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/branches/V0.80d-Arthur-P/Flight-Ctrl_MEGA644_V0_80d_SVN1749.map |
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0,0 → 1,2004 |
Archive member included because of file (symbol) |
C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(addsf3.o) |
fc.o (__addsf3) |
C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(addsf3x.o) |
C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(addsf3.o) (__addsf3x) |
C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fixsfsi.o) |
fc.o (__fixunssfsi) |
C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(floatsisf.o) |
fc.o (__floatsisf) |
C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_merge.o) |
C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(addsf3.o) (__fp_merge) |
C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_split.o) |
C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(addsf3.o) (__fp_split3) |
C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_zero.o) |
C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fixsfsi.o) (__fp_zero) |
C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_nan.o) |
C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_split.o) (__fp_nan) |
libfc644.a(libfc.o) jetimenu.o (LIBFC_JetiBox_Putchar) |
C:/Programs/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_mulsi3.o) |
uart.o (__mulsi3) |
C:/Programs/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_udivmodqi4.o) |
main.o (__udivmodqi4) |
C:/Programs/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_udivmodhi4.o) |
timer0.o (__udivmodhi4) |
C:/Programs/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_divmodhi4.o) |
uart.o (__divmodhi4) |
C:/Programs/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_udivmodsi4.o) |
libfc644.a(libfc.o) (__udivmodsi4) |
C:/Programs/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_divmodsi4.o) |
uart.o (__divmodsi4) |
C:/Programs/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_prologue.o) |
uart.o (__prologue_saves__) |
C:/Programs/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_epilogue.o) |
uart.o (__epilogue_restores__) |
C:/Programs/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_tablejump.o) |
analog.o (__tablejump2__) |
C:/Programs/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_copy_data.o) |
main.o (__do_copy_data) |
C:/Programs/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_clear_bss.o) |
main.o (__do_clear_bss) |
C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(memcpy_P.o) |
uart.o (memcpy_P) |
C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(memchr.o) |
libfc644.a(libfc.o) (memchr) |
C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(ee_rb.1F2021.o) |
eeprom.o (__eeprom_read_byte_1F2021) |
C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(ee_rblk.1F2021.o) |
eeprom.o (__eeprom_read_block_1F2021) |
C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(ee_rw.1F2021.o) |
eeprom.o (__eeprom_read_word_1F2021) |
C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(ee_wb.1F2021.o) |
eeprom.o (__eeprom_write_byte_1F2021) |
C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(ee_ww.1F2021.o) |
eeprom.o (__eeprom_write_word_1F2021) |
C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(ee_wblk.1F2021.o) |
eeprom.o (__eeprom_write_block_1F2021) |
Allocating common symbols |
Common symbol size file |
KopplungsteilNickRoll |
0x2 fc.o |
MesswertGierBias 0x2 fc.o |
SPITransferCompleted |
0x1 spi.o |
KopplungsteilRollNick |
0x2 fc.o |
RequiredMotors 0x1 eeprom.o |
Parameter_Servo4 0x1 fc.o |
GPSInfo 0x8 spi.o |
EE_Parameter 0x71 eeprom.o |
DiffRoll 0x2 fc.o |
MesswertRoll 0x2 fc.o |
TrimNick 0x2 fc.o |
Parameter_NaviGpsP 0x1 fc.o |
ErsatzKompassInGrad |
0x2 fc.o |
GyroFaktorGier 0x1 fc.o |
MittelIntegralRoll2 |
0x4 fc.o |
Parameter_NaviGpsModeControl |
0x1 fc.o |
TrimRoll 0x2 fc.o |
SPI_TX_Buffer 0x2 spi.o |
MesswertNick 0x2 fc.o |
NC_Version 0x5 spi.o |
SPI_BufferIndex 0x1 spi.o |
Aktuell_ay 0x2 analog.o |
ToNaviCtrl 0x20 spi.o |
Data3D 0xe uart.o |
Parameter_NaviGpsI 0x1 fc.o |
Capacity 0x7 capacity.o |
Timer3D 0x2 uart.o |
SPI_ChkSum 0x1 spi.o |
RohMesswertRoll 0x2 fc.o |
MIN_GAS 0x1 fc.o |
Parameter_NaviGpsACC |
0x1 fc.o |
MittelIntegralNick2 |
0x4 fc.o |
Channels 0x1 rc.o |
Debug_Timer 0x2 uart.o |
RohMesswertNick 0x2 fc.o |
IntegralFaktorGier 0x1 fc.o |
fdknerTjg5i83th589v44 |
0x6 libfc644.a(libfc.o) |
DiffNick 0x2 fc.o |
MittelIntegralNick 0x4 fc.o |
Parameter_Servo3 0x1 fc.o |
VersionInfo 0xa uart.o |
MotorTest 0x10 uart.o |
SPI_RxBufferIndex 0x1 spi.o |
NaviAccNick 0x2 fc.o |
Parameter_J16Timing |
0x1 fc.o |
MittelIntegralRoll 0x4 fc.o |
NeutralAccZ_float 0x4 analog.o |
Parameter_Servo5 0x1 fc.o |
SPI_RxDataValid 0x1 spi.o |
PPM_in 0x34 rc.o |
WinkelOut 0x8 uart.o |
ExternControl 0xb uart.o |
IntegralFaktor 0x1 fc.o |
Aktuell_az 0x2 analog.o |
FromNaviCtrl 0x1a spi.o |
StartLuftdruck 0x2 analog.o |
_printf_P 0x2 main.o |
tmp_motorwert 0x18 fc.o |
Kompass_Timer 0x2 uart.o |
RxdBuffer 0xa0 uart.o |
Mixer 0x4e eeprom.o |
Display_Timer 0x2 uart.o |
Parameter_NaviOperatingRadius |
0x1 fc.o |
TxdBuffer 0xa0 uart.o |
SPI_Buffer 0x1a spi.o |
Aktuell_Nick 0x2 analog.o |
Aktuell_Roll 0x2 analog.o |
IlIlIlIIIIIIIlIllllll |
0x23 libfc644.a(libfc.o) |
Aktuell_ax 0x2 analog.o |
Parameter_NaviWindCorrection |
0x1 fc.o |
s 0x1 fc.o |
h 0x1 fc.o |
Mittelwert_AccNick 0x2 fc.o |
Parameter_NaviSpeedCompensation |
0x1 fc.o |
DebugOut 0x42 uart.o |
DruckOffsetSetting 0x1 analog.o |
FromNaviCtrl_Value 0x5 spi.o |
BLConfig 0x8 twimaster.o |
Motor 0x60 twimaster.o |
Aktuell_Gier 0x2 analog.o |
Parameter_J17Timing |
0x1 fc.o |
MAX_GAS 0x1 fc.o |
MesswertGier 0x2 fc.o |
Parameter_J16Bitmask |
0x1 fc.o |
ConfirmFrame 0x1 uart.o |
NaviAccRoll 0x2 fc.o |
GyroFaktor 0x1 fc.o |
m 0x1 fc.o |
ErsatzKompass 0x4 fc.o |
Mittelwert_AccRoll 0x2 fc.o |
Parameter_NaviGpsGain |
0x1 fc.o |
fgfdogjWEti45e9tjh394 |
0x4 libfc644.a(libfc.o) |
PPM_diff 0x34 rc.o |
Parameter_ExternalControl |
0x1 fc.o |
Parameter_J17Bitmask |
0x1 fc.o |
Parameter_NaviGpsD 0x1 fc.o |
Memory Configuration |
Name Origin Length Attributes |
text 0x00000000 0x00020000 xr |
data 0x00800060 0x0000ffa0 rw !x |
eeprom 0x00810000 0x00010000 rw !x |
*default* 0x00000000 0xffffffff |
Linker script and memory map |
Address of section .data set to 0x800100 |
LOAD C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
LOAD main.o |
LOAD uart.o |
LOAD timer0.o |
LOAD analog.o |
LOAD menu.o |
LOAD eeprom.o |
LOAD twimaster.o |
LOAD rc.o |
LOAD fc.o |
LOAD GPS.o |
LOAD spi.o |
LOAD led.o |
LOAD Spektrum.o |
LOAD mymath.o |
LOAD jetimenu.o |
LOAD capacity.o |
LOAD debug.o |
LOAD isqrt.o |
LOAD C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a |
LOAD libfc644.a |
LOAD C:/Programs/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a |
LOAD C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a |
LOAD C:/Programs/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a |
.hash |
*(.hash) |
.dynsym |
*(.dynsym) |
.dynstr |
*(.dynstr) |
.gnu.version |
*(.gnu.version) |
.gnu.version_d |
*(.gnu.version_d) |
.gnu.version_r |
*(.gnu.version_r) |
.rel.init |
*(.rel.init) |
.rela.init |
*(.rela.init) |
.rel.text |
*(.rel.text) |
*(.rel.text.*) |
*(.rel.gnu.linkonce.t*) |
.rela.text |
*(.rela.text) |
*(.rela.text.*) |
*(.rela.gnu.linkonce.t*) |
.rel.fini |
*(.rel.fini) |
.rela.fini |
*(.rela.fini) |
.rel.rodata |
*(.rel.rodata) |
*(.rel.rodata.*) |
*(.rel.gnu.linkonce.r*) |
.rela.rodata |
*(.rela.rodata) |
*(.rela.rodata.*) |
*(.rela.gnu.linkonce.r*) |
.rel.data |
*(.rel.data) |
*(.rel.data.*) |
*(.rel.gnu.linkonce.d*) |
.rela.data |
*(.rela.data) |
*(.rela.data.*) |
*(.rela.gnu.linkonce.d*) |
.rel.ctors |
*(.rel.ctors) |
.rela.ctors |
*(.rela.ctors) |
.rel.dtors |
*(.rel.dtors) |
.rela.dtors |
*(.rela.dtors) |
.rel.got |
*(.rel.got) |
.rela.got |
*(.rela.got) |
.rel.bss |
*(.rel.bss) |
.rela.bss |
*(.rela.bss) |
.rel.plt |
*(.rel.plt) |
.rela.plt |
*(.rela.plt) |
.text 0x00000000 0xf2d0 |
*(.vectors) |
.vectors 0x00000000 0x7c C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
0x00000000 __vectors |
0x00000000 __vector_default |
0x0000007c __ctors_start = . |
*(.ctors) |
0x0000007c __ctors_end = . |
0x0000007c __dtors_start = . |
*(.dtors) |
0x0000007c __dtors_end = . |
*(.progmem.gcc*) |
.progmem.gcc_sw_table |
0x0000007c 0x24 analog.o |
.progmem.gcc_sw_table |
0x000000a0 0x24 menu.o |
.progmem.gcc_sw_table |
0x000000c4 0x2e twimaster.o |
*(.progmem*) |
.progmem.data 0x000000f2 0x120 main.o |
.progmem.data 0x00000212 0x215 uart.o |
0x00000212 ANALOG_TEXT |
.progmem.data 0x00000427 0x39 analog.o |
.progmem.data 0x00000460 0x51e menu.o |
.progmem.data 0x0000097e 0xa2 eeprom.o |
.progmem.data 0x00000a20 0x18 fc.o |
.progmem.data 0x00000a38 0x47 Spektrum.o |
.progmem.data 0x00000a7f 0xb6 mymath.o |
0x00000a7f pgm_sinlookup |
.progmem.data 0x00000b35 0xe7 jetimenu.o |
0x00000b35 JetiBox_Menu |
.progmem.data 0x00000c1c 0x1aa libfc644.a(libfc.o) |
0x00000c44 Msg1 |
0x00000caa Rec_Spektrum_LOW_RES |
0x00000c1c Msg2 |
0x00000c9c Rec_Jeti |
0x00000cf8 Rec_PPM |
0x00000c94 Rec_ACT_DSL |
0x00000ce6 Rec_Spektrum |
0x00000ccd Rec_Spektrum_HI_RES |
0x00000dc6 . = ALIGN (0x2) |
*(.init0) |
*(.init1) |
*(.init2) |
.init2 0x00000dc6 0xc C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
*(.init3) |
*(.init4) |
.init4 0x00000dd2 0x16 C:/Programs/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_copy_data.o) |
0x00000dd2 __do_copy_data |
.init4 0x00000de8 0x10 C:/Programs/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_clear_bss.o) |
0x00000de8 __do_clear_bss |
*(.init5) |
.init5 0x00000df8 0x52 libfc644.a(libfc.o) |
0x00000df8 ndfcvbghs |
*(.init6) |
*(.init7) |
*(.init8) |
*(.init9) |
.init9 0x00000e4a 0x4 C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
*(.text) |
.text 0x00000e4e 0x4 C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
0x00000e4e __vector_1 |
0x00000e4e __bad_interrupt |
0x00000e4e __vector_6 |
0x00000e4e __vector_3 |
0x00000e4e __vector_23 |
0x00000e4e __vector_25 |
0x00000e4e __vector_11 |
0x00000e4e __vector_13 |
0x00000e4e __vector_17 |
0x00000e4e __vector_19 |
0x00000e4e __vector_7 |
0x00000e4e __vector_27 |
0x00000e4e __vector_5 |
0x00000e4e __vector_4 |
0x00000e4e __vector_2 |
0x00000e4e __vector_21 |
0x00000e4e __vector_15 |
0x00000e4e __vector_29 |
0x00000e4e __vector_8 |
0x00000e4e __vector_14 |
0x00000e4e __vector_10 |
0x00000e4e __vector_16 |
.text 0x00000e52 0x9f0 main.o |
0x00000ebc LipoDetection |
0x00000e52 CalMk3Mag |
0x00000fd0 main |
.text 0x00001842 0x12cc uart.o |
0x00001842 __vector_22 |
0x000024e6 UART_Init |
0x00001d2a BearbeiteRxDaten |
0x00001a7e AddCRC |
0x0000256e DatenUebertragung |
0x00001c56 Decode64 |
0x00001ade SendOutData |
0x000018ae __vector_20 |
0x000024d6 uart_putchar |
.text 0x00002b0e 0xb5c timer0.o |
0x00002d1c SetDelay |
0x00002d90 TIMER2_Init |
0x00002e10 Timer_Init |
0x00002d2e CheckDelay |
0x00002d46 Delay_ms |
0x00002d60 Delay_ms_Mess |
0x00002e3e __vector_9 |
0x00002b0e __vector_18 |
.text 0x0000366a 0xa46 analog.o |
0x000038f8 __vector_24 |
0x0000372a SucheGyroOffset |
0x0000366a ADC_Init |
0x00003676 SucheLuftruckOffset |
.text 0x000040b0 0x15a2 menu.o |
0x000040b0 LcdClear |
0x000040c2 Menu_Putchar |
0x000040d8 Menu |
.text 0x00005652 0xa8c eeprom.o |
0x00005d52 SetActiveParamSet |
0x00005674 EEProm_Checksum |
0x00005cba GetParamByte |
0x00005acc ParamSet_DefaultSet3 |
0x00005df0 MixerTable_ReadFromEEProm |
0x00005652 RAM_Checksum |
0x00005cc6 SetParamByte |
0x00005cd0 GetParamWord |
0x00005cda SetParamWord |
0x00005e70 MixerTable_Default |
0x00005ce4 ParamSet_ReadFromEEProm |
0x00005e34 MixerTable_WriteToEEProm |
0x00005d6c ParamSet_WriteToEEProm |
0x00005f1c ParamSet_Init |
0x00005efe GetActiveParamSet |
0x000058da ParamSet_DefaultSet2 |
0x000056e6 ParamSet_DefaultSet1 |
0x0000569c ParamSet_DefaultStickMapping |
.text 0x000060de 0x912 twimaster.o |
0x0000612a I2C_Reset |
0x000060de I2C_Init |
0x0000674e I2C_WriteBLConfig |
0x000068a2 I2C_ReadBLConfig |
0x00006170 __vector_26 |
.text 0x000069f0 0x4f8 rc.o |
0x00006a28 __vector_12 |
0x000069f0 rc_sum_init |
.text 0x00006ee8 0x5854 fc.o |
0x00006ee8 CopyDebugValues |
0x000087cc SendMotorData |
0x000077dc Mittelwert |
0x000070fc Piep |
0x0000713e CalibrierMittelwert |
0x00007280 SetNeutral |
0x00008838 ParameterZuordnung |
0x00008cf4 MotorRegler |
.text 0x0000c73c 0x54 GPS.o |
0x0000c73c GPS_Neutral |
0x0000c77e GPS_BerechneZielrichtung |
.text 0x0000c790 0x87e spi.o |
0x0000c8e8 UpdateSPI_Buffer |
0x0000cf8c SPI_StartTransmitPacket |
0x0000c7d2 SPI_TransmitByte |
0x0000c790 SPI_MasterInit |
.text 0x0000d00e 0x218 led.o |
0x0000d00e LED_Init |
0x0000d02c LED_Update |
.text 0x0000d226 0x4ac Spektrum.o |
0x0000d226 SpektrumUartInit |
0x0000d2dc SpektrumBinding |
0x0000d440 SpektrumParser |
.text 0x0000d6d2 0xa8 mymath.o |
0x0000d76a c_cos_8192 |
0x0000d6d2 c_sin_8192 |
.text 0x0000d77a 0x5a6 jetimenu.o |
0x0000da88 Menu_Battery |
0x0000d77a Menu_Status |
0x0000db42 Menu_PosInfo |
0x0000d960 Menu_Temperature |
0x0000dc76 JetiBox_Update |
.text 0x0000dd20 0x1a8 capacity.o |
0x0000dd4e Capacity_Update |
0x0000dd20 Capacity_Init |
.text 0x0000dec8 0x100 isqrt.o |
0x0000dec8 isqrt32 |
0x0000df74 ihypot |
0x0000df32 isqrt16 |
.text 0x0000dfc8 0xf7c libfc644.a(libfc.o) |
0x0000eed2 __vector_28 |
0x0000ec04 LIBFC_ReceiverInit |
0x0000e07e FGRT0589rge90gj459gg4 |
0x0000ed38 LIBFC_Init |
0x0000e348 LIBFC_JetiBox_Clear |
0x0000e2a0 FGtj76uzh56z3grEg5t45 |
0x0000e4ca __vector_30 |
0x0000e35a INiuzBtergGIBuB76T0G5 |
0x0000e322 LIBFC_JetiBox_Putchar |
0x0000e628 IIllllIllIlllIIlllII |
0x0000eeb0 LIBFC_Polling |
0x0000e43c a48784362857632195659 |
0x0000e5e4 fgmjgnrtuth587th9rTrw |
0x0000eb6a LIBFC_GetCPUType |
0x0000dfc8 fomklkdtn89SFGrsgt9rf |
0x0000e586 njkvnfuhgbuzrgezgf483 |
0x0000e422 KLNMIOHMUHG76GFGr43r3 |
0x0000e1ac DFGeefWEF43tgt5uGreg5 |
0x0000e606 wqqeRT45jth8g758735h4 |
0x0000ebc2 awokdjwqdjcjuhcuweih |
0x0000e33c LIBFC_JetiBox_SetPos |
0x0000e5b4 lkvgnfdgun57th38rgh84 |
.text 0x0000ef44 0x1a C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(memcpy_P.o) |
0x0000ef44 memcpy_P |
.text 0x0000ef5e 0x1a C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(memchr.o) |
0x0000ef5e memchr |
0x0000ef78 . = ALIGN (0x2) |
*(.text.*) |
.text.fplib 0x0000ef78 0xa C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(addsf3.o) |
0x0000ef78 __subsf3 |
0x0000ef7a __addsf3 |
.text.fplib 0x0000ef82 0x7c C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(addsf3x.o) |
0x0000ef82 __addsf3x |
.text.fplib 0x0000effe 0x36 C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fixsfsi.o) |
0x0000effe __fixsfsi |
0x0000f024 __fp_lneg |
0x0000effe __fixunssfsi |
.text.fplib 0x0000f034 0x18 C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(floatsisf.o) |
0x0000f038 __floatsisf |
0x0000f034 __floatunssisf |
.text.fplib 0x0000f04c 0x3a C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_merge.o) |
0x0000f056 __fp_merge |
.text.fplib 0x0000f086 0x52 C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_split.o) |
0x0000f086 __fp_split3 |
0x0000f08c __fp_split2 |
0x0000f09e __fp_split1 |
0x0000f0ba __fp_split_a |
.text.fplib 0x0000f0d8 0xa C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_zero.o) |
0x0000f0d8 __fp_zero |
0x0000f0de __fp_zerox |
.text.fplib 0x0000f0e2 0x6 C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_nan.o) |
0x0000f0e2 __fp_nanERANGE |
0x0000f0e2 __fp_nan |
0x0000f0e2 __fp_nanEDOM |
0x0000f0e2 __fp_nanx |
.text.libgcc 0x0000f0e8 0x3e C:/Programs/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_mulsi3.o) |
0x0000f0e8 __mulsi3 |
.text.libgcc 0x0000f126 0x18 C:/Programs/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_udivmodqi4.o) |
0x0000f126 __udivmodqi4 |
.text.libgcc 0x0000f13e 0x28 C:/Programs/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_udivmodhi4.o) |
0x0000f13e __udivmodhi4 |
.text.libgcc 0x0000f166 0x26 C:/Programs/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_divmodhi4.o) |
0x0000f166 __divmodhi4 |
0x0000f166 _div |
.text.libgcc 0x0000f18c 0x44 C:/Programs/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_udivmodsi4.o) |
0x0000f18c __udivmodsi4 |
.text.libgcc 0x0000f1d0 0x36 C:/Programs/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_divmodsi4.o) |
0x0000f1d0 __divmodsi4 |
.text.libgcc 0x0000f206 0x38 C:/Programs/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_prologue.o) |
0x0000f206 __prologue_saves__ |
.text.libgcc 0x0000f23e 0x36 C:/Programs/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_epilogue.o) |
0x0000f23e __epilogue_restores__ |
.text.libgcc 0x0000f274 0xc C:/Programs/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_tablejump.o) |
0x0000f278 __tablejump__ |
0x0000f274 __tablejump2__ |
.text.eeprom 0x0000f280 0x10 C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(ee_rb.1F2021.o) |
0x0000f280 __eeprom_read_byte_1F2021 |
.text.eeprom 0x0000f290 0xa C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(ee_rblk.1F2021.o) |
0x0000f290 __eeprom_read_block_1F2021 |
.text.eeprom 0x0000f29a 0xa C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(ee_rw.1F2021.o) |
0x0000f29a __eeprom_read_word_1F2021 |
.text.eeprom 0x0000f2a4 0x18 C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(ee_wb.1F2021.o) |
0x0000f2a4 __eeprom_write_byte_1F2021 |
.text.eeprom 0x0000f2bc 0xa C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(ee_ww.1F2021.o) |
0x0000f2bc __eeprom_write_word_1F2021 |
.text.eeprom 0x0000f2c6 0xa C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(ee_wblk.1F2021.o) |
0x0000f2c6 __eeprom_write_block_1F2021 |
0x0000f2d0 . = ALIGN (0x2) |
*(.fini9) |
*(.fini8) |
*(.fini7) |
*(.fini6) |
*(.fini5) |
*(.fini4) |
*(.fini3) |
*(.fini2) |
*(.fini1) |
*(.fini0) |
0x0000f2d0 _etext = . |
.data 0x00800100 0xf4 load address 0x0000f2d0 |
0x00800100 PROVIDE (__data_start, .) |
*(.data) |
.data 0x00800100 0x4 main.o |
0x00800102 PlatinenVersion |
0x00800100 BattLowVoltageWarning |
0x00800101 SendVersionToNavi |
.data 0x00800104 0x4 uart.o |
0x00800104 MeineSlaveAdresse |
0x00800105 PcZugriff |
0x00800107 UebertragungAbgeschlossen |
0x00800106 DebugTextAnforderung |
.data 0x00800108 0x9 timer0.o |
0x00800108 BeepMuster |
.data 0x00800111 0x10 analog.o |
0x0080011f UBat |
0x00800114 AnalogOffsetNick |
0x00800112 AnalogOffsetGier |
0x0080011b HiResRoll |
0x00800111 AdReady |
0x00800113 AnalogOffsetRoll |
0x00800115 MessLuftdruck |
0x00800117 Luftdruck |
0x0080011d HiResNick |
.data 0x00800121 0x51 menu.o |
0x00800121 MaxMenue |
0x00800122 DisplayBuff |
.data 0x00800172 0x21 eeprom.o |
.data 0x00800193 0x2 twimaster.o |
0x00800193 I2CTimeout |
.data 0x00800195 0x1 rc.o |
0x00800195 NewPpmData |
.data 0x00800196 0x4b fc.o |
0x0080019e Parameter_CouplingYawCorrection |
0x008001b7 Umschlag180Nick |
0x008001b1 Ki |
0x008001b0 Parameter_Luftdruck_D |
0x0080019d Parameter_DynamicStability |
0x008001a7 Parameter_Gyro_Gier_P |
0x008001ac Parameter_KompassWirkung |
0x008001a3 Parameter_ServoNickControl |
0x008001a9 Parameter_Gyro_P |
0x008001aa Parameter_Gyro_D |
0x008001ae Parameter_Hoehe_P |
0x0080019f Parameter_AchsKopplung2 |
0x0080019b ExternHoehenValue |
0x008001ad Parameter_Hoehe_ACC_Wirkung |
0x00800197 GIER_GRAD_FAKTOR |
0x008001a1 Parameter_LoopGasLimit |
0x008001a0 Parameter_AchsKopplung1 |
0x008001a8 Parameter_Gyro_I |
0x008001a6 Parameter_Gyro_Gier_I |
0x008001b3 Umschlag180Roll |
0x008001af Parameter_MaxHoehe |
0x008001a4 Parameter_I_Faktor |
0x008001ab Parameter_Hoehe_GPS_Z |
0x00800196 VarioCharacter |
0x008001a2 Parameter_ServoRollControl |
0x008001bb KompassSignalSchlecht |
0x008001a5 Parameter_Gier_P |
.data 0x008001e1 0xb spi.o |
0x008001e1 SPI_CommandSequence |
0x008001eb FromNC_Rotate_C |
0x008001ea NaviDataOkay |
.data 0x008001ec 0x2 led.o |
0x008001ed J16Mask |
0x008001ec J17Mask |
.data 0x008001ee 0x1 Spektrum.o |
.data 0x008001ef 0x4 libfc644.a(libfc.o) |
0x008001f0 kf089uwjef89234hffhh |
0x008001ef md5 |
0x008001f1 f8jhreghreGerg45gE542 |
*(.gnu.linkonce.d*) |
0x008001f4 . = ALIGN (0x2) |
*fill* 0x008001f3 0x1 00 |
0x008001f4 _edata = . |
0x008001f4 PROVIDE (__data_end, .) |
.bss 0x008001f4 0x6ae |
0x008001f4 PROVIDE (__bss_start, .) |
*(.bss) |
.bss 0x008001f4 0x8 main.o |
0x008001f5 FlugSekunden |
0x008001f9 FlugMinuten |
0x008001f7 FlugMinutenGesamt |
0x008001f4 FoundMotors |
.bss 0x008001fc 0x21 uart.o |
0x0080020d SioTmp |
0x008001fe Display_Interval |
0x00800205 PC_DebugTimeout |
0x00800210 GetVersionAnforderung |
0x0080020b NeueKoordinateEmpfangen |
0x00800200 Intervall3D |
0x00800211 DebugDataAnforderung |
0x00800204 PC_MotortestActive |
0x0080020c NeuerDatensatzEmpfangen |
0x00800212 DebugDisplayAnforderung |
0x00800202 DebugDataIntervall |
0x0080020a CntCrcError |
0x008001fc AboTimeOut |
0x0080020f GetPPMChannelAnforderung |
0x00800213 DebugDisplayAnforderung1 |
0x0080020e DisplayLine |
0x00800214 GetExternalControl |
0x00800207 pRxData |
0x00800206 RxDataLen |
0x00800209 AnzahlEmpfangsBytes |
.bss 0x0080021d 0x1b timer0.o |
0x00800222 SendSPI |
0x00800223 beeptime |
0x0080021f ServoNickValue |
0x00800228 CountMilliseconds |
0x00800221 ServoActive |
0x00800225 cntKompass |
0x00800227 UpdateMotor |
0x0080021d ServoRollValue |
.bss 0x00800238 0x32 analog.o |
0x00800241 messanzahl_AccHoch |
0x00800238 ZaehlMessungen |
0x0080023a VarioMeter |
0x0080023c ExpandBaro |
0x0080024a AdWertRoll |
0x00800244 AdWertAccNick |
0x0080024c AdWertNick |
0x0080024e AdWertGierFilter |
0x00800248 AdWertGier |
0x00800252 AdWertNickFilter |
0x00800246 AdWertAccRoll |
0x0080023d SummenHoehe |
0x00800250 AdWertRollFilter |
0x00800242 AdWertAccHoch |
.bss 0x0080026a 0x3 menu.o |
0x0080026c DispPtr |
0x0080026b MenuePunkt |
0x0080026a RemoteKeys |
.bss 0x0080026d 0xf twimaster.o |
0x00800274 motor_write |
0x00800271 BLFlags |
0x00800276 twi_state |
0x00800272 MissingMotor |
0x00800273 motor_read |
0x00800275 dac_channel |
0x0080026f BLConfig_WriteMask |
0x0080026d BLConfig_ReadMask |
.bss 0x0080027c 0x71 rc.o |
0x0080027c tmpChannels |
.bss 0x008002ed 0xfb fc.o |
0x00800341 Mess_Integral_Gier2 |
0x0080030d LageKorrekturRoll |
0x0080031b StickGier |
0x00800303 Looping_Oben |
0x00800351 Mess_IntegralNick2 |
0x008002ed FCFlags |
0x00800371 IntegralNick2 |
0x00800321 SenderOkay |
0x008002fe Parameter_UserParam5 |
0x0080035d IntegralAccZ |
0x00800359 Integral_Gier |
0x0080031f StickNick |
0x00800318 MotorenEin |
0x00800379 ControlHeading |
0x00800308 Looping_Nick |
0x00800365 IntegralAccNick |
0x00800313 HoehenWert |
0x00800349 Mess_IntegralRoll2 |
0x008002f4 ExternStickGier |
0x00800304 Looping_Unten |
0x008002f0 MaxStickRoll |
0x008002ee modell_fliegt |
0x00800302 Parameter_UserParam1 |
0x00800388 AdNeutralRoll |
0x00800309 HoverGas |
0x00800306 Looping_Links |
0x00800375 IntegralNick |
0x00800335 Mess_Integral_Hoch |
0x008002fc Parameter_UserParam7 |
0x0080038c BaroExpandActive |
0x0080037c NaviCntAcc |
0x0080032d TrichterFlug |
0x00800380 NeutralAccX |
0x00800339 SummeRoll |
0x00800345 Mess_Integral_Gier |
0x00800317 StartTrigger |
0x0080030b LageKorrekturNick |
0x008002ff Parameter_UserParam4 |
0x00800331 KompassStartwert |
0x00800319 StickGas |
0x00800307 Looping_Roll |
0x008002fa CareFree |
0x008002f8 ExternStickNick |
0x00800301 Parameter_UserParam2 |
0x00800382 StartNeutralNick |
0x00800333 KompassValue |
0x00800361 IntegralAccRoll |
0x0080032f KompassRichtung |
0x0080034d Mess_IntegralRoll |
0x0080031d StickRoll |
0x0080038a AdNeutralNick |
0x0080037e NeutralAccY |
0x00800322 Poti |
0x0080037a NeutralAccZ |
0x008002fd Parameter_UserParam6 |
0x00800369 IntegralRoll2 |
0x008002f2 MaxStickNick |
0x00800300 Parameter_UserParam3 |
0x00800386 AdNeutralGier |
0x00800384 StartNeutralRoll |
0x00800305 Looping_Rechts |
0x008002f6 ExternStickRoll |
0x0080032e HoehenReglerAktiv |
0x0080030f SollHoehe |
0x008002fb Parameter_UserParam8 |
0x0080032b GierGyroFehler |
0x00800355 Mess_IntegralNick |
0x0080033d SummeNick |
0x0080036d IntegralRoll |
.bss 0x008003e8 0x18 GPS.o |
0x008003ec GpsZiel_X |
0x008003f8 GPS_Roll2 |
0x008003f0 GpsAktuell_Y |
0x008003fe GPS_Nick |
0x008003fa GPS_Nick2 |
0x008003f4 GpsAktuell_X |
0x008003e8 GpsZiel_Y |
0x008003fc GPS_Roll |
.bss 0x00800400 0x5 spi.o |
0x00800402 FromNC_Rotate_S |
0x00800400 NC_ErrorCode |
0x00800401 SPI_CommandCounter |
.bss 0x00800405 0xb led.o |
0x00800407 LED2_Timing |
0x00800409 LED1_Timing |
0x00800405 J17Blinkcount |
0x00800406 J16Blinkcount |
.bss 0x00800410 0x5 Spektrum.o |
0x00800410 SpektrumTimer |
.bss 0x00800415 0x2 jetimenu.o |
.bss 0x00800417 0xa capacity.o |
0x00800417 update_timer |
.bss 0x00800421 0xc libfc644.a(libfc.o) |
0x00800422 IllIIllIlIlIlIllllII |
0x00800425 DJFIORJHcvjr894hjhffj |
0x00800424 IIIIIlIllllllIIllIIll |
0x00800421 weiuncefcnsavsgvghjc |
0x00800426 fij48zrhoih3498fhfo90 |
0x00800427 fojk48fj478fhw7fhw39 |
0x00800423 XSasC2389ufwejiCjuz32 |
*(COMMON) |
COMMON 0x0080042d 0x2 main.o |
0x0080042d _printf_P |
COMMON 0x0080042f 0x1c6 uart.o |
0x0080042f Data3D |
0x0080043d Timer3D |
0x0080043f Debug_Timer |
0x00800441 VersionInfo |
0x0080044b MotorTest |
0x0080045b WinkelOut |
0x00800463 ExternControl |
0x0080046e Kompass_Timer |
0x00800470 RxdBuffer |
0x00800510 Display_Timer |
0x00800512 TxdBuffer |
0x008005b2 DebugOut |
0x008005f4 ConfirmFrame |
COMMON 0x008005f5 0x13 analog.o |
0x008005f5 Aktuell_ay |
0x008005f7 NeutralAccZ_float |
0x008005fb Aktuell_az |
0x008005fd StartLuftdruck |
0x008005ff Aktuell_Nick |
0x00800601 Aktuell_Roll |
0x00800603 Aktuell_ax |
0x00800605 DruckOffsetSetting |
0x00800606 Aktuell_Gier |
COMMON 0x00800608 0xc0 eeprom.o |
0x00800608 RequiredMotors |
0x00800609 EE_Parameter |
0x0080067a Mixer |
COMMON 0x008006c8 0x68 twimaster.o |
0x008006c8 BLConfig |
0x008006d0 Motor |
COMMON 0x00800730 0x69 rc.o |
0x00800730 Channels |
0x00800731 PPM_in |
0x00800765 PPM_diff |
COMMON 0x00800799 0x68 fc.o |
0x00800799 KopplungsteilNickRoll |
0x0080079b MesswertGierBias |
0x0080079d KopplungsteilRollNick |
0x0080079f Parameter_Servo4 |
0x008007a0 DiffRoll |
0x008007a2 MesswertRoll |
0x008007a4 TrimNick |
0x008007a6 Parameter_NaviGpsP |
0x008007a7 ErsatzKompassInGrad |
0x008007a9 GyroFaktorGier |
0x008007aa MittelIntegralRoll2 |
0x008007ae Parameter_NaviGpsModeControl |
0x008007af TrimRoll |
0x008007b1 MesswertNick |
0x008007b3 Parameter_NaviGpsI |
0x008007b4 RohMesswertRoll |
0x008007b6 MIN_GAS |
0x008007b7 Parameter_NaviGpsACC |
0x008007b8 MittelIntegralNick2 |
0x008007bc RohMesswertNick |
0x008007be IntegralFaktorGier |
0x008007bf DiffNick |
0x008007c1 MittelIntegralNick |
0x008007c5 Parameter_Servo3 |
0x008007c6 NaviAccNick |
0x008007c8 Parameter_J16Timing |
0x008007c9 MittelIntegralRoll |
0x008007cd Parameter_Servo5 |
0x008007ce IntegralFaktor |
0x008007cf tmp_motorwert |
0x008007e7 Parameter_NaviOperatingRadius |
0x008007e8 Parameter_NaviWindCorrection |
0x008007e9 s |
0x008007ea h |
0x008007eb Mittelwert_AccNick |
0x008007ed Parameter_NaviSpeedCompensation |
0x008007ee Parameter_J17Timing |
0x008007ef MAX_GAS |
0x008007f0 MesswertGier |
0x008007f2 Parameter_J16Bitmask |
0x008007f3 NaviAccRoll |
0x008007f5 GyroFaktor |
0x008007f6 m |
0x008007f7 ErsatzKompass |
0x008007fb Mittelwert_AccRoll |
0x008007fd Parameter_NaviGpsGain |
0x008007fe Parameter_ExternalControl |
0x008007ff Parameter_J17Bitmask |
0x00800800 Parameter_NaviGpsD |
COMMON 0x00800801 0x6d spi.o |
0x00800801 SPITransferCompleted |
0x00800802 GPSInfo |
0x0080080a SPI_TX_Buffer |
0x0080080c NC_Version |
0x00800811 SPI_BufferIndex |
0x00800812 ToNaviCtrl |
0x00800832 SPI_ChkSum |
0x00800833 SPI_RxBufferIndex |
0x00800834 SPI_RxDataValid |
0x00800835 FromNaviCtrl |
0x0080084f SPI_Buffer |
0x00800869 FromNaviCtrl_Value |
COMMON 0x0080086e 0x7 capacity.o |
0x0080086e Capacity |
COMMON 0x00800875 0x2d libfc644.a(libfc.o) |
0x00800875 fdknerTjg5i83th589v44 |
0x0080087b IlIlIlIIIIIIIlIllllll |
0x0080089e fgfdogjWEti45e9tjh394 |
0x008008a2 PROVIDE (__bss_end, .) |
0x0000f2d0 __data_load_start = LOADADDR (.data) |
0x0000f3c4 __data_load_end = (__data_load_start + SIZEOF (.data)) |
.noinit 0x008008a2 0x0 |
0x008008a2 PROVIDE (__noinit_start, .) |
*(.noinit*) |
0x008008a2 PROVIDE (__noinit_end, .) |
0x008008a2 _end = . |
0x008008a2 PROVIDE (__heap_start, .) |
.eeprom 0x00810000 0x0 |
*(.eeprom*) |
0x00810000 __eeprom_end = . |
.stab 0x00000000 0x9d8 |
*(.stab) |
.stab 0x00000000 0x36c C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
.stab 0x0000036c 0x66c isqrt.o |
0x678 (size before relaxing) |
.stabstr 0x00000000 0xdc |
*(.stabstr) |
.stabstr 0x00000000 0xdc C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
.stab.excl |
*(.stab.excl) |
.stab.exclstr |
*(.stab.exclstr) |
.stab.index |
*(.stab.index) |
.stab.indexstr |
*(.stab.indexstr) |
.comment |
*(.comment) |
.debug |
*(.debug) |
.line |
*(.line) |
.debug_srcinfo |
*(.debug_srcinfo) |
.debug_sfnames |
*(.debug_sfnames) |
.debug_aranges |
*(.debug_aranges) |
.debug_pubnames |
*(.debug_pubnames) |
.debug_info |
*(.debug_info) |
*(.gnu.linkonce.wi.*) |
.debug_abbrev |
*(.debug_abbrev) |
.debug_line |
*(.debug_line) |
.debug_frame |
*(.debug_frame) |
.debug_str |
*(.debug_str) |
.debug_loc |
*(.debug_loc) |
.debug_macinfo |
*(.debug_macinfo) |
OUTPUT(Flight-Ctrl_MEGA644_V0_80d_SVN1749.elf elf32-avr) |
Cross Reference Table |
Symbol File |
ADC_Init analog.o |
main.o |
ANALOG_TEXT uart.o |
AboTimeOut uart.o |
AdNeutralGier fc.o |
spi.o |
rc.o |
menu.o |
AdNeutralNick fc.o |
rc.o |
menu.o |
analog.o |
AdNeutralRoll fc.o |
rc.o |
menu.o |
analog.o |
AdReady analog.o |
fc.o |
timer0.o |
main.o |
AdWertAccHoch analog.o |
fc.o |
menu.o |
AdWertAccNick analog.o |
fc.o |
menu.o |
AdWertAccRoll analog.o |
fc.o |
menu.o |
AdWertGier analog.o |
spi.o |
fc.o |
menu.o |
AdWertGierFilter analog.o |
AdWertNick analog.o |
fc.o |
menu.o |
AdWertNickFilter analog.o |
fc.o |
AdWertRoll analog.o |
fc.o |
menu.o |
AdWertRollFilter analog.o |
fc.o |
AddCRC uart.o |
Aktuell_Gier analog.o |
Aktuell_Nick analog.o |
Aktuell_Roll analog.o |
Aktuell_ax analog.o |
Aktuell_ay analog.o |
Aktuell_az fc.o |
analog.o |
AnalogOffsetGier analog.o |
twimaster.o |
menu.o |
AnalogOffsetNick analog.o |
twimaster.o |
menu.o |
AnalogOffsetRoll analog.o |
twimaster.o |
menu.o |
AnzahlEmpfangsBytes uart.o |
BLConfig twimaster.o |
uart.o |
BLConfig_ReadMask twimaster.o |
BLConfig_WriteMask twimaster.o |
BLFlags twimaster.o |
fc.o |
analog.o |
main.o |
BaroExpandActive fc.o |
BattLowVoltageWarning main.o |
spi.o |
fc.o |
BearbeiteRxDaten uart.o |
main.o |
BeepMuster timer0.o |
fc.o |
main.o |
CalMk3Mag main.o |
CalibrierMittelwert fc.o |
Capacity capacity.o |
jetimenu.o |
spi.o |
fc.o |
menu.o |
Capacity_Init capacity.o |
main.o |
Capacity_Update capacity.o |
main.o |
CareFree fc.o |
Channels libfc644.a(libfc.o) |
rc.o |
menu.o |
CheckDelay timer0.o |
capacity.o |
Spektrum.o |
twimaster.o |
analog.o |
uart.o |
main.o |
CntCrcError uart.o |
ConfirmFrame uart.o |
ControlHeading fc.o |
spi.o |
CopyDebugValues fc.o |
uart.o |
CountMilliseconds timer0.o |
DFGeefWEF43tgt5uGreg5 libfc644.a(libfc.o) |
DJFIORJHcvjr894hjhffj libfc644.a(libfc.o) |
Data3D uart.o |
DatenUebertragung uart.o |
main.o |
DebugDataAnforderung uart.o |
DebugDataIntervall uart.o |
DebugDisplayAnforderung uart.o |
DebugDisplayAnforderung1 uart.o |
DebugOut spi.o |
fc.o |
uart.o |
main.o |
DebugTextAnforderung uart.o |
Debug_Timer uart.o |
Decode64 uart.o |
Delay_ms timer0.o |
fc.o |
Delay_ms_Mess timer0.o |
fc.o |
analog.o |
DiffNick fc.o |
DiffRoll fc.o |
DispPtr menu.o |
uart.o |
DisplayBuff menu.o |
uart.o |
DisplayLine uart.o |
Display_Interval uart.o |
Display_Timer uart.o |
DruckOffsetSetting fc.o |
analog.o |
EEProm_Checksum eeprom.o |
EE_Parameter libfc644.a(libfc.o) |
jetimenu.o |
Spektrum.o |
led.o |
spi.o |
fc.o |
rc.o |
eeprom.o |
menu.o |
analog.o |
timer0.o |
uart.o |
main.o |
ErsatzKompass jetimenu.o |
spi.o |
fc.o |
uart.o |
ErsatzKompassInGrad fc.o |
ExpandBaro analog.o |
fc.o |
ExternControl fc.o |
menu.o |
uart.o |
main.o |
ExternHoehenValue fc.o |
ExternStickGier fc.o |
main.o |
ExternStickNick fc.o |
main.o |
ExternStickRoll fc.o |
main.o |
FCFlags fc.o |
libfc644.a(libfc.o) |
led.o |
spi.o |
twimaster.o |
main.o |
FGRT0589rge90gj459gg4 libfc644.a(libfc.o) |
FGtj76uzh56z3grEg5t45 libfc644.a(libfc.o) |
FlugMinuten main.o |
menu.o |
FlugMinutenGesamt main.o |
menu.o |
FlugSekunden main.o |
jetimenu.o |
FoundMotors main.o |
FromNC_Rotate_C spi.o |
fc.o |
FromNC_Rotate_S spi.o |
fc.o |
FromNaviCtrl spi.o |
fc.o |
main.o |
FromNaviCtrl_Value spi.o |
fc.o |
GIER_GRAD_FAKTOR fc.o |
jetimenu.o |
spi.o |
uart.o |
main.o |
GPSInfo jetimenu.o |
spi.o |
GPS_BerechneZielrichtung GPS.o |
GPS_Neutral GPS.o |
fc.o |
GPS_Nick GPS.o |
spi.o |
fc.o |
main.o |
GPS_Nick2 GPS.o |
fc.o |
GPS_Roll GPS.o |
spi.o |
fc.o |
main.o |
GPS_Roll2 GPS.o |
fc.o |
GetActiveParamSet eeprom.o |
spi.o |
fc.o |
menu.o |
uart.o |
GetExternalControl uart.o |
GetPPMChannelAnforderung uart.o |
GetParamByte eeprom.o |
analog.o |
main.o |
GetParamWord eeprom.o |
fc.o |
GetVersionAnforderung uart.o |
GierGyroFehler fc.o |
GpsAktuell_X GPS.o |
GpsAktuell_Y GPS.o |
GpsZiel_X GPS.o |
GpsZiel_Y GPS.o |
GyroFaktor fc.o |
GyroFaktorGier fc.o |
HiResNick analog.o |
fc.o |
HiResRoll analog.o |
fc.o |
HoehenReglerAktiv fc.o |
HoehenWert fc.o |
jetimenu.o |
spi.o |
menu.o |
analog.o |
HoverGas fc.o |
I2CTimeout twimaster.o |
menu.o |
main.o |
I2C_Init twimaster.o |
main.o |
I2C_ReadBLConfig twimaster.o |
uart.o |
I2C_Reset twimaster.o |
main.o |
I2C_WriteBLConfig twimaster.o |
uart.o |
IIIIIlIllllllIIllIIll libfc644.a(libfc.o) |
IIllllIllIlllIIlllII libfc644.a(libfc.o) |
INiuzBtergGIBuB76T0G5 libfc644.a(libfc.o) |
IlIlIlIIIIIIIlIllllll libfc644.a(libfc.o) |
IllIIllIlIlIlIllllII libfc644.a(libfc.o) |
IntegralAccNick fc.o |
IntegralAccRoll fc.o |
IntegralAccZ fc.o |
IntegralFaktor fc.o |
IntegralFaktorGier fc.o |
IntegralNick fc.o |
spi.o |
menu.o |
timer0.o |
uart.o |
IntegralNick2 fc.o |
IntegralRoll fc.o |
spi.o |
menu.o |
timer0.o |
uart.o |
IntegralRoll2 fc.o |
Integral_Gier fc.o |
Intervall3D uart.o |
J16Blinkcount led.o |
J16Mask led.o |
J17Blinkcount led.o |
J17Mask led.o |
JetiBox_Menu jetimenu.o |
JetiBox_Update jetimenu.o |
libfc644.a(libfc.o) |
KLNMIOHMUHG76GFGr43r3 libfc644.a(libfc.o) |
Ki fc.o |
KompassRichtung fc.o |
spi.o |
menu.o |
timer0.o |
uart.o |
KompassSignalSchlecht fc.o |
KompassStartwert fc.o |
spi.o |
menu.o |
timer0.o |
uart.o |
KompassValue fc.o |
spi.o |
menu.o |
timer0.o |
uart.o |
Kompass_Timer uart.o |
KopplungsteilNickRoll fc.o |
KopplungsteilRollNick fc.o |
LED1_Timing led.o |
LED2_Timing led.o |
LED_Init led.o |
fc.o |
eeprom.o |
LED_Update led.o |
main.o |
LIBFC_GetCPUType libfc644.a(libfc.o) |
LIBFC_Init libfc644.a(libfc.o) |
main.o |
LIBFC_JetiBox_Clear libfc644.a(libfc.o) |
jetimenu.o |
LIBFC_JetiBox_Putchar libfc644.a(libfc.o) |
jetimenu.o |
LIBFC_JetiBox_SetPos libfc644.a(libfc.o) |
jetimenu.o |
LIBFC_Polling libfc644.a(libfc.o) |
main.o |
LIBFC_ReceiverInit libfc644.a(libfc.o) |
fc.o |
uart.o |
main.o |
LageKorrekturNick fc.o |
LageKorrekturRoll fc.o |
LcdClear menu.o |
uart.o |
main.o |
LipoDetection main.o |
fc.o |
uart.o |
Looping_Links fc.o |
Looping_Nick fc.o |
Looping_Oben fc.o |
Looping_Rechts fc.o |
Looping_Roll fc.o |
Looping_Unten fc.o |
Luftdruck analog.o |
fc.o |
MAX_GAS fc.o |
MIN_GAS fc.o |
MaxMenue menu.o |
uart.o |
MaxStickNick fc.o |
MaxStickRoll fc.o |
MeineSlaveAdresse uart.o |
Menu menu.o |
uart.o |
Menu_Battery jetimenu.o |
Menu_PosInfo jetimenu.o |
Menu_Putchar menu.o |
uart.o |
Menu_Status jetimenu.o |
Menu_Temperature jetimenu.o |
MenuePunkt menu.o |
uart.o |
MessLuftdruck analog.o |
fc.o |
menu.o |
Mess_IntegralNick fc.o |
Mess_IntegralNick2 fc.o |
Mess_IntegralRoll fc.o |
Mess_IntegralRoll2 fc.o |
Mess_Integral_Gier fc.o |
uart.o |
Mess_Integral_Gier2 fc.o |
Mess_Integral_Hoch fc.o |
analog.o |
MesswertGier fc.o |
MesswertGierBias fc.o |
MesswertNick fc.o |
MesswertRoll fc.o |
MissingMotor twimaster.o |
fc.o |
menu.o |
main.o |
MittelIntegralNick fc.o |
MittelIntegralNick2 fc.o |
MittelIntegralRoll fc.o |
MittelIntegralRoll2 fc.o |
Mittelwert fc.o |
Mittelwert_AccNick fc.o |
Mittelwert_AccRoll fc.o |
Mixer fc.o |
twimaster.o |
eeprom.o |
menu.o |
uart.o |
main.o |
MixerTable_Default eeprom.o |
MixerTable_ReadFromEEProm eeprom.o |
MixerTable_WriteToEEProm eeprom.o |
uart.o |
Motor capacity.o |
jetimenu.o |
fc.o |
twimaster.o |
menu.o |
main.o |
MotorRegler fc.o |
main.o |
MotorTest fc.o |
uart.o |
MotorenEin fc.o |
led.o |
rc.o |
twimaster.o |
uart.o |
main.o |
Msg1 libfc644.a(libfc.o) |
Msg2 libfc644.a(libfc.o) |
NC_ErrorCode spi.o |
jetimenu.o |
NC_Version spi.o |
main.o |
NaviAccNick spi.o |
fc.o |
NaviAccRoll spi.o |
fc.o |
NaviCntAcc fc.o |
spi.o |
NaviDataOkay spi.o |
jetimenu.o |
timer0.o |
main.o |
NeueKoordinateEmpfangen uart.o |
NeuerDatensatzEmpfangen uart.o |
NeutralAccX fc.o |
menu.o |
analog.o |
NeutralAccY fc.o |
menu.o |
analog.o |
NeutralAccZ fc.o |
menu.o |
analog.o |
NeutralAccZ_float analog.o |
NewPpmData rc.o |
libfc644.a(libfc.o) |
Spektrum.o |
fc.o |
PC_DebugTimeout uart.o |
PC_MotortestActive uart.o |
fc.o |
twimaster.o |
PPM_diff libfc644.a(libfc.o) |
Spektrum.o |
fc.o |
rc.o |
PPM_in libfc644.a(libfc.o) |
Spektrum.o |
spi.o |
fc.o |
rc.o |
menu.o |
timer0.o |
uart.o |
main.o |
ParamSet_DefaultSet1 eeprom.o |
ParamSet_DefaultSet2 eeprom.o |
ParamSet_DefaultSet3 eeprom.o |
ParamSet_DefaultStickMapping eeprom.o |
ParamSet_Init eeprom.o |
main.o |
ParamSet_ReadFromEEProm eeprom.o |
fc.o |
uart.o |
ParamSet_WriteToEEProm eeprom.o |
uart.o |
ParameterZuordnung fc.o |
Parameter_AchsKopplung1 fc.o |
Parameter_AchsKopplung2 fc.o |
Parameter_CouplingYawCorrection fc.o |
Parameter_DynamicStability fc.o |
Parameter_ExternalControl fc.o |
Parameter_Gier_P fc.o |
Parameter_Gyro_D fc.o |
Parameter_Gyro_Gier_I fc.o |
Parameter_Gyro_Gier_P fc.o |
Parameter_Gyro_I fc.o |
Parameter_Gyro_P fc.o |
Parameter_Hoehe_ACC_Wirkung fc.o |
Parameter_Hoehe_GPS_Z fc.o |
Parameter_Hoehe_P fc.o |
Parameter_I_Faktor fc.o |
Parameter_J16Bitmask fc.o |
Parameter_J16Timing led.o |
fc.o |
Parameter_J17Bitmask fc.o |
Parameter_J17Timing led.o |
fc.o |
Parameter_KompassWirkung fc.o |
Parameter_LoopGasLimit fc.o |
Parameter_Luftdruck_D fc.o |
Parameter_MaxHoehe fc.o |
Parameter_NaviGpsACC fc.o |
Parameter_NaviGpsD fc.o |
Parameter_NaviGpsGain fc.o |
Parameter_NaviGpsI fc.o |
Parameter_NaviGpsModeControl fc.o |
Parameter_NaviGpsP fc.o |
Parameter_NaviOperatingRadius fc.o |
Parameter_NaviSpeedCompensation fc.o |
Parameter_NaviWindCorrection fc.o |
Parameter_Servo3 fc.o |
Parameter_Servo4 fc.o |
timer0.o |
Parameter_Servo5 fc.o |
timer0.o |
Parameter_ServoNickControl fc.o |
spi.o |
menu.o |
timer0.o |
Parameter_ServoRollControl fc.o |
spi.o |
timer0.o |
Parameter_UserParam1 fc.o |
spi.o |
uart.o |
Parameter_UserParam2 fc.o |
spi.o |
uart.o |
Parameter_UserParam3 fc.o |
spi.o |
Parameter_UserParam4 fc.o |
spi.o |
Parameter_UserParam5 fc.o |
spi.o |
Parameter_UserParam6 fc.o |
spi.o |
Parameter_UserParam7 fc.o |
spi.o |
Parameter_UserParam8 fc.o |
spi.o |
timer0.o |
PcZugriff uart.o |
main.o |
Piep fc.o |
uart.o |
main.o |
PlatinenVersion main.o |
libfc644.a(libfc.o) |
spi.o |
fc.o |
rc.o |
eeprom.o |
menu.o |
analog.o |
timer0.o |
Poti fc.o |
spi.o |
menu.o |
RAM_Checksum eeprom.o |
twimaster.o |
Rec_ACT_DSL libfc644.a(libfc.o) |
Rec_Jeti libfc644.a(libfc.o) |
Rec_PPM libfc644.a(libfc.o) |
Rec_Spektrum libfc644.a(libfc.o) |
Rec_Spektrum_HI_RES libfc644.a(libfc.o) |
Rec_Spektrum_LOW_RES libfc644.a(libfc.o) |
RemoteKeys menu.o |
uart.o |
RequiredMotors jetimenu.o |
twimaster.o |
eeprom.o |
main.o |
RohMesswertNick fc.o |
RohMesswertRoll fc.o |
RxDataLen uart.o |
RxdBuffer uart.o |
SPITransferCompleted spi.o |
SPI_Buffer spi.o |
SPI_BufferIndex spi.o |
SPI_ChkSum spi.o |
SPI_CommandCounter spi.o |
SPI_CommandSequence spi.o |
SPI_MasterInit spi.o |
main.o |
SPI_RxBufferIndex spi.o |
SPI_RxDataValid spi.o |
SPI_StartTransmitPacket spi.o |
main.o |
SPI_TX_Buffer spi.o |
SPI_TransmitByte spi.o |
main.o |
SendMotorData fc.o |
main.o |
SendOutData uart.o |
SendSPI timer0.o |
spi.o |
main.o |
SendVersionToNavi main.o |
fc.o |
SenderOkay fc.o |
libfc644.a(libfc.o) |
Spektrum.o |
spi.o |
rc.o |
menu.o |
timer0.o |
main.o |
ServoActive timer0.o |
fc.o |
uart.o |
main.o |
ServoNickValue timer0.o |
fc.o |
menu.o |
ServoRollValue timer0.o |
SetActiveParamSet eeprom.o |
fc.o |
SetDelay timer0.o |
capacity.o |
Spektrum.o |
twimaster.o |
analog.o |
uart.o |
main.o |
SetNeutral fc.o |
main.o |
SetParamByte eeprom.o |
analog.o |
main.o |
SetParamWord eeprom.o |
fc.o |
menu.o |
SioTmp uart.o |
SollHoehe fc.o |
spi.o |
menu.o |
SpektrumBinding Spektrum.o |
SpektrumParser Spektrum.o |
libfc644.a(libfc.o) |
SpektrumTimer Spektrum.o |
timer0.o |
SpektrumUartInit Spektrum.o |
libfc644.a(libfc.o) |
StartLuftdruck fc.o |
analog.o |
StartNeutralNick fc.o |
StartNeutralRoll fc.o |
StartTrigger fc.o |
StickGas fc.o |
StickGier fc.o |
main.o |
StickNick fc.o |
main.o |
StickRoll fc.o |
main.o |
SucheGyroOffset analog.o |
fc.o |
SucheLuftruckOffset analog.o |
fc.o |
main.o |
SummeNick fc.o |
uart.o |
SummeRoll fc.o |
uart.o |
SummenHoehe analog.o |
fc.o |
TIMER2_Init timer0.o |
main.o |
Timer3D uart.o |
Timer_Init timer0.o |
main.o |
ToNaviCtrl spi.o |
TrichterFlug fc.o |
TrimNick fc.o |
TrimRoll fc.o |
TxdBuffer uart.o |
UART_Init uart.o |
main.o |
UBat analog.o |
capacity.o |
jetimenu.o |
spi.o |
fc.o |
menu.o |
main.o |
UebertragungAbgeschlossen uart.o |
Umschlag180Nick fc.o |
uart.o |
Umschlag180Roll fc.o |
uart.o |
UpdateMotor timer0.o |
main.o |
UpdateSPI_Buffer spi.o |
VarioCharacter fc.o |
jetimenu.o |
VarioMeter analog.o |
fc.o |
VersionInfo spi.o |
fc.o |
menu.o |
analog.o |
uart.o |
main.o |
WinkelOut spi.o |
fc.o |
uart.o |
main.o |
XSasC2389ufwejiCjuz32 libfc644.a(libfc.o) |
ZaehlMessungen analog.o |
fc.o |
__addsf3 C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(addsf3.o) |
fc.o |
__addsf3x C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(addsf3x.o) |
C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(addsf3.o) |
__bad_interrupt C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
__bss_end C:/Programs/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_clear_bss.o) |
__bss_start C:/Programs/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_clear_bss.o) |
__data_end C:/Programs/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_copy_data.o) |
__data_load_start C:/Programs/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_copy_data.o) |
__data_start C:/Programs/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_copy_data.o) |
__divmodhi4 C:/Programs/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_divmodhi4.o) |
libfc644.a(libfc.o) |
jetimenu.o |
mymath.o |
Spektrum.o |
spi.o |
fc.o |
rc.o |
menu.o |
timer0.o |
uart.o |
__divmodsi4 C:/Programs/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_divmodsi4.o) |
jetimenu.o |
spi.o |
fc.o |
menu.o |
uart.o |
__do_clear_bss C:/Programs/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_clear_bss.o) |
libfc644.a(libfc.o) |
debug.o |
capacity.o |
jetimenu.o |
mymath.o |
Spektrum.o |
led.o |
spi.o |
GPS.o |
fc.o |
rc.o |
twimaster.o |
eeprom.o |
menu.o |
analog.o |
timer0.o |
uart.o |
main.o |
__do_copy_data C:/Programs/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_copy_data.o) |
libfc644.a(libfc.o) |
debug.o |
capacity.o |
jetimenu.o |
mymath.o |
Spektrum.o |
led.o |
spi.o |
GPS.o |
fc.o |
rc.o |
twimaster.o |
eeprom.o |
menu.o |
analog.o |
timer0.o |
uart.o |
main.o |
__eeprom_read_block_1F2021 C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(ee_rblk.1F2021.o) |
eeprom.o |
__eeprom_read_byte_1F2021 C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(ee_rb.1F2021.o) |
C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(ee_rw.1F2021.o) |
C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(ee_rblk.1F2021.o) |
eeprom.o |
__eeprom_read_word_1F2021 C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(ee_rw.1F2021.o) |
eeprom.o |
__eeprom_write_block_1F2021 C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(ee_wblk.1F2021.o) |
eeprom.o |
__eeprom_write_byte_1F2021 C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(ee_wb.1F2021.o) |
C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(ee_wblk.1F2021.o) |
C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(ee_ww.1F2021.o) |
eeprom.o |
__eeprom_write_word_1F2021 C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(ee_ww.1F2021.o) |
eeprom.o |
__epilogue_restores__ C:/Programs/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_epilogue.o) |
libfc644.a(libfc.o) |
Spektrum.o |
fc.o |
eeprom.o |
menu.o |
uart.o |
__fixsfsi C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fixsfsi.o) |
__fixunssfsi C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fixsfsi.o) |
fc.o |
__floatsisf C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(floatsisf.o) |
fc.o |
__floatunssisf C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(floatsisf.o) |
__fp_lneg C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fixsfsi.o) |
C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(floatsisf.o) |
__fp_merge C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_merge.o) |
C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(floatsisf.o) |
C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(addsf3.o) |
__fp_nan C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_nan.o) |
C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_split.o) |
__fp_nanEDOM C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_nan.o) |
__fp_nanERANGE C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_nan.o) |
__fp_nanx C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_nan.o) |
__fp_split1 C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_split.o) |
C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fixsfsi.o) |
__fp_split2 C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_split.o) |
__fp_split3 C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_split.o) |
C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(addsf3.o) |
__fp_split_a C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_split.o) |
__fp_zero C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_zero.o) |
C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_merge.o) |
C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fixsfsi.o) |
__fp_zerox C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_zero.o) |
C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(addsf3x.o) |
__heap_end C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
__init C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
__mulsi3 C:/Programs/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_mulsi3.o) |
fc.o |
analog.o |
timer0.o |
uart.o |
__prologue_saves__ C:/Programs/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_prologue.o) |
libfc644.a(libfc.o) |
fc.o |
uart.o |
__stack C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
main.o |
__subsf3 C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(addsf3.o) |
__tablejump2__ C:/Programs/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_tablejump.o) |
twimaster.o |
menu.o |
analog.o |
__tablejump__ C:/Programs/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_tablejump.o) |
__udivmodhi4 C:/Programs/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_udivmodhi4.o) |
C:/Programs/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_divmodhi4.o) |
libfc644.a(libfc.o) |
capacity.o |
jetimenu.o |
fc.o |
menu.o |
analog.o |
timer0.o |
__udivmodqi4 C:/Programs/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_udivmodqi4.o) |
libfc644.a(libfc.o) |
menu.o |
main.o |
__udivmodsi4 C:/Programs/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_udivmodsi4.o) |
C:/Programs/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_divmodsi4.o) |
libfc644.a(libfc.o) |
__vector_1 C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
__vector_10 C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
__vector_11 C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
__vector_12 rc.o |
C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
__vector_13 C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
__vector_14 C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
__vector_15 C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
__vector_16 C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
__vector_17 C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
__vector_18 timer0.o |
C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
__vector_19 C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
__vector_2 C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
__vector_20 uart.o |
C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
__vector_21 C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
__vector_22 uart.o |
C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
__vector_23 C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
__vector_24 analog.o |
C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
__vector_25 C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
__vector_26 twimaster.o |
C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
__vector_27 C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
__vector_28 libfc644.a(libfc.o) |
C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
__vector_29 C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
__vector_3 C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
__vector_30 libfc644.a(libfc.o) |
C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
__vector_4 C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
__vector_5 C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
__vector_6 C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
__vector_7 C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
__vector_8 C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
__vector_9 timer0.o |
C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
__vector_default C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
__vectors C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
_div C:/Programs/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_divmodhi4.o) |
_printf_P libfc644.a(libfc.o) |
jetimenu.o |
Spektrum.o |
fc.o |
eeprom.o |
menu.o |
analog.o |
uart.o |
main.o |
a48784362857632195659 libfc644.a(libfc.o) |
awokdjwqdjcjuhcuweih libfc644.a(libfc.o) |
beeptime timer0.o |
spi.o |
fc.o |
main.o |
c_cos_8192 mymath.o |
fc.o |
c_sin_8192 mymath.o |
cntKompass timer0.o |
dac_channel twimaster.o |
f8jhreghreGerg45gE542 libfc644.a(libfc.o) |
fdknerTjg5i83th589v44 libfc644.a(libfc.o) |
fgfdogjWEti45e9tjh394 libfc644.a(libfc.o) |
fgmjgnrtuth587th9rTrw libfc644.a(libfc.o) |
fij48zrhoih3498fhfo90 libfc644.a(libfc.o) |
fojk48fj478fhw7fhw39 libfc644.a(libfc.o) |
fomklkdtn89SFGrsgt9rf libfc644.a(libfc.o) |
h fc.o |
ihypot isqrt.o |
fc.o |
isqrt16 isqrt.o |
isqrt32 isqrt.o |
kf089uwjef89234hffhh libfc644.a(libfc.o) |
lkvgnfdgun57th38rgh84 libfc644.a(libfc.o) |
m fc.o |
main main.o |
C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
md5 libfc644.a(libfc.o) |
memchr C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(memchr.o) |
libfc644.a(libfc.o) |
memcpy_P C:/Programs/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(memcpy_P.o) |
uart.o |
messanzahl_AccHoch analog.o |
modell_fliegt fc.o |
analog.o |
motor_read twimaster.o |
main.o |
motor_write twimaster.o |
fc.o |
ndfcvbghs libfc644.a(libfc.o) |
njkvnfuhgbuzrgezgf483 libfc644.a(libfc.o) |
pRxData uart.o |
pgm_sinlookup mymath.o |
rc_sum_init rc.o |
main.o |
s fc.o |
tmpChannels rc.o |
tmp_motorwert fc.o |
twi_state twimaster.o |
fc.o |
analog.o |
uart_putchar uart.o |
libfc644.a(libfc.o) |
Spektrum.o |
fc.o |
eeprom.o |
analog.o |
main.o |
update_timer capacity.o |
weiuncefcnsavsgvghjc libfc644.a(libfc.o) |
wqqeRT45jth8g758735h4 libfc644.a(libfc.o) |
/branches/V0.80d-Arthur-P/FlightCtrl.aps |
---|
0,0 → 1,0 |
<AVRStudio><MANAGEMENT><ProjectName>FlightCtrl</ProjectName><Created>15-May-2007 11:20:41</Created><LastEdit>11-Oct-2007 22:58:54</LastEdit><ICON>241</ICON><ProjectType>0</ProjectType><Created>15-May-2007 11:20:41</Created><Version>4</Version><Build>4, 13, 0, 528</Build><ProjectTypeName>AVR GCC</ProjectTypeName></MANAGEMENT><CODE_CREATION><ObjectFile>default\Flight-Ctrl.elf</ObjectFile><EntryFile></EntryFile><SaveFolder>F:\SVN\MikroKopter\FlightCtrl\branches\V0.64_ZeroWarnings\</SaveFolder></CODE_CREATION><DEBUG_TARGET><CURRENT_TARGET>AVR Simulator</CURRENT_TARGET><CURRENT_PART>ATmega644.xml</CURRENT_PART><BREAKPOINTS></BREAKPOINTS><IO_EXPAND><HIDE>false</HIDE></IO_EXPAND><REGISTERNAMES><Register>R00</Register><Register>R01</Register><Register>R02</Register><Register>R03</Register><Register>R04</Register><Register>R05</Register><Register>R06</Register><Register>R07</Register><Register>R08</Register><Register>R09</Register><Register>R10</Register><Register>R11</Register><Register>R12</Register><Register>R13</Register><Register>R14</Register><Register>R15</Register><Register>R16</Register><Register>R17</Register><Register>R18</Register><Register>R19</Register><Register>R20</Register><Register>R21</Register><Register>R22</Register><Register>R23</Register><Register>R24</Register><Register>R25</Register><Register>R26</Register><Register>R27</Register><Register>R28</Register><Register>R29</Register><Register>R30</Register><Register>R31</Register></REGISTERNAMES><COM>Auto</COM><COMType>0</COMType><WATCHNUM>0</WATCHNUM><WATCHNAMES><Pane0></Pane0><Pane1></Pane1><Pane2></Pane2><Pane3></Pane3></WATCHNAMES><BreakOnTrcaeFull>0</BreakOnTrcaeFull></DEBUG_TARGET><Debugger><Triggers></Triggers></Debugger><AVRGCCPLUGIN><FILES><SOURCEFILE>uart.c</SOURCEFILE><SOURCEFILE>analog.c</SOURCEFILE><SOURCEFILE>eeprom.c</SOURCEFILE><SOURCEFILE>fc.c</SOURCEFILE><SOURCEFILE>GPS.c</SOURCEFILE><SOURCEFILE>main.c</SOURCEFILE><SOURCEFILE>menu.c</SOURCEFILE><SOURCEFILE>printf_P.c</SOURCEFILE><SOURCEFILE>rc.c</SOURCEFILE><SOURCEFILE>timer0.c</SOURCEFILE><SOURCEFILE>twimaster.c</SOURCEFILE><HEADERFILE>uart.h</HEADERFILE><HEADERFILE>_Settings.h</HEADERFILE><HEADERFILE>analog.h</HEADERFILE><HEADERFILE>fc.h</HEADERFILE><HEADERFILE>gps.h</HEADERFILE><HEADERFILE>main.h</HEADERFILE><HEADERFILE>menu.h</HEADERFILE><HEADERFILE>old_macros.h</HEADERFILE><HEADERFILE>printf_P.h</HEADERFILE><HEADERFILE>rc.h</HEADERFILE><HEADERFILE>Settings.h</HEADERFILE><HEADERFILE>timer0.h</HEADERFILE><HEADERFILE>twimaster.h</HEADERFILE></FILES><CONFIGS><CONFIG><NAME>default</NAME><USESEXTERNALMAKEFILE>NO</USESEXTERNALMAKEFILE><EXTERNALMAKEFILE></EXTERNALMAKEFILE><PART>atmega644</PART><HEX>1</HEX><LIST>1</LIST><MAP>1</MAP><OUTPUTFILENAME>Flight-Ctrl.elf</OUTPUTFILENAME><OUTPUTDIR>default\</OUTPUTDIR><ISDIRTY>1</ISDIRTY><OPTIONS><OPTION><FILE>GPS.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>analog.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>eeprom.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>fc.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>main.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>menu.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>printf_P.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>rc.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>timer0.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>twimaster.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>uart.c</FILE><OPTIONLIST></OPTIONLIST></OPTION></OPTIONS><INCDIRS/><LIBDIRS/><LIBS><LIB>libc.a</LIB><LIB>libm.a</LIB></LIBS><LINKOBJECTS/><OPTIONSFORALL>-Wall -gdwarf-2 -Wstrict-prototypes -std=gnu99 -Os -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -DVERSION_HAUPTVERSION=0 -DVERSION_NEBENVERSION=64 -DVERSION_KOMPATIBEL=5</OPTIONSFORALL><LINKEROPTIONS></LINKEROPTIONS><SEGMENTS/></CONFIG></CONFIGS><LASTCONFIG>default</LASTCONFIG><USES_WINAVR>1</USES_WINAVR><GCC_LOC>C:\Program Files\WinAVR\bin\avr-gcc.exe</GCC_LOC><MAKE_LOC>C:\Program 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|
/branches/V0.80d-Arthur-P/GPS.c |
---|
0,0 → 1,32 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) Holger Buss, Ingo Busker |
// + only for non-profit use |
// + www.MikroKopter.com |
// + see the File "License.txt" for further Informations |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#include "main.h" |
signed int GPS_Nick = 0; |
signed int GPS_Roll = 0; |
signed int GPS_Nick2 = 0; |
signed int GPS_Roll2 = 0; |
long GpsAktuell_X = 0; |
long GpsAktuell_Y = 0; |
long GpsZiel_X = 0; |
long GpsZiel_Y = 0; |
void GPS_Neutral(void) |
{ |
GpsZiel_X = GpsAktuell_X; |
GpsZiel_Y = GpsAktuell_Y; |
} |
void GPS_BerechneZielrichtung(void) |
{ |
GPS_Nick = 0; |
GPS_Roll = 0; |
} |
/branches/V0.80d-Arthur-P/GPS.d |
---|
0,0 → 1,3 |
GPS.o GPS.d : GPS.c main.h old_macros.h printf_P.h timer0.h uart.h analog.h \ |
twimaster.h menu.h rc.h fc.h gps.h spi.h led.h spektrum.h capacity.h \ |
eeprom.h libfc.h debug.h |
/branches/V0.80d-Arthur-P/GPS.lst |
---|
0,0 → 1,101 |
1 .file "GPS.c" |
2 .arch atmega644p |
3 __SREG__ = 0x3f |
4 __SP_H__ = 0x3e |
5 __SP_L__ = 0x3d |
6 __tmp_reg__ = 0 |
7 __zero_reg__ = 1 |
8 .global __do_copy_data |
9 .global __do_clear_bss |
10 .global GpsZiel_Y |
11 .global GpsZiel_Y |
12 .section .bss |
15 GpsZiel_Y: |
16 0000 0000 0000 .skip 4,0 |
17 .global GpsZiel_X |
18 .global GpsZiel_X |
21 GpsZiel_X: |
22 0004 0000 0000 .skip 4,0 |
23 .global GpsAktuell_Y |
24 .global GpsAktuell_Y |
27 GpsAktuell_Y: |
28 0008 0000 0000 .skip 4,0 |
29 .global GpsAktuell_X |
30 .global GpsAktuell_X |
33 GpsAktuell_X: |
34 000c 0000 0000 .skip 4,0 |
35 .global GPS_Roll2 |
36 .global GPS_Roll2 |
39 GPS_Roll2: |
40 0010 0000 .skip 2,0 |
41 .global GPS_Nick2 |
42 .global GPS_Nick2 |
45 GPS_Nick2: |
46 0012 0000 .skip 2,0 |
47 .global GPS_Roll |
48 .global GPS_Roll |
51 GPS_Roll: |
52 0014 0000 .skip 2,0 |
53 .global GPS_Nick |
54 .global GPS_Nick |
57 GPS_Nick: |
58 0016 0000 .skip 2,0 |
59 .text |
60 .global GPS_Neutral |
62 GPS_Neutral: |
63 /* prologue: frame size=0 */ |
64 /* prologue end (size=0) */ |
65 0000 8091 0000 lds r24,GpsAktuell_X |
66 0004 9091 0000 lds r25,(GpsAktuell_X)+1 |
67 0008 A091 0000 lds r26,(GpsAktuell_X)+2 |
68 000c B091 0000 lds r27,(GpsAktuell_X)+3 |
69 0010 8093 0000 sts GpsZiel_X,r24 |
70 0014 9093 0000 sts (GpsZiel_X)+1,r25 |
71 0018 A093 0000 sts (GpsZiel_X)+2,r26 |
72 001c B093 0000 sts (GpsZiel_X)+3,r27 |
73 0020 8091 0000 lds r24,GpsAktuell_Y |
74 0024 9091 0000 lds r25,(GpsAktuell_Y)+1 |
75 0028 A091 0000 lds r26,(GpsAktuell_Y)+2 |
76 002c B091 0000 lds r27,(GpsAktuell_Y)+3 |
77 0030 8093 0000 sts GpsZiel_Y,r24 |
78 0034 9093 0000 sts (GpsZiel_Y)+1,r25 |
79 0038 A093 0000 sts (GpsZiel_Y)+2,r26 |
80 003c B093 0000 sts (GpsZiel_Y)+3,r27 |
81 /* epilogue: frame size=0 */ |
82 0040 0895 ret |
83 /* epilogue end (size=1) */ |
84 /* function GPS_Neutral size 33 (32) */ |
86 .global GPS_BerechneZielrichtung |
88 GPS_BerechneZielrichtung: |
89 /* prologue: frame size=0 */ |
90 /* prologue end (size=0) */ |
91 0042 1092 0000 sts (GPS_Nick)+1,__zero_reg__ |
92 0046 1092 0000 sts GPS_Nick,__zero_reg__ |
93 004a 1092 0000 sts (GPS_Roll)+1,__zero_reg__ |
94 004e 1092 0000 sts GPS_Roll,__zero_reg__ |
95 /* epilogue: frame size=0 */ |
96 0052 0895 ret |
97 /* epilogue end (size=1) */ |
98 /* function GPS_BerechneZielrichtung size 9 (8) */ |
100 /* File "GPS.c": code 42 = 0x002a ( 40), prologues 0, epilogues 2 */ |
DEFINED SYMBOLS |
*ABS*:00000000 GPS.c |
C:\Users\Arthur-P\AppData\Local\Temp/cceGbaaa.s:3 *ABS*:0000003f __SREG__ |
C:\Users\Arthur-P\AppData\Local\Temp/cceGbaaa.s:4 *ABS*:0000003e __SP_H__ |
C:\Users\Arthur-P\AppData\Local\Temp/cceGbaaa.s:5 *ABS*:0000003d __SP_L__ |
C:\Users\Arthur-P\AppData\Local\Temp/cceGbaaa.s:6 *ABS*:00000000 __tmp_reg__ |
C:\Users\Arthur-P\AppData\Local\Temp/cceGbaaa.s:7 *ABS*:00000001 __zero_reg__ |
C:\Users\Arthur-P\AppData\Local\Temp/cceGbaaa.s:15 .bss:00000000 GpsZiel_Y |
C:\Users\Arthur-P\AppData\Local\Temp/cceGbaaa.s:21 .bss:00000004 GpsZiel_X |
C:\Users\Arthur-P\AppData\Local\Temp/cceGbaaa.s:27 .bss:00000008 GpsAktuell_Y |
C:\Users\Arthur-P\AppData\Local\Temp/cceGbaaa.s:33 .bss:0000000c GpsAktuell_X |
C:\Users\Arthur-P\AppData\Local\Temp/cceGbaaa.s:39 .bss:00000010 GPS_Roll2 |
C:\Users\Arthur-P\AppData\Local\Temp/cceGbaaa.s:45 .bss:00000012 GPS_Nick2 |
C:\Users\Arthur-P\AppData\Local\Temp/cceGbaaa.s:51 .bss:00000014 GPS_Roll |
C:\Users\Arthur-P\AppData\Local\Temp/cceGbaaa.s:57 .bss:00000016 GPS_Nick |
C:\Users\Arthur-P\AppData\Local\Temp/cceGbaaa.s:62 .text:00000000 GPS_Neutral |
C:\Users\Arthur-P\AppData\Local\Temp/cceGbaaa.s:88 .text:00000042 GPS_BerechneZielrichtung |
UNDEFINED SYMBOLS |
__do_copy_data |
__do_clear_bss |
/branches/V0.80d-Arthur-P/Hex-Files/BootLoader_MEGA644P_20MHZ_V0_1.hex |
---|
0,0 → 1,64 |
:10F8000011241FBECFEFD0E1DEBFCDBF11E0A0E0DD |
:10F81000B1E0E0EEFBEF02C005900D92A030B10721 |
:10F82000D9F712E0A0E0B1E001C01D92A230B1070B |
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:10FBD00004C08B3109F4B4CE8FE30E941E7CB0CEFA |
:040000030000F80001 |
:00000001FF |
/branches/V0.80d-Arthur-P/Hex-Files/BootLoader_MEGA644_20MHZ_V0_1.hex |
---|
0,0 → 1,64 |
:10F8000011241FBECFEFD0E1DEBFCDBF11E0A0E0DD |
:10F81000B1E0E0EEFBEF02C005900D92A030B10721 |
:10F82000D9F712E0A0E0B1E001C01D92A230B1070B |
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:040000030000F80001 |
:00000001FF |
/branches/V0.80d-Arthur-P/Hex-Files/Flight-Ctrl_MEGA1284p_V0_80d.hex |
---|
0,0 → 1,3925 |
:100000000C94E7060C9436070C9436070C943607CC |
:100010000C9436070C9436070C9436070C9436076C |
:100020000C9436070C9402170C9436070C94360780 |
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/branches/V0.80d-Arthur-P/Hex-Files/WasIstWas.txt |
---|
0,0 → 1,51 |
+++++++++++++++++++++++++ |
+ Flight-Ctrl: |
+++++++++++++++++++++++++ |
BootLoader_MEGA644_20MHZ_V0_1.hex |
Der Bootloader wird per ISP eingespielt |
Der Bootloader nur dann eingespielt werden, wenn noch nie ein Bootloader eingespielt wurde! |
Danach können Softwareupdates seriell eingespielt werden. |
Flight-Ctrl_MEGA644_Vx_yy.hex |
Aktuelle Firmware |
Wird per serielle Schnittstelle (durch den Bootloader) eingespielt |
//+++++++++++ |
// Quadro: |
// 1 |
// 4 3 |
// 2 |
//+++++++++++ |
// Reverse Props on 1 2 |
//+++++++++++ |
// Octo: |
// 1 2 |
// 8 3 |
// 7 4 |
// 6 5 |
//+++++++++++ |
//+++++++++++ |
// Octo2: |
// 1 |
// 8 2 |
// 7 3 |
// 6 4 |
// 5 |
//+++++++++++ |
//+++++++++++ |
// Octo3: |
// 1 |
// 2 |
// 8 7 3 4 |
// 5 |
// 6 |
//+++++++++++ |
// Reverse Props on octo: 1 3 5 7 |
/branches/V0.80d-Arthur-P/License.txt |
---|
0,0 → 1,52 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) Holger Buss, Ingo Busker |
// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
// + www.MikroKopter.com |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
// + dass eine Nutzung (auch auszugsweise) nur für den privaten und nichtkommerziellen Gebrauch zulässig ist. |
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
// + bzgl. der Nutzungsbedingungen aufzunehmen. |
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
// + Verkauf von Luftbildaufnahmen, usw. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
// + eindeutig als Ursprung verlinkt und genannt werden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
// + Benutzung auf eigene Gefahr |
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
// + mit unserer Zustimmung zulässig |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
// + this list of conditions and the following disclaimer. |
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-profit use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet, our webpage (http://www.MikroKopter.de) must be |
// + clearly linked and named as origin |
// + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
// + POSSIBILITY OF SUCH DAMAGE. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
/branches/V0.80d-Arthur-P/Settings.h |
---|
--- Spektrum.c (nonexistent) |
+++ Spektrum.c (revision 1754) |
@@ -0,0 +1,406 @@ |
+/*####################################################################################### |
+Decodieren eines RC Summen Signals oder Spektrum Empfänger-Satellit |
+#######################################################################################*/ |
+ |
+#include "Spektrum.h" |
+#include "main.h" |
+// Achtung: RECEIVER_SPEKTRUM_EXP wird in der Main.h gesetzt |
+ |
+unsigned char SpektrumTimer = 0; |
+ |
+#ifdef RECEIVER_SPEKTRUM_EXP |
+unsigned char s_excnt = 0; // Counter for Spektrum-Expander |
+unsigned char s_exparity = 0; // Parity Bit for Spektrum-Expander |
+signed char s_exdata[11]; // Data for Spektrum-Expander |
+#endif |
+//--------------------------------------------------------------// |
+//--------------------------------------------------------------// |
+void SpektrumBinding(void) |
+{ |
+ unsigned int timerTimeout = SetDelay(10000); // Timeout 10 sec. |
+ unsigned char connected = 0; |
+ unsigned int delaycounter; |
+ |
+ UCSR1B &= ~(1 << RXCIE1); // disable rx-interrupt |
+ UCSR1B &= ~(1<<RXEN1); // disable Uart-Rx |
+ PORTD &= ~(1 << PORTD2); // disable pull-up |
+ |
+ printf("\n\rPlease connect Spektrum receiver for binding NOW..."); |
+ |
+ while(!CheckDelay(timerTimeout)) |
+ { |
+ if (PIND & (1 << PORTD2)) { timerTimeout = SetDelay(90); connected = 1; break; } |
+ } |
+ |
+ if (connected) |
+ { |
+ |
+ printf("ok.\n\r"); |
+ DDRD |= (1 << DDD2); // Rx as output |
+ |
+ while(!CheckDelay(timerTimeout)); // delay after startup of RX |
+ for (delaycounter = 0; delaycounter < 100; delaycounter++) PORTD |= (1 << PORTD2); |
+ for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD &= ~(1 << PORTD2); |
+ |
+ for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD |= (1 << PORTD2); |
+ for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD &= ~(1 << PORTD2); |
+ for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD |= (1 << PORTD2); |
+ for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD &= ~(1 << PORTD2); |
+ |
+ for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD |= (1 << PORTD2); |
+ for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD &= ~(1 << PORTD2); |
+ for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD |= (1 << PORTD2); |
+ for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD &= ~(1 << PORTD2); |
+ |
+ for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD |= (1 << PORTD2); |
+ for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD &= ~(1 << PORTD2); |
+ for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD |= (1 << PORTD2); |
+ |
+ } |
+ else |
+ { printf("Timeout.\n\r"); |
+ |
+ |
+ } |
+ |
+ DDRD &= ~(1 << DDD2); // RX as input |
+ PORTD &= ~(1 << PORTD2); |
+ |
+ SpektrumUartInit(); // init Uart again |
+} |
+ |
+//############################################################################ |
+// USART1 initialisation from killagreg |
+void SpektrumUartInit(void) |
+//############################################################################ |
+ { |
+ // -- Start of USART1 initialisation for Spekturm seriell-mode |
+ // USART1 Control and Status Register A, B, C and baud rate register |
+ uint8_t sreg = SREG; |
+ |
+ uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * 115200) - 1); |
+ |
+ // disable all interrupts before reconfiguration |
+ cli(); |
+ // disable RX-Interrupt |
+ UCSR1B &= ~(1 << RXCIE1); |
+ // disable TX-Interrupt |
+ UCSR1B &= ~(1 << TXCIE1); |
+ // disable DRE-Interrupt |
+ UCSR1B &= ~(1 << UDRIE1); |
+ // set direction of RXD1 and TXD1 pins |
+ // set RXD1 (PD2) as an input pin |
+ PORTD |= (1 << PORTD2); |
+ DDRD &= ~(1 << DDD2); |
+ |
+ // set TXD1 (PD3) as an output pin |
+ PORTD |= (1 << PORTD3); |
+ DDRD |= (1 << DDD3); |
+ |
+ // USART0 Baud Rate Register |
+ // set clock divider |
+ UBRR1H = (uint8_t)(ubrr>>8); |
+ UBRR1L = (uint8_t)ubrr; |
+ // enable double speed operation |
+ UCSR1A |= (1 << U2X1); |
+ // enable receiver and transmitter |
+ //UCSR1B = (1<<RXEN1)|(1<<TXEN1); |
+ |
+ UCSR1B = (1<<RXEN1); |
+ // set asynchronous mode |
+ UCSR1C &= ~(1 << UMSEL11); |
+ UCSR1C &= ~(1 << UMSEL10); |
+ // no parity |
+ UCSR1C &= ~(1 << UPM11); |
+ UCSR1C &= ~(1 << UPM10); |
+ // 1 stop bit |
+ UCSR1C &= ~(1 << USBS1); |
+ // 8-bit |
+ UCSR1B &= ~(1 << UCSZ12); |
+ UCSR1C |= (1 << UCSZ11); |
+ UCSR1C |= (1 << UCSZ10); |
+ // flush receive buffer explicit |
+ while(UCSR1A & (1<<RXC1)) UDR1; |
+ // enable RX-interrupts at the end |
+ UCSR1B |= (1 << RXCIE1); |
+ // -- End of USART1 initialisation |
+ // restore global interrupt flags |
+ |
+ SREG = sreg; |
+ return; |
+ } |
+ |
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
+// + Copyright (c) Rainer Walther |
+// + RC-routines from original MK rc.c (c) H&I |
+// + Useful infos from Walter: http://www.rcgroups.com/forums/showthread.php?t=714299&page=2 |
+// + only for non-profit use |
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
+// |
+// 20080808 rw Modified for Spektrum AR6100 (PPM) |
+// 20080823 rw Add Spektrum satellite receiver on USART1 (644P only) |
+// 20081213 rw Add support for Spektrum DS9 Air-Tx-Module (9 channels) |
+// Replace AR6100-coding with original composit-signal routines |
+// |
+// --- |
+// Entweder Summensignal ODER Spektrum-Receiver anschließen. Nicht beides gleichzeitig betreiben! |
+// Binding is not implemented. Bind with external Receiver. |
+// Servo output J3, J4, J5 not serviced |
+// |
+// Anschuß Spektrum Receiver |
+// Orange: 3V von der FC (keinesfalls an 5V anschließen!) |
+// Schwarz: GND |
+// Grau: RXD1 (Pin 3) auf 10-Pol FC-Stecker |
+// |
+// --- |
+// Satellite-Reciever connected on USART1: |
+// |
+// DX7/DX6i: One data-frame at 115200 baud every 22ms. |
+// DX7se: One data-frame at 115200 baud every 11ms. |
+// byte1: unknown |
+// byte2: unknown |
+// byte3: and byte4: channel data (FLT-Mode) |
+// byte5: and byte6: channel data (Roll) |
+// byte7: and byte8: channel data (Nick) |
+// byte9: and byte10: channel data (Gier) |
+// byte11: and byte12: channel data (Gear Switch) |
+// byte13: and byte14: channel data (Gas) |
+// byte15: and byte16: channel data (AUX2) |
+// |
+// DS9 (9 Channel): One data-frame at 115200 baud every 11ms, alternating frame 1/2 for CH1-7 / CH8-9 |
+// 1st Frame: |
+// byte1: unknown |
+// byte2: unknown |
+// byte3: and byte4: channel data |
+// byte5: and byte6: channel data |
+// byte7: and byte8: channel data |
+// byte9: and byte10: channel data |
+// byte11: and byte12: channel data |
+// byte13: and byte14: channel data |
+// byte15: and byte16: channel data |
+// 2nd Frame: |
+// byte1: unknown |
+// byte2: unknown |
+// byte3: and byte4: channel data |
+// byte5: and byte6: channel data |
+// byte7: and byte8: 0xffff |
+// byte9: and byte10: 0xffff |
+// byte11: and byte12: 0xffff |
+// byte13: and byte14: 0xffff |
+// byte15: and byte16: 0xffff |
+// |
+// Each channel data (16 bit= 2byte, first msb, second lsb) is arranged as: |
+// |
+// Bits: F 0 C3 C2 C1 C0 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 |
+// |
+// 0 means a '0' bit |
+// F: 1 = indicates beginning of 2nd frame for CH8-9 (DS9 only) |
+// C3 to C0 is the channel number. 0 to 9 (4 bit, as assigned in the transmitter) |
+// D9 to D0 is the channel data (10 bit) 0xaa..0x200..0x356 for 100% transmitter-travel |
+// |
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
+ |
+#define MIN_FRAMEGAP 68 // 7ms |
+#define MAX_BYTEGAP 3 // 310us |
+ |
+ |
+//############################################################################ |
+// Wird im UART-Interrupt aufgerufen |
+//############################################################################ |
+void SpektrumParser(unsigned char c) |
+{ |
+ static unsigned char Sync=0, FrameCnt=0, ByteHigh=0, ReSync=1, Frame2=0; |
+ unsigned int Channel, index = 0; |
+ signed int signal = 0, tmp; |
+ int bCheckDelay; |
+// c = UDR1; // get data byte |
+ if(ReSync == 1) |
+ { |
+ // wait for beginning of new frame |
+ ReSync = 0; |
+ SpektrumTimer = MIN_FRAMEGAP; |
+ FrameCnt = 0; |
+ Sync = 0; |
+ ByteHigh = 0; |
+ } |
+ else |
+ { |
+ if(!SpektrumTimer) bCheckDelay = 1; else bCheckDelay = 0;//CheckDelay(FrameTimer); |
+ if ( Sync == 0 ) |
+ { |
+ if(bCheckDelay) |
+ { |
+ // nach einer Pause von mind. 7ms erstes Sync-Character gefunden |
+ // Zeichen ignorieren, da Bedeutung unbekannt |
+ Sync = 1; |
+ FrameCnt ++; |
+ SpektrumTimer = MAX_BYTEGAP; |
+ } |
+ else |
+ { |
+ // Zeichen kam vor Ablauf der 7ms Sync-Pause |
+ // warten auf erstes Sync-Zeichen |
+ SpektrumTimer = MIN_FRAMEGAP; |
+ FrameCnt = 0; |
+ Sync = 0; |
+ ByteHigh = 0; |
+ } |
+ } |
+ else if((Sync == 1) && !bCheckDelay) |
+ { |
+ // zweites Sync-Character ignorieren, Bedeutung unbekannt |
+ Sync = 2; |
+ FrameCnt ++; |
+ SpektrumTimer = MAX_BYTEGAP; |
+ } |
+ else if((Sync == 2) && !bCheckDelay) |
+ { |
+ SpektrumTimer = MAX_BYTEGAP; |
+ // Datenbyte high |
+ ByteHigh = c; |
+ if (FrameCnt == 2) |
+ { |
+ // is 1st Byte of Channel-data |
+ // Frame 1 with Channel 1-7 comming next |
+ Frame2 = 0; |
+ if(ByteHigh & 0x80) |
+ { |
+ // DS9: Frame 2 with Channel 8-9 comming next |
+ Frame2 = 1; |
+ } |
+ } |
+ Sync = 3; |
+ FrameCnt ++; |
+ } |
+ else if((Sync == 3) && !bCheckDelay) |
+ { |
+ // Datenbyte low |
+ // High-Byte for next channel comes next |
+ SpektrumTimer = MAX_BYTEGAP; |
+ Sync = 2; |
+ FrameCnt ++; |
+ Channel = ((unsigned int)ByteHigh << 8) | c; |
+ if(EE_Parameter.Receiver == RECEIVER_SPEKTRUM) |
+ { |
+ signal = Channel & 0x3ff; |
+ signal -= 0x200; // Offset, range 0x000..0x3ff? |
+ signal = signal/3; // scaling to fit PPM resolution |
+ index = (ByteHigh >> 2) & 0x0f; |
+ } |
+ else |
+ if(EE_Parameter.Receiver == RECEIVER_SPEKTRUM_HI_RES) |
+ { |
+ signal = Channel & 0x7ff; |
+ signal -= 0x400; // Offset, range 0x000..0x7ff? |
+ signal = signal/6; // scaling to fit PPM resolution |
+ index = (ByteHigh >> 3) & 0x0f; |
+ } |
+ else |
+ //if(EE_Parameter.Receiver == RECEIVER_SPEKTRUM_LOW_RES) |
+ { |
+ signal = Channel & 0x3ff; |
+ signal -= 360; // Offset, range 0x000..0x3ff? |
+ signal = signal/2; // scaling to fit PPM resolution |
+ index = (ByteHigh >> 2) & 0x0f; |
+ } |
+ |
+ index++; |
+ if(index < 13) |
+ { |
+ // Stabiles Signal |
+#ifdef RECEIVER_SPEKTRUM_EXP |
+ if (index == 2) index = 4; // Analog channel reassigment (2 <-> 4) for logical numbering (1,2,3,4) |
+ else if (index == 4) index = 2; |
+#endif |
+ if(abs(signal - PPM_in[index]) < 6) |
+ { |
+ if(SenderOkay < 200) SenderOkay += 10; |
+ else |
+ { |
+ SenderOkay = 200; |
+ TIMSK1 &= ~_BV(ICIE1); // disable PPM-Input |
+ } |
+ } |
+ tmp = (3 * (PPM_in[index]) + signal) / 4; |
+ if(tmp > signal+1) tmp--; else |
+ if(tmp < signal-1) tmp++; |
+ |
+#ifdef RECEIVER_SPEKTRUM_EXP |
+ if(index == 6) // FLIGHT-MODE - The channel used for our data uplink |
+ { |
+ if (signal > 100) // SYNC received |
+ { |
+ if (s_exdata[s_excnt] == 125) s_exparity = ~s_exparity; // Bit = 1 -> Re-Invert parity bit |
+ if ((s_excnt == 6 && ((s_exparity != 0 && s_exdata[s_excnt] == -125) || (s_exparity == 0 && s_exdata[s_excnt] == 125))) || (s_excnt == 9 && ((s_exparity == 0 && s_exdata[s_excnt] == -125) || (s_exparity != 0 && s_exdata[s_excnt] == 125)))) // Parity check |
+ { |
+ if (s_exdata[1] == 125 && s_exdata[2] == -125) PPM_in[5] = -125; // Reconstruct tripole Flight-Mode value (CH5) |
+ else if (s_exdata[1] == -125 && s_exdata[2] == -125) PPM_in[5] = 0; // Reconstruct tripole Flight-Mode value (CH5) |
+ else if (s_exdata[1] == -125 && s_exdata[2] == 125) PPM_in[5] = 125; // Reconstruct tripole Flight-Mode value (CH5) |
+ PPM_in[6] = s_exdata[3]; // Elevator (CH6) |
+ PPM_in[11] = s_exdata[4]; // Aileron (CH11) |
+ PPM_in[12] = s_exdata[5]; // Rudder (CH12) |
+ |
+ if (s_excnt == 9) // New Mode (12 Channels) |
+ { |
+ if (s_exdata[7] == 125) PPM_in[8] += 5; // Hover Pitch UP (CH8) |
+ if (s_exdata[8] == 125) PPM_in[8] -= 5; // Hover Pitch DN (CH8) |
+ if (PPM_in[8] < -125) PPM_in[8] = -125; // Range-Limit |
+ else if (PPM_in[8] > 125) PPM_in[8] = 125; // Range-Limit |
+ PPM_in[10] = s_exdata[6]; // AUX2 (CH10) |
+ } |
+ } |
+ |
+ s_excnt = 0; // Reset bitcounter |
+ s_exparity = 0; // Reset parity bit |
+ } |
+ |
+ if (signal < 10) s_exdata[++s_excnt] = -125; // Bit = 0 -> value = -125 (min) |
+ if (s_excnt == 10) s_excnt = 0; // Overflow protection |
+ if (signal < -100) |
+ { |
+ s_exdata[s_excnt] = 125; // Bit = 1 -> value = 125 (max) |
+ s_exparity = ~s_exparity; // Bit = 1 -> Invert parity bit |
+ } |
+ |
+ } |
+#endif |
+ if(SenderOkay >= 180) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
+ else PPM_diff[index] = 0; |
+ |
+#ifdef RECEIVER_SPEKTRUM_EXP |
+ if (index < 5 ) PPM_in[index] = tmp; // Update normal potis (CH1-4) |
+ else if (index == 5) PPM_in[7] = signal; // Gear (CH7) |
+ else if (index == 7) PPM_in[9] = signal; // Hover Throttle (CH9) |
+#else |
+ PPM_in[index] = tmp; |
+#endif |
+ } |
+ else if(index > 17) ReSync = 1; // hier stimmt was nicht: neu synchronisieren |
+ } |
+ else |
+ { |
+ // hier stimmt was nicht: neu synchronisieren |
+ ReSync = 1; |
+ FrameCnt = 0; |
+ Frame2 = 0; |
+ // new frame next, nach fruehestens 7ms erwartet |
+ SpektrumTimer = MIN_FRAMEGAP; |
+ } |
+ |
+ // 16 Bytes eingetroffen -> Komplett |
+ if(FrameCnt >= 16) |
+ { |
+ // Frame complete |
+ if(Frame2 == 0) |
+ { |
+ // Null bedeutet: Neue Daten |
+ // nur beim ersten Frame (CH 0-7) setzen |
+ if(!ReSync) NewPpmData = 0; |
+ } |
+ FrameCnt = 0; |
+ Frame2 = 0; |
+ Sync = 0; |
+ SpektrumTimer = MIN_FRAMEGAP; |
+ } |
+ } |
+} |
/branches/V0.80d-Arthur-P/Spektrum.d |
---|
0,0 → 1,3 |
Spektrum.o Spektrum.d : Spektrum.c Spektrum.h main.h old_macros.h printf_P.h timer0.h \ |
uart.h analog.h twimaster.h menu.h rc.h fc.h gps.h spi.h led.h \ |
spektrum.h capacity.h eeprom.h libfc.h debug.h |
/branches/V0.80d-Arthur-P/Spektrum.h |
---|
0,0 → 1,12 |
/*####################################################################################### |
Dekodieren eines Spektrum Signals |
#######################################################################################*/ |
#ifndef _SPEKTRUM_H |
#define _SPEKTRUM_H |
void SpektrumUartInit(void); |
void SpektrumBinding(void); |
extern unsigned char SpektrumTimer; |
extern void SpektrumParser(unsigned char c); |
#endif //_RC_H |
/branches/V0.80d-Arthur-P/Spektrum.lst |
---|
0,0 → 1,647 |
1 .file "Spektrum.c" |
2 .arch atmega644p |
3 __SREG__ = 0x3f |
4 __SP_H__ = 0x3e |
5 __SP_L__ = 0x3d |
6 __tmp_reg__ = 0 |
7 __zero_reg__ = 1 |
8 .global __do_copy_data |
9 .global __do_clear_bss |
10 .global SpektrumTimer |
11 .global SpektrumTimer |
12 .section .bss |
15 SpektrumTimer: |
16 0000 00 .skip 1,0 |
17 .text |
18 .global SpektrumUartInit |
20 SpektrumUartInit: |
21 /* prologue: frame size=0 */ |
22 /* prologue end (size=0) */ |
23 0000 4FB7 in r20,95-0x20 |
24 0002 24E1 ldi r18,lo8(20) |
25 0004 30E0 ldi r19,hi8(20) |
26 /* #APP */ |
27 0006 F894 cli |
28 /* #NOAPP */ |
29 0008 8091 C900 lds r24,201 |
30 000c 8F77 andi r24,lo8(127) |
31 000e 8093 C900 sts 201,r24 |
32 0012 8091 C900 lds r24,201 |
33 0016 8F7B andi r24,lo8(-65) |
34 0018 8093 C900 sts 201,r24 |
35 001c 8091 C900 lds r24,201 |
36 0020 8F7D andi r24,lo8(-33) |
37 0022 8093 C900 sts 201,r24 |
38 0026 5A9A sbi 43-0x20,2 |
39 0028 5298 cbi 42-0x20,2 |
40 002a 5B9A sbi 43-0x20,3 |
41 002c 539A sbi 42-0x20,3 |
42 002e 832F mov r24,r19 |
43 0030 9927 clr r25 |
44 0032 8093 CD00 sts 205,r24 |
45 0036 2093 CC00 sts 204,r18 |
46 003a 8091 C800 lds r24,200 |
47 003e 8260 ori r24,lo8(2) |
48 0040 8093 C800 sts 200,r24 |
49 0044 80E1 ldi r24,lo8(16) |
50 0046 8093 C900 sts 201,r24 |
51 004a 8091 CA00 lds r24,202 |
52 004e 8F77 andi r24,lo8(127) |
53 0050 8093 CA00 sts 202,r24 |
54 0054 8091 CA00 lds r24,202 |
55 0058 8F7B andi r24,lo8(-65) |
56 005a 8093 CA00 sts 202,r24 |
57 005e 8091 CA00 lds r24,202 |
58 0062 8F7D andi r24,lo8(-33) |
59 0064 8093 CA00 sts 202,r24 |
60 0068 8091 CA00 lds r24,202 |
61 006c 8F7E andi r24,lo8(-17) |
62 006e 8093 CA00 sts 202,r24 |
63 0072 8091 CA00 lds r24,202 |
64 0076 877F andi r24,lo8(-9) |
65 0078 8093 CA00 sts 202,r24 |
66 007c 8091 C900 lds r24,201 |
67 0080 8B7F andi r24,lo8(-5) |
68 0082 8093 C900 sts 201,r24 |
69 0086 8091 CA00 lds r24,202 |
70 008a 8460 ori r24,lo8(4) |
71 008c 8093 CA00 sts 202,r24 |
72 0090 8091 CA00 lds r24,202 |
73 0094 8260 ori r24,lo8(2) |
74 0096 8093 CA00 sts 202,r24 |
75 .L7: |
76 009a 8091 C800 lds r24,200 |
77 009e 87FF sbrs r24,7 |
78 00a0 03C0 rjmp .L6 |
79 00a2 8091 CE00 lds r24,206 |
80 00a6 F9CF rjmp .L7 |
81 .L6: |
82 00a8 8091 C900 lds r24,201 |
83 00ac 8068 ori r24,lo8(-128) |
84 00ae 8093 C900 sts 201,r24 |
85 00b2 4FBF out 95-0x20,r20 |
86 /* epilogue: frame size=0 */ |
87 00b4 0895 ret |
88 /* epilogue end (size=1) */ |
89 /* function SpektrumUartInit size 92 (91) */ |
91 .section .progmem.data,"a",@progbits |
94 __c.5: |
95 0000 0A0D 506C .string "\n\rPlease connect Spektrum receiver for binding NOW..." |
95 6561 7365 |
95 2063 6F6E |
95 6E65 6374 |
95 2053 7065 |
98 __c.6: |
99 0036 6F6B 2E0A .string "ok.\n\r" |
99 0D00 |
102 __c.7: |
103 003c 5469 6D65 .string "Timeout.\n\r" |
103 6F75 742E |
103 0A0D 00 |
104 .text |
105 .global SpektrumBinding |
107 SpektrumBinding: |
108 /* prologue: frame size=0 */ |
109 00b6 FF92 push r15 |
110 00b8 0F93 push r16 |
111 00ba 1F93 push r17 |
112 00bc CF93 push r28 |
113 00be DF93 push r29 |
114 /* prologue end (size=5) */ |
115 00c0 80E1 ldi r24,lo8(10000) |
116 00c2 97E2 ldi r25,hi8(10000) |
117 00c4 0E94 0000 call SetDelay |
118 00c8 EC01 movw r28,r24 |
119 00ca FF24 clr r15 |
120 00cc 8091 C900 lds r24,201 |
121 00d0 8F77 andi r24,lo8(127) |
122 00d2 8093 C900 sts 201,r24 |
123 00d6 8091 C900 lds r24,201 |
124 00da 8F7E andi r24,lo8(-17) |
125 00dc 8093 C900 sts 201,r24 |
126 00e0 5A98 cbi 43-0x20,2 |
127 00e2 80E0 ldi r24,lo8(__c.5) |
128 00e4 90E0 ldi r25,hi8(__c.5) |
129 00e6 9F93 push r25 |
130 00e8 8F93 push r24 |
131 00ea 00E0 ldi r16,lo8(pm(uart_putchar)) |
132 00ec 10E0 ldi r17,hi8(pm(uart_putchar)) |
133 00ee 1F93 push r17 |
134 00f0 0F93 push r16 |
135 00f2 E091 0000 lds r30,_printf_P |
136 00f6 F091 0000 lds r31,(_printf_P)+1 |
137 00fa 0995 icall |
138 00fc 0F90 pop __tmp_reg__ |
139 00fe 0F90 pop __tmp_reg__ |
140 0100 0F90 pop __tmp_reg__ |
141 0102 0F90 pop __tmp_reg__ |
142 0104 02C0 rjmp .L9 |
143 .L12: |
144 0106 4A99 sbic 41-0x20,2 |
145 0108 6CC0 rjmp .L96 |
146 .L9: |
147 010a CE01 movw r24,r28 |
148 010c 0E94 0000 call CheckDelay |
149 0110 8823 tst r24 |
150 0112 C9F3 breq .L12 |
151 .L10: |
152 0114 E091 0000 lds r30,_printf_P |
153 0118 F091 0000 lds r31,(_printf_P)+1 |
154 011c FF20 tst r15 |
155 011e 09F4 brne .+2 |
156 0120 68C0 rjmp .L13 |
157 0122 80E0 ldi r24,lo8(__c.6) |
158 0124 90E0 ldi r25,hi8(__c.6) |
159 0126 9F93 push r25 |
160 0128 8F93 push r24 |
161 012a 1F93 push r17 |
162 012c 0F93 push r16 |
163 012e 0995 icall |
164 0130 529A sbi 42-0x20,2 |
165 0132 0F90 pop __tmp_reg__ |
166 0134 0F90 pop __tmp_reg__ |
167 0136 0F90 pop __tmp_reg__ |
168 0138 0F90 pop __tmp_reg__ |
169 .L14: |
170 013a CE01 movw r24,r28 |
171 013c 0E94 0000 call CheckDelay |
172 0140 8823 tst r24 |
173 0142 D9F3 breq .L14 |
174 0144 83E6 ldi r24,lo8(99) |
175 0146 90E0 ldi r25,hi8(99) |
176 .L20: |
177 0148 5A9A sbi 43-0x20,2 |
178 014a 0197 sbiw r24,1 |
179 014c 97FF sbrs r25,7 |
180 014e FCCF rjmp .L20 |
181 0150 8FE8 ldi r24,lo8(399) |
182 0152 91E0 ldi r25,hi8(399) |
183 .L24: |
184 0154 5A98 cbi 43-0x20,2 |
185 0156 0197 sbiw r24,1 |
186 0158 97FF sbrs r25,7 |
187 015a FCCF rjmp .L24 |
188 015c 89E0 ldi r24,lo8(9) |
189 015e 90E0 ldi r25,hi8(9) |
190 .L28: |
191 0160 5A9A sbi 43-0x20,2 |
192 0162 0197 sbiw r24,1 |
193 0164 97FF sbrs r25,7 |
194 0166 FCCF rjmp .L28 |
195 0168 89E0 ldi r24,lo8(9) |
196 016a 90E0 ldi r25,hi8(9) |
197 .L32: |
198 016c 5A98 cbi 43-0x20,2 |
199 016e 0197 sbiw r24,1 |
200 0170 97FF sbrs r25,7 |
201 0172 FCCF rjmp .L32 |
202 0174 8FE8 ldi r24,lo8(399) |
203 0176 91E0 ldi r25,hi8(399) |
204 .L36: |
205 0178 5A9A sbi 43-0x20,2 |
206 017a 0197 sbiw r24,1 |
207 017c 97FF sbrs r25,7 |
208 017e FCCF rjmp .L36 |
209 0180 8FE8 ldi r24,lo8(399) |
210 0182 91E0 ldi r25,hi8(399) |
211 .L40: |
212 0184 5A98 cbi 43-0x20,2 |
213 0186 0197 sbiw r24,1 |
214 0188 97FF sbrs r25,7 |
215 018a FCCF rjmp .L40 |
216 018c 89E0 ldi r24,lo8(9) |
217 018e 90E0 ldi r25,hi8(9) |
218 .L44: |
219 0190 5A9A sbi 43-0x20,2 |
220 0192 0197 sbiw r24,1 |
221 0194 97FF sbrs r25,7 |
222 0196 FCCF rjmp .L44 |
223 0198 89E0 ldi r24,lo8(9) |
224 019a 90E0 ldi r25,hi8(9) |
225 .L48: |
226 019c 5A98 cbi 43-0x20,2 |
227 019e 0197 sbiw r24,1 |
228 01a0 97FF sbrs r25,7 |
229 01a2 FCCF rjmp .L48 |
230 01a4 8FE8 ldi r24,lo8(399) |
231 01a6 91E0 ldi r25,hi8(399) |
232 .L52: |
233 01a8 5A9A sbi 43-0x20,2 |
234 01aa 0197 sbiw r24,1 |
235 01ac 97FF sbrs r25,7 |
236 01ae FCCF rjmp .L52 |
237 01b0 8FE8 ldi r24,lo8(399) |
238 01b2 91E0 ldi r25,hi8(399) |
239 .L56: |
240 01b4 5A98 cbi 43-0x20,2 |
241 01b6 0197 sbiw r24,1 |
242 01b8 97FF sbrs r25,7 |
243 01ba FCCF rjmp .L56 |
244 01bc 89E0 ldi r24,lo8(9) |
245 01be 90E0 ldi r25,hi8(9) |
246 .L60: |
247 01c0 5A9A sbi 43-0x20,2 |
248 01c2 0197 sbiw r24,1 |
249 01c4 97FF sbrs r25,7 |
250 01c6 FCCF rjmp .L60 |
251 01c8 89E0 ldi r24,lo8(9) |
252 01ca 90E0 ldi r25,hi8(9) |
253 .L64: |
254 01cc 5A98 cbi 43-0x20,2 |
255 01ce 0197 sbiw r24,1 |
256 01d0 97FF sbrs r25,7 |
257 01d2 FCCF rjmp .L64 |
258 01d4 8FE8 ldi r24,lo8(399) |
259 01d6 91E0 ldi r25,hi8(399) |
260 .L68: |
261 01d8 5A9A sbi 43-0x20,2 |
262 01da 0197 sbiw r24,1 |
263 01dc 97FF sbrs r25,7 |
264 01de FCCF rjmp .L68 |
265 01e0 13C0 rjmp .L69 |
266 .L96: |
267 01e2 8AE5 ldi r24,lo8(90) |
268 01e4 90E0 ldi r25,hi8(90) |
269 01e6 0E94 0000 call SetDelay |
270 01ea EC01 movw r28,r24 |
271 01ec 91E0 ldi r25,lo8(1) |
272 01ee F92E mov r15,r25 |
273 01f0 91CF rjmp .L10 |
274 .L13: |
275 01f2 80E0 ldi r24,lo8(__c.7) |
276 01f4 90E0 ldi r25,hi8(__c.7) |
277 01f6 9F93 push r25 |
278 01f8 8F93 push r24 |
279 01fa 1F93 push r17 |
280 01fc 0F93 push r16 |
281 01fe 0995 icall |
282 0200 0F90 pop __tmp_reg__ |
283 0202 0F90 pop __tmp_reg__ |
284 0204 0F90 pop __tmp_reg__ |
285 0206 0F90 pop __tmp_reg__ |
286 .L69: |
287 0208 5298 cbi 42-0x20,2 |
288 020a 5A98 cbi 43-0x20,2 |
289 020c 0E94 0000 call SpektrumUartInit |
290 /* epilogue: frame size=0 */ |
291 0210 E5E0 ldi r30,5 |
292 0212 CDB7 in r28,__SP_L__ |
293 0214 DEB7 in r29,__SP_H__ |
294 0216 0C94 0000 jmp __epilogue_restores__+26 |
295 /* epilogue end (size=5) */ |
296 /* function SpektrumBinding size 178 (168) */ |
298 .lcomm Sync.0,1 |
299 .lcomm FrameCnt.1,1 |
300 .lcomm ByteHigh.2,1 |
301 .data |
304 ReSync.3: |
305 0000 01 .byte 1 |
306 .lcomm Frame2.4,1 |
307 .text |
308 .global SpektrumParser |
310 SpektrumParser: |
311 /* prologue: frame size=0 */ |
312 021a EF92 push r14 |
313 021c FF92 push r15 |
314 021e 0F93 push r16 |
315 0220 1F93 push r17 |
316 0222 CF93 push r28 |
317 0224 DF93 push r29 |
318 /* prologue end (size=6) */ |
319 0226 482F mov r20,r24 |
320 0228 00E0 ldi r16,lo8(0) |
321 022a 10E0 ldi r17,hi8(0) |
322 022c 8091 0000 lds r24,ReSync.3 |
323 0230 8130 cpi r24,lo8(1) |
324 0232 61F4 brne .L98 |
325 0234 1092 0000 sts ReSync.3,__zero_reg__ |
326 0238 84E4 ldi r24,lo8(68) |
327 023a 8093 0000 sts SpektrumTimer,r24 |
328 023e 1092 0000 sts FrameCnt.1,__zero_reg__ |
329 0242 1092 0000 sts Sync.0,__zero_reg__ |
330 0246 1092 0000 sts ByteHigh.2,__zero_reg__ |
331 024a 2BC1 rjmp .L97 |
332 .L98: |
333 024c 8091 0000 lds r24,SpektrumTimer |
334 0250 8823 tst r24 |
335 0252 19F4 brne .L100 |
336 0254 21E0 ldi r18,lo8(1) |
337 0256 30E0 ldi r19,hi8(1) |
338 0258 01C0 rjmp .L101 |
339 .L100: |
340 025a 9801 movw r18,r16 |
341 .L101: |
342 025c 9091 0000 lds r25,Sync.0 |
343 0260 9923 tst r25 |
344 0262 71F4 brne .L102 |
345 0264 232B or r18,r19 |
346 0266 11F0 breq .L103 |
347 0268 81E0 ldi r24,lo8(1) |
348 026a 10C0 rjmp .L138 |
349 .L103: |
350 026c 84E4 ldi r24,lo8(68) |
351 026e 8093 0000 sts SpektrumTimer,r24 |
352 0272 9093 0000 sts FrameCnt.1,r25 |
353 0276 9093 0000 sts Sync.0,r25 |
354 027a 9093 0000 sts ByteHigh.2,r25 |
355 027e FAC0 rjmp .L105 |
356 .L102: |
357 0280 9130 cpi r25,lo8(1) |
358 0282 69F4 brne .L106 |
359 0284 232B or r18,r19 |
360 0286 09F0 breq .+2 |
361 0288 EBC0 rjmp .L112 |
362 028a 82E0 ldi r24,lo8(2) |
363 .L138: |
364 028c 8093 0000 sts Sync.0,r24 |
365 0290 8091 0000 lds r24,FrameCnt.1 |
366 0294 8F5F subi r24,lo8(-(1)) |
367 0296 8093 0000 sts FrameCnt.1,r24 |
368 029a 83E0 ldi r24,lo8(3) |
369 029c E9C0 rjmp .L136 |
370 .L106: |
371 029e 9230 cpi r25,lo8(2) |
372 02a0 D1F4 brne .L108 |
373 02a2 232B or r18,r19 |
374 02a4 09F0 breq .+2 |
375 02a6 DCC0 rjmp .L112 |
376 02a8 83E0 ldi r24,lo8(3) |
377 02aa 8093 0000 sts SpektrumTimer,r24 |
378 02ae 4093 0000 sts ByteHigh.2,r20 |
379 02b2 9091 0000 lds r25,FrameCnt.1 |
380 02b6 9230 cpi r25,lo8(2) |
381 02b8 39F4 brne .L109 |
382 02ba 1092 0000 sts Frame2.4,__zero_reg__ |
383 02be 47FF sbrs r20,7 |
384 02c0 03C0 rjmp .L109 |
385 02c2 81E0 ldi r24,lo8(1) |
386 02c4 8093 0000 sts Frame2.4,r24 |
387 .L109: |
388 02c8 83E0 ldi r24,lo8(3) |
389 02ca 8093 0000 sts Sync.0,r24 |
390 02ce 9F5F subi r25,lo8(-(1)) |
391 02d0 9093 0000 sts FrameCnt.1,r25 |
392 02d4 CFC0 rjmp .L105 |
393 .L108: |
394 02d6 9330 cpi r25,lo8(3) |
395 02d8 09F0 breq .+2 |
396 02da C2C0 rjmp .L112 |
397 02dc 232B or r18,r19 |
398 02de 09F0 breq .+2 |
399 02e0 BFC0 rjmp .L112 |
400 02e2 9093 0000 sts SpektrumTimer,r25 |
401 02e6 82E0 ldi r24,lo8(2) |
402 02e8 8093 0000 sts Sync.0,r24 |
403 02ec 8091 0000 lds r24,FrameCnt.1 |
404 02f0 8F5F subi r24,lo8(-(1)) |
405 02f2 8093 0000 sts FrameCnt.1,r24 |
406 02f6 2091 0000 lds r18,ByteHigh.2 |
407 02fa 822F mov r24,r18 |
408 02fc 9927 clr r25 |
409 02fe 782F mov r23,r24 |
410 0300 6627 clr r22 |
411 0302 842F mov r24,r20 |
412 0304 9927 clr r25 |
413 0306 682B or r22,r24 |
414 0308 792B or r23,r25 |
415 030a 8091 0000 lds r24,EE_Parameter+39 |
416 030e 8130 cpi r24,lo8(1) |
417 0310 49F4 brne .L113 |
418 0312 7370 andi r23,hi8(1023) |
419 0314 CB01 movw r24,r22 |
420 0316 8050 subi r24,lo8(-(-512)) |
421 0318 9240 sbci r25,hi8(-(-512)) |
422 031a 63E0 ldi r22,lo8(3) |
423 031c 70E0 ldi r23,hi8(3) |
424 031e 0E94 0000 call __divmodhi4 |
425 0322 17C0 rjmp .L137 |
426 .L113: |
427 0324 8230 cpi r24,lo8(2) |
428 0326 61F4 brne .L115 |
429 0328 7770 andi r23,hi8(2047) |
430 032a CB01 movw r24,r22 |
431 032c 8050 subi r24,lo8(-(-1024)) |
432 032e 9440 sbci r25,hi8(-(-1024)) |
433 0330 66E0 ldi r22,lo8(6) |
434 0332 70E0 ldi r23,hi8(6) |
435 0334 0E94 0000 call __divmodhi4 |
436 0338 2695 lsr r18 |
437 033a 2695 lsr r18 |
438 033c 2695 lsr r18 |
439 033e 0BC0 rjmp .L135 |
440 .L115: |
441 0340 7370 andi r23,hi8(1023) |
442 0342 6856 subi r22,lo8(-(-360)) |
443 0344 7140 sbci r23,hi8(-(-360)) |
444 0346 CB01 movw r24,r22 |
445 0348 77FD sbrc r23,7 |
446 034a 0196 adiw r24,1 |
447 .L117: |
448 034c BC01 movw r22,r24 |
449 034e 7595 asr r23 |
450 0350 6795 ror r22 |
451 .L137: |
452 0352 2695 lsr r18 |
453 0354 2695 lsr r18 |
454 .L135: |
455 0356 022F mov r16,r18 |
456 0358 1127 clr r17 |
457 035a 0F70 andi r16,lo8(15) |
458 035c 1070 andi r17,hi8(15) |
459 035e 0F5F subi r16,lo8(-(1)) |
460 0360 1F4F sbci r17,hi8(-(1)) |
461 0362 0D30 cpi r16,13 |
462 0364 1105 cpc r17,__zero_reg__ |
463 0366 08F0 brlo .+2 |
464 0368 74C0 rjmp .L118 |
465 036a 7801 movw r14,r16 |
466 036c E00E add r14,r16 |
467 036e F11E adc r15,r17 |
468 0370 F701 movw r30,r14 |
469 0372 E050 subi r30,lo8(-(PPM_in)) |
470 0374 F040 sbci r31,hi8(-(PPM_in)) |
471 0376 8081 ld r24,Z |
472 0378 9181 ldd r25,Z+1 |
473 037a 9B01 movw r18,r22 |
474 037c 281B sub r18,r24 |
475 037e 390B sbc r19,r25 |
476 0380 C901 movw r24,r18 |
477 0382 37FF sbrs r19,7 |
478 0384 03C0 rjmp .L120 |
479 0386 9095 com r25 |
480 0388 8195 neg r24 |
481 038a 9F4F sbci r25,lo8(-1) |
482 .L120: |
483 038c 0697 sbiw r24,6 |
484 038e 94F4 brge .L119 |
485 0390 8091 0000 lds r24,SenderOkay |
486 0394 883C cpi r24,lo8(-56) |
487 0396 30F4 brsh .L121 |
488 0398 8091 0000 lds r24,SenderOkay |
489 039c 865F subi r24,lo8(-(10)) |
490 039e 8093 0000 sts SenderOkay,r24 |
491 03a2 08C0 rjmp .L119 |
492 .L121: |
493 03a4 88EC ldi r24,lo8(-56) |
494 03a6 8093 0000 sts SenderOkay,r24 |
495 03aa 8091 6F00 lds r24,111 |
496 03ae 8F7D andi r24,lo8(-33) |
497 03b0 8093 6F00 sts 111,r24 |
498 .L119: |
499 03b4 F701 movw r30,r14 |
500 03b6 E050 subi r30,lo8(-(PPM_in)) |
501 03b8 F040 sbci r31,hi8(-(PPM_in)) |
502 03ba 8081 ld r24,Z |
503 03bc 9181 ldd r25,Z+1 |
504 03be 9C01 movw r18,r24 |
505 03c0 220F lsl r18 |
506 03c2 331F rol r19 |
507 03c4 280F add r18,r24 |
508 03c6 391F adc r19,r25 |
509 03c8 260F add r18,r22 |
510 03ca 371F adc r19,r23 |
511 03cc 37FF sbrs r19,7 |
512 03ce 02C0 rjmp .L123 |
513 03d0 2D5F subi r18,lo8(-(3)) |
514 03d2 3F4F sbci r19,hi8(-(3)) |
515 .L123: |
516 03d4 E901 movw r28,r18 |
517 03d6 D595 asr r29 |
518 03d8 C795 ror r28 |
519 03da D595 asr r29 |
520 03dc C795 ror r28 |
521 03de CB01 movw r24,r22 |
522 03e0 0196 adiw r24,1 |
523 03e2 8C17 cp r24,r28 |
524 03e4 9D07 cpc r25,r29 |
525 03e6 14F4 brge .L124 |
526 03e8 2197 sbiw r28,1 |
527 03ea 06C0 rjmp .L125 |
528 .L124: |
529 03ec 6150 subi r22,lo8(-(-1)) |
530 03ee 7040 sbci r23,hi8(-(-1)) |
531 03f0 C617 cp r28,r22 |
532 03f2 D707 cpc r29,r23 |
533 03f4 0CF4 brge .L125 |
534 03f6 2196 adiw r28,1 |
535 .L125: |
536 03f8 8091 0000 lds r24,SenderOkay |
537 03fc 843B cpi r24,lo8(-76) |
538 03fe D0F0 brlo .L127 |
539 0400 F701 movw r30,r14 |
540 0402 E050 subi r30,lo8(-(PPM_in)) |
541 0404 F040 sbci r31,hi8(-(PPM_in)) |
542 0406 8081 ld r24,Z |
543 0408 9181 ldd r25,Z+1 |
544 040a FE01 movw r30,r28 |
545 040c E81B sub r30,r24 |
546 040e F90B sbc r31,r25 |
547 0410 CF01 movw r24,r30 |
548 0412 63E0 ldi r22,lo8(3) |
549 0414 70E0 ldi r23,hi8(3) |
550 0416 0E94 0000 call __divmodhi4 |
551 041a CB01 movw r24,r22 |
552 041c 880F lsl r24 |
553 041e 991F rol r25 |
554 0420 860F add r24,r22 |
555 0422 971F adc r25,r23 |
556 0424 20E0 ldi r18,lo8(PPM_diff) |
557 0426 30E0 ldi r19,hi8(PPM_diff) |
558 0428 E20E add r14,r18 |
559 042a F31E adc r15,r19 |
560 042c F701 movw r30,r14 |
561 042e 9183 std Z+1,r25 |
562 0430 8083 st Z,r24 |
563 0432 07C0 rjmp .L128 |
564 .L127: |
565 0434 20E0 ldi r18,lo8(PPM_diff) |
566 0436 30E0 ldi r19,hi8(PPM_diff) |
567 0438 E20E add r14,r18 |
568 043a F31E adc r15,r19 |
569 043c F701 movw r30,r14 |
570 043e 1182 std Z+1,__zero_reg__ |
571 0440 1082 st Z,__zero_reg__ |
572 .L128: |
573 0442 000F add r16,r16 |
574 0444 111F adc r17,r17 |
575 0446 0050 subi r16,lo8(-(PPM_in)) |
576 0448 1040 sbci r17,hi8(-(PPM_in)) |
577 044a F801 movw r30,r16 |
578 044c D183 std Z+1,r29 |
579 044e C083 st Z,r28 |
580 0450 11C0 rjmp .L105 |
581 .L118: |
582 0452 0231 cpi r16,18 |
583 0454 1105 cpc r17,__zero_reg__ |
584 0456 70F0 brlo .L105 |
585 0458 81E0 ldi r24,lo8(1) |
586 045a 8093 0000 sts ReSync.3,r24 |
587 045e 0AC0 rjmp .L105 |
588 .L112: |
589 0460 81E0 ldi r24,lo8(1) |
590 0462 8093 0000 sts ReSync.3,r24 |
591 0466 1092 0000 sts FrameCnt.1,__zero_reg__ |
592 046a 1092 0000 sts Frame2.4,__zero_reg__ |
593 046e 84E4 ldi r24,lo8(68) |
594 .L136: |
595 0470 8093 0000 sts SpektrumTimer,r24 |
596 .L105: |
597 0474 8091 0000 lds r24,FrameCnt.1 |
598 0478 8031 cpi r24,lo8(16) |
599 047a 98F0 brlo .L97 |
600 047c 8091 0000 lds r24,Frame2.4 |
601 0480 8823 tst r24 |
602 0482 31F4 brne .L133 |
603 0484 8091 0000 lds r24,ReSync.3 |
604 0488 8823 tst r24 |
605 048a 11F4 brne .L133 |
606 048c 8093 0000 sts NewPpmData,r24 |
607 .L133: |
608 0490 1092 0000 sts FrameCnt.1,__zero_reg__ |
609 0494 1092 0000 sts Frame2.4,__zero_reg__ |
610 0498 1092 0000 sts Sync.0,__zero_reg__ |
611 049c 84E4 ldi r24,lo8(68) |
612 049e 8093 0000 sts SpektrumTimer,r24 |
613 .L97: |
614 /* epilogue: frame size=0 */ |
615 04a2 E6E0 ldi r30,6 |
616 04a4 CDB7 in r28,__SP_L__ |
617 04a6 DEB7 in r29,__SP_H__ |
618 04a8 0C94 0000 jmp __epilogue_restores__+24 |
619 /* epilogue end (size=5) */ |
620 /* function SpektrumParser size 334 (323) */ |
622 /* File "Spektrum.c": code 604 = 0x025c ( 582), prologues 11, epilogues 11 */ |
DEFINED SYMBOLS |
*ABS*:00000000 Spektrum.c |
C:\Users\Arthur-P\AppData\Local\Temp/ccYtaaaa.s:3 *ABS*:0000003f __SREG__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccYtaaaa.s:4 *ABS*:0000003e __SP_H__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccYtaaaa.s:5 *ABS*:0000003d __SP_L__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccYtaaaa.s:6 *ABS*:00000000 __tmp_reg__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccYtaaaa.s:7 *ABS*:00000001 __zero_reg__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccYtaaaa.s:15 .bss:00000000 SpektrumTimer |
C:\Users\Arthur-P\AppData\Local\Temp/ccYtaaaa.s:20 .text:00000000 SpektrumUartInit |
C:\Users\Arthur-P\AppData\Local\Temp/ccYtaaaa.s:94 .progmem.data:00000000 __c.5 |
C:\Users\Arthur-P\AppData\Local\Temp/ccYtaaaa.s:98 .progmem.data:00000036 __c.6 |
C:\Users\Arthur-P\AppData\Local\Temp/ccYtaaaa.s:102 .progmem.data:0000003c __c.7 |
C:\Users\Arthur-P\AppData\Local\Temp/ccYtaaaa.s:107 .text:000000b6 SpektrumBinding |
.bss:00000001 Sync.0 |
C:\Users\Arthur-P\AppData\Local\Temp/ccYtaaaa.s:298 .bss:00000002 FrameCnt.1 |
C:\Users\Arthur-P\AppData\Local\Temp/ccYtaaaa.s:299 .bss:00000003 ByteHigh.2 |
C:\Users\Arthur-P\AppData\Local\Temp/ccYtaaaa.s:304 .data:00000000 ReSync.3 |
C:\Users\Arthur-P\AppData\Local\Temp/ccYtaaaa.s:300 .bss:00000004 Frame2.4 |
C:\Users\Arthur-P\AppData\Local\Temp/ccYtaaaa.s:310 .text:0000021a SpektrumParser |
UNDEFINED SYMBOLS |
__do_copy_data |
__do_clear_bss |
SetDelay |
uart_putchar |
_printf_P |
CheckDelay |
__epilogue_restores__ |
EE_Parameter |
__divmodhi4 |
PPM_in |
SenderOkay |
PPM_diff |
NewPpmData |
/branches/V0.80d-Arthur-P/analog.c |
---|
0,0 → 1,252 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) Holger Buss, Ingo Busker |
// + only for non-profit use |
// + www.MikroKopter.com |
// + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
// + see the File "License.txt" for further Informations |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#include "main.h" |
#include "eeprom.h" |
volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100; |
volatile int AdWertNickFilter = 0, AdWertRollFilter = 0, AdWertGierFilter = 0; |
volatile int HiResNick = 2500, HiResRoll = 2500; |
volatile int AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0; |
volatile int AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 0; |
volatile char messanzahl_AccHoch = 0; |
volatile long Luftdruck = 32000; |
volatile long SummenHoehe = 0; |
volatile int StartLuftdruck; |
volatile unsigned int MessLuftdruck = 1023; |
unsigned char DruckOffsetSetting; |
signed char ExpandBaro = 0; |
volatile int VarioMeter = 0; |
volatile unsigned int ZaehlMessungen = 0; |
unsigned char AnalogOffsetNick = 115,AnalogOffsetRoll = 115,AnalogOffsetGier = 115; |
volatile unsigned char AdReady = 1; |
float NeutralAccZ_float; |
//####################################################################################### |
// |
void ADC_Init(void) |
//####################################################################################### |
{ |
ADMUX = 0;//Referenz ist extern |
ANALOG_ON; |
} |
#define DESIRED_H_ADC 800 |
void SucheLuftruckOffset(void) |
{ |
unsigned int off; |
off = GetParamByte(PID_PRESSURE_OFFSET); |
if(off > 20) off -= 10; |
OCR0A = off; |
ExpandBaro = 0; |
Delay_ms_Mess(100); |
if(MessLuftdruck < DESIRED_H_ADC) off = 0; |
for(; off < 250;off++) |
{ |
OCR0A = off; |
Delay_ms_Mess(50); |
printf("."); |
if(MessLuftdruck < DESIRED_H_ADC) break; |
} |
SetParamByte(PID_PRESSURE_OFFSET, off); |
DruckOffsetSetting = off; |
if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && (DruckOffsetSetting < 10 || DruckOffsetSetting >= 245)) VersionInfo.HardwareError[0] |= DEFEKT_PRESSURE; |
OCR0A = off; |
Delay_ms_Mess(300); |
} |
void SucheGyroOffset(void) |
{ |
unsigned char i, ready = 0; |
int timeout; |
timeout = SetDelay(2000); |
for(i=140; i != 0; i--) |
{ |
if(ready == 3 && i > 10) i = 9; |
ready = 0; |
if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++; |
if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++; |
if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++; |
I2C_Start(TWI_STATE_GYRO_OFFSET_TX); |
if(AnalogOffsetNick < 10) { VersionInfo.HardwareError[0] |= DEFEKT_G_NICK; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { VersionInfo.HardwareError[0] |= DEFEKT_G_NICK; AnalogOffsetNick = 245;}; |
if(AnalogOffsetRoll < 10) { VersionInfo.HardwareError[0] |= DEFEKT_G_ROLL; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { VersionInfo.HardwareError[0] |= DEFEKT_G_ROLL; AnalogOffsetRoll = 245;}; |
if(AnalogOffsetGier < 10) { VersionInfo.HardwareError[0] |= DEFEKT_G_GIER; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { VersionInfo.HardwareError[0] |= DEFEKT_G_GIER; AnalogOffsetGier = 245;}; |
while(twi_state) if(CheckDelay(timeout)) {printf("\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl"); break;} |
AdReady = 0; |
ANALOG_ON; |
while(!AdReady); |
if(i<10) Delay_ms_Mess(10); |
} |
Delay_ms_Mess(70); |
} |
/* |
0 n |
1 r |
2 g |
3 y |
4 x |
5 n |
6 r |
7 u |
8 z |
9 L |
10 n |
11 r |
12 g |
13 y |
14 x |
15 n |
16 r |
17 L |
*/ |
//####################################################################################### |
// |
ISR(ADC_vect) |
//####################################################################################### |
{ |
static unsigned char kanal=0,state = 0; |
static signed char subcount = 0; |
static signed int gier1, roll1, nick1, nick_filter, roll_filter; |
static signed int accy, accx; |
static long tmpLuftdruck = 0; |
static char messanzahl_Druck = 0; |
switch(state++) |
{ |
case 0: |
nick1 = ADC; |
kanal = AD_ROLL; |
break; |
case 1: |
roll1 = ADC; |
kanal = AD_GIER; |
break; |
case 2: |
gier1 = ADC; |
kanal = AD_ACC_Y; |
break; |
case 3: |
Aktuell_ay = NeutralAccY - ADC; |
accy = Aktuell_ay; |
kanal = AD_ACC_X; |
break; |
case 4: |
Aktuell_ax = ADC - NeutralAccX; |
accx = Aktuell_ax; |
kanal = AD_NICK; |
break; |
case 5: |
nick1 += ADC; |
kanal = AD_ROLL; |
break; |
case 6: |
roll1 += ADC; |
kanal = AD_UBAT; |
break; |
case 7: |
UBat = (3 * UBat + ADC / 3) / 4; |
kanal = AD_ACC_Z; |
break; |
case 8: |
AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
if(AdWertAccHoch > 1) |
{ |
if(NeutralAccZ < 750) |
{ |
subcount += 5; |
if(modell_fliegt < 500) subcount += 10; |
} |
if(subcount > 100) { NeutralAccZ++; subcount -= 100;} |
} |
else if(AdWertAccHoch < -1) |
{ |
if(NeutralAccZ > 550) |
{ |
subcount -= 5; |
if(modell_fliegt < 500) subcount -= 10; |
if(subcount < -100) { NeutralAccZ--; subcount += 100;} |
} |
} |
messanzahl_AccHoch = 1; |
Aktuell_az = ADC; |
Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
kanal = AD_DRUCK; |
break; |
// "case 9:" fehlt hier absichtlich |
case 10: |
nick1 += ADC; |
kanal = AD_ROLL; |
break; |
case 11: |
roll1 += ADC; |
kanal = AD_GIER; |
break; |
case 12: |
if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2; |
else |
if(PlatinenVersion >= 20) AdWertGier = 2047 - (ADC + gier1); |
else AdWertGier = (ADC + gier1); |
kanal = AD_ACC_Y; |
break; |
case 13: |
Aktuell_ay = NeutralAccY - ADC; |
AdWertAccRoll = (Aktuell_ay + accy); |
kanal = AD_ACC_X; |
break; |
case 14: |
Aktuell_ax = ADC - NeutralAccX; |
AdWertAccNick = (Aktuell_ax + accx); |
kanal = AD_NICK; |
break; |
case 15: |
nick1 += ADC; |
if(PlatinenVersion == 10) nick1 *= 2; else nick1 *= 4; |
AdWertNick = nick1 / 8; |
nick_filter = (nick_filter + nick1) / 2; |
HiResNick = nick_filter - AdNeutralNick; |
AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2; |
kanal = AD_ROLL; |
break; |
case 16: |
roll1 += ADC; |
if(PlatinenVersion == 10) roll1 *= 2; else roll1 *= 4; |
AdWertRoll = roll1 / 8; |
roll_filter = (roll_filter + roll1) / 2; |
HiResRoll = roll_filter - AdNeutralRoll; |
AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2; |
kanal = AD_DRUCK; |
break; |
case 17: |
state = 0; |
AdReady = 1; |
ZaehlMessungen++; |
// "break" fehlt hier absichtlich |
case 9: |
MessLuftdruck = ADC; |
tmpLuftdruck += MessLuftdruck; |
if(++messanzahl_Druck >= 18) |
{ |
Luftdruck = (7 * Luftdruck + tmpLuftdruck - (18 * 523) * (long)ExpandBaro + 4) / 8; // -523.19 counts per 10 counts offset step |
HoehenWert = StartLuftdruck - Luftdruck; |
SummenHoehe -= SummenHoehe/SM_FILTER; |
SummenHoehe += HoehenWert; |
VarioMeter = (31 * VarioMeter + 8 * (int)(HoehenWert - SummenHoehe/SM_FILTER))/32; |
tmpLuftdruck /= 2; |
messanzahl_Druck = 18/2; |
} |
kanal = AD_NICK; |
break; |
default: |
kanal = 0; state = 0; kanal = AD_NICK; |
break; |
} |
ADMUX = kanal; |
if(state != 0) ANALOG_ON; |
} |
/branches/V0.80d-Arthur-P/analog.d |
---|
0,0 → 1,3 |
analog.o analog.d : analog.c main.h old_macros.h printf_P.h timer0.h uart.h \ |
analog.h twimaster.h menu.h rc.h fc.h gps.h spi.h led.h spektrum.h \ |
capacity.h eeprom.h libfc.h debug.h |
/branches/V0.80d-Arthur-P/analog.h |
---|
0,0 → 1,47 |
#ifndef _ANALOG_H |
#define _ANALOG_H |
/*####################################################################################### |
#######################################################################################*/ |
#define SM_FILTER 16 |
extern volatile int UBat; |
extern volatile int AdWertNick, AdWertRoll, AdWertGier; |
extern volatile int AdWertAccRoll,AdWertAccNick,AdWertAccHoch; |
extern volatile int HiResNick, HiResRoll; |
extern volatile int AdWertNickFilter, AdWertRollFilter, AdWertGierFilter; |
extern volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az; |
extern volatile long Luftdruck; |
extern volatile long SummenHoehe; |
extern volatile char messanzahl_Druck; |
extern volatile unsigned int ZaehlMessungen; |
extern unsigned char DruckOffsetSetting; |
extern signed char ExpandBaro; |
extern volatile int VarioMeter; |
extern volatile unsigned int MessLuftdruck; |
extern volatile int StartLuftdruck; |
extern volatile char MessanzahlNick; |
extern unsigned char AnalogOffsetNick,AnalogOffsetRoll,AnalogOffsetGier; |
extern volatile unsigned char AdReady; |
unsigned int ReadADC(unsigned char adc_input); |
void ADC_Init(void); |
void SucheLuftruckOffset(void); |
void SucheGyroOffset(void); |
#define AD_GIER 0 |
#define AD_ROLL 1 |
#define AD_NICK 2 |
#define AD_DRUCK 3 |
#define AD_UBAT 4 |
#define AD_ACC_Z 5 |
#define AD_ACC_Y 6 |
#define AD_ACC_X 7 |
#define ANALOG_OFF ADCSRA=0 |
#define ANALOG_ON ADCSRA=(1<<ADEN)|(1<<ADSC)|(0<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE) |
//Signle trigger Mode, Interrupt on |
#endif //_ANALOG_H |
/branches/V0.80d-Arthur-P/analog.lst |
---|
0,0 → 1,1304 |
1 .file "analog.c" |
2 .arch atmega644p |
3 __SREG__ = 0x3f |
4 __SP_H__ = 0x3e |
5 __SP_L__ = 0x3d |
6 __tmp_reg__ = 0 |
7 __zero_reg__ = 1 |
8 .global __do_copy_data |
9 .global __do_clear_bss |
10 .global AdReady |
11 .data |
14 AdReady: |
15 0000 01 .byte 1 |
16 .global AnalogOffsetGier |
19 AnalogOffsetGier: |
20 0001 73 .byte 115 |
21 .global AnalogOffsetRoll |
24 AnalogOffsetRoll: |
25 0002 73 .byte 115 |
26 .global AnalogOffsetNick |
29 AnalogOffsetNick: |
30 0003 73 .byte 115 |
31 .global ZaehlMessungen |
32 .global ZaehlMessungen |
33 .section .bss |
36 ZaehlMessungen: |
37 0000 0000 .skip 2,0 |
38 .global VarioMeter |
39 .global VarioMeter |
42 VarioMeter: |
43 0002 0000 .skip 2,0 |
44 .global ExpandBaro |
45 .global ExpandBaro |
48 ExpandBaro: |
49 0004 00 .skip 1,0 |
50 .global MessLuftdruck |
51 .data |
54 MessLuftdruck: |
55 0004 FF03 .word 1023 |
56 .global SummenHoehe |
57 .global SummenHoehe |
58 .section .bss |
61 SummenHoehe: |
62 0005 0000 0000 .skip 4,0 |
63 .global Luftdruck |
64 .data |
67 Luftdruck: |
68 0006 007D 0000 .long 32000 |
69 .global messanzahl_AccHoch |
70 .global messanzahl_AccHoch |
71 .section .bss |
74 messanzahl_AccHoch: |
75 0009 00 .skip 1,0 |
76 .global AdWertAccHoch |
77 .global AdWertAccHoch |
80 AdWertAccHoch: |
81 000a 0000 .skip 2,0 |
82 .global AdWertAccNick |
83 .global AdWertAccNick |
86 AdWertAccNick: |
87 000c 0000 .skip 2,0 |
88 .global AdWertAccRoll |
89 .global AdWertAccRoll |
92 AdWertAccRoll: |
93 000e 0000 .skip 2,0 |
94 .global AdWertGier |
95 .global AdWertGier |
98 AdWertGier: |
99 0010 0000 .skip 2,0 |
100 .global AdWertRoll |
101 .global AdWertRoll |
104 AdWertRoll: |
105 0012 0000 .skip 2,0 |
106 .global AdWertNick |
107 .global AdWertNick |
110 AdWertNick: |
111 0014 0000 .skip 2,0 |
112 .global HiResRoll |
113 .data |
116 HiResRoll: |
117 000a C409 .word 2500 |
118 .global HiResNick |
121 HiResNick: |
122 000c C409 .word 2500 |
123 .global AdWertGierFilter |
124 .global AdWertGierFilter |
125 .section .bss |
128 AdWertGierFilter: |
129 0016 0000 .skip 2,0 |
130 .global AdWertRollFilter |
131 .global AdWertRollFilter |
134 AdWertRollFilter: |
135 0018 0000 .skip 2,0 |
136 .global AdWertNickFilter |
137 .global AdWertNickFilter |
140 AdWertNickFilter: |
141 001a 0000 .skip 2,0 |
142 .global UBat |
143 .data |
146 UBat: |
147 000e 6400 .word 100 |
148 .text |
149 .global ADC_Init |
151 ADC_Init: |
152 /* prologue: frame size=0 */ |
153 /* prologue end (size=0) */ |
154 0000 1092 7C00 sts 124,__zero_reg__ |
155 0004 8FEC ldi r24,lo8(-49) |
156 0006 8093 7A00 sts 122,r24 |
157 /* epilogue: frame size=0 */ |
158 000a 0895 ret |
159 /* epilogue end (size=1) */ |
160 /* function ADC_Init size 6 (5) */ |
162 .section .progmem.data,"a",@progbits |
165 __c.13: |
166 0000 2E00 .string "." |
167 .text |
168 .global SucheLuftruckOffset |
170 SucheLuftruckOffset: |
171 /* prologue: frame size=0 */ |
172 000c CF93 push r28 |
173 000e DF93 push r29 |
174 /* prologue end (size=2) */ |
175 0010 83E0 ldi r24,lo8(3) |
176 0012 90E0 ldi r25,hi8(3) |
177 0014 0E94 0000 call GetParamByte |
178 0018 C82F mov r28,r24 |
179 001a DD27 clr r29 |
180 001c C531 cpi r28,21 |
181 001e D105 cpc r29,__zero_reg__ |
182 0020 08F0 brlo .L3 |
183 0022 2A97 sbiw r28,10 |
184 .L3: |
185 0024 C7BD out 71-0x20,r28 |
186 0026 1092 0000 sts ExpandBaro,__zero_reg__ |
187 002a 84E6 ldi r24,lo8(100) |
188 002c 90E0 ldi r25,hi8(100) |
189 002e 0E94 0000 call Delay_ms_Mess |
190 0032 8091 0000 lds r24,MessLuftdruck |
191 0036 9091 0000 lds r25,(MessLuftdruck)+1 |
192 003a 8052 subi r24,lo8(800) |
193 003c 9340 sbci r25,hi8(800) |
194 003e 10F4 brsh .L4 |
195 0040 C0E0 ldi r28,lo8(0) |
196 0042 D0E0 ldi r29,hi8(0) |
197 .L4: |
198 0044 CA3F cpi r28,250 |
199 0046 D105 cpc r29,__zero_reg__ |
200 0048 F8F4 brsh .L6 |
201 004a C7BD out 71-0x20,r28 |
202 004c 82E3 ldi r24,lo8(50) |
203 004e 90E0 ldi r25,hi8(50) |
204 0050 0E94 0000 call Delay_ms_Mess |
205 0054 80E0 ldi r24,lo8(__c.13) |
206 0056 90E0 ldi r25,hi8(__c.13) |
207 0058 9F93 push r25 |
208 005a 8F93 push r24 |
209 005c 80E0 ldi r24,lo8(pm(uart_putchar)) |
210 005e 90E0 ldi r25,hi8(pm(uart_putchar)) |
211 0060 9F93 push r25 |
212 0062 8F93 push r24 |
213 0064 E091 0000 lds r30,_printf_P |
214 0068 F091 0000 lds r31,(_printf_P)+1 |
215 006c 0995 icall |
216 006e 8091 0000 lds r24,MessLuftdruck |
217 0072 9091 0000 lds r25,(MessLuftdruck)+1 |
218 0076 0F90 pop __tmp_reg__ |
219 0078 0F90 pop __tmp_reg__ |
220 007a 0F90 pop __tmp_reg__ |
221 007c 0F90 pop __tmp_reg__ |
222 007e 8052 subi r24,lo8(800) |
223 0080 9340 sbci r25,hi8(800) |
224 0082 10F0 brlo .L6 |
225 0084 2196 adiw r28,1 |
226 0086 DECF rjmp .L4 |
227 .L6: |
228 0088 6C2F mov r22,r28 |
229 008a 83E0 ldi r24,lo8(3) |
230 008c 90E0 ldi r25,hi8(3) |
231 008e 0E94 0000 call SetParamByte |
232 0092 C093 0000 sts DruckOffsetSetting,r28 |
233 0096 8091 0000 lds r24,EE_Parameter+13 |
234 009a 80FF sbrs r24,0 |
235 009c 09C0 rjmp .L10 |
236 009e 8C2F mov r24,r28 |
237 00a0 8A50 subi r24,lo8(-(-10)) |
238 00a2 8B3E cpi r24,lo8(-21) |
239 00a4 28F0 brlo .L10 |
240 00a6 8091 0000 lds r24,VersionInfo+5 |
241 00aa 8064 ori r24,lo8(64) |
242 00ac 8093 0000 sts VersionInfo+5,r24 |
243 .L10: |
244 00b0 C7BD out 71-0x20,r28 |
245 00b2 8CE2 ldi r24,lo8(300) |
246 00b4 91E0 ldi r25,hi8(300) |
247 00b6 0E94 0000 call Delay_ms_Mess |
248 /* epilogue: frame size=0 */ |
249 00ba DF91 pop r29 |
250 00bc CF91 pop r28 |
251 00be 0895 ret |
252 /* epilogue end (size=3) */ |
253 /* function SucheLuftruckOffset size 92 (87) */ |
255 .section .progmem.data |
258 __c.12: |
259 0002 0A0D 2044 .string "\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl" |
259 4143 206F |
259 7220 4932 |
259 4320 4552 |
259 524F 5221 |
260 .text |
261 .global SucheGyroOffset |
263 SucheGyroOffset: |
264 /* prologue: frame size=0 */ |
265 00c0 EF92 push r14 |
266 00c2 FF92 push r15 |
267 00c4 1F93 push r17 |
268 00c6 CF93 push r28 |
269 /* prologue end (size=4) */ |
270 00c8 10E0 ldi r17,lo8(0) |
271 00ca 80ED ldi r24,lo8(2000) |
272 00cc 97E0 ldi r25,hi8(2000) |
273 00ce 0E94 0000 call SetDelay |
274 00d2 7C01 movw r14,r24 |
275 00d4 CCE8 ldi r28,lo8(-116) |
276 .L43: |
277 00d6 1330 cpi r17,lo8(3) |
278 00d8 19F4 brne .L16 |
279 00da CB30 cpi r28,lo8(11) |
280 00dc 08F0 brlo .L16 |
281 00de C9E0 ldi r28,lo8(9) |
282 .L16: |
283 00e0 10E0 ldi r17,lo8(0) |
284 00e2 8091 0000 lds r24,AdWertNick |
285 00e6 9091 0000 lds r25,(AdWertNick)+1 |
286 00ea 8C5F subi r24,lo8(1020) |
287 00ec 9340 sbci r25,hi8(1020) |
288 00ee 24F4 brge .L17 |
289 00f0 8091 0000 lds r24,AnalogOffsetNick |
290 00f4 8150 subi r24,lo8(-(-1)) |
291 00f6 0AC0 rjmp .L48 |
292 .L17: |
293 00f8 8091 0000 lds r24,AdWertNick |
294 00fc 9091 0000 lds r25,(AdWertNick)+1 |
295 0100 8750 subi r24,lo8(1031) |
296 0102 9440 sbci r25,hi8(1031) |
297 0104 34F0 brlt .L19 |
298 0106 8091 0000 lds r24,AnalogOffsetNick |
299 010a 8F5F subi r24,lo8(-(1)) |
300 .L48: |
301 010c 8093 0000 sts AnalogOffsetNick,r24 |
302 0110 01C0 rjmp .L18 |
303 .L19: |
304 0112 11E0 ldi r17,lo8(1) |
305 .L18: |
306 0114 8091 0000 lds r24,AdWertRoll |
307 0118 9091 0000 lds r25,(AdWertRoll)+1 |
308 011c 8C5F subi r24,lo8(1020) |
309 011e 9340 sbci r25,hi8(1020) |
310 0120 24F4 brge .L21 |
311 0122 8091 0000 lds r24,AnalogOffsetRoll |
312 0126 8150 subi r24,lo8(-(-1)) |
313 0128 0AC0 rjmp .L49 |
314 .L21: |
315 012a 8091 0000 lds r24,AdWertRoll |
316 012e 9091 0000 lds r25,(AdWertRoll)+1 |
317 0132 8750 subi r24,lo8(1031) |
318 0134 9440 sbci r25,hi8(1031) |
319 0136 34F0 brlt .L23 |
320 0138 8091 0000 lds r24,AnalogOffsetRoll |
321 013c 8F5F subi r24,lo8(-(1)) |
322 .L49: |
323 013e 8093 0000 sts AnalogOffsetRoll,r24 |
324 0142 01C0 rjmp .L22 |
325 .L23: |
326 0144 1F5F subi r17,lo8(-(1)) |
327 .L22: |
328 0146 8091 0000 lds r24,AdWertGier |
329 014a 9091 0000 lds r25,(AdWertGier)+1 |
330 014e 8C5F subi r24,lo8(1020) |
331 0150 9340 sbci r25,hi8(1020) |
332 0152 24F4 brge .L25 |
333 0154 8091 0000 lds r24,AnalogOffsetGier |
334 0158 8150 subi r24,lo8(-(-1)) |
335 015a 0AC0 rjmp .L50 |
336 .L25: |
337 015c 8091 0000 lds r24,AdWertGier |
338 0160 9091 0000 lds r25,(AdWertGier)+1 |
339 0164 8750 subi r24,lo8(1031) |
340 0166 9440 sbci r25,hi8(1031) |
341 0168 C4F0 brlt .L27 |
342 016a 8091 0000 lds r24,AnalogOffsetGier |
343 016e 8F5F subi r24,lo8(-(1)) |
344 .L50: |
345 0170 8093 0000 sts AnalogOffsetGier,r24 |
346 0174 13C0 rjmp .L26 |
347 .L47: |
348 0176 80E0 ldi r24,lo8(__c.12) |
349 0178 90E0 ldi r25,hi8(__c.12) |
350 017a 9F93 push r25 |
351 017c 8F93 push r24 |
352 017e 80E0 ldi r24,lo8(pm(uart_putchar)) |
353 0180 90E0 ldi r25,hi8(pm(uart_putchar)) |
354 0182 9F93 push r25 |
355 0184 8F93 push r24 |
356 0186 E091 0000 lds r30,_printf_P |
357 018a F091 0000 lds r31,(_printf_P)+1 |
358 018e 0995 icall |
359 0190 0F90 pop __tmp_reg__ |
360 0192 0F90 pop __tmp_reg__ |
361 0194 0F90 pop __tmp_reg__ |
362 0196 0F90 pop __tmp_reg__ |
363 0198 5FC0 rjmp .L36 |
364 .L27: |
365 019a 1F5F subi r17,lo8(-(1)) |
366 .L26: |
367 019c 82E1 ldi r24,lo8(18) |
368 019e 8093 0000 sts twi_state,r24 |
369 01a2 8091 0000 lds r24,BLFlags |
370 01a6 8E7F andi r24,lo8(-2) |
371 01a8 8093 0000 sts BLFlags,r24 |
372 01ac 85EA ldi r24,lo8(-91) |
373 01ae 8093 BC00 sts 188,r24 |
374 01b2 8091 0000 lds r24,AnalogOffsetNick |
375 01b6 8A30 cpi r24,lo8(10) |
376 01b8 40F4 brsh .L29 |
377 01ba 8091 0000 lds r24,VersionInfo+5 |
378 01be 8160 ori r24,lo8(1) |
379 01c0 8093 0000 sts VersionInfo+5,r24 |
380 01c4 8AE0 ldi r24,lo8(10) |
381 01c6 8093 0000 sts AnalogOffsetNick,r24 |
382 .L29: |
383 01ca 8091 0000 lds r24,AnalogOffsetNick |
384 01ce 863F cpi r24,lo8(-10) |
385 01d0 40F0 brlo .L30 |
386 01d2 8091 0000 lds r24,VersionInfo+5 |
387 01d6 8160 ori r24,lo8(1) |
388 01d8 8093 0000 sts VersionInfo+5,r24 |
389 01dc 85EF ldi r24,lo8(-11) |
390 01de 8093 0000 sts AnalogOffsetNick,r24 |
391 .L30: |
392 01e2 8091 0000 lds r24,AnalogOffsetRoll |
393 01e6 8A30 cpi r24,lo8(10) |
394 01e8 40F4 brsh .L31 |
395 01ea 8091 0000 lds r24,VersionInfo+5 |
396 01ee 8260 ori r24,lo8(2) |
397 01f0 8093 0000 sts VersionInfo+5,r24 |
398 01f4 8AE0 ldi r24,lo8(10) |
399 01f6 8093 0000 sts AnalogOffsetRoll,r24 |
400 .L31: |
401 01fa 8091 0000 lds r24,AnalogOffsetRoll |
402 01fe 863F cpi r24,lo8(-10) |
403 0200 40F0 brlo .L32 |
404 0202 8091 0000 lds r24,VersionInfo+5 |
405 0206 8260 ori r24,lo8(2) |
406 0208 8093 0000 sts VersionInfo+5,r24 |
407 020c 85EF ldi r24,lo8(-11) |
408 020e 8093 0000 sts AnalogOffsetRoll,r24 |
409 .L32: |
410 0212 8091 0000 lds r24,AnalogOffsetGier |
411 0216 8A30 cpi r24,lo8(10) |
412 0218 40F4 brsh .L33 |
413 021a 8091 0000 lds r24,VersionInfo+5 |
414 021e 8460 ori r24,lo8(4) |
415 0220 8093 0000 sts VersionInfo+5,r24 |
416 0224 8AE0 ldi r24,lo8(10) |
417 0226 8093 0000 sts AnalogOffsetGier,r24 |
418 .L33: |
419 022a 8091 0000 lds r24,AnalogOffsetGier |
420 022e 863F cpi r24,lo8(-10) |
421 0230 40F0 brlo .L34 |
422 0232 8091 0000 lds r24,VersionInfo+5 |
423 0236 8460 ori r24,lo8(4) |
424 0238 8093 0000 sts VersionInfo+5,r24 |
425 023c 85EF ldi r24,lo8(-11) |
426 023e 8093 0000 sts AnalogOffsetGier,r24 |
427 .L34: |
428 0242 8091 0000 lds r24,twi_state |
429 0246 8823 tst r24 |
430 0248 39F0 breq .L36 |
431 024a C701 movw r24,r14 |
432 024c 0E94 0000 call CheckDelay |
433 0250 8823 tst r24 |
434 0252 09F0 breq .+2 |
435 0254 90CF rjmp .L47 |
436 0256 F5CF rjmp .L34 |
437 .L36: |
438 0258 1092 0000 sts AdReady,__zero_reg__ |
439 025c 8FEC ldi r24,lo8(-49) |
440 025e 8093 7A00 sts 122,r24 |
441 .L39: |
442 0262 8091 0000 lds r24,AdReady |
443 0266 8823 tst r24 |
444 0268 E1F3 breq .L39 |
445 026a CA30 cpi r28,lo8(10) |
446 026c 20F4 brsh .L15 |
447 026e 8AE0 ldi r24,lo8(10) |
448 0270 90E0 ldi r25,hi8(10) |
449 0272 0E94 0000 call Delay_ms_Mess |
450 .L15: |
451 0276 C150 subi r28,lo8(-(-1)) |
452 0278 09F0 breq .+2 |
453 027a 2DCF rjmp .L43 |
454 027c 86E4 ldi r24,lo8(70) |
455 027e 90E0 ldi r25,hi8(70) |
456 0280 0E94 0000 call Delay_ms_Mess |
457 /* epilogue: frame size=0 */ |
458 0284 CF91 pop r28 |
459 0286 1F91 pop r17 |
460 0288 FF90 pop r15 |
461 028a EF90 pop r14 |
462 028c 0895 ret |
463 /* epilogue end (size=5) */ |
464 /* function SucheGyroOffset size 238 (229) */ |
466 .lcomm kanal.0,1 |
467 .lcomm state.1,1 |
468 .lcomm subcount.2,1 |
469 .lcomm gier1.3,2 |
470 .lcomm roll1.4,2 |
471 .lcomm nick1.5,2 |
472 .lcomm nick_filter.6,2 |
473 .lcomm roll_filter.7,2 |
474 .lcomm accy.8,2 |
475 .lcomm accx.9,2 |
476 .lcomm tmpLuftdruck.10,4 |
477 .lcomm messanzahl_Druck.11,1 |
478 .global __vector_24 |
480 __vector_24: |
481 /* prologue: frame size=0 */ |
482 028e 1F92 push __zero_reg__ |
483 0290 0F92 push __tmp_reg__ |
484 0292 0FB6 in __tmp_reg__,__SREG__ |
485 0294 0F92 push __tmp_reg__ |
486 0296 1124 clr __zero_reg__ |
487 0298 AF92 push r10 |
488 029a BF92 push r11 |
489 029c CF92 push r12 |
490 029e DF92 push r13 |
491 02a0 EF92 push r14 |
492 02a2 FF92 push r15 |
493 02a4 0F93 push r16 |
494 02a6 1F93 push r17 |
495 02a8 2F93 push r18 |
496 02aa 3F93 push r19 |
497 02ac 4F93 push r20 |
498 02ae 5F93 push r21 |
499 02b0 6F93 push r22 |
500 02b2 7F93 push r23 |
501 02b4 8F93 push r24 |
502 02b6 9F93 push r25 |
503 02b8 AF93 push r26 |
504 02ba BF93 push r27 |
505 02bc EF93 push r30 |
506 02be FF93 push r31 |
507 /* prologue end (size=25) */ |
508 02c0 8091 0000 lds r24,state.1 |
509 02c4 282F mov r18,r24 |
510 02c6 3327 clr r19 |
511 02c8 4427 clr r20 |
512 02ca 5527 clr r21 |
513 02cc 8F5F subi r24,lo8(-(1)) |
514 02ce 8093 0000 sts state.1,r24 |
515 02d2 F901 movw r30,r18 |
516 02d4 2231 cpi r18,18 |
517 02d6 3105 cpc r19,__zero_reg__ |
518 02d8 08F0 brlo .+2 |
519 02da 8CC3 rjmp .L101 |
520 02dc E050 subi r30,lo8(-(pm(.L102))) |
521 02de F040 sbci r31,hi8(-(pm(.L102))) |
522 02e0 0C94 0000 jmp __tablejump2__ |
523 .data |
524 .section .progmem.gcc_sw_table, "a", @progbits |
525 .p2align 1 |
526 .L102: |
527 0000 0000 .word pm(.L53) |
528 0002 0000 .word pm(.L54) |
529 0004 0000 .word pm(.L55) |
530 0006 0000 .word pm(.L56) |
531 0008 0000 .word pm(.L57) |
532 000a 0000 .word pm(.L58) |
533 000c 0000 .word pm(.L59) |
534 000e 0000 .word pm(.L60) |
535 0010 0000 .word pm(.L61) |
536 0012 0000 .word pm(.L94) |
537 0014 0000 .word pm(.L58) |
538 0016 0000 .word pm(.L73) |
539 0018 0000 .word pm(.L74) |
540 001a 0000 .word pm(.L79) |
541 001c 0000 .word pm(.L80) |
542 001e 0000 .word pm(.L81) |
543 0020 0000 .word pm(.L87) |
544 0022 0000 .word pm(.L93) |
545 .text |
546 .L53: |
547 02e4 8091 7800 lds r24,120 |
548 02e8 9091 7900 lds r25,(120)+1 |
549 02ec 46C0 rjmp .L111 |
550 .L54: |
551 02ee 8091 7800 lds r24,120 |
552 02f2 9091 7900 lds r25,(120)+1 |
553 02f6 2CC1 rjmp .L110 |
554 .L55: |
555 02f8 8091 7800 lds r24,120 |
556 02fc 9091 7900 lds r25,(120)+1 |
557 0300 9093 0000 sts (gier1.3)+1,r25 |
558 0304 8093 0000 sts gier1.3,r24 |
559 0308 57C1 rjmp .L112 |
560 .L56: |
561 030a 8091 0000 lds r24,NeutralAccY |
562 030e 9091 0000 lds r25,(NeutralAccY)+1 |
563 0312 2091 7800 lds r18,120 |
564 0316 3091 7900 lds r19,(120)+1 |
565 031a 821B sub r24,r18 |
566 031c 930B sbc r25,r19 |
567 031e 9093 0000 sts (Aktuell_ay)+1,r25 |
568 0322 8093 0000 sts Aktuell_ay,r24 |
569 0326 8091 0000 lds r24,Aktuell_ay |
570 032a 9091 0000 lds r25,(Aktuell_ay)+1 |
571 032e 9093 0000 sts (accy.8)+1,r25 |
572 0332 8093 0000 sts accy.8,r24 |
573 0336 5EC1 rjmp .L113 |
574 .L57: |
575 0338 8091 7800 lds r24,120 |
576 033c 9091 7900 lds r25,(120)+1 |
577 0340 2091 0000 lds r18,NeutralAccX |
578 0344 3091 0000 lds r19,(NeutralAccX)+1 |
579 0348 821B sub r24,r18 |
580 034a 930B sbc r25,r19 |
581 034c 9093 0000 sts (Aktuell_ax)+1,r25 |
582 0350 8093 0000 sts Aktuell_ax,r24 |
583 0354 8091 0000 lds r24,Aktuell_ax |
584 0358 9091 0000 lds r25,(Aktuell_ax)+1 |
585 035c 9093 0000 sts (accx.9)+1,r25 |
586 0360 8093 0000 sts accx.9,r24 |
587 0364 49C3 rjmp .L108 |
588 .L58: |
589 0366 8091 0000 lds r24,nick1.5 |
590 036a 9091 0000 lds r25,(nick1.5)+1 |
591 036e 2091 7800 lds r18,120 |
592 0372 3091 7900 lds r19,(120)+1 |
593 0376 820F add r24,r18 |
594 0378 931F adc r25,r19 |
595 .L111: |
596 037a 9093 0000 sts (nick1.5)+1,r25 |
597 037e 8093 0000 sts nick1.5,r24 |
598 .L115: |
599 0382 81E0 ldi r24,lo8(1) |
600 0384 3AC3 rjmp .L109 |
601 .L59: |
602 0386 8091 0000 lds r24,roll1.4 |
603 038a 9091 0000 lds r25,(roll1.4)+1 |
604 038e 2091 7800 lds r18,120 |
605 0392 3091 7900 lds r19,(120)+1 |
606 0396 820F add r24,r18 |
607 0398 931F adc r25,r19 |
608 039a 9093 0000 sts (roll1.4)+1,r25 |
609 039e 8093 0000 sts roll1.4,r24 |
610 03a2 84E0 ldi r24,lo8(4) |
611 03a4 2AC3 rjmp .L109 |
612 .L60: |
613 03a6 8091 0000 lds r24,UBat |
614 03aa 9091 0000 lds r25,(UBat)+1 |
615 03ae 9C01 movw r18,r24 |
616 03b0 220F lsl r18 |
617 03b2 331F rol r19 |
618 03b4 280F add r18,r24 |
619 03b6 391F adc r19,r25 |
620 03b8 8091 7800 lds r24,120 |
621 03bc 9091 7900 lds r25,(120)+1 |
622 03c0 63E0 ldi r22,lo8(3) |
623 03c2 70E0 ldi r23,hi8(3) |
624 03c4 0E94 0000 call __udivmodhi4 |
625 03c8 260F add r18,r22 |
626 03ca 371F adc r19,r23 |
627 03cc 3695 lsr r19 |
628 03ce 2795 ror r18 |
629 03d0 3695 lsr r19 |
630 03d2 2795 ror r18 |
631 03d4 3093 0000 sts (UBat)+1,r19 |
632 03d8 2093 0000 sts UBat,r18 |
633 03dc 85E0 ldi r24,lo8(5) |
634 03de 0DC3 rjmp .L109 |
635 .L61: |
636 03e0 8091 7800 lds r24,120 |
637 03e4 9091 7900 lds r25,(120)+1 |
638 03e8 4091 0000 lds r20,NeutralAccZ |
639 03ec 5091 0000 lds r21,(NeutralAccZ)+1 |
640 03f0 841B sub r24,r20 |
641 03f2 950B sbc r25,r21 |
642 03f4 9093 0000 sts (AdWertAccHoch)+1,r25 |
643 03f8 8093 0000 sts AdWertAccHoch,r24 |
644 03fc 8091 0000 lds r24,AdWertAccHoch |
645 0400 9091 0000 lds r25,(AdWertAccHoch)+1 |
646 0404 0297 sbiw r24,2 |
647 0406 04F1 brlt .L62 |
648 0408 22E0 ldi r18,hi8(750) |
649 040a 4E3E cpi r20,lo8(750) |
650 040c 5207 cpc r21,r18 |
651 040e 84F4 brge .L63 |
652 0410 2091 0000 lds r18,subcount.2 |
653 0414 2B5F subi r18,lo8(-(5)) |
654 0416 2093 0000 sts subcount.2,r18 |
655 041a 2550 subi r18,lo8(-(-5)) |
656 041c 8091 0000 lds r24,modell_fliegt |
657 0420 9091 0000 lds r25,(modell_fliegt)+1 |
658 0424 845F subi r24,lo8(500) |
659 0426 9140 sbci r25,hi8(500) |
660 0428 18F4 brsh .L63 |
661 042a 215F subi r18,lo8(-(15)) |
662 042c 2093 0000 sts subcount.2,r18 |
663 .L63: |
664 0430 8091 0000 lds r24,subcount.2 |
665 0434 8536 cpi r24,lo8(101) |
666 0436 84F1 brlt .L66 |
667 0438 4F5F subi r20,lo8(-(1)) |
668 043a 5F4F sbci r21,hi8(-(1)) |
669 043c 5093 0000 sts (NeutralAccZ)+1,r21 |
670 0440 4093 0000 sts NeutralAccZ,r20 |
671 0444 8456 subi r24,lo8(-(-100)) |
672 0446 26C0 rjmp .L104 |
673 .L62: |
674 0448 8091 0000 lds r24,AdWertAccHoch |
675 044c 9091 0000 lds r25,(AdWertAccHoch)+1 |
676 0450 8F5F subi r24,lo8(-1) |
677 0452 9F4F sbci r25,hi8(-1) |
678 0454 0CF5 brge .L66 |
679 0456 32E0 ldi r19,hi8(551) |
680 0458 4732 cpi r20,lo8(551) |
681 045a 5307 cpc r21,r19 |
682 045c ECF0 brlt .L66 |
683 045e 2091 0000 lds r18,subcount.2 |
684 0462 2550 subi r18,lo8(-(-5)) |
685 0464 2093 0000 sts subcount.2,r18 |
686 0468 2B5F subi r18,lo8(-(5)) |
687 046a 8091 0000 lds r24,modell_fliegt |
688 046e 9091 0000 lds r25,(modell_fliegt)+1 |
689 0472 845F subi r24,lo8(500) |
690 0474 9140 sbci r25,hi8(500) |
691 0476 18F4 brsh .L69 |
692 0478 2F50 subi r18,lo8(-(-15)) |
693 047a 2093 0000 sts subcount.2,r18 |
694 .L69: |
695 047e 8091 0000 lds r24,subcount.2 |
696 0482 8C39 cpi r24,lo8(-100) |
697 0484 4CF4 brge .L66 |
698 0486 4150 subi r20,lo8(-(-1)) |
699 0488 5040 sbci r21,hi8(-(-1)) |
700 048a 5093 0000 sts (NeutralAccZ)+1,r21 |
701 048e 4093 0000 sts NeutralAccZ,r20 |
702 0492 8C59 subi r24,lo8(-(100)) |
703 .L104: |
704 0494 8093 0000 sts subcount.2,r24 |
705 .L66: |
706 0498 81E0 ldi r24,lo8(1) |
707 049a 8093 0000 sts messanzahl_AccHoch,r24 |
708 049e 8091 7800 lds r24,120 |
709 04a2 9091 7900 lds r25,(120)+1 |
710 04a6 9093 0000 sts (Aktuell_az)+1,r25 |
711 04aa 8093 0000 sts Aktuell_az,r24 |
712 04ae 8091 0000 lds r24,AdWertAccHoch |
713 04b2 9091 0000 lds r25,(AdWertAccHoch)+1 |
714 04b6 9C01 movw r18,r24 |
715 04b8 4427 clr r20 |
716 04ba 37FD sbrc r19,7 |
717 04bc 4095 com r20 |
718 04be 542F mov r21,r20 |
719 04c0 8091 0000 lds r24,Mess_Integral_Hoch |
720 04c4 9091 0000 lds r25,(Mess_Integral_Hoch)+1 |
721 04c8 A091 0000 lds r26,(Mess_Integral_Hoch)+2 |
722 04cc B091 0000 lds r27,(Mess_Integral_Hoch)+3 |
723 04d0 820F add r24,r18 |
724 04d2 931F adc r25,r19 |
725 04d4 A41F adc r26,r20 |
726 04d6 B51F adc r27,r21 |
727 04d8 8093 0000 sts Mess_Integral_Hoch,r24 |
728 04dc 9093 0000 sts (Mess_Integral_Hoch)+1,r25 |
729 04e0 A093 0000 sts (Mess_Integral_Hoch)+2,r26 |
730 04e4 B093 0000 sts (Mess_Integral_Hoch)+3,r27 |
731 04e8 2091 0000 lds r18,Mess_Integral_Hoch |
732 04ec 3091 0000 lds r19,(Mess_Integral_Hoch)+1 |
733 04f0 4091 0000 lds r20,(Mess_Integral_Hoch)+2 |
734 04f4 5091 0000 lds r21,(Mess_Integral_Hoch)+3 |
735 04f8 57FF sbrs r21,7 |
736 04fa 04C0 rjmp .L71 |
737 04fc 2150 subi r18,lo8(-(1023)) |
738 04fe 3C4F sbci r19,hi8(-(1023)) |
739 0500 4F4F sbci r20,hlo8(-(1023)) |
740 0502 5F4F sbci r21,hhi8(-(1023)) |
741 .L71: |
742 0504 0AE0 ldi r16,10 |
743 0506 5595 1: asr r21 |
744 0508 4795 ror r20 |
745 050a 3795 ror r19 |
746 050c 2795 ror r18 |
747 050e 0A95 dec r16 |
748 0510 D1F7 brne 1b |
749 0512 8091 0000 lds r24,Mess_Integral_Hoch |
750 0516 9091 0000 lds r25,(Mess_Integral_Hoch)+1 |
751 051a A091 0000 lds r26,(Mess_Integral_Hoch)+2 |
752 051e B091 0000 lds r27,(Mess_Integral_Hoch)+3 |
753 0522 821B sub r24,r18 |
754 0524 930B sbc r25,r19 |
755 0526 A40B sbc r26,r20 |
756 0528 B50B sbc r27,r21 |
757 052a 8093 0000 sts Mess_Integral_Hoch,r24 |
758 052e 9093 0000 sts (Mess_Integral_Hoch)+1,r25 |
759 0532 A093 0000 sts (Mess_Integral_Hoch)+2,r26 |
760 0536 B093 0000 sts (Mess_Integral_Hoch)+3,r27 |
761 053a 2EC1 rjmp .L114 |
762 .L73: |
763 053c 8091 0000 lds r24,roll1.4 |
764 0540 9091 0000 lds r25,(roll1.4)+1 |
765 0544 2091 7800 lds r18,120 |
766 0548 3091 7900 lds r19,(120)+1 |
767 054c 820F add r24,r18 |
768 054e 931F adc r25,r19 |
769 .L110: |
770 0550 9093 0000 sts (roll1.4)+1,r25 |
771 0554 8093 0000 sts roll1.4,r24 |
772 0558 1092 0000 sts kanal.0,__zero_reg__ |
773 055c 50C2 rjmp .L52 |
774 .L74: |
775 055e 8091 0000 lds r24,PlatinenVersion |
776 0562 8A30 cpi r24,lo8(10) |
777 0564 71F4 brne .L75 |
778 0566 8091 7800 lds r24,120 |
779 056a 9091 7900 lds r25,(120)+1 |
780 056e 2091 0000 lds r18,gier1.3 |
781 0572 3091 0000 lds r19,(gier1.3)+1 |
782 0576 820F add r24,r18 |
783 0578 931F adc r25,r19 |
784 057a 0196 adiw r24,1 |
785 057c 9695 lsr r25 |
786 057e 8795 ror r24 |
787 0580 17C0 rjmp .L105 |
788 .L75: |
789 0582 4091 0000 lds r20,gier1.3 |
790 0586 5091 0000 lds r21,(gier1.3)+1 |
791 058a 8431 cpi r24,lo8(20) |
792 058c 58F0 brlo .L77 |
793 058e 2091 7800 lds r18,120 |
794 0592 3091 7900 lds r19,(120)+1 |
795 0596 240F add r18,r20 |
796 0598 351F adc r19,r21 |
797 059a 8FEF ldi r24,lo8(2047) |
798 059c 97E0 ldi r25,hi8(2047) |
799 059e 821B sub r24,r18 |
800 05a0 930B sbc r25,r19 |
801 05a2 06C0 rjmp .L105 |
802 .L77: |
803 05a4 8091 7800 lds r24,120 |
804 05a8 9091 7900 lds r25,(120)+1 |
805 05ac 840F add r24,r20 |
806 05ae 951F adc r25,r21 |
807 .L105: |
808 05b0 9093 0000 sts (AdWertGier)+1,r25 |
809 05b4 8093 0000 sts AdWertGier,r24 |
810 .L112: |
811 05b8 86E0 ldi r24,lo8(6) |
812 05ba 1FC2 rjmp .L109 |
813 .L79: |
814 05bc 8091 0000 lds r24,NeutralAccY |
815 05c0 9091 0000 lds r25,(NeutralAccY)+1 |
816 05c4 2091 7800 lds r18,120 |
817 05c8 3091 7900 lds r19,(120)+1 |
818 05cc 821B sub r24,r18 |
819 05ce 930B sbc r25,r19 |
820 05d0 9093 0000 sts (Aktuell_ay)+1,r25 |
821 05d4 8093 0000 sts Aktuell_ay,r24 |
822 05d8 8091 0000 lds r24,Aktuell_ay |
823 05dc 9091 0000 lds r25,(Aktuell_ay)+1 |
824 05e0 2091 0000 lds r18,accy.8 |
825 05e4 3091 0000 lds r19,(accy.8)+1 |
826 05e8 820F add r24,r18 |
827 05ea 931F adc r25,r19 |
828 05ec 9093 0000 sts (AdWertAccRoll)+1,r25 |
829 05f0 8093 0000 sts AdWertAccRoll,r24 |
830 .L113: |
831 05f4 87E0 ldi r24,lo8(7) |
832 05f6 01C2 rjmp .L109 |
833 .L80: |
834 05f8 8091 7800 lds r24,120 |
835 05fc 9091 7900 lds r25,(120)+1 |
836 0600 2091 0000 lds r18,NeutralAccX |
837 0604 3091 0000 lds r19,(NeutralAccX)+1 |
838 0608 821B sub r24,r18 |
839 060a 930B sbc r25,r19 |
840 060c 9093 0000 sts (Aktuell_ax)+1,r25 |
841 0610 8093 0000 sts Aktuell_ax,r24 |
842 0614 8091 0000 lds r24,Aktuell_ax |
843 0618 9091 0000 lds r25,(Aktuell_ax)+1 |
844 061c 2091 0000 lds r18,accx.9 |
845 0620 3091 0000 lds r19,(accx.9)+1 |
846 0624 820F add r24,r18 |
847 0626 931F adc r25,r19 |
848 0628 9093 0000 sts (AdWertAccNick)+1,r25 |
849 062c 8093 0000 sts AdWertAccNick,r24 |
850 0630 E3C1 rjmp .L108 |
851 .L81: |
852 0632 2091 0000 lds r18,nick1.5 |
853 0636 3091 0000 lds r19,(nick1.5)+1 |
854 063a 8091 7800 lds r24,120 |
855 063e 9091 7900 lds r25,(120)+1 |
856 0642 280F add r18,r24 |
857 0644 391F adc r19,r25 |
858 0646 3093 0000 sts (nick1.5)+1,r19 |
859 064a 2093 0000 sts nick1.5,r18 |
860 064e 8091 0000 lds r24,PlatinenVersion |
861 0652 8A30 cpi r24,lo8(10) |
862 0654 19F4 brne .L82 |
863 0656 220F add r18,r18 |
864 0658 331F adc r19,r19 |
865 065a 04C0 rjmp .L106 |
866 .L82: |
867 065c 220F lsl r18 |
868 065e 331F rol r19 |
869 0660 220F lsl r18 |
870 0662 331F rol r19 |
871 .L106: |
872 0664 3093 0000 sts (nick1.5)+1,r19 |
873 0668 2093 0000 sts nick1.5,r18 |
874 066c 2091 0000 lds r18,nick1.5 |
875 0670 3091 0000 lds r19,(nick1.5)+1 |
876 0674 C901 movw r24,r18 |
877 0676 37FD sbrc r19,7 |
878 0678 0796 adiw r24,7 |
879 .L84: |
880 067a A3E0 ldi r26,3 |
881 067c 9595 1: asr r25 |
882 067e 8795 ror r24 |
883 0680 AA95 dec r26 |
884 0682 E1F7 brne 1b |
885 0684 9093 0000 sts (AdWertNick)+1,r25 |
886 0688 8093 0000 sts AdWertNick,r24 |
887 068c 8091 0000 lds r24,nick_filter.6 |
888 0690 9091 0000 lds r25,(nick_filter.6)+1 |
889 0694 820F add r24,r18 |
890 0696 931F adc r25,r19 |
891 0698 97FD sbrc r25,7 |
892 069a 0196 adiw r24,1 |
893 .L85: |
894 069c 9595 asr r25 |
895 069e 8795 ror r24 |
896 06a0 9093 0000 sts (nick_filter.6)+1,r25 |
897 06a4 8093 0000 sts nick_filter.6,r24 |
898 06a8 2091 0000 lds r18,AdNeutralNick |
899 06ac 3091 0000 lds r19,(AdNeutralNick)+1 |
900 06b0 821B sub r24,r18 |
901 06b2 930B sbc r25,r19 |
902 06b4 9093 0000 sts (HiResNick)+1,r25 |
903 06b8 8093 0000 sts HiResNick,r24 |
904 06bc 2091 0000 lds r18,AdWertNickFilter |
905 06c0 3091 0000 lds r19,(AdWertNickFilter)+1 |
906 06c4 8091 0000 lds r24,HiResNick |
907 06c8 9091 0000 lds r25,(HiResNick)+1 |
908 06cc 280F add r18,r24 |
909 06ce 391F adc r19,r25 |
910 06d0 37FF sbrs r19,7 |
911 06d2 02C0 rjmp .L86 |
912 06d4 2F5F subi r18,lo8(-(1)) |
913 06d6 3F4F sbci r19,hi8(-(1)) |
914 .L86: |
915 06d8 3595 asr r19 |
916 06da 2795 ror r18 |
917 06dc 3093 0000 sts (AdWertNickFilter)+1,r19 |
918 06e0 2093 0000 sts AdWertNickFilter,r18 |
919 06e4 4ECE rjmp .L115 |
920 .L87: |
921 06e6 2091 0000 lds r18,roll1.4 |
922 06ea 3091 0000 lds r19,(roll1.4)+1 |
923 06ee 8091 7800 lds r24,120 |
924 06f2 9091 7900 lds r25,(120)+1 |
925 06f6 280F add r18,r24 |
926 06f8 391F adc r19,r25 |
927 06fa 3093 0000 sts (roll1.4)+1,r19 |
928 06fe 2093 0000 sts roll1.4,r18 |
929 0702 8091 0000 lds r24,PlatinenVersion |
930 0706 8A30 cpi r24,lo8(10) |
931 0708 19F4 brne .L88 |
932 070a 220F add r18,r18 |
933 070c 331F adc r19,r19 |
934 070e 04C0 rjmp .L107 |
935 .L88: |
936 0710 220F lsl r18 |
937 0712 331F rol r19 |
938 0714 220F lsl r18 |
939 0716 331F rol r19 |
940 .L107: |
941 0718 3093 0000 sts (roll1.4)+1,r19 |
942 071c 2093 0000 sts roll1.4,r18 |
943 0720 2091 0000 lds r18,roll1.4 |
944 0724 3091 0000 lds r19,(roll1.4)+1 |
945 0728 C901 movw r24,r18 |
946 072a 37FD sbrc r19,7 |
947 072c 0796 adiw r24,7 |
948 .L90: |
949 072e 63E0 ldi r22,3 |
950 0730 9595 1: asr r25 |
951 0732 8795 ror r24 |
952 0734 6A95 dec r22 |
953 0736 E1F7 brne 1b |
954 0738 9093 0000 sts (AdWertRoll)+1,r25 |
955 073c 8093 0000 sts AdWertRoll,r24 |
956 0740 8091 0000 lds r24,roll_filter.7 |
957 0744 9091 0000 lds r25,(roll_filter.7)+1 |
958 0748 820F add r24,r18 |
959 074a 931F adc r25,r19 |
960 074c 97FD sbrc r25,7 |
961 074e 0196 adiw r24,1 |
962 .L91: |
963 0750 9595 asr r25 |
964 0752 8795 ror r24 |
965 0754 9093 0000 sts (roll_filter.7)+1,r25 |
966 0758 8093 0000 sts roll_filter.7,r24 |
967 075c 2091 0000 lds r18,AdNeutralRoll |
968 0760 3091 0000 lds r19,(AdNeutralRoll)+1 |
969 0764 821B sub r24,r18 |
970 0766 930B sbc r25,r19 |
971 0768 9093 0000 sts (HiResRoll)+1,r25 |
972 076c 8093 0000 sts HiResRoll,r24 |
973 0770 2091 0000 lds r18,AdWertRollFilter |
974 0774 3091 0000 lds r19,(AdWertRollFilter)+1 |
975 0778 8091 0000 lds r24,HiResRoll |
976 077c 9091 0000 lds r25,(HiResRoll)+1 |
977 0780 280F add r18,r24 |
978 0782 391F adc r19,r25 |
979 0784 37FF sbrs r19,7 |
980 0786 02C0 rjmp .L92 |
981 0788 2F5F subi r18,lo8(-(1)) |
982 078a 3F4F sbci r19,hi8(-(1)) |
983 .L92: |
984 078c 3595 asr r19 |
985 078e 2795 ror r18 |
986 0790 3093 0000 sts (AdWertRollFilter)+1,r19 |
987 0794 2093 0000 sts AdWertRollFilter,r18 |
988 .L114: |
989 0798 83E0 ldi r24,lo8(3) |
990 079a 2FC1 rjmp .L109 |
991 .L93: |
992 079c 1092 0000 sts state.1,__zero_reg__ |
993 07a0 81E0 ldi r24,lo8(1) |
994 07a2 8093 0000 sts AdReady,r24 |
995 07a6 8091 0000 lds r24,ZaehlMessungen |
996 07aa 9091 0000 lds r25,(ZaehlMessungen)+1 |
997 07ae 0196 adiw r24,1 |
998 07b0 9093 0000 sts (ZaehlMessungen)+1,r25 |
999 07b4 8093 0000 sts ZaehlMessungen,r24 |
1000 .L94: |
1001 07b8 8091 7800 lds r24,120 |
1002 07bc 9091 7900 lds r25,(120)+1 |
1003 07c0 9093 0000 sts (MessLuftdruck)+1,r25 |
1004 07c4 8093 0000 sts MessLuftdruck,r24 |
1005 07c8 8091 0000 lds r24,MessLuftdruck |
1006 07cc 9091 0000 lds r25,(MessLuftdruck)+1 |
1007 07d0 AA27 clr r26 |
1008 07d2 BB27 clr r27 |
1009 07d4 A090 0000 lds r10,tmpLuftdruck.10 |
1010 07d8 B090 0000 lds r11,(tmpLuftdruck.10)+1 |
1011 07dc C090 0000 lds r12,(tmpLuftdruck.10)+2 |
1012 07e0 D090 0000 lds r13,(tmpLuftdruck.10)+3 |
1013 07e4 A80E add r10,r24 |
1014 07e6 B91E adc r11,r25 |
1015 07e8 CA1E adc r12,r26 |
1016 07ea DB1E adc r13,r27 |
1017 07ec A092 0000 sts tmpLuftdruck.10,r10 |
1018 07f0 B092 0000 sts (tmpLuftdruck.10)+1,r11 |
1019 07f4 C092 0000 sts (tmpLuftdruck.10)+2,r12 |
1020 07f8 D092 0000 sts (tmpLuftdruck.10)+3,r13 |
1021 07fc 8091 0000 lds r24,messanzahl_Druck.11 |
1022 0800 8F5F subi r24,lo8(-(1)) |
1023 0802 8093 0000 sts messanzahl_Druck.11,r24 |
1024 0806 8231 cpi r24,lo8(18) |
1025 0808 08F4 brsh .+2 |
1026 080a F6C0 rjmp .L108 |
1027 080c 8091 0000 lds r24,Luftdruck |
1028 0810 9091 0000 lds r25,(Luftdruck)+1 |
1029 0814 A091 0000 lds r26,(Luftdruck)+2 |
1030 0818 B091 0000 lds r27,(Luftdruck)+3 |
1031 081c 7C01 movw r14,r24 |
1032 081e 8D01 movw r16,r26 |
1033 0820 23E0 ldi r18,3 |
1034 0822 EE0C 1: lsl r14 |
1035 0824 FF1C rol r15 |
1036 0826 001F rol r16 |
1037 0828 111F rol r17 |
1038 082a 2A95 dec r18 |
1039 082c D1F7 brne 1b |
1040 082e E81A sub r14,r24 |
1041 0830 F90A sbc r15,r25 |
1042 0832 0A0B sbc r16,r26 |
1043 0834 1B0B sbc r17,r27 |
1044 0836 EA0C add r14,r10 |
1045 0838 FB1C adc r15,r11 |
1046 083a 0C1D adc r16,r12 |
1047 083c 1D1D adc r17,r13 |
1048 083e 8091 0000 lds r24,ExpandBaro |
1049 0842 9927 clr r25 |
1050 0844 87FD sbrc r24,7 |
1051 0846 9095 com r25 |
1052 0848 A92F mov r26,r25 |
1053 084a B92F mov r27,r25 |
1054 084c BC01 movw r22,r24 |
1055 084e CD01 movw r24,r26 |
1056 0850 26EC ldi r18,lo8(9414) |
1057 0852 34E2 ldi r19,hi8(9414) |
1058 0854 40E0 ldi r20,hlo8(9414) |
1059 0856 50E0 ldi r21,hhi8(9414) |
1060 0858 0E94 0000 call __mulsi3 |
1061 085c DC01 movw r26,r24 |
1062 085e CB01 movw r24,r22 |
1063 0860 E81A sub r14,r24 |
1064 0862 F90A sbc r15,r25 |
1065 0864 0A0B sbc r16,r26 |
1066 0866 1B0B sbc r17,r27 |
1067 0868 D801 movw r26,r16 |
1068 086a C701 movw r24,r14 |
1069 086c 0496 adiw r24,4 |
1070 086e A11D adc r26,__zero_reg__ |
1071 0870 B11D adc r27,__zero_reg__ |
1072 0872 B7FF sbrs r27,7 |
1073 0874 05C0 rjmp .L96 |
1074 0876 D801 movw r26,r16 |
1075 0878 C701 movw r24,r14 |
1076 087a 0B96 adiw r24,11 |
1077 087c A11D adc r26,__zero_reg__ |
1078 087e B11D adc r27,__zero_reg__ |
1079 .L96: |
1080 0880 13E0 ldi r17,3 |
1081 0882 B595 1: asr r27 |
1082 0884 A795 ror r26 |
1083 0886 9795 ror r25 |
1084 0888 8795 ror r24 |
1085 088a 1A95 dec r17 |
1086 088c D1F7 brne 1b |
1087 088e 8093 0000 sts Luftdruck,r24 |
1088 0892 9093 0000 sts (Luftdruck)+1,r25 |
1089 0896 A093 0000 sts (Luftdruck)+2,r26 |
1090 089a B093 0000 sts (Luftdruck)+3,r27 |
1091 089e 8091 0000 lds r24,StartLuftdruck |
1092 08a2 9091 0000 lds r25,(StartLuftdruck)+1 |
1093 08a6 7C01 movw r14,r24 |
1094 08a8 0027 clr r16 |
1095 08aa F7FC sbrc r15,7 |
1096 08ac 0095 com r16 |
1097 08ae 102F mov r17,r16 |
1098 08b0 8091 0000 lds r24,Luftdruck |
1099 08b4 9091 0000 lds r25,(Luftdruck)+1 |
1100 08b8 A091 0000 lds r26,(Luftdruck)+2 |
1101 08bc B091 0000 lds r27,(Luftdruck)+3 |
1102 08c0 E81A sub r14,r24 |
1103 08c2 F90A sbc r15,r25 |
1104 08c4 0A0B sbc r16,r26 |
1105 08c6 1B0B sbc r17,r27 |
1106 08c8 E092 0000 sts HoehenWert,r14 |
1107 08cc F092 0000 sts (HoehenWert)+1,r15 |
1108 08d0 0093 0000 sts (HoehenWert)+2,r16 |
1109 08d4 1093 0000 sts (HoehenWert)+3,r17 |
1110 08d8 2091 0000 lds r18,SummenHoehe |
1111 08dc 3091 0000 lds r19,(SummenHoehe)+1 |
1112 08e0 4091 0000 lds r20,(SummenHoehe)+2 |
1113 08e4 5091 0000 lds r21,(SummenHoehe)+3 |
1114 08e8 57FF sbrs r21,7 |
1115 08ea 04C0 rjmp .L97 |
1116 08ec 215F subi r18,lo8(-(15)) |
1117 08ee 3F4F sbci r19,hi8(-(15)) |
1118 08f0 4F4F sbci r20,hlo8(-(15)) |
1119 08f2 5F4F sbci r21,hhi8(-(15)) |
1120 .L97: |
1121 08f4 F4E0 ldi r31,4 |
1122 08f6 5595 1: asr r21 |
1123 08f8 4795 ror r20 |
1124 08fa 3795 ror r19 |
1125 08fc 2795 ror r18 |
1126 08fe FA95 dec r31 |
1127 0900 D1F7 brne 1b |
1128 0902 8091 0000 lds r24,SummenHoehe |
1129 0906 9091 0000 lds r25,(SummenHoehe)+1 |
1130 090a A091 0000 lds r26,(SummenHoehe)+2 |
1131 090e B091 0000 lds r27,(SummenHoehe)+3 |
1132 0912 821B sub r24,r18 |
1133 0914 930B sbc r25,r19 |
1134 0916 A40B sbc r26,r20 |
1135 0918 B50B sbc r27,r21 |
1136 091a 8093 0000 sts SummenHoehe,r24 |
1137 091e 9093 0000 sts (SummenHoehe)+1,r25 |
1138 0922 A093 0000 sts (SummenHoehe)+2,r26 |
1139 0926 B093 0000 sts (SummenHoehe)+3,r27 |
1140 092a 8091 0000 lds r24,SummenHoehe |
1141 092e 9091 0000 lds r25,(SummenHoehe)+1 |
1142 0932 A091 0000 lds r26,(SummenHoehe)+2 |
1143 0936 B091 0000 lds r27,(SummenHoehe)+3 |
1144 093a 8E0D add r24,r14 |
1145 093c 9F1D adc r25,r15 |
1146 093e A01F adc r26,r16 |
1147 0940 B11F adc r27,r17 |
1148 0942 8093 0000 sts SummenHoehe,r24 |
1149 0946 9093 0000 sts (SummenHoehe)+1,r25 |
1150 094a A093 0000 sts (SummenHoehe)+2,r26 |
1151 094e B093 0000 sts (SummenHoehe)+3,r27 |
1152 0952 8091 0000 lds r24,VarioMeter |
1153 0956 9091 0000 lds r25,(VarioMeter)+1 |
1154 095a AC01 movw r20,r24 |
1155 095c E5E0 ldi r30,5 |
1156 095e 440F 1: lsl r20 |
1157 0960 551F rol r21 |
1158 0962 EA95 dec r30 |
1159 0964 E1F7 brne 1b |
1160 0966 481B sub r20,r24 |
1161 0968 590B sbc r21,r25 |
1162 096a 8091 0000 lds r24,SummenHoehe |
1163 096e 9091 0000 lds r25,(SummenHoehe)+1 |
1164 0972 A091 0000 lds r26,(SummenHoehe)+2 |
1165 0976 B091 0000 lds r27,(SummenHoehe)+3 |
1166 097a B7FF sbrs r27,7 |
1167 097c 03C0 rjmp .L98 |
1168 097e 0F96 adiw r24,15 |
1169 0980 A11D adc r26,__zero_reg__ |
1170 0982 B11D adc r27,__zero_reg__ |
1171 .L98: |
1172 0984 74E0 ldi r23,4 |
1173 0986 B595 1: asr r27 |
1174 0988 A795 ror r26 |
1175 098a 9795 ror r25 |
1176 098c 8795 ror r24 |
1177 098e 7A95 dec r23 |
1178 0990 D1F7 brne 1b |
1179 0992 2091 0000 lds r18,HoehenWert |
1180 0996 3091 0000 lds r19,(HoehenWert)+1 |
1181 099a 281B sub r18,r24 |
1182 099c 390B sbc r19,r25 |
1183 099e 63E0 ldi r22,3 |
1184 09a0 220F 1: lsl r18 |
1185 09a2 331F rol r19 |
1186 09a4 6A95 dec r22 |
1187 09a6 E1F7 brne 1b |
1188 09a8 240F add r18,r20 |
1189 09aa 351F adc r19,r21 |
1190 09ac 37FF sbrs r19,7 |
1191 09ae 02C0 rjmp .L99 |
1192 09b0 215E subi r18,lo8(-(31)) |
1193 09b2 3F4F sbci r19,hi8(-(31)) |
1194 .L99: |
1195 09b4 45E0 ldi r20,5 |
1196 09b6 3595 1: asr r19 |
1197 09b8 2795 ror r18 |
1198 09ba 4A95 dec r20 |
1199 09bc E1F7 brne 1b |
1200 09be 3093 0000 sts (VarioMeter)+1,r19 |
1201 09c2 2093 0000 sts VarioMeter,r18 |
1202 09c6 D601 movw r26,r12 |
1203 09c8 C501 movw r24,r10 |
1204 09ca D7FE sbrs r13,7 |
1205 09cc 03C0 rjmp .L100 |
1206 09ce 0196 adiw r24,1 |
1207 09d0 A11D adc r26,__zero_reg__ |
1208 09d2 B11D adc r27,__zero_reg__ |
1209 .L100: |
1210 09d4 B595 asr r27 |
1211 09d6 A795 ror r26 |
1212 09d8 9795 ror r25 |
1213 09da 8795 ror r24 |
1214 09dc 8093 0000 sts tmpLuftdruck.10,r24 |
1215 09e0 9093 0000 sts (tmpLuftdruck.10)+1,r25 |
1216 09e4 A093 0000 sts (tmpLuftdruck.10)+2,r26 |
1217 09e8 B093 0000 sts (tmpLuftdruck.10)+3,r27 |
1218 09ec 89E0 ldi r24,lo8(9) |
1219 09ee 8093 0000 sts messanzahl_Druck.11,r24 |
1220 09f2 02C0 rjmp .L108 |
1221 .L101: |
1222 09f4 1092 0000 sts state.1,__zero_reg__ |
1223 .L108: |
1224 09f8 82E0 ldi r24,lo8(2) |
1225 .L109: |
1226 09fa 8093 0000 sts kanal.0,r24 |
1227 .L52: |
1228 09fe 8091 0000 lds r24,kanal.0 |
1229 0a02 8093 7C00 sts 124,r24 |
1230 0a06 8091 0000 lds r24,state.1 |
1231 0a0a 8823 tst r24 |
1232 0a0c 19F0 breq .L51 |
1233 0a0e 8FEC ldi r24,lo8(-49) |
1234 0a10 8093 7A00 sts 122,r24 |
1235 .L51: |
1236 /* epilogue: frame size=0 */ |
1237 0a14 FF91 pop r31 |
1238 0a16 EF91 pop r30 |
1239 0a18 BF91 pop r27 |
1240 0a1a AF91 pop r26 |
1241 0a1c 9F91 pop r25 |
1242 0a1e 8F91 pop r24 |
1243 0a20 7F91 pop r23 |
1244 0a22 6F91 pop r22 |
1245 0a24 5F91 pop r21 |
1246 0a26 4F91 pop r20 |
1247 0a28 3F91 pop r19 |
1248 0a2a 2F91 pop r18 |
1249 0a2c 1F91 pop r17 |
1250 0a2e 0F91 pop r16 |
1251 0a30 FF90 pop r15 |
1252 0a32 EF90 pop r14 |
1253 0a34 DF90 pop r13 |
1254 0a36 CF90 pop r12 |
1255 0a38 BF90 pop r11 |
1256 0a3a AF90 pop r10 |
1257 0a3c 0F90 pop __tmp_reg__ |
1258 0a3e 0FBE out __SREG__,__tmp_reg__ |
1259 0a40 0F90 pop __tmp_reg__ |
1260 0a42 1F90 pop __zero_reg__ |
1261 0a44 1895 reti |
1262 /* epilogue end (size=25) */ |
1263 /* function __vector_24 size 1014 (964) */ |
1265 .comm Aktuell_Nick,2,1 |
1266 .comm Aktuell_Roll,2,1 |
1267 .comm Aktuell_Gier,2,1 |
1268 .comm Aktuell_ax,2,1 |
1269 .comm Aktuell_ay,2,1 |
1270 .comm Aktuell_az,2,1 |
1271 .comm DruckOffsetSetting,1,1 |
1272 .comm StartLuftdruck,2,1 |
1273 .comm NeutralAccZ_float,4,1 |
1274 /* File "analog.c": code 1350 = 0x0546 (1285), prologues 31, epilogues 34 */ |
DEFINED SYMBOLS |
*ABS*:00000000 analog.c |
C:\Users\Arthur-P\AppData\Local\Temp/cca4aaaa.s:3 *ABS*:0000003f __SREG__ |
C:\Users\Arthur-P\AppData\Local\Temp/cca4aaaa.s:4 *ABS*:0000003e __SP_H__ |
C:\Users\Arthur-P\AppData\Local\Temp/cca4aaaa.s:5 *ABS*:0000003d __SP_L__ |
C:\Users\Arthur-P\AppData\Local\Temp/cca4aaaa.s:6 *ABS*:00000000 __tmp_reg__ |
C:\Users\Arthur-P\AppData\Local\Temp/cca4aaaa.s:7 *ABS*:00000001 __zero_reg__ |
C:\Users\Arthur-P\AppData\Local\Temp/cca4aaaa.s:14 .data:00000000 AdReady |
C:\Users\Arthur-P\AppData\Local\Temp/cca4aaaa.s:19 .data:00000001 AnalogOffsetGier |
C:\Users\Arthur-P\AppData\Local\Temp/cca4aaaa.s:24 .data:00000002 AnalogOffsetRoll |
C:\Users\Arthur-P\AppData\Local\Temp/cca4aaaa.s:29 .data:00000003 AnalogOffsetNick |
C:\Users\Arthur-P\AppData\Local\Temp/cca4aaaa.s:36 .bss:00000000 ZaehlMessungen |
C:\Users\Arthur-P\AppData\Local\Temp/cca4aaaa.s:42 .bss:00000002 VarioMeter |
C:\Users\Arthur-P\AppData\Local\Temp/cca4aaaa.s:48 .bss:00000004 ExpandBaro |
C:\Users\Arthur-P\AppData\Local\Temp/cca4aaaa.s:54 .data:00000004 MessLuftdruck |
C:\Users\Arthur-P\AppData\Local\Temp/cca4aaaa.s:61 .bss:00000005 SummenHoehe |
C:\Users\Arthur-P\AppData\Local\Temp/cca4aaaa.s:67 .data:00000006 Luftdruck |
C:\Users\Arthur-P\AppData\Local\Temp/cca4aaaa.s:74 .bss:00000009 messanzahl_AccHoch |
C:\Users\Arthur-P\AppData\Local\Temp/cca4aaaa.s:80 .bss:0000000a AdWertAccHoch |
C:\Users\Arthur-P\AppData\Local\Temp/cca4aaaa.s:86 .bss:0000000c AdWertAccNick |
C:\Users\Arthur-P\AppData\Local\Temp/cca4aaaa.s:92 .bss:0000000e AdWertAccRoll |
C:\Users\Arthur-P\AppData\Local\Temp/cca4aaaa.s:98 .bss:00000010 AdWertGier |
C:\Users\Arthur-P\AppData\Local\Temp/cca4aaaa.s:104 .bss:00000012 AdWertRoll |
C:\Users\Arthur-P\AppData\Local\Temp/cca4aaaa.s:110 .bss:00000014 AdWertNick |
C:\Users\Arthur-P\AppData\Local\Temp/cca4aaaa.s:116 .data:0000000a HiResRoll |
C:\Users\Arthur-P\AppData\Local\Temp/cca4aaaa.s:121 .data:0000000c HiResNick |
C:\Users\Arthur-P\AppData\Local\Temp/cca4aaaa.s:128 .bss:00000016 AdWertGierFilter |
C:\Users\Arthur-P\AppData\Local\Temp/cca4aaaa.s:134 .bss:00000018 AdWertRollFilter |
C:\Users\Arthur-P\AppData\Local\Temp/cca4aaaa.s:140 .bss:0000001a AdWertNickFilter |
C:\Users\Arthur-P\AppData\Local\Temp/cca4aaaa.s:146 .data:0000000e UBat |
C:\Users\Arthur-P\AppData\Local\Temp/cca4aaaa.s:151 .text:00000000 ADC_Init |
C:\Users\Arthur-P\AppData\Local\Temp/cca4aaaa.s:165 .progmem.data:00000000 __c.13 |
C:\Users\Arthur-P\AppData\Local\Temp/cca4aaaa.s:170 .text:0000000c SucheLuftruckOffset |
*COM*:00000001 DruckOffsetSetting |
C:\Users\Arthur-P\AppData\Local\Temp/cca4aaaa.s:258 .progmem.data:00000002 __c.12 |
C:\Users\Arthur-P\AppData\Local\Temp/cca4aaaa.s:263 .text:000000c0 SucheGyroOffset |
.bss:0000001c kanal.0 |
C:\Users\Arthur-P\AppData\Local\Temp/cca4aaaa.s:466 .bss:0000001d state.1 |
C:\Users\Arthur-P\AppData\Local\Temp/cca4aaaa.s:467 .bss:0000001e subcount.2 |
C:\Users\Arthur-P\AppData\Local\Temp/cca4aaaa.s:468 .bss:0000001f gier1.3 |
C:\Users\Arthur-P\AppData\Local\Temp/cca4aaaa.s:469 .bss:00000021 roll1.4 |
C:\Users\Arthur-P\AppData\Local\Temp/cca4aaaa.s:470 .bss:00000023 nick1.5 |
C:\Users\Arthur-P\AppData\Local\Temp/cca4aaaa.s:471 .bss:00000025 nick_filter.6 |
C:\Users\Arthur-P\AppData\Local\Temp/cca4aaaa.s:472 .bss:00000027 roll_filter.7 |
C:\Users\Arthur-P\AppData\Local\Temp/cca4aaaa.s:473 .bss:00000029 accy.8 |
C:\Users\Arthur-P\AppData\Local\Temp/cca4aaaa.s:474 .bss:0000002b accx.9 |
C:\Users\Arthur-P\AppData\Local\Temp/cca4aaaa.s:475 .bss:0000002d tmpLuftdruck.10 |
C:\Users\Arthur-P\AppData\Local\Temp/cca4aaaa.s:476 .bss:00000031 messanzahl_Druck.11 |
C:\Users\Arthur-P\AppData\Local\Temp/cca4aaaa.s:480 .text:0000028e __vector_24 |
*COM*:00000002 Aktuell_ay |
*COM*:00000002 Aktuell_ax |
*COM*:00000002 Aktuell_az |
*COM*:00000002 StartLuftdruck |
*COM*:00000002 Aktuell_Nick |
*COM*:00000002 Aktuell_Roll |
*COM*:00000002 Aktuell_Gier |
*COM*:00000004 NeutralAccZ_float |
UNDEFINED SYMBOLS |
__do_copy_data |
__do_clear_bss |
GetParamByte |
Delay_ms_Mess |
uart_putchar |
_printf_P |
SetParamByte |
EE_Parameter |
VersionInfo |
SetDelay |
twi_state |
BLFlags |
CheckDelay |
__tablejump2__ |
NeutralAccY |
NeutralAccX |
__udivmodhi4 |
NeutralAccZ |
modell_fliegt |
Mess_Integral_Hoch |
PlatinenVersion |
AdNeutralNick |
AdNeutralRoll |
__mulsi3 |
HoehenWert |
/branches/V0.80d-Arthur-P/capacity.c |
---|
0,0 → 1,143 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) Holger Buss, Ingo Busker |
// + Thanks to Marcel Haller (Lion) for the nice idea and first implementation |
// + Nur für den privaten Gebrauch |
// + www.MikroKopter.com |
// + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
// + bzgl. der Nutzungsbedingungen aufzunehmen. |
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
// + Verkauf von Luftbildaufnahmen, usw. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
// + eindeutig als Ursprung verlinkt werden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
// + Benutzung auf eigene Gefahr |
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
// + mit unserer Zustimmung zulässig |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
// + this list of conditions and the following disclaimer. |
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
// + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
// + POSSIBILITY OF SUCH DAMAGE. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#include "capacity.h" |
#include "twimaster.h" |
#include "main.h" |
#include "timer0.h" |
#include "analog.h" |
#define CAPACITY_UPDATE_INTERVAL 10 // 10 ms |
#define FC_OFFSET_CURRENT 5 // calculate with a current of 0.5A |
#define BL_OFFSET_CURRENT 2 // calculate with a current of 0.2A |
// global varialbles |
unsigned short update_timer = 0; |
Capacity_t Capacity; |
// initialize capacity calculation |
void Capacity_Init(void) |
{ |
Capacity.ActualCurrent = 0; |
Capacity.UsedCapacity = 0; |
Capacity.ActualPower = 0; |
Capacity.MinOfMaxPWM = 0; |
update_timer = SetDelay(CAPACITY_UPDATE_INTERVAL); |
} |
// called in main loop at a regular interval |
void Capacity_Update(void) |
{ |
unsigned short Current, SetSum; // max value will be 255 * 12 = 3060 |
static unsigned short SubCounter = 0; |
static unsigned short CurrentOffset = 0; |
static unsigned long SumCurrentOffset = 0; |
unsigned char i, NumOfMotors, MinOfMaxPWM; |
if(CheckDelay(update_timer)) |
{ |
update_timer += CAPACITY_UPDATE_INTERVAL; // do not use SetDelay to avoid timing leaks |
// determine sum of all present BL currents and setpoints |
Current = 0; |
SetSum = 0; |
NumOfMotors = 0; |
MinOfMaxPWM = 255; |
for(i = 0; i < MAX_MOTORS; i++) |
{ |
if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) |
{ |
NumOfMotors++; |
Current += (unsigned int)(Motor[i].Current); |
SetSum += (unsigned int)(Motor[i].SetPoint); |
if(Motor[i].MaxPWM < MinOfMaxPWM) MinOfMaxPWM = Motor[i].MaxPWM; |
} |
} |
Capacity.MinOfMaxPWM = MinOfMaxPWM; |
if(SetSum == 0) // if all setpoints are 0 |
{ // determine offsets of motor currents |
#define CURRENT_AVERAGE 8 // 8bit = 256 * 10 ms = 2.56s average time |
CurrentOffset = (unsigned int)(SumCurrentOffset>>CURRENT_AVERAGE); |
SumCurrentOffset -= CurrentOffset; |
SumCurrentOffset += Current; |
// after averaging set current to static offset |
Current = FC_OFFSET_CURRENT; |
} |
else // some motors are running, includes also motor test condition, where "MotorRunning" is false |
{ // subtract offset |
if(Current > CurrentOffset) Current -= CurrentOffset; |
else Current = 0; |
// add the FC and BL Offsets |
Current += FC_OFFSET_CURRENT + NumOfMotors * BL_OFFSET_CURRENT; |
} |
// update actual Current |
Capacity.ActualCurrent = Current; |
// update actual Power |
if(Current < 255) Capacity.ActualPower = (UBat * Current) / 100; // in W higher resolution |
else Capacity.ActualPower = (UBat * (Current/4)) / 25; // in W |
// update used capacity |
SubCounter += Current; |
// 100mA * 1ms * CAPACITY_UPDATE_INTERVAL = 1 mA * 100 ms * CAPACITY_UPDATE_INTERVAL |
// = 1mA * 0.1s * CAPACITY_UPDATE_INTERVAL = 1mA * 1min / (600 / CAPACITY_UPDATE_INTERVAL) |
// = 1mAh / (36000 / CAPACITY_UPDATE_INTERVAL) |
#define SUB_COUNTER_LIMIT (36000 / CAPACITY_UPDATE_INTERVAL) |
if(SubCounter > SUB_COUNTER_LIMIT) |
{ |
Capacity.UsedCapacity++; // we have one mAh more |
SubCounter -= SUB_COUNTER_LIMIT; // keep the remaining sub part |
} |
} // EOF check delay update timer |
} |
/branches/V0.80d-Arthur-P/capacity.d |
---|
0,0 → 1,3 |
capacity.o capacity.d : capacity.c capacity.h twimaster.h main.h old_macros.h \ |
printf_P.h timer0.h uart.h analog.h menu.h rc.h fc.h gps.h spi.h led.h \ |
spektrum.h eeprom.h libfc.h debug.h |
/branches/V0.80d-Arthur-P/capacity.h |
---|
0,0 → 1,18 |
#ifndef _CAPACITY_H |
#define _CAPACITY_H |
typedef struct |
{ |
unsigned short ActualCurrent; // in 0.1A Steps |
unsigned short ActualPower; // in 0.1W |
unsigned short UsedCapacity; // in mAh |
unsigned char MinOfMaxPWM; // BL Power Limit |
} __attribute__((packed)) Capacity_t; |
extern Capacity_t Capacity; |
void Capacity_Init(void); |
void Capacity_Update(void); |
#endif //_CAPACITY_H |
/branches/V0.80d-Arthur-P/capacity.lst |
---|
0,0 → 1,229 |
1 .file "capacity.c" |
2 .arch atmega644p |
3 __SREG__ = 0x3f |
4 __SP_H__ = 0x3e |
5 __SP_L__ = 0x3d |
6 __tmp_reg__ = 0 |
7 __zero_reg__ = 1 |
8 .global __do_copy_data |
9 .global __do_clear_bss |
10 .global update_timer |
11 .global update_timer |
12 .section .bss |
15 update_timer: |
16 0000 0000 .skip 2,0 |
17 .text |
18 .global Capacity_Init |
20 Capacity_Init: |
21 /* prologue: frame size=0 */ |
22 /* prologue end (size=0) */ |
23 0000 1092 0000 sts (Capacity)+1,__zero_reg__ |
24 0004 1092 0000 sts Capacity,__zero_reg__ |
25 0008 1092 0000 sts (Capacity+4)+1,__zero_reg__ |
26 000c 1092 0000 sts Capacity+4,__zero_reg__ |
27 0010 1092 0000 sts (Capacity+2)+1,__zero_reg__ |
28 0014 1092 0000 sts Capacity+2,__zero_reg__ |
29 0018 1092 0000 sts Capacity+6,__zero_reg__ |
30 001c 8AE0 ldi r24,lo8(10) |
31 001e 90E0 ldi r25,hi8(10) |
32 0020 0E94 0000 call SetDelay |
33 0024 9093 0000 sts (update_timer)+1,r25 |
34 0028 8093 0000 sts update_timer,r24 |
35 /* epilogue: frame size=0 */ |
36 002c 0895 ret |
37 /* epilogue end (size=1) */ |
38 /* function Capacity_Init size 23 (22) */ |
40 .lcomm SubCounter.0,2 |
41 .lcomm CurrentOffset.1,2 |
42 .lcomm SumCurrentOffset.2,4 |
43 .global Capacity_Update |
45 Capacity_Update: |
46 /* prologue: frame size=0 */ |
47 002e CF93 push r28 |
48 0030 DF93 push r29 |
49 /* prologue end (size=2) */ |
50 0032 8091 0000 lds r24,update_timer |
51 0036 9091 0000 lds r25,(update_timer)+1 |
52 003a 0E94 0000 call CheckDelay |
53 003e 8823 tst r24 |
54 0040 09F4 brne .+2 |
55 0042 AFC0 rjmp .L2 |
56 0044 8091 0000 lds r24,update_timer |
57 0048 9091 0000 lds r25,(update_timer)+1 |
58 004c 0A96 adiw r24,10 |
59 004e 9093 0000 sts (update_timer)+1,r25 |
60 0052 8093 0000 sts update_timer,r24 |
61 0056 E0E0 ldi r30,lo8(0) |
62 0058 F0E0 ldi r31,hi8(0) |
63 005a 9F01 movw r18,r30 |
64 005c 90E0 ldi r25,lo8(0) |
65 005e 5FEF ldi r21,lo8(-1) |
66 0060 A0E0 ldi r26,lo8(Motor) |
67 0062 B0E0 ldi r27,hi8(Motor) |
68 0064 4BE0 ldi r20,lo8(11) |
69 .L9: |
70 0066 ED01 movw r28,r26 |
71 0068 8B81 ldd r24,Y+3 |
72 006a 87FF sbrs r24,7 |
73 006c 0BC0 rjmp .L6 |
74 006e 9F5F subi r25,lo8(-(1)) |
75 0070 8D81 ldd r24,Y+5 |
76 0072 E80F add r30,r24 |
77 0074 F11D adc r31,__zero_reg__ |
78 0076 8981 ldd r24,Y+1 |
79 0078 280F add r18,r24 |
80 007a 311D adc r19,__zero_reg__ |
81 007c 8E81 ldd r24,Y+6 |
82 007e 8517 cp r24,r21 |
83 0080 08F4 brsh .L6 |
84 0082 582F mov r21,r24 |
85 .L6: |
86 0084 4150 subi r20,lo8(-(-1)) |
87 0086 1896 adiw r26,8 |
88 0088 47FF sbrs r20,7 |
89 008a EDCF rjmp .L9 |
90 008c 5093 0000 sts Capacity+6,r21 |
91 0090 232B or r18,r19 |
92 0092 41F5 brne .L10 |
93 0094 2091 0000 lds r18,SumCurrentOffset.2 |
94 0098 3091 0000 lds r19,(SumCurrentOffset.2)+1 |
95 009c 4091 0000 lds r20,(SumCurrentOffset.2)+2 |
96 00a0 5091 0000 lds r21,(SumCurrentOffset.2)+3 |
97 00a4 BB27 clr r27 |
98 00a6 A52F mov r26,r21 |
99 00a8 942F mov r25,r20 |
100 00aa 832F mov r24,r19 |
101 00ac 9093 0000 sts (CurrentOffset.1)+1,r25 |
102 00b0 8093 0000 sts CurrentOffset.1,r24 |
103 00b4 AA27 clr r26 |
104 00b6 BB27 clr r27 |
105 00b8 281B sub r18,r24 |
106 00ba 390B sbc r19,r25 |
107 00bc 4A0B sbc r20,r26 |
108 00be 5B0B sbc r21,r27 |
109 00c0 CF01 movw r24,r30 |
110 00c2 AA27 clr r26 |
111 00c4 BB27 clr r27 |
112 00c6 280F add r18,r24 |
113 00c8 391F adc r19,r25 |
114 00ca 4A1F adc r20,r26 |
115 00cc 5B1F adc r21,r27 |
116 00ce 2093 0000 sts SumCurrentOffset.2,r18 |
117 00d2 3093 0000 sts (SumCurrentOffset.2)+1,r19 |
118 00d6 4093 0000 sts (SumCurrentOffset.2)+2,r20 |
119 00da 5093 0000 sts (SumCurrentOffset.2)+3,r21 |
120 00de E5E0 ldi r30,lo8(5) |
121 00e0 F0E0 ldi r31,hi8(5) |
122 00e2 13C0 rjmp .L11 |
123 .L10: |
124 00e4 2091 0000 lds r18,CurrentOffset.1 |
125 00e8 3091 0000 lds r19,(CurrentOffset.1)+1 |
126 00ec 2E17 cp r18,r30 |
127 00ee 3F07 cpc r19,r31 |
128 00f0 18F4 brsh .L12 |
129 00f2 E21B sub r30,r18 |
130 00f4 F30B sbc r31,r19 |
131 00f6 02C0 rjmp .L13 |
132 .L12: |
133 00f8 E0E0 ldi r30,lo8(0) |
134 00fa F0E0 ldi r31,hi8(0) |
135 .L13: |
136 00fc 892F mov r24,r25 |
137 00fe 9927 clr r25 |
138 0100 880F add r24,r24 |
139 0102 991F adc r25,r25 |
140 0104 E80F add r30,r24 |
141 0106 F91F adc r31,r25 |
142 0108 3596 adiw r30,5 |
143 .L11: |
144 010a F093 0000 sts (Capacity)+1,r31 |
145 010e E093 0000 sts Capacity,r30 |
146 0112 EF3F cpi r30,255 |
147 0114 F105 cpc r31,__zero_reg__ |
148 0116 78F4 brsh .L14 |
149 0118 8091 0000 lds r24,UBat |
150 011c 9091 0000 lds r25,(UBat)+1 |
151 0120 8E9F mul r24,r30 |
152 0122 9001 movw r18,r0 |
153 0124 8F9F mul r24,r31 |
154 0126 300D add r19,r0 |
155 0128 9E9F mul r25,r30 |
156 012a 300D add r19,r0 |
157 012c 1124 clr r1 |
158 012e C901 movw r24,r18 |
159 0130 64E6 ldi r22,lo8(100) |
160 0132 70E0 ldi r23,hi8(100) |
161 0134 13C0 rjmp .L19 |
162 .L14: |
163 0136 CF01 movw r24,r30 |
164 0138 9695 lsr r25 |
165 013a 8795 ror r24 |
166 013c 9695 lsr r25 |
167 013e 8795 ror r24 |
168 0140 2091 0000 lds r18,UBat |
169 0144 3091 0000 lds r19,(UBat)+1 |
170 0148 289F mul r18,r24 |
171 014a A001 movw r20,r0 |
172 014c 299F mul r18,r25 |
173 014e 500D add r21,r0 |
174 0150 389F mul r19,r24 |
175 0152 500D add r21,r0 |
176 0154 1124 clr r1 |
177 0156 CA01 movw r24,r20 |
178 0158 69E1 ldi r22,lo8(25) |
179 015a 70E0 ldi r23,hi8(25) |
180 .L19: |
181 015c 0E94 0000 call __udivmodhi4 |
182 0160 7093 0000 sts (Capacity+2)+1,r23 |
183 0164 6093 0000 sts Capacity+2,r22 |
184 0168 2091 0000 lds r18,SubCounter.0 |
185 016c 3091 0000 lds r19,(SubCounter.0)+1 |
186 0170 2E0F add r18,r30 |
187 0172 3F1F adc r19,r31 |
188 0174 3093 0000 sts (SubCounter.0)+1,r19 |
189 0178 2093 0000 sts SubCounter.0,r18 |
190 017c 5EE0 ldi r21,hi8(3601) |
191 017e 2131 cpi r18,lo8(3601) |
192 0180 3507 cpc r19,r21 |
193 0182 78F0 brlo .L2 |
194 0184 8091 0000 lds r24,Capacity+4 |
195 0188 9091 0000 lds r25,(Capacity+4)+1 |
196 018c 0196 adiw r24,1 |
197 018e 9093 0000 sts (Capacity+4)+1,r25 |
198 0192 8093 0000 sts Capacity+4,r24 |
199 0196 2051 subi r18,lo8(-(-3600)) |
200 0198 3E40 sbci r19,hi8(-(-3600)) |
201 019a 3093 0000 sts (SubCounter.0)+1,r19 |
202 019e 2093 0000 sts SubCounter.0,r18 |
203 .L2: |
204 /* epilogue: frame size=0 */ |
205 01a2 DF91 pop r29 |
206 01a4 CF91 pop r28 |
207 01a6 0895 ret |
208 /* epilogue end (size=3) */ |
209 /* function Capacity_Update size 189 (184) */ |
211 .comm Capacity,7,1 |
212 /* File "capacity.c": code 212 = 0x00d4 ( 206), prologues 2, epilogues 4 */ |
DEFINED SYMBOLS |
*ABS*:00000000 capacity.c |
C:\Users\Arthur-P\AppData\Local\Temp/ccmoaaaa.s:3 *ABS*:0000003f __SREG__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccmoaaaa.s:4 *ABS*:0000003e __SP_H__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccmoaaaa.s:5 *ABS*:0000003d __SP_L__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccmoaaaa.s:6 *ABS*:00000000 __tmp_reg__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccmoaaaa.s:7 *ABS*:00000001 __zero_reg__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccmoaaaa.s:15 .bss:00000000 update_timer |
C:\Users\Arthur-P\AppData\Local\Temp/ccmoaaaa.s:20 .text:00000000 Capacity_Init |
*COM*:00000007 Capacity |
.bss:00000002 SubCounter.0 |
C:\Users\Arthur-P\AppData\Local\Temp/ccmoaaaa.s:40 .bss:00000004 CurrentOffset.1 |
C:\Users\Arthur-P\AppData\Local\Temp/ccmoaaaa.s:41 .bss:00000006 SumCurrentOffset.2 |
C:\Users\Arthur-P\AppData\Local\Temp/ccmoaaaa.s:45 .text:0000002e Capacity_Update |
UNDEFINED SYMBOLS |
__do_copy_data |
__do_clear_bss |
SetDelay |
CheckDelay |
Motor |
UBat |
__udivmodhi4 |
/branches/V0.80d-Arthur-P/debug.c |
---|
0,0 → 1,48 |
#include "main.h" |
#include "debug.h" |
#ifdef DEBUG // only include functions if DEBUG is defined in main.h |
#warning : "### DEBUG-Funktion aktiv ###" |
unsigned char Debug_BufPtr = 0; |
struct str_Debug tDebug; |
unsigned char SendDebugOutput = 0; |
// function called from _printf_P to output character |
void Debug_Putchar(char c) |
{ |
if (!SendDebugOutput) |
{ |
tDebug.Text[Debug_BufPtr++] = c; // copy character to buffer |
if (Debug_BufPtr > 30) Debug_BufPtr = 30; // avoid buffer overflow |
} |
} |
void DebugSend(unsigned char cmd) |
{ |
if (!SendDebugOutput) |
{ |
tDebug.Cmd = cmd; |
tDebug.Text[Debug_BufPtr] = '\0'; // end of text marker |
Debug_BufPtr = 0; // set bufferindex to 0 |
SendDebugOutput = 1; // set flag to trasmit data the next time in serial transmit function |
} |
} |
#endif |
/* |
add the following code block to the serial transmit function |
#ifdef DEBUG // only include functions if DEBUG is defined |
if(SendDebugOutput && UebertragungAbgeschlossen) |
{ |
SendOutData('0', FC_ADDRESS, 1, (unsigned char *) &tDebug, sizeof(tDebug)); |
SendDebugOutput = 0; |
} |
#endif |
*/ |
/branches/V0.80d-Arthur-P/debug.d |
---|
0,0 → 1,3 |
debug.o debug.d : debug.c main.h old_macros.h printf_P.h timer0.h uart.h analog.h \ |
twimaster.h menu.h rc.h fc.h gps.h spi.h led.h spektrum.h capacity.h \ |
eeprom.h libfc.h debug.h |
/branches/V0.80d-Arthur-P/debug.h |
---|
0,0 → 1,60 |
#ifndef _DEBUG_H |
#define _DEBUG_H |
// ---------------------------------------------- |
#define CMD_NONE 0x00 |
#define CMD_RAW_OUTPUT 0x01 |
#define CMD_ERROR_MSG 0x02 |
#define CMD_WARNING_MSG 0x04 |
#define CMD_GREEN_MSG 0x08 |
// debug console in MK-Tool can also handle ANSI ESC seq. |
#define ANSI_ATTRIBUTE_OFF "\033[0m" |
#define ANSI_BOLD "\033[1m" |
#define ANSI_UNDERSCORE "\033[4m" |
#define ANSI_BLINK "\033[5m" |
#define ANSI_INVERSE "\033[7m" |
#define ANSI_INVISIBLE "\033[8m" |
#define ANSI_COLOR_BLACK "\033[30m" |
#define ANSI_COLOR_RED "\033[31m" |
#define ANSI_COLOR_GREEN "\033[32m" |
#define ANSI_COLOR_YELLOW "\033[33m" |
#define ANSI_COLOR_BLUE "\033[34m" |
#define ANSI_COLOR_VIOLETT "\033[35m" |
#define ANSI_COLOR_KOBALTBLUE "\033[36m" |
#define ANSI_COLOR_WHITE "\033[37m" |
#define ANSI_CLEAR "\033[2J" |
#define ANSI_HOME "\033[H" |
// macros for easier use |
#ifdef DEBUG // only include functions if DEBUG is defined in main.h |
#define Debug(format, args...) { _printf_P(&Debug_Putchar, PSTR(format) , ## args); DebugSend(CMD_NONE); } |
#define Debug_Raw(format, args...) { _printf_P(&Debug_Putchar, PSTR(format) , ## args); DebugSend(CMD_RAW_OUTPUT); } |
#define Debug_Warning(format, args...) { _printf_P(&Debug_Putchar, PSTR(format) , ## args); DebugSend(CMD_WARNING_MSG); } |
#define Debug_Error(format, args...) { _printf_P(&Debug_Putchar, PSTR(format) , ## args); DebugSend(CMD_ERROR_MSG); } |
#define Debug_OK(format, args...) { _printf_P(&Debug_Putchar, PSTR(format) , ## args); DebugSend(CMD_GREEN_MSG); } |
struct str_Debug |
{ |
unsigned char Cmd; // bitcoded command |
char Text[32]; |
}; |
extern struct str_Debug tDebug; |
unsigned char SendDebugOutput; |
void Debug_Putchar(char c); |
void DebugSend(unsigned char cmd); |
#else // dummy macros (won't waste flash, if #DEBUG is disabled) |
#define Debug(format, args...) ; |
#define Debug_Raw(format, args...) ; |
#define Debug_Warning(format, args...) ; |
#define Debug_Error(format, args...) ; |
#define Debug_OK(format, args...) ; |
#endif |
// ---------------------------------------------- |
#endif |
/branches/V0.80d-Arthur-P/debug.lst |
---|
0,0 → 1,21 |
1 .file "debug.c" |
2 .arch atmega644p |
3 __SREG__ = 0x3f |
4 __SP_H__ = 0x3e |
5 __SP_L__ = 0x3d |
6 __tmp_reg__ = 0 |
7 __zero_reg__ = 1 |
8 .global __do_copy_data |
9 .global __do_clear_bss |
10 /* File "debug.c": code 0 = 0x0000 ( 0), prologues 0, epilogues 0 */ |
DEFINED SYMBOLS |
*ABS*:00000000 debug.c |
C:\Users\Arthur-P\AppData\Local\Temp/ccENaaaa.s:3 *ABS*:0000003f __SREG__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccENaaaa.s:4 *ABS*:0000003e __SP_H__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccENaaaa.s:5 *ABS*:0000003d __SP_L__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccENaaaa.s:6 *ABS*:00000000 __tmp_reg__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccENaaaa.s:7 *ABS*:00000001 __zero_reg__ |
UNDEFINED SYMBOLS |
__do_copy_data |
__do_clear_bss |
/branches/V0.80d-Arthur-P/eeprom.c |
---|
0,0 → 1,715 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) Holger Buss, Ingo Busker |
// + Nur für den privaten Gebrauch |
// + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
// + www.MikroKopter.com |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
// + bzgl. der Nutzungsbedingungen aufzunehmen. |
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
// + Verkauf von Luftbildaufnahmen, usw. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
// + eindeutig als Ursprung verlinkt werden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
// + Benutzung auf eigene Gefahr |
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
// + mit unserer Zustimmung zulässig |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
// + this list of conditions and the following disclaimer. |
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
// + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
// + POSSIBILITY OF SUCH DAMAGE. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Contant Values |
// + 0-250 -> normale Values |
// + 251 -> Poti1 |
// + 252 -> Poti2 |
// + 253 -> Poti3 |
// + 254 -> Poti4 |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#ifndef EEMEM |
#define EEMEM __attribute__ ((section (".eeprom"))) |
#endif |
#include <avr/eeprom.h> |
#include <string.h> |
#include "eeprom.h" |
#include "uart.h" |
#include "led.h" |
#include "main.h" |
#include "fc.h" |
#include "twimaster.h" |
paramset_t EE_Parameter; |
MixerTable_t Mixer; |
uint8_t RequiredMotors; |
uint8_t RAM_Checksum(uint8_t* pBuffer, uint16_t len) |
{ |
uint8_t crc = 0xAA; |
uint16_t i; |
for(i=0; i<len; i++) |
{ |
crc += pBuffer[i]; |
} |
return crc; |
} |
uint8_t EEProm_Checksum(uint16_t EEAddr, uint16_t len) |
{ |
uint8_t crc = 0xAA; |
uint16_t off; |
for(off=0; off<len; off++) |
{ |
crc += eeprom_read_byte((uint8_t*)(EEAddr + off));; |
} |
return crc; |
} |
void ParamSet_DefaultStickMapping(void) |
{ |
EE_Parameter.Kanalbelegung[K_GAS] = 1; |
EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
EE_Parameter.Kanalbelegung[K_NICK] = 3; |
EE_Parameter.Kanalbelegung[K_GIER] = 4; |
EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
EE_Parameter.Kanalbelegung[K_POTI3] = 7; |
EE_Parameter.Kanalbelegung[K_POTI4] = 8; |
EE_Parameter.Kanalbelegung[K_POTI5] = 9; |
EE_Parameter.Kanalbelegung[K_POTI6] = 10; |
EE_Parameter.Kanalbelegung[K_POTI7] = 11; |
EE_Parameter.Kanalbelegung[K_POTI8] = 12; |
} |
/***************************************************/ |
/* Default Values for parameter set 1 */ |
/***************************************************/ |
void ParamSet_DefaultSet1(void) // sport |
{ |
EE_Parameter.Revision = EEPARAM_REVISION; |
if(PlatinenVersion >= 20) |
{ |
EE_Parameter.Gyro_D = 10; |
EE_Parameter.Driftkomp = 0; |
EE_Parameter.GyroAccFaktor = 27; |
EE_Parameter.WinkelUmschlagNick = 78; |
EE_Parameter.WinkelUmschlagRoll = 78; |
} |
else |
{ |
EE_Parameter.Gyro_D = 3; |
EE_Parameter.Driftkomp = 32; |
EE_Parameter.GyroAccFaktor = 30; |
EE_Parameter.WinkelUmschlagNick = 85; |
EE_Parameter.WinkelUmschlagRoll = 85; |
} |
EE_Parameter.GlobalConfig = CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER; |
EE_Parameter.ExtraConfig = CFG2_HEIGHT_LIMIT | CFG2_VARIO_BEEP;// | CFG_SENSITIVE_RC |
EE_Parameter.Hoehe_MinGas = 30; |
EE_Parameter.MaxHoehe = 255; // Wert : 0-247 255 -> Poti1 |
EE_Parameter.Hoehe_P = 15; // Wert : 0-32 |
EE_Parameter.Luftdruck_D = 30; // Wert : 0-247 |
EE_Parameter.Hoehe_ACC_Wirkung = 00; // Wert : 0-247 |
EE_Parameter.Hoehe_HoverBand = 8; // Wert : 0-247 |
EE_Parameter.Hoehe_GPS_Z = 64; // Wert : 0-247 |
EE_Parameter.Hoehe_StickNeutralPoint = 0; // Wert : 0-247 (0 = Hover-Estimation) |
EE_Parameter.Hoehe_Verstaerkung = 20; // Wert : 0-50 |
EE_Parameter.Stick_P = 14; // Wert : 1-20 |
EE_Parameter.Stick_D = 16; // Wert : 0-20 |
EE_Parameter.Gier_P = 12; // Wert : 1-20 |
EE_Parameter.Gas_Min = 8; // Wert : 0-32 |
EE_Parameter.Gas_Max = 230; // Wert : 33-247 |
EE_Parameter.KompassWirkung = 128; // Wert : 0-247 |
EE_Parameter.Gyro_P = 80; // Wert : 0-247 |
EE_Parameter.Gyro_I = 150; // Wert : 0-247 |
EE_Parameter.Gyro_Gier_P = 80; // Wert : 0-247 |
EE_Parameter.Gyro_Gier_I = 150; // Wert : 0-247 |
EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
EE_Parameter.UnterspannungsWarnung = 33; // Wert : 0-247 ( Automatische Zellenerkennung bei < 50) |
EE_Parameter.NotGas = 45; // Wert : 0-247 // Gaswert bei Empangsverlust |
EE_Parameter.NotGasZeit = 90; // Wert : 0-247 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
EE_Parameter.I_Faktor = 32; |
EE_Parameter.UserParam1 = 0; // zur freien Verwendung |
EE_Parameter.UserParam2 = 0; // zur freien Verwendung |
EE_Parameter.UserParam3 = 0; // zur freien Verwendung |
EE_Parameter.UserParam4 = 0; // zur freien Verwendung |
EE_Parameter.UserParam5 = 0; // zur freien Verwendung |
EE_Parameter.UserParam6 = 0; // zur freien Verwendung |
EE_Parameter.UserParam7 = 0; // zur freien Verwendung |
EE_Parameter.UserParam8 = 0; // zur freien Verwendung |
EE_Parameter.ServoNickControl = 100; // Wert : 0-247 // Stellung des Servos |
EE_Parameter.ServoNickComp = 40; // Wert : 0-247 // Einfluss Gyro/Servo |
EE_Parameter.ServoCompInvert = 1; // Wert : 0-247 // Richtung Einfluss Gyro/Servo |
EE_Parameter.ServoNickMin = 0; // Wert : 0-247 // Anschlag |
EE_Parameter.ServoNickMax = 247; // Wert : 0-247 // Anschlag |
EE_Parameter.ServoNickRefresh = 6; |
EE_Parameter.Servo3 = 125; |
EE_Parameter.Servo4 = 125; |
EE_Parameter.Servo5 = 125; |
EE_Parameter.ServoRollControl = 100; // Wert : 0-247 // Stellung des Servos |
EE_Parameter.ServoRollComp = 40; // Wert : 0-247 // Einfluss Gyro/Servo |
EE_Parameter.ServoRollMin = 0; // Wert : 0-247 // Anschlag |
EE_Parameter.ServoRollMax = 247; // Wert : 0-247 // Anschlag |
EE_Parameter.LoopGasLimit = 50; |
EE_Parameter.LoopThreshold = 90; // Wert: 0-247 Schwelle für Stickausschlag |
EE_Parameter.LoopHysterese = 50; |
EE_Parameter.BitConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
EE_Parameter.AchsKopplung1 = 90; |
EE_Parameter.AchsKopplung2 = 80; |
EE_Parameter.CouplingYawCorrection = 1; |
EE_Parameter.GyroAccAbgleich = 16; // 1/k; |
EE_Parameter.DynamicStability = 100; |
EE_Parameter.J16Bitmask = 95; |
EE_Parameter.J17Bitmask = 243; |
EE_Parameter.WARN_J16_Bitmask = 0xAA; |
EE_Parameter.WARN_J17_Bitmask = 0xAA; |
EE_Parameter.J16Timing = 15; |
EE_Parameter.J17Timing = 15; |
EE_Parameter.NaviGpsModeControl = 254; // 254 -> Poti 2 |
EE_Parameter.NaviGpsGain = 100; |
EE_Parameter.NaviGpsP = 90; |
EE_Parameter.NaviGpsI = 90; |
EE_Parameter.NaviGpsD = 90; |
EE_Parameter.NaviGpsPLimit = 75; |
EE_Parameter.NaviGpsILimit = 75; |
EE_Parameter.NaviGpsDLimit = 75; |
EE_Parameter.NaviGpsACC = 0; |
EE_Parameter.NaviGpsMinSat = 6; |
EE_Parameter.NaviStickThreshold = 8; |
EE_Parameter.NaviWindCorrection = 90; |
EE_Parameter.NaviSpeedCompensation = 30; |
EE_Parameter.NaviOperatingRadius = 100; |
EE_Parameter.NaviAngleLimitation = 100; |
EE_Parameter.NaviPH_LoginTime = 2; |
EE_Parameter.Receiver = RECEIVER_SPEKTRUM; |
EE_Parameter.OrientationAngle = 0; |
EE_Parameter.OrientationModeControl = 0; |
memcpy(EE_Parameter.Name, "Sport\0", 12); |
EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
} |
/***************************************************/ |
/* Default Values for parameter set 2 */ |
/***************************************************/ |
void ParamSet_DefaultSet2(void) // normal |
{ |
EE_Parameter.Revision = EEPARAM_REVISION; |
if(PlatinenVersion >= 20) |
{ |
EE_Parameter.Gyro_D = 10; |
EE_Parameter.Driftkomp = 0; |
EE_Parameter.GyroAccFaktor = 27; |
EE_Parameter.WinkelUmschlagNick = 78; |
EE_Parameter.WinkelUmschlagRoll = 78; |
} |
else |
{ |
EE_Parameter.Gyro_D = 3; |
EE_Parameter.Driftkomp = 32; |
EE_Parameter.GyroAccFaktor = 30; |
EE_Parameter.WinkelUmschlagNick = 85; |
EE_Parameter.WinkelUmschlagRoll = 85; |
} |
EE_Parameter.GlobalConfig = CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER; |
EE_Parameter.ExtraConfig = CFG2_HEIGHT_LIMIT | CFG2_VARIO_BEEP;// CFG_SENSITIVE_RC |
EE_Parameter.Hoehe_MinGas = 30; |
EE_Parameter.MaxHoehe = 255; // Wert : 0-247 255 -> Poti1 |
EE_Parameter.Hoehe_P = 15; // Wert : 0-32 |
EE_Parameter.Luftdruck_D = 30; // Wert : 0-247 |
EE_Parameter.Hoehe_ACC_Wirkung = 0; // Wert : 0-247 |
EE_Parameter.Hoehe_HoverBand = 8; // Wert : 0-247 |
EE_Parameter.Hoehe_GPS_Z = 64; // Wert : 0-247 |
EE_Parameter.Hoehe_StickNeutralPoint = 0;// Wert : 0-247 (0 = Hover-Estimation) |
EE_Parameter.Hoehe_Verstaerkung = 15; // Wert : 0-50 |
EE_Parameter.Stick_P = 10; // Wert : 1-20 |
EE_Parameter.Stick_D = 16; // Wert : 0-20 |
EE_Parameter.Gier_P = 6; // Wert : 1-20 |
EE_Parameter.Gas_Min = 8; // Wert : 0-32 |
EE_Parameter.Gas_Max = 230; // Wert : 33-247 |
EE_Parameter.KompassWirkung = 128; // Wert : 0-247 |
EE_Parameter.Gyro_P = 90; // Wert : 0-247 |
EE_Parameter.Gyro_I = 120; // Wert : 0-247 |
EE_Parameter.Gyro_Gier_P = 90; // Wert : 0-247 |
EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247 |
EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
EE_Parameter.UnterspannungsWarnung = 33; // Wert : 0-247 ( Automatische Zellenerkennung bei < 50) |
EE_Parameter.NotGas = 45; // Wert : 0-247 // Gaswert bei Empangsverlust |
EE_Parameter.NotGasZeit = 90; // Wert : 0-247 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
EE_Parameter.I_Faktor = 32; |
EE_Parameter.UserParam1 = 0; // zur freien Verwendung |
EE_Parameter.UserParam2 = 0; // zur freien Verwendung |
EE_Parameter.UserParam3 = 0; // zur freien Verwendung |
EE_Parameter.UserParam4 = 0; // zur freien Verwendung |
EE_Parameter.UserParam5 = 0; // zur freien Verwendung |
EE_Parameter.UserParam6 = 0; // zur freien Verwendung |
EE_Parameter.UserParam7 = 0; // zur freien Verwendung |
EE_Parameter.UserParam8 = 0; // zur freien Verwendung |
EE_Parameter.ServoNickControl = 100; // Wert : 0-247 // Stellung des Servos |
EE_Parameter.ServoNickComp = 40; // Wert : 0-247 // Einfluss Gyro/Servo |
EE_Parameter.ServoCompInvert = 1; // Wert : 0-247 // Richtung Einfluss Gyro/Servo |
EE_Parameter.ServoNickMin = 0; // Wert : 0-247 // Anschlag |
EE_Parameter.ServoNickMax = 247; // Wert : 0-247 // Anschlag |
EE_Parameter.ServoNickRefresh = 6; |
EE_Parameter.Servo3 = 125; |
EE_Parameter.Servo4 = 125; |
EE_Parameter.Servo5 = 125; |
EE_Parameter.ServoRollControl = 100; // Wert : 0-247 // Stellung des Servos |
EE_Parameter.ServoRollComp = 40; // Wert : 0-247 // Einfluss Gyro/Servo |
EE_Parameter.ServoRollMin = 0; // Wert : 0-247 // Anschlag |
EE_Parameter.ServoRollMax = 247; // Wert : 0-247 // Anschlag |
EE_Parameter.LoopGasLimit = 50; |
EE_Parameter.LoopThreshold = 90; // Wert: 0-247 Schwelle für Stickausschlag |
EE_Parameter.LoopHysterese = 50; |
EE_Parameter.BitConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts |
EE_Parameter.AchsKopplung1 = 90; |
EE_Parameter.AchsKopplung2 = 80; |
EE_Parameter.CouplingYawCorrection = 60; |
EE_Parameter.GyroAccAbgleich = 32; // 1/k |
EE_Parameter.DynamicStability = 75; |
EE_Parameter.J16Bitmask = 95; |
EE_Parameter.J17Bitmask = 243; |
EE_Parameter.WARN_J16_Bitmask = 0xAA; |
EE_Parameter.WARN_J17_Bitmask = 0xAA; |
EE_Parameter.J16Timing = 20; |
EE_Parameter.J17Timing = 20; |
EE_Parameter.NaviGpsModeControl = 254; // 254 -> Poti 2 |
EE_Parameter.NaviGpsGain = 100; |
EE_Parameter.NaviGpsP = 90; |
EE_Parameter.NaviGpsI = 90; |
EE_Parameter.NaviGpsD = 90; |
EE_Parameter.NaviGpsPLimit = 75; |
EE_Parameter.NaviGpsILimit = 75; |
EE_Parameter.NaviGpsDLimit = 75; |
EE_Parameter.NaviGpsACC = 0; |
EE_Parameter.NaviGpsMinSat = 6; |
EE_Parameter.NaviStickThreshold = 8; |
EE_Parameter.NaviWindCorrection = 90; |
EE_Parameter.NaviSpeedCompensation = 30; |
EE_Parameter.NaviOperatingRadius = 100; |
EE_Parameter.NaviAngleLimitation = 100; |
EE_Parameter.NaviPH_LoginTime = 2; |
EE_Parameter.Receiver = RECEIVER_SPEKTRUM; |
EE_Parameter.OrientationAngle = 0; |
EE_Parameter.OrientationModeControl = 0; |
memcpy(EE_Parameter.Name, "Normal\0", 12); |
EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
} |
/***************************************************/ |
/* Default Values for parameter set 3 */ |
/***************************************************/ |
void ParamSet_DefaultSet3(void) // beginner |
{ |
EE_Parameter.Revision = EEPARAM_REVISION; |
if(PlatinenVersion >= 20) |
{ |
EE_Parameter.Gyro_D = 10; |
EE_Parameter.Driftkomp = 0; |
EE_Parameter.GyroAccFaktor = 27; |
EE_Parameter.WinkelUmschlagNick = 78; |
EE_Parameter.WinkelUmschlagRoll = 78; |
} |
else |
{ |
EE_Parameter.Gyro_D = 3; |
EE_Parameter.Driftkomp = 32; |
EE_Parameter.GyroAccFaktor = 30; |
EE_Parameter.WinkelUmschlagNick = 85; |
EE_Parameter.WinkelUmschlagRoll = 85; |
} |
EE_Parameter.GlobalConfig = /*CFG_DREHRATEN_BEGRENZER |*/ CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER; |
EE_Parameter.ExtraConfig = CFG2_HEIGHT_LIMIT | CFG2_VARIO_BEEP;// | CFG_SENSITIVE_RC |
EE_Parameter.Hoehe_MinGas = 30; |
EE_Parameter.MaxHoehe = 255; // Wert : 0-247 255 -> Poti1 |
EE_Parameter.Hoehe_P = 15; // Wert : 0-32 |
EE_Parameter.Luftdruck_D = 30; // Wert : 0-247 |
EE_Parameter.Hoehe_ACC_Wirkung = 0; // Wert : 0-247 |
EE_Parameter.Hoehe_HoverBand = 8; // Wert : 0-247 |
EE_Parameter.Hoehe_GPS_Z = 64; // Wert : 0-247 |
EE_Parameter.Hoehe_StickNeutralPoint = 0;// Wert : 0-247 (0 = Hover-Estimation) |
EE_Parameter.Hoehe_Verstaerkung = 15; // Wert : 0-50 |
EE_Parameter.Stick_P = 8; // Wert : 1-20 |
EE_Parameter.Stick_D = 16; // Wert : 0-20 |
EE_Parameter.Gier_P = 6; // Wert : 1-20 |
EE_Parameter.Gas_Min = 8; // Wert : 0-32 |
EE_Parameter.Gas_Max = 230; // Wert : 33-247 |
EE_Parameter.KompassWirkung = 128; // Wert : 0-247 |
EE_Parameter.Gyro_P = 100; // Wert : 0-247 |
EE_Parameter.Gyro_I = 120; // Wert : 0-247 |
EE_Parameter.Gyro_Gier_P = 100; // Wert : 0-247 |
EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247 |
EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
EE_Parameter.UnterspannungsWarnung = 33; // Wert : 0-247 ( Automatische Zellenerkennung bei < 50) |
EE_Parameter.NotGas = 45; // Wert : 0-247 // Gaswert bei Empangsverlust |
EE_Parameter.NotGasZeit = 90; // Wert : 0-247 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
EE_Parameter.I_Faktor = 16; |
EE_Parameter.UserParam1 = 0; // zur freien Verwendung |
EE_Parameter.UserParam2 = 0; // zur freien Verwendung |
EE_Parameter.UserParam3 = 0; // zur freien Verwendung |
EE_Parameter.UserParam4 = 0; // zur freien Verwendung |
EE_Parameter.UserParam5 = 0; // zur freien Verwendung |
EE_Parameter.UserParam6 = 0; // zur freien Verwendung |
EE_Parameter.UserParam7 = 0; // zur freien Verwendung |
EE_Parameter.UserParam8 = 0; // zur freien Verwendung |
EE_Parameter.ServoNickControl = 100; // Wert : 0-247 // Stellung des Servos |
EE_Parameter.ServoNickComp = 40; // Wert : 0-247 // Einfluss Gyro/Servo |
EE_Parameter.ServoCompInvert = 1; // Wert : 0-247 // Richtung Einfluss Gyro/Servo |
EE_Parameter.ServoNickMin = 0; // Wert : 0-247 // Anschlag |
EE_Parameter.ServoNickMax = 247; // Wert : 0-247 // Anschlag |
EE_Parameter.ServoNickRefresh = 6; |
EE_Parameter.Servo3 = 125; |
EE_Parameter.Servo4 = 125; |
EE_Parameter.Servo5 = 125; |
EE_Parameter.ServoRollControl = 100; // Wert : 0-247 // Stellung des Servos |
EE_Parameter.ServoRollComp = 40; // Wert : 0-247 // Einfluss Gyro/Servo |
EE_Parameter.ServoRollMin = 0; // Wert : 0-247 // Anschlag |
EE_Parameter.ServoRollMax = 247; // Wert : 0-247 // Anschlag |
EE_Parameter.LoopGasLimit = 50; |
EE_Parameter.LoopThreshold = 90; // Wert: 0-247 Schwelle für Stickausschlag |
EE_Parameter.LoopHysterese = 50; |
EE_Parameter.BitConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts |
EE_Parameter.AchsKopplung1 = 90; |
EE_Parameter.AchsKopplung2 = 80; |
EE_Parameter.CouplingYawCorrection = 70; |
EE_Parameter.GyroAccAbgleich = 32; // 1/k |
EE_Parameter.DynamicStability = 70; |
EE_Parameter.J16Bitmask = 95; |
EE_Parameter.J17Bitmask = 243; |
EE_Parameter.WARN_J16_Bitmask = 0xAA; |
EE_Parameter.WARN_J17_Bitmask = 0xAA; |
EE_Parameter.J16Timing = 30; |
EE_Parameter.J17Timing = 30; |
EE_Parameter.NaviGpsModeControl = 254; // 254 -> Poti 2 |
EE_Parameter.NaviGpsGain = 100; |
EE_Parameter.NaviGpsP = 90; |
EE_Parameter.NaviGpsI = 90; |
EE_Parameter.NaviGpsD = 90; |
EE_Parameter.NaviGpsPLimit = 75; |
EE_Parameter.NaviGpsILimit = 75; |
EE_Parameter.NaviGpsDLimit = 75; |
EE_Parameter.NaviGpsACC = 0; |
EE_Parameter.NaviGpsMinSat = 6; |
EE_Parameter.NaviStickThreshold = 8; |
EE_Parameter.NaviWindCorrection = 90; |
EE_Parameter.NaviSpeedCompensation = 30; |
EE_Parameter.NaviOperatingRadius = 100; |
EE_Parameter.NaviAngleLimitation = 100; |
EE_Parameter.NaviPH_LoginTime = 2; |
EE_Parameter.Receiver = RECEIVER_SPEKTRUM; |
EE_Parameter.OrientationAngle = 0; |
EE_Parameter.OrientationModeControl = 0; |
memcpy(EE_Parameter.Name, "Beginner\0", 12); |
EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
} |
/***************************************************/ |
/* Read Parameter from EEPROM as byte */ |
/***************************************************/ |
uint8_t GetParamByte(uint16_t param_id) |
{ |
return eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id)); |
} |
/***************************************************/ |
/* Write Parameter to EEPROM as byte */ |
/***************************************************/ |
void SetParamByte(uint16_t param_id, uint8_t value) |
{ |
eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value); |
} |
/***************************************************/ |
/* Read Parameter from EEPROM as word */ |
/***************************************************/ |
uint16_t GetParamWord(uint16_t param_id) |
{ |
return eeprom_read_word((uint16_t *)(EEPROM_ADR_PARAM_BEGIN + param_id)); |
} |
/***************************************************/ |
/* Write Parameter to EEPROM as word */ |
/***************************************************/ |
void SetParamWord(uint16_t param_id, uint16_t value) |
{ |
eeprom_write_word((uint16_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value); |
} |
/***************************************************/ |
/* Read Parameter Set from EEPROM */ |
/***************************************************/ |
// number [1..5] |
uint8_t ParamSet_ReadFromEEProm(uint8_t setnumber) |
{ |
uint8_t crc; |
uint16_t eeaddr; |
// range the setnumber |
if((1 > setnumber) || (setnumber > 5)) setnumber = 3; |
// calculate eeprom addr |
eeaddr = EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1); |
// calculate checksum from eeprom |
crc = EEProm_Checksum(eeaddr, PARAMSET_STRUCT_LEN - 1); |
// check crc |
if(crc != eeprom_read_byte((uint8_t*)(eeaddr + PARAMSET_STRUCT_LEN - 1))) return 0; |
// check revision |
if(eeprom_read_byte((uint8_t*)(eeaddr)) != EEPARAM_REVISION) return 0; |
// read paramset from eeprom |
eeprom_read_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN); |
LED_Init(); |
return 1; |
} |
/***************************************************/ |
/* Write Parameter Set to EEPROM */ |
/***************************************************/ |
// number [1..5] |
uint8_t ParamSet_WriteToEEProm(uint8_t setnumber) |
{ |
uint8_t crc; |
if(EE_Parameter.Revision == EEPARAM_REVISION) // write only the right revision to eeprom |
{ |
if(setnumber > 5) setnumber = 5; |
if(setnumber < 1) return 0; |
// update checksum |
EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
// write paramset to eeprom |
eeprom_write_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN); |
// backup channel settings to separate block in eeprom |
eeprom_write_block( (void*)(EE_Parameter.Kanalbelegung), (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
// write crc of channel block to eeprom |
crc = RAM_Checksum((uint8_t*)(EE_Parameter.Kanalbelegung), sizeof(EE_Parameter.Kanalbelegung)); |
eeprom_write_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung)), crc); |
// update active settings number |
SetActiveParamSet(setnumber); |
LED_Init(); |
return 1; |
} |
// wrong revision |
return 0; |
} |
/***************************************************/ |
/* Read MixerTable from EEPROM */ |
/***************************************************/ |
uint8_t MixerTable_ReadFromEEProm(void) |
{ |
uint8_t crc; |
// calculate checksum in eeprom |
crc = EEProm_Checksum(EEPROM_ADR_MIXERTABLE, sizeof(Mixer) - 1); |
// check crc |
if( crc != eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE + sizeof(Mixer) - 1)) ) return 0; |
// check revision |
if(eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE)) != EEMIXER_REVISION) return 0; |
// read mixer table |
eeprom_read_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer)); |
return 1; |
} |
/***************************************************/ |
/* Write Mixer Table to EEPROM */ |
/***************************************************/ |
uint8_t MixerTable_WriteToEEProm(void) |
{ |
if(Mixer.Revision == EEMIXER_REVISION) |
{ |
// update crc |
Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1); |
// write to eeprom |
eeprom_write_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer)); |
return 1; |
} |
else return 0; |
} |
/***************************************************/ |
/* Default Values for Mixer Table */ |
/***************************************************/ |
void MixerTable_Default(void) // Quadro |
{ |
uint8_t i; |
Mixer.Revision = EEMIXER_REVISION; |
// clear mixer table |
for(i = 0; i < 16; i++) |
{ |
Mixer.Motor[i][MIX_GAS] = 0; |
Mixer.Motor[i][MIX_NICK] = 0; |
Mixer.Motor[i][MIX_ROLL] = 0; |
Mixer.Motor[i][MIX_YAW] = 0; |
} |
// default = Quadro |
Mixer.Motor[0][MIX_GAS] = 64; Mixer.Motor[0][MIX_NICK] = +64; Mixer.Motor[0][MIX_ROLL] = 0; Mixer.Motor[0][MIX_YAW] = +64; |
Mixer.Motor[1][MIX_GAS] = 64; Mixer.Motor[1][MIX_NICK] = -64; Mixer.Motor[1][MIX_ROLL] = 0; Mixer.Motor[1][MIX_YAW] = +64; |
Mixer.Motor[2][MIX_GAS] = 64; Mixer.Motor[2][MIX_NICK] = 0; Mixer.Motor[2][MIX_ROLL] = -64; Mixer.Motor[2][MIX_YAW] = -64; |
Mixer.Motor[3][MIX_GAS] = 64; Mixer.Motor[3][MIX_NICK] = 0; Mixer.Motor[3][MIX_ROLL] = +64; Mixer.Motor[3][MIX_YAW] = -64; |
memcpy(Mixer.Name, "Quadro\0", 7); |
Mixer.crc = Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1); |
} |
/***************************************************/ |
/* Get active parameter set */ |
/***************************************************/ |
uint8_t GetActiveParamSet(void) |
{ |
uint8_t setnumber; |
setnumber = eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET)); |
if(setnumber > 5) |
{ |
setnumber = 3; |
eeprom_write_byte((void*)(EEPROM_ADR_PARAM_BEGIN+PID_ACTIVE_SET), setnumber); |
} |
return(setnumber); |
} |
/***************************************************/ |
/* Set active parameter set */ |
/***************************************************/ |
void SetActiveParamSet(uint8_t setnumber) |
{ |
if(setnumber > 5) setnumber = 5; |
if(setnumber < 1) setnumber = 1; |
eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET), setnumber); |
} |
/***************************************************/ |
/* Initialize EEPROM Parameter Sets */ |
/***************************************************/ |
void ParamSet_Init(void) |
{ |
uint8_t channel_backup = 0, bad_params = 0, ee_default = 0,i; |
if(EEPARAM_REVISION != GetParamByte(PID_EE_REVISION) ) |
{ |
ee_default = 1; // software update or forced by mktool |
SetParamByte(PID_EE_REVISION, EEPARAM_REVISION); |
} |
// 1st check for a valid channel backup in eeprom |
i = EEProm_Checksum(EEPROM_ADR_CHANNELS, sizeof(EE_Parameter.Kanalbelegung)); |
if(i == eeprom_read_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung))) ) channel_backup = 1; |
// parameter check |
// check all 5 parameter settings |
for (i = 1;i < 6; i++) |
{ |
if(ee_default || !ParamSet_ReadFromEEProm(i)) // could not read paramset from eeprom |
{ |
bad_params = 1; |
printf("\n\rGenerating default Parameter Set %d",i); |
switch(i) |
{ |
case 1: |
ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport) |
break; |
case 2: |
ParamSet_DefaultSet2(); // Kamera |
break; |
case 3: |
ParamSet_DefaultSet3(); // Beginner |
break; |
default: |
ParamSet_DefaultSet3(); // Kamera |
break; |
} |
if(channel_backup) // if we have an channel mapping backup in eeprom |
{ // restore it from eeprom |
eeprom_read_block((void *)EE_Parameter.Kanalbelegung, (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
} |
else |
{ // use default mapping |
ParamSet_DefaultStickMapping(); |
} |
ParamSet_WriteToEEProm(i); |
} |
} |
if(bad_params) // at least one of the parameter settings were invalid |
{ |
// default-Setting is parameter set 3 |
SetActiveParamSet(3); |
} |
// read active parameter set to ParamSet stucture |
i = GetActiveParamSet(); |
ParamSet_ReadFromEEProm(i); |
printf("\n\rUsing Parameter Set %d", i); |
// load mixer table |
if(ee_default || !MixerTable_ReadFromEEProm() ) |
{ |
printf("\n\rGenerating default Mixer Table"); |
MixerTable_Default(); // Quadro |
MixerTable_WriteToEEProm(); |
} |
// determine motornumber |
RequiredMotors = 0; |
for(i = 0; i < 16; i++) |
{ |
if(Mixer.Motor[i][MIX_GAS] > 0) RequiredMotors++; |
} |
printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name, RequiredMotors); |
printf("\n\r=============================="); |
} |
/branches/V0.80d-Arthur-P/eeprom.d |
---|
0,0 → 1,3 |
eeprom.o eeprom.d : eeprom.c eeprom.h twimaster.h uart.h led.h main.h old_macros.h \ |
printf_P.h timer0.h analog.h menu.h rc.h fc.h gps.h spi.h spektrum.h \ |
capacity.h libfc.h debug.h |
/branches/V0.80d-Arthur-P/eeprom.h |
---|
0,0 → 1,238 |
#ifndef _EEPROM_H |
#define _EEPROM_H |
#include <inttypes.h> |
#include "twimaster.h" |
#define EEPARAM_REVISION 84 // is count up, if paramater stucture has changed (compatibility) |
#define EEMIXER_REVISION 1 // is count up, if mixer stucture has changed (compatibility) |
#define EEPROM_ADR_PARAM_BEGIN 0 |
#define PID_EE_REVISION 1 // byte |
#define PID_ACTIVE_SET 2 // byte |
#define PID_PRESSURE_OFFSET 3 // byte |
#define PID_ACC_NICK 4 // word |
#define PID_ACC_ROLL 6 // word |
#define PID_ACC_TOP 8 // word |
#define PID_FLIGHT_MINUTES_TOTAL 10 // word |
#define PID_FLIGHT_MINUTES 14 // word |
#define EEPROM_ADR_CHANNELS 80 // 80 - 93, 12 bytes + 1 byte crc |
#define EEPROM_ADR_PARAMSET 100 // 100 - 650, 5 * 110 bytes |
#define EEPROM_ADR_MIXERTABLE 1000 // 1000 - 1078, 78 bytes |
#define EEPROM_ADR_BLCONFIG 1200 // 1200 - 1296, 12 * 8 bytes |
#define MIX_GAS 0 |
#define MIX_NICK 1 |
#define MIX_ROLL 2 |
#define MIX_YAW 3 |
typedef struct |
{ |
uint8_t Revision; |
int8_t Name[12]; |
int8_t Motor[16][4]; |
uint8_t crc; |
} __attribute__((packed)) MixerTable_t; |
extern MixerTable_t Mixer; |
extern uint8_t RequiredMotors; |
#define CFG_HOEHENREGELUNG 0x01 |
#define CFG_HOEHEN_SCHALTER 0x02 |
#define CFG_HEADING_HOLD 0x04 |
#define CFG_KOMPASS_AKTIV 0x08 |
#define CFG_KOMPASS_FIX 0x10 |
#define CFG_GPS_AKTIV 0x20 |
#define CFG_ACHSENKOPPLUNG_AKTIV 0x40 |
#define CFG_DREHRATEN_BEGRENZER 0x80 |
#define CFG_LOOP_OBEN 0x01 |
#define CFG_LOOP_UNTEN 0x02 |
#define CFG_LOOP_LINKS 0x04 |
#define CFG_LOOP_RECHTS 0x08 |
#define CFG_MOTOR_BLINK 0x10 |
#define CFG_MOTOR_OFF_LED1 0x20 |
#define CFG_MOTOR_OFF_LED2 0x40 |
#define CFG_RES4 0x80 |
#define CFG2_HEIGHT_LIMIT 0x01 |
#define CFG2_VARIO_BEEP 0x02 |
#define CFG_SENSITIVE_RC 0x04 |
// bit mask for ParamSet.Config0 |
#define CFG0_AIRPRESS_SENSOR 0x01 |
#define CFG0_HEIGHT_SWITCH 0x02 |
#define CFG0_HEADING_HOLD 0x04 |
#define CFG0_COMPASS_ACTIVE 0x08 |
#define CFG0_COMPASS_FIX 0x10 |
#define CFG0_GPS_ACTIVE 0x20 |
#define CFG0_AXIS_COUPLING_ACTIVE 0x40 |
#define CFG0_ROTARY_RATE_LIMITER 0x80 |
// defines for the receiver selection |
#define RECEIVER_PPM 0 |
#define RECEIVER_SPEKTRUM 1 |
#define RECEIVER_SPEKTRUM_HI_RES 2 |
#define RECEIVER_SPEKTRUM_LOW_RES 3 |
#define RECEIVER_JETI 4 |
#define RECEIVER_ACT_DSL 5 |
#define RECEIVER_UNKNOWN 0xFF |
// defines for lookup ParamSet.ChannelAssignment |
#define K_NICK 0 |
#define K_ROLL 1 |
#define K_GAS 2 |
#define K_GIER 3 |
#define K_POTI1 4 |
#define K_POTI2 5 |
#define K_POTI3 6 |
#define K_POTI4 7 |
#define K_POTI5 8 |
#define K_POTI6 9 |
#define K_POTI7 10 |
#define K_POTI8 11 |
// values above 247 representing poti1 to poti8 |
// poti1 = 255 |
// poti2 = 254 |
// poti3 = 253 |
// poti4 = 252 |
// poti5 = 251 |
// poti6 = 250 |
// poti7 = 249 |
// poti8 = 248 |
typedef struct |
{ |
unsigned char Revision; |
unsigned char Kanalbelegung[12]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3 |
unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv |
unsigned char Hoehe_MinGas; // Wert : 0-100 |
unsigned char Luftdruck_D; // Wert : 0-250 |
unsigned char MaxHoehe; // Wert : 0-32 |
unsigned char Hoehe_P; // Wert : 0-32 |
unsigned char Hoehe_Verstaerkung; // Wert : 0-50 |
unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250 |
unsigned char Hoehe_HoverBand; // Wert : 0-250 |
unsigned char Hoehe_GPS_Z; // Wert : 0-250 |
unsigned char Hoehe_StickNeutralPoint;// Wert : 0-250 |
unsigned char Stick_P; // Wert : 1-6 |
unsigned char Stick_D; // Wert : 0-64 |
unsigned char Gier_P; // Wert : 1-20 |
unsigned char Gas_Min; // Wert : 0-32 |
unsigned char Gas_Max; // Wert : 33-250 |
unsigned char GyroAccFaktor; // Wert : 1-64 |
unsigned char KompassWirkung; // Wert : 0-32 |
unsigned char Gyro_P; // Wert : 10-250 |
unsigned char Gyro_I; // Wert : 0-250 |
unsigned char Gyro_D; // Wert : 0-250 |
unsigned char Gyro_Gier_P; // Wert : 10-250 |
unsigned char Gyro_Gier_I; // Wert : 0-250 |
unsigned char Gyro_Stability; // Wert : 0-16 |
unsigned char UnterspannungsWarnung; // Wert : 0-250 |
unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust |
unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen |
unsigned char Receiver; // 0= Summensignal, 1= Spektrum, 2 =Jeti, 3=ACT DSL, 4=ACT S3D |
unsigned char I_Faktor; // Wert : 0-250 |
unsigned char UserParam1; // Wert : 0-250 |
unsigned char UserParam2; // Wert : 0-250 |
unsigned char UserParam3; // Wert : 0-250 |
unsigned char UserParam4; // Wert : 0-250 |
unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos |
unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
unsigned char ServoNickMin; // Wert : 0-250 // Anschlag |
unsigned char ServoNickMax; // Wert : 0-250 // Anschlag |
//--- Seit V0.75 |
unsigned char ServoRollControl; // Wert : 0-250 // Stellung des Servos |
unsigned char ServoRollComp; // Wert : 0-250 |
unsigned char ServoRollMin; // Wert : 0-250 |
unsigned char ServoRollMax; // Wert : 0-250 |
//--- |
unsigned char ServoNickRefresh; // Speed of the Servo |
unsigned char Servo3; // Value or mapping of the Servo Output |
unsigned char Servo4; // Value or mapping of the Servo Output |
unsigned char Servo5; // Value or mapping of the Servo Output |
unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping |
unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag |
unsigned char LoopHysterese; // Wert: 0-250 Hysterese für Stickausschlag |
unsigned char AchsKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
unsigned char AchsKopplung2; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
unsigned char CouplingYawCorrection; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
unsigned char WinkelUmschlagNick; // Wert: 0-250 180°-Punkt |
unsigned char WinkelUmschlagRoll; // Wert: 0-250 180°-Punkt |
unsigned char GyroAccAbgleich; // 1/k (Koppel_ACC_Wirkung) |
unsigned char Driftkomp; |
unsigned char DynamicStability; |
unsigned char UserParam5; // Wert : 0-250 |
unsigned char UserParam6; // Wert : 0-250 |
unsigned char UserParam7; // Wert : 0-250 |
unsigned char UserParam8; // Wert : 0-250 |
//---Output --------------------------------------------- |
unsigned char J16Bitmask; // for the J16 Output |
unsigned char J16Timing; // for the J16 Output |
unsigned char J17Bitmask; // for the J17 Output |
unsigned char J17Timing; // for the J17 Output |
// seit version V0.75c |
unsigned char WARN_J16_Bitmask; // for the J16 Output |
unsigned char WARN_J17_Bitmask; // for the J17 Output |
//---NaviCtrl--------------------------------------------- |
unsigned char NaviGpsModeControl; // Parameters for the Naviboard |
unsigned char NaviGpsGain; |
unsigned char NaviGpsP; |
unsigned char NaviGpsI; |
unsigned char NaviGpsD; |
unsigned char NaviGpsPLimit; |
unsigned char NaviGpsILimit; |
unsigned char NaviGpsDLimit; |
unsigned char NaviGpsACC; |
unsigned char NaviGpsMinSat; |
unsigned char NaviStickThreshold; |
unsigned char NaviWindCorrection; |
unsigned char NaviSpeedCompensation; |
unsigned char NaviOperatingRadius; |
unsigned char NaviAngleLimitation; |
unsigned char NaviPH_LoginTime; |
//---Ext.Ctrl--------------------------------------------- |
unsigned char ExternalControl; // for serial Control |
//---CareFree--------------------------------------------- |
unsigned char OrientationAngle; // Where is the front-direction? |
unsigned char OrientationModeControl; // switch for CareFree |
//------------------------------------------------ |
unsigned char BitConfig; // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
unsigned char ServoCompInvert; // // 0x01 = Nick, 0x02 = Roll 0 oder 1 // WICHTIG!!! am Ende lassen |
unsigned char ExtraConfig; // bitcodiert |
char Name[12]; |
unsigned char crc; // must be the last byte! |
} paramset_t; |
#define PARAMSET_STRUCT_LEN sizeof(paramset_t) |
extern paramset_t EE_Parameter; |
extern uint8_t RAM_Checksum(uint8_t* pBuffer, uint16_t len); |
extern void ParamSet_Init(void); |
extern uint8_t ParamSet_ReadFromEEProm(uint8_t setnumber); |
extern uint8_t ParamSet_WriteToEEProm(uint8_t setnumber); |
extern uint8_t GetActiveParamSet(void); |
extern void SetActiveParamSet(uint8_t setnumber); |
extern uint8_t MixerTable_ReadFromEEProm(void); |
extern uint8_t MixerTable_WriteToEEProm(void); |
extern uint8_t GetParamByte(uint16_t param_id); |
extern void SetParamByte(uint16_t param_id, uint8_t value); |
extern uint16_t GetParamWord(uint16_t param_id); |
extern void SetParamWord(uint16_t param_id, uint16_t value); |
#endif //_EEPROM_H |
/branches/V0.80d-Arthur-P/eeprom.lst |
---|
0,0 → 1,1309 |
1 .file "eeprom.c" |
2 .arch atmega644p |
3 __SREG__ = 0x3f |
4 __SP_H__ = 0x3e |
5 __SP_L__ = 0x3d |
6 __tmp_reg__ = 0 |
7 __zero_reg__ = 1 |
8 .global __do_copy_data |
9 .global __do_clear_bss |
10 .text |
11 .global RAM_Checksum |
13 RAM_Checksum: |
14 /* prologue: frame size=0 */ |
15 /* prologue end (size=0) */ |
16 0000 4AEA ldi r20,lo8(-86) |
17 0002 20E0 ldi r18,lo8(0) |
18 0004 30E0 ldi r19,hi8(0) |
19 0006 2617 cp r18,r22 |
20 0008 3707 cpc r19,r23 |
21 000a 40F4 brsh .L7 |
22 000c FC01 movw r30,r24 |
23 .L5: |
24 000e 8191 ld r24,Z+ |
25 0010 480F add r20,r24 |
26 0012 2F5F subi r18,lo8(-(1)) |
27 0014 3F4F sbci r19,hi8(-(1)) |
28 0016 2617 cp r18,r22 |
29 0018 3707 cpc r19,r23 |
30 001a C8F3 brlo .L5 |
31 .L7: |
32 001c 842F mov r24,r20 |
33 001e 9927 clr r25 |
34 /* epilogue: frame size=0 */ |
35 0020 0895 ret |
36 /* epilogue end (size=1) */ |
37 /* function RAM_Checksum size 17 (16) */ |
39 .global EEProm_Checksum |
41 EEProm_Checksum: |
42 /* prologue: frame size=0 */ |
43 /* prologue end (size=0) */ |
44 0022 AC01 movw r20,r24 |
45 0024 9AEA ldi r25,lo8(-86) |
46 0026 20E0 ldi r18,lo8(0) |
47 0028 30E0 ldi r19,hi8(0) |
48 .L16: |
49 002a 2617 cp r18,r22 |
50 002c 3707 cpc r19,r23 |
51 002e 50F4 brsh .L15 |
52 0030 DA01 movw r26,r20 |
53 0032 A20F add r26,r18 |
54 0034 B31F adc r27,r19 |
55 /* #APP */ |
56 0036 0E94 0000 call __eeprom_read_byte_1F2021 |
57 003a 802D mov r24,__tmp_reg__ |
58 /* #NOAPP */ |
59 003c 980F add r25,r24 |
60 003e 2F5F subi r18,lo8(-(1)) |
61 0040 3F4F sbci r19,hi8(-(1)) |
62 0042 F3CF rjmp .L16 |
63 .L15: |
64 0044 892F mov r24,r25 |
65 0046 9927 clr r25 |
66 /* epilogue: frame size=0 */ |
67 0048 0895 ret |
68 /* epilogue end (size=1) */ |
69 /* function EEProm_Checksum size 21 (20) */ |
71 .global ParamSet_DefaultStickMapping |
73 ParamSet_DefaultStickMapping: |
74 /* prologue: frame size=0 */ |
75 /* prologue end (size=0) */ |
76 004a 81E0 ldi r24,lo8(1) |
77 004c 8093 0000 sts EE_Parameter+3,r24 |
78 0050 82E0 ldi r24,lo8(2) |
79 0052 8093 0000 sts EE_Parameter+2,r24 |
80 0056 83E0 ldi r24,lo8(3) |
81 0058 8093 0000 sts EE_Parameter+1,r24 |
82 005c 84E0 ldi r24,lo8(4) |
83 005e 8093 0000 sts EE_Parameter+4,r24 |
84 0062 85E0 ldi r24,lo8(5) |
85 0064 8093 0000 sts EE_Parameter+5,r24 |
86 0068 86E0 ldi r24,lo8(6) |
87 006a 8093 0000 sts EE_Parameter+6,r24 |
88 006e 87E0 ldi r24,lo8(7) |
89 0070 8093 0000 sts EE_Parameter+7,r24 |
90 0074 88E0 ldi r24,lo8(8) |
91 0076 8093 0000 sts EE_Parameter+8,r24 |
92 007a 89E0 ldi r24,lo8(9) |
93 007c 8093 0000 sts EE_Parameter+9,r24 |
94 0080 8AE0 ldi r24,lo8(10) |
95 0082 8093 0000 sts EE_Parameter+10,r24 |
96 0086 8BE0 ldi r24,lo8(11) |
97 0088 8093 0000 sts EE_Parameter+11,r24 |
98 008c 8CE0 ldi r24,lo8(12) |
99 008e 8093 0000 sts EE_Parameter+12,r24 |
100 /* epilogue: frame size=0 */ |
101 0092 0895 ret |
102 /* epilogue end (size=1) */ |
103 /* function ParamSet_DefaultStickMapping size 37 (36) */ |
105 .data |
106 .LC0: |
107 0000 5370 6F72 .string "Sport" |
107 7400 |
108 0006 00 .string "" |
109 .text |
110 .global ParamSet_DefaultSet1 |
112 ParamSet_DefaultSet1: |
113 /* prologue: frame size=0 */ |
114 0094 1F93 push r17 |
115 0096 CF93 push r28 |
116 0098 DF93 push r29 |
117 /* prologue end (size=3) */ |
118 009a 84E5 ldi r24,lo8(84) |
119 009c 8093 0000 sts EE_Parameter,r24 |
120 00a0 8091 0000 lds r24,PlatinenVersion |
121 00a4 8431 cpi r24,lo8(20) |
122 00a6 50F0 brlo .L19 |
123 00a8 8AE0 ldi r24,lo8(10) |
124 00aa 8093 0000 sts EE_Parameter+32,r24 |
125 00ae 1092 0000 sts EE_Parameter+66,__zero_reg__ |
126 00b2 8BE1 ldi r24,lo8(27) |
127 00b4 8093 0000 sts EE_Parameter+28,r24 |
128 00b8 8EE4 ldi r24,lo8(78) |
129 00ba 0AC0 rjmp .L21 |
130 .L19: |
131 00bc 83E0 ldi r24,lo8(3) |
132 00be 8093 0000 sts EE_Parameter+32,r24 |
133 00c2 80E2 ldi r24,lo8(32) |
134 00c4 8093 0000 sts EE_Parameter+66,r24 |
135 00c8 8EE1 ldi r24,lo8(30) |
136 00ca 8093 0000 sts EE_Parameter+28,r24 |
137 00ce 85E5 ldi r24,lo8(85) |
138 .L21: |
139 00d0 8093 0000 sts EE_Parameter+63,r24 |
140 00d4 8093 0000 sts EE_Parameter+64,r24 |
141 00d8 8AE6 ldi r24,lo8(106) |
142 00da 8093 0000 sts EE_Parameter+13,r24 |
143 00de 83E0 ldi r24,lo8(3) |
144 00e0 8093 0000 sts EE_Parameter+99,r24 |
145 00e4 AEE1 ldi r26,lo8(30) |
146 00e6 A093 0000 sts EE_Parameter+14,r26 |
147 00ea 8FEF ldi r24,lo8(-1) |
148 00ec 8093 0000 sts EE_Parameter+16,r24 |
149 00f0 EFE0 ldi r30,lo8(15) |
150 00f2 E093 0000 sts EE_Parameter+17,r30 |
151 00f6 A093 0000 sts EE_Parameter+15,r26 |
152 00fa 1092 0000 sts EE_Parameter+19,__zero_reg__ |
153 00fe F8E0 ldi r31,lo8(8) |
154 0100 F093 0000 sts EE_Parameter+20,r31 |
155 0104 80E4 ldi r24,lo8(64) |
156 0106 8093 0000 sts EE_Parameter+21,r24 |
157 010a 1092 0000 sts EE_Parameter+22,__zero_reg__ |
158 010e 84E1 ldi r24,lo8(20) |
159 0110 8093 0000 sts EE_Parameter+18,r24 |
160 0114 8EE0 ldi r24,lo8(14) |
161 0116 8093 0000 sts EE_Parameter+23,r24 |
162 011a B0E1 ldi r27,lo8(16) |
163 011c B093 0000 sts EE_Parameter+24,r27 |
164 0120 1CE0 ldi r17,lo8(12) |
165 0122 1093 0000 sts EE_Parameter+25,r17 |
166 0126 F093 0000 sts EE_Parameter+26,r31 |
167 012a 86EE ldi r24,lo8(-26) |
168 012c 8093 0000 sts EE_Parameter+27,r24 |
169 0130 80E8 ldi r24,lo8(-128) |
170 0132 8093 0000 sts EE_Parameter+29,r24 |
171 0136 50E5 ldi r21,lo8(80) |
172 0138 5093 0000 sts EE_Parameter+30,r21 |
173 013c 86E9 ldi r24,lo8(-106) |
174 013e 8093 0000 sts EE_Parameter+31,r24 |
175 0142 5093 0000 sts EE_Parameter+33,r21 |
176 0146 8093 0000 sts EE_Parameter+34,r24 |
177 014a 76E0 ldi r23,lo8(6) |
178 014c 7093 0000 sts EE_Parameter+35,r23 |
179 0150 81E2 ldi r24,lo8(33) |
180 0152 8093 0000 sts EE_Parameter+36,r24 |
181 0156 8DE2 ldi r24,lo8(45) |
182 0158 8093 0000 sts EE_Parameter+37,r24 |
183 015c 9AE5 ldi r25,lo8(90) |
184 015e 9093 0000 sts EE_Parameter+38,r25 |
185 0162 80E2 ldi r24,lo8(32) |
186 0164 8093 0000 sts EE_Parameter+40,r24 |
187 0168 1092 0000 sts EE_Parameter+41,__zero_reg__ |
188 016c 1092 0000 sts EE_Parameter+42,__zero_reg__ |
189 0170 1092 0000 sts EE_Parameter+43,__zero_reg__ |
190 0174 1092 0000 sts EE_Parameter+44,__zero_reg__ |
191 0178 1092 0000 sts EE_Parameter+68,__zero_reg__ |
192 017c 1092 0000 sts EE_Parameter+69,__zero_reg__ |
193 0180 1092 0000 sts EE_Parameter+70,__zero_reg__ |
194 0184 1092 0000 sts EE_Parameter+71,__zero_reg__ |
195 0188 34E6 ldi r19,lo8(100) |
196 018a 3093 0000 sts EE_Parameter+45,r19 |
197 018e 48E2 ldi r20,lo8(40) |
198 0190 4093 0000 sts EE_Parameter+46,r20 |
199 0194 61E0 ldi r22,lo8(1) |
200 0196 6093 0000 sts EE_Parameter+98,r22 |
201 019a 1092 0000 sts EE_Parameter+47,__zero_reg__ |
202 019e 27EF ldi r18,lo8(-9) |
203 01a0 2093 0000 sts EE_Parameter+48,r18 |
204 01a4 7093 0000 sts EE_Parameter+53,r23 |
205 01a8 8DE7 ldi r24,lo8(125) |
206 01aa 8093 0000 sts EE_Parameter+54,r24 |
207 01ae 8093 0000 sts EE_Parameter+55,r24 |
208 01b2 8093 0000 sts EE_Parameter+56,r24 |
209 01b6 3093 0000 sts EE_Parameter+49,r19 |
210 01ba 4093 0000 sts EE_Parameter+50,r20 |
211 01be 1092 0000 sts EE_Parameter+51,__zero_reg__ |
212 01c2 2093 0000 sts EE_Parameter+52,r18 |
213 01c6 82E3 ldi r24,lo8(50) |
214 01c8 8093 0000 sts EE_Parameter+57,r24 |
215 01cc 9093 0000 sts EE_Parameter+58,r25 |
216 01d0 8093 0000 sts EE_Parameter+59,r24 |
217 01d4 1092 0000 sts EE_Parameter+97,__zero_reg__ |
218 01d8 9093 0000 sts EE_Parameter+60,r25 |
219 01dc 5093 0000 sts EE_Parameter+61,r21 |
220 01e0 6093 0000 sts EE_Parameter+62,r22 |
221 01e4 B093 0000 sts EE_Parameter+65,r27 |
222 01e8 3093 0000 sts EE_Parameter+67,r19 |
223 01ec 8FE5 ldi r24,lo8(95) |
224 01ee 8093 0000 sts EE_Parameter+72,r24 |
225 01f2 83EF ldi r24,lo8(-13) |
226 01f4 8093 0000 sts EE_Parameter+74,r24 |
227 01f8 8AEA ldi r24,lo8(-86) |
228 01fa 8093 0000 sts EE_Parameter+76,r24 |
229 01fe 8093 0000 sts EE_Parameter+77,r24 |
230 0202 E093 0000 sts EE_Parameter+73,r30 |
231 0206 E093 0000 sts EE_Parameter+75,r30 |
232 020a 8EEF ldi r24,lo8(-2) |
233 020c 8093 0000 sts EE_Parameter+78,r24 |
234 0210 3093 0000 sts EE_Parameter+79,r19 |
235 0214 9093 0000 sts EE_Parameter+80,r25 |
236 0218 9093 0000 sts EE_Parameter+81,r25 |
237 021c 9093 0000 sts EE_Parameter+82,r25 |
238 0220 8BE4 ldi r24,lo8(75) |
239 0222 8093 0000 sts EE_Parameter+83,r24 |
240 0226 8093 0000 sts EE_Parameter+84,r24 |
241 022a 8093 0000 sts EE_Parameter+85,r24 |
242 022e 1092 0000 sts EE_Parameter+86,__zero_reg__ |
243 0232 7093 0000 sts EE_Parameter+87,r23 |
244 0236 F093 0000 sts EE_Parameter+88,r31 |
245 023a 9093 0000 sts EE_Parameter+89,r25 |
246 023e A093 0000 sts EE_Parameter+90,r26 |
247 0242 3093 0000 sts EE_Parameter+91,r19 |
248 0246 3093 0000 sts EE_Parameter+92,r19 |
249 024a 82E0 ldi r24,lo8(2) |
250 024c 8093 0000 sts EE_Parameter+93,r24 |
251 0250 6093 0000 sts EE_Parameter+39,r22 |
252 0254 1092 0000 sts EE_Parameter+95,__zero_reg__ |
253 0258 1092 0000 sts EE_Parameter+96,__zero_reg__ |
254 025c A0E0 ldi r26,lo8(EE_Parameter+100) |
255 025e B0E0 ldi r27,hi8(EE_Parameter+100) |
256 0260 E0E0 ldi r30,lo8(.LC0) |
257 0262 F0E0 ldi r31,hi8(.LC0) |
258 0264 ED01 movw r28,r26 |
259 0266 0190 ld __tmp_reg__,Z+ |
260 0268 0992 st Y+,__tmp_reg__ |
261 026a 1A95 dec r17 |
262 026c E1F7 brne .-8 |
263 026e 60E7 ldi r22,lo8(112) |
264 0270 70E0 ldi r23,hi8(112) |
265 0272 CD01 movw r24,r26 |
266 0274 8456 subi r24,lo8(-(-100)) |
267 0276 9040 sbci r25,hi8(-(-100)) |
268 0278 0E94 0000 call RAM_Checksum |
269 027c 8093 0000 sts EE_Parameter+112,r24 |
270 /* epilogue: frame size=0 */ |
271 0280 DF91 pop r29 |
272 0282 CF91 pop r28 |
273 0284 1F91 pop r17 |
274 0286 0895 ret |
275 /* epilogue end (size=4) */ |
276 /* function ParamSet_DefaultSet1 size 250 (243) */ |
278 .data |
279 .LC1: |
280 0007 4E6F 726D .string "Normal" |
280 616C 00 |
281 000e 00 .string "" |
282 .text |
283 .global ParamSet_DefaultSet2 |
285 ParamSet_DefaultSet2: |
286 /* prologue: frame size=0 */ |
287 0288 CF93 push r28 |
288 028a DF93 push r29 |
289 /* prologue end (size=2) */ |
290 028c 84E5 ldi r24,lo8(84) |
291 028e 8093 0000 sts EE_Parameter,r24 |
292 0292 8091 0000 lds r24,PlatinenVersion |
293 0296 8431 cpi r24,lo8(20) |
294 0298 50F0 brlo .L23 |
295 029a 8AE0 ldi r24,lo8(10) |
296 029c 8093 0000 sts EE_Parameter+32,r24 |
297 02a0 1092 0000 sts EE_Parameter+66,__zero_reg__ |
298 02a4 8BE1 ldi r24,lo8(27) |
299 02a6 8093 0000 sts EE_Parameter+28,r24 |
300 02aa 8EE4 ldi r24,lo8(78) |
301 02ac 0AC0 rjmp .L25 |
302 .L23: |
303 02ae 83E0 ldi r24,lo8(3) |
304 02b0 8093 0000 sts EE_Parameter+32,r24 |
305 02b4 80E2 ldi r24,lo8(32) |
306 02b6 8093 0000 sts EE_Parameter+66,r24 |
307 02ba 8EE1 ldi r24,lo8(30) |
308 02bc 8093 0000 sts EE_Parameter+28,r24 |
309 02c0 85E5 ldi r24,lo8(85) |
310 .L25: |
311 02c2 8093 0000 sts EE_Parameter+63,r24 |
312 02c6 8093 0000 sts EE_Parameter+64,r24 |
313 02ca 8AE6 ldi r24,lo8(106) |
314 02cc 8093 0000 sts EE_Parameter+13,r24 |
315 02d0 83E0 ldi r24,lo8(3) |
316 02d2 8093 0000 sts EE_Parameter+99,r24 |
317 02d6 7EE1 ldi r23,lo8(30) |
318 02d8 7093 0000 sts EE_Parameter+14,r23 |
319 02dc 8FEF ldi r24,lo8(-1) |
320 02de 8093 0000 sts EE_Parameter+16,r24 |
321 02e2 9FE0 ldi r25,lo8(15) |
322 02e4 9093 0000 sts EE_Parameter+17,r25 |
323 02e8 7093 0000 sts EE_Parameter+15,r23 |
324 02ec 1092 0000 sts EE_Parameter+19,__zero_reg__ |
325 02f0 68E0 ldi r22,lo8(8) |
326 02f2 6093 0000 sts EE_Parameter+20,r22 |
327 02f6 80E4 ldi r24,lo8(64) |
328 02f8 8093 0000 sts EE_Parameter+21,r24 |
329 02fc 1092 0000 sts EE_Parameter+22,__zero_reg__ |
330 0300 9093 0000 sts EE_Parameter+18,r25 |
331 0304 8AE0 ldi r24,lo8(10) |
332 0306 8093 0000 sts EE_Parameter+23,r24 |
333 030a 80E1 ldi r24,lo8(16) |
334 030c 8093 0000 sts EE_Parameter+24,r24 |
335 0310 56E0 ldi r21,lo8(6) |
336 0312 5093 0000 sts EE_Parameter+25,r21 |
337 0316 6093 0000 sts EE_Parameter+26,r22 |
338 031a 86EE ldi r24,lo8(-26) |
339 031c 8093 0000 sts EE_Parameter+27,r24 |
340 0320 80E8 ldi r24,lo8(-128) |
341 0322 8093 0000 sts EE_Parameter+29,r24 |
342 0326 2AE5 ldi r18,lo8(90) |
343 0328 2093 0000 sts EE_Parameter+30,r18 |
344 032c 88E7 ldi r24,lo8(120) |
345 032e 8093 0000 sts EE_Parameter+31,r24 |
346 0332 2093 0000 sts EE_Parameter+33,r18 |
347 0336 8093 0000 sts EE_Parameter+34,r24 |
348 033a 5093 0000 sts EE_Parameter+35,r21 |
349 033e 81E2 ldi r24,lo8(33) |
350 0340 8093 0000 sts EE_Parameter+36,r24 |
351 0344 8DE2 ldi r24,lo8(45) |
352 0346 8093 0000 sts EE_Parameter+37,r24 |
353 034a 2093 0000 sts EE_Parameter+38,r18 |
354 034e E0E2 ldi r30,lo8(32) |
355 0350 E093 0000 sts EE_Parameter+40,r30 |
356 0354 1092 0000 sts EE_Parameter+41,__zero_reg__ |
357 0358 1092 0000 sts EE_Parameter+42,__zero_reg__ |
358 035c 1092 0000 sts EE_Parameter+43,__zero_reg__ |
359 0360 1092 0000 sts EE_Parameter+44,__zero_reg__ |
360 0364 1092 0000 sts EE_Parameter+68,__zero_reg__ |
361 0368 1092 0000 sts EE_Parameter+69,__zero_reg__ |
362 036c 1092 0000 sts EE_Parameter+70,__zero_reg__ |
363 0370 1092 0000 sts EE_Parameter+71,__zero_reg__ |
364 0374 44E6 ldi r20,lo8(100) |
365 0376 4093 0000 sts EE_Parameter+45,r20 |
366 037a 38E2 ldi r19,lo8(40) |
367 037c 3093 0000 sts EE_Parameter+46,r19 |
368 0380 F1E0 ldi r31,lo8(1) |
369 0382 F093 0000 sts EE_Parameter+98,r31 |
370 0386 1092 0000 sts EE_Parameter+47,__zero_reg__ |
371 038a 97EF ldi r25,lo8(-9) |
372 038c 9093 0000 sts EE_Parameter+48,r25 |
373 0390 5093 0000 sts EE_Parameter+53,r21 |
374 0394 8DE7 ldi r24,lo8(125) |
375 0396 8093 0000 sts EE_Parameter+54,r24 |
376 039a 8093 0000 sts EE_Parameter+55,r24 |
377 039e 8093 0000 sts EE_Parameter+56,r24 |
378 03a2 4093 0000 sts EE_Parameter+49,r20 |
379 03a6 3093 0000 sts EE_Parameter+50,r19 |
380 03aa 1092 0000 sts EE_Parameter+51,__zero_reg__ |
381 03ae 9093 0000 sts EE_Parameter+52,r25 |
382 03b2 82E3 ldi r24,lo8(50) |
383 03b4 8093 0000 sts EE_Parameter+57,r24 |
384 03b8 2093 0000 sts EE_Parameter+58,r18 |
385 03bc 8093 0000 sts EE_Parameter+59,r24 |
386 03c0 1092 0000 sts EE_Parameter+97,__zero_reg__ |
387 03c4 2093 0000 sts EE_Parameter+60,r18 |
388 03c8 80E5 ldi r24,lo8(80) |
389 03ca 8093 0000 sts EE_Parameter+61,r24 |
390 03ce 8CE3 ldi r24,lo8(60) |
391 03d0 8093 0000 sts EE_Parameter+62,r24 |
392 03d4 E093 0000 sts EE_Parameter+65,r30 |
393 03d8 9BE4 ldi r25,lo8(75) |
394 03da 9093 0000 sts EE_Parameter+67,r25 |
395 03de 8FE5 ldi r24,lo8(95) |
396 03e0 8093 0000 sts EE_Parameter+72,r24 |
397 03e4 83EF ldi r24,lo8(-13) |
398 03e6 8093 0000 sts EE_Parameter+74,r24 |
399 03ea 8AEA ldi r24,lo8(-86) |
400 03ec 8093 0000 sts EE_Parameter+76,r24 |
401 03f0 8093 0000 sts EE_Parameter+77,r24 |
402 03f4 84E1 ldi r24,lo8(20) |
403 03f6 8093 0000 sts EE_Parameter+73,r24 |
404 03fa 8093 0000 sts EE_Parameter+75,r24 |
405 03fe 8EEF ldi r24,lo8(-2) |
406 0400 8093 0000 sts EE_Parameter+78,r24 |
407 0404 4093 0000 sts EE_Parameter+79,r20 |
408 0408 2093 0000 sts EE_Parameter+80,r18 |
409 040c 2093 0000 sts EE_Parameter+81,r18 |
410 0410 2093 0000 sts EE_Parameter+82,r18 |
411 0414 9093 0000 sts EE_Parameter+83,r25 |
412 0418 9093 0000 sts EE_Parameter+84,r25 |
413 041c 9093 0000 sts EE_Parameter+85,r25 |
414 0420 1092 0000 sts EE_Parameter+86,__zero_reg__ |
415 0424 5093 0000 sts EE_Parameter+87,r21 |
416 0428 6093 0000 sts EE_Parameter+88,r22 |
417 042c 2093 0000 sts EE_Parameter+89,r18 |
418 0430 7093 0000 sts EE_Parameter+90,r23 |
419 0434 4093 0000 sts EE_Parameter+91,r20 |
420 0438 4093 0000 sts EE_Parameter+92,r20 |
421 043c 82E0 ldi r24,lo8(2) |
422 043e 8093 0000 sts EE_Parameter+93,r24 |
423 0442 F093 0000 sts EE_Parameter+39,r31 |
424 0446 1092 0000 sts EE_Parameter+95,__zero_reg__ |
425 044a 1092 0000 sts EE_Parameter+96,__zero_reg__ |
426 044e A0E0 ldi r26,lo8(EE_Parameter+100) |
427 0450 B0E0 ldi r27,hi8(EE_Parameter+100) |
428 0452 8CE0 ldi r24,lo8(12) |
429 0454 E0E0 ldi r30,lo8(.LC1) |
430 0456 F0E0 ldi r31,hi8(.LC1) |
431 0458 ED01 movw r28,r26 |
432 045a 0190 ld __tmp_reg__,Z+ |
433 045c 0992 st Y+,__tmp_reg__ |
434 045e 8A95 dec r24 |
435 0460 E1F7 brne .-8 |
436 0462 60E7 ldi r22,lo8(112) |
437 0464 70E0 ldi r23,hi8(112) |
438 0466 CD01 movw r24,r26 |
439 0468 8456 subi r24,lo8(-(-100)) |
440 046a 9040 sbci r25,hi8(-(-100)) |
441 046c 0E94 0000 call RAM_Checksum |
442 0470 8093 0000 sts EE_Parameter+112,r24 |
443 /* epilogue: frame size=0 */ |
444 0474 DF91 pop r29 |
445 0476 CF91 pop r28 |
446 0478 0895 ret |
447 /* epilogue end (size=3) */ |
448 /* function ParamSet_DefaultSet2 size 249 (244) */ |
450 .data |
451 .LC2: |
452 000f 4265 6769 .string "Beginner" |
452 6E6E 6572 |
452 00 |
453 0018 00 .string "" |
454 .text |
455 .global ParamSet_DefaultSet3 |
457 ParamSet_DefaultSet3: |
458 /* prologue: frame size=0 */ |
459 047a CF93 push r28 |
460 047c DF93 push r29 |
461 /* prologue end (size=2) */ |
462 047e 84E5 ldi r24,lo8(84) |
463 0480 8093 0000 sts EE_Parameter,r24 |
464 0484 8091 0000 lds r24,PlatinenVersion |
465 0488 8431 cpi r24,lo8(20) |
466 048a 50F0 brlo .L27 |
467 048c 8AE0 ldi r24,lo8(10) |
468 048e 8093 0000 sts EE_Parameter+32,r24 |
469 0492 1092 0000 sts EE_Parameter+66,__zero_reg__ |
470 0496 8BE1 ldi r24,lo8(27) |
471 0498 8093 0000 sts EE_Parameter+28,r24 |
472 049c 8EE4 ldi r24,lo8(78) |
473 049e 0AC0 rjmp .L29 |
474 .L27: |
475 04a0 83E0 ldi r24,lo8(3) |
476 04a2 8093 0000 sts EE_Parameter+32,r24 |
477 04a6 80E2 ldi r24,lo8(32) |
478 04a8 8093 0000 sts EE_Parameter+66,r24 |
479 04ac 8EE1 ldi r24,lo8(30) |
480 04ae 8093 0000 sts EE_Parameter+28,r24 |
481 04b2 85E5 ldi r24,lo8(85) |
482 .L29: |
483 04b4 8093 0000 sts EE_Parameter+63,r24 |
484 04b8 8093 0000 sts EE_Parameter+64,r24 |
485 04bc 8AE6 ldi r24,lo8(106) |
486 04be 8093 0000 sts EE_Parameter+13,r24 |
487 04c2 83E0 ldi r24,lo8(3) |
488 04c4 8093 0000 sts EE_Parameter+99,r24 |
489 04c8 6EE1 ldi r22,lo8(30) |
490 04ca 6093 0000 sts EE_Parameter+14,r22 |
491 04ce 8FEF ldi r24,lo8(-1) |
492 04d0 8093 0000 sts EE_Parameter+16,r24 |
493 04d4 9FE0 ldi r25,lo8(15) |
494 04d6 9093 0000 sts EE_Parameter+17,r25 |
495 04da 6093 0000 sts EE_Parameter+15,r22 |
496 04de 1092 0000 sts EE_Parameter+19,__zero_reg__ |
497 04e2 78E0 ldi r23,lo8(8) |
498 04e4 7093 0000 sts EE_Parameter+20,r23 |
499 04e8 80E4 ldi r24,lo8(64) |
500 04ea 8093 0000 sts EE_Parameter+21,r24 |
501 04ee 1092 0000 sts EE_Parameter+22,__zero_reg__ |
502 04f2 9093 0000 sts EE_Parameter+18,r25 |
503 04f6 7093 0000 sts EE_Parameter+23,r23 |
504 04fa 90E1 ldi r25,lo8(16) |
505 04fc 9093 0000 sts EE_Parameter+24,r25 |
506 0500 56E0 ldi r21,lo8(6) |
507 0502 5093 0000 sts EE_Parameter+25,r21 |
508 0506 7093 0000 sts EE_Parameter+26,r23 |
509 050a 86EE ldi r24,lo8(-26) |
510 050c 8093 0000 sts EE_Parameter+27,r24 |
511 0510 80E8 ldi r24,lo8(-128) |
512 0512 8093 0000 sts EE_Parameter+29,r24 |
513 0516 34E6 ldi r19,lo8(100) |
514 0518 3093 0000 sts EE_Parameter+30,r19 |
515 051c 88E7 ldi r24,lo8(120) |
516 051e 8093 0000 sts EE_Parameter+31,r24 |
517 0522 3093 0000 sts EE_Parameter+33,r19 |
518 0526 8093 0000 sts EE_Parameter+34,r24 |
519 052a 5093 0000 sts EE_Parameter+35,r21 |
520 052e 81E2 ldi r24,lo8(33) |
521 0530 8093 0000 sts EE_Parameter+36,r24 |
522 0534 8DE2 ldi r24,lo8(45) |
523 0536 8093 0000 sts EE_Parameter+37,r24 |
524 053a 2AE5 ldi r18,lo8(90) |
525 053c 2093 0000 sts EE_Parameter+38,r18 |
526 0540 9093 0000 sts EE_Parameter+40,r25 |
527 0544 1092 0000 sts EE_Parameter+41,__zero_reg__ |
528 0548 1092 0000 sts EE_Parameter+42,__zero_reg__ |
529 054c 1092 0000 sts EE_Parameter+43,__zero_reg__ |
530 0550 1092 0000 sts EE_Parameter+44,__zero_reg__ |
531 0554 1092 0000 sts EE_Parameter+68,__zero_reg__ |
532 0558 1092 0000 sts EE_Parameter+69,__zero_reg__ |
533 055c 1092 0000 sts EE_Parameter+70,__zero_reg__ |
534 0560 1092 0000 sts EE_Parameter+71,__zero_reg__ |
535 0564 3093 0000 sts EE_Parameter+45,r19 |
536 0568 48E2 ldi r20,lo8(40) |
537 056a 4093 0000 sts EE_Parameter+46,r20 |
538 056e E1E0 ldi r30,lo8(1) |
539 0570 E093 0000 sts EE_Parameter+98,r30 |
540 0574 1092 0000 sts EE_Parameter+47,__zero_reg__ |
541 0578 97EF ldi r25,lo8(-9) |
542 057a 9093 0000 sts EE_Parameter+48,r25 |
543 057e 5093 0000 sts EE_Parameter+53,r21 |
544 0582 8DE7 ldi r24,lo8(125) |
545 0584 8093 0000 sts EE_Parameter+54,r24 |
546 0588 8093 0000 sts EE_Parameter+55,r24 |
547 058c 8093 0000 sts EE_Parameter+56,r24 |
548 0590 3093 0000 sts EE_Parameter+49,r19 |
549 0594 4093 0000 sts EE_Parameter+50,r20 |
550 0598 1092 0000 sts EE_Parameter+51,__zero_reg__ |
551 059c 9093 0000 sts EE_Parameter+52,r25 |
552 05a0 82E3 ldi r24,lo8(50) |
553 05a2 8093 0000 sts EE_Parameter+57,r24 |
554 05a6 2093 0000 sts EE_Parameter+58,r18 |
555 05aa 8093 0000 sts EE_Parameter+59,r24 |
556 05ae 1092 0000 sts EE_Parameter+97,__zero_reg__ |
557 05b2 2093 0000 sts EE_Parameter+60,r18 |
558 05b6 80E5 ldi r24,lo8(80) |
559 05b8 8093 0000 sts EE_Parameter+61,r24 |
560 05bc 96E4 ldi r25,lo8(70) |
561 05be 9093 0000 sts EE_Parameter+62,r25 |
562 05c2 80E2 ldi r24,lo8(32) |
563 05c4 8093 0000 sts EE_Parameter+65,r24 |
564 05c8 9093 0000 sts EE_Parameter+67,r25 |
565 05cc 8FE5 ldi r24,lo8(95) |
566 05ce 8093 0000 sts EE_Parameter+72,r24 |
567 05d2 83EF ldi r24,lo8(-13) |
568 05d4 8093 0000 sts EE_Parameter+74,r24 |
569 05d8 8AEA ldi r24,lo8(-86) |
570 05da 8093 0000 sts EE_Parameter+76,r24 |
571 05de 8093 0000 sts EE_Parameter+77,r24 |
572 05e2 6093 0000 sts EE_Parameter+73,r22 |
573 05e6 6093 0000 sts EE_Parameter+75,r22 |
574 05ea 8EEF ldi r24,lo8(-2) |
575 05ec 8093 0000 sts EE_Parameter+78,r24 |
576 05f0 3093 0000 sts EE_Parameter+79,r19 |
577 05f4 2093 0000 sts EE_Parameter+80,r18 |
578 05f8 2093 0000 sts EE_Parameter+81,r18 |
579 05fc 2093 0000 sts EE_Parameter+82,r18 |
580 0600 8BE4 ldi r24,lo8(75) |
581 0602 8093 0000 sts EE_Parameter+83,r24 |
582 0606 8093 0000 sts EE_Parameter+84,r24 |
583 060a 8093 0000 sts EE_Parameter+85,r24 |
584 060e 1092 0000 sts EE_Parameter+86,__zero_reg__ |
585 0612 5093 0000 sts EE_Parameter+87,r21 |
586 0616 7093 0000 sts EE_Parameter+88,r23 |
587 061a 2093 0000 sts EE_Parameter+89,r18 |
588 061e 6093 0000 sts EE_Parameter+90,r22 |
589 0622 3093 0000 sts EE_Parameter+91,r19 |
590 0626 3093 0000 sts EE_Parameter+92,r19 |
591 062a 82E0 ldi r24,lo8(2) |
592 062c 8093 0000 sts EE_Parameter+93,r24 |
593 0630 E093 0000 sts EE_Parameter+39,r30 |
594 0634 1092 0000 sts EE_Parameter+95,__zero_reg__ |
595 0638 1092 0000 sts EE_Parameter+96,__zero_reg__ |
596 063c A0E0 ldi r26,lo8(EE_Parameter+100) |
597 063e B0E0 ldi r27,hi8(EE_Parameter+100) |
598 0640 8CE0 ldi r24,lo8(12) |
599 0642 E0E0 ldi r30,lo8(.LC2) |
600 0644 F0E0 ldi r31,hi8(.LC2) |
601 0646 ED01 movw r28,r26 |
602 0648 0190 ld __tmp_reg__,Z+ |
603 064a 0992 st Y+,__tmp_reg__ |
604 064c 8A95 dec r24 |
605 064e E1F7 brne .-8 |
606 0650 60E7 ldi r22,lo8(112) |
607 0652 70E0 ldi r23,hi8(112) |
608 0654 CD01 movw r24,r26 |
609 0656 8456 subi r24,lo8(-(-100)) |
610 0658 9040 sbci r25,hi8(-(-100)) |
611 065a 0E94 0000 call RAM_Checksum |
612 065e 8093 0000 sts EE_Parameter+112,r24 |
613 /* epilogue: frame size=0 */ |
614 0662 DF91 pop r29 |
615 0664 CF91 pop r28 |
616 0666 0895 ret |
617 /* epilogue end (size=3) */ |
618 /* function ParamSet_DefaultSet3 size 247 (242) */ |
620 .global GetParamByte |
622 GetParamByte: |
623 /* prologue: frame size=0 */ |
624 /* prologue end (size=0) */ |
625 0668 DC01 movw r26,r24 |
626 /* #APP */ |
627 066a 0E94 0000 call __eeprom_read_byte_1F2021 |
628 066e 802D mov r24,__tmp_reg__ |
629 /* #NOAPP */ |
630 0670 9927 clr r25 |
631 /* epilogue: frame size=0 */ |
632 0672 0895 ret |
633 /* epilogue end (size=1) */ |
634 /* function GetParamByte size 7 (6) */ |
636 .global SetParamByte |
638 SetParamByte: |
639 /* prologue: frame size=0 */ |
640 /* prologue end (size=0) */ |
641 0674 DC01 movw r26,r24 |
642 /* #APP */ |
643 0676 062E mov __tmp_reg__,r22 |
644 0678 0E94 0000 call __eeprom_write_byte_1F2021 |
645 /* #NOAPP */ |
646 /* epilogue: frame size=0 */ |
647 067c 0895 ret |
648 /* epilogue end (size=1) */ |
649 /* function SetParamByte size 6 (5) */ |
651 .global GetParamWord |
653 GetParamWord: |
654 /* prologue: frame size=0 */ |
655 /* prologue end (size=0) */ |
656 067e DC01 movw r26,r24 |
657 /* #APP */ |
658 0680 0E94 0000 call __eeprom_read_word_1F2021 |
659 |
660 /* #NOAPP */ |
661 0684 CF01 movw r24,r30 |
662 /* epilogue: frame size=0 */ |
663 0686 0895 ret |
664 /* epilogue end (size=1) */ |
665 /* function GetParamWord size 7 (6) */ |
667 .global SetParamWord |
669 SetParamWord: |
670 /* prologue: frame size=0 */ |
671 /* prologue end (size=0) */ |
672 0688 DC01 movw r26,r24 |
673 /* #APP */ |
674 068a 0B01 movw __tmp_reg__,r22 |
675 068c 0E94 0000 call __eeprom_write_word_1F2021 |
676 |
677 /* #NOAPP */ |
678 /* epilogue: frame size=0 */ |
679 0690 0895 ret |
680 /* epilogue end (size=1) */ |
681 /* function SetParamWord size 8 (7) */ |
683 .global ParamSet_ReadFromEEProm |
685 ParamSet_ReadFromEEProm: |
686 /* prologue: frame size=0 */ |
687 0692 FF92 push r15 |
688 0694 0F93 push r16 |
689 0696 1F93 push r17 |
690 0698 CF93 push r28 |
691 069a DF93 push r29 |
692 /* prologue end (size=5) */ |
693 069c 982F mov r25,r24 |
694 069e 8150 subi r24,lo8(-(-1)) |
695 06a0 8530 cpi r24,lo8(5) |
696 06a2 08F0 brlo .L39 |
697 06a4 93E0 ldi r25,lo8(3) |
698 .L39: |
699 06a6 81E7 ldi r24,lo8(113) |
700 06a8 F82E mov r15,r24 |
701 06aa 9F9D mul r25,r15 |
702 06ac 8001 movw r16,r0 |
703 06ae 1124 clr r1 |
704 06b0 E801 movw r28,r16 |
705 06b2 2D97 sbiw r28,13 |
706 06b4 60E7 ldi r22,lo8(112) |
707 06b6 70E0 ldi r23,hi8(112) |
708 06b8 CE01 movw r24,r28 |
709 06ba 0E94 0000 call EEProm_Checksum |
710 06be 982F mov r25,r24 |
711 06c0 D801 movw r26,r16 |
712 06c2 AD59 subi r26,lo8(-(99)) |
713 06c4 BF4F sbci r27,hi8(-(99)) |
714 /* #APP */ |
715 06c6 0E94 0000 call __eeprom_read_byte_1F2021 |
716 06ca 802D mov r24,__tmp_reg__ |
717 /* #NOAPP */ |
718 06cc 8917 cp r24,r25 |
719 06ce 31F4 brne .L51 |
720 06d0 DE01 movw r26,r28 |
721 /* #APP */ |
722 06d2 0E94 0000 call __eeprom_read_byte_1F2021 |
723 06d6 802D mov r24,__tmp_reg__ |
724 /* #NOAPP */ |
725 06d8 8435 cpi r24,lo8(84) |
726 06da 19F0 breq .L42 |
727 .L51: |
728 06dc 80E0 ldi r24,lo8(0) |
729 06de 90E0 ldi r25,hi8(0) |
730 06e0 0AC0 rjmp .L38 |
731 .L42: |
732 06e2 E0E0 ldi r30,lo8(EE_Parameter) |
733 06e4 F0E0 ldi r31,hi8(EE_Parameter) |
734 06e6 DE01 movw r26,r28 |
735 /* #APP */ |
736 06e8 1F2C mov __zero_reg__,r15 |
737 06ea 0E94 0000 call __eeprom_read_block_1F2021 |
738 /* #NOAPP */ |
739 06ee 0E94 0000 call LED_Init |
740 06f2 81E0 ldi r24,lo8(1) |
741 06f4 90E0 ldi r25,hi8(1) |
742 .L38: |
743 /* epilogue: frame size=0 */ |
744 06f6 E5E0 ldi r30,5 |
745 06f8 CDB7 in r28,__SP_L__ |
746 06fa DEB7 in r29,__SP_H__ |
747 06fc 0C94 0000 jmp __epilogue_restores__+26 |
748 /* epilogue end (size=5) */ |
749 /* function ParamSet_ReadFromEEProm size 58 (48) */ |
751 .global SetActiveParamSet |
753 SetActiveParamSet: |
754 /* prologue: frame size=0 */ |
755 /* prologue end (size=0) */ |
756 0700 8630 cpi r24,lo8(6) |
757 0702 10F0 brlo .L53 |
758 0704 85E0 ldi r24,lo8(5) |
759 0706 03C0 rjmp .L54 |
760 .L53: |
761 0708 8823 tst r24 |
762 070a 09F4 brne .L54 |
763 070c 81E0 ldi r24,lo8(1) |
764 .L54: |
765 070e A2E0 ldi r26,lo8(2) |
766 0710 B0E0 ldi r27,hi8(2) |
767 /* #APP */ |
768 0712 082E mov __tmp_reg__,r24 |
769 0714 0E94 0000 call __eeprom_write_byte_1F2021 |
770 /* #NOAPP */ |
771 /* epilogue: frame size=0 */ |
772 0718 0895 ret |
773 /* epilogue end (size=1) */ |
774 /* function SetActiveParamSet size 14 (13) */ |
776 .global ParamSet_WriteToEEProm |
778 ParamSet_WriteToEEProm: |
779 /* prologue: frame size=0 */ |
780 071a 1F93 push r17 |
781 071c CF93 push r28 |
782 071e DF93 push r29 |
783 /* prologue end (size=3) */ |
784 0720 182F mov r17,r24 |
785 0722 C0E0 ldi r28,lo8(EE_Parameter) |
786 0724 D0E0 ldi r29,hi8(EE_Parameter) |
787 0726 8091 0000 lds r24,EE_Parameter |
788 072a 8435 cpi r24,lo8(84) |
789 072c 91F5 brne .L57 |
790 072e 1630 cpi r17,lo8(6) |
791 0730 10F0 brlo .L58 |
792 0732 15E0 ldi r17,lo8(5) |
793 0734 02C0 rjmp .L59 |
794 .L58: |
795 0736 1123 tst r17 |
796 0738 61F1 breq .L57 |
797 .L59: |
798 073a 60E7 ldi r22,lo8(112) |
799 073c 70E0 ldi r23,hi8(112) |
800 073e 80E0 ldi r24,lo8(EE_Parameter) |
801 0740 90E0 ldi r25,hi8(EE_Parameter) |
802 0742 0E94 0000 call RAM_Checksum |
803 0746 8093 0000 sts EE_Parameter+112,r24 |
804 074a 81E7 ldi r24,lo8(113) |
805 074c 189F mul r17,r24 |
806 074e D001 movw r26,r0 |
807 0750 1124 clr r1 |
808 0752 1D97 sbiw r26,13 |
809 0754 FE01 movw r30,r28 |
810 /* #APP */ |
811 0756 182E mov __zero_reg__,r24 |
812 0758 0E94 0000 call __eeprom_write_block_1F2021 |
813 /* #NOAPP */ |
814 075c E0E0 ldi r30,lo8(EE_Parameter+1) |
815 075e F0E0 ldi r31,hi8(EE_Parameter+1) |
816 0760 A0E5 ldi r26,lo8(80) |
817 0762 B0E0 ldi r27,hi8(80) |
818 0764 2CE0 ldi r18,lo8(12) |
819 0766 30E0 ldi r19,hi8(12) |
820 /* #APP */ |
821 0768 122E mov __zero_reg__,r18 |
822 076a 0E94 0000 call __eeprom_write_block_1F2021 |
823 /* #NOAPP */ |
824 076e B901 movw r22,r18 |
825 0770 80E0 ldi r24,lo8(EE_Parameter+1) |
826 0772 90E0 ldi r25,hi8(EE_Parameter+1) |
827 0774 0E94 0000 call RAM_Checksum |
828 0778 ACE5 ldi r26,lo8(92) |
829 077a B0E0 ldi r27,hi8(92) |
830 /* #APP */ |
831 077c 082E mov __tmp_reg__,r24 |
832 077e 0E94 0000 call __eeprom_write_byte_1F2021 |
833 /* #NOAPP */ |
834 0782 812F mov r24,r17 |
835 0784 0E94 0000 call SetActiveParamSet |
836 0788 0E94 0000 call LED_Init |
837 078c 81E0 ldi r24,lo8(1) |
838 078e 90E0 ldi r25,hi8(1) |
839 0790 02C0 rjmp .L56 |
840 .L57: |
841 0792 80E0 ldi r24,lo8(0) |
842 0794 90E0 ldi r25,hi8(0) |
843 .L56: |
844 /* epilogue: frame size=0 */ |
845 0796 DF91 pop r29 |
846 0798 CF91 pop r28 |
847 079a 1F91 pop r17 |
848 079c 0895 ret |
849 /* epilogue end (size=4) */ |
850 /* function ParamSet_WriteToEEProm size 69 (62) */ |
852 .global MixerTable_ReadFromEEProm |
854 MixerTable_ReadFromEEProm: |
855 /* prologue: frame size=0 */ |
856 /* prologue end (size=0) */ |
857 079e 6DE4 ldi r22,lo8(77) |
858 07a0 70E0 ldi r23,hi8(77) |
859 07a2 88EE ldi r24,lo8(1000) |
860 07a4 93E0 ldi r25,hi8(1000) |
861 07a6 0E94 0000 call EEProm_Checksum |
862 07aa A5E3 ldi r26,lo8(1077) |
863 07ac B4E0 ldi r27,hi8(1077) |
864 /* #APP */ |
865 07ae 0E94 0000 call __eeprom_read_byte_1F2021 |
866 07b2 902D mov r25,__tmp_reg__ |
867 /* #NOAPP */ |
868 07b4 9817 cp r25,r24 |
869 07b6 39F4 brne .L87 |
870 07b8 A8EE ldi r26,lo8(1000) |
871 07ba B3E0 ldi r27,hi8(1000) |
872 /* #APP */ |
873 07bc 0E94 0000 call __eeprom_read_byte_1F2021 |
874 07c0 802D mov r24,__tmp_reg__ |
875 /* #NOAPP */ |
876 07c2 8130 cpi r24,lo8(1) |
877 07c4 19F0 breq .L78 |
878 .L87: |
879 07c6 80E0 ldi r24,lo8(0) |
880 07c8 90E0 ldi r25,hi8(0) |
881 07ca 0895 ret |
882 .L78: |
883 07cc E0E0 ldi r30,lo8(Mixer) |
884 07ce F0E0 ldi r31,hi8(Mixer) |
885 07d0 A8EE ldi r26,lo8(1000) |
886 07d2 B3E0 ldi r27,hi8(1000) |
887 07d4 8EE4 ldi r24,lo8(78) |
888 /* #APP */ |
889 07d6 182E mov __zero_reg__,r24 |
890 07d8 0E94 0000 call __eeprom_read_block_1F2021 |
891 /* #NOAPP */ |
892 07dc 81E0 ldi r24,lo8(1) |
893 07de 90E0 ldi r25,hi8(1) |
894 07e0 0895 ret |
895 /* epilogue: frame size=0 */ |
896 /* epilogue: noreturn */ |
897 /* epilogue end (size=0) */ |
898 /* function MixerTable_ReadFromEEProm size 37 (37) */ |
900 .global MixerTable_WriteToEEProm |
902 MixerTable_WriteToEEProm: |
903 /* prologue: frame size=0 */ |
904 07e2 CF93 push r28 |
905 07e4 DF93 push r29 |
906 /* prologue end (size=2) */ |
907 07e6 C0E0 ldi r28,lo8(Mixer) |
908 07e8 D0E0 ldi r29,hi8(Mixer) |
909 07ea 8091 0000 lds r24,Mixer |
910 07ee 8130 cpi r24,lo8(1) |
911 07f0 89F4 brne .L89 |
912 07f2 6DE4 ldi r22,lo8(77) |
913 07f4 70E0 ldi r23,hi8(77) |
914 07f6 CE01 movw r24,r28 |
915 07f8 0E94 0000 call RAM_Checksum |
916 07fc 8093 0000 sts Mixer+77,r24 |
917 0800 A8EE ldi r26,lo8(1000) |
918 0802 B3E0 ldi r27,hi8(1000) |
919 0804 8EE4 ldi r24,lo8(78) |
920 0806 FE01 movw r30,r28 |
921 /* #APP */ |
922 0808 182E mov __zero_reg__,r24 |
923 080a 0E94 0000 call __eeprom_write_block_1F2021 |
924 /* #NOAPP */ |
925 080e 81E0 ldi r24,lo8(1) |
926 0810 90E0 ldi r25,hi8(1) |
927 0812 02C0 rjmp .L88 |
928 .L89: |
929 0814 80E0 ldi r24,lo8(0) |
930 0816 90E0 ldi r25,hi8(0) |
931 .L88: |
932 /* epilogue: frame size=0 */ |
933 0818 DF91 pop r29 |
934 081a CF91 pop r28 |
935 081c 0895 ret |
936 /* epilogue end (size=3) */ |
937 /* function MixerTable_WriteToEEProm size 31 (26) */ |
939 .data |
940 .LC3: |
941 0019 5175 6164 .string "Quadro" |
941 726F 00 |
942 0020 00 .string "" |
943 .text |
944 .global MixerTable_Default |
946 MixerTable_Default: |
947 /* prologue: frame size=0 */ |
948 081e CF93 push r28 |
949 0820 DF93 push r29 |
950 /* prologue end (size=2) */ |
951 0822 81E0 ldi r24,lo8(1) |
952 0824 8093 0000 sts Mixer,r24 |
953 0828 E0E0 ldi r30,lo8(Mixer) |
954 082a F0E0 ldi r31,hi8(Mixer) |
955 082c 8FE0 ldi r24,lo8(15) |
956 .L102: |
957 082e 1586 std Z+13,__zero_reg__ |
958 0830 1686 std Z+14,__zero_reg__ |
959 0832 1786 std Z+15,__zero_reg__ |
960 0834 108A std Z+16,__zero_reg__ |
961 0836 8150 subi r24,lo8(-(-1)) |
962 0838 3496 adiw r30,4 |
963 083a 87FF sbrs r24,7 |
964 083c F8CF rjmp .L102 |
965 083e 80E4 ldi r24,lo8(64) |
966 0840 8093 0000 sts Mixer+13,r24 |
967 0844 8093 0000 sts Mixer+14,r24 |
968 0848 1092 0000 sts Mixer+15,__zero_reg__ |
969 084c 8093 0000 sts Mixer+16,r24 |
970 0850 8093 0000 sts Mixer+17,r24 |
971 0854 90EC ldi r25,lo8(-64) |
972 0856 9093 0000 sts Mixer+18,r25 |
973 085a 1092 0000 sts Mixer+19,__zero_reg__ |
974 085e 8093 0000 sts Mixer+20,r24 |
975 0862 8093 0000 sts Mixer+21,r24 |
976 0866 1092 0000 sts Mixer+22,__zero_reg__ |
977 086a 9093 0000 sts Mixer+23,r25 |
978 086e 9093 0000 sts Mixer+24,r25 |
979 0872 8093 0000 sts Mixer+25,r24 |
980 0876 1092 0000 sts Mixer+26,__zero_reg__ |
981 087a 8093 0000 sts Mixer+27,r24 |
982 087e 9093 0000 sts Mixer+28,r25 |
983 0882 A0E0 ldi r26,lo8(Mixer+1) |
984 0884 B0E0 ldi r27,hi8(Mixer+1) |
985 0886 87E0 ldi r24,lo8(7) |
986 0888 E0E0 ldi r30,lo8(.LC3) |
987 088a F0E0 ldi r31,hi8(.LC3) |
988 088c ED01 movw r28,r26 |
989 088e 0190 ld __tmp_reg__,Z+ |
990 0890 0992 st Y+,__tmp_reg__ |
991 0892 8A95 dec r24 |
992 0894 E1F7 brne .-8 |
993 0896 6DE4 ldi r22,lo8(77) |
994 0898 70E0 ldi r23,hi8(77) |
995 089a CD01 movw r24,r26 |
996 089c 0197 sbiw r24,1 |
997 089e 0E94 0000 call RAM_Checksum |
998 08a2 8093 0000 sts Mixer+77,r24 |
999 /* epilogue: frame size=0 */ |
1000 08a6 DF91 pop r29 |
1001 08a8 CF91 pop r28 |
1002 08aa 0895 ret |
1003 /* epilogue end (size=3) */ |
1004 /* function MixerTable_Default size 71 (66) */ |
1006 .global GetActiveParamSet |
1008 GetActiveParamSet: |
1009 /* prologue: frame size=0 */ |
1010 /* prologue end (size=0) */ |
1011 08ac A2E0 ldi r26,lo8(2) |
1012 08ae B0E0 ldi r27,hi8(2) |
1013 /* #APP */ |
1014 08b0 0E94 0000 call __eeprom_read_byte_1F2021 |
1015 08b4 802D mov r24,__tmp_reg__ |
1016 /* #NOAPP */ |
1017 08b6 8630 cpi r24,lo8(6) |
1018 08b8 30F0 brlo .L107 |
1019 08ba 83E0 ldi r24,lo8(3) |
1020 08bc A2E0 ldi r26,lo8(2) |
1021 08be B0E0 ldi r27,hi8(2) |
1022 /* #APP */ |
1023 08c0 082E mov __tmp_reg__,r24 |
1024 08c2 0E94 0000 call __eeprom_write_byte_1F2021 |
1025 /* #NOAPP */ |
1026 .L107: |
1027 08c6 9927 clr r25 |
1028 /* epilogue: frame size=0 */ |
1029 08c8 0895 ret |
1030 /* epilogue end (size=1) */ |
1031 /* function GetActiveParamSet size 17 (16) */ |
1033 .section .progmem.data,"a",@progbits |
1036 __c.0: |
1037 0000 0A0D 4765 .string "\n\rGenerating default Parameter Set %d" |
1037 6E65 7261 |
1037 7469 6E67 |
1037 2064 6566 |
1037 6175 6C74 |
1040 __c.1: |
1041 0026 0A0D 5573 .string "\n\rUsing Parameter Set %d" |
1041 696E 6720 |
1041 5061 7261 |
1041 6D65 7465 |
1041 7220 5365 |
1044 __c.2: |
1045 003f 0A0D 4765 .string "\n\rGenerating default Mixer Table" |
1045 6E65 7261 |
1045 7469 6E67 |
1045 2064 6566 |
1045 6175 6C74 |
1048 __c.3: |
1049 0060 0A0D 4D69 .string "\n\rMixer-Config: '%s' (%u Motors)" |
1049 7865 722D |
1049 436F 6E66 |
1049 6967 3A20 |
1049 2725 7327 |
1052 __c.4: |
1053 0081 0A0D 3D3D .string "\n\r==============================" |
1053 3D3D 3D3D |
1053 3D3D 3D3D |
1053 3D3D 3D3D |
1053 3D3D 3D3D |
1054 .text |
1055 .global ParamSet_Init |
1057 ParamSet_Init: |
1058 /* prologue: frame size=0 */ |
1059 08ca DF92 push r13 |
1060 08cc EF92 push r14 |
1061 08ce FF92 push r15 |
1062 08d0 0F93 push r16 |
1063 08d2 1F93 push r17 |
1064 08d4 CF93 push r28 |
1065 /* prologue end (size=6) */ |
1066 08d6 FF24 clr r15 |
1067 08d8 DF2C mov r13,r15 |
1068 08da EF2C mov r14,r15 |
1069 08dc 81E0 ldi r24,lo8(1) |
1070 08de 90E0 ldi r25,hi8(1) |
1071 08e0 0E94 0000 call GetParamByte |
1072 08e4 8435 cpi r24,lo8(84) |
1073 08e6 39F0 breq .L110 |
1074 08e8 31E0 ldi r19,lo8(1) |
1075 08ea E32E mov r14,r19 |
1076 08ec 64E5 ldi r22,lo8(84) |
1077 08ee 81E0 ldi r24,lo8(1) |
1078 08f0 90E0 ldi r25,hi8(1) |
1079 08f2 0E94 0000 call SetParamByte |
1080 .L110: |
1081 08f6 6CE0 ldi r22,lo8(12) |
1082 08f8 70E0 ldi r23,hi8(12) |
1083 08fa 80E5 ldi r24,lo8(80) |
1084 08fc 90E0 ldi r25,hi8(80) |
1085 08fe 0E94 0000 call EEProm_Checksum |
1086 0902 C82F mov r28,r24 |
1087 0904 ACE5 ldi r26,lo8(92) |
1088 0906 B0E0 ldi r27,hi8(92) |
1089 /* #APP */ |
1090 0908 0E94 0000 call __eeprom_read_byte_1F2021 |
1091 090c 802D mov r24,__tmp_reg__ |
1092 /* #NOAPP */ |
1093 090e 8C17 cp r24,r28 |
1094 0910 11F4 brne .L111 |
1095 0912 21E0 ldi r18,lo8(1) |
1096 0914 D22E mov r13,r18 |
1097 .L111: |
1098 0916 C1E0 ldi r28,lo8(1) |
1099 0918 01E0 ldi r16,lo8(1) |
1100 091a 10E0 ldi r17,hi8(1) |
1101 .L133: |
1102 091c EE20 tst r14 |
1103 091e 29F4 brne .L117 |
1104 0920 8C2F mov r24,r28 |
1105 0922 0E94 0000 call ParamSet_ReadFromEEProm |
1106 0926 8823 tst r24 |
1107 0928 B1F5 brne .L115 |
1108 .L117: |
1109 092a 91E0 ldi r25,lo8(1) |
1110 092c F92E mov r15,r25 |
1111 092e 1F93 push r17 |
1112 0930 0F93 push r16 |
1113 0932 80E0 ldi r24,lo8(__c.0) |
1114 0934 90E0 ldi r25,hi8(__c.0) |
1115 0936 9F93 push r25 |
1116 0938 8F93 push r24 |
1117 093a 80E0 ldi r24,lo8(pm(uart_putchar)) |
1118 093c 90E0 ldi r25,hi8(pm(uart_putchar)) |
1119 093e 9F93 push r25 |
1120 0940 8F93 push r24 |
1121 0942 E091 0000 lds r30,_printf_P |
1122 0946 F091 0000 lds r31,(_printf_P)+1 |
1123 094a 0995 icall |
1124 094c 8DB7 in r24,__SP_L__ |
1125 094e 9EB7 in r25,__SP_H__ |
1126 0950 0696 adiw r24,6 |
1127 0952 8DBF out __SP_L__,r24 |
1128 0954 0230 cpi r16,2 |
1129 0956 1105 cpc r17,__zero_reg__ |
1130 0958 49F0 breq .L120 |
1131 095a 0330 cpi r16,3 |
1132 095c 1105 cpc r17,__zero_reg__ |
1133 095e 4CF4 brge .L122 |
1134 0960 0130 cpi r16,1 |
1135 0962 1105 cpc r17,__zero_reg__ |
1136 0964 31F4 brne .L122 |
1137 0966 0E94 0000 call ParamSet_DefaultSet1 |
1138 096a 05C0 rjmp .L118 |
1139 .L120: |
1140 096c 0E94 0000 call ParamSet_DefaultSet2 |
1141 0970 02C0 rjmp .L118 |
1142 .L122: |
1143 0972 0E94 0000 call ParamSet_DefaultSet3 |
1144 .L118: |
1145 0976 DD20 tst r13 |
1146 0978 49F0 breq .L124 |
1147 097a E0E0 ldi r30,lo8(EE_Parameter+1) |
1148 097c F0E0 ldi r31,hi8(EE_Parameter+1) |
1149 097e A0E5 ldi r26,lo8(80) |
1150 0980 B0E0 ldi r27,hi8(80) |
1151 0982 8CE0 ldi r24,lo8(12) |
1152 /* #APP */ |
1153 0984 182E mov __zero_reg__,r24 |
1154 0986 0E94 0000 call __eeprom_read_block_1F2021 |
1155 /* #NOAPP */ |
1156 098a 02C0 rjmp .L132 |
1157 .L124: |
1158 098c 0E94 0000 call ParamSet_DefaultStickMapping |
1159 .L132: |
1160 0990 8C2F mov r24,r28 |
1161 0992 0E94 0000 call ParamSet_WriteToEEProm |
1162 .L115: |
1163 0996 CF5F subi r28,lo8(-(1)) |
1164 0998 0F5F subi r16,lo8(-(1)) |
1165 099a 1F4F sbci r17,hi8(-(1)) |
1166 099c C630 cpi r28,lo8(6) |
1167 099e 08F4 brsh .+2 |
1168 09a0 BDCF rjmp .L133 |
1169 09a2 FF20 tst r15 |
1170 09a4 19F0 breq .L134 |
1171 09a6 83E0 ldi r24,lo8(3) |
1172 09a8 0E94 0000 call SetActiveParamSet |
1173 .L134: |
1174 09ac 0E94 0000 call GetActiveParamSet |
1175 09b0 C82F mov r28,r24 |
1176 09b2 0E94 0000 call ParamSet_ReadFromEEProm |
1177 09b6 8C2F mov r24,r28 |
1178 09b8 9927 clr r25 |
1179 09ba 9F93 push r25 |
1180 09bc 8F93 push r24 |
1181 09be 80E0 ldi r24,lo8(__c.1) |
1182 09c0 90E0 ldi r25,hi8(__c.1) |
1183 09c2 9F93 push r25 |
1184 09c4 8F93 push r24 |
1185 09c6 00E0 ldi r16,lo8(pm(uart_putchar)) |
1186 09c8 10E0 ldi r17,hi8(pm(uart_putchar)) |
1187 09ca 1F93 push r17 |
1188 09cc 0F93 push r16 |
1189 09ce E091 0000 lds r30,_printf_P |
1190 09d2 F091 0000 lds r31,(_printf_P)+1 |
1191 09d6 0995 icall |
1192 09d8 8DB7 in r24,__SP_L__ |
1193 09da 9EB7 in r25,__SP_H__ |
1194 09dc 0696 adiw r24,6 |
1195 09de 8DBF out __SP_L__,r24 |
1196 09e0 EE20 tst r14 |
1197 09e2 21F4 brne .L136 |
1198 09e4 0E94 0000 call MixerTable_ReadFromEEProm |
1199 09e8 8823 tst r24 |
1200 09ea 99F4 brne .L135 |
1201 .L136: |
1202 09ec 80E0 ldi r24,lo8(__c.2) |
1203 09ee 90E0 ldi r25,hi8(__c.2) |
1204 09f0 9F93 push r25 |
1205 09f2 8F93 push r24 |
1206 09f4 1F93 push r17 |
1207 09f6 0F93 push r16 |
1208 09f8 E091 0000 lds r30,_printf_P |
1209 09fc F091 0000 lds r31,(_printf_P)+1 |
1210 0a00 0995 icall |
1211 0a02 0E94 0000 call MixerTable_Default |
1212 0a06 0E94 0000 call MixerTable_WriteToEEProm |
1213 0a0a 0F90 pop __tmp_reg__ |
1214 0a0c 0F90 pop __tmp_reg__ |
1215 0a0e 0F90 pop __tmp_reg__ |
1216 0a10 0F90 pop __tmp_reg__ |
1217 .L135: |
1218 0a12 1092 0000 sts RequiredMotors,__zero_reg__ |
1219 0a16 90E0 ldi r25,lo8(0) |
1220 0a18 E0E0 ldi r30,lo8(Mixer+13) |
1221 0a1a F0E0 ldi r31,hi8(Mixer+13) |
1222 0a1c CFE0 ldi r28,lo8(15) |
1223 .L141: |
1224 0a1e 8081 ld r24,Z |
1225 0a20 3496 adiw r30,4 |
1226 0a22 1816 cp __zero_reg__,r24 |
1227 0a24 0CF4 brge .L139 |
1228 0a26 9F5F subi r25,lo8(-(1)) |
1229 .L139: |
1230 0a28 C150 subi r28,lo8(-(-1)) |
1231 0a2a C7FF sbrs r28,7 |
1232 0a2c F8CF rjmp .L141 |
1233 0a2e 9093 0000 sts RequiredMotors,r25 |
1234 0a32 892F mov r24,r25 |
1235 0a34 9927 clr r25 |
1236 0a36 9F93 push r25 |
1237 0a38 8F93 push r24 |
1238 0a3a 80E0 ldi r24,lo8(Mixer+1) |
1239 0a3c 90E0 ldi r25,hi8(Mixer+1) |
1240 0a3e 9F93 push r25 |
1241 0a40 8F93 push r24 |
1242 0a42 80E0 ldi r24,lo8(__c.3) |
1243 0a44 90E0 ldi r25,hi8(__c.3) |
1244 0a46 9F93 push r25 |
1245 0a48 8F93 push r24 |
1246 0a4a 1F93 push r17 |
1247 0a4c 0F93 push r16 |
1248 0a4e E091 0000 lds r30,_printf_P |
1249 0a52 F091 0000 lds r31,(_printf_P)+1 |
1250 0a56 0995 icall |
1251 0a58 8DB7 in r24,__SP_L__ |
1252 0a5a 9EB7 in r25,__SP_H__ |
1253 0a5c 0896 adiw r24,8 |
1254 0a5e 8DBF out __SP_L__,r24 |
1255 0a60 80E0 ldi r24,lo8(__c.4) |
1256 0a62 90E0 ldi r25,hi8(__c.4) |
1257 0a64 9F93 push r25 |
1258 0a66 8F93 push r24 |
1259 0a68 1F93 push r17 |
1260 0a6a 0F93 push r16 |
1261 0a6c E091 0000 lds r30,_printf_P |
1262 0a70 F091 0000 lds r31,(_printf_P)+1 |
1263 0a74 0995 icall |
1264 0a76 0F90 pop __tmp_reg__ |
1265 0a78 0F90 pop __tmp_reg__ |
1266 0a7a 0F90 pop __tmp_reg__ |
1267 0a7c 0F90 pop __tmp_reg__ |
1268 /* epilogue: frame size=0 */ |
1269 0a7e CF91 pop r28 |
1270 0a80 1F91 pop r17 |
1271 0a82 0F91 pop r16 |
1272 0a84 FF90 pop r15 |
1273 0a86 EF90 pop r14 |
1274 0a88 DF90 pop r13 |
1275 0a8a 0895 ret |
1276 /* epilogue end (size=7) */ |
1277 /* function ParamSet_Init size 227 (214) */ |
1279 .comm Mixer,78,1 |
1280 .comm RequiredMotors,1,1 |
1281 .comm EE_Parameter,113,1 |
1282 /* File "eeprom.c": code 1373 = 0x055d (1307), prologues 25, epilogues 41 */ |
DEFINED SYMBOLS |
*ABS*:00000000 eeprom.c |
C:\Users\Arthur-P\AppData\Local\Temp/ccQZaaaa.s:3 *ABS*:0000003f __SREG__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccQZaaaa.s:4 *ABS*:0000003e __SP_H__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccQZaaaa.s:5 *ABS*:0000003d __SP_L__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccQZaaaa.s:6 *ABS*:00000000 __tmp_reg__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccQZaaaa.s:7 *ABS*:00000001 __zero_reg__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccQZaaaa.s:13 .text:00000000 RAM_Checksum |
C:\Users\Arthur-P\AppData\Local\Temp/ccQZaaaa.s:41 .text:00000022 EEProm_Checksum |
C:\Users\Arthur-P\AppData\Local\Temp/ccQZaaaa.s:73 .text:0000004a ParamSet_DefaultStickMapping |
*COM*:00000071 EE_Parameter |
C:\Users\Arthur-P\AppData\Local\Temp/ccQZaaaa.s:112 .text:00000094 ParamSet_DefaultSet1 |
C:\Users\Arthur-P\AppData\Local\Temp/ccQZaaaa.s:285 .text:00000288 ParamSet_DefaultSet2 |
C:\Users\Arthur-P\AppData\Local\Temp/ccQZaaaa.s:457 .text:0000047a ParamSet_DefaultSet3 |
C:\Users\Arthur-P\AppData\Local\Temp/ccQZaaaa.s:622 .text:00000668 GetParamByte |
C:\Users\Arthur-P\AppData\Local\Temp/ccQZaaaa.s:638 .text:00000674 SetParamByte |
C:\Users\Arthur-P\AppData\Local\Temp/ccQZaaaa.s:653 .text:0000067e GetParamWord |
C:\Users\Arthur-P\AppData\Local\Temp/ccQZaaaa.s:669 .text:00000688 SetParamWord |
C:\Users\Arthur-P\AppData\Local\Temp/ccQZaaaa.s:685 .text:00000692 ParamSet_ReadFromEEProm |
C:\Users\Arthur-P\AppData\Local\Temp/ccQZaaaa.s:753 .text:00000700 SetActiveParamSet |
C:\Users\Arthur-P\AppData\Local\Temp/ccQZaaaa.s:778 .text:0000071a ParamSet_WriteToEEProm |
C:\Users\Arthur-P\AppData\Local\Temp/ccQZaaaa.s:854 .text:0000079e MixerTable_ReadFromEEProm |
*COM*:0000004e Mixer |
C:\Users\Arthur-P\AppData\Local\Temp/ccQZaaaa.s:902 .text:000007e2 MixerTable_WriteToEEProm |
C:\Users\Arthur-P\AppData\Local\Temp/ccQZaaaa.s:946 .text:0000081e MixerTable_Default |
C:\Users\Arthur-P\AppData\Local\Temp/ccQZaaaa.s:1008 .text:000008ac GetActiveParamSet |
C:\Users\Arthur-P\AppData\Local\Temp/ccQZaaaa.s:1036 .progmem.data:00000000 __c.0 |
C:\Users\Arthur-P\AppData\Local\Temp/ccQZaaaa.s:1040 .progmem.data:00000026 __c.1 |
C:\Users\Arthur-P\AppData\Local\Temp/ccQZaaaa.s:1044 .progmem.data:0000003f __c.2 |
C:\Users\Arthur-P\AppData\Local\Temp/ccQZaaaa.s:1048 .progmem.data:00000060 __c.3 |
C:\Users\Arthur-P\AppData\Local\Temp/ccQZaaaa.s:1052 .progmem.data:00000081 __c.4 |
C:\Users\Arthur-P\AppData\Local\Temp/ccQZaaaa.s:1057 .text:000008ca ParamSet_Init |
*COM*:00000001 RequiredMotors |
UNDEFINED SYMBOLS |
__do_copy_data |
__do_clear_bss |
__eeprom_read_byte_1F2021 |
PlatinenVersion |
__eeprom_write_byte_1F2021 |
__eeprom_read_word_1F2021 |
__eeprom_write_word_1F2021 |
__eeprom_read_block_1F2021 |
LED_Init |
__epilogue_restores__ |
__eeprom_write_block_1F2021 |
uart_putchar |
_printf_P |
/branches/V0.80d-Arthur-P/fc.c |
---|
0,0 → 1,1740 |
/*####################################################################################### |
Flight Control |
#######################################################################################*/ |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) Holger Buss, Ingo Busker |
// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
// + www.MikroKopter.com |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
// + bzgl. der Nutzungsbedingungen aufzunehmen. |
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
// + Verkauf von Luftbildaufnahmen, usw. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
// + eindeutig als Ursprung verlinkt werden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
// + Benutzung auf eigene Gefahr |
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
// + mit unserer Zustimmung zulässig |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
// + this list of conditions and the following disclaimer. |
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
// + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
// + POSSIBILITY OF SUCH DAMAGE. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// 20100804: Arthur P.: Modified to use user parameter 7 to determine downstep for motorsmoothing |
// with 0 or 1 defaulting to the default -150% first step followed by upsmoothing and |
// values beyond that resulting in 50% (2), 75% (4), 90% (10), 95% (20), 97.5% (40), 99% (100) |
// downsteps. |
// Within timer0.c user paramater 8 is used to activate an external HEF4017 on FC 1.x hardware, |
// and/or to set the shutter interval timer in steps of 0.1sec (minimum = 1 sec), by using |
// bit 8 (128) as on/off switch, and bits 7 (0..127) for the timer counter. |
#include "main.h" |
#include "mymath.h" |
#include "isqrt.h" |
unsigned char h,m,s; |
unsigned int BaroExpandActive = 0; |
int MesswertNick,MesswertRoll,MesswertGier,MesswertGierBias, RohMesswertNick,RohMesswertRoll; |
int TrimNick, TrimRoll; |
int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0; |
int Mittelwert_AccNick, Mittelwert_AccRoll; |
unsigned int NeutralAccX=0, NeutralAccY=0; |
int NaviAccNick, NaviAccRoll,NaviCntAcc = 0; |
int NeutralAccZ = 0; |
unsigned char ControlHeading = 0;// in 2° |
long IntegralNick = 0,IntegralNick2 = 0; |
long IntegralRoll = 0,IntegralRoll2 = 0; |
long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0; |
long Integral_Gier = 0; |
long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2; |
long SummeNick=0,SummeRoll=0; |
volatile long Mess_Integral_Hoch = 0; |
int KompassValue = 0; |
int KompassStartwert = 0; |
int KompassRichtung = 0; |
unsigned int KompassSignalSchlecht = 500; |
unsigned char MAX_GAS,MIN_GAS; |
unsigned char HoehenReglerAktiv = 0; |
unsigned char TrichterFlug = 0; |
long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
long ErsatzKompass; |
int ErsatzKompassInGrad; // Kompasswert in Grad |
int GierGyroFehler = 0; |
char GyroFaktor,GyroFaktorGier; |
char IntegralFaktor,IntegralFaktorGier; |
int DiffNick,DiffRoll; |
//int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
unsigned char Poti[9] = {0,0,0,0,0,0,0,0}; |
volatile unsigned char SenderOkay = 0; |
int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
char MotorenEin = 0,StartTrigger = 0; |
long HoehenWert = 0; |
long SollHoehe = 0; |
int LageKorrekturRoll = 0,LageKorrekturNick = 0, HoverGas = 0; |
//float Ki = FAKTOR_I; |
int Ki = 10300 / 33; |
unsigned char Looping_Nick = 0,Looping_Roll = 0; |
unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
unsigned char Parameter_MaxHoehe = 251; // Wert : 0-250 |
unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
unsigned char Parameter_Hoehe_GPS_Z = 64; // Wert : 0-250 |
unsigned char Parameter_Gyro_D = 8; // Wert : 0-250 |
unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
unsigned char Parameter_Gyro_Gier_P = 150; // Wert : 10-250 |
unsigned char Parameter_Gyro_Gier_I = 150; // Wert : 10-250 |
unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
unsigned char Parameter_UserParam1 = 0; |
unsigned char Parameter_UserParam2 = 0; |
unsigned char Parameter_UserParam3 = 0; |
unsigned char Parameter_UserParam4 = 0; |
unsigned char Parameter_UserParam5 = 0; |
unsigned char Parameter_UserParam6 = 0; |
unsigned char Parameter_UserParam7 = 0; |
unsigned char Parameter_UserParam8 = 0; |
unsigned char Parameter_ServoNickControl = 100; |
unsigned char Parameter_ServoRollControl = 100; |
unsigned char Parameter_LoopGasLimit = 70; |
unsigned char Parameter_AchsKopplung1 = 90; |
unsigned char Parameter_AchsKopplung2 = 65; |
unsigned char Parameter_CouplingYawCorrection = 64; |
//unsigned char Parameter_AchsGegenKopplung1 = 0; |
unsigned char Parameter_DynamicStability = 100; |
unsigned char Parameter_J16Bitmask; // for the J16 Output |
unsigned char Parameter_J16Timing; // for the J16 Output |
unsigned char Parameter_J17Bitmask; // for the J17 Output |
unsigned char Parameter_J17Timing; // for the J17 Output |
unsigned char Parameter_NaviGpsModeControl; // Parameters for the Naviboard |
unsigned char Parameter_NaviGpsGain; |
unsigned char Parameter_NaviGpsP; |
unsigned char Parameter_NaviGpsI; |
unsigned char Parameter_NaviGpsD; |
unsigned char Parameter_NaviGpsACC; |
unsigned char Parameter_NaviOperatingRadius; |
unsigned char Parameter_NaviWindCorrection; |
unsigned char Parameter_NaviSpeedCompensation; |
unsigned char Parameter_ExternalControl; |
unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
unsigned char CareFree = 0; |
signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
int MaxStickNick = 0,MaxStickRoll = 0; |
unsigned int modell_fliegt = 0; |
volatile unsigned char FCFlags = 0; |
long GIER_GRAD_FAKTOR = 1291; |
signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
signed int tmp_motorwert[MAX_MOTORS]; |
char VarioCharacter = ' '; |
#define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
#define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
#define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Debugwerte zuordnen |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
void CopyDebugValues(void) |
{ |
DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4); |
DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
DebugOut.Analog[4] = (signed int) AdNeutralGier - AdWertGier; |
DebugOut.Analog[5] = HoehenWert/5; |
DebugOut.Analog[6] = AdWertAccHoch;//(Mess_Integral_Hoch / 512);// Aktuell_az; |
DebugOut.Analog[8] = KompassValue; |
DebugOut.Analog[9] = UBat; |
DebugOut.Analog[10] = SenderOkay; |
DebugOut.Analog[11] = ErsatzKompass / GIER_GRAD_FAKTOR; |
DebugOut.Analog[12] = Motor[0].SetPoint; |
DebugOut.Analog[13] = Motor[1].SetPoint; |
DebugOut.Analog[14] = Motor[2].SetPoint; |
DebugOut.Analog[15] = Motor[3].SetPoint; |
DebugOut.Analog[20] = ServoNickValue; |
DebugOut.Analog[22] = Capacity.ActualCurrent; |
DebugOut.Analog[23] = Capacity.UsedCapacity; |
// DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ; |
// DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
DebugOut.Analog[29] = Capacity.MinOfMaxPWM; |
DebugOut.Analog[30] = GPS_Nick; |
DebugOut.Analog[31] = GPS_Roll; |
if(VersionInfo.HardwareError[0] || VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 1; else DebugOut.Status[1] &= 0xfe; |
} |
void Piep(unsigned char Anzahl, unsigned int dauer) |
{ |
if(MotorenEin) return; //auf keinen Fall im Flug! |
while(Anzahl--) |
{ |
beeptime = dauer; |
while(beeptime); |
Delay_ms(dauer * 2); |
} |
} |
//############################################################################ |
// Messwerte beim Ermitteln der Nullage |
void CalibrierMittelwert(void) |
//############################################################################ |
{ |
unsigned char i; |
if(PlatinenVersion == 13) SucheGyroOffset(); |
// ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
ANALOG_OFF; |
MesswertNick = AdWertNick; |
MesswertRoll = AdWertRoll; |
MesswertGier = AdWertGier; |
Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
// ADC einschalten |
ANALOG_ON; |
for(i=0;i<8;i++) |
{ |
int tmp; |
tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
LIMIT_MIN_MAX(tmp, 0, 255); |
if(Poti[i] > tmp) Poti[i]--; else if(Poti[i] < tmp) Poti[i]++; |
} |
Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
} |
//############################################################################ |
// Nullwerte ermitteln |
void SetNeutral(unsigned char AccAdjustment) |
//############################################################################ |
{ |
unsigned char i; |
unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0; |
VersionInfo.HardwareError[0] = 0; |
HEF4017R_ON; |
NeutralAccX = 0; |
NeutralAccY = 0; |
NeutralAccZ = 0; |
AdNeutralNick = 0; |
AdNeutralRoll = 0; |
AdNeutralGier = 0; |
Parameter_AchsKopplung1 = 0; |
Parameter_AchsKopplung2 = 0; |
ExpandBaro = 0; |
CalibrierMittelwert(); |
Delay_ms_Mess(100); |
CalibrierMittelwert(); |
if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
{ |
if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
} |
#define NEUTRAL_FILTER 32 |
for(i=0; i<NEUTRAL_FILTER; i++) |
{ |
Delay_ms_Mess(10); |
gier_neutral += AdWertGier; |
nick_neutral += AdWertNick; |
roll_neutral += AdWertRoll; |
} |
AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
StartNeutralRoll = AdNeutralRoll; |
StartNeutralNick = AdNeutralNick; |
if(AccAdjustment) |
{ |
NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
NeutralAccZ = Aktuell_az; |
// Save ACC neutral settings to eeprom |
SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
SetParamWord(PID_ACC_TOP, (uint16_t)NeutralAccZ); |
} |
else |
{ |
// restore from eeprom |
NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK); |
NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP); |
// strange settings? |
if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048) || ((unsigned int) NeutralAccZ > 1024)) |
{ |
printf("\n\rACC not calibrated!\r\n"); |
NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
NeutralAccZ = Aktuell_az; |
} |
} |
MesswertNick = 0; |
MesswertRoll = 0; |
MesswertGier = 0; |
Delay_ms_Mess(100); |
Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
Mess_IntegralNick2 = IntegralNick; |
Mess_IntegralRoll2 = IntegralRoll; |
Mess_Integral_Gier = 0; |
StartLuftdruck = Luftdruck; |
VarioMeter = 0; |
Mess_Integral_Hoch = 0; |
KompassStartwert = KompassValue; |
GPS_Neutral(); |
beeptime = 50; |
Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
ExternHoehenValue = 0; |
ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
GierGyroFehler = 0; |
SendVersionToNavi = 1; |
LED_Init(); |
FCFlags |= FCFLAG_CALIBRATE; |
FromNaviCtrl_Value.Kalman_K = -1; |
FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
for(i=0;i<8;i++) |
{ |
Poti[i] = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
} |
SenderOkay = 100; |
if(ServoActive) |
{ |
HEF4017R_ON; |
DDRD |=0x80; // enable J7 -> Servo signal |
} |
if((AdNeutralNick < 150 * 16) || (AdNeutralNick > 850 * 16)) { VersionInfo.HardwareError[0] |= DEFEKT_G_NICK; }; |
if((AdNeutralRoll < 150 * 16) || (AdNeutralRoll > 850 * 16)) { VersionInfo.HardwareError[0] |= DEFEKT_G_ROLL; }; |
if((AdNeutralGier < 150 * 2) || (AdNeutralGier > 850 * 2)) { VersionInfo.HardwareError[0] |= DEFEKT_G_GIER; }; |
if((NeutralAccX < 300) || (NeutralAccX > 750)) { VersionInfo.HardwareError[0] |= DEFEKT_A_NICK; }; |
if((NeutralAccY < 300) || (NeutralAccY > 750)) { VersionInfo.HardwareError[0] |= DEFEKT_A_ROLL; }; |
if((NeutralAccZ < 512) || (NeutralAccZ > 850)) { VersionInfo.HardwareError[0] |= DEFEKT_A_Z; }; |
} |
//############################################################################ |
// Bearbeitet die Messwerte |
void Mittelwert(void) |
//############################################################################ |
{ |
static signed long tmpl,tmpl2,tmpl3,tmpl4; |
static signed int oldNick, oldRoll, d2Roll, d2Nick; |
signed long winkel_nick, winkel_roll; |
unsigned char i; |
MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
MesswertNick = (signed int) AdWertNickFilter / 8; |
MesswertRoll = (signed int) AdWertRollFilter / 8; |
RohMesswertNick = MesswertNick; |
RohMesswertRoll = MesswertRoll; |
// Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
Mittelwert_AccNick = (Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * AdWertAccNick))) / 4L; |
Mittelwert_AccRoll = (Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * AdWertAccRoll))) / 4L; |
IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
NaviAccNick += AdWertAccNick; |
NaviAccRoll += AdWertAccRoll; |
NaviCntAcc++; |
IntegralAccZ += Aktuell_az - NeutralAccZ; |
//++++++++++++++++++++++++++++++++++++++++++++++++ |
// ADC einschalten |
ANALOG_ON; |
AdReady = 0; |
//++++++++++++++++++++++++++++++++++++++++++++++++ |
if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
else winkel_roll = Mess_IntegralRoll; |
if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
else winkel_nick = Mess_IntegralNick; |
// Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
Mess_Integral_Gier += MesswertGier; |
ErsatzKompass += MesswertGier; |
// Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
if(!Looping_Nick && !Looping_Roll && (EE_Parameter.GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
{ |
tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
tmpl3 *= Parameter_AchsKopplung2; //65 |
tmpl3 /= 4096L; |
tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
tmpl4 *= Parameter_AchsKopplung2; //65 |
tmpl4 /= 4096L; |
KopplungsteilNickRoll = tmpl3; |
KopplungsteilRollNick = tmpl4; |
tmpl4 -= tmpl3; |
ErsatzKompass += tmpl4; |
if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
tmpl *= Parameter_AchsKopplung1; // 90 |
tmpl /= 4096L; |
tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
tmpl2 *= Parameter_AchsKopplung1; |
tmpl2 /= 4096L; |
if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
//MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
} |
else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
TrimRoll = tmpl - tmpl2 / 100L; |
TrimNick = -tmpl2 + tmpl / 100L; |
// Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
// Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
if(Mess_IntegralRoll > Umschlag180Roll) |
{ |
Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
Mess_IntegralRoll2 = Mess_IntegralRoll; |
} |
if(Mess_IntegralRoll <-Umschlag180Roll) |
{ |
Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
Mess_IntegralRoll2 = Mess_IntegralRoll; |
} |
// Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
Mess_IntegralNick2 += MesswertNick + TrimNick; |
Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
if(Mess_IntegralNick > Umschlag180Nick) |
{ |
Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
Mess_IntegralNick2 = Mess_IntegralNick; |
} |
if(Mess_IntegralNick <-Umschlag180Nick) |
{ |
Mess_IntegralNick = (Umschlag180Nick - 25000L); |
Mess_IntegralNick2 = Mess_IntegralNick; |
} |
Integral_Gier = Mess_Integral_Gier; |
IntegralNick = Mess_IntegralNick; |
IntegralRoll = Mess_IntegralRoll; |
IntegralNick2 = Mess_IntegralNick2; |
IntegralRoll2 = Mess_IntegralRoll2; |
#define D_LIMIT 128 |
MesswertNick = HiResNick / 8; |
MesswertRoll = HiResRoll / 8; |
if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; } |
else { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
if(Parameter_Gyro_D) |
{ |
d2Nick = HiResNick - oldNick; |
oldNick = (oldNick + HiResNick)/2; |
if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
d2Roll = HiResRoll - oldRoll; |
oldRoll = (oldRoll + HiResRoll)/2; |
if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
} |
if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
if(EE_Parameter.GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
{ |
if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
} |
for(i=0;i<8;i++) |
{ |
int tmp; |
tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
if(tmp > 255) tmp = 255; else if(tmp < 0) tmp = 0; |
if(tmp != Poti[i]) |
{ |
Poti[i] += (tmp - Poti[i]) / 8; |
if(Poti[i] > tmp) Poti[i]--; |
else Poti[i]++; |
} |
} |
} |
//############################################################################ |
// Senden der Motorwerte per I2C-Bus |
void SendMotorData(void) |
//############################################################################ |
{ |
unsigned char i; |
if(!MotorenEin) |
{ |
FCFlags &= ~(FCFLAG_MOTOR_RUN | FCFLAG_FLY); |
for(i=0;i<MAX_MOTORS;i++) |
{ |
if(!PC_MotortestActive) MotorTest[i] = 0; |
Motor[i].SetPoint = MotorTest[i]; |
Motor[i].SetPointLowerBits = 0; |
/* |
Motor[i].SetPoint = MotorTest[i] / 4; |
Motor[i].SetPointLowerBits = MotorTest[i] % 4; |
*/ |
} |
if(PC_MotortestActive) PC_MotortestActive--; |
} |
else FCFlags |= FCFLAG_MOTOR_RUN; |
//Start I2C Interrupt Mode |
motor_write = 0; |
I2C_Start(TWI_STATE_MOTOR_TX); |
} |
//############################################################################ |
// Trägt ggf. das Poti als Parameter ein |
void ParameterZuordnung(void) |
//############################################################################ |
{ |
unsigned char tmp; |
#define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];} |
#define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);} |
CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,1,255); |
CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,1,255); |
CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3); |
CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4); |
CHK_POTI(Parameter_Servo5,EE_Parameter.Servo5); |
CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung); |
CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z); |
CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung); |
CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I); |
CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D); |
CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P); |
CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I); |
CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor); |
CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1); |
CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2); |
CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3); |
CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4); |
CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5); |
CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6); |
CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7); |
CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8); |
CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl); |
CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl); |
CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit); |
CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1); |
CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2); |
CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection); |
// CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability); |
CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl); |
Ki = 10300 / (Parameter_I_Faktor + 1); |
MAX_GAS = EE_Parameter.Gas_Max; |
MIN_GAS = EE_Parameter.Gas_Min; |
tmp = EE_Parameter.OrientationModeControl; |
if(tmp > 50) |
{ |
#ifdef SWITCH_LEARNS_CAREFREE |
if(!CareFree) ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
#endif |
CareFree = 1; |
if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
if(FromNaviCtrl.CompassValue < 0 && CareFree) VersionInfo.HardwareError[0] |= DEFEKT_CAREFREE_ERR; else VersionInfo.HardwareError[0] &= ~DEFEKT_CAREFREE_ERR; |
} |
else CareFree = 0; |
if(FromNaviCtrl.CompassValue < 0 && MotorenEin && CareFree && BeepMuster == 0xffff) // ungültiger Kompasswert |
{ |
beeptime = 15000; |
BeepMuster = 0xA400; |
CareFree = 0; |
} |
if(CareFree) {if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} |
} |
//############################################################################ |
// |
void MotorRegler(void) |
//############################################################################ |
{ |
int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2; |
int GierMischanteil,GasMischanteil; |
static long sollGier = 0,tmp_long,tmp_long2; |
static long IntegralFehlerNick = 0; |
static long IntegralFehlerRoll = 0; |
static unsigned int RcLostTimer; |
static unsigned char delay_neutral = 0; |
static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
static unsigned char calibration_done = 0; |
static char NeueKompassRichtungMerken = 0; |
static long ausgleichNick, ausgleichRoll; |
int IntegralNickMalFaktor,IntegralRollMalFaktor; |
unsigned char i; |
Mittelwert(); |
GRN_ON; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Gaswert ermitteln |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
GasMischanteil = StickGas; |
if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Empfang schlecht |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(SenderOkay < 100) |
{ |
if(RcLostTimer) RcLostTimer--; |
else |
{ |
MotorenEin = 0; |
FCFlags &= ~FCFLAG_NOTLANDUNG; |
} |
ROT_ON; |
if(modell_fliegt > 1000) // wahrscheinlich in der Luft --> langsam absenken |
{ |
GasMischanteil = EE_Parameter.NotGas; |
FCFlags |= FCFLAG_NOTLANDUNG; |
PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
} |
else MotorenEin = 0; |
} |
else |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Emfang gut |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(SenderOkay > 140) |
{ |
FCFlags &= ~FCFLAG_NOTLANDUNG; |
RcLostTimer = EE_Parameter.NotGasZeit * 50; |
if(GasMischanteil > 40 && MotorenEin) |
{ |
if(modell_fliegt < 0xffff) modell_fliegt++; |
} |
if((modell_fliegt < 256)) |
{ |
SummeNick = 0; |
SummeRoll = 0; |
sollGier = 0; |
Mess_Integral_Gier = 0; |
if(modell_fliegt == 250) |
{ |
NeueKompassRichtungMerken = 1; |
} |
} else FCFlags |= FCFLAG_FLY; |
if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
{ |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// auf Nullwerte kalibrieren |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
{ |
if(++delay_neutral > 200) // nicht sofort |
{ |
GRN_OFF; |
MotorenEin = 0; |
delay_neutral = 0; |
modell_fliegt = 0; |
if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
{ |
unsigned char setting=1; |
if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
SetActiveParamSet(setting); // aktiven Datensatz merken |
} |
if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
{ |
WinkelOut.CalcState = 1; |
beeptime = 1000; |
} |
else |
{ |
ParamSet_ReadFromEEProm(GetActiveParamSet()); |
LipoDetection(0); |
LIBFC_ReceiverInit(EE_Parameter.Receiver); |
if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
{ |
if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
} |
ServoActive = 0; |
SetNeutral(0); |
calibration_done = 1; |
ServoActive = 1; |
DDRD |=0x80; // enable J7 -> Servo signal |
Piep(GetActiveParamSet(),120); |
} |
} |
} |
else |
if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
{ |
if(++delay_neutral > 200) // nicht sofort |
{ |
GRN_OFF; |
MotorenEin = 0; |
delay_neutral = 0; |
modell_fliegt = 0; |
SetNeutral(1); |
calibration_done = 1; |
Piep(GetActiveParamSet(),120); |
} |
} |
else delay_neutral = 0; |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Gas ist unten |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
{ |
// Motoren Starten |
if(!MotorenEin) |
{ |
if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) |
{ |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Einschalten |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(++delay_einschalten > 200) |
{ |
delay_einschalten = 0; |
if(!VersionInfo.HardwareError[0] && calibration_done) |
{ |
modell_fliegt = 1; |
MotorenEin = 1; |
sollGier = 0; |
Mess_Integral_Gier = 0; |
Mess_Integral_Gier2 = 0; |
Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
Mess_IntegralNick2 = IntegralNick; |
Mess_IntegralRoll2 = IntegralRoll; |
SummeNick = 0; |
SummeRoll = 0; |
FCFlags |= FCFLAG_START; |
ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
} |
else |
{ |
beeptime = 1500; // indicate missing calibration |
} |
} |
} |
else delay_einschalten = 0; |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Auschalten |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
else // only if motors are running |
{ |
if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) |
{ |
if(++delay_ausschalten > 200) // nicht sofort |
{ |
MotorenEin = 0; |
delay_ausschalten = 0; |
modell_fliegt = 0; |
} |
} |
else delay_ausschalten = 0; |
} |
} |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// neue Werte von der Funke |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(!NewPpmData-- || (FCFlags & FCFLAG_NOTLANDUNG)) |
{ |
static int stick_nick,stick_roll; |
ParameterZuordnung(); |
stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4; |
stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P) / 4; |
stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// CareFree und freie Wahl der vorderen Richtung |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
signed char sintab[31] = { 0, 2, 4, 6, 7, 8, 8, 8, 7, 6, 4, 2, 0, -2, -4, -6, -7, -8, -8, -8, -7, -6, -4, -2, 0, 2, 4, 6, 7, 8, 8}; |
if(CareFree) |
{ |
signed int nick, roll; |
nick = stick_nick / 4; |
roll = stick_roll / 4; |
StickNick = ((FromNC_Rotate_C * nick) + (FromNC_Rotate_S * roll)) / (32 / 4); |
StickRoll = ((FromNC_Rotate_C * roll) - (FromNC_Rotate_S * nick)) / (32 / 4); |
} |
else |
{ |
FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6]; |
FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle]; |
StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8; |
StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8; |
} |
StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
if(StickGier > 2) StickGier -= 2; else |
if(StickGier < -2) StickGier += 2; else StickGier = 0; |
StickNick -= (GPS_Nick + GPS_Nick2); |
StickRoll -= (GPS_Roll + GPS_Roll2); |
StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
GyroFaktor = (Parameter_Gyro_P + 10.0); |
IntegralFaktor = Parameter_Gyro_I; |
GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
IntegralFaktorGier = Parameter_Gyro_Gier_I; |
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
//+ Analoge Steuerung per Seriell |
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
{ |
StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
StickGier += ExternControl.Gier; |
ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
} |
if(StickGas < 0) StickGas = 0; |
if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
{ |
MaxStickNick = abs(StickNick)/STICK_GAIN; |
if(MaxStickNick > 100) MaxStickNick = 100; |
} |
else MaxStickNick--; |
if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
{ |
MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
if(MaxStickRoll > 100) MaxStickRoll = 100; |
} |
else MaxStickRoll--; |
if(FCFlags & FCFLAG_NOTLANDUNG) {MaxStickNick = 0; MaxStickRoll = 0;} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Looping? |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
else |
{ |
{ |
if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
} |
} |
if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
else |
{ |
if(Looping_Rechts) // Hysterese |
{ |
if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
} |
} |
if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
else |
{ |
if(Looping_Oben) // Hysterese |
{ |
if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
} |
} |
if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
else |
{ |
if(Looping_Unten) // Hysterese |
{ |
if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
} |
} |
if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
} // Ende neue Funken-Werte |
if(Looping_Roll || Looping_Nick) |
{ |
if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
TrichterFlug = 1; |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Bei Empfangsausfall im Flug |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(FCFlags & FCFLAG_NOTLANDUNG) |
{ |
StickGier = 0; |
StickNick = 0; |
StickRoll = 0; |
GyroFaktor = 90; |
IntegralFaktor = 120; |
GyroFaktorGier = 90; |
IntegralFaktorGier = 120; |
Looping_Roll = 0; |
Looping_Nick = 0; |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Integrale auf ACC-Signal abgleichen |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#define ABGLEICH_ANZAHL 256L |
MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
MittelIntegralRoll += IntegralRoll; |
MittelIntegralNick2 += IntegralNick2; |
MittelIntegralRoll2 += IntegralRoll2; |
if(Looping_Nick || Looping_Roll) |
{ |
IntegralAccNick = 0; |
IntegralAccRoll = 0; |
MittelIntegralNick = 0; |
MittelIntegralRoll = 0; |
MittelIntegralNick2 = 0; |
MittelIntegralRoll2 = 0; |
Mess_IntegralNick2 = Mess_IntegralNick; |
Mess_IntegralRoll2 = Mess_IntegralRoll; |
ZaehlMessungen = 0; |
LageKorrekturNick = 0; |
LageKorrekturRoll = 0; |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
{ |
long tmp_long, tmp_long2; |
if(FromNaviCtrl_Value.Kalman_K != -1 /*&& !TrichterFlug*/) |
{ |
tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
{ |
tmp_long /= 2; |
tmp_long2 /= 2; |
} |
if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
{ |
tmp_long /= 3; |
tmp_long2 /= 3; |
} |
if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
} |
else |
{ |
tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
tmp_long /= 16; |
tmp_long2 /= 16; |
if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
{ |
tmp_long /= 3; |
tmp_long2 /= 3; |
} |
if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
{ |
tmp_long /= 3; |
tmp_long2 /= 3; |
} |
#define AUSGLEICH 32 |
if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
} |
Mess_IntegralNick -= tmp_long; |
Mess_IntegralRoll -= tmp_long2; |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
{ |
static int cnt = 0; |
static char last_n_p,last_n_n,last_r_p,last_r_n; |
static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp) |
{ |
MittelIntegralNick /= ABGLEICH_ANZAHL; |
MittelIntegralRoll /= ABGLEICH_ANZAHL; |
IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
#define MAX_I 0 |
// Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
// Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1)) |
{ |
LageKorrekturNick /= 2; |
LageKorrekturRoll /= 2; |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Gyro-Drift ermitteln |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
tmp_long = IntegralNick2 - IntegralNick; |
tmp_long2 = IntegralRoll2 - IntegralRoll; |
IntegralFehlerNick = tmp_long; |
IntegralFehlerRoll = tmp_long2; |
Mess_IntegralNick2 -= IntegralFehlerNick; |
Mess_IntegralRoll2 -= IntegralFehlerRoll; |
if(EE_Parameter.Driftkomp) |
{ |
if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; } |
if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; } |
} |
GierGyroFehler = 0; |
#define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2) |
#define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4 |
#define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16 |
#define BEWEGUNGS_LIMIT 20000 |
// Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4; |
if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
{ |
if(IntegralFehlerNick > FEHLER_LIMIT2) |
{ |
if(last_n_p) |
{ |
cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
ausgleichNick = IntegralFehlerNick / 8; |
if(ausgleichNick > 5000) ausgleichNick = 5000; |
LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
} |
else last_n_p = 1; |
} else last_n_p = 0; |
if(IntegralFehlerNick < -FEHLER_LIMIT2) |
{ |
if(last_n_n) |
{ |
cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
ausgleichNick = IntegralFehlerNick / 8; |
if(ausgleichNick < -5000) ausgleichNick = -5000; |
LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
} |
else last_n_n = 1; |
} else last_n_n = 0; |
} |
else |
{ |
cnt = 0; |
KompassSignalSchlecht = 1000; |
} |
if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
// Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
cnt = 1;// + labs(IntegralFehlerRoll) / 4096; |
if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
{ |
if(IntegralFehlerRoll > FEHLER_LIMIT2) |
{ |
if(last_r_p) |
{ |
cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
ausgleichRoll = IntegralFehlerRoll / 8; |
if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
} |
else last_r_p = 1; |
} else last_r_p = 0; |
if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
{ |
if(last_r_n) |
{ |
cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
ausgleichRoll = IntegralFehlerRoll / 8; |
if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
} |
else last_r_n = 1; |
} else last_r_n = 0; |
} else |
{ |
cnt = 0; |
KompassSignalSchlecht = 1000; |
} |
if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
} |
else |
{ |
LageKorrekturRoll = 0; |
LageKorrekturNick = 0; |
TrichterFlug = 0; |
} |
if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
MittelIntegralNick_Alt = MittelIntegralNick; |
MittelIntegralRoll_Alt = MittelIntegralRoll; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
IntegralAccNick = 0; |
IntegralAccRoll = 0; |
IntegralAccZ = 0; |
MittelIntegralNick = 0; |
MittelIntegralRoll = 0; |
MittelIntegralNick2 = 0; |
MittelIntegralRoll2 = 0; |
ZaehlMessungen = 0; |
} // ZaehlMessungen >= ABGLEICH_ANZAHL |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Gieren |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(abs(StickGier) > 15) // war 35 |
{ |
KompassSignalSchlecht = 1000; |
if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) |
{ |
NeueKompassRichtungMerken = 1; |
}; |
} |
tmp_int = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
tmp_int += (EE_Parameter.Gier_P * StickGier) / 4; |
sollGier = tmp_int; |
Mess_Integral_Gier -= tmp_int; |
if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Kompass |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
{ |
int w,v,r,fehler,korrektur; |
w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
v = abs(IntegralRoll /512); |
if(v > w) w = v; // grösste Neigung ermitteln |
korrektur = w / 8 + 2; |
fehler = ((540 + KompassValue - (ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180; |
//fehler += MesswertGier / 12; |
if(!KompassSignalSchlecht && w < 25) |
{ |
GierGyroFehler += fehler; |
if(NeueKompassRichtungMerken) |
{ |
ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
KompassStartwert = (ErsatzKompass/GIER_GRAD_FAKTOR); |
NeueKompassRichtungMerken = 0; |
} |
} |
ErsatzKompass += (fehler * 16) / korrektur; |
w = (w * Parameter_KompassWirkung) / 32; // auf die Wirkung normieren |
w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
if(w >= 0) |
{ |
if(!KompassSignalSchlecht) |
{ |
v = 64 + ((MaxStickNick + MaxStickRoll)) / 8; |
r = ((540 + (ErsatzKompass/GIER_GRAD_FAKTOR) - KompassStartwert) % 360) - 180; |
v = (r * w) / v; // nach Kompass ausrichten |
w = 3 * Parameter_KompassWirkung; |
if(v > w) v = w; // Begrenzen |
else |
if(v < -w) v = -w; |
Mess_Integral_Gier += v; |
} |
if(KompassSignalSchlecht) KompassSignalSchlecht--; |
} |
else KompassSignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
#define TRIM_MAX 200 |
if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
// Maximalwerte abfangen |
// #define MAX_SENSOR (4096*STICK_GAIN) |
#define MAX_SENSOR (4096) |
if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Höhenregelung |
// Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
GasMischanteil *= STICK_GAIN; |
// if height control is activated |
if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick)) // Höhenregelung |
{ |
#define HOVER_GAS_AVERAGE 16384L // 16384 * 2ms = 32s averaging |
#define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
#define OPA_OFFSET_STEP 15 |
#else |
#define OPA_OFFSET_STEP 10 |
#endif |
int HCGas, HeightDeviation = 0,GasReduction = 0; |
static int HeightTrimming = 0; // rate for change of height setpoint |
static int FilterHCGas = 0; |
static int StickGasHover = 120, HoverGasMin = 0, HoverGasMax = 1023; |
static unsigned long HoverGasFilter = 0; |
static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
int CosAttitude; // for projection of hoover gas |
// get the current hooverpoint |
DebugOut.Analog[21] = HoverGas; |
// Expand the measurement |
// measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
if(!BaroExpandActive) |
{ |
if(MessLuftdruck > 920) |
{ // increase offset |
if(OCR0A < (255 - OPA_OFFSET_STEP)) |
{ |
ExpandBaro -= 1; |
OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
beeptime = 300; |
BaroExpandActive = 350; |
} |
else |
{ |
BaroAtLowerLimit = 1; |
} |
} |
// measurement of air pressure close to lower limit and |
else |
if(MessLuftdruck < 100) |
{ // decrease offset |
if(OCR0A > OPA_OFFSET_STEP) |
{ |
ExpandBaro += 1; |
OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
beeptime = 300; |
BaroExpandActive = 350; |
} |
else |
{ |
BaroAtUpperLimit = 1; |
} |
} |
else |
{ |
BaroAtUpperLimit = 0; |
BaroAtLowerLimit = 0; |
} |
} |
else // delay, because of expanding the Baro-Range |
{ |
// now clear the D-values |
SummenHoehe = HoehenWert * SM_FILTER; |
VarioMeter = 0; |
BaroExpandActive--; |
} |
// if height control is activated by an rc channel |
if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
{ // check if parameter is less than activation threshold |
if(Parameter_MaxHoehe < 50) // for 3 or 2-state switch height control is disabled in lowest position |
{ //height control not active |
if(!delay--) |
{ |
HoehenReglerAktiv = 0; // disable height control |
SollHoehe = HoehenWert; // update SetPoint with current reading |
delay = 1; |
} |
} |
else |
{ //height control is activated |
HoehenReglerAktiv = 1; // enable height control |
delay = 200; |
} |
} |
else // no switchable height control |
{ |
SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_MaxHoehe) * (int)EE_Parameter.Hoehe_Verstaerkung; |
HoehenReglerAktiv = 1; |
} |
// calculate cos of nick and roll angle used for projection of the vertical hoover gas |
tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg |
LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle |
CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude |
VarioCharacter = ' '; |
if(HoehenReglerAktiv && !(FCFlags & FCFLAG_NOTLANDUNG)) |
{ |
#define HEIGHT_TRIM_UP 0x01 |
#define HEIGHT_TRIM_DOWN 0x02 |
static unsigned char HeightTrimmingFlag = 0x00; |
#define HEIGHT_CONTROL_STICKTHRESHOLD 15 |
// Holger original version |
// start of height control algorithm |
// the height control is only an attenuation of the actual gas stick. |
// I.e. it will work only if the gas stick is higher than the hover gas |
// and the hover height will be allways larger than height setpoint. |
if((EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) || !(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
{ // old version |
HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
HeightTrimming = 0; |
} |
else |
{ |
// alternative height control |
// PD-Control with respect to hoover point |
// the thrust loss out of horizontal attitude is compensated |
// the setpoint will be fine adjusted with the gas stick position |
if(FCFlags & FCFLAG_FLY) // trim setpoint only when flying |
{ // gas stick is above hoover point |
if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
{ |
if(HeightTrimmingFlag & HEIGHT_TRIM_DOWN) |
{ |
HeightTrimmingFlag &= ~HEIGHT_TRIM_DOWN; |
SollHoehe = HoehenWert; // update setpoint to current heigth |
} |
HeightTrimmingFlag |= HEIGHT_TRIM_UP; |
HeightTrimming += abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
VarioCharacter = '+'; |
} // gas stick is below hoover point |
else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) |
{ |
if(HeightTrimmingFlag & HEIGHT_TRIM_UP) |
{ |
HeightTrimmingFlag &= ~HEIGHT_TRIM_UP; |
SollHoehe = HoehenWert; // update setpoint to current heigth |
} |
HeightTrimmingFlag |= HEIGHT_TRIM_DOWN; |
HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
VarioCharacter = '-'; |
} |
else // Gas Stick in Hover Range |
{ |
if(HeightTrimmingFlag & (HEIGHT_TRIM_UP | HEIGHT_TRIM_DOWN)) |
{ |
HeightTrimmingFlag &= ~(HEIGHT_TRIM_UP | HEIGHT_TRIM_DOWN); |
HeightTrimming = 0; |
SollHoehe = HoehenWert; // update setpoint to current height |
if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500; |
if(!StartTrigger && HoehenWert > 50) |
{ |
StartTrigger = 1; |
} |
} |
VarioCharacter = '='; |
} |
// Trim height set point |
if(abs(HeightTrimming) > 512) |
{ |
SollHoehe += (HeightTrimming * EE_Parameter.Hoehe_Verstaerkung)/(5 * 512 / 2); // move setpoint |
HeightTrimming = 0; |
LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 75; |
//update hoover gas stick value when setpoint is shifted |
if(!EE_Parameter.Hoehe_StickNeutralPoint) |
{ |
StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value |
StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
if(StickGasHover < 70) StickGasHover = 70; |
else if(StickGasHover > 150) StickGasHover = 150; |
} |
} |
if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active |
} //if FCFlags & MKFCFLAG_FLY |
else |
{ |
SollHoehe = HoehenWert - 400; |
if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
else StickGasHover = 120; |
HoverGas = GasMischanteil; |
} |
HCGas = HoverGas; // take hover gas (neutral point) |
} |
if(HoehenWert > SollHoehe || !(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT)) |
{ |
// from this point the Heigth Control Algorithm is identical for both versions |
if(BaroExpandActive) // baro range expanding active |
{ |
HCGas = HoverGas; // hover while expanding baro adc range |
HeightDeviation = 0; |
} // EOF // baro range expanding active |
else // valid data from air pressure sensor |
{ |
// ------------------------- P-Part ---------------------------- |
tmp_long = (HoehenWert - SollHoehe); // positive when too high |
LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
HeightDeviation = (int)(tmp_long); // positive when too high |
tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part |
LIMIT_MIN_MAX(tmp_long, -127 * STICK_GAIN, 256 * STICK_GAIN); // more than the full range makes no sense |
GasReduction = tmp_long; |
// ------------------------- D-Part 1: Vario Meter ---------------------------- |
tmp_int = VarioMeter / 8; |
LIMIT_MIN_MAX(tmp_int, -127, 128); |
tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 4L; // scale to d-gain parameter |
LIMIT_MIN_MAX(tmp_int,-64 * STICK_GAIN, 64 * STICK_GAIN); |
if(HeightTrimmingFlag) tmp_int /= 4; // reduce d-part while trimming setpoint |
GasReduction += tmp_int; |
} // EOF no baro range expanding |
// ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
if(Parameter_Hoehe_ACC_Wirkung) |
{ |
tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN); |
LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN); |
GasReduction += tmp_long; |
} |
// ------------------------ D-Part 3: GpsZ ---------------------------------- |
tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L; |
LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN); |
GasReduction += tmp_int; |
GasReduction = (long)((long)GasReduction * HoverGas) / 512; // scale to the gas value |
// ------------------------ ---------------------------------- |
HCGas -= GasReduction; |
// limit deviation from hoover point within the target region |
if(!HeightTrimming && HoverGas > 0) // height setpoint is not changed and hoover gas not zero |
{ |
unsigned int tmp; |
tmp = abs(HeightDeviation); |
if(tmp <= 60) |
{ |
LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point |
} |
else |
{ |
tmp = (tmp - 60) / 32; |
if(tmp > 15) tmp = 15; |
if(HeightDeviation > 0) |
{ |
tmp = (HoverGasMin * (16 - tmp)) / 16; |
LIMIT_MIN_MAX(HCGas, tmp, HoverGasMax); // limit gas around the hoover point |
} |
else |
{ |
tmp = (HoverGasMax * (tmp + 16)) / 16; |
LIMIT_MIN_MAX(HCGas, HoverGasMin, tmp); // limit gas around the hoover point |
} |
} |
} |
// strech control output by inverse attitude projection 1/cos |
// + 1/cos(angle) ++++++++++++++++++++++++++ |
tmp_long2 = (int32_t)HCGas; |
tmp_long2 *= 8192L; |
tmp_long2 /= CosAttitude; |
HCGas = (int16_t)tmp_long2; |
// update height control gas averaging |
FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
// limit height control gas pd-control output |
LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
// set GasMischanteil to HeightControlGasFilter |
if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) |
{ // old version |
LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
} |
GasMischanteil = FilterHCGas + (GasMischanteil - HoverGas) / 4; |
} |
}// EOF height control active |
else // HC not active |
{ |
//update hoover gas stick value when HC is not active |
if(!EE_Parameter.Hoehe_StickNeutralPoint) |
{ |
StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value |
StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
} |
else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
LIMIT_MIN_MAX(StickGasHover, 70, 150); // reserve some range for trim up and down |
FilterHCGas = GasMischanteil; |
} |
// Hover gas estimation by averaging gas control output on small z-velocities |
// this is done only if height contol option is selected in global config and aircraft is flying |
if((FCFlags & FCFLAG_FLY))// && !(FCFlags & FCFLAG_NOTLANDUNG)) |
{ |
if(HoverGasFilter == 0 || StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
if(StartTrigger == 1) StartTrigger = 2; |
tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
tmp_long2 *= CosAttitude; // apply attitude projection |
tmp_long2 /= 8192; |
// average vertical projected thrust |
if(modell_fliegt < 4000) // the first 8 seconds |
{ // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/16L); |
HoverGasFilter += 16L * tmp_long2; |
} |
if(modell_fliegt < 8000) // the first 16 seconds |
{ // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L); |
HoverGasFilter += 4L * tmp_long2; |
} |
else //later |
if(abs(VarioMeter) < 100) // only on small vertical speed |
{ |
HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE; |
HoverGasFilter += tmp_long2; |
} |
HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE); |
if(EE_Parameter.Hoehe_HoverBand) |
{ |
int16_t band; |
band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range |
HoverGasMin = HoverGas - band; |
HoverGasMax = HoverGas + band; |
} |
else |
{ // no limit |
HoverGasMin = 0; |
HoverGasMax = 1023; |
} |
} |
else |
{ |
StartTrigger = 0; |
HoverGasFilter = 0; |
HoverGas = 0; |
} |
}// EOF ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL |
// limit gas to parameter setting |
LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// all BL-Ctrl connected? |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(MissingMotor || Capacity.MinOfMaxPWM != 255) |
if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) |
{ |
modell_fliegt = 1; |
GasMischanteil = (MIN_GAS + 10) * STICK_GAIN; |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Mischer und PI-Regler |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
DebugOut.Analog[7] = GasMischanteil; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Gier-Anteil |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
#define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
if(GasMischanteil > MIN_GIERGAS) |
{ |
if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
} |
else |
{ |
if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
} |
tmp_int = MAX_GAS*STICK_GAIN; |
if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Nick-Achse |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
else SummeNick += DiffNick; // I-Anteil bei HH |
if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
pd_ergebnis_nick = (EE_Parameter.Gyro_Stability * DiffNick) / 8 + SummeNick / Ki; // PI-Regler für Nick |
// Motor Vorn |
tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Roll-Achse |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
else SummeRoll += DiffRoll; // I-Anteil bei HH |
if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
pd_ergebnis_roll = (EE_Parameter.Gyro_Stability * DiffRoll) / 8 + SummeRoll / Ki; // PI-Regler für Roll |
tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Universal Mixer |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
for(i=0; i<MAX_MOTORS; i++) |
{ |
signed int tmp_int; |
if(Mixer.Motor[i][0] > 0) |
{ |
// Gas |
if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
// Nick |
if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick; |
else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick; |
else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
// Roll |
if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll; |
else if(Mixer.Motor[i][2] == -64) tmp_int -= pd_ergebnis_roll; |
else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
// Gier |
if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil; |
else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil; |
else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
// else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // MotorSmoothing |
// Arthur P: the original code allowed the motor value to drop to 0 or negative values |
// straight off, i.e. could amplify an intended decrease excessively while upregulation |
// is dampened. The modification would still allow immediate drop below intended value |
// but would dampen this. This would still allow for airbraking of the prop to have effect |
// but it might lead to less sudden excessive drops in rpm with only gradual recovery. |
// 090807 Arthur P: Due to problems with uart.c which still refers to user parameter 1 and 2 and |
// possible timing issues with the shutter interval load, removed the shutter interval functions |
// and switched to use of userparam6 for the motor smoothing. |
// 091114 Inserted modification into 0.76g source code. |
// 20100804 Modified v.0.80d code where motorsmoothing is no longer a separate function. |
// Downsmoothing either uses default v.0.7x+ 150% downstep (user para 7 == 0), |
// 50% downstep (user para 7 == 1 or 2), or downsteps of x% (userpara7 ==): |
// 66.6% (3), 75% (4), 80% (5), 90% (10), 95% (20), 97.5% (40), 98% (50), 99% (100). |
else |
{ |
if(Parameter_UserParam7 < 2) |
{ // Original function |
tmp_int = 2 * tmp_int - tmp_motorwert[i]; |
} |
else |
{ |
// If userpara7 >= 2 then allow >= 50% of the intended step down to rapidly reach the intended value. |
tmp_int = tmp_int + ((tmp_motorwert[i] - tmp_int)/Parameter_UserParam7); |
} |
} |
LIMIT_MIN_MAX(tmp_int,MIN_GAS * 4,MAX_GAS * 4); |
Motor[i].SetPoint = tmp_int / 4; |
Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total) |
tmp_motorwert[i] = tmp_int; |
} |
else |
{ |
Motor[i].SetPoint = 0; |
Motor[i].SetPointLowerBits = 0; |
} |
} |
} |
/branches/V0.80d-Arthur-P/fc.d |
---|
0,0 → 1,3 |
fc.o fc.d : fc.c main.h old_macros.h printf_P.h timer0.h uart.h analog.h \ |
twimaster.h menu.h rc.h fc.h gps.h spi.h led.h spektrum.h capacity.h \ |
eeprom.h libfc.h debug.h mymath.h isqrt.h |
/branches/V0.80d-Arthur-P/fc.h |
---|
0,0 → 1,120 |
/*####################################################################################### |
Flight Control |
#######################################################################################*/ |
#ifndef _FC_H |
#define _FC_H |
//#define GIER_GRAD_FAKTOR 1291L // Abhängigkeit zwischen GyroIntegral und Winkel |
//#define GIER_GRAD_FAKTOR 1160L |
extern long GIER_GRAD_FAKTOR; // Abhängigkeit zwischen GyroIntegral und Winkel |
#define STICK_GAIN 4 |
#define ACC_AMPLIFY 6 |
#define FCFLAG_MOTOR_RUN 0x01 |
#define FCFLAG_FLY 0x02 |
#define FCFLAG_CALIBRATE 0x04 |
#define FCFLAG_START 0x08 |
#define FCFLAG_NOTLANDUNG 0x10 |
#define FCFLAG_LOWBAT 0x20 |
#define FCFLAG_SPI_RX_ERR 0x40 |
#define FCFLAG_I2CERR 0x80 |
#define DEFEKT_G_NICK 0x01 |
#define DEFEKT_G_ROLL 0x02 |
#define DEFEKT_G_GIER 0x04 |
#define DEFEKT_A_NICK 0x08 |
#define DEFEKT_A_ROLL 0x10 |
#define DEFEKT_A_Z 0x20 |
#define DEFEKT_PRESSURE 0x40 |
#define DEFEKT_CAREFREE_ERR 0x80 |
#define DEFEKT_I2C 0x01 |
#define DEFEKT_BL_MISSING 0x02 |
#define DEFEKT_SPI_RX_ERR 0x04 |
#define DEFEKT_PPM_ERR 0x08 |
#define DEFEKT_MIXER_ERR 0x10 |
#define Poti1 Poti[0] |
#define Poti2 Poti[1] |
#define Poti3 Poti[2] |
#define Poti4 Poti[3] |
#define Poti5 Poti[4] |
#define Poti6 Poti[5] |
#define Poti7 Poti[6] |
#define Poti8 Poti[7] |
extern volatile unsigned char FCFlags; |
extern unsigned char Sekunde,Minute; |
extern unsigned int BaroExpandActive; |
extern long IntegralNick,IntegralNick2; |
extern long IntegralRoll,IntegralRoll2; |
//extern int IntegralNick,IntegralNick2; |
//extern int IntegralRoll,IntegralRoll2; |
extern unsigned char Poti[9]; |
extern long Mess_IntegralNick,Mess_IntegralNick2; |
extern long Mess_IntegralRoll,Mess_IntegralRoll2; |
extern long IntegralAccNick,IntegralAccRoll; |
extern long SummeNick,SummeRoll; |
extern volatile long Mess_Integral_Hoch; |
extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2; |
extern int KompassValue; |
extern int KompassStartwert; |
extern int KompassRichtung; |
extern unsigned char ControlHeading; |
extern int TrimNick, TrimRoll; |
extern long ErsatzKompass; |
extern int ErsatzKompassInGrad; // Kompasswert in Grad |
extern long HoehenWert; |
extern long SollHoehe; |
extern unsigned char CareFree; |
extern int MesswertNick,MesswertRoll,MesswertGier; |
extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll; |
extern unsigned int NeutralAccX, NeutralAccY; |
extern unsigned char HoehenReglerAktiv; |
extern int NeutralAccZ; |
extern long Umschlag180Nick, Umschlag180Roll; |
extern signed int ExternStickNick,ExternStickRoll,ExternStickGier; |
extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8; |
extern int NaviAccNick,NaviAccRoll,NaviCntAcc; |
extern unsigned int modell_fliegt; |
extern void MotorRegler(void); |
extern void SendMotorData(void); |
//void CalibrierMittelwert(void); |
//void Mittelwert(void); |
extern void SetNeutral(unsigned char AccAdjustment); |
extern void Piep(unsigned char Anzahl, unsigned int dauer); |
extern void CopyDebugValues(void); |
extern unsigned char h,m,s; |
extern volatile unsigned char Timeout ; |
extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
extern int DiffNick,DiffRoll; |
//extern int Poti1, Poti2, Poti3, Poti4; |
extern volatile unsigned char SenderOkay; |
extern int StickNick,StickRoll,StickGier; |
extern char MotorenEin; |
extern unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
extern char VarioCharacter; |
extern int HoverGas; |
extern unsigned char Parameter_Luftdruck_D; |
extern unsigned char Parameter_MaxHoehe; |
extern unsigned char Parameter_Hoehe_P; |
extern unsigned char Parameter_Hoehe_ACC_Wirkung; |
extern unsigned char Parameter_KompassWirkung; |
extern unsigned char Parameter_Gyro_P; |
extern unsigned char Parameter_Gyro_I; |
extern unsigned char Parameter_Gier_P; |
extern unsigned char Parameter_ServoNickControl; |
extern unsigned char Parameter_ServoRollControl; |
extern unsigned char Parameter_AchsKopplung1; |
extern unsigned char Parameter_AchsKopplung2; |
//extern unsigned char Parameter_AchsGegenKopplung1; |
extern unsigned char Parameter_J16Bitmask; // for the J16 Output |
extern unsigned char Parameter_J16Timing; // for the J16 Output |
extern unsigned char Parameter_J17Bitmask; // for the J17 Output |
extern unsigned char Parameter_J17Timing; // for the J17 Output |
extern signed char MixerTable[MAX_MOTORS][4]; |
#endif //_FC_H |
/branches/V0.80d-Arthur-P/fc.lst |
---|
0,0 → 1,10192 |
1 .file "fc.c" |
2 .arch atmega644p |
3 __SREG__ = 0x3f |
4 __SP_H__ = 0x3e |
5 __SP_L__ = 0x3d |
6 __tmp_reg__ = 0 |
7 __zero_reg__ = 1 |
8 .global __do_copy_data |
9 .global __do_clear_bss |
10 .global VarioCharacter |
11 .data |
14 VarioCharacter: |
15 0000 20 .byte 32 |
16 .global GIER_GRAD_FAKTOR |
19 GIER_GRAD_FAKTOR: |
20 0001 0B05 0000 .long 1291 |
21 .global FCFlags |
22 .global FCFlags |
23 .section .bss |
26 FCFlags: |
27 0000 00 .skip 1,0 |
28 .global modell_fliegt |
29 .global modell_fliegt |
32 modell_fliegt: |
33 0001 0000 .skip 2,0 |
34 .global MaxStickRoll |
35 .global MaxStickRoll |
38 MaxStickRoll: |
39 0003 0000 .skip 2,0 |
40 .global MaxStickNick |
41 .global MaxStickNick |
44 MaxStickNick: |
45 0005 0000 .skip 2,0 |
46 .global ExternHoehenValue |
47 .data |
50 ExternHoehenValue: |
51 0005 ECFF .word -20 |
52 .global ExternStickGier |
53 .global ExternStickGier |
54 .section .bss |
57 ExternStickGier: |
58 0007 0000 .skip 2,0 |
59 .global ExternStickRoll |
60 .global ExternStickRoll |
63 ExternStickRoll: |
64 0009 0000 .skip 2,0 |
65 .global ExternStickNick |
66 .global ExternStickNick |
69 ExternStickNick: |
70 000b 0000 .skip 2,0 |
71 .global CareFree |
72 .global CareFree |
75 CareFree: |
76 000d 00 .skip 1,0 |
77 .global Parameter_DynamicStability |
78 .data |
81 Parameter_DynamicStability: |
82 0007 64 .byte 100 |
83 .global Parameter_CouplingYawCorrection |
86 Parameter_CouplingYawCorrection: |
87 0008 40 .byte 64 |
88 .global Parameter_AchsKopplung2 |
91 Parameter_AchsKopplung2: |
92 0009 41 .byte 65 |
93 .global Parameter_AchsKopplung1 |
96 Parameter_AchsKopplung1: |
97 000a 5A .byte 90 |
98 .global Parameter_LoopGasLimit |
101 Parameter_LoopGasLimit: |
102 000b 46 .byte 70 |
103 .global Parameter_ServoRollControl |
106 Parameter_ServoRollControl: |
107 000c 64 .byte 100 |
108 .global Parameter_ServoNickControl |
111 Parameter_ServoNickControl: |
112 000d 64 .byte 100 |
113 .global Parameter_UserParam8 |
114 .global Parameter_UserParam8 |
115 .section .bss |
118 Parameter_UserParam8: |
119 000e 00 .skip 1,0 |
120 .global Parameter_UserParam7 |
121 .global Parameter_UserParam7 |
124 Parameter_UserParam7: |
125 000f 00 .skip 1,0 |
126 .global Parameter_UserParam6 |
127 .global Parameter_UserParam6 |
130 Parameter_UserParam6: |
131 0010 00 .skip 1,0 |
132 .global Parameter_UserParam5 |
133 .global Parameter_UserParam5 |
136 Parameter_UserParam5: |
137 0011 00 .skip 1,0 |
138 .global Parameter_UserParam4 |
139 .global Parameter_UserParam4 |
142 Parameter_UserParam4: |
143 0012 00 .skip 1,0 |
144 .global Parameter_UserParam3 |
145 .global Parameter_UserParam3 |
148 Parameter_UserParam3: |
149 0013 00 .skip 1,0 |
150 .global Parameter_UserParam2 |
151 .global Parameter_UserParam2 |
154 Parameter_UserParam2: |
155 0014 00 .skip 1,0 |
156 .global Parameter_UserParam1 |
157 .global Parameter_UserParam1 |
160 Parameter_UserParam1: |
161 0015 00 .skip 1,0 |
162 .global Parameter_I_Faktor |
163 .data |
166 Parameter_I_Faktor: |
167 000e 0A .byte 10 |
168 .global Parameter_Gier_P |
171 Parameter_Gier_P: |
172 000f 02 .byte 2 |
173 .global Parameter_Gyro_Gier_I |
176 Parameter_Gyro_Gier_I: |
177 0010 96 .byte -106 |
178 .global Parameter_Gyro_Gier_P |
181 Parameter_Gyro_Gier_P: |
182 0011 96 .byte -106 |
183 .global Parameter_Gyro_I |
186 Parameter_Gyro_I: |
187 0012 96 .byte -106 |
188 .global Parameter_Gyro_P |
191 Parameter_Gyro_P: |
192 0013 96 .byte -106 |
193 .global Parameter_Gyro_D |
196 Parameter_Gyro_D: |
197 0014 08 .byte 8 |
198 .global Parameter_Hoehe_GPS_Z |
201 Parameter_Hoehe_GPS_Z: |
202 0015 40 .byte 64 |
203 .global Parameter_KompassWirkung |
206 Parameter_KompassWirkung: |
207 0016 40 .byte 64 |
208 .global Parameter_Hoehe_ACC_Wirkung |
211 Parameter_Hoehe_ACC_Wirkung: |
212 0017 3A .byte 58 |
213 .global Parameter_Hoehe_P |
216 Parameter_Hoehe_P: |
217 0018 10 .byte 16 |
218 .global Parameter_MaxHoehe |
221 Parameter_MaxHoehe: |
222 0019 FB .byte -5 |
223 .global Parameter_Luftdruck_D |
226 Parameter_Luftdruck_D: |
227 001a 30 .byte 48 |
228 .global Looping_Oben |
229 .global Looping_Oben |
230 .section .bss |
233 Looping_Oben: |
234 0016 00 .skip 1,0 |
235 .global Looping_Unten |
236 .global Looping_Unten |
239 Looping_Unten: |
240 0017 00 .skip 1,0 |
241 .global Looping_Rechts |
242 .global Looping_Rechts |
245 Looping_Rechts: |
246 0018 00 .skip 1,0 |
247 .global Looping_Links |
248 .global Looping_Links |
251 Looping_Links: |
252 0019 00 .skip 1,0 |
253 .global Looping_Roll |
254 .global Looping_Roll |
257 Looping_Roll: |
258 001a 00 .skip 1,0 |
259 .global Looping_Nick |
260 .global Looping_Nick |
263 Looping_Nick: |
264 001b 00 .skip 1,0 |
265 .global Ki |
266 .data |
269 Ki: |
270 001b 3801 .word 312 |
271 .global HoverGas |
272 .global HoverGas |
273 .section .bss |
276 HoverGas: |
277 001c 0000 .skip 2,0 |
278 .global LageKorrekturNick |
279 .global LageKorrekturNick |
282 LageKorrekturNick: |
283 001e 0000 .skip 2,0 |
284 .global LageKorrekturRoll |
285 .global LageKorrekturRoll |
288 LageKorrekturRoll: |
289 0020 0000 .skip 2,0 |
290 .global SollHoehe |
291 .global SollHoehe |
294 SollHoehe: |
295 0022 0000 0000 .skip 4,0 |
296 .global HoehenWert |
297 .global HoehenWert |
300 HoehenWert: |
301 0026 0000 0000 .skip 4,0 |
302 .global StartTrigger |
303 .global StartTrigger |
306 StartTrigger: |
307 002a 00 .skip 1,0 |
308 .global MotorenEin |
309 .global MotorenEin |
312 MotorenEin: |
313 002b 00 .skip 1,0 |
314 .global StickGas |
315 .global StickGas |
318 StickGas: |
319 002c 0000 .skip 2,0 |
320 .global StickGier |
321 .global StickGier |
324 StickGier: |
325 002e 0000 .skip 2,0 |
326 .global StickRoll |
327 .global StickRoll |
330 StickRoll: |
331 0030 0000 .skip 2,0 |
332 .global StickNick |
333 .global StickNick |
336 StickNick: |
337 0032 0000 .skip 2,0 |
338 .global SenderOkay |
339 .global SenderOkay |
342 SenderOkay: |
343 0034 00 .skip 1,0 |
344 .global Poti |
345 .global Poti |
348 Poti: |
349 0035 0000 0000 .skip 9,0 |
349 0000 0000 |
349 00 |
350 .global GierGyroFehler |
351 .global GierGyroFehler |
354 GierGyroFehler: |
355 003e 0000 .skip 2,0 |
356 .global Umschlag180Roll |
357 .data |
360 Umschlag180Roll: |
361 001d 90D0 0300 .long 250000 |
362 .global Umschlag180Nick |
365 Umschlag180Nick: |
366 0021 90D0 0300 .long 250000 |
367 .global TrichterFlug |
368 .global TrichterFlug |
369 .section .bss |
372 TrichterFlug: |
373 0040 00 .skip 1,0 |
374 .global HoehenReglerAktiv |
375 .global HoehenReglerAktiv |
378 HoehenReglerAktiv: |
379 0041 00 .skip 1,0 |
380 .global KompassSignalSchlecht |
381 .data |
384 KompassSignalSchlecht: |
385 0025 F401 .word 500 |
386 .global KompassRichtung |
387 .global KompassRichtung |
388 .section .bss |
391 KompassRichtung: |
392 0042 0000 .skip 2,0 |
393 .global KompassStartwert |
394 .global KompassStartwert |
397 KompassStartwert: |
398 0044 0000 .skip 2,0 |
399 .global KompassValue |
400 .global KompassValue |
403 KompassValue: |
404 0046 0000 .skip 2,0 |
405 .global Mess_Integral_Hoch |
406 .global Mess_Integral_Hoch |
409 Mess_Integral_Hoch: |
410 0048 0000 0000 .skip 4,0 |
411 .global SummeRoll |
412 .global SummeRoll |
415 SummeRoll: |
416 004c 0000 0000 .skip 4,0 |
417 .global SummeNick |
418 .global SummeNick |
421 SummeNick: |
422 0050 0000 0000 .skip 4,0 |
423 .global Mess_Integral_Gier2 |
424 .global Mess_Integral_Gier2 |
427 Mess_Integral_Gier2: |
428 0054 0000 0000 .skip 4,0 |
429 .global Mess_Integral_Gier |
430 .global Mess_Integral_Gier |
433 Mess_Integral_Gier: |
434 0058 0000 0000 .skip 4,0 |
435 .global Mess_IntegralRoll2 |
436 .global Mess_IntegralRoll2 |
439 Mess_IntegralRoll2: |
440 005c 0000 0000 .skip 4,0 |
441 .global Mess_IntegralRoll |
442 .global Mess_IntegralRoll |
445 Mess_IntegralRoll: |
446 0060 0000 0000 .skip 4,0 |
447 .global Mess_IntegralNick2 |
448 .global Mess_IntegralNick2 |
451 Mess_IntegralNick2: |
452 0064 0000 0000 .skip 4,0 |
453 .global Mess_IntegralNick |
454 .global Mess_IntegralNick |
457 Mess_IntegralNick: |
458 0068 0000 0000 .skip 4,0 |
459 .global Integral_Gier |
460 .global Integral_Gier |
463 Integral_Gier: |
464 006c 0000 0000 .skip 4,0 |
465 .global IntegralAccZ |
466 .global IntegralAccZ |
469 IntegralAccZ: |
470 0070 0000 0000 .skip 4,0 |
471 .global IntegralAccRoll |
472 .global IntegralAccRoll |
475 IntegralAccRoll: |
476 0074 0000 0000 .skip 4,0 |
477 .global IntegralAccNick |
478 .global IntegralAccNick |
481 IntegralAccNick: |
482 0078 0000 0000 .skip 4,0 |
483 .global IntegralRoll2 |
484 .global IntegralRoll2 |
487 IntegralRoll2: |
488 007c 0000 0000 .skip 4,0 |
489 .global IntegralRoll |
490 .global IntegralRoll |
493 IntegralRoll: |
494 0080 0000 0000 .skip 4,0 |
495 .global IntegralNick2 |
496 .global IntegralNick2 |
499 IntegralNick2: |
500 0084 0000 0000 .skip 4,0 |
501 .global IntegralNick |
502 .global IntegralNick |
505 IntegralNick: |
506 0088 0000 0000 .skip 4,0 |
507 .global ControlHeading |
508 .global ControlHeading |
511 ControlHeading: |
512 008c 00 .skip 1,0 |
513 .global NeutralAccZ |
514 .global NeutralAccZ |
517 NeutralAccZ: |
518 008d 0000 .skip 2,0 |
519 .global NaviCntAcc |
520 .global NaviCntAcc |
523 NaviCntAcc: |
524 008f 0000 .skip 2,0 |
525 .global NeutralAccY |
526 .global NeutralAccY |
529 NeutralAccY: |
530 0091 0000 .skip 2,0 |
531 .global NeutralAccX |
532 .global NeutralAccX |
535 NeutralAccX: |
536 0093 0000 .skip 2,0 |
537 .global StartNeutralNick |
538 .global StartNeutralNick |
541 StartNeutralNick: |
542 0095 0000 .skip 2,0 |
543 .global StartNeutralRoll |
544 .global StartNeutralRoll |
547 StartNeutralRoll: |
548 0097 0000 .skip 2,0 |
549 .global AdNeutralGier |
550 .global AdNeutralGier |
553 AdNeutralGier: |
554 0099 0000 .skip 2,0 |
555 .global AdNeutralRoll |
556 .global AdNeutralRoll |
559 AdNeutralRoll: |
560 009b 0000 .skip 2,0 |
561 .global AdNeutralNick |
562 .global AdNeutralNick |
565 AdNeutralNick: |
566 009d 0000 .skip 2,0 |
567 .global BaroExpandActive |
568 .global BaroExpandActive |
571 BaroExpandActive: |
572 009f 0000 .skip 2,0 |
573 .text |
574 .global CopyDebugValues |
576 CopyDebugValues: |
577 /* prologue: frame size=0 */ |
578 0000 EF92 push r14 |
579 0002 FF92 push r15 |
580 0004 0F93 push r16 |
581 0006 1F93 push r17 |
582 /* prologue end (size=4) */ |
583 0008 8091 0000 lds r24,EE_Parameter+28 |
584 000c 9927 clr r25 |
585 000e 880F lsl r24 |
586 0010 991F rol r25 |
587 0012 880F lsl r24 |
588 0014 991F rol r25 |
589 0016 7C01 movw r14,r24 |
590 0018 0027 clr r16 |
591 001a F7FC sbrc r15,7 |
592 001c 0095 com r16 |
593 001e 102F mov r17,r16 |
594 0020 8091 0000 lds r24,IntegralNick |
595 0024 9091 0000 lds r25,(IntegralNick)+1 |
596 0028 A091 0000 lds r26,(IntegralNick)+2 |
597 002c B091 0000 lds r27,(IntegralNick)+3 |
598 0030 BC01 movw r22,r24 |
599 0032 CD01 movw r24,r26 |
600 0034 A801 movw r20,r16 |
601 0036 9701 movw r18,r14 |
602 0038 0E94 0000 call __divmodsi4 |
603 003c 3093 0000 sts (DebugOut+2)+1,r19 |
604 0040 2093 0000 sts DebugOut+2,r18 |
605 0044 8091 0000 lds r24,IntegralRoll |
606 0048 9091 0000 lds r25,(IntegralRoll)+1 |
607 004c A091 0000 lds r26,(IntegralRoll)+2 |
608 0050 B091 0000 lds r27,(IntegralRoll)+3 |
609 0054 BC01 movw r22,r24 |
610 0056 CD01 movw r24,r26 |
611 0058 A801 movw r20,r16 |
612 005a 9701 movw r18,r14 |
613 005c 0E94 0000 call __divmodsi4 |
614 0060 3093 0000 sts (DebugOut+4)+1,r19 |
615 0064 2093 0000 sts DebugOut+4,r18 |
616 0068 8091 0000 lds r24,Mittelwert_AccNick |
617 006c 9091 0000 lds r25,(Mittelwert_AccNick)+1 |
618 0070 97FD sbrc r25,7 |
619 0072 0396 adiw r24,3 |
620 .L2: |
621 0074 9595 asr r25 |
622 0076 8795 ror r24 |
623 0078 9595 asr r25 |
624 007a 8795 ror r24 |
625 007c 9093 0000 sts (DebugOut+6)+1,r25 |
626 0080 8093 0000 sts DebugOut+6,r24 |
627 0084 8091 0000 lds r24,Mittelwert_AccRoll |
628 0088 9091 0000 lds r25,(Mittelwert_AccRoll)+1 |
629 008c 97FD sbrc r25,7 |
630 008e 0396 adiw r24,3 |
631 .L3: |
632 0090 9595 asr r25 |
633 0092 8795 ror r24 |
634 0094 9595 asr r25 |
635 0096 8795 ror r24 |
636 0098 9093 0000 sts (DebugOut+8)+1,r25 |
637 009c 8093 0000 sts DebugOut+8,r24 |
638 00a0 8091 0000 lds r24,AdNeutralGier |
639 00a4 9091 0000 lds r25,(AdNeutralGier)+1 |
640 00a8 2091 0000 lds r18,AdWertGier |
641 00ac 3091 0000 lds r19,(AdWertGier)+1 |
642 00b0 821B sub r24,r18 |
643 00b2 930B sbc r25,r19 |
644 00b4 9093 0000 sts (DebugOut+10)+1,r25 |
645 00b8 8093 0000 sts DebugOut+10,r24 |
646 00bc 8091 0000 lds r24,HoehenWert |
647 00c0 9091 0000 lds r25,(HoehenWert)+1 |
648 00c4 A091 0000 lds r26,(HoehenWert)+2 |
649 00c8 B091 0000 lds r27,(HoehenWert)+3 |
650 00cc BC01 movw r22,r24 |
651 00ce CD01 movw r24,r26 |
652 00d0 25E0 ldi r18,lo8(5) |
653 00d2 30E0 ldi r19,hi8(5) |
654 00d4 40E0 ldi r20,hlo8(5) |
655 00d6 50E0 ldi r21,hhi8(5) |
656 00d8 0E94 0000 call __divmodsi4 |
657 00dc 3093 0000 sts (DebugOut+12)+1,r19 |
658 00e0 2093 0000 sts DebugOut+12,r18 |
659 00e4 8091 0000 lds r24,AdWertAccHoch |
660 00e8 9091 0000 lds r25,(AdWertAccHoch)+1 |
661 00ec 9093 0000 sts (DebugOut+14)+1,r25 |
662 00f0 8093 0000 sts DebugOut+14,r24 |
663 00f4 8091 0000 lds r24,KompassValue |
664 00f8 9091 0000 lds r25,(KompassValue)+1 |
665 00fc 9093 0000 sts (DebugOut+18)+1,r25 |
666 0100 8093 0000 sts DebugOut+18,r24 |
667 0104 8091 0000 lds r24,UBat |
668 0108 9091 0000 lds r25,(UBat)+1 |
669 010c 9093 0000 sts (DebugOut+20)+1,r25 |
670 0110 8093 0000 sts DebugOut+20,r24 |
671 0114 8091 0000 lds r24,SenderOkay |
672 0118 9927 clr r25 |
673 011a 9093 0000 sts (DebugOut+22)+1,r25 |
674 011e 8093 0000 sts DebugOut+22,r24 |
675 0122 8091 0000 lds r24,ErsatzKompass |
676 0126 9091 0000 lds r25,(ErsatzKompass)+1 |
677 012a A091 0000 lds r26,(ErsatzKompass)+2 |
678 012e B091 0000 lds r27,(ErsatzKompass)+3 |
679 0132 2091 0000 lds r18,GIER_GRAD_FAKTOR |
680 0136 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1 |
681 013a 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2 |
682 013e 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3 |
683 0142 BC01 movw r22,r24 |
684 0144 CD01 movw r24,r26 |
685 0146 0E94 0000 call __divmodsi4 |
686 014a 3093 0000 sts (DebugOut+24)+1,r19 |
687 014e 2093 0000 sts DebugOut+24,r18 |
688 0152 8091 0000 lds r24,Motor+1 |
689 0156 9927 clr r25 |
690 0158 9093 0000 sts (DebugOut+26)+1,r25 |
691 015c 8093 0000 sts DebugOut+26,r24 |
692 0160 8091 0000 lds r24,Motor+9 |
693 0164 9927 clr r25 |
694 0166 9093 0000 sts (DebugOut+28)+1,r25 |
695 016a 8093 0000 sts DebugOut+28,r24 |
696 016e 8091 0000 lds r24,Motor+17 |
697 0172 9927 clr r25 |
698 0174 9093 0000 sts (DebugOut+30)+1,r25 |
699 0178 8093 0000 sts DebugOut+30,r24 |
700 017c 8091 0000 lds r24,Motor+25 |
701 0180 9927 clr r25 |
702 0182 9093 0000 sts (DebugOut+32)+1,r25 |
703 0186 8093 0000 sts DebugOut+32,r24 |
704 018a 8091 0000 lds r24,ServoNickValue |
705 018e 9091 0000 lds r25,(ServoNickValue)+1 |
706 0192 9093 0000 sts (DebugOut+42)+1,r25 |
707 0196 8093 0000 sts DebugOut+42,r24 |
708 019a 8091 0000 lds r24,Capacity |
709 019e 9091 0000 lds r25,(Capacity)+1 |
710 01a2 9093 0000 sts (DebugOut+46)+1,r25 |
711 01a6 8093 0000 sts DebugOut+46,r24 |
712 01aa 8091 0000 lds r24,Capacity+4 |
713 01ae 9091 0000 lds r25,(Capacity+4)+1 |
714 01b2 9093 0000 sts (DebugOut+48)+1,r25 |
715 01b6 8093 0000 sts DebugOut+48,r24 |
716 01ba 8091 0000 lds r24,Capacity+6 |
717 01be 9927 clr r25 |
718 01c0 9093 0000 sts (DebugOut+60)+1,r25 |
719 01c4 8093 0000 sts DebugOut+60,r24 |
720 01c8 8091 0000 lds r24,GPS_Nick |
721 01cc 9091 0000 lds r25,(GPS_Nick)+1 |
722 01d0 9093 0000 sts (DebugOut+62)+1,r25 |
723 01d4 8093 0000 sts DebugOut+62,r24 |
724 01d8 8091 0000 lds r24,GPS_Roll |
725 01dc 9091 0000 lds r25,(GPS_Roll)+1 |
726 01e0 9093 0000 sts (DebugOut+64)+1,r25 |
727 01e4 8093 0000 sts DebugOut+64,r24 |
728 01e8 8091 0000 lds r24,VersionInfo+5 |
729 01ec 8823 tst r24 |
730 01ee 21F4 brne .L5 |
731 01f0 8091 0000 lds r24,VersionInfo+6 |
732 01f4 8823 tst r24 |
733 01f6 21F0 breq .L4 |
734 .L5: |
735 01f8 8091 0000 lds r24,DebugOut+1 |
736 01fc 8160 ori r24,lo8(1) |
737 01fe 03C0 rjmp .L7 |
738 .L4: |
739 0200 8091 0000 lds r24,DebugOut+1 |
740 0204 8E7F andi r24,lo8(-2) |
741 .L7: |
742 0206 8093 0000 sts DebugOut+1,r24 |
743 /* epilogue: frame size=0 */ |
744 020a 1F91 pop r17 |
745 020c 0F91 pop r16 |
746 020e FF90 pop r15 |
747 0210 EF90 pop r14 |
748 0212 0895 ret |
749 /* epilogue end (size=5) */ |
750 /* function CopyDebugValues size 268 (259) */ |
752 .global Piep |
754 Piep: |
755 /* prologue: frame size=0 */ |
756 0214 1F93 push r17 |
757 0216 CF93 push r28 |
758 0218 DF93 push r29 |
759 /* prologue end (size=3) */ |
760 021a 182F mov r17,r24 |
761 021c EB01 movw r28,r22 |
762 021e 8091 0000 lds r24,MotorenEin |
763 0222 8823 tst r24 |
764 0224 A1F4 brne .L8 |
765 0226 1150 subi r17,lo8(-(-1)) |
766 0228 1F3F cpi r17,lo8(-1) |
767 022a 89F0 breq .L8 |
768 .L15: |
769 022c D093 0000 sts (beeptime)+1,r29 |
770 0230 C093 0000 sts beeptime,r28 |
771 .L12: |
772 0234 8091 0000 lds r24,beeptime |
773 0238 9091 0000 lds r25,(beeptime)+1 |
774 023c 892B or r24,r25 |
775 023e D1F7 brne .L12 |
776 0240 CE01 movw r24,r28 |
777 0242 8C0F add r24,r28 |
778 0244 9D1F adc r25,r29 |
779 0246 0E94 0000 call Delay_ms |
780 024a 1150 subi r17,1 |
781 024c 78F7 brcc .L15 |
782 .L8: |
783 /* epilogue: frame size=0 */ |
784 024e DF91 pop r29 |
785 0250 CF91 pop r28 |
786 0252 1F91 pop r17 |
787 0254 0895 ret |
788 /* epilogue end (size=4) */ |
789 /* function Piep size 34 (27) */ |
791 .global CalibrierMittelwert |
793 CalibrierMittelwert: |
794 /* prologue: frame size=0 */ |
795 0256 CF93 push r28 |
796 0258 DF93 push r29 |
797 /* prologue end (size=2) */ |
798 025a 8091 0000 lds r24,PlatinenVersion |
799 025e 8D30 cpi r24,lo8(13) |
800 0260 11F4 brne .L18 |
801 0262 0E94 0000 call SucheGyroOffset |
802 .L18: |
803 0266 1092 7A00 sts 122,__zero_reg__ |
804 026a 8091 0000 lds r24,AdWertNick |
805 026e 9091 0000 lds r25,(AdWertNick)+1 |
806 0272 9093 0000 sts (MesswertNick)+1,r25 |
807 0276 8093 0000 sts MesswertNick,r24 |
808 027a 8091 0000 lds r24,AdWertRoll |
809 027e 9091 0000 lds r25,(AdWertRoll)+1 |
810 0282 9093 0000 sts (MesswertRoll)+1,r25 |
811 0286 8093 0000 sts MesswertRoll,r24 |
812 028a 8091 0000 lds r24,AdWertGier |
813 028e 9091 0000 lds r25,(AdWertGier)+1 |
814 0292 9093 0000 sts (MesswertGier)+1,r25 |
815 0296 8093 0000 sts MesswertGier,r24 |
816 029a 2091 0000 lds r18,AdWertAccNick |
817 029e 3091 0000 lds r19,(AdWertAccNick)+1 |
818 02a2 C901 movw r24,r18 |
819 02a4 880F lsl r24 |
820 02a6 991F rol r25 |
821 02a8 880F lsl r24 |
822 02aa 991F rol r25 |
823 02ac 820F add r24,r18 |
824 02ae 931F adc r25,r19 |
825 02b0 820F add r24,r18 |
826 02b2 931F adc r25,r19 |
827 02b4 9093 0000 sts (Mittelwert_AccNick)+1,r25 |
828 02b8 8093 0000 sts Mittelwert_AccNick,r24 |
829 02bc 2091 0000 lds r18,AdWertAccRoll |
830 02c0 3091 0000 lds r19,(AdWertAccRoll)+1 |
831 02c4 C901 movw r24,r18 |
832 02c6 880F lsl r24 |
833 02c8 991F rol r25 |
834 02ca 880F lsl r24 |
835 02cc 991F rol r25 |
836 02ce 820F add r24,r18 |
837 02d0 931F adc r25,r19 |
838 02d2 820F add r24,r18 |
839 02d4 931F adc r25,r19 |
840 02d6 9093 0000 sts (Mittelwert_AccRoll)+1,r25 |
841 02da 8093 0000 sts Mittelwert_AccRoll,r24 |
842 02de 8FEC ldi r24,lo8(-49) |
843 02e0 8093 7A00 sts 122,r24 |
844 02e4 A0E0 ldi r26,lo8(Poti) |
845 02e6 B0E0 ldi r27,hi8(Poti) |
846 02e8 C0E0 ldi r28,lo8(EE_Parameter+5) |
847 02ea D0E0 ldi r29,hi8(EE_Parameter+5) |
848 02ec 97E0 ldi r25,lo8(7) |
849 .L28: |
850 02ee 8991 ld r24,Y+ |
851 02f0 E82F mov r30,r24 |
852 02f2 FF27 clr r31 |
853 02f4 EE0F add r30,r30 |
854 02f6 FF1F adc r31,r31 |
855 02f8 E050 subi r30,lo8(-(PPM_in)) |
856 02fa F040 sbci r31,hi8(-(PPM_in)) |
857 02fc 0190 ld __tmp_reg__,Z+ |
858 02fe F081 ld r31,Z |
859 0300 E02D mov r30,__tmp_reg__ |
860 0302 E259 subi r30,lo8(-(110)) |
861 0304 FF4F sbci r31,hi8(-(110)) |
862 0306 1E16 cp __zero_reg__,r30 |
863 0308 1F06 cpc __zero_reg__,r31 |
864 030a 1CF0 brlt .L22 |
865 030c E0E0 ldi r30,lo8(0) |
866 030e F0E0 ldi r31,hi8(0) |
867 0310 05C0 rjmp .L23 |
868 .L22: |
869 0312 EF3F cpi r30,255 |
870 0314 F105 cpc r31,__zero_reg__ |
871 0316 14F0 brlt .L23 |
872 0318 EFEF ldi r30,lo8(255) |
873 031a F0E0 ldi r31,hi8(255) |
874 .L23: |
875 031c 8C91 ld r24,X |
876 031e 282F mov r18,r24 |
877 0320 3327 clr r19 |
878 0322 E217 cp r30,r18 |
879 0324 F307 cpc r31,r19 |
880 0326 14F4 brge .L25 |
881 0328 8150 subi r24,lo8(-(-1)) |
882 032a 04C0 rjmp .L31 |
883 .L25: |
884 032c 2E17 cp r18,r30 |
885 032e 3F07 cpc r19,r31 |
886 0330 14F4 brge .L21 |
887 0332 8F5F subi r24,lo8(-(1)) |
888 .L31: |
889 0334 8C93 st X,r24 |
890 .L21: |
891 0336 9150 subi r25,lo8(-(-1)) |
892 0338 1196 adiw r26,1 |
893 033a 97FF sbrs r25,7 |
894 033c D8CF rjmp .L28 |
895 033e 8091 0000 lds r24,EE_Parameter+63 |
896 0342 9927 clr r25 |
897 0344 AA27 clr r26 |
898 0346 BB27 clr r27 |
899 0348 BC01 movw r22,r24 |
900 034a CD01 movw r24,r26 |
901 034c 24EC ldi r18,lo8(2500) |
902 034e 39E0 ldi r19,hi8(2500) |
903 0350 40E0 ldi r20,hlo8(2500) |
904 0352 50E0 ldi r21,hhi8(2500) |
905 0354 0E94 0000 call __mulsi3 |
906 0358 DC01 movw r26,r24 |
907 035a CB01 movw r24,r22 |
908 035c 8093 0000 sts Umschlag180Nick,r24 |
909 0360 9093 0000 sts (Umschlag180Nick)+1,r25 |
910 0364 A093 0000 sts (Umschlag180Nick)+2,r26 |
911 0368 B093 0000 sts (Umschlag180Nick)+3,r27 |
912 036c 8091 0000 lds r24,EE_Parameter+64 |
913 0370 9927 clr r25 |
914 0372 AA27 clr r26 |
915 0374 BB27 clr r27 |
916 0376 BC01 movw r22,r24 |
917 0378 CD01 movw r24,r26 |
918 037a 0E94 0000 call __mulsi3 |
919 037e DC01 movw r26,r24 |
920 0380 CB01 movw r24,r22 |
921 0382 8093 0000 sts Umschlag180Roll,r24 |
922 0386 9093 0000 sts (Umschlag180Roll)+1,r25 |
923 038a A093 0000 sts (Umschlag180Roll)+2,r26 |
924 038e B093 0000 sts (Umschlag180Roll)+3,r27 |
925 /* epilogue: frame size=0 */ |
926 0392 DF91 pop r29 |
927 0394 CF91 pop r28 |
928 0396 0895 ret |
929 /* epilogue end (size=3) */ |
930 /* function CalibrierMittelwert size 161 (156) */ |
932 .section .progmem.data,"a",@progbits |
935 __c.40: |
936 0000 0A0D 4143 .string "\n\rACC not calibrated!\r\n" |
936 4320 6E6F |
936 7420 6361 |
936 6C69 6272 |
936 6174 6564 |
937 .text |
938 .global SetNeutral |
940 SetNeutral: |
941 /* prologue: frame size=0 */ |
942 0398 A0E0 ldi r26,lo8(0) |
943 039a B0E0 ldi r27,hi8(0) |
944 039c E0E0 ldi r30,pm_lo8(1f) |
945 039e F0E0 ldi r31,pm_hi8(1f) |
946 03a0 0C94 0000 jmp __prologue_saves__+12 |
947 1: |
948 /* prologue end (size=6) */ |
949 03a4 882E mov r8,r24 |
950 03a6 C0E0 ldi r28,lo8(0) |
951 03a8 D0E0 ldi r29,hi8(0) |
952 03aa 7E01 movw r14,r28 |
953 03ac 6E01 movw r12,r28 |
954 03ae 1092 0000 sts VersionInfo+5,__zero_reg__ |
955 03b2 469A sbi 40-0x20,6 |
956 03b4 D093 0000 sts (NeutralAccX)+1,r29 |
957 03b8 C093 0000 sts NeutralAccX,r28 |
958 03bc D093 0000 sts (NeutralAccY)+1,r29 |
959 03c0 C093 0000 sts NeutralAccY,r28 |
960 03c4 D093 0000 sts (NeutralAccZ)+1,r29 |
961 03c8 C093 0000 sts NeutralAccZ,r28 |
962 03cc D093 0000 sts (AdNeutralNick)+1,r29 |
963 03d0 C093 0000 sts AdNeutralNick,r28 |
964 03d4 D093 0000 sts (AdNeutralRoll)+1,r29 |
965 03d8 C093 0000 sts AdNeutralRoll,r28 |
966 03dc D093 0000 sts (AdNeutralGier)+1,r29 |
967 03e0 C093 0000 sts AdNeutralGier,r28 |
968 03e4 1092 0000 sts Parameter_AchsKopplung1,__zero_reg__ |
969 03e8 1092 0000 sts Parameter_AchsKopplung2,__zero_reg__ |
970 03ec 1092 0000 sts ExpandBaro,__zero_reg__ |
971 03f0 0E94 0000 call CalibrierMittelwert |
972 03f4 84E6 ldi r24,lo8(100) |
973 03f6 90E0 ldi r25,hi8(100) |
974 03f8 0E94 0000 call Delay_ms_Mess |
975 03fc 0E94 0000 call CalibrierMittelwert |
976 0400 8091 0000 lds r24,EE_Parameter+13 |
977 0404 80FF sbrs r24,0 |
978 0406 10C0 rjmp .L33 |
979 0408 8091 0000 lds r24,MessLuftdruck |
980 040c 9091 0000 lds r25,(MessLuftdruck)+1 |
981 0410 875B subi r24,lo8(951) |
982 0412 9340 sbci r25,hi8(951) |
983 0414 38F4 brsh .L35 |
984 0416 8091 0000 lds r24,MessLuftdruck |
985 041a 9091 0000 lds r25,(MessLuftdruck)+1 |
986 041e 8E5E subi r24,lo8(750) |
987 0420 9240 sbci r25,hi8(750) |
988 0422 10F4 brsh .L33 |
989 .L35: |
990 0424 0E94 0000 call SucheLuftruckOffset |
991 .L33: |
992 0428 0FE1 ldi r16,lo8(31) |
993 .L39: |
994 042a 8AE0 ldi r24,lo8(10) |
995 042c 90E0 ldi r25,hi8(10) |
996 042e 0E94 0000 call Delay_ms_Mess |
997 0432 8091 0000 lds r24,AdWertGier |
998 0436 9091 0000 lds r25,(AdWertGier)+1 |
999 043a C80F add r28,r24 |
1000 043c D91F adc r29,r25 |
1001 043e 8091 0000 lds r24,AdWertNick |
1002 0442 9091 0000 lds r25,(AdWertNick)+1 |
1003 0446 E80E add r14,r24 |
1004 0448 F91E adc r15,r25 |
1005 044a 8091 0000 lds r24,AdWertRoll |
1006 044e 9091 0000 lds r25,(AdWertRoll)+1 |
1007 0452 C80E add r12,r24 |
1008 0454 D91E adc r13,r25 |
1009 0456 0150 subi r16,lo8(-(-1)) |
1010 0458 07FF sbrs r16,7 |
1011 045a E7CF rjmp .L39 |
1012 045c 9701 movw r18,r14 |
1013 045e 205F subi r18,lo8(-(16)) |
1014 0460 3F4F sbci r19,hi8(-(16)) |
1015 0462 3695 lsr r19 |
1016 0464 2795 ror r18 |
1017 0466 3695 lsr r19 |
1018 0468 2795 ror r18 |
1019 046a 3093 0000 sts (AdNeutralNick)+1,r19 |
1020 046e 2093 0000 sts AdNeutralNick,r18 |
1021 0472 C601 movw r24,r12 |
1022 0474 4096 adiw r24,16 |
1023 0476 9695 lsr r25 |
1024 0478 8795 ror r24 |
1025 047a 9695 lsr r25 |
1026 047c 8795 ror r24 |
1027 047e 9093 0000 sts (AdNeutralRoll)+1,r25 |
1028 0482 8093 0000 sts AdNeutralRoll,r24 |
1029 0486 6096 adiw r28,16 |
1030 0488 F5E0 ldi r31,5 |
1031 048a D695 1: lsr r29 |
1032 048c C795 ror r28 |
1033 048e FA95 dec r31 |
1034 0490 E1F7 brne 1b |
1035 0492 D093 0000 sts (AdNeutralGier)+1,r29 |
1036 0496 C093 0000 sts AdNeutralGier,r28 |
1037 049a 9093 0000 sts (StartNeutralRoll)+1,r25 |
1038 049e 8093 0000 sts StartNeutralRoll,r24 |
1039 04a2 3093 0000 sts (StartNeutralNick)+1,r19 |
1040 04a6 2093 0000 sts StartNeutralNick,r18 |
1041 04aa 8820 tst r8 |
1042 04ac 09F4 brne .+2 |
1043 04ae 41C0 rjmp .L40 |
1044 04b0 8091 0000 lds r24,Mittelwert_AccNick |
1045 04b4 9091 0000 lds r25,(Mittelwert_AccNick)+1 |
1046 04b8 97FF sbrs r25,7 |
1047 04ba 03C0 rjmp .L41 |
1048 04bc 9095 com r25 |
1049 04be 8195 neg r24 |
1050 04c0 9F4F sbci r25,lo8(-1) |
1051 .L41: |
1052 04c2 6CE0 ldi r22,lo8(12) |
1053 04c4 70E0 ldi r23,hi8(12) |
1054 04c6 0E94 0000 call __divmodhi4 |
1055 04ca 9B01 movw r18,r22 |
1056 04cc 7093 0000 sts (NeutralAccX)+1,r23 |
1057 04d0 6093 0000 sts NeutralAccX,r22 |
1058 04d4 8091 0000 lds r24,Mittelwert_AccRoll |
1059 04d8 9091 0000 lds r25,(Mittelwert_AccRoll)+1 |
1060 04dc 97FF sbrs r25,7 |
1061 04de 03C0 rjmp .L42 |
1062 04e0 9095 com r25 |
1063 04e2 8195 neg r24 |
1064 04e4 9F4F sbci r25,lo8(-1) |
1065 .L42: |
1066 04e6 6CE0 ldi r22,lo8(12) |
1067 04e8 70E0 ldi r23,hi8(12) |
1068 04ea 0E94 0000 call __divmodhi4 |
1069 04ee 7093 0000 sts (NeutralAccY)+1,r23 |
1070 04f2 6093 0000 sts NeutralAccY,r22 |
1071 04f6 8091 0000 lds r24,Aktuell_az |
1072 04fa 9091 0000 lds r25,(Aktuell_az)+1 |
1073 04fe 9093 0000 sts (NeutralAccZ)+1,r25 |
1074 0502 8093 0000 sts NeutralAccZ,r24 |
1075 0506 B901 movw r22,r18 |
1076 0508 84E0 ldi r24,lo8(4) |
1077 050a 90E0 ldi r25,hi8(4) |
1078 050c 0E94 0000 call SetParamWord |
1079 0510 6091 0000 lds r22,NeutralAccY |
1080 0514 7091 0000 lds r23,(NeutralAccY)+1 |
1081 0518 86E0 ldi r24,lo8(6) |
1082 051a 90E0 ldi r25,hi8(6) |
1083 051c 0E94 0000 call SetParamWord |
1084 0520 6091 0000 lds r22,NeutralAccZ |
1085 0524 7091 0000 lds r23,(NeutralAccZ)+1 |
1086 0528 88E0 ldi r24,lo8(8) |
1087 052a 90E0 ldi r25,hi8(8) |
1088 052c 0E94 0000 call SetParamWord |
1089 0530 65C0 rjmp .L43 |
1090 .L40: |
1091 0532 84E0 ldi r24,lo8(4) |
1092 0534 90E0 ldi r25,hi8(4) |
1093 0536 0E94 0000 call GetParamWord |
1094 053a 9093 0000 sts (NeutralAccX)+1,r25 |
1095 053e 8093 0000 sts NeutralAccX,r24 |
1096 0542 86E0 ldi r24,lo8(6) |
1097 0544 90E0 ldi r25,hi8(6) |
1098 0546 0E94 0000 call GetParamWord |
1099 054a 9093 0000 sts (NeutralAccY)+1,r25 |
1100 054e 8093 0000 sts NeutralAccY,r24 |
1101 0552 88E0 ldi r24,lo8(8) |
1102 0554 90E0 ldi r25,hi8(8) |
1103 0556 0E94 0000 call GetParamWord |
1104 055a 9C01 movw r18,r24 |
1105 055c 9093 0000 sts (NeutralAccZ)+1,r25 |
1106 0560 8093 0000 sts NeutralAccZ,r24 |
1107 0564 8091 0000 lds r24,NeutralAccX |
1108 0568 9091 0000 lds r25,(NeutralAccX)+1 |
1109 056c 8150 subi r24,lo8(2049) |
1110 056e 9840 sbci r25,hi8(2049) |
1111 0570 50F4 brsh .L45 |
1112 0572 8091 0000 lds r24,NeutralAccY |
1113 0576 9091 0000 lds r25,(NeutralAccY)+1 |
1114 057a 8150 subi r24,lo8(2049) |
1115 057c 9840 sbci r25,hi8(2049) |
1116 057e 18F4 brsh .L45 |
1117 0580 2150 subi r18,lo8(1025) |
1118 0582 3440 sbci r19,hi8(1025) |
1119 0584 D8F1 brlo .L43 |
1120 .L45: |
1121 0586 80E0 ldi r24,lo8(__c.40) |
1122 0588 90E0 ldi r25,hi8(__c.40) |
1123 058a 9F93 push r25 |
1124 058c 8F93 push r24 |
1125 058e 80E0 ldi r24,lo8(pm(uart_putchar)) |
1126 0590 90E0 ldi r25,hi8(pm(uart_putchar)) |
1127 0592 9F93 push r25 |
1128 0594 8F93 push r24 |
1129 0596 E091 0000 lds r30,_printf_P |
1130 059a F091 0000 lds r31,(_printf_P)+1 |
1131 059e 0995 icall |
1132 05a0 8091 0000 lds r24,Mittelwert_AccNick |
1133 05a4 9091 0000 lds r25,(Mittelwert_AccNick)+1 |
1134 05a8 97FF sbrs r25,7 |
1135 05aa 03C0 rjmp .L46 |
1136 05ac 9095 com r25 |
1137 05ae 8195 neg r24 |
1138 05b0 9F4F sbci r25,lo8(-1) |
1139 .L46: |
1140 05b2 6CE0 ldi r22,lo8(12) |
1141 05b4 70E0 ldi r23,hi8(12) |
1142 05b6 0E94 0000 call __divmodhi4 |
1143 05ba 7093 0000 sts (NeutralAccX)+1,r23 |
1144 05be 6093 0000 sts NeutralAccX,r22 |
1145 05c2 8091 0000 lds r24,Mittelwert_AccRoll |
1146 05c6 9091 0000 lds r25,(Mittelwert_AccRoll)+1 |
1147 05ca 97FF sbrs r25,7 |
1148 05cc 03C0 rjmp .L47 |
1149 05ce 9095 com r25 |
1150 05d0 8195 neg r24 |
1151 05d2 9F4F sbci r25,lo8(-1) |
1152 .L47: |
1153 05d4 6CE0 ldi r22,lo8(12) |
1154 05d6 70E0 ldi r23,hi8(12) |
1155 05d8 0E94 0000 call __divmodhi4 |
1156 05dc 7093 0000 sts (NeutralAccY)+1,r23 |
1157 05e0 6093 0000 sts NeutralAccY,r22 |
1158 05e4 8091 0000 lds r24,Aktuell_az |
1159 05e8 9091 0000 lds r25,(Aktuell_az)+1 |
1160 05ec 9093 0000 sts (NeutralAccZ)+1,r25 |
1161 05f0 8093 0000 sts NeutralAccZ,r24 |
1162 05f4 0F90 pop __tmp_reg__ |
1163 05f6 0F90 pop __tmp_reg__ |
1164 05f8 0F90 pop __tmp_reg__ |
1165 05fa 0F90 pop __tmp_reg__ |
1166 .L43: |
1167 05fc 1092 0000 sts (MesswertNick)+1,__zero_reg__ |
1168 0600 1092 0000 sts MesswertNick,__zero_reg__ |
1169 0604 1092 0000 sts (MesswertRoll)+1,__zero_reg__ |
1170 0608 1092 0000 sts MesswertRoll,__zero_reg__ |
1171 060c 1092 0000 sts (MesswertGier)+1,__zero_reg__ |
1172 0610 1092 0000 sts MesswertGier,__zero_reg__ |
1173 0614 84E6 ldi r24,lo8(100) |
1174 0616 90E0 ldi r25,hi8(100) |
1175 0618 0E94 0000 call Delay_ms_Mess |
1176 061c 8091 0000 lds r24,AdWertAccNick |
1177 0620 9091 0000 lds r25,(AdWertAccNick)+1 |
1178 0624 9C01 movw r18,r24 |
1179 0626 220F lsl r18 |
1180 0628 331F rol r19 |
1181 062a 220F lsl r18 |
1182 062c 331F rol r19 |
1183 062e 280F add r18,r24 |
1184 0630 391F adc r19,r25 |
1185 0632 280F add r18,r24 |
1186 0634 391F adc r19,r25 |
1187 0636 3093 0000 sts (Mittelwert_AccNick)+1,r19 |
1188 063a 2093 0000 sts Mittelwert_AccNick,r18 |
1189 063e 8091 0000 lds r24,AdWertAccRoll |
1190 0642 9091 0000 lds r25,(AdWertAccRoll)+1 |
1191 0646 8C01 movw r16,r24 |
1192 0648 000F lsl r16 |
1193 064a 111F rol r17 |
1194 064c 000F lsl r16 |
1195 064e 111F rol r17 |
1196 0650 080F add r16,r24 |
1197 0652 191F adc r17,r25 |
1198 0654 080F add r16,r24 |
1199 0656 191F adc r17,r25 |
1200 0658 1093 0000 sts (Mittelwert_AccRoll)+1,r17 |
1201 065c 0093 0000 sts Mittelwert_AccRoll,r16 |
1202 0660 8091 0000 lds r24,EE_Parameter+28 |
1203 0664 C82E mov r12,r24 |
1204 0666 DD24 clr r13 |
1205 0668 EE24 clr r14 |
1206 066a FF24 clr r15 |
1207 066c 4427 clr r20 |
1208 066e 37FD sbrc r19,7 |
1209 0670 4095 com r20 |
1210 0672 542F mov r21,r20 |
1211 0674 C701 movw r24,r14 |
1212 0676 B601 movw r22,r12 |
1213 0678 0E94 0000 call __mulsi3 |
1214 067c 4B01 movw r8,r22 |
1215 067e 5C01 movw r10,r24 |
1216 0680 6093 0000 sts IntegralNick,r22 |
1217 0684 7093 0000 sts (IntegralNick)+1,r23 |
1218 0688 8093 0000 sts (IntegralNick)+2,r24 |
1219 068c 9093 0000 sts (IntegralNick)+3,r25 |
1220 0690 9801 movw r18,r16 |
1221 0692 4427 clr r20 |
1222 0694 37FD sbrc r19,7 |
1223 0696 4095 com r20 |
1224 0698 542F mov r21,r20 |
1225 069a C701 movw r24,r14 |
1226 069c B601 movw r22,r12 |
1227 069e 0E94 0000 call __mulsi3 |
1228 06a2 DC01 movw r26,r24 |
1229 06a4 CB01 movw r24,r22 |
1230 06a6 8093 0000 sts IntegralRoll,r24 |
1231 06aa 9093 0000 sts (IntegralRoll)+1,r25 |
1232 06ae A093 0000 sts (IntegralRoll)+2,r26 |
1233 06b2 B093 0000 sts (IntegralRoll)+3,r27 |
1234 06b6 8092 0000 sts Mess_IntegralNick2,r8 |
1235 06ba 9092 0000 sts (Mess_IntegralNick2)+1,r9 |
1236 06be A092 0000 sts (Mess_IntegralNick2)+2,r10 |
1237 06c2 B092 0000 sts (Mess_IntegralNick2)+3,r11 |
1238 06c6 8093 0000 sts Mess_IntegralRoll2,r24 |
1239 06ca 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
1240 06ce A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
1241 06d2 B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
1242 06d6 1092 0000 sts Mess_Integral_Gier,__zero_reg__ |
1243 06da 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__ |
1244 06de 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__ |
1245 06e2 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__ |
1246 06e6 8091 0000 lds r24,Luftdruck |
1247 06ea 9091 0000 lds r25,(Luftdruck)+1 |
1248 06ee A091 0000 lds r26,(Luftdruck)+2 |
1249 06f2 B091 0000 lds r27,(Luftdruck)+3 |
1250 06f6 9093 0000 sts (StartLuftdruck)+1,r25 |
1251 06fa 8093 0000 sts StartLuftdruck,r24 |
1252 06fe 1092 0000 sts (VarioMeter)+1,__zero_reg__ |
1253 0702 1092 0000 sts VarioMeter,__zero_reg__ |
1254 0706 1092 0000 sts Mess_Integral_Hoch,__zero_reg__ |
1255 070a 1092 0000 sts (Mess_Integral_Hoch)+1,__zero_reg__ |
1256 070e 1092 0000 sts (Mess_Integral_Hoch)+2,__zero_reg__ |
1257 0712 1092 0000 sts (Mess_Integral_Hoch)+3,__zero_reg__ |
1258 0716 8091 0000 lds r24,KompassValue |
1259 071a 9091 0000 lds r25,(KompassValue)+1 |
1260 071e 9093 0000 sts (KompassStartwert)+1,r25 |
1261 0722 8093 0000 sts KompassStartwert,r24 |
1262 0726 0E94 0000 call GPS_Neutral |
1263 072a 82E3 ldi r24,lo8(50) |
1264 072c 90E0 ldi r25,hi8(50) |
1265 072e 9093 0000 sts (beeptime)+1,r25 |
1266 0732 8093 0000 sts beeptime,r24 |
1267 0736 8091 0000 lds r24,EE_Parameter+63 |
1268 073a 9927 clr r25 |
1269 073c AA27 clr r26 |
1270 073e BB27 clr r27 |
1271 0740 BC01 movw r22,r24 |
1272 0742 CD01 movw r24,r26 |
1273 0744 24EC ldi r18,lo8(2500) |
1274 0746 39E0 ldi r19,hi8(2500) |
1275 0748 40E0 ldi r20,hlo8(2500) |
1276 074a 50E0 ldi r21,hhi8(2500) |
1277 074c 0E94 0000 call __mulsi3 |
1278 0750 DC01 movw r26,r24 |
1279 0752 CB01 movw r24,r22 |
1280 0754 8856 subi r24,lo8(-(15000)) |
1281 0756 954C sbci r25,hi8(-(15000)) |
1282 0758 AF4F sbci r26,hlo8(-(15000)) |
1283 075a BF4F sbci r27,hhi8(-(15000)) |
1284 075c 8093 0000 sts Umschlag180Nick,r24 |
1285 0760 9093 0000 sts (Umschlag180Nick)+1,r25 |
1286 0764 A093 0000 sts (Umschlag180Nick)+2,r26 |
1287 0768 B093 0000 sts (Umschlag180Nick)+3,r27 |
1288 076c 8091 0000 lds r24,EE_Parameter+64 |
1289 0770 9927 clr r25 |
1290 0772 AA27 clr r26 |
1291 0774 BB27 clr r27 |
1292 0776 BC01 movw r22,r24 |
1293 0778 CD01 movw r24,r26 |
1294 077a 0E94 0000 call __mulsi3 |
1295 077e DC01 movw r26,r24 |
1296 0780 CB01 movw r24,r22 |
1297 0782 8856 subi r24,lo8(-(15000)) |
1298 0784 954C sbci r25,hi8(-(15000)) |
1299 0786 AF4F sbci r26,hlo8(-(15000)) |
1300 0788 BF4F sbci r27,hhi8(-(15000)) |
1301 078a 8093 0000 sts Umschlag180Roll,r24 |
1302 078e 9093 0000 sts (Umschlag180Roll)+1,r25 |
1303 0792 A093 0000 sts (Umschlag180Roll)+2,r26 |
1304 0796 B093 0000 sts (Umschlag180Roll)+3,r27 |
1305 079a 1092 0000 sts (ExternHoehenValue)+1,__zero_reg__ |
1306 079e 1092 0000 sts ExternHoehenValue,__zero_reg__ |
1307 07a2 8091 0000 lds r24,KompassValue |
1308 07a6 9091 0000 lds r25,(KompassValue)+1 |
1309 07aa AA27 clr r26 |
1310 07ac 97FD sbrc r25,7 |
1311 07ae A095 com r26 |
1312 07b0 BA2F mov r27,r26 |
1313 07b2 2091 0000 lds r18,GIER_GRAD_FAKTOR |
1314 07b6 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1 |
1315 07ba 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2 |
1316 07be 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3 |
1317 07c2 BC01 movw r22,r24 |
1318 07c4 CD01 movw r24,r26 |
1319 07c6 0E94 0000 call __mulsi3 |
1320 07ca DC01 movw r26,r24 |
1321 07cc CB01 movw r24,r22 |
1322 07ce 8093 0000 sts ErsatzKompass,r24 |
1323 07d2 9093 0000 sts (ErsatzKompass)+1,r25 |
1324 07d6 A093 0000 sts (ErsatzKompass)+2,r26 |
1325 07da B093 0000 sts (ErsatzKompass)+3,r27 |
1326 07de 1092 0000 sts (GierGyroFehler)+1,__zero_reg__ |
1327 07e2 1092 0000 sts GierGyroFehler,__zero_reg__ |
1328 07e6 81E0 ldi r24,lo8(1) |
1329 07e8 8093 0000 sts SendVersionToNavi,r24 |
1330 07ec 0E94 0000 call LED_Init |
1331 07f0 8091 0000 lds r24,FCFlags |
1332 07f4 8460 ori r24,lo8(4) |
1333 07f6 8093 0000 sts FCFlags,r24 |
1334 07fa 8FEF ldi r24,lo8(-1) |
1335 07fc 8093 0000 sts FromNaviCtrl_Value,r24 |
1336 0800 1092 0000 sts FromNaviCtrl_Value+1,__zero_reg__ |
1337 0804 80E2 ldi r24,lo8(32) |
1338 0806 8093 0000 sts FromNaviCtrl_Value+2,r24 |
1339 080a C0E0 ldi r28,lo8(Poti) |
1340 080c D0E0 ldi r29,hi8(Poti) |
1341 080e A0E0 ldi r26,lo8(EE_Parameter+5) |
1342 0810 B0E0 ldi r27,hi8(EE_Parameter+5) |
1343 0812 07E0 ldi r16,lo8(7) |
1344 .L51: |
1345 0814 8D91 ld r24,X+ |
1346 0816 E82F mov r30,r24 |
1347 0818 FF27 clr r31 |
1348 081a EE0F add r30,r30 |
1349 081c FF1F adc r31,r31 |
1350 081e E050 subi r30,lo8(-(PPM_in)) |
1351 0820 F040 sbci r31,hi8(-(PPM_in)) |
1352 0822 8081 ld r24,Z |
1353 0824 9181 ldd r25,Z+1 |
1354 0826 8259 subi r24,lo8(-(110)) |
1355 0828 8993 st Y+,r24 |
1356 082a 0150 subi r16,lo8(-(-1)) |
1357 082c 07FF sbrs r16,7 |
1358 082e F2CF rjmp .L51 |
1359 0830 84E6 ldi r24,lo8(100) |
1360 0832 8093 0000 sts SenderOkay,r24 |
1361 0836 8091 0000 lds r24,ServoActive |
1362 083a 8823 tst r24 |
1363 083c 11F0 breq .L52 |
1364 083e 469A sbi 40-0x20,6 |
1365 0840 579A sbi 42-0x20,7 |
1366 .L52: |
1367 0842 8091 0000 lds r24,AdNeutralNick |
1368 0846 9091 0000 lds r25,(AdNeutralNick)+1 |
1369 084a 8056 subi r24,lo8(-(-2400)) |
1370 084c 9940 sbci r25,hi8(-(-2400)) |
1371 084e 815C subi r24,lo8(11201) |
1372 0850 9B42 sbci r25,hi8(11201) |
1373 0852 28F0 brlo .L53 |
1374 0854 8091 0000 lds r24,VersionInfo+5 |
1375 0858 8160 ori r24,lo8(1) |
1376 085a 8093 0000 sts VersionInfo+5,r24 |
1377 .L53: |
1378 085e 8091 0000 lds r24,AdNeutralRoll |
1379 0862 9091 0000 lds r25,(AdNeutralRoll)+1 |
1380 0866 8056 subi r24,lo8(-(-2400)) |
1381 0868 9940 sbci r25,hi8(-(-2400)) |
1382 086a 815C subi r24,lo8(11201) |
1383 086c 9B42 sbci r25,hi8(11201) |
1384 086e 28F0 brlo .L54 |
1385 0870 8091 0000 lds r24,VersionInfo+5 |
1386 0874 8260 ori r24,lo8(2) |
1387 0876 8093 0000 sts VersionInfo+5,r24 |
1388 .L54: |
1389 087a 8091 0000 lds r24,AdNeutralGier |
1390 087e 9091 0000 lds r25,(AdNeutralGier)+1 |
1391 0882 8C52 subi r24,lo8(-(-300)) |
1392 0884 9140 sbci r25,hi8(-(-300)) |
1393 0886 8957 subi r24,lo8(1401) |
1394 0888 9540 sbci r25,hi8(1401) |
1395 088a 28F0 brlo .L55 |
1396 088c 8091 0000 lds r24,VersionInfo+5 |
1397 0890 8460 ori r24,lo8(4) |
1398 0892 8093 0000 sts VersionInfo+5,r24 |
1399 .L55: |
1400 0896 8091 0000 lds r24,NeutralAccX |
1401 089a 9091 0000 lds r25,(NeutralAccX)+1 |
1402 089e 8C52 subi r24,lo8(-(-300)) |
1403 08a0 9140 sbci r25,hi8(-(-300)) |
1404 08a2 835C subi r24,lo8(451) |
1405 08a4 9140 sbci r25,hi8(451) |
1406 08a6 28F0 brlo .L56 |
1407 08a8 8091 0000 lds r24,VersionInfo+5 |
1408 08ac 8860 ori r24,lo8(8) |
1409 08ae 8093 0000 sts VersionInfo+5,r24 |
1410 .L56: |
1411 08b2 8091 0000 lds r24,NeutralAccY |
1412 08b6 9091 0000 lds r25,(NeutralAccY)+1 |
1413 08ba 8C52 subi r24,lo8(-(-300)) |
1414 08bc 9140 sbci r25,hi8(-(-300)) |
1415 08be 835C subi r24,lo8(451) |
1416 08c0 9140 sbci r25,hi8(451) |
1417 08c2 28F0 brlo .L57 |
1418 08c4 8091 0000 lds r24,VersionInfo+5 |
1419 08c8 8061 ori r24,lo8(16) |
1420 08ca 8093 0000 sts VersionInfo+5,r24 |
1421 .L57: |
1422 08ce 8091 0000 lds r24,NeutralAccZ |
1423 08d2 9091 0000 lds r25,(NeutralAccZ)+1 |
1424 08d6 8050 subi r24,lo8(-(-512)) |
1425 08d8 9240 sbci r25,hi8(-(-512)) |
1426 08da 8355 subi r24,lo8(339) |
1427 08dc 9140 sbci r25,hi8(339) |
1428 08de 28F0 brlo .L32 |
1429 08e0 8091 0000 lds r24,VersionInfo+5 |
1430 08e4 8062 ori r24,lo8(32) |
1431 08e6 8093 0000 sts VersionInfo+5,r24 |
1432 .L32: |
1433 /* epilogue: frame size=0 */ |
1434 08ea ECE0 ldi r30,12 |
1435 08ec CDB7 in r28,__SP_L__ |
1436 08ee DEB7 in r29,__SP_H__ |
1437 08f0 0C94 0000 jmp __epilogue_restores__+12 |
1438 /* epilogue end (size=5) */ |
1439 /* function SetNeutral size 697 (686) */ |
1441 .lcomm tmpl.32,4 |
1442 .lcomm tmpl2.33,4 |
1443 .lcomm tmpl3.34,4 |
1444 .lcomm tmpl4.35,4 |
1445 .lcomm oldNick.36,2 |
1446 .lcomm oldRoll.37,2 |
1447 .lcomm d2Roll.38,2 |
1448 .lcomm d2Nick.39,2 |
1449 .global Mittelwert |
1451 Mittelwert: |
1452 /* prologue: frame size=19 */ |
1453 08f4 A3E1 ldi r26,lo8(19) |
1454 08f6 B0E0 ldi r27,hi8(19) |
1455 08f8 E0E0 ldi r30,pm_lo8(1f) |
1456 08fa F0E0 ldi r31,pm_hi8(1f) |
1457 08fc 0C94 0000 jmp __prologue_saves__+0 |
1458 1: |
1459 /* prologue end (size=6) */ |
1460 0900 8091 0000 lds r24,AdNeutralGier |
1461 0904 9091 0000 lds r25,(AdNeutralGier)+1 |
1462 0908 2091 0000 lds r18,AdWertGier |
1463 090c 3091 0000 lds r19,(AdWertGier)+1 |
1464 0910 821B sub r24,r18 |
1465 0912 930B sbc r25,r19 |
1466 0914 9093 0000 sts (MesswertGier)+1,r25 |
1467 0918 8093 0000 sts MesswertGier,r24 |
1468 091c 8091 0000 lds r24,AdWertNickFilter |
1469 0920 9091 0000 lds r25,(AdWertNickFilter)+1 |
1470 0924 97FD sbrc r25,7 |
1471 0926 0796 adiw r24,7 |
1472 .L64: |
1473 0928 9C01 movw r18,r24 |
1474 092a 53E0 ldi r21,3 |
1475 092c 3595 1: asr r19 |
1476 092e 2795 ror r18 |
1477 0930 5A95 dec r21 |
1478 0932 E1F7 brne 1b |
1479 0934 3093 0000 sts (MesswertNick)+1,r19 |
1480 0938 2093 0000 sts MesswertNick,r18 |
1481 093c 8091 0000 lds r24,AdWertRollFilter |
1482 0940 9091 0000 lds r25,(AdWertRollFilter)+1 |
1483 0944 97FD sbrc r25,7 |
1484 0946 0796 adiw r24,7 |
1485 .L65: |
1486 0948 43E0 ldi r20,3 |
1487 094a 9595 1: asr r25 |
1488 094c 8795 ror r24 |
1489 094e 4A95 dec r20 |
1490 0950 E1F7 brne 1b |
1491 0952 9093 0000 sts (MesswertRoll)+1,r25 |
1492 0956 8093 0000 sts MesswertRoll,r24 |
1493 095a 3093 0000 sts (RohMesswertNick)+1,r19 |
1494 095e 2093 0000 sts RohMesswertNick,r18 |
1495 0962 9093 0000 sts (RohMesswertRoll)+1,r25 |
1496 0966 8093 0000 sts RohMesswertRoll,r24 |
1497 096a 8091 0000 lds r24,Mittelwert_AccNick |
1498 096e 9091 0000 lds r25,(Mittelwert_AccNick)+1 |
1499 0972 AC01 movw r20,r24 |
1500 0974 440F lsl r20 |
1501 0976 551F rol r21 |
1502 0978 480F add r20,r24 |
1503 097a 591F adc r21,r25 |
1504 097c 2091 0000 lds r18,AdWertAccNick |
1505 0980 3091 0000 lds r19,(AdWertAccNick)+1 |
1506 0984 C901 movw r24,r18 |
1507 0986 880F lsl r24 |
1508 0988 991F rol r25 |
1509 098a 880F lsl r24 |
1510 098c 991F rol r25 |
1511 098e 820F add r24,r18 |
1512 0990 931F adc r25,r19 |
1513 0992 820F add r24,r18 |
1514 0994 931F adc r25,r19 |
1515 0996 480F add r20,r24 |
1516 0998 591F adc r21,r25 |
1517 099a 57FF sbrs r21,7 |
1518 099c 02C0 rjmp .L66 |
1519 099e 4D5F subi r20,lo8(-(3)) |
1520 09a0 5F4F sbci r21,hi8(-(3)) |
1521 .L66: |
1522 09a2 5595 asr r21 |
1523 09a4 4795 ror r20 |
1524 09a6 5595 asr r21 |
1525 09a8 4795 ror r20 |
1526 09aa 5093 0000 sts (Mittelwert_AccNick)+1,r21 |
1527 09ae 4093 0000 sts Mittelwert_AccNick,r20 |
1528 09b2 8091 0000 lds r24,Mittelwert_AccRoll |
1529 09b6 9091 0000 lds r25,(Mittelwert_AccRoll)+1 |
1530 09ba AC01 movw r20,r24 |
1531 09bc 440F lsl r20 |
1532 09be 551F rol r21 |
1533 09c0 480F add r20,r24 |
1534 09c2 591F adc r21,r25 |
1535 09c4 2091 0000 lds r18,AdWertAccRoll |
1536 09c8 3091 0000 lds r19,(AdWertAccRoll)+1 |
1537 09cc C901 movw r24,r18 |
1538 09ce 880F lsl r24 |
1539 09d0 991F rol r25 |
1540 09d2 880F lsl r24 |
1541 09d4 991F rol r25 |
1542 09d6 820F add r24,r18 |
1543 09d8 931F adc r25,r19 |
1544 09da 820F add r24,r18 |
1545 09dc 931F adc r25,r19 |
1546 09de 480F add r20,r24 |
1547 09e0 591F adc r21,r25 |
1548 09e2 57FF sbrs r21,7 |
1549 09e4 02C0 rjmp .L67 |
1550 09e6 4D5F subi r20,lo8(-(3)) |
1551 09e8 5F4F sbci r21,hi8(-(3)) |
1552 .L67: |
1553 09ea 5595 asr r21 |
1554 09ec 4795 ror r20 |
1555 09ee 5595 asr r21 |
1556 09f0 4795 ror r20 |
1557 09f2 5093 0000 sts (Mittelwert_AccRoll)+1,r21 |
1558 09f6 4093 0000 sts Mittelwert_AccRoll,r20 |
1559 09fa 2091 0000 lds r18,AdWertAccNick |
1560 09fe 3091 0000 lds r19,(AdWertAccNick)+1 |
1561 0a02 C901 movw r24,r18 |
1562 0a04 880F lsl r24 |
1563 0a06 991F rol r25 |
1564 0a08 880F lsl r24 |
1565 0a0a 991F rol r25 |
1566 0a0c 820F add r24,r18 |
1567 0a0e 931F adc r25,r19 |
1568 0a10 820F add r24,r18 |
1569 0a12 931F adc r25,r19 |
1570 0a14 9C01 movw r18,r24 |
1571 0a16 4427 clr r20 |
1572 0a18 37FD sbrc r19,7 |
1573 0a1a 4095 com r20 |
1574 0a1c 542F mov r21,r20 |
1575 0a1e 8091 0000 lds r24,IntegralAccNick |
1576 0a22 9091 0000 lds r25,(IntegralAccNick)+1 |
1577 0a26 A091 0000 lds r26,(IntegralAccNick)+2 |
1578 0a2a B091 0000 lds r27,(IntegralAccNick)+3 |
1579 0a2e 820F add r24,r18 |
1580 0a30 931F adc r25,r19 |
1581 0a32 A41F adc r26,r20 |
1582 0a34 B51F adc r27,r21 |
1583 0a36 8093 0000 sts IntegralAccNick,r24 |
1584 0a3a 9093 0000 sts (IntegralAccNick)+1,r25 |
1585 0a3e A093 0000 sts (IntegralAccNick)+2,r26 |
1586 0a42 B093 0000 sts (IntegralAccNick)+3,r27 |
1587 0a46 2091 0000 lds r18,AdWertAccRoll |
1588 0a4a 3091 0000 lds r19,(AdWertAccRoll)+1 |
1589 0a4e C901 movw r24,r18 |
1590 0a50 880F lsl r24 |
1591 0a52 991F rol r25 |
1592 0a54 880F lsl r24 |
1593 0a56 991F rol r25 |
1594 0a58 820F add r24,r18 |
1595 0a5a 931F adc r25,r19 |
1596 0a5c 820F add r24,r18 |
1597 0a5e 931F adc r25,r19 |
1598 0a60 9C01 movw r18,r24 |
1599 0a62 4427 clr r20 |
1600 0a64 37FD sbrc r19,7 |
1601 0a66 4095 com r20 |
1602 0a68 542F mov r21,r20 |
1603 0a6a 8091 0000 lds r24,IntegralAccRoll |
1604 0a6e 9091 0000 lds r25,(IntegralAccRoll)+1 |
1605 0a72 A091 0000 lds r26,(IntegralAccRoll)+2 |
1606 0a76 B091 0000 lds r27,(IntegralAccRoll)+3 |
1607 0a7a 820F add r24,r18 |
1608 0a7c 931F adc r25,r19 |
1609 0a7e A41F adc r26,r20 |
1610 0a80 B51F adc r27,r21 |
1611 0a82 8093 0000 sts IntegralAccRoll,r24 |
1612 0a86 9093 0000 sts (IntegralAccRoll)+1,r25 |
1613 0a8a A093 0000 sts (IntegralAccRoll)+2,r26 |
1614 0a8e B093 0000 sts (IntegralAccRoll)+3,r27 |
1615 0a92 8091 0000 lds r24,NaviAccNick |
1616 0a96 9091 0000 lds r25,(NaviAccNick)+1 |
1617 0a9a 2091 0000 lds r18,AdWertAccNick |
1618 0a9e 3091 0000 lds r19,(AdWertAccNick)+1 |
1619 0aa2 820F add r24,r18 |
1620 0aa4 931F adc r25,r19 |
1621 0aa6 9093 0000 sts (NaviAccNick)+1,r25 |
1622 0aaa 8093 0000 sts NaviAccNick,r24 |
1623 0aae 8091 0000 lds r24,NaviAccRoll |
1624 0ab2 9091 0000 lds r25,(NaviAccRoll)+1 |
1625 0ab6 2091 0000 lds r18,AdWertAccRoll |
1626 0aba 3091 0000 lds r19,(AdWertAccRoll)+1 |
1627 0abe 820F add r24,r18 |
1628 0ac0 931F adc r25,r19 |
1629 0ac2 9093 0000 sts (NaviAccRoll)+1,r25 |
1630 0ac6 8093 0000 sts NaviAccRoll,r24 |
1631 0aca 8091 0000 lds r24,NaviCntAcc |
1632 0ace 9091 0000 lds r25,(NaviCntAcc)+1 |
1633 0ad2 0196 adiw r24,1 |
1634 0ad4 9093 0000 sts (NaviCntAcc)+1,r25 |
1635 0ad8 8093 0000 sts NaviCntAcc,r24 |
1636 0adc 8091 0000 lds r24,Aktuell_az |
1637 0ae0 9091 0000 lds r25,(Aktuell_az)+1 |
1638 0ae4 2091 0000 lds r18,NeutralAccZ |
1639 0ae8 3091 0000 lds r19,(NeutralAccZ)+1 |
1640 0aec 821B sub r24,r18 |
1641 0aee 930B sbc r25,r19 |
1642 0af0 9C01 movw r18,r24 |
1643 0af2 4427 clr r20 |
1644 0af4 37FD sbrc r19,7 |
1645 0af6 4095 com r20 |
1646 0af8 542F mov r21,r20 |
1647 0afa 8091 0000 lds r24,IntegralAccZ |
1648 0afe 9091 0000 lds r25,(IntegralAccZ)+1 |
1649 0b02 A091 0000 lds r26,(IntegralAccZ)+2 |
1650 0b06 B091 0000 lds r27,(IntegralAccZ)+3 |
1651 0b0a 820F add r24,r18 |
1652 0b0c 931F adc r25,r19 |
1653 0b0e A41F adc r26,r20 |
1654 0b10 B51F adc r27,r21 |
1655 0b12 8093 0000 sts IntegralAccZ,r24 |
1656 0b16 9093 0000 sts (IntegralAccZ)+1,r25 |
1657 0b1a A093 0000 sts (IntegralAccZ)+2,r26 |
1658 0b1e B093 0000 sts (IntegralAccZ)+3,r27 |
1659 0b22 8FEC ldi r24,lo8(-49) |
1660 0b24 8093 7A00 sts 122,r24 |
1661 0b28 1092 0000 sts AdReady,__zero_reg__ |
1662 0b2c 2091 0000 lds r18,Mess_IntegralRoll |
1663 0b30 3091 0000 lds r19,(Mess_IntegralRoll)+1 |
1664 0b34 4091 0000 lds r20,(Mess_IntegralRoll)+2 |
1665 0b38 5091 0000 lds r21,(Mess_IntegralRoll)+3 |
1666 0b3c 2987 std Y+9,r18 |
1667 0b3e 3A87 std Y+10,r19 |
1668 0b40 4B87 std Y+11,r20 |
1669 0b42 5C87 std Y+12,r21 |
1670 0b44 2954 subi r18,lo8(93001) |
1671 0b46 3B46 sbci r19,hi8(93001) |
1672 0b48 4140 sbci r20,hlo8(93001) |
1673 0b4a 5040 sbci r21,hhi8(93001) |
1674 0b4c 2CF0 brlt .L68 |
1675 0b4e 28E4 ldi r18,lo8(93000) |
1676 0b50 3BE6 ldi r19,hi8(93000) |
1677 0b52 41E0 ldi r20,hlo8(93000) |
1678 0b54 50E0 ldi r21,hhi8(93000) |
1679 0b56 0DC0 rjmp .L161 |
1680 .L68: |
1681 0b58 8985 ldd r24,Y+9 |
1682 0b5a 9A85 ldd r25,Y+10 |
1683 0b5c AB85 ldd r26,Y+11 |
1684 0b5e BC85 ldd r27,Y+12 |
1685 0b60 885B subi r24,lo8(-93000) |
1686 0b62 9449 sbci r25,hi8(-93000) |
1687 0b64 AE4F sbci r26,hlo8(-93000) |
1688 0b66 BF4F sbci r27,hhi8(-93000) |
1689 0b68 4CF4 brge .L70 |
1690 0b6a 28EB ldi r18,lo8(-93000) |
1691 0b6c 34E9 ldi r19,hi8(-93000) |
1692 0b6e 4EEF ldi r20,hlo8(-93000) |
1693 0b70 5FEF ldi r21,hhi8(-93000) |
1694 .L161: |
1695 0b72 2D83 std Y+5,r18 |
1696 0b74 3E83 std Y+6,r19 |
1697 0b76 4F83 std Y+7,r20 |
1698 0b78 5887 std Y+8,r21 |
1699 0b7a 08C0 rjmp .L69 |
1700 .L70: |
1701 0b7c 8985 ldd r24,Y+9 |
1702 0b7e 9A85 ldd r25,Y+10 |
1703 0b80 AB85 ldd r26,Y+11 |
1704 0b82 BC85 ldd r27,Y+12 |
1705 0b84 8D83 std Y+5,r24 |
1706 0b86 9E83 std Y+6,r25 |
1707 0b88 AF83 std Y+7,r26 |
1708 0b8a B887 std Y+8,r27 |
1709 .L69: |
1710 0b8c 2091 0000 lds r18,Mess_IntegralNick |
1711 0b90 3091 0000 lds r19,(Mess_IntegralNick)+1 |
1712 0b94 4091 0000 lds r20,(Mess_IntegralNick)+2 |
1713 0b98 5091 0000 lds r21,(Mess_IntegralNick)+3 |
1714 0b9c 2D87 std Y+13,r18 |
1715 0b9e 3E87 std Y+14,r19 |
1716 0ba0 4F87 std Y+15,r20 |
1717 0ba2 588B std Y+16,r21 |
1718 0ba4 2954 subi r18,lo8(93001) |
1719 0ba6 3B46 sbci r19,hi8(93001) |
1720 0ba8 4140 sbci r20,hlo8(93001) |
1721 0baa 5040 sbci r21,hhi8(93001) |
1722 0bac 2CF0 brlt .L72 |
1723 0bae 28E4 ldi r18,lo8(93000) |
1724 0bb0 3BE6 ldi r19,hi8(93000) |
1725 0bb2 41E0 ldi r20,hlo8(93000) |
1726 0bb4 50E0 ldi r21,hhi8(93000) |
1727 0bb6 0DC0 rjmp .L162 |
1728 .L72: |
1729 0bb8 8D85 ldd r24,Y+13 |
1730 0bba 9E85 ldd r25,Y+14 |
1731 0bbc AF85 ldd r26,Y+15 |
1732 0bbe B889 ldd r27,Y+16 |
1733 0bc0 885B subi r24,lo8(-93000) |
1734 0bc2 9449 sbci r25,hi8(-93000) |
1735 0bc4 AE4F sbci r26,hlo8(-93000) |
1736 0bc6 BF4F sbci r27,hhi8(-93000) |
1737 0bc8 4CF4 brge .L74 |
1738 0bca 28EB ldi r18,lo8(-93000) |
1739 0bcc 34E9 ldi r19,hi8(-93000) |
1740 0bce 4EEF ldi r20,hlo8(-93000) |
1741 0bd0 5FEF ldi r21,hhi8(-93000) |
1742 .L162: |
1743 0bd2 2983 std Y+1,r18 |
1744 0bd4 3A83 std Y+2,r19 |
1745 0bd6 4B83 std Y+3,r20 |
1746 0bd8 5C83 std Y+4,r21 |
1747 0bda 08C0 rjmp .L73 |
1748 .L74: |
1749 0bdc 8D85 ldd r24,Y+13 |
1750 0bde 9E85 ldd r25,Y+14 |
1751 0be0 AF85 ldd r26,Y+15 |
1752 0be2 B889 ldd r27,Y+16 |
1753 0be4 8983 std Y+1,r24 |
1754 0be6 9A83 std Y+2,r25 |
1755 0be8 AB83 std Y+3,r26 |
1756 0bea BC83 std Y+4,r27 |
1757 .L73: |
1758 0bec A091 0000 lds r26,MesswertGier |
1759 0bf0 B091 0000 lds r27,(MesswertGier)+1 |
1760 0bf4 BB8B std Y+19,r27 |
1761 0bf6 AA8B std Y+18,r26 |
1762 0bf8 FD01 movw r30,r26 |
1763 0bfa CF01 movw r24,r30 |
1764 0bfc AA27 clr r26 |
1765 0bfe 97FD sbrc r25,7 |
1766 0c00 A095 com r26 |
1767 0c02 BA2F mov r27,r26 |
1768 0c04 A090 0000 lds r10,Mess_Integral_Gier |
1769 0c08 B090 0000 lds r11,(Mess_Integral_Gier)+1 |
1770 0c0c C090 0000 lds r12,(Mess_Integral_Gier)+2 |
1771 0c10 D090 0000 lds r13,(Mess_Integral_Gier)+3 |
1772 0c14 A80E add r10,r24 |
1773 0c16 B91E adc r11,r25 |
1774 0c18 CA1E adc r12,r26 |
1775 0c1a DB1E adc r13,r27 |
1776 0c1c A092 0000 sts Mess_Integral_Gier,r10 |
1777 0c20 B092 0000 sts (Mess_Integral_Gier)+1,r11 |
1778 0c24 C092 0000 sts (Mess_Integral_Gier)+2,r12 |
1779 0c28 D092 0000 sts (Mess_Integral_Gier)+3,r13 |
1780 0c2c E090 0000 lds r14,ErsatzKompass |
1781 0c30 F090 0000 lds r15,(ErsatzKompass)+1 |
1782 0c34 0091 0000 lds r16,(ErsatzKompass)+2 |
1783 0c38 1091 0000 lds r17,(ErsatzKompass)+3 |
1784 0c3c E80E add r14,r24 |
1785 0c3e F91E adc r15,r25 |
1786 0c40 0A1F adc r16,r26 |
1787 0c42 1B1F adc r17,r27 |
1788 0c44 E092 0000 sts ErsatzKompass,r14 |
1789 0c48 F092 0000 sts (ErsatzKompass)+1,r15 |
1790 0c4c 0093 0000 sts (ErsatzKompass)+2,r16 |
1791 0c50 1093 0000 sts (ErsatzKompass)+3,r17 |
1792 0c54 F091 0000 lds r31,Looping_Nick |
1793 0c58 F98B std Y+17,r31 |
1794 0c5a FF23 tst r31 |
1795 0c5c 09F0 breq .+2 |
1796 0c5e 98C1 rjmp .L76 |
1797 0c60 8091 0000 lds r24,Looping_Roll |
1798 0c64 8823 tst r24 |
1799 0c66 09F0 breq .+2 |
1800 0c68 93C1 rjmp .L76 |
1801 0c6a 8091 0000 lds r24,EE_Parameter+13 |
1802 0c6e 86FF sbrs r24,6 |
1803 0c70 8FC1 rjmp .L76 |
1804 0c72 8091 0000 lds r24,MesswertRoll |
1805 0c76 9091 0000 lds r25,(MesswertRoll)+1 |
1806 0c7a AA27 clr r26 |
1807 0c7c 97FD sbrc r25,7 |
1808 0c7e A095 com r26 |
1809 0c80 BA2F mov r27,r26 |
1810 0c82 BC01 movw r22,r24 |
1811 0c84 CD01 movw r24,r26 |
1812 0c86 2981 ldd r18,Y+1 |
1813 0c88 3A81 ldd r19,Y+2 |
1814 0c8a 4B81 ldd r20,Y+3 |
1815 0c8c 5C81 ldd r21,Y+4 |
1816 0c8e 0E94 0000 call __mulsi3 |
1817 0c92 9B01 movw r18,r22 |
1818 0c94 AC01 movw r20,r24 |
1819 0c96 97FF sbrs r25,7 |
1820 0c98 04C0 rjmp .L77 |
1821 0c9a 2150 subi r18,lo8(-(2047)) |
1822 0c9c 384F sbci r19,hi8(-(2047)) |
1823 0c9e 4F4F sbci r20,hlo8(-(2047)) |
1824 0ca0 5F4F sbci r21,hhi8(-(2047)) |
1825 .L77: |
1826 0ca2 6BE0 ldi r22,11 |
1827 0ca4 5595 1: asr r21 |
1828 0ca6 4795 ror r20 |
1829 0ca8 3795 ror r19 |
1830 0caa 2795 ror r18 |
1831 0cac 6A95 dec r22 |
1832 0cae D1F7 brne 1b |
1833 0cb0 8091 0000 lds r24,Parameter_AchsKopplung2 |
1834 0cb4 682E mov r6,r24 |
1835 0cb6 7724 clr r7 |
1836 0cb8 8824 clr r8 |
1837 0cba 9924 clr r9 |
1838 0cbc CA01 movw r24,r20 |
1839 0cbe B901 movw r22,r18 |
1840 0cc0 A401 movw r20,r8 |
1841 0cc2 9301 movw r18,r6 |
1842 0cc4 0E94 0000 call __mulsi3 |
1843 0cc8 DC01 movw r26,r24 |
1844 0cca CB01 movw r24,r22 |
1845 0ccc 8093 0000 sts tmpl3.34,r24 |
1846 0cd0 9093 0000 sts (tmpl3.34)+1,r25 |
1847 0cd4 A093 0000 sts (tmpl3.34)+2,r26 |
1848 0cd8 B093 0000 sts (tmpl3.34)+3,r27 |
1849 0cdc B7FF sbrs r27,7 |
1850 0cde 04C0 rjmp .L78 |
1851 0ce0 8150 subi r24,lo8(-(4095)) |
1852 0ce2 904F sbci r25,hi8(-(4095)) |
1853 0ce4 AF4F sbci r26,hlo8(-(4095)) |
1854 0ce6 BF4F sbci r27,hhi8(-(4095)) |
1855 .L78: |
1856 0ce8 1C01 movw r2,r24 |
1857 0cea 2D01 movw r4,r26 |
1858 0cec 3CE0 ldi r19,12 |
1859 0cee 5594 1: asr r5 |
1860 0cf0 4794 ror r4 |
1861 0cf2 3794 ror r3 |
1862 0cf4 2794 ror r2 |
1863 0cf6 3A95 dec r19 |
1864 0cf8 D1F7 brne 1b |
1865 0cfa 2092 0000 sts tmpl3.34,r2 |
1866 0cfe 3092 0000 sts (tmpl3.34)+1,r3 |
1867 0d02 4092 0000 sts (tmpl3.34)+2,r4 |
1868 0d06 5092 0000 sts (tmpl3.34)+3,r5 |
1869 0d0a 8091 0000 lds r24,MesswertNick |
1870 0d0e 9091 0000 lds r25,(MesswertNick)+1 |
1871 0d12 AA27 clr r26 |
1872 0d14 97FD sbrc r25,7 |
1873 0d16 A095 com r26 |
1874 0d18 BA2F mov r27,r26 |
1875 0d1a BC01 movw r22,r24 |
1876 0d1c CD01 movw r24,r26 |
1877 0d1e 2D81 ldd r18,Y+5 |
1878 0d20 3E81 ldd r19,Y+6 |
1879 0d22 4F81 ldd r20,Y+7 |
1880 0d24 5885 ldd r21,Y+8 |
1881 0d26 0E94 0000 call __mulsi3 |
1882 0d2a 97FF sbrs r25,7 |
1883 0d2c 04C0 rjmp .L79 |
1884 0d2e 6150 subi r22,lo8(-(2047)) |
1885 0d30 784F sbci r23,hi8(-(2047)) |
1886 0d32 8F4F sbci r24,hlo8(-(2047)) |
1887 0d34 9F4F sbci r25,hhi8(-(2047)) |
1888 .L79: |
1889 0d36 2BE0 ldi r18,11 |
1890 0d38 9595 1: asr r25 |
1891 0d3a 8795 ror r24 |
1892 0d3c 7795 ror r23 |
1893 0d3e 6795 ror r22 |
1894 0d40 2A95 dec r18 |
1895 0d42 D1F7 brne 1b |
1896 0d44 A401 movw r20,r8 |
1897 0d46 9301 movw r18,r6 |
1898 0d48 0E94 0000 call __mulsi3 |
1899 0d4c DC01 movw r26,r24 |
1900 0d4e CB01 movw r24,r22 |
1901 0d50 8093 0000 sts tmpl4.35,r24 |
1902 0d54 9093 0000 sts (tmpl4.35)+1,r25 |
1903 0d58 A093 0000 sts (tmpl4.35)+2,r26 |
1904 0d5c B093 0000 sts (tmpl4.35)+3,r27 |
1905 0d60 B7FF sbrs r27,7 |
1906 0d62 04C0 rjmp .L80 |
1907 0d64 8150 subi r24,lo8(-(4095)) |
1908 0d66 904F sbci r25,hi8(-(4095)) |
1909 0d68 AF4F sbci r26,hlo8(-(4095)) |
1910 0d6a BF4F sbci r27,hhi8(-(4095)) |
1911 .L80: |
1912 0d6c 9C01 movw r18,r24 |
1913 0d6e AD01 movw r20,r26 |
1914 0d70 8CE0 ldi r24,12 |
1915 0d72 5595 1: asr r21 |
1916 0d74 4795 ror r20 |
1917 0d76 3795 ror r19 |
1918 0d78 2795 ror r18 |
1919 0d7a 8A95 dec r24 |
1920 0d7c D1F7 brne 1b |
1921 0d7e 2093 0000 sts tmpl4.35,r18 |
1922 0d82 3093 0000 sts (tmpl4.35)+1,r19 |
1923 0d86 4093 0000 sts (tmpl4.35)+2,r20 |
1924 0d8a 5093 0000 sts (tmpl4.35)+3,r21 |
1925 0d8e 8091 0000 lds r24,tmpl3.34 |
1926 0d92 9091 0000 lds r25,(tmpl3.34)+1 |
1927 0d96 9093 0000 sts (KopplungsteilNickRoll)+1,r25 |
1928 0d9a 8093 0000 sts KopplungsteilNickRoll,r24 |
1929 0d9e 8091 0000 lds r24,tmpl4.35 |
1930 0da2 9091 0000 lds r25,(tmpl4.35)+1 |
1931 0da6 9093 0000 sts (KopplungsteilRollNick)+1,r25 |
1932 0daa 8093 0000 sts KopplungsteilRollNick,r24 |
1933 0dae 2219 sub r18,r2 |
1934 0db0 3309 sbc r19,r3 |
1935 0db2 4409 sbc r20,r4 |
1936 0db4 5509 sbc r21,r5 |
1937 0db6 2093 0000 sts tmpl4.35,r18 |
1938 0dba 3093 0000 sts (tmpl4.35)+1,r19 |
1939 0dbe 4093 0000 sts (tmpl4.35)+2,r20 |
1940 0dc2 5093 0000 sts (tmpl4.35)+3,r21 |
1941 0dc6 E20E add r14,r18 |
1942 0dc8 F31E adc r15,r19 |
1943 0dca 041F adc r16,r20 |
1944 0dcc 151F adc r17,r21 |
1945 0dce E092 0000 sts ErsatzKompass,r14 |
1946 0dd2 F092 0000 sts (ErsatzKompass)+1,r15 |
1947 0dd6 0093 0000 sts (ErsatzKompass)+2,r16 |
1948 0dda 1093 0000 sts (ErsatzKompass)+3,r17 |
1949 0dde 8091 0000 lds r24,Parameter_CouplingYawCorrection |
1950 0de2 8823 tst r24 |
1951 0de4 B1F4 brne .L81 |
1952 0de6 57FF sbrs r21,7 |
1953 0de8 04C0 rjmp .L82 |
1954 0dea 2F5F subi r18,lo8(-(1)) |
1955 0dec 3F4F sbci r19,hi8(-(1)) |
1956 0dee 4F4F sbci r20,hlo8(-(1)) |
1957 0df0 5F4F sbci r21,hhi8(-(1)) |
1958 .L82: |
1959 0df2 5595 asr r21 |
1960 0df4 4795 ror r20 |
1961 0df6 3795 ror r19 |
1962 0df8 2795 ror r18 |
1963 0dfa A21A sub r10,r18 |
1964 0dfc B30A sbc r11,r19 |
1965 0dfe C40A sbc r12,r20 |
1966 0e00 D50A sbc r13,r21 |
1967 0e02 A092 0000 sts Mess_Integral_Gier,r10 |
1968 0e06 B092 0000 sts (Mess_Integral_Gier)+1,r11 |
1969 0e0a C092 0000 sts (Mess_Integral_Gier)+2,r12 |
1970 0e0e D092 0000 sts (Mess_Integral_Gier)+3,r13 |
1971 .L81: |
1972 0e12 2A89 ldd r18,Y+18 |
1973 0e14 3B89 ldd r19,Y+19 |
1974 0e16 7901 movw r14,r18 |
1975 0e18 0027 clr r16 |
1976 0e1a F7FC sbrc r15,7 |
1977 0e1c 0095 com r16 |
1978 0e1e 102F mov r17,r16 |
1979 0e20 8091 0000 lds r24,tmpl4.35 |
1980 0e24 9091 0000 lds r25,(tmpl4.35)+1 |
1981 0e28 A091 0000 lds r26,(tmpl4.35)+2 |
1982 0e2c B091 0000 lds r27,(tmpl4.35)+3 |
1983 0e30 E80E add r14,r24 |
1984 0e32 F91E adc r15,r25 |
1985 0e34 0A1F adc r16,r26 |
1986 0e36 1B1F adc r17,r27 |
1987 0e38 C801 movw r24,r16 |
1988 0e3a B701 movw r22,r14 |
1989 0e3c 2981 ldd r18,Y+1 |
1990 0e3e 3A81 ldd r19,Y+2 |
1991 0e40 4B81 ldd r20,Y+3 |
1992 0e42 5C81 ldd r21,Y+4 |
1993 0e44 0E94 0000 call __mulsi3 |
1994 0e48 9B01 movw r18,r22 |
1995 0e4a AC01 movw r20,r24 |
1996 0e4c 97FF sbrs r25,7 |
1997 0e4e 04C0 rjmp .L83 |
1998 0e50 2150 subi r18,lo8(-(2047)) |
1999 0e52 384F sbci r19,hi8(-(2047)) |
2000 0e54 4F4F sbci r20,hlo8(-(2047)) |
2001 0e56 5F4F sbci r21,hhi8(-(2047)) |
2002 .L83: |
2003 0e58 BBE0 ldi r27,11 |
2004 0e5a 5595 1: asr r21 |
2005 0e5c 4795 ror r20 |
2006 0e5e 3795 ror r19 |
2007 0e60 2795 ror r18 |
2008 0e62 BA95 dec r27 |
2009 0e64 D1F7 brne 1b |
2010 0e66 8091 0000 lds r24,Parameter_AchsKopplung1 |
2011 0e6a A82E mov r10,r24 |
2012 0e6c BB24 clr r11 |
2013 0e6e CC24 clr r12 |
2014 0e70 DD24 clr r13 |
2015 0e72 CA01 movw r24,r20 |
2016 0e74 B901 movw r22,r18 |
2017 0e76 A601 movw r20,r12 |
2018 0e78 9501 movw r18,r10 |
2019 0e7a 0E94 0000 call __mulsi3 |
2020 0e7e DC01 movw r26,r24 |
2021 0e80 CB01 movw r24,r22 |
2022 0e82 8093 0000 sts tmpl.32,r24 |
2023 0e86 9093 0000 sts (tmpl.32)+1,r25 |
2024 0e8a A093 0000 sts (tmpl.32)+2,r26 |
2025 0e8e B093 0000 sts (tmpl.32)+3,r27 |
2026 0e92 B7FF sbrs r27,7 |
2027 0e94 04C0 rjmp .L84 |
2028 0e96 8150 subi r24,lo8(-(4095)) |
2029 0e98 904F sbci r25,hi8(-(4095)) |
2030 0e9a AF4F sbci r26,hlo8(-(4095)) |
2031 0e9c BF4F sbci r27,hhi8(-(4095)) |
2032 .L84: |
2033 0e9e 3C01 movw r6,r24 |
2034 0ea0 4D01 movw r8,r26 |
2035 0ea2 ACE0 ldi r26,12 |
2036 0ea4 9594 1: asr r9 |
2037 0ea6 8794 ror r8 |
2038 0ea8 7794 ror r7 |
2039 0eaa 6794 ror r6 |
2040 0eac AA95 dec r26 |
2041 0eae D1F7 brne 1b |
2042 0eb0 6092 0000 sts tmpl.32,r6 |
2043 0eb4 7092 0000 sts (tmpl.32)+1,r7 |
2044 0eb8 8092 0000 sts (tmpl.32)+2,r8 |
2045 0ebc 9092 0000 sts (tmpl.32)+3,r9 |
2046 0ec0 C801 movw r24,r16 |
2047 0ec2 B701 movw r22,r14 |
2048 0ec4 2D81 ldd r18,Y+5 |
2049 0ec6 3E81 ldd r19,Y+6 |
2050 0ec8 4F81 ldd r20,Y+7 |
2051 0eca 5885 ldd r21,Y+8 |
2052 0ecc 0E94 0000 call __mulsi3 |
2053 0ed0 97FF sbrs r25,7 |
2054 0ed2 04C0 rjmp .L85 |
2055 0ed4 6150 subi r22,lo8(-(2047)) |
2056 0ed6 784F sbci r23,hi8(-(2047)) |
2057 0ed8 8F4F sbci r24,hlo8(-(2047)) |
2058 0eda 9F4F sbci r25,hhi8(-(2047)) |
2059 .L85: |
2060 0edc FBE0 ldi r31,11 |
2061 0ede 9595 1: asr r25 |
2062 0ee0 8795 ror r24 |
2063 0ee2 7795 ror r23 |
2064 0ee4 6795 ror r22 |
2065 0ee6 FA95 dec r31 |
2066 0ee8 D1F7 brne 1b |
2067 0eea A601 movw r20,r12 |
2068 0eec 9501 movw r18,r10 |
2069 0eee 0E94 0000 call __mulsi3 |
2070 0ef2 DC01 movw r26,r24 |
2071 0ef4 CB01 movw r24,r22 |
2072 0ef6 8093 0000 sts tmpl2.33,r24 |
2073 0efa 9093 0000 sts (tmpl2.33)+1,r25 |
2074 0efe A093 0000 sts (tmpl2.33)+2,r26 |
2075 0f02 B093 0000 sts (tmpl2.33)+3,r27 |
2076 0f06 B7FF sbrs r27,7 |
2077 0f08 04C0 rjmp .L86 |
2078 0f0a 8150 subi r24,lo8(-(4095)) |
2079 0f0c 904F sbci r25,hi8(-(4095)) |
2080 0f0e AF4F sbci r26,hlo8(-(4095)) |
2081 0f10 BF4F sbci r27,hhi8(-(4095)) |
2082 .L86: |
2083 0f12 AC01 movw r20,r24 |
2084 0f14 BD01 movw r22,r26 |
2085 0f16 ECE0 ldi r30,12 |
2086 0f18 7595 1: asr r23 |
2087 0f1a 6795 ror r22 |
2088 0f1c 5795 ror r21 |
2089 0f1e 4795 ror r20 |
2090 0f20 EA95 dec r30 |
2091 0f22 D1F7 brne 1b |
2092 0f24 4093 0000 sts tmpl2.33,r20 |
2093 0f28 5093 0000 sts (tmpl2.33)+1,r21 |
2094 0f2c 6093 0000 sts (tmpl2.33)+2,r22 |
2095 0f30 7093 0000 sts (tmpl2.33)+3,r23 |
2096 0f34 2A89 ldd r18,Y+18 |
2097 0f36 3B89 ldd r19,Y+19 |
2098 0f38 37FF sbrs r19,7 |
2099 0f3a 03C0 rjmp .L88 |
2100 0f3c 3095 com r19 |
2101 0f3e 2195 neg r18 |
2102 0f40 3F4F sbci r19,lo8(-1) |
2103 .L88: |
2104 0f42 2134 cpi r18,65 |
2105 0f44 3105 cpc r19,__zero_reg__ |
2106 0f46 E4F1 brlt .L93 |
2107 0f48 D401 movw r26,r8 |
2108 0f4a C301 movw r24,r6 |
2109 0f4c 97FE sbrs r9,7 |
2110 0f4e 07C0 rjmp .L91 |
2111 0f50 B095 com r27 |
2112 0f52 A095 com r26 |
2113 0f54 9095 com r25 |
2114 0f56 8195 neg r24 |
2115 0f58 9F4F sbci r25,lo8(-1) |
2116 0f5a AF4F sbci r26,lo8(-1) |
2117 0f5c BF4F sbci r27,lo8(-1) |
2118 .L91: |
2119 0f5e 8138 cpi r24,lo8(129) |
2120 0f60 9105 cpc r25,__zero_reg__ |
2121 0f62 A105 cpc r26,__zero_reg__ |
2122 0f64 B105 cpc r27,__zero_reg__ |
2123 0f66 84F4 brge .L90 |
2124 0f68 DB01 movw r26,r22 |
2125 0f6a CA01 movw r24,r20 |
2126 0f6c 77FF sbrs r23,7 |
2127 0f6e 07C0 rjmp .L92 |
2128 0f70 B095 com r27 |
2129 0f72 A095 com r26 |
2130 0f74 9095 com r25 |
2131 0f76 8195 neg r24 |
2132 0f78 9F4F sbci r25,lo8(-1) |
2133 0f7a AF4F sbci r26,lo8(-1) |
2134 0f7c BF4F sbci r27,lo8(-1) |
2135 .L92: |
2136 0f7e 8138 cpi r24,lo8(129) |
2137 0f80 9105 cpc r25,__zero_reg__ |
2138 0f82 A105 cpc r26,__zero_reg__ |
2139 0f84 B105 cpc r27,__zero_reg__ |
2140 0f86 E4F0 brlt .L93 |
2141 .L90: |
2142 0f88 81E0 ldi r24,lo8(1) |
2143 0f8a 8093 0000 sts TrichterFlug,r24 |
2144 0f8e 18C0 rjmp .L93 |
2145 .L76: |
2146 0f90 1092 0000 sts (KopplungsteilRollNick)+1,__zero_reg__ |
2147 0f94 1092 0000 sts KopplungsteilRollNick,__zero_reg__ |
2148 0f98 1092 0000 sts (KopplungsteilNickRoll)+1,__zero_reg__ |
2149 0f9c 1092 0000 sts KopplungsteilNickRoll,__zero_reg__ |
2150 0fa0 1092 0000 sts tmpl2.33,__zero_reg__ |
2151 0fa4 1092 0000 sts (tmpl2.33)+1,__zero_reg__ |
2152 0fa8 1092 0000 sts (tmpl2.33)+2,__zero_reg__ |
2153 0fac 1092 0000 sts (tmpl2.33)+3,__zero_reg__ |
2154 0fb0 1092 0000 sts tmpl.32,__zero_reg__ |
2155 0fb4 1092 0000 sts (tmpl.32)+1,__zero_reg__ |
2156 0fb8 1092 0000 sts (tmpl.32)+2,__zero_reg__ |
2157 0fbc 1092 0000 sts (tmpl.32)+3,__zero_reg__ |
2158 .L93: |
2159 0fc0 8091 0000 lds r24,tmpl2.33 |
2160 0fc4 9091 0000 lds r25,(tmpl2.33)+1 |
2161 0fc8 A091 0000 lds r26,(tmpl2.33)+2 |
2162 0fcc B091 0000 lds r27,(tmpl2.33)+3 |
2163 0fd0 BC01 movw r22,r24 |
2164 0fd2 CD01 movw r24,r26 |
2165 0fd4 24E6 ldi r18,lo8(100) |
2166 0fd6 30E0 ldi r19,hi8(100) |
2167 0fd8 40E0 ldi r20,hlo8(100) |
2168 0fda 50E0 ldi r21,hhi8(100) |
2169 0fdc 0E94 0000 call __divmodsi4 |
2170 0fe0 E090 0000 lds r14,tmpl.32 |
2171 0fe4 F090 0000 lds r15,(tmpl.32)+1 |
2172 0fe8 E21A sub r14,r18 |
2173 0fea F30A sbc r15,r19 |
2174 0fec F092 0000 sts (TrimRoll)+1,r15 |
2175 0ff0 E092 0000 sts TrimRoll,r14 |
2176 0ff4 8091 0000 lds r24,tmpl.32 |
2177 0ff8 9091 0000 lds r25,(tmpl.32)+1 |
2178 0ffc A091 0000 lds r26,(tmpl.32)+2 |
2179 1000 B091 0000 lds r27,(tmpl.32)+3 |
2180 1004 BC01 movw r22,r24 |
2181 1006 CD01 movw r24,r26 |
2182 1008 24E6 ldi r18,lo8(100) |
2183 100a 30E0 ldi r19,hi8(100) |
2184 100c 40E0 ldi r20,hlo8(100) |
2185 100e 50E0 ldi r21,hhi8(100) |
2186 1010 0E94 0000 call __divmodsi4 |
2187 1014 DA01 movw r26,r20 |
2188 1016 C901 movw r24,r18 |
2189 1018 2091 0000 lds r18,tmpl2.33 |
2190 101c 3091 0000 lds r19,(tmpl2.33)+1 |
2191 1020 8C01 movw r16,r24 |
2192 1022 021B sub r16,r18 |
2193 1024 130B sbc r17,r19 |
2194 1026 1093 0000 sts (TrimNick)+1,r17 |
2195 102a 0093 0000 sts TrimNick,r16 |
2196 102e 8091 0000 lds r24,GIER_GRAD_FAKTOR |
2197 1032 9091 0000 lds r25,(GIER_GRAD_FAKTOR)+1 |
2198 1036 A091 0000 lds r26,(GIER_GRAD_FAKTOR)+2 |
2199 103a B091 0000 lds r27,(GIER_GRAD_FAKTOR)+3 |
2200 103e BC01 movw r22,r24 |
2201 1040 CD01 movw r24,r26 |
2202 1042 28E6 ldi r18,lo8(360) |
2203 1044 31E0 ldi r19,hi8(360) |
2204 1046 40E0 ldi r20,hlo8(360) |
2205 1048 50E0 ldi r21,hhi8(360) |
2206 104a 0E94 0000 call __mulsi3 |
2207 104e 2091 0000 lds r18,ErsatzKompass |
2208 1052 3091 0000 lds r19,(ErsatzKompass)+1 |
2209 1056 4091 0000 lds r20,(ErsatzKompass)+2 |
2210 105a 5091 0000 lds r21,(ErsatzKompass)+3 |
2211 105e 2617 cp r18,r22 |
2212 1060 3707 cpc r19,r23 |
2213 1062 4807 cpc r20,r24 |
2214 1064 5907 cpc r21,r25 |
2215 1066 64F0 brlt .L94 |
2216 1068 261B sub r18,r22 |
2217 106a 370B sbc r19,r23 |
2218 106c 480B sbc r20,r24 |
2219 106e 590B sbc r21,r25 |
2220 1070 2093 0000 sts ErsatzKompass,r18 |
2221 1074 3093 0000 sts (ErsatzKompass)+1,r19 |
2222 1078 4093 0000 sts (ErsatzKompass)+2,r20 |
2223 107c 5093 0000 sts (ErsatzKompass)+3,r21 |
2224 .L94: |
2225 1080 2091 0000 lds r18,ErsatzKompass |
2226 1084 3091 0000 lds r19,(ErsatzKompass)+1 |
2227 1088 4091 0000 lds r20,(ErsatzKompass)+2 |
2228 108c 5091 0000 lds r21,(ErsatzKompass)+3 |
2229 1090 57FF sbrs r21,7 |
2230 1092 0CC0 rjmp .L95 |
2231 1094 260F add r18,r22 |
2232 1096 371F adc r19,r23 |
2233 1098 481F adc r20,r24 |
2234 109a 591F adc r21,r25 |
2235 109c 2093 0000 sts ErsatzKompass,r18 |
2236 10a0 3093 0000 sts (ErsatzKompass)+1,r19 |
2237 10a4 4093 0000 sts (ErsatzKompass)+2,r20 |
2238 10a8 5093 0000 sts (ErsatzKompass)+3,r21 |
2239 .L95: |
2240 10ac 6091 0000 lds r22,MesswertRoll |
2241 10b0 7091 0000 lds r23,(MesswertRoll)+1 |
2242 10b4 6E0D add r22,r14 |
2243 10b6 7F1D adc r23,r15 |
2244 10b8 9B01 movw r18,r22 |
2245 10ba 4427 clr r20 |
2246 10bc 37FD sbrc r19,7 |
2247 10be 4095 com r20 |
2248 10c0 542F mov r21,r20 |
2249 10c2 8091 0000 lds r24,Mess_IntegralRoll2 |
2250 10c6 9091 0000 lds r25,(Mess_IntegralRoll2)+1 |
2251 10ca A091 0000 lds r26,(Mess_IntegralRoll2)+2 |
2252 10ce B091 0000 lds r27,(Mess_IntegralRoll2)+3 |
2253 10d2 820F add r24,r18 |
2254 10d4 931F adc r25,r19 |
2255 10d6 A41F adc r26,r20 |
2256 10d8 B51F adc r27,r21 |
2257 10da 8093 0000 sts Mess_IntegralRoll2,r24 |
2258 10de 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
2259 10e2 A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
2260 10e6 B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
2261 10ea 8091 0000 lds r24,LageKorrekturRoll |
2262 10ee 9091 0000 lds r25,(LageKorrekturRoll)+1 |
2263 10f2 681B sub r22,r24 |
2264 10f4 790B sbc r23,r25 |
2265 10f6 CB01 movw r24,r22 |
2266 10f8 AA27 clr r26 |
2267 10fa 97FD sbrc r25,7 |
2268 10fc A095 com r26 |
2269 10fe BA2F mov r27,r26 |
2270 1100 2985 ldd r18,Y+9 |
2271 1102 3A85 ldd r19,Y+10 |
2272 1104 4B85 ldd r20,Y+11 |
2273 1106 5C85 ldd r21,Y+12 |
2274 1108 820F add r24,r18 |
2275 110a 931F adc r25,r19 |
2276 110c A41F adc r26,r20 |
2277 110e B51F adc r27,r21 |
2278 1110 8093 0000 sts Mess_IntegralRoll,r24 |
2279 1114 9093 0000 sts (Mess_IntegralRoll)+1,r25 |
2280 1118 A093 0000 sts (Mess_IntegralRoll)+2,r26 |
2281 111c B093 0000 sts (Mess_IntegralRoll)+3,r27 |
2282 1120 C090 0000 lds r12,Umschlag180Roll |
2283 1124 D090 0000 lds r13,(Umschlag180Roll)+1 |
2284 1128 E090 0000 lds r14,(Umschlag180Roll)+2 |
2285 112c F090 0000 lds r15,(Umschlag180Roll)+3 |
2286 1130 C816 cp r12,r24 |
2287 1132 D906 cpc r13,r25 |
2288 1134 EA06 cpc r14,r26 |
2289 1136 FB06 cpc r15,r27 |
2290 1138 C4F4 brge .L96 |
2291 113a 88EA ldi r24,lo8(25000) |
2292 113c 91E6 ldi r25,hi8(25000) |
2293 113e A0E0 ldi r26,hlo8(25000) |
2294 1140 B0E0 ldi r27,hhi8(25000) |
2295 1142 8C19 sub r24,r12 |
2296 1144 9D09 sbc r25,r13 |
2297 1146 AE09 sbc r26,r14 |
2298 1148 BF09 sbc r27,r15 |
2299 114a 8093 0000 sts Mess_IntegralRoll,r24 |
2300 114e 9093 0000 sts (Mess_IntegralRoll)+1,r25 |
2301 1152 A093 0000 sts (Mess_IntegralRoll)+2,r26 |
2302 1156 B093 0000 sts (Mess_IntegralRoll)+3,r27 |
2303 115a 8093 0000 sts Mess_IntegralRoll2,r24 |
2304 115e 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
2305 1162 A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
2306 1166 B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
2307 .L96: |
2308 116a 2227 clr r18 |
2309 116c 3327 clr r19 |
2310 116e A901 movw r20,r18 |
2311 1170 2C19 sub r18,r12 |
2312 1172 3D09 sbc r19,r13 |
2313 1174 4E09 sbc r20,r14 |
2314 1176 5F09 sbc r21,r15 |
2315 1178 8091 0000 lds r24,Mess_IntegralRoll |
2316 117c 9091 0000 lds r25,(Mess_IntegralRoll)+1 |
2317 1180 A091 0000 lds r26,(Mess_IntegralRoll)+2 |
2318 1184 B091 0000 lds r27,(Mess_IntegralRoll)+3 |
2319 1188 8217 cp r24,r18 |
2320 118a 9307 cpc r25,r19 |
2321 118c A407 cpc r26,r20 |
2322 118e B507 cpc r27,r21 |
2323 1190 B4F4 brge .L97 |
2324 1192 D701 movw r26,r14 |
2325 1194 C601 movw r24,r12 |
2326 1196 885A subi r24,lo8(-(-25000)) |
2327 1198 9146 sbci r25,hi8(-(-25000)) |
2328 119a A040 sbci r26,hlo8(-(-25000)) |
2329 119c B040 sbci r27,hhi8(-(-25000)) |
2330 119e 8093 0000 sts Mess_IntegralRoll,r24 |
2331 11a2 9093 0000 sts (Mess_IntegralRoll)+1,r25 |
2332 11a6 A093 0000 sts (Mess_IntegralRoll)+2,r26 |
2333 11aa B093 0000 sts (Mess_IntegralRoll)+3,r27 |
2334 11ae 8093 0000 sts Mess_IntegralRoll2,r24 |
2335 11b2 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
2336 11b6 A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
2337 11ba B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
2338 .L97: |
2339 11be 6091 0000 lds r22,MesswertNick |
2340 11c2 7091 0000 lds r23,(MesswertNick)+1 |
2341 11c6 600F add r22,r16 |
2342 11c8 711F adc r23,r17 |
2343 11ca 9B01 movw r18,r22 |
2344 11cc 4427 clr r20 |
2345 11ce 37FD sbrc r19,7 |
2346 11d0 4095 com r20 |
2347 11d2 542F mov r21,r20 |
2348 11d4 8091 0000 lds r24,Mess_IntegralNick2 |
2349 11d8 9091 0000 lds r25,(Mess_IntegralNick2)+1 |
2350 11dc A091 0000 lds r26,(Mess_IntegralNick2)+2 |
2351 11e0 B091 0000 lds r27,(Mess_IntegralNick2)+3 |
2352 11e4 820F add r24,r18 |
2353 11e6 931F adc r25,r19 |
2354 11e8 A41F adc r26,r20 |
2355 11ea B51F adc r27,r21 |
2356 11ec 8093 0000 sts Mess_IntegralNick2,r24 |
2357 11f0 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
2358 11f4 A093 0000 sts (Mess_IntegralNick2)+2,r26 |
2359 11f8 B093 0000 sts (Mess_IntegralNick2)+3,r27 |
2360 11fc 8091 0000 lds r24,LageKorrekturNick |
2361 1200 9091 0000 lds r25,(LageKorrekturNick)+1 |
2362 1204 681B sub r22,r24 |
2363 1206 790B sbc r23,r25 |
2364 1208 CB01 movw r24,r22 |
2365 120a AA27 clr r26 |
2366 120c 97FD sbrc r25,7 |
2367 120e A095 com r26 |
2368 1210 BA2F mov r27,r26 |
2369 1212 2D85 ldd r18,Y+13 |
2370 1214 3E85 ldd r19,Y+14 |
2371 1216 4F85 ldd r20,Y+15 |
2372 1218 5889 ldd r21,Y+16 |
2373 121a 820F add r24,r18 |
2374 121c 931F adc r25,r19 |
2375 121e A41F adc r26,r20 |
2376 1220 B51F adc r27,r21 |
2377 1222 8093 0000 sts Mess_IntegralNick,r24 |
2378 1226 9093 0000 sts (Mess_IntegralNick)+1,r25 |
2379 122a A093 0000 sts (Mess_IntegralNick)+2,r26 |
2380 122e B093 0000 sts (Mess_IntegralNick)+3,r27 |
2381 1232 E090 0000 lds r14,Umschlag180Nick |
2382 1236 F090 0000 lds r15,(Umschlag180Nick)+1 |
2383 123a 0091 0000 lds r16,(Umschlag180Nick)+2 |
2384 123e 1091 0000 lds r17,(Umschlag180Nick)+3 |
2385 1242 E816 cp r14,r24 |
2386 1244 F906 cpc r15,r25 |
2387 1246 0A07 cpc r16,r26 |
2388 1248 1B07 cpc r17,r27 |
2389 124a C4F4 brge .L98 |
2390 124c 88EA ldi r24,lo8(25000) |
2391 124e 91E6 ldi r25,hi8(25000) |
2392 1250 A0E0 ldi r26,hlo8(25000) |
2393 1252 B0E0 ldi r27,hhi8(25000) |
2394 1254 8E19 sub r24,r14 |
2395 1256 9F09 sbc r25,r15 |
2396 1258 A00B sbc r26,r16 |
2397 125a B10B sbc r27,r17 |
2398 125c 8093 0000 sts Mess_IntegralNick,r24 |
2399 1260 9093 0000 sts (Mess_IntegralNick)+1,r25 |
2400 1264 A093 0000 sts (Mess_IntegralNick)+2,r26 |
2401 1268 B093 0000 sts (Mess_IntegralNick)+3,r27 |
2402 126c 8093 0000 sts Mess_IntegralNick2,r24 |
2403 1270 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
2404 1274 A093 0000 sts (Mess_IntegralNick2)+2,r26 |
2405 1278 B093 0000 sts (Mess_IntegralNick2)+3,r27 |
2406 .L98: |
2407 127c 2227 clr r18 |
2408 127e 3327 clr r19 |
2409 1280 A901 movw r20,r18 |
2410 1282 2E19 sub r18,r14 |
2411 1284 3F09 sbc r19,r15 |
2412 1286 400B sbc r20,r16 |
2413 1288 510B sbc r21,r17 |
2414 128a 8091 0000 lds r24,Mess_IntegralNick |
2415 128e 9091 0000 lds r25,(Mess_IntegralNick)+1 |
2416 1292 A091 0000 lds r26,(Mess_IntegralNick)+2 |
2417 1296 B091 0000 lds r27,(Mess_IntegralNick)+3 |
2418 129a 8217 cp r24,r18 |
2419 129c 9307 cpc r25,r19 |
2420 129e A407 cpc r26,r20 |
2421 12a0 B507 cpc r27,r21 |
2422 12a2 B4F4 brge .L99 |
2423 12a4 D801 movw r26,r16 |
2424 12a6 C701 movw r24,r14 |
2425 12a8 885A subi r24,lo8(-(-25000)) |
2426 12aa 9146 sbci r25,hi8(-(-25000)) |
2427 12ac A040 sbci r26,hlo8(-(-25000)) |
2428 12ae B040 sbci r27,hhi8(-(-25000)) |
2429 12b0 8093 0000 sts Mess_IntegralNick,r24 |
2430 12b4 9093 0000 sts (Mess_IntegralNick)+1,r25 |
2431 12b8 A093 0000 sts (Mess_IntegralNick)+2,r26 |
2432 12bc B093 0000 sts (Mess_IntegralNick)+3,r27 |
2433 12c0 8093 0000 sts Mess_IntegralNick2,r24 |
2434 12c4 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
2435 12c8 A093 0000 sts (Mess_IntegralNick2)+2,r26 |
2436 12cc B093 0000 sts (Mess_IntegralNick2)+3,r27 |
2437 .L99: |
2438 12d0 8091 0000 lds r24,Mess_Integral_Gier |
2439 12d4 9091 0000 lds r25,(Mess_Integral_Gier)+1 |
2440 12d8 A091 0000 lds r26,(Mess_Integral_Gier)+2 |
2441 12dc B091 0000 lds r27,(Mess_Integral_Gier)+3 |
2442 12e0 8093 0000 sts Integral_Gier,r24 |
2443 12e4 9093 0000 sts (Integral_Gier)+1,r25 |
2444 12e8 A093 0000 sts (Integral_Gier)+2,r26 |
2445 12ec B093 0000 sts (Integral_Gier)+3,r27 |
2446 12f0 8091 0000 lds r24,Mess_IntegralNick |
2447 12f4 9091 0000 lds r25,(Mess_IntegralNick)+1 |
2448 12f8 A091 0000 lds r26,(Mess_IntegralNick)+2 |
2449 12fc B091 0000 lds r27,(Mess_IntegralNick)+3 |
2450 1300 8093 0000 sts IntegralNick,r24 |
2451 1304 9093 0000 sts (IntegralNick)+1,r25 |
2452 1308 A093 0000 sts (IntegralNick)+2,r26 |
2453 130c B093 0000 sts (IntegralNick)+3,r27 |
2454 1310 8091 0000 lds r24,Mess_IntegralRoll |
2455 1314 9091 0000 lds r25,(Mess_IntegralRoll)+1 |
2456 1318 A091 0000 lds r26,(Mess_IntegralRoll)+2 |
2457 131c B091 0000 lds r27,(Mess_IntegralRoll)+3 |
2458 1320 8093 0000 sts IntegralRoll,r24 |
2459 1324 9093 0000 sts (IntegralRoll)+1,r25 |
2460 1328 A093 0000 sts (IntegralRoll)+2,r26 |
2461 132c B093 0000 sts (IntegralRoll)+3,r27 |
2462 1330 8091 0000 lds r24,Mess_IntegralNick2 |
2463 1334 9091 0000 lds r25,(Mess_IntegralNick2)+1 |
2464 1338 A091 0000 lds r26,(Mess_IntegralNick2)+2 |
2465 133c B091 0000 lds r27,(Mess_IntegralNick2)+3 |
2466 1340 8093 0000 sts IntegralNick2,r24 |
2467 1344 9093 0000 sts (IntegralNick2)+1,r25 |
2468 1348 A093 0000 sts (IntegralNick2)+2,r26 |
2469 134c B093 0000 sts (IntegralNick2)+3,r27 |
2470 1350 8091 0000 lds r24,Mess_IntegralRoll2 |
2471 1354 9091 0000 lds r25,(Mess_IntegralRoll2)+1 |
2472 1358 A091 0000 lds r26,(Mess_IntegralRoll2)+2 |
2473 135c B091 0000 lds r27,(Mess_IntegralRoll2)+3 |
2474 1360 8093 0000 sts IntegralRoll2,r24 |
2475 1364 9093 0000 sts (IntegralRoll2)+1,r25 |
2476 1368 A093 0000 sts (IntegralRoll2)+2,r26 |
2477 136c B093 0000 sts (IntegralRoll2)+3,r27 |
2478 1370 8091 0000 lds r24,HiResNick |
2479 1374 9091 0000 lds r25,(HiResNick)+1 |
2480 1378 97FD sbrc r25,7 |
2481 137a 0796 adiw r24,7 |
2482 .L100: |
2483 137c 33E0 ldi r19,3 |
2484 137e 9595 1: asr r25 |
2485 1380 8795 ror r24 |
2486 1382 3A95 dec r19 |
2487 1384 E1F7 brne 1b |
2488 1386 9093 0000 sts (MesswertNick)+1,r25 |
2489 138a 8093 0000 sts MesswertNick,r24 |
2490 138e 8091 0000 lds r24,HiResRoll |
2491 1392 9091 0000 lds r25,(HiResRoll)+1 |
2492 1396 97FD sbrc r25,7 |
2493 1398 0796 adiw r24,7 |
2494 .L101: |
2495 139a 23E0 ldi r18,3 |
2496 139c 9595 1: asr r25 |
2497 139e 8795 ror r24 |
2498 13a0 2A95 dec r18 |
2499 13a2 E1F7 brne 1b |
2500 13a4 9093 0000 sts (MesswertRoll)+1,r25 |
2501 13a8 8093 0000 sts MesswertRoll,r24 |
2502 13ac 8091 0000 lds r24,AdWertNick |
2503 13b0 9091 0000 lds r25,(AdWertNick)+1 |
2504 13b4 0F97 sbiw r24,15 |
2505 13b6 34F4 brge .L102 |
2506 13b8 88E1 ldi r24,lo8(-1000) |
2507 13ba 9CEF ldi r25,hi8(-1000) |
2508 13bc 9093 0000 sts (MesswertNick)+1,r25 |
2509 13c0 8093 0000 sts MesswertNick,r24 |
2510 .L102: |
2511 13c4 8091 0000 lds r24,AdWertNick |
2512 13c8 9091 0000 lds r25,(AdWertNick)+1 |
2513 13cc 0797 sbiw r24,7 |
2514 13ce 34F4 brge .L103 |
2515 13d0 80E3 ldi r24,lo8(-2000) |
2516 13d2 98EF ldi r25,hi8(-2000) |
2517 13d4 9093 0000 sts (MesswertNick)+1,r25 |
2518 13d8 8093 0000 sts MesswertNick,r24 |
2519 .L103: |
2520 13dc 2091 0000 lds r18,PlatinenVersion |
2521 13e0 2A30 cpi r18,lo8(10) |
2522 13e2 A9F4 brne .L104 |
2523 13e4 8091 0000 lds r24,AdWertNick |
2524 13e8 9091 0000 lds r25,(AdWertNick)+1 |
2525 13ec 835F subi r24,lo8(1011) |
2526 13ee 9340 sbci r25,hi8(1011) |
2527 13f0 34F0 brlt .L105 |
2528 13f2 88EE ldi r24,lo8(1000) |
2529 13f4 93E0 ldi r25,hi8(1000) |
2530 13f6 9093 0000 sts (MesswertNick)+1,r25 |
2531 13fa 8093 0000 sts MesswertNick,r24 |
2532 .L105: |
2533 13fe 8091 0000 lds r24,AdWertNick |
2534 1402 9091 0000 lds r25,(AdWertNick)+1 |
2535 1406 8A5F subi r24,lo8(1018) |
2536 1408 9340 sbci r25,hi8(1018) |
2537 140a DCF0 brlt .L107 |
2538 140c 14C0 rjmp .L163 |
2539 .L104: |
2540 140e 8091 0000 lds r24,AdWertNick |
2541 1412 9091 0000 lds r25,(AdWertNick)+1 |
2542 1416 815D subi r24,lo8(2001) |
2543 1418 9740 sbci r25,hi8(2001) |
2544 141a 34F0 brlt .L108 |
2545 141c 88EE ldi r24,lo8(1000) |
2546 141e 93E0 ldi r25,hi8(1000) |
2547 1420 9093 0000 sts (MesswertNick)+1,r25 |
2548 1424 8093 0000 sts MesswertNick,r24 |
2549 .L108: |
2550 1428 8091 0000 lds r24,AdWertNick |
2551 142c 9091 0000 lds r25,(AdWertNick)+1 |
2552 1430 805E subi r24,lo8(2016) |
2553 1432 9740 sbci r25,hi8(2016) |
2554 1434 34F0 brlt .L107 |
2555 .L163: |
2556 1436 80ED ldi r24,lo8(2000) |
2557 1438 97E0 ldi r25,hi8(2000) |
2558 143a 9093 0000 sts (MesswertNick)+1,r25 |
2559 143e 8093 0000 sts MesswertNick,r24 |
2560 .L107: |
2561 1442 8091 0000 lds r24,AdWertRoll |
2562 1446 9091 0000 lds r25,(AdWertRoll)+1 |
2563 144a 0F97 sbiw r24,15 |
2564 144c 34F4 brge .L110 |
2565 144e 88E1 ldi r24,lo8(-1000) |
2566 1450 9CEF ldi r25,hi8(-1000) |
2567 1452 9093 0000 sts (MesswertRoll)+1,r25 |
2568 1456 8093 0000 sts MesswertRoll,r24 |
2569 .L110: |
2570 145a 8091 0000 lds r24,AdWertRoll |
2571 145e 9091 0000 lds r25,(AdWertRoll)+1 |
2572 1462 0797 sbiw r24,7 |
2573 1464 34F4 brge .L111 |
2574 1466 80E3 ldi r24,lo8(-2000) |
2575 1468 98EF ldi r25,hi8(-2000) |
2576 146a 9093 0000 sts (MesswertRoll)+1,r25 |
2577 146e 8093 0000 sts MesswertRoll,r24 |
2578 .L111: |
2579 1472 2A30 cpi r18,lo8(10) |
2580 1474 A9F4 brne .L112 |
2581 1476 8091 0000 lds r24,AdWertRoll |
2582 147a 9091 0000 lds r25,(AdWertRoll)+1 |
2583 147e 835F subi r24,lo8(1011) |
2584 1480 9340 sbci r25,hi8(1011) |
2585 1482 34F0 brlt .L113 |
2586 1484 88EE ldi r24,lo8(1000) |
2587 1486 93E0 ldi r25,hi8(1000) |
2588 1488 9093 0000 sts (MesswertRoll)+1,r25 |
2589 148c 8093 0000 sts MesswertRoll,r24 |
2590 .L113: |
2591 1490 8091 0000 lds r24,AdWertRoll |
2592 1494 9091 0000 lds r25,(AdWertRoll)+1 |
2593 1498 8A5F subi r24,lo8(1018) |
2594 149a 9340 sbci r25,hi8(1018) |
2595 149c DCF0 brlt .L115 |
2596 149e 14C0 rjmp .L164 |
2597 .L112: |
2598 14a0 8091 0000 lds r24,AdWertRoll |
2599 14a4 9091 0000 lds r25,(AdWertRoll)+1 |
2600 14a8 815D subi r24,lo8(2001) |
2601 14aa 9740 sbci r25,hi8(2001) |
2602 14ac 34F0 brlt .L116 |
2603 14ae 88EE ldi r24,lo8(1000) |
2604 14b0 93E0 ldi r25,hi8(1000) |
2605 14b2 9093 0000 sts (MesswertRoll)+1,r25 |
2606 14b6 8093 0000 sts MesswertRoll,r24 |
2607 .L116: |
2608 14ba 8091 0000 lds r24,AdWertRoll |
2609 14be 9091 0000 lds r25,(AdWertRoll)+1 |
2610 14c2 805E subi r24,lo8(2016) |
2611 14c4 9740 sbci r25,hi8(2016) |
2612 14c6 34F0 brlt .L115 |
2613 .L164: |
2614 14c8 80ED ldi r24,lo8(2000) |
2615 14ca 97E0 ldi r25,hi8(2000) |
2616 14cc 9093 0000 sts (MesswertRoll)+1,r25 |
2617 14d0 8093 0000 sts MesswertRoll,r24 |
2618 .L115: |
2619 14d4 E091 0000 lds r30,Parameter_Gyro_D |
2620 14d8 EE23 tst r30 |
2621 14da 09F4 brne .+2 |
2622 14dc B7C0 rjmp .L118 |
2623 14de 4091 0000 lds r20,HiResNick |
2624 14e2 5091 0000 lds r21,(HiResNick)+1 |
2625 14e6 8091 0000 lds r24,oldNick.36 |
2626 14ea 9091 0000 lds r25,(oldNick.36)+1 |
2627 14ee 481B sub r20,r24 |
2628 14f0 590B sbc r21,r25 |
2629 14f2 5093 0000 sts (d2Nick.39)+1,r21 |
2630 14f6 4093 0000 sts d2Nick.39,r20 |
2631 14fa 2091 0000 lds r18,HiResNick |
2632 14fe 3091 0000 lds r19,(HiResNick)+1 |
2633 1502 280F add r18,r24 |
2634 1504 391F adc r19,r25 |
2635 1506 37FF sbrs r19,7 |
2636 1508 02C0 rjmp .L119 |
2637 150a 2F5F subi r18,lo8(-(1)) |
2638 150c 3F4F sbci r19,hi8(-(1)) |
2639 .L119: |
2640 150e 3595 asr r19 |
2641 1510 2795 ror r18 |
2642 1512 3093 0000 sts (oldNick.36)+1,r19 |
2643 1516 2093 0000 sts oldNick.36,r18 |
2644 151a 4138 cpi r20,129 |
2645 151c 5105 cpc r21,__zero_reg__ |
2646 151e 1CF0 brlt .L120 |
2647 1520 80E8 ldi r24,lo8(128) |
2648 1522 90E0 ldi r25,hi8(128) |
2649 1524 05C0 rjmp .L165 |
2650 .L120: |
2651 1526 4058 subi r20,lo8(-128) |
2652 1528 5F4F sbci r21,hi8(-128) |
2653 152a 34F4 brge .L121 |
2654 152c 80E8 ldi r24,lo8(-128) |
2655 152e 9FEF ldi r25,hi8(-128) |
2656 .L165: |
2657 1530 9093 0000 sts (d2Nick.39)+1,r25 |
2658 1534 8093 0000 sts d2Nick.39,r24 |
2659 .L121: |
2660 1538 8E2F mov r24,r30 |
2661 153a 9927 clr r25 |
2662 153c A091 0000 lds r26,d2Nick.39 |
2663 1540 B091 0000 lds r27,(d2Nick.39)+1 |
2664 1544 A89F mul r26,r24 |
2665 1546 A001 movw r20,r0 |
2666 1548 A99F mul r26,r25 |
2667 154a 500D add r21,r0 |
2668 154c B89F mul r27,r24 |
2669 154e 500D add r21,r0 |
2670 1550 1124 clr r1 |
2671 1552 57FF sbrs r21,7 |
2672 1554 02C0 rjmp .L123 |
2673 1556 415F subi r20,lo8(-(15)) |
2674 1558 5F4F sbci r21,hi8(-(15)) |
2675 .L123: |
2676 155a 14E0 ldi r17,4 |
2677 155c 5595 1: asr r21 |
2678 155e 4795 ror r20 |
2679 1560 1A95 dec r17 |
2680 1562 E1F7 brne 1b |
2681 1564 8091 0000 lds r24,MesswertNick |
2682 1568 9091 0000 lds r25,(MesswertNick)+1 |
2683 156c 840F add r24,r20 |
2684 156e 951F adc r25,r21 |
2685 1570 9093 0000 sts (MesswertNick)+1,r25 |
2686 1574 8093 0000 sts MesswertNick,r24 |
2687 1578 6091 0000 lds r22,HiResRoll |
2688 157c 7091 0000 lds r23,(HiResRoll)+1 |
2689 1580 8091 0000 lds r24,oldRoll.37 |
2690 1584 9091 0000 lds r25,(oldRoll.37)+1 |
2691 1588 681B sub r22,r24 |
2692 158a 790B sbc r23,r25 |
2693 158c 7093 0000 sts (d2Roll.38)+1,r23 |
2694 1590 6093 0000 sts d2Roll.38,r22 |
2695 1594 4091 0000 lds r20,HiResRoll |
2696 1598 5091 0000 lds r21,(HiResRoll)+1 |
2697 159c 480F add r20,r24 |
2698 159e 591F adc r21,r25 |
2699 15a0 57FF sbrs r21,7 |
2700 15a2 02C0 rjmp .L124 |
2701 15a4 4F5F subi r20,lo8(-(1)) |
2702 15a6 5F4F sbci r21,hi8(-(1)) |
2703 .L124: |
2704 15a8 5595 asr r21 |
2705 15aa 4795 ror r20 |
2706 15ac 5093 0000 sts (oldRoll.37)+1,r21 |
2707 15b0 4093 0000 sts oldRoll.37,r20 |
2708 15b4 6138 cpi r22,129 |
2709 15b6 7105 cpc r23,__zero_reg__ |
2710 15b8 1CF0 brlt .L125 |
2711 15ba 80E8 ldi r24,lo8(128) |
2712 15bc 90E0 ldi r25,hi8(128) |
2713 15be 05C0 rjmp .L166 |
2714 .L125: |
2715 15c0 6058 subi r22,lo8(-128) |
2716 15c2 7F4F sbci r23,hi8(-128) |
2717 15c4 34F4 brge .L126 |
2718 15c6 80E8 ldi r24,lo8(-128) |
2719 15c8 9FEF ldi r25,hi8(-128) |
2720 .L166: |
2721 15ca 9093 0000 sts (d2Roll.38)+1,r25 |
2722 15ce 8093 0000 sts d2Roll.38,r24 |
2723 .L126: |
2724 15d2 2E2F mov r18,r30 |
2725 15d4 3327 clr r19 |
2726 15d6 8091 0000 lds r24,d2Roll.38 |
2727 15da 9091 0000 lds r25,(d2Roll.38)+1 |
2728 15de 829F mul r24,r18 |
2729 15e0 B001 movw r22,r0 |
2730 15e2 839F mul r24,r19 |
2731 15e4 700D add r23,r0 |
2732 15e6 929F mul r25,r18 |
2733 15e8 700D add r23,r0 |
2734 15ea 1124 clr r1 |
2735 15ec AB01 movw r20,r22 |
2736 15ee 77FF sbrs r23,7 |
2737 15f0 02C0 rjmp .L128 |
2738 15f2 415F subi r20,lo8(-(15)) |
2739 15f4 5F4F sbci r21,hi8(-(15)) |
2740 .L128: |
2741 15f6 E4E0 ldi r30,4 |
2742 15f8 5595 1: asr r21 |
2743 15fa 4795 ror r20 |
2744 15fc EA95 dec r30 |
2745 15fe E1F7 brne 1b |
2746 1600 8091 0000 lds r24,MesswertRoll |
2747 1604 9091 0000 lds r25,(MesswertRoll)+1 |
2748 1608 840F add r24,r20 |
2749 160a 951F adc r25,r21 |
2750 160c 9093 0000 sts (MesswertRoll)+1,r25 |
2751 1610 8093 0000 sts MesswertRoll,r24 |
2752 1614 A29F mul r26,r18 |
2753 1616 C001 movw r24,r0 |
2754 1618 A39F mul r26,r19 |
2755 161a 900D add r25,r0 |
2756 161c B29F mul r27,r18 |
2757 161e 900D add r25,r0 |
2758 1620 1124 clr r1 |
2759 1622 9C01 movw r18,r24 |
2760 1624 8091 0000 lds r24,HiResNick |
2761 1628 9091 0000 lds r25,(HiResNick)+1 |
2762 162c 820F add r24,r18 |
2763 162e 931F adc r25,r19 |
2764 1630 9093 0000 sts (HiResNick)+1,r25 |
2765 1634 8093 0000 sts HiResNick,r24 |
2766 1638 8091 0000 lds r24,HiResRoll |
2767 163c 9091 0000 lds r25,(HiResRoll)+1 |
2768 1640 860F add r24,r22 |
2769 1642 971F adc r25,r23 |
2770 1644 9093 0000 sts (HiResRoll)+1,r25 |
2771 1648 8093 0000 sts HiResRoll,r24 |
2772 .L118: |
2773 164c 0091 0000 lds r16,RohMesswertRoll |
2774 1650 1091 0000 lds r17,(RohMesswertRoll)+1 |
2775 1654 8091 0000 lds r24,KopplungsteilNickRoll |
2776 1658 9091 0000 lds r25,(KopplungsteilNickRoll)+1 |
2777 165c 1016 cp __zero_reg__,r16 |
2778 165e 1106 cpc __zero_reg__,r17 |
2779 1660 5CF5 brge .L129 |
2780 1662 9C01 movw r18,r24 |
2781 1664 97FF sbrs r25,7 |
2782 1666 04C0 rjmp .L130 |
2783 1668 2227 clr r18 |
2784 166a 3327 clr r19 |
2785 166c 281B sub r18,r24 |
2786 166e 390B sbc r19,r25 |
2787 .L130: |
2788 1670 C901 movw r24,r18 |
2789 1672 AA27 clr r26 |
2790 1674 97FD sbrc r25,7 |
2791 1676 A095 com r26 |
2792 1678 BA2F mov r27,r26 |
2793 167a 2091 0000 lds r18,Parameter_CouplingYawCorrection |
2794 167e 3327 clr r19 |
2795 1680 4427 clr r20 |
2796 1682 5527 clr r21 |
2797 1684 BC01 movw r22,r24 |
2798 1686 CD01 movw r24,r26 |
2799 1688 0E94 0000 call __mulsi3 |
2800 168c 9B01 movw r18,r22 |
2801 168e AC01 movw r20,r24 |
2802 1690 97FF sbrs r25,7 |
2803 1692 04C0 rjmp .L131 |
2804 1694 215C subi r18,lo8(-(63)) |
2805 1696 3F4F sbci r19,hi8(-(63)) |
2806 1698 4F4F sbci r20,hlo8(-(63)) |
2807 169a 5F4F sbci r21,hhi8(-(63)) |
2808 .L131: |
2809 169c 76E0 ldi r23,6 |
2810 169e 5595 1: asr r21 |
2811 16a0 4795 ror r20 |
2812 16a2 3795 ror r19 |
2813 16a4 2795 ror r18 |
2814 16a6 7A95 dec r23 |
2815 16a8 D1F7 brne 1b |
2816 16aa 8091 0000 lds r24,TrimRoll |
2817 16ae 9091 0000 lds r25,(TrimRoll)+1 |
2818 16b2 820F add r24,r18 |
2819 16b4 931F adc r25,r19 |
2820 16b6 27C0 rjmp .L167 |
2821 .L129: |
2822 16b8 97FF sbrs r25,7 |
2823 16ba 03C0 rjmp .L133 |
2824 16bc 9095 com r25 |
2825 16be 8195 neg r24 |
2826 16c0 9F4F sbci r25,lo8(-1) |
2827 .L133: |
2828 16c2 AA27 clr r26 |
2829 16c4 97FD sbrc r25,7 |
2830 16c6 A095 com r26 |
2831 16c8 BA2F mov r27,r26 |
2832 16ca 2091 0000 lds r18,Parameter_CouplingYawCorrection |
2833 16ce 3327 clr r19 |
2834 16d0 4427 clr r20 |
2835 16d2 5527 clr r21 |
2836 16d4 BC01 movw r22,r24 |
2837 16d6 CD01 movw r24,r26 |
2838 16d8 0E94 0000 call __mulsi3 |
2839 16dc 9B01 movw r18,r22 |
2840 16de AC01 movw r20,r24 |
2841 16e0 97FF sbrs r25,7 |
2842 16e2 04C0 rjmp .L134 |
2843 16e4 215C subi r18,lo8(-(63)) |
2844 16e6 3F4F sbci r19,hi8(-(63)) |
2845 16e8 4F4F sbci r20,hlo8(-(63)) |
2846 16ea 5F4F sbci r21,hhi8(-(63)) |
2847 .L134: |
2848 16ec 66E0 ldi r22,6 |
2849 16ee 5595 1: asr r21 |
2850 16f0 4795 ror r20 |
2851 16f2 3795 ror r19 |
2852 16f4 2795 ror r18 |
2853 16f6 6A95 dec r22 |
2854 16f8 D1F7 brne 1b |
2855 16fa 8091 0000 lds r24,TrimRoll |
2856 16fe 9091 0000 lds r25,(TrimRoll)+1 |
2857 1702 821B sub r24,r18 |
2858 1704 930B sbc r25,r19 |
2859 .L167: |
2860 1706 9093 0000 sts (TrimRoll)+1,r25 |
2861 170a 8093 0000 sts TrimRoll,r24 |
2862 170e E090 0000 lds r14,RohMesswertNick |
2863 1712 F090 0000 lds r15,(RohMesswertNick)+1 |
2864 1716 8091 0000 lds r24,KopplungsteilRollNick |
2865 171a 9091 0000 lds r25,(KopplungsteilRollNick)+1 |
2866 171e 1E14 cp __zero_reg__,r14 |
2867 1720 1F04 cpc __zero_reg__,r15 |
2868 1722 5CF5 brge .L135 |
2869 1724 9C01 movw r18,r24 |
2870 1726 97FF sbrs r25,7 |
2871 1728 04C0 rjmp .L136 |
2872 172a 2227 clr r18 |
2873 172c 3327 clr r19 |
2874 172e 281B sub r18,r24 |
2875 1730 390B sbc r19,r25 |
2876 .L136: |
2877 1732 C901 movw r24,r18 |
2878 1734 AA27 clr r26 |
2879 1736 97FD sbrc r25,7 |
2880 1738 A095 com r26 |
2881 173a BA2F mov r27,r26 |
2882 173c 2091 0000 lds r18,Parameter_CouplingYawCorrection |
2883 1740 3327 clr r19 |
2884 1742 4427 clr r20 |
2885 1744 5527 clr r21 |
2886 1746 BC01 movw r22,r24 |
2887 1748 CD01 movw r24,r26 |
2888 174a 0E94 0000 call __mulsi3 |
2889 174e 9B01 movw r18,r22 |
2890 1750 AC01 movw r20,r24 |
2891 1752 97FF sbrs r25,7 |
2892 1754 04C0 rjmp .L137 |
2893 1756 215C subi r18,lo8(-(63)) |
2894 1758 3F4F sbci r19,hi8(-(63)) |
2895 175a 4F4F sbci r20,hlo8(-(63)) |
2896 175c 5F4F sbci r21,hhi8(-(63)) |
2897 .L137: |
2898 175e 96E0 ldi r25,6 |
2899 1760 5595 1: asr r21 |
2900 1762 4795 ror r20 |
2901 1764 3795 ror r19 |
2902 1766 2795 ror r18 |
2903 1768 9A95 dec r25 |
2904 176a D1F7 brne 1b |
2905 176c 8091 0000 lds r24,TrimNick |
2906 1770 9091 0000 lds r25,(TrimNick)+1 |
2907 1774 820F add r24,r18 |
2908 1776 931F adc r25,r19 |
2909 1778 27C0 rjmp .L168 |
2910 .L135: |
2911 177a 97FF sbrs r25,7 |
2912 177c 03C0 rjmp .L139 |
2913 177e 9095 com r25 |
2914 1780 8195 neg r24 |
2915 1782 9F4F sbci r25,lo8(-1) |
2916 .L139: |
2917 1784 AA27 clr r26 |
2918 1786 97FD sbrc r25,7 |
2919 1788 A095 com r26 |
2920 178a BA2F mov r27,r26 |
2921 178c 2091 0000 lds r18,Parameter_CouplingYawCorrection |
2922 1790 3327 clr r19 |
2923 1792 4427 clr r20 |
2924 1794 5527 clr r21 |
2925 1796 BC01 movw r22,r24 |
2926 1798 CD01 movw r24,r26 |
2927 179a 0E94 0000 call __mulsi3 |
2928 179e 9B01 movw r18,r22 |
2929 17a0 AC01 movw r20,r24 |
2930 17a2 97FF sbrs r25,7 |
2931 17a4 04C0 rjmp .L140 |
2932 17a6 215C subi r18,lo8(-(63)) |
2933 17a8 3F4F sbci r19,hi8(-(63)) |
2934 17aa 4F4F sbci r20,hlo8(-(63)) |
2935 17ac 5F4F sbci r21,hhi8(-(63)) |
2936 .L140: |
2937 17ae 86E0 ldi r24,6 |
2938 17b0 5595 1: asr r21 |
2939 17b2 4795 ror r20 |
2940 17b4 3795 ror r19 |
2941 17b6 2795 ror r18 |
2942 17b8 8A95 dec r24 |
2943 17ba D1F7 brne 1b |
2944 17bc 8091 0000 lds r24,TrimNick |
2945 17c0 9091 0000 lds r25,(TrimNick)+1 |
2946 17c4 821B sub r24,r18 |
2947 17c6 930B sbc r25,r19 |
2948 .L168: |
2949 17c8 9093 0000 sts (TrimNick)+1,r25 |
2950 17cc 8093 0000 sts TrimNick,r24 |
2951 17d0 8091 0000 lds r24,EE_Parameter+13 |
2952 17d4 87FF sbrs r24,7 |
2953 17d6 44C0 rjmp .L141 |
2954 17d8 9989 ldd r25,Y+17 |
2955 17da 9923 tst r25 |
2956 17dc 09F0 breq .+2 |
2957 17de 40C0 rjmp .L141 |
2958 17e0 8091 0000 lds r24,Looping_Roll |
2959 17e4 8823 tst r24 |
2960 17e6 E1F5 brne .L141 |
2961 17e8 A1E0 ldi r26,lo8(257) |
2962 17ea EA16 cp r14,r26 |
2963 17ec A1E0 ldi r26,hi8(257) |
2964 17ee FA06 cpc r15,r26 |
2965 17f0 4CF0 brlt .L142 |
2966 17f2 8091 0000 lds r24,MesswertNick |
2967 17f6 9091 0000 lds r25,(MesswertNick)+1 |
2968 17fa 8E0D add r24,r14 |
2969 17fc 9F1D adc r25,r15 |
2970 17fe 8050 subi r24,lo8(-(-256)) |
2971 1800 9140 sbci r25,hi8(-(-256)) |
2972 1802 0DC0 rjmp .L169 |
2973 .L142: |
2974 1804 B0E0 ldi r27,lo8(-256) |
2975 1806 EB16 cp r14,r27 |
2976 1808 BFEF ldi r27,hi8(-256) |
2977 180a FB06 cpc r15,r27 |
2978 180c 64F4 brge .L143 |
2979 180e 8091 0000 lds r24,MesswertNick |
2980 1812 9091 0000 lds r25,(MesswertNick)+1 |
2981 1816 8E0D add r24,r14 |
2982 1818 9F1D adc r25,r15 |
2983 181a 8050 subi r24,lo8(-(256)) |
2984 181c 9F4F sbci r25,hi8(-(256)) |
2985 .L169: |
2986 181e 9093 0000 sts (MesswertNick)+1,r25 |
2987 1822 8093 0000 sts MesswertNick,r24 |
2988 .L143: |
2989 1826 E1E0 ldi r30,hi8(257) |
2990 1828 0130 cpi r16,lo8(257) |
2991 182a 1E07 cpc r17,r30 |
2992 182c 4CF0 brlt .L145 |
2993 182e 8091 0000 lds r24,MesswertRoll |
2994 1832 9091 0000 lds r25,(MesswertRoll)+1 |
2995 1836 800F add r24,r16 |
2996 1838 911F adc r25,r17 |
2997 183a 8050 subi r24,lo8(-(-256)) |
2998 183c 9140 sbci r25,hi8(-(-256)) |
2999 183e 0CC0 rjmp .L170 |
3000 .L145: |
3001 1840 FFEF ldi r31,hi8(-256) |
3002 1842 0030 cpi r16,lo8(-256) |
3003 1844 1F07 cpc r17,r31 |
3004 1846 64F4 brge .L141 |
3005 1848 8091 0000 lds r24,MesswertRoll |
3006 184c 9091 0000 lds r25,(MesswertRoll)+1 |
3007 1850 800F add r24,r16 |
3008 1852 911F adc r25,r17 |
3009 1854 8050 subi r24,lo8(-(256)) |
3010 1856 9F4F sbci r25,hi8(-(256)) |
3011 .L170: |
3012 1858 9093 0000 sts (MesswertRoll)+1,r25 |
3013 185c 8093 0000 sts MesswertRoll,r24 |
3014 .L141: |
3015 1860 A0E0 ldi r26,lo8(Poti) |
3016 1862 B0E0 ldi r27,hi8(Poti) |
3017 1864 60E0 ldi r22,lo8(EE_Parameter+5) |
3018 1866 70E0 ldi r23,hi8(EE_Parameter+5) |
3019 1868 57E0 ldi r21,lo8(7) |
3020 .L158: |
3021 186a FB01 movw r30,r22 |
3022 186c 8191 ld r24,Z+ |
3023 186e BF01 movw r22,r30 |
3024 1870 E82F mov r30,r24 |
3025 1872 FF27 clr r31 |
3026 1874 EE0F add r30,r30 |
3027 1876 FF1F adc r31,r31 |
3028 1878 E050 subi r30,lo8(-(PPM_in)) |
3029 187a F040 sbci r31,hi8(-(PPM_in)) |
3030 187c 0190 ld __tmp_reg__,Z+ |
3031 187e F081 ld r31,Z |
3032 1880 E02D mov r30,__tmp_reg__ |
3033 1882 E259 subi r30,lo8(-(110)) |
3034 1884 FF4F sbci r31,hi8(-(110)) |
3035 1886 EF3F cpi r30,255 |
3036 1888 F105 cpc r31,__zero_reg__ |
3037 188a 21F0 breq .L151 |
3038 188c 1CF0 brlt .L151 |
3039 188e EFEF ldi r30,lo8(255) |
3040 1890 F0E0 ldi r31,hi8(255) |
3041 1892 04C0 rjmp .L152 |
3042 .L151: |
3043 1894 F7FF sbrs r31,7 |
3044 1896 02C0 rjmp .L152 |
3045 1898 E0E0 ldi r30,lo8(0) |
3046 189a F0E0 ldi r31,hi8(0) |
3047 .L152: |
3048 189c 4C91 ld r20,X |
3049 189e 242F mov r18,r20 |
3050 18a0 3327 clr r19 |
3051 18a2 E217 cp r30,r18 |
3052 18a4 F307 cpc r31,r19 |
3053 18a6 B1F0 breq .L150 |
3054 18a8 CF01 movw r24,r30 |
3055 18aa 821B sub r24,r18 |
3056 18ac 930B sbc r25,r19 |
3057 18ae 97FD sbrc r25,7 |
3058 18b0 0796 adiw r24,7 |
3059 .L155: |
3060 18b2 13E0 ldi r17,3 |
3061 18b4 9595 1: asr r25 |
3062 18b6 8795 ror r24 |
3063 18b8 1A95 dec r17 |
3064 18ba E1F7 brne 1b |
3065 18bc 242F mov r18,r20 |
3066 18be 280F add r18,r24 |
3067 18c0 2C93 st X,r18 |
3068 18c2 822F mov r24,r18 |
3069 18c4 9927 clr r25 |
3070 18c6 E817 cp r30,r24 |
3071 18c8 F907 cpc r31,r25 |
3072 18ca 14F4 brge .L156 |
3073 18cc 2150 subi r18,lo8(-(-1)) |
3074 18ce 01C0 rjmp .L171 |
3075 .L156: |
3076 18d0 2F5F subi r18,lo8(-(1)) |
3077 .L171: |
3078 18d2 2C93 st X,r18 |
3079 .L150: |
3080 18d4 5150 subi r21,lo8(-(-1)) |
3081 18d6 1196 adiw r26,1 |
3082 18d8 57FF sbrs r21,7 |
3083 18da C7CF rjmp .L158 |
3084 /* epilogue: frame size=19 */ |
3085 18dc E2E1 ldi r30,18 |
3086 18de CD5E subi r28,-19 |
3087 18e0 0C94 0000 jmp __epilogue_restores__+0 |
3088 /* epilogue end (size=4) */ |
3089 /* function Mittelwert size 2071 (2061) */ |
3091 .global SendMotorData |
3093 SendMotorData: |
3094 /* prologue: frame size=0 */ |
3095 /* prologue end (size=0) */ |
3096 18e4 8091 0000 lds r24,MotorenEin |
3097 18e8 8823 tst r24 |
3098 18ea 01F5 brne .L173 |
3099 18ec 8091 0000 lds r24,FCFlags |
3100 18f0 8C7F andi r24,lo8(-4) |
3101 18f2 8093 0000 sts FCFlags,r24 |
3102 18f6 A0E0 ldi r26,lo8(MotorTest) |
3103 18f8 B0E0 ldi r27,hi8(MotorTest) |
3104 18fa E0E0 ldi r30,lo8(Motor) |
3105 18fc F0E0 ldi r31,hi8(Motor) |
3106 18fe 9BE0 ldi r25,lo8(11) |
3107 .L178: |
3108 1900 8091 0000 lds r24,PC_MotortestActive |
3109 1904 8823 tst r24 |
3110 1906 09F4 brne .L177 |
3111 1908 8C93 st X,r24 |
3112 .L177: |
3113 190a 8D91 ld r24,X+ |
3114 190c 8183 std Z+1,r24 |
3115 190e 1282 std Z+2,__zero_reg__ |
3116 1910 9150 subi r25,lo8(-(-1)) |
3117 1912 3896 adiw r30,8 |
3118 1914 97FF sbrs r25,7 |
3119 1916 F4CF rjmp .L178 |
3120 1918 8091 0000 lds r24,PC_MotortestActive |
3121 191c 8823 tst r24 |
3122 191e 59F0 breq .L180 |
3123 1920 8091 0000 lds r24,PC_MotortestActive |
3124 1924 8150 subi r24,lo8(-(-1)) |
3125 1926 8093 0000 sts PC_MotortestActive,r24 |
3126 192a 05C0 rjmp .L180 |
3127 .L173: |
3128 192c 8091 0000 lds r24,FCFlags |
3129 1930 8160 ori r24,lo8(1) |
3130 1932 8093 0000 sts FCFlags,r24 |
3131 .L180: |
3132 1936 1092 0000 sts motor_write,__zero_reg__ |
3133 193a 1092 0000 sts twi_state,__zero_reg__ |
3134 193e 8091 0000 lds r24,BLFlags |
3135 1942 8E7F andi r24,lo8(-2) |
3136 1944 8093 0000 sts BLFlags,r24 |
3137 1948 85EA ldi r24,lo8(-91) |
3138 194a 8093 BC00 sts 188,r24 |
3139 /* epilogue: frame size=0 */ |
3140 194e 0895 ret |
3141 /* epilogue end (size=1) */ |
3142 /* function SendMotorData size 54 (53) */ |
3144 .global ParameterZuordnung |
3146 ParameterZuordnung: |
3147 /* prologue: frame size=0 */ |
3148 /* prologue end (size=0) */ |
3149 1950 8091 0000 lds r24,EE_Parameter+15 |
3150 1954 883F cpi r24,lo8(-8) |
3151 1956 38F0 brlo .L275 |
3152 1958 EFEF ldi r30,lo8(255) |
3153 195a F0E0 ldi r31,hi8(255) |
3154 195c E81B sub r30,r24 |
3155 195e F109 sbc r31,__zero_reg__ |
3156 1960 E050 subi r30,lo8(-(Poti)) |
3157 1962 F040 sbci r31,hi8(-(Poti)) |
3158 1964 8081 ld r24,Z |
3159 .L275: |
3160 1966 8093 0000 sts Parameter_Luftdruck_D,r24 |
3161 196a 8091 0000 lds r24,Parameter_Luftdruck_D |
3162 196e 8823 tst r24 |
3163 1970 29F0 breq .L187 |
3164 1972 8436 cpi r24,lo8(100) |
3165 1974 18F0 brlo .L187 |
3166 1976 84E6 ldi r24,lo8(100) |
3167 1978 8093 0000 sts Parameter_Luftdruck_D,r24 |
3168 .L187: |
3169 197c 8091 0000 lds r24,EE_Parameter+17 |
3170 1980 883F cpi r24,lo8(-8) |
3171 1982 38F0 brlo .L276 |
3172 1984 EFEF ldi r30,lo8(255) |
3173 1986 F0E0 ldi r31,hi8(255) |
3174 1988 E81B sub r30,r24 |
3175 198a F109 sbc r31,__zero_reg__ |
3176 198c E050 subi r30,lo8(-(Poti)) |
3177 198e F040 sbci r31,hi8(-(Poti)) |
3178 1990 8081 ld r24,Z |
3179 .L276: |
3180 1992 8093 0000 sts Parameter_Hoehe_P,r24 |
3181 1996 8091 0000 lds r24,Parameter_Hoehe_P |
3182 199a 8823 tst r24 |
3183 199c 29F0 breq .L192 |
3184 199e 8436 cpi r24,lo8(100) |
3185 19a0 18F0 brlo .L192 |
3186 19a2 84E6 ldi r24,lo8(100) |
3187 19a4 8093 0000 sts Parameter_Hoehe_P,r24 |
3188 .L192: |
3189 19a8 8091 0000 lds r24,EE_Parameter+30 |
3190 19ac 883F cpi r24,lo8(-8) |
3191 19ae 38F0 brlo .L277 |
3192 19b0 EFEF ldi r30,lo8(255) |
3193 19b2 F0E0 ldi r31,hi8(255) |
3194 19b4 E81B sub r30,r24 |
3195 19b6 F109 sbc r31,__zero_reg__ |
3196 19b8 E050 subi r30,lo8(-(Poti)) |
3197 19ba F040 sbci r31,hi8(-(Poti)) |
3198 19bc 8081 ld r24,Z |
3199 .L277: |
3200 19be 8093 0000 sts Parameter_Gyro_P,r24 |
3201 19c2 8091 0000 lds r24,Parameter_Gyro_P |
3202 19c6 8B30 cpi r24,lo8(11) |
3203 19c8 10F4 brsh .L196 |
3204 19ca 8AE0 ldi r24,lo8(10) |
3205 19cc 02C0 rjmp .L278 |
3206 .L196: |
3207 19ce 8F3F cpi r24,lo8(-1) |
3208 19d0 11F4 brne .L197 |
3209 .L278: |
3210 19d2 8093 0000 sts Parameter_Gyro_P,r24 |
3211 .L197: |
3212 19d6 8091 0000 lds r24,EE_Parameter+73 |
3213 19da 883F cpi r24,lo8(-8) |
3214 19dc 38F0 brlo .L279 |
3215 19de EFEF ldi r30,lo8(255) |
3216 19e0 F0E0 ldi r31,hi8(255) |
3217 19e2 E81B sub r30,r24 |
3218 19e4 F109 sbc r31,__zero_reg__ |
3219 19e6 E050 subi r30,lo8(-(Poti)) |
3220 19e8 F040 sbci r31,hi8(-(Poti)) |
3221 19ea 8081 ld r24,Z |
3222 .L279: |
3223 19ec 8093 0000 sts Parameter_J16Timing,r24 |
3224 19f0 8091 0000 lds r24,Parameter_J16Timing |
3225 19f4 8230 cpi r24,lo8(2) |
3226 19f6 10F4 brsh .L201 |
3227 19f8 81E0 ldi r24,lo8(1) |
3228 19fa 02C0 rjmp .L280 |
3229 .L201: |
3230 19fc 8F3F cpi r24,lo8(-1) |
3231 19fe 11F4 brne .L202 |
3232 .L280: |
3233 1a00 8093 0000 sts Parameter_J16Timing,r24 |
3234 .L202: |
3235 1a04 8091 0000 lds r24,EE_Parameter+75 |
3236 1a08 883F cpi r24,lo8(-8) |
3237 1a0a 38F0 brlo .L281 |
3238 1a0c EFEF ldi r30,lo8(255) |
3239 1a0e F0E0 ldi r31,hi8(255) |
3240 1a10 E81B sub r30,r24 |
3241 1a12 F109 sbc r31,__zero_reg__ |
3242 1a14 E050 subi r30,lo8(-(Poti)) |
3243 1a16 F040 sbci r31,hi8(-(Poti)) |
3244 1a18 8081 ld r24,Z |
3245 .L281: |
3246 1a1a 8093 0000 sts Parameter_J17Timing,r24 |
3247 1a1e 8091 0000 lds r24,Parameter_J17Timing |
3248 1a22 8230 cpi r24,lo8(2) |
3249 1a24 10F4 brsh .L206 |
3250 1a26 81E0 ldi r24,lo8(1) |
3251 1a28 02C0 rjmp .L282 |
3252 .L206: |
3253 1a2a 8F3F cpi r24,lo8(-1) |
3254 1a2c 11F4 brne .L207 |
3255 .L282: |
3256 1a2e 8093 0000 sts Parameter_J17Timing,r24 |
3257 .L207: |
3258 1a32 8091 0000 lds r24,EE_Parameter+54 |
3259 1a36 883F cpi r24,lo8(-8) |
3260 1a38 38F0 brlo .L283 |
3261 1a3a EFEF ldi r30,lo8(255) |
3262 1a3c F0E0 ldi r31,hi8(255) |
3263 1a3e E81B sub r30,r24 |
3264 1a40 F109 sbc r31,__zero_reg__ |
3265 1a42 E050 subi r30,lo8(-(Poti)) |
3266 1a44 F040 sbci r31,hi8(-(Poti)) |
3267 1a46 8081 ld r24,Z |
3268 .L283: |
3269 1a48 8093 0000 sts Parameter_Servo3,r24 |
3270 1a4c 8091 0000 lds r24,EE_Parameter+55 |
3271 1a50 883F cpi r24,lo8(-8) |
3272 1a52 38F0 brlo .L284 |
3273 1a54 EFEF ldi r30,lo8(255) |
3274 1a56 F0E0 ldi r31,hi8(255) |
3275 1a58 E81B sub r30,r24 |
3276 1a5a F109 sbc r31,__zero_reg__ |
3277 1a5c E050 subi r30,lo8(-(Poti)) |
3278 1a5e F040 sbci r31,hi8(-(Poti)) |
3279 1a60 8081 ld r24,Z |
3280 .L284: |
3281 1a62 8093 0000 sts Parameter_Servo4,r24 |
3282 1a66 8091 0000 lds r24,EE_Parameter+56 |
3283 1a6a 883F cpi r24,lo8(-8) |
3284 1a6c 38F0 brlo .L285 |
3285 1a6e EFEF ldi r30,lo8(255) |
3286 1a70 F0E0 ldi r31,hi8(255) |
3287 1a72 E81B sub r30,r24 |
3288 1a74 F109 sbc r31,__zero_reg__ |
3289 1a76 E050 subi r30,lo8(-(Poti)) |
3290 1a78 F040 sbci r31,hi8(-(Poti)) |
3291 1a7a 8081 ld r24,Z |
3292 .L285: |
3293 1a7c 8093 0000 sts Parameter_Servo5,r24 |
3294 1a80 9091 0000 lds r25,EE_Parameter+16 |
3295 1a84 983F cpi r25,lo8(-8) |
3296 1a86 18F4 brsh .L215 |
3297 1a88 9093 0000 sts Parameter_MaxHoehe,r25 |
3298 1a8c 09C0 rjmp .L216 |
3299 .L215: |
3300 1a8e EFEF ldi r30,lo8(255) |
3301 1a90 F0E0 ldi r31,hi8(255) |
3302 1a92 E91B sub r30,r25 |
3303 1a94 F109 sbc r31,__zero_reg__ |
3304 1a96 E050 subi r30,lo8(-(Poti)) |
3305 1a98 F040 sbci r31,hi8(-(Poti)) |
3306 1a9a 8081 ld r24,Z |
3307 1a9c 8093 0000 sts Parameter_MaxHoehe,r24 |
3308 .L216: |
3309 1aa0 983F cpi r25,lo8(-8) |
3310 1aa2 18F4 brsh .L217 |
3311 1aa4 9093 0000 sts Parameter_MaxHoehe,r25 |
3312 1aa8 09C0 rjmp .L218 |
3313 .L217: |
3314 1aaa EFEF ldi r30,lo8(255) |
3315 1aac F0E0 ldi r31,hi8(255) |
3316 1aae E91B sub r30,r25 |
3317 1ab0 F109 sbc r31,__zero_reg__ |
3318 1ab2 E050 subi r30,lo8(-(Poti)) |
3319 1ab4 F040 sbci r31,hi8(-(Poti)) |
3320 1ab6 8081 ld r24,Z |
3321 1ab8 8093 0000 sts Parameter_MaxHoehe,r24 |
3322 .L218: |
3323 1abc 8091 0000 lds r24,EE_Parameter+19 |
3324 1ac0 883F cpi r24,lo8(-8) |
3325 1ac2 38F0 brlo .L286 |
3326 1ac4 EFEF ldi r30,lo8(255) |
3327 1ac6 F0E0 ldi r31,hi8(255) |
3328 1ac8 E81B sub r30,r24 |
3329 1aca F109 sbc r31,__zero_reg__ |
3330 1acc E050 subi r30,lo8(-(Poti)) |
3331 1ace F040 sbci r31,hi8(-(Poti)) |
3332 1ad0 8081 ld r24,Z |
3333 .L286: |
3334 1ad2 8093 0000 sts Parameter_Hoehe_ACC_Wirkung,r24 |
3335 1ad6 8091 0000 lds r24,EE_Parameter+21 |
3336 1ada 883F cpi r24,lo8(-8) |
3337 1adc 38F0 brlo .L287 |
3338 1ade EFEF ldi r30,lo8(255) |
3339 1ae0 F0E0 ldi r31,hi8(255) |
3340 1ae2 E81B sub r30,r24 |
3341 1ae4 F109 sbc r31,__zero_reg__ |
3342 1ae6 E050 subi r30,lo8(-(Poti)) |
3343 1ae8 F040 sbci r31,hi8(-(Poti)) |
3344 1aea 8081 ld r24,Z |
3345 .L287: |
3346 1aec 8093 0000 sts Parameter_Hoehe_GPS_Z,r24 |
3347 1af0 8091 0000 lds r24,EE_Parameter+29 |
3348 1af4 883F cpi r24,lo8(-8) |
3349 1af6 38F0 brlo .L288 |
3350 1af8 EFEF ldi r30,lo8(255) |
3351 1afa F0E0 ldi r31,hi8(255) |
3352 1afc E81B sub r30,r24 |
3353 1afe F109 sbc r31,__zero_reg__ |
3354 1b00 E050 subi r30,lo8(-(Poti)) |
3355 1b02 F040 sbci r31,hi8(-(Poti)) |
3356 1b04 8081 ld r24,Z |
3357 .L288: |
3358 1b06 8093 0000 sts Parameter_KompassWirkung,r24 |
3359 1b0a 8091 0000 lds r24,EE_Parameter+31 |
3360 1b0e 883F cpi r24,lo8(-8) |
3361 1b10 38F0 brlo .L289 |
3362 1b12 EFEF ldi r30,lo8(255) |
3363 1b14 F0E0 ldi r31,hi8(255) |
3364 1b16 E81B sub r30,r24 |
3365 1b18 F109 sbc r31,__zero_reg__ |
3366 1b1a E050 subi r30,lo8(-(Poti)) |
3367 1b1c F040 sbci r31,hi8(-(Poti)) |
3368 1b1e 8081 ld r24,Z |
3369 .L289: |
3370 1b20 8093 0000 sts Parameter_Gyro_I,r24 |
3371 1b24 8091 0000 lds r24,EE_Parameter+32 |
3372 1b28 883F cpi r24,lo8(-8) |
3373 1b2a 38F0 brlo .L290 |
3374 1b2c EFEF ldi r30,lo8(255) |
3375 1b2e F0E0 ldi r31,hi8(255) |
3376 1b30 E81B sub r30,r24 |
3377 1b32 F109 sbc r31,__zero_reg__ |
3378 1b34 E050 subi r30,lo8(-(Poti)) |
3379 1b36 F040 sbci r31,hi8(-(Poti)) |
3380 1b38 8081 ld r24,Z |
3381 .L290: |
3382 1b3a 8093 0000 sts Parameter_Gyro_D,r24 |
3383 1b3e 8091 0000 lds r24,EE_Parameter+33 |
3384 1b42 883F cpi r24,lo8(-8) |
3385 1b44 38F0 brlo .L291 |
3386 1b46 EFEF ldi r30,lo8(255) |
3387 1b48 F0E0 ldi r31,hi8(255) |
3388 1b4a E81B sub r30,r24 |
3389 1b4c F109 sbc r31,__zero_reg__ |
3390 1b4e E050 subi r30,lo8(-(Poti)) |
3391 1b50 F040 sbci r31,hi8(-(Poti)) |
3392 1b52 8081 ld r24,Z |
3393 .L291: |
3394 1b54 8093 0000 sts Parameter_Gyro_Gier_P,r24 |
3395 1b58 8091 0000 lds r24,EE_Parameter+34 |
3396 1b5c 883F cpi r24,lo8(-8) |
3397 1b5e 38F0 brlo .L292 |
3398 1b60 EFEF ldi r30,lo8(255) |
3399 1b62 F0E0 ldi r31,hi8(255) |
3400 1b64 E81B sub r30,r24 |
3401 1b66 F109 sbc r31,__zero_reg__ |
3402 1b68 E050 subi r30,lo8(-(Poti)) |
3403 1b6a F040 sbci r31,hi8(-(Poti)) |
3404 1b6c 8081 ld r24,Z |
3405 .L292: |
3406 1b6e 8093 0000 sts Parameter_Gyro_Gier_I,r24 |
3407 1b72 8091 0000 lds r24,EE_Parameter+40 |
3408 1b76 883F cpi r24,lo8(-8) |
3409 1b78 38F0 brlo .L293 |
3410 1b7a EFEF ldi r30,lo8(255) |
3411 1b7c F0E0 ldi r31,hi8(255) |
3412 1b7e E81B sub r30,r24 |
3413 1b80 F109 sbc r31,__zero_reg__ |
3414 1b82 E050 subi r30,lo8(-(Poti)) |
3415 1b84 F040 sbci r31,hi8(-(Poti)) |
3416 1b86 8081 ld r24,Z |
3417 .L293: |
3418 1b88 8093 0000 sts Parameter_I_Faktor,r24 |
3419 1b8c 8091 0000 lds r24,EE_Parameter+41 |
3420 1b90 883F cpi r24,lo8(-8) |
3421 1b92 38F0 brlo .L294 |
3422 1b94 EFEF ldi r30,lo8(255) |
3423 1b96 F0E0 ldi r31,hi8(255) |
3424 1b98 E81B sub r30,r24 |
3425 1b9a F109 sbc r31,__zero_reg__ |
3426 1b9c E050 subi r30,lo8(-(Poti)) |
3427 1b9e F040 sbci r31,hi8(-(Poti)) |
3428 1ba0 8081 ld r24,Z |
3429 .L294: |
3430 1ba2 8093 0000 sts Parameter_UserParam1,r24 |
3431 1ba6 8091 0000 lds r24,EE_Parameter+42 |
3432 1baa 883F cpi r24,lo8(-8) |
3433 1bac 38F0 brlo .L295 |
3434 1bae EFEF ldi r30,lo8(255) |
3435 1bb0 F0E0 ldi r31,hi8(255) |
3436 1bb2 E81B sub r30,r24 |
3437 1bb4 F109 sbc r31,__zero_reg__ |
3438 1bb6 E050 subi r30,lo8(-(Poti)) |
3439 1bb8 F040 sbci r31,hi8(-(Poti)) |
3440 1bba 8081 ld r24,Z |
3441 .L295: |
3442 1bbc 8093 0000 sts Parameter_UserParam2,r24 |
3443 1bc0 8091 0000 lds r24,EE_Parameter+43 |
3444 1bc4 883F cpi r24,lo8(-8) |
3445 1bc6 38F0 brlo .L296 |
3446 1bc8 EFEF ldi r30,lo8(255) |
3447 1bca F0E0 ldi r31,hi8(255) |
3448 1bcc E81B sub r30,r24 |
3449 1bce F109 sbc r31,__zero_reg__ |
3450 1bd0 E050 subi r30,lo8(-(Poti)) |
3451 1bd2 F040 sbci r31,hi8(-(Poti)) |
3452 1bd4 8081 ld r24,Z |
3453 .L296: |
3454 1bd6 8093 0000 sts Parameter_UserParam3,r24 |
3455 1bda 8091 0000 lds r24,EE_Parameter+44 |
3456 1bde 883F cpi r24,lo8(-8) |
3457 1be0 38F0 brlo .L297 |
3458 1be2 EFEF ldi r30,lo8(255) |
3459 1be4 F0E0 ldi r31,hi8(255) |
3460 1be6 E81B sub r30,r24 |
3461 1be8 F109 sbc r31,__zero_reg__ |
3462 1bea E050 subi r30,lo8(-(Poti)) |
3463 1bec F040 sbci r31,hi8(-(Poti)) |
3464 1bee 8081 ld r24,Z |
3465 .L297: |
3466 1bf0 8093 0000 sts Parameter_UserParam4,r24 |
3467 1bf4 8091 0000 lds r24,EE_Parameter+68 |
3468 1bf8 883F cpi r24,lo8(-8) |
3469 1bfa 38F0 brlo .L298 |
3470 1bfc EFEF ldi r30,lo8(255) |
3471 1bfe F0E0 ldi r31,hi8(255) |
3472 1c00 E81B sub r30,r24 |
3473 1c02 F109 sbc r31,__zero_reg__ |
3474 1c04 E050 subi r30,lo8(-(Poti)) |
3475 1c06 F040 sbci r31,hi8(-(Poti)) |
3476 1c08 8081 ld r24,Z |
3477 .L298: |
3478 1c0a 8093 0000 sts Parameter_UserParam5,r24 |
3479 1c0e 8091 0000 lds r24,EE_Parameter+69 |
3480 1c12 883F cpi r24,lo8(-8) |
3481 1c14 38F0 brlo .L299 |
3482 1c16 EFEF ldi r30,lo8(255) |
3483 1c18 F0E0 ldi r31,hi8(255) |
3484 1c1a E81B sub r30,r24 |
3485 1c1c F109 sbc r31,__zero_reg__ |
3486 1c1e E050 subi r30,lo8(-(Poti)) |
3487 1c20 F040 sbci r31,hi8(-(Poti)) |
3488 1c22 8081 ld r24,Z |
3489 .L299: |
3490 1c24 8093 0000 sts Parameter_UserParam6,r24 |
3491 1c28 8091 0000 lds r24,EE_Parameter+70 |
3492 1c2c 883F cpi r24,lo8(-8) |
3493 1c2e 38F0 brlo .L300 |
3494 1c30 EFEF ldi r30,lo8(255) |
3495 1c32 F0E0 ldi r31,hi8(255) |
3496 1c34 E81B sub r30,r24 |
3497 1c36 F109 sbc r31,__zero_reg__ |
3498 1c38 E050 subi r30,lo8(-(Poti)) |
3499 1c3a F040 sbci r31,hi8(-(Poti)) |
3500 1c3c 8081 ld r24,Z |
3501 .L300: |
3502 1c3e 8093 0000 sts Parameter_UserParam7,r24 |
3503 1c42 8091 0000 lds r24,EE_Parameter+71 |
3504 1c46 883F cpi r24,lo8(-8) |
3505 1c48 38F0 brlo .L301 |
3506 1c4a EFEF ldi r30,lo8(255) |
3507 1c4c F0E0 ldi r31,hi8(255) |
3508 1c4e E81B sub r30,r24 |
3509 1c50 F109 sbc r31,__zero_reg__ |
3510 1c52 E050 subi r30,lo8(-(Poti)) |
3511 1c54 F040 sbci r31,hi8(-(Poti)) |
3512 1c56 8081 ld r24,Z |
3513 .L301: |
3514 1c58 8093 0000 sts Parameter_UserParam8,r24 |
3515 1c5c 8091 0000 lds r24,EE_Parameter+45 |
3516 1c60 883F cpi r24,lo8(-8) |
3517 1c62 38F0 brlo .L302 |
3518 1c64 EFEF ldi r30,lo8(255) |
3519 1c66 F0E0 ldi r31,hi8(255) |
3520 1c68 E81B sub r30,r24 |
3521 1c6a F109 sbc r31,__zero_reg__ |
3522 1c6c E050 subi r30,lo8(-(Poti)) |
3523 1c6e F040 sbci r31,hi8(-(Poti)) |
3524 1c70 8081 ld r24,Z |
3525 .L302: |
3526 1c72 8093 0000 sts Parameter_ServoNickControl,r24 |
3527 1c76 8091 0000 lds r24,EE_Parameter+49 |
3528 1c7a 883F cpi r24,lo8(-8) |
3529 1c7c 38F0 brlo .L303 |
3530 1c7e EFEF ldi r30,lo8(255) |
3531 1c80 F0E0 ldi r31,hi8(255) |
3532 1c82 E81B sub r30,r24 |
3533 1c84 F109 sbc r31,__zero_reg__ |
3534 1c86 E050 subi r30,lo8(-(Poti)) |
3535 1c88 F040 sbci r31,hi8(-(Poti)) |
3536 1c8a 8081 ld r24,Z |
3537 .L303: |
3538 1c8c 8093 0000 sts Parameter_ServoRollControl,r24 |
3539 1c90 8091 0000 lds r24,EE_Parameter+57 |
3540 1c94 883F cpi r24,lo8(-8) |
3541 1c96 38F0 brlo .L304 |
3542 1c98 EFEF ldi r30,lo8(255) |
3543 1c9a F0E0 ldi r31,hi8(255) |
3544 1c9c E81B sub r30,r24 |
3545 1c9e F109 sbc r31,__zero_reg__ |
3546 1ca0 E050 subi r30,lo8(-(Poti)) |
3547 1ca2 F040 sbci r31,hi8(-(Poti)) |
3548 1ca4 8081 ld r24,Z |
3549 .L304: |
3550 1ca6 8093 0000 sts Parameter_LoopGasLimit,r24 |
3551 1caa 8091 0000 lds r24,EE_Parameter+60 |
3552 1cae 883F cpi r24,lo8(-8) |
3553 1cb0 38F0 brlo .L305 |
3554 1cb2 EFEF ldi r30,lo8(255) |
3555 1cb4 F0E0 ldi r31,hi8(255) |
3556 1cb6 E81B sub r30,r24 |
3557 1cb8 F109 sbc r31,__zero_reg__ |
3558 1cba E050 subi r30,lo8(-(Poti)) |
3559 1cbc F040 sbci r31,hi8(-(Poti)) |
3560 1cbe 8081 ld r24,Z |
3561 .L305: |
3562 1cc0 8093 0000 sts Parameter_AchsKopplung1,r24 |
3563 1cc4 8091 0000 lds r24,EE_Parameter+61 |
3564 1cc8 883F cpi r24,lo8(-8) |
3565 1cca 38F0 brlo .L306 |
3566 1ccc EFEF ldi r30,lo8(255) |
3567 1cce F0E0 ldi r31,hi8(255) |
3568 1cd0 E81B sub r30,r24 |
3569 1cd2 F109 sbc r31,__zero_reg__ |
3570 1cd4 E050 subi r30,lo8(-(Poti)) |
3571 1cd6 F040 sbci r31,hi8(-(Poti)) |
3572 1cd8 8081 ld r24,Z |
3573 .L306: |
3574 1cda 8093 0000 sts Parameter_AchsKopplung2,r24 |
3575 1cde 8091 0000 lds r24,EE_Parameter+62 |
3576 1ce2 883F cpi r24,lo8(-8) |
3577 1ce4 38F0 brlo .L307 |
3578 1ce6 EFEF ldi r30,lo8(255) |
3579 1ce8 F0E0 ldi r31,hi8(255) |
3580 1cea E81B sub r30,r24 |
3581 1cec F109 sbc r31,__zero_reg__ |
3582 1cee E050 subi r30,lo8(-(Poti)) |
3583 1cf0 F040 sbci r31,hi8(-(Poti)) |
3584 1cf2 8081 ld r24,Z |
3585 .L307: |
3586 1cf4 8093 0000 sts Parameter_CouplingYawCorrection,r24 |
3587 1cf8 8091 0000 lds r24,EE_Parameter+67 |
3588 1cfc 883F cpi r24,lo8(-8) |
3589 1cfe 38F0 brlo .L308 |
3590 1d00 EFEF ldi r30,lo8(255) |
3591 1d02 F0E0 ldi r31,hi8(255) |
3592 1d04 E81B sub r30,r24 |
3593 1d06 F109 sbc r31,__zero_reg__ |
3594 1d08 E050 subi r30,lo8(-(Poti)) |
3595 1d0a F040 sbci r31,hi8(-(Poti)) |
3596 1d0c 8081 ld r24,Z |
3597 .L308: |
3598 1d0e 8093 0000 sts Parameter_DynamicStability,r24 |
3599 1d12 8091 0000 lds r24,EE_Parameter+94 |
3600 1d16 883F cpi r24,lo8(-8) |
3601 1d18 38F0 brlo .L309 |
3602 1d1a EFEF ldi r30,lo8(255) |
3603 1d1c F0E0 ldi r31,hi8(255) |
3604 1d1e E81B sub r30,r24 |
3605 1d20 F109 sbc r31,__zero_reg__ |
3606 1d22 E050 subi r30,lo8(-(Poti)) |
3607 1d24 F040 sbci r31,hi8(-(Poti)) |
3608 1d26 8081 ld r24,Z |
3609 .L309: |
3610 1d28 8093 0000 sts Parameter_ExternalControl,r24 |
3611 1d2c 8091 0000 lds r24,Parameter_I_Faktor |
3612 1d30 282F mov r18,r24 |
3613 1d32 3327 clr r19 |
3614 1d34 2F5F subi r18,lo8(-(1)) |
3615 1d36 3F4F sbci r19,hi8(-(1)) |
3616 1d38 8CE3 ldi r24,lo8(10300) |
3617 1d3a 98E2 ldi r25,hi8(10300) |
3618 1d3c B901 movw r22,r18 |
3619 1d3e 0E94 0000 call __divmodhi4 |
3620 1d42 7093 0000 sts (Ki)+1,r23 |
3621 1d46 6093 0000 sts Ki,r22 |
3622 1d4a 8091 0000 lds r24,EE_Parameter+27 |
3623 1d4e 8093 0000 sts MAX_GAS,r24 |
3624 1d52 8091 0000 lds r24,EE_Parameter+26 |
3625 1d56 8093 0000 sts MIN_GAS,r24 |
3626 1d5a 9091 0000 lds r25,EE_Parameter+96 |
3627 1d5e 9333 cpi r25,lo8(51) |
3628 1d60 20F1 brlo .L267 |
3629 1d62 81E0 ldi r24,lo8(1) |
3630 1d64 8093 0000 sts CareFree,r24 |
3631 1d68 983F cpi r25,lo8(-8) |
3632 1d6a 58F0 brlo .L268 |
3633 1d6c EFEF ldi r30,lo8(255) |
3634 1d6e F0E0 ldi r31,hi8(255) |
3635 1d70 E91B sub r30,r25 |
3636 1d72 F109 sbc r31,__zero_reg__ |
3637 1d74 E050 subi r30,lo8(-(Poti)) |
3638 1d76 F040 sbci r31,hi8(-(Poti)) |
3639 1d78 8081 ld r24,Z |
3640 1d7a 8233 cpi r24,lo8(50) |
3641 1d7c 10F4 brsh .L268 |
3642 1d7e 1092 0000 sts CareFree,__zero_reg__ |
3643 .L268: |
3644 1d82 8091 0000 lds r24,FromNaviCtrl+7 |
3645 1d86 9091 0000 lds r25,(FromNaviCtrl+7)+1 |
3646 1d8a 97FF sbrs r25,7 |
3647 1d8c 08C0 rjmp .L269 |
3648 1d8e 8091 0000 lds r24,CareFree |
3649 1d92 8823 tst r24 |
3650 1d94 21F0 breq .L269 |
3651 1d96 8091 0000 lds r24,VersionInfo+5 |
3652 1d9a 8068 ori r24,lo8(-128) |
3653 1d9c 03C0 rjmp .L310 |
3654 .L269: |
3655 1d9e 8091 0000 lds r24,VersionInfo+5 |
3656 1da2 8F77 andi r24,lo8(127) |
3657 .L310: |
3658 1da4 8093 0000 sts VersionInfo+5,r24 |
3659 1da8 02C0 rjmp .L271 |
3660 .L267: |
3661 1daa 1092 0000 sts CareFree,__zero_reg__ |
3662 .L271: |
3663 1dae 8091 0000 lds r24,FromNaviCtrl+7 |
3664 1db2 9091 0000 lds r25,(FromNaviCtrl+7)+1 |
3665 1db6 97FF sbrs r25,7 |
3666 1db8 1DC0 rjmp .L272 |
3667 1dba 8091 0000 lds r24,MotorenEin |
3668 1dbe 8823 tst r24 |
3669 1dc0 C9F0 breq .L272 |
3670 1dc2 8091 0000 lds r24,CareFree |
3671 1dc6 8823 tst r24 |
3672 1dc8 A9F0 breq .L272 |
3673 1dca 8091 0000 lds r24,BeepMuster |
3674 1dce 9091 0000 lds r25,(BeepMuster)+1 |
3675 1dd2 8F5F subi r24,lo8(-1) |
3676 1dd4 9F4F sbci r25,hi8(-1) |
3677 1dd6 71F4 brne .L272 |
3678 1dd8 88E9 ldi r24,lo8(15000) |
3679 1dda 9AE3 ldi r25,hi8(15000) |
3680 1ddc 9093 0000 sts (beeptime)+1,r25 |
3681 1de0 8093 0000 sts beeptime,r24 |
3682 1de4 80E0 ldi r24,lo8(-23552) |
3683 1de6 94EA ldi r25,hi8(-23552) |
3684 1de8 9093 0000 sts (BeepMuster)+1,r25 |
3685 1dec 8093 0000 sts BeepMuster,r24 |
3686 1df0 1092 0000 sts CareFree,__zero_reg__ |
3687 .L272: |
3688 1df4 8091 0000 lds r24,CareFree |
3689 1df8 8823 tst r24 |
3690 1dfa 39F0 breq .L183 |
3691 1dfc 8091 0000 lds r24,Parameter_AchsKopplung1 |
3692 1e00 823D cpi r24,lo8(-46) |
3693 1e02 18F4 brsh .L183 |
3694 1e04 825E subi r24,lo8(-(30)) |
3695 1e06 8093 0000 sts Parameter_AchsKopplung1,r24 |
3696 .L183: |
3697 1e0a 0895 ret |
3698 /* epilogue: frame size=0 */ |
3699 /* epilogue: noreturn */ |
3700 /* epilogue end (size=0) */ |
3701 /* function ParameterZuordnung size 607 (607) */ |
3703 .lcomm sollGier.0,4 |
3704 .lcomm tmp_long.1,4 |
3705 .lcomm tmp_long2.2,4 |
3706 .lcomm IntegralFehlerNick.3,4 |
3707 .lcomm IntegralFehlerRoll.4,4 |
3708 .lcomm RcLostTimer.5,2 |
3709 .lcomm delay_neutral.6,1 |
3710 .lcomm delay_einschalten.7,1 |
3711 .lcomm delay_ausschalten.8,1 |
3712 .lcomm calibration_done.9,1 |
3713 .lcomm NeueKompassRichtungMerken.10,1 |
3714 .lcomm ausgleichNick.11,4 |
3715 .lcomm ausgleichRoll.12,4 |
3716 .lcomm stick_nick.13,2 |
3717 .lcomm stick_roll.14,2 |
3718 .lcomm cnt.15,2 |
3719 .lcomm last_n_p.16,1 |
3720 .lcomm last_n_n.17,1 |
3721 .lcomm last_r_p.18,1 |
3722 .lcomm last_r_n.19,1 |
3723 .lcomm MittelIntegralNick_Alt.20,4 |
3724 .lcomm MittelIntegralRoll_Alt.21,4 |
3725 .lcomm HeightTrimming.22,2 |
3726 .lcomm FilterHCGas.23,2 |
3727 .data |
3730 StickGasHover.24: |
3731 0027 7800 .word 120 |
3732 .lcomm HoverGasMin.25,2 |
3735 HoverGasMax.26: |
3736 0029 FF03 .word 1023 |
3737 .lcomm HoverGasFilter.27,4 |
3740 delay.28: |
3741 002b 64 .byte 100 |
3742 .lcomm BaroAtUpperLimit.29,1 |
3743 .lcomm BaroAtLowerLimit.30,1 |
3744 .lcomm HeightTrimmingFlag.31,1 |
3745 .LC0: |
3746 002c 00 .byte 0 |
3747 002d 02 .byte 2 |
3748 002e 04 .byte 4 |
3749 002f 06 .byte 6 |
3750 0030 07 .byte 7 |
3751 0031 08 .byte 8 |
3752 0032 08 .byte 8 |
3753 0033 08 .byte 8 |
3754 0034 07 .byte 7 |
3755 0035 06 .byte 6 |
3756 0036 04 .byte 4 |
3757 0037 02 .byte 2 |
3758 0038 00 .byte 0 |
3759 0039 FE .byte -2 |
3760 003a FC .byte -4 |
3761 003b FA .byte -6 |
3762 003c F9 .byte -7 |
3763 003d F8 .byte -8 |
3764 003e F8 .byte -8 |
3765 003f F8 .byte -8 |
3766 0040 F9 .byte -7 |
3767 0041 FA .byte -6 |
3768 0042 FC .byte -4 |
3769 0043 FE .byte -2 |
3770 0044 00 .byte 0 |
3771 0045 02 .byte 2 |
3772 0046 04 .byte 4 |
3773 0047 06 .byte 6 |
3774 0048 07 .byte 7 |
3775 0049 08 .byte 8 |
3776 004a 08 .byte 8 |
3777 .text |
3778 .global MotorRegler |
3780 MotorRegler: |
3781 /* prologue: frame size=53 */ |
3782 1e0c A5E3 ldi r26,lo8(53) |
3783 1e0e B0E0 ldi r27,hi8(53) |
3784 1e10 E0E0 ldi r30,pm_lo8(1f) |
3785 1e12 F0E0 ldi r31,pm_hi8(1f) |
3786 1e14 0C94 0000 jmp __prologue_saves__+0 |
3787 1: |
3788 /* prologue end (size=6) */ |
3789 1e18 0E94 0000 call Mittelwert |
3790 1e1c 3091 0000 lds r19,PlatinenVersion |
3791 1e20 3C30 cpi r19,lo8(12) |
3792 1e22 10F4 brsh .L312 |
3793 1e24 299A sbi 37-0x20,1 |
3794 1e26 01C0 rjmp .L313 |
3795 .L312: |
3796 1e28 2998 cbi 37-0x20,1 |
3797 .L313: |
3798 1e2a E090 0000 lds r14,StickGas |
3799 1e2e F090 0000 lds r15,(StickGas)+1 |
3800 1e32 F9A2 std Y+33,r15 |
3801 1e34 E8A2 std Y+32,r14 |
3802 1e36 8091 0000 lds r24,MIN_GAS |
3803 1e3a 9927 clr r25 |
3804 1e3c 0A96 adiw r24,10 |
3805 1e3e E816 cp r14,r24 |
3806 1e40 F906 cpc r15,r25 |
3807 1e42 14F4 brge .L314 |
3808 1e44 99A3 std Y+33,r25 |
3809 1e46 88A3 std Y+32,r24 |
3810 .L314: |
3811 1e48 8091 0000 lds r24,SenderOkay |
3812 1e4c 8436 cpi r24,lo8(100) |
3813 1e4e 08F0 brlo .+2 |
3814 1e50 5CC0 rjmp .L315 |
3815 1e52 8091 0000 lds r24,RcLostTimer.5 |
3816 1e56 9091 0000 lds r25,(RcLostTimer.5)+1 |
3817 1e5a 0097 sbiw r24,0 |
3818 1e5c 31F0 breq .L316 |
3819 1e5e 0197 sbiw r24,1 |
3820 1e60 9093 0000 sts (RcLostTimer.5)+1,r25 |
3821 1e64 8093 0000 sts RcLostTimer.5,r24 |
3822 1e68 07C0 rjmp .L317 |
3823 .L316: |
3824 1e6a 1092 0000 sts MotorenEin,__zero_reg__ |
3825 1e6e 8091 0000 lds r24,FCFlags |
3826 1e72 8F7E andi r24,lo8(-17) |
3827 1e74 8093 0000 sts FCFlags,r24 |
3828 .L317: |
3829 1e78 3A30 cpi r19,lo8(10) |
3830 1e7a 11F0 breq .L319 |
3831 1e7c 3431 cpi r19,lo8(20) |
3832 1e7e 10F0 brlo .L318 |
3833 .L319: |
3834 1e80 289A sbi 37-0x20,0 |
3835 1e82 01C0 rjmp .L320 |
3836 .L318: |
3837 1e84 2898 cbi 37-0x20,0 |
3838 .L320: |
3839 1e86 8091 0000 lds r24,modell_fliegt |
3840 1e8a 9091 0000 lds r25,(modell_fliegt)+1 |
3841 1e8e 895E subi r24,lo8(1001) |
3842 1e90 9340 sbci r25,hi8(1001) |
3843 1e92 C0F1 brlo .L321 |
3844 1e94 8091 0000 lds r24,EE_Parameter+37 |
3845 1e98 282F mov r18,r24 |
3846 1e9a 3327 clr r19 |
3847 1e9c 39A3 std Y+33,r19 |
3848 1e9e 28A3 std Y+32,r18 |
3849 1ea0 8091 0000 lds r24,FCFlags |
3850 1ea4 8061 ori r24,lo8(16) |
3851 1ea6 8093 0000 sts FCFlags,r24 |
3852 1eaa 8091 0000 lds r24,EE_Parameter+1 |
3853 1eae A82F mov r26,r24 |
3854 1eb0 BB27 clr r27 |
3855 1eb2 AA0F add r26,r26 |
3856 1eb4 BB1F adc r27,r27 |
3857 1eb6 FD01 movw r30,r26 |
3858 1eb8 E050 subi r30,lo8(-(PPM_diff)) |
3859 1eba F040 sbci r31,hi8(-(PPM_diff)) |
3860 1ebc 1182 std Z+1,__zero_reg__ |
3861 1ebe 1082 st Z,__zero_reg__ |
3862 1ec0 8091 0000 lds r24,EE_Parameter+2 |
3863 1ec4 282F mov r18,r24 |
3864 1ec6 3327 clr r19 |
3865 1ec8 220F add r18,r18 |
3866 1eca 331F adc r19,r19 |
3867 1ecc C901 movw r24,r18 |
3868 1ece 8050 subi r24,lo8(-(PPM_diff)) |
3869 1ed0 9040 sbci r25,hi8(-(PPM_diff)) |
3870 1ed2 FC01 movw r30,r24 |
3871 1ed4 1182 std Z+1,__zero_reg__ |
3872 1ed6 1082 st Z,__zero_reg__ |
3873 1ed8 A050 subi r26,lo8(-(PPM_in)) |
3874 1eda B040 sbci r27,hi8(-(PPM_in)) |
3875 1edc 1196 adiw r26,1 |
3876 1ede 1C92 st X,__zero_reg__ |
3877 1ee0 1E92 st -X,__zero_reg__ |
3878 1ee2 2050 subi r18,lo8(-(PPM_in)) |
3879 1ee4 3040 sbci r19,hi8(-(PPM_in)) |
3880 1ee6 D901 movw r26,r18 |
3881 1ee8 1196 adiw r26,1 |
3882 1eea 1C92 st X,__zero_reg__ |
3883 1eec 1E92 st -X,__zero_reg__ |
3884 1eee 8091 0000 lds r24,EE_Parameter+4 |
3885 1ef2 E82F mov r30,r24 |
3886 1ef4 FF27 clr r31 |
3887 1ef6 EE0F add r30,r30 |
3888 1ef8 FF1F adc r31,r31 |
3889 1efa E050 subi r30,lo8(-(PPM_in)) |
3890 1efc F040 sbci r31,hi8(-(PPM_in)) |
3891 1efe 1182 std Z+1,__zero_reg__ |
3892 1f00 1082 st Z,__zero_reg__ |
3893 1f02 AAC2 rjmp .L323 |
3894 .L321: |
3895 1f04 1092 0000 sts MotorenEin,__zero_reg__ |
3896 1f08 A7C2 rjmp .L323 |
3897 .L315: |
3898 1f0a 8091 0000 lds r24,SenderOkay |
3899 1f0e 8D38 cpi r24,lo8(-115) |
3900 1f10 08F4 brsh .+2 |
3901 1f12 A2C2 rjmp .L323 |
3902 1f14 8091 0000 lds r24,FCFlags |
3903 1f18 8F7E andi r24,lo8(-17) |
3904 1f1a 8093 0000 sts FCFlags,r24 |
3905 1f1e 9091 0000 lds r25,EE_Parameter+38 |
3906 1f22 82E3 ldi r24,lo8(50) |
3907 1f24 989F mul r25,r24 |
3908 1f26 C001 movw r24,r0 |
3909 1f28 1124 clr r1 |
3910 1f2a 9093 0000 sts (RcLostTimer.5)+1,r25 |
3911 1f2e 8093 0000 sts RcLostTimer.5,r24 |
3912 1f32 E8A1 ldd r30,Y+32 |
3913 1f34 F9A1 ldd r31,Y+33 |
3914 1f36 B997 sbiw r30,41 |
3915 1f38 8CF0 brlt .L325 |
3916 1f3a 8091 0000 lds r24,MotorenEin |
3917 1f3e 8823 tst r24 |
3918 1f40 69F0 breq .L325 |
3919 1f42 8091 0000 lds r24,modell_fliegt |
3920 1f46 9091 0000 lds r25,(modell_fliegt)+1 |
3921 1f4a FFEF ldi r31,hi8(-1) |
3922 1f4c 8F3F cpi r24,lo8(-1) |
3923 1f4e 9F07 cpc r25,r31 |
3924 1f50 29F0 breq .L325 |
3925 1f52 0196 adiw r24,1 |
3926 1f54 9093 0000 sts (modell_fliegt)+1,r25 |
3927 1f58 8093 0000 sts modell_fliegt,r24 |
3928 .L325: |
3929 1f5c 8091 0000 lds r24,modell_fliegt |
3930 1f60 9091 0000 lds r25,(modell_fliegt)+1 |
3931 1f64 8F3F cpi r24,255 |
3932 1f66 9105 cpc r25,__zero_reg__ |
3933 1f68 09F0 breq .+2 |
3934 1f6a 38F5 brsh .L327 |
3935 1f6c 1092 0000 sts SummeNick,__zero_reg__ |
3936 1f70 1092 0000 sts (SummeNick)+1,__zero_reg__ |
3937 1f74 1092 0000 sts (SummeNick)+2,__zero_reg__ |
3938 1f78 1092 0000 sts (SummeNick)+3,__zero_reg__ |
3939 1f7c 1092 0000 sts SummeRoll,__zero_reg__ |
3940 1f80 1092 0000 sts (SummeRoll)+1,__zero_reg__ |
3941 1f84 1092 0000 sts (SummeRoll)+2,__zero_reg__ |
3942 1f88 1092 0000 sts (SummeRoll)+3,__zero_reg__ |
3943 1f8c 1092 0000 sts sollGier.0,__zero_reg__ |
3944 1f90 1092 0000 sts (sollGier.0)+1,__zero_reg__ |
3945 1f94 1092 0000 sts (sollGier.0)+2,__zero_reg__ |
3946 1f98 1092 0000 sts (sollGier.0)+3,__zero_reg__ |
3947 1f9c 1092 0000 sts Mess_Integral_Gier,__zero_reg__ |
3948 1fa0 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__ |
3949 1fa4 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__ |
3950 1fa8 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__ |
3951 1fac 8A3F cpi r24,250 |
3952 1fae 9105 cpc r25,__zero_reg__ |
3953 1fb0 49F4 brne .L329 |
3954 1fb2 81E0 ldi r24,lo8(1) |
3955 1fb4 8093 0000 sts NeueKompassRichtungMerken.10,r24 |
3956 1fb8 05C0 rjmp .L329 |
3957 .L327: |
3958 1fba 8091 0000 lds r24,FCFlags |
3959 1fbe 8260 ori r24,lo8(2) |
3960 1fc0 8093 0000 sts FCFlags,r24 |
3961 .L329: |
3962 1fc4 8091 0000 lds r24,EE_Parameter+3 |
3963 1fc8 E82F mov r30,r24 |
3964 1fca FF27 clr r31 |
3965 1fcc EE0F add r30,r30 |
3966 1fce FF1F adc r31,r31 |
3967 1fd0 E050 subi r30,lo8(-(PPM_in)) |
3968 1fd2 F040 sbci r31,hi8(-(PPM_in)) |
3969 1fd4 8081 ld r24,Z |
3970 1fd6 9181 ldd r25,Z+1 |
3971 1fd8 8135 cpi r24,81 |
3972 1fda 9105 cpc r25,__zero_reg__ |
3973 1fdc 0CF4 brge .+2 |
3974 1fde 41C1 rjmp .L330 |
3975 1fe0 2091 0000 lds r18,MotorenEin |
3976 1fe4 2223 tst r18 |
3977 1fe6 09F0 breq .+2 |
3978 1fe8 3CC1 rjmp .L330 |
3979 1fea 8091 0000 lds r24,EE_Parameter+4 |
3980 1fee E82F mov r30,r24 |
3981 1ff0 FF27 clr r31 |
3982 1ff2 EE0F add r30,r30 |
3983 1ff4 FF1F adc r31,r31 |
3984 1ff6 E050 subi r30,lo8(-(PPM_in)) |
3985 1ff8 F040 sbci r31,hi8(-(PPM_in)) |
3986 1ffa 8081 ld r24,Z |
3987 1ffc 9181 ldd r25,Z+1 |
3988 1ffe 8C34 cpi r24,76 |
3989 2000 9105 cpc r25,__zero_reg__ |
3990 2002 0CF4 brge .+2 |
3991 2004 06C1 rjmp .L331 |
3992 2006 8091 0000 lds r24,delay_neutral.6 |
3993 200a 8F5F subi r24,lo8(-(1)) |
3994 200c 8093 0000 sts delay_neutral.6,r24 |
3995 2010 893C cpi r24,lo8(-55) |
3996 2012 08F4 brsh .+2 |
3997 2014 26C1 rjmp .L330 |
3998 2016 3C30 cpi r19,lo8(12) |
3999 2018 10F4 brsh .L333 |
4000 201a 2998 cbi 37-0x20,1 |
4001 201c 01C0 rjmp .L334 |
4002 .L333: |
4003 201e 299A sbi 37-0x20,1 |
4004 .L334: |
4005 2020 1092 0000 sts MotorenEin,__zero_reg__ |
4006 2024 1092 0000 sts delay_neutral.6,__zero_reg__ |
4007 2028 1092 0000 sts (modell_fliegt)+1,__zero_reg__ |
4008 202c 1092 0000 sts modell_fliegt,__zero_reg__ |
4009 2030 3091 0000 lds r19,EE_Parameter+1 |
4010 2034 E32F mov r30,r19 |
4011 2036 FF27 clr r31 |
4012 2038 EE0F add r30,r30 |
4013 203a FF1F adc r31,r31 |
4014 203c E050 subi r30,lo8(-(PPM_in)) |
4015 203e F040 sbci r31,hi8(-(PPM_in)) |
4016 2040 8081 ld r24,Z |
4017 2042 9181 ldd r25,Z+1 |
4018 2044 8734 cpi r24,71 |
4019 2046 9105 cpc r25,__zero_reg__ |
4020 2048 B4F4 brge .L336 |
4021 204a 8091 0000 lds r24,EE_Parameter+2 |
4022 204e E82F mov r30,r24 |
4023 2050 FF27 clr r31 |
4024 2052 EE0F add r30,r30 |
4025 2054 FF1F adc r31,r31 |
4026 2056 E050 subi r30,lo8(-(PPM_in)) |
4027 2058 F040 sbci r31,hi8(-(PPM_in)) |
4028 205a 8081 ld r24,Z |
4029 205c 9181 ldd r25,Z+1 |
4030 205e 0190 ld __tmp_reg__,Z+ |
4031 2060 F081 ld r31,Z |
4032 2062 E02D mov r30,__tmp_reg__ |
4033 2064 F7FF sbrs r31,7 |
4034 2066 03C0 rjmp .L337 |
4035 2068 F095 com r31 |
4036 206a E195 neg r30 |
4037 206c FF4F sbci r31,lo8(-1) |
4038 .L337: |
4039 206e E734 cpi r30,71 |
4040 2070 F105 cpc r31,__zero_reg__ |
4041 2072 0CF4 brge .+2 |
4042 2074 78C0 rjmp .L335 |
4043 .L336: |
4044 2076 41E0 ldi r20,lo8(1) |
4045 2078 2091 0000 lds r18,EE_Parameter+2 |
4046 207c A22F mov r26,r18 |
4047 207e BB27 clr r27 |
4048 2080 AA0F add r26,r26 |
4049 2082 BB1F adc r27,r27 |
4050 2084 A050 subi r26,lo8(-(PPM_in)) |
4051 2086 B040 sbci r27,hi8(-(PPM_in)) |
4052 2088 8D91 ld r24,X+ |
4053 208a 9C91 ld r25,X |
4054 208c 1197 sbiw r26,1 |
4055 208e 8734 cpi r24,71 |
4056 2090 9105 cpc r25,__zero_reg__ |
4057 2092 44F0 brlt .L338 |
4058 2094 E32F mov r30,r19 |
4059 2096 FF27 clr r31 |
4060 2098 EE0F add r30,r30 |
4061 209a FF1F adc r31,r31 |
4062 209c E050 subi r30,lo8(-(PPM_in)) |
4063 209e F040 sbci r31,hi8(-(PPM_in)) |
4064 20a0 8081 ld r24,Z |
4065 20a2 9181 ldd r25,Z+1 |
4066 .L338: |
4067 20a4 8D91 ld r24,X+ |
4068 20a6 9C91 ld r25,X |
4069 20a8 8734 cpi r24,71 |
4070 20aa 9105 cpc r25,__zero_reg__ |
4071 20ac 74F0 brlt .L339 |
4072 20ae 8091 0000 lds r24,EE_Parameter+1 |
4073 20b2 E82F mov r30,r24 |
4074 20b4 FF27 clr r31 |
4075 20b6 EE0F add r30,r30 |
4076 20b8 FF1F adc r31,r31 |
4077 20ba E050 subi r30,lo8(-(PPM_in)) |
4078 20bc F040 sbci r31,hi8(-(PPM_in)) |
4079 20be 8081 ld r24,Z |
4080 20c0 9181 ldd r25,Z+1 |
4081 20c2 8734 cpi r24,71 |
4082 20c4 9105 cpc r25,__zero_reg__ |
4083 20c6 0CF0 brlt .L339 |
4084 20c8 42E0 ldi r20,lo8(2) |
4085 .L339: |
4086 20ca E22F mov r30,r18 |
4087 20cc FF27 clr r31 |
4088 20ce EE0F add r30,r30 |
4089 20d0 FF1F adc r31,r31 |
4090 20d2 E050 subi r30,lo8(-(PPM_in)) |
4091 20d4 F040 sbci r31,hi8(-(PPM_in)) |
4092 20d6 8081 ld r24,Z |
4093 20d8 9181 ldd r25,Z+1 |
4094 20da 8634 cpi r24,70 |
4095 20dc 9105 cpc r25,__zero_reg__ |
4096 20de 74F4 brge .L340 |
4097 20e0 8091 0000 lds r24,EE_Parameter+1 |
4098 20e4 E82F mov r30,r24 |
4099 20e6 FF27 clr r31 |
4100 20e8 EE0F add r30,r30 |
4101 20ea FF1F adc r31,r31 |
4102 20ec E050 subi r30,lo8(-(PPM_in)) |
4103 20ee F040 sbci r31,hi8(-(PPM_in)) |
4104 20f0 8081 ld r24,Z |
4105 20f2 9181 ldd r25,Z+1 |
4106 20f4 8734 cpi r24,71 |
4107 20f6 9105 cpc r25,__zero_reg__ |
4108 20f8 0CF0 brlt .L340 |
4109 20fa 43E0 ldi r20,lo8(3) |
4110 .L340: |
4111 20fc E22F mov r30,r18 |
4112 20fe FF27 clr r31 |
4113 2100 EE0F add r30,r30 |
4114 2102 FF1F adc r31,r31 |
4115 2104 E050 subi r30,lo8(-(PPM_in)) |
4116 2106 F040 sbci r31,hi8(-(PPM_in)) |
4117 2108 8081 ld r24,Z |
4118 210a 9181 ldd r25,Z+1 |
4119 210c 8A5B subi r24,lo8(-70) |
4120 210e 9F4F sbci r25,hi8(-70) |
4121 2110 74F4 brge .L341 |
4122 2112 8091 0000 lds r24,EE_Parameter+1 |
4123 2116 E82F mov r30,r24 |
4124 2118 FF27 clr r31 |
4125 211a EE0F add r30,r30 |
4126 211c FF1F adc r31,r31 |
4127 211e E050 subi r30,lo8(-(PPM_in)) |
4128 2120 F040 sbci r31,hi8(-(PPM_in)) |
4129 2122 8081 ld r24,Z |
4130 2124 9181 ldd r25,Z+1 |
4131 2126 8734 cpi r24,71 |
4132 2128 9105 cpc r25,__zero_reg__ |
4133 212a 0CF0 brlt .L341 |
4134 212c 44E0 ldi r20,lo8(4) |
4135 .L341: |
4136 212e E22F mov r30,r18 |
4137 2130 FF27 clr r31 |
4138 2132 EE0F add r30,r30 |
4139 2134 FF1F adc r31,r31 |
4140 2136 E050 subi r30,lo8(-(PPM_in)) |
4141 2138 F040 sbci r31,hi8(-(PPM_in)) |
4142 213a 8081 ld r24,Z |
4143 213c 9181 ldd r25,Z+1 |
4144 213e 8A5B subi r24,lo8(-70) |
4145 2140 9F4F sbci r25,hi8(-70) |
4146 2142 74F4 brge .L342 |
4147 2144 8091 0000 lds r24,EE_Parameter+1 |
4148 2148 E82F mov r30,r24 |
4149 214a FF27 clr r31 |
4150 214c EE0F add r30,r30 |
4151 214e FF1F adc r31,r31 |
4152 2150 E050 subi r30,lo8(-(PPM_in)) |
4153 2152 F040 sbci r31,hi8(-(PPM_in)) |
4154 2154 8081 ld r24,Z |
4155 2156 9181 ldd r25,Z+1 |
4156 2158 8634 cpi r24,70 |
4157 215a 9105 cpc r25,__zero_reg__ |
4158 215c 0CF4 brge .L342 |
4159 215e 45E0 ldi r20,lo8(5) |
4160 .L342: |
4161 2160 842F mov r24,r20 |
4162 2162 0E94 0000 call SetActiveParamSet |
4163 .L335: |
4164 2166 8091 0000 lds r24,EE_Parameter+2 |
4165 216a E82F mov r30,r24 |
4166 216c FF27 clr r31 |
4167 216e EE0F add r30,r30 |
4168 2170 FF1F adc r31,r31 |
4169 2172 E050 subi r30,lo8(-(PPM_in)) |
4170 2174 F040 sbci r31,hi8(-(PPM_in)) |
4171 2176 8081 ld r24,Z |
4172 2178 9181 ldd r25,Z+1 |
4173 217a 0190 ld __tmp_reg__,Z+ |
4174 217c F081 ld r31,Z |
4175 217e E02D mov r30,__tmp_reg__ |
4176 2180 F7FF sbrs r31,7 |
4177 2182 03C0 rjmp .L344 |
4178 2184 F095 com r31 |
4179 2186 E195 neg r30 |
4180 2188 FF4F sbci r31,lo8(-1) |
4181 .L344: |
4182 218a 7E97 sbiw r30,30 |
4183 218c BCF4 brge .L343 |
4184 218e 8091 0000 lds r24,EE_Parameter+1 |
4185 2192 E82F mov r30,r24 |
4186 2194 FF27 clr r31 |
4187 2196 EE0F add r30,r30 |
4188 2198 FF1F adc r31,r31 |
4189 219a E050 subi r30,lo8(-(PPM_in)) |
4190 219c F040 sbci r31,hi8(-(PPM_in)) |
4191 219e 8081 ld r24,Z |
4192 21a0 9181 ldd r25,Z+1 |
4193 21a2 8A5B subi r24,lo8(-70) |
4194 21a4 9F4F sbci r25,hi8(-70) |
4195 21a6 54F4 brge .L343 |
4196 21a8 81E0 ldi r24,lo8(1) |
4197 21aa 8093 0000 sts WinkelOut+6,r24 |
4198 21ae 88EE ldi r24,lo8(1000) |
4199 21b0 93E0 ldi r25,hi8(1000) |
4200 21b2 9093 0000 sts (beeptime)+1,r25 |
4201 21b6 8093 0000 sts beeptime,r24 |
4202 21ba 53C0 rjmp .L330 |
4203 .L343: |
4204 21bc 0E94 0000 call GetActiveParamSet |
4205 21c0 0E94 0000 call ParamSet_ReadFromEEProm |
4206 21c4 80E0 ldi r24,lo8(0) |
4207 21c6 0E94 0000 call LipoDetection |
4208 21ca 8091 0000 lds r24,EE_Parameter+39 |
4209 21ce 0E94 0000 call LIBFC_ReceiverInit |
4210 21d2 8091 0000 lds r24,EE_Parameter+13 |
4211 21d6 80FF sbrs r24,0 |
4212 21d8 10C0 rjmp .L346 |
4213 21da 8091 0000 lds r24,MessLuftdruck |
4214 21de 9091 0000 lds r25,(MessLuftdruck)+1 |
4215 21e2 875B subi r24,lo8(951) |
4216 21e4 9340 sbci r25,hi8(951) |
4217 21e6 38F4 brsh .L348 |
4218 21e8 8091 0000 lds r24,MessLuftdruck |
4219 21ec 9091 0000 lds r25,(MessLuftdruck)+1 |
4220 21f0 8E5E subi r24,lo8(750) |
4221 21f2 9240 sbci r25,hi8(750) |
4222 21f4 10F4 brsh .L346 |
4223 .L348: |
4224 21f6 0E94 0000 call SucheLuftruckOffset |
4225 .L346: |
4226 21fa 1092 0000 sts ServoActive,__zero_reg__ |
4227 21fe 80E0 ldi r24,lo8(0) |
4228 2200 0E94 0000 call SetNeutral |
4229 2204 81E0 ldi r24,lo8(1) |
4230 2206 8093 0000 sts calibration_done.9,r24 |
4231 220a 8093 0000 sts ServoActive,r24 |
4232 220e 579A sbi 42-0x20,7 |
4233 2210 1FC0 rjmp .L777 |
4234 .L331: |
4235 2212 8081 ld r24,Z |
4236 2214 9181 ldd r25,Z+1 |
4237 2216 855B subi r24,lo8(-75) |
4238 2218 9F4F sbci r25,hi8(-75) |
4239 221a 0CF5 brge .L350 |
4240 221c 8091 0000 lds r24,delay_neutral.6 |
4241 2220 8F5F subi r24,lo8(-(1)) |
4242 2222 8093 0000 sts delay_neutral.6,r24 |
4243 2226 893C cpi r24,lo8(-55) |
4244 2228 E0F0 brlo .L330 |
4245 222a 3C30 cpi r19,lo8(12) |
4246 222c 10F4 brsh .L352 |
4247 222e 2998 cbi 37-0x20,1 |
4248 2230 01C0 rjmp .L353 |
4249 .L352: |
4250 2232 299A sbi 37-0x20,1 |
4251 .L353: |
4252 2234 1092 0000 sts MotorenEin,__zero_reg__ |
4253 2238 1092 0000 sts delay_neutral.6,__zero_reg__ |
4254 223c 1092 0000 sts (modell_fliegt)+1,__zero_reg__ |
4255 2240 1092 0000 sts modell_fliegt,__zero_reg__ |
4256 2244 81E0 ldi r24,lo8(1) |
4257 2246 0E94 0000 call SetNeutral |
4258 224a 81E0 ldi r24,lo8(1) |
4259 224c 8093 0000 sts calibration_done.9,r24 |
4260 .L777: |
4261 2250 0E94 0000 call GetActiveParamSet |
4262 2254 68E7 ldi r22,lo8(120) |
4263 2256 70E0 ldi r23,hi8(120) |
4264 2258 0E94 0000 call Piep |
4265 225c 02C0 rjmp .L330 |
4266 .L350: |
4267 225e 2093 0000 sts delay_neutral.6,r18 |
4268 .L330: |
4269 2262 8091 0000 lds r24,EE_Parameter+3 |
4270 2266 E82F mov r30,r24 |
4271 2268 FF27 clr r31 |
4272 226a EE0F add r30,r30 |
4273 226c FF1F adc r31,r31 |
4274 226e E050 subi r30,lo8(-(PPM_in)) |
4275 2270 F040 sbci r31,hi8(-(PPM_in)) |
4276 2272 8081 ld r24,Z |
4277 2274 9181 ldd r25,Z+1 |
4278 2276 8B5A subi r24,lo8(-85) |
4279 2278 9F4F sbci r25,hi8(-85) |
4280 227a 0CF0 brlt .+2 |
4281 227c EDC0 rjmp .L323 |
4282 227e 2091 0000 lds r18,MotorenEin |
4283 2282 E091 0000 lds r30,EE_Parameter+4 |
4284 2286 2223 tst r18 |
4285 2288 09F0 breq .+2 |
4286 228a CAC0 rjmp .L356 |
4287 228c FF27 clr r31 |
4288 228e EE0F add r30,r30 |
4289 2290 FF1F adc r31,r31 |
4290 2292 E050 subi r30,lo8(-(PPM_in)) |
4291 2294 F040 sbci r31,hi8(-(PPM_in)) |
4292 2296 8081 ld r24,Z |
4293 2298 9181 ldd r25,Z+1 |
4294 229a 855B subi r24,lo8(-75) |
4295 229c 9F4F sbci r25,hi8(-75) |
4296 229e 0CF0 brlt .+2 |
4297 22a0 BCC0 rjmp .L357 |
4298 22a2 8091 0000 lds r24,delay_einschalten.7 |
4299 22a6 8F5F subi r24,lo8(-(1)) |
4300 22a8 8093 0000 sts delay_einschalten.7,r24 |
4301 22ac 893C cpi r24,lo8(-55) |
4302 22ae 08F4 brsh .+2 |
4303 22b0 D3C0 rjmp .L323 |
4304 22b2 2093 0000 sts delay_einschalten.7,r18 |
4305 22b6 8091 0000 lds r24,VersionInfo+5 |
4306 22ba 8823 tst r24 |
4307 22bc 09F0 breq .+2 |
4308 22be A6C0 rjmp .L359 |
4309 22c0 8091 0000 lds r24,calibration_done.9 |
4310 22c4 8823 tst r24 |
4311 22c6 09F4 brne .+2 |
4312 22c8 A1C0 rjmp .L359 |
4313 22ca 81E0 ldi r24,lo8(1) |
4314 22cc 90E0 ldi r25,hi8(1) |
4315 22ce 9093 0000 sts (modell_fliegt)+1,r25 |
4316 22d2 8093 0000 sts modell_fliegt,r24 |
4317 22d6 81E0 ldi r24,lo8(1) |
4318 22d8 8093 0000 sts MotorenEin,r24 |
4319 22dc 1092 0000 sts sollGier.0,__zero_reg__ |
4320 22e0 1092 0000 sts (sollGier.0)+1,__zero_reg__ |
4321 22e4 1092 0000 sts (sollGier.0)+2,__zero_reg__ |
4322 22e8 1092 0000 sts (sollGier.0)+3,__zero_reg__ |
4323 22ec 1092 0000 sts Mess_Integral_Gier,__zero_reg__ |
4324 22f0 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__ |
4325 22f4 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__ |
4326 22f8 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__ |
4327 22fc 1092 0000 sts Mess_Integral_Gier2,__zero_reg__ |
4328 2300 1092 0000 sts (Mess_Integral_Gier2)+1,__zero_reg__ |
4329 2304 1092 0000 sts (Mess_Integral_Gier2)+2,__zero_reg__ |
4330 2308 1092 0000 sts (Mess_Integral_Gier2)+3,__zero_reg__ |
4331 230c 8091 0000 lds r24,EE_Parameter+28 |
4332 2310 E82E mov r14,r24 |
4333 2312 FF24 clr r15 |
4334 2314 0027 clr r16 |
4335 2316 1127 clr r17 |
4336 2318 8091 0000 lds r24,Mittelwert_AccNick |
4337 231c 9091 0000 lds r25,(Mittelwert_AccNick)+1 |
4338 2320 9C01 movw r18,r24 |
4339 2322 4427 clr r20 |
4340 2324 37FD sbrc r19,7 |
4341 2326 4095 com r20 |
4342 2328 542F mov r21,r20 |
4343 232a C801 movw r24,r16 |
4344 232c B701 movw r22,r14 |
4345 232e 0E94 0000 call __mulsi3 |
4346 2332 DC01 movw r26,r24 |
4347 2334 CB01 movw r24,r22 |
4348 2336 8093 0000 sts Mess_IntegralNick,r24 |
4349 233a 9093 0000 sts (Mess_IntegralNick)+1,r25 |
4350 233e A093 0000 sts (Mess_IntegralNick)+2,r26 |
4351 2342 B093 0000 sts (Mess_IntegralNick)+3,r27 |
4352 2346 8091 0000 lds r24,Mittelwert_AccRoll |
4353 234a 9091 0000 lds r25,(Mittelwert_AccRoll)+1 |
4354 234e 9C01 movw r18,r24 |
4355 2350 4427 clr r20 |
4356 2352 37FD sbrc r19,7 |
4357 2354 4095 com r20 |
4358 2356 542F mov r21,r20 |
4359 2358 C801 movw r24,r16 |
4360 235a B701 movw r22,r14 |
4361 235c 0E94 0000 call __mulsi3 |
4362 2360 DC01 movw r26,r24 |
4363 2362 CB01 movw r24,r22 |
4364 2364 8093 0000 sts Mess_IntegralRoll,r24 |
4365 2368 9093 0000 sts (Mess_IntegralRoll)+1,r25 |
4366 236c A093 0000 sts (Mess_IntegralRoll)+2,r26 |
4367 2370 B093 0000 sts (Mess_IntegralRoll)+3,r27 |
4368 2374 8091 0000 lds r24,IntegralNick |
4369 2378 9091 0000 lds r25,(IntegralNick)+1 |
4370 237c A091 0000 lds r26,(IntegralNick)+2 |
4371 2380 B091 0000 lds r27,(IntegralNick)+3 |
4372 2384 8093 0000 sts Mess_IntegralNick2,r24 |
4373 2388 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
4374 238c A093 0000 sts (Mess_IntegralNick2)+2,r26 |
4375 2390 B093 0000 sts (Mess_IntegralNick2)+3,r27 |
4376 2394 8091 0000 lds r24,IntegralRoll |
4377 2398 9091 0000 lds r25,(IntegralRoll)+1 |
4378 239c A091 0000 lds r26,(IntegralRoll)+2 |
4379 23a0 B091 0000 lds r27,(IntegralRoll)+3 |
4380 23a4 8093 0000 sts Mess_IntegralRoll2,r24 |
4381 23a8 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
4382 23ac A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
4383 23b0 B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
4384 23b4 1092 0000 sts SummeNick,__zero_reg__ |
4385 23b8 1092 0000 sts (SummeNick)+1,__zero_reg__ |
4386 23bc 1092 0000 sts (SummeNick)+2,__zero_reg__ |
4387 23c0 1092 0000 sts (SummeNick)+3,__zero_reg__ |
4388 23c4 1092 0000 sts SummeRoll,__zero_reg__ |
4389 23c8 1092 0000 sts (SummeRoll)+1,__zero_reg__ |
4390 23cc 1092 0000 sts (SummeRoll)+2,__zero_reg__ |
4391 23d0 1092 0000 sts (SummeRoll)+3,__zero_reg__ |
4392 23d4 8091 0000 lds r24,FCFlags |
4393 23d8 8860 ori r24,lo8(8) |
4394 23da 8093 0000 sts FCFlags,r24 |
4395 23de 9091 0000 lds r25,EE_Parameter+95 |
4396 23e2 8FE0 ldi r24,lo8(15) |
4397 23e4 989F mul r25,r24 |
4398 23e6 9001 movw r18,r0 |
4399 23e8 1124 clr r1 |
4400 23ea 8091 0000 lds r24,KompassValue |
4401 23ee 9091 0000 lds r25,(KompassValue)+1 |
4402 23f2 820F add r24,r18 |
4403 23f4 931F adc r25,r19 |
4404 23f6 68E6 ldi r22,lo8(360) |
4405 23f8 71E0 ldi r23,hi8(360) |
4406 23fa 0E94 0000 call __divmodhi4 |
4407 23fe 97FD sbrc r25,7 |
4408 2400 0196 adiw r24,1 |
4409 .L360: |
4410 2402 9595 asr r25 |
4411 2404 8795 ror r24 |
4412 2406 8093 0000 sts ControlHeading,r24 |
4413 240a 26C0 rjmp .L323 |
4414 .L359: |
4415 240c 8CED ldi r24,lo8(1500) |
4416 240e 95E0 ldi r25,hi8(1500) |
4417 2410 9093 0000 sts (beeptime)+1,r25 |
4418 2414 8093 0000 sts beeptime,r24 |
4419 2418 1FC0 rjmp .L323 |
4420 .L357: |
4421 241a 2093 0000 sts delay_einschalten.7,r18 |
4422 241e 1CC0 rjmp .L323 |
4423 .L356: |
4424 2420 FF27 clr r31 |
4425 2422 EE0F add r30,r30 |
4426 2424 FF1F adc r31,r31 |
4427 2426 E050 subi r30,lo8(-(PPM_in)) |
4428 2428 F040 sbci r31,hi8(-(PPM_in)) |
4429 242a 8081 ld r24,Z |
4430 242c 9181 ldd r25,Z+1 |
4431 242e 8C34 cpi r24,76 |
4432 2430 9105 cpc r25,__zero_reg__ |
4433 2432 84F0 brlt .L364 |
4434 2434 8091 0000 lds r24,delay_ausschalten.8 |
4435 2438 8F5F subi r24,lo8(-(1)) |
4436 243a 8093 0000 sts delay_ausschalten.8,r24 |
4437 243e 893C cpi r24,lo8(-55) |
4438 2440 58F0 brlo .L323 |
4439 2442 1092 0000 sts MotorenEin,__zero_reg__ |
4440 2446 1092 0000 sts delay_ausschalten.8,__zero_reg__ |
4441 244a 1092 0000 sts (modell_fliegt)+1,__zero_reg__ |
4442 244e 1092 0000 sts modell_fliegt,__zero_reg__ |
4443 2452 02C0 rjmp .L323 |
4444 .L364: |
4445 2454 1092 0000 sts delay_ausschalten.8,__zero_reg__ |
4446 .L323: |
4447 2458 8091 0000 lds r24,NewPpmData |
4448 245c 8150 subi r24,lo8(-(-1)) |
4449 245e 8093 0000 sts NewPpmData,r24 |
4450 2462 8091 0000 lds r24,NewPpmData |
4451 2466 8F3F cpi r24,lo8(-1) |
4452 2468 21F0 breq .L368 |
4453 246a 8091 0000 lds r24,FCFlags |
4454 246e 84FF sbrs r24,4 |
4455 2470 82C3 rjmp .L367 |
4456 .L368: |
4457 2472 0E94 0000 call ParameterZuordnung |
4458 2476 8091 0000 lds r24,stick_nick.13 |
4459 247a 9091 0000 lds r25,(stick_nick.13)+1 |
4460 247e 9C01 movw r18,r24 |
4461 2480 220F lsl r18 |
4462 2482 331F rol r19 |
4463 2484 280F add r18,r24 |
4464 2486 391F adc r19,r25 |
4465 2488 A090 0000 lds r10,EE_Parameter+1 |
4466 248c AA2D mov r26,r10 |
4467 248e BB27 clr r27 |
4468 2490 AA0F add r26,r26 |
4469 2492 BB1F adc r27,r27 |
4470 2494 FD01 movw r30,r26 |
4471 2496 E050 subi r30,lo8(-(PPM_in)) |
4472 2498 F040 sbci r31,hi8(-(PPM_in)) |
4473 249a 9090 0000 lds r9,EE_Parameter+23 |
4474 249e 492D mov r20,r9 |
4475 24a0 5527 clr r21 |
4476 24a2 8081 ld r24,Z |
4477 24a4 9181 ldd r25,Z+1 |
4478 24a6 849F mul r24,r20 |
4479 24a8 F001 movw r30,r0 |
4480 24aa 859F mul r24,r21 |
4481 24ac F00D add r31,r0 |
4482 24ae 949F mul r25,r20 |
4483 24b0 F00D add r31,r0 |
4484 24b2 1124 clr r1 |
4485 24b4 2E0F add r18,r30 |
4486 24b6 3F1F adc r19,r31 |
4487 24b8 37FF sbrs r19,7 |
4488 24ba 02C0 rjmp .L369 |
4489 24bc 2D5F subi r18,lo8(-(3)) |
4490 24be 3F4F sbci r19,hi8(-(3)) |
4491 .L369: |
4492 24c0 B901 movw r22,r18 |
4493 24c2 7595 asr r23 |
4494 24c4 6795 ror r22 |
4495 24c6 7595 asr r23 |
4496 24c8 6795 ror r22 |
4497 24ca A050 subi r26,lo8(-(PPM_diff)) |
4498 24cc B040 sbci r27,hi8(-(PPM_diff)) |
4499 24ce 8091 0000 lds r24,EE_Parameter+24 |
4500 24d2 082F mov r16,r24 |
4501 24d4 1127 clr r17 |
4502 24d6 8D91 ld r24,X+ |
4503 24d8 9C91 ld r25,X |
4504 24da 809F mul r24,r16 |
4505 24dc 7001 movw r14,r0 |
4506 24de 819F mul r24,r17 |
4507 24e0 F00C add r15,r0 |
4508 24e2 909F mul r25,r16 |
4509 24e4 F00C add r15,r0 |
4510 24e6 1124 clr r1 |
4511 24e8 6E0D add r22,r14 |
4512 24ea 7F1D adc r23,r15 |
4513 24ec 7093 0000 sts (stick_nick.13)+1,r23 |
4514 24f0 6093 0000 sts stick_nick.13,r22 |
4515 24f4 8091 0000 lds r24,stick_roll.14 |
4516 24f8 9091 0000 lds r25,(stick_roll.14)+1 |
4517 24fc 9C01 movw r18,r24 |
4518 24fe 220F lsl r18 |
4519 2500 331F rol r19 |
4520 2502 280F add r18,r24 |
4521 2504 391F adc r19,r25 |
4522 2506 B090 0000 lds r11,EE_Parameter+2 |
4523 250a AB2D mov r26,r11 |
4524 250c BB27 clr r27 |
4525 250e AA0F add r26,r26 |
4526 2510 BB1F adc r27,r27 |
4527 2512 FD01 movw r30,r26 |
4528 2514 E050 subi r30,lo8(-(PPM_in)) |
4529 2516 F040 sbci r31,hi8(-(PPM_in)) |
4530 2518 8081 ld r24,Z |
4531 251a 9181 ldd r25,Z+1 |
4532 251c 849F mul r24,r20 |
4533 251e F001 movw r30,r0 |
4534 2520 859F mul r24,r21 |
4535 2522 F00D add r31,r0 |
4536 2524 949F mul r25,r20 |
4537 2526 F00D add r31,r0 |
4538 2528 1124 clr r1 |
4539 252a 2E0F add r18,r30 |
4540 252c 3F1F adc r19,r31 |
4541 252e 37FF sbrs r19,7 |
4542 2530 02C0 rjmp .L370 |
4543 2532 2D5F subi r18,lo8(-(3)) |
4544 2534 3F4F sbci r19,hi8(-(3)) |
4545 .L370: |
4546 2536 A901 movw r20,r18 |
4547 2538 5595 asr r21 |
4548 253a 4795 ror r20 |
4549 253c 5595 asr r21 |
4550 253e 4795 ror r20 |
4551 2540 A050 subi r26,lo8(-(PPM_diff)) |
4552 2542 B040 sbci r27,hi8(-(PPM_diff)) |
4553 2544 8D91 ld r24,X+ |
4554 2546 9C91 ld r25,X |
4555 2548 809F mul r24,r16 |
4556 254a 7001 movw r14,r0 |
4557 254c 819F mul r24,r17 |
4558 254e F00C add r15,r0 |
4559 2550 909F mul r25,r16 |
4560 2552 F00C add r15,r0 |
4561 2554 1124 clr r1 |
4562 2556 4E0D add r20,r14 |
4563 2558 5F1D adc r21,r15 |
4564 255a 5093 0000 sts (stick_roll.14)+1,r21 |
4565 255e 4093 0000 sts stick_roll.14,r20 |
4566 2562 9E01 movw r18,r28 |
4567 2564 2F5F subi r18,lo8(-(1)) |
4568 2566 3F4F sbci r19,hi8(-(1)) |
4569 2568 8FE1 ldi r24,lo8(31) |
4570 256a E0E0 ldi r30,lo8(.LC0) |
4571 256c F0E0 ldi r31,hi8(.LC0) |
4572 256e D901 movw r26,r18 |
4573 2570 0190 ld __tmp_reg__,Z+ |
4574 2572 0D92 st X+,__tmp_reg__ |
4575 2574 8A95 dec r24 |
4576 2576 E1F7 brne .-8 |
4577 2578 8091 0000 lds r24,CareFree |
4578 257c 8823 tst r24 |
4579 257e 09F4 brne .+2 |
4580 2580 48C0 rjmp .L371 |
4581 2582 CB01 movw r24,r22 |
4582 2584 77FD sbrc r23,7 |
4583 2586 0396 adiw r24,3 |
4584 .L372: |
4585 2588 DC01 movw r26,r24 |
4586 258a B595 asr r27 |
4587 258c A795 ror r26 |
4588 258e B595 asr r27 |
4589 2590 A795 ror r26 |
4590 2592 CA01 movw r24,r20 |
4591 2594 57FD sbrc r21,7 |
4592 2596 0396 adiw r24,3 |
4593 .L373: |
4594 2598 FC01 movw r30,r24 |
4595 259a F595 asr r31 |
4596 259c E795 ror r30 |
4597 259e F595 asr r31 |
4598 25a0 E795 ror r30 |
4599 25a2 8091 0000 lds r24,FromNC_Rotate_C |
4600 25a6 682F mov r22,r24 |
4601 25a8 7727 clr r23 |
4602 25aa 67FD sbrc r22,7 |
4603 25ac 7095 com r23 |
4604 25ae 6A9F mul r22,r26 |
4605 25b0 9001 movw r18,r0 |
4606 25b2 6B9F mul r22,r27 |
4607 25b4 300D add r19,r0 |
4608 25b6 7A9F mul r23,r26 |
4609 25b8 300D add r19,r0 |
4610 25ba 1124 clr r1 |
4611 25bc 8091 0000 lds r24,FromNC_Rotate_S |
4612 25c0 482F mov r20,r24 |
4613 25c2 5527 clr r21 |
4614 25c4 47FD sbrc r20,7 |
4615 25c6 5095 com r21 |
4616 25c8 4E9F mul r20,r30 |
4617 25ca C001 movw r24,r0 |
4618 25cc 4F9F mul r20,r31 |
4619 25ce 900D add r25,r0 |
4620 25d0 5E9F mul r21,r30 |
4621 25d2 900D add r25,r0 |
4622 25d4 1124 clr r1 |
4623 25d6 280F add r18,r24 |
4624 25d8 391F adc r19,r25 |
4625 25da 37FF sbrs r19,7 |
4626 25dc 02C0 rjmp .L374 |
4627 25de 295F subi r18,lo8(-(7)) |
4628 25e0 3F4F sbci r19,hi8(-(7)) |
4629 .L374: |
4630 25e2 03E0 ldi r16,3 |
4631 25e4 3595 1: asr r19 |
4632 25e6 2795 ror r18 |
4633 25e8 0A95 dec r16 |
4634 25ea E1F7 brne 1b |
4635 25ec 3093 0000 sts (StickNick)+1,r19 |
4636 25f0 2093 0000 sts StickNick,r18 |
4637 25f4 6E9F mul r22,r30 |
4638 25f6 9001 movw r18,r0 |
4639 25f8 6F9F mul r22,r31 |
4640 25fa 300D add r19,r0 |
4641 25fc 7E9F mul r23,r30 |
4642 25fe 300D add r19,r0 |
4643 2600 1124 clr r1 |
4644 2602 4A9F mul r20,r26 |
4645 2604 C001 movw r24,r0 |
4646 2606 4B9F mul r20,r27 |
4647 2608 900D add r25,r0 |
4648 260a 5A9F mul r21,r26 |
4649 260c 900D add r25,r0 |
4650 260e 1124 clr r1 |
4651 2610 44C0 rjmp .L803 |
4652 .L371: |
4653 2612 8091 0000 lds r24,EE_Parameter+95 |
4654 2616 082F mov r16,r24 |
4655 2618 1127 clr r17 |
4656 261a DE01 movw r26,r28 |
4657 261c A00F add r26,r16 |
4658 261e B11F adc r27,r17 |
4659 2620 FD01 movw r30,r26 |
4660 2622 9781 ldd r25,Z+7 |
4661 2624 9093 0000 sts FromNC_Rotate_C,r25 |
4662 2628 020F add r16,r18 |
4663 262a 131F adc r17,r19 |
4664 262c D801 movw r26,r16 |
4665 262e 8C91 ld r24,X |
4666 2630 8093 0000 sts FromNC_Rotate_S,r24 |
4667 2634 A92F mov r26,r25 |
4668 2636 BB27 clr r27 |
4669 2638 A7FD sbrc r26,7 |
4670 263a B095 com r27 |
4671 263c A69F mul r26,r22 |
4672 263e 9001 movw r18,r0 |
4673 2640 A79F mul r26,r23 |
4674 2642 300D add r19,r0 |
4675 2644 B69F mul r27,r22 |
4676 2646 300D add r19,r0 |
4677 2648 1124 clr r1 |
4678 264a E82F mov r30,r24 |
4679 264c FF27 clr r31 |
4680 264e E7FD sbrc r30,7 |
4681 2650 F095 com r31 |
4682 2652 E49F mul r30,r20 |
4683 2654 C001 movw r24,r0 |
4684 2656 E59F mul r30,r21 |
4685 2658 900D add r25,r0 |
4686 265a F49F mul r31,r20 |
4687 265c 900D add r25,r0 |
4688 265e 1124 clr r1 |
4689 2660 280F add r18,r24 |
4690 2662 391F adc r19,r25 |
4691 2664 37FF sbrs r19,7 |
4692 2666 02C0 rjmp .L377 |
4693 2668 295F subi r18,lo8(-(7)) |
4694 266a 3F4F sbci r19,hi8(-(7)) |
4695 .L377: |
4696 266c 13E0 ldi r17,3 |
4697 266e 3595 1: asr r19 |
4698 2670 2795 ror r18 |
4699 2672 1A95 dec r17 |
4700 2674 E1F7 brne 1b |
4701 2676 3093 0000 sts (StickNick)+1,r19 |
4702 267a 2093 0000 sts StickNick,r18 |
4703 267e A49F mul r26,r20 |
4704 2680 9001 movw r18,r0 |
4705 2682 A59F mul r26,r21 |
4706 2684 300D add r19,r0 |
4707 2686 B49F mul r27,r20 |
4708 2688 300D add r19,r0 |
4709 268a 1124 clr r1 |
4710 268c E69F mul r30,r22 |
4711 268e C001 movw r24,r0 |
4712 2690 E79F mul r30,r23 |
4713 2692 900D add r25,r0 |
4714 2694 F69F mul r31,r22 |
4715 2696 900D add r25,r0 |
4716 2698 1124 clr r1 |
4717 .L803: |
4718 269a 281B sub r18,r24 |
4719 269c 390B sbc r19,r25 |
4720 269e 37FF sbrs r19,7 |
4721 26a0 02C0 rjmp .L378 |
4722 26a2 295F subi r18,lo8(-(7)) |
4723 26a4 3F4F sbci r19,hi8(-(7)) |
4724 .L378: |
4725 26a6 F3E0 ldi r31,3 |
4726 26a8 3595 1: asr r19 |
4727 26aa 2795 ror r18 |
4728 26ac FA95 dec r31 |
4729 26ae E1F7 brne 1b |
4730 26b0 3093 0000 sts (StickRoll)+1,r19 |
4731 26b4 2093 0000 sts StickRoll,r18 |
4732 26b8 8091 0000 lds r24,EE_Parameter+4 |
4733 26bc E82F mov r30,r24 |
4734 26be FF27 clr r31 |
4735 26c0 EE0F add r30,r30 |
4736 26c2 FF1F adc r31,r31 |
4737 26c4 E050 subi r30,lo8(-(PPM_in)) |
4738 26c6 F040 sbci r31,hi8(-(PPM_in)) |
4739 26c8 8081 ld r24,Z |
4740 26ca 9181 ldd r25,Z+1 |
4741 26cc 9095 com r25 |
4742 26ce 8195 neg r24 |
4743 26d0 9F4F sbci r25,lo8(-1) |
4744 26d2 9093 0000 sts (StickGier)+1,r25 |
4745 26d6 8093 0000 sts StickGier,r24 |
4746 26da 8330 cpi r24,3 |
4747 26dc 9105 cpc r25,__zero_reg__ |
4748 26de 14F0 brlt .L379 |
4749 26e0 0297 sbiw r24,2 |
4750 26e2 05C0 rjmp .L778 |
4751 .L379: |
4752 26e4 BFEF ldi r27,hi8(-2) |
4753 26e6 8E3F cpi r24,lo8(-2) |
4754 26e8 9B07 cpc r25,r27 |
4755 26ea 34F4 brge .L381 |
4756 26ec 0296 adiw r24,2 |
4757 .L778: |
4758 26ee 9093 0000 sts (StickGier)+1,r25 |
4759 26f2 8093 0000 sts StickGier,r24 |
4760 26f6 04C0 rjmp .L380 |
4761 .L381: |
4762 26f8 1092 0000 sts (StickGier)+1,__zero_reg__ |
4763 26fc 1092 0000 sts StickGier,__zero_reg__ |
4764 .L380: |
4765 2700 8091 0000 lds r24,GPS_Nick |
4766 2704 9091 0000 lds r25,(GPS_Nick)+1 |
4767 2708 2091 0000 lds r18,GPS_Nick2 |
4768 270c 3091 0000 lds r19,(GPS_Nick2)+1 |
4769 2710 820F add r24,r18 |
4770 2712 931F adc r25,r19 |
4771 2714 C090 0000 lds r12,StickNick |
4772 2718 D090 0000 lds r13,(StickNick)+1 |
4773 271c C81A sub r12,r24 |
4774 271e D90A sbc r13,r25 |
4775 2720 D092 0000 sts (StickNick)+1,r13 |
4776 2724 C092 0000 sts StickNick,r12 |
4777 2728 8091 0000 lds r24,GPS_Roll |
4778 272c 9091 0000 lds r25,(GPS_Roll)+1 |
4779 2730 2091 0000 lds r18,GPS_Roll2 |
4780 2734 3091 0000 lds r19,(GPS_Roll2)+1 |
4781 2738 820F add r24,r18 |
4782 273a 931F adc r25,r19 |
4783 273c 0091 0000 lds r16,StickRoll |
4784 2740 1091 0000 lds r17,(StickRoll)+1 |
4785 2744 081B sub r16,r24 |
4786 2746 190B sbc r17,r25 |
4787 2748 1093 0000 sts (StickRoll)+1,r17 |
4788 274c 0093 0000 sts StickRoll,r16 |
4789 2750 8091 0000 lds r24,EE_Parameter+3 |
4790 2754 E82F mov r30,r24 |
4791 2756 FF27 clr r31 |
4792 2758 EE0F add r30,r30 |
4793 275a FF1F adc r31,r31 |
4794 275c E050 subi r30,lo8(-(PPM_in)) |
4795 275e F040 sbci r31,hi8(-(PPM_in)) |
4796 2760 E080 ld r14,Z |
4797 2762 F180 ldd r15,Z+1 |
4798 2764 E8E7 ldi r30,lo8(120) |
4799 2766 F0E0 ldi r31,hi8(120) |
4800 2768 EE0E add r14,r30 |
4801 276a FF1E adc r15,r31 |
4802 276c F092 0000 sts (StickGas)+1,r15 |
4803 2770 E092 0000 sts StickGas,r14 |
4804 2774 8091 0000 lds r24,Parameter_Gyro_P |
4805 2778 9927 clr r25 |
4806 277a AA27 clr r26 |
4807 277c 97FD sbrc r25,7 |
4808 277e A095 com r26 |
4809 2780 BA2F mov r27,r26 |
4810 2782 BC01 movw r22,r24 |
4811 2784 CD01 movw r24,r26 |
4812 2786 0E94 0000 call __floatsisf |
4813 278a DC01 movw r26,r24 |
4814 278c CB01 movw r24,r22 |
4815 278e 20E0 ldi r18,lo8(0x41200000) |
4816 2790 30E0 ldi r19,hi8(0x41200000) |
4817 2792 40E2 ldi r20,hlo8(0x41200000) |
4818 2794 51E4 ldi r21,hhi8(0x41200000) |
4819 2796 BC01 movw r22,r24 |
4820 2798 CD01 movw r24,r26 |
4821 279a 0E94 0000 call __addsf3 |
4822 279e DC01 movw r26,r24 |
4823 27a0 CB01 movw r24,r22 |
4824 27a2 BC01 movw r22,r24 |
4825 27a4 CD01 movw r24,r26 |
4826 27a6 0E94 0000 call __fixunssfsi |
4827 27aa DC01 movw r26,r24 |
4828 27ac CB01 movw r24,r22 |
4829 27ae 8093 0000 sts GyroFaktor,r24 |
4830 27b2 8091 0000 lds r24,Parameter_Gyro_I |
4831 27b6 8093 0000 sts IntegralFaktor,r24 |
4832 27ba 8091 0000 lds r24,Parameter_Gyro_Gier_P |
4833 27be 9927 clr r25 |
4834 27c0 AA27 clr r26 |
4835 27c2 97FD sbrc r25,7 |
4836 27c4 A095 com r26 |
4837 27c6 BA2F mov r27,r26 |
4838 27c8 BC01 movw r22,r24 |
4839 27ca CD01 movw r24,r26 |
4840 27cc 0E94 0000 call __floatsisf |
4841 27d0 DC01 movw r26,r24 |
4842 27d2 CB01 movw r24,r22 |
4843 27d4 20E0 ldi r18,lo8(0x41200000) |
4844 27d6 30E0 ldi r19,hi8(0x41200000) |
4845 27d8 40E2 ldi r20,hlo8(0x41200000) |
4846 27da 51E4 ldi r21,hhi8(0x41200000) |
4847 27dc BC01 movw r22,r24 |
4848 27de CD01 movw r24,r26 |
4849 27e0 0E94 0000 call __addsf3 |
4850 27e4 DC01 movw r26,r24 |
4851 27e6 CB01 movw r24,r22 |
4852 27e8 BC01 movw r22,r24 |
4853 27ea CD01 movw r24,r26 |
4854 27ec 0E94 0000 call __fixunssfsi |
4855 27f0 DC01 movw r26,r24 |
4856 27f2 CB01 movw r24,r22 |
4857 27f4 8093 0000 sts GyroFaktorGier,r24 |
4858 27f8 8091 0000 lds r24,Parameter_Gyro_Gier_I |
4859 27fc 8093 0000 sts IntegralFaktorGier,r24 |
4860 2800 8091 0000 lds r24,ExternControl+10 |
4861 2804 80FF sbrs r24,0 |
4862 2806 59C0 rjmp .L383 |
4863 2808 8091 0000 lds r24,Parameter_ExternalControl |
4864 280c 8138 cpi r24,lo8(-127) |
4865 280e 08F4 brsh .+2 |
4866 2810 54C0 rjmp .L383 |
4867 2812 8091 0000 lds r24,ExternControl+3 |
4868 2816 9927 clr r25 |
4869 2818 87FD sbrc r24,7 |
4870 281a 9095 com r25 |
4871 281c 292D mov r18,r9 |
4872 281e 3327 clr r19 |
4873 2820 829F mul r24,r18 |
4874 2822 A001 movw r20,r0 |
4875 2824 839F mul r24,r19 |
4876 2826 500D add r21,r0 |
4877 2828 929F mul r25,r18 |
4878 282a 500D add r21,r0 |
4879 282c 1124 clr r1 |
4880 282e C40E add r12,r20 |
4881 2830 D51E adc r13,r21 |
4882 2832 D092 0000 sts (StickNick)+1,r13 |
4883 2836 C092 0000 sts StickNick,r12 |
4884 283a 8091 0000 lds r24,ExternControl+4 |
4885 283e 9927 clr r25 |
4886 2840 87FD sbrc r24,7 |
4887 2842 9095 com r25 |
4888 2844 829F mul r24,r18 |
4889 2846 B001 movw r22,r0 |
4890 2848 839F mul r24,r19 |
4891 284a 700D add r23,r0 |
4892 284c 929F mul r25,r18 |
4893 284e 700D add r23,r0 |
4894 2850 1124 clr r1 |
4895 2852 060F add r16,r22 |
4896 2854 171F adc r17,r23 |
4897 2856 1093 0000 sts (StickRoll)+1,r17 |
4898 285a 0093 0000 sts StickRoll,r16 |
4899 285e 8091 0000 lds r24,ExternControl+5 |
4900 2862 282F mov r18,r24 |
4901 2864 3327 clr r19 |
4902 2866 27FD sbrc r18,7 |
4903 2868 3095 com r19 |
4904 286a 8091 0000 lds r24,StickGier |
4905 286e 9091 0000 lds r25,(StickGier)+1 |
4906 2872 820F add r24,r18 |
4907 2874 931F adc r25,r19 |
4908 2876 9093 0000 sts (StickGier)+1,r25 |
4909 287a 8093 0000 sts StickGier,r24 |
4910 287e 8091 0000 lds r24,ExternControl+7 |
4911 2882 282F mov r18,r24 |
4912 2884 3327 clr r19 |
4913 2886 27FD sbrc r18,7 |
4914 2888 3095 com r19 |
4915 288a 8091 0000 lds r24,EE_Parameter+18 |
4916 288e 9927 clr r25 |
4917 2890 289F mul r18,r24 |
4918 2892 D001 movw r26,r0 |
4919 2894 299F mul r18,r25 |
4920 2896 B00D add r27,r0 |
4921 2898 389F mul r19,r24 |
4922 289a B00D add r27,r0 |
4923 289c 1124 clr r1 |
4924 289e B093 0000 sts (ExternHoehenValue)+1,r27 |
4925 28a2 A093 0000 sts ExternHoehenValue,r26 |
4926 28a6 8091 0000 lds r24,ExternControl+6 |
4927 28aa 9927 clr r25 |
4928 28ac 8E15 cp r24,r14 |
4929 28ae 9F05 cpc r25,r15 |
4930 28b0 24F4 brge .L383 |
4931 28b2 9093 0000 sts (StickGas)+1,r25 |
4932 28b6 8093 0000 sts StickGas,r24 |
4933 .L383: |
4934 28ba 8091 0000 lds r24,StickGas |
4935 28be 9091 0000 lds r25,(StickGas)+1 |
4936 28c2 97FF sbrs r25,7 |
4937 28c4 04C0 rjmp .L385 |
4938 28c6 1092 0000 sts (StickGas)+1,__zero_reg__ |
4939 28ca 1092 0000 sts StickGas,__zero_reg__ |
4940 .L385: |
4941 28ce 8091 0000 lds r24,EE_Parameter+13 |
4942 28d2 82FF sbrs r24,2 |
4943 28d4 02C0 rjmp .L386 |
4944 28d6 1092 0000 sts IntegralFaktor,__zero_reg__ |
4945 .L386: |
4946 28da 4091 0000 lds r20,StickNick |
4947 28de 5091 0000 lds r21,(StickNick)+1 |
4948 28e2 CA01 movw r24,r20 |
4949 28e4 57FD sbrc r21,7 |
4950 28e6 0396 adiw r24,3 |
4951 .L388: |
4952 28e8 9C01 movw r18,r24 |
4953 28ea 3595 asr r19 |
4954 28ec 2795 ror r18 |
4955 28ee 3595 asr r19 |
4956 28f0 2795 ror r18 |
4957 28f2 37FF sbrs r19,7 |
4958 28f4 03C0 rjmp .L389 |
4959 28f6 3095 com r19 |
4960 28f8 2195 neg r18 |
4961 28fa 3F4F sbci r19,lo8(-1) |
4962 .L389: |
4963 28fc 8091 0000 lds r24,MaxStickNick |
4964 2900 9091 0000 lds r25,(MaxStickNick)+1 |
4965 2904 8217 cp r24,r18 |
4966 2906 9307 cpc r25,r19 |
4967 2908 B4F4 brge .L387 |
4968 290a CA01 movw r24,r20 |
4969 290c 57FF sbrs r21,7 |
4970 290e 03C0 rjmp .L390 |
4971 2910 9095 com r25 |
4972 2912 8195 neg r24 |
4973 2914 9F4F sbci r25,lo8(-1) |
4974 .L390: |
4975 2916 97FD sbrc r25,7 |
4976 2918 0396 adiw r24,3 |
4977 .L391: |
4978 291a 9595 asr r25 |
4979 291c 8795 ror r24 |
4980 291e 9595 asr r25 |
4981 2920 8795 ror r24 |
4982 2922 9093 0000 sts (MaxStickNick)+1,r25 |
4983 2926 8093 0000 sts MaxStickNick,r24 |
4984 292a 8536 cpi r24,101 |
4985 292c 9105 cpc r25,__zero_reg__ |
4986 292e 44F0 brlt .L393 |
4987 2930 84E6 ldi r24,lo8(100) |
4988 2932 90E0 ldi r25,hi8(100) |
4989 2934 01C0 rjmp .L779 |
4990 .L387: |
4991 2936 0197 sbiw r24,1 |
4992 .L779: |
4993 2938 9093 0000 sts (MaxStickNick)+1,r25 |
4994 293c 8093 0000 sts MaxStickNick,r24 |
4995 .L393: |
4996 2940 4091 0000 lds r20,StickRoll |
4997 2944 5091 0000 lds r21,(StickRoll)+1 |
4998 2948 CA01 movw r24,r20 |
4999 294a 57FD sbrc r21,7 |
5000 294c 0396 adiw r24,3 |
5001 .L395: |
5002 294e 9C01 movw r18,r24 |
5003 2950 3595 asr r19 |
5004 2952 2795 ror r18 |
5005 2954 3595 asr r19 |
5006 2956 2795 ror r18 |
5007 2958 37FF sbrs r19,7 |
5008 295a 03C0 rjmp .L396 |
5009 295c 3095 com r19 |
5010 295e 2195 neg r18 |
5011 2960 3F4F sbci r19,lo8(-1) |
5012 .L396: |
5013 2962 8091 0000 lds r24,MaxStickRoll |
5014 2966 9091 0000 lds r25,(MaxStickRoll)+1 |
5015 296a 8217 cp r24,r18 |
5016 296c 9307 cpc r25,r19 |
5017 296e B4F4 brge .L394 |
5018 2970 CA01 movw r24,r20 |
5019 2972 57FF sbrs r21,7 |
5020 2974 03C0 rjmp .L397 |
5021 2976 9095 com r25 |
5022 2978 8195 neg r24 |
5023 297a 9F4F sbci r25,lo8(-1) |
5024 .L397: |
5025 297c 97FD sbrc r25,7 |
5026 297e 0396 adiw r24,3 |
5027 .L398: |
5028 2980 9595 asr r25 |
5029 2982 8795 ror r24 |
5030 2984 9595 asr r25 |
5031 2986 8795 ror r24 |
5032 2988 9093 0000 sts (MaxStickRoll)+1,r25 |
5033 298c 8093 0000 sts MaxStickRoll,r24 |
5034 2990 8536 cpi r24,101 |
5035 2992 9105 cpc r25,__zero_reg__ |
5036 2994 44F0 brlt .L400 |
5037 2996 84E6 ldi r24,lo8(100) |
5038 2998 90E0 ldi r25,hi8(100) |
5039 299a 01C0 rjmp .L780 |
5040 .L394: |
5041 299c 0197 sbiw r24,1 |
5042 .L780: |
5043 299e 9093 0000 sts (MaxStickRoll)+1,r25 |
5044 29a2 8093 0000 sts MaxStickRoll,r24 |
5045 .L400: |
5046 29a6 8091 0000 lds r24,FCFlags |
5047 29aa 84FF sbrs r24,4 |
5048 29ac 08C0 rjmp .L401 |
5049 29ae 1092 0000 sts (MaxStickNick)+1,__zero_reg__ |
5050 29b2 1092 0000 sts MaxStickNick,__zero_reg__ |
5051 29b6 1092 0000 sts (MaxStickRoll)+1,__zero_reg__ |
5052 29ba 1092 0000 sts MaxStickRoll,__zero_reg__ |
5053 .L401: |
5054 29be EB2D mov r30,r11 |
5055 29c0 FF27 clr r31 |
5056 29c2 EE0F add r30,r30 |
5057 29c4 FF1F adc r31,r31 |
5058 29c6 E050 subi r30,lo8(-(PPM_in)) |
5059 29c8 F040 sbci r31,hi8(-(PPM_in)) |
5060 29ca 4091 0000 lds r20,EE_Parameter+58 |
5061 29ce 242F mov r18,r20 |
5062 29d0 3327 clr r19 |
5063 29d2 8081 ld r24,Z |
5064 29d4 9181 ldd r25,Z+1 |
5065 29d6 2817 cp r18,r24 |
5066 29d8 3907 cpc r19,r25 |
5067 29da 44F4 brge .L402 |
5068 29dc 8091 0000 lds r24,EE_Parameter+97 |
5069 29e0 82FF sbrs r24,2 |
5070 29e2 04C0 rjmp .L402 |
5071 29e4 81E0 ldi r24,lo8(1) |
5072 29e6 8093 0000 sts Looping_Links,r24 |
5073 29ea 13C0 rjmp .L403 |
5074 .L402: |
5075 29ec EB2D mov r30,r11 |
5076 29ee FF27 clr r31 |
5077 29f0 EE0F add r30,r30 |
5078 29f2 FF1F adc r31,r31 |
5079 29f4 E050 subi r30,lo8(-(PPM_in)) |
5080 29f6 F040 sbci r31,hi8(-(PPM_in)) |
5081 29f8 842F mov r24,r20 |
5082 29fa 9927 clr r25 |
5083 29fc 2091 0000 lds r18,EE_Parameter+59 |
5084 2a00 821B sub r24,r18 |
5085 2a02 9109 sbc r25,__zero_reg__ |
5086 2a04 2081 ld r18,Z |
5087 2a06 3181 ldd r19,Z+1 |
5088 2a08 2817 cp r18,r24 |
5089 2a0a 3907 cpc r19,r25 |
5090 2a0c 14F4 brge .L403 |
5091 2a0e 1092 0000 sts Looping_Links,__zero_reg__ |
5092 .L403: |
5093 2a12 4091 0000 lds r20,EE_Parameter+2 |
5094 2a16 E42F mov r30,r20 |
5095 2a18 FF27 clr r31 |
5096 2a1a EE0F add r30,r30 |
5097 2a1c FF1F adc r31,r31 |
5098 2a1e E050 subi r30,lo8(-(PPM_in)) |
5099 2a20 F040 sbci r31,hi8(-(PPM_in)) |
5100 2a22 5091 0000 lds r21,EE_Parameter+58 |
5101 2a26 852F mov r24,r21 |
5102 2a28 9927 clr r25 |
5103 2a2a 2227 clr r18 |
5104 2a2c 3327 clr r19 |
5105 2a2e 281B sub r18,r24 |
5106 2a30 390B sbc r19,r25 |
5107 2a32 8081 ld r24,Z |
5108 2a34 9181 ldd r25,Z+1 |
5109 2a36 8217 cp r24,r18 |
5110 2a38 9307 cpc r25,r19 |
5111 2a3a 44F4 brge .L405 |
5112 2a3c 8091 0000 lds r24,EE_Parameter+97 |
5113 2a40 83FF sbrs r24,3 |
5114 2a42 04C0 rjmp .L405 |
5115 2a44 81E0 ldi r24,lo8(1) |
5116 2a46 8093 0000 sts Looping_Rechts,r24 |
5117 2a4a 16C0 rjmp .L406 |
5118 .L405: |
5119 2a4c 8091 0000 lds r24,Looping_Rechts |
5120 2a50 8823 tst r24 |
5121 2a52 91F0 breq .L406 |
5122 2a54 E42F mov r30,r20 |
5123 2a56 FF27 clr r31 |
5124 2a58 EE0F add r30,r30 |
5125 2a5a FF1F adc r31,r31 |
5126 2a5c E050 subi r30,lo8(-(PPM_in)) |
5127 2a5e F040 sbci r31,hi8(-(PPM_in)) |
5128 2a60 8091 0000 lds r24,EE_Parameter+59 |
5129 2a64 9927 clr r25 |
5130 2a66 851B sub r24,r21 |
5131 2a68 9109 sbc r25,__zero_reg__ |
5132 2a6a 2081 ld r18,Z |
5133 2a6c 3181 ldd r19,Z+1 |
5134 2a6e 8217 cp r24,r18 |
5135 2a70 9307 cpc r25,r19 |
5136 2a72 14F4 brge .L406 |
5137 2a74 1092 0000 sts Looping_Rechts,__zero_reg__ |
5138 .L406: |
5139 2a78 EA2D mov r30,r10 |
5140 2a7a FF27 clr r31 |
5141 2a7c EE0F add r30,r30 |
5142 2a7e FF1F adc r31,r31 |
5143 2a80 E050 subi r30,lo8(-(PPM_in)) |
5144 2a82 F040 sbci r31,hi8(-(PPM_in)) |
5145 2a84 4091 0000 lds r20,EE_Parameter+58 |
5146 2a88 242F mov r18,r20 |
5147 2a8a 3327 clr r19 |
5148 2a8c 8081 ld r24,Z |
5149 2a8e 9181 ldd r25,Z+1 |
5150 2a90 2817 cp r18,r24 |
5151 2a92 3907 cpc r19,r25 |
5152 2a94 44F4 brge .L409 |
5153 2a96 8091 0000 lds r24,EE_Parameter+97 |
5154 2a9a 80FF sbrs r24,0 |
5155 2a9c 04C0 rjmp .L409 |
5156 2a9e 81E0 ldi r24,lo8(1) |
5157 2aa0 8093 0000 sts Looping_Oben,r24 |
5158 2aa4 17C0 rjmp .L410 |
5159 .L409: |
5160 2aa6 8091 0000 lds r24,Looping_Oben |
5161 2aaa 8823 tst r24 |
5162 2aac 99F0 breq .L410 |
5163 2aae EA2D mov r30,r10 |
5164 2ab0 FF27 clr r31 |
5165 2ab2 EE0F add r30,r30 |
5166 2ab4 FF1F adc r31,r31 |
5167 2ab6 E050 subi r30,lo8(-(PPM_in)) |
5168 2ab8 F040 sbci r31,hi8(-(PPM_in)) |
5169 2aba 842F mov r24,r20 |
5170 2abc 9927 clr r25 |
5171 2abe 2091 0000 lds r18,EE_Parameter+59 |
5172 2ac2 821B sub r24,r18 |
5173 2ac4 9109 sbc r25,__zero_reg__ |
5174 2ac6 2081 ld r18,Z |
5175 2ac8 3181 ldd r19,Z+1 |
5176 2aca 2817 cp r18,r24 |
5177 2acc 3907 cpc r19,r25 |
5178 2ace 14F4 brge .L410 |
5179 2ad0 1092 0000 sts Looping_Oben,__zero_reg__ |
5180 .L410: |
5181 2ad4 4091 0000 lds r20,EE_Parameter+1 |
5182 2ad8 E42F mov r30,r20 |
5183 2ada FF27 clr r31 |
5184 2adc EE0F add r30,r30 |
5185 2ade FF1F adc r31,r31 |
5186 2ae0 E050 subi r30,lo8(-(PPM_in)) |
5187 2ae2 F040 sbci r31,hi8(-(PPM_in)) |
5188 2ae4 5091 0000 lds r21,EE_Parameter+58 |
5189 2ae8 852F mov r24,r21 |
5190 2aea 9927 clr r25 |
5191 2aec 2227 clr r18 |
5192 2aee 3327 clr r19 |
5193 2af0 281B sub r18,r24 |
5194 2af2 390B sbc r19,r25 |
5195 2af4 8081 ld r24,Z |
5196 2af6 9181 ldd r25,Z+1 |
5197 2af8 8217 cp r24,r18 |
5198 2afa 9307 cpc r25,r19 |
5199 2afc 44F4 brge .L413 |
5200 2afe 8091 0000 lds r24,EE_Parameter+97 |
5201 2b02 81FF sbrs r24,1 |
5202 2b04 04C0 rjmp .L413 |
5203 2b06 81E0 ldi r24,lo8(1) |
5204 2b08 8093 0000 sts Looping_Unten,r24 |
5205 2b0c 16C0 rjmp .L414 |
5206 .L413: |
5207 2b0e 8091 0000 lds r24,Looping_Unten |
5208 2b12 8823 tst r24 |
5209 2b14 91F0 breq .L414 |
5210 2b16 E42F mov r30,r20 |
5211 2b18 FF27 clr r31 |
5212 2b1a EE0F add r30,r30 |
5213 2b1c FF1F adc r31,r31 |
5214 2b1e E050 subi r30,lo8(-(PPM_in)) |
5215 2b20 F040 sbci r31,hi8(-(PPM_in)) |
5216 2b22 8091 0000 lds r24,EE_Parameter+59 |
5217 2b26 9927 clr r25 |
5218 2b28 851B sub r24,r21 |
5219 2b2a 9109 sbc r25,__zero_reg__ |
5220 2b2c 2081 ld r18,Z |
5221 2b2e 3181 ldd r19,Z+1 |
5222 2b30 8217 cp r24,r18 |
5223 2b32 9307 cpc r25,r19 |
5224 2b34 14F4 brge .L414 |
5225 2b36 1092 0000 sts Looping_Unten,__zero_reg__ |
5226 .L414: |
5227 2b3a 8091 0000 lds r24,Looping_Links |
5228 2b3e 8823 tst r24 |
5229 2b40 19F4 brne .L418 |
5230 2b42 8091 0000 lds r24,Looping_Rechts |
5231 2b46 8111 cpse r24,__zero_reg__ |
5232 .L418: |
5233 2b48 81E0 ldi r24,lo8(1) |
5234 .L417: |
5235 2b4a 8093 0000 sts Looping_Roll,r24 |
5236 2b4e 8091 0000 lds r24,Looping_Oben |
5237 2b52 8823 tst r24 |
5238 2b54 21F4 brne .L421 |
5239 2b56 8091 0000 lds r24,Looping_Unten |
5240 2b5a 8823 tst r24 |
5241 2b5c 51F0 breq .L420 |
5242 .L421: |
5243 2b5e 81E0 ldi r24,lo8(1) |
5244 2b60 8093 0000 sts Looping_Nick,r24 |
5245 2b64 1092 0000 sts Looping_Roll,__zero_reg__ |
5246 2b68 1092 0000 sts Looping_Links,__zero_reg__ |
5247 2b6c 1092 0000 sts Looping_Rechts,__zero_reg__ |
5248 2b70 02C0 rjmp .L367 |
5249 .L420: |
5250 2b72 8093 0000 sts Looping_Nick,r24 |
5251 .L367: |
5252 2b76 8091 0000 lds r24,Looping_Roll |
5253 2b7a 8823 tst r24 |
5254 2b7c 21F4 brne .L424 |
5255 2b7e 8091 0000 lds r24,Looping_Nick |
5256 2b82 8823 tst r24 |
5257 2b84 69F0 breq .L423 |
5258 .L424: |
5259 2b86 8091 0000 lds r24,EE_Parameter+57 |
5260 2b8a 9927 clr r25 |
5261 2b8c E8A1 ldd r30,Y+32 |
5262 2b8e F9A1 ldd r31,Y+33 |
5263 2b90 8E17 cp r24,r30 |
5264 2b92 9F07 cpc r25,r31 |
5265 2b94 14F4 brge .L425 |
5266 2b96 99A3 std Y+33,r25 |
5267 2b98 88A3 std Y+32,r24 |
5268 .L425: |
5269 2b9a 81E0 ldi r24,lo8(1) |
5270 2b9c 8093 0000 sts TrichterFlug,r24 |
5271 .L423: |
5272 2ba0 8091 0000 lds r24,FCFlags |
5273 2ba4 84FF sbrs r24,4 |
5274 2ba6 1AC0 rjmp .L426 |
5275 2ba8 1092 0000 sts (StickGier)+1,__zero_reg__ |
5276 2bac 1092 0000 sts StickGier,__zero_reg__ |
5277 2bb0 1092 0000 sts (StickNick)+1,__zero_reg__ |
5278 2bb4 1092 0000 sts StickNick,__zero_reg__ |
5279 2bb8 1092 0000 sts (StickRoll)+1,__zero_reg__ |
5280 2bbc 1092 0000 sts StickRoll,__zero_reg__ |
5281 2bc0 9AE5 ldi r25,lo8(90) |
5282 2bc2 9093 0000 sts GyroFaktor,r25 |
5283 2bc6 88E7 ldi r24,lo8(120) |
5284 2bc8 8093 0000 sts IntegralFaktor,r24 |
5285 2bcc 9093 0000 sts GyroFaktorGier,r25 |
5286 2bd0 8093 0000 sts IntegralFaktorGier,r24 |
5287 2bd4 1092 0000 sts Looping_Roll,__zero_reg__ |
5288 2bd8 1092 0000 sts Looping_Nick,__zero_reg__ |
5289 .L426: |
5290 2bdc 8091 0000 lds r24,MittelIntegralNick |
5291 2be0 9091 0000 lds r25,(MittelIntegralNick)+1 |
5292 2be4 A091 0000 lds r26,(MittelIntegralNick)+2 |
5293 2be8 B091 0000 lds r27,(MittelIntegralNick)+3 |
5294 2bec 2091 0000 lds r18,IntegralNick |
5295 2bf0 3091 0000 lds r19,(IntegralNick)+1 |
5296 2bf4 4091 0000 lds r20,(IntegralNick)+2 |
5297 2bf8 5091 0000 lds r21,(IntegralNick)+3 |
5298 2bfc 820F add r24,r18 |
5299 2bfe 931F adc r25,r19 |
5300 2c00 A41F adc r26,r20 |
5301 2c02 B51F adc r27,r21 |
5302 2c04 8093 0000 sts MittelIntegralNick,r24 |
5303 2c08 9093 0000 sts (MittelIntegralNick)+1,r25 |
5304 2c0c A093 0000 sts (MittelIntegralNick)+2,r26 |
5305 2c10 B093 0000 sts (MittelIntegralNick)+3,r27 |
5306 2c14 8091 0000 lds r24,MittelIntegralRoll |
5307 2c18 9091 0000 lds r25,(MittelIntegralRoll)+1 |
5308 2c1c A091 0000 lds r26,(MittelIntegralRoll)+2 |
5309 2c20 B091 0000 lds r27,(MittelIntegralRoll)+3 |
5310 2c24 2090 0000 lds r2,IntegralRoll |
5311 2c28 3090 0000 lds r3,(IntegralRoll)+1 |
5312 2c2c 4090 0000 lds r4,(IntegralRoll)+2 |
5313 2c30 5090 0000 lds r5,(IntegralRoll)+3 |
5314 2c34 820D add r24,r2 |
5315 2c36 931D adc r25,r3 |
5316 2c38 A41D adc r26,r4 |
5317 2c3a B51D adc r27,r5 |
5318 2c3c 8093 0000 sts MittelIntegralRoll,r24 |
5319 2c40 9093 0000 sts (MittelIntegralRoll)+1,r25 |
5320 2c44 A093 0000 sts (MittelIntegralRoll)+2,r26 |
5321 2c48 B093 0000 sts (MittelIntegralRoll)+3,r27 |
5322 2c4c 8091 0000 lds r24,MittelIntegralNick2 |
5323 2c50 9091 0000 lds r25,(MittelIntegralNick2)+1 |
5324 2c54 A091 0000 lds r26,(MittelIntegralNick2)+2 |
5325 2c58 B091 0000 lds r27,(MittelIntegralNick2)+3 |
5326 2c5c E090 0000 lds r14,IntegralNick2 |
5327 2c60 F090 0000 lds r15,(IntegralNick2)+1 |
5328 2c64 0091 0000 lds r16,(IntegralNick2)+2 |
5329 2c68 1091 0000 lds r17,(IntegralNick2)+3 |
5330 2c6c EAA2 std Y+34,r14 |
5331 2c6e FBA2 std Y+35,r15 |
5332 2c70 0CA3 std Y+36,r16 |
5333 2c72 1DA3 std Y+37,r17 |
5334 2c74 8E0D add r24,r14 |
5335 2c76 9F1D adc r25,r15 |
5336 2c78 A01F adc r26,r16 |
5337 2c7a B11F adc r27,r17 |
5338 2c7c 8093 0000 sts MittelIntegralNick2,r24 |
5339 2c80 9093 0000 sts (MittelIntegralNick2)+1,r25 |
5340 2c84 A093 0000 sts (MittelIntegralNick2)+2,r26 |
5341 2c88 B093 0000 sts (MittelIntegralNick2)+3,r27 |
5342 2c8c 8091 0000 lds r24,MittelIntegralRoll2 |
5343 2c90 9091 0000 lds r25,(MittelIntegralRoll2)+1 |
5344 2c94 A091 0000 lds r26,(MittelIntegralRoll2)+2 |
5345 2c98 B091 0000 lds r27,(MittelIntegralRoll2)+3 |
5346 2c9c E090 0000 lds r14,IntegralRoll2 |
5347 2ca0 F090 0000 lds r15,(IntegralRoll2)+1 |
5348 2ca4 0091 0000 lds r16,(IntegralRoll2)+2 |
5349 2ca8 1091 0000 lds r17,(IntegralRoll2)+3 |
5350 2cac EEA2 std Y+38,r14 |
5351 2cae FFA2 std Y+39,r15 |
5352 2cb0 08A7 std Y+40,r16 |
5353 2cb2 19A7 std Y+41,r17 |
5354 2cb4 8E0D add r24,r14 |
5355 2cb6 9F1D adc r25,r15 |
5356 2cb8 A01F adc r26,r16 |
5357 2cba B11F adc r27,r17 |
5358 2cbc 8093 0000 sts MittelIntegralRoll2,r24 |
5359 2cc0 9093 0000 sts (MittelIntegralRoll2)+1,r25 |
5360 2cc4 A093 0000 sts (MittelIntegralRoll2)+2,r26 |
5361 2cc8 B093 0000 sts (MittelIntegralRoll2)+3,r27 |
5362 2ccc F090 0000 lds r15,Looping_Nick |
5363 2cd0 FAA6 std Y+42,r15 |
5364 2cd2 FF20 tst r15 |
5365 2cd4 29F4 brne .L428 |
5366 2cd6 8091 0000 lds r24,Looping_Roll |
5367 2cda 8823 tst r24 |
5368 2cdc 09F4 brne .+2 |
5369 2cde 60C0 rjmp .L775 |
5370 .L428: |
5371 2ce0 1092 0000 sts IntegralAccNick,__zero_reg__ |
5372 2ce4 1092 0000 sts (IntegralAccNick)+1,__zero_reg__ |
5373 2ce8 1092 0000 sts (IntegralAccNick)+2,__zero_reg__ |
5374 2cec 1092 0000 sts (IntegralAccNick)+3,__zero_reg__ |
5375 2cf0 1092 0000 sts IntegralAccRoll,__zero_reg__ |
5376 2cf4 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__ |
5377 2cf8 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__ |
5378 2cfc 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__ |
5379 2d00 1092 0000 sts MittelIntegralNick,__zero_reg__ |
5380 2d04 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__ |
5381 2d08 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__ |
5382 2d0c 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__ |
5383 2d10 1092 0000 sts MittelIntegralRoll,__zero_reg__ |
5384 2d14 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__ |
5385 2d18 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__ |
5386 2d1c 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__ |
5387 2d20 1092 0000 sts MittelIntegralNick2,__zero_reg__ |
5388 2d24 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__ |
5389 2d28 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__ |
5390 2d2c 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__ |
5391 2d30 1092 0000 sts MittelIntegralRoll2,__zero_reg__ |
5392 2d34 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__ |
5393 2d38 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__ |
5394 2d3c 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__ |
5395 2d40 8091 0000 lds r24,Mess_IntegralNick |
5396 2d44 9091 0000 lds r25,(Mess_IntegralNick)+1 |
5397 2d48 A091 0000 lds r26,(Mess_IntegralNick)+2 |
5398 2d4c B091 0000 lds r27,(Mess_IntegralNick)+3 |
5399 2d50 8093 0000 sts Mess_IntegralNick2,r24 |
5400 2d54 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
5401 2d58 A093 0000 sts (Mess_IntegralNick2)+2,r26 |
5402 2d5c B093 0000 sts (Mess_IntegralNick2)+3,r27 |
5403 2d60 8091 0000 lds r24,Mess_IntegralRoll |
5404 2d64 9091 0000 lds r25,(Mess_IntegralRoll)+1 |
5405 2d68 A091 0000 lds r26,(Mess_IntegralRoll)+2 |
5406 2d6c B091 0000 lds r27,(Mess_IntegralRoll)+3 |
5407 2d70 8093 0000 sts Mess_IntegralRoll2,r24 |
5408 2d74 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
5409 2d78 A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
5410 2d7c B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
5411 2d80 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__ |
5412 2d84 1092 0000 sts ZaehlMessungen,__zero_reg__ |
5413 2d88 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__ |
5414 2d8c 1092 0000 sts LageKorrekturNick,__zero_reg__ |
5415 2d90 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__ |
5416 2d94 1092 0000 sts LageKorrekturRoll,__zero_reg__ |
5417 2d98 0AA5 ldd r16,Y+42 |
5418 2d9a 0023 tst r16 |
5419 2d9c 09F0 breq .+2 |
5420 2d9e F2C1 rjmp .L429 |
5421 .L775: |
5422 2da0 8091 0000 lds r24,Looping_Roll |
5423 2da4 8823 tst r24 |
5424 2da6 09F0 breq .+2 |
5425 2da8 EDC1 rjmp .L429 |
5426 2daa 8091 0000 lds r24,Aktuell_az |
5427 2dae 9091 0000 lds r25,(Aktuell_az)+1 |
5428 2db2 8150 subi r24,lo8(513) |
5429 2db4 9240 sbci r25,hi8(513) |
5430 2db6 2CF4 brge .L430 |
5431 2db8 8091 0000 lds r24,MotorenEin |
5432 2dbc 8823 tst r24 |
5433 2dbe 09F4 brne .+2 |
5434 2dc0 E1C1 rjmp .L429 |
5435 .L430: |
5436 2dc2 9090 0000 lds r9,FromNaviCtrl_Value |
5437 2dc6 A090 0000 lds r10,EE_Parameter+28 |
5438 2dca 6091 0000 lds r22,Mittelwert_AccNick |
5439 2dce 7091 0000 lds r23,(Mittelwert_AccNick)+1 |
5440 2dd2 7BAB std Y+51,r23 |
5441 2dd4 6AAB std Y+50,r22 |
5442 2dd6 8091 0000 lds r24,Mittelwert_AccRoll |
5443 2dda 9091 0000 lds r25,(Mittelwert_AccRoll)+1 |
5444 2dde 9DAB std Y+53,r25 |
5445 2de0 8CAB std Y+52,r24 |
5446 2de2 9FEF ldi r25,lo8(-1) |
5447 2de4 9916 cp r9,r25 |
5448 2de6 09F4 brne .+2 |
5449 2de8 D9C0 rjmp .L431 |
5450 2dea BB24 clr r11 |
5451 2dec CC24 clr r12 |
5452 2dee DD24 clr r13 |
5453 2df0 CA01 movw r24,r20 |
5454 2df2 B901 movw r22,r18 |
5455 2df4 A601 movw r20,r12 |
5456 2df6 9501 movw r18,r10 |
5457 2df8 0E94 0000 call __divmodsi4 |
5458 2dfc 7901 movw r14,r18 |
5459 2dfe 8A01 movw r16,r20 |
5460 2e00 EAA9 ldd r30,Y+50 |
5461 2e02 FBA9 ldd r31,Y+51 |
5462 2e04 CF01 movw r24,r30 |
5463 2e06 AA27 clr r26 |
5464 2e08 97FD sbrc r25,7 |
5465 2e0a A095 com r26 |
5466 2e0c BA2F mov r27,r26 |
5467 2e0e E81A sub r14,r24 |
5468 2e10 F90A sbc r15,r25 |
5469 2e12 0A0B sbc r16,r26 |
5470 2e14 1B0B sbc r17,r27 |
5471 2e16 C201 movw r24,r4 |
5472 2e18 B101 movw r22,r2 |
5473 2e1a A601 movw r20,r12 |
5474 2e1c 9501 movw r18,r10 |
5475 2e1e 0E94 0000 call __divmodsi4 |
5476 2e22 5901 movw r10,r18 |
5477 2e24 6A01 movw r12,r20 |
5478 2e26 2CA9 ldd r18,Y+52 |
5479 2e28 3DA9 ldd r19,Y+53 |
5480 2e2a C901 movw r24,r18 |
5481 2e2c AA27 clr r26 |
5482 2e2e 97FD sbrc r25,7 |
5483 2e30 A095 com r26 |
5484 2e32 BA2F mov r27,r26 |
5485 2e34 A81A sub r10,r24 |
5486 2e36 B90A sbc r11,r25 |
5487 2e38 CA0A sbc r12,r26 |
5488 2e3a DB0A sbc r13,r27 |
5489 2e3c 292C mov r2,r9 |
5490 2e3e 3324 clr r3 |
5491 2e40 27FC sbrc r2,7 |
5492 2e42 3094 com r3 |
5493 2e44 432C mov r4,r3 |
5494 2e46 532C mov r5,r3 |
5495 2e48 C801 movw r24,r16 |
5496 2e4a B701 movw r22,r14 |
5497 2e4c A201 movw r20,r4 |
5498 2e4e 9101 movw r18,r2 |
5499 2e50 0E94 0000 call __mulsi3 |
5500 2e54 97FF sbrs r25,7 |
5501 2e56 04C0 rjmp .L432 |
5502 2e58 6150 subi r22,lo8(-(511)) |
5503 2e5a 7E4F sbci r23,hi8(-(511)) |
5504 2e5c 8F4F sbci r24,hlo8(-(511)) |
5505 2e5e 9F4F sbci r25,hhi8(-(511)) |
5506 .L432: |
5507 2e60 3B01 movw r6,r22 |
5508 2e62 4C01 movw r8,r24 |
5509 2e64 09E0 ldi r16,9 |
5510 2e66 9594 1: asr r9 |
5511 2e68 8794 ror r8 |
5512 2e6a 7794 ror r7 |
5513 2e6c 6794 ror r6 |
5514 2e6e 0A95 dec r16 |
5515 2e70 D1F7 brne 1b |
5516 2e72 C601 movw r24,r12 |
5517 2e74 B501 movw r22,r10 |
5518 2e76 A201 movw r20,r4 |
5519 2e78 9101 movw r18,r2 |
5520 2e7a 0E94 0000 call __mulsi3 |
5521 2e7e 97FF sbrs r25,7 |
5522 2e80 04C0 rjmp .L433 |
5523 2e82 6150 subi r22,lo8(-(511)) |
5524 2e84 7E4F sbci r23,hi8(-(511)) |
5525 2e86 8F4F sbci r24,hlo8(-(511)) |
5526 2e88 9F4F sbci r25,hhi8(-(511)) |
5527 .L433: |
5528 2e8a 5B01 movw r10,r22 |
5529 2e8c 6C01 movw r12,r24 |
5530 2e8e 19E0 ldi r17,9 |
5531 2e90 D594 1: asr r13 |
5532 2e92 C794 ror r12 |
5533 2e94 B794 ror r11 |
5534 2e96 A794 ror r10 |
5535 2e98 1A95 dec r17 |
5536 2e9a D1F7 brne 1b |
5537 2e9c 8091 0000 lds r24,MaxStickNick |
5538 2ea0 9091 0000 lds r25,(MaxStickNick)+1 |
5539 2ea4 8134 cpi r24,65 |
5540 2ea6 9105 cpc r25,__zero_reg__ |
5541 2ea8 3CF4 brge .L435 |
5542 2eaa 8091 0000 lds r24,MaxStickRoll |
5543 2eae 9091 0000 lds r25,(MaxStickRoll)+1 |
5544 2eb2 8134 cpi r24,65 |
5545 2eb4 9105 cpc r25,__zero_reg__ |
5546 2eb6 D4F0 brlt .L434 |
5547 .L435: |
5548 2eb8 D401 movw r26,r8 |
5549 2eba C301 movw r24,r6 |
5550 2ebc 97FE sbrs r9,7 |
5551 2ebe 03C0 rjmp .L436 |
5552 2ec0 0196 adiw r24,1 |
5553 2ec2 A11D adc r26,__zero_reg__ |
5554 2ec4 B11D adc r27,__zero_reg__ |
5555 .L436: |
5556 2ec6 3C01 movw r6,r24 |
5557 2ec8 4D01 movw r8,r26 |
5558 2eca 9594 asr r9 |
5559 2ecc 8794 ror r8 |
5560 2ece 7794 ror r7 |
5561 2ed0 6794 ror r6 |
5562 2ed2 D601 movw r26,r12 |
5563 2ed4 C501 movw r24,r10 |
5564 2ed6 D7FE sbrs r13,7 |
5565 2ed8 03C0 rjmp .L437 |
5566 2eda 0196 adiw r24,1 |
5567 2edc A11D adc r26,__zero_reg__ |
5568 2ede B11D adc r27,__zero_reg__ |
5569 .L437: |
5570 2ee0 5C01 movw r10,r24 |
5571 2ee2 6D01 movw r12,r26 |
5572 2ee4 D594 asr r13 |
5573 2ee6 C794 ror r12 |
5574 2ee8 B794 ror r11 |
5575 2eea A794 ror r10 |
5576 .L434: |
5577 2eec 8091 0000 lds r24,EE_Parameter+4 |
5578 2ef0 E82F mov r30,r24 |
5579 2ef2 FF27 clr r31 |
5580 2ef4 EE0F add r30,r30 |
5581 2ef6 FF1F adc r31,r31 |
5582 2ef8 E050 subi r30,lo8(-(PPM_in)) |
5583 2efa F040 sbci r31,hi8(-(PPM_in)) |
5584 2efc 8081 ld r24,Z |
5585 2efe 9181 ldd r25,Z+1 |
5586 2f00 0190 ld __tmp_reg__,Z+ |
5587 2f02 F081 ld r31,Z |
5588 2f04 E02D mov r30,__tmp_reg__ |
5589 2f06 F7FF sbrs r31,7 |
5590 2f08 03C0 rjmp .L439 |
5591 2f0a F095 com r31 |
5592 2f0c E195 neg r30 |
5593 2f0e FF4F sbci r31,lo8(-1) |
5594 .L439: |
5595 2f10 7A97 sbiw r30,26 |
5596 2f12 A4F0 brlt .L438 |
5597 2f14 C401 movw r24,r8 |
5598 2f16 B301 movw r22,r6 |
5599 2f18 23E0 ldi r18,lo8(3) |
5600 2f1a 30E0 ldi r19,hi8(3) |
5601 2f1c 40E0 ldi r20,hlo8(3) |
5602 2f1e 50E0 ldi r21,hhi8(3) |
5603 2f20 0E94 0000 call __divmodsi4 |
5604 2f24 3901 movw r6,r18 |
5605 2f26 4A01 movw r8,r20 |
5606 2f28 C601 movw r24,r12 |
5607 2f2a B501 movw r22,r10 |
5608 2f2c 23E0 ldi r18,lo8(3) |
5609 2f2e 30E0 ldi r19,hi8(3) |
5610 2f30 40E0 ldi r20,hlo8(3) |
5611 2f32 50E0 ldi r21,hhi8(3) |
5612 2f34 0E94 0000 call __divmodsi4 |
5613 2f38 5901 movw r10,r18 |
5614 2f3a 6A01 movw r12,r20 |
5615 .L438: |
5616 2f3c 8091 0000 lds r24,FromNaviCtrl_Value+2 |
5617 2f40 282F mov r18,r24 |
5618 2f42 3327 clr r19 |
5619 2f44 27FD sbrc r18,7 |
5620 2f46 3095 com r19 |
5621 2f48 432F mov r20,r19 |
5622 2f4a 532F mov r21,r19 |
5623 2f4c 2615 cp r18,r6 |
5624 2f4e 3705 cpc r19,r7 |
5625 2f50 4805 cpc r20,r8 |
5626 2f52 5905 cpc r21,r9 |
5627 2f54 14F4 brge .L440 |
5628 2f56 3901 movw r6,r18 |
5629 2f58 4A01 movw r8,r20 |
5630 .L440: |
5631 2f5a 9927 clr r25 |
5632 2f5c 87FD sbrc r24,7 |
5633 2f5e 9095 com r25 |
5634 2f60 9095 com r25 |
5635 2f62 8195 neg r24 |
5636 2f64 9F4F sbci r25,lo8(-1) |
5637 2f66 AA27 clr r26 |
5638 2f68 97FD sbrc r25,7 |
5639 2f6a A095 com r26 |
5640 2f6c BA2F mov r27,r26 |
5641 2f6e 6816 cp r6,r24 |
5642 2f70 7906 cpc r7,r25 |
5643 2f72 8A06 cpc r8,r26 |
5644 2f74 9B06 cpc r9,r27 |
5645 2f76 14F4 brge .L441 |
5646 2f78 3C01 movw r6,r24 |
5647 2f7a 4D01 movw r8,r26 |
5648 .L441: |
5649 2f7c 2A15 cp r18,r10 |
5650 2f7e 3B05 cpc r19,r11 |
5651 2f80 4C05 cpc r20,r12 |
5652 2f82 5D05 cpc r21,r13 |
5653 2f84 14F4 brge .L442 |
5654 2f86 5901 movw r10,r18 |
5655 2f88 6A01 movw r12,r20 |
5656 .L442: |
5657 2f8a A816 cp r10,r24 |
5658 2f8c B906 cpc r11,r25 |
5659 2f8e CA06 cpc r12,r26 |
5660 2f90 DB06 cpc r13,r27 |
5661 2f92 0CF0 brlt .+2 |
5662 2f94 CFC0 rjmp .L444 |
5663 2f96 5C01 movw r10,r24 |
5664 2f98 6D01 movw r12,r26 |
5665 2f9a CCC0 rjmp .L444 |
5666 .L431: |
5667 2f9c EA2C mov r14,r10 |
5668 2f9e FF24 clr r15 |
5669 2fa0 0027 clr r16 |
5670 2fa2 1127 clr r17 |
5671 2fa4 CA01 movw r24,r20 |
5672 2fa6 B901 movw r22,r18 |
5673 2fa8 A801 movw r20,r16 |
5674 2faa 9701 movw r18,r14 |
5675 2fac 0E94 0000 call __divmodsi4 |
5676 2fb0 3901 movw r6,r18 |
5677 2fb2 4A01 movw r8,r20 |
5678 2fb4 4AA9 ldd r20,Y+50 |
5679 2fb6 5BA9 ldd r21,Y+51 |
5680 2fb8 CA01 movw r24,r20 |
5681 2fba AA27 clr r26 |
5682 2fbc 97FD sbrc r25,7 |
5683 2fbe A095 com r26 |
5684 2fc0 BA2F mov r27,r26 |
5685 2fc2 681A sub r6,r24 |
5686 2fc4 790A sbc r7,r25 |
5687 2fc6 8A0A sbc r8,r26 |
5688 2fc8 9B0A sbc r9,r27 |
5689 2fca C201 movw r24,r4 |
5690 2fcc B101 movw r22,r2 |
5691 2fce A801 movw r20,r16 |
5692 2fd0 9701 movw r18,r14 |
5693 2fd2 0E94 0000 call __divmodsi4 |
5694 2fd6 5901 movw r10,r18 |
5695 2fd8 6A01 movw r12,r20 |
5696 2fda 6CA9 ldd r22,Y+52 |
5697 2fdc 7DA9 ldd r23,Y+53 |
5698 2fde CB01 movw r24,r22 |
5699 2fe0 AA27 clr r26 |
5700 2fe2 97FD sbrc r25,7 |
5701 2fe4 A095 com r26 |
5702 2fe6 BA2F mov r27,r26 |
5703 2fe8 A81A sub r10,r24 |
5704 2fea B90A sbc r11,r25 |
5705 2fec CA0A sbc r12,r26 |
5706 2fee DB0A sbc r13,r27 |
5707 2ff0 D401 movw r26,r8 |
5708 2ff2 C301 movw r24,r6 |
5709 2ff4 97FE sbrs r9,7 |
5710 2ff6 03C0 rjmp .L445 |
5711 2ff8 0F96 adiw r24,15 |
5712 2ffa A11D adc r26,__zero_reg__ |
5713 2ffc B11D adc r27,__zero_reg__ |
5714 .L445: |
5715 2ffe 3C01 movw r6,r24 |
5716 3000 4D01 movw r8,r26 |
5717 3002 F4E0 ldi r31,4 |
5718 3004 9594 1: asr r9 |
5719 3006 8794 ror r8 |
5720 3008 7794 ror r7 |
5721 300a 6794 ror r6 |
5722 300c FA95 dec r31 |
5723 300e D1F7 brne 1b |
5724 3010 D601 movw r26,r12 |
5725 3012 C501 movw r24,r10 |
5726 3014 D7FE sbrs r13,7 |
5727 3016 03C0 rjmp .L446 |
5728 3018 0F96 adiw r24,15 |
5729 301a A11D adc r26,__zero_reg__ |
5730 301c B11D adc r27,__zero_reg__ |
5731 .L446: |
5732 301e 5C01 movw r10,r24 |
5733 3020 6D01 movw r12,r26 |
5734 3022 E4E0 ldi r30,4 |
5735 3024 D594 1: asr r13 |
5736 3026 C794 ror r12 |
5737 3028 B794 ror r11 |
5738 302a A794 ror r10 |
5739 302c EA95 dec r30 |
5740 302e D1F7 brne 1b |
5741 3030 8091 0000 lds r24,MaxStickNick |
5742 3034 9091 0000 lds r25,(MaxStickNick)+1 |
5743 3038 8134 cpi r24,65 |
5744 303a 9105 cpc r25,__zero_reg__ |
5745 303c 3CF4 brge .L448 |
5746 303e 8091 0000 lds r24,MaxStickRoll |
5747 3042 9091 0000 lds r25,(MaxStickRoll)+1 |
5748 3046 8134 cpi r24,65 |
5749 3048 9105 cpc r25,__zero_reg__ |
5750 304a A4F0 brlt .L447 |
5751 .L448: |
5752 304c C401 movw r24,r8 |
5753 304e B301 movw r22,r6 |
5754 3050 23E0 ldi r18,lo8(3) |
5755 3052 30E0 ldi r19,hi8(3) |
5756 3054 40E0 ldi r20,hlo8(3) |
5757 3056 50E0 ldi r21,hhi8(3) |
5758 3058 0E94 0000 call __divmodsi4 |
5759 305c 3901 movw r6,r18 |
5760 305e 4A01 movw r8,r20 |
5761 3060 C601 movw r24,r12 |
5762 3062 B501 movw r22,r10 |
5763 3064 23E0 ldi r18,lo8(3) |
5764 3066 30E0 ldi r19,hi8(3) |
5765 3068 40E0 ldi r20,hlo8(3) |
5766 306a 50E0 ldi r21,hhi8(3) |
5767 306c 0E94 0000 call __divmodsi4 |
5768 3070 5901 movw r10,r18 |
5769 3072 6A01 movw r12,r20 |
5770 .L447: |
5771 3074 8091 0000 lds r24,EE_Parameter+4 |
5772 3078 E82F mov r30,r24 |
5773 307a FF27 clr r31 |
5774 307c EE0F add r30,r30 |
5775 307e FF1F adc r31,r31 |
5776 3080 E050 subi r30,lo8(-(PPM_in)) |
5777 3082 F040 sbci r31,hi8(-(PPM_in)) |
5778 3084 8081 ld r24,Z |
5779 3086 9181 ldd r25,Z+1 |
5780 3088 0190 ld __tmp_reg__,Z+ |
5781 308a F081 ld r31,Z |
5782 308c E02D mov r30,__tmp_reg__ |
5783 308e F7FF sbrs r31,7 |
5784 3090 03C0 rjmp .L450 |
5785 3092 F095 com r31 |
5786 3094 E195 neg r30 |
5787 3096 FF4F sbci r31,lo8(-1) |
5788 .L450: |
5789 3098 7A97 sbiw r30,26 |
5790 309a A4F0 brlt .L449 |
5791 309c C401 movw r24,r8 |
5792 309e B301 movw r22,r6 |
5793 30a0 23E0 ldi r18,lo8(3) |
5794 30a2 30E0 ldi r19,hi8(3) |
5795 30a4 40E0 ldi r20,hlo8(3) |
5796 30a6 50E0 ldi r21,hhi8(3) |
5797 30a8 0E94 0000 call __divmodsi4 |
5798 30ac 3901 movw r6,r18 |
5799 30ae 4A01 movw r8,r20 |
5800 30b0 C601 movw r24,r12 |
5801 30b2 B501 movw r22,r10 |
5802 30b4 23E0 ldi r18,lo8(3) |
5803 30b6 30E0 ldi r19,hi8(3) |
5804 30b8 40E0 ldi r20,hlo8(3) |
5805 30ba 50E0 ldi r21,hhi8(3) |
5806 30bc 0E94 0000 call __divmodsi4 |
5807 30c0 5901 movw r10,r18 |
5808 30c2 6A01 movw r12,r20 |
5809 .L449: |
5810 30c4 71E2 ldi r23,lo8(33) |
5811 30c6 6716 cp r6,r23 |
5812 30c8 7104 cpc r7,__zero_reg__ |
5813 30ca 8104 cpc r8,__zero_reg__ |
5814 30cc 9104 cpc r9,__zero_reg__ |
5815 30ce 2CF0 brlt .L451 |
5816 30d0 70E2 ldi r23,lo8(32) |
5817 30d2 672E mov r6,r23 |
5818 30d4 712C mov r7,__zero_reg__ |
5819 30d6 812C mov r8,__zero_reg__ |
5820 30d8 912C mov r9,__zero_reg__ |
5821 .L451: |
5822 30da 80EE ldi r24,lo8(-32) |
5823 30dc 6816 cp r6,r24 |
5824 30de 8FEF ldi r24,hi8(-32) |
5825 30e0 7806 cpc r7,r24 |
5826 30e2 8FEF ldi r24,hlo8(-32) |
5827 30e4 8806 cpc r8,r24 |
5828 30e6 8FEF ldi r24,hhi8(-32) |
5829 30e8 9806 cpc r9,r24 |
5830 30ea 44F4 brge .L452 |
5831 30ec 60EE ldi r22,lo8(-32) |
5832 30ee 662E mov r6,r22 |
5833 30f0 6FEF ldi r22,hi8(-32) |
5834 30f2 762E mov r7,r22 |
5835 30f4 6FEF ldi r22,hlo8(-32) |
5836 30f6 862E mov r8,r22 |
5837 30f8 6FEF ldi r22,hhi8(-32) |
5838 30fa 962E mov r9,r22 |
5839 .L452: |
5840 30fc 91E2 ldi r25,lo8(33) |
5841 30fe A916 cp r10,r25 |
5842 3100 B104 cpc r11,__zero_reg__ |
5843 3102 C104 cpc r12,__zero_reg__ |
5844 3104 D104 cpc r13,__zero_reg__ |
5845 3106 2CF0 brlt .L453 |
5846 3108 50E2 ldi r21,lo8(32) |
5847 310a A52E mov r10,r21 |
5848 310c B12C mov r11,__zero_reg__ |
5849 310e C12C mov r12,__zero_reg__ |
5850 3110 D12C mov r13,__zero_reg__ |
5851 .L453: |
5852 3112 A0EE ldi r26,lo8(-32) |
5853 3114 AA16 cp r10,r26 |
5854 3116 AFEF ldi r26,hi8(-32) |
5855 3118 BA06 cpc r11,r26 |
5856 311a AFEF ldi r26,hlo8(-32) |
5857 311c CA06 cpc r12,r26 |
5858 311e AFEF ldi r26,hhi8(-32) |
5859 3120 DA06 cpc r13,r26 |
5860 3122 44F4 brge .L444 |
5861 3124 40EE ldi r20,lo8(-32) |
5862 3126 A42E mov r10,r20 |
5863 3128 4FEF ldi r20,hi8(-32) |
5864 312a B42E mov r11,r20 |
5865 312c 4FEF ldi r20,hlo8(-32) |
5866 312e C42E mov r12,r20 |
5867 3130 4FEF ldi r20,hhi8(-32) |
5868 3132 D42E mov r13,r20 |
5869 .L444: |
5870 3134 8091 0000 lds r24,Mess_IntegralNick |
5871 3138 9091 0000 lds r25,(Mess_IntegralNick)+1 |
5872 313c A091 0000 lds r26,(Mess_IntegralNick)+2 |
5873 3140 B091 0000 lds r27,(Mess_IntegralNick)+3 |
5874 3144 8619 sub r24,r6 |
5875 3146 9709 sbc r25,r7 |
5876 3148 A809 sbc r26,r8 |
5877 314a B909 sbc r27,r9 |
5878 314c 8093 0000 sts Mess_IntegralNick,r24 |
5879 3150 9093 0000 sts (Mess_IntegralNick)+1,r25 |
5880 3154 A093 0000 sts (Mess_IntegralNick)+2,r26 |
5881 3158 B093 0000 sts (Mess_IntegralNick)+3,r27 |
5882 315c 8091 0000 lds r24,Mess_IntegralRoll |
5883 3160 9091 0000 lds r25,(Mess_IntegralRoll)+1 |
5884 3164 A091 0000 lds r26,(Mess_IntegralRoll)+2 |
5885 3168 B091 0000 lds r27,(Mess_IntegralRoll)+3 |
5886 316c 8A19 sub r24,r10 |
5887 316e 9B09 sbc r25,r11 |
5888 3170 AC09 sbc r26,r12 |
5889 3172 BD09 sbc r27,r13 |
5890 3174 8093 0000 sts Mess_IntegralRoll,r24 |
5891 3178 9093 0000 sts (Mess_IntegralRoll)+1,r25 |
5892 317c A093 0000 sts (Mess_IntegralRoll)+2,r26 |
5893 3180 B093 0000 sts (Mess_IntegralRoll)+3,r27 |
5894 .L429: |
5895 3184 8091 0000 lds r24,ZaehlMessungen |
5896 3188 9091 0000 lds r25,(ZaehlMessungen)+1 |
5897 318c 8F3F cpi r24,255 |
5898 318e 9105 cpc r25,__zero_reg__ |
5899 3190 09F0 breq .+2 |
5900 3192 08F4 brsh .+2 |
5901 3194 C4C5 rjmp .L455 |
5902 3196 BAA5 ldd r27,Y+42 |
5903 3198 BB23 tst r27 |
5904 319a 09F0 breq .+2 |
5905 319c 4EC5 rjmp .L456 |
5906 319e 8091 0000 lds r24,Looping_Roll |
5907 31a2 8823 tst r24 |
5908 31a4 09F0 breq .+2 |
5909 31a6 49C5 rjmp .L456 |
5910 31a8 8091 0000 lds r24,TrichterFlug |
5911 31ac 8823 tst r24 |
5912 31ae 09F0 breq .+2 |
5913 31b0 44C5 rjmp .L456 |
5914 31b2 E091 0000 lds r30,EE_Parameter+66 |
5915 31b6 EBA7 std Y+43,r30 |
5916 31b8 EE23 tst r30 |
5917 31ba 09F4 brne .+2 |
5918 31bc 3EC5 rjmp .L456 |
5919 31be 8091 0000 lds r24,MittelIntegralNick |
5920 31c2 9091 0000 lds r25,(MittelIntegralNick)+1 |
5921 31c6 A091 0000 lds r26,(MittelIntegralNick)+2 |
5922 31ca B091 0000 lds r27,(MittelIntegralNick)+3 |
5923 31ce B7FF sbrs r27,7 |
5924 31d0 04C0 rjmp .L457 |
5925 31d2 8150 subi r24,lo8(-(255)) |
5926 31d4 9F4F sbci r25,hi8(-(255)) |
5927 31d6 AF4F sbci r26,hlo8(-(255)) |
5928 31d8 BF4F sbci r27,hhi8(-(255)) |
5929 .L457: |
5930 31da E92E mov r14,r25 |
5931 31dc FA2E mov r15,r26 |
5932 31de 0B2F mov r16,r27 |
5933 31e0 1127 clr r17 |
5934 31e2 07FD sbrc r16,7 |
5935 31e4 1A95 dec r17 |
5936 31e6 E092 0000 sts MittelIntegralNick,r14 |
5937 31ea F092 0000 sts (MittelIntegralNick)+1,r15 |
5938 31ee 0093 0000 sts (MittelIntegralNick)+2,r16 |
5939 31f2 1093 0000 sts (MittelIntegralNick)+3,r17 |
5940 31f6 8091 0000 lds r24,MittelIntegralRoll |
5941 31fa 9091 0000 lds r25,(MittelIntegralRoll)+1 |
5942 31fe A091 0000 lds r26,(MittelIntegralRoll)+2 |
5943 3202 B091 0000 lds r27,(MittelIntegralRoll)+3 |
5944 3206 B7FF sbrs r27,7 |
5945 3208 04C0 rjmp .L458 |
5946 320a 8150 subi r24,lo8(-(255)) |
5947 320c 9F4F sbci r25,hi8(-(255)) |
5948 320e AF4F sbci r26,hlo8(-(255)) |
5949 3210 BF4F sbci r27,hhi8(-(255)) |
5950 .L458: |
5951 3212 892F mov r24,r25 |
5952 3214 9A2F mov r25,r26 |
5953 3216 AB2F mov r26,r27 |
5954 3218 BB27 clr r27 |
5955 321a A7FD sbrc r26,7 |
5956 321c BA95 dec r27 |
5957 321e 8CA7 std Y+44,r24 |
5958 3220 9DA7 std Y+45,r25 |
5959 3222 AEA7 std Y+46,r26 |
5960 3224 BFA7 std Y+47,r27 |
5961 3226 8093 0000 sts MittelIntegralRoll,r24 |
5962 322a 9093 0000 sts (MittelIntegralRoll)+1,r25 |
5963 322e A093 0000 sts (MittelIntegralRoll)+2,r26 |
5964 3232 B093 0000 sts (MittelIntegralRoll)+3,r27 |
5965 3236 8091 0000 lds r24,EE_Parameter+28 |
5966 323a A82E mov r10,r24 |
5967 323c BB24 clr r11 |
5968 323e CC24 clr r12 |
5969 3240 DD24 clr r13 |
5970 3242 2091 0000 lds r18,IntegralAccNick |
5971 3246 3091 0000 lds r19,(IntegralAccNick)+1 |
5972 324a 4091 0000 lds r20,(IntegralAccNick)+2 |
5973 324e 5091 0000 lds r21,(IntegralAccNick)+3 |
5974 3252 C601 movw r24,r12 |
5975 3254 B501 movw r22,r10 |
5976 3256 0E94 0000 call __mulsi3 |
5977 325a 97FF sbrs r25,7 |
5978 325c 04C0 rjmp .L459 |
5979 325e 6150 subi r22,lo8(-(255)) |
5980 3260 7F4F sbci r23,hi8(-(255)) |
5981 3262 8F4F sbci r24,hlo8(-(255)) |
5982 3264 9F4F sbci r25,hhi8(-(255)) |
5983 .L459: |
5984 3266 672E mov r6,r23 |
5985 3268 782E mov r7,r24 |
5986 326a 892E mov r8,r25 |
5987 326c 9924 clr r9 |
5988 326e 87FC sbrc r8,7 |
5989 3270 9A94 dec r9 |
5990 3272 6092 0000 sts IntegralAccNick,r6 |
5991 3276 7092 0000 sts (IntegralAccNick)+1,r7 |
5992 327a 8092 0000 sts (IntegralAccNick)+2,r8 |
5993 327e 9092 0000 sts (IntegralAccNick)+3,r9 |
5994 3282 2091 0000 lds r18,IntegralAccRoll |
5995 3286 3091 0000 lds r19,(IntegralAccRoll)+1 |
5996 328a 4091 0000 lds r20,(IntegralAccRoll)+2 |
5997 328e 5091 0000 lds r21,(IntegralAccRoll)+3 |
5998 3292 C601 movw r24,r12 |
5999 3294 B501 movw r22,r10 |
6000 3296 0E94 0000 call __mulsi3 |
6001 329a 97FF sbrs r25,7 |
6002 329c 04C0 rjmp .L460 |
6003 329e 6150 subi r22,lo8(-(255)) |
6004 32a0 7F4F sbci r23,hi8(-(255)) |
6005 32a2 8F4F sbci r24,hlo8(-(255)) |
6006 32a4 9F4F sbci r25,hhi8(-(255)) |
6007 .L460: |
6008 32a6 272E mov r2,r23 |
6009 32a8 382E mov r3,r24 |
6010 32aa 492E mov r4,r25 |
6011 32ac 5524 clr r5 |
6012 32ae 47FC sbrc r4,7 |
6013 32b0 5A94 dec r5 |
6014 32b2 2092 0000 sts IntegralAccRoll,r2 |
6015 32b6 3092 0000 sts (IntegralAccRoll)+1,r3 |
6016 32ba 4092 0000 sts (IntegralAccRoll)+2,r4 |
6017 32be 5092 0000 sts (IntegralAccRoll)+3,r5 |
6018 32c2 8091 0000 lds r24,IntegralAccZ |
6019 32c6 9091 0000 lds r25,(IntegralAccZ)+1 |
6020 32ca A091 0000 lds r26,(IntegralAccZ)+2 |
6021 32ce B091 0000 lds r27,(IntegralAccZ)+3 |
6022 32d2 B7FF sbrs r27,7 |
6023 32d4 04C0 rjmp .L461 |
6024 32d6 8150 subi r24,lo8(-(255)) |
6025 32d8 9F4F sbci r25,hi8(-(255)) |
6026 32da AF4F sbci r26,hlo8(-(255)) |
6027 32dc BF4F sbci r27,hhi8(-(255)) |
6028 .L461: |
6029 32de 892F mov r24,r25 |
6030 32e0 9A2F mov r25,r26 |
6031 32e2 AB2F mov r26,r27 |
6032 32e4 BB27 clr r27 |
6033 32e6 A7FD sbrc r26,7 |
6034 32e8 BA95 dec r27 |
6035 32ea 8093 0000 sts IntegralAccZ,r24 |
6036 32ee 9093 0000 sts (IntegralAccZ)+1,r25 |
6037 32f2 A093 0000 sts (IntegralAccZ)+2,r26 |
6038 32f6 B093 0000 sts (IntegralAccZ)+3,r27 |
6039 32fa D801 movw r26,r16 |
6040 32fc C701 movw r24,r14 |
6041 32fe 8619 sub r24,r6 |
6042 3300 9709 sbc r25,r7 |
6043 3302 A809 sbc r26,r8 |
6044 3304 B909 sbc r27,r9 |
6045 3306 8093 0000 sts IntegralFehlerNick.3,r24 |
6046 330a 9093 0000 sts (IntegralFehlerNick.3)+1,r25 |
6047 330e A093 0000 sts (IntegralFehlerNick.3)+2,r26 |
6048 3312 B093 0000 sts (IntegralFehlerNick.3)+3,r27 |
6049 3316 2091 0000 lds r18,EE_Parameter+65 |
6050 331a E22E mov r14,r18 |
6051 331c FF24 clr r15 |
6052 331e 0027 clr r16 |
6053 3320 1127 clr r17 |
6054 3322 BC01 movw r22,r24 |
6055 3324 CD01 movw r24,r26 |
6056 3326 A801 movw r20,r16 |
6057 3328 9701 movw r18,r14 |
6058 332a 0E94 0000 call __divmodsi4 |
6059 332e 5901 movw r10,r18 |
6060 3330 6A01 movw r12,r20 |
6061 3332 2093 0000 sts ausgleichNick.11,r18 |
6062 3336 3093 0000 sts (ausgleichNick.11)+1,r19 |
6063 333a 4093 0000 sts (ausgleichNick.11)+2,r20 |
6064 333e 5093 0000 sts (ausgleichNick.11)+3,r21 |
6065 3342 8CA5 ldd r24,Y+44 |
6066 3344 9DA5 ldd r25,Y+45 |
6067 3346 AEA5 ldd r26,Y+46 |
6068 3348 BFA5 ldd r27,Y+47 |
6069 334a 8219 sub r24,r2 |
6070 334c 9309 sbc r25,r3 |
6071 334e A409 sbc r26,r4 |
6072 3350 B509 sbc r27,r5 |
6073 3352 8093 0000 sts IntegralFehlerRoll.4,r24 |
6074 3356 9093 0000 sts (IntegralFehlerRoll.4)+1,r25 |
6075 335a A093 0000 sts (IntegralFehlerRoll.4)+2,r26 |
6076 335e B093 0000 sts (IntegralFehlerRoll.4)+3,r27 |
6077 3362 BC01 movw r22,r24 |
6078 3364 CD01 movw r24,r26 |
6079 3366 A801 movw r20,r16 |
6080 3368 9701 movw r18,r14 |
6081 336a 0E94 0000 call __divmodsi4 |
6082 336e 2093 0000 sts ausgleichRoll.12,r18 |
6083 3372 3093 0000 sts (ausgleichRoll.12)+1,r19 |
6084 3376 4093 0000 sts (ausgleichRoll.12)+2,r20 |
6085 337a 5093 0000 sts (ausgleichRoll.12)+3,r21 |
6086 337e D601 movw r26,r12 |
6087 3380 C501 movw r24,r10 |
6088 3382 D7FE sbrs r13,7 |
6089 3384 04C0 rjmp .L462 |
6090 3386 8150 subi r24,lo8(-(255)) |
6091 3388 9F4F sbci r25,hi8(-(255)) |
6092 338a AF4F sbci r26,hlo8(-(255)) |
6093 338c BF4F sbci r27,hhi8(-(255)) |
6094 .L462: |
6095 338e 892F mov r24,r25 |
6096 3390 9A2F mov r25,r26 |
6097 3392 AB2F mov r26,r27 |
6098 3394 BB27 clr r27 |
6099 3396 A7FD sbrc r26,7 |
6100 3398 BA95 dec r27 |
6101 339a 9093 0000 sts (LageKorrekturNick)+1,r25 |
6102 339e 8093 0000 sts LageKorrekturNick,r24 |
6103 33a2 57FF sbrs r21,7 |
6104 33a4 04C0 rjmp .L463 |
6105 33a6 2150 subi r18,lo8(-(255)) |
6106 33a8 3F4F sbci r19,hi8(-(255)) |
6107 33aa 4F4F sbci r20,hlo8(-(255)) |
6108 33ac 5F4F sbci r21,hhi8(-(255)) |
6109 .L463: |
6110 33ae BB27 clr r27 |
6111 33b0 57FD sbrc r21,7 |
6112 33b2 BA95 dec r27 |
6113 33b4 A52F mov r26,r21 |
6114 33b6 942F mov r25,r20 |
6115 33b8 832F mov r24,r19 |
6116 33ba 9093 0000 sts (LageKorrekturRoll)+1,r25 |
6117 33be 8093 0000 sts LageKorrekturRoll,r24 |
6118 33c2 8091 0000 lds r24,MaxStickNick |
6119 33c6 9091 0000 lds r25,(MaxStickNick)+1 |
6120 33ca 8134 cpi r24,65 |
6121 33cc 9105 cpc r25,__zero_reg__ |
6122 33ce DCF4 brge .L465 |
6123 33d0 8091 0000 lds r24,MaxStickRoll |
6124 33d4 9091 0000 lds r25,(MaxStickRoll)+1 |
6125 33d8 8134 cpi r24,65 |
6126 33da 9105 cpc r25,__zero_reg__ |
6127 33dc A4F4 brge .L465 |
6128 33de 8091 0000 lds r24,EE_Parameter+4 |
6129 33e2 E82F mov r30,r24 |
6130 33e4 FF27 clr r31 |
6131 33e6 EE0F add r30,r30 |
6132 33e8 FF1F adc r31,r31 |
6133 33ea E050 subi r30,lo8(-(PPM_in)) |
6134 33ec F040 sbci r31,hi8(-(PPM_in)) |
6135 33ee 8081 ld r24,Z |
6136 33f0 9181 ldd r25,Z+1 |
6137 33f2 0190 ld __tmp_reg__,Z+ |
6138 33f4 F081 ld r31,Z |
6139 33f6 E02D mov r30,__tmp_reg__ |
6140 33f8 F7FF sbrs r31,7 |
6141 33fa 03C0 rjmp .L466 |
6142 33fc F095 com r31 |
6143 33fe E195 neg r30 |
6144 3400 FF4F sbci r31,lo8(-1) |
6145 .L466: |
6146 3402 7A97 sbiw r30,26 |
6147 3404 E4F0 brlt .L464 |
6148 .L465: |
6149 3406 8091 0000 lds r24,FromNaviCtrl_Value |
6150 340a 8F3F cpi r24,lo8(-1) |
6151 340c C1F4 brne .L464 |
6152 340e 8091 0000 lds r24,LageKorrekturNick |
6153 3412 9091 0000 lds r25,(LageKorrekturNick)+1 |
6154 3416 97FD sbrc r25,7 |
6155 3418 0196 adiw r24,1 |
6156 .L467: |
6157 341a 9595 asr r25 |
6158 341c 8795 ror r24 |
6159 341e 9093 0000 sts (LageKorrekturNick)+1,r25 |
6160 3422 8093 0000 sts LageKorrekturNick,r24 |
6161 3426 8091 0000 lds r24,LageKorrekturRoll |
6162 342a 9091 0000 lds r25,(LageKorrekturRoll)+1 |
6163 342e 97FD sbrc r25,7 |
6164 3430 0196 adiw r24,1 |
6165 .L468: |
6166 3432 9595 asr r25 |
6167 3434 8795 ror r24 |
6168 3436 9093 0000 sts (LageKorrekturRoll)+1,r25 |
6169 343a 8093 0000 sts LageKorrekturRoll,r24 |
6170 .L464: |
6171 343e 8091 0000 lds r24,MittelIntegralNick2 |
6172 3442 9091 0000 lds r25,(MittelIntegralNick2)+1 |
6173 3446 A091 0000 lds r26,(MittelIntegralNick2)+2 |
6174 344a B091 0000 lds r27,(MittelIntegralNick2)+3 |
6175 344e B7FF sbrs r27,7 |
6176 3450 04C0 rjmp .L469 |
6177 3452 8150 subi r24,lo8(-(255)) |
6178 3454 9F4F sbci r25,hi8(-(255)) |
6179 3456 AF4F sbci r26,hlo8(-(255)) |
6180 3458 BF4F sbci r27,hhi8(-(255)) |
6181 .L469: |
6182 345a 892F mov r24,r25 |
6183 345c 9A2F mov r25,r26 |
6184 345e AB2F mov r26,r27 |
6185 3460 BB27 clr r27 |
6186 3462 A7FD sbrc r26,7 |
6187 3464 BA95 dec r27 |
6188 3466 8093 0000 sts MittelIntegralNick2,r24 |
6189 346a 9093 0000 sts (MittelIntegralNick2)+1,r25 |
6190 346e A093 0000 sts (MittelIntegralNick2)+2,r26 |
6191 3472 B093 0000 sts (MittelIntegralNick2)+3,r27 |
6192 3476 8091 0000 lds r24,MittelIntegralRoll2 |
6193 347a 9091 0000 lds r25,(MittelIntegralRoll2)+1 |
6194 347e A091 0000 lds r26,(MittelIntegralRoll2)+2 |
6195 3482 B091 0000 lds r27,(MittelIntegralRoll2)+3 |
6196 3486 B7FF sbrs r27,7 |
6197 3488 04C0 rjmp .L470 |
6198 348a 8150 subi r24,lo8(-(255)) |
6199 348c 9F4F sbci r25,hi8(-(255)) |
6200 348e AF4F sbci r26,hlo8(-(255)) |
6201 3490 BF4F sbci r27,hhi8(-(255)) |
6202 .L470: |
6203 3492 892F mov r24,r25 |
6204 3494 9A2F mov r25,r26 |
6205 3496 AB2F mov r26,r27 |
6206 3498 BB27 clr r27 |
6207 349a A7FD sbrc r26,7 |
6208 349c BA95 dec r27 |
6209 349e 8093 0000 sts MittelIntegralRoll2,r24 |
6210 34a2 9093 0000 sts (MittelIntegralRoll2)+1,r25 |
6211 34a6 A093 0000 sts (MittelIntegralRoll2)+2,r26 |
6212 34aa B093 0000 sts (MittelIntegralRoll2)+3,r27 |
6213 34ae 8091 0000 lds r24,IntegralNick |
6214 34b2 9091 0000 lds r25,(IntegralNick)+1 |
6215 34b6 A091 0000 lds r26,(IntegralNick)+2 |
6216 34ba B091 0000 lds r27,(IntegralNick)+3 |
6217 34be 2AA1 ldd r18,Y+34 |
6218 34c0 3BA1 ldd r19,Y+35 |
6219 34c2 4CA1 ldd r20,Y+36 |
6220 34c4 5DA1 ldd r21,Y+37 |
6221 34c6 281B sub r18,r24 |
6222 34c8 390B sbc r19,r25 |
6223 34ca 4A0B sbc r20,r26 |
6224 34cc 5B0B sbc r21,r27 |
6225 34ce 2093 0000 sts tmp_long.1,r18 |
6226 34d2 3093 0000 sts (tmp_long.1)+1,r19 |
6227 34d6 4093 0000 sts (tmp_long.1)+2,r20 |
6228 34da 5093 0000 sts (tmp_long.1)+3,r21 |
6229 34de 8091 0000 lds r24,IntegralRoll |
6230 34e2 9091 0000 lds r25,(IntegralRoll)+1 |
6231 34e6 A091 0000 lds r26,(IntegralRoll)+2 |
6232 34ea B091 0000 lds r27,(IntegralRoll)+3 |
6233 34ee EEA0 ldd r14,Y+38 |
6234 34f0 FFA0 ldd r15,Y+39 |
6235 34f2 08A5 ldd r16,Y+40 |
6236 34f4 19A5 ldd r17,Y+41 |
6237 34f6 E81A sub r14,r24 |
6238 34f8 F90A sbc r15,r25 |
6239 34fa 0A0B sbc r16,r26 |
6240 34fc 1B0B sbc r17,r27 |
6241 34fe E092 0000 sts tmp_long2.2,r14 |
6242 3502 F092 0000 sts (tmp_long2.2)+1,r15 |
6243 3506 0093 0000 sts (tmp_long2.2)+2,r16 |
6244 350a 1093 0000 sts (tmp_long2.2)+3,r17 |
6245 350e 2093 0000 sts IntegralFehlerNick.3,r18 |
6246 3512 3093 0000 sts (IntegralFehlerNick.3)+1,r19 |
6247 3516 4093 0000 sts (IntegralFehlerNick.3)+2,r20 |
6248 351a 5093 0000 sts (IntegralFehlerNick.3)+3,r21 |
6249 351e E092 0000 sts IntegralFehlerRoll.4,r14 |
6250 3522 F092 0000 sts (IntegralFehlerRoll.4)+1,r15 |
6251 3526 0093 0000 sts (IntegralFehlerRoll.4)+2,r16 |
6252 352a 1093 0000 sts (IntegralFehlerRoll.4)+3,r17 |
6253 352e 8091 0000 lds r24,Mess_IntegralNick2 |
6254 3532 9091 0000 lds r25,(Mess_IntegralNick2)+1 |
6255 3536 A091 0000 lds r26,(Mess_IntegralNick2)+2 |
6256 353a B091 0000 lds r27,(Mess_IntegralNick2)+3 |
6257 353e 821B sub r24,r18 |
6258 3540 930B sbc r25,r19 |
6259 3542 A40B sbc r26,r20 |
6260 3544 B50B sbc r27,r21 |
6261 3546 8093 0000 sts Mess_IntegralNick2,r24 |
6262 354a 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
6263 354e A093 0000 sts (Mess_IntegralNick2)+2,r26 |
6264 3552 B093 0000 sts (Mess_IntegralNick2)+3,r27 |
6265 3556 8091 0000 lds r24,Mess_IntegralRoll2 |
6266 355a 9091 0000 lds r25,(Mess_IntegralRoll2)+1 |
6267 355e A091 0000 lds r26,(Mess_IntegralRoll2)+2 |
6268 3562 B091 0000 lds r27,(Mess_IntegralRoll2)+3 |
6269 3566 8E19 sub r24,r14 |
6270 3568 9F09 sbc r25,r15 |
6271 356a A00B sbc r26,r16 |
6272 356c B10B sbc r27,r17 |
6273 356e 8093 0000 sts Mess_IntegralRoll2,r24 |
6274 3572 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
6275 3576 A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
6276 357a B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
6277 357e FBA5 ldd r31,Y+43 |
6278 3580 FF23 tst r31 |
6279 3582 E1F0 breq .L471 |
6280 3584 2091 0000 lds r18,GierGyroFehler |
6281 3588 3091 0000 lds r19,(GierGyroFehler)+1 |
6282 358c 2138 cpi r18,129 |
6283 358e 3105 cpc r19,__zero_reg__ |
6284 3590 4CF0 brlt .L472 |
6285 3592 8091 0000 lds r24,AdNeutralGier |
6286 3596 9091 0000 lds r25,(AdNeutralGier)+1 |
6287 359a 0196 adiw r24,1 |
6288 359c 9093 0000 sts (AdNeutralGier)+1,r25 |
6289 35a0 8093 0000 sts AdNeutralGier,r24 |
6290 .L472: |
6291 35a4 2058 subi r18,lo8(-128) |
6292 35a6 3F4F sbci r19,hi8(-128) |
6293 35a8 4CF4 brge .L471 |
6294 35aa 8091 0000 lds r24,AdNeutralGier |
6295 35ae 9091 0000 lds r25,(AdNeutralGier)+1 |
6296 35b2 0197 sbiw r24,1 |
6297 35b4 9093 0000 sts (AdNeutralGier)+1,r25 |
6298 35b8 8093 0000 sts AdNeutralGier,r24 |
6299 .L471: |
6300 35bc 1092 0000 sts (GierGyroFehler)+1,__zero_reg__ |
6301 35c0 1092 0000 sts GierGyroFehler,__zero_reg__ |
6302 35c4 81E0 ldi r24,lo8(1) |
6303 35c6 90E0 ldi r25,hi8(1) |
6304 35c8 9093 0000 sts (cnt.15)+1,r25 |
6305 35cc 8093 0000 sts cnt.15,r24 |
6306 35d0 A090 0000 lds r10,IntegralFehlerNick.3 |
6307 35d4 B090 0000 lds r11,(IntegralFehlerNick.3)+1 |
6308 35d8 C090 0000 lds r12,(IntegralFehlerNick.3)+2 |
6309 35dc D090 0000 lds r13,(IntegralFehlerNick.3)+3 |
6310 35e0 D601 movw r26,r12 |
6311 35e2 C501 movw r24,r10 |
6312 35e4 D7FE sbrs r13,7 |
6313 35e6 07C0 rjmp .L475 |
6314 35e8 8827 clr r24 |
6315 35ea 9927 clr r25 |
6316 35ec DC01 movw r26,r24 |
6317 35ee 8A19 sub r24,r10 |
6318 35f0 9B09 sbc r25,r11 |
6319 35f2 AC09 sbc r26,r12 |
6320 35f4 BD09 sbc r27,r13 |
6321 .L475: |
6322 35f6 8150 subi r24,lo8(513) |
6323 35f8 9240 sbci r25,hi8(513) |
6324 35fa A040 sbci r26,hlo8(513) |
6325 35fc B040 sbci r27,hhi8(513) |
6326 35fe 34F0 brlt .L474 |
6327 3600 84E0 ldi r24,lo8(4) |
6328 3602 90E0 ldi r25,hi8(4) |
6329 3604 9093 0000 sts (cnt.15)+1,r25 |
6330 3608 8093 0000 sts cnt.15,r24 |
6331 .L474: |
6332 360c 8091 0000 lds r24,MittelIntegralNick_Alt.20 |
6333 3610 9091 0000 lds r25,(MittelIntegralNick_Alt.20)+1 |
6334 3614 A091 0000 lds r26,(MittelIntegralNick_Alt.20)+2 |
6335 3618 B091 0000 lds r27,(MittelIntegralNick_Alt.20)+3 |
6336 361c 2091 0000 lds r18,MittelIntegralNick |
6337 3620 3091 0000 lds r19,(MittelIntegralNick)+1 |
6338 3624 4091 0000 lds r20,(MittelIntegralNick)+2 |
6339 3628 5091 0000 lds r21,(MittelIntegralNick)+3 |
6340 362c 821B sub r24,r18 |
6341 362e 930B sbc r25,r19 |
6342 3630 A40B sbc r26,r20 |
6343 3632 B50B sbc r27,r21 |
6344 3634 815E subi r24,lo8(-(19999)) |
6345 3636 914B sbci r25,hi8(-(19999)) |
6346 3638 AF4F sbci r26,hlo8(-(19999)) |
6347 363a BF4F sbci r27,hhi8(-(19999)) |
6348 363c 8F53 subi r24,lo8(39999) |
6349 363e 9C49 sbci r25,hi8(39999) |
6350 3640 A040 sbci r26,hlo8(39999) |
6351 3642 B040 sbci r27,hhi8(39999) |
6352 3644 28F0 brlo .L477 |
6353 3646 8091 0000 lds r24,FromNaviCtrl_Value+1 |
6354 364a 8931 cpi r24,lo8(25) |
6355 364c 0CF4 brge .+2 |
6356 364e FFC0 rjmp .L476 |
6357 .L477: |
6358 3650 31E0 ldi r19,lo8(4097) |
6359 3652 A316 cp r10,r19 |
6360 3654 30E1 ldi r19,hi8(4097) |
6361 3656 B306 cpc r11,r19 |
6362 3658 30E0 ldi r19,hlo8(4097) |
6363 365a C306 cpc r12,r19 |
6364 365c 30E0 ldi r19,hhi8(4097) |
6365 365e D306 cpc r13,r19 |
6366 3660 0CF4 brge .+2 |
6367 3662 73C0 rjmp .L478 |
6368 3664 8091 0000 lds r24,last_n_p.16 |
6369 3668 8823 tst r24 |
6370 366a 09F4 brne .+2 |
6371 366c 6AC0 rjmp .L479 |
6372 366e D601 movw r26,r12 |
6373 3670 C501 movw r24,r10 |
6374 3672 D7FE sbrs r13,7 |
6375 3674 07C0 rjmp .L480 |
6376 3676 8827 clr r24 |
6377 3678 9927 clr r25 |
6378 367a DC01 movw r26,r24 |
6379 367c 8A19 sub r24,r10 |
6380 367e 9B09 sbc r25,r11 |
6381 3680 AC09 sbc r26,r12 |
6382 3682 BD09 sbc r27,r13 |
6383 .L480: |
6384 3684 9C01 movw r18,r24 |
6385 3686 AD01 movw r20,r26 |
6386 3688 B7FF sbrs r27,7 |
6387 368a 04C0 rjmp .L481 |
6388 368c 2150 subi r18,lo8(-(511)) |
6389 368e 3E4F sbci r19,hi8(-(511)) |
6390 3690 4F4F sbci r20,hlo8(-(511)) |
6391 3692 5F4F sbci r21,hhi8(-(511)) |
6392 .L481: |
6393 3694 09E0 ldi r16,9 |
6394 3696 5595 1: asr r21 |
6395 3698 4795 ror r20 |
6396 369a 3795 ror r19 |
6397 369c 2795 ror r18 |
6398 369e 0A95 dec r16 |
6399 36a0 D1F7 brne 1b |
6400 36a2 8091 0000 lds r24,cnt.15 |
6401 36a6 9091 0000 lds r25,(cnt.15)+1 |
6402 36aa 820F add r24,r18 |
6403 36ac 931F adc r25,r19 |
6404 36ae 9093 0000 sts (cnt.15)+1,r25 |
6405 36b2 8093 0000 sts cnt.15,r24 |
6406 36b6 D601 movw r26,r12 |
6407 36b8 C501 movw r24,r10 |
6408 36ba D7FE sbrs r13,7 |
6409 36bc 03C0 rjmp .L482 |
6410 36be 0796 adiw r24,7 |
6411 36c0 A11D adc r26,__zero_reg__ |
6412 36c2 B11D adc r27,__zero_reg__ |
6413 .L482: |
6414 36c4 13E0 ldi r17,3 |
6415 36c6 B595 1: asr r27 |
6416 36c8 A795 ror r26 |
6417 36ca 9795 ror r25 |
6418 36cc 8795 ror r24 |
6419 36ce 1A95 dec r17 |
6420 36d0 D1F7 brne 1b |
6421 36d2 8093 0000 sts ausgleichNick.11,r24 |
6422 36d6 9093 0000 sts (ausgleichNick.11)+1,r25 |
6423 36da A093 0000 sts (ausgleichNick.11)+2,r26 |
6424 36de B093 0000 sts (ausgleichNick.11)+3,r27 |
6425 36e2 8958 subi r24,lo8(5001) |
6426 36e4 9341 sbci r25,hi8(5001) |
6427 36e6 A040 sbci r26,hlo8(5001) |
6428 36e8 B040 sbci r27,hhi8(5001) |
6429 36ea 64F0 brlt .L483 |
6430 36ec 88E8 ldi r24,lo8(5000) |
6431 36ee 93E1 ldi r25,hi8(5000) |
6432 36f0 A0E0 ldi r26,hlo8(5000) |
6433 36f2 B0E0 ldi r27,hhi8(5000) |
6434 36f4 8093 0000 sts ausgleichNick.11,r24 |
6435 36f8 9093 0000 sts (ausgleichNick.11)+1,r25 |
6436 36fc A093 0000 sts (ausgleichNick.11)+2,r26 |
6437 3700 B093 0000 sts (ausgleichNick.11)+3,r27 |
6438 .L483: |
6439 3704 2091 0000 lds r18,ausgleichNick.11 |
6440 3708 3091 0000 lds r19,(ausgleichNick.11)+1 |
6441 370c 4091 0000 lds r20,(ausgleichNick.11)+2 |
6442 3710 5091 0000 lds r21,(ausgleichNick.11)+3 |
6443 3714 57FF sbrs r21,7 |
6444 3716 04C0 rjmp .L484 |
6445 3718 2150 subi r18,lo8(-(255)) |
6446 371a 3F4F sbci r19,hi8(-(255)) |
6447 371c 4F4F sbci r20,hlo8(-(255)) |
6448 371e 5F4F sbci r21,hhi8(-(255)) |
6449 .L484: |
6450 3720 232F mov r18,r19 |
6451 3722 342F mov r19,r20 |
6452 3724 452F mov r20,r21 |
6453 3726 5527 clr r21 |
6454 3728 47FD sbrc r20,7 |
6455 372a 5A95 dec r21 |
6456 372c 8091 0000 lds r24,LageKorrekturNick |
6457 3730 9091 0000 lds r25,(LageKorrekturNick)+1 |
6458 3734 820F add r24,r18 |
6459 3736 931F adc r25,r19 |
6460 3738 9093 0000 sts (LageKorrekturNick)+1,r25 |
6461 373c 8093 0000 sts LageKorrekturNick,r24 |
6462 3740 06C0 rjmp .L486 |
6463 .L479: |
6464 3742 81E0 ldi r24,lo8(1) |
6465 3744 8093 0000 sts last_n_p.16,r24 |
6466 3748 02C0 rjmp .L486 |
6467 .L478: |
6468 374a 1092 0000 sts last_n_p.16,__zero_reg__ |
6469 .L486: |
6470 374e 50E0 ldi r21,lo8(-4096) |
6471 3750 A516 cp r10,r21 |
6472 3752 50EF ldi r21,hi8(-4096) |
6473 3754 B506 cpc r11,r21 |
6474 3756 5FEF ldi r21,hlo8(-4096) |
6475 3758 C506 cpc r12,r21 |
6476 375a 5FEF ldi r21,hhi8(-4096) |
6477 375c D506 cpc r13,r21 |
6478 375e 0CF0 brlt .+2 |
6479 3760 73C0 rjmp .L487 |
6480 3762 8091 0000 lds r24,last_n_n.17 |
6481 3766 8823 tst r24 |
6482 3768 09F4 brne .+2 |
6483 376a 6AC0 rjmp .L488 |
6484 376c D601 movw r26,r12 |
6485 376e C501 movw r24,r10 |
6486 3770 D7FE sbrs r13,7 |
6487 3772 07C0 rjmp .L489 |
6488 3774 8827 clr r24 |
6489 3776 9927 clr r25 |
6490 3778 DC01 movw r26,r24 |
6491 377a 8A19 sub r24,r10 |
6492 377c 9B09 sbc r25,r11 |
6493 377e AC09 sbc r26,r12 |
6494 3780 BD09 sbc r27,r13 |
6495 .L489: |
6496 3782 9C01 movw r18,r24 |
6497 3784 AD01 movw r20,r26 |
6498 3786 B7FF sbrs r27,7 |
6499 3788 04C0 rjmp .L490 |
6500 378a 2150 subi r18,lo8(-(511)) |
6501 378c 3E4F sbci r19,hi8(-(511)) |
6502 378e 4F4F sbci r20,hlo8(-(511)) |
6503 3790 5F4F sbci r21,hhi8(-(511)) |
6504 .L490: |
6505 3792 F9E0 ldi r31,9 |
6506 3794 5595 1: asr r21 |
6507 3796 4795 ror r20 |
6508 3798 3795 ror r19 |
6509 379a 2795 ror r18 |
6510 379c FA95 dec r31 |
6511 379e D1F7 brne 1b |
6512 37a0 8091 0000 lds r24,cnt.15 |
6513 37a4 9091 0000 lds r25,(cnt.15)+1 |
6514 37a8 820F add r24,r18 |
6515 37aa 931F adc r25,r19 |
6516 37ac 9093 0000 sts (cnt.15)+1,r25 |
6517 37b0 8093 0000 sts cnt.15,r24 |
6518 37b4 D601 movw r26,r12 |
6519 37b6 C501 movw r24,r10 |
6520 37b8 D7FE sbrs r13,7 |
6521 37ba 03C0 rjmp .L491 |
6522 37bc 0796 adiw r24,7 |
6523 37be A11D adc r26,__zero_reg__ |
6524 37c0 B11D adc r27,__zero_reg__ |
6525 .L491: |
6526 37c2 E3E0 ldi r30,3 |
6527 37c4 B595 1: asr r27 |
6528 37c6 A795 ror r26 |
6529 37c8 9795 ror r25 |
6530 37ca 8795 ror r24 |
6531 37cc EA95 dec r30 |
6532 37ce D1F7 brne 1b |
6533 37d0 8093 0000 sts ausgleichNick.11,r24 |
6534 37d4 9093 0000 sts (ausgleichNick.11)+1,r25 |
6535 37d8 A093 0000 sts (ausgleichNick.11)+2,r26 |
6536 37dc B093 0000 sts (ausgleichNick.11)+3,r27 |
6537 37e0 8857 subi r24,lo8(-5000) |
6538 37e2 9C4E sbci r25,hi8(-5000) |
6539 37e4 AF4F sbci r26,hlo8(-5000) |
6540 37e6 BF4F sbci r27,hhi8(-5000) |
6541 37e8 64F4 brge .L492 |
6542 37ea 88E7 ldi r24,lo8(-5000) |
6543 37ec 9CEE ldi r25,hi8(-5000) |
6544 37ee AFEF ldi r26,hlo8(-5000) |
6545 37f0 BFEF ldi r27,hhi8(-5000) |
6546 37f2 8093 0000 sts ausgleichNick.11,r24 |
6547 37f6 9093 0000 sts (ausgleichNick.11)+1,r25 |
6548 37fa A093 0000 sts (ausgleichNick.11)+2,r26 |
6549 37fe B093 0000 sts (ausgleichNick.11)+3,r27 |
6550 .L492: |
6551 3802 2091 0000 lds r18,ausgleichNick.11 |
6552 3806 3091 0000 lds r19,(ausgleichNick.11)+1 |
6553 380a 4091 0000 lds r20,(ausgleichNick.11)+2 |
6554 380e 5091 0000 lds r21,(ausgleichNick.11)+3 |
6555 3812 57FF sbrs r21,7 |
6556 3814 04C0 rjmp .L493 |
6557 3816 2150 subi r18,lo8(-(255)) |
6558 3818 3F4F sbci r19,hi8(-(255)) |
6559 381a 4F4F sbci r20,hlo8(-(255)) |
6560 381c 5F4F sbci r21,hhi8(-(255)) |
6561 .L493: |
6562 381e 232F mov r18,r19 |
6563 3820 342F mov r19,r20 |
6564 3822 452F mov r20,r21 |
6565 3824 5527 clr r21 |
6566 3826 47FD sbrc r20,7 |
6567 3828 5A95 dec r21 |
6568 382a 8091 0000 lds r24,LageKorrekturNick |
6569 382e 9091 0000 lds r25,(LageKorrekturNick)+1 |
6570 3832 820F add r24,r18 |
6571 3834 931F adc r25,r19 |
6572 3836 9093 0000 sts (LageKorrekturNick)+1,r25 |
6573 383a 8093 0000 sts LageKorrekturNick,r24 |
6574 383e 11C0 rjmp .L496 |
6575 .L488: |
6576 3840 81E0 ldi r24,lo8(1) |
6577 3842 8093 0000 sts last_n_n.17,r24 |
6578 3846 0DC0 rjmp .L496 |
6579 .L487: |
6580 3848 1092 0000 sts last_n_n.17,__zero_reg__ |
6581 384c 0AC0 rjmp .L496 |
6582 .L476: |
6583 384e 1092 0000 sts (cnt.15)+1,__zero_reg__ |
6584 3852 1092 0000 sts cnt.15,__zero_reg__ |
6585 3856 88EE ldi r24,lo8(1000) |
6586 3858 93E0 ldi r25,hi8(1000) |
6587 385a 9093 0000 sts (KompassSignalSchlecht)+1,r25 |
6588 385e 8093 0000 sts KompassSignalSchlecht,r24 |
6589 .L496: |
6590 3862 7BA5 ldd r23,Y+43 |
6591 3864 272F mov r18,r23 |
6592 3866 3327 clr r19 |
6593 3868 8091 0000 lds r24,cnt.15 |
6594 386c 9091 0000 lds r25,(cnt.15)+1 |
6595 3870 2817 cp r18,r24 |
6596 3872 3907 cpc r19,r25 |
6597 3874 24F4 brge .L497 |
6598 3876 3093 0000 sts (cnt.15)+1,r19 |
6599 387a 2093 0000 sts cnt.15,r18 |
6600 .L497: |
6601 387e E091 0000 lds r30,FromNaviCtrl_Value+1 |
6602 3882 EE23 tst r30 |
6603 3884 79F0 breq .L498 |
6604 3886 2E2F mov r18,r30 |
6605 3888 3327 clr r19 |
6606 388a 27FD sbrc r18,7 |
6607 388c 3095 com r19 |
6608 388e 8091 0000 lds r24,cnt.15 |
6609 3892 9091 0000 lds r25,(cnt.15)+1 |
6610 3896 2817 cp r18,r24 |
6611 3898 3907 cpc r19,r25 |
6612 389a 24F4 brge .L498 |
6613 389c 3093 0000 sts (cnt.15)+1,r19 |
6614 38a0 2093 0000 sts cnt.15,r18 |
6615 .L498: |
6616 38a4 4091 0000 lds r20,IntegralFehlerNick.3 |
6617 38a8 5091 0000 lds r21,(IntegralFehlerNick.3)+1 |
6618 38ac 6091 0000 lds r22,(IntegralFehlerNick.3)+2 |
6619 38b0 7091 0000 lds r23,(IntegralFehlerNick.3)+3 |
6620 38b4 4138 cpi r20,lo8(129) |
6621 38b6 5105 cpc r21,__zero_reg__ |
6622 38b8 6105 cpc r22,__zero_reg__ |
6623 38ba 7105 cpc r23,__zero_reg__ |
6624 38bc 74F0 brlt .L500 |
6625 38be 8091 0000 lds r24,AdNeutralNick |
6626 38c2 9091 0000 lds r25,(AdNeutralNick)+1 |
6627 38c6 2091 0000 lds r18,cnt.15 |
6628 38ca 3091 0000 lds r19,(cnt.15)+1 |
6629 38ce 820F add r24,r18 |
6630 38d0 931F adc r25,r19 |
6631 38d2 9093 0000 sts (AdNeutralNick)+1,r25 |
6632 38d6 8093 0000 sts AdNeutralNick,r24 |
6633 .L500: |
6634 38da 4058 subi r20,lo8(-128) |
6635 38dc 5F4F sbci r21,hi8(-128) |
6636 38de 6F4F sbci r22,hlo8(-128) |
6637 38e0 7F4F sbci r23,hhi8(-128) |
6638 38e2 74F4 brge .L501 |
6639 38e4 8091 0000 lds r24,AdNeutralNick |
6640 38e8 9091 0000 lds r25,(AdNeutralNick)+1 |
6641 38ec 2091 0000 lds r18,cnt.15 |
6642 38f0 3091 0000 lds r19,(cnt.15)+1 |
6643 38f4 821B sub r24,r18 |
6644 38f6 930B sbc r25,r19 |
6645 38f8 9093 0000 sts (AdNeutralNick)+1,r25 |
6646 38fc 8093 0000 sts AdNeutralNick,r24 |
6647 .L501: |
6648 3900 81E0 ldi r24,lo8(1) |
6649 3902 90E0 ldi r25,hi8(1) |
6650 3904 9093 0000 sts (cnt.15)+1,r25 |
6651 3908 8093 0000 sts cnt.15,r24 |
6652 390c A090 0000 lds r10,IntegralFehlerRoll.4 |
6653 3910 B090 0000 lds r11,(IntegralFehlerRoll.4)+1 |
6654 3914 C090 0000 lds r12,(IntegralFehlerRoll.4)+2 |
6655 3918 D090 0000 lds r13,(IntegralFehlerRoll.4)+3 |
6656 391c D601 movw r26,r12 |
6657 391e C501 movw r24,r10 |
6658 3920 D7FE sbrs r13,7 |
6659 3922 07C0 rjmp .L503 |
6660 3924 8827 clr r24 |
6661 3926 9927 clr r25 |
6662 3928 DC01 movw r26,r24 |
6663 392a 8A19 sub r24,r10 |
6664 392c 9B09 sbc r25,r11 |
6665 392e AC09 sbc r26,r12 |
6666 3930 BD09 sbc r27,r13 |
6667 .L503: |
6668 3932 8150 subi r24,lo8(513) |
6669 3934 9240 sbci r25,hi8(513) |
6670 3936 A040 sbci r26,hlo8(513) |
6671 3938 B040 sbci r27,hhi8(513) |
6672 393a 34F0 brlt .L502 |
6673 393c 84E0 ldi r24,lo8(4) |
6674 393e 90E0 ldi r25,hi8(4) |
6675 3940 9093 0000 sts (cnt.15)+1,r25 |
6676 3944 8093 0000 sts cnt.15,r24 |
6677 .L502: |
6678 3948 8091 0000 lds r24,MittelIntegralRoll_Alt.21 |
6679 394c 9091 0000 lds r25,(MittelIntegralRoll_Alt.21)+1 |
6680 3950 A091 0000 lds r26,(MittelIntegralRoll_Alt.21)+2 |
6681 3954 B091 0000 lds r27,(MittelIntegralRoll_Alt.21)+3 |
6682 3958 2091 0000 lds r18,MittelIntegralRoll |
6683 395c 3091 0000 lds r19,(MittelIntegralRoll)+1 |
6684 3960 4091 0000 lds r20,(MittelIntegralRoll)+2 |
6685 3964 5091 0000 lds r21,(MittelIntegralRoll)+3 |
6686 3968 821B sub r24,r18 |
6687 396a 930B sbc r25,r19 |
6688 396c A40B sbc r26,r20 |
6689 396e B50B sbc r27,r21 |
6690 3970 815E subi r24,lo8(-(19999)) |
6691 3972 914B sbci r25,hi8(-(19999)) |
6692 3974 AF4F sbci r26,hlo8(-(19999)) |
6693 3976 BF4F sbci r27,hhi8(-(19999)) |
6694 3978 8F53 subi r24,lo8(39999) |
6695 397a 9C49 sbci r25,hi8(39999) |
6696 397c A040 sbci r26,hlo8(39999) |
6697 397e B040 sbci r27,hhi8(39999) |
6698 3980 18F0 brlo .L505 |
6699 3982 E931 cpi r30,lo8(25) |
6700 3984 0CF4 brge .+2 |
6701 3986 FFC0 rjmp .L504 |
6702 .L505: |
6703 3988 11E0 ldi r17,lo8(4097) |
6704 398a A116 cp r10,r17 |
6705 398c 10E1 ldi r17,hi8(4097) |
6706 398e B106 cpc r11,r17 |
6707 3990 10E0 ldi r17,hlo8(4097) |
6708 3992 C106 cpc r12,r17 |
6709 3994 10E0 ldi r17,hhi8(4097) |
6710 3996 D106 cpc r13,r17 |
6711 3998 0CF4 brge .+2 |
6712 399a 73C0 rjmp .L506 |
6713 399c 8091 0000 lds r24,last_r_p.18 |
6714 39a0 8823 tst r24 |
6715 39a2 09F4 brne .+2 |
6716 39a4 6AC0 rjmp .L507 |
6717 39a6 D601 movw r26,r12 |
6718 39a8 C501 movw r24,r10 |
6719 39aa D7FE sbrs r13,7 |
6720 39ac 07C0 rjmp .L508 |
6721 39ae 8827 clr r24 |
6722 39b0 9927 clr r25 |
6723 39b2 DC01 movw r26,r24 |
6724 39b4 8A19 sub r24,r10 |
6725 39b6 9B09 sbc r25,r11 |
6726 39b8 AC09 sbc r26,r12 |
6727 39ba BD09 sbc r27,r13 |
6728 .L508: |
6729 39bc 9C01 movw r18,r24 |
6730 39be AD01 movw r20,r26 |
6731 39c0 B7FF sbrs r27,7 |
6732 39c2 04C0 rjmp .L509 |
6733 39c4 2150 subi r18,lo8(-(511)) |
6734 39c6 3E4F sbci r19,hi8(-(511)) |
6735 39c8 4F4F sbci r20,hlo8(-(511)) |
6736 39ca 5F4F sbci r21,hhi8(-(511)) |
6737 .L509: |
6738 39cc 69E0 ldi r22,9 |
6739 39ce 5595 1: asr r21 |
6740 39d0 4795 ror r20 |
6741 39d2 3795 ror r19 |
6742 39d4 2795 ror r18 |
6743 39d6 6A95 dec r22 |
6744 39d8 D1F7 brne 1b |
6745 39da 8091 0000 lds r24,cnt.15 |
6746 39de 9091 0000 lds r25,(cnt.15)+1 |
6747 39e2 820F add r24,r18 |
6748 39e4 931F adc r25,r19 |
6749 39e6 9093 0000 sts (cnt.15)+1,r25 |
6750 39ea 8093 0000 sts cnt.15,r24 |
6751 39ee D601 movw r26,r12 |
6752 39f0 C501 movw r24,r10 |
6753 39f2 D7FE sbrs r13,7 |
6754 39f4 03C0 rjmp .L510 |
6755 39f6 0796 adiw r24,7 |
6756 39f8 A11D adc r26,__zero_reg__ |
6757 39fa B11D adc r27,__zero_reg__ |
6758 .L510: |
6759 39fc 23E0 ldi r18,3 |
6760 39fe B595 1: asr r27 |
6761 3a00 A795 ror r26 |
6762 3a02 9795 ror r25 |
6763 3a04 8795 ror r24 |
6764 3a06 2A95 dec r18 |
6765 3a08 D1F7 brne 1b |
6766 3a0a 8093 0000 sts ausgleichRoll.12,r24 |
6767 3a0e 9093 0000 sts (ausgleichRoll.12)+1,r25 |
6768 3a12 A093 0000 sts (ausgleichRoll.12)+2,r26 |
6769 3a16 B093 0000 sts (ausgleichRoll.12)+3,r27 |
6770 3a1a 8958 subi r24,lo8(5001) |
6771 3a1c 9341 sbci r25,hi8(5001) |
6772 3a1e A040 sbci r26,hlo8(5001) |
6773 3a20 B040 sbci r27,hhi8(5001) |
6774 3a22 64F0 brlt .L511 |
6775 3a24 88E8 ldi r24,lo8(5000) |
6776 3a26 93E1 ldi r25,hi8(5000) |
6777 3a28 A0E0 ldi r26,hlo8(5000) |
6778 3a2a B0E0 ldi r27,hhi8(5000) |
6779 3a2c 8093 0000 sts ausgleichRoll.12,r24 |
6780 3a30 9093 0000 sts (ausgleichRoll.12)+1,r25 |
6781 3a34 A093 0000 sts (ausgleichRoll.12)+2,r26 |
6782 3a38 B093 0000 sts (ausgleichRoll.12)+3,r27 |
6783 .L511: |
6784 3a3c 2091 0000 lds r18,ausgleichRoll.12 |
6785 3a40 3091 0000 lds r19,(ausgleichRoll.12)+1 |
6786 3a44 4091 0000 lds r20,(ausgleichRoll.12)+2 |
6787 3a48 5091 0000 lds r21,(ausgleichRoll.12)+3 |
6788 3a4c 57FF sbrs r21,7 |
6789 3a4e 04C0 rjmp .L512 |
6790 3a50 2150 subi r18,lo8(-(255)) |
6791 3a52 3F4F sbci r19,hi8(-(255)) |
6792 3a54 4F4F sbci r20,hlo8(-(255)) |
6793 3a56 5F4F sbci r21,hhi8(-(255)) |
6794 .L512: |
6795 3a58 232F mov r18,r19 |
6796 3a5a 342F mov r19,r20 |
6797 3a5c 452F mov r20,r21 |
6798 3a5e 5527 clr r21 |
6799 3a60 47FD sbrc r20,7 |
6800 3a62 5A95 dec r21 |
6801 3a64 8091 0000 lds r24,LageKorrekturRoll |
6802 3a68 9091 0000 lds r25,(LageKorrekturRoll)+1 |
6803 3a6c 820F add r24,r18 |
6804 3a6e 931F adc r25,r19 |
6805 3a70 9093 0000 sts (LageKorrekturRoll)+1,r25 |
6806 3a74 8093 0000 sts LageKorrekturRoll,r24 |
6807 3a78 06C0 rjmp .L514 |
6808 .L507: |
6809 3a7a 81E0 ldi r24,lo8(1) |
6810 3a7c 8093 0000 sts last_r_p.18,r24 |
6811 3a80 02C0 rjmp .L514 |
6812 .L506: |
6813 3a82 1092 0000 sts last_r_p.18,__zero_reg__ |
6814 .L514: |
6815 3a86 30E0 ldi r19,lo8(-4096) |
6816 3a88 A316 cp r10,r19 |
6817 3a8a 30EF ldi r19,hi8(-4096) |
6818 3a8c B306 cpc r11,r19 |
6819 3a8e 3FEF ldi r19,hlo8(-4096) |
6820 3a90 C306 cpc r12,r19 |
6821 3a92 3FEF ldi r19,hhi8(-4096) |
6822 3a94 D306 cpc r13,r19 |
6823 3a96 0CF0 brlt .+2 |
6824 3a98 73C0 rjmp .L515 |
6825 3a9a 8091 0000 lds r24,last_r_n.19 |
6826 3a9e 8823 tst r24 |
6827 3aa0 09F4 brne .+2 |
6828 3aa2 6AC0 rjmp .L516 |
6829 3aa4 D601 movw r26,r12 |
6830 3aa6 C501 movw r24,r10 |
6831 3aa8 D7FE sbrs r13,7 |
6832 3aaa 07C0 rjmp .L517 |
6833 3aac 8827 clr r24 |
6834 3aae 9927 clr r25 |
6835 3ab0 DC01 movw r26,r24 |
6836 3ab2 8A19 sub r24,r10 |
6837 3ab4 9B09 sbc r25,r11 |
6838 3ab6 AC09 sbc r26,r12 |
6839 3ab8 BD09 sbc r27,r13 |
6840 .L517: |
6841 3aba 9C01 movw r18,r24 |
6842 3abc AD01 movw r20,r26 |
6843 3abe B7FF sbrs r27,7 |
6844 3ac0 04C0 rjmp .L518 |
6845 3ac2 2150 subi r18,lo8(-(511)) |
6846 3ac4 3E4F sbci r19,hi8(-(511)) |
6847 3ac6 4F4F sbci r20,hlo8(-(511)) |
6848 3ac8 5F4F sbci r21,hhi8(-(511)) |
6849 .L518: |
6850 3aca 09E0 ldi r16,9 |
6851 3acc 5595 1: asr r21 |
6852 3ace 4795 ror r20 |
6853 3ad0 3795 ror r19 |
6854 3ad2 2795 ror r18 |
6855 3ad4 0A95 dec r16 |
6856 3ad6 D1F7 brne 1b |
6857 3ad8 8091 0000 lds r24,cnt.15 |
6858 3adc 9091 0000 lds r25,(cnt.15)+1 |
6859 3ae0 820F add r24,r18 |
6860 3ae2 931F adc r25,r19 |
6861 3ae4 9093 0000 sts (cnt.15)+1,r25 |
6862 3ae8 8093 0000 sts cnt.15,r24 |
6863 3aec D601 movw r26,r12 |
6864 3aee C501 movw r24,r10 |
6865 3af0 D7FE sbrs r13,7 |
6866 3af2 03C0 rjmp .L519 |
6867 3af4 0796 adiw r24,7 |
6868 3af6 A11D adc r26,__zero_reg__ |
6869 3af8 B11D adc r27,__zero_reg__ |
6870 .L519: |
6871 3afa 13E0 ldi r17,3 |
6872 3afc B595 1: asr r27 |
6873 3afe A795 ror r26 |
6874 3b00 9795 ror r25 |
6875 3b02 8795 ror r24 |
6876 3b04 1A95 dec r17 |
6877 3b06 D1F7 brne 1b |
6878 3b08 8093 0000 sts ausgleichRoll.12,r24 |
6879 3b0c 9093 0000 sts (ausgleichRoll.12)+1,r25 |
6880 3b10 A093 0000 sts (ausgleichRoll.12)+2,r26 |
6881 3b14 B093 0000 sts (ausgleichRoll.12)+3,r27 |
6882 3b18 8857 subi r24,lo8(-5000) |
6883 3b1a 9C4E sbci r25,hi8(-5000) |
6884 3b1c AF4F sbci r26,hlo8(-5000) |
6885 3b1e BF4F sbci r27,hhi8(-5000) |
6886 3b20 64F4 brge .L520 |
6887 3b22 88E7 ldi r24,lo8(-5000) |
6888 3b24 9CEE ldi r25,hi8(-5000) |
6889 3b26 AFEF ldi r26,hlo8(-5000) |
6890 3b28 BFEF ldi r27,hhi8(-5000) |
6891 3b2a 8093 0000 sts ausgleichRoll.12,r24 |
6892 3b2e 9093 0000 sts (ausgleichRoll.12)+1,r25 |
6893 3b32 A093 0000 sts (ausgleichRoll.12)+2,r26 |
6894 3b36 B093 0000 sts (ausgleichRoll.12)+3,r27 |
6895 .L520: |
6896 3b3a 2091 0000 lds r18,ausgleichRoll.12 |
6897 3b3e 3091 0000 lds r19,(ausgleichRoll.12)+1 |
6898 3b42 4091 0000 lds r20,(ausgleichRoll.12)+2 |
6899 3b46 5091 0000 lds r21,(ausgleichRoll.12)+3 |
6900 3b4a 57FF sbrs r21,7 |
6901 3b4c 04C0 rjmp .L521 |
6902 3b4e 2150 subi r18,lo8(-(255)) |
6903 3b50 3F4F sbci r19,hi8(-(255)) |
6904 3b52 4F4F sbci r20,hlo8(-(255)) |
6905 3b54 5F4F sbci r21,hhi8(-(255)) |
6906 .L521: |
6907 3b56 232F mov r18,r19 |
6908 3b58 342F mov r19,r20 |
6909 3b5a 452F mov r20,r21 |
6910 3b5c 5527 clr r21 |
6911 3b5e 47FD sbrc r20,7 |
6912 3b60 5A95 dec r21 |
6913 3b62 8091 0000 lds r24,LageKorrekturRoll |
6914 3b66 9091 0000 lds r25,(LageKorrekturRoll)+1 |
6915 3b6a 820F add r24,r18 |
6916 3b6c 931F adc r25,r19 |
6917 3b6e 9093 0000 sts (LageKorrekturRoll)+1,r25 |
6918 3b72 8093 0000 sts LageKorrekturRoll,r24 |
6919 3b76 11C0 rjmp .L524 |
6920 .L516: |
6921 3b78 81E0 ldi r24,lo8(1) |
6922 3b7a 8093 0000 sts last_r_n.19,r24 |
6923 3b7e 0DC0 rjmp .L524 |
6924 .L515: |
6925 3b80 1092 0000 sts last_r_n.19,__zero_reg__ |
6926 3b84 0AC0 rjmp .L524 |
6927 .L504: |
6928 3b86 1092 0000 sts (cnt.15)+1,__zero_reg__ |
6929 3b8a 1092 0000 sts cnt.15,__zero_reg__ |
6930 3b8e 88EE ldi r24,lo8(1000) |
6931 3b90 93E0 ldi r25,hi8(1000) |
6932 3b92 9093 0000 sts (KompassSignalSchlecht)+1,r25 |
6933 3b96 8093 0000 sts KompassSignalSchlecht,r24 |
6934 .L524: |
6935 3b9a 5BA5 ldd r21,Y+43 |
6936 3b9c 252F mov r18,r21 |
6937 3b9e 3327 clr r19 |
6938 3ba0 8091 0000 lds r24,cnt.15 |
6939 3ba4 9091 0000 lds r25,(cnt.15)+1 |
6940 3ba8 2817 cp r18,r24 |
6941 3baa 3907 cpc r19,r25 |
6942 3bac 24F4 brge .L525 |
6943 3bae 3093 0000 sts (cnt.15)+1,r19 |
6944 3bb2 2093 0000 sts cnt.15,r18 |
6945 .L525: |
6946 3bb6 8091 0000 lds r24,FromNaviCtrl_Value+1 |
6947 3bba 8823 tst r24 |
6948 3bbc 79F0 breq .L526 |
6949 3bbe 282F mov r18,r24 |
6950 3bc0 3327 clr r19 |
6951 3bc2 27FD sbrc r18,7 |
6952 3bc4 3095 com r19 |
6953 3bc6 8091 0000 lds r24,cnt.15 |
6954 3bca 9091 0000 lds r25,(cnt.15)+1 |
6955 3bce 2817 cp r18,r24 |
6956 3bd0 3907 cpc r19,r25 |
6957 3bd2 24F4 brge .L526 |
6958 3bd4 3093 0000 sts (cnt.15)+1,r19 |
6959 3bd8 2093 0000 sts cnt.15,r18 |
6960 .L526: |
6961 3bdc 4091 0000 lds r20,IntegralFehlerRoll.4 |
6962 3be0 5091 0000 lds r21,(IntegralFehlerRoll.4)+1 |
6963 3be4 6091 0000 lds r22,(IntegralFehlerRoll.4)+2 |
6964 3be8 7091 0000 lds r23,(IntegralFehlerRoll.4)+3 |
6965 3bec 4138 cpi r20,lo8(129) |
6966 3bee 5105 cpc r21,__zero_reg__ |
6967 3bf0 6105 cpc r22,__zero_reg__ |
6968 3bf2 7105 cpc r23,__zero_reg__ |
6969 3bf4 74F0 brlt .L528 |
6970 3bf6 8091 0000 lds r24,AdNeutralRoll |
6971 3bfa 9091 0000 lds r25,(AdNeutralRoll)+1 |
6972 3bfe 2091 0000 lds r18,cnt.15 |
6973 3c02 3091 0000 lds r19,(cnt.15)+1 |
6974 3c06 820F add r24,r18 |
6975 3c08 931F adc r25,r19 |
6976 3c0a 9093 0000 sts (AdNeutralRoll)+1,r25 |
6977 3c0e 8093 0000 sts AdNeutralRoll,r24 |
6978 .L528: |
6979 3c12 4058 subi r20,lo8(-128) |
6980 3c14 5F4F sbci r21,hi8(-128) |
6981 3c16 6F4F sbci r22,hlo8(-128) |
6982 3c18 7F4F sbci r23,hhi8(-128) |
6983 3c1a CCF4 brge .L530 |
6984 3c1c 8091 0000 lds r24,AdNeutralRoll |
6985 3c20 9091 0000 lds r25,(AdNeutralRoll)+1 |
6986 3c24 2091 0000 lds r18,cnt.15 |
6987 3c28 3091 0000 lds r19,(cnt.15)+1 |
6988 3c2c 821B sub r24,r18 |
6989 3c2e 930B sbc r25,r19 |
6990 3c30 9093 0000 sts (AdNeutralRoll)+1,r25 |
6991 3c34 8093 0000 sts AdNeutralRoll,r24 |
6992 3c38 0AC0 rjmp .L530 |
6993 .L456: |
6994 3c3a 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__ |
6995 3c3e 1092 0000 sts LageKorrekturRoll,__zero_reg__ |
6996 3c42 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__ |
6997 3c46 1092 0000 sts LageKorrekturNick,__zero_reg__ |
6998 3c4a 1092 0000 sts TrichterFlug,__zero_reg__ |
6999 .L530: |
7000 3c4e 8091 0000 lds r24,IntegralFaktor |
7001 3c52 8823 tst r24 |
7002 3c54 41F4 brne .L531 |
7003 3c56 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__ |
7004 3c5a 1092 0000 sts LageKorrekturRoll,__zero_reg__ |
7005 3c5e 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__ |
7006 3c62 1092 0000 sts LageKorrekturNick,__zero_reg__ |
7007 .L531: |
7008 3c66 8091 0000 lds r24,MittelIntegralNick |
7009 3c6a 9091 0000 lds r25,(MittelIntegralNick)+1 |
7010 3c6e A091 0000 lds r26,(MittelIntegralNick)+2 |
7011 3c72 B091 0000 lds r27,(MittelIntegralNick)+3 |
7012 3c76 8093 0000 sts MittelIntegralNick_Alt.20,r24 |
7013 3c7a 9093 0000 sts (MittelIntegralNick_Alt.20)+1,r25 |
7014 3c7e A093 0000 sts (MittelIntegralNick_Alt.20)+2,r26 |
7015 3c82 B093 0000 sts (MittelIntegralNick_Alt.20)+3,r27 |
7016 3c86 8091 0000 lds r24,MittelIntegralRoll |
7017 3c8a 9091 0000 lds r25,(MittelIntegralRoll)+1 |
7018 3c8e A091 0000 lds r26,(MittelIntegralRoll)+2 |
7019 3c92 B091 0000 lds r27,(MittelIntegralRoll)+3 |
7020 3c96 8093 0000 sts MittelIntegralRoll_Alt.21,r24 |
7021 3c9a 9093 0000 sts (MittelIntegralRoll_Alt.21)+1,r25 |
7022 3c9e A093 0000 sts (MittelIntegralRoll_Alt.21)+2,r26 |
7023 3ca2 B093 0000 sts (MittelIntegralRoll_Alt.21)+3,r27 |
7024 3ca6 1092 0000 sts IntegralAccNick,__zero_reg__ |
7025 3caa 1092 0000 sts (IntegralAccNick)+1,__zero_reg__ |
7026 3cae 1092 0000 sts (IntegralAccNick)+2,__zero_reg__ |
7027 3cb2 1092 0000 sts (IntegralAccNick)+3,__zero_reg__ |
7028 3cb6 1092 0000 sts IntegralAccRoll,__zero_reg__ |
7029 3cba 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__ |
7030 3cbe 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__ |
7031 3cc2 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__ |
7032 3cc6 1092 0000 sts IntegralAccZ,__zero_reg__ |
7033 3cca 1092 0000 sts (IntegralAccZ)+1,__zero_reg__ |
7034 3cce 1092 0000 sts (IntegralAccZ)+2,__zero_reg__ |
7035 3cd2 1092 0000 sts (IntegralAccZ)+3,__zero_reg__ |
7036 3cd6 1092 0000 sts MittelIntegralNick,__zero_reg__ |
7037 3cda 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__ |
7038 3cde 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__ |
7039 3ce2 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__ |
7040 3ce6 1092 0000 sts MittelIntegralRoll,__zero_reg__ |
7041 3cea 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__ |
7042 3cee 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__ |
7043 3cf2 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__ |
7044 3cf6 1092 0000 sts MittelIntegralNick2,__zero_reg__ |
7045 3cfa 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__ |
7046 3cfe 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__ |
7047 3d02 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__ |
7048 3d06 1092 0000 sts MittelIntegralRoll2,__zero_reg__ |
7049 3d0a 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__ |
7050 3d0e 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__ |
7051 3d12 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__ |
7052 3d16 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__ |
7053 3d1a 1092 0000 sts ZaehlMessungen,__zero_reg__ |
7054 .L455: |
7055 3d1e 0091 0000 lds r16,StickGier |
7056 3d22 1091 0000 lds r17,(StickGier)+1 |
7057 3d26 C801 movw r24,r16 |
7058 3d28 17FF sbrs r17,7 |
7059 3d2a 04C0 rjmp .L533 |
7060 3d2c 8827 clr r24 |
7061 3d2e 9927 clr r25 |
7062 3d30 801B sub r24,r16 |
7063 3d32 910B sbc r25,r17 |
7064 .L533: |
7065 3d34 4097 sbiw r24,16 |
7066 3d36 6CF0 brlt .L532 |
7067 3d38 88EE ldi r24,lo8(1000) |
7068 3d3a 93E0 ldi r25,hi8(1000) |
7069 3d3c 9093 0000 sts (KompassSignalSchlecht)+1,r25 |
7070 3d40 8093 0000 sts KompassSignalSchlecht,r24 |
7071 3d44 8091 0000 lds r24,EE_Parameter+13 |
7072 3d48 84FD sbrc r24,4 |
7073 3d4a 03C0 rjmp .L532 |
7074 3d4c 81E0 ldi r24,lo8(1) |
7075 3d4e 8093 0000 sts NeueKompassRichtungMerken.10,r24 |
7076 .L532: |
7077 3d52 F090 0000 lds r15,EE_Parameter+25 |
7078 3d56 AF2C mov r10,r15 |
7079 3d58 BB24 clr r11 |
7080 3d5a CC24 clr r12 |
7081 3d5c DD24 clr r13 |
7082 3d5e B801 movw r22,r16 |
7083 3d60 8827 clr r24 |
7084 3d62 77FD sbrc r23,7 |
7085 3d64 8095 com r24 |
7086 3d66 982F mov r25,r24 |
7087 3d68 9801 movw r18,r16 |
7088 3d6a 17FF sbrs r17,7 |
7089 3d6c 04C0 rjmp .L535 |
7090 3d6e 2227 clr r18 |
7091 3d70 3327 clr r19 |
7092 3d72 201B sub r18,r16 |
7093 3d74 310B sbc r19,r17 |
7094 .L535: |
7095 3d76 4427 clr r20 |
7096 3d78 37FD sbrc r19,7 |
7097 3d7a 4095 com r20 |
7098 3d7c 542F mov r21,r20 |
7099 3d7e 0E94 0000 call __mulsi3 |
7100 3d82 9B01 movw r18,r22 |
7101 3d84 AC01 movw r20,r24 |
7102 3d86 C601 movw r24,r12 |
7103 3d88 B501 movw r22,r10 |
7104 3d8a 0E94 0000 call __mulsi3 |
7105 3d8e 97FF sbrs r25,7 |
7106 3d90 04C0 rjmp .L536 |
7107 3d92 6150 subi r22,lo8(-(511)) |
7108 3d94 7E4F sbci r23,hi8(-(511)) |
7109 3d96 8F4F sbci r24,hlo8(-(511)) |
7110 3d98 9F4F sbci r25,hhi8(-(511)) |
7111 .L536: |
7112 3d9a F9E0 ldi r31,9 |
7113 3d9c 9595 1: asr r25 |
7114 3d9e 8795 ror r24 |
7115 3da0 7795 ror r23 |
7116 3da2 6795 ror r22 |
7117 3da4 FA95 dec r31 |
7118 3da6 D1F7 brne 1b |
7119 3da8 9B01 movw r18,r22 |
7120 3daa 8F2D mov r24,r15 |
7121 3dac 9927 clr r25 |
7122 3dae 809F mul r24,r16 |
7123 3db0 D001 movw r26,r0 |
7124 3db2 819F mul r24,r17 |
7125 3db4 B00D add r27,r0 |
7126 3db6 909F mul r25,r16 |
7127 3db8 B00D add r27,r0 |
7128 3dba 1124 clr r1 |
7129 3dbc CD01 movw r24,r26 |
7130 3dbe B7FD sbrc r27,7 |
7131 3dc0 0396 adiw r24,3 |
7132 .L537: |
7133 3dc2 9595 asr r25 |
7134 3dc4 8795 ror r24 |
7135 3dc6 9595 asr r25 |
7136 3dc8 8795 ror r24 |
7137 3dca 280F add r18,r24 |
7138 3dcc 391F adc r19,r25 |
7139 3dce 4427 clr r20 |
7140 3dd0 37FD sbrc r19,7 |
7141 3dd2 4095 com r20 |
7142 3dd4 542F mov r21,r20 |
7143 3dd6 2093 0000 sts sollGier.0,r18 |
7144 3dda 3093 0000 sts (sollGier.0)+1,r19 |
7145 3dde 4093 0000 sts (sollGier.0)+2,r20 |
7146 3de2 5093 0000 sts (sollGier.0)+3,r21 |
7147 3de6 8091 0000 lds r24,Mess_Integral_Gier |
7148 3dea 9091 0000 lds r25,(Mess_Integral_Gier)+1 |
7149 3dee A091 0000 lds r26,(Mess_Integral_Gier)+2 |
7150 3df2 B091 0000 lds r27,(Mess_Integral_Gier)+3 |
7151 3df6 821B sub r24,r18 |
7152 3df8 930B sbc r25,r19 |
7153 3dfa A40B sbc r26,r20 |
7154 3dfc B50B sbc r27,r21 |
7155 3dfe 8093 0000 sts Mess_Integral_Gier,r24 |
7156 3e02 9093 0000 sts (Mess_Integral_Gier)+1,r25 |
7157 3e06 A093 0000 sts (Mess_Integral_Gier)+2,r26 |
7158 3e0a B093 0000 sts (Mess_Integral_Gier)+3,r27 |
7159 3e0e 8155 subi r24,lo8(50001) |
7160 3e10 934C sbci r25,hi8(50001) |
7161 3e12 A040 sbci r26,hlo8(50001) |
7162 3e14 B040 sbci r27,hhi8(50001) |
7163 3e16 64F0 brlt .L538 |
7164 3e18 80E5 ldi r24,lo8(50000) |
7165 3e1a 93EC ldi r25,hi8(50000) |
7166 3e1c A0E0 ldi r26,hlo8(50000) |
7167 3e1e B0E0 ldi r27,hhi8(50000) |
7168 3e20 8093 0000 sts Mess_Integral_Gier,r24 |
7169 3e24 9093 0000 sts (Mess_Integral_Gier)+1,r25 |
7170 3e28 A093 0000 sts (Mess_Integral_Gier)+2,r26 |
7171 3e2c B093 0000 sts (Mess_Integral_Gier)+3,r27 |
7172 .L538: |
7173 3e30 8091 0000 lds r24,Mess_Integral_Gier |
7174 3e34 9091 0000 lds r25,(Mess_Integral_Gier)+1 |
7175 3e38 A091 0000 lds r26,(Mess_Integral_Gier)+2 |
7176 3e3c B091 0000 lds r27,(Mess_Integral_Gier)+3 |
7177 3e40 805B subi r24,lo8(-50000) |
7178 3e42 9C43 sbci r25,hi8(-50000) |
7179 3e44 AF4F sbci r26,hlo8(-50000) |
7180 3e46 BF4F sbci r27,hhi8(-50000) |
7181 3e48 64F4 brge .L539 |
7182 3e4a 80EB ldi r24,lo8(-50000) |
7183 3e4c 9CE3 ldi r25,hi8(-50000) |
7184 3e4e AFEF ldi r26,hlo8(-50000) |
7185 3e50 BFEF ldi r27,hhi8(-50000) |
7186 3e52 8093 0000 sts Mess_Integral_Gier,r24 |
7187 3e56 9093 0000 sts (Mess_Integral_Gier)+1,r25 |
7188 3e5a A093 0000 sts (Mess_Integral_Gier)+2,r26 |
7189 3e5e B093 0000 sts (Mess_Integral_Gier)+3,r27 |
7190 .L539: |
7191 3e62 A090 0000 lds r10,KompassValue |
7192 3e66 B090 0000 lds r11,(KompassValue)+1 |
7193 3e6a A114 cp r10,__zero_reg__ |
7194 3e6c B104 cpc r11,__zero_reg__ |
7195 3e6e 09F4 brne .+2 |
7196 3e70 78C1 rjmp .L540 |
7197 3e72 8091 0000 lds r24,EE_Parameter+13 |
7198 3e76 83FF sbrs r24,3 |
7199 3e78 74C1 rjmp .L540 |
7200 3e7a 8091 0000 lds r24,IntegralNick |
7201 3e7e 9091 0000 lds r25,(IntegralNick)+1 |
7202 3e82 A091 0000 lds r26,(IntegralNick)+2 |
7203 3e86 B091 0000 lds r27,(IntegralNick)+3 |
7204 3e8a B7FF sbrs r27,7 |
7205 3e8c 04C0 rjmp .L541 |
7206 3e8e 8150 subi r24,lo8(-(511)) |
7207 3e90 9E4F sbci r25,hi8(-(511)) |
7208 3e92 AF4F sbci r26,hlo8(-(511)) |
7209 3e94 BF4F sbci r27,hhi8(-(511)) |
7210 .L541: |
7211 3e96 79E0 ldi r23,9 |
7212 3e98 B595 1: asr r27 |
7213 3e9a A795 ror r26 |
7214 3e9c 9795 ror r25 |
7215 3e9e 8795 ror r24 |
7216 3ea0 7A95 dec r23 |
7217 3ea2 D1F7 brne 1b |
7218 3ea4 6C01 movw r12,r24 |
7219 3ea6 97FF sbrs r25,7 |
7220 3ea8 04C0 rjmp .L542 |
7221 3eaa D094 com r13 |
7222 3eac C194 neg r12 |
7223 3eae D108 sbc r13,__zero_reg__ |
7224 3eb0 D394 inc r13 |
7225 .L542: |
7226 3eb2 8091 0000 lds r24,IntegralRoll |
7227 3eb6 9091 0000 lds r25,(IntegralRoll)+1 |
7228 3eba A091 0000 lds r26,(IntegralRoll)+2 |
7229 3ebe B091 0000 lds r27,(IntegralRoll)+3 |
7230 3ec2 B7FF sbrs r27,7 |
7231 3ec4 04C0 rjmp .L543 |
7232 3ec6 8150 subi r24,lo8(-(511)) |
7233 3ec8 9E4F sbci r25,hi8(-(511)) |
7234 3eca AF4F sbci r26,hlo8(-(511)) |
7235 3ecc BF4F sbci r27,hhi8(-(511)) |
7236 .L543: |
7237 3ece 69E0 ldi r22,9 |
7238 3ed0 B595 1: asr r27 |
7239 3ed2 A795 ror r26 |
7240 3ed4 9795 ror r25 |
7241 3ed6 8795 ror r24 |
7242 3ed8 6A95 dec r22 |
7243 3eda D1F7 brne 1b |
7244 3edc BC01 movw r22,r24 |
7245 3ede 97FF sbrs r25,7 |
7246 3ee0 03C0 rjmp .L544 |
7247 3ee2 7095 com r23 |
7248 3ee4 6195 neg r22 |
7249 3ee6 7F4F sbci r23,lo8(-1) |
7250 .L544: |
7251 3ee8 C616 cp r12,r22 |
7252 3eea D706 cpc r13,r23 |
7253 3eec 0CF4 brge .L545 |
7254 3eee 6B01 movw r12,r22 |
7255 .L545: |
7256 3ef0 B601 movw r22,r12 |
7257 3ef2 D7FE sbrs r13,7 |
7258 3ef4 02C0 rjmp .L546 |
7259 3ef6 695F subi r22,lo8(-(7)) |
7260 3ef8 7F4F sbci r23,hi8(-(7)) |
7261 .L546: |
7262 3efa 2B01 movw r4,r22 |
7263 3efc 53E0 ldi r21,3 |
7264 3efe 5594 1: asr r5 |
7265 3f00 4794 ror r4 |
7266 3f02 5A95 dec r21 |
7267 3f04 E1F7 brne 1b |
7268 3f06 42E0 ldi r20,lo8(2) |
7269 3f08 E42E mov r14,r20 |
7270 3f0a F12C mov r15,__zero_reg__ |
7271 3f0c 4E0C add r4,r14 |
7272 3f0e 5F1C adc r5,r15 |
7273 3f10 0CE1 ldi r16,lo8(540) |
7274 3f12 12E0 ldi r17,hi8(540) |
7275 3f14 A00E add r10,r16 |
7276 3f16 B11E adc r11,r17 |
7277 3f18 7501 movw r14,r10 |
7278 3f1a 0027 clr r16 |
7279 3f1c F7FC sbrc r15,7 |
7280 3f1e 0095 com r16 |
7281 3f20 102F mov r17,r16 |
7282 3f22 24EE ldi r18,lo8(-540) |
7283 3f24 3DEF ldi r19,hi8(-540) |
7284 3f26 A20E add r10,r18 |
7285 3f28 B31E adc r11,r19 |
7286 3f2a 8091 0000 lds r24,ErsatzKompass |
7287 3f2e 9091 0000 lds r25,(ErsatzKompass)+1 |
7288 3f32 A091 0000 lds r26,(ErsatzKompass)+2 |
7289 3f36 B091 0000 lds r27,(ErsatzKompass)+3 |
7290 3f3a 6090 0000 lds r6,GIER_GRAD_FAKTOR |
7291 3f3e 7090 0000 lds r7,(GIER_GRAD_FAKTOR)+1 |
7292 3f42 8090 0000 lds r8,(GIER_GRAD_FAKTOR)+2 |
7293 3f46 9090 0000 lds r9,(GIER_GRAD_FAKTOR)+3 |
7294 3f4a BC01 movw r22,r24 |
7295 3f4c CD01 movw r24,r26 |
7296 3f4e A401 movw r20,r8 |
7297 3f50 9301 movw r18,r6 |
7298 3f52 0E94 0000 call __divmodsi4 |
7299 3f56 E21A sub r14,r18 |
7300 3f58 F30A sbc r15,r19 |
7301 3f5a 040B sbc r16,r20 |
7302 3f5c 150B sbc r17,r21 |
7303 3f5e C801 movw r24,r16 |
7304 3f60 B701 movw r22,r14 |
7305 3f62 28E6 ldi r18,lo8(360) |
7306 3f64 31E0 ldi r19,hi8(360) |
7307 3f66 40E0 ldi r20,hlo8(360) |
7308 3f68 50E0 ldi r21,hhi8(360) |
7309 3f6a 0E94 0000 call __divmodsi4 |
7310 3f6e DC01 movw r26,r24 |
7311 3f70 CB01 movw r24,r22 |
7312 3f72 3CE4 ldi r19,lo8(-180) |
7313 3f74 E32E mov r14,r19 |
7314 3f76 3FEF ldi r19,hi8(-180) |
7315 3f78 F32E mov r15,r19 |
7316 3f7a E80E add r14,r24 |
7317 3f7c F91E adc r15,r25 |
7318 3f7e 0091 0000 lds r16,KompassSignalSchlecht |
7319 3f82 1091 0000 lds r17,(KompassSignalSchlecht)+1 |
7320 3f86 0115 cp r16,__zero_reg__ |
7321 3f88 1105 cpc r17,__zero_reg__ |
7322 3f8a 89F5 brne .L547 |
7323 3f8c 39E1 ldi r19,lo8(25) |
7324 3f8e C316 cp r12,r19 |
7325 3f90 D104 cpc r13,__zero_reg__ |
7326 3f92 6CF5 brge .L547 |
7327 3f94 8091 0000 lds r24,GierGyroFehler |
7328 3f98 9091 0000 lds r25,(GierGyroFehler)+1 |
7329 3f9c 8E0D add r24,r14 |
7330 3f9e 9F1D adc r25,r15 |
7331 3fa0 9093 0000 sts (GierGyroFehler)+1,r25 |
7332 3fa4 8093 0000 sts GierGyroFehler,r24 |
7333 3fa8 8091 0000 lds r24,NeueKompassRichtungMerken.10 |
7334 3fac 8823 tst r24 |
7335 3fae F9F0 breq .L547 |
7336 3fb0 C501 movw r24,r10 |
7337 3fb2 AA27 clr r26 |
7338 3fb4 97FD sbrc r25,7 |
7339 3fb6 A095 com r26 |
7340 3fb8 BA2F mov r27,r26 |
7341 3fba BC01 movw r22,r24 |
7342 3fbc CD01 movw r24,r26 |
7343 3fbe A401 movw r20,r8 |
7344 3fc0 9301 movw r18,r6 |
7345 3fc2 0E94 0000 call __mulsi3 |
7346 3fc6 DC01 movw r26,r24 |
7347 3fc8 CB01 movw r24,r22 |
7348 3fca 8093 0000 sts ErsatzKompass,r24 |
7349 3fce 9093 0000 sts (ErsatzKompass)+1,r25 |
7350 3fd2 A093 0000 sts (ErsatzKompass)+2,r26 |
7351 3fd6 B093 0000 sts (ErsatzKompass)+3,r27 |
7352 3fda BC01 movw r22,r24 |
7353 3fdc CD01 movw r24,r26 |
7354 3fde 0E94 0000 call __divmodsi4 |
7355 3fe2 3093 0000 sts (KompassStartwert)+1,r19 |
7356 3fe6 2093 0000 sts KompassStartwert,r18 |
7357 3fea 1092 0000 sts NeueKompassRichtungMerken.10,__zero_reg__ |
7358 .L547: |
7359 3fee C701 movw r24,r14 |
7360 3ff0 24E0 ldi r18,4 |
7361 3ff2 880F 1: lsl r24 |
7362 3ff4 991F rol r25 |
7363 3ff6 2A95 dec r18 |
7364 3ff8 E1F7 brne 1b |
7365 3ffa B201 movw r22,r4 |
7366 3ffc 0E94 0000 call __divmodhi4 |
7367 4000 CB01 movw r24,r22 |
7368 4002 AA27 clr r26 |
7369 4004 97FD sbrc r25,7 |
7370 4006 A095 com r26 |
7371 4008 BA2F mov r27,r26 |
7372 400a 2091 0000 lds r18,ErsatzKompass |
7373 400e 3091 0000 lds r19,(ErsatzKompass)+1 |
7374 4012 4091 0000 lds r20,(ErsatzKompass)+2 |
7375 4016 5091 0000 lds r21,(ErsatzKompass)+3 |
7376 401a 280F add r18,r24 |
7377 401c 391F adc r19,r25 |
7378 401e 4A1F adc r20,r26 |
7379 4020 5B1F adc r21,r27 |
7380 4022 2093 0000 sts ErsatzKompass,r18 |
7381 4026 3093 0000 sts (ErsatzKompass)+1,r19 |
7382 402a 4093 0000 sts (ErsatzKompass)+2,r20 |
7383 402e 5093 0000 sts (ErsatzKompass)+3,r21 |
7384 4032 F090 0000 lds r15,Parameter_KompassWirkung |
7385 4036 6F2D mov r22,r15 |
7386 4038 7727 clr r23 |
7387 403a C69E mul r12,r22 |
7388 403c C001 movw r24,r0 |
7389 403e C79E mul r12,r23 |
7390 4040 900D add r25,r0 |
7391 4042 D69E mul r13,r22 |
7392 4044 900D add r25,r0 |
7393 4046 1124 clr r1 |
7394 4048 97FD sbrc r25,7 |
7395 404a 4F96 adiw r24,31 |
7396 .L549: |
7397 404c 6C01 movw r12,r24 |
7398 404e 95E0 ldi r25,5 |
7399 4050 D594 1: asr r13 |
7400 4052 C794 ror r12 |
7401 4054 9A95 dec r25 |
7402 4056 E1F7 brne 1b |
7403 4058 6C19 sub r22,r12 |
7404 405a 7D09 sbc r23,r13 |
7405 405c 6B01 movw r12,r22 |
7406 405e 77FD sbrc r23,7 |
7407 4060 7AC0 rjmp .L550 |
7408 4062 0115 cp r16,__zero_reg__ |
7409 4064 1105 cpc r17,__zero_reg__ |
7410 4066 09F0 breq .+2 |
7411 4068 6FC0 rjmp .L776 |
7412 406a 0091 0000 lds r16,MaxStickNick |
7413 406e 1091 0000 lds r17,(MaxStickNick)+1 |
7414 4072 8091 0000 lds r24,MaxStickRoll |
7415 4076 9091 0000 lds r25,(MaxStickRoll)+1 |
7416 407a 080F add r16,r24 |
7417 407c 191F adc r17,r25 |
7418 407e 17FF sbrs r17,7 |
7419 4080 02C0 rjmp .L552 |
7420 4082 095F subi r16,lo8(-(7)) |
7421 4084 1F4F sbci r17,hi8(-(7)) |
7422 .L552: |
7423 4086 83E0 ldi r24,3 |
7424 4088 1595 1: asr r17 |
7425 408a 0795 ror r16 |
7426 408c 8A95 dec r24 |
7427 408e E1F7 brne 1b |
7428 4090 005C subi r16,lo8(-(64)) |
7429 4092 1F4F sbci r17,hi8(-(64)) |
7430 4094 CA01 movw r24,r20 |
7431 4096 B901 movw r22,r18 |
7432 4098 A401 movw r20,r8 |
7433 409a 9301 movw r18,r6 |
7434 409c 0E94 0000 call __divmodsi4 |
7435 40a0 DA01 movw r26,r20 |
7436 40a2 C901 movw r24,r18 |
7437 40a4 2091 0000 lds r18,KompassStartwert |
7438 40a8 3091 0000 lds r19,(KompassStartwert)+1 |
7439 40ac 4427 clr r20 |
7440 40ae 37FD sbrc r19,7 |
7441 40b0 4095 com r20 |
7442 40b2 542F mov r21,r20 |
7443 40b4 821B sub r24,r18 |
7444 40b6 930B sbc r25,r19 |
7445 40b8 A40B sbc r26,r20 |
7446 40ba B50B sbc r27,r21 |
7447 40bc 845E subi r24,lo8(-(540)) |
7448 40be 9D4F sbci r25,hi8(-(540)) |
7449 40c0 AF4F sbci r26,hlo8(-(540)) |
7450 40c2 BF4F sbci r27,hhi8(-(540)) |
7451 40c4 BC01 movw r22,r24 |
7452 40c6 CD01 movw r24,r26 |
7453 40c8 28E6 ldi r18,lo8(360) |
7454 40ca 31E0 ldi r19,hi8(360) |
7455 40cc 40E0 ldi r20,hlo8(360) |
7456 40ce 50E0 ldi r21,hhi8(360) |
7457 40d0 0E94 0000 call __divmodsi4 |
7458 40d4 DC01 movw r26,r24 |
7459 40d6 CB01 movw r24,r22 |
7460 40d8 845B subi r24,lo8(-(-180)) |
7461 40da 9040 sbci r25,hi8(-(-180)) |
7462 40dc 8C9D mul r24,r12 |
7463 40de A001 movw r20,r0 |
7464 40e0 8D9D mul r24,r13 |
7465 40e2 500D add r21,r0 |
7466 40e4 9C9D mul r25,r12 |
7467 40e6 500D add r21,r0 |
7468 40e8 1124 clr r1 |
7469 40ea CA01 movw r24,r20 |
7470 40ec B801 movw r22,r16 |
7471 40ee 0E94 0000 call __divmodhi4 |
7472 40f2 83E0 ldi r24,lo8(3) |
7473 40f4 F89E mul r15,r24 |
7474 40f6 6001 movw r12,r0 |
7475 40f8 1124 clr r1 |
7476 40fa C616 cp r12,r22 |
7477 40fc D706 cpc r13,r23 |
7478 40fe 14F4 brge .L553 |
7479 4100 B601 movw r22,r12 |
7480 4102 08C0 rjmp .L554 |
7481 .L553: |
7482 4104 8827 clr r24 |
7483 4106 9927 clr r25 |
7484 4108 8C19 sub r24,r12 |
7485 410a 9D09 sbc r25,r13 |
7486 410c 6817 cp r22,r24 |
7487 410e 7907 cpc r23,r25 |
7488 4110 0CF4 brge .L554 |
7489 4112 BC01 movw r22,r24 |
7490 .L554: |
7491 4114 9B01 movw r18,r22 |
7492 4116 4427 clr r20 |
7493 4118 37FD sbrc r19,7 |
7494 411a 4095 com r20 |
7495 411c 542F mov r21,r20 |
7496 411e 8091 0000 lds r24,Mess_Integral_Gier |
7497 4122 9091 0000 lds r25,(Mess_Integral_Gier)+1 |
7498 4126 A091 0000 lds r26,(Mess_Integral_Gier)+2 |
7499 412a B091 0000 lds r27,(Mess_Integral_Gier)+3 |
7500 412e 820F add r24,r18 |
7501 4130 931F adc r25,r19 |
7502 4132 A41F adc r26,r20 |
7503 4134 B51F adc r27,r21 |
7504 4136 8093 0000 sts Mess_Integral_Gier,r24 |
7505 413a 9093 0000 sts (Mess_Integral_Gier)+1,r25 |
7506 413e A093 0000 sts (Mess_Integral_Gier)+2,r26 |
7507 4142 B093 0000 sts (Mess_Integral_Gier)+3,r27 |
7508 4146 0DC0 rjmp .L540 |
7509 .L776: |
7510 4148 0150 subi r16,lo8(-(-1)) |
7511 414a 1040 sbci r17,hi8(-(-1)) |
7512 414c 1093 0000 sts (KompassSignalSchlecht)+1,r17 |
7513 4150 0093 0000 sts KompassSignalSchlecht,r16 |
7514 4154 06C0 rjmp .L540 |
7515 .L550: |
7516 4156 84EF ldi r24,lo8(500) |
7517 4158 91E0 ldi r25,hi8(500) |
7518 415a 9093 0000 sts (KompassSignalSchlecht)+1,r25 |
7519 415e 8093 0000 sts KompassSignalSchlecht,r24 |
7520 .L540: |
7521 4162 8091 0000 lds r24,TrichterFlug |
7522 4166 8823 tst r24 |
7523 4168 81F0 breq .L558 |
7524 416a 1092 0000 sts SummeRoll,__zero_reg__ |
7525 416e 1092 0000 sts (SummeRoll)+1,__zero_reg__ |
7526 4172 1092 0000 sts (SummeRoll)+2,__zero_reg__ |
7527 4176 1092 0000 sts (SummeRoll)+3,__zero_reg__ |
7528 417a 1092 0000 sts SummeNick,__zero_reg__ |
7529 417e 1092 0000 sts (SummeNick)+1,__zero_reg__ |
7530 4182 1092 0000 sts (SummeNick)+2,__zero_reg__ |
7531 4186 1092 0000 sts (SummeNick)+3,__zero_reg__ |
7532 .L558: |
7533 418a 7090 0000 lds r7,Looping_Nick |
7534 418e 7720 tst r7 |
7535 4190 F1F4 brne .L559 |
7536 4192 8091 0000 lds r24,IntegralFaktor |
7537 4196 282F mov r18,r24 |
7538 4198 3327 clr r19 |
7539 419a 4427 clr r20 |
7540 419c 5527 clr r21 |
7541 419e 8091 0000 lds r24,IntegralNick |
7542 41a2 9091 0000 lds r25,(IntegralNick)+1 |
7543 41a6 A091 0000 lds r26,(IntegralNick)+2 |
7544 41aa B091 0000 lds r27,(IntegralNick)+3 |
7545 41ae BC01 movw r22,r24 |
7546 41b0 CD01 movw r24,r26 |
7547 41b2 0E94 0000 call __mulsi3 |
7548 41b6 DC01 movw r26,r24 |
7549 41b8 CB01 movw r24,r22 |
7550 41ba BC01 movw r22,r24 |
7551 41bc CD01 movw r24,r26 |
7552 41be 28EF ldi r18,lo8(11000) |
7553 41c0 3AE2 ldi r19,hi8(11000) |
7554 41c2 40E0 ldi r20,hlo8(11000) |
7555 41c4 50E0 ldi r21,hhi8(11000) |
7556 41c6 0E94 0000 call __divmodsi4 |
7557 41ca 2901 movw r4,r18 |
7558 41cc 02C0 rjmp .L560 |
7559 .L559: |
7560 41ce 4424 clr r4 |
7561 41d0 5524 clr r5 |
7562 .L560: |
7563 41d2 9090 0000 lds r9,Looping_Roll |
7564 41d6 9920 tst r9 |
7565 41d8 F1F4 brne .L561 |
7566 41da 8091 0000 lds r24,IntegralFaktor |
7567 41de 282F mov r18,r24 |
7568 41e0 3327 clr r19 |
7569 41e2 4427 clr r20 |
7570 41e4 5527 clr r21 |
7571 41e6 8091 0000 lds r24,IntegralRoll |
7572 41ea 9091 0000 lds r25,(IntegralRoll)+1 |
7573 41ee A091 0000 lds r26,(IntegralRoll)+2 |
7574 41f2 B091 0000 lds r27,(IntegralRoll)+3 |
7575 41f6 BC01 movw r22,r24 |
7576 41f8 CD01 movw r24,r26 |
7577 41fa 0E94 0000 call __mulsi3 |
7578 41fe DC01 movw r26,r24 |
7579 4200 CB01 movw r24,r22 |
7580 4202 BC01 movw r22,r24 |
7581 4204 CD01 movw r24,r26 |
7582 4206 28EF ldi r18,lo8(11000) |
7583 4208 3AE2 ldi r19,hi8(11000) |
7584 420a 40E0 ldi r20,hlo8(11000) |
7585 420c 50E0 ldi r21,hhi8(11000) |
7586 420e 0E94 0000 call __divmodsi4 |
7587 4212 1901 movw r2,r18 |
7588 4214 02C0 rjmp .L562 |
7589 .L561: |
7590 4216 2224 clr r2 |
7591 4218 3324 clr r3 |
7592 .L562: |
7593 421a 8091 0000 lds r24,TrimNick |
7594 421e 9091 0000 lds r25,(TrimNick)+1 |
7595 4222 893C cpi r24,201 |
7596 4224 9105 cpc r25,__zero_reg__ |
7597 4226 1CF0 brlt .L563 |
7598 4228 88EC ldi r24,lo8(200) |
7599 422a 90E0 ldi r25,hi8(200) |
7600 422c 05C0 rjmp .L781 |
7601 .L563: |
7602 422e 8853 subi r24,lo8(-200) |
7603 4230 9F4F sbci r25,hi8(-200) |
7604 4232 34F4 brge .L564 |
7605 4234 88E3 ldi r24,lo8(-200) |
7606 4236 9FEF ldi r25,hi8(-200) |
7607 .L781: |
7608 4238 9093 0000 sts (TrimNick)+1,r25 |
7609 423c 8093 0000 sts TrimNick,r24 |
7610 .L564: |
7611 4240 8091 0000 lds r24,TrimRoll |
7612 4244 9091 0000 lds r25,(TrimRoll)+1 |
7613 4248 893C cpi r24,201 |
7614 424a 9105 cpc r25,__zero_reg__ |
7615 424c 1CF0 brlt .L566 |
7616 424e 88EC ldi r24,lo8(200) |
7617 4250 90E0 ldi r25,hi8(200) |
7618 4252 05C0 rjmp .L782 |
7619 .L566: |
7620 4254 8853 subi r24,lo8(-200) |
7621 4256 9F4F sbci r25,hi8(-200) |
7622 4258 34F4 brge .L567 |
7623 425a 88E3 ldi r24,lo8(-200) |
7624 425c 9FEF ldi r25,hi8(-200) |
7625 .L782: |
7626 425e 9093 0000 sts (TrimRoll)+1,r25 |
7627 4262 8093 0000 sts TrimRoll,r24 |
7628 .L567: |
7629 4266 8091 0000 lds r24,MesswertNick |
7630 426a 9091 0000 lds r25,(MesswertNick)+1 |
7631 426e AA27 clr r26 |
7632 4270 97FD sbrc r25,7 |
7633 4272 A095 com r26 |
7634 4274 BA2F mov r27,r26 |
7635 4276 2091 0000 lds r18,GyroFaktor |
7636 427a A22E mov r10,r18 |
7637 427c BB24 clr r11 |
7638 427e CC24 clr r12 |
7639 4280 DD24 clr r13 |
7640 4282 BC01 movw r22,r24 |
7641 4284 CD01 movw r24,r26 |
7642 4286 A601 movw r20,r12 |
7643 4288 9501 movw r18,r10 |
7644 428a 0E94 0000 call __mulsi3 |
7645 428e 9B01 movw r18,r22 |
7646 4290 AC01 movw r20,r24 |
7647 4292 8091 0000 lds r24,TrimNick |
7648 4296 9091 0000 lds r25,(TrimNick)+1 |
7649 429a AA27 clr r26 |
7650 429c 97FD sbrc r25,7 |
7651 429e A095 com r26 |
7652 42a0 BA2F mov r27,r26 |
7653 42a2 17E0 ldi r17,7 |
7654 42a4 880F 1: lsl r24 |
7655 42a6 991F rol r25 |
7656 42a8 AA1F rol r26 |
7657 42aa BB1F rol r27 |
7658 42ac 1A95 dec r17 |
7659 42ae D1F7 brne 1b |
7660 42b0 280F add r18,r24 |
7661 42b2 391F adc r19,r25 |
7662 42b4 4A1F adc r20,r26 |
7663 42b6 5B1F adc r21,r27 |
7664 42b8 57FF sbrs r21,7 |
7665 42ba 04C0 rjmp .L569 |
7666 42bc 215C subi r18,lo8(-(63)) |
7667 42be 3F4F sbci r19,hi8(-(63)) |
7668 42c0 4F4F sbci r20,hlo8(-(63)) |
7669 42c2 5F4F sbci r21,hhi8(-(63)) |
7670 .L569: |
7671 42c4 A6E0 ldi r26,6 |
7672 42c6 5595 1: asr r21 |
7673 42c8 4795 ror r20 |
7674 42ca 3795 ror r19 |
7675 42cc 2795 ror r18 |
7676 42ce AA95 dec r26 |
7677 42d0 D1F7 brne 1b |
7678 42d2 7201 movw r14,r4 |
7679 42d4 E20E add r14,r18 |
7680 42d6 F31E adc r15,r19 |
7681 42d8 F092 0000 sts (MesswertNick)+1,r15 |
7682 42dc E092 0000 sts MesswertNick,r14 |
7683 42e0 8091 0000 lds r24,MesswertRoll |
7684 42e4 9091 0000 lds r25,(MesswertRoll)+1 |
7685 42e8 AA27 clr r26 |
7686 42ea 97FD sbrc r25,7 |
7687 42ec A095 com r26 |
7688 42ee BA2F mov r27,r26 |
7689 42f0 BC01 movw r22,r24 |
7690 42f2 CD01 movw r24,r26 |
7691 42f4 A601 movw r20,r12 |
7692 42f6 9501 movw r18,r10 |
7693 42f8 0E94 0000 call __mulsi3 |
7694 42fc 9B01 movw r18,r22 |
7695 42fe AC01 movw r20,r24 |
7696 4300 8091 0000 lds r24,TrimRoll |
7697 4304 9091 0000 lds r25,(TrimRoll)+1 |
7698 4308 AA27 clr r26 |
7699 430a 97FD sbrc r25,7 |
7700 430c A095 com r26 |
7701 430e BA2F mov r27,r26 |
7702 4310 F7E0 ldi r31,7 |
7703 4312 880F 1: lsl r24 |
7704 4314 991F rol r25 |
7705 4316 AA1F rol r26 |
7706 4318 BB1F rol r27 |
7707 431a FA95 dec r31 |
7708 431c D1F7 brne 1b |
7709 431e 280F add r18,r24 |
7710 4320 391F adc r19,r25 |
7711 4322 4A1F adc r20,r26 |
7712 4324 5B1F adc r21,r27 |
7713 4326 57FF sbrs r21,7 |
7714 4328 04C0 rjmp .L570 |
7715 432a 215C subi r18,lo8(-(63)) |
7716 432c 3F4F sbci r19,hi8(-(63)) |
7717 432e 4F4F sbci r20,hlo8(-(63)) |
7718 4330 5F4F sbci r21,hhi8(-(63)) |
7719 .L570: |
7720 4332 E6E0 ldi r30,6 |
7721 4334 5595 1: asr r21 |
7722 4336 4795 ror r20 |
7723 4338 3795 ror r19 |
7724 433a 2795 ror r18 |
7725 433c EA95 dec r30 |
7726 433e D1F7 brne 1b |
7727 4340 8101 movw r16,r2 |
7728 4342 020F add r16,r18 |
7729 4344 131F adc r17,r19 |
7730 4346 1093 0000 sts (MesswertRoll)+1,r17 |
7731 434a 0093 0000 sts MesswertRoll,r16 |
7732 434e 8091 0000 lds r24,MesswertGier |
7733 4352 9091 0000 lds r25,(MesswertGier)+1 |
7734 4356 880F add r24,r24 |
7735 4358 991F adc r25,r25 |
7736 435a AA27 clr r26 |
7737 435c 97FD sbrc r25,7 |
7738 435e A095 com r26 |
7739 4360 BA2F mov r27,r26 |
7740 4362 2091 0000 lds r18,GyroFaktorGier |
7741 4366 3327 clr r19 |
7742 4368 4427 clr r20 |
7743 436a 5527 clr r21 |
7744 436c BC01 movw r22,r24 |
7745 436e CD01 movw r24,r26 |
7746 4370 0E94 0000 call __mulsi3 |
7747 4374 5B01 movw r10,r22 |
7748 4376 6C01 movw r12,r24 |
7749 4378 97FF sbrs r25,7 |
7750 437a 08C0 rjmp .L571 |
7751 437c 8FE3 ldi r24,lo8(63) |
7752 437e 90E0 ldi r25,hi8(63) |
7753 4380 A0E0 ldi r26,hlo8(63) |
7754 4382 B0E0 ldi r27,hhi8(63) |
7755 4384 A80E add r10,r24 |
7756 4386 B91E adc r11,r25 |
7757 4388 CA1E adc r12,r26 |
7758 438a DB1E adc r13,r27 |
7759 .L571: |
7760 438c 76E0 ldi r23,6 |
7761 438e D594 1: asr r13 |
7762 4390 C794 ror r12 |
7763 4392 B794 ror r11 |
7764 4394 A794 ror r10 |
7765 4396 7A95 dec r23 |
7766 4398 D1F7 brne 1b |
7767 439a 8091 0000 lds r24,IntegralFaktorGier |
7768 439e 282F mov r18,r24 |
7769 43a0 3327 clr r19 |
7770 43a2 4427 clr r20 |
7771 43a4 5527 clr r21 |
7772 43a6 8091 0000 lds r24,Integral_Gier |
7773 43aa 9091 0000 lds r25,(Integral_Gier)+1 |
7774 43ae A091 0000 lds r26,(Integral_Gier)+2 |
7775 43b2 B091 0000 lds r27,(Integral_Gier)+3 |
7776 43b6 BC01 movw r22,r24 |
7777 43b8 CD01 movw r24,r26 |
7778 43ba 0E94 0000 call __mulsi3 |
7779 43be DC01 movw r26,r24 |
7780 43c0 CB01 movw r24,r22 |
7781 43c2 BC01 movw r22,r24 |
7782 43c4 CD01 movw r24,r26 |
7783 43c6 20EF ldi r18,lo8(22000) |
7784 43c8 35E5 ldi r19,hi8(22000) |
7785 43ca 40E0 ldi r20,hlo8(22000) |
7786 43cc 50E0 ldi r21,hhi8(22000) |
7787 43ce 0E94 0000 call __divmodsi4 |
7788 43d2 B501 movw r22,r10 |
7789 43d4 620F add r22,r18 |
7790 43d6 731F adc r23,r19 |
7791 43d8 7093 0000 sts (MesswertGier)+1,r23 |
7792 43dc 6093 0000 sts MesswertGier,r22 |
7793 43e0 91E0 ldi r25,lo8(4097) |
7794 43e2 E916 cp r14,r25 |
7795 43e4 90E1 ldi r25,hi8(4097) |
7796 43e6 F906 cpc r15,r25 |
7797 43e8 34F0 brlt .L572 |
7798 43ea 80E0 ldi r24,lo8(4096) |
7799 43ec 90E1 ldi r25,hi8(4096) |
7800 43ee 9093 0000 sts (MesswertNick)+1,r25 |
7801 43f2 8093 0000 sts MesswertNick,r24 |
7802 .L572: |
7803 43f6 8091 0000 lds r24,MesswertNick |
7804 43fa 9091 0000 lds r25,(MesswertNick)+1 |
7805 43fe 8050 subi r24,lo8(-4096) |
7806 4400 904F sbci r25,hi8(-4096) |
7807 4402 34F4 brge .L573 |
7808 4404 80E0 ldi r24,lo8(-4096) |
7809 4406 90EF ldi r25,hi8(-4096) |
7810 4408 9093 0000 sts (MesswertNick)+1,r25 |
7811 440c 8093 0000 sts MesswertNick,r24 |
7812 .L573: |
7813 4410 0150 subi r16,lo8(4097) |
7814 4412 1041 sbci r17,hi8(4097) |
7815 4414 34F0 brlt .L574 |
7816 4416 80E0 ldi r24,lo8(4096) |
7817 4418 90E1 ldi r25,hi8(4096) |
7818 441a 9093 0000 sts (MesswertRoll)+1,r25 |
7819 441e 8093 0000 sts MesswertRoll,r24 |
7820 .L574: |
7821 4422 8091 0000 lds r24,MesswertRoll |
7822 4426 9091 0000 lds r25,(MesswertRoll)+1 |
7823 442a 8050 subi r24,lo8(-4096) |
7824 442c 904F sbci r25,hi8(-4096) |
7825 442e 34F4 brge .L575 |
7826 4430 80E0 ldi r24,lo8(-4096) |
7827 4432 90EF ldi r25,hi8(-4096) |
7828 4434 9093 0000 sts (MesswertRoll)+1,r25 |
7829 4438 8093 0000 sts MesswertRoll,r24 |
7830 .L575: |
7831 443c 6150 subi r22,lo8(4097) |
7832 443e 7041 sbci r23,hi8(4097) |
7833 4440 34F0 brlt .L576 |
7834 4442 80E0 ldi r24,lo8(4096) |
7835 4444 90E1 ldi r25,hi8(4096) |
7836 4446 9093 0000 sts (MesswertGier)+1,r25 |
7837 444a 8093 0000 sts MesswertGier,r24 |
7838 .L576: |
7839 444e 8091 0000 lds r24,MesswertGier |
7840 4452 9091 0000 lds r25,(MesswertGier)+1 |
7841 4456 8050 subi r24,lo8(-4096) |
7842 4458 904F sbci r25,hi8(-4096) |
7843 445a 34F4 brge .L577 |
7844 445c 80E0 ldi r24,lo8(-4096) |
7845 445e 90EF ldi r25,hi8(-4096) |
7846 4460 9093 0000 sts (MesswertGier)+1,r25 |
7847 4464 8093 0000 sts MesswertGier,r24 |
7848 .L577: |
7849 4468 8091 0000 lds r24,BattLowVoltageWarning |
7850 446c 482F mov r20,r24 |
7851 446e 5527 clr r21 |
7852 4470 8091 0000 lds r24,UBat |
7853 4474 9091 0000 lds r25,(UBat)+1 |
7854 4478 4817 cp r20,r24 |
7855 447a 5907 cpc r21,r25 |
7856 447c 94F4 brge .L578 |
7857 447e 2091 0000 lds r18,UBat |
7858 4482 3091 0000 lds r19,(UBat)+1 |
7859 4486 68A1 ldd r22,Y+32 |
7860 4488 79A1 ldd r23,Y+33 |
7861 448a 649F mul r22,r20 |
7862 448c C001 movw r24,r0 |
7863 448e 659F mul r22,r21 |
7864 4490 900D add r25,r0 |
7865 4492 749F mul r23,r20 |
7866 4494 900D add r25,r0 |
7867 4496 1124 clr r1 |
7868 4498 B901 movw r22,r18 |
7869 449a 0E94 0000 call __udivmodhi4 |
7870 449e 79A3 std Y+33,r23 |
7871 44a0 68A3 std Y+32,r22 |
7872 .L578: |
7873 44a2 88A1 ldd r24,Y+32 |
7874 44a4 99A1 ldd r25,Y+33 |
7875 44a6 880F lsl r24 |
7876 44a8 991F rol r25 |
7877 44aa 880F lsl r24 |
7878 44ac 991F rol r25 |
7879 44ae 99A3 std Y+33,r25 |
7880 44b0 88A3 std Y+32,r24 |
7881 44b2 4091 0000 lds r20,EE_Parameter+13 |
7882 44b6 40FF sbrs r20,0 |
7883 44b8 92C6 rjmp .L579 |
7884 44ba 9920 tst r9 |
7885 44bc 09F0 breq .+2 |
7886 44be 8FC6 rjmp .L579 |
7887 44c0 7720 tst r7 |
7888 44c2 09F0 breq .+2 |
7889 44c4 8CC6 rjmp .L579 |
7890 44c6 CC24 clr r12 |
7891 44c8 DD24 clr r13 |
7892 44ca 4601 movw r8,r12 |
7893 44cc 8091 0000 lds r24,HoverGas |
7894 44d0 9091 0000 lds r25,(HoverGas)+1 |
7895 44d4 9093 0000 sts (DebugOut+44)+1,r25 |
7896 44d8 8093 0000 sts DebugOut+44,r24 |
7897 44dc 2091 0000 lds r18,BaroExpandActive |
7898 44e0 3091 0000 lds r19,(BaroExpandActive)+1 |
7899 44e4 2115 cp r18,__zero_reg__ |
7900 44e6 3105 cpc r19,__zero_reg__ |
7901 44e8 09F0 breq .+2 |
7902 44ea 3FC0 rjmp .L580 |
7903 44ec 8091 0000 lds r24,MessLuftdruck |
7904 44f0 9091 0000 lds r25,(MessLuftdruck)+1 |
7905 44f4 8959 subi r24,lo8(921) |
7906 44f6 9340 sbci r25,hi8(921) |
7907 44f8 58F0 brlo .L581 |
7908 44fa 87B5 in r24,71-0x20 |
7909 44fc 853F cpi r24,lo8(-11) |
7910 44fe 20F4 brsh .L582 |
7911 4500 8091 0000 lds r24,ExpandBaro |
7912 4504 8150 subi r24,lo8(-(-1)) |
7913 4506 11C0 rjmp .L783 |
7914 .L582: |
7915 4508 81E0 ldi r24,lo8(1) |
7916 450a 8093 0000 sts BaroAtLowerLimit.30,r24 |
7917 450e 4EC0 rjmp .L589 |
7918 .L581: |
7919 4510 8091 0000 lds r24,MessLuftdruck |
7920 4514 9091 0000 lds r25,(MessLuftdruck)+1 |
7921 4518 8436 cpi r24,100 |
7922 451a 9105 cpc r25,__zero_reg__ |
7923 451c 08F5 brsh .L585 |
7924 451e 87B5 in r24,71-0x20 |
7925 4520 8B30 cpi r24,lo8(11) |
7926 4522 D0F0 brlo .L586 |
7927 4524 8091 0000 lds r24,ExpandBaro |
7928 4528 8F5F subi r24,lo8(-(1)) |
7929 .L783: |
7930 452a 8093 0000 sts ExpandBaro,r24 |
7931 452e 9AE0 ldi r25,lo8(10) |
7932 4530 8902 muls r24,r25 |
7933 4532 9001 movw r18,r0 |
7934 4534 1124 clr r1 |
7935 4536 8091 0000 lds r24,DruckOffsetSetting |
7936 453a 821B sub r24,r18 |
7937 453c 87BD out 71-0x20,r24 |
7938 453e 8CE2 ldi r24,lo8(300) |
7939 4540 91E0 ldi r25,hi8(300) |
7940 4542 9093 0000 sts (beeptime)+1,r25 |
7941 4546 8093 0000 sts beeptime,r24 |
7942 454a 8EE5 ldi r24,lo8(350) |
7943 454c 91E0 ldi r25,hi8(350) |
7944 454e 9093 0000 sts (BaroExpandActive)+1,r25 |
7945 4552 8093 0000 sts BaroExpandActive,r24 |
7946 4556 2AC0 rjmp .L589 |
7947 .L586: |
7948 4558 81E0 ldi r24,lo8(1) |
7949 455a 8093 0000 sts BaroAtUpperLimit.29,r24 |
7950 455e 26C0 rjmp .L589 |
7951 .L585: |
7952 4560 7092 0000 sts BaroAtUpperLimit.29,r7 |
7953 4564 7092 0000 sts BaroAtLowerLimit.30,r7 |
7954 4568 21C0 rjmp .L589 |
7955 .L580: |
7956 456a 8091 0000 lds r24,HoehenWert |
7957 456e 9091 0000 lds r25,(HoehenWert)+1 |
7958 4572 A091 0000 lds r26,(HoehenWert)+2 |
7959 4576 B091 0000 lds r27,(HoehenWert)+3 |
7960 457a 54E0 ldi r21,4 |
7961 457c 880F 1: lsl r24 |
7962 457e 991F rol r25 |
7963 4580 AA1F rol r26 |
7964 4582 BB1F rol r27 |
7965 4584 5A95 dec r21 |
7966 4586 D1F7 brne 1b |
7967 4588 8093 0000 sts SummenHoehe,r24 |
7968 458c 9093 0000 sts (SummenHoehe)+1,r25 |
7969 4590 A093 0000 sts (SummenHoehe)+2,r26 |
7970 4594 B093 0000 sts (SummenHoehe)+3,r27 |
7971 4598 D092 0000 sts (VarioMeter)+1,r13 |
7972 459c C092 0000 sts VarioMeter,r12 |
7973 45a0 2150 subi r18,lo8(-(-1)) |
7974 45a2 3040 sbci r19,hi8(-(-1)) |
7975 45a4 3093 0000 sts (BaroExpandActive)+1,r19 |
7976 45a8 2093 0000 sts BaroExpandActive,r18 |
7977 .L589: |
7978 45ac 2091 0000 lds r18,Parameter_MaxHoehe |
7979 45b0 41FF sbrs r20,1 |
7980 45b2 24C0 rjmp .L590 |
7981 45b4 2233 cpi r18,lo8(50) |
7982 45b6 D8F4 brsh .L591 |
7983 45b8 8091 0000 lds r24,delay.28 |
7984 45bc 8150 subi r24,lo8(-(-1)) |
7985 45be 8093 0000 sts delay.28,r24 |
7986 45c2 8F3F cpi r24,lo8(-1) |
7987 45c4 D9F5 brne .L594 |
7988 45c6 1092 0000 sts HoehenReglerAktiv,__zero_reg__ |
7989 45ca 8091 0000 lds r24,HoehenWert |
7990 45ce 9091 0000 lds r25,(HoehenWert)+1 |
7991 45d2 A091 0000 lds r26,(HoehenWert)+2 |
7992 45d6 B091 0000 lds r27,(HoehenWert)+3 |
7993 45da 8093 0000 sts SollHoehe,r24 |
7994 45de 9093 0000 sts (SollHoehe)+1,r25 |
7995 45e2 A093 0000 sts (SollHoehe)+2,r26 |
7996 45e6 B093 0000 sts (SollHoehe)+3,r27 |
7997 45ea 81E0 ldi r24,lo8(1) |
7998 45ec 04C0 rjmp .L784 |
7999 .L591: |
8000 45ee 81E0 ldi r24,lo8(1) |
8001 45f0 8093 0000 sts HoehenReglerAktiv,r24 |
8002 45f4 88EC ldi r24,lo8(-56) |
8003 .L784: |
8004 45f6 8093 0000 sts delay.28,r24 |
8005 45fa 20C0 rjmp .L594 |
8006 .L590: |
8007 45fc 8091 0000 lds r24,ExternHoehenValue |
8008 4600 9091 0000 lds r25,(ExternHoehenValue)+1 |
8009 4604 820F add r24,r18 |
8010 4606 911D adc r25,__zero_reg__ |
8011 4608 2091 0000 lds r18,EE_Parameter+18 |
8012 460c 3327 clr r19 |
8013 460e 829F mul r24,r18 |
8014 4610 F001 movw r30,r0 |
8015 4612 839F mul r24,r19 |
8016 4614 F00D add r31,r0 |
8017 4616 929F mul r25,r18 |
8018 4618 F00D add r31,r0 |
8019 461a 1124 clr r1 |
8020 461c CF01 movw r24,r30 |
8021 461e AA27 clr r26 |
8022 4620 97FD sbrc r25,7 |
8023 4622 A095 com r26 |
8024 4624 BA2F mov r27,r26 |
8025 4626 8093 0000 sts SollHoehe,r24 |
8026 462a 9093 0000 sts (SollHoehe)+1,r25 |
8027 462e A093 0000 sts (SollHoehe)+2,r26 |
8028 4632 B093 0000 sts (SollHoehe)+3,r27 |
8029 4636 81E0 ldi r24,lo8(1) |
8030 4638 8093 0000 sts HoehenReglerAktiv,r24 |
8031 .L594: |
8032 463c 8091 0000 lds r24,IntegralNick |
8033 4640 9091 0000 lds r25,(IntegralNick)+1 |
8034 4644 A091 0000 lds r26,(IntegralNick)+2 |
8035 4648 B091 0000 lds r27,(IntegralNick)+3 |
8036 464c E090 0000 lds r14,GIER_GRAD_FAKTOR |
8037 4650 F090 0000 lds r15,(GIER_GRAD_FAKTOR)+1 |
8038 4654 0091 0000 lds r16,(GIER_GRAD_FAKTOR)+2 |
8039 4658 1091 0000 lds r17,(GIER_GRAD_FAKTOR)+3 |
8040 465c BC01 movw r22,r24 |
8041 465e CD01 movw r24,r26 |
8042 4660 A801 movw r20,r16 |
8043 4662 9701 movw r18,r14 |
8044 4664 0E94 0000 call __divmodsi4 |
8045 4668 5901 movw r10,r18 |
8046 466a 6A01 movw r12,r20 |
8047 466c 8091 0000 lds r24,IntegralRoll |
8048 4670 9091 0000 lds r25,(IntegralRoll)+1 |
8049 4674 A091 0000 lds r26,(IntegralRoll)+2 |
8050 4678 B091 0000 lds r27,(IntegralRoll)+3 |
8051 467c BC01 movw r22,r24 |
8052 467e CD01 movw r24,r26 |
8053 4680 A801 movw r20,r16 |
8054 4682 9701 movw r18,r14 |
8055 4684 0E94 0000 call __divmodsi4 |
8056 4688 B901 movw r22,r18 |
8057 468a C501 movw r24,r10 |
8058 468c 0E94 0000 call ihypot |
8059 4690 3C01 movw r6,r24 |
8060 4692 CC97 sbiw r24,60 |
8061 4694 1CF0 brlt .L595 |
8062 4696 4CE3 ldi r20,lo8(60) |
8063 4698 642E mov r6,r20 |
8064 469a 712C mov r7,__zero_reg__ |
8065 .L595: |
8066 469c C301 movw r24,r6 |
8067 469e 0E94 0000 call c_cos_8192 |
8068 46a2 3C01 movw r6,r24 |
8069 46a4 80E2 ldi r24,lo8(32) |
8070 46a6 8093 0000 sts VarioCharacter,r24 |
8071 46aa 8091 0000 lds r24,HoehenReglerAktiv |
8072 46ae 8823 tst r24 |
8073 46b0 09F4 brne .+2 |
8074 46b2 21C4 rjmp .L596 |
8075 46b4 8091 0000 lds r24,FCFlags |
8076 46b8 9927 clr r25 |
8077 46ba 9C01 movw r18,r24 |
8078 46bc 2071 andi r18,lo8(16) |
8079 46be 3070 andi r19,hi8(16) |
8080 46c0 84FD sbrc r24,4 |
8081 46c2 19C4 rjmp .L596 |
8082 46c4 6091 0000 lds r22,EE_Parameter+99 |
8083 46c8 60FD sbrc r22,0 |
8084 46ca 04C0 rjmp .L598 |
8085 46cc 8091 0000 lds r24,EE_Parameter+13 |
8086 46d0 81FD sbrc r24,1 |
8087 46d2 07C0 rjmp .L597 |
8088 .L598: |
8089 46d4 08A1 ldd r16,Y+32 |
8090 46d6 19A1 ldd r17,Y+33 |
8091 46d8 3093 0000 sts (HeightTrimming.22)+1,r19 |
8092 46dc 2093 0000 sts HeightTrimming.22,r18 |
8093 46e0 97C1 rjmp .L599 |
8094 .L597: |
8095 46e2 8091 0000 lds r24,FCFlags |
8096 46e6 81FF sbrs r24,1 |
8097 46e8 69C1 rjmp .L600 |
8098 46ea 4091 0000 lds r20,StickGasHover.24 |
8099 46ee 5091 0000 lds r21,(StickGasHover.24)+1 |
8100 46f2 CA01 movw r24,r20 |
8101 46f4 0F96 adiw r24,15 |
8102 46f6 2091 0000 lds r18,StickGas |
8103 46fa 3091 0000 lds r19,(StickGas)+1 |
8104 46fe 8217 cp r24,r18 |
8105 4700 9307 cpc r25,r19 |
8106 4702 ACF5 brge .L601 |
8107 4704 8091 0000 lds r24,BaroAtUpperLimit.29 |
8108 4708 8823 tst r24 |
8109 470a 89F5 brne .L601 |
8110 470c 8091 0000 lds r24,HeightTrimmingFlag.31 |
8111 4710 81FF sbrs r24,1 |
8112 4712 13C0 rjmp .L602 |
8113 4714 8D7F andi r24,lo8(-3) |
8114 4716 8093 0000 sts HeightTrimmingFlag.31,r24 |
8115 471a 8091 0000 lds r24,HoehenWert |
8116 471e 9091 0000 lds r25,(HoehenWert)+1 |
8117 4722 A091 0000 lds r26,(HoehenWert)+2 |
8118 4726 B091 0000 lds r27,(HoehenWert)+3 |
8119 472a 8093 0000 sts SollHoehe,r24 |
8120 472e 9093 0000 sts (SollHoehe)+1,r25 |
8121 4732 A093 0000 sts (SollHoehe)+2,r26 |
8122 4736 B093 0000 sts (SollHoehe)+3,r27 |
8123 .L602: |
8124 473a 8091 0000 lds r24,HeightTrimmingFlag.31 |
8125 473e 8160 ori r24,lo8(1) |
8126 4740 8093 0000 sts HeightTrimmingFlag.31,r24 |
8127 4744 241B sub r18,r20 |
8128 4746 350B sbc r19,r21 |
8129 4748 2F50 subi r18,lo8(-(-15)) |
8130 474a 3040 sbci r19,hi8(-(-15)) |
8131 474c 37FF sbrs r19,7 |
8132 474e 03C0 rjmp .L603 |
8133 4750 3095 com r19 |
8134 4752 2195 neg r18 |
8135 4754 3F4F sbci r19,lo8(-1) |
8136 .L603: |
8137 4756 8091 0000 lds r24,HeightTrimming.22 |
8138 475a 9091 0000 lds r25,(HeightTrimming.22)+1 |
8139 475e 820F add r24,r18 |
8140 4760 931F adc r25,r19 |
8141 4762 9093 0000 sts (HeightTrimming.22)+1,r25 |
8142 4766 8093 0000 sts HeightTrimming.22,r24 |
8143 476a 8BE2 ldi r24,lo8(43) |
8144 476c 6EC0 rjmp .L785 |
8145 .L601: |
8146 476e CA01 movw r24,r20 |
8147 4770 0F97 sbiw r24,15 |
8148 4772 2817 cp r18,r24 |
8149 4774 3907 cpc r19,r25 |
8150 4776 ACF5 brge .L605 |
8151 4778 8091 0000 lds r24,BaroAtLowerLimit.30 |
8152 477c 8823 tst r24 |
8153 477e 89F5 brne .L605 |
8154 4780 8091 0000 lds r24,HeightTrimmingFlag.31 |
8155 4784 80FF sbrs r24,0 |
8156 4786 13C0 rjmp .L606 |
8157 4788 8E7F andi r24,lo8(-2) |
8158 478a 8093 0000 sts HeightTrimmingFlag.31,r24 |
8159 478e 8091 0000 lds r24,HoehenWert |
8160 4792 9091 0000 lds r25,(HoehenWert)+1 |
8161 4796 A091 0000 lds r26,(HoehenWert)+2 |
8162 479a B091 0000 lds r27,(HoehenWert)+3 |
8163 479e 8093 0000 sts SollHoehe,r24 |
8164 47a2 9093 0000 sts (SollHoehe)+1,r25 |
8165 47a6 A093 0000 sts (SollHoehe)+2,r26 |
8166 47aa B093 0000 sts (SollHoehe)+3,r27 |
8167 .L606: |
8168 47ae 8091 0000 lds r24,HeightTrimmingFlag.31 |
8169 47b2 8260 ori r24,lo8(2) |
8170 47b4 8093 0000 sts HeightTrimmingFlag.31,r24 |
8171 47b8 241B sub r18,r20 |
8172 47ba 350B sbc r19,r21 |
8173 47bc 215F subi r18,lo8(-(15)) |
8174 47be 3F4F sbci r19,hi8(-(15)) |
8175 47c0 37FF sbrs r19,7 |
8176 47c2 03C0 rjmp .L607 |
8177 47c4 3095 com r19 |
8178 47c6 2195 neg r18 |
8179 47c8 3F4F sbci r19,lo8(-1) |
8180 .L607: |
8181 47ca 8091 0000 lds r24,HeightTrimming.22 |
8182 47ce 9091 0000 lds r25,(HeightTrimming.22)+1 |
8183 47d2 821B sub r24,r18 |
8184 47d4 930B sbc r25,r19 |
8185 47d6 9093 0000 sts (HeightTrimming.22)+1,r25 |
8186 47da 8093 0000 sts HeightTrimming.22,r24 |
8187 47de 8DE2 ldi r24,lo8(45) |
8188 47e0 34C0 rjmp .L785 |
8189 .L605: |
8190 47e2 2091 0000 lds r18,HeightTrimmingFlag.31 |
8191 47e6 822F mov r24,r18 |
8192 47e8 9927 clr r25 |
8193 47ea 8370 andi r24,lo8(3) |
8194 47ec 9070 andi r25,hi8(3) |
8195 47ee 892B or r24,r25 |
8196 47f0 59F1 breq .L609 |
8197 47f2 2C7F andi r18,lo8(-4) |
8198 47f4 2093 0000 sts HeightTrimmingFlag.31,r18 |
8199 47f8 1092 0000 sts (HeightTrimming.22)+1,__zero_reg__ |
8200 47fc 1092 0000 sts HeightTrimming.22,__zero_reg__ |
8201 4800 2091 0000 lds r18,HoehenWert |
8202 4804 3091 0000 lds r19,(HoehenWert)+1 |
8203 4808 4091 0000 lds r20,(HoehenWert)+2 |
8204 480c 5091 0000 lds r21,(HoehenWert)+3 |
8205 4810 2093 0000 sts SollHoehe,r18 |
8206 4814 3093 0000 sts (SollHoehe)+1,r19 |
8207 4818 4093 0000 sts (SollHoehe)+2,r20 |
8208 481c 5093 0000 sts (SollHoehe)+3,r21 |
8209 4820 61FF sbrs r22,1 |
8210 4822 06C0 rjmp .L610 |
8211 4824 84EF ldi r24,lo8(500) |
8212 4826 91E0 ldi r25,hi8(500) |
8213 4828 9093 0000 sts (beeptime)+1,r25 |
8214 482c 8093 0000 sts beeptime,r24 |
8215 .L610: |
8216 4830 8091 0000 lds r24,StartTrigger |
8217 4834 8823 tst r24 |
8218 4836 41F4 brne .L609 |
8219 4838 2333 cpi r18,lo8(51) |
8220 483a 3105 cpc r19,__zero_reg__ |
8221 483c 4105 cpc r20,__zero_reg__ |
8222 483e 5105 cpc r21,__zero_reg__ |
8223 4840 1CF0 brlt .L609 |
8224 4842 81E0 ldi r24,lo8(1) |
8225 4844 8093 0000 sts StartTrigger,r24 |
8226 .L609: |
8227 4848 8DE3 ldi r24,lo8(61) |
8228 .L785: |
8229 484a 8093 0000 sts VarioCharacter,r24 |
8230 484e 2091 0000 lds r18,HeightTrimming.22 |
8231 4852 3091 0000 lds r19,(HeightTrimming.22)+1 |
8232 4856 C901 movw r24,r18 |
8233 4858 37FF sbrs r19,7 |
8234 485a 04C0 rjmp .L613 |
8235 485c 8827 clr r24 |
8236 485e 9927 clr r25 |
8237 4860 821B sub r24,r18 |
8238 4862 930B sbc r25,r19 |
8239 .L613: |
8240 4864 8150 subi r24,lo8(513) |
8241 4866 9240 sbci r25,hi8(513) |
8242 4868 0CF4 brge .+2 |
8243 486a 91C0 rjmp .L612 |
8244 486c 8091 0000 lds r24,EE_Parameter+18 |
8245 4870 9927 clr r25 |
8246 4872 289F mul r18,r24 |
8247 4874 A001 movw r20,r0 |
8248 4876 299F mul r18,r25 |
8249 4878 500D add r21,r0 |
8250 487a 389F mul r19,r24 |
8251 487c 500D add r21,r0 |
8252 487e 1124 clr r1 |
8253 4880 CA01 movw r24,r20 |
8254 4882 60E0 ldi r22,lo8(1280) |
8255 4884 75E0 ldi r23,hi8(1280) |
8256 4886 0E94 0000 call __divmodhi4 |
8257 488a CB01 movw r24,r22 |
8258 488c AA27 clr r26 |
8259 488e 97FD sbrc r25,7 |
8260 4890 A095 com r26 |
8261 4892 BA2F mov r27,r26 |
8262 4894 2091 0000 lds r18,SollHoehe |
8263 4898 3091 0000 lds r19,(SollHoehe)+1 |
8264 489c 4091 0000 lds r20,(SollHoehe)+2 |
8265 48a0 5091 0000 lds r21,(SollHoehe)+3 |
8266 48a4 280F add r18,r24 |
8267 48a6 391F adc r19,r25 |
8268 48a8 4A1F adc r20,r26 |
8269 48aa 5B1F adc r21,r27 |
8270 48ac 2093 0000 sts SollHoehe,r18 |
8271 48b0 3093 0000 sts (SollHoehe)+1,r19 |
8272 48b4 4093 0000 sts (SollHoehe)+2,r20 |
8273 48b8 5093 0000 sts (SollHoehe)+3,r21 |
8274 48bc 1092 0000 sts (HeightTrimming.22)+1,__zero_reg__ |
8275 48c0 1092 0000 sts HeightTrimming.22,__zero_reg__ |
8276 48c4 A090 0000 lds r10,HoehenWert |
8277 48c8 B090 0000 lds r11,(HoehenWert)+1 |
8278 48cc C090 0000 lds r12,(HoehenWert)+2 |
8279 48d0 D090 0000 lds r13,(HoehenWert)+3 |
8280 48d4 D601 movw r26,r12 |
8281 48d6 C501 movw r24,r10 |
8282 48d8 8050 subi r24,lo8(-(-1024)) |
8283 48da 9440 sbci r25,hi8(-(-1024)) |
8284 48dc A040 sbci r26,hlo8(-(-1024)) |
8285 48de B040 sbci r27,hhi8(-(-1024)) |
8286 48e0 8217 cp r24,r18 |
8287 48e2 9307 cpc r25,r19 |
8288 48e4 A407 cpc r26,r20 |
8289 48e6 B507 cpc r27,r21 |
8290 48e8 5CF4 brge .L786 |
8291 48ea D601 movw r26,r12 |
8292 48ec C501 movw r24,r10 |
8293 48ee 8050 subi r24,lo8(-(1024)) |
8294 48f0 9C4F sbci r25,hi8(-(1024)) |
8295 48f2 AF4F sbci r26,hlo8(-(1024)) |
8296 48f4 BF4F sbci r27,hhi8(-(1024)) |
8297 48f6 2817 cp r18,r24 |
8298 48f8 3907 cpc r19,r25 |
8299 48fa 4A07 cpc r20,r26 |
8300 48fc 5B07 cpc r21,r27 |
8301 48fe 44F0 brlt .L615 |
8302 .L786: |
8303 4900 8093 0000 sts SollHoehe,r24 |
8304 4904 9093 0000 sts (SollHoehe)+1,r25 |
8305 4908 A093 0000 sts (SollHoehe)+2,r26 |
8306 490c B093 0000 sts (SollHoehe)+3,r27 |
8307 .L615: |
8308 4910 8091 0000 lds r24,EE_Parameter+99 |
8309 4914 81FF sbrs r24,1 |
8310 4916 06C0 rjmp .L617 |
8311 4918 8BE4 ldi r24,lo8(75) |
8312 491a 90E0 ldi r25,hi8(75) |
8313 491c 9093 0000 sts (beeptime)+1,r25 |
8314 4920 8093 0000 sts beeptime,r24 |
8315 .L617: |
8316 4924 8091 0000 lds r24,EE_Parameter+22 |
8317 4928 8823 tst r24 |
8318 492a 89F5 brne .L612 |
8319 492c 4091 0000 lds r20,HoverGas |
8320 4930 5091 0000 lds r21,(HoverGas)+1 |
8321 4934 57FF sbrs r21,7 |
8322 4936 02C0 rjmp .L619 |
8323 4938 4D5F subi r20,lo8(-(3)) |
8324 493a 5F4F sbci r21,hi8(-(3)) |
8325 .L619: |
8326 493c 5595 asr r21 |
8327 493e 4795 ror r20 |
8328 4940 5595 asr r21 |
8329 4942 4795 ror r20 |
8330 4944 8091 0000 lds r24,UBat |
8331 4948 9091 0000 lds r25,(UBat)+1 |
8332 494c 2091 0000 lds r18,BattLowVoltageWarning |
8333 4950 3327 clr r19 |
8334 4952 489F mul r20,r24 |
8335 4954 B001 movw r22,r0 |
8336 4956 499F mul r20,r25 |
8337 4958 700D add r23,r0 |
8338 495a 589F mul r21,r24 |
8339 495c 700D add r23,r0 |
8340 495e 1124 clr r1 |
8341 4960 CB01 movw r24,r22 |
8342 4962 B901 movw r22,r18 |
8343 4964 0E94 0000 call __divmodhi4 |
8344 4968 7093 0000 sts (StickGasHover.24)+1,r23 |
8345 496c 6093 0000 sts StickGasHover.24,r22 |
8346 4970 6634 cpi r22,70 |
8347 4972 7105 cpc r23,__zero_reg__ |
8348 4974 1CF4 brge .L620 |
8349 4976 86E4 ldi r24,lo8(70) |
8350 4978 90E0 ldi r25,hi8(70) |
8351 497a 05C0 rjmp .L787 |
8352 .L620: |
8353 497c 6739 cpi r22,151 |
8354 497e 7105 cpc r23,__zero_reg__ |
8355 4980 34F0 brlt .L612 |
8356 4982 86E9 ldi r24,lo8(150) |
8357 4984 90E0 ldi r25,hi8(150) |
8358 .L787: |
8359 4986 9093 0000 sts (StickGasHover.24)+1,r25 |
8360 498a 8093 0000 sts StickGasHover.24,r24 |
8361 .L612: |
8362 498e 8091 0000 lds r24,BaroExpandActive |
8363 4992 9091 0000 lds r25,(BaroExpandActive)+1 |
8364 4996 892B or r24,r25 |
8365 4998 B9F1 breq .L624 |
8366 499a 8091 0000 lds r24,HoehenWert |
8367 499e 9091 0000 lds r25,(HoehenWert)+1 |
8368 49a2 A091 0000 lds r26,(HoehenWert)+2 |
8369 49a6 B091 0000 lds r27,(HoehenWert)+3 |
8370 49aa 8093 0000 sts SollHoehe,r24 |
8371 49ae 9093 0000 sts (SollHoehe)+1,r25 |
8372 49b2 A093 0000 sts (SollHoehe)+2,r26 |
8373 49b6 B093 0000 sts (SollHoehe)+3,r27 |
8374 49ba 26C0 rjmp .L624 |
8375 .L600: |
8376 49bc 8091 0000 lds r24,HoehenWert |
8377 49c0 9091 0000 lds r25,(HoehenWert)+1 |
8378 49c4 A091 0000 lds r26,(HoehenWert)+2 |
8379 49c8 B091 0000 lds r27,(HoehenWert)+3 |
8380 49cc 8059 subi r24,lo8(-(-400)) |
8381 49ce 9140 sbci r25,hi8(-(-400)) |
8382 49d0 A040 sbci r26,hlo8(-(-400)) |
8383 49d2 B040 sbci r27,hhi8(-(-400)) |
8384 49d4 8093 0000 sts SollHoehe,r24 |
8385 49d8 9093 0000 sts (SollHoehe)+1,r25 |
8386 49dc A093 0000 sts (SollHoehe)+2,r26 |
8387 49e0 B093 0000 sts (SollHoehe)+3,r27 |
8388 49e4 8091 0000 lds r24,EE_Parameter+22 |
8389 49e8 8823 tst r24 |
8390 49ea 11F0 breq .L625 |
8391 49ec 9927 clr r25 |
8392 49ee 02C0 rjmp .L788 |
8393 .L625: |
8394 49f0 88E7 ldi r24,lo8(120) |
8395 49f2 90E0 ldi r25,hi8(120) |
8396 .L788: |
8397 49f4 9093 0000 sts (StickGasHover.24)+1,r25 |
8398 49f8 8093 0000 sts StickGasHover.24,r24 |
8399 49fc 88A1 ldd r24,Y+32 |
8400 49fe 99A1 ldd r25,Y+33 |
8401 4a00 9093 0000 sts (HoverGas)+1,r25 |
8402 4a04 8093 0000 sts HoverGas,r24 |
8403 .L624: |
8404 4a08 0091 0000 lds r16,HoverGas |
8405 4a0c 1091 0000 lds r17,(HoverGas)+1 |
8406 .L599: |
8407 4a10 A090 0000 lds r10,HoehenWert |
8408 4a14 B090 0000 lds r11,(HoehenWert)+1 |
8409 4a18 C090 0000 lds r12,(HoehenWert)+2 |
8410 4a1c D090 0000 lds r13,(HoehenWert)+3 |
8411 4a20 2091 0000 lds r18,SollHoehe |
8412 4a24 3091 0000 lds r19,(SollHoehe)+1 |
8413 4a28 4091 0000 lds r20,(SollHoehe)+2 |
8414 4a2c 5091 0000 lds r21,(SollHoehe)+3 |
8415 4a30 2A15 cp r18,r10 |
8416 4a32 3B05 cpc r19,r11 |
8417 4a34 4C05 cpc r20,r12 |
8418 4a36 5D05 cpc r21,r13 |
8419 4a38 24F0 brlt .L628 |
8420 4a3a 8091 0000 lds r24,EE_Parameter+99 |
8421 4a3e 80FD sbrc r24,0 |
8422 4a40 9CC2 rjmp .L682 |
8423 .L628: |
8424 4a42 8091 0000 lds r24,BaroExpandActive |
8425 4a46 9091 0000 lds r25,(BaroExpandActive)+1 |
8426 4a4a 892B or r24,r25 |
8427 4a4c 39F0 breq .L629 |
8428 4a4e 0091 0000 lds r16,HoverGas |
8429 4a52 1091 0000 lds r17,(HoverGas)+1 |
8430 4a56 CC24 clr r12 |
8431 4a58 DD24 clr r13 |
8432 4a5a C9C0 rjmp .L630 |
8433 .L629: |
8434 4a5c D601 movw r26,r12 |
8435 4a5e C501 movw r24,r10 |
8436 4a60 821B sub r24,r18 |
8437 4a62 930B sbc r25,r19 |
8438 4a64 A40B sbc r26,r20 |
8439 4a66 B50B sbc r27,r21 |
8440 4a68 8093 0000 sts tmp_long.1,r24 |
8441 4a6c 9093 0000 sts (tmp_long.1)+1,r25 |
8442 4a70 A093 0000 sts (tmp_long.1)+2,r26 |
8443 4a74 B093 0000 sts (tmp_long.1)+3,r27 |
8444 4a78 8230 cpi r24,lo8(-32766) |
8445 4a7a E0E8 ldi r30,hi8(-32766) |
8446 4a7c 9E07 cpc r25,r30 |
8447 4a7e EFEF ldi r30,hlo8(-32766) |
8448 4a80 AE07 cpc r26,r30 |
8449 4a82 EFEF ldi r30,hhi8(-32766) |
8450 4a84 BE07 cpc r27,r30 |
8451 4a86 2CF4 brge .L631 |
8452 4a88 81E0 ldi r24,lo8(-32767) |
8453 4a8a 90E8 ldi r25,hi8(-32767) |
8454 4a8c AFEF ldi r26,hlo8(-32767) |
8455 4a8e BFEF ldi r27,hhi8(-32767) |
8456 4a90 09C0 rjmp .L789 |
8457 .L631: |
8458 4a92 8F5F subi r24,lo8(32767) |
8459 4a94 9F47 sbci r25,hi8(32767) |
8460 4a96 A040 sbci r26,hlo8(32767) |
8461 4a98 B040 sbci r27,hhi8(32767) |
8462 4a9a 64F0 brlt .L632 |
8463 4a9c 8FEF ldi r24,lo8(32767) |
8464 4a9e 9FE7 ldi r25,hi8(32767) |
8465 4aa0 A0E0 ldi r26,hlo8(32767) |
8466 4aa2 B0E0 ldi r27,hhi8(32767) |
8467 .L789: |
8468 4aa4 8093 0000 sts tmp_long.1,r24 |
8469 4aa8 9093 0000 sts (tmp_long.1)+1,r25 |
8470 4aac A093 0000 sts (tmp_long.1)+2,r26 |
8471 4ab0 B093 0000 sts (tmp_long.1)+3,r27 |
8472 .L632: |
8473 4ab4 C090 0000 lds r12,tmp_long.1 |
8474 4ab8 D090 0000 lds r13,(tmp_long.1)+1 |
8475 4abc 8091 0000 lds r24,Parameter_Hoehe_P |
8476 4ac0 282F mov r18,r24 |
8477 4ac2 3327 clr r19 |
8478 4ac4 4427 clr r20 |
8479 4ac6 5527 clr r21 |
8480 4ac8 8091 0000 lds r24,tmp_long.1 |
8481 4acc 9091 0000 lds r25,(tmp_long.1)+1 |
8482 4ad0 A091 0000 lds r26,(tmp_long.1)+2 |
8483 4ad4 B091 0000 lds r27,(tmp_long.1)+3 |
8484 4ad8 BC01 movw r22,r24 |
8485 4ada CD01 movw r24,r26 |
8486 4adc 0E94 0000 call __mulsi3 |
8487 4ae0 97FF sbrs r25,7 |
8488 4ae2 04C0 rjmp .L634 |
8489 4ae4 615E subi r22,lo8(-(31)) |
8490 4ae6 7F4F sbci r23,hi8(-(31)) |
8491 4ae8 8F4F sbci r24,hlo8(-(31)) |
8492 4aea 9F4F sbci r25,hhi8(-(31)) |
8493 .L634: |
8494 4aec 25E0 ldi r18,5 |
8495 4aee 9595 1: asr r25 |
8496 4af0 8795 ror r24 |
8497 4af2 7795 ror r23 |
8498 4af4 6795 ror r22 |
8499 4af6 2A95 dec r18 |
8500 4af8 D1F7 brne 1b |
8501 4afa 6093 0000 sts tmp_long.1,r22 |
8502 4afe 7093 0000 sts (tmp_long.1)+1,r23 |
8503 4b02 8093 0000 sts (tmp_long.1)+2,r24 |
8504 4b06 9093 0000 sts (tmp_long.1)+3,r25 |
8505 4b0a 6530 cpi r22,lo8(-507) |
8506 4b0c 2EEF ldi r18,hi8(-507) |
8507 4b0e 7207 cpc r23,r18 |
8508 4b10 2FEF ldi r18,hlo8(-507) |
8509 4b12 8207 cpc r24,r18 |
8510 4b14 2FEF ldi r18,hhi8(-507) |
8511 4b16 9207 cpc r25,r18 |
8512 4b18 2CF4 brge .L635 |
8513 4b1a 84E0 ldi r24,lo8(-508) |
8514 4b1c 9EEF ldi r25,hi8(-508) |
8515 4b1e AFEF ldi r26,hlo8(-508) |
8516 4b20 BFEF ldi r27,hhi8(-508) |
8517 4b22 09C0 rjmp .L790 |
8518 .L635: |
8519 4b24 6050 subi r22,lo8(1024) |
8520 4b26 7440 sbci r23,hi8(1024) |
8521 4b28 8040 sbci r24,hlo8(1024) |
8522 4b2a 9040 sbci r25,hhi8(1024) |
8523 4b2c 64F0 brlt .L636 |
8524 4b2e 80E0 ldi r24,lo8(1024) |
8525 4b30 94E0 ldi r25,hi8(1024) |
8526 4b32 A0E0 ldi r26,hlo8(1024) |
8527 4b34 B0E0 ldi r27,hhi8(1024) |
8528 .L790: |
8529 4b36 8093 0000 sts tmp_long.1,r24 |
8530 4b3a 9093 0000 sts (tmp_long.1)+1,r25 |
8531 4b3e A093 0000 sts (tmp_long.1)+2,r26 |
8532 4b42 B093 0000 sts (tmp_long.1)+3,r27 |
8533 .L636: |
8534 4b46 8090 0000 lds r8,tmp_long.1 |
8535 4b4a 9090 0000 lds r9,(tmp_long.1)+1 |
8536 4b4e 2091 0000 lds r18,VarioMeter |
8537 4b52 3091 0000 lds r19,(VarioMeter)+1 |
8538 4b56 37FF sbrs r19,7 |
8539 4b58 02C0 rjmp .L638 |
8540 4b5a 295F subi r18,lo8(-(7)) |
8541 4b5c 3F4F sbci r19,hi8(-(7)) |
8542 .L638: |
8543 4b5e 83E0 ldi r24,3 |
8544 4b60 3595 1: asr r19 |
8545 4b62 2795 ror r18 |
8546 4b64 8A95 dec r24 |
8547 4b66 E1F7 brne 1b |
8548 4b68 4FEF ldi r20,hi8(-126) |
8549 4b6a 2238 cpi r18,lo8(-126) |
8550 4b6c 3407 cpc r19,r20 |
8551 4b6e 1CF4 brge .L639 |
8552 4b70 21E8 ldi r18,lo8(-127) |
8553 4b72 3FEF ldi r19,hi8(-127) |
8554 4b74 05C0 rjmp .L640 |
8555 .L639: |
8556 4b76 2038 cpi r18,128 |
8557 4b78 3105 cpc r19,__zero_reg__ |
8558 4b7a 14F0 brlt .L640 |
8559 4b7c 20E8 ldi r18,lo8(128) |
8560 4b7e 30E0 ldi r19,hi8(128) |
8561 .L640: |
8562 4b80 C901 movw r24,r18 |
8563 4b82 AA27 clr r26 |
8564 4b84 97FD sbrc r25,7 |
8565 4b86 A095 com r26 |
8566 4b88 BA2F mov r27,r26 |
8567 4b8a 2091 0000 lds r18,Parameter_Luftdruck_D |
8568 4b8e 3327 clr r19 |
8569 4b90 4427 clr r20 |
8570 4b92 5527 clr r21 |
8571 4b94 BC01 movw r22,r24 |
8572 4b96 CD01 movw r24,r26 |
8573 4b98 0E94 0000 call __mulsi3 |
8574 4b9c 97FF sbrs r25,7 |
8575 4b9e 04C0 rjmp .L642 |
8576 4ba0 6D5F subi r22,lo8(-(3)) |
8577 4ba2 7F4F sbci r23,hi8(-(3)) |
8578 4ba4 8F4F sbci r24,hlo8(-(3)) |
8579 4ba6 9F4F sbci r25,hhi8(-(3)) |
8580 .L642: |
8581 4ba8 B2E0 ldi r27,2 |
8582 4baa 9595 1: asr r25 |
8583 4bac 8795 ror r24 |
8584 4bae 7795 ror r23 |
8585 4bb0 6795 ror r22 |
8586 4bb2 BA95 dec r27 |
8587 4bb4 D1F7 brne 1b |
8588 4bb6 9B01 movw r18,r22 |
8589 4bb8 5FEF ldi r21,hi8(-255) |
8590 4bba 6130 cpi r22,lo8(-255) |
8591 4bbc 7507 cpc r23,r21 |
8592 4bbe 1CF4 brge .L643 |
8593 4bc0 20E0 ldi r18,lo8(-256) |
8594 4bc2 3FEF ldi r19,hi8(-256) |
8595 4bc4 06C0 rjmp .L644 |
8596 .L643: |
8597 4bc6 6F3F cpi r22,255 |
8598 4bc8 7105 cpc r23,__zero_reg__ |
8599 4bca 19F0 breq .L644 |
8600 4bcc 14F0 brlt .L644 |
8601 4bce 20E0 ldi r18,lo8(256) |
8602 4bd0 31E0 ldi r19,hi8(256) |
8603 .L644: |
8604 4bd2 8091 0000 lds r24,HeightTrimmingFlag.31 |
8605 4bd6 8823 tst r24 |
8606 4bd8 41F0 breq .L646 |
8607 4bda C901 movw r24,r18 |
8608 4bdc 37FD sbrc r19,7 |
8609 4bde 0396 adiw r24,3 |
8610 .L647: |
8611 4be0 9C01 movw r18,r24 |
8612 4be2 3595 asr r19 |
8613 4be4 2795 ror r18 |
8614 4be6 3595 asr r19 |
8615 4be8 2795 ror r18 |
8616 .L646: |
8617 4bea 820E add r8,r18 |
8618 4bec 931E adc r9,r19 |
8619 .L630: |
8620 4bee 2091 0000 lds r18,Parameter_Hoehe_ACC_Wirkung |
8621 4bf2 2223 tst r18 |
8622 4bf4 09F4 brne .+2 |
8623 4bf6 54C0 rjmp .L648 |
8624 4bf8 6091 0000 lds r22,Mess_Integral_Hoch |
8625 4bfc 7091 0000 lds r23,(Mess_Integral_Hoch)+1 |
8626 4c00 8091 0000 lds r24,(Mess_Integral_Hoch)+2 |
8627 4c04 9091 0000 lds r25,(Mess_Integral_Hoch)+3 |
8628 4c08 97FF sbrs r25,7 |
8629 4c0a 04C0 rjmp .L649 |
8630 4c0c 6158 subi r22,lo8(-(127)) |
8631 4c0e 7F4F sbci r23,hi8(-(127)) |
8632 4c10 8F4F sbci r24,hlo8(-(127)) |
8633 4c12 9F4F sbci r25,hhi8(-(127)) |
8634 .L649: |
8635 4c14 F7E0 ldi r31,7 |
8636 4c16 9595 1: asr r25 |
8637 4c18 8795 ror r24 |
8638 4c1a 7795 ror r23 |
8639 4c1c 6795 ror r22 |
8640 4c1e FA95 dec r31 |
8641 4c20 D1F7 brne 1b |
8642 4c22 3327 clr r19 |
8643 4c24 4427 clr r20 |
8644 4c26 5527 clr r21 |
8645 4c28 0E94 0000 call __mulsi3 |
8646 4c2c 97FF sbrs r25,7 |
8647 4c2e 04C0 rjmp .L650 |
8648 4c30 615E subi r22,lo8(-(31)) |
8649 4c32 7F4F sbci r23,hi8(-(31)) |
8650 4c34 8F4F sbci r24,hlo8(-(31)) |
8651 4c36 9F4F sbci r25,hhi8(-(31)) |
8652 .L650: |
8653 4c38 E5E0 ldi r30,5 |
8654 4c3a 9595 1: asr r25 |
8655 4c3c 8795 ror r24 |
8656 4c3e 7795 ror r23 |
8657 4c40 6795 ror r22 |
8658 4c42 EA95 dec r30 |
8659 4c44 D1F7 brne 1b |
8660 4c46 6093 0000 sts tmp_long.1,r22 |
8661 4c4a 7093 0000 sts (tmp_long.1)+1,r23 |
8662 4c4e 8093 0000 sts (tmp_long.1)+2,r24 |
8663 4c52 9093 0000 sts (tmp_long.1)+3,r25 |
8664 4c56 6138 cpi r22,lo8(-127) |
8665 4c58 AFEF ldi r26,hi8(-127) |
8666 4c5a 7A07 cpc r23,r26 |
8667 4c5c AFEF ldi r26,hlo8(-127) |
8668 4c5e 8A07 cpc r24,r26 |
8669 4c60 AFEF ldi r26,hhi8(-127) |
8670 4c62 9A07 cpc r25,r26 |
8671 4c64 2CF4 brge .L651 |
8672 4c66 80E8 ldi r24,lo8(-128) |
8673 4c68 9FEF ldi r25,hi8(-128) |
8674 4c6a AFEF ldi r26,hlo8(-128) |
8675 4c6c BFEF ldi r27,hhi8(-128) |
8676 4c6e 0AC0 rjmp .L791 |
8677 .L651: |
8678 4c70 6F3F cpi r22,lo8(255) |
8679 4c72 7105 cpc r23,__zero_reg__ |
8680 4c74 8105 cpc r24,__zero_reg__ |
8681 4c76 9105 cpc r25,__zero_reg__ |
8682 4c78 69F0 breq .L652 |
8683 4c7a 64F0 brlt .L652 |
8684 4c7c 80E0 ldi r24,lo8(256) |
8685 4c7e 91E0 ldi r25,hi8(256) |
8686 4c80 A0E0 ldi r26,hlo8(256) |
8687 4c82 B0E0 ldi r27,hhi8(256) |
8688 .L791: |
8689 4c84 8093 0000 sts tmp_long.1,r24 |
8690 4c88 9093 0000 sts (tmp_long.1)+1,r25 |
8691 4c8c A093 0000 sts (tmp_long.1)+2,r26 |
8692 4c90 B093 0000 sts (tmp_long.1)+3,r27 |
8693 .L652: |
8694 4c94 8091 0000 lds r24,tmp_long.1 |
8695 4c98 9091 0000 lds r25,(tmp_long.1)+1 |
8696 4c9c 880E add r8,r24 |
8697 4c9e 991E adc r9,r25 |
8698 .L648: |
8699 4ca0 8091 0000 lds r24,Parameter_Hoehe_GPS_Z |
8700 4ca4 282F mov r18,r24 |
8701 4ca6 3327 clr r19 |
8702 4ca8 8091 0000 lds r24,FromNaviCtrl_Value+4 |
8703 4cac 9927 clr r25 |
8704 4cae 87FD sbrc r24,7 |
8705 4cb0 9095 com r25 |
8706 4cb2 289F mul r18,r24 |
8707 4cb4 F001 movw r30,r0 |
8708 4cb6 299F mul r18,r25 |
8709 4cb8 F00D add r31,r0 |
8710 4cba 389F mul r19,r24 |
8711 4cbc F00D add r31,r0 |
8712 4cbe 1124 clr r1 |
8713 4cc0 9F01 movw r18,r30 |
8714 4cc2 F7FF sbrs r31,7 |
8715 4cc4 02C0 rjmp .L654 |
8716 4cc6 2158 subi r18,lo8(-(127)) |
8717 4cc8 3F4F sbci r19,hi8(-(127)) |
8718 .L654: |
8719 4cca 220F lsl r18 |
8720 4ccc 232F mov r18,r19 |
8721 4cce 221F rol r18 |
8722 4cd0 330B sbc r19,r19 |
8723 4cd2 FFEF ldi r31,hi8(-127) |
8724 4cd4 2138 cpi r18,lo8(-127) |
8725 4cd6 3F07 cpc r19,r31 |
8726 4cd8 1CF4 brge .L655 |
8727 4cda 20E8 ldi r18,lo8(-128) |
8728 4cdc 3FEF ldi r19,hi8(-128) |
8729 4cde 06C0 rjmp .L656 |
8730 .L655: |
8731 4ce0 2F3F cpi r18,255 |
8732 4ce2 3105 cpc r19,__zero_reg__ |
8733 4ce4 19F0 breq .L656 |
8734 4ce6 14F0 brlt .L656 |
8735 4ce8 20E0 ldi r18,lo8(256) |
8736 4cea 31E0 ldi r19,hi8(256) |
8737 .L656: |
8738 4cec 820E add r8,r18 |
8739 4cee 931E adc r9,r19 |
8740 4cf0 C401 movw r24,r8 |
8741 4cf2 AA27 clr r26 |
8742 4cf4 97FD sbrc r25,7 |
8743 4cf6 A095 com r26 |
8744 4cf8 BA2F mov r27,r26 |
8745 4cfa E090 0000 lds r14,HoverGas |
8746 4cfe F090 0000 lds r15,(HoverGas)+1 |
8747 4d02 9701 movw r18,r14 |
8748 4d04 4427 clr r20 |
8749 4d06 37FD sbrc r19,7 |
8750 4d08 4095 com r20 |
8751 4d0a 542F mov r21,r20 |
8752 4d0c BC01 movw r22,r24 |
8753 4d0e CD01 movw r24,r26 |
8754 4d10 0E94 0000 call __mulsi3 |
8755 4d14 97FF sbrs r25,7 |
8756 4d16 04C0 rjmp .L658 |
8757 4d18 6150 subi r22,lo8(-(511)) |
8758 4d1a 7E4F sbci r23,hi8(-(511)) |
8759 4d1c 8F4F sbci r24,hlo8(-(511)) |
8760 4d1e 9F4F sbci r25,hhi8(-(511)) |
8761 .L658: |
8762 4d20 59E0 ldi r21,9 |
8763 4d22 9595 1: asr r25 |
8764 4d24 8795 ror r24 |
8765 4d26 7795 ror r23 |
8766 4d28 6795 ror r22 |
8767 4d2a 5A95 dec r21 |
8768 4d2c D1F7 brne 1b |
8769 4d2e 061B sub r16,r22 |
8770 4d30 170B sbc r17,r23 |
8771 4d32 8091 0000 lds r24,HeightTrimming.22 |
8772 4d36 9091 0000 lds r25,(HeightTrimming.22)+1 |
8773 4d3a 892B or r24,r25 |
8774 4d3c 09F0 breq .+2 |
8775 4d3e 60C0 rjmp .L659 |
8776 4d40 1E14 cp __zero_reg__,r14 |
8777 4d42 1F04 cpc __zero_reg__,r15 |
8778 4d44 0CF0 brlt .+2 |
8779 4d46 5CC0 rjmp .L659 |
8780 4d48 9601 movw r18,r12 |
8781 4d4a D7FE sbrs r13,7 |
8782 4d4c 03C0 rjmp .L660 |
8783 4d4e 3095 com r19 |
8784 4d50 2195 neg r18 |
8785 4d52 3F4F sbci r19,lo8(-1) |
8786 .L660: |
8787 4d54 2D33 cpi r18,61 |
8788 4d56 3105 cpc r19,__zero_reg__ |
8789 4d58 40F4 brsh .L661 |
8790 4d5a 8091 0000 lds r24,HoverGasMin.25 |
8791 4d5e 9091 0000 lds r25,(HoverGasMin.25)+1 |
8792 4d62 8017 cp r24,r16 |
8793 4d64 9107 cpc r25,r17 |
8794 4d66 74F5 brge .L793 |
8795 4d68 26C0 rjmp .L802 |
8796 .L661: |
8797 4d6a 2C53 subi r18,lo8(-(-60)) |
8798 4d6c 3040 sbci r19,hi8(-(-60)) |
8799 4d6e 45E0 ldi r20,5 |
8800 4d70 3695 1: lsr r19 |
8801 4d72 2795 ror r18 |
8802 4d74 4A95 dec r20 |
8803 4d76 E1F7 brne 1b |
8804 4d78 2031 cpi r18,16 |
8805 4d7a 3105 cpc r19,__zero_reg__ |
8806 4d7c 10F0 brlo .L666 |
8807 4d7e 2FE0 ldi r18,lo8(15) |
8808 4d80 30E0 ldi r19,hi8(15) |
8809 .L666: |
8810 4d82 4091 0000 lds r20,HoverGasMin.25 |
8811 4d86 5091 0000 lds r21,(HoverGasMin.25)+1 |
8812 4d8a 1C14 cp __zero_reg__,r12 |
8813 4d8c 1D04 cpc __zero_reg__,r13 |
8814 4d8e E4F4 brge .L667 |
8815 4d90 80E1 ldi r24,lo8(16) |
8816 4d92 90E0 ldi r25,hi8(16) |
8817 4d94 821B sub r24,r18 |
8818 4d96 930B sbc r25,r19 |
8819 4d98 489F mul r20,r24 |
8820 4d9a 9001 movw r18,r0 |
8821 4d9c 499F mul r20,r25 |
8822 4d9e 300D add r19,r0 |
8823 4da0 589F mul r21,r24 |
8824 4da2 300D add r19,r0 |
8825 4da4 1124 clr r1 |
8826 4da6 94E0 ldi r25,4 |
8827 4da8 3695 1: lsr r19 |
8828 4daa 2795 ror r18 |
8829 4dac 9A95 dec r25 |
8830 4dae E1F7 brne 1b |
8831 4db0 2017 cp r18,r16 |
8832 4db2 3107 cpc r19,r17 |
8833 4db4 20F5 brsh .L792 |
8834 .L802: |
8835 4db6 8091 0000 lds r24,HoverGasMax.26 |
8836 4dba 9091 0000 lds r25,(HoverGasMax.26)+1 |
8837 4dbe 0817 cp r16,r24 |
8838 4dc0 1907 cpc r17,r25 |
8839 4dc2 F4F0 brlt .L659 |
8840 .L793: |
8841 4dc4 8C01 movw r16,r24 |
8842 4dc6 1CC0 rjmp .L659 |
8843 .L667: |
8844 4dc8 205F subi r18,lo8(-(16)) |
8845 4dca 3F4F sbci r19,hi8(-(16)) |
8846 4dcc 8091 0000 lds r24,HoverGasMax.26 |
8847 4dd0 9091 0000 lds r25,(HoverGasMax.26)+1 |
8848 4dd4 829F mul r24,r18 |
8849 4dd6 B001 movw r22,r0 |
8850 4dd8 839F mul r24,r19 |
8851 4dda 700D add r23,r0 |
8852 4ddc 929F mul r25,r18 |
8853 4dde 700D add r23,r0 |
8854 4de0 1124 clr r1 |
8855 4de2 9B01 movw r18,r22 |
8856 4de4 84E0 ldi r24,4 |
8857 4de6 3695 1: lsr r19 |
8858 4de8 2795 ror r18 |
8859 4dea 8A95 dec r24 |
8860 4dec E1F7 brne 1b |
8861 4dee 4017 cp r20,r16 |
8862 4df0 5107 cpc r21,r17 |
8863 4df2 14F0 brlt .L672 |
8864 4df4 8A01 movw r16,r20 |
8865 4df6 04C0 rjmp .L659 |
8866 .L672: |
8867 4df8 0217 cp r16,r18 |
8868 4dfa 1307 cpc r17,r19 |
8869 4dfc 08F0 brlo .L659 |
8870 .L792: |
8871 4dfe 8901 movw r16,r18 |
8872 .L659: |
8873 4e00 C801 movw r24,r16 |
8874 4e02 AA27 clr r26 |
8875 4e04 97FD sbrc r25,7 |
8876 4e06 A095 com r26 |
8877 4e08 BA2F mov r27,r26 |
8878 4e0a 1DE0 ldi r17,13 |
8879 4e0c 880F 1: lsl r24 |
8880 4e0e 991F rol r25 |
8881 4e10 AA1F rol r26 |
8882 4e12 BB1F rol r27 |
8883 4e14 1A95 dec r17 |
8884 4e16 D1F7 brne 1b |
8885 4e18 9301 movw r18,r6 |
8886 4e1a 4427 clr r20 |
8887 4e1c 37FD sbrc r19,7 |
8888 4e1e 4095 com r20 |
8889 4e20 542F mov r21,r20 |
8890 4e22 BC01 movw r22,r24 |
8891 4e24 CD01 movw r24,r26 |
8892 4e26 0E94 0000 call __divmodsi4 |
8893 4e2a 2093 0000 sts tmp_long2.2,r18 |
8894 4e2e 3093 0000 sts (tmp_long2.2)+1,r19 |
8895 4e32 4093 0000 sts (tmp_long2.2)+2,r20 |
8896 4e36 5093 0000 sts (tmp_long2.2)+3,r21 |
8897 4e3a 0091 0000 lds r16,tmp_long2.2 |
8898 4e3e 1091 0000 lds r17,(tmp_long2.2)+1 |
8899 4e42 8091 0000 lds r24,FilterHCGas.23 |
8900 4e46 9091 0000 lds r25,(FilterHCGas.23)+1 |
8901 4e4a 9C01 movw r18,r24 |
8902 4e4c 220F lsl r18 |
8903 4e4e 331F rol r19 |
8904 4e50 280F add r18,r24 |
8905 4e52 391F adc r19,r25 |
8906 4e54 200F add r18,r16 |
8907 4e56 311F adc r19,r17 |
8908 4e58 37FF sbrs r19,7 |
8909 4e5a 02C0 rjmp .L675 |
8910 4e5c 2D5F subi r18,lo8(-(3)) |
8911 4e5e 3F4F sbci r19,hi8(-(3)) |
8912 .L675: |
8913 4e60 A901 movw r20,r18 |
8914 4e62 5595 asr r21 |
8915 4e64 4795 ror r20 |
8916 4e66 5595 asr r21 |
8917 4e68 4795 ror r20 |
8918 4e6a 5093 0000 sts (FilterHCGas.23)+1,r21 |
8919 4e6e 4093 0000 sts FilterHCGas.23,r20 |
8920 4e72 8091 0000 lds r24,EE_Parameter+14 |
8921 4e76 282F mov r18,r24 |
8922 4e78 3327 clr r19 |
8923 4e7a 220F lsl r18 |
8924 4e7c 331F rol r19 |
8925 4e7e 220F lsl r18 |
8926 4e80 331F rol r19 |
8927 4e82 2417 cp r18,r20 |
8928 4e84 3507 cpc r19,r21 |
8929 4e86 6CF4 brge .L794 |
8930 4e88 8091 0000 lds r24,MAX_GAS |
8931 4e8c 282F mov r18,r24 |
8932 4e8e 3327 clr r19 |
8933 4e90 220F lsl r18 |
8934 4e92 331F rol r19 |
8935 4e94 220F lsl r18 |
8936 4e96 331F rol r19 |
8937 4e98 2055 subi r18,lo8(-(-80)) |
8938 4e9a 3040 sbci r19,hi8(-(-80)) |
8939 4e9c 4217 cp r20,r18 |
8940 4e9e 5307 cpc r21,r19 |
8941 4ea0 24F0 brlt .L677 |
8942 .L794: |
8943 4ea2 3093 0000 sts (FilterHCGas.23)+1,r19 |
8944 4ea6 2093 0000 sts FilterHCGas.23,r18 |
8945 .L677: |
8946 4eaa 8091 0000 lds r24,EE_Parameter+99 |
8947 4eae 80FF sbrs r24,0 |
8948 4eb0 0DC0 rjmp .L679 |
8949 4eb2 8091 0000 lds r24,FilterHCGas.23 |
8950 4eb6 9091 0000 lds r25,(FilterHCGas.23)+1 |
8951 4eba A8A1 ldd r26,Y+32 |
8952 4ebc B9A1 ldd r27,Y+33 |
8953 4ebe 8A17 cp r24,r26 |
8954 4ec0 9B07 cpc r25,r27 |
8955 4ec2 24F0 brlt .L679 |
8956 4ec4 B093 0000 sts (FilterHCGas.23)+1,r27 |
8957 4ec8 A093 0000 sts FilterHCGas.23,r26 |
8958 .L679: |
8959 4ecc 28A1 ldd r18,Y+32 |
8960 4ece 39A1 ldd r19,Y+33 |
8961 4ed0 2E19 sub r18,r14 |
8962 4ed2 3F09 sbc r19,r15 |
8963 4ed4 37FF sbrs r19,7 |
8964 4ed6 02C0 rjmp .L681 |
8965 4ed8 2D5F subi r18,lo8(-(3)) |
8966 4eda 3F4F sbci r19,hi8(-(3)) |
8967 .L681: |
8968 4edc 3595 asr r19 |
8969 4ede 2795 ror r18 |
8970 4ee0 3595 asr r19 |
8971 4ee2 2795 ror r18 |
8972 4ee4 E091 0000 lds r30,FilterHCGas.23 |
8973 4ee8 F091 0000 lds r31,(FilterHCGas.23)+1 |
8974 4eec E20F add r30,r18 |
8975 4eee F31F adc r31,r19 |
8976 4ef0 F9A3 std Y+33,r31 |
8977 4ef2 E8A3 std Y+32,r30 |
8978 4ef4 42C0 rjmp .L682 |
8979 .L596: |
8980 4ef6 8091 0000 lds r24,EE_Parameter+22 |
8981 4efa 8823 tst r24 |
8982 4efc 01F5 brne .L683 |
8983 4efe 6091 0000 lds r22,HoverGas |
8984 4f02 7091 0000 lds r23,(HoverGas)+1 |
8985 4f06 77FF sbrs r23,7 |
8986 4f08 02C0 rjmp .L684 |
8987 4f0a 6D5F subi r22,lo8(-(3)) |
8988 4f0c 7F4F sbci r23,hi8(-(3)) |
8989 .L684: |
8990 4f0e 7595 asr r23 |
8991 4f10 6795 ror r22 |
8992 4f12 7595 asr r23 |
8993 4f14 6795 ror r22 |
8994 4f16 4091 0000 lds r20,UBat |
8995 4f1a 5091 0000 lds r21,(UBat)+1 |
8996 4f1e 8091 0000 lds r24,BattLowVoltageWarning |
8997 4f22 282F mov r18,r24 |
8998 4f24 3327 clr r19 |
8999 4f26 649F mul r22,r20 |
9000 4f28 C001 movw r24,r0 |
9001 4f2a 659F mul r22,r21 |
9002 4f2c 900D add r25,r0 |
9003 4f2e 749F mul r23,r20 |
9004 4f30 900D add r25,r0 |
9005 4f32 1124 clr r1 |
9006 4f34 B901 movw r22,r18 |
9007 4f36 0E94 0000 call __divmodhi4 |
9008 4f3a CB01 movw r24,r22 |
9009 4f3c 01C0 rjmp .L795 |
9010 .L683: |
9011 4f3e 9927 clr r25 |
9012 .L795: |
9013 4f40 9093 0000 sts (StickGasHover.24)+1,r25 |
9014 4f44 8093 0000 sts StickGasHover.24,r24 |
9015 4f48 8091 0000 lds r24,StickGasHover.24 |
9016 4f4c 9091 0000 lds r25,(StickGasHover.24)+1 |
9017 4f50 8734 cpi r24,71 |
9018 4f52 9105 cpc r25,__zero_reg__ |
9019 4f54 1CF4 brge .L686 |
9020 4f56 86E4 ldi r24,lo8(70) |
9021 4f58 90E0 ldi r25,hi8(70) |
9022 4f5a 05C0 rjmp .L796 |
9023 .L686: |
9024 4f5c 8639 cpi r24,150 |
9025 4f5e 9105 cpc r25,__zero_reg__ |
9026 4f60 34F0 brlt .L687 |
9027 4f62 86E9 ldi r24,lo8(150) |
9028 4f64 90E0 ldi r25,hi8(150) |
9029 .L796: |
9030 4f66 9093 0000 sts (StickGasHover.24)+1,r25 |
9031 4f6a 8093 0000 sts StickGasHover.24,r24 |
9032 .L687: |
9033 4f6e E8A0 ldd r14,Y+32 |
9034 4f70 F9A0 ldd r15,Y+33 |
9035 4f72 F092 0000 sts (FilterHCGas.23)+1,r15 |
9036 4f76 E092 0000 sts FilterHCGas.23,r14 |
9037 .L682: |
9038 4f7a 8091 0000 lds r24,FCFlags |
9039 4f7e 9927 clr r25 |
9040 4f80 9C01 movw r18,r24 |
9041 4f82 2270 andi r18,lo8(2) |
9042 4f84 3070 andi r19,hi8(2) |
9043 4f86 81FF sbrs r24,1 |
9044 4f88 1CC1 rjmp .L689 |
9045 4f8a 8091 0000 lds r24,HoverGasFilter.27 |
9046 4f8e 9091 0000 lds r25,(HoverGasFilter.27)+1 |
9047 4f92 A091 0000 lds r26,(HoverGasFilter.27)+2 |
9048 4f96 B091 0000 lds r27,(HoverGasFilter.27)+3 |
9049 4f9a 0097 sbiw r24,0 |
9050 4f9c A105 cpc r26,__zero_reg__ |
9051 4f9e B105 cpc r27,__zero_reg__ |
9052 4fa0 21F0 breq .L691 |
9053 4fa2 8091 0000 lds r24,StartTrigger |
9054 4fa6 8130 cpi r24,lo8(1) |
9055 4fa8 B1F4 brne .L690 |
9056 .L691: |
9057 4faa 08A1 ldd r16,Y+32 |
9058 4fac 19A1 ldd r17,Y+33 |
9059 4fae C801 movw r24,r16 |
9060 4fb0 AA27 clr r26 |
9061 4fb2 97FD sbrc r25,7 |
9062 4fb4 A095 com r26 |
9063 4fb6 BA2F mov r27,r26 |
9064 4fb8 2EE0 ldi r18,14 |
9065 4fba 880F 1: lsl r24 |
9066 4fbc 991F rol r25 |
9067 4fbe AA1F rol r26 |
9068 4fc0 BB1F rol r27 |
9069 4fc2 2A95 dec r18 |
9070 4fc4 D1F7 brne 1b |
9071 4fc6 8093 0000 sts HoverGasFilter.27,r24 |
9072 4fca 9093 0000 sts (HoverGasFilter.27)+1,r25 |
9073 4fce A093 0000 sts (HoverGasFilter.27)+2,r26 |
9074 4fd2 B093 0000 sts (HoverGasFilter.27)+3,r27 |
9075 .L690: |
9076 4fd6 8091 0000 lds r24,StartTrigger |
9077 4fda 8130 cpi r24,lo8(1) |
9078 4fdc 19F4 brne .L692 |
9079 4fde 82E0 ldi r24,lo8(2) |
9080 4fe0 8093 0000 sts StartTrigger,r24 |
9081 .L692: |
9082 4fe4 28A1 ldd r18,Y+32 |
9083 4fe6 39A1 ldd r19,Y+33 |
9084 4fe8 C901 movw r24,r18 |
9085 4fea AA27 clr r26 |
9086 4fec 97FD sbrc r25,7 |
9087 4fee A095 com r26 |
9088 4ff0 BA2F mov r27,r26 |
9089 4ff2 9301 movw r18,r6 |
9090 4ff4 4427 clr r20 |
9091 4ff6 37FD sbrc r19,7 |
9092 4ff8 4095 com r20 |
9093 4ffa 542F mov r21,r20 |
9094 4ffc BC01 movw r22,r24 |
9095 4ffe CD01 movw r24,r26 |
9096 5000 0E94 0000 call __mulsi3 |
9097 5004 DC01 movw r26,r24 |
9098 5006 CB01 movw r24,r22 |
9099 5008 8093 0000 sts tmp_long2.2,r24 |
9100 500c 9093 0000 sts (tmp_long2.2)+1,r25 |
9101 5010 A093 0000 sts (tmp_long2.2)+2,r26 |
9102 5014 B093 0000 sts (tmp_long2.2)+3,r27 |
9103 5018 B7FF sbrs r27,7 |
9104 501a 04C0 rjmp .L693 |
9105 501c 8150 subi r24,lo8(-(8191)) |
9106 501e 904E sbci r25,hi8(-(8191)) |
9107 5020 AF4F sbci r26,hlo8(-(8191)) |
9108 5022 BF4F sbci r27,hhi8(-(8191)) |
9109 .L693: |
9110 5024 5C01 movw r10,r24 |
9111 5026 6D01 movw r12,r26 |
9112 5028 0DE0 ldi r16,13 |
9113 502a D594 1: asr r13 |
9114 502c C794 ror r12 |
9115 502e B794 ror r11 |
9116 5030 A794 ror r10 |
9117 5032 0A95 dec r16 |
9118 5034 D1F7 brne 1b |
9119 5036 A092 0000 sts tmp_long2.2,r10 |
9120 503a B092 0000 sts (tmp_long2.2)+1,r11 |
9121 503e C092 0000 sts (tmp_long2.2)+2,r12 |
9122 5042 D092 0000 sts (tmp_long2.2)+3,r13 |
9123 5046 6091 0000 lds r22,modell_fliegt |
9124 504a 7091 0000 lds r23,(modell_fliegt)+1 |
9125 504e 3FE0 ldi r19,hi8(4000) |
9126 5050 603A cpi r22,lo8(4000) |
9127 5052 7307 cpc r23,r19 |
9128 5054 50F5 brsh .L694 |
9129 5056 8091 0000 lds r24,HoverGasFilter.27 |
9130 505a 9091 0000 lds r25,(HoverGasFilter.27)+1 |
9131 505e A091 0000 lds r26,(HoverGasFilter.27)+2 |
9132 5062 B091 0000 lds r27,(HoverGasFilter.27)+3 |
9133 5066 9C01 movw r18,r24 |
9134 5068 AD01 movw r20,r26 |
9135 506a 1AE0 ldi r17,10 |
9136 506c 5695 1: lsr r21 |
9137 506e 4795 ror r20 |
9138 5070 3795 ror r19 |
9139 5072 2795 ror r18 |
9140 5074 1A95 dec r17 |
9141 5076 D1F7 brne 1b |
9142 5078 821B sub r24,r18 |
9143 507a 930B sbc r25,r19 |
9144 507c A40B sbc r26,r20 |
9145 507e B50B sbc r27,r21 |
9146 5080 A601 movw r20,r12 |
9147 5082 9501 movw r18,r10 |
9148 5084 F4E0 ldi r31,4 |
9149 5086 220F 1: lsl r18 |
9150 5088 331F rol r19 |
9151 508a 441F rol r20 |
9152 508c 551F rol r21 |
9153 508e FA95 dec r31 |
9154 5090 D1F7 brne 1b |
9155 5092 820F add r24,r18 |
9156 5094 931F adc r25,r19 |
9157 5096 A41F adc r26,r20 |
9158 5098 B51F adc r27,r21 |
9159 509a 8093 0000 sts HoverGasFilter.27,r24 |
9160 509e 9093 0000 sts (HoverGasFilter.27)+1,r25 |
9161 50a2 A093 0000 sts (HoverGasFilter.27)+2,r26 |
9162 50a6 B093 0000 sts (HoverGasFilter.27)+3,r27 |
9163 .L694: |
9164 50aa 6054 subi r22,lo8(8000) |
9165 50ac 7F41 sbci r23,hi8(8000) |
9166 50ae 18F5 brsh .L695 |
9167 50b0 8091 0000 lds r24,HoverGasFilter.27 |
9168 50b4 9091 0000 lds r25,(HoverGasFilter.27)+1 |
9169 50b8 A091 0000 lds r26,(HoverGasFilter.27)+2 |
9170 50bc B091 0000 lds r27,(HoverGasFilter.27)+3 |
9171 50c0 9C01 movw r18,r24 |
9172 50c2 AD01 movw r20,r26 |
9173 50c4 ECE0 ldi r30,12 |
9174 50c6 5695 1: lsr r21 |
9175 50c8 4795 ror r20 |
9176 50ca 3795 ror r19 |
9177 50cc 2795 ror r18 |
9178 50ce EA95 dec r30 |
9179 50d0 D1F7 brne 1b |
9180 50d2 821B sub r24,r18 |
9181 50d4 930B sbc r25,r19 |
9182 50d6 A40B sbc r26,r20 |
9183 50d8 B50B sbc r27,r21 |
9184 50da A601 movw r20,r12 |
9185 50dc 9501 movw r18,r10 |
9186 50de 72E0 ldi r23,2 |
9187 50e0 220F 1: lsl r18 |
9188 50e2 331F rol r19 |
9189 50e4 441F rol r20 |
9190 50e6 551F rol r21 |
9191 50e8 7A95 dec r23 |
9192 50ea D1F7 brne 1b |
9193 50ec 820F add r24,r18 |
9194 50ee 931F adc r25,r19 |
9195 50f0 A41F adc r26,r20 |
9196 50f2 B51F adc r27,r21 |
9197 50f4 29C0 rjmp .L797 |
9198 .L695: |
9199 50f6 8091 0000 lds r24,VarioMeter |
9200 50fa 9091 0000 lds r25,(VarioMeter)+1 |
9201 50fe 8091 0000 lds r24,VarioMeter |
9202 5102 9091 0000 lds r25,(VarioMeter)+1 |
9203 5106 97FF sbrs r25,7 |
9204 5108 03C0 rjmp .L698 |
9205 510a 9095 com r25 |
9206 510c 8195 neg r24 |
9207 510e 9F4F sbci r25,lo8(-1) |
9208 .L698: |
9209 5110 8436 cpi r24,100 |
9210 5112 9105 cpc r25,__zero_reg__ |
9211 5114 0CF5 brge .L696 |
9212 5116 8091 0000 lds r24,HoverGasFilter.27 |
9213 511a 9091 0000 lds r25,(HoverGasFilter.27)+1 |
9214 511e A091 0000 lds r26,(HoverGasFilter.27)+2 |
9215 5122 B091 0000 lds r27,(HoverGasFilter.27)+3 |
9216 5126 9C01 movw r18,r24 |
9217 5128 AD01 movw r20,r26 |
9218 512a 6EE0 ldi r22,14 |
9219 512c 5695 1: lsr r21 |
9220 512e 4795 ror r20 |
9221 5130 3795 ror r19 |
9222 5132 2795 ror r18 |
9223 5134 6A95 dec r22 |
9224 5136 D1F7 brne 1b |
9225 5138 821B sub r24,r18 |
9226 513a 930B sbc r25,r19 |
9227 513c A40B sbc r26,r20 |
9228 513e B50B sbc r27,r21 |
9229 5140 8A0D add r24,r10 |
9230 5142 9B1D adc r25,r11 |
9231 5144 AC1D adc r26,r12 |
9232 5146 BD1D adc r27,r13 |
9233 .L797: |
9234 5148 8093 0000 sts HoverGasFilter.27,r24 |
9235 514c 9093 0000 sts (HoverGasFilter.27)+1,r25 |
9236 5150 A093 0000 sts (HoverGasFilter.27)+2,r26 |
9237 5154 B093 0000 sts (HoverGasFilter.27)+3,r27 |
9238 .L696: |
9239 5158 8091 0000 lds r24,HoverGasFilter.27 |
9240 515c 9091 0000 lds r25,(HoverGasFilter.27)+1 |
9241 5160 A091 0000 lds r26,(HoverGasFilter.27)+2 |
9242 5164 B091 0000 lds r27,(HoverGasFilter.27)+3 |
9243 5168 2EE0 ldi r18,14 |
9244 516a B695 1: lsr r27 |
9245 516c A795 ror r26 |
9246 516e 9795 ror r25 |
9247 5170 8795 ror r24 |
9248 5172 2A95 dec r18 |
9249 5174 D1F7 brne 1b |
9250 5176 9093 0000 sts (HoverGas)+1,r25 |
9251 517a 8093 0000 sts HoverGas,r24 |
9252 517e 4091 0000 lds r20,EE_Parameter+20 |
9253 5182 4423 tst r20 |
9254 5184 99F0 breq .L699 |
9255 5186 5527 clr r21 |
9256 5188 9C01 movw r18,r24 |
9257 518a BA01 movw r22,r20 |
9258 518c 0E94 0000 call __divmodhi4 |
9259 5190 C901 movw r24,r18 |
9260 5192 861B sub r24,r22 |
9261 5194 970B sbc r25,r23 |
9262 5196 9093 0000 sts (HoverGasMin.25)+1,r25 |
9263 519a 8093 0000 sts HoverGasMin.25,r24 |
9264 519e 260F add r18,r22 |
9265 51a0 371F adc r19,r23 |
9266 51a2 3093 0000 sts (HoverGasMax.26)+1,r19 |
9267 51a6 2093 0000 sts HoverGasMax.26,r18 |
9268 51aa 19C0 rjmp .L579 |
9269 .L699: |
9270 51ac 1092 0000 sts (HoverGasMin.25)+1,__zero_reg__ |
9271 51b0 1092 0000 sts HoverGasMin.25,__zero_reg__ |
9272 51b4 8FEF ldi r24,lo8(1023) |
9273 51b6 93E0 ldi r25,hi8(1023) |
9274 51b8 9093 0000 sts (HoverGasMax.26)+1,r25 |
9275 51bc 8093 0000 sts HoverGasMax.26,r24 |
9276 51c0 0EC0 rjmp .L579 |
9277 .L689: |
9278 51c2 1092 0000 sts StartTrigger,__zero_reg__ |
9279 51c6 1092 0000 sts HoverGasFilter.27,__zero_reg__ |
9280 51ca 1092 0000 sts (HoverGasFilter.27)+1,__zero_reg__ |
9281 51ce 1092 0000 sts (HoverGasFilter.27)+2,__zero_reg__ |
9282 51d2 1092 0000 sts (HoverGasFilter.27)+3,__zero_reg__ |
9283 51d6 3093 0000 sts (HoverGas)+1,r19 |
9284 51da 2093 0000 sts HoverGas,r18 |
9285 .L579: |
9286 51de 5091 0000 lds r21,MIN_GAS |
9287 51e2 58AB std Y+48,r21 |
9288 51e4 252F mov r18,r21 |
9289 51e6 3327 clr r19 |
9290 51e8 220F lsl r18 |
9291 51ea 331F rol r19 |
9292 51ec 220F lsl r18 |
9293 51ee 331F rol r19 |
9294 51f0 285D subi r18,lo8(-(40)) |
9295 51f2 3F4F sbci r19,hi8(-(40)) |
9296 51f4 68A1 ldd r22,Y+32 |
9297 51f6 79A1 ldd r23,Y+33 |
9298 51f8 2617 cp r18,r22 |
9299 51fa 3707 cpc r19,r23 |
9300 51fc 14F0 brlt .L702 |
9301 51fe 39A3 std Y+33,r19 |
9302 5200 28A3 std Y+32,r18 |
9303 .L702: |
9304 5202 7091 0000 lds r23,MAX_GAS |
9305 5206 79AB std Y+49,r23 |
9306 5208 872F mov r24,r23 |
9307 520a 9927 clr r25 |
9308 520c 880F lsl r24 |
9309 520e 991F rol r25 |
9310 5210 880F lsl r24 |
9311 5212 991F rol r25 |
9312 5214 8055 subi r24,lo8(-(-80)) |
9313 5216 9040 sbci r25,hi8(-(-80)) |
9314 5218 A8A1 ldd r26,Y+32 |
9315 521a B9A1 ldd r27,Y+33 |
9316 521c 8A17 cp r24,r26 |
9317 521e 9B07 cpc r25,r27 |
9318 5220 14F4 brge .L703 |
9319 5222 99A3 std Y+33,r25 |
9320 5224 88A3 std Y+32,r24 |
9321 .L703: |
9322 5226 8091 0000 lds r24,MissingMotor |
9323 522a 8823 tst r24 |
9324 522c 21F4 brne .L705 |
9325 522e 8091 0000 lds r24,Capacity+6 |
9326 5232 8F3F cpi r24,lo8(-1) |
9327 5234 A1F0 breq .L704 |
9328 .L705: |
9329 5236 8091 0000 lds r24,modell_fliegt |
9330 523a 9091 0000 lds r25,(modell_fliegt)+1 |
9331 523e 0297 sbiw r24,2 |
9332 5240 C097 sbiw r24,48 |
9333 5242 68F4 brsh .L704 |
9334 5244 E8A1 ldd r30,Y+32 |
9335 5246 F9A1 ldd r31,Y+33 |
9336 5248 1E16 cp __zero_reg__,r30 |
9337 524a 1F06 cpc __zero_reg__,r31 |
9338 524c 44F4 brge .L704 |
9339 524e 81E0 ldi r24,lo8(1) |
9340 5250 90E0 ldi r25,hi8(1) |
9341 5252 9093 0000 sts (modell_fliegt)+1,r25 |
9342 5256 8093 0000 sts modell_fliegt,r24 |
9343 525a 39A3 std Y+33,r19 |
9344 525c 28A3 std Y+32,r18 |
9345 .L704: |
9346 525e E8A0 ldd r14,Y+32 |
9347 5260 F9A0 ldd r15,Y+33 |
9348 5262 F092 0000 sts (DebugOut+16)+1,r15 |
9349 5266 E092 0000 sts DebugOut+16,r14 |
9350 526a 8091 0000 lds r24,sollGier.0 |
9351 526e 9091 0000 lds r25,(sollGier.0)+1 |
9352 5272 A091 0000 lds r26,(sollGier.0)+2 |
9353 5276 B091 0000 lds r27,(sollGier.0)+3 |
9354 527a 12E0 ldi r17,2 |
9355 527c 880F 1: lsl r24 |
9356 527e 991F rol r25 |
9357 5280 AA1F rol r26 |
9358 5282 BB1F rol r27 |
9359 5284 1A95 dec r17 |
9360 5286 D1F7 brne 1b |
9361 5288 C090 0000 lds r12,MesswertGier |
9362 528c D090 0000 lds r13,(MesswertGier)+1 |
9363 5290 C81A sub r12,r24 |
9364 5292 D90A sbc r13,r25 |
9365 5294 8701 movw r16,r14 |
9366 5296 013A cpi r16,161 |
9367 5298 1105 cpc r17,__zero_reg__ |
9368 529a 8CF0 brlt .L707 |
9369 529c C701 movw r24,r14 |
9370 529e F7FC sbrc r15,7 |
9371 52a0 0196 adiw r24,1 |
9372 .L709: |
9373 52a2 9595 asr r25 |
9374 52a4 8795 ror r24 |
9375 52a6 8C15 cp r24,r12 |
9376 52a8 9D05 cpc r25,r13 |
9377 52aa 0CF4 brge .L708 |
9378 52ac 6C01 movw r12,r24 |
9379 .L708: |
9380 52ae 9095 com r25 |
9381 52b0 8195 neg r24 |
9382 52b2 9F4F sbci r25,lo8(-1) |
9383 52b4 C816 cp r12,r24 |
9384 52b6 D906 cpc r13,r25 |
9385 52b8 94F4 brge .L714 |
9386 52ba 6C01 movw r12,r24 |
9387 52bc 10C0 rjmp .L714 |
9388 .L707: |
9389 52be 11E5 ldi r17,lo8(81) |
9390 52c0 C116 cp r12,r17 |
9391 52c2 D104 cpc r13,__zero_reg__ |
9392 52c4 1CF0 brlt .L715 |
9393 52c6 E0E5 ldi r30,lo8(80) |
9394 52c8 CE2E mov r12,r30 |
9395 52ca D12C mov r13,__zero_reg__ |
9396 .L715: |
9397 52cc 20EB ldi r18,lo8(-80) |
9398 52ce C216 cp r12,r18 |
9399 52d0 2FEF ldi r18,hi8(-80) |
9400 52d2 D206 cpc r13,r18 |
9401 52d4 24F4 brge .L714 |
9402 52d6 70EB ldi r23,lo8(-80) |
9403 52d8 C72E mov r12,r23 |
9404 52da 7FEF ldi r23,hi8(-80) |
9405 52dc D72E mov r13,r23 |
9406 .L714: |
9407 52de 49A9 ldd r20,Y+49 |
9408 52e0 242F mov r18,r20 |
9409 52e2 3327 clr r19 |
9410 52e4 220F lsl r18 |
9411 52e6 331F rol r19 |
9412 52e8 220F lsl r18 |
9413 52ea 331F rol r19 |
9414 52ec C901 movw r24,r18 |
9415 52ee 68A1 ldd r22,Y+32 |
9416 52f0 79A1 ldd r23,Y+33 |
9417 52f2 861B sub r24,r22 |
9418 52f4 970B sbc r25,r23 |
9419 52f6 8C15 cp r24,r12 |
9420 52f8 9D05 cpc r25,r13 |
9421 52fa 0CF4 brge .L717 |
9422 52fc 6C01 movw r12,r24 |
9423 .L717: |
9424 52fe 88A1 ldd r24,Y+32 |
9425 5300 99A1 ldd r25,Y+33 |
9426 5302 821B sub r24,r18 |
9427 5304 930B sbc r25,r19 |
9428 5306 C816 cp r12,r24 |
9429 5308 D906 cpc r13,r25 |
9430 530a 0CF4 brge .L718 |
9431 530c 6C01 movw r12,r24 |
9432 .L718: |
9433 530e 8091 0000 lds r24,MesswertNick |
9434 5312 9091 0000 lds r25,(MesswertNick)+1 |
9435 5316 6091 0000 lds r22,StickNick |
9436 531a 7091 0000 lds r23,(StickNick)+1 |
9437 531e 861B sub r24,r22 |
9438 5320 970B sbc r25,r23 |
9439 5322 9093 0000 sts (DiffNick)+1,r25 |
9440 5326 8093 0000 sts DiffNick,r24 |
9441 532a A090 0000 lds r10,IntegralFaktor |
9442 532e 2091 0000 lds r18,SummeNick |
9443 5332 3091 0000 lds r19,(SummeNick)+1 |
9444 5336 4091 0000 lds r20,(SummeNick)+2 |
9445 533a 5091 0000 lds r21,(SummeNick)+3 |
9446 533e AA20 tst r10 |
9447 5340 41F0 breq .L719 |
9448 5342 461A sub r4,r22 |
9449 5344 570A sbc r5,r23 |
9450 5346 C201 movw r24,r4 |
9451 5348 AA27 clr r26 |
9452 534a 97FD sbrc r25,7 |
9453 534c A095 com r26 |
9454 534e BA2F mov r27,r26 |
9455 5350 04C0 rjmp .L798 |
9456 .L719: |
9457 5352 AA27 clr r26 |
9458 5354 97FD sbrc r25,7 |
9459 5356 A095 com r26 |
9460 5358 BA2F mov r27,r26 |
9461 .L798: |
9462 535a 280F add r18,r24 |
9463 535c 391F adc r19,r25 |
9464 535e 4A1F adc r20,r26 |
9465 5360 5B1F adc r21,r27 |
9466 5362 2093 0000 sts SummeNick,r18 |
9467 5366 3093 0000 sts (SummeNick)+1,r19 |
9468 536a 4093 0000 sts (SummeNick)+2,r20 |
9469 536e 5093 0000 sts (SummeNick)+3,r21 |
9470 5372 8091 0000 lds r24,SummeNick |
9471 5376 9091 0000 lds r25,(SummeNick)+1 |
9472 537a A091 0000 lds r26,(SummeNick)+2 |
9473 537e B091 0000 lds r27,(SummeNick)+3 |
9474 5382 8150 subi r24,lo8(64001) |
9475 5384 9A4F sbci r25,hi8(64001) |
9476 5386 A040 sbci r26,hlo8(64001) |
9477 5388 B040 sbci r27,hhi8(64001) |
9478 538a 64F0 brlt .L721 |
9479 538c 80E0 ldi r24,lo8(64000) |
9480 538e 9AEF ldi r25,hi8(64000) |
9481 5390 A0E0 ldi r26,hlo8(64000) |
9482 5392 B0E0 ldi r27,hhi8(64000) |
9483 5394 8093 0000 sts SummeNick,r24 |
9484 5398 9093 0000 sts (SummeNick)+1,r25 |
9485 539c A093 0000 sts (SummeNick)+2,r26 |
9486 53a0 B093 0000 sts (SummeNick)+3,r27 |
9487 .L721: |
9488 53a4 8091 0000 lds r24,SummeNick |
9489 53a8 9091 0000 lds r25,(SummeNick)+1 |
9490 53ac A091 0000 lds r26,(SummeNick)+2 |
9491 53b0 B091 0000 lds r27,(SummeNick)+3 |
9492 53b4 8050 subi r24,lo8(-64000) |
9493 53b6 9640 sbci r25,hi8(-64000) |
9494 53b8 AF4F sbci r26,hlo8(-64000) |
9495 53ba BF4F sbci r27,hhi8(-64000) |
9496 53bc 64F4 brge .L722 |
9497 53be 80E0 ldi r24,lo8(-64000) |
9498 53c0 96E0 ldi r25,hi8(-64000) |
9499 53c2 AFEF ldi r26,hlo8(-64000) |
9500 53c4 BFEF ldi r27,hhi8(-64000) |
9501 53c6 8093 0000 sts SummeNick,r24 |
9502 53ca 9093 0000 sts (SummeNick)+1,r25 |
9503 53ce A093 0000 sts (SummeNick)+2,r26 |
9504 53d2 B093 0000 sts (SummeNick)+3,r27 |
9505 .L722: |
9506 53d6 B090 0000 lds r11,EE_Parameter+35 |
9507 53da 2B2D mov r18,r11 |
9508 53dc 3327 clr r19 |
9509 53de 8091 0000 lds r24,DiffNick |
9510 53e2 9091 0000 lds r25,(DiffNick)+1 |
9511 53e6 289F mul r18,r24 |
9512 53e8 7001 movw r14,r0 |
9513 53ea 299F mul r18,r25 |
9514 53ec F00C add r15,r0 |
9515 53ee 389F mul r19,r24 |
9516 53f0 F00C add r15,r0 |
9517 53f2 1124 clr r1 |
9518 53f4 9701 movw r18,r14 |
9519 53f6 F7FE sbrs r15,7 |
9520 53f8 02C0 rjmp .L723 |
9521 53fa 295F subi r18,lo8(-(7)) |
9522 53fc 3F4F sbci r19,hi8(-(7)) |
9523 .L723: |
9524 53fe 7901 movw r14,r18 |
9525 5400 53E0 ldi r21,3 |
9526 5402 F594 1: asr r15 |
9527 5404 E794 ror r14 |
9528 5406 5A95 dec r21 |
9529 5408 E1F7 brne 1b |
9530 540a 0091 0000 lds r16,Ki |
9531 540e 1091 0000 lds r17,(Ki)+1 |
9532 5412 9801 movw r18,r16 |
9533 5414 4427 clr r20 |
9534 5416 37FD sbrc r19,7 |
9535 5418 4095 com r20 |
9536 541a 542F mov r21,r20 |
9537 541c 8091 0000 lds r24,SummeNick |
9538 5420 9091 0000 lds r25,(SummeNick)+1 |
9539 5424 A091 0000 lds r26,(SummeNick)+2 |
9540 5428 B091 0000 lds r27,(SummeNick)+3 |
9541 542c BC01 movw r22,r24 |
9542 542e CD01 movw r24,r26 |
9543 5430 0E94 0000 call __divmodsi4 |
9544 5434 E20E add r14,r18 |
9545 5436 F31E adc r15,r19 |
9546 5438 9090 0000 lds r9,Parameter_DynamicStability |
9547 543c 692D mov r22,r9 |
9548 543e 7727 clr r23 |
9549 5440 8827 clr r24 |
9550 5442 9927 clr r25 |
9551 5444 9601 movw r18,r12 |
9552 5446 D7FE sbrs r13,7 |
9553 5448 04C0 rjmp .L724 |
9554 544a 2227 clr r18 |
9555 544c 3327 clr r19 |
9556 544e 2C19 sub r18,r12 |
9557 5450 3D09 sbc r19,r13 |
9558 .L724: |
9559 5452 37FF sbrs r19,7 |
9560 5454 02C0 rjmp .L725 |
9561 5456 2F5F subi r18,lo8(-(1)) |
9562 5458 3F4F sbci r19,hi8(-(1)) |
9563 .L725: |
9564 545a 3595 asr r19 |
9565 545c 2795 ror r18 |
9566 545e 48A1 ldd r20,Y+32 |
9567 5460 59A1 ldd r21,Y+33 |
9568 5462 240F add r18,r20 |
9569 5464 351F adc r19,r21 |
9570 5466 4427 clr r20 |
9571 5468 37FD sbrc r19,7 |
9572 546a 4095 com r20 |
9573 546c 542F mov r21,r20 |
9574 546e 0E94 0000 call __mulsi3 |
9575 5472 97FF sbrs r25,7 |
9576 5474 04C0 rjmp .L726 |
9577 5476 615C subi r22,lo8(-(63)) |
9578 5478 7F4F sbci r23,hi8(-(63)) |
9579 547a 8F4F sbci r24,hlo8(-(63)) |
9580 547c 9F4F sbci r25,hhi8(-(63)) |
9581 .L726: |
9582 547e 26E0 ldi r18,6 |
9583 5480 9595 1: asr r25 |
9584 5482 8795 ror r24 |
9585 5484 7795 ror r23 |
9586 5486 6795 ror r22 |
9587 5488 2A95 dec r18 |
9588 548a D1F7 brne 1b |
9589 548c 9B01 movw r18,r22 |
9590 548e 6E15 cp r22,r14 |
9591 5490 7F05 cpc r23,r15 |
9592 5492 0CF4 brge .L727 |
9593 5494 7B01 movw r14,r22 |
9594 .L727: |
9595 5496 3095 com r19 |
9596 5498 2195 neg r18 |
9597 549a 3F4F sbci r19,lo8(-1) |
9598 549c E216 cp r14,r18 |
9599 549e F306 cpc r15,r19 |
9600 54a0 0CF4 brge .L728 |
9601 54a2 7901 movw r14,r18 |
9602 .L728: |
9603 54a4 8091 0000 lds r24,MesswertRoll |
9604 54a8 9091 0000 lds r25,(MesswertRoll)+1 |
9605 54ac 6091 0000 lds r22,StickRoll |
9606 54b0 7091 0000 lds r23,(StickRoll)+1 |
9607 54b4 861B sub r24,r22 |
9608 54b6 970B sbc r25,r23 |
9609 54b8 9093 0000 sts (DiffRoll)+1,r25 |
9610 54bc 8093 0000 sts DiffRoll,r24 |
9611 54c0 2091 0000 lds r18,SummeRoll |
9612 54c4 3091 0000 lds r19,(SummeRoll)+1 |
9613 54c8 4091 0000 lds r20,(SummeRoll)+2 |
9614 54cc 5091 0000 lds r21,(SummeRoll)+3 |
9615 54d0 AA20 tst r10 |
9616 54d2 41F0 breq .L729 |
9617 54d4 261A sub r2,r22 |
9618 54d6 370A sbc r3,r23 |
9619 54d8 C101 movw r24,r2 |
9620 54da AA27 clr r26 |
9621 54dc 97FD sbrc r25,7 |
9622 54de A095 com r26 |
9623 54e0 BA2F mov r27,r26 |
9624 54e2 04C0 rjmp .L799 |
9625 .L729: |
9626 54e4 AA27 clr r26 |
9627 54e6 97FD sbrc r25,7 |
9628 54e8 A095 com r26 |
9629 54ea BA2F mov r27,r26 |
9630 .L799: |
9631 54ec 280F add r18,r24 |
9632 54ee 391F adc r19,r25 |
9633 54f0 4A1F adc r20,r26 |
9634 54f2 5B1F adc r21,r27 |
9635 54f4 2093 0000 sts SummeRoll,r18 |
9636 54f8 3093 0000 sts (SummeRoll)+1,r19 |
9637 54fc 4093 0000 sts (SummeRoll)+2,r20 |
9638 5500 5093 0000 sts (SummeRoll)+3,r21 |
9639 5504 8091 0000 lds r24,SummeRoll |
9640 5508 9091 0000 lds r25,(SummeRoll)+1 |
9641 550c A091 0000 lds r26,(SummeRoll)+2 |
9642 5510 B091 0000 lds r27,(SummeRoll)+3 |
9643 5514 8150 subi r24,lo8(64001) |
9644 5516 9A4F sbci r25,hi8(64001) |
9645 5518 A040 sbci r26,hlo8(64001) |
9646 551a B040 sbci r27,hhi8(64001) |
9647 551c 64F0 brlt .L731 |
9648 551e 80E0 ldi r24,lo8(64000) |
9649 5520 9AEF ldi r25,hi8(64000) |
9650 5522 A0E0 ldi r26,hlo8(64000) |
9651 5524 B0E0 ldi r27,hhi8(64000) |
9652 5526 8093 0000 sts SummeRoll,r24 |
9653 552a 9093 0000 sts (SummeRoll)+1,r25 |
9654 552e A093 0000 sts (SummeRoll)+2,r26 |
9655 5532 B093 0000 sts (SummeRoll)+3,r27 |
9656 .L731: |
9657 5536 8091 0000 lds r24,SummeRoll |
9658 553a 9091 0000 lds r25,(SummeRoll)+1 |
9659 553e A091 0000 lds r26,(SummeRoll)+2 |
9660 5542 B091 0000 lds r27,(SummeRoll)+3 |
9661 5546 8050 subi r24,lo8(-64000) |
9662 5548 9640 sbci r25,hi8(-64000) |
9663 554a AF4F sbci r26,hlo8(-64000) |
9664 554c BF4F sbci r27,hhi8(-64000) |
9665 554e 64F4 brge .L732 |
9666 5550 80E0 ldi r24,lo8(-64000) |
9667 5552 96E0 ldi r25,hi8(-64000) |
9668 5554 AFEF ldi r26,hlo8(-64000) |
9669 5556 BFEF ldi r27,hhi8(-64000) |
9670 5558 8093 0000 sts SummeRoll,r24 |
9671 555c 9093 0000 sts (SummeRoll)+1,r25 |
9672 5560 A093 0000 sts (SummeRoll)+2,r26 |
9673 5564 B093 0000 sts (SummeRoll)+3,r27 |
9674 .L732: |
9675 5568 2B2D mov r18,r11 |
9676 556a 3327 clr r19 |
9677 556c 8091 0000 lds r24,DiffRoll |
9678 5570 9091 0000 lds r25,(DiffRoll)+1 |
9679 5574 289F mul r18,r24 |
9680 5576 D001 movw r26,r0 |
9681 5578 299F mul r18,r25 |
9682 557a B00D add r27,r0 |
9683 557c 389F mul r19,r24 |
9684 557e B00D add r27,r0 |
9685 5580 1124 clr r1 |
9686 5582 9D01 movw r18,r26 |
9687 5584 B7FF sbrs r27,7 |
9688 5586 02C0 rjmp .L733 |
9689 5588 295F subi r18,lo8(-(7)) |
9690 558a 3F4F sbci r19,hi8(-(7)) |
9691 .L733: |
9692 558c 5901 movw r10,r18 |
9693 558e B3E0 ldi r27,3 |
9694 5590 B594 1: asr r11 |
9695 5592 A794 ror r10 |
9696 5594 BA95 dec r27 |
9697 5596 E1F7 brne 1b |
9698 5598 9801 movw r18,r16 |
9699 559a 4427 clr r20 |
9700 559c 37FD sbrc r19,7 |
9701 559e 4095 com r20 |
9702 55a0 542F mov r21,r20 |
9703 55a2 8091 0000 lds r24,SummeRoll |
9704 55a6 9091 0000 lds r25,(SummeRoll)+1 |
9705 55aa A091 0000 lds r26,(SummeRoll)+2 |
9706 55ae B091 0000 lds r27,(SummeRoll)+3 |
9707 55b2 BC01 movw r22,r24 |
9708 55b4 CD01 movw r24,r26 |
9709 55b6 0E94 0000 call __divmodsi4 |
9710 55ba A20E add r10,r18 |
9711 55bc B31E adc r11,r19 |
9712 55be 692D mov r22,r9 |
9713 55c0 7727 clr r23 |
9714 55c2 8827 clr r24 |
9715 55c4 9927 clr r25 |
9716 55c6 9601 movw r18,r12 |
9717 55c8 D7FE sbrs r13,7 |
9718 55ca 04C0 rjmp .L734 |
9719 55cc 2227 clr r18 |
9720 55ce 3327 clr r19 |
9721 55d0 2C19 sub r18,r12 |
9722 55d2 3D09 sbc r19,r13 |
9723 .L734: |
9724 55d4 37FF sbrs r19,7 |
9725 55d6 02C0 rjmp .L735 |
9726 55d8 2F5F subi r18,lo8(-(1)) |
9727 55da 3F4F sbci r19,hi8(-(1)) |
9728 .L735: |
9729 55dc 3595 asr r19 |
9730 55de 2795 ror r18 |
9731 55e0 E8A1 ldd r30,Y+32 |
9732 55e2 F9A1 ldd r31,Y+33 |
9733 55e4 2E0F add r18,r30 |
9734 55e6 3F1F adc r19,r31 |
9735 55e8 4427 clr r20 |
9736 55ea 37FD sbrc r19,7 |
9737 55ec 4095 com r20 |
9738 55ee 542F mov r21,r20 |
9739 55f0 0E94 0000 call __mulsi3 |
9740 55f4 97FF sbrs r25,7 |
9741 55f6 04C0 rjmp .L736 |
9742 55f8 615C subi r22,lo8(-(63)) |
9743 55fa 7F4F sbci r23,hi8(-(63)) |
9744 55fc 8F4F sbci r24,hlo8(-(63)) |
9745 55fe 9F4F sbci r25,hhi8(-(63)) |
9746 .L736: |
9747 5600 F6E0 ldi r31,6 |
9748 5602 9595 1: asr r25 |
9749 5604 8795 ror r24 |
9750 5606 7795 ror r23 |
9751 5608 6795 ror r22 |
9752 560a FA95 dec r31 |
9753 560c D1F7 brne 1b |
9754 560e 9B01 movw r18,r22 |
9755 5610 6A15 cp r22,r10 |
9756 5612 7B05 cpc r23,r11 |
9757 5614 0CF4 brge .L737 |
9758 5616 5B01 movw r10,r22 |
9759 .L737: |
9760 5618 3095 com r19 |
9761 561a 2195 neg r18 |
9762 561c 3F4F sbci r19,lo8(-1) |
9763 561e A216 cp r10,r18 |
9764 5620 B306 cpc r11,r19 |
9765 5622 0CF4 brge .L738 |
9766 5624 5901 movw r10,r18 |
9767 .L738: |
9768 5626 2090 0000 lds r2,Parameter_UserParam7 |
9769 562a E0E0 ldi r30,lo8(Motor) |
9770 562c 6E2E mov r6,r30 |
9771 562e E0E0 ldi r30,hi8(Motor) |
9772 5630 7E2E mov r7,r30 |
9773 5632 70E0 ldi r23,lo8(Mixer+13) |
9774 5634 872E mov r8,r23 |
9775 5636 70E0 ldi r23,hi8(Mixer+13) |
9776 5638 972E mov r9,r23 |
9777 563a 6BE0 ldi r22,lo8(11) |
9778 563c 362E mov r3,r22 |
9779 563e 50E0 ldi r21,lo8(tmp_motorwert) |
9780 5640 452E mov r4,r21 |
9781 5642 50E0 ldi r21,hi8(tmp_motorwert) |
9782 5644 552E mov r5,r21 |
9783 .L772: |
9784 5646 D401 movw r26,r8 |
9785 5648 2C91 ld r18,X |
9786 564a 1216 cp __zero_reg__,r18 |
9787 564c 0CF0 brlt .+2 |
9788 564e ECC0 rjmp .L742 |
9789 5650 2034 cpi r18,lo8(64) |
9790 5652 19F4 brne .L743 |
9791 5654 08A1 ldd r16,Y+32 |
9792 5656 19A1 ldd r17,Y+33 |
9793 5658 1EC0 rjmp .L744 |
9794 .L743: |
9795 565a E8A1 ldd r30,Y+32 |
9796 565c F9A1 ldd r31,Y+33 |
9797 565e CF01 movw r24,r30 |
9798 5660 AA27 clr r26 |
9799 5662 97FD sbrc r25,7 |
9800 5664 A095 com r26 |
9801 5666 BA2F mov r27,r26 |
9802 5668 3327 clr r19 |
9803 566a 27FD sbrc r18,7 |
9804 566c 3095 com r19 |
9805 566e 432F mov r20,r19 |
9806 5670 532F mov r21,r19 |
9807 5672 BC01 movw r22,r24 |
9808 5674 CD01 movw r24,r26 |
9809 5676 0E94 0000 call __mulsi3 |
9810 567a 97FF sbrs r25,7 |
9811 567c 04C0 rjmp .L745 |
9812 567e 615C subi r22,lo8(-(63)) |
9813 5680 7F4F sbci r23,hi8(-(63)) |
9814 5682 8F4F sbci r24,hlo8(-(63)) |
9815 5684 9F4F sbci r25,hhi8(-(63)) |
9816 .L745: |
9817 5686 46E0 ldi r20,6 |
9818 5688 9595 1: asr r25 |
9819 568a 8795 ror r24 |
9820 568c 7795 ror r23 |
9821 568e 6795 ror r22 |
9822 5690 4A95 dec r20 |
9823 5692 D1F7 brne 1b |
9824 5694 8B01 movw r16,r22 |
9825 .L744: |
9826 5696 F401 movw r30,r8 |
9827 5698 2181 ldd r18,Z+1 |
9828 569a 2034 cpi r18,lo8(64) |
9829 569c 19F4 brne .L746 |
9830 569e 0E0D add r16,r14 |
9831 56a0 1F1D adc r17,r15 |
9832 56a2 22C0 rjmp .L747 |
9833 .L746: |
9834 56a4 203C cpi r18,lo8(-64) |
9835 56a6 19F4 brne .L748 |
9836 56a8 0E19 sub r16,r14 |
9837 56aa 1F09 sbc r17,r15 |
9838 56ac 1DC0 rjmp .L747 |
9839 .L748: |
9840 56ae C701 movw r24,r14 |
9841 56b0 AA27 clr r26 |
9842 56b2 97FD sbrc r25,7 |
9843 56b4 A095 com r26 |
9844 56b6 BA2F mov r27,r26 |
9845 56b8 3327 clr r19 |
9846 56ba 27FD sbrc r18,7 |
9847 56bc 3095 com r19 |
9848 56be 432F mov r20,r19 |
9849 56c0 532F mov r21,r19 |
9850 56c2 BC01 movw r22,r24 |
9851 56c4 CD01 movw r24,r26 |
9852 56c6 0E94 0000 call __mulsi3 |
9853 56ca 97FF sbrs r25,7 |
9854 56cc 04C0 rjmp .L750 |
9855 56ce 615C subi r22,lo8(-(63)) |
9856 56d0 7F4F sbci r23,hi8(-(63)) |
9857 56d2 8F4F sbci r24,hlo8(-(63)) |
9858 56d4 9F4F sbci r25,hhi8(-(63)) |
9859 .L750: |
9860 56d6 36E0 ldi r19,6 |
9861 56d8 9595 1: asr r25 |
9862 56da 8795 ror r24 |
9863 56dc 7795 ror r23 |
9864 56de 6795 ror r22 |
9865 56e0 3A95 dec r19 |
9866 56e2 D1F7 brne 1b |
9867 56e4 060F add r16,r22 |
9868 56e6 171F adc r17,r23 |
9869 .L747: |
9870 56e8 F401 movw r30,r8 |
9871 56ea 2281 ldd r18,Z+2 |
9872 56ec 2034 cpi r18,lo8(64) |
9873 56ee 19F4 brne .L751 |
9874 56f0 0A0D add r16,r10 |
9875 56f2 1B1D adc r17,r11 |
9876 56f4 22C0 rjmp .L752 |
9877 .L751: |
9878 56f6 203C cpi r18,lo8(-64) |
9879 56f8 19F4 brne .L753 |
9880 56fa 0A19 sub r16,r10 |
9881 56fc 1B09 sbc r17,r11 |
9882 56fe 1DC0 rjmp .L752 |
9883 .L753: |
9884 5700 C501 movw r24,r10 |
9885 5702 AA27 clr r26 |
9886 5704 97FD sbrc r25,7 |
9887 5706 A095 com r26 |
9888 5708 BA2F mov r27,r26 |
9889 570a 3327 clr r19 |
9890 570c 27FD sbrc r18,7 |
9891 570e 3095 com r19 |
9892 5710 432F mov r20,r19 |
9893 5712 532F mov r21,r19 |
9894 5714 BC01 movw r22,r24 |
9895 5716 CD01 movw r24,r26 |
9896 5718 0E94 0000 call __mulsi3 |
9897 571c 97FF sbrs r25,7 |
9898 571e 04C0 rjmp .L755 |
9899 5720 615C subi r22,lo8(-(63)) |
9900 5722 7F4F sbci r23,hi8(-(63)) |
9901 5724 8F4F sbci r24,hlo8(-(63)) |
9902 5726 9F4F sbci r25,hhi8(-(63)) |
9903 .L755: |
9904 5728 26E0 ldi r18,6 |
9905 572a 9595 1: asr r25 |
9906 572c 8795 ror r24 |
9907 572e 7795 ror r23 |
9908 5730 6795 ror r22 |
9909 5732 2A95 dec r18 |
9910 5734 D1F7 brne 1b |
9911 5736 060F add r16,r22 |
9912 5738 171F adc r17,r23 |
9913 .L752: |
9914 573a F401 movw r30,r8 |
9915 573c 2381 ldd r18,Z+3 |
9916 573e 2034 cpi r18,lo8(64) |
9917 5740 19F4 brne .L756 |
9918 5742 0C0D add r16,r12 |
9919 5744 1D1D adc r17,r13 |
9920 5746 22C0 rjmp .L757 |
9921 .L756: |
9922 5748 203C cpi r18,lo8(-64) |
9923 574a 19F4 brne .L758 |
9924 574c 0C19 sub r16,r12 |
9925 574e 1D09 sbc r17,r13 |
9926 5750 1DC0 rjmp .L757 |
9927 .L758: |
9928 5752 C601 movw r24,r12 |
9929 5754 AA27 clr r26 |
9930 5756 97FD sbrc r25,7 |
9931 5758 A095 com r26 |
9932 575a BA2F mov r27,r26 |
9933 575c 3327 clr r19 |
9934 575e 27FD sbrc r18,7 |
9935 5760 3095 com r19 |
9936 5762 432F mov r20,r19 |
9937 5764 532F mov r21,r19 |
9938 5766 BC01 movw r22,r24 |
9939 5768 CD01 movw r24,r26 |
9940 576a 0E94 0000 call __mulsi3 |
9941 576e 97FF sbrs r25,7 |
9942 5770 04C0 rjmp .L760 |
9943 5772 615C subi r22,lo8(-(63)) |
9944 5774 7F4F sbci r23,hi8(-(63)) |
9945 5776 8F4F sbci r24,hlo8(-(63)) |
9946 5778 9F4F sbci r25,hhi8(-(63)) |
9947 .L760: |
9948 577a B6E0 ldi r27,6 |
9949 577c 9595 1: asr r25 |
9950 577e 8795 ror r24 |
9951 5780 7795 ror r23 |
9952 5782 6795 ror r22 |
9953 5784 BA95 dec r27 |
9954 5786 D1F7 brne 1b |
9955 5788 060F add r16,r22 |
9956 578a 171F adc r17,r23 |
9957 .L757: |
9958 578c D201 movw r26,r4 |
9959 578e 8D91 ld r24,X+ |
9960 5790 9C91 ld r25,X |
9961 5792 8017 cp r24,r16 |
9962 5794 9107 cpc r25,r17 |
9963 5796 5CF4 brge .L761 |
9964 5798 BC01 movw r22,r24 |
9965 579a 600F add r22,r16 |
9966 579c 711F adc r23,r17 |
9967 579e 77FF sbrs r23,7 |
9968 57a0 02C0 rjmp .L762 |
9969 57a2 6F5F subi r22,lo8(-(1)) |
9970 57a4 7F4F sbci r23,hi8(-(1)) |
9971 .L762: |
9972 57a6 8B01 movw r16,r22 |
9973 57a8 1595 asr r17 |
9974 57aa 0795 ror r16 |
9975 57ac 11C0 rjmp .L763 |
9976 .L761: |
9977 57ae B1E0 ldi r27,lo8(1) |
9978 57b0 B215 cp r27,r2 |
9979 57b2 28F0 brlo .L764 |
9980 57b4 000F add r16,r16 |
9981 57b6 111F adc r17,r17 |
9982 57b8 081B sub r16,r24 |
9983 57ba 190B sbc r17,r25 |
9984 57bc 09C0 rjmp .L763 |
9985 .L764: |
9986 57be 222D mov r18,r2 |
9987 57c0 3327 clr r19 |
9988 57c2 801B sub r24,r16 |
9989 57c4 910B sbc r25,r17 |
9990 57c6 B901 movw r22,r18 |
9991 57c8 0E94 0000 call __divmodhi4 |
9992 57cc 060F add r16,r22 |
9993 57ce 171F adc r17,r23 |
9994 .L763: |
9995 57d0 E8A9 ldd r30,Y+48 |
9996 57d2 8E2F mov r24,r30 |
9997 57d4 9927 clr r25 |
9998 57d6 880F lsl r24 |
9999 57d8 991F rol r25 |
10000 57da 880F lsl r24 |
10001 57dc 991F rol r25 |
10002 57de 8017 cp r24,r16 |
10003 57e0 9107 cpc r25,r17 |
10004 57e2 54F4 brge .L800 |
10005 57e4 F9A9 ldd r31,Y+49 |
10006 57e6 8F2F mov r24,r31 |
10007 57e8 9927 clr r25 |
10008 57ea 880F lsl r24 |
10009 57ec 991F rol r25 |
10010 57ee 880F lsl r24 |
10011 57f0 991F rol r25 |
10012 57f2 0817 cp r16,r24 |
10013 57f4 1907 cpc r17,r25 |
10014 57f6 0CF0 brlt .L767 |
10015 .L800: |
10016 57f8 8C01 movw r16,r24 |
10017 .L767: |
10018 57fa C801 movw r24,r16 |
10019 57fc 17FD sbrc r17,7 |
10020 57fe 0396 adiw r24,3 |
10021 .L769: |
10022 5800 9595 asr r25 |
10023 5802 8795 ror r24 |
10024 5804 9595 asr r25 |
10025 5806 8795 ror r24 |
10026 5808 F301 movw r30,r6 |
10027 580a 8183 std Z+1,r24 |
10028 580c 880F lsl r24 |
10029 580e 991F rol r25 |
10030 5810 880F lsl r24 |
10031 5812 991F rol r25 |
10032 5814 9801 movw r18,r16 |
10033 5816 281B sub r18,r24 |
10034 5818 390B sbc r19,r25 |
10035 581a C901 movw r24,r18 |
10036 581c 880F lsl r24 |
10037 581e 8283 std Z+2,r24 |
10038 5820 D201 movw r26,r4 |
10039 5822 0D93 st X+,r16 |
10040 5824 1C93 st X,r17 |
10041 5826 03C0 rjmp .L741 |
10042 .L742: |
10043 5828 F301 movw r30,r6 |
10044 582a 1182 std Z+1,__zero_reg__ |
10045 582c 1282 std Z+2,__zero_reg__ |
10046 .L741: |
10047 582e 3A94 dec r3 |
10048 5830 02E0 ldi r16,lo8(2) |
10049 5832 10E0 ldi r17,hi8(2) |
10050 5834 400E add r4,r16 |
10051 5836 511E adc r5,r17 |
10052 5838 24E0 ldi r18,lo8(4) |
10053 583a 30E0 ldi r19,hi8(4) |
10054 583c 820E add r8,r18 |
10055 583e 931E adc r9,r19 |
10056 5840 48E0 ldi r20,lo8(8) |
10057 5842 50E0 ldi r21,hi8(8) |
10058 5844 640E add r6,r20 |
10059 5846 751E adc r7,r21 |
10060 5848 37FE sbrs r3,7 |
10061 584a FDCE rjmp .L772 |
10062 /* epilogue: frame size=53 */ |
10063 584c E2E1 ldi r30,18 |
10064 584e CB5C subi r28,-53 |
10065 5850 0C94 0000 jmp __epilogue_restores__+0 |
10066 /* epilogue end (size=4) */ |
10067 /* function MotorRegler size 7558 (7548) */ |
10069 .comm TrimNick,2,1 |
10070 .comm TrimRoll,2,1 |
10071 .comm ErsatzKompass,4,1 |
10072 .comm ErsatzKompassInGrad,2,1 |
10073 .comm MesswertNick,2,1 |
10074 .comm MesswertRoll,2,1 |
10075 .comm MesswertGier,2,1 |
10076 .comm Mittelwert_AccNick,2,1 |
10077 .comm Mittelwert_AccRoll,2,1 |
10078 .comm NaviAccNick,2,1 |
10079 .comm NaviAccRoll,2,1 |
10080 .comm h,1,1 |
10081 .comm m,1,1 |
10082 .comm s,1,1 |
10083 .comm DiffNick,2,1 |
10084 .comm DiffRoll,2,1 |
10085 .comm Parameter_Servo3,1,1 |
10086 .comm Parameter_Servo4,1,1 |
10087 .comm Parameter_Servo5,1,1 |
10088 .comm Parameter_J16Bitmask,1,1 |
10089 .comm Parameter_J16Timing,1,1 |
10090 .comm Parameter_J17Bitmask,1,1 |
10091 .comm Parameter_J17Timing,1,1 |
10092 .comm MesswertGierBias,2,1 |
10093 .comm RohMesswertNick,2,1 |
10094 .comm RohMesswertRoll,2,1 |
10095 .comm MittelIntegralNick,4,1 |
10096 .comm MittelIntegralRoll,4,1 |
10097 .comm MittelIntegralNick2,4,1 |
10098 .comm MittelIntegralRoll2,4,1 |
10099 .comm MAX_GAS,1,1 |
10100 .comm MIN_GAS,1,1 |
10101 .comm GyroFaktor,1,1 |
10102 .comm GyroFaktorGier,1,1 |
10103 .comm IntegralFaktor,1,1 |
10104 .comm IntegralFaktorGier,1,1 |
10105 .comm Parameter_NaviGpsModeControl,1,1 |
10106 .comm Parameter_NaviGpsGain,1,1 |
10107 .comm Parameter_NaviGpsP,1,1 |
10108 .comm Parameter_NaviGpsI,1,1 |
10109 .comm Parameter_NaviGpsD,1,1 |
10110 .comm Parameter_NaviGpsACC,1,1 |
10111 .comm Parameter_NaviOperatingRadius,1,1 |
10112 .comm Parameter_NaviWindCorrection,1,1 |
10113 .comm Parameter_NaviSpeedCompensation,1,1 |
10114 .comm Parameter_ExternalControl,1,1 |
10115 .comm KopplungsteilNickRoll,2,1 |
10116 .comm KopplungsteilRollNick,2,1 |
10117 .comm tmp_motorwert,24,1 |
10118 /* File "fc.c": code 11450 = 0x2cba (11397), prologues 27, epilogues 26 */ |
DEFINED SYMBOLS |
*ABS*:00000000 fc.c |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3 *ABS*:0000003f __SREG__ |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:4 *ABS*:0000003e __SP_H__ |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:5 *ABS*:0000003d __SP_L__ |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:6 *ABS*:00000000 __tmp_reg__ |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:7 *ABS*:00000001 __zero_reg__ |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:14 .data:00000000 VarioCharacter |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:19 .data:00000001 GIER_GRAD_FAKTOR |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:26 .bss:00000000 FCFlags |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:32 .bss:00000001 modell_fliegt |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:38 .bss:00000003 MaxStickRoll |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:44 .bss:00000005 MaxStickNick |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:50 .data:00000005 ExternHoehenValue |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:57 .bss:00000007 ExternStickGier |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:63 .bss:00000009 ExternStickRoll |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:69 .bss:0000000b ExternStickNick |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:75 .bss:0000000d CareFree |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:81 .data:00000007 Parameter_DynamicStability |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:86 .data:00000008 Parameter_CouplingYawCorrection |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:91 .data:00000009 Parameter_AchsKopplung2 |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:96 .data:0000000a Parameter_AchsKopplung1 |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:101 .data:0000000b Parameter_LoopGasLimit |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:106 .data:0000000c Parameter_ServoRollControl |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:111 .data:0000000d Parameter_ServoNickControl |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:118 .bss:0000000e Parameter_UserParam8 |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:124 .bss:0000000f Parameter_UserParam7 |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:130 .bss:00000010 Parameter_UserParam6 |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:136 .bss:00000011 Parameter_UserParam5 |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:142 .bss:00000012 Parameter_UserParam4 |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:148 .bss:00000013 Parameter_UserParam3 |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:154 .bss:00000014 Parameter_UserParam2 |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:160 .bss:00000015 Parameter_UserParam1 |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:166 .data:0000000e Parameter_I_Faktor |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:171 .data:0000000f Parameter_Gier_P |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:176 .data:00000010 Parameter_Gyro_Gier_I |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:181 .data:00000011 Parameter_Gyro_Gier_P |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:186 .data:00000012 Parameter_Gyro_I |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:191 .data:00000013 Parameter_Gyro_P |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:196 .data:00000014 Parameter_Gyro_D |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:201 .data:00000015 Parameter_Hoehe_GPS_Z |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:206 .data:00000016 Parameter_KompassWirkung |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:211 .data:00000017 Parameter_Hoehe_ACC_Wirkung |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:216 .data:00000018 Parameter_Hoehe_P |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:221 .data:00000019 Parameter_MaxHoehe |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:226 .data:0000001a Parameter_Luftdruck_D |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:233 .bss:00000016 Looping_Oben |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:239 .bss:00000017 Looping_Unten |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:245 .bss:00000018 Looping_Rechts |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:251 .bss:00000019 Looping_Links |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:257 .bss:0000001a Looping_Roll |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:263 .bss:0000001b Looping_Nick |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:269 .data:0000001b Ki |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:276 .bss:0000001c HoverGas |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:282 .bss:0000001e LageKorrekturNick |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:288 .bss:00000020 LageKorrekturRoll |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:294 .bss:00000022 SollHoehe |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:300 .bss:00000026 HoehenWert |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:306 .bss:0000002a StartTrigger |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:312 .bss:0000002b MotorenEin |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:318 .bss:0000002c StickGas |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:324 .bss:0000002e StickGier |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:330 .bss:00000030 StickRoll |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:336 .bss:00000032 StickNick |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:342 .bss:00000034 SenderOkay |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:348 .bss:00000035 Poti |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:354 .bss:0000003e GierGyroFehler |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:360 .data:0000001d Umschlag180Roll |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:365 .data:00000021 Umschlag180Nick |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:372 .bss:00000040 TrichterFlug |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:378 .bss:00000041 HoehenReglerAktiv |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:384 .data:00000025 KompassSignalSchlecht |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:391 .bss:00000042 KompassRichtung |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:397 .bss:00000044 KompassStartwert |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:403 .bss:00000046 KompassValue |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:409 .bss:00000048 Mess_Integral_Hoch |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:415 .bss:0000004c SummeRoll |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:421 .bss:00000050 SummeNick |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:427 .bss:00000054 Mess_Integral_Gier2 |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:433 .bss:00000058 Mess_Integral_Gier |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:439 .bss:0000005c Mess_IntegralRoll2 |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:445 .bss:00000060 Mess_IntegralRoll |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:451 .bss:00000064 Mess_IntegralNick2 |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:457 .bss:00000068 Mess_IntegralNick |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:463 .bss:0000006c Integral_Gier |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:469 .bss:00000070 IntegralAccZ |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:475 .bss:00000074 IntegralAccRoll |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:481 .bss:00000078 IntegralAccNick |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:487 .bss:0000007c IntegralRoll2 |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:493 .bss:00000080 IntegralRoll |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:499 .bss:00000084 IntegralNick2 |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:505 .bss:00000088 IntegralNick |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:511 .bss:0000008c ControlHeading |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:517 .bss:0000008d NeutralAccZ |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:523 .bss:0000008f NaviCntAcc |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:529 .bss:00000091 NeutralAccY |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:535 .bss:00000093 NeutralAccX |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:541 .bss:00000095 StartNeutralNick |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:547 .bss:00000097 StartNeutralRoll |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:553 .bss:00000099 AdNeutralGier |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:559 .bss:0000009b AdNeutralRoll |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:565 .bss:0000009d AdNeutralNick |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:571 .bss:0000009f BaroExpandActive |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:576 .text:00000000 CopyDebugValues |
*COM*:00000002 Mittelwert_AccNick |
*COM*:00000002 Mittelwert_AccRoll |
*COM*:00000004 ErsatzKompass |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:754 .text:00000214 Piep |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:793 .text:00000256 CalibrierMittelwert |
*COM*:00000002 MesswertNick |
*COM*:00000002 MesswertRoll |
*COM*:00000002 MesswertGier |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:935 .progmem.data:00000000 __c.40 |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:940 .text:00000398 SetNeutral |
.bss:000000a1 tmpl.32 |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:1441 .bss:000000a5 tmpl2.33 |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:1442 .bss:000000a9 tmpl3.34 |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:1443 .bss:000000ad tmpl4.35 |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:1444 .bss:000000b1 oldNick.36 |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:1445 .bss:000000b3 oldRoll.37 |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:1446 .bss:000000b5 d2Roll.38 |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:1447 .bss:000000b7 d2Nick.39 |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:1451 .text:000008f4 Mittelwert |
*COM*:00000002 RohMesswertNick |
*COM*:00000002 RohMesswertRoll |
*COM*:00000002 NaviAccNick |
*COM*:00000002 NaviAccRoll |
*COM*:00000002 KopplungsteilNickRoll |
*COM*:00000002 KopplungsteilRollNick |
*COM*:00000002 TrimRoll |
*COM*:00000002 TrimNick |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3093 .text:000018e4 SendMotorData |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3146 .text:00001950 ParameterZuordnung |
*COM*:00000001 Parameter_J16Timing |
*COM*:00000001 Parameter_J17Timing |
*COM*:00000001 Parameter_Servo3 |
*COM*:00000001 Parameter_Servo4 |
*COM*:00000001 Parameter_Servo5 |
*COM*:00000001 Parameter_ExternalControl |
*COM*:00000001 MAX_GAS |
*COM*:00000001 MIN_GAS |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:1448 .bss:000000b9 sollGier.0 |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3703 .bss:000000bd tmp_long.1 |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3704 .bss:000000c1 tmp_long2.2 |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3705 .bss:000000c5 IntegralFehlerNick.3 |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3706 .bss:000000c9 IntegralFehlerRoll.4 |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3707 .bss:000000cd RcLostTimer.5 |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3708 .bss:000000cf delay_neutral.6 |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3709 .bss:000000d0 delay_einschalten.7 |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3710 .bss:000000d1 delay_ausschalten.8 |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3711 .bss:000000d2 calibration_done.9 |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3712 .bss:000000d3 NeueKompassRichtungMerken.10 |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3713 .bss:000000d4 ausgleichNick.11 |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3714 .bss:000000d8 ausgleichRoll.12 |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3715 .bss:000000dc stick_nick.13 |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3716 .bss:000000de stick_roll.14 |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3717 .bss:000000e0 cnt.15 |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3718 .bss:000000e2 last_n_p.16 |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3719 .bss:000000e3 last_n_n.17 |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3720 .bss:000000e4 last_r_p.18 |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3721 .bss:000000e5 last_r_n.19 |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3722 .bss:000000e6 MittelIntegralNick_Alt.20 |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3723 .bss:000000ea MittelIntegralRoll_Alt.21 |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3724 .bss:000000ee HeightTrimming.22 |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3725 .bss:000000f0 FilterHCGas.23 |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3730 .data:00000027 StickGasHover.24 |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3726 .bss:000000f2 HoverGasMin.25 |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3735 .data:00000029 HoverGasMax.26 |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3732 .bss:000000f4 HoverGasFilter.27 |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3740 .data:0000002b delay.28 |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3737 .bss:000000f8 BaroAtUpperLimit.29 |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3742 .bss:000000f9 BaroAtLowerLimit.30 |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3743 .bss:000000fa HeightTrimmingFlag.31 |
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3780 .text:00001e0c MotorRegler |
*COM*:00000001 GyroFaktor |
*COM*:00000001 IntegralFaktor |
*COM*:00000001 GyroFaktorGier |
*COM*:00000001 IntegralFaktorGier |
*COM*:00000004 MittelIntegralNick |
*COM*:00000004 MittelIntegralRoll |
*COM*:00000004 MittelIntegralNick2 |
*COM*:00000004 MittelIntegralRoll2 |
*COM*:00000002 DiffNick |
*COM*:00000002 DiffRoll |
*COM*:00000018 tmp_motorwert |
*COM*:00000002 ErsatzKompassInGrad |
*COM*:00000001 h |
*COM*:00000001 m |
*COM*:00000001 s |
*COM*:00000001 Parameter_J16Bitmask |
*COM*:00000001 Parameter_J17Bitmask |
*COM*:00000002 MesswertGierBias |
*COM*:00000001 Parameter_NaviGpsModeControl |
*COM*:00000001 Parameter_NaviGpsGain |
*COM*:00000001 Parameter_NaviGpsP |
*COM*:00000001 Parameter_NaviGpsI |
*COM*:00000001 Parameter_NaviGpsD |
*COM*:00000001 Parameter_NaviGpsACC |
*COM*:00000001 Parameter_NaviOperatingRadius |
*COM*:00000001 Parameter_NaviWindCorrection |
*COM*:00000001 Parameter_NaviSpeedCompensation |
UNDEFINED SYMBOLS |
__do_copy_data |
__do_clear_bss |
EE_Parameter |
__divmodsi4 |
DebugOut |
AdWertGier |
AdWertAccHoch |
UBat |
Motor |
ServoNickValue |
Capacity |
GPS_Nick |
GPS_Roll |
VersionInfo |
beeptime |
Delay_ms |
PlatinenVersion |
SucheGyroOffset |
AdWertNick |
AdWertRoll |
AdWertAccNick |
AdWertAccRoll |
PPM_in |
__mulsi3 |
__prologue_saves__ |
ExpandBaro |
Delay_ms_Mess |
MessLuftdruck |
SucheLuftruckOffset |
__divmodhi4 |
Aktuell_az |
SetParamWord |
GetParamWord |
uart_putchar |
_printf_P |
Luftdruck |
StartLuftdruck |
VarioMeter |
GPS_Neutral |
SendVersionToNavi |
LED_Init |
FromNaviCtrl_Value |
ServoActive |
__epilogue_restores__ |
AdWertNickFilter |
AdWertRollFilter |
AdReady |
HiResNick |
HiResRoll |
MotorTest |
PC_MotortestActive |
motor_write |
twi_state |
BLFlags |
FromNaviCtrl |
BeepMuster |
PPM_diff |
SetActiveParamSet |
WinkelOut |
GetActiveParamSet |
ParamSet_ReadFromEEProm |
LipoDetection |
LIBFC_ReceiverInit |
NewPpmData |
FromNC_Rotate_C |
FromNC_Rotate_S |
GPS_Nick2 |
GPS_Roll2 |
__floatsisf |
__addsf3 |
__fixunssfsi |
ExternControl |
ZaehlMessungen |
BattLowVoltageWarning |
__udivmodhi4 |
DruckOffsetSetting |
SummenHoehe |
ihypot |
c_cos_8192 |
MissingMotor |
Mixer |
/branches/V0.80d-Arthur-P/flight.pnproj |
---|
0,0 → 1,0 |
<Project name="Flight-Ctrl"><File path="uart.h"></File><File path="jeti.h"></File><File path="main.c"></File><File path="main.h"></File><File path="makefile"></File><File path="uart.c"></File><File path="printf_P.h"></File><File path="timer0.c"></File><File path="timer0.h"></File><File path="old_macros.h"></File><File path="twimaster.c"></File><File path="version.txt"></File><File path="twimaster.h"></File><File path="rc.c"></File><File path="rc.h"></File><File path="fc.h"></File><File path="menu.h"></File><File path="menu.c"></File><File path="_Settings.h"></File><File path="analog.c"></File><File path="analog.h"></File><File path="GPS.c"></File><File path="gps.h"></File><File path="License.txt"></File><File path="spi.h"></File><File path="spi.c"></File><File path="led.h"></File><File path="led.c"></File><File path="fc.c"></File><File path="mymath.c"></File><File path="mymath.h"></File><File path="isqrt.S"></File><File path="Spektrum.c"></File><File path="Spektrum.h"></File><File path="eeprom.h"></File><File path="eeprom.c"></File><File path="libfc.h"></File><File path="debug.c"></File><File path="debug.h"></File></Project> |
/branches/V0.80d-Arthur-P/flight.pnps |
---|
0,0 → 1,0 |
<pd><ViewState><e p="Flight-Ctrl" x="true"></e></ViewState></pd> |
/branches/V0.80d-Arthur-P/gps.h |
---|
0,0 → 1,7 |
extern signed int GPS_Nick; |
extern signed int GPS_Roll; |
extern signed int GPS_Nick2; |
extern signed int GPS_Roll2; |
void GPS_Neutral(void); |
void GPS_BerechneZielrichtung(void); |
/branches/V0.80d-Arthur-P/isqrt.S |
---|
0,0 → 1,203 |
;-----------------------------------------------------------------------------; |
; Fast integer squareroot routines for avr-gcc project (C)ChaN, 2008 |
; http://elm-chan.org/docs/avrlib/sqrt32.S |
;-----------------------------------------------------------------------------; |
; uint16_t isqrt32 (uint32_t n); |
; uint8_t isqrt16 (uint16_t n); |
; uint16_t ihypot (int16_t x, int16_t y); |
;-----------------------------------------------------------------------------: |
; 32bit integer squareroot |
;-----------------------------------------------------------------------------; |
; uint16_t isqrt32 ( |
; uint32_t n |
; ); |
; |
; Return Value: |
; Squareroot of n. |
; |
; Size = 53 words |
; Clock = 532..548 cycles |
; Stack = 0 byte |
.global isqrt32 |
.func isqrt32 |
isqrt32: |
clr r0 |
clr r18 |
clr r19 |
clr r20 |
ldi r21, 1 |
clr r27 |
clr r30 |
clr r31 |
ldi r26, 16 |
1: lsl r22 |
rol r23 |
rol r24 |
rol r25 |
rol r0 |
rol r18 |
rol r19 |
rol r20 |
lsl r22 |
rol r23 |
rol r24 |
rol r25 |
rol r0 |
rol r18 |
rol r19 |
rol r20 |
brpl 2f |
add r0, r21 |
adc r18, r27 |
adc r19, r30 |
adc r20, r31 |
rjmp 3f |
2: sub r0, r21 |
sbc r18, r27 |
sbc r19, r30 |
sbc r20, r31 |
3: lsl r21 |
rol r27 |
rol r30 |
andi r21, 0b11111000 |
ori r21, 0b00000101 |
sbrc r20, 7 |
subi r21, 2 |
dec r26 |
brne 1b |
lsr r30 |
ror r27 |
ror r21 |
lsr r30 |
ror r27 |
ror r21 |
mov r24, r21 |
mov r25, r27 |
ret |
.endfunc |
;-----------------------------------------------------------------------------: |
; 16bit integer squareroot |
;-----------------------------------------------------------------------------; |
; uint8_t isqrt16 ( |
; uint16_t n |
; ); |
; |
; Return Value: |
; Squareroot of n. |
; |
; Size = 33 words |
; Clock = 181..189 cycles |
; Stack = 0 byte |
.global isqrt16 |
.func isqrt16 |
isqrt16: |
clr r18 |
clr r19 |
ldi r20, 1 |
clr r21 |
ldi r22, 8 |
1: lsl r24 |
rol r25 |
rol r18 |
rol r19 |
lsl r24 |
rol r25 |
rol r18 |
rol r19 |
brpl 2f |
add r18, r20 |
adc r19, r21 |
rjmp 3f |
2: sub r18, r20 |
sbc r19, r21 |
3: lsl r20 |
rol r21 |
andi r20, 0b11111000 |
ori r20, 0b00000101 |
sbrc r19, 7 |
subi r20, 2 |
dec r22 |
brne 1b |
lsr r21 |
ror r20 |
lsr r21 |
ror r20 |
mov r24, r20 |
ret |
.endfunc |
;-----------------------------------------------------------------------------: |
; 16bit integer hypot (megaAVR is required) |
;-----------------------------------------------------------------------------; |
; uint16_t ihypot ( |
; int16_t x, |
; int16_t y |
; ); |
; |
; Return Value: |
; Squareroot of (x*x + y*y) |
; |
; Size = 42 words |
; Clock = 581..597 cycles |
; Stack = 0 byte |
.global ihypot |
.func ihypot |
ihypot: |
clr r26 |
sbrs r25, 7 |
rjmp 1f |
com r24 |
com r25 |
adc r24, r26 |
adc r25, r26 |
1: sbrs r23, 7 |
rjmp 2f |
com r22 |
com r23 |
adc r22, r26 |
adc r23, r26 |
2: mul r22, r22 |
movw r18, r0 |
mul r23, r23 |
movw r20, r0 |
mul r22, r23 |
add r19, r0 |
adc r20, r1 |
adc r21, r26 |
add r19, r0 |
adc r20, r1 |
adc r21, r26 |
mul r24, r24 |
movw r30, r0 |
mul r25, r25 |
add r18, r30 |
adc r19, r31 |
adc r20, r0 |
adc r21, r1 |
mul r24, r25 |
add r19, r0 |
adc r20, r1 |
adc r21, r26 |
add r19, r0 |
adc r20, r1 |
adc r21, r26 |
movw r24, r20 |
movw r22, r18 |
clr r1 |
rjmp isqrt32 |
.endfunc |
/branches/V0.80d-Arthur-P/isqrt.h |
---|
0,0 → 1,11 |
#ifndef _ISQRT_H |
#define _ISQRT_H |
#include <inttypes.h> |
// coded in assembler file |
extern uint16_t isqrt32(uint32_t n); |
extern uint8_t isqrt16(uint16_t n); |
extern uint16_t ihypot(int16_t x, int16_t y); |
#endif // _ISQRT_H |
/branches/V0.80d-Arthur-P/isqrt.lst |
---|
0,0 → 1,211 |
1 # 1 "isqrt.S" |
2 # 1 "<built-in>" |
1 ;-----------------------------------------------------------------------------; |
0 |
0 |
2 ;-----------------------------------------------------------------------------; |
3 ; Fast integer squareroot routines for avr-gcc project (C)ChaN, 2008 |
4 ; http://elm-chan.org/docs/avrlib/sqrt32.S |
5 ;-----------------------------------------------------------------------------; |
6 ; uint16_t isqrt32 (uint32_t n); |
7 ; uint8_t isqrt16 (uint16_t n); |
8 ; uint16_t ihypot (int16_t x, int16_t y); |
9 |
10 ;-----------------------------------------------------------------------------: |
11 ; 32bit integer squareroot |
12 ;-----------------------------------------------------------------------------; |
13 ; uint16_t isqrt32 ( |
14 ; uint32_t n |
15 ; ); |
16 ; |
17 ; Return Value: |
18 ; Squareroot of n. |
19 ; |
20 ; Size = 53 words |
21 ; Clock = 532..548 cycles |
22 ; Stack = 0 byte |
23 |
24 .global isqrt32 |
25 .func isqrt32 |
26 |
27:isqrt.S **** isqrt32: |
28:isqrt.S **** clr r0 |
29:isqrt.S **** clr r18 |
30:isqrt.S **** clr r19 |
31:isqrt.S **** clr r20 |
32:isqrt.S **** ldi r21, 1 |
33:isqrt.S **** clr r27 |
34:isqrt.S **** clr r30 |
35:isqrt.S **** clr r31 |
36:isqrt.S **** ldi r26, 16 |
37:isqrt.S **** 1: lsl r22 |
38:isqrt.S **** rol r23 |
39:isqrt.S **** rol r24 |
40:isqrt.S **** rol r25 |
41:isqrt.S **** rol r0 |
42:isqrt.S **** rol r18 |
43:isqrt.S **** rol r19 |
44:isqrt.S **** rol r20 |
45:isqrt.S **** lsl r22 |
46:isqrt.S **** rol r23 |
47:isqrt.S **** rol r24 |
48:isqrt.S **** rol r25 |
49:isqrt.S **** rol r0 |
50:isqrt.S **** rol r18 |
51:isqrt.S **** rol r19 |
52:isqrt.S **** rol r20 |
53:isqrt.S **** brpl 2f |
54:isqrt.S **** add r0, r21 |
55:isqrt.S **** adc r18, r27 |
56:isqrt.S **** adc r19, r30 |
57:isqrt.S **** adc r20, r31 |
58:isqrt.S **** rjmp 3f |
59:isqrt.S **** 2: sub r0, r21 |
60:isqrt.S **** sbc r18, r27 |
61:isqrt.S **** sbc r19, r30 |
62:isqrt.S **** sbc r20, r31 |
63:isqrt.S **** 3: lsl r21 |
64:isqrt.S **** rol r27 |
65:isqrt.S **** rol r30 |
66:isqrt.S **** andi r21, 0b11111000 |
67:isqrt.S **** ori r21, 0b00000101 |
68:isqrt.S **** sbrc r20, 7 |
69:isqrt.S **** subi r21, 2 |
70:isqrt.S **** dec r26 |
71:isqrt.S **** brne 1b |
72:isqrt.S **** lsr r30 |
73:isqrt.S **** ror r27 |
74:isqrt.S **** ror r21 |
75:isqrt.S **** lsr r30 |
76:isqrt.S **** ror r27 |
77:isqrt.S **** ror r21 |
78:isqrt.S **** mov r24, r21 |
79:isqrt.S **** mov r25, r27 |
80 ret |
81 .endfunc |
82 |
83 |
84 |
85 ;-----------------------------------------------------------------------------: |
86 ; 16bit integer squareroot |
87 ;-----------------------------------------------------------------------------; |
88 ; uint8_t isqrt16 ( |
89 ; uint16_t n |
90 ; ); |
91 ; |
92 ; Return Value: |
93 ; Squareroot of n. |
94 ; |
95 ; Size = 33 words |
96 ; Clock = 181..189 cycles |
97 ; Stack = 0 byte |
98 |
99 .global isqrt16 |
100 .func isqrt16 |
101 |
102:isqrt.S **** isqrt16: |
103:isqrt.S **** clr r18 |
104:isqrt.S **** clr r19 |
105:isqrt.S **** ldi r20, 1 |
106:isqrt.S **** clr r21 |
107:isqrt.S **** ldi r22, 8 |
108:isqrt.S **** 1: lsl r24 |
109:isqrt.S **** rol r25 |
110:isqrt.S **** rol r18 |
111:isqrt.S **** rol r19 |
112:isqrt.S **** lsl r24 |
113:isqrt.S **** rol r25 |
114:isqrt.S **** rol r18 |
115:isqrt.S **** rol r19 |
116:isqrt.S **** brpl 2f |
117:isqrt.S **** add r18, r20 |
118:isqrt.S **** adc r19, r21 |
119:isqrt.S **** rjmp 3f |
120:isqrt.S **** 2: sub r18, r20 |
121:isqrt.S **** sbc r19, r21 |
122:isqrt.S **** 3: lsl r20 |
123:isqrt.S **** rol r21 |
124:isqrt.S **** andi r20, 0b11111000 |
125:isqrt.S **** ori r20, 0b00000101 |
126:isqrt.S **** sbrc r19, 7 |
127:isqrt.S **** subi r20, 2 |
128:isqrt.S **** dec r22 |
129:isqrt.S **** brne 1b |
130:isqrt.S **** lsr r21 |
131:isqrt.S **** ror r20 |
132:isqrt.S **** lsr r21 |
133:isqrt.S **** ror r20 |
134:isqrt.S **** mov r24, r20 |
135 ret |
136 .endfunc |
137 |
138 |
139 |
140 ;-----------------------------------------------------------------------------: |
141 ; 16bit integer hypot (megaAVR is required) |
142 ;-----------------------------------------------------------------------------; |
143 ; uint16_t ihypot ( |
144 ; int16_t x, |
145 ; int16_t y |
146 ; ); |
147 ; |
148 ; Return Value: |
149 ; Squareroot of (x*x + y*y) |
150 ; |
151 ; Size = 42 words |
152 ; Clock = 581..597 cycles |
153 ; Stack = 0 byte |
154 |
155 .global ihypot |
156 .func ihypot |
157 |
158:isqrt.S **** ihypot: |
159:isqrt.S **** clr r26 |
160:isqrt.S **** sbrs r25, 7 |
161:isqrt.S **** rjmp 1f |
162:isqrt.S **** com r24 |
163:isqrt.S **** com r25 |
164:isqrt.S **** adc r24, r26 |
165:isqrt.S **** adc r25, r26 |
166:isqrt.S **** 1: sbrs r23, 7 |
167:isqrt.S **** rjmp 2f |
168:isqrt.S **** com r22 |
169:isqrt.S **** com r23 |
170:isqrt.S **** adc r22, r26 |
171:isqrt.S **** adc r23, r26 |
172:isqrt.S **** 2: mul r22, r22 |
173:isqrt.S **** movw r18, r0 |
174:isqrt.S **** mul r23, r23 |
175:isqrt.S **** movw r20, r0 |
176:isqrt.S **** mul r22, r23 |
177:isqrt.S **** add r19, r0 |
178:isqrt.S **** adc r20, r1 |
179:isqrt.S **** adc r21, r26 |
180:isqrt.S **** add r19, r0 |
181:isqrt.S **** adc r20, r1 |
182:isqrt.S **** adc r21, r26 |
183:isqrt.S **** mul r24, r24 |
184:isqrt.S **** movw r30, r0 |
185:isqrt.S **** mul r25, r25 |
186:isqrt.S **** add r18, r30 |
187:isqrt.S **** adc r19, r31 |
188:isqrt.S **** adc r20, r0 |
189:isqrt.S **** adc r21, r1 |
190:isqrt.S **** mul r24, r25 |
191:isqrt.S **** add r19, r0 |
192:isqrt.S **** adc r20, r1 |
193:isqrt.S **** adc r21, r26 |
194:isqrt.S **** add r19, r0 |
195:isqrt.S **** adc r20, r1 |
196:isqrt.S **** adc r21, r26 |
197:isqrt.S **** movw r24, r20 |
198:isqrt.S **** movw r22, r18 |
199:isqrt.S **** clr r1 |
200 rjmp isqrt32 |
DEFINED SYMBOLS |
*ABS*:00000000 isqrt.S |
isqrt.S:26 .text:00000000 isqrt32 |
isqrt.S:101 .text:0000006a isqrt16 |
isqrt.S:157 .text:000000ac ihypot |
NO UNDEFINED SYMBOLS |
/branches/V0.80d-Arthur-P/jetimenu.c |
---|
0,0 → 1,162 |
#include "jetimenu.h" |
#include "libfc.h" |
#include "printf_P.h" |
#include "main.h" |
#include "spi.h" |
#include "capacity.h" |
#define JETIBOX_KEY_RIGHT 0x1F |
#define JETIBOX_KEY_UP 0x2F |
#define JETIBOX_KEY_DOWN 0x4F |
#define JETIBOX_KEY_LEFT 0x8F |
#define JETIBOX_KEY_NONE 0x0F |
#define JETIBOX_KEY_UNDEF 0x00 |
#define JetiBox_printfxy(x,y,format, args...) { LIBFC_JetiBox_SetPos(y * 16 + x); _printf_P(&LIBFC_JetiBox_Putchar, PSTR(format) , ## args);} |
#define JetiBox_printf(format, args...) { _printf_P(&LIBFC_JetiBox_Putchar, PSTR(format) , ## args);} |
// ----------------------------------------------------------- |
// the menu functions |
// ----------------------------------------------------------- |
void Menu_Status(uint8_t key) |
{ //0123456789ABCDEF |
JetiBox_printfxy(0,0,"%2i.%1iV",UBat/10, UBat%10); |
if(NaviDataOkay) |
{ |
// JetiBox_printfxy(6,0,"%03dm %03d%c", GPSInfo.HomeDistance/10,GPSInfo.HomeBearing, 0xDF); |
JetiBox_printfxy(6,0,"%3d%c %03dm",(int)(ErsatzKompass / GIER_GRAD_FAKTOR), 0xDF, GPSInfo.HomeDistance/10); |
} |
else |
{ |
JetiBox_printfxy(6,0,"Status"); |
} |
if(NC_ErrorCode) JetiBox_printfxy(6,0,"ERROR: %2d",NC_ErrorCode); |
JetiBox_printfxy(0,1,"%4i %2i:%02i",Capacity.UsedCapacity,FlugSekunden/60,FlugSekunden%60); |
if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
{ |
JetiBox_printfxy(10,1,"%4im%c", (int16_t)(HoehenWert/100),VarioCharacter); |
} |
} |
void Menu_Temperature(uint8_t key) |
{ //0123456789ABCDEF |
JetiBox_printfxy(0,0,"%3i %3i %3i %3i", Motor[0].Temperature, Motor[1].Temperature, Motor[2].Temperature, Motor[3].Temperature); |
JetiBox_printfxy(0,1,"%3i %3i %3i %3i", Motor[4].Temperature, Motor[5].Temperature, Motor[6].Temperature, Motor[7].Temperature); |
if(RequiredMotors <= 4) |
{ |
JetiBox_printfxy(0,1,"Temperatures "); |
} |
else |
if(RequiredMotors <= 6) |
{ |
JetiBox_printfxy(8,1,"\%cC ",0xdf); |
} |
} |
void Menu_Battery(uint8_t key) |
{ //0123456789ABCDEF |
JetiBox_printfxy(0,0,"%2i.%1iV %3i.%1iA", UBat/10, UBat%10, Capacity.ActualCurrent/10, Capacity.ActualCurrent%10); |
JetiBox_printfxy(0,1,"%4iW %6imAh",Capacity.ActualPower, Capacity.UsedCapacity); |
} |
void Menu_PosInfo(uint8_t key) |
{ |
if(NaviDataOkay) |
{ |
JetiBox_printfxy(0,0,"%2um/s Sat:%d ",GPSInfo.Speed,GPSInfo.NumOfSats); |
switch (GPSInfo.SatFix) |
{ |
case SATFIX_3D: |
JetiBox_printfxy(12,0," 3D"); |
break; |
case SATFIX_2D: |
case SATFIX_NONE: |
default: |
JetiBox_printfxy(12,0,"NoFx"); |
break; |
} |
if(GPSInfo.Flags & FLAG_DIFFSOLN) |
{ |
JetiBox_printfxy(12,0,"DGPS"); |
} |
JetiBox_printfxy(0,1,"Home:%3dm %3d%c", GPSInfo.HomeDistance/10, GPSInfo.HomeBearing, 0xDF); |
} |
else |
{ //0123456789ABCDEF |
JetiBox_printfxy(2,0,"No NaviCtrl!"); |
} |
} |
// ----------------------------------------------------------- |
// the menu topology |
// ----------------------------------------------------------- |
typedef void (*pFctMenu) (uint8_t); // the menu item handler function pointer |
typedef struct{ |
int8_t left; |
int8_t right; |
int8_t up; |
int8_t down; |
pFctMenu pHandler; |
} MENU_ENTRY; |
// the menu navigation structure |
/* | |
3 - 0 - 1 - 2 - 3 - 0 |
*/ |
const MENU_ENTRY JetiBox_Menu[] PROGMEM= |
{ // l r u d pHandler |
{3, 1, 0, 0, &Menu_Status }, // 0 |
{0, 2, 1, 1, &Menu_Temperature }, // 1 |
{1, 3, 2, 2, &Menu_Battery }, // 2 |
{2, 0, 3, 3, &Menu_PosInfo }, // 3 |
}; |
// ----------------------------------------------------------- |
// Update display buffer |
// ----------------------------------------------------------- |
unsigned char JetiBox_Update(unsigned char key) |
{ |
static uint8_t item = 0, last_item = 0; // the menu item |
// navigate within the menu by key action |
last_item = item; |
switch(key) |
{ |
case JETIBOX_KEY_LEFT: |
if (item == 0) return (1); // switch back to jeti expander menu |
else item = pgm_read_byte(&JetiBox_Menu[item].left); //trigger to left menu item |
break; |
case JETIBOX_KEY_RIGHT: |
item = pgm_read_byte(&JetiBox_Menu[item].right); //trigger to right menu item |
break; |
case JETIBOX_KEY_UP: |
item = pgm_read_byte(&JetiBox_Menu[item].up); //trigger to up menu item |
break; |
case JETIBOX_KEY_DOWN: |
item = pgm_read_byte(&JetiBox_Menu[item].down); //trigger to down menu item |
break; |
default: |
break; |
} |
// if the menu item has been changed, do not pass the key to the item handler |
// to avoid jumping over to items |
if(item != last_item) key = JETIBOX_KEY_UNDEF; |
LIBFC_JetiBox_Clear(); |
//execute menu item handler |
((pFctMenu)(pgm_read_word(&(JetiBox_Menu[item].pHandler))))(key); |
return (0); |
} |
/branches/V0.80d-Arthur-P/jetimenu.d |
---|
0,0 → 1,3 |
jetimenu.o jetimenu.d : jetimenu.c jetimenu.h libfc.h printf_P.h main.h old_macros.h \ |
timer0.h uart.h analog.h twimaster.h menu.h rc.h fc.h gps.h spi.h led.h \ |
spektrum.h capacity.h eeprom.h debug.h |
/branches/V0.80d-Arthur-P/jetimenu.h |
---|
0,0 → 1,6 |
#ifndef _JETIMENU_H |
#define _JETIMENU_H |
extern unsigned char JetiBox_Update(unsigned char key); |
#endif //_JETIMENU_H |
/branches/V0.80d-Arthur-P/jetimenu.lst |
---|
0,0 → 1,839 |
1 .file "jetimenu.c" |
2 .arch atmega644p |
3 __SREG__ = 0x3f |
4 __SP_H__ = 0x3e |
5 __SP_L__ = 0x3d |
6 __tmp_reg__ = 0 |
7 __zero_reg__ = 1 |
8 .global __do_copy_data |
9 .global __do_clear_bss |
10 .global JetiBox_Menu |
11 .section .progmem.data,"a",@progbits |
14 JetiBox_Menu: |
15 0000 03 .byte 3 |
16 0001 01 .byte 1 |
17 0002 00 .byte 0 |
18 0003 00 .byte 0 |
19 0004 0000 .word pm(Menu_Status) |
20 0006 00 .byte 0 |
21 0007 02 .byte 2 |
22 0008 01 .byte 1 |
23 0009 01 .byte 1 |
24 000a 0000 .word pm(Menu_Temperature) |
25 000c 01 .byte 1 |
26 000d 03 .byte 3 |
27 000e 02 .byte 2 |
28 000f 02 .byte 2 |
29 0010 0000 .word pm(Menu_Battery) |
30 0012 02 .byte 2 |
31 0013 00 .byte 0 |
32 0014 03 .byte 3 |
33 0015 03 .byte 3 |
34 0016 0000 .word pm(Menu_PosInfo) |
37 __c.14: |
38 0018 2532 692E .string "%2i.%1iV" |
38 2531 6956 |
38 00 |
41 __c.15: |
42 0021 2533 6425 .string "%3d%c %03dm" |
42 6320 2530 |
42 3364 6D00 |
45 __c.16: |
46 002d 5374 6174 .string "Status" |
46 7573 00 |
49 __c.17: |
50 0034 4552 524F .string "ERROR: %2d" |
50 523A 2025 |
50 3264 00 |
53 __c.18: |
54 003f 2534 6920 .string "%4i %2i:%02i" |
54 2532 693A |
54 2530 3269 |
54 00 |
57 __c.19: |
58 004c 2534 696D .string "%4im%c" |
58 2563 00 |
59 .text |
60 .global Menu_Status |
62 Menu_Status: |
63 /* prologue: frame size=0 */ |
64 0000 CF93 push r28 |
65 0002 DF93 push r29 |
66 /* prologue end (size=2) */ |
67 0004 80E0 ldi r24,lo8(0) |
68 0006 0E94 0000 call LIBFC_JetiBox_SetPos |
69 000a 8091 0000 lds r24,UBat |
70 000e 9091 0000 lds r25,(UBat)+1 |
71 0012 6AE0 ldi r22,lo8(10) |
72 0014 70E0 ldi r23,hi8(10) |
73 0016 0E94 0000 call __divmodhi4 |
74 001a 9F93 push r25 |
75 001c 8F93 push r24 |
76 001e 8091 0000 lds r24,UBat |
77 0022 9091 0000 lds r25,(UBat)+1 |
78 0026 6AE0 ldi r22,lo8(10) |
79 0028 70E0 ldi r23,hi8(10) |
80 002a 0E94 0000 call __divmodhi4 |
81 002e 7F93 push r23 |
82 0030 6F93 push r22 |
83 0032 80E0 ldi r24,lo8(__c.14) |
84 0034 90E0 ldi r25,hi8(__c.14) |
85 0036 9F93 push r25 |
86 0038 8F93 push r24 |
87 003a C0E0 ldi r28,lo8(pm(LIBFC_JetiBox_Putchar)) |
88 003c D0E0 ldi r29,hi8(pm(LIBFC_JetiBox_Putchar)) |
89 003e DF93 push r29 |
90 0040 CF93 push r28 |
91 0042 E091 0000 lds r30,_printf_P |
92 0046 F091 0000 lds r31,(_printf_P)+1 |
93 004a 0995 icall |
94 004c 2DB7 in r18,__SP_L__ |
95 004e 3EB7 in r19,__SP_H__ |
96 0050 285F subi r18,lo8(-(8)) |
97 0052 3F4F sbci r19,hi8(-(8)) |
98 0054 2DBF out __SP_L__,r18 |
99 0056 8091 0000 lds r24,NaviDataOkay |
100 005a 8823 tst r24 |
101 005c B9F1 breq .L2 |
102 005e 86E0 ldi r24,lo8(6) |
103 0060 0E94 0000 call LIBFC_JetiBox_SetPos |
104 0064 8091 0000 lds r24,GPSInfo+4 |
105 0068 9091 0000 lds r25,(GPSInfo+4)+1 |
106 006c 6AE0 ldi r22,lo8(10) |
107 006e 70E0 ldi r23,hi8(10) |
108 0070 0E94 0000 call __udivmodhi4 |
109 0074 7F93 push r23 |
110 0076 6F93 push r22 |
111 0078 8FED ldi r24,lo8(223) |
112 007a 90E0 ldi r25,hi8(223) |
113 007c 9F93 push r25 |
114 007e 8F93 push r24 |
115 0080 8091 0000 lds r24,ErsatzKompass |
116 0084 9091 0000 lds r25,(ErsatzKompass)+1 |
117 0088 A091 0000 lds r26,(ErsatzKompass)+2 |
118 008c B091 0000 lds r27,(ErsatzKompass)+3 |
119 0090 2091 0000 lds r18,GIER_GRAD_FAKTOR |
120 0094 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1 |
121 0098 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2 |
122 009c 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3 |
123 00a0 BC01 movw r22,r24 |
124 00a2 CD01 movw r24,r26 |
125 00a4 0E94 0000 call __divmodsi4 |
126 00a8 3F93 push r19 |
127 00aa 2F93 push r18 |
128 00ac 80E0 ldi r24,lo8(__c.15) |
129 00ae 90E0 ldi r25,hi8(__c.15) |
130 00b0 9F93 push r25 |
131 00b2 8F93 push r24 |
132 00b4 DF93 push r29 |
133 00b6 CF93 push r28 |
134 00b8 E091 0000 lds r30,_printf_P |
135 00bc F091 0000 lds r31,(_printf_P)+1 |
136 00c0 0995 icall |
137 00c2 8DB7 in r24,__SP_L__ |
138 00c4 9EB7 in r25,__SP_H__ |
139 00c6 0A96 adiw r24,10 |
140 00c8 8DBF out __SP_L__,r24 |
141 00ca 12C0 rjmp .L3 |
142 .L2: |
143 00cc 86E0 ldi r24,lo8(6) |
144 00ce 0E94 0000 call LIBFC_JetiBox_SetPos |
145 00d2 80E0 ldi r24,lo8(__c.16) |
146 00d4 90E0 ldi r25,hi8(__c.16) |
147 00d6 9F93 push r25 |
148 00d8 8F93 push r24 |
149 00da DF93 push r29 |
150 00dc CF93 push r28 |
151 00de E091 0000 lds r30,_printf_P |
152 00e2 F091 0000 lds r31,(_printf_P)+1 |
153 00e6 0995 icall |
154 00e8 0F90 pop __tmp_reg__ |
155 00ea 0F90 pop __tmp_reg__ |
156 00ec 0F90 pop __tmp_reg__ |
157 00ee 0F90 pop __tmp_reg__ |
158 .L3: |
159 00f0 8091 0000 lds r24,NC_ErrorCode |
160 00f4 8823 tst r24 |
161 00f6 C1F0 breq .L4 |
162 00f8 86E0 ldi r24,lo8(6) |
163 00fa 0E94 0000 call LIBFC_JetiBox_SetPos |
164 00fe 8091 0000 lds r24,NC_ErrorCode |
165 0102 9927 clr r25 |
166 0104 9F93 push r25 |
167 0106 8F93 push r24 |
168 0108 80E0 ldi r24,lo8(__c.17) |
169 010a 90E0 ldi r25,hi8(__c.17) |
170 010c 9F93 push r25 |
171 010e 8F93 push r24 |
172 0110 DF93 push r29 |
173 0112 CF93 push r28 |
174 0114 E091 0000 lds r30,_printf_P |
175 0118 F091 0000 lds r31,(_printf_P)+1 |
176 011c 0995 icall |
177 011e 2DB7 in r18,__SP_L__ |
178 0120 3EB7 in r19,__SP_H__ |
179 0122 2A5F subi r18,lo8(-(6)) |
180 0124 3F4F sbci r19,hi8(-(6)) |
181 0126 2DBF out __SP_L__,r18 |
182 .L4: |
183 0128 80E1 ldi r24,lo8(16) |
184 012a 0E94 0000 call LIBFC_JetiBox_SetPos |
185 012e 8091 0000 lds r24,FlugSekunden |
186 0132 9091 0000 lds r25,(FlugSekunden)+1 |
187 0136 6CE3 ldi r22,lo8(60) |
188 0138 70E0 ldi r23,hi8(60) |
189 013a 0E94 0000 call __udivmodhi4 |
190 013e 9F93 push r25 |
191 0140 8F93 push r24 |
192 0142 8091 0000 lds r24,FlugSekunden |
193 0146 9091 0000 lds r25,(FlugSekunden)+1 |
194 014a 6CE3 ldi r22,lo8(60) |
195 014c 70E0 ldi r23,hi8(60) |
196 014e 0E94 0000 call __udivmodhi4 |
197 0152 7F93 push r23 |
198 0154 6F93 push r22 |
199 0156 8091 0000 lds r24,Capacity+4 |
200 015a 9091 0000 lds r25,(Capacity+4)+1 |
201 015e 9F93 push r25 |
202 0160 8F93 push r24 |
203 0162 80E0 ldi r24,lo8(__c.18) |
204 0164 90E0 ldi r25,hi8(__c.18) |
205 0166 9F93 push r25 |
206 0168 8F93 push r24 |
207 016a C0E0 ldi r28,lo8(pm(LIBFC_JetiBox_Putchar)) |
208 016c D0E0 ldi r29,hi8(pm(LIBFC_JetiBox_Putchar)) |
209 016e DF93 push r29 |
210 0170 CF93 push r28 |
211 0172 E091 0000 lds r30,_printf_P |
212 0176 F091 0000 lds r31,(_printf_P)+1 |
213 017a 0995 icall |
214 017c 8091 0000 lds r24,EE_Parameter+13 |
215 0180 2DB7 in r18,__SP_L__ |
216 0182 3EB7 in r19,__SP_H__ |
217 0184 265F subi r18,lo8(-(10)) |
218 0186 3F4F sbci r19,hi8(-(10)) |
219 0188 2DBF out __SP_L__,r18 |
220 018a 80FF sbrs r24,0 |
221 018c 29C0 rjmp .L1 |
222 018e 8AE1 ldi r24,lo8(26) |
223 0190 0E94 0000 call LIBFC_JetiBox_SetPos |
224 0194 8091 0000 lds r24,VarioCharacter |
225 0198 9927 clr r25 |
226 019a 9F93 push r25 |
227 019c 8F93 push r24 |
228 019e 8091 0000 lds r24,HoehenWert |
229 01a2 9091 0000 lds r25,(HoehenWert)+1 |
230 01a6 A091 0000 lds r26,(HoehenWert)+2 |
231 01aa B091 0000 lds r27,(HoehenWert)+3 |
232 01ae BC01 movw r22,r24 |
233 01b0 CD01 movw r24,r26 |
234 01b2 24E6 ldi r18,lo8(100) |
235 01b4 30E0 ldi r19,hi8(100) |
236 01b6 40E0 ldi r20,hlo8(100) |
237 01b8 50E0 ldi r21,hhi8(100) |
238 01ba 0E94 0000 call __divmodsi4 |
239 01be 3F93 push r19 |
240 01c0 2F93 push r18 |
241 01c2 80E0 ldi r24,lo8(__c.19) |
242 01c4 90E0 ldi r25,hi8(__c.19) |
243 01c6 9F93 push r25 |
244 01c8 8F93 push r24 |
245 01ca DF93 push r29 |
246 01cc CF93 push r28 |
247 01ce E091 0000 lds r30,_printf_P |
248 01d2 F091 0000 lds r31,(_printf_P)+1 |
249 01d6 0995 icall |
250 01d8 8DB7 in r24,__SP_L__ |
251 01da 9EB7 in r25,__SP_H__ |
252 01dc 0896 adiw r24,8 |
253 01de 8DBF out __SP_L__,r24 |
254 .L1: |
255 /* epilogue: frame size=0 */ |
256 01e0 DF91 pop r29 |
257 01e2 CF91 pop r28 |
258 01e4 0895 ret |
259 /* epilogue end (size=3) */ |
260 /* function Menu_Status size 243 (238) */ |
262 .section .progmem.data |
265 __c.10: |
266 0053 2533 6920 .string "%3i %3i %3i %3i" |
266 2533 6920 |
266 2533 6920 |
266 2533 6900 |
269 __c.11: |
270 0063 2533 6920 .string "%3i %3i %3i %3i" |
270 2533 6920 |
270 2533 6920 |
270 2533 6900 |
273 __c.12: |
274 0073 5465 6D70 .string "Temperatures " |
274 6572 6174 |
274 7572 6573 |
274 2020 2020 |
274 00 |
277 __c.13: |
278 0084 2563 4320 .string "%cC " |
278 2020 2020 |
278 00 |
279 .text |
280 .global Menu_Temperature |
282 Menu_Temperature: |
283 /* prologue: frame size=0 */ |
284 01e6 CF93 push r28 |
285 01e8 DF93 push r29 |
286 /* prologue end (size=2) */ |
287 01ea 80E0 ldi r24,lo8(0) |
288 01ec 0E94 0000 call LIBFC_JetiBox_SetPos |
289 01f0 8091 0000 lds r24,Motor+31 |
290 01f4 9927 clr r25 |
291 01f6 87FD sbrc r24,7 |
292 01f8 9095 com r25 |
293 01fa 9F93 push r25 |
294 01fc 8F93 push r24 |
295 01fe 8091 0000 lds r24,Motor+23 |
296 0202 9927 clr r25 |
297 0204 87FD sbrc r24,7 |
298 0206 9095 com r25 |
299 0208 9F93 push r25 |
300 020a 8F93 push r24 |
301 020c 8091 0000 lds r24,Motor+15 |
302 0210 9927 clr r25 |
303 0212 87FD sbrc r24,7 |
304 0214 9095 com r25 |
305 0216 9F93 push r25 |
306 0218 8F93 push r24 |
307 021a 8091 0000 lds r24,Motor+7 |
308 021e 9927 clr r25 |
309 0220 87FD sbrc r24,7 |
310 0222 9095 com r25 |
311 0224 9F93 push r25 |
312 0226 8F93 push r24 |
313 0228 80E0 ldi r24,lo8(__c.10) |
314 022a 90E0 ldi r25,hi8(__c.10) |
315 022c 9F93 push r25 |
316 022e 8F93 push r24 |
317 0230 C0E0 ldi r28,lo8(pm(LIBFC_JetiBox_Putchar)) |
318 0232 D0E0 ldi r29,hi8(pm(LIBFC_JetiBox_Putchar)) |
319 0234 DF93 push r29 |
320 0236 CF93 push r28 |
321 0238 E091 0000 lds r30,_printf_P |
322 023c F091 0000 lds r31,(_printf_P)+1 |
323 0240 0995 icall |
324 0242 80E1 ldi r24,lo8(16) |
325 0244 0E94 0000 call LIBFC_JetiBox_SetPos |
326 0248 2DB7 in r18,__SP_L__ |
327 024a 3EB7 in r19,__SP_H__ |
328 024c 245F subi r18,lo8(-(12)) |
329 024e 3F4F sbci r19,hi8(-(12)) |
330 0250 2DBF out __SP_L__,r18 |
331 0252 8091 0000 lds r24,Motor+63 |
332 0256 9927 clr r25 |
333 0258 87FD sbrc r24,7 |
334 025a 9095 com r25 |
335 025c 9F93 push r25 |
336 025e 8F93 push r24 |
337 0260 8091 0000 lds r24,Motor+55 |
338 0264 9927 clr r25 |
339 0266 87FD sbrc r24,7 |
340 0268 9095 com r25 |
341 026a 9F93 push r25 |
342 026c 8F93 push r24 |
343 026e 8091 0000 lds r24,Motor+47 |
344 0272 9927 clr r25 |
345 0274 87FD sbrc r24,7 |
346 0276 9095 com r25 |
347 0278 9F93 push r25 |
348 027a 8F93 push r24 |
349 027c 8091 0000 lds r24,Motor+39 |
350 0280 9927 clr r25 |
351 0282 87FD sbrc r24,7 |
352 0284 9095 com r25 |
353 0286 9F93 push r25 |
354 0288 8F93 push r24 |
355 028a 80E0 ldi r24,lo8(__c.11) |
356 028c 90E0 ldi r25,hi8(__c.11) |
357 028e 9F93 push r25 |
358 0290 8F93 push r24 |
359 0292 DF93 push r29 |
360 0294 CF93 push r28 |
361 0296 E091 0000 lds r30,_printf_P |
362 029a F091 0000 lds r31,(_printf_P)+1 |
363 029e 0995 icall |
364 02a0 8091 0000 lds r24,RequiredMotors |
365 02a4 2DB7 in r18,__SP_L__ |
366 02a6 3EB7 in r19,__SP_H__ |
367 02a8 245F subi r18,lo8(-(12)) |
368 02aa 3F4F sbci r19,hi8(-(12)) |
369 02ac 2DBF out __SP_L__,r18 |
370 02ae 8530 cpi r24,lo8(5) |
371 02b0 98F4 brsh .L7 |
372 02b2 80E1 ldi r24,lo8(16) |
373 02b4 0E94 0000 call LIBFC_JetiBox_SetPos |
374 02b8 80E0 ldi r24,lo8(__c.12) |
375 02ba 90E0 ldi r25,hi8(__c.12) |
376 02bc 9F93 push r25 |
377 02be 8F93 push r24 |
378 02c0 DF93 push r29 |
379 02c2 CF93 push r28 |
380 02c4 E091 0000 lds r30,_printf_P |
381 02c8 F091 0000 lds r31,(_printf_P)+1 |
382 02cc 0995 icall |
383 02ce 0F90 pop __tmp_reg__ |
384 02d0 0F90 pop __tmp_reg__ |
385 02d2 0F90 pop __tmp_reg__ |
386 02d4 0F90 pop __tmp_reg__ |
387 02d6 18C0 rjmp .L6 |
388 .L7: |
389 02d8 8730 cpi r24,lo8(7) |
390 02da B0F4 brsh .L6 |
391 02dc 88E1 ldi r24,lo8(24) |
392 02de 0E94 0000 call LIBFC_JetiBox_SetPos |
393 02e2 8FED ldi r24,lo8(223) |
394 02e4 90E0 ldi r25,hi8(223) |
395 02e6 9F93 push r25 |
396 02e8 8F93 push r24 |
397 02ea 80E0 ldi r24,lo8(__c.13) |
398 02ec 90E0 ldi r25,hi8(__c.13) |
399 02ee 9F93 push r25 |
400 02f0 8F93 push r24 |
401 02f2 DF93 push r29 |
402 02f4 CF93 push r28 |
403 02f6 E091 0000 lds r30,_printf_P |
404 02fa F091 0000 lds r31,(_printf_P)+1 |
405 02fe 0995 icall |
406 0300 8DB7 in r24,__SP_L__ |
407 0302 9EB7 in r25,__SP_H__ |
408 0304 0696 adiw r24,6 |
409 0306 8DBF out __SP_L__,r24 |
410 .L6: |
411 /* epilogue: frame size=0 */ |
412 0308 DF91 pop r29 |
413 030a CF91 pop r28 |
414 030c 0895 ret |
415 /* epilogue end (size=3) */ |
416 /* function Menu_Temperature size 148 (143) */ |
418 .section .progmem.data |
421 __c.8: |
422 008d 2532 692E .string "%2i.%1iV %3i.%1iA" |
422 2531 6956 |
422 2020 2533 |
422 692E 2531 |
422 6941 00 |
425 __c.9: |
426 00a0 2534 6957 .string "%4iW %6imAh" |
426 2025 3669 |
426 6D41 6800 |
427 .text |
428 .global Menu_Battery |
430 Menu_Battery: |
431 /* prologue: frame size=0 */ |
432 030e 0F93 push r16 |
433 0310 1F93 push r17 |
434 /* prologue end (size=2) */ |
435 0312 80E0 ldi r24,lo8(0) |
436 0314 0E94 0000 call LIBFC_JetiBox_SetPos |
437 0318 2AE0 ldi r18,lo8(10) |
438 031a 30E0 ldi r19,hi8(10) |
439 031c 8091 0000 lds r24,Capacity |
440 0320 9091 0000 lds r25,(Capacity)+1 |
441 0324 B901 movw r22,r18 |
442 0326 0E94 0000 call __udivmodhi4 |
443 032a 9F93 push r25 |
444 032c 8F93 push r24 |
445 032e 8091 0000 lds r24,Capacity |
446 0332 9091 0000 lds r25,(Capacity)+1 |
447 0336 B901 movw r22,r18 |
448 0338 0E94 0000 call __udivmodhi4 |
449 033c 7F93 push r23 |
450 033e 6F93 push r22 |
451 0340 8091 0000 lds r24,UBat |
452 0344 9091 0000 lds r25,(UBat)+1 |
453 0348 B901 movw r22,r18 |
454 034a 0E94 0000 call __divmodhi4 |
455 034e 9F93 push r25 |
456 0350 8F93 push r24 |
457 0352 8091 0000 lds r24,UBat |
458 0356 9091 0000 lds r25,(UBat)+1 |
459 035a B901 movw r22,r18 |
460 035c 0E94 0000 call __divmodhi4 |
461 0360 7F93 push r23 |
462 0362 6F93 push r22 |
463 0364 80E0 ldi r24,lo8(__c.8) |
464 0366 90E0 ldi r25,hi8(__c.8) |
465 0368 9F93 push r25 |
466 036a 8F93 push r24 |
467 036c 00E0 ldi r16,lo8(pm(LIBFC_JetiBox_Putchar)) |
468 036e 10E0 ldi r17,hi8(pm(LIBFC_JetiBox_Putchar)) |
469 0370 1F93 push r17 |
470 0372 0F93 push r16 |
471 0374 E091 0000 lds r30,_printf_P |
472 0378 F091 0000 lds r31,(_printf_P)+1 |
473 037c 0995 icall |
474 037e 80E1 ldi r24,lo8(16) |
475 0380 0E94 0000 call LIBFC_JetiBox_SetPos |
476 0384 8DB7 in r24,__SP_L__ |
477 0386 9EB7 in r25,__SP_H__ |
478 0388 0C96 adiw r24,12 |
479 038a 8DBF out __SP_L__,r24 |
480 038c 8091 0000 lds r24,Capacity+4 |
481 0390 9091 0000 lds r25,(Capacity+4)+1 |
482 0394 9F93 push r25 |
483 0396 8F93 push r24 |
484 0398 8091 0000 lds r24,Capacity+2 |
485 039c 9091 0000 lds r25,(Capacity+2)+1 |
486 03a0 9F93 push r25 |
487 03a2 8F93 push r24 |
488 03a4 80E0 ldi r24,lo8(__c.9) |
489 03a6 90E0 ldi r25,hi8(__c.9) |
490 03a8 9F93 push r25 |
491 03aa 8F93 push r24 |
492 03ac 1F93 push r17 |
493 03ae 0F93 push r16 |
494 03b0 E091 0000 lds r30,_printf_P |
495 03b4 F091 0000 lds r31,(_printf_P)+1 |
496 03b8 0995 icall |
497 03ba 8DB7 in r24,__SP_L__ |
498 03bc 9EB7 in r25,__SP_H__ |
499 03be 0896 adiw r24,8 |
500 03c0 8DBF out __SP_L__,r24 |
501 /* epilogue: frame size=0 */ |
502 03c2 1F91 pop r17 |
503 03c4 0F91 pop r16 |
504 03c6 0895 ret |
505 /* epilogue end (size=3) */ |
506 /* function Menu_Battery size 93 (88) */ |
508 .section .progmem.data |
511 __c.2: |
512 00ac 2532 756D .string "%2um/s Sat:%d " |
512 2F73 2053 |
512 6174 3A25 |
512 6420 00 |
515 __c.3: |
516 00bb 2020 3344 .string " 3D" |
516 00 |
519 __c.4: |
520 00c0 4E6F 4678 .string "NoFx" |
520 00 |
523 __c.5: |
524 00c5 4447 5053 .string "DGPS" |
524 00 |
527 __c.6: |
528 00ca 486F 6D65 .string "Home:%3dm %3d%c" |
528 3A25 3364 |
528 6D20 2533 |
528 6425 6300 |
531 __c.7: |
532 00da 4E6F 204E .string "No NaviCtrl!" |
532 6176 6943 |
532 7472 6C21 |
532 00 |
533 .text |
534 .global Menu_PosInfo |
536 Menu_PosInfo: |
537 /* prologue: frame size=0 */ |
538 03c8 0F93 push r16 |
539 03ca 1F93 push r17 |
540 03cc CF93 push r28 |
541 03ce DF93 push r29 |
542 /* prologue end (size=4) */ |
543 03d0 8091 0000 lds r24,NaviDataOkay |
544 03d4 C0E0 ldi r28,lo8(pm(LIBFC_JetiBox_Putchar)) |
545 03d6 D0E0 ldi r29,hi8(pm(LIBFC_JetiBox_Putchar)) |
546 03d8 8823 tst r24 |
547 03da 09F4 brne .+2 |
548 03dc 78C0 rjmp .L12 |
549 03de 80E0 ldi r24,lo8(0) |
550 03e0 0E94 0000 call LIBFC_JetiBox_SetPos |
551 03e4 8091 0000 lds r24,GPSInfo+1 |
552 03e8 9927 clr r25 |
553 03ea 9F93 push r25 |
554 03ec 8F93 push r24 |
555 03ee 8091 0000 lds r24,GPSInfo+3 |
556 03f2 9927 clr r25 |
557 03f4 9F93 push r25 |
558 03f6 8F93 push r24 |
559 03f8 80E0 ldi r24,lo8(__c.2) |
560 03fa 90E0 ldi r25,hi8(__c.2) |
561 03fc 9F93 push r25 |
562 03fe 8F93 push r24 |
563 0400 8E01 movw r16,r28 |
564 0402 DF93 push r29 |
565 0404 CF93 push r28 |
566 0406 E091 0000 lds r30,_printf_P |
567 040a F091 0000 lds r31,(_printf_P)+1 |
568 040e 0995 icall |
569 0410 8DB7 in r24,__SP_L__ |
570 0412 9EB7 in r25,__SP_H__ |
571 0414 0896 adiw r24,8 |
572 0416 8DBF out __SP_L__,r24 |
573 0418 8091 0000 lds r24,GPSInfo+2 |
574 041c 8330 cpi r24,lo8(3) |
575 041e 31F4 brne .L17 |
576 0420 8CE0 ldi r24,lo8(12) |
577 0422 0E94 0000 call LIBFC_JetiBox_SetPos |
578 0426 80E0 ldi r24,lo8(__c.3) |
579 0428 90E0 ldi r25,hi8(__c.3) |
580 042a 05C0 rjmp .L20 |
581 .L17: |
582 042c 8CE0 ldi r24,lo8(12) |
583 042e 0E94 0000 call LIBFC_JetiBox_SetPos |
584 0432 80E0 ldi r24,lo8(__c.4) |
585 0434 90E0 ldi r25,hi8(__c.4) |
586 .L20: |
587 0436 9F93 push r25 |
588 0438 8F93 push r24 |
589 043a DF93 push r29 |
590 043c CF93 push r28 |
591 043e E091 0000 lds r30,_printf_P |
592 0442 F091 0000 lds r31,(_printf_P)+1 |
593 0446 0995 icall |
594 0448 0F90 pop __tmp_reg__ |
595 044a 0F90 pop __tmp_reg__ |
596 044c 0F90 pop __tmp_reg__ |
597 044e 0F90 pop __tmp_reg__ |
598 0450 8091 0000 lds r24,GPSInfo |
599 0454 81FF sbrs r24,1 |
600 0456 12C0 rjmp .L18 |
601 0458 8CE0 ldi r24,lo8(12) |
602 045a 0E94 0000 call LIBFC_JetiBox_SetPos |
603 045e 80E0 ldi r24,lo8(__c.5) |
604 0460 90E0 ldi r25,hi8(__c.5) |
605 0462 9F93 push r25 |
606 0464 8F93 push r24 |
607 0466 1F93 push r17 |
608 0468 0F93 push r16 |
609 046a E091 0000 lds r30,_printf_P |
610 046e F091 0000 lds r31,(_printf_P)+1 |
611 0472 0995 icall |
612 0474 0F90 pop __tmp_reg__ |
613 0476 0F90 pop __tmp_reg__ |
614 0478 0F90 pop __tmp_reg__ |
615 047a 0F90 pop __tmp_reg__ |
616 .L18: |
617 047c 80E1 ldi r24,lo8(16) |
618 047e 0E94 0000 call LIBFC_JetiBox_SetPos |
619 0482 8FED ldi r24,lo8(223) |
620 0484 90E0 ldi r25,hi8(223) |
621 0486 9F93 push r25 |
622 0488 8F93 push r24 |
623 048a 8091 0000 lds r24,GPSInfo+6 |
624 048e 9091 0000 lds r25,(GPSInfo+6)+1 |
625 0492 9F93 push r25 |
626 0494 8F93 push r24 |
627 0496 8091 0000 lds r24,GPSInfo+4 |
628 049a 9091 0000 lds r25,(GPSInfo+4)+1 |
629 049e 6AE0 ldi r22,lo8(10) |
630 04a0 70E0 ldi r23,hi8(10) |
631 04a2 0E94 0000 call __udivmodhi4 |
632 04a6 7F93 push r23 |
633 04a8 6F93 push r22 |
634 04aa 80E0 ldi r24,lo8(__c.6) |
635 04ac 90E0 ldi r25,hi8(__c.6) |
636 04ae 9F93 push r25 |
637 04b0 8F93 push r24 |
638 04b2 80E0 ldi r24,lo8(pm(LIBFC_JetiBox_Putchar)) |
639 04b4 90E0 ldi r25,hi8(pm(LIBFC_JetiBox_Putchar)) |
640 04b6 9F93 push r25 |
641 04b8 8F93 push r24 |
642 04ba E091 0000 lds r30,_printf_P |
643 04be F091 0000 lds r31,(_printf_P)+1 |
644 04c2 0995 icall |
645 04c4 8DB7 in r24,__SP_L__ |
646 04c6 9EB7 in r25,__SP_H__ |
647 04c8 0A96 adiw r24,10 |
648 04ca 8DBF out __SP_L__,r24 |
649 04cc 12C0 rjmp .L11 |
650 .L12: |
651 04ce 82E0 ldi r24,lo8(2) |
652 04d0 0E94 0000 call LIBFC_JetiBox_SetPos |
653 04d4 80E0 ldi r24,lo8(__c.7) |
654 04d6 90E0 ldi r25,hi8(__c.7) |
655 04d8 9F93 push r25 |
656 04da 8F93 push r24 |
657 04dc DF93 push r29 |
658 04de CF93 push r28 |
659 04e0 E091 0000 lds r30,_printf_P |
660 04e4 F091 0000 lds r31,(_printf_P)+1 |
661 04e8 0995 icall |
662 04ea 0F90 pop __tmp_reg__ |
663 04ec 0F90 pop __tmp_reg__ |
664 04ee 0F90 pop __tmp_reg__ |
665 04f0 0F90 pop __tmp_reg__ |
666 .L11: |
667 /* epilogue: frame size=0 */ |
668 04f2 DF91 pop r29 |
669 04f4 CF91 pop r28 |
670 04f6 1F91 pop r17 |
671 04f8 0F91 pop r16 |
672 04fa 0895 ret |
673 /* epilogue end (size=5) */ |
674 /* function Menu_PosInfo size 154 (145) */ |
676 .lcomm item.0,1 |
677 .lcomm last_item.1,1 |
678 .global JetiBox_Update |
680 JetiBox_Update: |
681 /* prologue: frame size=0 */ |
682 04fc CF93 push r28 |
683 /* prologue end (size=1) */ |
684 04fe C82F mov r28,r24 |
685 0500 2091 0000 lds r18,item.0 |
686 0504 2093 0000 sts last_item.1,r18 |
687 0508 9927 clr r25 |
688 050a 8F32 cpi r24,47 |
689 050c 9105 cpc r25,__zero_reg__ |
690 050e 09F1 breq .L27 |
691 0510 8033 cpi r24,48 |
692 0512 9105 cpc r25,__zero_reg__ |
693 0514 1CF4 brge .L30 |
694 0516 4F97 sbiw r24,31 |
695 0518 A1F0 breq .L26 |
696 051a 2CC0 rjmp .L22 |
697 .L30: |
698 051c 8F34 cpi r24,79 |
699 051e 9105 cpc r25,__zero_reg__ |
700 0520 01F1 breq .L28 |
701 0522 8F38 cpi r24,143 |
702 0524 9105 cpc r25,__zero_reg__ |
703 0526 31F5 brne .L22 |
704 0528 2223 tst r18 |
705 052a 19F4 brne .L24 |
706 052c 81E0 ldi r24,lo8(1) |
707 052e 90E0 ldi r25,hi8(1) |
708 0530 38C0 rjmp .L21 |
709 .L24: |
710 0532 86E0 ldi r24,lo8(6) |
711 0534 289F mul r18,r24 |
712 0536 F001 movw r30,r0 |
713 0538 1124 clr r1 |
714 053a E050 subi r30,lo8(-(JetiBox_Menu)) |
715 053c F040 sbci r31,hi8(-(JetiBox_Menu)) |
716 /* #APP */ |
717 053e 8491 lpm r24, Z |
718 |
719 /* #NOAPP */ |
720 0540 17C0 rjmp .L32 |
721 .L26: |
722 0542 86E0 ldi r24,lo8(6) |
723 0544 289F mul r18,r24 |
724 0546 F001 movw r30,r0 |
725 0548 1124 clr r1 |
726 054a E050 subi r30,lo8(-(JetiBox_Menu+1)) |
727 054c F040 sbci r31,hi8(-(JetiBox_Menu+1)) |
728 /* #APP */ |
729 054e 8491 lpm r24, Z |
730 |
731 /* #NOAPP */ |
732 0550 0FC0 rjmp .L32 |
733 .L27: |
734 0552 86E0 ldi r24,lo8(6) |
735 0554 289F mul r18,r24 |
736 0556 F001 movw r30,r0 |
737 0558 1124 clr r1 |
738 055a E050 subi r30,lo8(-(JetiBox_Menu+2)) |
739 055c F040 sbci r31,hi8(-(JetiBox_Menu+2)) |
740 /* #APP */ |
741 055e 8491 lpm r24, Z |
742 |
743 /* #NOAPP */ |
744 0560 07C0 rjmp .L32 |
745 .L28: |
746 0562 86E0 ldi r24,lo8(6) |
747 0564 289F mul r18,r24 |
748 0566 F001 movw r30,r0 |
749 0568 1124 clr r1 |
750 056a E050 subi r30,lo8(-(JetiBox_Menu+3)) |
751 056c F040 sbci r31,hi8(-(JetiBox_Menu+3)) |
752 /* #APP */ |
753 056e 8491 lpm r24, Z |
754 |
755 /* #NOAPP */ |
756 .L32: |
757 0570 8093 0000 sts item.0,r24 |
758 .L22: |
759 0574 9091 0000 lds r25,item.0 |
760 0578 8091 0000 lds r24,last_item.1 |
761 057c 9813 cpse r25,r24 |
762 057e C0E0 ldi r28,lo8(0) |
763 .L31: |
764 0580 0E94 0000 call LIBFC_JetiBox_Clear |
765 0584 9091 0000 lds r25,item.0 |
766 0588 86E0 ldi r24,lo8(6) |
767 058a 989F mul r25,r24 |
768 058c F001 movw r30,r0 |
769 058e 1124 clr r1 |
770 0590 E050 subi r30,lo8(-(JetiBox_Menu+4)) |
771 0592 F040 sbci r31,hi8(-(JetiBox_Menu+4)) |
772 /* #APP */ |
773 0594 2591 lpm r18, Z+ |
774 0596 3491 lpm r19, Z |
775 |
776 /* #NOAPP */ |
777 0598 8C2F mov r24,r28 |
778 059a F901 movw r30,r18 |
779 059c 0995 icall |
780 059e 80E0 ldi r24,lo8(0) |
781 05a0 90E0 ldi r25,hi8(0) |
782 .L21: |
783 /* epilogue: frame size=0 */ |
784 05a2 CF91 pop r28 |
785 05a4 0895 ret |
786 /* epilogue end (size=2) */ |
787 /* function JetiBox_Update size 103 (100) */ |
789 /* File "jetimenu.c": code 741 = 0x02e5 ( 714), prologues 11, epilogues 16 */ |
DEFINED SYMBOLS |
*ABS*:00000000 jetimenu.c |
C:\Users\Arthur-P\AppData\Local\Temp/ccCAbaaa.s:3 *ABS*:0000003f __SREG__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccCAbaaa.s:4 *ABS*:0000003e __SP_H__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccCAbaaa.s:5 *ABS*:0000003d __SP_L__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccCAbaaa.s:6 *ABS*:00000000 __tmp_reg__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccCAbaaa.s:7 *ABS*:00000001 __zero_reg__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccCAbaaa.s:14 .progmem.data:00000000 JetiBox_Menu |
C:\Users\Arthur-P\AppData\Local\Temp/ccCAbaaa.s:62 .text:00000000 Menu_Status |
C:\Users\Arthur-P\AppData\Local\Temp/ccCAbaaa.s:282 .text:000001e6 Menu_Temperature |
C:\Users\Arthur-P\AppData\Local\Temp/ccCAbaaa.s:430 .text:0000030e Menu_Battery |
C:\Users\Arthur-P\AppData\Local\Temp/ccCAbaaa.s:536 .text:000003c8 Menu_PosInfo |
C:\Users\Arthur-P\AppData\Local\Temp/ccCAbaaa.s:37 .progmem.data:00000018 __c.14 |
C:\Users\Arthur-P\AppData\Local\Temp/ccCAbaaa.s:41 .progmem.data:00000021 __c.15 |
C:\Users\Arthur-P\AppData\Local\Temp/ccCAbaaa.s:45 .progmem.data:0000002d __c.16 |
C:\Users\Arthur-P\AppData\Local\Temp/ccCAbaaa.s:49 .progmem.data:00000034 __c.17 |
C:\Users\Arthur-P\AppData\Local\Temp/ccCAbaaa.s:53 .progmem.data:0000003f __c.18 |
C:\Users\Arthur-P\AppData\Local\Temp/ccCAbaaa.s:57 .progmem.data:0000004c __c.19 |
C:\Users\Arthur-P\AppData\Local\Temp/ccCAbaaa.s:265 .progmem.data:00000053 __c.10 |
C:\Users\Arthur-P\AppData\Local\Temp/ccCAbaaa.s:269 .progmem.data:00000063 __c.11 |
C:\Users\Arthur-P\AppData\Local\Temp/ccCAbaaa.s:273 .progmem.data:00000073 __c.12 |
C:\Users\Arthur-P\AppData\Local\Temp/ccCAbaaa.s:277 .progmem.data:00000084 __c.13 |
C:\Users\Arthur-P\AppData\Local\Temp/ccCAbaaa.s:421 .progmem.data:0000008d __c.8 |
C:\Users\Arthur-P\AppData\Local\Temp/ccCAbaaa.s:425 .progmem.data:000000a0 __c.9 |
C:\Users\Arthur-P\AppData\Local\Temp/ccCAbaaa.s:511 .progmem.data:000000ac __c.2 |
C:\Users\Arthur-P\AppData\Local\Temp/ccCAbaaa.s:515 .progmem.data:000000bb __c.3 |
C:\Users\Arthur-P\AppData\Local\Temp/ccCAbaaa.s:519 .progmem.data:000000c0 __c.4 |
C:\Users\Arthur-P\AppData\Local\Temp/ccCAbaaa.s:523 .progmem.data:000000c5 __c.5 |
C:\Users\Arthur-P\AppData\Local\Temp/ccCAbaaa.s:527 .progmem.data:000000ca __c.6 |
C:\Users\Arthur-P\AppData\Local\Temp/ccCAbaaa.s:531 .progmem.data:000000da __c.7 |
.bss:00000000 item.0 |
C:\Users\Arthur-P\AppData\Local\Temp/ccCAbaaa.s:676 .bss:00000001 last_item.1 |
C:\Users\Arthur-P\AppData\Local\Temp/ccCAbaaa.s:680 .text:000004fc JetiBox_Update |
UNDEFINED SYMBOLS |
__do_copy_data |
__do_clear_bss |
LIBFC_JetiBox_SetPos |
UBat |
__divmodhi4 |
LIBFC_JetiBox_Putchar |
_printf_P |
NaviDataOkay |
GPSInfo |
__udivmodhi4 |
ErsatzKompass |
GIER_GRAD_FAKTOR |
__divmodsi4 |
NC_ErrorCode |
FlugSekunden |
Capacity |
EE_Parameter |
VarioCharacter |
HoehenWert |
Motor |
RequiredMotors |
LIBFC_JetiBox_Clear |
/branches/V0.80d-Arthur-P/led.c |
---|
0,0 → 1,99 |
#include <inttypes.h> |
#include "main.h" |
uint16_t LED1_Timing = 0; |
uint16_t LED2_Timing = 0; |
unsigned char J16Blinkcount = 0, J16Mask = 1; |
unsigned char J17Blinkcount = 0, J17Mask = 1; |
// initializes the LED control outputs J16, J17 |
void LED_Init(void) |
{ |
// set PC2 & PC3 as output (control of J16 & J17) |
DDRC |= (1<<DDC2)|(1<<DDC3); |
J16_OFF; |
J17_OFF; |
J16Blinkcount = 0; J16Mask = 128; |
J17Blinkcount = 0; J17Mask = 128; |
} |
// called in UpdateMotors() every 2ms |
void LED_Update(void) |
{ |
static char delay = 0; |
static unsigned char J16Bitmask = 0; |
static unsigned char J17Bitmask = 0; |
static unsigned char J16Warn = 0, J17Warn = 0; |
if(!delay--) // 10ms Intervall |
{ |
delay = 4; |
if(FCFlags & (FCFLAG_LOWBAT | FCFLAG_NOTLANDUNG | FCFLAG_I2CERR)) |
{ |
if(EE_Parameter.WARN_J16_Bitmask) |
{ |
if(!J16Warn) J16Blinkcount = 4; |
J16Warn = 1; |
} |
if(EE_Parameter.WARN_J17_Bitmask) |
{ |
if(!J17Warn) J17Blinkcount = 4; |
J17Warn = 1; |
} |
} |
else |
{ |
J16Warn = 0; |
J17Warn = 0; |
J16Bitmask = EE_Parameter.J16Bitmask; |
J17Bitmask = EE_Parameter.J17Bitmask; |
} |
if(!J16Warn) |
{ |
if((EE_Parameter.BitConfig & CFG_MOTOR_BLINK) && !MotorenEin) {if(EE_Parameter.BitConfig & CFG_MOTOR_OFF_LED1) J16_ON; else J16_OFF;} |
else |
if((EE_Parameter.J16Timing > 247) && (Parameter_J16Timing > 220)) {if(J16Bitmask & 128) J16_ON; else J16_OFF;} |
else |
if((EE_Parameter.J16Timing > 247) && (Parameter_J16Timing < 10)) {if(J16Bitmask & 128) J16_OFF; else J16_ON;} |
else |
if(!J16Blinkcount--) |
{ |
J16Blinkcount = Parameter_J16Timing-1; |
if(J16Mask == 1) J16Mask = 128; else J16Mask /= 2; |
if(J16Mask & J16Bitmask) J16_ON; else J16_OFF; |
} |
} |
else |
if(!J16Blinkcount--) |
{ |
J16Blinkcount = 10-1; |
if(J16Mask == 1) J16Mask = 128; else J16Mask /= 2; |
if(J16Mask & EE_Parameter.WARN_J16_Bitmask) J16_ON; else J16_OFF; |
} |
if(!J17Warn) |
{ |
if((EE_Parameter.BitConfig & CFG_MOTOR_BLINK) && !MotorenEin) {if(EE_Parameter.BitConfig & CFG_MOTOR_OFF_LED2) J17_ON; else J17_OFF;} |
else |
if((EE_Parameter.J17Timing > 247) && (Parameter_J17Timing > 220)) {if(J17Bitmask & 128) J17_ON; else J17_OFF;} |
else |
if((EE_Parameter.J17Timing > 247) && (Parameter_J17Timing < 10)) {if(J17Bitmask & 128) J17_OFF; else J17_ON;} |
else |
if(!J17Blinkcount--) |
{ |
J17Blinkcount = Parameter_J17Timing-1; |
if(J17Mask == 1) J17Mask = 128; else J17Mask /= 2; |
if(J17Mask & J17Bitmask) J17_ON; else J17_OFF; |
} |
} |
else |
if(!J17Blinkcount--) |
{ |
J17Blinkcount = 10-1; |
if(J17Mask == 1) J17Mask = 128; else J17Mask /= 2; |
if(J17Mask & EE_Parameter.WARN_J17_Bitmask) J17_ON; else J17_OFF; |
} |
} |
} |
/branches/V0.80d-Arthur-P/led.d |
---|
0,0 → 1,3 |
led.o led.d : led.c main.h old_macros.h printf_P.h timer0.h uart.h analog.h \ |
twimaster.h menu.h rc.h fc.h gps.h spi.h led.h spektrum.h capacity.h \ |
eeprom.h libfc.h debug.h |
/branches/V0.80d-Arthur-P/led.h |
---|
0,0 → 1,11 |
#include <avr/io.h> |
#define J16_ON PORTC |= (1<<PORTC2) |
#define J16_OFF PORTC &= ~(1<<PORTC2) |
#define J16_TOGGLE PORTC ^= (1<<PORTC2) |
#define J17_ON PORTC |= (1<<PORTC3) |
#define J17_OFF PORTC &= ~(1<<PORTC3) |
#define J17_TOGGLE PORTC ^= (1<<PORTC3) |
extern void LED_Init(void); |
extern void LED_Update(void); |
/branches/V0.80d-Arthur-P/led.lst |
---|
0,0 → 1,315 |
1 .file "led.c" |
2 .arch atmega644p |
3 __SREG__ = 0x3f |
4 __SP_H__ = 0x3e |
5 __SP_L__ = 0x3d |
6 __tmp_reg__ = 0 |
7 __zero_reg__ = 1 |
8 .global __do_copy_data |
9 .global __do_clear_bss |
10 .global J17Mask |
11 .data |
14 J17Mask: |
15 0000 01 .byte 1 |
16 .global J17Blinkcount |
17 .global J17Blinkcount |
18 .section .bss |
21 J17Blinkcount: |
22 0000 00 .skip 1,0 |
23 .global J16Mask |
24 .data |
27 J16Mask: |
28 0001 01 .byte 1 |
29 .global J16Blinkcount |
30 .global J16Blinkcount |
31 .section .bss |
34 J16Blinkcount: |
35 0001 00 .skip 1,0 |
36 .global LED2_Timing |
37 .global LED2_Timing |
40 LED2_Timing: |
41 0002 0000 .skip 2,0 |
42 .global LED1_Timing |
43 .global LED1_Timing |
46 LED1_Timing: |
47 0004 0000 .skip 2,0 |
48 .text |
49 .global LED_Init |
51 LED_Init: |
52 /* prologue: frame size=0 */ |
53 /* prologue end (size=0) */ |
54 0000 87B1 in r24,39-0x20 |
55 0002 8C60 ori r24,lo8(12) |
56 0004 87B9 out 39-0x20,r24 |
57 0006 4298 cbi 40-0x20,2 |
58 0008 4398 cbi 40-0x20,3 |
59 000a 1092 0000 sts J16Blinkcount,__zero_reg__ |
60 000e 80E8 ldi r24,lo8(-128) |
61 0010 8093 0000 sts J16Mask,r24 |
62 0014 1092 0000 sts J17Blinkcount,__zero_reg__ |
63 0018 8093 0000 sts J17Mask,r24 |
64 /* epilogue: frame size=0 */ |
65 001c 0895 ret |
66 /* epilogue end (size=1) */ |
67 /* function LED_Init size 15 (14) */ |
69 .lcomm delay.0,1 |
70 .lcomm J16Bitmask.1,1 |
71 .lcomm J17Bitmask.2,1 |
72 .lcomm J16Warn.3,1 |
73 .lcomm J17Warn.4,1 |
74 .global LED_Update |
76 LED_Update: |
77 /* prologue: frame size=0 */ |
78 /* prologue end (size=0) */ |
79 001e 8091 0000 lds r24,delay.0 |
80 0022 8150 subi r24,lo8(-(-1)) |
81 0024 8093 0000 sts delay.0,r24 |
82 0028 8F3F cpi r24,lo8(-1) |
83 002a 09F0 breq .+2 |
84 002c F4C0 rjmp .L2 |
85 002e 94E0 ldi r25,lo8(4) |
86 0030 9093 0000 sts delay.0,r25 |
87 0034 8091 0000 lds r24,FCFlags |
88 0038 807B andi r24,lo8(-80) |
89 003a E1F0 breq .L4 |
90 003c 8091 0000 lds r24,EE_Parameter+76 |
91 0040 8823 tst r24 |
92 0042 49F0 breq .L5 |
93 0044 8091 0000 lds r24,J16Warn.3 |
94 0048 8823 tst r24 |
95 004a 11F4 brne .L6 |
96 004c 9093 0000 sts J16Blinkcount,r25 |
97 .L6: |
98 0050 81E0 ldi r24,lo8(1) |
99 0052 8093 0000 sts J16Warn.3,r24 |
100 .L5: |
101 0056 8091 0000 lds r24,EE_Parameter+77 |
102 005a 8823 tst r24 |
103 005c B9F0 breq .L9 |
104 005e 8091 0000 lds r24,J17Warn.4 |
105 0062 8823 tst r24 |
106 0064 19F4 brne .L8 |
107 0066 84E0 ldi r24,lo8(4) |
108 0068 8093 0000 sts J17Blinkcount,r24 |
109 .L8: |
110 006c 81E0 ldi r24,lo8(1) |
111 006e 8093 0000 sts J17Warn.4,r24 |
112 0072 0CC0 rjmp .L9 |
113 .L4: |
114 0074 8093 0000 sts J16Warn.3,r24 |
115 0078 8093 0000 sts J17Warn.4,r24 |
116 007c 8091 0000 lds r24,EE_Parameter+72 |
117 0080 8093 0000 sts J16Bitmask.1,r24 |
118 0084 8091 0000 lds r24,EE_Parameter+74 |
119 0088 8093 0000 sts J17Bitmask.2,r24 |
120 .L9: |
121 008c 8091 0000 lds r24,J16Warn.3 |
122 0090 8823 tst r24 |
123 0092 09F0 breq .+2 |
124 0094 40C0 rjmp .L10 |
125 0096 8091 0000 lds r24,EE_Parameter+97 |
126 009a 282F mov r18,r24 |
127 009c 3327 clr r19 |
128 009e 24FF sbrs r18,4 |
129 00a0 07C0 rjmp .L11 |
130 00a2 8091 0000 lds r24,MotorenEin |
131 00a6 8823 tst r24 |
132 00a8 19F4 brne .L11 |
133 00aa 25FD sbrc r18,5 |
134 00ac 4DC0 rjmp .L60 |
135 00ae 4EC0 rjmp .L32 |
136 .L11: |
137 00b0 9091 0000 lds r25,EE_Parameter+73 |
138 00b4 983F cpi r25,lo8(-8) |
139 00b6 50F0 brlo .L15 |
140 00b8 8091 0000 lds r24,Parameter_J16Timing |
141 00bc 8D3D cpi r24,lo8(-35) |
142 00be 30F0 brlo .L15 |
143 00c0 8091 0000 lds r24,J16Bitmask.1 |
144 00c4 8823 tst r24 |
145 00c6 0CF4 brge .+2 |
146 00c8 3FC0 rjmp .L60 |
147 00ca 40C0 rjmp .L32 |
148 .L15: |
149 00cc 983F cpi r25,lo8(-8) |
150 00ce 48F0 brlo .L19 |
151 00d0 8091 0000 lds r24,Parameter_J16Timing |
152 00d4 8A30 cpi r24,lo8(10) |
153 00d6 28F4 brsh .L19 |
154 00d8 8091 0000 lds r24,J16Bitmask.1 |
155 00dc 8823 tst r24 |
156 00de B4F1 brlt .L32 |
157 00e0 33C0 rjmp .L60 |
158 .L19: |
159 00e2 8091 0000 lds r24,J16Blinkcount |
160 00e6 8150 subi r24,lo8(-(-1)) |
161 00e8 8093 0000 sts J16Blinkcount,r24 |
162 00ec 8F3F cpi r24,lo8(-1) |
163 00ee 79F5 brne .L28 |
164 00f0 8091 0000 lds r24,Parameter_J16Timing |
165 00f4 8150 subi r24,lo8(-(-1)) |
166 00f6 8093 0000 sts J16Blinkcount,r24 |
167 00fa 8091 0000 lds r24,J16Mask |
168 00fe 8130 cpi r24,lo8(1) |
169 0100 11F4 brne .L24 |
170 0102 80E8 ldi r24,lo8(-128) |
171 0104 01C0 rjmp .L58 |
172 .L24: |
173 0106 8695 lsr r24 |
174 .L58: |
175 0108 8093 0000 sts J16Mask,r24 |
176 010c 8091 0000 lds r24,J16Mask |
177 0110 9091 0000 lds r25,J16Bitmask.1 |
178 0114 17C0 rjmp .L67 |
179 .L10: |
180 0116 8091 0000 lds r24,J16Blinkcount |
181 011a 8150 subi r24,lo8(-(-1)) |
182 011c 8093 0000 sts J16Blinkcount,r24 |
183 0120 8F3F cpi r24,lo8(-1) |
184 0122 A9F4 brne .L28 |
185 0124 89E0 ldi r24,lo8(9) |
186 0126 8093 0000 sts J16Blinkcount,r24 |
187 012a 8091 0000 lds r24,J16Mask |
188 012e 8130 cpi r24,lo8(1) |
189 0130 11F4 brne .L30 |
190 0132 80E8 ldi r24,lo8(-128) |
191 0134 01C0 rjmp .L59 |
192 .L30: |
193 0136 8695 lsr r24 |
194 .L59: |
195 0138 8093 0000 sts J16Mask,r24 |
196 013c 8091 0000 lds r24,J16Mask |
197 0140 9091 0000 lds r25,EE_Parameter+76 |
198 .L67: |
199 0144 8923 and r24,r25 |
200 0146 11F0 breq .L32 |
201 .L60: |
202 0148 429A sbi 40-0x20,2 |
203 014a 01C0 rjmp .L28 |
204 .L32: |
205 014c 4298 cbi 40-0x20,2 |
206 .L28: |
207 014e 8091 0000 lds r24,J17Warn.4 |
208 0152 8823 tst r24 |
209 0154 09F0 breq .+2 |
210 0156 43C0 rjmp .L34 |
211 0158 8091 0000 lds r24,EE_Parameter+97 |
212 015c 282F mov r18,r24 |
213 015e 3327 clr r19 |
214 0160 24FF sbrs r18,4 |
215 0162 07C0 rjmp .L35 |
216 0164 8091 0000 lds r24,MotorenEin |
217 0168 8823 tst r24 |
218 016a 19F4 brne .L35 |
219 016c 26FD sbrc r18,6 |
220 016e 50C0 rjmp .L66 |
221 0170 34C0 rjmp .L50 |
222 .L35: |
223 0172 9091 0000 lds r25,EE_Parameter+75 |
224 0176 983F cpi r25,lo8(-8) |
225 0178 50F0 brlo .L39 |
226 017a 8091 0000 lds r24,Parameter_J17Timing |
227 017e 8D3D cpi r24,lo8(-35) |
228 0180 30F0 brlo .L39 |
229 0182 8091 0000 lds r24,J17Bitmask.2 |
230 0186 8823 tst r24 |
231 0188 0CF4 brge .+2 |
232 018a 42C0 rjmp .L66 |
233 018c 26C0 rjmp .L50 |
234 .L39: |
235 018e 983F cpi r25,lo8(-8) |
236 0190 48F0 brlo .L43 |
237 0192 8091 0000 lds r24,Parameter_J17Timing |
238 0196 8A30 cpi r24,lo8(10) |
239 0198 28F4 brsh .L43 |
240 019a 8091 0000 lds r24,J17Bitmask.2 |
241 019e 8823 tst r24 |
242 01a0 E4F0 brlt .L50 |
243 01a2 36C0 rjmp .L66 |
244 .L43: |
245 01a4 8091 0000 lds r24,J17Blinkcount |
246 01a8 8150 subi r24,lo8(-(-1)) |
247 01aa 8093 0000 sts J17Blinkcount,r24 |
248 01ae 8F3F cpi r24,lo8(-1) |
249 01b0 91F5 brne .L2 |
250 01b2 8091 0000 lds r24,Parameter_J17Timing |
251 01b6 8150 subi r24,lo8(-(-1)) |
252 01b8 8093 0000 sts J17Blinkcount,r24 |
253 01bc 8091 0000 lds r24,J17Mask |
254 01c0 8130 cpi r24,lo8(1) |
255 01c2 11F4 brne .L48 |
256 01c4 80E8 ldi r24,lo8(-128) |
257 01c6 01C0 rjmp .L61 |
258 .L48: |
259 01c8 8695 lsr r24 |
260 .L61: |
261 01ca 8093 0000 sts J17Mask,r24 |
262 01ce 8091 0000 lds r24,J17Mask |
263 01d2 9091 0000 lds r25,J17Bitmask.2 |
264 01d6 8923 and r24,r25 |
265 01d8 D9F4 brne .L66 |
266 .L50: |
267 01da 4398 cbi 40-0x20,3 |
268 01dc 0895 ret |
269 .L34: |
270 01de 8091 0000 lds r24,J17Blinkcount |
271 01e2 8150 subi r24,lo8(-(-1)) |
272 01e4 8093 0000 sts J17Blinkcount,r24 |
273 01e8 8F3F cpi r24,lo8(-1) |
274 01ea A9F4 brne .L2 |
275 01ec 89E0 ldi r24,lo8(9) |
276 01ee 8093 0000 sts J17Blinkcount,r24 |
277 01f2 8091 0000 lds r24,J17Mask |
278 01f6 8130 cpi r24,lo8(1) |
279 01f8 11F4 brne .L54 |
280 01fa 80E8 ldi r24,lo8(-128) |
281 01fc 01C0 rjmp .L62 |
282 .L54: |
283 01fe 8695 lsr r24 |
284 .L62: |
285 0200 8093 0000 sts J17Mask,r24 |
286 0204 8091 0000 lds r24,J17Mask |
287 0208 9091 0000 lds r25,EE_Parameter+77 |
288 020c 8923 and r24,r25 |
289 020e 11F0 breq .L56 |
290 .L66: |
291 0210 439A sbi 40-0x20,3 |
292 0212 0895 ret |
293 .L56: |
294 0214 4398 cbi 40-0x20,3 |
295 .L2: |
296 0216 0895 ret |
297 /* epilogue: frame size=0 */ |
298 /* epilogue: noreturn */ |
299 /* epilogue end (size=0) */ |
300 /* function LED_Update size 261 (261) */ |
302 /* File "led.c": code 276 = 0x0114 ( 275), prologues 0, epilogues 1 */ |
DEFINED SYMBOLS |
*ABS*:00000000 led.c |
C:\Users\Arthur-P\AppData\Local\Temp/ccMfaaaa.s:3 *ABS*:0000003f __SREG__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccMfaaaa.s:4 *ABS*:0000003e __SP_H__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccMfaaaa.s:5 *ABS*:0000003d __SP_L__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccMfaaaa.s:6 *ABS*:00000000 __tmp_reg__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccMfaaaa.s:7 *ABS*:00000001 __zero_reg__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccMfaaaa.s:14 .data:00000000 J17Mask |
C:\Users\Arthur-P\AppData\Local\Temp/ccMfaaaa.s:21 .bss:00000000 J17Blinkcount |
C:\Users\Arthur-P\AppData\Local\Temp/ccMfaaaa.s:27 .data:00000001 J16Mask |
C:\Users\Arthur-P\AppData\Local\Temp/ccMfaaaa.s:34 .bss:00000001 J16Blinkcount |
C:\Users\Arthur-P\AppData\Local\Temp/ccMfaaaa.s:40 .bss:00000002 LED2_Timing |
C:\Users\Arthur-P\AppData\Local\Temp/ccMfaaaa.s:46 .bss:00000004 LED1_Timing |
C:\Users\Arthur-P\AppData\Local\Temp/ccMfaaaa.s:51 .text:00000000 LED_Init |
.bss:00000006 delay.0 |
C:\Users\Arthur-P\AppData\Local\Temp/ccMfaaaa.s:69 .bss:00000007 J16Bitmask.1 |
C:\Users\Arthur-P\AppData\Local\Temp/ccMfaaaa.s:70 .bss:00000008 J17Bitmask.2 |
C:\Users\Arthur-P\AppData\Local\Temp/ccMfaaaa.s:71 .bss:00000009 J16Warn.3 |
C:\Users\Arthur-P\AppData\Local\Temp/ccMfaaaa.s:72 .bss:0000000a J17Warn.4 |
C:\Users\Arthur-P\AppData\Local\Temp/ccMfaaaa.s:76 .text:0000001e LED_Update |
UNDEFINED SYMBOLS |
__do_copy_data |
__do_clear_bss |
FCFlags |
EE_Parameter |
MotorenEin |
Parameter_J16Timing |
Parameter_J17Timing |
/branches/V0.80d-Arthur-P/libfc.h |
---|
0,0 → 1,20 |
#ifndef _LIBFC_H |
#define _LIBFC_H |
#define CPU_UNKNOWN 0 |
#define CPU_ATMEGA644 1 |
#define CPU_ATMEGA644P 2 |
#define CPU_ATMEGA1284 3 |
#define CPU_ATMEGA1284P 4 |
extern void LIBFC_Init(void); |
extern void LIBFC_Polling(void); |
extern void LIBFC_ReceiverInit(unsigned char rtype); |
extern void LIBFC_JetiBox_Putchar(char c); |
extern void LIBFC_JetiBox_SetPos(unsigned char index); |
extern void LIBFC_JetiBox_Clear(void); |
extern unsigned char LIBFC_GetCPUType(void); |
#endif //_LIBFC_H |
/branches/V0.80d-Arthur-P/main.c |
---|
0,0 → 1,402 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) Holger Buss, Ingo Busker |
// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
// + www.MikroKopter.com |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
// + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
// + bzgl. der Nutzungsbedingungen aufzunehmen. |
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
// + Verkauf von Luftbildaufnahmen, usw. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
// + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
// + eindeutig als Ursprung verlinkt und genannt werden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
// + Benutzung auf eigene Gefahr |
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
// + mit unserer Zustimmung zulässig |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
// + this list of conditions and the following disclaimer. |
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
// + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
// + POSSIBILITY OF SUCH DAMAGE. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#include "main.h" |
unsigned char PlatinenVersion = 10; |
unsigned char SendVersionToNavi = 1; |
unsigned char BattLowVoltageWarning = 94; |
unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0; |
unsigned int FlugSekunden = 0; |
pVoidFnct_pVoidFnctChar_const_fmt _printf_P; |
unsigned char FoundMotors = 0; |
void CalMk3Mag(void) |
{ |
static unsigned char stick = 1; |
if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0; |
if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick) |
{ |
stick = 1; |
WinkelOut.CalcState++; |
if(WinkelOut.CalcState > 4) |
{ |
// WinkelOut.CalcState = 0; // in Uart.c |
beeptime = 1000; |
} |
else Piep(WinkelOut.CalcState,150); |
} |
DebugOut.Analog[19] = WinkelOut.CalcState; |
} |
void LipoDetection(unsigned char print) |
{ |
#define MAX_CELL_VOLTAGE 43 // max cell volatage for LiPO |
unsigned int timer, cells; |
if(print) printf("\n\rBatt:"); |
if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung |
{ |
timer = SetDelay(500); |
if(print) while (!CheckDelay(timer)); |
// up to 6s LiPo, less than 2s is technical impossible |
for(cells = 2; cells < 7; cells++) |
{ |
if(UBat < cells * MAX_CELL_VOLTAGE) break; |
} |
BattLowVoltageWarning = cells * EE_Parameter.UnterspannungsWarnung; |
if(print) |
{ |
Piep(cells, 200); |
printf(" %d Cells ", cells); |
} |
} |
else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung; |
if(print) printf(" Low warning level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10); |
} |
//############################################################################ |
//Hauptprogramm |
int main (void) |
//############################################################################ |
{ |
unsigned int timer,i,timer2 = 0, timerPolling; |
DDRB = 0x00; |
PORTB = 0x00; |
for(timer = 0; timer < 1000; timer++); // verzögern |
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
PlatinenVersion = 21; |
#else |
if(PINB & 0x01) |
{ |
if(PINB & 0x02) PlatinenVersion = 13; |
else PlatinenVersion = 11; |
} |
else |
{ |
if(PINB & 0x02) PlatinenVersion = 20; |
else PlatinenVersion = 10; |
} |
#endif |
DDRC = 0x81; // SCL |
DDRC |=0x40; // HEF4017 Reset |
PORTC = 0xff; // Pullup SDA |
DDRB = 0x1B; // LEDs und Druckoffset |
PORTB = 0x01; // LED_Rot |
DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
PORTD = 0x47; // LED |
HEF4017R_ON; |
MCUSR &=~(1<<WDRF); |
WDTCSR |= (1<<WDCE)|(1<<WDE); |
WDTCSR = 0; |
beeptime = 2500; |
StickGier = 0; PPM_in[K_GAS] = 0; StickRoll = 0; StickNick = 0; |
if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1220; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC |
ROT_OFF; |
Timer_Init(); |
TIMER2_Init(); |
UART_Init(); |
rc_sum_init(); |
ADC_Init(); |
I2C_Init(); |
SPI_MasterInit(); |
Capacity_Init(); |
LIBFC_Init(); |
GRN_ON; |
sei(); |
ParamSet_Init(); |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Check connected BL-Ctrls |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Check connected BL-Ctrls |
BLFlags |= BLFLAG_READ_VERSION; |
motor_read = 0; // read the first I2C-Data |
SendMotorData(); |
timer = SetDelay(500); |
while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
printf("\n\rFound BL-Ctrl: "); |
timer = SetDelay(4000); |
for(i=0; i < MAX_MOTORS; i++) |
{ |
SendMotorData(); |
while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up |
{ |
while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) ) |
{ |
SendMotorData(); |
while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
} |
} |
if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) |
{ |
printf("%d",i+1); |
FoundMotors++; |
// if(Motor[i].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) printf("(new) "); |
} |
} |
for(i=0; i < MAX_MOTORS; i++) |
{ |
if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0) |
{ |
printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1); |
ServoActive = 2; // just in case the FC would be used as camera-stabilizer |
} |
Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter |
} |
printf("\n\r==================================="); |
if(RequiredMotors < FoundMotors) VersionInfo.HardwareError[1] |= DEFEKT_MIXER_ERR; |
//if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
{ |
printf("\n\rCalibrating pressure sensor.."); |
timer = SetDelay(1000); |
SucheLuftruckOffset(); |
while (!CheckDelay(timer)); |
printf("OK\n\r"); |
} |
SetNeutral(0); |
ROT_OFF; |
beeptime = 2000; |
ExternControl.Digital[0] = 0x55; |
FlugMinuten = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES + 1); |
FlugMinutenGesamt = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL + 1); |
if((FlugMinutenGesamt == 0xFFFF) || (FlugMinuten == 0xFFFF)) |
{ |
FlugMinuten = 0; |
FlugMinutenGesamt = 0; |
} |
printf("\n\rFlight-time %u min Total:%u min", FlugMinuten, FlugMinutenGesamt); |
printf("\n\rControl: "); |
if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
else printf("Normal (ACC-Mode)"); |
LcdClear(); |
I2CTimeout = 5000; |
WinkelOut.Orientation = 1; |
LipoDetection(1); |
LIBFC_ReceiverInit(EE_Parameter.Receiver); |
printf("\n\r===================================\n\r"); |
//SpektrumBinding(); |
timer = SetDelay(2000); |
timerPolling = SetDelay(250); |
Debug(ANSI_CLEAR "FC-Start!\n\rFlugzeit: %d min", FlugMinutenGesamt); // Note: this won't waste flash memory, if #DEBUG is not active |
DebugOut.Status[0] = 0x01 | 0x02; |
while (1) |
{ |
if(CheckDelay(timerPolling)) |
{ |
timerPolling = SetDelay(100); |
LIBFC_Polling(); |
} |
if(UpdateMotor && AdReady) // ReglerIntervall |
{ |
UpdateMotor=0; |
if(WinkelOut.CalcState) CalMk3Mag(); |
else MotorRegler(); |
SendMotorData(); |
ROT_OFF; |
if(SenderOkay) { SenderOkay--; VersionInfo.HardwareError[1] &= ~DEFEKT_PPM_ERR; } |
else |
{ |
TIMSK1 |= _BV(ICIE1); // enable PPM-Input |
PPM_in[0] = 0; // set RSSI to zero on data timeout |
VersionInfo.HardwareError[1] |= DEFEKT_PPM_ERR; |
} |
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160; |
//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101; |
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(!--I2CTimeout || MissingMotor) |
{ |
if(!I2CTimeout) |
{ |
I2C_Reset(); |
I2CTimeout = 5; |
DebugOut.Analog[28]++; // I2C-Error |
FCFlags |= FCFLAG_I2CERR; |
VersionInfo.HardwareError[1] |= DEFEKT_I2C; |
DebugOut.Status[1] |= 0x02; // BL-Error-Status |
} |
if((BeepMuster == 0xffff) && MotorenEin) |
{ |
beeptime = 10000; |
BeepMuster = 0x0080; |
} |
} |
else |
{ |
ROT_OFF; |
if(!beeptime) |
{ |
FCFlags &= ~FCFLAG_I2CERR; |
} |
} |
if(!UpdateMotor) |
{ |
DatenUebertragung(); |
BearbeiteRxDaten(); |
if(CheckDelay(timer)) |
{ |
static unsigned char second; |
timer += 20; // 20 ms interval |
if(MissingMotor) |
{ |
VersionInfo.HardwareError[1] |= DEFEKT_BL_MISSING; |
DebugOut.Status[1] |= 0x02; // BL-Error-Status |
} |
else |
{ |
VersionInfo.HardwareError[1] &= ~DEFEKT_BL_MISSING; |
if(I2CTimeout > 6) DebugOut.Status[1] &= ~0x02; // BL-Error-Status |
} |
if(I2CTimeout > 6) VersionInfo.HardwareError[1] &= ~DEFEKT_I2C; |
if(PcZugriff) PcZugriff--; |
else |
{ |
ExternControl.Config = 0; |
ExternStickNick = 0; |
ExternStickRoll = 0; |
ExternStickGier = 0; |
if(BeepMuster == 0xffff && SenderOkay == 0) |
{ |
beeptime = 15000; |
BeepMuster = 0x0c00; |
} |
} |
if(NaviDataOkay > 200) |
{ |
NaviDataOkay--; |
FCFlags &= ~FCFLAG_SPI_RX_ERR; |
VersionInfo.HardwareError[1] &= ~DEFEKT_SPI_RX_ERR; |
} |
else |
{ |
if(NC_Version.Compatible) |
{ |
FCFlags |= FCFLAG_SPI_RX_ERR; |
VersionInfo.HardwareError[1] |= DEFEKT_SPI_RX_ERR; |
if(BeepMuster == 0xffff && MotorenEin) |
{ |
beeptime = 15000; |
BeepMuster = 0xA800; |
} |
} |
GPS_Nick = 0; |
GPS_Roll = 0; |
//if(!beeptime) |
FromNaviCtrl.CompassValue = -1; |
NaviDataOkay = 0; |
} |
if(UBat < BattLowVoltageWarning) |
{ |
FCFlags |= FCFLAG_LOWBAT; |
if(BeepMuster == 0xffff) |
{ |
beeptime = 6000; |
BeepMuster = 0x0300; |
} |
} |
else if(!beeptime) FCFlags &= ~FCFLAG_LOWBAT; |
SPI_StartTransmitPacket(); |
SendSPI = 4; |
if(!MotorenEin) timer2 = 1450; // 0,5 Minuten aufrunden |
else |
if(++second == 49) |
{ |
second = 0; |
FlugSekunden++; |
} |
if(++timer2 == 2930) // eine Minute |
{ |
timer2 = 0; |
FlugMinuten++; |
FlugMinutenGesamt++; |
SetParamByte(PID_FLIGHT_MINUTES,FlugMinuten / 256); |
SetParamByte(PID_FLIGHT_MINUTES+1,FlugMinuten % 256); |
SetParamByte(PID_FLIGHT_MINUTES_TOTAL,FlugMinutenGesamt / 256); |
SetParamByte(PID_FLIGHT_MINUTES_TOTAL+1,FlugMinutenGesamt % 256); |
timer = SetDelay(20); // falls "timer += 20;" mal nicht geht |
} |
} |
LED_Update(); |
Capacity_Update(); |
} |
} |
if(!SendSPI) { SPI_TransmitByte(); } |
} |
return (1); |
} |
/branches/V0.80d-Arthur-P/main.d |
---|
0,0 → 1,3 |
main.o main.d : main.c main.h old_macros.h printf_P.h timer0.h uart.h analog.h \ |
twimaster.h menu.h rc.h fc.h gps.h spi.h led.h spektrum.h capacity.h \ |
eeprom.h libfc.h debug.h |
/branches/V0.80d-Arthur-P/main.h |
---|
0,0 → 1,75 |
#ifndef _MAIN_H |
#define _MAIN_H |
//#define DEBUG // use to activate debug output to MK-Tool: use Debug(text); |
//#define ACT_S3D_SUMMENSIGNAL |
//#define SWITCH_LEARNS_CAREFREE |
//#define RECEIVER_SPEKTRUM_EXP |
// neue Hardware |
#define ROT_OFF {if((PlatinenVersion == 10)||(PlatinenVersion >= 20)) PORTB &=~0x01; else PORTB |= 0x01;} |
#define ROT_ON {if((PlatinenVersion == 10)||(PlatinenVersion >= 20)) PORTB |= 0x01; else PORTB &=~0x01;} |
#define ROT_FLASH PORTB ^= 0x01 |
#define GRN_OFF {if((PlatinenVersion < 12)) PORTB &=~0x02; else PORTB |= 0x02;} |
#define GRN_ON {if((PlatinenVersion < 12)) PORTB |= 0x02; else PORTB &=~0x02;} |
#define GRN_FLASH PORTB ^= 0x02 |
#define SYSCLK F_CPU |
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#define J3High PORTD |= 0x20 |
#define J3Low PORTD &= ~0x20 |
#define J4High PORTD |= 0x10 |
#define J4Low PORTD &= ~0x10 |
#define J5High PORTD |= 0x08 |
#define J5Low PORTD &= ~0x08 |
extern volatile unsigned char SenderOkay; |
extern unsigned char BattLowVoltageWarning; |
extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
extern unsigned char PlatinenVersion; |
extern unsigned char SendVersionToNavi; |
extern unsigned char FoundMotors; |
void LipoDetection(unsigned char print); |
extern unsigned int FlugMinuten,FlugMinutenGesamt,FlugSekunden; |
#include <stdlib.h> |
#include <string.h> |
#include <avr/io.h> |
#include <avr/pgmspace.h> |
#include <avr/interrupt.h> |
#include <avr/eeprom.h> |
#include <avr/boot.h> |
#include <avr/wdt.h> |
#include "old_macros.h" |
#include "printf_P.h" |
#include "timer0.h" |
#include "uart.h" |
#include "analog.h" |
#include "twimaster.h" |
#include "menu.h" |
#include "rc.h" |
#include "fc.h" |
#include "gps.h" |
#include "spi.h" |
#include "led.h" |
#include "spektrum.h" |
#include "capacity.h" |
#include "eeprom.h" |
#include "libfc.h" |
#include "debug.h" |
#endif //_MAIN_H |
/branches/V0.80d-Arthur-P/main.lst |
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0,0 → 1,1292 |
1 .file "main.c" |
2 .arch atmega644p |
3 __SREG__ = 0x3f |
4 __SP_H__ = 0x3e |
5 __SP_L__ = 0x3d |
6 __tmp_reg__ = 0 |
7 __zero_reg__ = 1 |
8 .global __do_copy_data |
9 .global __do_clear_bss |
10 .global FoundMotors |
11 .global FoundMotors |
12 .section .bss |
15 FoundMotors: |
16 0000 00 .skip 1,0 |
17 .global FlugSekunden |
18 .global FlugSekunden |
21 FlugSekunden: |
22 0001 0000 .skip 2,0 |
23 .global FlugMinutenGesamt |
24 .global FlugMinutenGesamt |
27 FlugMinutenGesamt: |
28 0003 0000 .skip 2,0 |
29 .global FlugMinuten |
30 .global FlugMinuten |
33 FlugMinuten: |
34 0005 0000 .skip 2,0 |
35 .global BattLowVoltageWarning |
36 .data |
39 BattLowVoltageWarning: |
40 0000 5E .byte 94 |
41 .global SendVersionToNavi |
44 SendVersionToNavi: |
45 0001 01 .byte 1 |
46 .global PlatinenVersion |
49 PlatinenVersion: |
50 0002 0A .byte 10 |
53 stick.15: |
54 0003 01 .byte 1 |
55 .text |
56 .global CalMk3Mag |
58 CalMk3Mag: |
59 /* prologue: frame size=0 */ |
60 /* prologue end (size=0) */ |
61 0000 8091 0000 lds r24,EE_Parameter+1 |
62 0004 E82F mov r30,r24 |
63 0006 FF27 clr r31 |
64 0008 EE0F add r30,r30 |
65 000a FF1F adc r31,r31 |
66 000c E050 subi r30,lo8(-(PPM_in)) |
67 000e F040 sbci r31,hi8(-(PPM_in)) |
68 0010 8081 ld r24,Z |
69 0012 9181 ldd r25,Z+1 |
70 0014 8D5E subi r24,lo8(-19) |
71 0016 9F4F sbci r25,hi8(-19) |
72 0018 14F0 brlt .L2 |
73 001a 1092 0000 sts stick.15,__zero_reg__ |
74 .L2: |
75 001e 8081 ld r24,Z |
76 0020 9181 ldd r25,Z+1 |
77 0022 8A5B subi r24,lo8(-70) |
78 0024 9F4F sbci r25,hi8(-70) |
79 0026 CCF4 brge .L3 |
80 0028 8091 0000 lds r24,stick.15 |
81 002c 8823 tst r24 |
82 002e A9F4 brne .L3 |
83 0030 81E0 ldi r24,lo8(1) |
84 0032 8093 0000 sts stick.15,r24 |
85 0036 8091 0000 lds r24,WinkelOut+6 |
86 003a 8F5F subi r24,lo8(-(1)) |
87 003c 8093 0000 sts WinkelOut+6,r24 |
88 0040 8530 cpi r24,lo8(5) |
89 0042 38F0 brlo .L4 |
90 0044 88EE ldi r24,lo8(1000) |
91 0046 93E0 ldi r25,hi8(1000) |
92 0048 9093 0000 sts (beeptime)+1,r25 |
93 004c 8093 0000 sts beeptime,r24 |
94 0050 04C0 rjmp .L3 |
95 .L4: |
96 0052 66E9 ldi r22,lo8(150) |
97 0054 70E0 ldi r23,hi8(150) |
98 0056 0E94 0000 call Piep |
99 .L3: |
100 005a 8091 0000 lds r24,WinkelOut+6 |
101 005e 9927 clr r25 |
102 0060 9093 0000 sts (DebugOut+40)+1,r25 |
103 0064 8093 0000 sts DebugOut+40,r24 |
104 /* epilogue: frame size=0 */ |
105 0068 0895 ret |
106 /* epilogue end (size=1) */ |
107 /* function CalMk3Mag size 55 (54) */ |
109 .section .progmem.data,"a",@progbits |
112 __c.12: |
113 0000 0A0D 4261 .string "\n\rBatt:" |
113 7474 3A00 |
116 __c.13: |
117 0008 2025 6420 .string " %d Cells " |
117 4365 6C6C |
117 7320 00 |
120 __c.14: |
121 0013 204C 6F77 .string " Low warning level: %d.%d" |
121 2077 6172 |
121 6E69 6E67 |
121 206C 6576 |
121 656C 3A20 |
122 .text |
123 .global LipoDetection |
125 LipoDetection: |
126 /* prologue: frame size=0 */ |
127 006a 1F93 push r17 |
128 006c CF93 push r28 |
129 006e DF93 push r29 |
130 /* prologue end (size=3) */ |
131 0070 182F mov r17,r24 |
132 0072 8823 tst r24 |
133 0074 89F0 breq .L7 |
134 0076 80E0 ldi r24,lo8(__c.12) |
135 0078 90E0 ldi r25,hi8(__c.12) |
136 007a 9F93 push r25 |
137 007c 8F93 push r24 |
138 007e 80E0 ldi r24,lo8(pm(uart_putchar)) |
139 0080 90E0 ldi r25,hi8(pm(uart_putchar)) |
140 0082 9F93 push r25 |
141 0084 8F93 push r24 |
142 0086 E091 0000 lds r30,_printf_P |
143 008a F091 0000 lds r31,(_printf_P)+1 |
144 008e 0995 icall |
145 0090 0F90 pop __tmp_reg__ |
146 0092 0F90 pop __tmp_reg__ |
147 0094 0F90 pop __tmp_reg__ |
148 0096 0F90 pop __tmp_reg__ |
149 .L7: |
150 0098 8091 0000 lds r24,EE_Parameter+36 |
151 009c 8233 cpi r24,lo8(50) |
152 009e 08F0 brlo .+2 |
153 00a0 44C0 rjmp .L8 |
154 00a2 84EF ldi r24,lo8(500) |
155 00a4 91E0 ldi r25,hi8(500) |
156 00a6 0E94 0000 call SetDelay |
157 00aa EC01 movw r28,r24 |
158 00ac 1123 tst r17 |
159 00ae 29F0 breq .L9 |
160 .L10: |
161 00b0 CE01 movw r24,r28 |
162 00b2 0E94 0000 call CheckDelay |
163 00b6 8823 tst r24 |
164 00b8 D9F3 breq .L10 |
165 .L9: |
166 00ba C2E0 ldi r28,lo8(2) |
167 00bc D0E0 ldi r29,hi8(2) |
168 00be 26E5 ldi r18,lo8(86) |
169 00c0 30E0 ldi r19,hi8(86) |
170 .L17: |
171 00c2 8091 0000 lds r24,UBat |
172 00c6 9091 0000 lds r25,(UBat)+1 |
173 00ca 8217 cp r24,r18 |
174 00cc 9307 cpc r25,r19 |
175 00ce 30F0 brlo .L14 |
176 00d0 2196 adiw r28,1 |
177 00d2 255D subi r18,lo8(-(43)) |
178 00d4 3F4F sbci r19,hi8(-(43)) |
179 00d6 C730 cpi r28,7 |
180 00d8 D105 cpc r29,__zero_reg__ |
181 00da 98F3 brlo .L17 |
182 .L14: |
183 00dc 8091 0000 lds r24,EE_Parameter+36 |
184 00e0 9927 clr r25 |
185 00e2 C89F mul r28,r24 |
186 00e4 9001 movw r18,r0 |
187 00e6 C99F mul r28,r25 |
188 00e8 300D add r19,r0 |
189 00ea D89F mul r29,r24 |
190 00ec 300D add r19,r0 |
191 00ee 1124 clr r1 |
192 00f0 2093 0000 sts BattLowVoltageWarning,r18 |
193 00f4 1123 tst r17 |
194 00f6 D9F0 breq .L19 |
195 00f8 68EC ldi r22,lo8(200) |
196 00fa 70E0 ldi r23,hi8(200) |
197 00fc 8C2F mov r24,r28 |
198 00fe 0E94 0000 call Piep |
199 0102 DF93 push r29 |
200 0104 CF93 push r28 |
201 0106 80E0 ldi r24,lo8(__c.13) |
202 0108 90E0 ldi r25,hi8(__c.13) |
203 010a 9F93 push r25 |
204 010c 8F93 push r24 |
205 010e 80E0 ldi r24,lo8(pm(uart_putchar)) |
206 0110 90E0 ldi r25,hi8(pm(uart_putchar)) |
207 0112 9F93 push r25 |
208 0114 8F93 push r24 |
209 0116 E091 0000 lds r30,_printf_P |
210 011a F091 0000 lds r31,(_printf_P)+1 |
211 011e 0995 icall |
212 0120 8DB7 in r24,__SP_L__ |
213 0122 9EB7 in r25,__SP_H__ |
214 0124 0696 adiw r24,6 |
215 0126 8DBF out __SP_L__,r24 |
216 0128 02C0 rjmp .L19 |
217 .L8: |
218 012a 8093 0000 sts BattLowVoltageWarning,r24 |
219 .L19: |
220 012e 1123 tst r17 |
221 0130 11F1 breq .L6 |
222 0132 8091 0000 lds r24,BattLowVoltageWarning |
223 0136 6AE0 ldi r22,lo8(10) |
224 0138 0E94 0000 call __udivmodqi4 |
225 013c 892F mov r24,r25 |
226 013e 9927 clr r25 |
227 0140 9F93 push r25 |
228 0142 8F93 push r24 |
229 0144 8091 0000 lds r24,BattLowVoltageWarning |
230 0148 0E94 0000 call __udivmodqi4 |
231 014c 9927 clr r25 |
232 014e 9F93 push r25 |
233 0150 8F93 push r24 |
234 0152 80E0 ldi r24,lo8(__c.14) |
235 0154 90E0 ldi r25,hi8(__c.14) |
236 0156 9F93 push r25 |
237 0158 8F93 push r24 |
238 015a 80E0 ldi r24,lo8(pm(uart_putchar)) |
239 015c 90E0 ldi r25,hi8(pm(uart_putchar)) |
240 015e 9F93 push r25 |
241 0160 8F93 push r24 |
242 0162 E091 0000 lds r30,_printf_P |
243 0166 F091 0000 lds r31,(_printf_P)+1 |
244 016a 0995 icall |
245 016c 2DB7 in r18,__SP_L__ |
246 016e 3EB7 in r19,__SP_H__ |
247 0170 285F subi r18,lo8(-(8)) |
248 0172 3F4F sbci r19,hi8(-(8)) |
249 0174 2DBF out __SP_L__,r18 |
250 .L6: |
251 /* epilogue: frame size=0 */ |
252 0176 DF91 pop r29 |
253 0178 CF91 pop r28 |
254 017a 1F91 pop r17 |
255 017c 0895 ret |
256 /* epilogue end (size=4) */ |
257 /* function LipoDetection size 138 (131) */ |
259 .section .progmem.data |
262 __c.0: |
263 002d 0A0D 466F .string "\n\rFound BL-Ctrl: " |
263 756E 6420 |
263 424C 2D43 |
263 7472 6C3A |
263 2000 |
266 __c.1: |
267 003f 2564 00 .string "%d" |
270 __c.2: |
271 0042 0A0D 0A0D .string "\n\r\n\r!! MISSING BL-CTRL: %d !!" |
271 2121 204D |
271 4953 5349 |
271 4E47 2042 |
271 4C2D 4354 |
274 __c.3: |
275 0060 0A0D 3D3D .string "\n\r===================================" |
275 3D3D 3D3D |
275 3D3D 3D3D |
275 3D3D 3D3D |
275 3D3D 3D3D |
278 __c.4: |
279 0086 0A0D 4361 .string "\n\rCalibrating pressure sensor.." |
279 6C69 6272 |
279 6174 696E |
279 6720 7072 |
279 6573 7375 |
282 __c.5: |
283 00a6 4F4B 0A0D .string "OK\n\r" |
283 00 |
286 __c.6: |
287 00ab 0A0D 466C .string "\n\rFlight-time %u min Total:%u min" |
287 6967 6874 |
287 2D74 696D |
287 6520 2575 |
287 206D 696E |
290 __c.7: |
291 00ce 0A0D 436F .string "\n\rControl: " |
291 6E74 726F |
291 6C3A 2000 |
294 __c.8: |
295 00da 4865 6164 .string "HeadingHold" |
295 696E 6748 |
295 6F6C 6400 |
298 __c.9: |
299 00e6 4E6F 726D .string "Normal (ACC-Mode)" |
299 616C 2028 |
299 4143 432D |
299 4D6F 6465 |
299 2900 |
302 __c.10: |
303 00f8 0A0D 3D3D .string "\n\r===================================\n\r" |
303 3D3D 3D3D |
303 3D3D 3D3D |
303 3D3D 3D3D |
303 3D3D 3D3D |
304 .lcomm second.11,1 |
305 .text |
306 .global main |
308 main: |
309 /* prologue: frame size=0 */ |
310 017e C0E0 ldi r28,lo8(__stack - 0) |
311 0180 D0E0 ldi r29,hi8(__stack - 0) |
312 0182 DEBF out __SP_H__,r29 |
313 0184 CDBF out __SP_L__,r28 |
314 /* prologue end (size=4) */ |
315 0186 8824 clr r8 |
316 0188 9924 clr r9 |
317 018a 14B8 out 36-0x20,__zero_reg__ |
318 018c 15B8 out 37-0x20,__zero_reg__ |
319 018e 07EE ldi r16,lo8(999) |
320 0190 13E0 ldi r17,hi8(999) |
321 .L26: |
322 0192 0253 subi r16,lo8(-(-50)) |
323 0194 1040 sbci r17,hi8(-(-50)) |
324 0196 17FF sbrs r17,7 |
325 0198 FCCF rjmp .L26 |
326 019a 189B sbis 35-0x20,0 |
327 019c 06C0 rjmp .L27 |
328 019e 199B sbis 35-0x20,1 |
329 01a0 02C0 rjmp .L28 |
330 01a2 8DE0 ldi r24,lo8(13) |
331 01a4 07C0 rjmp .L228 |
332 .L28: |
333 01a6 8BE0 ldi r24,lo8(11) |
334 01a8 05C0 rjmp .L228 |
335 .L27: |
336 01aa 199B sbis 35-0x20,1 |
337 01ac 02C0 rjmp .L31 |
338 01ae 84E1 ldi r24,lo8(20) |
339 01b0 01C0 rjmp .L228 |
340 .L31: |
341 01b2 8AE0 ldi r24,lo8(10) |
342 .L228: |
343 01b4 8093 0000 sts PlatinenVersion,r24 |
344 01b8 81E8 ldi r24,lo8(-127) |
345 01ba 87B9 out 39-0x20,r24 |
346 01bc 3E9A sbi 39-0x20,6 |
347 01be 8FEF ldi r24,lo8(-1) |
348 01c0 88B9 out 40-0x20,r24 |
349 01c2 8BE1 ldi r24,lo8(27) |
350 01c4 84B9 out 36-0x20,r24 |
351 01c6 81E0 ldi r24,lo8(1) |
352 01c8 85B9 out 37-0x20,r24 |
353 01ca 8EE3 ldi r24,lo8(62) |
354 01cc 8AB9 out 42-0x20,r24 |
355 01ce 87E4 ldi r24,lo8(71) |
356 01d0 8BB9 out 43-0x20,r24 |
357 01d2 469A sbi 40-0x20,6 |
358 01d4 84B7 in r24,84-0x20 |
359 01d6 877F andi r24,lo8(-9) |
360 01d8 84BF out 84-0x20,r24 |
361 01da 8091 6000 lds r24,96 |
362 01de 8861 ori r24,lo8(24) |
363 01e0 8093 6000 sts 96,r24 |
364 01e4 1092 6000 sts 96,__zero_reg__ |
365 01e8 84EC ldi r24,lo8(2500) |
366 01ea 99E0 ldi r25,hi8(2500) |
367 01ec 9093 0000 sts (beeptime)+1,r25 |
368 01f0 8093 0000 sts beeptime,r24 |
369 01f4 1092 0000 sts (StickGier)+1,__zero_reg__ |
370 01f8 1092 0000 sts StickGier,__zero_reg__ |
371 01fc 1092 0000 sts (PPM_in+4)+1,__zero_reg__ |
372 0200 1092 0000 sts PPM_in+4,__zero_reg__ |
373 0204 1092 0000 sts (StickRoll)+1,__zero_reg__ |
374 0208 1092 0000 sts StickRoll,__zero_reg__ |
375 020c 1092 0000 sts (StickNick)+1,__zero_reg__ |
376 0210 1092 0000 sts StickNick,__zero_reg__ |
377 0214 2091 0000 lds r18,PlatinenVersion |
378 0218 2431 cpi r18,lo8(20) |
379 021a 28F0 brlo .L33 |
380 021c 84EC ldi r24,lo8(1220) |
381 021e 94E0 ldi r25,hi8(1220) |
382 0220 A0E0 ldi r26,hlo8(1220) |
383 0222 B0E0 ldi r27,hhi8(1220) |
384 0224 04C0 rjmp .L229 |
385 .L33: |
386 0226 8BE0 ldi r24,lo8(1291) |
387 0228 95E0 ldi r25,hi8(1291) |
388 022a A0E0 ldi r26,hlo8(1291) |
389 022c B0E0 ldi r27,hhi8(1291) |
390 .L229: |
391 022e 8093 0000 sts GIER_GRAD_FAKTOR,r24 |
392 0232 9093 0000 sts (GIER_GRAD_FAKTOR)+1,r25 |
393 0236 A093 0000 sts (GIER_GRAD_FAKTOR)+2,r26 |
394 023a B093 0000 sts (GIER_GRAD_FAKTOR)+3,r27 |
395 023e 2A30 cpi r18,lo8(10) |
396 0240 11F0 breq .L36 |
397 0242 2431 cpi r18,lo8(20) |
398 0244 10F0 brlo .L35 |
399 .L36: |
400 0246 2898 cbi 37-0x20,0 |
401 0248 01C0 rjmp .L37 |
402 .L35: |
403 024a 289A sbi 37-0x20,0 |
404 .L37: |
405 024c 0E94 0000 call Timer_Init |
406 0250 0E94 0000 call TIMER2_Init |
407 0254 0E94 0000 call UART_Init |
408 0258 0E94 0000 call rc_sum_init |
409 025c 0E94 0000 call ADC_Init |
410 0260 0E94 0000 call I2C_Init |
411 0264 0E94 0000 call SPI_MasterInit |
412 0268 0E94 0000 call Capacity_Init |
413 026c 0E94 0000 call LIBFC_Init |
414 0270 8091 0000 lds r24,PlatinenVersion |
415 0274 8C30 cpi r24,lo8(12) |
416 0276 10F4 brsh .L38 |
417 0278 299A sbi 37-0x20,1 |
418 027a 01C0 rjmp .L39 |
419 .L38: |
420 027c 2998 cbi 37-0x20,1 |
421 .L39: |
422 /* #APP */ |
423 027e 7894 sei |
424 /* #NOAPP */ |
425 0280 0E94 0000 call ParamSet_Init |
426 0284 8091 0000 lds r24,BLFlags |
427 0288 8260 ori r24,lo8(2) |
428 028a 8093 0000 sts BLFlags,r24 |
429 028e 1092 0000 sts motor_read,__zero_reg__ |
430 0292 0E94 0000 call SendMotorData |
431 0296 84EF ldi r24,lo8(500) |
432 0298 91E0 ldi r25,hi8(500) |
433 029a 0E94 0000 call SetDelay |
434 029e 8C01 movw r16,r24 |
435 .L40: |
436 02a0 8091 0000 lds r24,BLFlags |
437 02a4 80FD sbrc r24,0 |
438 02a6 05C0 rjmp .L41 |
439 02a8 C801 movw r24,r16 |
440 02aa 0E94 0000 call CheckDelay |
441 02ae 8823 tst r24 |
442 02b0 B9F3 breq .L40 |
443 .L41: |
444 02b2 80E0 ldi r24,lo8(__c.0) |
445 02b4 90E0 ldi r25,hi8(__c.0) |
446 02b6 9F93 push r25 |
447 02b8 8F93 push r24 |
448 02ba B0E0 ldi r27,lo8(pm(uart_putchar)) |
449 02bc AB2E mov r10,r27 |
450 02be B0E0 ldi r27,hi8(pm(uart_putchar)) |
451 02c0 BB2E mov r11,r27 |
452 02c2 BF92 push r11 |
453 02c4 AF92 push r10 |
454 02c6 E091 0000 lds r30,_printf_P |
455 02ca F091 0000 lds r31,(_printf_P)+1 |
456 02ce 0995 icall |
457 02d0 80EA ldi r24,lo8(4000) |
458 02d2 9FE0 ldi r25,hi8(4000) |
459 02d4 0E94 0000 call SetDelay |
460 02d8 8C01 movw r16,r24 |
461 02da C0E0 ldi r28,lo8(0) |
462 02dc D0E0 ldi r29,hi8(0) |
463 02de 0F90 pop __tmp_reg__ |
464 02e0 0F90 pop __tmp_reg__ |
465 02e2 0F90 pop __tmp_reg__ |
466 02e4 0F90 pop __tmp_reg__ |
467 02e6 A0E0 ldi r26,lo8(Motor+3) |
468 02e8 EA2E mov r14,r26 |
469 02ea A0E0 ldi r26,hi8(Motor+3) |
470 02ec FA2E mov r15,r26 |
471 02ee F0E0 ldi r31,lo8(Mixer+13) |
472 02f0 CF2E mov r12,r31 |
473 02f2 F0E0 ldi r31,hi8(Mixer+13) |
474 02f4 DF2E mov r13,r31 |
475 .L57: |
476 02f6 0E94 0000 call SendMotorData |
477 .L46: |
478 02fa 8091 0000 lds r24,BLFlags |
479 02fe 80FD sbrc r24,0 |
480 0300 05C0 rjmp .L47 |
481 0302 C801 movw r24,r16 |
482 0304 0E94 0000 call CheckDelay |
483 0308 8823 tst r24 |
484 030a B9F3 breq .L46 |
485 .L47: |
486 030c F601 movw r30,r12 |
487 030e 8081 ld r24,Z |
488 0310 1816 cp __zero_reg__,r24 |
489 0312 ACF4 brge .L49 |
490 0314 0BC0 rjmp .L233 |
491 .L55: |
492 0316 0E94 0000 call SendMotorData |
493 .L52: |
494 031a 8091 0000 lds r24,BLFlags |
495 031e 80FD sbrc r24,0 |
496 0320 05C0 rjmp .L233 |
497 0322 C801 movw r24,r16 |
498 0324 0E94 0000 call CheckDelay |
499 0328 8823 tst r24 |
500 032a B9F3 breq .L52 |
501 .L233: |
502 032c C801 movw r24,r16 |
503 032e 0E94 0000 call CheckDelay |
504 0332 8823 tst r24 |
505 0334 21F4 brne .L49 |
506 0336 F701 movw r30,r14 |
507 0338 8081 ld r24,Z |
508 033a 8823 tst r24 |
509 033c 64F7 brge .L55 |
510 .L49: |
511 033e F701 movw r30,r14 |
512 0340 8081 ld r24,Z |
513 0342 87FF sbrs r24,7 |
514 0344 18C0 rjmp .L45 |
515 0346 2196 adiw r28,1 |
516 0348 DF93 push r29 |
517 034a CF93 push r28 |
518 034c 2197 sbiw r28,1 |
519 034e 80E0 ldi r24,lo8(__c.1) |
520 0350 90E0 ldi r25,hi8(__c.1) |
521 0352 9F93 push r25 |
522 0354 8F93 push r24 |
523 0356 BF92 push r11 |
524 0358 AF92 push r10 |
525 035a E091 0000 lds r30,_printf_P |
526 035e F091 0000 lds r31,(_printf_P)+1 |
527 0362 0995 icall |
528 0364 8091 0000 lds r24,FoundMotors |
529 0368 8F5F subi r24,lo8(-(1)) |
530 036a 8093 0000 sts FoundMotors,r24 |
531 036e 8DB7 in r24,__SP_L__ |
532 0370 9EB7 in r25,__SP_H__ |
533 0372 0696 adiw r24,6 |
534 0374 8DBF out __SP_L__,r24 |
535 .L45: |
536 0376 2196 adiw r28,1 |
537 0378 E4E0 ldi r30,lo8(4) |
538 037a F0E0 ldi r31,hi8(4) |
539 037c CE0E add r12,r30 |
540 037e DF1E adc r13,r31 |
541 0380 88E0 ldi r24,lo8(8) |
542 0382 90E0 ldi r25,hi8(8) |
543 0384 E80E add r14,r24 |
544 0386 F91E adc r15,r25 |
545 0388 CC30 cpi r28,12 |
546 038a D105 cpc r29,__zero_reg__ |
547 038c 08F4 brsh .+2 |
548 038e B3CF rjmp .L57 |
549 0390 C0E0 ldi r28,lo8(0) |
550 0392 D0E0 ldi r29,hi8(0) |
551 0394 00E0 ldi r16,lo8(Motor) |
552 0396 10E0 ldi r17,hi8(Motor) |
553 0398 E0E0 ldi r30,lo8(Mixer+13) |
554 039a EE2E mov r14,r30 |
555 039c E0E0 ldi r30,hi8(Mixer+13) |
556 039e FE2E mov r15,r30 |
557 .L62: |
558 03a0 F801 movw r30,r16 |
559 03a2 8381 ldd r24,Z+3 |
560 03a4 87FD sbrc r24,7 |
561 03a6 1CC0 rjmp .L61 |
562 03a8 F701 movw r30,r14 |
563 03aa 8081 ld r24,Z |
564 03ac 1816 cp __zero_reg__,r24 |
565 03ae C4F4 brge .L61 |
566 03b0 2196 adiw r28,1 |
567 03b2 DF93 push r29 |
568 03b4 CF93 push r28 |
569 03b6 2197 sbiw r28,1 |
570 03b8 80E0 ldi r24,lo8(__c.2) |
571 03ba 90E0 ldi r25,hi8(__c.2) |
572 03bc 9F93 push r25 |
573 03be 8F93 push r24 |
574 03c0 80E0 ldi r24,lo8(pm(uart_putchar)) |
575 03c2 90E0 ldi r25,hi8(pm(uart_putchar)) |
576 03c4 9F93 push r25 |
577 03c6 8F93 push r24 |
578 03c8 E091 0000 lds r30,_printf_P |
579 03cc F091 0000 lds r31,(_printf_P)+1 |
580 03d0 0995 icall |
581 03d2 82E0 ldi r24,lo8(2) |
582 03d4 8093 0000 sts ServoActive,r24 |
583 03d8 8DB7 in r24,__SP_L__ |
584 03da 9EB7 in r25,__SP_H__ |
585 03dc 0696 adiw r24,6 |
586 03de 8DBF out __SP_L__,r24 |
587 .L61: |
588 03e0 F801 movw r30,r16 |
589 03e2 8381 ldd r24,Z+3 |
590 03e4 8078 andi r24,lo8(-128) |
591 03e6 8383 std Z+3,r24 |
592 03e8 2196 adiw r28,1 |
593 03ea 84E0 ldi r24,lo8(4) |
594 03ec 90E0 ldi r25,hi8(4) |
595 03ee E80E add r14,r24 |
596 03f0 F91E adc r15,r25 |
597 03f2 085F subi r16,lo8(-(8)) |
598 03f4 1F4F sbci r17,hi8(-(8)) |
599 03f6 CC30 cpi r28,12 |
600 03f8 D105 cpc r29,__zero_reg__ |
601 03fa 90F2 brlo .L62 |
602 03fc 80E0 ldi r24,lo8(__c.3) |
603 03fe 90E0 ldi r25,hi8(__c.3) |
604 0400 9F93 push r25 |
605 0402 8F93 push r24 |
606 0404 C0E0 ldi r28,lo8(pm(uart_putchar)) |
607 0406 D0E0 ldi r29,hi8(pm(uart_putchar)) |
608 0408 DF93 push r29 |
609 040a CF93 push r28 |
610 040c E091 0000 lds r30,_printf_P |
611 0410 F091 0000 lds r31,(_printf_P)+1 |
612 0414 0995 icall |
613 0416 9091 0000 lds r25,RequiredMotors |
614 041a 8091 0000 lds r24,FoundMotors |
615 041e 0F90 pop __tmp_reg__ |
616 0420 0F90 pop __tmp_reg__ |
617 0422 0F90 pop __tmp_reg__ |
618 0424 0F90 pop __tmp_reg__ |
619 0426 9817 cp r25,r24 |
620 0428 28F4 brsh .L63 |
621 042a 8091 0000 lds r24,VersionInfo+6 |
622 042e 8061 ori r24,lo8(16) |
623 0430 8093 0000 sts VersionInfo+6,r24 |
624 .L63: |
625 0434 80E0 ldi r24,lo8(__c.4) |
626 0436 90E0 ldi r25,hi8(__c.4) |
627 0438 9F93 push r25 |
628 043a 8F93 push r24 |
629 043c DF93 push r29 |
630 043e CF93 push r28 |
631 0440 E091 0000 lds r30,_printf_P |
632 0444 F091 0000 lds r31,(_printf_P)+1 |
633 0448 0995 icall |
634 044a 88EE ldi r24,lo8(1000) |
635 044c 93E0 ldi r25,hi8(1000) |
636 044e 0E94 0000 call SetDelay |
637 0452 8C01 movw r16,r24 |
638 0454 0E94 0000 call SucheLuftruckOffset |
639 0458 0F90 pop __tmp_reg__ |
640 045a 0F90 pop __tmp_reg__ |
641 045c 0F90 pop __tmp_reg__ |
642 045e 0F90 pop __tmp_reg__ |
643 .L64: |
644 0460 C801 movw r24,r16 |
645 0462 0E94 0000 call CheckDelay |
646 0466 8823 tst r24 |
647 0468 D9F3 breq .L64 |
648 046a 80E0 ldi r24,lo8(__c.5) |
649 046c 90E0 ldi r25,hi8(__c.5) |
650 046e 9F93 push r25 |
651 0470 8F93 push r24 |
652 0472 DF93 push r29 |
653 0474 CF93 push r28 |
654 0476 E091 0000 lds r30,_printf_P |
655 047a F091 0000 lds r31,(_printf_P)+1 |
656 047e 0995 icall |
657 0480 80E0 ldi r24,lo8(0) |
658 0482 0E94 0000 call SetNeutral |
659 0486 8091 0000 lds r24,PlatinenVersion |
660 048a 0F90 pop __tmp_reg__ |
661 048c 0F90 pop __tmp_reg__ |
662 048e 0F90 pop __tmp_reg__ |
663 0490 0F90 pop __tmp_reg__ |
664 0492 8A30 cpi r24,lo8(10) |
665 0494 11F0 breq .L68 |
666 0496 8431 cpi r24,lo8(20) |
667 0498 10F0 brlo .L67 |
668 .L68: |
669 049a 2898 cbi 37-0x20,0 |
670 049c 01C0 rjmp .L69 |
671 .L67: |
672 049e 289A sbi 37-0x20,0 |
673 .L69: |
674 04a0 80ED ldi r24,lo8(2000) |
675 04a2 97E0 ldi r25,hi8(2000) |
676 04a4 9093 0000 sts (beeptime)+1,r25 |
677 04a8 8093 0000 sts beeptime,r24 |
678 04ac 85E5 ldi r24,lo8(85) |
679 04ae 8093 0000 sts ExternControl,r24 |
680 04b2 8EE0 ldi r24,lo8(14) |
681 04b4 90E0 ldi r25,hi8(14) |
682 04b6 0E94 0000 call GetParamByte |
683 04ba 9927 clr r25 |
684 04bc 182F mov r17,r24 |
685 04be 0027 clr r16 |
686 04c0 8FE0 ldi r24,lo8(15) |
687 04c2 90E0 ldi r25,hi8(15) |
688 04c4 0E94 0000 call GetParamByte |
689 04c8 080F add r16,r24 |
690 04ca 111D adc r17,__zero_reg__ |
691 04cc 1093 0000 sts (FlugMinuten)+1,r17 |
692 04d0 0093 0000 sts FlugMinuten,r16 |
693 04d4 8AE0 ldi r24,lo8(10) |
694 04d6 90E0 ldi r25,hi8(10) |
695 04d8 0E94 0000 call GetParamByte |
696 04dc 9927 clr r25 |
697 04de 182F mov r17,r24 |
698 04e0 0027 clr r16 |
699 04e2 8BE0 ldi r24,lo8(11) |
700 04e4 90E0 ldi r25,hi8(11) |
701 04e6 0E94 0000 call GetParamByte |
702 04ea 080F add r16,r24 |
703 04ec 111D adc r17,__zero_reg__ |
704 04ee 1093 0000 sts (FlugMinutenGesamt)+1,r17 |
705 04f2 0093 0000 sts FlugMinutenGesamt,r16 |
706 04f6 0F5F subi r16,lo8(-1) |
707 04f8 1F4F sbci r17,hi8(-1) |
708 04fa 39F0 breq .L71 |
709 04fc 8091 0000 lds r24,FlugMinuten |
710 0500 9091 0000 lds r25,(FlugMinuten)+1 |
711 0504 8F5F subi r24,lo8(-1) |
712 0506 9F4F sbci r25,hi8(-1) |
713 0508 41F4 brne .L70 |
714 .L71: |
715 050a 1092 0000 sts (FlugMinuten)+1,__zero_reg__ |
716 050e 1092 0000 sts FlugMinuten,__zero_reg__ |
717 0512 1092 0000 sts (FlugMinutenGesamt)+1,__zero_reg__ |
718 0516 1092 0000 sts FlugMinutenGesamt,__zero_reg__ |
719 .L70: |
720 051a 8091 0000 lds r24,FlugMinutenGesamt |
721 051e 9091 0000 lds r25,(FlugMinutenGesamt)+1 |
722 0522 9F93 push r25 |
723 0524 8F93 push r24 |
724 0526 8091 0000 lds r24,FlugMinuten |
725 052a 9091 0000 lds r25,(FlugMinuten)+1 |
726 052e 9F93 push r25 |
727 0530 8F93 push r24 |
728 0532 80E0 ldi r24,lo8(__c.6) |
729 0534 90E0 ldi r25,hi8(__c.6) |
730 0536 9F93 push r25 |
731 0538 8F93 push r24 |
732 053a DF93 push r29 |
733 053c CF93 push r28 |
734 053e E091 0000 lds r30,_printf_P |
735 0542 F091 0000 lds r31,(_printf_P)+1 |
736 0546 0995 icall |
737 0548 8DB7 in r24,__SP_L__ |
738 054a 9EB7 in r25,__SP_H__ |
739 054c 0896 adiw r24,8 |
740 054e 8DBF out __SP_L__,r24 |
741 0550 80E0 ldi r24,lo8(__c.7) |
742 0552 90E0 ldi r25,hi8(__c.7) |
743 0554 9F93 push r25 |
744 0556 8F93 push r24 |
745 0558 DF93 push r29 |
746 055a CF93 push r28 |
747 055c E091 0000 lds r30,_printf_P |
748 0560 F091 0000 lds r31,(_printf_P)+1 |
749 0564 0995 icall |
750 0566 8091 0000 lds r24,EE_Parameter+13 |
751 056a 0F90 pop __tmp_reg__ |
752 056c 0F90 pop __tmp_reg__ |
753 056e 0F90 pop __tmp_reg__ |
754 0570 0F90 pop __tmp_reg__ |
755 0572 E091 0000 lds r30,_printf_P |
756 0576 F091 0000 lds r31,(_printf_P)+1 |
757 057a 82FF sbrs r24,2 |
758 057c 07C0 rjmp .L72 |
759 057e 80E0 ldi r24,lo8(__c.8) |
760 0580 90E0 ldi r25,hi8(__c.8) |
761 0582 9F93 push r25 |
762 0584 8F93 push r24 |
763 0586 DF93 push r29 |
764 0588 CF93 push r28 |
765 058a 08C0 rjmp .L230 |
766 .L72: |
767 058c 80E0 ldi r24,lo8(__c.9) |
768 058e 90E0 ldi r25,hi8(__c.9) |
769 0590 9F93 push r25 |
770 0592 8F93 push r24 |
771 0594 80E0 ldi r24,lo8(pm(uart_putchar)) |
772 0596 90E0 ldi r25,hi8(pm(uart_putchar)) |
773 0598 9F93 push r25 |
774 059a 8F93 push r24 |
775 .L230: |
776 059c 0995 icall |
777 059e 0F90 pop __tmp_reg__ |
778 05a0 0F90 pop __tmp_reg__ |
779 05a2 0F90 pop __tmp_reg__ |
780 05a4 0F90 pop __tmp_reg__ |
781 05a6 0E94 0000 call LcdClear |
782 05aa 88E8 ldi r24,lo8(5000) |
783 05ac 93E1 ldi r25,hi8(5000) |
784 05ae 9093 0000 sts (I2CTimeout)+1,r25 |
785 05b2 8093 0000 sts I2CTimeout,r24 |
786 05b6 81E0 ldi r24,lo8(1) |
787 05b8 8093 0000 sts WinkelOut+7,r24 |
788 05bc 0E94 0000 call LipoDetection |
789 05c0 8091 0000 lds r24,EE_Parameter+39 |
790 05c4 0E94 0000 call LIBFC_ReceiverInit |
791 05c8 80E0 ldi r24,lo8(__c.10) |
792 05ca 90E0 ldi r25,hi8(__c.10) |
793 05cc 9F93 push r25 |
794 05ce 8F93 push r24 |
795 05d0 DF93 push r29 |
796 05d2 CF93 push r28 |
797 05d4 E091 0000 lds r30,_printf_P |
798 05d8 F091 0000 lds r31,(_printf_P)+1 |
799 05dc 0995 icall |
800 05de 80ED ldi r24,lo8(2000) |
801 05e0 97E0 ldi r25,hi8(2000) |
802 05e2 0E94 0000 call SetDelay |
803 05e6 8C01 movw r16,r24 |
804 05e8 8AEF ldi r24,lo8(250) |
805 05ea 90E0 ldi r25,hi8(250) |
806 05ec 0E94 0000 call SetDelay |
807 05f0 EC01 movw r28,r24 |
808 05f2 83E0 ldi r24,lo8(3) |
809 05f4 8093 0000 sts DebugOut,r24 |
810 05f8 0F90 pop __tmp_reg__ |
811 05fa 0F90 pop __tmp_reg__ |
812 05fc 0F90 pop __tmp_reg__ |
813 05fe 0F90 pop __tmp_reg__ |
814 .L234: |
815 0600 CE01 movw r24,r28 |
816 0602 0E94 0000 call CheckDelay |
817 0606 8823 tst r24 |
818 0608 39F0 breq .L76 |
819 060a 84E6 ldi r24,lo8(100) |
820 060c 90E0 ldi r25,hi8(100) |
821 060e 0E94 0000 call SetDelay |
822 0612 EC01 movw r28,r24 |
823 0614 0E94 0000 call LIBFC_Polling |
824 .L76: |
825 0618 8091 0000 lds r24,UpdateMotor |
826 061c 8823 tst r24 |
827 061e 09F4 brne .+2 |
828 0620 DFC1 rjmp .L77 |
829 0622 8091 0000 lds r24,AdReady |
830 0626 8823 tst r24 |
831 0628 09F4 brne .+2 |
832 062a DAC1 rjmp .L77 |
833 062c 1092 0000 sts UpdateMotor,__zero_reg__ |
834 0630 8091 0000 lds r24,WinkelOut+6 |
835 0634 8823 tst r24 |
836 0636 19F0 breq .L78 |
837 0638 0E94 0000 call CalMk3Mag |
838 063c 02C0 rjmp .L79 |
839 .L78: |
840 063e 0E94 0000 call MotorRegler |
841 .L79: |
842 0642 0E94 0000 call SendMotorData |
843 0646 2091 0000 lds r18,PlatinenVersion |
844 064a 2A30 cpi r18,lo8(10) |
845 064c 11F0 breq .L81 |
846 064e 2431 cpi r18,lo8(20) |
847 0650 10F0 brlo .L80 |
848 .L81: |
849 0652 2898 cbi 37-0x20,0 |
850 0654 01C0 rjmp .L82 |
851 .L80: |
852 0656 289A sbi 37-0x20,0 |
853 .L82: |
854 0658 8091 0000 lds r24,SenderOkay |
855 065c 9091 0000 lds r25,VersionInfo+6 |
856 0660 8823 tst r24 |
857 0662 39F0 breq .L83 |
858 0664 8091 0000 lds r24,SenderOkay |
859 0668 8150 subi r24,lo8(-(-1)) |
860 066a 8093 0000 sts SenderOkay,r24 |
861 066e 977F andi r25,lo8(-9) |
862 0670 0AC0 rjmp .L231 |
863 .L83: |
864 0672 8091 6F00 lds r24,111 |
865 0676 8062 ori r24,lo8(32) |
866 0678 8093 6F00 sts 111,r24 |
867 067c 1092 0000 sts (PPM_in)+1,__zero_reg__ |
868 0680 1092 0000 sts PPM_in,__zero_reg__ |
869 0684 9860 ori r25,lo8(8) |
870 .L231: |
871 0686 9093 0000 sts VersionInfo+6,r25 |
872 068a 8091 0000 lds r24,I2CTimeout |
873 068e 9091 0000 lds r25,(I2CTimeout)+1 |
874 0692 0197 sbiw r24,1 |
875 0694 9093 0000 sts (I2CTimeout)+1,r25 |
876 0698 8093 0000 sts I2CTimeout,r24 |
877 069c 8091 0000 lds r24,I2CTimeout |
878 06a0 9091 0000 lds r25,(I2CTimeout)+1 |
879 06a4 892B or r24,r25 |
880 06a6 29F0 breq .L86 |
881 06a8 8091 0000 lds r24,MissingMotor |
882 06ac 8823 tst r24 |
883 06ae 09F4 brne .+2 |
884 06b0 3EC0 rjmp .L85 |
885 .L86: |
886 06b2 8091 0000 lds r24,I2CTimeout |
887 06b6 9091 0000 lds r25,(I2CTimeout)+1 |
888 06ba 892B or r24,r25 |
889 06bc 01F5 brne .L87 |
890 06be 0E94 0000 call I2C_Reset |
891 06c2 85E0 ldi r24,lo8(5) |
892 06c4 90E0 ldi r25,hi8(5) |
893 06c6 9093 0000 sts (I2CTimeout)+1,r25 |
894 06ca 8093 0000 sts I2CTimeout,r24 |
895 06ce 8091 0000 lds r24,DebugOut+58 |
896 06d2 9091 0000 lds r25,(DebugOut+58)+1 |
897 06d6 0196 adiw r24,1 |
898 06d8 9093 0000 sts (DebugOut+58)+1,r25 |
899 06dc 8093 0000 sts DebugOut+58,r24 |
900 06e0 8091 0000 lds r24,FCFlags |
901 06e4 8068 ori r24,lo8(-128) |
902 06e6 8093 0000 sts FCFlags,r24 |
903 06ea 8091 0000 lds r24,VersionInfo+6 |
904 06ee 8160 ori r24,lo8(1) |
905 06f0 8093 0000 sts VersionInfo+6,r24 |
906 06f4 8091 0000 lds r24,DebugOut+1 |
907 06f8 8260 ori r24,lo8(2) |
908 06fa 8093 0000 sts DebugOut+1,r24 |
909 .L87: |
910 06fe 8091 0000 lds r24,BeepMuster |
911 0702 9091 0000 lds r25,(BeepMuster)+1 |
912 0706 8F5F subi r24,lo8(-1) |
913 0708 9F4F sbci r25,hi8(-1) |
914 070a 19F5 brne .L89 |
915 070c 8091 0000 lds r24,MotorenEin |
916 0710 8823 tst r24 |
917 0712 F9F0 breq .L89 |
918 0714 80E1 ldi r24,lo8(10000) |
919 0716 97E2 ldi r25,hi8(10000) |
920 0718 9093 0000 sts (beeptime)+1,r25 |
921 071c 8093 0000 sts beeptime,r24 |
922 0720 80E8 ldi r24,lo8(128) |
923 0722 90E0 ldi r25,hi8(128) |
924 0724 9093 0000 sts (BeepMuster)+1,r25 |
925 0728 8093 0000 sts BeepMuster,r24 |
926 072c 12C0 rjmp .L89 |
927 .L85: |
928 072e 2A30 cpi r18,lo8(10) |
929 0730 11F0 breq .L91 |
930 0732 2431 cpi r18,lo8(20) |
931 0734 10F0 brlo .L90 |
932 .L91: |
933 0736 2898 cbi 37-0x20,0 |
934 0738 01C0 rjmp .L92 |
935 .L90: |
936 073a 289A sbi 37-0x20,0 |
937 .L92: |
938 073c 8091 0000 lds r24,beeptime |
939 0740 9091 0000 lds r25,(beeptime)+1 |
940 0744 892B or r24,r25 |
941 0746 29F4 brne .L89 |
942 0748 8091 0000 lds r24,FCFlags |
943 074c 8F77 andi r24,lo8(127) |
944 074e 8093 0000 sts FCFlags,r24 |
945 .L89: |
946 0752 8091 0000 lds r24,UpdateMotor |
947 0756 8823 tst r24 |
948 0758 09F0 breq .+2 |
949 075a 42C1 rjmp .L77 |
950 075c 0E94 0000 call DatenUebertragung |
951 0760 0E94 0000 call BearbeiteRxDaten |
952 0764 C801 movw r24,r16 |
953 0766 0E94 0000 call CheckDelay |
954 076a 8823 tst r24 |
955 076c 09F4 brne .+2 |
956 076e 34C1 rjmp .L95 |
957 0770 0C5E subi r16,lo8(-(20)) |
958 0772 1F4F sbci r17,hi8(-(20)) |
959 0774 8091 0000 lds r24,MissingMotor |
960 0778 9091 0000 lds r25,VersionInfo+6 |
961 077c 8823 tst r24 |
962 077e 39F0 breq .L96 |
963 0780 9260 ori r25,lo8(2) |
964 0782 9093 0000 sts VersionInfo+6,r25 |
965 0786 8091 0000 lds r24,DebugOut+1 |
966 078a 8260 ori r24,lo8(2) |
967 078c 0CC0 rjmp .L232 |
968 .L96: |
969 078e 9D7F andi r25,lo8(-3) |
970 0790 9093 0000 sts VersionInfo+6,r25 |
971 0794 8091 0000 lds r24,I2CTimeout |
972 0798 9091 0000 lds r25,(I2CTimeout)+1 |
973 079c 0797 sbiw r24,7 |
974 079e 28F0 brlo .L97 |
975 07a0 8091 0000 lds r24,DebugOut+1 |
976 07a4 8D7F andi r24,lo8(-3) |
977 .L232: |
978 07a6 8093 0000 sts DebugOut+1,r24 |
979 .L97: |
980 07aa 8091 0000 lds r24,I2CTimeout |
981 07ae 9091 0000 lds r25,(I2CTimeout)+1 |
982 07b2 0797 sbiw r24,7 |
983 07b4 28F0 brlo .L99 |
984 07b6 8091 0000 lds r24,VersionInfo+6 |
985 07ba 8E7F andi r24,lo8(-2) |
986 07bc 8093 0000 sts VersionInfo+6,r24 |
987 .L99: |
988 07c0 8091 0000 lds r24,PcZugriff |
989 07c4 8823 tst r24 |
990 07c6 21F0 breq .L100 |
991 07c8 8150 subi r24,lo8(-(-1)) |
992 07ca 8093 0000 sts PcZugriff,r24 |
993 07ce 25C0 rjmp .L101 |
994 .L100: |
995 07d0 8093 0000 sts ExternControl+10,r24 |
996 07d4 1092 0000 sts (ExternStickNick)+1,__zero_reg__ |
997 07d8 1092 0000 sts ExternStickNick,__zero_reg__ |
998 07dc 1092 0000 sts (ExternStickRoll)+1,__zero_reg__ |
999 07e0 1092 0000 sts ExternStickRoll,__zero_reg__ |
1000 07e4 1092 0000 sts (ExternStickGier)+1,__zero_reg__ |
1001 07e8 1092 0000 sts ExternStickGier,__zero_reg__ |
1002 07ec 8091 0000 lds r24,BeepMuster |
1003 07f0 9091 0000 lds r25,(BeepMuster)+1 |
1004 07f4 8F5F subi r24,lo8(-1) |
1005 07f6 9F4F sbci r25,hi8(-1) |
1006 07f8 81F4 brne .L101 |
1007 07fa 8091 0000 lds r24,SenderOkay |
1008 07fe 8823 tst r24 |
1009 0800 61F4 brne .L101 |
1010 0802 88E9 ldi r24,lo8(15000) |
1011 0804 9AE3 ldi r25,hi8(15000) |
1012 0806 9093 0000 sts (beeptime)+1,r25 |
1013 080a 8093 0000 sts beeptime,r24 |
1014 080e 80E0 ldi r24,lo8(3072) |
1015 0810 9CE0 ldi r25,hi8(3072) |
1016 0812 9093 0000 sts (BeepMuster)+1,r25 |
1017 0816 8093 0000 sts BeepMuster,r24 |
1018 .L101: |
1019 081a 8091 0000 lds r24,NaviDataOkay |
1020 081e 893C cpi r24,lo8(-55) |
1021 0820 70F0 brlo .L103 |
1022 0822 8150 subi r24,lo8(-(-1)) |
1023 0824 8093 0000 sts NaviDataOkay,r24 |
1024 0828 8091 0000 lds r24,FCFlags |
1025 082c 8F7B andi r24,lo8(-65) |
1026 082e 8093 0000 sts FCFlags,r24 |
1027 0832 8091 0000 lds r24,VersionInfo+6 |
1028 0836 8B7F andi r24,lo8(-5) |
1029 0838 8093 0000 sts VersionInfo+6,r24 |
1030 083c 35C0 rjmp .L104 |
1031 .L103: |
1032 083e 8091 0000 lds r24,NC_Version+3 |
1033 0842 8823 tst r24 |
1034 0844 09F1 breq .L105 |
1035 0846 8091 0000 lds r24,FCFlags |
1036 084a 8064 ori r24,lo8(64) |
1037 084c 8093 0000 sts FCFlags,r24 |
1038 0850 8091 0000 lds r24,VersionInfo+6 |
1039 0854 8460 ori r24,lo8(4) |
1040 0856 8093 0000 sts VersionInfo+6,r24 |
1041 085a 8091 0000 lds r24,BeepMuster |
1042 085e 9091 0000 lds r25,(BeepMuster)+1 |
1043 0862 8F5F subi r24,lo8(-1) |
1044 0864 9F4F sbci r25,hi8(-1) |
1045 0866 81F4 brne .L105 |
1046 0868 8091 0000 lds r24,MotorenEin |
1047 086c 8823 tst r24 |
1048 086e 61F0 breq .L105 |
1049 0870 88E9 ldi r24,lo8(15000) |
1050 0872 9AE3 ldi r25,hi8(15000) |
1051 0874 9093 0000 sts (beeptime)+1,r25 |
1052 0878 8093 0000 sts beeptime,r24 |
1053 087c 80E0 ldi r24,lo8(-22528) |
1054 087e 98EA ldi r25,hi8(-22528) |
1055 0880 9093 0000 sts (BeepMuster)+1,r25 |
1056 0884 8093 0000 sts BeepMuster,r24 |
1057 .L105: |
1058 0888 1092 0000 sts (GPS_Nick)+1,__zero_reg__ |
1059 088c 1092 0000 sts GPS_Nick,__zero_reg__ |
1060 0890 1092 0000 sts (GPS_Roll)+1,__zero_reg__ |
1061 0894 1092 0000 sts GPS_Roll,__zero_reg__ |
1062 0898 8FEF ldi r24,lo8(-1) |
1063 089a 9FEF ldi r25,hi8(-1) |
1064 089c 9093 0000 sts (FromNaviCtrl+7)+1,r25 |
1065 08a0 8093 0000 sts FromNaviCtrl+7,r24 |
1066 08a4 1092 0000 sts NaviDataOkay,__zero_reg__ |
1067 .L104: |
1068 08a8 8091 0000 lds r24,BattLowVoltageWarning |
1069 08ac 282F mov r18,r24 |
1070 08ae 3327 clr r19 |
1071 08b0 8091 0000 lds r24,UBat |
1072 08b4 9091 0000 lds r25,(UBat)+1 |
1073 08b8 8217 cp r24,r18 |
1074 08ba 9307 cpc r25,r19 |
1075 08bc CCF4 brge .L107 |
1076 08be 8091 0000 lds r24,FCFlags |
1077 08c2 8062 ori r24,lo8(32) |
1078 08c4 8093 0000 sts FCFlags,r24 |
1079 08c8 8091 0000 lds r24,BeepMuster |
1080 08cc 9091 0000 lds r25,(BeepMuster)+1 |
1081 08d0 8F5F subi r24,lo8(-1) |
1082 08d2 9F4F sbci r25,hi8(-1) |
1083 08d4 C1F4 brne .L109 |
1084 08d6 80E7 ldi r24,lo8(6000) |
1085 08d8 97E1 ldi r25,hi8(6000) |
1086 08da 9093 0000 sts (beeptime)+1,r25 |
1087 08de 8093 0000 sts beeptime,r24 |
1088 08e2 80E0 ldi r24,lo8(768) |
1089 08e4 93E0 ldi r25,hi8(768) |
1090 08e6 9093 0000 sts (BeepMuster)+1,r25 |
1091 08ea 8093 0000 sts BeepMuster,r24 |
1092 08ee 0BC0 rjmp .L109 |
1093 .L107: |
1094 08f0 8091 0000 lds r24,beeptime |
1095 08f4 9091 0000 lds r25,(beeptime)+1 |
1096 08f8 892B or r24,r25 |
1097 08fa 29F4 brne .L109 |
1098 08fc 8091 0000 lds r24,FCFlags |
1099 0900 8F7D andi r24,lo8(-33) |
1100 0902 8093 0000 sts FCFlags,r24 |
1101 .L109: |
1102 0906 0E94 0000 call SPI_StartTransmitPacket |
1103 090a 84E0 ldi r24,lo8(4) |
1104 090c 8093 0000 sts SendSPI,r24 |
1105 0910 8091 0000 lds r24,MotorenEin |
1106 0914 8823 tst r24 |
1107 0916 29F4 brne .L111 |
1108 0918 5AEA ldi r21,lo8(1450) |
1109 091a 852E mov r8,r21 |
1110 091c 55E0 ldi r21,hi8(1450) |
1111 091e 952E mov r9,r21 |
1112 0920 12C0 rjmp .L112 |
1113 .L111: |
1114 0922 8091 0000 lds r24,second.11 |
1115 0926 8F5F subi r24,lo8(-(1)) |
1116 0928 8093 0000 sts second.11,r24 |
1117 092c 8133 cpi r24,lo8(49) |
1118 092e 59F4 brne .L112 |
1119 0930 1092 0000 sts second.11,__zero_reg__ |
1120 0934 8091 0000 lds r24,FlugSekunden |
1121 0938 9091 0000 lds r25,(FlugSekunden)+1 |
1122 093c 0196 adiw r24,1 |
1123 093e 9093 0000 sts (FlugSekunden)+1,r25 |
1124 0942 8093 0000 sts FlugSekunden,r24 |
1125 .L112: |
1126 0946 0894 sec |
1127 0948 811C adc r8,__zero_reg__ |
1128 094a 911C adc r9,__zero_reg__ |
1129 094c F2E7 ldi r31,lo8(2930) |
1130 094e 8F16 cp r8,r31 |
1131 0950 FBE0 ldi r31,hi8(2930) |
1132 0952 9F06 cpc r9,r31 |
1133 0954 09F0 breq .+2 |
1134 0956 40C0 rjmp .L95 |
1135 0958 8824 clr r8 |
1136 095a 9924 clr r9 |
1137 095c 2091 0000 lds r18,FlugMinuten |
1138 0960 3091 0000 lds r19,(FlugMinuten)+1 |
1139 0964 2F5F subi r18,lo8(-(1)) |
1140 0966 3F4F sbci r19,hi8(-(1)) |
1141 0968 3093 0000 sts (FlugMinuten)+1,r19 |
1142 096c 2093 0000 sts FlugMinuten,r18 |
1143 0970 8091 0000 lds r24,FlugMinutenGesamt |
1144 0974 9091 0000 lds r25,(FlugMinutenGesamt)+1 |
1145 0978 0196 adiw r24,1 |
1146 097a 9093 0000 sts (FlugMinutenGesamt)+1,r25 |
1147 097e 8093 0000 sts FlugMinutenGesamt,r24 |
1148 0982 832F mov r24,r19 |
1149 0984 9927 clr r25 |
1150 0986 682F mov r22,r24 |
1151 0988 8EE0 ldi r24,lo8(14) |
1152 098a 90E0 ldi r25,hi8(14) |
1153 098c 0E94 0000 call SetParamByte |
1154 0990 8091 0000 lds r24,FlugMinuten |
1155 0994 9091 0000 lds r25,(FlugMinuten)+1 |
1156 0998 9070 andi r25,hi8(255) |
1157 099a 682F mov r22,r24 |
1158 099c 8FE0 ldi r24,lo8(15) |
1159 099e 90E0 ldi r25,hi8(15) |
1160 09a0 0E94 0000 call SetParamByte |
1161 09a4 8091 0000 lds r24,FlugMinutenGesamt |
1162 09a8 9091 0000 lds r25,(FlugMinutenGesamt)+1 |
1163 09ac 892F mov r24,r25 |
1164 09ae 9927 clr r25 |
1165 09b0 682F mov r22,r24 |
1166 09b2 8AE0 ldi r24,lo8(10) |
1167 09b4 90E0 ldi r25,hi8(10) |
1168 09b6 0E94 0000 call SetParamByte |
1169 09ba 8091 0000 lds r24,FlugMinutenGesamt |
1170 09be 9091 0000 lds r25,(FlugMinutenGesamt)+1 |
1171 09c2 9070 andi r25,hi8(255) |
1172 09c4 682F mov r22,r24 |
1173 09c6 8BE0 ldi r24,lo8(11) |
1174 09c8 90E0 ldi r25,hi8(11) |
1175 09ca 0E94 0000 call SetParamByte |
1176 09ce 84E1 ldi r24,lo8(20) |
1177 09d0 90E0 ldi r25,hi8(20) |
1178 09d2 0E94 0000 call SetDelay |
1179 09d6 8C01 movw r16,r24 |
1180 .L95: |
1181 09d8 0E94 0000 call LED_Update |
1182 09dc 0E94 0000 call Capacity_Update |
1183 .L77: |
1184 09e0 8091 0000 lds r24,SendSPI |
1185 09e4 8823 tst r24 |
1186 09e6 09F0 breq .+2 |
1187 09e8 0BCE rjmp .L234 |
1188 09ea 0E94 0000 call SPI_TransmitByte |
1189 09ee 08CE rjmp .L234 |
1190 /* epilogue: frame size=0 */ |
1191 /* epilogue: noreturn */ |
1192 /* epilogue end (size=0) */ |
1193 /* function main size 1092 (1088) */ |
1195 .comm _printf_P,2,1 |
1196 /* File "main.c": code 1285 = 0x0505 (1273), prologues 7, epilogues 5 */ |
DEFINED SYMBOLS |
*ABS*:00000000 main.c |
C:\Users\Arthur-P\AppData\Local\Temp/cc8Waaaa.s:3 *ABS*:0000003f __SREG__ |
C:\Users\Arthur-P\AppData\Local\Temp/cc8Waaaa.s:4 *ABS*:0000003e __SP_H__ |
C:\Users\Arthur-P\AppData\Local\Temp/cc8Waaaa.s:5 *ABS*:0000003d __SP_L__ |
C:\Users\Arthur-P\AppData\Local\Temp/cc8Waaaa.s:6 *ABS*:00000000 __tmp_reg__ |
C:\Users\Arthur-P\AppData\Local\Temp/cc8Waaaa.s:7 *ABS*:00000001 __zero_reg__ |
C:\Users\Arthur-P\AppData\Local\Temp/cc8Waaaa.s:15 .bss:00000000 FoundMotors |
C:\Users\Arthur-P\AppData\Local\Temp/cc8Waaaa.s:21 .bss:00000001 FlugSekunden |
C:\Users\Arthur-P\AppData\Local\Temp/cc8Waaaa.s:27 .bss:00000003 FlugMinutenGesamt |
C:\Users\Arthur-P\AppData\Local\Temp/cc8Waaaa.s:33 .bss:00000005 FlugMinuten |
C:\Users\Arthur-P\AppData\Local\Temp/cc8Waaaa.s:39 .data:00000000 BattLowVoltageWarning |
C:\Users\Arthur-P\AppData\Local\Temp/cc8Waaaa.s:44 .data:00000001 SendVersionToNavi |
C:\Users\Arthur-P\AppData\Local\Temp/cc8Waaaa.s:49 .data:00000002 PlatinenVersion |
C:\Users\Arthur-P\AppData\Local\Temp/cc8Waaaa.s:53 .data:00000003 stick.15 |
C:\Users\Arthur-P\AppData\Local\Temp/cc8Waaaa.s:58 .text:00000000 CalMk3Mag |
C:\Users\Arthur-P\AppData\Local\Temp/cc8Waaaa.s:112 .progmem.data:00000000 __c.12 |
C:\Users\Arthur-P\AppData\Local\Temp/cc8Waaaa.s:116 .progmem.data:00000008 __c.13 |
C:\Users\Arthur-P\AppData\Local\Temp/cc8Waaaa.s:120 .progmem.data:00000013 __c.14 |
C:\Users\Arthur-P\AppData\Local\Temp/cc8Waaaa.s:125 .text:0000006a LipoDetection |
*COM*:00000002 _printf_P |
C:\Users\Arthur-P\AppData\Local\Temp/cc8Waaaa.s:262 .progmem.data:0000002d __c.0 |
C:\Users\Arthur-P\AppData\Local\Temp/cc8Waaaa.s:266 .progmem.data:0000003f __c.1 |
C:\Users\Arthur-P\AppData\Local\Temp/cc8Waaaa.s:270 .progmem.data:00000042 __c.2 |
C:\Users\Arthur-P\AppData\Local\Temp/cc8Waaaa.s:274 .progmem.data:00000060 __c.3 |
C:\Users\Arthur-P\AppData\Local\Temp/cc8Waaaa.s:278 .progmem.data:00000086 __c.4 |
C:\Users\Arthur-P\AppData\Local\Temp/cc8Waaaa.s:282 .progmem.data:000000a6 __c.5 |
C:\Users\Arthur-P\AppData\Local\Temp/cc8Waaaa.s:286 .progmem.data:000000ab __c.6 |
C:\Users\Arthur-P\AppData\Local\Temp/cc8Waaaa.s:290 .progmem.data:000000ce __c.7 |
C:\Users\Arthur-P\AppData\Local\Temp/cc8Waaaa.s:294 .progmem.data:000000da __c.8 |
C:\Users\Arthur-P\AppData\Local\Temp/cc8Waaaa.s:298 .progmem.data:000000e6 __c.9 |
C:\Users\Arthur-P\AppData\Local\Temp/cc8Waaaa.s:302 .progmem.data:000000f8 __c.10 |
.bss:00000007 second.11 |
C:\Users\Arthur-P\AppData\Local\Temp/cc8Waaaa.s:308 .text:0000017e main |
UNDEFINED SYMBOLS |
__do_copy_data |
__do_clear_bss |
EE_Parameter |
PPM_in |
WinkelOut |
beeptime |
Piep |
DebugOut |
uart_putchar |
SetDelay |
CheckDelay |
UBat |
__udivmodqi4 |
__stack |
StickGier |
StickRoll |
StickNick |
GIER_GRAD_FAKTOR |
Timer_Init |
TIMER2_Init |
UART_Init |
rc_sum_init |
ADC_Init |
I2C_Init |
SPI_MasterInit |
Capacity_Init |
LIBFC_Init |
ParamSet_Init |
BLFlags |
motor_read |
SendMotorData |
Motor |
Mixer |
ServoActive |
RequiredMotors |
VersionInfo |
SucheLuftruckOffset |
SetNeutral |
ExternControl |
GetParamByte |
LcdClear |
I2CTimeout |
LIBFC_ReceiverInit |
LIBFC_Polling |
UpdateMotor |
AdReady |
MotorRegler |
SenderOkay |
MissingMotor |
I2C_Reset |
FCFlags |
BeepMuster |
MotorenEin |
DatenUebertragung |
BearbeiteRxDaten |
PcZugriff |
ExternStickNick |
ExternStickRoll |
ExternStickGier |
NaviDataOkay |
NC_Version |
GPS_Nick |
GPS_Roll |
FromNaviCtrl |
SPI_StartTransmitPacket |
SendSPI |
SetParamByte |
LED_Update |
Capacity_Update |
SPI_TransmitByte |
/branches/V0.80d-Arthur-P/makefile |
---|
0,0 → 1,464 |
#-------------------------------------------------------------------- |
# MCU name |
#MCU = atmega1284p |
MCU = atmega644p |
F_CPU = 20000000 |
#------------------------------------------------------------------- |
VERSION_MAJOR = 0 |
VERSION_MINOR = 80 |
VERSION_PATCH = 3 |
VERSION_SERIAL_MAJOR = 11 # Serial Protocol |
VERSION_SERIAL_MINOR = 0 # Serial Protocol |
NC_SPI_COMPATIBLE = 14 # Navi-Kompatibilität |
#------------------------------------------------------------------- |
# get SVN revision |
REV := $(shell sh -c "cat .svn/entries | sed -n '4p'") |
ifeq ($(MCU), atmega1284p) |
FUSE_SETTINGS = -u -U lfuse:w:0xff:m -U hfuse:w:0xdf:m |
HEX_NAME = MEGA1284P |
LIBFC_EXT = 1284 |
endif |
ifeq ($(MCU), atmega644p) |
FUSE_SETTINGS = -u -U lfuse:w:0xff:m -U hfuse:w:0xdf:m |
HEX_NAME = MEGA644 |
LIBFC_EXT = 644 |
endif |
ifeq ($(F_CPU), 16000000) |
QUARZ = 16MHZ |
endif |
ifeq ($(F_CPU), 20000000) |
QUARZ = 20MHZ |
endif |
# Output format. (can be srec, ihex, binary) |
FORMAT = ihex |
# Target file name (without extension). |
ifeq ($(VERSION_PATCH), 0) |
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)a_SVN$(REV) |
endif |
ifeq ($(VERSION_PATCH), 1) |
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)b_SVN$(REV) |
endif |
ifeq ($(VERSION_PATCH), 2) |
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)c_SVN$(REV) |
endif |
ifeq ($(VERSION_PATCH), 3) |
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)d_SVN$(REV) |
endif |
ifeq ($(VERSION_PATCH), 4) |
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)e_SVN$(REV) |
endif |
ifeq ($(VERSION_PATCH), 5) |
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)f_SVN$(REV) |
endif |
ifeq ($(VERSION_PATCH), 6) |
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)g_SVN$(REV) |
endif |
ifeq ($(VERSION_PATCH), 7) |
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)h_SVN$(REV) |
endif |
ifeq ($(VERSION_PATCH), 8) |
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)i_SVN$(REV) |
endif |
ifeq ($(VERSION_PATCH), 9) |
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)j_SVN$(REV) |
endif |
ifeq ($(VERSION_PATCH), 10) |
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)k_SVN$(REV) |
endif |
ifeq ($(VERSION_PATCH), 11) |
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)L_SVN$(REV) |
endif |
ifeq ($(VERSION_PATCH), 12) |
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)m_SVN$(REV) |
endif |
ifeq ($(VERSION_PATCH), 13) |
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)n_SVN$(REV) |
endif |
ifeq ($(VERSION_PATCH), 14) |
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)o_SVN$(REV) |
endif |
ifeq ($(VERSION_PATCH), 15) |
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)p_SVN$(REV) |
endif |
ifeq ($(VERSION_PATCH), 16) |
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)q_SVN$(REV) |
endif |
ifeq ($(VERSION_PATCH), 17) |
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)r_SVN$(REV) |
endif |
ifeq ($(VERSION_PATCH), 18) |
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)s_SVN$(REV) |
endif |
ifeq ($(VERSION_PATCH), 19) |
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)t_SVN$(REV) |
endif |
ifeq ($(VERSION_PATCH), 20) |
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)u_SVN$(REV) |
endif |
# Optimization level, can be [0, 1, 2, 3, s]. 0 turns off optimization. |
# (Note: 3 is not always the best optimization level. See avr-libc FAQ.) |
OPT = s |
#OPT = 2 |
########################################################################################################## |
# List C source files here. (C dependencies are automatically generated.) |
SRC = main.c uart.c timer0.c analog.c menu.c eeprom.c |
SRC += twimaster.c rc.c fc.c GPS.c spi.c led.c Spektrum.c |
SRC += mymath.c jetimenu.c capacity.c debug.c |
########################################################################################################## |
# List Assembler source files here. |
# Make them always end in a capital .S. Files ending in a lowercase .s |
# will not be considered source files but generated files (assembler |
# output from the compiler), and will be deleted upon "make clean"! |
# Even though the DOS/Win* filesystem matches both .s and .S the same, |
# it will preserve the spelling of the filenames, and gcc itself does |
# care about how the name is spelled on its command-line. |
ASRC = isqrt.S |
# List any extra directories to look for include files here. |
# Each directory must be seperated by a space. |
EXTRAINCDIRS = |
# Optional compiler flags. |
# -g: generate debugging information (for GDB, or for COFF conversion) |
# -O*: optimization level |
# -f...: tuning, see gcc manual and avr-libc documentation |
# -Wall...: warning level |
# -Wa,...: tell GCC to pass this to the assembler. |
# -ahlms: create assembler listing |
CFLAGS = -O$(OPT) -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -Wall -Wstrict-prototypes -Wa,-adhlns=$(<:%.c=%.lst) $(patsubst %,-I%,$(EXTRAINCDIRS)) |
# Set a "language standard" compiler flag. |
# Unremark just one line below to set the language standard to use. |
# gnu99 = C99 + GNU extensions. See GCC manual for more information. |
#CFLAGS += -std=c89 |
#CFLAGS += -std=gnu89 |
#CFLAGS += -std=c99 |
CFLAGS += -std=gnu99 |
# shrink code size |
CFLAGS += -mtiny-stack |
#CFLAGS += -fno-inline-functions |
CFLAGS += -mcall-prologues |
CFLAGS += -DF_CPU=$(F_CPU) -DVERSION_MAJOR=$(VERSION_MAJOR) -DVERSION_MINOR=$(VERSION_MINOR) -DVERSION_PATCH=$(VERSION_PATCH) -DVERSION_SERIAL_MAJOR=$(VERSION_SERIAL_MAJOR) -DVERSION_SERIAL_MINOR=$(VERSION_SERIAL_MINOR) -DNC_SPI_COMPATIBLE=$(NC_SPI_COMPATIBLE) |
# Optional assembler flags. |
# -Wa,...: tell GCC to pass this to the assembler. |
# -ahlms: create listing |
# -gstabs: have the assembler create line number information; note that |
# for use in COFF files, additional information about filenames |
# and function names needs to be present in the assembler source |
# files -- see avr-libc docs [FIXME: not yet described there] |
ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs |
# Optional linker flags. |
# -Wl,...: tell GCC to pass this to linker. |
# -Map: create map file |
# --cref: add cross reference to map file |
LDFLAGS = -Wl,-Map=$(TARGET).map,--cref |
# Additional libraries |
# Minimalistic printf version |
#LDFLAGS += -Wl,-u,vfprintf -lprintf_min |
# Floating point printf version (requires -lm below) |
#LDFLAGS += -Wl,-u,vfprintf -lprintf_flt |
# -lm = math library |
LDFLAGS += -lm |
LDFLAGS += libfc$(LIBFC_EXT).a |
##LDFLAGS += -T./linkerfile/avr5.x |
# Programming support using avrdude. Settings and variables. |
# Programming hardware: alf avr910 avrisp bascom bsd |
# dt006 pavr picoweb pony-stk200 sp12 stk200 stk500 |
# |
# Type: avrdude -c ? |
# to get a full listing. |
# |
#AVRDUDE_PROGRAMMER = dt006 |
#AVRDUDE_PROGRAMMER = stk200 |
#AVRDUDE_PROGRAMMER = ponyser |
AVRDUDE_PROGRAMMER = avrispv2 |
#falls Ponyser ausgewählt wird, muss sich unsere avrdude-Configdatei im Bin-Verzeichnis des Compilers befinden |
#AVRDUDE_PORT = com1 # programmer connected to serial device |
#AVRDUDE_PORT = lpt1 # programmer connected to parallel port |
AVRDUDE_PORT = usb # programmer connected to USB |
#AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex |
AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex $(FUSE_SETTINGS) |
#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep |
#avrdude -c avrispv2 -P usb -p m32 -U flash:w:blink.hex |
AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) |
# Uncomment the following if you want avrdude's erase cycle counter. |
# Note that this counter needs to be initialized first using -Yn, |
# see avrdude manual. |
#AVRDUDE_ERASE += -y |
# Uncomment the following if you do /not/ wish a verification to be |
# performed after programming the device. |
AVRDUDE_FLAGS += -V |
# Increase verbosity level. Please use this when submitting bug |
# reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude> |
# to submit bug reports. |
#AVRDUDE_FLAGS += -v -v |
# --------------------------------------------------------------------------- |
# Define directories, if needed. |
DIRAVR = c:/winavr |
DIRAVRBIN = $(DIRAVR)/bin |
DIRAVRUTILS = $(DIRAVR)/utils/bin |
DIRINC = . |
DIRLIB = $(DIRAVR)/avr/lib |
# Define programs and commands. |
SHELL = sh |
CC = avr-gcc |
OBJCOPY = avr-objcopy |
OBJDUMP = avr-objdump |
SIZE = avr-size |
# Programming support using avrdude. |
AVRDUDE = avrdude |
REMOVE = rm -f |
COPY = cp |
HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex |
ELFSIZE = $(SIZE) -x -A $(TARGET).elf |
LIMITS = $(SIZE) --mcu=$(MCU) -C $(TARGET).elf |
# Define Messages |
# English |
MSG_ERRORS_NONE = Errors: none |
MSG_BEGIN = -------- begin -------- |
MSG_END = -------- end -------- |
MSG_SIZE_BEFORE = Size before: |
MSG_SIZE_AFTER = Size after: |
MSG_COFF = Converting to AVR COFF: |
MSG_EXTENDED_COFF = Converting to AVR Extended COFF: |
MSG_FLASH = Creating load file for Flash: |
MSG_EEPROM = Creating load file for EEPROM: |
MSG_EXTENDED_LISTING = Creating Extended Listing: |
MSG_SYMBOL_TABLE = Creating Symbol Table: |
MSG_LINKING = Linking: |
MSG_COMPILING = Compiling: |
MSG_ASSEMBLING = Assembling: |
MSG_CLEANING = Cleaning project: |
# Define all object files. |
OBJ = $(SRC:.c=.o) $(ASRC:.S=.o) |
# Define all listing files. |
LST = $(ASRC:.S=.lst) $(SRC:.c=.lst) |
# Combine all necessary flags and optional flags. |
# Add target processor to flags. |
#ALL_CFLAGS = -mmcu=$(MCU) -DF_CPU=$(F_CPU) -I. $(CFLAGS) |
ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) |
ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) |
# Default target. |
all: begin gccversion sizebefore $(TARGET).elf $(TARGET).hex sizeafter finished end |
# Eye candy. |
# AVR Studio 3.x does not check make's exit code but relies on |
# the following magic strings to be generated by the compile job. |
begin: |
@echo |
@echo $(MSG_BEGIN) |
finished: |
@echo $(MSG_ERRORS_NONE) |
end: |
@echo $(MSG_END) |
@echo |
# Display size of file. |
sizebefore: |
@if [ -f $(TARGET).elf ]; then echo Size before:; $(ELFSIZE); $(HEXSIZE); $(LIMITS); echo; fi |
sizeafter: |
@if [ -f $(TARGET).elf ]; then echo Size after:; $(ELFSIZE); $(HEXSIZE); $(LIMITS); echo; fi |
# Display compiler version information. |
gccversion : |
@$(CC) --version |
# Convert ELF to COFF for use in debugging / simulating in |
# AVR Studio or VMLAB. |
COFFCONVERT=$(OBJCOPY) --debugging \ |
--change-section-address .data-0x800000 \ |
--change-section-address .bss-0x800000 \ |
--change-section-address .noinit-0x800000 \ |
--change-section-address .eeprom-0x810000 |
coff: $(TARGET).elf |
@echo |
@echo $(MSG_COFF) $(TARGET).cof |
$(COFFCONVERT) -O coff-avr $< $(TARGET).cof |
extcoff: $(TARGET).elf |
@echo |
@echo $(MSG_EXTENDED_COFF) $(TARGET).cof |
$(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof |
# Program the device. |
program: $(TARGET).hex $(TARGET).eep |
$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM) |
# Create final output files (.hex, .eep) from ELF output file. |
%.hex: %.elf |
@echo |
@echo $(MSG_FLASH) $@ |
$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@ |
%.eep: %.elf |
@echo |
@echo $(MSG_EEPROM) $@ |
-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ |
--change-section-lma .eeprom=0 -O $(FORMAT) $< $@ |
# Create extended listing file from ELF output file. |
%.lss: %.elf |
@echo |
@echo $(MSG_EXTENDED_LISTING) $@ |
$(OBJDUMP) -h -S $< > $@ |
# Create a symbol table from ELF output file. |
%.sym: %.elf |
@echo |
@echo $(MSG_SYMBOL_TABLE) $@ |
avr-nm -n $< > $@ |
# Link: create ELF output file from object files. |
.SECONDARY : $(TARGET).elf |
.PRECIOUS : $(OBJ) |
%.elf: $(OBJ) |
@echo |
@echo $(MSG_LINKING) $@ |
$(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS) |
# Compile: create object files from C source files. |
%.o : %.c |
@echo |
@echo $(MSG_COMPILING) $< |
$(CC) -c $(ALL_CFLAGS) $< -o $@ |
# Compile: create assembler files from C source files. |
%.s : %.c |
$(CC) -S $(ALL_CFLAGS) $< -o $@ |
# Assemble: create object files from assembler source files. |
%.o : %.S |
@echo |
@echo $(MSG_ASSEMBLING) $< |
$(CC) -c $(ALL_ASFLAGS) $< -o $@ |
# Target: clean project. |
clean: begin clean_list finished end |
clean_list : |
@echo |
@echo $(MSG_CLEANING) |
$(REMOVE) Flight-Ctrl_*.hex |
$(REMOVE) Flight-Ctrl_*.eep |
$(REMOVE) $(TARGET).obj |
$(REMOVE) $(TARGET).cof |
$(REMOVE) Flight-Ctrl_*.elf |
$(REMOVE) Flight-Ctrl_*.map |
$(REMOVE) $(TARGET).obj |
$(REMOVE) $(TARGET).a90 |
$(REMOVE) Flight-Ctrl_*.sym |
$(REMOVE) $(TARGET).lnk |
$(REMOVE) $(TARGET).lss |
$(REMOVE) $(OBJ) |
$(REMOVE) $(LST) |
$(REMOVE) $(SRC:.c=.s) |
$(REMOVE) $(SRC:.c=.d) |
$(REMOVE) $(SRC:.c=.o) |
# Automatically generate C source code dependencies. |
# (Code originally taken from the GNU make user manual and modified |
# (See README.txt Credits).) |
# |
# Note that this will work with sh (bash) and sed that is shipped with WinAVR |
# (see the SHELL variable defined above). |
# This may not work with other shells or other seds. |
# |
%.d: %.c |
set -e; $(CC) -MM $(ALL_CFLAGS) $< \ |
| sed 's,\(.*\)\.o[ :]*,\1.o \1.d : ,g' > $@; \ |
[ -s $@ ] || rm -f $@ |
# Remove the '-' if you want to see the dependency files generated. |
-include $(SRC:%.c=%.d) |
# Listing of phony targets. |
.PHONY : all begin finish end sizebefore sizeafter gccversion coff extcoff \ |
clean clean_list program |
/branches/V0.80d-Arthur-P/menu.c |
---|
0,0 → 1,204 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) Holger Buss, Ingo Busker |
// + only for non-profit use |
// + www.MikroKopter.com |
// + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
// + see the File "License.txt" for further Informations |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#include "main.h" |
#include "eeprom.h" |
char DisplayBuff[80] = "Hello World"; |
unsigned char DispPtr = 0; |
unsigned char MaxMenue = 17; |
unsigned char MenuePunkt = 0; |
unsigned char RemoteKeys = 0; |
#define KEY1 0x01 |
#define KEY2 0x02 |
#define KEY3 0x04 |
#define KEY4 0x08 |
#define KEY5 0x10 |
void LcdClear(void) |
{ |
unsigned char i; |
for(i=0;i<80;i++) DisplayBuff[i] = ' '; |
} |
void Menu_Putchar(char c) |
{ |
DisplayBuff[DispPtr++] = c; |
} |
void Menu(void) |
{ |
if(RemoteKeys & KEY1) { if(MenuePunkt) MenuePunkt--; else MenuePunkt = MaxMenue;} |
if(RemoteKeys & KEY2) { if(MenuePunkt == MaxMenue) MenuePunkt = 0; else MenuePunkt++;} |
if((RemoteKeys & KEY1) && (RemoteKeys & KEY2)) MenuePunkt = 0; |
LcdClear(); |
if(MenuePunkt < 10) {LCD_printfxy(17,0,"[%i]",MenuePunkt);} |
else {LCD_printfxy(16,0,"[%i]",MenuePunkt);}; |
switch(MenuePunkt) |
{ |
case 0: |
LCD_printfxy(0,0,"+ MikroKopter +"); |
LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%d%c-Arthur-P",PlatinenVersion/10,PlatinenVersion%10, VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH +'a'); |
LCD_printfxy(0,2,"Setting:%d %s", GetActiveParamSet(),Mixer.Name); |
if(VersionInfo.HardwareError[0]) LCD_printfxy(0,3,"Hardware Error 1:%d !!",VersionInfo.HardwareError[0]) |
else |
if(MissingMotor) LCD_printfxy(0,3,"Missing BL-Ctrl:%d!!",MissingMotor) |
else |
if(VersionInfo.HardwareError[1] & DEFEKT_MIXER_ERR) LCD_printfxy(0,3,"Mixer Error!") |
else |
// if(VersionInfo.HardwareError[1]) LCD_printfxy(0,3,"Error 2:%d !!",VersionInfo.HardwareError[1]) |
// else |
if(I2CTimeout < 6) LCD_printfxy(0,3,"I2C ERROR!!!") |
break; |
case 1: |
if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
{ |
LCD_printfxy(0,0,"Height: %5i",(int)(HoehenWert/5)); |
LCD_printfxy(0,1,"Setpoint:%5i",(int)(SollHoehe/5)); |
LCD_printfxy(0,2,"Pressure:%5i",MessLuftdruck); |
LCD_printfxy(0,3,"Offset: %5i",OCR0A); |
} |
else |
{ |
LCD_printfxy(0,0,"Height control"); |
LCD_printfxy(0,1,"DISABLED"); |
LCD_printfxy(0,2,"Height control"); |
LCD_printfxy(0,3,"DISABLED"); |
} |
break; |
case 2: |
LCD_printfxy(0,0,"act. bearing"); |
LCD_printfxy(0,1,"Nick: %5i",IntegralNick/1024); |
LCD_printfxy(0,2,"Roll: %5i",IntegralRoll/1024); |
LCD_printfxy(0,3,"Compass: %5i",KompassValue); |
break; |
case 3: |
LCD_printfxy(0,0,"K1:%4i K2:%4i ",PPM_in[1],PPM_in[2]); |
LCD_printfxy(0,1,"K3:%4i K4:%4i ",PPM_in[3],PPM_in[4]); |
LCD_printfxy(0,2,"K5:%4i K6:%4i ",PPM_in[5],PPM_in[6]); |
LCD_printfxy(0,3,"K7:%4i K8:%4i ",PPM_in[7],PPM_in[8]); |
break; |
case 4: |
LCD_printfxy(0,0,"Ni:%4i Ro:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_NICK]],PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]); |
LCD_printfxy(0,1,"Gs:%4i Gi:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]+120,PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]); |
LCD_printfxy(0,2,"P1:%4i P2:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]]+110,PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]]+110); |
LCD_printfxy(0,3,"P3:%4i P4:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]]+110,PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]]+110); |
break; |
case 5: |
LCD_printfxy(0,0,"Gyro - Sensor"); |
if(PlatinenVersion == 10) |
{ |
LCD_printfxy(0,1,"Nick%4i (%3i.%i)",AdWertNick - AdNeutralNick/8, AdNeutralNick/8, AdNeutralNick%8); |
LCD_printfxy(0,2,"Roll%4i (%3i.%i)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll/8, AdNeutralRoll%8); |
LCD_printfxy(0,3,"Gier%4i (%3i)",AdNeutralGier - AdWertGier, AdNeutralGier); |
} |
else |
if((PlatinenVersion == 11) || (PlatinenVersion >= 20)) |
{ |
LCD_printfxy(0,1,"Nick %4i (%3i.%x)",AdWertNick - AdNeutralNick/8, AdNeutralNick/16, (AdNeutralNick%16)/2); |
LCD_printfxy(0,2,"Roll %4i (%3i.%x)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll/16, (AdNeutralRoll%16)/2); |
LCD_printfxy(0,3,"Yaw %4i (%3i)",AdNeutralGier - AdWertGier, AdNeutralGier/2); |
} |
else |
if(PlatinenVersion == 13) |
{ |
LCD_printfxy(0,1,"Nick %4i (%3i)(%3i)",AdWertNick - AdNeutralNick/8, AdNeutralNick/16,AnalogOffsetNick); |
LCD_printfxy(0,2,"Roll %4i (%3i)(%3i)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll/16,AnalogOffsetRoll); |
LCD_printfxy(0,3,"Yaw %4i (%3i)(%3i)",AdNeutralGier - AdWertGier, AdNeutralGier/2,AnalogOffsetGier); |
} |
break; |
case 6: |
LCD_printfxy(0,0,"ACC - Sensor"); |
LCD_printfxy(0,1,"Nick %4i (%3i)",AdWertAccNick,NeutralAccX); |
LCD_printfxy(0,2,"Roll %4i (%3i)",AdWertAccRoll,NeutralAccY); |
LCD_printfxy(0,3,"Z %4i (%3i)",AdWertAccHoch,(int)NeutralAccZ); |
break; |
case 7: |
LCD_printfxy(0,0,"Voltage: %3i.%1iV",UBat/10, UBat%10); |
LCD_printfxy(0,1,"Current: %3i.%1iA",Capacity.ActualCurrent/10, Capacity.ActualCurrent%10); |
LCD_printfxy(0,2,"Power: %4iW",Capacity.ActualPower); |
LCD_printfxy(0,3,"Discharge: %5imAh", Capacity.UsedCapacity); |
break; |
case 8: |
LCD_printfxy(0,0,"Receiver"); |
LCD_printfxy(0,1,"RC-RSSI: %4i", PPM_in[0]); |
LCD_printfxy(0,2,"RC-Quality: %4i", SenderOkay); |
LCD_printfxy(0,3,"RC-Channels:%4i", Channels-1); |
break; |
case 9: |
LCD_printfxy(0,0,"Compass"); |
LCD_printfxy(0,1,"Heading: %5i",KompassRichtung); |
LCD_printfxy(0,2,"Value: %5i",KompassValue); |
LCD_printfxy(0,3,"Start: %5i",KompassStartwert); |
break; |
case 10: |
LCD_printfxy(0,0,"Poti1: %3i",Poti[0]); |
LCD_printfxy(0,1,"Poti2: %3i",Poti[1]); |
LCD_printfxy(0,2,"Poti3: %3i",Poti[2]); |
LCD_printfxy(0,3,"Poti4: %3i",Poti[3]); |
break; |
case 11: |
LCD_printfxy(0,0,"Poti5: %3i",Poti[4]); |
LCD_printfxy(0,1,"Poti6: %3i",Poti[5]); |
LCD_printfxy(0,2,"Poti7: %3i",Poti[6]); |
LCD_printfxy(0,3,"Poti8: %3i",Poti[7]); |
break; |
case 12: |
LCD_printfxy(0,0,"Servo " ); |
LCD_printfxy(0,1,"Setpoint %3i",Parameter_ServoNickControl); |
LCD_printfxy(0,2,"Position: %3i",ServoNickValue); |
LCD_printfxy(0,3,"Range:%3i-%3i",EE_Parameter.ServoNickMin,EE_Parameter.ServoNickMax); |
break; |
case 13: |
LCD_printfxy(0,0,"ExternControl " ); |
LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",ExternControl.Nick,ExternControl.Roll); |
LCD_printfxy(0,2,"Gs:%4i Gi:%4i ",ExternControl.Gas,ExternControl.Gier); |
LCD_printfxy(0,3,"Hi:%4i Cf:%4i ",ExternControl.Hight,ExternControl.Config); |
break; |
case 14: |
LCD_printfxy(0,0,"BL-Ctrl Errors " ); |
LCD_printfxy(0,1,"%3d %3d %3d %3d ",Motor[0].State & MOTOR_STATE_ERROR_MASK,Motor[1].State & MOTOR_STATE_ERROR_MASK,Motor[2].State & MOTOR_STATE_ERROR_MASK,Motor[3].State & MOTOR_STATE_ERROR_MASK); |
LCD_printfxy(0,2,"%3d %3d %3d %3d ",Motor[4].State & MOTOR_STATE_ERROR_MASK,Motor[5].State & MOTOR_STATE_ERROR_MASK,Motor[6].State & MOTOR_STATE_ERROR_MASK,Motor[7].State & MOTOR_STATE_ERROR_MASK); |
LCD_printfxy(0,3,"%3d %3d %3d %3d ",Motor[8].State & MOTOR_STATE_ERROR_MASK,Motor[9].State & MOTOR_STATE_ERROR_MASK,Motor[10].State & MOTOR_STATE_ERROR_MASK,Motor[11].State & MOTOR_STATE_ERROR_MASK); |
break; |
case 15: |
LCD_printfxy(0,0,"BL Temperature" ); |
LCD_printfxy(0,1,"%3i %3i %3i %3i ",Motor[0].Temperature,Motor[1].Temperature,Motor[2].Temperature,Motor[3].Temperature); |
LCD_printfxy(0,2,"%3i %3i %3i %3i ",Motor[4].Temperature,Motor[5].Temperature,Motor[6].Temperature,Motor[7].Temperature); |
LCD_printfxy(0,3,"%3i %3i %3i %3i ",Motor[8].Temperature,Motor[9].Temperature,Motor[10].Temperature,Motor[11].Temperature); |
break; |
case 16: |
LCD_printfxy(0,0,"BL-Ctrl found " ); |
LCD_printfxy(0,1," %c %c %c %c ",'-' + 4 * (Motor[0].State>>7),'-' + 5 * (Motor[1].State>>7),'-' + 6 * (Motor[2].State>>7),'-' + 7 * (Motor[3].State>>7)); |
LCD_printfxy(0,2," %c %c %c %c ",'-' + 8 * (Motor[4].State>>7),'-' + 9 * (Motor[5].State>>7),'-' + 10 * (Motor[6].State>>7),'-' + 11 * (Motor[7].State>>7)); |
LCD_printfxy(0,3," %c - - - ",'-' + 12 * (Motor[8].State>>7)); |
if(Motor[9].State>>7) LCD_printfxy(4,3,"10"); |
if(Motor[10].State>>7) LCD_printfxy(8,3,"11"); |
if(Motor[11].State>>7) LCD_printfxy(12,3,"12"); |
break; |
case 17: |
LCD_printfxy(0,0,"Flight-Time " ); |
LCD_printfxy(0,1,"Total:%5umin",FlugMinutenGesamt); |
LCD_printfxy(0,2,"Act: %5umin",FlugMinuten); |
LCD_printfxy(13,3,"(reset)"); |
if(RemoteKeys & KEY4) |
{ |
FlugMinuten = 0; |
SetParamWord(PID_FLIGHT_MINUTES, FlugMinuten); |
} |
break; |
default: |
if(MenuePunkt == MaxMenue) MaxMenue--; |
MenuePunkt = 0; |
break; |
} |
RemoteKeys = 0; |
} |
/branches/V0.80d-Arthur-P/menu.d |
---|
0,0 → 1,3 |
menu.o menu.d : menu.c main.h old_macros.h printf_P.h timer0.h uart.h analog.h \ |
twimaster.h menu.h rc.h fc.h gps.h spi.h led.h spektrum.h capacity.h \ |
eeprom.h libfc.h debug.h |
/branches/V0.80d-Arthur-P/menu.h |
---|
0,0 → 1,17 |
#ifndef _MENU_H |
#define _MENU_H |
extern void Menu(void); |
extern void LcdClear(void); |
extern void Menu_Putchar(char c); |
extern char DisplayBuff[80]; |
extern unsigned char DispPtr; |
extern unsigned char MaxMenue; |
extern unsigned char MenuePunkt; |
extern unsigned char RemoteKeys; |
#define LCD_printfxy(x,y,format, args...) { DispPtr = y * 20 + x; _printf_P(&Menu_Putchar,PSTR(format) , ## args);} |
#define LCD_printf(format, args...) { _printf_P(&Menu_Putchar, PSTR(format) , ## args);} |
#endif //_MENU_H |
/branches/V0.80d-Arthur-P/menu.lst |
---|
0,0 → 1,3075 |
1 .file "menu.c" |
2 .arch atmega644p |
3 __SREG__ = 0x3f |
4 __SP_H__ = 0x3e |
5 __SP_L__ = 0x3d |
6 __tmp_reg__ = 0 |
7 __zero_reg__ = 1 |
8 .global __do_copy_data |
9 .global __do_clear_bss |
10 .global RemoteKeys |
11 .global RemoteKeys |
12 .section .bss |
15 RemoteKeys: |
16 0000 00 .skip 1,0 |
17 .global MenuePunkt |
18 .global MenuePunkt |
21 MenuePunkt: |
22 0001 00 .skip 1,0 |
23 .global MaxMenue |
24 .data |
27 MaxMenue: |
28 0000 11 .byte 17 |
29 .global DispPtr |
30 .global DispPtr |
31 .section .bss |
34 DispPtr: |
35 0002 00 .skip 1,0 |
36 .global DisplayBuff |
37 .data |
40 DisplayBuff: |
41 0001 4865 6C6C .string "Hello World" |
41 6F20 576F |
41 726C 6400 |
42 000d 0000 0000 .skip 68,0 |
42 0000 0000 |
42 0000 0000 |
42 0000 0000 |
42 0000 0000 |
43 .text |
44 .global LcdClear |
46 LcdClear: |
47 /* prologue: frame size=0 */ |
48 /* prologue end (size=0) */ |
49 0000 90E2 ldi r25,lo8(32) |
50 0002 E0E0 ldi r30,lo8(DisplayBuff) |
51 0004 F0E0 ldi r31,hi8(DisplayBuff) |
52 0006 8FE4 ldi r24,lo8(79) |
53 .L5: |
54 0008 9193 st Z+,r25 |
55 000a 8150 subi r24,lo8(-(-1)) |
56 000c 87FF sbrs r24,7 |
57 000e FCCF rjmp .L5 |
58 /* epilogue: frame size=0 */ |
59 0010 0895 ret |
60 /* epilogue end (size=1) */ |
61 /* function LcdClear size 9 (8) */ |
63 .global Menu_Putchar |
65 Menu_Putchar: |
66 /* prologue: frame size=0 */ |
67 /* prologue end (size=0) */ |
68 0012 9091 0000 lds r25,DispPtr |
69 0016 E0E0 ldi r30,lo8(DisplayBuff) |
70 0018 F0E0 ldi r31,hi8(DisplayBuff) |
71 001a E90F add r30,r25 |
72 001c F11D adc r31,__zero_reg__ |
73 001e 8083 st Z,r24 |
74 0020 9F5F subi r25,lo8(-(1)) |
75 0022 9093 0000 sts DispPtr,r25 |
76 /* epilogue: frame size=0 */ |
77 0026 0895 ret |
78 /* epilogue end (size=1) */ |
79 /* function Menu_Putchar size 11 (10) */ |
81 .section .progmem.data,"a",@progbits |
84 __c.0: |
85 0000 5B25 695D .string "[%i]" |
85 00 |
88 __c.1: |
89 0005 5B25 695D .string "[%i]" |
89 00 |
92 __c.2: |
93 000a 2B20 4D69 .string "+ MikroKopter +" |
93 6B72 6F4B |
93 6F70 7465 |
93 7220 2B00 |
96 __c.3: |
97 001a 4857 3A56 .string "HW:V%d.%d SW:%d.%d%c-Arthur-P" |
97 2564 2E25 |
97 6420 5357 |
97 3A25 642E |
97 2564 2563 |
100 __c.4: |
101 0038 5365 7474 .string "Setting:%d %s" |
101 696E 673A |
101 2564 2025 |
101 7300 |
104 __c.5: |
105 0046 4861 7264 .string "Hardware Error 1:%d !!" |
105 7761 7265 |
105 2045 7272 |
105 6F72 2031 |
105 3A25 6420 |
108 __c.6: |
109 005d 4D69 7373 .string "Missing BL-Ctrl:%d!!" |
109 696E 6720 |
109 424C 2D43 |
109 7472 6C3A |
109 2564 2121 |
112 __c.7: |
113 0072 4D69 7865 .string "Mixer Error!" |
113 7220 4572 |
113 726F 7221 |
113 00 |
116 __c.8: |
117 007f 4932 4320 .string "I2C ERROR!!!" |
117 4552 524F |
117 5221 2121 |
117 00 |
120 __c.9: |
121 008c 4865 6967 .string "Height: %5i" |
121 6874 3A20 |
121 2025 3569 |
121 00 |
124 __c.10: |
125 0099 5365 7470 .string "Setpoint:%5i" |
125 6F69 6E74 |
125 3A25 3569 |
125 00 |
128 __c.11: |
129 00a6 5072 6573 .string "Pressure:%5i" |
129 7375 7265 |
129 3A25 3569 |
129 00 |
132 __c.12: |
133 00b3 4F66 6673 .string "Offset: %5i" |
133 6574 3A20 |
133 2025 3569 |
133 00 |
136 __c.13: |
137 00c0 4865 6967 .string "Height control" |
137 6874 2063 |
137 6F6E 7472 |
137 6F6C 00 |
140 __c.14: |
141 00cf 4449 5341 .string "DISABLED" |
141 424C 4544 |
141 00 |
144 __c.15: |
145 00d8 4865 6967 .string "Height control" |
145 6874 2063 |
145 6F6E 7472 |
145 6F6C 00 |
148 __c.16: |
149 00e7 4449 5341 .string "DISABLED" |
149 424C 4544 |
149 00 |
152 __c.17: |
153 00f0 6163 742E .string "act. bearing" |
153 2062 6561 |
153 7269 6E67 |
153 00 |
156 __c.18: |
157 00fd 4E69 636B .string "Nick: %5i" |
157 3A20 2020 |
157 2020 2025 |
157 3569 00 |
160 __c.19: |
161 010c 526F 6C6C .string "Roll: %5i" |
161 3A20 2020 |
161 2020 2025 |
161 3569 00 |
164 __c.20: |
165 011b 436F 6D70 .string "Compass: %5i" |
165 6173 733A |
165 2020 2025 |
165 3569 00 |
168 __c.21: |
169 012a 4B31 3A25 .string "K1:%4i K2:%4i " |
169 3469 2020 |
169 4B32 3A25 |
169 3469 2000 |
172 __c.22: |
173 013a 4B33 3A25 .string "K3:%4i K4:%4i " |
173 3469 2020 |
173 4B34 3A25 |
173 3469 2000 |
176 __c.23: |
177 014a 4B35 3A25 .string "K5:%4i K6:%4i " |
177 3469 2020 |
177 4B36 3A25 |
177 3469 2000 |
180 __c.24: |
181 015a 4B37 3A25 .string "K7:%4i K8:%4i " |
181 3469 2020 |
181 4B38 3A25 |
181 3469 2000 |
184 __c.25: |
185 016a 4E69 3A25 .string "Ni:%4i Ro:%4i " |
185 3469 2020 |
185 526F 3A25 |
185 3469 2000 |
188 __c.26: |
189 017a 4773 3A25 .string "Gs:%4i Gi:%4i " |
189 3469 2020 |
189 4769 3A25 |
189 3469 2000 |
192 __c.27: |
193 018a 5031 3A25 .string "P1:%4i P2:%4i " |
193 3469 2020 |
193 5032 3A25 |
193 3469 2000 |
196 __c.28: |
197 019a 5033 3A25 .string "P3:%4i P4:%4i " |
197 3469 2020 |
197 5034 3A25 |
197 3469 2000 |
200 __c.29: |
201 01aa 4779 726F .string "Gyro - Sensor" |
201 202D 2053 |
201 656E 736F |
201 7200 |
204 __c.30: |
205 01b8 4E69 636B .string "Nick%4i (%3i.%i)" |
205 2534 6920 |
205 2825 3369 |
205 2E25 6929 |
205 00 |
208 __c.31: |
209 01c9 526F 6C6C .string "Roll%4i (%3i.%i)" |
209 2534 6920 |
209 2825 3369 |
209 2E25 6929 |
209 00 |
212 __c.32: |
213 01da 4769 6572 .string "Gier%4i (%3i)" |
213 2534 6920 |
213 2825 3369 |
213 2900 |
216 __c.33: |
217 01e8 4E69 636B .string "Nick %4i (%3i.%x)" |
217 2025 3469 |
217 2028 2533 |
217 692E 2578 |
217 2900 |
220 __c.34: |
221 01fa 526F 6C6C .string "Roll %4i (%3i.%x)" |
221 2025 3469 |
221 2028 2533 |
221 692E 2578 |
221 2900 |
224 __c.35: |
225 020c 5961 7720 .string "Yaw %4i (%3i)" |
225 2025 3469 |
225 2028 2533 |
225 6929 00 |
228 __c.36: |
229 021b 4E69 636B .string "Nick %4i (%3i)(%3i)" |
229 2025 3469 |
229 2028 2533 |
229 6929 2825 |
229 3369 2900 |
232 __c.37: |
233 022f 526F 6C6C .string "Roll %4i (%3i)(%3i)" |
233 2025 3469 |
233 2028 2533 |
233 6929 2825 |
233 3369 2900 |
236 __c.38: |
237 0243 5961 7720 .string "Yaw %4i (%3i)(%3i)" |
237 2025 3469 |
237 2028 2533 |
237 6929 2825 |
237 3369 2900 |
240 __c.39: |
241 0257 4143 4320 .string "ACC - Sensor" |
241 2D20 5365 |
241 6E73 6F72 |
241 00 |
244 __c.40: |
245 0264 4E69 636B .string "Nick %4i (%3i)" |
245 2025 3469 |
245 2028 2533 |
245 6929 00 |
248 __c.41: |
249 0273 526F 6C6C .string "Roll %4i (%3i)" |
249 2025 3469 |
249 2028 2533 |
249 6929 00 |
252 __c.42: |
253 0282 5A20 2020 .string "Z %4i (%3i)" |
253 2025 3469 |
253 2028 2533 |
253 6929 00 |
256 __c.43: |
257 0291 566F 6C74 .string "Voltage: %3i.%1iV" |
257 6167 653A |
257 2020 2025 |
257 3369 2E25 |
257 3169 5600 |
260 __c.44: |
261 02a5 4375 7272 .string "Current: %3i.%1iA" |
261 656E 743A |
261 2020 2025 |
261 3369 2E25 |
261 3169 4100 |
264 __c.45: |
265 02b9 506F 7765 .string "Power: %4iW" |
265 723A 2020 |
265 2020 2025 |
265 3469 5700 |
268 __c.46: |
269 02c9 4469 7363 .string "Discharge: %5imAh" |
269 6861 7267 |
269 653A 2025 |
269 3569 6D41 |
269 6800 |
272 __c.47: |
273 02db 5265 6365 .string "Receiver" |
273 6976 6572 |
273 00 |
276 __c.48: |
277 02e4 5243 2D52 .string "RC-RSSI: %4i" |
277 5353 493A |
277 2020 2020 |
277 2534 6900 |
280 __c.49: |
281 02f4 5243 2D51 .string "RC-Quality: %4i" |
281 7561 6C69 |
281 7479 3A20 |
281 2534 6900 |
284 __c.50: |
285 0304 5243 2D43 .string "RC-Channels:%4i" |
285 6861 6E6E |
285 656C 733A |
285 2534 6900 |
288 __c.51: |
289 0314 436F 6D70 .string "Compass" |
289 6173 7300 |
292 __c.52: |
293 031c 4865 6164 .string "Heading: %5i" |
293 696E 673A |
293 2020 2535 |
293 6900 |
296 __c.53: |
297 032a 5661 6C75 .string "Value: %5i" |
297 653A 2020 |
297 2020 2535 |
297 6900 |
300 __c.54: |
301 0338 5374 6172 .string "Start: %5i" |
301 743A 2020 |
301 2020 2535 |
301 6900 |
304 __c.55: |
305 0346 506F 7469 .string "Poti1: %3i" |
305 313A 2020 |
305 2533 6900 |
308 __c.56: |
309 0352 506F 7469 .string "Poti2: %3i" |
309 323A 2020 |
309 2533 6900 |
312 __c.57: |
313 035e 506F 7469 .string "Poti3: %3i" |
313 333A 2020 |
313 2533 6900 |
316 __c.58: |
317 036a 506F 7469 .string "Poti4: %3i" |
317 343A 2020 |
317 2533 6900 |
320 __c.59: |
321 0376 506F 7469 .string "Poti5: %3i" |
321 353A 2020 |
321 2533 6900 |
324 __c.60: |
325 0382 506F 7469 .string "Poti6: %3i" |
325 363A 2020 |
325 2533 6900 |
328 __c.61: |
329 038e 506F 7469 .string "Poti7: %3i" |
329 373A 2020 |
329 2533 6900 |
332 __c.62: |
333 039a 506F 7469 .string "Poti8: %3i" |
333 383A 2020 |
333 2533 6900 |
336 __c.63: |
337 03a6 5365 7276 .string "Servo " |
337 6F20 2000 |
340 __c.64: |
341 03ae 5365 7470 .string "Setpoint %3i" |
341 6F69 6E74 |
341 2020 2533 |
341 6900 |
344 __c.65: |
345 03bc 506F 7369 .string "Position: %3i" |
345 7469 6F6E |
345 3A20 2533 |
345 6900 |
348 __c.66: |
349 03ca 5261 6E67 .string "Range:%3i-%3i" |
349 653A 2533 |
349 692D 2533 |
349 6900 |
352 __c.67: |
353 03d8 4578 7465 .string "ExternControl " |
353 726E 436F |
353 6E74 726F |
353 6C20 2000 |
356 __c.68: |
357 03e8 4E69 3A25 .string "Ni:%4i Ro:%4i " |
357 3469 2020 |
357 526F 3A25 |
357 3469 2000 |
360 __c.69: |
361 03f8 4773 3A25 .string "Gs:%4i Gi:%4i " |
361 3469 2020 |
361 4769 3A25 |
361 3469 2000 |
364 __c.70: |
365 0408 4869 3A25 .string "Hi:%4i Cf:%4i " |
365 3469 2020 |
365 4366 3A25 |
365 3469 2000 |
368 __c.71: |
369 0418 424C 2D43 .string "BL-Ctrl Errors " |
369 7472 6C20 |
369 4572 726F |
369 7273 2000 |
372 __c.72: |
373 0428 2533 6420 .string "%3d %3d %3d %3d " |
373 2533 6420 |
373 2533 6420 |
373 2533 6420 |
373 00 |
376 __c.73: |
377 0439 2533 6420 .string "%3d %3d %3d %3d " |
377 2533 6420 |
377 2533 6420 |
377 2533 6420 |
377 00 |
380 __c.74: |
381 044a 2533 6420 .string "%3d %3d %3d %3d " |
381 2533 6420 |
381 2533 6420 |
381 2533 6420 |
381 00 |
384 __c.75: |
385 045b 424C 2054 .string "BL Temperature" |
385 656D 7065 |
385 7261 7475 |
385 7265 00 |
388 __c.76: |
389 046a 2533 6920 .string "%3i %3i %3i %3i " |
389 2533 6920 |
389 2533 6920 |
389 2533 6920 |
389 00 |
392 __c.77: |
393 047b 2533 6920 .string "%3i %3i %3i %3i " |
393 2533 6920 |
393 2533 6920 |
393 2533 6920 |
393 00 |
396 __c.78: |
397 048c 2533 6920 .string "%3i %3i %3i %3i " |
397 2533 6920 |
397 2533 6920 |
397 2533 6920 |
397 00 |
400 __c.79: |
401 049d 424C 2D43 .string "BL-Ctrl found " |
401 7472 6C20 |
401 666F 756E |
401 6420 00 |
404 __c.80: |
405 04ac 2025 6320 .string " %c %c %c %c " |
405 2020 2563 |
405 2020 2025 |
405 6320 2020 |
405 2563 2000 |
408 __c.81: |
409 04c0 2025 6320 .string " %c %c %c %c " |
409 2020 2563 |
409 2020 2025 |
409 6320 2020 |
409 2563 2000 |
412 __c.82: |
413 04d4 2025 6320 .string " %c - - - " |
413 2020 2D20 |
413 2020 2D20 |
413 2020 2D20 |
413 00 |
416 __c.83: |
417 04e5 3130 00 .string "10" |
420 __c.84: |
421 04e8 3131 00 .string "11" |
424 __c.85: |
425 04eb 3132 00 .string "12" |
428 __c.86: |
429 04ee 466C 6967 .string "Flight-Time " |
429 6874 2D54 |
429 696D 6520 |
429 2000 |
432 __c.87: |
433 04fc 546F 7461 .string "Total:%5umin" |
433 6C3A 2535 |
433 756D 696E |
433 00 |
436 __c.88: |
437 0509 4163 743A .string "Act: %5umin" |
437 2020 2535 |
437 756D 696E |
437 00 |
440 __c.89: |
441 0516 2872 6573 .string "(reset)" |
441 6574 2900 |
442 .text |
443 .global Menu |
445 Menu: |
446 /* prologue: frame size=0 */ |
447 0028 EF92 push r14 |
448 002a FF92 push r15 |
449 002c 0F93 push r16 |
450 002e 1F93 push r17 |
451 0030 CF93 push r28 |
452 0032 DF93 push r29 |
453 /* prologue end (size=6) */ |
454 0034 2091 0000 lds r18,RemoteKeys |
455 0038 20FF sbrs r18,0 |
456 003a 0AC0 rjmp .L10 |
457 003c 8091 0000 lds r24,MenuePunkt |
458 0040 8823 tst r24 |
459 0042 11F0 breq .L11 |
460 0044 8150 subi r24,lo8(-(-1)) |
461 0046 02C0 rjmp .L82 |
462 .L11: |
463 0048 8091 0000 lds r24,MaxMenue |
464 .L82: |
465 004c 8093 0000 sts MenuePunkt,r24 |
466 .L10: |
467 0050 21FF sbrs r18,1 |
468 0052 0CC0 rjmp .L13 |
469 0054 9091 0000 lds r25,MenuePunkt |
470 0058 8091 0000 lds r24,MaxMenue |
471 005c 9817 cp r25,r24 |
472 005e 19F4 brne .L14 |
473 0060 1092 0000 sts MenuePunkt,__zero_reg__ |
474 0064 03C0 rjmp .L13 |
475 .L14: |
476 0066 9F5F subi r25,lo8(-(1)) |
477 0068 9093 0000 sts MenuePunkt,r25 |
478 .L13: |
479 006c 822F mov r24,r18 |
480 006e 9927 clr r25 |
481 0070 80FF sbrs r24,0 |
482 0072 04C0 rjmp .L16 |
483 0074 81FF sbrs r24,1 |
484 0076 02C0 rjmp .L16 |
485 0078 1092 0000 sts MenuePunkt,__zero_reg__ |
486 .L16: |
487 007c 0E94 0000 call LcdClear |
488 0080 8091 0000 lds r24,MenuePunkt |
489 0084 282F mov r18,r24 |
490 0086 3327 clr r19 |
491 0088 C0E0 ldi r28,lo8(pm(Menu_Putchar)) |
492 008a EC2E mov r14,r28 |
493 008c C0E0 ldi r28,hi8(pm(Menu_Putchar)) |
494 008e FC2E mov r15,r28 |
495 0090 C091 0000 lds r28,_printf_P |
496 0094 D091 0000 lds r29,(_printf_P)+1 |
497 0098 8A30 cpi r24,lo8(10) |
498 009a 98F4 brsh .L17 |
499 009c 81E1 ldi r24,lo8(17) |
500 009e 8093 0000 sts DispPtr,r24 |
501 00a2 3F93 push r19 |
502 00a4 2F93 push r18 |
503 00a6 80E0 ldi r24,lo8(__c.0) |
504 00a8 90E0 ldi r25,hi8(__c.0) |
505 00aa 9F93 push r25 |
506 00ac 8F93 push r24 |
507 00ae FF92 push r15 |
508 00b0 EF92 push r14 |
509 00b2 FE01 movw r30,r28 |
510 00b4 0995 icall |
511 00b6 2DB7 in r18,__SP_L__ |
512 00b8 3EB7 in r19,__SP_H__ |
513 00ba 2A5F subi r18,lo8(-(6)) |
514 00bc 3F4F sbci r19,hi8(-(6)) |
515 00be 2DBF out __SP_L__,r18 |
516 00c0 11C0 rjmp .L18 |
517 .L17: |
518 00c2 80E1 ldi r24,lo8(16) |
519 00c4 8093 0000 sts DispPtr,r24 |
520 00c8 3F93 push r19 |
521 00ca 2F93 push r18 |
522 00cc 80E0 ldi r24,lo8(__c.1) |
523 00ce 90E0 ldi r25,hi8(__c.1) |
524 00d0 9F93 push r25 |
525 00d2 8F93 push r24 |
526 00d4 FF92 push r15 |
527 00d6 EF92 push r14 |
528 00d8 FE01 movw r30,r28 |
529 00da 0995 icall |
530 00dc 8DB7 in r24,__SP_L__ |
531 00de 9EB7 in r25,__SP_H__ |
532 00e0 0696 adiw r24,6 |
533 00e2 8DBF out __SP_L__,r24 |
534 .L18: |
535 00e4 2091 0000 lds r18,MenuePunkt |
536 00e8 822F mov r24,r18 |
537 00ea 9927 clr r25 |
538 00ec AA27 clr r26 |
539 00ee BB27 clr r27 |
540 00f0 FC01 movw r30,r24 |
541 00f2 4297 sbiw r24,18 |
542 00f4 10F0 brlo .+4 |
543 00f6 0C94 0000 jmp .L79 |
544 00fa E050 subi r30,lo8(-(pm(.L81))) |
545 00fc F040 sbci r31,hi8(-(pm(.L81))) |
546 00fe B0E0 ldi r27,lo8(pm(Menu_Putchar)) |
547 0100 EB2E mov r14,r27 |
548 0102 B0E0 ldi r27,hi8(pm(Menu_Putchar)) |
549 0104 FB2E mov r15,r27 |
550 0106 C091 0000 lds r28,_printf_P |
551 010a D091 0000 lds r29,(_printf_P)+1 |
552 010e 0C94 0000 jmp __tablejump2__ |
553 .data |
554 .section .progmem.gcc_sw_table, "a", @progbits |
555 .p2align 1 |
556 .L81: |
557 0000 0000 .word pm(.L20) |
558 0002 0000 .word pm(.L28) |
559 0004 0000 .word pm(.L31) |
560 0006 0000 .word pm(.L34) |
561 0008 0000 .word pm(.L35) |
562 000a 0000 .word pm(.L36) |
563 000c 0000 .word pm(.L63) |
564 000e 0000 .word pm(.L64) |
565 0010 0000 .word pm(.L65) |
566 0012 0000 .word pm(.L66) |
567 0014 0000 .word pm(.L67) |
568 0016 0000 .word pm(.L68) |
569 0018 0000 .word pm(.L69) |
570 001a 0000 .word pm(.L70) |
571 001c 0000 .word pm(.L71) |
572 001e 0000 .word pm(.L72) |
573 0020 0000 .word pm(.L73) |
574 0022 0000 .word pm(.L77) |
575 .text |
576 .L20: |
577 0112 1092 0000 sts DispPtr,__zero_reg__ |
578 0116 80E0 ldi r24,lo8(__c.2) |
579 0118 90E0 ldi r25,hi8(__c.2) |
580 011a 9F93 push r25 |
581 011c 8F93 push r24 |
582 011e 00E0 ldi r16,lo8(pm(Menu_Putchar)) |
583 0120 10E0 ldi r17,hi8(pm(Menu_Putchar)) |
584 0122 FF92 push r15 |
585 0124 EF92 push r14 |
586 0126 FE01 movw r30,r28 |
587 0128 0995 icall |
588 012a 84E1 ldi r24,lo8(20) |
589 012c 8093 0000 sts DispPtr,r24 |
590 0130 0F90 pop __tmp_reg__ |
591 0132 0F90 pop __tmp_reg__ |
592 0134 0F90 pop __tmp_reg__ |
593 0136 0F90 pop __tmp_reg__ |
594 0138 84E6 ldi r24,lo8(100) |
595 013a 90E0 ldi r25,hi8(100) |
596 013c 9F93 push r25 |
597 013e 8F93 push r24 |
598 0140 80E5 ldi r24,lo8(80) |
599 0142 90E0 ldi r25,hi8(80) |
600 0144 9F93 push r25 |
601 0146 8F93 push r24 |
602 0148 1F92 push __zero_reg__ |
603 014a 1F92 push __zero_reg__ |
604 014c 8091 0000 lds r24,PlatinenVersion |
605 0150 6AE0 ldi r22,lo8(10) |
606 0152 0E94 0000 call __udivmodqi4 |
607 0156 892F mov r24,r25 |
608 0158 9927 clr r25 |
609 015a 9F93 push r25 |
610 015c 8F93 push r24 |
611 015e 8091 0000 lds r24,PlatinenVersion |
612 0162 0E94 0000 call __udivmodqi4 |
613 0166 9927 clr r25 |
614 0168 9F93 push r25 |
615 016a 8F93 push r24 |
616 016c 80E0 ldi r24,lo8(__c.3) |
617 016e 90E0 ldi r25,hi8(__c.3) |
618 0170 9F93 push r25 |
619 0172 8F93 push r24 |
620 0174 FF92 push r15 |
621 0176 EF92 push r14 |
622 0178 E091 0000 lds r30,_printf_P |
623 017c F091 0000 lds r31,(_printf_P)+1 |
624 0180 0995 icall |
625 0182 88E2 ldi r24,lo8(40) |
626 0184 8093 0000 sts DispPtr,r24 |
627 0188 2DB7 in r18,__SP_L__ |
628 018a 3EB7 in r19,__SP_H__ |
629 018c 225F subi r18,lo8(-(14)) |
630 018e 3F4F sbci r19,hi8(-(14)) |
631 0190 2DBF out __SP_L__,r18 |
632 0192 80E0 ldi r24,lo8(Mixer+1) |
633 0194 90E0 ldi r25,hi8(Mixer+1) |
634 0196 9F93 push r25 |
635 0198 8F93 push r24 |
636 019a 0E94 0000 call GetActiveParamSet |
637 019e 9927 clr r25 |
638 01a0 9F93 push r25 |
639 01a2 8F93 push r24 |
640 01a4 80E0 ldi r24,lo8(__c.4) |
641 01a6 90E0 ldi r25,hi8(__c.4) |
642 01a8 9F93 push r25 |
643 01aa 8F93 push r24 |
644 01ac FF92 push r15 |
645 01ae EF92 push r14 |
646 01b0 E091 0000 lds r30,_printf_P |
647 01b4 F091 0000 lds r31,(_printf_P)+1 |
648 01b8 0995 icall |
649 01ba 8DB7 in r24,__SP_L__ |
650 01bc 9EB7 in r25,__SP_H__ |
651 01be 0896 adiw r24,8 |
652 01c0 8DBF out __SP_L__,r24 |
653 01c2 9091 0000 lds r25,VersionInfo+5 |
654 01c6 9923 tst r25 |
655 01c8 51F0 breq .L21 |
656 01ca 8CE3 ldi r24,lo8(60) |
657 01cc 8093 0000 sts DispPtr,r24 |
658 01d0 892F mov r24,r25 |
659 01d2 9927 clr r25 |
660 01d4 9F93 push r25 |
661 01d6 8F93 push r24 |
662 01d8 80E0 ldi r24,lo8(__c.5) |
663 01da 90E0 ldi r25,hi8(__c.5) |
664 01dc 85C6 rjmp .L93 |
665 .L21: |
666 01de 9091 0000 lds r25,MissingMotor |
667 01e2 9923 tst r25 |
668 01e4 71F0 breq .L23 |
669 01e6 8CE3 ldi r24,lo8(60) |
670 01e8 8093 0000 sts DispPtr,r24 |
671 01ec 892F mov r24,r25 |
672 01ee 9927 clr r25 |
673 01f0 9F93 push r25 |
674 01f2 8F93 push r24 |
675 01f4 80E0 ldi r24,lo8(__c.6) |
676 01f6 90E0 ldi r25,hi8(__c.6) |
677 01f8 9F93 push r25 |
678 01fa 8F93 push r24 |
679 01fc 1F93 push r17 |
680 01fe 0F93 push r16 |
681 0200 91C0 rjmp .L86 |
682 .L23: |
683 0202 8091 0000 lds r24,VersionInfo+6 |
684 0206 84FF sbrs r24,4 |
685 0208 07C0 rjmp .L25 |
686 020a 8CE3 ldi r24,lo8(60) |
687 020c 8093 0000 sts DispPtr,r24 |
688 0210 80E0 ldi r24,lo8(__c.7) |
689 0212 90E0 ldi r25,hi8(__c.7) |
690 0214 0C94 0000 jmp .L91 |
691 .L25: |
692 0218 8091 0000 lds r24,I2CTimeout |
693 021c 9091 0000 lds r25,(I2CTimeout)+1 |
694 0220 0697 sbiw r24,6 |
695 0222 10F0 brlo .+4 |
696 0224 0C94 0000 jmp .L19 |
697 0228 8CE3 ldi r24,lo8(60) |
698 022a 8093 0000 sts DispPtr,r24 |
699 022e 80E0 ldi r24,lo8(__c.8) |
700 0230 90E0 ldi r25,hi8(__c.8) |
701 0232 0C94 0000 jmp .L91 |
702 .L28: |
703 0236 8091 0000 lds r24,EE_Parameter+13 |
704 023a A0E0 ldi r26,lo8(pm(Menu_Putchar)) |
705 023c EA2E mov r14,r26 |
706 023e A0E0 ldi r26,hi8(pm(Menu_Putchar)) |
707 0240 FA2E mov r15,r26 |
708 0242 C091 0000 lds r28,_printf_P |
709 0246 D091 0000 lds r29,(_printf_P)+1 |
710 024a 80FF sbrs r24,0 |
711 024c 74C0 rjmp .L29 |
712 024e 1092 0000 sts DispPtr,__zero_reg__ |
713 0252 8091 0000 lds r24,HoehenWert |
714 0256 9091 0000 lds r25,(HoehenWert)+1 |
715 025a A091 0000 lds r26,(HoehenWert)+2 |
716 025e B091 0000 lds r27,(HoehenWert)+3 |
717 0262 BC01 movw r22,r24 |
718 0264 CD01 movw r24,r26 |
719 0266 25E0 ldi r18,lo8(5) |
720 0268 30E0 ldi r19,hi8(5) |
721 026a 40E0 ldi r20,hlo8(5) |
722 026c 50E0 ldi r21,hhi8(5) |
723 026e 0E94 0000 call __divmodsi4 |
724 0272 3F93 push r19 |
725 0274 2F93 push r18 |
726 0276 80E0 ldi r24,lo8(__c.9) |
727 0278 90E0 ldi r25,hi8(__c.9) |
728 027a 9F93 push r25 |
729 027c 8F93 push r24 |
730 027e FF92 push r15 |
731 0280 EF92 push r14 |
732 0282 FE01 movw r30,r28 |
733 0284 0995 icall |
734 0286 84E1 ldi r24,lo8(20) |
735 0288 8093 0000 sts DispPtr,r24 |
736 028c 2DB7 in r18,__SP_L__ |
737 028e 3EB7 in r19,__SP_H__ |
738 0290 2A5F subi r18,lo8(-(6)) |
739 0292 3F4F sbci r19,hi8(-(6)) |
740 0294 2DBF out __SP_L__,r18 |
741 0296 8091 0000 lds r24,SollHoehe |
742 029a 9091 0000 lds r25,(SollHoehe)+1 |
743 029e A091 0000 lds r26,(SollHoehe)+2 |
744 02a2 B091 0000 lds r27,(SollHoehe)+3 |
745 02a6 BC01 movw r22,r24 |
746 02a8 CD01 movw r24,r26 |
747 02aa 25E0 ldi r18,lo8(5) |
748 02ac 30E0 ldi r19,hi8(5) |
749 02ae 40E0 ldi r20,hlo8(5) |
750 02b0 50E0 ldi r21,hhi8(5) |
751 02b2 0E94 0000 call __divmodsi4 |
752 02b6 3F93 push r19 |
753 02b8 2F93 push r18 |
754 02ba 80E0 ldi r24,lo8(__c.10) |
755 02bc 90E0 ldi r25,hi8(__c.10) |
756 02be 9F93 push r25 |
757 02c0 8F93 push r24 |
758 02c2 FF92 push r15 |
759 02c4 EF92 push r14 |
760 02c6 E091 0000 lds r30,_printf_P |
761 02ca F091 0000 lds r31,(_printf_P)+1 |
762 02ce 0995 icall |
763 02d0 88E2 ldi r24,lo8(40) |
764 02d2 8093 0000 sts DispPtr,r24 |
765 02d6 8DB7 in r24,__SP_L__ |
766 02d8 9EB7 in r25,__SP_H__ |
767 02da 0696 adiw r24,6 |
768 02dc 8DBF out __SP_L__,r24 |
769 02de 8091 0000 lds r24,MessLuftdruck |
770 02e2 9091 0000 lds r25,(MessLuftdruck)+1 |
771 02e6 9F93 push r25 |
772 02e8 8F93 push r24 |
773 02ea 80E0 ldi r24,lo8(__c.11) |
774 02ec 90E0 ldi r25,hi8(__c.11) |
775 02ee 9F93 push r25 |
776 02f0 8F93 push r24 |
777 02f2 FF92 push r15 |
778 02f4 EF92 push r14 |
779 02f6 E091 0000 lds r30,_printf_P |
780 02fa F091 0000 lds r31,(_printf_P)+1 |
781 02fe 0995 icall |
782 0300 8CE3 ldi r24,lo8(60) |
783 0302 8093 0000 sts DispPtr,r24 |
784 0306 2DB7 in r18,__SP_L__ |
785 0308 3EB7 in r19,__SP_H__ |
786 030a 2A5F subi r18,lo8(-(6)) |
787 030c 3F4F sbci r19,hi8(-(6)) |
788 030e 2DBF out __SP_L__,r18 |
789 0310 87B5 in r24,71-0x20 |
790 0312 9927 clr r25 |
791 0314 9F93 push r25 |
792 0316 8F93 push r24 |
793 0318 80E0 ldi r24,lo8(__c.12) |
794 031a 90E0 ldi r25,hi8(__c.12) |
795 .L92: |
796 031c 9F93 push r25 |
797 031e 8F93 push r24 |
798 0320 FF92 push r15 |
799 0322 EF92 push r14 |
800 .L86: |
801 0324 E091 0000 lds r30,_printf_P |
802 0328 F091 0000 lds r31,(_printf_P)+1 |
803 032c 0995 icall |
804 032e 8DB7 in r24,__SP_L__ |
805 0330 9EB7 in r25,__SP_H__ |
806 0332 0696 adiw r24,6 |
807 0334 2FC7 rjmp .L84 |
808 .L29: |
809 0336 1092 0000 sts DispPtr,__zero_reg__ |
810 033a 80E0 ldi r24,lo8(__c.13) |
811 033c 90E0 ldi r25,hi8(__c.13) |
812 033e 9F93 push r25 |
813 0340 8F93 push r24 |
814 0342 FF92 push r15 |
815 0344 EF92 push r14 |
816 0346 FE01 movw r30,r28 |
817 0348 0995 icall |
818 034a 84E1 ldi r24,lo8(20) |
819 034c 8093 0000 sts DispPtr,r24 |
820 0350 0F90 pop __tmp_reg__ |
821 0352 0F90 pop __tmp_reg__ |
822 0354 0F90 pop __tmp_reg__ |
823 0356 0F90 pop __tmp_reg__ |
824 0358 80E0 ldi r24,lo8(__c.14) |
825 035a 90E0 ldi r25,hi8(__c.14) |
826 035c 9F93 push r25 |
827 035e 8F93 push r24 |
828 0360 FF92 push r15 |
829 0362 EF92 push r14 |
830 0364 E091 0000 lds r30,_printf_P |
831 0368 F091 0000 lds r31,(_printf_P)+1 |
832 036c 0995 icall |
833 036e 88E2 ldi r24,lo8(40) |
834 0370 8093 0000 sts DispPtr,r24 |
835 0374 0F90 pop __tmp_reg__ |
836 0376 0F90 pop __tmp_reg__ |
837 0378 0F90 pop __tmp_reg__ |
838 037a 0F90 pop __tmp_reg__ |
839 037c 80E0 ldi r24,lo8(__c.15) |
840 037e 90E0 ldi r25,hi8(__c.15) |
841 0380 9F93 push r25 |
842 0382 8F93 push r24 |
843 0384 FF92 push r15 |
844 0386 EF92 push r14 |
845 0388 E091 0000 lds r30,_printf_P |
846 038c F091 0000 lds r31,(_printf_P)+1 |
847 0390 0995 icall |
848 0392 8CE3 ldi r24,lo8(60) |
849 0394 8093 0000 sts DispPtr,r24 |
850 0398 0F90 pop __tmp_reg__ |
851 039a 0F90 pop __tmp_reg__ |
852 039c 0F90 pop __tmp_reg__ |
853 039e 0F90 pop __tmp_reg__ |
854 03a0 80E0 ldi r24,lo8(__c.16) |
855 03a2 90E0 ldi r25,hi8(__c.16) |
856 03a4 9F93 push r25 |
857 03a6 8F93 push r24 |
858 03a8 FF92 push r15 |
859 03aa EF92 push r14 |
860 03ac 0C94 0000 jmp .L85 |
861 .L31: |
862 03b0 1092 0000 sts DispPtr,__zero_reg__ |
863 03b4 80E0 ldi r24,lo8(__c.17) |
864 03b6 90E0 ldi r25,hi8(__c.17) |
865 03b8 9F93 push r25 |
866 03ba 8F93 push r24 |
867 03bc 00E0 ldi r16,lo8(pm(Menu_Putchar)) |
868 03be 10E0 ldi r17,hi8(pm(Menu_Putchar)) |
869 03c0 FF92 push r15 |
870 03c2 EF92 push r14 |
871 03c4 FE01 movw r30,r28 |
872 03c6 0995 icall |
873 03c8 84E1 ldi r24,lo8(20) |
874 03ca 8093 0000 sts DispPtr,r24 |
875 03ce 0F90 pop __tmp_reg__ |
876 03d0 0F90 pop __tmp_reg__ |
877 03d2 0F90 pop __tmp_reg__ |
878 03d4 0F90 pop __tmp_reg__ |
879 03d6 8091 0000 lds r24,IntegralNick |
880 03da 9091 0000 lds r25,(IntegralNick)+1 |
881 03de A091 0000 lds r26,(IntegralNick)+2 |
882 03e2 B091 0000 lds r27,(IntegralNick)+3 |
883 03e6 B7FF sbrs r27,7 |
884 03e8 04C0 rjmp .L32 |
885 03ea 8150 subi r24,lo8(-(1023)) |
886 03ec 9C4F sbci r25,hi8(-(1023)) |
887 03ee AF4F sbci r26,hlo8(-(1023)) |
888 03f0 BF4F sbci r27,hhi8(-(1023)) |
889 .L32: |
890 03f2 FAE0 ldi r31,10 |
891 03f4 B595 1: asr r27 |
892 03f6 A795 ror r26 |
893 03f8 9795 ror r25 |
894 03fa 8795 ror r24 |
895 03fc FA95 dec r31 |
896 03fe D1F7 brne 1b |
897 0400 BF93 push r27 |
898 0402 AF93 push r26 |
899 0404 9F93 push r25 |
900 0406 8F93 push r24 |
901 0408 80E0 ldi r24,lo8(__c.18) |
902 040a 90E0 ldi r25,hi8(__c.18) |
903 040c 9F93 push r25 |
904 040e 8F93 push r24 |
905 0410 1F93 push r17 |
906 0412 0F93 push r16 |
907 0414 E091 0000 lds r30,_printf_P |
908 0418 F091 0000 lds r31,(_printf_P)+1 |
909 041c 0995 icall |
910 041e 88E2 ldi r24,lo8(40) |
911 0420 8093 0000 sts DispPtr,r24 |
912 0424 2DB7 in r18,__SP_L__ |
913 0426 3EB7 in r19,__SP_H__ |
914 0428 285F subi r18,lo8(-(8)) |
915 042a 3F4F sbci r19,hi8(-(8)) |
916 042c 2DBF out __SP_L__,r18 |
917 042e 8091 0000 lds r24,IntegralRoll |
918 0432 9091 0000 lds r25,(IntegralRoll)+1 |
919 0436 A091 0000 lds r26,(IntegralRoll)+2 |
920 043a B091 0000 lds r27,(IntegralRoll)+3 |
921 043e B7FF sbrs r27,7 |
922 0440 04C0 rjmp .L33 |
923 0442 8150 subi r24,lo8(-(1023)) |
924 0444 9C4F sbci r25,hi8(-(1023)) |
925 0446 AF4F sbci r26,hlo8(-(1023)) |
926 0448 BF4F sbci r27,hhi8(-(1023)) |
927 .L33: |
928 044a EAE0 ldi r30,10 |
929 044c B595 1: asr r27 |
930 044e A795 ror r26 |
931 0450 9795 ror r25 |
932 0452 8795 ror r24 |
933 0454 EA95 dec r30 |
934 0456 D1F7 brne 1b |
935 0458 BF93 push r27 |
936 045a AF93 push r26 |
937 045c 9F93 push r25 |
938 045e 8F93 push r24 |
939 0460 80E0 ldi r24,lo8(__c.19) |
940 0462 90E0 ldi r25,hi8(__c.19) |
941 0464 9F93 push r25 |
942 0466 8F93 push r24 |
943 0468 1F93 push r17 |
944 046a 0F93 push r16 |
945 046c E091 0000 lds r30,_printf_P |
946 0470 F091 0000 lds r31,(_printf_P)+1 |
947 0474 0995 icall |
948 0476 8CE3 ldi r24,lo8(60) |
949 0478 8093 0000 sts DispPtr,r24 |
950 047c 8DB7 in r24,__SP_L__ |
951 047e 9EB7 in r25,__SP_H__ |
952 0480 0896 adiw r24,8 |
953 0482 8DBF out __SP_L__,r24 |
954 0484 8091 0000 lds r24,KompassValue |
955 0488 9091 0000 lds r25,(KompassValue)+1 |
956 048c 9F93 push r25 |
957 048e 8F93 push r24 |
958 0490 80E0 ldi r24,lo8(__c.20) |
959 0492 90E0 ldi r25,hi8(__c.20) |
960 0494 9F93 push r25 |
961 0496 8F93 push r24 |
962 0498 1F93 push r17 |
963 049a 0F93 push r16 |
964 .L88: |
965 049c E091 0000 lds r30,_printf_P |
966 04a0 F091 0000 lds r31,(_printf_P)+1 |
967 04a4 0995 icall |
968 04a6 2DB7 in r18,__SP_L__ |
969 04a8 3EB7 in r19,__SP_H__ |
970 04aa 2A5F subi r18,lo8(-(6)) |
971 04ac 3F4F sbci r19,hi8(-(6)) |
972 04ae 0DC7 rjmp .L83 |
973 .L34: |
974 04b0 1092 0000 sts DispPtr,__zero_reg__ |
975 04b4 8091 0000 lds r24,PPM_in+4 |
976 04b8 9091 0000 lds r25,(PPM_in+4)+1 |
977 04bc 9F93 push r25 |
978 04be 8F93 push r24 |
979 04c0 8091 0000 lds r24,PPM_in+2 |
980 04c4 9091 0000 lds r25,(PPM_in+2)+1 |
981 04c8 9F93 push r25 |
982 04ca 8F93 push r24 |
983 04cc 80E0 ldi r24,lo8(__c.21) |
984 04ce 90E0 ldi r25,hi8(__c.21) |
985 04d0 9F93 push r25 |
986 04d2 8F93 push r24 |
987 04d4 FF92 push r15 |
988 04d6 EF92 push r14 |
989 04d8 FE01 movw r30,r28 |
990 04da 0995 icall |
991 04dc 84E1 ldi r24,lo8(20) |
992 04de 8093 0000 sts DispPtr,r24 |
993 04e2 8DB7 in r24,__SP_L__ |
994 04e4 9EB7 in r25,__SP_H__ |
995 04e6 0896 adiw r24,8 |
996 04e8 8DBF out __SP_L__,r24 |
997 04ea 8091 0000 lds r24,PPM_in+8 |
998 04ee 9091 0000 lds r25,(PPM_in+8)+1 |
999 04f2 9F93 push r25 |
1000 04f4 8F93 push r24 |
1001 04f6 8091 0000 lds r24,PPM_in+6 |
1002 04fa 9091 0000 lds r25,(PPM_in+6)+1 |
1003 04fe 9F93 push r25 |
1004 0500 8F93 push r24 |
1005 0502 80E0 ldi r24,lo8(__c.22) |
1006 0504 90E0 ldi r25,hi8(__c.22) |
1007 0506 9F93 push r25 |
1008 0508 8F93 push r24 |
1009 050a FF92 push r15 |
1010 050c EF92 push r14 |
1011 050e E091 0000 lds r30,_printf_P |
1012 0512 F091 0000 lds r31,(_printf_P)+1 |
1013 0516 0995 icall |
1014 0518 88E2 ldi r24,lo8(40) |
1015 051a 8093 0000 sts DispPtr,r24 |
1016 051e 2DB7 in r18,__SP_L__ |
1017 0520 3EB7 in r19,__SP_H__ |
1018 0522 285F subi r18,lo8(-(8)) |
1019 0524 3F4F sbci r19,hi8(-(8)) |
1020 0526 2DBF out __SP_L__,r18 |
1021 0528 8091 0000 lds r24,PPM_in+12 |
1022 052c 9091 0000 lds r25,(PPM_in+12)+1 |
1023 0530 9F93 push r25 |
1024 0532 8F93 push r24 |
1025 0534 8091 0000 lds r24,PPM_in+10 |
1026 0538 9091 0000 lds r25,(PPM_in+10)+1 |
1027 053c 9F93 push r25 |
1028 053e 8F93 push r24 |
1029 0540 80E0 ldi r24,lo8(__c.23) |
1030 0542 90E0 ldi r25,hi8(__c.23) |
1031 0544 9F93 push r25 |
1032 0546 8F93 push r24 |
1033 0548 FF92 push r15 |
1034 054a EF92 push r14 |
1035 054c E091 0000 lds r30,_printf_P |
1036 0550 F091 0000 lds r31,(_printf_P)+1 |
1037 0554 0995 icall |
1038 0556 8CE3 ldi r24,lo8(60) |
1039 0558 8093 0000 sts DispPtr,r24 |
1040 055c 8DB7 in r24,__SP_L__ |
1041 055e 9EB7 in r25,__SP_H__ |
1042 0560 0896 adiw r24,8 |
1043 0562 8DBF out __SP_L__,r24 |
1044 0564 8091 0000 lds r24,PPM_in+16 |
1045 0568 9091 0000 lds r25,(PPM_in+16)+1 |
1046 056c 9F93 push r25 |
1047 056e 8F93 push r24 |
1048 0570 8091 0000 lds r24,PPM_in+14 |
1049 0574 9091 0000 lds r25,(PPM_in+14)+1 |
1050 0578 9F93 push r25 |
1051 057a 8F93 push r24 |
1052 057c 80E0 ldi r24,lo8(__c.24) |
1053 057e 90E0 ldi r25,hi8(__c.24) |
1054 0580 A2C0 rjmp .L89 |
1055 .L35: |
1056 0582 1092 0000 sts DispPtr,__zero_reg__ |
1057 0586 8091 0000 lds r24,EE_Parameter+2 |
1058 058a E82F mov r30,r24 |
1059 058c FF27 clr r31 |
1060 058e EE0F add r30,r30 |
1061 0590 FF1F adc r31,r31 |
1062 0592 E050 subi r30,lo8(-(PPM_in)) |
1063 0594 F040 sbci r31,hi8(-(PPM_in)) |
1064 0596 8081 ld r24,Z |
1065 0598 9181 ldd r25,Z+1 |
1066 059a 9F93 push r25 |
1067 059c 8F93 push r24 |
1068 059e 8091 0000 lds r24,EE_Parameter+1 |
1069 05a2 E82F mov r30,r24 |
1070 05a4 FF27 clr r31 |
1071 05a6 EE0F add r30,r30 |
1072 05a8 FF1F adc r31,r31 |
1073 05aa E050 subi r30,lo8(-(PPM_in)) |
1074 05ac F040 sbci r31,hi8(-(PPM_in)) |
1075 05ae 8081 ld r24,Z |
1076 05b0 9181 ldd r25,Z+1 |
1077 05b2 9F93 push r25 |
1078 05b4 8F93 push r24 |
1079 05b6 80E0 ldi r24,lo8(__c.25) |
1080 05b8 90E0 ldi r25,hi8(__c.25) |
1081 05ba 9F93 push r25 |
1082 05bc 8F93 push r24 |
1083 05be FF92 push r15 |
1084 05c0 EF92 push r14 |
1085 05c2 FE01 movw r30,r28 |
1086 05c4 0995 icall |
1087 05c6 84E1 ldi r24,lo8(20) |
1088 05c8 8093 0000 sts DispPtr,r24 |
1089 05cc 8DB7 in r24,__SP_L__ |
1090 05ce 9EB7 in r25,__SP_H__ |
1091 05d0 0896 adiw r24,8 |
1092 05d2 8DBF out __SP_L__,r24 |
1093 05d4 8091 0000 lds r24,EE_Parameter+4 |
1094 05d8 E82F mov r30,r24 |
1095 05da FF27 clr r31 |
1096 05dc EE0F add r30,r30 |
1097 05de FF1F adc r31,r31 |
1098 05e0 E050 subi r30,lo8(-(PPM_in)) |
1099 05e2 F040 sbci r31,hi8(-(PPM_in)) |
1100 05e4 8081 ld r24,Z |
1101 05e6 9181 ldd r25,Z+1 |
1102 05e8 9F93 push r25 |
1103 05ea 8F93 push r24 |
1104 05ec 8091 0000 lds r24,EE_Parameter+3 |
1105 05f0 E82F mov r30,r24 |
1106 05f2 FF27 clr r31 |
1107 05f4 EE0F add r30,r30 |
1108 05f6 FF1F adc r31,r31 |
1109 05f8 E050 subi r30,lo8(-(PPM_in)) |
1110 05fa F040 sbci r31,hi8(-(PPM_in)) |
1111 05fc 8081 ld r24,Z |
1112 05fe 9181 ldd r25,Z+1 |
1113 0600 8858 subi r24,lo8(-(120)) |
1114 0602 9F4F sbci r25,hi8(-(120)) |
1115 0604 9F93 push r25 |
1116 0606 8F93 push r24 |
1117 0608 80E0 ldi r24,lo8(__c.26) |
1118 060a 90E0 ldi r25,hi8(__c.26) |
1119 060c 9F93 push r25 |
1120 060e 8F93 push r24 |
1121 0610 FF92 push r15 |
1122 0612 EF92 push r14 |
1123 0614 E091 0000 lds r30,_printf_P |
1124 0618 F091 0000 lds r31,(_printf_P)+1 |
1125 061c 0995 icall |
1126 061e 88E2 ldi r24,lo8(40) |
1127 0620 8093 0000 sts DispPtr,r24 |
1128 0624 2DB7 in r18,__SP_L__ |
1129 0626 3EB7 in r19,__SP_H__ |
1130 0628 285F subi r18,lo8(-(8)) |
1131 062a 3F4F sbci r19,hi8(-(8)) |
1132 062c 2DBF out __SP_L__,r18 |
1133 062e 8091 0000 lds r24,EE_Parameter+6 |
1134 0632 E82F mov r30,r24 |
1135 0634 FF27 clr r31 |
1136 0636 EE0F add r30,r30 |
1137 0638 FF1F adc r31,r31 |
1138 063a E050 subi r30,lo8(-(PPM_in)) |
1139 063c F040 sbci r31,hi8(-(PPM_in)) |
1140 063e 8081 ld r24,Z |
1141 0640 9181 ldd r25,Z+1 |
1142 0642 8259 subi r24,lo8(-(110)) |
1143 0644 9F4F sbci r25,hi8(-(110)) |
1144 0646 9F93 push r25 |
1145 0648 8F93 push r24 |
1146 064a 8091 0000 lds r24,EE_Parameter+5 |
1147 064e E82F mov r30,r24 |
1148 0650 FF27 clr r31 |
1149 0652 EE0F add r30,r30 |
1150 0654 FF1F adc r31,r31 |
1151 0656 E050 subi r30,lo8(-(PPM_in)) |
1152 0658 F040 sbci r31,hi8(-(PPM_in)) |
1153 065a 8081 ld r24,Z |
1154 065c 9181 ldd r25,Z+1 |
1155 065e 8259 subi r24,lo8(-(110)) |
1156 0660 9F4F sbci r25,hi8(-(110)) |
1157 0662 9F93 push r25 |
1158 0664 8F93 push r24 |
1159 0666 80E0 ldi r24,lo8(__c.27) |
1160 0668 90E0 ldi r25,hi8(__c.27) |
1161 066a 9F93 push r25 |
1162 066c 8F93 push r24 |
1163 066e FF92 push r15 |
1164 0670 EF92 push r14 |
1165 0672 E091 0000 lds r30,_printf_P |
1166 0676 F091 0000 lds r31,(_printf_P)+1 |
1167 067a 0995 icall |
1168 067c 8CE3 ldi r24,lo8(60) |
1169 067e 8093 0000 sts DispPtr,r24 |
1170 0682 8DB7 in r24,__SP_L__ |
1171 0684 9EB7 in r25,__SP_H__ |
1172 0686 0896 adiw r24,8 |
1173 0688 8DBF out __SP_L__,r24 |
1174 068a 8091 0000 lds r24,EE_Parameter+8 |
1175 068e E82F mov r30,r24 |
1176 0690 FF27 clr r31 |
1177 0692 EE0F add r30,r30 |
1178 0694 FF1F adc r31,r31 |
1179 0696 E050 subi r30,lo8(-(PPM_in)) |
1180 0698 F040 sbci r31,hi8(-(PPM_in)) |
1181 069a 8081 ld r24,Z |
1182 069c 9181 ldd r25,Z+1 |
1183 069e 8259 subi r24,lo8(-(110)) |
1184 06a0 9F4F sbci r25,hi8(-(110)) |
1185 06a2 9F93 push r25 |
1186 06a4 8F93 push r24 |
1187 06a6 8091 0000 lds r24,EE_Parameter+7 |
1188 06aa E82F mov r30,r24 |
1189 06ac FF27 clr r31 |
1190 06ae EE0F add r30,r30 |
1191 06b0 FF1F adc r31,r31 |
1192 06b2 E050 subi r30,lo8(-(PPM_in)) |
1193 06b4 F040 sbci r31,hi8(-(PPM_in)) |
1194 06b6 8081 ld r24,Z |
1195 06b8 9181 ldd r25,Z+1 |
1196 06ba 8259 subi r24,lo8(-(110)) |
1197 06bc 9F4F sbci r25,hi8(-(110)) |
1198 06be 9F93 push r25 |
1199 06c0 8F93 push r24 |
1200 06c2 80E0 ldi r24,lo8(__c.28) |
1201 06c4 90E0 ldi r25,hi8(__c.28) |
1202 .L89: |
1203 06c6 9F93 push r25 |
1204 06c8 8F93 push r24 |
1205 06ca FF92 push r15 |
1206 06cc EF92 push r14 |
1207 .L90: |
1208 06ce E091 0000 lds r30,_printf_P |
1209 06d2 F091 0000 lds r31,(_printf_P)+1 |
1210 06d6 0995 icall |
1211 06d8 2DB7 in r18,__SP_L__ |
1212 06da 3EB7 in r19,__SP_H__ |
1213 06dc 285F subi r18,lo8(-(8)) |
1214 06de 3F4F sbci r19,hi8(-(8)) |
1215 06e0 F4C5 rjmp .L83 |
1216 .L36: |
1217 06e2 1092 0000 sts DispPtr,__zero_reg__ |
1218 06e6 80E0 ldi r24,lo8(__c.29) |
1219 06e8 90E0 ldi r25,hi8(__c.29) |
1220 06ea 9F93 push r25 |
1221 06ec 8F93 push r24 |
1222 06ee 00E0 ldi r16,lo8(pm(Menu_Putchar)) |
1223 06f0 10E0 ldi r17,hi8(pm(Menu_Putchar)) |
1224 06f2 FF92 push r15 |
1225 06f4 EF92 push r14 |
1226 06f6 FE01 movw r30,r28 |
1227 06f8 0995 icall |
1228 06fa 8091 0000 lds r24,PlatinenVersion |
1229 06fe 0F90 pop __tmp_reg__ |
1230 0700 0F90 pop __tmp_reg__ |
1231 0702 0F90 pop __tmp_reg__ |
1232 0704 0F90 pop __tmp_reg__ |
1233 0706 8A30 cpi r24,lo8(10) |
1234 0708 09F0 breq .+2 |
1235 070a A1C0 rjmp .L37 |
1236 070c 84E1 ldi r24,lo8(20) |
1237 070e 8093 0000 sts DispPtr,r24 |
1238 0712 8091 0000 lds r24,AdNeutralNick |
1239 0716 9091 0000 lds r25,(AdNeutralNick)+1 |
1240 071a 9C01 movw r18,r24 |
1241 071c 97FF sbrs r25,7 |
1242 071e 02C0 rjmp .L38 |
1243 0720 295F subi r18,lo8(-(7)) |
1244 0722 3F4F sbci r19,hi8(-(7)) |
1245 .L38: |
1246 0724 287F andi r18,lo8(-8) |
1247 0726 821B sub r24,r18 |
1248 0728 930B sbc r25,r19 |
1249 072a 9F93 push r25 |
1250 072c 8F93 push r24 |
1251 072e 8091 0000 lds r24,AdNeutralNick |
1252 0732 9091 0000 lds r25,(AdNeutralNick)+1 |
1253 0736 97FD sbrc r25,7 |
1254 0738 0796 adiw r24,7 |
1255 .L39: |
1256 073a 73E0 ldi r23,3 |
1257 073c 9595 1: asr r25 |
1258 073e 8795 ror r24 |
1259 0740 7A95 dec r23 |
1260 0742 E1F7 brne 1b |
1261 0744 9F93 push r25 |
1262 0746 8F93 push r24 |
1263 0748 2091 0000 lds r18,AdNeutralNick |
1264 074c 3091 0000 lds r19,(AdNeutralNick)+1 |
1265 0750 37FF sbrs r19,7 |
1266 0752 02C0 rjmp .L40 |
1267 0754 295F subi r18,lo8(-(7)) |
1268 0756 3F4F sbci r19,hi8(-(7)) |
1269 .L40: |
1270 0758 63E0 ldi r22,3 |
1271 075a 3595 1: asr r19 |
1272 075c 2795 ror r18 |
1273 075e 6A95 dec r22 |
1274 0760 E1F7 brne 1b |
1275 0762 8091 0000 lds r24,AdWertNick |
1276 0766 9091 0000 lds r25,(AdWertNick)+1 |
1277 076a 821B sub r24,r18 |
1278 076c 930B sbc r25,r19 |
1279 076e 9F93 push r25 |
1280 0770 8F93 push r24 |
1281 0772 80E0 ldi r24,lo8(__c.30) |
1282 0774 90E0 ldi r25,hi8(__c.30) |
1283 0776 9F93 push r25 |
1284 0778 8F93 push r24 |
1285 077a 1F93 push r17 |
1286 077c 0F93 push r16 |
1287 077e E091 0000 lds r30,_printf_P |
1288 0782 F091 0000 lds r31,(_printf_P)+1 |
1289 0786 0995 icall |
1290 0788 88E2 ldi r24,lo8(40) |
1291 078a 8093 0000 sts DispPtr,r24 |
1292 078e 8DB7 in r24,__SP_L__ |
1293 0790 9EB7 in r25,__SP_H__ |
1294 0792 0A96 adiw r24,10 |
1295 0794 8DBF out __SP_L__,r24 |
1296 0796 8091 0000 lds r24,AdNeutralRoll |
1297 079a 9091 0000 lds r25,(AdNeutralRoll)+1 |
1298 079e 9C01 movw r18,r24 |
1299 07a0 97FF sbrs r25,7 |
1300 07a2 02C0 rjmp .L41 |
1301 07a4 295F subi r18,lo8(-(7)) |
1302 07a6 3F4F sbci r19,hi8(-(7)) |
1303 .L41: |
1304 07a8 287F andi r18,lo8(-8) |
1305 07aa 821B sub r24,r18 |
1306 07ac 930B sbc r25,r19 |
1307 07ae 9F93 push r25 |
1308 07b0 8F93 push r24 |
1309 07b2 8091 0000 lds r24,AdNeutralRoll |
1310 07b6 9091 0000 lds r25,(AdNeutralRoll)+1 |
1311 07ba 97FD sbrc r25,7 |
1312 07bc 0796 adiw r24,7 |
1313 .L42: |
1314 07be 53E0 ldi r21,3 |
1315 07c0 9595 1: asr r25 |
1316 07c2 8795 ror r24 |
1317 07c4 5A95 dec r21 |
1318 07c6 E1F7 brne 1b |
1319 07c8 9F93 push r25 |
1320 07ca 8F93 push r24 |
1321 07cc 2091 0000 lds r18,AdNeutralRoll |
1322 07d0 3091 0000 lds r19,(AdNeutralRoll)+1 |
1323 07d4 37FF sbrs r19,7 |
1324 07d6 02C0 rjmp .L43 |
1325 07d8 295F subi r18,lo8(-(7)) |
1326 07da 3F4F sbci r19,hi8(-(7)) |
1327 .L43: |
1328 07dc 43E0 ldi r20,3 |
1329 07de 3595 1: asr r19 |
1330 07e0 2795 ror r18 |
1331 07e2 4A95 dec r20 |
1332 07e4 E1F7 brne 1b |
1333 07e6 8091 0000 lds r24,AdWertRoll |
1334 07ea 9091 0000 lds r25,(AdWertRoll)+1 |
1335 07ee 821B sub r24,r18 |
1336 07f0 930B sbc r25,r19 |
1337 07f2 9F93 push r25 |
1338 07f4 8F93 push r24 |
1339 07f6 80E0 ldi r24,lo8(__c.31) |
1340 07f8 90E0 ldi r25,hi8(__c.31) |
1341 07fa 9F93 push r25 |
1342 07fc 8F93 push r24 |
1343 07fe 1F93 push r17 |
1344 0800 0F93 push r16 |
1345 0802 E091 0000 lds r30,_printf_P |
1346 0806 F091 0000 lds r31,(_printf_P)+1 |
1347 080a 0995 icall |
1348 080c 8CE3 ldi r24,lo8(60) |
1349 080e 8093 0000 sts DispPtr,r24 |
1350 0812 2DB7 in r18,__SP_L__ |
1351 0814 3EB7 in r19,__SP_H__ |
1352 0816 265F subi r18,lo8(-(10)) |
1353 0818 3F4F sbci r19,hi8(-(10)) |
1354 081a 2DBF out __SP_L__,r18 |
1355 081c 8091 0000 lds r24,AdNeutralGier |
1356 0820 9091 0000 lds r25,(AdNeutralGier)+1 |
1357 0824 9F93 push r25 |
1358 0826 8F93 push r24 |
1359 0828 8091 0000 lds r24,AdNeutralGier |
1360 082c 9091 0000 lds r25,(AdNeutralGier)+1 |
1361 0830 2091 0000 lds r18,AdWertGier |
1362 0834 3091 0000 lds r19,(AdWertGier)+1 |
1363 0838 821B sub r24,r18 |
1364 083a 930B sbc r25,r19 |
1365 083c 9F93 push r25 |
1366 083e 8F93 push r24 |
1367 0840 80E0 ldi r24,lo8(__c.32) |
1368 0842 90E0 ldi r25,hi8(__c.32) |
1369 0844 9F93 push r25 |
1370 0846 8F93 push r24 |
1371 0848 1F93 push r17 |
1372 084a 0F93 push r16 |
1373 084c A3C3 rjmp .L87 |
1374 .L37: |
1375 084e 8B30 cpi r24,lo8(11) |
1376 0850 19F0 breq .L46 |
1377 0852 8431 cpi r24,lo8(20) |
1378 0854 08F4 brsh .+2 |
1379 0856 ADC0 rjmp .L45 |
1380 .L46: |
1381 0858 84E1 ldi r24,lo8(20) |
1382 085a 8093 0000 sts DispPtr,r24 |
1383 085e 8091 0000 lds r24,AdNeutralNick |
1384 0862 9091 0000 lds r25,(AdNeutralNick)+1 |
1385 0866 9C01 movw r18,r24 |
1386 0868 97FF sbrs r25,7 |
1387 086a 02C0 rjmp .L47 |
1388 086c 215F subi r18,lo8(-(15)) |
1389 086e 3F4F sbci r19,hi8(-(15)) |
1390 .L47: |
1391 0870 207F andi r18,lo8(-16) |
1392 0872 821B sub r24,r18 |
1393 0874 930B sbc r25,r19 |
1394 0876 97FD sbrc r25,7 |
1395 0878 0196 adiw r24,1 |
1396 .L48: |
1397 087a 9595 asr r25 |
1398 087c 8795 ror r24 |
1399 087e 9F93 push r25 |
1400 0880 8F93 push r24 |
1401 0882 8091 0000 lds r24,AdNeutralNick |
1402 0886 9091 0000 lds r25,(AdNeutralNick)+1 |
1403 088a 97FD sbrc r25,7 |
1404 088c 0F96 adiw r24,15 |
1405 .L49: |
1406 088e 24E0 ldi r18,4 |
1407 0890 9595 1: asr r25 |
1408 0892 8795 ror r24 |
1409 0894 2A95 dec r18 |
1410 0896 E1F7 brne 1b |
1411 0898 9F93 push r25 |
1412 089a 8F93 push r24 |
1413 089c 2091 0000 lds r18,AdNeutralNick |
1414 08a0 3091 0000 lds r19,(AdNeutralNick)+1 |
1415 08a4 37FF sbrs r19,7 |
1416 08a6 02C0 rjmp .L50 |
1417 08a8 295F subi r18,lo8(-(7)) |
1418 08aa 3F4F sbci r19,hi8(-(7)) |
1419 .L50: |
1420 08ac 83E0 ldi r24,3 |
1421 08ae 3595 1: asr r19 |
1422 08b0 2795 ror r18 |
1423 08b2 8A95 dec r24 |
1424 08b4 E1F7 brne 1b |
1425 08b6 8091 0000 lds r24,AdWertNick |
1426 08ba 9091 0000 lds r25,(AdWertNick)+1 |
1427 08be 821B sub r24,r18 |
1428 08c0 930B sbc r25,r19 |
1429 08c2 9F93 push r25 |
1430 08c4 8F93 push r24 |
1431 08c6 80E0 ldi r24,lo8(__c.33) |
1432 08c8 90E0 ldi r25,hi8(__c.33) |
1433 08ca 9F93 push r25 |
1434 08cc 8F93 push r24 |
1435 08ce 1F93 push r17 |
1436 08d0 0F93 push r16 |
1437 08d2 E091 0000 lds r30,_printf_P |
1438 08d6 F091 0000 lds r31,(_printf_P)+1 |
1439 08da 0995 icall |
1440 08dc 88E2 ldi r24,lo8(40) |
1441 08de 8093 0000 sts DispPtr,r24 |
1442 08e2 2DB7 in r18,__SP_L__ |
1443 08e4 3EB7 in r19,__SP_H__ |
1444 08e6 265F subi r18,lo8(-(10)) |
1445 08e8 3F4F sbci r19,hi8(-(10)) |
1446 08ea 2DBF out __SP_L__,r18 |
1447 08ec 8091 0000 lds r24,AdNeutralRoll |
1448 08f0 9091 0000 lds r25,(AdNeutralRoll)+1 |
1449 08f4 9C01 movw r18,r24 |
1450 08f6 97FF sbrs r25,7 |
1451 08f8 02C0 rjmp .L51 |
1452 08fa 215F subi r18,lo8(-(15)) |
1453 08fc 3F4F sbci r19,hi8(-(15)) |
1454 .L51: |
1455 08fe 207F andi r18,lo8(-16) |
1456 0900 821B sub r24,r18 |
1457 0902 930B sbc r25,r19 |
1458 0904 97FD sbrc r25,7 |
1459 0906 0196 adiw r24,1 |
1460 .L52: |
1461 0908 9595 asr r25 |
1462 090a 8795 ror r24 |
1463 090c 9F93 push r25 |
1464 090e 8F93 push r24 |
1465 0910 8091 0000 lds r24,AdNeutralRoll |
1466 0914 9091 0000 lds r25,(AdNeutralRoll)+1 |
1467 0918 97FD sbrc r25,7 |
1468 091a 0F96 adiw r24,15 |
1469 .L53: |
1470 091c B4E0 ldi r27,4 |
1471 091e 9595 1: asr r25 |
1472 0920 8795 ror r24 |
1473 0922 BA95 dec r27 |
1474 0924 E1F7 brne 1b |
1475 0926 9F93 push r25 |
1476 0928 8F93 push r24 |
1477 092a 2091 0000 lds r18,AdNeutralRoll |
1478 092e 3091 0000 lds r19,(AdNeutralRoll)+1 |
1479 0932 37FF sbrs r19,7 |
1480 0934 02C0 rjmp .L54 |
1481 0936 295F subi r18,lo8(-(7)) |
1482 0938 3F4F sbci r19,hi8(-(7)) |
1483 .L54: |
1484 093a A3E0 ldi r26,3 |
1485 093c 3595 1: asr r19 |
1486 093e 2795 ror r18 |
1487 0940 AA95 dec r26 |
1488 0942 E1F7 brne 1b |
1489 0944 8091 0000 lds r24,AdWertRoll |
1490 0948 9091 0000 lds r25,(AdWertRoll)+1 |
1491 094c 821B sub r24,r18 |
1492 094e 930B sbc r25,r19 |
1493 0950 9F93 push r25 |
1494 0952 8F93 push r24 |
1495 0954 80E0 ldi r24,lo8(__c.34) |
1496 0956 90E0 ldi r25,hi8(__c.34) |
1497 0958 9F93 push r25 |
1498 095a 8F93 push r24 |
1499 095c 1F93 push r17 |
1500 095e 0F93 push r16 |
1501 0960 E091 0000 lds r30,_printf_P |
1502 0964 F091 0000 lds r31,(_printf_P)+1 |
1503 0968 0995 icall |
1504 096a 8CE3 ldi r24,lo8(60) |
1505 096c 8093 0000 sts DispPtr,r24 |
1506 0970 8DB7 in r24,__SP_L__ |
1507 0972 9EB7 in r25,__SP_H__ |
1508 0974 0A96 adiw r24,10 |
1509 0976 8DBF out __SP_L__,r24 |
1510 0978 8091 0000 lds r24,AdNeutralGier |
1511 097c 9091 0000 lds r25,(AdNeutralGier)+1 |
1512 0980 97FD sbrc r25,7 |
1513 0982 0196 adiw r24,1 |
1514 .L55: |
1515 0984 9595 asr r25 |
1516 0986 8795 ror r24 |
1517 0988 9F93 push r25 |
1518 098a 8F93 push r24 |
1519 098c 8091 0000 lds r24,AdNeutralGier |
1520 0990 9091 0000 lds r25,(AdNeutralGier)+1 |
1521 0994 2091 0000 lds r18,AdWertGier |
1522 0998 3091 0000 lds r19,(AdWertGier)+1 |
1523 099c 821B sub r24,r18 |
1524 099e 930B sbc r25,r19 |
1525 09a0 9F93 push r25 |
1526 09a2 8F93 push r24 |
1527 09a4 80E0 ldi r24,lo8(__c.35) |
1528 09a6 90E0 ldi r25,hi8(__c.35) |
1529 09a8 9F93 push r25 |
1530 09aa 8F93 push r24 |
1531 09ac 1F93 push r17 |
1532 09ae 0F93 push r16 |
1533 09b0 8ECE rjmp .L90 |
1534 .L45: |
1535 09b2 8D30 cpi r24,lo8(13) |
1536 09b4 09F0 breq .+2 |
1537 09b6 EEC5 rjmp .L19 |
1538 09b8 84E1 ldi r24,lo8(20) |
1539 09ba 8093 0000 sts DispPtr,r24 |
1540 09be 8091 0000 lds r24,AnalogOffsetNick |
1541 09c2 9927 clr r25 |
1542 09c4 9F93 push r25 |
1543 09c6 8F93 push r24 |
1544 09c8 8091 0000 lds r24,AdNeutralNick |
1545 09cc 9091 0000 lds r25,(AdNeutralNick)+1 |
1546 09d0 97FD sbrc r25,7 |
1547 09d2 0F96 adiw r24,15 |
1548 .L58: |
1549 09d4 E4E0 ldi r30,4 |
1550 09d6 9595 1: asr r25 |
1551 09d8 8795 ror r24 |
1552 09da EA95 dec r30 |
1553 09dc E1F7 brne 1b |
1554 09de 9F93 push r25 |
1555 09e0 8F93 push r24 |
1556 09e2 2091 0000 lds r18,AdNeutralNick |
1557 09e6 3091 0000 lds r19,(AdNeutralNick)+1 |
1558 09ea 37FF sbrs r19,7 |
1559 09ec 02C0 rjmp .L59 |
1560 09ee 295F subi r18,lo8(-(7)) |
1561 09f0 3F4F sbci r19,hi8(-(7)) |
1562 .L59: |
1563 09f2 73E0 ldi r23,3 |
1564 09f4 3595 1: asr r19 |
1565 09f6 2795 ror r18 |
1566 09f8 7A95 dec r23 |
1567 09fa E1F7 brne 1b |
1568 09fc 8091 0000 lds r24,AdWertNick |
1569 0a00 9091 0000 lds r25,(AdWertNick)+1 |
1570 0a04 821B sub r24,r18 |
1571 0a06 930B sbc r25,r19 |
1572 0a08 9F93 push r25 |
1573 0a0a 8F93 push r24 |
1574 0a0c 80E0 ldi r24,lo8(__c.36) |
1575 0a0e 90E0 ldi r25,hi8(__c.36) |
1576 0a10 9F93 push r25 |
1577 0a12 8F93 push r24 |
1578 0a14 1F93 push r17 |
1579 0a16 0F93 push r16 |
1580 0a18 E091 0000 lds r30,_printf_P |
1581 0a1c F091 0000 lds r31,(_printf_P)+1 |
1582 0a20 0995 icall |
1583 0a22 88E2 ldi r24,lo8(40) |
1584 0a24 8093 0000 sts DispPtr,r24 |
1585 0a28 8DB7 in r24,__SP_L__ |
1586 0a2a 9EB7 in r25,__SP_H__ |
1587 0a2c 0A96 adiw r24,10 |
1588 0a2e 8DBF out __SP_L__,r24 |
1589 0a30 8091 0000 lds r24,AnalogOffsetRoll |
1590 0a34 9927 clr r25 |
1591 0a36 9F93 push r25 |
1592 0a38 8F93 push r24 |
1593 0a3a 8091 0000 lds r24,AdNeutralRoll |
1594 0a3e 9091 0000 lds r25,(AdNeutralRoll)+1 |
1595 0a42 97FD sbrc r25,7 |
1596 0a44 0F96 adiw r24,15 |
1597 .L60: |
1598 0a46 64E0 ldi r22,4 |
1599 0a48 9595 1: asr r25 |
1600 0a4a 8795 ror r24 |
1601 0a4c 6A95 dec r22 |
1602 0a4e E1F7 brne 1b |
1603 0a50 9F93 push r25 |
1604 0a52 8F93 push r24 |
1605 0a54 2091 0000 lds r18,AdNeutralRoll |
1606 0a58 3091 0000 lds r19,(AdNeutralRoll)+1 |
1607 0a5c 37FF sbrs r19,7 |
1608 0a5e 02C0 rjmp .L61 |
1609 0a60 295F subi r18,lo8(-(7)) |
1610 0a62 3F4F sbci r19,hi8(-(7)) |
1611 .L61: |
1612 0a64 53E0 ldi r21,3 |
1613 0a66 3595 1: asr r19 |
1614 0a68 2795 ror r18 |
1615 0a6a 5A95 dec r21 |
1616 0a6c E1F7 brne 1b |
1617 0a6e 8091 0000 lds r24,AdWertRoll |
1618 0a72 9091 0000 lds r25,(AdWertRoll)+1 |
1619 0a76 821B sub r24,r18 |
1620 0a78 930B sbc r25,r19 |
1621 0a7a 9F93 push r25 |
1622 0a7c 8F93 push r24 |
1623 0a7e 80E0 ldi r24,lo8(__c.37) |
1624 0a80 90E0 ldi r25,hi8(__c.37) |
1625 0a82 9F93 push r25 |
1626 0a84 8F93 push r24 |
1627 0a86 1F93 push r17 |
1628 0a88 0F93 push r16 |
1629 0a8a E091 0000 lds r30,_printf_P |
1630 0a8e F091 0000 lds r31,(_printf_P)+1 |
1631 0a92 0995 icall |
1632 0a94 8CE3 ldi r24,lo8(60) |
1633 0a96 8093 0000 sts DispPtr,r24 |
1634 0a9a 2DB7 in r18,__SP_L__ |
1635 0a9c 3EB7 in r19,__SP_H__ |
1636 0a9e 265F subi r18,lo8(-(10)) |
1637 0aa0 3F4F sbci r19,hi8(-(10)) |
1638 0aa2 2DBF out __SP_L__,r18 |
1639 0aa4 8091 0000 lds r24,AnalogOffsetGier |
1640 0aa8 9927 clr r25 |
1641 0aaa 9F93 push r25 |
1642 0aac 8F93 push r24 |
1643 0aae 8091 0000 lds r24,AdNeutralGier |
1644 0ab2 9091 0000 lds r25,(AdNeutralGier)+1 |
1645 0ab6 97FD sbrc r25,7 |
1646 0ab8 0196 adiw r24,1 |
1647 .L62: |
1648 0aba 9595 asr r25 |
1649 0abc 8795 ror r24 |
1650 0abe 9F93 push r25 |
1651 0ac0 8F93 push r24 |
1652 0ac2 8091 0000 lds r24,AdNeutralGier |
1653 0ac6 9091 0000 lds r25,(AdNeutralGier)+1 |
1654 0aca 2091 0000 lds r18,AdWertGier |
1655 0ace 3091 0000 lds r19,(AdWertGier)+1 |
1656 0ad2 821B sub r24,r18 |
1657 0ad4 930B sbc r25,r19 |
1658 0ad6 9F93 push r25 |
1659 0ad8 8F93 push r24 |
1660 0ada 80E0 ldi r24,lo8(__c.38) |
1661 0adc 90E0 ldi r25,hi8(__c.38) |
1662 0ade 9F93 push r25 |
1663 0ae0 8F93 push r24 |
1664 0ae2 1F93 push r17 |
1665 0ae4 0F93 push r16 |
1666 0ae6 E091 0000 lds r30,_printf_P |
1667 0aea F091 0000 lds r31,(_printf_P)+1 |
1668 0aee 0995 icall |
1669 0af0 8DB7 in r24,__SP_L__ |
1670 0af2 9EB7 in r25,__SP_H__ |
1671 0af4 0A96 adiw r24,10 |
1672 0af6 4EC3 rjmp .L84 |
1673 .L63: |
1674 0af8 1092 0000 sts DispPtr,__zero_reg__ |
1675 0afc 80E0 ldi r24,lo8(__c.39) |
1676 0afe 90E0 ldi r25,hi8(__c.39) |
1677 0b00 9F93 push r25 |
1678 0b02 8F93 push r24 |
1679 0b04 FF92 push r15 |
1680 0b06 EF92 push r14 |
1681 0b08 FE01 movw r30,r28 |
1682 0b0a 0995 icall |
1683 0b0c 84E1 ldi r24,lo8(20) |
1684 0b0e 8093 0000 sts DispPtr,r24 |
1685 0b12 0F90 pop __tmp_reg__ |
1686 0b14 0F90 pop __tmp_reg__ |
1687 0b16 0F90 pop __tmp_reg__ |
1688 0b18 0F90 pop __tmp_reg__ |
1689 0b1a 8091 0000 lds r24,NeutralAccX |
1690 0b1e 9091 0000 lds r25,(NeutralAccX)+1 |
1691 0b22 9F93 push r25 |
1692 0b24 8F93 push r24 |
1693 0b26 8091 0000 lds r24,AdWertAccNick |
1694 0b2a 9091 0000 lds r25,(AdWertAccNick)+1 |
1695 0b2e 9F93 push r25 |
1696 0b30 8F93 push r24 |
1697 0b32 80E0 ldi r24,lo8(__c.40) |
1698 0b34 90E0 ldi r25,hi8(__c.40) |
1699 0b36 9F93 push r25 |
1700 0b38 8F93 push r24 |
1701 0b3a FF92 push r15 |
1702 0b3c EF92 push r14 |
1703 0b3e E091 0000 lds r30,_printf_P |
1704 0b42 F091 0000 lds r31,(_printf_P)+1 |
1705 0b46 0995 icall |
1706 0b48 88E2 ldi r24,lo8(40) |
1707 0b4a 8093 0000 sts DispPtr,r24 |
1708 0b4e 2DB7 in r18,__SP_L__ |
1709 0b50 3EB7 in r19,__SP_H__ |
1710 0b52 285F subi r18,lo8(-(8)) |
1711 0b54 3F4F sbci r19,hi8(-(8)) |
1712 0b56 2DBF out __SP_L__,r18 |
1713 0b58 8091 0000 lds r24,NeutralAccY |
1714 0b5c 9091 0000 lds r25,(NeutralAccY)+1 |
1715 0b60 9F93 push r25 |
1716 0b62 8F93 push r24 |
1717 0b64 8091 0000 lds r24,AdWertAccRoll |
1718 0b68 9091 0000 lds r25,(AdWertAccRoll)+1 |
1719 0b6c 9F93 push r25 |
1720 0b6e 8F93 push r24 |
1721 0b70 80E0 ldi r24,lo8(__c.41) |
1722 0b72 90E0 ldi r25,hi8(__c.41) |
1723 0b74 9F93 push r25 |
1724 0b76 8F93 push r24 |
1725 0b78 FF92 push r15 |
1726 0b7a EF92 push r14 |
1727 0b7c E091 0000 lds r30,_printf_P |
1728 0b80 F091 0000 lds r31,(_printf_P)+1 |
1729 0b84 0995 icall |
1730 0b86 8CE3 ldi r24,lo8(60) |
1731 0b88 8093 0000 sts DispPtr,r24 |
1732 0b8c 8DB7 in r24,__SP_L__ |
1733 0b8e 9EB7 in r25,__SP_H__ |
1734 0b90 0896 adiw r24,8 |
1735 0b92 8DBF out __SP_L__,r24 |
1736 0b94 8091 0000 lds r24,NeutralAccZ |
1737 0b98 9091 0000 lds r25,(NeutralAccZ)+1 |
1738 0b9c 9F93 push r25 |
1739 0b9e 8F93 push r24 |
1740 0ba0 8091 0000 lds r24,AdWertAccHoch |
1741 0ba4 9091 0000 lds r25,(AdWertAccHoch)+1 |
1742 0ba8 9F93 push r25 |
1743 0baa 8F93 push r24 |
1744 0bac 80E0 ldi r24,lo8(__c.42) |
1745 0bae 90E0 ldi r25,hi8(__c.42) |
1746 0bb0 8ACD rjmp .L89 |
1747 .L64: |
1748 0bb2 1092 0000 sts DispPtr,__zero_reg__ |
1749 0bb6 8091 0000 lds r24,UBat |
1750 0bba 9091 0000 lds r25,(UBat)+1 |
1751 0bbe 6AE0 ldi r22,lo8(10) |
1752 0bc0 70E0 ldi r23,hi8(10) |
1753 0bc2 0E94 0000 call __divmodhi4 |
1754 0bc6 9F93 push r25 |
1755 0bc8 8F93 push r24 |
1756 0bca 8091 0000 lds r24,UBat |
1757 0bce 9091 0000 lds r25,(UBat)+1 |
1758 0bd2 6AE0 ldi r22,lo8(10) |
1759 0bd4 70E0 ldi r23,hi8(10) |
1760 0bd6 0E94 0000 call __divmodhi4 |
1761 0bda 7F93 push r23 |
1762 0bdc 6F93 push r22 |
1763 0bde 80E0 ldi r24,lo8(__c.43) |
1764 0be0 90E0 ldi r25,hi8(__c.43) |
1765 0be2 9F93 push r25 |
1766 0be4 8F93 push r24 |
1767 0be6 FF92 push r15 |
1768 0be8 EF92 push r14 |
1769 0bea FE01 movw r30,r28 |
1770 0bec 0995 icall |
1771 0bee 84E1 ldi r24,lo8(20) |
1772 0bf0 8093 0000 sts DispPtr,r24 |
1773 0bf4 8DB7 in r24,__SP_L__ |
1774 0bf6 9EB7 in r25,__SP_H__ |
1775 0bf8 0896 adiw r24,8 |
1776 0bfa 8DBF out __SP_L__,r24 |
1777 0bfc 8091 0000 lds r24,Capacity |
1778 0c00 9091 0000 lds r25,(Capacity)+1 |
1779 0c04 6AE0 ldi r22,lo8(10) |
1780 0c06 70E0 ldi r23,hi8(10) |
1781 0c08 0E94 0000 call __udivmodhi4 |
1782 0c0c 9F93 push r25 |
1783 0c0e 8F93 push r24 |
1784 0c10 8091 0000 lds r24,Capacity |
1785 0c14 9091 0000 lds r25,(Capacity)+1 |
1786 0c18 6AE0 ldi r22,lo8(10) |
1787 0c1a 70E0 ldi r23,hi8(10) |
1788 0c1c 0E94 0000 call __udivmodhi4 |
1789 0c20 7F93 push r23 |
1790 0c22 6F93 push r22 |
1791 0c24 80E0 ldi r24,lo8(__c.44) |
1792 0c26 90E0 ldi r25,hi8(__c.44) |
1793 0c28 9F93 push r25 |
1794 0c2a 8F93 push r24 |
1795 0c2c FF92 push r15 |
1796 0c2e EF92 push r14 |
1797 0c30 E091 0000 lds r30,_printf_P |
1798 0c34 F091 0000 lds r31,(_printf_P)+1 |
1799 0c38 0995 icall |
1800 0c3a 88E2 ldi r24,lo8(40) |
1801 0c3c 8093 0000 sts DispPtr,r24 |
1802 0c40 2DB7 in r18,__SP_L__ |
1803 0c42 3EB7 in r19,__SP_H__ |
1804 0c44 285F subi r18,lo8(-(8)) |
1805 0c46 3F4F sbci r19,hi8(-(8)) |
1806 0c48 2DBF out __SP_L__,r18 |
1807 0c4a 8091 0000 lds r24,Capacity+2 |
1808 0c4e 9091 0000 lds r25,(Capacity+2)+1 |
1809 0c52 9F93 push r25 |
1810 0c54 8F93 push r24 |
1811 0c56 80E0 ldi r24,lo8(__c.45) |
1812 0c58 90E0 ldi r25,hi8(__c.45) |
1813 0c5a 9F93 push r25 |
1814 0c5c 8F93 push r24 |
1815 0c5e FF92 push r15 |
1816 0c60 EF92 push r14 |
1817 0c62 E091 0000 lds r30,_printf_P |
1818 0c66 F091 0000 lds r31,(_printf_P)+1 |
1819 0c6a 0995 icall |
1820 0c6c 8CE3 ldi r24,lo8(60) |
1821 0c6e 8093 0000 sts DispPtr,r24 |
1822 0c72 8DB7 in r24,__SP_L__ |
1823 0c74 9EB7 in r25,__SP_H__ |
1824 0c76 0696 adiw r24,6 |
1825 0c78 8DBF out __SP_L__,r24 |
1826 0c7a 8091 0000 lds r24,Capacity+4 |
1827 0c7e 9091 0000 lds r25,(Capacity+4)+1 |
1828 0c82 9F93 push r25 |
1829 0c84 8F93 push r24 |
1830 0c86 80E0 ldi r24,lo8(__c.46) |
1831 0c88 90E0 ldi r25,hi8(__c.46) |
1832 0c8a 2EC1 rjmp .L93 |
1833 .L65: |
1834 0c8c 1092 0000 sts DispPtr,__zero_reg__ |
1835 0c90 80E0 ldi r24,lo8(__c.47) |
1836 0c92 90E0 ldi r25,hi8(__c.47) |
1837 0c94 9F93 push r25 |
1838 0c96 8F93 push r24 |
1839 0c98 FF92 push r15 |
1840 0c9a EF92 push r14 |
1841 0c9c FE01 movw r30,r28 |
1842 0c9e 0995 icall |
1843 0ca0 84E1 ldi r24,lo8(20) |
1844 0ca2 8093 0000 sts DispPtr,r24 |
1845 0ca6 0F90 pop __tmp_reg__ |
1846 0ca8 0F90 pop __tmp_reg__ |
1847 0caa 0F90 pop __tmp_reg__ |
1848 0cac 0F90 pop __tmp_reg__ |
1849 0cae 8091 0000 lds r24,PPM_in |
1850 0cb2 9091 0000 lds r25,(PPM_in)+1 |
1851 0cb6 9F93 push r25 |
1852 0cb8 8F93 push r24 |
1853 0cba 80E0 ldi r24,lo8(__c.48) |
1854 0cbc 90E0 ldi r25,hi8(__c.48) |
1855 0cbe 9F93 push r25 |
1856 0cc0 8F93 push r24 |
1857 0cc2 FF92 push r15 |
1858 0cc4 EF92 push r14 |
1859 0cc6 E091 0000 lds r30,_printf_P |
1860 0cca F091 0000 lds r31,(_printf_P)+1 |
1861 0cce 0995 icall |
1862 0cd0 88E2 ldi r24,lo8(40) |
1863 0cd2 8093 0000 sts DispPtr,r24 |
1864 0cd6 8DB7 in r24,__SP_L__ |
1865 0cd8 9EB7 in r25,__SP_H__ |
1866 0cda 0696 adiw r24,6 |
1867 0cdc 8DBF out __SP_L__,r24 |
1868 0cde 8091 0000 lds r24,SenderOkay |
1869 0ce2 9927 clr r25 |
1870 0ce4 9F93 push r25 |
1871 0ce6 8F93 push r24 |
1872 0ce8 80E0 ldi r24,lo8(__c.49) |
1873 0cea 90E0 ldi r25,hi8(__c.49) |
1874 0cec 9F93 push r25 |
1875 0cee 8F93 push r24 |
1876 0cf0 FF92 push r15 |
1877 0cf2 EF92 push r14 |
1878 0cf4 E091 0000 lds r30,_printf_P |
1879 0cf8 F091 0000 lds r31,(_printf_P)+1 |
1880 0cfc 0995 icall |
1881 0cfe 8CE3 ldi r24,lo8(60) |
1882 0d00 8093 0000 sts DispPtr,r24 |
1883 0d04 2DB7 in r18,__SP_L__ |
1884 0d06 3EB7 in r19,__SP_H__ |
1885 0d08 2A5F subi r18,lo8(-(6)) |
1886 0d0a 3F4F sbci r19,hi8(-(6)) |
1887 0d0c 2DBF out __SP_L__,r18 |
1888 0d0e 8091 0000 lds r24,Channels |
1889 0d12 9927 clr r25 |
1890 0d14 0197 sbiw r24,1 |
1891 0d16 9F93 push r25 |
1892 0d18 8F93 push r24 |
1893 0d1a 80E0 ldi r24,lo8(__c.50) |
1894 0d1c 90E0 ldi r25,hi8(__c.50) |
1895 0d1e FECA rjmp .L92 |
1896 .L66: |
1897 0d20 1092 0000 sts DispPtr,__zero_reg__ |
1898 0d24 80E0 ldi r24,lo8(__c.51) |
1899 0d26 90E0 ldi r25,hi8(__c.51) |
1900 0d28 9F93 push r25 |
1901 0d2a 8F93 push r24 |
1902 0d2c FF92 push r15 |
1903 0d2e EF92 push r14 |
1904 0d30 FE01 movw r30,r28 |
1905 0d32 0995 icall |
1906 0d34 84E1 ldi r24,lo8(20) |
1907 0d36 8093 0000 sts DispPtr,r24 |
1908 0d3a 0F90 pop __tmp_reg__ |
1909 0d3c 0F90 pop __tmp_reg__ |
1910 0d3e 0F90 pop __tmp_reg__ |
1911 0d40 0F90 pop __tmp_reg__ |
1912 0d42 8091 0000 lds r24,KompassRichtung |
1913 0d46 9091 0000 lds r25,(KompassRichtung)+1 |
1914 0d4a 9F93 push r25 |
1915 0d4c 8F93 push r24 |
1916 0d4e 80E0 ldi r24,lo8(__c.52) |
1917 0d50 90E0 ldi r25,hi8(__c.52) |
1918 0d52 9F93 push r25 |
1919 0d54 8F93 push r24 |
1920 0d56 FF92 push r15 |
1921 0d58 EF92 push r14 |
1922 0d5a E091 0000 lds r30,_printf_P |
1923 0d5e F091 0000 lds r31,(_printf_P)+1 |
1924 0d62 0995 icall |
1925 0d64 88E2 ldi r24,lo8(40) |
1926 0d66 8093 0000 sts DispPtr,r24 |
1927 0d6a 2DB7 in r18,__SP_L__ |
1928 0d6c 3EB7 in r19,__SP_H__ |
1929 0d6e 2A5F subi r18,lo8(-(6)) |
1930 0d70 3F4F sbci r19,hi8(-(6)) |
1931 0d72 2DBF out __SP_L__,r18 |
1932 0d74 8091 0000 lds r24,KompassValue |
1933 0d78 9091 0000 lds r25,(KompassValue)+1 |
1934 0d7c 9F93 push r25 |
1935 0d7e 8F93 push r24 |
1936 0d80 80E0 ldi r24,lo8(__c.53) |
1937 0d82 90E0 ldi r25,hi8(__c.53) |
1938 0d84 9F93 push r25 |
1939 0d86 8F93 push r24 |
1940 0d88 FF92 push r15 |
1941 0d8a EF92 push r14 |
1942 0d8c E091 0000 lds r30,_printf_P |
1943 0d90 F091 0000 lds r31,(_printf_P)+1 |
1944 0d94 0995 icall |
1945 0d96 8CE3 ldi r24,lo8(60) |
1946 0d98 8093 0000 sts DispPtr,r24 |
1947 0d9c 8DB7 in r24,__SP_L__ |
1948 0d9e 9EB7 in r25,__SP_H__ |
1949 0da0 0696 adiw r24,6 |
1950 0da2 8DBF out __SP_L__,r24 |
1951 0da4 8091 0000 lds r24,KompassStartwert |
1952 0da8 9091 0000 lds r25,(KompassStartwert)+1 |
1953 0dac 9F93 push r25 |
1954 0dae 8F93 push r24 |
1955 0db0 80E0 ldi r24,lo8(__c.54) |
1956 0db2 90E0 ldi r25,hi8(__c.54) |
1957 0db4 99C0 rjmp .L93 |
1958 .L67: |
1959 0db6 1092 0000 sts DispPtr,__zero_reg__ |
1960 0dba 8091 0000 lds r24,Poti |
1961 0dbe 9927 clr r25 |
1962 0dc0 9F93 push r25 |
1963 0dc2 8F93 push r24 |
1964 0dc4 80E0 ldi r24,lo8(__c.55) |
1965 0dc6 90E0 ldi r25,hi8(__c.55) |
1966 0dc8 9F93 push r25 |
1967 0dca 8F93 push r24 |
1968 0dcc FF92 push r15 |
1969 0dce EF92 push r14 |
1970 0dd0 FE01 movw r30,r28 |
1971 0dd2 0995 icall |
1972 0dd4 84E1 ldi r24,lo8(20) |
1973 0dd6 8093 0000 sts DispPtr,r24 |
1974 0dda 8DB7 in r24,__SP_L__ |
1975 0ddc 9EB7 in r25,__SP_H__ |
1976 0dde 0696 adiw r24,6 |
1977 0de0 8DBF out __SP_L__,r24 |
1978 0de2 8091 0000 lds r24,Poti+1 |
1979 0de6 9927 clr r25 |
1980 0de8 9F93 push r25 |
1981 0dea 8F93 push r24 |
1982 0dec 80E0 ldi r24,lo8(__c.56) |
1983 0dee 90E0 ldi r25,hi8(__c.56) |
1984 0df0 9F93 push r25 |
1985 0df2 8F93 push r24 |
1986 0df4 FF92 push r15 |
1987 0df6 EF92 push r14 |
1988 0df8 E091 0000 lds r30,_printf_P |
1989 0dfc F091 0000 lds r31,(_printf_P)+1 |
1990 0e00 0995 icall |
1991 0e02 88E2 ldi r24,lo8(40) |
1992 0e04 8093 0000 sts DispPtr,r24 |
1993 0e08 2DB7 in r18,__SP_L__ |
1994 0e0a 3EB7 in r19,__SP_H__ |
1995 0e0c 2A5F subi r18,lo8(-(6)) |
1996 0e0e 3F4F sbci r19,hi8(-(6)) |
1997 0e10 2DBF out __SP_L__,r18 |
1998 0e12 8091 0000 lds r24,Poti+2 |
1999 0e16 9927 clr r25 |
2000 0e18 9F93 push r25 |
2001 0e1a 8F93 push r24 |
2002 0e1c 80E0 ldi r24,lo8(__c.57) |
2003 0e1e 90E0 ldi r25,hi8(__c.57) |
2004 0e20 9F93 push r25 |
2005 0e22 8F93 push r24 |
2006 0e24 FF92 push r15 |
2007 0e26 EF92 push r14 |
2008 0e28 E091 0000 lds r30,_printf_P |
2009 0e2c F091 0000 lds r31,(_printf_P)+1 |
2010 0e30 0995 icall |
2011 0e32 8CE3 ldi r24,lo8(60) |
2012 0e34 8093 0000 sts DispPtr,r24 |
2013 0e38 8DB7 in r24,__SP_L__ |
2014 0e3a 9EB7 in r25,__SP_H__ |
2015 0e3c 0696 adiw r24,6 |
2016 0e3e 8DBF out __SP_L__,r24 |
2017 0e40 8091 0000 lds r24,Poti+3 |
2018 0e44 9927 clr r25 |
2019 0e46 9F93 push r25 |
2020 0e48 8F93 push r24 |
2021 0e4a 80E0 ldi r24,lo8(__c.58) |
2022 0e4c 90E0 ldi r25,hi8(__c.58) |
2023 0e4e 4CC0 rjmp .L93 |
2024 .L68: |
2025 0e50 1092 0000 sts DispPtr,__zero_reg__ |
2026 0e54 8091 0000 lds r24,Poti+4 |
2027 0e58 9927 clr r25 |
2028 0e5a 9F93 push r25 |
2029 0e5c 8F93 push r24 |
2030 0e5e 80E0 ldi r24,lo8(__c.59) |
2031 0e60 90E0 ldi r25,hi8(__c.59) |
2032 0e62 9F93 push r25 |
2033 0e64 8F93 push r24 |
2034 0e66 FF92 push r15 |
2035 0e68 EF92 push r14 |
2036 0e6a FE01 movw r30,r28 |
2037 0e6c 0995 icall |
2038 0e6e 84E1 ldi r24,lo8(20) |
2039 0e70 8093 0000 sts DispPtr,r24 |
2040 0e74 8DB7 in r24,__SP_L__ |
2041 0e76 9EB7 in r25,__SP_H__ |
2042 0e78 0696 adiw r24,6 |
2043 0e7a 8DBF out __SP_L__,r24 |
2044 0e7c 8091 0000 lds r24,Poti+5 |
2045 0e80 9927 clr r25 |
2046 0e82 9F93 push r25 |
2047 0e84 8F93 push r24 |
2048 0e86 80E0 ldi r24,lo8(__c.60) |
2049 0e88 90E0 ldi r25,hi8(__c.60) |
2050 0e8a 9F93 push r25 |
2051 0e8c 8F93 push r24 |
2052 0e8e FF92 push r15 |
2053 0e90 EF92 push r14 |
2054 0e92 E091 0000 lds r30,_printf_P |
2055 0e96 F091 0000 lds r31,(_printf_P)+1 |
2056 0e9a 0995 icall |
2057 0e9c 88E2 ldi r24,lo8(40) |
2058 0e9e 8093 0000 sts DispPtr,r24 |
2059 0ea2 2DB7 in r18,__SP_L__ |
2060 0ea4 3EB7 in r19,__SP_H__ |
2061 0ea6 2A5F subi r18,lo8(-(6)) |
2062 0ea8 3F4F sbci r19,hi8(-(6)) |
2063 0eaa 2DBF out __SP_L__,r18 |
2064 0eac 8091 0000 lds r24,Poti+6 |
2065 0eb0 9927 clr r25 |
2066 0eb2 9F93 push r25 |
2067 0eb4 8F93 push r24 |
2068 0eb6 80E0 ldi r24,lo8(__c.61) |
2069 0eb8 90E0 ldi r25,hi8(__c.61) |
2070 0eba 9F93 push r25 |
2071 0ebc 8F93 push r24 |
2072 0ebe FF92 push r15 |
2073 0ec0 EF92 push r14 |
2074 0ec2 E091 0000 lds r30,_printf_P |
2075 0ec6 F091 0000 lds r31,(_printf_P)+1 |
2076 0eca 0995 icall |
2077 0ecc 8CE3 ldi r24,lo8(60) |
2078 0ece 8093 0000 sts DispPtr,r24 |
2079 0ed2 8DB7 in r24,__SP_L__ |
2080 0ed4 9EB7 in r25,__SP_H__ |
2081 0ed6 0696 adiw r24,6 |
2082 0ed8 8DBF out __SP_L__,r24 |
2083 0eda 8091 0000 lds r24,Poti+7 |
2084 0ede 9927 clr r25 |
2085 0ee0 9F93 push r25 |
2086 0ee2 8F93 push r24 |
2087 0ee4 80E0 ldi r24,lo8(__c.62) |
2088 0ee6 90E0 ldi r25,hi8(__c.62) |
2089 .L93: |
2090 0ee8 9F93 push r25 |
2091 0eea 8F93 push r24 |
2092 0eec FF92 push r15 |
2093 0eee EF92 push r14 |
2094 0ef0 D5CA rjmp .L88 |
2095 .L69: |
2096 0ef2 1092 0000 sts DispPtr,__zero_reg__ |
2097 0ef6 80E0 ldi r24,lo8(__c.63) |
2098 0ef8 90E0 ldi r25,hi8(__c.63) |
2099 0efa 9F93 push r25 |
2100 0efc 8F93 push r24 |
2101 0efe FF92 push r15 |
2102 0f00 EF92 push r14 |
2103 0f02 FE01 movw r30,r28 |
2104 0f04 0995 icall |
2105 0f06 84E1 ldi r24,lo8(20) |
2106 0f08 8093 0000 sts DispPtr,r24 |
2107 0f0c 0F90 pop __tmp_reg__ |
2108 0f0e 0F90 pop __tmp_reg__ |
2109 0f10 0F90 pop __tmp_reg__ |
2110 0f12 0F90 pop __tmp_reg__ |
2111 0f14 8091 0000 lds r24,Parameter_ServoNickControl |
2112 0f18 9927 clr r25 |
2113 0f1a 9F93 push r25 |
2114 0f1c 8F93 push r24 |
2115 0f1e 80E0 ldi r24,lo8(__c.64) |
2116 0f20 90E0 ldi r25,hi8(__c.64) |
2117 0f22 9F93 push r25 |
2118 0f24 8F93 push r24 |
2119 0f26 FF92 push r15 |
2120 0f28 EF92 push r14 |
2121 0f2a E091 0000 lds r30,_printf_P |
2122 0f2e F091 0000 lds r31,(_printf_P)+1 |
2123 0f32 0995 icall |
2124 0f34 88E2 ldi r24,lo8(40) |
2125 0f36 8093 0000 sts DispPtr,r24 |
2126 0f3a 8DB7 in r24,__SP_L__ |
2127 0f3c 9EB7 in r25,__SP_H__ |
2128 0f3e 0696 adiw r24,6 |
2129 0f40 8DBF out __SP_L__,r24 |
2130 0f42 8091 0000 lds r24,ServoNickValue |
2131 0f46 9091 0000 lds r25,(ServoNickValue)+1 |
2132 0f4a 9F93 push r25 |
2133 0f4c 8F93 push r24 |
2134 0f4e 80E0 ldi r24,lo8(__c.65) |
2135 0f50 90E0 ldi r25,hi8(__c.65) |
2136 0f52 9F93 push r25 |
2137 0f54 8F93 push r24 |
2138 0f56 FF92 push r15 |
2139 0f58 EF92 push r14 |
2140 0f5a E091 0000 lds r30,_printf_P |
2141 0f5e F091 0000 lds r31,(_printf_P)+1 |
2142 0f62 0995 icall |
2143 0f64 8CE3 ldi r24,lo8(60) |
2144 0f66 8093 0000 sts DispPtr,r24 |
2145 0f6a 2DB7 in r18,__SP_L__ |
2146 0f6c 3EB7 in r19,__SP_H__ |
2147 0f6e 2A5F subi r18,lo8(-(6)) |
2148 0f70 3F4F sbci r19,hi8(-(6)) |
2149 0f72 2DBF out __SP_L__,r18 |
2150 0f74 8091 0000 lds r24,EE_Parameter+48 |
2151 0f78 9927 clr r25 |
2152 0f7a 9F93 push r25 |
2153 0f7c 8F93 push r24 |
2154 0f7e 8091 0000 lds r24,EE_Parameter+47 |
2155 0f82 9927 clr r25 |
2156 0f84 9F93 push r25 |
2157 0f86 8F93 push r24 |
2158 0f88 80E0 ldi r24,lo8(__c.66) |
2159 0f8a 90E0 ldi r25,hi8(__c.66) |
2160 0f8c 9F93 push r25 |
2161 0f8e 8F93 push r24 |
2162 0f90 FF92 push r15 |
2163 0f92 EF92 push r14 |
2164 .L87: |
2165 0f94 E091 0000 lds r30,_printf_P |
2166 0f98 F091 0000 lds r31,(_printf_P)+1 |
2167 0f9c 0995 icall |
2168 0f9e 8DB7 in r24,__SP_L__ |
2169 0fa0 9EB7 in r25,__SP_H__ |
2170 0fa2 0896 adiw r24,8 |
2171 0fa4 F7C0 rjmp .L84 |
2172 .L70: |
2173 0fa6 1092 0000 sts DispPtr,__zero_reg__ |
2174 0faa 80E0 ldi r24,lo8(__c.67) |
2175 0fac 90E0 ldi r25,hi8(__c.67) |
2176 0fae 9F93 push r25 |
2177 0fb0 8F93 push r24 |
2178 0fb2 FF92 push r15 |
2179 0fb4 EF92 push r14 |
2180 0fb6 FE01 movw r30,r28 |
2181 0fb8 0995 icall |
2182 0fba 84E1 ldi r24,lo8(20) |
2183 0fbc 8093 0000 sts DispPtr,r24 |
2184 0fc0 0F90 pop __tmp_reg__ |
2185 0fc2 0F90 pop __tmp_reg__ |
2186 0fc4 0F90 pop __tmp_reg__ |
2187 0fc6 0F90 pop __tmp_reg__ |
2188 0fc8 8091 0000 lds r24,ExternControl+4 |
2189 0fcc 9927 clr r25 |
2190 0fce 87FD sbrc r24,7 |
2191 0fd0 9095 com r25 |
2192 0fd2 9F93 push r25 |
2193 0fd4 8F93 push r24 |
2194 0fd6 8091 0000 lds r24,ExternControl+3 |
2195 0fda 9927 clr r25 |
2196 0fdc 87FD sbrc r24,7 |
2197 0fde 9095 com r25 |
2198 0fe0 9F93 push r25 |
2199 0fe2 8F93 push r24 |
2200 0fe4 80E0 ldi r24,lo8(__c.68) |
2201 0fe6 90E0 ldi r25,hi8(__c.68) |
2202 0fe8 9F93 push r25 |
2203 0fea 8F93 push r24 |
2204 0fec FF92 push r15 |
2205 0fee EF92 push r14 |
2206 0ff0 E091 0000 lds r30,_printf_P |
2207 0ff4 F091 0000 lds r31,(_printf_P)+1 |
2208 0ff8 0995 icall |
2209 0ffa 88E2 ldi r24,lo8(40) |
2210 0ffc 8093 0000 sts DispPtr,r24 |
2211 1000 2DB7 in r18,__SP_L__ |
2212 1002 3EB7 in r19,__SP_H__ |
2213 1004 285F subi r18,lo8(-(8)) |
2214 1006 3F4F sbci r19,hi8(-(8)) |
2215 1008 2DBF out __SP_L__,r18 |
2216 100a 8091 0000 lds r24,ExternControl+5 |
2217 100e 9927 clr r25 |
2218 1010 87FD sbrc r24,7 |
2219 1012 9095 com r25 |
2220 1014 9F93 push r25 |
2221 1016 8F93 push r24 |
2222 1018 8091 0000 lds r24,ExternControl+6 |
2223 101c 9927 clr r25 |
2224 101e 9F93 push r25 |
2225 1020 8F93 push r24 |
2226 1022 80E0 ldi r24,lo8(__c.69) |
2227 1024 90E0 ldi r25,hi8(__c.69) |
2228 1026 9F93 push r25 |
2229 1028 8F93 push r24 |
2230 102a FF92 push r15 |
2231 102c EF92 push r14 |
2232 102e E091 0000 lds r30,_printf_P |
2233 1032 F091 0000 lds r31,(_printf_P)+1 |
2234 1036 0995 icall |
2235 1038 8CE3 ldi r24,lo8(60) |
2236 103a 8093 0000 sts DispPtr,r24 |
2237 103e 8DB7 in r24,__SP_L__ |
2238 1040 9EB7 in r25,__SP_H__ |
2239 1042 0896 adiw r24,8 |
2240 1044 8DBF out __SP_L__,r24 |
2241 1046 8091 0000 lds r24,ExternControl+10 |
2242 104a 9927 clr r25 |
2243 104c 9F93 push r25 |
2244 104e 8F93 push r24 |
2245 1050 8091 0000 lds r24,ExternControl+7 |
2246 1054 9927 clr r25 |
2247 1056 87FD sbrc r24,7 |
2248 1058 9095 com r25 |
2249 105a 9F93 push r25 |
2250 105c 8F93 push r24 |
2251 105e 80E0 ldi r24,lo8(__c.70) |
2252 1060 90E0 ldi r25,hi8(__c.70) |
2253 1062 31CB rjmp .L89 |
2254 .L71: |
2255 1064 1092 0000 sts DispPtr,__zero_reg__ |
2256 1068 80E0 ldi r24,lo8(__c.71) |
2257 106a 90E0 ldi r25,hi8(__c.71) |
2258 106c 9F93 push r25 |
2259 106e 8F93 push r24 |
2260 1070 FF92 push r15 |
2261 1072 EF92 push r14 |
2262 1074 FE01 movw r30,r28 |
2263 1076 0995 icall |
2264 1078 84E1 ldi r24,lo8(20) |
2265 107a 8093 0000 sts DispPtr,r24 |
2266 107e 0F90 pop __tmp_reg__ |
2267 1080 0F90 pop __tmp_reg__ |
2268 1082 0F90 pop __tmp_reg__ |
2269 1084 0F90 pop __tmp_reg__ |
2270 1086 8091 0000 lds r24,Motor+27 |
2271 108a 9927 clr r25 |
2272 108c 8F77 andi r24,lo8(127) |
2273 108e 9070 andi r25,hi8(127) |
2274 1090 9F93 push r25 |
2275 1092 8F93 push r24 |
2276 1094 8091 0000 lds r24,Motor+19 |
2277 1098 9927 clr r25 |
2278 109a 8F77 andi r24,lo8(127) |
2279 109c 9070 andi r25,hi8(127) |
2280 109e 9F93 push r25 |
2281 10a0 8F93 push r24 |
2282 10a2 8091 0000 lds r24,Motor+11 |
2283 10a6 9927 clr r25 |
2284 10a8 8F77 andi r24,lo8(127) |
2285 10aa 9070 andi r25,hi8(127) |
2286 10ac 9F93 push r25 |
2287 10ae 8F93 push r24 |
2288 10b0 8091 0000 lds r24,Motor+3 |
2289 10b4 9927 clr r25 |
2290 10b6 8F77 andi r24,lo8(127) |
2291 10b8 9070 andi r25,hi8(127) |
2292 10ba 9F93 push r25 |
2293 10bc 8F93 push r24 |
2294 10be 80E0 ldi r24,lo8(__c.72) |
2295 10c0 90E0 ldi r25,hi8(__c.72) |
2296 10c2 9F93 push r25 |
2297 10c4 8F93 push r24 |
2298 10c6 FF92 push r15 |
2299 10c8 EF92 push r14 |
2300 10ca E091 0000 lds r30,_printf_P |
2301 10ce F091 0000 lds r31,(_printf_P)+1 |
2302 10d2 0995 icall |
2303 10d4 88E2 ldi r24,lo8(40) |
2304 10d6 8093 0000 sts DispPtr,r24 |
2305 10da 8DB7 in r24,__SP_L__ |
2306 10dc 9EB7 in r25,__SP_H__ |
2307 10de 0C96 adiw r24,12 |
2308 10e0 8DBF out __SP_L__,r24 |
2309 10e2 8091 0000 lds r24,Motor+59 |
2310 10e6 9927 clr r25 |
2311 10e8 8F77 andi r24,lo8(127) |
2312 10ea 9070 andi r25,hi8(127) |
2313 10ec 9F93 push r25 |
2314 10ee 8F93 push r24 |
2315 10f0 8091 0000 lds r24,Motor+51 |
2316 10f4 9927 clr r25 |
2317 10f6 8F77 andi r24,lo8(127) |
2318 10f8 9070 andi r25,hi8(127) |
2319 10fa 9F93 push r25 |
2320 10fc 8F93 push r24 |
2321 10fe 8091 0000 lds r24,Motor+43 |
2322 1102 9927 clr r25 |
2323 1104 8F77 andi r24,lo8(127) |
2324 1106 9070 andi r25,hi8(127) |
2325 1108 9F93 push r25 |
2326 110a 8F93 push r24 |
2327 110c 8091 0000 lds r24,Motor+35 |
2328 1110 9927 clr r25 |
2329 1112 8F77 andi r24,lo8(127) |
2330 1114 9070 andi r25,hi8(127) |
2331 1116 9F93 push r25 |
2332 1118 8F93 push r24 |
2333 111a 80E0 ldi r24,lo8(__c.73) |
2334 111c 90E0 ldi r25,hi8(__c.73) |
2335 111e 9F93 push r25 |
2336 1120 8F93 push r24 |
2337 1122 FF92 push r15 |
2338 1124 EF92 push r14 |
2339 1126 E091 0000 lds r30,_printf_P |
2340 112a F091 0000 lds r31,(_printf_P)+1 |
2341 112e 0995 icall |
2342 1130 8CE3 ldi r24,lo8(60) |
2343 1132 8093 0000 sts DispPtr,r24 |
2344 1136 2DB7 in r18,__SP_L__ |
2345 1138 3EB7 in r19,__SP_H__ |
2346 113a 245F subi r18,lo8(-(12)) |
2347 113c 3F4F sbci r19,hi8(-(12)) |
2348 113e 2DBF out __SP_L__,r18 |
2349 1140 8091 0000 lds r24,Motor+91 |
2350 1144 9927 clr r25 |
2351 1146 8F77 andi r24,lo8(127) |
2352 1148 9070 andi r25,hi8(127) |
2353 114a 9F93 push r25 |
2354 114c 8F93 push r24 |
2355 114e 8091 0000 lds r24,Motor+83 |
2356 1152 9927 clr r25 |
2357 1154 8F77 andi r24,lo8(127) |
2358 1156 9070 andi r25,hi8(127) |
2359 1158 9F93 push r25 |
2360 115a 8F93 push r24 |
2361 115c 8091 0000 lds r24,Motor+75 |
2362 1160 9927 clr r25 |
2363 1162 8F77 andi r24,lo8(127) |
2364 1164 9070 andi r25,hi8(127) |
2365 1166 9F93 push r25 |
2366 1168 8F93 push r24 |
2367 116a 8091 0000 lds r24,Motor+67 |
2368 116e 9927 clr r25 |
2369 1170 8F77 andi r24,lo8(127) |
2370 1172 9070 andi r25,hi8(127) |
2371 1174 9F93 push r25 |
2372 1176 8F93 push r24 |
2373 1178 80E0 ldi r24,lo8(__c.74) |
2374 117a 90E0 ldi r25,hi8(__c.74) |
2375 117c 9F93 push r25 |
2376 117e 8F93 push r24 |
2377 1180 FF92 push r15 |
2378 1182 EF92 push r14 |
2379 1184 E091 0000 lds r30,_printf_P |
2380 1188 F091 0000 lds r31,(_printf_P)+1 |
2381 118c 0995 icall |
2382 118e 8DB7 in r24,__SP_L__ |
2383 1190 9EB7 in r25,__SP_H__ |
2384 1192 0C96 adiw r24,12 |
2385 .L84: |
2386 1194 8DBF out __SP_L__,r24 |
2387 1196 FEC1 rjmp .L19 |
2388 .L72: |
2389 1198 1092 0000 sts DispPtr,__zero_reg__ |
2390 119c 80E0 ldi r24,lo8(__c.75) |
2391 119e 90E0 ldi r25,hi8(__c.75) |
2392 11a0 9F93 push r25 |
2393 11a2 8F93 push r24 |
2394 11a4 FF92 push r15 |
2395 11a6 EF92 push r14 |
2396 11a8 FE01 movw r30,r28 |
2397 11aa 0995 icall |
2398 11ac 84E1 ldi r24,lo8(20) |
2399 11ae 8093 0000 sts DispPtr,r24 |
2400 11b2 0F90 pop __tmp_reg__ |
2401 11b4 0F90 pop __tmp_reg__ |
2402 11b6 0F90 pop __tmp_reg__ |
2403 11b8 0F90 pop __tmp_reg__ |
2404 11ba 8091 0000 lds r24,Motor+31 |
2405 11be 9927 clr r25 |
2406 11c0 87FD sbrc r24,7 |
2407 11c2 9095 com r25 |
2408 11c4 9F93 push r25 |
2409 11c6 8F93 push r24 |
2410 11c8 8091 0000 lds r24,Motor+23 |
2411 11cc 9927 clr r25 |
2412 11ce 87FD sbrc r24,7 |
2413 11d0 9095 com r25 |
2414 11d2 9F93 push r25 |
2415 11d4 8F93 push r24 |
2416 11d6 8091 0000 lds r24,Motor+15 |
2417 11da 9927 clr r25 |
2418 11dc 87FD sbrc r24,7 |
2419 11de 9095 com r25 |
2420 11e0 9F93 push r25 |
2421 11e2 8F93 push r24 |
2422 11e4 8091 0000 lds r24,Motor+7 |
2423 11e8 9927 clr r25 |
2424 11ea 87FD sbrc r24,7 |
2425 11ec 9095 com r25 |
2426 11ee 9F93 push r25 |
2427 11f0 8F93 push r24 |
2428 11f2 80E0 ldi r24,lo8(__c.76) |
2429 11f4 90E0 ldi r25,hi8(__c.76) |
2430 11f6 9F93 push r25 |
2431 11f8 8F93 push r24 |
2432 11fa FF92 push r15 |
2433 11fc EF92 push r14 |
2434 11fe E091 0000 lds r30,_printf_P |
2435 1202 F091 0000 lds r31,(_printf_P)+1 |
2436 1206 0995 icall |
2437 1208 88E2 ldi r24,lo8(40) |
2438 120a 8093 0000 sts DispPtr,r24 |
2439 120e 2DB7 in r18,__SP_L__ |
2440 1210 3EB7 in r19,__SP_H__ |
2441 1212 245F subi r18,lo8(-(12)) |
2442 1214 3F4F sbci r19,hi8(-(12)) |
2443 1216 2DBF out __SP_L__,r18 |
2444 1218 8091 0000 lds r24,Motor+63 |
2445 121c 9927 clr r25 |
2446 121e 87FD sbrc r24,7 |
2447 1220 9095 com r25 |
2448 1222 9F93 push r25 |
2449 1224 8F93 push r24 |
2450 1226 8091 0000 lds r24,Motor+55 |
2451 122a 9927 clr r25 |
2452 122c 87FD sbrc r24,7 |
2453 122e 9095 com r25 |
2454 1230 9F93 push r25 |
2455 1232 8F93 push r24 |
2456 1234 8091 0000 lds r24,Motor+47 |
2457 1238 9927 clr r25 |
2458 123a 87FD sbrc r24,7 |
2459 123c 9095 com r25 |
2460 123e 9F93 push r25 |
2461 1240 8F93 push r24 |
2462 1242 8091 0000 lds r24,Motor+39 |
2463 1246 9927 clr r25 |
2464 1248 87FD sbrc r24,7 |
2465 124a 9095 com r25 |
2466 124c 9F93 push r25 |
2467 124e 8F93 push r24 |
2468 1250 80E0 ldi r24,lo8(__c.77) |
2469 1252 90E0 ldi r25,hi8(__c.77) |
2470 1254 9F93 push r25 |
2471 1256 8F93 push r24 |
2472 1258 FF92 push r15 |
2473 125a EF92 push r14 |
2474 125c E091 0000 lds r30,_printf_P |
2475 1260 F091 0000 lds r31,(_printf_P)+1 |
2476 1264 0995 icall |
2477 1266 8CE3 ldi r24,lo8(60) |
2478 1268 8093 0000 sts DispPtr,r24 |
2479 126c 8DB7 in r24,__SP_L__ |
2480 126e 9EB7 in r25,__SP_H__ |
2481 1270 0C96 adiw r24,12 |
2482 1272 8DBF out __SP_L__,r24 |
2483 1274 8091 0000 lds r24,Motor+95 |
2484 1278 9927 clr r25 |
2485 127a 87FD sbrc r24,7 |
2486 127c 9095 com r25 |
2487 127e 9F93 push r25 |
2488 1280 8F93 push r24 |
2489 1282 8091 0000 lds r24,Motor+87 |
2490 1286 9927 clr r25 |
2491 1288 87FD sbrc r24,7 |
2492 128a 9095 com r25 |
2493 128c 9F93 push r25 |
2494 128e 8F93 push r24 |
2495 1290 8091 0000 lds r24,Motor+79 |
2496 1294 9927 clr r25 |
2497 1296 87FD sbrc r24,7 |
2498 1298 9095 com r25 |
2499 129a 9F93 push r25 |
2500 129c 8F93 push r24 |
2501 129e 8091 0000 lds r24,Motor+71 |
2502 12a2 9927 clr r25 |
2503 12a4 87FD sbrc r24,7 |
2504 12a6 9095 com r25 |
2505 12a8 9F93 push r25 |
2506 12aa 8F93 push r24 |
2507 12ac 80E0 ldi r24,lo8(__c.78) |
2508 12ae 90E0 ldi r25,hi8(__c.78) |
2509 12b0 9F93 push r25 |
2510 12b2 8F93 push r24 |
2511 12b4 FF92 push r15 |
2512 12b6 EF92 push r14 |
2513 12b8 E091 0000 lds r30,_printf_P |
2514 12bc F091 0000 lds r31,(_printf_P)+1 |
2515 12c0 0995 icall |
2516 12c2 2DB7 in r18,__SP_L__ |
2517 12c4 3EB7 in r19,__SP_H__ |
2518 12c6 245F subi r18,lo8(-(12)) |
2519 12c8 3F4F sbci r19,hi8(-(12)) |
2520 .L83: |
2521 12ca 2DBF out __SP_L__,r18 |
2522 12cc 63C1 rjmp .L19 |
2523 .L73: |
2524 12ce 1092 0000 sts DispPtr,__zero_reg__ |
2525 12d2 80E0 ldi r24,lo8(__c.79) |
2526 12d4 90E0 ldi r25,hi8(__c.79) |
2527 12d6 9F93 push r25 |
2528 12d8 8F93 push r24 |
2529 12da 00E0 ldi r16,lo8(pm(Menu_Putchar)) |
2530 12dc 10E0 ldi r17,hi8(pm(Menu_Putchar)) |
2531 12de FF92 push r15 |
2532 12e0 EF92 push r14 |
2533 12e2 FE01 movw r30,r28 |
2534 12e4 0995 icall |
2535 12e6 84E1 ldi r24,lo8(20) |
2536 12e8 8093 0000 sts DispPtr,r24 |
2537 12ec 0F90 pop __tmp_reg__ |
2538 12ee 0F90 pop __tmp_reg__ |
2539 12f0 0F90 pop __tmp_reg__ |
2540 12f2 0F90 pop __tmp_reg__ |
2541 12f4 8091 0000 lds r24,Motor+27 |
2542 12f8 881F rol r24 |
2543 12fa 8827 clr r24 |
2544 12fc 881F rol r24 |
2545 12fe 97E0 ldi r25,lo8(7) |
2546 1300 899F mul r24,r25 |
2547 1302 C001 movw r24,r0 |
2548 1304 1124 clr r1 |
2549 1306 8D96 adiw r24,45 |
2550 1308 9F93 push r25 |
2551 130a 8F93 push r24 |
2552 130c 8091 0000 lds r24,Motor+19 |
2553 1310 881F rol r24 |
2554 1312 8827 clr r24 |
2555 1314 881F rol r24 |
2556 1316 96E0 ldi r25,lo8(6) |
2557 1318 899F mul r24,r25 |
2558 131a C001 movw r24,r0 |
2559 131c 1124 clr r1 |
2560 131e 8D96 adiw r24,45 |
2561 1320 9F93 push r25 |
2562 1322 8F93 push r24 |
2563 1324 8091 0000 lds r24,Motor+11 |
2564 1328 881F rol r24 |
2565 132a 8827 clr r24 |
2566 132c 881F rol r24 |
2567 132e 95E0 ldi r25,lo8(5) |
2568 1330 899F mul r24,r25 |
2569 1332 C001 movw r24,r0 |
2570 1334 1124 clr r1 |
2571 1336 8D96 adiw r24,45 |
2572 1338 9F93 push r25 |
2573 133a 8F93 push r24 |
2574 133c 8091 0000 lds r24,Motor+3 |
2575 1340 881F rol r24 |
2576 1342 8827 clr r24 |
2577 1344 881F rol r24 |
2578 1346 9927 clr r25 |
2579 1348 880F lsl r24 |
2580 134a 991F rol r25 |
2581 134c 880F lsl r24 |
2582 134e 991F rol r25 |
2583 1350 8D96 adiw r24,45 |
2584 1352 9F93 push r25 |
2585 1354 8F93 push r24 |
2586 1356 80E0 ldi r24,lo8(__c.80) |
2587 1358 90E0 ldi r25,hi8(__c.80) |
2588 135a 9F93 push r25 |
2589 135c 8F93 push r24 |
2590 135e FF92 push r15 |
2591 1360 EF92 push r14 |
2592 1362 E091 0000 lds r30,_printf_P |
2593 1366 F091 0000 lds r31,(_printf_P)+1 |
2594 136a 0995 icall |
2595 136c 88E2 ldi r24,lo8(40) |
2596 136e 8093 0000 sts DispPtr,r24 |
2597 1372 8DB7 in r24,__SP_L__ |
2598 1374 9EB7 in r25,__SP_H__ |
2599 1376 0C96 adiw r24,12 |
2600 1378 8DBF out __SP_L__,r24 |
2601 137a 8091 0000 lds r24,Motor+59 |
2602 137e 881F rol r24 |
2603 1380 8827 clr r24 |
2604 1382 881F rol r24 |
2605 1384 9BE0 ldi r25,lo8(11) |
2606 1386 899F mul r24,r25 |
2607 1388 C001 movw r24,r0 |
2608 138a 1124 clr r1 |
2609 138c 8D96 adiw r24,45 |
2610 138e 9F93 push r25 |
2611 1390 8F93 push r24 |
2612 1392 8091 0000 lds r24,Motor+51 |
2613 1396 881F rol r24 |
2614 1398 8827 clr r24 |
2615 139a 881F rol r24 |
2616 139c 9AE0 ldi r25,lo8(10) |
2617 139e 899F mul r24,r25 |
2618 13a0 C001 movw r24,r0 |
2619 13a2 1124 clr r1 |
2620 13a4 8D96 adiw r24,45 |
2621 13a6 9F93 push r25 |
2622 13a8 8F93 push r24 |
2623 13aa 8091 0000 lds r24,Motor+43 |
2624 13ae 881F rol r24 |
2625 13b0 8827 clr r24 |
2626 13b2 881F rol r24 |
2627 13b4 99E0 ldi r25,lo8(9) |
2628 13b6 899F mul r24,r25 |
2629 13b8 C001 movw r24,r0 |
2630 13ba 1124 clr r1 |
2631 13bc 8D96 adiw r24,45 |
2632 13be 9F93 push r25 |
2633 13c0 8F93 push r24 |
2634 13c2 8091 0000 lds r24,Motor+35 |
2635 13c6 881F rol r24 |
2636 13c8 8827 clr r24 |
2637 13ca 881F rol r24 |
2638 13cc 9927 clr r25 |
2639 13ce 23E0 ldi r18,3 |
2640 13d0 880F 1: lsl r24 |
2641 13d2 991F rol r25 |
2642 13d4 2A95 dec r18 |
2643 13d6 E1F7 brne 1b |
2644 13d8 8D96 adiw r24,45 |
2645 13da 9F93 push r25 |
2646 13dc 8F93 push r24 |
2647 13de 80E0 ldi r24,lo8(__c.81) |
2648 13e0 90E0 ldi r25,hi8(__c.81) |
2649 13e2 9F93 push r25 |
2650 13e4 8F93 push r24 |
2651 13e6 FF92 push r15 |
2652 13e8 EF92 push r14 |
2653 13ea E091 0000 lds r30,_printf_P |
2654 13ee F091 0000 lds r31,(_printf_P)+1 |
2655 13f2 0995 icall |
2656 13f4 8CE3 ldi r24,lo8(60) |
2657 13f6 8093 0000 sts DispPtr,r24 |
2658 13fa 2DB7 in r18,__SP_L__ |
2659 13fc 3EB7 in r19,__SP_H__ |
2660 13fe 245F subi r18,lo8(-(12)) |
2661 1400 3F4F sbci r19,hi8(-(12)) |
2662 1402 2DBF out __SP_L__,r18 |
2663 1404 8091 0000 lds r24,Motor+67 |
2664 1408 881F rol r24 |
2665 140a 8827 clr r24 |
2666 140c 881F rol r24 |
2667 140e 9CE0 ldi r25,lo8(12) |
2668 1410 899F mul r24,r25 |
2669 1412 C001 movw r24,r0 |
2670 1414 1124 clr r1 |
2671 1416 8D96 adiw r24,45 |
2672 1418 9F93 push r25 |
2673 141a 8F93 push r24 |
2674 141c 80E0 ldi r24,lo8(__c.82) |
2675 141e 90E0 ldi r25,hi8(__c.82) |
2676 1420 9F93 push r25 |
2677 1422 8F93 push r24 |
2678 1424 FF92 push r15 |
2679 1426 EF92 push r14 |
2680 1428 E091 0000 lds r30,_printf_P |
2681 142c F091 0000 lds r31,(_printf_P)+1 |
2682 1430 0995 icall |
2683 1432 8091 0000 lds r24,Motor+75 |
2684 1436 2DB7 in r18,__SP_L__ |
2685 1438 3EB7 in r19,__SP_H__ |
2686 143a 2A5F subi r18,lo8(-(6)) |
2687 143c 3F4F sbci r19,hi8(-(6)) |
2688 143e 2DBF out __SP_L__,r18 |
2689 1440 87FF sbrs r24,7 |
2690 1442 12C0 rjmp .L74 |
2691 1444 80E4 ldi r24,lo8(64) |
2692 1446 8093 0000 sts DispPtr,r24 |
2693 144a 80E0 ldi r24,lo8(__c.83) |
2694 144c 90E0 ldi r25,hi8(__c.83) |
2695 144e 9F93 push r25 |
2696 1450 8F93 push r24 |
2697 1452 FF92 push r15 |
2698 1454 EF92 push r14 |
2699 1456 E091 0000 lds r30,_printf_P |
2700 145a F091 0000 lds r31,(_printf_P)+1 |
2701 145e 0995 icall |
2702 1460 0F90 pop __tmp_reg__ |
2703 1462 0F90 pop __tmp_reg__ |
2704 1464 0F90 pop __tmp_reg__ |
2705 1466 0F90 pop __tmp_reg__ |
2706 .L74: |
2707 1468 8091 0000 lds r24,Motor+83 |
2708 146c 87FF sbrs r24,7 |
2709 146e 12C0 rjmp .L75 |
2710 1470 84E4 ldi r24,lo8(68) |
2711 1472 8093 0000 sts DispPtr,r24 |
2712 1476 80E0 ldi r24,lo8(__c.84) |
2713 1478 90E0 ldi r25,hi8(__c.84) |
2714 147a 9F93 push r25 |
2715 147c 8F93 push r24 |
2716 147e 1F93 push r17 |
2717 1480 0F93 push r16 |
2718 1482 E091 0000 lds r30,_printf_P |
2719 1486 F091 0000 lds r31,(_printf_P)+1 |
2720 148a 0995 icall |
2721 148c 0F90 pop __tmp_reg__ |
2722 148e 0F90 pop __tmp_reg__ |
2723 1490 0F90 pop __tmp_reg__ |
2724 1492 0F90 pop __tmp_reg__ |
2725 .L75: |
2726 1494 8091 0000 lds r24,Motor+91 |
2727 1498 87FF sbrs r24,7 |
2728 149a 7CC0 rjmp .L19 |
2729 149c 88E4 ldi r24,lo8(72) |
2730 149e 8093 0000 sts DispPtr,r24 |
2731 14a2 80E0 ldi r24,lo8(__c.85) |
2732 14a4 90E0 ldi r25,hi8(__c.85) |
2733 .L91: |
2734 14a6 9F93 push r25 |
2735 14a8 8F93 push r24 |
2736 14aa 1F93 push r17 |
2737 14ac 0F93 push r16 |
2738 .L85: |
2739 14ae E091 0000 lds r30,_printf_P |
2740 14b2 F091 0000 lds r31,(_printf_P)+1 |
2741 14b6 0995 icall |
2742 14b8 0F90 pop __tmp_reg__ |
2743 14ba 0F90 pop __tmp_reg__ |
2744 14bc 0F90 pop __tmp_reg__ |
2745 14be 0F90 pop __tmp_reg__ |
2746 14c0 69C0 rjmp .L19 |
2747 .L77: |
2748 14c2 1092 0000 sts DispPtr,__zero_reg__ |
2749 14c6 80E0 ldi r24,lo8(__c.86) |
2750 14c8 90E0 ldi r25,hi8(__c.86) |
2751 14ca 9F93 push r25 |
2752 14cc 8F93 push r24 |
2753 14ce FF92 push r15 |
2754 14d0 EF92 push r14 |
2755 14d2 FE01 movw r30,r28 |
2756 14d4 0995 icall |
2757 14d6 84E1 ldi r24,lo8(20) |
2758 14d8 8093 0000 sts DispPtr,r24 |
2759 14dc 0F90 pop __tmp_reg__ |
2760 14de 0F90 pop __tmp_reg__ |
2761 14e0 0F90 pop __tmp_reg__ |
2762 14e2 0F90 pop __tmp_reg__ |
2763 14e4 8091 0000 lds r24,FlugMinutenGesamt |
2764 14e8 9091 0000 lds r25,(FlugMinutenGesamt)+1 |
2765 14ec 9F93 push r25 |
2766 14ee 8F93 push r24 |
2767 14f0 80E0 ldi r24,lo8(__c.87) |
2768 14f2 90E0 ldi r25,hi8(__c.87) |
2769 14f4 9F93 push r25 |
2770 14f6 8F93 push r24 |
2771 14f8 FF92 push r15 |
2772 14fa EF92 push r14 |
2773 14fc E091 0000 lds r30,_printf_P |
2774 1500 F091 0000 lds r31,(_printf_P)+1 |
2775 1504 0995 icall |
2776 1506 88E2 ldi r24,lo8(40) |
2777 1508 8093 0000 sts DispPtr,r24 |
2778 150c 8DB7 in r24,__SP_L__ |
2779 150e 9EB7 in r25,__SP_H__ |
2780 1510 0696 adiw r24,6 |
2781 1512 8DBF out __SP_L__,r24 |
2782 1514 8091 0000 lds r24,FlugMinuten |
2783 1518 9091 0000 lds r25,(FlugMinuten)+1 |
2784 151c 9F93 push r25 |
2785 151e 8F93 push r24 |
2786 1520 80E0 ldi r24,lo8(__c.88) |
2787 1522 90E0 ldi r25,hi8(__c.88) |
2788 1524 9F93 push r25 |
2789 1526 8F93 push r24 |
2790 1528 FF92 push r15 |
2791 152a EF92 push r14 |
2792 152c E091 0000 lds r30,_printf_P |
2793 1530 F091 0000 lds r31,(_printf_P)+1 |
2794 1534 0995 icall |
2795 1536 89E4 ldi r24,lo8(73) |
2796 1538 8093 0000 sts DispPtr,r24 |
2797 153c 2DB7 in r18,__SP_L__ |
2798 153e 3EB7 in r19,__SP_H__ |
2799 1540 2A5F subi r18,lo8(-(6)) |
2800 1542 3F4F sbci r19,hi8(-(6)) |
2801 1544 2DBF out __SP_L__,r18 |
2802 1546 80E0 ldi r24,lo8(__c.89) |
2803 1548 90E0 ldi r25,hi8(__c.89) |
2804 154a 9F93 push r25 |
2805 154c 8F93 push r24 |
2806 154e FF92 push r15 |
2807 1550 EF92 push r14 |
2808 1552 E091 0000 lds r30,_printf_P |
2809 1556 F091 0000 lds r31,(_printf_P)+1 |
2810 155a 0995 icall |
2811 155c 8091 0000 lds r24,RemoteKeys |
2812 1560 0F90 pop __tmp_reg__ |
2813 1562 0F90 pop __tmp_reg__ |
2814 1564 0F90 pop __tmp_reg__ |
2815 1566 0F90 pop __tmp_reg__ |
2816 1568 83FF sbrs r24,3 |
2817 156a 14C0 rjmp .L19 |
2818 156c 1092 0000 sts (FlugMinuten)+1,__zero_reg__ |
2819 1570 1092 0000 sts FlugMinuten,__zero_reg__ |
2820 1574 60E0 ldi r22,lo8(0) |
2821 1576 70E0 ldi r23,hi8(0) |
2822 1578 8EE0 ldi r24,lo8(14) |
2823 157a 90E0 ldi r25,hi8(14) |
2824 157c 0E94 0000 call SetParamWord |
2825 1580 09C0 rjmp .L19 |
2826 .L79: |
2827 1582 8091 0000 lds r24,MaxMenue |
2828 1586 2817 cp r18,r24 |
2829 1588 19F4 brne .L80 |
2830 158a 2150 subi r18,lo8(-(-1)) |
2831 158c 2093 0000 sts MaxMenue,r18 |
2832 .L80: |
2833 1590 1092 0000 sts MenuePunkt,__zero_reg__ |
2834 .L19: |
2835 1594 1092 0000 sts RemoteKeys,__zero_reg__ |
2836 /* epilogue: frame size=0 */ |
2837 1598 E6E0 ldi r30,6 |
2838 159a CDB7 in r28,__SP_L__ |
2839 159c DEB7 in r29,__SP_H__ |
2840 159e 0C94 0000 jmp __epilogue_restores__+24 |
2841 /* epilogue end (size=5) */ |
2842 /* function Menu size 2783 (2772) */ |
2844 /* File "menu.c": code 2803 = 0x0af3 (2790), prologues 6, epilogues 7 */ |
DEFINED SYMBOLS |
*ABS*:00000000 menu.c |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:3 *ABS*:0000003f __SREG__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:4 *ABS*:0000003e __SP_H__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:5 *ABS*:0000003d __SP_L__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:6 *ABS*:00000000 __tmp_reg__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:7 *ABS*:00000001 __zero_reg__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:15 .bss:00000000 RemoteKeys |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:21 .bss:00000001 MenuePunkt |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:27 .data:00000000 MaxMenue |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:34 .bss:00000002 DispPtr |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:40 .data:00000001 DisplayBuff |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:46 .text:00000000 LcdClear |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:65 .text:00000012 Menu_Putchar |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:84 .progmem.data:00000000 __c.0 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:88 .progmem.data:00000005 __c.1 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:92 .progmem.data:0000000a __c.2 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:96 .progmem.data:0000001a __c.3 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:100 .progmem.data:00000038 __c.4 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:104 .progmem.data:00000046 __c.5 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:108 .progmem.data:0000005d __c.6 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:112 .progmem.data:00000072 __c.7 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:116 .progmem.data:0000007f __c.8 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:120 .progmem.data:0000008c __c.9 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:124 .progmem.data:00000099 __c.10 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:128 .progmem.data:000000a6 __c.11 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:132 .progmem.data:000000b3 __c.12 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:136 .progmem.data:000000c0 __c.13 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:140 .progmem.data:000000cf __c.14 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:144 .progmem.data:000000d8 __c.15 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:148 .progmem.data:000000e7 __c.16 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:152 .progmem.data:000000f0 __c.17 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:156 .progmem.data:000000fd __c.18 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:160 .progmem.data:0000010c __c.19 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:164 .progmem.data:0000011b __c.20 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:168 .progmem.data:0000012a __c.21 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:172 .progmem.data:0000013a __c.22 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:176 .progmem.data:0000014a __c.23 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:180 .progmem.data:0000015a __c.24 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:184 .progmem.data:0000016a __c.25 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:188 .progmem.data:0000017a __c.26 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:192 .progmem.data:0000018a __c.27 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:196 .progmem.data:0000019a __c.28 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:200 .progmem.data:000001aa __c.29 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:204 .progmem.data:000001b8 __c.30 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:208 .progmem.data:000001c9 __c.31 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:212 .progmem.data:000001da __c.32 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:216 .progmem.data:000001e8 __c.33 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:220 .progmem.data:000001fa __c.34 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:224 .progmem.data:0000020c __c.35 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:228 .progmem.data:0000021b __c.36 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:232 .progmem.data:0000022f __c.37 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:236 .progmem.data:00000243 __c.38 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:240 .progmem.data:00000257 __c.39 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:244 .progmem.data:00000264 __c.40 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:248 .progmem.data:00000273 __c.41 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:252 .progmem.data:00000282 __c.42 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:256 .progmem.data:00000291 __c.43 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:260 .progmem.data:000002a5 __c.44 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:264 .progmem.data:000002b9 __c.45 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:268 .progmem.data:000002c9 __c.46 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:272 .progmem.data:000002db __c.47 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:276 .progmem.data:000002e4 __c.48 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:280 .progmem.data:000002f4 __c.49 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:284 .progmem.data:00000304 __c.50 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:288 .progmem.data:00000314 __c.51 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:292 .progmem.data:0000031c __c.52 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:296 .progmem.data:0000032a __c.53 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:300 .progmem.data:00000338 __c.54 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:304 .progmem.data:00000346 __c.55 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:308 .progmem.data:00000352 __c.56 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:312 .progmem.data:0000035e __c.57 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:316 .progmem.data:0000036a __c.58 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:320 .progmem.data:00000376 __c.59 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:324 .progmem.data:00000382 __c.60 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:328 .progmem.data:0000038e __c.61 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:332 .progmem.data:0000039a __c.62 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:336 .progmem.data:000003a6 __c.63 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:340 .progmem.data:000003ae __c.64 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:344 .progmem.data:000003bc __c.65 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:348 .progmem.data:000003ca __c.66 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:352 .progmem.data:000003d8 __c.67 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:356 .progmem.data:000003e8 __c.68 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:360 .progmem.data:000003f8 __c.69 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:364 .progmem.data:00000408 __c.70 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:368 .progmem.data:00000418 __c.71 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:372 .progmem.data:00000428 __c.72 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:376 .progmem.data:00000439 __c.73 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:380 .progmem.data:0000044a __c.74 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:384 .progmem.data:0000045b __c.75 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:388 .progmem.data:0000046a __c.76 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:392 .progmem.data:0000047b __c.77 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:396 .progmem.data:0000048c __c.78 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:400 .progmem.data:0000049d __c.79 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:404 .progmem.data:000004ac __c.80 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:408 .progmem.data:000004c0 __c.81 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:412 .progmem.data:000004d4 __c.82 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:416 .progmem.data:000004e5 __c.83 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:420 .progmem.data:000004e8 __c.84 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:424 .progmem.data:000004eb __c.85 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:428 .progmem.data:000004ee __c.86 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:432 .progmem.data:000004fc __c.87 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:436 .progmem.data:00000509 __c.88 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:440 .progmem.data:00000516 __c.89 |
C:\Users\Arthur-P\AppData\Local\Temp/ccU3aaaa.s:445 .text:00000028 Menu |
UNDEFINED SYMBOLS |
__do_copy_data |
__do_clear_bss |
_printf_P |
__tablejump2__ |
PlatinenVersion |
__udivmodqi4 |
Mixer |
GetActiveParamSet |
VersionInfo |
MissingMotor |
I2CTimeout |
EE_Parameter |
HoehenWert |
__divmodsi4 |
SollHoehe |
MessLuftdruck |
IntegralNick |
IntegralRoll |
KompassValue |
PPM_in |
AdNeutralNick |
AdWertNick |
AdNeutralRoll |
AdWertRoll |
AdNeutralGier |
AdWertGier |
AnalogOffsetNick |
AnalogOffsetRoll |
AnalogOffsetGier |
NeutralAccX |
AdWertAccNick |
NeutralAccY |
AdWertAccRoll |
NeutralAccZ |
AdWertAccHoch |
UBat |
__divmodhi4 |
Capacity |
__udivmodhi4 |
SenderOkay |
Channels |
KompassRichtung |
KompassStartwert |
Poti |
Parameter_ServoNickControl |
ServoNickValue |
ExternControl |
Motor |
FlugMinutenGesamt |
FlugMinuten |
SetParamWord |
__epilogue_restores__ |
/branches/V0.80d-Arthur-P/mymath.c |
---|
0,0 → 1,41 |
#include <stdlib.h> |
#include <avr/pgmspace.h> |
#include "mymath.h" |
// discrete mathematics |
// Sinus with argument in degree at an angular resolution of 1 degree and a discretisation of 13 bit. |
const uint16_t pgm_sinlookup[91] PROGMEM = {0, 143, 286, 429, 571, 714, 856, 998, 1140, 1282, 1423, 1563, 1703, 1843, 1982, 2120, 2258, 2395, 2531, 2667, 2802, 2936, 3069, 3201, 3332, 3462, 3591, 3719, 3846, 3972, 4096, 4219, 4341, 4462, 4581, 4699, 4815, 4930, 5043, 5155, 5266, 5374, 5482, 5587, 5691, 5793, 5893, 5991, 6088, 6183, 6275, 6366, 6455, 6542, 6627, 6710, 6791, 6870, 6947, 7022, 7094, 7165, 7233, 7299, 7363, 7424, 7484, 7541, 7595, 7648, 7698, 7746, 7791, 7834, 7875, 7913, 7949, 7982, 8013, 8041, 8068, 8091, 8112, 8131, 8147, 8161, 8172, 8181, 8187, 8191, 8192}; |
int16_t c_sin_8192(int16_t angle) |
{ |
int8_t m,n; |
int16_t sinus; |
// avoid negative angles |
if (angle < 0) |
{ |
m = -1; |
angle = abs(angle); |
} |
else m = +1; |
// fold angle to intervall 0 to 359 |
angle %= 360; |
// check quadrant |
if (angle <= 90) n=1; // first quadrant |
else if ((angle > 90) && (angle <= 180)) {angle = 180 - angle; n = 1;} // second quadrant |
else if ((angle > 180) && (angle <= 270)) {angle = angle - 180; n = -1;} // third quadrant |
else {angle = 360 - angle; n = -1;} //fourth quadrant |
// get lookup value |
sinus = pgm_read_word(&pgm_sinlookup[angle]); |
// calculate sinus value |
return (sinus * m * n); |
} |
// Cosinus with argument in degree at an angular resolution of 1 degree and a discretisation of 13 bit. |
int16_t c_cos_8192(int16_t angle) |
{ |
return (c_sin_8192(90 - angle)); |
} |
/branches/V0.80d-Arthur-P/mymath.d |
---|
0,0 → 1,0 |
mymath.o mymath.d : mymath.c mymath.h |
/branches/V0.80d-Arthur-P/mymath.h |
---|
0,0 → 1,10 |
#ifndef _MYMATH_H |
#define _MYMATH_H |
#include <inttypes.h> |
extern int16_t c_sin_8192(int16_t angle); |
extern int16_t c_cos_8192(int16_t angle); |
extern int16_t c_atan2(int16_t y, int16_t x); |
extern uint32_t c_sqrt(uint32_t a); |
#endif // _MYMATH_H |
/branches/V0.80d-Arthur-P/mymath.lst |
---|
0,0 → 1,226 |
1 .file "mymath.c" |
2 .arch atmega644p |
3 __SREG__ = 0x3f |
4 __SP_H__ = 0x3e |
5 __SP_L__ = 0x3d |
6 __tmp_reg__ = 0 |
7 __zero_reg__ = 1 |
8 .global __do_copy_data |
9 .global __do_clear_bss |
10 .global pgm_sinlookup |
11 .section .progmem.data,"a",@progbits |
14 pgm_sinlookup: |
15 0000 0000 .word 0 |
16 0002 8F00 .word 143 |
17 0004 1E01 .word 286 |
18 0006 AD01 .word 429 |
19 0008 3B02 .word 571 |
20 000a CA02 .word 714 |
21 000c 5803 .word 856 |
22 000e E603 .word 998 |
23 0010 7404 .word 1140 |
24 0012 0205 .word 1282 |
25 0014 8F05 .word 1423 |
26 0016 1B06 .word 1563 |
27 0018 A706 .word 1703 |
28 001a 3307 .word 1843 |
29 001c BE07 .word 1982 |
30 001e 4808 .word 2120 |
31 0020 D208 .word 2258 |
32 0022 5B09 .word 2395 |
33 0024 E309 .word 2531 |
34 0026 6B0A .word 2667 |
35 0028 F20A .word 2802 |
36 002a 780B .word 2936 |
37 002c FD0B .word 3069 |
38 002e 810C .word 3201 |
39 0030 040D .word 3332 |
40 0032 860D .word 3462 |
41 0034 070E .word 3591 |
42 0036 870E .word 3719 |
43 0038 060F .word 3846 |
44 003a 840F .word 3972 |
45 003c 0010 .word 4096 |
46 003e 7B10 .word 4219 |
47 0040 F510 .word 4341 |
48 0042 6E11 .word 4462 |
49 0044 E511 .word 4581 |
50 0046 5B12 .word 4699 |
51 0048 CF12 .word 4815 |
52 004a 4213 .word 4930 |
53 004c B313 .word 5043 |
54 004e 2314 .word 5155 |
55 0050 9214 .word 5266 |
56 0052 FE14 .word 5374 |
57 0054 6A15 .word 5482 |
58 0056 D315 .word 5587 |
59 0058 3B16 .word 5691 |
60 005a A116 .word 5793 |
61 005c 0517 .word 5893 |
62 005e 6717 .word 5991 |
63 0060 C817 .word 6088 |
64 0062 2718 .word 6183 |
65 0064 8318 .word 6275 |
66 0066 DE18 .word 6366 |
67 0068 3719 .word 6455 |
68 006a 8E19 .word 6542 |
69 006c E319 .word 6627 |
70 006e 361A .word 6710 |
71 0070 871A .word 6791 |
72 0072 D61A .word 6870 |
73 0074 231B .word 6947 |
74 0076 6E1B .word 7022 |
75 0078 B61B .word 7094 |
76 007a FD1B .word 7165 |
77 007c 411C .word 7233 |
78 007e 831C .word 7299 |
79 0080 C31C .word 7363 |
80 0082 001D .word 7424 |
81 0084 3C1D .word 7484 |
82 0086 751D .word 7541 |
83 0088 AB1D .word 7595 |
84 008a E01D .word 7648 |
85 008c 121E .word 7698 |
86 008e 421E .word 7746 |
87 0090 6F1E .word 7791 |
88 0092 9A1E .word 7834 |
89 0094 C31E .word 7875 |
90 0096 E91E .word 7913 |
91 0098 0D1F .word 7949 |
92 009a 2E1F .word 7982 |
93 009c 4D1F .word 8013 |
94 009e 691F .word 8041 |
95 00a0 841F .word 8068 |
96 00a2 9B1F .word 8091 |
97 00a4 B01F .word 8112 |
98 00a6 C31F .word 8131 |
99 00a8 D31F .word 8147 |
100 00aa E11F .word 8161 |
101 00ac EC1F .word 8172 |
102 00ae F51F .word 8181 |
103 00b0 FB1F .word 8187 |
104 00b2 FF1F .word 8191 |
105 00b4 0020 .word 8192 |
106 .text |
107 .global c_sin_8192 |
109 c_sin_8192: |
110 /* prologue: frame size=0 */ |
111 0000 CF93 push r28 |
112 /* prologue end (size=1) */ |
113 0002 FC01 movw r30,r24 |
114 0004 97FF sbrs r25,7 |
115 0006 05C0 rjmp .L2 |
116 0008 CFEF ldi r28,lo8(-1) |
117 000a F095 com r31 |
118 000c E195 neg r30 |
119 000e FF4F sbci r31,lo8(-1) |
120 0010 01C0 rjmp .L4 |
121 .L2: |
122 0012 C1E0 ldi r28,lo8(1) |
123 .L4: |
124 0014 28E6 ldi r18,lo8(360) |
125 0016 31E0 ldi r19,hi8(360) |
126 0018 CF01 movw r24,r30 |
127 001a B901 movw r22,r18 |
128 001c 0E94 0000 call __divmodhi4 |
129 0020 FC01 movw r30,r24 |
130 0022 8B35 cpi r24,91 |
131 0024 9105 cpc r25,__zero_reg__ |
132 0026 54F0 brlt .L12 |
133 0028 8B55 subi r24,lo8(-(-91)) |
134 002a 9040 sbci r25,hi8(-(-91)) |
135 002c 8A35 cpi r24,90 |
136 002e 9105 cpc r25,__zero_reg__ |
137 0030 38F4 brsh .L7 |
138 0032 84EB ldi r24,lo8(180) |
139 0034 90E0 ldi r25,hi8(180) |
140 0036 8E1B sub r24,r30 |
141 0038 9F0B sbc r25,r31 |
142 003a FC01 movw r30,r24 |
143 .L12: |
144 003c 41E0 ldi r20,lo8(1) |
145 003e 0DC0 rjmp .L6 |
146 .L7: |
147 0040 CF01 movw r24,r30 |
148 0042 855B subi r24,lo8(-(-181)) |
149 0044 9040 sbci r25,hi8(-(-181)) |
150 0046 8A35 cpi r24,90 |
151 0048 9105 cpc r25,__zero_reg__ |
152 004a 18F4 brsh .L9 |
153 004c E45B subi r30,lo8(-(-180)) |
154 004e F040 sbci r31,hi8(-(-180)) |
155 0050 03C0 rjmp .L11 |
156 .L9: |
157 0052 2E1B sub r18,r30 |
158 0054 3F0B sbc r19,r31 |
159 0056 F901 movw r30,r18 |
160 .L11: |
161 0058 4FEF ldi r20,lo8(-1) |
162 .L6: |
163 005a EE0F add r30,r30 |
164 005c FF1F adc r31,r31 |
165 005e E050 subi r30,lo8(-(pgm_sinlookup)) |
166 0060 F040 sbci r31,hi8(-(pgm_sinlookup)) |
167 /* #APP */ |
168 0062 2591 lpm r18, Z+ |
169 0064 3491 lpm r19, Z |
170 |
171 /* #NOAPP */ |
172 0066 8C2F mov r24,r28 |
173 0068 9927 clr r25 |
174 006a 87FD sbrc r24,7 |
175 006c 9095 com r25 |
176 006e 289F mul r18,r24 |
177 0070 B001 movw r22,r0 |
178 0072 299F mul r18,r25 |
179 0074 700D add r23,r0 |
180 0076 389F mul r19,r24 |
181 0078 700D add r23,r0 |
182 007a 1124 clr r1 |
183 007c 842F mov r24,r20 |
184 007e 9927 clr r25 |
185 0080 87FD sbrc r24,7 |
186 0082 9095 com r25 |
187 0084 689F mul r22,r24 |
188 0086 A001 movw r20,r0 |
189 0088 699F mul r22,r25 |
190 008a 500D add r21,r0 |
191 008c 789F mul r23,r24 |
192 008e 500D add r21,r0 |
193 0090 1124 clr r1 |
194 0092 CA01 movw r24,r20 |
195 /* epilogue: frame size=0 */ |
196 0094 CF91 pop r28 |
197 0096 0895 ret |
198 /* epilogue end (size=2) */ |
199 /* function c_sin_8192 size 80 (77) */ |
201 .global c_cos_8192 |
203 c_cos_8192: |
204 /* prologue: frame size=0 */ |
205 /* prologue end (size=0) */ |
206 0098 2AE5 ldi r18,lo8(90) |
207 009a 30E0 ldi r19,hi8(90) |
208 009c 281B sub r18,r24 |
209 009e 390B sbc r19,r25 |
210 00a0 C901 movw r24,r18 |
211 00a2 0E94 0000 call c_sin_8192 |
212 /* epilogue: frame size=0 */ |
213 00a6 0895 ret |
214 /* epilogue end (size=1) */ |
215 /* function c_cos_8192 size 8 (7) */ |
217 /* File "mymath.c": code 88 = 0x0058 ( 84), prologues 1, epilogues 3 */ |
DEFINED SYMBOLS |
*ABS*:00000000 mymath.c |
C:\Users\Arthur-P\AppData\Local\Temp/ccW6aaaa.s:3 *ABS*:0000003f __SREG__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccW6aaaa.s:4 *ABS*:0000003e __SP_H__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccW6aaaa.s:5 *ABS*:0000003d __SP_L__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccW6aaaa.s:6 *ABS*:00000000 __tmp_reg__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccW6aaaa.s:7 *ABS*:00000001 __zero_reg__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccW6aaaa.s:14 .progmem.data:00000000 pgm_sinlookup |
C:\Users\Arthur-P\AppData\Local\Temp/ccW6aaaa.s:109 .text:00000000 c_sin_8192 |
C:\Users\Arthur-P\AppData\Local\Temp/ccW6aaaa.s:203 .text:00000098 c_cos_8192 |
UNDEFINED SYMBOLS |
__do_copy_data |
__do_clear_bss |
__divmodhi4 |
/branches/V0.80d-Arthur-P/old_macros.h |
---|
0,0 → 1,47 |
/* |
For backwards compatibility only. |
Ingo Busker ingo@mikrocontroller.com |
*/ |
#ifndef cbi |
#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit)) |
#endif |
#ifndef sbi |
#define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit)) |
#endif |
#ifndef inb |
#define inb(sfr) _SFR_BYTE(sfr) |
#endif |
#ifndef outb |
#define outb(sfr, val) (_SFR_BYTE(sfr) = (val)) |
#endif |
#ifndef inw |
#define inw(sfr) _SFR_WORD(sfr) |
#endif |
#ifndef outw |
#define outw(sfr, val) (_SFR_WORD(sfr) = (val)) |
#endif |
#ifndef outp |
#define outp(val, sfr) outb(sfr, val) |
#endif |
#ifndef inp |
#define inp(sfr) inb(sfr) |
#endif |
#ifndef BV |
#define BV(bit) _BV(bit) |
#endif |
#ifndef PRG_RDB |
#define PRG_RDB pgm_read_byte |
#endif |
/branches/V0.80d-Arthur-P/printf_P.h |
---|
0,0 → 1,69 |
// Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist nicht von der Lizenz für den MikroKopter-Teil unterstellt |
/* |
Copyright (C) 1993 Free Software Foundation |
This file is part of the GNU IO Library. This library is free |
software; you can redistribute it and/or modify it under the |
terms of the GNU General Public License as published by the |
Free Software Foundation; either version 2, or (at your option) |
any later version. |
This library is distributed in the hope that it will be useful, |
but WITHOUT ANY WARRANTY; without even the implied warranty of |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
GNU General Public License for more details. |
You should have received a copy of the GNU General Public License |
along with this library; see the file COPYING. If not, write to the Free |
Software Foundation, 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. |
As a special exception, if you link this library with files |
compiled with a GNU compiler to produce an executable, this does not cause |
the resulting executable to be covered by the GNU General Public License. |
This exception does not however invalidate any other reasons why |
the executable file might be covered by the GNU General Public License. */ |
/* |
* Copyright (c) 1990 Regents of the University of California. |
* All rights reserved. |
* |
* Redistribution and use in source and binary forms, with or without |
* modification, are permitted provided that the following conditions |
* are met: |
* 1. Redistributions of source code must retain the above copyright |
* notice, this list of conditions and the following disclaimer. |
* 2. Redistributions in binary form must reproduce the above copyright |
* notice, this list of conditions and the following disclaimer in the |
* documentation and/or other materials provided with the distribution. |
* 3. [rescinded 22 July 1999] |
* 4. Neither the name of the University nor the names of its contributors |
* may be used to endorse or promote products derived from this software |
* without specific prior written permission. |
* |
* THIS SOFTWARE IS PROVIDED BY THE REGENTS AND CONTRIBUTORS ``AS IS'' AND |
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
* ARE DISCLAIMED. IN NO EVENT SHALL THE REGENTS OR CONTRIBUTORS BE LIABLE |
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS |
* OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) |
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY |
* OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF |
* SUCH DAMAGE. |
*/ |
/******************************************************************************/ |
#ifndef _PRINTF_P_H_ |
#define _PRINTF_P_H_ |
#include <avr/pgmspace.h> |
// function pointer to external callback function |
typedef void (*pVoidFnctChar) (char ); |
typedef void (*pVoidFnct_pVoidFnctChar_const_fmt) (pVoidFnctChar, char const *fmt0, ...); |
extern pVoidFnct_pVoidFnctChar_const_fmt _printf_P; |
#endif //_PRINTF_P_H_ |
/branches/V0.80d-Arthur-P/rc.c |
---|
0,0 → 1,217 |
/*####################################################################################### |
Decodieren eines RC Summen Signals |
#######################################################################################*/ |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) Holger Buss, Ingo Busker |
// + only for non-profit use |
// + www.MikroKopter.com |
// + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
// + see the File "License.txt" for further Informations |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#include "rc.h" |
#include "main.h" |
// Achtung: ACT_S3D_SUMMENSIGNAL wird in der Main.h gesetzt |
volatile int PPM_in[26]; |
volatile int PPM_diff[26]; // das diffenzierte Stick-Signal |
volatile char Channels,tmpChannels = 0; |
volatile unsigned char NewPpmData = 1; |
//############################################################################ |
//zum decodieren des PPM-Signals wird Timer1 mit seiner Input |
//Capture Funktion benutzt: |
void rc_sum_init (void) |
//############################################################################ |
{ |
unsigned char i; |
for(i=0;i<26;i++) |
{ |
PPM_in[i] = 0; |
PPM_diff[i] = 0; |
} |
AdNeutralGier = 0; |
AdNeutralRoll = 0; |
AdNeutralNick = 0; |
return; |
} |
#ifndef ACT_S3D_SUMMENSIGNAL |
//############################################################################ |
//Diese Routine startet und inizialisiert den Timer für RC |
ISR(TIMER1_CAPT_vect) |
//############################################################################ |
{ |
if(!(EE_Parameter.ExtraConfig & CFG_SENSITIVE_RC)) |
{ |
static unsigned int AltICR=0; |
signed int signal = 0,tmp; |
static int index; |
signal = (unsigned int) ICR1 - AltICR; |
AltICR = ICR1; |
//Syncronisationspause? (3.52 ms < signal < 25.6 ms) |
if((signal > 1100) && (signal < 8000)) |
{ |
Channels = index; |
if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
index = 1; |
} |
else |
{ |
if(index < 13) |
{ |
if((signal > 250) && (signal < 687)) |
{ |
signal -= 466; |
// Stabiles Signal |
if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10; else SenderOkay = 200;} |
tmp = (3 * (PPM_in[index]) + signal) / 4; |
if(tmp > signal+1) tmp--; else |
if(tmp < signal-1) tmp++; |
if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
else PPM_diff[index] = 0; |
PPM_in[index] = tmp; |
} |
index++; |
if(PlatinenVersion < 20) |
{ |
if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen |
if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
} |
} |
} |
} |
else |
{ |
static unsigned int AltICR=0; |
static int ppm_in[13]; |
static int ppm_diff[13]; |
static int old_ppm_in[13]; |
static int old_ppm_diff[13]; |
signed int signal = 0,tmp; |
static unsigned char index, okay_cnt = 0; |
signal = (unsigned int) ICR1 - AltICR; |
AltICR = ICR1; |
//Syncronisationspause? (3.52 ms < signal < 25.6 ms) |
if((signal > 1100) && (signal < 8000)) |
{ |
tmpChannels = index; |
if(tmpChannels >= 4 && Channels == tmpChannels) |
{ |
if(okay_cnt > 10) |
{ |
NewPpmData = 0; // Null bedeutet: Neue Daten |
for(index = 0; index < 13; index++) |
{ |
if(okay_cnt > 30) |
{ |
old_ppm_in[index] = PPM_in[index]; |
old_ppm_diff[index] = PPM_diff[index]; |
} |
PPM_in[index] = ppm_in[index]; |
PPM_diff[index] = ppm_diff[index]; |
} |
} |
if(okay_cnt < 255) okay_cnt++; |
} |
else |
{ |
if(okay_cnt > 100) okay_cnt = 10; else okay_cnt = 0; |
ROT_ON; |
} |
index = 1; |
if(!MotorenEin) Channels = tmpChannels; |
} |
else |
{ |
if(index < 13) |
{ |
if((signal > 250) && (signal < 687)) |
{ |
signal -= 466; |
// Stabiles Signal |
if((abs(signal - ppm_in[index]) < 6)) |
{ |
if(okay_cnt > 25) SenderOkay += 10; |
else |
if(okay_cnt > 10) SenderOkay += 2; |
if(SenderOkay > 200) SenderOkay = 200; |
} |
tmp = (3 * (ppm_in[index]) + signal) / 4; |
if(tmp > signal+1) tmp--; else |
if(tmp < signal-1) tmp++; |
if(SenderOkay >= 190) ppm_diff[index] = ((tmp - ppm_in[index]) / 3) * 3; |
else ppm_diff[index] = 0; |
ppm_in[index] = tmp; |
} |
else ROT_ON; |
if(PlatinenVersion < 20) |
{ |
if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen |
if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
} |
} |
if(index < 20) index++; |
else |
if(index == 20) |
{ |
unsigned char i; |
ROT_ON; |
index = 30; |
for(i=0;i<13;i++) // restore from older data |
{ |
PPM_in[i] = old_ppm_in[i]; |
PPM_diff[i] = 0; |
// okay_cnt /= 2; |
} |
} |
} |
} |
} |
#else |
//############################################################################ |
//Diese Routine startet und inizialisiert den Timer für RC |
ISR(TIMER1_CAPT_vect) |
//############################################################################ |
{ |
static unsigned int AltICR=0; |
signed int signal = 0,tmp; |
static int index; |
signal = (unsigned int) ICR1 - AltICR; |
signal /= 2; |
AltICR = ICR1; |
//Syncronisationspause? |
if((signal > 1100*2) && (signal < 8000*2)) |
{ |
if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
index = 1; |
} |
else |
{ |
if(index < 13) |
{ |
if((signal > 250) && (signal < 687*2)) |
{ |
signal -= 962; |
// Stabiles Signal |
if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
tmp = (3 * (PPM_in[index]) + signal) / 4; |
if(tmp > signal+1) tmp--; else |
if(tmp < signal-1) tmp++; |
if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
else PPM_diff[index] = 0; |
PPM_in[index] = tmp; |
} |
index++; |
} |
} |
} |
#endif |
/branches/V0.80d-Arthur-P/rc.d |
---|
0,0 → 1,3 |
rc.o rc.d : rc.c rc.h main.h old_macros.h printf_P.h timer0.h uart.h analog.h \ |
twimaster.h menu.h fc.h gps.h spi.h led.h spektrum.h capacity.h \ |
eeprom.h libfc.h debug.h |
/branches/V0.80d-Arthur-P/rc.h |
---|
0,0 → 1,31 |
/*####################################################################################### |
Derkodieren eines RC Summen Signals |
#######################################################################################*/ |
#ifndef _RC_H |
#define _RC_H |
#if defined (__AVR_ATmega32__) |
#define TIMER_TEILER CK64 |
#define TIMER_RELOAD_VALUE 250 |
#endif |
#if defined (__AVR_ATmega644__) |
#define TIMER_RELOAD_VALUE 250 |
#endif |
#if defined (__AVR_ATmega644P__) |
#define TIMER_RELOAD_VALUE 250 |
#endif |
#define GAS PPM_in[2] |
extern void rc_sum_init (void); |
extern volatile int PPM_in[26]; |
extern volatile int PPM_diff[26]; // das diffenzierte Stick-Signal |
extern volatile unsigned char NewPpmData; |
extern volatile char Channels,tmpChannels; |
#endif //_RC_H |
/branches/V0.80d-Arthur-P/rc.lst |
---|
0,0 → 1,690 |
1 .file "rc.c" |
2 .arch atmega644p |
3 __SREG__ = 0x3f |
4 __SP_H__ = 0x3e |
5 __SP_L__ = 0x3d |
6 __tmp_reg__ = 0 |
7 __zero_reg__ = 1 |
8 .global __do_copy_data |
9 .global __do_clear_bss |
10 .global NewPpmData |
11 .data |
14 NewPpmData: |
15 0000 01 .byte 1 |
16 .global tmpChannels |
17 .global tmpChannels |
18 .section .bss |
21 tmpChannels: |
22 0000 00 .skip 1,0 |
23 .text |
24 .global rc_sum_init |
26 rc_sum_init: |
27 /* prologue: frame size=0 */ |
28 /* prologue end (size=0) */ |
29 0000 89E1 ldi r24,lo8(25) |
30 0002 A0E0 ldi r26,lo8(PPM_diff) |
31 0004 B0E0 ldi r27,hi8(PPM_diff) |
32 0006 E0E0 ldi r30,lo8(PPM_in) |
33 0008 F0E0 ldi r31,hi8(PPM_in) |
34 .L5: |
35 000a 1182 std Z+1,__zero_reg__ |
36 000c 1082 st Z,__zero_reg__ |
37 000e 3296 adiw r30,2 |
38 0010 1196 adiw r26,1 |
39 0012 1C92 st X,__zero_reg__ |
40 0014 1E92 st -X,__zero_reg__ |
41 0016 1296 adiw r26,2 |
42 0018 8150 subi r24,lo8(-(-1)) |
43 001a 87FF sbrs r24,7 |
44 001c F6CF rjmp .L5 |
45 001e 1092 0000 sts (AdNeutralGier)+1,__zero_reg__ |
46 0022 1092 0000 sts AdNeutralGier,__zero_reg__ |
47 0026 1092 0000 sts (AdNeutralRoll)+1,__zero_reg__ |
48 002a 1092 0000 sts AdNeutralRoll,__zero_reg__ |
49 002e 1092 0000 sts (AdNeutralNick)+1,__zero_reg__ |
50 0032 1092 0000 sts AdNeutralNick,__zero_reg__ |
51 /* epilogue: frame size=0 */ |
52 0036 0895 ret |
53 /* epilogue end (size=1) */ |
54 /* function rc_sum_init size 28 (27) */ |
56 .lcomm AltICR.0,2 |
57 .lcomm index.1,2 |
58 .lcomm AltICR.2,2 |
59 .lcomm ppm_in.3,26 |
60 .lcomm ppm_diff.4,26 |
61 .lcomm old_ppm_in.5,26 |
62 .lcomm old_ppm_diff.6,26 |
63 .lcomm index.7,1 |
64 .lcomm okay_cnt.8,1 |
65 .global __vector_12 |
67 __vector_12: |
68 /* prologue: frame size=0 */ |
69 0038 1F92 push __zero_reg__ |
70 003a 0F92 push __tmp_reg__ |
71 003c 0FB6 in __tmp_reg__,__SREG__ |
72 003e 0F92 push __tmp_reg__ |
73 0040 1124 clr __zero_reg__ |
74 0042 0F93 push r16 |
75 0044 1F93 push r17 |
76 0046 2F93 push r18 |
77 0048 3F93 push r19 |
78 004a 4F93 push r20 |
79 004c 5F93 push r21 |
80 004e 6F93 push r22 |
81 0050 7F93 push r23 |
82 0052 8F93 push r24 |
83 0054 9F93 push r25 |
84 0056 AF93 push r26 |
85 0058 BF93 push r27 |
86 005a CF93 push r28 |
87 005c DF93 push r29 |
88 005e EF93 push r30 |
89 0060 FF93 push r31 |
90 /* prologue end (size=21) */ |
91 0062 8091 0000 lds r24,EE_Parameter+99 |
92 0066 82FD sbrc r24,2 |
93 0068 CFC0 rjmp .L9 |
94 006a 4091 8600 lds r20,134 |
95 006e 5091 8700 lds r21,(134)+1 |
96 0072 8091 0000 lds r24,AltICR.0 |
97 0076 9091 0000 lds r25,(AltICR.0)+1 |
98 007a 481B sub r20,r24 |
99 007c 590B sbc r21,r25 |
100 007e 8091 8600 lds r24,134 |
101 0082 9091 8700 lds r25,(134)+1 |
102 0086 9093 0000 sts (AltICR.0)+1,r25 |
103 008a 8093 0000 sts AltICR.0,r24 |
104 008e CA01 movw r24,r20 |
105 0090 8D54 subi r24,lo8(-(-1101)) |
106 0092 9440 sbci r25,hi8(-(-1101)) |
107 0094 A091 0000 lds r26,index.1 |
108 0098 B091 0000 lds r27,(index.1)+1 |
109 009c 835F subi r24,lo8(6899) |
110 009e 9A41 sbci r25,hi8(6899) |
111 00a0 78F4 brsh .L10 |
112 00a2 8091 0000 lds r24,index.1 |
113 00a6 8093 0000 sts Channels,r24 |
114 00aa 1497 sbiw r26,4 |
115 00ac 14F0 brlt .L11 |
116 00ae 1092 0000 sts NewPpmData,__zero_reg__ |
117 .L11: |
118 00b2 81E0 ldi r24,lo8(1) |
119 00b4 90E0 ldi r25,hi8(1) |
120 00b6 9093 0000 sts (index.1)+1,r25 |
121 00ba 8093 0000 sts index.1,r24 |
122 00be 07C2 rjmp .L8 |
123 .L10: |
124 00c0 AD30 cpi r26,13 |
125 00c2 B105 cpc r27,__zero_reg__ |
126 00c4 0CF0 brlt .+2 |
127 00c6 03C2 rjmp .L8 |
128 00c8 CA01 movw r24,r20 |
129 00ca 8B5F subi r24,lo8(-(-251)) |
130 00cc 9040 sbci r25,hi8(-(-251)) |
131 00ce 845B subi r24,lo8(436) |
132 00d0 9140 sbci r25,hi8(436) |
133 00d2 08F0 brlo .+2 |
134 00d4 74C0 rjmp .L14 |
135 00d6 425D subi r20,lo8(-(-466)) |
136 00d8 5140 sbci r21,hi8(-(-466)) |
137 00da FD01 movw r30,r26 |
138 00dc EA0F add r30,r26 |
139 00de FB1F adc r31,r27 |
140 00e0 E050 subi r30,lo8(-(PPM_in)) |
141 00e2 F040 sbci r31,hi8(-(PPM_in)) |
142 00e4 8081 ld r24,Z |
143 00e6 9181 ldd r25,Z+1 |
144 00e8 FA01 movw r30,r20 |
145 00ea E81B sub r30,r24 |
146 00ec F90B sbc r31,r25 |
147 00ee CF01 movw r24,r30 |
148 00f0 F7FF sbrs r31,7 |
149 00f2 03C0 rjmp .L16 |
150 00f4 9095 com r25 |
151 00f6 8195 neg r24 |
152 00f8 9F4F sbci r25,lo8(-1) |
153 .L16: |
154 00fa 0697 sbiw r24,6 |
155 00fc 5CF4 brge .L15 |
156 00fe 8091 0000 lds r24,SenderOkay |
157 0102 883C cpi r24,lo8(-56) |
158 0104 20F4 brsh .L17 |
159 0106 8091 0000 lds r24,SenderOkay |
160 010a 865F subi r24,lo8(-(10)) |
161 010c 01C0 rjmp .L87 |
162 .L17: |
163 010e 88EC ldi r24,lo8(-56) |
164 .L87: |
165 0110 8093 0000 sts SenderOkay,r24 |
166 .L15: |
167 0114 FD01 movw r30,r26 |
168 0116 EA0F add r30,r26 |
169 0118 FB1F adc r31,r27 |
170 011a E050 subi r30,lo8(-(PPM_in)) |
171 011c F040 sbci r31,hi8(-(PPM_in)) |
172 011e 8081 ld r24,Z |
173 0120 9181 ldd r25,Z+1 |
174 0122 9C01 movw r18,r24 |
175 0124 220F lsl r18 |
176 0126 331F rol r19 |
177 0128 280F add r18,r24 |
178 012a 391F adc r19,r25 |
179 012c 240F add r18,r20 |
180 012e 351F adc r19,r21 |
181 0130 37FF sbrs r19,7 |
182 0132 02C0 rjmp .L19 |
183 0134 2D5F subi r18,lo8(-(3)) |
184 0136 3F4F sbci r19,hi8(-(3)) |
185 .L19: |
186 0138 E901 movw r28,r18 |
187 013a D595 asr r29 |
188 013c C795 ror r28 |
189 013e D595 asr r29 |
190 0140 C795 ror r28 |
191 0142 CA01 movw r24,r20 |
192 0144 0196 adiw r24,1 |
193 0146 8C17 cp r24,r28 |
194 0148 9D07 cpc r25,r29 |
195 014a 14F4 brge .L20 |
196 014c 2197 sbiw r28,1 |
197 014e 06C0 rjmp .L21 |
198 .L20: |
199 0150 4150 subi r20,lo8(-(-1)) |
200 0152 5040 sbci r21,hi8(-(-1)) |
201 0154 C417 cp r28,r20 |
202 0156 D507 cpc r29,r21 |
203 0158 0CF4 brge .L21 |
204 015a 2196 adiw r28,1 |
205 .L21: |
206 015c 8091 0000 lds r24,SenderOkay |
207 0160 833C cpi r24,lo8(-61) |
208 0162 E0F0 brlo .L23 |
209 0164 8D01 movw r16,r26 |
210 0166 0A0F add r16,r26 |
211 0168 1B1F adc r17,r27 |
212 016a F801 movw r30,r16 |
213 016c E050 subi r30,lo8(-(PPM_in)) |
214 016e F040 sbci r31,hi8(-(PPM_in)) |
215 0170 8081 ld r24,Z |
216 0172 9181 ldd r25,Z+1 |
217 0174 9E01 movw r18,r28 |
218 0176 281B sub r18,r24 |
219 0178 390B sbc r19,r25 |
220 017a C901 movw r24,r18 |
221 017c 63E0 ldi r22,lo8(3) |
222 017e 70E0 ldi r23,hi8(3) |
223 0180 0E94 0000 call __divmodhi4 |
224 0184 CB01 movw r24,r22 |
225 0186 880F lsl r24 |
226 0188 991F rol r25 |
227 018a 860F add r24,r22 |
228 018c 971F adc r25,r23 |
229 018e 0050 subi r16,lo8(-(PPM_diff)) |
230 0190 1040 sbci r17,hi8(-(PPM_diff)) |
231 0192 D801 movw r26,r16 |
232 0194 1196 adiw r26,1 |
233 0196 9C93 st X,r25 |
234 0198 8E93 st -X,r24 |
235 019a 07C0 rjmp .L24 |
236 .L23: |
237 019c AA0F add r26,r26 |
238 019e BB1F adc r27,r27 |
239 01a0 A050 subi r26,lo8(-(PPM_diff)) |
240 01a2 B040 sbci r27,hi8(-(PPM_diff)) |
241 01a4 1196 adiw r26,1 |
242 01a6 1C92 st X,__zero_reg__ |
243 01a8 1E92 st -X,__zero_reg__ |
244 .L24: |
245 01aa E091 0000 lds r30,index.1 |
246 01ae F091 0000 lds r31,(index.1)+1 |
247 01b2 EE0F add r30,r30 |
248 01b4 FF1F adc r31,r31 |
249 01b6 E050 subi r30,lo8(-(PPM_in)) |
250 01b8 F040 sbci r31,hi8(-(PPM_in)) |
251 01ba D183 std Z+1,r29 |
252 01bc C083 st Z,r28 |
253 .L14: |
254 01be 2091 0000 lds r18,index.1 |
255 01c2 3091 0000 lds r19,(index.1)+1 |
256 01c6 2F5F subi r18,lo8(-(1)) |
257 01c8 3F4F sbci r19,hi8(-(1)) |
258 01ca 3093 0000 sts (index.1)+1,r19 |
259 01ce 2093 0000 sts index.1,r18 |
260 01d2 8091 0000 lds r24,PlatinenVersion |
261 01d6 8431 cpi r24,lo8(20) |
262 01d8 08F0 brlo .+2 |
263 01da 79C1 rjmp .L8 |
264 01dc 2530 cpi r18,5 |
265 01de 3105 cpc r19,__zero_reg__ |
266 01e0 11F4 brne .L26 |
267 01e2 5D9A sbi 43-0x20,5 |
268 01e4 01C0 rjmp .L27 |
269 .L26: |
270 01e6 5D98 cbi 43-0x20,5 |
271 .L27: |
272 01e8 8091 0000 lds r24,index.1 |
273 01ec 9091 0000 lds r25,(index.1)+1 |
274 01f0 8630 cpi r24,6 |
275 01f2 9105 cpc r25,__zero_reg__ |
276 01f4 11F4 brne .L28 |
277 01f6 5C9A sbi 43-0x20,4 |
278 01f8 01C0 rjmp .L29 |
279 .L28: |
280 01fa 5C98 cbi 43-0x20,4 |
281 .L29: |
282 01fc 0797 sbiw r24,7 |
283 01fe 11F4 brne .L30 |
284 0200 5B9A sbi 43-0x20,3 |
285 0202 65C1 rjmp .L8 |
286 .L30: |
287 0204 5B98 cbi 43-0x20,3 |
288 0206 63C1 rjmp .L8 |
289 .L9: |
290 0208 4091 8600 lds r20,134 |
291 020c 5091 8700 lds r21,(134)+1 |
292 0210 8091 0000 lds r24,AltICR.2 |
293 0214 9091 0000 lds r25,(AltICR.2)+1 |
294 0218 481B sub r20,r24 |
295 021a 590B sbc r21,r25 |
296 021c 8091 8600 lds r24,134 |
297 0220 9091 8700 lds r25,(134)+1 |
298 0224 9093 0000 sts (AltICR.2)+1,r25 |
299 0228 8093 0000 sts AltICR.2,r24 |
300 022c CA01 movw r24,r20 |
301 022e 8D54 subi r24,lo8(-(-1101)) |
302 0230 9440 sbci r25,hi8(-(-1101)) |
303 0232 6091 0000 lds r22,index.7 |
304 0236 835F subi r24,lo8(6899) |
305 0238 9A41 sbci r25,hi8(6899) |
306 023a 08F0 brlo .+2 |
307 023c 7AC0 rjmp .L33 |
308 023e 6093 0000 sts tmpChannels,r22 |
309 0242 8091 0000 lds r24,tmpChannels |
310 0246 8430 cpi r24,lo8(4) |
311 0248 08F4 brsh .+2 |
312 024a 53C0 rjmp .L34 |
313 024c 9091 0000 lds r25,Channels |
314 0250 8091 0000 lds r24,tmpChannels |
315 0254 9817 cp r25,r24 |
316 0256 09F0 breq .+2 |
317 0258 4CC0 rjmp .L34 |
318 025a 5091 0000 lds r21,okay_cnt.8 |
319 025e 5B30 cpi r21,lo8(11) |
320 0260 08F4 brsh .+2 |
321 0262 3FC0 rjmp .L35 |
322 0264 1092 0000 sts NewPpmData,__zero_reg__ |
323 0268 1092 0000 sts index.7,__zero_reg__ |
324 026c 40E0 ldi r20,lo8(0) |
325 .L40: |
326 026e 5F31 cpi r21,lo8(31) |
327 0270 C0F0 brlo .L39 |
328 0272 E42F mov r30,r20 |
329 0274 FF27 clr r31 |
330 0276 EE0F add r30,r30 |
331 0278 FF1F adc r31,r31 |
332 027a 9F01 movw r18,r30 |
333 027c 2050 subi r18,lo8(-(old_ppm_in.5)) |
334 027e 3040 sbci r19,hi8(-(old_ppm_in.5)) |
335 0280 DF01 movw r26,r30 |
336 0282 A050 subi r26,lo8(-(PPM_in)) |
337 0284 B040 sbci r27,hi8(-(PPM_in)) |
338 0286 8D91 ld r24,X+ |
339 0288 9C91 ld r25,X |
340 028a D901 movw r26,r18 |
341 028c 8D93 st X+,r24 |
342 028e 9C93 st X,r25 |
343 0290 DF01 movw r26,r30 |
344 0292 A050 subi r26,lo8(-(PPM_diff)) |
345 0294 B040 sbci r27,hi8(-(PPM_diff)) |
346 0296 8D91 ld r24,X+ |
347 0298 9C91 ld r25,X |
348 029a E050 subi r30,lo8(-(old_ppm_diff.6)) |
349 029c F040 sbci r31,hi8(-(old_ppm_diff.6)) |
350 029e 9183 std Z+1,r25 |
351 02a0 8083 st Z,r24 |
352 .L39: |
353 02a2 E42F mov r30,r20 |
354 02a4 FF27 clr r31 |
355 02a6 EE0F add r30,r30 |
356 02a8 FF1F adc r31,r31 |
357 02aa 9F01 movw r18,r30 |
358 02ac 2050 subi r18,lo8(-(PPM_in)) |
359 02ae 3040 sbci r19,hi8(-(PPM_in)) |
360 02b0 DF01 movw r26,r30 |
361 02b2 A050 subi r26,lo8(-(ppm_in.3)) |
362 02b4 B040 sbci r27,hi8(-(ppm_in.3)) |
363 02b6 8D91 ld r24,X+ |
364 02b8 9C91 ld r25,X |
365 02ba D901 movw r26,r18 |
366 02bc 1196 adiw r26,1 |
367 02be 9C93 st X,r25 |
368 02c0 8E93 st -X,r24 |
369 02c2 DF01 movw r26,r30 |
370 02c4 A050 subi r26,lo8(-(ppm_diff.4)) |
371 02c6 B040 sbci r27,hi8(-(ppm_diff.4)) |
372 02c8 8D91 ld r24,X+ |
373 02ca 9C91 ld r25,X |
374 02cc E050 subi r30,lo8(-(PPM_diff)) |
375 02ce F040 sbci r31,hi8(-(PPM_diff)) |
376 02d0 9183 std Z+1,r25 |
377 02d2 8083 st Z,r24 |
378 02d4 842F mov r24,r20 |
379 02d6 8F5F subi r24,lo8(-(1)) |
380 02d8 482F mov r20,r24 |
381 02da 8D30 cpi r24,lo8(13) |
382 02dc 40F2 brlo .L40 |
383 02de 8093 0000 sts index.7,r24 |
384 .L35: |
385 02e2 8091 0000 lds r24,okay_cnt.8 |
386 02e6 8F3F cpi r24,lo8(-1) |
387 02e8 B9F0 breq .L42 |
388 02ea 8F5F subi r24,lo8(-(1)) |
389 02ec 8093 0000 sts okay_cnt.8,r24 |
390 02f0 13C0 rjmp .L42 |
391 .L34: |
392 02f2 8091 0000 lds r24,okay_cnt.8 |
393 02f6 8536 cpi r24,lo8(101) |
394 02f8 20F0 brlo .L43 |
395 02fa 8AE0 ldi r24,lo8(10) |
396 02fc 8093 0000 sts okay_cnt.8,r24 |
397 0300 02C0 rjmp .L44 |
398 .L43: |
399 0302 1092 0000 sts okay_cnt.8,__zero_reg__ |
400 .L44: |
401 0306 8091 0000 lds r24,PlatinenVersion |
402 030a 8A30 cpi r24,lo8(10) |
403 030c 11F0 breq .L46 |
404 030e 8431 cpi r24,lo8(20) |
405 0310 10F0 brlo .L45 |
406 .L46: |
407 0312 289A sbi 37-0x20,0 |
408 0314 01C0 rjmp .L42 |
409 .L45: |
410 0316 2898 cbi 37-0x20,0 |
411 .L42: |
412 0318 81E0 ldi r24,lo8(1) |
413 031a 8093 0000 sts index.7,r24 |
414 031e 8091 0000 lds r24,MotorenEin |
415 0322 8823 tst r24 |
416 0324 09F0 breq .+2 |
417 0326 D3C0 rjmp .L8 |
418 0328 8091 0000 lds r24,tmpChannels |
419 032c 8093 0000 sts Channels,r24 |
420 0330 CEC0 rjmp .L8 |
421 .L33: |
422 0332 6D30 cpi r22,lo8(13) |
423 0334 08F0 brlo .+2 |
424 0336 A3C0 rjmp .L50 |
425 0338 CA01 movw r24,r20 |
426 033a 8B5F subi r24,lo8(-(-251)) |
427 033c 9040 sbci r25,hi8(-(-251)) |
428 033e 845B subi r24,lo8(436) |
429 0340 9140 sbci r25,hi8(436) |
430 0342 08F0 brlo .+2 |
431 0344 7EC0 rjmp .L51 |
432 0346 425D subi r20,lo8(-(-466)) |
433 0348 5140 sbci r21,hi8(-(-466)) |
434 034a E62F mov r30,r22 |
435 034c FF27 clr r31 |
436 034e EE0F add r30,r30 |
437 0350 FF1F adc r31,r31 |
438 0352 E050 subi r30,lo8(-(ppm_in.3)) |
439 0354 F040 sbci r31,hi8(-(ppm_in.3)) |
440 0356 8081 ld r24,Z |
441 0358 9181 ldd r25,Z+1 |
442 035a FA01 movw r30,r20 |
443 035c E81B sub r30,r24 |
444 035e F90B sbc r31,r25 |
445 0360 CF01 movw r24,r30 |
446 0362 0596 adiw r24,5 |
447 0364 0B97 sbiw r24,11 |
448 0366 B0F4 brsh .L52 |
449 0368 8091 0000 lds r24,okay_cnt.8 |
450 036c 8A31 cpi r24,lo8(26) |
451 036e 20F0 brlo .L53 |
452 0370 8091 0000 lds r24,SenderOkay |
453 0374 865F subi r24,lo8(-(10)) |
454 0376 05C0 rjmp .L88 |
455 .L53: |
456 0378 8B30 cpi r24,lo8(11) |
457 037a 28F0 brlo .L54 |
458 037c 8091 0000 lds r24,SenderOkay |
459 0380 8E5F subi r24,lo8(-(2)) |
460 .L88: |
461 0382 8093 0000 sts SenderOkay,r24 |
462 .L54: |
463 0386 8091 0000 lds r24,SenderOkay |
464 038a 893C cpi r24,lo8(-55) |
465 038c 18F0 brlo .L52 |
466 038e 88EC ldi r24,lo8(-56) |
467 0390 8093 0000 sts SenderOkay,r24 |
468 .L52: |
469 0394 E62F mov r30,r22 |
470 0396 FF27 clr r31 |
471 0398 EE0F add r30,r30 |
472 039a FF1F adc r31,r31 |
473 039c E050 subi r30,lo8(-(ppm_in.3)) |
474 039e F040 sbci r31,hi8(-(ppm_in.3)) |
475 03a0 8081 ld r24,Z |
476 03a2 9181 ldd r25,Z+1 |
477 03a4 9C01 movw r18,r24 |
478 03a6 220F lsl r18 |
479 03a8 331F rol r19 |
480 03aa 280F add r18,r24 |
481 03ac 391F adc r19,r25 |
482 03ae 240F add r18,r20 |
483 03b0 351F adc r19,r21 |
484 03b2 37FF sbrs r19,7 |
485 03b4 02C0 rjmp .L57 |
486 03b6 2D5F subi r18,lo8(-(3)) |
487 03b8 3F4F sbci r19,hi8(-(3)) |
488 .L57: |
489 03ba E901 movw r28,r18 |
490 03bc D595 asr r29 |
491 03be C795 ror r28 |
492 03c0 D595 asr r29 |
493 03c2 C795 ror r28 |
494 03c4 CA01 movw r24,r20 |
495 03c6 0196 adiw r24,1 |
496 03c8 8C17 cp r24,r28 |
497 03ca 9D07 cpc r25,r29 |
498 03cc 14F4 brge .L58 |
499 03ce 2197 sbiw r28,1 |
500 03d0 06C0 rjmp .L59 |
501 .L58: |
502 03d2 4150 subi r20,lo8(-(-1)) |
503 03d4 5040 sbci r21,hi8(-(-1)) |
504 03d6 C417 cp r28,r20 |
505 03d8 D507 cpc r29,r21 |
506 03da 0CF4 brge .L59 |
507 03dc 2196 adiw r28,1 |
508 .L59: |
509 03de 8091 0000 lds r24,SenderOkay |
510 03e2 8E3B cpi r24,lo8(-66) |
511 03e4 D8F0 brlo .L61 |
512 03e6 E62F mov r30,r22 |
513 03e8 FF27 clr r31 |
514 03ea EE0F add r30,r30 |
515 03ec FF1F adc r31,r31 |
516 03ee DF01 movw r26,r30 |
517 03f0 A050 subi r26,lo8(-(ppm_in.3)) |
518 03f2 B040 sbci r27,hi8(-(ppm_in.3)) |
519 03f4 8D91 ld r24,X+ |
520 03f6 9C91 ld r25,X |
521 03f8 9E01 movw r18,r28 |
522 03fa 281B sub r18,r24 |
523 03fc 390B sbc r19,r25 |
524 03fe C901 movw r24,r18 |
525 0400 63E0 ldi r22,lo8(3) |
526 0402 70E0 ldi r23,hi8(3) |
527 0404 0E94 0000 call __divmodhi4 |
528 0408 CB01 movw r24,r22 |
529 040a 880F lsl r24 |
530 040c 991F rol r25 |
531 040e 860F add r24,r22 |
532 0410 971F adc r25,r23 |
533 0412 E050 subi r30,lo8(-(ppm_diff.4)) |
534 0414 F040 sbci r31,hi8(-(ppm_diff.4)) |
535 0416 9183 std Z+1,r25 |
536 0418 8083 st Z,r24 |
537 041a 08C0 rjmp .L62 |
538 .L61: |
539 041c E62F mov r30,r22 |
540 041e FF27 clr r31 |
541 0420 EE0F add r30,r30 |
542 0422 FF1F adc r31,r31 |
543 0424 E050 subi r30,lo8(-(ppm_diff.4)) |
544 0426 F040 sbci r31,hi8(-(ppm_diff.4)) |
545 0428 1182 std Z+1,__zero_reg__ |
546 042a 1082 st Z,__zero_reg__ |
547 .L62: |
548 042c 8091 0000 lds r24,index.7 |
549 0430 E82F mov r30,r24 |
550 0432 FF27 clr r31 |
551 0434 EE0F add r30,r30 |
552 0436 FF1F adc r31,r31 |
553 0438 E050 subi r30,lo8(-(ppm_in.3)) |
554 043a F040 sbci r31,hi8(-(ppm_in.3)) |
555 043c D183 std Z+1,r29 |
556 043e C083 st Z,r28 |
557 0440 09C0 rjmp .L63 |
558 .L51: |
559 0442 8091 0000 lds r24,PlatinenVersion |
560 0446 8A30 cpi r24,lo8(10) |
561 0448 11F0 breq .L65 |
562 044a 8431 cpi r24,lo8(20) |
563 044c 10F0 brlo .L64 |
564 .L65: |
565 044e 289A sbi 37-0x20,0 |
566 0450 01C0 rjmp .L63 |
567 .L64: |
568 0452 2898 cbi 37-0x20,0 |
569 .L63: |
570 0454 8091 0000 lds r24,PlatinenVersion |
571 0458 8431 cpi r24,lo8(20) |
572 045a 88F4 brsh .L50 |
573 045c 8091 0000 lds r24,index.7 |
574 0460 8530 cpi r24,lo8(5) |
575 0462 11F4 brne .L68 |
576 0464 5D9A sbi 43-0x20,5 |
577 0466 05C0 rjmp .L70 |
578 .L68: |
579 0468 5D98 cbi 43-0x20,5 |
580 046a 8630 cpi r24,lo8(6) |
581 046c 11F4 brne .L70 |
582 046e 5C9A sbi 43-0x20,4 |
583 0470 05C0 rjmp .L72 |
584 .L70: |
585 0472 5C98 cbi 43-0x20,4 |
586 0474 8730 cpi r24,lo8(7) |
587 0476 11F4 brne .L72 |
588 0478 5B9A sbi 43-0x20,3 |
589 047a 01C0 rjmp .L50 |
590 .L72: |
591 047c 5B98 cbi 43-0x20,3 |
592 .L50: |
593 047e 8091 0000 lds r24,index.7 |
594 0482 8431 cpi r24,lo8(20) |
595 0484 20F4 brsh .L74 |
596 0486 8F5F subi r24,lo8(-(1)) |
597 0488 8093 0000 sts index.7,r24 |
598 048c 20C0 rjmp .L8 |
599 .L74: |
600 048e 8431 cpi r24,lo8(20) |
601 0490 F1F4 brne .L8 |
602 0492 8091 0000 lds r24,PlatinenVersion |
603 0496 8A30 cpi r24,lo8(10) |
604 0498 11F0 breq .L78 |
605 049a 8431 cpi r24,lo8(20) |
606 049c 10F0 brlo .L77 |
607 .L78: |
608 049e 289A sbi 37-0x20,0 |
609 04a0 01C0 rjmp .L79 |
610 .L77: |
611 04a2 2898 cbi 37-0x20,0 |
612 .L79: |
613 04a4 8EE1 ldi r24,lo8(30) |
614 04a6 8093 0000 sts index.7,r24 |
615 04aa 2CE0 ldi r18,lo8(12) |
616 04ac C0E0 ldi r28,lo8(PPM_diff) |
617 04ae D0E0 ldi r29,hi8(PPM_diff) |
618 04b0 A0E0 ldi r26,lo8(old_ppm_in.5) |
619 04b2 B0E0 ldi r27,hi8(old_ppm_in.5) |
620 04b4 E0E0 ldi r30,lo8(PPM_in) |
621 04b6 F0E0 ldi r31,hi8(PPM_in) |
622 .L83: |
623 04b8 8D91 ld r24,X+ |
624 04ba 9D91 ld r25,X+ |
625 04bc 9183 std Z+1,r25 |
626 04be 8083 st Z,r24 |
627 04c0 3296 adiw r30,2 |
628 04c2 1982 std Y+1,__zero_reg__ |
629 04c4 1882 st Y,__zero_reg__ |
630 04c6 2296 adiw r28,2 |
631 04c8 2150 subi r18,lo8(-(-1)) |
632 04ca 27FF sbrs r18,7 |
633 04cc F5CF rjmp .L83 |
634 .L8: |
635 /* epilogue: frame size=0 */ |
636 04ce FF91 pop r31 |
637 04d0 EF91 pop r30 |
638 04d2 DF91 pop r29 |
639 04d4 CF91 pop r28 |
640 04d6 BF91 pop r27 |
641 04d8 AF91 pop r26 |
642 04da 9F91 pop r25 |
643 04dc 8F91 pop r24 |
644 04de 7F91 pop r23 |
645 04e0 6F91 pop r22 |
646 04e2 5F91 pop r21 |
647 04e4 4F91 pop r20 |
648 04e6 3F91 pop r19 |
649 04e8 2F91 pop r18 |
650 04ea 1F91 pop r17 |
651 04ec 0F91 pop r16 |
652 04ee 0F90 pop __tmp_reg__ |
653 04f0 0FBE out __SREG__,__tmp_reg__ |
654 04f2 0F90 pop __tmp_reg__ |
655 04f4 1F90 pop __zero_reg__ |
656 04f6 1895 reti |
657 /* epilogue end (size=21) */ |
658 /* function __vector_12 size 615 (573) */ |
660 .comm PPM_in,52,1 |
661 .comm PPM_diff,52,1 |
662 .comm Channels,1,1 |
663 /* File "rc.c": code 643 = 0x0283 ( 600), prologues 21, epilogues 22 */ |
DEFINED SYMBOLS |
*ABS*:00000000 rc.c |
C:\Users\Arthur-P\AppData\Local\Temp/ccIxbaaa.s:3 *ABS*:0000003f __SREG__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccIxbaaa.s:4 *ABS*:0000003e __SP_H__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccIxbaaa.s:5 *ABS*:0000003d __SP_L__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccIxbaaa.s:6 *ABS*:00000000 __tmp_reg__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccIxbaaa.s:7 *ABS*:00000001 __zero_reg__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccIxbaaa.s:14 .data:00000000 NewPpmData |
C:\Users\Arthur-P\AppData\Local\Temp/ccIxbaaa.s:21 .bss:00000000 tmpChannels |
C:\Users\Arthur-P\AppData\Local\Temp/ccIxbaaa.s:26 .text:00000000 rc_sum_init |
*COM*:00000034 PPM_diff |
*COM*:00000034 PPM_in |
.bss:00000001 AltICR.0 |
C:\Users\Arthur-P\AppData\Local\Temp/ccIxbaaa.s:56 .bss:00000003 index.1 |
C:\Users\Arthur-P\AppData\Local\Temp/ccIxbaaa.s:57 .bss:00000005 AltICR.2 |
C:\Users\Arthur-P\AppData\Local\Temp/ccIxbaaa.s:58 .bss:00000007 ppm_in.3 |
C:\Users\Arthur-P\AppData\Local\Temp/ccIxbaaa.s:59 .bss:00000021 ppm_diff.4 |
C:\Users\Arthur-P\AppData\Local\Temp/ccIxbaaa.s:60 .bss:0000003b old_ppm_in.5 |
C:\Users\Arthur-P\AppData\Local\Temp/ccIxbaaa.s:61 .bss:00000055 old_ppm_diff.6 |
C:\Users\Arthur-P\AppData\Local\Temp/ccIxbaaa.s:62 .bss:0000006f index.7 |
C:\Users\Arthur-P\AppData\Local\Temp/ccIxbaaa.s:63 .bss:00000070 okay_cnt.8 |
C:\Users\Arthur-P\AppData\Local\Temp/ccIxbaaa.s:67 .text:00000038 __vector_12 |
*COM*:00000001 Channels |
UNDEFINED SYMBOLS |
__do_copy_data |
__do_clear_bss |
AdNeutralGier |
AdNeutralRoll |
AdNeutralNick |
EE_Parameter |
SenderOkay |
__divmodhi4 |
PlatinenVersion |
MotorenEin |
/branches/V0.80d-Arthur-P/spi.c |
---|
0,0 → 1,330 |
// ######################## SPI - FlightCtrl ################### |
#include "main.h" |
#include "eeprom.h" |
//struct str_ToNaviCtrl_Version ToNaviCtrl_Version; |
//struct str_FromNaviCtrl_Version FromNaviCtrl_Version; |
struct str_ToNaviCtrl ToNaviCtrl; |
struct str_FromNaviCtrl FromNaviCtrl; |
struct str_FromNaviCtrl_Value FromNaviCtrl_Value; |
struct str_SPI_VersionInfo NC_Version; |
struct str_GPSInfo GPSInfo; |
unsigned char SPI_BufferIndex; |
unsigned char SPI_RxBufferIndex; |
signed char FromNC_Rotate_C = 32, FromNC_Rotate_S = 0; |
volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl)]; |
unsigned char *SPI_TX_Buffer; |
unsigned char SPITransferCompleted, SPI_ChkSum; |
unsigned char SPI_RxDataValid,NaviDataOkay = 250; |
unsigned char SPI_CommandSequence[] = {SPI_FCCMD_STICK, SPI_FCCMD_USER, SPI_FCCMD_PARAMETER1, SPI_FCCMD_STICK, SPI_FCCMD_MISC, SPI_FCCMD_VERSION, SPI_FCCMD_STICK, SPI_FCCMD_SERVOS, SPI_FCCMD_ACCU}; |
unsigned char SPI_CommandCounter = 0; |
unsigned char NC_ErrorCode = 0; |
#ifdef USE_SPI_COMMUNICATION |
//------------------------------------------------------ |
void SPI_MasterInit(void) |
{ |
DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input |
SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); |
SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPR0)|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64 |
SPSR = 0;//(1<<SPI2X); |
SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); |
SPITransferCompleted = 1; |
//SPDR = 0x00; // dummy write |
ToNaviCtrl.Sync1 = 0xAA; |
ToNaviCtrl.Sync2 = 0x83; |
ToNaviCtrl.Command = SPI_FCCMD_USER; |
ToNaviCtrl.IntegralNick = 0; |
ToNaviCtrl.IntegralRoll = 0; |
FromNaviCtrl_Value.SerialDataOkay = 0; |
SPI_RxDataValid = 0; |
} |
//------------------------------------------------------ |
void SPI_StartTransmitPacket(void) |
{ |
//if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed |
if (!SPITransferCompleted) return; |
// _delay_us(30); |
SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl; |
ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
SPITransferCompleted = 0; |
UpdateSPI_Buffer(); // update buffer |
SPI_BufferIndex = 1; |
//ebugOut.Analog[16]++; |
// -- Debug-Output --- |
//---- |
asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
ToNaviCtrl.Chksum = ToNaviCtrl.Sync1; |
SPDR = ToNaviCtrl.Sync1; // Start transmission |
// SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
} |
//------------------------------------------------------ |
//SIGNAL(SIG_SPI) |
void SPI_TransmitByte(void) |
{ |
static unsigned char SPI_RXState = 0; |
unsigned char rxdata; |
static unsigned char rxchksum; |
if (SPITransferCompleted) return; |
if (!(SPSR & (1 << SPIF))) return; |
SendSPI = 4; |
// _delay_us(30); |
SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
rxdata = SPDR; |
switch ( SPI_RXState) |
{ |
case 0: |
SPI_RxBufferIndex = 0; |
rxchksum = rxdata; |
if (rxdata == 0x81 ) { SPI_RXState = 1; } // 1. Syncbyte ok |
break; |
case 1: |
if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState = 2; } // 2. Syncbyte ok |
else SPI_RXState = 0; |
break; |
case 2: |
SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data |
//DebugOut.Analog[19]++; |
if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl)) |
{ |
if (rxdata == rxchksum) |
{ |
unsigned char *ptr = (unsigned char *)&FromNaviCtrl; |
memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer)); |
SPI_RxDataValid = 1; |
} |
else SPI_RxDataValid = 0; |
SPI_RXState = 0; |
} |
else rxchksum += rxdata; |
break; |
} |
if (SPI_BufferIndex < sizeof(ToNaviCtrl)) |
{ |
SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
SPDR = SPI_TX_Buffer[SPI_BufferIndex]; |
ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex]; |
// SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
} |
else SPITransferCompleted = 1; |
SPI_BufferIndex++; |
} |
//------------------------------------------------------ |
void UpdateSPI_Buffer(void) |
{ |
signed int tmp; |
ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4)); |
ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4)); |
ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR; |
ToNaviCtrl.GyroGier = (signed int) AdNeutralGier - AdWertGier; |
ToNaviCtrl.AccNick = ((int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc))/4; |
ToNaviCtrl.AccRoll = ((int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc))/4; |
NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |
// ToNaviCtrl.User8 = Parameter_UserParam8; |
// ToNaviCtrl.CalState = WinkelOut.CalcState; |
switch(ToNaviCtrl.Command) // |
{ |
case SPI_FCCMD_USER: |
ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1; |
ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2; |
ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3; |
ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4; |
ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5; |
ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6; |
ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7; |
ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8; |
ToNaviCtrl.Param.Byte[8] = (unsigned char) FCFlags; |
FCFlags &= ~(FCFLAG_CALIBRATE | FCFLAG_START); |
ToNaviCtrl.Param.Byte[9] = GetActiveParamSet(); |
ToNaviCtrl.Param.Byte[10] = ControlHeading; |
break; |
case SPI_FCCMD_ACCU: |
ToNaviCtrl.Param.Int[0] = Capacity.ActualCurrent; // 0.1A |
ToNaviCtrl.Param.Int[1] = Capacity.UsedCapacity; // mAh |
ToNaviCtrl.Param.Byte[4] = (unsigned char) UBat; // 0.1V |
ToNaviCtrl.Param.Byte[5] = (unsigned char) BattLowVoltageWarning; //0.1V |
break; |
case SPI_FCCMD_PARAMETER1: |
ToNaviCtrl.Param.Byte[0] = EE_Parameter.NaviGpsModeControl; // Parameters for the Naviboard |
ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain; |
ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP; |
ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI; |
ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsD; |
ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsACC; |
ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat; |
ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold; |
ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviOperatingRadius; |
ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviWindCorrection; |
ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviSpeedCompensation; |
ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation; |
break; |
case SPI_FCCMD_STICK: |
cli(); |
tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
ToNaviCtrl.Param.Byte[0] = (char) tmp; |
tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
ToNaviCtrl.Param.Byte[1] = (char) tmp; |
tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
ToNaviCtrl.Param.Byte[2] = (char) tmp; |
tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
sei(); |
ToNaviCtrl.Param.Byte[3] = (char) tmp; |
ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti[0]; |
ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti[1]; |
ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti[2]; |
ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti[3]; |
ToNaviCtrl.Param.Byte[8] = (unsigned char) Poti[4]; |
ToNaviCtrl.Param.Byte[9] = (unsigned char) Poti[5]; |
ToNaviCtrl.Param.Byte[10] = (unsigned char) Poti[6]; |
ToNaviCtrl.Param.Byte[11] = (unsigned char) Poti[7]; |
break; |
case SPI_FCCMD_MISC: |
if(WinkelOut.CalcState > 5) |
{ |
WinkelOut.CalcState = 0; |
ToNaviCtrl.Param.Byte[0] = 5; |
} |
else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState; |
ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviPH_LoginTime; |
ToNaviCtrl.Param.Int[1] = (int)(HoehenWert/5); |
ToNaviCtrl.Param.Int[2] = (int)(SollHoehe/5); |
ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsPLimit; |
ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviGpsILimit; |
ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviGpsDLimit; |
ToNaviCtrl.Param.Byte[9] = (unsigned char) SenderOkay; |
ToNaviCtrl.Param.Byte[10] = (unsigned char) PPM_in[0]; |
ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[7] / 4; //GasMischanteil |
break; |
case SPI_FCCMD_VERSION: |
ToNaviCtrl.Param.Byte[0] = VERSION_MAJOR; |
ToNaviCtrl.Param.Byte[1] = VERSION_MINOR; |
ToNaviCtrl.Param.Byte[2] = VERSION_PATCH; |
ToNaviCtrl.Param.Byte[3] = NC_SPI_COMPATIBLE; |
ToNaviCtrl.Param.Byte[4] = PlatinenVersion; |
ToNaviCtrl.Param.Byte[5] = VersionInfo.HardwareError[0]; |
ToNaviCtrl.Param.Byte[6] = VersionInfo.HardwareError[1]; |
ToNaviCtrl.Param.Byte[7] = VersionInfo.HardwareError[2]; |
break; |
case SPI_FCCMD_SERVOS: |
ToNaviCtrl.Param.Byte[0] = EE_Parameter.ServoNickRefresh; // Parameters for the Servo Control |
ToNaviCtrl.Param.Byte[1] = EE_Parameter.ServoCompInvert; |
ToNaviCtrl.Param.Byte[2] = Parameter_ServoNickControl; |
ToNaviCtrl.Param.Byte[3] = EE_Parameter.ServoNickComp; |
ToNaviCtrl.Param.Byte[4] = EE_Parameter.ServoNickMin; |
ToNaviCtrl.Param.Byte[5] = EE_Parameter.ServoNickMax; |
ToNaviCtrl.Param.Byte[6] = Parameter_ServoRollControl; |
ToNaviCtrl.Param.Byte[7] = EE_Parameter.ServoRollComp; |
ToNaviCtrl.Param.Byte[8] = EE_Parameter.ServoRollMin; |
ToNaviCtrl.Param.Byte[9] = EE_Parameter.ServoRollMax; |
break; |
} |
if(SPI_RxDataValid) |
{ |
NaviDataOkay = 250; |
if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV)) |
{ |
GPS_Nick = FromNaviCtrl.GPS_Nick; |
GPS_Roll = FromNaviCtrl.GPS_Roll; |
} |
if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue; |
KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
if(FromNaviCtrl.BeepTime > beeptime && !WinkelOut.CalcState) beeptime = FromNaviCtrl.BeepTime; |
switch (FromNaviCtrl.Command) |
{ |
case SPI_NCCMD_KALMAN: |
FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0]; |
FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1]; |
FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2]; |
FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[3]; |
FromNaviCtrl_Value.GpsZ = FromNaviCtrl.Param.Byte[4]; |
FromNC_Rotate_C = FromNaviCtrl.Param.Byte[5]; |
FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6]; |
break; |
case SPI_NCCMD_VERSION: |
NC_Version.Major = FromNaviCtrl.Param.Byte[0]; |
NC_Version.Minor = FromNaviCtrl.Param.Byte[1]; |
NC_Version.Patch = FromNaviCtrl.Param.Byte[2]; |
NC_Version.Compatible = FromNaviCtrl.Param.Byte[3]; |
NC_Version.Hardware = FromNaviCtrl.Param.Byte[4]; |
DebugOut.Status[0] |= FromNaviCtrl.Param.Byte[5]; |
NC_ErrorCode = FromNaviCtrl.Param.Byte[6]; |
DebugOut.Status[1] = (DebugOut.Status[1] & (0x01|0x02)) | (FromNaviCtrl.Param.Byte[6] & (0x04 | 0x08)); |
break; |
case SPI_NCCMD_GPSINFO: |
GPSInfo.Flags = FromNaviCtrl.Param.Byte[0]; |
GPSInfo.NumOfSats = FromNaviCtrl.Param.Byte[1]; |
GPSInfo.SatFix = FromNaviCtrl.Param.Byte[2]; |
GPSInfo.Speed = FromNaviCtrl.Param.Byte[3]; |
GPSInfo.HomeDistance = FromNaviCtrl.Param.Int[2]; |
GPSInfo.HomeBearing = FromNaviCtrl.Param.sInt[3]; |
break; |
default: |
break; |
} |
} |
else |
{ |
// KompassValue = 0; |
// KompassRichtung = 0; |
GPS_Nick = 0; |
GPS_Roll = 0; |
} |
} |
#endif |
/branches/V0.80d-Arthur-P/spi.d |
---|
0,0 → 1,3 |
spi.o spi.d : spi.c main.h old_macros.h printf_P.h timer0.h uart.h analog.h \ |
twimaster.h menu.h rc.h fc.h gps.h spi.h led.h spektrum.h capacity.h \ |
eeprom.h libfc.h debug.h |
/branches/V0.80d-Arthur-P/spi.h |
---|
0,0 → 1,183 |
// ######################## SPI - FlightCtrl ################### |
#ifndef _SPI_H |
#define _SPI_H |
#include <util/delay.h> |
#define USE_SPI_COMMUNICATION |
//----------------------------------------- |
#define DDR_SPI DDRB |
#define SLAVE_SELECT_DDR_PORT DDRC |
#define SLAVE_SELECT_PORT PORTC |
#if defined(__AVR_ATmega1284P__) |
#define DD_SS PORTB4 |
#define DD_SCK PORTB7 |
#define DD_MOSI PORTB5 |
#define DD_MISO PORTB6 |
#define SPI_SLAVE_SELECT PORTC5 |
#else |
#define DD_SS PB4 |
#define DD_SCK PB7 |
#define DD_MOSI PB5 |
#define DD_MISO PB6 |
#define SPI_SLAVE_SELECT PC5 |
#endif |
// for compatibility reasons gcc3.x <-> gcc4.x |
#ifndef SPCR |
#define SPCR SPCR0 |
#endif |
#ifndef SPE |
#define SPE SPE0 |
#endif |
#ifndef MSTR |
#define MSTR MSTR0 |
#endif |
#ifndef SPR1 |
#define SPR1 SPR01 |
#endif |
#ifndef SPR0 |
#define SPR0 SPR00 |
#endif |
#ifndef SPIE |
#define SPIE SPIE0 |
#endif |
#ifndef SPDR |
#define SPDR SPDR0 |
#endif |
#ifndef SPIF |
#define SPIF SPIF0 |
#endif |
#ifndef SPSR |
#define SPSR SPSR0 |
#endif |
// ------------------------- |
#define SPI_FCCMD_USER 10 |
#define SPI_FCCMD_STICK 11 |
#define SPI_FCCMD_MISC 12 |
#define SPI_FCCMD_PARAMETER1 13 |
#define SPI_FCCMD_VERSION 14 |
#define SPI_FCCMD_SERVOS 15 |
#define SPI_FCCMD_ACCU 16 |
struct str_ToNaviCtrl |
{ |
unsigned char Sync1, Sync2; |
unsigned char Command; |
signed int IntegralNick; |
signed int IntegralRoll; |
signed int AccNick; |
signed int AccRoll; |
signed int GyroCompass; |
signed int GyroNick; |
signed int GyroRoll; |
signed int GyroGier; |
union |
{ |
unsigned char Byte[12]; |
char sByte[12]; |
unsigned int Int[6]; |
int sInt[6]; |
unsigned long Long[3]; |
long sLong[3]; |
float Float[3]; |
} Param; |
unsigned char Chksum; |
}; |
#define SPI_NCCMD_KALMAN 103 |
#define SPI_NCCMD_VERSION 104 |
#define SPI_NCCMD_GPSINFO 105 |
struct str_FromNaviCtrl |
{ |
unsigned char Command; |
signed int GPS_Nick; |
signed int GPS_Roll; |
signed int GPS_Gier; |
signed int CompassValue; |
signed int Status; |
unsigned int BeepTime; |
union |
{ |
unsigned char Byte[12]; |
char sByte[12]; |
unsigned int Int[6]; |
int sInt[6]; |
unsigned long Long[3]; |
long sLong[3]; |
float Float[3]; |
} Param; |
unsigned char Chksum; |
}; |
struct str_FromNaviCtrl_Value |
{ |
signed char Kalman_K; |
signed char Kalman_MaxDrift; |
signed char Kalman_MaxFusion; |
unsigned char SerialDataOkay; |
signed char GpsZ; |
}; |
struct str_SPI_VersionInfo |
{ |
unsigned char Major; |
unsigned char Minor; |
unsigned char Patch; |
unsigned char Compatible; |
unsigned char Hardware; |
}; |
// Satfix types for GPSData.SatFix |
#define SATFIX_NONE 0x00 |
#define SATFIX_DEADRECKOING 0x01 |
#define SATFIX_2D 0x02 |
#define SATFIX_3D 0x03 |
#define SATFIX_GPS_DEADRECKOING 0x04 |
#define SATFIX_TIMEONLY 0x05 |
// Flags for interpretation of the GPSData.Flags |
#define FLAG_GPSFIXOK 0x01 // (i.e. within DOP & ACC Masks) |
#define FLAG_DIFFSOLN 0x02 // (is DGPS used) |
#define FLAG_WKNSET 0x04 // (is Week Number valid) |
#define FLAG_TOWSET 0x08 // (is Time of Week valid) |
struct str_GPSInfo |
{ |
unsigned char Flags; // Status Flags |
unsigned char NumOfSats; // number of satelites |
unsigned char SatFix; // type of satfix |
unsigned char Speed; // m/sek |
unsigned int HomeDistance; // distance to Home in dm |
int HomeBearing; // bearing to home in deg |
}; |
#ifdef USE_SPI_COMMUNICATION |
extern struct str_GPSInfo GPSInfo; |
extern struct str_SPI_VersionInfo NC_Version; |
extern struct str_FromNaviCtrl_Value FromNaviCtrl_Value; |
extern struct str_ToNaviCtrl ToNaviCtrl; |
extern struct str_FromNaviCtrl FromNaviCtrl; |
extern unsigned char SPI_CommandCounter,NaviDataOkay; |
extern signed char FromNC_Rotate_C, FromNC_Rotate_S; |
extern unsigned char NC_ErrorCode; |
extern void SPI_MasterInit(void); |
extern void SPI_StartTransmitPacket(void); |
extern void UpdateSPI_Buffer(void); |
extern void SPI_TransmitByte(void); |
#else |
// -------------------------------- Dummy ----------------------------------------- |
#define SPI_MasterInit() ; |
#define SPI_StartTransmitPacket() ; |
#define UpdateSPI_Buffer() ; |
#define SPI_TransmitByte() ; |
#endif |
#endif |
/branches/V0.80d-Arthur-P/spi.lst |
---|
0,0 → 1,983 |
1 .file "spi.c" |
2 .arch atmega644p |
3 __SREG__ = 0x3f |
4 __SP_H__ = 0x3e |
5 __SP_L__ = 0x3d |
6 __tmp_reg__ = 0 |
7 __zero_reg__ = 1 |
8 .global __do_copy_data |
9 .global __do_clear_bss |
10 .global NC_ErrorCode |
11 .global NC_ErrorCode |
12 .section .bss |
15 NC_ErrorCode: |
16 0000 00 .skip 1,0 |
17 .global SPI_CommandCounter |
18 .global SPI_CommandCounter |
21 SPI_CommandCounter: |
22 0001 00 .skip 1,0 |
23 .global SPI_CommandSequence |
24 .data |
27 SPI_CommandSequence: |
28 0000 0B .byte 11 |
29 0001 0A .byte 10 |
30 0002 0D .byte 13 |
31 0003 0B .byte 11 |
32 0004 0C .byte 12 |
33 0005 0E .byte 14 |
34 0006 0B .byte 11 |
35 0007 0F .byte 15 |
36 0008 10 .byte 16 |
37 .global NaviDataOkay |
40 NaviDataOkay: |
41 0009 FA .byte -6 |
42 .global FromNC_Rotate_S |
43 .global FromNC_Rotate_S |
44 .section .bss |
47 FromNC_Rotate_S: |
48 0002 00 .skip 1,0 |
49 .global FromNC_Rotate_C |
50 .data |
53 FromNC_Rotate_C: |
54 000a 20 .byte 32 |
55 .text |
56 .global SPI_MasterInit |
58 SPI_MasterInit: |
59 /* prologue: frame size=0 */ |
60 /* prologue end (size=0) */ |
61 0000 84B1 in r24,36-0x20 |
62 0002 806A ori r24,lo8(-96) |
63 0004 84B9 out 36-0x20,r24 |
64 0006 3D9A sbi 39-0x20,5 |
65 0008 82E5 ldi r24,lo8(82) |
66 000a 8CBD out 76-0x20,r24 |
67 000c 1DBC out 77-0x20,__zero_reg__ |
68 000e 459A sbi 40-0x20,5 |
69 0010 81E0 ldi r24,lo8(1) |
70 0012 8093 0000 sts SPITransferCompleted,r24 |
71 0016 8AEA ldi r24,lo8(-86) |
72 0018 8093 0000 sts ToNaviCtrl,r24 |
73 001c 83E8 ldi r24,lo8(-125) |
74 001e 8093 0000 sts ToNaviCtrl+1,r24 |
75 0022 8AE0 ldi r24,lo8(10) |
76 0024 8093 0000 sts ToNaviCtrl+2,r24 |
77 0028 1092 0000 sts (ToNaviCtrl+3)+1,__zero_reg__ |
78 002c 1092 0000 sts ToNaviCtrl+3,__zero_reg__ |
79 0030 1092 0000 sts (ToNaviCtrl+5)+1,__zero_reg__ |
80 0034 1092 0000 sts ToNaviCtrl+5,__zero_reg__ |
81 0038 1092 0000 sts FromNaviCtrl_Value+3,__zero_reg__ |
82 003c 1092 0000 sts SPI_RxDataValid,__zero_reg__ |
83 /* epilogue: frame size=0 */ |
84 0040 0895 ret |
85 /* epilogue end (size=1) */ |
86 /* function SPI_MasterInit size 33 (32) */ |
88 .lcomm SPI_RXState.0,1 |
89 .lcomm rxchksum.1,1 |
90 .global SPI_TransmitByte |
92 SPI_TransmitByte: |
93 /* prologue: frame size=0 */ |
94 /* prologue end (size=0) */ |
95 0042 3091 0000 lds r19,SPITransferCompleted |
96 0046 3323 tst r19 |
97 0048 09F0 breq .+2 |
98 004a 85C0 rjmp .L2 |
99 004c 0DB4 in __tmp_reg__,77-0x20 |
100 004e 07FE sbrs __tmp_reg__,7 |
101 0050 82C0 rjmp .L2 |
102 0052 84E0 ldi r24,lo8(4) |
103 0054 8093 0000 sts SendSPI,r24 |
104 0058 459A sbi 40-0x20,5 |
105 005a 2EB5 in r18,78-0x20 |
106 005c 8091 0000 lds r24,SPI_RXState.0 |
107 0060 9927 clr r25 |
108 0062 8130 cpi r24,1 |
109 0064 9105 cpc r25,__zero_reg__ |
110 0066 89F0 breq .L8 |
111 0068 8230 cpi r24,2 |
112 006a 9105 cpc r25,__zero_reg__ |
113 006c 1CF4 brge .L16 |
114 006e 892B or r24,r25 |
115 0070 21F0 breq .L6 |
116 0072 3EC0 rjmp .L5 |
117 .L16: |
118 0074 0297 sbiw r24,2 |
119 0076 B9F0 breq .L11 |
120 0078 3BC0 rjmp .L5 |
121 .L6: |
122 007a 3093 0000 sts SPI_RxBufferIndex,r19 |
123 007e 2093 0000 sts rxchksum.1,r18 |
124 0082 2138 cpi r18,lo8(-127) |
125 0084 A9F5 brne .L5 |
126 0086 81E0 ldi r24,lo8(1) |
127 0088 08C0 rjmp .L19 |
128 .L8: |
129 008a 2535 cpi r18,lo8(85) |
130 008c 49F4 brne .L9 |
131 008e 8091 0000 lds r24,rxchksum.1 |
132 0092 820F add r24,r18 |
133 0094 8093 0000 sts rxchksum.1,r24 |
134 0098 82E0 ldi r24,lo8(2) |
135 .L19: |
136 009a 8093 0000 sts SPI_RXState.0,r24 |
137 009e 28C0 rjmp .L5 |
138 .L9: |
139 00a0 3093 0000 sts SPI_RXState.0,r19 |
140 00a4 25C0 rjmp .L5 |
141 .L11: |
142 00a6 8091 0000 lds r24,SPI_RxBufferIndex |
143 00aa E82F mov r30,r24 |
144 00ac FF27 clr r31 |
145 00ae E050 subi r30,lo8(-(SPI_Buffer)) |
146 00b0 F040 sbci r31,hi8(-(SPI_Buffer)) |
147 00b2 2083 st Z,r18 |
148 00b4 8F5F subi r24,lo8(-(1)) |
149 00b6 8093 0000 sts SPI_RxBufferIndex,r24 |
150 00ba 9091 0000 lds r25,rxchksum.1 |
151 00be 8A31 cpi r24,lo8(26) |
152 00c0 A0F0 brlo .L12 |
153 00c2 2917 cp r18,r25 |
154 00c4 69F4 brne .L13 |
155 00c6 8AE1 ldi r24,lo8(26) |
156 00c8 A0E0 ldi r26,lo8(SPI_Buffer) |
157 00ca B0E0 ldi r27,hi8(SPI_Buffer) |
158 00cc E0E0 ldi r30,lo8(FromNaviCtrl) |
159 00ce F0E0 ldi r31,hi8(FromNaviCtrl) |
160 00d0 0D90 ld __tmp_reg__,X+ |
161 00d2 0192 st Z+,__tmp_reg__ |
162 00d4 8A95 dec r24 |
163 00d6 E1F7 brne .-8 |
164 00d8 81E0 ldi r24,lo8(1) |
165 00da 8093 0000 sts SPI_RxDataValid,r24 |
166 00de 02C0 rjmp .L14 |
167 .L13: |
168 00e0 3093 0000 sts SPI_RxDataValid,r19 |
169 .L14: |
170 00e4 1092 0000 sts SPI_RXState.0,__zero_reg__ |
171 00e8 03C0 rjmp .L5 |
172 .L12: |
173 00ea 920F add r25,r18 |
174 00ec 9093 0000 sts rxchksum.1,r25 |
175 .L5: |
176 00f0 2091 0000 lds r18,SPI_BufferIndex |
177 00f4 2032 cpi r18,lo8(32) |
178 00f6 08F0 brlo .+2 |
179 00f8 28C0 rjmp .L17 |
180 00fa 4598 cbi 40-0x20,5 |
181 /* #APP */ |
182 00fc 0000 nop |
183 00fe 0000 nop |
184 0100 0000 nop |
185 0102 0000 nop |
186 0104 0000 nop |
187 0106 0000 nop |
188 0108 0000 nop |
189 010a 0000 nop |
190 010c 0000 nop |
191 010e 0000 nop |
192 0110 0000 nop |
193 0112 0000 nop |
194 0114 0000 nop |
195 0116 0000 nop |
196 0118 0000 nop |
197 011a 0000 nop |
198 011c 0000 nop |
199 011e 0000 nop |
200 0120 0000 nop |
201 0122 0000 nop |
202 0124 0000 nop |
203 0126 0000 nop |
204 0128 0000 nop |
205 012a 0000 nop |
206 /* #NOAPP */ |
207 012c E091 0000 lds r30,SPI_TX_Buffer |
208 0130 F091 0000 lds r31,(SPI_TX_Buffer)+1 |
209 0134 E20F add r30,r18 |
210 0136 F11D adc r31,__zero_reg__ |
211 0138 8081 ld r24,Z |
212 013a 8EBD out 78-0x20,r24 |
213 013c 8091 0000 lds r24,ToNaviCtrl+31 |
214 0140 9081 ld r25,Z |
215 0142 890F add r24,r25 |
216 0144 8093 0000 sts ToNaviCtrl+31,r24 |
217 0148 03C0 rjmp .L18 |
218 .L17: |
219 014a 81E0 ldi r24,lo8(1) |
220 014c 8093 0000 sts SPITransferCompleted,r24 |
221 .L18: |
222 0150 2F5F subi r18,lo8(-(1)) |
223 0152 2093 0000 sts SPI_BufferIndex,r18 |
224 .L2: |
225 0156 0895 ret |
226 /* epilogue: frame size=0 */ |
227 /* epilogue: noreturn */ |
228 /* epilogue end (size=0) */ |
229 /* function SPI_TransmitByte size 164 (164) */ |
231 .global UpdateSPI_Buffer |
233 UpdateSPI_Buffer: |
234 /* prologue: frame size=0 */ |
235 0158 EF92 push r14 |
236 015a FF92 push r15 |
237 015c 0F93 push r16 |
238 015e 1F93 push r17 |
239 /* prologue end (size=4) */ |
240 0160 8091 0000 lds r24,EE_Parameter+28 |
241 0164 9927 clr r25 |
242 0166 880F lsl r24 |
243 0168 991F rol r25 |
244 016a 880F lsl r24 |
245 016c 991F rol r25 |
246 016e 7C01 movw r14,r24 |
247 0170 0027 clr r16 |
248 0172 F7FC sbrc r15,7 |
249 0174 0095 com r16 |
250 0176 102F mov r17,r16 |
251 0178 8091 0000 lds r24,IntegralNick |
252 017c 9091 0000 lds r25,(IntegralNick)+1 |
253 0180 A091 0000 lds r26,(IntegralNick)+2 |
254 0184 B091 0000 lds r27,(IntegralNick)+3 |
255 0188 BC01 movw r22,r24 |
256 018a CD01 movw r24,r26 |
257 018c A801 movw r20,r16 |
258 018e 9701 movw r18,r14 |
259 0190 0E94 0000 call __divmodsi4 |
260 0194 3093 0000 sts (ToNaviCtrl+3)+1,r19 |
261 0198 2093 0000 sts ToNaviCtrl+3,r18 |
262 019c 8091 0000 lds r24,IntegralRoll |
263 01a0 9091 0000 lds r25,(IntegralRoll)+1 |
264 01a4 A091 0000 lds r26,(IntegralRoll)+2 |
265 01a8 B091 0000 lds r27,(IntegralRoll)+3 |
266 01ac BC01 movw r22,r24 |
267 01ae CD01 movw r24,r26 |
268 01b0 A801 movw r20,r16 |
269 01b2 9701 movw r18,r14 |
270 01b4 0E94 0000 call __divmodsi4 |
271 01b8 3093 0000 sts (ToNaviCtrl+5)+1,r19 |
272 01bc 2093 0000 sts ToNaviCtrl+5,r18 |
273 01c0 2091 0000 lds r18,ErsatzKompass |
274 01c4 3091 0000 lds r19,(ErsatzKompass)+1 |
275 01c8 4091 0000 lds r20,(ErsatzKompass)+2 |
276 01cc 5091 0000 lds r21,(ErsatzKompass)+3 |
277 01d0 DA01 movw r26,r20 |
278 01d2 C901 movw r24,r18 |
279 01d4 E3E0 ldi r30,3 |
280 01d6 880F 1: lsl r24 |
281 01d8 991F rol r25 |
282 01da AA1F rol r26 |
283 01dc BB1F rol r27 |
284 01de EA95 dec r30 |
285 01e0 D1F7 brne 1b |
286 01e2 820F add r24,r18 |
287 01e4 931F adc r25,r19 |
288 01e6 A41F adc r26,r20 |
289 01e8 B51F adc r27,r21 |
290 01ea 820F add r24,r18 |
291 01ec 931F adc r25,r19 |
292 01ee A41F adc r26,r20 |
293 01f0 B51F adc r27,r21 |
294 01f2 2091 0000 lds r18,GIER_GRAD_FAKTOR |
295 01f6 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1 |
296 01fa 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2 |
297 01fe 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3 |
298 0202 BC01 movw r22,r24 |
299 0204 CD01 movw r24,r26 |
300 0206 0E94 0000 call __divmodsi4 |
301 020a 3093 0000 sts (ToNaviCtrl+11)+1,r19 |
302 020e 2093 0000 sts ToNaviCtrl+11,r18 |
303 0212 8091 0000 lds r24,AdNeutralGier |
304 0216 9091 0000 lds r25,(AdNeutralGier)+1 |
305 021a 2091 0000 lds r18,AdWertGier |
306 021e 3091 0000 lds r19,(AdWertGier)+1 |
307 0222 821B sub r24,r18 |
308 0224 930B sbc r25,r19 |
309 0226 9093 0000 sts (ToNaviCtrl+17)+1,r25 |
310 022a 8093 0000 sts ToNaviCtrl+17,r24 |
311 022e E091 0000 lds r30,NaviCntAcc |
312 0232 F091 0000 lds r31,(NaviCntAcc)+1 |
313 0236 8091 0000 lds r24,NaviAccNick |
314 023a 9091 0000 lds r25,(NaviAccNick)+1 |
315 023e BF01 movw r22,r30 |
316 0240 0E94 0000 call __divmodhi4 |
317 0244 CB01 movw r24,r22 |
318 0246 9B01 movw r18,r22 |
319 0248 220F lsl r18 |
320 024a 331F rol r19 |
321 024c 220F lsl r18 |
322 024e 331F rol r19 |
323 0250 280F add r18,r24 |
324 0252 391F adc r19,r25 |
325 0254 280F add r18,r24 |
326 0256 391F adc r19,r25 |
327 0258 37FF sbrs r19,7 |
328 025a 02C0 rjmp .L21 |
329 025c 2D5F subi r18,lo8(-(3)) |
330 025e 3F4F sbci r19,hi8(-(3)) |
331 .L21: |
332 0260 3595 asr r19 |
333 0262 2795 ror r18 |
334 0264 3595 asr r19 |
335 0266 2795 ror r18 |
336 0268 3093 0000 sts (ToNaviCtrl+7)+1,r19 |
337 026c 2093 0000 sts ToNaviCtrl+7,r18 |
338 0270 8091 0000 lds r24,NaviAccRoll |
339 0274 9091 0000 lds r25,(NaviAccRoll)+1 |
340 0278 BF01 movw r22,r30 |
341 027a 0E94 0000 call __divmodhi4 |
342 027e 9B01 movw r18,r22 |
343 0280 220F lsl r18 |
344 0282 331F rol r19 |
345 0284 220F lsl r18 |
346 0286 331F rol r19 |
347 0288 260F add r18,r22 |
348 028a 371F adc r19,r23 |
349 028c 260F add r18,r22 |
350 028e 371F adc r19,r23 |
351 0290 37FF sbrs r19,7 |
352 0292 02C0 rjmp .L22 |
353 0294 2D5F subi r18,lo8(-(3)) |
354 0296 3F4F sbci r19,hi8(-(3)) |
355 .L22: |
356 0298 3595 asr r19 |
357 029a 2795 ror r18 |
358 029c 3595 asr r19 |
359 029e 2795 ror r18 |
360 02a0 3093 0000 sts (ToNaviCtrl+9)+1,r19 |
361 02a4 2093 0000 sts ToNaviCtrl+9,r18 |
362 02a8 1092 0000 sts (NaviCntAcc)+1,__zero_reg__ |
363 02ac 1092 0000 sts NaviCntAcc,__zero_reg__ |
364 02b0 1092 0000 sts (NaviAccNick)+1,__zero_reg__ |
365 02b4 1092 0000 sts NaviAccNick,__zero_reg__ |
366 02b8 1092 0000 sts (NaviAccRoll)+1,__zero_reg__ |
367 02bc 1092 0000 sts NaviAccRoll,__zero_reg__ |
368 02c0 8091 0000 lds r24,ToNaviCtrl+2 |
369 02c4 9927 clr r25 |
370 02c6 8D30 cpi r24,13 |
371 02c8 9105 cpc r25,__zero_reg__ |
372 02ca 09F4 brne .+2 |
373 02cc 66C0 rjmp .L26 |
374 02ce 8E30 cpi r24,14 |
375 02d0 9105 cpc r25,__zero_reg__ |
376 02d2 5CF4 brge .L46 |
377 02d4 8B30 cpi r24,11 |
378 02d6 9105 cpc r25,__zero_reg__ |
379 02d8 09F4 brne .+2 |
380 02da 8EC0 rjmp .L27 |
381 02dc 8C30 cpi r24,12 |
382 02de 9105 cpc r25,__zero_reg__ |
383 02e0 0CF0 brlt .+2 |
384 02e2 0FC1 rjmp .L40 |
385 02e4 0A97 sbiw r24,10 |
386 02e6 61F0 breq .L24 |
387 02e8 A8C1 rjmp .L23 |
388 .L46: |
389 02ea 8F30 cpi r24,15 |
390 02ec 9105 cpc r25,__zero_reg__ |
391 02ee 09F4 brne .+2 |
392 02f0 7CC1 rjmp .L45 |
393 02f2 8F30 cpi r24,15 |
394 02f4 9105 cpc r25,__zero_reg__ |
395 02f6 0CF4 brge .+2 |
396 02f8 5CC1 rjmp .L44 |
397 02fa 4097 sbiw r24,16 |
398 02fc 99F1 breq .L25 |
399 02fe 9DC1 rjmp .L23 |
400 .L24: |
401 0300 8091 0000 lds r24,Parameter_UserParam1 |
402 0304 8093 0000 sts ToNaviCtrl+19,r24 |
403 0308 8091 0000 lds r24,Parameter_UserParam2 |
404 030c 8093 0000 sts ToNaviCtrl+20,r24 |
405 0310 8091 0000 lds r24,Parameter_UserParam3 |
406 0314 8093 0000 sts ToNaviCtrl+21,r24 |
407 0318 8091 0000 lds r24,Parameter_UserParam4 |
408 031c 8093 0000 sts ToNaviCtrl+22,r24 |
409 0320 8091 0000 lds r24,Parameter_UserParam5 |
410 0324 8093 0000 sts ToNaviCtrl+23,r24 |
411 0328 8091 0000 lds r24,Parameter_UserParam6 |
412 032c 8093 0000 sts ToNaviCtrl+24,r24 |
413 0330 8091 0000 lds r24,Parameter_UserParam7 |
414 0334 8093 0000 sts ToNaviCtrl+25,r24 |
415 0338 8091 0000 lds r24,Parameter_UserParam8 |
416 033c 8093 0000 sts ToNaviCtrl+26,r24 |
417 0340 8091 0000 lds r24,FCFlags |
418 0344 8093 0000 sts ToNaviCtrl+27,r24 |
419 0348 8091 0000 lds r24,FCFlags |
420 034c 837F andi r24,lo8(-13) |
421 034e 8093 0000 sts FCFlags,r24 |
422 0352 0E94 0000 call GetActiveParamSet |
423 0356 8093 0000 sts ToNaviCtrl+28,r24 |
424 035a 8091 0000 lds r24,ControlHeading |
425 035e 8093 0000 sts ToNaviCtrl+29,r24 |
426 0362 6BC1 rjmp .L23 |
427 .L25: |
428 0364 8091 0000 lds r24,Capacity |
429 0368 9091 0000 lds r25,(Capacity)+1 |
430 036c 9093 0000 sts (ToNaviCtrl+19)+1,r25 |
431 0370 8093 0000 sts ToNaviCtrl+19,r24 |
432 0374 8091 0000 lds r24,Capacity+4 |
433 0378 9091 0000 lds r25,(Capacity+4)+1 |
434 037c 9093 0000 sts (ToNaviCtrl+21)+1,r25 |
435 0380 8093 0000 sts ToNaviCtrl+21,r24 |
436 0384 8091 0000 lds r24,UBat |
437 0388 9091 0000 lds r25,(UBat)+1 |
438 038c 8093 0000 sts ToNaviCtrl+23,r24 |
439 0390 8091 0000 lds r24,BattLowVoltageWarning |
440 0394 8093 0000 sts ToNaviCtrl+24,r24 |
441 0398 50C1 rjmp .L23 |
442 .L26: |
443 039a 8091 0000 lds r24,EE_Parameter+78 |
444 039e 8093 0000 sts ToNaviCtrl+19,r24 |
445 03a2 8091 0000 lds r24,EE_Parameter+79 |
446 03a6 8093 0000 sts ToNaviCtrl+20,r24 |
447 03aa 8091 0000 lds r24,EE_Parameter+80 |
448 03ae 8093 0000 sts ToNaviCtrl+21,r24 |
449 03b2 8091 0000 lds r24,EE_Parameter+81 |
450 03b6 8093 0000 sts ToNaviCtrl+22,r24 |
451 03ba 8091 0000 lds r24,EE_Parameter+82 |
452 03be 8093 0000 sts ToNaviCtrl+23,r24 |
453 03c2 8091 0000 lds r24,EE_Parameter+86 |
454 03c6 8093 0000 sts ToNaviCtrl+24,r24 |
455 03ca 8091 0000 lds r24,EE_Parameter+87 |
456 03ce 8093 0000 sts ToNaviCtrl+25,r24 |
457 03d2 8091 0000 lds r24,EE_Parameter+88 |
458 03d6 8093 0000 sts ToNaviCtrl+26,r24 |
459 03da 8091 0000 lds r24,EE_Parameter+91 |
460 03de 8093 0000 sts ToNaviCtrl+27,r24 |
461 03e2 8091 0000 lds r24,EE_Parameter+89 |
462 03e6 8093 0000 sts ToNaviCtrl+28,r24 |
463 03ea 8091 0000 lds r24,EE_Parameter+90 |
464 03ee 8093 0000 sts ToNaviCtrl+29,r24 |
465 03f2 8091 0000 lds r24,EE_Parameter+92 |
466 03f6 DAC0 rjmp .L58 |
467 .L27: |
468 /* #APP */ |
469 03f8 F894 cli |
470 /* #NOAPP */ |
471 03fa 8091 0000 lds r24,EE_Parameter+3 |
472 03fe E82F mov r30,r24 |
473 0400 FF27 clr r31 |
474 0402 EE0F add r30,r30 |
475 0404 FF1F adc r31,r31 |
476 0406 E050 subi r30,lo8(-(PPM_in)) |
477 0408 F040 sbci r31,hi8(-(PPM_in)) |
478 040a 0190 ld __tmp_reg__,Z+ |
479 040c F081 ld r31,Z |
480 040e E02D mov r30,__tmp_reg__ |
481 0410 E038 cpi r30,128 |
482 0412 F105 cpc r31,__zero_reg__ |
483 0414 1CF0 brlt .L28 |
484 0416 EFE7 ldi r30,lo8(127) |
485 0418 F0E0 ldi r31,hi8(127) |
486 041a 06C0 rjmp .L29 |
487 .L28: |
488 041c 2FEF ldi r18,hi8(-127) |
489 041e E138 cpi r30,lo8(-127) |
490 0420 F207 cpc r31,r18 |
491 0422 14F4 brge .L29 |
492 0424 E1E8 ldi r30,lo8(-127) |
493 0426 FFEF ldi r31,hi8(-127) |
494 .L29: |
495 0428 E093 0000 sts ToNaviCtrl+19,r30 |
496 042c 8091 0000 lds r24,EE_Parameter+4 |
497 0430 E82F mov r30,r24 |
498 0432 FF27 clr r31 |
499 0434 EE0F add r30,r30 |
500 0436 FF1F adc r31,r31 |
501 0438 E050 subi r30,lo8(-(PPM_in)) |
502 043a F040 sbci r31,hi8(-(PPM_in)) |
503 043c 0190 ld __tmp_reg__,Z+ |
504 043e F081 ld r31,Z |
505 0440 E02D mov r30,__tmp_reg__ |
506 0442 E038 cpi r30,128 |
507 0444 F105 cpc r31,__zero_reg__ |
508 0446 1CF0 brlt .L31 |
509 0448 EFE7 ldi r30,lo8(127) |
510 044a F0E0 ldi r31,hi8(127) |
511 044c 06C0 rjmp .L32 |
512 .L31: |
513 044e 6FEF ldi r22,hi8(-127) |
514 0450 E138 cpi r30,lo8(-127) |
515 0452 F607 cpc r31,r22 |
516 0454 14F4 brge .L32 |
517 0456 E1E8 ldi r30,lo8(-127) |
518 0458 FFEF ldi r31,hi8(-127) |
519 .L32: |
520 045a E093 0000 sts ToNaviCtrl+20,r30 |
521 045e 8091 0000 lds r24,EE_Parameter+2 |
522 0462 E82F mov r30,r24 |
523 0464 FF27 clr r31 |
524 0466 EE0F add r30,r30 |
525 0468 FF1F adc r31,r31 |
526 046a E050 subi r30,lo8(-(PPM_in)) |
527 046c F040 sbci r31,hi8(-(PPM_in)) |
528 046e 0190 ld __tmp_reg__,Z+ |
529 0470 F081 ld r31,Z |
530 0472 E02D mov r30,__tmp_reg__ |
531 0474 E038 cpi r30,128 |
532 0476 F105 cpc r31,__zero_reg__ |
533 0478 1CF0 brlt .L34 |
534 047a EFE7 ldi r30,lo8(127) |
535 047c F0E0 ldi r31,hi8(127) |
536 047e 06C0 rjmp .L35 |
537 .L34: |
538 0480 8FEF ldi r24,hi8(-127) |
539 0482 E138 cpi r30,lo8(-127) |
540 0484 F807 cpc r31,r24 |
541 0486 14F4 brge .L35 |
542 0488 E1E8 ldi r30,lo8(-127) |
543 048a FFEF ldi r31,hi8(-127) |
544 .L35: |
545 048c E093 0000 sts ToNaviCtrl+21,r30 |
546 0490 8091 0000 lds r24,EE_Parameter+1 |
547 0494 E82F mov r30,r24 |
548 0496 FF27 clr r31 |
549 0498 EE0F add r30,r30 |
550 049a FF1F adc r31,r31 |
551 049c E050 subi r30,lo8(-(PPM_in)) |
552 049e F040 sbci r31,hi8(-(PPM_in)) |
553 04a0 0190 ld __tmp_reg__,Z+ |
554 04a2 F081 ld r31,Z |
555 04a4 E02D mov r30,__tmp_reg__ |
556 04a6 E038 cpi r30,128 |
557 04a8 F105 cpc r31,__zero_reg__ |
558 04aa 1CF0 brlt .L37 |
559 04ac EFE7 ldi r30,lo8(127) |
560 04ae F0E0 ldi r31,hi8(127) |
561 04b0 06C0 rjmp .L38 |
562 .L37: |
563 04b2 2FEF ldi r18,hi8(-127) |
564 04b4 E138 cpi r30,lo8(-127) |
565 04b6 F207 cpc r31,r18 |
566 04b8 14F4 brge .L38 |
567 04ba E1E8 ldi r30,lo8(-127) |
568 04bc FFEF ldi r31,hi8(-127) |
569 .L38: |
570 /* #APP */ |
571 04be 7894 sei |
572 /* #NOAPP */ |
573 04c0 E093 0000 sts ToNaviCtrl+22,r30 |
574 04c4 8091 0000 lds r24,Poti |
575 04c8 8093 0000 sts ToNaviCtrl+23,r24 |
576 04cc 8091 0000 lds r24,Poti+1 |
577 04d0 8093 0000 sts ToNaviCtrl+24,r24 |
578 04d4 8091 0000 lds r24,Poti+2 |
579 04d8 8093 0000 sts ToNaviCtrl+25,r24 |
580 04dc 8091 0000 lds r24,Poti+3 |
581 04e0 8093 0000 sts ToNaviCtrl+26,r24 |
582 04e4 8091 0000 lds r24,Poti+4 |
583 04e8 8093 0000 sts ToNaviCtrl+27,r24 |
584 04ec 8091 0000 lds r24,Poti+5 |
585 04f0 8093 0000 sts ToNaviCtrl+28,r24 |
586 04f4 8091 0000 lds r24,Poti+6 |
587 04f8 8093 0000 sts ToNaviCtrl+29,r24 |
588 04fc 8091 0000 lds r24,Poti+7 |
589 0500 55C0 rjmp .L58 |
590 .L40: |
591 0502 8091 0000 lds r24,WinkelOut+6 |
592 0506 8630 cpi r24,lo8(6) |
593 0508 18F0 brlo .L41 |
594 050a 1092 0000 sts WinkelOut+6,__zero_reg__ |
595 050e 85E0 ldi r24,lo8(5) |
596 .L41: |
597 0510 8093 0000 sts ToNaviCtrl+19,r24 |
598 0514 8091 0000 lds r24,EE_Parameter+93 |
599 0518 8093 0000 sts ToNaviCtrl+20,r24 |
600 051c 8091 0000 lds r24,HoehenWert |
601 0520 9091 0000 lds r25,(HoehenWert)+1 |
602 0524 A091 0000 lds r26,(HoehenWert)+2 |
603 0528 B091 0000 lds r27,(HoehenWert)+3 |
604 052c BC01 movw r22,r24 |
605 052e CD01 movw r24,r26 |
606 0530 25E0 ldi r18,lo8(5) |
607 0532 30E0 ldi r19,hi8(5) |
608 0534 40E0 ldi r20,hlo8(5) |
609 0536 50E0 ldi r21,hhi8(5) |
610 0538 0E94 0000 call __divmodsi4 |
611 053c 3093 0000 sts (ToNaviCtrl+21)+1,r19 |
612 0540 2093 0000 sts ToNaviCtrl+21,r18 |
613 0544 8091 0000 lds r24,SollHoehe |
614 0548 9091 0000 lds r25,(SollHoehe)+1 |
615 054c A091 0000 lds r26,(SollHoehe)+2 |
616 0550 B091 0000 lds r27,(SollHoehe)+3 |
617 0554 BC01 movw r22,r24 |
618 0556 CD01 movw r24,r26 |
619 0558 25E0 ldi r18,lo8(5) |
620 055a 30E0 ldi r19,hi8(5) |
621 055c 40E0 ldi r20,hlo8(5) |
622 055e 50E0 ldi r21,hhi8(5) |
623 0560 0E94 0000 call __divmodsi4 |
624 0564 3093 0000 sts (ToNaviCtrl+23)+1,r19 |
625 0568 2093 0000 sts ToNaviCtrl+23,r18 |
626 056c 8091 0000 lds r24,EE_Parameter+83 |
627 0570 8093 0000 sts ToNaviCtrl+25,r24 |
628 0574 8091 0000 lds r24,EE_Parameter+84 |
629 0578 8093 0000 sts ToNaviCtrl+26,r24 |
630 057c 8091 0000 lds r24,EE_Parameter+85 |
631 0580 8093 0000 sts ToNaviCtrl+27,r24 |
632 0584 8091 0000 lds r24,SenderOkay |
633 0588 8093 0000 sts ToNaviCtrl+28,r24 |
634 058c 8091 0000 lds r24,PPM_in |
635 0590 9091 0000 lds r25,(PPM_in)+1 |
636 0594 8093 0000 sts ToNaviCtrl+29,r24 |
637 0598 8091 0000 lds r24,DebugOut+16 |
638 059c 9091 0000 lds r25,(DebugOut+16)+1 |
639 05a0 97FD sbrc r25,7 |
640 05a2 0396 adiw r24,3 |
641 .L43: |
642 05a4 9595 asr r25 |
643 05a6 8795 ror r24 |
644 05a8 9595 asr r25 |
645 05aa 8795 ror r24 |
646 .L58: |
647 05ac 8093 0000 sts ToNaviCtrl+30,r24 |
648 05b0 44C0 rjmp .L23 |
649 .L44: |
650 05b2 1092 0000 sts ToNaviCtrl+19,__zero_reg__ |
651 05b6 80E5 ldi r24,lo8(80) |
652 05b8 8093 0000 sts ToNaviCtrl+20,r24 |
653 05bc 83E0 ldi r24,lo8(3) |
654 05be 8093 0000 sts ToNaviCtrl+21,r24 |
655 05c2 8EE0 ldi r24,lo8(14) |
656 05c4 8093 0000 sts ToNaviCtrl+22,r24 |
657 05c8 8091 0000 lds r24,PlatinenVersion |
658 05cc 8093 0000 sts ToNaviCtrl+23,r24 |
659 05d0 8091 0000 lds r24,VersionInfo+5 |
660 05d4 8093 0000 sts ToNaviCtrl+24,r24 |
661 05d8 8091 0000 lds r24,VersionInfo+6 |
662 05dc 8093 0000 sts ToNaviCtrl+25,r24 |
663 05e0 8091 0000 lds r24,VersionInfo+7 |
664 05e4 8093 0000 sts ToNaviCtrl+26,r24 |
665 05e8 28C0 rjmp .L23 |
666 .L45: |
667 05ea 8091 0000 lds r24,EE_Parameter+53 |
668 05ee 8093 0000 sts ToNaviCtrl+19,r24 |
669 05f2 8091 0000 lds r24,EE_Parameter+98 |
670 05f6 8093 0000 sts ToNaviCtrl+20,r24 |
671 05fa 8091 0000 lds r24,Parameter_ServoNickControl |
672 05fe 8093 0000 sts ToNaviCtrl+21,r24 |
673 0602 8091 0000 lds r24,EE_Parameter+46 |
674 0606 8093 0000 sts ToNaviCtrl+22,r24 |
675 060a 8091 0000 lds r24,EE_Parameter+47 |
676 060e 8093 0000 sts ToNaviCtrl+23,r24 |
677 0612 8091 0000 lds r24,EE_Parameter+48 |
678 0616 8093 0000 sts ToNaviCtrl+24,r24 |
679 061a 8091 0000 lds r24,Parameter_ServoRollControl |
680 061e 8093 0000 sts ToNaviCtrl+25,r24 |
681 0622 8091 0000 lds r24,EE_Parameter+50 |
682 0626 8093 0000 sts ToNaviCtrl+26,r24 |
683 062a 8091 0000 lds r24,EE_Parameter+51 |
684 062e 8093 0000 sts ToNaviCtrl+27,r24 |
685 0632 8091 0000 lds r24,EE_Parameter+52 |
686 0636 8093 0000 sts ToNaviCtrl+28,r24 |
687 .L23: |
688 063a 8091 0000 lds r24,SPI_RxDataValid |
689 063e 8823 tst r24 |
690 0640 09F4 brne .+2 |
691 0642 CFC0 rjmp .L47 |
692 0644 8AEF ldi r24,lo8(-6) |
693 0646 8093 0000 sts NaviDataOkay,r24 |
694 064a 4091 0000 lds r20,FromNaviCtrl+1 |
695 064e 5091 0000 lds r21,(FromNaviCtrl+1)+1 |
696 0652 CA01 movw r24,r20 |
697 0654 8150 subi r24,lo8(-(511)) |
698 0656 9E4F sbci r25,hi8(-(511)) |
699 0658 8F5F subi r24,lo8(1023) |
700 065a 9340 sbci r25,hi8(1023) |
701 065c B0F4 brsh .L48 |
702 065e 2091 0000 lds r18,FromNaviCtrl+3 |
703 0662 3091 0000 lds r19,(FromNaviCtrl+3)+1 |
704 0666 C901 movw r24,r18 |
705 0668 8150 subi r24,lo8(-(511)) |
706 066a 9E4F sbci r25,hi8(-(511)) |
707 066c 8F5F subi r24,lo8(1023) |
708 066e 9340 sbci r25,hi8(1023) |
709 0670 60F4 brsh .L48 |
710 0672 8091 0000 lds r24,EE_Parameter+13 |
711 0676 85FF sbrs r24,5 |
712 0678 08C0 rjmp .L48 |
713 067a 5093 0000 sts (GPS_Nick)+1,r21 |
714 067e 4093 0000 sts GPS_Nick,r20 |
715 0682 3093 0000 sts (GPS_Roll)+1,r19 |
716 0686 2093 0000 sts GPS_Roll,r18 |
717 .L48: |
718 068a 8091 0000 lds r24,FromNaviCtrl+7 |
719 068e 9091 0000 lds r25,(FromNaviCtrl+7)+1 |
720 0692 21E0 ldi r18,hi8(361) |
721 0694 8936 cpi r24,lo8(361) |
722 0696 9207 cpc r25,r18 |
723 0698 24F4 brge .L49 |
724 069a 9093 0000 sts (KompassValue)+1,r25 |
725 069e 8093 0000 sts KompassValue,r24 |
726 .L49: |
727 06a2 8091 0000 lds r24,KompassValue |
728 06a6 9091 0000 lds r25,(KompassValue)+1 |
729 06aa 2091 0000 lds r18,KompassStartwert |
730 06ae 3091 0000 lds r19,(KompassStartwert)+1 |
731 06b2 821B sub r24,r18 |
732 06b4 930B sbc r25,r19 |
733 06b6 845E subi r24,lo8(-(540)) |
734 06b8 9D4F sbci r25,hi8(-(540)) |
735 06ba 68E6 ldi r22,lo8(360) |
736 06bc 71E0 ldi r23,hi8(360) |
737 06be 0E94 0000 call __divmodhi4 |
738 06c2 845B subi r24,lo8(-(-180)) |
739 06c4 9040 sbci r25,hi8(-(-180)) |
740 06c6 9093 0000 sts (KompassRichtung)+1,r25 |
741 06ca 8093 0000 sts KompassRichtung,r24 |
742 06ce 2091 0000 lds r18,FromNaviCtrl+11 |
743 06d2 3091 0000 lds r19,(FromNaviCtrl+11)+1 |
744 06d6 8091 0000 lds r24,beeptime |
745 06da 9091 0000 lds r25,(beeptime)+1 |
746 06de 8217 cp r24,r18 |
747 06e0 9307 cpc r25,r19 |
748 06e2 40F4 brsh .L50 |
749 06e4 8091 0000 lds r24,WinkelOut+6 |
750 06e8 8823 tst r24 |
751 06ea 21F4 brne .L50 |
752 06ec 3093 0000 sts (beeptime)+1,r19 |
753 06f0 2093 0000 sts beeptime,r18 |
754 .L50: |
755 06f4 8091 0000 lds r24,FromNaviCtrl |
756 06f8 9927 clr r25 |
757 06fa 8836 cpi r24,104 |
758 06fc 9105 cpc r25,__zero_reg__ |
759 06fe 49F1 breq .L53 |
760 0700 8936 cpi r24,105 |
761 0702 9105 cpc r25,__zero_reg__ |
762 0704 24F4 brge .L56 |
763 0706 8736 cpi r24,103 |
764 0708 9105 cpc r25,__zero_reg__ |
765 070a 31F0 breq .L52 |
766 070c 72C0 rjmp .L20 |
767 .L56: |
768 070e 8936 cpi r24,105 |
769 0710 9105 cpc r25,__zero_reg__ |
770 0712 09F4 brne .+2 |
771 0714 45C0 rjmp .L54 |
772 0716 6DC0 rjmp .L20 |
773 .L52: |
774 0718 8091 0000 lds r24,FromNaviCtrl+13 |
775 071c 8093 0000 sts FromNaviCtrl_Value,r24 |
776 0720 8091 0000 lds r24,FromNaviCtrl+14 |
777 0724 8093 0000 sts FromNaviCtrl_Value+2,r24 |
778 0728 8091 0000 lds r24,FromNaviCtrl+15 |
779 072c 8093 0000 sts FromNaviCtrl_Value+1,r24 |
780 0730 8091 0000 lds r24,FromNaviCtrl+16 |
781 0734 8093 0000 sts FromNaviCtrl_Value+3,r24 |
782 0738 8091 0000 lds r24,FromNaviCtrl+17 |
783 073c 8093 0000 sts FromNaviCtrl_Value+4,r24 |
784 0740 8091 0000 lds r24,FromNaviCtrl+18 |
785 0744 8093 0000 sts FromNC_Rotate_C,r24 |
786 0748 8091 0000 lds r24,FromNaviCtrl+19 |
787 074c 8093 0000 sts FromNC_Rotate_S,r24 |
788 0750 50C0 rjmp .L20 |
789 .L53: |
790 0752 8091 0000 lds r24,FromNaviCtrl+13 |
791 0756 8093 0000 sts NC_Version,r24 |
792 075a 8091 0000 lds r24,FromNaviCtrl+14 |
793 075e 8093 0000 sts NC_Version+1,r24 |
794 0762 8091 0000 lds r24,FromNaviCtrl+15 |
795 0766 8093 0000 sts NC_Version+2,r24 |
796 076a 8091 0000 lds r24,FromNaviCtrl+16 |
797 076e 8093 0000 sts NC_Version+3,r24 |
798 0772 8091 0000 lds r24,FromNaviCtrl+17 |
799 0776 8093 0000 sts NC_Version+4,r24 |
800 077a 8091 0000 lds r24,DebugOut |
801 077e 9091 0000 lds r25,FromNaviCtrl+18 |
802 0782 892B or r24,r25 |
803 0784 8093 0000 sts DebugOut,r24 |
804 0788 9091 0000 lds r25,FromNaviCtrl+19 |
805 078c 9093 0000 sts NC_ErrorCode,r25 |
806 0790 8091 0000 lds r24,DebugOut+1 |
807 0794 8370 andi r24,lo8(3) |
808 0796 9C70 andi r25,lo8(12) |
809 0798 892B or r24,r25 |
810 079a 8093 0000 sts DebugOut+1,r24 |
811 079e 29C0 rjmp .L20 |
812 .L54: |
813 07a0 8091 0000 lds r24,FromNaviCtrl+13 |
814 07a4 8093 0000 sts GPSInfo,r24 |
815 07a8 8091 0000 lds r24,FromNaviCtrl+14 |
816 07ac 8093 0000 sts GPSInfo+1,r24 |
817 07b0 8091 0000 lds r24,FromNaviCtrl+15 |
818 07b4 8093 0000 sts GPSInfo+2,r24 |
819 07b8 8091 0000 lds r24,FromNaviCtrl+16 |
820 07bc 8093 0000 sts GPSInfo+3,r24 |
821 07c0 8091 0000 lds r24,FromNaviCtrl+17 |
822 07c4 9091 0000 lds r25,(FromNaviCtrl+17)+1 |
823 07c8 9093 0000 sts (GPSInfo+4)+1,r25 |
824 07cc 8093 0000 sts GPSInfo+4,r24 |
825 07d0 8091 0000 lds r24,FromNaviCtrl+19 |
826 07d4 9091 0000 lds r25,(FromNaviCtrl+19)+1 |
827 07d8 9093 0000 sts (GPSInfo+6)+1,r25 |
828 07dc 8093 0000 sts GPSInfo+6,r24 |
829 07e0 08C0 rjmp .L20 |
830 .L47: |
831 07e2 1092 0000 sts (GPS_Nick)+1,__zero_reg__ |
832 07e6 1092 0000 sts GPS_Nick,__zero_reg__ |
833 07ea 1092 0000 sts (GPS_Roll)+1,__zero_reg__ |
834 07ee 1092 0000 sts GPS_Roll,__zero_reg__ |
835 .L20: |
836 /* epilogue: frame size=0 */ |
837 07f2 1F91 pop r17 |
838 07f4 0F91 pop r16 |
839 07f6 FF90 pop r15 |
840 07f8 EF90 pop r14 |
841 07fa 0895 ret |
842 /* epilogue end (size=5) */ |
843 /* function UpdateSPI_Buffer size 857 (848) */ |
845 .global SPI_StartTransmitPacket |
847 SPI_StartTransmitPacket: |
848 /* prologue: frame size=0 */ |
849 /* prologue end (size=0) */ |
850 07fc 8091 0000 lds r24,SPITransferCompleted |
851 0800 8823 tst r24 |
852 0802 09F4 brne .+2 |
853 0804 3BC0 rjmp .L59 |
854 0806 4598 cbi 40-0x20,5 |
855 0808 80E0 ldi r24,lo8(ToNaviCtrl) |
856 080a 90E0 ldi r25,hi8(ToNaviCtrl) |
857 080c 9093 0000 sts (SPI_TX_Buffer)+1,r25 |
858 0810 8093 0000 sts SPI_TX_Buffer,r24 |
859 0814 9091 0000 lds r25,SPI_CommandCounter |
860 0818 E92F mov r30,r25 |
861 081a FF27 clr r31 |
862 081c E050 subi r30,lo8(-(SPI_CommandSequence)) |
863 081e F040 sbci r31,hi8(-(SPI_CommandSequence)) |
864 0820 9F5F subi r25,lo8(-(1)) |
865 0822 9093 0000 sts SPI_CommandCounter,r25 |
866 0826 8081 ld r24,Z |
867 0828 8093 0000 sts ToNaviCtrl+2,r24 |
868 082c 9930 cpi r25,lo8(9) |
869 082e 10F0 brlo .L61 |
870 0830 1092 0000 sts SPI_CommandCounter,__zero_reg__ |
871 .L61: |
872 0834 1092 0000 sts SPITransferCompleted,__zero_reg__ |
873 0838 0E94 0000 call UpdateSPI_Buffer |
874 083c 81E0 ldi r24,lo8(1) |
875 083e 8093 0000 sts SPI_BufferIndex,r24 |
876 /* #APP */ |
877 0842 0000 nop |
878 0844 0000 nop |
879 0846 0000 nop |
880 0848 0000 nop |
881 084a 0000 nop |
882 084c 0000 nop |
883 084e 0000 nop |
884 0850 0000 nop |
885 0852 0000 nop |
886 0854 0000 nop |
887 0856 0000 nop |
888 0858 0000 nop |
889 085a 0000 nop |
890 085c 0000 nop |
891 085e 0000 nop |
892 0860 0000 nop |
893 0862 0000 nop |
894 0864 0000 nop |
895 0866 0000 nop |
896 0868 0000 nop |
897 086a 0000 nop |
898 086c 0000 nop |
899 086e 0000 nop |
900 0870 0000 nop |
901 /* #NOAPP */ |
902 0872 8091 0000 lds r24,ToNaviCtrl |
903 0876 8093 0000 sts ToNaviCtrl+31,r24 |
904 087a 8EBD out 78-0x20,r24 |
905 .L59: |
906 087c 0895 ret |
907 /* epilogue: frame size=0 */ |
908 /* epilogue: noreturn */ |
909 /* epilogue end (size=0) */ |
910 /* function SPI_StartTransmitPacket size 89 (89) */ |
912 .comm GPSInfo,8,1 |
913 .comm NC_Version,5,1 |
914 .comm FromNaviCtrl_Value,5,1 |
915 .comm ToNaviCtrl,32,1 |
916 .comm FromNaviCtrl,26,1 |
917 .comm SPI_BufferIndex,1,1 |
918 .comm SPI_RxBufferIndex,1,1 |
919 .comm SPI_Buffer,26,1 |
920 .comm SPI_TX_Buffer,2,1 |
921 .comm SPITransferCompleted,1,1 |
922 .comm SPI_ChkSum,1,1 |
923 .comm SPI_RxDataValid,1,1 |
924 /* File "spi.c": code 1143 = 0x0477 (1133), prologues 4, epilogues 6 */ |
DEFINED SYMBOLS |
*ABS*:00000000 spi.c |
C:\Users\Arthur-P\AppData\Local\Temp/ccGGbaaa.s:3 *ABS*:0000003f __SREG__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccGGbaaa.s:4 *ABS*:0000003e __SP_H__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccGGbaaa.s:5 *ABS*:0000003d __SP_L__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccGGbaaa.s:6 *ABS*:00000000 __tmp_reg__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccGGbaaa.s:7 *ABS*:00000001 __zero_reg__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccGGbaaa.s:15 .bss:00000000 NC_ErrorCode |
C:\Users\Arthur-P\AppData\Local\Temp/ccGGbaaa.s:21 .bss:00000001 SPI_CommandCounter |
C:\Users\Arthur-P\AppData\Local\Temp/ccGGbaaa.s:27 .data:00000000 SPI_CommandSequence |
C:\Users\Arthur-P\AppData\Local\Temp/ccGGbaaa.s:40 .data:00000009 NaviDataOkay |
C:\Users\Arthur-P\AppData\Local\Temp/ccGGbaaa.s:47 .bss:00000002 FromNC_Rotate_S |
C:\Users\Arthur-P\AppData\Local\Temp/ccGGbaaa.s:53 .data:0000000a FromNC_Rotate_C |
C:\Users\Arthur-P\AppData\Local\Temp/ccGGbaaa.s:58 .text:00000000 SPI_MasterInit |
*COM*:00000001 SPITransferCompleted |
*COM*:00000020 ToNaviCtrl |
*COM*:00000005 FromNaviCtrl_Value |
*COM*:00000001 SPI_RxDataValid |
.bss:00000003 SPI_RXState.0 |
C:\Users\Arthur-P\AppData\Local\Temp/ccGGbaaa.s:88 .bss:00000004 rxchksum.1 |
C:\Users\Arthur-P\AppData\Local\Temp/ccGGbaaa.s:92 .text:00000042 SPI_TransmitByte |
*COM*:00000001 SPI_RxBufferIndex |
*COM*:0000001a SPI_Buffer |
*COM*:0000001a FromNaviCtrl |
*COM*:00000001 SPI_BufferIndex |
*COM*:00000002 SPI_TX_Buffer |
C:\Users\Arthur-P\AppData\Local\Temp/ccGGbaaa.s:233 .text:00000158 UpdateSPI_Buffer |
*COM*:00000005 NC_Version |
*COM*:00000008 GPSInfo |
C:\Users\Arthur-P\AppData\Local\Temp/ccGGbaaa.s:847 .text:000007fc SPI_StartTransmitPacket |
*COM*:00000001 SPI_ChkSum |
UNDEFINED SYMBOLS |
__do_copy_data |
__do_clear_bss |
SendSPI |
EE_Parameter |
IntegralNick |
__divmodsi4 |
IntegralRoll |
ErsatzKompass |
GIER_GRAD_FAKTOR |
AdNeutralGier |
AdWertGier |
NaviCntAcc |
NaviAccNick |
__divmodhi4 |
NaviAccRoll |
Parameter_UserParam1 |
Parameter_UserParam2 |
Parameter_UserParam3 |
Parameter_UserParam4 |
Parameter_UserParam5 |
Parameter_UserParam6 |
Parameter_UserParam7 |
Parameter_UserParam8 |
FCFlags |
GetActiveParamSet |
ControlHeading |
Capacity |
UBat |
BattLowVoltageWarning |
PPM_in |
Poti |
WinkelOut |
HoehenWert |
SollHoehe |
SenderOkay |
DebugOut |
PlatinenVersion |
VersionInfo |
Parameter_ServoNickControl |
Parameter_ServoRollControl |
GPS_Nick |
GPS_Roll |
KompassValue |
KompassStartwert |
KompassRichtung |
beeptime |
/branches/V0.80d-Arthur-P/timer0.c |
---|
0,0 → 1,498 |
// Arthur P. Modified to use several parameters for servo control: |
// User_Parameter4: |
// User_Parameter5: |
// User_Parameter6: |
// User_Parameter7: |
// User_Parameter8: Use external HEF4017 if bit 8 is set (>127). The remaining 7 bits are used |
// for the shutter cycle counter: the value is multiplied by 5 programmatically, |
// resulting in steps of approx. 0.1sec. Minimum value to start using the |
// interval timer is 10 (approx. 1 sec, or countervalue of 50). Note that this |
// was originally done through user para 6. |
#include "main.h" |
volatile unsigned int CountMilliseconds = 0; |
volatile static unsigned int tim_main; |
volatile unsigned char UpdateMotor = 0; |
volatile unsigned int cntKompass = 0; |
volatile unsigned int beeptime = 0; |
volatile unsigned char SendSPI = 0, ServoActive = 0; |
unsigned int BeepMuster = 0xffff; |
volatile int16_t ServoNickValue = 0; |
volatile int16_t ServoRollValue = 0; |
// Arthur P: Added two variables for control of the shutter servo cycle. |
// 091114 Inserted same changes into v.0.76g code. |
// 091114 Inactivated the following two lines as the shutter interval funtion is not |
// used at the moment. |
// 20100804 Reactivated to be able to choose slower shutter rate than normal for |
// Panasonic FX150 in continuous mode. |
volatile static unsigned int CameraShutterCycleCounter = 0; |
volatile static unsigned int CameraShutterCycle = 0; |
volatile static unsigned int CameraShutterCycleOnCount = 20; // Leave the shutter on for at least |
// 20 cycles or approx. 0.2 seconds. |
enum { |
STOP = 0, |
CK = 1, |
CK8 = 2, |
CK64 = 3, |
CK256 = 4, |
CK1024 = 5, |
T0_FALLING_EDGE = 6, |
T0_RISING_EDGE = 7 |
}; |
ISR(TIMER0_OVF_vect) // 9,7kHz |
{ |
static unsigned char cnt_1ms = 1,cnt = 0, compass_active = 0; |
unsigned char pieper_ein = 0; |
if(SendSPI) SendSPI--; |
if(SpektrumTimer) SpektrumTimer--; |
if(!cnt--) |
{ |
cnt = 9; |
CountMilliseconds++; |
cnt_1ms++; |
cnt_1ms %= 2; |
if(!cnt_1ms) UpdateMotor = 1; |
if(!PINC & 0x10) compass_active = 1; |
if(beeptime) |
{ |
if(beeptime > 10) beeptime -= 10; else beeptime = 0; |
if(beeptime & BeepMuster) |
{ |
pieper_ein = 1; |
} |
else pieper_ein = 0; |
} |
else |
{ |
pieper_ein = 0; |
BeepMuster = 0xffff; |
} |
if(pieper_ein) |
{ |
if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2 |
else PORTC |= (1<<7); // Speaker an PORTC.7 |
} |
else |
{ |
if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
else PORTC &= ~(1<<7); |
} |
} |
if(compass_active && !NaviDataOkay && EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
{ |
if(PINC & 0x10) |
{ |
if(++cntKompass > 1000) compass_active = 0; |
} |
else |
{ |
if((cntKompass) && (cntKompass < 362)) |
{ |
cntKompass += cntKompass / 41; |
if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0; |
KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
} |
cntKompass = 0; |
} |
} |
} |
// ----------------------------------------------------------------------- |
unsigned int SetDelay (unsigned int t) |
{ |
// TIMSK0 &= ~_BV(TOIE0); |
return(CountMilliseconds + t + 1); |
// TIMSK0 |= _BV(TOIE0); |
} |
// ----------------------------------------------------------------------- |
char CheckDelay(unsigned int t) |
{ |
// TIMSK0 &= ~_BV(TOIE0); |
return(((t - CountMilliseconds) & 0x8000) >> 9); |
// TIMSK0 |= _BV(TOIE0); |
} |
// ----------------------------------------------------------------------- |
void Delay_ms(unsigned int w) |
{ |
unsigned int akt; |
akt = SetDelay(w); |
while (!CheckDelay(akt)); |
} |
void Delay_ms_Mess(unsigned int w) |
{ |
unsigned int akt; |
akt = SetDelay(w); |
while (!CheckDelay(akt)) if(AdReady) {AdReady = 0; ANALOG_ON;} |
} |
/*****************************************************/ |
/* Initialize Timer 2 */ |
/*****************************************************/ |
// The timer 2 is used to generate the PWM at PD7 (J7) |
// to control a camera servo for nick compensation. |
void TIMER2_Init(void) |
{ |
uint8_t sreg = SREG; |
// Arthur P: Added initialization of the CameraShutterCycle value here as this routine is only |
// called once. This retains all code changes in timer0.c. If parameter8 lower 6 > 0 then the user |
// has set a value for the cycle. CameraShuytterCycle == 5x Para6 to get approx 0.1sec increments. |
// 090807: Arthur P.: Removed the shutter cycle parts as they may be impacting timing loops. |
// 20100804 Arthur P.: Reactivate shutter cycle counters. Modified to use the lower 7 bits of |
// user parameter 7 (bit 8 is used for enabling the external HEF4017). |
// CameraShutterCycle = Parameter_UserParam6; |
CameraShutterCycle = 5 * (Parameter_UserParam8 & 127); |
// disable all interrupts before reconfiguration |
cli(); |
PORTD &= ~(1<<PORTD7); // set PD7 to low |
DDRC |= (1<<DDC6); // set PC6 as output (Reset for HEF4017) |
HEF4017R_ON; |
// Timer/Counter 2 Control Register A |
// Timer Mode is FastPWM with timer reload at OCR2A (Bits: WGM22 = 1, WGM21 = 1, WGM20 = 1) |
// PD7: Normal port operation, OC2A disconnected, (Bits: COM2A1 = 0, COM2A0 = 0) |
// PD6: Normal port operation, OC2B disconnected, (Bits: COM2B1 = 0, COM2B0 = 0) |
TCCR2A &= ~((1<<COM2A1)|(1<<COM2A0)|(1<<COM2B1)|(1<<COM2B0)); |
TCCR2A |= (1<<WGM21)|(1<<WGM20); |
// Timer/Counter 2 Control Register B |
// Set clock divider for timer 2 to SYSKLOCK/32 = 20MHz / 32 = 625 kHz |
// The timer increments from 0x00 to 0xFF with an update rate of 625 kHz or 1.6 us |
// hence the timer overflow interrupt frequency is 625 kHz / 256 = 2.44 kHz or 0.4096 ms |
// divider 32 (Bits: CS022 = 0, CS21 = 1, CS20 = 1) |
TCCR2B &= ~((1<<FOC2A)|(1<<FOC2B)|(1<<CS22)); |
TCCR2B |= (1<<CS21)|(1<<CS20)|(1<<WGM22); |
// Initialize the Timer/Counter 2 Register |
TCNT2 = 0; |
// Initialize the Output Compare Register A used for PWM generation on port PD7. |
OCR2A = 255; |
TCCR2A |= (1<<COM2A1); // set or clear at compare match depends on value of COM2A0 |
// Timer/Counter 2 Interrupt Mask Register |
// Enable timer output compare match A Interrupt only |
TIMSK2 &= ~((1<<OCIE2B)|(1<<TOIE2)); |
TIMSK2 |= (1<<OCIE2A); |
SREG = sreg; |
} |
//---------------------------- |
void Timer_Init(void) |
{ |
tim_main = SetDelay(10); |
TCCR0B = CK8; |
TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
OCR0A = 0; |
OCR0B = 180; |
TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload |
//OCR1 = 0x00; |
TIMSK0 |= _BV(TOIE0); |
} |
/*****************************************************/ |
/* Control Servo Position */ |
/*****************************************************/ |
ISR(TIMER2_COMPA_vect) |
{ |
// frame len 22.5 ms = 14063 * 1.6 us |
// stop pulse: 0.3 ms = 188 * 1.6 us |
// min servo pulse: 0.6 ms = 375 * 1.6 us |
// max servo pulse: 2.4 ms = 1500 * 1.6 us |
// resolution: 1500 - 375 = 1125 steps |
#define IRS_RUNTIME 127 |
#define PPM_STOPPULSE 188 |
// #define PPM_FRAMELEN (14063 |
#define PPM_FRAMELEN (1757 * EE_Parameter.ServoNickRefresh) |
#define MINSERVOPULSE 375 |
#define MAXSERVOPULSE 1500 |
#define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE) |
static uint8_t PulseOutput = 0; |
static uint16_t RemainingPulse = 0; |
static uint16_t ServoFrameTime = 0; |
static uint8_t ServoIndex = 0; |
#define MULTIPLYER 4 |
static int16_t ServoNickOffset = (255 / 2) * MULTIPLYER; // initial value near center positon |
static int16_t ServoRollOffset = (255 / 2) * MULTIPLYER; // initial value near center positon |
// Arthur P: Modified the code to scheck the value of parameter 8. If 128 or higher then a HEF4017 is |
// expected and will be used. Else J7 and J9 are seen as separate normal outputs. |
// if((PlatinenVersion < 20) |
// 091114. Inserted same changes into v.0.76g code. |
// 20100802 Inserted same changes into v.0.80d code. |
if((PlatinenVersion < 20) && (Parameter_UserParam8 < 128 )) |
{ |
//--------------------------- |
// Nick servo state machine |
//--------------------------- |
if(!PulseOutput) // pulse output complete |
{ |
if(TCCR2A & (1<<COM2A0)) // we had a low pulse |
{ |
TCCR2A &= ~(1<<COM2A0);// make a high pulse |
RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms |
ServoNickOffset = (ServoNickOffset * 3 + (int16_t)Parameter_ServoNickControl * MULTIPLYER) / 4; // lowpass offset |
ServoNickValue = ServoNickOffset; // offset (Range from 0 to 255 * 3 = 765) |
if(EE_Parameter.ServoCompInvert & 0x01) |
{ // inverting movement of servo |
ServoNickValue += (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) ); |
} |
else |
{ // non inverting movement of servo |
ServoNickValue -= (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) ); |
} |
// limit servo value to its parameter range definition |
if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER) ) |
{ |
ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER; |
} |
else |
if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER) ) |
{ |
ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER; |
} |
RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
ServoNickValue /= MULTIPLYER; |
// range servo pulse width |
if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit |
else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit |
// accumulate time for correct update rate |
ServoFrameTime = RemainingPulse; |
} |
else // we had a high pulse |
{ |
TCCR2A |= (1<<COM2A0); // make a low pulse |
RemainingPulse = PPM_FRAMELEN - ServoFrameTime; |
} |
// set pulse output active |
PulseOutput = 1; |
} |
} // EOF Nick servo state machine |
else |
{ |
//----------------------------------------------------- |
// PPM state machine, onboard demultiplexed by HEF4017 |
//----------------------------------------------------- |
if(!PulseOutput) // pulse output complete |
{ |
if(TCCR2A & (1<<COM2A0)) // we had a low pulse |
{ |
TCCR2A &= ~(1<<COM2A0);// make a high pulse |
if(ServoIndex == 0) // if we are at the sync gap |
{ |
RemainingPulse = PPM_FRAMELEN - ServoFrameTime; // generate sync gap by filling time to full frame time |
ServoFrameTime = 0; // reset servo frame time |
HEF4017R_ON; // enable HEF4017 reset |
} |
else // servo channels |
{ |
RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms |
switch(ServoIndex) // map servo channels |
{ |
case 1: // Nick Compensation Servo |
ServoNickOffset = (ServoNickOffset * 3 + (int16_t)Parameter_ServoNickControl * MULTIPLYER) / 4; // lowpass offset |
ServoNickValue = ServoNickOffset; // offset (Range from 0 to 255 * 3 = 765) |
if(EE_Parameter.ServoCompInvert & 0x01) |
{ // inverting movement of servo |
ServoNickValue += (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) ); |
} |
else |
{ // non inverting movement of servo |
ServoNickValue -= (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) ); |
} |
// limit servo value to its parameter range definition |
if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER) ) |
{ |
ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER; |
} |
else |
if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER) ) |
{ |
ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER; |
} |
RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
ServoNickValue /= MULTIPLYER; |
break; |
case 2: // Roll Compensation Servo |
ServoRollOffset = (ServoRollOffset * 3 + (int16_t) Parameter_ServoRollControl * MULTIPLYER) / 4; // lowpass offset |
ServoRollValue = ServoRollOffset; // offset (Range from 0 to 255 * 3 = 765) |
if(EE_Parameter.ServoCompInvert & 0x02) |
{ // inverting movement of servo |
ServoRollValue += (int16_t)( ( (int32_t) EE_Parameter.ServoRollComp * MULTIPLYER * (IntegralRoll / 128L ) ) / (256L) ); |
} |
else |
{ // non inverting movement of servo |
ServoRollValue -= (int16_t)( ( (int32_t) EE_Parameter.ServoRollComp * MULTIPLYER * (IntegralRoll / 128L ) ) / (256L) ); |
} |
// limit servo value to its parameter range definition |
if(ServoRollValue < ((int16_t)EE_Parameter.ServoRollMin * MULTIPLYER) ) |
{ |
ServoRollValue = (int16_t)EE_Parameter.ServoRollMin * MULTIPLYER; |
} |
else |
if(ServoRollValue > ((int16_t)EE_Parameter.ServoRollMax * MULTIPLYER) ) |
{ |
ServoRollValue = (int16_t)EE_Parameter.ServoRollMax * MULTIPLYER; |
} |
RemainingPulse += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
ServoRollValue /= MULTIPLYER; |
//DebugOut.Analog[20] = ServoRollValue; |
break; |
case 3: // Arthur P: Shutter Servo including interval control over parameter 8 lower 7 bits. |
// 091114 Inserted same modification into v.0.76g code, removing previously REM-ed out modified parts. |
// 20100802 Inserted same modification into v.0.76g code, removing previously REM-ed out modified parts. |
// Modified to use lower 7 bits of user parameter 8. |
// RemainingPulse += ((int16_t)Parameter_Servo3 * MULTIPLYER) - (256 / 2) * MULTIPLYER; |
// break; |
if(PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] < -32) |
{ |
// Set servo to null position, turning camera off. |
RemainingPulse = MINSERVOPULSE; |
} |
else |
{ |
// 090807: Arthur P.: Removed the shutter cycle parts as they may be impacting timing loops. |
// 20100804 Reactived shutter interval timer capability. |
if(PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] > 32) |
// Top position on a 3 position switch which runs from -127 to +127 |
{ |
// Changed so that on full up position full servo range out is given, while |
// on half position, have range is given. This will work better with electronic |
// switches. |
RemainingPulse = MINSERVOPULSE + SERVORANGE; |
} |
else |
{ |
// Cycle shutter servo between on and off depending upon CameraShutterCycleCounter |
// If CameraShutterCylce < 50 then default to continuous / manual shoot. |
if(CameraShutterCycle < 50 ) |
{ |
RemainingPulse = MINSERVOPULSE + SERVORANGE/2; |
} |
else |
{ |
if(CameraShutterCycleCounter == CameraShutterCycle) |
{ |
// Shutter on |
CameraShutterCycleCounter = 0; |
RemainingPulse = MINSERVOPULSE + SERVORANGE/2; |
} |
else |
{ |
// Leave on for at least 20 cycles or 0.20 seconds to allow |
// the camera to properly trigger, turn off if past 0.2 sec. |
CameraShutterCycleCounter++; |
if(CameraShutterCycleCounter == CameraShutterCycleOnCount) |
{ |
// Shutter off |
RemainingPulse = MINSERVOPULSE; |
} |
} |
} |
} |
} |
break; |
case 4: |
RemainingPulse += ((int16_t)Parameter_Servo4 * MULTIPLYER) - (256 / 2) * MULTIPLYER; |
break; |
case 5: |
RemainingPulse += ((int16_t)Parameter_Servo5 * MULTIPLYER) - (256 / 2) * MULTIPLYER; |
break; |
default: // other servo channels |
RemainingPulse += 2 * PPM_in[ServoIndex]; // add channel value, factor of 2 because timer 1 increments 3.2µs |
break; |
} |
// range servo pulse width |
if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit |
else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit |
// substract stop pulse width |
RemainingPulse -= PPM_STOPPULSE; |
// accumulate time for correct sync gap |
ServoFrameTime += RemainingPulse; |
} |
} |
else // we had a high pulse |
{ |
TCCR2A |= (1<<COM2A0); // make a low pulse |
// set pulsewidth to stop pulse width |
RemainingPulse = PPM_STOPPULSE; |
// accumulate time for correct sync gap |
ServoFrameTime += RemainingPulse; |
if((ServoActive && SenderOkay > 180) || ServoActive == 2) HEF4017R_OFF; // disable HEF4017 reset |
else HEF4017R_ON; |
ServoIndex++; // change to next servo channel |
if(ServoIndex > EE_Parameter.ServoNickRefresh) ServoIndex = 0; // reset to the sync gap |
} |
// set pulse output active |
PulseOutput = 1; |
} |
} // EOF PPM state machine |
// General pulse output generator |
if(RemainingPulse > (255 + IRS_RUNTIME)) |
{ |
OCR2A = 255; |
RemainingPulse -= 255; |
} |
else |
{ |
if(RemainingPulse > 255) // this is the 2nd last part |
{ |
if((RemainingPulse - 255) < IRS_RUNTIME) |
{ |
OCR2A = 255 - IRS_RUNTIME; |
RemainingPulse -= 255 - IRS_RUNTIME; |
} |
else // last part > ISR_RUNTIME |
{ |
OCR2A = 255; |
RemainingPulse -= 255; |
} |
} |
else // this is the last part |
{ |
OCR2A = RemainingPulse; |
RemainingPulse = 0; |
PulseOutput = 0; // trigger to stop pulse |
} |
} // EOF general pulse output generator |
} |
/branches/V0.80d-Arthur-P/timer0.h |
---|
0,0 → 1,21 |
#define TIMER_TEILER CK8 |
#define TIMER_RELOAD_VALUE 250 |
#define HEF4017R_ON PORTC |= (1<<PORTC6) |
#define HEF4017R_OFF PORTC &= ~(1<<PORTC6) |
void Timer_Init(void); |
void TIMER2_Init(void); |
void Delay_ms(unsigned int); |
void Delay_ms_Mess(unsigned int); |
unsigned int SetDelay (unsigned int t); |
char CheckDelay (unsigned int t); |
extern volatile unsigned int CountMilliseconds; |
extern volatile unsigned char UpdateMotor; |
extern volatile unsigned int beeptime; |
extern volatile unsigned int cntKompass; |
extern unsigned int BeepMuster; |
extern volatile unsigned char SendSPI, ServoActive; |
extern volatile int16_t ServoNickValue; |
extern volatile int16_t ServoRollValue; |
/branches/V0.80d-Arthur-P/timer0.lst |
---|
0,0 → 1,1406 |
1 .file "timer0.c" |
2 .arch atmega644p |
3 __SREG__ = 0x3f |
4 __SP_H__ = 0x3e |
5 __SP_L__ = 0x3d |
6 __tmp_reg__ = 0 |
7 __zero_reg__ = 1 |
8 .global __do_copy_data |
9 .global __do_clear_bss |
10 .global ServoRollValue |
11 .global ServoRollValue |
12 .section .bss |
15 ServoRollValue: |
16 0000 0000 .skip 2,0 |
17 .global ServoNickValue |
18 .global ServoNickValue |
21 ServoNickValue: |
22 0002 0000 .skip 2,0 |
23 .global BeepMuster |
24 .data |
27 BeepMuster: |
28 0000 FFFF .word -1 |
29 .global ServoActive |
30 .global ServoActive |
31 .section .bss |
34 ServoActive: |
35 0004 00 .skip 1,0 |
36 .global SendSPI |
37 .global SendSPI |
40 SendSPI: |
41 0005 00 .skip 1,0 |
42 .global beeptime |
43 .global beeptime |
46 beeptime: |
47 0006 0000 .skip 2,0 |
48 .global cntKompass |
49 .global cntKompass |
52 cntKompass: |
53 0008 0000 .skip 2,0 |
54 .global UpdateMotor |
55 .global UpdateMotor |
58 UpdateMotor: |
59 000a 00 .skip 1,0 |
60 .global CountMilliseconds |
61 .global CountMilliseconds |
64 CountMilliseconds: |
65 000b 0000 .skip 2,0 |
66 .data |
69 CameraShutterCycleOnCount: |
70 0002 1400 .word 20 |
71 .lcomm CameraShutterCycleCounter,2 |
72 .lcomm CameraShutterCycle,2 |
75 cnt_1ms.6: |
76 0004 01 .byte 1 |
77 .lcomm cnt.7,1 |
78 .lcomm compass_active.8,1 |
79 .text |
80 .global __vector_18 |
82 __vector_18: |
83 /* prologue: frame size=0 */ |
84 0000 1F92 push __zero_reg__ |
85 0002 0F92 push __tmp_reg__ |
86 0004 0FB6 in __tmp_reg__,__SREG__ |
87 0006 0F92 push __tmp_reg__ |
88 0008 1124 clr __zero_reg__ |
89 000a 2F93 push r18 |
90 000c 3F93 push r19 |
91 000e 5F93 push r21 |
92 0010 6F93 push r22 |
93 0012 7F93 push r23 |
94 0014 8F93 push r24 |
95 0016 9F93 push r25 |
96 0018 AF93 push r26 |
97 001a BF93 push r27 |
98 001c EF93 push r30 |
99 001e FF93 push r31 |
100 /* prologue end (size=16) */ |
101 0020 20E0 ldi r18,lo8(0) |
102 0022 8091 0000 lds r24,SendSPI |
103 0026 8823 tst r24 |
104 0028 29F0 breq .L2 |
105 002a 8091 0000 lds r24,SendSPI |
106 002e 8150 subi r24,lo8(-(-1)) |
107 0030 8093 0000 sts SendSPI,r24 |
108 .L2: |
109 0034 8091 0000 lds r24,SpektrumTimer |
110 0038 8823 tst r24 |
111 003a 19F0 breq .L3 |
112 003c 8150 subi r24,lo8(-(-1)) |
113 003e 8093 0000 sts SpektrumTimer,r24 |
114 .L3: |
115 0042 8091 0000 lds r24,cnt.7 |
116 0046 8150 subi r24,lo8(-(-1)) |
117 0048 8093 0000 sts cnt.7,r24 |
118 004c 8F3F cpi r24,lo8(-1) |
119 004e 09F0 breq .+2 |
120 0050 57C0 rjmp .L4 |
121 0052 89E0 ldi r24,lo8(9) |
122 0054 8093 0000 sts cnt.7,r24 |
123 0058 8091 0000 lds r24,CountMilliseconds |
124 005c 9091 0000 lds r25,(CountMilliseconds)+1 |
125 0060 0196 adiw r24,1 |
126 0062 9093 0000 sts (CountMilliseconds)+1,r25 |
127 0066 8093 0000 sts CountMilliseconds,r24 |
128 006a 8091 0000 lds r24,cnt_1ms.6 |
129 006e 8F5F subi r24,lo8(-(1)) |
130 0070 8170 andi r24,lo8(1) |
131 0072 8093 0000 sts cnt_1ms.6,r24 |
132 0076 8823 tst r24 |
133 0078 19F4 brne .L5 |
134 007a 81E0 ldi r24,lo8(1) |
135 007c 8093 0000 sts UpdateMotor,r24 |
136 .L5: |
137 0080 86B1 in r24,38-0x20 |
138 0082 8091 0000 lds r24,beeptime |
139 0086 9091 0000 lds r25,(beeptime)+1 |
140 008a 892B or r24,r25 |
141 008c 21F1 breq .L7 |
142 008e 8091 0000 lds r24,beeptime |
143 0092 9091 0000 lds r25,(beeptime)+1 |
144 0096 0B97 sbiw r24,11 |
145 0098 50F0 brlo .L8 |
146 009a 8091 0000 lds r24,beeptime |
147 009e 9091 0000 lds r25,(beeptime)+1 |
148 00a2 0A97 sbiw r24,10 |
149 00a4 9093 0000 sts (beeptime)+1,r25 |
150 00a8 8093 0000 sts beeptime,r24 |
151 00ac 04C0 rjmp .L9 |
152 .L8: |
153 00ae 1092 0000 sts (beeptime)+1,__zero_reg__ |
154 00b2 1092 0000 sts beeptime,__zero_reg__ |
155 .L9: |
156 00b6 8091 0000 lds r24,beeptime |
157 00ba 9091 0000 lds r25,(beeptime)+1 |
158 00be 2091 0000 lds r18,BeepMuster |
159 00c2 3091 0000 lds r19,(BeepMuster)+1 |
160 00c6 8223 and r24,r18 |
161 00c8 9323 and r25,r19 |
162 00ca 892B or r24,r25 |
163 00cc 11F0 breq .L10 |
164 00ce 21E0 ldi r18,lo8(1) |
165 00d0 08C0 rjmp .L12 |
166 .L10: |
167 00d2 20E0 ldi r18,lo8(0) |
168 00d4 06C0 rjmp .L12 |
169 .L7: |
170 00d6 8FEF ldi r24,lo8(-1) |
171 00d8 9FEF ldi r25,hi8(-1) |
172 00da 9093 0000 sts (BeepMuster)+1,r25 |
173 00de 8093 0000 sts BeepMuster,r24 |
174 .L12: |
175 00e2 8091 0000 lds r24,PlatinenVersion |
176 00e6 2223 tst r18 |
177 00e8 31F0 breq .L13 |
178 00ea 8A30 cpi r24,lo8(10) |
179 00ec 11F4 brne .L14 |
180 00ee 5A9A sbi 43-0x20,2 |
181 00f0 07C0 rjmp .L4 |
182 .L14: |
183 00f2 479A sbi 40-0x20,7 |
184 00f4 05C0 rjmp .L4 |
185 .L13: |
186 00f6 8A30 cpi r24,lo8(10) |
187 00f8 11F4 brne .L17 |
188 00fa 5A98 cbi 43-0x20,2 |
189 00fc 01C0 rjmp .L4 |
190 .L17: |
191 00fe 4798 cbi 40-0x20,7 |
192 .L4: |
193 0100 8091 0000 lds r24,compass_active.8 |
194 0104 8823 tst r24 |
195 0106 09F4 brne .+2 |
196 0108 72C0 rjmp .L1 |
197 010a 2091 0000 lds r18,NaviDataOkay |
198 010e 2223 tst r18 |
199 0110 09F0 breq .+2 |
200 0112 6DC0 rjmp .L1 |
201 0114 8091 0000 lds r24,EE_Parameter+13 |
202 0118 83FF sbrs r24,3 |
203 011a 69C0 rjmp .L1 |
204 011c 86B1 in r24,38-0x20 |
205 011e 9927 clr r25 |
206 0120 FC01 movw r30,r24 |
207 0122 E071 andi r30,lo8(16) |
208 0124 F070 andi r31,hi8(16) |
209 0126 84FF sbrs r24,4 |
210 0128 14C0 rjmp .L20 |
211 012a 8091 0000 lds r24,cntKompass |
212 012e 9091 0000 lds r25,(cntKompass)+1 |
213 0132 0196 adiw r24,1 |
214 0134 9093 0000 sts (cntKompass)+1,r25 |
215 0138 8093 0000 sts cntKompass,r24 |
216 013c 8091 0000 lds r24,cntKompass |
217 0140 9091 0000 lds r25,(cntKompass)+1 |
218 0144 895E subi r24,lo8(1001) |
219 0146 9340 sbci r25,hi8(1001) |
220 0148 08F4 brsh .+2 |
221 014a 51C0 rjmp .L1 |
222 014c 2093 0000 sts compass_active.8,r18 |
223 0150 4EC0 rjmp .L1 |
224 .L20: |
225 0152 8091 0000 lds r24,cntKompass |
226 0156 9091 0000 lds r25,(cntKompass)+1 |
227 015a 892B or r24,r25 |
228 015c 09F4 brne .+2 |
229 015e 43C0 rjmp .L23 |
230 0160 8091 0000 lds r24,cntKompass |
231 0164 9091 0000 lds r25,(cntKompass)+1 |
232 0168 8A56 subi r24,lo8(362) |
233 016a 9140 sbci r25,hi8(362) |
234 016c E0F5 brsh .L23 |
235 016e 8091 0000 lds r24,cntKompass |
236 0172 9091 0000 lds r25,(cntKompass)+1 |
237 0176 69E2 ldi r22,lo8(41) |
238 0178 70E0 ldi r23,hi8(41) |
239 017a 0E94 0000 call __udivmodhi4 |
240 017e 8091 0000 lds r24,cntKompass |
241 0182 9091 0000 lds r25,(cntKompass)+1 |
242 0186 860F add r24,r22 |
243 0188 971F adc r25,r23 |
244 018a 9093 0000 sts (cntKompass)+1,r25 |
245 018e 8093 0000 sts cntKompass,r24 |
246 0192 8091 0000 lds r24,cntKompass |
247 0196 9091 0000 lds r25,(cntKompass)+1 |
248 019a 0B97 sbiw r24,11 |
249 019c 50F0 brlo .L24 |
250 019e 8091 0000 lds r24,cntKompass |
251 01a2 9091 0000 lds r25,(cntKompass)+1 |
252 01a6 0A97 sbiw r24,10 |
253 01a8 9093 0000 sts (KompassValue)+1,r25 |
254 01ac 8093 0000 sts KompassValue,r24 |
255 01b0 04C0 rjmp .L25 |
256 .L24: |
257 01b2 F093 0000 sts (KompassValue)+1,r31 |
258 01b6 E093 0000 sts KompassValue,r30 |
259 .L25: |
260 01ba 8091 0000 lds r24,KompassValue |
261 01be 9091 0000 lds r25,(KompassValue)+1 |
262 01c2 2091 0000 lds r18,KompassStartwert |
263 01c6 3091 0000 lds r19,(KompassStartwert)+1 |
264 01ca 821B sub r24,r18 |
265 01cc 930B sbc r25,r19 |
266 01ce 845E subi r24,lo8(-(540)) |
267 01d0 9D4F sbci r25,hi8(-(540)) |
268 01d2 68E6 ldi r22,lo8(360) |
269 01d4 71E0 ldi r23,hi8(360) |
270 01d6 0E94 0000 call __divmodhi4 |
271 01da 845B subi r24,lo8(-(-180)) |
272 01dc 9040 sbci r25,hi8(-(-180)) |
273 01de 9093 0000 sts (KompassRichtung)+1,r25 |
274 01e2 8093 0000 sts KompassRichtung,r24 |
275 .L23: |
276 01e6 1092 0000 sts (cntKompass)+1,__zero_reg__ |
277 01ea 1092 0000 sts cntKompass,__zero_reg__ |
278 .L1: |
279 /* epilogue: frame size=0 */ |
280 01ee FF91 pop r31 |
281 01f0 EF91 pop r30 |
282 01f2 BF91 pop r27 |
283 01f4 AF91 pop r26 |
284 01f6 9F91 pop r25 |
285 01f8 8F91 pop r24 |
286 01fa 7F91 pop r23 |
287 01fc 6F91 pop r22 |
288 01fe 5F91 pop r21 |
289 0200 3F91 pop r19 |
290 0202 2F91 pop r18 |
291 0204 0F90 pop __tmp_reg__ |
292 0206 0FBE out __SREG__,__tmp_reg__ |
293 0208 0F90 pop __tmp_reg__ |
294 020a 1F90 pop __zero_reg__ |
295 020c 1895 reti |
296 /* epilogue end (size=16) */ |
297 /* function __vector_18 size 267 (235) */ |
299 .global SetDelay |
301 SetDelay: |
302 /* prologue: frame size=0 */ |
303 /* prologue end (size=0) */ |
304 020e 2091 0000 lds r18,CountMilliseconds |
305 0212 3091 0000 lds r19,(CountMilliseconds)+1 |
306 0216 280F add r18,r24 |
307 0218 391F adc r19,r25 |
308 021a C901 movw r24,r18 |
309 021c 0196 adiw r24,1 |
310 /* epilogue: frame size=0 */ |
311 021e 0895 ret |
312 /* epilogue end (size=1) */ |
313 /* function SetDelay size 9 (8) */ |
315 .global CheckDelay |
317 CheckDelay: |
318 /* prologue: frame size=0 */ |
319 /* prologue end (size=0) */ |
320 0220 2091 0000 lds r18,CountMilliseconds |
321 0224 3091 0000 lds r19,(CountMilliseconds)+1 |
322 0228 821B sub r24,r18 |
323 022a 930B sbc r25,r19 |
324 022c 892F mov r24,r25 |
325 022e 9927 clr r25 |
326 0230 8695 lsr r24 |
327 0232 8074 andi r24,lo8(64) |
328 0234 9070 andi r25,hi8(64) |
329 /* epilogue: frame size=0 */ |
330 0236 0895 ret |
331 /* epilogue end (size=1) */ |
332 /* function CheckDelay size 12 (11) */ |
334 .global Delay_ms |
336 Delay_ms: |
337 /* prologue: frame size=0 */ |
338 0238 CF93 push r28 |
339 023a DF93 push r29 |
340 /* prologue end (size=2) */ |
341 023c 0E94 0000 call SetDelay |
342 0240 EC01 movw r28,r24 |
343 .L29: |
344 0242 CE01 movw r24,r28 |
345 0244 0E94 0000 call CheckDelay |
346 0248 8823 tst r24 |
347 024a D9F3 breq .L29 |
348 /* epilogue: frame size=0 */ |
349 024c DF91 pop r29 |
350 024e CF91 pop r28 |
351 0250 0895 ret |
352 /* epilogue end (size=3) */ |
353 /* function Delay_ms size 13 (8) */ |
355 .global Delay_ms_Mess |
357 Delay_ms_Mess: |
358 /* prologue: frame size=0 */ |
359 0252 CF93 push r28 |
360 0254 DF93 push r29 |
361 /* prologue end (size=2) */ |
362 0256 0E94 0000 call SetDelay |
363 025a EC01 movw r28,r24 |
364 025c 09C0 rjmp .L40 |
365 .L36: |
366 025e 8091 0000 lds r24,AdReady |
367 0262 8823 tst r24 |
368 0264 29F0 breq .L40 |
369 0266 9093 0000 sts AdReady,r25 |
370 026a 8FEC ldi r24,lo8(-49) |
371 026c 8093 7A00 sts 122,r24 |
372 .L40: |
373 0270 CE01 movw r24,r28 |
374 0272 0E94 0000 call CheckDelay |
375 0276 982F mov r25,r24 |
376 0278 8823 tst r24 |
377 027a 89F3 breq .L36 |
378 /* epilogue: frame size=0 */ |
379 027c DF91 pop r29 |
380 027e CF91 pop r28 |
381 0280 0895 ret |
382 /* epilogue end (size=3) */ |
383 /* function Delay_ms_Mess size 24 (19) */ |
385 .global TIMER2_Init |
387 TIMER2_Init: |
388 /* prologue: frame size=0 */ |
389 /* prologue end (size=0) */ |
390 0282 4FB7 in r20,95-0x20 |
391 0284 8091 0000 lds r24,Parameter_UserParam8 |
392 0288 282F mov r18,r24 |
393 028a 3327 clr r19 |
394 028c 2F77 andi r18,lo8(127) |
395 028e 3070 andi r19,hi8(127) |
396 0290 C901 movw r24,r18 |
397 0292 880F lsl r24 |
398 0294 991F rol r25 |
399 0296 880F lsl r24 |
400 0298 991F rol r25 |
401 029a 820F add r24,r18 |
402 029c 931F adc r25,r19 |
403 029e 9093 0000 sts (CameraShutterCycle)+1,r25 |
404 02a2 8093 0000 sts CameraShutterCycle,r24 |
405 /* #APP */ |
406 02a6 F894 cli |
407 /* #NOAPP */ |
408 02a8 5F98 cbi 43-0x20,7 |
409 02aa 3E9A sbi 39-0x20,6 |
410 02ac 469A sbi 40-0x20,6 |
411 02ae 8091 B000 lds r24,176 |
412 02b2 8F70 andi r24,lo8(15) |
413 02b4 8093 B000 sts 176,r24 |
414 02b8 8091 B000 lds r24,176 |
415 02bc 8360 ori r24,lo8(3) |
416 02be 8093 B000 sts 176,r24 |
417 02c2 8091 B100 lds r24,177 |
418 02c6 8B73 andi r24,lo8(59) |
419 02c8 8093 B100 sts 177,r24 |
420 02cc 8091 B100 lds r24,177 |
421 02d0 8B60 ori r24,lo8(11) |
422 02d2 8093 B100 sts 177,r24 |
423 02d6 1092 B200 sts 178,__zero_reg__ |
424 02da 8FEF ldi r24,lo8(-1) |
425 02dc 8093 B300 sts 179,r24 |
426 02e0 8091 B000 lds r24,176 |
427 02e4 8068 ori r24,lo8(-128) |
428 02e6 8093 B000 sts 176,r24 |
429 02ea 8091 7000 lds r24,112 |
430 02ee 8A7F andi r24,lo8(-6) |
431 02f0 8093 7000 sts 112,r24 |
432 02f4 8091 7000 lds r24,112 |
433 02f8 8260 ori r24,lo8(2) |
434 02fa 8093 7000 sts 112,r24 |
435 02fe 4FBF out 95-0x20,r20 |
436 /* epilogue: frame size=0 */ |
437 0300 0895 ret |
438 /* epilogue end (size=1) */ |
439 /* function TIMER2_Init size 65 (64) */ |
441 .global Timer_Init |
443 Timer_Init: |
444 /* prologue: frame size=0 */ |
445 /* prologue end (size=0) */ |
446 0302 8AE0 ldi r24,lo8(10) |
447 0304 90E0 ldi r25,hi8(10) |
448 0306 0E94 0000 call SetDelay |
449 030a 9093 0000 sts (tim_main)+1,r25 |
450 030e 8093 0000 sts tim_main,r24 |
451 0312 82E0 ldi r24,lo8(2) |
452 0314 85BD out 69-0x20,r24 |
453 0316 83EA ldi r24,lo8(-93) |
454 0318 84BD out 68-0x20,r24 |
455 031a 17BC out 71-0x20,__zero_reg__ |
456 031c 84EB ldi r24,lo8(-76) |
457 031e 88BD out 72-0x20,r24 |
458 0320 86E0 ldi r24,lo8(6) |
459 0322 86BD out 70-0x20,r24 |
460 0324 8091 6E00 lds r24,110 |
461 0328 8160 ori r24,lo8(1) |
462 032a 8093 6E00 sts 110,r24 |
463 /* epilogue: frame size=0 */ |
464 032e 0895 ret |
465 /* epilogue end (size=1) */ |
466 /* function Timer_Init size 23 (22) */ |
468 .lcomm PulseOutput.0,1 |
469 .lcomm RemainingPulse.1,2 |
470 .lcomm ServoFrameTime.2,2 |
471 .lcomm ServoIndex.3,1 |
472 .data |
475 ServoNickOffset.4: |
476 0005 FC01 .word 508 |
479 ServoRollOffset.5: |
480 0007 FC01 .word 508 |
481 .text |
482 .global __vector_9 |
484 __vector_9: |
485 /* prologue: frame size=0 */ |
486 0330 1F92 push __zero_reg__ |
487 0332 0F92 push __tmp_reg__ |
488 0334 0FB6 in __tmp_reg__,__SREG__ |
489 0336 0F92 push __tmp_reg__ |
490 0338 1124 clr __zero_reg__ |
491 033a 2F93 push r18 |
492 033c 3F93 push r19 |
493 033e 4F93 push r20 |
494 0340 5F93 push r21 |
495 0342 6F93 push r22 |
496 0344 7F93 push r23 |
497 0346 8F93 push r24 |
498 0348 9F93 push r25 |
499 034a AF93 push r26 |
500 034c BF93 push r27 |
501 034e CF93 push r28 |
502 0350 DF93 push r29 |
503 0352 EF93 push r30 |
504 0354 FF93 push r31 |
505 /* prologue end (size=19) */ |
506 0356 8091 0000 lds r24,PlatinenVersion |
507 035a 8431 cpi r24,lo8(20) |
508 035c 08F0 brlo .+2 |
509 035e 17C1 rjmp .L44 |
510 0360 8091 0000 lds r24,Parameter_UserParam8 |
511 0364 87FD sbrc r24,7 |
512 0366 13C1 rjmp .L44 |
513 0368 8091 0000 lds r24,PulseOutput.0 |
514 036c 8823 tst r24 |
515 036e 09F0 breq .+2 |
516 0370 AEC3 rjmp .L62 |
517 0372 8091 B000 lds r24,176 |
518 0376 86FF sbrs r24,6 |
519 0378 ECC0 rjmp .L46 |
520 037a 8091 B000 lds r24,176 |
521 037e 8F7B andi r24,lo8(-65) |
522 0380 8093 B000 sts 176,r24 |
523 0384 89EA ldi r24,lo8(937) |
524 0386 93E0 ldi r25,hi8(937) |
525 0388 9093 0000 sts (RemainingPulse.1)+1,r25 |
526 038c 8093 0000 sts RemainingPulse.1,r24 |
527 0390 8091 0000 lds r24,ServoNickOffset.4 |
528 0394 9091 0000 lds r25,(ServoNickOffset.4)+1 |
529 0398 9C01 movw r18,r24 |
530 039a 220F lsl r18 |
531 039c 331F rol r19 |
532 039e 280F add r18,r24 |
533 03a0 391F adc r19,r25 |
534 03a2 8091 0000 lds r24,Parameter_ServoNickControl |
535 03a6 9927 clr r25 |
536 03a8 880F lsl r24 |
537 03aa 991F rol r25 |
538 03ac 880F lsl r24 |
539 03ae 991F rol r25 |
540 03b0 280F add r18,r24 |
541 03b2 391F adc r19,r25 |
542 03b4 37FF sbrs r19,7 |
543 03b6 02C0 rjmp .L47 |
544 03b8 2D5F subi r18,lo8(-(3)) |
545 03ba 3F4F sbci r19,hi8(-(3)) |
546 .L47: |
547 03bc C901 movw r24,r18 |
548 03be 9595 asr r25 |
549 03c0 8795 ror r24 |
550 03c2 9595 asr r25 |
551 03c4 8795 ror r24 |
552 03c6 9093 0000 sts (ServoNickOffset.4)+1,r25 |
553 03ca 8093 0000 sts ServoNickOffset.4,r24 |
554 03ce 9093 0000 sts (ServoNickValue)+1,r25 |
555 03d2 8093 0000 sts ServoNickValue,r24 |
556 03d6 8091 0000 lds r24,EE_Parameter+98 |
557 03da 6091 0000 lds r22,EE_Parameter+46 |
558 03de 2091 0000 lds r18,IntegralNick |
559 03e2 3091 0000 lds r19,(IntegralNick)+1 |
560 03e6 4091 0000 lds r20,(IntegralNick)+2 |
561 03ea 5091 0000 lds r21,(IntegralNick)+3 |
562 03ee 80FF sbrs r24,0 |
563 03f0 2CC0 rjmp .L48 |
564 03f2 7727 clr r23 |
565 03f4 8827 clr r24 |
566 03f6 9927 clr r25 |
567 03f8 EA01 movw r28,r20 |
568 03fa D901 movw r26,r18 |
569 03fc 57FF sbrs r21,7 |
570 03fe 04C0 rjmp .L49 |
571 0400 A158 subi r26,lo8(-(127)) |
572 0402 BF4F sbci r27,hi8(-(127)) |
573 0404 CF4F sbci r28,hlo8(-(127)) |
574 0406 DF4F sbci r29,hhi8(-(127)) |
575 .L49: |
576 0408 E7E0 ldi r30,7 |
577 040a D595 1: asr r29 |
578 040c C795 ror r28 |
579 040e B795 ror r27 |
580 0410 A795 ror r26 |
581 0412 EA95 dec r30 |
582 0414 D1F7 brne 1b |
583 0416 9D01 movw r18,r26 |
584 0418 AE01 movw r20,r28 |
585 041a 0E94 0000 call __mulsi3 |
586 041e 9B01 movw r18,r22 |
587 0420 AC01 movw r20,r24 |
588 0422 97FF sbrs r25,7 |
589 0424 04C0 rjmp .L50 |
590 0426 215C subi r18,lo8(-(63)) |
591 0428 3F4F sbci r19,hi8(-(63)) |
592 042a 4F4F sbci r20,hlo8(-(63)) |
593 042c 5F4F sbci r21,hhi8(-(63)) |
594 .L50: |
595 042e 66E0 ldi r22,6 |
596 0430 5595 1: asr r21 |
597 0432 4795 ror r20 |
598 0434 3795 ror r19 |
599 0436 2795 ror r18 |
600 0438 6A95 dec r22 |
601 043a D1F7 brne 1b |
602 043c 8091 0000 lds r24,ServoNickValue |
603 0440 9091 0000 lds r25,(ServoNickValue)+1 |
604 0444 820F add r24,r18 |
605 0446 931F adc r25,r19 |
606 0448 2BC0 rjmp .L121 |
607 .L48: |
608 044a 7727 clr r23 |
609 044c 8827 clr r24 |
610 044e 9927 clr r25 |
611 0450 EA01 movw r28,r20 |
612 0452 D901 movw r26,r18 |
613 0454 57FF sbrs r21,7 |
614 0456 04C0 rjmp .L52 |
615 0458 A158 subi r26,lo8(-(127)) |
616 045a BF4F sbci r27,hi8(-(127)) |
617 045c CF4F sbci r28,hlo8(-(127)) |
618 045e DF4F sbci r29,hhi8(-(127)) |
619 .L52: |
620 0460 27E0 ldi r18,7 |
621 0462 D595 1: asr r29 |
622 0464 C795 ror r28 |
623 0466 B795 ror r27 |
624 0468 A795 ror r26 |
625 046a 2A95 dec r18 |
626 046c D1F7 brne 1b |
627 046e 9D01 movw r18,r26 |
628 0470 AE01 movw r20,r28 |
629 0472 0E94 0000 call __mulsi3 |
630 0476 9B01 movw r18,r22 |
631 0478 AC01 movw r20,r24 |
632 047a 97FF sbrs r25,7 |
633 047c 04C0 rjmp .L53 |
634 047e 215C subi r18,lo8(-(63)) |
635 0480 3F4F sbci r19,hi8(-(63)) |
636 0482 4F4F sbci r20,hlo8(-(63)) |
637 0484 5F4F sbci r21,hhi8(-(63)) |
638 .L53: |
639 0486 F6E0 ldi r31,6 |
640 0488 5595 1: asr r21 |
641 048a 4795 ror r20 |
642 048c 3795 ror r19 |
643 048e 2795 ror r18 |
644 0490 FA95 dec r31 |
645 0492 D1F7 brne 1b |
646 0494 8091 0000 lds r24,ServoNickValue |
647 0498 9091 0000 lds r25,(ServoNickValue)+1 |
648 049c 821B sub r24,r18 |
649 049e 930B sbc r25,r19 |
650 .L121: |
651 04a0 9093 0000 sts (ServoNickValue)+1,r25 |
652 04a4 8093 0000 sts ServoNickValue,r24 |
653 04a8 8091 0000 lds r24,EE_Parameter+47 |
654 04ac 282F mov r18,r24 |
655 04ae 3327 clr r19 |
656 04b0 220F lsl r18 |
657 04b2 331F rol r19 |
658 04b4 220F lsl r18 |
659 04b6 331F rol r19 |
660 04b8 8091 0000 lds r24,ServoNickValue |
661 04bc 9091 0000 lds r25,(ServoNickValue)+1 |
662 04c0 8217 cp r24,r18 |
663 04c2 9307 cpc r25,r19 |
664 04c4 7CF0 brlt .L122 |
665 04c6 8091 0000 lds r24,EE_Parameter+48 |
666 04ca 282F mov r18,r24 |
667 04cc 3327 clr r19 |
668 04ce 220F lsl r18 |
669 04d0 331F rol r19 |
670 04d2 220F lsl r18 |
671 04d4 331F rol r19 |
672 04d6 8091 0000 lds r24,ServoNickValue |
673 04da 9091 0000 lds r25,(ServoNickValue)+1 |
674 04de 2817 cp r18,r24 |
675 04e0 3907 cpc r19,r25 |
676 04e2 24F4 brge .L55 |
677 .L122: |
678 04e4 3093 0000 sts (ServoNickValue)+1,r19 |
679 04e8 2093 0000 sts ServoNickValue,r18 |
680 .L55: |
681 04ec 2091 0000 lds r18,RemainingPulse.1 |
682 04f0 3091 0000 lds r19,(RemainingPulse.1)+1 |
683 04f4 8091 0000 lds r24,ServoNickValue |
684 04f8 9091 0000 lds r25,(ServoNickValue)+1 |
685 04fc 280F add r18,r24 |
686 04fe 391F adc r19,r25 |
687 0500 2050 subi r18,lo8(-(-512)) |
688 0502 3240 sbci r19,hi8(-(-512)) |
689 0504 3093 0000 sts (RemainingPulse.1)+1,r19 |
690 0508 2093 0000 sts RemainingPulse.1,r18 |
691 050c 8091 0000 lds r24,ServoNickValue |
692 0510 9091 0000 lds r25,(ServoNickValue)+1 |
693 0514 97FD sbrc r25,7 |
694 0516 0396 adiw r24,3 |
695 .L57: |
696 0518 9595 asr r25 |
697 051a 8795 ror r24 |
698 051c 9595 asr r25 |
699 051e 8795 ror r24 |
700 0520 9093 0000 sts (ServoNickValue)+1,r25 |
701 0524 8093 0000 sts ServoNickValue,r24 |
702 0528 45E0 ldi r20,hi8(1501) |
703 052a 2D3D cpi r18,lo8(1501) |
704 052c 3407 cpc r19,r20 |
705 052e 18F0 brlo .L58 |
706 0530 8CED ldi r24,lo8(1500) |
707 0532 95E0 ldi r25,hi8(1500) |
708 0534 05C0 rjmp .L123 |
709 .L58: |
710 0536 2757 subi r18,lo8(375) |
711 0538 3140 sbci r19,hi8(375) |
712 053a 30F4 brsh .L59 |
713 053c 87E7 ldi r24,lo8(375) |
714 053e 91E0 ldi r25,hi8(375) |
715 .L123: |
716 0540 9093 0000 sts (RemainingPulse.1)+1,r25 |
717 0544 8093 0000 sts RemainingPulse.1,r24 |
718 .L59: |
719 0548 8091 0000 lds r24,RemainingPulse.1 |
720 054c 9091 0000 lds r25,(RemainingPulse.1)+1 |
721 0550 87C2 rjmp .L134 |
722 .L46: |
723 0552 8091 B000 lds r24,176 |
724 0556 8064 ori r24,lo8(64) |
725 0558 8093 B000 sts 176,r24 |
726 055c 8091 0000 lds r24,EE_Parameter+53 |
727 0560 282F mov r18,r24 |
728 0562 3327 clr r19 |
729 0564 8DED ldi r24,lo8(1757) |
730 0566 96E0 ldi r25,hi8(1757) |
731 0568 289F mul r18,r24 |
732 056a A001 movw r20,r0 |
733 056c 299F mul r18,r25 |
734 056e 500D add r21,r0 |
735 0570 389F mul r19,r24 |
736 0572 500D add r21,r0 |
737 0574 1124 clr r1 |
738 0576 CA01 movw r24,r20 |
739 0578 2091 0000 lds r18,ServoFrameTime.2 |
740 057c 3091 0000 lds r19,(ServoFrameTime.2)+1 |
741 0580 821B sub r24,r18 |
742 0582 930B sbc r25,r19 |
743 0584 9093 0000 sts (RemainingPulse.1)+1,r25 |
744 0588 8093 0000 sts RemainingPulse.1,r24 |
745 058c 9DC2 rjmp .L109 |
746 .L44: |
747 058e 8091 0000 lds r24,PulseOutput.0 |
748 0592 8823 tst r24 |
749 0594 09F0 breq .+2 |
750 0596 9BC2 rjmp .L62 |
751 0598 8091 B000 lds r24,176 |
752 059c 86FF sbrs r24,6 |
753 059e 65C2 rjmp .L64 |
754 05a0 8091 B000 lds r24,176 |
755 05a4 8F7B andi r24,lo8(-65) |
756 05a6 8093 B000 sts 176,r24 |
757 05aa E091 0000 lds r30,ServoIndex.3 |
758 05ae EE23 tst r30 |
759 05b0 F1F4 brne .L65 |
760 05b2 8091 0000 lds r24,EE_Parameter+53 |
761 05b6 282F mov r18,r24 |
762 05b8 3327 clr r19 |
763 05ba 8DED ldi r24,lo8(1757) |
764 05bc 96E0 ldi r25,hi8(1757) |
765 05be 289F mul r18,r24 |
766 05c0 A001 movw r20,r0 |
767 05c2 299F mul r18,r25 |
768 05c4 500D add r21,r0 |
769 05c6 389F mul r19,r24 |
770 05c8 500D add r21,r0 |
771 05ca 1124 clr r1 |
772 05cc CA01 movw r24,r20 |
773 05ce 2091 0000 lds r18,ServoFrameTime.2 |
774 05d2 3091 0000 lds r19,(ServoFrameTime.2)+1 |
775 05d6 821B sub r24,r18 |
776 05d8 930B sbc r25,r19 |
777 05da 9093 0000 sts (RemainingPulse.1)+1,r25 |
778 05de 8093 0000 sts RemainingPulse.1,r24 |
779 05e2 1092 0000 sts (ServoFrameTime.2)+1,__zero_reg__ |
780 05e6 1092 0000 sts ServoFrameTime.2,__zero_reg__ |
781 05ea 469A sbi 40-0x20,6 |
782 05ec 6DC2 rjmp .L109 |
783 .L65: |
784 05ee 49EA ldi r20,lo8(937) |
785 05f0 53E0 ldi r21,hi8(937) |
786 05f2 5093 0000 sts (RemainingPulse.1)+1,r21 |
787 05f6 4093 0000 sts RemainingPulse.1,r20 |
788 05fa 8E2F mov r24,r30 |
789 05fc 9927 clr r25 |
790 05fe 8330 cpi r24,3 |
791 0600 9105 cpc r25,__zero_reg__ |
792 0602 09F4 brne .+2 |
793 0604 A4C1 rjmp .L92 |
794 0606 8430 cpi r24,4 |
795 0608 9105 cpc r25,__zero_reg__ |
796 060a 3CF4 brge .L105 |
797 060c 8130 cpi r24,1 |
798 060e 9105 cpc r25,__zero_reg__ |
799 0610 61F0 breq .L68 |
800 0612 0297 sbiw r24,2 |
801 0614 09F4 brne .+2 |
802 0616 D2C0 rjmp .L80 |
803 0618 ECC1 rjmp .L104 |
804 .L105: |
805 061a 8430 cpi r24,4 |
806 061c 9105 cpc r25,__zero_reg__ |
807 061e 09F4 brne .+2 |
808 0620 DBC1 rjmp .L102 |
809 0622 0597 sbiw r24,5 |
810 0624 09F4 brne .+2 |
811 0626 DBC1 rjmp .L103 |
812 0628 E4C1 rjmp .L104 |
813 .L68: |
814 062a 8091 0000 lds r24,ServoNickOffset.4 |
815 062e 9091 0000 lds r25,(ServoNickOffset.4)+1 |
816 0632 9C01 movw r18,r24 |
817 0634 220F lsl r18 |
818 0636 331F rol r19 |
819 0638 280F add r18,r24 |
820 063a 391F adc r19,r25 |
821 063c 8091 0000 lds r24,Parameter_ServoNickControl |
822 0640 9927 clr r25 |
823 0642 880F lsl r24 |
824 0644 991F rol r25 |
825 0646 880F lsl r24 |
826 0648 991F rol r25 |
827 064a 280F add r18,r24 |
828 064c 391F adc r19,r25 |
829 064e 37FF sbrs r19,7 |
830 0650 02C0 rjmp .L69 |
831 0652 2D5F subi r18,lo8(-(3)) |
832 0654 3F4F sbci r19,hi8(-(3)) |
833 .L69: |
834 0656 C901 movw r24,r18 |
835 0658 9595 asr r25 |
836 065a 8795 ror r24 |
837 065c 9595 asr r25 |
838 065e 8795 ror r24 |
839 0660 9093 0000 sts (ServoNickOffset.4)+1,r25 |
840 0664 8093 0000 sts ServoNickOffset.4,r24 |
841 0668 9093 0000 sts (ServoNickValue)+1,r25 |
842 066c 8093 0000 sts ServoNickValue,r24 |
843 0670 8091 0000 lds r24,EE_Parameter+98 |
844 0674 6091 0000 lds r22,EE_Parameter+46 |
845 0678 2091 0000 lds r18,IntegralNick |
846 067c 3091 0000 lds r19,(IntegralNick)+1 |
847 0680 4091 0000 lds r20,(IntegralNick)+2 |
848 0684 5091 0000 lds r21,(IntegralNick)+3 |
849 0688 80FF sbrs r24,0 |
850 068a 2CC0 rjmp .L70 |
851 068c 7727 clr r23 |
852 068e 8827 clr r24 |
853 0690 9927 clr r25 |
854 0692 EA01 movw r28,r20 |
855 0694 D901 movw r26,r18 |
856 0696 57FF sbrs r21,7 |
857 0698 04C0 rjmp .L71 |
858 069a A158 subi r26,lo8(-(127)) |
859 069c BF4F sbci r27,hi8(-(127)) |
860 069e CF4F sbci r28,hlo8(-(127)) |
861 06a0 DF4F sbci r29,hhi8(-(127)) |
862 .L71: |
863 06a2 27E0 ldi r18,7 |
864 06a4 D595 1: asr r29 |
865 06a6 C795 ror r28 |
866 06a8 B795 ror r27 |
867 06aa A795 ror r26 |
868 06ac 2A95 dec r18 |
869 06ae D1F7 brne 1b |
870 06b0 9D01 movw r18,r26 |
871 06b2 AE01 movw r20,r28 |
872 06b4 0E94 0000 call __mulsi3 |
873 06b8 9B01 movw r18,r22 |
874 06ba AC01 movw r20,r24 |
875 06bc 97FF sbrs r25,7 |
876 06be 04C0 rjmp .L72 |
877 06c0 215C subi r18,lo8(-(63)) |
878 06c2 3F4F sbci r19,hi8(-(63)) |
879 06c4 4F4F sbci r20,hlo8(-(63)) |
880 06c6 5F4F sbci r21,hhi8(-(63)) |
881 .L72: |
882 06c8 F6E0 ldi r31,6 |
883 06ca 5595 1: asr r21 |
884 06cc 4795 ror r20 |
885 06ce 3795 ror r19 |
886 06d0 2795 ror r18 |
887 06d2 FA95 dec r31 |
888 06d4 D1F7 brne 1b |
889 06d6 8091 0000 lds r24,ServoNickValue |
890 06da 9091 0000 lds r25,(ServoNickValue)+1 |
891 06de 820F add r24,r18 |
892 06e0 931F adc r25,r19 |
893 06e2 27C0 rjmp .L124 |
894 .L70: |
895 06e4 7727 clr r23 |
896 06e6 8827 clr r24 |
897 06e8 9927 clr r25 |
898 06ea 57FF sbrs r21,7 |
899 06ec 04C0 rjmp .L74 |
900 06ee 2158 subi r18,lo8(-(127)) |
901 06f0 3F4F sbci r19,hi8(-(127)) |
902 06f2 4F4F sbci r20,hlo8(-(127)) |
903 06f4 5F4F sbci r21,hhi8(-(127)) |
904 .L74: |
905 06f6 E7E0 ldi r30,7 |
906 06f8 5595 1: asr r21 |
907 06fa 4795 ror r20 |
908 06fc 3795 ror r19 |
909 06fe 2795 ror r18 |
910 0700 EA95 dec r30 |
911 0702 D1F7 brne 1b |
912 0704 0E94 0000 call __mulsi3 |
913 0708 9B01 movw r18,r22 |
914 070a AC01 movw r20,r24 |
915 070c 97FF sbrs r25,7 |
916 070e 04C0 rjmp .L75 |
917 0710 215C subi r18,lo8(-(63)) |
918 0712 3F4F sbci r19,hi8(-(63)) |
919 0714 4F4F sbci r20,hlo8(-(63)) |
920 0716 5F4F sbci r21,hhi8(-(63)) |
921 .L75: |
922 0718 66E0 ldi r22,6 |
923 071a 5595 1: asr r21 |
924 071c 4795 ror r20 |
925 071e 3795 ror r19 |
926 0720 2795 ror r18 |
927 0722 6A95 dec r22 |
928 0724 D1F7 brne 1b |
929 0726 8091 0000 lds r24,ServoNickValue |
930 072a 9091 0000 lds r25,(ServoNickValue)+1 |
931 072e 821B sub r24,r18 |
932 0730 930B sbc r25,r19 |
933 .L124: |
934 0732 9093 0000 sts (ServoNickValue)+1,r25 |
935 0736 8093 0000 sts ServoNickValue,r24 |
936 073a 8091 0000 lds r24,EE_Parameter+47 |
937 073e 282F mov r18,r24 |
938 0740 3327 clr r19 |
939 0742 220F lsl r18 |
940 0744 331F rol r19 |
941 0746 220F lsl r18 |
942 0748 331F rol r19 |
943 074a 8091 0000 lds r24,ServoNickValue |
944 074e 9091 0000 lds r25,(ServoNickValue)+1 |
945 0752 8217 cp r24,r18 |
946 0754 9307 cpc r25,r19 |
947 0756 7CF0 brlt .L125 |
948 0758 8091 0000 lds r24,EE_Parameter+48 |
949 075c 282F mov r18,r24 |
950 075e 3327 clr r19 |
951 0760 220F lsl r18 |
952 0762 331F rol r19 |
953 0764 220F lsl r18 |
954 0766 331F rol r19 |
955 0768 8091 0000 lds r24,ServoNickValue |
956 076c 9091 0000 lds r25,(ServoNickValue)+1 |
957 0770 2817 cp r18,r24 |
958 0772 3907 cpc r19,r25 |
959 0774 24F4 brge .L77 |
960 .L125: |
961 0776 3093 0000 sts (ServoNickValue)+1,r19 |
962 077a 2093 0000 sts ServoNickValue,r18 |
963 .L77: |
964 077e 8091 0000 lds r24,RemainingPulse.1 |
965 0782 9091 0000 lds r25,(RemainingPulse.1)+1 |
966 0786 2091 0000 lds r18,ServoNickValue |
967 078a 3091 0000 lds r19,(ServoNickValue)+1 |
968 078e 820F add r24,r18 |
969 0790 931F adc r25,r19 |
970 0792 8050 subi r24,lo8(-(-512)) |
971 0794 9240 sbci r25,hi8(-(-512)) |
972 0796 9093 0000 sts (RemainingPulse.1)+1,r25 |
973 079a 8093 0000 sts RemainingPulse.1,r24 |
974 079e 8091 0000 lds r24,ServoNickValue |
975 07a2 9091 0000 lds r25,(ServoNickValue)+1 |
976 07a6 97FD sbrc r25,7 |
977 07a8 0396 adiw r24,3 |
978 .L79: |
979 07aa 9595 asr r25 |
980 07ac 8795 ror r24 |
981 07ae 9595 asr r25 |
982 07b0 8795 ror r24 |
983 07b2 9093 0000 sts (ServoNickValue)+1,r25 |
984 07b6 8093 0000 sts ServoNickValue,r24 |
985 07ba 2EC1 rjmp .L67 |
986 .L80: |
987 07bc 8091 0000 lds r24,ServoRollOffset.5 |
988 07c0 9091 0000 lds r25,(ServoRollOffset.5)+1 |
989 07c4 9C01 movw r18,r24 |
990 07c6 220F lsl r18 |
991 07c8 331F rol r19 |
992 07ca 280F add r18,r24 |
993 07cc 391F adc r19,r25 |
994 07ce 8091 0000 lds r24,Parameter_ServoRollControl |
995 07d2 9927 clr r25 |
996 07d4 880F lsl r24 |
997 07d6 991F rol r25 |
998 07d8 880F lsl r24 |
999 07da 991F rol r25 |
1000 07dc 280F add r18,r24 |
1001 07de 391F adc r19,r25 |
1002 07e0 37FF sbrs r19,7 |
1003 07e2 02C0 rjmp .L81 |
1004 07e4 2D5F subi r18,lo8(-(3)) |
1005 07e6 3F4F sbci r19,hi8(-(3)) |
1006 .L81: |
1007 07e8 C901 movw r24,r18 |
1008 07ea 9595 asr r25 |
1009 07ec 8795 ror r24 |
1010 07ee 9595 asr r25 |
1011 07f0 8795 ror r24 |
1012 07f2 9093 0000 sts (ServoRollOffset.5)+1,r25 |
1013 07f6 8093 0000 sts ServoRollOffset.5,r24 |
1014 07fa 9093 0000 sts (ServoRollValue)+1,r25 |
1015 07fe 8093 0000 sts ServoRollValue,r24 |
1016 0802 8091 0000 lds r24,EE_Parameter+98 |
1017 0806 6091 0000 lds r22,EE_Parameter+50 |
1018 080a A091 0000 lds r26,IntegralRoll |
1019 080e B091 0000 lds r27,(IntegralRoll)+1 |
1020 0812 C091 0000 lds r28,(IntegralRoll)+2 |
1021 0816 D091 0000 lds r29,(IntegralRoll)+3 |
1022 081a 81FF sbrs r24,1 |
1023 081c 2AC0 rjmp .L82 |
1024 081e 7727 clr r23 |
1025 0820 8827 clr r24 |
1026 0822 9927 clr r25 |
1027 0824 9D01 movw r18,r26 |
1028 0826 AE01 movw r20,r28 |
1029 0828 D7FF sbrs r29,7 |
1030 082a 04C0 rjmp .L83 |
1031 082c 2158 subi r18,lo8(-(127)) |
1032 082e 3F4F sbci r19,hi8(-(127)) |
1033 0830 4F4F sbci r20,hlo8(-(127)) |
1034 0832 5F4F sbci r21,hhi8(-(127)) |
1035 .L83: |
1036 0834 E7E0 ldi r30,7 |
1037 0836 5595 1: asr r21 |
1038 0838 4795 ror r20 |
1039 083a 3795 ror r19 |
1040 083c 2795 ror r18 |
1041 083e EA95 dec r30 |
1042 0840 D1F7 brne 1b |
1043 0842 0E94 0000 call __mulsi3 |
1044 0846 9B01 movw r18,r22 |
1045 0848 AC01 movw r20,r24 |
1046 084a 97FF sbrs r25,7 |
1047 084c 04C0 rjmp .L84 |
1048 084e 215C subi r18,lo8(-(63)) |
1049 0850 3F4F sbci r19,hi8(-(63)) |
1050 0852 4F4F sbci r20,hlo8(-(63)) |
1051 0854 5F4F sbci r21,hhi8(-(63)) |
1052 .L84: |
1053 0856 C6E0 ldi r28,6 |
1054 0858 5595 1: asr r21 |
1055 085a 4795 ror r20 |
1056 085c 3795 ror r19 |
1057 085e 2795 ror r18 |
1058 0860 CA95 dec r28 |
1059 0862 D1F7 brne 1b |
1060 0864 8091 0000 lds r24,ServoRollValue |
1061 0868 9091 0000 lds r25,(ServoRollValue)+1 |
1062 086c 820F add r24,r18 |
1063 086e 931F adc r25,r19 |
1064 0870 29C0 rjmp .L126 |
1065 .L82: |
1066 0872 7727 clr r23 |
1067 0874 8827 clr r24 |
1068 0876 9927 clr r25 |
1069 0878 9D01 movw r18,r26 |
1070 087a AE01 movw r20,r28 |
1071 087c D7FF sbrs r29,7 |
1072 087e 04C0 rjmp .L86 |
1073 0880 2158 subi r18,lo8(-(127)) |
1074 0882 3F4F sbci r19,hi8(-(127)) |
1075 0884 4F4F sbci r20,hlo8(-(127)) |
1076 0886 5F4F sbci r21,hhi8(-(127)) |
1077 .L86: |
1078 0888 B7E0 ldi r27,7 |
1079 088a 5595 1: asr r21 |
1080 088c 4795 ror r20 |
1081 088e 3795 ror r19 |
1082 0890 2795 ror r18 |
1083 0892 BA95 dec r27 |
1084 0894 D1F7 brne 1b |
1085 0896 0E94 0000 call __mulsi3 |
1086 089a 9B01 movw r18,r22 |
1087 089c AC01 movw r20,r24 |
1088 089e 97FF sbrs r25,7 |
1089 08a0 04C0 rjmp .L87 |
1090 08a2 215C subi r18,lo8(-(63)) |
1091 08a4 3F4F sbci r19,hi8(-(63)) |
1092 08a6 4F4F sbci r20,hlo8(-(63)) |
1093 08a8 5F4F sbci r21,hhi8(-(63)) |
1094 .L87: |
1095 08aa A6E0 ldi r26,6 |
1096 08ac 5595 1: asr r21 |
1097 08ae 4795 ror r20 |
1098 08b0 3795 ror r19 |
1099 08b2 2795 ror r18 |
1100 08b4 AA95 dec r26 |
1101 08b6 D1F7 brne 1b |
1102 08b8 8091 0000 lds r24,ServoRollValue |
1103 08bc 9091 0000 lds r25,(ServoRollValue)+1 |
1104 08c0 821B sub r24,r18 |
1105 08c2 930B sbc r25,r19 |
1106 .L126: |
1107 08c4 9093 0000 sts (ServoRollValue)+1,r25 |
1108 08c8 8093 0000 sts ServoRollValue,r24 |
1109 08cc 8091 0000 lds r24,EE_Parameter+51 |
1110 08d0 282F mov r18,r24 |
1111 08d2 3327 clr r19 |
1112 08d4 220F lsl r18 |
1113 08d6 331F rol r19 |
1114 08d8 220F lsl r18 |
1115 08da 331F rol r19 |
1116 08dc 8091 0000 lds r24,ServoRollValue |
1117 08e0 9091 0000 lds r25,(ServoRollValue)+1 |
1118 08e4 8217 cp r24,r18 |
1119 08e6 9307 cpc r25,r19 |
1120 08e8 7CF0 brlt .L127 |
1121 08ea 8091 0000 lds r24,EE_Parameter+52 |
1122 08ee 282F mov r18,r24 |
1123 08f0 3327 clr r19 |
1124 08f2 220F lsl r18 |
1125 08f4 331F rol r19 |
1126 08f6 220F lsl r18 |
1127 08f8 331F rol r19 |
1128 08fa 8091 0000 lds r24,ServoRollValue |
1129 08fe 9091 0000 lds r25,(ServoRollValue)+1 |
1130 0902 2817 cp r18,r24 |
1131 0904 3907 cpc r19,r25 |
1132 0906 24F4 brge .L89 |
1133 .L127: |
1134 0908 3093 0000 sts (ServoRollValue)+1,r19 |
1135 090c 2093 0000 sts ServoRollValue,r18 |
1136 .L89: |
1137 0910 8091 0000 lds r24,RemainingPulse.1 |
1138 0914 9091 0000 lds r25,(RemainingPulse.1)+1 |
1139 0918 2091 0000 lds r18,ServoRollValue |
1140 091c 3091 0000 lds r19,(ServoRollValue)+1 |
1141 0920 820F add r24,r18 |
1142 0922 931F adc r25,r19 |
1143 0924 8050 subi r24,lo8(-(-512)) |
1144 0926 9240 sbci r25,hi8(-(-512)) |
1145 0928 9093 0000 sts (RemainingPulse.1)+1,r25 |
1146 092c 8093 0000 sts RemainingPulse.1,r24 |
1147 0930 8091 0000 lds r24,ServoRollValue |
1148 0934 9091 0000 lds r25,(ServoRollValue)+1 |
1149 0938 97FD sbrc r25,7 |
1150 093a 0396 adiw r24,3 |
1151 .L91: |
1152 093c 9595 asr r25 |
1153 093e 8795 ror r24 |
1154 0940 9595 asr r25 |
1155 0942 8795 ror r24 |
1156 0944 9093 0000 sts (ServoRollValue)+1,r25 |
1157 0948 8093 0000 sts ServoRollValue,r24 |
1158 094c 65C0 rjmp .L67 |
1159 .L92: |
1160 094e 8091 0000 lds r24,EE_Parameter+7 |
1161 0952 E82F mov r30,r24 |
1162 0954 FF27 clr r31 |
1163 0956 EE0F add r30,r30 |
1164 0958 FF1F adc r31,r31 |
1165 095a E050 subi r30,lo8(-(PPM_in)) |
1166 095c F040 sbci r31,hi8(-(PPM_in)) |
1167 095e 8081 ld r24,Z |
1168 0960 9181 ldd r25,Z+1 |
1169 0962 805E subi r24,lo8(-32) |
1170 0964 9F4F sbci r25,hi8(-32) |
1171 0966 ACF1 brlt .L132 |
1172 0968 8081 ld r24,Z |
1173 096a 9181 ldd r25,Z+1 |
1174 096c 8197 sbiw r24,33 |
1175 096e 1CF0 brlt .L95 |
1176 0970 8CED ldi r24,lo8(1500) |
1177 0972 95E0 ldi r25,hi8(1500) |
1178 0974 4DC0 rjmp .L128 |
1179 .L95: |
1180 0976 8091 0000 lds r24,CameraShutterCycle |
1181 097a 9091 0000 lds r25,(CameraShutterCycle)+1 |
1182 097e C297 sbiw r24,50 |
1183 0980 78F0 brlo .L129 |
1184 0982 2091 0000 lds r18,CameraShutterCycleCounter |
1185 0986 3091 0000 lds r19,(CameraShutterCycleCounter)+1 |
1186 098a 8091 0000 lds r24,CameraShutterCycle |
1187 098e 9091 0000 lds r25,(CameraShutterCycle)+1 |
1188 0992 2817 cp r18,r24 |
1189 0994 3907 cpc r19,r25 |
1190 0996 49F4 brne .L99 |
1191 0998 1092 0000 sts (CameraShutterCycleCounter)+1,__zero_reg__ |
1192 099c 1092 0000 sts CameraShutterCycleCounter,__zero_reg__ |
1193 .L129: |
1194 09a0 5093 0000 sts (RemainingPulse.1)+1,r21 |
1195 09a4 4093 0000 sts RemainingPulse.1,r20 |
1196 09a8 37C0 rjmp .L67 |
1197 .L99: |
1198 09aa 8091 0000 lds r24,CameraShutterCycleCounter |
1199 09ae 9091 0000 lds r25,(CameraShutterCycleCounter)+1 |
1200 09b2 0196 adiw r24,1 |
1201 09b4 9093 0000 sts (CameraShutterCycleCounter)+1,r25 |
1202 09b8 8093 0000 sts CameraShutterCycleCounter,r24 |
1203 09bc 2091 0000 lds r18,CameraShutterCycleCounter |
1204 09c0 3091 0000 lds r19,(CameraShutterCycleCounter)+1 |
1205 09c4 8091 0000 lds r24,CameraShutterCycleOnCount |
1206 09c8 9091 0000 lds r25,(CameraShutterCycleOnCount)+1 |
1207 09cc 2817 cp r18,r24 |
1208 09ce 3907 cpc r19,r25 |
1209 09d0 19F5 brne .L67 |
1210 .L132: |
1211 09d2 87E7 ldi r24,lo8(375) |
1212 09d4 91E0 ldi r25,hi8(375) |
1213 09d6 1CC0 rjmp .L128 |
1214 .L102: |
1215 09d8 8091 0000 lds r24,Parameter_Servo4 |
1216 09dc 02C0 rjmp .L133 |
1217 .L103: |
1218 09de 8091 0000 lds r24,Parameter_Servo5 |
1219 .L133: |
1220 09e2 9927 clr r25 |
1221 09e4 880F lsl r24 |
1222 09e6 991F rol r25 |
1223 09e8 880F lsl r24 |
1224 09ea 991F rol r25 |
1225 09ec 8755 subi r24,lo8(-(425)) |
1226 09ee 9E4F sbci r25,hi8(-(425)) |
1227 09f0 0FC0 rjmp .L128 |
1228 .L104: |
1229 09f2 FF27 clr r31 |
1230 09f4 EE0F add r30,r30 |
1231 09f6 FF1F adc r31,r31 |
1232 09f8 E050 subi r30,lo8(-(PPM_in)) |
1233 09fa F040 sbci r31,hi8(-(PPM_in)) |
1234 09fc 2081 ld r18,Z |
1235 09fe 3181 ldd r19,Z+1 |
1236 0a00 220F add r18,r18 |
1237 0a02 331F adc r19,r19 |
1238 0a04 8091 0000 lds r24,RemainingPulse.1 |
1239 0a08 9091 0000 lds r25,(RemainingPulse.1)+1 |
1240 0a0c 820F add r24,r18 |
1241 0a0e 931F adc r25,r19 |
1242 .L128: |
1243 0a10 9093 0000 sts (RemainingPulse.1)+1,r25 |
1244 0a14 8093 0000 sts RemainingPulse.1,r24 |
1245 .L67: |
1246 0a18 8091 0000 lds r24,RemainingPulse.1 |
1247 0a1c 9091 0000 lds r25,(RemainingPulse.1)+1 |
1248 0a20 45E0 ldi r20,hi8(1501) |
1249 0a22 8D3D cpi r24,lo8(1501) |
1250 0a24 9407 cpc r25,r20 |
1251 0a26 18F0 brlo .L106 |
1252 0a28 8CED ldi r24,lo8(1500) |
1253 0a2a 95E0 ldi r25,hi8(1500) |
1254 0a2c 05C0 rjmp .L130 |
1255 .L106: |
1256 0a2e 8757 subi r24,lo8(375) |
1257 0a30 9140 sbci r25,hi8(375) |
1258 0a32 30F4 brsh .L107 |
1259 0a34 87E7 ldi r24,lo8(375) |
1260 0a36 91E0 ldi r25,hi8(375) |
1261 .L130: |
1262 0a38 9093 0000 sts (RemainingPulse.1)+1,r25 |
1263 0a3c 8093 0000 sts RemainingPulse.1,r24 |
1264 .L107: |
1265 0a40 2091 0000 lds r18,RemainingPulse.1 |
1266 0a44 3091 0000 lds r19,(RemainingPulse.1)+1 |
1267 0a48 2C5B subi r18,lo8(-(-188)) |
1268 0a4a 3040 sbci r19,hi8(-(-188)) |
1269 0a4c 3093 0000 sts (RemainingPulse.1)+1,r19 |
1270 0a50 2093 0000 sts RemainingPulse.1,r18 |
1271 0a54 8091 0000 lds r24,ServoFrameTime.2 |
1272 0a58 9091 0000 lds r25,(ServoFrameTime.2)+1 |
1273 0a5c 820F add r24,r18 |
1274 0a5e 931F adc r25,r19 |
1275 .L134: |
1276 0a60 9093 0000 sts (ServoFrameTime.2)+1,r25 |
1277 0a64 8093 0000 sts ServoFrameTime.2,r24 |
1278 0a68 2FC0 rjmp .L109 |
1279 .L64: |
1280 0a6a 8091 B000 lds r24,176 |
1281 0a6e 8064 ori r24,lo8(64) |
1282 0a70 8093 B000 sts 176,r24 |
1283 0a74 8CEB ldi r24,lo8(188) |
1284 0a76 90E0 ldi r25,hi8(188) |
1285 0a78 9093 0000 sts (RemainingPulse.1)+1,r25 |
1286 0a7c 8093 0000 sts RemainingPulse.1,r24 |
1287 0a80 8091 0000 lds r24,ServoFrameTime.2 |
1288 0a84 9091 0000 lds r25,(ServoFrameTime.2)+1 |
1289 0a88 8454 subi r24,lo8(-(188)) |
1290 0a8a 9F4F sbci r25,hi8(-(188)) |
1291 0a8c 9093 0000 sts (ServoFrameTime.2)+1,r25 |
1292 0a90 8093 0000 sts ServoFrameTime.2,r24 |
1293 0a94 8091 0000 lds r24,ServoActive |
1294 0a98 8823 tst r24 |
1295 0a9a 21F0 breq .L112 |
1296 0a9c 8091 0000 lds r24,SenderOkay |
1297 0aa0 853B cpi r24,lo8(-75) |
1298 0aa2 20F4 brsh .L111 |
1299 .L112: |
1300 0aa4 8091 0000 lds r24,ServoActive |
1301 0aa8 8230 cpi r24,lo8(2) |
1302 0aaa 11F4 brne .L110 |
1303 .L111: |
1304 0aac 4698 cbi 40-0x20,6 |
1305 0aae 01C0 rjmp .L113 |
1306 .L110: |
1307 0ab0 469A sbi 40-0x20,6 |
1308 .L113: |
1309 0ab2 8091 0000 lds r24,ServoIndex.3 |
1310 0ab6 8F5F subi r24,lo8(-(1)) |
1311 0ab8 8093 0000 sts ServoIndex.3,r24 |
1312 0abc 9091 0000 lds r25,EE_Parameter+53 |
1313 0ac0 9817 cp r25,r24 |
1314 0ac2 10F4 brsh .L109 |
1315 0ac4 1092 0000 sts ServoIndex.3,__zero_reg__ |
1316 .L109: |
1317 0ac8 81E0 ldi r24,lo8(1) |
1318 0aca 8093 0000 sts PulseOutput.0,r24 |
1319 .L62: |
1320 0ace 2091 0000 lds r18,RemainingPulse.1 |
1321 0ad2 3091 0000 lds r19,(RemainingPulse.1)+1 |
1322 0ad6 81E0 ldi r24,hi8(383) |
1323 0ad8 2F37 cpi r18,lo8(383) |
1324 0ada 3807 cpc r19,r24 |
1325 0adc 30F0 brlo .L115 |
1326 0ade 8FEF ldi r24,lo8(-1) |
1327 0ae0 8093 B300 sts 179,r24 |
1328 0ae4 2F5F subi r18,lo8(-(-255)) |
1329 0ae6 3040 sbci r19,hi8(-(-255)) |
1330 0ae8 0FC0 rjmp .L131 |
1331 .L115: |
1332 0aea 2F3F cpi r18,255 |
1333 0aec 3105 cpc r19,__zero_reg__ |
1334 0aee C9F0 breq .L117 |
1335 0af0 C0F0 brlo .L117 |
1336 0af2 A901 movw r20,r18 |
1337 0af4 4F5F subi r20,lo8(-(-255)) |
1338 0af6 5040 sbci r21,hi8(-(-255)) |
1339 0af8 4F37 cpi r20,127 |
1340 0afa 5105 cpc r21,__zero_reg__ |
1341 0afc 50F4 brsh .L118 |
1342 0afe 80E8 ldi r24,lo8(-128) |
1343 0b00 8093 B300 sts 179,r24 |
1344 0b04 2058 subi r18,lo8(-(-128)) |
1345 0b06 3040 sbci r19,hi8(-(-128)) |
1346 .L131: |
1347 0b08 3093 0000 sts (RemainingPulse.1)+1,r19 |
1348 0b0c 2093 0000 sts RemainingPulse.1,r18 |
1349 0b10 12C0 rjmp .L43 |
1350 .L118: |
1351 0b12 8FEF ldi r24,lo8(-1) |
1352 0b14 8093 B300 sts 179,r24 |
1353 0b18 5093 0000 sts (RemainingPulse.1)+1,r21 |
1354 0b1c 4093 0000 sts RemainingPulse.1,r20 |
1355 0b20 0AC0 rjmp .L43 |
1356 .L117: |
1357 0b22 8091 0000 lds r24,RemainingPulse.1 |
1358 0b26 8093 B300 sts 179,r24 |
1359 0b2a 1092 0000 sts (RemainingPulse.1)+1,__zero_reg__ |
1360 0b2e 1092 0000 sts RemainingPulse.1,__zero_reg__ |
1361 0b32 1092 0000 sts PulseOutput.0,__zero_reg__ |
1362 .L43: |
1363 /* epilogue: frame size=0 */ |
1364 0b36 FF91 pop r31 |
1365 0b38 EF91 pop r30 |
1366 0b3a DF91 pop r29 |
1367 0b3c CF91 pop r28 |
1368 0b3e BF91 pop r27 |
1369 0b40 AF91 pop r26 |
1370 0b42 9F91 pop r25 |
1371 0b44 8F91 pop r24 |
1372 0b46 7F91 pop r23 |
1373 0b48 6F91 pop r22 |
1374 0b4a 5F91 pop r21 |
1375 0b4c 4F91 pop r20 |
1376 0b4e 3F91 pop r19 |
1377 0b50 2F91 pop r18 |
1378 0b52 0F90 pop __tmp_reg__ |
1379 0b54 0FBE out __SREG__,__tmp_reg__ |
1380 0b56 0F90 pop __tmp_reg__ |
1381 0b58 1F90 pop __zero_reg__ |
1382 0b5a 1895 reti |
1383 /* epilogue end (size=19) */ |
1384 /* function __vector_9 size 1056 (1018) */ |
1386 .lcomm tim_main,2 |
1387 /* File "timer0.c": code 1469 = 0x05bd (1385), prologues 39, epilogues 45 */ |
DEFINED SYMBOLS |
*ABS*:00000000 timer0.c |
C:\Users\Arthur-P\AppData\Local\Temp/ccIhcaaa.s:3 *ABS*:0000003f __SREG__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccIhcaaa.s:4 *ABS*:0000003e __SP_H__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccIhcaaa.s:5 *ABS*:0000003d __SP_L__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccIhcaaa.s:6 *ABS*:00000000 __tmp_reg__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccIhcaaa.s:7 *ABS*:00000001 __zero_reg__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccIhcaaa.s:15 .bss:00000000 ServoRollValue |
C:\Users\Arthur-P\AppData\Local\Temp/ccIhcaaa.s:21 .bss:00000002 ServoNickValue |
C:\Users\Arthur-P\AppData\Local\Temp/ccIhcaaa.s:27 .data:00000000 BeepMuster |
C:\Users\Arthur-P\AppData\Local\Temp/ccIhcaaa.s:34 .bss:00000004 ServoActive |
C:\Users\Arthur-P\AppData\Local\Temp/ccIhcaaa.s:40 .bss:00000005 SendSPI |
C:\Users\Arthur-P\AppData\Local\Temp/ccIhcaaa.s:46 .bss:00000006 beeptime |
C:\Users\Arthur-P\AppData\Local\Temp/ccIhcaaa.s:52 .bss:00000008 cntKompass |
C:\Users\Arthur-P\AppData\Local\Temp/ccIhcaaa.s:58 .bss:0000000a UpdateMotor |
C:\Users\Arthur-P\AppData\Local\Temp/ccIhcaaa.s:64 .bss:0000000b CountMilliseconds |
C:\Users\Arthur-P\AppData\Local\Temp/ccIhcaaa.s:69 .data:00000002 CameraShutterCycleOnCount |
.bss:0000000d CameraShutterCycleCounter |
C:\Users\Arthur-P\AppData\Local\Temp/ccIhcaaa.s:71 .bss:0000000f CameraShutterCycle |
C:\Users\Arthur-P\AppData\Local\Temp/ccIhcaaa.s:75 .data:00000004 cnt_1ms.6 |
C:\Users\Arthur-P\AppData\Local\Temp/ccIhcaaa.s:72 .bss:00000011 cnt.7 |
C:\Users\Arthur-P\AppData\Local\Temp/ccIhcaaa.s:77 .bss:00000012 compass_active.8 |
C:\Users\Arthur-P\AppData\Local\Temp/ccIhcaaa.s:82 .text:00000000 __vector_18 |
C:\Users\Arthur-P\AppData\Local\Temp/ccIhcaaa.s:301 .text:0000020e SetDelay |
C:\Users\Arthur-P\AppData\Local\Temp/ccIhcaaa.s:317 .text:00000220 CheckDelay |
C:\Users\Arthur-P\AppData\Local\Temp/ccIhcaaa.s:336 .text:00000238 Delay_ms |
C:\Users\Arthur-P\AppData\Local\Temp/ccIhcaaa.s:357 .text:00000252 Delay_ms_Mess |
C:\Users\Arthur-P\AppData\Local\Temp/ccIhcaaa.s:387 .text:00000282 TIMER2_Init |
C:\Users\Arthur-P\AppData\Local\Temp/ccIhcaaa.s:443 .text:00000302 Timer_Init |
C:\Users\Arthur-P\AppData\Local\Temp/ccIhcaaa.s:471 .bss:00000019 tim_main |
C:\Users\Arthur-P\AppData\Local\Temp/ccIhcaaa.s:78 .bss:00000013 PulseOutput.0 |
C:\Users\Arthur-P\AppData\Local\Temp/ccIhcaaa.s:468 .bss:00000014 RemainingPulse.1 |
C:\Users\Arthur-P\AppData\Local\Temp/ccIhcaaa.s:469 .bss:00000016 ServoFrameTime.2 |
C:\Users\Arthur-P\AppData\Local\Temp/ccIhcaaa.s:470 .bss:00000018 ServoIndex.3 |
C:\Users\Arthur-P\AppData\Local\Temp/ccIhcaaa.s:475 .data:00000005 ServoNickOffset.4 |
C:\Users\Arthur-P\AppData\Local\Temp/ccIhcaaa.s:479 .data:00000007 ServoRollOffset.5 |
C:\Users\Arthur-P\AppData\Local\Temp/ccIhcaaa.s:484 .text:00000330 __vector_9 |
UNDEFINED SYMBOLS |
__do_copy_data |
__do_clear_bss |
SpektrumTimer |
PlatinenVersion |
NaviDataOkay |
EE_Parameter |
__udivmodhi4 |
KompassValue |
KompassStartwert |
__divmodhi4 |
KompassRichtung |
AdReady |
Parameter_UserParam8 |
Parameter_ServoNickControl |
IntegralNick |
__mulsi3 |
Parameter_ServoRollControl |
IntegralRoll |
PPM_in |
Parameter_Servo4 |
Parameter_Servo5 |
SenderOkay |
/branches/V0.80d-Arthur-P/twimaster.c |
---|
0,0 → 1,467 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) Holger Buss, Ingo Busker |
// + Nur für den privaten Gebrauch |
// + www.MikroKopter.com |
// + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
// + bzgl. der Nutzungsbedingungen aufzunehmen. |
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
// + Verkauf von Luftbildaufnahmen, usw. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
// + eindeutig als Ursprung verlinkt werden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
// + Benutzung auf eigene Gefahr |
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
// + mit unserer Zustimmung zulässig |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
// + this list of conditions and the following disclaimer. |
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
// + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
// + POSSIBILITY OF SUCH DAMAGE. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#include <avr/io.h> |
#include <avr/interrupt.h> |
#include <util/twi.h> |
#include "eeprom.h" |
#include "twimaster.h" |
#include "fc.h" |
#include "analog.h" |
#include "uart.h" |
#include "timer0.h" |
volatile uint8_t twi_state = TWI_STATE_MOTOR_TX; |
volatile uint8_t dac_channel = 0; |
volatile uint8_t motor_write = 0; |
volatile uint8_t motor_read = 0; |
volatile uint16_t I2CTimeout = 100; |
uint8_t MissingMotor = 0; |
volatile uint8_t BLFlags = 0; |
MotorData_t Motor[MAX_MOTORS]; |
// bit mask for witch BL the configuration should be sent |
volatile uint16_t BLConfig_WriteMask = 0; |
// bit mask for witch BL the configuration should be read |
volatile uint16_t BLConfig_ReadMask = 0; |
// buffer for BL Configuration |
BLConfig_t BLConfig; |
#define I2C_WriteByte(byte) {TWDR = byte; TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);} |
#define I2C_ReceiveByte() {TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA);} |
#define I2C_ReceiveLastByte() {TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);} |
#define SCL_CLOCK 200000L |
#define I2C_TIMEOUT 30000 |
#define TWI_BASE_ADDRESS 0x52 |
/**************************************************/ |
/* Initialize I2C (TWI) */ |
/**************************************************/ |
void I2C_Init(void) |
{ |
uint8_t i; |
uint8_t sreg = SREG; |
cli(); |
// SDA is INPUT |
DDRC &= ~(1<<DDC1); |
// SCL is output |
DDRC |= (1<<DDC0); |
// pull up SDA |
PORTC |= (1<<PORTC0)|(1<<PORTC1); |
// TWI Status Register |
// prescaler 1 (TWPS1 = 0, TWPS0 = 0) |
TWSR &= ~((1<<TWPS1)|(1<<TWPS0)); |
// set TWI Bit Rate Register |
TWBR = ((F_CPU/SCL_CLOCK)-16)/2; |
twi_state = TWI_STATE_MOTOR_TX; |
motor_write = 0; |
motor_read = 0; |
for(i=0; i < MAX_MOTORS; i++) |
{ |
Motor[i].Version = 0; |
Motor[i].SetPoint = 0; |
Motor[i].SetPointLowerBits = 0; |
Motor[i].State = 0; |
Motor[i].ReadMode = BL_READMODE_STATUS; |
Motor[i].Current = 0; |
Motor[i].MaxPWM = 0; |
Motor[i].Temperature = 0; |
} |
SREG = sreg; |
} |
void I2C_Reset(void) |
{ |
// stop i2c bus |
I2C_Stop(TWI_STATE_MOTOR_TX); |
motor_write = 0; |
motor_read = 0; |
TWCR = (1<<TWINT); // reset to original state incl. interrupt flag reset |
TWAMR = 0; |
TWAR = 0; |
TWDR = 0; |
TWSR = 0; |
TWBR = 0; |
I2C_Init(); |
I2C_WriteByte(0); |
BLFlags |= BLFLAG_READ_VERSION; |
} |
/****************************************/ |
/* I2C ISR */ |
/****************************************/ |
ISR (TWI_vect) |
{ |
static uint8_t missing_motor = 0, motor_read_temperature = 0; |
static uint8_t *pBuff = 0; |
static uint8_t BuffLen = 0; |
switch (twi_state++) |
{ |
// Master Transmit |
case 0: // TWI_STATE_MOTOR_TX |
// skip motor if not used in mixer |
while((Mixer.Motor[motor_write][MIX_GAS] <= 0) && (motor_write < MAX_MOTORS)) motor_write++; |
if(motor_write >= MAX_MOTORS) // writing finished, read now |
{ |
BLConfig_WriteMask = 0; // reset configuration bitmask |
motor_write = 0; // reset motor write counter for next cycle |
twi_state = TWI_STATE_MOTOR_RX; |
I2C_WriteByte(TWI_BASE_ADDRESS + TW_READ + (motor_read<<1) ); // select slave address in rx mode |
} |
else I2C_WriteByte(TWI_BASE_ADDRESS + TW_WRITE + (motor_write<<1) ); // select slave address in tx mode |
break; |
case 1: // Send Data to Slave |
I2C_WriteByte(Motor[motor_write].SetPoint); // transmit setpoint |
// if old version has been detected |
if(!(Motor[motor_write].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) |
{ |
twi_state = 4; //jump over sending more data |
} |
// the new version has been detected |
else if(!( (Motor[motor_write].SetPointLowerBits && (RequiredMotors < 7)) || BLConfig_WriteMask || BLConfig_ReadMask ) ) |
{ // or LowerBits are zero and no BlConfig should be sent (saves round trip time) |
twi_state = 4; //jump over sending more data |
} |
break; |
case 2: // lower bits of setpoint (higher resolution) |
if ((0x0001<<motor_write) & BLConfig_ReadMask) |
{ |
Motor[motor_write].ReadMode = BL_READMODE_CONFIG; // configuration request |
} |
else |
{ |
Motor[motor_write].ReadMode = BL_READMODE_STATUS; // normal status request |
} |
// send read mode and the lower bits of setpoint |
I2C_WriteByte((Motor[motor_write].ReadMode<<3)|(Motor[motor_write].SetPointLowerBits & 0x07)); |
// configuration tranmission request? |
if((0x0001<<motor_write) & BLConfig_WriteMask) |
{ // redirect tx pointer to configuration data |
pBuff = (uint8_t*)&BLConfig; // select config for motor |
BuffLen = sizeof(BLConfig_t); |
} |
else |
{ // jump to end of transmission for that motor |
twi_state = 4; |
} |
break; |
case 3: // send configuration |
I2C_WriteByte(*pBuff); |
pBuff++; |
if(--BuffLen > 0) twi_state = 3; // if there are some bytes left |
break; |
case 4: // repeat case 0-4 for all motors |
if(TWSR == TW_MT_DATA_NACK) // Data transmitted, NACK received |
{ |
if(!missing_motor) missing_motor = motor_write + 1; |
if((Motor[motor_write].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[motor_write].State++; // increment error counter and handle overflow |
} |
I2C_Stop(TWI_STATE_MOTOR_TX); |
I2CTimeout = 10; |
motor_write++; // next motor |
I2C_Start(TWI_STATE_MOTOR_TX); // Repeated start -> switch slave or switch Master Transmit -> Master Receive |
break; |
// Master Receive Data |
case 5: // TWI_STATE_MOTOR_RX |
if(TWSR != TW_MR_SLA_ACK) // SLA+R transmitted but no ACK received |
{ // no response from the addressed slave received |
Motor[motor_read].State &= ~MOTOR_STATE_PRESENT_MASK; // clear present bit |
if(++motor_read >= MAX_MOTORS) |
{ // all motors read |
motor_read = 0; // restart from beginning |
BLConfig_ReadMask = 0; // reset read configuration bitmask |
if(++motor_read_temperature >= MAX_MOTORS) |
{ |
motor_read_temperature = 0; |
BLFlags &= ~BLFLAG_READ_VERSION; |
} |
} |
BLFlags |= BLFLAG_TX_COMPLETE; |
I2C_Stop(TWI_STATE_MOTOR_TX); |
} |
else |
{ // motor successfully addressed |
Motor[motor_read].State |= MOTOR_STATE_PRESENT_MASK; // set present bit |
if(Motor[motor_read].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) |
{ |
// new BL found |
switch(Motor[motor_read].ReadMode) |
{ |
case BL_READMODE_CONFIG: |
pBuff = (uint8_t*)&BLConfig; |
BuffLen = sizeof(BLConfig_t); |
break; |
case BL_READMODE_STATUS: |
pBuff = (uint8_t*)&(Motor[motor_read].Current); |
if(motor_read == motor_read_temperature) BuffLen = 3; // read Current, MaxPwm & Temp |
else BuffLen = 1;// read Current only |
break; |
} |
} |
else // old BL version |
{ |
pBuff = (uint8_t*)&(Motor[motor_read].Current); |
if((BLFlags & BLFLAG_READ_VERSION) || (motor_read == motor_read_temperature)) BuffLen = 2; // Current & MaxPwm |
else BuffLen = 1; // read Current only |
} |
if(BuffLen == 1) |
{ |
I2C_ReceiveLastByte(); // read last byte |
} |
else |
{ |
I2C_ReceiveByte(); // read next byte |
} |
} |
MissingMotor = missing_motor; |
missing_motor = 0; |
break; |
case 6: // receive bytes |
*pBuff = TWDR; |
pBuff++; |
BuffLen--; |
if(BuffLen>1) |
{ |
I2C_ReceiveByte(); // read next byte |
} |
else if (BuffLen == 1) |
{ |
I2C_ReceiveLastByte(); // read last byte |
} |
else // nothing left |
{ |
if(BLFlags & BLFLAG_READ_VERSION) |
{ |
if(!(FCFlags & FCFLAG_MOTOR_RUN) && (Motor[motor_read].MaxPWM == 250) ) Motor[motor_read].Version |= MOTOR_STATE_NEW_PROTOCOL_MASK; |
else Motor[motor_read].Version = 0; |
} |
if(++motor_read >= MAX_MOTORS) |
{ |
motor_read = 0; // restart from beginning |
BLConfig_ReadMask = 0; // reset read configuration bitmask |
if(++motor_read_temperature >= MAX_MOTORS) |
{ |
motor_read_temperature = 0; |
BLFlags &= ~BLFLAG_READ_VERSION; |
} |
} |
I2C_Stop(TWI_STATE_MOTOR_TX); |
BLFlags |= BLFLAG_TX_COMPLETE; |
return; |
} |
twi_state = 6; // if there are some bytes left |
break; |
// writing Gyro-Offsets |
case 18: |
I2C_WriteByte(0x98); // Address the DAC |
break; |
case 19: |
I2C_WriteByte(0x10 + (dac_channel * 2)); // Select DAC Channel (0x10 = A, 0x12 = B, 0x14 = C) |
break; |
case 20: |
switch(dac_channel) |
{ |
case 0: |
I2C_WriteByte(AnalogOffsetNick); // 1st byte for Channel A |
break; |
case 1: |
I2C_WriteByte(AnalogOffsetRoll); // 1st byte for Channel B |
break; |
case 2: |
I2C_WriteByte(AnalogOffsetGier); // 1st byte for Channel C |
break; |
} |
break; |
case 21: |
I2C_WriteByte(0x80); // 2nd byte for all channels is 0x80 |
break; |
case 22: |
I2C_Stop(TWI_STATE_MOTOR_TX); |
I2CTimeout = 10; |
// repeat case 18...22 until all DAC Channels are updated |
if(dac_channel < 2) |
{ |
dac_channel ++; // jump to next channel |
I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // start transmission for next channel |
} |
else |
{ |
dac_channel = 0; // reset dac channel counter |
BLFlags |= BLFLAG_TX_COMPLETE; |
} |
break; |
default: |
I2C_Stop(TWI_STATE_MOTOR_TX); |
BLFlags |= BLFLAG_TX_COMPLETE; |
I2CTimeout = 10; |
motor_write = 0; |
motor_read = 0; |
break; |
} |
} |
uint8_t I2C_WriteBLConfig(uint8_t motor) |
{ |
uint8_t i; |
uint16_t timer; |
if(MotorenEin || PC_MotortestActive) return(BLCONFIG_ERR_MOTOR_RUNNING); // not when motors are running! |
if(motor > MAX_MOTORS) return (BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
if(motor) |
{ |
if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK)) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) return(BLCONFIG_ERR_HW_NOT_COMPATIBLE); // not a new BL! |
} |
// check BL configuration to send |
if(BLConfig.Revision != BLCONFIG_REVISION) return (BLCONFIG_ERR_SW_NOT_COMPATIBLE); // bad revison |
i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1); |
if(i != BLConfig.crc) return(BLCONFIG_ERR_CHECKSUM); // bad checksum |
timer = SetDelay(2000); |
while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
// prepare the bitmask |
if(!motor) // 0 means all |
{ |
BLConfig_WriteMask = 0xFF; // all motors at once with the same configuration |
} |
else //only one specific motor |
{ |
BLConfig_WriteMask = 0x0001<<(motor-1); |
} |
for(i = 0; i < MAX_MOTORS; i++) |
{ |
if((0x0001<<i) & BLConfig_WriteMask) |
{ |
Motor[i].SetPoint = 0; |
Motor[i].SetPointLowerBits = 0; |
} |
} |
motor_write = 0; |
// needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms) |
do |
{ |
I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission |
while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
}while(BLConfig_WriteMask && !CheckDelay(timer)); // repeat until the BL config has been sent |
if(BLConfig_WriteMask) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); |
return(BLCONFIG_SUCCESS); |
} |
uint8_t I2C_ReadBLConfig(uint8_t motor) |
{ |
uint8_t i; |
uint16_t timer; |
if(MotorenEin || PC_MotortestActive) return(BLCONFIG_ERR_MOTOR_RUNNING); // not when motors are running! |
if(motor > MAX_MOTORS) return (BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
if(motor == 0) return (BLCONFIG_ERR_READ_NOT_POSSIBLE); |
if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK)) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) return(BLCONFIG_ERR_HW_NOT_COMPATIBLE); // not a new BL! |
timer = SetDelay(2000); |
while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
// prepare the bitmask |
BLConfig_ReadMask = 0x0001<<(motor-1); |
for(i = 0; i < MAX_MOTORS; i++) |
{ |
if((0x0001<<i) & BLConfig_ReadMask) |
{ |
Motor[i].SetPoint = 0; |
Motor[i].SetPointLowerBits = 0; |
} |
} |
motor_read = 0; |
BLConfig.Revision = 0; // bad revision |
BLConfig.crc = 0; // bad checksum |
// needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms) |
do |
{ |
I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission |
while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
}while(BLConfig_ReadMask && !CheckDelay(timer)); // repeat until the BL config has been received from all motors |
// validate result |
if(BLConfig.Revision != BLCONFIG_REVISION) return (BLCONFIG_ERR_SW_NOT_COMPATIBLE); // bad revison |
i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1); |
if(i != BLConfig.crc) return(BLCONFIG_ERR_CHECKSUM); // bad checksum |
return(BLCONFIG_SUCCESS); |
} |
/branches/V0.80d-Arthur-P/twimaster.d |
---|
0,0 → 1,2 |
twimaster.o twimaster.d : twimaster.c eeprom.h twimaster.h fc.h analog.h uart.h \ |
timer0.h |
/branches/V0.80d-Arthur-P/twimaster.h |
---|
0,0 → 1,100 |
#ifndef _I2C_MASTER_H |
#define _I2C_MASTER_H |
+ |
+#include <inttypes.h> |
+ |
+#define TWI_STATE_MOTOR_TX 0 |
+#define TWI_STATE_MOTOR_RX 5 |
+#define TWI_STATE_GYRO_OFFSET_TX 18 |
+ |
+extern volatile uint8_t twi_state; |
+extern volatile uint8_t motor_write; |
+extern volatile uint8_t motor_read; |
+ |
+ |
+extern uint8_t MissingMotor; |
+ |
+#define MAX_MOTORS 12 |
+#define MOTOR_STATE_PRESENT_MASK 0x80 |
+#define MOTOR_STATE_ERROR_MASK 0x7F |
+ |
+#define MOTOR_STATE_NEW_PROTOCOL_MASK 0x01 |
+ |
+#define BLFLAG_TX_COMPLETE 0x01 |
+#define BLFLAG_READ_VERSION 0x02 |
+ |
+extern volatile uint8_t BLFlags; |
+ |
+ |
+#define BL_READMODE_STATUS 0 |
+#define BL_READMODE_CONFIG 16 |
+ |
+typedef struct |
+{ |
+ uint8_t Version; // the version of the BL (0 = old) |
+ uint8_t SetPoint; // written by attitude controller |
+ uint8_t SetPointLowerBits; // for higher Resolution of new BLs |
+ uint8_t State; // 7 bit for I2C error counter, highest bit indicates if motor is present |
+ uint8_t ReadMode; // select data to read |
+ // the following bytes must be exactly in that order! |
+ uint8_t Current; // in 0.1 A steps, read back from BL |
+ uint8_t MaxPWM; // read back from BL is less than 255 if BL is in current limit |
+ int8_t Temperature; // old BL-Ctrl will return a 255 here, the new version the temp. in °C |
+} __attribute__((packed)) MotorData_t; |
+ |
+extern MotorData_t Motor[MAX_MOTORS]; |
+ |
+#define BLCONFIG_REVISION 2 |
+ |
+#define MASK_SET_PWM_SCALING 0x01 |
+#define MASK_SET_CURRENT_LIMIT 0x02 |
+#define MASK_SET_TEMP_LIMIT 0x04 |
+#define MASK_SET_CURRENT_SCALING 0x08 |
+#define MASK_SET_BITCONFIG 0x10 |
+#define MASK_RESET_CAPCOUNTER 0x20 |
+#define MASK_SET_DEFAULT_PARAMS 0x40 |
+#define MASK_SET_SAVE_EEPROM 0x80 |
+ |
+#define BITCONF_REVERSE_ROTATION 0x01 |
+#define BITCONF_RES1 0x02 |
+#define BITCONF_RES2 0x04 |
+#define BITCONF_RES3 0x08 |
+#define BITCONF_RES4 0x10 |
+#define BITCONF_RES5 0x20 |
+#define BITCONF_RES6 0x40 |
+#define BITCONF_RES7 0x80 |
+ |
+typedef struct |
+{ |
+ uint8_t Revision; // must be BL_REVISION |
+ uint8_t SetMask; // settings mask |
+ uint8_t PwmScaling; // maximum value of control pwm, acts like a thrust limit |
+ uint8_t CurrentLimit; // current limit in A |
+ uint8_t TempLimit; // in °C |
+ uint8_t CurrentScaling; // scaling factor for current measurement |
+ uint8_t BitConfig; // see defines above |
+ uint8_t crc; // checksum |
+} __attribute__((packed)) BLConfig_t; |
+ |
+extern BLConfig_t BLConfig; |
+ |
+extern volatile uint16_t I2CTimeout; |
+ |
+void I2C_Init (void); // Initialize I2C |
+#define I2C_Start(start_state) {twi_state = start_state; BLFlags &= ~BLFLAG_TX_COMPLETE; TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE);} |
+#define I2C_Stop(start_state) {twi_state = start_state; TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT);} |
+void I2C_Reset(void); // Reset I2C |
+ |
+#define BLCONFIG_SUCCESS 0 |
+#define BLCONFIG_ERR_MOTOR_RUNNING 1 |
+#define BLCONFIG_ERR_MOTOR_NOT_EXIST 2 |
+#define BLCONFIG_ERR_HW_NOT_COMPATIBLE 3 |
+#define BLCONFIG_ERR_SW_NOT_COMPATIBLE 4 |
+#define BLCONFIG_ERR_CHECKSUM 5 |
+#define BLCONFIG_ERR_READ_NOT_POSSIBLE 6 |
+ |
+uint8_t I2C_WriteBLConfig(uint8_t motor); |
+uint8_t I2C_ReadBLConfig(uint8_t motor); |
+ |
+#endif |
/branches/V0.80d-Arthur-P/twimaster.lst |
---|
0,0 → 1,1184 |
1 .file "twimaster.c" |
2 .arch atmega644p |
3 __SREG__ = 0x3f |
4 __SP_H__ = 0x3e |
5 __SP_L__ = 0x3d |
6 __tmp_reg__ = 0 |
7 __zero_reg__ = 1 |
8 .global __do_copy_data |
9 .global __do_clear_bss |
10 .global BLConfig_ReadMask |
11 .global BLConfig_ReadMask |
12 .section .bss |
15 BLConfig_ReadMask: |
16 0000 0000 .skip 2,0 |
17 .global BLConfig_WriteMask |
18 .global BLConfig_WriteMask |
21 BLConfig_WriteMask: |
22 0002 0000 .skip 2,0 |
23 .global BLFlags |
24 .global BLFlags |
27 BLFlags: |
28 0004 00 .skip 1,0 |
29 .global MissingMotor |
30 .global MissingMotor |
33 MissingMotor: |
34 0005 00 .skip 1,0 |
35 .global I2CTimeout |
36 .data |
39 I2CTimeout: |
40 0000 6400 .word 100 |
41 .global motor_read |
42 .global motor_read |
43 .section .bss |
46 motor_read: |
47 0006 00 .skip 1,0 |
48 .global motor_write |
49 .global motor_write |
52 motor_write: |
53 0007 00 .skip 1,0 |
54 .global dac_channel |
55 .global dac_channel |
58 dac_channel: |
59 0008 00 .skip 1,0 |
60 .global twi_state |
61 .global twi_state |
64 twi_state: |
65 0009 00 .skip 1,0 |
66 .text |
67 .global I2C_Init |
69 I2C_Init: |
70 /* prologue: frame size=0 */ |
71 /* prologue end (size=0) */ |
72 0000 9FB7 in r25,95-0x20 |
73 /* #APP */ |
74 0002 F894 cli |
75 /* #NOAPP */ |
76 0004 3998 cbi 39-0x20,1 |
77 0006 389A sbi 39-0x20,0 |
78 0008 88B1 in r24,40-0x20 |
79 000a 8360 ori r24,lo8(3) |
80 000c 88B9 out 40-0x20,r24 |
81 000e 8091 B900 lds r24,185 |
82 0012 8C7F andi r24,lo8(-4) |
83 0014 8093 B900 sts 185,r24 |
84 0018 8AE2 ldi r24,lo8(42) |
85 001a 8093 B800 sts 184,r24 |
86 001e 1092 0000 sts twi_state,__zero_reg__ |
87 0022 1092 0000 sts motor_write,__zero_reg__ |
88 0026 1092 0000 sts motor_read,__zero_reg__ |
89 002a E0E0 ldi r30,lo8(Motor) |
90 002c F0E0 ldi r31,hi8(Motor) |
91 002e 8BE0 ldi r24,lo8(11) |
92 .L5: |
93 0030 1082 st Z,__zero_reg__ |
94 0032 1182 std Z+1,__zero_reg__ |
95 0034 1282 std Z+2,__zero_reg__ |
96 0036 1382 std Z+3,__zero_reg__ |
97 0038 1482 std Z+4,__zero_reg__ |
98 003a 1582 std Z+5,__zero_reg__ |
99 003c 1682 std Z+6,__zero_reg__ |
100 003e 1782 std Z+7,__zero_reg__ |
101 0040 8150 subi r24,lo8(-(-1)) |
102 0042 3896 adiw r30,8 |
103 0044 87FF sbrs r24,7 |
104 0046 F4CF rjmp .L5 |
105 0048 9FBF out 95-0x20,r25 |
106 /* epilogue: frame size=0 */ |
107 004a 0895 ret |
108 /* epilogue end (size=1) */ |
109 /* function I2C_Init size 39 (38) */ |
111 .global I2C_Reset |
113 I2C_Reset: |
114 /* prologue: frame size=0 */ |
115 /* prologue end (size=0) */ |
116 004c 1092 0000 sts twi_state,__zero_reg__ |
117 0050 84E9 ldi r24,lo8(-108) |
118 0052 8093 BC00 sts 188,r24 |
119 0056 1092 0000 sts motor_write,__zero_reg__ |
120 005a 1092 0000 sts motor_read,__zero_reg__ |
121 005e 80E8 ldi r24,lo8(-128) |
122 0060 8093 BC00 sts 188,r24 |
123 0064 1092 BD00 sts 189,__zero_reg__ |
124 0068 1092 BA00 sts 186,__zero_reg__ |
125 006c 1092 BB00 sts 187,__zero_reg__ |
126 0070 1092 B900 sts 185,__zero_reg__ |
127 0074 1092 B800 sts 184,__zero_reg__ |
128 0078 0E94 0000 call I2C_Init |
129 007c 1092 BB00 sts 187,__zero_reg__ |
130 0080 85E8 ldi r24,lo8(-123) |
131 0082 8093 BC00 sts 188,r24 |
132 0086 8091 0000 lds r24,BLFlags |
133 008a 8260 ori r24,lo8(2) |
134 008c 8093 0000 sts BLFlags,r24 |
135 /* epilogue: frame size=0 */ |
136 0090 0895 ret |
137 /* epilogue end (size=1) */ |
138 /* function I2C_Reset size 35 (34) */ |
140 .lcomm missing_motor.0,1 |
141 .lcomm motor_read_temperature.1,1 |
142 .lcomm pBuff.2,2 |
143 .lcomm BuffLen.3,1 |
144 .global __vector_26 |
146 __vector_26: |
147 /* prologue: frame size=0 */ |
148 0092 1F92 push __zero_reg__ |
149 0094 0F92 push __tmp_reg__ |
150 0096 0FB6 in __tmp_reg__,__SREG__ |
151 0098 0F92 push __tmp_reg__ |
152 009a 1124 clr __zero_reg__ |
153 009c 2F93 push r18 |
154 009e 3F93 push r19 |
155 00a0 4F93 push r20 |
156 00a2 5F93 push r21 |
157 00a4 8F93 push r24 |
158 00a6 9F93 push r25 |
159 00a8 EF93 push r30 |
160 00aa FF93 push r31 |
161 /* prologue end (size=13) */ |
162 00ac 8091 0000 lds r24,twi_state |
163 00b0 282F mov r18,r24 |
164 00b2 3327 clr r19 |
165 00b4 4427 clr r20 |
166 00b6 5527 clr r21 |
167 00b8 8F5F subi r24,lo8(-(1)) |
168 00ba 8093 0000 sts twi_state,r24 |
169 00be F901 movw r30,r18 |
170 00c0 2731 cpi r18,23 |
171 00c2 3105 cpc r19,__zero_reg__ |
172 00c4 08F0 brlo .+2 |
173 00c6 B3C2 rjmp .L72 |
174 00c8 E050 subi r30,lo8(-(pm(.L73))) |
175 00ca F040 sbci r31,hi8(-(pm(.L73))) |
176 00cc 0C94 0000 jmp __tablejump2__ |
177 .data |
178 .section .progmem.gcc_sw_table, "a", @progbits |
179 .p2align 1 |
180 .L73: |
181 0000 0000 .word pm(.L76) |
182 0002 0000 .word pm(.L17) |
183 0004 0000 .word pm(.L22) |
184 0006 0000 .word pm(.L27) |
185 0008 0000 .word pm(.L29) |
186 000a 0000 .word pm(.L33) |
187 000c 0000 .word pm(.L50) |
188 000e 0000 .word pm(.L72) |
189 0010 0000 .word pm(.L72) |
190 0012 0000 .word pm(.L72) |
191 0014 0000 .word pm(.L72) |
192 0016 0000 .word pm(.L72) |
193 0018 0000 .word pm(.L72) |
194 001a 0000 .word pm(.L72) |
195 001c 0000 .word pm(.L72) |
196 001e 0000 .word pm(.L72) |
197 0020 0000 .word pm(.L72) |
198 0022 0000 .word pm(.L72) |
199 0024 0000 .word pm(.L60) |
200 0026 0000 .word pm(.L61) |
201 0028 0000 .word pm(.L62) |
202 002a 0000 .word pm(.L68) |
203 002c 0000 .word pm(.L69) |
204 .text |
205 .L75: |
206 00d0 8091 0000 lds r24,motor_write |
207 00d4 8C30 cpi r24,lo8(12) |
208 00d6 90F4 brsh .L13 |
209 00d8 8091 0000 lds r24,motor_write |
210 00dc 8F5F subi r24,lo8(-(1)) |
211 00de 8093 0000 sts motor_write,r24 |
212 .L76: |
213 00e2 8091 0000 lds r24,motor_write |
214 00e6 E82F mov r30,r24 |
215 00e8 FF27 clr r31 |
216 00ea EE0F lsl r30 |
217 00ec FF1F rol r31 |
218 00ee EE0F lsl r30 |
219 00f0 FF1F rol r31 |
220 00f2 E050 subi r30,lo8(-(Mixer)) |
221 00f4 F040 sbci r31,hi8(-(Mixer)) |
222 00f6 8585 ldd r24,Z+13 |
223 00f8 1816 cp __zero_reg__,r24 |
224 00fa 54F7 brge .L75 |
225 .L13: |
226 00fc 8091 0000 lds r24,motor_write |
227 0100 8C30 cpi r24,lo8(12) |
228 0102 70F0 brlo .L15 |
229 0104 1092 0000 sts (BLConfig_WriteMask)+1,__zero_reg__ |
230 0108 1092 0000 sts BLConfig_WriteMask,__zero_reg__ |
231 010c 1092 0000 sts motor_write,__zero_reg__ |
232 0110 85E0 ldi r24,lo8(5) |
233 0112 8093 0000 sts twi_state,r24 |
234 0116 8091 0000 lds r24,motor_read |
235 011a 880F lsl r24 |
236 011c 8D5A subi r24,lo8(-(83)) |
237 011e 04C0 rjmp .L84 |
238 .L15: |
239 0120 8091 0000 lds r24,motor_write |
240 0124 880F lsl r24 |
241 0126 8E5A subi r24,lo8(-(82)) |
242 .L84: |
243 0128 8093 BB00 sts 187,r24 |
244 012c 85E8 ldi r24,lo8(-123) |
245 012e 74C2 rjmp .L80 |
246 .L17: |
247 0130 8091 0000 lds r24,motor_write |
248 0134 E82F mov r30,r24 |
249 0136 FF27 clr r31 |
250 0138 83E0 ldi r24,3 |
251 013a EE0F 1: lsl r30 |
252 013c FF1F rol r31 |
253 013e 8A95 dec r24 |
254 0140 E1F7 brne 1b |
255 0142 E050 subi r30,lo8(-(Motor)) |
256 0144 F040 sbci r31,hi8(-(Motor)) |
257 0146 8181 ldd r24,Z+1 |
258 0148 8093 BB00 sts 187,r24 |
259 014c 85E8 ldi r24,lo8(-123) |
260 014e 8093 BC00 sts 188,r24 |
261 0152 8091 0000 lds r24,motor_write |
262 0156 E82F mov r30,r24 |
263 0158 FF27 clr r31 |
264 015a EE0F lsl r30 |
265 015c FF1F rol r31 |
266 015e EE0F lsl r30 |
267 0160 FF1F rol r31 |
268 0162 EE0F lsl r30 |
269 0164 FF1F rol r31 |
270 0166 E050 subi r30,lo8(-(Motor)) |
271 0168 F040 sbci r31,hi8(-(Motor)) |
272 016a 8081 ld r24,Z |
273 016c 80FF sbrs r24,0 |
274 016e 91C0 rjmp .L25 |
275 0170 8091 0000 lds r24,motor_write |
276 0174 E82F mov r30,r24 |
277 0176 FF27 clr r31 |
278 0178 EE0F lsl r30 |
279 017a FF1F rol r31 |
280 017c EE0F lsl r30 |
281 017e FF1F rol r31 |
282 0180 EE0F lsl r30 |
283 0182 FF1F rol r31 |
284 0184 E050 subi r30,lo8(-(Motor)) |
285 0186 F040 sbci r31,hi8(-(Motor)) |
286 0188 8281 ldd r24,Z+2 |
287 018a 8823 tst r24 |
288 018c 29F0 breq .L21 |
289 018e 8091 0000 lds r24,RequiredMotors |
290 0192 8730 cpi r24,lo8(7) |
291 0194 08F4 brsh .+2 |
292 0196 5FC2 rjmp .L9 |
293 .L21: |
294 0198 8091 0000 lds r24,BLConfig_WriteMask |
295 019c 9091 0000 lds r25,(BLConfig_WriteMask)+1 |
296 01a0 892B or r24,r25 |
297 01a2 09F0 breq .+2 |
298 01a4 58C2 rjmp .L9 |
299 01a6 8091 0000 lds r24,BLConfig_ReadMask |
300 01aa 9091 0000 lds r25,(BLConfig_ReadMask)+1 |
301 01ae 892B or r24,r25 |
302 01b0 09F0 breq .+2 |
303 01b2 51C2 rjmp .L9 |
304 01b4 6EC0 rjmp .L25 |
305 .L22: |
306 01b6 8091 0000 lds r24,motor_write |
307 01ba 21E0 ldi r18,lo8(1) |
308 01bc 30E0 ldi r19,hi8(1) |
309 01be 02C0 rjmp 2f |
310 01c0 220F 1: lsl r18 |
311 01c2 331F rol r19 |
312 01c4 8A95 2: dec r24 |
313 01c6 E2F7 brpl 1b |
314 01c8 8091 0000 lds r24,BLConfig_ReadMask |
315 01cc 9091 0000 lds r25,(BLConfig_ReadMask)+1 |
316 01d0 2823 and r18,r24 |
317 01d2 3923 and r19,r25 |
318 01d4 232B or r18,r19 |
319 01d6 79F0 breq .L23 |
320 01d8 8091 0000 lds r24,motor_write |
321 01dc E82F mov r30,r24 |
322 01de FF27 clr r31 |
323 01e0 EE0F lsl r30 |
324 01e2 FF1F rol r31 |
325 01e4 EE0F lsl r30 |
326 01e6 FF1F rol r31 |
327 01e8 EE0F lsl r30 |
328 01ea FF1F rol r31 |
329 01ec E050 subi r30,lo8(-(Motor)) |
330 01ee F040 sbci r31,hi8(-(Motor)) |
331 01f0 80E1 ldi r24,lo8(16) |
332 01f2 8483 std Z+4,r24 |
333 01f4 0DC0 rjmp .L24 |
334 .L23: |
335 01f6 8091 0000 lds r24,motor_write |
336 01fa E82F mov r30,r24 |
337 01fc FF27 clr r31 |
338 01fe EE0F lsl r30 |
339 0200 FF1F rol r31 |
340 0202 EE0F lsl r30 |
341 0204 FF1F rol r31 |
342 0206 EE0F lsl r30 |
343 0208 FF1F rol r31 |
344 020a E050 subi r30,lo8(-(Motor)) |
345 020c F040 sbci r31,hi8(-(Motor)) |
346 020e 1482 std Z+4,__zero_reg__ |
347 .L24: |
348 0210 8091 0000 lds r24,motor_write |
349 0214 E82F mov r30,r24 |
350 0216 FF27 clr r31 |
351 0218 53E0 ldi r21,3 |
352 021a EE0F 1: lsl r30 |
353 021c FF1F rol r31 |
354 021e 5A95 dec r21 |
355 0220 E1F7 brne 1b |
356 0222 E050 subi r30,lo8(-(Motor)) |
357 0224 F040 sbci r31,hi8(-(Motor)) |
358 0226 8481 ldd r24,Z+4 |
359 0228 282F mov r18,r24 |
360 022a 3327 clr r19 |
361 022c 43E0 ldi r20,3 |
362 022e 220F 1: lsl r18 |
363 0230 331F rol r19 |
364 0232 4A95 dec r20 |
365 0234 E1F7 brne 1b |
366 0236 8091 0000 lds r24,motor_write |
367 023a E82F mov r30,r24 |
368 023c FF27 clr r31 |
369 023e 93E0 ldi r25,3 |
370 0240 EE0F 1: lsl r30 |
371 0242 FF1F rol r31 |
372 0244 9A95 dec r25 |
373 0246 E1F7 brne 1b |
374 0248 E050 subi r30,lo8(-(Motor)) |
375 024a F040 sbci r31,hi8(-(Motor)) |
376 024c 8281 ldd r24,Z+2 |
377 024e 8770 andi r24,lo8(7) |
378 0250 822B or r24,r18 |
379 0252 8093 BB00 sts 187,r24 |
380 0256 85E8 ldi r24,lo8(-123) |
381 0258 8093 BC00 sts 188,r24 |
382 025c 2091 0000 lds r18,motor_write |
383 0260 81E0 ldi r24,lo8(1) |
384 0262 90E0 ldi r25,hi8(1) |
385 0264 02C0 rjmp 2f |
386 0266 880F 1: lsl r24 |
387 0268 991F rol r25 |
388 026a 2A95 2: dec r18 |
389 026c E2F7 brpl 1b |
390 026e 2091 0000 lds r18,BLConfig_WriteMask |
391 0272 3091 0000 lds r19,(BLConfig_WriteMask)+1 |
392 0276 8223 and r24,r18 |
393 0278 9323 and r25,r19 |
394 027a 892B or r24,r25 |
395 027c 51F0 breq .L25 |
396 027e 80E0 ldi r24,lo8(BLConfig) |
397 0280 90E0 ldi r25,hi8(BLConfig) |
398 0282 9093 0000 sts (pBuff.2)+1,r25 |
399 0286 8093 0000 sts pBuff.2,r24 |
400 028a 88E0 ldi r24,lo8(8) |
401 028c 8093 0000 sts BuffLen.3,r24 |
402 0290 E2C1 rjmp .L9 |
403 .L25: |
404 0292 84E0 ldi r24,lo8(4) |
405 0294 80C1 rjmp .L82 |
406 .L27: |
407 0296 E091 0000 lds r30,pBuff.2 |
408 029a F091 0000 lds r31,(pBuff.2)+1 |
409 029e 8191 ld r24,Z+ |
410 02a0 8093 BB00 sts 187,r24 |
411 02a4 85E8 ldi r24,lo8(-123) |
412 02a6 8093 BC00 sts 188,r24 |
413 02aa F093 0000 sts (pBuff.2)+1,r31 |
414 02ae E093 0000 sts pBuff.2,r30 |
415 02b2 8091 0000 lds r24,BuffLen.3 |
416 02b6 8150 subi r24,lo8(-(-1)) |
417 02b8 8093 0000 sts BuffLen.3,r24 |
418 02bc 8823 tst r24 |
419 02be 09F4 brne .+2 |
420 02c0 CAC1 rjmp .L9 |
421 02c2 83E0 ldi r24,lo8(3) |
422 02c4 68C1 rjmp .L82 |
423 .L29: |
424 02c6 8091 B900 lds r24,185 |
425 02ca 8033 cpi r24,lo8(48) |
426 02cc 51F5 brne .L30 |
427 02ce 8091 0000 lds r24,missing_motor.0 |
428 02d2 8823 tst r24 |
429 02d4 29F4 brne .L31 |
430 02d6 8091 0000 lds r24,motor_write |
431 02da 8F5F subi r24,lo8(-(1)) |
432 02dc 8093 0000 sts missing_motor.0,r24 |
433 .L31: |
434 02e0 8091 0000 lds r24,motor_write |
435 02e4 E82F mov r30,r24 |
436 02e6 FF27 clr r31 |
437 02e8 83E0 ldi r24,3 |
438 02ea EE0F 1: lsl r30 |
439 02ec FF1F rol r31 |
440 02ee 8A95 dec r24 |
441 02f0 E1F7 brne 1b |
442 02f2 E050 subi r30,lo8(-(Motor)) |
443 02f4 F040 sbci r31,hi8(-(Motor)) |
444 02f6 8381 ldd r24,Z+3 |
445 02f8 9927 clr r25 |
446 02fa 8F77 andi r24,lo8(127) |
447 02fc 9070 andi r25,hi8(127) |
448 02fe 8F37 cpi r24,127 |
449 0300 9105 cpc r25,__zero_reg__ |
450 0302 7CF4 brge .L30 |
451 0304 8091 0000 lds r24,motor_write |
452 0308 E82F mov r30,r24 |
453 030a FF27 clr r31 |
454 030c EE0F lsl r30 |
455 030e FF1F rol r31 |
456 0310 EE0F lsl r30 |
457 0312 FF1F rol r31 |
458 0314 EE0F lsl r30 |
459 0316 FF1F rol r31 |
460 0318 E050 subi r30,lo8(-(Motor)) |
461 031a F040 sbci r31,hi8(-(Motor)) |
462 031c 8381 ldd r24,Z+3 |
463 031e 8F5F subi r24,lo8(-(1)) |
464 0320 8383 std Z+3,r24 |
465 .L30: |
466 0322 1092 0000 sts twi_state,__zero_reg__ |
467 0326 84E9 ldi r24,lo8(-108) |
468 0328 8093 BC00 sts 188,r24 |
469 032c 8AE0 ldi r24,lo8(10) |
470 032e 90E0 ldi r25,hi8(10) |
471 0330 9093 0000 sts (I2CTimeout)+1,r25 |
472 0334 8093 0000 sts I2CTimeout,r24 |
473 0338 8091 0000 lds r24,motor_write |
474 033c 8F5F subi r24,lo8(-(1)) |
475 033e 8093 0000 sts motor_write,r24 |
476 0342 1092 0000 sts twi_state,__zero_reg__ |
477 0346 62C1 rjmp .L85 |
478 .L33: |
479 0348 8091 B900 lds r24,185 |
480 034c 8034 cpi r24,lo8(64) |
481 034e A9F1 breq .L34 |
482 0350 8091 0000 lds r24,motor_read |
483 0354 E82F mov r30,r24 |
484 0356 FF27 clr r31 |
485 0358 EE0F lsl r30 |
486 035a FF1F rol r31 |
487 035c EE0F lsl r30 |
488 035e FF1F rol r31 |
489 0360 EE0F lsl r30 |
490 0362 FF1F rol r31 |
491 0364 E050 subi r30,lo8(-(Motor)) |
492 0366 F040 sbci r31,hi8(-(Motor)) |
493 0368 8381 ldd r24,Z+3 |
494 036a 8F77 andi r24,lo8(127) |
495 036c 8383 std Z+3,r24 |
496 036e 8091 0000 lds r24,motor_read |
497 0372 8F5F subi r24,lo8(-(1)) |
498 0374 8093 0000 sts motor_read,r24 |
499 0378 8091 0000 lds r24,motor_read |
500 037c 8C30 cpi r24,lo8(12) |
501 037e A0F0 brlo .L35 |
502 0380 1092 0000 sts motor_read,__zero_reg__ |
503 0384 1092 0000 sts (BLConfig_ReadMask)+1,__zero_reg__ |
504 0388 1092 0000 sts BLConfig_ReadMask,__zero_reg__ |
505 038c 8091 0000 lds r24,motor_read_temperature.1 |
506 0390 8F5F subi r24,lo8(-(1)) |
507 0392 8093 0000 sts motor_read_temperature.1,r24 |
508 0396 8C30 cpi r24,lo8(12) |
509 0398 38F0 brlo .L35 |
510 039a 1092 0000 sts motor_read_temperature.1,__zero_reg__ |
511 039e 8091 0000 lds r24,BLFlags |
512 03a2 8D7F andi r24,lo8(-3) |
513 03a4 8093 0000 sts BLFlags,r24 |
514 .L35: |
515 03a8 8091 0000 lds r24,BLFlags |
516 03ac 8160 ori r24,lo8(1) |
517 03ae 8093 0000 sts BLFlags,r24 |
518 03b2 1092 0000 sts twi_state,__zero_reg__ |
519 03b6 84E9 ldi r24,lo8(-108) |
520 03b8 71C0 rjmp .L78 |
521 .L34: |
522 03ba 8091 0000 lds r24,motor_read |
523 03be E82F mov r30,r24 |
524 03c0 FF27 clr r31 |
525 03c2 EE0F lsl r30 |
526 03c4 FF1F rol r31 |
527 03c6 EE0F lsl r30 |
528 03c8 FF1F rol r31 |
529 03ca EE0F lsl r30 |
530 03cc FF1F rol r31 |
531 03ce E050 subi r30,lo8(-(Motor)) |
532 03d0 F040 sbci r31,hi8(-(Motor)) |
533 03d2 8381 ldd r24,Z+3 |
534 03d4 8068 ori r24,lo8(-128) |
535 03d6 8383 std Z+3,r24 |
536 03d8 8091 0000 lds r24,motor_read |
537 03dc E82F mov r30,r24 |
538 03de FF27 clr r31 |
539 03e0 EE0F lsl r30 |
540 03e2 FF1F rol r31 |
541 03e4 EE0F lsl r30 |
542 03e6 FF1F rol r31 |
543 03e8 EE0F lsl r30 |
544 03ea FF1F rol r31 |
545 03ec E050 subi r30,lo8(-(Motor)) |
546 03ee F040 sbci r31,hi8(-(Motor)) |
547 03f0 8081 ld r24,Z |
548 03f2 80FF sbrs r24,0 |
549 03f4 2FC0 rjmp .L38 |
550 03f6 8091 0000 lds r24,motor_read |
551 03fa E82F mov r30,r24 |
552 03fc FF27 clr r31 |
553 03fe 53E0 ldi r21,3 |
554 0400 EE0F 1: lsl r30 |
555 0402 FF1F rol r31 |
556 0404 5A95 dec r21 |
557 0406 E1F7 brne 1b |
558 0408 E050 subi r30,lo8(-(Motor)) |
559 040a F040 sbci r31,hi8(-(Motor)) |
560 040c 8481 ldd r24,Z+4 |
561 040e 9927 clr r25 |
562 0410 0097 sbiw r24,0 |
563 0412 51F0 breq .L41 |
564 0414 4097 sbiw r24,16 |
565 0416 D9F5 brne .L44 |
566 0418 80E0 ldi r24,lo8(BLConfig) |
567 041a 90E0 ldi r25,hi8(BLConfig) |
568 041c 9093 0000 sts (pBuff.2)+1,r25 |
569 0420 8093 0000 sts pBuff.2,r24 |
570 0424 88E0 ldi r24,lo8(8) |
571 0426 31C0 rjmp .L77 |
572 .L41: |
573 0428 8091 0000 lds r24,motor_read |
574 042c 9927 clr r25 |
575 042e 43E0 ldi r20,3 |
576 0430 880F 1: lsl r24 |
577 0432 991F rol r25 |
578 0434 4A95 dec r20 |
579 0436 E1F7 brne 1b |
580 0438 8050 subi r24,lo8(-(Motor+5)) |
581 043a 9040 sbci r25,hi8(-(Motor+5)) |
582 043c 9093 0000 sts (pBuff.2)+1,r25 |
583 0440 8093 0000 sts pBuff.2,r24 |
584 0444 9091 0000 lds r25,motor_read |
585 0448 8091 0000 lds r24,motor_read_temperature.1 |
586 044c 9817 cp r25,r24 |
587 044e E1F4 brne .L45 |
588 0450 83E0 ldi r24,lo8(3) |
589 0452 1BC0 rjmp .L77 |
590 .L38: |
591 0454 8091 0000 lds r24,motor_read |
592 0458 9927 clr r25 |
593 045a 33E0 ldi r19,3 |
594 045c 880F 1: lsl r24 |
595 045e 991F rol r25 |
596 0460 3A95 dec r19 |
597 0462 E1F7 brne 1b |
598 0464 8050 subi r24,lo8(-(Motor+5)) |
599 0466 9040 sbci r25,hi8(-(Motor+5)) |
600 0468 9093 0000 sts (pBuff.2)+1,r25 |
601 046c 8093 0000 sts pBuff.2,r24 |
602 0470 8091 0000 lds r24,BLFlags |
603 0474 81FD sbrc r24,1 |
604 0476 06C0 rjmp .L46 |
605 0478 9091 0000 lds r25,motor_read |
606 047c 8091 0000 lds r24,motor_read_temperature.1 |
607 0480 9817 cp r25,r24 |
608 0482 11F4 brne .L45 |
609 .L46: |
610 0484 82E0 ldi r24,lo8(2) |
611 0486 01C0 rjmp .L77 |
612 .L45: |
613 0488 81E0 ldi r24,lo8(1) |
614 .L77: |
615 048a 8093 0000 sts BuffLen.3,r24 |
616 .L44: |
617 048e 8091 0000 lds r24,BuffLen.3 |
618 0492 8130 cpi r24,lo8(1) |
619 0494 11F4 brne .L48 |
620 0496 85E8 ldi r24,lo8(-123) |
621 0498 01C0 rjmp .L78 |
622 .L48: |
623 049a 85EC ldi r24,lo8(-59) |
624 .L78: |
625 049c 8093 BC00 sts 188,r24 |
626 04a0 8091 0000 lds r24,missing_motor.0 |
627 04a4 8093 0000 sts MissingMotor,r24 |
628 04a8 1092 0000 sts missing_motor.0,__zero_reg__ |
629 04ac D4C0 rjmp .L9 |
630 .L50: |
631 04ae E091 0000 lds r30,pBuff.2 |
632 04b2 F091 0000 lds r31,(pBuff.2)+1 |
633 04b6 8091 BB00 lds r24,187 |
634 04ba 8083 st Z,r24 |
635 04bc 8091 0000 lds r24,pBuff.2 |
636 04c0 9091 0000 lds r25,(pBuff.2)+1 |
637 04c4 0196 adiw r24,1 |
638 04c6 9093 0000 sts (pBuff.2)+1,r25 |
639 04ca 8093 0000 sts pBuff.2,r24 |
640 04ce 8091 0000 lds r24,BuffLen.3 |
641 04d2 8150 subi r24,lo8(-(-1)) |
642 04d4 8093 0000 sts BuffLen.3,r24 |
643 04d8 8230 cpi r24,lo8(2) |
644 04da 10F0 brlo .L51 |
645 04dc 85EC ldi r24,lo8(-59) |
646 04de 58C0 rjmp .L79 |
647 .L51: |
648 04e0 8130 cpi r24,lo8(1) |
649 04e2 11F4 brne .L53 |
650 04e4 85E8 ldi r24,lo8(-123) |
651 04e6 54C0 rjmp .L79 |
652 .L53: |
653 04e8 8091 0000 lds r24,BLFlags |
654 04ec 81FF sbrs r24,1 |
655 04ee 2DC0 rjmp .L55 |
656 04f0 8091 0000 lds r24,FCFlags |
657 04f4 80FD sbrc r24,0 |
658 04f6 1DC0 rjmp .L56 |
659 04f8 8091 0000 lds r24,motor_read |
660 04fc E82F mov r30,r24 |
661 04fe FF27 clr r31 |
662 0500 23E0 ldi r18,3 |
663 0502 EE0F 1: lsl r30 |
664 0504 FF1F rol r31 |
665 0506 2A95 dec r18 |
666 0508 E1F7 brne 1b |
667 050a E050 subi r30,lo8(-(Motor)) |
668 050c F040 sbci r31,hi8(-(Motor)) |
669 050e 8681 ldd r24,Z+6 |
670 0510 8A3F cpi r24,lo8(-6) |
671 0512 79F4 brne .L56 |
672 0514 8091 0000 lds r24,motor_read |
673 0518 E82F mov r30,r24 |
674 051a FF27 clr r31 |
675 051c 93E0 ldi r25,3 |
676 051e EE0F 1: lsl r30 |
677 0520 FF1F rol r31 |
678 0522 9A95 dec r25 |
679 0524 E1F7 brne 1b |
680 0526 E050 subi r30,lo8(-(Motor)) |
681 0528 F040 sbci r31,hi8(-(Motor)) |
682 052a 8081 ld r24,Z |
683 052c 8160 ori r24,lo8(1) |
684 052e 8083 st Z,r24 |
685 0530 0CC0 rjmp .L55 |
686 .L56: |
687 0532 8091 0000 lds r24,motor_read |
688 0536 E82F mov r30,r24 |
689 0538 FF27 clr r31 |
690 053a 83E0 ldi r24,3 |
691 053c EE0F 1: lsl r30 |
692 053e FF1F rol r31 |
693 0540 8A95 dec r24 |
694 0542 E1F7 brne 1b |
695 0544 E050 subi r30,lo8(-(Motor)) |
696 0546 F040 sbci r31,hi8(-(Motor)) |
697 0548 1082 st Z,__zero_reg__ |
698 .L55: |
699 054a 8091 0000 lds r24,motor_read |
700 054e 8F5F subi r24,lo8(-(1)) |
701 0550 8093 0000 sts motor_read,r24 |
702 0554 8091 0000 lds r24,motor_read |
703 0558 8C30 cpi r24,lo8(12) |
704 055a A0F0 brlo .L58 |
705 055c 1092 0000 sts motor_read,__zero_reg__ |
706 0560 1092 0000 sts (BLConfig_ReadMask)+1,__zero_reg__ |
707 0564 1092 0000 sts BLConfig_ReadMask,__zero_reg__ |
708 0568 8091 0000 lds r24,motor_read_temperature.1 |
709 056c 8F5F subi r24,lo8(-(1)) |
710 056e 8093 0000 sts motor_read_temperature.1,r24 |
711 0572 8C30 cpi r24,lo8(12) |
712 0574 38F0 brlo .L58 |
713 0576 1092 0000 sts motor_read_temperature.1,__zero_reg__ |
714 057a 8091 0000 lds r24,BLFlags |
715 057e 8D7F andi r24,lo8(-3) |
716 0580 8093 0000 sts BLFlags,r24 |
717 .L58: |
718 0584 1092 0000 sts twi_state,__zero_reg__ |
719 0588 84E9 ldi r24,lo8(-108) |
720 058a 8093 BC00 sts 188,r24 |
721 058e 49C0 rjmp .L81 |
722 .L79: |
723 0590 8093 BC00 sts 188,r24 |
724 0594 86E0 ldi r24,lo8(6) |
725 .L82: |
726 0596 8093 0000 sts twi_state,r24 |
727 059a 5DC0 rjmp .L9 |
728 .L60: |
729 059c 88E9 ldi r24,lo8(-104) |
730 059e C4CD rjmp .L84 |
731 .L61: |
732 05a0 8091 0000 lds r24,dac_channel |
733 05a4 880F lsl r24 |
734 05a6 805F subi r24,lo8(-(16)) |
735 05a8 BFCD rjmp .L84 |
736 .L62: |
737 05aa 8091 0000 lds r24,dac_channel |
738 05ae 9927 clr r25 |
739 05b0 8130 cpi r24,1 |
740 05b2 9105 cpc r25,__zero_reg__ |
741 05b4 61F0 breq .L65 |
742 05b6 8230 cpi r24,2 |
743 05b8 9105 cpc r25,__zero_reg__ |
744 05ba 1CF4 brge .L67 |
745 05bc 892B or r24,r25 |
746 05be 21F0 breq .L64 |
747 05c0 4AC0 rjmp .L9 |
748 .L67: |
749 05c2 0297 sbiw r24,2 |
750 05c4 39F0 breq .L66 |
751 05c6 47C0 rjmp .L9 |
752 .L64: |
753 05c8 8091 0000 lds r24,AnalogOffsetNick |
754 05cc ADCD rjmp .L84 |
755 .L65: |
756 05ce 8091 0000 lds r24,AnalogOffsetRoll |
757 05d2 AACD rjmp .L84 |
758 .L66: |
759 05d4 8091 0000 lds r24,AnalogOffsetGier |
760 05d8 A7CD rjmp .L84 |
761 .L68: |
762 05da 80E8 ldi r24,lo8(-128) |
763 05dc A5CD rjmp .L84 |
764 .L69: |
765 05de 1092 0000 sts twi_state,__zero_reg__ |
766 05e2 84E9 ldi r24,lo8(-108) |
767 05e4 8093 BC00 sts 188,r24 |
768 05e8 8AE0 ldi r24,lo8(10) |
769 05ea 90E0 ldi r25,hi8(10) |
770 05ec 9093 0000 sts (I2CTimeout)+1,r25 |
771 05f0 8093 0000 sts I2CTimeout,r24 |
772 05f4 8091 0000 lds r24,dac_channel |
773 05f8 8230 cpi r24,lo8(2) |
774 05fa 88F4 brsh .L70 |
775 05fc 8091 0000 lds r24,dac_channel |
776 0600 8F5F subi r24,lo8(-(1)) |
777 0602 8093 0000 sts dac_channel,r24 |
778 0606 82E1 ldi r24,lo8(18) |
779 0608 8093 0000 sts twi_state,r24 |
780 .L85: |
781 060c 8091 0000 lds r24,BLFlags |
782 0610 8E7F andi r24,lo8(-2) |
783 0612 8093 0000 sts BLFlags,r24 |
784 0616 85EA ldi r24,lo8(-91) |
785 .L80: |
786 0618 8093 BC00 sts 188,r24 |
787 061c 1CC0 rjmp .L9 |
788 .L70: |
789 061e 1092 0000 sts dac_channel,__zero_reg__ |
790 .L81: |
791 0622 8091 0000 lds r24,BLFlags |
792 0626 8160 ori r24,lo8(1) |
793 0628 8093 0000 sts BLFlags,r24 |
794 062c 14C0 rjmp .L9 |
795 .L72: |
796 062e 1092 0000 sts twi_state,__zero_reg__ |
797 0632 84E9 ldi r24,lo8(-108) |
798 0634 8093 BC00 sts 188,r24 |
799 0638 8091 0000 lds r24,BLFlags |
800 063c 8160 ori r24,lo8(1) |
801 063e 8093 0000 sts BLFlags,r24 |
802 0642 8AE0 ldi r24,lo8(10) |
803 0644 90E0 ldi r25,hi8(10) |
804 0646 9093 0000 sts (I2CTimeout)+1,r25 |
805 064a 8093 0000 sts I2CTimeout,r24 |
806 064e 1092 0000 sts motor_write,__zero_reg__ |
807 0652 1092 0000 sts motor_read,__zero_reg__ |
808 .L9: |
809 /* epilogue: frame size=0 */ |
810 0656 FF91 pop r31 |
811 0658 EF91 pop r30 |
812 065a 9F91 pop r25 |
813 065c 8F91 pop r24 |
814 065e 5F91 pop r21 |
815 0660 4F91 pop r20 |
816 0662 3F91 pop r19 |
817 0664 2F91 pop r18 |
818 0666 0F90 pop __tmp_reg__ |
819 0668 0FBE out __SREG__,__tmp_reg__ |
820 066a 0F90 pop __tmp_reg__ |
821 066c 1F90 pop __zero_reg__ |
822 066e 1895 reti |
823 /* epilogue end (size=13) */ |
824 /* function __vector_26 size 779 (753) */ |
826 .global I2C_WriteBLConfig |
828 I2C_WriteBLConfig: |
829 /* prologue: frame size=0 */ |
830 0670 1F93 push r17 |
831 0672 CF93 push r28 |
832 0674 DF93 push r29 |
833 /* prologue end (size=3) */ |
834 0676 182F mov r17,r24 |
835 0678 8091 0000 lds r24,MotorenEin |
836 067c 8823 tst r24 |
837 067e 21F4 brne .L88 |
838 0680 8091 0000 lds r24,PC_MotortestActive |
839 0684 8823 tst r24 |
840 0686 19F0 breq .L87 |
841 .L88: |
842 0688 81E0 ldi r24,lo8(1) |
843 068a 90E0 ldi r25,hi8(1) |
844 068c 97C0 rjmp .L86 |
845 .L87: |
846 068e 1D30 cpi r17,lo8(13) |
847 0690 08F0 brlo .+2 |
848 0692 92C0 rjmp .L115 |
849 0694 1123 tst r17 |
850 0696 B1F0 breq .L90 |
851 0698 E12F mov r30,r17 |
852 069a FF27 clr r31 |
853 069c 23E0 ldi r18,3 |
854 069e EE0F 1: lsl r30 |
855 06a0 FF1F rol r31 |
856 06a2 2A95 dec r18 |
857 06a4 E1F7 brne 1b |
858 06a6 E050 subi r30,lo8(-(Motor)) |
859 06a8 F040 sbci r31,hi8(-(Motor)) |
860 06aa 3597 sbiw r30,5 |
861 06ac 8081 ld r24,Z |
862 06ae 3596 adiw r30,5 |
863 06b0 8823 tst r24 |
864 06b2 0CF0 brlt .+2 |
865 06b4 81C0 rjmp .L115 |
866 06b6 3897 sbiw r30,8 |
867 06b8 8081 ld r24,Z |
868 06ba 80FD sbrc r24,0 |
869 06bc 03C0 rjmp .L90 |
870 06be 83E0 ldi r24,lo8(3) |
871 06c0 90E0 ldi r25,hi8(3) |
872 06c2 7CC0 rjmp .L86 |
873 .L90: |
874 06c4 8091 0000 lds r24,BLConfig |
875 06c8 8230 cpi r24,lo8(2) |
876 06ca 19F0 breq .L93 |
877 06cc 84E0 ldi r24,lo8(4) |
878 06ce 90E0 ldi r25,hi8(4) |
879 06d0 75C0 rjmp .L86 |
880 .L93: |
881 06d2 67E0 ldi r22,lo8(7) |
882 06d4 70E0 ldi r23,hi8(7) |
883 06d6 80E0 ldi r24,lo8(BLConfig) |
884 06d8 90E0 ldi r25,hi8(BLConfig) |
885 06da 0E94 0000 call RAM_Checksum |
886 06de 9091 0000 lds r25,BLConfig+7 |
887 06e2 8917 cp r24,r25 |
888 06e4 19F0 breq .L94 |
889 06e6 85E0 ldi r24,lo8(5) |
890 06e8 90E0 ldi r25,hi8(5) |
891 06ea 68C0 rjmp .L86 |
892 .L94: |
893 06ec 80ED ldi r24,lo8(2000) |
894 06ee 97E0 ldi r25,hi8(2000) |
895 06f0 0E94 0000 call SetDelay |
896 06f4 EC01 movw r28,r24 |
897 .L95: |
898 06f6 8091 0000 lds r24,BLFlags |
899 06fa 80FD sbrc r24,0 |
900 06fc 05C0 rjmp .L96 |
901 06fe CE01 movw r24,r28 |
902 0700 0E94 0000 call CheckDelay |
903 0704 8823 tst r24 |
904 0706 B9F3 breq .L95 |
905 .L96: |
906 0708 1123 tst r17 |
907 070a 19F4 brne .L98 |
908 070c 8FEF ldi r24,lo8(255) |
909 070e 90E0 ldi r25,hi8(255) |
910 0710 0BC0 rjmp .L114 |
911 .L98: |
912 0712 212F mov r18,r17 |
913 0714 3327 clr r19 |
914 0716 2150 subi r18,lo8(-(-1)) |
915 0718 3040 sbci r19,hi8(-(-1)) |
916 071a 81E0 ldi r24,lo8(1) |
917 071c 90E0 ldi r25,hi8(1) |
918 071e 02C0 rjmp 2f |
919 0720 880F 1: lsl r24 |
920 0722 991F rol r25 |
921 0724 2A95 2: dec r18 |
922 0726 E2F7 brpl 1b |
923 .L114: |
924 0728 9093 0000 sts (BLConfig_WriteMask)+1,r25 |
925 072c 8093 0000 sts BLConfig_WriteMask,r24 |
926 0730 A1E0 ldi r26,lo8(1) |
927 0732 B0E0 ldi r27,hi8(1) |
928 0734 E0E0 ldi r30,lo8(Motor) |
929 0736 F0E0 ldi r31,hi8(Motor) |
930 0738 40E0 ldi r20,lo8(0) |
931 073a 50E0 ldi r21,hi8(0) |
932 073c 6BE0 ldi r22,lo8(11) |
933 .L104: |
934 073e CD01 movw r24,r26 |
935 0740 042E mov r0,r20 |
936 0742 02C0 rjmp 2f |
937 0744 880F 1: lsl r24 |
938 0746 991F rol r25 |
939 0748 0A94 2: dec r0 |
940 074a E2F7 brpl 1b |
941 074c 2091 0000 lds r18,BLConfig_WriteMask |
942 0750 3091 0000 lds r19,(BLConfig_WriteMask)+1 |
943 0754 8223 and r24,r18 |
944 0756 9323 and r25,r19 |
945 0758 892B or r24,r25 |
946 075a 11F0 breq .L102 |
947 075c 1182 std Z+1,__zero_reg__ |
948 075e 1282 std Z+2,__zero_reg__ |
949 .L102: |
950 0760 6150 subi r22,lo8(-(-1)) |
951 0762 4F5F subi r20,lo8(-(1)) |
952 0764 5F4F sbci r21,hi8(-(1)) |
953 0766 3896 adiw r30,8 |
954 0768 67FF sbrs r22,7 |
955 076a E9CF rjmp .L104 |
956 076c 1092 0000 sts motor_write,__zero_reg__ |
957 .L105: |
958 0770 1092 0000 sts twi_state,__zero_reg__ |
959 0774 8091 0000 lds r24,BLFlags |
960 0778 8E7F andi r24,lo8(-2) |
961 077a 8093 0000 sts BLFlags,r24 |
962 077e 85EA ldi r24,lo8(-91) |
963 0780 8093 BC00 sts 188,r24 |
964 .L108: |
965 0784 8091 0000 lds r24,BLFlags |
966 0788 80FD sbrc r24,0 |
967 078a 05C0 rjmp .L109 |
968 078c CE01 movw r24,r28 |
969 078e 0E94 0000 call CheckDelay |
970 0792 8823 tst r24 |
971 0794 B9F3 breq .L108 |
972 .L109: |
973 0796 8091 0000 lds r24,BLConfig_WriteMask |
974 079a 9091 0000 lds r25,(BLConfig_WriteMask)+1 |
975 079e 892B or r24,r25 |
976 07a0 29F0 breq .L106 |
977 07a2 CE01 movw r24,r28 |
978 07a4 0E94 0000 call CheckDelay |
979 07a8 8823 tst r24 |
980 07aa 11F3 breq .L105 |
981 .L106: |
982 07ac 8091 0000 lds r24,BLConfig_WriteMask |
983 07b0 9091 0000 lds r25,(BLConfig_WriteMask)+1 |
984 07b4 0097 sbiw r24,0 |
985 07b6 11F0 breq .L86 |
986 .L115: |
987 07b8 82E0 ldi r24,lo8(2) |
988 07ba 90E0 ldi r25,hi8(2) |
989 .L86: |
990 /* epilogue: frame size=0 */ |
991 07bc DF91 pop r29 |
992 07be CF91 pop r28 |
993 07c0 1F91 pop r17 |
994 07c2 0895 ret |
995 /* epilogue end (size=4) */ |
996 /* function I2C_WriteBLConfig size 172 (165) */ |
998 .global I2C_ReadBLConfig |
1000 I2C_ReadBLConfig: |
1001 /* prologue: frame size=0 */ |
1002 07c4 0F93 push r16 |
1003 07c6 1F93 push r17 |
1004 07c8 CF93 push r28 |
1005 07ca DF93 push r29 |
1006 /* prologue end (size=4) */ |
1007 07cc 982F mov r25,r24 |
1008 07ce 8091 0000 lds r24,MotorenEin |
1009 07d2 8823 tst r24 |
1010 07d4 21F4 brne .L118 |
1011 07d6 8091 0000 lds r24,PC_MotortestActive |
1012 07da 8823 tst r24 |
1013 07dc 19F0 breq .L117 |
1014 .L118: |
1015 07de 81E0 ldi r24,lo8(1) |
1016 07e0 90E0 ldi r25,hi8(1) |
1017 07e2 92C0 rjmp .L116 |
1018 .L117: |
1019 07e4 9D30 cpi r25,lo8(13) |
1020 07e6 A0F4 brsh .L141 |
1021 07e8 9923 tst r25 |
1022 07ea 19F4 brne .L120 |
1023 07ec 86E0 ldi r24,lo8(6) |
1024 07ee 90E0 ldi r25,hi8(6) |
1025 07f0 8BC0 rjmp .L116 |
1026 .L120: |
1027 07f2 C92F mov r28,r25 |
1028 07f4 DD27 clr r29 |
1029 07f6 FE01 movw r30,r28 |
1030 07f8 33E0 ldi r19,3 |
1031 07fa EE0F 1: lsl r30 |
1032 07fc FF1F rol r31 |
1033 07fe 3A95 dec r19 |
1034 0800 E1F7 brne 1b |
1035 0802 E050 subi r30,lo8(-(Motor)) |
1036 0804 F040 sbci r31,hi8(-(Motor)) |
1037 0806 3597 sbiw r30,5 |
1038 0808 8081 ld r24,Z |
1039 080a 3596 adiw r30,5 |
1040 080c 87FD sbrc r24,7 |
1041 080e 03C0 rjmp .L121 |
1042 .L141: |
1043 0810 82E0 ldi r24,lo8(2) |
1044 0812 90E0 ldi r25,hi8(2) |
1045 0814 79C0 rjmp .L116 |
1046 .L121: |
1047 0816 3897 sbiw r30,8 |
1048 0818 8081 ld r24,Z |
1049 081a 80FD sbrc r24,0 |
1050 081c 03C0 rjmp .L122 |
1051 081e 83E0 ldi r24,lo8(3) |
1052 0820 90E0 ldi r25,hi8(3) |
1053 0822 72C0 rjmp .L116 |
1054 .L122: |
1055 0824 80ED ldi r24,lo8(2000) |
1056 0826 97E0 ldi r25,hi8(2000) |
1057 0828 0E94 0000 call SetDelay |
1058 082c 8C01 movw r16,r24 |
1059 .L123: |
1060 082e 8091 0000 lds r24,BLFlags |
1061 0832 80FD sbrc r24,0 |
1062 0834 05C0 rjmp .L124 |
1063 0836 C801 movw r24,r16 |
1064 0838 0E94 0000 call CheckDelay |
1065 083c 8823 tst r24 |
1066 083e B9F3 breq .L123 |
1067 .L124: |
1068 0840 2197 sbiw r28,1 |
1069 0842 21E0 ldi r18,lo8(1) |
1070 0844 30E0 ldi r19,hi8(1) |
1071 0846 C901 movw r24,r18 |
1072 0848 02C0 rjmp 2f |
1073 084a 880F 1: lsl r24 |
1074 084c 991F rol r25 |
1075 084e CA95 2: dec r28 |
1076 0850 E2F7 brpl 1b |
1077 0852 9093 0000 sts (BLConfig_ReadMask)+1,r25 |
1078 0856 8093 0000 sts BLConfig_ReadMask,r24 |
1079 085a D901 movw r26,r18 |
1080 085c E0E0 ldi r30,lo8(Motor) |
1081 085e F0E0 ldi r31,hi8(Motor) |
1082 0860 40E0 ldi r20,lo8(0) |
1083 0862 50E0 ldi r21,hi8(0) |
1084 0864 6BE0 ldi r22,lo8(11) |
1085 .L130: |
1086 0866 CD01 movw r24,r26 |
1087 0868 042E mov r0,r20 |
1088 086a 02C0 rjmp 2f |
1089 086c 880F 1: lsl r24 |
1090 086e 991F rol r25 |
1091 0870 0A94 2: dec r0 |
1092 0872 E2F7 brpl 1b |
1093 0874 2091 0000 lds r18,BLConfig_ReadMask |
1094 0878 3091 0000 lds r19,(BLConfig_ReadMask)+1 |
1095 087c 8223 and r24,r18 |
1096 087e 9323 and r25,r19 |
1097 0880 892B or r24,r25 |
1098 0882 11F0 breq .L128 |
1099 0884 1182 std Z+1,__zero_reg__ |
1100 0886 1282 std Z+2,__zero_reg__ |
1101 .L128: |
1102 0888 6150 subi r22,lo8(-(-1)) |
1103 088a 4F5F subi r20,lo8(-(1)) |
1104 088c 5F4F sbci r21,hi8(-(1)) |
1105 088e 3896 adiw r30,8 |
1106 0890 67FF sbrs r22,7 |
1107 0892 E9CF rjmp .L130 |
1108 0894 1092 0000 sts motor_read,__zero_reg__ |
1109 0898 1092 0000 sts BLConfig,__zero_reg__ |
1110 089c 1092 0000 sts BLConfig+7,__zero_reg__ |
1111 .L131: |
1112 08a0 1092 0000 sts twi_state,__zero_reg__ |
1113 08a4 8091 0000 lds r24,BLFlags |
1114 08a8 8E7F andi r24,lo8(-2) |
1115 08aa 8093 0000 sts BLFlags,r24 |
1116 08ae 85EA ldi r24,lo8(-91) |
1117 08b0 8093 BC00 sts 188,r24 |
1118 .L134: |
1119 08b4 8091 0000 lds r24,BLFlags |
1120 08b8 80FD sbrc r24,0 |
1121 08ba 05C0 rjmp .L135 |
1122 08bc C801 movw r24,r16 |
1123 08be 0E94 0000 call CheckDelay |
1124 08c2 8823 tst r24 |
1125 08c4 B9F3 breq .L134 |
1126 .L135: |
1127 08c6 8091 0000 lds r24,BLConfig_ReadMask |
1128 08ca 9091 0000 lds r25,(BLConfig_ReadMask)+1 |
1129 08ce 892B or r24,r25 |
1130 08d0 29F0 breq .L132 |
1131 08d2 C801 movw r24,r16 |
1132 08d4 0E94 0000 call CheckDelay |
1133 08d8 8823 tst r24 |
1134 08da 11F3 breq .L131 |
1135 .L132: |
1136 08dc 8091 0000 lds r24,BLConfig |
1137 08e0 8230 cpi r24,lo8(2) |
1138 08e2 19F0 breq .L137 |
1139 08e4 84E0 ldi r24,lo8(4) |
1140 08e6 90E0 ldi r25,hi8(4) |
1141 08e8 0FC0 rjmp .L116 |
1142 .L137: |
1143 08ea 67E0 ldi r22,lo8(7) |
1144 08ec 70E0 ldi r23,hi8(7) |
1145 08ee 80E0 ldi r24,lo8(BLConfig) |
1146 08f0 90E0 ldi r25,hi8(BLConfig) |
1147 08f2 0E94 0000 call RAM_Checksum |
1148 08f6 9091 0000 lds r25,BLConfig+7 |
1149 08fa 8917 cp r24,r25 |
1150 08fc 19F0 breq .L138 |
1151 08fe 85E0 ldi r24,lo8(5) |
1152 0900 90E0 ldi r25,hi8(5) |
1153 0902 02C0 rjmp .L116 |
1154 .L138: |
1155 0904 80E0 ldi r24,lo8(0) |
1156 0906 90E0 ldi r25,hi8(0) |
1157 .L116: |
1158 /* epilogue: frame size=0 */ |
1159 0908 DF91 pop r29 |
1160 090a CF91 pop r28 |
1161 090c 1F91 pop r17 |
1162 090e 0F91 pop r16 |
1163 0910 0895 ret |
1164 /* epilogue end (size=5) */ |
1165 /* function I2C_ReadBLConfig size 168 (159) */ |
1167 .comm Motor,96,1 |
1168 .comm BLConfig,8,1 |
1169 /* File "twimaster.c": code 1193 = 0x04a9 (1149), prologues 20, epilogues 24 */ |
DEFINED SYMBOLS |
*ABS*:00000000 twimaster.c |
C:\Users\Arthur-P\AppData\Local\Temp/ccktbaaa.s:3 *ABS*:0000003f __SREG__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccktbaaa.s:4 *ABS*:0000003e __SP_H__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccktbaaa.s:5 *ABS*:0000003d __SP_L__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccktbaaa.s:6 *ABS*:00000000 __tmp_reg__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccktbaaa.s:7 *ABS*:00000001 __zero_reg__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccktbaaa.s:15 .bss:00000000 BLConfig_ReadMask |
C:\Users\Arthur-P\AppData\Local\Temp/ccktbaaa.s:21 .bss:00000002 BLConfig_WriteMask |
C:\Users\Arthur-P\AppData\Local\Temp/ccktbaaa.s:27 .bss:00000004 BLFlags |
C:\Users\Arthur-P\AppData\Local\Temp/ccktbaaa.s:33 .bss:00000005 MissingMotor |
C:\Users\Arthur-P\AppData\Local\Temp/ccktbaaa.s:39 .data:00000000 I2CTimeout |
C:\Users\Arthur-P\AppData\Local\Temp/ccktbaaa.s:46 .bss:00000006 motor_read |
C:\Users\Arthur-P\AppData\Local\Temp/ccktbaaa.s:52 .bss:00000007 motor_write |
C:\Users\Arthur-P\AppData\Local\Temp/ccktbaaa.s:58 .bss:00000008 dac_channel |
C:\Users\Arthur-P\AppData\Local\Temp/ccktbaaa.s:64 .bss:00000009 twi_state |
C:\Users\Arthur-P\AppData\Local\Temp/ccktbaaa.s:69 .text:00000000 I2C_Init |
*COM*:00000060 Motor |
C:\Users\Arthur-P\AppData\Local\Temp/ccktbaaa.s:113 .text:0000004c I2C_Reset |
.bss:0000000a missing_motor.0 |
C:\Users\Arthur-P\AppData\Local\Temp/ccktbaaa.s:140 .bss:0000000b motor_read_temperature.1 |
C:\Users\Arthur-P\AppData\Local\Temp/ccktbaaa.s:141 .bss:0000000c pBuff.2 |
C:\Users\Arthur-P\AppData\Local\Temp/ccktbaaa.s:142 .bss:0000000e BuffLen.3 |
C:\Users\Arthur-P\AppData\Local\Temp/ccktbaaa.s:146 .text:00000092 __vector_26 |
*COM*:00000008 BLConfig |
C:\Users\Arthur-P\AppData\Local\Temp/ccktbaaa.s:828 .text:00000670 I2C_WriteBLConfig |
C:\Users\Arthur-P\AppData\Local\Temp/ccktbaaa.s:1000 .text:000007c4 I2C_ReadBLConfig |
UNDEFINED SYMBOLS |
__do_copy_data |
__do_clear_bss |
__tablejump2__ |
Mixer |
RequiredMotors |
FCFlags |
AnalogOffsetNick |
AnalogOffsetRoll |
AnalogOffsetGier |
MotorenEin |
PC_MotortestActive |
RAM_Checksum |
SetDelay |
CheckDelay |
/branches/V0.80d-Arthur-P/uart.c |
---|
0,0 → 1,683 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) Holger Buss, Ingo Busker |
// + only for non-profit use |
// + www.MikroKopter.com |
// + see the File "License.txt" for further Informations |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#include <stdarg.h> |
#include <string.h> |
#include <avr/pgmspace.h> |
#include "main.h" |
#include "uart.h" |
#include "libfc.h" |
#include "eeprom.h" |
#define FC_ADDRESS 1 |
#define NC_ADDRESS 2 |
#define MK3MAG_ADDRESS 3 |
#define BL_CTRL_ADDRESS 5 |
#define ABO_TIMEOUT 4000 // disable abo after 4 seconds |
#define MAX_SENDE_BUFF 160 |
#define MAX_EMPFANGS_BUFF 160 |
#define BLPARAM_REVISION 1 |
#define MASK_SET_PWM_SCALING 0x01 |
#define MASK_SET_CURRENT_LIMIT 0x02 |
#define MASK_SET_TEMP_LIMIT 0x04 |
#define MASK_SET_CURRENT_SCALING 0x08 |
#define MASK_SET_BITCONFIG 0x10 |
#define MASK_RESET_CAPCOUNTER 0x20 |
#define MASK_SET_DEFAULT_PARAMS 0x40 |
#define MASK_SET_SAVE_EEPROM 0x80 |
typedef struct |
{ |
unsigned char Revision; // revision of parameter structure |
unsigned char Address; // target address |
unsigned char PwmScaling; // maximum value of pwm setpoint |
unsigned char CurrentLimit; // current limit in 1A steps |
unsigned char TemperatureLimit; // in °C |
unsigned char CurrentScaling; // scaling factor for current measurement |
unsigned char BitConfig; // see defines above |
unsigned char SetMask; // filter for active paramters |
unsigned char Checksum; // checksum for parameter sturcture |
} __attribute__((packed)) BLParameter_t; |
unsigned char GetExternalControl = 0,DebugDisplayAnforderung1 = 0, DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0, GetPPMChannelAnforderung = 0; |
unsigned char DisplayLine = 0; |
unsigned volatile char SioTmp = 0; |
unsigned volatile char NeuerDatensatzEmpfangen = 0; |
unsigned volatile char NeueKoordinateEmpfangen = 0; |
unsigned volatile char UebertragungAbgeschlossen = 1; |
unsigned volatile char CntCrcError = 0; |
unsigned volatile char AnzahlEmpfangsBytes = 0; |
unsigned volatile char TxdBuffer[MAX_SENDE_BUFF]; |
unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
unsigned char *pRxData = 0; |
unsigned char RxDataLen = 0; |
unsigned volatile char PC_DebugTimeout = 0; |
unsigned volatile char PC_MotortestActive = 0; |
unsigned char DebugTextAnforderung = 255; |
unsigned char PcZugriff = 100; |
unsigned char MotorTest[16]; |
unsigned char MeineSlaveAdresse = 1; // Flight-Ctrl |
unsigned char ConfirmFrame; |
struct str_DebugOut DebugOut; |
struct str_ExternControl ExternControl; |
struct str_VersionInfo VersionInfo; |
struct str_WinkelOut WinkelOut; |
struct str_Data3D Data3D; |
int Display_Timer, Debug_Timer,Kompass_Timer,Timer3D; |
unsigned int DebugDataIntervall = 0, Intervall3D = 0, Display_Interval = 0; |
unsigned int AboTimeOut = 0; |
const unsigned char ANALOG_TEXT[32][16] PROGMEM = |
{ |
//1234567890123456 |
"AngleNick ", //0 |
"AngleRoll ", |
"AccNick ", |
"AccRoll ", |
"YawGyro ", |
"Height Value ", //5 |
"AccZ ", |
"Gas ", |
"Compass Value ", |
"Voltage [0.1V] ", |
"Receiver Level ", //10 |
"Gyro Compass ", |
"Motor 1 ", |
"Motor 2 ", |
"Motor 3 ", |
"Motor 4 ", //15 |
"16 ", |
"17 ", |
"18 ", |
"19 ", |
"Servo ", //20 |
"Hovergas ", |
"Current [0.1A] ", |
"Capacity [mAh] ", |
"24 ", |
"25 ", //25 |
"26 ", |
"27 ", |
"I2C-Error ", |
"BL Limit ", |
"GPS_Nick ", //30 |
"GPS_Roll " |
}; |
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
//++ Sende-Part der Datenübertragung |
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
ISR(USART0_TX_vect) |
{ |
static unsigned int ptr = 0; |
unsigned char tmp_tx; |
if(!UebertragungAbgeschlossen) |
{ |
ptr++; // die [0] wurde schon gesendet |
tmp_tx = TxdBuffer[ptr]; |
if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
{ |
ptr = 0; |
UebertragungAbgeschlossen = 1; |
} |
UDR0 = tmp_tx; |
} |
else ptr = 0; |
} |
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
//++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
ISR(USART0_RX_vect) |
{ |
static unsigned int crc; |
static unsigned char crc1,crc2,buf_ptr; |
static unsigned char UartState = 0; |
unsigned char CrcOkay = 0; |
SioTmp = UDR0; |
if(buf_ptr >= MAX_SENDE_BUFF) UartState = 0; |
if(SioTmp == '\r' && UartState == 2) |
{ |
UartState = 0; |
crc -= RxdBuffer[buf_ptr-2]; |
crc -= RxdBuffer[buf_ptr-1]; |
crc %= 4096; |
crc1 = '=' + crc / 64; |
crc2 = '=' + crc % 64; |
CrcOkay = 0; |
if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
{ |
NeuerDatensatzEmpfangen = 1; |
AnzahlEmpfangsBytes = buf_ptr + 1; |
RxdBuffer[buf_ptr] = '\r'; |
if(RxdBuffer[2] == 'R') |
{ |
LcdClear(); |
wdt_enable(WDTO_250MS); // Reset-Commando |
ServoActive = 0; |
} |
} |
} |
else |
switch(UartState) |
{ |
case 0: |
if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
buf_ptr = 0; |
RxdBuffer[buf_ptr++] = SioTmp; |
crc = SioTmp; |
break; |
case 1: // Adresse auswerten |
UartState++; |
RxdBuffer[buf_ptr++] = SioTmp; |
crc += SioTmp; |
break; |
case 2: // Eingangsdaten sammeln |
RxdBuffer[buf_ptr] = SioTmp; |
if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
else UartState = 0; |
crc += SioTmp; |
break; |
default: |
UartState = 0; |
break; |
} |
} |
// -------------------------------------------------------------------------- |
void AddCRC(unsigned int wieviele) |
{ |
unsigned int tmpCRC = 0,i; |
for(i = 0; i < wieviele;i++) |
{ |
tmpCRC += TxdBuffer[i]; |
} |
tmpCRC %= 4096; |
TxdBuffer[i++] = '=' + tmpCRC / 64; |
TxdBuffer[i++] = '=' + tmpCRC % 64; |
TxdBuffer[i++] = '\r'; |
UebertragungAbgeschlossen = 0; |
UDR0 = TxdBuffer[0]; |
} |
// -------------------------------------------------------------------------- |
void SendOutData(unsigned char cmd,unsigned char address, unsigned char BufferAnzahl, ...) //unsigned char *snd, unsigned char len) |
{ |
va_list ap; |
unsigned int pt = 0; |
unsigned char a,b,c; |
unsigned char ptr = 0; |
unsigned char *snd = 0; |
int len = 0; |
TxdBuffer[pt++] = '#'; // Startzeichen |
TxdBuffer[pt++] = 'a' + address; // Adresse (a=0; b=1,...) |
TxdBuffer[pt++] = cmd; // Commando |
va_start(ap, BufferAnzahl); |
if(BufferAnzahl) |
{ |
snd = va_arg(ap, unsigned char*); |
len = va_arg(ap, int); |
ptr = 0; |
BufferAnzahl--; |
} |
while(len) |
{ |
if(len) |
{ |
a = snd[ptr++]; |
len--; |
if((!len) && BufferAnzahl) |
{ |
snd = va_arg(ap, unsigned char*); |
len = va_arg(ap, int); |
ptr = 0; |
BufferAnzahl--; |
} |
} |
else a = 0; |
if(len) |
{ |
b = snd[ptr++]; |
len--; |
if((!len) && BufferAnzahl) |
{ |
snd = va_arg(ap, unsigned char*); |
len = va_arg(ap, int); |
ptr = 0; |
BufferAnzahl--; |
} |
} |
else b = 0; |
if(len) |
{ |
c = snd[ptr++]; |
len--; |
if((!len) && BufferAnzahl) |
{ |
snd = va_arg(ap, unsigned char*); |
len = va_arg(ap, int); |
ptr = 0; |
BufferAnzahl--; |
} |
} |
else c = 0; |
TxdBuffer[pt++] = '=' + (a >> 2); |
TxdBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
TxdBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
TxdBuffer[pt++] = '=' + ( c & 0x3f); |
} |
va_end(ap); |
AddCRC(pt); |
} |
// -------------------------------------------------------------------------- |
void Decode64(void) // die daten werden im rx buffer dekodiert, das geht nur, weil aus 4 byte immer 3 gemacht werden. |
{ |
unsigned char a,b,c,d; |
unsigned char x,y,z; |
unsigned char ptrIn = 3; // start at begin of data block |
unsigned char ptrOut = 3; |
unsigned char len = AnzahlEmpfangsBytes - 6; // von der Gesamtbytezahl eines Frames gehen 3 Bytes des Headers ('#',Addr, Cmd) und 3 Bytes des Footers (CRC1, CRC2, '\r') ab. |
while(len) |
{ |
a = RxdBuffer[ptrIn++] - '='; |
b = RxdBuffer[ptrIn++] - '='; |
c = RxdBuffer[ptrIn++] - '='; |
d = RxdBuffer[ptrIn++] - '='; |
x = (a << 2) | (b >> 4); |
y = ((b & 0x0f) << 4) | (c >> 2); |
z = ((c & 0x03) << 6) | d; |
if(len--) RxdBuffer[ptrOut++] = x; else break; |
if(len--) RxdBuffer[ptrOut++] = y; else break; |
if(len--) RxdBuffer[ptrOut++] = z; else break; |
} |
pRxData = (unsigned char*)&RxdBuffer[3]; // decodierte Daten beginnen beim 4. Byte |
RxDataLen = ptrOut - 3; // wie viele Bytes wurden dekodiert? |
} |
// -------------------------------------------------------------------------- |
void BearbeiteRxDaten(void) |
{ |
if(!NeuerDatensatzEmpfangen) return; |
unsigned char tempchar1, tempchar2; |
Decode64(); // dekodiere datenblock im Empfangsbuffer |
switch(RxdBuffer[1]-'a') // check for Slave Address |
{ |
case FC_ADDRESS: // FC special commands |
switch(RxdBuffer[2]) |
{ |
case 'K':// Kompasswert |
memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
break; |
case 't':// Motortest |
if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
PC_MotortestActive = 240; |
//while(!UebertragungAbgeschlossen); |
//SendOutData('T', MeineSlaveAdresse, 0); |
PcZugriff = 255; |
break; |
case 'n':// "Get Mixer |
while(!UebertragungAbgeschlossen); |
SendOutData('N', FC_ADDRESS, 1, (unsigned char *) &Mixer, sizeof(Mixer) - 1); |
Debug("Mixer lesen"); |
break; |
case 'm':// "Write Mixer |
if(pRxData[0] == EEMIXER_REVISION) |
{ |
memcpy(&Mixer, (unsigned char *)pRxData, sizeof(Mixer) - 1); |
MixerTable_WriteToEEProm(); |
tempchar1 = 1; |
VersionInfo.HardwareError[1] &= ~DEFEKT_MIXER_ERR; |
} |
else |
{ |
tempchar1 = 0; |
} |
while(!UebertragungAbgeschlossen); |
SendOutData('M', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
break; |
case 'p': // get PPM Channels |
GetPPMChannelAnforderung = 1; |
PcZugriff = 255; |
break; |
case 'q':// "Get"-Anforderung für Settings |
// Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
if(pRxData[0] == 0xFF) |
{ |
pRxData[0] = GetActiveParamSet(); |
} |
// limit settings range |
if(pRxData[0] < 1) pRxData[0] = 1; // limit to 5 |
else if(pRxData[0] > 5) pRxData[0] = 5; // limit to 5 |
// load requested parameter set |
ParamSet_ReadFromEEProm(pRxData[0]); |
tempchar1 = pRxData[0]; |
while(!UebertragungAbgeschlossen); |
SendOutData('Q', FC_ADDRESS, 2, &tempchar1, sizeof(tempchar1), (unsigned char *) &EE_Parameter, sizeof(EE_Parameter) - 1); |
Debug("Lese Setting %d", tempchar1); |
break; |
case 's': // Parametersatz speichern |
if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EEPARAM_REVISION)) // check for setting to be in range |
{ |
memcpy(&EE_Parameter, (uint8_t*)&pRxData[1], sizeof(EE_Parameter) - 1); |
ParamSet_WriteToEEProm(pRxData[0]); |
Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
tempchar1 = GetActiveParamSet(); |
} |
else |
{ |
tempchar1 = 0; // mark in response an invlid setting |
} |
while(!UebertragungAbgeschlossen); |
SendOutData('S', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
if(!MotorenEin) Piep(tempchar1,110); |
LipoDetection(0); |
LIBFC_ReceiverInit(EE_Parameter.Receiver); |
break; |
case 'f': // auf anderen Parametersatz umschalten |
if((1 <= pRxData[0]) && (pRxData[0] <= 5)) ParamSet_ReadFromEEProm(pRxData[0]); |
tempchar1 = GetActiveParamSet(); |
while(!UebertragungAbgeschlossen); |
SendOutData('F', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
if(!MotorenEin) Piep(tempchar1,110); |
LipoDetection(0); |
LIBFC_ReceiverInit(EE_Parameter.Receiver); |
break; |
case 'y':// serial Potis |
PPM_in[13] = (signed char) pRxData[0]; PPM_in[14] = (signed char) pRxData[1]; PPM_in[15] = (signed char) pRxData[2]; PPM_in[16] = (signed char) pRxData[3]; |
PPM_in[17] = (signed char) pRxData[4]; PPM_in[18] = (signed char) pRxData[5]; PPM_in[19] = (signed char) pRxData[6]; PPM_in[20] = (signed char) pRxData[7]; |
PPM_in[21] = (signed char) pRxData[8]; PPM_in[22] = (signed char) pRxData[9]; PPM_in[23] = (signed char) pRxData[10]; PPM_in[24] = (signed char) pRxData[11]; |
break; |
case 'u': // request BL parameter |
Debug("Reading BL %d", pRxData[0]); |
// try to read BL configuration |
tempchar2 = I2C_ReadBLConfig(pRxData[0]); |
if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1; |
else tempchar1 = 0; |
while(!UebertragungAbgeschlossen); // wait for previous frame to be sent |
SendOutData('U', FC_ADDRESS, 4, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2), &pRxData[0], 1, &BLConfig, sizeof(BLConfig_t)); |
break; |
case 'w': // write BL parameter |
Debug("Writing BL %d", pRxData[0]); |
if(RxDataLen >= 1+sizeof(BLConfig_t)) |
{ |
memcpy(&BLConfig, (uint8_t*)(&pRxData[1]), sizeof(BLConfig_t)); |
tempchar2 = I2C_WriteBLConfig(pRxData[0]); |
if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1; |
else tempchar1 = 0; // indicate error |
while(!UebertragungAbgeschlossen); // wait for previous frame to be sent |
SendOutData('W', FC_ADDRESS,2, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2)); |
} |
break; |
} // case FC_ADDRESS: |
default: // any Slave Address |
switch(RxdBuffer[2]) |
{ |
// 't' comand placed here only for compatibility to BL |
case 't':// Motortest |
if(AnzahlEmpfangsBytes >= sizeof(MotorTest)) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
while(!UebertragungAbgeschlossen); |
SendOutData('T', MeineSlaveAdresse, 0); |
PC_MotortestActive = 250; |
PcZugriff = 255; |
AboTimeOut = SetDelay(ABO_TIMEOUT); |
break; |
// 'K' comand placed here only for compatibility to old MK3MAG software, that does not send the right Slave Address |
case 'K':// Kompasswert |
memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
break; |
case 'a':// Texte der Analogwerte |
DebugTextAnforderung = pRxData[0]; |
if (DebugTextAnforderung > 31) DebugTextAnforderung = 31; |
PcZugriff = 255; |
break; |
case 'b': |
memcpy((unsigned char *)&ExternControl, (unsigned char *)pRxData, sizeof(ExternControl)); |
ConfirmFrame = ExternControl.Frame; |
PcZugriff = 255; |
break; |
case 'c': // Poll the 3D-Data |
if(!Intervall3D) { if(pRxData[0]) Timer3D = SetDelay(pRxData[0] * 10);} |
Intervall3D = pRxData[0] * 10; |
AboTimeOut = SetDelay(ABO_TIMEOUT); |
break; |
case 'd': // Poll the debug data |
PcZugriff = 255; |
DebugDataIntervall = (unsigned int)pRxData[0] * 10; |
if(DebugDataIntervall > 0) DebugDataAnforderung = 1; |
AboTimeOut = SetDelay(ABO_TIMEOUT); |
break; |
case 'h':// x-1 Displayzeilen |
PcZugriff = 255; |
if((pRxData[0] & 0x80) == 0x00) // old format |
{ |
DisplayLine = 2; |
Display_Interval = 0; |
} |
else // new format |
{ |
RemoteKeys |= ~pRxData[0]; |
Display_Interval = (unsigned int)pRxData[1] * 10; |
DisplayLine = 4; |
AboTimeOut = SetDelay(ABO_TIMEOUT); |
} |
DebugDisplayAnforderung = 1; |
break; |
case 'l':// x-1 Displayzeilen |
PcZugriff = 255; |
MenuePunkt = pRxData[0]; |
DebugDisplayAnforderung1 = 1; |
break; |
case 'v': // Version-Anforderung und Ausbaustufe |
GetVersionAnforderung = 1; |
break; |
case 'g':// |
GetExternalControl = 1; |
break; |
default: |
//unsupported command received |
break; |
} |
break; // default: |
} |
NeuerDatensatzEmpfangen = 0; |
pRxData = 0; |
RxDataLen = 0; |
} |
//############################################################################ |
//Routine für die Serielle Ausgabe |
void uart_putchar (char c) |
//############################################################################ |
{ |
//Warten solange bis Zeichen gesendet wurde |
loop_until_bit_is_set(UCSR0A, UDRE0); |
//Ausgabe des Zeichens |
UDR0 = c; |
} |
//############################################################################ |
//INstallation der Seriellen Schnittstelle |
void UART_Init (void) |
//############################################################################ |
{ |
unsigned int ubrr = (unsigned int) ((unsigned long) F_CPU/(8 * USART0_BAUD) - 1); |
//Enable TXEN im Register UCR TX-Data Enable & RX Enable |
UCSR0B = (1 << TXEN0) | (1 << RXEN0); |
// UART Double Speed (U2X) |
UCSR0A |= (1 << U2X0); |
// RX-Interrupt Freigabe |
UCSR0B |= (1 << RXCIE0); |
// TX-Interrupt Freigabe |
UCSR0B |= (1 << TXCIE0); |
// USART0 Baud Rate Register |
// set clock divider |
UBRR0H = (uint8_t)(ubrr >> 8); |
UBRR0L = (uint8_t)ubrr; |
Debug_Timer = SetDelay(DebugDataIntervall); |
Kompass_Timer = SetDelay(220); |
VersionInfo.SWMajor = VERSION_MAJOR; |
VersionInfo.SWMinor = VERSION_MINOR; |
VersionInfo.SWPatch = VERSION_PATCH; |
VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
pRxData = 0; |
RxDataLen = 0; |
} |
//--------------------------------------------------------------------------------------------- |
void DatenUebertragung(void) |
{ |
if(!UebertragungAbgeschlossen) return; |
if(CheckDelay(AboTimeOut)) |
{ |
Display_Interval = 0; |
DebugDataIntervall = 0; |
Intervall3D = 0; |
} |
if(((Display_Interval>0 && CheckDelay(Display_Timer)) || DebugDisplayAnforderung) && UebertragungAbgeschlossen) |
{ |
if(DisplayLine > 3)// new format |
{ |
Menu(); |
SendOutData('H', FC_ADDRESS, 1, (uint8_t *)DisplayBuff, 80); |
} |
else // old format |
{ |
LCD_printfxy(0,0,"!!! INCOMPATIBLE !!!"); |
SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), (uint8_t *)DisplayBuff, 20); |
if(DisplayLine++ > 3) DisplayLine = 0; |
} |
Display_Timer = SetDelay(Display_Interval); |
DebugDisplayAnforderung = 0; |
} |
if(DebugDisplayAnforderung1 && UebertragungAbgeschlossen) |
{ |
Menu(); |
SendOutData('L', FC_ADDRESS, 3, &MenuePunkt, sizeof(MenuePunkt), &MaxMenue, sizeof(MaxMenue), DisplayBuff, sizeof(DisplayBuff)); |
DebugDisplayAnforderung1 = 0; |
} |
if(GetVersionAnforderung && UebertragungAbgeschlossen) |
{ |
SendOutData('V', FC_ADDRESS, 1, (unsigned char *) &VersionInfo, sizeof(VersionInfo)); |
GetVersionAnforderung = 0; |
Debug_OK("Version gesendet"); |
} |
if(GetExternalControl && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
{ |
SendOutData('G',MeineSlaveAdresse, 1, (unsigned char *) &ExternControl, sizeof(ExternControl)); |
GetExternalControl = 0; |
} |
if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
{ |
WinkelOut.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
WinkelOut.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
WinkelOut.UserParameter[0] = Parameter_UserParam1; |
WinkelOut.UserParameter[1] = Parameter_UserParam2; |
SendOutData('k', MK3MAG_ADDRESS, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
Kompass_Timer = SetDelay(99); |
} |
if(((DebugDataIntervall>0 && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
{ |
CopyDebugValues(); |
SendOutData('D', FC_ADDRESS, 1, (unsigned char *) &DebugOut,sizeof(DebugOut)); |
DebugDataAnforderung = 0; |
if(DebugDataIntervall>0) Debug_Timer = SetDelay(DebugDataIntervall); |
} |
if(Intervall3D > 0 && CheckDelay(Timer3D) && UebertragungAbgeschlossen) |
{ |
Data3D.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
Data3D.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
Data3D.Winkel[2] = (int) ((10 * ErsatzKompass) / GIER_GRAD_FAKTOR); |
Data3D.Centroid[0] = SummeNick >> 9; |
Data3D.Centroid[1] = SummeRoll >> 9; |
Data3D.Centroid[2] = Mess_Integral_Gier >> 9; |
SendOutData('C', FC_ADDRESS, 1, (unsigned char *) &Data3D,sizeof(Data3D)); |
Timer3D = SetDelay(Intervall3D); |
} |
if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
{ |
unsigned char label[16]; // local sram buffer |
memcpy_P(label, ANALOG_TEXT[DebugTextAnforderung], 16); // read lable from flash to sra |
SendOutData('A', FC_ADDRESS, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),label, 16); |
DebugTextAnforderung = 255; |
} |
if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz bestätigen |
{ |
SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
ConfirmFrame = 0; |
} |
if(GetPPMChannelAnforderung && UebertragungAbgeschlossen) |
{ |
SendOutData('P', FC_ADDRESS, 1, (unsigned char *) &PPM_in, sizeof(PPM_in)); |
GetPPMChannelAnforderung = 0; |
} |
#ifdef DEBUG // only include functions if DEBUG is defined |
if(SendDebugOutput && UebertragungAbgeschlossen) |
{ |
SendOutData('0', FC_ADDRESS, 1, (unsigned char *) &tDebug, sizeof(tDebug)); |
SendDebugOutput = 0; |
} |
#endif |
} |
/branches/V0.80d-Arthur-P/uart.d |
---|
0,0 → 1,3 |
uart.o uart.d : uart.c main.h old_macros.h printf_P.h timer0.h uart.h analog.h \ |
twimaster.h menu.h rc.h fc.h gps.h spi.h led.h spektrum.h capacity.h \ |
eeprom.h libfc.h debug.h |
/branches/V0.80d-Arthur-P/uart.h |
---|
0,0 → 1,85 |
#ifndef _UART_H |
#define _UART_H |
#define printf_P(format, args...) _printf_P(&uart_putchar, format , ## args) |
#define printf(format, args...) _printf_P(&uart_putchar, PSTR(format) , ## args) |
void BearbeiteRxDaten(void); |
extern unsigned char DebugGetAnforderung; |
extern unsigned volatile char UebertragungAbgeschlossen; |
extern unsigned volatile char PC_DebugTimeout; |
extern unsigned volatile char NeueKoordinateEmpfangen; |
extern unsigned volatile char PC_MotortestActive; |
extern unsigned char MeineSlaveAdresse; |
extern unsigned char PcZugriff; |
extern unsigned char RemotePollDisplayLine; |
extern int Debug_Timer,Kompass_Timer; |
extern void UART_Init (void); |
extern void uart_putchar (char c); |
extern void boot_program_page (uint32_t page, uint8_t *buf); |
extern void DatenUebertragung(void); |
extern void Uart1Init(void); |
extern void BearbeiteRxDaten(void); |
extern unsigned char MotorTest[16]; |
struct str_DebugOut |
{ |
unsigned char Status[2]; |
signed int Analog[32]; // Debugwerte |
}; |
extern struct str_DebugOut DebugOut; |
struct str_WinkelOut |
{ |
signed int Winkel[2]; |
unsigned char UserParameter[2]; |
unsigned char CalcState; |
unsigned char Orientation; |
}; |
extern struct str_WinkelOut WinkelOut; |
struct str_Data3D |
{ |
signed int Winkel[3]; // nick, roll, compass in 0,1° |
signed char Centroid[3]; |
signed char reserve[5]; |
}; |
extern struct str_Data3D Data3D; |
struct str_ExternControl |
{ |
unsigned char Digital[2]; |
unsigned char RemoteTasten; |
signed char Nick; |
signed char Roll; |
signed char Gier; |
unsigned char Gas; |
signed char Hight; |
unsigned char free; |
unsigned char Frame; |
unsigned char Config; |
}; |
extern struct str_ExternControl ExternControl; |
struct str_VersionInfo |
{ |
unsigned char SWMajor; |
unsigned char SWMinor; |
unsigned char ProtoMajor; |
unsigned char ProtoMinor; |
unsigned char SWPatch; |
unsigned char HardwareError[5]; |
}; |
extern struct str_VersionInfo VersionInfo; |
//#define USART0_BAUD 9600 |
//#define USART0_BAUD 14400 |
//#define USART0_BAUD 28800 |
//#define USART0_BAUD 38400 |
#define USART0_BAUD 57600 |
#endif //_UART_H |
/branches/V0.80d-Arthur-P/uart.lst |
---|
0,0 → 1,2515 |
1 .file "uart.c" |
2 .arch atmega644p |
3 __SREG__ = 0x3f |
4 __SP_H__ = 0x3e |
5 __SP_L__ = 0x3d |
6 __tmp_reg__ = 0 |
7 __zero_reg__ = 1 |
8 .global __do_copy_data |
9 .global __do_clear_bss |
10 .global ANALOG_TEXT |
11 .section .progmem.data,"a",@progbits |
14 ANALOG_TEXT: |
15 0000 416E 676C .ascii "AngleNick " |
15 654E 6963 |
15 6B20 2020 |
15 2020 2020 |
16 0010 416E 676C .ascii "AngleRoll " |
16 6552 6F6C |
16 6C20 2020 |
16 2020 2020 |
17 0020 4163 634E .ascii "AccNick " |
17 6963 6B20 |
17 2020 2020 |
17 2020 2020 |
18 0030 4163 6352 .ascii "AccRoll " |
18 6F6C 6C20 |
18 2020 2020 |
18 2020 2020 |
19 0040 5961 7747 .ascii "YawGyro " |
19 7972 6F20 |
19 2020 2020 |
19 2020 2020 |
20 0050 4865 6967 .ascii "Height Value " |
20 6874 2056 |
20 616C 7565 |
20 2020 2020 |
21 0060 4163 635A .ascii "AccZ " |
21 2020 2020 |
21 2020 2020 |
21 2020 2020 |
22 0070 4761 7320 .ascii "Gas " |
22 2020 2020 |
22 2020 2020 |
22 2020 2020 |
23 0080 436F 6D70 .ascii "Compass Value " |
23 6173 7320 |
23 5661 6C75 |
23 6520 2020 |
24 0090 566F 6C74 .ascii "Voltage [0.1V] " |
24 6167 6520 |
24 5B30 2E31 |
24 565D 2020 |
25 00a0 5265 6365 .ascii "Receiver Level " |
25 6976 6572 |
25 204C 6576 |
25 656C 2020 |
26 00b0 4779 726F .ascii "Gyro Compass " |
26 2043 6F6D |
26 7061 7373 |
26 2020 2020 |
27 00c0 4D6F 746F .ascii "Motor 1 " |
27 7220 3120 |
27 2020 2020 |
27 2020 2020 |
28 00d0 4D6F 746F .ascii "Motor 2 " |
28 7220 3220 |
28 2020 2020 |
28 2020 2020 |
29 00e0 4D6F 746F .ascii "Motor 3 " |
29 7220 3320 |
29 2020 2020 |
29 2020 2020 |
30 00f0 4D6F 746F .ascii "Motor 4 " |
30 7220 3420 |
30 2020 2020 |
30 2020 2020 |
31 0100 3136 2020 .ascii "16 " |
31 2020 2020 |
31 2020 2020 |
31 2020 2020 |
32 0110 3137 2020 .ascii "17 " |
32 2020 2020 |
32 2020 2020 |
32 2020 2020 |
33 0120 3138 2020 .ascii "18 " |
33 2020 2020 |
33 2020 2020 |
33 2020 2020 |
34 0130 3139 2020 .ascii "19 " |
34 2020 2020 |
34 2020 2020 |
34 2020 2020 |
35 0140 5365 7276 .ascii "Servo " |
35 6F20 2020 |
35 2020 2020 |
35 2020 2020 |
36 0150 486F 7665 .ascii "Hovergas " |
36 7267 6173 |
36 2020 2020 |
36 2020 2020 |
37 0160 4375 7272 .ascii "Current [0.1A] " |
37 656E 7420 |
37 5B30 2E31 |
37 415D 2020 |
38 0170 4361 7061 .ascii "Capacity [mAh] " |
38 6369 7479 |
38 205B 6D41 |
38 685D 2020 |
39 0180 3234 2020 .ascii "24 " |
39 2020 2020 |
39 2020 2020 |
39 2020 2020 |
40 0190 3235 2020 .ascii "25 " |
40 2020 2020 |
40 2020 2020 |
40 2020 2020 |
41 01a0 3236 2020 .ascii "26 " |
41 2020 2020 |
41 2020 2020 |
41 2020 2020 |
42 01b0 3237 2020 .ascii "27 " |
42 2020 2020 |
42 2020 2020 |
42 2020 2020 |
43 01c0 4932 432D .ascii "I2C-Error " |
43 4572 726F |
43 7220 2020 |
43 2020 2020 |
44 01d0 424C 204C .ascii "BL Limit " |
44 696D 6974 |
44 2020 2020 |
44 2020 2020 |
45 01e0 4750 535F .ascii "GPS_Nick " |
45 4E69 636B |
45 2020 2020 |
45 2020 2020 |
46 01f0 4750 535F .ascii "GPS_Roll " |
46 526F 6C6C |
46 2020 2020 |
46 2020 2020 |
47 .global AboTimeOut |
48 .global AboTimeOut |
49 .section .bss |
52 AboTimeOut: |
53 0000 0000 .skip 2,0 |
54 .global Display_Interval |
55 .global Display_Interval |
58 Display_Interval: |
59 0002 0000 .skip 2,0 |
60 .global Intervall3D |
61 .global Intervall3D |
64 Intervall3D: |
65 0004 0000 .skip 2,0 |
66 .global DebugDataIntervall |
67 .global DebugDataIntervall |
70 DebugDataIntervall: |
71 0006 0000 .skip 2,0 |
72 .global MeineSlaveAdresse |
73 .data |
76 MeineSlaveAdresse: |
77 0000 01 .byte 1 |
78 .global PcZugriff |
81 PcZugriff: |
82 0001 64 .byte 100 |
83 .global DebugTextAnforderung |
86 DebugTextAnforderung: |
87 0002 FF .byte -1 |
88 .global PC_MotortestActive |
89 .global PC_MotortestActive |
90 .section .bss |
93 PC_MotortestActive: |
94 0008 00 .skip 1,0 |
95 .global PC_DebugTimeout |
96 .global PC_DebugTimeout |
99 PC_DebugTimeout: |
100 0009 00 .skip 1,0 |
101 .global RxDataLen |
102 .global RxDataLen |
105 RxDataLen: |
106 000a 00 .skip 1,0 |
107 .global pRxData |
108 .global pRxData |
111 pRxData: |
112 000b 0000 .skip 2,0 |
113 .global AnzahlEmpfangsBytes |
114 .global AnzahlEmpfangsBytes |
117 AnzahlEmpfangsBytes: |
118 000d 00 .skip 1,0 |
119 .global CntCrcError |
120 .global CntCrcError |
123 CntCrcError: |
124 000e 00 .skip 1,0 |
125 .global UebertragungAbgeschlossen |
126 .data |
129 UebertragungAbgeschlossen: |
130 0003 01 .byte 1 |
131 .global NeueKoordinateEmpfangen |
132 .global NeueKoordinateEmpfangen |
133 .section .bss |
136 NeueKoordinateEmpfangen: |
137 000f 00 .skip 1,0 |
138 .global NeuerDatensatzEmpfangen |
139 .global NeuerDatensatzEmpfangen |
142 NeuerDatensatzEmpfangen: |
143 0010 00 .skip 1,0 |
144 .global SioTmp |
145 .global SioTmp |
148 SioTmp: |
149 0011 00 .skip 1,0 |
150 .global DisplayLine |
151 .global DisplayLine |
154 DisplayLine: |
155 0012 00 .skip 1,0 |
156 .global GetPPMChannelAnforderung |
157 .global GetPPMChannelAnforderung |
160 GetPPMChannelAnforderung: |
161 0013 00 .skip 1,0 |
162 .global GetVersionAnforderung |
163 .global GetVersionAnforderung |
166 GetVersionAnforderung: |
167 0014 00 .skip 1,0 |
168 .global DebugDataAnforderung |
169 .global DebugDataAnforderung |
172 DebugDataAnforderung: |
173 0015 00 .skip 1,0 |
174 .global DebugDisplayAnforderung |
175 .global DebugDisplayAnforderung |
178 DebugDisplayAnforderung: |
179 0016 00 .skip 1,0 |
180 .global DebugDisplayAnforderung1 |
181 .global DebugDisplayAnforderung1 |
184 DebugDisplayAnforderung1: |
185 0017 00 .skip 1,0 |
186 .global GetExternalControl |
187 .global GetExternalControl |
190 GetExternalControl: |
191 0018 00 .skip 1,0 |
192 .lcomm ptr.6,2 |
193 .text |
194 .global __vector_22 |
196 __vector_22: |
197 /* prologue: frame size=0 */ |
198 0000 1F92 push __zero_reg__ |
199 0002 0F92 push __tmp_reg__ |
200 0004 0FB6 in __tmp_reg__,__SREG__ |
201 0006 0F92 push __tmp_reg__ |
202 0008 1124 clr __zero_reg__ |
203 000a 8F93 push r24 |
204 000c 9F93 push r25 |
205 000e EF93 push r30 |
206 0010 FF93 push r31 |
207 /* prologue end (size=9) */ |
208 0012 8091 0000 lds r24,UebertragungAbgeschlossen |
209 0016 8823 tst r24 |
210 0018 E1F4 brne .L2 |
211 001a 8091 0000 lds r24,ptr.6 |
212 001e 9091 0000 lds r25,(ptr.6)+1 |
213 0022 0196 adiw r24,1 |
214 0024 9093 0000 sts (ptr.6)+1,r25 |
215 0028 8093 0000 sts ptr.6,r24 |
216 002c FC01 movw r30,r24 |
217 002e E050 subi r30,lo8(-(TxdBuffer)) |
218 0030 F040 sbci r31,hi8(-(TxdBuffer)) |
219 0032 E081 ld r30,Z |
220 0034 ED30 cpi r30,lo8(13) |
221 0036 19F0 breq .L4 |
222 0038 803A cpi r24,160 |
223 003a 9105 cpc r25,__zero_reg__ |
224 003c 39F4 brne .L3 |
225 .L4: |
226 003e 1092 0000 sts (ptr.6)+1,__zero_reg__ |
227 0042 1092 0000 sts ptr.6,__zero_reg__ |
228 0046 81E0 ldi r24,lo8(1) |
229 0048 8093 0000 sts UebertragungAbgeschlossen,r24 |
230 .L3: |
231 004c E093 C600 sts 198,r30 |
232 0050 04C0 rjmp .L1 |
233 .L2: |
234 0052 1092 0000 sts (ptr.6)+1,__zero_reg__ |
235 0056 1092 0000 sts ptr.6,__zero_reg__ |
236 .L1: |
237 /* epilogue: frame size=0 */ |
238 005a FF91 pop r31 |
239 005c EF91 pop r30 |
240 005e 9F91 pop r25 |
241 0060 8F91 pop r24 |
242 0062 0F90 pop __tmp_reg__ |
243 0064 0FBE out __SREG__,__tmp_reg__ |
244 0066 0F90 pop __tmp_reg__ |
245 0068 1F90 pop __zero_reg__ |
246 006a 1895 reti |
247 /* epilogue end (size=9) */ |
248 /* function __vector_22 size 54 (36) */ |
250 .lcomm crc.1,2 |
251 .lcomm crc1.2,1 |
252 .lcomm crc2.3,1 |
253 .lcomm buf_ptr.4,1 |
254 .lcomm UartState.5,1 |
255 .global __vector_20 |
257 __vector_20: |
258 /* prologue: frame size=0 */ |
259 006c 1F92 push __zero_reg__ |
260 006e 0F92 push __tmp_reg__ |
261 0070 0FB6 in __tmp_reg__,__SREG__ |
262 0072 0F92 push __tmp_reg__ |
263 0074 1124 clr __zero_reg__ |
264 0076 2F93 push r18 |
265 0078 3F93 push r19 |
266 007a 4F93 push r20 |
267 007c 5F93 push r21 |
268 007e 6F93 push r22 |
269 0080 7F93 push r23 |
270 0082 8F93 push r24 |
271 0084 9F93 push r25 |
272 0086 AF93 push r26 |
273 0088 BF93 push r27 |
274 008a CF93 push r28 |
275 008c EF93 push r30 |
276 008e FF93 push r31 |
277 /* prologue end (size=18) */ |
278 0090 90E0 ldi r25,lo8(0) |
279 0092 8091 C600 lds r24,198 |
280 0096 8093 0000 sts SioTmp,r24 |
281 009a 5091 0000 lds r21,buf_ptr.4 |
282 009e 503A cpi r21,lo8(-96) |
283 00a0 10F0 brlo .L7 |
284 00a2 9093 0000 sts UartState.5,r25 |
285 .L7: |
286 00a6 8091 0000 lds r24,SioTmp |
287 00aa 8D30 cpi r24,lo8(13) |
288 00ac 09F0 breq .+2 |
289 00ae 65C0 rjmp .L8 |
290 00b0 8091 0000 lds r24,UartState.5 |
291 00b4 8230 cpi r24,lo8(2) |
292 00b6 09F0 breq .+2 |
293 00b8 60C0 rjmp .L8 |
294 00ba 9093 0000 sts UartState.5,r25 |
295 00be 852F mov r24,r21 |
296 00c0 9927 clr r25 |
297 00c2 8050 subi r24,lo8(-(RxdBuffer)) |
298 00c4 9040 sbci r25,hi8(-(RxdBuffer)) |
299 00c6 FC01 movw r30,r24 |
300 00c8 3297 sbiw r30,2 |
301 00ca 4081 ld r20,Z |
302 00cc 2091 0000 lds r18,crc.1 |
303 00d0 3091 0000 lds r19,(crc.1)+1 |
304 00d4 241B sub r18,r20 |
305 00d6 3109 sbc r19,__zero_reg__ |
306 00d8 DC01 movw r26,r24 |
307 00da 1197 sbiw r26,1 |
308 00dc 8C91 ld r24,X |
309 00de 281B sub r18,r24 |
310 00e0 3109 sbc r19,__zero_reg__ |
311 00e2 C901 movw r24,r18 |
312 00e4 9F70 andi r25,hi8(4095) |
313 00e6 9093 0000 sts (crc.1)+1,r25 |
314 00ea 8093 0000 sts crc.1,r24 |
315 00ee 46E0 ldi r20,6 |
316 00f0 9695 1: lsr r25 |
317 00f2 8795 ror r24 |
318 00f4 4A95 dec r20 |
319 00f6 E1F7 brne 1b |
320 00f8 982F mov r25,r24 |
321 00fa 935C subi r25,lo8(-(61)) |
322 00fc 9093 0000 sts crc1.2,r25 |
323 0100 2F73 andi r18,lo8(63) |
324 0102 3070 andi r19,hi8(63) |
325 0104 235C subi r18,lo8(-(61)) |
326 0106 2093 0000 sts crc2.3,r18 |
327 010a 8081 ld r24,Z |
328 010c 9817 cp r25,r24 |
329 010e 29F4 brne .L9 |
330 0110 8C91 ld r24,X |
331 0112 2817 cp r18,r24 |
332 0114 11F4 brne .L9 |
333 0116 91E0 ldi r25,lo8(1) |
334 0118 06C0 rjmp .L10 |
335 .L9: |
336 011a 90E0 ldi r25,lo8(0) |
337 011c 8091 0000 lds r24,CntCrcError |
338 0120 8F5F subi r24,lo8(-(1)) |
339 0122 8093 0000 sts CntCrcError,r24 |
340 .L10: |
341 0126 C091 0000 lds r28,NeuerDatensatzEmpfangen |
342 012a CC23 tst r28 |
343 012c 09F0 breq .+2 |
344 012e 74C0 rjmp .L6 |
345 0130 9923 tst r25 |
346 0132 09F4 brne .+2 |
347 0134 71C0 rjmp .L6 |
348 0136 81E0 ldi r24,lo8(1) |
349 0138 8093 0000 sts NeuerDatensatzEmpfangen,r24 |
350 013c 580F add r21,r24 |
351 013e 5093 0000 sts AnzahlEmpfangsBytes,r21 |
352 0142 5150 subi r21,lo8(-(-1)) |
353 0144 E52F mov r30,r21 |
354 0146 FF27 clr r31 |
355 0148 E050 subi r30,lo8(-(RxdBuffer)) |
356 014a F040 sbci r31,hi8(-(RxdBuffer)) |
357 014c 8DE0 ldi r24,lo8(13) |
358 014e 8083 st Z,r24 |
359 0150 8091 0000 lds r24,RxdBuffer+2 |
360 0154 8235 cpi r24,lo8(82) |
361 0156 09F0 breq .+2 |
362 0158 5FC0 rjmp .L6 |
363 015a 0E94 0000 call LcdClear |
364 015e 88E1 ldi r24,lo8(24) |
365 0160 90E0 ldi r25,hi8(24) |
366 0162 2CE0 ldi r18,lo8(12) |
367 /* #APP */ |
368 0164 0FB6 in __tmp_reg__,__SREG__ |
369 0166 F894 cli |
370 0168 A895 wdr |
371 016a 8093 6000 sts 96,r24 |
372 016e 0FBE out __SREG__,__tmp_reg__ |
373 0170 2093 6000 sts 96,r18 |
374 /* #NOAPP */ |
375 0174 C093 0000 sts ServoActive,r28 |
376 0178 4FC0 rjmp .L6 |
377 .L8: |
378 017a 2091 0000 lds r18,UartState.5 |
379 017e 822F mov r24,r18 |
380 0180 9927 clr r25 |
381 0182 8130 cpi r24,1 |
382 0184 9105 cpc r25,__zero_reg__ |
383 0186 F9F0 breq .L17 |
384 0188 8230 cpi r24,2 |
385 018a 9105 cpc r25,__zero_reg__ |
386 018c 1CF4 brge .L22 |
387 018e 892B or r24,r25 |
388 0190 21F0 breq .L15 |
389 0192 40C0 rjmp .L21 |
390 .L22: |
391 0194 0297 sbiw r24,2 |
392 0196 11F1 breq .L18 |
393 0198 3DC0 rjmp .L21 |
394 .L15: |
395 019a 8091 0000 lds r24,SioTmp |
396 019e 8332 cpi r24,lo8(35) |
397 01a0 39F4 brne .L16 |
398 01a2 8091 0000 lds r24,NeuerDatensatzEmpfangen |
399 01a6 8823 tst r24 |
400 01a8 19F4 brne .L16 |
401 01aa 81E0 ldi r24,lo8(1) |
402 01ac 8093 0000 sts UartState.5,r24 |
403 .L16: |
404 01b0 8091 0000 lds r24,SioTmp |
405 01b4 8093 0000 sts RxdBuffer,r24 |
406 01b8 81E0 ldi r24,lo8(1) |
407 01ba 8093 0000 sts buf_ptr.4,r24 |
408 01be 8091 0000 lds r24,SioTmp |
409 01c2 9927 clr r25 |
410 01c4 22C0 rjmp .L23 |
411 .L17: |
412 01c6 2F5F subi r18,lo8(-(1)) |
413 01c8 2093 0000 sts UartState.5,r18 |
414 01cc E52F mov r30,r21 |
415 01ce FF27 clr r31 |
416 01d0 E050 subi r30,lo8(-(RxdBuffer)) |
417 01d2 F040 sbci r31,hi8(-(RxdBuffer)) |
418 01d4 8091 0000 lds r24,SioTmp |
419 01d8 8083 st Z,r24 |
420 01da 09C0 rjmp .L24 |
421 .L18: |
422 01dc E52F mov r30,r21 |
423 01de FF27 clr r31 |
424 01e0 E050 subi r30,lo8(-(RxdBuffer)) |
425 01e2 F040 sbci r31,hi8(-(RxdBuffer)) |
426 01e4 8091 0000 lds r24,SioTmp |
427 01e8 8083 st Z,r24 |
428 01ea 503A cpi r21,lo8(-96) |
429 01ec 20F4 brsh .L19 |
430 .L24: |
431 01ee 5F5F subi r21,lo8(-(1)) |
432 01f0 5093 0000 sts buf_ptr.4,r21 |
433 01f4 02C0 rjmp .L20 |
434 .L19: |
435 01f6 1092 0000 sts UartState.5,__zero_reg__ |
436 .L20: |
437 01fa 2091 0000 lds r18,SioTmp |
438 01fe 8091 0000 lds r24,crc.1 |
439 0202 9091 0000 lds r25,(crc.1)+1 |
440 0206 820F add r24,r18 |
441 0208 911D adc r25,__zero_reg__ |
442 .L23: |
443 020a 9093 0000 sts (crc.1)+1,r25 |
444 020e 8093 0000 sts crc.1,r24 |
445 0212 02C0 rjmp .L6 |
446 .L21: |
447 0214 1092 0000 sts UartState.5,__zero_reg__ |
448 .L6: |
449 /* epilogue: frame size=0 */ |
450 0218 FF91 pop r31 |
451 021a EF91 pop r30 |
452 021c CF91 pop r28 |
453 021e BF91 pop r27 |
454 0220 AF91 pop r26 |
455 0222 9F91 pop r25 |
456 0224 8F91 pop r24 |
457 0226 7F91 pop r23 |
458 0228 6F91 pop r22 |
459 022a 5F91 pop r21 |
460 022c 4F91 pop r20 |
461 022e 3F91 pop r19 |
462 0230 2F91 pop r18 |
463 0232 0F90 pop __tmp_reg__ |
464 0234 0FBE out __SREG__,__tmp_reg__ |
465 0236 0F90 pop __tmp_reg__ |
466 0238 1F90 pop __zero_reg__ |
467 023a 1895 reti |
468 /* epilogue end (size=18) */ |
469 /* function __vector_20 size 238 (202) */ |
471 .global AddCRC |
473 AddCRC: |
474 /* prologue: frame size=0 */ |
475 /* prologue end (size=0) */ |
476 023c AC01 movw r20,r24 |
477 023e A0E0 ldi r26,lo8(0) |
478 0240 B0E0 ldi r27,hi8(0) |
479 0242 9D01 movw r18,r26 |
480 0244 A817 cp r26,r24 |
481 0246 B907 cpc r27,r25 |
482 0248 48F4 brsh .L31 |
483 024a E0E0 ldi r30,lo8(TxdBuffer) |
484 024c F0E0 ldi r31,hi8(TxdBuffer) |
485 .L29: |
486 024e 8191 ld r24,Z+ |
487 0250 280F add r18,r24 |
488 0252 311D adc r19,__zero_reg__ |
489 0254 1196 adiw r26,1 |
490 0256 A417 cp r26,r20 |
491 0258 B507 cpc r27,r21 |
492 025a C8F3 brlo .L29 |
493 .L31: |
494 025c 3F70 andi r19,hi8(4095) |
495 025e FD01 movw r30,r26 |
496 0260 E050 subi r30,lo8(-(TxdBuffer)) |
497 0262 F040 sbci r31,hi8(-(TxdBuffer)) |
498 0264 C901 movw r24,r18 |
499 0266 56E0 ldi r21,6 |
500 0268 9695 1: lsr r25 |
501 026a 8795 ror r24 |
502 026c 5A95 dec r21 |
503 026e E1F7 brne 1b |
504 0270 835C subi r24,lo8(-(61)) |
505 0272 8083 st Z,r24 |
506 0274 1196 adiw r26,1 |
507 0276 FD01 movw r30,r26 |
508 0278 E050 subi r30,lo8(-(TxdBuffer)) |
509 027a F040 sbci r31,hi8(-(TxdBuffer)) |
510 027c 2F73 andi r18,lo8(63) |
511 027e 3070 andi r19,hi8(63) |
512 0280 822F mov r24,r18 |
513 0282 835C subi r24,lo8(-(61)) |
514 0284 8083 st Z,r24 |
515 0286 A050 subi r26,lo8(-(TxdBuffer+1)) |
516 0288 B040 sbci r27,hi8(-(TxdBuffer+1)) |
517 028a 8DE0 ldi r24,lo8(13) |
518 028c 8C93 st X,r24 |
519 028e 1092 0000 sts UebertragungAbgeschlossen,__zero_reg__ |
520 0292 8091 0000 lds r24,TxdBuffer |
521 0296 8093 C600 sts 198,r24 |
522 /* epilogue: frame size=0 */ |
523 029a 0895 ret |
524 /* epilogue end (size=1) */ |
525 /* function AddCRC size 49 (48) */ |
527 .global SendOutData |
529 SendOutData: |
530 /* prologue: frame size=0 */ |
531 029c A0E0 ldi r26,lo8(0) |
532 029e B0E0 ldi r27,hi8(0) |
533 02a0 E0E0 ldi r30,pm_lo8(1f) |
534 02a2 F0E0 ldi r31,pm_hi8(1f) |
535 02a4 0C94 0000 jmp __prologue_saves__+18 |
536 1: |
537 /* prologue end (size=6) */ |
538 02a8 2C85 ldd r18,Y+12 |
539 02aa 9D85 ldd r25,Y+13 |
540 02ac 0E85 ldd r16,Y+14 |
541 02ae BB24 clr r11 |
542 02b0 83E2 ldi r24,lo8(35) |
543 02b2 8093 0000 sts TxdBuffer,r24 |
544 02b6 9F59 subi r25,lo8(-(97)) |
545 02b8 9093 0000 sts TxdBuffer+1,r25 |
546 02bc 2093 0000 sts TxdBuffer+2,r18 |
547 02c0 33E0 ldi r19,lo8(3) |
548 02c2 E32E mov r14,r19 |
549 02c4 F12C mov r15,__zero_reg__ |
550 02c6 0023 tst r16 |
551 02c8 09F4 brne .+2 |
552 02ca 9EC0 rjmp .L47 |
553 02cc CF84 ldd r12,Y+15 |
554 02ce D888 ldd r13,Y+16 |
555 02d0 BE01 movw r22,r28 |
556 02d2 6D5E subi r22,lo8(-(19)) |
557 02d4 7F4F sbci r23,hi8(-(19)) |
558 02d6 A989 ldd r26,Y+17 |
559 02d8 BA89 ldd r27,Y+18 |
560 02da 0150 subi r16,lo8(-(-1)) |
561 .L48: |
562 02dc 1097 sbiw r26,0 |
563 02de 09F4 brne .+2 |
564 02e0 93C0 rjmp .L47 |
565 02e2 1097 sbiw r26,0 |
566 02e4 B9F0 breq .L36 |
567 02e6 F601 movw r30,r12 |
568 02e8 EB0D add r30,r11 |
569 02ea F11D adc r31,__zero_reg__ |
570 02ec B394 inc r11 |
571 02ee 9081 ld r25,Z |
572 02f0 1197 sbiw r26,1 |
573 02f2 91F4 brne .L38 |
574 02f4 0023 tst r16 |
575 02f6 49F1 breq .L39 |
576 02f8 FB01 movw r30,r22 |
577 02fa 6E5F subi r22,lo8(-(2)) |
578 02fc 7F4F sbci r23,hi8(-(2)) |
579 02fe DB01 movw r26,r22 |
580 0300 C080 ld r12,Z |
581 0302 D180 ldd r13,Z+1 |
582 0304 6E5F subi r22,lo8(-(2)) |
583 0306 7F4F sbci r23,hi8(-(2)) |
584 0308 0D90 ld __tmp_reg__,X+ |
585 030a BC91 ld r27,X |
586 030c A02D mov r26,__tmp_reg__ |
587 030e BB24 clr r11 |
588 0310 0150 subi r16,lo8(-(-1)) |
589 0312 02C0 rjmp .L38 |
590 .L36: |
591 0314 90E0 ldi r25,lo8(0) |
592 0316 19C0 rjmp .L39 |
593 .L38: |
594 0318 1097 sbiw r26,0 |
595 031a B9F0 breq .L39 |
596 031c F601 movw r30,r12 |
597 031e EB0D add r30,r11 |
598 0320 F11D adc r31,__zero_reg__ |
599 0322 B394 inc r11 |
600 0324 4081 ld r20,Z |
601 0326 1197 sbiw r26,1 |
602 0328 91F4 brne .L41 |
603 032a 0023 tst r16 |
604 032c 41F1 breq .L42 |
605 032e FB01 movw r30,r22 |
606 0330 6E5F subi r22,lo8(-(2)) |
607 0332 7F4F sbci r23,hi8(-(2)) |
608 0334 DB01 movw r26,r22 |
609 0336 C080 ld r12,Z |
610 0338 D180 ldd r13,Z+1 |
611 033a 6E5F subi r22,lo8(-(2)) |
612 033c 7F4F sbci r23,hi8(-(2)) |
613 033e 0D90 ld __tmp_reg__,X+ |
614 0340 BC91 ld r27,X |
615 0342 A02D mov r26,__tmp_reg__ |
616 0344 BB24 clr r11 |
617 0346 0150 subi r16,lo8(-(-1)) |
618 0348 02C0 rjmp .L41 |
619 .L39: |
620 034a 40E0 ldi r20,lo8(0) |
621 034c 18C0 rjmp .L42 |
622 .L41: |
623 034e 1097 sbiw r26,0 |
624 0350 B1F0 breq .L42 |
625 0352 F601 movw r30,r12 |
626 0354 EB0D add r30,r11 |
627 0356 F11D adc r31,__zero_reg__ |
628 0358 B394 inc r11 |
629 035a 1081 ld r17,Z |
630 035c 1197 sbiw r26,1 |
631 035e 81F4 brne .L44 |
632 0360 0023 tst r16 |
633 0362 71F0 breq .L44 |
634 0364 FB01 movw r30,r22 |
635 0366 3296 adiw r30,2 |
636 0368 DB01 movw r26,r22 |
637 036a CD90 ld r12,X+ |
638 036c DC90 ld r13,X |
639 036e BF01 movw r22,r30 |
640 0370 6E5F subi r22,lo8(-(2)) |
641 0372 7F4F sbci r23,hi8(-(2)) |
642 0374 A081 ld r26,Z |
643 0376 B181 ldd r27,Z+1 |
644 0378 BB24 clr r11 |
645 037a 0150 subi r16,lo8(-(-1)) |
646 037c 01C0 rjmp .L44 |
647 .L42: |
648 037e 10E0 ldi r17,lo8(0) |
649 .L44: |
650 0380 F701 movw r30,r14 |
651 0382 E050 subi r30,lo8(-(TxdBuffer)) |
652 0384 F040 sbci r31,hi8(-(TxdBuffer)) |
653 0386 892F mov r24,r25 |
654 0388 8695 lsr r24 |
655 038a 8695 lsr r24 |
656 038c 835C subi r24,lo8(-(61)) |
657 038e 8083 st Z,r24 |
658 0390 0894 sec |
659 0392 E11C adc r14,__zero_reg__ |
660 0394 F11C adc r15,__zero_reg__ |
661 0396 F701 movw r30,r14 |
662 0398 E050 subi r30,lo8(-(TxdBuffer)) |
663 039a F040 sbci r31,hi8(-(TxdBuffer)) |
664 039c 892F mov r24,r25 |
665 039e 9927 clr r25 |
666 03a0 8370 andi r24,lo8(3) |
667 03a2 9070 andi r25,hi8(3) |
668 03a4 24E0 ldi r18,4 |
669 03a6 880F 1: lsl r24 |
670 03a8 991F rol r25 |
671 03aa 2A95 dec r18 |
672 03ac E1F7 brne 1b |
673 03ae 5527 clr r21 |
674 03b0 9A01 movw r18,r20 |
675 03b2 94E0 ldi r25,4 |
676 03b4 3695 1: lsr r19 |
677 03b6 2795 ror r18 |
678 03b8 9A95 dec r25 |
679 03ba E1F7 brne 1b |
680 03bc 822B or r24,r18 |
681 03be 835C subi r24,lo8(-(61)) |
682 03c0 8083 st Z,r24 |
683 03c2 0894 sec |
684 03c4 E11C adc r14,__zero_reg__ |
685 03c6 F11C adc r15,__zero_reg__ |
686 03c8 F701 movw r30,r14 |
687 03ca E050 subi r30,lo8(-(TxdBuffer)) |
688 03cc F040 sbci r31,hi8(-(TxdBuffer)) |
689 03ce 4F70 andi r20,lo8(15) |
690 03d0 5070 andi r21,hi8(15) |
691 03d2 440F lsl r20 |
692 03d4 551F rol r21 |
693 03d6 440F lsl r20 |
694 03d8 551F rol r21 |
695 03da 812F mov r24,r17 |
696 03dc 9927 clr r25 |
697 03de 26E0 ldi r18,6 |
698 03e0 9695 1: lsr r25 |
699 03e2 8795 ror r24 |
700 03e4 2A95 dec r18 |
701 03e6 E1F7 brne 1b |
702 03e8 842B or r24,r20 |
703 03ea 835C subi r24,lo8(-(61)) |
704 03ec 8083 st Z,r24 |
705 03ee 0894 sec |
706 03f0 E11C adc r14,__zero_reg__ |
707 03f2 F11C adc r15,__zero_reg__ |
708 03f4 F701 movw r30,r14 |
709 03f6 E050 subi r30,lo8(-(TxdBuffer)) |
710 03f8 F040 sbci r31,hi8(-(TxdBuffer)) |
711 03fa 1F73 andi r17,lo8(63) |
712 03fc 135C subi r17,lo8(-(61)) |
713 03fe 1083 st Z,r17 |
714 0400 0894 sec |
715 0402 E11C adc r14,__zero_reg__ |
716 0404 F11C adc r15,__zero_reg__ |
717 0406 6ACF rjmp .L48 |
718 .L47: |
719 0408 C701 movw r24,r14 |
720 040a 0E94 0000 call AddCRC |
721 /* epilogue: frame size=0 */ |
722 040e E9E0 ldi r30,9 |
723 0410 0C94 0000 jmp __epilogue_restores__+18 |
724 /* epilogue end (size=3) */ |
725 /* function SendOutData size 191 (182) */ |
727 .global Decode64 |
729 Decode64: |
730 /* prologue: frame size=0 */ |
731 /* prologue end (size=0) */ |
732 0414 A3E0 ldi r26,lo8(3) |
733 0416 7A2F mov r23,r26 |
734 0418 4091 0000 lds r20,AnzahlEmpfangsBytes |
735 041c 4650 subi r20,lo8(-(-6)) |
736 .L60: |
737 041e 4423 tst r20 |
738 0420 09F4 brne .+2 |
739 0422 58C0 rjmp .L51 |
740 0424 E72F mov r30,r23 |
741 0426 FF27 clr r31 |
742 0428 E050 subi r30,lo8(-(RxdBuffer)) |
743 042a F040 sbci r31,hi8(-(RxdBuffer)) |
744 042c 8081 ld r24,Z |
745 042e 8D53 subi r24,lo8(-(-61)) |
746 0430 7F5F subi r23,lo8(-(1)) |
747 0432 E72F mov r30,r23 |
748 0434 FF27 clr r31 |
749 0436 E050 subi r30,lo8(-(RxdBuffer)) |
750 0438 F040 sbci r31,hi8(-(RxdBuffer)) |
751 043a 2081 ld r18,Z |
752 043c 2D53 subi r18,lo8(-(-61)) |
753 043e 7F5F subi r23,lo8(-(1)) |
754 0440 E72F mov r30,r23 |
755 0442 FF27 clr r31 |
756 0444 E050 subi r30,lo8(-(RxdBuffer)) |
757 0446 F040 sbci r31,hi8(-(RxdBuffer)) |
758 0448 3081 ld r19,Z |
759 044a 3D53 subi r19,lo8(-(-61)) |
760 044c 7F5F subi r23,lo8(-(1)) |
761 044e E72F mov r30,r23 |
762 0450 FF27 clr r31 |
763 0452 E050 subi r30,lo8(-(RxdBuffer)) |
764 0454 F040 sbci r31,hi8(-(RxdBuffer)) |
765 0456 6081 ld r22,Z |
766 0458 6D53 subi r22,lo8(-(-61)) |
767 045a 7F5F subi r23,lo8(-(1)) |
768 045c 9927 clr r25 |
769 045e 880F lsl r24 |
770 0460 991F rol r25 |
771 0462 880F lsl r24 |
772 0464 991F rol r25 |
773 0466 522F mov r21,r18 |
774 0468 5295 swap r21 |
775 046a 5F70 andi r21,0x0f |
776 046c 582B or r21,r24 |
777 046e 822F mov r24,r18 |
778 0470 9927 clr r25 |
779 0472 8F70 andi r24,lo8(15) |
780 0474 9070 andi r25,hi8(15) |
781 0476 F4E0 ldi r31,4 |
782 0478 880F 1: lsl r24 |
783 047a 991F rol r25 |
784 047c FA95 dec r31 |
785 047e E1F7 brne 1b |
786 0480 232F mov r18,r19 |
787 0482 2695 lsr r18 |
788 0484 2695 lsr r18 |
789 0486 282B or r18,r24 |
790 0488 832F mov r24,r19 |
791 048a 9927 clr r25 |
792 048c 8370 andi r24,lo8(3) |
793 048e 9070 andi r25,hi8(3) |
794 0490 E6E0 ldi r30,6 |
795 0492 880F 1: lsl r24 |
796 0494 991F rol r25 |
797 0496 EA95 dec r30 |
798 0498 E1F7 brne 1b |
799 049a 682B or r22,r24 |
800 049c 4150 subi r20,lo8(-(-1)) |
801 049e 4F3F cpi r20,lo8(-1) |
802 04a0 C9F0 breq .L51 |
803 04a2 EA2F mov r30,r26 |
804 04a4 FF27 clr r31 |
805 04a6 E050 subi r30,lo8(-(RxdBuffer)) |
806 04a8 F040 sbci r31,hi8(-(RxdBuffer)) |
807 04aa 5083 st Z,r21 |
808 04ac AF5F subi r26,lo8(-(1)) |
809 04ae 4150 subi r20,lo8(-(-1)) |
810 04b0 4F3F cpi r20,lo8(-1) |
811 04b2 81F0 breq .L51 |
812 04b4 EA2F mov r30,r26 |
813 04b6 FF27 clr r31 |
814 04b8 E050 subi r30,lo8(-(RxdBuffer)) |
815 04ba F040 sbci r31,hi8(-(RxdBuffer)) |
816 04bc 2083 st Z,r18 |
817 04be AF5F subi r26,lo8(-(1)) |
818 04c0 4150 subi r20,lo8(-(-1)) |
819 04c2 4F3F cpi r20,lo8(-1) |
820 04c4 39F0 breq .L51 |
821 04c6 EA2F mov r30,r26 |
822 04c8 FF27 clr r31 |
823 04ca E050 subi r30,lo8(-(RxdBuffer)) |
824 04cc F040 sbci r31,hi8(-(RxdBuffer)) |
825 04ce 6083 st Z,r22 |
826 04d0 AF5F subi r26,lo8(-(1)) |
827 04d2 A5CF rjmp .L60 |
828 .L51: |
829 04d4 80E0 ldi r24,lo8(RxdBuffer+3) |
830 04d6 90E0 ldi r25,hi8(RxdBuffer+3) |
831 04d8 9093 0000 sts (pRxData)+1,r25 |
832 04dc 8093 0000 sts pRxData,r24 |
833 04e0 A350 subi r26,lo8(-(-3)) |
834 04e2 A093 0000 sts RxDataLen,r26 |
835 /* epilogue: frame size=0 */ |
836 04e6 0895 ret |
837 /* epilogue end (size=1) */ |
838 /* function Decode64 size 106 (105) */ |
840 .global BearbeiteRxDaten |
842 BearbeiteRxDaten: |
843 /* prologue: frame size=2 */ |
844 04e8 A2E0 ldi r26,lo8(2) |
845 04ea B0E0 ldi r27,hi8(2) |
846 04ec E0E0 ldi r30,pm_lo8(1f) |
847 04ee F0E0 ldi r31,pm_hi8(1f) |
848 04f0 0C94 0000 jmp __prologue_saves__+30 |
849 1: |
850 /* prologue end (size=6) */ |
851 04f4 8091 0000 lds r24,NeuerDatensatzEmpfangen |
852 04f8 8823 tst r24 |
853 04fa 09F4 brne .+2 |
854 04fc C7C3 rjmp .L61 |
855 04fe 0E94 0000 call Decode64 |
856 0502 8091 0000 lds r24,RxdBuffer+1 |
857 0506 8236 cpi r24,lo8(98) |
858 0508 09F0 breq .+2 |
859 050a 81C2 rjmp .L119 |
860 050c 8091 0000 lds r24,RxdBuffer+2 |
861 0510 9927 clr r25 |
862 0512 8137 cpi r24,113 |
863 0514 9105 cpc r25,__zero_reg__ |
864 0516 09F4 brne .+2 |
865 0518 C0C0 rjmp .L81 |
866 051a 8237 cpi r24,114 |
867 051c 9105 cpc r25,__zero_reg__ |
868 051e C4F4 brge .L116 |
869 0520 8D36 cpi r24,109 |
870 0522 9105 cpc r25,__zero_reg__ |
871 0524 09F4 brne .+2 |
872 0526 82C0 rjmp .L74 |
873 0528 8E36 cpi r24,110 |
874 052a 9105 cpc r25,__zero_reg__ |
875 052c 44F4 brge .L117 |
876 052e 8B34 cpi r24,75 |
877 0530 9105 cpc r25,__zero_reg__ |
878 0532 31F1 breq .L66 |
879 0534 8636 cpi r24,102 |
880 0536 9105 cpc r25,__zero_reg__ |
881 0538 09F4 brne .+2 |
882 053a 54C1 rjmp .L96 |
883 053c 68C2 rjmp .L119 |
884 .L117: |
885 053e 8E36 cpi r24,110 |
886 0540 9105 cpc r25,__zero_reg__ |
887 0542 09F4 brne .+2 |
888 0544 5BC0 rjmp .L71 |
889 0546 8037 cpi r24,112 |
890 0548 9105 cpc r25,__zero_reg__ |
891 054a 09F4 brne .+2 |
892 054c 9FC0 rjmp .L80 |
893 054e 5FC2 rjmp .L119 |
894 .L116: |
895 0550 8537 cpi r24,117 |
896 0552 9105 cpc r25,__zero_reg__ |
897 0554 09F4 brne .+2 |
898 0556 E2C1 rjmp .L103 |
899 0558 8637 cpi r24,118 |
900 055a 9105 cpc r25,__zero_reg__ |
901 055c 44F4 brge .L118 |
902 055e 8337 cpi r24,115 |
903 0560 9105 cpc r25,__zero_reg__ |
904 0562 09F4 brne .+2 |
905 0564 DCC0 rjmp .L89 |
906 0566 8437 cpi r24,116 |
907 0568 9105 cpc r25,__zero_reg__ |
908 056a 39F1 breq .L67 |
909 056c 50C2 rjmp .L119 |
910 .L118: |
911 056e 8737 cpi r24,119 |
912 0570 9105 cpc r25,__zero_reg__ |
913 0572 09F4 brne .+2 |
914 0574 10C2 rjmp .L109 |
915 0576 8937 cpi r24,121 |
916 0578 9105 cpc r25,__zero_reg__ |
917 057a 09F4 brne .+2 |
918 057c 6AC1 rjmp .L102 |
919 057e 47C2 rjmp .L119 |
920 .L66: |
921 0580 E091 0000 lds r30,pRxData |
922 0584 F091 0000 lds r31,(pRxData)+1 |
923 0588 8081 ld r24,Z |
924 058a 9181 ldd r25,Z+1 |
925 058c 9093 0000 sts (KompassValue)+1,r25 |
926 0590 8093 0000 sts KompassValue,r24 |
927 0594 2091 0000 lds r18,KompassStartwert |
928 0598 3091 0000 lds r19,(KompassStartwert)+1 |
929 059c 821B sub r24,r18 |
930 059e 930B sbc r25,r19 |
931 05a0 845E subi r24,lo8(-(540)) |
932 05a2 9D4F sbci r25,hi8(-(540)) |
933 05a4 68E6 ldi r22,lo8(360) |
934 05a6 71E0 ldi r23,hi8(360) |
935 05a8 0E94 0000 call __divmodhi4 |
936 05ac 845B subi r24,lo8(-(-180)) |
937 05ae 9040 sbci r25,hi8(-(-180)) |
938 05b0 9093 0000 sts (KompassRichtung)+1,r25 |
939 05b4 8093 0000 sts KompassRichtung,r24 |
940 05b8 2AC2 rjmp .L119 |
941 .L67: |
942 05ba 8091 0000 lds r24,AnzahlEmpfangsBytes |
943 05be A091 0000 lds r26,pRxData |
944 05c2 B091 0000 lds r27,(pRxData)+1 |
945 05c6 8531 cpi r24,lo8(21) |
946 05c8 40F0 brlo .L68 |
947 05ca 80E1 ldi r24,lo8(16) |
948 05cc E0E0 ldi r30,lo8(MotorTest) |
949 05ce F0E0 ldi r31,hi8(MotorTest) |
950 05d0 0D90 ld __tmp_reg__,X+ |
951 05d2 0192 st Z+,__tmp_reg__ |
952 05d4 8A95 dec r24 |
953 05d6 E1F7 brne .-8 |
954 05d8 0DC0 rjmp .L69 |
955 .L68: |
956 05da 8D91 ld r24,X+ |
957 05dc 9D91 ld r25,X+ |
958 05de 0D90 ld __tmp_reg__,X+ |
959 05e0 BC91 ld r27,X |
960 05e2 A02D mov r26,__tmp_reg__ |
961 05e4 8093 0000 sts MotorTest,r24 |
962 05e8 9093 0000 sts (MotorTest)+1,r25 |
963 05ec A093 0000 sts (MotorTest)+2,r26 |
964 05f0 B093 0000 sts (MotorTest)+3,r27 |
965 .L69: |
966 05f4 80EF ldi r24,lo8(-16) |
967 05f6 8093 0000 sts PC_MotortestActive,r24 |
968 05fa 4BC0 rjmp .L148 |
969 .L71: |
970 05fc 8091 0000 lds r24,UebertragungAbgeschlossen |
971 0600 8823 tst r24 |
972 0602 E1F3 breq .L71 |
973 0604 8DE4 ldi r24,lo8(77) |
974 0606 90E0 ldi r25,hi8(77) |
975 0608 9F93 push r25 |
976 060a 8F93 push r24 |
977 060c 80E0 ldi r24,lo8(Mixer) |
978 060e 90E0 ldi r25,hi8(Mixer) |
979 0610 9F93 push r25 |
980 0612 8F93 push r24 |
981 0614 81E0 ldi r24,lo8(1) |
982 0616 8F93 push r24 |
983 0618 8F93 push r24 |
984 061a 8EE4 ldi r24,lo8(78) |
985 061c 8F93 push r24 |
986 061e 0E94 0000 call SendOutData |
987 0622 8DB7 in r24,__SP_L__ |
988 0624 9EB7 in r25,__SP_H__ |
989 0626 0796 adiw r24,7 |
990 0628 8DBF out __SP_L__,r24 |
991 062a F1C1 rjmp .L119 |
992 .L74: |
993 062c A091 0000 lds r26,pRxData |
994 0630 B091 0000 lds r27,(pRxData)+1 |
995 0634 1C91 ld r17,X |
996 0636 1130 cpi r17,lo8(1) |
997 0638 81F4 brne .L75 |
998 063a 8DE4 ldi r24,lo8(77) |
999 063c E0E0 ldi r30,lo8(Mixer) |
1000 063e F0E0 ldi r31,hi8(Mixer) |
1001 0640 0D90 ld __tmp_reg__,X+ |
1002 0642 0192 st Z+,__tmp_reg__ |
1003 0644 8A95 dec r24 |
1004 0646 E1F7 brne .-8 |
1005 0648 0E94 0000 call MixerTable_WriteToEEProm |
1006 064c 1983 std Y+1,r17 |
1007 064e 8091 0000 lds r24,VersionInfo+6 |
1008 0652 8F7E andi r24,lo8(-17) |
1009 0654 8093 0000 sts VersionInfo+6,r24 |
1010 0658 01C0 rjmp .L77 |
1011 .L75: |
1012 065a 1982 std Y+1,__zero_reg__ |
1013 .L77: |
1014 065c 8091 0000 lds r24,UebertragungAbgeschlossen |
1015 0660 8823 tst r24 |
1016 0662 E1F3 breq .L77 |
1017 0664 81E0 ldi r24,lo8(1) |
1018 0666 90E0 ldi r25,hi8(1) |
1019 0668 9F93 push r25 |
1020 066a 8F93 push r24 |
1021 066c CE01 movw r24,r28 |
1022 066e 0196 adiw r24,1 |
1023 0670 9F93 push r25 |
1024 0672 8F93 push r24 |
1025 0674 81E0 ldi r24,lo8(1) |
1026 0676 8F93 push r24 |
1027 0678 8F93 push r24 |
1028 067a 8DE4 ldi r24,lo8(77) |
1029 067c 8F93 push r24 |
1030 067e 0E94 0000 call SendOutData |
1031 0682 ADB7 in r26,__SP_L__ |
1032 0684 BEB7 in r27,__SP_H__ |
1033 0686 1796 adiw r26,7 |
1034 0688 ADBF out __SP_L__,r26 |
1035 068a C1C1 rjmp .L119 |
1036 .L80: |
1037 068c 81E0 ldi r24,lo8(1) |
1038 068e 8093 0000 sts GetPPMChannelAnforderung,r24 |
1039 .L148: |
1040 0692 8FEF ldi r24,lo8(-1) |
1041 0694 8093 0000 sts PcZugriff,r24 |
1042 0698 BAC1 rjmp .L119 |
1043 .L81: |
1044 069a E091 0000 lds r30,pRxData |
1045 069e F091 0000 lds r31,(pRxData)+1 |
1046 06a2 8081 ld r24,Z |
1047 06a4 8F3F cpi r24,lo8(-1) |
1048 06a6 39F4 brne .L82 |
1049 06a8 0E94 0000 call GetActiveParamSet |
1050 06ac E091 0000 lds r30,pRxData |
1051 06b0 F091 0000 lds r31,(pRxData)+1 |
1052 06b4 8083 st Z,r24 |
1053 .L82: |
1054 06b6 E091 0000 lds r30,pRxData |
1055 06ba F091 0000 lds r31,(pRxData)+1 |
1056 06be 8081 ld r24,Z |
1057 06c0 8823 tst r24 |
1058 06c2 11F4 brne .L83 |
1059 06c4 81E0 ldi r24,lo8(1) |
1060 06c6 03C0 rjmp .L146 |
1061 .L83: |
1062 06c8 8630 cpi r24,lo8(6) |
1063 06ca 10F0 brlo .L84 |
1064 06cc 85E0 ldi r24,lo8(5) |
1065 .L146: |
1066 06ce 8083 st Z,r24 |
1067 .L84: |
1068 06d0 E091 0000 lds r30,pRxData |
1069 06d4 F091 0000 lds r31,(pRxData)+1 |
1070 06d8 8081 ld r24,Z |
1071 06da 0E94 0000 call ParamSet_ReadFromEEProm |
1072 06de E091 0000 lds r30,pRxData |
1073 06e2 F091 0000 lds r31,(pRxData)+1 |
1074 06e6 8081 ld r24,Z |
1075 06e8 8983 std Y+1,r24 |
1076 .L86: |
1077 06ea 8091 0000 lds r24,UebertragungAbgeschlossen |
1078 06ee 8823 tst r24 |
1079 06f0 E1F3 breq .L86 |
1080 06f2 80E7 ldi r24,lo8(112) |
1081 06f4 90E0 ldi r25,hi8(112) |
1082 06f6 9F93 push r25 |
1083 06f8 8F93 push r24 |
1084 06fa 80E0 ldi r24,lo8(EE_Parameter) |
1085 06fc 90E0 ldi r25,hi8(EE_Parameter) |
1086 06fe 9F93 push r25 |
1087 0700 8F93 push r24 |
1088 0702 81E0 ldi r24,lo8(1) |
1089 0704 90E0 ldi r25,hi8(1) |
1090 0706 9F93 push r25 |
1091 0708 8F93 push r24 |
1092 070a CE01 movw r24,r28 |
1093 070c 0196 adiw r24,1 |
1094 070e 9F93 push r25 |
1095 0710 8F93 push r24 |
1096 0712 82E0 ldi r24,lo8(2) |
1097 0714 8F93 push r24 |
1098 0716 81E0 ldi r24,lo8(1) |
1099 0718 8F93 push r24 |
1100 071a 81E5 ldi r24,lo8(81) |
1101 071c 71C1 rjmp .L151 |
1102 .L89: |
1103 071e 2091 0000 lds r18,pRxData |
1104 0722 3091 0000 lds r19,(pRxData)+1 |
1105 0726 D901 movw r26,r18 |
1106 0728 8C91 ld r24,X |
1107 072a 8150 subi r24,lo8(-(-1)) |
1108 072c 8530 cpi r24,lo8(5) |
1109 072e 08F0 brlo .+2 |
1110 0730 40C0 rjmp .L90 |
1111 0732 F901 movw r30,r18 |
1112 0734 8181 ldd r24,Z+1 |
1113 0736 8435 cpi r24,lo8(84) |
1114 0738 E1F5 brne .L90 |
1115 073a 2F5F subi r18,lo8(-(1)) |
1116 073c 3F4F sbci r19,hi8(-(1)) |
1117 073e 80E7 ldi r24,lo8(112) |
1118 0740 E0E0 ldi r30,lo8(EE_Parameter) |
1119 0742 F0E0 ldi r31,hi8(EE_Parameter) |
1120 0744 D901 movw r26,r18 |
1121 0746 0D90 ld __tmp_reg__,X+ |
1122 0748 0192 st Z+,__tmp_reg__ |
1123 074a 8A95 dec r24 |
1124 074c E1F7 brne .-8 |
1125 074e F901 movw r30,r18 |
1126 0750 8291 ld r24,-Z |
1127 0752 0E94 0000 call ParamSet_WriteToEEProm |
1128 0756 8091 0000 lds r24,EE_Parameter+63 |
1129 075a 9927 clr r25 |
1130 075c AA27 clr r26 |
1131 075e BB27 clr r27 |
1132 0760 BC01 movw r22,r24 |
1133 0762 CD01 movw r24,r26 |
1134 0764 24EC ldi r18,lo8(2500) |
1135 0766 39E0 ldi r19,hi8(2500) |
1136 0768 40E0 ldi r20,hlo8(2500) |
1137 076a 50E0 ldi r21,hhi8(2500) |
1138 076c 0E94 0000 call __mulsi3 |
1139 0770 DC01 movw r26,r24 |
1140 0772 CB01 movw r24,r22 |
1141 0774 8093 0000 sts Umschlag180Nick,r24 |
1142 0778 9093 0000 sts (Umschlag180Nick)+1,r25 |
1143 077c A093 0000 sts (Umschlag180Nick)+2,r26 |
1144 0780 B093 0000 sts (Umschlag180Nick)+3,r27 |
1145 0784 8091 0000 lds r24,EE_Parameter+64 |
1146 0788 9927 clr r25 |
1147 078a AA27 clr r26 |
1148 078c BB27 clr r27 |
1149 078e BC01 movw r22,r24 |
1150 0790 CD01 movw r24,r26 |
1151 0792 0E94 0000 call __mulsi3 |
1152 0796 DC01 movw r26,r24 |
1153 0798 CB01 movw r24,r22 |
1154 079a 8093 0000 sts Umschlag180Roll,r24 |
1155 079e 9093 0000 sts (Umschlag180Roll)+1,r25 |
1156 07a2 A093 0000 sts (Umschlag180Roll)+2,r26 |
1157 07a6 B093 0000 sts (Umschlag180Roll)+3,r27 |
1158 07aa 0E94 0000 call GetActiveParamSet |
1159 07ae 8983 std Y+1,r24 |
1160 07b0 01C0 rjmp .L92 |
1161 .L90: |
1162 07b2 1982 std Y+1,__zero_reg__ |
1163 .L92: |
1164 07b4 8091 0000 lds r24,UebertragungAbgeschlossen |
1165 07b8 8823 tst r24 |
1166 07ba E1F3 breq .L92 |
1167 07bc 81E0 ldi r24,lo8(1) |
1168 07be 90E0 ldi r25,hi8(1) |
1169 07c0 9F93 push r25 |
1170 07c2 8F93 push r24 |
1171 07c4 CE01 movw r24,r28 |
1172 07c6 0196 adiw r24,1 |
1173 07c8 9F93 push r25 |
1174 07ca 8F93 push r24 |
1175 07cc 81E0 ldi r24,lo8(1) |
1176 07ce 8F93 push r24 |
1177 07d0 8F93 push r24 |
1178 07d2 83E5 ldi r24,lo8(83) |
1179 07d4 8F93 push r24 |
1180 07d6 0E94 0000 call SendOutData |
1181 07da 8DB7 in r24,__SP_L__ |
1182 07dc 9EB7 in r25,__SP_H__ |
1183 07de 0796 adiw r24,7 |
1184 07e0 8DBF out __SP_L__,r24 |
1185 07e2 26C0 rjmp .L152 |
1186 .L96: |
1187 07e4 E091 0000 lds r30,pRxData |
1188 07e8 F091 0000 lds r31,(pRxData)+1 |
1189 07ec E081 ld r30,Z |
1190 07ee 8E2F mov r24,r30 |
1191 07f0 8150 subi r24,lo8(-(-1)) |
1192 07f2 8530 cpi r24,lo8(5) |
1193 07f4 18F4 brsh .L97 |
1194 07f6 8E2F mov r24,r30 |
1195 07f8 0E94 0000 call ParamSet_ReadFromEEProm |
1196 .L97: |
1197 07fc 0E94 0000 call GetActiveParamSet |
1198 0800 8983 std Y+1,r24 |
1199 .L98: |
1200 0802 8091 0000 lds r24,UebertragungAbgeschlossen |
1201 0806 8823 tst r24 |
1202 0808 E1F3 breq .L98 |
1203 080a 81E0 ldi r24,lo8(1) |
1204 080c 90E0 ldi r25,hi8(1) |
1205 080e 9F93 push r25 |
1206 0810 8F93 push r24 |
1207 0812 CE01 movw r24,r28 |
1208 0814 0196 adiw r24,1 |
1209 0816 9F93 push r25 |
1210 0818 8F93 push r24 |
1211 081a 81E0 ldi r24,lo8(1) |
1212 081c 8F93 push r24 |
1213 081e 8F93 push r24 |
1214 0820 86E4 ldi r24,lo8(70) |
1215 0822 8F93 push r24 |
1216 0824 0E94 0000 call SendOutData |
1217 0828 ADB7 in r26,__SP_L__ |
1218 082a BEB7 in r27,__SP_H__ |
1219 082c 1796 adiw r26,7 |
1220 082e ADBF out __SP_L__,r26 |
1221 .L152: |
1222 0830 8091 0000 lds r24,MotorenEin |
1223 0834 8823 tst r24 |
1224 0836 29F4 brne .L101 |
1225 0838 6EE6 ldi r22,lo8(110) |
1226 083a 70E0 ldi r23,hi8(110) |
1227 083c 8981 ldd r24,Y+1 |
1228 083e 0E94 0000 call Piep |
1229 .L101: |
1230 0842 80E0 ldi r24,lo8(0) |
1231 0844 0E94 0000 call LipoDetection |
1232 0848 8091 0000 lds r24,EE_Parameter+39 |
1233 084c 0E94 0000 call LIBFC_ReceiverInit |
1234 0850 DEC0 rjmp .L119 |
1235 .L102: |
1236 0852 E091 0000 lds r30,pRxData |
1237 0856 F091 0000 lds r31,(pRxData)+1 |
1238 085a 8081 ld r24,Z |
1239 085c 9927 clr r25 |
1240 085e 87FD sbrc r24,7 |
1241 0860 9095 com r25 |
1242 0862 9093 0000 sts (PPM_in+26)+1,r25 |
1243 0866 8093 0000 sts PPM_in+26,r24 |
1244 086a 8181 ldd r24,Z+1 |
1245 086c 9927 clr r25 |
1246 086e 87FD sbrc r24,7 |
1247 0870 9095 com r25 |
1248 0872 9093 0000 sts (PPM_in+28)+1,r25 |
1249 0876 8093 0000 sts PPM_in+28,r24 |
1250 087a 8281 ldd r24,Z+2 |
1251 087c 9927 clr r25 |
1252 087e 87FD sbrc r24,7 |
1253 0880 9095 com r25 |
1254 0882 9093 0000 sts (PPM_in+30)+1,r25 |
1255 0886 8093 0000 sts PPM_in+30,r24 |
1256 088a 8381 ldd r24,Z+3 |
1257 088c 9927 clr r25 |
1258 088e 87FD sbrc r24,7 |
1259 0890 9095 com r25 |
1260 0892 9093 0000 sts (PPM_in+32)+1,r25 |
1261 0896 8093 0000 sts PPM_in+32,r24 |
1262 089a 8481 ldd r24,Z+4 |
1263 089c 9927 clr r25 |
1264 089e 87FD sbrc r24,7 |
1265 08a0 9095 com r25 |
1266 08a2 9093 0000 sts (PPM_in+34)+1,r25 |
1267 08a6 8093 0000 sts PPM_in+34,r24 |
1268 08aa 8581 ldd r24,Z+5 |
1269 08ac 9927 clr r25 |
1270 08ae 87FD sbrc r24,7 |
1271 08b0 9095 com r25 |
1272 08b2 9093 0000 sts (PPM_in+36)+1,r25 |
1273 08b6 8093 0000 sts PPM_in+36,r24 |
1274 08ba 8681 ldd r24,Z+6 |
1275 08bc 9927 clr r25 |
1276 08be 87FD sbrc r24,7 |
1277 08c0 9095 com r25 |
1278 08c2 9093 0000 sts (PPM_in+38)+1,r25 |
1279 08c6 8093 0000 sts PPM_in+38,r24 |
1280 08ca 8781 ldd r24,Z+7 |
1281 08cc 9927 clr r25 |
1282 08ce 87FD sbrc r24,7 |
1283 08d0 9095 com r25 |
1284 08d2 9093 0000 sts (PPM_in+40)+1,r25 |
1285 08d6 8093 0000 sts PPM_in+40,r24 |
1286 08da 8085 ldd r24,Z+8 |
1287 08dc 9927 clr r25 |
1288 08de 87FD sbrc r24,7 |
1289 08e0 9095 com r25 |
1290 08e2 9093 0000 sts (PPM_in+42)+1,r25 |
1291 08e6 8093 0000 sts PPM_in+42,r24 |
1292 08ea 8185 ldd r24,Z+9 |
1293 08ec 9927 clr r25 |
1294 08ee 87FD sbrc r24,7 |
1295 08f0 9095 com r25 |
1296 08f2 9093 0000 sts (PPM_in+44)+1,r25 |
1297 08f6 8093 0000 sts PPM_in+44,r24 |
1298 08fa 8285 ldd r24,Z+10 |
1299 08fc 9927 clr r25 |
1300 08fe 87FD sbrc r24,7 |
1301 0900 9095 com r25 |
1302 0902 9093 0000 sts (PPM_in+46)+1,r25 |
1303 0906 8093 0000 sts PPM_in+46,r24 |
1304 090a 8385 ldd r24,Z+11 |
1305 090c 9927 clr r25 |
1306 090e 87FD sbrc r24,7 |
1307 0910 9095 com r25 |
1308 0912 9093 0000 sts (PPM_in+48)+1,r25 |
1309 0916 8093 0000 sts PPM_in+48,r24 |
1310 091a 79C0 rjmp .L119 |
1311 .L103: |
1312 091c E091 0000 lds r30,pRxData |
1313 0920 F091 0000 lds r31,(pRxData)+1 |
1314 0924 8081 ld r24,Z |
1315 0926 0E94 0000 call I2C_ReadBLConfig |
1316 092a 8A83 std Y+2,r24 |
1317 092c 8823 tst r24 |
1318 092e 19F4 brne .L104 |
1319 0930 81E0 ldi r24,lo8(1) |
1320 0932 8983 std Y+1,r24 |
1321 0934 01C0 rjmp .L106 |
1322 .L104: |
1323 0936 1982 std Y+1,__zero_reg__ |
1324 .L106: |
1325 0938 8091 0000 lds r24,UebertragungAbgeschlossen |
1326 093c 8823 tst r24 |
1327 093e E1F3 breq .L106 |
1328 0940 88E0 ldi r24,lo8(8) |
1329 0942 90E0 ldi r25,hi8(8) |
1330 0944 9F93 push r25 |
1331 0946 8F93 push r24 |
1332 0948 80E0 ldi r24,lo8(BLConfig) |
1333 094a 90E0 ldi r25,hi8(BLConfig) |
1334 094c 9F93 push r25 |
1335 094e 8F93 push r24 |
1336 0950 21E0 ldi r18,lo8(1) |
1337 0952 30E0 ldi r19,hi8(1) |
1338 0954 3F93 push r19 |
1339 0956 2F93 push r18 |
1340 0958 8091 0000 lds r24,pRxData |
1341 095c 9091 0000 lds r25,(pRxData)+1 |
1342 0960 9F93 push r25 |
1343 0962 8F93 push r24 |
1344 0964 3F93 push r19 |
1345 0966 2F93 push r18 |
1346 0968 CE01 movw r24,r28 |
1347 096a 0296 adiw r24,2 |
1348 096c 9F93 push r25 |
1349 096e 8F93 push r24 |
1350 0970 3F93 push r19 |
1351 0972 2F93 push r18 |
1352 0974 CE01 movw r24,r28 |
1353 0976 820F add r24,r18 |
1354 0978 931F adc r25,r19 |
1355 097a 9F93 push r25 |
1356 097c 8F93 push r24 |
1357 097e 84E0 ldi r24,lo8(4) |
1358 0980 8F93 push r24 |
1359 0982 81E0 ldi r24,lo8(1) |
1360 0984 8F93 push r24 |
1361 0986 85E5 ldi r24,lo8(85) |
1362 0988 8F93 push r24 |
1363 098a 0E94 0000 call SendOutData |
1364 098e EDB7 in r30,__SP_L__ |
1365 0990 FEB7 in r31,__SP_H__ |
1366 0992 7396 adiw r30,19 |
1367 0994 3BC0 rjmp .L147 |
1368 .L109: |
1369 0996 8091 0000 lds r24,RxDataLen |
1370 099a 8930 cpi r24,lo8(9) |
1371 099c C0F1 brlo .L119 |
1372 099e 2091 0000 lds r18,pRxData |
1373 09a2 3091 0000 lds r19,(pRxData)+1 |
1374 09a6 2F5F subi r18,lo8(-(1)) |
1375 09a8 3F4F sbci r19,hi8(-(1)) |
1376 09aa 88E0 ldi r24,lo8(8) |
1377 09ac A0E0 ldi r26,lo8(BLConfig) |
1378 09ae B0E0 ldi r27,hi8(BLConfig) |
1379 09b0 F901 movw r30,r18 |
1380 09b2 0190 ld __tmp_reg__,Z+ |
1381 09b4 0D92 st X+,__tmp_reg__ |
1382 09b6 8A95 dec r24 |
1383 09b8 E1F7 brne .-8 |
1384 09ba D901 movw r26,r18 |
1385 09bc 8E91 ld r24,-X |
1386 09be 0E94 0000 call I2C_WriteBLConfig |
1387 09c2 8A83 std Y+2,r24 |
1388 09c4 8823 tst r24 |
1389 09c6 19F4 brne .L111 |
1390 09c8 81E0 ldi r24,lo8(1) |
1391 09ca 8983 std Y+1,r24 |
1392 09cc 01C0 rjmp .L113 |
1393 .L111: |
1394 09ce 1982 std Y+1,__zero_reg__ |
1395 .L113: |
1396 09d0 8091 0000 lds r24,UebertragungAbgeschlossen |
1397 09d4 8823 tst r24 |
1398 09d6 E1F3 breq .L113 |
1399 09d8 21E0 ldi r18,lo8(1) |
1400 09da 30E0 ldi r19,hi8(1) |
1401 09dc 3F93 push r19 |
1402 09de 2F93 push r18 |
1403 09e0 CE01 movw r24,r28 |
1404 09e2 0296 adiw r24,2 |
1405 09e4 9F93 push r25 |
1406 09e6 8F93 push r24 |
1407 09e8 3F93 push r19 |
1408 09ea 2F93 push r18 |
1409 09ec CE01 movw r24,r28 |
1410 09ee 820F add r24,r18 |
1411 09f0 931F adc r25,r19 |
1412 09f2 9F93 push r25 |
1413 09f4 8F93 push r24 |
1414 09f6 82E0 ldi r24,lo8(2) |
1415 09f8 8F93 push r24 |
1416 09fa 81E0 ldi r24,lo8(1) |
1417 09fc 8F93 push r24 |
1418 09fe 87E5 ldi r24,lo8(87) |
1419 .L151: |
1420 0a00 8F93 push r24 |
1421 0a02 0E94 0000 call SendOutData |
1422 0a06 EDB7 in r30,__SP_L__ |
1423 0a08 FEB7 in r31,__SP_H__ |
1424 0a0a 3B96 adiw r30,11 |
1425 .L147: |
1426 0a0c EDBF out __SP_L__,r30 |
1427 .L119: |
1428 0a0e 8091 0000 lds r24,RxdBuffer+2 |
1429 0a12 9927 clr r25 |
1430 0a14 8436 cpi r24,100 |
1431 0a16 9105 cpc r25,__zero_reg__ |
1432 0a18 09F4 brne .+2 |
1433 0a1a CDC0 rjmp .L134 |
1434 0a1c 8536 cpi r24,101 |
1435 0a1e 9105 cpc r25,__zero_reg__ |
1436 0a20 ACF4 brge .L143 |
1437 0a22 8136 cpi r24,97 |
1438 0a24 9105 cpc r25,__zero_reg__ |
1439 0a26 09F4 brne .+2 |
1440 0a28 81C0 rjmp .L128 |
1441 0a2a 8236 cpi r24,98 |
1442 0a2c 9105 cpc r25,__zero_reg__ |
1443 0a2e 2CF4 brge .L144 |
1444 0a30 8B34 cpi r24,75 |
1445 0a32 9105 cpc r25,__zero_reg__ |
1446 0a34 09F4 brne .+2 |
1447 0a36 5DC0 rjmp .L127 |
1448 0a38 21C1 rjmp .L63 |
1449 .L144: |
1450 0a3a 8236 cpi r24,98 |
1451 0a3c 9105 cpc r25,__zero_reg__ |
1452 0a3e 09F4 brne .+2 |
1453 0a40 82C0 rjmp .L130 |
1454 0a42 8336 cpi r24,99 |
1455 0a44 9105 cpc r25,__zero_reg__ |
1456 0a46 09F4 brne .+2 |
1457 0a48 91C0 rjmp .L131 |
1458 0a4a 18C1 rjmp .L63 |
1459 .L143: |
1460 0a4c 8C36 cpi r24,108 |
1461 0a4e 9105 cpc r25,__zero_reg__ |
1462 0a50 09F4 brne .+2 |
1463 0a52 FFC0 rjmp .L139 |
1464 0a54 8D36 cpi r24,109 |
1465 0a56 9105 cpc r25,__zero_reg__ |
1466 0a58 4CF4 brge .L145 |
1467 0a5a 8736 cpi r24,103 |
1468 0a5c 9105 cpc r25,__zero_reg__ |
1469 0a5e 09F4 brne .+2 |
1470 0a60 0AC1 rjmp .L141 |
1471 0a62 8836 cpi r24,104 |
1472 0a64 9105 cpc r25,__zero_reg__ |
1473 0a66 09F4 brne .+2 |
1474 0a68 C4C0 rjmp .L136 |
1475 0a6a 08C1 rjmp .L63 |
1476 .L145: |
1477 0a6c 8437 cpi r24,116 |
1478 0a6e 9105 cpc r25,__zero_reg__ |
1479 0a70 29F0 breq .L121 |
1480 0a72 8637 cpi r24,118 |
1481 0a74 9105 cpc r25,__zero_reg__ |
1482 0a76 09F4 brne .+2 |
1483 0a78 FAC0 rjmp .L140 |
1484 0a7a 00C1 rjmp .L63 |
1485 .L121: |
1486 0a7c 8091 0000 lds r24,AnzahlEmpfangsBytes |
1487 0a80 A091 0000 lds r26,pRxData |
1488 0a84 B091 0000 lds r27,(pRxData)+1 |
1489 0a88 8031 cpi r24,lo8(16) |
1490 0a8a 40F0 brlo .L122 |
1491 0a8c 80E1 ldi r24,lo8(16) |
1492 0a8e E0E0 ldi r30,lo8(MotorTest) |
1493 0a90 F0E0 ldi r31,hi8(MotorTest) |
1494 0a92 0D90 ld __tmp_reg__,X+ |
1495 0a94 0192 st Z+,__tmp_reg__ |
1496 0a96 8A95 dec r24 |
1497 0a98 E1F7 brne .-8 |
1498 0a9a 0DC0 rjmp .L124 |
1499 .L122: |
1500 0a9c 8D91 ld r24,X+ |
1501 0a9e 9D91 ld r25,X+ |
1502 0aa0 0D90 ld __tmp_reg__,X+ |
1503 0aa2 BC91 ld r27,X |
1504 0aa4 A02D mov r26,__tmp_reg__ |
1505 0aa6 8093 0000 sts MotorTest,r24 |
1506 0aaa 9093 0000 sts (MotorTest)+1,r25 |
1507 0aae A093 0000 sts (MotorTest)+2,r26 |
1508 0ab2 B093 0000 sts (MotorTest)+3,r27 |
1509 .L124: |
1510 0ab6 8091 0000 lds r24,UebertragungAbgeschlossen |
1511 0aba 8823 tst r24 |
1512 0abc E1F3 breq .L124 |
1513 0abe 1F92 push __zero_reg__ |
1514 0ac0 8091 0000 lds r24,MeineSlaveAdresse |
1515 0ac4 8F93 push r24 |
1516 0ac6 84E5 ldi r24,lo8(84) |
1517 0ac8 8F93 push r24 |
1518 0aca 0E94 0000 call SendOutData |
1519 0ace 8AEF ldi r24,lo8(-6) |
1520 0ad0 8093 0000 sts PC_MotortestActive,r24 |
1521 0ad4 8FEF ldi r24,lo8(-1) |
1522 0ad6 8093 0000 sts PcZugriff,r24 |
1523 0ada 80EA ldi r24,lo8(4000) |
1524 0adc 9FE0 ldi r25,hi8(4000) |
1525 0ade 0E94 0000 call SetDelay |
1526 0ae2 9093 0000 sts (AboTimeOut)+1,r25 |
1527 0ae6 8093 0000 sts AboTimeOut,r24 |
1528 0aea 0F90 pop __tmp_reg__ |
1529 0aec 0F90 pop __tmp_reg__ |
1530 0aee 0F90 pop __tmp_reg__ |
1531 0af0 C5C0 rjmp .L63 |
1532 .L127: |
1533 0af2 E091 0000 lds r30,pRxData |
1534 0af6 F091 0000 lds r31,(pRxData)+1 |
1535 0afa 8081 ld r24,Z |
1536 0afc 9181 ldd r25,Z+1 |
1537 0afe 9093 0000 sts (KompassValue)+1,r25 |
1538 0b02 8093 0000 sts KompassValue,r24 |
1539 0b06 2091 0000 lds r18,KompassStartwert |
1540 0b0a 3091 0000 lds r19,(KompassStartwert)+1 |
1541 0b0e 821B sub r24,r18 |
1542 0b10 930B sbc r25,r19 |
1543 0b12 845E subi r24,lo8(-(540)) |
1544 0b14 9D4F sbci r25,hi8(-(540)) |
1545 0b16 68E6 ldi r22,lo8(360) |
1546 0b18 71E0 ldi r23,hi8(360) |
1547 0b1a 0E94 0000 call __divmodhi4 |
1548 0b1e 845B subi r24,lo8(-(-180)) |
1549 0b20 9040 sbci r25,hi8(-(-180)) |
1550 0b22 9093 0000 sts (KompassRichtung)+1,r25 |
1551 0b26 8093 0000 sts KompassRichtung,r24 |
1552 0b2a A8C0 rjmp .L63 |
1553 .L128: |
1554 0b2c E091 0000 lds r30,pRxData |
1555 0b30 F091 0000 lds r31,(pRxData)+1 |
1556 0b34 8081 ld r24,Z |
1557 0b36 8093 0000 sts DebugTextAnforderung,r24 |
1558 0b3a 8032 cpi r24,lo8(32) |
1559 0b3c 98F0 brlo .L149 |
1560 0b3e 8FE1 ldi r24,lo8(31) |
1561 0b40 8093 0000 sts DebugTextAnforderung,r24 |
1562 0b44 0FC0 rjmp .L149 |
1563 .L130: |
1564 0b46 A091 0000 lds r26,pRxData |
1565 0b4a B091 0000 lds r27,(pRxData)+1 |
1566 0b4e 8BE0 ldi r24,lo8(11) |
1567 0b50 E0E0 ldi r30,lo8(ExternControl) |
1568 0b52 F0E0 ldi r31,hi8(ExternControl) |
1569 0b54 0D90 ld __tmp_reg__,X+ |
1570 0b56 0192 st Z+,__tmp_reg__ |
1571 0b58 8A95 dec r24 |
1572 0b5a E1F7 brne .-8 |
1573 0b5c 8091 0000 lds r24,ExternControl+9 |
1574 0b60 8093 0000 sts ConfirmFrame,r24 |
1575 .L149: |
1576 0b64 8FEF ldi r24,lo8(-1) |
1577 0b66 8093 0000 sts PcZugriff,r24 |
1578 0b6a 88C0 rjmp .L63 |
1579 .L131: |
1580 0b6c 8091 0000 lds r24,Intervall3D |
1581 0b70 9091 0000 lds r25,(Intervall3D)+1 |
1582 0b74 892B or r24,r25 |
1583 0b76 89F4 brne .L132 |
1584 0b78 E091 0000 lds r30,pRxData |
1585 0b7c F091 0000 lds r31,(pRxData)+1 |
1586 0b80 E081 ld r30,Z |
1587 0b82 EE23 tst r30 |
1588 0b84 51F0 breq .L132 |
1589 0b86 8AE0 ldi r24,lo8(10) |
1590 0b88 E89F mul r30,r24 |
1591 0b8a C001 movw r24,r0 |
1592 0b8c 1124 clr r1 |
1593 0b8e 0E94 0000 call SetDelay |
1594 0b92 9093 0000 sts (Timer3D)+1,r25 |
1595 0b96 8093 0000 sts Timer3D,r24 |
1596 .L132: |
1597 0b9a E091 0000 lds r30,pRxData |
1598 0b9e F091 0000 lds r31,(pRxData)+1 |
1599 0ba2 9081 ld r25,Z |
1600 0ba4 8AE0 ldi r24,lo8(10) |
1601 0ba6 989F mul r25,r24 |
1602 0ba8 C001 movw r24,r0 |
1603 0baa 1124 clr r1 |
1604 0bac 9093 0000 sts (Intervall3D)+1,r25 |
1605 0bb0 8093 0000 sts Intervall3D,r24 |
1606 0bb4 15C0 rjmp .L135 |
1607 .L134: |
1608 0bb6 8FEF ldi r24,lo8(-1) |
1609 0bb8 8093 0000 sts PcZugriff,r24 |
1610 0bbc E091 0000 lds r30,pRxData |
1611 0bc0 F091 0000 lds r31,(pRxData)+1 |
1612 0bc4 9081 ld r25,Z |
1613 0bc6 8AE0 ldi r24,lo8(10) |
1614 0bc8 989F mul r25,r24 |
1615 0bca C001 movw r24,r0 |
1616 0bcc 1124 clr r1 |
1617 0bce 9093 0000 sts (DebugDataIntervall)+1,r25 |
1618 0bd2 8093 0000 sts DebugDataIntervall,r24 |
1619 0bd6 892B or r24,r25 |
1620 0bd8 19F0 breq .L135 |
1621 0bda 81E0 ldi r24,lo8(1) |
1622 0bdc 8093 0000 sts DebugDataAnforderung,r24 |
1623 .L135: |
1624 0be0 80EA ldi r24,lo8(4000) |
1625 0be2 9FE0 ldi r25,hi8(4000) |
1626 0be4 0E94 0000 call SetDelay |
1627 0be8 9093 0000 sts (AboTimeOut)+1,r25 |
1628 0bec 8093 0000 sts AboTimeOut,r24 |
1629 0bf0 45C0 rjmp .L63 |
1630 .L136: |
1631 0bf2 8FEF ldi r24,lo8(-1) |
1632 0bf4 8093 0000 sts PcZugriff,r24 |
1633 0bf8 E091 0000 lds r30,pRxData |
1634 0bfc F091 0000 lds r31,(pRxData)+1 |
1635 0c00 9081 ld r25,Z |
1636 0c02 97FD sbrc r25,7 |
1637 0c04 08C0 rjmp .L137 |
1638 0c06 82E0 ldi r24,lo8(2) |
1639 0c08 8093 0000 sts DisplayLine,r24 |
1640 0c0c 1092 0000 sts (Display_Interval)+1,__zero_reg__ |
1641 0c10 1092 0000 sts Display_Interval,__zero_reg__ |
1642 0c14 1AC0 rjmp .L138 |
1643 .L137: |
1644 0c16 9095 com r25 |
1645 0c18 8091 0000 lds r24,RemoteKeys |
1646 0c1c 892B or r24,r25 |
1647 0c1e 8093 0000 sts RemoteKeys,r24 |
1648 0c22 9181 ldd r25,Z+1 |
1649 0c24 8AE0 ldi r24,lo8(10) |
1650 0c26 989F mul r25,r24 |
1651 0c28 C001 movw r24,r0 |
1652 0c2a 1124 clr r1 |
1653 0c2c 9093 0000 sts (Display_Interval)+1,r25 |
1654 0c30 8093 0000 sts Display_Interval,r24 |
1655 0c34 84E0 ldi r24,lo8(4) |
1656 0c36 8093 0000 sts DisplayLine,r24 |
1657 0c3a 80EA ldi r24,lo8(4000) |
1658 0c3c 9FE0 ldi r25,hi8(4000) |
1659 0c3e 0E94 0000 call SetDelay |
1660 0c42 9093 0000 sts (AboTimeOut)+1,r25 |
1661 0c46 8093 0000 sts AboTimeOut,r24 |
1662 .L138: |
1663 0c4a 81E0 ldi r24,lo8(1) |
1664 0c4c 8093 0000 sts DebugDisplayAnforderung,r24 |
1665 0c50 15C0 rjmp .L63 |
1666 .L139: |
1667 0c52 8FEF ldi r24,lo8(-1) |
1668 0c54 8093 0000 sts PcZugriff,r24 |
1669 0c58 E091 0000 lds r30,pRxData |
1670 0c5c F091 0000 lds r31,(pRxData)+1 |
1671 0c60 8081 ld r24,Z |
1672 0c62 8093 0000 sts MenuePunkt,r24 |
1673 0c66 81E0 ldi r24,lo8(1) |
1674 0c68 8093 0000 sts DebugDisplayAnforderung1,r24 |
1675 0c6c 07C0 rjmp .L63 |
1676 .L140: |
1677 0c6e 81E0 ldi r24,lo8(1) |
1678 0c70 8093 0000 sts GetVersionAnforderung,r24 |
1679 0c74 03C0 rjmp .L63 |
1680 .L141: |
1681 0c76 81E0 ldi r24,lo8(1) |
1682 0c78 8093 0000 sts GetExternalControl,r24 |
1683 .L63: |
1684 0c7c 1092 0000 sts NeuerDatensatzEmpfangen,__zero_reg__ |
1685 0c80 1092 0000 sts (pRxData)+1,__zero_reg__ |
1686 0c84 1092 0000 sts pRxData,__zero_reg__ |
1687 0c88 1092 0000 sts RxDataLen,__zero_reg__ |
1688 .L61: |
1689 /* epilogue: frame size=2 */ |
1690 0c8c E3E0 ldi r30,3 |
1691 0c8e CE5F subi r28,-2 |
1692 0c90 0C94 0000 jmp __epilogue_restores__+30 |
1693 /* epilogue end (size=4) */ |
1694 /* function BearbeiteRxDaten size 982 (972) */ |
1696 .global uart_putchar |
1698 uart_putchar: |
1699 /* prologue: frame size=0 */ |
1700 /* prologue end (size=0) */ |
1701 0c94 982F mov r25,r24 |
1702 .L154: |
1703 0c96 8091 C000 lds r24,192 |
1704 0c9a 85FF sbrs r24,5 |
1705 0c9c FCCF rjmp .L154 |
1706 0c9e 9093 C600 sts 198,r25 |
1707 /* epilogue: frame size=0 */ |
1708 0ca2 0895 ret |
1709 /* epilogue end (size=1) */ |
1710 /* function uart_putchar size 8 (7) */ |
1712 .global UART_Init |
1714 UART_Init: |
1715 /* prologue: frame size=0 */ |
1716 0ca4 0F93 push r16 |
1717 0ca6 1F93 push r17 |
1718 /* prologue end (size=2) */ |
1719 0ca8 88E1 ldi r24,lo8(24) |
1720 0caa 8093 C100 sts 193,r24 |
1721 0cae 8091 C000 lds r24,192 |
1722 0cb2 8260 ori r24,lo8(2) |
1723 0cb4 8093 C000 sts 192,r24 |
1724 0cb8 8091 C100 lds r24,193 |
1725 0cbc 8068 ori r24,lo8(-128) |
1726 0cbe 8093 C100 sts 193,r24 |
1727 0cc2 8091 C100 lds r24,193 |
1728 0cc6 8064 ori r24,lo8(64) |
1729 0cc8 8093 C100 sts 193,r24 |
1730 0ccc 00E0 ldi r16,lo8(0) |
1731 0cce 10E0 ldi r17,hi8(0) |
1732 0cd0 0093 C500 sts 197,r16 |
1733 0cd4 8AE2 ldi r24,lo8(42) |
1734 0cd6 90E0 ldi r25,hi8(42) |
1735 0cd8 8093 C400 sts 196,r24 |
1736 0cdc 8091 0000 lds r24,DebugDataIntervall |
1737 0ce0 9091 0000 lds r25,(DebugDataIntervall)+1 |
1738 0ce4 0E94 0000 call SetDelay |
1739 0ce8 9093 0000 sts (Debug_Timer)+1,r25 |
1740 0cec 8093 0000 sts Debug_Timer,r24 |
1741 0cf0 8CED ldi r24,lo8(220) |
1742 0cf2 90E0 ldi r25,hi8(220) |
1743 0cf4 0E94 0000 call SetDelay |
1744 0cf8 9093 0000 sts (Kompass_Timer)+1,r25 |
1745 0cfc 8093 0000 sts Kompass_Timer,r24 |
1746 0d00 1092 0000 sts VersionInfo,__zero_reg__ |
1747 0d04 80E5 ldi r24,lo8(80) |
1748 0d06 8093 0000 sts VersionInfo+1,r24 |
1749 0d0a 83E0 ldi r24,lo8(3) |
1750 0d0c 8093 0000 sts VersionInfo+4,r24 |
1751 0d10 8BE0 ldi r24,lo8(11) |
1752 0d12 8093 0000 sts VersionInfo+2,r24 |
1753 0d16 1092 0000 sts VersionInfo+3,__zero_reg__ |
1754 0d1a 1093 0000 sts (pRxData)+1,r17 |
1755 0d1e 0093 0000 sts pRxData,r16 |
1756 0d22 1092 0000 sts RxDataLen,__zero_reg__ |
1757 /* epilogue: frame size=0 */ |
1758 0d26 1F91 pop r17 |
1759 0d28 0F91 pop r16 |
1760 0d2a 0895 ret |
1761 /* epilogue end (size=3) */ |
1762 /* function UART_Init size 68 (63) */ |
1764 .section .progmem.data |
1767 __c.0: |
1768 0200 2121 2120 .string "!!! INCOMPATIBLE !!!" |
1768 494E 434F |
1768 4D50 4154 |
1768 4942 4C45 |
1768 2021 2121 |
1769 .text |
1770 .global DatenUebertragung |
1772 DatenUebertragung: |
1773 /* prologue: frame size=16 */ |
1774 0d2c A0E1 ldi r26,lo8(16) |
1775 0d2e B0E0 ldi r27,hi8(16) |
1776 0d30 E0E0 ldi r30,pm_lo8(1f) |
1777 0d32 F0E0 ldi r31,pm_hi8(1f) |
1778 0d34 0C94 0000 jmp __prologue_saves__+24 |
1779 1: |
1780 /* prologue end (size=6) */ |
1781 0d38 8091 0000 lds r24,UebertragungAbgeschlossen |
1782 0d3c 8823 tst r24 |
1783 0d3e 09F4 brne .+2 |
1784 0d40 C1C2 rjmp .L158 |
1785 0d42 8091 0000 lds r24,AboTimeOut |
1786 0d46 9091 0000 lds r25,(AboTimeOut)+1 |
1787 0d4a 0E94 0000 call CheckDelay |
1788 0d4e 8823 tst r24 |
1789 0d50 61F0 breq .L160 |
1790 0d52 1092 0000 sts (Display_Interval)+1,__zero_reg__ |
1791 0d56 1092 0000 sts Display_Interval,__zero_reg__ |
1792 0d5a 1092 0000 sts (DebugDataIntervall)+1,__zero_reg__ |
1793 0d5e 1092 0000 sts DebugDataIntervall,__zero_reg__ |
1794 0d62 1092 0000 sts (Intervall3D)+1,__zero_reg__ |
1795 0d66 1092 0000 sts Intervall3D,__zero_reg__ |
1796 .L160: |
1797 0d6a 8091 0000 lds r24,Display_Interval |
1798 0d6e 9091 0000 lds r25,(Display_Interval)+1 |
1799 0d72 892B or r24,r25 |
1800 0d74 41F0 breq .L163 |
1801 0d76 8091 0000 lds r24,Display_Timer |
1802 0d7a 9091 0000 lds r25,(Display_Timer)+1 |
1803 0d7e 0E94 0000 call CheckDelay |
1804 0d82 8823 tst r24 |
1805 0d84 29F4 brne .L162 |
1806 .L163: |
1807 0d86 8091 0000 lds r24,DebugDisplayAnforderung |
1808 0d8a 8823 tst r24 |
1809 0d8c 09F4 brne .+2 |
1810 0d8e 60C0 rjmp .L161 |
1811 .L162: |
1812 0d90 8091 0000 lds r24,UebertragungAbgeschlossen |
1813 0d94 8823 tst r24 |
1814 0d96 09F4 brne .+2 |
1815 0d98 5BC0 rjmp .L161 |
1816 0d9a 8091 0000 lds r24,DisplayLine |
1817 0d9e 00E0 ldi r16,lo8(DisplayBuff) |
1818 0da0 10E0 ldi r17,hi8(DisplayBuff) |
1819 0da2 8430 cpi r24,lo8(4) |
1820 0da4 A8F0 brlo .L164 |
1821 0da6 0E94 0000 call Menu |
1822 0daa 80E5 ldi r24,lo8(80) |
1823 0dac 90E0 ldi r25,hi8(80) |
1824 0dae 9F93 push r25 |
1825 0db0 8F93 push r24 |
1826 0db2 1F93 push r17 |
1827 0db4 0F93 push r16 |
1828 0db6 81E0 ldi r24,lo8(1) |
1829 0db8 8F93 push r24 |
1830 0dba 8F93 push r24 |
1831 0dbc 88E4 ldi r24,lo8(72) |
1832 0dbe 8F93 push r24 |
1833 0dc0 0E94 0000 call SendOutData |
1834 0dc4 2DB7 in r18,__SP_L__ |
1835 0dc6 3EB7 in r19,__SP_H__ |
1836 0dc8 295F subi r18,lo8(-(7)) |
1837 0dca 3F4F sbci r19,hi8(-(7)) |
1838 0dcc 2DBF out __SP_L__,r18 |
1839 0dce 34C0 rjmp .L165 |
1840 .L164: |
1841 0dd0 1092 0000 sts DispPtr,__zero_reg__ |
1842 0dd4 80E0 ldi r24,lo8(__c.0) |
1843 0dd6 90E0 ldi r25,hi8(__c.0) |
1844 0dd8 9F93 push r25 |
1845 0dda 8F93 push r24 |
1846 0ddc 80E0 ldi r24,lo8(pm(Menu_Putchar)) |
1847 0dde 90E0 ldi r25,hi8(pm(Menu_Putchar)) |
1848 0de0 9F93 push r25 |
1849 0de2 8F93 push r24 |
1850 0de4 E091 0000 lds r30,_printf_P |
1851 0de8 F091 0000 lds r31,(_printf_P)+1 |
1852 0dec 0995 icall |
1853 0dee 84E1 ldi r24,lo8(20) |
1854 0df0 90E0 ldi r25,hi8(20) |
1855 0df2 9F93 push r25 |
1856 0df4 8F93 push r24 |
1857 0df6 1F93 push r17 |
1858 0df8 0F93 push r16 |
1859 0dfa 81E0 ldi r24,lo8(1) |
1860 0dfc 90E0 ldi r25,hi8(1) |
1861 0dfe 9F93 push r25 |
1862 0e00 8F93 push r24 |
1863 0e02 80E0 ldi r24,lo8(DisplayLine) |
1864 0e04 90E0 ldi r25,hi8(DisplayLine) |
1865 0e06 9F93 push r25 |
1866 0e08 8F93 push r24 |
1867 0e0a 82E0 ldi r24,lo8(2) |
1868 0e0c 8F93 push r24 |
1869 0e0e 81E0 ldi r24,lo8(1) |
1870 0e10 8F93 push r24 |
1871 0e12 88E4 ldi r24,lo8(72) |
1872 0e14 8F93 push r24 |
1873 0e16 0E94 0000 call SendOutData |
1874 0e1a 8091 0000 lds r24,DisplayLine |
1875 0e1e 982F mov r25,r24 |
1876 0e20 8F5F subi r24,lo8(-(1)) |
1877 0e22 8093 0000 sts DisplayLine,r24 |
1878 0e26 2DB7 in r18,__SP_L__ |
1879 0e28 3EB7 in r19,__SP_H__ |
1880 0e2a 215F subi r18,lo8(-(15)) |
1881 0e2c 3F4F sbci r19,hi8(-(15)) |
1882 0e2e 2DBF out __SP_L__,r18 |
1883 0e30 9430 cpi r25,lo8(4) |
1884 0e32 10F0 brlo .L165 |
1885 0e34 1092 0000 sts DisplayLine,__zero_reg__ |
1886 .L165: |
1887 0e38 8091 0000 lds r24,Display_Interval |
1888 0e3c 9091 0000 lds r25,(Display_Interval)+1 |
1889 0e40 0E94 0000 call SetDelay |
1890 0e44 9093 0000 sts (Display_Timer)+1,r25 |
1891 0e48 8093 0000 sts Display_Timer,r24 |
1892 0e4c 1092 0000 sts DebugDisplayAnforderung,__zero_reg__ |
1893 .L161: |
1894 0e50 8091 0000 lds r24,DebugDisplayAnforderung1 |
1895 0e54 8823 tst r24 |
1896 0e56 51F1 breq .L167 |
1897 0e58 8091 0000 lds r24,UebertragungAbgeschlossen |
1898 0e5c 8823 tst r24 |
1899 0e5e 31F1 breq .L167 |
1900 0e60 0E94 0000 call Menu |
1901 0e64 80E5 ldi r24,lo8(80) |
1902 0e66 90E0 ldi r25,hi8(80) |
1903 0e68 9F93 push r25 |
1904 0e6a 8F93 push r24 |
1905 0e6c 80E0 ldi r24,lo8(DisplayBuff) |
1906 0e6e 90E0 ldi r25,hi8(DisplayBuff) |
1907 0e70 9F93 push r25 |
1908 0e72 8F93 push r24 |
1909 0e74 21E0 ldi r18,lo8(1) |
1910 0e76 30E0 ldi r19,hi8(1) |
1911 0e78 3F93 push r19 |
1912 0e7a 2F93 push r18 |
1913 0e7c 80E0 ldi r24,lo8(MaxMenue) |
1914 0e7e 90E0 ldi r25,hi8(MaxMenue) |
1915 0e80 9F93 push r25 |
1916 0e82 8F93 push r24 |
1917 0e84 3F93 push r19 |
1918 0e86 2F93 push r18 |
1919 0e88 80E0 ldi r24,lo8(MenuePunkt) |
1920 0e8a 90E0 ldi r25,hi8(MenuePunkt) |
1921 0e8c 9F93 push r25 |
1922 0e8e 8F93 push r24 |
1923 0e90 83E0 ldi r24,lo8(3) |
1924 0e92 8F93 push r24 |
1925 0e94 81E0 ldi r24,lo8(1) |
1926 0e96 8F93 push r24 |
1927 0e98 8CE4 ldi r24,lo8(76) |
1928 0e9a 8F93 push r24 |
1929 0e9c 0E94 0000 call SendOutData |
1930 0ea0 1092 0000 sts DebugDisplayAnforderung1,__zero_reg__ |
1931 0ea4 8DB7 in r24,__SP_L__ |
1932 0ea6 9EB7 in r25,__SP_H__ |
1933 0ea8 0F96 adiw r24,15 |
1934 0eaa 8DBF out __SP_L__,r24 |
1935 .L167: |
1936 0eac 8091 0000 lds r24,GetVersionAnforderung |
1937 0eb0 8823 tst r24 |
1938 0eb2 D1F0 breq .L168 |
1939 0eb4 8091 0000 lds r24,UebertragungAbgeschlossen |
1940 0eb8 8823 tst r24 |
1941 0eba B1F0 breq .L168 |
1942 0ebc 8AE0 ldi r24,lo8(10) |
1943 0ebe 90E0 ldi r25,hi8(10) |
1944 0ec0 9F93 push r25 |
1945 0ec2 8F93 push r24 |
1946 0ec4 80E0 ldi r24,lo8(VersionInfo) |
1947 0ec6 90E0 ldi r25,hi8(VersionInfo) |
1948 0ec8 9F93 push r25 |
1949 0eca 8F93 push r24 |
1950 0ecc 81E0 ldi r24,lo8(1) |
1951 0ece 8F93 push r24 |
1952 0ed0 8F93 push r24 |
1953 0ed2 86E5 ldi r24,lo8(86) |
1954 0ed4 8F93 push r24 |
1955 0ed6 0E94 0000 call SendOutData |
1956 0eda 1092 0000 sts GetVersionAnforderung,__zero_reg__ |
1957 0ede 2DB7 in r18,__SP_L__ |
1958 0ee0 3EB7 in r19,__SP_H__ |
1959 0ee2 295F subi r18,lo8(-(7)) |
1960 0ee4 3F4F sbci r19,hi8(-(7)) |
1961 0ee6 2DBF out __SP_L__,r18 |
1962 .L168: |
1963 0ee8 8091 0000 lds r24,GetExternalControl |
1964 0eec 8823 tst r24 |
1965 0eee D9F0 breq .L169 |
1966 0ef0 8091 0000 lds r24,UebertragungAbgeschlossen |
1967 0ef4 8823 tst r24 |
1968 0ef6 B9F0 breq .L169 |
1969 0ef8 8BE0 ldi r24,lo8(11) |
1970 0efa 90E0 ldi r25,hi8(11) |
1971 0efc 9F93 push r25 |
1972 0efe 8F93 push r24 |
1973 0f00 80E0 ldi r24,lo8(ExternControl) |
1974 0f02 90E0 ldi r25,hi8(ExternControl) |
1975 0f04 9F93 push r25 |
1976 0f06 8F93 push r24 |
1977 0f08 81E0 ldi r24,lo8(1) |
1978 0f0a 8F93 push r24 |
1979 0f0c 8091 0000 lds r24,MeineSlaveAdresse |
1980 0f10 8F93 push r24 |
1981 0f12 87E4 ldi r24,lo8(71) |
1982 0f14 8F93 push r24 |
1983 0f16 0E94 0000 call SendOutData |
1984 0f1a 1092 0000 sts GetExternalControl,__zero_reg__ |
1985 0f1e 8DB7 in r24,__SP_L__ |
1986 0f20 9EB7 in r25,__SP_H__ |
1987 0f22 0796 adiw r24,7 |
1988 0f24 8DBF out __SP_L__,r24 |
1989 .L169: |
1990 0f26 8091 0000 lds r24,Kompass_Timer |
1991 0f2a 9091 0000 lds r25,(Kompass_Timer)+1 |
1992 0f2e 0E94 0000 call CheckDelay |
1993 0f32 8823 tst r24 |
1994 0f34 09F4 brne .+2 |
1995 0f36 61C0 rjmp .L170 |
1996 0f38 8091 0000 lds r24,UebertragungAbgeschlossen |
1997 0f3c 8823 tst r24 |
1998 0f3e 09F4 brne .+2 |
1999 0f40 5CC0 rjmp .L170 |
2000 0f42 8091 0000 lds r24,EE_Parameter+28 |
2001 0f46 9927 clr r25 |
2002 0f48 880F lsl r24 |
2003 0f4a 991F rol r25 |
2004 0f4c 880F lsl r24 |
2005 0f4e 991F rol r25 |
2006 0f50 7C01 movw r14,r24 |
2007 0f52 0027 clr r16 |
2008 0f54 F7FC sbrc r15,7 |
2009 0f56 0095 com r16 |
2010 0f58 102F mov r17,r16 |
2011 0f5a 8091 0000 lds r24,IntegralNick |
2012 0f5e 9091 0000 lds r25,(IntegralNick)+1 |
2013 0f62 A091 0000 lds r26,(IntegralNick)+2 |
2014 0f66 B091 0000 lds r27,(IntegralNick)+3 |
2015 0f6a BC01 movw r22,r24 |
2016 0f6c CD01 movw r24,r26 |
2017 0f6e A801 movw r20,r16 |
2018 0f70 9701 movw r18,r14 |
2019 0f72 0E94 0000 call __divmodsi4 |
2020 0f76 3093 0000 sts (WinkelOut)+1,r19 |
2021 0f7a 2093 0000 sts WinkelOut,r18 |
2022 0f7e 8091 0000 lds r24,IntegralRoll |
2023 0f82 9091 0000 lds r25,(IntegralRoll)+1 |
2024 0f86 A091 0000 lds r26,(IntegralRoll)+2 |
2025 0f8a B091 0000 lds r27,(IntegralRoll)+3 |
2026 0f8e BC01 movw r22,r24 |
2027 0f90 CD01 movw r24,r26 |
2028 0f92 A801 movw r20,r16 |
2029 0f94 9701 movw r18,r14 |
2030 0f96 0E94 0000 call __divmodsi4 |
2031 0f9a 3093 0000 sts (WinkelOut+2)+1,r19 |
2032 0f9e 2093 0000 sts WinkelOut+2,r18 |
2033 0fa2 8091 0000 lds r24,Parameter_UserParam1 |
2034 0fa6 8093 0000 sts WinkelOut+4,r24 |
2035 0faa 8091 0000 lds r24,Parameter_UserParam2 |
2036 0fae 8093 0000 sts WinkelOut+5,r24 |
2037 0fb2 88E0 ldi r24,lo8(8) |
2038 0fb4 90E0 ldi r25,hi8(8) |
2039 0fb6 9F93 push r25 |
2040 0fb8 8F93 push r24 |
2041 0fba 80E0 ldi r24,lo8(WinkelOut) |
2042 0fbc 90E0 ldi r25,hi8(WinkelOut) |
2043 0fbe 9F93 push r25 |
2044 0fc0 8F93 push r24 |
2045 0fc2 81E0 ldi r24,lo8(1) |
2046 0fc4 8F93 push r24 |
2047 0fc6 83E0 ldi r24,lo8(3) |
2048 0fc8 8F93 push r24 |
2049 0fca 8BE6 ldi r24,lo8(107) |
2050 0fcc 8F93 push r24 |
2051 0fce 0E94 0000 call SendOutData |
2052 0fd2 8091 0000 lds r24,WinkelOut+6 |
2053 0fd6 2DB7 in r18,__SP_L__ |
2054 0fd8 3EB7 in r19,__SP_H__ |
2055 0fda 295F subi r18,lo8(-(7)) |
2056 0fdc 3F4F sbci r19,hi8(-(7)) |
2057 0fde 2DBF out __SP_L__,r18 |
2058 0fe0 8530 cpi r24,lo8(5) |
2059 0fe2 18F0 brlo .L171 |
2060 0fe4 86E0 ldi r24,lo8(6) |
2061 0fe6 8093 0000 sts WinkelOut+6,r24 |
2062 .L171: |
2063 0fea 83E6 ldi r24,lo8(99) |
2064 0fec 90E0 ldi r25,hi8(99) |
2065 0fee 0E94 0000 call SetDelay |
2066 0ff2 9093 0000 sts (Kompass_Timer)+1,r25 |
2067 0ff6 8093 0000 sts Kompass_Timer,r24 |
2068 .L170: |
2069 0ffa 8091 0000 lds r24,DebugDataIntervall |
2070 0ffe 9091 0000 lds r25,(DebugDataIntervall)+1 |
2071 1002 892B or r24,r25 |
2072 1004 41F0 breq .L174 |
2073 1006 8091 0000 lds r24,Debug_Timer |
2074 100a 9091 0000 lds r25,(Debug_Timer)+1 |
2075 100e 0E94 0000 call CheckDelay |
2076 1012 8823 tst r24 |
2077 1014 21F4 brne .L173 |
2078 .L174: |
2079 1016 8091 0000 lds r24,DebugDataAnforderung |
2080 101a 8823 tst r24 |
2081 101c 39F1 breq .L172 |
2082 .L173: |
2083 101e 8091 0000 lds r24,UebertragungAbgeschlossen |
2084 1022 8823 tst r24 |
2085 1024 19F1 breq .L172 |
2086 1026 0E94 0000 call CopyDebugValues |
2087 102a 82E4 ldi r24,lo8(66) |
2088 102c 90E0 ldi r25,hi8(66) |
2089 102e 9F93 push r25 |
2090 1030 8F93 push r24 |
2091 1032 80E0 ldi r24,lo8(DebugOut) |
2092 1034 90E0 ldi r25,hi8(DebugOut) |
2093 1036 9F93 push r25 |
2094 1038 8F93 push r24 |
2095 103a 81E0 ldi r24,lo8(1) |
2096 103c 8F93 push r24 |
2097 103e 8F93 push r24 |
2098 1040 84E4 ldi r24,lo8(68) |
2099 1042 8F93 push r24 |
2100 1044 0E94 0000 call SendOutData |
2101 1048 1092 0000 sts DebugDataAnforderung,__zero_reg__ |
2102 104c 8DB7 in r24,__SP_L__ |
2103 104e 9EB7 in r25,__SP_H__ |
2104 1050 0796 adiw r24,7 |
2105 1052 8DBF out __SP_L__,r24 |
2106 1054 8091 0000 lds r24,DebugDataIntervall |
2107 1058 9091 0000 lds r25,(DebugDataIntervall)+1 |
2108 105c 0097 sbiw r24,0 |
2109 105e 31F0 breq .L172 |
2110 1060 0E94 0000 call SetDelay |
2111 1064 9093 0000 sts (Debug_Timer)+1,r25 |
2112 1068 8093 0000 sts Debug_Timer,r24 |
2113 .L172: |
2114 106c 8091 0000 lds r24,Intervall3D |
2115 1070 9091 0000 lds r25,(Intervall3D)+1 |
2116 1074 892B or r24,r25 |
2117 1076 09F4 brne .+2 |
2118 1078 B8C0 rjmp .L176 |
2119 107a 8091 0000 lds r24,Timer3D |
2120 107e 9091 0000 lds r25,(Timer3D)+1 |
2121 1082 0E94 0000 call CheckDelay |
2122 1086 8823 tst r24 |
2123 1088 09F4 brne .+2 |
2124 108a AFC0 rjmp .L176 |
2125 108c 8091 0000 lds r24,UebertragungAbgeschlossen |
2126 1090 8823 tst r24 |
2127 1092 09F4 brne .+2 |
2128 1094 AAC0 rjmp .L176 |
2129 1096 8091 0000 lds r24,EE_Parameter+28 |
2130 109a 9927 clr r25 |
2131 109c 880F lsl r24 |
2132 109e 991F rol r25 |
2133 10a0 880F lsl r24 |
2134 10a2 991F rol r25 |
2135 10a4 7C01 movw r14,r24 |
2136 10a6 0027 clr r16 |
2137 10a8 F7FC sbrc r15,7 |
2138 10aa 0095 com r16 |
2139 10ac 102F mov r17,r16 |
2140 10ae 8091 0000 lds r24,IntegralNick |
2141 10b2 9091 0000 lds r25,(IntegralNick)+1 |
2142 10b6 A091 0000 lds r26,(IntegralNick)+2 |
2143 10ba B091 0000 lds r27,(IntegralNick)+3 |
2144 10be BC01 movw r22,r24 |
2145 10c0 CD01 movw r24,r26 |
2146 10c2 A801 movw r20,r16 |
2147 10c4 9701 movw r18,r14 |
2148 10c6 0E94 0000 call __divmodsi4 |
2149 10ca 3093 0000 sts (Data3D)+1,r19 |
2150 10ce 2093 0000 sts Data3D,r18 |
2151 10d2 8091 0000 lds r24,IntegralRoll |
2152 10d6 9091 0000 lds r25,(IntegralRoll)+1 |
2153 10da A091 0000 lds r26,(IntegralRoll)+2 |
2154 10de B091 0000 lds r27,(IntegralRoll)+3 |
2155 10e2 BC01 movw r22,r24 |
2156 10e4 CD01 movw r24,r26 |
2157 10e6 A801 movw r20,r16 |
2158 10e8 9701 movw r18,r14 |
2159 10ea 0E94 0000 call __divmodsi4 |
2160 10ee 3093 0000 sts (Data3D+2)+1,r19 |
2161 10f2 2093 0000 sts Data3D+2,r18 |
2162 10f6 2091 0000 lds r18,ErsatzKompass |
2163 10fa 3091 0000 lds r19,(ErsatzKompass)+1 |
2164 10fe 4091 0000 lds r20,(ErsatzKompass)+2 |
2165 1102 5091 0000 lds r21,(ErsatzKompass)+3 |
2166 1106 DA01 movw r26,r20 |
2167 1108 C901 movw r24,r18 |
2168 110a 63E0 ldi r22,3 |
2169 110c 880F 1: lsl r24 |
2170 110e 991F rol r25 |
2171 1110 AA1F rol r26 |
2172 1112 BB1F rol r27 |
2173 1114 6A95 dec r22 |
2174 1116 D1F7 brne 1b |
2175 1118 820F add r24,r18 |
2176 111a 931F adc r25,r19 |
2177 111c A41F adc r26,r20 |
2178 111e B51F adc r27,r21 |
2179 1120 820F add r24,r18 |
2180 1122 931F adc r25,r19 |
2181 1124 A41F adc r26,r20 |
2182 1126 B51F adc r27,r21 |
2183 1128 2091 0000 lds r18,GIER_GRAD_FAKTOR |
2184 112c 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1 |
2185 1130 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2 |
2186 1134 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3 |
2187 1138 BC01 movw r22,r24 |
2188 113a CD01 movw r24,r26 |
2189 113c 0E94 0000 call __divmodsi4 |
2190 1140 3093 0000 sts (Data3D+4)+1,r19 |
2191 1144 2093 0000 sts Data3D+4,r18 |
2192 1148 8091 0000 lds r24,SummeNick |
2193 114c 9091 0000 lds r25,(SummeNick)+1 |
2194 1150 A091 0000 lds r26,(SummeNick)+2 |
2195 1154 B091 0000 lds r27,(SummeNick)+3 |
2196 1158 39E0 ldi r19,9 |
2197 115a B595 1: asr r27 |
2198 115c A795 ror r26 |
2199 115e 9795 ror r25 |
2200 1160 8795 ror r24 |
2201 1162 3A95 dec r19 |
2202 1164 D1F7 brne 1b |
2203 1166 8093 0000 sts Data3D+6,r24 |
2204 116a 8091 0000 lds r24,SummeRoll |
2205 116e 9091 0000 lds r25,(SummeRoll)+1 |
2206 1172 A091 0000 lds r26,(SummeRoll)+2 |
2207 1176 B091 0000 lds r27,(SummeRoll)+3 |
2208 117a 29E0 ldi r18,9 |
2209 117c B595 1: asr r27 |
2210 117e A795 ror r26 |
2211 1180 9795 ror r25 |
2212 1182 8795 ror r24 |
2213 1184 2A95 dec r18 |
2214 1186 D1F7 brne 1b |
2215 1188 8093 0000 sts Data3D+7,r24 |
2216 118c 8091 0000 lds r24,Mess_Integral_Gier |
2217 1190 9091 0000 lds r25,(Mess_Integral_Gier)+1 |
2218 1194 A091 0000 lds r26,(Mess_Integral_Gier)+2 |
2219 1198 B091 0000 lds r27,(Mess_Integral_Gier)+3 |
2220 119c 09E0 ldi r16,9 |
2221 119e B595 1: asr r27 |
2222 11a0 A795 ror r26 |
2223 11a2 9795 ror r25 |
2224 11a4 8795 ror r24 |
2225 11a6 0A95 dec r16 |
2226 11a8 D1F7 brne 1b |
2227 11aa 8093 0000 sts Data3D+8,r24 |
2228 11ae 8EE0 ldi r24,lo8(14) |
2229 11b0 90E0 ldi r25,hi8(14) |
2230 11b2 9F93 push r25 |
2231 11b4 8F93 push r24 |
2232 11b6 80E0 ldi r24,lo8(Data3D) |
2233 11b8 90E0 ldi r25,hi8(Data3D) |
2234 11ba 9F93 push r25 |
2235 11bc 8F93 push r24 |
2236 11be 81E0 ldi r24,lo8(1) |
2237 11c0 8F93 push r24 |
2238 11c2 8F93 push r24 |
2239 11c4 83E4 ldi r24,lo8(67) |
2240 11c6 8F93 push r24 |
2241 11c8 0E94 0000 call SendOutData |
2242 11cc 8091 0000 lds r24,Intervall3D |
2243 11d0 9091 0000 lds r25,(Intervall3D)+1 |
2244 11d4 0E94 0000 call SetDelay |
2245 11d8 9093 0000 sts (Timer3D)+1,r25 |
2246 11dc 8093 0000 sts Timer3D,r24 |
2247 11e0 2DB7 in r18,__SP_L__ |
2248 11e2 3EB7 in r19,__SP_H__ |
2249 11e4 295F subi r18,lo8(-(7)) |
2250 11e6 3F4F sbci r19,hi8(-(7)) |
2251 11e8 2DBF out __SP_L__,r18 |
2252 .L176: |
2253 11ea 8091 0000 lds r24,DebugTextAnforderung |
2254 11ee 8F3F cpi r24,lo8(-1) |
2255 11f0 71F1 breq .L177 |
2256 11f2 9927 clr r25 |
2257 11f4 14E0 ldi r17,4 |
2258 11f6 880F 1: lsl r24 |
2259 11f8 991F rol r25 |
2260 11fa 1A95 dec r17 |
2261 11fc E1F7 brne 1b |
2262 11fe 8050 subi r24,lo8(-(ANALOG_TEXT)) |
2263 1200 9040 sbci r25,hi8(-(ANALOG_TEXT)) |
2264 1202 40E1 ldi r20,lo8(16) |
2265 1204 50E0 ldi r21,hi8(16) |
2266 1206 BC01 movw r22,r24 |
2267 1208 CE01 movw r24,r28 |
2268 120a 0196 adiw r24,1 |
2269 120c 0E94 0000 call memcpy_P |
2270 1210 80E1 ldi r24,lo8(16) |
2271 1212 90E0 ldi r25,hi8(16) |
2272 1214 9F93 push r25 |
2273 1216 8F93 push r24 |
2274 1218 CE01 movw r24,r28 |
2275 121a 0196 adiw r24,1 |
2276 121c 9F93 push r25 |
2277 121e 8F93 push r24 |
2278 1220 81E0 ldi r24,lo8(1) |
2279 1222 90E0 ldi r25,hi8(1) |
2280 1224 9F93 push r25 |
2281 1226 8F93 push r24 |
2282 1228 80E0 ldi r24,lo8(DebugTextAnforderung) |
2283 122a 90E0 ldi r25,hi8(DebugTextAnforderung) |
2284 122c 9F93 push r25 |
2285 122e 8F93 push r24 |
2286 1230 82E0 ldi r24,lo8(2) |
2287 1232 8F93 push r24 |
2288 1234 81E0 ldi r24,lo8(1) |
2289 1236 8F93 push r24 |
2290 1238 81E4 ldi r24,lo8(65) |
2291 123a 8F93 push r24 |
2292 123c 0E94 0000 call SendOutData |
2293 1240 8FEF ldi r24,lo8(-1) |
2294 1242 8093 0000 sts DebugTextAnforderung,r24 |
2295 1246 8DB7 in r24,__SP_L__ |
2296 1248 9EB7 in r25,__SP_H__ |
2297 124a 0B96 adiw r24,11 |
2298 124c 8DBF out __SP_L__,r24 |
2299 .L177: |
2300 124e 8091 0000 lds r24,ConfirmFrame |
2301 1252 8823 tst r24 |
2302 1254 D1F0 breq .L178 |
2303 1256 8091 0000 lds r24,UebertragungAbgeschlossen |
2304 125a 8823 tst r24 |
2305 125c B1F0 breq .L178 |
2306 125e 81E0 ldi r24,lo8(1) |
2307 1260 90E0 ldi r25,hi8(1) |
2308 1262 9F93 push r25 |
2309 1264 8F93 push r24 |
2310 1266 80E0 ldi r24,lo8(ConfirmFrame) |
2311 1268 90E0 ldi r25,hi8(ConfirmFrame) |
2312 126a 9F93 push r25 |
2313 126c 8F93 push r24 |
2314 126e 81E0 ldi r24,lo8(1) |
2315 1270 8F93 push r24 |
2316 1272 8F93 push r24 |
2317 1274 82E4 ldi r24,lo8(66) |
2318 1276 8F93 push r24 |
2319 1278 0E94 0000 call SendOutData |
2320 127c 1092 0000 sts ConfirmFrame,__zero_reg__ |
2321 1280 2DB7 in r18,__SP_L__ |
2322 1282 3EB7 in r19,__SP_H__ |
2323 1284 295F subi r18,lo8(-(7)) |
2324 1286 3F4F sbci r19,hi8(-(7)) |
2325 1288 2DBF out __SP_L__,r18 |
2326 .L178: |
2327 128a 8091 0000 lds r24,GetPPMChannelAnforderung |
2328 128e 8823 tst r24 |
2329 1290 C9F0 breq .L158 |
2330 1292 8091 0000 lds r24,UebertragungAbgeschlossen |
2331 1296 8823 tst r24 |
2332 1298 A9F0 breq .L158 |
2333 129a 84E3 ldi r24,lo8(52) |
2334 129c 90E0 ldi r25,hi8(52) |
2335 129e 9F93 push r25 |
2336 12a0 8F93 push r24 |
2337 12a2 80E0 ldi r24,lo8(PPM_in) |
2338 12a4 90E0 ldi r25,hi8(PPM_in) |
2339 12a6 9F93 push r25 |
2340 12a8 8F93 push r24 |
2341 12aa 81E0 ldi r24,lo8(1) |
2342 12ac 8F93 push r24 |
2343 12ae 8F93 push r24 |
2344 12b0 80E5 ldi r24,lo8(80) |
2345 12b2 8F93 push r24 |
2346 12b4 0E94 0000 call SendOutData |
2347 12b8 1092 0000 sts GetPPMChannelAnforderung,__zero_reg__ |
2348 12bc 8DB7 in r24,__SP_L__ |
2349 12be 9EB7 in r25,__SP_H__ |
2350 12c0 0796 adiw r24,7 |
2351 12c2 8DBF out __SP_L__,r24 |
2352 .L158: |
2353 /* epilogue: frame size=16 */ |
2354 12c4 E6E0 ldi r30,6 |
2355 12c6 C05F subi r28,-16 |
2356 12c8 0C94 0000 jmp __epilogue_restores__+24 |
2357 /* epilogue end (size=4) */ |
2358 /* function DatenUebertragung size 720 (710) */ |
2360 .comm Debug_Timer,2,1 |
2361 .comm Kompass_Timer,2,1 |
2362 .comm MotorTest,16,1 |
2363 .comm DebugOut,66,1 |
2364 .comm WinkelOut,8,1 |
2365 .comm Data3D,14,1 |
2366 .comm ExternControl,11,1 |
2367 .comm VersionInfo,10,1 |
2368 .comm TxdBuffer,160,1 |
2369 .comm RxdBuffer,160,1 |
2370 .comm ConfirmFrame,1,1 |
2371 .comm Display_Timer,2,1 |
2372 .comm Timer3D,2,1 |
2373 /* File "uart.c": code 2416 = 0x0970 (2325), prologues 47, epilogues 44 */ |
DEFINED SYMBOLS |
*ABS*:00000000 uart.c |
C:\Users\Arthur-P\AppData\Local\Temp/ccCEaaaa.s:3 *ABS*:0000003f __SREG__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccCEaaaa.s:4 *ABS*:0000003e __SP_H__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccCEaaaa.s:5 *ABS*:0000003d __SP_L__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccCEaaaa.s:6 *ABS*:00000000 __tmp_reg__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccCEaaaa.s:7 *ABS*:00000001 __zero_reg__ |
C:\Users\Arthur-P\AppData\Local\Temp/ccCEaaaa.s:14 .progmem.data:00000000 ANALOG_TEXT |
C:\Users\Arthur-P\AppData\Local\Temp/ccCEaaaa.s:52 .bss:00000000 AboTimeOut |
C:\Users\Arthur-P\AppData\Local\Temp/ccCEaaaa.s:58 .bss:00000002 Display_Interval |
C:\Users\Arthur-P\AppData\Local\Temp/ccCEaaaa.s:64 .bss:00000004 Intervall3D |
C:\Users\Arthur-P\AppData\Local\Temp/ccCEaaaa.s:70 .bss:00000006 DebugDataIntervall |
C:\Users\Arthur-P\AppData\Local\Temp/ccCEaaaa.s:76 .data:00000000 MeineSlaveAdresse |
C:\Users\Arthur-P\AppData\Local\Temp/ccCEaaaa.s:81 .data:00000001 PcZugriff |
C:\Users\Arthur-P\AppData\Local\Temp/ccCEaaaa.s:86 .data:00000002 DebugTextAnforderung |
C:\Users\Arthur-P\AppData\Local\Temp/ccCEaaaa.s:93 .bss:00000008 PC_MotortestActive |
C:\Users\Arthur-P\AppData\Local\Temp/ccCEaaaa.s:99 .bss:00000009 PC_DebugTimeout |
C:\Users\Arthur-P\AppData\Local\Temp/ccCEaaaa.s:105 .bss:0000000a RxDataLen |
C:\Users\Arthur-P\AppData\Local\Temp/ccCEaaaa.s:111 .bss:0000000b pRxData |
C:\Users\Arthur-P\AppData\Local\Temp/ccCEaaaa.s:117 .bss:0000000d AnzahlEmpfangsBytes |
C:\Users\Arthur-P\AppData\Local\Temp/ccCEaaaa.s:123 .bss:0000000e CntCrcError |
C:\Users\Arthur-P\AppData\Local\Temp/ccCEaaaa.s:129 .data:00000003 UebertragungAbgeschlossen |
C:\Users\Arthur-P\AppData\Local\Temp/ccCEaaaa.s:136 .bss:0000000f NeueKoordinateEmpfangen |
C:\Users\Arthur-P\AppData\Local\Temp/ccCEaaaa.s:142 .bss:00000010 NeuerDatensatzEmpfangen |
C:\Users\Arthur-P\AppData\Local\Temp/ccCEaaaa.s:148 .bss:00000011 SioTmp |
C:\Users\Arthur-P\AppData\Local\Temp/ccCEaaaa.s:154 .bss:00000012 DisplayLine |
C:\Users\Arthur-P\AppData\Local\Temp/ccCEaaaa.s:160 .bss:00000013 GetPPMChannelAnforderung |
C:\Users\Arthur-P\AppData\Local\Temp/ccCEaaaa.s:166 .bss:00000014 GetVersionAnforderung |
C:\Users\Arthur-P\AppData\Local\Temp/ccCEaaaa.s:172 .bss:00000015 DebugDataAnforderung |
C:\Users\Arthur-P\AppData\Local\Temp/ccCEaaaa.s:178 .bss:00000016 DebugDisplayAnforderung |
C:\Users\Arthur-P\AppData\Local\Temp/ccCEaaaa.s:184 .bss:00000017 DebugDisplayAnforderung1 |
C:\Users\Arthur-P\AppData\Local\Temp/ccCEaaaa.s:190 .bss:00000018 GetExternalControl |
.bss:00000019 ptr.6 |
C:\Users\Arthur-P\AppData\Local\Temp/ccCEaaaa.s:196 .text:00000000 __vector_22 |
*COM*:000000a0 TxdBuffer |
C:\Users\Arthur-P\AppData\Local\Temp/ccCEaaaa.s:192 .bss:0000001b crc.1 |
C:\Users\Arthur-P\AppData\Local\Temp/ccCEaaaa.s:250 .bss:0000001d crc1.2 |
C:\Users\Arthur-P\AppData\Local\Temp/ccCEaaaa.s:251 .bss:0000001e crc2.3 |
C:\Users\Arthur-P\AppData\Local\Temp/ccCEaaaa.s:252 .bss:0000001f buf_ptr.4 |
C:\Users\Arthur-P\AppData\Local\Temp/ccCEaaaa.s:253 .bss:00000020 UartState.5 |
C:\Users\Arthur-P\AppData\Local\Temp/ccCEaaaa.s:257 .text:0000006c __vector_20 |
*COM*:000000a0 RxdBuffer |
C:\Users\Arthur-P\AppData\Local\Temp/ccCEaaaa.s:473 .text:0000023c AddCRC |
C:\Users\Arthur-P\AppData\Local\Temp/ccCEaaaa.s:529 .text:0000029c SendOutData |
C:\Users\Arthur-P\AppData\Local\Temp/ccCEaaaa.s:729 .text:00000414 Decode64 |
C:\Users\Arthur-P\AppData\Local\Temp/ccCEaaaa.s:842 .text:000004e8 BearbeiteRxDaten |
*COM*:00000010 MotorTest |
*COM*:0000000a VersionInfo |
*COM*:0000000b ExternControl |
*COM*:00000001 ConfirmFrame |
*COM*:00000002 Timer3D |
C:\Users\Arthur-P\AppData\Local\Temp/ccCEaaaa.s:1698 .text:00000c94 uart_putchar |
C:\Users\Arthur-P\AppData\Local\Temp/ccCEaaaa.s:1714 .text:00000ca4 UART_Init |
*COM*:00000002 Debug_Timer |
*COM*:00000002 Kompass_Timer |
C:\Users\Arthur-P\AppData\Local\Temp/ccCEaaaa.s:1767 .progmem.data:00000200 __c.0 |
C:\Users\Arthur-P\AppData\Local\Temp/ccCEaaaa.s:1772 .text:00000d2c DatenUebertragung |
*COM*:00000002 Display_Timer |
*COM*:00000008 WinkelOut |
*COM*:00000042 DebugOut |
*COM*:0000000e Data3D |
UNDEFINED SYMBOLS |
__do_copy_data |
__do_clear_bss |
LcdClear |
ServoActive |
__prologue_saves__ |
__epilogue_restores__ |
KompassValue |
KompassStartwert |
__divmodhi4 |
KompassRichtung |
Mixer |
MixerTable_WriteToEEProm |
GetActiveParamSet |
ParamSet_ReadFromEEProm |
EE_Parameter |
ParamSet_WriteToEEProm |
__mulsi3 |
Umschlag180Nick |
Umschlag180Roll |
MotorenEin |
Piep |
LipoDetection |
LIBFC_ReceiverInit |
PPM_in |
I2C_ReadBLConfig |
BLConfig |
I2C_WriteBLConfig |
SetDelay |
RemoteKeys |
MenuePunkt |
CheckDelay |
DisplayBuff |
Menu |
DispPtr |
Menu_Putchar |
_printf_P |
MaxMenue |
IntegralNick |
__divmodsi4 |
IntegralRoll |
Parameter_UserParam1 |
Parameter_UserParam2 |
CopyDebugValues |
ErsatzKompass |
GIER_GRAD_FAKTOR |
SummeNick |
SummeRoll |
Mess_Integral_Gier |
memcpy_P |
/branches/V0.80d-Arthur-P/version.txt |
---|
0,0 → 1,420 |
------- |
V0.53 27.04.2007 H.Buss |
- erste öffentliche Version |
V0.53b 29.04.2007 H.Buss |
- der FAKTOR_I war versehentlich auf Null, dann liegt der MikroKopter nicht so hart in der Luft |
V0.53c 29.04.2007 H.Buss |
- es gib ein Menü, in dem die Werte der Kanäle nach Nick, Roll, Gas,... sortiert sind. |
Die angezeigten Werte waren nicht die Werte der Funke |
V0.54 01.05.2007 H.Buss |
- die Paramtersätze können jetzt vor dem Start ausgewählt werden |
Dazu wird beim Kalibrieren der Messwerte (Gashebel oben links) der Nick-Rollhebel abgefragt: |
2 3 4 |
1 x 5 |
- - - |
Bedeutet: Nick-Rollhebel Links Mitte = Setting:1 Links Oben = Setting:2 usw. |
- der Faktor_I für den Hauptregler ist hinzugekommen. Im Heading-Hold-Modus sollte er vergössert werden, was Stabilität bringt |
V0.55 14.05.2007 H.Buss |
- es können nun Servos an J3,J4,J5 mit den Kanälen 5-7 gesteuert werden |
V0.56 14.05.2007 H.Buss |
- es gab Probleme mit Funken, die mehr als 8 Kanäle haben, wenn mehrere Kanäle dann auf Null waren |
- Funken, die nicht bis +-120 aussteuern können, sollten jetzt auch gehen |
V0.57 24.05.2007 H.Buss |
- Der Höhenregler kann nun auch mittels Schalter bedient werden |
- Bug im Gier-Algorithmus behoben; Schnelles Gieren fürhrte dazu, dass der MK zu weit gedreht hat |
- Kompass-Einfluss dämpfen bei Neigung |
- Man kann zwischen Kompass FIX (Richtung beim Kalibrieren) und Variabel (einstellbar per Gier) wählen |
- Der Motortest vom Kopter-Tool geht jetzt |
- Man kann den Parametersätzen einen Namen geben |
- Das Kamerasetting ist unter Setting 2 defaultmässig integriert |
V0.58 30.05.2007 H.Buss |
- Der Höhenregler-Algorithmus wird nun umgangen, wenn der Höhenreglerschalter aus ist |
V0.60 17.08.2007 H.Buss |
- "Schwindel-Bug" behoben |
- Die Poti-Werte werden jetzt auf Unterlauf (<0) überprüft |
- Poti4 zugefügt |
- Es werden jetzt 8 Kanäle ausgewertet |
- Kamera-Servo (an J7) |
- Die Settings müssen überschrieben werden |
V0.61 - V0.63 H.Buss 27.09.2007 |
- Poti 4 und Kanal 8 werden im Menü angezeigt |
- ein paar Kleinigkeiten bei den DefaultKonstanten2 bereinigt |
- Analog.c: Aktuell_ax korrigiert |
- auf 32 Debug-Kanäle erweitert |
- Loopings sind jetzt möglich und einzeln im KopterTool freischaltbar |
- leichte Anpassungen im Gier - Geschwindigkeit und Drift |
- die Hardwareversion V1.1 wird erkannt und das Programm stellt sich auf die geänderte Gyroverstärkung und die geänderten Portpins ein |
- die Software startet nach dem Einschalten schneller, weil der Luftdruckoffset schneller gefunden wird |
- die PPM-Ausgänge liegen wieder an den Pins an |
- Details an der Sensordatenverarbeitung -> es fliegt sich geringfügig anders |
- der MK ist bei wenig Gas nicht mehr so giftig -> soll das Landen vereinfachen |
- I2C-Bus läuft jetzt sicher nach einer Störung wieder an |
- Sticksignale werden präziser ausgewertet |
- Stick-Kanäle werden ans Kopter-Tool übertragen |
- Es muss die Version V1.47 des Kopter-Tool verwendet werden |
- Die Settings werden auf Default zurückgesetzt |
- am Piepen kann man die Fehlerart unterscheiden |
1. einzelnes Piepen beim Einschalten und Kalibrieren |
2. langsames Intervall mindestens 1 Sek -> Empfangsausfall |
3. schnelleres Intervall mindestens 1 Sek -> Akku |
4. sehr schnelles Intervall mindestens 1 Sek -> Kommunikation zu den Reglern gestört |
V0.64 H.Buss 30.09.2007 |
- beim Gieren wurden die Achsen nicht hart genug geregelt |
V0.65a H.Buss 15.10.2007 |
- Integral im Mischer wieder integriert |
- Feinabstimmung im ACC/Gyro Abgleich -> 1/32 & 100 |
- ACC/Gyro Abgleich auch bei HH |
V0.66a H.Buss 3.11.2007 |
- Messwertverarbeitung aus dem Analog-Interrupt entfernt |
- Analogmessung hängt jetzt am FC-Timing |
- Looping-Stick-Hysterese eingebaut |
- Looping-180°-Umschlag einstellbar |
- Achsenkopplung: Gierbewegung verkoppelt Nick und Roll |
- Lageregelung nach ACC-Sensor verbessert |
- zusätzlicher I-Anteil in der Lageregelung verbessert die Neutrallage |
- Gyrodriftkompensation überarbeitet |
- Bug in der Gier-Stick-Berechnung behoben |
- Gyro-Messung auf 1kHz beschleunigt |
V0.67a H.Buss 16.11.2007 |
- der Hauptregler-I-Anteil wirkt jetzt nur noch auf den Winkel (ausser im HH-Mode) |
- Gyro-Acc-Abgleich jetzt wieder in jedem Zyklus |
- Feinabstimmung |
- Beim HH-Modus gab es noch Bugs |
V0.67e H.Buss 29.11.2007 |
- Parameter: Dynamic Stability und Driftfaktor eingeführt |
- Die Namen der Analogwerte werden jetzt zum Koptertool übertragen |
- Kompatibilität zum Koptertool erhöht |
V0.67f H.Buss 04.12.2007 |
- Das Integral des Hauptreglers wird jetzt linear entladen und nicht mehr proportional |
- Schub für Gier wird jetzt auf den Gaswert begrenzt, dadurch steigt der MK nicht mehr beim Gieren. Gier ist allerdings nicht mehr so agressiv |
- Die ACC-Nullwerte können jetzt dauerhaft im EEPROM gespeichert werden (Stick:Vollgas und Gier rechts) |
V0.68a I.Busker 28.12.2007 |
- SPI.c & SPI.h ins Projekt aufgenommen |
SPI-Kommuikation kann in SPI.h aktiviert/deaktivert werden |
V0.68c H.Buss 05.01.2008 |
- Stickauswertung verbessert -> träger und präziser |
- Alle Settings angepasst |
V0.69e H.Buss 05.05.2008 |
- kleinere Bugs beseitigt |
- Schneller Sinkflug jetzt möglich |
- Min- und Maxgas in den Settings geändert |
- Lagewinkel wird jetzt in 0,1 Grad an Kompass und Navi gesendet |
- Kalibrierung für MK3Mag -> Nick unten beim Kalibrieren |
- Kompassroutine um den Ersatzkompass (Gyro unterstützt Kompasswert) erweitert |
V0.69h H.Buss 21.05.2008 |
- STICK_GAIN = 4 eingeführt. Das erhöht die Auflösung der Sollwerte. Stick_P und Stick_I müssen nun um Faktor 4 erhöht werden |
- SenderOkay auch an das Naviboard übertragen |
- Bessere Parameter bei Senderausfall |
V0.69j H.Buss 30.05.2008 |
- Höhere Präzision der Achsenkopplung |
V0.69k H.Buss 31.05.2008 |
- Bug in SPI.C behoben |
- in 0.69h war ein Bug, der zu ungewollten Loopings führen konnte |
V0.69L H.Buss 14.06.2008 |
- feinere Cam-Servo-Auflösung |
V0.70a H.Buss 01.07.2008 |
- Unterstützung der V1.3-Hardware mit automatischem Hardware-Gyro-Abgleich |
V0.70b H.Buss 14.07.2008 |
- flexible Einstellungsmöglichkeit von J16 und J17 (Transistorausgänge) |
- eigene Parameter für GPS-Naviboard |
- eigener Parameter für ExternalControl (war vorher UserParameter1 bzw. 8) |
- neue Parameter im EEPROM-Datensatz: J16Bitmask, J16Timing, ExternalControl, Navi... |
- MikroKopterFlags eingeführt, damit das Navi den Status des MKs kennt |
- KopterTool-Kompatibilität auf 8 erhöht |
V0.70c H.Buss 30.07.2008 |
- Parameter der Datenfusion leicht modifiziert |
- EEPROM-Parameter für Looping-Umschlag angepasst (von 100 auf 85) |
- MaxStick wird auf 100 begrenzt |
V0.70d H.Buss 02.08.2008 |
- Transistorausgänge: das oberste Bit der Blinkmaske (im KopterTool linkes Bit) gibt nun den Zustand des Ausgangs im Schalterbetrieb an |
0.71b: H.Buss 19.10.2008 |
Kommunikation zum Navi erweitert: |
- Beeptime jetzt 32Bit |
- Datenfusion und Driftkopensation wird durch NaviBoard unterstützt |
0.71c: H.Buss 20.10.2008 |
- LoopConfig heisst jetzt BitConfig |
- 3-Fach-Schalter für Höhensteuerung möglich -> kann man mit GPS-Schalter zusammenlegen |
- bei den Settings wurde Setting[0] mit abgespeichert, welches es nicht gab. |
- in Zukunft werden bei neuen EEPROM-Settings die Kanäle von Setting 1 übernommen |
- Variablen NaviWindCorrection, NaviSpeedCompensation, NaviOperatingRadius eingeführt |
0.71f: H.Buss 15.11.2008 |
- Ausschalten der Höhenregelung per Schalter um 0,3 sek verzögert |
- bei der seriellen Übertragung hat die FC jetzt als SlaveAdresse die 1 |
- VersionInfo.NaviKompatibel eingeführt |
- wenn manuell gegiert wird, wird der GyroKompass-Wert auf den Kompasswert gesetzt |
- Luftdruckwert wird an das Navi übertragen |
- Der Baro-Offset wird jetzt nachgeführt, um den Messbereich zu erweitern. Geht nur bei Höhenregler mit Schalter |
- Debugdaten können jetzt mit 'f' gepollt werden |
0.71g: Gregor 09.12.2008 |
- Kommunikation überarbeitet |
Infos hier: http://www.mikrokopter.de/ucwiki/en/SerialCommands |
0.71h: H.Buss 15.12.2008 |
- Freigegebene Version |
- NaviAngleLimitation als Parameter zum Navi implementiert |
- Antwort auf CMD: 't' entfernt |
0.72d: H.Buss 22.01.2009 |
- OCTO als Compilerschalter |
- Unterstützung der FC 2.0 (ME) |
- GYRO_D eingeführt |
- Achsenkopplung jetzt auch auf Nick/Roll-Bewegung |
0.72e: H.Buss 27.01.2009 |
- die 0.72d hatte kein Integral im Gier |
- Parameter eingeführt: |
EE_Parameter.NaviGpsPLimit |
EE_Parameter.NaviGpsILimit |
EE_Parameter.NaviGpsDLimit |
EE_Parameter.NaviPH_LoginTime |
EE_Parameter.AchsKopplung2 |
EE_Parameter.CouplingYawCorrection |
0.72f: H.Buss 28.01.2009 |
- Bug im Ersatzkompass entfernt |
0.72h: H.Buss 05.02.2009 |
- Algorithmen beschleunigt -> Floats durch Fixkomma ersetzt |
- Achsentkopplung weiter verbessert |
- Nick- und Roll im Octo-Mischer auf jeweils vier Motoren aufgeteilt |
0.72i: H.Buss 07.02.2009 |
- Abtastrate von 1kHz auf 2kHz erhöht |
0.72j: H.Buss 09.02.2009 |
- neue Implementierung der Servoausgänge |
0.72k: H.Buss 10.02.2009 |
- Abtastrate auf 5kHz erhöht |
0.72L: H.Buss 13.02.2009 |
- Signalfilterung überarbeitet |
- OCTO2 implementiert |
0.72M: H.Buss 13.02.2009 |
- Code Cleanup |
0.72o: H.Buss 24.02.2009 |
- Abtastrate auf 2kHz |
- HW-Version an Navi |
- neuer Datensatz 'c' -> Lagedaten für 3D-Grafik |
- Auswerteroutine für Spectrum-Satteliten implementiert |
- Kanalsettings werden beim Parameterreset nicht mehr gelöscht |
- die Driftkompensation wird jetzt feiner aufgelöst --> EE_Parameter.Driftkomp muss mal 8 genommen werden |
- die Integrale und ACC-Werte werden jetzt im Scope in ca. 0,1° angezeigt (wie beim NaviBrd) |
0.72p: H.Buss 01.03.2009 |
- Octo3 erstellt |
- Analogwerte umbenannt |
0.73a-d: H.Buss 05.04.2009 |
- MixerTabelle implementiert |
- I2C-Bus auf bis zu 12 Motoren erweitert |
- die Busfehler der BL-Regler werden im Menü angezeigt |
- Revision der MixerTabelle eingeführt |
- MixerTabelle wird bei Parameterreset neu initialisiert |
- Motortest auf [12] erweitert |
- Motorschalter nicht mehr 3-Stufig |
0.74a |
- Datenfusion im Flug auch, wenn ACC-Z < 512 |
- Wert für die Luftdruck-Messbereichserweiterung abgefangen |
0.74d |
- Die Driftkompensation ist jetzt dreistufig -> 0,5% pro sekunde zusätzlich eingeführts |
0.75a G.Stobrawa 22.5.2009 |
- Extern Control also received from NC via SPI |
0.75b H.Buss 27.05.2009 |
- Spektrum-Singale schalten den PPM-Eingang aus |
- max. 2 Sekunden nach dem Start auf die BL-Regler warten |
- Automatische Zellenerkennung, wenn Spannungswarnung < 5,0V |
- Bei automatischer Zellenerkennung piept es je nach Zellenzahl |
- EE_DATENREVISION auf 76 erhöht |
- Servo: |
- Roll-Servo für FC ME implementiert |
- Update-Cmd stoppt Servos |
- Servos werden erst nach dem ersten Kalibrieren aktiviert |
0.75c G.Stobrawa 25.7.2009 |
- Übertragung der Servo-Settings zur NC |
- RSSI wird an NC gesendet, derzeit wird der Wert nicht gesetzt |
- Bugfix Messbereichsumschaltung des Luftdrucksensors springt |
- Auflösung des Luftdrucks nun bis auf 1 cm (5mal feiner) zur genaueren Berechnung des D-Anteils |
- Unterstützung von Warnings-Bitmasks für die J16, J17-Outputs bei Unterspannung |
- Unterspannung für einzelne Zelle´n von 3.2V auf 3.3V angehoben (9.6V --> 9.9V für 3S) |
0.75d H.Buss 13.8.2009 |
- RC-Routine: Empfangsausfall soll sicherer erkannt werden |
- Zellenerkennung nun auch beim Speichern der Settings |
- Warnungs-Blinkmaske auch bei Empfangsausfall |
0.75e H.Buss 18.8.2009 |
- LED-Blinken kann an die Motoren gekoppelt werden |
- Feinabstimmung des Höhenreglers |
0.75f H.Buss 27.8.2009 |
- D-Anteil des Höhenreglers jetzt mit Quadratischer Komponente |
- Lagewinkel wirkt jetzt mit 1/Cos(x) mit in den Höhenregler |
- leichte Modifikation der RC-Empfangroutine |
0.75g H.Buss 31.08.2009 |
- die Akkuspannung geht jetzt antiproportional ins Gas ein |
0.75h H.Buss 3.09.2009 |
- im Höhenregler werden jetzt die Stellwerte begrenzt --> max +- 16% vom geschätzten Schwebegas |
0.75i H.Buss 7.09.2009 |
- GpsZ vom Navi zur FC für den Höhenregler |
- "hoovergas-Variation" als Parameter |
- Kompatibilität zu NC und PC erhöht |
0.75j H.Buss 17.09.2009 |
- Laufzeitzähler eingebaut |
0.75k H.Buss 22.09.2009 |
- zweite Variante (Gregor) der Höhenregelung implementiert |
- umschaltbare RC-Routine |
0.75L H.Buss 23.09.2009 |
- SollHoehe und Gas geht nun auch an die NC |
0.75M H.Buss 29.09.2009 |
- Spektrum-Timing wird nun überwacht |
- die FC kann nun stand-Alone als Kamera-Stabilizer eingesetzt werden, weil die Servos aktiviert werden, wenn I2C fehlt |
0.75N H.Buss 29.09.2009 |
- Hoover-Stickpunkt wird bei aktivem Höhenregler nicht nachgeführt |
- Hoover-Stickpunkt kann per Parameter fest eingestellt werden |
- Baro-Messbereichserweiterung auch bei aktiviertem Höhenregler |
- Gyro_Gier_P und Gyro_Gier_I eingeführt |
- I2C_fehler-Zähler jetzt in den Analogdaten |
0.75o H.Buss 01.10.2009 |
- der Höhenregler wird jetzt nur alle 10ms bearbeitet |
- Baro-Messbereichserweiterung auch bei Poti als Sollwert |
0.76d H.Buss 10.10.2009 |
- bei aktiver Messbereichserweiterung wird die aktuelle Höhe übernommen |
0.76e H.Buss 27.10.2009 |
- es werden beim Start einmal alle BL-Regler angesprochen, damit BL-Regler#8 auch einen Selbsttest macht |
- S3D-ACT-Summensignal als Compilerschalter |
0.76f H.Buss 05.11.2009 |
- untere Spannungsgrenze der Unterspannungswarnung (9,3V) entfernt |
0.76g H.Buss 10.11.2009 |
- Casting-Fehler in der Gas-Berechnung |
0.77a H.Buss 11.11.2009 |
- Erweiterung auf 12 Kanäle |
- Bei Koptertool-Kanalabfrage kein Empfangsausfall-Piepsen |
- serielle Kanalerweiterung eingebaut -> PPM_in auf 25 erweitert |
- Servos3-5 einstellbar |
- neues Kommando "f" -> schaltet auf anderen Parametersatz um |
0.77b H.Buss 09.12.2009 |
- JetiBox: Menü wird übertragen |
- neu: FCFlags |= FCFLAG_I2CERR; |
- LED-Warn-Blinken nun mit festem Timing und abschaltbar |
0.77c H.Buss 07.01.2010 |
- zwei weitere Spektrum-Varianten implementiert |
0.77d H.Buss 25.01.2010 |
- Strom-Messung eingebaut |
0.78a H.Buss 03.02.2010 |
- Bugfix: Settingsumschaltung im Flug |
0.78b H.Buss |
- veröffentlichte Version |
0.78c H.Buss + G.Stobrawa 22.2.2010 |
- Bewegungsbegrenzung an Servo 3 to 5 der FC 2.0 |
- Theoretischer Variablenüberlauf bei Vario-Höhenregler |
- Anzeige des "SPI RX communication error" wenn GPS Option nicht aktiv |
- LED-Schwellwerte fürs Blinken waren unterschiedlich |
0.78c H.Buss + G.Stobrawa 04.3.2010 |
- Code cosmetics |
0.78f H.Buss + I.Busker 23.3.2010 |
- Unterstützung für Jeti-Expander |
- Begrenzung des Vario-Höhenreglers auf ein 10m-Fenster um Überläufe zu verhindern |
- Einführung eines Vario-Zeichens (+/-/ ) auf der Jetibox |
- BL-Timeout beim Start erhöht |
0.80a H. Buss + G.Stobrawa 20.5.2010 - 22.7.2010 |
- Motoren Starten nicht ohne Kalibrierung |
- Unterstützung der BL2.0-Regler |
- statt 8 nun 10 Bit Auflösung der Lageregekung |
- Unterstützung der BL2.0-Regler Konfiguration via MK-Tool |
- Parametersätze werden per I2C an die BL-Regler durchgereicht |
- "Care-Free" implementiert |
- Freie Belegung der "Vorne"-Richtung |
- nur wenn Motoren laufen: Beepen, wenn Carefree ohne Navi oder ohne gültigen MK3Mag-Wert |
- nur wenn Motoren laufen: Beepen wenn NC plötzlich ausfällt |
- #define RECEIVER_SPEKTRUM_EXP eingeführt |
- #define SWITCH_LEARNS_CAREFREE eingeführt |
- Schwerpunktanzeige in den 3D-Daten |
- Checksummen gesicherte Datenablage im EEProm |
- Fehlerdiagnose implementiert (Wiki: ErrorCodes) |
- ErrorCode aufs Jeti-Display |
- JetiMenü: bis acht Temperaturen der BL-Regler |
- GPSInfo.Speed im Jeti-Display |
- Compass-Richtung nun im Jeti-menü |
- diverse Änderungen im Höhenregler |
- P wirkt schwächer |
- D wirkt stärker |
- Anpassung der Höhenregelung auf Level des Hoovergases |
- AccZ schneller nachführen |
Parameter modifiziert: |
- EEPROM-Kompatibilität auf 84 -> Parameter werden resettet |
- EE_Parameter.Hoehe_ACC_Wirkung = 0; // war 30 |
- EE_Parameter.Hoehe_HoverBand = 8; // war 5 |
- Notgas = 45 |
- NotgasZeit = 90 |
- Beginnersetting: EE_Parameter.DynamicStability = 70; |
- Neu: GyroStability = 6 |
- GPS-Login-Time auf 2 reduziert |