| 0,0 → 1,1233 |
|---|
| 1 .file "timer0.c" |
| 2 __SREG__ = 0x3f |
| 3 __SP_H__ = 0x3e |
| 4 __SP_L__ = 0x3d |
| 5 __CCP__ = 0x34 |
| 6 __tmp_reg__ = 0 |
| 7 __zero_reg__ = 1 |
| 8 .text |
| 9 .global __vector_18 |
| 11 __vector_18: |
| 12 0000 1F92 push __zero_reg__ |
| 13 0002 0F92 push r0 |
| 14 0004 0FB6 in r0,__SREG__ |
| 15 0006 0F92 push r0 |
| 16 0008 1124 clr __zero_reg__ |
| 17 000a 2F93 push r18 |
| 18 000c 3F93 push r19 |
| 19 000e 5F93 push r21 |
| 20 0010 6F93 push r22 |
| 21 0012 7F93 push r23 |
| 22 0014 8F93 push r24 |
| 23 0016 9F93 push r25 |
| 24 0018 AF93 push r26 |
| 25 001a BF93 push r27 |
| 26 /* prologue: Signal */ |
| 27 /* frame size = 0 */ |
| 28 001c 8091 0000 lds r24,SendSPI |
| 29 0020 8823 tst r24 |
| 30 0022 01F0 breq .L2 |
| 31 0024 8091 0000 lds r24,SendSPI |
| 32 0028 8150 subi r24,lo8(-(-1)) |
| 33 002a 8093 0000 sts SendSPI,r24 |
| 34 .L2: |
| 35 002e 8091 0000 lds r24,SpektrumTimer |
| 36 0032 8823 tst r24 |
| 37 0034 01F0 breq .L3 |
| 38 0036 8150 subi r24,lo8(-(-1)) |
| 39 0038 8093 0000 sts SpektrumTimer,r24 |
| 40 .L3: |
| 41 003c 8091 0000 lds r24,cnt.2155 |
| 42 0040 8150 subi r24,lo8(-(-1)) |
| 43 0042 8093 0000 sts cnt.2155,r24 |
| 44 0046 8F5F subi r24,lo8(-(1)) |
| 45 0048 01F4 brne .L4 |
| 46 004a 89E0 ldi r24,lo8(9) |
| 47 004c 8093 0000 sts cnt.2155,r24 |
| 48 0050 8091 0000 lds r24,cnt_1ms.2154 |
| 49 0054 8F5F subi r24,lo8(-(1)) |
| 50 0056 8170 andi r24,lo8(1) |
| 51 0058 8093 0000 sts cnt_1ms.2154,r24 |
| 52 005c 8823 tst r24 |
| 53 005e 01F4 brne .+2 |
| 54 0060 00C0 rjmp .L22 |
| 55 .L5: |
| 56 0062 8091 0000 lds r24,CountMilliseconds |
| 57 0066 9091 0000 lds r25,(CountMilliseconds)+1 |
| 58 006a 0196 adiw r24,1 |
| 59 006c 9093 0000 sts (CountMilliseconds)+1,r25 |
| 60 0070 8093 0000 sts CountMilliseconds,r24 |
| 61 .L4: |
| 62 0074 8091 0000 lds r24,beeptime |
| 63 0078 9091 0000 lds r25,(beeptime)+1 |
| 64 007c 892B or r24,r25 |
| 65 007e 01F4 brne .+2 |
| 66 0080 00C0 rjmp .L6 |
| 67 0082 8091 0000 lds r24,beeptime |
| 68 0086 9091 0000 lds r25,(beeptime)+1 |
| 69 008a 0197 sbiw r24,1 |
| 70 008c 9093 0000 sts (beeptime)+1,r25 |
| 71 0090 8093 0000 sts beeptime,r24 |
| 72 0094 8091 0000 lds r24,beeptime |
| 73 0098 9091 0000 lds r25,(beeptime)+1 |
| 74 009c 2091 0000 lds r18,BeepMuster |
| 75 00a0 3091 0000 lds r19,(BeepMuster)+1 |
| 76 00a4 8223 and r24,r18 |
| 77 00a6 9323 and r25,r19 |
| 78 00a8 892B or r24,r25 |
| 79 00aa 01F4 brne .+2 |
| 80 00ac 00C0 rjmp .L8 |
| 81 00ae 8091 0000 lds r24,PlatinenVersion |
| 82 00b2 8A30 cpi r24,lo8(10) |
| 83 00b4 01F4 brne .+2 |
| 84 00b6 00C0 rjmp .L23 |
| 85 00b8 479A sbi 40-32,7 |
| 86 .L11: |
| 87 00ba 8091 0000 lds r24,EE_Parameter+8 |
| 88 00be 83FF sbrs r24,3 |
| 89 00c0 00C0 rjmp .L18 |
| 90 00c2 3499 sbic 38-32,4 |
| 91 00c4 00C0 rjmp .L24 |
| 92 00c6 8091 0000 lds r24,cntKompass |
| 93 00ca 9091 0000 lds r25,(cntKompass)+1 |
| 94 00ce 892B or r24,r25 |
| 95 00d0 01F0 breq .L14 |
| 96 00d2 8091 0000 lds r24,cntKompass |
| 97 00d6 9091 0000 lds r25,(cntKompass)+1 |
| 98 00da 8A56 subi r24,lo8(362) |
| 99 00dc 9140 sbci r25,hi8(362) |
| 100 00de 00F4 brsh .L14 |
| 101 00e0 8091 0000 lds r24,cntKompass |
| 102 00e4 9091 0000 lds r25,(cntKompass)+1 |
| 103 00e8 2091 0000 lds r18,cntKompass |
| 104 00ec 3091 0000 lds r19,(cntKompass)+1 |
| 105 00f0 69E2 ldi r22,lo8(41) |
| 106 00f2 70E0 ldi r23,hi8(41) |
| 107 00f4 0E94 0000 call __udivmodhi4 |
| 108 00f8 260F add r18,r22 |
| 109 00fa 371F adc r19,r23 |
| 110 00fc 3093 0000 sts (cntKompass)+1,r19 |
| 111 0100 2093 0000 sts cntKompass,r18 |
| 112 0104 8091 0000 lds r24,cntKompass |
| 113 0108 9091 0000 lds r25,(cntKompass)+1 |
| 114 010c 0B97 sbiw r24,11 |
| 115 010e 00F4 brsh .+2 |
| 116 0110 00C0 rjmp .L15 |
| 117 0112 8091 0000 lds r24,cntKompass |
| 118 0116 9091 0000 lds r25,(cntKompass)+1 |
| 119 011a 0A97 sbiw r24,10 |
| 120 011c 9093 0000 sts (KompassValue)+1,r25 |
| 121 0120 8093 0000 sts KompassValue,r24 |
| 122 .L14: |
| 123 0124 8091 0000 lds r24,KompassValue |
| 124 0128 9091 0000 lds r25,(KompassValue)+1 |
| 125 012c 845E subi r24,lo8(-(540)) |
| 126 012e 9D4F sbci r25,hi8(-(540)) |
| 127 0130 2091 0000 lds r18,KompassStartwert |
| 128 0134 3091 0000 lds r19,(KompassStartwert)+1 |
| 129 0138 821B sub r24,r18 |
| 130 013a 930B sbc r25,r19 |
| 131 013c 68E6 ldi r22,lo8(360) |
| 132 013e 71E0 ldi r23,hi8(360) |
| 133 0140 0E94 0000 call __divmodhi4 |
| 134 0144 845B subi r24,lo8(-(-180)) |
| 135 0146 9040 sbci r25,hi8(-(-180)) |
| 136 0148 9093 0000 sts (KompassRichtung)+1,r25 |
| 137 014c 8093 0000 sts KompassRichtung,r24 |
| 138 0150 1092 0000 sts (cntKompass)+1,__zero_reg__ |
| 139 0154 1092 0000 sts cntKompass,__zero_reg__ |
| 140 .L18: |
| 141 /* epilogue start */ |
| 142 0158 BF91 pop r27 |
| 143 015a AF91 pop r26 |
| 144 015c 9F91 pop r25 |
| 145 015e 8F91 pop r24 |
| 146 0160 7F91 pop r23 |
| 147 0162 6F91 pop r22 |
| 148 0164 5F91 pop r21 |
| 149 0166 3F91 pop r19 |
| 150 0168 2F91 pop r18 |
| 151 016a 0F90 pop r0 |
| 152 016c 0FBE out __SREG__,r0 |
| 153 016e 0F90 pop r0 |
| 154 0170 1F90 pop __zero_reg__ |
| 155 0172 1895 reti |
| 156 .L6: |
| 157 0174 8FEF ldi r24,lo8(-1) |
| 158 0176 9FEF ldi r25,hi8(-1) |
| 159 0178 9093 0000 sts (BeepMuster)+1,r25 |
| 160 017c 8093 0000 sts BeepMuster,r24 |
| 161 .L8: |
| 162 0180 8091 0000 lds r24,PlatinenVersion |
| 163 0184 8A30 cpi r24,lo8(10) |
| 164 0186 01F0 breq .L25 |
| 165 0188 4798 cbi 40-32,7 |
| 166 018a 00C0 rjmp .L11 |
| 167 .L22: |
| 168 018c 81E0 ldi r24,lo8(1) |
| 169 018e 8093 0000 sts UpdateMotor,r24 |
| 170 0192 00C0 rjmp .L5 |
| 171 .L24: |
| 172 0194 8091 0000 lds r24,cntKompass |
| 173 0198 9091 0000 lds r25,(cntKompass)+1 |
| 174 019c 0196 adiw r24,1 |
| 175 019e 9093 0000 sts (cntKompass)+1,r25 |
| 176 01a2 8093 0000 sts cntKompass,r24 |
| 177 01a6 00C0 rjmp .L18 |
| 178 .L23: |
| 179 01a8 5A9A sbi 43-32,2 |
| 180 01aa 00C0 rjmp .L11 |
| 181 .L25: |
| 182 01ac 5A98 cbi 43-32,2 |
| 183 01ae 00C0 rjmp .L11 |
| 184 .L15: |
| 185 01b0 1092 0000 sts (KompassValue)+1,__zero_reg__ |
| 186 01b4 1092 0000 sts KompassValue,__zero_reg__ |
| 187 01b8 00C0 rjmp .L14 |
| 189 .global SetDelay |
| 191 SetDelay: |
| 192 /* prologue: function */ |
| 193 /* frame size = 0 */ |
| 194 01ba 2091 0000 lds r18,CountMilliseconds |
| 195 01be 3091 0000 lds r19,(CountMilliseconds)+1 |
| 196 01c2 2F5F subi r18,lo8(-(1)) |
| 197 01c4 3F4F sbci r19,hi8(-(1)) |
| 198 01c6 280F add r18,r24 |
| 199 01c8 391F adc r19,r25 |
| 200 01ca C901 movw r24,r18 |
| 201 /* epilogue start */ |
| 202 01cc 0895 ret |
| 204 .global CheckDelay |
| 206 CheckDelay: |
| 207 /* prologue: function */ |
| 208 /* frame size = 0 */ |
| 209 01ce 2091 0000 lds r18,CountMilliseconds |
| 210 01d2 3091 0000 lds r19,(CountMilliseconds)+1 |
| 211 01d6 821B sub r24,r18 |
| 212 01d8 930B sbc r25,r19 |
| 213 01da 8070 andi r24,lo8(-32768) |
| 214 01dc 9078 andi r25,hi8(-32768) |
| 215 01de 892F mov r24,r25 |
| 216 01e0 8695 lsr r24 |
| 217 /* epilogue start */ |
| 218 01e2 0895 ret |
| 220 .global Delay_ms |
| 222 Delay_ms: |
| 223 /* prologue: function */ |
| 224 /* frame size = 0 */ |
| 225 01e4 2091 0000 lds r18,CountMilliseconds |
| 226 01e8 3091 0000 lds r19,(CountMilliseconds)+1 |
| 227 01ec 2F5F subi r18,lo8(-(1)) |
| 228 01ee 3F4F sbci r19,hi8(-(1)) |
| 229 01f0 280F add r18,r24 |
| 230 01f2 391F adc r19,r25 |
| 231 .L31: |
| 232 01f4 8091 0000 lds r24,CountMilliseconds |
| 233 01f8 9091 0000 lds r25,(CountMilliseconds)+1 |
| 234 01fc A901 movw r20,r18 |
| 235 01fe 481B sub r20,r24 |
| 236 0200 590B sbc r21,r25 |
| 237 0202 CA01 movw r24,r20 |
| 238 0204 8070 andi r24,lo8(-32768) |
| 239 0206 9078 andi r25,hi8(-32768) |
| 240 0208 892F mov r24,r25 |
| 241 020a 8695 lsr r24 |
| 242 020c 01F0 breq .L31 |
| 243 /* epilogue start */ |
| 244 020e 0895 ret |
| 246 .global Delay_ms_Mess |
| 248 Delay_ms_Mess: |
| 249 /* prologue: function */ |
| 250 /* frame size = 0 */ |
| 251 0210 2091 0000 lds r18,CountMilliseconds |
| 252 0214 3091 0000 lds r19,(CountMilliseconds)+1 |
| 253 0218 2F5F subi r18,lo8(-(1)) |
| 254 021a 3F4F sbci r19,hi8(-(1)) |
| 255 021c 280F add r18,r24 |
| 256 021e 391F adc r19,r25 |
| 257 0220 4FEC ldi r20,lo8(-49) |
| 258 .L40: |
| 259 0222 8091 0000 lds r24,CountMilliseconds |
| 260 0226 9091 0000 lds r25,(CountMilliseconds)+1 |
| 261 022a B901 movw r22,r18 |
| 262 022c 681B sub r22,r24 |
| 263 022e 790B sbc r23,r25 |
| 264 0230 CB01 movw r24,r22 |
| 265 0232 8070 andi r24,lo8(-32768) |
| 266 0234 9078 andi r25,hi8(-32768) |
| 267 0236 892F mov r24,r25 |
| 268 0238 8695 lsr r24 |
| 269 023a 01F4 brne .L41 |
| 270 023c 8091 0000 lds r24,AdReady |
| 271 0240 8823 tst r24 |
| 272 0242 01F0 breq .L40 |
| 273 0244 1092 0000 sts AdReady,__zero_reg__ |
| 274 0248 4093 7A00 sts 122,r20 |
| 275 024c 00C0 rjmp .L40 |
| 276 .L41: |
| 277 /* epilogue start */ |
| 278 024e 0895 ret |
| 280 .global TIMER2_Init |
| 282 TIMER2_Init: |
| 283 /* prologue: function */ |
| 284 /* frame size = 0 */ |
| 285 0250 9FB7 in r25,__SREG__ |
| 286 /* #APP */ |
| 287 ; 142 "timer0.c" 1 |
| 288 0252 F894 cli |
| 289 ; 0 "" 2 |
| 290 /* #NOAPP */ |
| 291 0254 5F98 cbi 43-32,7 |
| 292 0256 3E9A sbi 39-32,6 |
| 293 0258 469A sbi 40-32,6 |
| 294 025a A0EB ldi r26,lo8(176) |
| 295 025c B0E0 ldi r27,hi8(176) |
| 296 025e 8C91 ld r24,X |
| 297 0260 8F70 andi r24,lo8(15) |
| 298 0262 8C93 st X,r24 |
| 299 0264 8C91 ld r24,X |
| 300 0266 8360 ori r24,lo8(3) |
| 301 0268 8C93 st X,r24 |
| 302 026a E1EB ldi r30,lo8(177) |
| 303 026c F0E0 ldi r31,hi8(177) |
| 304 026e 8081 ld r24,Z |
| 305 0270 8B73 andi r24,lo8(59) |
| 306 0272 8083 st Z,r24 |
| 307 0274 8081 ld r24,Z |
| 308 0276 8B60 ori r24,lo8(11) |
| 309 0278 8083 st Z,r24 |
| 310 027a 1092 B200 sts 178,__zero_reg__ |
| 311 027e 8FEF ldi r24,lo8(-1) |
| 312 0280 8093 B300 sts 179,r24 |
| 313 0284 8C91 ld r24,X |
| 314 0286 8068 ori r24,lo8(-128) |
| 315 0288 8C93 st X,r24 |
| 316 028a E0E7 ldi r30,lo8(112) |
| 317 028c F0E0 ldi r31,hi8(112) |
| 318 028e 8081 ld r24,Z |
| 319 0290 8A7F andi r24,lo8(-6) |
| 320 0292 8083 st Z,r24 |
| 321 0294 8081 ld r24,Z |
| 322 0296 8260 ori r24,lo8(2) |
| 323 0298 8083 st Z,r24 |
| 324 029a 9FBF out __SREG__,r25 |
| 325 /* epilogue start */ |
| 326 029c 0895 ret |
| 328 .global Timer_Init |
| 330 Timer_Init: |
| 331 /* prologue: function */ |
| 332 /* frame size = 0 */ |
| 333 029e 8091 0000 lds r24,CountMilliseconds |
| 334 02a2 9091 0000 lds r25,(CountMilliseconds)+1 |
| 335 02a6 0B96 adiw r24,11 |
| 336 02a8 9093 0000 sts (tim_main)+1,r25 |
| 337 02ac 8093 0000 sts tim_main,r24 |
| 338 02b0 82E0 ldi r24,lo8(2) |
| 339 02b2 85BD out 69-32,r24 |
| 340 02b4 83EA ldi r24,lo8(-93) |
| 341 02b6 84BD out 68-32,r24 |
| 342 02b8 17BC out 71-32,__zero_reg__ |
| 343 02ba 88E7 ldi r24,lo8(120) |
| 344 02bc 88BD out 72-32,r24 |
| 345 02be 86E0 ldi r24,lo8(6) |
| 346 02c0 86BD out 70-32,r24 |
| 347 02c2 EEE6 ldi r30,lo8(110) |
| 348 02c4 F0E0 ldi r31,hi8(110) |
| 349 02c6 8081 ld r24,Z |
| 350 02c8 8160 ori r24,lo8(1) |
| 351 02ca 8083 st Z,r24 |
| 352 /* epilogue start */ |
| 353 02cc 0895 ret |
| 355 .global __vector_9 |
| 357 __vector_9: |
| 358 02ce 1F92 push __zero_reg__ |
| 359 02d0 0F92 push r0 |
| 360 02d2 0FB6 in r0,__SREG__ |
| 361 02d4 0F92 push r0 |
| 362 02d6 1124 clr __zero_reg__ |
| 363 02d8 CF92 push r12 |
| 364 02da DF92 push r13 |
| 365 02dc EF92 push r14 |
| 366 02de FF92 push r15 |
| 367 02e0 0F93 push r16 |
| 368 02e2 1F93 push r17 |
| 369 02e4 2F93 push r18 |
| 370 02e6 3F93 push r19 |
| 371 02e8 4F93 push r20 |
| 372 02ea 5F93 push r21 |
| 373 02ec 6F93 push r22 |
| 374 02ee 7F93 push r23 |
| 375 02f0 8F93 push r24 |
| 376 02f2 9F93 push r25 |
| 377 02f4 AF93 push r26 |
| 378 02f6 BF93 push r27 |
| 379 02f8 EF93 push r30 |
| 380 02fa FF93 push r31 |
| 381 /* prologue: Signal */ |
| 382 /* frame size = 0 */ |
| 383 02fc 8091 0000 lds r24,PlatinenVersion |
| 384 0300 8431 cpi r24,lo8(20) |
| 385 0302 00F0 brlo .+2 |
| 386 0304 00C0 rjmp .L47 |
| 387 0306 8091 0000 lds r24,Parameter_UserParam8 |
| 388 030a 87FD sbrc r24,7 |
| 389 030c 00C0 rjmp .L47 |
| 390 030e 8091 0000 lds r24,PulseOutput.2296 |
| 391 0312 8823 tst r24 |
| 392 0314 01F0 breq .+2 |
| 393 0316 00C0 rjmp .L99 |
| 394 0318 8091 B000 lds r24,176 |
| 395 031c 86FF sbrs r24,6 |
| 396 031e 00C0 rjmp .L49 |
| 397 0320 8091 B000 lds r24,176 |
| 398 0324 8F7B andi r24,lo8(-65) |
| 399 0326 8093 B000 sts 176,r24 |
| 400 032a 8091 0000 lds r24,Parameter_ServoNickControl |
| 401 032e 482F mov r20,r24 |
| 402 0330 50E0 ldi r21,lo8(0) |
| 403 0332 440F lsl r20 |
| 404 0334 551F rol r21 |
| 405 0336 440F lsl r20 |
| 406 0338 551F rol r21 |
| 407 033a 2091 0000 lds r18,ServoNickOffset.2300 |
| 408 033e 3091 0000 lds r19,(ServoNickOffset.2300)+1 |
| 409 0342 C901 movw r24,r18 |
| 410 0344 880F lsl r24 |
| 411 0346 991F rol r25 |
| 412 0348 820F add r24,r18 |
| 413 034a 931F adc r25,r19 |
| 414 034c 480F add r20,r24 |
| 415 034e 591F adc r21,r25 |
| 416 0350 57FD sbrc r21,7 |
| 417 0352 00C0 rjmp .L100 |
| 418 .L50: |
| 419 0354 CA01 movw r24,r20 |
| 420 0356 9595 asr r25 |
| 421 0358 8795 ror r24 |
| 422 035a 9595 asr r25 |
| 423 035c 8795 ror r24 |
| 424 035e 9093 0000 sts (ServoNickOffset.2300)+1,r25 |
| 425 0362 8093 0000 sts ServoNickOffset.2300,r24 |
| 426 0366 9093 0000 sts (ServoNickValue)+1,r25 |
| 427 036a 8093 0000 sts ServoNickValue,r24 |
| 428 036e 8091 0000 lds r24,EE_Parameter+87 |
| 429 0372 80FD sbrc r24,0 |
| 430 0374 00C0 rjmp .L101 |
| 431 0376 C090 0000 lds r12,ServoNickValue |
| 432 037a D090 0000 lds r13,(ServoNickValue)+1 |
| 433 037e E090 0000 lds r14,EE_Parameter+40 |
| 434 0382 FF24 clr r15 |
| 435 0384 00E0 ldi r16,lo8(0) |
| 436 0386 10E0 ldi r17,hi8(0) |
| 437 0388 6091 0000 lds r22,IntegralNick |
| 438 038c 7091 0000 lds r23,(IntegralNick)+1 |
| 439 0390 8091 0000 lds r24,(IntegralNick)+2 |
| 440 0394 9091 0000 lds r25,(IntegralNick)+3 |
| 441 0398 20E8 ldi r18,lo8(128) |
| 442 039a 30E0 ldi r19,hi8(128) |
| 443 039c 40E0 ldi r20,hlo8(128) |
| 444 039e 50E0 ldi r21,hhi8(128) |
| 445 03a0 0E94 0000 call __divmodsi4 |
| 446 03a4 C801 movw r24,r16 |
| 447 03a6 B701 movw r22,r14 |
| 448 03a8 0E94 0000 call __mulsi3 |
| 449 03ac 660F lsl r22 |
| 450 03ae 771F rol r23 |
| 451 03b0 881F rol r24 |
| 452 03b2 991F rol r25 |
| 453 03b4 660F lsl r22 |
| 454 03b6 771F rol r23 |
| 455 03b8 881F rol r24 |
| 456 03ba 991F rol r25 |
| 457 03bc 20E0 ldi r18,lo8(256) |
| 458 03be 31E0 ldi r19,hi8(256) |
| 459 03c0 40E0 ldi r20,hlo8(256) |
| 460 03c2 50E0 ldi r21,hhi8(256) |
| 461 03c4 0E94 0000 call __divmodsi4 |
| 462 03c8 C21A sub r12,r18 |
| 463 03ca D30A sbc r13,r19 |
| 464 03cc D092 0000 sts (ServoNickValue)+1,r13 |
| 465 03d0 C092 0000 sts ServoNickValue,r12 |
| 466 .L52: |
| 467 03d4 8091 0000 lds r24,EE_Parameter+41 |
| 468 03d8 282F mov r18,r24 |
| 469 03da 30E0 ldi r19,lo8(0) |
| 470 03dc 220F lsl r18 |
| 471 03de 331F rol r19 |
| 472 03e0 220F lsl r18 |
| 473 03e2 331F rol r19 |
| 474 03e4 8091 0000 lds r24,ServoNickValue |
| 475 03e8 9091 0000 lds r25,(ServoNickValue)+1 |
| 476 03ec 8217 cp r24,r18 |
| 477 03ee 9307 cpc r25,r19 |
| 478 03f0 04F0 brlt .L95 |
| 479 03f2 8091 0000 lds r24,EE_Parameter+42 |
| 480 03f6 282F mov r18,r24 |
| 481 03f8 30E0 ldi r19,lo8(0) |
| 482 03fa 220F lsl r18 |
| 483 03fc 331F rol r19 |
| 484 03fe 220F lsl r18 |
| 485 0400 331F rol r19 |
| 486 0402 8091 0000 lds r24,ServoNickValue |
| 487 0406 9091 0000 lds r25,(ServoNickValue)+1 |
| 488 040a 2817 cp r18,r24 |
| 489 040c 3907 cpc r19,r25 |
| 490 040e 04F4 brge .L54 |
| 491 .L95: |
| 492 0410 3093 0000 sts (ServoNickValue)+1,r19 |
| 493 0414 2093 0000 sts ServoNickValue,r18 |
| 494 .L54: |
| 495 0418 2091 0000 lds r18,ServoNickValue |
| 496 041c 3091 0000 lds r19,(ServoNickValue)+1 |
| 497 0420 2755 subi r18,lo8(-(425)) |
| 498 0422 3E4F sbci r19,hi8(-(425)) |
| 499 0424 3093 0000 sts (RemainingPulse.2297)+1,r19 |
| 500 0428 2093 0000 sts RemainingPulse.2297,r18 |
| 501 042c 8091 0000 lds r24,ServoNickValue |
| 502 0430 9091 0000 lds r25,(ServoNickValue)+1 |
| 503 0434 97FD sbrc r25,7 |
| 504 0436 00C0 rjmp .L102 |
| 505 .L55: |
| 506 0438 9595 asr r25 |
| 507 043a 8795 ror r24 |
| 508 043c 9595 asr r25 |
| 509 043e 8795 ror r24 |
| 510 0440 9093 0000 sts (ServoNickValue)+1,r25 |
| 511 0444 8093 0000 sts ServoNickValue,r24 |
| 512 0448 45E0 ldi r20,hi8(1501) |
| 513 044a 2D3D cpi r18,lo8(1501) |
| 514 044c 3407 cpc r19,r20 |
| 515 044e 00F4 brsh .+2 |
| 516 0450 00C0 rjmp .L56 |
| 517 0452 8CED ldi r24,lo8(1500) |
| 518 0454 95E0 ldi r25,hi8(1500) |
| 519 0456 9093 0000 sts (RemainingPulse.2297)+1,r25 |
| 520 045a 8093 0000 sts RemainingPulse.2297,r24 |
| 521 .L57: |
| 522 045e 4091 0000 lds r20,RemainingPulse.2297 |
| 523 0462 5091 0000 lds r21,(RemainingPulse.2297)+1 |
| 524 0466 5093 0000 sts (ServoFrameTime.2298)+1,r21 |
| 525 046a 4093 0000 sts ServoFrameTime.2298,r20 |
| 526 046e 00C0 rjmp .L61 |
| 527 .L47: |
| 528 0470 8091 0000 lds r24,PulseOutput.2296 |
| 529 0474 8823 tst r24 |
| 530 0476 01F0 breq .L93 |
| 531 .L99: |
| 532 0478 4091 0000 lds r20,RemainingPulse.2297 |
| 533 047c 5091 0000 lds r21,(RemainingPulse.2297)+1 |
| 534 0480 81E0 ldi r24,hi8(383) |
| 535 0482 4F37 cpi r20,lo8(383) |
| 536 0484 5807 cpc r21,r24 |
| 537 0486 00F0 brlo .+2 |
| 538 0488 00C0 rjmp .L103 |
| 539 .L84: |
| 540 048a 4F3F cpi r20,255 |
| 541 048c 5105 cpc r21,__zero_reg__ |
| 542 048e 01F0 breq .+4 |
| 543 0490 00F0 brlo .+2 |
| 544 0492 00C0 rjmp .L104 |
| 545 0494 4093 B300 sts 179,r20 |
| 546 0498 1092 0000 sts (RemainingPulse.2297)+1,__zero_reg__ |
| 547 049c 1092 0000 sts RemainingPulse.2297,__zero_reg__ |
| 548 04a0 1092 0000 sts PulseOutput.2296,__zero_reg__ |
| 549 .L88: |
| 550 /* epilogue start */ |
| 551 04a4 FF91 pop r31 |
| 552 04a6 EF91 pop r30 |
| 553 04a8 BF91 pop r27 |
| 554 04aa AF91 pop r26 |
| 555 04ac 9F91 pop r25 |
| 556 04ae 8F91 pop r24 |
| 557 04b0 7F91 pop r23 |
| 558 04b2 6F91 pop r22 |
| 559 04b4 5F91 pop r21 |
| 560 04b6 4F91 pop r20 |
| 561 04b8 3F91 pop r19 |
| 562 04ba 2F91 pop r18 |
| 563 04bc 1F91 pop r17 |
| 564 04be 0F91 pop r16 |
| 565 04c0 FF90 pop r15 |
| 566 04c2 EF90 pop r14 |
| 567 04c4 DF90 pop r13 |
| 568 04c6 CF90 pop r12 |
| 569 04c8 0F90 pop r0 |
| 570 04ca 0FBE out __SREG__,r0 |
| 571 04cc 0F90 pop r0 |
| 572 04ce 1F90 pop __zero_reg__ |
| 573 04d0 1895 reti |
| 574 .L93: |
| 575 04d2 8091 B000 lds r24,176 |
| 576 04d6 86FF sbrs r24,6 |
| 577 04d8 00C0 rjmp .L59 |
| 578 04da 8091 B000 lds r24,176 |
| 579 04de 8F7B andi r24,lo8(-65) |
| 580 04e0 8093 B000 sts 176,r24 |
| 581 04e4 8091 0000 lds r24,ServoIndex.2299 |
| 582 04e8 8823 tst r24 |
| 583 04ea 01F0 breq .+2 |
| 584 04ec 00C0 rjmp .L60 |
| 585 04ee 8091 0000 lds r24,EE_Parameter+47 |
| 586 04f2 90E0 ldi r25,lo8(0) |
| 587 04f4 2DED ldi r18,lo8(1757) |
| 588 04f6 36E0 ldi r19,hi8(1757) |
| 589 04f8 A901 movw r20,r18 |
| 590 04fa 849F mul r24,r20 |
| 591 04fc 9001 movw r18,r0 |
| 592 04fe 859F mul r24,r21 |
| 593 0500 300D add r19,r0 |
| 594 0502 949F mul r25,r20 |
| 595 0504 300D add r19,r0 |
| 596 0506 1124 clr r1 |
| 597 0508 8091 0000 lds r24,ServoFrameTime.2298 |
| 598 050c 9091 0000 lds r25,(ServoFrameTime.2298)+1 |
| 599 0510 281B sub r18,r24 |
| 600 0512 390B sbc r19,r25 |
| 601 0514 3093 0000 sts (RemainingPulse.2297)+1,r19 |
| 602 0518 2093 0000 sts RemainingPulse.2297,r18 |
| 603 051c 1092 0000 sts (ServoFrameTime.2298)+1,__zero_reg__ |
| 604 0520 1092 0000 sts ServoFrameTime.2298,__zero_reg__ |
| 605 0524 469A sbi 40-32,6 |
| 606 0526 A901 movw r20,r18 |
| 607 .L61: |
| 608 0528 81E0 ldi r24,lo8(1) |
| 609 052a 8093 0000 sts PulseOutput.2296,r24 |
| 610 052e 81E0 ldi r24,hi8(383) |
| 611 0530 4F37 cpi r20,lo8(383) |
| 612 0532 5807 cpc r21,r24 |
| 613 0534 00F4 brsh .+2 |
| 614 0536 00C0 rjmp .L84 |
| 615 .L103: |
| 616 0538 8FEF ldi r24,lo8(-1) |
| 617 053a 8093 B300 sts 179,r24 |
| 618 053e 4F5F subi r20,lo8(-(-255)) |
| 619 0540 5040 sbci r21,hi8(-(-255)) |
| 620 0542 5093 0000 sts (RemainingPulse.2297)+1,r21 |
| 621 0546 4093 0000 sts RemainingPulse.2297,r20 |
| 622 054a 00C0 rjmp .L88 |
| 623 .L104: |
| 624 054c 9A01 movw r18,r20 |
| 625 054e 2F5F subi r18,lo8(-(-255)) |
| 626 0550 3040 sbci r19,hi8(-(-255)) |
| 627 0552 2F37 cpi r18,127 |
| 628 0554 3105 cpc r19,__zero_reg__ |
| 629 0556 00F4 brsh .L87 |
| 630 0558 80E8 ldi r24,lo8(-128) |
| 631 055a 8093 B300 sts 179,r24 |
| 632 055e 4058 subi r20,lo8(-(-128)) |
| 633 0560 5040 sbci r21,hi8(-(-128)) |
| 634 0562 5093 0000 sts (RemainingPulse.2297)+1,r21 |
| 635 0566 4093 0000 sts RemainingPulse.2297,r20 |
| 636 056a 00C0 rjmp .L88 |
| 637 .L59: |
| 638 056c 8091 B000 lds r24,176 |
| 639 0570 8064 ori r24,lo8(64) |
| 640 0572 8093 B000 sts 176,r24 |
| 641 0576 8CEB ldi r24,lo8(188) |
| 642 0578 90E0 ldi r25,hi8(188) |
| 643 057a 9093 0000 sts (RemainingPulse.2297)+1,r25 |
| 644 057e 8093 0000 sts RemainingPulse.2297,r24 |
| 645 0582 8091 0000 lds r24,ServoFrameTime.2298 |
| 646 0586 9091 0000 lds r25,(ServoFrameTime.2298)+1 |
| 647 058a 8454 subi r24,lo8(-(188)) |
| 648 058c 9F4F sbci r25,hi8(-(188)) |
| 649 058e 9093 0000 sts (ServoFrameTime.2298)+1,r25 |
| 650 0592 8093 0000 sts ServoFrameTime.2298,r24 |
| 651 0596 8091 0000 lds r24,ServoActive |
| 652 059a 8823 tst r24 |
| 653 059c 01F0 breq .L82 |
| 654 059e 8091 0000 lds r24,SenderOkay |
| 655 05a2 853B cpi r24,lo8(-75) |
| 656 05a4 00F0 brlo .+2 |
| 657 05a6 00C0 rjmp .L105 |
| 658 .L82: |
| 659 05a8 469A sbi 40-32,6 |
| 660 .L83: |
| 661 05aa 8091 0000 lds r24,ServoIndex.2299 |
| 662 05ae 8F5F subi r24,lo8(-(1)) |
| 663 05b0 8093 0000 sts ServoIndex.2299,r24 |
| 664 05b4 9091 0000 lds r25,EE_Parameter+47 |
| 665 05b8 9817 cp r25,r24 |
| 666 05ba 00F4 brsh .L98 |
| 667 05bc 1092 0000 sts ServoIndex.2299,__zero_reg__ |
| 668 .L98: |
| 669 05c0 4091 0000 lds r20,RemainingPulse.2297 |
| 670 05c4 5091 0000 lds r21,(RemainingPulse.2297)+1 |
| 671 05c8 00C0 rjmp .L61 |
| 672 .L87: |
| 673 05ca 8FEF ldi r24,lo8(-1) |
| 674 05cc 8093 B300 sts 179,r24 |
| 675 05d0 3093 0000 sts (RemainingPulse.2297)+1,r19 |
| 676 05d4 2093 0000 sts RemainingPulse.2297,r18 |
| 677 05d8 00C0 rjmp .L88 |
| 678 .L49: |
| 679 05da 8091 B000 lds r24,176 |
| 680 05de 8064 ori r24,lo8(64) |
| 681 05e0 8093 B000 sts 176,r24 |
| 682 05e4 8091 0000 lds r24,EE_Parameter+47 |
| 683 05e8 90E0 ldi r25,lo8(0) |
| 684 05ea 2DED ldi r18,lo8(1757) |
| 685 05ec 36E0 ldi r19,hi8(1757) |
| 686 05ee 829F mul r24,r18 |
| 687 05f0 A001 movw r20,r0 |
| 688 05f2 839F mul r24,r19 |
| 689 05f4 500D add r21,r0 |
| 690 05f6 929F mul r25,r18 |
| 691 05f8 500D add r21,r0 |
| 692 05fa 1124 clr r1 |
| 693 05fc 8091 0000 lds r24,ServoFrameTime.2298 |
| 694 0600 9091 0000 lds r25,(ServoFrameTime.2298)+1 |
| 695 0604 481B sub r20,r24 |
| 696 0606 590B sbc r21,r25 |
| 697 0608 00C0 rjmp .L61 |
| 698 .L60: |
| 699 060a 29EA ldi r18,lo8(937) |
| 700 060c 33E0 ldi r19,hi8(937) |
| 701 060e 3093 0000 sts (RemainingPulse.2297)+1,r19 |
| 702 0612 2093 0000 sts RemainingPulse.2297,r18 |
| 703 0616 8230 cpi r24,lo8(2) |
| 704 0618 01F4 brne .+2 |
| 705 061a 00C0 rjmp .L64 |
| 706 061c 8330 cpi r24,lo8(3) |
| 707 061e 01F4 brne .+2 |
| 708 0620 00C0 rjmp .L65 |
| 709 0622 8130 cpi r24,lo8(1) |
| 710 0624 01F4 brne .+2 |
| 711 0626 00C0 rjmp .L106 |
| 712 .L62: |
| 713 0628 4091 0000 lds r20,RemainingPulse.2297 |
| 714 062c 5091 0000 lds r21,(RemainingPulse.2297)+1 |
| 715 0630 85E0 ldi r24,hi8(1501) |
| 716 0632 4D3D cpi r20,lo8(1501) |
| 717 0634 5807 cpc r21,r24 |
| 718 0636 00F4 brsh .+2 |
| 719 0638 00C0 rjmp .L80 |
| 720 063a 4CED ldi r20,lo8(1500) |
| 721 063c 55E0 ldi r21,hi8(1500) |
| 722 .L81: |
| 723 063e 4C5B subi r20,lo8(-(-188)) |
| 724 0640 5040 sbci r21,hi8(-(-188)) |
| 725 0642 8091 0000 lds r24,ServoFrameTime.2298 |
| 726 0646 9091 0000 lds r25,(ServoFrameTime.2298)+1 |
| 727 064a 840F add r24,r20 |
| 728 064c 951F adc r25,r21 |
| 729 064e 9093 0000 sts (ServoFrameTime.2298)+1,r25 |
| 730 0652 8093 0000 sts ServoFrameTime.2298,r24 |
| 731 0656 00C0 rjmp .L61 |
| 732 .L101: |
| 733 0658 C090 0000 lds r12,ServoNickValue |
| 734 065c D090 0000 lds r13,(ServoNickValue)+1 |
| 735 0660 E090 0000 lds r14,EE_Parameter+40 |
| 736 0664 FF24 clr r15 |
| 737 0666 00E0 ldi r16,lo8(0) |
| 738 0668 10E0 ldi r17,hi8(0) |
| 739 066a 6091 0000 lds r22,IntegralNick |
| 740 066e 7091 0000 lds r23,(IntegralNick)+1 |
| 741 0672 8091 0000 lds r24,(IntegralNick)+2 |
| 742 0676 9091 0000 lds r25,(IntegralNick)+3 |
| 743 067a 20E8 ldi r18,lo8(128) |
| 744 067c 30E0 ldi r19,hi8(128) |
| 745 067e 40E0 ldi r20,hlo8(128) |
| 746 0680 50E0 ldi r21,hhi8(128) |
| 747 0682 0E94 0000 call __divmodsi4 |
| 748 0686 C801 movw r24,r16 |
| 749 0688 B701 movw r22,r14 |
| 750 068a 0E94 0000 call __mulsi3 |
| 751 068e 660F lsl r22 |
| 752 0690 771F rol r23 |
| 753 0692 881F rol r24 |
| 754 0694 991F rol r25 |
| 755 0696 660F lsl r22 |
| 756 0698 771F rol r23 |
| 757 069a 881F rol r24 |
| 758 069c 991F rol r25 |
| 759 069e 20E0 ldi r18,lo8(256) |
| 760 06a0 31E0 ldi r19,hi8(256) |
| 761 06a2 40E0 ldi r20,hlo8(256) |
| 762 06a4 50E0 ldi r21,hhi8(256) |
| 763 06a6 0E94 0000 call __divmodsi4 |
| 764 06aa C20E add r12,r18 |
| 765 06ac D31E adc r13,r19 |
| 766 06ae D092 0000 sts (ServoNickValue)+1,r13 |
| 767 06b2 C092 0000 sts ServoNickValue,r12 |
| 768 06b6 00C0 rjmp .L52 |
| 769 .L105: |
| 770 06b8 4698 cbi 40-32,6 |
| 771 06ba 00C0 rjmp .L83 |
| 772 .L65: |
| 773 06bc E091 0000 lds r30,EE_Parameter+6 |
| 774 06c0 F0E0 ldi r31,lo8(0) |
| 775 06c2 EE0F lsl r30 |
| 776 06c4 FF1F rol r31 |
| 777 06c6 E050 subi r30,lo8(-(PPM_in)) |
| 778 06c8 F040 sbci r31,hi8(-(PPM_in)) |
| 779 06ca 8081 ld r24,Z |
| 780 06cc 9181 ldd r25,Z+1 |
| 781 06ce 805E subi r24,lo8(-32) |
| 782 06d0 9F4F sbci r25,hi8(-32) |
| 783 06d2 04F0 brlt .+2 |
| 784 06d4 00C0 rjmp .L78 |
| 785 06d6 87E7 ldi r24,lo8(375) |
| 786 06d8 91E0 ldi r25,hi8(375) |
| 787 06da 9093 0000 sts (RemainingPulse.2297)+1,r25 |
| 788 06de 8093 0000 sts RemainingPulse.2297,r24 |
| 789 .L79: |
| 790 06e2 4091 0000 lds r20,RemainingPulse.2297 |
| 791 06e6 5091 0000 lds r21,(RemainingPulse.2297)+1 |
| 792 .L80: |
| 793 06ea 81E0 ldi r24,hi8(375) |
| 794 06ec 4737 cpi r20,lo8(375) |
| 795 06ee 5807 cpc r21,r24 |
| 796 06f0 00F0 brlo .+2 |
| 797 06f2 00C0 rjmp .L81 |
| 798 06f4 47E7 ldi r20,lo8(375) |
| 799 06f6 51E0 ldi r21,hi8(375) |
| 800 06f8 00C0 rjmp .L81 |
| 801 .L56: |
| 802 06fa 2757 subi r18,lo8(375) |
| 803 06fc 3140 sbci r19,hi8(375) |
| 804 06fe 00F0 brlo .+2 |
| 805 0700 00C0 rjmp .L57 |
| 806 0702 87E7 ldi r24,lo8(375) |
| 807 0704 91E0 ldi r25,hi8(375) |
| 808 0706 9093 0000 sts (RemainingPulse.2297)+1,r25 |
| 809 070a 8093 0000 sts RemainingPulse.2297,r24 |
| 810 070e 00C0 rjmp .L57 |
| 811 .L64: |
| 812 0710 8091 0000 lds r24,Parameter_ServoRollControl |
| 813 0714 482F mov r20,r24 |
| 814 0716 50E0 ldi r21,lo8(0) |
| 815 0718 440F lsl r20 |
| 816 071a 551F rol r21 |
| 817 071c 440F lsl r20 |
| 818 071e 551F rol r21 |
| 819 0720 2091 0000 lds r18,ServoRollOffset.2301 |
| 820 0724 3091 0000 lds r19,(ServoRollOffset.2301)+1 |
| 821 0728 C901 movw r24,r18 |
| 822 072a 880F lsl r24 |
| 823 072c 991F rol r25 |
| 824 072e 820F add r24,r18 |
| 825 0730 931F adc r25,r19 |
| 826 0732 480F add r20,r24 |
| 827 0734 591F adc r21,r25 |
| 828 0736 57FD sbrc r21,7 |
| 829 0738 00C0 rjmp .L107 |
| 830 .L72: |
| 831 073a CA01 movw r24,r20 |
| 832 073c 9595 asr r25 |
| 833 073e 8795 ror r24 |
| 834 0740 9595 asr r25 |
| 835 0742 8795 ror r24 |
| 836 0744 9093 0000 sts (ServoRollOffset.2301)+1,r25 |
| 837 0748 8093 0000 sts ServoRollOffset.2301,r24 |
| 838 074c 9093 0000 sts (ServoRollValue)+1,r25 |
| 839 0750 8093 0000 sts ServoRollValue,r24 |
| 840 0754 8091 0000 lds r24,EE_Parameter+87 |
| 841 0758 81FF sbrs r24,1 |
| 842 075a 00C0 rjmp .L73 |
| 843 075c C090 0000 lds r12,ServoRollValue |
| 844 0760 D090 0000 lds r13,(ServoRollValue)+1 |
| 845 0764 E090 0000 lds r14,EE_Parameter+44 |
| 846 0768 FF24 clr r15 |
| 847 076a 00E0 ldi r16,lo8(0) |
| 848 076c 10E0 ldi r17,hi8(0) |
| 849 076e 6091 0000 lds r22,IntegralRoll |
| 850 0772 7091 0000 lds r23,(IntegralRoll)+1 |
| 851 0776 8091 0000 lds r24,(IntegralRoll)+2 |
| 852 077a 9091 0000 lds r25,(IntegralRoll)+3 |
| 853 077e 20E8 ldi r18,lo8(128) |
| 854 0780 30E0 ldi r19,hi8(128) |
| 855 0782 40E0 ldi r20,hlo8(128) |
| 856 0784 50E0 ldi r21,hhi8(128) |
| 857 0786 0E94 0000 call __divmodsi4 |
| 858 078a C801 movw r24,r16 |
| 859 078c B701 movw r22,r14 |
| 860 078e 0E94 0000 call __mulsi3 |
| 861 0792 660F lsl r22 |
| 862 0794 771F rol r23 |
| 863 0796 881F rol r24 |
| 864 0798 991F rol r25 |
| 865 079a 660F lsl r22 |
| 866 079c 771F rol r23 |
| 867 079e 881F rol r24 |
| 868 07a0 991F rol r25 |
| 869 07a2 20E0 ldi r18,lo8(256) |
| 870 07a4 31E0 ldi r19,hi8(256) |
| 871 07a6 40E0 ldi r20,hlo8(256) |
| 872 07a8 50E0 ldi r21,hhi8(256) |
| 873 07aa 0E94 0000 call __divmodsi4 |
| 874 07ae C20E add r12,r18 |
| 875 07b0 D31E adc r13,r19 |
| 876 07b2 D092 0000 sts (ServoRollValue)+1,r13 |
| 877 07b6 C092 0000 sts ServoRollValue,r12 |
| 878 .L74: |
| 879 07ba 8091 0000 lds r24,EE_Parameter+45 |
| 880 07be 282F mov r18,r24 |
| 881 07c0 30E0 ldi r19,lo8(0) |
| 882 07c2 220F lsl r18 |
| 883 07c4 331F rol r19 |
| 884 07c6 220F lsl r18 |
| 885 07c8 331F rol r19 |
| 886 07ca 8091 0000 lds r24,ServoRollValue |
| 887 07ce 9091 0000 lds r25,(ServoRollValue)+1 |
| 888 07d2 8217 cp r24,r18 |
| 889 07d4 9307 cpc r25,r19 |
| 890 07d6 04F0 brlt .L97 |
| 891 07d8 8091 0000 lds r24,EE_Parameter+46 |
| 892 07dc 282F mov r18,r24 |
| 893 07de 30E0 ldi r19,lo8(0) |
| 894 07e0 220F lsl r18 |
| 895 07e2 331F rol r19 |
| 896 07e4 220F lsl r18 |
| 897 07e6 331F rol r19 |
| 898 07e8 8091 0000 lds r24,ServoRollValue |
| 899 07ec 9091 0000 lds r25,(ServoRollValue)+1 |
| 900 07f0 2817 cp r18,r24 |
| 901 07f2 3907 cpc r19,r25 |
| 902 07f4 04F4 brge .L76 |
| 903 .L97: |
| 904 07f6 3093 0000 sts (ServoRollValue)+1,r19 |
| 905 07fa 2093 0000 sts ServoRollValue,r18 |
| 906 .L76: |
| 907 07fe 8091 0000 lds r24,ServoRollValue |
| 908 0802 9091 0000 lds r25,(ServoRollValue)+1 |
| 909 0806 8755 subi r24,lo8(-(425)) |
| 910 0808 9E4F sbci r25,hi8(-(425)) |
| 911 080a 9093 0000 sts (RemainingPulse.2297)+1,r25 |
| 912 080e 8093 0000 sts RemainingPulse.2297,r24 |
| 913 0812 8091 0000 lds r24,ServoRollValue |
| 914 0816 9091 0000 lds r25,(ServoRollValue)+1 |
| 915 081a 97FD sbrc r25,7 |
| 916 081c 00C0 rjmp .L108 |
| 917 .L77: |
| 918 081e 9595 asr r25 |
| 919 0820 8795 ror r24 |
| 920 0822 9595 asr r25 |
| 921 0824 8795 ror r24 |
| 922 0826 9093 0000 sts (ServoRollValue)+1,r25 |
| 923 082a 8093 0000 sts ServoRollValue,r24 |
| 924 082e 00C0 rjmp .L62 |
| 925 .L106: |
| 926 0830 8091 0000 lds r24,Parameter_ServoNickControl |
| 927 0834 482F mov r20,r24 |
| 928 0836 50E0 ldi r21,lo8(0) |
| 929 0838 440F lsl r20 |
| 930 083a 551F rol r21 |
| 931 083c 440F lsl r20 |
| 932 083e 551F rol r21 |
| 933 0840 2091 0000 lds r18,ServoNickOffset.2300 |
| 934 0844 3091 0000 lds r19,(ServoNickOffset.2300)+1 |
| 935 0848 C901 movw r24,r18 |
| 936 084a 880F lsl r24 |
| 937 084c 991F rol r25 |
| 938 084e 820F add r24,r18 |
| 939 0850 931F adc r25,r19 |
| 940 0852 480F add r20,r24 |
| 941 0854 591F adc r21,r25 |
| 942 0856 57FD sbrc r21,7 |
| 943 0858 00C0 rjmp .L109 |
| 944 .L66: |
| 945 085a CA01 movw r24,r20 |
| 946 085c 9595 asr r25 |
| 947 085e 8795 ror r24 |
| 948 0860 9595 asr r25 |
| 949 0862 8795 ror r24 |
| 950 0864 9093 0000 sts (ServoNickOffset.2300)+1,r25 |
| 951 0868 8093 0000 sts ServoNickOffset.2300,r24 |
| 952 086c 9093 0000 sts (ServoNickValue)+1,r25 |
| 953 0870 8093 0000 sts ServoNickValue,r24 |
| 954 0874 8091 0000 lds r24,EE_Parameter+87 |
| 955 0878 80FF sbrs r24,0 |
| 956 087a 00C0 rjmp .L67 |
| 957 087c C090 0000 lds r12,ServoNickValue |
| 958 0880 D090 0000 lds r13,(ServoNickValue)+1 |
| 959 0884 E090 0000 lds r14,EE_Parameter+40 |
| 960 0888 FF24 clr r15 |
| 961 088a 00E0 ldi r16,lo8(0) |
| 962 088c 10E0 ldi r17,hi8(0) |
| 963 088e 6091 0000 lds r22,IntegralNick |
| 964 0892 7091 0000 lds r23,(IntegralNick)+1 |
| 965 0896 8091 0000 lds r24,(IntegralNick)+2 |
| 966 089a 9091 0000 lds r25,(IntegralNick)+3 |
| 967 089e 20E8 ldi r18,lo8(128) |
| 968 08a0 30E0 ldi r19,hi8(128) |
| 969 08a2 40E0 ldi r20,hlo8(128) |
| 970 08a4 50E0 ldi r21,hhi8(128) |
| 971 08a6 0E94 0000 call __divmodsi4 |
| 972 08aa C801 movw r24,r16 |
| 973 08ac B701 movw r22,r14 |
| 974 08ae 0E94 0000 call __mulsi3 |
| 975 08b2 660F lsl r22 |
| 976 08b4 771F rol r23 |
| 977 08b6 881F rol r24 |
| 978 08b8 991F rol r25 |
| 979 08ba 660F lsl r22 |
| 980 08bc 771F rol r23 |
| 981 08be 881F rol r24 |
| 982 08c0 991F rol r25 |
| 983 08c2 20E0 ldi r18,lo8(256) |
| 984 08c4 31E0 ldi r19,hi8(256) |
| 985 08c6 40E0 ldi r20,hlo8(256) |
| 986 08c8 50E0 ldi r21,hhi8(256) |
| 987 08ca 0E94 0000 call __divmodsi4 |
| 988 08ce C20E add r12,r18 |
| 989 08d0 D31E adc r13,r19 |
| 990 08d2 D092 0000 sts (ServoNickValue)+1,r13 |
| 991 08d6 C092 0000 sts ServoNickValue,r12 |
| 992 .L68: |
| 993 08da 8091 0000 lds r24,EE_Parameter+41 |
| 994 08de 282F mov r18,r24 |
| 995 08e0 30E0 ldi r19,lo8(0) |
| 996 08e2 220F lsl r18 |
| 997 08e4 331F rol r19 |
| 998 08e6 220F lsl r18 |
| 999 08e8 331F rol r19 |
| 1000 08ea 8091 0000 lds r24,ServoNickValue |
| 1001 08ee 9091 0000 lds r25,(ServoNickValue)+1 |
| 1002 08f2 8217 cp r24,r18 |
| 1003 08f4 9307 cpc r25,r19 |
| 1004 08f6 04F0 brlt .L96 |
| 1005 08f8 8091 0000 lds r24,EE_Parameter+42 |
| 1006 08fc 282F mov r18,r24 |
| 1007 08fe 30E0 ldi r19,lo8(0) |
| 1008 0900 220F lsl r18 |
| 1009 0902 331F rol r19 |
| 1010 0904 220F lsl r18 |
| 1011 0906 331F rol r19 |
| 1012 0908 8091 0000 lds r24,ServoNickValue |
| 1013 090c 9091 0000 lds r25,(ServoNickValue)+1 |
| 1014 0910 2817 cp r18,r24 |
| 1015 0912 3907 cpc r19,r25 |
| 1016 0914 04F4 brge .L70 |
| 1017 .L96: |
| 1018 0916 3093 0000 sts (ServoNickValue)+1,r19 |
| 1019 091a 2093 0000 sts ServoNickValue,r18 |
| 1020 .L70: |
| 1021 091e 8091 0000 lds r24,ServoNickValue |
| 1022 0922 9091 0000 lds r25,(ServoNickValue)+1 |
| 1023 0926 8755 subi r24,lo8(-(425)) |
| 1024 0928 9E4F sbci r25,hi8(-(425)) |
| 1025 092a 9093 0000 sts (RemainingPulse.2297)+1,r25 |
| 1026 092e 8093 0000 sts RemainingPulse.2297,r24 |
| 1027 0932 8091 0000 lds r24,ServoNickValue |
| 1028 0936 9091 0000 lds r25,(ServoNickValue)+1 |
| 1029 093a 97FD sbrc r25,7 |
| 1030 093c 00C0 rjmp .L110 |
| 1031 .L71: |
| 1032 093e 9595 asr r25 |
| 1033 0940 8795 ror r24 |
| 1034 0942 9595 asr r25 |
| 1035 0944 8795 ror r24 |
| 1036 0946 9093 0000 sts (ServoNickValue)+1,r25 |
| 1037 094a 8093 0000 sts ServoNickValue,r24 |
| 1038 094e 00C0 rjmp .L62 |
| 1039 .L102: |
| 1040 0950 0396 adiw r24,3 |
| 1041 0952 00C0 rjmp .L55 |
| 1042 .L100: |
| 1043 0954 4D5F subi r20,lo8(-(3)) |
| 1044 0956 5F4F sbci r21,hi8(-(3)) |
| 1045 0958 00C0 rjmp .L50 |
| 1046 .L78: |
| 1047 095a 3093 0000 sts (RemainingPulse.2297)+1,r19 |
| 1048 095e 2093 0000 sts RemainingPulse.2297,r18 |
| 1049 0962 00C0 rjmp .L79 |
| 1050 .L67: |
| 1051 0964 C090 0000 lds r12,ServoNickValue |
| 1052 0968 D090 0000 lds r13,(ServoNickValue)+1 |
| 1053 096c E090 0000 lds r14,EE_Parameter+40 |
| 1054 0970 FF24 clr r15 |
| 1055 0972 00E0 ldi r16,lo8(0) |
| 1056 0974 10E0 ldi r17,hi8(0) |
| 1057 0976 6091 0000 lds r22,IntegralNick |
| 1058 097a 7091 0000 lds r23,(IntegralNick)+1 |
| 1059 097e 8091 0000 lds r24,(IntegralNick)+2 |
| 1060 0982 9091 0000 lds r25,(IntegralNick)+3 |
| 1061 0986 20E8 ldi r18,lo8(128) |
| 1062 0988 30E0 ldi r19,hi8(128) |
| 1063 098a 40E0 ldi r20,hlo8(128) |
| 1064 098c 50E0 ldi r21,hhi8(128) |
| 1065 098e 0E94 0000 call __divmodsi4 |
| 1066 0992 C801 movw r24,r16 |
| 1067 0994 B701 movw r22,r14 |
| 1068 0996 0E94 0000 call __mulsi3 |
| 1069 099a 660F lsl r22 |
| 1070 099c 771F rol r23 |
| 1071 099e 881F rol r24 |
| 1072 09a0 991F rol r25 |
| 1073 09a2 660F lsl r22 |
| 1074 09a4 771F rol r23 |
| 1075 09a6 881F rol r24 |
| 1076 09a8 991F rol r25 |
| 1077 09aa 20E0 ldi r18,lo8(256) |
| 1078 09ac 31E0 ldi r19,hi8(256) |
| 1079 09ae 40E0 ldi r20,hlo8(256) |
| 1080 09b0 50E0 ldi r21,hhi8(256) |
| 1081 09b2 0E94 0000 call __divmodsi4 |
| 1082 09b6 C21A sub r12,r18 |
| 1083 09b8 D30A sbc r13,r19 |
| 1084 09ba D092 0000 sts (ServoNickValue)+1,r13 |
| 1085 09be C092 0000 sts ServoNickValue,r12 |
| 1086 09c2 00C0 rjmp .L68 |
| 1087 .L73: |
| 1088 09c4 C090 0000 lds r12,ServoRollValue |
| 1089 09c8 D090 0000 lds r13,(ServoRollValue)+1 |
| 1090 09cc E090 0000 lds r14,EE_Parameter+44 |
| 1091 09d0 FF24 clr r15 |
| 1092 09d2 00E0 ldi r16,lo8(0) |
| 1093 09d4 10E0 ldi r17,hi8(0) |
| 1094 09d6 6091 0000 lds r22,IntegralRoll |
| 1095 09da 7091 0000 lds r23,(IntegralRoll)+1 |
| 1096 09de 8091 0000 lds r24,(IntegralRoll)+2 |
| 1097 09e2 9091 0000 lds r25,(IntegralRoll)+3 |
| 1098 09e6 20E8 ldi r18,lo8(128) |
| 1099 09e8 30E0 ldi r19,hi8(128) |
| 1100 09ea 40E0 ldi r20,hlo8(128) |
| 1101 09ec 50E0 ldi r21,hhi8(128) |
| 1102 09ee 0E94 0000 call __divmodsi4 |
| 1103 09f2 C801 movw r24,r16 |
| 1104 09f4 B701 movw r22,r14 |
| 1105 09f6 0E94 0000 call __mulsi3 |
| 1106 09fa 660F lsl r22 |
| 1107 09fc 771F rol r23 |
| 1108 09fe 881F rol r24 |
| 1109 0a00 991F rol r25 |
| 1110 0a02 660F lsl r22 |
| 1111 0a04 771F rol r23 |
| 1112 0a06 881F rol r24 |
| 1113 0a08 991F rol r25 |
| 1114 0a0a 20E0 ldi r18,lo8(256) |
| 1115 0a0c 31E0 ldi r19,hi8(256) |
| 1116 0a0e 40E0 ldi r20,hlo8(256) |
| 1117 0a10 50E0 ldi r21,hhi8(256) |
| 1118 0a12 0E94 0000 call __divmodsi4 |
| 1119 0a16 C21A sub r12,r18 |
| 1120 0a18 D30A sbc r13,r19 |
| 1121 0a1a D092 0000 sts (ServoRollValue)+1,r13 |
| 1122 0a1e C092 0000 sts ServoRollValue,r12 |
| 1123 0a22 00C0 rjmp .L74 |
| 1124 .L109: |
| 1125 0a24 4D5F subi r20,lo8(-(3)) |
| 1126 0a26 5F4F sbci r21,hi8(-(3)) |
| 1127 0a28 00C0 rjmp .L66 |
| 1128 .L107: |
| 1129 0a2a 4D5F subi r20,lo8(-(3)) |
| 1130 0a2c 5F4F sbci r21,hi8(-(3)) |
| 1131 0a2e 00C0 rjmp .L72 |
| 1132 .L110: |
| 1133 0a30 0396 adiw r24,3 |
| 1134 0a32 00C0 rjmp .L71 |
| 1135 .L108: |
| 1136 0a34 0396 adiw r24,3 |
| 1137 0a36 00C0 rjmp .L77 |
| 1139 .global CountMilliseconds |
| 1140 .global CountMilliseconds |
| 1141 .section .bss |
| 1144 CountMilliseconds: |
| 1145 0000 0000 .skip 2,0 |
| 1146 .global UpdateMotor |
| 1147 .global UpdateMotor |
| 1150 UpdateMotor: |
| 1151 0002 00 .skip 1,0 |
| 1152 .global cntKompass |
| 1153 .global cntKompass |
| 1156 cntKompass: |
| 1157 0003 0000 .skip 2,0 |
| 1158 .global beeptime |
| 1159 .global beeptime |
| 1162 beeptime: |
| 1163 0005 0000 .skip 2,0 |
| 1164 .global SendSPI |
| 1165 .global SendSPI |
| 1168 SendSPI: |
| 1169 0007 00 .skip 1,0 |
| 1170 .global ServoActive |
| 1171 .global ServoActive |
| 1174 ServoActive: |
| 1175 0008 00 .skip 1,0 |
| 1176 .global BeepMuster |
| 1177 .data |
| 1180 BeepMuster: |
| 1181 0000 FFFF .word -1 |
| 1182 .global ServoNickValue |
| 1183 .global ServoNickValue |
| 1184 .section .bss |
| 1187 ServoNickValue: |
| 1188 0009 0000 .skip 2,0 |
| 1189 .global ServoRollValue |
| 1190 .global ServoRollValue |
| 1193 ServoRollValue: |
| 1194 000b 0000 .skip 2,0 |
| 1195 .data |
| 1198 ServoRollOffset.2301: |
| 1199 0002 FC01 .word 508 |
| 1202 ServoNickOffset.2300: |
| 1203 0004 FC01 .word 508 |
| 1204 .lcomm ServoIndex.2299,1 |
| 1205 .lcomm ServoFrameTime.2298,2 |
| 1206 .lcomm RemainingPulse.2297,2 |
| 1207 .lcomm PulseOutput.2296,1 |
| 1208 .lcomm cnt.2155,1 |
| 1211 cnt_1ms.2154: |
| 1212 0006 01 .byte 1 |
| 1213 .lcomm tim_main,2 |
| 1214 .comm Mixer,77,1 |
| 1215 .global __do_copy_data |
| 1216 .global __do_clear_bss |
| DEFINED SYMBOLS |
| *ABS*:00000000 timer0.c |
| C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:2 *ABS*:0000003f __SREG__ |
| C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:3 *ABS*:0000003e __SP_H__ |
| C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:4 *ABS*:0000003d __SP_L__ |
| C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:5 *ABS*:00000034 __CCP__ |
| C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:7 *ABS*:00000001 __zero_reg__ |
| C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:11 .text:00000000 __vector_18 |
| C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:1168 .bss:00000007 SendSPI |
| C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:1207 .bss:00000013 cnt.2155 |
| C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:1211 .data:00000006 cnt_1ms.2154 |
| C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:1144 .bss:00000000 CountMilliseconds |
| C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:1162 .bss:00000005 beeptime |
| C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:1180 .data:00000000 BeepMuster |
| C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:1156 .bss:00000003 cntKompass |
| C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:1150 .bss:00000002 UpdateMotor |
| C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:191 .text:000001ba SetDelay |
| C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:206 .text:000001ce CheckDelay |
| C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:222 .text:000001e4 Delay_ms |
| C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:248 .text:00000210 Delay_ms_Mess |
| C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:282 .text:00000250 TIMER2_Init |
| C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:330 .text:0000029e Timer_Init |
| C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:1208 .bss:00000014 tim_main |
| C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:357 .text:000002ce __vector_9 |
| C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:1206 .bss:00000012 PulseOutput.2296 |
| C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:1202 .data:00000004 ServoNickOffset.2300 |
| C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:1187 .bss:00000009 ServoNickValue |
| C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:1205 .bss:00000010 RemainingPulse.2297 |
| C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:1204 .bss:0000000e ServoFrameTime.2298 |
| .bss:0000000d ServoIndex.2299 |
| C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:1174 .bss:00000008 ServoActive |
| C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:1198 .data:00000002 ServoRollOffset.2301 |
| C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:1193 .bss:0000000b ServoRollValue |
| *COM*:0000004d Mixer |
| |
| UNDEFINED SYMBOLS |
| SpektrumTimer |
| PlatinenVersion |
| EE_Parameter |
| __udivmodhi4 |
| KompassValue |
| KompassStartwert |
| __divmodhi4 |
| KompassRichtung |
| AdReady |
| Parameter_UserParam8 |
| Parameter_ServoNickControl |
| IntegralNick |
| __divmodsi4 |
| __mulsi3 |
| SenderOkay |
| PPM_in |
| Parameter_ServoRollControl |
| IntegralRoll |
| __do_copy_data |
| __do_clear_bss |