| 0,0 → 1,1309 |
|---|
| 1 .file "main.c" |
| 2 .arch atmega1284p |
| 3 __SREG__ = 0x3f |
| 4 __SP_H__ = 0x3e |
| 5 __SP_L__ = 0x3d |
| 6 __tmp_reg__ = 0 |
| 7 __zero_reg__ = 1 |
| 8 .global __do_copy_data |
| 9 .global __do_clear_bss |
| 10 .global JetiBeep |
| 11 .global JetiBeep |
| 12 .section .bss |
| 15 JetiBeep: |
| 16 0000 00 .skip 1,0 |
| 17 .global FoundMotors |
| 18 .global FoundMotors |
| 21 FoundMotors: |
| 22 0001 00 .skip 1,0 |
| 23 .global FlugSekunden |
| 24 .global FlugSekunden |
| 27 FlugSekunden: |
| 28 0002 0000 .skip 2,0 |
| 29 .global FlugMinutenGesamt |
| 30 .global FlugMinutenGesamt |
| 33 FlugMinutenGesamt: |
| 34 0004 0000 .skip 2,0 |
| 35 .global FlugMinuten |
| 36 .global FlugMinuten |
| 39 FlugMinuten: |
| 40 0006 0000 .skip 2,0 |
| 41 .global BattLowVoltageWarning |
| 42 .data |
| 45 BattLowVoltageWarning: |
| 46 0000 5E .byte 94 |
| 47 .global SendVersionToNavi |
| 50 SendVersionToNavi: |
| 51 0001 01 .byte 1 |
| 52 .global PlatinenVersion |
| 55 PlatinenVersion: |
| 56 0002 0A .byte 10 |
| 57 .global DisableRcOffBeeping |
| 58 .global DisableRcOffBeeping |
| 59 .section .bss |
| 62 DisableRcOffBeeping: |
| 63 0008 00 .skip 1,0 |
| 64 .data |
| 67 stick.16: |
| 68 0003 01 .byte 1 |
| 69 .text |
| 70 .global CalMk3Mag |
| 72 CalMk3Mag: |
| 73 /* prologue: frame size=0 */ |
| 74 /* prologue end (size=0) */ |
| 75 0000 8091 0000 lds r24,EE_Parameter+1 |
| 76 0004 E82F mov r30,r24 |
| 77 0006 FF27 clr r31 |
| 78 0008 EE0F add r30,r30 |
| 79 000a FF1F adc r31,r31 |
| 80 000c E050 subi r30,lo8(-(PPM_in)) |
| 81 000e F040 sbci r31,hi8(-(PPM_in)) |
| 82 0010 8081 ld r24,Z |
| 83 0012 9181 ldd r25,Z+1 |
| 84 0014 8D5E subi r24,lo8(-19) |
| 85 0016 9F4F sbci r25,hi8(-19) |
| 86 0018 04F0 brlt .L2 |
| 87 001a 1092 0000 sts stick.16,__zero_reg__ |
| 88 .L2: |
| 89 001e 8081 ld r24,Z |
| 90 0020 9181 ldd r25,Z+1 |
| 91 0022 8A5B subi r24,lo8(-70) |
| 92 0024 9F4F sbci r25,hi8(-70) |
| 93 0026 04F4 brge .L3 |
| 94 0028 8091 0000 lds r24,stick.16 |
| 95 002c 8823 tst r24 |
| 96 002e 01F4 brne .L3 |
| 97 0030 81E0 ldi r24,lo8(1) |
| 98 0032 8093 0000 sts stick.16,r24 |
| 99 0036 8091 0000 lds r24,WinkelOut+6 |
| 100 003a 8F5F subi r24,lo8(-(1)) |
| 101 003c 8093 0000 sts WinkelOut+6,r24 |
| 102 0040 8530 cpi r24,lo8(5) |
| 103 0042 00F0 brlo .L4 |
| 104 0044 88EE ldi r24,lo8(1000) |
| 105 0046 93E0 ldi r25,hi8(1000) |
| 106 0048 9093 0000 sts (beeptime)+1,r25 |
| 107 004c 8093 0000 sts beeptime,r24 |
| 108 0050 00C0 rjmp .L3 |
| 109 .L4: |
| 110 0052 66E9 ldi r22,lo8(150) |
| 111 0054 70E0 ldi r23,hi8(150) |
| 112 0056 0E94 0000 call Piep |
| 113 .L3: |
| 114 005a 8091 0000 lds r24,WinkelOut+6 |
| 115 005e 9927 clr r25 |
| 116 0060 9093 0000 sts (DebugOut+40)+1,r25 |
| 117 0064 8093 0000 sts DebugOut+40,r24 |
| 118 /* epilogue: frame size=0 */ |
| 119 0068 0895 ret |
| 120 /* epilogue end (size=1) */ |
| 121 /* function CalMk3Mag size 55 (54) */ |
| 123 .section .progmem.data,"a",@progbits |
| 126 __c.13: |
| 127 0000 0A0D 4261 .string "\n\rBatt:" |
| 127 7474 3A00 |
| 130 __c.14: |
| 131 0008 2025 6420 .string " %d Cells " |
| 131 4365 6C6C |
| 131 7320 00 |
| 134 __c.15: |
| 135 0013 4C6F 7720 .string "Low Batt level: %d.%d" |
| 135 4261 7474 |
| 135 206C 6576 |
| 135 656C 3A20 |
| 135 2564 2E25 |
| 136 .text |
| 137 .global LipoDetection |
| 139 LipoDetection: |
| 140 /* prologue: frame size=0 */ |
| 141 006a 1F93 push r17 |
| 142 006c CF93 push r28 |
| 143 006e DF93 push r29 |
| 144 /* prologue end (size=3) */ |
| 145 0070 182F mov r17,r24 |
| 146 0072 8823 tst r24 |
| 147 0074 01F0 breq .L7 |
| 148 0076 80E0 ldi r24,lo8(__c.13) |
| 149 0078 90E0 ldi r25,hi8(__c.13) |
| 150 007a 9F93 push r25 |
| 151 007c 8F93 push r24 |
| 152 007e 80E0 ldi r24,lo8(pm(uart_putchar)) |
| 153 0080 90E0 ldi r25,hi8(pm(uart_putchar)) |
| 154 0082 9F93 push r25 |
| 155 0084 8F93 push r24 |
| 156 0086 E091 0000 lds r30,_printf_P |
| 157 008a F091 0000 lds r31,(_printf_P)+1 |
| 158 008e 0995 icall |
| 159 0090 0F90 pop __tmp_reg__ |
| 160 0092 0F90 pop __tmp_reg__ |
| 161 0094 0F90 pop __tmp_reg__ |
| 162 0096 0F90 pop __tmp_reg__ |
| 163 .L7: |
| 164 0098 8091 0000 lds r24,EE_Parameter+36 |
| 165 009c 8233 cpi r24,lo8(50) |
| 166 009e 00F0 brlo .+2 |
| 167 00a0 00C0 rjmp .L8 |
| 168 00a2 84EF ldi r24,lo8(500) |
| 169 00a4 91E0 ldi r25,hi8(500) |
| 170 00a6 0E94 0000 call SetDelay |
| 171 00aa EC01 movw r28,r24 |
| 172 00ac 1123 tst r17 |
| 173 00ae 01F0 breq .L9 |
| 174 .L10: |
| 175 00b0 CE01 movw r24,r28 |
| 176 00b2 0E94 0000 call CheckDelay |
| 177 00b6 8823 tst r24 |
| 178 00b8 01F0 breq .L10 |
| 179 .L9: |
| 180 00ba C2E0 ldi r28,lo8(2) |
| 181 00bc D0E0 ldi r29,hi8(2) |
| 182 00be 26E5 ldi r18,lo8(86) |
| 183 00c0 30E0 ldi r19,hi8(86) |
| 184 .L17: |
| 185 00c2 8091 0000 lds r24,UBat |
| 186 00c6 9091 0000 lds r25,(UBat)+1 |
| 187 00ca 8217 cp r24,r18 |
| 188 00cc 9307 cpc r25,r19 |
| 189 00ce 00F0 brlo .L14 |
| 190 00d0 2196 adiw r28,1 |
| 191 00d2 255D subi r18,lo8(-(43)) |
| 192 00d4 3F4F sbci r19,hi8(-(43)) |
| 193 00d6 C730 cpi r28,7 |
| 194 00d8 D105 cpc r29,__zero_reg__ |
| 195 00da 00F0 brlo .L17 |
| 196 .L14: |
| 197 00dc 8091 0000 lds r24,EE_Parameter+36 |
| 198 00e0 9927 clr r25 |
| 199 00e2 C89F mul r28,r24 |
| 200 00e4 9001 movw r18,r0 |
| 201 00e6 C99F mul r28,r25 |
| 202 00e8 300D add r19,r0 |
| 203 00ea D89F mul r29,r24 |
| 204 00ec 300D add r19,r0 |
| 205 00ee 1124 clr r1 |
| 206 00f0 2093 0000 sts BattLowVoltageWarning,r18 |
| 207 00f4 1123 tst r17 |
| 208 00f6 01F0 breq .L19 |
| 209 00f8 68EC ldi r22,lo8(200) |
| 210 00fa 70E0 ldi r23,hi8(200) |
| 211 00fc 8C2F mov r24,r28 |
| 212 00fe 0E94 0000 call Piep |
| 213 0102 DF93 push r29 |
| 214 0104 CF93 push r28 |
| 215 0106 80E0 ldi r24,lo8(__c.14) |
| 216 0108 90E0 ldi r25,hi8(__c.14) |
| 217 010a 9F93 push r25 |
| 218 010c 8F93 push r24 |
| 219 010e 80E0 ldi r24,lo8(pm(uart_putchar)) |
| 220 0110 90E0 ldi r25,hi8(pm(uart_putchar)) |
| 221 0112 9F93 push r25 |
| 222 0114 8F93 push r24 |
| 223 0116 E091 0000 lds r30,_printf_P |
| 224 011a F091 0000 lds r31,(_printf_P)+1 |
| 225 011e 0995 icall |
| 226 0120 8DB7 in r24,__SP_L__ |
| 227 0122 9EB7 in r25,__SP_H__ |
| 228 0124 0696 adiw r24,6 |
| 229 0126 8DBF out __SP_L__,r24 |
| 230 0128 00C0 rjmp .L19 |
| 231 .L8: |
| 232 012a 8093 0000 sts BattLowVoltageWarning,r24 |
| 233 .L19: |
| 234 012e 1123 tst r17 |
| 235 0130 01F0 breq .L6 |
| 236 0132 8091 0000 lds r24,BattLowVoltageWarning |
| 237 0136 6AE0 ldi r22,lo8(10) |
| 238 0138 0E94 0000 call __udivmodqi4 |
| 239 013c 892F mov r24,r25 |
| 240 013e 9927 clr r25 |
| 241 0140 9F93 push r25 |
| 242 0142 8F93 push r24 |
| 243 0144 8091 0000 lds r24,BattLowVoltageWarning |
| 244 0148 0E94 0000 call __udivmodqi4 |
| 245 014c 9927 clr r25 |
| 246 014e 9F93 push r25 |
| 247 0150 8F93 push r24 |
| 248 0152 80E0 ldi r24,lo8(__c.15) |
| 249 0154 90E0 ldi r25,hi8(__c.15) |
| 250 0156 9F93 push r25 |
| 251 0158 8F93 push r24 |
| 252 015a 80E0 ldi r24,lo8(pm(uart_putchar)) |
| 253 015c 90E0 ldi r25,hi8(pm(uart_putchar)) |
| 254 015e 9F93 push r25 |
| 255 0160 8F93 push r24 |
| 256 0162 E091 0000 lds r30,_printf_P |
| 257 0166 F091 0000 lds r31,(_printf_P)+1 |
| 258 016a 0995 icall |
| 259 016c 2DB7 in r18,__SP_L__ |
| 260 016e 3EB7 in r19,__SP_H__ |
| 261 0170 285F subi r18,lo8(-(8)) |
| 262 0172 3F4F sbci r19,hi8(-(8)) |
| 263 0174 2DBF out __SP_L__,r18 |
| 264 .L6: |
| 265 /* epilogue: frame size=0 */ |
| 266 0176 DF91 pop r29 |
| 267 0178 CF91 pop r28 |
| 268 017a 1F91 pop r17 |
| 269 017c 0895 ret |
| 270 /* epilogue end (size=4) */ |
| 271 /* function LipoDetection size 138 (131) */ |
| 273 .section .progmem.data |
| 276 __c.0: |
| 277 0029 0A0D 466F .string "\n\rFound BL-Ctrl: " |
| 277 756E 6420 |
| 277 424C 2D43 |
| 277 7472 6C3A |
| 277 2000 |
| 280 __c.1: |
| 281 003b 2564 00 .string "%d" |
| 284 __c.2: |
| 285 003e 0A0D 0A0D .string "\n\r\n\r!!MISSING BL-CTRL: %d!!" |
| 285 2121 4D49 |
| 285 5353 494E |
| 285 4720 424C |
| 285 2D43 5452 |
| 288 __c.3: |
| 289 005a 0A0D 3D00 .string "\n\r=" |
| 292 __c.4: |
| 293 005e 0A0D 4361 .string "\n\rCal. pressure sensor" |
| 293 6C2E 2070 |
| 293 7265 7373 |
| 293 7572 6520 |
| 293 7365 6E73 |
| 296 __c.5: |
| 297 0075 4F4B 0A0D .string "OK\n\r" |
| 297 00 |
| 300 __c.6: |
| 301 007a 0A0D 466C .string "\n\rFlight-time %u min Total:%u min" |
| 301 6967 6874 |
| 301 2D74 696D |
| 301 6520 2575 |
| 301 206D 696E |
| 304 __c.7: |
| 305 009d 0A0D 436F .string "\n\rControl: " |
| 305 6E74 726F |
| 305 6C3A 2000 |
| 308 __c.8: |
| 309 00a9 4865 6164 .string "HeadingHold" |
| 309 696E 6748 |
| 309 6F6C 6400 |
| 312 __c.9: |
| 313 00b5 4E6F 726D .string "Normal (ACC-Mode)" |
| 313 616C 2028 |
| 313 4143 432D |
| 313 4D6F 6465 |
| 313 2900 |
| 316 __c.10: |
| 317 00c7 0A0D 3D0A .string "\n\r=\n\r" |
| 317 0D00 |
| 320 __c.11: |
| 321 00cd 0A0D .ascii "\n\r" |
| 322 00cf 4A45 5449 .string "JETI+ Version sponsored by Flyinghigh.ch, progammed by MartinW\n\r" |
| 322 2B20 5665 |
| 322 7273 696F |
| 322 6E20 7370 |
| 322 6F6E 736F |
| 323 .lcomm second.12,1 |
| 324 .text |
| 325 .global main |
| 327 main: |
| 328 /* prologue: frame size=0 */ |
| 329 017e C0E0 ldi r28,lo8(__stack - 0) |
| 330 0180 D0E0 ldi r29,hi8(__stack - 0) |
| 331 0182 DEBF out __SP_H__,r29 |
| 332 0184 CDBF out __SP_L__,r28 |
| 333 /* prologue end (size=4) */ |
| 334 0186 8824 clr r8 |
| 335 0188 9924 clr r9 |
| 336 018a 14B8 out 36-0x20,__zero_reg__ |
| 337 018c 15B8 out 37-0x20,__zero_reg__ |
| 338 018e B7EE ldi r27,lo8(999) |
| 339 0190 EB2E mov r14,r27 |
| 340 0192 B3E0 ldi r27,hi8(999) |
| 341 0194 FB2E mov r15,r27 |
| 342 .L26: |
| 343 0196 8EEC ldi r24,lo8(-50) |
| 344 0198 9FEF ldi r25,hi8(-50) |
| 345 019a E80E add r14,r24 |
| 346 019c F91E adc r15,r25 |
| 347 019e F7FE sbrs r15,7 |
| 348 01a0 00C0 rjmp .L26 |
| 349 01a2 85E1 ldi r24,lo8(21) |
| 350 01a4 8093 0000 sts PlatinenVersion,r24 |
| 351 01a8 81E8 ldi r24,lo8(-127) |
| 352 01aa 87B9 out 39-0x20,r24 |
| 353 01ac 3E9A sbi 39-0x20,6 |
| 354 01ae 8FEF ldi r24,lo8(-1) |
| 355 01b0 88B9 out 40-0x20,r24 |
| 356 01b2 8BE1 ldi r24,lo8(27) |
| 357 01b4 84B9 out 36-0x20,r24 |
| 358 01b6 11E0 ldi r17,lo8(1) |
| 359 01b8 15B9 out 37-0x20,r17 |
| 360 01ba 8EE3 ldi r24,lo8(62) |
| 361 01bc 8AB9 out 42-0x20,r24 |
| 362 01be 87E4 ldi r24,lo8(71) |
| 363 01c0 8BB9 out 43-0x20,r24 |
| 364 01c2 469A sbi 40-0x20,6 |
| 365 01c4 84B7 in r24,84-0x20 |
| 366 01c6 877F andi r24,lo8(-9) |
| 367 01c8 84BF out 84-0x20,r24 |
| 368 01ca 8091 6000 lds r24,96 |
| 369 01ce 8861 ori r24,lo8(24) |
| 370 01d0 8093 6000 sts 96,r24 |
| 371 01d4 1092 6000 sts 96,__zero_reg__ |
| 372 01d8 84EC ldi r24,lo8(2500) |
| 373 01da 99E0 ldi r25,hi8(2500) |
| 374 01dc 9093 0000 sts (beeptime)+1,r25 |
| 375 01e0 8093 0000 sts beeptime,r24 |
| 376 01e4 1092 0000 sts (StickGier)+1,__zero_reg__ |
| 377 01e8 1092 0000 sts StickGier,__zero_reg__ |
| 378 01ec 1092 0000 sts (PPM_in+4)+1,__zero_reg__ |
| 379 01f0 1092 0000 sts PPM_in+4,__zero_reg__ |
| 380 01f4 1092 0000 sts (StickRoll)+1,__zero_reg__ |
| 381 01f8 1092 0000 sts StickRoll,__zero_reg__ |
| 382 01fc 1092 0000 sts (StickNick)+1,__zero_reg__ |
| 383 0200 1092 0000 sts StickNick,__zero_reg__ |
| 384 0204 84EC ldi r24,lo8(1220) |
| 385 0206 94E0 ldi r25,hi8(1220) |
| 386 0208 A0E0 ldi r26,hlo8(1220) |
| 387 020a B0E0 ldi r27,hhi8(1220) |
| 388 020c 8093 0000 sts GIER_GRAD_FAKTOR,r24 |
| 389 0210 9093 0000 sts (GIER_GRAD_FAKTOR)+1,r25 |
| 390 0214 A093 0000 sts (GIER_GRAD_FAKTOR)+2,r26 |
| 391 0218 B093 0000 sts (GIER_GRAD_FAKTOR)+3,r27 |
| 392 021c 2898 cbi 37-0x20,0 |
| 393 021e 0E94 0000 call Timer_Init |
| 394 0222 0E94 0000 call TIMER2_Init |
| 395 0226 0E94 0000 call UART_Init |
| 396 022a 0E94 0000 call rc_sum_init |
| 397 022e 0E94 0000 call ADC_Init |
| 398 0232 812F mov r24,r17 |
| 399 0234 0E94 0000 call I2C_Init |
| 400 0238 0E94 0000 call SPI_MasterInit |
| 401 023c 0E94 0000 call LIBFC_Init |
| 402 0240 8091 0000 lds r24,PlatinenVersion |
| 403 0244 8C30 cpi r24,lo8(12) |
| 404 0246 00F4 brsh .L32 |
| 405 0248 299A sbi 37-0x20,1 |
| 406 024a 00C0 rjmp .L33 |
| 407 .L32: |
| 408 024c 2998 cbi 37-0x20,1 |
| 409 .L33: |
| 410 /* #APP */ |
| 411 024e 7894 sei |
| 412 /* #NOAPP */ |
| 413 0250 0E94 0000 call ParamSet_Init |
| 414 0254 0E94 0000 call Capacity_Init |
| 415 0258 8091 0000 lds r24,BLFlags |
| 416 025c 8260 ori r24,lo8(2) |
| 417 025e 8093 0000 sts BLFlags,r24 |
| 418 0262 1092 0000 sts motor_read,__zero_reg__ |
| 419 0266 0E94 0000 call SendMotorData |
| 420 026a 84EF ldi r24,lo8(500) |
| 421 026c 91E0 ldi r25,hi8(500) |
| 422 026e 0E94 0000 call SetDelay |
| 423 0272 7C01 movw r14,r24 |
| 424 .L34: |
| 425 0274 8091 0000 lds r24,BLFlags |
| 426 0278 80FD sbrc r24,0 |
| 427 027a 00C0 rjmp .L35 |
| 428 027c C701 movw r24,r14 |
| 429 027e 0E94 0000 call CheckDelay |
| 430 0282 8823 tst r24 |
| 431 0284 01F0 breq .L34 |
| 432 .L35: |
| 433 0286 80E0 ldi r24,lo8(__c.0) |
| 434 0288 90E0 ldi r25,hi8(__c.0) |
| 435 028a 9F93 push r25 |
| 436 028c 8F93 push r24 |
| 437 028e A0E0 ldi r26,lo8(pm(uart_putchar)) |
| 438 0290 AA2E mov r10,r26 |
| 439 0292 A0E0 ldi r26,hi8(pm(uart_putchar)) |
| 440 0294 BA2E mov r11,r26 |
| 441 0296 BF92 push r11 |
| 442 0298 AF92 push r10 |
| 443 029a E091 0000 lds r30,_printf_P |
| 444 029e F091 0000 lds r31,(_printf_P)+1 |
| 445 02a2 0995 icall |
| 446 02a4 80EA ldi r24,lo8(4000) |
| 447 02a6 9FE0 ldi r25,hi8(4000) |
| 448 02a8 0E94 0000 call SetDelay |
| 449 02ac 7C01 movw r14,r24 |
| 450 02ae 00E0 ldi r16,lo8(0) |
| 451 02b0 10E0 ldi r17,hi8(0) |
| 452 02b2 0F90 pop __tmp_reg__ |
| 453 02b4 0F90 pop __tmp_reg__ |
| 454 02b6 0F90 pop __tmp_reg__ |
| 455 02b8 0F90 pop __tmp_reg__ |
| 456 02ba C0E0 ldi r28,lo8(Motor+3) |
| 457 02bc D0E0 ldi r29,hi8(Motor+3) |
| 458 02be F0E0 ldi r31,lo8(Mixer+13) |
| 459 02c0 CF2E mov r12,r31 |
| 460 02c2 F0E0 ldi r31,hi8(Mixer+13) |
| 461 02c4 DF2E mov r13,r31 |
| 462 .L51: |
| 463 02c6 0E94 0000 call SendMotorData |
| 464 .L40: |
| 465 02ca 8091 0000 lds r24,BLFlags |
| 466 02ce 80FD sbrc r24,0 |
| 467 02d0 00C0 rjmp .L41 |
| 468 02d2 C701 movw r24,r14 |
| 469 02d4 0E94 0000 call CheckDelay |
| 470 02d8 8823 tst r24 |
| 471 02da 01F0 breq .L40 |
| 472 .L41: |
| 473 02dc F601 movw r30,r12 |
| 474 02de 8081 ld r24,Z |
| 475 02e0 1816 cp __zero_reg__,r24 |
| 476 02e2 04F4 brge .L43 |
| 477 02e4 00C0 rjmp .L230 |
| 478 .L49: |
| 479 02e6 0E94 0000 call SendMotorData |
| 480 .L46: |
| 481 02ea 8091 0000 lds r24,BLFlags |
| 482 02ee 80FD sbrc r24,0 |
| 483 02f0 00C0 rjmp .L230 |
| 484 02f2 C701 movw r24,r14 |
| 485 02f4 0E94 0000 call CheckDelay |
| 486 02f8 8823 tst r24 |
| 487 02fa 01F0 breq .L46 |
| 488 .L230: |
| 489 02fc C701 movw r24,r14 |
| 490 02fe 0E94 0000 call CheckDelay |
| 491 0302 8823 tst r24 |
| 492 0304 01F4 brne .L43 |
| 493 0306 8881 ld r24,Y |
| 494 0308 8823 tst r24 |
| 495 030a 04F4 brge .L49 |
| 496 .L43: |
| 497 030c 8881 ld r24,Y |
| 498 030e 87FF sbrs r24,7 |
| 499 0310 00C0 rjmp .L39 |
| 500 0312 0F5F subi r16,lo8(-(1)) |
| 501 0314 1F4F sbci r17,hi8(-(1)) |
| 502 0316 1F93 push r17 |
| 503 0318 0F93 push r16 |
| 504 031a 0150 subi r16,lo8(-(-1)) |
| 505 031c 1040 sbci r17,hi8(-(-1)) |
| 506 031e 80E0 ldi r24,lo8(__c.1) |
| 507 0320 90E0 ldi r25,hi8(__c.1) |
| 508 0322 9F93 push r25 |
| 509 0324 8F93 push r24 |
| 510 0326 BF92 push r11 |
| 511 0328 AF92 push r10 |
| 512 032a E091 0000 lds r30,_printf_P |
| 513 032e F091 0000 lds r31,(_printf_P)+1 |
| 514 0332 0995 icall |
| 515 0334 8091 0000 lds r24,FoundMotors |
| 516 0338 8F5F subi r24,lo8(-(1)) |
| 517 033a 8093 0000 sts FoundMotors,r24 |
| 518 033e 8DB7 in r24,__SP_L__ |
| 519 0340 9EB7 in r25,__SP_H__ |
| 520 0342 0696 adiw r24,6 |
| 521 0344 8DBF out __SP_L__,r24 |
| 522 .L39: |
| 523 0346 0F5F subi r16,lo8(-(1)) |
| 524 0348 1F4F sbci r17,hi8(-(1)) |
| 525 034a E4E0 ldi r30,lo8(4) |
| 526 034c F0E0 ldi r31,hi8(4) |
| 527 034e CE0E add r12,r30 |
| 528 0350 DF1E adc r13,r31 |
| 529 0352 2896 adiw r28,8 |
| 530 0354 0C30 cpi r16,12 |
| 531 0356 1105 cpc r17,__zero_reg__ |
| 532 0358 00F4 brsh .+2 |
| 533 035a 00C0 rjmp .L51 |
| 534 035c 00E0 ldi r16,lo8(0) |
| 535 035e 10E0 ldi r17,hi8(0) |
| 536 0360 C0E0 ldi r28,lo8(Motor) |
| 537 0362 D0E0 ldi r29,hi8(Motor) |
| 538 0364 E0E0 ldi r30,lo8(Mixer+13) |
| 539 0366 EE2E mov r14,r30 |
| 540 0368 E0E0 ldi r30,hi8(Mixer+13) |
| 541 036a FE2E mov r15,r30 |
| 542 .L56: |
| 543 036c 8B81 ldd r24,Y+3 |
| 544 036e 87FD sbrc r24,7 |
| 545 0370 00C0 rjmp .L55 |
| 546 0372 F701 movw r30,r14 |
| 547 0374 8081 ld r24,Z |
| 548 0376 1816 cp __zero_reg__,r24 |
| 549 0378 04F4 brge .L55 |
| 550 037a 0F5F subi r16,lo8(-(1)) |
| 551 037c 1F4F sbci r17,hi8(-(1)) |
| 552 037e 1F93 push r17 |
| 553 0380 0F93 push r16 |
| 554 0382 0150 subi r16,lo8(-(-1)) |
| 555 0384 1040 sbci r17,hi8(-(-1)) |
| 556 0386 80E0 ldi r24,lo8(__c.2) |
| 557 0388 90E0 ldi r25,hi8(__c.2) |
| 558 038a 9F93 push r25 |
| 559 038c 8F93 push r24 |
| 560 038e 80E0 ldi r24,lo8(pm(uart_putchar)) |
| 561 0390 90E0 ldi r25,hi8(pm(uart_putchar)) |
| 562 0392 9F93 push r25 |
| 563 0394 8F93 push r24 |
| 564 0396 E091 0000 lds r30,_printf_P |
| 565 039a F091 0000 lds r31,(_printf_P)+1 |
| 566 039e 0995 icall |
| 567 03a0 82E0 ldi r24,lo8(2) |
| 568 03a2 8093 0000 sts ServoActive,r24 |
| 569 03a6 8DB7 in r24,__SP_L__ |
| 570 03a8 9EB7 in r25,__SP_H__ |
| 571 03aa 0696 adiw r24,6 |
| 572 03ac 8DBF out __SP_L__,r24 |
| 573 .L55: |
| 574 03ae 8B81 ldd r24,Y+3 |
| 575 03b0 8078 andi r24,lo8(-128) |
| 576 03b2 8B83 std Y+3,r24 |
| 577 03b4 0F5F subi r16,lo8(-(1)) |
| 578 03b6 1F4F sbci r17,hi8(-(1)) |
| 579 03b8 E4E0 ldi r30,lo8(4) |
| 580 03ba F0E0 ldi r31,hi8(4) |
| 581 03bc EE0E add r14,r30 |
| 582 03be FF1E adc r15,r31 |
| 583 03c0 2896 adiw r28,8 |
| 584 03c2 0C30 cpi r16,12 |
| 585 03c4 1105 cpc r17,__zero_reg__ |
| 586 03c6 00F0 brlo .L56 |
| 587 03c8 80E0 ldi r24,lo8(__c.3) |
| 588 03ca 90E0 ldi r25,hi8(__c.3) |
| 589 03cc 9F93 push r25 |
| 590 03ce 8F93 push r24 |
| 591 03d0 C0E0 ldi r28,lo8(pm(uart_putchar)) |
| 592 03d2 D0E0 ldi r29,hi8(pm(uart_putchar)) |
| 593 03d4 DF93 push r29 |
| 594 03d6 CF93 push r28 |
| 595 03d8 E091 0000 lds r30,_printf_P |
| 596 03dc F091 0000 lds r31,(_printf_P)+1 |
| 597 03e0 0995 icall |
| 598 03e2 9091 0000 lds r25,RequiredMotors |
| 599 03e6 8091 0000 lds r24,FoundMotors |
| 600 03ea 0F90 pop __tmp_reg__ |
| 601 03ec 0F90 pop __tmp_reg__ |
| 602 03ee 0F90 pop __tmp_reg__ |
| 603 03f0 0F90 pop __tmp_reg__ |
| 604 03f2 9817 cp r25,r24 |
| 605 03f4 00F4 brsh .L57 |
| 606 03f6 8091 0000 lds r24,VersionInfo+6 |
| 607 03fa 8061 ori r24,lo8(16) |
| 608 03fc 8093 0000 sts VersionInfo+6,r24 |
| 609 .L57: |
| 610 0400 80E0 ldi r24,lo8(__c.4) |
| 611 0402 90E0 ldi r25,hi8(__c.4) |
| 612 0404 9F93 push r25 |
| 613 0406 8F93 push r24 |
| 614 0408 DF93 push r29 |
| 615 040a CF93 push r28 |
| 616 040c E091 0000 lds r30,_printf_P |
| 617 0410 F091 0000 lds r31,(_printf_P)+1 |
| 618 0414 0995 icall |
| 619 0416 88EE ldi r24,lo8(1000) |
| 620 0418 93E0 ldi r25,hi8(1000) |
| 621 041a 0E94 0000 call SetDelay |
| 622 041e 7C01 movw r14,r24 |
| 623 0420 0E94 0000 call SucheLuftruckOffset |
| 624 0424 0F90 pop __tmp_reg__ |
| 625 0426 0F90 pop __tmp_reg__ |
| 626 0428 0F90 pop __tmp_reg__ |
| 627 042a 0F90 pop __tmp_reg__ |
| 628 .L58: |
| 629 042c C701 movw r24,r14 |
| 630 042e 0E94 0000 call CheckDelay |
| 631 0432 8823 tst r24 |
| 632 0434 01F0 breq .L58 |
| 633 0436 80E0 ldi r24,lo8(__c.5) |
| 634 0438 90E0 ldi r25,hi8(__c.5) |
| 635 043a 9F93 push r25 |
| 636 043c 8F93 push r24 |
| 637 043e DF93 push r29 |
| 638 0440 CF93 push r28 |
| 639 0442 E091 0000 lds r30,_printf_P |
| 640 0446 F091 0000 lds r31,(_printf_P)+1 |
| 641 044a 0995 icall |
| 642 044c 80E0 ldi r24,lo8(0) |
| 643 044e 0E94 0000 call SetNeutral |
| 644 0452 8091 0000 lds r24,PlatinenVersion |
| 645 0456 0F90 pop __tmp_reg__ |
| 646 0458 0F90 pop __tmp_reg__ |
| 647 045a 0F90 pop __tmp_reg__ |
| 648 045c 0F90 pop __tmp_reg__ |
| 649 045e 8A30 cpi r24,lo8(10) |
| 650 0460 01F0 breq .L62 |
| 651 0462 8431 cpi r24,lo8(20) |
| 652 0464 00F0 brlo .L61 |
| 653 .L62: |
| 654 0466 2898 cbi 37-0x20,0 |
| 655 0468 00C0 rjmp .L63 |
| 656 .L61: |
| 657 046a 289A sbi 37-0x20,0 |
| 658 .L63: |
| 659 046c 80ED ldi r24,lo8(2000) |
| 660 046e 97E0 ldi r25,hi8(2000) |
| 661 0470 9093 0000 sts (beeptime)+1,r25 |
| 662 0474 8093 0000 sts beeptime,r24 |
| 663 0478 85E5 ldi r24,lo8(85) |
| 664 047a 8093 0000 sts ExternControl,r24 |
| 665 047e 8EE0 ldi r24,lo8(14) |
| 666 0480 90E0 ldi r25,hi8(14) |
| 667 0482 0E94 0000 call GetParamByte |
| 668 0486 9927 clr r25 |
| 669 0488 182F mov r17,r24 |
| 670 048a 0027 clr r16 |
| 671 048c 8FE0 ldi r24,lo8(15) |
| 672 048e 90E0 ldi r25,hi8(15) |
| 673 0490 0E94 0000 call GetParamByte |
| 674 0494 080F add r16,r24 |
| 675 0496 111D adc r17,__zero_reg__ |
| 676 0498 1093 0000 sts (FlugMinuten)+1,r17 |
| 677 049c 0093 0000 sts FlugMinuten,r16 |
| 678 04a0 8AE0 ldi r24,lo8(10) |
| 679 04a2 90E0 ldi r25,hi8(10) |
| 680 04a4 0E94 0000 call GetParamByte |
| 681 04a8 9927 clr r25 |
| 682 04aa 182F mov r17,r24 |
| 683 04ac 0027 clr r16 |
| 684 04ae 8BE0 ldi r24,lo8(11) |
| 685 04b0 90E0 ldi r25,hi8(11) |
| 686 04b2 0E94 0000 call GetParamByte |
| 687 04b6 080F add r16,r24 |
| 688 04b8 111D adc r17,__zero_reg__ |
| 689 04ba 1093 0000 sts (FlugMinutenGesamt)+1,r17 |
| 690 04be 0093 0000 sts FlugMinutenGesamt,r16 |
| 691 04c2 0F5F subi r16,lo8(-1) |
| 692 04c4 1F4F sbci r17,hi8(-1) |
| 693 04c6 01F0 breq .L65 |
| 694 04c8 8091 0000 lds r24,FlugMinuten |
| 695 04cc 9091 0000 lds r25,(FlugMinuten)+1 |
| 696 04d0 8F5F subi r24,lo8(-1) |
| 697 04d2 9F4F sbci r25,hi8(-1) |
| 698 04d4 01F4 brne .L64 |
| 699 .L65: |
| 700 04d6 1092 0000 sts (FlugMinuten)+1,__zero_reg__ |
| 701 04da 1092 0000 sts FlugMinuten,__zero_reg__ |
| 702 04de 1092 0000 sts (FlugMinutenGesamt)+1,__zero_reg__ |
| 703 04e2 1092 0000 sts FlugMinutenGesamt,__zero_reg__ |
| 704 .L64: |
| 705 04e6 8091 0000 lds r24,FlugMinutenGesamt |
| 706 04ea 9091 0000 lds r25,(FlugMinutenGesamt)+1 |
| 707 04ee 9F93 push r25 |
| 708 04f0 8F93 push r24 |
| 709 04f2 8091 0000 lds r24,FlugMinuten |
| 710 04f6 9091 0000 lds r25,(FlugMinuten)+1 |
| 711 04fa 9F93 push r25 |
| 712 04fc 8F93 push r24 |
| 713 04fe 80E0 ldi r24,lo8(__c.6) |
| 714 0500 90E0 ldi r25,hi8(__c.6) |
| 715 0502 9F93 push r25 |
| 716 0504 8F93 push r24 |
| 717 0506 DF93 push r29 |
| 718 0508 CF93 push r28 |
| 719 050a E091 0000 lds r30,_printf_P |
| 720 050e F091 0000 lds r31,(_printf_P)+1 |
| 721 0512 0995 icall |
| 722 0514 8DB7 in r24,__SP_L__ |
| 723 0516 9EB7 in r25,__SP_H__ |
| 724 0518 0896 adiw r24,8 |
| 725 051a 8DBF out __SP_L__,r24 |
| 726 051c 80E0 ldi r24,lo8(__c.7) |
| 727 051e 90E0 ldi r25,hi8(__c.7) |
| 728 0520 9F93 push r25 |
| 729 0522 8F93 push r24 |
| 730 0524 DF93 push r29 |
| 731 0526 CF93 push r28 |
| 732 0528 E091 0000 lds r30,_printf_P |
| 733 052c F091 0000 lds r31,(_printf_P)+1 |
| 734 0530 0995 icall |
| 735 0532 8091 0000 lds r24,EE_Parameter+13 |
| 736 0536 0F90 pop __tmp_reg__ |
| 737 0538 0F90 pop __tmp_reg__ |
| 738 053a 0F90 pop __tmp_reg__ |
| 739 053c 0F90 pop __tmp_reg__ |
| 740 053e E091 0000 lds r30,_printf_P |
| 741 0542 F091 0000 lds r31,(_printf_P)+1 |
| 742 0546 82FF sbrs r24,2 |
| 743 0548 00C0 rjmp .L66 |
| 744 054a 80E0 ldi r24,lo8(__c.8) |
| 745 054c 90E0 ldi r25,hi8(__c.8) |
| 746 054e 9F93 push r25 |
| 747 0550 8F93 push r24 |
| 748 0552 DF93 push r29 |
| 749 0554 CF93 push r28 |
| 750 0556 00C0 rjmp .L228 |
| 751 .L66: |
| 752 0558 80E0 ldi r24,lo8(__c.9) |
| 753 055a 90E0 ldi r25,hi8(__c.9) |
| 754 055c 9F93 push r25 |
| 755 055e 8F93 push r24 |
| 756 0560 80E0 ldi r24,lo8(pm(uart_putchar)) |
| 757 0562 90E0 ldi r25,hi8(pm(uart_putchar)) |
| 758 0564 9F93 push r25 |
| 759 0566 8F93 push r24 |
| 760 .L228: |
| 761 0568 0995 icall |
| 762 056a 0F90 pop __tmp_reg__ |
| 763 056c 0F90 pop __tmp_reg__ |
| 764 056e 0F90 pop __tmp_reg__ |
| 765 0570 0F90 pop __tmp_reg__ |
| 766 0572 0E94 0000 call LcdClear |
| 767 0576 88E8 ldi r24,lo8(5000) |
| 768 0578 93E1 ldi r25,hi8(5000) |
| 769 057a 9093 0000 sts (I2CTimeout)+1,r25 |
| 770 057e 8093 0000 sts I2CTimeout,r24 |
| 771 0582 11E0 ldi r17,lo8(1) |
| 772 0584 1093 0000 sts WinkelOut+7,r17 |
| 773 0588 812F mov r24,r17 |
| 774 058a 0E94 0000 call LipoDetection |
| 775 058e 8091 0000 lds r24,EE_Parameter+39 |
| 776 0592 0E94 0000 call LIBFC_ReceiverInit |
| 777 0596 80E0 ldi r24,lo8(__c.10) |
| 778 0598 90E0 ldi r25,hi8(__c.10) |
| 779 059a 9F93 push r25 |
| 780 059c 8F93 push r24 |
| 781 059e DF93 push r29 |
| 782 05a0 CF93 push r28 |
| 783 05a2 E091 0000 lds r30,_printf_P |
| 784 05a6 F091 0000 lds r31,(_printf_P)+1 |
| 785 05aa 0995 icall |
| 786 05ac 80ED ldi r24,lo8(2000) |
| 787 05ae 97E0 ldi r25,hi8(2000) |
| 788 05b0 0E94 0000 call SetDelay |
| 789 05b4 7C01 movw r14,r24 |
| 790 05b6 8AEF ldi r24,lo8(250) |
| 791 05b8 90E0 ldi r25,hi8(250) |
| 792 05ba 0E94 0000 call SetDelay |
| 793 05be 83E0 ldi r24,lo8(3) |
| 794 05c0 8093 0000 sts DebugOut,r24 |
| 795 05c4 1092 0000 sts JetiBeep,__zero_reg__ |
| 796 05c8 8091 0000 lds r24,EE_Parameter+106 |
| 797 05cc 0F90 pop __tmp_reg__ |
| 798 05ce 0F90 pop __tmp_reg__ |
| 799 05d0 0F90 pop __tmp_reg__ |
| 800 05d2 0F90 pop __tmp_reg__ |
| 801 05d4 84FF sbrs r24,4 |
| 802 05d6 00C0 rjmp .L68 |
| 803 05d8 1093 0000 sts DisableRcOffBeeping,r17 |
| 804 .L68: |
| 805 05dc 80E0 ldi r24,lo8(__c.11) |
| 806 05de 90E0 ldi r25,hi8(__c.11) |
| 807 05e0 9F93 push r25 |
| 808 05e2 8F93 push r24 |
| 809 05e4 80E0 ldi r24,lo8(pm(uart_putchar)) |
| 810 05e6 90E0 ldi r25,hi8(pm(uart_putchar)) |
| 811 05e8 9F93 push r25 |
| 812 05ea 8F93 push r24 |
| 813 05ec E091 0000 lds r30,_printf_P |
| 814 05f0 F091 0000 lds r31,(_printf_P)+1 |
| 815 05f4 0995 icall |
| 816 05f6 0F90 pop __tmp_reg__ |
| 817 05f8 0F90 pop __tmp_reg__ |
| 818 05fa 0F90 pop __tmp_reg__ |
| 819 05fc 0F90 pop __tmp_reg__ |
| 820 .L231: |
| 821 05fe 8091 0000 lds r24,ReceiverUpdateModeActive |
| 822 0602 8823 tst r24 |
| 823 0604 01F0 breq .L71 |
| 824 .L72: |
| 825 0606 4798 cbi 40-0x20,7 |
| 826 0608 00C0 rjmp .L72 |
| 827 .L71: |
| 828 060a 8091 0000 lds r24,UpdateMotor |
| 829 060e 8823 tst r24 |
| 830 0610 01F4 brne .+2 |
| 831 0612 00C0 rjmp .L74 |
| 832 0614 8091 0000 lds r24,AdReady |
| 833 0618 8823 tst r24 |
| 834 061a 01F4 brne .+2 |
| 835 061c 00C0 rjmp .L74 |
| 836 061e 1092 0000 sts UpdateMotor,__zero_reg__ |
| 837 0622 8091 0000 lds r24,WinkelOut+6 |
| 838 0626 8823 tst r24 |
| 839 0628 01F0 breq .L75 |
| 840 062a 0E94 0000 call CalMk3Mag |
| 841 062e 00C0 rjmp .L76 |
| 842 .L75: |
| 843 0630 0E94 0000 call MotorRegler |
| 844 .L76: |
| 845 0634 0E94 0000 call SendMotorData |
| 846 0638 2091 0000 lds r18,PlatinenVersion |
| 847 063c 2A30 cpi r18,lo8(10) |
| 848 063e 01F0 breq .L78 |
| 849 0640 2431 cpi r18,lo8(20) |
| 850 0642 00F0 brlo .L77 |
| 851 .L78: |
| 852 0644 2898 cbi 37-0x20,0 |
| 853 0646 00C0 rjmp .L79 |
| 854 .L77: |
| 855 0648 289A sbi 37-0x20,0 |
| 856 .L79: |
| 857 064a 8091 0000 lds r24,SenderOkay |
| 858 064e 8823 tst r24 |
| 859 0650 01F0 breq .L80 |
| 860 0652 8091 0000 lds r24,SenderOkay |
| 861 0656 8150 subi r24,lo8(-(-1)) |
| 862 0658 8093 0000 sts SenderOkay,r24 |
| 863 065c 00C0 rjmp .L81 |
| 864 .L80: |
| 865 065e 8091 6F00 lds r24,111 |
| 866 0662 8062 ori r24,lo8(32) |
| 867 0664 8093 6F00 sts 111,r24 |
| 868 0668 1092 0000 sts (PPM_in)+1,__zero_reg__ |
| 869 066c 1092 0000 sts PPM_in,__zero_reg__ |
| 870 0670 8091 0000 lds r24,VersionInfo+6 |
| 871 0674 8860 ori r24,lo8(8) |
| 872 0676 8093 0000 sts VersionInfo+6,r24 |
| 873 .L81: |
| 874 067a 8091 0000 lds r24,I2CTimeout |
| 875 067e 9091 0000 lds r25,(I2CTimeout)+1 |
| 876 0682 0197 sbiw r24,1 |
| 877 0684 9093 0000 sts (I2CTimeout)+1,r25 |
| 878 0688 8093 0000 sts I2CTimeout,r24 |
| 879 068c 8091 0000 lds r24,I2CTimeout |
| 880 0690 9091 0000 lds r25,(I2CTimeout)+1 |
| 881 0694 892B or r24,r25 |
| 882 0696 01F0 breq .L83 |
| 883 0698 8091 0000 lds r24,MissingMotor |
| 884 069c 8823 tst r24 |
| 885 069e 01F0 breq .L82 |
| 886 .L83: |
| 887 06a0 8091 0000 lds r24,I2CTimeout |
| 888 06a4 9091 0000 lds r25,(I2CTimeout)+1 |
| 889 06a8 892B or r24,r25 |
| 890 06aa 01F4 brne .L84 |
| 891 06ac 0E94 0000 call I2C_Reset |
| 892 06b0 85E0 ldi r24,lo8(5) |
| 893 06b2 90E0 ldi r25,hi8(5) |
| 894 06b4 9093 0000 sts (I2CTimeout)+1,r25 |
| 895 06b8 8093 0000 sts I2CTimeout,r24 |
| 896 06bc 8091 0000 lds r24,DebugOut+58 |
| 897 06c0 9091 0000 lds r25,(DebugOut+58)+1 |
| 898 06c4 0196 adiw r24,1 |
| 899 06c6 9093 0000 sts (DebugOut+58)+1,r25 |
| 900 06ca 8093 0000 sts DebugOut+58,r24 |
| 901 06ce 8091 0000 lds r24,VersionInfo+6 |
| 902 06d2 8160 ori r24,lo8(1) |
| 903 06d4 8093 0000 sts VersionInfo+6,r24 |
| 904 06d8 8091 0000 lds r24,DebugOut+1 |
| 905 06dc 8260 ori r24,lo8(2) |
| 906 06de 8093 0000 sts DebugOut+1,r24 |
| 907 .L84: |
| 908 06e2 8091 0000 lds r24,BeepMuster |
| 909 06e6 9091 0000 lds r25,(BeepMuster)+1 |
| 910 06ea 8F5F subi r24,lo8(-1) |
| 911 06ec 9F4F sbci r25,hi8(-1) |
| 912 06ee 01F4 brne .L86 |
| 913 06f0 8091 0000 lds r24,MotorenEin |
| 914 06f4 8823 tst r24 |
| 915 06f6 01F0 breq .L86 |
| 916 06f8 88EA ldi r24,lo8(25000) |
| 917 06fa 91E6 ldi r25,hi8(25000) |
| 918 06fc 9093 0000 sts (beeptime)+1,r25 |
| 919 0700 8093 0000 sts beeptime,r24 |
| 920 0704 80E8 ldi r24,lo8(128) |
| 921 0706 90E0 ldi r25,hi8(128) |
| 922 0708 9093 0000 sts (BeepMuster)+1,r25 |
| 923 070c 8093 0000 sts BeepMuster,r24 |
| 924 0710 00C0 rjmp .L86 |
| 925 .L82: |
| 926 0712 2A30 cpi r18,lo8(10) |
| 927 0714 01F0 breq .L88 |
| 928 0716 2431 cpi r18,lo8(20) |
| 929 0718 00F0 brlo .L87 |
| 930 .L88: |
| 931 071a 2898 cbi 37-0x20,0 |
| 932 071c 00C0 rjmp .L86 |
| 933 .L87: |
| 934 071e 289A sbi 37-0x20,0 |
| 935 .L86: |
| 936 0720 0E94 0000 call LIBFC_Polling |
| 937 0724 8091 0000 lds r24,UpdateMotor |
| 938 0728 8823 tst r24 |
| 939 072a 01F0 breq .+2 |
| 940 072c 00C0 rjmp .L74 |
| 941 072e 8091 0000 lds r24,CalculateServoSignals |
| 942 0732 8823 tst r24 |
| 943 0734 01F0 breq .L91 |
| 944 0736 0E94 0000 call CalculateServo |
| 945 .L91: |
| 946 073a 0E94 0000 call DatenUebertragung |
| 947 073e 0E94 0000 call BearbeiteRxDaten |
| 948 0742 C701 movw r24,r14 |
| 949 0744 0E94 0000 call CheckDelay |
| 950 0748 8823 tst r24 |
| 951 074a 01F4 brne .+2 |
| 952 074c 00C0 rjmp .L92 |
| 953 074e 84E1 ldi r24,lo8(20) |
| 954 0750 90E0 ldi r25,hi8(20) |
| 955 0752 E80E add r14,r24 |
| 956 0754 F91E adc r15,r25 |
| 957 0756 8091 0000 lds r24,MissingMotor |
| 958 075a 8823 tst r24 |
| 959 075c 01F0 breq .L93 |
| 960 075e 8091 0000 lds r24,VersionInfo+6 |
| 961 0762 8260 ori r24,lo8(2) |
| 962 0764 8093 0000 sts VersionInfo+6,r24 |
| 963 0768 8091 0000 lds r24,DebugOut+1 |
| 964 076c 8260 ori r24,lo8(2) |
| 965 076e 00C0 rjmp .L229 |
| 966 .L93: |
| 967 0770 8091 0000 lds r24,beeptime |
| 968 0774 9091 0000 lds r25,(beeptime)+1 |
| 969 0778 892B or r24,r25 |
| 970 077a 01F4 brne .L94 |
| 971 077c 8091 0000 lds r24,I2CTimeout |
| 972 0780 9091 0000 lds r25,(I2CTimeout)+1 |
| 973 0784 0797 sbiw r24,7 |
| 974 0786 00F0 brlo .L94 |
| 975 0788 8091 0000 lds r24,DebugOut+1 |
| 976 078c 8D7F andi r24,lo8(-3) |
| 977 .L229: |
| 978 078e 8093 0000 sts DebugOut+1,r24 |
| 979 .L94: |
| 980 0792 8091 0000 lds r24,SenderOkay |
| 981 0796 8823 tst r24 |
| 982 0798 01F0 breq .L97 |
| 983 079a 8091 0000 lds r24,DisableRcOffBeeping |
| 984 079e 8823 tst r24 |
| 985 07a0 01F0 breq .L97 |
| 986 07a2 1092 0000 sts DisableRcOffBeeping,__zero_reg__ |
| 987 07a6 88E8 ldi r24,lo8(5000) |
| 988 07a8 93E1 ldi r25,hi8(5000) |
| 989 07aa 9093 0000 sts (beeptime)+1,r25 |
| 990 07ae 8093 0000 sts beeptime,r24 |
| 991 .L97: |
| 992 07b2 8091 0000 lds r24,PcZugriff |
| 993 07b6 8823 tst r24 |
| 994 07b8 01F0 breq .L98 |
| 995 07ba 8150 subi r24,lo8(-(-1)) |
| 996 07bc 8093 0000 sts PcZugriff,r24 |
| 997 07c0 00C0 rjmp .L99 |
| 998 .L98: |
| 999 07c2 8093 0000 sts ExternControl+10,r24 |
| 1000 07c6 1092 0000 sts (ExternStickNick)+1,__zero_reg__ |
| 1001 07ca 1092 0000 sts ExternStickNick,__zero_reg__ |
| 1002 07ce 1092 0000 sts (ExternStickRoll)+1,__zero_reg__ |
| 1003 07d2 1092 0000 sts ExternStickRoll,__zero_reg__ |
| 1004 07d6 1092 0000 sts (ExternStickGier)+1,__zero_reg__ |
| 1005 07da 1092 0000 sts ExternStickGier,__zero_reg__ |
| 1006 07de 8091 0000 lds r24,SenderOkay |
| 1007 07e2 8823 tst r24 |
| 1008 07e4 01F4 brne .L99 |
| 1009 07e6 8091 0000 lds r24,BeepMuster |
| 1010 07ea 9091 0000 lds r25,(BeepMuster)+1 |
| 1011 07ee 8F5F subi r24,lo8(-1) |
| 1012 07f0 9F4F sbci r25,hi8(-1) |
| 1013 07f2 01F4 brne .L99 |
| 1014 07f4 2091 0000 lds r18,DisableRcOffBeeping |
| 1015 07f8 2230 cpi r18,lo8(2) |
| 1016 07fa 01F0 breq .L99 |
| 1017 07fc 88E9 ldi r24,lo8(15000) |
| 1018 07fe 9AE3 ldi r25,hi8(15000) |
| 1019 0800 9093 0000 sts (beeptime)+1,r25 |
| 1020 0804 8093 0000 sts beeptime,r24 |
| 1021 0808 80E0 ldi r24,lo8(3072) |
| 1022 080a 9CE0 ldi r25,hi8(3072) |
| 1023 080c 9093 0000 sts (BeepMuster)+1,r25 |
| 1024 0810 8093 0000 sts BeepMuster,r24 |
| 1025 0814 2223 tst r18 |
| 1026 0816 01F0 breq .L99 |
| 1027 0818 82E0 ldi r24,lo8(2) |
| 1028 081a 8093 0000 sts DisableRcOffBeeping,r24 |
| 1029 .L99: |
| 1030 081e 8091 0000 lds r24,NaviDataOkay |
| 1031 0822 893C cpi r24,lo8(-55) |
| 1032 0824 00F0 brlo .L103 |
| 1033 0826 8150 subi r24,lo8(-(-1)) |
| 1034 0828 8093 0000 sts NaviDataOkay,r24 |
| 1035 082c 8091 0000 lds r24,VersionInfo+6 |
| 1036 0830 8B7F andi r24,lo8(-5) |
| 1037 0832 8093 0000 sts VersionInfo+6,r24 |
| 1038 0836 00C0 rjmp .L104 |
| 1039 .L103: |
| 1040 0838 8091 0000 lds r24,NC_Version+3 |
| 1041 083c 8823 tst r24 |
| 1042 083e 01F0 breq .L105 |
| 1043 0840 8091 0000 lds r24,VersionInfo+6 |
| 1044 0844 8460 ori r24,lo8(4) |
| 1045 0846 8093 0000 sts VersionInfo+6,r24 |
| 1046 084a 89E0 ldi r24,lo8(9) |
| 1047 084c 8093 0000 sts NC_ErrorCode,r24 |
| 1048 0850 8091 0000 lds r24,BeepMuster |
| 1049 0854 9091 0000 lds r25,(BeepMuster)+1 |
| 1050 0858 8F5F subi r24,lo8(-1) |
| 1051 085a 9F4F sbci r25,hi8(-1) |
| 1052 085c 01F4 brne .L105 |
| 1053 085e 8091 0000 lds r24,MotorenEin |
| 1054 0862 8823 tst r24 |
| 1055 0864 01F0 breq .L105 |
| 1056 0866 88E9 ldi r24,lo8(15000) |
| 1057 0868 9AE3 ldi r25,hi8(15000) |
| 1058 086a 9093 0000 sts (beeptime)+1,r25 |
| 1059 086e 8093 0000 sts beeptime,r24 |
| 1060 0872 80E0 ldi r24,lo8(-22528) |
| 1061 0874 98EA ldi r25,hi8(-22528) |
| 1062 0876 9093 0000 sts (BeepMuster)+1,r25 |
| 1063 087a 8093 0000 sts BeepMuster,r24 |
| 1064 .L105: |
| 1065 087e 1092 0000 sts (GPS_Nick)+1,__zero_reg__ |
| 1066 0882 1092 0000 sts GPS_Nick,__zero_reg__ |
| 1067 0886 1092 0000 sts (GPS_Roll)+1,__zero_reg__ |
| 1068 088a 1092 0000 sts GPS_Roll,__zero_reg__ |
| 1069 088e 1092 0000 sts GPS_Aid_StickMultiplikator,__zero_reg__ |
| 1070 0892 1092 0000 sts GPSInfo,__zero_reg__ |
| 1071 0896 1092 0000 sts (FromNaviCtrl+9)+1,__zero_reg__ |
| 1072 089a 1092 0000 sts FromNaviCtrl+9,__zero_reg__ |
| 1073 089e 1092 0000 sts (FromNaviCtrl+11)+1,__zero_reg__ |
| 1074 08a2 1092 0000 sts FromNaviCtrl+11,__zero_reg__ |
| 1075 08a6 8FEF ldi r24,lo8(-1) |
| 1076 08a8 9FEF ldi r25,hi8(-1) |
| 1077 08aa 9093 0000 sts (FromNaviCtrl+7)+1,r25 |
| 1078 08ae 8093 0000 sts FromNaviCtrl+7,r24 |
| 1079 08b2 1092 0000 sts NaviDataOkay,__zero_reg__ |
| 1080 .L104: |
| 1081 08b6 8091 0000 lds r24,BattLowVoltageWarning |
| 1082 08ba 282F mov r18,r24 |
| 1083 08bc 3327 clr r19 |
| 1084 08be 8091 0000 lds r24,UBat |
| 1085 08c2 9091 0000 lds r25,(UBat)+1 |
| 1086 08c6 8217 cp r24,r18 |
| 1087 08c8 9307 cpc r25,r19 |
| 1088 08ca 04F4 brge .L107 |
| 1089 08cc 8091 0000 lds r24,FC_StatusFlags |
| 1090 08d0 8062 ori r24,lo8(32) |
| 1091 08d2 8093 0000 sts FC_StatusFlags,r24 |
| 1092 08d6 8091 0000 lds r24,BeepMuster |
| 1093 08da 9091 0000 lds r25,(BeepMuster)+1 |
| 1094 08de 8F5F subi r24,lo8(-1) |
| 1095 08e0 9F4F sbci r25,hi8(-1) |
| 1096 08e2 01F4 brne .L109 |
| 1097 08e4 80E7 ldi r24,lo8(6000) |
| 1098 08e6 97E1 ldi r25,hi8(6000) |
| 1099 08e8 9093 0000 sts (beeptime)+1,r25 |
| 1100 08ec 8093 0000 sts beeptime,r24 |
| 1101 08f0 80E0 ldi r24,lo8(768) |
| 1102 08f2 93E0 ldi r25,hi8(768) |
| 1103 08f4 9093 0000 sts (BeepMuster)+1,r25 |
| 1104 08f8 8093 0000 sts BeepMuster,r24 |
| 1105 08fc 00C0 rjmp .L109 |
| 1106 .L107: |
| 1107 08fe 8091 0000 lds r24,beeptime |
| 1108 0902 9091 0000 lds r25,(beeptime)+1 |
| 1109 0906 892B or r24,r25 |
| 1110 0908 01F4 brne .L109 |
| 1111 090a 8091 0000 lds r24,FC_StatusFlags |
| 1112 090e 8F7D andi r24,lo8(-33) |
| 1113 0910 8093 0000 sts FC_StatusFlags,r24 |
| 1114 .L109: |
| 1115 0914 0E94 0000 call SPI_StartTransmitPacket |
| 1116 0918 84E0 ldi r24,lo8(4) |
| 1117 091a 8093 0000 sts SendSPI,r24 |
| 1118 091e 8091 0000 lds r24,FC_StatusFlags |
| 1119 0922 81FD sbrc r24,1 |
| 1120 0924 00C0 rjmp .L111 |
| 1121 0926 5AEA ldi r21,lo8(1450) |
| 1122 0928 852E mov r8,r21 |
| 1123 092a 55E0 ldi r21,hi8(1450) |
| 1124 092c 952E mov r9,r21 |
| 1125 092e 00C0 rjmp .L112 |
| 1126 .L111: |
| 1127 0930 8091 0000 lds r24,second.12 |
| 1128 0934 8F5F subi r24,lo8(-(1)) |
| 1129 0936 8093 0000 sts second.12,r24 |
| 1130 093a 8133 cpi r24,lo8(49) |
| 1131 093c 01F4 brne .L112 |
| 1132 093e 1092 0000 sts second.12,__zero_reg__ |
| 1133 0942 8091 0000 lds r24,FlugSekunden |
| 1134 0946 9091 0000 lds r25,(FlugSekunden)+1 |
| 1135 094a 0196 adiw r24,1 |
| 1136 094c 9093 0000 sts (FlugSekunden)+1,r25 |
| 1137 0950 8093 0000 sts FlugSekunden,r24 |
| 1138 .L112: |
| 1139 0954 0894 sec |
| 1140 0956 811C adc r8,__zero_reg__ |
| 1141 0958 911C adc r9,__zero_reg__ |
| 1142 095a 82E7 ldi r24,lo8(2930) |
| 1143 095c 8816 cp r8,r24 |
| 1144 095e 8BE0 ldi r24,hi8(2930) |
| 1145 0960 9806 cpc r9,r24 |
| 1146 0962 01F0 breq .+2 |
| 1147 0964 00C0 rjmp .L92 |
| 1148 0966 8824 clr r8 |
| 1149 0968 9924 clr r9 |
| 1150 096a 2091 0000 lds r18,FlugMinuten |
| 1151 096e 3091 0000 lds r19,(FlugMinuten)+1 |
| 1152 0972 2F5F subi r18,lo8(-(1)) |
| 1153 0974 3F4F sbci r19,hi8(-(1)) |
| 1154 0976 3093 0000 sts (FlugMinuten)+1,r19 |
| 1155 097a 2093 0000 sts FlugMinuten,r18 |
| 1156 097e 8091 0000 lds r24,FlugMinutenGesamt |
| 1157 0982 9091 0000 lds r25,(FlugMinutenGesamt)+1 |
| 1158 0986 0196 adiw r24,1 |
| 1159 0988 9093 0000 sts (FlugMinutenGesamt)+1,r25 |
| 1160 098c 8093 0000 sts FlugMinutenGesamt,r24 |
| 1161 0990 832F mov r24,r19 |
| 1162 0992 9927 clr r25 |
| 1163 0994 682F mov r22,r24 |
| 1164 0996 8EE0 ldi r24,lo8(14) |
| 1165 0998 90E0 ldi r25,hi8(14) |
| 1166 099a 0E94 0000 call SetParamByte |
| 1167 099e 8091 0000 lds r24,FlugMinuten |
| 1168 09a2 9091 0000 lds r25,(FlugMinuten)+1 |
| 1169 09a6 9070 andi r25,hi8(255) |
| 1170 09a8 682F mov r22,r24 |
| 1171 09aa 8FE0 ldi r24,lo8(15) |
| 1172 09ac 90E0 ldi r25,hi8(15) |
| 1173 09ae 0E94 0000 call SetParamByte |
| 1174 09b2 8091 0000 lds r24,FlugMinutenGesamt |
| 1175 09b6 9091 0000 lds r25,(FlugMinutenGesamt)+1 |
| 1176 09ba 892F mov r24,r25 |
| 1177 09bc 9927 clr r25 |
| 1178 09be 682F mov r22,r24 |
| 1179 09c0 8AE0 ldi r24,lo8(10) |
| 1180 09c2 90E0 ldi r25,hi8(10) |
| 1181 09c4 0E94 0000 call SetParamByte |
| 1182 09c8 8091 0000 lds r24,FlugMinutenGesamt |
| 1183 09cc 9091 0000 lds r25,(FlugMinutenGesamt)+1 |
| 1184 09d0 9070 andi r25,hi8(255) |
| 1185 09d2 682F mov r22,r24 |
| 1186 09d4 8BE0 ldi r24,lo8(11) |
| 1187 09d6 90E0 ldi r25,hi8(11) |
| 1188 09d8 0E94 0000 call SetParamByte |
| 1189 09dc 84E1 ldi r24,lo8(20) |
| 1190 09de 90E0 ldi r25,hi8(20) |
| 1191 09e0 0E94 0000 call SetDelay |
| 1192 09e4 7C01 movw r14,r24 |
| 1193 .L92: |
| 1194 09e6 0E94 0000 call LED_Update |
| 1195 09ea 0E94 0000 call Capacity_Update |
| 1196 .L74: |
| 1197 09ee 8091 0000 lds r24,SendSPI |
| 1198 09f2 8823 tst r24 |
| 1199 09f4 01F0 breq .+2 |
| 1200 09f6 00C0 rjmp .L231 |
| 1201 09f8 0E94 0000 call SPI_TransmitByte |
| 1202 09fc 00C0 rjmp .L231 |
| 1203 /* epilogue: frame size=0 */ |
| 1204 /* epilogue: noreturn */ |
| 1205 /* epilogue end (size=0) */ |
| 1206 /* function main size 1099 (1095) */ |
| 1208 .comm _printf_P,2,1 |
| 1209 .comm Motorsmax,8,1 |
| 1210 .comm MotorsTmax,2,1 |
| 1211 /* File "main.c": code 1292 = 0x050c (1280), prologues 7, epilogues 5 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 main.c |
| C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:3 *ABS*:0000003f __SREG__ |
| C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:4 *ABS*:0000003e __SP_H__ |
| C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:5 *ABS*:0000003d __SP_L__ |
| C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:7 *ABS*:00000001 __zero_reg__ |
| C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:15 .bss:00000000 JetiBeep |
| C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:21 .bss:00000001 FoundMotors |
| C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:27 .bss:00000002 FlugSekunden |
| C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:33 .bss:00000004 FlugMinutenGesamt |
| C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:39 .bss:00000006 FlugMinuten |
| C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:45 .data:00000000 BattLowVoltageWarning |
| C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:50 .data:00000001 SendVersionToNavi |
| C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:55 .data:00000002 PlatinenVersion |
| C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:62 .bss:00000008 DisableRcOffBeeping |
| C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:67 .data:00000003 stick.16 |
| C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:72 .text:00000000 CalMk3Mag |
| C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:126 .progmem.data:00000000 __c.13 |
| C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:130 .progmem.data:00000008 __c.14 |
| C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:134 .progmem.data:00000013 __c.15 |
| C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:139 .text:0000006a LipoDetection |
| *COM*:00000002 _printf_P |
| C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:276 .progmem.data:00000029 __c.0 |
| C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:280 .progmem.data:0000003b __c.1 |
| C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:284 .progmem.data:0000003e __c.2 |
| C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:288 .progmem.data:0000005a __c.3 |
| C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:292 .progmem.data:0000005e __c.4 |
| C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:296 .progmem.data:00000075 __c.5 |
| C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:300 .progmem.data:0000007a __c.6 |
| C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:304 .progmem.data:0000009d __c.7 |
| C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:308 .progmem.data:000000a9 __c.8 |
| C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:312 .progmem.data:000000b5 __c.9 |
| C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:316 .progmem.data:000000c7 __c.10 |
| C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:320 .progmem.data:000000cd __c.11 |
| .bss:00000009 second.12 |
| C:\Users\Thomas\AppData\Local\Temp/ccskjFil.s:327 .text:0000017e main |
| *COM*:00000008 Motorsmax |
| *COM*:00000002 MotorsTmax |
| |
| 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 |
| LIBFC_Init |
| ParamSet_Init |
| Capacity_Init |
| BLFlags |
| motor_read |
| SendMotorData |
| Motor |
| Mixer |
| ServoActive |
| RequiredMotors |
| VersionInfo |
| SucheLuftruckOffset |
| SetNeutral |
| ExternControl |
| GetParamByte |
| LcdClear |
| I2CTimeout |
| LIBFC_ReceiverInit |
| ReceiverUpdateModeActive |
| UpdateMotor |
| AdReady |
| MotorRegler |
| SenderOkay |
| MissingMotor |
| I2C_Reset |
| BeepMuster |
| MotorenEin |
| LIBFC_Polling |
| CalculateServoSignals |
| CalculateServo |
| DatenUebertragung |
| BearbeiteRxDaten |
| PcZugriff |
| ExternStickNick |
| ExternStickRoll |
| ExternStickGier |
| NaviDataOkay |
| NC_Version |
| NC_ErrorCode |
| GPS_Nick |
| GPS_Roll |
| GPS_Aid_StickMultiplikator |
| GPSInfo |
| FromNaviCtrl |
| FC_StatusFlags |
| SPI_StartTransmitPacket |
| SendSPI |
| SetParamByte |
| LED_Update |
| Capacity_Update |
| SPI_TransmitByte |