8(-(188)) |
814 073c 9F4F sbci r25,hi8(-(188)) |
815 073e 9093 0000 sts (ServoFrameTime.2751)+1,r25 |
816 0742 8093 0000 sts ServoFrameTime.2751,r24 |
817 0746 8091 0000 lds r24,ServoActive |
818 074a 8823 tst r24 |
819 074c 01F0 breq .L100 |
820 074e 8091 0000 lds r24,SenderOkay |
821 0752 8333 cpi r24,lo8(51) |
822 0754 00F4 brsh .L102 |
823 .L100: |
824 0756 8091 0000 lds r24,ServoActive |
825 075a 8230 cpi r24,lo8(2) |
826 075c 01F4 brne .L103 |
827 .L102: |
828 075e 4698 cbi 40-0x20,6 |
829 0760 00C0 rjmp .L104 |
830 .L103: |
831 0762 469A sbi 40-0x20,6 |
832 .L104: |
833 0764 8091 0000 lds r24,ServoIndex.2752 |
834 0768 8F5F subi r24,lo8(-(1)) |
835 076a 8093 0000 sts ServoIndex.2752,r24 |
836 076e 9091 0000 lds r25,EE_Parameter+53 |
837 0772 9817 cp r25,r24 |
838 0774 00F4 brsh .L87 |
839 0776 81E0 ldi r24,lo8(1) |
840 0778 8093 0000 sts CalculateServoSignals,r24 |
841 077c 1092 0000 sts ServoIndex.2752,__zero_reg__ |
842 .L87: |
843 0780 81E0 ldi r24,lo8(1) |
844 0782 8093 0000 sts PulseOutput.2750,r24 |
845 .L73: |
846 0786 2091 0000 lds r18,RemainingPulse |
847 078a 3091 0000 lds r19,(RemainingPulse)+1 |
848 078e 41E0 ldi r20,hi8(383) |
849 0790 2F37 cpi r18,lo8(383) |
850 0792 3407 cpc r19,r20 |
851 0794 00F0 brlo .L106 |
852 0796 8FEF ldi r24,lo8(-1) |
853 0798 8093 B300 sts 179,r24 |
854 079c 2F5F subi r18,lo8(-(-255)) |
855 079e 3040 sbci r19,hi8(-(-255)) |
856 07a0 00C0 rjmp .L117 |
857 .L106: |
858 07a2 2F3F cpi r18,255 |
859 07a4 3105 cpc r19,__zero_reg__ |
860 07a6 01F0 breq .L109 |
861 07a8 00F0 brlo .L109 |
862 07aa 51E0 ldi r21,hi8(382) |
863 07ac 2E37 cpi r18,lo8(382) |
864 07ae 3507 cpc r19,r21 |
865 07b0 01F0 breq .L111 |
866 07b2 80E8 ldi r24,lo8(-128) |
867 07b4 8093 B300 sts 179,r24 |
868 07b8 2058 subi r18,lo8(-(-128)) |
869 07ba 3040 sbci r19,hi8(-(-128)) |
870 .L117: |
871 07bc 3093 0000 sts (RemainingPulse)+1,r19 |
872 07c0 2093 0000 sts RemainingPulse,r18 |
873 07c4 00C0 rjmp .L113 |
874 .L111: |
875 07c6 8FEF ldi r24,lo8(-1) |
876 07c8 8093 B300 sts 179,r24 |
877 07cc 8FE7 ldi r24,lo8(127) |
878 07ce 90E0 ldi r25,hi8(127) |
879 07d0 9093 0000 sts (RemainingPulse)+1,r25 |
880 07d4 8093 0000 sts RemainingPulse,r24 |
881 07d8 00C0 rjmp .L113 |
882 .L109: |
883 07da 2093 B300 sts 179,r18 |
884 07de 1092 0000 sts (RemainingPulse)+1,__zero_reg__ |
885 07e2 1092 0000 sts RemainingPulse,__zero_reg__ |
886 07e6 1092 0000 sts PulseOutput.2750,__zero_reg__ |
887 .L113: |
888 /* epilogue: frame size=0 */ |
889 07ea FF91 pop r31 |
890 07ec EF91 pop r30 |
891 07ee 9F91 pop r25 |
892 07f0 8F91 pop r24 |
893 07f2 5F91 pop r21 |
894 07f4 4F91 pop r20 |
895 07f6 3F91 pop r19 |
896 07f8 2F91 pop r18 |
897 07fa 0F90 pop __tmp_reg__ |
898 07fc 0FBE out __SREG__,__tmp_reg__ |
899 07fe 0F90 pop __tmp_reg__ |
900 0800 1F90 pop __zero_reg__ |
901 0802 1895 reti |
902 /* epilogue end (size=13) */ |
903 /* function __vector_9 size 360 (334) */ |
905 .global Timer_Init |
907 Timer_Init: |
908 /* prologue: frame size=0 */ |
909 /* prologue end (size=0) */ |
910 0804 8091 0000 lds r24,CountMilliseconds |
911 0808 9091 0000 lds r25,(CountMilliseconds)+1 |
912 080c 0B96 adiw r24,11 |
913 080e 9093 0000 sts (tim_main)+1,r25 |
914 0812 8093 0000 sts tim_main,r24 |
915 0816 82E0 ldi r24,lo8(2) |
916 0818 85BD out 69-0x20,r24 |
917 081a 83EA ldi r24,lo8(-93) |
918 081c 84BD out 68-0x20,r24 |
919 081e 17BC out 71-0x20,__zero_reg__ |
920 0820 84EB ldi r24,lo8(-76) |
921 0822 88BD out 72-0x20,r24 |
922 0824 86E0 ldi r24,lo8(6) |
923 0826 86BD out 70-0x20,r24 |
924 0828 EEE6 ldi r30,lo8(110) |
925 082a F0E0 ldi r31,hi8(110) |
926 082c 8081 ld r24,Z |
927 082e 8160 ori r24,lo8(1) |
928 0830 8083 st Z,r24 |
929 /* epilogue: frame size=0 */ |
930 0832 0895 ret |
931 /* epilogue end (size=1) */ |
932 /* function Timer_Init size 24 (23) */ |
934 .global Delay_ms_Mess |
936 Delay_ms_Mess: |
937 /* prologue: frame size=0 */ |
938 /* prologue end (size=0) */ |
939 0834 AC01 movw r20,r24 |
940 0836 2091 0000 lds r18,CountMilliseconds |
941 083a 3091 0000 lds r19,(CountMilliseconds)+1 |
942 083e 2F5F subi r18,lo8(-(1)) |
943 0840 3F4F sbci r19,hi8(-(1)) |
944 0842 00C0 rjmp .L132 |
945 .L125: |
946 0844 8091 0000 lds r24,AdReady |
947 0848 8823 tst r24 |
948 084a 01F0 breq .L132 |
949 084c 1092 0000 sts AdReady,__zero_reg__ |
950 0850 8FEC ldi r24,lo8(-49) |
951 0852 8093 7A00 sts 122,r24 |
952 .L132: |
953 0856 8091 0000 lds r24,CountMilliseconds |
954 085a 9091 0000 lds r25,(CountMilliseconds)+1 |
955 085e B901 movw r22,r18 |
956 0860 681B sub r22,r24 |
957 0862 790B sbc r23,r25 |
958 0864 CB01 movw r24,r22 |
959 0866 840F add r24,r20 |
960 0868 951F adc r25,r21 |
961 086a 8070 andi r24,lo8(-32768) |
962 086c 9078 andi r25,hi8(-32768) |
963 086e 892F mov r24,r25 |
964 0870 9927 clr r25 |
965 0872 8695 lsr r24 |
966 0874 8823 tst r24 |
967 0876 01F0 breq .L125 |
968 /* epilogue: frame size=0 */ |
969 0878 0895 ret |
970 /* epilogue end (size=1) */ |
971 /* function Delay_ms_Mess size 35 (34) */ |
973 .global Delay_ms |
975 Delay_ms: |
976 /* prologue: frame size=0 */ |
977 /* prologue end (size=0) */ |
978 087a AC01 movw r20,r24 |
979 087c 2091 0000 lds r18,CountMilliseconds |
980 0880 3091 0000 lds r19,(CountMilliseconds)+1 |
981 0884 2F5F subi r18,lo8(-(1)) |
982 0886 3F4F sbci r19,hi8(-(1)) |
983 .L134: |
984 0888 8091 0000 lds r24,CountMilliseconds |
985 088c 9091 0000 lds r25,(CountMilliseconds)+1 |
986 0890 B901 movw r22,r18 |
987 0892 681B sub r22,r24 |
988 0894 790B sbc r23,r25 |
989 0896 CB01 movw r24,r22 |
990 0898 840F add r24,r20 |
991 089a 951F adc r25,r21 |
992 089c 8070 andi r24,lo8(-32768) |
993 089e 9078 andi r25,hi8(-32768) |
994 08a0 892F mov r24,r25 |
995 08a2 9927 clr r25 |
996 08a4 8695 lsr r24 |
997 08a6 8823 tst r24 |
998 08a8 01F0 breq .L134 |
999 /* epilogue: frame size=0 */ |
1000 08aa 0895 ret |
1001 /* epilogue end (size=1) */ |
1002 /* function Delay_ms size 25 (24) */ |
1004 .global CountMilliseconds |
1005 .global CountMilliseconds |
1006 .section .bss |
1009 CountMilliseconds: |
1010 0000 0000 .skip 2,0 |
1011 .global UpdateMotor |
1012 .global UpdateMotor |
1015 UpdateMotor: |
1016 0002 00 .skip 1,0 |
1017 .global cntKompass |
1018 .global cntKompass |
1021 cntKompass: |
1022 0003 0000 .skip 2,0 |
1023 .global beeptime |
1024 .global beeptime |
1027 beeptime: |
1028 0005 0000 .skip 2,0 |
1029 .global SendSPI |
1030 .global SendSPI |
1033 SendSPI: |
1034 0007 00 .skip 1,0 |
1035 .global ServoActive |
1036 .global ServoActive |
1039 ServoActive: |
1040 0008 00 .skip 1,0 |
1041 .global CalculateServoSignals |
1042 .data |
1045 CalculateServoSignals: |
1046 0000 01 .byte 1 |
1047 .global RemainingPulse |
1048 .global RemainingPulse |
1049 .section .bss |
1052 RemainingPulse: |
1053 0009 0000 .skip 2,0 |
1054 .global ServoNickOffset |
1055 .data |
1058 ServoNickOffset: |
1059 0001 C01F .word 8128 |
1060 .global ServoRollOffset |
1063 ServoRollOffset: |
1064 0003 C01F .word 8128 |
1065 .global BeepMuster |
1068 BeepMuster: |
1069 0005 FFFF .word -1 |
1070 .global ServoNickValue |
1071 .global ServoNickValue |
1072 .section .bss |
1075 ServoNickValue: |
1076 000b 0000 .skip 2,0 |
1077 .global ServoRollValue |
1078 .global ServoRollValue |
1081 ServoRollValue: |
1082 000d 0000 .skip 2,0 |
1083 .lcomm ServoIndex.2752,1 |
1084 .lcomm ServoFrameTime.2751,2 |
1085 .lcomm PulseOutput.2750,1 |
1086 .lcomm compass_active.2509,1 |
1087 .lcomm cnt.2508,1 |
1088 .data |
1091 cnt_1ms.2507: |
1092 0007 01 .byte 1 |
1093 .lcomm tim_main,2 |
1094 /* File "timer0.c": code 1117 = 0x045d (1047), prologues 33, epilogues 37 */ |
DEFINED SYMBOLS |
*ABS*:00000000 timer0.c |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:2 *ABS*:0000003f __SREG__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:3 *ABS*:0000003e __SP_H__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:4 *ABS*:0000003d __SP_L__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:5 *ABS*:00000000 __tmp_reg__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:6 *ABS*:00000001 __zero_reg__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:12 .text:00000000 __vector_18 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:1033 .bss:00000007 SendSPI |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:1086 .bss:00000014 cnt.2508 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:1009 .bss:00000000 CountMilliseconds |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:1091 .data:00000007 cnt_1ms.2507 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:1015 .bss:00000002 UpdateMotor |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:1085 .bss:00000013 compass_active.2509 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:1027 .bss:00000005 beeptime |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:1068 .data:00000005 BeepMuster |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:1021 .bss:00000003 cntKompass |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:227 .text:00000206 SetDelay |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:243 .text:00000218 CheckDelay |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:262 .text:00000230 TIMER2_Init |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:310 .text:0000027e CalculateServo |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:1045 .data:00000000 CalculateServoSignals |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:1058 .data:00000001 ServoNickOffset |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:1075 .bss:0000000b ServoNickValue |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:1063 .data:00000003 ServoRollOffset |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:1081 .bss:0000000d ServoRollValue |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:593 .text:00000538 __vector_9 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:1084 .bss:00000012 PulseOutput.2750 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:1052 .bss:00000009 RemainingPulse |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:1083 .bss:00000010 ServoFrameTime.2751 |
.bss:0000000f ServoIndex.2752 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:1039 .bss:00000008 ServoActive |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:907 .text:00000804 Timer_Init |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:1087 .bss:00000015 tim_main |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:936 .text:00000834 Delay_ms_Mess |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccdC66zZ.s:975 .text:0000087a Delay_ms |
UNDEFINED SYMBOLS |
__do_copy_data |
__do_clear_bss |
SpektrumTimer |
PlatinenVersion |
NaviDataOkay |
EE_Parameter |
__udivmodhi4 |
KompassValue |
KompassStartwert |
__divmodhi4 |
KompassRichtung |
__prologue_saves__ |
sintab |
IntegralNick |
IntegralRoll |
__mulsi3 |
__divmodsi4 |
Parameter_ServoNickControl |
Parameter_ServoRollControl |
__epilogue_restores__ |
Parameter_Servo3 |
Parameter_Servo4 |
Parameter_Servo5 |
PPM_in |
SenderOkay |
AdReady |
/Spektrum-Diversity/V0.82a/twimaster.c |
---|
0,0 → 1,468 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) Holger Buss, Ingo Busker |
// + Nur für den privaten Gebrauch |
// + www.MikroKopter.com |
// + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
// + bzgl. der Nutzungsbedingungen aufzunehmen. |
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
// + Verkauf von Luftbildaufnahmen, usw. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
// + eindeutig als Ursprung verlinkt werden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
// + Benutzung auf eigene Gefahr |
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
// + mit unserer Zustimmung zulässig |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
// + this list of conditions and the following disclaimer. |
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
// + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS 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 COPYRIGHT OWNER 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. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#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); |
} |
/Spektrum-Diversity/V0.82a/twimaster.d |
---|
0,0 → 1,2 |
twimaster.o twimaster.d : twimaster.c eeprom.h twimaster.h fc.h analog.h uart.h \ |
timer0.h |
/Spektrum-Diversity/V0.82a/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 |
+ 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 |
/Spektrum-Diversity/V0.82a/twimaster.lst |
---|
0,0 → 1,1187 |
1 .file "twimaster.c" |
2 __SREG__ = 0x3f |
3 __SP_H__ = 0x3e |
4 __SP_L__ = 0x3d |
5 __tmp_reg__ = 0 |
6 __zero_reg__ = 1 |
7 .global __do_copy_data |
8 .global __do_clear_bss |
9 .text |
10 .global I2C_Init |
12 I2C_Init: |
13 /* prologue: frame size=0 */ |
14 /* prologue end (size=0) */ |
15 0000 2FB7 in r18,95-0x20 |
16 /* #APP */ |
17 0002 F894 cli |
18 /* #NOAPP */ |
19 0004 3998 cbi 39-0x20,1 |
20 0006 389A sbi 39-0x20,0 |
21 0008 98B1 in r25,40-0x20 |
22 000a 9360 ori r25,lo8(3) |
23 000c 98B9 out 40-0x20,r25 |
24 000e 9091 B900 lds r25,185 |
25 0012 9C7F andi r25,lo8(-4) |
26 0014 9093 B900 sts 185,r25 |
27 0018 9AE2 ldi r25,lo8(42) |
28 001a 9093 B800 sts 184,r25 |
29 001e 1092 0000 sts twi_state,__zero_reg__ |
30 0022 1092 0000 sts motor_write,__zero_reg__ |
31 0026 1092 0000 sts motor_read,__zero_reg__ |
32 002a 8823 tst r24 |
33 002c 01F0 breq .L2 |
34 002e E0E0 ldi r30,lo8(Motor) |
35 0030 F0E0 ldi r31,hi8(Motor) |
36 .L4: |
37 0032 1082 st Z,__zero_reg__ |
38 0034 1182 std Z+1,__zero_reg__ |
39 0036 1282 std Z+2,__zero_reg__ |
40 0038 1382 std Z+3,__zero_reg__ |
41 003a 1482 std Z+4,__zero_reg__ |
42 003c 1582 std Z+5,__zero_reg__ |
43 003e 1682 std Z+6,__zero_reg__ |
44 0040 1782 std Z+7,__zero_reg__ |
45 0042 3896 adiw r30,8 |
46 0044 80E0 ldi r24,hi8(Motor+96) |
47 0046 E030 cpi r30,lo8(Motor+96) |
48 0048 F807 cpc r31,r24 |
49 004a 01F4 brne .L4 |
50 .L2: |
51 /* #APP */ |
52 004c 7894 sei |
53 /* #NOAPP */ |
54 004e 2FBF out 95-0x20,r18 |
55 /* epilogue: frame size=0 */ |
56 0050 0895 ret |
57 /* epilogue end (size=1) */ |
58 /* function I2C_Init size 43 (42) */ |
60 .global I2C_Reset |
62 I2C_Reset: |
63 /* prologue: frame size=0 */ |
64 0052 EF92 push r14 |
65 0054 FF92 push r15 |
66 0056 0F93 push r16 |
67 0058 1F93 push r17 |
68 /* prologue end (size=4) */ |
69 005a 1092 0000 sts twi_state,__zero_reg__ |
70 005e 0CEB ldi r16,lo8(188) |
71 0060 10E0 ldi r17,hi8(188) |
72 0062 84E9 ldi r24,lo8(-108) |
73 0064 F801 movw r30,r16 |
74 0066 8083 st Z,r24 |
75 0068 80E8 ldi r24,lo8(-128) |
76 006a 8083 st Z,r24 |
77 006c 1092 BD00 sts 189,__zero_reg__ |
78 0070 1092 BA00 sts 186,__zero_reg__ |
79 0074 8BEB ldi r24,lo8(187) |
80 0076 E82E mov r14,r24 |
81 0078 F12C mov r15,__zero_reg__ |
82 007a F701 movw r30,r14 |
83 007c 1082 st Z,__zero_reg__ |
84 007e 1092 B900 sts 185,__zero_reg__ |
85 0082 1092 B800 sts 184,__zero_reg__ |
86 0086 1092 0000 sts I2C_TransferActive,__zero_reg__ |
87 008a 80E0 ldi r24,lo8(0) |
88 008c 0E94 0000 call I2C_Init |
89 0090 F701 movw r30,r14 |
90 0092 1082 st Z,__zero_reg__ |
91 0094 85E8 ldi r24,lo8(-123) |
92 0096 F801 movw r30,r16 |
93 0098 8083 st Z,r24 |
94 009a 8091 0000 lds r24,BLFlags |
95 009e 8260 ori r24,lo8(2) |
96 00a0 8093 0000 sts BLFlags,r24 |
97 /* epilogue: frame size=0 */ |
98 00a4 1F91 pop r17 |
99 00a6 0F91 pop r16 |
100 00a8 FF90 pop r15 |
101 00aa EF90 pop r14 |
102 00ac 0895 ret |
103 /* epilogue end (size=5) */ |
104 /* function I2C_Reset size 46 (37) */ |
106 .global __vector_26 |
108 __vector_26: |
109 /* prologue: frame size=0 */ |
110 00ae 1F92 push __zero_reg__ |
111 00b0 0F92 push __tmp_reg__ |
112 00b2 0FB6 in __tmp_reg__,__SREG__ |
113 00b4 0F92 push __tmp_reg__ |
114 00b6 1124 clr __zero_reg__ |
115 00b8 2F93 push r18 |
116 00ba 3F93 push r19 |
117 00bc 4F93 push r20 |
118 00be 8F93 push r24 |
119 00c0 9F93 push r25 |
120 00c2 AF93 push r26 |
121 00c4 BF93 push r27 |
122 00c6 EF93 push r30 |
123 00c8 FF93 push r31 |
124 /* prologue end (size=14) */ |
125 00ca 8091 0000 lds r24,twi_state |
126 00ce 8F5F subi r24,lo8(-(1)) |
127 00d0 8093 0000 sts twi_state,r24 |
128 00d4 8150 subi r24,lo8(-(-1)) |
129 00d6 E82F mov r30,r24 |
130 00d8 F0E0 ldi r31,lo8(0) |
131 00da E731 cpi r30,23 |
132 00dc F105 cpc r31,__zero_reg__ |
133 00de 00F0 brlo .+2 |
134 00e0 00C0 rjmp .L10 |
135 00e2 E050 subi r30,lo8(-(gs(.L23))) |
**** Warning:expression dangerous with linker stubs |
136 00e4 F040 sbci r31,hi8(-(gs(.L23))) |
**** Warning:expression dangerous with linker stubs |
137 00e6 0C94 0000 jmp __tablejump2__ |
138 .data |
139 .section .progmem.gcc_sw_table, "a", @progbits |
140 .p2align 1 |
141 .L23: |
142 .data |
143 .section .progmem.gcc_sw_table, "a", @progbits |
144 .p2align 1 |
145 0000 0000 .word gs(.L11) |
146 0002 0000 .word gs(.L12) |
147 0004 0000 .word gs(.L13) |
148 0006 0000 .word gs(.L14) |
149 0008 0000 .word gs(.L15) |
150 000a 0000 .word gs(.L16) |
151 000c 0000 .word gs(.L17) |
152 000e 0000 .word gs(.L10) |
153 0010 0000 .word gs(.L10) |
154 0012 0000 .word gs(.L10) |
155 0014 0000 .word gs(.L10) |
156 0016 0000 .word gs(.L10) |
157 0018 0000 .word gs(.L10) |
158 001a 0000 .word gs(.L10) |
159 001c 0000 .word gs(.L10) |
160 001e 0000 .word gs(.L10) |
161 0020 0000 .word gs(.L10) |
162 0022 0000 .word gs(.L10) |
163 0024 0000 .word gs(.L18) |
164 0026 0000 .word gs(.L19) |
165 0028 0000 .word gs(.L20) |
166 002a 0000 .word gs(.L21) |
167 002c 0000 .word gs(.L22) |
168 .text |
169 .L11: |
170 00ea 81E0 ldi r24,lo8(1) |
171 00ec 8093 0000 sts I2C_TransferActive,r24 |
172 00f0 00C0 rjmp .L24 |
173 .L25: |
174 00f2 8091 0000 lds r24,motor_write |
175 00f6 8F5F subi r24,lo8(-(1)) |
176 00f8 8093 0000 sts motor_write,r24 |
177 .L24: |
178 00fc E091 0000 lds r30,motor_write |
179 0100 F0E0 ldi r31,lo8(0) |
180 0102 EE0F lsl r30 |
181 0104 FF1F rol r31 |
182 0106 EE0F lsl r30 |
183 0108 FF1F rol r31 |
184 010a E050 subi r30,lo8(-(Mixer)) |
185 010c F040 sbci r31,hi8(-(Mixer)) |
186 010e 8585 ldd r24,Z+13 |
187 0110 1816 cp __zero_reg__,r24 |
188 0112 04F0 brlt .L26 |
189 0114 8091 0000 lds r24,motor_write |
190 0118 8C30 cpi r24,lo8(12) |
191 011a 00F0 brlo .L25 |
192 .L26: |
193 011c 8091 0000 lds r24,motor_write |
194 0120 8C30 cpi r24,lo8(12) |
195 0122 00F0 brlo .L28 |
196 0124 1092 0000 sts (BLConfig_WriteMask)+1,__zero_reg__ |
197 0128 1092 0000 sts BLConfig_WriteMask,__zero_reg__ |
198 012c 1092 0000 sts motor_write,__zero_reg__ |
199 0130 85E0 ldi r24,lo8(5) |
200 0132 8093 0000 sts twi_state,r24 |
201 0136 8091 0000 lds r24,motor_read |
202 013a 880F lsl r24 |
203 013c 8D5A subi r24,lo8(-(83)) |
204 013e 00C0 rjmp .L92 |
205 .L28: |
206 0140 8091 0000 lds r24,motor_write |
207 0144 880F lsl r24 |
208 0146 8E5A subi r24,lo8(-(82)) |
209 .L92: |
210 0148 8093 BB00 sts 187,r24 |
211 014c 85E8 ldi r24,lo8(-123) |
212 014e 00C0 rjmp .L88 |
213 .L12: |
214 0150 E091 0000 lds r30,motor_write |
215 0154 F0E0 ldi r31,lo8(0) |
216 0156 A3E0 ldi r26,3 |
217 0158 EE0F 1: lsl r30 |
218 015a FF1F rol r31 |
219 015c AA95 dec r26 |
220 015e 01F4 brne 1b |
221 0160 E050 subi r30,lo8(-(Motor)) |
222 0162 F040 sbci r31,hi8(-(Motor)) |
223 0164 8181 ldd r24,Z+1 |
224 0166 8093 BB00 sts 187,r24 |
225 016a 85E8 ldi r24,lo8(-123) |
226 016c 8093 BC00 sts 188,r24 |
227 0170 E091 0000 lds r30,motor_write |
228 0174 F0E0 ldi r31,lo8(0) |
229 0176 EE0F lsl r30 |
230 0178 FF1F rol r31 |
231 017a EE0F lsl r30 |
232 017c FF1F rol r31 |
233 017e EE0F lsl r30 |
234 0180 FF1F rol r31 |
235 0182 E050 subi r30,lo8(-(Motor)) |
236 0184 F040 sbci r31,hi8(-(Motor)) |
237 0186 8081 ld r24,Z |
238 0188 80FF sbrs r24,0 |
239 018a 00C0 rjmp .L40 |
240 018c E091 0000 lds r30,motor_write |
241 0190 F0E0 ldi r31,lo8(0) |
242 0192 EE0F lsl r30 |
243 0194 FF1F rol r31 |
244 0196 EE0F lsl r30 |
245 0198 FF1F rol r31 |
246 019a EE0F lsl r30 |
247 019c FF1F rol r31 |
248 019e E050 subi r30,lo8(-(Motor)) |
249 01a0 F040 sbci r31,hi8(-(Motor)) |
250 01a2 8281 ldd r24,Z+2 |
251 01a4 8823 tst r24 |
252 01a6 01F0 breq .L33 |
253 01a8 8091 0000 lds r24,RequiredMotors |
254 01ac 8730 cpi r24,lo8(7) |
255 01ae 00F4 brsh .+2 |
256 01b0 00C0 rjmp .L84 |
257 .L33: |
258 01b2 8091 0000 lds r24,BLConfig_WriteMask |
259 01b6 9091 0000 lds r25,(BLConfig_WriteMask)+1 |
260 01ba 892B or r24,r25 |
261 01bc 01F0 breq .+2 |
262 01be 00C0 rjmp .L84 |
263 01c0 8091 0000 lds r24,BLConfig_ReadMask |
264 01c4 9091 0000 lds r25,(BLConfig_ReadMask)+1 |
265 01c8 892B or r24,r25 |
266 01ca 01F0 breq .+2 |
267 01cc 00C0 rjmp .L84 |
268 01ce 00C0 rjmp .L40 |
269 .L13: |
270 01d0 4091 0000 lds r20,motor_write |
271 01d4 2091 0000 lds r18,BLConfig_ReadMask |
272 01d8 3091 0000 lds r19,(BLConfig_ReadMask)+1 |
273 01dc 81E0 ldi r24,lo8(1) |
274 01de 90E0 ldi r25,hi8(1) |
275 01e0 00C0 rjmp 2f |
276 01e2 880F 1: lsl r24 |
277 01e4 991F rol r25 |
278 01e6 4A95 2: dec r20 |
279 01e8 02F4 brpl 1b |
280 01ea 8223 and r24,r18 |
281 01ec 9323 and r25,r19 |
282 01ee 892B or r24,r25 |
283 01f0 01F0 breq .L37 |
284 01f2 E091 0000 lds r30,motor_write |
285 01f6 F0E0 ldi r31,lo8(0) |
286 01f8 EE0F lsl r30 |
287 01fa FF1F rol r31 |
288 01fc EE0F lsl r30 |
289 01fe FF1F rol r31 |
290 0200 EE0F lsl r30 |
291 0202 FF1F rol r31 |
292 0204 E050 subi r30,lo8(-(Motor)) |
293 0206 F040 sbci r31,hi8(-(Motor)) |
294 0208 80E1 ldi r24,lo8(16) |
295 020a 8483 std Z+4,r24 |
296 020c 00C0 rjmp .L39 |
297 .L37: |
298 020e E091 0000 lds r30,motor_write |
299 0212 F0E0 ldi r31,lo8(0) |
300 0214 43E0 ldi r20,3 |
301 0216 EE0F 1: lsl r30 |
302 0218 FF1F rol r31 |
303 021a 4A95 dec r20 |
304 021c 01F4 brne 1b |
305 021e E050 subi r30,lo8(-(Motor)) |
306 0220 F040 sbci r31,hi8(-(Motor)) |
307 0222 1482 std Z+4,__zero_reg__ |
308 .L39: |
309 0224 E091 0000 lds r30,motor_write |
310 0228 A091 0000 lds r26,motor_write |
311 022c F0E0 ldi r31,lo8(0) |
312 022e 33E0 ldi r19,3 |
313 0230 EE0F 1: lsl r30 |
314 0232 FF1F rol r31 |
315 0234 3A95 dec r19 |
316 0236 01F4 brne 1b |
317 0238 E050 subi r30,lo8(-(Motor)) |
318 023a F040 sbci r31,hi8(-(Motor)) |
319 023c 9481 ldd r25,Z+4 |
320 023e 990F lsl r25 |
321 0240 990F lsl r25 |
322 0242 990F lsl r25 |
323 0244 B0E0 ldi r27,lo8(0) |
324 0246 23E0 ldi r18,3 |
325 0248 AA0F 1: lsl r26 |
326 024a BB1F rol r27 |
327 024c 2A95 dec r18 |
328 024e 01F4 brne 1b |
329 0250 A050 subi r26,lo8(-(Motor)) |
330 0252 B040 sbci r27,hi8(-(Motor)) |
331 0254 FD01 movw r30,r26 |
332 0256 8281 ldd r24,Z+2 |
333 0258 8770 andi r24,lo8(7) |
334 025a 982B or r25,r24 |
335 025c 9093 BB00 sts 187,r25 |
336 0260 85E8 ldi r24,lo8(-123) |
337 0262 8093 BC00 sts 188,r24 |
338 0266 4091 0000 lds r20,motor_write |
339 026a 2091 0000 lds r18,BLConfig_WriteMask |
340 026e 3091 0000 lds r19,(BLConfig_WriteMask)+1 |
341 0272 81E0 ldi r24,lo8(1) |
342 0274 90E0 ldi r25,hi8(1) |
343 0276 00C0 rjmp 2f |
344 0278 880F 1: lsl r24 |
345 027a 991F rol r25 |
346 027c 4A95 2: dec r20 |
347 027e 02F4 brpl 1b |
348 0280 8223 and r24,r18 |
349 0282 9323 and r25,r19 |
350 0284 892B or r24,r25 |
351 0286 01F0 breq .L40 |
352 0288 80E0 ldi r24,lo8(BLConfig) |
353 028a 90E0 ldi r25,hi8(BLConfig) |
354 028c 9093 0000 sts (pBuff.1961)+1,r25 |
355 0290 8093 0000 sts pBuff.1961,r24 |
356 0294 88E0 ldi r24,lo8(8) |
357 0296 8093 0000 sts BuffLen.1962,r24 |
358 029a 00C0 rjmp .L84 |
359 .L40: |
360 029c 84E0 ldi r24,lo8(4) |
361 029e 00C0 rjmp .L90 |
362 .L14: |
363 02a0 E091 0000 lds r30,pBuff.1961 |
364 02a4 F091 0000 lds r31,(pBuff.1961)+1 |
365 02a8 8191 ld r24,Z+ |
366 02aa 8093 BB00 sts 187,r24 |
367 02ae 85E8 ldi r24,lo8(-123) |
368 02b0 8093 BC00 sts 188,r24 |
369 02b4 F093 0000 sts (pBuff.1961)+1,r31 |
370 02b8 E093 0000 sts pBuff.1961,r30 |
371 02bc 8091 0000 lds r24,BuffLen.1962 |
372 02c0 8150 subi r24,lo8(-(-1)) |
373 02c2 8093 0000 sts BuffLen.1962,r24 |
374 02c6 8823 tst r24 |
375 02c8 01F4 brne .+2 |
376 02ca 00C0 rjmp .L84 |
377 02cc 83E0 ldi r24,lo8(3) |
378 02ce 00C0 rjmp .L90 |
379 .L15: |
380 02d0 8091 B900 lds r24,185 |
381 02d4 8033 cpi r24,lo8(48) |
382 02d6 01F4 brne .L43 |
383 02d8 8091 0000 lds r24,missing_motor.1959 |
384 02dc 8823 tst r24 |
385 02de 01F4 brne .L45 |
386 02e0 8091 0000 lds r24,motor_write |
387 02e4 8F5F subi r24,lo8(-(1)) |
388 02e6 8093 0000 sts missing_motor.1959,r24 |
389 .L45: |
390 02ea E091 0000 lds r30,motor_write |
391 02ee F0E0 ldi r31,lo8(0) |
392 02f0 93E0 ldi r25,3 |
393 02f2 EE0F 1: lsl r30 |
394 02f4 FF1F rol r31 |
395 02f6 9A95 dec r25 |
396 02f8 01F4 brne 1b |
397 02fa E050 subi r30,lo8(-(Motor)) |
398 02fc F040 sbci r31,hi8(-(Motor)) |
399 02fe 8381 ldd r24,Z+3 |
400 0300 8F77 andi r24,lo8(127) |
401 0302 8F37 cpi r24,lo8(127) |
402 0304 01F0 breq .L43 |
403 0306 E091 0000 lds r30,motor_write |
404 030a F0E0 ldi r31,lo8(0) |
405 030c 83E0 ldi r24,3 |
406 030e EE0F 1: lsl r30 |
407 0310 FF1F rol r31 |
408 0312 8A95 dec r24 |
409 0314 01F4 brne 1b |
410 0316 E050 subi r30,lo8(-(Motor)) |
411 0318 F040 sbci r31,hi8(-(Motor)) |
412 031a 8381 ldd r24,Z+3 |
413 031c 8F5F subi r24,lo8(-(1)) |
414 031e 8383 std Z+3,r24 |
415 .L43: |
416 0320 1092 0000 sts twi_state,__zero_reg__ |
417 0324 84E9 ldi r24,lo8(-108) |
418 0326 8093 BC00 sts 188,r24 |
419 032a 8AE0 ldi r24,lo8(10) |
420 032c 90E0 ldi r25,hi8(10) |
421 032e 9093 0000 sts (I2CTimeout)+1,r25 |
422 0332 8093 0000 sts I2CTimeout,r24 |
423 0336 8091 0000 lds r24,motor_write |
424 033a 8F5F subi r24,lo8(-(1)) |
425 033c 8093 0000 sts motor_write,r24 |
426 0340 1092 0000 sts twi_state,__zero_reg__ |
427 0344 00C0 rjmp .L93 |
428 .L16: |
429 0346 8091 B900 lds r24,185 |
430 034a 8034 cpi r24,lo8(64) |
431 034c 01F0 breq .L48 |
432 034e E091 0000 lds r30,motor_read |
433 0352 F0E0 ldi r31,lo8(0) |
434 0354 B3E0 ldi r27,3 |
435 0356 EE0F 1: lsl r30 |
436 0358 FF1F rol r31 |
437 035a BA95 dec r27 |
438 035c 01F4 brne 1b |
439 035e E050 subi r30,lo8(-(Motor)) |
440 0360 F040 sbci r31,hi8(-(Motor)) |
441 0362 8381 ldd r24,Z+3 |
442 0364 8F77 andi r24,lo8(127) |
443 0366 8383 std Z+3,r24 |
444 0368 8091 0000 lds r24,motor_read |
445 036c 8F5F subi r24,lo8(-(1)) |
446 036e 8093 0000 sts motor_read,r24 |
447 0372 8091 0000 lds r24,motor_read |
448 0376 8C30 cpi r24,lo8(12) |
449 0378 00F0 brlo .L50 |
450 037a 1092 0000 sts motor_read,__zero_reg__ |
451 037e 1092 0000 sts (BLConfig_ReadMask)+1,__zero_reg__ |
452 0382 1092 0000 sts BLConfig_ReadMask,__zero_reg__ |
453 0386 8091 0000 lds r24,motor_read_temperature.1960 |
454 038a 8F5F subi r24,lo8(-(1)) |
455 038c 8093 0000 sts motor_read_temperature.1960,r24 |
456 0390 8C30 cpi r24,lo8(12) |
457 0392 00F0 brlo .L50 |
458 0394 1092 0000 sts motor_read_temperature.1960,__zero_reg__ |
459 0398 8091 0000 lds r24,BLFlags |
460 039c 8D7F andi r24,lo8(-3) |
461 039e 8093 0000 sts BLFlags,r24 |
462 .L50: |
463 03a2 8091 0000 lds r24,BLFlags |
464 03a6 8160 ori r24,lo8(1) |
465 03a8 8093 0000 sts BLFlags,r24 |
466 03ac 1092 0000 sts twi_state,__zero_reg__ |
467 03b0 84E9 ldi r24,lo8(-108) |
468 03b2 8093 BC00 sts 188,r24 |
469 03b6 1092 0000 sts I2C_TransferActive,__zero_reg__ |
470 03ba 00C0 rjmp .L53 |
471 .L48: |
472 03bc E091 0000 lds r30,motor_read |
473 03c0 F0E0 ldi r31,lo8(0) |
474 03c2 A3E0 ldi r26,3 |
475 03c4 EE0F 1: lsl r30 |
476 03c6 FF1F rol r31 |
477 03c8 AA95 dec r26 |
478 03ca 01F4 brne 1b |
479 03cc E050 subi r30,lo8(-(Motor)) |
480 03ce F040 sbci r31,hi8(-(Motor)) |
481 03d0 8381 ldd r24,Z+3 |
482 03d2 8068 ori r24,lo8(-128) |
483 03d4 8383 std Z+3,r24 |
484 03d6 E091 0000 lds r30,motor_read |
485 03da F0E0 ldi r31,lo8(0) |
486 03dc EE0F lsl r30 |
487 03de FF1F rol r31 |
488 03e0 EE0F lsl r30 |
489 03e2 FF1F rol r31 |
490 03e4 EE0F lsl r30 |
491 03e6 FF1F rol r31 |
492 03e8 E050 subi r30,lo8(-(Motor)) |
493 03ea F040 sbci r31,hi8(-(Motor)) |
494 03ec 8081 ld r24,Z |
495 03ee 80FF sbrs r24,0 |
496 03f0 00C0 rjmp .L54 |
497 03f2 E091 0000 lds r30,motor_read |
498 03f6 F0E0 ldi r31,lo8(0) |
499 03f8 EE0F lsl r30 |
500 03fa FF1F rol r31 |
501 03fc EE0F lsl r30 |
502 03fe FF1F rol r31 |
503 0400 EE0F lsl r30 |
504 0402 FF1F rol r31 |
505 0404 E050 subi r30,lo8(-(Motor)) |
506 0406 F040 sbci r31,hi8(-(Motor)) |
507 0408 8481 ldd r24,Z+4 |
508 040a 8823 tst r24 |
509 040c 01F0 breq .L57 |
510 040e 8031 cpi r24,lo8(16) |
511 0410 01F4 brne .L56 |
512 0412 80E0 ldi r24,lo8(BLConfig) |
513 0414 90E0 ldi r25,hi8(BLConfig) |
514 0416 9093 0000 sts (pBuff.1961)+1,r25 |
515 041a 8093 0000 sts pBuff.1961,r24 |
516 041e 88E0 ldi r24,lo8(8) |
517 0420 00C0 rjmp .L85 |
518 .L57: |
519 0422 8091 0000 lds r24,motor_read |
520 0426 90E0 ldi r25,lo8(0) |
521 0428 880F lsl r24 |
522 042a 991F rol r25 |
523 042c 880F lsl r24 |
524 042e 991F rol r25 |
525 0430 880F lsl r24 |
526 0432 991F rol r25 |
527 0434 8050 subi r24,lo8(-(Motor+5)) |
528 0436 9040 sbci r25,hi8(-(Motor+5)) |
529 0438 9093 0000 sts (pBuff.1961)+1,r25 |
530 043c 8093 0000 sts pBuff.1961,r24 |
531 0440 9091 0000 lds r25,motor_read |
532 0444 8091 0000 lds r24,motor_read_temperature.1960 |
533 0448 9817 cp r25,r24 |
534 044a 01F4 brne .L63 |
535 044c 83E0 ldi r24,lo8(3) |
536 044e 00C0 rjmp .L85 |
537 .L54: |
538 0450 8091 0000 lds r24,motor_read |
539 0454 90E0 ldi r25,lo8(0) |
540 0456 43E0 ldi r20,3 |
541 0458 880F 1: lsl r24 |
542 045a 991F rol r25 |
543 045c 4A95 dec r20 |
544 045e 01F4 brne 1b |
545 0460 8050 subi r24,lo8(-(Motor+5)) |
546 0462 9040 sbci r25,hi8(-(Motor+5)) |
547 0464 9093 0000 sts (pBuff.1961)+1,r25 |
548 0468 8093 0000 sts pBuff.1961,r24 |
549 046c 8091 0000 lds r24,BLFlags |
550 0470 81FD sbrc r24,1 |
551 0472 00C0 rjmp .L61 |
552 0474 9091 0000 lds r25,motor_read |
553 0478 8091 0000 lds r24,motor_read_temperature.1960 |
554 047c 9817 cp r25,r24 |
555 047e 01F4 brne .L63 |
556 .L61: |
557 0480 82E0 ldi r24,lo8(2) |
558 0482 00C0 rjmp .L85 |
559 .L63: |
560 0484 81E0 ldi r24,lo8(1) |
561 .L85: |
562 0486 8093 0000 sts BuffLen.1962,r24 |
563 .L56: |
564 048a 8091 0000 lds r24,BuffLen.1962 |
565 048e 8130 cpi r24,lo8(1) |
566 0490 01F4 brne .L64 |
567 0492 85E8 ldi r24,lo8(-123) |
568 0494 00C0 rjmp .L86 |
569 .L64: |
570 0496 85EC ldi r24,lo8(-59) |
571 .L86: |
572 0498 8093 BC00 sts 188,r24 |
573 .L53: |
574 049c 8091 0000 lds r24,missing_motor.1959 |
575 04a0 8093 0000 sts MissingMotor,r24 |
576 04a4 1092 0000 sts missing_motor.1959,__zero_reg__ |
577 04a8 00C0 rjmp .L84 |
578 .L17: |
579 04aa E091 0000 lds r30,pBuff.1961 |
580 04ae F091 0000 lds r31,(pBuff.1961)+1 |
581 04b2 8091 BB00 lds r24,187 |
582 04b6 8193 st Z+,r24 |
583 04b8 F093 0000 sts (pBuff.1961)+1,r31 |
584 04bc E093 0000 sts pBuff.1961,r30 |
585 04c0 8091 0000 lds r24,BuffLen.1962 |
586 04c4 8150 subi r24,lo8(-(-1)) |
587 04c6 8093 0000 sts BuffLen.1962,r24 |
588 04ca 8230 cpi r24,lo8(2) |
589 04cc 00F0 brlo .L66 |
590 04ce 85EC ldi r24,lo8(-59) |
591 04d0 00C0 rjmp .L87 |
592 .L66: |
593 04d2 8130 cpi r24,lo8(1) |
594 04d4 01F4 brne .L69 |
595 04d6 85E8 ldi r24,lo8(-123) |
596 04d8 00C0 rjmp .L87 |
597 .L69: |
598 04da 8091 0000 lds r24,BLFlags |
599 04de 81FF sbrs r24,1 |
600 04e0 00C0 rjmp .L71 |
601 04e2 8091 0000 lds r24,FC_StatusFlags |
602 04e6 80FD sbrc r24,0 |
603 04e8 00C0 rjmp .L73 |
604 04ea E091 0000 lds r30,motor_read |
605 04ee F0E0 ldi r31,lo8(0) |
606 04f0 33E0 ldi r19,3 |
607 04f2 EE0F 1: lsl r30 |
608 04f4 FF1F rol r31 |
609 04f6 3A95 dec r19 |
610 04f8 01F4 brne 1b |
611 04fa E050 subi r30,lo8(-(Motor)) |
612 04fc F040 sbci r31,hi8(-(Motor)) |
613 04fe 8681 ldd r24,Z+6 |
614 0500 8A3F cpi r24,lo8(-6) |
615 0502 01F4 brne .L73 |
616 0504 E091 0000 lds r30,motor_read |
617 0508 F0E0 ldi r31,lo8(0) |
618 050a 23E0 ldi r18,3 |
619 050c EE0F 1: lsl r30 |
620 050e FF1F rol r31 |
621 0510 2A95 dec r18 |
622 0512 01F4 brne 1b |
623 0514 E050 subi r30,lo8(-(Motor)) |
624 0516 F040 sbci r31,hi8(-(Motor)) |
625 0518 8081 ld r24,Z |
626 051a 8160 ori r24,lo8(1) |
627 051c 8083 st Z,r24 |
628 051e 00C0 rjmp .L71 |
629 .L73: |
630 0520 E091 0000 lds r30,motor_read |
631 0524 F0E0 ldi r31,lo8(0) |
632 0526 93E0 ldi r25,3 |
633 0528 EE0F 1: lsl r30 |
634 052a FF1F rol r31 |
635 052c 9A95 dec r25 |
636 052e 01F4 brne 1b |
637 0530 E050 subi r30,lo8(-(Motor)) |
638 0532 F040 sbci r31,hi8(-(Motor)) |
639 0534 1082 st Z,__zero_reg__ |
640 .L71: |
641 0536 8091 0000 lds r24,motor_read |
642 053a 8F5F subi r24,lo8(-(1)) |
643 053c 8093 0000 sts motor_read,r24 |
644 0540 8091 0000 lds r24,motor_read |
645 0544 8C30 cpi r24,lo8(12) |
646 0546 00F0 brlo .L76 |
647 0548 1092 0000 sts motor_read,__zero_reg__ |
648 054c 1092 0000 sts (BLConfig_ReadMask)+1,__zero_reg__ |
649 0550 1092 0000 sts BLConfig_ReadMask,__zero_reg__ |
650 0554 8091 0000 lds r24,motor_read_temperature.1960 |
651 0558 8F5F subi r24,lo8(-(1)) |
652 055a 8093 0000 sts motor_read_temperature.1960,r24 |
653 055e 8C30 cpi r24,lo8(12) |
654 0560 00F0 brlo .L76 |
655 0562 1092 0000 sts motor_read_temperature.1960,__zero_reg__ |
656 0566 8091 0000 lds r24,BLFlags |
657 056a 8D7F andi r24,lo8(-3) |
658 056c 8093 0000 sts BLFlags,r24 |
659 .L76: |
660 0570 1092 0000 sts twi_state,__zero_reg__ |
661 0574 84E9 ldi r24,lo8(-108) |
662 0576 8093 BC00 sts 188,r24 |
663 057a 8091 0000 lds r24,BLFlags |
664 057e 8160 ori r24,lo8(1) |
665 0580 8093 0000 sts BLFlags,r24 |
666 0584 00C0 rjmp .L91 |
667 .L87: |
668 0586 8093 BC00 sts 188,r24 |
669 058a 86E0 ldi r24,lo8(6) |
670 .L90: |
671 058c 8093 0000 sts twi_state,r24 |
672 0590 00C0 rjmp .L84 |
673 .L18: |
674 0592 88E9 ldi r24,lo8(-104) |
675 0594 00C0 rjmp .L92 |
676 .L19: |
677 0596 8091 0000 lds r24,dac_channel |
678 059a 880F lsl r24 |
679 059c 805F subi r24,lo8(-(16)) |
680 059e 00C0 rjmp .L92 |
681 .L20: |
682 05a0 8091 0000 lds r24,dac_channel |
683 05a4 8130 cpi r24,lo8(1) |
684 05a6 01F0 breq .L80 |
685 05a8 8130 cpi r24,lo8(1) |
686 05aa 00F0 brlo .L79 |
687 05ac 8230 cpi r24,lo8(2) |
688 05ae 01F0 breq .+2 |
689 05b0 00C0 rjmp .L84 |
690 05b2 00C0 rjmp .L81 |
691 .L79: |
692 05b4 8091 0000 lds r24,AnalogOffsetNick |
693 05b8 00C0 rjmp .L92 |
694 .L80: |
695 05ba 8091 0000 lds r24,AnalogOffsetRoll |
696 05be 00C0 rjmp .L92 |
697 .L81: |
698 05c0 8091 0000 lds r24,AnalogOffsetGier |
699 05c4 00C0 rjmp .L92 |
700 .L21: |
701 05c6 80E8 ldi r24,lo8(-128) |
702 05c8 00C0 rjmp .L92 |
703 .L22: |
704 05ca 1092 0000 sts twi_state,__zero_reg__ |
705 05ce 84E9 ldi r24,lo8(-108) |
706 05d0 8093 BC00 sts 188,r24 |
707 05d4 1092 0000 sts I2C_TransferActive,__zero_reg__ |
708 05d8 8AE0 ldi r24,lo8(10) |
709 05da 90E0 ldi r25,hi8(10) |
710 05dc 9093 0000 sts (I2CTimeout)+1,r25 |
711 05e0 8093 0000 sts I2CTimeout,r24 |
712 05e4 8091 0000 lds r24,dac_channel |
713 05e8 8230 cpi r24,lo8(2) |
714 05ea 00F4 brsh .L82 |
715 05ec 8091 0000 lds r24,dac_channel |
716 05f0 8F5F subi r24,lo8(-(1)) |
717 05f2 8093 0000 sts dac_channel,r24 |
718 05f6 82E1 ldi r24,lo8(18) |
719 05f8 8093 0000 sts twi_state,r24 |
720 .L93: |
721 05fc 8091 0000 lds r24,BLFlags |
722 0600 8E7F andi r24,lo8(-2) |
723 0602 8093 0000 sts BLFlags,r24 |
724 0606 85EA ldi r24,lo8(-91) |
725 .L88: |
726 0608 8093 BC00 sts 188,r24 |
727 060c 00C0 rjmp .L84 |
728 .L82: |
729 060e 1092 0000 sts dac_channel,__zero_reg__ |
730 0612 8091 0000 lds r24,BLFlags |
731 0616 8160 ori r24,lo8(1) |
732 0618 8093 0000 sts BLFlags,r24 |
733 061c 00C0 rjmp .L84 |
734 .L10: |
735 061e 1092 0000 sts twi_state,__zero_reg__ |
736 0622 84E9 ldi r24,lo8(-108) |
737 0624 8093 BC00 sts 188,r24 |
738 0628 8091 0000 lds r24,BLFlags |
739 062c 8160 ori r24,lo8(1) |
740 062e 8093 0000 sts BLFlags,r24 |
741 0632 8AE0 ldi r24,lo8(10) |
742 0634 90E0 ldi r25,hi8(10) |
743 0636 9093 0000 sts (I2CTimeout)+1,r25 |
744 063a 8093 0000 sts I2CTimeout,r24 |
745 063e 1092 0000 sts motor_write,__zero_reg__ |
746 0642 1092 0000 sts motor_read,__zero_reg__ |
747 .L91: |
748 0646 1092 0000 sts I2C_TransferActive,__zero_reg__ |
749 .L84: |
750 /* epilogue: frame size=0 */ |
751 064a FF91 pop r31 |
752 064c EF91 pop r30 |
753 064e BF91 pop r27 |
754 0650 AF91 pop r26 |
755 0652 9F91 pop r25 |
756 0654 8F91 pop r24 |
757 0656 4F91 pop r20 |
758 0658 3F91 pop r19 |
759 065a 2F91 pop r18 |
760 065c 0F90 pop __tmp_reg__ |
761 065e 0FBE out __SREG__,__tmp_reg__ |
762 0660 0F90 pop __tmp_reg__ |
763 0662 1F90 pop __zero_reg__ |
764 0664 1895 reti |
765 /* epilogue end (size=14) */ |
766 /* function __vector_26 size 757 (729) */ |
768 .global I2C_ReadBLConfig |
770 I2C_ReadBLConfig: |
771 /* prologue: frame size=0 */ |
772 0666 0F93 push r16 |
773 0668 1F93 push r17 |
774 066a CF93 push r28 |
775 066c DF93 push r29 |
776 /* prologue end (size=4) */ |
777 066e 982F mov r25,r24 |
778 0670 8091 0000 lds r24,MotorenEin |
779 0674 8823 tst r24 |
780 0676 01F0 breq .+2 |
781 0678 00C0 rjmp .L95 |
782 067a 8091 0000 lds r24,PC_MotortestActive |
783 067e 8823 tst r24 |
784 0680 01F0 breq .+2 |
785 0682 00C0 rjmp .L95 |
786 0684 9D30 cpi r25,lo8(13) |
787 0686 00F0 brlo .+2 |
788 0688 00C0 rjmp .L98 |
789 068a 9923 tst r25 |
790 068c 01F4 brne .L100 |
791 068e 86E0 ldi r24,lo8(6) |
792 0690 90E0 ldi r25,hi8(6) |
793 0692 00C0 rjmp .L102 |
794 .L100: |
795 0694 C92F mov r28,r25 |
796 0696 D0E0 ldi r29,lo8(0) |
797 0698 2197 sbiw r28,1 |
798 069a FE01 movw r30,r28 |
799 069c 13E0 ldi r17,3 |
800 069e EE0F 1: lsl r30 |
801 06a0 FF1F rol r31 |
802 06a2 1A95 dec r17 |
803 06a4 01F4 brne 1b |
804 06a6 E050 subi r30,lo8(-(Motor)) |
805 06a8 F040 sbci r31,hi8(-(Motor)) |
806 06aa 8381 ldd r24,Z+3 |
807 06ac 87FF sbrs r24,7 |
808 06ae 00C0 rjmp .L98 |
809 06b0 8081 ld r24,Z |
810 06b2 80FD sbrc r24,0 |
811 06b4 00C0 rjmp .L104 |
812 06b6 83E0 ldi r24,lo8(3) |
813 06b8 90E0 ldi r25,hi8(3) |
814 06ba 00C0 rjmp .L102 |
815 .L104: |
816 06bc 80ED ldi r24,lo8(2000) |
817 06be 97E0 ldi r25,hi8(2000) |
818 06c0 0E94 0000 call SetDelay |
819 06c4 8C01 movw r16,r24 |
820 .L106: |
821 06c6 8091 0000 lds r24,BLFlags |
822 06ca 80FD sbrc r24,0 |
823 06cc 00C0 rjmp .L107 |
824 06ce C801 movw r24,r16 |
825 06d0 0E94 0000 call CheckDelay |
826 06d4 8823 tst r24 |
827 06d6 01F0 breq .L106 |
828 .L107: |
829 06d8 81E0 ldi r24,lo8(1) |
830 06da 90E0 ldi r25,hi8(1) |
831 06dc 00C0 rjmp 2f |
832 06de 880F 1: lsl r24 |
833 06e0 991F rol r25 |
834 06e2 CA95 2: dec r28 |
835 06e4 02F4 brpl 1b |
836 06e6 9093 0000 sts (BLConfig_ReadMask)+1,r25 |
837 06ea 8093 0000 sts BLConfig_ReadMask,r24 |
838 06ee E0E0 ldi r30,lo8(Motor+1) |
839 06f0 F0E0 ldi r31,hi8(Motor+1) |
840 06f2 40E0 ldi r20,lo8(0) |
841 06f4 50E0 ldi r21,hi8(0) |
842 .L109: |
843 06f6 2091 0000 lds r18,BLConfig_ReadMask |
844 06fa 3091 0000 lds r19,(BLConfig_ReadMask)+1 |
845 06fe 81E0 ldi r24,lo8(1) |
846 0700 90E0 ldi r25,hi8(1) |
847 0702 042E mov r0,r20 |
848 0704 00C0 rjmp 2f |
849 0706 880F 1: lsl r24 |
850 0708 991F rol r25 |
851 070a 0A94 2: dec r0 |
852 070c 02F4 brpl 1b |
853 070e 8223 and r24,r18 |
854 0710 9323 and r25,r19 |
855 0712 892B or r24,r25 |
856 0714 01F0 breq .L110 |
857 0716 1082 st Z,__zero_reg__ |
858 0718 1182 std Z+1,__zero_reg__ |
859 .L110: |
860 071a 4F5F subi r20,lo8(-(1)) |
861 071c 5F4F sbci r21,hi8(-(1)) |
862 071e 3896 adiw r30,8 |
863 0720 4C30 cpi r20,12 |
864 0722 5105 cpc r21,__zero_reg__ |
865 0724 01F4 brne .L109 |
866 0726 1092 0000 sts motor_read,__zero_reg__ |
867 072a 1092 0000 sts BLConfig,__zero_reg__ |
868 072e 1092 0000 sts BLConfig+7,__zero_reg__ |
869 .L113: |
870 0732 1092 0000 sts twi_state,__zero_reg__ |
871 0736 8091 0000 lds r24,BLFlags |
872 073a 8E7F andi r24,lo8(-2) |
873 073c 8093 0000 sts BLFlags,r24 |
874 0740 85EA ldi r24,lo8(-91) |
875 0742 8093 BC00 sts 188,r24 |
876 .L114: |
877 0746 8091 0000 lds r24,BLFlags |
878 074a 80FD sbrc r24,0 |
879 074c 00C0 rjmp .L115 |
880 074e C801 movw r24,r16 |
881 0750 0E94 0000 call CheckDelay |
882 0754 8823 tst r24 |
883 0756 01F0 breq .L114 |
884 .L115: |
885 0758 8091 0000 lds r24,BLConfig_ReadMask |
886 075c 9091 0000 lds r25,(BLConfig_ReadMask)+1 |
887 0760 892B or r24,r25 |
888 0762 01F0 breq .L117 |
889 0764 C801 movw r24,r16 |
890 0766 0E94 0000 call CheckDelay |
891 076a 8823 tst r24 |
892 076c 01F0 breq .L113 |
893 .L117: |
894 076e 8091 0000 lds r24,BLConfig |
895 0772 8230 cpi r24,lo8(2) |
896 0774 01F0 breq .L119 |
897 0776 84E0 ldi r24,lo8(4) |
898 0778 90E0 ldi r25,hi8(4) |
899 077a 00C0 rjmp .L102 |
900 .L119: |
901 077c 67E0 ldi r22,lo8(7) |
902 077e 70E0 ldi r23,hi8(7) |
903 0780 80E0 ldi r24,lo8(BLConfig) |
904 0782 90E0 ldi r25,hi8(BLConfig) |
905 0784 0E94 0000 call RAM_Checksum |
906 0788 9091 0000 lds r25,BLConfig+7 |
907 078c 8917 cp r24,r25 |
908 078e 01F0 breq .L121 |
909 0790 85E0 ldi r24,lo8(5) |
910 0792 90E0 ldi r25,hi8(5) |
911 0794 00C0 rjmp .L102 |
912 .L121: |
913 0796 80E0 ldi r24,lo8(0) |
914 0798 90E0 ldi r25,hi8(0) |
915 079a 00C0 rjmp .L102 |
916 .L95: |
917 079c 81E0 ldi r24,lo8(1) |
918 079e 90E0 ldi r25,hi8(1) |
919 07a0 00C0 rjmp .L102 |
920 .L98: |
921 07a2 82E0 ldi r24,lo8(2) |
922 07a4 90E0 ldi r25,hi8(2) |
923 .L102: |
924 /* epilogue: frame size=0 */ |
925 07a6 DF91 pop r29 |
926 07a8 CF91 pop r28 |
927 07aa 1F91 pop r17 |
928 07ac 0F91 pop r16 |
929 07ae 0895 ret |
930 /* epilogue end (size=5) */ |
931 /* function I2C_ReadBLConfig size 166 (157) */ |
933 .global I2C_WriteBLConfig |
935 I2C_WriteBLConfig: |
936 /* prologue: frame size=0 */ |
937 07b0 1F93 push r17 |
938 07b2 CF93 push r28 |
939 07b4 DF93 push r29 |
940 /* prologue end (size=3) */ |
941 07b6 182F mov r17,r24 |
942 07b8 8091 0000 lds r24,MotorenEin |
943 07bc 8823 tst r24 |
944 07be 01F0 breq .+2 |
945 07c0 00C0 rjmp .L130 |
946 07c2 8091 0000 lds r24,PC_MotortestActive |
947 07c6 8823 tst r24 |
948 07c8 01F0 breq .+2 |
949 07ca 00C0 rjmp .L130 |
950 07cc 1D30 cpi r17,lo8(13) |
951 07ce 00F0 brlo .+2 |
952 07d0 00C0 rjmp .L133 |
953 07d2 1123 tst r17 |
954 07d4 01F0 breq .L135 |
955 07d6 E12F mov r30,r17 |
956 07d8 F0E0 ldi r31,lo8(0) |
957 07da 83E0 ldi r24,3 |
958 07dc EE0F 1: lsl r30 |
959 07de FF1F rol r31 |
960 07e0 8A95 dec r24 |
961 07e2 01F4 brne 1b |
962 07e4 E050 subi r30,lo8(-(Motor-8)) |
963 07e6 F040 sbci r31,hi8(-(Motor-8)) |
964 07e8 8381 ldd r24,Z+3 |
965 07ea 87FF sbrs r24,7 |
966 07ec 00C0 rjmp .L133 |
967 07ee 8081 ld r24,Z |
968 07f0 80FD sbrc r24,0 |
969 07f2 00C0 rjmp .L135 |
970 07f4 83E0 ldi r24,lo8(3) |
971 07f6 90E0 ldi r25,hi8(3) |
972 07f8 00C0 rjmp .L139 |
973 .L135: |
974 07fa 8091 0000 lds r24,BLConfig |
975 07fe 8230 cpi r24,lo8(2) |
976 0800 01F0 breq .L140 |
977 0802 84E0 ldi r24,lo8(4) |
978 0804 90E0 ldi r25,hi8(4) |
979 0806 00C0 rjmp .L139 |
980 .L140: |
981 0808 67E0 ldi r22,lo8(7) |
982 080a 70E0 ldi r23,hi8(7) |
983 080c 80E0 ldi r24,lo8(BLConfig) |
984 080e 90E0 ldi r25,hi8(BLConfig) |
985 0810 0E94 0000 call RAM_Checksum |
986 0814 9091 0000 lds r25,BLConfig+7 |
987 0818 8917 cp r24,r25 |
988 081a 01F0 breq .L142 |
989 081c 85E0 ldi r24,lo8(5) |
990 081e 90E0 ldi r25,hi8(5) |
991 0820 00C0 rjmp .L139 |
992 .L142: |
993 0822 80ED ldi r24,lo8(2000) |
994 0824 97E0 ldi r25,hi8(2000) |
995 0826 0E94 0000 call SetDelay |
996 082a EC01 movw r28,r24 |
997 .L144: |
998 082c 8091 0000 lds r24,BLFlags |
999 0830 80FD sbrc r24,0 |
1000 0832 00C0 rjmp .L145 |
1001 0834 CE01 movw r24,r28 |
1002 0836 0E94 0000 call CheckDelay |
1003 083a 8823 tst r24 |
1004 083c 01F0 breq .L144 |
1005 .L145: |
1006 083e 1123 tst r17 |
1007 0840 01F4 brne .L147 |
1008 0842 8FEF ldi r24,lo8(255) |
1009 0844 90E0 ldi r25,hi8(255) |
1010 0846 00C0 rjmp .L167 |
1011 .L147: |
1012 0848 212F mov r18,r17 |
1013 084a 30E0 ldi r19,lo8(0) |
1014 084c 2150 subi r18,lo8(-(-1)) |
1015 084e 3040 sbci r19,hi8(-(-1)) |
1016 0850 81E0 ldi r24,lo8(1) |
1017 0852 90E0 ldi r25,hi8(1) |
1018 0854 00C0 rjmp 2f |
1019 0856 880F 1: lsl r24 |
1020 0858 991F rol r25 |
1021 085a 2A95 2: dec r18 |
1022 085c 02F4 brpl 1b |
1023 .L167: |
1024 085e 9093 0000 sts (BLConfig_WriteMask)+1,r25 |
1025 0862 8093 0000 sts BLConfig_WriteMask,r24 |
1026 0866 E0E0 ldi r30,lo8(Motor+1) |
1027 0868 F0E0 ldi r31,hi8(Motor+1) |
1028 086a 40E0 ldi r20,lo8(0) |
1029 086c 50E0 ldi r21,hi8(0) |
1030 .L150: |
1031 086e 2091 0000 lds r18,BLConfig_WriteMask |
1032 0872 3091 0000 lds r19,(BLConfig_WriteMask)+1 |
1033 0876 81E0 ldi r24,lo8(1) |
1034 0878 90E0 ldi r25,hi8(1) |
1035 087a 042E mov r0,r20 |
1036 087c 00C0 rjmp 2f |
1037 087e 880F 1: lsl r24 |
1038 0880 991F rol r25 |
1039 0882 0A94 2: dec r0 |
1040 0884 02F4 brpl 1b |
1041 0886 8223 and r24,r18 |
1042 0888 9323 and r25,r19 |
1043 088a 892B or r24,r25 |
1044 088c 01F0 breq .L151 |
1045 088e 1082 st Z,__zero_reg__ |
1046 0890 1182 std Z+1,__zero_reg__ |
1047 .L151: |
1048 0892 4F5F subi r20,lo8(-(1)) |
1049 0894 5F4F sbci r21,hi8(-(1)) |
1050 0896 3896 adiw r30,8 |
1051 0898 4C30 cpi r20,12 |
1052 089a 5105 cpc r21,__zero_reg__ |
1053 089c 01F4 brne .L150 |
1054 089e 1092 0000 sts motor_write,__zero_reg__ |
1055 .L154: |
1056 08a2 1092 0000 sts twi_state,__zero_reg__ |
1057 08a6 8091 0000 lds r24,BLFlags |
1058 08aa 8E7F andi r24,lo8(-2) |
1059 08ac 8093 0000 sts BLFlags,r24 |
1060 08b0 85EA ldi r24,lo8(-91) |
1061 08b2 8093 BC00 sts 188,r24 |
1062 .L155: |
1063 08b6 8091 0000 lds r24,BLFlags |
1064 08ba 80FD sbrc r24,0 |
1065 08bc 00C0 rjmp .L156 |
1066 08be CE01 movw r24,r28 |
1067 08c0 0E94 0000 call CheckDelay |
1068 08c4 8823 tst r24 |
1069 08c6 01F0 breq .L155 |
1070 .L156: |
1071 08c8 8091 0000 lds r24,BLConfig_WriteMask |
1072 08cc 9091 0000 lds r25,(BLConfig_WriteMask)+1 |
1073 08d0 892B or r24,r25 |
1074 08d2 01F0 breq .L158 |
1075 08d4 CE01 movw r24,r28 |
1076 08d6 0E94 0000 call CheckDelay |
1077 08da 8823 tst r24 |
1078 08dc 01F0 breq .L154 |
1079 .L158: |
1080 08de 8091 0000 lds r24,BLConfig_WriteMask |
1081 08e2 9091 0000 lds r25,(BLConfig_WriteMask)+1 |
1082 08e6 892B or r24,r25 |
1083 08e8 01F4 brne .L133 |
1084 08ea 80E0 ldi r24,lo8(0) |
1085 08ec 90E0 ldi r25,hi8(0) |
1086 08ee 00C0 rjmp .L139 |
1087 .L130: |
1088 08f0 81E0 ldi r24,lo8(1) |
1089 08f2 90E0 ldi r25,hi8(1) |
1090 08f4 00C0 rjmp .L139 |
1091 .L133: |
1092 08f6 82E0 ldi r24,lo8(2) |
1093 08f8 90E0 ldi r25,hi8(2) |
1094 .L139: |
1095 /* epilogue: frame size=0 */ |
1096 08fa DF91 pop r29 |
1097 08fc CF91 pop r28 |
1098 08fe 1F91 pop r17 |
1099 0900 0895 ret |
1100 /* epilogue end (size=4) */ |
1101 /* function I2C_WriteBLConfig size 170 (163) */ |
1103 .global twi_state |
1104 .global twi_state |
1105 .section .bss |
1108 twi_state: |
1109 0000 00 .skip 1,0 |
1110 .global dac_channel |
1111 .global dac_channel |
1114 dac_channel: |
1115 0001 00 .skip 1,0 |
1116 .global motor_write |
1117 .global motor_write |
1120 motor_write: |
1121 0002 00 .skip 1,0 |
1122 .global motor_read |
1123 .global motor_read |
1126 motor_read: |
1127 0003 00 .skip 1,0 |
1128 .global I2C_TransferActive |
1129 .global I2C_TransferActive |
1132 I2C_TransferActive: |
1133 0004 00 .skip 1,0 |
1134 .global I2CTimeout |
1135 .data |
1138 I2CTimeout: |
1139 0000 6400 .word 100 |
1140 .global MissingMotor |
1141 .global MissingMotor |
1142 .section .bss |
1145 MissingMotor: |
1146 0005 00 .skip 1,0 |
1147 .global BLFlags |
1148 .global BLFlags |
1151 BLFlags: |
1152 0006 00 .skip 1,0 |
1153 .global BLConfig_WriteMask |
1154 .global BLConfig_WriteMask |
1157 BLConfig_WriteMask: |
1158 0007 0000 .skip 2,0 |
1159 .global BLConfig_ReadMask |
1160 .global BLConfig_ReadMask |
1163 BLConfig_ReadMask: |
1164 0009 0000 .skip 2,0 |
1165 .lcomm BuffLen.1962,1 |
1166 .lcomm pBuff.1961,2 |
1167 .lcomm motor_read_temperature.1960,1 |
1168 .lcomm missing_motor.1959,1 |
1169 .comm Motor,96,1 |
1170 .comm BLConfig,8,1 |
1171 /* File "twimaster.c": code 1182 = 0x049e (1128), prologues 25, epilogues 29 */ |
DEFINED SYMBOLS |
*ABS*:00000000 twimaster.c |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShu0uf.s:2 *ABS*:0000003f __SREG__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShu0uf.s:3 *ABS*:0000003e __SP_H__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShu0uf.s:4 *ABS*:0000003d __SP_L__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShu0uf.s:5 *ABS*:00000000 __tmp_reg__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShu0uf.s:6 *ABS*:00000001 __zero_reg__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShu0uf.s:12 .text:00000000 I2C_Init |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShu0uf.s:1108 .bss:00000000 twi_state |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShu0uf.s:1120 .bss:00000002 motor_write |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShu0uf.s:1126 .bss:00000003 motor_read |
*COM*:00000060 Motor |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShu0uf.s:62 .text:00000052 I2C_Reset |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShu0uf.s:1132 .bss:00000004 I2C_TransferActive |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShu0uf.s:1151 .bss:00000006 BLFlags |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShu0uf.s:108 .text:000000ae __vector_26 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShu0uf.s:1157 .bss:00000007 BLConfig_WriteMask |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShu0uf.s:1163 .bss:00000009 BLConfig_ReadMask |
*COM*:00000008 BLConfig |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShu0uf.s:1165 .bss:0000000c pBuff.1961 |
.bss:0000000b BuffLen.1962 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShu0uf.s:1167 .bss:0000000f missing_motor.1959 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShu0uf.s:1138 .data:00000000 I2CTimeout |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShu0uf.s:1166 .bss:0000000e motor_read_temperature.1960 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShu0uf.s:1145 .bss:00000005 MissingMotor |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShu0uf.s:1114 .bss:00000001 dac_channel |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShu0uf.s:770 .text:00000666 I2C_ReadBLConfig |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShu0uf.s:935 .text:000007b0 I2C_WriteBLConfig |
UNDEFINED SYMBOLS |
__do_copy_data |
__do_clear_bss |
__tablejump2__ |
Mixer |
RequiredMotors |
FC_StatusFlags |
AnalogOffsetNick |
AnalogOffsetRoll |
AnalogOffsetGier |
MotorenEin |
PC_MotortestActive |
SetDelay |
CheckDelay |
RAM_Checksum |
/Spektrum-Diversity/V0.82a/uart.c |
---|
0,0 → 1,761 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) Holger Buss, Ingo Busker |
// + only for non-profit use |
// + www.MikroKopter.com |
// + see the File "License.txt" for further Informations |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#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 170 |
#define MAX_EMPFANGS_BUFF 170 |
#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 |
typedef struct |
{ |
unsigned char Revision; // revision of parameter structure |
unsigned char Address; // target address |
unsigned char PwmScaling; // maximum value of pwm setpoint |
unsigned char CurrentLimit; // current limit in 1A steps |
unsigned char TemperatureLimit; // in °C |
unsigned char CurrentScaling; // scaling factor for current measurement |
unsigned char BitConfig; // see defines above |
unsigned char SetMask; // filter for active paramters |
unsigned char Checksum; // checksum for parameter sturcture |
} __attribute__((packed)) BLParameter_t; |
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 JetiUpdateModeActive = 0; |
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] ", |
"24 ", |
"25 ", //25 |
"26 ", |
"27 ", |
"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 (JetiUpdateModeActive == 1) { UDR1 = UDR0; return; } |
if (JetiUpdateModeActive == 2) { RxdBuffer[0] = UDR0; return; } |
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 - KompassStartwert) % 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)) // 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': |
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] == 0) |
{ |
JetiUpdateModeActive = 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); |
} |
else JetiUpdateModeActive = 2; |
// 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 - KompassStartwert) % 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 |
} |
/Spektrum-Diversity/V0.82a/uart.d |
---|
0,0 → 1,3 |
uart.o uart.d : uart.c main.h old_macros.h printf_P.h timer0.h uart.h analog.h \ |
twimaster.h menu.h rc.h fc.h gps.h spi.h led.h spektrum.h capacity.h \ |
eeprom.h libfc.h debug.h |
/Spektrum-Diversity/V0.82a/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 JetiUpdateModeActive; |
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 |
/Spektrum-Diversity/V0.82a/uart.lst |
---|
0,0 → 1,2580 |
1 .file "uart.c" |
2 __SREG__ = 0x3f |
3 __SP_H__ = 0x3e |
4 __SP_L__ = 0x3d |
5 __tmp_reg__ = 0 |
6 __zero_reg__ = 1 |
7 .global __do_copy_data |
8 .global __do_clear_bss |
9 .text |
10 .global __vector_22 |
12 __vector_22: |
13 /* prologue: frame size=0 */ |
14 0000 1F92 push __zero_reg__ |
15 0002 0F92 push __tmp_reg__ |
16 0004 0FB6 in __tmp_reg__,__SREG__ |
17 0006 0F92 push __tmp_reg__ |
18 0008 1124 clr __zero_reg__ |
19 000a 8F93 push r24 |
20 000c 9F93 push r25 |
21 000e EF93 push r30 |
22 0010 FF93 push r31 |
23 /* prologue end (size=9) */ |
24 0012 8091 0000 lds r24,UebertragungAbgeschlossen |
25 0016 8823 tst r24 |
26 0018 01F4 brne .L2 |
27 001a 8091 0000 lds r24,ptr.2536 |
28 001e 9091 0000 lds r25,(ptr.2536)+1 |
29 0022 0196 adiw r24,1 |
30 0024 9093 0000 sts (ptr.2536)+1,r25 |
31 0028 8093 0000 sts ptr.2536,r24 |
32 002c FC01 movw r30,r24 |
33 002e E050 subi r30,lo8(-(TxdBuffer)) |
34 0030 F040 sbci r31,hi8(-(TxdBuffer)) |
35 0032 E081 ld r30,Z |
36 0034 ED30 cpi r30,lo8(13) |
37 0036 01F0 breq .L4 |
38 0038 8A3A cpi r24,170 |
39 003a 9105 cpc r25,__zero_reg__ |
40 003c 01F4 brne .L6 |
41 .L4: |
42 003e 1092 0000 sts (ptr.2536)+1,__zero_reg__ |
43 0042 1092 0000 sts ptr.2536,__zero_reg__ |
44 0046 81E0 ldi r24,lo8(1) |
45 0048 8093 0000 sts UebertragungAbgeschlossen,r24 |
46 .L6: |
47 004c E093 C600 sts 198,r30 |
48 0050 00C0 rjmp .L8 |
49 .L2: |
50 0052 1092 0000 sts (ptr.2536)+1,__zero_reg__ |
51 0056 1092 0000 sts ptr.2536,__zero_reg__ |
52 .L8: |
53 /* epilogue: frame size=0 */ |
54 005a FF91 pop r31 |
55 005c EF91 pop r30 |
56 005e 9F91 pop r25 |
57 0060 8F91 pop r24 |
58 0062 0F90 pop __tmp_reg__ |
59 0064 0FBE out __SREG__,__tmp_reg__ |
60 0066 0F90 pop __tmp_reg__ |
61 0068 1F90 pop __zero_reg__ |
62 006a 1895 reti |
63 /* epilogue end (size=9) */ |
64 /* function __vector_22 size 54 (36) */ |
66 .global AddCRC |
68 AddCRC: |
69 /* prologue: frame size=0 */ |
70 /* prologue end (size=0) */ |
71 006c DC01 movw r26,r24 |
72 006e 20E0 ldi r18,lo8(0) |
73 0070 30E0 ldi r19,hi8(0) |
74 0072 40E0 ldi r20,lo8(0) |
75 0074 50E0 ldi r21,hi8(0) |
76 0076 00C0 rjmp .L10 |
77 .L11: |
78 0078 FA01 movw r30,r20 |
79 007a E050 subi r30,lo8(-(TxdBuffer)) |
80 007c F040 sbci r31,hi8(-(TxdBuffer)) |
81 007e 8081 ld r24,Z |
82 0080 280F add r18,r24 |
83 0082 311D adc r19,__zero_reg__ |
84 0084 4F5F subi r20,lo8(-(1)) |
85 0086 5F4F sbci r21,hi8(-(1)) |
86 .L10: |
87 0088 4A17 cp r20,r26 |
88 008a 5B07 cpc r21,r27 |
89 008c 01F4 brne .L11 |
90 008e 3F70 andi r19,hi8(4095) |
91 0090 C901 movw r24,r18 |
92 0092 36E0 ldi r19,6 |
93 0094 9695 1: lsr r25 |
94 0096 8795 ror r24 |
95 0098 3A95 dec r19 |
96 009a 01F4 brne 1b |
97 009c 835C subi r24,lo8(-(61)) |
98 009e FD01 movw r30,r26 |
99 00a0 E050 subi r30,lo8(-(TxdBuffer)) |
100 00a2 F040 sbci r31,hi8(-(TxdBuffer)) |
101 00a4 8083 st Z,r24 |
102 00a6 1196 adiw r26,1 |
103 00a8 2F73 andi r18,lo8(63) |
104 00aa 235C subi r18,lo8(-(61)) |
105 00ac FD01 movw r30,r26 |
106 00ae E050 subi r30,lo8(-(TxdBuffer)) |
107 00b0 F040 sbci r31,hi8(-(TxdBuffer)) |
108 00b2 2083 st Z,r18 |
109 00b4 A050 subi r26,lo8(-(TxdBuffer+1)) |
110 00b6 B040 sbci r27,hi8(-(TxdBuffer+1)) |
111 00b8 8DE0 ldi r24,lo8(13) |
112 00ba 8C93 st X,r24 |
113 00bc 1092 0000 sts UebertragungAbgeschlossen,__zero_reg__ |
114 00c0 8091 0000 lds r24,TxdBuffer |
115 00c4 8093 C600 sts 198,r24 |
116 /* epilogue: frame size=0 */ |
117 00c8 0895 ret |
118 /* epilogue end (size=1) */ |
119 /* function AddCRC size 48 (47) */ |
121 .global Decode64 |
123 Decode64: |
124 /* prologue: frame size=0 */ |
125 /* prologue end (size=0) */ |
126 00ca 3091 0000 lds r19,AnzahlEmpfangsBytes |
127 00ce 3650 subi r19,lo8(-(-6)) |
128 00d0 43E0 ldi r20,lo8(3) |
129 00d2 63E0 ldi r22,lo8(3) |
130 00d4 00C0 rjmp .L15 |
131 .L16: |
132 00d6 E42F mov r30,r20 |
133 00d8 F0E0 ldi r31,lo8(0) |
134 00da E050 subi r30,lo8(-(RxdBuffer)) |
135 00dc F040 sbci r31,hi8(-(RxdBuffer)) |
136 00de 8081 ld r24,Z |
137 00e0 4F5F subi r20,lo8(-(1)) |
138 00e2 E42F mov r30,r20 |
139 00e4 F0E0 ldi r31,lo8(0) |
140 00e6 E050 subi r30,lo8(-(RxdBuffer)) |
141 00e8 F040 sbci r31,hi8(-(RxdBuffer)) |
142 00ea 2081 ld r18,Z |
143 00ec 4F5F subi r20,lo8(-(1)) |
144 00ee E42F mov r30,r20 |
145 00f0 F0E0 ldi r31,lo8(0) |
146 00f2 E050 subi r30,lo8(-(RxdBuffer)) |
147 00f4 F040 sbci r31,hi8(-(RxdBuffer)) |
148 00f6 7081 ld r23,Z |
149 00f8 4F5F subi r20,lo8(-(1)) |
150 00fa E42F mov r30,r20 |
151 00fc F0E0 ldi r31,lo8(0) |
152 00fe 4350 subi r20,lo8(-(-3)) |
153 0100 E050 subi r30,lo8(-(RxdBuffer)) |
154 0102 F040 sbci r31,hi8(-(RxdBuffer)) |
155 0104 5081 ld r21,Z |
156 0106 2D53 subi r18,lo8(-(-61)) |
157 0108 E62F mov r30,r22 |
158 010a F0E0 ldi r31,lo8(0) |
159 010c 922F mov r25,r18 |
160 010e 9295 swap r25 |
161 0110 9F70 andi r25,lo8(15) |
162 0112 8D53 subi r24,lo8(-(-61)) |
163 0114 880F lsl r24 |
164 0116 880F lsl r24 |
165 0118 892B or r24,r25 |
166 011a E050 subi r30,lo8(-(RxdBuffer)) |
167 011c F040 sbci r31,hi8(-(RxdBuffer)) |
168 011e 8083 st Z,r24 |
169 0120 E62F mov r30,r22 |
170 0122 EF5F subi r30,lo8(-(1)) |
171 0124 3130 cpi r19,lo8(1) |
172 0126 01F0 breq .L17 |
173 0128 972F mov r25,r23 |
174 012a 9D53 subi r25,lo8(-(-61)) |
175 012c F0E0 ldi r31,lo8(0) |
176 012e 2295 swap r18 |
177 0130 207F andi r18,lo8(-16) |
178 0132 892F mov r24,r25 |
179 0134 8695 lsr r24 |
180 0136 8695 lsr r24 |
181 0138 282B or r18,r24 |
182 013a E050 subi r30,lo8(-(RxdBuffer)) |
183 013c F040 sbci r31,hi8(-(RxdBuffer)) |
184 013e 2083 st Z,r18 |
185 0140 E62F mov r30,r22 |
186 0142 EE5F subi r30,lo8(-(2)) |
187 0144 3350 subi r19,lo8(-(-3)) |
188 0146 3F3F cpi r19,lo8(-1) |
189 0148 01F0 breq .L17 |
190 014a 4C5F subi r20,lo8(-(4)) |
191 014c F0E0 ldi r31,lo8(0) |
192 014e 9295 swap r25 |
193 0150 990F lsl r25 |
194 0152 990F lsl r25 |
195 0154 907C andi r25,lo8(-64) |
196 0156 5D53 subi r21,lo8(-(-61)) |
197 0158 952B or r25,r21 |
198 015a E050 subi r30,lo8(-(RxdBuffer)) |
199 015c F040 sbci r31,hi8(-(RxdBuffer)) |
200 015e 9083 st Z,r25 |
201 0160 6D5F subi r22,lo8(-(3)) |
202 .L15: |
203 0162 3323 tst r19 |
204 0164 01F0 breq .+2 |
205 0166 00C0 rjmp .L16 |
206 0168 E62F mov r30,r22 |
207 .L17: |
208 016a 80E0 ldi r24,lo8(RxdBuffer+3) |
209 016c 90E0 ldi r25,hi8(RxdBuffer+3) |
210 016e 9093 0000 sts (pRxData)+1,r25 |
211 0172 8093 0000 sts pRxData,r24 |
212 0176 E350 subi r30,lo8(-(-3)) |
213 0178 E093 0000 sts RxDataLen,r30 |
214 /* epilogue: frame size=0 */ |
215 017c 0895 ret |
216 /* epilogue end (size=1) */ |
217 /* function Decode64 size 90 (89) */ |
219 .global uart_putchar |
221 uart_putchar: |
222 /* prologue: frame size=0 */ |
223 /* prologue end (size=0) */ |
224 017e 982F mov r25,r24 |
225 .L24: |
226 0180 8091 C000 lds r24,192 |
227 0184 85FF sbrs r24,5 |
228 0186 00C0 rjmp .L24 |
229 0188 9093 C600 sts 198,r25 |
230 /* epilogue: frame size=0 */ |
231 018c 0895 ret |
232 /* epilogue end (size=1) */ |
233 /* function uart_putchar size 8 (7) */ |
235 .global UART_Init |
237 UART_Init: |
238 /* prologue: frame size=0 */ |
239 /* prologue end (size=0) */ |
240 018e E1EC ldi r30,lo8(193) |
241 0190 F0E0 ldi r31,hi8(193) |
242 0192 88E1 ldi r24,lo8(24) |
243 0194 8083 st Z,r24 |
244 0196 A0EC ldi r26,lo8(192) |
245 0198 B0E0 ldi r27,hi8(192) |
246 019a 8C91 ld r24,X |
247 019c 8260 ori r24,lo8(2) |
248 019e 8C93 st X,r24 |
249 01a0 8081 ld r24,Z |
250 01a2 8068 ori r24,lo8(-128) |
251 01a4 8083 st Z,r24 |
252 01a6 8081 ld r24,Z |
253 01a8 8064 ori r24,lo8(64) |
254 01aa 8083 st Z,r24 |
255 01ac 1092 C500 sts 197,__zero_reg__ |
256 01b0 8AE2 ldi r24,lo8(42) |
257 01b2 8093 C400 sts 196,r24 |
258 01b6 8091 0000 lds r24,DebugDataIntervall |
259 01ba 9091 0000 lds r25,(DebugDataIntervall)+1 |
260 01be 0E94 0000 call SetDelay |
261 01c2 9093 0000 sts (Debug_Timer)+1,r25 |
262 01c6 8093 0000 sts Debug_Timer,r24 |
263 01ca 8CED ldi r24,lo8(220) |
264 01cc 90E0 ldi r25,hi8(220) |
265 01ce 0E94 0000 call SetDelay |
266 01d2 9093 0000 sts (Kompass_Timer)+1,r25 |
267 01d6 8093 0000 sts Kompass_Timer,r24 |
268 01da 1092 0000 sts VersionInfo,__zero_reg__ |
269 01de 82E5 ldi r24,lo8(82) |
270 01e0 8093 0000 sts VersionInfo+1,r24 |
271 01e4 1092 0000 sts VersionInfo+4,__zero_reg__ |
272 01e8 8BE0 ldi r24,lo8(11) |
273 01ea 8093 0000 sts VersionInfo+2,r24 |
274 01ee 1092 0000 sts VersionInfo+3,__zero_reg__ |
275 01f2 1092 0000 sts (pRxData)+1,__zero_reg__ |
276 01f6 1092 0000 sts pRxData,__zero_reg__ |
277 01fa 1092 0000 sts RxDataLen,__zero_reg__ |
278 /* epilogue: frame size=0 */ |
279 01fe 0895 ret |
280 /* epilogue end (size=1) */ |
281 /* function UART_Init size 57 (56) */ |
283 .global SendOutData |
285 SendOutData: |
286 /* prologue: frame size=2 */ |
287 0200 A2E0 ldi r26,lo8(2) |
288 0202 B0E0 ldi r27,hi8(2) |
289 0204 E0E0 ldi r30,pm_lo8(1f) |
290 0206 F0E0 ldi r31,pm_hi8(1f) |
291 0208 0C94 0000 jmp __prologue_saves__+22 |
292 1: |
293 /* prologue end (size=6) */ |
294 020c 9D85 ldd r25,Y+13 |
295 020e AE85 ldd r26,Y+14 |
296 0210 83E2 ldi r24,lo8(35) |
297 0212 8093 0000 sts TxdBuffer,r24 |
298 0216 9F59 subi r25,lo8(-(97)) |
299 0218 9093 0000 sts TxdBuffer+1,r25 |
300 021c 8C85 ldd r24,Y+12 |
301 021e 8093 0000 sts TxdBuffer+2,r24 |
302 0222 CE01 movw r24,r28 |
303 0224 0F96 adiw r24,15 |
304 0226 9A83 std Y+2,r25 |
305 0228 8983 std Y+1,r24 |
306 022a AA23 tst r26 |
307 022c 01F4 brne .L32 |
308 022e EE24 clr r14 |
309 0230 FF24 clr r15 |
310 0232 60E0 ldi r22,lo8(0) |
311 0234 70E0 ldi r23,hi8(0) |
312 .L34: |
313 0236 03E0 ldi r16,lo8(3) |
314 0238 10E0 ldi r17,hi8(3) |
315 023a B0E0 ldi r27,lo8(0) |
316 023c 00C0 rjmp .L35 |
317 .L32: |
318 023e EF84 ldd r14,Y+15 |
319 0240 F888 ldd r15,Y+16 |
320 0242 CE01 movw r24,r28 |
321 0244 4396 adiw r24,19 |
322 0246 9A83 std Y+2,r25 |
323 0248 8983 std Y+1,r24 |
324 024a 6989 ldd r22,Y+17 |
325 024c 7A89 ldd r23,Y+18 |
326 024e A150 subi r26,lo8(-(-1)) |
327 0250 00C0 rjmp .L34 |
328 .L36: |
329 0252 F701 movw r30,r14 |
330 0254 EB0F add r30,r27 |
331 0256 F11D adc r31,__zero_reg__ |
332 0258 9081 ld r25,Z |
333 025a BF5F subi r27,lo8(-(1)) |
334 025c 6150 subi r22,lo8(-(-1)) |
335 025e 7040 sbci r23,hi8(-(-1)) |
336 0260 01F0 breq .L37 |
337 0262 9B01 movw r18,r22 |
338 0264 00C0 rjmp .L39 |
339 .L37: |
340 0266 AA23 tst r26 |
341 0268 01F4 brne .+2 |
342 026a 00C0 rjmp .L40 |
343 026c E981 ldd r30,Y+1 |
344 026e FA81 ldd r31,Y+2 |
345 0270 E080 ld r14,Z |
346 0272 F180 ldd r15,Z+1 |
347 0274 3496 adiw r30,4 |
348 0276 FA83 std Y+2,r31 |
349 0278 E983 std Y+1,r30 |
350 027a 3497 sbiw r30,4 |
351 027c 2281 ldd r18,Z+2 |
352 027e 3381 ldd r19,Z+3 |
353 0280 A150 subi r26,lo8(-(-1)) |
354 0282 2115 cp r18,__zero_reg__ |
355 0284 3105 cpc r19,__zero_reg__ |
356 0286 01F4 brne .+2 |
357 0288 00C0 rjmp .L42 |
358 028a B0E0 ldi r27,lo8(0) |
359 .L39: |
360 028c F701 movw r30,r14 |
361 028e EB0F add r30,r27 |
362 0290 F11D adc r31,__zero_reg__ |
363 0292 4081 ld r20,Z |
364 0294 BF5F subi r27,lo8(-(1)) |
365 0296 B901 movw r22,r18 |
366 0298 6150 subi r22,lo8(-(-1)) |
367 029a 7040 sbci r23,hi8(-(-1)) |
368 029c 01F4 brne .L44 |
369 029e AA23 tst r26 |
370 02a0 01F4 brne .L46 |
371 02a2 DD24 clr r13 |
372 02a4 00C0 rjmp .L48 |
373 .L46: |
374 02a6 E981 ldd r30,Y+1 |
375 02a8 FA81 ldd r31,Y+2 |
376 02aa E080 ld r14,Z |
377 02ac F180 ldd r15,Z+1 |
378 02ae 3496 adiw r30,4 |
379 02b0 FA83 std Y+2,r31 |
380 02b2 E983 std Y+1,r30 |
381 02b4 3497 sbiw r30,4 |
382 02b6 6281 ldd r22,Z+2 |
383 02b8 7381 ldd r23,Z+3 |
384 02ba A150 subi r26,lo8(-(-1)) |
385 02bc 6115 cp r22,__zero_reg__ |
386 02be 7105 cpc r23,__zero_reg__ |
387 02c0 01F4 brne .L49 |
388 02c2 DD24 clr r13 |
389 02c4 00C0 rjmp .L56 |
390 .L49: |
391 02c6 B0E0 ldi r27,lo8(0) |
392 .L44: |
393 02c8 F701 movw r30,r14 |
394 02ca EB0F add r30,r27 |
395 02cc F11D adc r31,__zero_reg__ |
396 02ce D080 ld r13,Z |
397 02d0 BF5F subi r27,lo8(-(1)) |
398 02d2 6150 subi r22,lo8(-(-1)) |
399 02d4 7040 sbci r23,hi8(-(-1)) |
400 02d6 01F4 brne .L48 |
401 02d8 AA23 tst r26 |
402 02da 01F0 breq .L48 |
403 02dc E981 ldd r30,Y+1 |
404 02de FA81 ldd r31,Y+2 |
405 02e0 E080 ld r14,Z |
406 02e2 F180 ldd r15,Z+1 |
407 02e4 3496 adiw r30,4 |
408 02e6 FA83 std Y+2,r31 |
409 02e8 E983 std Y+1,r30 |
410 02ea 3497 sbiw r30,4 |
411 02ec 6281 ldd r22,Z+2 |
412 02ee 7381 ldd r23,Z+3 |
413 02f0 A150 subi r26,lo8(-(-1)) |
414 .L56: |
415 02f2 B0E0 ldi r27,lo8(0) |
416 .L48: |
417 02f4 892F mov r24,r25 |
418 02f6 8695 lsr r24 |
419 02f8 8695 lsr r24 |
420 02fa 835C subi r24,lo8(-(61)) |
421 02fc F801 movw r30,r16 |
422 02fe E050 subi r30,lo8(-(TxdBuffer)) |
423 0300 F040 sbci r31,hi8(-(TxdBuffer)) |
424 0302 8083 st Z,r24 |
425 0304 50E0 ldi r21,lo8(0) |
426 0306 9A01 movw r18,r20 |
427 0308 84E0 ldi r24,4 |
428 030a 3695 1: lsr r19 |
429 030c 2795 ror r18 |
430 030e 8A95 dec r24 |
431 0310 01F4 brne 1b |
432 0312 892F mov r24,r25 |
433 0314 90E0 ldi r25,lo8(0) |
434 0316 8370 andi r24,lo8(3) |
435 0318 9070 andi r25,hi8(3) |
436 031a F4E0 ldi r31,4 |
437 031c 880F 1: lsl r24 |
438 031e 991F rol r25 |
439 0320 FA95 dec r31 |
440 0322 01F4 brne 1b |
441 0324 282B or r18,r24 |
442 0326 235C subi r18,lo8(-(61)) |
443 0328 F801 movw r30,r16 |
444 032a E050 subi r30,lo8(-(TxdBuffer+1)) |
445 032c F040 sbci r31,hi8(-(TxdBuffer+1)) |
446 032e 2083 st Z,r18 |
447 0330 8D2D mov r24,r13 |
448 0332 8295 swap r24 |
449 0334 8695 lsr r24 |
450 0336 8695 lsr r24 |
451 0338 8370 andi r24,lo8(3) |
452 033a 4F70 andi r20,lo8(15) |
453 033c 5070 andi r21,hi8(15) |
454 033e 440F lsl r20 |
455 0340 551F rol r21 |
456 0342 440F lsl r20 |
457 0344 551F rol r21 |
458 0346 842B or r24,r20 |
459 0348 835C subi r24,lo8(-(61)) |
460 034a F801 movw r30,r16 |
461 034c E050 subi r30,lo8(-(TxdBuffer+2)) |
462 034e F040 sbci r31,hi8(-(TxdBuffer+2)) |
463 0350 8083 st Z,r24 |
464 0352 8FE3 ldi r24,lo8(63) |
465 0354 D822 and r13,r24 |
466 0356 8DE3 ldi r24,lo8(61) |
467 0358 D80E add r13,r24 |
468 035a F801 movw r30,r16 |
469 035c E050 subi r30,lo8(-(TxdBuffer+3)) |
470 035e F040 sbci r31,hi8(-(TxdBuffer+3)) |
471 0360 D082 st Z,r13 |
472 0362 0C5F subi r16,lo8(-(4)) |
473 0364 1F4F sbci r17,hi8(-(4)) |
474 .L35: |
475 0366 6115 cp r22,__zero_reg__ |
476 0368 7105 cpc r23,__zero_reg__ |
477 036a 01F0 breq .+2 |
478 036c 00C0 rjmp .L36 |
479 036e 00C0 rjmp .L55 |
480 .L42: |
481 0370 B0E0 ldi r27,lo8(0) |
482 .L40: |
483 0372 DD24 clr r13 |
484 0374 40E0 ldi r20,lo8(0) |
485 0376 00C0 rjmp .L48 |
486 .L55: |
487 0378 C801 movw r24,r16 |
488 037a 0E94 0000 call AddCRC |
489 /* epilogue: frame size=2 */ |
490 037e E7E0 ldi r30,7 |
491 0380 CE5F subi r28,-2 |
492 0382 0C94 0000 jmp __epilogue_restores__+22 |
493 /* epilogue end (size=4) */ |
494 /* function SendOutData size 201 (191) */ |
496 .global DatenUebertragung |
498 DatenUebertragung: |
499 /* prologue: frame size=16 */ |
500 0386 A0E1 ldi r26,lo8(16) |
501 0388 B0E0 ldi r27,hi8(16) |
502 038a E0E0 ldi r30,pm_lo8(1f) |
503 038c F0E0 ldi r31,pm_hi8(1f) |
504 038e 0C94 0000 jmp __prologue_saves__+24 |
505 1: |
506 /* prologue end (size=6) */ |
507 0392 8091 0000 lds r24,UebertragungAbgeschlossen |
508 0396 8823 tst r24 |
509 0398 01F4 brne .+2 |
510 039a 00C0 rjmp .L102 |
511 039c 8091 0000 lds r24,AboTimeOut |
512 03a0 9091 0000 lds r25,(AboTimeOut)+1 |
513 03a4 0E94 0000 call CheckDelay |
514 03a8 8823 tst r24 |
515 03aa 01F0 breq .L60 |
516 03ac 1092 0000 sts (Display_Interval)+1,__zero_reg__ |
517 03b0 1092 0000 sts Display_Interval,__zero_reg__ |
518 03b4 1092 0000 sts (DebugDataIntervall)+1,__zero_reg__ |
519 03b8 1092 0000 sts DebugDataIntervall,__zero_reg__ |
520 03bc 1092 0000 sts (Intervall3D)+1,__zero_reg__ |
521 03c0 1092 0000 sts Intervall3D,__zero_reg__ |
522 .L60: |
523 03c4 8091 0000 lds r24,Display_Interval |
524 03c8 9091 0000 lds r25,(Display_Interval)+1 |
525 03cc 892B or r24,r25 |
526 03ce 01F0 breq .L62 |
527 03d0 8091 0000 lds r24,Display_Timer |
528 03d4 9091 0000 lds r25,(Display_Timer)+1 |
529 03d8 0E94 0000 call CheckDelay |
530 03dc 8823 tst r24 |
531 03de 01F4 brne .L64 |
532 .L62: |
533 03e0 8091 0000 lds r24,DebugDisplayAnforderung |
534 03e4 8823 tst r24 |
535 03e6 01F4 brne .+2 |
536 03e8 00C0 rjmp .L65 |
537 .L64: |
538 03ea 8091 0000 lds r24,UebertragungAbgeschlossen |
539 03ee 8823 tst r24 |
540 03f0 01F4 brne .+2 |
541 03f2 00C0 rjmp .L65 |
542 03f4 8091 0000 lds r24,DisplayLine |
543 03f8 00E0 ldi r16,lo8(DisplayBuff) |
544 03fa 10E0 ldi r17,hi8(DisplayBuff) |
545 03fc 8430 cpi r24,lo8(4) |
546 03fe 00F0 brlo .L67 |
547 0400 0E94 0000 call Menu |
548 0404 80E5 ldi r24,lo8(80) |
549 0406 90E0 ldi r25,hi8(80) |
550 0408 9F93 push r25 |
551 040a 8F93 push r24 |
552 040c 1F93 push r17 |
553 040e 0F93 push r16 |
554 0410 81E0 ldi r24,lo8(1) |
555 0412 8F93 push r24 |
556 0414 8F93 push r24 |
557 0416 88E4 ldi r24,lo8(72) |
558 0418 8F93 push r24 |
559 041a 0E94 0000 call SendOutData |
560 041e 2DB7 in r18,__SP_L__ |
561 0420 3EB7 in r19,__SP_H__ |
562 0422 295F subi r18,lo8(-(7)) |
563 0424 3F4F sbci r19,hi8(-(7)) |
564 0426 2DBF out __SP_L__,r18 |
565 0428 00C0 rjmp .L69 |
566 .L67: |
567 042a 1092 0000 sts DispPtr,__zero_reg__ |
568 042e E091 0000 lds r30,_printf_P |
569 0432 F091 0000 lds r31,(_printf_P)+1 |
570 0436 80E0 ldi r24,lo8(__c.3030) |
571 0438 90E0 ldi r25,hi8(__c.3030) |
572 043a 9F93 push r25 |
573 043c 8F93 push r24 |
574 043e 80E0 ldi r24,lo8(gs(Menu_Putchar)) |
575 0440 90E0 ldi r25,hi8(gs(Menu_Putchar)) |
576 0442 9F93 push r25 |
577 0444 8F93 push r24 |
578 0446 0995 icall |
579 0448 84E1 ldi r24,lo8(20) |
580 044a 90E0 ldi r25,hi8(20) |
581 044c 9F93 push r25 |
582 044e 8F93 push r24 |
583 0450 1F93 push r17 |
584 0452 0F93 push r16 |
585 0454 81E0 ldi r24,lo8(1) |
586 0456 90E0 ldi r25,hi8(1) |
587 0458 9F93 push r25 |
588 045a 8F93 push r24 |
589 045c 80E0 ldi r24,lo8(DisplayLine) |
590 045e 90E0 ldi r25,hi8(DisplayLine) |
591 0460 9F93 push r25 |
592 0462 8F93 push r24 |
593 0464 82E0 ldi r24,lo8(2) |
594 0466 8F93 push r24 |
595 0468 81E0 ldi r24,lo8(1) |
596 046a 8F93 push r24 |
597 046c 88E4 ldi r24,lo8(72) |
598 046e 8F93 push r24 |
599 0470 0E94 0000 call SendOutData |
600 0474 8091 0000 lds r24,DisplayLine |
601 0478 8F5F subi r24,lo8(-(1)) |
602 047a 8093 0000 sts DisplayLine,r24 |
603 047e 8150 subi r24,lo8(-(-1)) |
604 0480 2DB7 in r18,__SP_L__ |
605 0482 3EB7 in r19,__SP_H__ |
606 0484 215F subi r18,lo8(-(15)) |
607 0486 3F4F sbci r19,hi8(-(15)) |
608 0488 2DBF out __SP_L__,r18 |
609 048a 8430 cpi r24,lo8(4) |
610 048c 00F0 brlo .L69 |
611 048e 1092 0000 sts DisplayLine,__zero_reg__ |
612 .L69: |
613 0492 8091 0000 lds r24,Display_Interval |
614 0496 9091 0000 lds r25,(Display_Interval)+1 |
615 049a 0E94 0000 call SetDelay |
616 049e 9093 0000 sts (Display_Timer)+1,r25 |
617 04a2 8093 0000 sts Display_Timer,r24 |
618 04a6 1092 0000 sts DebugDisplayAnforderung,__zero_reg__ |
619 .L65: |
620 04aa 8091 0000 lds r24,DebugDisplayAnforderung1 |
621 04ae 8823 tst r24 |
622 04b0 01F0 breq .L71 |
623 04b2 8091 0000 lds r24,UebertragungAbgeschlossen |
624 04b6 8823 tst r24 |
625 04b8 01F0 breq .L71 |
626 04ba 0E94 0000 call Menu |
627 04be 80E5 ldi r24,lo8(80) |
628 04c0 90E0 ldi r25,hi8(80) |
629 04c2 9F93 push r25 |
630 04c4 8F93 push r24 |
631 04c6 80E0 ldi r24,lo8(DisplayBuff) |
632 04c8 90E0 ldi r25,hi8(DisplayBuff) |
633 04ca 9F93 push r25 |
634 04cc 8F93 push r24 |
635 04ce 21E0 ldi r18,lo8(1) |
636 04d0 30E0 ldi r19,hi8(1) |
637 04d2 3F93 push r19 |
638 04d4 2F93 push r18 |
639 04d6 80E0 ldi r24,lo8(MaxMenue) |
640 04d8 90E0 ldi r25,hi8(MaxMenue) |
641 04da 9F93 push r25 |
642 04dc 8F93 push r24 |
643 04de 3F93 push r19 |
644 04e0 2F93 push r18 |
645 04e2 80E0 ldi r24,lo8(MenuePunkt) |
646 04e4 90E0 ldi r25,hi8(MenuePunkt) |
647 04e6 9F93 push r25 |
648 04e8 8F93 push r24 |
649 04ea 83E0 ldi r24,lo8(3) |
650 04ec 8F93 push r24 |
651 04ee 81E0 ldi r24,lo8(1) |
652 04f0 8F93 push r24 |
653 04f2 8CE4 ldi r24,lo8(76) |
654 04f4 8F93 push r24 |
655 04f6 0E94 0000 call SendOutData |
656 04fa 1092 0000 sts DebugDisplayAnforderung1,__zero_reg__ |
657 04fe 8DB7 in r24,__SP_L__ |
658 0500 9EB7 in r25,__SP_H__ |
659 0502 0F96 adiw r24,15 |
660 0504 8DBF out __SP_L__,r24 |
661 .L71: |
662 0506 8091 0000 lds r24,GetVersionAnforderung |
663 050a 8823 tst r24 |
664 050c 01F0 breq .L74 |
665 050e 8091 0000 lds r24,UebertragungAbgeschlossen |
666 0512 8823 tst r24 |
667 0514 01F0 breq .L74 |
668 0516 8AE0 ldi r24,lo8(10) |
669 0518 90E0 ldi r25,hi8(10) |
670 051a 9F93 push r25 |
671 051c 8F93 push r24 |
672 051e 80E0 ldi r24,lo8(VersionInfo) |
673 0520 90E0 ldi r25,hi8(VersionInfo) |
674 0522 9F93 push r25 |
675 0524 8F93 push r24 |
676 0526 81E0 ldi r24,lo8(1) |
677 0528 8F93 push r24 |
678 052a 8F93 push r24 |
679 052c 86E5 ldi r24,lo8(86) |
680 052e 8F93 push r24 |
681 0530 0E94 0000 call SendOutData |
682 0534 1092 0000 sts GetVersionAnforderung,__zero_reg__ |
683 0538 2DB7 in r18,__SP_L__ |
684 053a 3EB7 in r19,__SP_H__ |
685 053c 295F subi r18,lo8(-(7)) |
686 053e 3F4F sbci r19,hi8(-(7)) |
687 0540 2DBF out __SP_L__,r18 |
688 .L74: |
689 0542 8091 0000 lds r24,GetExternalControl |
690 0546 8823 tst r24 |
691 0548 01F0 breq .L77 |
692 054a 8091 0000 lds r24,UebertragungAbgeschlossen |
693 054e 8823 tst r24 |
694 0550 01F0 breq .L77 |
695 0552 2091 0000 lds r18,MeineSlaveAdresse |
696 0556 8BE0 ldi r24,lo8(11) |
697 0558 90E0 ldi r25,hi8(11) |
698 055a 9F93 push r25 |
699 055c 8F93 push r24 |
700 055e 80E0 ldi r24,lo8(ExternControl) |
701 0560 90E0 ldi r25,hi8(ExternControl) |
702 0562 9F93 push r25 |
703 0564 8F93 push r24 |
704 0566 81E0 ldi r24,lo8(1) |
705 0568 8F93 push r24 |
706 056a 2F93 push r18 |
707 056c 87E4 ldi r24,lo8(71) |
708 056e 8F93 push r24 |
709 0570 0E94 0000 call SendOutData |
710 0574 1092 0000 sts GetExternalControl,__zero_reg__ |
711 0578 8DB7 in r24,__SP_L__ |
712 057a 9EB7 in r25,__SP_H__ |
713 057c 0796 adiw r24,7 |
714 057e 8DBF out __SP_L__,r24 |
715 .L77: |
716 0580 8091 0000 lds r24,Kompass_Timer |
717 0584 9091 0000 lds r25,(Kompass_Timer)+1 |
718 0588 0E94 0000 call CheckDelay |
719 058c 8823 tst r24 |
720 058e 01F4 brne .+2 |
721 0590 00C0 rjmp .L80 |
722 0592 8091 0000 lds r24,UebertragungAbgeschlossen |
723 0596 8823 tst r24 |
724 0598 01F4 brne .+2 |
725 059a 00C0 rjmp .L80 |
726 059c E090 0000 lds r14,EE_Parameter+28 |
727 05a0 FF24 clr r15 |
728 05a2 EE0C lsl r14 |
729 05a4 FF1C rol r15 |
730 05a6 EE0C lsl r14 |
731 05a8 FF1C rol r15 |
732 05aa 0027 clr r16 |
733 05ac F7FC sbrc r15,7 |
734 05ae 0095 com r16 |
735 05b0 102F mov r17,r16 |
736 05b2 6091 0000 lds r22,IntegralNick |
737 05b6 7091 0000 lds r23,(IntegralNick)+1 |
738 05ba 8091 0000 lds r24,(IntegralNick)+2 |
739 05be 9091 0000 lds r25,(IntegralNick)+3 |
740 05c2 A801 movw r20,r16 |
741 05c4 9701 movw r18,r14 |
742 05c6 0E94 0000 call __divmodsi4 |
743 05ca 3093 0000 sts (WinkelOut)+1,r19 |
744 05ce 2093 0000 sts WinkelOut,r18 |
745 05d2 6091 0000 lds r22,IntegralRoll |
746 05d6 7091 0000 lds r23,(IntegralRoll)+1 |
747 05da 8091 0000 lds r24,(IntegralRoll)+2 |
748 05de 9091 0000 lds r25,(IntegralRoll)+3 |
749 05e2 A801 movw r20,r16 |
750 05e4 9701 movw r18,r14 |
751 05e6 0E94 0000 call __divmodsi4 |
752 05ea 3093 0000 sts (WinkelOut+2)+1,r19 |
753 05ee 2093 0000 sts WinkelOut+2,r18 |
754 05f2 8091 0000 lds r24,Parameter_UserParam1 |
755 05f6 8093 0000 sts WinkelOut+4,r24 |
756 05fa 8091 0000 lds r24,Parameter_UserParam2 |
757 05fe 8093 0000 sts WinkelOut+5,r24 |
758 0602 88E0 ldi r24,lo8(8) |
759 0604 90E0 ldi r25,hi8(8) |
760 0606 9F93 push r25 |
761 0608 8F93 push r24 |
762 060a 80E0 ldi r24,lo8(WinkelOut) |
763 060c 90E0 ldi r25,hi8(WinkelOut) |
764 060e 9F93 push r25 |
765 0610 8F93 push r24 |
766 0612 81E0 ldi r24,lo8(1) |
767 0614 8F93 push r24 |
768 0616 83E0 ldi r24,lo8(3) |
769 0618 8F93 push r24 |
770 061a 8BE6 ldi r24,lo8(107) |
771 061c 8F93 push r24 |
772 061e 0E94 0000 call SendOutData |
773 0622 2DB7 in r18,__SP_L__ |
774 0624 3EB7 in r19,__SP_H__ |
775 0626 295F subi r18,lo8(-(7)) |
776 0628 3F4F sbci r19,hi8(-(7)) |
777 062a 2DBF out __SP_L__,r18 |
778 062c 8091 0000 lds r24,WinkelOut+6 |
779 0630 8530 cpi r24,lo8(5) |
780 0632 00F0 brlo .L83 |
781 0634 86E0 ldi r24,lo8(6) |
782 0636 8093 0000 sts WinkelOut+6,r24 |
783 .L83: |
784 063a 83E6 ldi r24,lo8(99) |
785 063c 90E0 ldi r25,hi8(99) |
786 063e 0E94 0000 call SetDelay |
787 0642 9093 0000 sts (Kompass_Timer)+1,r25 |
788 0646 8093 0000 sts Kompass_Timer,r24 |
789 .L80: |
790 064a 8091 0000 lds r24,DebugDataIntervall |
791 064e 9091 0000 lds r25,(DebugDataIntervall)+1 |
792 0652 892B or r24,r25 |
793 0654 01F0 breq .L85 |
794 0656 8091 0000 lds r24,Debug_Timer |
795 065a 9091 0000 lds r25,(Debug_Timer)+1 |
796 065e 0E94 0000 call CheckDelay |
797 0662 8823 tst r24 |
798 0664 01F4 brne .L87 |
799 .L85: |
800 0666 8091 0000 lds r24,DebugDataAnforderung |
801 066a 8823 tst r24 |
802 066c 01F0 breq .L88 |
803 .L87: |
804 066e 8091 0000 lds r24,UebertragungAbgeschlossen |
805 0672 8823 tst r24 |
806 0674 01F0 breq .L88 |
807 0676 0E94 0000 call CopyDebugValues |
808 067a 82E4 ldi r24,lo8(66) |
809 067c 90E0 ldi r25,hi8(66) |
810 067e 9F93 push r25 |
811 0680 8F93 push r24 |
812 0682 80E0 ldi r24,lo8(DebugOut) |
813 0684 90E0 ldi r25,hi8(DebugOut) |
814 0686 9F93 push r25 |
815 0688 8F93 push r24 |
816 068a 81E0 ldi r24,lo8(1) |
817 068c 8F93 push r24 |
818 068e 8F93 push r24 |
819 0690 84E4 ldi r24,lo8(68) |
820 0692 8F93 push r24 |
821 0694 0E94 0000 call SendOutData |
822 0698 1092 0000 sts DebugDataAnforderung,__zero_reg__ |
823 069c 8091 0000 lds r24,DebugDataIntervall |
824 06a0 9091 0000 lds r25,(DebugDataIntervall)+1 |
825 06a4 2DB7 in r18,__SP_L__ |
826 06a6 3EB7 in r19,__SP_H__ |
827 06a8 295F subi r18,lo8(-(7)) |
828 06aa 3F4F sbci r19,hi8(-(7)) |
829 06ac 2DBF out __SP_L__,r18 |
830 06ae 0097 sbiw r24,0 |
831 06b0 01F0 breq .L88 |
832 06b2 0E94 0000 call SetDelay |
833 06b6 9093 0000 sts (Debug_Timer)+1,r25 |
834 06ba 8093 0000 sts Debug_Timer,r24 |
835 .L88: |
836 06be 8091 0000 lds r24,Intervall3D |
837 06c2 9091 0000 lds r25,(Intervall3D)+1 |
838 06c6 892B or r24,r25 |
839 06c8 01F4 brne .+2 |
840 06ca 00C0 rjmp .L91 |
841 06cc 8091 0000 lds r24,Timer3D |
842 06d0 9091 0000 lds r25,(Timer3D)+1 |
843 06d4 0E94 0000 call CheckDelay |
844 06d8 8823 tst r24 |
845 06da 01F4 brne .+2 |
846 06dc 00C0 rjmp .L91 |
847 06de 8091 0000 lds r24,UebertragungAbgeschlossen |
848 06e2 8823 tst r24 |
849 06e4 01F4 brne .+2 |
850 06e6 00C0 rjmp .L91 |
851 06e8 E090 0000 lds r14,EE_Parameter+28 |
852 06ec FF24 clr r15 |
853 06ee EE0C lsl r14 |
854 06f0 FF1C rol r15 |
855 06f2 EE0C lsl r14 |
856 06f4 FF1C rol r15 |
857 06f6 0027 clr r16 |
858 06f8 F7FC sbrc r15,7 |
859 06fa 0095 com r16 |
860 06fc 102F mov r17,r16 |
861 06fe 6091 0000 lds r22,IntegralNick |
862 0702 7091 0000 lds r23,(IntegralNick)+1 |
863 0706 8091 0000 lds r24,(IntegralNick)+2 |
864 070a 9091 0000 lds r25,(IntegralNick)+3 |
865 070e A801 movw r20,r16 |
866 0710 9701 movw r18,r14 |
867 0712 0E94 0000 call __divmodsi4 |
868 0716 3093 0000 sts (Data3D)+1,r19 |
869 071a 2093 0000 sts Data3D,r18 |
870 071e 6091 0000 lds r22,IntegralRoll |
871 0722 7091 0000 lds r23,(IntegralRoll)+1 |
872 0726 8091 0000 lds r24,(IntegralRoll)+2 |
873 072a 9091 0000 lds r25,(IntegralRoll)+3 |
874 072e A801 movw r20,r16 |
875 0730 9701 movw r18,r14 |
876 0732 0E94 0000 call __divmodsi4 |
877 0736 3093 0000 sts (Data3D+2)+1,r19 |
878 073a 2093 0000 sts Data3D+2,r18 |
879 073e 6091 0000 lds r22,ErsatzKompass |
880 0742 7091 0000 lds r23,(ErsatzKompass)+1 |
881 0746 8091 0000 lds r24,(ErsatzKompass)+2 |
882 074a 9091 0000 lds r25,(ErsatzKompass)+3 |
883 074e 2AE0 ldi r18,lo8(10) |
884 0750 30E0 ldi r19,hi8(10) |
885 0752 40E0 ldi r20,hlo8(10) |
886 0754 50E0 ldi r21,hhi8(10) |
887 0756 0E94 0000 call __mulsi3 |
888 075a 2091 0000 lds r18,GIER_GRAD_FAKTOR |
889 075e 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1 |
890 0762 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2 |
891 0766 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3 |
892 076a 0E94 0000 call __divmodsi4 |
893 076e 3093 0000 sts (Data3D+4)+1,r19 |
894 0772 2093 0000 sts Data3D+4,r18 |
895 0776 8091 0000 lds r24,SummeNick |
896 077a 9091 0000 lds r25,(SummeNick)+1 |
897 077e A091 0000 lds r26,(SummeNick)+2 |
898 0782 B091 0000 lds r27,(SummeNick)+3 |
899 0786 49E0 ldi r20,9 |
900 0788 B595 1: asr r27 |
901 078a A795 ror r26 |
902 078c 9795 ror r25 |
903 078e 8795 ror r24 |
904 0790 4A95 dec r20 |
905 0792 01F4 brne 1b |
906 0794 8093 0000 sts Data3D+6,r24 |
907 0798 8091 0000 lds r24,SummeRoll |
908 079c 9091 0000 lds r25,(SummeRoll)+1 |
909 07a0 A091 0000 lds r26,(SummeRoll)+2 |
910 07a4 B091 0000 lds r27,(SummeRoll)+3 |
911 07a8 39E0 ldi r19,9 |
912 07aa B595 1: asr r27 |
913 07ac A795 ror r26 |
914 07ae 9795 ror r25 |
915 07b0 8795 ror r24 |
916 07b2 3A95 dec r19 |
917 07b4 01F4 brne 1b |
918 07b6 8093 0000 sts Data3D+7,r24 |
919 07ba 8091 0000 lds r24,Mess_Integral_Gier |
920 07be 9091 0000 lds r25,(Mess_Integral_Gier)+1 |
921 07c2 A091 0000 lds r26,(Mess_Integral_Gier)+2 |
922 07c6 B091 0000 lds r27,(Mess_Integral_Gier)+3 |
923 07ca 29E0 ldi r18,9 |
924 07cc B595 1: asr r27 |
925 07ce A795 ror r26 |
926 07d0 9795 ror r25 |
927 07d2 8795 ror r24 |
928 07d4 2A95 dec r18 |
929 07d6 01F4 brne 1b |
930 07d8 8093 0000 sts Data3D+8,r24 |
931 07dc 8EE0 ldi r24,lo8(14) |
932 07de 90E0 ldi r25,hi8(14) |
933 07e0 9F93 push r25 |
934 07e2 8F93 push r24 |
935 07e4 80E0 ldi r24,lo8(Data3D) |
936 07e6 90E0 ldi r25,hi8(Data3D) |
937 07e8 9F93 push r25 |
938 07ea 8F93 push r24 |
939 07ec 81E0 ldi r24,lo8(1) |
940 07ee 8F93 push r24 |
941 07f0 8F93 push r24 |
942 07f2 83E4 ldi r24,lo8(67) |
943 07f4 8F93 push r24 |
944 07f6 0E94 0000 call SendOutData |
945 07fa 8091 0000 lds r24,Intervall3D |
946 07fe 9091 0000 lds r25,(Intervall3D)+1 |
947 0802 0E94 0000 call SetDelay |
948 0806 9093 0000 sts (Timer3D)+1,r25 |
949 080a 8093 0000 sts Timer3D,r24 |
950 080e 8DB7 in r24,__SP_L__ |
951 0810 9EB7 in r25,__SP_H__ |
952 0812 0796 adiw r24,7 |
953 0814 8DBF out __SP_L__,r24 |
954 .L91: |
955 0816 6091 0000 lds r22,DebugTextAnforderung |
956 081a 6F3F cpi r22,lo8(-1) |
957 081c 01F0 breq .L95 |
958 081e 70E0 ldi r23,lo8(0) |
959 0820 94E0 ldi r25,4 |
960 0822 660F 1: lsl r22 |
961 0824 771F rol r23 |
962 0826 9A95 dec r25 |
963 0828 01F4 brne 1b |
964 082a 6050 subi r22,lo8(-(ANALOG_TEXT)) |
965 082c 7040 sbci r23,hi8(-(ANALOG_TEXT)) |
966 082e 40E1 ldi r20,lo8(16) |
967 0830 50E0 ldi r21,hi8(16) |
968 0832 8E01 movw r16,r28 |
969 0834 0F5F subi r16,lo8(-(1)) |
970 0836 1F4F sbci r17,hi8(-(1)) |
971 0838 C801 movw r24,r16 |
972 083a 0E94 0000 call memcpy_P |
973 083e 80E1 ldi r24,lo8(16) |
974 0840 90E0 ldi r25,hi8(16) |
975 0842 9F93 push r25 |
976 0844 8F93 push r24 |
977 0846 1F93 push r17 |
978 0848 0F93 push r16 |
979 084a 81E0 ldi r24,lo8(1) |
980 084c 90E0 ldi r25,hi8(1) |
981 084e 9F93 push r25 |
982 0850 8F93 push r24 |
983 0852 80E0 ldi r24,lo8(DebugTextAnforderung) |
984 0854 90E0 ldi r25,hi8(DebugTextAnforderung) |
985 0856 9F93 push r25 |
986 0858 8F93 push r24 |
987 085a 82E0 ldi r24,lo8(2) |
988 085c 8F93 push r24 |
989 085e 81E0 ldi r24,lo8(1) |
990 0860 8F93 push r24 |
991 0862 81E4 ldi r24,lo8(65) |
992 0864 8F93 push r24 |
993 0866 0E94 0000 call SendOutData |
994 086a 8FEF ldi r24,lo8(-1) |
995 086c 8093 0000 sts DebugTextAnforderung,r24 |
996 0870 2DB7 in r18,__SP_L__ |
997 0872 3EB7 in r19,__SP_H__ |
998 0874 255F subi r18,lo8(-(11)) |
999 0876 3F4F sbci r19,hi8(-(11)) |
1000 0878 2DBF out __SP_L__,r18 |
1001 .L95: |
1002 087a 8091 0000 lds r24,ConfirmFrame |
1003 087e 8823 tst r24 |
1004 0880 01F0 breq .L97 |
1005 0882 8091 0000 lds r24,UebertragungAbgeschlossen |
1006 0886 8823 tst r24 |
1007 0888 01F0 breq .L97 |
1008 088a 81E0 ldi r24,lo8(1) |
1009 088c 90E0 ldi r25,hi8(1) |
1010 088e 9F93 push r25 |
1011 0890 8F93 push r24 |
1012 0892 80E0 ldi r24,lo8(ConfirmFrame) |
1013 0894 90E0 ldi r25,hi8(ConfirmFrame) |
1014 0896 9F93 push r25 |
1015 0898 8F93 push r24 |
1016 089a 81E0 ldi r24,lo8(1) |
1017 089c 8F93 push r24 |
1018 089e 8F93 push r24 |
1019 08a0 82E4 ldi r24,lo8(66) |
1020 08a2 8F93 push r24 |
1021 08a4 0E94 0000 call SendOutData |
1022 08a8 1092 0000 sts ConfirmFrame,__zero_reg__ |
1023 08ac 8DB7 in r24,__SP_L__ |
1024 08ae 9EB7 in r25,__SP_H__ |
1025 08b0 0796 adiw r24,7 |
1026 08b2 8DBF out __SP_L__,r24 |
1027 .L97: |
1028 08b4 8091 0000 lds r24,GetPPMChannelAnforderung |
1029 08b8 8823 tst r24 |
1030 08ba 01F0 breq .L102 |
1031 08bc 8091 0000 lds r24,UebertragungAbgeschlossen |
1032 08c0 8823 tst r24 |
1033 08c2 01F0 breq .L102 |
1034 08c4 84E3 ldi r24,lo8(52) |
1035 08c6 90E0 ldi r25,hi8(52) |
1036 08c8 9F93 push r25 |
1037 08ca 8F93 push r24 |
1038 08cc 80E0 ldi r24,lo8(PPM_in) |
1039 08ce 90E0 ldi r25,hi8(PPM_in) |
1040 08d0 9F93 push r25 |
1041 08d2 8F93 push r24 |
1042 08d4 81E0 ldi r24,lo8(1) |
1043 08d6 8F93 push r24 |
1044 08d8 8F93 push r24 |
1045 08da 80E5 ldi r24,lo8(80) |
1046 08dc 8F93 push r24 |
1047 08de 0E94 0000 call SendOutData |
1048 08e2 1092 0000 sts GetPPMChannelAnforderung,__zero_reg__ |
1049 08e6 2DB7 in r18,__SP_L__ |
1050 08e8 3EB7 in r19,__SP_H__ |
1051 08ea 295F subi r18,lo8(-(7)) |
1052 08ec 3F4F sbci r19,hi8(-(7)) |
1053 08ee 2DBF out __SP_L__,r18 |
1054 .L102: |
1055 /* epilogue: frame size=16 */ |
1056 08f0 E6E0 ldi r30,6 |
1057 08f2 C05F subi r28,-16 |
1058 08f4 0C94 0000 jmp __epilogue_restores__+24 |
1059 /* epilogue end (size=4) */ |
1060 /* function DatenUebertragung size 697 (687) */ |
1062 .global BearbeiteRxDaten |
1064 BearbeiteRxDaten: |
1065 /* prologue: frame size=2 */ |
1066 08f8 A2E0 ldi r26,lo8(2) |
1067 08fa B0E0 ldi r27,hi8(2) |
1068 08fc E0E0 ldi r30,pm_lo8(1f) |
1069 08fe F0E0 ldi r31,pm_hi8(1f) |
1070 0900 0C94 0000 jmp __prologue_saves__+32 |
1071 1: |
1072 /* prologue end (size=6) */ |
1073 0904 8091 0000 lds r24,NeuerDatensatzEmpfangen |
1074 0908 8823 tst r24 |
1075 090a 01F4 brne .+2 |
1076 090c 00C0 rjmp .L217 |
1077 090e 0E94 0000 call Decode64 |
1078 0912 8091 0000 lds r24,RxdBuffer+1 |
1079 0916 8236 cpi r24,lo8(98) |
1080 0918 01F0 breq .+2 |
1081 091a 00C0 rjmp .L106 |
1082 091c 8091 0000 lds r24,RxdBuffer+2 |
1083 0920 8037 cpi r24,lo8(112) |
1084 0922 01F4 brne .+2 |
1085 0924 00C0 rjmp .L113 |
1086 0926 8137 cpi r24,lo8(113) |
1087 0928 00F4 brsh .L120 |
1088 092a 8A36 cpi r24,lo8(106) |
1089 092c 01F4 brne .+2 |
1090 092e 00C0 rjmp .L110 |
1091 0930 8B36 cpi r24,lo8(107) |
1092 0932 00F4 brsh .L121 |
1093 0934 8B34 cpi r24,lo8(75) |
1094 0936 01F0 breq .L108 |
1095 0938 8636 cpi r24,lo8(102) |
1096 093a 01F0 breq .+2 |
1097 093c 00C0 rjmp .L106 |
1098 093e 00C0 rjmp .L109 |
1099 .L121: |
1100 0940 8D36 cpi r24,lo8(109) |
1101 0942 01F4 brne .+2 |
1102 0944 00C0 rjmp .L111 |
1103 0946 8E36 cpi r24,lo8(110) |
1104 0948 01F0 breq .+2 |
1105 094a 00C0 rjmp .L106 |
1106 094c 00C0 rjmp .L218 |
1107 .L120: |
1108 094e 8437 cpi r24,lo8(116) |
1109 0950 01F0 breq .L116 |
1110 0952 8537 cpi r24,lo8(117) |
1111 0954 00F4 brsh .L122 |
1112 0956 8137 cpi r24,lo8(113) |
1113 0958 01F4 brne .+2 |
1114 095a 00C0 rjmp .L114 |
1115 095c 8337 cpi r24,lo8(115) |
1116 095e 01F0 breq .+2 |
1117 0960 00C0 rjmp .L106 |
1118 0962 00C0 rjmp .L115 |
1119 .L122: |
1120 0964 8737 cpi r24,lo8(119) |
1121 0966 01F4 brne .+2 |
1122 0968 00C0 rjmp .L118 |
1123 096a 8937 cpi r24,lo8(121) |
1124 096c 01F4 brne .+2 |
1125 096e 00C0 rjmp .L119 |
1126 0970 8537 cpi r24,lo8(117) |
1127 0972 01F0 breq .+2 |
1128 0974 00C0 rjmp .L106 |
1129 0976 00C0 rjmp .L117 |
1130 .L108: |
1131 0978 E091 0000 lds r30,pRxData |
1132 097c F091 0000 lds r31,(pRxData)+1 |
1133 0980 8081 ld r24,Z |
1134 0982 9181 ldd r25,Z+1 |
1135 0984 9093 0000 sts (KompassValue)+1,r25 |
1136 0988 8093 0000 sts KompassValue,r24 |
1137 098c 845E subi r24,lo8(-(540)) |
1138 098e 9D4F sbci r25,hi8(-(540)) |
1139 0990 2091 0000 lds r18,KompassStartwert |
1140 0994 3091 0000 lds r19,(KompassStartwert)+1 |
1141 0998 821B sub r24,r18 |
1142 099a 930B sbc r25,r19 |
1143 099c 68E6 ldi r22,lo8(360) |
1144 099e 71E0 ldi r23,hi8(360) |
1145 09a0 0E94 0000 call __divmodhi4 |
1146 09a4 845B subi r24,lo8(-(-180)) |
1147 09a6 9040 sbci r25,hi8(-(-180)) |
1148 09a8 9093 0000 sts (KompassRichtung)+1,r25 |
1149 09ac 8093 0000 sts KompassRichtung,r24 |
1150 09b0 00C0 rjmp .L106 |
1151 .L116: |
1152 09b2 8091 0000 lds r24,AnzahlEmpfangsBytes |
1153 09b6 E091 0000 lds r30,pRxData |
1154 09ba F091 0000 lds r31,(pRxData)+1 |
1155 09be 8531 cpi r24,lo8(21) |
1156 09c0 00F0 brlo .L123 |
1157 09c2 A0E0 ldi r26,lo8(MotorTest) |
1158 09c4 B0E0 ldi r27,hi8(MotorTest) |
1159 09c6 80E1 ldi r24,lo8(16) |
1160 .L125: |
1161 09c8 0190 ld r0,Z+ |
1162 09ca 0D92 st X+,r0 |
1163 09cc 8150 subi r24,lo8(-(-1)) |
1164 09ce 01F0 breq .L126 |
1165 09d0 00C0 rjmp .L125 |
1166 .L123: |
1167 09d2 8081 ld r24,Z |
1168 09d4 9181 ldd r25,Z+1 |
1169 09d6 A281 ldd r26,Z+2 |
1170 09d8 B381 ldd r27,Z+3 |
1171 09da 8093 0000 sts MotorTest,r24 |
1172 09de 9093 0000 sts (MotorTest)+1,r25 |
1173 09e2 A093 0000 sts (MotorTest)+2,r26 |
1174 09e6 B093 0000 sts (MotorTest)+3,r27 |
1175 .L126: |
1176 09ea 80EF ldi r24,lo8(-16) |
1177 09ec 8093 0000 sts PC_MotortestActive,r24 |
1178 09f0 00C0 rjmp .L256 |
1179 .L218: |
1180 09f2 8091 0000 lds r24,UebertragungAbgeschlossen |
1181 09f6 8823 tst r24 |
1182 09f8 01F0 breq .L218 |
1183 09fa 8DE4 ldi r24,lo8(77) |
1184 09fc 90E0 ldi r25,hi8(77) |
1185 09fe 9F93 push r25 |
1186 0a00 8F93 push r24 |
1187 0a02 80E0 ldi r24,lo8(Mixer) |
1188 0a04 90E0 ldi r25,hi8(Mixer) |
1189 0a06 9F93 push r25 |
1190 0a08 8F93 push r24 |
1191 0a0a 81E0 ldi r24,lo8(1) |
1192 0a0c 8F93 push r24 |
1193 0a0e 8F93 push r24 |
1194 0a10 8EE4 ldi r24,lo8(78) |
1195 0a12 00C0 rjmp .L260 |
1196 .L111: |
1197 0a14 E091 0000 lds r30,pRxData |
1198 0a18 F091 0000 lds r31,(pRxData)+1 |
1199 0a1c 8081 ld r24,Z |
1200 0a1e 8130 cpi r24,lo8(1) |
1201 0a20 01F4 brne .L128 |
1202 0a22 A0E0 ldi r26,lo8(Mixer) |
1203 0a24 B0E0 ldi r27,hi8(Mixer) |
1204 0a26 8DE4 ldi r24,lo8(77) |
1205 .L130: |
1206 0a28 0190 ld r0,Z+ |
1207 0a2a 0D92 st X+,r0 |
1208 0a2c 8150 subi r24,lo8(-(-1)) |
1209 0a2e 01F4 brne .L130 |
1210 0a30 0E94 0000 call MixerTable_WriteToEEProm |
1211 0a34 81E0 ldi r24,lo8(1) |
1212 0a36 8983 std Y+1,r24 |
1213 0a38 8091 0000 lds r24,VersionInfo+6 |
1214 0a3c 8F7E andi r24,lo8(-17) |
1215 0a3e 8093 0000 sts VersionInfo+6,r24 |
1216 0a42 00C0 rjmp .L219 |
1217 .L128: |
1218 0a44 1982 std Y+1,__zero_reg__ |
1219 .L219: |
1220 0a46 8091 0000 lds r24,UebertragungAbgeschlossen |
1221 0a4a 8823 tst r24 |
1222 0a4c 01F0 breq .L219 |
1223 0a4e 81E0 ldi r24,lo8(1) |
1224 0a50 90E0 ldi r25,hi8(1) |
1225 0a52 9F93 push r25 |
1226 0a54 8F93 push r24 |
1227 0a56 CE01 movw r24,r28 |
1228 0a58 0196 adiw r24,1 |
1229 0a5a 9F93 push r25 |
1230 0a5c 8F93 push r24 |
1231 0a5e 81E0 ldi r24,lo8(1) |
1232 0a60 8F93 push r24 |
1233 0a62 8F93 push r24 |
1234 0a64 8DE4 ldi r24,lo8(77) |
1235 .L260: |
1236 0a66 8F93 push r24 |
1237 0a68 0E94 0000 call SendOutData |
1238 0a6c 8DB7 in r24,__SP_L__ |
1239 0a6e 9EB7 in r25,__SP_H__ |
1240 0a70 0796 adiw r24,7 |
1241 0a72 00C0 rjmp .L257 |
1242 .L113: |
1243 0a74 81E0 ldi r24,lo8(1) |
1244 0a76 8093 0000 sts GetPPMChannelAnforderung,r24 |
1245 .L256: |
1246 0a7a 8FEF ldi r24,lo8(-1) |
1247 0a7c 8093 0000 sts PcZugriff,r24 |
1248 0a80 00C0 rjmp .L106 |
1249 .L114: |
1250 0a82 E091 0000 lds r30,pRxData |
1251 0a86 F091 0000 lds r31,(pRxData)+1 |
1252 0a8a E081 ld r30,Z |
1253 0a8c 8E2F mov r24,r30 |
1254 0a8e 8A50 subi r24,lo8(-(-10)) |
1255 0a90 8A30 cpi r24,lo8(10) |
1256 0a92 00F4 brsh .L133 |
1257 0a94 8983 std Y+1,r24 |
1258 0a96 8823 tst r24 |
1259 0a98 01F4 brne .L135 |
1260 0a9a 81E0 ldi r24,lo8(1) |
1261 0a9c 00C0 rjmp .L252 |
1262 .L135: |
1263 0a9e 8630 cpi r24,lo8(6) |
1264 0aa0 00F0 brlo .L137 |
1265 0aa2 85E0 ldi r24,lo8(5) |
1266 .L252: |
1267 0aa4 8983 std Y+1,r24 |
1268 .L137: |
1269 0aa6 61E0 ldi r22,lo8(1) |
1270 0aa8 00C0 rjmp .L255 |
1271 .L133: |
1272 0aaa 8E2F mov r24,r30 |
1273 0aac 8451 subi r24,lo8(-(-20)) |
1274 0aae 8A30 cpi r24,lo8(10) |
1275 0ab0 00F4 brsh .L140 |
1276 0ab2 8983 std Y+1,r24 |
1277 0ab4 8823 tst r24 |
1278 0ab6 01F4 brne .L142 |
1279 0ab8 81E0 ldi r24,lo8(1) |
1280 0aba 00C0 rjmp .L253 |
1281 .L142: |
1282 0abc 8630 cpi r24,lo8(6) |
1283 0abe 00F0 brlo .L144 |
1284 0ac0 85E0 ldi r24,lo8(5) |
1285 .L253: |
1286 0ac2 8983 std Y+1,r24 |
1287 .L144: |
1288 0ac4 60E0 ldi r22,lo8(0) |
1289 .L255: |
1290 0ac6 8981 ldd r24,Y+1 |
1291 0ac8 0E94 0000 call SetDefaultParameter |
1292 0acc 00C0 rjmp .L221 |
1293 .L140: |
1294 0ace E983 std Y+1,r30 |
1295 0ad0 EF3F cpi r30,lo8(-1) |
1296 0ad2 01F4 brne .L146 |
1297 0ad4 0E94 0000 call GetActiveParamSet |
1298 0ad8 8983 std Y+1,r24 |
1299 .L146: |
1300 0ada 8981 ldd r24,Y+1 |
1301 0adc 8823 tst r24 |
1302 0ade 01F4 brne .L148 |
1303 0ae0 81E0 ldi r24,lo8(1) |
1304 0ae2 00C0 rjmp .L254 |
1305 .L148: |
1306 0ae4 8630 cpi r24,lo8(6) |
1307 0ae6 00F0 brlo .L150 |
1308 0ae8 85E0 ldi r24,lo8(5) |
1309 .L254: |
1310 0aea 8983 std Y+1,r24 |
1311 .L150: |
1312 0aec 8981 ldd r24,Y+1 |
1313 0aee 0E94 0000 call ParamSet_ReadFromEEProm |
1314 .L221: |
1315 0af2 8091 0000 lds r24,UebertragungAbgeschlossen |
1316 0af6 8823 tst r24 |
1317 0af8 01F0 breq .L221 |
1318 0afa 83E7 ldi r24,lo8(115) |
1319 0afc 90E0 ldi r25,hi8(115) |
1320 0afe 9F93 push r25 |
1321 0b00 8F93 push r24 |
1322 0b02 80E0 ldi r24,lo8(EE_Parameter) |
1323 0b04 90E0 ldi r25,hi8(EE_Parameter) |
1324 0b06 9F93 push r25 |
1325 0b08 8F93 push r24 |
1326 0b0a 81E0 ldi r24,lo8(1) |
1327 0b0c 90E0 ldi r25,hi8(1) |
1328 0b0e 9F93 push r25 |
1329 0b10 8F93 push r24 |
1330 0b12 CE01 movw r24,r28 |
1331 0b14 0196 adiw r24,1 |
1332 0b16 9F93 push r25 |
1333 0b18 8F93 push r24 |
1334 0b1a 82E0 ldi r24,lo8(2) |
1335 0b1c 8F93 push r24 |
1336 0b1e 81E0 ldi r24,lo8(1) |
1337 0b20 8F93 push r24 |
1338 0b22 81E5 ldi r24,lo8(81) |
1339 0b24 00C0 rjmp .L261 |
1340 .L115: |
1341 0b26 E091 0000 lds r30,pRxData |
1342 0b2a F091 0000 lds r31,(pRxData)+1 |
1343 0b2e 8081 ld r24,Z |
1344 0b30 8150 subi r24,lo8(-(-1)) |
1345 0b32 8530 cpi r24,lo8(5) |
1346 0b34 00F4 brsh .L153 |
1347 0b36 9F01 movw r18,r30 |
1348 0b38 2F5F subi r18,lo8(-(1)) |
1349 0b3a 3F4F sbci r19,hi8(-(1)) |
1350 0b3c 8181 ldd r24,Z+1 |
1351 0b3e 8535 cpi r24,lo8(85) |
1352 0b40 01F4 brne .L153 |
1353 0b42 A0E0 ldi r26,lo8(EE_Parameter) |
1354 0b44 B0E0 ldi r27,hi8(EE_Parameter) |
1355 0b46 F901 movw r30,r18 |
1356 0b48 83E7 ldi r24,lo8(115) |
1357 .L156: |
1358 0b4a 0190 ld r0,Z+ |
1359 0b4c 0D92 st X+,r0 |
1360 0b4e 8150 subi r24,lo8(-(-1)) |
1361 0b50 01F4 brne .L156 |
1362 0b52 E091 0000 lds r30,pRxData |
1363 0b56 F091 0000 lds r31,(pRxData)+1 |
1364 0b5a 8081 ld r24,Z |
1365 0b5c 0E94 0000 call ParamSet_WriteToEEProm |
1366 0b60 6091 0000 lds r22,EE_Parameter+65 |
1367 0b64 70E0 ldi r23,lo8(0) |
1368 0b66 80E0 ldi r24,lo8(0) |
1369 0b68 90E0 ldi r25,hi8(0) |
1370 0b6a 24EC ldi r18,lo8(2500) |
1371 0b6c 39E0 ldi r19,hi8(2500) |
1372 0b6e 40E0 ldi r20,hlo8(2500) |
1373 0b70 50E0 ldi r21,hhi8(2500) |
1374 0b72 0E94 0000 call __mulsi3 |
1375 0b76 6093 0000 sts Umschlag180Nick,r22 |
1376 0b7a 7093 0000 sts (Umschlag180Nick)+1,r23 |
1377 0b7e 8093 0000 sts (Umschlag180Nick)+2,r24 |
1378 0b82 9093 0000 sts (Umschlag180Nick)+3,r25 |
1379 0b86 6091 0000 lds r22,EE_Parameter+66 |
1380 0b8a 70E0 ldi r23,lo8(0) |
1381 0b8c 80E0 ldi r24,lo8(0) |
1382 0b8e 90E0 ldi r25,hi8(0) |
1383 0b90 0E94 0000 call __mulsi3 |
1384 0b94 6093 0000 sts Umschlag180Roll,r22 |
1385 0b98 7093 0000 sts (Umschlag180Roll)+1,r23 |
1386 0b9c 8093 0000 sts (Umschlag180Roll)+2,r24 |
1387 0ba0 9093 0000 sts (Umschlag180Roll)+3,r25 |
1388 0ba4 0E94 0000 call GetActiveParamSet |
1389 0ba8 8983 std Y+1,r24 |
1390 0baa 00C0 rjmp .L220 |
1391 .L153: |
1392 0bac 1982 std Y+1,__zero_reg__ |
1393 .L220: |
1394 0bae 8091 0000 lds r24,UebertragungAbgeschlossen |
1395 0bb2 8823 tst r24 |
1396 0bb4 01F0 breq .L220 |
1397 0bb6 81E0 ldi r24,lo8(1) |
1398 0bb8 90E0 ldi r25,hi8(1) |
1399 0bba 9F93 push r25 |
1400 0bbc 8F93 push r24 |
1401 0bbe CE01 movw r24,r28 |
1402 0bc0 0196 adiw r24,1 |
1403 0bc2 9F93 push r25 |
1404 0bc4 8F93 push r24 |
1405 0bc6 81E0 ldi r24,lo8(1) |
1406 0bc8 8F93 push r24 |
1407 0bca 8F93 push r24 |
1408 0bcc 83E5 ldi r24,lo8(83) |
1409 0bce 00C0 rjmp .L263 |
1410 .L109: |
1411 0bd0 E091 0000 lds r30,pRxData |
1412 0bd4 F091 0000 lds r31,(pRxData)+1 |
1413 0bd8 E081 ld r30,Z |
1414 0bda 8E2F mov r24,r30 |
1415 0bdc 8150 subi r24,lo8(-(-1)) |
1416 0bde 8530 cpi r24,lo8(5) |
1417 0be0 00F4 brsh .L161 |
1418 0be2 8E2F mov r24,r30 |
1419 0be4 0E94 0000 call ParamSet_ReadFromEEProm |
1420 .L161: |
1421 0be8 0E94 0000 call GetActiveParamSet |
1422 0bec 8983 std Y+1,r24 |
1423 .L163: |
1424 0bee 8091 0000 lds r24,UebertragungAbgeschlossen |
1425 0bf2 8823 tst r24 |
1426 0bf4 01F0 breq .L163 |
1427 0bf6 81E0 ldi r24,lo8(1) |
1428 0bf8 90E0 ldi r25,hi8(1) |
1429 0bfa 9F93 push r25 |
1430 0bfc 8F93 push r24 |
1431 0bfe CE01 movw r24,r28 |
1432 0c00 0196 adiw r24,1 |
1433 0c02 9F93 push r25 |
1434 0c04 8F93 push r24 |
1435 0c06 81E0 ldi r24,lo8(1) |
1436 0c08 8F93 push r24 |
1437 0c0a 8F93 push r24 |
1438 0c0c 86E4 ldi r24,lo8(70) |
1439 .L263: |
1440 0c0e 8F93 push r24 |
1441 0c10 0E94 0000 call SendOutData |
1442 0c14 8DB7 in r24,__SP_L__ |
1443 0c16 9EB7 in r25,__SP_H__ |
1444 0c18 0796 adiw r24,7 |
1445 0c1a 8DBF out __SP_L__,r24 |
1446 0c1c 8091 0000 lds r24,MotorenEin |
1447 0c20 8823 tst r24 |
1448 0c22 01F4 brne .L165 |
1449 0c24 6EE6 ldi r22,lo8(110) |
1450 0c26 70E0 ldi r23,hi8(110) |
1451 0c28 8981 ldd r24,Y+1 |
1452 0c2a 0E94 0000 call Piep |
1453 .L165: |
1454 0c2e 80E0 ldi r24,lo8(0) |
1455 0c30 0E94 0000 call LipoDetection |
1456 0c34 8091 0000 lds r24,EE_Parameter+39 |
1457 0c38 0E94 0000 call LIBFC_ReceiverInit |
1458 0c3c 00C0 rjmp .L106 |
1459 .L119: |
1460 0c3e E091 0000 lds r30,pRxData |
1461 0c42 F091 0000 lds r31,(pRxData)+1 |
1462 0c46 8081 ld r24,Z |
1463 0c48 9927 clr r25 |
1464 0c4a 87FD sbrc r24,7 |
1465 0c4c 9095 com r25 |
1466 0c4e 9093 0000 sts (PPM_in+26)+1,r25 |
1467 0c52 8093 0000 sts PPM_in+26,r24 |
1468 0c56 8181 ldd r24,Z+1 |
1469 0c58 9927 clr r25 |
1470 0c5a 87FD sbrc r24,7 |
1471 0c5c 9095 com r25 |
1472 0c5e 9093 0000 sts (PPM_in+28)+1,r25 |
1473 0c62 8093 0000 sts PPM_in+28,r24 |
1474 0c66 8281 ldd r24,Z+2 |
1475 0c68 9927 clr r25 |
1476 0c6a 87FD sbrc r24,7 |
1477 0c6c 9095 com r25 |
1478 0c6e 9093 0000 sts (PPM_in+30)+1,r25 |
1479 0c72 8093 0000 sts PPM_in+30,r24 |
1480 0c76 8381 ldd r24,Z+3 |
1481 0c78 9927 clr r25 |
1482 0c7a 87FD sbrc r24,7 |
1483 0c7c 9095 com r25 |
1484 0c7e 9093 0000 sts (PPM_in+32)+1,r25 |
1485 0c82 8093 0000 sts PPM_in+32,r24 |
1486 0c86 8481 ldd r24,Z+4 |
1487 0c88 9927 clr r25 |
1488 0c8a 87FD sbrc r24,7 |
1489 0c8c 9095 com r25 |
1490 0c8e 9093 0000 sts (PPM_in+34)+1,r25 |
1491 0c92 8093 0000 sts PPM_in+34,r24 |
1492 0c96 8581 ldd r24,Z+5 |
1493 0c98 9927 clr r25 |
1494 0c9a 87FD sbrc r24,7 |
1495 0c9c 9095 com r25 |
1496 0c9e 9093 0000 sts (PPM_in+36)+1,r25 |
1497 0ca2 8093 0000 sts PPM_in+36,r24 |
1498 0ca6 8681 ldd r24,Z+6 |
1499 0ca8 9927 clr r25 |
1500 0caa 87FD sbrc r24,7 |
1501 0cac 9095 com r25 |
1502 0cae 9093 0000 sts (PPM_in+38)+1,r25 |
1503 0cb2 8093 0000 sts PPM_in+38,r24 |
1504 0cb6 8781 ldd r24,Z+7 |
1505 0cb8 9927 clr r25 |
1506 0cba 87FD sbrc r24,7 |
1507 0cbc 9095 com r25 |
1508 0cbe 9093 0000 sts (PPM_in+40)+1,r25 |
1509 0cc2 8093 0000 sts PPM_in+40,r24 |
1510 0cc6 8085 ldd r24,Z+8 |
1511 0cc8 9927 clr r25 |
1512 0cca 87FD sbrc r24,7 |
1513 0ccc 9095 com r25 |
1514 0cce 9093 0000 sts (PPM_in+42)+1,r25 |
1515 0cd2 8093 0000 sts PPM_in+42,r24 |
1516 0cd6 8185 ldd r24,Z+9 |
1517 0cd8 9927 clr r25 |
1518 0cda 87FD sbrc r24,7 |
1519 0cdc 9095 com r25 |
1520 0cde 9093 0000 sts (PPM_in+44)+1,r25 |
1521 0ce2 8093 0000 sts PPM_in+44,r24 |
1522 0ce6 8285 ldd r24,Z+10 |
1523 0ce8 9927 clr r25 |
1524 0cea 87FD sbrc r24,7 |
1525 0cec 9095 com r25 |
1526 0cee 9093 0000 sts (PPM_in+46)+1,r25 |
1527 0cf2 8093 0000 sts PPM_in+46,r24 |
1528 0cf6 8385 ldd r24,Z+11 |
1529 0cf8 9927 clr r25 |
1530 0cfa 87FD sbrc r24,7 |
1531 0cfc 9095 com r25 |
1532 0cfe 9093 0000 sts (PPM_in+48)+1,r25 |
1533 0d02 8093 0000 sts PPM_in+48,r24 |
1534 0d06 00C0 rjmp .L106 |
1535 .L117: |
1536 0d08 E091 0000 lds r30,pRxData |
1537 0d0c F091 0000 lds r31,(pRxData)+1 |
1538 0d10 8081 ld r24,Z |
1539 0d12 0E94 0000 call I2C_ReadBLConfig |
1540 0d16 8A83 std Y+2,r24 |
1541 0d18 8823 tst r24 |
1542 0d1a 01F4 brne .L167 |
1543 0d1c 81E0 ldi r24,lo8(1) |
1544 0d1e 8983 std Y+1,r24 |
1545 0d20 00C0 rjmp .L222 |
1546 .L167: |
1547 0d22 1982 std Y+1,__zero_reg__ |
1548 .L222: |
1549 0d24 8091 0000 lds r24,UebertragungAbgeschlossen |
1550 0d28 8823 tst r24 |
1551 0d2a 01F0 breq .L222 |
1552 0d2c 4091 0000 lds r20,pRxData |
1553 0d30 5091 0000 lds r21,(pRxData)+1 |
1554 0d34 88E0 ldi r24,lo8(8) |
1555 0d36 90E0 ldi r25,hi8(8) |
1556 0d38 9F93 push r25 |
1557 0d3a 8F93 push r24 |
1558 0d3c 80E0 ldi r24,lo8(BLConfig) |
1559 0d3e 90E0 ldi r25,hi8(BLConfig) |
1560 0d40 9F93 push r25 |
1561 0d42 8F93 push r24 |
1562 0d44 21E0 ldi r18,lo8(1) |
1563 0d46 30E0 ldi r19,hi8(1) |
1564 0d48 3F93 push r19 |
1565 0d4a 2F93 push r18 |
1566 0d4c 5F93 push r21 |
1567 0d4e 4F93 push r20 |
1568 0d50 3F93 push r19 |
1569 0d52 2F93 push r18 |
1570 0d54 CE01 movw r24,r28 |
1571 0d56 0296 adiw r24,2 |
1572 0d58 9F93 push r25 |
1573 0d5a 8F93 push r24 |
1574 0d5c 3F93 push r19 |
1575 0d5e 2F93 push r18 |
1576 0d60 CE01 movw r24,r28 |
1577 0d62 0196 adiw r24,1 |
1578 0d64 9F93 push r25 |
1579 0d66 8F93 push r24 |
1580 0d68 84E0 ldi r24,lo8(4) |
1581 0d6a 8F93 push r24 |
1582 0d6c 81E0 ldi r24,lo8(1) |
1583 0d6e 8F93 push r24 |
1584 0d70 85E5 ldi r24,lo8(85) |
1585 0d72 8F93 push r24 |
1586 0d74 0E94 0000 call SendOutData |
1587 0d78 8DB7 in r24,__SP_L__ |
1588 0d7a 9EB7 in r25,__SP_H__ |
1589 0d7c 4396 adiw r24,19 |
1590 0d7e 00C0 rjmp .L257 |
1591 .L118: |
1592 0d80 8091 0000 lds r24,RxDataLen |
1593 0d84 8930 cpi r24,lo8(9) |
1594 0d86 00F4 brsh .+2 |
1595 0d88 00C0 rjmp .L106 |
1596 0d8a E091 0000 lds r30,pRxData |
1597 0d8e F091 0000 lds r31,(pRxData)+1 |
1598 0d92 A0E0 ldi r26,lo8(BLConfig) |
1599 0d94 B0E0 ldi r27,hi8(BLConfig) |
1600 0d96 3196 adiw r30,1 |
1601 0d98 88E0 ldi r24,lo8(8) |
1602 .L172: |
1603 0d9a 0190 ld r0,Z+ |
1604 0d9c 0D92 st X+,r0 |
1605 0d9e 8150 subi r24,lo8(-(-1)) |
1606 0da0 01F4 brne .L172 |
1607 0da2 E091 0000 lds r30,pRxData |
1608 0da6 F091 0000 lds r31,(pRxData)+1 |
1609 0daa 8081 ld r24,Z |
1610 0dac 0E94 0000 call I2C_WriteBLConfig |
1611 0db0 8A83 std Y+2,r24 |
1612 0db2 8823 tst r24 |
1613 0db4 01F4 brne .L173 |
1614 0db6 81E0 ldi r24,lo8(1) |
1615 0db8 8983 std Y+1,r24 |
1616 0dba 00C0 rjmp .L223 |
1617 .L173: |
1618 0dbc 1982 std Y+1,__zero_reg__ |
1619 .L223: |
1620 0dbe 8091 0000 lds r24,UebertragungAbgeschlossen |
1621 0dc2 8823 tst r24 |
1622 0dc4 01F0 breq .L223 |
1623 0dc6 21E0 ldi r18,lo8(1) |
1624 0dc8 30E0 ldi r19,hi8(1) |
1625 0dca 3F93 push r19 |
1626 0dcc 2F93 push r18 |
1627 0dce CE01 movw r24,r28 |
1628 0dd0 0296 adiw r24,2 |
1629 0dd2 9F93 push r25 |
1630 0dd4 8F93 push r24 |
1631 0dd6 3F93 push r19 |
1632 0dd8 2F93 push r18 |
1633 0dda CE01 movw r24,r28 |
1634 0ddc 0196 adiw r24,1 |
1635 0dde 9F93 push r25 |
1636 0de0 8F93 push r24 |
1637 0de2 82E0 ldi r24,lo8(2) |
1638 0de4 8F93 push r24 |
1639 0de6 81E0 ldi r24,lo8(1) |
1640 0de8 8F93 push r24 |
1641 0dea 87E5 ldi r24,lo8(87) |
1642 .L261: |
1643 0dec 8F93 push r24 |
1644 0dee 0E94 0000 call SendOutData |
1645 0df2 8DB7 in r24,__SP_L__ |
1646 0df4 9EB7 in r25,__SP_H__ |
1647 0df6 0B96 adiw r24,11 |
1648 .L257: |
1649 0df8 8DBF out __SP_L__,r24 |
1650 0dfa 00C0 rjmp .L106 |
1651 .L110: |
1652 0dfc 0E94 0000 call LIBFC_GetCPUType |
1653 0e00 8983 std Y+1,r24 |
1654 0e02 8230 cpi r24,lo8(2) |
1655 0e04 01F0 breq .L177 |
1656 0e06 8430 cpi r24,lo8(4) |
1657 0e08 01F0 breq .+2 |
1658 0e0a 00C0 rjmp .L106 |
1659 .L177: |
1660 /* #APP */ |
1661 0e0c F894 cli |
1662 /* #NOAPP */ |
1663 0e0e 8091 C100 lds r24,193 |
1664 0e12 8F73 andi r24,lo8(63) |
1665 0e14 8093 C100 sts 193,r24 |
1666 0e18 8091 C900 lds r24,201 |
1667 0e1c 8F73 andi r24,lo8(63) |
1668 0e1e 8093 C900 sts 201,r24 |
1669 0e22 8091 C100 lds r24,193 |
1670 0e26 877E andi r24,lo8(-25) |
1671 0e28 8093 C100 sts 193,r24 |
1672 0e2c 8091 C900 lds r24,201 |
1673 0e30 877E andi r24,lo8(-25) |
1674 0e32 8093 C900 sts 201,r24 |
1675 0e36 00C0 rjmp .L179 |
1676 .L180: |
1677 0e38 8091 CE00 lds r24,206 |
1678 .L179: |
1679 0e3c 8091 C800 lds r24,200 |
1680 0e40 87FD sbrc r24,7 |
1681 0e42 00C0 rjmp .L180 |
1682 0e44 00C0 rjmp .L249 |
1683 .L182: |
1684 0e46 8091 C600 lds r24,198 |
1685 .L249: |
1686 0e4a 8091 C000 lds r24,192 |
1687 0e4e 87FD sbrc r24,7 |
1688 0e50 00C0 rjmp .L182 |
1689 0e52 E091 0000 lds r30,pRxData |
1690 0e56 F091 0000 lds r31,(pRxData)+1 |
1691 0e5a 8081 ld r24,Z |
1692 0e5c 8823 tst r24 |
1693 0e5e 01F4 brne .L184 |
1694 0e60 81E0 ldi r24,lo8(1) |
1695 0e62 8093 0000 sts JetiUpdateModeActive,r24 |
1696 0e66 1092 CD00 sts 205,__zero_reg__ |
1697 0e6a 80E4 ldi r24,lo8(64) |
1698 0e6c 8093 CC00 sts 204,r24 |
1699 0e70 8091 CD00 lds r24,205 |
1700 0e74 8093 C500 sts 197,r24 |
1701 0e78 8091 CC00 lds r24,204 |
1702 0e7c 8093 C400 sts 196,r24 |
1703 0e80 8091 CA00 lds r24,202 |
1704 0e84 8F7D andi r24,lo8(-33) |
1705 0e86 8093 CA00 sts 202,r24 |
1706 0e8a 8091 CA00 lds r24,202 |
1707 0e8e 8F7E andi r24,lo8(-17) |
1708 0e90 8093 CA00 sts 202,r24 |
1709 0e94 8091 C900 lds r24,201 |
1710 0e98 8B7F andi r24,lo8(-5) |
1711 0e9a 8093 C900 sts 201,r24 |
1712 0e9e 8091 CA00 lds r24,202 |
1713 0ea2 8460 ori r24,lo8(4) |
1714 0ea4 8093 CA00 sts 202,r24 |
1715 0ea8 8091 CA00 lds r24,202 |
1716 0eac 8260 ori r24,lo8(2) |
1717 0eae 8093 CA00 sts 202,r24 |
1718 0eb2 00C0 rjmp .L186 |
1719 .L184: |
1720 0eb4 82E0 ldi r24,lo8(2) |
1721 0eb6 8093 0000 sts JetiUpdateModeActive,r24 |
1722 .L186: |
1723 0eba 8091 CA00 lds r24,202 |
1724 0ebe 877F andi r24,lo8(-9) |
1725 0ec0 8093 CA00 sts 202,r24 |
1726 0ec4 8091 C200 lds r24,194 |
1727 0ec8 877F andi r24,lo8(-9) |
1728 0eca 8093 C200 sts 194,r24 |
1729 0ece 8091 C900 lds r24,201 |
1730 0ed2 8E7F andi r24,lo8(-2) |
1731 0ed4 8093 C900 sts 201,r24 |
1732 0ed8 8091 C100 lds r24,193 |
1733 0edc 8861 ori r24,lo8(24) |
1734 0ede 8093 C100 sts 193,r24 |
1735 0ee2 8091 C900 lds r24,201 |
1736 0ee6 8861 ori r24,lo8(24) |
1737 0ee8 8093 C900 sts 201,r24 |
1738 0eec 8091 C100 lds r24,193 |
1739 0ef0 8068 ori r24,lo8(-128) |
1740 0ef2 8093 C100 sts 193,r24 |
1741 0ef6 8091 C900 lds r24,201 |
1742 0efa 8068 ori r24,lo8(-128) |
1743 0efc 8093 C900 sts 201,r24 |
1744 0f00 1092 6E00 sts 110,__zero_reg__ |
1745 0f04 1092 6F00 sts 111,__zero_reg__ |
1746 0f08 1092 7000 sts 112,__zero_reg__ |
1747 /* #APP */ |
1748 0f0c 7894 sei |
1749 /* #NOAPP */ |
1750 .L106: |
1751 0f0e 8091 0000 lds r24,RxdBuffer+2 |
1752 0f12 8436 cpi r24,lo8(100) |
1753 0f14 01F4 brne .+2 |
1754 0f16 00C0 rjmp .L192 |
1755 0f18 8536 cpi r24,lo8(101) |
1756 0f1a 00F4 brsh .L198 |
1757 0f1c 8136 cpi r24,lo8(97) |
1758 0f1e 01F4 brne .+2 |
1759 0f20 00C0 rjmp .L189 |
1760 0f22 8236 cpi r24,lo8(98) |
1761 0f24 00F4 brsh .L199 |
1762 0f26 8B34 cpi r24,lo8(75) |
1763 0f28 01F0 breq .+2 |
1764 0f2a 00C0 rjmp .L187 |
1765 0f2c 00C0 rjmp .L188 |
1766 .L199: |
1767 0f2e 8236 cpi r24,lo8(98) |
1768 0f30 01F4 brne .+2 |
1769 0f32 00C0 rjmp .L190 |
1770 0f34 8336 cpi r24,lo8(99) |
1771 0f36 01F0 breq .+2 |
1772 0f38 00C0 rjmp .L187 |
1773 0f3a 00C0 rjmp .L191 |
1774 .L198: |
1775 0f3c 8C36 cpi r24,lo8(108) |
1776 0f3e 01F4 brne .+2 |
1777 0f40 00C0 rjmp .L195 |
1778 0f42 8D36 cpi r24,lo8(109) |
1779 0f44 00F4 brsh .L200 |
1780 0f46 8736 cpi r24,lo8(103) |
1781 0f48 01F4 brne .+2 |
1782 0f4a 00C0 rjmp .L193 |
1783 0f4c 8836 cpi r24,lo8(104) |
1784 0f4e 01F0 breq .+2 |
1785 0f50 00C0 rjmp .L187 |
1786 0f52 00C0 rjmp .L194 |
1787 .L200: |
1788 0f54 8437 cpi r24,lo8(116) |
1789 0f56 01F0 breq .L196 |
1790 0f58 8637 cpi r24,lo8(118) |
1791 0f5a 01F0 breq .+2 |
1792 0f5c 00C0 rjmp .L187 |
1793 0f5e 00C0 rjmp .L197 |
1794 .L196: |
1795 0f60 8091 0000 lds r24,AnzahlEmpfangsBytes |
1796 0f64 E091 0000 lds r30,pRxData |
1797 0f68 F091 0000 lds r31,(pRxData)+1 |
1798 0f6c 8031 cpi r24,lo8(16) |
1799 0f6e 00F0 brlo .L201 |
1800 0f70 A0E0 ldi r26,lo8(MotorTest) |
1801 0f72 B0E0 ldi r27,hi8(MotorTest) |
1802 0f74 80E1 ldi r24,lo8(16) |
1803 .L203: |
1804 0f76 0190 ld r0,Z+ |
1805 0f78 0D92 st X+,r0 |
1806 0f7a 8150 subi r24,lo8(-(-1)) |
1807 0f7c 01F0 breq .L224 |
1808 0f7e 00C0 rjmp .L203 |
1809 .L201: |
1810 0f80 8081 ld r24,Z |
1811 0f82 9181 ldd r25,Z+1 |
1812 0f84 A281 ldd r26,Z+2 |
1813 0f86 B381 ldd r27,Z+3 |
1814 0f88 8093 0000 sts MotorTest,r24 |
1815 0f8c 9093 0000 sts (MotorTest)+1,r25 |
1816 0f90 A093 0000 sts (MotorTest)+2,r26 |
1817 0f94 B093 0000 sts (MotorTest)+3,r27 |
1818 .L224: |
1819 0f98 8091 0000 lds r24,UebertragungAbgeschlossen |
1820 0f9c 8823 tst r24 |
1821 0f9e 01F0 breq .L224 |
1822 0fa0 8091 0000 lds r24,MeineSlaveAdresse |
1823 0fa4 1F92 push __zero_reg__ |
1824 0fa6 8F93 push r24 |
1825 0fa8 84E5 ldi r24,lo8(84) |
1826 0faa 8F93 push r24 |
1827 0fac 0E94 0000 call SendOutData |
1828 0fb0 8AEF ldi r24,lo8(-6) |
1829 0fb2 8093 0000 sts PC_MotortestActive,r24 |
1830 0fb6 8FEF ldi r24,lo8(-1) |
1831 0fb8 8093 0000 sts PcZugriff,r24 |
1832 0fbc 80EA ldi r24,lo8(4000) |
1833 0fbe 9FE0 ldi r25,hi8(4000) |
1834 0fc0 0E94 0000 call SetDelay |
1835 0fc4 9093 0000 sts (AboTimeOut)+1,r25 |
1836 0fc8 8093 0000 sts AboTimeOut,r24 |
1837 0fcc 0F90 pop __tmp_reg__ |
1838 0fce 0F90 pop __tmp_reg__ |
1839 0fd0 0F90 pop __tmp_reg__ |
1840 0fd2 00C0 rjmp .L187 |
1841 .L188: |
1842 0fd4 E091 0000 lds r30,pRxData |
1843 0fd8 F091 0000 lds r31,(pRxData)+1 |
1844 0fdc 8081 ld r24,Z |
1845 0fde 9181 ldd r25,Z+1 |
1846 0fe0 9093 0000 sts (KompassValue)+1,r25 |
1847 0fe4 8093 0000 sts KompassValue,r24 |
1848 0fe8 845E subi r24,lo8(-(540)) |
1849 0fea 9D4F sbci r25,hi8(-(540)) |
1850 0fec 2091 0000 lds r18,KompassStartwert |
1851 0ff0 3091 0000 lds r19,(KompassStartwert)+1 |
1852 0ff4 821B sub r24,r18 |
1853 0ff6 930B sbc r25,r19 |
1854 0ff8 68E6 ldi r22,lo8(360) |
1855 0ffa 71E0 ldi r23,hi8(360) |
1856 0ffc 0E94 0000 call __divmodhi4 |
1857 1000 845B subi r24,lo8(-(-180)) |
1858 1002 9040 sbci r25,hi8(-(-180)) |
1859 1004 9093 0000 sts (KompassRichtung)+1,r25 |
1860 1008 8093 0000 sts KompassRichtung,r24 |
1861 100c 00C0 rjmp .L187 |
1862 .L189: |
1863 100e E091 0000 lds r30,pRxData |
1864 1012 F091 0000 lds r31,(pRxData)+1 |
1865 1016 8081 ld r24,Z |
1866 1018 8093 0000 sts DebugTextAnforderung,r24 |
1867 101c 8032 cpi r24,lo8(32) |
1868 101e 00F0 brlo .L258 |
1869 1020 8FE1 ldi r24,lo8(31) |
1870 1022 8093 0000 sts DebugTextAnforderung,r24 |
1871 1026 00C0 rjmp .L258 |
1872 .L190: |
1873 1028 A0E0 ldi r26,lo8(ExternControl) |
1874 102a B0E0 ldi r27,hi8(ExternControl) |
1875 102c E091 0000 lds r30,pRxData |
1876 1030 F091 0000 lds r31,(pRxData)+1 |
1877 1034 8BE0 ldi r24,lo8(11) |
1878 .L208: |
1879 1036 0190 ld r0,Z+ |
1880 1038 0D92 st X+,r0 |
1881 103a 8150 subi r24,lo8(-(-1)) |
1882 103c 01F4 brne .L208 |
1883 103e 8091 0000 lds r24,ExternControl+9 |
1884 1042 8093 0000 sts ConfirmFrame,r24 |
1885 .L258: |
1886 1046 8FEF ldi r24,lo8(-1) |
1887 1048 8093 0000 sts PcZugriff,r24 |
1888 104c 00C0 rjmp .L187 |
1889 .L191: |
1890 104e 8091 0000 lds r24,Intervall3D |
1891 1052 9091 0000 lds r25,(Intervall3D)+1 |
1892 1056 892B or r24,r25 |
1893 1058 01F4 brne .L209 |
1894 105a E091 0000 lds r30,pRxData |
1895 105e F091 0000 lds r31,(pRxData)+1 |
1896 1062 E081 ld r30,Z |
1897 1064 EE23 tst r30 |
1898 1066 01F0 breq .L209 |
1899 1068 8AE0 ldi r24,lo8(10) |
1900 106a E89F mul r30,r24 |
1901 106c C001 movw r24,r0 |
1902 106e 1124 clr r1 |
1903 1070 0E94 0000 call SetDelay |
1904 1074 9093 0000 sts (Timer3D)+1,r25 |
1905 1078 8093 0000 sts Timer3D,r24 |
1906 .L209: |
1907 107c E091 0000 lds r30,pRxData |
1908 1080 F091 0000 lds r31,(pRxData)+1 |
1909 1084 8081 ld r24,Z |
1910 1086 2AE0 ldi r18,lo8(10) |
1911 1088 829F mul r24,r18 |
1912 108a C001 movw r24,r0 |
1913 108c 1124 clr r1 |
1914 108e 9093 0000 sts (Intervall3D)+1,r25 |
1915 1092 8093 0000 sts Intervall3D,r24 |
1916 1096 00C0 rjmp .L212 |
1917 .L192: |
1918 1098 8FEF ldi r24,lo8(-1) |
1919 109a 8093 0000 sts PcZugriff,r24 |
1920 109e E091 0000 lds r30,pRxData |
1921 10a2 F091 0000 lds r31,(pRxData)+1 |
1922 10a6 8081 ld r24,Z |
1923 10a8 2AE0 ldi r18,lo8(10) |
1924 10aa 829F mul r24,r18 |
1925 10ac C001 movw r24,r0 |
1926 10ae 1124 clr r1 |
1927 10b0 9093 0000 sts (DebugDataIntervall)+1,r25 |
1928 10b4 8093 0000 sts DebugDataIntervall,r24 |
1929 10b8 892B or r24,r25 |
1930 10ba 01F0 breq .L212 |
1931 10bc 81E0 ldi r24,lo8(1) |
1932 10be 8093 0000 sts DebugDataAnforderung,r24 |
1933 .L212: |
1934 10c2 80EA ldi r24,lo8(4000) |
1935 10c4 9FE0 ldi r25,hi8(4000) |
1936 10c6 0E94 0000 call SetDelay |
1937 10ca 9093 0000 sts (AboTimeOut)+1,r25 |
1938 10ce 8093 0000 sts AboTimeOut,r24 |
1939 10d2 00C0 rjmp .L187 |
1940 .L194: |
1941 10d4 8FEF ldi r24,lo8(-1) |
1942 10d6 8093 0000 sts PcZugriff,r24 |
1943 10da E091 0000 lds r30,pRxData |
1944 10de F091 0000 lds r31,(pRxData)+1 |
1945 10e2 9081 ld r25,Z |
1946 10e4 97FD sbrc r25,7 |
1947 10e6 00C0 rjmp .L214 |
1948 10e8 82E0 ldi r24,lo8(2) |
1949 10ea 8093 0000 sts DisplayLine,r24 |
1950 10ee 1092 0000 sts (Display_Interval)+1,__zero_reg__ |
1951 10f2 1092 0000 sts Display_Interval,__zero_reg__ |
1952 10f6 00C0 rjmp .L216 |
1953 .L214: |
1954 10f8 9095 com r25 |
1955 10fa 8091 0000 lds r24,RemoteKeys |
1956 10fe 892B or r24,r25 |
1957 1100 8093 0000 sts RemoteKeys,r24 |
1958 1104 8181 ldd r24,Z+1 |
1959 1106 2AE0 ldi r18,lo8(10) |
1960 1108 829F mul r24,r18 |
1961 110a C001 movw r24,r0 |
1962 110c 1124 clr r1 |
1963 110e 9093 0000 sts (Display_Interval)+1,r25 |
1964 1112 8093 0000 sts Display_Interval,r24 |
1965 1116 84E0 ldi r24,lo8(4) |
1966 1118 8093 0000 sts DisplayLine,r24 |
1967 111c 80EA ldi r24,lo8(4000) |
1968 111e 9FE0 ldi r25,hi8(4000) |
1969 1120 0E94 0000 call SetDelay |
1970 1124 9093 0000 sts (AboTimeOut)+1,r25 |
1971 1128 8093 0000 sts AboTimeOut,r24 |
1972 .L216: |
1973 112c 81E0 ldi r24,lo8(1) |
1974 112e 8093 0000 sts DebugDisplayAnforderung,r24 |
1975 1132 00C0 rjmp .L187 |
1976 .L195: |
1977 1134 8FEF ldi r24,lo8(-1) |
1978 1136 8093 0000 sts PcZugriff,r24 |
1979 113a E091 0000 lds r30,pRxData |
1980 113e F091 0000 lds r31,(pRxData)+1 |
1981 1142 8081 ld r24,Z |
1982 1144 8093 0000 sts MenuePunkt,r24 |
1983 1148 81E0 ldi r24,lo8(1) |
1984 114a 8093 0000 sts DebugDisplayAnforderung1,r24 |
1985 114e 00C0 rjmp .L187 |
1986 .L197: |
1987 1150 81E0 ldi r24,lo8(1) |
1988 1152 8093 0000 sts GetVersionAnforderung,r24 |
1989 1156 00C0 rjmp .L187 |
1990 .L193: |
1991 1158 81E0 ldi r24,lo8(1) |
1992 115a 8093 0000 sts GetExternalControl,r24 |
1993 .L187: |
1994 115e 1092 0000 sts NeuerDatensatzEmpfangen,__zero_reg__ |
1995 1162 1092 0000 sts (pRxData)+1,__zero_reg__ |
1996 1166 1092 0000 sts pRxData,__zero_reg__ |
1997 116a 1092 0000 sts RxDataLen,__zero_reg__ |
1998 .L217: |
1999 /* epilogue: frame size=2 */ |
2000 116e E2E0 ldi r30,2 |
2001 1170 CE5F subi r28,-2 |
2002 1172 0C94 0000 jmp __epilogue_restores__+32 |
2003 /* epilogue end (size=4) */ |
2004 /* function BearbeiteRxDaten size 1095 (1085) */ |
2006 .global __vector_20 |
2008 __vector_20: |
2009 /* prologue: frame size=0 */ |
2010 1176 1F92 push __zero_reg__ |
2011 1178 0F92 push __tmp_reg__ |
2012 117a 0FB6 in __tmp_reg__,__SREG__ |
2013 117c 0F92 push __tmp_reg__ |
2014 117e 1124 clr __zero_reg__ |
2015 1180 2F93 push r18 |
2016 1182 3F93 push r19 |
2017 1184 4F93 push r20 |
2018 1186 5F93 push r21 |
2019 1188 6F93 push r22 |
2020 118a 7F93 push r23 |
2021 118c 8F93 push r24 |
2022 118e 9F93 push r25 |
2023 1190 AF93 push r26 |
2024 1192 BF93 push r27 |
2025 1194 CF93 push r28 |
2026 1196 DF93 push r29 |
2027 1198 EF93 push r30 |
2028 119a FF93 push r31 |
2029 /* prologue end (size=19) */ |
2030 119c 8091 0000 lds r24,JetiUpdateModeActive |
2031 11a0 8130 cpi r24,lo8(1) |
2032 11a2 01F4 brne .L265 |
2033 11a4 8091 C600 lds r24,198 |
2034 11a8 8093 CE00 sts 206,r24 |
2035 11ac 00C0 rjmp .L292 |
2036 .L265: |
2037 11ae 8091 0000 lds r24,JetiUpdateModeActive |
2038 11b2 8230 cpi r24,lo8(2) |
2039 11b4 01F4 brne .L268 |
2040 11b6 8091 C600 lds r24,198 |
2041 11ba 8093 0000 sts RxdBuffer,r24 |
2042 11be 00C0 rjmp .L292 |
2043 .L268: |
2044 11c0 8091 C600 lds r24,198 |
2045 11c4 8093 0000 sts SioTmp,r24 |
2046 11c8 4091 0000 lds r20,buf_ptr.2552 |
2047 11cc 4A3A cpi r20,lo8(-86) |
2048 11ce 00F0 brlo .L270 |
2049 11d0 1092 0000 sts UartState.2553,__zero_reg__ |
2050 .L270: |
2051 11d4 8091 0000 lds r24,SioTmp |
2052 11d8 8D30 cpi r24,lo8(13) |
2053 11da 01F0 breq .+2 |
2054 11dc 00C0 rjmp .L272 |
2055 11de 8091 0000 lds r24,UartState.2553 |
2056 11e2 8230 cpi r24,lo8(2) |
2057 11e4 01F0 breq .+2 |
2058 11e6 00C0 rjmp .L272 |
2059 11e8 1092 0000 sts UartState.2553,__zero_reg__ |
2060 11ec A42F mov r26,r20 |
2061 11ee B0E0 ldi r27,lo8(0) |
2062 11f0 FD01 movw r30,r26 |
2063 11f2 E050 subi r30,lo8(-(RxdBuffer-2)) |
2064 11f4 F040 sbci r31,hi8(-(RxdBuffer-2)) |
2065 11f6 3081 ld r19,Z |
2066 11f8 ED01 movw r28,r26 |
2067 11fa C050 subi r28,lo8(-(RxdBuffer-1)) |
2068 11fc D040 sbci r29,hi8(-(RxdBuffer-1)) |
2069 11fe 2881 ld r18,Y |
2070 1200 8091 0000 lds r24,crc.2549 |
2071 1204 9091 0000 lds r25,(crc.2549)+1 |
2072 1208 831B sub r24,r19 |
2073 120a 9109 sbc r25,__zero_reg__ |
2074 120c 821B sub r24,r18 |
2075 120e 9109 sbc r25,__zero_reg__ |
2076 1210 9F70 andi r25,hi8(4095) |
2077 1212 9093 0000 sts (crc.2549)+1,r25 |
2078 1216 8093 0000 sts crc.2549,r24 |
2079 121a 9C01 movw r18,r24 |
2080 121c 6894 set |
2081 121e 15F8 bld __zero_reg__,6-1 |
2082 1220 3695 1: lsr r19 |
2083 1222 2795 ror r18 |
2084 1224 1694 lsr __zero_reg__ |
2085 1226 01F4 brne 1b |
2086 1228 235C subi r18,lo8(-(61)) |
2087 122a 2093 0000 sts crc1.2550,r18 |
2088 122e 982F mov r25,r24 |
2089 1230 9F73 andi r25,lo8(63) |
2090 1232 935C subi r25,lo8(-(61)) |
2091 1234 9093 0000 sts crc2.2551,r25 |
2092 1238 8081 ld r24,Z |
2093 123a 2817 cp r18,r24 |
2094 123c 01F4 brne .L275 |
2095 123e 8881 ld r24,Y |
2096 1240 9817 cp r25,r24 |
2097 1242 01F4 brne .L275 |
2098 1244 91E0 ldi r25,lo8(1) |
2099 1246 00C0 rjmp .L278 |
2100 .L275: |
2101 1248 8091 0000 lds r24,CntCrcError |
2102 124c 8F5F subi r24,lo8(-(1)) |
2103 124e 8093 0000 sts CntCrcError,r24 |
2104 1252 90E0 ldi r25,lo8(0) |
2105 .L278: |
2106 1254 8091 0000 lds r24,NeuerDatensatzEmpfangen |
2107 1258 8823 tst r24 |
2108 125a 01F0 breq .+2 |
2109 125c 00C0 rjmp .L292 |
2110 125e 9923 tst r25 |
2111 1260 01F4 brne .+2 |
2112 1262 00C0 rjmp .L292 |
2113 1264 81E0 ldi r24,lo8(1) |
2114 1266 8093 0000 sts NeuerDatensatzEmpfangen,r24 |
2115 126a 4F5F subi r20,lo8(-(1)) |
2116 126c 4093 0000 sts AnzahlEmpfangsBytes,r20 |
2117 1270 A050 subi r26,lo8(-(RxdBuffer)) |
2118 1272 B040 sbci r27,hi8(-(RxdBuffer)) |
2119 1274 8DE0 ldi r24,lo8(13) |
2120 1276 8C93 st X,r24 |
2121 1278 8091 0000 lds r24,RxdBuffer+2 |
2122 127c 8235 cpi r24,lo8(82) |
2123 127e 01F0 breq .+2 |
2124 1280 00C0 rjmp .L292 |
2125 1282 0E94 0000 call LcdClear |
2126 1286 88E1 ldi r24,lo8(24) |
2127 1288 90E0 ldi r25,hi8(24) |
2128 128a 2CE0 ldi r18,lo8(12) |
2129 /* #APP */ |
2130 128c 0FB6 in __tmp_reg__,__SREG__ |
2131 128e F894 cli |
2132 1290 A895 wdr |
2133 1292 8093 6000 sts 96,r24 |
2134 1296 0FBE out __SREG__,__tmp_reg__ |
2135 1298 2093 6000 sts 96,r18 |
2136 /* #NOAPP */ |
2137 129c 1092 0000 sts ServoActive,__zero_reg__ |
2138 12a0 00C0 rjmp .L292 |
2139 .L272: |
2140 12a2 8091 0000 lds r24,UartState.2553 |
2141 12a6 8130 cpi r24,lo8(1) |
2142 12a8 01F0 breq .L284 |
2143 12aa 8130 cpi r24,lo8(1) |
2144 12ac 00F0 brlo .L283 |
2145 12ae 8230 cpi r24,lo8(2) |
2146 12b0 01F4 brne .L293 |
2147 12b2 00C0 rjmp .L285 |
2148 .L283: |
2149 12b4 8091 0000 lds r24,SioTmp |
2150 12b8 8332 cpi r24,lo8(35) |
2151 12ba 01F4 brne .L286 |
2152 12bc 8091 0000 lds r24,NeuerDatensatzEmpfangen |
2153 12c0 8823 tst r24 |
2154 12c2 01F4 brne .L286 |
2155 12c4 81E0 ldi r24,lo8(1) |
2156 12c6 8093 0000 sts UartState.2553,r24 |
2157 .L286: |
2158 12ca 8091 0000 lds r24,SioTmp |
2159 12ce 8093 0000 sts RxdBuffer,r24 |
2160 12d2 81E0 ldi r24,lo8(1) |
2161 12d4 8093 0000 sts buf_ptr.2552,r24 |
2162 12d8 8091 0000 lds r24,SioTmp |
2163 12dc 90E0 ldi r25,lo8(0) |
2164 12de 00C0 rjmp .L294 |
2165 .L284: |
2166 12e0 82E0 ldi r24,lo8(2) |
2167 12e2 8093 0000 sts UartState.2553,r24 |
2168 12e6 E42F mov r30,r20 |
2169 12e8 F0E0 ldi r31,lo8(0) |
2170 12ea 8091 0000 lds r24,SioTmp |
2171 12ee E050 subi r30,lo8(-(RxdBuffer)) |
2172 12f0 F040 sbci r31,hi8(-(RxdBuffer)) |
2173 12f2 8083 st Z,r24 |
2174 12f4 00C0 rjmp .L295 |
2175 .L285: |
2176 12f6 E42F mov r30,r20 |
2177 12f8 F0E0 ldi r31,lo8(0) |
2178 12fa 8091 0000 lds r24,SioTmp |
2179 12fe E050 subi r30,lo8(-(RxdBuffer)) |
2180 1300 F040 sbci r31,hi8(-(RxdBuffer)) |
2181 1302 8083 st Z,r24 |
2182 1304 4A3A cpi r20,lo8(-86) |
2183 1306 00F4 brsh .L289 |
2184 .L295: |
2185 1308 4F5F subi r20,lo8(-(1)) |
2186 130a 4093 0000 sts buf_ptr.2552,r20 |
2187 130e 00C0 rjmp .L291 |
2188 .L289: |
2189 1310 1092 0000 sts UartState.2553,__zero_reg__ |
2190 .L291: |
2191 1314 2091 0000 lds r18,SioTmp |
2192 1318 8091 0000 lds r24,crc.2549 |
2193 131c 9091 0000 lds r25,(crc.2549)+1 |
2194 1320 820F add r24,r18 |
2195 1322 911D adc r25,__zero_reg__ |
2196 .L294: |
2197 1324 9093 0000 sts (crc.2549)+1,r25 |
2198 1328 8093 0000 sts crc.2549,r24 |
2199 132c 00C0 rjmp .L292 |
2200 .L293: |
2201 132e 1092 0000 sts UartState.2553,__zero_reg__ |
2202 .L292: |
2203 /* epilogue: frame size=0 */ |
2204 1332 FF91 pop r31 |
2205 1334 EF91 pop r30 |
2206 1336 DF91 pop r29 |
2207 1338 CF91 pop r28 |
2208 133a BF91 pop r27 |
2209 133c AF91 pop r26 |
2210 133e 9F91 pop r25 |
2211 1340 8F91 pop r24 |
2212 1342 7F91 pop r23 |
2213 1344 6F91 pop r22 |
2214 1346 5F91 pop r21 |
2215 1348 4F91 pop r20 |
2216 134a 3F91 pop r19 |
2217 134c 2F91 pop r18 |
2218 134e 0F90 pop __tmp_reg__ |
2219 1350 0FBE out __SREG__,__tmp_reg__ |
2220 1352 0F90 pop __tmp_reg__ |
2221 1354 1F90 pop __zero_reg__ |
2222 1356 1895 reti |
2223 /* epilogue end (size=19) */ |
2224 /* function __vector_20 size 246 (208) */ |
2226 .global GetExternalControl |
2227 .global GetExternalControl |
2228 .section .bss |
2231 GetExternalControl: |
2232 0000 00 .skip 1,0 |
2233 .global DebugDisplayAnforderung1 |
2234 .global DebugDisplayAnforderung1 |
2237 DebugDisplayAnforderung1: |
2238 0001 00 .skip 1,0 |
2239 .global DebugDisplayAnforderung |
2240 .global DebugDisplayAnforderung |
2243 DebugDisplayAnforderung: |
2244 0002 00 .skip 1,0 |
2245 .global DebugDataAnforderung |
2246 .global DebugDataAnforderung |
2249 DebugDataAnforderung: |
2250 0003 00 .skip 1,0 |
2251 .global GetVersionAnforderung |
2252 .global GetVersionAnforderung |
2255 GetVersionAnforderung: |
2256 0004 00 .skip 1,0 |
2257 .global GetPPMChannelAnforderung |
2258 .global GetPPMChannelAnforderung |
2261 GetPPMChannelAnforderung: |
2262 0005 00 .skip 1,0 |
2263 .global DisplayLine |
2264 .global DisplayLine |
2267 DisplayLine: |
2268 0006 00 .skip 1,0 |
2269 .global SioTmp |
2270 .global SioTmp |
2273 SioTmp: |
2274 0007 00 .skip 1,0 |
2275 .global NeuerDatensatzEmpfangen |
2276 .global NeuerDatensatzEmpfangen |
2279 NeuerDatensatzEmpfangen: |
2280 0008 00 .skip 1,0 |
2281 .global NeueKoordinateEmpfangen |
2282 .global NeueKoordinateEmpfangen |
2285 NeueKoordinateEmpfangen: |
2286 0009 00 .skip 1,0 |
2287 .global UebertragungAbgeschlossen |
2288 .data |
2291 UebertragungAbgeschlossen: |
2292 0000 01 .byte 1 |
2293 .global CntCrcError |
2294 .global CntCrcError |
2295 .section .bss |
2298 CntCrcError: |
2299 000a 00 .skip 1,0 |
2300 .global AnzahlEmpfangsBytes |
2301 .global AnzahlEmpfangsBytes |
2304 AnzahlEmpfangsBytes: |
2305 000b 00 .skip 1,0 |
2306 .global pRxData |
2307 .global pRxData |
2310 pRxData: |
2311 000c 0000 .skip 2,0 |
2312 .global RxDataLen |
2313 .global RxDataLen |
2316 RxDataLen: |
2317 000e 00 .skip 1,0 |
2318 .global PC_DebugTimeout |
2319 .global PC_DebugTimeout |
2322 PC_DebugTimeout: |
2323 000f 00 .skip 1,0 |
2324 .global PC_MotortestActive |
2325 .global PC_MotortestActive |
2328 PC_MotortestActive: |
2329 0010 00 .skip 1,0 |
2330 .global DebugTextAnforderung |
2331 .data |
2334 DebugTextAnforderung: |
2335 0001 FF .byte -1 |
2336 .global PcZugriff |
2339 PcZugriff: |
2340 0002 64 .byte 100 |
2341 .global MeineSlaveAdresse |
2344 MeineSlaveAdresse: |
2345 0003 01 .byte 1 |
2346 .global DebugDataIntervall |
2347 .global DebugDataIntervall |
2348 .section .bss |
2351 DebugDataIntervall: |
2352 0011 0000 .skip 2,0 |
2353 .global Intervall3D |
2354 .global Intervall3D |
2357 Intervall3D: |
2358 0013 0000 .skip 2,0 |
2359 .global Display_Interval |
2360 .global Display_Interval |
2363 Display_Interval: |
2364 0015 0000 .skip 2,0 |
2365 .global AboTimeOut |
2366 .global AboTimeOut |
2369 AboTimeOut: |
2370 0017 0000 .skip 2,0 |
2371 .global JetiUpdateModeActive |
2372 .global JetiUpdateModeActive |
2375 JetiUpdateModeActive: |
2376 0019 00 .skip 1,0 |
2377 .global ANALOG_TEXT |
2378 .section .progmem.data,"a",@progbits |
2381 ANALOG_TEXT: |
2382 0000 416E 676C .ascii "AngleNick " |
2382 654E 6963 |
2382 6B20 2020 |
2382 2020 2020 |
2383 0010 416E 676C .ascii "AngleRoll " |
2383 6552 6F6C |
2383 6C20 2020 |
2383 2020 2020 |
2384 0020 4163 634E .ascii "AccNick " |
2384 6963 6B20 |
2384 2020 2020 |
2384 2020 2020 |
2385 0030 4163 6352 .ascii "AccRoll " |
2385 6F6C 6C20 |
2385 2020 2020 |
2385 2020 2020 |
2386 0040 5961 7747 .ascii "YawGyro " |
2386 7972 6F20 |
2386 2020 2020 |
2386 2020 2020 |
2387 0050 4865 6967 .ascii "Height Value " |
2387 6874 2056 |
2387 616C 7565 |
2387 2020 2020 |
2388 0060 4163 635A .ascii "AccZ " |
2388 2020 2020 |
2388 2020 2020 |
2388 2020 2020 |
2389 0070 4761 7320 .ascii "Gas " |
2389 2020 2020 |
2389 2020 2020 |
2389 2020 2020 |
2390 0080 436F 6D70 .ascii "Compass Value " |
2390 6173 7320 |
2390 5661 6C75 |
2390 6520 2020 |
2391 0090 566F 6C74 .ascii "Voltage [0.1V] " |
2391 6167 6520 |
2391 5B30 2E31 |
2391 565D 2020 |
2392 00a0 5265 6365 .ascii "Receiver Level " |
2392 6976 6572 |
2392 204C 6576 |
2392 656C 2020 |
2393 00b0 4779 726F .ascii "Gyro Compass " |
2393 2043 6F6D |
2393 7061 7373 |
2393 2020 2020 |
2394 00c0 4D6F 746F .ascii "Motor 1 " |
2394 7220 3120 |
2394 2020 2020 |
2394 2020 2020 |
2395 00d0 4D6F 746F .ascii "Motor 2 " |
2395 7220 3220 |
2395 2020 2020 |
2395 2020 2020 |
2396 00e0 4D6F 746F .ascii "Motor 3 " |
2396 7220 3320 |
2396 2020 2020 |
2396 2020 2020 |
2397 00f0 4D6F 746F .ascii "Motor 4 " |
2397 7220 3420 |
2397 2020 2020 |
2397 2020 2020 |
2398 0100 3136 2020 .ascii "16 " |
2398 2020 2020 |
2398 2020 2020 |
2398 2020 2020 |
2399 0110 3137 2020 .ascii "17 " |
2399 2020 2020 |
2399 2020 2020 |
2399 2020 2020 |
2400 0120 3138 2020 .ascii "18 " |
2400 2020 2020 |
2400 2020 2020 |
2400 2020 2020 |
2401 0130 3139 2020 .ascii "19 " |
2401 2020 2020 |
2401 2020 2020 |
2401 2020 2020 |
2402 0140 5365 7276 .ascii "Servo " |
2402 6F20 2020 |
2402 2020 2020 |
2402 2020 2020 |
2403 0150 486F 7665 .ascii "Hovergas " |
2403 7267 6173 |
2403 2020 2020 |
2403 2020 2020 |
2404 0160 4375 7272 .ascii "Current [0.1A] " |
2404 656E 7420 |
2404 5B30 2E31 |
2404 415D 2020 |
2405 0170 4361 7061 .ascii "Capacity [mAh] " |
2405 6369 7479 |
2405 205B 6D41 |
2405 685D 2020 |
2406 0180 3234 2020 .ascii "24 " |
2406 2020 2020 |
2406 2020 2020 |
2406 2020 2020 |
2407 0190 3235 2020 .ascii "25 " |
2407 2020 2020 |
2407 2020 2020 |
2407 2020 2020 |
2408 01a0 3236 2020 .ascii "26 " |
2408 2020 2020 |
2408 2020 2020 |
2408 2020 2020 |
2409 01b0 3237 2020 .ascii "27 " |
2409 2020 2020 |
2409 2020 2020 |
2409 2020 2020 |
2410 01c0 4932 432D .ascii "I2C-Error " |
2410 4572 726F |
2410 7220 2020 |
2410 2020 2020 |
2411 01d0 424C 204C .ascii "BL Limit " |
2411 696D 6974 |
2411 2020 2020 |
2411 2020 2020 |
2412 01e0 4750 535F .ascii "GPS_Nick " |
2412 4E69 636B |
2412 2020 2020 |
2412 2020 2020 |
2413 01f0 4750 535F .ascii "GPS_Roll " |
2413 526F 6C6C |
2413 2020 2020 |
2413 2020 2020 |
2416 __c.3030: |
2417 0200 2121 2120 .string "!!! INCOMPATIBLE !!!" |
2417 494E 434F |
2417 4D50 4154 |
2417 4942 4C45 |
2417 2021 2121 |
2418 .lcomm UartState.2553,1 |
2419 .lcomm buf_ptr.2552,1 |
2420 .lcomm crc2.2551,1 |
2421 .lcomm crc1.2550,1 |
2422 .lcomm crc.2549,2 |
2423 .lcomm ptr.2536,2 |
2424 .comm RxdBuffer,170,1 |
2425 .comm Debug_Timer,2,1 |
2426 .comm Kompass_Timer,2,1 |
2427 .comm MotorTest,16,1 |
2428 .comm DebugOut,66,1 |
2429 .comm WinkelOut,8,1 |
2430 .comm Data3D,14,1 |
2431 .comm ExternControl,11,1 |
2432 .comm VersionInfo,10,1 |
2433 .comm TxdBuffer,170,1 |
2434 .comm ConfirmFrame,1,1 |
2435 .comm Display_Timer,2,1 |
2436 .comm Timer3D,2,1 |
2437 /* File "uart.c": code 2496 = 0x09c0 (2406), prologues 46, epilogues 44 */ |
DEFINED SYMBOLS |
*ABS*:00000000 uart.c |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShp894.s:2 *ABS*:0000003f __SREG__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShp894.s:3 *ABS*:0000003e __SP_H__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShp894.s:4 *ABS*:0000003d __SP_L__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShp894.s:5 *ABS*:00000000 __tmp_reg__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShp894.s:6 *ABS*:00000001 __zero_reg__ |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShp894.s:12 .text:00000000 __vector_22 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShp894.s:2291 .data:00000000 UebertragungAbgeschlossen |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShp894.s:2422 .bss:00000020 ptr.2536 |
*COM*:000000aa TxdBuffer |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShp894.s:68 .text:0000006c AddCRC |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShp894.s:123 .text:000000ca Decode64 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShp894.s:2304 .bss:0000000b AnzahlEmpfangsBytes |
*COM*:000000aa RxdBuffer |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShp894.s:2310 .bss:0000000c pRxData |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShp894.s:2316 .bss:0000000e RxDataLen |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShp894.s:221 .text:0000017e uart_putchar |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShp894.s:237 .text:0000018e UART_Init |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShp894.s:2351 .bss:00000011 DebugDataIntervall |
*COM*:00000002 Debug_Timer |
*COM*:00000002 Kompass_Timer |
*COM*:0000000a VersionInfo |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShp894.s:285 .text:00000200 SendOutData |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShp894.s:498 .text:00000386 DatenUebertragung |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShp894.s:2369 .bss:00000017 AboTimeOut |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShp894.s:2363 .bss:00000015 Display_Interval |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShp894.s:2357 .bss:00000013 Intervall3D |
*COM*:00000002 Display_Timer |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShp894.s:2243 .bss:00000002 DebugDisplayAnforderung |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShp894.s:2267 .bss:00000006 DisplayLine |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShp894.s:2416 .progmem.data:00000200 __c.3030 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShp894.s:2237 .bss:00000001 DebugDisplayAnforderung1 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShp894.s:2255 .bss:00000004 GetVersionAnforderung |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShp894.s:2231 .bss:00000000 GetExternalControl |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShp894.s:2344 .data:00000003 MeineSlaveAdresse |
*COM*:0000000b ExternControl |
*COM*:00000008 WinkelOut |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShp894.s:2249 .bss:00000003 DebugDataAnforderung |
*COM*:00000042 DebugOut |
*COM*:00000002 Timer3D |
*COM*:0000000e Data3D |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShp894.s:2334 .data:00000001 DebugTextAnforderung |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShp894.s:2381 .progmem.data:00000000 ANALOG_TEXT |
*COM*:00000001 ConfirmFrame |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShp894.s:2261 .bss:00000005 GetPPMChannelAnforderung |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShp894.s:1064 .text:000008f8 BearbeiteRxDaten |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShp894.s:2279 .bss:00000008 NeuerDatensatzEmpfangen |
*COM*:00000010 MotorTest |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShp894.s:2328 .bss:00000010 PC_MotortestActive |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShp894.s:2339 .data:00000002 PcZugriff |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShp894.s:2375 .bss:00000019 JetiUpdateModeActive |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShp894.s:2008 .text:00001176 __vector_20 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShp894.s:2273 .bss:00000007 SioTmp |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShp894.s:2418 .bss:0000001b buf_ptr.2552 |
.bss:0000001a UartState.2553 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShp894.s:2421 .bss:0000001e crc.2549 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShp894.s:2420 .bss:0000001d crc1.2550 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShp894.s:2419 .bss:0000001c crc2.2551 |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShp894.s:2298 .bss:0000000a CntCrcError |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShp894.s:2285 .bss:00000009 NeueKoordinateEmpfangen |
C:\DOCUME~1\Owner\LOCALS~1\Temp/ccShp894.s:2322 .bss:0000000f PC_DebugTimeout |
UNDEFINED SYMBOLS |
__do_copy_data |
__do_clear_bss |
SetDelay |
__prologue_saves__ |
__epilogue_restores__ |
CheckDelay |
DisplayBuff |
Menu |
DispPtr |
_printf_P |
Menu_Putchar |
MaxMenue |
MenuePunkt |
EE_Parameter |
IntegralNick |
__divmodsi4 |
IntegralRoll |
Parameter_UserParam1 |
Parameter_UserParam2 |
CopyDebugValues |
ErsatzKompass |
__mulsi3 |
GIER_GRAD_FAKTOR |
SummeNick |
SummeRoll |
Mess_Integral_Gier |
memcpy_P |
PPM_in |
KompassValue |
KompassStartwert |
__divmodhi4 |
KompassRichtung |
Mixer |
MixerTable_WriteToEEProm |
SetDefaultParameter |
GetActiveParamSet |
ParamSet_ReadFromEEProm |
ParamSet_WriteToEEProm |
Umschlag180Nick |
Umschlag180Roll |
MotorenEin |
Piep |
LipoDetection |
LIBFC_ReceiverInit |
I2C_ReadBLConfig |
BLConfig |
I2C_WriteBLConfig |
LIBFC_GetCPUType |
RemoteKeys |
LcdClear |
ServoActive |
/Spektrum-Diversity/V0.82a/version.txt |
---|
0,0 → 1,441 |
------- |
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 Ãœbertragung 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 |
- Ãœbertragung 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 |
/Spektrum-Diversity/conf/authz |
---|
0,0 → 1,32 |
### This file is an example authorization file for svnserve. |
### Its format is identical to that of mod_authz_svn authorization |
### files. |
### As shown below each section defines authorizations for the path and |
### (optional) repository specified by the section name. |
### The authorizations follow. An authorization line can refer to: |
### - a single user, |
### - a group of users defined in a special [groups] section, |
### - an alias defined in a special [aliases] section, |
### - all authenticated users, using the '$authenticated' token, |
### - only anonymous users, using the '$anonymous' token, |
### - anyone, using the '*' wildcard. |
### |
### A match can be inverted by prefixing the rule with '~'. Rules can |
### grant read ('r') access, read-write ('rw') access, or no access |
### (''). |
[aliases] |
# joe = /C=XZ/ST=Dessert/L=Snake City/O=Snake Oil, Ltd./OU=Research Institute/CN=Joe Average |
[groups] |
# harry_and_sally = harry,sally |
# harry_sally_and_joe = harry,sally,&joe |
# [/foo/bar] |
# harry = rw |
# &joe = r |
# * = |
# [repository:/baz/fuz] |
# @harry_and_sally = rw |
# * = r |
/Spektrum-Diversity/conf/passwd |
---|
0,0 → 1,8 |
### This file is an example password file for svnserve. |
### Its format is similar to that of svnserve.conf. As shown in the |
### example below it contains one section labelled [users]. |
### The name and password for each user follow, one account per line. |
[users] |
# harry = harryssecret |
# sally = sallyssecret |
/Spektrum-Diversity/conf/svnserve.conf |
---|
0,0 → 1,47 |
### This file controls the configuration of the svnserve daemon, if you |
### use it to allow access to this repository. (If you only allow |
### access through http: and/or file: URLs, then this file is |
### irrelevant.) |
### Visit http://subversion.tigris.org/ for more information. |
[general] |
### These options control access to the repository for unauthenticated |
### and authenticated users. Valid values are "write", "read", |
### and "none". The sample settings below are the defaults. |
# anon-access = read |
# auth-access = write |
### The password-db option controls the location of the password |
### database file. Unless you specify a path starting with a /, |
### the file's location is relative to the directory containing |
### this configuration file. |
### If SASL is enabled (see below), this file will NOT be used. |
### Uncomment the line below to use the default password file. |
# password-db = passwd |
### The authz-db option controls the location of the authorization |
### rules for path-based access control. Unless you specify a path |
### starting with a /, the file's location is relative to the the |
### directory containing this file. If you don't specify an |
### authz-db, no path-based access control is done. |
### Uncomment the line below to use the default authorization file. |
# authz-db = authz |
### This option specifies the authentication realm of the repository. |
### If two repositories have the same authentication realm, they should |
### have the same password database, and vice versa. The default realm |
### is repository's uuid. |
# realm = My First Repository |
[sasl] |
### This option specifies whether you want to use the Cyrus SASL |
### library for authentication. Default is false. |
### This section will be ignored if svnserve is not built with Cyrus |
### SASL support; to check, run 'svnserve --version' and look for a line |
### reading 'Cyrus SASL authentication is available.' |
# use-sasl = true |
### These options specify the desired strength of the security layer |
### that you want SASL to provide. 0 means no encryption, 1 means |
### integrity-checking only, values larger than 1 are correlated |
### to the effective key length for encryption (e.g. 128 means 128-bit |
### encryption). The values below are the defaults. |
# min-encryption = 0 |
# max-encryption = 256 |
/Spektrum-Diversity/db/current |
---|
0,0 → 1,0 |
/Spektrum-Diversity/db/format |
---|
0,0 → 1,2 |
4 |
layout sharded 1000 |
/Spektrum-Diversity/db/fs-type |
---|
0,0 → 1,0 |
fsfs |
/Spektrum-Diversity/db/fsfs.conf |
---|
0,0 → 1,37 |
### This file controls the configuration of the FSFS filesystem. |
[memcached-servers] |
### These options name memcached servers used to cache internal FSFS |
### data. See http://www.danga.com/memcached/ for more information on |
### memcached. To use memcached with FSFS, run one or more memcached |
### servers, and specify each of them as an option like so: |
# first-server = 127.0.0.1:11211 |
# remote-memcached = mymemcached.corp.example.com:11212 |
### The option name is ignored; the value is of the form HOST:PORT. |
### memcached servers can be shared between multiple repositories; |
### however, if you do this, you *must* ensure that repositories have |
### distinct UUIDs and paths, or else cached data from one repository |
### might be used by another accidentally. Note also that memcached has |
### no authentication for reads or writes, so you must ensure that your |
### memcached servers are only accessible by trusted users. |
[caches] |
### When a cache-related error occurs, normally Subversion ignores it |
### and continues, logging an error if the server is appropriately |
### configured (and ignoring it with file:// access). To make |
### Subversion never ignore cache errors, uncomment this line. |
# fail-stop = true |
[rep-sharing] |
### To conserve space, the filesystem can optionally avoid storing |
### duplicate representations. This comes at a slight cost in performace, |
### as maintaining a database of shared representations can increase |
### commit times. The space savings are dependent upon the size of the |
### repository, the number of objects it contains and the amount of |
### duplication between them, usually a function of the branching and |
### merging process. |
### |
### The following parameter enables rep-sharing in the repository. It can |
### be switched on and off at will, but for best space-saving results |
### should be enabled consistently over the life of the repository. |
# enable-rep-sharing = false |
/Spektrum-Diversity/db/min-unpacked-rev |
---|
0,0 → 1,0 |
/Spektrum-Diversity/db/revprops/0/0 |
---|
0,0 → 1,5 |
K 8 |
svn:date |
V 27 |
2011-02-10T07:59:42.515625Z |
END |
/Spektrum-Diversity/db/revs/0/0 |
---|
0,0 → 1,11 |
PLAIN |
END |
ENDREP |
id: 0.0.r0/17 |
type: dir |
count: 0 |
text: 0 0 4 4 2d2977d1c96f487abe4a1e202dd03b4e |
cpath: / |
17 107 |
/Spektrum-Diversity/db/txn-current |
---|
0,0 → 1,0 |
/Spektrum-Diversity/db/txn-current-lock |
---|
--- Spektrum-Diversity/db/uuid (nonexistent) |
+++ Spektrum-Diversity/db/uuid (revision 911) |
@@ -0,0 +1 @@ |
+1d754261-5b8c-be4b-a940-0a3436c38ad6 |
/Spektrum-Diversity/db/write-lock |
---|
--- Spektrum-Diversity/format (nonexistent) |
+++ Spektrum-Diversity/format (revision 911) |
@@ -0,0 +1 @@ |
+5 |
/Spektrum-Diversity/hooks/post-commit.tmpl |
---|
0,0 → 1,50 |
#!/bin/sh |
# POST-COMMIT HOOK |
# |
# The post-commit hook is invoked after a commit. Subversion runs |
# this hook by invoking a program (script, executable, binary, etc.) |
# named 'post-commit' (for which this file is a template) with the |
# following ordered arguments: |
# |
# [1] REPOS-PATH (the path to this repository) |
# [2] REV (the number of the revision just committed) |
# |
# The default working directory for the invocation is undefined, so |
# the program should set one explicitly if it cares. |
# |
# Because the commit has already completed and cannot be undone, |
# the exit code of the hook program is ignored. The hook program |
# can use the 'svnlook' utility to help it examine the |
# newly-committed tree. |
# |
# On a Unix system, the normal procedure is to have 'post-commit' |
# invoke other programs to do the real work, though it may do the |
# work itself too. |
# |
# Note that 'post-commit' must be executable by the user(s) who will |
# invoke it (typically the user httpd runs as), and that user must |
# have filesystem-level permission to access the repository. |
# |
# On a Windows system, you should name the hook program |
# 'post-commit.bat' or 'post-commit.exe', |
# but the basic idea is the same. |
# |
# The hook program typically does not inherit the environment of |
# its parent process. For example, a common problem is for the |
# PATH environment variable to not be set to its usual value, so |
# that subprograms fail to launch unless invoked via absolute path. |
# If you're having unexpected problems with a hook program, the |
# culprit may be unusual (or missing) environment variables. |
# |
# Here is an example hook script, for a Unix /bin/sh interpreter. |
# For more examples and pre-written hooks, see those in |
# the Subversion repository at |
# http://svn.apache.org/repos/asf/subversion/trunk/tools/hook-scripts/ and |
# http://svn.apache.org/repos/asf/subversion/trunk/contrib/hook-scripts/ |
REPOS="$1" |
REV="$2" |
mailer.py commit "$REPOS" "$REV" /path/to/mailer.conf |
/Spektrum-Diversity/hooks/post-lock.tmpl |
---|
0,0 → 1,44 |
#!/bin/sh |
# POST-LOCK HOOK |
# |
# The post-lock hook is run after a path is locked. Subversion runs |
# this hook by invoking a program (script, executable, binary, etc.) |
# named 'post-lock' (for which this file is a template) with the |
# following ordered arguments: |
# |
# [1] REPOS-PATH (the path to this repository) |
# [2] USER (the user who created the lock) |
# |
# The paths that were just locked are passed to the hook via STDIN (as |
# of Subversion 1.2, only one path is passed per invocation, but the |
# plan is to pass all locked paths at once, so the hook program |
# should be written accordingly). |
# |
# The default working directory for the invocation is undefined, so |
# the program should set one explicitly if it cares. |
# |
# Because the lock has already been created and cannot be undone, |
# the exit code of the hook program is ignored. The hook program |
# can use the 'svnlook' utility to help it examine the |
# newly-created lock. |
# |
# On a Unix system, the normal procedure is to have 'post-lock' |
# invoke other programs to do the real work, though it may do the |
# work itself too. |
# |
# Note that 'post-lock' must be executable by the user(s) who will |
# invoke it (typically the user httpd runs as), and that user must |
# have filesystem-level permission to access the repository. |
# |
# On a Windows system, you should name the hook program |
# 'post-lock.bat' or 'post-lock.exe', |
# but the basic idea is the same. |
# |
# Here is an example hook script, for a Unix /bin/sh interpreter: |
REPOS="$1" |
USER="$2" |
# Send email to interested parties, let them know a lock was created: |
mailer.py lock "$REPOS" "$USER" /path/to/mailer.conf |
/Spektrum-Diversity/hooks/post-revprop-change.tmpl |
---|
0,0 → 1,56 |
#!/bin/sh |
# POST-REVPROP-CHANGE HOOK |
# |
# The post-revprop-change hook is invoked after a revision property |
# has been added, modified or deleted. Subversion runs this hook by |
# invoking a program (script, executable, binary, etc.) named |
# 'post-revprop-change' (for which this file is a template), with the |
# following ordered arguments: |
# |
# [1] REPOS-PATH (the path to this repository) |
# [2] REV (the revision that was tweaked) |
# [3] USER (the username of the person tweaking the property) |
# [4] PROPNAME (the property that was changed) |
# [5] ACTION (the property was 'A'dded, 'M'odified, or 'D'eleted) |
# |
# [STDIN] PROPVAL ** the old property value is passed via STDIN. |
# |
# Because the propchange has already completed and cannot be undone, |
# the exit code of the hook program is ignored. The hook program |
# can use the 'svnlook' utility to help it examine the |
# new property value. |
# |
# On a Unix system, the normal procedure is to have 'post-revprop-change' |
# invoke other programs to do the real work, though it may do the |
# work itself too. |
# |
# Note that 'post-revprop-change' must be executable by the user(s) who will |
# invoke it (typically the user httpd runs as), and that user must |
# have filesystem-level permission to access the repository. |
# |
# On a Windows system, you should name the hook program |
# 'post-revprop-change.bat' or 'post-revprop-change.exe', |
# but the basic idea is the same. |
# |
# The hook program typically does not inherit the environment of |
# its parent process. For example, a common problem is for the |
# PATH environment variable to not be set to its usual value, so |
# that subprograms fail to launch unless invoked via absolute path. |
# If you're having unexpected problems with a hook program, the |
# culprit may be unusual (or missing) environment variables. |
# |
# Here is an example hook script, for a Unix /bin/sh interpreter. |
# For more examples and pre-written hooks, see those in |
# the Subversion repository at |
# http://svn.apache.org/repos/asf/subversion/trunk/tools/hook-scripts/ and |
# http://svn.apache.org/repos/asf/subversion/trunk/contrib/hook-scripts/ |
REPOS="$1" |
REV="$2" |
USER="$3" |
PROPNAME="$4" |
ACTION="$5" |
mailer.py propchange2 "$REPOS" "$REV" "$USER" "$PROPNAME" "$ACTION" /path/to/mailer.conf |
/Spektrum-Diversity/hooks/post-unlock.tmpl |
---|
0,0 → 1,42 |
#!/bin/sh |
# POST-UNLOCK HOOK |
# |
# The post-unlock hook runs after a path is unlocked. Subversion runs |
# this hook by invoking a program (script, executable, binary, etc.) |
# named 'post-unlock' (for which this file is a template) with the |
# following ordered arguments: |
# |
# [1] REPOS-PATH (the path to this repository) |
# [2] USER (the user who destroyed the lock) |
# |
# The paths that were just unlocked are passed to the hook via STDIN |
# (as of Subversion 1.2, only one path is passed per invocation, but |
# the plan is to pass all unlocked paths at once, so the hook program |
# should be written accordingly). |
# |
# The default working directory for the invocation is undefined, so |
# the program should set one explicitly if it cares. |
# |
# Because the lock has already been destroyed and cannot be undone, |
# the exit code of the hook program is ignored. |
# |
# On a Unix system, the normal procedure is to have 'post-unlock' |
# invoke other programs to do the real work, though it may do the |
# work itself too. |
# |
# Note that 'post-unlock' must be executable by the user(s) who will |
# invoke it (typically the user httpd runs as), and that user must |
# have filesystem-level permission to access the repository. |
# |
# On a Windows system, you should name the hook program |
# 'post-unlock.bat' or 'post-unlock.exe', |
# but the basic idea is the same. |
# |
# Here is an example hook script, for a Unix /bin/sh interpreter: |
REPOS="$1" |
USER="$2" |
# Send email to interested parties, let them know a lock was removed: |
mailer.py unlock "$REPOS" "$USER" /path/to/mailer.conf |
/Spektrum-Diversity/hooks/pre-commit.tmpl |
---|
0,0 → 1,81 |
#!/bin/sh |
# PRE-COMMIT HOOK |
# |
# The pre-commit hook is invoked before a Subversion txn is |
# committed. Subversion runs this hook by invoking a program |
# (script, executable, binary, etc.) named 'pre-commit' (for which |
# this file is a template), with the following ordered arguments: |
# |
# [1] REPOS-PATH (the path to this repository) |
# [2] TXN-NAME (the name of the txn about to be committed) |
# |
# [STDIN] LOCK-TOKENS ** the lock tokens are passed via STDIN. |
# |
# If STDIN contains the line "LOCK-TOKENS:\n" (the "\n" denotes a |
# single newline), the lines following it are the lock tokens for |
# this commit. The end of the list is marked by a line containing |
# only a newline character. |
# |
# Each lock token line consists of a URI-escaped path, followed |
# by the separator character '|', followed by the lock token string, |
# followed by a newline. |
# |
# The default working directory for the invocation is undefined, so |
# the program should set one explicitly if it cares. |
# |
# If the hook program exits with success, the txn is committed; but |
# if it exits with failure (non-zero), the txn is aborted, no commit |
# takes place, and STDERR is returned to the client. The hook |
# program can use the 'svnlook' utility to help it examine the txn. |
# |
# On a Unix system, the normal procedure is to have 'pre-commit' |
# invoke other programs to do the real work, though it may do the |
# work itself too. |
# |
# *** NOTE: THE HOOK PROGRAM MUST NOT MODIFY THE TXN, EXCEPT *** |
# *** FOR REVISION PROPERTIES (like svn:log or svn:author). *** |
# |
# This is why we recommend using the read-only 'svnlook' utility. |
# In the future, Subversion may enforce the rule that pre-commit |
# hooks should not modify the versioned data in txns, or else come |
# up with a mechanism to make it safe to do so (by informing the |
# committing client of the changes). However, right now neither |
# mechanism is implemented, so hook writers just have to be careful. |
# |
# Note that 'pre-commit' must be executable by the user(s) who will |
# invoke it (typically the user httpd runs as), and that user must |
# have filesystem-level permission to access the repository. |
# |
# On a Windows system, you should name the hook program |
# 'pre-commit.bat' or 'pre-commit.exe', |
# but the basic idea is the same. |
# |
# The hook program typically does not inherit the environment of |
# its parent process. For example, a common problem is for the |
# PATH environment variable to not be set to its usual value, so |
# that subprograms fail to launch unless invoked via absolute path. |
# If you're having unexpected problems with a hook program, the |
# culprit may be unusual (or missing) environment variables. |
# |
# Here is an example hook script, for a Unix /bin/sh interpreter. |
# For more examples and pre-written hooks, see those in |
# the Subversion repository at |
# http://svn.apache.org/repos/asf/subversion/trunk/tools/hook-scripts/ and |
# http://svn.apache.org/repos/asf/subversion/trunk/contrib/hook-scripts/ |
REPOS="$1" |
TXN="$2" |
# Make sure that the log message contains some text. |
SVNLOOK=/usr/local/bin/svnlook |
$SVNLOOK log -t "$TXN" "$REPOS" | \ |
grep "[a-zA-Z0-9]" > /dev/null || exit 1 |
# Check that the author of this commit has the rights to perform |
# the commit on the files and directories being modified. |
commit-access-control.pl "$REPOS" "$TXN" commit-access-control.cfg || exit 1 |
# All checks passed, so allow the commit. |
exit 0 |
/Spektrum-Diversity/hooks/pre-lock.tmpl |
---|
0,0 → 1,71 |
#!/bin/sh |
# PRE-LOCK HOOK |
# |
# The pre-lock hook is invoked before an exclusive lock is |
# created. Subversion runs this hook by invoking a program |
# (script, executable, binary, etc.) named 'pre-lock' (for which |
# this file is a template), with the following ordered arguments: |
# |
# [1] REPOS-PATH (the path to this repository) |
# [2] PATH (the path in the repository about to be locked) |
# [3] USER (the user creating the lock) |
# [4] COMMENT (the comment of the lock) |
# [5] STEAL-LOCK (1 if the user is trying to steal the lock, else 0) |
# |
# If the hook program outputs anything on stdout, the output string will |
# be used as the lock token for this lock operation. If you choose to use |
# this feature, you must guarantee the tokens generated are unique across |
# the repository each time. |
# |
# The default working directory for the invocation is undefined, so |
# the program should set one explicitly if it cares. |
# |
# If the hook program exits with success, the lock is created; but |
# if it exits with failure (non-zero), the lock action is aborted |
# and STDERR is returned to the client. |
# On a Unix system, the normal procedure is to have 'pre-lock' |
# invoke other programs to do the real work, though it may do the |
# work itself too. |
# |
# Note that 'pre-lock' must be executable by the user(s) who will |
# invoke it (typically the user httpd runs as), and that user must |
# have filesystem-level permission to access the repository. |
# |
# On a Windows system, you should name the hook program |
# 'pre-lock.bat' or 'pre-lock.exe', |
# but the basic idea is the same. |
# |
# Here is an example hook script, for a Unix /bin/sh interpreter: |
REPOS="$1" |
PATH="$2" |
USER="$3" |
# If a lock exists and is owned by a different person, don't allow it |
# to be stolen (e.g., with 'svn lock --force ...'). |
# (Maybe this script could send email to the lock owner?) |
SVNLOOK=/usr/local/bin/svnlook |
GREP=/bin/grep |
SED=/bin/sed |
LOCK_OWNER=`$SVNLOOK lock "$REPOS" "$PATH" | \ |
$GREP '^Owner: ' | $SED 's/Owner: //'` |
# If we get no result from svnlook, there's no lock, allow the lock to |
# happen: |
if [ "$LOCK_OWNER" = "" ]; then |
exit 0 |
fi |
# If the person locking matches the lock's owner, allow the lock to |
# happen: |
if [ "$LOCK_OWNER" = "$USER" ]; then |
exit 0 |
fi |
# Otherwise, we've got an owner mismatch, so return failure: |
echo "Error: $PATH already locked by ${LOCK_OWNER}." 1>&2 |
exit 1 |
/Spektrum-Diversity/hooks/pre-revprop-change.tmpl |
---|
0,0 → 1,66 |
#!/bin/sh |
# PRE-REVPROP-CHANGE HOOK |
# |
# The pre-revprop-change hook is invoked before a revision property |
# is added, modified or deleted. Subversion runs this hook by invoking |
# a program (script, executable, binary, etc.) named 'pre-revprop-change' |
# (for which this file is a template), with the following ordered |
# arguments: |
# |
# [1] REPOS-PATH (the path to this repository) |
# [2] REVISION (the revision being tweaked) |
# [3] USER (the username of the person tweaking the property) |
# [4] PROPNAME (the property being set on the revision) |
# [5] ACTION (the property is being 'A'dded, 'M'odified, or 'D'eleted) |
# |
# [STDIN] PROPVAL ** the new property value is passed via STDIN. |
# |
# If the hook program exits with success, the propchange happens; but |
# if it exits with failure (non-zero), the propchange doesn't happen. |
# The hook program can use the 'svnlook' utility to examine the |
# existing value of the revision property. |
# |
# WARNING: unlike other hooks, this hook MUST exist for revision |
# properties to be changed. If the hook does not exist, Subversion |
# will behave as if the hook were present, but failed. The reason |
# for this is that revision properties are UNVERSIONED, meaning that |
# a successful propchange is destructive; the old value is gone |
# forever. We recommend the hook back up the old value somewhere. |
# |
# On a Unix system, the normal procedure is to have 'pre-revprop-change' |
# invoke other programs to do the real work, though it may do the |
# work itself too. |
# |
# Note that 'pre-revprop-change' must be executable by the user(s) who will |
# invoke it (typically the user httpd runs as), and that user must |
# have filesystem-level permission to access the repository. |
# |
# On a Windows system, you should name the hook program |
# 'pre-revprop-change.bat' or 'pre-revprop-change.exe', |
# but the basic idea is the same. |
# |
# The hook program typically does not inherit the environment of |
# its parent process. For example, a common problem is for the |
# PATH environment variable to not be set to its usual value, so |
# that subprograms fail to launch unless invoked via absolute path. |
# If you're having unexpected problems with a hook program, the |
# culprit may be unusual (or missing) environment variables. |
# |
# Here is an example hook script, for a Unix /bin/sh interpreter. |
# For more examples and pre-written hooks, see those in |
# the Subversion repository at |
# http://svn.apache.org/repos/asf/subversion/trunk/tools/hook-scripts/ and |
# http://svn.apache.org/repos/asf/subversion/trunk/contrib/hook-scripts/ |
REPOS="$1" |
REV="$2" |
USER="$3" |
PROPNAME="$4" |
ACTION="$5" |
if [ "$ACTION" = "M" -a "$PROPNAME" = "svn:log" ]; then exit 0; fi |
echo "Changing revision properties other than svn:log is prohibited" >&2 |
exit 1 |
/Spektrum-Diversity/hooks/pre-unlock.tmpl |
---|
0,0 → 1,63 |
#!/bin/sh |
# PRE-UNLOCK HOOK |
# |
# The pre-unlock hook is invoked before an exclusive lock is |
# destroyed. Subversion runs this hook by invoking a program |
# (script, executable, binary, etc.) named 'pre-unlock' (for which |
# this file is a template), with the following ordered arguments: |
# |
# [1] REPOS-PATH (the path to this repository) |
# [2] PATH (the path in the repository about to be unlocked) |
# [3] USER (the user destroying the lock) |
# [4] TOKEN (the lock token to be destroyed) |
# [5] BREAK-UNLOCK (1 if the user is breaking the lock, else 0) |
# |
# The default working directory for the invocation is undefined, so |
# the program should set one explicitly if it cares. |
# |
# If the hook program exits with success, the lock is destroyed; but |
# if it exits with failure (non-zero), the unlock action is aborted |
# and STDERR is returned to the client. |
# On a Unix system, the normal procedure is to have 'pre-unlock' |
# invoke other programs to do the real work, though it may do the |
# work itself too. |
# |
# Note that 'pre-unlock' must be executable by the user(s) who will |
# invoke it (typically the user httpd runs as), and that user must |
# have filesystem-level permission to access the repository. |
# |
# On a Windows system, you should name the hook program |
# 'pre-unlock.bat' or 'pre-unlock.exe', |
# but the basic idea is the same. |
# |
# Here is an example hook script, for a Unix /bin/sh interpreter: |
REPOS="$1" |
PATH="$2" |
USER="$3" |
# If a lock is owned by a different person, don't allow it be broken. |
# (Maybe this script could send email to the lock owner?) |
SVNLOOK=/usr/local/bin/svnlook |
GREP=/bin/grep |
SED=/bin/sed |
LOCK_OWNER=`$SVNLOOK lock "$REPOS" "$PATH" | \ |
$GREP '^Owner: ' | $SED 's/Owner: //'` |
# If we get no result from svnlook, there's no lock, return success: |
if [ "$LOCK_OWNER" = "" ]; then |
exit 0 |
fi |
# If the person unlocking matches the lock's owner, return success: |
if [ "$LOCK_OWNER" = "$USER" ]; then |
exit 0 |
fi |
# Otherwise, we've got an owner mismatch, so return failure: |
echo "Error: $PATH locked by ${LOCK_OWNER}." 1>&2 |
exit 1 |
/Spektrum-Diversity/hooks/start-commit.tmpl |
---|
0,0 → 1,65 |
#!/bin/sh |
# START-COMMIT HOOK |
# |
# The start-commit hook is invoked before a Subversion txn is created |
# in the process of doing a commit. Subversion runs this hook |
# by invoking a program (script, executable, binary, etc.) named |
# 'start-commit' (for which this file is a template) |
# with the following ordered arguments: |
# |
# [1] REPOS-PATH (the path to this repository) |
# [2] USER (the authenticated user attempting to commit) |
# [3] CAPABILITIES (a colon-separated list of capabilities reported |
# by the client; see note below) |
# |
# Note: The CAPABILITIES parameter is new in Subversion 1.5, and 1.5 |
# clients will typically report at least the "mergeinfo" capability. |
# If there are other capabilities, then the list is colon-separated, |
# e.g.: "mergeinfo:some-other-capability" (the order is undefined). |
# |
# The list is self-reported by the client. Therefore, you should not |
# make security assumptions based on the capabilities list, nor should |
# you assume that clients reliably report every capability they have. |
# |
# The working directory for this hook program's invocation is undefined, |
# so the program should set one explicitly if it cares. |
# |
# If the hook program exits with success, the commit continues; but |
# if it exits with failure (non-zero), the commit is stopped before |
# a Subversion txn is created, and STDERR is returned to the client. |
# |
# On a Unix system, the normal procedure is to have 'start-commit' |
# invoke other programs to do the real work, though it may do the |
# work itself too. |
# |
# Note that 'start-commit' must be executable by the user(s) who will |
# invoke it (typically the user httpd runs as), and that user must |
# have filesystem-level permission to access the repository. |
# |
# On a Windows system, you should name the hook program |
# 'start-commit.bat' or 'start-commit.exe', |
# but the basic idea is the same. |
# |
# The hook program typically does not inherit the environment of |
# its parent process. For example, a common problem is for the |
# PATH environment variable to not be set to its usual value, so |
# that subprograms fail to launch unless invoked via absolute path. |
# If you're having unexpected problems with a hook program, the |
# culprit may be unusual (or missing) environment variables. |
# |
# Here is an example hook script, for a Unix /bin/sh interpreter. |
# For more examples and pre-written hooks, see those in |
# the Subversion repository at |
# http://svn.apache.org/repos/asf/subversion/trunk/tools/hook-scripts/ and |
# http://svn.apache.org/repos/asf/subversion/trunk/contrib/hook-scripts/ |
REPOS="$1" |
USER="$2" |
commit-allower.pl --repository "$REPOS" --user "$USER" || exit 1 |
special-auth-check.py --user "$USER" --auth-level 3 || exit 1 |
# All checks passed, so allow the commit. |
exit 0 |
/Spektrum-Diversity/locks/db-logs.lock |
---|
0,0 → 1,3 |
This file is not used by Subversion 1.3.x or later. |
However, its existence is required for compatibility with |
Subversion 1.2.x or earlier. |
/Spektrum-Diversity/locks/db.lock |
---|
0,0 → 1,3 |
This file is not used by Subversion 1.3.x or later. |
However, its existence is required for compatibility with |
Subversion 1.2.x or earlier. |