Subversion Repositories FlightCtrl

Compare Revisions

Ignore whitespace Rev 35 → Rev 36

/branches/V0.60_GPS_BETA_chris2798_hallo2/fc.lst
1956,13 → 1956,13
1971 1238 9093 0000 sts (beeptime)+1,r25
1972 123c 8093 0000 sts beeptime,r24
1973 .L382:
1974 1240 8091 0000 lds r24,RcLostTimer.2356
1975 1244 9091 0000 lds r25,(RcLostTimer.2356)+1
1974 1240 8091 0000 lds r24,RcLostTimer.2357
1975 1244 9091 0000 lds r25,(RcLostTimer.2357)+1
1976 1248 0097 sbiw r24,0
1977 124a 01F0 breq .L384
1978 124c 0197 sbiw r24,1
1979 124e 9093 0000 sts (RcLostTimer.2356)+1,r25
1980 1252 8093 0000 sts RcLostTimer.2356,r24
1979 124e 9093 0000 sts (RcLostTimer.2357)+1,r25
1980 1252 8093 0000 sts RcLostTimer.2357,r24
1981 1256 00C0 rjmp .L386
1982 .L384:
1983 1258 1092 0000 sts MotorenEin,__zero_reg__
1969,8 → 1969,8
1984 125c 1092 0000 sts Notlandung,__zero_reg__
1985 .L386:
1986 1260 289A sbi 37-0x20,0
1987 1262 8091 0000 lds r24,modell_fliegt.2360
1988 1266 9091 0000 lds r25,(modell_fliegt.2360)+1
1987 1262 8091 0000 lds r24,modell_fliegt.2361
1988 1266 9091 0000 lds r25,(modell_fliegt.2361)+1
1989 126a 815D subi r24,lo8(2001)
1990 126c 9740 sbci r25,hi8(2001)
1991 126e 00F0 brlo .L387
2020,25 → 2020,25
2035 12d4 829F mul r24,r18
2036 12d6 C001 movw r24,r0
2037 12d8 1124 clr r1
2038 12da 9093 0000 sts (RcLostTimer.2356)+1,r25
2039 12de 8093 0000 sts RcLostTimer.2356,r24
2038 12da 9093 0000 sts (RcLostTimer.2357)+1,r25
2039 12de 8093 0000 sts RcLostTimer.2357,r24
2040 12e2 6981 ldd r22,Y+1
2041 12e4 7A81 ldd r23,Y+2
2042 12e6 6932 cpi r22,41
2043 12e8 7105 cpc r23,__zero_reg__
2044 12ea 04F0 brlt .L391
2045 12ec 8091 0000 lds r24,modell_fliegt.2360
2046 12f0 9091 0000 lds r25,(modell_fliegt.2360)+1
2045 12ec 8091 0000 lds r24,modell_fliegt.2361
2046 12f0 9091 0000 lds r25,(modell_fliegt.2361)+1
2047 12f4 7FEF ldi r23,hi8(-1)
2048 12f6 8F3F cpi r24,lo8(-1)
2049 12f8 9707 cpc r25,r23
2050 12fa 01F0 breq .L393
2051 12fc 0196 adiw r24,1
2052 12fe 9093 0000 sts (modell_fliegt.2360)+1,r25
2053 1302 8093 0000 sts modell_fliegt.2360,r24
2052 12fe 9093 0000 sts (modell_fliegt.2361)+1,r25
2053 1302 8093 0000 sts modell_fliegt.2361,r24
2054 .L391:
2055 1306 8091 0000 lds r24,modell_fliegt.2360
2056 130a 9091 0000 lds r25,(modell_fliegt.2360)+1
2055 1306 8091 0000 lds r24,modell_fliegt.2361
2056 130a 9091 0000 lds r25,(modell_fliegt.2361)+1
2057 130e 883C cpi r24,200
2058 1310 9105 cpc r25,__zero_reg__
2059 1312 00F0 brlo .L395
2047,14 → 2047,14
2062 1318 8897 sbiw r24,40
2063 131a 04F4 brge .L393
2064 .L395:
2065 131c 1092 0000 sts SummeNick.2349,__zero_reg__
2066 1320 1092 0000 sts (SummeNick.2349)+1,__zero_reg__
2067 1324 1092 0000 sts (SummeNick.2349)+2,__zero_reg__
2068 1328 1092 0000 sts (SummeNick.2349)+3,__zero_reg__
2069 132c 1092 0000 sts SummeRoll.2350,__zero_reg__
2070 1330 1092 0000 sts (SummeRoll.2350)+1,__zero_reg__
2071 1334 1092 0000 sts (SummeRoll.2350)+2,__zero_reg__
2072 1338 1092 0000 sts (SummeRoll.2350)+3,__zero_reg__
2065 131c 1092 0000 sts SummeNick.2350,__zero_reg__
2066 1320 1092 0000 sts (SummeNick.2350)+1,__zero_reg__
2067 1324 1092 0000 sts (SummeNick.2350)+2,__zero_reg__
2068 1328 1092 0000 sts (SummeNick.2350)+3,__zero_reg__
2069 132c 1092 0000 sts SummeRoll.2351,__zero_reg__
2070 1330 1092 0000 sts (SummeRoll.2351)+1,__zero_reg__
2071 1334 1092 0000 sts (SummeRoll.2351)+2,__zero_reg__
2072 1338 1092 0000 sts (SummeRoll.2351)+3,__zero_reg__
2073 133c 1092 0000 sts Mess_Integral_Gier,__zero_reg__
2074 1340 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__
2075 1344 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__
2086,9 → 2086,9
2101 1386 9105 cpc r25,__zero_reg__
2102 1388 04F4 brge .+2
2103 138a 00C0 rjmp .L400
2104 138c 8091 0000 lds r24,delay_neutral.2357
2104 138c 8091 0000 lds r24,delay_neutral.2358
2105 1390 8F5F subi r24,lo8(-(1))
2106 1392 8093 0000 sts delay_neutral.2357,r24
2106 1392 8093 0000 sts delay_neutral.2358,r24
2107 1396 893C cpi r24,lo8(-55)
2108 1398 00F4 brsh .+2
2109 139a 00C0 rjmp .L389
2095,9 → 2095,9
2110 139c 2998 cbi 37-0x20,1
2111 139e 0E94 0000 call SetNeutral
2112 13a2 1092 0000 sts MotorenEin,__zero_reg__
2113 13a6 1092 0000 sts delay_neutral.2357,__zero_reg__
2114 13aa 1092 0000 sts (modell_fliegt.2360)+1,__zero_reg__
2115 13ae 1092 0000 sts modell_fliegt.2360,__zero_reg__
2113 13a6 1092 0000 sts delay_neutral.2358,__zero_reg__
2114 13aa 1092 0000 sts (modell_fliegt.2361)+1,__zero_reg__
2115 13ae 1092 0000 sts modell_fliegt.2361,__zero_reg__
2116 13b2 8091 0000 lds r24,EE_Parameter
2117 13b6 282F mov r18,r24
2118 13b8 3327 clr r19
2271,7 → 2271,7
2286 1508 0E94 0000 call SucheLuftruckOffset
2287 150c 00C0 rjmp .L389
2288 .L400:
2289 150e 1092 0000 sts delay_neutral.2357,__zero_reg__
2289 150e 1092 0000 sts delay_neutral.2358,__zero_reg__
2290 1512 00C0 rjmp .L389
2291 .L397:
2292 1514 4981 ldd r20,Y+1
2294,24 → 2294,24
2309 1538 9F4F sbci r25,hi8(-75)
2310 153a 04F0 brlt .+2
2311 153c 00C0 rjmp .L426
2312 153e 8091 0000 lds r24,delay_einschalten.2358
2312 153e 8091 0000 lds r24,delay_einschalten.2359
2313 1542 8F5F subi r24,lo8(-(1))
2314 1544 8093 0000 sts delay_einschalten.2358,r24
2314 1544 8093 0000 sts delay_einschalten.2359,r24
2315 1548 893C cpi r24,lo8(-55)
2316 154a 00F4 brsh .+2
2317 154c 00C0 rjmp .L428
2318 154e 88EC ldi r24,lo8(-56)
2319 1550 8093 0000 sts delay_einschalten.2358,r24
2319 1550 8093 0000 sts delay_einschalten.2359,r24
2320 1554 81E0 ldi r24,lo8(1)
2321 1556 90E0 ldi r25,hi8(1)
2322 1558 9093 0000 sts (modell_fliegt.2360)+1,r25
2323 155c 8093 0000 sts modell_fliegt.2360,r24
2322 1558 9093 0000 sts (modell_fliegt.2361)+1,r25
2323 155c 8093 0000 sts modell_fliegt.2361,r24
2324 1560 81E0 ldi r24,lo8(1)
2325 1562 8093 0000 sts MotorenEin,r24
2326 1566 1092 0000 sts sollGier.2351,__zero_reg__
2327 156a 1092 0000 sts (sollGier.2351)+1,__zero_reg__
2328 156e 1092 0000 sts (sollGier.2351)+2,__zero_reg__
2329 1572 1092 0000 sts (sollGier.2351)+3,__zero_reg__
2326 1566 1092 0000 sts sollGier.2352,__zero_reg__
2327 156a 1092 0000 sts (sollGier.2352)+1,__zero_reg__
2328 156e 1092 0000 sts (sollGier.2352)+2,__zero_reg__
2329 1572 1092 0000 sts (sollGier.2352)+3,__zero_reg__
2330 1576 1092 0000 sts Mess_Integral_Gier,__zero_reg__
2331 157a 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__
2332 157e 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__
2344,17 → 2344,17
2359 15ea 9093 0000 sts (Mess_IntegralRoll2)+1,r25
2360 15ee A093 0000 sts (Mess_IntegralRoll2)+2,r26
2361 15f2 B093 0000 sts (Mess_IntegralRoll2)+3,r27
2362 15f6 1092 0000 sts SummeNick.2349,__zero_reg__
2363 15fa 1092 0000 sts (SummeNick.2349)+1,__zero_reg__
2364 15fe 1092 0000 sts (SummeNick.2349)+2,__zero_reg__
2365 1602 1092 0000 sts (SummeNick.2349)+3,__zero_reg__
2366 1606 1092 0000 sts SummeRoll.2350,__zero_reg__
2367 160a 1092 0000 sts (SummeRoll.2350)+1,__zero_reg__
2368 160e 1092 0000 sts (SummeRoll.2350)+2,__zero_reg__
2369 1612 1092 0000 sts (SummeRoll.2350)+3,__zero_reg__
2362 15f6 1092 0000 sts SummeNick.2350,__zero_reg__
2363 15fa 1092 0000 sts (SummeNick.2350)+1,__zero_reg__
2364 15fe 1092 0000 sts (SummeNick.2350)+2,__zero_reg__
2365 1602 1092 0000 sts (SummeNick.2350)+3,__zero_reg__
2366 1606 1092 0000 sts SummeRoll.2351,__zero_reg__
2367 160a 1092 0000 sts (SummeRoll.2351)+1,__zero_reg__
2368 160e 1092 0000 sts (SummeRoll.2351)+2,__zero_reg__
2369 1612 1092 0000 sts (SummeRoll.2351)+3,__zero_reg__
2370 1616 00C0 rjmp .L428
2371 .L426:
2372 1618 1092 0000 sts delay_einschalten.2358,__zero_reg__
2372 1618 1092 0000 sts delay_einschalten.2359,__zero_reg__
2373 .L428:
2374 161c 440F lsl r20
2375 161e 551F rol r21
2366,19 → 2366,19
2381 162a 8C34 cpi r24,76
2382 162c 9105 cpc r25,__zero_reg__
2383 162e 04F0 brlt .L430
2384 1630 8091 0000 lds r24,delay_ausschalten.2359
2384 1630 8091 0000 lds r24,delay_ausschalten.2360
2385 1634 8F5F subi r24,lo8(-(1))
2386 1636 8093 0000 sts delay_ausschalten.2359,r24
2386 1636 8093 0000 sts delay_ausschalten.2360,r24
2387 163a 893C cpi r24,lo8(-55)
2388 163c 00F0 brlo .L389
2389 163e 1092 0000 sts MotorenEin,__zero_reg__
2390 1642 88EC ldi r24,lo8(-56)
2391 1644 8093 0000 sts delay_ausschalten.2359,r24
2392 1648 1092 0000 sts (modell_fliegt.2360)+1,__zero_reg__
2393 164c 1092 0000 sts modell_fliegt.2360,__zero_reg__
2391 1644 8093 0000 sts delay_ausschalten.2360,r24
2392 1648 1092 0000 sts (modell_fliegt.2361)+1,__zero_reg__
2393 164c 1092 0000 sts modell_fliegt.2361,__zero_reg__
2394 1650 00C0 rjmp .L389
2395 .L430:
2396 1652 1092 0000 sts delay_ausschalten.2359,__zero_reg__
2396 1652 1092 0000 sts delay_ausschalten.2360,__zero_reg__
2397 .L389:
2398 1656 8091 0000 lds r24,NewPpmData
2399 165a 8150 subi r24,lo8(-(-1))
2625,8 → 2625,8
2640 18c6 B901 movw r22,r18
2641 18c8 681B sub r22,r24
2642 18ca 790B sbc r23,r25
2643 18cc 7093 0000 sts (IntegralFehlerNick.2354)+1,r23
2644 18d0 6093 0000 sts IntegralFehlerNick.2354,r22
2643 18cc 7093 0000 sts (IntegralFehlerNick.2355)+1,r23
2644 18d0 6093 0000 sts IntegralFehlerNick.2355,r22
2645 18d4 2091 0000 lds r18,IntegralRoll2
2646 18d8 3091 0000 lds r19,(IntegralRoll2)+1
2647 18dc 4091 0000 lds r20,(IntegralRoll2)+2
2637,8 → 2637,8
2652 18f0 B091 0000 lds r27,(IntegralRoll)+3
2653 18f4 281B sub r18,r24
2654 18f6 390B sbc r19,r25
2655 18f8 3093 0000 sts (IntegralFehlerRoll.2355)+1,r19
2656 18fc 2093 0000 sts IntegralFehlerRoll.2355,r18
2655 18f8 3093 0000 sts (IntegralFehlerRoll.2356)+1,r19
2656 18fc 2093 0000 sts IntegralFehlerRoll.2356,r18
2657 1900 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__
2658 1904 1092 0000 sts ZaehlMessungen,__zero_reg__
2659 1908 673A cpi r22,167
2765,10 → 2765,10
2780 1a64 0E94 0000 call __divmodsi4
2781 1a68 3901 movw r6,r18
2782 1a6a 4A01 movw r8,r20
2783 1a6c 2093 0000 sts tmp_long.2352,r18
2784 1a70 3093 0000 sts (tmp_long.2352)+1,r19
2785 1a74 4093 0000 sts (tmp_long.2352)+2,r20
2786 1a78 5093 0000 sts (tmp_long.2352)+3,r21
2783 1a6c 2093 0000 sts tmp_long.2353,r18
2784 1a70 3093 0000 sts (tmp_long.2353)+1,r19
2785 1a74 4093 0000 sts (tmp_long.2353)+2,r20
2786 1a78 5093 0000 sts (tmp_long.2353)+3,r21
2787 1a7c 6091 0000 lds r22,IntegralRoll
2788 1a80 7091 0000 lds r23,(IntegralRoll)+1
2789 1a84 8091 0000 lds r24,(IntegralRoll)+2
2793,10 → 2793,10
2808 1ab4 40E0 ldi r20,hlo8(16)
2809 1ab6 50E0 ldi r21,hhi8(16)
2810 1ab8 0E94 0000 call __divmodsi4
2811 1abc 2093 0000 sts tmp_long2.2353,r18
2812 1ac0 3093 0000 sts (tmp_long2.2353)+1,r19
2813 1ac4 4093 0000 sts (tmp_long2.2353)+2,r20
2814 1ac8 5093 0000 sts (tmp_long2.2353)+3,r21
2811 1abc 2093 0000 sts tmp_long2.2354,r18
2812 1ac0 3093 0000 sts (tmp_long2.2354)+1,r19
2813 1ac4 4093 0000 sts (tmp_long2.2354)+2,r20
2814 1ac8 5093 0000 sts (tmp_long2.2354)+3,r21
2815 1acc F5EF ldi r31,lo8(501)
2816 1ace 6F16 cp r6,r31
2817 1ad0 F1E0 ldi r31,hi8(501)
2826,10 → 2826,10
2841 1afe AFEF ldi r26,hlo8(-500)
2842 1b00 BFEF ldi r27,hhi8(-500)
2843 .L578:
2844 1b02 8093 0000 sts tmp_long.2352,r24
2845 1b06 9093 0000 sts (tmp_long.2352)+1,r25
2846 1b0a A093 0000 sts (tmp_long.2352)+2,r26
2847 1b0e B093 0000 sts (tmp_long.2352)+3,r27
2844 1b02 8093 0000 sts tmp_long.2353,r24
2845 1b06 9093 0000 sts (tmp_long.2353)+1,r25
2846 1b0a A093 0000 sts (tmp_long.2353)+2,r26
2847 1b0e B093 0000 sts (tmp_long.2353)+3,r27
2848 .L463:
2849 1b12 253F cpi r18,lo8(501)
2850 1b14 71E0 ldi r23,hi8(501)
2855,10 → 2855,10
2870 1b3a AFEF ldi r26,hlo8(-500)
2871 1b3c BFEF ldi r27,hhi8(-500)
2872 .L579:
2873 1b3e 8093 0000 sts tmp_long2.2353,r24
2874 1b42 9093 0000 sts (tmp_long2.2353)+1,r25
2875 1b46 A093 0000 sts (tmp_long2.2353)+2,r26
2876 1b4a B093 0000 sts (tmp_long2.2353)+3,r27
2873 1b3e 8093 0000 sts tmp_long2.2354,r24
2874 1b42 9093 0000 sts (tmp_long2.2354)+1,r25
2875 1b46 A093 0000 sts (tmp_long2.2354)+2,r26
2876 1b4a B093 0000 sts (tmp_long2.2354)+3,r27
2877 .L467:
2878 1b4e 1092 7A00 sts 122,__zero_reg__
2879 1b52 8091 0000 lds r24,Mess_IntegralNick
2865,10 → 2865,10
2880 1b56 9091 0000 lds r25,(Mess_IntegralNick)+1
2881 1b5a A091 0000 lds r26,(Mess_IntegralNick)+2
2882 1b5e B091 0000 lds r27,(Mess_IntegralNick)+3
2883 1b62 2091 0000 lds r18,tmp_long.2352
2884 1b66 3091 0000 lds r19,(tmp_long.2352)+1
2885 1b6a 4091 0000 lds r20,(tmp_long.2352)+2
2886 1b6e 5091 0000 lds r21,(tmp_long.2352)+3
2883 1b62 2091 0000 lds r18,tmp_long.2353
2884 1b66 3091 0000 lds r19,(tmp_long.2353)+1
2885 1b6a 4091 0000 lds r20,(tmp_long.2353)+2
2886 1b6e 5091 0000 lds r21,(tmp_long.2353)+3
2887 1b72 821B sub r24,r18
2888 1b74 930B sbc r25,r19
2889 1b76 A40B sbc r26,r20
2881,10 → 2881,10
2896 1b8e 9091 0000 lds r25,(Mess_IntegralRoll)+1
2897 1b92 A091 0000 lds r26,(Mess_IntegralRoll)+2
2898 1b96 B091 0000 lds r27,(Mess_IntegralRoll)+3
2899 1b9a 2091 0000 lds r18,tmp_long2.2353
2900 1b9e 3091 0000 lds r19,(tmp_long2.2353)+1
2901 1ba2 4091 0000 lds r20,(tmp_long2.2353)+2
2902 1ba6 5091 0000 lds r21,(tmp_long2.2353)+3
2899 1b9a 2091 0000 lds r18,tmp_long2.2354
2900 1b9e 3091 0000 lds r19,(tmp_long2.2354)+1
2901 1ba2 4091 0000 lds r20,(tmp_long2.2354)+2
2902 1ba6 5091 0000 lds r21,(tmp_long2.2354)+3
2903 1baa 821B sub r24,r18
2904 1bac 930B sbc r25,r19
2905 1bae A40B sbc r26,r20
2900,10 → 2900,10
2915 1bce B7FC sbrc r11,7
2916 1bd0 C094 com r12
2917 1bd2 DC2C mov r13,r12
2918 1bd4 A092 0000 sts sollGier.2351,r10
2919 1bd8 B092 0000 sts (sollGier.2351)+1,r11
2920 1bdc C092 0000 sts (sollGier.2351)+2,r12
2921 1be0 D092 0000 sts (sollGier.2351)+3,r13
2918 1bd4 A092 0000 sts sollGier.2352,r10
2919 1bd8 B092 0000 sts (sollGier.2352)+1,r11
2920 1bdc C092 0000 sts (sollGier.2352)+2,r12
2921 1be0 D092 0000 sts (sollGier.2352)+3,r13
2922 1be4 97FF sbrs r25,7
2923 1be6 00C0 rjmp .L470
2924 1be8 9095 com r25
2916,7 → 2916,7
2931 1bf6 84FD sbrc r24,4
2932 1bf8 00C0 rjmp .L469
2933 1bfa 81E0 ldi r24,lo8(1)
2934 1bfc 8093 0000 sts NeueKompassRichtungMerken.2363,r24
2934 1bfc 8093 0000 sts NeueKompassRichtungMerken.2364,r24
2935 .L469:
2936 1c00 6090 0000 lds r6,Mess_Integral_Gier
2937 1c04 7090 0000 lds r7,(Mess_Integral_Gier)+1
3049,11 → 3049,11
3064 1d48 6931 cpi r22,25
3065 1d4a 7105 cpc r23,__zero_reg__
3066 1d4c 04F4 brge .L484
3067 1d4e 8091 0000 lds r24,NeueKompassRichtungMerken.2363
3067 1d4e 8091 0000 lds r24,NeueKompassRichtungMerken.2364
3068 1d52 8823 tst r24
3069 1d54 01F0 breq .L484
3070 1d56 8091 0000 lds r24,SignalSchlecht.2367
3071 1d5a 9091 0000 lds r25,(SignalSchlecht.2367)+1
3070 1d56 8091 0000 lds r24,SignalSchlecht.2368
3071 1d5a 9091 0000 lds r25,(SignalSchlecht.2368)+1
3072 1d5e 892B or r24,r25
3073 1d60 01F4 brne .L484
3074 1d62 8091 0000 lds r24,KompassValue
3060,7 → 3060,7
3075 1d66 9091 0000 lds r25,(KompassValue)+1
3076 1d6a 9093 0000 sts (KompassStartwert)+1,r25
3077 1d6e 8093 0000 sts KompassStartwert,r24
3078 1d72 1092 0000 sts NeueKompassRichtungMerken.2363,__zero_reg__
3078 1d72 1092 0000 sts NeueKompassRichtungMerken.2364,__zero_reg__
3079 .L484:
3080 1d76 2091 0000 lds r18,Parameter_KompassWirkung
3081 1d7a 3327 clr r19
3082,8 → 3082,8
3097 1d9c 04F0 brlt .+2
3098 1d9e 00C0 rjmp .L488
3099 1da0 1092 7A00 sts 122,__zero_reg__
3100 1da4 2091 0000 lds r18,SignalSchlecht.2367
3101 1da8 3091 0000 lds r19,(SignalSchlecht.2367)+1
3100 1da4 2091 0000 lds r18,SignalSchlecht.2368
3101 1da8 3091 0000 lds r19,(SignalSchlecht.2368)+1
3102 1dac 2115 cp r18,__zero_reg__
3103 1dae 3105 cpc r19,__zero_reg__
3104 1db0 01F4 brne .L490
3124,14 → 3124,14
3139 1e0c 8093 7A00 sts 122,r24
3140 1e10 2150 subi r18,lo8(-(-1))
3141 1e12 3040 sbci r19,hi8(-(-1))
3142 1e14 3093 0000 sts (SignalSchlecht.2367)+1,r19
3143 1e18 2093 0000 sts SignalSchlecht.2367,r18
3142 1e14 3093 0000 sts (SignalSchlecht.2368)+1,r19
3143 1e18 2093 0000 sts SignalSchlecht.2368,r18
3144 1e1c 00C0 rjmp .L478
3145 .L488:
3146 1e1e 84EF ldi r24,lo8(500)
3147 1e20 91E0 ldi r25,hi8(500)
3148 1e22 9093 0000 sts (SignalSchlecht.2367)+1,r25
3149 1e26 8093 0000 sts SignalSchlecht.2367,r24
3148 1e22 9093 0000 sts (SignalSchlecht.2368)+1,r25
3149 1e26 8093 0000 sts SignalSchlecht.2368,r24
3150 .L478:
3151 1e2a 8091 0000 lds r24,EE_Parameter+8
3152 1e2e 85FF sbrs r24,5
3144,1192 → 3144,1189
3159 1e44 9927 clr r25
3160 1e46 9093 0000 sts (gps_d)+1,r25
3161 1e4a 8093 0000 sts gps_d,r24
3162 1e4e 8091 0000 lds r24,Parameter_UserParam3
3163 1e52 9927 clr r25
3164 1e54 9093 0000 sts (skal)+1,r25
3165 1e58 8093 0000 sts skal,r24
3166 1e5c 0E94 0000 call gps_main
3167 1e60 00C0 rjmp .L494
3168 .L492:
3169 1e62 1092 0000 sts (GPS_Nick)+1,__zero_reg__
3170 1e66 1092 0000 sts GPS_Nick,__zero_reg__
3171 1e6a 1092 0000 sts (GPS_Roll)+1,__zero_reg__
3172 1e6e 1092 0000 sts GPS_Roll,__zero_reg__
3173 .L494:
3174 1e72 8091 0000 lds r24,DebugOut+17
3175 1e76 8F5F subi r24,lo8(-(1))
3176 1e78 8093 0000 sts DebugOut+17,r24
3177 1e7c 8091 0000 lds r24,TimerWerteausgabe.2362
3178 1e80 8150 subi r24,lo8(-(-1))
3179 1e82 8093 0000 sts TimerWerteausgabe.2362,r24
3180 1e86 8F3F cpi r24,lo8(-1)
3181 1e88 01F0 breq .+2
3182 1e8a 00C0 rjmp .L495
3183 1e8c 81E3 ldi r24,lo8(49)
3184 1e8e 8093 0000 sts TimerWerteausgabe.2362,r24
3185 1e92 6091 0000 lds r22,IntegralNick
3186 1e96 7091 0000 lds r23,(IntegralNick)+1
3187 1e9a 8091 0000 lds r24,(IntegralNick)+2
3188 1e9e 9091 0000 lds r25,(IntegralNick)+3
3189 1ea2 E090 0000 lds r14,EE_Parameter+20
3190 1ea6 FF24 clr r15
3191 1ea8 0027 clr r16
3192 1eaa 1127 clr r17
3193 1eac A801 movw r20,r16
3194 1eae 9701 movw r18,r14
3195 1eb0 0E94 0000 call __divmodsi4
3196 1eb4 3093 0000 sts (DebugOut+18)+1,r19
3197 1eb8 2093 0000 sts DebugOut+18,r18
3198 1ebc 6091 0000 lds r22,IntegralRoll
3199 1ec0 7091 0000 lds r23,(IntegralRoll)+1
3200 1ec4 8091 0000 lds r24,(IntegralRoll)+2
3201 1ec8 9091 0000 lds r25,(IntegralRoll)+3
3202 1ecc A801 movw r20,r16
3203 1ece 9701 movw r18,r14
3204 1ed0 0E94 0000 call __divmodsi4
3205 1ed4 3093 0000 sts (DebugOut+20)+1,r19
3206 1ed8 2093 0000 sts DebugOut+20,r18
3207 1edc 8091 0000 lds r24,Mittelwert_AccNick
3208 1ee0 9091 0000 lds r25,(Mittelwert_AccNick)+1
3209 1ee4 9093 0000 sts (DebugOut+22)+1,r25
3210 1ee8 8093 0000 sts DebugOut+22,r24
3211 1eec 8091 0000 lds r24,Mittelwert_AccRoll
3212 1ef0 9091 0000 lds r25,(Mittelwert_AccRoll)+1
3213 1ef4 9093 0000 sts (DebugOut+24)+1,r25
3214 1ef8 8093 0000 sts DebugOut+24,r24
3215 1efc 8091 0000 lds r24,MesswertGier
3216 1f00 9091 0000 lds r25,(MesswertGier)+1
3217 1f04 9093 0000 sts (DebugOut+26)+1,r25
3218 1f08 8093 0000 sts DebugOut+26,r24
3219 1f0c 8091 0000 lds r24,HoehenWert
3220 1f10 9091 0000 lds r25,(HoehenWert)+1
3221 1f14 9093 0000 sts (DebugOut+28)+1,r25
3222 1f18 8093 0000 sts DebugOut+28,r24
3223 1f1c 6091 0000 lds r22,Mess_Integral_Hoch
3224 1f20 7091 0000 lds r23,(Mess_Integral_Hoch)+1
3225 1f24 8091 0000 lds r24,(Mess_Integral_Hoch)+2
3226 1f28 9091 0000 lds r25,(Mess_Integral_Hoch)+3
3227 1f2c 20E0 ldi r18,lo8(512)
3228 1f2e 32E0 ldi r19,hi8(512)
3229 1f30 40E0 ldi r20,hlo8(512)
3230 1f32 50E0 ldi r21,hhi8(512)
3231 1f34 0E94 0000 call __divmodsi4
3232 1f38 3093 0000 sts (DebugOut+30)+1,r19
3233 1f3c 2093 0000 sts DebugOut+30,r18
3234 1f40 8981 ldd r24,Y+1
3235 1f42 9A81 ldd r25,Y+2
3236 1f44 9093 0000 sts (DebugOut+32)+1,r25
3237 1f48 8093 0000 sts DebugOut+32,r24
3238 1f4c 8091 0000 lds r24,KompassValue
3239 1f50 9091 0000 lds r25,(KompassValue)+1
3240 1f54 9093 0000 sts (DebugOut+34)+1,r25
3241 1f58 8093 0000 sts DebugOut+34,r24
3242 .L495:
3243 1f5c 6091 0000 lds r22,IntegralNick
3244 1f60 7091 0000 lds r23,(IntegralNick)+1
3245 1f64 8091 0000 lds r24,(IntegralNick)+2
3246 1f68 9091 0000 lds r25,(IntegralNick)+3
3247 1f6c 2090 0000 lds r2,IntegralFaktor
3248 1f70 3090 0000 lds r3,(IntegralFaktor)+1
3249 1f74 4090 0000 lds r4,(IntegralFaktor)+2
3250 1f78 5090 0000 lds r5,(IntegralFaktor)+3
3251 1f7c E090 0000 lds r14,MesswertNick
3252 1f80 F090 0000 lds r15,(MesswertNick)+1
3253 1f84 6090 0000 lds r6,GyroFaktor
3254 1f88 7090 0000 lds r7,(GyroFaktor)+1
3255 1f8c 8090 0000 lds r8,(GyroFaktor)+2
3256 1f90 9090 0000 lds r9,(GyroFaktor)+3
3257 1f94 0E94 0000 call __floatsisf
3258 1f98 A201 movw r20,r4
3259 1f9a 9101 movw r18,r2
3260 1f9c 0E94 0000 call __mulsf3
3261 1fa0 5B01 movw r10,r22
3262 1fa2 6C01 movw r12,r24
3263 1fa4 0027 clr r16
3264 1fa6 F7FC sbrc r15,7
3265 1fa8 0095 com r16
3266 1faa 102F mov r17,r16
3267 1fac C801 movw r24,r16
3268 1fae B701 movw r22,r14
3269 1fb0 0E94 0000 call __floatsisf
3270 1fb4 A401 movw r20,r8
3271 1fb6 9301 movw r18,r6
3272 1fb8 0E94 0000 call __mulsf3
3273 1fbc 9B01 movw r18,r22
3274 1fbe AC01 movw r20,r24
3275 1fc0 C601 movw r24,r12
3276 1fc2 B501 movw r22,r10
3277 1fc4 0E94 0000 call __addsf3
3278 1fc8 0E94 0000 call __fixsfsi
3279 1fcc 7093 0000 sts (MesswertNick)+1,r23
3280 1fd0 6093 0000 sts MesswertNick,r22
3281 1fd4 6091 0000 lds r22,IntegralRoll
3282 1fd8 7091 0000 lds r23,(IntegralRoll)+1
3283 1fdc 8091 0000 lds r24,(IntegralRoll)+2
3284 1fe0 9091 0000 lds r25,(IntegralRoll)+3
3285 1fe4 E090 0000 lds r14,MesswertRoll
3286 1fe8 F090 0000 lds r15,(MesswertRoll)+1
3287 1fec 0E94 0000 call __floatsisf
3288 1ff0 A201 movw r20,r4
3289 1ff2 9101 movw r18,r2
3290 1ff4 0E94 0000 call __mulsf3
3291 1ff8 5B01 movw r10,r22
3292 1ffa 6C01 movw r12,r24
3293 1ffc 0027 clr r16
3294 1ffe F7FC sbrc r15,7
3295 2000 0095 com r16
3296 2002 102F mov r17,r16
3297 2004 C801 movw r24,r16
3298 2006 B701 movw r22,r14
3299 2008 0E94 0000 call __floatsisf
3300 200c A401 movw r20,r8
3301 200e 9301 movw r18,r6
3302 2010 0E94 0000 call __mulsf3
3303 2014 9B01 movw r18,r22
3304 2016 AC01 movw r20,r24
3305 2018 C601 movw r24,r12
3306 201a B501 movw r22,r10
3307 201c 0E94 0000 call __addsf3
3308 2020 0E94 0000 call __fixsfsi
3309 2024 7093 0000 sts (MesswertRoll)+1,r23
3310 2028 6093 0000 sts MesswertRoll,r22
3311 202c 6091 0000 lds r22,MesswertGier
3312 2030 7091 0000 lds r23,(MesswertGier)+1
3313 2034 A090 0000 lds r10,Integral_Gier
3314 2038 B090 0000 lds r11,(Integral_Gier)+1
3315 203c C090 0000 lds r12,(Integral_Gier)+2
3316 2040 D090 0000 lds r13,(Integral_Gier)+3
3317 2044 8827 clr r24
3318 2046 77FD sbrc r23,7
3319 2048 8095 com r24
3320 204a 982F mov r25,r24
3321 204c 0E94 0000 call __floatsisf
3322 2050 7B01 movw r14,r22
3323 2052 8C01 movw r16,r24
3324 2054 20E0 ldi r18,lo8(0x3f000000)
3325 2056 30E0 ldi r19,hi8(0x3f000000)
3326 2058 40E0 ldi r20,hlo8(0x3f000000)
3327 205a 5FE3 ldi r21,hhi8(0x3f000000)
3328 205c C401 movw r24,r8
3329 205e B301 movw r22,r6
3330 2060 0E94 0000 call __mulsf3
3331 2064 9B01 movw r18,r22
3332 2066 AC01 movw r20,r24
3333 2068 C801 movw r24,r16
3334 206a B701 movw r22,r14
3335 206c 0E94 0000 call __mulsf3
3336 2070 7B01 movw r14,r22
3337 2072 8C01 movw r16,r24
3338 2074 C601 movw r24,r12
3339 2076 B501 movw r22,r10
3340 2078 0E94 0000 call __floatsisf
3341 207c A201 movw r20,r4
3342 207e 9101 movw r18,r2
3343 2080 0E94 0000 call __mulsf3
3344 2084 9B01 movw r18,r22
3345 2086 AC01 movw r20,r24
3346 2088 C801 movw r24,r16
3347 208a B701 movw r22,r14
3348 208c 0E94 0000 call __addsf3
3349 2090 0E94 0000 call __fixsfsi
3350 2094 7093 0000 sts (MesswertGier)+1,r23
3351 2098 6093 0000 sts MesswertGier,r22
3352 209c 8091 0000 lds r24,MesswertNick
3353 20a0 9091 0000 lds r25,(MesswertNick)+1
3354 20a4 8150 subi r24,lo8(2049)
3355 20a6 9840 sbci r25,hi8(2049)
3356 20a8 04F0 brlt .L497
3357 20aa 80E0 ldi r24,lo8(2048)
3358 20ac 98E0 ldi r25,hi8(2048)
3359 20ae 9093 0000 sts (MesswertNick)+1,r25
3360 20b2 8093 0000 sts MesswertNick,r24
3361 .L497:
3362 20b6 8091 0000 lds r24,MesswertNick
3363 20ba 9091 0000 lds r25,(MesswertNick)+1
3364 20be 8050 subi r24,lo8(-2048)
3365 20c0 984F sbci r25,hi8(-2048)
3366 20c2 04F4 brge .L499
3367 20c4 80E0 ldi r24,lo8(-2048)
3368 20c6 98EF ldi r25,hi8(-2048)
3369 20c8 9093 0000 sts (MesswertNick)+1,r25
3370 20cc 8093 0000 sts MesswertNick,r24
3371 .L499:
3372 20d0 8091 0000 lds r24,MesswertRoll
3373 20d4 9091 0000 lds r25,(MesswertRoll)+1
3374 20d8 8150 subi r24,lo8(2049)
3375 20da 9840 sbci r25,hi8(2049)
3376 20dc 04F0 brlt .L501
3377 20de 80E0 ldi r24,lo8(2048)
3378 20e0 98E0 ldi r25,hi8(2048)
3379 20e2 9093 0000 sts (MesswertRoll)+1,r25
3380 20e6 8093 0000 sts MesswertRoll,r24
3381 .L501:
3382 20ea 8091 0000 lds r24,MesswertRoll
3383 20ee 9091 0000 lds r25,(MesswertRoll)+1
3384 20f2 8050 subi r24,lo8(-2048)
3385 20f4 984F sbci r25,hi8(-2048)
3386 20f6 04F4 brge .L503
3387 20f8 80E0 ldi r24,lo8(-2048)
3388 20fa 98EF ldi r25,hi8(-2048)
3389 20fc 9093 0000 sts (MesswertRoll)+1,r25
3390 2100 8093 0000 sts MesswertRoll,r24
3391 .L503:
3392 2104 8091 0000 lds r24,MesswertGier
3393 2108 9091 0000 lds r25,(MesswertGier)+1
3394 210c 8150 subi r24,lo8(2049)
3395 210e 9840 sbci r25,hi8(2049)
3396 2110 04F0 brlt .L505
3397 2112 80E0 ldi r24,lo8(2048)
3398 2114 98E0 ldi r25,hi8(2048)
3399 2116 9093 0000 sts (MesswertGier)+1,r25
3400 211a 8093 0000 sts MesswertGier,r24
3401 .L505:
3402 211e 8091 0000 lds r24,MesswertGier
3403 2122 9091 0000 lds r25,(MesswertGier)+1
3404 2126 8050 subi r24,lo8(-2048)
3405 2128 984F sbci r25,hi8(-2048)
3406 212a 04F4 brge .L507
3407 212c 80E0 ldi r24,lo8(-2048)
3408 212e 98EF ldi r25,hi8(-2048)
3409 2130 9093 0000 sts (MesswertGier)+1,r25
3410 2134 8093 0000 sts MesswertGier,r24
3411 .L507:
3412 2138 8091 0000 lds r24,EE_Parameter+8
3413 213c 9927 clr r25
3414 213e 80FF sbrs r24,0
3415 2140 00C0 rjmp .L509
3416 2142 2091 0000 lds r18,Parameter_MaxHoehe
3417 2146 81FF sbrs r24,1
3418 2148 00C0 rjmp .L511
3419 214a 2233 cpi r18,lo8(50)
3420 214c 00F4 brsh .L580
3421 214e 8091 0000 lds r24,HoehenWert
3422 2152 9091 0000 lds r25,(HoehenWert)+1
3423 2156 4497 sbiw r24,20
3424 2158 9093 0000 sts (SollHoehe)+1,r25
3425 215c 8093 0000 sts SollHoehe,r24
3426 2160 1092 0000 sts HoehenReglerAktiv,__zero_reg__
3427 2164 00C0 rjmp .L515
3428 .L511:
3429 2166 8091 0000 lds r24,EE_Parameter+13
3430 216a 289F mul r18,r24
3431 216c C001 movw r24,r0
3432 216e 1124 clr r1
3433 2170 4497 sbiw r24,20
3434 2172 9093 0000 sts (SollHoehe)+1,r25
3435 2176 8093 0000 sts SollHoehe,r24
3436 .L580:
3437 217a 81E0 ldi r24,lo8(1)
3438 217c 8093 0000 sts HoehenReglerAktiv,r24
3439 .L515:
3440 2180 8091 0000 lds r24,Notlandung
3441 2184 8823 tst r24
3442 2186 01F0 breq .L516
3443 2188 1092 0000 sts (SollHoehe)+1,__zero_reg__
3444 218c 1092 0000 sts SollHoehe,__zero_reg__
3445 .L516:
3446 2190 2091 0000 lds r18,HoehenWert
3447 2194 3091 0000 lds r19,(HoehenWert)+1
3448 2198 4091 0000 lds r20,SollHoehe
3449 219c 5091 0000 lds r21,(SollHoehe)+1
3450 21a0 4217 cp r20,r18
3451 21a2 5307 cpc r21,r19
3452 21a4 04F0 brlt .+2
3453 21a6 00C0 rjmp .L509
3454 21a8 8091 0000 lds r24,HoehenReglerAktiv
3455 21ac 8823 tst r24
3456 21ae 01F4 brne .+2
3457 21b0 00C0 rjmp .L509
3458 21b2 241B sub r18,r20
3459 21b4 350B sbc r19,r21
3460 21b6 8091 0000 lds r24,Parameter_Hoehe_P
3461 21ba 9927 clr r25
3462 21bc BC01 movw r22,r24
3463 21be 269F mul r18,r22
3464 21c0 C001 movw r24,r0
3465 21c2 279F mul r18,r23
3466 21c4 900D add r25,r0
3467 21c6 369F mul r19,r22
3468 21c8 900D add r25,r0
3469 21ca 1124 clr r1
3470 21cc 60E1 ldi r22,lo8(16)
3471 21ce 70E0 ldi r23,hi8(16)
3472 21d0 0E94 0000 call __divmodhi4
3473 21d4 0981 ldd r16,Y+1
3474 21d6 1A81 ldd r17,Y+2
3475 21d8 061B sub r16,r22
3476 21da 170B sbc r17,r23
3477 21dc 2091 0000 lds r18,HoeheD
3478 21e0 3091 0000 lds r19,(HoeheD)+1
3479 21e4 8091 0000 lds r24,Parameter_Luftdruck_D
3480 21e8 9927 clr r25
3481 21ea FC01 movw r30,r24
3482 21ec 2E9F mul r18,r30
3483 21ee C001 movw r24,r0
3484 21f0 2F9F mul r18,r31
3485 21f2 900D add r25,r0
3486 21f4 3E9F mul r19,r30
3487 21f6 900D add r25,r0
3488 21f8 1124 clr r1
3489 21fa 68E0 ldi r22,lo8(8)
3490 21fc 70E0 ldi r23,hi8(8)
3491 21fe 0E94 0000 call __divmodhi4
3492 2202 061B sub r16,r22
3493 2204 170B sbc r17,r23
3494 2206 6091 0000 lds r22,Mess_Integral_Hoch
3495 220a 7091 0000 lds r23,(Mess_Integral_Hoch)+1
3496 220e 8091 0000 lds r24,(Mess_Integral_Hoch)+2
3497 2212 9091 0000 lds r25,(Mess_Integral_Hoch)+3
3498 2216 20E0 ldi r18,lo8(512)
3499 2218 32E0 ldi r19,hi8(512)
3500 221a 40E0 ldi r20,hlo8(512)
3501 221c 50E0 ldi r21,hhi8(512)
3502 221e 0E94 0000 call __divmodsi4
3503 2222 CA01 movw r24,r20
3504 2224 B901 movw r22,r18
3505 2226 2091 0000 lds r18,Parameter_Hoehe_ACC_Wirkung
3506 222a 3327 clr r19
3507 222c 4427 clr r20
3508 222e 5527 clr r21
3509 2230 0E94 0000 call __mulsi3
3510 2234 20E2 ldi r18,lo8(32)
3511 2236 30E0 ldi r19,hi8(32)
3512 2238 40E0 ldi r20,hlo8(32)
3513 223a 50E0 ldi r21,hhi8(32)
3514 223c 0E94 0000 call __divmodsi4
3515 2240 FFEF ldi r31,hi8(-50)
3516 2242 2E3C cpi r18,lo8(-50)
3517 2244 3F07 cpc r19,r31
3518 2246 04F4 brge .L520
3519 2248 2EEC ldi r18,lo8(-50)
3520 224a 3FEF ldi r19,hi8(-50)
3521 .L520:
3522 224c 8091 0000 lds r24,hoehenregler.2361
3523 2250 9091 0000 lds r25,(hoehenregler.2361)+1
3524 2254 AC01 movw r20,r24
3525 2256 74E0 ldi r23,4
3526 2258 440F 1: lsl r20
3527 225a 551F rol r21
3528 225c 7A95 dec r23
3529 225e 01F4 brne 1b
3530 2260 481B sub r20,r24
3531 2262 590B sbc r21,r25
3532 2264 2333 cpi r18,51
3533 2266 3105 cpc r19,__zero_reg__
3534 2268 04F0 brlt .L521
3535 226a 22E3 ldi r18,lo8(50)
3536 226c 30E0 ldi r19,hi8(50)
3537 .L521:
3538 226e 021B sub r16,r18
3539 2270 130B sbc r17,r19
3540 2272 CA01 movw r24,r20
3541 2274 800F add r24,r16
3542 2276 911F adc r25,r17
3543 2278 60E1 ldi r22,lo8(16)
3544 227a 70E0 ldi r23,hi8(16)
3545 227c 0E94 0000 call __divmodhi4
3546 2280 7093 0000 sts (hoehenregler.2361)+1,r23
3547 2284 6093 0000 sts hoehenregler.2361,r22
3548 2288 8091 0000 lds r24,EE_Parameter+9
3549 228c 9927 clr r25
3550 228e 6817 cp r22,r24
3551 2290 7907 cpc r23,r25
3552 2292 04F4 brge .L522
3553 2294 2981 ldd r18,Y+1
3554 2296 3A81 ldd r19,Y+2
3555 2298 2817 cp r18,r24
3556 229a 3907 cpc r19,r25
3557 229c 04F0 brlt .L524
3558 229e 9093 0000 sts (hoehenregler.2361)+1,r25
3559 22a2 8093 0000 sts hoehenregler.2361,r24
3560 22a6 00C0 rjmp .L522
3561 .L524:
3562 22a8 4981 ldd r20,Y+1
3563 22aa 5A81 ldd r21,Y+2
3564 22ac 5093 0000 sts (hoehenregler.2361)+1,r21
3565 22b0 4093 0000 sts hoehenregler.2361,r20
3566 22b4 00C0 rjmp .L526
3567 .L522:
3568 22b6 8091 0000 lds r24,hoehenregler.2361
3569 22ba 9091 0000 lds r25,(hoehenregler.2361)+1
3570 22be 6981 ldd r22,Y+1
3571 22c0 7A81 ldd r23,Y+2
3572 22c2 6817 cp r22,r24
3573 22c4 7907 cpc r23,r25
3574 22c6 04F4 brge .L526
3575 22c8 7093 0000 sts (hoehenregler.2361)+1,r23
3576 22cc 6093 0000 sts hoehenregler.2361,r22
3577 .L526:
3578 22d0 8091 0000 lds r24,hoehenregler.2361
3579 22d4 9091 0000 lds r25,(hoehenregler.2361)+1
3580 22d8 9A83 std Y+2,r25
3581 22da 8983 std Y+1,r24
3582 .L509:
3583 22dc C090 0000 lds r12,MesswertGier
3584 22e0 D090 0000 lds r13,(MesswertGier)+1
3585 22e4 8091 0000 lds r24,sollGier.2351
3586 22e8 9091 0000 lds r25,(sollGier.2351)+1
3587 22ec C81A sub r12,r24
3588 22ee D90A sbc r13,r25
3589 22f0 95E6 ldi r25,lo8(101)
3590 22f2 C916 cp r12,r25
3591 22f4 D104 cpc r13,__zero_reg__
3592 22f6 04F0 brlt .L528
3593 22f8 64E6 ldi r22,lo8(100)
3594 22fa C62E mov r12,r22
3595 22fc D12C mov r13,__zero_reg__
3596 22fe 00C0 rjmp .L530
3597 .L528:
3598 2300 ECE9 ldi r30,lo8(-100)
3599 2302 CE16 cp r12,r30
3600 2304 EFEF ldi r30,hi8(-100)
3601 2306 DE06 cpc r13,r30
3602 2308 04F4 brge .L530
3603 230a 5CE9 ldi r21,lo8(-100)
3604 230c C52E mov r12,r21
3605 230e 5FEF ldi r21,hi8(-100)
3606 2310 D52E mov r13,r21
3607 .L530:
3608 2312 4090 0000 lds r4,Kp
3609 2316 5090 0000 lds r5,(Kp)+1
3610 231a 6090 0000 lds r6,(Kp)+2
3611 231e 7090 0000 lds r7,(Kp)+3
3612 2322 6091 0000 lds r22,MesswertNick
3613 2326 7091 0000 lds r23,(MesswertNick)+1
3614 232a 2091 0000 lds r18,StickNick
3615 232e 3091 0000 lds r19,(StickNick)+1
3616 2332 4091 0000 lds r20,GPS_Nick
3617 2336 5091 0000 lds r21,(GPS_Nick)+1
3618 233a 241B sub r18,r20
3619 233c 350B sbc r19,r21
3620 233e 621B sub r22,r18
3621 2340 730B sbc r23,r19
3622 2342 8827 clr r24
3623 2344 77FD sbrc r23,7
3624 2346 8095 com r24
3625 2348 982F mov r25,r24
3626 234a 0E94 0000 call __floatsisf
3627 234e 9B01 movw r18,r22
3628 2350 AC01 movw r20,r24
3629 2352 C301 movw r24,r6
3630 2354 B201 movw r22,r4
3631 2356 0E94 0000 call __mulsf3
3632 235a 0E94 0000 call __fixsfsi
3633 235e 7093 0000 sts (DiffNick)+1,r23
3634 2362 6093 0000 sts DiffNick,r22
3635 2366 8091 0000 lds r24,DiffNick
3636 236a 9091 0000 lds r25,(DiffNick)+1
3637 236e 8C01 movw r16,r24
3638 2370 2227 clr r18
3639 2372 17FD sbrc r17,7
3640 2374 2095 com r18
3641 2376 322F mov r19,r18
3642 2378 8091 0000 lds r24,SummeNick.2349
3643 237c 9091 0000 lds r25,(SummeNick.2349)+1
3644 2380 A091 0000 lds r26,(SummeNick.2349)+2
3645 2384 B091 0000 lds r27,(SummeNick.2349)+3
3646 2388 080F add r16,r24
3647 238a 191F adc r17,r25
3648 238c 2A1F adc r18,r26
3649 238e 3B1F adc r19,r27
3650 2390 0093 0000 sts SummeNick.2349,r16
3651 2394 1093 0000 sts (SummeNick.2349)+1,r17
3652 2398 2093 0000 sts (SummeNick.2349)+2,r18
3653 239c 3093 0000 sts (SummeNick.2349)+3,r19
3654 23a0 1016 cp __zero_reg__,r16
3655 23a2 1106 cpc __zero_reg__,r17
3656 23a4 1206 cpc __zero_reg__,r18
3657 23a6 1306 cpc __zero_reg__,r19
3658 23a8 04F4 brge .L532
3659 23aa C801 movw r24,r16
3660 23ac 17FF sbrs r17,7
3661 23ae 00C0 rjmp .L534
3662 23b0 9095 com r25
3663 23b2 8195 neg r24
3664 23b4 9F4F sbci r25,lo8(-1)
3665 .L534:
3666 23b6 60E0 ldi r22,lo8(256)
3667 23b8 71E0 ldi r23,hi8(256)
3668 23ba 0E94 0000 call __divmodhi4
3669 23be 6F5F subi r22,lo8(-(1))
3670 23c0 7F4F sbci r23,hi8(-(1))
3671 23c2 8827 clr r24
3672 23c4 77FD sbrc r23,7
3673 23c6 8095 com r24
3674 23c8 982F mov r25,r24
3675 23ca 061B sub r16,r22
3676 23cc 170B sbc r17,r23
3677 23ce 280B sbc r18,r24
3678 23d0 390B sbc r19,r25
3679 23d2 00C0 rjmp .L581
3680 .L532:
3681 23d4 C801 movw r24,r16
3682 23d6 17FF sbrs r17,7
3683 23d8 00C0 rjmp .L536
3684 23da 9095 com r25
3685 23dc 8195 neg r24
3686 23de 9F4F sbci r25,lo8(-1)
3687 .L536:
3688 23e0 60E0 ldi r22,lo8(256)
3689 23e2 71E0 ldi r23,hi8(256)
3690 23e4 0E94 0000 call __divmodhi4
3691 23e8 6F5F subi r22,lo8(-(1))
3692 23ea 7F4F sbci r23,hi8(-(1))
3693 23ec 8827 clr r24
3694 23ee 77FD sbrc r23,7
3695 23f0 8095 com r24
3696 23f2 982F mov r25,r24
3697 23f4 060F add r16,r22
3698 23f6 171F adc r17,r23
3699 23f8 281F adc r18,r24
3700 23fa 391F adc r19,r25
3701 .L581:
3702 23fc 0093 0000 sts SummeNick.2349,r16
3703 2400 1093 0000 sts (SummeNick.2349)+1,r17
3704 2404 2093 0000 sts (SummeNick.2349)+2,r18
3705 2408 3093 0000 sts (SummeNick.2349)+3,r19
3706 240c 8091 0000 lds r24,SummeNick.2349
3707 2410 9091 0000 lds r25,(SummeNick.2349)+1
3708 2414 A091 0000 lds r26,(SummeNick.2349)+2
3709 2418 B091 0000 lds r27,(SummeNick.2349)+3
3710 241c 8138 cpi r24,lo8(16001)
3711 241e FEE3 ldi r31,hi8(16001)
3712 2420 9F07 cpc r25,r31
3713 2422 F0E0 ldi r31,hlo8(16001)
3714 2424 AF07 cpc r26,r31
3715 2426 F0E0 ldi r31,hhi8(16001)
3716 2428 BF07 cpc r27,r31
3717 242a 04F0 brlt .L537
3718 242c 80E8 ldi r24,lo8(16000)
3719 242e 9EE3 ldi r25,hi8(16000)
3720 2430 A0E0 ldi r26,hlo8(16000)
3721 2432 B0E0 ldi r27,hhi8(16000)
3722 2434 00C0 rjmp .L582
3723 .L537:
3724 2436 8058 subi r24,lo8(-16000)
3725 2438 914C sbci r25,hi8(-16000)
3726 243a AF4F sbci r26,hlo8(-16000)
3727 243c BF4F sbci r27,hhi8(-16000)
3728 243e 04F4 brge .L539
3729 2440 80E8 ldi r24,lo8(-16000)
3730 2442 91EC ldi r25,hi8(-16000)
3731 2444 AFEF ldi r26,hlo8(-16000)
3732 2446 BFEF ldi r27,hhi8(-16000)
3733 .L582:
3734 2448 8093 0000 sts SummeNick.2349,r24
3735 244c 9093 0000 sts (SummeNick.2349)+1,r25
3736 2450 A093 0000 sts (SummeNick.2349)+2,r26
3737 2454 B093 0000 sts (SummeNick.2349)+3,r27
3738 .L539:
3739 2458 6091 0000 lds r22,DiffNick
3740 245c 7091 0000 lds r23,(DiffNick)+1
3741 2460 8090 0000 lds r8,Ki
3742 2464 9090 0000 lds r9,(Ki)+1
3743 2468 A090 0000 lds r10,(Ki)+2
3744 246c B090 0000 lds r11,(Ki)+3
3745 2470 8827 clr r24
3746 2472 77FD sbrc r23,7
3747 2474 8095 com r24
3748 2476 982F mov r25,r24
3749 2478 0E94 0000 call __floatsisf
3750 247c 7B01 movw r14,r22
3751 247e 8C01 movw r16,r24
3752 2480 6091 0000 lds r22,SummeNick.2349
3753 2484 7091 0000 lds r23,(SummeNick.2349)+1
3754 2488 8091 0000 lds r24,(SummeNick.2349)+2
3755 248c 9091 0000 lds r25,(SummeNick.2349)+3
3756 2490 0E94 0000 call __floatsisf
3757 2494 9B01 movw r18,r22
3758 2496 AC01 movw r20,r24
3759 2498 C501 movw r24,r10
3760 249a B401 movw r22,r8
3761 249c 0E94 0000 call __mulsf3
3762 24a0 9B01 movw r18,r22
3763 24a2 AC01 movw r20,r24
3764 24a4 C801 movw r24,r16
3765 24a6 B701 movw r22,r14
3766 24a8 0E94 0000 call __addsf3
3767 24ac 0E94 0000 call __fixsfsi
3768 24b0 9601 movw r18,r12
3769 24b2 260F add r18,r22
3770 24b4 371F adc r19,r23
3771 24b6 4981 ldd r20,Y+1
3772 24b8 5A81 ldd r21,Y+2
3773 24ba 240F add r18,r20
3774 24bc 351F adc r19,r21
3775 24be 2224 clr r2
3776 24c0 4A30 cpi r20,10
3777 24c2 5105 cpc r21,__zero_reg__
3778 24c4 04F4 brge .L541
3779 24c6 41E0 ldi r20,lo8(1)
3780 24c8 242E mov r2,r20
3781 .L541:
3782 24ca 37FD sbrc r19,7
3783 24cc 00C0 rjmp .L544
3784 24ce 2220 tst r2
3785 24d0 01F0 breq .L542
3786 .L544:
3787 24d2 40E0 ldi r20,lo8(0)
3788 24d4 50E0 ldi r21,hi8(0)
3789 24d6 00C0 rjmp .L545
3790 .L542:
3791 24d8 8091 0000 lds r24,MAX_GAS
3792 24dc 482F mov r20,r24
3793 24de 5527 clr r21
3794 24e0 2417 cp r18,r20
3795 24e2 3507 cpc r19,r21
3796 24e4 04F4 brge .L545
3797 24e6 A901 movw r20,r18
3798 .L545:
3799 24e8 8091 0000 lds r24,MIN_GAS
3800 24ec E82F mov r30,r24
3801 24ee FF27 clr r31
3802 24f0 FC83 std Y+4,r31
3803 24f2 EB83 std Y+3,r30
3804 24f4 9F01 movw r18,r30
3805 24f6 E417 cp r30,r20
3806 24f8 F507 cpc r31,r21
3807 24fa 04F4 brge .L547
3808 24fc 9A01 movw r18,r20
3809 .L547:
3810 24fe 2093 0000 sts Motor_Vorne,r18
3811 2502 2981 ldd r18,Y+1
3812 2504 3A81 ldd r19,Y+2
3813 2506 261B sub r18,r22
3814 2508 370B sbc r19,r23
3815 250a B901 movw r22,r18
3816 250c 6C0D add r22,r12
3817 250e 7D1D adc r23,r13
3818 2510 77FD sbrc r23,7
3819 2512 00C0 rjmp .L550
3820 2514 2220 tst r2
3821 2516 01F0 breq .L548
3822 .L550:
3823 2518 80E0 ldi r24,lo8(0)
3824 251a 90E0 ldi r25,hi8(0)
3825 251c 00C0 rjmp .L551
3826 .L548:
3827 251e 8091 0000 lds r24,MAX_GAS
3828 2522 9927 clr r25
3829 2524 6817 cp r22,r24
3830 2526 7907 cpc r23,r25
3831 2528 04F4 brge .L551
3832 252a CB01 movw r24,r22
3833 .L551:
3834 252c 2B81 ldd r18,Y+3
3835 252e 3C81 ldd r19,Y+4
3836 2530 2817 cp r18,r24
3837 2532 3907 cpc r19,r25
3838 2534 04F4 brge .L553
3839 2536 9C01 movw r18,r24
3840 .L553:
3841 2538 2093 0000 sts Motor_Hinten,r18
3842 253c 6091 0000 lds r22,MesswertRoll
3843 2540 7091 0000 lds r23,(MesswertRoll)+1
3844 2544 2091 0000 lds r18,StickRoll
3845 2548 3091 0000 lds r19,(StickRoll)+1
3846 254c 4091 0000 lds r20,GPS_Roll
3847 2550 5091 0000 lds r21,(GPS_Roll)+1
3848 2554 241B sub r18,r20
3849 2556 350B sbc r19,r21
3850 2558 621B sub r22,r18
3851 255a 730B sbc r23,r19
3852 255c 8827 clr r24
3853 255e 77FD sbrc r23,7
3854 2560 8095 com r24
3855 2562 982F mov r25,r24
3856 2564 0E94 0000 call __floatsisf
3857 2568 9B01 movw r18,r22
3858 256a AC01 movw r20,r24
3859 256c C301 movw r24,r6
3860 256e B201 movw r22,r4
3861 2570 0E94 0000 call __mulsf3
3862 2574 0E94 0000 call __fixsfsi
3863 2578 7093 0000 sts (DiffRoll)+1,r23
3864 257c 6093 0000 sts DiffRoll,r22
3865 2580 8091 0000 lds r24,DiffRoll
3866 2584 9091 0000 lds r25,(DiffRoll)+1
3867 2588 8C01 movw r16,r24
3868 258a 2227 clr r18
3869 258c 17FD sbrc r17,7
3870 258e 2095 com r18
3871 2590 322F mov r19,r18
3872 2592 8091 0000 lds r24,SummeRoll.2350
3873 2596 9091 0000 lds r25,(SummeRoll.2350)+1
3874 259a A091 0000 lds r26,(SummeRoll.2350)+2
3875 259e B091 0000 lds r27,(SummeRoll.2350)+3
3876 25a2 080F add r16,r24
3877 25a4 191F adc r17,r25
3878 25a6 2A1F adc r18,r26
3879 25a8 3B1F adc r19,r27
3880 25aa 0093 0000 sts SummeRoll.2350,r16
3881 25ae 1093 0000 sts (SummeRoll.2350)+1,r17
3882 25b2 2093 0000 sts (SummeRoll.2350)+2,r18
3883 25b6 3093 0000 sts (SummeRoll.2350)+3,r19
3884 25ba 1016 cp __zero_reg__,r16
3885 25bc 1106 cpc __zero_reg__,r17
3886 25be 1206 cpc __zero_reg__,r18
3887 25c0 1306 cpc __zero_reg__,r19
3888 25c2 04F4 brge .L554
3889 25c4 C801 movw r24,r16
3890 25c6 17FF sbrs r17,7
3891 25c8 00C0 rjmp .L556
3892 25ca 9095 com r25
3893 25cc 8195 neg r24
3894 25ce 9F4F sbci r25,lo8(-1)
3895 .L556:
3896 25d0 60E0 ldi r22,lo8(256)
3897 25d2 71E0 ldi r23,hi8(256)
3898 25d4 0E94 0000 call __divmodhi4
3899 25d8 6F5F subi r22,lo8(-(1))
3900 25da 7F4F sbci r23,hi8(-(1))
3901 25dc 8827 clr r24
3902 25de 77FD sbrc r23,7
3903 25e0 8095 com r24
3904 25e2 982F mov r25,r24
3905 25e4 061B sub r16,r22
3906 25e6 170B sbc r17,r23
3907 25e8 280B sbc r18,r24
3908 25ea 390B sbc r19,r25
3909 25ec 00C0 rjmp .L583
3910 .L554:
3911 25ee C801 movw r24,r16
3912 25f0 17FF sbrs r17,7
3913 25f2 00C0 rjmp .L558
3914 25f4 9095 com r25
3915 25f6 8195 neg r24
3916 25f8 9F4F sbci r25,lo8(-1)
3917 .L558:
3918 25fa 60E0 ldi r22,lo8(256)
3919 25fc 71E0 ldi r23,hi8(256)
3920 25fe 0E94 0000 call __divmodhi4
3921 2602 6F5F subi r22,lo8(-(1))
3922 2604 7F4F sbci r23,hi8(-(1))
3923 2606 8827 clr r24
3924 2608 77FD sbrc r23,7
3925 260a 8095 com r24
3926 260c 982F mov r25,r24
3927 260e 060F add r16,r22
3928 2610 171F adc r17,r23
3929 2612 281F adc r18,r24
3930 2614 391F adc r19,r25
3931 .L583:
3932 2616 0093 0000 sts SummeRoll.2350,r16
3933 261a 1093 0000 sts (SummeRoll.2350)+1,r17
3934 261e 2093 0000 sts (SummeRoll.2350)+2,r18
3935 2622 3093 0000 sts (SummeRoll.2350)+3,r19
3936 2626 8091 0000 lds r24,SummeRoll.2350
3937 262a 9091 0000 lds r25,(SummeRoll.2350)+1
3938 262e A091 0000 lds r26,(SummeRoll.2350)+2
3939 2632 B091 0000 lds r27,(SummeRoll.2350)+3
3940 2636 8138 cpi r24,lo8(16001)
3941 2638 3EE3 ldi r19,hi8(16001)
3942 263a 9307 cpc r25,r19
3943 263c 30E0 ldi r19,hlo8(16001)
3944 263e A307 cpc r26,r19
3945 2640 30E0 ldi r19,hhi8(16001)
3946 2642 B307 cpc r27,r19
3947 2644 04F0 brlt .L559
3948 2646 80E8 ldi r24,lo8(16000)
3949 2648 9EE3 ldi r25,hi8(16000)
3950 264a A0E0 ldi r26,hlo8(16000)
3951 264c B0E0 ldi r27,hhi8(16000)
3952 264e 00C0 rjmp .L584
3953 .L559:
3954 2650 8058 subi r24,lo8(-16000)
3955 2652 914C sbci r25,hi8(-16000)
3956 2654 AF4F sbci r26,hlo8(-16000)
3957 2656 BF4F sbci r27,hhi8(-16000)
3958 2658 04F4 brge .L561
3959 265a 80E8 ldi r24,lo8(-16000)
3960 265c 91EC ldi r25,hi8(-16000)
3961 265e AFEF ldi r26,hlo8(-16000)
3962 2660 BFEF ldi r27,hhi8(-16000)
3963 .L584:
3964 2662 8093 0000 sts SummeRoll.2350,r24
3965 2666 9093 0000 sts (SummeRoll.2350)+1,r25
3966 266a A093 0000 sts (SummeRoll.2350)+2,r26
3967 266e B093 0000 sts (SummeRoll.2350)+3,r27
3968 .L561:
3969 2672 6091 0000 lds r22,DiffRoll
3970 2676 7091 0000 lds r23,(DiffRoll)+1
3971 267a 8827 clr r24
3972 267c 77FD sbrc r23,7
3973 267e 8095 com r24
3974 2680 982F mov r25,r24
3975 2682 0E94 0000 call __floatsisf
3976 2686 7B01 movw r14,r22
3977 2688 8C01 movw r16,r24
3978 268a 6091 0000 lds r22,SummeRoll.2350
3979 268e 7091 0000 lds r23,(SummeRoll.2350)+1
3980 2692 8091 0000 lds r24,(SummeRoll.2350)+2
3981 2696 9091 0000 lds r25,(SummeRoll.2350)+3
3982 269a 0E94 0000 call __floatsisf
3983 269e 9B01 movw r18,r22
3984 26a0 AC01 movw r20,r24
3985 26a2 C501 movw r24,r10
3986 26a4 B401 movw r22,r8
3987 26a6 0E94 0000 call __mulsf3
3988 26aa 9B01 movw r18,r22
3989 26ac AC01 movw r20,r24
3990 26ae C801 movw r24,r16
3991 26b0 B701 movw r22,r14
3992 26b2 0E94 0000 call __addsf3
3993 26b6 0E94 0000 call __fixsfsi
3994 26ba 2981 ldd r18,Y+1
3995 26bc 3A81 ldd r19,Y+2
3996 26be 260F add r18,r22
3997 26c0 371F adc r19,r23
3998 26c2 2C19 sub r18,r12
3999 26c4 3D09 sbc r19,r13
4000 26c6 37FD sbrc r19,7
4001 26c8 00C0 rjmp .L565
4002 26ca 2220 tst r2
4003 26cc 01F0 breq .L563
4004 .L565:
4005 26ce 40E0 ldi r20,lo8(0)
4006 26d0 50E0 ldi r21,hi8(0)
4007 26d2 00C0 rjmp .L566
4008 .L563:
4009 26d4 8091 0000 lds r24,MAX_GAS
4010 26d8 482F mov r20,r24
4011 26da 5527 clr r21
4012 26dc 2417 cp r18,r20
4013 26de 3507 cpc r19,r21
4014 26e0 04F4 brge .L566
4015 26e2 A901 movw r20,r18
4016 .L566:
4017 26e4 2B81 ldd r18,Y+3
4018 26e6 3C81 ldd r19,Y+4
4019 26e8 2417 cp r18,r20
4020 26ea 3507 cpc r19,r21
4021 26ec 04F4 brge .L568
4022 26ee 9A01 movw r18,r20
4023 .L568:
4024 26f0 2093 0000 sts Motor_Links,r18
4025 26f4 8981 ldd r24,Y+1
4026 26f6 9A81 ldd r25,Y+2
4027 26f8 861B sub r24,r22
4028 26fa 970B sbc r25,r23
4029 26fc BC01 movw r22,r24
4030 26fe 6C19 sub r22,r12
4031 2700 7D09 sbc r23,r13
4032 2702 77FD sbrc r23,7
4033 2704 00C0 rjmp .L571
4034 2706 2220 tst r2
4035 2708 01F0 breq .L569
4036 .L571:
4037 270a 20E0 ldi r18,lo8(0)
4038 270c 30E0 ldi r19,hi8(0)
4039 270e 00C0 rjmp .L572
4040 .L569:
4041 2710 8091 0000 lds r24,MAX_GAS
4042 2714 282F mov r18,r24
4043 2716 3327 clr r19
4044 2718 6217 cp r22,r18
4045 271a 7307 cpc r23,r19
4046 271c 04F4 brge .L572
4047 271e 9B01 movw r18,r22
4048 .L572:
4049 2720 8B81 ldd r24,Y+3
4050 2722 9C81 ldd r25,Y+4
4051 2724 8217 cp r24,r18
4052 2726 9307 cpc r25,r19
4053 2728 04F4 brge .L574
4054 272a C901 movw r24,r18
4055 .L574:
4056 272c 8093 0000 sts Motor_Rechts,r24
4057 /* epilogue: frame size=4 */
4058 2730 2496 adiw r28,4
4059 2732 0FB6 in __tmp_reg__,__SREG__
4060 2734 F894 cli
4061 2736 DEBF out __SP_H__,r29
4062 2738 0FBE out __SREG__,__tmp_reg__
4063 273a CDBF out __SP_L__,r28
4064 273c DF91 pop r29
4065 273e CF91 pop r28
4066 2740 1F91 pop r17
4067 2742 0F91 pop r16
4068 2744 FF90 pop r15
4069 2746 EF90 pop r14
4070 2748 DF90 pop r13
4071 274a CF90 pop r12
4072 274c BF90 pop r11
4073 274e AF90 pop r10
4074 2750 9F90 pop r9
4075 2752 8F90 pop r8
4076 2754 7F90 pop r7
4077 2756 6F90 pop r6
4078 2758 5F90 pop r5
4079 275a 4F90 pop r4
4080 275c 3F90 pop r3
4081 275e 2F90 pop r2
4082 2760 0895 ret
4083 /* epilogue end (size=25) */
4084 /* function MotorRegler size 2806 (2755) */
4086 .global Timeout
4087 .global Timeout
4088 .section .bss
4091 Timeout:
4092 0000 00 .skip 1,0
4093 .global AdNeutralNick
4094 .global AdNeutralNick
4097 AdNeutralNick:
4098 0001 0000 .skip 2,0
4099 .global AdNeutralRoll
4100 .global AdNeutralRoll
4103 AdNeutralRoll:
4104 0003 0000 .skip 2,0
4105 .global AdNeutralGier
4106 .global AdNeutralGier
4109 AdNeutralGier:
4110 0005 0000 .skip 2,0
4111 .global NeutralAccX
4112 .global NeutralAccX
4115 NeutralAccX:
4116 0007 0000 .skip 2,0
4117 .global NeutralAccY
4118 .global NeutralAccY
4121 NeutralAccY:
4122 0009 0000 .skip 2,0
4123 .global NeutralAccZ
4124 .global NeutralAccZ
4127 NeutralAccZ:
4128 000b 0000 0000 .skip 4,0
4129 .global CosinusNickWinkel
4130 .global CosinusNickWinkel
4133 CosinusNickWinkel:
4134 000f 00 .skip 1,0
4135 .global CosinusRollWinkel
4136 .global CosinusRollWinkel
4139 CosinusRollWinkel:
4140 0010 00 .skip 1,0
4141 .global IntegralNick
4142 .global IntegralNick
4145 IntegralNick:
4146 0011 0000 0000 .skip 4,0
4147 .global IntegralNick2
4148 .global IntegralNick2
4151 IntegralNick2:
4152 0015 0000 0000 .skip 4,0
4153 .global IntegralRoll
4154 .global IntegralRoll
4157 IntegralRoll:
4158 0019 0000 0000 .skip 4,0
4159 .global IntegralRoll2
4160 .global IntegralRoll2
4163 IntegralRoll2:
4164 001d 0000 0000 .skip 4,0
4165 .global Integral_Gier
4166 .global Integral_Gier
4169 Integral_Gier:
4170 0021 0000 0000 .skip 4,0
4171 .global Mess_IntegralNick
4172 .global Mess_IntegralNick
4175 Mess_IntegralNick:
4176 0025 0000 0000 .skip 4,0
4177 .global Mess_IntegralNick2
4178 .global Mess_IntegralNick2
4181 Mess_IntegralNick2:
4182 0029 0000 0000 .skip 4,0
4183 .global Mess_IntegralRoll
4184 .global Mess_IntegralRoll
4187 Mess_IntegralRoll:
4188 002d 0000 0000 .skip 4,0
4189 .global Mess_IntegralRoll2
4190 .global Mess_IntegralRoll2
4193 Mess_IntegralRoll2:
4194 0031 0000 0000 .skip 4,0
4195 .global Mess_Integral_Gier
4196 .global Mess_Integral_Gier
4199 Mess_Integral_Gier:
4200 0035 0000 0000 .skip 4,0
4201 .global Mess_Integral_Gier2
4202 .global Mess_Integral_Gier2
4205 Mess_Integral_Gier2:
4206 0039 0000 0000 .skip 4,0
4207 .global Mess_Integral_Hoch
4208 .global Mess_Integral_Hoch
4211 Mess_Integral_Hoch:
4212 003d 0000 0000 .skip 4,0
4213 .global KompassValue
4214 .global KompassValue
4217 KompassValue:
4218 0041 0000 .skip 2,0
4219 .global KompassStartwert
4220 .global KompassStartwert
4223 KompassStartwert:
4224 0043 0000 .skip 2,0
4225 .global KompassRichtung
4226 .global KompassRichtung
4229 KompassRichtung:
4230 0045 0000 .skip 2,0
4231 .global Notlandung
4232 .global Notlandung
4235 Notlandung:
4236 0047 00 .skip 1,0
4237 .global HoehenReglerAktiv
4238 .global HoehenReglerAktiv
4241 HoehenReglerAktiv:
4242 0048 00 .skip 1,0
4243 .global Poti1
4244 .global Poti1
4247 Poti1:
4248 0049 0000 .skip 2,0
4249 .global Poti2
4250 .global Poti2
4253 Poti2:
4254 004b 0000 .skip 2,0
4255 .global Poti3
4256 .global Poti3
4259 Poti3:
4260 004d 0000 .skip 2,0
4261 .global Poti4
4262 .global Poti4
4265 Poti4:
4266 004f 0000 .skip 2,0
4267 .global SenderOkay
4268 .global SenderOkay
4271 SenderOkay:
4272 0051 00 .skip 1,0
4273 .global StickNick
4274 .global StickNick
4277 StickNick:
4278 0052 0000 .skip 2,0
4279 .global StickRoll
4280 .global StickRoll
4283 StickRoll:
4284 0054 0000 .skip 2,0
4285 .global StickGier
4286 .global StickGier
4289 StickGier:
4290 0056 0000 .skip 2,0
4291 .global MotorenEin
4292 .global MotorenEin
4295 MotorenEin:
4296 0058 00 .skip 1,0
4297 .global HoehenWert
4298 .global HoehenWert
4301 HoehenWert:
4302 0059 0000 .skip 2,0
4303 .global SollHoehe
4304 .global SollHoehe
4307 SollHoehe:
4308 005b 0000 .skip 2,0
4309 .global Kp
4310 .data
4313 Kp:
4314 0010 00 .byte 0
4315 0011 00 .byte 0
4316 0012 80 .byte -128
4317 0013 3F .byte 63
4318 .global Ki
4321 Ki:
4322 0014 17 .byte 23
4323 0015 B7 .byte -73
4324 0016 D1 .byte -47
4325 0017 38 .byte 56
4326 .global Parameter_Luftdruck_D
4329 Parameter_Luftdruck_D:
4330 0018 30 .byte 48
4331 .global Parameter_MaxHoehe
4334 Parameter_MaxHoehe:
4335 0019 FB .byte -5
4336 .global Parameter_Hoehe_P
4339 Parameter_Hoehe_P:
4340 001a 10 .byte 16
4341 .global Parameter_Hoehe_ACC_Wirkung
4344 Parameter_Hoehe_ACC_Wirkung:
4345 001b 3A .byte 58
4346 .global Parameter_KompassWirkung
4349 Parameter_KompassWirkung:
4350 001c 40 .byte 64
4351 .global Parameter_Gyro_P
4354 Parameter_Gyro_P:
4355 001d 32 .byte 50
4356 .global Parameter_Gyro_I
4359 Parameter_Gyro_I:
4360 001e 96 .byte -106
4361 .global Parameter_Gier_P
4364 Parameter_Gier_P:
4365 001f 02 .byte 2
4366 .global Parameter_I_Faktor
4369 Parameter_I_Faktor:
4370 0020 0A .byte 10
4371 .global Parameter_UserParam1
4372 .global Parameter_UserParam1
4373 .section .bss
4376 Parameter_UserParam1:
4377 005d 00 .skip 1,0
4378 .global Parameter_UserParam2
4379 .global Parameter_UserParam2
4382 Parameter_UserParam2:
4383 005e 00 .skip 1,0
4384 .global Parameter_UserParam3
4385 .global Parameter_UserParam3
4388 Parameter_UserParam3:
4389 005f 00 .skip 1,0
4390 .global Parameter_UserParam4
4391 .global Parameter_UserParam4
4394 Parameter_UserParam4:
4395 0060 00 .skip 1,0
4396 .global Parameter_ServoNickControl
4397 .data
4400 Parameter_ServoNickControl:
4401 0021 64 .byte 100
4402 .lcomm SignalSchlecht.2367,2
4403 .lcomm NeueKompassRichtungMerken.2363,1
4404 .lcomm TimerWerteausgabe.2362,1
4405 .lcomm hoehenregler.2361,2
4406 .lcomm modell_fliegt.2360,2
4407 .lcomm delay_ausschalten.2359,1
4408 .lcomm delay_einschalten.2358,1
4409 .lcomm delay_neutral.2357,1
4410 .lcomm RcLostTimer.2356,2
4411 .lcomm IntegralFehlerRoll.2355,2
4412 .lcomm IntegralFehlerNick.2354,2
4413 .lcomm tmp_long2.2353,4
4414 .lcomm tmp_long.2352,4
4415 .lcomm sollGier.2351,4
4416 .lcomm SummeRoll.2350,4
4417 .lcomm SummeNick.2349,4
4418 .comm DiffNick,2,1
4419 .comm DiffRoll,2,1
4420 .comm durchschnitt_northing,4,1
4421 .comm durchschnitt_easting,4,1
4422 .comm gps_p,2,1
4423 .comm gps_d,2,1
4424 .comm skal,2,1
4425 .comm RemoteTasten,1,1
4426 .comm MesswertNick,2,1
4427 .comm MesswertRoll,2,1
4428 .comm MesswertGier,2,1
4429 .comm Mittelwert_AccNick,2,1
4430 .comm Mittelwert_AccRoll,2,1
4431 .comm Mittelwert_AccHoch,2,1
4432 .comm h,1,1
4433 .comm m,1,1
4434 .comm s,1,1
4435 .comm Motor_Vorne,1,1
4436 .comm Motor_Hinten,1,1
4437 .comm Motor_Rechts,1,1
4438 .comm Motor_Links,1,1
4439 .comm Count,1,1
4440 .comm MotorWert,5,1
4441 .comm EE_Parameter,58,1
4442 .comm MAX_GAS,1,1
4443 .comm MIN_GAS,1,1
4444 .comm GyroFaktor,4,1
4445 .comm IntegralFaktor,4,1
4446 /* File "fc.c": code 5085 = 0x13dd (5003), prologues 38, epilogues 44 */
3162 1e4e 0E94 0000 call gps_main
3163 1e52 00C0 rjmp .L494
3164 .L492:
3165 1e54 1092 0000 sts (GPS_Nick)+1,__zero_reg__
3166 1e58 1092 0000 sts GPS_Nick,__zero_reg__
3167 1e5c 1092 0000 sts (GPS_Roll)+1,__zero_reg__
3168 1e60 1092 0000 sts GPS_Roll,__zero_reg__
3169 .L494:
3170 1e64 8091 0000 lds r24,DebugOut+17
3171 1e68 8F5F subi r24,lo8(-(1))
3172 1e6a 8093 0000 sts DebugOut+17,r24
3173 1e6e 8091 0000 lds r24,TimerWerteausgabe.2363
3174 1e72 8150 subi r24,lo8(-(-1))
3175 1e74 8093 0000 sts TimerWerteausgabe.2363,r24
3176 1e78 8F3F cpi r24,lo8(-1)
3177 1e7a 01F0 breq .+2
3178 1e7c 00C0 rjmp .L495
3179 1e7e 81E3 ldi r24,lo8(49)
3180 1e80 8093 0000 sts TimerWerteausgabe.2363,r24
3181 1e84 6091 0000 lds r22,IntegralNick
3182 1e88 7091 0000 lds r23,(IntegralNick)+1
3183 1e8c 8091 0000 lds r24,(IntegralNick)+2
3184 1e90 9091 0000 lds r25,(IntegralNick)+3
3185 1e94 E090 0000 lds r14,EE_Parameter+20
3186 1e98 FF24 clr r15
3187 1e9a 0027 clr r16
3188 1e9c 1127 clr r17
3189 1e9e A801 movw r20,r16
3190 1ea0 9701 movw r18,r14
3191 1ea2 0E94 0000 call __divmodsi4
3192 1ea6 3093 0000 sts (DebugOut+18)+1,r19
3193 1eaa 2093 0000 sts DebugOut+18,r18
3194 1eae 6091 0000 lds r22,IntegralRoll
3195 1eb2 7091 0000 lds r23,(IntegralRoll)+1
3196 1eb6 8091 0000 lds r24,(IntegralRoll)+2
3197 1eba 9091 0000 lds r25,(IntegralRoll)+3
3198 1ebe A801 movw r20,r16
3199 1ec0 9701 movw r18,r14
3200 1ec2 0E94 0000 call __divmodsi4
3201 1ec6 3093 0000 sts (DebugOut+20)+1,r19
3202 1eca 2093 0000 sts DebugOut+20,r18
3203 1ece 8091 0000 lds r24,Mittelwert_AccNick
3204 1ed2 9091 0000 lds r25,(Mittelwert_AccNick)+1
3205 1ed6 9093 0000 sts (DebugOut+22)+1,r25
3206 1eda 8093 0000 sts DebugOut+22,r24
3207 1ede 8091 0000 lds r24,Mittelwert_AccRoll
3208 1ee2 9091 0000 lds r25,(Mittelwert_AccRoll)+1
3209 1ee6 9093 0000 sts (DebugOut+24)+1,r25
3210 1eea 8093 0000 sts DebugOut+24,r24
3211 1eee 8091 0000 lds r24,MesswertGier
3212 1ef2 9091 0000 lds r25,(MesswertGier)+1
3213 1ef6 9093 0000 sts (DebugOut+26)+1,r25
3214 1efa 8093 0000 sts DebugOut+26,r24
3215 1efe 8091 0000 lds r24,HoehenWert
3216 1f02 9091 0000 lds r25,(HoehenWert)+1
3217 1f06 9093 0000 sts (DebugOut+28)+1,r25
3218 1f0a 8093 0000 sts DebugOut+28,r24
3219 1f0e 6091 0000 lds r22,Mess_Integral_Hoch
3220 1f12 7091 0000 lds r23,(Mess_Integral_Hoch)+1
3221 1f16 8091 0000 lds r24,(Mess_Integral_Hoch)+2
3222 1f1a 9091 0000 lds r25,(Mess_Integral_Hoch)+3
3223 1f1e 20E0 ldi r18,lo8(512)
3224 1f20 32E0 ldi r19,hi8(512)
3225 1f22 40E0 ldi r20,hlo8(512)
3226 1f24 50E0 ldi r21,hhi8(512)
3227 1f26 0E94 0000 call __divmodsi4
3228 1f2a 3093 0000 sts (DebugOut+30)+1,r19
3229 1f2e 2093 0000 sts DebugOut+30,r18
3230 1f32 8981 ldd r24,Y+1
3231 1f34 9A81 ldd r25,Y+2
3232 1f36 9093 0000 sts (DebugOut+32)+1,r25
3233 1f3a 8093 0000 sts DebugOut+32,r24
3234 1f3e 8091 0000 lds r24,KompassValue
3235 1f42 9091 0000 lds r25,(KompassValue)+1
3236 1f46 9093 0000 sts (DebugOut+34)+1,r25
3237 1f4a 8093 0000 sts DebugOut+34,r24
3238 .L495:
3239 1f4e 6091 0000 lds r22,IntegralNick
3240 1f52 7091 0000 lds r23,(IntegralNick)+1
3241 1f56 8091 0000 lds r24,(IntegralNick)+2
3242 1f5a 9091 0000 lds r25,(IntegralNick)+3
3243 1f5e 2090 0000 lds r2,IntegralFaktor
3244 1f62 3090 0000 lds r3,(IntegralFaktor)+1
3245 1f66 4090 0000 lds r4,(IntegralFaktor)+2
3246 1f6a 5090 0000 lds r5,(IntegralFaktor)+3
3247 1f6e E090 0000 lds r14,MesswertNick
3248 1f72 F090 0000 lds r15,(MesswertNick)+1
3249 1f76 6090 0000 lds r6,GyroFaktor
3250 1f7a 7090 0000 lds r7,(GyroFaktor)+1
3251 1f7e 8090 0000 lds r8,(GyroFaktor)+2
3252 1f82 9090 0000 lds r9,(GyroFaktor)+3
3253 1f86 0E94 0000 call __floatsisf
3254 1f8a A201 movw r20,r4
3255 1f8c 9101 movw r18,r2
3256 1f8e 0E94 0000 call __mulsf3
3257 1f92 5B01 movw r10,r22
3258 1f94 6C01 movw r12,r24
3259 1f96 0027 clr r16
3260 1f98 F7FC sbrc r15,7
3261 1f9a 0095 com r16
3262 1f9c 102F mov r17,r16
3263 1f9e C801 movw r24,r16
3264 1fa0 B701 movw r22,r14
3265 1fa2 0E94 0000 call __floatsisf
3266 1fa6 A401 movw r20,r8
3267 1fa8 9301 movw r18,r6
3268 1faa 0E94 0000 call __mulsf3
3269 1fae 9B01 movw r18,r22
3270 1fb0 AC01 movw r20,r24
3271 1fb2 C601 movw r24,r12
3272 1fb4 B501 movw r22,r10
3273 1fb6 0E94 0000 call __addsf3
3274 1fba 0E94 0000 call __fixsfsi
3275 1fbe 7093 0000 sts (MesswertNick)+1,r23
3276 1fc2 6093 0000 sts MesswertNick,r22
3277 1fc6 6091 0000 lds r22,IntegralRoll
3278 1fca 7091 0000 lds r23,(IntegralRoll)+1
3279 1fce 8091 0000 lds r24,(IntegralRoll)+2
3280 1fd2 9091 0000 lds r25,(IntegralRoll)+3
3281 1fd6 E090 0000 lds r14,MesswertRoll
3282 1fda F090 0000 lds r15,(MesswertRoll)+1
3283 1fde 0E94 0000 call __floatsisf
3284 1fe2 A201 movw r20,r4
3285 1fe4 9101 movw r18,r2
3286 1fe6 0E94 0000 call __mulsf3
3287 1fea 5B01 movw r10,r22
3288 1fec 6C01 movw r12,r24
3289 1fee 0027 clr r16
3290 1ff0 F7FC sbrc r15,7
3291 1ff2 0095 com r16
3292 1ff4 102F mov r17,r16
3293 1ff6 C801 movw r24,r16
3294 1ff8 B701 movw r22,r14
3295 1ffa 0E94 0000 call __floatsisf
3296 1ffe A401 movw r20,r8
3297 2000 9301 movw r18,r6
3298 2002 0E94 0000 call __mulsf3
3299 2006 9B01 movw r18,r22
3300 2008 AC01 movw r20,r24
3301 200a C601 movw r24,r12
3302 200c B501 movw r22,r10
3303 200e 0E94 0000 call __addsf3
3304 2012 0E94 0000 call __fixsfsi
3305 2016 7093 0000 sts (MesswertRoll)+1,r23
3306 201a 6093 0000 sts MesswertRoll,r22
3307 201e 6091 0000 lds r22,MesswertGier
3308 2022 7091 0000 lds r23,(MesswertGier)+1
3309 2026 A090 0000 lds r10,Integral_Gier
3310 202a B090 0000 lds r11,(Integral_Gier)+1
3311 202e C090 0000 lds r12,(Integral_Gier)+2
3312 2032 D090 0000 lds r13,(Integral_Gier)+3
3313 2036 8827 clr r24
3314 2038 77FD sbrc r23,7
3315 203a 8095 com r24
3316 203c 982F mov r25,r24
3317 203e 0E94 0000 call __floatsisf
3318 2042 7B01 movw r14,r22
3319 2044 8C01 movw r16,r24
3320 2046 20E0 ldi r18,lo8(0x3f000000)
3321 2048 30E0 ldi r19,hi8(0x3f000000)
3322 204a 40E0 ldi r20,hlo8(0x3f000000)
3323 204c 5FE3 ldi r21,hhi8(0x3f000000)
3324 204e C401 movw r24,r8
3325 2050 B301 movw r22,r6
3326 2052 0E94 0000 call __mulsf3
3327 2056 9B01 movw r18,r22
3328 2058 AC01 movw r20,r24
3329 205a C801 movw r24,r16
3330 205c B701 movw r22,r14
3331 205e 0E94 0000 call __mulsf3
3332 2062 7B01 movw r14,r22
3333 2064 8C01 movw r16,r24
3334 2066 C601 movw r24,r12
3335 2068 B501 movw r22,r10
3336 206a 0E94 0000 call __floatsisf
3337 206e A201 movw r20,r4
3338 2070 9101 movw r18,r2
3339 2072 0E94 0000 call __mulsf3
3340 2076 9B01 movw r18,r22
3341 2078 AC01 movw r20,r24
3342 207a C801 movw r24,r16
3343 207c B701 movw r22,r14
3344 207e 0E94 0000 call __addsf3
3345 2082 0E94 0000 call __fixsfsi
3346 2086 7093 0000 sts (MesswertGier)+1,r23
3347 208a 6093 0000 sts MesswertGier,r22
3348 208e 8091 0000 lds r24,MesswertNick
3349 2092 9091 0000 lds r25,(MesswertNick)+1
3350 2096 8150 subi r24,lo8(2049)
3351 2098 9840 sbci r25,hi8(2049)
3352 209a 04F0 brlt .L497
3353 209c 80E0 ldi r24,lo8(2048)
3354 209e 98E0 ldi r25,hi8(2048)
3355 20a0 9093 0000 sts (MesswertNick)+1,r25
3356 20a4 8093 0000 sts MesswertNick,r24
3357 .L497:
3358 20a8 8091 0000 lds r24,MesswertNick
3359 20ac 9091 0000 lds r25,(MesswertNick)+1
3360 20b0 8050 subi r24,lo8(-2048)
3361 20b2 984F sbci r25,hi8(-2048)
3362 20b4 04F4 brge .L499
3363 20b6 80E0 ldi r24,lo8(-2048)
3364 20b8 98EF ldi r25,hi8(-2048)
3365 20ba 9093 0000 sts (MesswertNick)+1,r25
3366 20be 8093 0000 sts MesswertNick,r24
3367 .L499:
3368 20c2 8091 0000 lds r24,MesswertRoll
3369 20c6 9091 0000 lds r25,(MesswertRoll)+1
3370 20ca 8150 subi r24,lo8(2049)
3371 20cc 9840 sbci r25,hi8(2049)
3372 20ce 04F0 brlt .L501
3373 20d0 80E0 ldi r24,lo8(2048)
3374 20d2 98E0 ldi r25,hi8(2048)
3375 20d4 9093 0000 sts (MesswertRoll)+1,r25
3376 20d8 8093 0000 sts MesswertRoll,r24
3377 .L501:
3378 20dc 8091 0000 lds r24,MesswertRoll
3379 20e0 9091 0000 lds r25,(MesswertRoll)+1
3380 20e4 8050 subi r24,lo8(-2048)
3381 20e6 984F sbci r25,hi8(-2048)
3382 20e8 04F4 brge .L503
3383 20ea 80E0 ldi r24,lo8(-2048)
3384 20ec 98EF ldi r25,hi8(-2048)
3385 20ee 9093 0000 sts (MesswertRoll)+1,r25
3386 20f2 8093 0000 sts MesswertRoll,r24
3387 .L503:
3388 20f6 8091 0000 lds r24,MesswertGier
3389 20fa 9091 0000 lds r25,(MesswertGier)+1
3390 20fe 8150 subi r24,lo8(2049)
3391 2100 9840 sbci r25,hi8(2049)
3392 2102 04F0 brlt .L505
3393 2104 80E0 ldi r24,lo8(2048)
3394 2106 98E0 ldi r25,hi8(2048)
3395 2108 9093 0000 sts (MesswertGier)+1,r25
3396 210c 8093 0000 sts MesswertGier,r24
3397 .L505:
3398 2110 8091 0000 lds r24,MesswertGier
3399 2114 9091 0000 lds r25,(MesswertGier)+1
3400 2118 8050 subi r24,lo8(-2048)
3401 211a 984F sbci r25,hi8(-2048)
3402 211c 04F4 brge .L507
3403 211e 80E0 ldi r24,lo8(-2048)
3404 2120 98EF ldi r25,hi8(-2048)
3405 2122 9093 0000 sts (MesswertGier)+1,r25
3406 2126 8093 0000 sts MesswertGier,r24
3407 .L507:
3408 212a 8091 0000 lds r24,EE_Parameter+8
3409 212e 9927 clr r25
3410 2130 80FF sbrs r24,0
3411 2132 00C0 rjmp .L509
3412 2134 2091 0000 lds r18,Parameter_MaxHoehe
3413 2138 81FF sbrs r24,1
3414 213a 00C0 rjmp .L511
3415 213c 2233 cpi r18,lo8(50)
3416 213e 00F4 brsh .L580
3417 2140 8091 0000 lds r24,HoehenWert
3418 2144 9091 0000 lds r25,(HoehenWert)+1
3419 2148 4497 sbiw r24,20
3420 214a 9093 0000 sts (SollHoehe)+1,r25
3421 214e 8093 0000 sts SollHoehe,r24
3422 2152 1092 0000 sts HoehenReglerAktiv,__zero_reg__
3423 2156 00C0 rjmp .L515
3424 .L511:
3425 2158 8091 0000 lds r24,EE_Parameter+13
3426 215c 289F mul r18,r24
3427 215e C001 movw r24,r0
3428 2160 1124 clr r1
3429 2162 4497 sbiw r24,20
3430 2164 9093 0000 sts (SollHoehe)+1,r25
3431 2168 8093 0000 sts SollHoehe,r24
3432 .L580:
3433 216c 81E0 ldi r24,lo8(1)
3434 216e 8093 0000 sts HoehenReglerAktiv,r24
3435 .L515:
3436 2172 8091 0000 lds r24,Notlandung
3437 2176 8823 tst r24
3438 2178 01F0 breq .L516
3439 217a 1092 0000 sts (SollHoehe)+1,__zero_reg__
3440 217e 1092 0000 sts SollHoehe,__zero_reg__
3441 .L516:
3442 2182 2091 0000 lds r18,HoehenWert
3443 2186 3091 0000 lds r19,(HoehenWert)+1
3444 218a 4091 0000 lds r20,SollHoehe
3445 218e 5091 0000 lds r21,(SollHoehe)+1
3446 2192 4217 cp r20,r18
3447 2194 5307 cpc r21,r19
3448 2196 04F0 brlt .+2
3449 2198 00C0 rjmp .L509
3450 219a 8091 0000 lds r24,HoehenReglerAktiv
3451 219e 8823 tst r24
3452 21a0 01F4 brne .+2
3453 21a2 00C0 rjmp .L509
3454 21a4 241B sub r18,r20
3455 21a6 350B sbc r19,r21
3456 21a8 8091 0000 lds r24,Parameter_Hoehe_P
3457 21ac 9927 clr r25
3458 21ae BC01 movw r22,r24
3459 21b0 269F mul r18,r22
3460 21b2 C001 movw r24,r0
3461 21b4 279F mul r18,r23
3462 21b6 900D add r25,r0
3463 21b8 369F mul r19,r22
3464 21ba 900D add r25,r0
3465 21bc 1124 clr r1
3466 21be 60E1 ldi r22,lo8(16)
3467 21c0 70E0 ldi r23,hi8(16)
3468 21c2 0E94 0000 call __divmodhi4
3469 21c6 0981 ldd r16,Y+1
3470 21c8 1A81 ldd r17,Y+2
3471 21ca 061B sub r16,r22
3472 21cc 170B sbc r17,r23
3473 21ce 2091 0000 lds r18,HoeheD
3474 21d2 3091 0000 lds r19,(HoeheD)+1
3475 21d6 8091 0000 lds r24,Parameter_Luftdruck_D
3476 21da 9927 clr r25
3477 21dc FC01 movw r30,r24
3478 21de 2E9F mul r18,r30
3479 21e0 C001 movw r24,r0
3480 21e2 2F9F mul r18,r31
3481 21e4 900D add r25,r0
3482 21e6 3E9F mul r19,r30
3483 21e8 900D add r25,r0
3484 21ea 1124 clr r1
3485 21ec 68E0 ldi r22,lo8(8)
3486 21ee 70E0 ldi r23,hi8(8)
3487 21f0 0E94 0000 call __divmodhi4
3488 21f4 061B sub r16,r22
3489 21f6 170B sbc r17,r23
3490 21f8 6091 0000 lds r22,Mess_Integral_Hoch
3491 21fc 7091 0000 lds r23,(Mess_Integral_Hoch)+1
3492 2200 8091 0000 lds r24,(Mess_Integral_Hoch)+2
3493 2204 9091 0000 lds r25,(Mess_Integral_Hoch)+3
3494 2208 20E0 ldi r18,lo8(512)
3495 220a 32E0 ldi r19,hi8(512)
3496 220c 40E0 ldi r20,hlo8(512)
3497 220e 50E0 ldi r21,hhi8(512)
3498 2210 0E94 0000 call __divmodsi4
3499 2214 CA01 movw r24,r20
3500 2216 B901 movw r22,r18
3501 2218 2091 0000 lds r18,Parameter_Hoehe_ACC_Wirkung
3502 221c 3327 clr r19
3503 221e 4427 clr r20
3504 2220 5527 clr r21
3505 2222 0E94 0000 call __mulsi3
3506 2226 20E2 ldi r18,lo8(32)
3507 2228 30E0 ldi r19,hi8(32)
3508 222a 40E0 ldi r20,hlo8(32)
3509 222c 50E0 ldi r21,hhi8(32)
3510 222e 0E94 0000 call __divmodsi4
3511 2232 FFEF ldi r31,hi8(-50)
3512 2234 2E3C cpi r18,lo8(-50)
3513 2236 3F07 cpc r19,r31
3514 2238 04F4 brge .L520
3515 223a 2EEC ldi r18,lo8(-50)
3516 223c 3FEF ldi r19,hi8(-50)
3517 .L520:
3518 223e 8091 0000 lds r24,hoehenregler.2362
3519 2242 9091 0000 lds r25,(hoehenregler.2362)+1
3520 2246 AC01 movw r20,r24
3521 2248 74E0 ldi r23,4
3522 224a 440F 1: lsl r20
3523 224c 551F rol r21
3524 224e 7A95 dec r23
3525 2250 01F4 brne 1b
3526 2252 481B sub r20,r24
3527 2254 590B sbc r21,r25
3528 2256 2333 cpi r18,51
3529 2258 3105 cpc r19,__zero_reg__
3530 225a 04F0 brlt .L521
3531 225c 22E3 ldi r18,lo8(50)
3532 225e 30E0 ldi r19,hi8(50)
3533 .L521:
3534 2260 021B sub r16,r18
3535 2262 130B sbc r17,r19
3536 2264 CA01 movw r24,r20
3537 2266 800F add r24,r16
3538 2268 911F adc r25,r17
3539 226a 60E1 ldi r22,lo8(16)
3540 226c 70E0 ldi r23,hi8(16)
3541 226e 0E94 0000 call __divmodhi4
3542 2272 7093 0000 sts (hoehenregler.2362)+1,r23
3543 2276 6093 0000 sts hoehenregler.2362,r22
3544 227a 8091 0000 lds r24,EE_Parameter+9
3545 227e 9927 clr r25
3546 2280 6817 cp r22,r24
3547 2282 7907 cpc r23,r25
3548 2284 04F4 brge .L522
3549 2286 2981 ldd r18,Y+1
3550 2288 3A81 ldd r19,Y+2
3551 228a 2817 cp r18,r24
3552 228c 3907 cpc r19,r25
3553 228e 04F0 brlt .L524
3554 2290 9093 0000 sts (hoehenregler.2362)+1,r25
3555 2294 8093 0000 sts hoehenregler.2362,r24
3556 2298 00C0 rjmp .L522
3557 .L524:
3558 229a 4981 ldd r20,Y+1
3559 229c 5A81 ldd r21,Y+2
3560 229e 5093 0000 sts (hoehenregler.2362)+1,r21
3561 22a2 4093 0000 sts hoehenregler.2362,r20
3562 22a6 00C0 rjmp .L526
3563 .L522:
3564 22a8 8091 0000 lds r24,hoehenregler.2362
3565 22ac 9091 0000 lds r25,(hoehenregler.2362)+1
3566 22b0 6981 ldd r22,Y+1
3567 22b2 7A81 ldd r23,Y+2
3568 22b4 6817 cp r22,r24
3569 22b6 7907 cpc r23,r25
3570 22b8 04F4 brge .L526
3571 22ba 7093 0000 sts (hoehenregler.2362)+1,r23
3572 22be 6093 0000 sts hoehenregler.2362,r22
3573 .L526:
3574 22c2 8091 0000 lds r24,hoehenregler.2362
3575 22c6 9091 0000 lds r25,(hoehenregler.2362)+1
3576 22ca 9A83 std Y+2,r25
3577 22cc 8983 std Y+1,r24
3578 .L509:
3579 22ce C090 0000 lds r12,MesswertGier
3580 22d2 D090 0000 lds r13,(MesswertGier)+1
3581 22d6 8091 0000 lds r24,sollGier.2352
3582 22da 9091 0000 lds r25,(sollGier.2352)+1
3583 22de C81A sub r12,r24
3584 22e0 D90A sbc r13,r25
3585 22e2 95E6 ldi r25,lo8(101)
3586 22e4 C916 cp r12,r25
3587 22e6 D104 cpc r13,__zero_reg__
3588 22e8 04F0 brlt .L528
3589 22ea 64E6 ldi r22,lo8(100)
3590 22ec C62E mov r12,r22
3591 22ee D12C mov r13,__zero_reg__
3592 22f0 00C0 rjmp .L530
3593 .L528:
3594 22f2 ECE9 ldi r30,lo8(-100)
3595 22f4 CE16 cp r12,r30
3596 22f6 EFEF ldi r30,hi8(-100)
3597 22f8 DE06 cpc r13,r30
3598 22fa 04F4 brge .L530
3599 22fc 5CE9 ldi r21,lo8(-100)
3600 22fe C52E mov r12,r21
3601 2300 5FEF ldi r21,hi8(-100)
3602 2302 D52E mov r13,r21
3603 .L530:
3604 2304 4090 0000 lds r4,Kp
3605 2308 5090 0000 lds r5,(Kp)+1
3606 230c 6090 0000 lds r6,(Kp)+2
3607 2310 7090 0000 lds r7,(Kp)+3
3608 2314 6091 0000 lds r22,MesswertNick
3609 2318 7091 0000 lds r23,(MesswertNick)+1
3610 231c 2091 0000 lds r18,StickNick
3611 2320 3091 0000 lds r19,(StickNick)+1
3612 2324 4091 0000 lds r20,GPS_Nick
3613 2328 5091 0000 lds r21,(GPS_Nick)+1
3614 232c 241B sub r18,r20
3615 232e 350B sbc r19,r21
3616 2330 621B sub r22,r18
3617 2332 730B sbc r23,r19
3618 2334 8827 clr r24
3619 2336 77FD sbrc r23,7
3620 2338 8095 com r24
3621 233a 982F mov r25,r24
3622 233c 0E94 0000 call __floatsisf
3623 2340 9B01 movw r18,r22
3624 2342 AC01 movw r20,r24
3625 2344 C301 movw r24,r6
3626 2346 B201 movw r22,r4
3627 2348 0E94 0000 call __mulsf3
3628 234c 0E94 0000 call __fixsfsi
3629 2350 7093 0000 sts (DiffNick)+1,r23
3630 2354 6093 0000 sts DiffNick,r22
3631 2358 8091 0000 lds r24,DiffNick
3632 235c 9091 0000 lds r25,(DiffNick)+1
3633 2360 8C01 movw r16,r24
3634 2362 2227 clr r18
3635 2364 17FD sbrc r17,7
3636 2366 2095 com r18
3637 2368 322F mov r19,r18
3638 236a 8091 0000 lds r24,SummeNick.2350
3639 236e 9091 0000 lds r25,(SummeNick.2350)+1
3640 2372 A091 0000 lds r26,(SummeNick.2350)+2
3641 2376 B091 0000 lds r27,(SummeNick.2350)+3
3642 237a 080F add r16,r24
3643 237c 191F adc r17,r25
3644 237e 2A1F adc r18,r26
3645 2380 3B1F adc r19,r27
3646 2382 0093 0000 sts SummeNick.2350,r16
3647 2386 1093 0000 sts (SummeNick.2350)+1,r17
3648 238a 2093 0000 sts (SummeNick.2350)+2,r18
3649 238e 3093 0000 sts (SummeNick.2350)+3,r19
3650 2392 1016 cp __zero_reg__,r16
3651 2394 1106 cpc __zero_reg__,r17
3652 2396 1206 cpc __zero_reg__,r18
3653 2398 1306 cpc __zero_reg__,r19
3654 239a 04F4 brge .L532
3655 239c C801 movw r24,r16
3656 239e 17FF sbrs r17,7
3657 23a0 00C0 rjmp .L534
3658 23a2 9095 com r25
3659 23a4 8195 neg r24
3660 23a6 9F4F sbci r25,lo8(-1)
3661 .L534:
3662 23a8 60E0 ldi r22,lo8(256)
3663 23aa 71E0 ldi r23,hi8(256)
3664 23ac 0E94 0000 call __divmodhi4
3665 23b0 6F5F subi r22,lo8(-(1))
3666 23b2 7F4F sbci r23,hi8(-(1))
3667 23b4 8827 clr r24
3668 23b6 77FD sbrc r23,7
3669 23b8 8095 com r24
3670 23ba 982F mov r25,r24
3671 23bc 061B sub r16,r22
3672 23be 170B sbc r17,r23
3673 23c0 280B sbc r18,r24
3674 23c2 390B sbc r19,r25
3675 23c4 00C0 rjmp .L581
3676 .L532:
3677 23c6 C801 movw r24,r16
3678 23c8 17FF sbrs r17,7
3679 23ca 00C0 rjmp .L536
3680 23cc 9095 com r25
3681 23ce 8195 neg r24
3682 23d0 9F4F sbci r25,lo8(-1)
3683 .L536:
3684 23d2 60E0 ldi r22,lo8(256)
3685 23d4 71E0 ldi r23,hi8(256)
3686 23d6 0E94 0000 call __divmodhi4
3687 23da 6F5F subi r22,lo8(-(1))
3688 23dc 7F4F sbci r23,hi8(-(1))
3689 23de 8827 clr r24
3690 23e0 77FD sbrc r23,7
3691 23e2 8095 com r24
3692 23e4 982F mov r25,r24
3693 23e6 060F add r16,r22
3694 23e8 171F adc r17,r23
3695 23ea 281F adc r18,r24
3696 23ec 391F adc r19,r25
3697 .L581:
3698 23ee 0093 0000 sts SummeNick.2350,r16
3699 23f2 1093 0000 sts (SummeNick.2350)+1,r17
3700 23f6 2093 0000 sts (SummeNick.2350)+2,r18
3701 23fa 3093 0000 sts (SummeNick.2350)+3,r19
3702 23fe 8091 0000 lds r24,SummeNick.2350
3703 2402 9091 0000 lds r25,(SummeNick.2350)+1
3704 2406 A091 0000 lds r26,(SummeNick.2350)+2
3705 240a B091 0000 lds r27,(SummeNick.2350)+3
3706 240e 8138 cpi r24,lo8(16001)
3707 2410 FEE3 ldi r31,hi8(16001)
3708 2412 9F07 cpc r25,r31
3709 2414 F0E0 ldi r31,hlo8(16001)
3710 2416 AF07 cpc r26,r31
3711 2418 F0E0 ldi r31,hhi8(16001)
3712 241a BF07 cpc r27,r31
3713 241c 04F0 brlt .L537
3714 241e 80E8 ldi r24,lo8(16000)
3715 2420 9EE3 ldi r25,hi8(16000)
3716 2422 A0E0 ldi r26,hlo8(16000)
3717 2424 B0E0 ldi r27,hhi8(16000)
3718 2426 00C0 rjmp .L582
3719 .L537:
3720 2428 8058 subi r24,lo8(-16000)
3721 242a 914C sbci r25,hi8(-16000)
3722 242c AF4F sbci r26,hlo8(-16000)
3723 242e BF4F sbci r27,hhi8(-16000)
3724 2430 04F4 brge .L539
3725 2432 80E8 ldi r24,lo8(-16000)
3726 2434 91EC ldi r25,hi8(-16000)
3727 2436 AFEF ldi r26,hlo8(-16000)
3728 2438 BFEF ldi r27,hhi8(-16000)
3729 .L582:
3730 243a 8093 0000 sts SummeNick.2350,r24
3731 243e 9093 0000 sts (SummeNick.2350)+1,r25
3732 2442 A093 0000 sts (SummeNick.2350)+2,r26
3733 2446 B093 0000 sts (SummeNick.2350)+3,r27
3734 .L539:
3735 244a 6091 0000 lds r22,DiffNick
3736 244e 7091 0000 lds r23,(DiffNick)+1
3737 2452 8090 0000 lds r8,Ki
3738 2456 9090 0000 lds r9,(Ki)+1
3739 245a A090 0000 lds r10,(Ki)+2
3740 245e B090 0000 lds r11,(Ki)+3
3741 2462 8827 clr r24
3742 2464 77FD sbrc r23,7
3743 2466 8095 com r24
3744 2468 982F mov r25,r24
3745 246a 0E94 0000 call __floatsisf
3746 246e 7B01 movw r14,r22
3747 2470 8C01 movw r16,r24
3748 2472 6091 0000 lds r22,SummeNick.2350
3749 2476 7091 0000 lds r23,(SummeNick.2350)+1
3750 247a 8091 0000 lds r24,(SummeNick.2350)+2
3751 247e 9091 0000 lds r25,(SummeNick.2350)+3
3752 2482 0E94 0000 call __floatsisf
3753 2486 9B01 movw r18,r22
3754 2488 AC01 movw r20,r24
3755 248a C501 movw r24,r10
3756 248c B401 movw r22,r8
3757 248e 0E94 0000 call __mulsf3
3758 2492 9B01 movw r18,r22
3759 2494 AC01 movw r20,r24
3760 2496 C801 movw r24,r16
3761 2498 B701 movw r22,r14
3762 249a 0E94 0000 call __addsf3
3763 249e 0E94 0000 call __fixsfsi
3764 24a2 9601 movw r18,r12
3765 24a4 260F add r18,r22
3766 24a6 371F adc r19,r23
3767 24a8 4981 ldd r20,Y+1
3768 24aa 5A81 ldd r21,Y+2
3769 24ac 240F add r18,r20
3770 24ae 351F adc r19,r21
3771 24b0 2224 clr r2
3772 24b2 4A30 cpi r20,10
3773 24b4 5105 cpc r21,__zero_reg__
3774 24b6 04F4 brge .L541
3775 24b8 41E0 ldi r20,lo8(1)
3776 24ba 242E mov r2,r20
3777 .L541:
3778 24bc 37FD sbrc r19,7
3779 24be 00C0 rjmp .L544
3780 24c0 2220 tst r2
3781 24c2 01F0 breq .L542
3782 .L544:
3783 24c4 40E0 ldi r20,lo8(0)
3784 24c6 50E0 ldi r21,hi8(0)
3785 24c8 00C0 rjmp .L545
3786 .L542:
3787 24ca 8091 0000 lds r24,MAX_GAS
3788 24ce 482F mov r20,r24
3789 24d0 5527 clr r21
3790 24d2 2417 cp r18,r20
3791 24d4 3507 cpc r19,r21
3792 24d6 04F4 brge .L545
3793 24d8 A901 movw r20,r18
3794 .L545:
3795 24da 8091 0000 lds r24,MIN_GAS
3796 24de E82F mov r30,r24
3797 24e0 FF27 clr r31
3798 24e2 FC83 std Y+4,r31
3799 24e4 EB83 std Y+3,r30
3800 24e6 9F01 movw r18,r30
3801 24e8 E417 cp r30,r20
3802 24ea F507 cpc r31,r21
3803 24ec 04F4 brge .L547
3804 24ee 9A01 movw r18,r20
3805 .L547:
3806 24f0 2093 0000 sts Motor_Vorne,r18
3807 24f4 2981 ldd r18,Y+1
3808 24f6 3A81 ldd r19,Y+2
3809 24f8 261B sub r18,r22
3810 24fa 370B sbc r19,r23
3811 24fc B901 movw r22,r18
3812 24fe 6C0D add r22,r12
3813 2500 7D1D adc r23,r13
3814 2502 77FD sbrc r23,7
3815 2504 00C0 rjmp .L550
3816 2506 2220 tst r2
3817 2508 01F0 breq .L548
3818 .L550:
3819 250a 80E0 ldi r24,lo8(0)
3820 250c 90E0 ldi r25,hi8(0)
3821 250e 00C0 rjmp .L551
3822 .L548:
3823 2510 8091 0000 lds r24,MAX_GAS
3824 2514 9927 clr r25
3825 2516 6817 cp r22,r24
3826 2518 7907 cpc r23,r25
3827 251a 04F4 brge .L551
3828 251c CB01 movw r24,r22
3829 .L551:
3830 251e 2B81 ldd r18,Y+3
3831 2520 3C81 ldd r19,Y+4
3832 2522 2817 cp r18,r24
3833 2524 3907 cpc r19,r25
3834 2526 04F4 brge .L553
3835 2528 9C01 movw r18,r24
3836 .L553:
3837 252a 2093 0000 sts Motor_Hinten,r18
3838 252e 6091 0000 lds r22,MesswertRoll
3839 2532 7091 0000 lds r23,(MesswertRoll)+1
3840 2536 2091 0000 lds r18,StickRoll
3841 253a 3091 0000 lds r19,(StickRoll)+1
3842 253e 4091 0000 lds r20,GPS_Roll
3843 2542 5091 0000 lds r21,(GPS_Roll)+1
3844 2546 241B sub r18,r20
3845 2548 350B sbc r19,r21
3846 254a 621B sub r22,r18
3847 254c 730B sbc r23,r19
3848 254e 8827 clr r24
3849 2550 77FD sbrc r23,7
3850 2552 8095 com r24
3851 2554 982F mov r25,r24
3852 2556 0E94 0000 call __floatsisf
3853 255a 9B01 movw r18,r22
3854 255c AC01 movw r20,r24
3855 255e C301 movw r24,r6
3856 2560 B201 movw r22,r4
3857 2562 0E94 0000 call __mulsf3
3858 2566 0E94 0000 call __fixsfsi
3859 256a 7093 0000 sts (DiffRoll)+1,r23
3860 256e 6093 0000 sts DiffRoll,r22
3861 2572 8091 0000 lds r24,DiffRoll
3862 2576 9091 0000 lds r25,(DiffRoll)+1
3863 257a 8C01 movw r16,r24
3864 257c 2227 clr r18
3865 257e 17FD sbrc r17,7
3866 2580 2095 com r18
3867 2582 322F mov r19,r18
3868 2584 8091 0000 lds r24,SummeRoll.2351
3869 2588 9091 0000 lds r25,(SummeRoll.2351)+1
3870 258c A091 0000 lds r26,(SummeRoll.2351)+2
3871 2590 B091 0000 lds r27,(SummeRoll.2351)+3
3872 2594 080F add r16,r24
3873 2596 191F adc r17,r25
3874 2598 2A1F adc r18,r26
3875 259a 3B1F adc r19,r27
3876 259c 0093 0000 sts SummeRoll.2351,r16
3877 25a0 1093 0000 sts (SummeRoll.2351)+1,r17
3878 25a4 2093 0000 sts (SummeRoll.2351)+2,r18
3879 25a8 3093 0000 sts (SummeRoll.2351)+3,r19
3880 25ac 1016 cp __zero_reg__,r16
3881 25ae 1106 cpc __zero_reg__,r17
3882 25b0 1206 cpc __zero_reg__,r18
3883 25b2 1306 cpc __zero_reg__,r19
3884 25b4 04F4 brge .L554
3885 25b6 C801 movw r24,r16
3886 25b8 17FF sbrs r17,7
3887 25ba 00C0 rjmp .L556
3888 25bc 9095 com r25
3889 25be 8195 neg r24
3890 25c0 9F4F sbci r25,lo8(-1)
3891 .L556:
3892 25c2 60E0 ldi r22,lo8(256)
3893 25c4 71E0 ldi r23,hi8(256)
3894 25c6 0E94 0000 call __divmodhi4
3895 25ca 6F5F subi r22,lo8(-(1))
3896 25cc 7F4F sbci r23,hi8(-(1))
3897 25ce 8827 clr r24
3898 25d0 77FD sbrc r23,7
3899 25d2 8095 com r24
3900 25d4 982F mov r25,r24
3901 25d6 061B sub r16,r22
3902 25d8 170B sbc r17,r23
3903 25da 280B sbc r18,r24
3904 25dc 390B sbc r19,r25
3905 25de 00C0 rjmp .L583
3906 .L554:
3907 25e0 C801 movw r24,r16
3908 25e2 17FF sbrs r17,7
3909 25e4 00C0 rjmp .L558
3910 25e6 9095 com r25
3911 25e8 8195 neg r24
3912 25ea 9F4F sbci r25,lo8(-1)
3913 .L558:
3914 25ec 60E0 ldi r22,lo8(256)
3915 25ee 71E0 ldi r23,hi8(256)
3916 25f0 0E94 0000 call __divmodhi4
3917 25f4 6F5F subi r22,lo8(-(1))
3918 25f6 7F4F sbci r23,hi8(-(1))
3919 25f8 8827 clr r24
3920 25fa 77FD sbrc r23,7
3921 25fc 8095 com r24
3922 25fe 982F mov r25,r24
3923 2600 060F add r16,r22
3924 2602 171F adc r17,r23
3925 2604 281F adc r18,r24
3926 2606 391F adc r19,r25
3927 .L583:
3928 2608 0093 0000 sts SummeRoll.2351,r16
3929 260c 1093 0000 sts (SummeRoll.2351)+1,r17
3930 2610 2093 0000 sts (SummeRoll.2351)+2,r18
3931 2614 3093 0000 sts (SummeRoll.2351)+3,r19
3932 2618 8091 0000 lds r24,SummeRoll.2351
3933 261c 9091 0000 lds r25,(SummeRoll.2351)+1
3934 2620 A091 0000 lds r26,(SummeRoll.2351)+2
3935 2624 B091 0000 lds r27,(SummeRoll.2351)+3
3936 2628 8138 cpi r24,lo8(16001)
3937 262a 3EE3 ldi r19,hi8(16001)
3938 262c 9307 cpc r25,r19
3939 262e 30E0 ldi r19,hlo8(16001)
3940 2630 A307 cpc r26,r19
3941 2632 30E0 ldi r19,hhi8(16001)
3942 2634 B307 cpc r27,r19
3943 2636 04F0 brlt .L559
3944 2638 80E8 ldi r24,lo8(16000)
3945 263a 9EE3 ldi r25,hi8(16000)
3946 263c A0E0 ldi r26,hlo8(16000)
3947 263e B0E0 ldi r27,hhi8(16000)
3948 2640 00C0 rjmp .L584
3949 .L559:
3950 2642 8058 subi r24,lo8(-16000)
3951 2644 914C sbci r25,hi8(-16000)
3952 2646 AF4F sbci r26,hlo8(-16000)
3953 2648 BF4F sbci r27,hhi8(-16000)
3954 264a 04F4 brge .L561
3955 264c 80E8 ldi r24,lo8(-16000)
3956 264e 91EC ldi r25,hi8(-16000)
3957 2650 AFEF ldi r26,hlo8(-16000)
3958 2652 BFEF ldi r27,hhi8(-16000)
3959 .L584:
3960 2654 8093 0000 sts SummeRoll.2351,r24
3961 2658 9093 0000 sts (SummeRoll.2351)+1,r25
3962 265c A093 0000 sts (SummeRoll.2351)+2,r26
3963 2660 B093 0000 sts (SummeRoll.2351)+3,r27
3964 .L561:
3965 2664 6091 0000 lds r22,DiffRoll
3966 2668 7091 0000 lds r23,(DiffRoll)+1
3967 266c 8827 clr r24
3968 266e 77FD sbrc r23,7
3969 2670 8095 com r24
3970 2672 982F mov r25,r24
3971 2674 0E94 0000 call __floatsisf
3972 2678 7B01 movw r14,r22
3973 267a 8C01 movw r16,r24
3974 267c 6091 0000 lds r22,SummeRoll.2351
3975 2680 7091 0000 lds r23,(SummeRoll.2351)+1
3976 2684 8091 0000 lds r24,(SummeRoll.2351)+2
3977 2688 9091 0000 lds r25,(SummeRoll.2351)+3
3978 268c 0E94 0000 call __floatsisf
3979 2690 9B01 movw r18,r22
3980 2692 AC01 movw r20,r24
3981 2694 C501 movw r24,r10
3982 2696 B401 movw r22,r8
3983 2698 0E94 0000 call __mulsf3
3984 269c 9B01 movw r18,r22
3985 269e AC01 movw r20,r24
3986 26a0 C801 movw r24,r16
3987 26a2 B701 movw r22,r14
3988 26a4 0E94 0000 call __addsf3
3989 26a8 0E94 0000 call __fixsfsi
3990 26ac 2981 ldd r18,Y+1
3991 26ae 3A81 ldd r19,Y+2
3992 26b0 260F add r18,r22
3993 26b2 371F adc r19,r23
3994 26b4 2C19 sub r18,r12
3995 26b6 3D09 sbc r19,r13
3996 26b8 37FD sbrc r19,7
3997 26ba 00C0 rjmp .L565
3998 26bc 2220 tst r2
3999 26be 01F0 breq .L563
4000 .L565:
4001 26c0 40E0 ldi r20,lo8(0)
4002 26c2 50E0 ldi r21,hi8(0)
4003 26c4 00C0 rjmp .L566
4004 .L563:
4005 26c6 8091 0000 lds r24,MAX_GAS
4006 26ca 482F mov r20,r24
4007 26cc 5527 clr r21
4008 26ce 2417 cp r18,r20
4009 26d0 3507 cpc r19,r21
4010 26d2 04F4 brge .L566
4011 26d4 A901 movw r20,r18
4012 .L566:
4013 26d6 2B81 ldd r18,Y+3
4014 26d8 3C81 ldd r19,Y+4
4015 26da 2417 cp r18,r20
4016 26dc 3507 cpc r19,r21
4017 26de 04F4 brge .L568
4018 26e0 9A01 movw r18,r20
4019 .L568:
4020 26e2 2093 0000 sts Motor_Links,r18
4021 26e6 8981 ldd r24,Y+1
4022 26e8 9A81 ldd r25,Y+2
4023 26ea 861B sub r24,r22
4024 26ec 970B sbc r25,r23
4025 26ee BC01 movw r22,r24
4026 26f0 6C19 sub r22,r12
4027 26f2 7D09 sbc r23,r13
4028 26f4 77FD sbrc r23,7
4029 26f6 00C0 rjmp .L571
4030 26f8 2220 tst r2
4031 26fa 01F0 breq .L569
4032 .L571:
4033 26fc 20E0 ldi r18,lo8(0)
4034 26fe 30E0 ldi r19,hi8(0)
4035 2700 00C0 rjmp .L572
4036 .L569:
4037 2702 8091 0000 lds r24,MAX_GAS
4038 2706 282F mov r18,r24
4039 2708 3327 clr r19
4040 270a 6217 cp r22,r18
4041 270c 7307 cpc r23,r19
4042 270e 04F4 brge .L572
4043 2710 9B01 movw r18,r22
4044 .L572:
4045 2712 8B81 ldd r24,Y+3
4046 2714 9C81 ldd r25,Y+4
4047 2716 8217 cp r24,r18
4048 2718 9307 cpc r25,r19
4049 271a 04F4 brge .L574
4050 271c C901 movw r24,r18
4051 .L574:
4052 271e 8093 0000 sts Motor_Rechts,r24
4053 /* epilogue: frame size=4 */
4054 2722 2496 adiw r28,4
4055 2724 0FB6 in __tmp_reg__,__SREG__
4056 2726 F894 cli
4057 2728 DEBF out __SP_H__,r29
4058 272a 0FBE out __SREG__,__tmp_reg__
4059 272c CDBF out __SP_L__,r28
4060 272e DF91 pop r29
4061 2730 CF91 pop r28
4062 2732 1F91 pop r17
4063 2734 0F91 pop r16
4064 2736 FF90 pop r15
4065 2738 EF90 pop r14
4066 273a DF90 pop r13
4067 273c CF90 pop r12
4068 273e BF90 pop r11
4069 2740 AF90 pop r10
4070 2742 9F90 pop r9
4071 2744 8F90 pop r8
4072 2746 7F90 pop r7
4073 2748 6F90 pop r6
4074 274a 5F90 pop r5
4075 274c 4F90 pop r4
4076 274e 3F90 pop r3
4077 2750 2F90 pop r2
4078 2752 0895 ret
4079 /* epilogue end (size=25) */
4080 /* function MotorRegler size 2799 (2748) */
4082 .global Timeout
4083 .global Timeout
4084 .section .bss
4087 Timeout:
4088 0000 00 .skip 1,0
4089 .global AdNeutralNick
4090 .global AdNeutralNick
4093 AdNeutralNick:
4094 0001 0000 .skip 2,0
4095 .global AdNeutralRoll
4096 .global AdNeutralRoll
4099 AdNeutralRoll:
4100 0003 0000 .skip 2,0
4101 .global AdNeutralGier
4102 .global AdNeutralGier
4105 AdNeutralGier:
4106 0005 0000 .skip 2,0
4107 .global NeutralAccX
4108 .global NeutralAccX
4111 NeutralAccX:
4112 0007 0000 .skip 2,0
4113 .global NeutralAccY
4114 .global NeutralAccY
4117 NeutralAccY:
4118 0009 0000 .skip 2,0
4119 .global NeutralAccZ
4120 .global NeutralAccZ
4123 NeutralAccZ:
4124 000b 0000 0000 .skip 4,0
4125 .global CosinusNickWinkel
4126 .global CosinusNickWinkel
4129 CosinusNickWinkel:
4130 000f 00 .skip 1,0
4131 .global CosinusRollWinkel
4132 .global CosinusRollWinkel
4135 CosinusRollWinkel:
4136 0010 00 .skip 1,0
4137 .global IntegralNick
4138 .global IntegralNick
4141 IntegralNick:
4142 0011 0000 0000 .skip 4,0
4143 .global IntegralNick2
4144 .global IntegralNick2
4147 IntegralNick2:
4148 0015 0000 0000 .skip 4,0
4149 .global IntegralRoll
4150 .global IntegralRoll
4153 IntegralRoll:
4154 0019 0000 0000 .skip 4,0
4155 .global IntegralRoll2
4156 .global IntegralRoll2
4159 IntegralRoll2:
4160 001d 0000 0000 .skip 4,0
4161 .global Integral_Gier
4162 .global Integral_Gier
4165 Integral_Gier:
4166 0021 0000 0000 .skip 4,0
4167 .global Mess_IntegralNick
4168 .global Mess_IntegralNick
4171 Mess_IntegralNick:
4172 0025 0000 0000 .skip 4,0
4173 .global Mess_IntegralNick2
4174 .global Mess_IntegralNick2
4177 Mess_IntegralNick2:
4178 0029 0000 0000 .skip 4,0
4179 .global Mess_IntegralRoll
4180 .global Mess_IntegralRoll
4183 Mess_IntegralRoll:
4184 002d 0000 0000 .skip 4,0
4185 .global Mess_IntegralRoll2
4186 .global Mess_IntegralRoll2
4189 Mess_IntegralRoll2:
4190 0031 0000 0000 .skip 4,0
4191 .global Mess_Integral_Gier
4192 .global Mess_Integral_Gier
4195 Mess_Integral_Gier:
4196 0035 0000 0000 .skip 4,0
4197 .global Mess_Integral_Gier2
4198 .global Mess_Integral_Gier2
4201 Mess_Integral_Gier2:
4202 0039 0000 0000 .skip 4,0
4203 .global Mess_Integral_Hoch
4204 .global Mess_Integral_Hoch
4207 Mess_Integral_Hoch:
4208 003d 0000 0000 .skip 4,0
4209 .global KompassValue
4210 .global KompassValue
4213 KompassValue:
4214 0041 0000 .skip 2,0
4215 .global KompassStartwert
4216 .global KompassStartwert
4219 KompassStartwert:
4220 0043 0000 .skip 2,0
4221 .global KompassRichtung
4222 .global KompassRichtung
4225 KompassRichtung:
4226 0045 0000 .skip 2,0
4227 .global Notlandung
4228 .global Notlandung
4231 Notlandung:
4232 0047 00 .skip 1,0
4233 .global HoehenReglerAktiv
4234 .global HoehenReglerAktiv
4237 HoehenReglerAktiv:
4238 0048 00 .skip 1,0
4239 .global Poti1
4240 .global Poti1
4243 Poti1:
4244 0049 0000 .skip 2,0
4245 .global Poti2
4246 .global Poti2
4249 Poti2:
4250 004b 0000 .skip 2,0
4251 .global Poti3
4252 .global Poti3
4255 Poti3:
4256 004d 0000 .skip 2,0
4257 .global Poti4
4258 .global Poti4
4261 Poti4:
4262 004f 0000 .skip 2,0
4263 .global SenderOkay
4264 .global SenderOkay
4267 SenderOkay:
4268 0051 00 .skip 1,0
4269 .global StickNick
4270 .global StickNick
4273 StickNick:
4274 0052 0000 .skip 2,0
4275 .global StickRoll
4276 .global StickRoll
4279 StickRoll:
4280 0054 0000 .skip 2,0
4281 .global StickGier
4282 .global StickGier
4285 StickGier:
4286 0056 0000 .skip 2,0
4287 .global MotorenEin
4288 .global MotorenEin
4291 MotorenEin:
4292 0058 00 .skip 1,0
4293 .global HoehenWert
4294 .global HoehenWert
4297 HoehenWert:
4298 0059 0000 .skip 2,0
4299 .global SollHoehe
4300 .global SollHoehe
4303 SollHoehe:
4304 005b 0000 .skip 2,0
4305 .global Kp
4306 .data
4309 Kp:
4310 0010 00 .byte 0
4311 0011 00 .byte 0
4312 0012 80 .byte -128
4313 0013 3F .byte 63
4314 .global Ki
4317 Ki:
4318 0014 17 .byte 23
4319 0015 B7 .byte -73
4320 0016 D1 .byte -47
4321 0017 38 .byte 56
4322 .global Parameter_Luftdruck_D
4325 Parameter_Luftdruck_D:
4326 0018 30 .byte 48
4327 .global Parameter_MaxHoehe
4330 Parameter_MaxHoehe:
4331 0019 FB .byte -5
4332 .global Parameter_Hoehe_P
4335 Parameter_Hoehe_P:
4336 001a 10 .byte 16
4337 .global Parameter_Hoehe_ACC_Wirkung
4340 Parameter_Hoehe_ACC_Wirkung:
4341 001b 3A .byte 58
4342 .global Parameter_KompassWirkung
4345 Parameter_KompassWirkung:
4346 001c 40 .byte 64
4347 .global Parameter_Gyro_P
4350 Parameter_Gyro_P:
4351 001d 32 .byte 50
4352 .global Parameter_Gyro_I
4355 Parameter_Gyro_I:
4356 001e 96 .byte -106
4357 .global Parameter_Gier_P
4360 Parameter_Gier_P:
4361 001f 02 .byte 2
4362 .global Parameter_I_Faktor
4365 Parameter_I_Faktor:
4366 0020 0A .byte 10
4367 .global Parameter_UserParam1
4368 .global Parameter_UserParam1
4369 .section .bss
4372 Parameter_UserParam1:
4373 005d 00 .skip 1,0
4374 .global Parameter_UserParam2
4375 .global Parameter_UserParam2
4378 Parameter_UserParam2:
4379 005e 00 .skip 1,0
4380 .global Parameter_UserParam3
4381 .global Parameter_UserParam3
4384 Parameter_UserParam3:
4385 005f 00 .skip 1,0
4386 .global Parameter_UserParam4
4387 .global Parameter_UserParam4
4390 Parameter_UserParam4:
4391 0060 00 .skip 1,0
4392 .global Parameter_ServoNickControl
4393 .data
4396 Parameter_ServoNickControl:
4397 0021 64 .byte 100
4398 .lcomm SignalSchlecht.2368,2
4399 .lcomm NeueKompassRichtungMerken.2364,1
4400 .lcomm TimerWerteausgabe.2363,1
4401 .lcomm hoehenregler.2362,2
4402 .lcomm modell_fliegt.2361,2
4403 .lcomm delay_ausschalten.2360,1
4404 .lcomm delay_einschalten.2359,1
4405 .lcomm delay_neutral.2358,1
4406 .lcomm RcLostTimer.2357,2
4407 .lcomm IntegralFehlerRoll.2356,2
4408 .lcomm IntegralFehlerNick.2355,2
4409 .lcomm tmp_long2.2354,4
4410 .lcomm tmp_long.2353,4
4411 .lcomm sollGier.2352,4
4412 .lcomm SummeRoll.2351,4
4413 .lcomm SummeNick.2350,4
4414 .comm DiffNick,2,1
4415 .comm DiffRoll,2,1
4416 .comm durchschnitt_northing,4,1
4417 .comm durchschnitt_easting,4,1
4418 .comm gps_p,2,1
4419 .comm gps_d,2,1
4420 .comm skal,2,1
4421 .comm gps_gethome,2,1
4422 .comm RemoteTasten,1,1
4423 .comm MesswertNick,2,1
4424 .comm MesswertRoll,2,1
4425 .comm MesswertGier,2,1
4426 .comm Mittelwert_AccNick,2,1
4427 .comm Mittelwert_AccRoll,2,1
4428 .comm Mittelwert_AccHoch,2,1
4429 .comm h,1,1
4430 .comm m,1,1
4431 .comm s,1,1
4432 .comm Motor_Vorne,1,1
4433 .comm Motor_Hinten,1,1
4434 .comm Motor_Rechts,1,1
4435 .comm Motor_Links,1,1
4436 .comm Count,1,1
4437 .comm MotorWert,5,1
4438 .comm EE_Parameter,58,1
4439 .comm MAX_GAS,1,1
4440 .comm MIN_GAS,1,1
4441 .comm GyroFaktor,4,1
4442 .comm IntegralFaktor,4,1
4443 /* File "fc.c": code 5078 = 0x13d6 (4996), prologues 38, epilogues 44 */
DEFINED SYMBOLS
*ABS*:00000000 fc.c
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:3 *ABS*:0000003f __SREG__
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4 *ABS*:0000003e __SP_H__
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:5 *ABS*:0000003d __SP_L__
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:6 *ABS*:00000000 __tmp_reg__
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:7 *ABS*:00000001 __zero_reg__
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:13 .text:00000000 Mittelwert
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:3 *ABS*:0000003f __SREG__
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4 *ABS*:0000003e __SP_H__
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:5 *ABS*:0000003d __SP_L__
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:6 *ABS*:00000000 __tmp_reg__
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:7 *ABS*:00000001 __zero_reg__
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:13 .text:00000000 Mittelwert
*COM*:00000002 MesswertNick
*COM*:00000002 MesswertRoll
*COM*:00000002 MesswertGier
4336,99 → 4333,100
*COM*:00000002 Mittelwert_AccNick
*COM*:00000002 Mittelwert_AccRoll
*COM*:00000002 Mittelwert_AccHoch
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4199 .bss:00000035 Mess_Integral_Gier
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4169 .bss:00000021 Integral_Gier
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4175 .bss:00000025 Mess_IntegralNick
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4145 .bss:00000011 IntegralNick
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4187 .bss:0000002d Mess_IntegralRoll
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4157 .bss:00000019 IntegralRoll
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4181 .bss:00000029 Mess_IntegralNick2
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4151 .bss:00000015 IntegralNick2
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4193 .bss:00000031 Mess_IntegralRoll2
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4163 .bss:0000001d IntegralRoll2
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4247 .bss:00000049 Poti1
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4195 .bss:00000035 Mess_Integral_Gier
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4165 .bss:00000021 Integral_Gier
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4171 .bss:00000025 Mess_IntegralNick
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4141 .bss:00000011 IntegralNick
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4183 .bss:0000002d Mess_IntegralRoll
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4153 .bss:00000019 IntegralRoll
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4177 .bss:00000029 Mess_IntegralNick2
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4147 .bss:00000015 IntegralNick2
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4189 .bss:00000031 Mess_IntegralRoll2
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4159 .bss:0000001d IntegralRoll2
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4243 .bss:00000049 Poti1
*COM*:0000003a EE_Parameter
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4253 .bss:0000004b Poti2
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4259 .bss:0000004d Poti3
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4265 .bss:0000004f Poti4
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:576 .text:00000582 CalibrierMittelwert
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:918 .text:000008ba ParameterZuordnung
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4334 .data:00000019 Parameter_MaxHoehe
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4329 .data:00000018 Parameter_Luftdruck_D
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4339 .data:0000001a Parameter_Hoehe_P
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4344 .data:0000001b Parameter_Hoehe_ACC_Wirkung
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4349 .data:0000001c Parameter_KompassWirkung
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4354 .data:0000001d Parameter_Gyro_P
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4359 .data:0000001e Parameter_Gyro_I
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4369 .data:00000020 Parameter_I_Faktor
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4376 .bss:0000005d Parameter_UserParam1
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4382 .bss:0000005e Parameter_UserParam2
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4388 .bss:0000005f Parameter_UserParam3
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4394 .bss:00000060 Parameter_UserParam4
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4400 .data:00000021 Parameter_ServoNickControl
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4321 .data:00000014 Ki
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4249 .bss:0000004b Poti2
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4255 .bss:0000004d Poti3
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4261 .bss:0000004f Poti4
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:576 .text:00000582 CalibrierMittelwert
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:918 .text:000008ba ParameterZuordnung
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4330 .data:00000019 Parameter_MaxHoehe
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4325 .data:00000018 Parameter_Luftdruck_D
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4335 .data:0000001a Parameter_Hoehe_P
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4340 .data:0000001b Parameter_Hoehe_ACC_Wirkung
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4345 .data:0000001c Parameter_KompassWirkung
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4350 .data:0000001d Parameter_Gyro_P
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4355 .data:0000001e Parameter_Gyro_I
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4365 .data:00000020 Parameter_I_Faktor
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4372 .bss:0000005d Parameter_UserParam1
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4378 .bss:0000005e Parameter_UserParam2
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4384 .bss:0000005f Parameter_UserParam3
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4390 .bss:00000060 Parameter_UserParam4
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4396 .data:00000021 Parameter_ServoNickControl
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4317 .data:00000014 Ki
*COM*:00000001 MAX_GAS
*COM*:00000001 MIN_GAS
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:1484 .text:00000d54 DefaultKonstanten2
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:1570 .text:00000e2e DefaultKonstanten1
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:1654 .text:00000f10 SendMotorData
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4295 .bss:00000058 MotorenEin
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:1484 .text:00000d54 DefaultKonstanten2
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:1570 .text:00000e2e DefaultKonstanten1
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:1654 .text:00000f10 SendMotorData
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4291 .bss:00000058 MotorenEin
*COM*:00000001 Motor_Hinten
*COM*:00000001 Motor_Vorne
*COM*:00000001 Motor_Rechts
*COM*:00000001 Motor_Links
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:1710 .text:00000f9e SetNeutral
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4115 .bss:00000007 NeutralAccX
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4121 .bss:00000009 NeutralAccY
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4127 .bss:0000000b NeutralAccZ
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4097 .bss:00000001 AdNeutralNick
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4103 .bss:00000003 AdNeutralRoll
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4109 .bss:00000005 AdNeutralGier
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4211 .bss:0000003d Mess_Integral_Hoch
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4217 .bss:00000041 KompassValue
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4223 .bss:00000043 KompassStartwert
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:1882 .text:00001196 Piep
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:1911 .text:000011c0 MotorRegler
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4271 .bss:00000051 SenderOkay
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4409 .bss:0000006c RcLostTimer.2356
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4235 .bss:00000047 Notlandung
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4405 .bss:00000067 modell_fliegt.2360
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4416 .bss:00000082 SummeNick.2349
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4415 .bss:0000007e SummeRoll.2350
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4205 .bss:00000039 Mess_Integral_Gier2
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4408 .bss:0000006b delay_neutral.2357
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4407 .bss:0000006a delay_einschalten.2358
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4414 .bss:0000007a sollGier.2351
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4406 .bss:00000069 delay_ausschalten.2359
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4277 .bss:00000052 StickNick
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4283 .bss:00000054 StickRoll
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4289 .bss:00000056 StickGier
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:1710 .text:00000f9e SetNeutral
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4111 .bss:00000007 NeutralAccX
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4117 .bss:00000009 NeutralAccY
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4123 .bss:0000000b NeutralAccZ
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4093 .bss:00000001 AdNeutralNick
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4099 .bss:00000003 AdNeutralRoll
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4105 .bss:00000005 AdNeutralGier
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4207 .bss:0000003d Mess_Integral_Hoch
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4213 .bss:00000041 KompassValue
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4219 .bss:00000043 KompassStartwert
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:1882 .text:00001196 Piep
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:1911 .text:000011c0 MotorRegler
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4267 .bss:00000051 SenderOkay
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4405 .bss:0000006c RcLostTimer.2357
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4231 .bss:00000047 Notlandung
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4401 .bss:00000067 modell_fliegt.2361
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4412 .bss:00000082 SummeNick.2350
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4411 .bss:0000007e SummeRoll.2351
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4201 .bss:00000039 Mess_Integral_Gier2
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4404 .bss:0000006b delay_neutral.2358
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4403 .bss:0000006a delay_einschalten.2359
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4410 .bss:0000007a sollGier.2352
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4402 .bss:00000069 delay_ausschalten.2360
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4273 .bss:00000052 StickNick
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4279 .bss:00000054 StickRoll
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4285 .bss:00000056 StickGier
*COM*:00000004 GyroFaktor
*COM*:00000004 IntegralFaktor
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4411 .bss:00000070 IntegralFehlerNick.2354
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4410 .bss:0000006e IntegralFehlerRoll.2355
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4413 .bss:00000076 tmp_long.2352
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4412 .bss:00000072 tmp_long2.2353
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4402 .bss:00000063 NeueKompassRichtungMerken.2363
.bss:00000061 SignalSchlecht.2367
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4229 .bss:00000045 KompassRichtung
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4407 .bss:00000070 IntegralFehlerNick.2355
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4406 .bss:0000006e IntegralFehlerRoll.2356
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4409 .bss:00000076 tmp_long.2353
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4408 .bss:00000072 tmp_long2.2354
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4398 .bss:00000063 NeueKompassRichtungMerken.2364
.bss:00000061 SignalSchlecht.2368
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4225 .bss:00000045 KompassRichtung
*COM*:00000002 gps_p
*COM*:00000002 gps_d
*COM*:00000002 skal
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4403 .bss:00000064 TimerWerteausgabe.2362
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4301 .bss:00000059 HoehenWert
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4307 .bss:0000005b SollHoehe
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4241 .bss:00000048 HoehenReglerAktiv
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4404 .bss:00000065 hoehenregler.2361
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4313 .data:00000010 Kp
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4399 .bss:00000064 TimerWerteausgabe.2363
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4297 .bss:00000059 HoehenWert
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4303 .bss:0000005b SollHoehe
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4237 .bss:00000048 HoehenReglerAktiv
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4400 .bss:00000065 hoehenregler.2362
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4309 .data:00000010 Kp
*COM*:00000002 DiffNick
*COM*:00000002 DiffRoll
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4091 .bss:00000000 Timeout
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4133 .bss:0000000f CosinusNickWinkel
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4139 .bss:00000010 CosinusRollWinkel
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccPBHCUy.s:4364 .data:0000001f Parameter_Gier_P
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4087 .bss:00000000 Timeout
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4129 .bss:0000000f CosinusNickWinkel
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4135 .bss:00000010 CosinusRollWinkel
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4360 .data:0000001f Parameter_Gier_P
*COM*:00000004 durchschnitt_northing
*COM*:00000004 durchschnitt_easting
*COM*:00000002 skal
*COM*:00000002 gps_gethome
*COM*:00000001 RemoteTasten
*COM*:00000001 h
*COM*:00000001 m