0,0 → 1,10990 |
1 .file "fc.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 GasIsZeroCnt |
11 .global GasIsZeroCnt |
12 .section .bss |
15 GasIsZeroCnt: |
16 0000 0000 .skip 2,0 |
17 .global HooverGasEmergencyPercent |
18 .global HooverGasEmergencyPercent |
21 HooverGasEmergencyPercent: |
22 0002 0000 .skip 2,0 |
23 .global VarioCharacter |
24 .data |
27 VarioCharacter: |
28 0000 20 .byte 32 |
29 .global GIER_GRAD_FAKTOR |
32 GIER_GRAD_FAKTOR: |
33 0001 0B05 0000 .long 1291 |
34 .global FC_StatusFlags2 |
35 .global FC_StatusFlags2 |
36 .section .bss |
39 FC_StatusFlags2: |
40 0004 00 .skip 1,0 |
41 .global FC_StatusFlags |
42 .global FC_StatusFlags |
45 FC_StatusFlags: |
46 0005 00 .skip 1,0 |
47 .global modell_fliegt |
48 .global modell_fliegt |
51 modell_fliegt: |
52 0006 0000 .skip 2,0 |
53 .global MaxStickRoll |
54 .global MaxStickRoll |
57 MaxStickRoll: |
58 0008 0000 .skip 2,0 |
59 .global MaxStickNick |
60 .global MaxStickNick |
63 MaxStickNick: |
64 000a 0000 .skip 2,0 |
65 .global ExternHoehenValue |
66 .data |
69 ExternHoehenValue: |
70 0005 ECFF .word -20 |
71 .global ExternStickGier |
72 .global ExternStickGier |
73 .section .bss |
76 ExternStickGier: |
77 000c 0000 .skip 2,0 |
78 .global ExternStickRoll |
79 .global ExternStickRoll |
82 ExternStickRoll: |
83 000e 0000 .skip 2,0 |
84 .global ExternStickNick |
85 .global ExternStickNick |
88 ExternStickNick: |
89 0010 0000 .skip 2,0 |
90 .global sintab |
91 .data |
94 sintab: |
95 0007 00 .byte 0 |
96 0008 02 .byte 2 |
97 0009 04 .byte 4 |
98 000a 06 .byte 6 |
99 000b 07 .byte 7 |
100 000c 08 .byte 8 |
101 000d 08 .byte 8 |
102 000e 08 .byte 8 |
103 000f 07 .byte 7 |
104 0010 06 .byte 6 |
105 0011 04 .byte 4 |
106 0012 02 .byte 2 |
107 0013 00 .byte 0 |
108 0014 FE .byte -2 |
109 0015 FC .byte -4 |
110 0016 FA .byte -6 |
111 0017 F9 .byte -7 |
112 0018 F8 .byte -8 |
113 0019 F8 .byte -8 |
114 001a F8 .byte -8 |
115 001b F9 .byte -7 |
116 001c FA .byte -6 |
117 001d FC .byte -4 |
118 001e FE .byte -2 |
119 001f 00 .byte 0 |
120 0020 02 .byte 2 |
121 0021 04 .byte 4 |
122 0022 06 .byte 6 |
123 0023 07 .byte 7 |
124 0024 08 .byte 8 |
125 0025 08 .byte 8 |
126 .global CareFree |
127 .global CareFree |
128 .section .bss |
131 CareFree: |
132 0012 00 .skip 1,0 |
133 .global Parameter_DynamicStability |
134 .data |
137 Parameter_DynamicStability: |
138 0026 64 .byte 100 |
139 .global Parameter_CouplingYawCorrection |
142 Parameter_CouplingYawCorrection: |
143 0027 40 .byte 64 |
144 .global Parameter_AchsKopplung2 |
147 Parameter_AchsKopplung2: |
148 0028 41 .byte 65 |
149 .global Parameter_AchsKopplung1 |
152 Parameter_AchsKopplung1: |
153 0029 5A .byte 90 |
154 .global Parameter_LoopGasLimit |
157 Parameter_LoopGasLimit: |
158 002a 46 .byte 70 |
159 .global Parameter_ServoRollControl |
162 Parameter_ServoRollControl: |
163 002b 64 .byte 100 |
164 .global Parameter_ServoNickControl |
167 Parameter_ServoNickControl: |
168 002c 64 .byte 100 |
169 .global Parameter_UserParam8 |
170 .global Parameter_UserParam8 |
171 .section .bss |
174 Parameter_UserParam8: |
175 0013 00 .skip 1,0 |
176 .global Parameter_UserParam7 |
177 .global Parameter_UserParam7 |
180 Parameter_UserParam7: |
181 0014 00 .skip 1,0 |
182 .global Parameter_UserParam6 |
183 .global Parameter_UserParam6 |
186 Parameter_UserParam6: |
187 0015 00 .skip 1,0 |
188 .global Parameter_UserParam5 |
189 .global Parameter_UserParam5 |
192 Parameter_UserParam5: |
193 0016 00 .skip 1,0 |
194 .global Parameter_UserParam4 |
195 .global Parameter_UserParam4 |
198 Parameter_UserParam4: |
199 0017 00 .skip 1,0 |
200 .global Parameter_UserParam3 |
201 .global Parameter_UserParam3 |
204 Parameter_UserParam3: |
205 0018 00 .skip 1,0 |
206 .global Parameter_UserParam2 |
207 .global Parameter_UserParam2 |
210 Parameter_UserParam2: |
211 0019 00 .skip 1,0 |
212 .global Parameter_UserParam1 |
213 .global Parameter_UserParam1 |
216 Parameter_UserParam1: |
217 001a 00 .skip 1,0 |
218 .global Parameter_I_Faktor |
219 .data |
222 Parameter_I_Faktor: |
223 002d 0A .byte 10 |
224 .global Parameter_Gier_P |
227 Parameter_Gier_P: |
228 002e 02 .byte 2 |
229 .global Parameter_Gyro_Gier_I |
232 Parameter_Gyro_Gier_I: |
233 002f 96 .byte -106 |
234 .global Parameter_Gyro_Gier_P |
237 Parameter_Gyro_Gier_P: |
238 0030 96 .byte -106 |
239 .global Parameter_Gyro_I |
242 Parameter_Gyro_I: |
243 0031 96 .byte -106 |
244 .global Parameter_Gyro_P |
247 Parameter_Gyro_P: |
248 0032 96 .byte -106 |
249 .global Parameter_Gyro_D |
252 Parameter_Gyro_D: |
253 0033 08 .byte 8 |
254 .global Parameter_Hoehe_GPS_Z |
257 Parameter_Hoehe_GPS_Z: |
258 0034 40 .byte 64 |
259 .global Parameter_KompassWirkung |
262 Parameter_KompassWirkung: |
263 0035 40 .byte 64 |
264 .global Parameter_Hoehe_ACC_Wirkung |
267 Parameter_Hoehe_ACC_Wirkung: |
268 0036 3A .byte 58 |
269 .global Parameter_Hoehe_P |
272 Parameter_Hoehe_P: |
273 0037 10 .byte 16 |
274 .global Parameter_HoehenSchalter |
277 Parameter_HoehenSchalter: |
278 0038 FB .byte -5 |
279 .global Parameter_Luftdruck_D |
282 Parameter_Luftdruck_D: |
283 0039 30 .byte 48 |
284 .global Looping_Oben |
285 .global Looping_Oben |
286 .section .bss |
289 Looping_Oben: |
290 001b 00 .skip 1,0 |
291 .global Looping_Unten |
292 .global Looping_Unten |
295 Looping_Unten: |
296 001c 00 .skip 1,0 |
297 .global Looping_Rechts |
298 .global Looping_Rechts |
301 Looping_Rechts: |
302 001d 00 .skip 1,0 |
303 .global Looping_Links |
304 .global Looping_Links |
307 Looping_Links: |
308 001e 00 .skip 1,0 |
309 .global Looping_Roll |
310 .global Looping_Roll |
313 Looping_Roll: |
314 001f 00 .skip 1,0 |
315 .global Looping_Nick |
316 .global Looping_Nick |
319 Looping_Nick: |
320 0020 00 .skip 1,0 |
321 .global Ki |
322 .data |
325 Ki: |
326 003a 3801 .word 312 |
327 .global HoverGas |
328 .global HoverGas |
329 .section .bss |
332 HoverGas: |
333 0021 0000 .skip 2,0 |
334 .global LageKorrekturNick |
335 .global LageKorrekturNick |
338 LageKorrekturNick: |
339 0023 0000 .skip 2,0 |
340 .global LageKorrekturRoll |
341 .global LageKorrekturRoll |
344 LageKorrekturRoll: |
345 0025 0000 .skip 2,0 |
346 .global NeueKompassRichtungMerken |
347 .global NeueKompassRichtungMerken |
350 NeueKompassRichtungMerken: |
351 0027 00 .skip 1,0 |
352 .global CalibrationDone |
353 .global CalibrationDone |
356 CalibrationDone: |
357 0028 00 .skip 1,0 |
358 .global CompassGierSetpoint |
359 .global CompassGierSetpoint |
362 CompassGierSetpoint: |
363 0029 0000 .skip 2,0 |
364 .global WaypointTrimming |
365 .global WaypointTrimming |
368 WaypointTrimming: |
369 002b 00 .skip 1,0 |
370 .global carefree_old |
371 .data |
374 carefree_old: |
375 003c 32 .byte 50 |
376 .global FromNC_AltitudeSpeed |
377 .global FromNC_AltitudeSpeed |
378 .section .bss |
381 FromNC_AltitudeSpeed: |
382 002c 00 .skip 1,0 |
383 .global FromNC_AltitudeSetpoint |
384 .global FromNC_AltitudeSetpoint |
387 FromNC_AltitudeSetpoint: |
388 002d 0000 0000 .skip 4,0 |
389 .global AltitudeSetpointTrimming |
390 .global AltitudeSetpointTrimming |
393 AltitudeSetpointTrimming: |
394 0031 0000 .skip 2,0 |
395 .global SollHoehe |
396 .global SollHoehe |
399 SollHoehe: |
400 0033 0000 0000 .skip 4,0 |
401 .global HoehenWert |
402 .global HoehenWert |
405 HoehenWert: |
406 0037 0000 0000 .skip 4,0 |
407 .global StartTrigger |
408 .global StartTrigger |
411 StartTrigger: |
412 003b 00 .skip 1,0 |
413 .global MotorenEin |
414 .global MotorenEin |
417 MotorenEin: |
418 003c 00 .skip 1,0 |
419 .global SenderOkay |
420 .global SenderOkay |
423 SenderOkay: |
424 003d 00 .skip 1,0 |
425 .global Poti |
426 .global Poti |
429 Poti: |
430 003e 0000 0000 .skip 9,0 |
430 0000 0000 |
430 00 |
431 .global StickGas |
432 .global StickGas |
435 StickGas: |
436 0047 0000 .skip 2,0 |
437 .global StickGier |
438 .global StickGier |
441 StickGier: |
442 0049 0000 .skip 2,0 |
443 .global StickRoll |
444 .global StickRoll |
447 StickRoll: |
448 004b 0000 .skip 2,0 |
449 .global StickNick |
450 .global StickNick |
453 StickNick: |
454 004d 0000 .skip 2,0 |
455 .global HoverGasMax |
456 .data |
459 HoverGasMax: |
460 003d FF03 .word 1023 |
461 .global HoverGasMin |
462 .global HoverGasMin |
463 .section .bss |
466 HoverGasMin: |
467 004f 0000 .skip 2,0 |
468 .global StickGasHover |
469 .data |
472 StickGasHover: |
473 003f 7800 .word 120 |
474 .global GierGyroFehler |
475 .global GierGyroFehler |
476 .section .bss |
479 GierGyroFehler: |
480 0051 0000 .skip 2,0 |
481 .global Umschlag180Roll |
482 .data |
485 Umschlag180Roll: |
486 0041 90D0 0300 .long 250000 |
487 .global Umschlag180Nick |
490 Umschlag180Nick: |
491 0045 90D0 0300 .long 250000 |
492 .global TrichterFlug |
493 .global TrichterFlug |
494 .section .bss |
497 TrichterFlug: |
498 0053 00 .skip 1,0 |
499 .global HoehenReglerAktiv |
500 .global HoehenReglerAktiv |
503 HoehenReglerAktiv: |
504 0054 00 .skip 1,0 |
505 .global KompassSignalSchlecht |
506 .data |
509 KompassSignalSchlecht: |
510 0049 3200 .word 50 |
511 .global KompassFusion |
514 KompassFusion: |
515 004b 20 .byte 32 |
516 .global CalculateCompassTimer |
519 CalculateCompassTimer: |
520 004c 64 .byte 100 |
521 .global KompassSollWert |
522 .global KompassSollWert |
523 .section .bss |
526 KompassSollWert: |
527 0055 0000 .skip 2,0 |
528 .global KompassValue |
529 .data |
532 KompassValue: |
533 004d FFFF .word -1 |
534 .global Mess_Integral_Hoch |
535 .global Mess_Integral_Hoch |
536 .section .bss |
539 Mess_Integral_Hoch: |
540 0057 0000 0000 .skip 4,0 |
541 .global SummeRoll |
542 .global SummeRoll |
545 SummeRoll: |
546 005b 0000 0000 .skip 4,0 |
547 .global SummeNick |
548 .global SummeNick |
551 SummeNick: |
552 005f 0000 0000 .skip 4,0 |
553 .global Mess_Integral_Gier2 |
554 .global Mess_Integral_Gier2 |
557 Mess_Integral_Gier2: |
558 0063 0000 0000 .skip 4,0 |
559 .global Mess_Integral_Gier |
560 .global Mess_Integral_Gier |
563 Mess_Integral_Gier: |
564 0067 0000 0000 .skip 4,0 |
565 .global Mess_IntegralRoll2 |
566 .global Mess_IntegralRoll2 |
569 Mess_IntegralRoll2: |
570 006b 0000 0000 .skip 4,0 |
571 .global Mess_IntegralRoll |
572 .global Mess_IntegralRoll |
575 Mess_IntegralRoll: |
576 006f 0000 0000 .skip 4,0 |
577 .global Mess_IntegralNick2 |
578 .global Mess_IntegralNick2 |
581 Mess_IntegralNick2: |
582 0073 0000 0000 .skip 4,0 |
583 .global Mess_IntegralNick |
584 .global Mess_IntegralNick |
587 Mess_IntegralNick: |
588 0077 0000 0000 .skip 4,0 |
589 .global Integral_Gier |
590 .global Integral_Gier |
593 Integral_Gier: |
594 007b 0000 0000 .skip 4,0 |
595 .global IntegralAccZ |
596 .global IntegralAccZ |
599 IntegralAccZ: |
600 007f 0000 0000 .skip 4,0 |
601 .global IntegralAccRoll |
602 .global IntegralAccRoll |
605 IntegralAccRoll: |
606 0083 0000 0000 .skip 4,0 |
607 .global IntegralAccNick |
608 .global IntegralAccNick |
611 IntegralAccNick: |
612 0087 0000 0000 .skip 4,0 |
613 .global IntegralRoll2 |
614 .global IntegralRoll2 |
617 IntegralRoll2: |
618 008b 0000 0000 .skip 4,0 |
619 .global IntegralRoll |
620 .global IntegralRoll |
623 IntegralRoll: |
624 008f 0000 0000 .skip 4,0 |
625 .global IntegralNick2 |
626 .global IntegralNick2 |
629 IntegralNick2: |
630 0093 0000 0000 .skip 4,0 |
631 .global IntegralNick |
632 .global IntegralNick |
635 IntegralNick: |
636 0097 0000 0000 .skip 4,0 |
637 .global ControlHeading |
638 .global ControlHeading |
641 ControlHeading: |
642 009b 00 .skip 1,0 |
643 .global NeutralAccZ |
644 .global NeutralAccZ |
647 NeutralAccZ: |
648 009c 0000 .skip 2,0 |
649 .global NaviCntAcc |
650 .global NaviCntAcc |
653 NaviCntAcc: |
654 009e 0000 .skip 2,0 |
655 .global NeutralAccY |
656 .global NeutralAccY |
659 NeutralAccY: |
660 00a0 0000 .skip 2,0 |
661 .global NeutralAccX |
662 .global NeutralAccX |
665 NeutralAccX: |
666 00a2 0000 .skip 2,0 |
667 .global StartNeutralNick |
668 .global StartNeutralNick |
671 StartNeutralNick: |
672 00a4 0000 .skip 2,0 |
673 .global StartNeutralRoll |
674 .global StartNeutralRoll |
677 StartNeutralRoll: |
678 00a6 0000 .skip 2,0 |
679 .global AdNeutralGier |
680 .global AdNeutralGier |
683 AdNeutralGier: |
684 00a8 0000 .skip 2,0 |
685 .global AdNeutralRoll |
686 .global AdNeutralRoll |
689 AdNeutralRoll: |
690 00aa 0000 .skip 2,0 |
691 .global AdNeutralNick |
692 .global AdNeutralNick |
695 AdNeutralNick: |
696 00ac 0000 .skip 2,0 |
697 .global BaroExpandActive |
698 .global BaroExpandActive |
701 BaroExpandActive: |
702 00ae 0000 .skip 2,0 |
703 .text |
704 .global CopyDebugValues |
706 CopyDebugValues: |
707 /* prologue: frame size=0 */ |
708 0000 EF92 push r14 |
709 0002 FF92 push r15 |
710 0004 0F93 push r16 |
711 0006 1F93 push r17 |
712 /* prologue end (size=4) */ |
713 0008 8091 0000 lds r24,EE_Parameter+28 |
714 000c 9927 clr r25 |
715 000e 880F lsl r24 |
716 0010 991F rol r25 |
717 0012 880F lsl r24 |
718 0014 991F rol r25 |
719 0016 7C01 movw r14,r24 |
720 0018 0027 clr r16 |
721 001a F7FC sbrc r15,7 |
722 001c 0095 com r16 |
723 001e 102F mov r17,r16 |
724 0020 8091 0000 lds r24,IntegralNick |
725 0024 9091 0000 lds r25,(IntegralNick)+1 |
726 0028 A091 0000 lds r26,(IntegralNick)+2 |
727 002c B091 0000 lds r27,(IntegralNick)+3 |
728 0030 BC01 movw r22,r24 |
729 0032 CD01 movw r24,r26 |
730 0034 A801 movw r20,r16 |
731 0036 9701 movw r18,r14 |
732 0038 0E94 0000 call __divmodsi4 |
733 003c 3093 0000 sts (DebugOut+2)+1,r19 |
734 0040 2093 0000 sts DebugOut+2,r18 |
735 0044 8091 0000 lds r24,IntegralRoll |
736 0048 9091 0000 lds r25,(IntegralRoll)+1 |
737 004c A091 0000 lds r26,(IntegralRoll)+2 |
738 0050 B091 0000 lds r27,(IntegralRoll)+3 |
739 0054 BC01 movw r22,r24 |
740 0056 CD01 movw r24,r26 |
741 0058 A801 movw r20,r16 |
742 005a 9701 movw r18,r14 |
743 005c 0E94 0000 call __divmodsi4 |
744 0060 3093 0000 sts (DebugOut+4)+1,r19 |
745 0064 2093 0000 sts DebugOut+4,r18 |
746 0068 8091 0000 lds r24,Mittelwert_AccNick |
747 006c 9091 0000 lds r25,(Mittelwert_AccNick)+1 |
748 0070 97FD sbrc r25,7 |
749 0072 0396 adiw r24,3 |
750 .L2: |
751 0074 9595 asr r25 |
752 0076 8795 ror r24 |
753 0078 9595 asr r25 |
754 007a 8795 ror r24 |
755 007c 9093 0000 sts (DebugOut+6)+1,r25 |
756 0080 8093 0000 sts DebugOut+6,r24 |
757 0084 8091 0000 lds r24,Mittelwert_AccRoll |
758 0088 9091 0000 lds r25,(Mittelwert_AccRoll)+1 |
759 008c 97FD sbrc r25,7 |
760 008e 0396 adiw r24,3 |
761 .L3: |
762 0090 9595 asr r25 |
763 0092 8795 ror r24 |
764 0094 9595 asr r25 |
765 0096 8795 ror r24 |
766 0098 9093 0000 sts (DebugOut+8)+1,r25 |
767 009c 8093 0000 sts DebugOut+8,r24 |
768 00a0 8091 0000 lds r24,AdNeutralGier |
769 00a4 9091 0000 lds r25,(AdNeutralGier)+1 |
770 00a8 2091 0000 lds r18,AdWertGier |
771 00ac 3091 0000 lds r19,(AdWertGier)+1 |
772 00b0 821B sub r24,r18 |
773 00b2 930B sbc r25,r19 |
774 00b4 9093 0000 sts (DebugOut+10)+1,r25 |
775 00b8 8093 0000 sts DebugOut+10,r24 |
776 00bc 8091 0000 lds r24,HoehenWert |
777 00c0 9091 0000 lds r25,(HoehenWert)+1 |
778 00c4 A091 0000 lds r26,(HoehenWert)+2 |
779 00c8 B091 0000 lds r27,(HoehenWert)+3 |
780 00cc BC01 movw r22,r24 |
781 00ce CD01 movw r24,r26 |
782 00d0 25E0 ldi r18,lo8(5) |
783 00d2 30E0 ldi r19,hi8(5) |
784 00d4 40E0 ldi r20,hlo8(5) |
785 00d6 50E0 ldi r21,hhi8(5) |
786 00d8 0E94 0000 call __divmodsi4 |
787 00dc 3093 0000 sts (DebugOut+12)+1,r19 |
788 00e0 2093 0000 sts DebugOut+12,r18 |
789 00e4 8091 0000 lds r24,AdWertAccHoch |
790 00e8 9091 0000 lds r25,(AdWertAccHoch)+1 |
791 00ec 9093 0000 sts (DebugOut+14)+1,r25 |
792 00f0 8093 0000 sts DebugOut+14,r24 |
793 00f4 8091 0000 lds r24,UBat |
794 00f8 9091 0000 lds r25,(UBat)+1 |
795 00fc 9093 0000 sts (DebugOut+16)+1,r25 |
796 0100 8093 0000 sts DebugOut+16,r24 |
797 0104 8091 0000 lds r24,Motor+1 |
798 0108 9927 clr r25 |
799 010a 9093 0000 sts (DebugOut+18)+1,r25 |
800 010e 8093 0000 sts DebugOut+18,r24 |
801 0112 8091 0000 lds r24,Motor+9 |
802 0116 9927 clr r25 |
803 0118 9093 0000 sts (DebugOut+20)+1,r25 |
804 011c 8093 0000 sts DebugOut+20,r24 |
805 0120 8091 0000 lds r24,Motor+17 |
806 0124 9927 clr r25 |
807 0126 9093 0000 sts (DebugOut+22)+1,r25 |
808 012a 8093 0000 sts DebugOut+22,r24 |
809 012e 8091 0000 lds r24,Motor+25 |
810 0132 9927 clr r25 |
811 0134 9093 0000 sts (DebugOut+24)+1,r25 |
812 0138 8093 0000 sts DebugOut+24,r24 |
813 013c 8091 0000 lds r24,Motor+33 |
814 0140 9927 clr r25 |
815 0142 9093 0000 sts (DebugOut+26)+1,r25 |
816 0146 8093 0000 sts DebugOut+26,r24 |
817 014a 8091 0000 lds r24,Motor+41 |
818 014e 9927 clr r25 |
819 0150 9093 0000 sts (DebugOut+28)+1,r25 |
820 0154 8093 0000 sts DebugOut+28,r24 |
821 0158 8091 0000 lds r24,Motor+49 |
822 015c 9927 clr r25 |
823 015e 9093 0000 sts (DebugOut+30)+1,r25 |
824 0162 8093 0000 sts DebugOut+30,r24 |
825 0166 8091 0000 lds r24,Motor+57 |
826 016a 9927 clr r25 |
827 016c 9093 0000 sts (DebugOut+32)+1,r25 |
828 0170 8093 0000 sts DebugOut+32,r24 |
829 0174 8091 0000 lds r24,SenderOkay |
830 0178 9927 clr r25 |
831 017a 9093 0000 sts (DebugOut+34)+1,r25 |
832 017e 8093 0000 sts DebugOut+34,r24 |
833 0182 8091 0000 lds r24,ErsatzKompass |
834 0186 9091 0000 lds r25,(ErsatzKompass)+1 |
835 018a A091 0000 lds r26,(ErsatzKompass)+2 |
836 018e B091 0000 lds r27,(ErsatzKompass)+3 |
837 0192 2091 0000 lds r18,GIER_GRAD_FAKTOR |
838 0196 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1 |
839 019a 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2 |
840 019e 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3 |
841 01a2 BC01 movw r22,r24 |
842 01a4 CD01 movw r24,r26 |
843 01a6 0E94 0000 call __divmodsi4 |
844 01aa 3093 0000 sts (DebugOut+36)+1,r19 |
845 01ae 2093 0000 sts DebugOut+36,r18 |
846 01b2 8091 0000 lds r24,Capacity |
847 01b6 9091 0000 lds r25,(Capacity)+1 |
848 01ba 9093 0000 sts (DebugOut+38)+1,r25 |
849 01be 8093 0000 sts DebugOut+38,r24 |
850 01c2 8091 0000 lds r24,Capacity+4 |
851 01c6 9091 0000 lds r25,(Capacity+4)+1 |
852 01ca 9093 0000 sts (DebugOut+40)+1,r25 |
853 01ce 8093 0000 sts DebugOut+40,r24 |
854 01d2 8091 0000 lds r24,ServoNickValue |
855 01d6 9091 0000 lds r25,(ServoNickValue)+1 |
856 01da 9093 0000 sts (DebugOut+42)+1,r25 |
857 01de 8093 0000 sts DebugOut+42,r24 |
858 01e2 8091 0000 lds r24,KompassValue |
859 01e6 9091 0000 lds r25,(KompassValue)+1 |
860 01ea 9093 0000 sts (DebugOut+44)+1,r25 |
861 01ee 8093 0000 sts DebugOut+44,r24 |
862 01f2 1092 0000 sts (DebugOut+46)+1,__zero_reg__ |
863 01f6 1092 0000 sts DebugOut+46,__zero_reg__ |
864 01fa 8091 0000 lds r24,Capacity+6 |
865 01fe 9927 clr r25 |
866 0200 9093 0000 sts (DebugOut+48)+1,r25 |
867 0204 8093 0000 sts DebugOut+48,r24 |
868 0208 8091 0000 lds r24,GPS_Nick |
869 020c 9091 0000 lds r25,(GPS_Nick)+1 |
870 0210 9093 0000 sts (DebugOut+50)+1,r25 |
871 0214 8093 0000 sts DebugOut+50,r24 |
872 0218 8091 0000 lds r24,GPS_Roll |
873 021c 9091 0000 lds r25,(GPS_Roll)+1 |
874 0220 9093 0000 sts (DebugOut+52)+1,r25 |
875 0224 8093 0000 sts DebugOut+52,r24 |
876 0228 8091 0000 lds r24,VersionInfo+5 |
877 022c 8823 tst r24 |
878 022e 01F4 brne .L5 |
879 0230 8091 0000 lds r24,VersionInfo+6 |
880 0234 8823 tst r24 |
881 0236 01F0 breq .L4 |
882 .L5: |
883 0238 8091 0000 lds r24,DebugOut+1 |
884 023c 8160 ori r24,lo8(1) |
885 023e 00C0 rjmp .L7 |
886 .L4: |
887 0240 8091 0000 lds r24,DebugOut+1 |
888 0244 8E7F andi r24,lo8(-2) |
889 .L7: |
890 0246 8093 0000 sts DebugOut+1,r24 |
891 /* epilogue: frame size=0 */ |
892 024a 1F91 pop r17 |
893 024c 0F91 pop r16 |
894 024e FF90 pop r15 |
895 0250 EF90 pop r14 |
896 0252 0895 ret |
897 /* epilogue end (size=5) */ |
898 /* function CopyDebugValues size 300 (291) */ |
900 .global Piep |
902 Piep: |
903 /* prologue: frame size=0 */ |
904 0254 EF92 push r14 |
905 0256 FF92 push r15 |
906 0258 1F93 push r17 |
907 025a CF93 push r28 |
908 025c DF93 push r29 |
909 /* prologue end (size=5) */ |
910 025e 182F mov r17,r24 |
911 0260 7B01 movw r14,r22 |
912 0262 8091 0000 lds r24,MotorenEin |
913 0266 8823 tst r24 |
914 0268 01F4 brne .L8 |
915 026a 8091 0000 lds r24,PlatinenVersion |
916 026e 8C30 cpi r24,lo8(12) |
917 0270 00F0 brlo .L11 |
918 0272 8631 cpi r24,lo8(22) |
919 0274 01F4 brne .L10 |
920 .L11: |
921 0276 2998 cbi 37-0x20,1 |
922 0278 00C0 rjmp .L12 |
923 .L10: |
924 027a 299A sbi 37-0x20,1 |
925 .L12: |
926 027c 1150 subi r17,lo8(-(-1)) |
927 027e 1F3F cpi r17,lo8(-1) |
928 0280 01F0 breq .L26 |
929 0282 F092 0000 sts (beeptime)+1,r15 |
930 0286 E092 0000 sts beeptime,r14 |
931 028a E701 movw r28,r14 |
932 .L34: |
933 028c 8091 0000 lds r24,beeptime |
934 0290 9091 0000 lds r25,(beeptime)+1 |
935 0294 892B or r24,r25 |
936 0296 01F4 brne .L31 |
937 0298 2097 sbiw r28,0 |
938 029a 01F0 breq .L12 |
939 .L31: |
940 029c 8091 0000 lds r24,UpdateMotor |
941 02a0 8823 tst r24 |
942 02a2 01F0 breq .L34 |
943 02a4 1092 0000 sts UpdateMotor,__zero_reg__ |
944 02a8 8091 0000 lds r24,beeptime |
945 02ac 9091 0000 lds r25,(beeptime)+1 |
946 02b0 892B or r24,r25 |
947 02b2 01F4 brne .L19 |
948 02b4 2197 sbiw r28,1 |
949 .L19: |
950 02b6 0E94 0000 call LIBFC_Polling |
951 02ba 00C0 rjmp .L34 |
952 .L26: |
953 02bc 8091 0000 lds r24,PlatinenVersion |
954 02c0 8C30 cpi r24,lo8(12) |
955 02c2 00F0 brlo .L23 |
956 02c4 8631 cpi r24,lo8(22) |
957 02c6 01F4 brne .L22 |
958 .L23: |
959 02c8 299A sbi 37-0x20,1 |
960 02ca 00C0 rjmp .L8 |
961 .L22: |
962 02cc 2998 cbi 37-0x20,1 |
963 .L8: |
964 /* epilogue: frame size=0 */ |
965 02ce DF91 pop r29 |
966 02d0 CF91 pop r28 |
967 02d2 1F91 pop r17 |
968 02d4 FF90 pop r15 |
969 02d6 EF90 pop r14 |
970 02d8 0895 ret |
971 /* epilogue end (size=6) */ |
972 /* function Piep size 67 (56) */ |
974 .global CalibrierMittelwert |
976 CalibrierMittelwert: |
977 /* prologue: frame size=0 */ |
978 02da CF93 push r28 |
979 02dc DF93 push r29 |
980 /* prologue end (size=2) */ |
981 02de 8091 0000 lds r24,PlatinenVersion |
982 02e2 8D30 cpi r24,lo8(13) |
983 02e4 01F4 brne .L36 |
984 02e6 0E94 0000 call SucheGyroOffset |
985 .L36: |
986 02ea 1092 7A00 sts 122,__zero_reg__ |
987 02ee 8091 0000 lds r24,AdWertNick |
988 02f2 9091 0000 lds r25,(AdWertNick)+1 |
989 02f6 9093 0000 sts (MesswertNick)+1,r25 |
990 02fa 8093 0000 sts MesswertNick,r24 |
991 02fe 8091 0000 lds r24,AdWertRoll |
992 0302 9091 0000 lds r25,(AdWertRoll)+1 |
993 0306 9093 0000 sts (MesswertRoll)+1,r25 |
994 030a 8093 0000 sts MesswertRoll,r24 |
995 030e 8091 0000 lds r24,AdWertGier |
996 0312 9091 0000 lds r25,(AdWertGier)+1 |
997 0316 9093 0000 sts (MesswertGier)+1,r25 |
998 031a 8093 0000 sts MesswertGier,r24 |
999 031e 2091 0000 lds r18,AdWertAccNick |
1000 0322 3091 0000 lds r19,(AdWertAccNick)+1 |
1001 0326 C901 movw r24,r18 |
1002 0328 880F lsl r24 |
1003 032a 991F rol r25 |
1004 032c 880F lsl r24 |
1005 032e 991F rol r25 |
1006 0330 820F add r24,r18 |
1007 0332 931F adc r25,r19 |
1008 0334 820F add r24,r18 |
1009 0336 931F adc r25,r19 |
1010 0338 9093 0000 sts (Mittelwert_AccNick)+1,r25 |
1011 033c 8093 0000 sts Mittelwert_AccNick,r24 |
1012 0340 2091 0000 lds r18,AdWertAccRoll |
1013 0344 3091 0000 lds r19,(AdWertAccRoll)+1 |
1014 0348 C901 movw r24,r18 |
1015 034a 880F lsl r24 |
1016 034c 991F rol r25 |
1017 034e 880F lsl r24 |
1018 0350 991F rol r25 |
1019 0352 820F add r24,r18 |
1020 0354 931F adc r25,r19 |
1021 0356 820F add r24,r18 |
1022 0358 931F adc r25,r19 |
1023 035a 9093 0000 sts (Mittelwert_AccRoll)+1,r25 |
1024 035e 8093 0000 sts Mittelwert_AccRoll,r24 |
1025 0362 8FEC ldi r24,lo8(-49) |
1026 0364 8093 7A00 sts 122,r24 |
1027 0368 A0E0 ldi r26,lo8(Poti) |
1028 036a B0E0 ldi r27,hi8(Poti) |
1029 036c C0E0 ldi r28,lo8(EE_Parameter+5) |
1030 036e D0E0 ldi r29,hi8(EE_Parameter+5) |
1031 0370 97E0 ldi r25,lo8(7) |
1032 .L46: |
1033 0372 8991 ld r24,Y+ |
1034 0374 E82F mov r30,r24 |
1035 0376 FF27 clr r31 |
1036 0378 EE0F add r30,r30 |
1037 037a FF1F adc r31,r31 |
1038 037c E050 subi r30,lo8(-(PPM_in)) |
1039 037e F040 sbci r31,hi8(-(PPM_in)) |
1040 0380 0190 ld __tmp_reg__,Z+ |
1041 0382 F081 ld r31,Z |
1042 0384 E02D mov r30,__tmp_reg__ |
1043 0386 E158 subi r30,lo8(-(127)) |
1044 0388 FF4F sbci r31,hi8(-(127)) |
1045 038a 1E16 cp __zero_reg__,r30 |
1046 038c 1F06 cpc __zero_reg__,r31 |
1047 038e 04F0 brlt .L40 |
1048 0390 E0E0 ldi r30,lo8(0) |
1049 0392 F0E0 ldi r31,hi8(0) |
1050 0394 00C0 rjmp .L41 |
1051 .L40: |
1052 0396 EF3F cpi r30,255 |
1053 0398 F105 cpc r31,__zero_reg__ |
1054 039a 04F0 brlt .L41 |
1055 039c EFEF ldi r30,lo8(255) |
1056 039e F0E0 ldi r31,hi8(255) |
1057 .L41: |
1058 03a0 8C91 ld r24,X |
1059 03a2 282F mov r18,r24 |
1060 03a4 3327 clr r19 |
1061 03a6 E217 cp r30,r18 |
1062 03a8 F307 cpc r31,r19 |
1063 03aa 04F4 brge .L43 |
1064 03ac 8150 subi r24,lo8(-(-1)) |
1065 03ae 00C0 rjmp .L49 |
1066 .L43: |
1067 03b0 2E17 cp r18,r30 |
1068 03b2 3F07 cpc r19,r31 |
1069 03b4 04F4 brge .L39 |
1070 03b6 8F5F subi r24,lo8(-(1)) |
1071 .L49: |
1072 03b8 8C93 st X,r24 |
1073 .L39: |
1074 03ba 9150 subi r25,lo8(-(-1)) |
1075 03bc 1196 adiw r26,1 |
1076 03be 97FF sbrs r25,7 |
1077 03c0 00C0 rjmp .L46 |
1078 03c2 8091 0000 lds r24,EE_Parameter+65 |
1079 03c6 9927 clr r25 |
1080 03c8 AA27 clr r26 |
1081 03ca BB27 clr r27 |
1082 03cc BC01 movw r22,r24 |
1083 03ce CD01 movw r24,r26 |
1084 03d0 24EC ldi r18,lo8(2500) |
1085 03d2 39E0 ldi r19,hi8(2500) |
1086 03d4 40E0 ldi r20,hlo8(2500) |
1087 03d6 50E0 ldi r21,hhi8(2500) |
1088 03d8 0E94 0000 call __mulsi3 |
1089 03dc DC01 movw r26,r24 |
1090 03de CB01 movw r24,r22 |
1091 03e0 8093 0000 sts Umschlag180Nick,r24 |
1092 03e4 9093 0000 sts (Umschlag180Nick)+1,r25 |
1093 03e8 A093 0000 sts (Umschlag180Nick)+2,r26 |
1094 03ec B093 0000 sts (Umschlag180Nick)+3,r27 |
1095 03f0 8091 0000 lds r24,EE_Parameter+66 |
1096 03f4 9927 clr r25 |
1097 03f6 AA27 clr r26 |
1098 03f8 BB27 clr r27 |
1099 03fa BC01 movw r22,r24 |
1100 03fc CD01 movw r24,r26 |
1101 03fe 0E94 0000 call __mulsi3 |
1102 0402 DC01 movw r26,r24 |
1103 0404 CB01 movw r24,r22 |
1104 0406 8093 0000 sts Umschlag180Roll,r24 |
1105 040a 9093 0000 sts (Umschlag180Roll)+1,r25 |
1106 040e A093 0000 sts (Umschlag180Roll)+2,r26 |
1107 0412 B093 0000 sts (Umschlag180Roll)+3,r27 |
1108 /* epilogue: frame size=0 */ |
1109 0416 DF91 pop r29 |
1110 0418 CF91 pop r28 |
1111 041a 0895 ret |
1112 /* epilogue end (size=3) */ |
1113 /* function CalibrierMittelwert size 161 (156) */ |
1115 .section .progmem.data,"a",@progbits |
1118 __c.35: |
1119 0000 0A0D 4143 .string "\n\rACC not calibrated!\r\n" |
1119 4320 6E6F |
1119 7420 6361 |
1119 6C69 6272 |
1119 6174 6564 |
1120 .text |
1121 .global SetNeutral |
1123 SetNeutral: |
1124 /* prologue: frame size=0 */ |
1125 041c A0E0 ldi r26,lo8(0) |
1126 041e B0E0 ldi r27,hi8(0) |
1127 0420 E0E0 ldi r30,pm_lo8(1f) |
1128 0422 F0E0 ldi r31,pm_hi8(1f) |
1129 0424 0C94 0000 jmp __prologue_saves__+12 |
1130 1: |
1131 /* prologue end (size=6) */ |
1132 0428 882E mov r8,r24 |
1133 042a C0E0 ldi r28,lo8(0) |
1134 042c D0E0 ldi r29,hi8(0) |
1135 042e 7E01 movw r14,r28 |
1136 0430 6E01 movw r12,r28 |
1137 0432 1092 0000 sts VersionInfo+5,__zero_reg__ |
1138 0436 D093 0000 sts (NeutralAccX)+1,r29 |
1139 043a C093 0000 sts NeutralAccX,r28 |
1140 043e D093 0000 sts (NeutralAccY)+1,r29 |
1141 0442 C093 0000 sts NeutralAccY,r28 |
1142 0446 D093 0000 sts (NeutralAccZ)+1,r29 |
1143 044a C093 0000 sts NeutralAccZ,r28 |
1144 044e D093 0000 sts (AdNeutralNick)+1,r29 |
1145 0452 C093 0000 sts AdNeutralNick,r28 |
1146 0456 D093 0000 sts (AdNeutralRoll)+1,r29 |
1147 045a C093 0000 sts AdNeutralRoll,r28 |
1148 045e D093 0000 sts (AdNeutralGier)+1,r29 |
1149 0462 C093 0000 sts AdNeutralGier,r28 |
1150 0466 1092 0000 sts Parameter_AchsKopplung1,__zero_reg__ |
1151 046a 1092 0000 sts Parameter_AchsKopplung2,__zero_reg__ |
1152 046e 1092 0000 sts ExpandBaro,__zero_reg__ |
1153 0472 0E94 0000 call CalibrierMittelwert |
1154 0476 84E6 ldi r24,lo8(100) |
1155 0478 90E0 ldi r25,hi8(100) |
1156 047a 0E94 0000 call Delay_ms_Mess |
1157 047e 0E94 0000 call CalibrierMittelwert |
1158 0482 8091 0000 lds r24,EE_Parameter+13 |
1159 0486 80FF sbrs r24,0 |
1160 0488 00C0 rjmp .L51 |
1161 048a 8091 0000 lds r24,MessLuftdruck |
1162 048e 9091 0000 lds r25,(MessLuftdruck)+1 |
1163 0492 875B subi r24,lo8(951) |
1164 0494 9340 sbci r25,hi8(951) |
1165 0496 00F4 brsh .L53 |
1166 0498 8091 0000 lds r24,MessLuftdruck |
1167 049c 9091 0000 lds r25,(MessLuftdruck)+1 |
1168 04a0 8E5E subi r24,lo8(750) |
1169 04a2 9240 sbci r25,hi8(750) |
1170 04a4 00F4 brsh .L51 |
1171 .L53: |
1172 04a6 0E94 0000 call SucheLuftruckOffset |
1173 .L51: |
1174 04aa 0FE1 ldi r16,lo8(31) |
1175 .L57: |
1176 04ac 8AE0 ldi r24,lo8(10) |
1177 04ae 90E0 ldi r25,hi8(10) |
1178 04b0 0E94 0000 call Delay_ms_Mess |
1179 04b4 8091 0000 lds r24,AdWertGier |
1180 04b8 9091 0000 lds r25,(AdWertGier)+1 |
1181 04bc C80F add r28,r24 |
1182 04be D91F adc r29,r25 |
1183 04c0 8091 0000 lds r24,AdWertNick |
1184 04c4 9091 0000 lds r25,(AdWertNick)+1 |
1185 04c8 E80E add r14,r24 |
1186 04ca F91E adc r15,r25 |
1187 04cc 8091 0000 lds r24,AdWertRoll |
1188 04d0 9091 0000 lds r25,(AdWertRoll)+1 |
1189 04d4 C80E add r12,r24 |
1190 04d6 D91E adc r13,r25 |
1191 04d8 0150 subi r16,lo8(-(-1)) |
1192 04da 07FF sbrs r16,7 |
1193 04dc 00C0 rjmp .L57 |
1194 04de 9701 movw r18,r14 |
1195 04e0 205F subi r18,lo8(-(16)) |
1196 04e2 3F4F sbci r19,hi8(-(16)) |
1197 04e4 3695 lsr r19 |
1198 04e6 2795 ror r18 |
1199 04e8 3695 lsr r19 |
1200 04ea 2795 ror r18 |
1201 04ec 3093 0000 sts (AdNeutralNick)+1,r19 |
1202 04f0 2093 0000 sts AdNeutralNick,r18 |
1203 04f4 C601 movw r24,r12 |
1204 04f6 4096 adiw r24,16 |
1205 04f8 9695 lsr r25 |
1206 04fa 8795 ror r24 |
1207 04fc 9695 lsr r25 |
1208 04fe 8795 ror r24 |
1209 0500 9093 0000 sts (AdNeutralRoll)+1,r25 |
1210 0504 8093 0000 sts AdNeutralRoll,r24 |
1211 0508 6096 adiw r28,16 |
1212 050a F5E0 ldi r31,5 |
1213 050c D695 1: lsr r29 |
1214 050e C795 ror r28 |
1215 0510 FA95 dec r31 |
1216 0512 01F4 brne 1b |
1217 0514 D093 0000 sts (AdNeutralGier)+1,r29 |
1218 0518 C093 0000 sts AdNeutralGier,r28 |
1219 051c 9093 0000 sts (StartNeutralRoll)+1,r25 |
1220 0520 8093 0000 sts StartNeutralRoll,r24 |
1221 0524 3093 0000 sts (StartNeutralNick)+1,r19 |
1222 0528 2093 0000 sts StartNeutralNick,r18 |
1223 052c 8820 tst r8 |
1224 052e 01F4 brne .+2 |
1225 0530 00C0 rjmp .L58 |
1226 0532 8091 0000 lds r24,Mittelwert_AccNick |
1227 0536 9091 0000 lds r25,(Mittelwert_AccNick)+1 |
1228 053a 97FF sbrs r25,7 |
1229 053c 00C0 rjmp .L59 |
1230 053e 9095 com r25 |
1231 0540 8195 neg r24 |
1232 0542 9F4F sbci r25,lo8(-1) |
1233 .L59: |
1234 0544 6CE0 ldi r22,lo8(12) |
1235 0546 70E0 ldi r23,hi8(12) |
1236 0548 0E94 0000 call __divmodhi4 |
1237 054c 9B01 movw r18,r22 |
1238 054e 7093 0000 sts (NeutralAccX)+1,r23 |
1239 0552 6093 0000 sts NeutralAccX,r22 |
1240 0556 8091 0000 lds r24,Mittelwert_AccRoll |
1241 055a 9091 0000 lds r25,(Mittelwert_AccRoll)+1 |
1242 055e 97FF sbrs r25,7 |
1243 0560 00C0 rjmp .L60 |
1244 0562 9095 com r25 |
1245 0564 8195 neg r24 |
1246 0566 9F4F sbci r25,lo8(-1) |
1247 .L60: |
1248 0568 6CE0 ldi r22,lo8(12) |
1249 056a 70E0 ldi r23,hi8(12) |
1250 056c 0E94 0000 call __divmodhi4 |
1251 0570 7093 0000 sts (NeutralAccY)+1,r23 |
1252 0574 6093 0000 sts NeutralAccY,r22 |
1253 0578 8091 0000 lds r24,Aktuell_az |
1254 057c 9091 0000 lds r25,(Aktuell_az)+1 |
1255 0580 9093 0000 sts (NeutralAccZ)+1,r25 |
1256 0584 8093 0000 sts NeutralAccZ,r24 |
1257 0588 B901 movw r22,r18 |
1258 058a 84E0 ldi r24,lo8(4) |
1259 058c 90E0 ldi r25,hi8(4) |
1260 058e 0E94 0000 call SetParamWord |
1261 0592 6091 0000 lds r22,NeutralAccY |
1262 0596 7091 0000 lds r23,(NeutralAccY)+1 |
1263 059a 86E0 ldi r24,lo8(6) |
1264 059c 90E0 ldi r25,hi8(6) |
1265 059e 0E94 0000 call SetParamWord |
1266 05a2 6091 0000 lds r22,NeutralAccZ |
1267 05a6 7091 0000 lds r23,(NeutralAccZ)+1 |
1268 05aa 88E0 ldi r24,lo8(8) |
1269 05ac 90E0 ldi r25,hi8(8) |
1270 05ae 0E94 0000 call SetParamWord |
1271 05b2 00C0 rjmp .L61 |
1272 .L58: |
1273 05b4 84E0 ldi r24,lo8(4) |
1274 05b6 90E0 ldi r25,hi8(4) |
1275 05b8 0E94 0000 call GetParamWord |
1276 05bc 9093 0000 sts (NeutralAccX)+1,r25 |
1277 05c0 8093 0000 sts NeutralAccX,r24 |
1278 05c4 86E0 ldi r24,lo8(6) |
1279 05c6 90E0 ldi r25,hi8(6) |
1280 05c8 0E94 0000 call GetParamWord |
1281 05cc 9093 0000 sts (NeutralAccY)+1,r25 |
1282 05d0 8093 0000 sts NeutralAccY,r24 |
1283 05d4 88E0 ldi r24,lo8(8) |
1284 05d6 90E0 ldi r25,hi8(8) |
1285 05d8 0E94 0000 call GetParamWord |
1286 05dc 9C01 movw r18,r24 |
1287 05de 9093 0000 sts (NeutralAccZ)+1,r25 |
1288 05e2 8093 0000 sts NeutralAccZ,r24 |
1289 05e6 8091 0000 lds r24,NeutralAccX |
1290 05ea 9091 0000 lds r25,(NeutralAccX)+1 |
1291 05ee 8150 subi r24,lo8(2049) |
1292 05f0 9840 sbci r25,hi8(2049) |
1293 05f2 00F4 brsh .L63 |
1294 05f4 8091 0000 lds r24,NeutralAccY |
1295 05f8 9091 0000 lds r25,(NeutralAccY)+1 |
1296 05fc 8150 subi r24,lo8(2049) |
1297 05fe 9840 sbci r25,hi8(2049) |
1298 0600 00F4 brsh .L63 |
1299 0602 2150 subi r18,lo8(1025) |
1300 0604 3440 sbci r19,hi8(1025) |
1301 0606 00F0 brlo .L61 |
1302 .L63: |
1303 0608 80E0 ldi r24,lo8(__c.35) |
1304 060a 90E0 ldi r25,hi8(__c.35) |
1305 060c 9F93 push r25 |
1306 060e 8F93 push r24 |
1307 0610 80E0 ldi r24,lo8(pm(uart_putchar)) |
1308 0612 90E0 ldi r25,hi8(pm(uart_putchar)) |
1309 0614 9F93 push r25 |
1310 0616 8F93 push r24 |
1311 0618 E091 0000 lds r30,_printf_P |
1312 061c F091 0000 lds r31,(_printf_P)+1 |
1313 0620 0995 icall |
1314 0622 8091 0000 lds r24,Mittelwert_AccNick |
1315 0626 9091 0000 lds r25,(Mittelwert_AccNick)+1 |
1316 062a 97FF sbrs r25,7 |
1317 062c 00C0 rjmp .L64 |
1318 062e 9095 com r25 |
1319 0630 8195 neg r24 |
1320 0632 9F4F sbci r25,lo8(-1) |
1321 .L64: |
1322 0634 6CE0 ldi r22,lo8(12) |
1323 0636 70E0 ldi r23,hi8(12) |
1324 0638 0E94 0000 call __divmodhi4 |
1325 063c 7093 0000 sts (NeutralAccX)+1,r23 |
1326 0640 6093 0000 sts NeutralAccX,r22 |
1327 0644 8091 0000 lds r24,Mittelwert_AccRoll |
1328 0648 9091 0000 lds r25,(Mittelwert_AccRoll)+1 |
1329 064c 97FF sbrs r25,7 |
1330 064e 00C0 rjmp .L65 |
1331 0650 9095 com r25 |
1332 0652 8195 neg r24 |
1333 0654 9F4F sbci r25,lo8(-1) |
1334 .L65: |
1335 0656 6CE0 ldi r22,lo8(12) |
1336 0658 70E0 ldi r23,hi8(12) |
1337 065a 0E94 0000 call __divmodhi4 |
1338 065e 7093 0000 sts (NeutralAccY)+1,r23 |
1339 0662 6093 0000 sts NeutralAccY,r22 |
1340 0666 8091 0000 lds r24,Aktuell_az |
1341 066a 9091 0000 lds r25,(Aktuell_az)+1 |
1342 066e 9093 0000 sts (NeutralAccZ)+1,r25 |
1343 0672 8093 0000 sts NeutralAccZ,r24 |
1344 0676 0F90 pop __tmp_reg__ |
1345 0678 0F90 pop __tmp_reg__ |
1346 067a 0F90 pop __tmp_reg__ |
1347 067c 0F90 pop __tmp_reg__ |
1348 .L61: |
1349 067e 1092 0000 sts (MesswertNick)+1,__zero_reg__ |
1350 0682 1092 0000 sts MesswertNick,__zero_reg__ |
1351 0686 1092 0000 sts (MesswertRoll)+1,__zero_reg__ |
1352 068a 1092 0000 sts MesswertRoll,__zero_reg__ |
1353 068e 1092 0000 sts (MesswertGier)+1,__zero_reg__ |
1354 0692 1092 0000 sts MesswertGier,__zero_reg__ |
1355 0696 84E6 ldi r24,lo8(100) |
1356 0698 90E0 ldi r25,hi8(100) |
1357 069a 0E94 0000 call Delay_ms_Mess |
1358 069e 8091 0000 lds r24,AdWertAccNick |
1359 06a2 9091 0000 lds r25,(AdWertAccNick)+1 |
1360 06a6 9C01 movw r18,r24 |
1361 06a8 220F lsl r18 |
1362 06aa 331F rol r19 |
1363 06ac 220F lsl r18 |
1364 06ae 331F rol r19 |
1365 06b0 280F add r18,r24 |
1366 06b2 391F adc r19,r25 |
1367 06b4 280F add r18,r24 |
1368 06b6 391F adc r19,r25 |
1369 06b8 3093 0000 sts (Mittelwert_AccNick)+1,r19 |
1370 06bc 2093 0000 sts Mittelwert_AccNick,r18 |
1371 06c0 8091 0000 lds r24,AdWertAccRoll |
1372 06c4 9091 0000 lds r25,(AdWertAccRoll)+1 |
1373 06c8 8C01 movw r16,r24 |
1374 06ca 000F lsl r16 |
1375 06cc 111F rol r17 |
1376 06ce 000F lsl r16 |
1377 06d0 111F rol r17 |
1378 06d2 080F add r16,r24 |
1379 06d4 191F adc r17,r25 |
1380 06d6 080F add r16,r24 |
1381 06d8 191F adc r17,r25 |
1382 06da 1093 0000 sts (Mittelwert_AccRoll)+1,r17 |
1383 06de 0093 0000 sts Mittelwert_AccRoll,r16 |
1384 06e2 8091 0000 lds r24,EE_Parameter+28 |
1385 06e6 C82E mov r12,r24 |
1386 06e8 DD24 clr r13 |
1387 06ea EE24 clr r14 |
1388 06ec FF24 clr r15 |
1389 06ee 4427 clr r20 |
1390 06f0 37FD sbrc r19,7 |
1391 06f2 4095 com r20 |
1392 06f4 542F mov r21,r20 |
1393 06f6 C701 movw r24,r14 |
1394 06f8 B601 movw r22,r12 |
1395 06fa 0E94 0000 call __mulsi3 |
1396 06fe 4B01 movw r8,r22 |
1397 0700 5C01 movw r10,r24 |
1398 0702 6093 0000 sts IntegralNick,r22 |
1399 0706 7093 0000 sts (IntegralNick)+1,r23 |
1400 070a 8093 0000 sts (IntegralNick)+2,r24 |
1401 070e 9093 0000 sts (IntegralNick)+3,r25 |
1402 0712 9801 movw r18,r16 |
1403 0714 4427 clr r20 |
1404 0716 37FD sbrc r19,7 |
1405 0718 4095 com r20 |
1406 071a 542F mov r21,r20 |
1407 071c C701 movw r24,r14 |
1408 071e B601 movw r22,r12 |
1409 0720 0E94 0000 call __mulsi3 |
1410 0724 DC01 movw r26,r24 |
1411 0726 CB01 movw r24,r22 |
1412 0728 8093 0000 sts IntegralRoll,r24 |
1413 072c 9093 0000 sts (IntegralRoll)+1,r25 |
1414 0730 A093 0000 sts (IntegralRoll)+2,r26 |
1415 0734 B093 0000 sts (IntegralRoll)+3,r27 |
1416 0738 8092 0000 sts Mess_IntegralNick,r8 |
1417 073c 9092 0000 sts (Mess_IntegralNick)+1,r9 |
1418 0740 A092 0000 sts (Mess_IntegralNick)+2,r10 |
1419 0744 B092 0000 sts (Mess_IntegralNick)+3,r11 |
1420 0748 8093 0000 sts Mess_IntegralRoll,r24 |
1421 074c 9093 0000 sts (Mess_IntegralRoll)+1,r25 |
1422 0750 A093 0000 sts (Mess_IntegralRoll)+2,r26 |
1423 0754 B093 0000 sts (Mess_IntegralRoll)+3,r27 |
1424 0758 1092 0000 sts Mess_Integral_Gier,__zero_reg__ |
1425 075c 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__ |
1426 0760 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__ |
1427 0764 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__ |
1428 0768 8091 0000 lds r24,Luftdruck |
1429 076c 9091 0000 lds r25,(Luftdruck)+1 |
1430 0770 A091 0000 lds r26,(Luftdruck)+2 |
1431 0774 B091 0000 lds r27,(Luftdruck)+3 |
1432 0778 9093 0000 sts (StartLuftdruck)+1,r25 |
1433 077c 8093 0000 sts StartLuftdruck,r24 |
1434 0780 1092 0000 sts (VarioMeter)+1,__zero_reg__ |
1435 0784 1092 0000 sts VarioMeter,__zero_reg__ |
1436 0788 1092 0000 sts Mess_Integral_Hoch,__zero_reg__ |
1437 078c 1092 0000 sts (Mess_Integral_Hoch)+1,__zero_reg__ |
1438 0790 1092 0000 sts (Mess_Integral_Hoch)+2,__zero_reg__ |
1439 0794 1092 0000 sts (Mess_Integral_Hoch)+3,__zero_reg__ |
1440 0798 0091 0000 lds r16,KompassValue |
1441 079c 1091 0000 lds r17,(KompassValue)+1 |
1442 07a0 1093 0000 sts (KompassSollWert)+1,r17 |
1443 07a4 0093 0000 sts KompassSollWert,r16 |
1444 07a8 84E6 ldi r24,lo8(100) |
1445 07aa 90E0 ldi r25,hi8(100) |
1446 07ac 9093 0000 sts (KompassSignalSchlecht)+1,r25 |
1447 07b0 8093 0000 sts KompassSignalSchlecht,r24 |
1448 07b4 82E3 ldi r24,lo8(50) |
1449 07b6 90E0 ldi r25,hi8(50) |
1450 07b8 9093 0000 sts (beeptime)+1,r25 |
1451 07bc 8093 0000 sts beeptime,r24 |
1452 07c0 8091 0000 lds r24,EE_Parameter+65 |
1453 07c4 9927 clr r25 |
1454 07c6 AA27 clr r26 |
1455 07c8 BB27 clr r27 |
1456 07ca BC01 movw r22,r24 |
1457 07cc CD01 movw r24,r26 |
1458 07ce 24EC ldi r18,lo8(2500) |
1459 07d0 39E0 ldi r19,hi8(2500) |
1460 07d2 40E0 ldi r20,hlo8(2500) |
1461 07d4 50E0 ldi r21,hhi8(2500) |
1462 07d6 0E94 0000 call __mulsi3 |
1463 07da DC01 movw r26,r24 |
1464 07dc CB01 movw r24,r22 |
1465 07de 8856 subi r24,lo8(-(15000)) |
1466 07e0 954C sbci r25,hi8(-(15000)) |
1467 07e2 AF4F sbci r26,hlo8(-(15000)) |
1468 07e4 BF4F sbci r27,hhi8(-(15000)) |
1469 07e6 8093 0000 sts Umschlag180Nick,r24 |
1470 07ea 9093 0000 sts (Umschlag180Nick)+1,r25 |
1471 07ee A093 0000 sts (Umschlag180Nick)+2,r26 |
1472 07f2 B093 0000 sts (Umschlag180Nick)+3,r27 |
1473 07f6 8091 0000 lds r24,EE_Parameter+66 |
1474 07fa 9927 clr r25 |
1475 07fc AA27 clr r26 |
1476 07fe BB27 clr r27 |
1477 0800 BC01 movw r22,r24 |
1478 0802 CD01 movw r24,r26 |
1479 0804 0E94 0000 call __mulsi3 |
1480 0808 DC01 movw r26,r24 |
1481 080a CB01 movw r24,r22 |
1482 080c 8856 subi r24,lo8(-(15000)) |
1483 080e 954C sbci r25,hi8(-(15000)) |
1484 0810 AF4F sbci r26,hlo8(-(15000)) |
1485 0812 BF4F sbci r27,hhi8(-(15000)) |
1486 0814 8093 0000 sts Umschlag180Roll,r24 |
1487 0818 9093 0000 sts (Umschlag180Roll)+1,r25 |
1488 081c A093 0000 sts (Umschlag180Roll)+2,r26 |
1489 0820 B093 0000 sts (Umschlag180Roll)+3,r27 |
1490 0824 1092 0000 sts (ExternHoehenValue)+1,__zero_reg__ |
1491 0828 1092 0000 sts ExternHoehenValue,__zero_reg__ |
1492 082c C801 movw r24,r16 |
1493 082e AA27 clr r26 |
1494 0830 97FD sbrc r25,7 |
1495 0832 A095 com r26 |
1496 0834 BA2F mov r27,r26 |
1497 0836 2091 0000 lds r18,GIER_GRAD_FAKTOR |
1498 083a 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1 |
1499 083e 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2 |
1500 0842 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3 |
1501 0846 BC01 movw r22,r24 |
1502 0848 CD01 movw r24,r26 |
1503 084a 0E94 0000 call __mulsi3 |
1504 084e DC01 movw r26,r24 |
1505 0850 CB01 movw r24,r22 |
1506 0852 8093 0000 sts ErsatzKompass,r24 |
1507 0856 9093 0000 sts (ErsatzKompass)+1,r25 |
1508 085a A093 0000 sts (ErsatzKompass)+2,r26 |
1509 085e B093 0000 sts (ErsatzKompass)+3,r27 |
1510 0862 1092 0000 sts (GierGyroFehler)+1,__zero_reg__ |
1511 0866 1092 0000 sts GierGyroFehler,__zero_reg__ |
1512 086a 0E94 0000 call LED_Init |
1513 086e 8091 0000 lds r24,FC_StatusFlags |
1514 0872 8460 ori r24,lo8(4) |
1515 0874 8093 0000 sts FC_StatusFlags,r24 |
1516 0878 8FEF ldi r24,lo8(-1) |
1517 087a 8093 0000 sts FromNaviCtrl_Value,r24 |
1518 087e 1092 0000 sts FromNaviCtrl_Value+1,__zero_reg__ |
1519 0882 80E2 ldi r24,lo8(32) |
1520 0884 8093 0000 sts FromNaviCtrl_Value+2,r24 |
1521 0888 C0E0 ldi r28,lo8(Poti) |
1522 088a D0E0 ldi r29,hi8(Poti) |
1523 088c A0E0 ldi r26,lo8(EE_Parameter+5) |
1524 088e B0E0 ldi r27,hi8(EE_Parameter+5) |
1525 0890 07E0 ldi r16,lo8(7) |
1526 .L69: |
1527 0892 8D91 ld r24,X+ |
1528 0894 E82F mov r30,r24 |
1529 0896 FF27 clr r31 |
1530 0898 EE0F add r30,r30 |
1531 089a FF1F adc r31,r31 |
1532 089c E050 subi r30,lo8(-(PPM_in)) |
1533 089e F040 sbci r31,hi8(-(PPM_in)) |
1534 08a0 8081 ld r24,Z |
1535 08a2 9181 ldd r25,Z+1 |
1536 08a4 8158 subi r24,lo8(-(127)) |
1537 08a6 8993 st Y+,r24 |
1538 08a8 0150 subi r16,lo8(-(-1)) |
1539 08aa 07FF sbrs r16,7 |
1540 08ac 00C0 rjmp .L69 |
1541 08ae 84E6 ldi r24,lo8(100) |
1542 08b0 8093 0000 sts SenderOkay,r24 |
1543 08b4 8091 0000 lds r24,ServoActive |
1544 08b8 8823 tst r24 |
1545 08ba 01F0 breq .L70 |
1546 08bc 579A sbi 42-0x20,7 |
1547 08be 00C0 rjmp .L71 |
1548 .L70: |
1549 08c0 80E0 ldi r24,lo8(4352) |
1550 08c2 91E1 ldi r25,hi8(4352) |
1551 08c4 9093 0000 sts (NickServoValue)+1,r25 |
1552 08c8 8093 0000 sts NickServoValue,r24 |
1553 .L71: |
1554 08cc 8091 0000 lds r24,AdNeutralNick |
1555 08d0 9091 0000 lds r25,(AdNeutralNick)+1 |
1556 08d4 8056 subi r24,lo8(-(-2400)) |
1557 08d6 9940 sbci r25,hi8(-(-2400)) |
1558 08d8 815C subi r24,lo8(11201) |
1559 08da 9B42 sbci r25,hi8(11201) |
1560 08dc 00F0 brlo .L72 |
1561 08de 8091 0000 lds r24,VersionInfo+5 |
1562 08e2 8160 ori r24,lo8(1) |
1563 08e4 8093 0000 sts VersionInfo+5,r24 |
1564 .L72: |
1565 08e8 8091 0000 lds r24,AdNeutralRoll |
1566 08ec 9091 0000 lds r25,(AdNeutralRoll)+1 |
1567 08f0 8056 subi r24,lo8(-(-2400)) |
1568 08f2 9940 sbci r25,hi8(-(-2400)) |
1569 08f4 815C subi r24,lo8(11201) |
1570 08f6 9B42 sbci r25,hi8(11201) |
1571 08f8 00F0 brlo .L73 |
1572 08fa 8091 0000 lds r24,VersionInfo+5 |
1573 08fe 8260 ori r24,lo8(2) |
1574 0900 8093 0000 sts VersionInfo+5,r24 |
1575 .L73: |
1576 0904 8091 0000 lds r24,AdNeutralGier |
1577 0908 9091 0000 lds r25,(AdNeutralGier)+1 |
1578 090c 8C52 subi r24,lo8(-(-300)) |
1579 090e 9140 sbci r25,hi8(-(-300)) |
1580 0910 8957 subi r24,lo8(1401) |
1581 0912 9540 sbci r25,hi8(1401) |
1582 0914 00F0 brlo .L74 |
1583 0916 8091 0000 lds r24,VersionInfo+5 |
1584 091a 8460 ori r24,lo8(4) |
1585 091c 8093 0000 sts VersionInfo+5,r24 |
1586 .L74: |
1587 0920 8091 0000 lds r24,NeutralAccX |
1588 0924 9091 0000 lds r25,(NeutralAccX)+1 |
1589 0928 8C52 subi r24,lo8(-(-300)) |
1590 092a 9140 sbci r25,hi8(-(-300)) |
1591 092c 835C subi r24,lo8(451) |
1592 092e 9140 sbci r25,hi8(451) |
1593 0930 00F0 brlo .L75 |
1594 0932 8091 0000 lds r24,VersionInfo+5 |
1595 0936 8860 ori r24,lo8(8) |
1596 0938 8093 0000 sts VersionInfo+5,r24 |
1597 .L75: |
1598 093c 8091 0000 lds r24,NeutralAccY |
1599 0940 9091 0000 lds r25,(NeutralAccY)+1 |
1600 0944 8C52 subi r24,lo8(-(-300)) |
1601 0946 9140 sbci r25,hi8(-(-300)) |
1602 0948 835C subi r24,lo8(451) |
1603 094a 9140 sbci r25,hi8(451) |
1604 094c 00F0 brlo .L76 |
1605 094e 8091 0000 lds r24,VersionInfo+5 |
1606 0952 8061 ori r24,lo8(16) |
1607 0954 8093 0000 sts VersionInfo+5,r24 |
1608 .L76: |
1609 0958 8091 0000 lds r24,NeutralAccZ |
1610 095c 9091 0000 lds r25,(NeutralAccZ)+1 |
1611 0960 8050 subi r24,lo8(-(-512)) |
1612 0962 9240 sbci r25,hi8(-(-512)) |
1613 0964 8355 subi r24,lo8(339) |
1614 0966 9140 sbci r25,hi8(339) |
1615 0968 00F0 brlo .L77 |
1616 096a 8091 0000 lds r24,VersionInfo+5 |
1617 096e 8062 ori r24,lo8(32) |
1618 0970 8093 0000 sts VersionInfo+5,r24 |
1619 .L77: |
1620 0974 86E4 ldi r24,lo8(70) |
1621 0976 8093 0000 sts carefree_old,r24 |
1622 097a 0E94 0000 call LIBFC_HoTT_Clear |
1623 /* epilogue: frame size=0 */ |
1624 097e ECE0 ldi r30,12 |
1625 0980 CDB7 in r28,__SP_L__ |
1626 0982 DEB7 in r29,__SP_H__ |
1627 0984 0C94 0000 jmp __epilogue_restores__+12 |
1628 /* epilogue end (size=5) */ |
1629 /* function SetNeutral size 705 (694) */ |
1631 .lcomm tmpl.27,4 |
1632 .lcomm tmpl2.28,4 |
1633 .lcomm tmpl3.29,4 |
1634 .lcomm tmpl4.30,4 |
1635 .lcomm oldNick.31,2 |
1636 .lcomm oldRoll.32,2 |
1637 .lcomm d2Roll.33,2 |
1638 .lcomm d2Nick.34,2 |
1639 .global Mittelwert |
1641 Mittelwert: |
1642 /* prologue: frame size=19 */ |
1643 0988 A3E1 ldi r26,lo8(19) |
1644 098a B0E0 ldi r27,hi8(19) |
1645 098c E0E0 ldi r30,pm_lo8(1f) |
1646 098e F0E0 ldi r31,pm_hi8(1f) |
1647 0990 0C94 0000 jmp __prologue_saves__+0 |
1648 1: |
1649 /* prologue end (size=6) */ |
1650 0994 8091 0000 lds r24,AdNeutralGier |
1651 0998 9091 0000 lds r25,(AdNeutralGier)+1 |
1652 099c 2091 0000 lds r18,AdWertGier |
1653 09a0 3091 0000 lds r19,(AdWertGier)+1 |
1654 09a4 821B sub r24,r18 |
1655 09a6 930B sbc r25,r19 |
1656 09a8 9093 0000 sts (MesswertGier)+1,r25 |
1657 09ac 8093 0000 sts MesswertGier,r24 |
1658 09b0 8091 0000 lds r24,AdWertNickFilter |
1659 09b4 9091 0000 lds r25,(AdWertNickFilter)+1 |
1660 09b8 97FD sbrc r25,7 |
1661 09ba 0796 adiw r24,7 |
1662 .L83: |
1663 09bc 9C01 movw r18,r24 |
1664 09be 13E0 ldi r17,3 |
1665 09c0 3595 1: asr r19 |
1666 09c2 2795 ror r18 |
1667 09c4 1A95 dec r17 |
1668 09c6 01F4 brne 1b |
1669 09c8 3093 0000 sts (MesswertNick)+1,r19 |
1670 09cc 2093 0000 sts MesswertNick,r18 |
1671 09d0 8091 0000 lds r24,AdWertRollFilter |
1672 09d4 9091 0000 lds r25,(AdWertRollFilter)+1 |
1673 09d8 97FD sbrc r25,7 |
1674 09da 0796 adiw r24,7 |
1675 .L84: |
1676 09dc B3E0 ldi r27,3 |
1677 09de 9595 1: asr r25 |
1678 09e0 8795 ror r24 |
1679 09e2 BA95 dec r27 |
1680 09e4 01F4 brne 1b |
1681 09e6 9093 0000 sts (MesswertRoll)+1,r25 |
1682 09ea 8093 0000 sts MesswertRoll,r24 |
1683 09ee 3093 0000 sts (RohMesswertNick)+1,r19 |
1684 09f2 2093 0000 sts RohMesswertNick,r18 |
1685 09f6 9093 0000 sts (RohMesswertRoll)+1,r25 |
1686 09fa 8093 0000 sts RohMesswertRoll,r24 |
1687 09fe 8091 0000 lds r24,Mittelwert_AccNick |
1688 0a02 9091 0000 lds r25,(Mittelwert_AccNick)+1 |
1689 0a06 AC01 movw r20,r24 |
1690 0a08 440F lsl r20 |
1691 0a0a 551F rol r21 |
1692 0a0c 480F add r20,r24 |
1693 0a0e 591F adc r21,r25 |
1694 0a10 2091 0000 lds r18,AdWertAccNick |
1695 0a14 3091 0000 lds r19,(AdWertAccNick)+1 |
1696 0a18 C901 movw r24,r18 |
1697 0a1a 880F lsl r24 |
1698 0a1c 991F rol r25 |
1699 0a1e 880F lsl r24 |
1700 0a20 991F rol r25 |
1701 0a22 820F add r24,r18 |
1702 0a24 931F adc r25,r19 |
1703 0a26 820F add r24,r18 |
1704 0a28 931F adc r25,r19 |
1705 0a2a 480F add r20,r24 |
1706 0a2c 591F adc r21,r25 |
1707 0a2e 57FF sbrs r21,7 |
1708 0a30 00C0 rjmp .L85 |
1709 0a32 4D5F subi r20,lo8(-(3)) |
1710 0a34 5F4F sbci r21,hi8(-(3)) |
1711 .L85: |
1712 0a36 5595 asr r21 |
1713 0a38 4795 ror r20 |
1714 0a3a 5595 asr r21 |
1715 0a3c 4795 ror r20 |
1716 0a3e 5093 0000 sts (Mittelwert_AccNick)+1,r21 |
1717 0a42 4093 0000 sts Mittelwert_AccNick,r20 |
1718 0a46 8091 0000 lds r24,Mittelwert_AccRoll |
1719 0a4a 9091 0000 lds r25,(Mittelwert_AccRoll)+1 |
1720 0a4e AC01 movw r20,r24 |
1721 0a50 440F lsl r20 |
1722 0a52 551F rol r21 |
1723 0a54 480F add r20,r24 |
1724 0a56 591F adc r21,r25 |
1725 0a58 2091 0000 lds r18,AdWertAccRoll |
1726 0a5c 3091 0000 lds r19,(AdWertAccRoll)+1 |
1727 0a60 C901 movw r24,r18 |
1728 0a62 880F lsl r24 |
1729 0a64 991F rol r25 |
1730 0a66 880F lsl r24 |
1731 0a68 991F rol r25 |
1732 0a6a 820F add r24,r18 |
1733 0a6c 931F adc r25,r19 |
1734 0a6e 820F add r24,r18 |
1735 0a70 931F adc r25,r19 |
1736 0a72 480F add r20,r24 |
1737 0a74 591F adc r21,r25 |
1738 0a76 57FF sbrs r21,7 |
1739 0a78 00C0 rjmp .L86 |
1740 0a7a 4D5F subi r20,lo8(-(3)) |
1741 0a7c 5F4F sbci r21,hi8(-(3)) |
1742 .L86: |
1743 0a7e 5595 asr r21 |
1744 0a80 4795 ror r20 |
1745 0a82 5595 asr r21 |
1746 0a84 4795 ror r20 |
1747 0a86 5093 0000 sts (Mittelwert_AccRoll)+1,r21 |
1748 0a8a 4093 0000 sts Mittelwert_AccRoll,r20 |
1749 0a8e 2091 0000 lds r18,AdWertAccNick |
1750 0a92 3091 0000 lds r19,(AdWertAccNick)+1 |
1751 0a96 C901 movw r24,r18 |
1752 0a98 880F lsl r24 |
1753 0a9a 991F rol r25 |
1754 0a9c 880F lsl r24 |
1755 0a9e 991F rol r25 |
1756 0aa0 820F add r24,r18 |
1757 0aa2 931F adc r25,r19 |
1758 0aa4 820F add r24,r18 |
1759 0aa6 931F adc r25,r19 |
1760 0aa8 9C01 movw r18,r24 |
1761 0aaa 4427 clr r20 |
1762 0aac 37FD sbrc r19,7 |
1763 0aae 4095 com r20 |
1764 0ab0 542F mov r21,r20 |
1765 0ab2 8091 0000 lds r24,IntegralAccNick |
1766 0ab6 9091 0000 lds r25,(IntegralAccNick)+1 |
1767 0aba A091 0000 lds r26,(IntegralAccNick)+2 |
1768 0abe B091 0000 lds r27,(IntegralAccNick)+3 |
1769 0ac2 820F add r24,r18 |
1770 0ac4 931F adc r25,r19 |
1771 0ac6 A41F adc r26,r20 |
1772 0ac8 B51F adc r27,r21 |
1773 0aca 8093 0000 sts IntegralAccNick,r24 |
1774 0ace 9093 0000 sts (IntegralAccNick)+1,r25 |
1775 0ad2 A093 0000 sts (IntegralAccNick)+2,r26 |
1776 0ad6 B093 0000 sts (IntegralAccNick)+3,r27 |
1777 0ada 2091 0000 lds r18,AdWertAccRoll |
1778 0ade 3091 0000 lds r19,(AdWertAccRoll)+1 |
1779 0ae2 C901 movw r24,r18 |
1780 0ae4 880F lsl r24 |
1781 0ae6 991F rol r25 |
1782 0ae8 880F lsl r24 |
1783 0aea 991F rol r25 |
1784 0aec 820F add r24,r18 |
1785 0aee 931F adc r25,r19 |
1786 0af0 820F add r24,r18 |
1787 0af2 931F adc r25,r19 |
1788 0af4 9C01 movw r18,r24 |
1789 0af6 4427 clr r20 |
1790 0af8 37FD sbrc r19,7 |
1791 0afa 4095 com r20 |
1792 0afc 542F mov r21,r20 |
1793 0afe 8091 0000 lds r24,IntegralAccRoll |
1794 0b02 9091 0000 lds r25,(IntegralAccRoll)+1 |
1795 0b06 A091 0000 lds r26,(IntegralAccRoll)+2 |
1796 0b0a B091 0000 lds r27,(IntegralAccRoll)+3 |
1797 0b0e 820F add r24,r18 |
1798 0b10 931F adc r25,r19 |
1799 0b12 A41F adc r26,r20 |
1800 0b14 B51F adc r27,r21 |
1801 0b16 8093 0000 sts IntegralAccRoll,r24 |
1802 0b1a 9093 0000 sts (IntegralAccRoll)+1,r25 |
1803 0b1e A093 0000 sts (IntegralAccRoll)+2,r26 |
1804 0b22 B093 0000 sts (IntegralAccRoll)+3,r27 |
1805 0b26 8091 0000 lds r24,NaviAccNick |
1806 0b2a 9091 0000 lds r25,(NaviAccNick)+1 |
1807 0b2e 2091 0000 lds r18,AdWertAccNick |
1808 0b32 3091 0000 lds r19,(AdWertAccNick)+1 |
1809 0b36 820F add r24,r18 |
1810 0b38 931F adc r25,r19 |
1811 0b3a 9093 0000 sts (NaviAccNick)+1,r25 |
1812 0b3e 8093 0000 sts NaviAccNick,r24 |
1813 0b42 8091 0000 lds r24,NaviAccRoll |
1814 0b46 9091 0000 lds r25,(NaviAccRoll)+1 |
1815 0b4a 2091 0000 lds r18,AdWertAccRoll |
1816 0b4e 3091 0000 lds r19,(AdWertAccRoll)+1 |
1817 0b52 820F add r24,r18 |
1818 0b54 931F adc r25,r19 |
1819 0b56 9093 0000 sts (NaviAccRoll)+1,r25 |
1820 0b5a 8093 0000 sts NaviAccRoll,r24 |
1821 0b5e 8091 0000 lds r24,NaviCntAcc |
1822 0b62 9091 0000 lds r25,(NaviCntAcc)+1 |
1823 0b66 0196 adiw r24,1 |
1824 0b68 9093 0000 sts (NaviCntAcc)+1,r25 |
1825 0b6c 8093 0000 sts NaviCntAcc,r24 |
1826 0b70 8091 0000 lds r24,Aktuell_az |
1827 0b74 9091 0000 lds r25,(Aktuell_az)+1 |
1828 0b78 2091 0000 lds r18,NeutralAccZ |
1829 0b7c 3091 0000 lds r19,(NeutralAccZ)+1 |
1830 0b80 821B sub r24,r18 |
1831 0b82 930B sbc r25,r19 |
1832 0b84 9C01 movw r18,r24 |
1833 0b86 4427 clr r20 |
1834 0b88 37FD sbrc r19,7 |
1835 0b8a 4095 com r20 |
1836 0b8c 542F mov r21,r20 |
1837 0b8e 8091 0000 lds r24,IntegralAccZ |
1838 0b92 9091 0000 lds r25,(IntegralAccZ)+1 |
1839 0b96 A091 0000 lds r26,(IntegralAccZ)+2 |
1840 0b9a B091 0000 lds r27,(IntegralAccZ)+3 |
1841 0b9e 820F add r24,r18 |
1842 0ba0 931F adc r25,r19 |
1843 0ba2 A41F adc r26,r20 |
1844 0ba4 B51F adc r27,r21 |
1845 0ba6 8093 0000 sts IntegralAccZ,r24 |
1846 0baa 9093 0000 sts (IntegralAccZ)+1,r25 |
1847 0bae A093 0000 sts (IntegralAccZ)+2,r26 |
1848 0bb2 B093 0000 sts (IntegralAccZ)+3,r27 |
1849 0bb6 8FEC ldi r24,lo8(-49) |
1850 0bb8 8093 7A00 sts 122,r24 |
1851 0bbc 1092 0000 sts AdReady,__zero_reg__ |
1852 0bc0 2091 0000 lds r18,Mess_IntegralRoll |
1853 0bc4 3091 0000 lds r19,(Mess_IntegralRoll)+1 |
1854 0bc8 4091 0000 lds r20,(Mess_IntegralRoll)+2 |
1855 0bcc 5091 0000 lds r21,(Mess_IntegralRoll)+3 |
1856 0bd0 2987 std Y+9,r18 |
1857 0bd2 3A87 std Y+10,r19 |
1858 0bd4 4B87 std Y+11,r20 |
1859 0bd6 5C87 std Y+12,r21 |
1860 0bd8 2954 subi r18,lo8(93001) |
1861 0bda 3B46 sbci r19,hi8(93001) |
1862 0bdc 4140 sbci r20,hlo8(93001) |
1863 0bde 5040 sbci r21,hhi8(93001) |
1864 0be0 04F0 brlt .L87 |
1865 0be2 28E4 ldi r18,lo8(93000) |
1866 0be4 3BE6 ldi r19,hi8(93000) |
1867 0be6 41E0 ldi r20,hlo8(93000) |
1868 0be8 50E0 ldi r21,hhi8(93000) |
1869 0bea 00C0 rjmp .L167 |
1870 .L87: |
1871 0bec 8985 ldd r24,Y+9 |
1872 0bee 9A85 ldd r25,Y+10 |
1873 0bf0 AB85 ldd r26,Y+11 |
1874 0bf2 BC85 ldd r27,Y+12 |
1875 0bf4 885B subi r24,lo8(-93000) |
1876 0bf6 9449 sbci r25,hi8(-93000) |
1877 0bf8 AE4F sbci r26,hlo8(-93000) |
1878 0bfa BF4F sbci r27,hhi8(-93000) |
1879 0bfc 04F4 brge .L89 |
1880 0bfe 28EB ldi r18,lo8(-93000) |
1881 0c00 34E9 ldi r19,hi8(-93000) |
1882 0c02 4EEF ldi r20,hlo8(-93000) |
1883 0c04 5FEF ldi r21,hhi8(-93000) |
1884 .L167: |
1885 0c06 2D83 std Y+5,r18 |
1886 0c08 3E83 std Y+6,r19 |
1887 0c0a 4F83 std Y+7,r20 |
1888 0c0c 5887 std Y+8,r21 |
1889 0c0e 00C0 rjmp .L88 |
1890 .L89: |
1891 0c10 8985 ldd r24,Y+9 |
1892 0c12 9A85 ldd r25,Y+10 |
1893 0c14 AB85 ldd r26,Y+11 |
1894 0c16 BC85 ldd r27,Y+12 |
1895 0c18 8D83 std Y+5,r24 |
1896 0c1a 9E83 std Y+6,r25 |
1897 0c1c AF83 std Y+7,r26 |
1898 0c1e B887 std Y+8,r27 |
1899 .L88: |
1900 0c20 2091 0000 lds r18,Mess_IntegralNick |
1901 0c24 3091 0000 lds r19,(Mess_IntegralNick)+1 |
1902 0c28 4091 0000 lds r20,(Mess_IntegralNick)+2 |
1903 0c2c 5091 0000 lds r21,(Mess_IntegralNick)+3 |
1904 0c30 2D87 std Y+13,r18 |
1905 0c32 3E87 std Y+14,r19 |
1906 0c34 4F87 std Y+15,r20 |
1907 0c36 588B std Y+16,r21 |
1908 0c38 2954 subi r18,lo8(93001) |
1909 0c3a 3B46 sbci r19,hi8(93001) |
1910 0c3c 4140 sbci r20,hlo8(93001) |
1911 0c3e 5040 sbci r21,hhi8(93001) |
1912 0c40 04F0 brlt .L91 |
1913 0c42 28E4 ldi r18,lo8(93000) |
1914 0c44 3BE6 ldi r19,hi8(93000) |
1915 0c46 41E0 ldi r20,hlo8(93000) |
1916 0c48 50E0 ldi r21,hhi8(93000) |
1917 0c4a 00C0 rjmp .L168 |
1918 .L91: |
1919 0c4c 8D85 ldd r24,Y+13 |
1920 0c4e 9E85 ldd r25,Y+14 |
1921 0c50 AF85 ldd r26,Y+15 |
1922 0c52 B889 ldd r27,Y+16 |
1923 0c54 885B subi r24,lo8(-93000) |
1924 0c56 9449 sbci r25,hi8(-93000) |
1925 0c58 AE4F sbci r26,hlo8(-93000) |
1926 0c5a BF4F sbci r27,hhi8(-93000) |
1927 0c5c 04F4 brge .L93 |
1928 0c5e 28EB ldi r18,lo8(-93000) |
1929 0c60 34E9 ldi r19,hi8(-93000) |
1930 0c62 4EEF ldi r20,hlo8(-93000) |
1931 0c64 5FEF ldi r21,hhi8(-93000) |
1932 .L168: |
1933 0c66 2983 std Y+1,r18 |
1934 0c68 3A83 std Y+2,r19 |
1935 0c6a 4B83 std Y+3,r20 |
1936 0c6c 5C83 std Y+4,r21 |
1937 0c6e 00C0 rjmp .L92 |
1938 .L93: |
1939 0c70 8D85 ldd r24,Y+13 |
1940 0c72 9E85 ldd r25,Y+14 |
1941 0c74 AF85 ldd r26,Y+15 |
1942 0c76 B889 ldd r27,Y+16 |
1943 0c78 8983 std Y+1,r24 |
1944 0c7a 9A83 std Y+2,r25 |
1945 0c7c AB83 std Y+3,r26 |
1946 0c7e BC83 std Y+4,r27 |
1947 .L92: |
1948 0c80 A091 0000 lds r26,MesswertGier |
1949 0c84 B091 0000 lds r27,(MesswertGier)+1 |
1950 0c88 BB8B std Y+19,r27 |
1951 0c8a AA8B std Y+18,r26 |
1952 0c8c FD01 movw r30,r26 |
1953 0c8e CF01 movw r24,r30 |
1954 0c90 AA27 clr r26 |
1955 0c92 97FD sbrc r25,7 |
1956 0c94 A095 com r26 |
1957 0c96 BA2F mov r27,r26 |
1958 0c98 A090 0000 lds r10,Mess_Integral_Gier |
1959 0c9c B090 0000 lds r11,(Mess_Integral_Gier)+1 |
1960 0ca0 C090 0000 lds r12,(Mess_Integral_Gier)+2 |
1961 0ca4 D090 0000 lds r13,(Mess_Integral_Gier)+3 |
1962 0ca8 A80E add r10,r24 |
1963 0caa B91E adc r11,r25 |
1964 0cac CA1E adc r12,r26 |
1965 0cae DB1E adc r13,r27 |
1966 0cb0 A092 0000 sts Mess_Integral_Gier,r10 |
1967 0cb4 B092 0000 sts (Mess_Integral_Gier)+1,r11 |
1968 0cb8 C092 0000 sts (Mess_Integral_Gier)+2,r12 |
1969 0cbc D092 0000 sts (Mess_Integral_Gier)+3,r13 |
1970 0cc0 E090 0000 lds r14,ErsatzKompass |
1971 0cc4 F090 0000 lds r15,(ErsatzKompass)+1 |
1972 0cc8 0091 0000 lds r16,(ErsatzKompass)+2 |
1973 0ccc 1091 0000 lds r17,(ErsatzKompass)+3 |
1974 0cd0 E80E add r14,r24 |
1975 0cd2 F91E adc r15,r25 |
1976 0cd4 0A1F adc r16,r26 |
1977 0cd6 1B1F adc r17,r27 |
1978 0cd8 E092 0000 sts ErsatzKompass,r14 |
1979 0cdc F092 0000 sts (ErsatzKompass)+1,r15 |
1980 0ce0 0093 0000 sts (ErsatzKompass)+2,r16 |
1981 0ce4 1093 0000 sts (ErsatzKompass)+3,r17 |
1982 0ce8 F091 0000 lds r31,Looping_Nick |
1983 0cec F98B std Y+17,r31 |
1984 0cee FF23 tst r31 |
1985 0cf0 01F0 breq .+2 |
1986 0cf2 00C0 rjmp .L95 |
1987 0cf4 8091 0000 lds r24,Looping_Roll |
1988 0cf8 8823 tst r24 |
1989 0cfa 01F0 breq .+2 |
1990 0cfc 00C0 rjmp .L95 |
1991 0cfe 8091 0000 lds r24,Parameter_GlobalConfig |
1992 0d02 86FF sbrs r24,6 |
1993 0d04 00C0 rjmp .L95 |
1994 0d06 8091 0000 lds r24,MesswertRoll |
1995 0d0a 9091 0000 lds r25,(MesswertRoll)+1 |
1996 0d0e AA27 clr r26 |
1997 0d10 97FD sbrc r25,7 |
1998 0d12 A095 com r26 |
1999 0d14 BA2F mov r27,r26 |
2000 0d16 BC01 movw r22,r24 |
2001 0d18 CD01 movw r24,r26 |
2002 0d1a 2981 ldd r18,Y+1 |
2003 0d1c 3A81 ldd r19,Y+2 |
2004 0d1e 4B81 ldd r20,Y+3 |
2005 0d20 5C81 ldd r21,Y+4 |
2006 0d22 0E94 0000 call __mulsi3 |
2007 0d26 9B01 movw r18,r22 |
2008 0d28 AC01 movw r20,r24 |
2009 0d2a 97FF sbrs r25,7 |
2010 0d2c 00C0 rjmp .L96 |
2011 0d2e 2150 subi r18,lo8(-(2047)) |
2012 0d30 384F sbci r19,hi8(-(2047)) |
2013 0d32 4F4F sbci r20,hlo8(-(2047)) |
2014 0d34 5F4F sbci r21,hhi8(-(2047)) |
2015 .L96: |
2016 0d36 BBE0 ldi r27,11 |
2017 0d38 5595 1: asr r21 |
2018 0d3a 4795 ror r20 |
2019 0d3c 3795 ror r19 |
2020 0d3e 2795 ror r18 |
2021 0d40 BA95 dec r27 |
2022 0d42 01F4 brne 1b |
2023 0d44 8091 0000 lds r24,Parameter_AchsKopplung2 |
2024 0d48 682E mov r6,r24 |
2025 0d4a 7724 clr r7 |
2026 0d4c 8824 clr r8 |
2027 0d4e 9924 clr r9 |
2028 0d50 CA01 movw r24,r20 |
2029 0d52 B901 movw r22,r18 |
2030 0d54 A401 movw r20,r8 |
2031 0d56 9301 movw r18,r6 |
2032 0d58 0E94 0000 call __mulsi3 |
2033 0d5c DC01 movw r26,r24 |
2034 0d5e CB01 movw r24,r22 |
2035 0d60 8093 0000 sts tmpl3.29,r24 |
2036 0d64 9093 0000 sts (tmpl3.29)+1,r25 |
2037 0d68 A093 0000 sts (tmpl3.29)+2,r26 |
2038 0d6c B093 0000 sts (tmpl3.29)+3,r27 |
2039 0d70 B7FF sbrs r27,7 |
2040 0d72 00C0 rjmp .L97 |
2041 0d74 8150 subi r24,lo8(-(4095)) |
2042 0d76 904F sbci r25,hi8(-(4095)) |
2043 0d78 AF4F sbci r26,hlo8(-(4095)) |
2044 0d7a BF4F sbci r27,hhi8(-(4095)) |
2045 .L97: |
2046 0d7c 1C01 movw r2,r24 |
2047 0d7e 2D01 movw r4,r26 |
2048 0d80 ACE0 ldi r26,12 |
2049 0d82 5594 1: asr r5 |
2050 0d84 4794 ror r4 |
2051 0d86 3794 ror r3 |
2052 0d88 2794 ror r2 |
2053 0d8a AA95 dec r26 |
2054 0d8c 01F4 brne 1b |
2055 0d8e 2092 0000 sts tmpl3.29,r2 |
2056 0d92 3092 0000 sts (tmpl3.29)+1,r3 |
2057 0d96 4092 0000 sts (tmpl3.29)+2,r4 |
2058 0d9a 5092 0000 sts (tmpl3.29)+3,r5 |
2059 0d9e 8091 0000 lds r24,MesswertNick |
2060 0da2 9091 0000 lds r25,(MesswertNick)+1 |
2061 0da6 AA27 clr r26 |
2062 0da8 97FD sbrc r25,7 |
2063 0daa A095 com r26 |
2064 0dac BA2F mov r27,r26 |
2065 0dae BC01 movw r22,r24 |
2066 0db0 CD01 movw r24,r26 |
2067 0db2 2D81 ldd r18,Y+5 |
2068 0db4 3E81 ldd r19,Y+6 |
2069 0db6 4F81 ldd r20,Y+7 |
2070 0db8 5885 ldd r21,Y+8 |
2071 0dba 0E94 0000 call __mulsi3 |
2072 0dbe 97FF sbrs r25,7 |
2073 0dc0 00C0 rjmp .L98 |
2074 0dc2 6150 subi r22,lo8(-(2047)) |
2075 0dc4 784F sbci r23,hi8(-(2047)) |
2076 0dc6 8F4F sbci r24,hlo8(-(2047)) |
2077 0dc8 9F4F sbci r25,hhi8(-(2047)) |
2078 .L98: |
2079 0dca FBE0 ldi r31,11 |
2080 0dcc 9595 1: asr r25 |
2081 0dce 8795 ror r24 |
2082 0dd0 7795 ror r23 |
2083 0dd2 6795 ror r22 |
2084 0dd4 FA95 dec r31 |
2085 0dd6 01F4 brne 1b |
2086 0dd8 A401 movw r20,r8 |
2087 0dda 9301 movw r18,r6 |
2088 0ddc 0E94 0000 call __mulsi3 |
2089 0de0 DC01 movw r26,r24 |
2090 0de2 CB01 movw r24,r22 |
2091 0de4 8093 0000 sts tmpl4.30,r24 |
2092 0de8 9093 0000 sts (tmpl4.30)+1,r25 |
2093 0dec A093 0000 sts (tmpl4.30)+2,r26 |
2094 0df0 B093 0000 sts (tmpl4.30)+3,r27 |
2095 0df4 B7FF sbrs r27,7 |
2096 0df6 00C0 rjmp .L99 |
2097 0df8 8150 subi r24,lo8(-(4095)) |
2098 0dfa 904F sbci r25,hi8(-(4095)) |
2099 0dfc AF4F sbci r26,hlo8(-(4095)) |
2100 0dfe BF4F sbci r27,hhi8(-(4095)) |
2101 .L99: |
2102 0e00 9C01 movw r18,r24 |
2103 0e02 AD01 movw r20,r26 |
2104 0e04 ECE0 ldi r30,12 |
2105 0e06 5595 1: asr r21 |
2106 0e08 4795 ror r20 |
2107 0e0a 3795 ror r19 |
2108 0e0c 2795 ror r18 |
2109 0e0e EA95 dec r30 |
2110 0e10 01F4 brne 1b |
2111 0e12 2093 0000 sts tmpl4.30,r18 |
2112 0e16 3093 0000 sts (tmpl4.30)+1,r19 |
2113 0e1a 4093 0000 sts (tmpl4.30)+2,r20 |
2114 0e1e 5093 0000 sts (tmpl4.30)+3,r21 |
2115 0e22 8091 0000 lds r24,tmpl3.29 |
2116 0e26 9091 0000 lds r25,(tmpl3.29)+1 |
2117 0e2a 9093 0000 sts (KopplungsteilNickRoll)+1,r25 |
2118 0e2e 8093 0000 sts KopplungsteilNickRoll,r24 |
2119 0e32 8091 0000 lds r24,tmpl4.30 |
2120 0e36 9091 0000 lds r25,(tmpl4.30)+1 |
2121 0e3a 9093 0000 sts (KopplungsteilRollNick)+1,r25 |
2122 0e3e 8093 0000 sts KopplungsteilRollNick,r24 |
2123 0e42 2219 sub r18,r2 |
2124 0e44 3309 sbc r19,r3 |
2125 0e46 4409 sbc r20,r4 |
2126 0e48 5509 sbc r21,r5 |
2127 0e4a 2093 0000 sts tmpl4.30,r18 |
2128 0e4e 3093 0000 sts (tmpl4.30)+1,r19 |
2129 0e52 4093 0000 sts (tmpl4.30)+2,r20 |
2130 0e56 5093 0000 sts (tmpl4.30)+3,r21 |
2131 0e5a E20E add r14,r18 |
2132 0e5c F31E adc r15,r19 |
2133 0e5e 041F adc r16,r20 |
2134 0e60 151F adc r17,r21 |
2135 0e62 E092 0000 sts ErsatzKompass,r14 |
2136 0e66 F092 0000 sts (ErsatzKompass)+1,r15 |
2137 0e6a 0093 0000 sts (ErsatzKompass)+2,r16 |
2138 0e6e 1093 0000 sts (ErsatzKompass)+3,r17 |
2139 0e72 8091 0000 lds r24,Parameter_CouplingYawCorrection |
2140 0e76 8823 tst r24 |
2141 0e78 01F4 brne .L100 |
2142 0e7a 57FF sbrs r21,7 |
2143 0e7c 00C0 rjmp .L101 |
2144 0e7e 2F5F subi r18,lo8(-(1)) |
2145 0e80 3F4F sbci r19,hi8(-(1)) |
2146 0e82 4F4F sbci r20,hlo8(-(1)) |
2147 0e84 5F4F sbci r21,hhi8(-(1)) |
2148 .L101: |
2149 0e86 5595 asr r21 |
2150 0e88 4795 ror r20 |
2151 0e8a 3795 ror r19 |
2152 0e8c 2795 ror r18 |
2153 0e8e A21A sub r10,r18 |
2154 0e90 B30A sbc r11,r19 |
2155 0e92 C40A sbc r12,r20 |
2156 0e94 D50A sbc r13,r21 |
2157 0e96 A092 0000 sts Mess_Integral_Gier,r10 |
2158 0e9a B092 0000 sts (Mess_Integral_Gier)+1,r11 |
2159 0e9e C092 0000 sts (Mess_Integral_Gier)+2,r12 |
2160 0ea2 D092 0000 sts (Mess_Integral_Gier)+3,r13 |
2161 .L100: |
2162 0ea6 2A89 ldd r18,Y+18 |
2163 0ea8 3B89 ldd r19,Y+19 |
2164 0eaa 7901 movw r14,r18 |
2165 0eac 0027 clr r16 |
2166 0eae F7FC sbrc r15,7 |
2167 0eb0 0095 com r16 |
2168 0eb2 102F mov r17,r16 |
2169 0eb4 8091 0000 lds r24,tmpl4.30 |
2170 0eb8 9091 0000 lds r25,(tmpl4.30)+1 |
2171 0ebc A091 0000 lds r26,(tmpl4.30)+2 |
2172 0ec0 B091 0000 lds r27,(tmpl4.30)+3 |
2173 0ec4 E80E add r14,r24 |
2174 0ec6 F91E adc r15,r25 |
2175 0ec8 0A1F adc r16,r26 |
2176 0eca 1B1F adc r17,r27 |
2177 0ecc C801 movw r24,r16 |
2178 0ece B701 movw r22,r14 |
2179 0ed0 2981 ldd r18,Y+1 |
2180 0ed2 3A81 ldd r19,Y+2 |
2181 0ed4 4B81 ldd r20,Y+3 |
2182 0ed6 5C81 ldd r21,Y+4 |
2183 0ed8 0E94 0000 call __mulsi3 |
2184 0edc 9B01 movw r18,r22 |
2185 0ede AC01 movw r20,r24 |
2186 0ee0 97FF sbrs r25,7 |
2187 0ee2 00C0 rjmp .L102 |
2188 0ee4 2150 subi r18,lo8(-(2047)) |
2189 0ee6 384F sbci r19,hi8(-(2047)) |
2190 0ee8 4F4F sbci r20,hlo8(-(2047)) |
2191 0eea 5F4F sbci r21,hhi8(-(2047)) |
2192 .L102: |
2193 0eec 6BE0 ldi r22,11 |
2194 0eee 5595 1: asr r21 |
2195 0ef0 4795 ror r20 |
2196 0ef2 3795 ror r19 |
2197 0ef4 2795 ror r18 |
2198 0ef6 6A95 dec r22 |
2199 0ef8 01F4 brne 1b |
2200 0efa 8091 0000 lds r24,Parameter_AchsKopplung1 |
2201 0efe A82E mov r10,r24 |
2202 0f00 BB24 clr r11 |
2203 0f02 CC24 clr r12 |
2204 0f04 DD24 clr r13 |
2205 0f06 CA01 movw r24,r20 |
2206 0f08 B901 movw r22,r18 |
2207 0f0a A601 movw r20,r12 |
2208 0f0c 9501 movw r18,r10 |
2209 0f0e 0E94 0000 call __mulsi3 |
2210 0f12 DC01 movw r26,r24 |
2211 0f14 CB01 movw r24,r22 |
2212 0f16 8093 0000 sts tmpl.27,r24 |
2213 0f1a 9093 0000 sts (tmpl.27)+1,r25 |
2214 0f1e A093 0000 sts (tmpl.27)+2,r26 |
2215 0f22 B093 0000 sts (tmpl.27)+3,r27 |
2216 0f26 B7FF sbrs r27,7 |
2217 0f28 00C0 rjmp .L103 |
2218 0f2a 8150 subi r24,lo8(-(4095)) |
2219 0f2c 904F sbci r25,hi8(-(4095)) |
2220 0f2e AF4F sbci r26,hlo8(-(4095)) |
2221 0f30 BF4F sbci r27,hhi8(-(4095)) |
2222 .L103: |
2223 0f32 3C01 movw r6,r24 |
2224 0f34 4D01 movw r8,r26 |
2225 0f36 3CE0 ldi r19,12 |
2226 0f38 9594 1: asr r9 |
2227 0f3a 8794 ror r8 |
2228 0f3c 7794 ror r7 |
2229 0f3e 6794 ror r6 |
2230 0f40 3A95 dec r19 |
2231 0f42 01F4 brne 1b |
2232 0f44 6092 0000 sts tmpl.27,r6 |
2233 0f48 7092 0000 sts (tmpl.27)+1,r7 |
2234 0f4c 8092 0000 sts (tmpl.27)+2,r8 |
2235 0f50 9092 0000 sts (tmpl.27)+3,r9 |
2236 0f54 C801 movw r24,r16 |
2237 0f56 B701 movw r22,r14 |
2238 0f58 2D81 ldd r18,Y+5 |
2239 0f5a 3E81 ldd r19,Y+6 |
2240 0f5c 4F81 ldd r20,Y+7 |
2241 0f5e 5885 ldd r21,Y+8 |
2242 0f60 0E94 0000 call __mulsi3 |
2243 0f64 97FF sbrs r25,7 |
2244 0f66 00C0 rjmp .L104 |
2245 0f68 6150 subi r22,lo8(-(2047)) |
2246 0f6a 784F sbci r23,hi8(-(2047)) |
2247 0f6c 8F4F sbci r24,hlo8(-(2047)) |
2248 0f6e 9F4F sbci r25,hhi8(-(2047)) |
2249 .L104: |
2250 0f70 2BE0 ldi r18,11 |
2251 0f72 9595 1: asr r25 |
2252 0f74 8795 ror r24 |
2253 0f76 7795 ror r23 |
2254 0f78 6795 ror r22 |
2255 0f7a 2A95 dec r18 |
2256 0f7c 01F4 brne 1b |
2257 0f7e A601 movw r20,r12 |
2258 0f80 9501 movw r18,r10 |
2259 0f82 0E94 0000 call __mulsi3 |
2260 0f86 DC01 movw r26,r24 |
2261 0f88 CB01 movw r24,r22 |
2262 0f8a 8093 0000 sts tmpl2.28,r24 |
2263 0f8e 9093 0000 sts (tmpl2.28)+1,r25 |
2264 0f92 A093 0000 sts (tmpl2.28)+2,r26 |
2265 0f96 B093 0000 sts (tmpl2.28)+3,r27 |
2266 0f9a B7FF sbrs r27,7 |
2267 0f9c 00C0 rjmp .L105 |
2268 0f9e 8150 subi r24,lo8(-(4095)) |
2269 0fa0 904F sbci r25,hi8(-(4095)) |
2270 0fa2 AF4F sbci r26,hlo8(-(4095)) |
2271 0fa4 BF4F sbci r27,hhi8(-(4095)) |
2272 .L105: |
2273 0fa6 AC01 movw r20,r24 |
2274 0fa8 BD01 movw r22,r26 |
2275 0faa 8CE0 ldi r24,12 |
2276 0fac 7595 1: asr r23 |
2277 0fae 6795 ror r22 |
2278 0fb0 5795 ror r21 |
2279 0fb2 4795 ror r20 |
2280 0fb4 8A95 dec r24 |
2281 0fb6 01F4 brne 1b |
2282 0fb8 4093 0000 sts tmpl2.28,r20 |
2283 0fbc 5093 0000 sts (tmpl2.28)+1,r21 |
2284 0fc0 6093 0000 sts (tmpl2.28)+2,r22 |
2285 0fc4 7093 0000 sts (tmpl2.28)+3,r23 |
2286 0fc8 2A89 ldd r18,Y+18 |
2287 0fca 3B89 ldd r19,Y+19 |
2288 0fcc 37FF sbrs r19,7 |
2289 0fce 00C0 rjmp .L107 |
2290 0fd0 3095 com r19 |
2291 0fd2 2195 neg r18 |
2292 0fd4 3F4F sbci r19,lo8(-1) |
2293 .L107: |
2294 0fd6 2134 cpi r18,65 |
2295 0fd8 3105 cpc r19,__zero_reg__ |
2296 0fda 04F0 brlt .L112 |
2297 0fdc D401 movw r26,r8 |
2298 0fde C301 movw r24,r6 |
2299 0fe0 97FE sbrs r9,7 |
2300 0fe2 00C0 rjmp .L110 |
2301 0fe4 B095 com r27 |
2302 0fe6 A095 com r26 |
2303 0fe8 9095 com r25 |
2304 0fea 8195 neg r24 |
2305 0fec 9F4F sbci r25,lo8(-1) |
2306 0fee AF4F sbci r26,lo8(-1) |
2307 0ff0 BF4F sbci r27,lo8(-1) |
2308 .L110: |
2309 0ff2 8138 cpi r24,lo8(129) |
2310 0ff4 9105 cpc r25,__zero_reg__ |
2311 0ff6 A105 cpc r26,__zero_reg__ |
2312 0ff8 B105 cpc r27,__zero_reg__ |
2313 0ffa 04F4 brge .L109 |
2314 0ffc DB01 movw r26,r22 |
2315 0ffe CA01 movw r24,r20 |
2316 1000 77FF sbrs r23,7 |
2317 1002 00C0 rjmp .L111 |
2318 1004 B095 com r27 |
2319 1006 A095 com r26 |
2320 1008 9095 com r25 |
2321 100a 8195 neg r24 |
2322 100c 9F4F sbci r25,lo8(-1) |
2323 100e AF4F sbci r26,lo8(-1) |
2324 1010 BF4F sbci r27,lo8(-1) |
2325 .L111: |
2326 1012 8138 cpi r24,lo8(129) |
2327 1014 9105 cpc r25,__zero_reg__ |
2328 1016 A105 cpc r26,__zero_reg__ |
2329 1018 B105 cpc r27,__zero_reg__ |
2330 101a 04F0 brlt .L112 |
2331 .L109: |
2332 101c 81E0 ldi r24,lo8(1) |
2333 101e 8093 0000 sts TrichterFlug,r24 |
2334 1022 00C0 rjmp .L112 |
2335 .L95: |
2336 1024 1092 0000 sts (KopplungsteilRollNick)+1,__zero_reg__ |
2337 1028 1092 0000 sts KopplungsteilRollNick,__zero_reg__ |
2338 102c 1092 0000 sts (KopplungsteilNickRoll)+1,__zero_reg__ |
2339 1030 1092 0000 sts KopplungsteilNickRoll,__zero_reg__ |
2340 1034 1092 0000 sts tmpl2.28,__zero_reg__ |
2341 1038 1092 0000 sts (tmpl2.28)+1,__zero_reg__ |
2342 103c 1092 0000 sts (tmpl2.28)+2,__zero_reg__ |
2343 1040 1092 0000 sts (tmpl2.28)+3,__zero_reg__ |
2344 1044 1092 0000 sts tmpl.27,__zero_reg__ |
2345 1048 1092 0000 sts (tmpl.27)+1,__zero_reg__ |
2346 104c 1092 0000 sts (tmpl.27)+2,__zero_reg__ |
2347 1050 1092 0000 sts (tmpl.27)+3,__zero_reg__ |
2348 .L112: |
2349 1054 8091 0000 lds r24,tmpl2.28 |
2350 1058 9091 0000 lds r25,(tmpl2.28)+1 |
2351 105c A091 0000 lds r26,(tmpl2.28)+2 |
2352 1060 B091 0000 lds r27,(tmpl2.28)+3 |
2353 1064 BC01 movw r22,r24 |
2354 1066 CD01 movw r24,r26 |
2355 1068 24E6 ldi r18,lo8(100) |
2356 106a 30E0 ldi r19,hi8(100) |
2357 106c 40E0 ldi r20,hlo8(100) |
2358 106e 50E0 ldi r21,hhi8(100) |
2359 1070 0E94 0000 call __divmodsi4 |
2360 1074 E090 0000 lds r14,tmpl.27 |
2361 1078 F090 0000 lds r15,(tmpl.27)+1 |
2362 107c E21A sub r14,r18 |
2363 107e F30A sbc r15,r19 |
2364 1080 F092 0000 sts (TrimRoll)+1,r15 |
2365 1084 E092 0000 sts TrimRoll,r14 |
2366 1088 8091 0000 lds r24,tmpl.27 |
2367 108c 9091 0000 lds r25,(tmpl.27)+1 |
2368 1090 A091 0000 lds r26,(tmpl.27)+2 |
2369 1094 B091 0000 lds r27,(tmpl.27)+3 |
2370 1098 BC01 movw r22,r24 |
2371 109a CD01 movw r24,r26 |
2372 109c 24E6 ldi r18,lo8(100) |
2373 109e 30E0 ldi r19,hi8(100) |
2374 10a0 40E0 ldi r20,hlo8(100) |
2375 10a2 50E0 ldi r21,hhi8(100) |
2376 10a4 0E94 0000 call __divmodsi4 |
2377 10a8 DA01 movw r26,r20 |
2378 10aa C901 movw r24,r18 |
2379 10ac 2091 0000 lds r18,tmpl2.28 |
2380 10b0 3091 0000 lds r19,(tmpl2.28)+1 |
2381 10b4 8C01 movw r16,r24 |
2382 10b6 021B sub r16,r18 |
2383 10b8 130B sbc r17,r19 |
2384 10ba 1093 0000 sts (TrimNick)+1,r17 |
2385 10be 0093 0000 sts TrimNick,r16 |
2386 10c2 8091 0000 lds r24,GIER_GRAD_FAKTOR |
2387 10c6 9091 0000 lds r25,(GIER_GRAD_FAKTOR)+1 |
2388 10ca A091 0000 lds r26,(GIER_GRAD_FAKTOR)+2 |
2389 10ce B091 0000 lds r27,(GIER_GRAD_FAKTOR)+3 |
2390 10d2 BC01 movw r22,r24 |
2391 10d4 CD01 movw r24,r26 |
2392 10d6 28E6 ldi r18,lo8(360) |
2393 10d8 31E0 ldi r19,hi8(360) |
2394 10da 40E0 ldi r20,hlo8(360) |
2395 10dc 50E0 ldi r21,hhi8(360) |
2396 10de 0E94 0000 call __mulsi3 |
2397 10e2 2091 0000 lds r18,ErsatzKompass |
2398 10e6 3091 0000 lds r19,(ErsatzKompass)+1 |
2399 10ea 4091 0000 lds r20,(ErsatzKompass)+2 |
2400 10ee 5091 0000 lds r21,(ErsatzKompass)+3 |
2401 10f2 2617 cp r18,r22 |
2402 10f4 3707 cpc r19,r23 |
2403 10f6 4807 cpc r20,r24 |
2404 10f8 5907 cpc r21,r25 |
2405 10fa 04F0 brlt .L113 |
2406 10fc 261B sub r18,r22 |
2407 10fe 370B sbc r19,r23 |
2408 1100 480B sbc r20,r24 |
2409 1102 590B sbc r21,r25 |
2410 1104 2093 0000 sts ErsatzKompass,r18 |
2411 1108 3093 0000 sts (ErsatzKompass)+1,r19 |
2412 110c 4093 0000 sts (ErsatzKompass)+2,r20 |
2413 1110 5093 0000 sts (ErsatzKompass)+3,r21 |
2414 .L113: |
2415 1114 2091 0000 lds r18,ErsatzKompass |
2416 1118 3091 0000 lds r19,(ErsatzKompass)+1 |
2417 111c 4091 0000 lds r20,(ErsatzKompass)+2 |
2418 1120 5091 0000 lds r21,(ErsatzKompass)+3 |
2419 1124 57FF sbrs r21,7 |
2420 1126 00C0 rjmp .L114 |
2421 1128 260F add r18,r22 |
2422 112a 371F adc r19,r23 |
2423 112c 481F adc r20,r24 |
2424 112e 591F adc r21,r25 |
2425 1130 2093 0000 sts ErsatzKompass,r18 |
2426 1134 3093 0000 sts (ErsatzKompass)+1,r19 |
2427 1138 4093 0000 sts (ErsatzKompass)+2,r20 |
2428 113c 5093 0000 sts (ErsatzKompass)+3,r21 |
2429 .L114: |
2430 1140 6091 0000 lds r22,MesswertRoll |
2431 1144 7091 0000 lds r23,(MesswertRoll)+1 |
2432 1148 6E0D add r22,r14 |
2433 114a 7F1D adc r23,r15 |
2434 114c 9B01 movw r18,r22 |
2435 114e 4427 clr r20 |
2436 1150 37FD sbrc r19,7 |
2437 1152 4095 com r20 |
2438 1154 542F mov r21,r20 |
2439 1156 8091 0000 lds r24,Mess_IntegralRoll2 |
2440 115a 9091 0000 lds r25,(Mess_IntegralRoll2)+1 |
2441 115e A091 0000 lds r26,(Mess_IntegralRoll2)+2 |
2442 1162 B091 0000 lds r27,(Mess_IntegralRoll2)+3 |
2443 1166 820F add r24,r18 |
2444 1168 931F adc r25,r19 |
2445 116a A41F adc r26,r20 |
2446 116c B51F adc r27,r21 |
2447 116e 8093 0000 sts Mess_IntegralRoll2,r24 |
2448 1172 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
2449 1176 A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
2450 117a B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
2451 117e 8091 0000 lds r24,LageKorrekturRoll |
2452 1182 9091 0000 lds r25,(LageKorrekturRoll)+1 |
2453 1186 681B sub r22,r24 |
2454 1188 790B sbc r23,r25 |
2455 118a CB01 movw r24,r22 |
2456 118c AA27 clr r26 |
2457 118e 97FD sbrc r25,7 |
2458 1190 A095 com r26 |
2459 1192 BA2F mov r27,r26 |
2460 1194 2985 ldd r18,Y+9 |
2461 1196 3A85 ldd r19,Y+10 |
2462 1198 4B85 ldd r20,Y+11 |
2463 119a 5C85 ldd r21,Y+12 |
2464 119c 820F add r24,r18 |
2465 119e 931F adc r25,r19 |
2466 11a0 A41F adc r26,r20 |
2467 11a2 B51F adc r27,r21 |
2468 11a4 8093 0000 sts Mess_IntegralRoll,r24 |
2469 11a8 9093 0000 sts (Mess_IntegralRoll)+1,r25 |
2470 11ac A093 0000 sts (Mess_IntegralRoll)+2,r26 |
2471 11b0 B093 0000 sts (Mess_IntegralRoll)+3,r27 |
2472 11b4 C090 0000 lds r12,Umschlag180Roll |
2473 11b8 D090 0000 lds r13,(Umschlag180Roll)+1 |
2474 11bc E090 0000 lds r14,(Umschlag180Roll)+2 |
2475 11c0 F090 0000 lds r15,(Umschlag180Roll)+3 |
2476 11c4 C816 cp r12,r24 |
2477 11c6 D906 cpc r13,r25 |
2478 11c8 EA06 cpc r14,r26 |
2479 11ca FB06 cpc r15,r27 |
2480 11cc 04F4 brge .L115 |
2481 11ce 88EA ldi r24,lo8(25000) |
2482 11d0 91E6 ldi r25,hi8(25000) |
2483 11d2 A0E0 ldi r26,hlo8(25000) |
2484 11d4 B0E0 ldi r27,hhi8(25000) |
2485 11d6 8C19 sub r24,r12 |
2486 11d8 9D09 sbc r25,r13 |
2487 11da AE09 sbc r26,r14 |
2488 11dc BF09 sbc r27,r15 |
2489 11de 8093 0000 sts Mess_IntegralRoll,r24 |
2490 11e2 9093 0000 sts (Mess_IntegralRoll)+1,r25 |
2491 11e6 A093 0000 sts (Mess_IntegralRoll)+2,r26 |
2492 11ea B093 0000 sts (Mess_IntegralRoll)+3,r27 |
2493 11ee 8093 0000 sts Mess_IntegralRoll2,r24 |
2494 11f2 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
2495 11f6 A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
2496 11fa B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
2497 .L115: |
2498 11fe 2227 clr r18 |
2499 1200 3327 clr r19 |
2500 1202 A901 movw r20,r18 |
2501 1204 2C19 sub r18,r12 |
2502 1206 3D09 sbc r19,r13 |
2503 1208 4E09 sbc r20,r14 |
2504 120a 5F09 sbc r21,r15 |
2505 120c 8091 0000 lds r24,Mess_IntegralRoll |
2506 1210 9091 0000 lds r25,(Mess_IntegralRoll)+1 |
2507 1214 A091 0000 lds r26,(Mess_IntegralRoll)+2 |
2508 1218 B091 0000 lds r27,(Mess_IntegralRoll)+3 |
2509 121c 8217 cp r24,r18 |
2510 121e 9307 cpc r25,r19 |
2511 1220 A407 cpc r26,r20 |
2512 1222 B507 cpc r27,r21 |
2513 1224 04F4 brge .L116 |
2514 1226 D701 movw r26,r14 |
2515 1228 C601 movw r24,r12 |
2516 122a 885A subi r24,lo8(-(-25000)) |
2517 122c 9146 sbci r25,hi8(-(-25000)) |
2518 122e A040 sbci r26,hlo8(-(-25000)) |
2519 1230 B040 sbci r27,hhi8(-(-25000)) |
2520 1232 8093 0000 sts Mess_IntegralRoll,r24 |
2521 1236 9093 0000 sts (Mess_IntegralRoll)+1,r25 |
2522 123a A093 0000 sts (Mess_IntegralRoll)+2,r26 |
2523 123e B093 0000 sts (Mess_IntegralRoll)+3,r27 |
2524 1242 8093 0000 sts Mess_IntegralRoll2,r24 |
2525 1246 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
2526 124a A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
2527 124e B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
2528 .L116: |
2529 1252 6091 0000 lds r22,MesswertNick |
2530 1256 7091 0000 lds r23,(MesswertNick)+1 |
2531 125a 600F add r22,r16 |
2532 125c 711F adc r23,r17 |
2533 125e 9B01 movw r18,r22 |
2534 1260 4427 clr r20 |
2535 1262 37FD sbrc r19,7 |
2536 1264 4095 com r20 |
2537 1266 542F mov r21,r20 |
2538 1268 8091 0000 lds r24,Mess_IntegralNick2 |
2539 126c 9091 0000 lds r25,(Mess_IntegralNick2)+1 |
2540 1270 A091 0000 lds r26,(Mess_IntegralNick2)+2 |
2541 1274 B091 0000 lds r27,(Mess_IntegralNick2)+3 |
2542 1278 820F add r24,r18 |
2543 127a 931F adc r25,r19 |
2544 127c A41F adc r26,r20 |
2545 127e B51F adc r27,r21 |
2546 1280 8093 0000 sts Mess_IntegralNick2,r24 |
2547 1284 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
2548 1288 A093 0000 sts (Mess_IntegralNick2)+2,r26 |
2549 128c B093 0000 sts (Mess_IntegralNick2)+3,r27 |
2550 1290 8091 0000 lds r24,LageKorrekturNick |
2551 1294 9091 0000 lds r25,(LageKorrekturNick)+1 |
2552 1298 681B sub r22,r24 |
2553 129a 790B sbc r23,r25 |
2554 129c CB01 movw r24,r22 |
2555 129e AA27 clr r26 |
2556 12a0 97FD sbrc r25,7 |
2557 12a2 A095 com r26 |
2558 12a4 BA2F mov r27,r26 |
2559 12a6 2D85 ldd r18,Y+13 |
2560 12a8 3E85 ldd r19,Y+14 |
2561 12aa 4F85 ldd r20,Y+15 |
2562 12ac 5889 ldd r21,Y+16 |
2563 12ae 820F add r24,r18 |
2564 12b0 931F adc r25,r19 |
2565 12b2 A41F adc r26,r20 |
2566 12b4 B51F adc r27,r21 |
2567 12b6 8093 0000 sts Mess_IntegralNick,r24 |
2568 12ba 9093 0000 sts (Mess_IntegralNick)+1,r25 |
2569 12be A093 0000 sts (Mess_IntegralNick)+2,r26 |
2570 12c2 B093 0000 sts (Mess_IntegralNick)+3,r27 |
2571 12c6 E090 0000 lds r14,Umschlag180Nick |
2572 12ca F090 0000 lds r15,(Umschlag180Nick)+1 |
2573 12ce 0091 0000 lds r16,(Umschlag180Nick)+2 |
2574 12d2 1091 0000 lds r17,(Umschlag180Nick)+3 |
2575 12d6 E816 cp r14,r24 |
2576 12d8 F906 cpc r15,r25 |
2577 12da 0A07 cpc r16,r26 |
2578 12dc 1B07 cpc r17,r27 |
2579 12de 04F4 brge .L117 |
2580 12e0 88EA ldi r24,lo8(25000) |
2581 12e2 91E6 ldi r25,hi8(25000) |
2582 12e4 A0E0 ldi r26,hlo8(25000) |
2583 12e6 B0E0 ldi r27,hhi8(25000) |
2584 12e8 8E19 sub r24,r14 |
2585 12ea 9F09 sbc r25,r15 |
2586 12ec A00B sbc r26,r16 |
2587 12ee B10B sbc r27,r17 |
2588 12f0 8093 0000 sts Mess_IntegralNick,r24 |
2589 12f4 9093 0000 sts (Mess_IntegralNick)+1,r25 |
2590 12f8 A093 0000 sts (Mess_IntegralNick)+2,r26 |
2591 12fc B093 0000 sts (Mess_IntegralNick)+3,r27 |
2592 1300 8093 0000 sts Mess_IntegralNick2,r24 |
2593 1304 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
2594 1308 A093 0000 sts (Mess_IntegralNick2)+2,r26 |
2595 130c B093 0000 sts (Mess_IntegralNick2)+3,r27 |
2596 .L117: |
2597 1310 2227 clr r18 |
2598 1312 3327 clr r19 |
2599 1314 A901 movw r20,r18 |
2600 1316 2E19 sub r18,r14 |
2601 1318 3F09 sbc r19,r15 |
2602 131a 400B sbc r20,r16 |
2603 131c 510B sbc r21,r17 |
2604 131e 8091 0000 lds r24,Mess_IntegralNick |
2605 1322 9091 0000 lds r25,(Mess_IntegralNick)+1 |
2606 1326 A091 0000 lds r26,(Mess_IntegralNick)+2 |
2607 132a B091 0000 lds r27,(Mess_IntegralNick)+3 |
2608 132e 8217 cp r24,r18 |
2609 1330 9307 cpc r25,r19 |
2610 1332 A407 cpc r26,r20 |
2611 1334 B507 cpc r27,r21 |
2612 1336 04F4 brge .L118 |
2613 1338 D801 movw r26,r16 |
2614 133a C701 movw r24,r14 |
2615 133c 885A subi r24,lo8(-(-25000)) |
2616 133e 9146 sbci r25,hi8(-(-25000)) |
2617 1340 A040 sbci r26,hlo8(-(-25000)) |
2618 1342 B040 sbci r27,hhi8(-(-25000)) |
2619 1344 8093 0000 sts Mess_IntegralNick,r24 |
2620 1348 9093 0000 sts (Mess_IntegralNick)+1,r25 |
2621 134c A093 0000 sts (Mess_IntegralNick)+2,r26 |
2622 1350 B093 0000 sts (Mess_IntegralNick)+3,r27 |
2623 1354 8093 0000 sts Mess_IntegralNick2,r24 |
2624 1358 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
2625 135c A093 0000 sts (Mess_IntegralNick2)+2,r26 |
2626 1360 B093 0000 sts (Mess_IntegralNick2)+3,r27 |
2627 .L118: |
2628 1364 8091 0000 lds r24,Mess_Integral_Gier |
2629 1368 9091 0000 lds r25,(Mess_Integral_Gier)+1 |
2630 136c A091 0000 lds r26,(Mess_Integral_Gier)+2 |
2631 1370 B091 0000 lds r27,(Mess_Integral_Gier)+3 |
2632 1374 8093 0000 sts Integral_Gier,r24 |
2633 1378 9093 0000 sts (Integral_Gier)+1,r25 |
2634 137c A093 0000 sts (Integral_Gier)+2,r26 |
2635 1380 B093 0000 sts (Integral_Gier)+3,r27 |
2636 1384 8091 0000 lds r24,Mess_IntegralNick |
2637 1388 9091 0000 lds r25,(Mess_IntegralNick)+1 |
2638 138c A091 0000 lds r26,(Mess_IntegralNick)+2 |
2639 1390 B091 0000 lds r27,(Mess_IntegralNick)+3 |
2640 1394 8093 0000 sts IntegralNick,r24 |
2641 1398 9093 0000 sts (IntegralNick)+1,r25 |
2642 139c A093 0000 sts (IntegralNick)+2,r26 |
2643 13a0 B093 0000 sts (IntegralNick)+3,r27 |
2644 13a4 8091 0000 lds r24,Mess_IntegralRoll |
2645 13a8 9091 0000 lds r25,(Mess_IntegralRoll)+1 |
2646 13ac A091 0000 lds r26,(Mess_IntegralRoll)+2 |
2647 13b0 B091 0000 lds r27,(Mess_IntegralRoll)+3 |
2648 13b4 8093 0000 sts IntegralRoll,r24 |
2649 13b8 9093 0000 sts (IntegralRoll)+1,r25 |
2650 13bc A093 0000 sts (IntegralRoll)+2,r26 |
2651 13c0 B093 0000 sts (IntegralRoll)+3,r27 |
2652 13c4 8091 0000 lds r24,Mess_IntegralNick2 |
2653 13c8 9091 0000 lds r25,(Mess_IntegralNick2)+1 |
2654 13cc A091 0000 lds r26,(Mess_IntegralNick2)+2 |
2655 13d0 B091 0000 lds r27,(Mess_IntegralNick2)+3 |
2656 13d4 8093 0000 sts IntegralNick2,r24 |
2657 13d8 9093 0000 sts (IntegralNick2)+1,r25 |
2658 13dc A093 0000 sts (IntegralNick2)+2,r26 |
2659 13e0 B093 0000 sts (IntegralNick2)+3,r27 |
2660 13e4 8091 0000 lds r24,Mess_IntegralRoll2 |
2661 13e8 9091 0000 lds r25,(Mess_IntegralRoll2)+1 |
2662 13ec A091 0000 lds r26,(Mess_IntegralRoll2)+2 |
2663 13f0 B091 0000 lds r27,(Mess_IntegralRoll2)+3 |
2664 13f4 8093 0000 sts IntegralRoll2,r24 |
2665 13f8 9093 0000 sts (IntegralRoll2)+1,r25 |
2666 13fc A093 0000 sts (IntegralRoll2)+2,r26 |
2667 1400 B093 0000 sts (IntegralRoll2)+3,r27 |
2668 1404 8091 0000 lds r24,HiResNick |
2669 1408 9091 0000 lds r25,(HiResNick)+1 |
2670 140c 97FD sbrc r25,7 |
2671 140e 0796 adiw r24,7 |
2672 .L119: |
2673 1410 03E0 ldi r16,3 |
2674 1412 9595 1: asr r25 |
2675 1414 8795 ror r24 |
2676 1416 0A95 dec r16 |
2677 1418 01F4 brne 1b |
2678 141a 9093 0000 sts (MesswertNick)+1,r25 |
2679 141e 8093 0000 sts MesswertNick,r24 |
2680 1422 8091 0000 lds r24,HiResRoll |
2681 1426 9091 0000 lds r25,(HiResRoll)+1 |
2682 142a 97FD sbrc r25,7 |
2683 142c 0796 adiw r24,7 |
2684 .L120: |
2685 142e 13E0 ldi r17,3 |
2686 1430 9595 1: asr r25 |
2687 1432 8795 ror r24 |
2688 1434 1A95 dec r17 |
2689 1436 01F4 brne 1b |
2690 1438 9093 0000 sts (MesswertRoll)+1,r25 |
2691 143c 8093 0000 sts MesswertRoll,r24 |
2692 1440 8091 0000 lds r24,AdWertNick |
2693 1444 9091 0000 lds r25,(AdWertNick)+1 |
2694 1448 0F97 sbiw r24,15 |
2695 144a 04F4 brge .L121 |
2696 144c 88E1 ldi r24,lo8(-1000) |
2697 144e 9CEF ldi r25,hi8(-1000) |
2698 1450 9093 0000 sts (MesswertNick)+1,r25 |
2699 1454 8093 0000 sts MesswertNick,r24 |
2700 .L121: |
2701 1458 8091 0000 lds r24,AdWertNick |
2702 145c 9091 0000 lds r25,(AdWertNick)+1 |
2703 1460 0797 sbiw r24,7 |
2704 1462 04F4 brge .L122 |
2705 1464 80E3 ldi r24,lo8(-2000) |
2706 1466 98EF ldi r25,hi8(-2000) |
2707 1468 9093 0000 sts (MesswertNick)+1,r25 |
2708 146c 8093 0000 sts MesswertNick,r24 |
2709 .L122: |
2710 1470 2091 0000 lds r18,PlatinenVersion |
2711 1474 2A30 cpi r18,lo8(10) |
2712 1476 01F4 brne .L123 |
2713 1478 8091 0000 lds r24,AdWertNick |
2714 147c 9091 0000 lds r25,(AdWertNick)+1 |
2715 1480 835F subi r24,lo8(1011) |
2716 1482 9340 sbci r25,hi8(1011) |
2717 1484 04F0 brlt .L124 |
2718 1486 88EE ldi r24,lo8(1000) |
2719 1488 93E0 ldi r25,hi8(1000) |
2720 148a 9093 0000 sts (MesswertNick)+1,r25 |
2721 148e 8093 0000 sts MesswertNick,r24 |
2722 .L124: |
2723 1492 8091 0000 lds r24,AdWertNick |
2724 1496 9091 0000 lds r25,(AdWertNick)+1 |
2725 149a 8A5F subi r24,lo8(1018) |
2726 149c 9340 sbci r25,hi8(1018) |
2727 149e 04F0 brlt .L126 |
2728 14a0 00C0 rjmp .L169 |
2729 .L123: |
2730 14a2 8091 0000 lds r24,AdWertNick |
2731 14a6 9091 0000 lds r25,(AdWertNick)+1 |
2732 14aa 815D subi r24,lo8(2001) |
2733 14ac 9740 sbci r25,hi8(2001) |
2734 14ae 04F0 brlt .L127 |
2735 14b0 88EE ldi r24,lo8(1000) |
2736 14b2 93E0 ldi r25,hi8(1000) |
2737 14b4 9093 0000 sts (MesswertNick)+1,r25 |
2738 14b8 8093 0000 sts MesswertNick,r24 |
2739 .L127: |
2740 14bc 8091 0000 lds r24,AdWertNick |
2741 14c0 9091 0000 lds r25,(AdWertNick)+1 |
2742 14c4 805E subi r24,lo8(2016) |
2743 14c6 9740 sbci r25,hi8(2016) |
2744 14c8 04F0 brlt .L126 |
2745 .L169: |
2746 14ca 80ED ldi r24,lo8(2000) |
2747 14cc 97E0 ldi r25,hi8(2000) |
2748 14ce 9093 0000 sts (MesswertNick)+1,r25 |
2749 14d2 8093 0000 sts MesswertNick,r24 |
2750 .L126: |
2751 14d6 8091 0000 lds r24,AdWertRoll |
2752 14da 9091 0000 lds r25,(AdWertRoll)+1 |
2753 14de 0F97 sbiw r24,15 |
2754 14e0 04F4 brge .L129 |
2755 14e2 88E1 ldi r24,lo8(-1000) |
2756 14e4 9CEF ldi r25,hi8(-1000) |
2757 14e6 9093 0000 sts (MesswertRoll)+1,r25 |
2758 14ea 8093 0000 sts MesswertRoll,r24 |
2759 .L129: |
2760 14ee 8091 0000 lds r24,AdWertRoll |
2761 14f2 9091 0000 lds r25,(AdWertRoll)+1 |
2762 14f6 0797 sbiw r24,7 |
2763 14f8 04F4 brge .L130 |
2764 14fa 80E3 ldi r24,lo8(-2000) |
2765 14fc 98EF ldi r25,hi8(-2000) |
2766 14fe 9093 0000 sts (MesswertRoll)+1,r25 |
2767 1502 8093 0000 sts MesswertRoll,r24 |
2768 .L130: |
2769 1506 2A30 cpi r18,lo8(10) |
2770 1508 01F4 brne .L131 |
2771 150a 8091 0000 lds r24,AdWertRoll |
2772 150e 9091 0000 lds r25,(AdWertRoll)+1 |
2773 1512 835F subi r24,lo8(1011) |
2774 1514 9340 sbci r25,hi8(1011) |
2775 1516 04F0 brlt .L132 |
2776 1518 88EE ldi r24,lo8(1000) |
2777 151a 93E0 ldi r25,hi8(1000) |
2778 151c 9093 0000 sts (MesswertRoll)+1,r25 |
2779 1520 8093 0000 sts MesswertRoll,r24 |
2780 .L132: |
2781 1524 8091 0000 lds r24,AdWertRoll |
2782 1528 9091 0000 lds r25,(AdWertRoll)+1 |
2783 152c 8A5F subi r24,lo8(1018) |
2784 152e 9340 sbci r25,hi8(1018) |
2785 1530 04F0 brlt .L134 |
2786 1532 00C0 rjmp .L170 |
2787 .L131: |
2788 1534 8091 0000 lds r24,AdWertRoll |
2789 1538 9091 0000 lds r25,(AdWertRoll)+1 |
2790 153c 815D subi r24,lo8(2001) |
2791 153e 9740 sbci r25,hi8(2001) |
2792 1540 04F0 brlt .L135 |
2793 1542 88EE ldi r24,lo8(1000) |
2794 1544 93E0 ldi r25,hi8(1000) |
2795 1546 9093 0000 sts (MesswertRoll)+1,r25 |
2796 154a 8093 0000 sts MesswertRoll,r24 |
2797 .L135: |
2798 154e 8091 0000 lds r24,AdWertRoll |
2799 1552 9091 0000 lds r25,(AdWertRoll)+1 |
2800 1556 805E subi r24,lo8(2016) |
2801 1558 9740 sbci r25,hi8(2016) |
2802 155a 04F0 brlt .L134 |
2803 .L170: |
2804 155c 80ED ldi r24,lo8(2000) |
2805 155e 97E0 ldi r25,hi8(2000) |
2806 1560 9093 0000 sts (MesswertRoll)+1,r25 |
2807 1564 8093 0000 sts MesswertRoll,r24 |
2808 .L134: |
2809 1568 6091 0000 lds r22,Parameter_Gyro_D |
2810 156c 6623 tst r22 |
2811 156e 01F4 brne .+2 |
2812 1570 00C0 rjmp .L137 |
2813 1572 4091 0000 lds r20,HiResNick |
2814 1576 5091 0000 lds r21,(HiResNick)+1 |
2815 157a 8091 0000 lds r24,oldNick.31 |
2816 157e 9091 0000 lds r25,(oldNick.31)+1 |
2817 1582 481B sub r20,r24 |
2818 1584 590B sbc r21,r25 |
2819 1586 5093 0000 sts (d2Nick.34)+1,r21 |
2820 158a 4093 0000 sts d2Nick.34,r20 |
2821 158e 2091 0000 lds r18,HiResNick |
2822 1592 3091 0000 lds r19,(HiResNick)+1 |
2823 1596 280F add r18,r24 |
2824 1598 391F adc r19,r25 |
2825 159a 37FF sbrs r19,7 |
2826 159c 00C0 rjmp .L138 |
2827 159e 2F5F subi r18,lo8(-(1)) |
2828 15a0 3F4F sbci r19,hi8(-(1)) |
2829 .L138: |
2830 15a2 3595 asr r19 |
2831 15a4 2795 ror r18 |
2832 15a6 3093 0000 sts (oldNick.31)+1,r19 |
2833 15aa 2093 0000 sts oldNick.31,r18 |
2834 15ae 4138 cpi r20,129 |
2835 15b0 5105 cpc r21,__zero_reg__ |
2836 15b2 04F0 brlt .L139 |
2837 15b4 80E8 ldi r24,lo8(128) |
2838 15b6 90E0 ldi r25,hi8(128) |
2839 15b8 00C0 rjmp .L171 |
2840 .L139: |
2841 15ba 4058 subi r20,lo8(-128) |
2842 15bc 5F4F sbci r21,hi8(-128) |
2843 15be 04F4 brge .L140 |
2844 15c0 80E8 ldi r24,lo8(-128) |
2845 15c2 9FEF ldi r25,hi8(-128) |
2846 .L171: |
2847 15c4 9093 0000 sts (d2Nick.34)+1,r25 |
2848 15c8 8093 0000 sts d2Nick.34,r24 |
2849 .L140: |
2850 15cc 4091 0000 lds r20,HiResRoll |
2851 15d0 5091 0000 lds r21,(HiResRoll)+1 |
2852 15d4 8091 0000 lds r24,oldRoll.32 |
2853 15d8 9091 0000 lds r25,(oldRoll.32)+1 |
2854 15dc 481B sub r20,r24 |
2855 15de 590B sbc r21,r25 |
2856 15e0 5093 0000 sts (d2Roll.33)+1,r21 |
2857 15e4 4093 0000 sts d2Roll.33,r20 |
2858 15e8 2091 0000 lds r18,HiResRoll |
2859 15ec 3091 0000 lds r19,(HiResRoll)+1 |
2860 15f0 280F add r18,r24 |
2861 15f2 391F adc r19,r25 |
2862 15f4 37FF sbrs r19,7 |
2863 15f6 00C0 rjmp .L142 |
2864 15f8 2F5F subi r18,lo8(-(1)) |
2865 15fa 3F4F sbci r19,hi8(-(1)) |
2866 .L142: |
2867 15fc 3595 asr r19 |
2868 15fe 2795 ror r18 |
2869 1600 3093 0000 sts (oldRoll.32)+1,r19 |
2870 1604 2093 0000 sts oldRoll.32,r18 |
2871 1608 4138 cpi r20,129 |
2872 160a 5105 cpc r21,__zero_reg__ |
2873 160c 04F0 brlt .L143 |
2874 160e 80E8 ldi r24,lo8(128) |
2875 1610 90E0 ldi r25,hi8(128) |
2876 1612 00C0 rjmp .L172 |
2877 .L143: |
2878 1614 4058 subi r20,lo8(-128) |
2879 1616 5F4F sbci r21,hi8(-128) |
2880 1618 04F4 brge .L144 |
2881 161a 80E8 ldi r24,lo8(-128) |
2882 161c 9FEF ldi r25,hi8(-128) |
2883 .L172: |
2884 161e 9093 0000 sts (d2Roll.33)+1,r25 |
2885 1622 8093 0000 sts d2Roll.33,r24 |
2886 .L144: |
2887 1626 462F mov r20,r22 |
2888 1628 5527 clr r21 |
2889 162a 8091 0000 lds r24,d2Nick.34 |
2890 162e 9091 0000 lds r25,(d2Nick.34)+1 |
2891 1632 849F mul r24,r20 |
2892 1634 B001 movw r22,r0 |
2893 1636 859F mul r24,r21 |
2894 1638 700D add r23,r0 |
2895 163a 949F mul r25,r20 |
2896 163c 700D add r23,r0 |
2897 163e 1124 clr r1 |
2898 1640 9B01 movw r18,r22 |
2899 1642 77FF sbrs r23,7 |
2900 1644 00C0 rjmp .L146 |
2901 1646 215F subi r18,lo8(-(15)) |
2902 1648 3F4F sbci r19,hi8(-(15)) |
2903 .L146: |
2904 164a F4E0 ldi r31,4 |
2905 164c 3595 1: asr r19 |
2906 164e 2795 ror r18 |
2907 1650 FA95 dec r31 |
2908 1652 01F4 brne 1b |
2909 1654 8091 0000 lds r24,MesswertNick |
2910 1658 9091 0000 lds r25,(MesswertNick)+1 |
2911 165c 820F add r24,r18 |
2912 165e 931F adc r25,r19 |
2913 1660 9093 0000 sts (MesswertNick)+1,r25 |
2914 1664 8093 0000 sts MesswertNick,r24 |
2915 1668 8091 0000 lds r24,d2Roll.33 |
2916 166c 9091 0000 lds r25,(d2Roll.33)+1 |
2917 1670 849F mul r24,r20 |
2918 1672 D001 movw r26,r0 |
2919 1674 859F mul r24,r21 |
2920 1676 B00D add r27,r0 |
2921 1678 949F mul r25,r20 |
2922 167a B00D add r27,r0 |
2923 167c 1124 clr r1 |
2924 167e AD01 movw r20,r26 |
2925 1680 9D01 movw r18,r26 |
2926 1682 B7FF sbrs r27,7 |
2927 1684 00C0 rjmp .L147 |
2928 1686 215F subi r18,lo8(-(15)) |
2929 1688 3F4F sbci r19,hi8(-(15)) |
2930 .L147: |
2931 168a E4E0 ldi r30,4 |
2932 168c 3595 1: asr r19 |
2933 168e 2795 ror r18 |
2934 1690 EA95 dec r30 |
2935 1692 01F4 brne 1b |
2936 1694 8091 0000 lds r24,MesswertRoll |
2937 1698 9091 0000 lds r25,(MesswertRoll)+1 |
2938 169c 820F add r24,r18 |
2939 169e 931F adc r25,r19 |
2940 16a0 9093 0000 sts (MesswertRoll)+1,r25 |
2941 16a4 8093 0000 sts MesswertRoll,r24 |
2942 16a8 8091 0000 lds r24,HiResNick |
2943 16ac 9091 0000 lds r25,(HiResNick)+1 |
2944 16b0 860F add r24,r22 |
2945 16b2 971F adc r25,r23 |
2946 16b4 9093 0000 sts (HiResNick)+1,r25 |
2947 16b8 8093 0000 sts HiResNick,r24 |
2948 16bc 8091 0000 lds r24,HiResRoll |
2949 16c0 9091 0000 lds r25,(HiResRoll)+1 |
2950 16c4 840F add r24,r20 |
2951 16c6 951F adc r25,r21 |
2952 16c8 9093 0000 sts (HiResRoll)+1,r25 |
2953 16cc 8093 0000 sts HiResRoll,r24 |
2954 .L137: |
2955 16d0 0091 0000 lds r16,RohMesswertRoll |
2956 16d4 1091 0000 lds r17,(RohMesswertRoll)+1 |
2957 16d8 8091 0000 lds r24,KopplungsteilNickRoll |
2958 16dc 9091 0000 lds r25,(KopplungsteilNickRoll)+1 |
2959 16e0 1016 cp __zero_reg__,r16 |
2960 16e2 1106 cpc __zero_reg__,r17 |
2961 16e4 04F4 brge .L148 |
2962 16e6 9C01 movw r18,r24 |
2963 16e8 97FF sbrs r25,7 |
2964 16ea 00C0 rjmp .L149 |
2965 16ec 2227 clr r18 |
2966 16ee 3327 clr r19 |
2967 16f0 281B sub r18,r24 |
2968 16f2 390B sbc r19,r25 |
2969 .L149: |
2970 16f4 C901 movw r24,r18 |
2971 16f6 AA27 clr r26 |
2972 16f8 97FD sbrc r25,7 |
2973 16fa A095 com r26 |
2974 16fc BA2F mov r27,r26 |
2975 16fe 2091 0000 lds r18,Parameter_CouplingYawCorrection |
2976 1702 3327 clr r19 |
2977 1704 4427 clr r20 |
2978 1706 5527 clr r21 |
2979 1708 BC01 movw r22,r24 |
2980 170a CD01 movw r24,r26 |
2981 170c 0E94 0000 call __mulsi3 |
2982 1710 9B01 movw r18,r22 |
2983 1712 AC01 movw r20,r24 |
2984 1714 97FF sbrs r25,7 |
2985 1716 00C0 rjmp .L150 |
2986 1718 215C subi r18,lo8(-(63)) |
2987 171a 3F4F sbci r19,hi8(-(63)) |
2988 171c 4F4F sbci r20,hlo8(-(63)) |
2989 171e 5F4F sbci r21,hhi8(-(63)) |
2990 .L150: |
2991 1720 76E0 ldi r23,6 |
2992 1722 5595 1: asr r21 |
2993 1724 4795 ror r20 |
2994 1726 3795 ror r19 |
2995 1728 2795 ror r18 |
2996 172a 7A95 dec r23 |
2997 172c 01F4 brne 1b |
2998 172e 8091 0000 lds r24,TrimRoll |
2999 1732 9091 0000 lds r25,(TrimRoll)+1 |
3000 1736 820F add r24,r18 |
3001 1738 931F adc r25,r19 |
3002 173a 00C0 rjmp .L173 |
3003 .L148: |
3004 173c 97FF sbrs r25,7 |
3005 173e 00C0 rjmp .L152 |
3006 1740 9095 com r25 |
3007 1742 8195 neg r24 |
3008 1744 9F4F sbci r25,lo8(-1) |
3009 .L152: |
3010 1746 AA27 clr r26 |
3011 1748 97FD sbrc r25,7 |
3012 174a A095 com r26 |
3013 174c BA2F mov r27,r26 |
3014 174e 2091 0000 lds r18,Parameter_CouplingYawCorrection |
3015 1752 3327 clr r19 |
3016 1754 4427 clr r20 |
3017 1756 5527 clr r21 |
3018 1758 BC01 movw r22,r24 |
3019 175a CD01 movw r24,r26 |
3020 175c 0E94 0000 call __mulsi3 |
3021 1760 9B01 movw r18,r22 |
3022 1762 AC01 movw r20,r24 |
3023 1764 97FF sbrs r25,7 |
3024 1766 00C0 rjmp .L153 |
3025 1768 215C subi r18,lo8(-(63)) |
3026 176a 3F4F sbci r19,hi8(-(63)) |
3027 176c 4F4F sbci r20,hlo8(-(63)) |
3028 176e 5F4F sbci r21,hhi8(-(63)) |
3029 .L153: |
3030 1770 66E0 ldi r22,6 |
3031 1772 5595 1: asr r21 |
3032 1774 4795 ror r20 |
3033 1776 3795 ror r19 |
3034 1778 2795 ror r18 |
3035 177a 6A95 dec r22 |
3036 177c 01F4 brne 1b |
3037 177e 8091 0000 lds r24,TrimRoll |
3038 1782 9091 0000 lds r25,(TrimRoll)+1 |
3039 1786 821B sub r24,r18 |
3040 1788 930B sbc r25,r19 |
3041 .L173: |
3042 178a 9093 0000 sts (TrimRoll)+1,r25 |
3043 178e 8093 0000 sts TrimRoll,r24 |
3044 1792 E090 0000 lds r14,RohMesswertNick |
3045 1796 F090 0000 lds r15,(RohMesswertNick)+1 |
3046 179a 8091 0000 lds r24,KopplungsteilRollNick |
3047 179e 9091 0000 lds r25,(KopplungsteilRollNick)+1 |
3048 17a2 1E14 cp __zero_reg__,r14 |
3049 17a4 1F04 cpc __zero_reg__,r15 |
3050 17a6 04F4 brge .L154 |
3051 17a8 9C01 movw r18,r24 |
3052 17aa 97FF sbrs r25,7 |
3053 17ac 00C0 rjmp .L155 |
3054 17ae 2227 clr r18 |
3055 17b0 3327 clr r19 |
3056 17b2 281B sub r18,r24 |
3057 17b4 390B sbc r19,r25 |
3058 .L155: |
3059 17b6 C901 movw r24,r18 |
3060 17b8 AA27 clr r26 |
3061 17ba 97FD sbrc r25,7 |
3062 17bc A095 com r26 |
3063 17be BA2F mov r27,r26 |
3064 17c0 2091 0000 lds r18,Parameter_CouplingYawCorrection |
3065 17c4 3327 clr r19 |
3066 17c6 4427 clr r20 |
3067 17c8 5527 clr r21 |
3068 17ca BC01 movw r22,r24 |
3069 17cc CD01 movw r24,r26 |
3070 17ce 0E94 0000 call __mulsi3 |
3071 17d2 9B01 movw r18,r22 |
3072 17d4 AC01 movw r20,r24 |
3073 17d6 97FF sbrs r25,7 |
3074 17d8 00C0 rjmp .L156 |
3075 17da 215C subi r18,lo8(-(63)) |
3076 17dc 3F4F sbci r19,hi8(-(63)) |
3077 17de 4F4F sbci r20,hlo8(-(63)) |
3078 17e0 5F4F sbci r21,hhi8(-(63)) |
3079 .L156: |
3080 17e2 96E0 ldi r25,6 |
3081 17e4 5595 1: asr r21 |
3082 17e6 4795 ror r20 |
3083 17e8 3795 ror r19 |
3084 17ea 2795 ror r18 |
3085 17ec 9A95 dec r25 |
3086 17ee 01F4 brne 1b |
3087 17f0 8091 0000 lds r24,TrimNick |
3088 17f4 9091 0000 lds r25,(TrimNick)+1 |
3089 17f8 820F add r24,r18 |
3090 17fa 931F adc r25,r19 |
3091 17fc 00C0 rjmp .L174 |
3092 .L154: |
3093 17fe 97FF sbrs r25,7 |
3094 1800 00C0 rjmp .L158 |
3095 1802 9095 com r25 |
3096 1804 8195 neg r24 |
3097 1806 9F4F sbci r25,lo8(-1) |
3098 .L158: |
3099 1808 AA27 clr r26 |
3100 180a 97FD sbrc r25,7 |
3101 180c A095 com r26 |
3102 180e BA2F mov r27,r26 |
3103 1810 2091 0000 lds r18,Parameter_CouplingYawCorrection |
3104 1814 3327 clr r19 |
3105 1816 4427 clr r20 |
3106 1818 5527 clr r21 |
3107 181a BC01 movw r22,r24 |
3108 181c CD01 movw r24,r26 |
3109 181e 0E94 0000 call __mulsi3 |
3110 1822 9B01 movw r18,r22 |
3111 1824 AC01 movw r20,r24 |
3112 1826 97FF sbrs r25,7 |
3113 1828 00C0 rjmp .L159 |
3114 182a 215C subi r18,lo8(-(63)) |
3115 182c 3F4F sbci r19,hi8(-(63)) |
3116 182e 4F4F sbci r20,hlo8(-(63)) |
3117 1830 5F4F sbci r21,hhi8(-(63)) |
3118 .L159: |
3119 1832 86E0 ldi r24,6 |
3120 1834 5595 1: asr r21 |
3121 1836 4795 ror r20 |
3122 1838 3795 ror r19 |
3123 183a 2795 ror r18 |
3124 183c 8A95 dec r24 |
3125 183e 01F4 brne 1b |
3126 1840 8091 0000 lds r24,TrimNick |
3127 1844 9091 0000 lds r25,(TrimNick)+1 |
3128 1848 821B sub r24,r18 |
3129 184a 930B sbc r25,r19 |
3130 .L174: |
3131 184c 9093 0000 sts (TrimNick)+1,r25 |
3132 1850 8093 0000 sts TrimNick,r24 |
3133 1854 8091 0000 lds r24,Parameter_GlobalConfig |
3134 1858 87FF sbrs r24,7 |
3135 185a 00C0 rjmp .L82 |
3136 185c B989 ldd r27,Y+17 |
3137 185e BB23 tst r27 |
3138 1860 01F0 breq .+2 |
3139 1862 00C0 rjmp .L82 |
3140 1864 8091 0000 lds r24,Looping_Roll |
3141 1868 8823 tst r24 |
3142 186a 01F4 brne .L82 |
3143 186c E1E0 ldi r30,lo8(257) |
3144 186e EE16 cp r14,r30 |
3145 1870 E1E0 ldi r30,hi8(257) |
3146 1872 FE06 cpc r15,r30 |
3147 1874 04F0 brlt .L161 |
3148 1876 8091 0000 lds r24,MesswertNick |
3149 187a 9091 0000 lds r25,(MesswertNick)+1 |
3150 187e 8E0D add r24,r14 |
3151 1880 9F1D adc r25,r15 |
3152 1882 8050 subi r24,lo8(-(-256)) |
3153 1884 9140 sbci r25,hi8(-(-256)) |
3154 1886 00C0 rjmp .L175 |
3155 .L161: |
3156 1888 F0E0 ldi r31,lo8(-256) |
3157 188a EF16 cp r14,r31 |
3158 188c FFEF ldi r31,hi8(-256) |
3159 188e FF06 cpc r15,r31 |
3160 1890 04F4 brge .L162 |
3161 1892 8091 0000 lds r24,MesswertNick |
3162 1896 9091 0000 lds r25,(MesswertNick)+1 |
3163 189a 8E0D add r24,r14 |
3164 189c 9F1D adc r25,r15 |
3165 189e 8050 subi r24,lo8(-(256)) |
3166 18a0 9F4F sbci r25,hi8(-(256)) |
3167 .L175: |
3168 18a2 9093 0000 sts (MesswertNick)+1,r25 |
3169 18a6 8093 0000 sts MesswertNick,r24 |
3170 .L162: |
3171 18aa 21E0 ldi r18,hi8(257) |
3172 18ac 0130 cpi r16,lo8(257) |
3173 18ae 1207 cpc r17,r18 |
3174 18b0 04F0 brlt .L164 |
3175 18b2 8091 0000 lds r24,MesswertRoll |
3176 18b6 9091 0000 lds r25,(MesswertRoll)+1 |
3177 18ba 800F add r24,r16 |
3178 18bc 911F adc r25,r17 |
3179 18be 8050 subi r24,lo8(-(-256)) |
3180 18c0 9140 sbci r25,hi8(-(-256)) |
3181 18c2 00C0 rjmp .L176 |
3182 .L164: |
3183 18c4 3FEF ldi r19,hi8(-256) |
3184 18c6 0030 cpi r16,lo8(-256) |
3185 18c8 1307 cpc r17,r19 |
3186 18ca 04F4 brge .L82 |
3187 18cc 8091 0000 lds r24,MesswertRoll |
3188 18d0 9091 0000 lds r25,(MesswertRoll)+1 |
3189 18d4 800F add r24,r16 |
3190 18d6 911F adc r25,r17 |
3191 18d8 8050 subi r24,lo8(-(256)) |
3192 18da 9F4F sbci r25,hi8(-(256)) |
3193 .L176: |
3194 18dc 9093 0000 sts (MesswertRoll)+1,r25 |
3195 18e0 8093 0000 sts MesswertRoll,r24 |
3196 .L82: |
3197 /* epilogue: frame size=19 */ |
3198 18e4 E2E1 ldi r30,18 |
3199 18e6 CD5E subi r28,-19 |
3200 18e8 0C94 0000 jmp __epilogue_restores__+0 |
3201 /* epilogue end (size=4) */ |
3202 /* function Mittelwert size 2000 (1990) */ |
3204 .global SendMotorData |
3206 SendMotorData: |
3207 /* prologue: frame size=0 */ |
3208 /* prologue end (size=0) */ |
3209 18ec 8091 0000 lds r24,MotorenEin |
3210 18f0 8823 tst r24 |
3211 18f2 01F4 brne .L178 |
3212 18f4 8091 0000 lds r24,FC_StatusFlags |
3213 18f8 8C7F andi r24,lo8(-4) |
3214 18fa 8093 0000 sts FC_StatusFlags,r24 |
3215 18fe A0E0 ldi r26,lo8(MotorTest) |
3216 1900 B0E0 ldi r27,hi8(MotorTest) |
3217 1902 E0E0 ldi r30,lo8(Motor) |
3218 1904 F0E0 ldi r31,hi8(Motor) |
3219 1906 9BE0 ldi r25,lo8(11) |
3220 .L183: |
3221 1908 8091 0000 lds r24,PC_MotortestActive |
3222 190c 8823 tst r24 |
3223 190e 01F4 brne .L182 |
3224 1910 8C93 st X,r24 |
3225 .L182: |
3226 1912 8D91 ld r24,X+ |
3227 1914 8183 std Z+1,r24 |
3228 1916 1282 std Z+2,__zero_reg__ |
3229 1918 9150 subi r25,lo8(-(-1)) |
3230 191a 3896 adiw r30,8 |
3231 191c 97FF sbrs r25,7 |
3232 191e 00C0 rjmp .L183 |
3233 1920 8091 0000 lds r24,PC_MotortestActive |
3234 1924 8823 tst r24 |
3235 1926 01F0 breq .L185 |
3236 1928 8091 0000 lds r24,PC_MotortestActive |
3237 192c 8150 subi r24,lo8(-(-1)) |
3238 192e 8093 0000 sts PC_MotortestActive,r24 |
3239 1932 00C0 rjmp .L185 |
3240 .L178: |
3241 1934 8091 0000 lds r24,FC_StatusFlags |
3242 1938 8160 ori r24,lo8(1) |
3243 193a 8093 0000 sts FC_StatusFlags,r24 |
3244 .L185: |
3245 193e 8091 0000 lds r24,I2C_TransferActive |
3246 1942 8823 tst r24 |
3247 1944 01F0 breq .L186 |
3248 1946 1092 0000 sts I2C_TransferActive,__zero_reg__ |
3249 194a 0895 ret |
3250 .L186: |
3251 194c 8093 0000 sts motor_write,r24 |
3252 1950 8093 0000 sts twi_state,r24 |
3253 1954 8091 0000 lds r24,BLFlags |
3254 1958 8E7F andi r24,lo8(-2) |
3255 195a 8093 0000 sts BLFlags,r24 |
3256 195e 85EA ldi r24,lo8(-91) |
3257 1960 8093 BC00 sts 188,r24 |
3258 1964 0895 ret |
3259 /* epilogue: frame size=0 */ |
3260 /* epilogue: noreturn */ |
3261 /* epilogue end (size=0) */ |
3262 /* function SendMotorData size 61 (61) */ |
3264 .global ParameterZuordnung |
3266 ParameterZuordnung: |
3267 /* prologue: frame size=0 */ |
3268 1966 CF93 push r28 |
3269 1968 DF93 push r29 |
3270 /* prologue end (size=2) */ |
3271 196a A0E0 ldi r26,lo8(Poti) |
3272 196c B0E0 ldi r27,hi8(Poti) |
3273 196e C0E0 ldi r28,lo8(EE_Parameter+5) |
3274 1970 D0E0 ldi r29,hi8(EE_Parameter+5) |
3275 1972 57E0 ldi r21,lo8(7) |
3276 .L203: |
3277 1974 9991 ld r25,Y+ |
3278 1976 E92F mov r30,r25 |
3279 1978 FF27 clr r31 |
3280 197a EE0F add r30,r30 |
3281 197c FF1F adc r31,r31 |
3282 197e E050 subi r30,lo8(-(PPM_in)) |
3283 1980 F040 sbci r31,hi8(-(PPM_in)) |
3284 1982 0190 ld __tmp_reg__,Z+ |
3285 1984 F081 ld r31,Z |
3286 1986 E02D mov r30,__tmp_reg__ |
3287 1988 E158 subi r30,lo8(-(127)) |
3288 198a FF4F sbci r31,hi8(-(127)) |
3289 198c EF3F cpi r30,255 |
3290 198e F105 cpc r31,__zero_reg__ |
3291 1990 01F0 breq .L194 |
3292 1992 04F0 brlt .L194 |
3293 1994 EFEF ldi r30,lo8(255) |
3294 1996 F0E0 ldi r31,hi8(255) |
3295 1998 00C0 rjmp .L195 |
3296 .L194: |
3297 199a F7FF sbrs r31,7 |
3298 199c 00C0 rjmp .L195 |
3299 199e E0E0 ldi r30,lo8(0) |
3300 19a0 F0E0 ldi r31,hi8(0) |
3301 .L195: |
3302 19a2 9931 cpi r25,lo8(25) |
3303 19a4 01F4 brne .L197 |
3304 19a6 EC93 st X,r30 |
3305 19a8 00C0 rjmp .L193 |
3306 .L197: |
3307 19aa 4C91 ld r20,X |
3308 19ac 242F mov r18,r20 |
3309 19ae 3327 clr r19 |
3310 19b0 E217 cp r30,r18 |
3311 19b2 F307 cpc r31,r19 |
3312 19b4 01F0 breq .L193 |
3313 19b6 CF01 movw r24,r30 |
3314 19b8 821B sub r24,r18 |
3315 19ba 930B sbc r25,r19 |
3316 19bc 97FD sbrc r25,7 |
3317 19be 0396 adiw r24,3 |
3318 .L200: |
3319 19c0 9595 asr r25 |
3320 19c2 8795 ror r24 |
3321 19c4 9595 asr r25 |
3322 19c6 8795 ror r24 |
3323 19c8 242F mov r18,r20 |
3324 19ca 280F add r18,r24 |
3325 19cc 2C93 st X,r18 |
3326 19ce 822F mov r24,r18 |
3327 19d0 9927 clr r25 |
3328 19d2 E817 cp r30,r24 |
3329 19d4 F907 cpc r31,r25 |
3330 19d6 04F4 brge .L201 |
3331 19d8 2150 subi r18,lo8(-(-1)) |
3332 19da 00C0 rjmp .L323 |
3333 .L201: |
3334 19dc 2F5F subi r18,lo8(-(1)) |
3335 .L323: |
3336 19de 2C93 st X,r18 |
3337 .L193: |
3338 19e0 5150 subi r21,lo8(-(-1)) |
3339 19e2 1196 adiw r26,1 |
3340 19e4 57FF sbrs r21,7 |
3341 19e6 00C0 rjmp .L203 |
3342 19e8 8091 0000 lds r24,EE_Parameter+15 |
3343 19ec 883F cpi r24,lo8(-8) |
3344 19ee 00F0 brlo .L324 |
3345 19f0 EFEF ldi r30,lo8(255) |
3346 19f2 F0E0 ldi r31,hi8(255) |
3347 19f4 E81B sub r30,r24 |
3348 19f6 F109 sbc r31,__zero_reg__ |
3349 19f8 E050 subi r30,lo8(-(Poti)) |
3350 19fa F040 sbci r31,hi8(-(Poti)) |
3351 19fc 8081 ld r24,Z |
3352 .L324: |
3353 19fe 8093 0000 sts Parameter_Luftdruck_D,r24 |
3354 1a02 8091 0000 lds r24,Parameter_Luftdruck_D |
3355 1a06 8823 tst r24 |
3356 1a08 01F0 breq .L207 |
3357 1a0a 8436 cpi r24,lo8(100) |
3358 1a0c 00F0 brlo .L207 |
3359 1a0e 84E6 ldi r24,lo8(100) |
3360 1a10 8093 0000 sts Parameter_Luftdruck_D,r24 |
3361 .L207: |
3362 1a14 8091 0000 lds r24,EE_Parameter+17 |
3363 1a18 883F cpi r24,lo8(-8) |
3364 1a1a 00F0 brlo .L325 |
3365 1a1c EFEF ldi r30,lo8(255) |
3366 1a1e F0E0 ldi r31,hi8(255) |
3367 1a20 E81B sub r30,r24 |
3368 1a22 F109 sbc r31,__zero_reg__ |
3369 1a24 E050 subi r30,lo8(-(Poti)) |
3370 1a26 F040 sbci r31,hi8(-(Poti)) |
3371 1a28 8081 ld r24,Z |
3372 .L325: |
3373 1a2a 8093 0000 sts Parameter_Hoehe_P,r24 |
3374 1a2e 8091 0000 lds r24,Parameter_Hoehe_P |
3375 1a32 8823 tst r24 |
3376 1a34 01F0 breq .L212 |
3377 1a36 8436 cpi r24,lo8(100) |
3378 1a38 00F0 brlo .L212 |
3379 1a3a 84E6 ldi r24,lo8(100) |
3380 1a3c 8093 0000 sts Parameter_Hoehe_P,r24 |
3381 .L212: |
3382 1a40 8091 0000 lds r24,EE_Parameter+30 |
3383 1a44 883F cpi r24,lo8(-8) |
3384 1a46 00F0 brlo .L326 |
3385 1a48 EFEF ldi r30,lo8(255) |
3386 1a4a F0E0 ldi r31,hi8(255) |
3387 1a4c E81B sub r30,r24 |
3388 1a4e F109 sbc r31,__zero_reg__ |
3389 1a50 E050 subi r30,lo8(-(Poti)) |
3390 1a52 F040 sbci r31,hi8(-(Poti)) |
3391 1a54 8081 ld r24,Z |
3392 .L326: |
3393 1a56 8093 0000 sts Parameter_Gyro_P,r24 |
3394 1a5a 8091 0000 lds r24,Parameter_Gyro_P |
3395 1a5e 8B30 cpi r24,lo8(11) |
3396 1a60 00F4 brsh .L216 |
3397 1a62 8AE0 ldi r24,lo8(10) |
3398 1a64 00C0 rjmp .L327 |
3399 .L216: |
3400 1a66 8F3F cpi r24,lo8(-1) |
3401 1a68 01F4 brne .L217 |
3402 .L327: |
3403 1a6a 8093 0000 sts Parameter_Gyro_P,r24 |
3404 .L217: |
3405 1a6e 8091 0000 lds r24,EE_Parameter+75 |
3406 1a72 883F cpi r24,lo8(-8) |
3407 1a74 00F0 brlo .L328 |
3408 1a76 EFEF ldi r30,lo8(255) |
3409 1a78 F0E0 ldi r31,hi8(255) |
3410 1a7a E81B sub r30,r24 |
3411 1a7c F109 sbc r31,__zero_reg__ |
3412 1a7e E050 subi r30,lo8(-(Poti)) |
3413 1a80 F040 sbci r31,hi8(-(Poti)) |
3414 1a82 8081 ld r24,Z |
3415 .L328: |
3416 1a84 8093 0000 sts Parameter_J16Timing,r24 |
3417 1a88 8091 0000 lds r24,Parameter_J16Timing |
3418 1a8c 8630 cpi r24,lo8(6) |
3419 1a8e 00F4 brsh .L221 |
3420 1a90 85E0 ldi r24,lo8(5) |
3421 1a92 00C0 rjmp .L329 |
3422 .L221: |
3423 1a94 8F3F cpi r24,lo8(-1) |
3424 1a96 01F4 brne .L222 |
3425 .L329: |
3426 1a98 8093 0000 sts Parameter_J16Timing,r24 |
3427 .L222: |
3428 1a9c 8091 0000 lds r24,EE_Parameter+77 |
3429 1aa0 883F cpi r24,lo8(-8) |
3430 1aa2 00F0 brlo .L330 |
3431 1aa4 EFEF ldi r30,lo8(255) |
3432 1aa6 F0E0 ldi r31,hi8(255) |
3433 1aa8 E81B sub r30,r24 |
3434 1aaa F109 sbc r31,__zero_reg__ |
3435 1aac E050 subi r30,lo8(-(Poti)) |
3436 1aae F040 sbci r31,hi8(-(Poti)) |
3437 1ab0 8081 ld r24,Z |
3438 .L330: |
3439 1ab2 8093 0000 sts Parameter_J17Timing,r24 |
3440 1ab6 8091 0000 lds r24,Parameter_J17Timing |
3441 1aba 8630 cpi r24,lo8(6) |
3442 1abc 00F4 brsh .L226 |
3443 1abe 85E0 ldi r24,lo8(5) |
3444 1ac0 00C0 rjmp .L331 |
3445 .L226: |
3446 1ac2 8F3F cpi r24,lo8(-1) |
3447 1ac4 01F4 brne .L227 |
3448 .L331: |
3449 1ac6 8093 0000 sts Parameter_J17Timing,r24 |
3450 .L227: |
3451 1aca 8091 0000 lds r24,EE_Parameter+56 |
3452 1ace 873F cpi r24,lo8(-9) |
3453 1ad0 01F4 brne .L229 |
3454 1ad2 4299 sbic 40-0x20,2 |
3455 1ad4 00C0 rjmp .L362 |
3456 1ad6 00C0 rjmp .L234 |
3457 .L229: |
3458 1ad8 863F cpi r24,lo8(-10) |
3459 1ada 01F4 brne .L233 |
3460 1adc 439B sbis 40-0x20,3 |
3461 1ade 00C0 rjmp .L234 |
3462 .L362: |
3463 1ae0 8CE8 ldi r24,lo8(-116) |
3464 1ae2 00C0 rjmp .L332 |
3465 .L234: |
3466 1ae4 86E4 ldi r24,lo8(70) |
3467 1ae6 00C0 rjmp .L332 |
3468 .L233: |
3469 1ae8 883F cpi r24,lo8(-8) |
3470 1aea 00F0 brlo .L332 |
3471 1aec EFEF ldi r30,lo8(255) |
3472 1aee F0E0 ldi r31,hi8(255) |
3473 1af0 E81B sub r30,r24 |
3474 1af2 F109 sbc r31,__zero_reg__ |
3475 1af4 E050 subi r30,lo8(-(Poti)) |
3476 1af6 F040 sbci r31,hi8(-(Poti)) |
3477 1af8 8081 ld r24,Z |
3478 .L332: |
3479 1afa 8093 0000 sts Parameter_Servo3,r24 |
3480 1afe 8091 0000 lds r24,EE_Parameter+57 |
3481 1b02 873F cpi r24,lo8(-9) |
3482 1b04 01F4 brne .L239 |
3483 1b06 4299 sbic 40-0x20,2 |
3484 1b08 00C0 rjmp .L363 |
3485 1b0a 00C0 rjmp .L244 |
3486 .L239: |
3487 1b0c 863F cpi r24,lo8(-10) |
3488 1b0e 01F4 brne .L243 |
3489 1b10 439B sbis 40-0x20,3 |
3490 1b12 00C0 rjmp .L244 |
3491 .L363: |
3492 1b14 8CE8 ldi r24,lo8(-116) |
3493 1b16 00C0 rjmp .L333 |
3494 .L244: |
3495 1b18 86E4 ldi r24,lo8(70) |
3496 1b1a 00C0 rjmp .L333 |
3497 .L243: |
3498 1b1c 883F cpi r24,lo8(-8) |
3499 1b1e 00F0 brlo .L333 |
3500 1b20 EFEF ldi r30,lo8(255) |
3501 1b22 F0E0 ldi r31,hi8(255) |
3502 1b24 E81B sub r30,r24 |
3503 1b26 F109 sbc r31,__zero_reg__ |
3504 1b28 E050 subi r30,lo8(-(Poti)) |
3505 1b2a F040 sbci r31,hi8(-(Poti)) |
3506 1b2c 8081 ld r24,Z |
3507 .L333: |
3508 1b2e 8093 0000 sts Parameter_Servo4,r24 |
3509 1b32 8091 0000 lds r24,EE_Parameter+58 |
3510 1b36 883F cpi r24,lo8(-8) |
3511 1b38 00F0 brlo .L334 |
3512 1b3a EFEF ldi r30,lo8(255) |
3513 1b3c F0E0 ldi r31,hi8(255) |
3514 1b3e E81B sub r30,r24 |
3515 1b40 F109 sbc r31,__zero_reg__ |
3516 1b42 E050 subi r30,lo8(-(Poti)) |
3517 1b44 F040 sbci r31,hi8(-(Poti)) |
3518 1b46 8081 ld r24,Z |
3519 .L334: |
3520 1b48 8093 0000 sts Parameter_Servo5,r24 |
3521 1b4c 8091 0000 lds r24,EE_Parameter+16 |
3522 1b50 883F cpi r24,lo8(-8) |
3523 1b52 00F0 brlo .L335 |
3524 1b54 EFEF ldi r30,lo8(255) |
3525 1b56 F0E0 ldi r31,hi8(255) |
3526 1b58 E81B sub r30,r24 |
3527 1b5a F109 sbc r31,__zero_reg__ |
3528 1b5c E050 subi r30,lo8(-(Poti)) |
3529 1b5e F040 sbci r31,hi8(-(Poti)) |
3530 1b60 8081 ld r24,Z |
3531 .L335: |
3532 1b62 8093 0000 sts Parameter_HoehenSchalter,r24 |
3533 1b66 8091 0000 lds r24,EE_Parameter+19 |
3534 1b6a 883F cpi r24,lo8(-8) |
3535 1b6c 00F0 brlo .L336 |
3536 1b6e EFEF ldi r30,lo8(255) |
3537 1b70 F0E0 ldi r31,hi8(255) |
3538 1b72 E81B sub r30,r24 |
3539 1b74 F109 sbc r31,__zero_reg__ |
3540 1b76 E050 subi r30,lo8(-(Poti)) |
3541 1b78 F040 sbci r31,hi8(-(Poti)) |
3542 1b7a 8081 ld r24,Z |
3543 .L336: |
3544 1b7c 8093 0000 sts Parameter_Hoehe_ACC_Wirkung,r24 |
3545 1b80 8091 0000 lds r24,EE_Parameter+21 |
3546 1b84 883F cpi r24,lo8(-8) |
3547 1b86 00F0 brlo .L337 |
3548 1b88 EFEF ldi r30,lo8(255) |
3549 1b8a F0E0 ldi r31,hi8(255) |
3550 1b8c E81B sub r30,r24 |
3551 1b8e F109 sbc r31,__zero_reg__ |
3552 1b90 E050 subi r30,lo8(-(Poti)) |
3553 1b92 F040 sbci r31,hi8(-(Poti)) |
3554 1b94 8081 ld r24,Z |
3555 .L337: |
3556 1b96 8093 0000 sts Parameter_Hoehe_GPS_Z,r24 |
3557 1b9a 8091 0000 lds r24,EE_Parameter+29 |
3558 1b9e 883F cpi r24,lo8(-8) |
3559 1ba0 00F0 brlo .L338 |
3560 1ba2 EFEF ldi r30,lo8(255) |
3561 1ba4 F0E0 ldi r31,hi8(255) |
3562 1ba6 E81B sub r30,r24 |
3563 1ba8 F109 sbc r31,__zero_reg__ |
3564 1baa E050 subi r30,lo8(-(Poti)) |
3565 1bac F040 sbci r31,hi8(-(Poti)) |
3566 1bae 8081 ld r24,Z |
3567 .L338: |
3568 1bb0 8093 0000 sts Parameter_KompassWirkung,r24 |
3569 1bb4 8091 0000 lds r24,EE_Parameter+31 |
3570 1bb8 883F cpi r24,lo8(-8) |
3571 1bba 00F0 brlo .L339 |
3572 1bbc EFEF ldi r30,lo8(255) |
3573 1bbe F0E0 ldi r31,hi8(255) |
3574 1bc0 E81B sub r30,r24 |
3575 1bc2 F109 sbc r31,__zero_reg__ |
3576 1bc4 E050 subi r30,lo8(-(Poti)) |
3577 1bc6 F040 sbci r31,hi8(-(Poti)) |
3578 1bc8 8081 ld r24,Z |
3579 .L339: |
3580 1bca 8093 0000 sts Parameter_Gyro_I,r24 |
3581 1bce 8091 0000 lds r24,EE_Parameter+32 |
3582 1bd2 883F cpi r24,lo8(-8) |
3583 1bd4 00F0 brlo .L340 |
3584 1bd6 EFEF ldi r30,lo8(255) |
3585 1bd8 F0E0 ldi r31,hi8(255) |
3586 1bda E81B sub r30,r24 |
3587 1bdc F109 sbc r31,__zero_reg__ |
3588 1bde E050 subi r30,lo8(-(Poti)) |
3589 1be0 F040 sbci r31,hi8(-(Poti)) |
3590 1be2 8081 ld r24,Z |
3591 .L340: |
3592 1be4 8093 0000 sts Parameter_Gyro_D,r24 |
3593 1be8 8091 0000 lds r24,EE_Parameter+33 |
3594 1bec 883F cpi r24,lo8(-8) |
3595 1bee 00F0 brlo .L341 |
3596 1bf0 EFEF ldi r30,lo8(255) |
3597 1bf2 F0E0 ldi r31,hi8(255) |
3598 1bf4 E81B sub r30,r24 |
3599 1bf6 F109 sbc r31,__zero_reg__ |
3600 1bf8 E050 subi r30,lo8(-(Poti)) |
3601 1bfa F040 sbci r31,hi8(-(Poti)) |
3602 1bfc 8081 ld r24,Z |
3603 .L341: |
3604 1bfe 8093 0000 sts Parameter_Gyro_Gier_P,r24 |
3605 1c02 8091 0000 lds r24,EE_Parameter+34 |
3606 1c06 883F cpi r24,lo8(-8) |
3607 1c08 00F0 brlo .L342 |
3608 1c0a EFEF ldi r30,lo8(255) |
3609 1c0c F0E0 ldi r31,hi8(255) |
3610 1c0e E81B sub r30,r24 |
3611 1c10 F109 sbc r31,__zero_reg__ |
3612 1c12 E050 subi r30,lo8(-(Poti)) |
3613 1c14 F040 sbci r31,hi8(-(Poti)) |
3614 1c16 8081 ld r24,Z |
3615 .L342: |
3616 1c18 8093 0000 sts Parameter_Gyro_Gier_I,r24 |
3617 1c1c 8091 0000 lds r24,EE_Parameter+40 |
3618 1c20 883F cpi r24,lo8(-8) |
3619 1c22 00F0 brlo .L343 |
3620 1c24 EFEF ldi r30,lo8(255) |
3621 1c26 F0E0 ldi r31,hi8(255) |
3622 1c28 E81B sub r30,r24 |
3623 1c2a F109 sbc r31,__zero_reg__ |
3624 1c2c E050 subi r30,lo8(-(Poti)) |
3625 1c2e F040 sbci r31,hi8(-(Poti)) |
3626 1c30 8081 ld r24,Z |
3627 .L343: |
3628 1c32 8093 0000 sts Parameter_I_Faktor,r24 |
3629 1c36 8091 0000 lds r24,EE_Parameter+41 |
3630 1c3a 883F cpi r24,lo8(-8) |
3631 1c3c 00F0 brlo .L344 |
3632 1c3e EFEF ldi r30,lo8(255) |
3633 1c40 F0E0 ldi r31,hi8(255) |
3634 1c42 E81B sub r30,r24 |
3635 1c44 F109 sbc r31,__zero_reg__ |
3636 1c46 E050 subi r30,lo8(-(Poti)) |
3637 1c48 F040 sbci r31,hi8(-(Poti)) |
3638 1c4a 8081 ld r24,Z |
3639 .L344: |
3640 1c4c 8093 0000 sts Parameter_UserParam1,r24 |
3641 1c50 8091 0000 lds r24,EE_Parameter+42 |
3642 1c54 883F cpi r24,lo8(-8) |
3643 1c56 00F0 brlo .L345 |
3644 1c58 EFEF ldi r30,lo8(255) |
3645 1c5a F0E0 ldi r31,hi8(255) |
3646 1c5c E81B sub r30,r24 |
3647 1c5e F109 sbc r31,__zero_reg__ |
3648 1c60 E050 subi r30,lo8(-(Poti)) |
3649 1c62 F040 sbci r31,hi8(-(Poti)) |
3650 1c64 8081 ld r24,Z |
3651 .L345: |
3652 1c66 8093 0000 sts Parameter_UserParam2,r24 |
3653 1c6a 8091 0000 lds r24,EE_Parameter+43 |
3654 1c6e 883F cpi r24,lo8(-8) |
3655 1c70 00F0 brlo .L346 |
3656 1c72 EFEF ldi r30,lo8(255) |
3657 1c74 F0E0 ldi r31,hi8(255) |
3658 1c76 E81B sub r30,r24 |
3659 1c78 F109 sbc r31,__zero_reg__ |
3660 1c7a E050 subi r30,lo8(-(Poti)) |
3661 1c7c F040 sbci r31,hi8(-(Poti)) |
3662 1c7e 8081 ld r24,Z |
3663 .L346: |
3664 1c80 8093 0000 sts Parameter_UserParam3,r24 |
3665 1c84 8091 0000 lds r24,EE_Parameter+44 |
3666 1c88 883F cpi r24,lo8(-8) |
3667 1c8a 00F0 brlo .L347 |
3668 1c8c EFEF ldi r30,lo8(255) |
3669 1c8e F0E0 ldi r31,hi8(255) |
3670 1c90 E81B sub r30,r24 |
3671 1c92 F109 sbc r31,__zero_reg__ |
3672 1c94 E050 subi r30,lo8(-(Poti)) |
3673 1c96 F040 sbci r31,hi8(-(Poti)) |
3674 1c98 8081 ld r24,Z |
3675 .L347: |
3676 1c9a 8093 0000 sts Parameter_UserParam4,r24 |
3677 1c9e 8091 0000 lds r24,EE_Parameter+70 |
3678 1ca2 883F cpi r24,lo8(-8) |
3679 1ca4 00F0 brlo .L348 |
3680 1ca6 EFEF ldi r30,lo8(255) |
3681 1ca8 F0E0 ldi r31,hi8(255) |
3682 1caa E81B sub r30,r24 |
3683 1cac F109 sbc r31,__zero_reg__ |
3684 1cae E050 subi r30,lo8(-(Poti)) |
3685 1cb0 F040 sbci r31,hi8(-(Poti)) |
3686 1cb2 8081 ld r24,Z |
3687 .L348: |
3688 1cb4 8093 0000 sts Parameter_UserParam5,r24 |
3689 1cb8 8091 0000 lds r24,EE_Parameter+71 |
3690 1cbc 883F cpi r24,lo8(-8) |
3691 1cbe 00F0 brlo .L349 |
3692 1cc0 EFEF ldi r30,lo8(255) |
3693 1cc2 F0E0 ldi r31,hi8(255) |
3694 1cc4 E81B sub r30,r24 |
3695 1cc6 F109 sbc r31,__zero_reg__ |
3696 1cc8 E050 subi r30,lo8(-(Poti)) |
3697 1cca F040 sbci r31,hi8(-(Poti)) |
3698 1ccc 8081 ld r24,Z |
3699 .L349: |
3700 1cce 8093 0000 sts Parameter_UserParam6,r24 |
3701 1cd2 8091 0000 lds r24,EE_Parameter+72 |
3702 1cd6 883F cpi r24,lo8(-8) |
3703 1cd8 00F0 brlo .L350 |
3704 1cda EFEF ldi r30,lo8(255) |
3705 1cdc F0E0 ldi r31,hi8(255) |
3706 1cde E81B sub r30,r24 |
3707 1ce0 F109 sbc r31,__zero_reg__ |
3708 1ce2 E050 subi r30,lo8(-(Poti)) |
3709 1ce4 F040 sbci r31,hi8(-(Poti)) |
3710 1ce6 8081 ld r24,Z |
3711 .L350: |
3712 1ce8 8093 0000 sts Parameter_UserParam7,r24 |
3713 1cec 8091 0000 lds r24,EE_Parameter+73 |
3714 1cf0 883F cpi r24,lo8(-8) |
3715 1cf2 00F0 brlo .L351 |
3716 1cf4 EFEF ldi r30,lo8(255) |
3717 1cf6 F0E0 ldi r31,hi8(255) |
3718 1cf8 E81B sub r30,r24 |
3719 1cfa F109 sbc r31,__zero_reg__ |
3720 1cfc E050 subi r30,lo8(-(Poti)) |
3721 1cfe F040 sbci r31,hi8(-(Poti)) |
3722 1d00 8081 ld r24,Z |
3723 .L351: |
3724 1d02 8093 0000 sts Parameter_UserParam8,r24 |
3725 1d06 8091 0000 lds r24,EE_Parameter+45 |
3726 1d0a 883F cpi r24,lo8(-8) |
3727 1d0c 00F0 brlo .L352 |
3728 1d0e EFEF ldi r30,lo8(255) |
3729 1d10 F0E0 ldi r31,hi8(255) |
3730 1d12 E81B sub r30,r24 |
3731 1d14 F109 sbc r31,__zero_reg__ |
3732 1d16 E050 subi r30,lo8(-(Poti)) |
3733 1d18 F040 sbci r31,hi8(-(Poti)) |
3734 1d1a 8081 ld r24,Z |
3735 .L352: |
3736 1d1c 8093 0000 sts Parameter_ServoNickControl,r24 |
3737 1d20 8091 0000 lds r24,EE_Parameter+49 |
3738 1d24 883F cpi r24,lo8(-8) |
3739 1d26 00F0 brlo .L353 |
3740 1d28 EFEF ldi r30,lo8(255) |
3741 1d2a F0E0 ldi r31,hi8(255) |
3742 1d2c E81B sub r30,r24 |
3743 1d2e F109 sbc r31,__zero_reg__ |
3744 1d30 E050 subi r30,lo8(-(Poti)) |
3745 1d32 F040 sbci r31,hi8(-(Poti)) |
3746 1d34 8081 ld r24,Z |
3747 .L353: |
3748 1d36 8093 0000 sts Parameter_ServoRollControl,r24 |
3749 1d3a 8091 0000 lds r24,EE_Parameter+59 |
3750 1d3e 883F cpi r24,lo8(-8) |
3751 1d40 00F0 brlo .L354 |
3752 1d42 EFEF ldi r30,lo8(255) |
3753 1d44 F0E0 ldi r31,hi8(255) |
3754 1d46 E81B sub r30,r24 |
3755 1d48 F109 sbc r31,__zero_reg__ |
3756 1d4a E050 subi r30,lo8(-(Poti)) |
3757 1d4c F040 sbci r31,hi8(-(Poti)) |
3758 1d4e 8081 ld r24,Z |
3759 .L354: |
3760 1d50 8093 0000 sts Parameter_LoopGasLimit,r24 |
3761 1d54 8091 0000 lds r24,EE_Parameter+62 |
3762 1d58 883F cpi r24,lo8(-8) |
3763 1d5a 00F0 brlo .L355 |
3764 1d5c EFEF ldi r30,lo8(255) |
3765 1d5e F0E0 ldi r31,hi8(255) |
3766 1d60 E81B sub r30,r24 |
3767 1d62 F109 sbc r31,__zero_reg__ |
3768 1d64 E050 subi r30,lo8(-(Poti)) |
3769 1d66 F040 sbci r31,hi8(-(Poti)) |
3770 1d68 8081 ld r24,Z |
3771 .L355: |
3772 1d6a 8093 0000 sts Parameter_AchsKopplung1,r24 |
3773 1d6e 8091 0000 lds r24,EE_Parameter+63 |
3774 1d72 883F cpi r24,lo8(-8) |
3775 1d74 00F0 brlo .L356 |
3776 1d76 EFEF ldi r30,lo8(255) |
3777 1d78 F0E0 ldi r31,hi8(255) |
3778 1d7a E81B sub r30,r24 |
3779 1d7c F109 sbc r31,__zero_reg__ |
3780 1d7e E050 subi r30,lo8(-(Poti)) |
3781 1d80 F040 sbci r31,hi8(-(Poti)) |
3782 1d82 8081 ld r24,Z |
3783 .L356: |
3784 1d84 8093 0000 sts Parameter_AchsKopplung2,r24 |
3785 1d88 8091 0000 lds r24,EE_Parameter+64 |
3786 1d8c 883F cpi r24,lo8(-8) |
3787 1d8e 00F0 brlo .L357 |
3788 1d90 EFEF ldi r30,lo8(255) |
3789 1d92 F0E0 ldi r31,hi8(255) |
3790 1d94 E81B sub r30,r24 |
3791 1d96 F109 sbc r31,__zero_reg__ |
3792 1d98 E050 subi r30,lo8(-(Poti)) |
3793 1d9a F040 sbci r31,hi8(-(Poti)) |
3794 1d9c 8081 ld r24,Z |
3795 .L357: |
3796 1d9e 8093 0000 sts Parameter_CouplingYawCorrection,r24 |
3797 1da2 8091 0000 lds r24,EE_Parameter+104 |
3798 1da6 883F cpi r24,lo8(-8) |
3799 1da8 00F0 brlo .L358 |
3800 1daa EFEF ldi r30,lo8(255) |
3801 1dac F0E0 ldi r31,hi8(255) |
3802 1dae E81B sub r30,r24 |
3803 1db0 F109 sbc r31,__zero_reg__ |
3804 1db2 E050 subi r30,lo8(-(Poti)) |
3805 1db4 F040 sbci r31,hi8(-(Poti)) |
3806 1db6 8081 ld r24,Z |
3807 .L358: |
3808 1db8 8093 0000 sts Parameter_MaximumAltitude,r24 |
3809 1dbc 9091 0000 lds r25,NC_To_FC_MaxAltitude |
3810 1dc0 9923 tst r25 |
3811 1dc2 01F0 breq .L301 |
3812 1dc4 8091 0000 lds r24,Parameter_MaximumAltitude |
3813 1dc8 9817 cp r25,r24 |
3814 1dca 00F0 brlo .L300 |
3815 .L301: |
3816 1dcc 8091 0000 lds r24,Parameter_MaximumAltitude |
3817 1dd0 8823 tst r24 |
3818 1dd2 01F4 brne .L299 |
3819 .L300: |
3820 1dd4 9093 0000 sts Parameter_MaximumAltitude,r25 |
3821 .L299: |
3822 1dd8 8091 0000 lds r24,EE_Parameter+13 |
3823 1ddc 8093 0000 sts Parameter_GlobalConfig,r24 |
3824 1de0 8091 0000 lds r24,EE_Parameter+110 |
3825 1de4 8093 0000 sts Parameter_ExtraConfig,r24 |
3826 1de8 8091 0000 lds r24,EE_Parameter+69 |
3827 1dec 883F cpi r24,lo8(-8) |
3828 1dee 00F0 brlo .L359 |
3829 1df0 EFEF ldi r30,lo8(255) |
3830 1df2 F0E0 ldi r31,hi8(255) |
3831 1df4 E81B sub r30,r24 |
3832 1df6 F109 sbc r31,__zero_reg__ |
3833 1df8 E050 subi r30,lo8(-(Poti)) |
3834 1dfa F040 sbci r31,hi8(-(Poti)) |
3835 1dfc 8081 ld r24,Z |
3836 .L359: |
3837 1dfe 8093 0000 sts Parameter_DynamicStability,r24 |
3838 1e02 8091 0000 lds r24,EE_Parameter+97 |
3839 1e06 883F cpi r24,lo8(-8) |
3840 1e08 00F0 brlo .L360 |
3841 1e0a EFEF ldi r30,lo8(255) |
3842 1e0c F0E0 ldi r31,hi8(255) |
3843 1e0e E81B sub r30,r24 |
3844 1e10 F109 sbc r31,__zero_reg__ |
3845 1e12 E050 subi r30,lo8(-(Poti)) |
3846 1e14 F040 sbci r31,hi8(-(Poti)) |
3847 1e16 8081 ld r24,Z |
3848 .L360: |
3849 1e18 8093 0000 sts Parameter_ExternalControl,r24 |
3850 1e1c 8091 0000 lds r24,Parameter_I_Faktor |
3851 1e20 282F mov r18,r24 |
3852 1e22 3327 clr r19 |
3853 1e24 2F5F subi r18,lo8(-(1)) |
3854 1e26 3F4F sbci r19,hi8(-(1)) |
3855 1e28 8CE3 ldi r24,lo8(10300) |
3856 1e2a 98E2 ldi r25,hi8(10300) |
3857 1e2c B901 movw r22,r18 |
3858 1e2e 0E94 0000 call __divmodhi4 |
3859 1e32 7093 0000 sts (Ki)+1,r23 |
3860 1e36 6093 0000 sts Ki,r22 |
3861 1e3a 8091 0000 lds r24,EE_Parameter+27 |
3862 1e3e 8093 0000 sts MAX_GAS,r24 |
3863 1e42 8091 0000 lds r24,EE_Parameter+26 |
3864 1e46 8093 0000 sts MIN_GAS,r24 |
3865 1e4a 9091 0000 lds r25,EE_Parameter+99 |
3866 1e4e 9333 cpi r25,lo8(51) |
3867 1e50 00F4 brsh .+2 |
3868 1e52 00C0 rjmp .L306 |
3869 1e54 81E0 ldi r24,lo8(1) |
3870 1e56 8093 0000 sts CareFree,r24 |
3871 1e5a 983F cpi r25,lo8(-8) |
3872 1e5c 00F0 brlo .L307 |
3873 1e5e EFEF ldi r30,lo8(255) |
3874 1e60 F0E0 ldi r31,hi8(255) |
3875 1e62 E91B sub r30,r25 |
3876 1e64 F109 sbc r31,__zero_reg__ |
3877 1e66 E050 subi r30,lo8(-(Poti)) |
3878 1e68 F040 sbci r31,hi8(-(Poti)) |
3879 1e6a 8081 ld r24,Z |
3880 1e6c 8233 cpi r24,lo8(50) |
3881 1e6e 00F4 brsh .L307 |
3882 1e70 1092 0000 sts CareFree,__zero_reg__ |
3883 .L307: |
3884 1e74 8091 0000 lds r24,carefree_old |
3885 1e78 2091 0000 lds r18,CareFree |
3886 1e7c 8217 cp r24,r18 |
3887 1e7e 01F0 breq .L308 |
3888 1e80 8330 cpi r24,lo8(3) |
3889 1e82 00F4 brsh .L309 |
3890 1e84 3091 0000 lds r19,SpeakHoTT |
3891 1e88 2223 tst r18 |
3892 1e8a 01F0 breq .L310 |
3893 1e8c 8CED ldi r24,lo8(1500) |
3894 1e8e 95E0 ldi r25,hi8(1500) |
3895 1e90 9093 0000 sts (beeptime)+1,r25 |
3896 1e94 8093 0000 sts beeptime,r24 |
3897 1e98 3323 tst r19 |
3898 1e9a 01F4 brne .L312 |
3899 1e9c 8EE2 ldi r24,lo8(46) |
3900 1e9e 00C0 rjmp .L361 |
3901 .L310: |
3902 1ea0 88EC ldi r24,lo8(200) |
3903 1ea2 90E0 ldi r25,hi8(200) |
3904 1ea4 9093 0000 sts (beeptime)+1,r25 |
3905 1ea8 8093 0000 sts beeptime,r24 |
3906 1eac 3323 tst r19 |
3907 1eae 01F4 brne .L312 |
3908 1eb0 87E1 ldi r24,lo8(23) |
3909 .L361: |
3910 1eb2 8093 0000 sts SpeakHoTT,r24 |
3911 .L312: |
3912 1eb6 85E0 ldi r24,lo8(5) |
3913 1eb8 8093 0000 sts NeueKompassRichtungMerken,r24 |
3914 1ebc 2093 0000 sts carefree_old,r18 |
3915 1ec0 00C0 rjmp .L308 |
3916 .L309: |
3917 1ec2 8150 subi r24,lo8(-(-1)) |
3918 1ec4 8093 0000 sts carefree_old,r24 |
3919 .L308: |
3920 1ec8 8091 0000 lds r24,FromNaviCtrl+7 |
3921 1ecc 9091 0000 lds r25,(FromNaviCtrl+7)+1 |
3922 1ed0 97FF sbrs r25,7 |
3923 1ed2 00C0 rjmp .L316 |
3924 1ed4 8091 0000 lds r24,CareFree |
3925 1ed8 8823 tst r24 |
3926 1eda 01F0 breq .L316 |
3927 1edc 8091 0000 lds r24,VersionInfo+5 |
3928 1ee0 8068 ori r24,lo8(-128) |
3929 1ee2 8093 0000 sts VersionInfo+5,r24 |
3930 1ee6 00C0 rjmp .L316 |
3931 .L306: |
3932 1ee8 1092 0000 sts CareFree,__zero_reg__ |
3933 1eec 8AE0 ldi r24,lo8(10) |
3934 1eee 8093 0000 sts carefree_old,r24 |
3935 .L316: |
3936 1ef2 8091 0000 lds r24,FromNaviCtrl+7 |
3937 1ef6 9091 0000 lds r25,(FromNaviCtrl+7)+1 |
3938 1efa 97FF sbrs r25,7 |
3939 1efc 00C0 rjmp .L317 |
3940 1efe 8091 0000 lds r24,MotorenEin |
3941 1f02 8823 tst r24 |
3942 1f04 01F0 breq .L317 |
3943 1f06 8091 0000 lds r24,CareFree |
3944 1f0a 8823 tst r24 |
3945 1f0c 01F0 breq .L317 |
3946 1f0e 8091 0000 lds r24,BeepMuster |
3947 1f12 9091 0000 lds r25,(BeepMuster)+1 |
3948 1f16 8F5F subi r24,lo8(-1) |
3949 1f18 9F4F sbci r25,hi8(-1) |
3950 1f1a 01F4 brne .L317 |
3951 1f1c 88E9 ldi r24,lo8(15000) |
3952 1f1e 9AE3 ldi r25,hi8(15000) |
3953 1f20 9093 0000 sts (beeptime)+1,r25 |
3954 1f24 8093 0000 sts beeptime,r24 |
3955 1f28 80E0 ldi r24,lo8(-23552) |
3956 1f2a 94EA ldi r25,hi8(-23552) |
3957 1f2c 9093 0000 sts (BeepMuster)+1,r25 |
3958 1f30 8093 0000 sts BeepMuster,r24 |
3959 1f34 1092 0000 sts CareFree,__zero_reg__ |
3960 .L317: |
3961 1f38 8091 0000 lds r24,CareFree |
3962 1f3c 8823 tst r24 |
3963 1f3e 01F0 breq .L318 |
3964 1f40 8091 0000 lds r24,FC_StatusFlags2 |
3965 1f44 8160 ori r24,lo8(1) |
3966 1f46 8093 0000 sts FC_StatusFlags2,r24 |
3967 1f4a 8091 0000 lds r24,Parameter_AchsKopplung1 |
3968 1f4e 823D cpi r24,lo8(-46) |
3969 1f50 00F4 brsh .L190 |
3970 1f52 825E subi r24,lo8(-(30)) |
3971 1f54 8093 0000 sts Parameter_AchsKopplung1,r24 |
3972 1f58 00C0 rjmp .L190 |
3973 .L318: |
3974 1f5a 8091 0000 lds r24,FC_StatusFlags2 |
3975 1f5e 8E7F andi r24,lo8(-2) |
3976 1f60 8093 0000 sts FC_StatusFlags2,r24 |
3977 .L190: |
3978 /* epilogue: frame size=0 */ |
3979 1f64 DF91 pop r29 |
3980 1f66 CF91 pop r28 |
3981 1f68 0895 ret |
3982 /* epilogue end (size=3) */ |
3983 /* function ParameterZuordnung size 772 (767) */ |
3985 .lcomm sollGier.0,4 |
3986 .lcomm tmp_long.1,4 |
3987 .lcomm tmp_long2.2,4 |
3988 .lcomm IntegralFehlerNick.3,4 |
3989 .lcomm IntegralFehlerRoll.4,4 |
3990 .lcomm RcLostTimer.5,2 |
3991 .lcomm delay_neutral.6,1 |
3992 .lcomm delay_einschalten.7,1 |
3993 .lcomm delay_ausschalten.8,1 |
3994 .lcomm move_safety_switch.9,1 |
3995 .lcomm ausgleichNick.10,4 |
3996 .lcomm ausgleichRoll.11,4 |
3997 .lcomm stick_nick.12,2 |
3998 .lcomm stick_roll.13,2 |
3999 .lcomm cnt.14,2 |
4000 .lcomm last_n_p.15,1 |
4001 .lcomm last_n_n.16,1 |
4002 .lcomm last_r_p.17,1 |
4003 .lcomm last_r_n.18,1 |
4004 .lcomm MittelIntegralNick_Alt.19,4 |
4005 .lcomm MittelIntegralRoll_Alt.20,4 |
4006 .lcomm HeightTrimming.21,2 |
4007 .lcomm FilterHCGas.22,2 |
4008 .lcomm HoverGasFilter.23,4 |
4009 .data |
4012 delay.24: |
4013 004f 64 .byte 100 |
4014 .lcomm BaroAtUpperLimit.25,1 |
4015 .lcomm BaroAtLowerLimit.26,1 |
4016 .text |
4017 .global MotorRegler |
4019 MotorRegler: |
4020 /* prologue: frame size=23 */ |
4021 1f6a A7E1 ldi r26,lo8(23) |
4022 1f6c B0E0 ldi r27,hi8(23) |
4023 1f6e E0E0 ldi r30,pm_lo8(1f) |
4024 1f70 F0E0 ldi r31,pm_hi8(1f) |
4025 1f72 0C94 0000 jmp __prologue_saves__+0 |
4026 1: |
4027 /* prologue end (size=6) */ |
4028 1f76 0E94 0000 call Mittelwert |
4029 1f7a 8091 0000 lds r24,FC_StatusFlags |
4030 1f7e 9927 clr r25 |
4031 1f80 8471 andi r24,lo8(20) |
4032 1f82 9070 andi r25,hi8(20) |
4033 1f84 892B or r24,r25 |
4034 1f86 01F4 brne .L365 |
4035 1f88 8091 0000 lds r24,EE_Parameter+111 |
4036 1f8c 82FF sbrs r24,2 |
4037 1f8e 00C0 rjmp .L366 |
4038 1f90 8091 0000 lds r24,HoverGas |
4039 1f94 9091 0000 lds r25,(HoverGas)+1 |
4040 1f98 0097 sbiw r24,0 |
4041 1f9a 01F0 breq .L367 |
4042 1f9c 02E0 ldi r16,hi8(600) |
4043 1f9e 8835 cpi r24,lo8(600) |
4044 1fa0 9007 cpc r25,r16 |
4045 1fa2 04F4 brge .L367 |
4046 1fa4 9C01 movw r18,r24 |
4047 1fa6 97FF sbrs r25,7 |
4048 1fa8 00C0 rjmp .L368 |
4049 1faa 2D5F subi r18,lo8(-(3)) |
4050 1fac 3F4F sbci r19,hi8(-(3)) |
4051 .L368: |
4052 1fae 3595 asr r19 |
4053 1fb0 2795 ror r18 |
4054 1fb2 3595 asr r19 |
4055 1fb4 2795 ror r18 |
4056 1fb6 8091 0000 lds r24,EE_Parameter+37 |
4057 1fba 9927 clr r25 |
4058 1fbc 289F mul r18,r24 |
4059 1fbe A001 movw r20,r0 |
4060 1fc0 299F mul r18,r25 |
4061 1fc2 500D add r21,r0 |
4062 1fc4 389F mul r19,r24 |
4063 1fc6 500D add r21,r0 |
4064 1fc8 1124 clr r1 |
4065 1fca CA01 movw r24,r20 |
4066 1fcc 64E6 ldi r22,lo8(100) |
4067 1fce 70E0 ldi r23,hi8(100) |
4068 1fd0 0E94 0000 call __divmodhi4 |
4069 1fd4 CB01 movw r24,r22 |
4070 1fd6 00C0 rjmp .L887 |
4071 .L367: |
4072 1fd8 8DE2 ldi r24,lo8(45) |
4073 1fda 90E0 ldi r25,hi8(45) |
4074 1fdc 00C0 rjmp .L887 |
4075 .L366: |
4076 1fde 8091 0000 lds r24,EE_Parameter+37 |
4077 1fe2 9927 clr r25 |
4078 .L887: |
4079 1fe4 9093 0000 sts (HooverGasEmergencyPercent)+1,r25 |
4080 1fe8 8093 0000 sts HooverGasEmergencyPercent,r24 |
4081 .L365: |
4082 1fec 2091 0000 lds r18,GasIsZeroCnt |
4083 1ff0 3091 0000 lds r19,(GasIsZeroCnt)+1 |
4084 1ff4 55E7 ldi r21,hi8(30000) |
4085 1ff6 2033 cpi r18,lo8(30000) |
4086 1ff8 3507 cpc r19,r21 |
4087 1ffa 01F4 brne .L371 |
4088 1ffc 1092 0000 sts (StickGas)+1,__zero_reg__ |
4089 2000 1092 0000 sts StickGas,__zero_reg__ |
4090 2004 8091 0000 lds r24,MIN_GAS |
4091 2008 9927 clr r25 |
4092 200a 9093 0000 sts (HooverGasEmergencyPercent)+1,r25 |
4093 200e 8093 0000 sts HooverGasEmergencyPercent,r24 |
4094 .L371: |
4095 2012 6091 0000 lds r22,StickGas |
4096 2016 7091 0000 lds r23,(StickGas)+1 |
4097 201a 7A83 std Y+2,r23 |
4098 201c 6983 std Y+1,r22 |
4099 201e 8091 0000 lds r24,MIN_GAS |
4100 2022 9927 clr r25 |
4101 2024 0A96 adiw r24,10 |
4102 2026 6817 cp r22,r24 |
4103 2028 7907 cpc r23,r25 |
4104 202a 04F4 brge .L372 |
4105 202c 9A83 std Y+2,r25 |
4106 202e 8983 std Y+1,r24 |
4107 .L372: |
4108 2030 8091 0000 lds r24,SenderOkay |
4109 2034 8436 cpi r24,lo8(100) |
4110 2036 00F0 brlo .+2 |
4111 2038 00C0 rjmp .L373 |
4112 203a 8091 0000 lds r24,FC_StatusFlags2 |
4113 203e 82FD sbrc r24,2 |
4114 2040 00C0 rjmp .L373 |
4115 2042 8091 0000 lds r24,RcLostTimer.5 |
4116 2046 9091 0000 lds r25,(RcLostTimer.5)+1 |
4117 204a 0097 sbiw r24,0 |
4118 204c 01F0 breq .L374 |
4119 204e 0197 sbiw r24,1 |
4120 2050 9093 0000 sts (RcLostTimer.5)+1,r25 |
4121 2054 8093 0000 sts RcLostTimer.5,r24 |
4122 2058 00C0 rjmp .L375 |
4123 .L374: |
4124 205a 1092 0000 sts MotorenEin,__zero_reg__ |
4125 205e 9093 0000 sts (modell_fliegt)+1,r25 |
4126 2062 8093 0000 sts modell_fliegt,r24 |
4127 2066 8091 0000 lds r24,FC_StatusFlags |
4128 206a 8D7E andi r24,lo8(-19) |
4129 206c 8093 0000 sts FC_StatusFlags,r24 |
4130 .L375: |
4131 2070 8091 0000 lds r24,PlatinenVersion |
4132 2074 8A30 cpi r24,lo8(10) |
4133 2076 01F0 breq .L377 |
4134 2078 8431 cpi r24,lo8(20) |
4135 207a 00F0 brlo .L376 |
4136 .L377: |
4137 207c 289A sbi 37-0x20,0 |
4138 207e 00C0 rjmp .L378 |
4139 .L376: |
4140 2080 2898 cbi 37-0x20,0 |
4141 .L378: |
4142 2082 8091 0000 lds r24,modell_fliegt |
4143 2086 9091 0000 lds r25,(modell_fliegt)+1 |
4144 208a 895E subi r24,lo8(1001) |
4145 208c 9340 sbci r25,hi8(1001) |
4146 208e 00F0 brlo .L379 |
4147 2090 8091 0000 lds r24,Capacity+6 |
4148 2094 8536 cpi r24,lo8(101) |
4149 2096 00F0 brlo .L379 |
4150 2098 8091 0000 lds r24,HooverGasEmergencyPercent |
4151 209c 9091 0000 lds r25,(HooverGasEmergencyPercent)+1 |
4152 20a0 9A83 std Y+2,r25 |
4153 20a2 8983 std Y+1,r24 |
4154 20a4 8091 0000 lds r24,FC_StatusFlags |
4155 20a8 8061 ori r24,lo8(16) |
4156 20aa 8093 0000 sts FC_StatusFlags,r24 |
4157 20ae 8091 0000 lds r24,EE_Parameter+1 |
4158 20b2 A82F mov r26,r24 |
4159 20b4 BB27 clr r27 |
4160 20b6 AA0F add r26,r26 |
4161 20b8 BB1F adc r27,r27 |
4162 20ba FD01 movw r30,r26 |
4163 20bc E050 subi r30,lo8(-(PPM_diff)) |
4164 20be F040 sbci r31,hi8(-(PPM_diff)) |
4165 20c0 1182 std Z+1,__zero_reg__ |
4166 20c2 1082 st Z,__zero_reg__ |
4167 20c4 8091 0000 lds r24,EE_Parameter+2 |
4168 20c8 282F mov r18,r24 |
4169 20ca 3327 clr r19 |
4170 20cc 220F add r18,r18 |
4171 20ce 331F adc r19,r19 |
4172 20d0 C901 movw r24,r18 |
4173 20d2 8050 subi r24,lo8(-(PPM_diff)) |
4174 20d4 9040 sbci r25,hi8(-(PPM_diff)) |
4175 20d6 FC01 movw r30,r24 |
4176 20d8 1182 std Z+1,__zero_reg__ |
4177 20da 1082 st Z,__zero_reg__ |
4178 20dc A050 subi r26,lo8(-(PPM_in)) |
4179 20de B040 sbci r27,hi8(-(PPM_in)) |
4180 20e0 1196 adiw r26,1 |
4181 20e2 1C92 st X,__zero_reg__ |
4182 20e4 1E92 st -X,__zero_reg__ |
4183 20e6 2050 subi r18,lo8(-(PPM_in)) |
4184 20e8 3040 sbci r19,hi8(-(PPM_in)) |
4185 20ea D901 movw r26,r18 |
4186 20ec 1196 adiw r26,1 |
4187 20ee 1C92 st X,__zero_reg__ |
4188 20f0 1E92 st -X,__zero_reg__ |
4189 20f2 8091 0000 lds r24,EE_Parameter+4 |
4190 20f6 E82F mov r30,r24 |
4191 20f8 FF27 clr r31 |
4192 20fa EE0F add r30,r30 |
4193 20fc FF1F adc r31,r31 |
4194 20fe E050 subi r30,lo8(-(PPM_in)) |
4195 2100 F040 sbci r31,hi8(-(PPM_in)) |
4196 2102 1182 std Z+1,__zero_reg__ |
4197 2104 1082 st Z,__zero_reg__ |
4198 2106 00C0 rjmp .L381 |
4199 .L379: |
4200 2108 1092 0000 sts MotorenEin,__zero_reg__ |
4201 210c 00C0 rjmp .L381 |
4202 .L373: |
4203 210e 8091 0000 lds r24,SenderOkay |
4204 2112 8D38 cpi r24,lo8(-115) |
4205 2114 00F4 brsh .+2 |
4206 2116 00C0 rjmp .L382 |
4207 2118 8091 0000 lds r24,FC_StatusFlags |
4208 211c 8F7E andi r24,lo8(-17) |
4209 211e 8093 0000 sts FC_StatusFlags,r24 |
4210 2122 9091 0000 lds r25,EE_Parameter+38 |
4211 2126 82E3 ldi r24,lo8(50) |
4212 2128 989F mul r25,r24 |
4213 212a C001 movw r24,r0 |
4214 212c 1124 clr r1 |
4215 212e 9093 0000 sts (RcLostTimer.5)+1,r25 |
4216 2132 8093 0000 sts RcLostTimer.5,r24 |
4217 2136 E981 ldd r30,Y+1 |
4218 2138 FA81 ldd r31,Y+2 |
4219 213a B997 sbiw r30,41 |
4220 213c 04F0 brlt .L383 |
4221 213e 8091 0000 lds r24,MotorenEin |
4222 2142 8823 tst r24 |
4223 2144 01F0 breq .L383 |
4224 2146 8091 0000 lds r24,modell_fliegt |
4225 214a 9091 0000 lds r25,(modell_fliegt)+1 |
4226 214e FFEF ldi r31,hi8(-1) |
4227 2150 8F3F cpi r24,lo8(-1) |
4228 2152 9F07 cpc r25,r31 |
4229 2154 01F0 breq .L383 |
4230 2156 0196 adiw r24,1 |
4231 2158 9093 0000 sts (modell_fliegt)+1,r25 |
4232 215c 8093 0000 sts modell_fliegt,r24 |
4233 .L383: |
4234 2160 8091 0000 lds r24,modell_fliegt |
4235 2164 9091 0000 lds r25,(modell_fliegt)+1 |
4236 2168 8F3F cpi r24,255 |
4237 216a 9105 cpc r25,__zero_reg__ |
4238 216c 01F0 breq .+2 |
4239 216e 00F4 brsh .L385 |
4240 2170 1092 0000 sts SummeNick,__zero_reg__ |
4241 2174 1092 0000 sts (SummeNick)+1,__zero_reg__ |
4242 2178 1092 0000 sts (SummeNick)+2,__zero_reg__ |
4243 217c 1092 0000 sts (SummeNick)+3,__zero_reg__ |
4244 2180 1092 0000 sts SummeRoll,__zero_reg__ |
4245 2184 1092 0000 sts (SummeRoll)+1,__zero_reg__ |
4246 2188 1092 0000 sts (SummeRoll)+2,__zero_reg__ |
4247 218c 1092 0000 sts (SummeRoll)+3,__zero_reg__ |
4248 2190 1092 0000 sts sollGier.0,__zero_reg__ |
4249 2194 1092 0000 sts (sollGier.0)+1,__zero_reg__ |
4250 2198 1092 0000 sts (sollGier.0)+2,__zero_reg__ |
4251 219c 1092 0000 sts (sollGier.0)+3,__zero_reg__ |
4252 21a0 1092 0000 sts Mess_Integral_Gier,__zero_reg__ |
4253 21a4 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__ |
4254 21a8 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__ |
4255 21ac 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__ |
4256 21b0 00C0 rjmp .L386 |
4257 .L385: |
4258 21b2 8091 0000 lds r24,FC_StatusFlags |
4259 21b6 8260 ori r24,lo8(2) |
4260 21b8 8093 0000 sts FC_StatusFlags,r24 |
4261 .L386: |
4262 21bc 8091 0000 lds r24,EE_Parameter+3 |
4263 21c0 E82F mov r30,r24 |
4264 21c2 FF27 clr r31 |
4265 21c4 EE0F add r30,r30 |
4266 21c6 FF1F adc r31,r31 |
4267 21c8 E050 subi r30,lo8(-(PPM_in)) |
4268 21ca F040 sbci r31,hi8(-(PPM_in)) |
4269 21cc 8081 ld r24,Z |
4270 21ce 9181 ldd r25,Z+1 |
4271 21d0 8135 cpi r24,81 |
4272 21d2 9105 cpc r25,__zero_reg__ |
4273 21d4 04F4 brge .+2 |
4274 21d6 00C0 rjmp .L387 |
4275 21d8 2091 0000 lds r18,MotorenEin |
4276 21dc 2223 tst r18 |
4277 21de 01F0 breq .+2 |
4278 21e0 00C0 rjmp .L387 |
4279 21e2 8091 0000 lds r24,EE_Parameter+4 |
4280 21e6 E82F mov r30,r24 |
4281 21e8 FF27 clr r31 |
4282 21ea EE0F add r30,r30 |
4283 21ec FF1F adc r31,r31 |
4284 21ee E050 subi r30,lo8(-(PPM_in)) |
4285 21f0 F040 sbci r31,hi8(-(PPM_in)) |
4286 21f2 8081 ld r24,Z |
4287 21f4 9181 ldd r25,Z+1 |
4288 21f6 8C34 cpi r24,76 |
4289 21f8 9105 cpc r25,__zero_reg__ |
4290 21fa 04F4 brge .+2 |
4291 21fc 00C0 rjmp .L388 |
4292 21fe 8091 0000 lds r24,delay_neutral.6 |
4293 2202 8F5F subi r24,lo8(-(1)) |
4294 2204 8093 0000 sts delay_neutral.6,r24 |
4295 2208 893C cpi r24,lo8(-55) |
4296 220a 00F4 brsh .+2 |
4297 220c 00C0 rjmp .L387 |
4298 220e 2093 0000 sts delay_neutral.6,r18 |
4299 2212 1092 0000 sts (modell_fliegt)+1,__zero_reg__ |
4300 2216 1092 0000 sts modell_fliegt,__zero_reg__ |
4301 221a 3091 0000 lds r19,EE_Parameter+1 |
4302 221e E32F mov r30,r19 |
4303 2220 FF27 clr r31 |
4304 2222 EE0F add r30,r30 |
4305 2224 FF1F adc r31,r31 |
4306 2226 E050 subi r30,lo8(-(PPM_in)) |
4307 2228 F040 sbci r31,hi8(-(PPM_in)) |
4308 222a 8081 ld r24,Z |
4309 222c 9181 ldd r25,Z+1 |
4310 222e 8734 cpi r24,71 |
4311 2230 9105 cpc r25,__zero_reg__ |
4312 2232 04F4 brge .L391 |
4313 2234 8091 0000 lds r24,EE_Parameter+2 |
4314 2238 E82F mov r30,r24 |
4315 223a FF27 clr r31 |
4316 223c EE0F add r30,r30 |
4317 223e FF1F adc r31,r31 |
4318 2240 E050 subi r30,lo8(-(PPM_in)) |
4319 2242 F040 sbci r31,hi8(-(PPM_in)) |
4320 2244 8081 ld r24,Z |
4321 2246 9181 ldd r25,Z+1 |
4322 2248 0190 ld __tmp_reg__,Z+ |
4323 224a F081 ld r31,Z |
4324 224c E02D mov r30,__tmp_reg__ |
4325 224e F7FF sbrs r31,7 |
4326 2250 00C0 rjmp .L392 |
4327 2252 F095 com r31 |
4328 2254 E195 neg r30 |
4329 2256 FF4F sbci r31,lo8(-1) |
4330 .L392: |
4331 2258 E734 cpi r30,71 |
4332 225a F105 cpc r31,__zero_reg__ |
4333 225c 04F4 brge .+2 |
4334 225e 00C0 rjmp .L390 |
4335 .L391: |
4336 2260 41E0 ldi r20,lo8(1) |
4337 2262 2091 0000 lds r18,EE_Parameter+2 |
4338 2266 A22F mov r26,r18 |
4339 2268 BB27 clr r27 |
4340 226a AA0F add r26,r26 |
4341 226c BB1F adc r27,r27 |
4342 226e A050 subi r26,lo8(-(PPM_in)) |
4343 2270 B040 sbci r27,hi8(-(PPM_in)) |
4344 2272 8D91 ld r24,X+ |
4345 2274 9C91 ld r25,X |
4346 2276 1197 sbiw r26,1 |
4347 2278 8734 cpi r24,71 |
4348 227a 9105 cpc r25,__zero_reg__ |
4349 227c 04F0 brlt .L393 |
4350 227e E32F mov r30,r19 |
4351 2280 FF27 clr r31 |
4352 2282 EE0F add r30,r30 |
4353 2284 FF1F adc r31,r31 |
4354 2286 E050 subi r30,lo8(-(PPM_in)) |
4355 2288 F040 sbci r31,hi8(-(PPM_in)) |
4356 228a 8081 ld r24,Z |
4357 228c 9181 ldd r25,Z+1 |
4358 .L393: |
4359 228e 8D91 ld r24,X+ |
4360 2290 9C91 ld r25,X |
4361 2292 8734 cpi r24,71 |
4362 2294 9105 cpc r25,__zero_reg__ |
4363 2296 04F0 brlt .L394 |
4364 2298 8091 0000 lds r24,EE_Parameter+1 |
4365 229c E82F mov r30,r24 |
4366 229e FF27 clr r31 |
4367 22a0 EE0F add r30,r30 |
4368 22a2 FF1F adc r31,r31 |
4369 22a4 E050 subi r30,lo8(-(PPM_in)) |
4370 22a6 F040 sbci r31,hi8(-(PPM_in)) |
4371 22a8 8081 ld r24,Z |
4372 22aa 9181 ldd r25,Z+1 |
4373 22ac 8734 cpi r24,71 |
4374 22ae 9105 cpc r25,__zero_reg__ |
4375 22b0 04F0 brlt .L394 |
4376 22b2 42E0 ldi r20,lo8(2) |
4377 .L394: |
4378 22b4 E22F mov r30,r18 |
4379 22b6 FF27 clr r31 |
4380 22b8 EE0F add r30,r30 |
4381 22ba FF1F adc r31,r31 |
4382 22bc E050 subi r30,lo8(-(PPM_in)) |
4383 22be F040 sbci r31,hi8(-(PPM_in)) |
4384 22c0 8081 ld r24,Z |
4385 22c2 9181 ldd r25,Z+1 |
4386 22c4 8634 cpi r24,70 |
4387 22c6 9105 cpc r25,__zero_reg__ |
4388 22c8 04F4 brge .L395 |
4389 22ca 8091 0000 lds r24,EE_Parameter+1 |
4390 22ce E82F mov r30,r24 |
4391 22d0 FF27 clr r31 |
4392 22d2 EE0F add r30,r30 |
4393 22d4 FF1F adc r31,r31 |
4394 22d6 E050 subi r30,lo8(-(PPM_in)) |
4395 22d8 F040 sbci r31,hi8(-(PPM_in)) |
4396 22da 8081 ld r24,Z |
4397 22dc 9181 ldd r25,Z+1 |
4398 22de 8734 cpi r24,71 |
4399 22e0 9105 cpc r25,__zero_reg__ |
4400 22e2 04F0 brlt .L395 |
4401 22e4 43E0 ldi r20,lo8(3) |
4402 .L395: |
4403 22e6 E22F mov r30,r18 |
4404 22e8 FF27 clr r31 |
4405 22ea EE0F add r30,r30 |
4406 22ec FF1F adc r31,r31 |
4407 22ee E050 subi r30,lo8(-(PPM_in)) |
4408 22f0 F040 sbci r31,hi8(-(PPM_in)) |
4409 22f2 8081 ld r24,Z |
4410 22f4 9181 ldd r25,Z+1 |
4411 22f6 8A5B subi r24,lo8(-70) |
4412 22f8 9F4F sbci r25,hi8(-70) |
4413 22fa 04F4 brge .L396 |
4414 22fc 8091 0000 lds r24,EE_Parameter+1 |
4415 2300 E82F mov r30,r24 |
4416 2302 FF27 clr r31 |
4417 2304 EE0F add r30,r30 |
4418 2306 FF1F adc r31,r31 |
4419 2308 E050 subi r30,lo8(-(PPM_in)) |
4420 230a F040 sbci r31,hi8(-(PPM_in)) |
4421 230c 8081 ld r24,Z |
4422 230e 9181 ldd r25,Z+1 |
4423 2310 8734 cpi r24,71 |
4424 2312 9105 cpc r25,__zero_reg__ |
4425 2314 04F0 brlt .L396 |
4426 2316 44E0 ldi r20,lo8(4) |
4427 .L396: |
4428 2318 E22F mov r30,r18 |
4429 231a FF27 clr r31 |
4430 231c EE0F add r30,r30 |
4431 231e FF1F adc r31,r31 |
4432 2320 E050 subi r30,lo8(-(PPM_in)) |
4433 2322 F040 sbci r31,hi8(-(PPM_in)) |
4434 2324 8081 ld r24,Z |
4435 2326 9181 ldd r25,Z+1 |
4436 2328 8A5B subi r24,lo8(-70) |
4437 232a 9F4F sbci r25,hi8(-70) |
4438 232c 04F4 brge .L397 |
4439 232e 8091 0000 lds r24,EE_Parameter+1 |
4440 2332 E82F mov r30,r24 |
4441 2334 FF27 clr r31 |
4442 2336 EE0F add r30,r30 |
4443 2338 FF1F adc r31,r31 |
4444 233a E050 subi r30,lo8(-(PPM_in)) |
4445 233c F040 sbci r31,hi8(-(PPM_in)) |
4446 233e 8081 ld r24,Z |
4447 2340 9181 ldd r25,Z+1 |
4448 2342 8634 cpi r24,70 |
4449 2344 9105 cpc r25,__zero_reg__ |
4450 2346 04F4 brge .L397 |
4451 2348 45E0 ldi r20,lo8(5) |
4452 .L397: |
4453 234a 842F mov r24,r20 |
4454 234c 0E94 0000 call SetActiveParamSet |
4455 .L390: |
4456 2350 8091 0000 lds r24,EE_Parameter+2 |
4457 2354 E82F mov r30,r24 |
4458 2356 FF27 clr r31 |
4459 2358 EE0F add r30,r30 |
4460 235a FF1F adc r31,r31 |
4461 235c E050 subi r30,lo8(-(PPM_in)) |
4462 235e F040 sbci r31,hi8(-(PPM_in)) |
4463 2360 8081 ld r24,Z |
4464 2362 9181 ldd r25,Z+1 |
4465 2364 0190 ld __tmp_reg__,Z+ |
4466 2366 F081 ld r31,Z |
4467 2368 E02D mov r30,__tmp_reg__ |
4468 236a F7FF sbrs r31,7 |
4469 236c 00C0 rjmp .L399 |
4470 236e F095 com r31 |
4471 2370 E195 neg r30 |
4472 2372 FF4F sbci r31,lo8(-1) |
4473 .L399: |
4474 2374 7E97 sbiw r30,30 |
4475 2376 04F4 brge .L398 |
4476 2378 8091 0000 lds r24,EE_Parameter+1 |
4477 237c E82F mov r30,r24 |
4478 237e FF27 clr r31 |
4479 2380 EE0F add r30,r30 |
4480 2382 FF1F adc r31,r31 |
4481 2384 E050 subi r30,lo8(-(PPM_in)) |
4482 2386 F040 sbci r31,hi8(-(PPM_in)) |
4483 2388 8081 ld r24,Z |
4484 238a 9181 ldd r25,Z+1 |
4485 238c 8A5B subi r24,lo8(-70) |
4486 238e 9F4F sbci r25,hi8(-70) |
4487 2390 04F4 brge .L398 |
4488 2392 81E0 ldi r24,lo8(1) |
4489 2394 8093 0000 sts WinkelOut+6,r24 |
4490 2398 1092 0000 sts CalibrationDone,__zero_reg__ |
4491 239c 88EE ldi r24,lo8(1000) |
4492 239e 93E0 ldi r25,hi8(1000) |
4493 23a0 9093 0000 sts (beeptime)+1,r25 |
4494 23a4 8093 0000 sts beeptime,r24 |
4495 23a8 00C0 rjmp .L387 |
4496 .L398: |
4497 23aa 0E94 0000 call GetActiveParamSet |
4498 23ae 0E94 0000 call ParamSet_ReadFromEEProm |
4499 23b2 80E0 ldi r24,lo8(0) |
4500 23b4 0E94 0000 call LipoDetection |
4501 23b8 8091 0000 lds r24,EE_Parameter+39 |
4502 23bc 0E94 0000 call LIBFC_ReceiverInit |
4503 23c0 8091 0000 lds r24,Parameter_GlobalConfig |
4504 23c4 80FF sbrs r24,0 |
4505 23c6 00C0 rjmp .L401 |
4506 23c8 8091 0000 lds r24,MessLuftdruck |
4507 23cc 9091 0000 lds r25,(MessLuftdruck)+1 |
4508 23d0 875B subi r24,lo8(951) |
4509 23d2 9340 sbci r25,hi8(951) |
4510 23d4 00F4 brsh .L403 |
4511 23d6 8091 0000 lds r24,MessLuftdruck |
4512 23da 9091 0000 lds r25,(MessLuftdruck)+1 |
4513 23de 8E5E subi r24,lo8(750) |
4514 23e0 9240 sbci r25,hi8(750) |
4515 23e2 00F4 brsh .L401 |
4516 .L403: |
4517 23e4 0E94 0000 call SucheLuftruckOffset |
4518 .L401: |
4519 23e8 80E0 ldi r24,lo8(0) |
4520 23ea 0E94 0000 call SetNeutral |
4521 23ee 81E0 ldi r24,lo8(1) |
4522 23f0 8093 0000 sts CalibrationDone,r24 |
4523 23f4 8093 0000 sts ServoActive,r24 |
4524 23f8 579A sbi 42-0x20,7 |
4525 23fa 00C0 rjmp .L888 |
4526 .L388: |
4527 23fc 8081 ld r24,Z |
4528 23fe 9181 ldd r25,Z+1 |
4529 2400 855B subi r24,lo8(-75) |
4530 2402 9F4F sbci r25,hi8(-75) |
4531 2404 04F4 brge .L405 |
4532 2406 8091 0000 lds r24,delay_neutral.6 |
4533 240a 8F5F subi r24,lo8(-(1)) |
4534 240c 8093 0000 sts delay_neutral.6,r24 |
4535 2410 893C cpi r24,lo8(-55) |
4536 2412 00F0 brlo .L387 |
4537 2414 2093 0000 sts MotorenEin,r18 |
4538 2418 2093 0000 sts delay_neutral.6,r18 |
4539 241c 1092 0000 sts (modell_fliegt)+1,__zero_reg__ |
4540 2420 1092 0000 sts modell_fliegt,__zero_reg__ |
4541 2424 81E0 ldi r24,lo8(1) |
4542 2426 0E94 0000 call SetNeutral |
4543 242a 81E0 ldi r24,lo8(1) |
4544 242c 8093 0000 sts CalibrationDone,r24 |
4545 .L888: |
4546 2430 88E1 ldi r24,lo8(24) |
4547 2432 8093 0000 sts SpeakHoTT,r24 |
4548 2436 0E94 0000 call GetActiveParamSet |
4549 243a 68E7 ldi r22,lo8(120) |
4550 243c 70E0 ldi r23,hi8(120) |
4551 243e 0E94 0000 call Piep |
4552 2442 00C0 rjmp .L387 |
4553 .L405: |
4554 2444 2093 0000 sts delay_neutral.6,r18 |
4555 .L387: |
4556 2448 8091 0000 lds r24,EE_Parameter+3 |
4557 244c E82F mov r30,r24 |
4558 244e FF27 clr r31 |
4559 2450 EE0F add r30,r30 |
4560 2452 FF1F adc r31,r31 |
4561 2454 E050 subi r30,lo8(-(PPM_in)) |
4562 2456 F040 sbci r31,hi8(-(PPM_in)) |
4563 2458 8081 ld r24,Z |
4564 245a 9181 ldd r25,Z+1 |
4565 245c 8B5A subi r24,lo8(-85) |
4566 245e 9F4F sbci r25,hi8(-85) |
4567 2460 04F0 brlt .+2 |
4568 2462 00C0 rjmp .L408 |
4569 2464 2091 0000 lds r18,EE_Parameter+100 |
4570 2468 E22F mov r30,r18 |
4571 246a FF27 clr r31 |
4572 246c EF77 andi r30,lo8(127) |
4573 246e F070 andi r31,hi8(127) |
4574 2470 EE0F add r30,r30 |
4575 2472 FF1F adc r31,r31 |
4576 2474 E050 subi r30,lo8(-(PPM_diff)) |
4577 2476 F040 sbci r31,hi8(-(PPM_diff)) |
4578 2478 8081 ld r24,Z |
4579 247a 9181 ldd r25,Z+1 |
4580 247c 0697 sbiw r24,6 |
4581 247e 04F0 brlt .L409 |
4582 2480 84E6 ldi r24,lo8(100) |
4583 2482 00C0 rjmp .L889 |
4584 .L409: |
4585 2484 8081 ld r24,Z |
4586 2486 9181 ldd r25,Z+1 |
4587 2488 8B5F subi r24,lo8(-5) |
4588 248a 9F4F sbci r25,hi8(-5) |
4589 248c 04F4 brge .L410 |
4590 248e 8CE9 ldi r24,lo8(-100) |
4591 .L889: |
4592 2490 8093 0000 sts move_safety_switch.9,r24 |
4593 .L410: |
4594 2494 8091 0000 lds r24,MotorenEin |
4595 2498 E091 0000 lds r30,EE_Parameter+4 |
4596 249c 8823 tst r24 |
4597 249e 01F0 breq .+2 |
4598 24a0 00C0 rjmp .L412 |
4599 24a2 FF27 clr r31 |
4600 24a4 EE0F add r30,r30 |
4601 24a6 FF1F adc r31,r31 |
4602 24a8 E050 subi r30,lo8(-(PPM_in)) |
4603 24aa F040 sbci r31,hi8(-(PPM_in)) |
4604 24ac 8081 ld r24,Z |
4605 24ae 9181 ldd r25,Z+1 |
4606 24b0 855B subi r24,lo8(-75) |
4607 24b2 9F4F sbci r25,hi8(-75) |
4608 24b4 04F4 brge .L415 |
4609 24b6 8091 0000 lds r24,EE_Parameter+111 |
4610 24ba 83FD sbrc r24,3 |
4611 24bc 00C0 rjmp .L416 |
4612 24be E22F mov r30,r18 |
4613 24c0 FF27 clr r31 |
4614 24c2 EE0F add r30,r30 |
4615 24c4 FF1F adc r31,r31 |
4616 24c6 E050 subi r30,lo8(-(PPM_in)) |
4617 24c8 F040 sbci r31,hi8(-(PPM_in)) |
4618 24ca 8081 ld r24,Z |
4619 24cc 9181 ldd r25,Z+1 |
4620 24ce 855B subi r24,lo8(-75) |
4621 24d0 9F4F sbci r25,hi8(-75) |
4622 24d2 04F0 brlt .L414 |
4623 .L416: |
4624 24d4 8091 0000 lds r24,EE_Parameter+100 |
4625 24d8 8823 tst r24 |
4626 24da 01F0 breq .L414 |
4627 .L415: |
4628 24dc 8091 0000 lds r24,EE_Parameter+111 |
4629 24e0 83FF sbrs r24,3 |
4630 24e2 00C0 rjmp .L413 |
4631 24e4 8091 0000 lds r24,EE_Parameter+100 |
4632 24e8 E82F mov r30,r24 |
4633 24ea FF27 clr r31 |
4634 24ec EE0F add r30,r30 |
4635 24ee FF1F adc r31,r31 |
4636 24f0 E050 subi r30,lo8(-(PPM_in)) |
4637 24f2 F040 sbci r31,hi8(-(PPM_in)) |
4638 24f4 8081 ld r24,Z |
4639 24f6 9181 ldd r25,Z+1 |
4640 24f8 875F subi r24,lo8(-9) |
4641 24fa 9F4F sbci r25,hi8(-9) |
4642 24fc 04F4 brge .+2 |
4643 24fe 00C0 rjmp .L413 |
4644 2500 8091 0000 lds r24,move_safety_switch.9 |
4645 2504 8436 cpi r24,lo8(100) |
4646 2506 01F0 breq .+2 |
4647 2508 00C0 rjmp .L413 |
4648 .L414: |
4649 250a 2091 0000 lds r18,CalibrationDone |
4650 250e 2223 tst r18 |
4651 2510 01F0 breq .L417 |
4652 2512 8091 0000 lds r24,FC_StatusFlags |
4653 2516 8860 ori r24,lo8(8) |
4654 2518 8093 0000 sts FC_StatusFlags,r24 |
4655 .L417: |
4656 251c 8091 0000 lds r24,delay_einschalten.7 |
4657 2520 8F5F subi r24,lo8(-(1)) |
4658 2522 8093 0000 sts delay_einschalten.7,r24 |
4659 2526 8E3F cpi r24,lo8(-2) |
4660 2528 00F4 brsh .+2 |
4661 252a 00C0 rjmp .L423 |
4662 252c 1092 0000 sts delay_einschalten.7,__zero_reg__ |
4663 2530 8091 0000 lds r24,VersionInfo+5 |
4664 2534 8823 tst r24 |
4665 2536 01F0 breq .+2 |
4666 2538 00C0 rjmp .L419 |
4667 253a 2223 tst r18 |
4668 253c 01F4 brne .+2 |
4669 253e 00C0 rjmp .L419 |
4670 2540 8091 0000 lds r24,NC_ErrorCode |
4671 2544 8823 tst r24 |
4672 2546 01F0 breq .+2 |
4673 2548 00C0 rjmp .L419 |
4674 254a 81E0 ldi r24,lo8(1) |
4675 254c 90E0 ldi r25,hi8(1) |
4676 254e 9093 0000 sts (modell_fliegt)+1,r25 |
4677 2552 8093 0000 sts modell_fliegt,r24 |
4678 2556 81E0 ldi r24,lo8(1) |
4679 2558 8093 0000 sts MotorenEin,r24 |
4680 255c 1092 0000 sts sollGier.0,__zero_reg__ |
4681 2560 1092 0000 sts (sollGier.0)+1,__zero_reg__ |
4682 2564 1092 0000 sts (sollGier.0)+2,__zero_reg__ |
4683 2568 1092 0000 sts (sollGier.0)+3,__zero_reg__ |
4684 256c 1092 0000 sts Mess_Integral_Gier,__zero_reg__ |
4685 2570 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__ |
4686 2574 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__ |
4687 2578 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__ |
4688 257c 1092 0000 sts Mess_Integral_Gier2,__zero_reg__ |
4689 2580 1092 0000 sts (Mess_Integral_Gier2)+1,__zero_reg__ |
4690 2584 1092 0000 sts (Mess_Integral_Gier2)+2,__zero_reg__ |
4691 2588 1092 0000 sts (Mess_Integral_Gier2)+3,__zero_reg__ |
4692 258c 8091 0000 lds r24,EE_Parameter+28 |
4693 2590 E82E mov r14,r24 |
4694 2592 FF24 clr r15 |
4695 2594 0027 clr r16 |
4696 2596 1127 clr r17 |
4697 2598 8091 0000 lds r24,Mittelwert_AccNick |
4698 259c 9091 0000 lds r25,(Mittelwert_AccNick)+1 |
4699 25a0 9C01 movw r18,r24 |
4700 25a2 4427 clr r20 |
4701 25a4 37FD sbrc r19,7 |
4702 25a6 4095 com r20 |
4703 25a8 542F mov r21,r20 |
4704 25aa C801 movw r24,r16 |
4705 25ac B701 movw r22,r14 |
4706 25ae 0E94 0000 call __mulsi3 |
4707 25b2 DC01 movw r26,r24 |
4708 25b4 CB01 movw r24,r22 |
4709 25b6 8093 0000 sts Mess_IntegralNick,r24 |
4710 25ba 9093 0000 sts (Mess_IntegralNick)+1,r25 |
4711 25be A093 0000 sts (Mess_IntegralNick)+2,r26 |
4712 25c2 B093 0000 sts (Mess_IntegralNick)+3,r27 |
4713 25c6 8091 0000 lds r24,Mittelwert_AccRoll |
4714 25ca 9091 0000 lds r25,(Mittelwert_AccRoll)+1 |
4715 25ce 9C01 movw r18,r24 |
4716 25d0 4427 clr r20 |
4717 25d2 37FD sbrc r19,7 |
4718 25d4 4095 com r20 |
4719 25d6 542F mov r21,r20 |
4720 25d8 C801 movw r24,r16 |
4721 25da B701 movw r22,r14 |
4722 25dc 0E94 0000 call __mulsi3 |
4723 25e0 DC01 movw r26,r24 |
4724 25e2 CB01 movw r24,r22 |
4725 25e4 8093 0000 sts Mess_IntegralRoll,r24 |
4726 25e8 9093 0000 sts (Mess_IntegralRoll)+1,r25 |
4727 25ec A093 0000 sts (Mess_IntegralRoll)+2,r26 |
4728 25f0 B093 0000 sts (Mess_IntegralRoll)+3,r27 |
4729 25f4 8091 0000 lds r24,IntegralNick |
4730 25f8 9091 0000 lds r25,(IntegralNick)+1 |
4731 25fc A091 0000 lds r26,(IntegralNick)+2 |
4732 2600 B091 0000 lds r27,(IntegralNick)+3 |
4733 2604 8093 0000 sts Mess_IntegralNick2,r24 |
4734 2608 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
4735 260c A093 0000 sts (Mess_IntegralNick2)+2,r26 |
4736 2610 B093 0000 sts (Mess_IntegralNick2)+3,r27 |
4737 2614 8091 0000 lds r24,IntegralRoll |
4738 2618 9091 0000 lds r25,(IntegralRoll)+1 |
4739 261c A091 0000 lds r26,(IntegralRoll)+2 |
4740 2620 B091 0000 lds r27,(IntegralRoll)+3 |
4741 2624 8093 0000 sts Mess_IntegralRoll2,r24 |
4742 2628 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
4743 262c A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
4744 2630 B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
4745 2634 1092 0000 sts SummeNick,__zero_reg__ |
4746 2638 1092 0000 sts (SummeNick)+1,__zero_reg__ |
4747 263c 1092 0000 sts (SummeNick)+2,__zero_reg__ |
4748 2640 1092 0000 sts (SummeNick)+3,__zero_reg__ |
4749 2644 1092 0000 sts SummeRoll,__zero_reg__ |
4750 2648 1092 0000 sts (SummeRoll)+1,__zero_reg__ |
4751 264c 1092 0000 sts (SummeRoll)+2,__zero_reg__ |
4752 2650 1092 0000 sts (SummeRoll)+3,__zero_reg__ |
4753 2654 84E6 ldi r24,lo8(100) |
4754 2656 8093 0000 sts NeueKompassRichtungMerken,r24 |
4755 265a 84E3 ldi r24,lo8(52) |
4756 265c 00C0 rjmp .L890 |
4757 .L419: |
4758 265e 8CED ldi r24,lo8(1500) |
4759 2660 95E0 ldi r25,hi8(1500) |
4760 2662 9093 0000 sts (beeptime)+1,r25 |
4761 2666 8093 0000 sts beeptime,r24 |
4762 266a 2223 tst r18 |
4763 266c 01F0 breq .+2 |
4764 266e 00C0 rjmp .L423 |
4765 2670 81E0 ldi r24,lo8(1) |
4766 2672 00C0 rjmp .L890 |
4767 .L413: |
4768 2674 1092 0000 sts delay_einschalten.7,__zero_reg__ |
4769 2678 00C0 rjmp .L423 |
4770 .L412: |
4771 267a FF27 clr r31 |
4772 267c EE0F add r30,r30 |
4773 267e FF1F adc r31,r31 |
4774 2680 E050 subi r30,lo8(-(PPM_in)) |
4775 2682 F040 sbci r31,hi8(-(PPM_in)) |
4776 2684 8081 ld r24,Z |
4777 2686 9181 ldd r25,Z+1 |
4778 2688 8C34 cpi r24,76 |
4779 268a 9105 cpc r25,__zero_reg__ |
4780 268c 04F0 brlt .L426 |
4781 268e 8091 0000 lds r24,EE_Parameter+111 |
4782 2692 83FD sbrc r24,3 |
4783 2694 00C0 rjmp .L427 |
4784 2696 E22F mov r30,r18 |
4785 2698 FF27 clr r31 |
4786 269a EE0F add r30,r30 |
4787 269c FF1F adc r31,r31 |
4788 269e E050 subi r30,lo8(-(PPM_in)) |
4789 26a0 F040 sbci r31,hi8(-(PPM_in)) |
4790 26a2 8081 ld r24,Z |
4791 26a4 9181 ldd r25,Z+1 |
4792 26a6 855B subi r24,lo8(-75) |
4793 26a8 9F4F sbci r25,hi8(-75) |
4794 26aa 04F0 brlt .L425 |
4795 .L427: |
4796 26ac 8091 0000 lds r24,EE_Parameter+100 |
4797 26b0 8823 tst r24 |
4798 26b2 01F0 breq .L425 |
4799 .L426: |
4800 26b4 8091 0000 lds r24,EE_Parameter+111 |
4801 26b8 83FF sbrs r24,3 |
4802 26ba 00C0 rjmp .L424 |
4803 26bc 8091 0000 lds r24,EE_Parameter+100 |
4804 26c0 E82F mov r30,r24 |
4805 26c2 FF27 clr r31 |
4806 26c4 EE0F add r30,r30 |
4807 26c6 FF1F adc r31,r31 |
4808 26c8 E050 subi r30,lo8(-(PPM_in)) |
4809 26ca F040 sbci r31,hi8(-(PPM_in)) |
4810 26cc 8081 ld r24,Z |
4811 26ce 9181 ldd r25,Z+1 |
4812 26d0 8E5C subi r24,lo8(-50) |
4813 26d2 9F4F sbci r25,hi8(-50) |
4814 26d4 04F4 brge .L424 |
4815 26d6 8091 0000 lds r24,move_safety_switch.9 |
4816 26da 8C39 cpi r24,lo8(-100) |
4817 26dc 01F4 brne .L424 |
4818 .L425: |
4819 26de 8091 0000 lds r24,delay_ausschalten.8 |
4820 26e2 8F5F subi r24,lo8(-(1)) |
4821 26e4 8093 0000 sts delay_ausschalten.8,r24 |
4822 26e8 8B3F cpi r24,lo8(-5) |
4823 26ea 00F0 brlo .L423 |
4824 26ec 1092 0000 sts MotorenEin,__zero_reg__ |
4825 26f0 1092 0000 sts delay_ausschalten.8,__zero_reg__ |
4826 26f4 1092 0000 sts (modell_fliegt)+1,__zero_reg__ |
4827 26f8 1092 0000 sts modell_fliegt,__zero_reg__ |
4828 26fc 86E2 ldi r24,lo8(38) |
4829 .L890: |
4830 26fe 8093 0000 sts SpeakHoTT,r24 |
4831 2702 00C0 rjmp .L423 |
4832 .L424: |
4833 2704 1092 0000 sts delay_ausschalten.8,__zero_reg__ |
4834 .L423: |
4835 2708 8091 0000 lds r24,GasIsZeroCnt |
4836 270c 9091 0000 lds r25,(GasIsZeroCnt)+1 |
4837 2710 13E0 ldi r17,hi8(1000) |
4838 2712 883E cpi r24,lo8(1000) |
4839 2714 9107 cpc r25,r17 |
4840 2716 00F4 brsh .L381 |
4841 2718 0196 adiw r24,1 |
4842 271a 9093 0000 sts (GasIsZeroCnt)+1,r25 |
4843 271e 8093 0000 sts GasIsZeroCnt,r24 |
4844 2722 00C0 rjmp .L381 |
4845 .L408: |
4846 2724 1092 0000 sts move_safety_switch.9,__zero_reg__ |
4847 2728 1092 0000 sts (GasIsZeroCnt)+1,__zero_reg__ |
4848 272c 1092 0000 sts GasIsZeroCnt,__zero_reg__ |
4849 2730 00C0 rjmp .L381 |
4850 .L382: |
4851 2732 2E5E subi r18,lo8(750) |
4852 2734 3240 sbci r19,hi8(750) |
4853 2736 00F0 brlo .L381 |
4854 2738 8091 0000 lds r24,GPSInfo+4 |
4855 273c 9091 0000 lds r25,(GPSInfo+4)+1 |
4856 2740 8059 subi r24,lo8(400) |
4857 2742 9140 sbci r25,hi8(400) |
4858 2744 00F4 brsh .L381 |
4859 2746 8091 0000 lds r24,HoehenWert |
4860 274a 9091 0000 lds r25,(HoehenWert)+1 |
4861 274e A091 0000 lds r26,(HoehenWert)+2 |
4862 2752 B091 0000 lds r27,(HoehenWert)+3 |
4863 2756 8C5D subi r24,lo8(1500) |
4864 2758 9540 sbci r25,hi8(1500) |
4865 275a A040 sbci r26,hlo8(1500) |
4866 275c B040 sbci r27,hhi8(1500) |
4867 275e 04F4 brge .L381 |
4868 2760 80E3 ldi r24,lo8(30000) |
4869 2762 95E7 ldi r25,hi8(30000) |
4870 2764 9093 0000 sts (GasIsZeroCnt)+1,r25 |
4871 2768 8093 0000 sts GasIsZeroCnt,r24 |
4872 276c 8091 0000 lds r24,modell_fliegt |
4873 2770 9091 0000 lds r25,(modell_fliegt)+1 |
4874 2774 8A5E subi r24,lo8(1002) |
4875 2776 9340 sbci r25,hi8(1002) |
4876 2778 00F0 brlo .L381 |
4877 277a 89EE ldi r24,lo8(1001) |
4878 277c 93E0 ldi r25,hi8(1001) |
4879 277e 9093 0000 sts (modell_fliegt)+1,r25 |
4880 2782 8093 0000 sts modell_fliegt,r24 |
4881 .L381: |
4882 2786 8091 0000 lds r24,NewPpmData |
4883 278a 8150 subi r24,lo8(-(-1)) |
4884 278c 8093 0000 sts NewPpmData,r24 |
4885 2790 8091 0000 lds r24,NewPpmData |
4886 2794 8F3F cpi r24,lo8(-1) |
4887 2796 01F0 breq .L437 |
4888 2798 8091 0000 lds r24,FC_StatusFlags |
4889 279c 84FF sbrs r24,4 |
4890 279e 00C0 rjmp .L436 |
4891 .L437: |
4892 27a0 0E94 0000 call ParameterZuordnung |
4893 27a4 B090 0000 lds r11,EE_Parameter+23 |
4894 27a8 8091 0000 lds r24,stick_nick.12 |
4895 27ac 9091 0000 lds r25,(stick_nick.12)+1 |
4896 27b0 9C01 movw r18,r24 |
4897 27b2 220F lsl r18 |
4898 27b4 331F rol r19 |
4899 27b6 280F add r18,r24 |
4900 27b8 391F adc r19,r25 |
4901 27ba C090 0000 lds r12,EE_Parameter+1 |
4902 27be AC2D mov r26,r12 |
4903 27c0 BB27 clr r27 |
4904 27c2 AA0F add r26,r26 |
4905 27c4 BB1F adc r27,r27 |
4906 27c6 FD01 movw r30,r26 |
4907 27c8 E050 subi r30,lo8(-(PPM_in)) |
4908 27ca F040 sbci r31,hi8(-(PPM_in)) |
4909 27cc 4B2D mov r20,r11 |
4910 27ce 5527 clr r21 |
4911 27d0 8081 ld r24,Z |
4912 27d2 9181 ldd r25,Z+1 |
4913 27d4 849F mul r24,r20 |
4914 27d6 F001 movw r30,r0 |
4915 27d8 859F mul r24,r21 |
4916 27da F00D add r31,r0 |
4917 27dc 949F mul r25,r20 |
4918 27de F00D add r31,r0 |
4919 27e0 1124 clr r1 |
4920 27e2 2E0F add r18,r30 |
4921 27e4 3F1F adc r19,r31 |
4922 27e6 37FF sbrs r19,7 |
4923 27e8 00C0 rjmp .L438 |
4924 27ea 2D5F subi r18,lo8(-(3)) |
4925 27ec 3F4F sbci r19,hi8(-(3)) |
4926 .L438: |
4927 27ee B901 movw r22,r18 |
4928 27f0 7595 asr r23 |
4929 27f2 6795 ror r22 |
4930 27f4 7595 asr r23 |
4931 27f6 6795 ror r22 |
4932 27f8 A050 subi r26,lo8(-(PPM_diff)) |
4933 27fa B040 sbci r27,hi8(-(PPM_diff)) |
4934 27fc 8091 0000 lds r24,EE_Parameter+24 |
4935 2800 082F mov r16,r24 |
4936 2802 1127 clr r17 |
4937 2804 8D91 ld r24,X+ |
4938 2806 9C91 ld r25,X |
4939 2808 809F mul r24,r16 |
4940 280a 7001 movw r14,r0 |
4941 280c 819F mul r24,r17 |
4942 280e F00C add r15,r0 |
4943 2810 909F mul r25,r16 |
4944 2812 F00C add r15,r0 |
4945 2814 1124 clr r1 |
4946 2816 6E0D add r22,r14 |
4947 2818 7F1D adc r23,r15 |
4948 281a 7093 0000 sts (stick_nick.12)+1,r23 |
4949 281e 6093 0000 sts stick_nick.12,r22 |
4950 2822 8091 0000 lds r24,stick_roll.13 |
4951 2826 9091 0000 lds r25,(stick_roll.13)+1 |
4952 282a 9C01 movw r18,r24 |
4953 282c 220F lsl r18 |
4954 282e 331F rol r19 |
4955 2830 280F add r18,r24 |
4956 2832 391F adc r19,r25 |
4957 2834 D090 0000 lds r13,EE_Parameter+2 |
4958 2838 AD2D mov r26,r13 |
4959 283a BB27 clr r27 |
4960 283c AA0F add r26,r26 |
4961 283e BB1F adc r27,r27 |
4962 2840 FD01 movw r30,r26 |
4963 2842 E050 subi r30,lo8(-(PPM_in)) |
4964 2844 F040 sbci r31,hi8(-(PPM_in)) |
4965 2846 8081 ld r24,Z |
4966 2848 9181 ldd r25,Z+1 |
4967 284a 849F mul r24,r20 |
4968 284c F001 movw r30,r0 |
4969 284e 859F mul r24,r21 |
4970 2850 F00D add r31,r0 |
4971 2852 949F mul r25,r20 |
4972 2854 F00D add r31,r0 |
4973 2856 1124 clr r1 |
4974 2858 2E0F add r18,r30 |
4975 285a 3F1F adc r19,r31 |
4976 285c 37FF sbrs r19,7 |
4977 285e 00C0 rjmp .L439 |
4978 2860 2D5F subi r18,lo8(-(3)) |
4979 2862 3F4F sbci r19,hi8(-(3)) |
4980 .L439: |
4981 2864 A901 movw r20,r18 |
4982 2866 5595 asr r21 |
4983 2868 4795 ror r20 |
4984 286a 5595 asr r21 |
4985 286c 4795 ror r20 |
4986 286e A050 subi r26,lo8(-(PPM_diff)) |
4987 2870 B040 sbci r27,hi8(-(PPM_diff)) |
4988 2872 8D91 ld r24,X+ |
4989 2874 9C91 ld r25,X |
4990 2876 809F mul r24,r16 |
4991 2878 7001 movw r14,r0 |
4992 287a 819F mul r24,r17 |
4993 287c F00C add r15,r0 |
4994 287e 909F mul r25,r16 |
4995 2880 F00C add r15,r0 |
4996 2882 1124 clr r1 |
4997 2884 4E0D add r20,r14 |
4998 2886 5F1D adc r21,r15 |
4999 2888 5093 0000 sts (stick_roll.13)+1,r21 |
5000 288c 4093 0000 sts stick_roll.13,r20 |
5001 2890 8091 0000 lds r24,CareFree |
5002 2894 8823 tst r24 |
5003 2896 01F4 brne .+2 |
5004 2898 00C0 rjmp .L440 |
5005 289a CB01 movw r24,r22 |
5006 289c 77FD sbrc r23,7 |
5007 289e 0396 adiw r24,3 |
5008 .L441: |
5009 28a0 DC01 movw r26,r24 |
5010 28a2 B595 asr r27 |
5011 28a4 A795 ror r26 |
5012 28a6 B595 asr r27 |
5013 28a8 A795 ror r26 |
5014 28aa CA01 movw r24,r20 |
5015 28ac 57FD sbrc r21,7 |
5016 28ae 0396 adiw r24,3 |
5017 .L442: |
5018 28b0 FC01 movw r30,r24 |
5019 28b2 F595 asr r31 |
5020 28b4 E795 ror r30 |
5021 28b6 F595 asr r31 |
5022 28b8 E795 ror r30 |
5023 28ba 8091 0000 lds r24,FromNC_Rotate_C |
5024 28be 682F mov r22,r24 |
5025 28c0 7727 clr r23 |
5026 28c2 67FD sbrc r22,7 |
5027 28c4 7095 com r23 |
5028 28c6 6A9F mul r22,r26 |
5029 28c8 9001 movw r18,r0 |
5030 28ca 6B9F mul r22,r27 |
5031 28cc 300D add r19,r0 |
5032 28ce 7A9F mul r23,r26 |
5033 28d0 300D add r19,r0 |
5034 28d2 1124 clr r1 |
5035 28d4 8091 0000 lds r24,FromNC_Rotate_S |
5036 28d8 482F mov r20,r24 |
5037 28da 5527 clr r21 |
5038 28dc 47FD sbrc r20,7 |
5039 28de 5095 com r21 |
5040 28e0 4E9F mul r20,r30 |
5041 28e2 C001 movw r24,r0 |
5042 28e4 4F9F mul r20,r31 |
5043 28e6 900D add r25,r0 |
5044 28e8 5E9F mul r21,r30 |
5045 28ea 900D add r25,r0 |
5046 28ec 1124 clr r1 |
5047 28ee 280F add r18,r24 |
5048 28f0 391F adc r19,r25 |
5049 28f2 37FF sbrs r19,7 |
5050 28f4 00C0 rjmp .L443 |
5051 28f6 295F subi r18,lo8(-(7)) |
5052 28f8 3F4F sbci r19,hi8(-(7)) |
5053 .L443: |
5054 28fa 93E0 ldi r25,3 |
5055 28fc 3595 1: asr r19 |
5056 28fe 2795 ror r18 |
5057 2900 9A95 dec r25 |
5058 2902 01F4 brne 1b |
5059 2904 3093 0000 sts (StickNick)+1,r19 |
5060 2908 2093 0000 sts StickNick,r18 |
5061 290c 6E9F mul r22,r30 |
5062 290e 9001 movw r18,r0 |
5063 2910 6F9F mul r22,r31 |
5064 2912 300D add r19,r0 |
5065 2914 7E9F mul r23,r30 |
5066 2916 300D add r19,r0 |
5067 2918 1124 clr r1 |
5068 291a 4A9F mul r20,r26 |
5069 291c C001 movw r24,r0 |
5070 291e 4B9F mul r20,r27 |
5071 2920 900D add r25,r0 |
5072 2922 5A9F mul r21,r26 |
5073 2924 900D add r25,r0 |
5074 2926 1124 clr r1 |
5075 2928 00C0 rjmp .L919 |
5076 .L440: |
5077 292a 8091 0000 lds r24,EE_Parameter+98 |
5078 292e E82F mov r30,r24 |
5079 2930 FF27 clr r31 |
5080 2932 E050 subi r30,lo8(-(sintab)) |
5081 2934 F040 sbci r31,hi8(-(sintab)) |
5082 2936 8681 ldd r24,Z+6 |
5083 2938 8093 0000 sts FromNC_Rotate_C,r24 |
5084 293c 9081 ld r25,Z |
5085 293e 9093 0000 sts FromNC_Rotate_S,r25 |
5086 2942 A82F mov r26,r24 |
5087 2944 BB27 clr r27 |
5088 2946 A7FD sbrc r26,7 |
5089 2948 B095 com r27 |
5090 294a A69F mul r26,r22 |
5091 294c 9001 movw r18,r0 |
5092 294e A79F mul r26,r23 |
5093 2950 300D add r19,r0 |
5094 2952 B69F mul r27,r22 |
5095 2954 300D add r19,r0 |
5096 2956 1124 clr r1 |
5097 2958 E92F mov r30,r25 |
5098 295a FF27 clr r31 |
5099 295c E7FD sbrc r30,7 |
5100 295e F095 com r31 |
5101 2960 E49F mul r30,r20 |
5102 2962 C001 movw r24,r0 |
5103 2964 E59F mul r30,r21 |
5104 2966 900D add r25,r0 |
5105 2968 F49F mul r31,r20 |
5106 296a 900D add r25,r0 |
5107 296c 1124 clr r1 |
5108 296e 280F add r18,r24 |
5109 2970 391F adc r19,r25 |
5110 2972 37FF sbrs r19,7 |
5111 2974 00C0 rjmp .L446 |
5112 2976 295F subi r18,lo8(-(7)) |
5113 2978 3F4F sbci r19,hi8(-(7)) |
5114 .L446: |
5115 297a 83E0 ldi r24,3 |
5116 297c 3595 1: asr r19 |
5117 297e 2795 ror r18 |
5118 2980 8A95 dec r24 |
5119 2982 01F4 brne 1b |
5120 2984 3093 0000 sts (StickNick)+1,r19 |
5121 2988 2093 0000 sts StickNick,r18 |
5122 298c A49F mul r26,r20 |
5123 298e 9001 movw r18,r0 |
5124 2990 A59F mul r26,r21 |
5125 2992 300D add r19,r0 |
5126 2994 B49F mul r27,r20 |
5127 2996 300D add r19,r0 |
5128 2998 1124 clr r1 |
5129 299a E69F mul r30,r22 |
5130 299c C001 movw r24,r0 |
5131 299e E79F mul r30,r23 |
5132 29a0 900D add r25,r0 |
5133 29a2 F69F mul r31,r22 |
5134 29a4 900D add r25,r0 |
5135 29a6 1124 clr r1 |
5136 .L919: |
5137 29a8 281B sub r18,r24 |
5138 29aa 390B sbc r19,r25 |
5139 29ac 37FF sbrs r19,7 |
5140 29ae 00C0 rjmp .L447 |
5141 29b0 295F subi r18,lo8(-(7)) |
5142 29b2 3F4F sbci r19,hi8(-(7)) |
5143 .L447: |
5144 29b4 03E0 ldi r16,3 |
5145 29b6 3595 1: asr r19 |
5146 29b8 2795 ror r18 |
5147 29ba 0A95 dec r16 |
5148 29bc 01F4 brne 1b |
5149 29be 3093 0000 sts (StickRoll)+1,r19 |
5150 29c2 2093 0000 sts StickRoll,r18 |
5151 29c6 8091 0000 lds r24,EE_Parameter+4 |
5152 29ca E82F mov r30,r24 |
5153 29cc FF27 clr r31 |
5154 29ce EE0F add r30,r30 |
5155 29d0 FF1F adc r31,r31 |
5156 29d2 E050 subi r30,lo8(-(PPM_in)) |
5157 29d4 F040 sbci r31,hi8(-(PPM_in)) |
5158 29d6 8081 ld r24,Z |
5159 29d8 9181 ldd r25,Z+1 |
5160 29da 9095 com r25 |
5161 29dc 8195 neg r24 |
5162 29de 9F4F sbci r25,lo8(-1) |
5163 29e0 9093 0000 sts (StickGier)+1,r25 |
5164 29e4 8093 0000 sts StickGier,r24 |
5165 29e8 8530 cpi r24,5 |
5166 29ea 9105 cpc r25,__zero_reg__ |
5167 29ec 04F0 brlt .L448 |
5168 29ee 0497 sbiw r24,4 |
5169 29f0 00C0 rjmp .L891 |
5170 .L448: |
5171 29f2 0FEF ldi r16,hi8(-4) |
5172 29f4 8C3F cpi r24,lo8(-4) |
5173 29f6 9007 cpc r25,r16 |
5174 29f8 04F4 brge .L450 |
5175 29fa 0496 adiw r24,4 |
5176 .L891: |
5177 29fc 9093 0000 sts (StickGier)+1,r25 |
5178 2a00 8093 0000 sts StickGier,r24 |
5179 2a04 00C0 rjmp .L449 |
5180 .L450: |
5181 2a06 1092 0000 sts (StickGier)+1,__zero_reg__ |
5182 2a0a 1092 0000 sts StickGier,__zero_reg__ |
5183 .L449: |
5184 2a0e 8091 0000 lds r24,GPS_Aid_StickMultiplikator |
5185 2a12 8823 tst r24 |
5186 2a14 01F4 brne .+2 |
5187 2a16 00C0 rjmp .L452 |
5188 2a18 282F mov r18,r24 |
5189 2a1a 3327 clr r19 |
5190 2a1c 8091 0000 lds r24,StickNick |
5191 2a20 9091 0000 lds r25,(StickNick)+1 |
5192 2a24 97FD sbrc r25,7 |
5193 2a26 0796 adiw r24,7 |
5194 .L453: |
5195 2a28 13E0 ldi r17,3 |
5196 2a2a 9595 1: asr r25 |
5197 2a2c 8795 ror r24 |
5198 2a2e 1A95 dec r17 |
5199 2a30 01F4 brne 1b |
5200 2a32 289F mul r18,r24 |
5201 2a34 A001 movw r20,r0 |
5202 2a36 299F mul r18,r25 |
5203 2a38 500D add r21,r0 |
5204 2a3a 389F mul r19,r24 |
5205 2a3c 500D add r21,r0 |
5206 2a3e 1124 clr r1 |
5207 2a40 CA01 movw r24,r20 |
5208 2a42 57FD sbrc r21,7 |
5209 2a44 0F96 adiw r24,15 |
5210 .L454: |
5211 2a46 B4E0 ldi r27,4 |
5212 2a48 9595 1: asr r25 |
5213 2a4a 8795 ror r24 |
5214 2a4c BA95 dec r27 |
5215 2a4e 01F4 brne 1b |
5216 2a50 9093 0000 sts (StickNick)+1,r25 |
5217 2a54 8093 0000 sts StickNick,r24 |
5218 2a58 8091 0000 lds r24,StickRoll |
5219 2a5c 9091 0000 lds r25,(StickRoll)+1 |
5220 2a60 97FD sbrc r25,7 |
5221 2a62 0796 adiw r24,7 |
5222 .L455: |
5223 2a64 A3E0 ldi r26,3 |
5224 2a66 9595 1: asr r25 |
5225 2a68 8795 ror r24 |
5226 2a6a AA95 dec r26 |
5227 2a6c 01F4 brne 1b |
5228 2a6e 289F mul r18,r24 |
5229 2a70 B001 movw r22,r0 |
5230 2a72 299F mul r18,r25 |
5231 2a74 700D add r23,r0 |
5232 2a76 389F mul r19,r24 |
5233 2a78 700D add r23,r0 |
5234 2a7a 1124 clr r1 |
5235 2a7c CB01 movw r24,r22 |
5236 2a7e 77FD sbrc r23,7 |
5237 2a80 0F96 adiw r24,15 |
5238 .L456: |
5239 2a82 F4E0 ldi r31,4 |
5240 2a84 9595 1: asr r25 |
5241 2a86 8795 ror r24 |
5242 2a88 FA95 dec r31 |
5243 2a8a 01F4 brne 1b |
5244 2a8c 9093 0000 sts (StickRoll)+1,r25 |
5245 2a90 8093 0000 sts StickRoll,r24 |
5246 .L452: |
5247 2a94 8090 0000 lds r8,StickNick |
5248 2a98 9090 0000 lds r9,(StickNick)+1 |
5249 2a9c 8091 0000 lds r24,GPS_Nick |
5250 2aa0 9091 0000 lds r25,(GPS_Nick)+1 |
5251 2aa4 881A sub r8,r24 |
5252 2aa6 990A sbc r9,r25 |
5253 2aa8 9092 0000 sts (StickNick)+1,r9 |
5254 2aac 8092 0000 sts StickNick,r8 |
5255 2ab0 0091 0000 lds r16,StickRoll |
5256 2ab4 1091 0000 lds r17,(StickRoll)+1 |
5257 2ab8 8091 0000 lds r24,GPS_Roll |
5258 2abc 9091 0000 lds r25,(GPS_Roll)+1 |
5259 2ac0 081B sub r16,r24 |
5260 2ac2 190B sbc r17,r25 |
5261 2ac4 1093 0000 sts (StickRoll)+1,r17 |
5262 2ac8 0093 0000 sts StickRoll,r16 |
5263 2acc 8091 0000 lds r24,EE_Parameter+3 |
5264 2ad0 E82F mov r30,r24 |
5265 2ad2 FF27 clr r31 |
5266 2ad4 EE0F add r30,r30 |
5267 2ad6 FF1F adc r31,r31 |
5268 2ad8 E050 subi r30,lo8(-(PPM_in)) |
5269 2ada F040 sbci r31,hi8(-(PPM_in)) |
5270 2adc E080 ld r14,Z |
5271 2ade F180 ldd r15,Z+1 |
5272 2ae0 8FE7 ldi r24,lo8(127) |
5273 2ae2 90E0 ldi r25,hi8(127) |
5274 2ae4 E80E add r14,r24 |
5275 2ae6 F91E adc r15,r25 |
5276 2ae8 F092 0000 sts (StickGas)+1,r15 |
5277 2aec E092 0000 sts StickGas,r14 |
5278 2af0 8091 0000 lds r24,Parameter_Gyro_P |
5279 2af4 9927 clr r25 |
5280 2af6 AA27 clr r26 |
5281 2af8 97FD sbrc r25,7 |
5282 2afa A095 com r26 |
5283 2afc BA2F mov r27,r26 |
5284 2afe BC01 movw r22,r24 |
5285 2b00 CD01 movw r24,r26 |
5286 2b02 0E94 0000 call __floatsisf |
5287 2b06 DC01 movw r26,r24 |
5288 2b08 CB01 movw r24,r22 |
5289 2b0a 20E0 ldi r18,lo8(0x41200000) |
5290 2b0c 30E0 ldi r19,hi8(0x41200000) |
5291 2b0e 40E2 ldi r20,hlo8(0x41200000) |
5292 2b10 51E4 ldi r21,hhi8(0x41200000) |
5293 2b12 BC01 movw r22,r24 |
5294 2b14 CD01 movw r24,r26 |
5295 2b16 0E94 0000 call __addsf3 |
5296 2b1a DC01 movw r26,r24 |
5297 2b1c CB01 movw r24,r22 |
5298 2b1e BC01 movw r22,r24 |
5299 2b20 CD01 movw r24,r26 |
5300 2b22 0E94 0000 call __fixunssfsi |
5301 2b26 DC01 movw r26,r24 |
5302 2b28 CB01 movw r24,r22 |
5303 2b2a 8093 0000 sts GyroFaktor,r24 |
5304 2b2e 8091 0000 lds r24,Parameter_Gyro_I |
5305 2b32 8093 0000 sts IntegralFaktor,r24 |
5306 2b36 8091 0000 lds r24,Parameter_Gyro_Gier_P |
5307 2b3a 9927 clr r25 |
5308 2b3c AA27 clr r26 |
5309 2b3e 97FD sbrc r25,7 |
5310 2b40 A095 com r26 |
5311 2b42 BA2F mov r27,r26 |
5312 2b44 BC01 movw r22,r24 |
5313 2b46 CD01 movw r24,r26 |
5314 2b48 0E94 0000 call __floatsisf |
5315 2b4c DC01 movw r26,r24 |
5316 2b4e CB01 movw r24,r22 |
5317 2b50 20E0 ldi r18,lo8(0x41200000) |
5318 2b52 30E0 ldi r19,hi8(0x41200000) |
5319 2b54 40E2 ldi r20,hlo8(0x41200000) |
5320 2b56 51E4 ldi r21,hhi8(0x41200000) |
5321 2b58 BC01 movw r22,r24 |
5322 2b5a CD01 movw r24,r26 |
5323 2b5c 0E94 0000 call __addsf3 |
5324 2b60 DC01 movw r26,r24 |
5325 2b62 CB01 movw r24,r22 |
5326 2b64 BC01 movw r22,r24 |
5327 2b66 CD01 movw r24,r26 |
5328 2b68 0E94 0000 call __fixunssfsi |
5329 2b6c DC01 movw r26,r24 |
5330 2b6e CB01 movw r24,r22 |
5331 2b70 8093 0000 sts GyroFaktorGier,r24 |
5332 2b74 8091 0000 lds r24,Parameter_Gyro_Gier_I |
5333 2b78 8093 0000 sts IntegralFaktorGier,r24 |
5334 2b7c 8091 0000 lds r24,ExternControl+10 |
5335 2b80 80FF sbrs r24,0 |
5336 2b82 00C0 rjmp .L457 |
5337 2b84 8091 0000 lds r24,Parameter_ExternalControl |
5338 2b88 8138 cpi r24,lo8(-127) |
5339 2b8a 00F4 brsh .+2 |
5340 2b8c 00C0 rjmp .L457 |
5341 2b8e 8091 0000 lds r24,ExternControl+3 |
5342 2b92 9927 clr r25 |
5343 2b94 87FD sbrc r24,7 |
5344 2b96 9095 com r25 |
5345 2b98 2B2D mov r18,r11 |
5346 2b9a 3327 clr r19 |
5347 2b9c 829F mul r24,r18 |
5348 2b9e D001 movw r26,r0 |
5349 2ba0 839F mul r24,r19 |
5350 2ba2 B00D add r27,r0 |
5351 2ba4 929F mul r25,r18 |
5352 2ba6 B00D add r27,r0 |
5353 2ba8 1124 clr r1 |
5354 2baa 8A0E add r8,r26 |
5355 2bac 9B1E adc r9,r27 |
5356 2bae 9092 0000 sts (StickNick)+1,r9 |
5357 2bb2 8092 0000 sts StickNick,r8 |
5358 2bb6 8091 0000 lds r24,ExternControl+4 |
5359 2bba 9927 clr r25 |
5360 2bbc 87FD sbrc r24,7 |
5361 2bbe 9095 com r25 |
5362 2bc0 829F mul r24,r18 |
5363 2bc2 F001 movw r30,r0 |
5364 2bc4 839F mul r24,r19 |
5365 2bc6 F00D add r31,r0 |
5366 2bc8 929F mul r25,r18 |
5367 2bca F00D add r31,r0 |
5368 2bcc 1124 clr r1 |
5369 2bce 0E0F add r16,r30 |
5370 2bd0 1F1F adc r17,r31 |
5371 2bd2 1093 0000 sts (StickRoll)+1,r17 |
5372 2bd6 0093 0000 sts StickRoll,r16 |
5373 2bda 8091 0000 lds r24,ExternControl+5 |
5374 2bde 282F mov r18,r24 |
5375 2be0 3327 clr r19 |
5376 2be2 27FD sbrc r18,7 |
5377 2be4 3095 com r19 |
5378 2be6 8091 0000 lds r24,StickGier |
5379 2bea 9091 0000 lds r25,(StickGier)+1 |
5380 2bee 820F add r24,r18 |
5381 2bf0 931F adc r25,r19 |
5382 2bf2 9093 0000 sts (StickGier)+1,r25 |
5383 2bf6 8093 0000 sts StickGier,r24 |
5384 2bfa 8091 0000 lds r24,ExternControl+7 |
5385 2bfe 282F mov r18,r24 |
5386 2c00 3327 clr r19 |
5387 2c02 27FD sbrc r18,7 |
5388 2c04 3095 com r19 |
5389 2c06 8091 0000 lds r24,EE_Parameter+18 |
5390 2c0a 9927 clr r25 |
5391 2c0c 289F mul r18,r24 |
5392 2c0e 8001 movw r16,r0 |
5393 2c10 299F mul r18,r25 |
5394 2c12 100D add r17,r0 |
5395 2c14 389F mul r19,r24 |
5396 2c16 100D add r17,r0 |
5397 2c18 1124 clr r1 |
5398 2c1a 1093 0000 sts (ExternHoehenValue)+1,r17 |
5399 2c1e 0093 0000 sts ExternHoehenValue,r16 |
5400 2c22 8091 0000 lds r24,ExternControl+6 |
5401 2c26 9927 clr r25 |
5402 2c28 8E15 cp r24,r14 |
5403 2c2a 9F05 cpc r25,r15 |
5404 2c2c 04F4 brge .L457 |
5405 2c2e 9093 0000 sts (StickGas)+1,r25 |
5406 2c32 8093 0000 sts StickGas,r24 |
5407 .L457: |
5408 2c36 8091 0000 lds r24,StickGas |
5409 2c3a 9091 0000 lds r25,(StickGas)+1 |
5410 2c3e 97FF sbrs r25,7 |
5411 2c40 00C0 rjmp .L459 |
5412 2c42 1092 0000 sts (StickGas)+1,__zero_reg__ |
5413 2c46 1092 0000 sts StickGas,__zero_reg__ |
5414 .L459: |
5415 2c4a 8091 0000 lds r24,Parameter_GlobalConfig |
5416 2c4e 82FF sbrs r24,2 |
5417 2c50 00C0 rjmp .L460 |
5418 2c52 1092 0000 sts IntegralFaktor,__zero_reg__ |
5419 .L460: |
5420 2c56 4091 0000 lds r20,StickNick |
5421 2c5a 5091 0000 lds r21,(StickNick)+1 |
5422 2c5e CA01 movw r24,r20 |
5423 2c60 57FD sbrc r21,7 |
5424 2c62 0396 adiw r24,3 |
5425 .L462: |
5426 2c64 9C01 movw r18,r24 |
5427 2c66 3595 asr r19 |
5428 2c68 2795 ror r18 |
5429 2c6a 3595 asr r19 |
5430 2c6c 2795 ror r18 |
5431 2c6e 37FF sbrs r19,7 |
5432 2c70 00C0 rjmp .L463 |
5433 2c72 3095 com r19 |
5434 2c74 2195 neg r18 |
5435 2c76 3F4F sbci r19,lo8(-1) |
5436 .L463: |
5437 2c78 8091 0000 lds r24,MaxStickNick |
5438 2c7c 9091 0000 lds r25,(MaxStickNick)+1 |
5439 2c80 8217 cp r24,r18 |
5440 2c82 9307 cpc r25,r19 |
5441 2c84 04F4 brge .L461 |
5442 2c86 CA01 movw r24,r20 |
5443 2c88 57FF sbrs r21,7 |
5444 2c8a 00C0 rjmp .L464 |
5445 2c8c 9095 com r25 |
5446 2c8e 8195 neg r24 |
5447 2c90 9F4F sbci r25,lo8(-1) |
5448 .L464: |
5449 2c92 97FD sbrc r25,7 |
5450 2c94 0396 adiw r24,3 |
5451 .L465: |
5452 2c96 9595 asr r25 |
5453 2c98 8795 ror r24 |
5454 2c9a 9595 asr r25 |
5455 2c9c 8795 ror r24 |
5456 2c9e 9093 0000 sts (MaxStickNick)+1,r25 |
5457 2ca2 8093 0000 sts MaxStickNick,r24 |
5458 2ca6 8536 cpi r24,101 |
5459 2ca8 9105 cpc r25,__zero_reg__ |
5460 2caa 04F0 brlt .L467 |
5461 2cac 84E6 ldi r24,lo8(100) |
5462 2cae 90E0 ldi r25,hi8(100) |
5463 2cb0 00C0 rjmp .L892 |
5464 .L461: |
5465 2cb2 0197 sbiw r24,1 |
5466 .L892: |
5467 2cb4 9093 0000 sts (MaxStickNick)+1,r25 |
5468 2cb8 8093 0000 sts MaxStickNick,r24 |
5469 .L467: |
5470 2cbc 4091 0000 lds r20,StickRoll |
5471 2cc0 5091 0000 lds r21,(StickRoll)+1 |
5472 2cc4 CA01 movw r24,r20 |
5473 2cc6 57FD sbrc r21,7 |
5474 2cc8 0396 adiw r24,3 |
5475 .L469: |
5476 2cca 9C01 movw r18,r24 |
5477 2ccc 3595 asr r19 |
5478 2cce 2795 ror r18 |
5479 2cd0 3595 asr r19 |
5480 2cd2 2795 ror r18 |
5481 2cd4 37FF sbrs r19,7 |
5482 2cd6 00C0 rjmp .L470 |
5483 2cd8 3095 com r19 |
5484 2cda 2195 neg r18 |
5485 2cdc 3F4F sbci r19,lo8(-1) |
5486 .L470: |
5487 2cde 8091 0000 lds r24,MaxStickRoll |
5488 2ce2 9091 0000 lds r25,(MaxStickRoll)+1 |
5489 2ce6 8217 cp r24,r18 |
5490 2ce8 9307 cpc r25,r19 |
5491 2cea 04F4 brge .L468 |
5492 2cec CA01 movw r24,r20 |
5493 2cee 57FF sbrs r21,7 |
5494 2cf0 00C0 rjmp .L471 |
5495 2cf2 9095 com r25 |
5496 2cf4 8195 neg r24 |
5497 2cf6 9F4F sbci r25,lo8(-1) |
5498 .L471: |
5499 2cf8 97FD sbrc r25,7 |
5500 2cfa 0396 adiw r24,3 |
5501 .L472: |
5502 2cfc 9595 asr r25 |
5503 2cfe 8795 ror r24 |
5504 2d00 9595 asr r25 |
5505 2d02 8795 ror r24 |
5506 2d04 9093 0000 sts (MaxStickRoll)+1,r25 |
5507 2d08 8093 0000 sts MaxStickRoll,r24 |
5508 2d0c 8536 cpi r24,101 |
5509 2d0e 9105 cpc r25,__zero_reg__ |
5510 2d10 04F0 brlt .L474 |
5511 2d12 84E6 ldi r24,lo8(100) |
5512 2d14 90E0 ldi r25,hi8(100) |
5513 2d16 00C0 rjmp .L893 |
5514 .L468: |
5515 2d18 0197 sbiw r24,1 |
5516 .L893: |
5517 2d1a 9093 0000 sts (MaxStickRoll)+1,r25 |
5518 2d1e 8093 0000 sts MaxStickRoll,r24 |
5519 .L474: |
5520 2d22 8091 0000 lds r24,FC_StatusFlags |
5521 2d26 84FF sbrs r24,4 |
5522 2d28 00C0 rjmp .L475 |
5523 2d2a 1092 0000 sts (MaxStickNick)+1,__zero_reg__ |
5524 2d2e 1092 0000 sts MaxStickNick,__zero_reg__ |
5525 2d32 1092 0000 sts (MaxStickRoll)+1,__zero_reg__ |
5526 2d36 1092 0000 sts MaxStickRoll,__zero_reg__ |
5527 .L475: |
5528 2d3a ED2D mov r30,r13 |
5529 2d3c FF27 clr r31 |
5530 2d3e EE0F add r30,r30 |
5531 2d40 FF1F adc r31,r31 |
5532 2d42 E050 subi r30,lo8(-(PPM_in)) |
5533 2d44 F040 sbci r31,hi8(-(PPM_in)) |
5534 2d46 4091 0000 lds r20,EE_Parameter+60 |
5535 2d4a 242F mov r18,r20 |
5536 2d4c 3327 clr r19 |
5537 2d4e 8081 ld r24,Z |
5538 2d50 9181 ldd r25,Z+1 |
5539 2d52 2817 cp r18,r24 |
5540 2d54 3907 cpc r19,r25 |
5541 2d56 04F4 brge .L476 |
5542 2d58 8091 0000 lds r24,EE_Parameter+108 |
5543 2d5c 82FF sbrs r24,2 |
5544 2d5e 00C0 rjmp .L476 |
5545 2d60 81E0 ldi r24,lo8(1) |
5546 2d62 8093 0000 sts Looping_Links,r24 |
5547 2d66 00C0 rjmp .L477 |
5548 .L476: |
5549 2d68 ED2D mov r30,r13 |
5550 2d6a FF27 clr r31 |
5551 2d6c EE0F add r30,r30 |
5552 2d6e FF1F adc r31,r31 |
5553 2d70 E050 subi r30,lo8(-(PPM_in)) |
5554 2d72 F040 sbci r31,hi8(-(PPM_in)) |
5555 2d74 842F mov r24,r20 |
5556 2d76 9927 clr r25 |
5557 2d78 2091 0000 lds r18,EE_Parameter+61 |
5558 2d7c 821B sub r24,r18 |
5559 2d7e 9109 sbc r25,__zero_reg__ |
5560 2d80 2081 ld r18,Z |
5561 2d82 3181 ldd r19,Z+1 |
5562 2d84 2817 cp r18,r24 |
5563 2d86 3907 cpc r19,r25 |
5564 2d88 04F4 brge .L477 |
5565 2d8a 1092 0000 sts Looping_Links,__zero_reg__ |
5566 .L477: |
5567 2d8e 4091 0000 lds r20,EE_Parameter+2 |
5568 2d92 E42F mov r30,r20 |
5569 2d94 FF27 clr r31 |
5570 2d96 EE0F add r30,r30 |
5571 2d98 FF1F adc r31,r31 |
5572 2d9a E050 subi r30,lo8(-(PPM_in)) |
5573 2d9c F040 sbci r31,hi8(-(PPM_in)) |
5574 2d9e 5091 0000 lds r21,EE_Parameter+60 |
5575 2da2 852F mov r24,r21 |
5576 2da4 9927 clr r25 |
5577 2da6 2227 clr r18 |
5578 2da8 3327 clr r19 |
5579 2daa 281B sub r18,r24 |
5580 2dac 390B sbc r19,r25 |
5581 2dae 8081 ld r24,Z |
5582 2db0 9181 ldd r25,Z+1 |
5583 2db2 8217 cp r24,r18 |
5584 2db4 9307 cpc r25,r19 |
5585 2db6 04F4 brge .L479 |
5586 2db8 8091 0000 lds r24,EE_Parameter+108 |
5587 2dbc 83FF sbrs r24,3 |
5588 2dbe 00C0 rjmp .L479 |
5589 2dc0 81E0 ldi r24,lo8(1) |
5590 2dc2 8093 0000 sts Looping_Rechts,r24 |
5591 2dc6 00C0 rjmp .L480 |
5592 .L479: |
5593 2dc8 8091 0000 lds r24,Looping_Rechts |
5594 2dcc 8823 tst r24 |
5595 2dce 01F0 breq .L480 |
5596 2dd0 E42F mov r30,r20 |
5597 2dd2 FF27 clr r31 |
5598 2dd4 EE0F add r30,r30 |
5599 2dd6 FF1F adc r31,r31 |
5600 2dd8 E050 subi r30,lo8(-(PPM_in)) |
5601 2dda F040 sbci r31,hi8(-(PPM_in)) |
5602 2ddc 8091 0000 lds r24,EE_Parameter+61 |
5603 2de0 9927 clr r25 |
5604 2de2 851B sub r24,r21 |
5605 2de4 9109 sbc r25,__zero_reg__ |
5606 2de6 2081 ld r18,Z |
5607 2de8 3181 ldd r19,Z+1 |
5608 2dea 8217 cp r24,r18 |
5609 2dec 9307 cpc r25,r19 |
5610 2dee 04F4 brge .L480 |
5611 2df0 1092 0000 sts Looping_Rechts,__zero_reg__ |
5612 .L480: |
5613 2df4 EC2D mov r30,r12 |
5614 2df6 FF27 clr r31 |
5615 2df8 EE0F add r30,r30 |
5616 2dfa FF1F adc r31,r31 |
5617 2dfc E050 subi r30,lo8(-(PPM_in)) |
5618 2dfe F040 sbci r31,hi8(-(PPM_in)) |
5619 2e00 4091 0000 lds r20,EE_Parameter+60 |
5620 2e04 242F mov r18,r20 |
5621 2e06 3327 clr r19 |
5622 2e08 8081 ld r24,Z |
5623 2e0a 9181 ldd r25,Z+1 |
5624 2e0c 2817 cp r18,r24 |
5625 2e0e 3907 cpc r19,r25 |
5626 2e10 04F4 brge .L483 |
5627 2e12 8091 0000 lds r24,EE_Parameter+108 |
5628 2e16 80FF sbrs r24,0 |
5629 2e18 00C0 rjmp .L483 |
5630 2e1a 81E0 ldi r24,lo8(1) |
5631 2e1c 8093 0000 sts Looping_Oben,r24 |
5632 2e20 00C0 rjmp .L484 |
5633 .L483: |
5634 2e22 8091 0000 lds r24,Looping_Oben |
5635 2e26 8823 tst r24 |
5636 2e28 01F0 breq .L484 |
5637 2e2a EC2D mov r30,r12 |
5638 2e2c FF27 clr r31 |
5639 2e2e EE0F add r30,r30 |
5640 2e30 FF1F adc r31,r31 |
5641 2e32 E050 subi r30,lo8(-(PPM_in)) |
5642 2e34 F040 sbci r31,hi8(-(PPM_in)) |
5643 2e36 842F mov r24,r20 |
5644 2e38 9927 clr r25 |
5645 2e3a 2091 0000 lds r18,EE_Parameter+61 |
5646 2e3e 821B sub r24,r18 |
5647 2e40 9109 sbc r25,__zero_reg__ |
5648 2e42 2081 ld r18,Z |
5649 2e44 3181 ldd r19,Z+1 |
5650 2e46 2817 cp r18,r24 |
5651 2e48 3907 cpc r19,r25 |
5652 2e4a 04F4 brge .L484 |
5653 2e4c 1092 0000 sts Looping_Oben,__zero_reg__ |
5654 .L484: |
5655 2e50 4091 0000 lds r20,EE_Parameter+1 |
5656 2e54 E42F mov r30,r20 |
5657 2e56 FF27 clr r31 |
5658 2e58 EE0F add r30,r30 |
5659 2e5a FF1F adc r31,r31 |
5660 2e5c E050 subi r30,lo8(-(PPM_in)) |
5661 2e5e F040 sbci r31,hi8(-(PPM_in)) |
5662 2e60 5091 0000 lds r21,EE_Parameter+60 |
5663 2e64 852F mov r24,r21 |
5664 2e66 9927 clr r25 |
5665 2e68 2227 clr r18 |
5666 2e6a 3327 clr r19 |
5667 2e6c 281B sub r18,r24 |
5668 2e6e 390B sbc r19,r25 |
5669 2e70 8081 ld r24,Z |
5670 2e72 9181 ldd r25,Z+1 |
5671 2e74 8217 cp r24,r18 |
5672 2e76 9307 cpc r25,r19 |
5673 2e78 04F4 brge .L487 |
5674 2e7a 8091 0000 lds r24,EE_Parameter+108 |
5675 2e7e 81FF sbrs r24,1 |
5676 2e80 00C0 rjmp .L487 |
5677 2e82 81E0 ldi r24,lo8(1) |
5678 2e84 8093 0000 sts Looping_Unten,r24 |
5679 2e88 00C0 rjmp .L488 |
5680 .L487: |
5681 2e8a 8091 0000 lds r24,Looping_Unten |
5682 2e8e 8823 tst r24 |
5683 2e90 01F0 breq .L488 |
5684 2e92 E42F mov r30,r20 |
5685 2e94 FF27 clr r31 |
5686 2e96 EE0F add r30,r30 |
5687 2e98 FF1F adc r31,r31 |
5688 2e9a E050 subi r30,lo8(-(PPM_in)) |
5689 2e9c F040 sbci r31,hi8(-(PPM_in)) |
5690 2e9e 8091 0000 lds r24,EE_Parameter+61 |
5691 2ea2 9927 clr r25 |
5692 2ea4 851B sub r24,r21 |
5693 2ea6 9109 sbc r25,__zero_reg__ |
5694 2ea8 2081 ld r18,Z |
5695 2eaa 3181 ldd r19,Z+1 |
5696 2eac 8217 cp r24,r18 |
5697 2eae 9307 cpc r25,r19 |
5698 2eb0 04F4 brge .L488 |
5699 2eb2 1092 0000 sts Looping_Unten,__zero_reg__ |
5700 .L488: |
5701 2eb6 8091 0000 lds r24,Looping_Links |
5702 2eba 8823 tst r24 |
5703 2ebc 01F4 brne .L492 |
5704 2ebe 8091 0000 lds r24,Looping_Rechts |
5705 2ec2 8111 cpse r24,__zero_reg__ |
5706 .L492: |
5707 2ec4 81E0 ldi r24,lo8(1) |
5708 .L491: |
5709 2ec6 8093 0000 sts Looping_Roll,r24 |
5710 2eca 8091 0000 lds r24,Looping_Oben |
5711 2ece 8823 tst r24 |
5712 2ed0 01F4 brne .L495 |
5713 2ed2 8091 0000 lds r24,Looping_Unten |
5714 2ed6 8823 tst r24 |
5715 2ed8 01F0 breq .L494 |
5716 .L495: |
5717 2eda 81E0 ldi r24,lo8(1) |
5718 2edc 8093 0000 sts Looping_Nick,r24 |
5719 2ee0 1092 0000 sts Looping_Roll,__zero_reg__ |
5720 2ee4 1092 0000 sts Looping_Links,__zero_reg__ |
5721 2ee8 1092 0000 sts Looping_Rechts,__zero_reg__ |
5722 2eec 00C0 rjmp .L436 |
5723 .L494: |
5724 2eee 8093 0000 sts Looping_Nick,r24 |
5725 .L436: |
5726 2ef2 8091 0000 lds r24,Looping_Roll |
5727 2ef6 8823 tst r24 |
5728 2ef8 01F4 brne .L498 |
5729 2efa 8091 0000 lds r24,Looping_Nick |
5730 2efe 8823 tst r24 |
5731 2f00 01F0 breq .L497 |
5732 .L498: |
5733 2f02 8091 0000 lds r24,EE_Parameter+59 |
5734 2f06 9927 clr r25 |
5735 2f08 2981 ldd r18,Y+1 |
5736 2f0a 3A81 ldd r19,Y+2 |
5737 2f0c 8217 cp r24,r18 |
5738 2f0e 9307 cpc r25,r19 |
5739 2f10 04F4 brge .L499 |
5740 2f12 9A83 std Y+2,r25 |
5741 2f14 8983 std Y+1,r24 |
5742 .L499: |
5743 2f16 81E0 ldi r24,lo8(1) |
5744 2f18 8093 0000 sts TrichterFlug,r24 |
5745 .L497: |
5746 2f1c 8091 0000 lds r24,FC_StatusFlags2 |
5747 2f20 9927 clr r25 |
5748 2f22 9C01 movw r18,r24 |
5749 2f24 2470 andi r18,lo8(4) |
5750 2f26 3070 andi r19,hi8(4) |
5751 2f28 82FF sbrs r24,2 |
5752 2f2a 00C0 rjmp .L500 |
5753 2f2c 8091 0000 lds r24,GPS_Nick |
5754 2f30 9091 0000 lds r25,(GPS_Nick)+1 |
5755 2f34 9095 com r25 |
5756 2f36 8195 neg r24 |
5757 2f38 9F4F sbci r25,lo8(-1) |
5758 2f3a 9093 0000 sts (StickNick)+1,r25 |
5759 2f3e 8093 0000 sts StickNick,r24 |
5760 2f42 8091 0000 lds r24,GPS_Roll |
5761 2f46 9091 0000 lds r25,(GPS_Roll)+1 |
5762 2f4a 9095 com r25 |
5763 2f4c 8195 neg r24 |
5764 2f4e 9F4F sbci r25,lo8(-1) |
5765 2f50 9093 0000 sts (StickRoll)+1,r25 |
5766 2f54 8093 0000 sts StickRoll,r24 |
5767 2f58 8091 0000 lds r24,StickGasHover |
5768 2f5c 9091 0000 lds r25,(StickGasHover)+1 |
5769 2f60 9093 0000 sts (StickGas)+1,r25 |
5770 2f64 8093 0000 sts StickGas,r24 |
5771 2f68 8091 0000 lds r24,Parameter_GlobalConfig |
5772 2f6c 8B77 andi r24,lo8(123) |
5773 2f6e 8B66 ori r24,lo8(107) |
5774 2f70 8093 0000 sts Parameter_GlobalConfig,r24 |
5775 2f74 8091 0000 lds r24,Parameter_ExtraConfig |
5776 2f78 8C7B andi r24,lo8(-68) |
5777 2f7a 8093 0000 sts Parameter_ExtraConfig,r24 |
5778 2f7e 88EC ldi r24,lo8(-56) |
5779 2f80 8093 0000 sts Parameter_HoehenSchalter,r24 |
5780 2f84 00C0 rjmp .L501 |
5781 .L500: |
5782 2f86 8091 0000 lds r24,FC_StatusFlags |
5783 2f8a 84FF sbrs r24,4 |
5784 2f8c 00C0 rjmp .L501 |
5785 2f8e 3093 0000 sts (StickGier)+1,r19 |
5786 2f92 2093 0000 sts StickGier,r18 |
5787 2f96 3093 0000 sts (StickNick)+1,r19 |
5788 2f9a 2093 0000 sts StickNick,r18 |
5789 2f9e 3093 0000 sts (StickRoll)+1,r19 |
5790 2fa2 2093 0000 sts StickRoll,r18 |
5791 2fa6 9AE5 ldi r25,lo8(90) |
5792 2fa8 9093 0000 sts GyroFaktor,r25 |
5793 2fac 88E7 ldi r24,lo8(120) |
5794 2fae 8093 0000 sts IntegralFaktor,r24 |
5795 2fb2 9093 0000 sts GyroFaktorGier,r25 |
5796 2fb6 8093 0000 sts IntegralFaktorGier,r24 |
5797 2fba 1092 0000 sts Looping_Roll,__zero_reg__ |
5798 2fbe 1092 0000 sts Looping_Nick,__zero_reg__ |
5799 .L501: |
5800 2fc2 8091 0000 lds r24,MittelIntegralNick |
5801 2fc6 9091 0000 lds r25,(MittelIntegralNick)+1 |
5802 2fca A091 0000 lds r26,(MittelIntegralNick)+2 |
5803 2fce B091 0000 lds r27,(MittelIntegralNick)+3 |
5804 2fd2 2091 0000 lds r18,IntegralNick |
5805 2fd6 3091 0000 lds r19,(IntegralNick)+1 |
5806 2fda 4091 0000 lds r20,(IntegralNick)+2 |
5807 2fde 5091 0000 lds r21,(IntegralNick)+3 |
5808 2fe2 820F add r24,r18 |
5809 2fe4 931F adc r25,r19 |
5810 2fe6 A41F adc r26,r20 |
5811 2fe8 B51F adc r27,r21 |
5812 2fea 8093 0000 sts MittelIntegralNick,r24 |
5813 2fee 9093 0000 sts (MittelIntegralNick)+1,r25 |
5814 2ff2 A093 0000 sts (MittelIntegralNick)+2,r26 |
5815 2ff6 B093 0000 sts (MittelIntegralNick)+3,r27 |
5816 2ffa 8091 0000 lds r24,MittelIntegralRoll |
5817 2ffe 9091 0000 lds r25,(MittelIntegralRoll)+1 |
5818 3002 A091 0000 lds r26,(MittelIntegralRoll)+2 |
5819 3006 B091 0000 lds r27,(MittelIntegralRoll)+3 |
5820 300a E090 0000 lds r14,IntegralRoll |
5821 300e F090 0000 lds r15,(IntegralRoll)+1 |
5822 3012 0091 0000 lds r16,(IntegralRoll)+2 |
5823 3016 1091 0000 lds r17,(IntegralRoll)+3 |
5824 301a EB82 std Y+3,r14 |
5825 301c FC82 std Y+4,r15 |
5826 301e 0D83 std Y+5,r16 |
5827 3020 1E83 std Y+6,r17 |
5828 3022 8E0D add r24,r14 |
5829 3024 9F1D adc r25,r15 |
5830 3026 A01F adc r26,r16 |
5831 3028 B11F adc r27,r17 |
5832 302a 8093 0000 sts MittelIntegralRoll,r24 |
5833 302e 9093 0000 sts (MittelIntegralRoll)+1,r25 |
5834 3032 A093 0000 sts (MittelIntegralRoll)+2,r26 |
5835 3036 B093 0000 sts (MittelIntegralRoll)+3,r27 |
5836 303a 8091 0000 lds r24,MittelIntegralNick2 |
5837 303e 9091 0000 lds r25,(MittelIntegralNick2)+1 |
5838 3042 A091 0000 lds r26,(MittelIntegralNick2)+2 |
5839 3046 B091 0000 lds r27,(MittelIntegralNick2)+3 |
5840 304a E090 0000 lds r14,IntegralNick2 |
5841 304e F090 0000 lds r15,(IntegralNick2)+1 |
5842 3052 0091 0000 lds r16,(IntegralNick2)+2 |
5843 3056 1091 0000 lds r17,(IntegralNick2)+3 |
5844 305a EF82 std Y+7,r14 |
5845 305c F886 std Y+8,r15 |
5846 305e 0987 std Y+9,r16 |
5847 3060 1A87 std Y+10,r17 |
5848 3062 8E0D add r24,r14 |
5849 3064 9F1D adc r25,r15 |
5850 3066 A01F adc r26,r16 |
5851 3068 B11F adc r27,r17 |
5852 306a 8093 0000 sts MittelIntegralNick2,r24 |
5853 306e 9093 0000 sts (MittelIntegralNick2)+1,r25 |
5854 3072 A093 0000 sts (MittelIntegralNick2)+2,r26 |
5855 3076 B093 0000 sts (MittelIntegralNick2)+3,r27 |
5856 307a 8091 0000 lds r24,MittelIntegralRoll2 |
5857 307e 9091 0000 lds r25,(MittelIntegralRoll2)+1 |
5858 3082 A091 0000 lds r26,(MittelIntegralRoll2)+2 |
5859 3086 B091 0000 lds r27,(MittelIntegralRoll2)+3 |
5860 308a E090 0000 lds r14,IntegralRoll2 |
5861 308e F090 0000 lds r15,(IntegralRoll2)+1 |
5862 3092 0091 0000 lds r16,(IntegralRoll2)+2 |
5863 3096 1091 0000 lds r17,(IntegralRoll2)+3 |
5864 309a EB86 std Y+11,r14 |
5865 309c FC86 std Y+12,r15 |
5866 309e 0D87 std Y+13,r16 |
5867 30a0 1E87 std Y+14,r17 |
5868 30a2 8E0D add r24,r14 |
5869 30a4 9F1D adc r25,r15 |
5870 30a6 A01F adc r26,r16 |
5871 30a8 B11F adc r27,r17 |
5872 30aa 8093 0000 sts MittelIntegralRoll2,r24 |
5873 30ae 9093 0000 sts (MittelIntegralRoll2)+1,r25 |
5874 30b2 A093 0000 sts (MittelIntegralRoll2)+2,r26 |
5875 30b6 B093 0000 sts (MittelIntegralRoll2)+3,r27 |
5876 30ba F090 0000 lds r15,Looping_Nick |
5877 30be FF86 std Y+15,r15 |
5878 30c0 FF20 tst r15 |
5879 30c2 01F4 brne .L504 |
5880 30c4 8091 0000 lds r24,Looping_Roll |
5881 30c8 8823 tst r24 |
5882 30ca 01F4 brne .+2 |
5883 30cc 00C0 rjmp .L886 |
5884 .L504: |
5885 30ce 1092 0000 sts IntegralAccNick,__zero_reg__ |
5886 30d2 1092 0000 sts (IntegralAccNick)+1,__zero_reg__ |
5887 30d6 1092 0000 sts (IntegralAccNick)+2,__zero_reg__ |
5888 30da 1092 0000 sts (IntegralAccNick)+3,__zero_reg__ |
5889 30de 1092 0000 sts IntegralAccRoll,__zero_reg__ |
5890 30e2 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__ |
5891 30e6 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__ |
5892 30ea 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__ |
5893 30ee 1092 0000 sts MittelIntegralNick,__zero_reg__ |
5894 30f2 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__ |
5895 30f6 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__ |
5896 30fa 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__ |
5897 30fe 1092 0000 sts MittelIntegralRoll,__zero_reg__ |
5898 3102 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__ |
5899 3106 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__ |
5900 310a 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__ |
5901 310e 1092 0000 sts MittelIntegralNick2,__zero_reg__ |
5902 3112 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__ |
5903 3116 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__ |
5904 311a 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__ |
5905 311e 1092 0000 sts MittelIntegralRoll2,__zero_reg__ |
5906 3122 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__ |
5907 3126 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__ |
5908 312a 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__ |
5909 312e 8091 0000 lds r24,Mess_IntegralNick |
5910 3132 9091 0000 lds r25,(Mess_IntegralNick)+1 |
5911 3136 A091 0000 lds r26,(Mess_IntegralNick)+2 |
5912 313a B091 0000 lds r27,(Mess_IntegralNick)+3 |
5913 313e 8093 0000 sts Mess_IntegralNick2,r24 |
5914 3142 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
5915 3146 A093 0000 sts (Mess_IntegralNick2)+2,r26 |
5916 314a B093 0000 sts (Mess_IntegralNick2)+3,r27 |
5917 314e 8091 0000 lds r24,Mess_IntegralRoll |
5918 3152 9091 0000 lds r25,(Mess_IntegralRoll)+1 |
5919 3156 A091 0000 lds r26,(Mess_IntegralRoll)+2 |
5920 315a B091 0000 lds r27,(Mess_IntegralRoll)+3 |
5921 315e 8093 0000 sts Mess_IntegralRoll2,r24 |
5922 3162 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
5923 3166 A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
5924 316a B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
5925 316e 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__ |
5926 3172 1092 0000 sts ZaehlMessungen,__zero_reg__ |
5927 3176 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__ |
5928 317a 1092 0000 sts LageKorrekturNick,__zero_reg__ |
5929 317e 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__ |
5930 3182 1092 0000 sts LageKorrekturRoll,__zero_reg__ |
5931 3186 0F85 ldd r16,Y+15 |
5932 3188 0023 tst r16 |
5933 318a 01F0 breq .+2 |
5934 318c 00C0 rjmp .L505 |
5935 .L886: |
5936 318e 8091 0000 lds r24,Looping_Roll |
5937 3192 8823 tst r24 |
5938 3194 01F0 breq .+2 |
5939 3196 00C0 rjmp .L505 |
5940 3198 8091 0000 lds r24,Aktuell_az |
5941 319c 9091 0000 lds r25,(Aktuell_az)+1 |
5942 31a0 8150 subi r24,lo8(513) |
5943 31a2 9240 sbci r25,hi8(513) |
5944 31a4 04F4 brge .L506 |
5945 31a6 8091 0000 lds r24,MotorenEin |
5946 31aa 8823 tst r24 |
5947 31ac 01F4 brne .+2 |
5948 31ae 00C0 rjmp .L505 |
5949 .L506: |
5950 31b0 9090 0000 lds r9,FromNaviCtrl_Value |
5951 31b4 A090 0000 lds r10,EE_Parameter+28 |
5952 31b8 2090 0000 lds r2,Mittelwert_AccNick |
5953 31bc 3090 0000 lds r3,(Mittelwert_AccNick)+1 |
5954 31c0 4090 0000 lds r4,Mittelwert_AccRoll |
5955 31c4 5090 0000 lds r5,(Mittelwert_AccRoll)+1 |
5956 31c8 1914 cp __zero_reg__,r9 |
5957 31ca 04F0 brlt .+2 |
5958 31cc 00C0 rjmp .L507 |
5959 31ce BB24 clr r11 |
5960 31d0 CC24 clr r12 |
5961 31d2 DD24 clr r13 |
5962 31d4 CA01 movw r24,r20 |
5963 31d6 B901 movw r22,r18 |
5964 31d8 A601 movw r20,r12 |
5965 31da 9501 movw r18,r10 |
5966 31dc 0E94 0000 call __divmodsi4 |
5967 31e0 7901 movw r14,r18 |
5968 31e2 8A01 movw r16,r20 |
5969 31e4 8091 0000 lds r24,FromNaviCtrl+9 |
5970 31e8 9091 0000 lds r25,(FromNaviCtrl+9)+1 |
5971 31ec 281A sub r2,r24 |
5972 31ee 390A sbc r3,r25 |
5973 31f0 C101 movw r24,r2 |
5974 31f2 AA27 clr r26 |
5975 31f4 97FD sbrc r25,7 |
5976 31f6 A095 com r26 |
5977 31f8 BA2F mov r27,r26 |
5978 31fa E81A sub r14,r24 |
5979 31fc F90A sbc r15,r25 |
5980 31fe 0A0B sbc r16,r26 |
5981 3200 1B0B sbc r17,r27 |
5982 3202 6B81 ldd r22,Y+3 |
5983 3204 7C81 ldd r23,Y+4 |
5984 3206 8D81 ldd r24,Y+5 |
5985 3208 9E81 ldd r25,Y+6 |
5986 320a A601 movw r20,r12 |
5987 320c 9501 movw r18,r10 |
5988 320e 0E94 0000 call __divmodsi4 |
5989 3212 5901 movw r10,r18 |
5990 3214 6A01 movw r12,r20 |
5991 3216 8091 0000 lds r24,FromNaviCtrl+11 |
5992 321a 9091 0000 lds r25,(FromNaviCtrl+11)+1 |
5993 321e 481A sub r4,r24 |
5994 3220 590A sbc r5,r25 |
5995 3222 C201 movw r24,r4 |
5996 3224 AA27 clr r26 |
5997 3226 97FD sbrc r25,7 |
5998 3228 A095 com r26 |
5999 322a BA2F mov r27,r26 |
6000 322c A81A sub r10,r24 |
6001 322e B90A sbc r11,r25 |
6002 3230 CA0A sbc r12,r26 |
6003 3232 DB0A sbc r13,r27 |
6004 3234 292C mov r2,r9 |
6005 3236 3324 clr r3 |
6006 3238 27FC sbrc r2,7 |
6007 323a 3094 com r3 |
6008 323c 432C mov r4,r3 |
6009 323e 532C mov r5,r3 |
6010 3240 C801 movw r24,r16 |
6011 3242 B701 movw r22,r14 |
6012 3244 A201 movw r20,r4 |
6013 3246 9101 movw r18,r2 |
6014 3248 0E94 0000 call __mulsi3 |
6015 324c 97FF sbrs r25,7 |
6016 324e 00C0 rjmp .L508 |
6017 3250 6150 subi r22,lo8(-(511)) |
6018 3252 7E4F sbci r23,hi8(-(511)) |
6019 3254 8F4F sbci r24,hlo8(-(511)) |
6020 3256 9F4F sbci r25,hhi8(-(511)) |
6021 .L508: |
6022 3258 3B01 movw r6,r22 |
6023 325a 4C01 movw r8,r24 |
6024 325c 09E0 ldi r16,9 |
6025 325e 9594 1: asr r9 |
6026 3260 8794 ror r8 |
6027 3262 7794 ror r7 |
6028 3264 6794 ror r6 |
6029 3266 0A95 dec r16 |
6030 3268 01F4 brne 1b |
6031 326a C601 movw r24,r12 |
6032 326c B501 movw r22,r10 |
6033 326e A201 movw r20,r4 |
6034 3270 9101 movw r18,r2 |
6035 3272 0E94 0000 call __mulsi3 |
6036 3276 97FF sbrs r25,7 |
6037 3278 00C0 rjmp .L509 |
6038 327a 6150 subi r22,lo8(-(511)) |
6039 327c 7E4F sbci r23,hi8(-(511)) |
6040 327e 8F4F sbci r24,hlo8(-(511)) |
6041 3280 9F4F sbci r25,hhi8(-(511)) |
6042 .L509: |
6043 3282 5B01 movw r10,r22 |
6044 3284 6C01 movw r12,r24 |
6045 3286 19E0 ldi r17,9 |
6046 3288 D594 1: asr r13 |
6047 328a C794 ror r12 |
6048 328c B794 ror r11 |
6049 328e A794 ror r10 |
6050 3290 1A95 dec r17 |
6051 3292 01F4 brne 1b |
6052 3294 8091 0000 lds r24,MaxStickNick |
6053 3298 9091 0000 lds r25,(MaxStickNick)+1 |
6054 329c 8134 cpi r24,65 |
6055 329e 9105 cpc r25,__zero_reg__ |
6056 32a0 04F4 brge .L511 |
6057 32a2 8091 0000 lds r24,MaxStickRoll |
6058 32a6 9091 0000 lds r25,(MaxStickRoll)+1 |
6059 32aa 8134 cpi r24,65 |
6060 32ac 9105 cpc r25,__zero_reg__ |
6061 32ae 04F0 brlt .L510 |
6062 .L511: |
6063 32b0 D401 movw r26,r8 |
6064 32b2 C301 movw r24,r6 |
6065 32b4 97FE sbrs r9,7 |
6066 32b6 00C0 rjmp .L512 |
6067 32b8 0196 adiw r24,1 |
6068 32ba A11D adc r26,__zero_reg__ |
6069 32bc B11D adc r27,__zero_reg__ |
6070 .L512: |
6071 32be 3C01 movw r6,r24 |
6072 32c0 4D01 movw r8,r26 |
6073 32c2 9594 asr r9 |
6074 32c4 8794 ror r8 |
6075 32c6 7794 ror r7 |
6076 32c8 6794 ror r6 |
6077 32ca D601 movw r26,r12 |
6078 32cc C501 movw r24,r10 |
6079 32ce D7FE sbrs r13,7 |
6080 32d0 00C0 rjmp .L513 |
6081 32d2 0196 adiw r24,1 |
6082 32d4 A11D adc r26,__zero_reg__ |
6083 32d6 B11D adc r27,__zero_reg__ |
6084 .L513: |
6085 32d8 5C01 movw r10,r24 |
6086 32da 6D01 movw r12,r26 |
6087 32dc D594 asr r13 |
6088 32de C794 ror r12 |
6089 32e0 B794 ror r11 |
6090 32e2 A794 ror r10 |
6091 .L510: |
6092 32e4 8091 0000 lds r24,FromNaviCtrl_Value+2 |
6093 32e8 282F mov r18,r24 |
6094 32ea 3327 clr r19 |
6095 32ec 27FD sbrc r18,7 |
6096 32ee 3095 com r19 |
6097 32f0 432F mov r20,r19 |
6098 32f2 532F mov r21,r19 |
6099 32f4 2615 cp r18,r6 |
6100 32f6 3705 cpc r19,r7 |
6101 32f8 4805 cpc r20,r8 |
6102 32fa 5905 cpc r21,r9 |
6103 32fc 04F4 brge .L514 |
6104 32fe 3901 movw r6,r18 |
6105 3300 4A01 movw r8,r20 |
6106 .L514: |
6107 3302 9927 clr r25 |
6108 3304 87FD sbrc r24,7 |
6109 3306 9095 com r25 |
6110 3308 9095 com r25 |
6111 330a 8195 neg r24 |
6112 330c 9F4F sbci r25,lo8(-1) |
6113 330e AA27 clr r26 |
6114 3310 97FD sbrc r25,7 |
6115 3312 A095 com r26 |
6116 3314 BA2F mov r27,r26 |
6117 3316 6816 cp r6,r24 |
6118 3318 7906 cpc r7,r25 |
6119 331a 8A06 cpc r8,r26 |
6120 331c 9B06 cpc r9,r27 |
6121 331e 04F4 brge .L515 |
6122 3320 3C01 movw r6,r24 |
6123 3322 4D01 movw r8,r26 |
6124 .L515: |
6125 3324 2A15 cp r18,r10 |
6126 3326 3B05 cpc r19,r11 |
6127 3328 4C05 cpc r20,r12 |
6128 332a 5D05 cpc r21,r13 |
6129 332c 04F4 brge .L516 |
6130 332e 5901 movw r10,r18 |
6131 3330 6A01 movw r12,r20 |
6132 .L516: |
6133 3332 A816 cp r10,r24 |
6134 3334 B906 cpc r11,r25 |
6135 3336 CA06 cpc r12,r26 |
6136 3338 DB06 cpc r13,r27 |
6137 333a 04F0 brlt .+2 |
6138 333c 00C0 rjmp .L518 |
6139 333e 5C01 movw r10,r24 |
6140 3340 6D01 movw r12,r26 |
6141 3342 00C0 rjmp .L518 |
6142 .L507: |
6143 3344 EA2C mov r14,r10 |
6144 3346 FF24 clr r15 |
6145 3348 0027 clr r16 |
6146 334a 1127 clr r17 |
6147 334c CA01 movw r24,r20 |
6148 334e B901 movw r22,r18 |
6149 3350 A801 movw r20,r16 |
6150 3352 9701 movw r18,r14 |
6151 3354 0E94 0000 call __divmodsi4 |
6152 3358 3901 movw r6,r18 |
6153 335a 4A01 movw r8,r20 |
6154 335c C101 movw r24,r2 |
6155 335e AA27 clr r26 |
6156 3360 97FD sbrc r25,7 |
6157 3362 A095 com r26 |
6158 3364 BA2F mov r27,r26 |
6159 3366 681A sub r6,r24 |
6160 3368 790A sbc r7,r25 |
6161 336a 8A0A sbc r8,r26 |
6162 336c 9B0A sbc r9,r27 |
6163 336e 6B81 ldd r22,Y+3 |
6164 3370 7C81 ldd r23,Y+4 |
6165 3372 8D81 ldd r24,Y+5 |
6166 3374 9E81 ldd r25,Y+6 |
6167 3376 A801 movw r20,r16 |
6168 3378 9701 movw r18,r14 |
6169 337a 0E94 0000 call __divmodsi4 |
6170 337e 5901 movw r10,r18 |
6171 3380 6A01 movw r12,r20 |
6172 3382 C201 movw r24,r4 |
6173 3384 AA27 clr r26 |
6174 3386 97FD sbrc r25,7 |
6175 3388 A095 com r26 |
6176 338a BA2F mov r27,r26 |
6177 338c A81A sub r10,r24 |
6178 338e B90A sbc r11,r25 |
6179 3390 CA0A sbc r12,r26 |
6180 3392 DB0A sbc r13,r27 |
6181 3394 D401 movw r26,r8 |
6182 3396 C301 movw r24,r6 |
6183 3398 97FE sbrs r9,7 |
6184 339a 00C0 rjmp .L519 |
6185 339c 0F96 adiw r24,15 |
6186 339e A11D adc r26,__zero_reg__ |
6187 33a0 B11D adc r27,__zero_reg__ |
6188 .L519: |
6189 33a2 3C01 movw r6,r24 |
6190 33a4 4D01 movw r8,r26 |
6191 33a6 F4E0 ldi r31,4 |
6192 33a8 9594 1: asr r9 |
6193 33aa 8794 ror r8 |
6194 33ac 7794 ror r7 |
6195 33ae 6794 ror r6 |
6196 33b0 FA95 dec r31 |
6197 33b2 01F4 brne 1b |
6198 33b4 D601 movw r26,r12 |
6199 33b6 C501 movw r24,r10 |
6200 33b8 D7FE sbrs r13,7 |
6201 33ba 00C0 rjmp .L520 |
6202 33bc 0F96 adiw r24,15 |
6203 33be A11D adc r26,__zero_reg__ |
6204 33c0 B11D adc r27,__zero_reg__ |
6205 .L520: |
6206 33c2 5C01 movw r10,r24 |
6207 33c4 6D01 movw r12,r26 |
6208 33c6 E4E0 ldi r30,4 |
6209 33c8 D594 1: asr r13 |
6210 33ca C794 ror r12 |
6211 33cc B794 ror r11 |
6212 33ce A794 ror r10 |
6213 33d0 EA95 dec r30 |
6214 33d2 01F4 brne 1b |
6215 33d4 8091 0000 lds r24,MaxStickNick |
6216 33d8 9091 0000 lds r25,(MaxStickNick)+1 |
6217 33dc 8134 cpi r24,65 |
6218 33de 9105 cpc r25,__zero_reg__ |
6219 33e0 04F4 brge .L522 |
6220 33e2 8091 0000 lds r24,MaxStickRoll |
6221 33e6 9091 0000 lds r25,(MaxStickRoll)+1 |
6222 33ea 8134 cpi r24,65 |
6223 33ec 9105 cpc r25,__zero_reg__ |
6224 33ee 04F0 brlt .L521 |
6225 .L522: |
6226 33f0 C401 movw r24,r8 |
6227 33f2 B301 movw r22,r6 |
6228 33f4 23E0 ldi r18,lo8(3) |
6229 33f6 30E0 ldi r19,hi8(3) |
6230 33f8 40E0 ldi r20,hlo8(3) |
6231 33fa 50E0 ldi r21,hhi8(3) |
6232 33fc 0E94 0000 call __divmodsi4 |
6233 3400 3901 movw r6,r18 |
6234 3402 4A01 movw r8,r20 |
6235 3404 C601 movw r24,r12 |
6236 3406 B501 movw r22,r10 |
6237 3408 23E0 ldi r18,lo8(3) |
6238 340a 30E0 ldi r19,hi8(3) |
6239 340c 40E0 ldi r20,hlo8(3) |
6240 340e 50E0 ldi r21,hhi8(3) |
6241 3410 0E94 0000 call __divmodsi4 |
6242 3414 5901 movw r10,r18 |
6243 3416 6A01 movw r12,r20 |
6244 .L521: |
6245 3418 8091 0000 lds r24,EE_Parameter+4 |
6246 341c E82F mov r30,r24 |
6247 341e FF27 clr r31 |
6248 3420 EE0F add r30,r30 |
6249 3422 FF1F adc r31,r31 |
6250 3424 E050 subi r30,lo8(-(PPM_in)) |
6251 3426 F040 sbci r31,hi8(-(PPM_in)) |
6252 3428 8081 ld r24,Z |
6253 342a 9181 ldd r25,Z+1 |
6254 342c 0190 ld __tmp_reg__,Z+ |
6255 342e F081 ld r31,Z |
6256 3430 E02D mov r30,__tmp_reg__ |
6257 3432 F7FF sbrs r31,7 |
6258 3434 00C0 rjmp .L524 |
6259 3436 F095 com r31 |
6260 3438 E195 neg r30 |
6261 343a FF4F sbci r31,lo8(-1) |
6262 .L524: |
6263 343c 7A97 sbiw r30,26 |
6264 343e 04F0 brlt .L523 |
6265 3440 C401 movw r24,r8 |
6266 3442 B301 movw r22,r6 |
6267 3444 23E0 ldi r18,lo8(3) |
6268 3446 30E0 ldi r19,hi8(3) |
6269 3448 40E0 ldi r20,hlo8(3) |
6270 344a 50E0 ldi r21,hhi8(3) |
6271 344c 0E94 0000 call __divmodsi4 |
6272 3450 3901 movw r6,r18 |
6273 3452 4A01 movw r8,r20 |
6274 3454 C601 movw r24,r12 |
6275 3456 B501 movw r22,r10 |
6276 3458 23E0 ldi r18,lo8(3) |
6277 345a 30E0 ldi r19,hi8(3) |
6278 345c 40E0 ldi r20,hlo8(3) |
6279 345e 50E0 ldi r21,hhi8(3) |
6280 3460 0E94 0000 call __divmodsi4 |
6281 3464 5901 movw r10,r18 |
6282 3466 6A01 movw r12,r20 |
6283 .L523: |
6284 3468 89E1 ldi r24,lo8(25) |
6285 346a 8093 0000 sts KompassFusion,r24 |
6286 346e 21E2 ldi r18,lo8(33) |
6287 3470 6216 cp r6,r18 |
6288 3472 7104 cpc r7,__zero_reg__ |
6289 3474 8104 cpc r8,__zero_reg__ |
6290 3476 9104 cpc r9,__zero_reg__ |
6291 3478 04F0 brlt .L525 |
6292 347a 70E2 ldi r23,lo8(32) |
6293 347c 672E mov r6,r23 |
6294 347e 712C mov r7,__zero_reg__ |
6295 3480 812C mov r8,__zero_reg__ |
6296 3482 912C mov r9,__zero_reg__ |
6297 .L525: |
6298 3484 30EE ldi r19,lo8(-32) |
6299 3486 6316 cp r6,r19 |
6300 3488 3FEF ldi r19,hi8(-32) |
6301 348a 7306 cpc r7,r19 |
6302 348c 3FEF ldi r19,hlo8(-32) |
6303 348e 8306 cpc r8,r19 |
6304 3490 3FEF ldi r19,hhi8(-32) |
6305 3492 9306 cpc r9,r19 |
6306 3494 04F4 brge .L526 |
6307 3496 60EE ldi r22,lo8(-32) |
6308 3498 662E mov r6,r22 |
6309 349a 6FEF ldi r22,hi8(-32) |
6310 349c 762E mov r7,r22 |
6311 349e 6FEF ldi r22,hlo8(-32) |
6312 34a0 862E mov r8,r22 |
6313 34a2 6FEF ldi r22,hhi8(-32) |
6314 34a4 962E mov r9,r22 |
6315 .L526: |
6316 34a6 41E2 ldi r20,lo8(33) |
6317 34a8 A416 cp r10,r20 |
6318 34aa B104 cpc r11,__zero_reg__ |
6319 34ac C104 cpc r12,__zero_reg__ |
6320 34ae D104 cpc r13,__zero_reg__ |
6321 34b0 04F0 brlt .L527 |
6322 34b2 50E2 ldi r21,lo8(32) |
6323 34b4 A52E mov r10,r21 |
6324 34b6 B12C mov r11,__zero_reg__ |
6325 34b8 C12C mov r12,__zero_reg__ |
6326 34ba D12C mov r13,__zero_reg__ |
6327 .L527: |
6328 34bc 50EE ldi r21,lo8(-32) |
6329 34be A516 cp r10,r21 |
6330 34c0 5FEF ldi r21,hi8(-32) |
6331 34c2 B506 cpc r11,r21 |
6332 34c4 5FEF ldi r21,hlo8(-32) |
6333 34c6 C506 cpc r12,r21 |
6334 34c8 5FEF ldi r21,hhi8(-32) |
6335 34ca D506 cpc r13,r21 |
6336 34cc 04F4 brge .L518 |
6337 34ce 40EE ldi r20,lo8(-32) |
6338 34d0 A42E mov r10,r20 |
6339 34d2 4FEF ldi r20,hi8(-32) |
6340 34d4 B42E mov r11,r20 |
6341 34d6 4FEF ldi r20,hlo8(-32) |
6342 34d8 C42E mov r12,r20 |
6343 34da 4FEF ldi r20,hhi8(-32) |
6344 34dc D42E mov r13,r20 |
6345 .L518: |
6346 34de 8091 0000 lds r24,Mess_IntegralNick |
6347 34e2 9091 0000 lds r25,(Mess_IntegralNick)+1 |
6348 34e6 A091 0000 lds r26,(Mess_IntegralNick)+2 |
6349 34ea B091 0000 lds r27,(Mess_IntegralNick)+3 |
6350 34ee 8619 sub r24,r6 |
6351 34f0 9709 sbc r25,r7 |
6352 34f2 A809 sbc r26,r8 |
6353 34f4 B909 sbc r27,r9 |
6354 34f6 8093 0000 sts Mess_IntegralNick,r24 |
6355 34fa 9093 0000 sts (Mess_IntegralNick)+1,r25 |
6356 34fe A093 0000 sts (Mess_IntegralNick)+2,r26 |
6357 3502 B093 0000 sts (Mess_IntegralNick)+3,r27 |
6358 3506 8091 0000 lds r24,Mess_IntegralRoll |
6359 350a 9091 0000 lds r25,(Mess_IntegralRoll)+1 |
6360 350e A091 0000 lds r26,(Mess_IntegralRoll)+2 |
6361 3512 B091 0000 lds r27,(Mess_IntegralRoll)+3 |
6362 3516 8A19 sub r24,r10 |
6363 3518 9B09 sbc r25,r11 |
6364 351a AC09 sbc r26,r12 |
6365 351c BD09 sbc r27,r13 |
6366 351e 8093 0000 sts Mess_IntegralRoll,r24 |
6367 3522 9093 0000 sts (Mess_IntegralRoll)+1,r25 |
6368 3526 A093 0000 sts (Mess_IntegralRoll)+2,r26 |
6369 352a B093 0000 sts (Mess_IntegralRoll)+3,r27 |
6370 .L505: |
6371 352e 8091 0000 lds r24,ZaehlMessungen |
6372 3532 9091 0000 lds r25,(ZaehlMessungen)+1 |
6373 3536 8F3F cpi r24,255 |
6374 3538 9105 cpc r25,__zero_reg__ |
6375 353a 01F0 breq .+2 |
6376 353c 00F4 brsh .+2 |
6377 353e 00C0 rjmp .L529 |
6378 3540 6F85 ldd r22,Y+15 |
6379 3542 6623 tst r22 |
6380 3544 01F0 breq .+2 |
6381 3546 00C0 rjmp .L530 |
6382 3548 8091 0000 lds r24,Looping_Roll |
6383 354c 8823 tst r24 |
6384 354e 01F0 breq .+2 |
6385 3550 00C0 rjmp .L530 |
6386 3552 8091 0000 lds r24,TrichterFlug |
6387 3556 8823 tst r24 |
6388 3558 01F0 breq .+2 |
6389 355a 00C0 rjmp .L530 |
6390 355c 7091 0000 lds r23,EE_Parameter+68 |
6391 3560 788B std Y+16,r23 |
6392 3562 7723 tst r23 |
6393 3564 01F4 brne .+2 |
6394 3566 00C0 rjmp .L530 |
6395 3568 8091 0000 lds r24,MittelIntegralNick |
6396 356c 9091 0000 lds r25,(MittelIntegralNick)+1 |
6397 3570 A091 0000 lds r26,(MittelIntegralNick)+2 |
6398 3574 B091 0000 lds r27,(MittelIntegralNick)+3 |
6399 3578 B7FF sbrs r27,7 |
6400 357a 00C0 rjmp .L531 |
6401 357c 8150 subi r24,lo8(-(255)) |
6402 357e 9F4F sbci r25,hi8(-(255)) |
6403 3580 AF4F sbci r26,hlo8(-(255)) |
6404 3582 BF4F sbci r27,hhi8(-(255)) |
6405 .L531: |
6406 3584 E92E mov r14,r25 |
6407 3586 FA2E mov r15,r26 |
6408 3588 0B2F mov r16,r27 |
6409 358a 1127 clr r17 |
6410 358c 07FD sbrc r16,7 |
6411 358e 1A95 dec r17 |
6412 3590 E092 0000 sts MittelIntegralNick,r14 |
6413 3594 F092 0000 sts (MittelIntegralNick)+1,r15 |
6414 3598 0093 0000 sts (MittelIntegralNick)+2,r16 |
6415 359c 1093 0000 sts (MittelIntegralNick)+3,r17 |
6416 35a0 8091 0000 lds r24,MittelIntegralRoll |
6417 35a4 9091 0000 lds r25,(MittelIntegralRoll)+1 |
6418 35a8 A091 0000 lds r26,(MittelIntegralRoll)+2 |
6419 35ac B091 0000 lds r27,(MittelIntegralRoll)+3 |
6420 35b0 B7FF sbrs r27,7 |
6421 35b2 00C0 rjmp .L532 |
6422 35b4 8150 subi r24,lo8(-(255)) |
6423 35b6 9F4F sbci r25,hi8(-(255)) |
6424 35b8 AF4F sbci r26,hlo8(-(255)) |
6425 35ba BF4F sbci r27,hhi8(-(255)) |
6426 .L532: |
6427 35bc 892F mov r24,r25 |
6428 35be 9A2F mov r25,r26 |
6429 35c0 AB2F mov r26,r27 |
6430 35c2 BB27 clr r27 |
6431 35c4 A7FD sbrc r26,7 |
6432 35c6 BA95 dec r27 |
6433 35c8 898B std Y+17,r24 |
6434 35ca 9A8B std Y+18,r25 |
6435 35cc AB8B std Y+19,r26 |
6436 35ce BC8B std Y+20,r27 |
6437 35d0 8093 0000 sts MittelIntegralRoll,r24 |
6438 35d4 9093 0000 sts (MittelIntegralRoll)+1,r25 |
6439 35d8 A093 0000 sts (MittelIntegralRoll)+2,r26 |
6440 35dc B093 0000 sts (MittelIntegralRoll)+3,r27 |
6441 35e0 8091 0000 lds r24,EE_Parameter+28 |
6442 35e4 A82E mov r10,r24 |
6443 35e6 BB24 clr r11 |
6444 35e8 CC24 clr r12 |
6445 35ea DD24 clr r13 |
6446 35ec 2091 0000 lds r18,IntegralAccNick |
6447 35f0 3091 0000 lds r19,(IntegralAccNick)+1 |
6448 35f4 4091 0000 lds r20,(IntegralAccNick)+2 |
6449 35f8 5091 0000 lds r21,(IntegralAccNick)+3 |
6450 35fc C601 movw r24,r12 |
6451 35fe B501 movw r22,r10 |
6452 3600 0E94 0000 call __mulsi3 |
6453 3604 97FF sbrs r25,7 |
6454 3606 00C0 rjmp .L533 |
6455 3608 6150 subi r22,lo8(-(255)) |
6456 360a 7F4F sbci r23,hi8(-(255)) |
6457 360c 8F4F sbci r24,hlo8(-(255)) |
6458 360e 9F4F sbci r25,hhi8(-(255)) |
6459 .L533: |
6460 3610 672E mov r6,r23 |
6461 3612 782E mov r7,r24 |
6462 3614 892E mov r8,r25 |
6463 3616 9924 clr r9 |
6464 3618 87FC sbrc r8,7 |
6465 361a 9A94 dec r9 |
6466 361c 6092 0000 sts IntegralAccNick,r6 |
6467 3620 7092 0000 sts (IntegralAccNick)+1,r7 |
6468 3624 8092 0000 sts (IntegralAccNick)+2,r8 |
6469 3628 9092 0000 sts (IntegralAccNick)+3,r9 |
6470 362c 2091 0000 lds r18,IntegralAccRoll |
6471 3630 3091 0000 lds r19,(IntegralAccRoll)+1 |
6472 3634 4091 0000 lds r20,(IntegralAccRoll)+2 |
6473 3638 5091 0000 lds r21,(IntegralAccRoll)+3 |
6474 363c C601 movw r24,r12 |
6475 363e B501 movw r22,r10 |
6476 3640 0E94 0000 call __mulsi3 |
6477 3644 97FF sbrs r25,7 |
6478 3646 00C0 rjmp .L534 |
6479 3648 6150 subi r22,lo8(-(255)) |
6480 364a 7F4F sbci r23,hi8(-(255)) |
6481 364c 8F4F sbci r24,hlo8(-(255)) |
6482 364e 9F4F sbci r25,hhi8(-(255)) |
6483 .L534: |
6484 3650 272E mov r2,r23 |
6485 3652 382E mov r3,r24 |
6486 3654 492E mov r4,r25 |
6487 3656 5524 clr r5 |
6488 3658 47FC sbrc r4,7 |
6489 365a 5A94 dec r5 |
6490 365c 2092 0000 sts IntegralAccRoll,r2 |
6491 3660 3092 0000 sts (IntegralAccRoll)+1,r3 |
6492 3664 4092 0000 sts (IntegralAccRoll)+2,r4 |
6493 3668 5092 0000 sts (IntegralAccRoll)+3,r5 |
6494 366c 8091 0000 lds r24,IntegralAccZ |
6495 3670 9091 0000 lds r25,(IntegralAccZ)+1 |
6496 3674 A091 0000 lds r26,(IntegralAccZ)+2 |
6497 3678 B091 0000 lds r27,(IntegralAccZ)+3 |
6498 367c B7FF sbrs r27,7 |
6499 367e 00C0 rjmp .L535 |
6500 3680 8150 subi r24,lo8(-(255)) |
6501 3682 9F4F sbci r25,hi8(-(255)) |
6502 3684 AF4F sbci r26,hlo8(-(255)) |
6503 3686 BF4F sbci r27,hhi8(-(255)) |
6504 .L535: |
6505 3688 892F mov r24,r25 |
6506 368a 9A2F mov r25,r26 |
6507 368c AB2F mov r26,r27 |
6508 368e BB27 clr r27 |
6509 3690 A7FD sbrc r26,7 |
6510 3692 BA95 dec r27 |
6511 3694 8093 0000 sts IntegralAccZ,r24 |
6512 3698 9093 0000 sts (IntegralAccZ)+1,r25 |
6513 369c A093 0000 sts (IntegralAccZ)+2,r26 |
6514 36a0 B093 0000 sts (IntegralAccZ)+3,r27 |
6515 36a4 D801 movw r26,r16 |
6516 36a6 C701 movw r24,r14 |
6517 36a8 8619 sub r24,r6 |
6518 36aa 9709 sbc r25,r7 |
6519 36ac A809 sbc r26,r8 |
6520 36ae B909 sbc r27,r9 |
6521 36b0 8093 0000 sts IntegralFehlerNick.3,r24 |
6522 36b4 9093 0000 sts (IntegralFehlerNick.3)+1,r25 |
6523 36b8 A093 0000 sts (IntegralFehlerNick.3)+2,r26 |
6524 36bc B093 0000 sts (IntegralFehlerNick.3)+3,r27 |
6525 36c0 2091 0000 lds r18,EE_Parameter+67 |
6526 36c4 E22E mov r14,r18 |
6527 36c6 FF24 clr r15 |
6528 36c8 0027 clr r16 |
6529 36ca 1127 clr r17 |
6530 36cc BC01 movw r22,r24 |
6531 36ce CD01 movw r24,r26 |
6532 36d0 A801 movw r20,r16 |
6533 36d2 9701 movw r18,r14 |
6534 36d4 0E94 0000 call __divmodsi4 |
6535 36d8 5901 movw r10,r18 |
6536 36da 6A01 movw r12,r20 |
6537 36dc 2093 0000 sts ausgleichNick.10,r18 |
6538 36e0 3093 0000 sts (ausgleichNick.10)+1,r19 |
6539 36e4 4093 0000 sts (ausgleichNick.10)+2,r20 |
6540 36e8 5093 0000 sts (ausgleichNick.10)+3,r21 |
6541 36ec 8989 ldd r24,Y+17 |
6542 36ee 9A89 ldd r25,Y+18 |
6543 36f0 AB89 ldd r26,Y+19 |
6544 36f2 BC89 ldd r27,Y+20 |
6545 36f4 8219 sub r24,r2 |
6546 36f6 9309 sbc r25,r3 |
6547 36f8 A409 sbc r26,r4 |
6548 36fa B509 sbc r27,r5 |
6549 36fc 8093 0000 sts IntegralFehlerRoll.4,r24 |
6550 3700 9093 0000 sts (IntegralFehlerRoll.4)+1,r25 |
6551 3704 A093 0000 sts (IntegralFehlerRoll.4)+2,r26 |
6552 3708 B093 0000 sts (IntegralFehlerRoll.4)+3,r27 |
6553 370c BC01 movw r22,r24 |
6554 370e CD01 movw r24,r26 |
6555 3710 A801 movw r20,r16 |
6556 3712 9701 movw r18,r14 |
6557 3714 0E94 0000 call __divmodsi4 |
6558 3718 2093 0000 sts ausgleichRoll.11,r18 |
6559 371c 3093 0000 sts (ausgleichRoll.11)+1,r19 |
6560 3720 4093 0000 sts (ausgleichRoll.11)+2,r20 |
6561 3724 5093 0000 sts (ausgleichRoll.11)+3,r21 |
6562 3728 D601 movw r26,r12 |
6563 372a C501 movw r24,r10 |
6564 372c D7FE sbrs r13,7 |
6565 372e 00C0 rjmp .L536 |
6566 3730 8150 subi r24,lo8(-(255)) |
6567 3732 9F4F sbci r25,hi8(-(255)) |
6568 3734 AF4F sbci r26,hlo8(-(255)) |
6569 3736 BF4F sbci r27,hhi8(-(255)) |
6570 .L536: |
6571 3738 892F mov r24,r25 |
6572 373a 9A2F mov r25,r26 |
6573 373c AB2F mov r26,r27 |
6574 373e BB27 clr r27 |
6575 3740 A7FD sbrc r26,7 |
6576 3742 BA95 dec r27 |
6577 3744 9093 0000 sts (LageKorrekturNick)+1,r25 |
6578 3748 8093 0000 sts LageKorrekturNick,r24 |
6579 374c 57FF sbrs r21,7 |
6580 374e 00C0 rjmp .L537 |
6581 3750 2150 subi r18,lo8(-(255)) |
6582 3752 3F4F sbci r19,hi8(-(255)) |
6583 3754 4F4F sbci r20,hlo8(-(255)) |
6584 3756 5F4F sbci r21,hhi8(-(255)) |
6585 .L537: |
6586 3758 BB27 clr r27 |
6587 375a 57FD sbrc r21,7 |
6588 375c BA95 dec r27 |
6589 375e A52F mov r26,r21 |
6590 3760 942F mov r25,r20 |
6591 3762 832F mov r24,r19 |
6592 3764 9093 0000 sts (LageKorrekturRoll)+1,r25 |
6593 3768 8093 0000 sts LageKorrekturRoll,r24 |
6594 376c 8091 0000 lds r24,MaxStickNick |
6595 3770 9091 0000 lds r25,(MaxStickNick)+1 |
6596 3774 8134 cpi r24,65 |
6597 3776 9105 cpc r25,__zero_reg__ |
6598 3778 04F4 brge .L539 |
6599 377a 8091 0000 lds r24,MaxStickRoll |
6600 377e 9091 0000 lds r25,(MaxStickRoll)+1 |
6601 3782 8134 cpi r24,65 |
6602 3784 9105 cpc r25,__zero_reg__ |
6603 3786 04F4 brge .L539 |
6604 3788 8091 0000 lds r24,EE_Parameter+4 |
6605 378c E82F mov r30,r24 |
6606 378e FF27 clr r31 |
6607 3790 EE0F add r30,r30 |
6608 3792 FF1F adc r31,r31 |
6609 3794 E050 subi r30,lo8(-(PPM_in)) |
6610 3796 F040 sbci r31,hi8(-(PPM_in)) |
6611 3798 8081 ld r24,Z |
6612 379a 9181 ldd r25,Z+1 |
6613 379c 0190 ld __tmp_reg__,Z+ |
6614 379e F081 ld r31,Z |
6615 37a0 E02D mov r30,__tmp_reg__ |
6616 37a2 F7FF sbrs r31,7 |
6617 37a4 00C0 rjmp .L540 |
6618 37a6 F095 com r31 |
6619 37a8 E195 neg r30 |
6620 37aa FF4F sbci r31,lo8(-1) |
6621 .L540: |
6622 37ac 7A97 sbiw r30,26 |
6623 37ae 04F0 brlt .L538 |
6624 .L539: |
6625 37b0 8091 0000 lds r24,FromNaviCtrl_Value |
6626 37b4 8F3F cpi r24,lo8(-1) |
6627 37b6 01F4 brne .L538 |
6628 37b8 8091 0000 lds r24,LageKorrekturNick |
6629 37bc 9091 0000 lds r25,(LageKorrekturNick)+1 |
6630 37c0 97FD sbrc r25,7 |
6631 37c2 0196 adiw r24,1 |
6632 .L541: |
6633 37c4 9595 asr r25 |
6634 37c6 8795 ror r24 |
6635 37c8 9093 0000 sts (LageKorrekturNick)+1,r25 |
6636 37cc 8093 0000 sts LageKorrekturNick,r24 |
6637 37d0 8091 0000 lds r24,LageKorrekturRoll |
6638 37d4 9091 0000 lds r25,(LageKorrekturRoll)+1 |
6639 37d8 97FD sbrc r25,7 |
6640 37da 0196 adiw r24,1 |
6641 .L542: |
6642 37dc 9595 asr r25 |
6643 37de 8795 ror r24 |
6644 37e0 9093 0000 sts (LageKorrekturRoll)+1,r25 |
6645 37e4 8093 0000 sts LageKorrekturRoll,r24 |
6646 .L538: |
6647 37e8 8091 0000 lds r24,MittelIntegralNick2 |
6648 37ec 9091 0000 lds r25,(MittelIntegralNick2)+1 |
6649 37f0 A091 0000 lds r26,(MittelIntegralNick2)+2 |
6650 37f4 B091 0000 lds r27,(MittelIntegralNick2)+3 |
6651 37f8 B7FF sbrs r27,7 |
6652 37fa 00C0 rjmp .L543 |
6653 37fc 8150 subi r24,lo8(-(255)) |
6654 37fe 9F4F sbci r25,hi8(-(255)) |
6655 3800 AF4F sbci r26,hlo8(-(255)) |
6656 3802 BF4F sbci r27,hhi8(-(255)) |
6657 .L543: |
6658 3804 892F mov r24,r25 |
6659 3806 9A2F mov r25,r26 |
6660 3808 AB2F mov r26,r27 |
6661 380a BB27 clr r27 |
6662 380c A7FD sbrc r26,7 |
6663 380e BA95 dec r27 |
6664 3810 8093 0000 sts MittelIntegralNick2,r24 |
6665 3814 9093 0000 sts (MittelIntegralNick2)+1,r25 |
6666 3818 A093 0000 sts (MittelIntegralNick2)+2,r26 |
6667 381c B093 0000 sts (MittelIntegralNick2)+3,r27 |
6668 3820 8091 0000 lds r24,MittelIntegralRoll2 |
6669 3824 9091 0000 lds r25,(MittelIntegralRoll2)+1 |
6670 3828 A091 0000 lds r26,(MittelIntegralRoll2)+2 |
6671 382c B091 0000 lds r27,(MittelIntegralRoll2)+3 |
6672 3830 B7FF sbrs r27,7 |
6673 3832 00C0 rjmp .L544 |
6674 3834 8150 subi r24,lo8(-(255)) |
6675 3836 9F4F sbci r25,hi8(-(255)) |
6676 3838 AF4F sbci r26,hlo8(-(255)) |
6677 383a BF4F sbci r27,hhi8(-(255)) |
6678 .L544: |
6679 383c 892F mov r24,r25 |
6680 383e 9A2F mov r25,r26 |
6681 3840 AB2F mov r26,r27 |
6682 3842 BB27 clr r27 |
6683 3844 A7FD sbrc r26,7 |
6684 3846 BA95 dec r27 |
6685 3848 8093 0000 sts MittelIntegralRoll2,r24 |
6686 384c 9093 0000 sts (MittelIntegralRoll2)+1,r25 |
6687 3850 A093 0000 sts (MittelIntegralRoll2)+2,r26 |
6688 3854 B093 0000 sts (MittelIntegralRoll2)+3,r27 |
6689 3858 8091 0000 lds r24,IntegralNick |
6690 385c 9091 0000 lds r25,(IntegralNick)+1 |
6691 3860 A091 0000 lds r26,(IntegralNick)+2 |
6692 3864 B091 0000 lds r27,(IntegralNick)+3 |
6693 3868 2F81 ldd r18,Y+7 |
6694 386a 3885 ldd r19,Y+8 |
6695 386c 4985 ldd r20,Y+9 |
6696 386e 5A85 ldd r21,Y+10 |
6697 3870 281B sub r18,r24 |
6698 3872 390B sbc r19,r25 |
6699 3874 4A0B sbc r20,r26 |
6700 3876 5B0B sbc r21,r27 |
6701 3878 2093 0000 sts tmp_long.1,r18 |
6702 387c 3093 0000 sts (tmp_long.1)+1,r19 |
6703 3880 4093 0000 sts (tmp_long.1)+2,r20 |
6704 3884 5093 0000 sts (tmp_long.1)+3,r21 |
6705 3888 8091 0000 lds r24,IntegralRoll |
6706 388c 9091 0000 lds r25,(IntegralRoll)+1 |
6707 3890 A091 0000 lds r26,(IntegralRoll)+2 |
6708 3894 B091 0000 lds r27,(IntegralRoll)+3 |
6709 3898 EB84 ldd r14,Y+11 |
6710 389a FC84 ldd r15,Y+12 |
6711 389c 0D85 ldd r16,Y+13 |
6712 389e 1E85 ldd r17,Y+14 |
6713 38a0 E81A sub r14,r24 |
6714 38a2 F90A sbc r15,r25 |
6715 38a4 0A0B sbc r16,r26 |
6716 38a6 1B0B sbc r17,r27 |
6717 38a8 E092 0000 sts tmp_long2.2,r14 |
6718 38ac F092 0000 sts (tmp_long2.2)+1,r15 |
6719 38b0 0093 0000 sts (tmp_long2.2)+2,r16 |
6720 38b4 1093 0000 sts (tmp_long2.2)+3,r17 |
6721 38b8 2093 0000 sts IntegralFehlerNick.3,r18 |
6722 38bc 3093 0000 sts (IntegralFehlerNick.3)+1,r19 |
6723 38c0 4093 0000 sts (IntegralFehlerNick.3)+2,r20 |
6724 38c4 5093 0000 sts (IntegralFehlerNick.3)+3,r21 |
6725 38c8 E092 0000 sts IntegralFehlerRoll.4,r14 |
6726 38cc F092 0000 sts (IntegralFehlerRoll.4)+1,r15 |
6727 38d0 0093 0000 sts (IntegralFehlerRoll.4)+2,r16 |
6728 38d4 1093 0000 sts (IntegralFehlerRoll.4)+3,r17 |
6729 38d8 8091 0000 lds r24,Mess_IntegralNick2 |
6730 38dc 9091 0000 lds r25,(Mess_IntegralNick2)+1 |
6731 38e0 A091 0000 lds r26,(Mess_IntegralNick2)+2 |
6732 38e4 B091 0000 lds r27,(Mess_IntegralNick2)+3 |
6733 38e8 821B sub r24,r18 |
6734 38ea 930B sbc r25,r19 |
6735 38ec A40B sbc r26,r20 |
6736 38ee B50B sbc r27,r21 |
6737 38f0 8093 0000 sts Mess_IntegralNick2,r24 |
6738 38f4 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
6739 38f8 A093 0000 sts (Mess_IntegralNick2)+2,r26 |
6740 38fc B093 0000 sts (Mess_IntegralNick2)+3,r27 |
6741 3900 8091 0000 lds r24,Mess_IntegralRoll2 |
6742 3904 9091 0000 lds r25,(Mess_IntegralRoll2)+1 |
6743 3908 A091 0000 lds r26,(Mess_IntegralRoll2)+2 |
6744 390c B091 0000 lds r27,(Mess_IntegralRoll2)+3 |
6745 3910 8E19 sub r24,r14 |
6746 3912 9F09 sbc r25,r15 |
6747 3914 A00B sbc r26,r16 |
6748 3916 B10B sbc r27,r17 |
6749 3918 8093 0000 sts Mess_IntegralRoll2,r24 |
6750 391c 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
6751 3920 A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
6752 3924 B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
6753 3928 8889 ldd r24,Y+16 |
6754 392a 8823 tst r24 |
6755 392c 01F0 breq .L545 |
6756 392e 2091 0000 lds r18,GierGyroFehler |
6757 3932 3091 0000 lds r19,(GierGyroFehler)+1 |
6758 3936 2138 cpi r18,129 |
6759 3938 3105 cpc r19,__zero_reg__ |
6760 393a 04F0 brlt .L546 |
6761 393c 8091 0000 lds r24,AdNeutralGier |
6762 3940 9091 0000 lds r25,(AdNeutralGier)+1 |
6763 3944 0196 adiw r24,1 |
6764 3946 9093 0000 sts (AdNeutralGier)+1,r25 |
6765 394a 8093 0000 sts AdNeutralGier,r24 |
6766 .L546: |
6767 394e 2058 subi r18,lo8(-128) |
6768 3950 3F4F sbci r19,hi8(-128) |
6769 3952 04F4 brge .L545 |
6770 3954 8091 0000 lds r24,AdNeutralGier |
6771 3958 9091 0000 lds r25,(AdNeutralGier)+1 |
6772 395c 0197 sbiw r24,1 |
6773 395e 9093 0000 sts (AdNeutralGier)+1,r25 |
6774 3962 8093 0000 sts AdNeutralGier,r24 |
6775 .L545: |
6776 3966 1092 0000 sts (GierGyroFehler)+1,__zero_reg__ |
6777 396a 1092 0000 sts GierGyroFehler,__zero_reg__ |
6778 396e 81E0 ldi r24,lo8(1) |
6779 3970 90E0 ldi r25,hi8(1) |
6780 3972 9093 0000 sts (cnt.14)+1,r25 |
6781 3976 8093 0000 sts cnt.14,r24 |
6782 397a E090 0000 lds r14,IntegralFehlerNick.3 |
6783 397e F090 0000 lds r15,(IntegralFehlerNick.3)+1 |
6784 3982 0091 0000 lds r16,(IntegralFehlerNick.3)+2 |
6785 3986 1091 0000 lds r17,(IntegralFehlerNick.3)+3 |
6786 398a D801 movw r26,r16 |
6787 398c C701 movw r24,r14 |
6788 398e 17FF sbrs r17,7 |
6789 3990 00C0 rjmp .L549 |
6790 3992 8827 clr r24 |
6791 3994 9927 clr r25 |
6792 3996 DC01 movw r26,r24 |
6793 3998 8E19 sub r24,r14 |
6794 399a 9F09 sbc r25,r15 |
6795 399c A00B sbc r26,r16 |
6796 399e B10B sbc r27,r17 |
6797 .L549: |
6798 39a0 8150 subi r24,lo8(513) |
6799 39a2 9240 sbci r25,hi8(513) |
6800 39a4 A040 sbci r26,hlo8(513) |
6801 39a6 B040 sbci r27,hhi8(513) |
6802 39a8 04F0 brlt .L548 |
6803 39aa 84E0 ldi r24,lo8(4) |
6804 39ac 90E0 ldi r25,hi8(4) |
6805 39ae 9093 0000 sts (cnt.14)+1,r25 |
6806 39b2 8093 0000 sts cnt.14,r24 |
6807 .L548: |
6808 39b6 8091 0000 lds r24,MittelIntegralNick_Alt.19 |
6809 39ba 9091 0000 lds r25,(MittelIntegralNick_Alt.19)+1 |
6810 39be A091 0000 lds r26,(MittelIntegralNick_Alt.19)+2 |
6811 39c2 B091 0000 lds r27,(MittelIntegralNick_Alt.19)+3 |
6812 39c6 2091 0000 lds r18,MittelIntegralNick |
6813 39ca 3091 0000 lds r19,(MittelIntegralNick)+1 |
6814 39ce 4091 0000 lds r20,(MittelIntegralNick)+2 |
6815 39d2 5091 0000 lds r21,(MittelIntegralNick)+3 |
6816 39d6 821B sub r24,r18 |
6817 39d8 930B sbc r25,r19 |
6818 39da A40B sbc r26,r20 |
6819 39dc B50B sbc r27,r21 |
6820 39de 815E subi r24,lo8(-(19999)) |
6821 39e0 914B sbci r25,hi8(-(19999)) |
6822 39e2 AF4F sbci r26,hlo8(-(19999)) |
6823 39e4 BF4F sbci r27,hhi8(-(19999)) |
6824 39e6 8F53 subi r24,lo8(39999) |
6825 39e8 9C49 sbci r25,hi8(39999) |
6826 39ea A040 sbci r26,hlo8(39999) |
6827 39ec B040 sbci r27,hhi8(39999) |
6828 39ee 00F0 brlo .L551 |
6829 39f0 8091 0000 lds r24,FromNaviCtrl_Value+1 |
6830 39f4 8931 cpi r24,lo8(25) |
6831 39f6 04F4 brge .+2 |
6832 39f8 00C0 rjmp .L550 |
6833 .L551: |
6834 39fa 21E0 ldi r18,lo8(4097) |
6835 39fc E216 cp r14,r18 |
6836 39fe 20E1 ldi r18,hi8(4097) |
6837 3a00 F206 cpc r15,r18 |
6838 3a02 20E0 ldi r18,hlo8(4097) |
6839 3a04 0207 cpc r16,r18 |
6840 3a06 20E0 ldi r18,hhi8(4097) |
6841 3a08 1207 cpc r17,r18 |
6842 3a0a 04F4 brge .+2 |
6843 3a0c 00C0 rjmp .L552 |
6844 3a0e 8091 0000 lds r24,last_n_p.15 |
6845 3a12 8823 tst r24 |
6846 3a14 01F4 brne .+2 |
6847 3a16 00C0 rjmp .L553 |
6848 3a18 D801 movw r26,r16 |
6849 3a1a C701 movw r24,r14 |
6850 3a1c 17FF sbrs r17,7 |
6851 3a1e 00C0 rjmp .L554 |
6852 3a20 8827 clr r24 |
6853 3a22 9927 clr r25 |
6854 3a24 DC01 movw r26,r24 |
6855 3a26 8E19 sub r24,r14 |
6856 3a28 9F09 sbc r25,r15 |
6857 3a2a A00B sbc r26,r16 |
6858 3a2c B10B sbc r27,r17 |
6859 .L554: |
6860 3a2e 9C01 movw r18,r24 |
6861 3a30 AD01 movw r20,r26 |
6862 3a32 B7FF sbrs r27,7 |
6863 3a34 00C0 rjmp .L555 |
6864 3a36 2150 subi r18,lo8(-(511)) |
6865 3a38 3E4F sbci r19,hi8(-(511)) |
6866 3a3a 4F4F sbci r20,hlo8(-(511)) |
6867 3a3c 5F4F sbci r21,hhi8(-(511)) |
6868 .L555: |
6869 3a3e F9E0 ldi r31,9 |
6870 3a40 5595 1: asr r21 |
6871 3a42 4795 ror r20 |
6872 3a44 3795 ror r19 |
6873 3a46 2795 ror r18 |
6874 3a48 FA95 dec r31 |
6875 3a4a 01F4 brne 1b |
6876 3a4c 8091 0000 lds r24,cnt.14 |
6877 3a50 9091 0000 lds r25,(cnt.14)+1 |
6878 3a54 820F add r24,r18 |
6879 3a56 931F adc r25,r19 |
6880 3a58 9093 0000 sts (cnt.14)+1,r25 |
6881 3a5c 8093 0000 sts cnt.14,r24 |
6882 3a60 D801 movw r26,r16 |
6883 3a62 C701 movw r24,r14 |
6884 3a64 17FF sbrs r17,7 |
6885 3a66 00C0 rjmp .L556 |
6886 3a68 0796 adiw r24,7 |
6887 3a6a A11D adc r26,__zero_reg__ |
6888 3a6c B11D adc r27,__zero_reg__ |
6889 .L556: |
6890 3a6e E3E0 ldi r30,3 |
6891 3a70 B595 1: asr r27 |
6892 3a72 A795 ror r26 |
6893 3a74 9795 ror r25 |
6894 3a76 8795 ror r24 |
6895 3a78 EA95 dec r30 |
6896 3a7a 01F4 brne 1b |
6897 3a7c 8093 0000 sts ausgleichNick.10,r24 |
6898 3a80 9093 0000 sts (ausgleichNick.10)+1,r25 |
6899 3a84 A093 0000 sts (ausgleichNick.10)+2,r26 |
6900 3a88 B093 0000 sts (ausgleichNick.10)+3,r27 |
6901 3a8c 8958 subi r24,lo8(5001) |
6902 3a8e 9341 sbci r25,hi8(5001) |
6903 3a90 A040 sbci r26,hlo8(5001) |
6904 3a92 B040 sbci r27,hhi8(5001) |
6905 3a94 04F0 brlt .L557 |
6906 3a96 88E8 ldi r24,lo8(5000) |
6907 3a98 93E1 ldi r25,hi8(5000) |
6908 3a9a A0E0 ldi r26,hlo8(5000) |
6909 3a9c B0E0 ldi r27,hhi8(5000) |
6910 3a9e 8093 0000 sts ausgleichNick.10,r24 |
6911 3aa2 9093 0000 sts (ausgleichNick.10)+1,r25 |
6912 3aa6 A093 0000 sts (ausgleichNick.10)+2,r26 |
6913 3aaa B093 0000 sts (ausgleichNick.10)+3,r27 |
6914 .L557: |
6915 3aae 2091 0000 lds r18,ausgleichNick.10 |
6916 3ab2 3091 0000 lds r19,(ausgleichNick.10)+1 |
6917 3ab6 4091 0000 lds r20,(ausgleichNick.10)+2 |
6918 3aba 5091 0000 lds r21,(ausgleichNick.10)+3 |
6919 3abe 57FF sbrs r21,7 |
6920 3ac0 00C0 rjmp .L558 |
6921 3ac2 2150 subi r18,lo8(-(255)) |
6922 3ac4 3F4F sbci r19,hi8(-(255)) |
6923 3ac6 4F4F sbci r20,hlo8(-(255)) |
6924 3ac8 5F4F sbci r21,hhi8(-(255)) |
6925 .L558: |
6926 3aca 232F mov r18,r19 |
6927 3acc 342F mov r19,r20 |
6928 3ace 452F mov r20,r21 |
6929 3ad0 5527 clr r21 |
6930 3ad2 47FD sbrc r20,7 |
6931 3ad4 5A95 dec r21 |
6932 3ad6 8091 0000 lds r24,LageKorrekturNick |
6933 3ada 9091 0000 lds r25,(LageKorrekturNick)+1 |
6934 3ade 820F add r24,r18 |
6935 3ae0 931F adc r25,r19 |
6936 3ae2 9093 0000 sts (LageKorrekturNick)+1,r25 |
6937 3ae6 8093 0000 sts LageKorrekturNick,r24 |
6938 3aea 00C0 rjmp .L560 |
6939 .L553: |
6940 3aec 81E0 ldi r24,lo8(1) |
6941 3aee 8093 0000 sts last_n_p.15,r24 |
6942 3af2 00C0 rjmp .L560 |
6943 .L552: |
6944 3af4 1092 0000 sts last_n_p.15,__zero_reg__ |
6945 .L560: |
6946 3af8 40E0 ldi r20,lo8(-4096) |
6947 3afa E416 cp r14,r20 |
6948 3afc 40EF ldi r20,hi8(-4096) |
6949 3afe F406 cpc r15,r20 |
6950 3b00 4FEF ldi r20,hlo8(-4096) |
6951 3b02 0407 cpc r16,r20 |
6952 3b04 4FEF ldi r20,hhi8(-4096) |
6953 3b06 1407 cpc r17,r20 |
6954 3b08 04F0 brlt .+2 |
6955 3b0a 00C0 rjmp .L561 |
6956 3b0c 8091 0000 lds r24,last_n_n.16 |
6957 3b10 8823 tst r24 |
6958 3b12 01F4 brne .+2 |
6959 3b14 00C0 rjmp .L562 |
6960 3b16 D801 movw r26,r16 |
6961 3b18 C701 movw r24,r14 |
6962 3b1a 17FF sbrs r17,7 |
6963 3b1c 00C0 rjmp .L563 |
6964 3b1e 8827 clr r24 |
6965 3b20 9927 clr r25 |
6966 3b22 DC01 movw r26,r24 |
6967 3b24 8E19 sub r24,r14 |
6968 3b26 9F09 sbc r25,r15 |
6969 3b28 A00B sbc r26,r16 |
6970 3b2a B10B sbc r27,r17 |
6971 .L563: |
6972 3b2c 9C01 movw r18,r24 |
6973 3b2e AD01 movw r20,r26 |
6974 3b30 B7FF sbrs r27,7 |
6975 3b32 00C0 rjmp .L564 |
6976 3b34 2150 subi r18,lo8(-(511)) |
6977 3b36 3E4F sbci r19,hi8(-(511)) |
6978 3b38 4F4F sbci r20,hlo8(-(511)) |
6979 3b3a 5F4F sbci r21,hhi8(-(511)) |
6980 .L564: |
6981 3b3c 69E0 ldi r22,9 |
6982 3b3e 5595 1: asr r21 |
6983 3b40 4795 ror r20 |
6984 3b42 3795 ror r19 |
6985 3b44 2795 ror r18 |
6986 3b46 6A95 dec r22 |
6987 3b48 01F4 brne 1b |
6988 3b4a 8091 0000 lds r24,cnt.14 |
6989 3b4e 9091 0000 lds r25,(cnt.14)+1 |
6990 3b52 820F add r24,r18 |
6991 3b54 931F adc r25,r19 |
6992 3b56 9093 0000 sts (cnt.14)+1,r25 |
6993 3b5a 8093 0000 sts cnt.14,r24 |
6994 3b5e D801 movw r26,r16 |
6995 3b60 C701 movw r24,r14 |
6996 3b62 17FF sbrs r17,7 |
6997 3b64 00C0 rjmp .L565 |
6998 3b66 0796 adiw r24,7 |
6999 3b68 A11D adc r26,__zero_reg__ |
7000 3b6a B11D adc r27,__zero_reg__ |
7001 .L565: |
7002 3b6c 23E0 ldi r18,3 |
7003 3b6e B595 1: asr r27 |
7004 3b70 A795 ror r26 |
7005 3b72 9795 ror r25 |
7006 3b74 8795 ror r24 |
7007 3b76 2A95 dec r18 |
7008 3b78 01F4 brne 1b |
7009 3b7a 8093 0000 sts ausgleichNick.10,r24 |
7010 3b7e 9093 0000 sts (ausgleichNick.10)+1,r25 |
7011 3b82 A093 0000 sts (ausgleichNick.10)+2,r26 |
7012 3b86 B093 0000 sts (ausgleichNick.10)+3,r27 |
7013 3b8a 8857 subi r24,lo8(-5000) |
7014 3b8c 9C4E sbci r25,hi8(-5000) |
7015 3b8e AF4F sbci r26,hlo8(-5000) |
7016 3b90 BF4F sbci r27,hhi8(-5000) |
7017 3b92 04F4 brge .L566 |
7018 3b94 88E7 ldi r24,lo8(-5000) |
7019 3b96 9CEE ldi r25,hi8(-5000) |
7020 3b98 AFEF ldi r26,hlo8(-5000) |
7021 3b9a BFEF ldi r27,hhi8(-5000) |
7022 3b9c 8093 0000 sts ausgleichNick.10,r24 |
7023 3ba0 9093 0000 sts (ausgleichNick.10)+1,r25 |
7024 3ba4 A093 0000 sts (ausgleichNick.10)+2,r26 |
7025 3ba8 B093 0000 sts (ausgleichNick.10)+3,r27 |
7026 .L566: |
7027 3bac 2091 0000 lds r18,ausgleichNick.10 |
7028 3bb0 3091 0000 lds r19,(ausgleichNick.10)+1 |
7029 3bb4 4091 0000 lds r20,(ausgleichNick.10)+2 |
7030 3bb8 5091 0000 lds r21,(ausgleichNick.10)+3 |
7031 3bbc 57FF sbrs r21,7 |
7032 3bbe 00C0 rjmp .L567 |
7033 3bc0 2150 subi r18,lo8(-(255)) |
7034 3bc2 3F4F sbci r19,hi8(-(255)) |
7035 3bc4 4F4F sbci r20,hlo8(-(255)) |
7036 3bc6 5F4F sbci r21,hhi8(-(255)) |
7037 .L567: |
7038 3bc8 232F mov r18,r19 |
7039 3bca 342F mov r19,r20 |
7040 3bcc 452F mov r20,r21 |
7041 3bce 5527 clr r21 |
7042 3bd0 47FD sbrc r20,7 |
7043 3bd2 5A95 dec r21 |
7044 3bd4 8091 0000 lds r24,LageKorrekturNick |
7045 3bd8 9091 0000 lds r25,(LageKorrekturNick)+1 |
7046 3bdc 820F add r24,r18 |
7047 3bde 931F adc r25,r19 |
7048 3be0 9093 0000 sts (LageKorrekturNick)+1,r25 |
7049 3be4 8093 0000 sts LageKorrekturNick,r24 |
7050 3be8 00C0 rjmp .L570 |
7051 .L562: |
7052 3bea 81E0 ldi r24,lo8(1) |
7053 3bec 8093 0000 sts last_n_n.16,r24 |
7054 3bf0 00C0 rjmp .L570 |
7055 .L561: |
7056 3bf2 1092 0000 sts last_n_n.16,__zero_reg__ |
7057 3bf6 00C0 rjmp .L570 |
7058 .L550: |
7059 3bf8 1092 0000 sts (cnt.14)+1,__zero_reg__ |
7060 3bfc 1092 0000 sts cnt.14,__zero_reg__ |
7061 3c00 84E6 ldi r24,lo8(100) |
7062 3c02 90E0 ldi r25,hi8(100) |
7063 3c04 9093 0000 sts (KompassSignalSchlecht)+1,r25 |
7064 3c08 8093 0000 sts KompassSignalSchlecht,r24 |
7065 .L570: |
7066 3c0c 6889 ldd r22,Y+16 |
7067 3c0e 262F mov r18,r22 |
7068 3c10 3327 clr r19 |
7069 3c12 8091 0000 lds r24,cnt.14 |
7070 3c16 9091 0000 lds r25,(cnt.14)+1 |
7071 3c1a 2817 cp r18,r24 |
7072 3c1c 3907 cpc r19,r25 |
7073 3c1e 04F4 brge .L571 |
7074 3c20 3093 0000 sts (cnt.14)+1,r19 |
7075 3c24 2093 0000 sts cnt.14,r18 |
7076 .L571: |
7077 3c28 1091 0000 lds r17,FromNaviCtrl_Value+1 |
7078 3c2c 1123 tst r17 |
7079 3c2e 01F0 breq .L572 |
7080 3c30 212F mov r18,r17 |
7081 3c32 3327 clr r19 |
7082 3c34 27FD sbrc r18,7 |
7083 3c36 3095 com r19 |
7084 3c38 8091 0000 lds r24,cnt.14 |
7085 3c3c 9091 0000 lds r25,(cnt.14)+1 |
7086 3c40 2817 cp r18,r24 |
7087 3c42 3907 cpc r19,r25 |
7088 3c44 04F4 brge .L572 |
7089 3c46 3093 0000 sts (cnt.14)+1,r19 |
7090 3c4a 2093 0000 sts cnt.14,r18 |
7091 .L572: |
7092 3c4e 4091 0000 lds r20,IntegralFehlerNick.3 |
7093 3c52 5091 0000 lds r21,(IntegralFehlerNick.3)+1 |
7094 3c56 6091 0000 lds r22,(IntegralFehlerNick.3)+2 |
7095 3c5a 7091 0000 lds r23,(IntegralFehlerNick.3)+3 |
7096 3c5e 4138 cpi r20,lo8(129) |
7097 3c60 5105 cpc r21,__zero_reg__ |
7098 3c62 6105 cpc r22,__zero_reg__ |
7099 3c64 7105 cpc r23,__zero_reg__ |
7100 3c66 04F0 brlt .L574 |
7101 3c68 8091 0000 lds r24,AdNeutralNick |
7102 3c6c 9091 0000 lds r25,(AdNeutralNick)+1 |
7103 3c70 2091 0000 lds r18,cnt.14 |
7104 3c74 3091 0000 lds r19,(cnt.14)+1 |
7105 3c78 820F add r24,r18 |
7106 3c7a 931F adc r25,r19 |
7107 3c7c 9093 0000 sts (AdNeutralNick)+1,r25 |
7108 3c80 8093 0000 sts AdNeutralNick,r24 |
7109 .L574: |
7110 3c84 4058 subi r20,lo8(-128) |
7111 3c86 5F4F sbci r21,hi8(-128) |
7112 3c88 6F4F sbci r22,hlo8(-128) |
7113 3c8a 7F4F sbci r23,hhi8(-128) |
7114 3c8c 04F4 brge .L575 |
7115 3c8e 8091 0000 lds r24,AdNeutralNick |
7116 3c92 9091 0000 lds r25,(AdNeutralNick)+1 |
7117 3c96 2091 0000 lds r18,cnt.14 |
7118 3c9a 3091 0000 lds r19,(cnt.14)+1 |
7119 3c9e 821B sub r24,r18 |
7120 3ca0 930B sbc r25,r19 |
7121 3ca2 9093 0000 sts (AdNeutralNick)+1,r25 |
7122 3ca6 8093 0000 sts AdNeutralNick,r24 |
7123 .L575: |
7124 3caa 81E0 ldi r24,lo8(1) |
7125 3cac 90E0 ldi r25,hi8(1) |
7126 3cae 9093 0000 sts (cnt.14)+1,r25 |
7127 3cb2 8093 0000 sts cnt.14,r24 |
7128 3cb6 C090 0000 lds r12,IntegralFehlerRoll.4 |
7129 3cba D090 0000 lds r13,(IntegralFehlerRoll.4)+1 |
7130 3cbe E090 0000 lds r14,(IntegralFehlerRoll.4)+2 |
7131 3cc2 F090 0000 lds r15,(IntegralFehlerRoll.4)+3 |
7132 3cc6 D701 movw r26,r14 |
7133 3cc8 C601 movw r24,r12 |
7134 3cca F7FE sbrs r15,7 |
7135 3ccc 00C0 rjmp .L577 |
7136 3cce 8827 clr r24 |
7137 3cd0 9927 clr r25 |
7138 3cd2 DC01 movw r26,r24 |
7139 3cd4 8C19 sub r24,r12 |
7140 3cd6 9D09 sbc r25,r13 |
7141 3cd8 AE09 sbc r26,r14 |
7142 3cda BF09 sbc r27,r15 |
7143 .L577: |
7144 3cdc 8150 subi r24,lo8(513) |
7145 3cde 9240 sbci r25,hi8(513) |
7146 3ce0 A040 sbci r26,hlo8(513) |
7147 3ce2 B040 sbci r27,hhi8(513) |
7148 3ce4 04F0 brlt .L576 |
7149 3ce6 84E0 ldi r24,lo8(4) |
7150 3ce8 90E0 ldi r25,hi8(4) |
7151 3cea 9093 0000 sts (cnt.14)+1,r25 |
7152 3cee 8093 0000 sts cnt.14,r24 |
7153 .L576: |
7154 3cf2 8091 0000 lds r24,MittelIntegralRoll_Alt.20 |
7155 3cf6 9091 0000 lds r25,(MittelIntegralRoll_Alt.20)+1 |
7156 3cfa A091 0000 lds r26,(MittelIntegralRoll_Alt.20)+2 |
7157 3cfe B091 0000 lds r27,(MittelIntegralRoll_Alt.20)+3 |
7158 3d02 2091 0000 lds r18,MittelIntegralRoll |
7159 3d06 3091 0000 lds r19,(MittelIntegralRoll)+1 |
7160 3d0a 4091 0000 lds r20,(MittelIntegralRoll)+2 |
7161 3d0e 5091 0000 lds r21,(MittelIntegralRoll)+3 |
7162 3d12 821B sub r24,r18 |
7163 3d14 930B sbc r25,r19 |
7164 3d16 A40B sbc r26,r20 |
7165 3d18 B50B sbc r27,r21 |
7166 3d1a 815E subi r24,lo8(-(19999)) |
7167 3d1c 914B sbci r25,hi8(-(19999)) |
7168 3d1e AF4F sbci r26,hlo8(-(19999)) |
7169 3d20 BF4F sbci r27,hhi8(-(19999)) |
7170 3d22 8F53 subi r24,lo8(39999) |
7171 3d24 9C49 sbci r25,hi8(39999) |
7172 3d26 A040 sbci r26,hlo8(39999) |
7173 3d28 B040 sbci r27,hhi8(39999) |
7174 3d2a 00F0 brlo .L579 |
7175 3d2c 1931 cpi r17,lo8(25) |
7176 3d2e 04F4 brge .+2 |
7177 3d30 00C0 rjmp .L578 |
7178 .L579: |
7179 3d32 01E0 ldi r16,lo8(4097) |
7180 3d34 C016 cp r12,r16 |
7181 3d36 00E1 ldi r16,hi8(4097) |
7182 3d38 D006 cpc r13,r16 |
7183 3d3a 00E0 ldi r16,hlo8(4097) |
7184 3d3c E006 cpc r14,r16 |
7185 3d3e 00E0 ldi r16,hhi8(4097) |
7186 3d40 F006 cpc r15,r16 |
7187 3d42 04F4 brge .+2 |
7188 3d44 00C0 rjmp .L580 |
7189 3d46 8091 0000 lds r24,last_r_p.17 |
7190 3d4a 8823 tst r24 |
7191 3d4c 01F4 brne .+2 |
7192 3d4e 00C0 rjmp .L581 |
7193 3d50 D701 movw r26,r14 |
7194 3d52 C601 movw r24,r12 |
7195 3d54 F7FE sbrs r15,7 |
7196 3d56 00C0 rjmp .L582 |
7197 3d58 8827 clr r24 |
7198 3d5a 9927 clr r25 |
7199 3d5c DC01 movw r26,r24 |
7200 3d5e 8C19 sub r24,r12 |
7201 3d60 9D09 sbc r25,r13 |
7202 3d62 AE09 sbc r26,r14 |
7203 3d64 BF09 sbc r27,r15 |
7204 .L582: |
7205 3d66 9C01 movw r18,r24 |
7206 3d68 AD01 movw r20,r26 |
7207 3d6a B7FF sbrs r27,7 |
7208 3d6c 00C0 rjmp .L583 |
7209 3d6e 2150 subi r18,lo8(-(511)) |
7210 3d70 3E4F sbci r19,hi8(-(511)) |
7211 3d72 4F4F sbci r20,hlo8(-(511)) |
7212 3d74 5F4F sbci r21,hhi8(-(511)) |
7213 .L583: |
7214 3d76 09E0 ldi r16,9 |
7215 3d78 5595 1: asr r21 |
7216 3d7a 4795 ror r20 |
7217 3d7c 3795 ror r19 |
7218 3d7e 2795 ror r18 |
7219 3d80 0A95 dec r16 |
7220 3d82 01F4 brne 1b |
7221 3d84 8091 0000 lds r24,cnt.14 |
7222 3d88 9091 0000 lds r25,(cnt.14)+1 |
7223 3d8c 820F add r24,r18 |
7224 3d8e 931F adc r25,r19 |
7225 3d90 9093 0000 sts (cnt.14)+1,r25 |
7226 3d94 8093 0000 sts cnt.14,r24 |
7227 3d98 D701 movw r26,r14 |
7228 3d9a C601 movw r24,r12 |
7229 3d9c F7FE sbrs r15,7 |
7230 3d9e 00C0 rjmp .L584 |
7231 3da0 0796 adiw r24,7 |
7232 3da2 A11D adc r26,__zero_reg__ |
7233 3da4 B11D adc r27,__zero_reg__ |
7234 .L584: |
7235 3da6 13E0 ldi r17,3 |
7236 3da8 B595 1: asr r27 |
7237 3daa A795 ror r26 |
7238 3dac 9795 ror r25 |
7239 3dae 8795 ror r24 |
7240 3db0 1A95 dec r17 |
7241 3db2 01F4 brne 1b |
7242 3db4 8093 0000 sts ausgleichRoll.11,r24 |
7243 3db8 9093 0000 sts (ausgleichRoll.11)+1,r25 |
7244 3dbc A093 0000 sts (ausgleichRoll.11)+2,r26 |
7245 3dc0 B093 0000 sts (ausgleichRoll.11)+3,r27 |
7246 3dc4 8958 subi r24,lo8(5001) |
7247 3dc6 9341 sbci r25,hi8(5001) |
7248 3dc8 A040 sbci r26,hlo8(5001) |
7249 3dca B040 sbci r27,hhi8(5001) |
7250 3dcc 04F0 brlt .L585 |
7251 3dce 88E8 ldi r24,lo8(5000) |
7252 3dd0 93E1 ldi r25,hi8(5000) |
7253 3dd2 A0E0 ldi r26,hlo8(5000) |
7254 3dd4 B0E0 ldi r27,hhi8(5000) |
7255 3dd6 8093 0000 sts ausgleichRoll.11,r24 |
7256 3dda 9093 0000 sts (ausgleichRoll.11)+1,r25 |
7257 3dde A093 0000 sts (ausgleichRoll.11)+2,r26 |
7258 3de2 B093 0000 sts (ausgleichRoll.11)+3,r27 |
7259 .L585: |
7260 3de6 2091 0000 lds r18,ausgleichRoll.11 |
7261 3dea 3091 0000 lds r19,(ausgleichRoll.11)+1 |
7262 3dee 4091 0000 lds r20,(ausgleichRoll.11)+2 |
7263 3df2 5091 0000 lds r21,(ausgleichRoll.11)+3 |
7264 3df6 57FF sbrs r21,7 |
7265 3df8 00C0 rjmp .L586 |
7266 3dfa 2150 subi r18,lo8(-(255)) |
7267 3dfc 3F4F sbci r19,hi8(-(255)) |
7268 3dfe 4F4F sbci r20,hlo8(-(255)) |
7269 3e00 5F4F sbci r21,hhi8(-(255)) |
7270 .L586: |
7271 3e02 232F mov r18,r19 |
7272 3e04 342F mov r19,r20 |
7273 3e06 452F mov r20,r21 |
7274 3e08 5527 clr r21 |
7275 3e0a 47FD sbrc r20,7 |
7276 3e0c 5A95 dec r21 |
7277 3e0e 8091 0000 lds r24,LageKorrekturRoll |
7278 3e12 9091 0000 lds r25,(LageKorrekturRoll)+1 |
7279 3e16 820F add r24,r18 |
7280 3e18 931F adc r25,r19 |
7281 3e1a 9093 0000 sts (LageKorrekturRoll)+1,r25 |
7282 3e1e 8093 0000 sts LageKorrekturRoll,r24 |
7283 3e22 00C0 rjmp .L588 |
7284 .L581: |
7285 3e24 81E0 ldi r24,lo8(1) |
7286 3e26 8093 0000 sts last_r_p.17,r24 |
7287 3e2a 00C0 rjmp .L588 |
7288 .L580: |
7289 3e2c 1092 0000 sts last_r_p.17,__zero_reg__ |
7290 .L588: |
7291 3e30 20E0 ldi r18,lo8(-4096) |
7292 3e32 C216 cp r12,r18 |
7293 3e34 20EF ldi r18,hi8(-4096) |
7294 3e36 D206 cpc r13,r18 |
7295 3e38 2FEF ldi r18,hlo8(-4096) |
7296 3e3a E206 cpc r14,r18 |
7297 3e3c 2FEF ldi r18,hhi8(-4096) |
7298 3e3e F206 cpc r15,r18 |
7299 3e40 04F0 brlt .+2 |
7300 3e42 00C0 rjmp .L589 |
7301 3e44 8091 0000 lds r24,last_r_n.18 |
7302 3e48 8823 tst r24 |
7303 3e4a 01F4 brne .+2 |
7304 3e4c 00C0 rjmp .L590 |
7305 3e4e D701 movw r26,r14 |
7306 3e50 C601 movw r24,r12 |
7307 3e52 F7FE sbrs r15,7 |
7308 3e54 00C0 rjmp .L591 |
7309 3e56 8827 clr r24 |
7310 3e58 9927 clr r25 |
7311 3e5a DC01 movw r26,r24 |
7312 3e5c 8C19 sub r24,r12 |
7313 3e5e 9D09 sbc r25,r13 |
7314 3e60 AE09 sbc r26,r14 |
7315 3e62 BF09 sbc r27,r15 |
7316 .L591: |
7317 3e64 9C01 movw r18,r24 |
7318 3e66 AD01 movw r20,r26 |
7319 3e68 B7FF sbrs r27,7 |
7320 3e6a 00C0 rjmp .L592 |
7321 3e6c 2150 subi r18,lo8(-(511)) |
7322 3e6e 3E4F sbci r19,hi8(-(511)) |
7323 3e70 4F4F sbci r20,hlo8(-(511)) |
7324 3e72 5F4F sbci r21,hhi8(-(511)) |
7325 .L592: |
7326 3e74 E9E0 ldi r30,9 |
7327 3e76 5595 1: asr r21 |
7328 3e78 4795 ror r20 |
7329 3e7a 3795 ror r19 |
7330 3e7c 2795 ror r18 |
7331 3e7e EA95 dec r30 |
7332 3e80 01F4 brne 1b |
7333 3e82 8091 0000 lds r24,cnt.14 |
7334 3e86 9091 0000 lds r25,(cnt.14)+1 |
7335 3e8a 820F add r24,r18 |
7336 3e8c 931F adc r25,r19 |
7337 3e8e 9093 0000 sts (cnt.14)+1,r25 |
7338 3e92 8093 0000 sts cnt.14,r24 |
7339 3e96 D701 movw r26,r14 |
7340 3e98 C601 movw r24,r12 |
7341 3e9a F7FE sbrs r15,7 |
7342 3e9c 00C0 rjmp .L593 |
7343 3e9e 0796 adiw r24,7 |
7344 3ea0 A11D adc r26,__zero_reg__ |
7345 3ea2 B11D adc r27,__zero_reg__ |
7346 .L593: |
7347 3ea4 73E0 ldi r23,3 |
7348 3ea6 B595 1: asr r27 |
7349 3ea8 A795 ror r26 |
7350 3eaa 9795 ror r25 |
7351 3eac 8795 ror r24 |
7352 3eae 7A95 dec r23 |
7353 3eb0 01F4 brne 1b |
7354 3eb2 8093 0000 sts ausgleichRoll.11,r24 |
7355 3eb6 9093 0000 sts (ausgleichRoll.11)+1,r25 |
7356 3eba A093 0000 sts (ausgleichRoll.11)+2,r26 |
7357 3ebe B093 0000 sts (ausgleichRoll.11)+3,r27 |
7358 3ec2 8857 subi r24,lo8(-5000) |
7359 3ec4 9C4E sbci r25,hi8(-5000) |
7360 3ec6 AF4F sbci r26,hlo8(-5000) |
7361 3ec8 BF4F sbci r27,hhi8(-5000) |
7362 3eca 04F4 brge .L594 |
7363 3ecc 88E7 ldi r24,lo8(-5000) |
7364 3ece 9CEE ldi r25,hi8(-5000) |
7365 3ed0 AFEF ldi r26,hlo8(-5000) |
7366 3ed2 BFEF ldi r27,hhi8(-5000) |
7367 3ed4 8093 0000 sts ausgleichRoll.11,r24 |
7368 3ed8 9093 0000 sts (ausgleichRoll.11)+1,r25 |
7369 3edc A093 0000 sts (ausgleichRoll.11)+2,r26 |
7370 3ee0 B093 0000 sts (ausgleichRoll.11)+3,r27 |
7371 .L594: |
7372 3ee4 2091 0000 lds r18,ausgleichRoll.11 |
7373 3ee8 3091 0000 lds r19,(ausgleichRoll.11)+1 |
7374 3eec 4091 0000 lds r20,(ausgleichRoll.11)+2 |
7375 3ef0 5091 0000 lds r21,(ausgleichRoll.11)+3 |
7376 3ef4 57FF sbrs r21,7 |
7377 3ef6 00C0 rjmp .L595 |
7378 3ef8 2150 subi r18,lo8(-(255)) |
7379 3efa 3F4F sbci r19,hi8(-(255)) |
7380 3efc 4F4F sbci r20,hlo8(-(255)) |
7381 3efe 5F4F sbci r21,hhi8(-(255)) |
7382 .L595: |
7383 3f00 232F mov r18,r19 |
7384 3f02 342F mov r19,r20 |
7385 3f04 452F mov r20,r21 |
7386 3f06 5527 clr r21 |
7387 3f08 47FD sbrc r20,7 |
7388 3f0a 5A95 dec r21 |
7389 3f0c 8091 0000 lds r24,LageKorrekturRoll |
7390 3f10 9091 0000 lds r25,(LageKorrekturRoll)+1 |
7391 3f14 820F add r24,r18 |
7392 3f16 931F adc r25,r19 |
7393 3f18 9093 0000 sts (LageKorrekturRoll)+1,r25 |
7394 3f1c 8093 0000 sts LageKorrekturRoll,r24 |
7395 3f20 00C0 rjmp .L598 |
7396 .L590: |
7397 3f22 81E0 ldi r24,lo8(1) |
7398 3f24 8093 0000 sts last_r_n.18,r24 |
7399 3f28 00C0 rjmp .L598 |
7400 .L589: |
7401 3f2a 1092 0000 sts last_r_n.18,__zero_reg__ |
7402 3f2e 00C0 rjmp .L598 |
7403 .L578: |
7404 3f30 1092 0000 sts (cnt.14)+1,__zero_reg__ |
7405 3f34 1092 0000 sts cnt.14,__zero_reg__ |
7406 3f38 84E6 ldi r24,lo8(100) |
7407 3f3a 90E0 ldi r25,hi8(100) |
7408 3f3c 9093 0000 sts (KompassSignalSchlecht)+1,r25 |
7409 3f40 8093 0000 sts KompassSignalSchlecht,r24 |
7410 .L598: |
7411 3f44 4889 ldd r20,Y+16 |
7412 3f46 242F mov r18,r20 |
7413 3f48 3327 clr r19 |
7414 3f4a 8091 0000 lds r24,cnt.14 |
7415 3f4e 9091 0000 lds r25,(cnt.14)+1 |
7416 3f52 2817 cp r18,r24 |
7417 3f54 3907 cpc r19,r25 |
7418 3f56 04F4 brge .L599 |
7419 3f58 3093 0000 sts (cnt.14)+1,r19 |
7420 3f5c 2093 0000 sts cnt.14,r18 |
7421 .L599: |
7422 3f60 8091 0000 lds r24,FromNaviCtrl_Value+1 |
7423 3f64 8823 tst r24 |
7424 3f66 01F0 breq .L600 |
7425 3f68 282F mov r18,r24 |
7426 3f6a 3327 clr r19 |
7427 3f6c 27FD sbrc r18,7 |
7428 3f6e 3095 com r19 |
7429 3f70 8091 0000 lds r24,cnt.14 |
7430 3f74 9091 0000 lds r25,(cnt.14)+1 |
7431 3f78 2817 cp r18,r24 |
7432 3f7a 3907 cpc r19,r25 |
7433 3f7c 04F4 brge .L600 |
7434 3f7e 3093 0000 sts (cnt.14)+1,r19 |
7435 3f82 2093 0000 sts cnt.14,r18 |
7436 .L600: |
7437 3f86 4091 0000 lds r20,IntegralFehlerRoll.4 |
7438 3f8a 5091 0000 lds r21,(IntegralFehlerRoll.4)+1 |
7439 3f8e 6091 0000 lds r22,(IntegralFehlerRoll.4)+2 |
7440 3f92 7091 0000 lds r23,(IntegralFehlerRoll.4)+3 |
7441 3f96 4138 cpi r20,lo8(129) |
7442 3f98 5105 cpc r21,__zero_reg__ |
7443 3f9a 6105 cpc r22,__zero_reg__ |
7444 3f9c 7105 cpc r23,__zero_reg__ |
7445 3f9e 04F0 brlt .L602 |
7446 3fa0 8091 0000 lds r24,AdNeutralRoll |
7447 3fa4 9091 0000 lds r25,(AdNeutralRoll)+1 |
7448 3fa8 2091 0000 lds r18,cnt.14 |
7449 3fac 3091 0000 lds r19,(cnt.14)+1 |
7450 3fb0 820F add r24,r18 |
7451 3fb2 931F adc r25,r19 |
7452 3fb4 9093 0000 sts (AdNeutralRoll)+1,r25 |
7453 3fb8 8093 0000 sts AdNeutralRoll,r24 |
7454 .L602: |
7455 3fbc 4058 subi r20,lo8(-128) |
7456 3fbe 5F4F sbci r21,hi8(-128) |
7457 3fc0 6F4F sbci r22,hlo8(-128) |
7458 3fc2 7F4F sbci r23,hhi8(-128) |
7459 3fc4 04F4 brge .L604 |
7460 3fc6 8091 0000 lds r24,AdNeutralRoll |
7461 3fca 9091 0000 lds r25,(AdNeutralRoll)+1 |
7462 3fce 2091 0000 lds r18,cnt.14 |
7463 3fd2 3091 0000 lds r19,(cnt.14)+1 |
7464 3fd6 821B sub r24,r18 |
7465 3fd8 930B sbc r25,r19 |
7466 3fda 9093 0000 sts (AdNeutralRoll)+1,r25 |
7467 3fde 8093 0000 sts AdNeutralRoll,r24 |
7468 3fe2 00C0 rjmp .L604 |
7469 .L530: |
7470 3fe4 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__ |
7471 3fe8 1092 0000 sts LageKorrekturRoll,__zero_reg__ |
7472 3fec 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__ |
7473 3ff0 1092 0000 sts LageKorrekturNick,__zero_reg__ |
7474 3ff4 1092 0000 sts TrichterFlug,__zero_reg__ |
7475 .L604: |
7476 3ff8 8091 0000 lds r24,IntegralFaktor |
7477 3ffc 8823 tst r24 |
7478 3ffe 01F4 brne .L605 |
7479 4000 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__ |
7480 4004 1092 0000 sts LageKorrekturRoll,__zero_reg__ |
7481 4008 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__ |
7482 400c 1092 0000 sts LageKorrekturNick,__zero_reg__ |
7483 .L605: |
7484 4010 8091 0000 lds r24,MittelIntegralNick |
7485 4014 9091 0000 lds r25,(MittelIntegralNick)+1 |
7486 4018 A091 0000 lds r26,(MittelIntegralNick)+2 |
7487 401c B091 0000 lds r27,(MittelIntegralNick)+3 |
7488 4020 8093 0000 sts MittelIntegralNick_Alt.19,r24 |
7489 4024 9093 0000 sts (MittelIntegralNick_Alt.19)+1,r25 |
7490 4028 A093 0000 sts (MittelIntegralNick_Alt.19)+2,r26 |
7491 402c B093 0000 sts (MittelIntegralNick_Alt.19)+3,r27 |
7492 4030 8091 0000 lds r24,MittelIntegralRoll |
7493 4034 9091 0000 lds r25,(MittelIntegralRoll)+1 |
7494 4038 A091 0000 lds r26,(MittelIntegralRoll)+2 |
7495 403c B091 0000 lds r27,(MittelIntegralRoll)+3 |
7496 4040 8093 0000 sts MittelIntegralRoll_Alt.20,r24 |
7497 4044 9093 0000 sts (MittelIntegralRoll_Alt.20)+1,r25 |
7498 4048 A093 0000 sts (MittelIntegralRoll_Alt.20)+2,r26 |
7499 404c B093 0000 sts (MittelIntegralRoll_Alt.20)+3,r27 |
7500 4050 1092 0000 sts IntegralAccNick,__zero_reg__ |
7501 4054 1092 0000 sts (IntegralAccNick)+1,__zero_reg__ |
7502 4058 1092 0000 sts (IntegralAccNick)+2,__zero_reg__ |
7503 405c 1092 0000 sts (IntegralAccNick)+3,__zero_reg__ |
7504 4060 1092 0000 sts IntegralAccRoll,__zero_reg__ |
7505 4064 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__ |
7506 4068 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__ |
7507 406c 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__ |
7508 4070 1092 0000 sts IntegralAccZ,__zero_reg__ |
7509 4074 1092 0000 sts (IntegralAccZ)+1,__zero_reg__ |
7510 4078 1092 0000 sts (IntegralAccZ)+2,__zero_reg__ |
7511 407c 1092 0000 sts (IntegralAccZ)+3,__zero_reg__ |
7512 4080 1092 0000 sts MittelIntegralNick,__zero_reg__ |
7513 4084 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__ |
7514 4088 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__ |
7515 408c 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__ |
7516 4090 1092 0000 sts MittelIntegralRoll,__zero_reg__ |
7517 4094 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__ |
7518 4098 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__ |
7519 409c 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__ |
7520 40a0 1092 0000 sts MittelIntegralNick2,__zero_reg__ |
7521 40a4 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__ |
7522 40a8 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__ |
7523 40ac 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__ |
7524 40b0 1092 0000 sts MittelIntegralRoll2,__zero_reg__ |
7525 40b4 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__ |
7526 40b8 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__ |
7527 40bc 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__ |
7528 40c0 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__ |
7529 40c4 1092 0000 sts ZaehlMessungen,__zero_reg__ |
7530 .L529: |
7531 40c8 E090 0000 lds r14,StickGier |
7532 40cc F090 0000 lds r15,(StickGier)+1 |
7533 40d0 C701 movw r24,r14 |
7534 40d2 F7FE sbrs r15,7 |
7535 40d4 00C0 rjmp .L607 |
7536 40d6 8827 clr r24 |
7537 40d8 9927 clr r25 |
7538 40da 8E19 sub r24,r14 |
7539 40dc 9F09 sbc r25,r15 |
7540 .L607: |
7541 40de 0497 sbiw r24,4 |
7542 40e0 04F0 brlt .L606 |
7543 40e2 8091 0000 lds r24,Parameter_GlobalConfig |
7544 40e6 84FD sbrc r24,4 |
7545 40e8 00C0 rjmp .L606 |
7546 40ea 82E3 ldi r24,lo8(50) |
7547 40ec 8093 0000 sts NeueKompassRichtungMerken,r24 |
7548 .L606: |
7549 40f0 1091 0000 lds r17,EE_Parameter+25 |
7550 40f4 A12E mov r10,r17 |
7551 40f6 BB24 clr r11 |
7552 40f8 CC24 clr r12 |
7553 40fa DD24 clr r13 |
7554 40fc B701 movw r22,r14 |
7555 40fe 8827 clr r24 |
7556 4100 77FD sbrc r23,7 |
7557 4102 8095 com r24 |
7558 4104 982F mov r25,r24 |
7559 4106 9701 movw r18,r14 |
7560 4108 F7FE sbrs r15,7 |
7561 410a 00C0 rjmp .L609 |
7562 410c 2227 clr r18 |
7563 410e 3327 clr r19 |
7564 4110 2E19 sub r18,r14 |
7565 4112 3F09 sbc r19,r15 |
7566 .L609: |
7567 4114 4427 clr r20 |
7568 4116 37FD sbrc r19,7 |
7569 4118 4095 com r20 |
7570 411a 542F mov r21,r20 |
7571 411c 0E94 0000 call __mulsi3 |
7572 4120 9B01 movw r18,r22 |
7573 4122 AC01 movw r20,r24 |
7574 4124 C601 movw r24,r12 |
7575 4126 B501 movw r22,r10 |
7576 4128 0E94 0000 call __mulsi3 |
7577 412c 97FF sbrs r25,7 |
7578 412e 00C0 rjmp .L610 |
7579 4130 6150 subi r22,lo8(-(511)) |
7580 4132 7E4F sbci r23,hi8(-(511)) |
7581 4134 8F4F sbci r24,hlo8(-(511)) |
7582 4136 9F4F sbci r25,hhi8(-(511)) |
7583 .L610: |
7584 4138 59E0 ldi r21,9 |
7585 413a 9595 1: asr r25 |
7586 413c 8795 ror r24 |
7587 413e 7795 ror r23 |
7588 4140 6795 ror r22 |
7589 4142 5A95 dec r21 |
7590 4144 01F4 brne 1b |
7591 4146 9B01 movw r18,r22 |
7592 4148 812F mov r24,r17 |
7593 414a 9927 clr r25 |
7594 414c 8E9D mul r24,r14 |
7595 414e D001 movw r26,r0 |
7596 4150 8F9D mul r24,r15 |
7597 4152 B00D add r27,r0 |
7598 4154 9E9D mul r25,r14 |
7599 4156 B00D add r27,r0 |
7600 4158 1124 clr r1 |
7601 415a CD01 movw r24,r26 |
7602 415c B7FD sbrc r27,7 |
7603 415e 0396 adiw r24,3 |
7604 .L611: |
7605 4160 9595 asr r25 |
7606 4162 8795 ror r24 |
7607 4164 9595 asr r25 |
7608 4166 8795 ror r24 |
7609 4168 280F add r18,r24 |
7610 416a 391F adc r19,r25 |
7611 416c 8091 0000 lds r24,CompassGierSetpoint |
7612 4170 9091 0000 lds r25,(CompassGierSetpoint)+1 |
7613 4174 280F add r18,r24 |
7614 4176 391F adc r19,r25 |
7615 4178 4427 clr r20 |
7616 417a 37FD sbrc r19,7 |
7617 417c 4095 com r20 |
7618 417e 542F mov r21,r20 |
7619 4180 2093 0000 sts sollGier.0,r18 |
7620 4184 3093 0000 sts (sollGier.0)+1,r19 |
7621 4188 4093 0000 sts (sollGier.0)+2,r20 |
7622 418c 5093 0000 sts (sollGier.0)+3,r21 |
7623 4190 8091 0000 lds r24,Mess_Integral_Gier |
7624 4194 9091 0000 lds r25,(Mess_Integral_Gier)+1 |
7625 4198 A091 0000 lds r26,(Mess_Integral_Gier)+2 |
7626 419c B091 0000 lds r27,(Mess_Integral_Gier)+3 |
7627 41a0 821B sub r24,r18 |
7628 41a2 930B sbc r25,r19 |
7629 41a4 A40B sbc r26,r20 |
7630 41a6 B50B sbc r27,r21 |
7631 41a8 8093 0000 sts Mess_Integral_Gier,r24 |
7632 41ac 9093 0000 sts (Mess_Integral_Gier)+1,r25 |
7633 41b0 A093 0000 sts (Mess_Integral_Gier)+2,r26 |
7634 41b4 B093 0000 sts (Mess_Integral_Gier)+3,r27 |
7635 41b8 8155 subi r24,lo8(50001) |
7636 41ba 934C sbci r25,hi8(50001) |
7637 41bc A040 sbci r26,hlo8(50001) |
7638 41be B040 sbci r27,hhi8(50001) |
7639 41c0 04F0 brlt .L612 |
7640 41c2 80E5 ldi r24,lo8(50000) |
7641 41c4 93EC ldi r25,hi8(50000) |
7642 41c6 A0E0 ldi r26,hlo8(50000) |
7643 41c8 B0E0 ldi r27,hhi8(50000) |
7644 41ca 8093 0000 sts Mess_Integral_Gier,r24 |
7645 41ce 9093 0000 sts (Mess_Integral_Gier)+1,r25 |
7646 41d2 A093 0000 sts (Mess_Integral_Gier)+2,r26 |
7647 41d6 B093 0000 sts (Mess_Integral_Gier)+3,r27 |
7648 .L612: |
7649 41da 8091 0000 lds r24,Mess_Integral_Gier |
7650 41de 9091 0000 lds r25,(Mess_Integral_Gier)+1 |
7651 41e2 A091 0000 lds r26,(Mess_Integral_Gier)+2 |
7652 41e6 B091 0000 lds r27,(Mess_Integral_Gier)+3 |
7653 41ea 805B subi r24,lo8(-50000) |
7654 41ec 9C43 sbci r25,hi8(-50000) |
7655 41ee AF4F sbci r26,hlo8(-50000) |
7656 41f0 BF4F sbci r27,hhi8(-50000) |
7657 41f2 04F4 brge .L613 |
7658 41f4 80EB ldi r24,lo8(-50000) |
7659 41f6 9CE3 ldi r25,hi8(-50000) |
7660 41f8 AFEF ldi r26,hlo8(-50000) |
7661 41fa BFEF ldi r27,hhi8(-50000) |
7662 41fc 8093 0000 sts Mess_Integral_Gier,r24 |
7663 4200 9093 0000 sts (Mess_Integral_Gier)+1,r25 |
7664 4204 A093 0000 sts (Mess_Integral_Gier)+2,r26 |
7665 4208 B093 0000 sts (Mess_Integral_Gier)+3,r27 |
7666 .L613: |
7667 420c 0091 0000 lds r16,KompassValue |
7668 4210 1091 0000 lds r17,(KompassValue)+1 |
7669 4214 17FD sbrc r17,7 |
7670 4216 00C0 rjmp .L614 |
7671 4218 8091 0000 lds r24,Parameter_GlobalConfig |
7672 421c 83FF sbrs r24,3 |
7673 421e 00C0 rjmp .L614 |
7674 4220 8091 0000 lds r24,CalculateCompassTimer |
7675 4224 8150 subi r24,lo8(-(-1)) |
7676 4226 8093 0000 sts CalculateCompassTimer,r24 |
7677 422a 8823 tst r24 |
7678 422c 01F0 breq .+2 |
7679 422e 00C0 rjmp .L631 |
7680 4230 8DE0 ldi r24,lo8(13) |
7681 4232 8093 0000 sts CalculateCompassTimer,r24 |
7682 4236 8091 0000 lds r24,IntegralNick |
7683 423a 9091 0000 lds r25,(IntegralNick)+1 |
7684 423e A091 0000 lds r26,(IntegralNick)+2 |
7685 4242 B091 0000 lds r27,(IntegralNick)+3 |
7686 4246 B7FF sbrs r27,7 |
7687 4248 00C0 rjmp .L616 |
7688 424a 8150 subi r24,lo8(-(511)) |
7689 424c 9E4F sbci r25,hi8(-(511)) |
7690 424e AF4F sbci r26,hlo8(-(511)) |
7691 4250 BF4F sbci r27,hhi8(-(511)) |
7692 .L616: |
7693 4252 39E0 ldi r19,9 |
7694 4254 B595 1: asr r27 |
7695 4256 A795 ror r26 |
7696 4258 9795 ror r25 |
7697 425a 8795 ror r24 |
7698 425c 3A95 dec r19 |
7699 425e 01F4 brne 1b |
7700 4260 7C01 movw r14,r24 |
7701 4262 97FF sbrs r25,7 |
7702 4264 00C0 rjmp .L617 |
7703 4266 F094 com r15 |
7704 4268 E194 neg r14 |
7705 426a F108 sbc r15,__zero_reg__ |
7706 426c F394 inc r15 |
7707 .L617: |
7708 426e 8091 0000 lds r24,IntegralRoll |
7709 4272 9091 0000 lds r25,(IntegralRoll)+1 |
7710 4276 A091 0000 lds r26,(IntegralRoll)+2 |
7711 427a B091 0000 lds r27,(IntegralRoll)+3 |
7712 427e B7FF sbrs r27,7 |
7713 4280 00C0 rjmp .L618 |
7714 4282 8150 subi r24,lo8(-(511)) |
7715 4284 9E4F sbci r25,hi8(-(511)) |
7716 4286 AF4F sbci r26,hlo8(-(511)) |
7717 4288 BF4F sbci r27,hhi8(-(511)) |
7718 .L618: |
7719 428a 29E0 ldi r18,9 |
7720 428c B595 1: asr r27 |
7721 428e A795 ror r26 |
7722 4290 9795 ror r25 |
7723 4292 8795 ror r24 |
7724 4294 2A95 dec r18 |
7725 4296 01F4 brne 1b |
7726 4298 9C01 movw r18,r24 |
7727 429a 97FF sbrs r25,7 |
7728 429c 00C0 rjmp .L619 |
7729 429e 3095 com r19 |
7730 42a0 2195 neg r18 |
7731 42a2 3F4F sbci r19,lo8(-1) |
7732 .L619: |
7733 42a4 E216 cp r14,r18 |
7734 42a6 F306 cpc r15,r19 |
7735 42a8 04F4 brge .L620 |
7736 42aa 7901 movw r14,r18 |
7737 .L620: |
7738 42ac B701 movw r22,r14 |
7739 42ae F7FE sbrs r15,7 |
7740 42b0 00C0 rjmp .L621 |
7741 42b2 695F subi r22,lo8(-(7)) |
7742 42b4 7F4F sbci r23,hi8(-(7)) |
7743 .L621: |
7744 42b6 2B01 movw r4,r22 |
7745 42b8 A3E0 ldi r26,3 |
7746 42ba 5594 1: asr r5 |
7747 42bc 4794 ror r4 |
7748 42be AA95 dec r26 |
7749 42c0 01F4 brne 1b |
7750 42c2 22E0 ldi r18,lo8(2) |
7751 42c4 30E0 ldi r19,hi8(2) |
7752 42c6 420E add r4,r18 |
7753 42c8 531E adc r5,r19 |
7754 42ca 6090 0000 lds r6,ErsatzKompass |
7755 42ce 7090 0000 lds r7,(ErsatzKompass)+1 |
7756 42d2 8090 0000 lds r8,(ErsatzKompass)+2 |
7757 42d6 9090 0000 lds r9,(ErsatzKompass)+3 |
7758 42da 2091 0000 lds r18,GIER_GRAD_FAKTOR |
7759 42de 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1 |
7760 42e2 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2 |
7761 42e6 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3 |
7762 42ea C401 movw r24,r8 |
7763 42ec B301 movw r22,r6 |
7764 42ee 0E94 0000 call __divmodsi4 |
7765 42f2 5901 movw r10,r18 |
7766 42f4 6A01 movw r12,r20 |
7767 42f6 3093 0000 sts (ErsatzKompassInGrad)+1,r19 |
7768 42fa 2093 0000 sts ErsatzKompassInGrad,r18 |
7769 42fe 021B sub r16,r18 |
7770 4300 130B sbc r17,r19 |
7771 4302 C801 movw r24,r16 |
7772 4304 845E subi r24,lo8(-(540)) |
7773 4306 9D4F sbci r25,hi8(-(540)) |
7774 4308 68E6 ldi r22,lo8(360) |
7775 430a 71E0 ldi r23,hi8(360) |
7776 430c 0E94 0000 call __divmodhi4 |
7777 4310 9C01 movw r18,r24 |
7778 4312 245B subi r18,lo8(-(-180)) |
7779 4314 3040 sbci r19,hi8(-(-180)) |
7780 4316 8091 0000 lds r24,KompassSignalSchlecht |
7781 431a 9091 0000 lds r25,(KompassSignalSchlecht)+1 |
7782 431e 0097 sbiw r24,0 |
7783 4320 01F0 breq .L622 |
7784 4322 0197 sbiw r24,1 |
7785 4324 9093 0000 sts (KompassSignalSchlecht)+1,r25 |
7786 4328 8093 0000 sts KompassSignalSchlecht,r24 |
7787 432c 00C0 rjmp .L623 |
7788 .L622: |
7789 432e 49E1 ldi r20,lo8(25) |
7790 4330 E416 cp r14,r20 |
7791 4332 F104 cpc r15,__zero_reg__ |
7792 4334 04F4 brge .L623 |
7793 4336 8091 0000 lds r24,GierGyroFehler |
7794 433a 9091 0000 lds r25,(GierGyroFehler)+1 |
7795 433e 820F add r24,r18 |
7796 4340 931F adc r25,r19 |
7797 4342 9093 0000 sts (GierGyroFehler)+1,r25 |
7798 4346 8093 0000 sts GierGyroFehler,r24 |
7799 434a 8091 0000 lds r24,NeueKompassRichtungMerken |
7800 434e 8823 tst r24 |
7801 4350 01F0 breq .L623 |
7802 4352 8150 subi r24,lo8(-(-1)) |
7803 4354 8093 0000 sts NeueKompassRichtungMerken,r24 |
7804 4358 8823 tst r24 |
7805 435a 01F4 brne .L623 |
7806 435c B092 0000 sts (KompassSollWert)+1,r11 |
7807 4360 A092 0000 sts KompassSollWert,r10 |
7808 .L623: |
7809 4364 8091 0000 lds r24,KompassSignalSchlecht |
7810 4368 9091 0000 lds r25,(KompassSignalSchlecht)+1 |
7811 436c 892B or r24,r25 |
7812 436e 01F4 brne .L627 |
7813 4370 8091 0000 lds r24,KompassFusion |
7814 4374 9927 clr r25 |
7815 4376 289F mul r18,r24 |
7816 4378 B001 movw r22,r0 |
7817 437a 299F mul r18,r25 |
7818 437c 700D add r23,r0 |
7819 437e 389F mul r19,r24 |
7820 4380 700D add r23,r0 |
7821 4382 1124 clr r1 |
7822 4384 CB01 movw r24,r22 |
7823 4386 B201 movw r22,r4 |
7824 4388 0E94 0000 call __divmodhi4 |
7825 438c CB01 movw r24,r22 |
7826 438e AA27 clr r26 |
7827 4390 97FD sbrc r25,7 |
7828 4392 A095 com r26 |
7829 4394 BA2F mov r27,r26 |
7830 4396 680E add r6,r24 |
7831 4398 791E adc r7,r25 |
7832 439a 8A1E adc r8,r26 |
7833 439c 9B1E adc r9,r27 |
7834 439e 6092 0000 sts ErsatzKompass,r6 |
7835 43a2 7092 0000 sts (ErsatzKompass)+1,r7 |
7836 43a6 8092 0000 sts (ErsatzKompass)+2,r8 |
7837 43aa 9092 0000 sts (ErsatzKompass)+3,r9 |
7838 .L627: |
7839 43ae 8091 0000 lds r24,NeueKompassRichtungMerken |
7840 43b2 8823 tst r24 |
7841 43b4 01F4 brne .L614 |
7842 43b6 8091 0000 lds r24,KompassSollWert |
7843 43ba 9091 0000 lds r25,(KompassSollWert)+1 |
7844 43be 2091 0000 lds r18,ErsatzKompassInGrad |
7845 43c2 3091 0000 lds r19,(ErsatzKompassInGrad)+1 |
7846 43c6 821B sub r24,r18 |
7847 43c8 930B sbc r25,r19 |
7848 43ca 845E subi r24,lo8(-(540)) |
7849 43cc 9D4F sbci r25,hi8(-(540)) |
7850 43ce 68E6 ldi r22,lo8(360) |
7851 43d0 71E0 ldi r23,hi8(360) |
7852 43d2 0E94 0000 call __divmodhi4 |
7853 43d6 9C01 movw r18,r24 |
7854 43d8 245B subi r18,lo8(-(-180)) |
7855 43da 3040 sbci r19,hi8(-(-180)) |
7856 43dc 8091 0000 lds r24,Parameter_KompassWirkung |
7857 43e0 8695 lsr r24 |
7858 43e2 9927 clr r25 |
7859 43e4 289F mul r18,r24 |
7860 43e6 D001 movw r26,r0 |
7861 43e8 299F mul r18,r25 |
7862 43ea B00D add r27,r0 |
7863 43ec 389F mul r19,r24 |
7864 43ee B00D add r27,r0 |
7865 43f0 1124 clr r1 |
7866 43f2 9D01 movw r18,r26 |
7867 43f4 B7FF sbrs r27,7 |
7868 43f6 00C0 rjmp .L629 |
7869 43f8 215F subi r18,lo8(-(15)) |
7870 43fa 3F4F sbci r19,hi8(-(15)) |
7871 .L629: |
7872 43fc F4E0 ldi r31,4 |
7873 43fe 3595 1: asr r19 |
7874 4400 2795 ror r18 |
7875 4402 FA95 dec r31 |
7876 4404 01F4 brne 1b |
7877 4406 3093 0000 sts (CompassGierSetpoint)+1,r19 |
7878 440a 2093 0000 sts CompassGierSetpoint,r18 |
7879 440e 00C0 rjmp .L631 |
7880 .L614: |
7881 4410 1092 0000 sts (CompassGierSetpoint)+1,__zero_reg__ |
7882 4414 1092 0000 sts CompassGierSetpoint,__zero_reg__ |
7883 .L631: |
7884 4418 8091 0000 lds r24,TrichterFlug |
7885 441c 8823 tst r24 |
7886 441e 01F0 breq .L632 |
7887 4420 1092 0000 sts SummeRoll,__zero_reg__ |
7888 4424 1092 0000 sts (SummeRoll)+1,__zero_reg__ |
7889 4428 1092 0000 sts (SummeRoll)+2,__zero_reg__ |
7890 442c 1092 0000 sts (SummeRoll)+3,__zero_reg__ |
7891 4430 1092 0000 sts SummeNick,__zero_reg__ |
7892 4434 1092 0000 sts (SummeNick)+1,__zero_reg__ |
7893 4438 1092 0000 sts (SummeNick)+2,__zero_reg__ |
7894 443c 1092 0000 sts (SummeNick)+3,__zero_reg__ |
7895 .L632: |
7896 4440 F090 0000 lds r15,Looping_Nick |
7897 4444 FF20 tst r15 |
7898 4446 01F4 brne .L633 |
7899 4448 8091 0000 lds r24,IntegralFaktor |
7900 444c 282F mov r18,r24 |
7901 444e 3327 clr r19 |
7902 4450 4427 clr r20 |
7903 4452 5527 clr r21 |
7904 4454 8091 0000 lds r24,IntegralNick |
7905 4458 9091 0000 lds r25,(IntegralNick)+1 |
7906 445c A091 0000 lds r26,(IntegralNick)+2 |
7907 4460 B091 0000 lds r27,(IntegralNick)+3 |
7908 4464 BC01 movw r22,r24 |
7909 4466 CD01 movw r24,r26 |
7910 4468 0E94 0000 call __mulsi3 |
7911 446c DC01 movw r26,r24 |
7912 446e CB01 movw r24,r22 |
7913 4470 BC01 movw r22,r24 |
7914 4472 CD01 movw r24,r26 |
7915 4474 28EF ldi r18,lo8(11000) |
7916 4476 3AE2 ldi r19,hi8(11000) |
7917 4478 40E0 ldi r20,hlo8(11000) |
7918 447a 50E0 ldi r21,hhi8(11000) |
7919 447c 0E94 0000 call __divmodsi4 |
7920 4480 3901 movw r6,r18 |
7921 4482 00C0 rjmp .L634 |
7922 .L633: |
7923 4484 6624 clr r6 |
7924 4486 7724 clr r7 |
7925 .L634: |
7926 4488 E090 0000 lds r14,Looping_Roll |
7927 448c EE20 tst r14 |
7928 448e 01F4 brne .L635 |
7929 4490 8091 0000 lds r24,IntegralFaktor |
7930 4494 282F mov r18,r24 |
7931 4496 3327 clr r19 |
7932 4498 4427 clr r20 |
7933 449a 5527 clr r21 |
7934 449c 8091 0000 lds r24,IntegralRoll |
7935 44a0 9091 0000 lds r25,(IntegralRoll)+1 |
7936 44a4 A091 0000 lds r26,(IntegralRoll)+2 |
7937 44a8 B091 0000 lds r27,(IntegralRoll)+3 |
7938 44ac BC01 movw r22,r24 |
7939 44ae CD01 movw r24,r26 |
7940 44b0 0E94 0000 call __mulsi3 |
7941 44b4 DC01 movw r26,r24 |
7942 44b6 CB01 movw r24,r22 |
7943 44b8 BC01 movw r22,r24 |
7944 44ba CD01 movw r24,r26 |
7945 44bc 28EF ldi r18,lo8(11000) |
7946 44be 3AE2 ldi r19,hi8(11000) |
7947 44c0 40E0 ldi r20,hlo8(11000) |
7948 44c2 50E0 ldi r21,hhi8(11000) |
7949 44c4 0E94 0000 call __divmodsi4 |
7950 44c8 2901 movw r4,r18 |
7951 44ca 00C0 rjmp .L636 |
7952 .L635: |
7953 44cc 4424 clr r4 |
7954 44ce 5524 clr r5 |
7955 .L636: |
7956 44d0 8091 0000 lds r24,TrimNick |
7957 44d4 9091 0000 lds r25,(TrimNick)+1 |
7958 44d8 893C cpi r24,201 |
7959 44da 9105 cpc r25,__zero_reg__ |
7960 44dc 04F0 brlt .L637 |
7961 44de 88EC ldi r24,lo8(200) |
7962 44e0 90E0 ldi r25,hi8(200) |
7963 44e2 00C0 rjmp .L894 |
7964 .L637: |
7965 44e4 8853 subi r24,lo8(-200) |
7966 44e6 9F4F sbci r25,hi8(-200) |
7967 44e8 04F4 brge .L638 |
7968 44ea 88E3 ldi r24,lo8(-200) |
7969 44ec 9FEF ldi r25,hi8(-200) |
7970 .L894: |
7971 44ee 9093 0000 sts (TrimNick)+1,r25 |
7972 44f2 8093 0000 sts TrimNick,r24 |
7973 .L638: |
7974 44f6 8091 0000 lds r24,TrimRoll |
7975 44fa 9091 0000 lds r25,(TrimRoll)+1 |
7976 44fe 893C cpi r24,201 |
7977 4500 9105 cpc r25,__zero_reg__ |
7978 4502 04F0 brlt .L640 |
7979 4504 88EC ldi r24,lo8(200) |
7980 4506 90E0 ldi r25,hi8(200) |
7981 4508 00C0 rjmp .L895 |
7982 .L640: |
7983 450a 8853 subi r24,lo8(-200) |
7984 450c 9F4F sbci r25,hi8(-200) |
7985 450e 04F4 brge .L641 |
7986 4510 88E3 ldi r24,lo8(-200) |
7987 4512 9FEF ldi r25,hi8(-200) |
7988 .L895: |
7989 4514 9093 0000 sts (TrimRoll)+1,r25 |
7990 4518 8093 0000 sts TrimRoll,r24 |
7991 .L641: |
7992 451c 8091 0000 lds r24,MesswertNick |
7993 4520 9091 0000 lds r25,(MesswertNick)+1 |
7994 4524 AA27 clr r26 |
7995 4526 97FD sbrc r25,7 |
7996 4528 A095 com r26 |
7997 452a BA2F mov r27,r26 |
7998 452c 2091 0000 lds r18,GyroFaktor |
7999 4530 A22E mov r10,r18 |
8000 4532 BB24 clr r11 |
8001 4534 CC24 clr r12 |
8002 4536 DD24 clr r13 |
8003 4538 BC01 movw r22,r24 |
8004 453a CD01 movw r24,r26 |
8005 453c A601 movw r20,r12 |
8006 453e 9501 movw r18,r10 |
8007 4540 0E94 0000 call __mulsi3 |
8008 4544 9B01 movw r18,r22 |
8009 4546 AC01 movw r20,r24 |
8010 4548 8091 0000 lds r24,TrimNick |
8011 454c 9091 0000 lds r25,(TrimNick)+1 |
8012 4550 AA27 clr r26 |
8013 4552 97FD sbrc r25,7 |
8014 4554 A095 com r26 |
8015 4556 BA2F mov r27,r26 |
8016 4558 E7E0 ldi r30,7 |
8017 455a 880F 1: lsl r24 |
8018 455c 991F rol r25 |
8019 455e AA1F rol r26 |
8020 4560 BB1F rol r27 |
8021 4562 EA95 dec r30 |
8022 4564 01F4 brne 1b |
8023 4566 280F add r18,r24 |
8024 4568 391F adc r19,r25 |
8025 456a 4A1F adc r20,r26 |
8026 456c 5B1F adc r21,r27 |
8027 456e 57FF sbrs r21,7 |
8028 4570 00C0 rjmp .L643 |
8029 4572 215C subi r18,lo8(-(63)) |
8030 4574 3F4F sbci r19,hi8(-(63)) |
8031 4576 4F4F sbci r20,hlo8(-(63)) |
8032 4578 5F4F sbci r21,hhi8(-(63)) |
8033 .L643: |
8034 457a 76E0 ldi r23,6 |
8035 457c 5595 1: asr r21 |
8036 457e 4795 ror r20 |
8037 4580 3795 ror r19 |
8038 4582 2795 ror r18 |
8039 4584 7A95 dec r23 |
8040 4586 01F4 brne 1b |
8041 4588 8301 movw r16,r6 |
8042 458a 020F add r16,r18 |
8043 458c 131F adc r17,r19 |
8044 458e 1093 0000 sts (MesswertNick)+1,r17 |
8045 4592 0093 0000 sts MesswertNick,r16 |
8046 4596 8091 0000 lds r24,MesswertRoll |
8047 459a 9091 0000 lds r25,(MesswertRoll)+1 |
8048 459e AA27 clr r26 |
8049 45a0 97FD sbrc r25,7 |
8050 45a2 A095 com r26 |
8051 45a4 BA2F mov r27,r26 |
8052 45a6 BC01 movw r22,r24 |
8053 45a8 CD01 movw r24,r26 |
8054 45aa A601 movw r20,r12 |
8055 45ac 9501 movw r18,r10 |
8056 45ae 0E94 0000 call __mulsi3 |
8057 45b2 9B01 movw r18,r22 |
8058 45b4 AC01 movw r20,r24 |
8059 45b6 8091 0000 lds r24,TrimRoll |
8060 45ba 9091 0000 lds r25,(TrimRoll)+1 |
8061 45be AA27 clr r26 |
8062 45c0 97FD sbrc r25,7 |
8063 45c2 A095 com r26 |
8064 45c4 BA2F mov r27,r26 |
8065 45c6 67E0 ldi r22,7 |
8066 45c8 880F 1: lsl r24 |
8067 45ca 991F rol r25 |
8068 45cc AA1F rol r26 |
8069 45ce BB1F rol r27 |
8070 45d0 6A95 dec r22 |
8071 45d2 01F4 brne 1b |
8072 45d4 280F add r18,r24 |
8073 45d6 391F adc r19,r25 |
8074 45d8 4A1F adc r20,r26 |
8075 45da 5B1F adc r21,r27 |
8076 45dc 57FF sbrs r21,7 |
8077 45de 00C0 rjmp .L644 |
8078 45e0 215C subi r18,lo8(-(63)) |
8079 45e2 3F4F sbci r19,hi8(-(63)) |
8080 45e4 4F4F sbci r20,hlo8(-(63)) |
8081 45e6 5F4F sbci r21,hhi8(-(63)) |
8082 .L644: |
8083 45e8 F6E0 ldi r31,6 |
8084 45ea 5595 1: asr r21 |
8085 45ec 4795 ror r20 |
8086 45ee 3795 ror r19 |
8087 45f0 2795 ror r18 |
8088 45f2 FA95 dec r31 |
8089 45f4 01F4 brne 1b |
8090 45f6 4201 movw r8,r4 |
8091 45f8 820E add r8,r18 |
8092 45fa 931E adc r9,r19 |
8093 45fc 9092 0000 sts (MesswertRoll)+1,r9 |
8094 4600 8092 0000 sts MesswertRoll,r8 |
8095 4604 8091 0000 lds r24,MesswertGier |
8096 4608 9091 0000 lds r25,(MesswertGier)+1 |
8097 460c 880F add r24,r24 |
8098 460e 991F adc r25,r25 |
8099 4610 AA27 clr r26 |
8100 4612 97FD sbrc r25,7 |
8101 4614 A095 com r26 |
8102 4616 BA2F mov r27,r26 |
8103 4618 2091 0000 lds r18,GyroFaktorGier |
8104 461c 3327 clr r19 |
8105 461e 4427 clr r20 |
8106 4620 5527 clr r21 |
8107 4622 BC01 movw r22,r24 |
8108 4624 CD01 movw r24,r26 |
8109 4626 0E94 0000 call __mulsi3 |
8110 462a 5B01 movw r10,r22 |
8111 462c 6C01 movw r12,r24 |
8112 462e 97FF sbrs r25,7 |
8113 4630 00C0 rjmp .L645 |
8114 4632 2FE3 ldi r18,lo8(63) |
8115 4634 30E0 ldi r19,hi8(63) |
8116 4636 40E0 ldi r20,hlo8(63) |
8117 4638 50E0 ldi r21,hhi8(63) |
8118 463a A20E add r10,r18 |
8119 463c B31E adc r11,r19 |
8120 463e C41E adc r12,r20 |
8121 4640 D51E adc r13,r21 |
8122 .L645: |
8123 4642 E6E0 ldi r30,6 |
8124 4644 D594 1: asr r13 |
8125 4646 C794 ror r12 |
8126 4648 B794 ror r11 |
8127 464a A794 ror r10 |
8128 464c EA95 dec r30 |
8129 464e 01F4 brne 1b |
8130 4650 8091 0000 lds r24,IntegralFaktorGier |
8131 4654 282F mov r18,r24 |
8132 4656 3327 clr r19 |
8133 4658 4427 clr r20 |
8134 465a 5527 clr r21 |
8135 465c 8091 0000 lds r24,Integral_Gier |
8136 4660 9091 0000 lds r25,(Integral_Gier)+1 |
8137 4664 A091 0000 lds r26,(Integral_Gier)+2 |
8138 4668 B091 0000 lds r27,(Integral_Gier)+3 |
8139 466c BC01 movw r22,r24 |
8140 466e CD01 movw r24,r26 |
8141 4670 0E94 0000 call __mulsi3 |
8142 4674 DC01 movw r26,r24 |
8143 4676 CB01 movw r24,r22 |
8144 4678 BC01 movw r22,r24 |
8145 467a CD01 movw r24,r26 |
8146 467c 20EF ldi r18,lo8(22000) |
8147 467e 35E5 ldi r19,hi8(22000) |
8148 4680 40E0 ldi r20,hlo8(22000) |
8149 4682 50E0 ldi r21,hhi8(22000) |
8150 4684 0E94 0000 call __divmodsi4 |
8151 4688 B501 movw r22,r10 |
8152 468a 620F add r22,r18 |
8153 468c 731F adc r23,r19 |
8154 468e 7093 0000 sts (MesswertGier)+1,r23 |
8155 4692 6093 0000 sts MesswertGier,r22 |
8156 4696 0150 subi r16,lo8(4097) |
8157 4698 1041 sbci r17,hi8(4097) |
8158 469a 04F0 brlt .L646 |
8159 469c 80E0 ldi r24,lo8(4096) |
8160 469e 90E1 ldi r25,hi8(4096) |
8161 46a0 9093 0000 sts (MesswertNick)+1,r25 |
8162 46a4 8093 0000 sts MesswertNick,r24 |
8163 .L646: |
8164 46a8 8091 0000 lds r24,MesswertNick |
8165 46ac 9091 0000 lds r25,(MesswertNick)+1 |
8166 46b0 8050 subi r24,lo8(-4096) |
8167 46b2 904F sbci r25,hi8(-4096) |
8168 46b4 04F4 brge .L647 |
8169 46b6 80E0 ldi r24,lo8(-4096) |
8170 46b8 90EF ldi r25,hi8(-4096) |
8171 46ba 9093 0000 sts (MesswertNick)+1,r25 |
8172 46be 8093 0000 sts MesswertNick,r24 |
8173 .L647: |
8174 46c2 51E0 ldi r21,lo8(4097) |
8175 46c4 8516 cp r8,r21 |
8176 46c6 50E1 ldi r21,hi8(4097) |
8177 46c8 9506 cpc r9,r21 |
8178 46ca 04F0 brlt .L648 |
8179 46cc 80E0 ldi r24,lo8(4096) |
8180 46ce 90E1 ldi r25,hi8(4096) |
8181 46d0 9093 0000 sts (MesswertRoll)+1,r25 |
8182 46d4 8093 0000 sts MesswertRoll,r24 |
8183 .L648: |
8184 46d8 8091 0000 lds r24,MesswertRoll |
8185 46dc 9091 0000 lds r25,(MesswertRoll)+1 |
8186 46e0 8050 subi r24,lo8(-4096) |
8187 46e2 904F sbci r25,hi8(-4096) |
8188 46e4 04F4 brge .L649 |
8189 46e6 80E0 ldi r24,lo8(-4096) |
8190 46e8 90EF ldi r25,hi8(-4096) |
8191 46ea 9093 0000 sts (MesswertRoll)+1,r25 |
8192 46ee 8093 0000 sts MesswertRoll,r24 |
8193 .L649: |
8194 46f2 6150 subi r22,lo8(4097) |
8195 46f4 7041 sbci r23,hi8(4097) |
8196 46f6 04F0 brlt .L650 |
8197 46f8 80E0 ldi r24,lo8(4096) |
8198 46fa 90E1 ldi r25,hi8(4096) |
8199 46fc 9093 0000 sts (MesswertGier)+1,r25 |
8200 4700 8093 0000 sts MesswertGier,r24 |
8201 .L650: |
8202 4704 8091 0000 lds r24,MesswertGier |
8203 4708 9091 0000 lds r25,(MesswertGier)+1 |
8204 470c 8050 subi r24,lo8(-4096) |
8205 470e 904F sbci r25,hi8(-4096) |
8206 4710 04F4 brge .L651 |
8207 4712 80E0 ldi r24,lo8(-4096) |
8208 4714 90EF ldi r25,hi8(-4096) |
8209 4716 9093 0000 sts (MesswertGier)+1,r25 |
8210 471a 8093 0000 sts MesswertGier,r24 |
8211 .L651: |
8212 471e 8091 0000 lds r24,BattLowVoltageWarning |
8213 4722 482F mov r20,r24 |
8214 4724 5527 clr r21 |
8215 4726 8091 0000 lds r24,UBat |
8216 472a 9091 0000 lds r25,(UBat)+1 |
8217 472e 4817 cp r20,r24 |
8218 4730 5907 cpc r21,r25 |
8219 4732 04F4 brge .L652 |
8220 4734 2091 0000 lds r18,UBat |
8221 4738 3091 0000 lds r19,(UBat)+1 |
8222 473c 0981 ldd r16,Y+1 |
8223 473e 1A81 ldd r17,Y+2 |
8224 4740 049F mul r16,r20 |
8225 4742 C001 movw r24,r0 |
8226 4744 059F mul r16,r21 |
8227 4746 900D add r25,r0 |
8228 4748 149F mul r17,r20 |
8229 474a 900D add r25,r0 |
8230 474c 1124 clr r1 |
8231 474e B901 movw r22,r18 |
8232 4750 0E94 0000 call __udivmodhi4 |
8233 4754 7A83 std Y+2,r23 |
8234 4756 6983 std Y+1,r22 |
8235 .L652: |
8236 4758 2981 ldd r18,Y+1 |
8237 475a 3A81 ldd r19,Y+2 |
8238 475c 220F lsl r18 |
8239 475e 331F rol r19 |
8240 4760 220F lsl r18 |
8241 4762 331F rol r19 |
8242 4764 3A83 std Y+2,r19 |
8243 4766 2983 std Y+1,r18 |
8244 4768 4091 0000 lds r20,Parameter_GlobalConfig |
8245 476c 40FD sbrc r20,0 |
8246 476e 00C0 rjmp .+4 |
8247 4770 0C94 0000 jmp .L653 |
8248 4774 EE20 tst r14 |
8249 4776 01F0 breq .+4 |
8250 4778 0C94 0000 jmp .L653 |
8251 477c FF20 tst r15 |
8252 477e 01F0 breq .+4 |
8253 4780 0C94 0000 jmp .L653 |
8254 4784 00E0 ldi r16,lo8(0) |
8255 4786 10E0 ldi r17,hi8(0) |
8256 4788 4801 movw r8,r16 |
8257 478a 8091 0000 lds r24,HoverGas |
8258 478e 9091 0000 lds r25,(HoverGas)+1 |
8259 4792 9093 0000 sts (DebugOut+44)+1,r25 |
8260 4796 8093 0000 sts DebugOut+44,r24 |
8261 479a 2091 0000 lds r18,BaroExpandActive |
8262 479e 3091 0000 lds r19,(BaroExpandActive)+1 |
8263 47a2 2115 cp r18,__zero_reg__ |
8264 47a4 3105 cpc r19,__zero_reg__ |
8265 47a6 01F0 breq .+2 |
8266 47a8 00C0 rjmp .L654 |
8267 47aa 8091 0000 lds r24,MessLuftdruck |
8268 47ae 9091 0000 lds r25,(MessLuftdruck)+1 |
8269 47b2 8959 subi r24,lo8(921) |
8270 47b4 9340 sbci r25,hi8(921) |
8271 47b6 00F0 brlo .L655 |
8272 47b8 87B5 in r24,71-0x20 |
8273 47ba 803F cpi r24,lo8(-16) |
8274 47bc 00F4 brsh .L656 |
8275 47be 8091 0000 lds r24,ExpandBaro |
8276 47c2 8150 subi r24,lo8(-(-1)) |
8277 47c4 00C0 rjmp .L896 |
8278 .L656: |
8279 47c6 81E0 ldi r24,lo8(1) |
8280 47c8 8093 0000 sts BaroAtLowerLimit.26,r24 |
8281 47cc 00C0 rjmp .L663 |
8282 .L655: |
8283 47ce 8091 0000 lds r24,MessLuftdruck |
8284 47d2 9091 0000 lds r25,(MessLuftdruck)+1 |
8285 47d6 8436 cpi r24,100 |
8286 47d8 9105 cpc r25,__zero_reg__ |
8287 47da 00F4 brsh .L659 |
8288 47dc 87B5 in r24,71-0x20 |
8289 47de 8031 cpi r24,lo8(16) |
8290 47e0 00F0 brlo .L660 |
8291 47e2 8091 0000 lds r24,ExpandBaro |
8292 47e6 8F5F subi r24,lo8(-(1)) |
8293 .L896: |
8294 47e8 8093 0000 sts ExpandBaro,r24 |
8295 47ec 9FE0 ldi r25,lo8(15) |
8296 47ee 8902 muls r24,r25 |
8297 47f0 9001 movw r18,r0 |
8298 47f2 1124 clr r1 |
8299 47f4 8091 0000 lds r24,DruckOffsetSetting |
8300 47f8 821B sub r24,r18 |
8301 47fa 87BD out 71-0x20,r24 |
8302 47fc 8CE2 ldi r24,lo8(300) |
8303 47fe 91E0 ldi r25,hi8(300) |
8304 4800 9093 0000 sts (beeptime)+1,r25 |
8305 4804 8093 0000 sts beeptime,r24 |
8306 4808 8EE5 ldi r24,lo8(350) |
8307 480a 91E0 ldi r25,hi8(350) |
8308 480c 9093 0000 sts (BaroExpandActive)+1,r25 |
8309 4810 8093 0000 sts BaroExpandActive,r24 |
8310 4814 00C0 rjmp .L663 |
8311 .L660: |
8312 4816 81E0 ldi r24,lo8(1) |
8313 4818 8093 0000 sts BaroAtUpperLimit.25,r24 |
8314 481c 00C0 rjmp .L663 |
8315 .L659: |
8316 481e F092 0000 sts BaroAtUpperLimit.25,r15 |
8317 4822 F092 0000 sts BaroAtLowerLimit.26,r15 |
8318 4826 00C0 rjmp .L663 |
8319 .L654: |
8320 4828 8091 0000 lds r24,HoehenWert |
8321 482c 9091 0000 lds r25,(HoehenWert)+1 |
8322 4830 A091 0000 lds r26,(HoehenWert)+2 |
8323 4834 B091 0000 lds r27,(HoehenWert)+3 |
8324 4838 64E0 ldi r22,4 |
8325 483a 880F 1: lsl r24 |
8326 483c 991F rol r25 |
8327 483e AA1F rol r26 |
8328 4840 BB1F rol r27 |
8329 4842 6A95 dec r22 |
8330 4844 01F4 brne 1b |
8331 4846 8093 0000 sts SummenHoehe,r24 |
8332 484a 9093 0000 sts (SummenHoehe)+1,r25 |
8333 484e A093 0000 sts (SummenHoehe)+2,r26 |
8334 4852 B093 0000 sts (SummenHoehe)+3,r27 |
8335 4856 1093 0000 sts (VarioMeter)+1,r17 |
8336 485a 0093 0000 sts VarioMeter,r16 |
8337 485e 2150 subi r18,lo8(-(-1)) |
8338 4860 3040 sbci r19,hi8(-(-1)) |
8339 4862 3093 0000 sts (BaroExpandActive)+1,r19 |
8340 4866 2093 0000 sts BaroExpandActive,r18 |
8341 .L663: |
8342 486a 2091 0000 lds r18,Parameter_HoehenSchalter |
8343 486e 41FF sbrs r20,1 |
8344 4870 00C0 rjmp .L664 |
8345 4872 2233 cpi r18,lo8(50) |
8346 4874 00F4 brsh .L665 |
8347 4876 8091 0000 lds r24,delay.24 |
8348 487a 8150 subi r24,lo8(-(-1)) |
8349 487c 8093 0000 sts delay.24,r24 |
8350 4880 8F3F cpi r24,lo8(-1) |
8351 4882 01F0 breq .+2 |
8352 4884 00C0 rjmp .L671 |
8353 4886 8091 0000 lds r24,SpeakHoTT |
8354 488a 8823 tst r24 |
8355 488c 01F4 brne .L667 |
8356 488e 8091 0000 lds r24,HoehenReglerAktiv |
8357 4892 8823 tst r24 |
8358 4894 01F0 breq .L667 |
8359 4896 88E2 ldi r24,lo8(40) |
8360 4898 8093 0000 sts SpeakHoTT,r24 |
8361 .L667: |
8362 489c 1092 0000 sts HoehenReglerAktiv,__zero_reg__ |
8363 48a0 8091 0000 lds r24,HoehenWert |
8364 48a4 9091 0000 lds r25,(HoehenWert)+1 |
8365 48a8 A091 0000 lds r26,(HoehenWert)+2 |
8366 48ac B091 0000 lds r27,(HoehenWert)+3 |
8367 48b0 8093 0000 sts SollHoehe,r24 |
8368 48b4 9093 0000 sts (SollHoehe)+1,r25 |
8369 48b8 A093 0000 sts (SollHoehe)+2,r26 |
8370 48bc B093 0000 sts (SollHoehe)+3,r27 |
8371 48c0 81E0 ldi r24,lo8(1) |
8372 48c2 8093 0000 sts delay.24,r24 |
8373 48c6 00C0 rjmp .L671 |
8374 .L665: |
8375 48c8 2734 cpi r18,lo8(71) |
8376 48ca 00F0 brlo .L671 |
8377 48cc 8091 0000 lds r24,SpeakHoTT |
8378 48d0 8823 tst r24 |
8379 48d2 01F4 brne .L670 |
8380 48d4 8091 0000 lds r24,HoehenReglerAktiv |
8381 48d8 8823 tst r24 |
8382 48da 01F4 brne .L670 |
8383 48dc 87E2 ldi r24,lo8(39) |
8384 48de 8093 0000 sts SpeakHoTT,r24 |
8385 .L670: |
8386 48e2 88EC ldi r24,lo8(-56) |
8387 48e4 8093 0000 sts delay.24,r24 |
8388 48e8 00C0 rjmp .L897 |
8389 .L664: |
8390 48ea 8091 0000 lds r24,ExternHoehenValue |
8391 48ee 9091 0000 lds r25,(ExternHoehenValue)+1 |
8392 48f2 820F add r24,r18 |
8393 48f4 911D adc r25,__zero_reg__ |
8394 48f6 2091 0000 lds r18,EE_Parameter+18 |
8395 48fa 3327 clr r19 |
8396 48fc 829F mul r24,r18 |
8397 48fe A001 movw r20,r0 |
8398 4900 839F mul r24,r19 |
8399 4902 500D add r21,r0 |
8400 4904 929F mul r25,r18 |
8401 4906 500D add r21,r0 |
8402 4908 1124 clr r1 |
8403 490a CA01 movw r24,r20 |
8404 490c AA27 clr r26 |
8405 490e 97FD sbrc r25,7 |
8406 4910 A095 com r26 |
8407 4912 BA2F mov r27,r26 |
8408 4914 8093 0000 sts SollHoehe,r24 |
8409 4918 9093 0000 sts (SollHoehe)+1,r25 |
8410 491c A093 0000 sts (SollHoehe)+2,r26 |
8411 4920 B093 0000 sts (SollHoehe)+3,r27 |
8412 .L897: |
8413 4924 81E0 ldi r24,lo8(1) |
8414 4926 8093 0000 sts HoehenReglerAktiv,r24 |
8415 .L671: |
8416 492a 8091 0000 lds r24,IntegralNick |
8417 492e 9091 0000 lds r25,(IntegralNick)+1 |
8418 4932 A091 0000 lds r26,(IntegralNick)+2 |
8419 4936 B091 0000 lds r27,(IntegralNick)+3 |
8420 493a E090 0000 lds r14,GIER_GRAD_FAKTOR |
8421 493e F090 0000 lds r15,(GIER_GRAD_FAKTOR)+1 |
8422 4942 0091 0000 lds r16,(GIER_GRAD_FAKTOR)+2 |
8423 4946 1091 0000 lds r17,(GIER_GRAD_FAKTOR)+3 |
8424 494a BC01 movw r22,r24 |
8425 494c CD01 movw r24,r26 |
8426 494e A801 movw r20,r16 |
8427 4950 9701 movw r18,r14 |
8428 4952 0E94 0000 call __divmodsi4 |
8429 4956 5901 movw r10,r18 |
8430 4958 6A01 movw r12,r20 |
8431 495a 8091 0000 lds r24,IntegralRoll |
8432 495e 9091 0000 lds r25,(IntegralRoll)+1 |
8433 4962 A091 0000 lds r26,(IntegralRoll)+2 |
8434 4966 B091 0000 lds r27,(IntegralRoll)+3 |
8435 496a BC01 movw r22,r24 |
8436 496c CD01 movw r24,r26 |
8437 496e A801 movw r20,r16 |
8438 4970 9701 movw r18,r14 |
8439 4972 0E94 0000 call __divmodsi4 |
8440 4976 B901 movw r22,r18 |
8441 4978 C501 movw r24,r10 |
8442 497a 0E94 0000 call ihypot |
8443 497e 5C01 movw r10,r24 |
8444 4980 CC97 sbiw r24,60 |
8445 4982 04F0 brlt .L672 |
8446 4984 5CE3 ldi r21,lo8(60) |
8447 4986 A52E mov r10,r21 |
8448 4988 B12C mov r11,__zero_reg__ |
8449 .L672: |
8450 498a C501 movw r24,r10 |
8451 498c 0E94 0000 call c_cos_8192 |
8452 4990 5C01 movw r10,r24 |
8453 4992 80E2 ldi r24,lo8(32) |
8454 4994 8093 0000 sts VarioCharacter,r24 |
8455 4998 1092 0000 sts (AltitudeSetpointTrimming)+1,__zero_reg__ |
8456 499c 1092 0000 sts AltitudeSetpointTrimming,__zero_reg__ |
8457 49a0 8091 0000 lds r24,HoehenReglerAktiv |
8458 49a4 8823 tst r24 |
8459 49a6 01F4 brne .+2 |
8460 49a8 00C0 rjmp .L673 |
8461 49aa 8091 0000 lds r24,FC_StatusFlags |
8462 49ae 9927 clr r25 |
8463 49b0 9C01 movw r18,r24 |
8464 49b2 2071 andi r18,lo8(16) |
8465 49b4 3070 andi r19,hi8(16) |
8466 49b6 84FD sbrc r24,4 |
8467 49b8 00C0 rjmp .L673 |
8468 49ba 8091 0000 lds r24,FC_StatusFlags2 |
8469 49be 8260 ori r24,lo8(2) |
8470 49c0 8093 0000 sts FC_StatusFlags2,r24 |
8471 49c4 7091 0000 lds r23,Parameter_ExtraConfig |
8472 49c8 872F mov r24,r23 |
8473 49ca 9927 clr r25 |
8474 49cc 41E0 ldi r20,lo8(1) |
8475 49ce C42E mov r12,r20 |
8476 49d0 D12C mov r13,__zero_reg__ |
8477 49d2 C822 and r12,r24 |
8478 49d4 D922 and r13,r25 |
8479 49d6 80FD sbrc r24,0 |
8480 49d8 00C0 rjmp .L675 |
8481 49da 8091 0000 lds r24,Parameter_GlobalConfig |
8482 49de 81FD sbrc r24,1 |
8483 49e0 00C0 rjmp .L674 |
8484 .L675: |
8485 49e2 C980 ldd r12,Y+1 |
8486 49e4 DA80 ldd r13,Y+2 |
8487 49e6 3093 0000 sts (HeightTrimming.21)+1,r19 |
8488 49ea 2093 0000 sts HeightTrimming.21,r18 |
8489 49ee 3093 0000 sts (AltitudeSetpointTrimming)+1,r19 |
8490 49f2 2093 0000 sts AltitudeSetpointTrimming,r18 |
8491 49f6 8091 0000 lds r24,FC_StatusFlags |
8492 49fa 806C ori r24,lo8(-64) |
8493 49fc 8093 0000 sts FC_StatusFlags,r24 |
8494 4a00 00C0 rjmp .L676 |
8495 .L674: |
8496 4a02 8091 0000 lds r24,FC_StatusFlags |
8497 4a06 81FF sbrs r24,1 |
8498 4a08 00C0 rjmp .L677 |
8499 4a0a 0091 0000 lds r16,StickGasHover |
8500 4a0e 1091 0000 lds r17,(StickGasHover)+1 |
8501 4a12 C801 movw r24,r16 |
8502 4a14 0F96 adiw r24,15 |
8503 4a16 2090 0000 lds r2,StickGas |
8504 4a1a 3090 0000 lds r3,(StickGas)+1 |
8505 4a1e 8215 cp r24,r2 |
8506 4a20 9305 cpc r25,r3 |
8507 4a22 04F0 brlt .+2 |
8508 4a24 00C0 rjmp .L678 |
8509 4a26 8091 0000 lds r24,BaroAtUpperLimit.25 |
8510 4a2a 8823 tst r24 |
8511 4a2c 01F0 breq .+2 |
8512 4a2e 00C0 rjmp .L678 |
8513 4a30 8091 0000 lds r24,FC_StatusFlags |
8514 4a34 87FF sbrs r24,7 |
8515 4a36 00C0 rjmp .L679 |
8516 4a38 8091 0000 lds r24,FC_StatusFlags |
8517 4a3c 8F77 andi r24,lo8(127) |
8518 4a3e 8093 0000 sts FC_StatusFlags,r24 |
8519 4a42 8091 0000 lds r24,HoehenWert |
8520 4a46 9091 0000 lds r25,(HoehenWert)+1 |
8521 4a4a A091 0000 lds r26,(HoehenWert)+2 |
8522 4a4e B091 0000 lds r27,(HoehenWert)+3 |
8523 4a52 8093 0000 sts SollHoehe,r24 |
8524 4a56 9093 0000 sts (SollHoehe)+1,r25 |
8525 4a5a A093 0000 sts (SollHoehe)+2,r26 |
8526 4a5e B093 0000 sts (SollHoehe)+3,r27 |
8527 .L679: |
8528 4a62 8091 0000 lds r24,FC_StatusFlags |
8529 4a66 8064 ori r24,lo8(64) |
8530 4a68 8093 0000 sts FC_StatusFlags,r24 |
8531 4a6c E090 0000 lds r14,Parameter_MaximumAltitude |
8532 4a70 EE20 tst r14 |
8533 4a72 01F0 breq .L680 |
8534 4a74 8091 0000 lds r24,SollHoehe |
8535 4a78 9091 0000 lds r25,(SollHoehe)+1 |
8536 4a7c A091 0000 lds r26,(SollHoehe)+2 |
8537 4a80 B091 0000 lds r27,(SollHoehe)+3 |
8538 4a84 BC01 movw r22,r24 |
8539 4a86 CD01 movw r24,r26 |
8540 4a88 24E6 ldi r18,lo8(100) |
8541 4a8a 30E0 ldi r19,hi8(100) |
8542 4a8c 40E0 ldi r20,hlo8(100) |
8543 4a8e 50E0 ldi r21,hhi8(100) |
8544 4a90 0E94 0000 call __divmodsi4 |
8545 4a94 8E2D mov r24,r14 |
8546 4a96 9927 clr r25 |
8547 4a98 AA27 clr r26 |
8548 4a9a BB27 clr r27 |
8549 4a9c 8217 cp r24,r18 |
8550 4a9e 9307 cpc r25,r19 |
8551 4aa0 A407 cpc r26,r20 |
8552 4aa2 B507 cpc r27,r21 |
8553 4aa4 04F4 brge .L680 |
8554 4aa6 D092 0000 sts (AltitudeSetpointTrimming)+1,r13 |
8555 4aaa C092 0000 sts AltitudeSetpointTrimming,r12 |
8556 4aae 00C0 rjmp .L681 |
8557 .L680: |
8558 4ab0 C101 movw r24,r2 |
8559 4ab2 801B sub r24,r16 |
8560 4ab4 910B sbc r25,r17 |
8561 4ab6 0F97 sbiw r24,15 |
8562 4ab8 97FF sbrs r25,7 |
8563 4aba 00C0 rjmp .L682 |
8564 4abc 9095 com r25 |
8565 4abe 8195 neg r24 |
8566 4ac0 9F4F sbci r25,lo8(-1) |
8567 .L682: |
8568 4ac2 9093 0000 sts (AltitudeSetpointTrimming)+1,r25 |
8569 4ac6 8093 0000 sts AltitudeSetpointTrimming,r24 |
8570 4aca 8BE2 ldi r24,lo8(43) |
8571 4acc 8093 0000 sts VarioCharacter,r24 |
8572 .L681: |
8573 4ad0 1092 0000 sts WaypointTrimming,__zero_reg__ |
8574 4ad4 00C0 rjmp .L683 |
8575 .L678: |
8576 4ad6 C801 movw r24,r16 |
8577 4ad8 0F97 sbiw r24,15 |
8578 4ada 2816 cp r2,r24 |
8579 4adc 3906 cpc r3,r25 |
8580 4ade 04F4 brge .L684 |
8581 4ae0 2091 0000 lds r18,BaroAtLowerLimit.26 |
8582 4ae4 2223 tst r18 |
8583 4ae6 01F4 brne .L684 |
8584 4ae8 8091 0000 lds r24,FC_StatusFlags |
8585 4aec 86FF sbrs r24,6 |
8586 4aee 00C0 rjmp .L685 |
8587 4af0 8091 0000 lds r24,FC_StatusFlags |
8588 4af4 8F7B andi r24,lo8(-65) |
8589 4af6 8093 0000 sts FC_StatusFlags,r24 |
8590 4afa 8091 0000 lds r24,HoehenWert |
8591 4afe 9091 0000 lds r25,(HoehenWert)+1 |
8592 4b02 A091 0000 lds r26,(HoehenWert)+2 |
8593 4b06 B091 0000 lds r27,(HoehenWert)+3 |
8594 4b0a 8093 0000 sts SollHoehe,r24 |
8595 4b0e 9093 0000 sts (SollHoehe)+1,r25 |
8596 4b12 A093 0000 sts (SollHoehe)+2,r26 |
8597 4b16 B093 0000 sts (SollHoehe)+3,r27 |
8598 .L685: |
8599 4b1a 8091 0000 lds r24,FC_StatusFlags |
8600 4b1e 8068 ori r24,lo8(-128) |
8601 4b20 8093 0000 sts FC_StatusFlags,r24 |
8602 4b24 C101 movw r24,r2 |
8603 4b26 801B sub r24,r16 |
8604 4b28 910B sbc r25,r17 |
8605 4b2a 0F96 adiw r24,15 |
8606 4b2c 97FF sbrs r25,7 |
8607 4b2e 00C0 rjmp .L686 |
8608 4b30 9095 com r25 |
8609 4b32 8195 neg r24 |
8610 4b34 9F4F sbci r25,lo8(-1) |
8611 .L686: |
8612 4b36 9095 com r25 |
8613 4b38 8195 neg r24 |
8614 4b3a 9F4F sbci r25,lo8(-1) |
8615 4b3c 9093 0000 sts (AltitudeSetpointTrimming)+1,r25 |
8616 4b40 8093 0000 sts AltitudeSetpointTrimming,r24 |
8617 4b44 8DE2 ldi r24,lo8(45) |
8618 4b46 8093 0000 sts VarioCharacter,r24 |
8619 4b4a 2093 0000 sts WaypointTrimming,r18 |
8620 4b4e 00C0 rjmp .L683 |
8621 .L684: |
8622 4b50 8DE3 ldi r24,lo8(61) |
8623 4b52 8093 0000 sts VarioCharacter,r24 |
8624 4b56 6091 0000 lds r22,FromNC_AltitudeSpeed |
8625 4b5a 6623 tst r22 |
8626 4b5c 01F0 breq .L688 |
8627 4b5e 2091 0000 lds r18,FromNC_AltitudeSetpoint |
8628 4b62 3091 0000 lds r19,(FromNC_AltitudeSetpoint)+1 |
8629 4b66 4091 0000 lds r20,(FromNC_AltitudeSetpoint)+2 |
8630 4b6a 5091 0000 lds r21,(FromNC_AltitudeSetpoint)+3 |
8631 4b6e 8091 0000 lds r24,SollHoehe |
8632 4b72 9091 0000 lds r25,(SollHoehe)+1 |
8633 4b76 A091 0000 lds r26,(SollHoehe)+2 |
8634 4b7a B091 0000 lds r27,(SollHoehe)+3 |
8635 4b7e 8217 cp r24,r18 |
8636 4b80 9307 cpc r25,r19 |
8637 4b82 A407 cpc r26,r20 |
8638 4b84 B507 cpc r27,r21 |
8639 4b86 04F4 brge .L688 |
8640 4b88 8091 0000 lds r24,FC_StatusFlags |
8641 4b8c 8064 ori r24,lo8(64) |
8642 4b8e 8093 0000 sts FC_StatusFlags,r24 |
8643 4b92 862F mov r24,r22 |
8644 4b94 9927 clr r25 |
8645 4b96 9093 0000 sts (AltitudeSetpointTrimming)+1,r25 |
8646 4b9a 8093 0000 sts AltitudeSetpointTrimming,r24 |
8647 4b9e 8AE0 ldi r24,lo8(10) |
8648 4ba0 8093 0000 sts WaypointTrimming,r24 |
8649 4ba4 8EE5 ldi r24,lo8(94) |
8650 4ba6 8093 0000 sts VarioCharacter,r24 |
8651 4baa 8091 0000 lds r24,FC_StatusFlags |
8652 4bae 87FF sbrs r24,7 |
8653 4bb0 00C0 rjmp .L683 |
8654 4bb2 8091 0000 lds r24,FC_StatusFlags |
8655 4bb6 8F77 andi r24,lo8(127) |
8656 4bb8 00C0 rjmp .L899 |
8657 .L688: |
8658 4bba 6623 tst r22 |
8659 4bbc 01F4 brne .+2 |
8660 4bbe 00C0 rjmp .L691 |
8661 4bc0 2091 0000 lds r18,FromNC_AltitudeSetpoint |
8662 4bc4 3091 0000 lds r19,(FromNC_AltitudeSetpoint)+1 |
8663 4bc8 4091 0000 lds r20,(FromNC_AltitudeSetpoint)+2 |
8664 4bcc 5091 0000 lds r21,(FromNC_AltitudeSetpoint)+3 |
8665 4bd0 8091 0000 lds r24,SollHoehe |
8666 4bd4 9091 0000 lds r25,(SollHoehe)+1 |
8667 4bd8 A091 0000 lds r26,(SollHoehe)+2 |
8668 4bdc B091 0000 lds r27,(SollHoehe)+3 |
8669 4be0 2817 cp r18,r24 |
8670 4be2 3907 cpc r19,r25 |
8671 4be4 4A07 cpc r20,r26 |
8672 4be6 5B07 cpc r21,r27 |
8673 4be8 04F4 brge .L691 |
8674 4bea 8091 0000 lds r24,FC_StatusFlags |
8675 4bee 8068 ori r24,lo8(-128) |
8676 4bf0 8093 0000 sts FC_StatusFlags,r24 |
8677 4bf4 862F mov r24,r22 |
8678 4bf6 9927 clr r25 |
8679 4bf8 9095 com r25 |
8680 4bfa 8195 neg r24 |
8681 4bfc 9F4F sbci r25,lo8(-1) |
8682 4bfe 9093 0000 sts (AltitudeSetpointTrimming)+1,r25 |
8683 4c02 8093 0000 sts AltitudeSetpointTrimming,r24 |
8684 4c06 86EF ldi r24,lo8(-10) |
8685 4c08 8093 0000 sts WaypointTrimming,r24 |
8686 4c0c 86E7 ldi r24,lo8(118) |
8687 4c0e 8093 0000 sts VarioCharacter,r24 |
8688 4c12 8091 0000 lds r24,FC_StatusFlags |
8689 4c16 86FF sbrs r24,6 |
8690 4c18 00C0 rjmp .L683 |
8691 4c1a 8091 0000 lds r24,FC_StatusFlags |
8692 4c1e 8F7B andi r24,lo8(-65) |
8693 .L899: |
8694 4c20 8093 0000 sts FC_StatusFlags,r24 |
8695 4c24 8091 0000 lds r24,HoehenWert |
8696 4c28 9091 0000 lds r25,(HoehenWert)+1 |
8697 4c2c A091 0000 lds r26,(HoehenWert)+2 |
8698 4c30 B091 0000 lds r27,(HoehenWert)+3 |
8699 4c34 8093 0000 sts SollHoehe,r24 |
8700 4c38 9093 0000 sts (SollHoehe)+1,r25 |
8701 4c3c A093 0000 sts (SollHoehe)+2,r26 |
8702 4c40 B093 0000 sts (SollHoehe)+3,r27 |
8703 4c44 00C0 rjmp .L683 |
8704 .L691: |
8705 4c46 8091 0000 lds r24,FC_StatusFlags |
8706 4c4a 807C andi r24,lo8(-64) |
8707 4c4c 01F4 brne .+2 |
8708 4c4e 00C0 rjmp .L683 |
8709 4c50 8091 0000 lds r24,WaypointTrimming |
8710 4c54 8823 tst r24 |
8711 4c56 01F4 brne .L695 |
8712 4c58 E090 0000 lds r14,HoehenWert |
8713 4c5c F090 0000 lds r15,(HoehenWert)+1 |
8714 4c60 0091 0000 lds r16,(HoehenWert)+2 |
8715 4c64 1091 0000 lds r17,(HoehenWert)+3 |
8716 4c68 D801 movw r26,r16 |
8717 4c6a C701 movw r24,r14 |
8718 4c6c 8058 subi r24,lo8(-(-128)) |
8719 4c6e 9040 sbci r25,hi8(-(-128)) |
8720 4c70 A040 sbci r26,hlo8(-(-128)) |
8721 4c72 B040 sbci r27,hhi8(-(-128)) |
8722 4c74 2091 0000 lds r18,SollHoehe |
8723 4c78 3091 0000 lds r19,(SollHoehe)+1 |
8724 4c7c 4091 0000 lds r20,(SollHoehe)+2 |
8725 4c80 5091 0000 lds r21,(SollHoehe)+3 |
8726 4c84 8217 cp r24,r18 |
8727 4c86 9307 cpc r25,r19 |
8728 4c88 A407 cpc r26,r20 |
8729 4c8a B507 cpc r27,r21 |
8730 4c8c 04F4 brge .L898 |
8731 4c8e D801 movw r26,r16 |
8732 4c90 C701 movw r24,r14 |
8733 4c92 8058 subi r24,lo8(-(128)) |
8734 4c94 9F4F sbci r25,hi8(-(128)) |
8735 4c96 AF4F sbci r26,hlo8(-(128)) |
8736 4c98 BF4F sbci r27,hhi8(-(128)) |
8737 4c9a 2817 cp r18,r24 |
8738 4c9c 3907 cpc r19,r25 |
8739 4c9e 4A07 cpc r20,r26 |
8740 4ca0 5B07 cpc r21,r27 |
8741 4ca2 04F0 brlt .L699 |
8742 .L898: |
8743 4ca4 8093 0000 sts SollHoehe,r24 |
8744 4ca8 9093 0000 sts (SollHoehe)+1,r25 |
8745 4cac A093 0000 sts (SollHoehe)+2,r26 |
8746 4cb0 B093 0000 sts (SollHoehe)+3,r27 |
8747 4cb4 00C0 rjmp .L699 |
8748 .L695: |
8749 4cb6 1092 0000 sts WaypointTrimming,__zero_reg__ |
8750 .L699: |
8751 4cba 8091 0000 lds r24,FC_StatusFlags |
8752 4cbe 8F73 andi r24,lo8(63) |
8753 4cc0 8093 0000 sts FC_StatusFlags,r24 |
8754 4cc4 1092 0000 sts (HeightTrimming.21)+1,__zero_reg__ |
8755 4cc8 1092 0000 sts HeightTrimming.21,__zero_reg__ |
8756 4ccc 71FF sbrs r23,1 |
8757 4cce 00C0 rjmp .L700 |
8758 4cd0 84EF ldi r24,lo8(500) |
8759 4cd2 91E0 ldi r25,hi8(500) |
8760 4cd4 9093 0000 sts (beeptime)+1,r25 |
8761 4cd8 8093 0000 sts beeptime,r24 |
8762 .L700: |
8763 4cdc 8091 0000 lds r24,StartTrigger |
8764 4ce0 8823 tst r24 |
8765 4ce2 01F4 brne .L683 |
8766 4ce4 8091 0000 lds r24,HoehenWert |
8767 4ce8 9091 0000 lds r25,(HoehenWert)+1 |
8768 4cec A091 0000 lds r26,(HoehenWert)+2 |
8769 4cf0 B091 0000 lds r27,(HoehenWert)+3 |
8770 4cf4 C397 sbiw r24,51 |
8771 4cf6 A105 cpc r26,__zero_reg__ |
8772 4cf8 B105 cpc r27,__zero_reg__ |
8773 4cfa 04F0 brlt .L683 |
8774 4cfc 81E0 ldi r24,lo8(1) |
8775 4cfe 8093 0000 sts StartTrigger,r24 |
8776 .L683: |
8777 4d02 6091 0000 lds r22,HeightTrimming.21 |
8778 4d06 7091 0000 lds r23,(HeightTrimming.21)+1 |
8779 4d0a 8091 0000 lds r24,AltitudeSetpointTrimming |
8780 4d0e 9091 0000 lds r25,(AltitudeSetpointTrimming)+1 |
8781 4d12 680F add r22,r24 |
8782 4d14 791F adc r23,r25 |
8783 4d16 7093 0000 sts (HeightTrimming.21)+1,r23 |
8784 4d1a 6093 0000 sts HeightTrimming.21,r22 |
8785 4d1e CB01 movw r24,r22 |
8786 4d20 77FF sbrs r23,7 |
8787 4d22 00C0 rjmp .L703 |
8788 4d24 8827 clr r24 |
8789 4d26 9927 clr r25 |
8790 4d28 861B sub r24,r22 |
8791 4d2a 970B sbc r25,r23 |
8792 .L703: |
8793 4d2c 855F subi r24,lo8(501) |
8794 4d2e 9140 sbci r25,hi8(501) |
8795 4d30 04F4 brge .+2 |
8796 4d32 00C0 rjmp .L702 |
8797 4d34 4091 0000 lds r20,WaypointTrimming |
8798 4d38 4423 tst r20 |
8799 4d3a 01F0 breq .L704 |
8800 4d3c 8091 0000 lds r24,FromNC_AltitudeSetpoint |
8801 4d40 9091 0000 lds r25,(FromNC_AltitudeSetpoint)+1 |
8802 4d44 2091 0000 lds r18,SollHoehe |
8803 4d48 3091 0000 lds r19,(SollHoehe)+1 |
8804 4d4c 821B sub r24,r18 |
8805 4d4e 930B sbc r25,r19 |
8806 4d50 0996 adiw r24,9 |
8807 4d52 4397 sbiw r24,19 |
8808 4d54 00F4 brsh .L705 |
8809 4d56 8091 0000 lds r24,FromNC_AltitudeSetpoint |
8810 4d5a 9091 0000 lds r25,(FromNC_AltitudeSetpoint)+1 |
8811 4d5e A091 0000 lds r26,(FromNC_AltitudeSetpoint)+2 |
8812 4d62 B091 0000 lds r27,(FromNC_AltitudeSetpoint)+3 |
8813 4d66 00C0 rjmp .L901 |
8814 .L705: |
8815 4d68 242F mov r18,r20 |
8816 4d6a 3327 clr r19 |
8817 4d6c 27FD sbrc r18,7 |
8818 4d6e 3095 com r19 |
8819 4d70 432F mov r20,r19 |
8820 4d72 532F mov r21,r19 |
8821 4d74 8091 0000 lds r24,SollHoehe |
8822 4d78 9091 0000 lds r25,(SollHoehe)+1 |
8823 4d7c A091 0000 lds r26,(SollHoehe)+2 |
8824 4d80 B091 0000 lds r27,(SollHoehe)+3 |
8825 4d84 820F add r24,r18 |
8826 4d86 931F adc r25,r19 |
8827 4d88 A41F adc r26,r20 |
8828 4d8a B51F adc r27,r21 |
8829 .L901: |
8830 4d8c 8093 0000 sts SollHoehe,r24 |
8831 4d90 9093 0000 sts (SollHoehe)+1,r25 |
8832 4d94 A093 0000 sts (SollHoehe)+2,r26 |
8833 4d98 B093 0000 sts (SollHoehe)+3,r27 |
8834 4d9c 00C0 rjmp .L707 |
8835 .L704: |
8836 4d9e 8091 0000 lds r24,EE_Parameter+18 |
8837 4da2 2091 0000 lds r18,SollHoehe |
8838 4da6 3091 0000 lds r19,(SollHoehe)+1 |
8839 4daa 4091 0000 lds r20,(SollHoehe)+2 |
8840 4dae 5091 0000 lds r21,(SollHoehe)+3 |
8841 4db2 1616 cp __zero_reg__,r22 |
8842 4db4 1706 cpc __zero_reg__,r23 |
8843 4db6 04F4 brge .L708 |
8844 4db8 63E0 ldi r22,lo8(3) |
8845 4dba 0E94 0000 call __udivmodqi4 |
8846 4dbe 280F add r18,r24 |
8847 4dc0 311D adc r19,__zero_reg__ |
8848 4dc2 411D adc r20,__zero_reg__ |
8849 4dc4 511D adc r21,__zero_reg__ |
8850 4dc6 00C0 rjmp .L900 |
8851 .L708: |
8852 4dc8 63E0 ldi r22,lo8(3) |
8853 4dca 0E94 0000 call __udivmodqi4 |
8854 4dce 281B sub r18,r24 |
8855 4dd0 3109 sbc r19,__zero_reg__ |
8856 4dd2 4109 sbc r20,__zero_reg__ |
8857 4dd4 5109 sbc r21,__zero_reg__ |
8858 .L900: |
8859 4dd6 2093 0000 sts SollHoehe,r18 |
8860 4dda 3093 0000 sts (SollHoehe)+1,r19 |
8861 4dde 4093 0000 sts (SollHoehe)+2,r20 |
8862 4de2 5093 0000 sts (SollHoehe)+3,r21 |
8863 .L707: |
8864 4de6 1092 0000 sts (HeightTrimming.21)+1,__zero_reg__ |
8865 4dea 1092 0000 sts HeightTrimming.21,__zero_reg__ |
8866 4dee E090 0000 lds r14,HoehenWert |
8867 4df2 F090 0000 lds r15,(HoehenWert)+1 |
8868 4df6 0091 0000 lds r16,(HoehenWert)+2 |
8869 4dfa 1091 0000 lds r17,(HoehenWert)+3 |
8870 4dfe D801 movw r26,r16 |
8871 4e00 C701 movw r24,r14 |
8872 4e02 8050 subi r24,lo8(-(-1024)) |
8873 4e04 9440 sbci r25,hi8(-(-1024)) |
8874 4e06 A040 sbci r26,hlo8(-(-1024)) |
8875 4e08 B040 sbci r27,hhi8(-(-1024)) |
8876 4e0a 2091 0000 lds r18,SollHoehe |
8877 4e0e 3091 0000 lds r19,(SollHoehe)+1 |
8878 4e12 4091 0000 lds r20,(SollHoehe)+2 |
8879 4e16 5091 0000 lds r21,(SollHoehe)+3 |
8880 4e1a 8217 cp r24,r18 |
8881 4e1c 9307 cpc r25,r19 |
8882 4e1e A407 cpc r26,r20 |
8883 4e20 B507 cpc r27,r21 |
8884 4e22 04F4 brge .L902 |
8885 4e24 D801 movw r26,r16 |
8886 4e26 C701 movw r24,r14 |
8887 4e28 8050 subi r24,lo8(-(1024)) |
8888 4e2a 9C4F sbci r25,hi8(-(1024)) |
8889 4e2c AF4F sbci r26,hlo8(-(1024)) |
8890 4e2e BF4F sbci r27,hhi8(-(1024)) |
8891 4e30 2817 cp r18,r24 |
8892 4e32 3907 cpc r19,r25 |
8893 4e34 4A07 cpc r20,r26 |
8894 4e36 5B07 cpc r21,r27 |
8895 4e38 04F0 brlt .L711 |
8896 .L902: |
8897 4e3a 8093 0000 sts SollHoehe,r24 |
8898 4e3e 9093 0000 sts (SollHoehe)+1,r25 |
8899 4e42 A093 0000 sts (SollHoehe)+2,r26 |
8900 4e46 B093 0000 sts (SollHoehe)+3,r27 |
8901 .L711: |
8902 4e4a 8091 0000 lds r24,Parameter_ExtraConfig |
8903 4e4e 81FF sbrs r24,1 |
8904 4e50 00C0 rjmp .L713 |
8905 4e52 84E6 ldi r24,lo8(100) |
8906 4e54 90E0 ldi r25,hi8(100) |
8907 4e56 9093 0000 sts (beeptime)+1,r25 |
8908 4e5a 8093 0000 sts beeptime,r24 |
8909 .L713: |
8910 4e5e 8091 0000 lds r24,EE_Parameter+22 |
8911 4e62 8823 tst r24 |
8912 4e64 01F4 brne .L702 |
8913 4e66 8091 0000 lds r24,FromNC_AltitudeSpeed |
8914 4e6a 8823 tst r24 |
8915 4e6c 01F4 brne .L702 |
8916 4e6e 4091 0000 lds r20,HoverGas |
8917 4e72 5091 0000 lds r21,(HoverGas)+1 |
8918 4e76 57FF sbrs r21,7 |
8919 4e78 00C0 rjmp .L715 |
8920 4e7a 4D5F subi r20,lo8(-(3)) |
8921 4e7c 5F4F sbci r21,hi8(-(3)) |
8922 .L715: |
8923 4e7e 5595 asr r21 |
8924 4e80 4795 ror r20 |
8925 4e82 5595 asr r21 |
8926 4e84 4795 ror r20 |
8927 4e86 8091 0000 lds r24,UBat |
8928 4e8a 9091 0000 lds r25,(UBat)+1 |
8929 4e8e 2091 0000 lds r18,BattLowVoltageWarning |
8930 4e92 3327 clr r19 |
8931 4e94 489F mul r20,r24 |
8932 4e96 F001 movw r30,r0 |
8933 4e98 499F mul r20,r25 |
8934 4e9a F00D add r31,r0 |
8935 4e9c 589F mul r21,r24 |
8936 4e9e F00D add r31,r0 |
8937 4ea0 1124 clr r1 |
8938 4ea2 CF01 movw r24,r30 |
8939 4ea4 B901 movw r22,r18 |
8940 4ea6 0E94 0000 call __divmodhi4 |
8941 4eaa 7093 0000 sts (StickGasHover)+1,r23 |
8942 4eae 6093 0000 sts StickGasHover,r22 |
8943 4eb2 6634 cpi r22,70 |
8944 4eb4 7105 cpc r23,__zero_reg__ |
8945 4eb6 04F4 brge .L716 |
8946 4eb8 86E4 ldi r24,lo8(70) |
8947 4eba 90E0 ldi r25,hi8(70) |
8948 4ebc 00C0 rjmp .L903 |
8949 .L716: |
8950 4ebe 6739 cpi r22,151 |
8951 4ec0 7105 cpc r23,__zero_reg__ |
8952 4ec2 04F0 brlt .L702 |
8953 4ec4 86E9 ldi r24,lo8(150) |
8954 4ec6 90E0 ldi r25,hi8(150) |
8955 .L903: |
8956 4ec8 9093 0000 sts (StickGasHover)+1,r25 |
8957 4ecc 8093 0000 sts StickGasHover,r24 |
8958 .L702: |
8959 4ed0 8091 0000 lds r24,BaroExpandActive |
8960 4ed4 9091 0000 lds r25,(BaroExpandActive)+1 |
8961 4ed8 892B or r24,r25 |
8962 4eda 01F0 breq .L720 |
8963 4edc 8091 0000 lds r24,HoehenWert |
8964 4ee0 9091 0000 lds r25,(HoehenWert)+1 |
8965 4ee4 A091 0000 lds r26,(HoehenWert)+2 |
8966 4ee8 B091 0000 lds r27,(HoehenWert)+3 |
8967 4eec 8093 0000 sts SollHoehe,r24 |
8968 4ef0 9093 0000 sts (SollHoehe)+1,r25 |
8969 4ef4 A093 0000 sts (SollHoehe)+2,r26 |
8970 4ef8 B093 0000 sts (SollHoehe)+3,r27 |
8971 4efc 00C0 rjmp .L720 |
8972 .L677: |
8973 4efe 8091 0000 lds r24,HoehenWert |
8974 4f02 9091 0000 lds r25,(HoehenWert)+1 |
8975 4f06 A091 0000 lds r26,(HoehenWert)+2 |
8976 4f0a B091 0000 lds r27,(HoehenWert)+3 |
8977 4f0e 8059 subi r24,lo8(-(-400)) |
8978 4f10 9140 sbci r25,hi8(-(-400)) |
8979 4f12 A040 sbci r26,hlo8(-(-400)) |
8980 4f14 B040 sbci r27,hhi8(-(-400)) |
8981 4f16 8093 0000 sts SollHoehe,r24 |
8982 4f1a 9093 0000 sts (SollHoehe)+1,r25 |
8983 4f1e A093 0000 sts (SollHoehe)+2,r26 |
8984 4f22 B093 0000 sts (SollHoehe)+3,r27 |
8985 4f26 8091 0000 lds r24,EE_Parameter+22 |
8986 4f2a 8823 tst r24 |
8987 4f2c 01F0 breq .L721 |
8988 4f2e 9927 clr r25 |
8989 4f30 00C0 rjmp .L904 |
8990 .L721: |
8991 4f32 88E7 ldi r24,lo8(120) |
8992 4f34 90E0 ldi r25,hi8(120) |
8993 .L904: |
8994 4f36 9093 0000 sts (StickGasHover)+1,r25 |
8995 4f3a 8093 0000 sts StickGasHover,r24 |
8996 4f3e E980 ldd r14,Y+1 |
8997 4f40 FA80 ldd r15,Y+2 |
8998 4f42 F092 0000 sts (HoverGas)+1,r15 |
8999 4f46 E092 0000 sts HoverGas,r14 |
9000 4f4a 8EE2 ldi r24,lo8(46) |
9001 4f4c 8093 0000 sts VarioCharacter,r24 |
9002 .L720: |
9003 4f50 C090 0000 lds r12,HoverGas |
9004 4f54 D090 0000 lds r13,(HoverGas)+1 |
9005 .L676: |
9006 4f58 E090 0000 lds r14,HoehenWert |
9007 4f5c F090 0000 lds r15,(HoehenWert)+1 |
9008 4f60 0091 0000 lds r16,(HoehenWert)+2 |
9009 4f64 1091 0000 lds r17,(HoehenWert)+3 |
9010 4f68 2091 0000 lds r18,SollHoehe |
9011 4f6c 3091 0000 lds r19,(SollHoehe)+1 |
9012 4f70 4091 0000 lds r20,(SollHoehe)+2 |
9013 4f74 5091 0000 lds r21,(SollHoehe)+3 |
9014 4f78 2E15 cp r18,r14 |
9015 4f7a 3F05 cpc r19,r15 |
9016 4f7c 4007 cpc r20,r16 |
9017 4f7e 5107 cpc r21,r17 |
9018 4f80 04F0 brlt .L724 |
9019 4f82 8091 0000 lds r24,Parameter_ExtraConfig |
9020 4f86 80FD sbrc r24,0 |
9021 4f88 00C0 rjmp .L782 |
9022 .L724: |
9023 4f8a 8091 0000 lds r24,BaroExpandActive |
9024 4f8e 9091 0000 lds r25,(BaroExpandActive)+1 |
9025 4f92 892B or r24,r25 |
9026 4f94 01F0 breq .L725 |
9027 4f96 C090 0000 lds r12,HoverGas |
9028 4f9a D090 0000 lds r13,(HoverGas)+1 |
9029 4f9e 00E0 ldi r16,lo8(0) |
9030 4fa0 10E0 ldi r17,hi8(0) |
9031 4fa2 00C0 rjmp .L726 |
9032 .L725: |
9033 4fa4 D801 movw r26,r16 |
9034 4fa6 C701 movw r24,r14 |
9035 4fa8 821B sub r24,r18 |
9036 4faa 930B sbc r25,r19 |
9037 4fac A40B sbc r26,r20 |
9038 4fae B50B sbc r27,r21 |
9039 4fb0 8093 0000 sts tmp_long.1,r24 |
9040 4fb4 9093 0000 sts (tmp_long.1)+1,r25 |
9041 4fb8 A093 0000 sts (tmp_long.1)+2,r26 |
9042 4fbc B093 0000 sts (tmp_long.1)+3,r27 |
9043 4fc0 8230 cpi r24,lo8(-32766) |
9044 4fc2 00E8 ldi r16,hi8(-32766) |
9045 4fc4 9007 cpc r25,r16 |
9046 4fc6 0FEF ldi r16,hlo8(-32766) |
9047 4fc8 A007 cpc r26,r16 |
9048 4fca 0FEF ldi r16,hhi8(-32766) |
9049 4fcc B007 cpc r27,r16 |
9050 4fce 04F4 brge .L727 |
9051 4fd0 81E0 ldi r24,lo8(-32767) |
9052 4fd2 90E8 ldi r25,hi8(-32767) |
9053 4fd4 AFEF ldi r26,hlo8(-32767) |
9054 4fd6 BFEF ldi r27,hhi8(-32767) |
9055 4fd8 00C0 rjmp .L905 |
9056 .L727: |
9057 4fda 8F5F subi r24,lo8(32767) |
9058 4fdc 9F47 sbci r25,hi8(32767) |
9059 4fde A040 sbci r26,hlo8(32767) |
9060 4fe0 B040 sbci r27,hhi8(32767) |
9061 4fe2 04F0 brlt .L728 |
9062 4fe4 8FEF ldi r24,lo8(32767) |
9063 4fe6 9FE7 ldi r25,hi8(32767) |
9064 4fe8 A0E0 ldi r26,hlo8(32767) |
9065 4fea B0E0 ldi r27,hhi8(32767) |
9066 .L905: |
9067 4fec 8093 0000 sts tmp_long.1,r24 |
9068 4ff0 9093 0000 sts (tmp_long.1)+1,r25 |
9069 4ff4 A093 0000 sts (tmp_long.1)+2,r26 |
9070 4ff8 B093 0000 sts (tmp_long.1)+3,r27 |
9071 .L728: |
9072 4ffc 0091 0000 lds r16,tmp_long.1 |
9073 5000 1091 0000 lds r17,(tmp_long.1)+1 |
9074 5004 8091 0000 lds r24,Parameter_Hoehe_P |
9075 5008 282F mov r18,r24 |
9076 500a 3327 clr r19 |
9077 500c 4427 clr r20 |
9078 500e 5527 clr r21 |
9079 5010 8091 0000 lds r24,tmp_long.1 |
9080 5014 9091 0000 lds r25,(tmp_long.1)+1 |
9081 5018 A091 0000 lds r26,(tmp_long.1)+2 |
9082 501c B091 0000 lds r27,(tmp_long.1)+3 |
9083 5020 BC01 movw r22,r24 |
9084 5022 CD01 movw r24,r26 |
9085 5024 0E94 0000 call __mulsi3 |
9086 5028 97FF sbrs r25,7 |
9087 502a 00C0 rjmp .L730 |
9088 502c 615E subi r22,lo8(-(31)) |
9089 502e 7F4F sbci r23,hi8(-(31)) |
9090 5030 8F4F sbci r24,hlo8(-(31)) |
9091 5032 9F4F sbci r25,hhi8(-(31)) |
9092 .L730: |
9093 5034 25E0 ldi r18,5 |
9094 5036 9595 1: asr r25 |
9095 5038 8795 ror r24 |
9096 503a 7795 ror r23 |
9097 503c 6795 ror r22 |
9098 503e 2A95 dec r18 |
9099 5040 01F4 brne 1b |
9100 5042 6093 0000 sts tmp_long.1,r22 |
9101 5046 7093 0000 sts (tmp_long.1)+1,r23 |
9102 504a 8093 0000 sts (tmp_long.1)+2,r24 |
9103 504e 9093 0000 sts (tmp_long.1)+3,r25 |
9104 5052 6530 cpi r22,lo8(-507) |
9105 5054 2EEF ldi r18,hi8(-507) |
9106 5056 7207 cpc r23,r18 |
9107 5058 2FEF ldi r18,hlo8(-507) |
9108 505a 8207 cpc r24,r18 |
9109 505c 2FEF ldi r18,hhi8(-507) |
9110 505e 9207 cpc r25,r18 |
9111 5060 04F4 brge .L731 |
9112 5062 84E0 ldi r24,lo8(-508) |
9113 5064 9EEF ldi r25,hi8(-508) |
9114 5066 AFEF ldi r26,hlo8(-508) |
9115 5068 BFEF ldi r27,hhi8(-508) |
9116 506a 00C0 rjmp .L906 |
9117 .L731: |
9118 506c 6050 subi r22,lo8(1024) |
9119 506e 7440 sbci r23,hi8(1024) |
9120 5070 8040 sbci r24,hlo8(1024) |
9121 5072 9040 sbci r25,hhi8(1024) |
9122 5074 04F0 brlt .L732 |
9123 5076 80E0 ldi r24,lo8(1024) |
9124 5078 94E0 ldi r25,hi8(1024) |
9125 507a A0E0 ldi r26,hlo8(1024) |
9126 507c B0E0 ldi r27,hhi8(1024) |
9127 .L906: |
9128 507e 8093 0000 sts tmp_long.1,r24 |
9129 5082 9093 0000 sts (tmp_long.1)+1,r25 |
9130 5086 A093 0000 sts (tmp_long.1)+2,r26 |
9131 508a B093 0000 sts (tmp_long.1)+3,r27 |
9132 .L732: |
9133 508e 8090 0000 lds r8,tmp_long.1 |
9134 5092 9090 0000 lds r9,(tmp_long.1)+1 |
9135 5096 2091 0000 lds r18,VarioMeter |
9136 509a 3091 0000 lds r19,(VarioMeter)+1 |
9137 509e 37FF sbrs r19,7 |
9138 50a0 00C0 rjmp .L734 |
9139 50a2 295F subi r18,lo8(-(7)) |
9140 50a4 3F4F sbci r19,hi8(-(7)) |
9141 .L734: |
9142 50a6 83E0 ldi r24,3 |
9143 50a8 3595 1: asr r19 |
9144 50aa 2795 ror r18 |
9145 50ac 8A95 dec r24 |
9146 50ae 01F4 brne 1b |
9147 50b0 4FEF ldi r20,hi8(-126) |
9148 50b2 2238 cpi r18,lo8(-126) |
9149 50b4 3407 cpc r19,r20 |
9150 50b6 04F4 brge .L735 |
9151 50b8 21E8 ldi r18,lo8(-127) |
9152 50ba 3FEF ldi r19,hi8(-127) |
9153 50bc 00C0 rjmp .L736 |
9154 .L735: |
9155 50be 2038 cpi r18,128 |
9156 50c0 3105 cpc r19,__zero_reg__ |
9157 50c2 04F0 brlt .L736 |
9158 50c4 20E8 ldi r18,lo8(128) |
9159 50c6 30E0 ldi r19,hi8(128) |
9160 .L736: |
9161 50c8 C901 movw r24,r18 |
9162 50ca AA27 clr r26 |
9163 50cc 97FD sbrc r25,7 |
9164 50ce A095 com r26 |
9165 50d0 BA2F mov r27,r26 |
9166 50d2 2091 0000 lds r18,Parameter_Luftdruck_D |
9167 50d6 3327 clr r19 |
9168 50d8 4427 clr r20 |
9169 50da 5527 clr r21 |
9170 50dc BC01 movw r22,r24 |
9171 50de CD01 movw r24,r26 |
9172 50e0 0E94 0000 call __mulsi3 |
9173 50e4 97FF sbrs r25,7 |
9174 50e6 00C0 rjmp .L738 |
9175 50e8 6D5F subi r22,lo8(-(3)) |
9176 50ea 7F4F sbci r23,hi8(-(3)) |
9177 50ec 8F4F sbci r24,hlo8(-(3)) |
9178 50ee 9F4F sbci r25,hhi8(-(3)) |
9179 .L738: |
9180 50f0 B2E0 ldi r27,2 |
9181 50f2 9595 1: asr r25 |
9182 50f4 8795 ror r24 |
9183 50f6 7795 ror r23 |
9184 50f8 6795 ror r22 |
9185 50fa BA95 dec r27 |
9186 50fc 01F4 brne 1b |
9187 50fe 9B01 movw r18,r22 |
9188 5100 5FEF ldi r21,hi8(-255) |
9189 5102 6130 cpi r22,lo8(-255) |
9190 5104 7507 cpc r23,r21 |
9191 5106 04F4 brge .L739 |
9192 5108 20E0 ldi r18,lo8(-256) |
9193 510a 3FEF ldi r19,hi8(-256) |
9194 510c 00C0 rjmp .L740 |
9195 .L739: |
9196 510e 6F3F cpi r22,255 |
9197 5110 7105 cpc r23,__zero_reg__ |
9198 5112 01F0 breq .L740 |
9199 5114 04F0 brlt .L740 |
9200 5116 20E0 ldi r18,lo8(256) |
9201 5118 31E0 ldi r19,hi8(256) |
9202 .L740: |
9203 511a 8091 0000 lds r24,FC_StatusFlags |
9204 511e 807C andi r24,lo8(-64) |
9205 5120 01F0 breq .L742 |
9206 5122 C901 movw r24,r18 |
9207 5124 37FD sbrc r19,7 |
9208 5126 0396 adiw r24,3 |
9209 .L743: |
9210 5128 9C01 movw r18,r24 |
9211 512a 3595 asr r19 |
9212 512c 2795 ror r18 |
9213 512e 3595 asr r19 |
9214 5130 2795 ror r18 |
9215 5132 00C0 rjmp .L744 |
9216 .L742: |
9217 5134 8091 0000 lds r24,Parameter_ExtraConfig |
9218 5138 80FF sbrs r24,0 |
9219 513a 00C0 rjmp .L744 |
9220 513c C901 movw r24,r18 |
9221 513e 37FD sbrc r19,7 |
9222 5140 0796 adiw r24,7 |
9223 .L746: |
9224 5142 9C01 movw r18,r24 |
9225 5144 F3E0 ldi r31,3 |
9226 5146 3595 1: asr r19 |
9227 5148 2795 ror r18 |
9228 514a FA95 dec r31 |
9229 514c 01F4 brne 1b |
9230 .L744: |
9231 514e 820E add r8,r18 |
9232 5150 931E adc r9,r19 |
9233 .L726: |
9234 5152 2091 0000 lds r18,Parameter_Hoehe_ACC_Wirkung |
9235 5156 2223 tst r18 |
9236 5158 01F4 brne .+2 |
9237 515a 00C0 rjmp .L747 |
9238 515c 6091 0000 lds r22,Mess_Integral_Hoch |
9239 5160 7091 0000 lds r23,(Mess_Integral_Hoch)+1 |
9240 5164 8091 0000 lds r24,(Mess_Integral_Hoch)+2 |
9241 5168 9091 0000 lds r25,(Mess_Integral_Hoch)+3 |
9242 516c 97FF sbrs r25,7 |
9243 516e 00C0 rjmp .L748 |
9244 5170 6158 subi r22,lo8(-(127)) |
9245 5172 7F4F sbci r23,hi8(-(127)) |
9246 5174 8F4F sbci r24,hlo8(-(127)) |
9247 5176 9F4F sbci r25,hhi8(-(127)) |
9248 .L748: |
9249 5178 E7E0 ldi r30,7 |
9250 517a 9595 1: asr r25 |
9251 517c 8795 ror r24 |
9252 517e 7795 ror r23 |
9253 5180 6795 ror r22 |
9254 5182 EA95 dec r30 |
9255 5184 01F4 brne 1b |
9256 5186 3327 clr r19 |
9257 5188 4427 clr r20 |
9258 518a 5527 clr r21 |
9259 518c 0E94 0000 call __mulsi3 |
9260 5190 97FF sbrs r25,7 |
9261 5192 00C0 rjmp .L749 |
9262 5194 615E subi r22,lo8(-(31)) |
9263 5196 7F4F sbci r23,hi8(-(31)) |
9264 5198 8F4F sbci r24,hlo8(-(31)) |
9265 519a 9F4F sbci r25,hhi8(-(31)) |
9266 .L749: |
9267 519c 55E0 ldi r21,5 |
9268 519e 9595 1: asr r25 |
9269 51a0 8795 ror r24 |
9270 51a2 7795 ror r23 |
9271 51a4 6795 ror r22 |
9272 51a6 5A95 dec r21 |
9273 51a8 01F4 brne 1b |
9274 51aa 6093 0000 sts tmp_long.1,r22 |
9275 51ae 7093 0000 sts (tmp_long.1)+1,r23 |
9276 51b2 8093 0000 sts (tmp_long.1)+2,r24 |
9277 51b6 9093 0000 sts (tmp_long.1)+3,r25 |
9278 51ba 6138 cpi r22,lo8(-127) |
9279 51bc AFEF ldi r26,hi8(-127) |
9280 51be 7A07 cpc r23,r26 |
9281 51c0 AFEF ldi r26,hlo8(-127) |
9282 51c2 8A07 cpc r24,r26 |
9283 51c4 AFEF ldi r26,hhi8(-127) |
9284 51c6 9A07 cpc r25,r26 |
9285 51c8 04F4 brge .L750 |
9286 51ca 80E8 ldi r24,lo8(-128) |
9287 51cc 9FEF ldi r25,hi8(-128) |
9288 51ce AFEF ldi r26,hlo8(-128) |
9289 51d0 BFEF ldi r27,hhi8(-128) |
9290 51d2 00C0 rjmp .L907 |
9291 .L750: |
9292 51d4 6F3F cpi r22,lo8(255) |
9293 51d6 7105 cpc r23,__zero_reg__ |
9294 51d8 8105 cpc r24,__zero_reg__ |
9295 51da 9105 cpc r25,__zero_reg__ |
9296 51dc 01F0 breq .L751 |
9297 51de 04F0 brlt .L751 |
9298 51e0 80E0 ldi r24,lo8(256) |
9299 51e2 91E0 ldi r25,hi8(256) |
9300 51e4 A0E0 ldi r26,hlo8(256) |
9301 51e6 B0E0 ldi r27,hhi8(256) |
9302 .L907: |
9303 51e8 8093 0000 sts tmp_long.1,r24 |
9304 51ec 9093 0000 sts (tmp_long.1)+1,r25 |
9305 51f0 A093 0000 sts (tmp_long.1)+2,r26 |
9306 51f4 B093 0000 sts (tmp_long.1)+3,r27 |
9307 .L751: |
9308 51f8 8091 0000 lds r24,tmp_long.1 |
9309 51fc 9091 0000 lds r25,(tmp_long.1)+1 |
9310 5200 880E add r8,r24 |
9311 5202 991E adc r9,r25 |
9312 .L747: |
9313 5204 8091 0000 lds r24,Parameter_Hoehe_GPS_Z |
9314 5208 282F mov r18,r24 |
9315 520a 3327 clr r19 |
9316 520c 8091 0000 lds r24,FromNaviCtrl_Value+4 |
9317 5210 9927 clr r25 |
9318 5212 87FD sbrc r24,7 |
9319 5214 9095 com r25 |
9320 5216 289F mul r18,r24 |
9321 5218 F001 movw r30,r0 |
9322 521a 299F mul r18,r25 |
9323 521c F00D add r31,r0 |
9324 521e 389F mul r19,r24 |
9325 5220 F00D add r31,r0 |
9326 5222 1124 clr r1 |
9327 5224 9F01 movw r18,r30 |
9328 5226 F7FF sbrs r31,7 |
9329 5228 00C0 rjmp .L753 |
9330 522a 2158 subi r18,lo8(-(127)) |
9331 522c 3F4F sbci r19,hi8(-(127)) |
9332 .L753: |
9333 522e 220F lsl r18 |
9334 5230 232F mov r18,r19 |
9335 5232 221F rol r18 |
9336 5234 330B sbc r19,r19 |
9337 5236 FFEF ldi r31,hi8(-127) |
9338 5238 2138 cpi r18,lo8(-127) |
9339 523a 3F07 cpc r19,r31 |
9340 523c 04F4 brge .L754 |
9341 523e 20E8 ldi r18,lo8(-128) |
9342 5240 3FEF ldi r19,hi8(-128) |
9343 5242 00C0 rjmp .L755 |
9344 .L754: |
9345 5244 2F3F cpi r18,255 |
9346 5246 3105 cpc r19,__zero_reg__ |
9347 5248 01F0 breq .L755 |
9348 524a 04F0 brlt .L755 |
9349 524c 20E0 ldi r18,lo8(256) |
9350 524e 31E0 ldi r19,hi8(256) |
9351 .L755: |
9352 5250 820E add r8,r18 |
9353 5252 931E adc r9,r19 |
9354 5254 C401 movw r24,r8 |
9355 5256 AA27 clr r26 |
9356 5258 97FD sbrc r25,7 |
9357 525a A095 com r26 |
9358 525c BA2F mov r27,r26 |
9359 525e E090 0000 lds r14,HoverGas |
9360 5262 F090 0000 lds r15,(HoverGas)+1 |
9361 5266 9701 movw r18,r14 |
9362 5268 4427 clr r20 |
9363 526a 37FD sbrc r19,7 |
9364 526c 4095 com r20 |
9365 526e 542F mov r21,r20 |
9366 5270 BC01 movw r22,r24 |
9367 5272 CD01 movw r24,r26 |
9368 5274 0E94 0000 call __mulsi3 |
9369 5278 97FF sbrs r25,7 |
9370 527a 00C0 rjmp .L757 |
9371 527c 6150 subi r22,lo8(-(511)) |
9372 527e 7E4F sbci r23,hi8(-(511)) |
9373 5280 8F4F sbci r24,hlo8(-(511)) |
9374 5282 9F4F sbci r25,hhi8(-(511)) |
9375 .L757: |
9376 5284 29E0 ldi r18,9 |
9377 5286 9595 1: asr r25 |
9378 5288 8795 ror r24 |
9379 528a 7795 ror r23 |
9380 528c 6795 ror r22 |
9381 528e 2A95 dec r18 |
9382 5290 01F4 brne 1b |
9383 5292 C61A sub r12,r22 |
9384 5294 D70A sbc r13,r23 |
9385 5296 8091 0000 lds r24,AltitudeSetpointTrimming |
9386 529a 9091 0000 lds r25,(AltitudeSetpointTrimming)+1 |
9387 529e 892B or r24,r25 |
9388 52a0 01F0 breq .+2 |
9389 52a2 00C0 rjmp .L758 |
9390 52a4 1E14 cp __zero_reg__,r14 |
9391 52a6 1F04 cpc __zero_reg__,r15 |
9392 52a8 04F0 brlt .+2 |
9393 52aa 00C0 rjmp .L758 |
9394 52ac 9801 movw r18,r16 |
9395 52ae 17FF sbrs r17,7 |
9396 52b0 00C0 rjmp .L759 |
9397 52b2 3095 com r19 |
9398 52b4 2195 neg r18 |
9399 52b6 3F4F sbci r19,lo8(-1) |
9400 .L759: |
9401 52b8 2D33 cpi r18,61 |
9402 52ba 3105 cpc r19,__zero_reg__ |
9403 52bc 00F4 brsh .L760 |
9404 52be 8091 0000 lds r24,HoverGasMin |
9405 52c2 9091 0000 lds r25,(HoverGasMin)+1 |
9406 52c6 8C15 cp r24,r12 |
9407 52c8 9D05 cpc r25,r13 |
9408 52ca 04F4 brge .L909 |
9409 52cc 00C0 rjmp .L918 |
9410 .L760: |
9411 52ce 2C53 subi r18,lo8(-(-60)) |
9412 52d0 3040 sbci r19,hi8(-(-60)) |
9413 52d2 85E0 ldi r24,5 |
9414 52d4 3695 1: lsr r19 |
9415 52d6 2795 ror r18 |
9416 52d8 8A95 dec r24 |
9417 52da 01F4 brne 1b |
9418 52dc 2031 cpi r18,16 |
9419 52de 3105 cpc r19,__zero_reg__ |
9420 52e0 00F0 brlo .L765 |
9421 52e2 2FE0 ldi r18,lo8(15) |
9422 52e4 30E0 ldi r19,hi8(15) |
9423 .L765: |
9424 52e6 4091 0000 lds r20,HoverGasMin |
9425 52ea 5091 0000 lds r21,(HoverGasMin)+1 |
9426 52ee 1016 cp __zero_reg__,r16 |
9427 52f0 1106 cpc __zero_reg__,r17 |
9428 52f2 04F4 brge .L766 |
9429 52f4 80E1 ldi r24,lo8(16) |
9430 52f6 90E0 ldi r25,hi8(16) |
9431 52f8 821B sub r24,r18 |
9432 52fa 930B sbc r25,r19 |
9433 52fc 489F mul r20,r24 |
9434 52fe 9001 movw r18,r0 |
9435 5300 499F mul r20,r25 |
9436 5302 300D add r19,r0 |
9437 5304 589F mul r21,r24 |
9438 5306 300D add r19,r0 |
9439 5308 1124 clr r1 |
9440 530a B4E0 ldi r27,4 |
9441 530c 3695 1: lsr r19 |
9442 530e 2795 ror r18 |
9443 5310 BA95 dec r27 |
9444 5312 01F4 brne 1b |
9445 5314 2C15 cp r18,r12 |
9446 5316 3D05 cpc r19,r13 |
9447 5318 00F4 brsh .L908 |
9448 .L918: |
9449 531a 8091 0000 lds r24,HoverGasMax |
9450 531e 9091 0000 lds r25,(HoverGasMax)+1 |
9451 5322 C816 cp r12,r24 |
9452 5324 D906 cpc r13,r25 |
9453 5326 04F0 brlt .L758 |
9454 .L909: |
9455 5328 6C01 movw r12,r24 |
9456 532a 00C0 rjmp .L758 |
9457 .L766: |
9458 532c 205F subi r18,lo8(-(16)) |
9459 532e 3F4F sbci r19,hi8(-(16)) |
9460 5330 8091 0000 lds r24,HoverGasMax |
9461 5334 9091 0000 lds r25,(HoverGasMax)+1 |
9462 5338 829F mul r24,r18 |
9463 533a 8001 movw r16,r0 |
9464 533c 839F mul r24,r19 |
9465 533e 100D add r17,r0 |
9466 5340 929F mul r25,r18 |
9467 5342 100D add r17,r0 |
9468 5344 1124 clr r1 |
9469 5346 9801 movw r18,r16 |
9470 5348 A4E0 ldi r26,4 |
9471 534a 3695 1: lsr r19 |
9472 534c 2795 ror r18 |
9473 534e AA95 dec r26 |
9474 5350 01F4 brne 1b |
9475 5352 4C15 cp r20,r12 |
9476 5354 5D05 cpc r21,r13 |
9477 5356 04F0 brlt .L771 |
9478 5358 6A01 movw r12,r20 |
9479 535a 00C0 rjmp .L758 |
9480 .L771: |
9481 535c C216 cp r12,r18 |
9482 535e D306 cpc r13,r19 |
9483 5360 00F0 brlo .L758 |
9484 .L908: |
9485 5362 6901 movw r12,r18 |
9486 .L758: |
9487 5364 C601 movw r24,r12 |
9488 5366 AA27 clr r26 |
9489 5368 97FD sbrc r25,7 |
9490 536a A095 com r26 |
9491 536c BA2F mov r27,r26 |
9492 536e FDE0 ldi r31,13 |
9493 5370 880F 1: lsl r24 |
9494 5372 991F rol r25 |
9495 5374 AA1F rol r26 |
9496 5376 BB1F rol r27 |
9497 5378 FA95 dec r31 |
9498 537a 01F4 brne 1b |
9499 537c 9501 movw r18,r10 |
9500 537e 4427 clr r20 |
9501 5380 37FD sbrc r19,7 |
9502 5382 4095 com r20 |
9503 5384 542F mov r21,r20 |
9504 5386 BC01 movw r22,r24 |
9505 5388 CD01 movw r24,r26 |
9506 538a 0E94 0000 call __divmodsi4 |
9507 538e 2093 0000 sts tmp_long2.2,r18 |
9508 5392 3093 0000 sts (tmp_long2.2)+1,r19 |
9509 5396 4093 0000 sts (tmp_long2.2)+2,r20 |
9510 539a 5093 0000 sts (tmp_long2.2)+3,r21 |
9511 539e C090 0000 lds r12,tmp_long2.2 |
9512 53a2 D090 0000 lds r13,(tmp_long2.2)+1 |
9513 53a6 8091 0000 lds r24,FilterHCGas.22 |
9514 53aa 9091 0000 lds r25,(FilterHCGas.22)+1 |
9515 53ae 9C01 movw r18,r24 |
9516 53b0 220F lsl r18 |
9517 53b2 331F rol r19 |
9518 53b4 280F add r18,r24 |
9519 53b6 391F adc r19,r25 |
9520 53b8 2C0D add r18,r12 |
9521 53ba 3D1D adc r19,r13 |
9522 53bc 37FF sbrs r19,7 |
9523 53be 00C0 rjmp .L774 |
9524 53c0 2D5F subi r18,lo8(-(3)) |
9525 53c2 3F4F sbci r19,hi8(-(3)) |
9526 .L774: |
9527 53c4 A901 movw r20,r18 |
9528 53c6 5595 asr r21 |
9529 53c8 4795 ror r20 |
9530 53ca 5595 asr r21 |
9531 53cc 4795 ror r20 |
9532 53ce 5093 0000 sts (FilterHCGas.22)+1,r21 |
9533 53d2 4093 0000 sts FilterHCGas.22,r20 |
9534 53d6 8091 0000 lds r24,EE_Parameter+14 |
9535 53da 282F mov r18,r24 |
9536 53dc 3327 clr r19 |
9537 53de 220F lsl r18 |
9538 53e0 331F rol r19 |
9539 53e2 220F lsl r18 |
9540 53e4 331F rol r19 |
9541 53e6 2417 cp r18,r20 |
9542 53e8 3507 cpc r19,r21 |
9543 53ea 04F4 brge .L910 |
9544 53ec 8091 0000 lds r24,MAX_GAS |
9545 53f0 282F mov r18,r24 |
9546 53f2 3327 clr r19 |
9547 53f4 220F lsl r18 |
9548 53f6 331F rol r19 |
9549 53f8 220F lsl r18 |
9550 53fa 331F rol r19 |
9551 53fc 2055 subi r18,lo8(-(-80)) |
9552 53fe 3040 sbci r19,hi8(-(-80)) |
9553 5400 4217 cp r20,r18 |
9554 5402 5307 cpc r21,r19 |
9555 5404 04F0 brlt .L776 |
9556 .L910: |
9557 5406 3093 0000 sts (FilterHCGas.22)+1,r19 |
9558 540a 2093 0000 sts FilterHCGas.22,r18 |
9559 .L776: |
9560 540e 8091 0000 lds r24,Parameter_ExtraConfig |
9561 5412 80FF sbrs r24,0 |
9562 5414 00C0 rjmp .L778 |
9563 5416 8091 0000 lds r24,FilterHCGas.22 |
9564 541a 9091 0000 lds r25,(FilterHCGas.22)+1 |
9565 541e 2981 ldd r18,Y+1 |
9566 5420 3A81 ldd r19,Y+2 |
9567 5422 8217 cp r24,r18 |
9568 5424 9307 cpc r25,r19 |
9569 5426 04F0 brlt .L779 |
9570 5428 3093 0000 sts (FilterHCGas.22)+1,r19 |
9571 542c 2093 0000 sts FilterHCGas.22,r18 |
9572 .L779: |
9573 5430 4091 0000 lds r20,FilterHCGas.22 |
9574 5434 5091 0000 lds r21,(FilterHCGas.22)+1 |
9575 5438 5A83 std Y+2,r21 |
9576 543a 4983 std Y+1,r20 |
9577 543c 00C0 rjmp .L782 |
9578 .L778: |
9579 543e 2981 ldd r18,Y+1 |
9580 5440 3A81 ldd r19,Y+2 |
9581 5442 2E19 sub r18,r14 |
9582 5444 3F09 sbc r19,r15 |
9583 5446 37FF sbrs r19,7 |
9584 5448 00C0 rjmp .L781 |
9585 544a 2D5F subi r18,lo8(-(3)) |
9586 544c 3F4F sbci r19,hi8(-(3)) |
9587 .L781: |
9588 544e 3595 asr r19 |
9589 5450 2795 ror r18 |
9590 5452 3595 asr r19 |
9591 5454 2795 ror r18 |
9592 5456 6091 0000 lds r22,FilterHCGas.22 |
9593 545a 7091 0000 lds r23,(FilterHCGas.22)+1 |
9594 545e 620F add r22,r18 |
9595 5460 731F adc r23,r19 |
9596 5462 7A83 std Y+2,r23 |
9597 5464 6983 std Y+1,r22 |
9598 5466 00C0 rjmp .L782 |
9599 .L673: |
9600 5468 8091 0000 lds r24,EE_Parameter+22 |
9601 546c 8823 tst r24 |
9602 546e 01F4 brne .L783 |
9603 5470 6091 0000 lds r22,HoverGas |
9604 5474 7091 0000 lds r23,(HoverGas)+1 |
9605 5478 77FF sbrs r23,7 |
9606 547a 00C0 rjmp .L784 |
9607 547c 6D5F subi r22,lo8(-(3)) |
9608 547e 7F4F sbci r23,hi8(-(3)) |
9609 .L784: |
9610 5480 7595 asr r23 |
9611 5482 6795 ror r22 |
9612 5484 7595 asr r23 |
9613 5486 6795 ror r22 |
9614 5488 4091 0000 lds r20,UBat |
9615 548c 5091 0000 lds r21,(UBat)+1 |
9616 5490 8091 0000 lds r24,BattLowVoltageWarning |
9617 5494 282F mov r18,r24 |
9618 5496 3327 clr r19 |
9619 5498 649F mul r22,r20 |
9620 549a C001 movw r24,r0 |
9621 549c 659F mul r22,r21 |
9622 549e 900D add r25,r0 |
9623 54a0 749F mul r23,r20 |
9624 54a2 900D add r25,r0 |
9625 54a4 1124 clr r1 |
9626 54a6 B901 movw r22,r18 |
9627 54a8 0E94 0000 call __divmodhi4 |
9628 54ac CB01 movw r24,r22 |
9629 54ae 00C0 rjmp .L911 |
9630 .L783: |
9631 54b0 9927 clr r25 |
9632 .L911: |
9633 54b2 9093 0000 sts (StickGasHover)+1,r25 |
9634 54b6 8093 0000 sts StickGasHover,r24 |
9635 54ba 8091 0000 lds r24,StickGasHover |
9636 54be 9091 0000 lds r25,(StickGasHover)+1 |
9637 54c2 8734 cpi r24,71 |
9638 54c4 9105 cpc r25,__zero_reg__ |
9639 54c6 04F4 brge .L786 |
9640 54c8 86E4 ldi r24,lo8(70) |
9641 54ca 90E0 ldi r25,hi8(70) |
9642 54cc 00C0 rjmp .L912 |
9643 .L786: |
9644 54ce 8639 cpi r24,150 |
9645 54d0 9105 cpc r25,__zero_reg__ |
9646 54d2 04F0 brlt .L787 |
9647 54d4 86E9 ldi r24,lo8(150) |
9648 54d6 90E0 ldi r25,hi8(150) |
9649 .L912: |
9650 54d8 9093 0000 sts (StickGasHover)+1,r25 |
9651 54dc 8093 0000 sts StickGasHover,r24 |
9652 .L787: |
9653 54e0 8981 ldd r24,Y+1 |
9654 54e2 9A81 ldd r25,Y+2 |
9655 54e4 9093 0000 sts (FilterHCGas.22)+1,r25 |
9656 54e8 8093 0000 sts FilterHCGas.22,r24 |
9657 54ec 8091 0000 lds r24,FC_StatusFlags |
9658 54f0 806C ori r24,lo8(-64) |
9659 54f2 8093 0000 sts FC_StatusFlags,r24 |
9660 54f6 8091 0000 lds r24,FC_StatusFlags2 |
9661 54fa 8D7F andi r24,lo8(-3) |
9662 54fc 8093 0000 sts FC_StatusFlags2,r24 |
9663 .L782: |
9664 5500 8091 0000 lds r24,FC_StatusFlags |
9665 5504 9927 clr r25 |
9666 5506 9C01 movw r18,r24 |
9667 5508 2270 andi r18,lo8(2) |
9668 550a 3070 andi r19,hi8(2) |
9669 550c 81FF sbrs r24,1 |
9670 550e 00C0 rjmp .L789 |
9671 5510 8091 0000 lds r24,HoverGasFilter.23 |
9672 5514 9091 0000 lds r25,(HoverGasFilter.23)+1 |
9673 5518 A091 0000 lds r26,(HoverGasFilter.23)+2 |
9674 551c B091 0000 lds r27,(HoverGasFilter.23)+3 |
9675 5520 0097 sbiw r24,0 |
9676 5522 A105 cpc r26,__zero_reg__ |
9677 5524 B105 cpc r27,__zero_reg__ |
9678 5526 01F0 breq .L791 |
9679 5528 8091 0000 lds r24,StartTrigger |
9680 552c 8130 cpi r24,lo8(1) |
9681 552e 01F4 brne .L790 |
9682 .L791: |
9683 5530 E981 ldd r30,Y+1 |
9684 5532 FA81 ldd r31,Y+2 |
9685 5534 CF01 movw r24,r30 |
9686 5536 AA27 clr r26 |
9687 5538 97FD sbrc r25,7 |
9688 553a A095 com r26 |
9689 553c BA2F mov r27,r26 |
9690 553e 1EE0 ldi r17,14 |
9691 5540 880F 1: lsl r24 |
9692 5542 991F rol r25 |
9693 5544 AA1F rol r26 |
9694 5546 BB1F rol r27 |
9695 5548 1A95 dec r17 |
9696 554a 01F4 brne 1b |
9697 554c 8093 0000 sts HoverGasFilter.23,r24 |
9698 5550 9093 0000 sts (HoverGasFilter.23)+1,r25 |
9699 5554 A093 0000 sts (HoverGasFilter.23)+2,r26 |
9700 5558 B093 0000 sts (HoverGasFilter.23)+3,r27 |
9701 .L790: |
9702 555c 8091 0000 lds r24,StartTrigger |
9703 5560 8130 cpi r24,lo8(1) |
9704 5562 01F4 brne .L792 |
9705 5564 82E0 ldi r24,lo8(2) |
9706 5566 8093 0000 sts StartTrigger,r24 |
9707 .L792: |
9708 556a E980 ldd r14,Y+1 |
9709 556c FA80 ldd r15,Y+2 |
9710 556e C701 movw r24,r14 |
9711 5570 AA27 clr r26 |
9712 5572 97FD sbrc r25,7 |
9713 5574 A095 com r26 |
9714 5576 BA2F mov r27,r26 |
9715 5578 9501 movw r18,r10 |
9716 557a 4427 clr r20 |
9717 557c 37FD sbrc r19,7 |
9718 557e 4095 com r20 |
9719 5580 542F mov r21,r20 |
9720 5582 BC01 movw r22,r24 |
9721 5584 CD01 movw r24,r26 |
9722 5586 0E94 0000 call __mulsi3 |
9723 558a DC01 movw r26,r24 |
9724 558c CB01 movw r24,r22 |
9725 558e 8093 0000 sts tmp_long2.2,r24 |
9726 5592 9093 0000 sts (tmp_long2.2)+1,r25 |
9727 5596 A093 0000 sts (tmp_long2.2)+2,r26 |
9728 559a B093 0000 sts (tmp_long2.2)+3,r27 |
9729 559e B7FF sbrs r27,7 |
9730 55a0 00C0 rjmp .L793 |
9731 55a2 8150 subi r24,lo8(-(8191)) |
9732 55a4 904E sbci r25,hi8(-(8191)) |
9733 55a6 AF4F sbci r26,hlo8(-(8191)) |
9734 55a8 BF4F sbci r27,hhi8(-(8191)) |
9735 .L793: |
9736 55aa 7C01 movw r14,r24 |
9737 55ac 8D01 movw r16,r26 |
9738 55ae ADE0 ldi r26,13 |
9739 55b0 1595 1: asr r17 |
9740 55b2 0795 ror r16 |
9741 55b4 F794 ror r15 |
9742 55b6 E794 ror r14 |
9743 55b8 AA95 dec r26 |
9744 55ba 01F4 brne 1b |
9745 55bc E092 0000 sts tmp_long2.2,r14 |
9746 55c0 F092 0000 sts (tmp_long2.2)+1,r15 |
9747 55c4 0093 0000 sts (tmp_long2.2)+2,r16 |
9748 55c8 1093 0000 sts (tmp_long2.2)+3,r17 |
9749 55cc 6091 0000 lds r22,modell_fliegt |
9750 55d0 7091 0000 lds r23,(modell_fliegt)+1 |
9751 55d4 2FE0 ldi r18,hi8(4000) |
9752 55d6 603A cpi r22,lo8(4000) |
9753 55d8 7207 cpc r23,r18 |
9754 55da 00F4 brsh .L794 |
9755 55dc 8091 0000 lds r24,HoverGasFilter.23 |
9756 55e0 9091 0000 lds r25,(HoverGasFilter.23)+1 |
9757 55e4 A091 0000 lds r26,(HoverGasFilter.23)+2 |
9758 55e8 B091 0000 lds r27,(HoverGasFilter.23)+3 |
9759 55ec 9C01 movw r18,r24 |
9760 55ee AD01 movw r20,r26 |
9761 55f0 FAE0 ldi r31,10 |
9762 55f2 5695 1: lsr r21 |
9763 55f4 4795 ror r20 |
9764 55f6 3795 ror r19 |
9765 55f8 2795 ror r18 |
9766 55fa FA95 dec r31 |
9767 55fc 01F4 brne 1b |
9768 55fe 821B sub r24,r18 |
9769 5600 930B sbc r25,r19 |
9770 5602 A40B sbc r26,r20 |
9771 5604 B50B sbc r27,r21 |
9772 5606 A801 movw r20,r16 |
9773 5608 9701 movw r18,r14 |
9774 560a E4E0 ldi r30,4 |
9775 560c 220F 1: lsl r18 |
9776 560e 331F rol r19 |
9777 5610 441F rol r20 |
9778 5612 551F rol r21 |
9779 5614 EA95 dec r30 |
9780 5616 01F4 brne 1b |
9781 5618 820F add r24,r18 |
9782 561a 931F adc r25,r19 |
9783 561c A41F adc r26,r20 |
9784 561e B51F adc r27,r21 |
9785 5620 8093 0000 sts HoverGasFilter.23,r24 |
9786 5624 9093 0000 sts (HoverGasFilter.23)+1,r25 |
9787 5628 A093 0000 sts (HoverGasFilter.23)+2,r26 |
9788 562c B093 0000 sts (HoverGasFilter.23)+3,r27 |
9789 .L794: |
9790 5630 6054 subi r22,lo8(8000) |
9791 5632 7F41 sbci r23,hi8(8000) |
9792 5634 00F4 brsh .L795 |
9793 5636 8091 0000 lds r24,HoverGasFilter.23 |
9794 563a 9091 0000 lds r25,(HoverGasFilter.23)+1 |
9795 563e A091 0000 lds r26,(HoverGasFilter.23)+2 |
9796 5642 B091 0000 lds r27,(HoverGasFilter.23)+3 |
9797 5646 9C01 movw r18,r24 |
9798 5648 AD01 movw r20,r26 |
9799 564a 6CE0 ldi r22,12 |
9800 564c 5695 1: lsr r21 |
9801 564e 4795 ror r20 |
9802 5650 3795 ror r19 |
9803 5652 2795 ror r18 |
9804 5654 6A95 dec r22 |
9805 5656 01F4 brne 1b |
9806 5658 821B sub r24,r18 |
9807 565a 930B sbc r25,r19 |
9808 565c A40B sbc r26,r20 |
9809 565e B50B sbc r27,r21 |
9810 5660 A801 movw r20,r16 |
9811 5662 9701 movw r18,r14 |
9812 5664 F2E0 ldi r31,2 |
9813 5666 220F 1: lsl r18 |
9814 5668 331F rol r19 |
9815 566a 441F rol r20 |
9816 566c 551F rol r21 |
9817 566e FA95 dec r31 |
9818 5670 01F4 brne 1b |
9819 5672 820F add r24,r18 |
9820 5674 931F adc r25,r19 |
9821 5676 A41F adc r26,r20 |
9822 5678 B51F adc r27,r21 |
9823 567a 00C0 rjmp .L913 |
9824 .L795: |
9825 567c 8091 0000 lds r24,VarioMeter |
9826 5680 9091 0000 lds r25,(VarioMeter)+1 |
9827 5684 8091 0000 lds r24,VarioMeter |
9828 5688 9091 0000 lds r25,(VarioMeter)+1 |
9829 568c 97FF sbrs r25,7 |
9830 568e 00C0 rjmp .L798 |
9831 5690 9095 com r25 |
9832 5692 8195 neg r24 |
9833 5694 9F4F sbci r25,lo8(-1) |
9834 .L798: |
9835 5696 8436 cpi r24,100 |
9836 5698 9105 cpc r25,__zero_reg__ |
9837 569a 04F4 brge .L796 |
9838 569c 8091 0000 lds r24,HoehenWert |
9839 56a0 9091 0000 lds r25,(HoehenWert)+1 |
9840 56a4 2091 0000 lds r18,SollHoehe |
9841 56a8 3091 0000 lds r19,(SollHoehe)+1 |
9842 56ac 821B sub r24,r18 |
9843 56ae 930B sbc r25,r19 |
9844 56b0 8150 subi r24,lo8(-(255)) |
9845 56b2 9F4F sbci r25,hi8(-(255)) |
9846 56b4 8F5F subi r24,lo8(511) |
9847 56b6 9140 sbci r25,hi8(511) |
9848 56b8 00F4 brsh .L796 |
9849 56ba 8091 0000 lds r24,HoverGasFilter.23 |
9850 56be 9091 0000 lds r25,(HoverGasFilter.23)+1 |
9851 56c2 A091 0000 lds r26,(HoverGasFilter.23)+2 |
9852 56c6 B091 0000 lds r27,(HoverGasFilter.23)+3 |
9853 56ca 9C01 movw r18,r24 |
9854 56cc AD01 movw r20,r26 |
9855 56ce EEE0 ldi r30,14 |
9856 56d0 5695 1: lsr r21 |
9857 56d2 4795 ror r20 |
9858 56d4 3795 ror r19 |
9859 56d6 2795 ror r18 |
9860 56d8 EA95 dec r30 |
9861 56da 01F4 brne 1b |
9862 56dc 821B sub r24,r18 |
9863 56de 930B sbc r25,r19 |
9864 56e0 A40B sbc r26,r20 |
9865 56e2 B50B sbc r27,r21 |
9866 56e4 8E0D add r24,r14 |
9867 56e6 9F1D adc r25,r15 |
9868 56e8 A01F adc r26,r16 |
9869 56ea B11F adc r27,r17 |
9870 .L913: |
9871 56ec 8093 0000 sts HoverGasFilter.23,r24 |
9872 56f0 9093 0000 sts (HoverGasFilter.23)+1,r25 |
9873 56f4 A093 0000 sts (HoverGasFilter.23)+2,r26 |
9874 56f8 B093 0000 sts (HoverGasFilter.23)+3,r27 |
9875 .L796: |
9876 56fc 8091 0000 lds r24,HoverGasFilter.23 |
9877 5700 9091 0000 lds r25,(HoverGasFilter.23)+1 |
9878 5704 A091 0000 lds r26,(HoverGasFilter.23)+2 |
9879 5708 B091 0000 lds r27,(HoverGasFilter.23)+3 |
9880 570c 7EE0 ldi r23,14 |
9881 570e B695 1: lsr r27 |
9882 5710 A795 ror r26 |
9883 5712 9795 ror r25 |
9884 5714 8795 ror r24 |
9885 5716 7A95 dec r23 |
9886 5718 01F4 brne 1b |
9887 571a 9093 0000 sts (HoverGas)+1,r25 |
9888 571e 8093 0000 sts HoverGas,r24 |
9889 5722 4091 0000 lds r20,EE_Parameter+20 |
9890 5726 4423 tst r20 |
9891 5728 01F0 breq .L799 |
9892 572a 5527 clr r21 |
9893 572c 9C01 movw r18,r24 |
9894 572e BA01 movw r22,r20 |
9895 5730 0E94 0000 call __divmodhi4 |
9896 5734 C901 movw r24,r18 |
9897 5736 861B sub r24,r22 |
9898 5738 970B sbc r25,r23 |
9899 573a 9093 0000 sts (HoverGasMin)+1,r25 |
9900 573e 8093 0000 sts HoverGasMin,r24 |
9901 5742 260F add r18,r22 |
9902 5744 371F adc r19,r23 |
9903 5746 3093 0000 sts (HoverGasMax)+1,r19 |
9904 574a 2093 0000 sts HoverGasMax,r18 |
9905 574e 00C0 rjmp .L802 |
9906 .L799: |
9907 5750 1092 0000 sts (HoverGasMin)+1,__zero_reg__ |
9908 5754 1092 0000 sts HoverGasMin,__zero_reg__ |
9909 5758 8FEF ldi r24,lo8(1023) |
9910 575a 93E0 ldi r25,hi8(1023) |
9911 575c 9093 0000 sts (HoverGasMax)+1,r25 |
9912 5760 8093 0000 sts HoverGasMax,r24 |
9913 5764 00C0 rjmp .L802 |
9914 .L789: |
9915 5766 1092 0000 sts StartTrigger,__zero_reg__ |
9916 576a 1092 0000 sts HoverGasFilter.23,__zero_reg__ |
9917 576e 1092 0000 sts (HoverGasFilter.23)+1,__zero_reg__ |
9918 5772 1092 0000 sts (HoverGasFilter.23)+2,__zero_reg__ |
9919 5776 1092 0000 sts (HoverGasFilter.23)+3,__zero_reg__ |
9920 577a 3093 0000 sts (HoverGas)+1,r19 |
9921 577e 2093 0000 sts HoverGas,r18 |
9922 5782 00C0 rjmp .L802 |
9923 .L653: |
9924 5784 8091 0000 lds r24,FC_StatusFlags |
9925 5788 806C ori r24,lo8(-64) |
9926 578a 8093 0000 sts FC_StatusFlags,r24 |
9927 .L802: |
9928 578e 8091 0000 lds r24,NC_To_FC_Flags |
9929 5792 81FF sbrs r24,1 |
9930 5794 00C0 rjmp .L803 |
9931 5796 8981 ldd r24,Y+1 |
9932 5798 9A81 ldd r25,Y+2 |
9933 579a 97FD sbrc r25,7 |
9934 579c 0396 adiw r24,3 |
9935 .L805: |
9936 579e 9595 asr r25 |
9937 57a0 8795 ror r24 |
9938 57a2 9595 asr r25 |
9939 57a4 8795 ror r24 |
9940 57a6 2091 0000 lds r18,HooverGasEmergencyPercent |
9941 57aa 3091 0000 lds r19,(HooverGasEmergencyPercent)+1 |
9942 57ae 2817 cp r18,r24 |
9943 57b0 3907 cpc r19,r25 |
9944 57b2 00F4 brsh .L804 |
9945 57b4 8091 0000 lds r24,HoverGas |
9946 57b8 9091 0000 lds r25,(HoverGas)+1 |
9947 57bc 892B or r24,r25 |
9948 57be 01F0 breq .L804 |
9949 57c0 220F lsl r18 |
9950 57c2 331F rol r19 |
9951 57c4 220F lsl r18 |
9952 57c6 331F rol r19 |
9953 57c8 3A83 std Y+2,r19 |
9954 57ca 2983 std Y+1,r18 |
9955 .L804: |
9956 57cc 8091 0000 lds r24,HoehenWert |
9957 57d0 9091 0000 lds r25,(HoehenWert)+1 |
9958 57d4 A091 0000 lds r26,(HoehenWert)+2 |
9959 57d8 B091 0000 lds r27,(HoehenWert)+3 |
9960 57dc 8093 0000 sts SollHoehe,r24 |
9961 57e0 9093 0000 sts (SollHoehe)+1,r25 |
9962 57e4 A093 0000 sts (SollHoehe)+2,r26 |
9963 57e8 B093 0000 sts (SollHoehe)+3,r27 |
9964 57ec 88E9 ldi r24,lo8(15000) |
9965 57ee 9AE3 ldi r25,hi8(15000) |
9966 57f0 9093 0000 sts (beeptime)+1,r25 |
9967 57f4 8093 0000 sts beeptime,r24 |
9968 57f8 80E0 ldi r24,lo8(3584) |
9969 57fa 9EE0 ldi r25,hi8(3584) |
9970 57fc 9093 0000 sts (BeepMuster)+1,r25 |
9971 5800 8093 0000 sts BeepMuster,r24 |
9972 .L803: |
9973 5804 2091 0000 lds r18,MIN_GAS |
9974 5808 822F mov r24,r18 |
9975 580a 9927 clr r25 |
9976 580c 880F lsl r24 |
9977 580e 991F rol r25 |
9978 5810 880F lsl r24 |
9979 5812 991F rol r25 |
9980 5814 8896 adiw r24,40 |
9981 5816 6981 ldd r22,Y+1 |
9982 5818 7A81 ldd r23,Y+2 |
9983 581a 8617 cp r24,r22 |
9984 581c 9707 cpc r25,r23 |
9985 581e 04F0 brlt .L806 |
9986 5820 9A83 std Y+2,r25 |
9987 5822 8983 std Y+1,r24 |
9988 .L806: |
9989 5824 7091 0000 lds r23,MAX_GAS |
9990 5828 7D8B std Y+21,r23 |
9991 582a 872F mov r24,r23 |
9992 582c 9927 clr r25 |
9993 582e 880F lsl r24 |
9994 5830 991F rol r25 |
9995 5832 880F lsl r24 |
9996 5834 991F rol r25 |
9997 5836 8055 subi r24,lo8(-(-80)) |
9998 5838 9040 sbci r25,hi8(-(-80)) |
9999 583a A981 ldd r26,Y+1 |
10000 583c BA81 ldd r27,Y+2 |
10001 583e 8A17 cp r24,r26 |
10002 5840 9B07 cpc r25,r27 |
10003 5842 04F4 brge .L807 |
10004 5844 9A83 std Y+2,r25 |
10005 5846 8983 std Y+1,r24 |
10006 .L807: |
10007 5848 8091 0000 lds r24,MissingMotor |
10008 584c 8823 tst r24 |
10009 584e 01F4 brne .L809 |
10010 5850 8091 0000 lds r24,Capacity+6 |
10011 5854 8F3F cpi r24,lo8(-1) |
10012 5856 01F4 brne .L809 |
10013 5858 8091 0000 lds r24,NC_ErrorCode |
10014 585c 8823 tst r24 |
10015 585e 01F0 breq .L808 |
10016 .L809: |
10017 5860 8091 0000 lds r24,modell_fliegt |
10018 5864 9091 0000 lds r25,(modell_fliegt)+1 |
10019 5868 0297 sbiw r24,2 |
10020 586a C097 sbiw r24,48 |
10021 586c 00F4 brsh .L808 |
10022 586e E981 ldd r30,Y+1 |
10023 5870 FA81 ldd r31,Y+2 |
10024 5872 1E16 cp __zero_reg__,r30 |
10025 5874 1F06 cpc __zero_reg__,r31 |
10026 5876 04F4 brge .L808 |
10027 5878 81E0 ldi r24,lo8(1) |
10028 587a 90E0 ldi r25,hi8(1) |
10029 587c 9093 0000 sts (modell_fliegt)+1,r25 |
10030 5880 8093 0000 sts modell_fliegt,r24 |
10031 5884 E22E mov r14,r18 |
10032 5886 FF24 clr r15 |
10033 5888 EE0C lsl r14 |
10034 588a FF1C rol r15 |
10035 588c EE0C lsl r14 |
10036 588e FF1C rol r15 |
10037 5890 8701 movw r16,r14 |
10038 5892 085D subi r16,lo8(-(40)) |
10039 5894 1F4F sbci r17,hi8(-(40)) |
10040 5896 1A83 std Y+2,r17 |
10041 5898 0983 std Y+1,r16 |
10042 .L808: |
10043 589a 2981 ldd r18,Y+1 |
10044 589c 3A81 ldd r19,Y+2 |
10045 589e 3093 0000 sts (DebugOut+16)+1,r19 |
10046 58a2 2093 0000 sts DebugOut+16,r18 |
10047 58a6 8091 0000 lds r24,sollGier.0 |
10048 58aa 9091 0000 lds r25,(sollGier.0)+1 |
10049 58ae A091 0000 lds r26,(sollGier.0)+2 |
10050 58b2 B091 0000 lds r27,(sollGier.0)+3 |
10051 58b6 12E0 ldi r17,2 |
10052 58b8 880F 1: lsl r24 |
10053 58ba 991F rol r25 |
10054 58bc AA1F rol r26 |
10055 58be BB1F rol r27 |
10056 58c0 1A95 dec r17 |
10057 58c2 01F4 brne 1b |
10058 58c4 0091 0000 lds r16,MesswertGier |
10059 58c8 1091 0000 lds r17,(MesswertGier)+1 |
10060 58cc 081B sub r16,r24 |
10061 58ce 190B sbc r17,r25 |
10062 58d0 213A cpi r18,161 |
10063 58d2 3105 cpc r19,__zero_reg__ |
10064 58d4 04F0 brlt .L811 |
10065 58d6 C901 movw r24,r18 |
10066 58d8 37FD sbrc r19,7 |
10067 58da 0196 adiw r24,1 |
10068 .L813: |
10069 58dc 9595 asr r25 |
10070 58de 8795 ror r24 |
10071 58e0 8017 cp r24,r16 |
10072 58e2 9107 cpc r25,r17 |
10073 58e4 04F4 brge .L812 |
10074 58e6 8C01 movw r16,r24 |
10075 .L812: |
10076 58e8 9095 com r25 |
10077 58ea 8195 neg r24 |
10078 58ec 9F4F sbci r25,lo8(-1) |
10079 58ee 0817 cp r16,r24 |
10080 58f0 1907 cpc r17,r25 |
10081 58f2 04F4 brge .L818 |
10082 58f4 8C01 movw r16,r24 |
10083 58f6 00C0 rjmp .L818 |
10084 .L811: |
10085 58f8 0135 cpi r16,81 |
10086 58fa 1105 cpc r17,__zero_reg__ |
10087 58fc 04F0 brlt .L819 |
10088 58fe 00E5 ldi r16,lo8(80) |
10089 5900 10E0 ldi r17,hi8(80) |
10090 .L819: |
10091 5902 3FEF ldi r19,hi8(-80) |
10092 5904 003B cpi r16,lo8(-80) |
10093 5906 1307 cpc r17,r19 |
10094 5908 04F4 brge .L818 |
10095 590a 00EB ldi r16,lo8(-80) |
10096 590c 1FEF ldi r17,hi8(-80) |
10097 .L818: |
10098 590e 4D89 ldd r20,Y+21 |
10099 5910 242F mov r18,r20 |
10100 5912 3327 clr r19 |
10101 5914 220F lsl r18 |
10102 5916 331F rol r19 |
10103 5918 220F lsl r18 |
10104 591a 331F rol r19 |
10105 591c C901 movw r24,r18 |
10106 591e 6981 ldd r22,Y+1 |
10107 5920 7A81 ldd r23,Y+2 |
10108 5922 861B sub r24,r22 |
10109 5924 970B sbc r25,r23 |
10110 5926 8017 cp r24,r16 |
10111 5928 9107 cpc r25,r17 |
10112 592a 04F4 brge .L821 |
10113 592c 8C01 movw r16,r24 |
10114 .L821: |
10115 592e 8981 ldd r24,Y+1 |
10116 5930 9A81 ldd r25,Y+2 |
10117 5932 821B sub r24,r18 |
10118 5934 930B sbc r25,r19 |
10119 5936 0817 cp r16,r24 |
10120 5938 1907 cpc r17,r25 |
10121 593a 04F4 brge .L822 |
10122 593c 8C01 movw r16,r24 |
10123 .L822: |
10124 593e 8091 0000 lds r24,MesswertNick |
10125 5942 9091 0000 lds r25,(MesswertNick)+1 |
10126 5946 6091 0000 lds r22,StickNick |
10127 594a 7091 0000 lds r23,(StickNick)+1 |
10128 594e 861B sub r24,r22 |
10129 5950 970B sbc r25,r23 |
10130 5952 9093 0000 sts (DiffNick)+1,r25 |
10131 5956 8093 0000 sts DiffNick,r24 |
10132 595a D090 0000 lds r13,IntegralFaktor |
10133 595e 2091 0000 lds r18,SummeNick |
10134 5962 3091 0000 lds r19,(SummeNick)+1 |
10135 5966 4091 0000 lds r20,(SummeNick)+2 |
10136 596a 5091 0000 lds r21,(SummeNick)+3 |
10137 596e DD20 tst r13 |
10138 5970 01F0 breq .L823 |
10139 5972 661A sub r6,r22 |
10140 5974 770A sbc r7,r23 |
10141 5976 C301 movw r24,r6 |
10142 5978 AA27 clr r26 |
10143 597a 97FD sbrc r25,7 |
10144 597c A095 com r26 |
10145 597e BA2F mov r27,r26 |
10146 5980 00C0 rjmp .L914 |
10147 .L823: |
10148 5982 AA27 clr r26 |
10149 5984 97FD sbrc r25,7 |
10150 5986 A095 com r26 |
10151 5988 BA2F mov r27,r26 |
10152 .L914: |
10153 598a 280F add r18,r24 |
10154 598c 391F adc r19,r25 |
10155 598e 4A1F adc r20,r26 |
10156 5990 5B1F adc r21,r27 |
10157 5992 2093 0000 sts SummeNick,r18 |
10158 5996 3093 0000 sts (SummeNick)+1,r19 |
10159 599a 4093 0000 sts (SummeNick)+2,r20 |
10160 599e 5093 0000 sts (SummeNick)+3,r21 |
10161 59a2 8091 0000 lds r24,SummeNick |
10162 59a6 9091 0000 lds r25,(SummeNick)+1 |
10163 59aa A091 0000 lds r26,(SummeNick)+2 |
10164 59ae B091 0000 lds r27,(SummeNick)+3 |
10165 59b2 8150 subi r24,lo8(64001) |
10166 59b4 9A4F sbci r25,hi8(64001) |
10167 59b6 A040 sbci r26,hlo8(64001) |
10168 59b8 B040 sbci r27,hhi8(64001) |
10169 59ba 04F0 brlt .L825 |
10170 59bc 80E0 ldi r24,lo8(64000) |
10171 59be 9AEF ldi r25,hi8(64000) |
10172 59c0 A0E0 ldi r26,hlo8(64000) |
10173 59c2 B0E0 ldi r27,hhi8(64000) |
10174 59c4 8093 0000 sts SummeNick,r24 |
10175 59c8 9093 0000 sts (SummeNick)+1,r25 |
10176 59cc A093 0000 sts (SummeNick)+2,r26 |
10177 59d0 B093 0000 sts (SummeNick)+3,r27 |
10178 .L825: |
10179 59d4 8091 0000 lds r24,SummeNick |
10180 59d8 9091 0000 lds r25,(SummeNick)+1 |
10181 59dc A091 0000 lds r26,(SummeNick)+2 |
10182 59e0 B091 0000 lds r27,(SummeNick)+3 |
10183 59e4 8050 subi r24,lo8(-64000) |
10184 59e6 9640 sbci r25,hi8(-64000) |
10185 59e8 AF4F sbci r26,hlo8(-64000) |
10186 59ea BF4F sbci r27,hhi8(-64000) |
10187 59ec 04F4 brge .L826 |
10188 59ee 80E0 ldi r24,lo8(-64000) |
10189 59f0 96E0 ldi r25,hi8(-64000) |
10190 59f2 AFEF ldi r26,hlo8(-64000) |
10191 59f4 BFEF ldi r27,hhi8(-64000) |
10192 59f6 8093 0000 sts SummeNick,r24 |
10193 59fa 9093 0000 sts (SummeNick)+1,r25 |
10194 59fe A093 0000 sts (SummeNick)+2,r26 |
10195 5a02 B093 0000 sts (SummeNick)+3,r27 |
10196 .L826: |
10197 5a06 C090 0000 lds r12,EE_Parameter+35 |
10198 5a0a 2091 0000 lds r18,DiffNick |
10199 5a0e 3091 0000 lds r19,(DiffNick)+1 |
10200 5a12 78E0 ldi r23,lo8(8) |
10201 5a14 E72E mov r14,r23 |
10202 5a16 EC14 cp r14,r12 |
10203 5a18 00F0 brlo .L827 |
10204 5a1a 8C2D mov r24,r12 |
10205 5a1c 9927 clr r25 |
10206 5a1e 829F mul r24,r18 |
10207 5a20 A001 movw r20,r0 |
10208 5a22 839F mul r24,r19 |
10209 5a24 500D add r21,r0 |
10210 5a26 929F mul r25,r18 |
10211 5a28 500D add r21,r0 |
10212 5a2a 1124 clr r1 |
10213 5a2c CA01 movw r24,r20 |
10214 5a2e 57FD sbrc r21,7 |
10215 5a30 0796 adiw r24,7 |
10216 .L828: |
10217 5a32 7C01 movw r14,r24 |
10218 5a34 63E0 ldi r22,3 |
10219 5a36 F594 1: asr r15 |
10220 5a38 E794 ror r14 |
10221 5a3a 6A95 dec r22 |
10222 5a3c 01F4 brne 1b |
10223 5a3e 00C0 rjmp .L829 |
10224 .L827: |
10225 5a40 8C2D mov r24,r12 |
10226 5a42 8695 lsr r24 |
10227 5a44 9927 clr r25 |
10228 5a46 829F mul r24,r18 |
10229 5a48 B001 movw r22,r0 |
10230 5a4a 839F mul r24,r19 |
10231 5a4c 700D add r23,r0 |
10232 5a4e 929F mul r25,r18 |
10233 5a50 700D add r23,r0 |
10234 5a52 1124 clr r1 |
10235 5a54 CB01 movw r24,r22 |
10236 5a56 77FD sbrc r23,7 |
10237 5a58 0396 adiw r24,3 |
10238 .L830: |
10239 5a5a 7C01 movw r14,r24 |
10240 5a5c F594 asr r15 |
10241 5a5e E794 ror r14 |
10242 5a60 F594 asr r15 |
10243 5a62 E794 ror r14 |
10244 .L829: |
10245 5a64 A090 0000 lds r10,Ki |
10246 5a68 B090 0000 lds r11,(Ki)+1 |
10247 5a6c 9501 movw r18,r10 |
10248 5a6e 4427 clr r20 |
10249 5a70 37FD sbrc r19,7 |
10250 5a72 4095 com r20 |
10251 5a74 542F mov r21,r20 |
10252 5a76 8091 0000 lds r24,SummeNick |
10253 5a7a 9091 0000 lds r25,(SummeNick)+1 |
10254 5a7e A091 0000 lds r26,(SummeNick)+2 |
10255 5a82 B091 0000 lds r27,(SummeNick)+3 |
10256 5a86 BC01 movw r22,r24 |
10257 5a88 CD01 movw r24,r26 |
10258 5a8a 0E94 0000 call __divmodsi4 |
10259 5a8e E20E add r14,r18 |
10260 5a90 F31E adc r15,r19 |
10261 5a92 9090 0000 lds r9,Parameter_DynamicStability |
10262 5a96 692D mov r22,r9 |
10263 5a98 7727 clr r23 |
10264 5a9a 8827 clr r24 |
10265 5a9c 9927 clr r25 |
10266 5a9e 9801 movw r18,r16 |
10267 5aa0 17FF sbrs r17,7 |
10268 5aa2 00C0 rjmp .L831 |
10269 5aa4 2227 clr r18 |
10270 5aa6 3327 clr r19 |
10271 5aa8 201B sub r18,r16 |
10272 5aaa 310B sbc r19,r17 |
10273 .L831: |
10274 5aac 37FF sbrs r19,7 |
10275 5aae 00C0 rjmp .L832 |
10276 5ab0 2F5F subi r18,lo8(-(1)) |
10277 5ab2 3F4F sbci r19,hi8(-(1)) |
10278 .L832: |
10279 5ab4 3595 asr r19 |
10280 5ab6 2795 ror r18 |
10281 5ab8 A981 ldd r26,Y+1 |
10282 5aba BA81 ldd r27,Y+2 |
10283 5abc 2A0F add r18,r26 |
10284 5abe 3B1F adc r19,r27 |
10285 5ac0 4427 clr r20 |
10286 5ac2 37FD sbrc r19,7 |
10287 5ac4 4095 com r20 |
10288 5ac6 542F mov r21,r20 |
10289 5ac8 0E94 0000 call __mulsi3 |
10290 5acc 97FF sbrs r25,7 |
10291 5ace 00C0 rjmp .L833 |
10292 5ad0 615C subi r22,lo8(-(63)) |
10293 5ad2 7F4F sbci r23,hi8(-(63)) |
10294 5ad4 8F4F sbci r24,hlo8(-(63)) |
10295 5ad6 9F4F sbci r25,hhi8(-(63)) |
10296 .L833: |
10297 5ad8 26E0 ldi r18,6 |
10298 5ada 9595 1: asr r25 |
10299 5adc 8795 ror r24 |
10300 5ade 7795 ror r23 |
10301 5ae0 6795 ror r22 |
10302 5ae2 2A95 dec r18 |
10303 5ae4 01F4 brne 1b |
10304 5ae6 9B01 movw r18,r22 |
10305 5ae8 6E15 cp r22,r14 |
10306 5aea 7F05 cpc r23,r15 |
10307 5aec 04F4 brge .L834 |
10308 5aee 7B01 movw r14,r22 |
10309 .L834: |
10310 5af0 3095 com r19 |
10311 5af2 2195 neg r18 |
10312 5af4 3F4F sbci r19,lo8(-1) |
10313 5af6 E216 cp r14,r18 |
10314 5af8 F306 cpc r15,r19 |
10315 5afa 04F4 brge .L835 |
10316 5afc 7901 movw r14,r18 |
10317 .L835: |
10318 5afe 8091 0000 lds r24,MesswertRoll |
10319 5b02 9091 0000 lds r25,(MesswertRoll)+1 |
10320 5b06 6091 0000 lds r22,StickRoll |
10321 5b0a 7091 0000 lds r23,(StickRoll)+1 |
10322 5b0e 861B sub r24,r22 |
10323 5b10 970B sbc r25,r23 |
10324 5b12 9093 0000 sts (DiffRoll)+1,r25 |
10325 5b16 8093 0000 sts DiffRoll,r24 |
10326 5b1a 2091 0000 lds r18,SummeRoll |
10327 5b1e 3091 0000 lds r19,(SummeRoll)+1 |
10328 5b22 4091 0000 lds r20,(SummeRoll)+2 |
10329 5b26 5091 0000 lds r21,(SummeRoll)+3 |
10330 5b2a DD20 tst r13 |
10331 5b2c 01F0 breq .L836 |
10332 5b2e 461A sub r4,r22 |
10333 5b30 570A sbc r5,r23 |
10334 5b32 C201 movw r24,r4 |
10335 5b34 AA27 clr r26 |
10336 5b36 97FD sbrc r25,7 |
10337 5b38 A095 com r26 |
10338 5b3a BA2F mov r27,r26 |
10339 5b3c 00C0 rjmp .L915 |
10340 .L836: |
10341 5b3e AA27 clr r26 |
10342 5b40 97FD sbrc r25,7 |
10343 5b42 A095 com r26 |
10344 5b44 BA2F mov r27,r26 |
10345 .L915: |
10346 5b46 280F add r18,r24 |
10347 5b48 391F adc r19,r25 |
10348 5b4a 4A1F adc r20,r26 |
10349 5b4c 5B1F adc r21,r27 |
10350 5b4e 2093 0000 sts SummeRoll,r18 |
10351 5b52 3093 0000 sts (SummeRoll)+1,r19 |
10352 5b56 4093 0000 sts (SummeRoll)+2,r20 |
10353 5b5a 5093 0000 sts (SummeRoll)+3,r21 |
10354 5b5e 8091 0000 lds r24,SummeRoll |
10355 5b62 9091 0000 lds r25,(SummeRoll)+1 |
10356 5b66 A091 0000 lds r26,(SummeRoll)+2 |
10357 5b6a B091 0000 lds r27,(SummeRoll)+3 |
10358 5b6e 8150 subi r24,lo8(64001) |
10359 5b70 9A4F sbci r25,hi8(64001) |
10360 5b72 A040 sbci r26,hlo8(64001) |
10361 5b74 B040 sbci r27,hhi8(64001) |
10362 5b76 04F0 brlt .L838 |
10363 5b78 80E0 ldi r24,lo8(64000) |
10364 5b7a 9AEF ldi r25,hi8(64000) |
10365 5b7c A0E0 ldi r26,hlo8(64000) |
10366 5b7e B0E0 ldi r27,hhi8(64000) |
10367 5b80 8093 0000 sts SummeRoll,r24 |
10368 5b84 9093 0000 sts (SummeRoll)+1,r25 |
10369 5b88 A093 0000 sts (SummeRoll)+2,r26 |
10370 5b8c B093 0000 sts (SummeRoll)+3,r27 |
10371 .L838: |
10372 5b90 8091 0000 lds r24,SummeRoll |
10373 5b94 9091 0000 lds r25,(SummeRoll)+1 |
10374 5b98 A091 0000 lds r26,(SummeRoll)+2 |
10375 5b9c B091 0000 lds r27,(SummeRoll)+3 |
10376 5ba0 8050 subi r24,lo8(-64000) |
10377 5ba2 9640 sbci r25,hi8(-64000) |
10378 5ba4 AF4F sbci r26,hlo8(-64000) |
10379 5ba6 BF4F sbci r27,hhi8(-64000) |
10380 5ba8 04F4 brge .L839 |
10381 5baa 80E0 ldi r24,lo8(-64000) |
10382 5bac 96E0 ldi r25,hi8(-64000) |
10383 5bae AFEF ldi r26,hlo8(-64000) |
10384 5bb0 BFEF ldi r27,hhi8(-64000) |
10385 5bb2 8093 0000 sts SummeRoll,r24 |
10386 5bb6 9093 0000 sts (SummeRoll)+1,r25 |
10387 5bba A093 0000 sts (SummeRoll)+2,r26 |
10388 5bbe B093 0000 sts (SummeRoll)+3,r27 |
10389 .L839: |
10390 5bc2 2091 0000 lds r18,DiffRoll |
10391 5bc6 3091 0000 lds r19,(DiffRoll)+1 |
10392 5bca 48E0 ldi r20,lo8(8) |
10393 5bcc 4C15 cp r20,r12 |
10394 5bce 00F0 brlo .L840 |
10395 5bd0 8C2D mov r24,r12 |
10396 5bd2 9927 clr r25 |
10397 5bd4 829F mul r24,r18 |
10398 5bd6 B001 movw r22,r0 |
10399 5bd8 839F mul r24,r19 |
10400 5bda 700D add r23,r0 |
10401 5bdc 929F mul r25,r18 |
10402 5bde 700D add r23,r0 |
10403 5be0 1124 clr r1 |
10404 5be2 CB01 movw r24,r22 |
10405 5be4 77FD sbrc r23,7 |
10406 5be6 0796 adiw r24,7 |
10407 .L841: |
10408 5be8 6C01 movw r12,r24 |
10409 5bea B3E0 ldi r27,3 |
10410 5bec D594 1: asr r13 |
10411 5bee C794 ror r12 |
10412 5bf0 BA95 dec r27 |
10413 5bf2 01F4 brne 1b |
10414 5bf4 00C0 rjmp .L842 |
10415 .L840: |
10416 5bf6 C694 lsr r12 |
10417 5bf8 8C2D mov r24,r12 |
10418 5bfa 9927 clr r25 |
10419 5bfc 829F mul r24,r18 |
10420 5bfe D001 movw r26,r0 |
10421 5c00 839F mul r24,r19 |
10422 5c02 B00D add r27,r0 |
10423 5c04 929F mul r25,r18 |
10424 5c06 B00D add r27,r0 |
10425 5c08 1124 clr r1 |
10426 5c0a CD01 movw r24,r26 |
10427 5c0c B7FD sbrc r27,7 |
10428 5c0e 0396 adiw r24,3 |
10429 .L843: |
10430 5c10 6C01 movw r12,r24 |
10431 5c12 D594 asr r13 |
10432 5c14 C794 ror r12 |
10433 5c16 D594 asr r13 |
10434 5c18 C794 ror r12 |
10435 .L842: |
10436 5c1a 9501 movw r18,r10 |
10437 5c1c 4427 clr r20 |
10438 5c1e 37FD sbrc r19,7 |
10439 5c20 4095 com r20 |
10440 5c22 542F mov r21,r20 |
10441 5c24 8091 0000 lds r24,SummeRoll |
10442 5c28 9091 0000 lds r25,(SummeRoll)+1 |
10443 5c2c A091 0000 lds r26,(SummeRoll)+2 |
10444 5c30 B091 0000 lds r27,(SummeRoll)+3 |
10445 5c34 BC01 movw r22,r24 |
10446 5c36 CD01 movw r24,r26 |
10447 5c38 0E94 0000 call __divmodsi4 |
10448 5c3c C20E add r12,r18 |
10449 5c3e D31E adc r13,r19 |
10450 5c40 692D mov r22,r9 |
10451 5c42 7727 clr r23 |
10452 5c44 8827 clr r24 |
10453 5c46 9927 clr r25 |
10454 5c48 9801 movw r18,r16 |
10455 5c4a 17FF sbrs r17,7 |
10456 5c4c 00C0 rjmp .L844 |
10457 5c4e 2227 clr r18 |
10458 5c50 3327 clr r19 |
10459 5c52 201B sub r18,r16 |
10460 5c54 310B sbc r19,r17 |
10461 .L844: |
10462 5c56 37FF sbrs r19,7 |
10463 5c58 00C0 rjmp .L845 |
10464 5c5a 2F5F subi r18,lo8(-(1)) |
10465 5c5c 3F4F sbci r19,hi8(-(1)) |
10466 .L845: |
10467 5c5e 3595 asr r19 |
10468 5c60 2795 ror r18 |
10469 5c62 E981 ldd r30,Y+1 |
10470 5c64 FA81 ldd r31,Y+2 |
10471 5c66 2E0F add r18,r30 |
10472 5c68 3F1F adc r19,r31 |
10473 5c6a 4427 clr r20 |
10474 5c6c 37FD sbrc r19,7 |
10475 5c6e 4095 com r20 |
10476 5c70 542F mov r21,r20 |
10477 5c72 0E94 0000 call __mulsi3 |
10478 5c76 97FF sbrs r25,7 |
10479 5c78 00C0 rjmp .L846 |
10480 5c7a 615C subi r22,lo8(-(63)) |
10481 5c7c 7F4F sbci r23,hi8(-(63)) |
10482 5c7e 8F4F sbci r24,hlo8(-(63)) |
10483 5c80 9F4F sbci r25,hhi8(-(63)) |
10484 .L846: |
10485 5c82 E6E0 ldi r30,6 |
10486 5c84 9595 1: asr r25 |
10487 5c86 8795 ror r24 |
10488 5c88 7795 ror r23 |
10489 5c8a 6795 ror r22 |
10490 5c8c EA95 dec r30 |
10491 5c8e 01F4 brne 1b |
10492 5c90 9B01 movw r18,r22 |
10493 5c92 6C15 cp r22,r12 |
10494 5c94 7D05 cpc r23,r13 |
10495 5c96 04F4 brge .L847 |
10496 5c98 6B01 movw r12,r22 |
10497 .L847: |
10498 5c9a 3095 com r19 |
10499 5c9c 2195 neg r18 |
10500 5c9e 3F4F sbci r19,lo8(-1) |
10501 5ca0 C216 cp r12,r18 |
10502 5ca2 D306 cpc r13,r19 |
10503 5ca4 04F4 brge .L848 |
10504 5ca6 6901 movw r12,r18 |
10505 .L848: |
10506 5ca8 8091 0000 lds r24,MIN_GAS |
10507 5cac 282E mov r2,r24 |
10508 5cae 3324 clr r3 |
10509 5cb0 5090 0000 lds r5,EE_Parameter+101 |
10510 5cb4 60E0 ldi r22,lo8(Motor) |
10511 5cb6 862E mov r8,r22 |
10512 5cb8 60E0 ldi r22,hi8(Motor) |
10513 5cba 962E mov r9,r22 |
10514 5cbc 50E0 ldi r21,lo8(Mixer+13) |
10515 5cbe A52E mov r10,r21 |
10516 5cc0 50E0 ldi r21,hi8(Mixer+13) |
10517 5cc2 B52E mov r11,r21 |
10518 5cc4 4BE0 ldi r20,lo8(11) |
10519 5cc6 442E mov r4,r20 |
10520 5cc8 30E0 ldi r19,lo8(tmp_motorwert) |
10521 5cca 632E mov r6,r19 |
10522 5ccc 30E0 ldi r19,hi8(tmp_motorwert) |
10523 5cce 732E mov r7,r19 |
10524 .L883: |
10525 5cd0 D501 movw r26,r10 |
10526 5cd2 2C91 ld r18,X |
10527 5cd4 1216 cp __zero_reg__,r18 |
10528 5cd6 04F0 brlt .+2 |
10529 5cd8 00C0 rjmp .L852 |
10530 5cda 2034 cpi r18,lo8(64) |
10531 5cdc 01F4 brne .L853 |
10532 5cde E981 ldd r30,Y+1 |
10533 5ce0 FA81 ldd r31,Y+2 |
10534 5ce2 FF8B std Y+23,r31 |
10535 5ce4 EE8B std Y+22,r30 |
10536 5ce6 00C0 rjmp .L854 |
10537 .L853: |
10538 5ce8 4981 ldd r20,Y+1 |
10539 5cea 5A81 ldd r21,Y+2 |
10540 5cec CA01 movw r24,r20 |
10541 5cee AA27 clr r26 |
10542 5cf0 97FD sbrc r25,7 |
10543 5cf2 A095 com r26 |
10544 5cf4 BA2F mov r27,r26 |
10545 5cf6 3327 clr r19 |
10546 5cf8 27FD sbrc r18,7 |
10547 5cfa 3095 com r19 |
10548 5cfc 432F mov r20,r19 |
10549 5cfe 532F mov r21,r19 |
10550 5d00 BC01 movw r22,r24 |
10551 5d02 CD01 movw r24,r26 |
10552 5d04 0E94 0000 call __mulsi3 |
10553 5d08 97FF sbrs r25,7 |
10554 5d0a 00C0 rjmp .L855 |
10555 5d0c 615C subi r22,lo8(-(63)) |
10556 5d0e 7F4F sbci r23,hi8(-(63)) |
10557 5d10 8F4F sbci r24,hlo8(-(63)) |
10558 5d12 9F4F sbci r25,hhi8(-(63)) |
10559 .L855: |
10560 5d14 26E0 ldi r18,6 |
10561 5d16 9595 1: asr r25 |
10562 5d18 8795 ror r24 |
10563 5d1a 7795 ror r23 |
10564 5d1c 6795 ror r22 |
10565 5d1e 2A95 dec r18 |
10566 5d20 01F4 brne 1b |
10567 5d22 7F8B std Y+23,r23 |
10568 5d24 6E8B std Y+22,r22 |
10569 .L854: |
10570 5d26 F501 movw r30,r10 |
10571 5d28 2181 ldd r18,Z+1 |
10572 5d2a 2034 cpi r18,lo8(64) |
10573 5d2c 01F4 brne .L856 |
10574 5d2e 2E89 ldd r18,Y+22 |
10575 5d30 3F89 ldd r19,Y+23 |
10576 5d32 2E0D add r18,r14 |
10577 5d34 3F1D adc r19,r15 |
10578 5d36 3F8B std Y+23,r19 |
10579 5d38 2E8B std Y+22,r18 |
10580 5d3a 00C0 rjmp .L857 |
10581 .L856: |
10582 5d3c 203C cpi r18,lo8(-64) |
10583 5d3e 01F4 brne .L858 |
10584 5d40 4E89 ldd r20,Y+22 |
10585 5d42 5F89 ldd r21,Y+23 |
10586 5d44 4E19 sub r20,r14 |
10587 5d46 5F09 sbc r21,r15 |
10588 5d48 5F8B std Y+23,r21 |
10589 5d4a 4E8B std Y+22,r20 |
10590 5d4c 00C0 rjmp .L857 |
10591 .L858: |
10592 5d4e C701 movw r24,r14 |
10593 5d50 AA27 clr r26 |
10594 5d52 97FD sbrc r25,7 |
10595 5d54 A095 com r26 |
10596 5d56 BA2F mov r27,r26 |
10597 5d58 3327 clr r19 |
10598 5d5a 27FD sbrc r18,7 |
10599 5d5c 3095 com r19 |
10600 5d5e 432F mov r20,r19 |
10601 5d60 532F mov r21,r19 |
10602 5d62 BC01 movw r22,r24 |
10603 5d64 CD01 movw r24,r26 |
10604 5d66 0E94 0000 call __mulsi3 |
10605 5d6a 97FF sbrs r25,7 |
10606 5d6c 00C0 rjmp .L860 |
10607 5d6e 615C subi r22,lo8(-(63)) |
10608 5d70 7F4F sbci r23,hi8(-(63)) |
10609 5d72 8F4F sbci r24,hlo8(-(63)) |
10610 5d74 9F4F sbci r25,hhi8(-(63)) |
10611 .L860: |
10612 5d76 B6E0 ldi r27,6 |
10613 5d78 9595 1: asr r25 |
10614 5d7a 8795 ror r24 |
10615 5d7c 7795 ror r23 |
10616 5d7e 6795 ror r22 |
10617 5d80 BA95 dec r27 |
10618 5d82 01F4 brne 1b |
10619 5d84 AE89 ldd r26,Y+22 |
10620 5d86 BF89 ldd r27,Y+23 |
10621 5d88 A60F add r26,r22 |
10622 5d8a B71F adc r27,r23 |
10623 5d8c BF8B std Y+23,r27 |
10624 5d8e AE8B std Y+22,r26 |
10625 .L857: |
10626 5d90 F501 movw r30,r10 |
10627 5d92 2281 ldd r18,Z+2 |
10628 5d94 2034 cpi r18,lo8(64) |
10629 5d96 01F4 brne .L861 |
10630 5d98 2E89 ldd r18,Y+22 |
10631 5d9a 3F89 ldd r19,Y+23 |
10632 5d9c 2C0D add r18,r12 |
10633 5d9e 3D1D adc r19,r13 |
10634 5da0 3F8B std Y+23,r19 |
10635 5da2 2E8B std Y+22,r18 |
10636 5da4 00C0 rjmp .L862 |
10637 .L861: |
10638 5da6 203C cpi r18,lo8(-64) |
10639 5da8 01F4 brne .L863 |
10640 5daa 4E89 ldd r20,Y+22 |
10641 5dac 5F89 ldd r21,Y+23 |
10642 5dae 4C19 sub r20,r12 |
10643 5db0 5D09 sbc r21,r13 |
10644 5db2 5F8B std Y+23,r21 |
10645 5db4 4E8B std Y+22,r20 |
10646 5db6 00C0 rjmp .L862 |
10647 .L863: |
10648 5db8 C601 movw r24,r12 |
10649 5dba AA27 clr r26 |
10650 5dbc 97FD sbrc r25,7 |
10651 5dbe A095 com r26 |
10652 5dc0 BA2F mov r27,r26 |
10653 5dc2 3327 clr r19 |
10654 5dc4 27FD sbrc r18,7 |
10655 5dc6 3095 com r19 |
10656 5dc8 432F mov r20,r19 |
10657 5dca 532F mov r21,r19 |
10658 5dcc BC01 movw r22,r24 |
10659 5dce CD01 movw r24,r26 |
10660 5dd0 0E94 0000 call __mulsi3 |
10661 5dd4 97FF sbrs r25,7 |
10662 5dd6 00C0 rjmp .L865 |
10663 5dd8 615C subi r22,lo8(-(63)) |
10664 5dda 7F4F sbci r23,hi8(-(63)) |
10665 5ddc 8F4F sbci r24,hlo8(-(63)) |
10666 5dde 9F4F sbci r25,hhi8(-(63)) |
10667 .L865: |
10668 5de0 A6E0 ldi r26,6 |
10669 5de2 9595 1: asr r25 |
10670 5de4 8795 ror r24 |
10671 5de6 7795 ror r23 |
10672 5de8 6795 ror r22 |
10673 5dea AA95 dec r26 |
10674 5dec 01F4 brne 1b |
10675 5dee AE89 ldd r26,Y+22 |
10676 5df0 BF89 ldd r27,Y+23 |
10677 5df2 A60F add r26,r22 |
10678 5df4 B71F adc r27,r23 |
10679 5df6 BF8B std Y+23,r27 |
10680 5df8 AE8B std Y+22,r26 |
10681 .L862: |
10682 5dfa F501 movw r30,r10 |
10683 5dfc 2381 ldd r18,Z+3 |
10684 5dfe 2034 cpi r18,lo8(64) |
10685 5e00 01F4 brne .L866 |
10686 5e02 2E89 ldd r18,Y+22 |
10687 5e04 3F89 ldd r19,Y+23 |
10688 5e06 200F add r18,r16 |
10689 5e08 311F adc r19,r17 |
10690 5e0a 3F8B std Y+23,r19 |
10691 5e0c 2E8B std Y+22,r18 |
10692 5e0e 00C0 rjmp .L867 |
10693 .L866: |
10694 5e10 203C cpi r18,lo8(-64) |
10695 5e12 01F4 brne .L868 |
10696 5e14 4E89 ldd r20,Y+22 |
10697 5e16 5F89 ldd r21,Y+23 |
10698 5e18 401B sub r20,r16 |
10699 5e1a 510B sbc r21,r17 |
10700 5e1c 5F8B std Y+23,r21 |
10701 5e1e 4E8B std Y+22,r20 |
10702 5e20 00C0 rjmp .L867 |
10703 .L868: |
10704 5e22 C801 movw r24,r16 |
10705 5e24 AA27 clr r26 |
10706 5e26 97FD sbrc r25,7 |
10707 5e28 A095 com r26 |
10708 5e2a BA2F mov r27,r26 |
10709 5e2c 3327 clr r19 |
10710 5e2e 27FD sbrc r18,7 |
10711 5e30 3095 com r19 |
10712 5e32 432F mov r20,r19 |
10713 5e34 532F mov r21,r19 |
10714 5e36 BC01 movw r22,r24 |
10715 5e38 CD01 movw r24,r26 |
10716 5e3a 0E94 0000 call __mulsi3 |
10717 5e3e 97FF sbrs r25,7 |
10718 5e40 00C0 rjmp .L870 |
10719 5e42 615C subi r22,lo8(-(63)) |
10720 5e44 7F4F sbci r23,hi8(-(63)) |
10721 5e46 8F4F sbci r24,hlo8(-(63)) |
10722 5e48 9F4F sbci r25,hhi8(-(63)) |
10723 .L870: |
10724 5e4a F6E0 ldi r31,6 |
10725 5e4c 9595 1: asr r25 |
10726 5e4e 8795 ror r24 |
10727 5e50 7795 ror r23 |
10728 5e52 6795 ror r22 |
10729 5e54 FA95 dec r31 |
10730 5e56 01F4 brne 1b |
10731 5e58 AE89 ldd r26,Y+22 |
10732 5e5a BF89 ldd r27,Y+23 |
10733 5e5c A60F add r26,r22 |
10734 5e5e B71F adc r27,r23 |
10735 5e60 BF8B std Y+23,r27 |
10736 5e62 AE8B std Y+22,r26 |
10737 .L867: |
10738 5e64 F301 movw r30,r6 |
10739 5e66 8081 ld r24,Z |
10740 5e68 9181 ldd r25,Z+1 |
10741 5e6a 2E89 ldd r18,Y+22 |
10742 5e6c 3F89 ldd r19,Y+23 |
10743 5e6e 8217 cp r24,r18 |
10744 5e70 9307 cpc r25,r19 |
10745 5e72 04F4 brge .L871 |
10746 5e74 B901 movw r22,r18 |
10747 5e76 680F add r22,r24 |
10748 5e78 791F adc r23,r25 |
10749 5e7a 77FF sbrs r23,7 |
10750 5e7c 00C0 rjmp .L872 |
10751 5e7e 6F5F subi r22,lo8(-(1)) |
10752 5e80 7F4F sbci r23,hi8(-(1)) |
10753 .L872: |
10754 5e82 7595 asr r23 |
10755 5e84 6795 ror r22 |
10756 5e86 7F8B std Y+23,r23 |
10757 5e88 6E8B std Y+22,r22 |
10758 5e8a 00C0 rjmp .L873 |
10759 .L871: |
10760 5e8c 5520 tst r5 |
10761 5e8e 01F4 brne .L874 |
10762 5e90 4E89 ldd r20,Y+22 |
10763 5e92 5F89 ldd r21,Y+23 |
10764 5e94 440F add r20,r20 |
10765 5e96 551F adc r21,r21 |
10766 5e98 481B sub r20,r24 |
10767 5e9a 590B sbc r21,r25 |
10768 5e9c 5F8B std Y+23,r21 |
10769 5e9e 4E8B std Y+22,r20 |
10770 5ea0 00C0 rjmp .L873 |
10771 .L874: |
10772 5ea2 51E0 ldi r21,lo8(1) |
10773 5ea4 5515 cp r21,r5 |
10774 5ea6 00F4 brsh .L873 |
10775 5ea8 252D mov r18,r5 |
10776 5eaa 3327 clr r19 |
10777 5eac 6E89 ldd r22,Y+22 |
10778 5eae 7F89 ldd r23,Y+23 |
10779 5eb0 861B sub r24,r22 |
10780 5eb2 970B sbc r25,r23 |
10781 5eb4 B901 movw r22,r18 |
10782 5eb6 0E94 0000 call __divmodhi4 |
10783 5eba AE89 ldd r26,Y+22 |
10784 5ebc BF89 ldd r27,Y+23 |
10785 5ebe A60F add r26,r22 |
10786 5ec0 B71F adc r27,r23 |
10787 5ec2 BF8B std Y+23,r27 |
10788 5ec4 AE8B std Y+22,r26 |
10789 .L873: |
10790 5ec6 C101 movw r24,r2 |
10791 5ec8 880F lsl r24 |
10792 5eca 991F rol r25 |
10793 5ecc 880F lsl r24 |
10794 5ece 991F rol r25 |
10795 5ed0 EE89 ldd r30,Y+22 |
10796 5ed2 FF89 ldd r31,Y+23 |
10797 5ed4 8E17 cp r24,r30 |
10798 5ed6 9F07 cpc r25,r31 |
10799 5ed8 04F4 brge .L916 |
10800 5eda FD89 ldd r31,Y+21 |
10801 5edc 8F2F mov r24,r31 |
10802 5ede 9927 clr r25 |
10803 5ee0 880F lsl r24 |
10804 5ee2 991F rol r25 |
10805 5ee4 880F lsl r24 |
10806 5ee6 991F rol r25 |
10807 5ee8 2E89 ldd r18,Y+22 |
10808 5eea 3F89 ldd r19,Y+23 |
10809 5eec 2817 cp r18,r24 |
10810 5eee 3907 cpc r19,r25 |
10811 5ef0 04F0 brlt .L878 |
10812 .L916: |
10813 5ef2 9F8B std Y+23,r25 |
10814 5ef4 8E8B std Y+22,r24 |
10815 .L878: |
10816 5ef6 8E89 ldd r24,Y+22 |
10817 5ef8 9F89 ldd r25,Y+23 |
10818 5efa 97FD sbrc r25,7 |
10819 5efc 0396 adiw r24,3 |
10820 .L880: |
10821 5efe 9595 asr r25 |
10822 5f00 8795 ror r24 |
10823 5f02 9595 asr r25 |
10824 5f04 8795 ror r24 |
10825 5f06 F401 movw r30,r8 |
10826 5f08 8183 std Z+1,r24 |
10827 5f0a 880F lsl r24 |
10828 5f0c 991F rol r25 |
10829 5f0e 880F lsl r24 |
10830 5f10 991F rol r25 |
10831 5f12 2E89 ldd r18,Y+22 |
10832 5f14 3F89 ldd r19,Y+23 |
10833 5f16 281B sub r18,r24 |
10834 5f18 390B sbc r19,r25 |
10835 5f1a C901 movw r24,r18 |
10836 5f1c 880F lsl r24 |
10837 5f1e 8283 std Z+2,r24 |
10838 5f20 EE89 ldd r30,Y+22 |
10839 5f22 FF89 ldd r31,Y+23 |
10840 5f24 D301 movw r26,r6 |
10841 5f26 ED93 st X+,r30 |
10842 5f28 FC93 st X,r31 |
10843 5f2a 00C0 rjmp .L851 |
10844 .L852: |
10845 5f2c F401 movw r30,r8 |
10846 5f2e 1182 std Z+1,__zero_reg__ |
10847 5f30 1282 std Z+2,__zero_reg__ |
10848 .L851: |
10849 5f32 4A94 dec r4 |
10850 5f34 22E0 ldi r18,lo8(2) |
10851 5f36 30E0 ldi r19,hi8(2) |
10852 5f38 620E add r6,r18 |
10853 5f3a 731E adc r7,r19 |
10854 5f3c 44E0 ldi r20,lo8(4) |
10855 5f3e 50E0 ldi r21,hi8(4) |
10856 5f40 A40E add r10,r20 |
10857 5f42 B51E adc r11,r21 |
10858 5f44 68E0 ldi r22,lo8(8) |
10859 5f46 70E0 ldi r23,hi8(8) |
10860 5f48 860E add r8,r22 |
10861 5f4a 971E adc r9,r23 |
10862 5f4c 47FE sbrs r4,7 |
10863 5f4e 00C0 rjmp .L883 |
10864 /* epilogue: frame size=23 */ |
10865 5f50 E2E1 ldi r30,18 |
10866 5f52 C95E subi r28,-23 |
10867 5f54 0C94 0000 jmp __epilogue_restores__+0 |
10868 /* epilogue end (size=4) */ |
10869 /* function MotorRegler size 8305 (8295) */ |
10871 .comm TrimNick,2,1 |
10872 .comm TrimRoll,2,1 |
10873 .comm ErsatzKompass,4,1 |
10874 .comm ErsatzKompassInGrad,2,1 |
10875 .comm MesswertNick,2,1 |
10876 .comm MesswertRoll,2,1 |
10877 .comm MesswertGier,2,1 |
10878 .comm Mittelwert_AccNick,2,1 |
10879 .comm Mittelwert_AccRoll,2,1 |
10880 .comm NaviAccNick,2,1 |
10881 .comm NaviAccRoll,2,1 |
10882 .comm h,1,1 |
10883 .comm m,1,1 |
10884 .comm s,1,1 |
10885 .comm DiffNick,2,1 |
10886 .comm DiffRoll,2,1 |
10887 .comm Parameter_Servo3,1,1 |
10888 .comm Parameter_Servo4,1,1 |
10889 .comm Parameter_Servo5,1,1 |
10890 .comm Parameter_J16Bitmask,1,1 |
10891 .comm Parameter_J16Timing,1,1 |
10892 .comm Parameter_J17Bitmask,1,1 |
10893 .comm Parameter_J17Timing,1,1 |
10894 .comm Parameter_GlobalConfig,1,1 |
10895 .comm Parameter_ExtraConfig,1,1 |
10896 .comm MesswertGierBias,2,1 |
10897 .comm RohMesswertNick,2,1 |
10898 .comm RohMesswertRoll,2,1 |
10899 .comm MittelIntegralNick,4,1 |
10900 .comm MittelIntegralRoll,4,1 |
10901 .comm MittelIntegralNick2,4,1 |
10902 .comm MittelIntegralRoll2,4,1 |
10903 .comm MAX_GAS,1,1 |
10904 .comm MIN_GAS,1,1 |
10905 .comm GyroFaktor,1,1 |
10906 .comm GyroFaktorGier,1,1 |
10907 .comm IntegralFaktor,1,1 |
10908 .comm IntegralFaktorGier,1,1 |
10909 .comm Parameter_NaviGpsModeControl,1,1 |
10910 .comm Parameter_NaviGpsGain,1,1 |
10911 .comm Parameter_NaviGpsP,1,1 |
10912 .comm Parameter_NaviGpsI,1,1 |
10913 .comm Parameter_NaviGpsD,1,1 |
10914 .comm Parameter_NaviGpsACC,1,1 |
10915 .comm Parameter_NaviOperatingRadius,1,1 |
10916 .comm Parameter_NaviWindCorrection,1,1 |
10917 .comm Parameter_NaviSpeedCompensation,1,1 |
10918 .comm Parameter_ExternalControl,1,1 |
10919 .comm Parameter_MaximumAltitude,1,1 |
10920 .comm KopplungsteilNickRoll,2,1 |
10921 .comm KopplungsteilRollNick,2,1 |
10922 .comm tmp_motorwert,24,1 |
10923 /* File "fc.c": code 12371 = 0x3053 (12310), prologues 31, epilogues 30 */ |
DEFINED SYMBOLS |
*ABS*:00000000 fc.c |
C:\Temp/ccsD8yYp.s:3 *ABS*:0000003f __SREG__ |
C:\Temp/ccsD8yYp.s:4 *ABS*:0000003e __SP_H__ |
C:\Temp/ccsD8yYp.s:5 *ABS*:0000003d __SP_L__ |
C:\Temp/ccsD8yYp.s:6 *ABS*:00000000 __tmp_reg__ |
C:\Temp/ccsD8yYp.s:7 *ABS*:00000001 __zero_reg__ |
C:\Temp/ccsD8yYp.s:15 .bss:00000000 GasIsZeroCnt |
C:\Temp/ccsD8yYp.s:21 .bss:00000002 HooverGasEmergencyPercent |
C:\Temp/ccsD8yYp.s:27 .data:00000000 VarioCharacter |
C:\Temp/ccsD8yYp.s:32 .data:00000001 GIER_GRAD_FAKTOR |
C:\Temp/ccsD8yYp.s:39 .bss:00000004 FC_StatusFlags2 |
C:\Temp/ccsD8yYp.s:45 .bss:00000005 FC_StatusFlags |
C:\Temp/ccsD8yYp.s:51 .bss:00000006 modell_fliegt |
C:\Temp/ccsD8yYp.s:57 .bss:00000008 MaxStickRoll |
C:\Temp/ccsD8yYp.s:63 .bss:0000000a MaxStickNick |
C:\Temp/ccsD8yYp.s:69 .data:00000005 ExternHoehenValue |
C:\Temp/ccsD8yYp.s:76 .bss:0000000c ExternStickGier |
C:\Temp/ccsD8yYp.s:82 .bss:0000000e ExternStickRoll |
C:\Temp/ccsD8yYp.s:88 .bss:00000010 ExternStickNick |
C:\Temp/ccsD8yYp.s:94 .data:00000007 sintab |
C:\Temp/ccsD8yYp.s:131 .bss:00000012 CareFree |
C:\Temp/ccsD8yYp.s:137 .data:00000026 Parameter_DynamicStability |
C:\Temp/ccsD8yYp.s:142 .data:00000027 Parameter_CouplingYawCorrection |
C:\Temp/ccsD8yYp.s:147 .data:00000028 Parameter_AchsKopplung2 |
C:\Temp/ccsD8yYp.s:152 .data:00000029 Parameter_AchsKopplung1 |
C:\Temp/ccsD8yYp.s:157 .data:0000002a Parameter_LoopGasLimit |
C:\Temp/ccsD8yYp.s:162 .data:0000002b Parameter_ServoRollControl |
C:\Temp/ccsD8yYp.s:167 .data:0000002c Parameter_ServoNickControl |
C:\Temp/ccsD8yYp.s:174 .bss:00000013 Parameter_UserParam8 |
C:\Temp/ccsD8yYp.s:180 .bss:00000014 Parameter_UserParam7 |
C:\Temp/ccsD8yYp.s:186 .bss:00000015 Parameter_UserParam6 |
C:\Temp/ccsD8yYp.s:192 .bss:00000016 Parameter_UserParam5 |
C:\Temp/ccsD8yYp.s:198 .bss:00000017 Parameter_UserParam4 |
C:\Temp/ccsD8yYp.s:204 .bss:00000018 Parameter_UserParam3 |
C:\Temp/ccsD8yYp.s:210 .bss:00000019 Parameter_UserParam2 |
C:\Temp/ccsD8yYp.s:216 .bss:0000001a Parameter_UserParam1 |
C:\Temp/ccsD8yYp.s:222 .data:0000002d Parameter_I_Faktor |
C:\Temp/ccsD8yYp.s:227 .data:0000002e Parameter_Gier_P |
C:\Temp/ccsD8yYp.s:232 .data:0000002f Parameter_Gyro_Gier_I |
C:\Temp/ccsD8yYp.s:237 .data:00000030 Parameter_Gyro_Gier_P |
C:\Temp/ccsD8yYp.s:242 .data:00000031 Parameter_Gyro_I |
C:\Temp/ccsD8yYp.s:247 .data:00000032 Parameter_Gyro_P |
C:\Temp/ccsD8yYp.s:252 .data:00000033 Parameter_Gyro_D |
C:\Temp/ccsD8yYp.s:257 .data:00000034 Parameter_Hoehe_GPS_Z |
C:\Temp/ccsD8yYp.s:262 .data:00000035 Parameter_KompassWirkung |
C:\Temp/ccsD8yYp.s:267 .data:00000036 Parameter_Hoehe_ACC_Wirkung |
C:\Temp/ccsD8yYp.s:272 .data:00000037 Parameter_Hoehe_P |
C:\Temp/ccsD8yYp.s:277 .data:00000038 Parameter_HoehenSchalter |
C:\Temp/ccsD8yYp.s:282 .data:00000039 Parameter_Luftdruck_D |
C:\Temp/ccsD8yYp.s:289 .bss:0000001b Looping_Oben |
C:\Temp/ccsD8yYp.s:295 .bss:0000001c Looping_Unten |
C:\Temp/ccsD8yYp.s:301 .bss:0000001d Looping_Rechts |
C:\Temp/ccsD8yYp.s:307 .bss:0000001e Looping_Links |
C:\Temp/ccsD8yYp.s:313 .bss:0000001f Looping_Roll |
C:\Temp/ccsD8yYp.s:319 .bss:00000020 Looping_Nick |
C:\Temp/ccsD8yYp.s:325 .data:0000003a Ki |
C:\Temp/ccsD8yYp.s:332 .bss:00000021 HoverGas |
C:\Temp/ccsD8yYp.s:338 .bss:00000023 LageKorrekturNick |
C:\Temp/ccsD8yYp.s:344 .bss:00000025 LageKorrekturRoll |
C:\Temp/ccsD8yYp.s:350 .bss:00000027 NeueKompassRichtungMerken |
C:\Temp/ccsD8yYp.s:356 .bss:00000028 CalibrationDone |
C:\Temp/ccsD8yYp.s:362 .bss:00000029 CompassGierSetpoint |
C:\Temp/ccsD8yYp.s:368 .bss:0000002b WaypointTrimming |
C:\Temp/ccsD8yYp.s:374 .data:0000003c carefree_old |
C:\Temp/ccsD8yYp.s:381 .bss:0000002c FromNC_AltitudeSpeed |
C:\Temp/ccsD8yYp.s:387 .bss:0000002d FromNC_AltitudeSetpoint |
C:\Temp/ccsD8yYp.s:393 .bss:00000031 AltitudeSetpointTrimming |
C:\Temp/ccsD8yYp.s:399 .bss:00000033 SollHoehe |
C:\Temp/ccsD8yYp.s:405 .bss:00000037 HoehenWert |
C:\Temp/ccsD8yYp.s:411 .bss:0000003b StartTrigger |
C:\Temp/ccsD8yYp.s:417 .bss:0000003c MotorenEin |
C:\Temp/ccsD8yYp.s:423 .bss:0000003d SenderOkay |
C:\Temp/ccsD8yYp.s:429 .bss:0000003e Poti |
C:\Temp/ccsD8yYp.s:435 .bss:00000047 StickGas |
C:\Temp/ccsD8yYp.s:441 .bss:00000049 StickGier |
C:\Temp/ccsD8yYp.s:447 .bss:0000004b StickRoll |
C:\Temp/ccsD8yYp.s:453 .bss:0000004d StickNick |
C:\Temp/ccsD8yYp.s:459 .data:0000003d HoverGasMax |
C:\Temp/ccsD8yYp.s:466 .bss:0000004f HoverGasMin |
C:\Temp/ccsD8yYp.s:472 .data:0000003f StickGasHover |
C:\Temp/ccsD8yYp.s:479 .bss:00000051 GierGyroFehler |
C:\Temp/ccsD8yYp.s:485 .data:00000041 Umschlag180Roll |
C:\Temp/ccsD8yYp.s:490 .data:00000045 Umschlag180Nick |
C:\Temp/ccsD8yYp.s:497 .bss:00000053 TrichterFlug |
C:\Temp/ccsD8yYp.s:503 .bss:00000054 HoehenReglerAktiv |
C:\Temp/ccsD8yYp.s:509 .data:00000049 KompassSignalSchlecht |
C:\Temp/ccsD8yYp.s:514 .data:0000004b KompassFusion |
C:\Temp/ccsD8yYp.s:519 .data:0000004c CalculateCompassTimer |
C:\Temp/ccsD8yYp.s:526 .bss:00000055 KompassSollWert |
C:\Temp/ccsD8yYp.s:532 .data:0000004d KompassValue |
C:\Temp/ccsD8yYp.s:539 .bss:00000057 Mess_Integral_Hoch |
C:\Temp/ccsD8yYp.s:545 .bss:0000005b SummeRoll |
C:\Temp/ccsD8yYp.s:551 .bss:0000005f SummeNick |
C:\Temp/ccsD8yYp.s:557 .bss:00000063 Mess_Integral_Gier2 |
C:\Temp/ccsD8yYp.s:563 .bss:00000067 Mess_Integral_Gier |
C:\Temp/ccsD8yYp.s:569 .bss:0000006b Mess_IntegralRoll2 |
C:\Temp/ccsD8yYp.s:575 .bss:0000006f Mess_IntegralRoll |
C:\Temp/ccsD8yYp.s:581 .bss:00000073 Mess_IntegralNick2 |
C:\Temp/ccsD8yYp.s:587 .bss:00000077 Mess_IntegralNick |
C:\Temp/ccsD8yYp.s:593 .bss:0000007b Integral_Gier |
C:\Temp/ccsD8yYp.s:599 .bss:0000007f IntegralAccZ |
C:\Temp/ccsD8yYp.s:605 .bss:00000083 IntegralAccRoll |
C:\Temp/ccsD8yYp.s:611 .bss:00000087 IntegralAccNick |
C:\Temp/ccsD8yYp.s:617 .bss:0000008b IntegralRoll2 |
C:\Temp/ccsD8yYp.s:623 .bss:0000008f IntegralRoll |
C:\Temp/ccsD8yYp.s:629 .bss:00000093 IntegralNick2 |
C:\Temp/ccsD8yYp.s:635 .bss:00000097 IntegralNick |
C:\Temp/ccsD8yYp.s:641 .bss:0000009b ControlHeading |
C:\Temp/ccsD8yYp.s:647 .bss:0000009c NeutralAccZ |
C:\Temp/ccsD8yYp.s:653 .bss:0000009e NaviCntAcc |
C:\Temp/ccsD8yYp.s:659 .bss:000000a0 NeutralAccY |
C:\Temp/ccsD8yYp.s:665 .bss:000000a2 NeutralAccX |
C:\Temp/ccsD8yYp.s:671 .bss:000000a4 StartNeutralNick |
C:\Temp/ccsD8yYp.s:677 .bss:000000a6 StartNeutralRoll |
C:\Temp/ccsD8yYp.s:683 .bss:000000a8 AdNeutralGier |
C:\Temp/ccsD8yYp.s:689 .bss:000000aa AdNeutralRoll |
C:\Temp/ccsD8yYp.s:695 .bss:000000ac AdNeutralNick |
C:\Temp/ccsD8yYp.s:701 .bss:000000ae BaroExpandActive |
C:\Temp/ccsD8yYp.s:706 .text:00000000 CopyDebugValues |
*COM*:00000002 Mittelwert_AccNick |
*COM*:00000002 Mittelwert_AccRoll |
*COM*:00000004 ErsatzKompass |
C:\Temp/ccsD8yYp.s:902 .text:00000254 Piep |
C:\Temp/ccsD8yYp.s:976 .text:000002da CalibrierMittelwert |
*COM*:00000002 MesswertNick |
*COM*:00000002 MesswertRoll |
*COM*:00000002 MesswertGier |
C:\Temp/ccsD8yYp.s:1118 .progmem.data:00000000 __c.35 |
C:\Temp/ccsD8yYp.s:1123 .text:0000041c SetNeutral |
.bss:000000b0 tmpl.27 |
C:\Temp/ccsD8yYp.s:1631 .bss:000000b4 tmpl2.28 |
C:\Temp/ccsD8yYp.s:1632 .bss:000000b8 tmpl3.29 |
C:\Temp/ccsD8yYp.s:1633 .bss:000000bc tmpl4.30 |
C:\Temp/ccsD8yYp.s:1634 .bss:000000c0 oldNick.31 |
C:\Temp/ccsD8yYp.s:1635 .bss:000000c2 oldRoll.32 |
C:\Temp/ccsD8yYp.s:1636 .bss:000000c4 d2Roll.33 |
C:\Temp/ccsD8yYp.s:1637 .bss:000000c6 d2Nick.34 |
C:\Temp/ccsD8yYp.s:1641 .text:00000988 Mittelwert |
*COM*:00000002 RohMesswertNick |
*COM*:00000002 RohMesswertRoll |
*COM*:00000002 NaviAccNick |
*COM*:00000002 NaviAccRoll |
*COM*:00000001 Parameter_GlobalConfig |
*COM*:00000002 KopplungsteilNickRoll |
*COM*:00000002 KopplungsteilRollNick |
*COM*:00000002 TrimRoll |
*COM*:00000002 TrimNick |
C:\Temp/ccsD8yYp.s:3206 .text:000018ec SendMotorData |
C:\Temp/ccsD8yYp.s:3266 .text:00001966 ParameterZuordnung |
*COM*:00000001 Parameter_J16Timing |
*COM*:00000001 Parameter_J17Timing |
*COM*:00000001 Parameter_Servo3 |
*COM*:00000001 Parameter_Servo4 |
*COM*:00000001 Parameter_Servo5 |
*COM*:00000001 Parameter_MaximumAltitude |
*COM*:00000001 Parameter_ExtraConfig |
*COM*:00000001 Parameter_ExternalControl |
*COM*:00000001 MAX_GAS |
*COM*:00000001 MIN_GAS |
C:\Temp/ccsD8yYp.s:1638 .bss:000000c8 sollGier.0 |
C:\Temp/ccsD8yYp.s:3985 .bss:000000cc tmp_long.1 |
C:\Temp/ccsD8yYp.s:3986 .bss:000000d0 tmp_long2.2 |
C:\Temp/ccsD8yYp.s:3987 .bss:000000d4 IntegralFehlerNick.3 |
C:\Temp/ccsD8yYp.s:3988 .bss:000000d8 IntegralFehlerRoll.4 |
C:\Temp/ccsD8yYp.s:3989 .bss:000000dc RcLostTimer.5 |
C:\Temp/ccsD8yYp.s:3990 .bss:000000de delay_neutral.6 |
C:\Temp/ccsD8yYp.s:3991 .bss:000000df delay_einschalten.7 |
C:\Temp/ccsD8yYp.s:3992 .bss:000000e0 delay_ausschalten.8 |
C:\Temp/ccsD8yYp.s:3993 .bss:000000e1 move_safety_switch.9 |
C:\Temp/ccsD8yYp.s:3994 .bss:000000e2 ausgleichNick.10 |
C:\Temp/ccsD8yYp.s:3995 .bss:000000e6 ausgleichRoll.11 |
C:\Temp/ccsD8yYp.s:3996 .bss:000000ea stick_nick.12 |
C:\Temp/ccsD8yYp.s:3997 .bss:000000ec stick_roll.13 |
C:\Temp/ccsD8yYp.s:3998 .bss:000000ee cnt.14 |
C:\Temp/ccsD8yYp.s:3999 .bss:000000f0 last_n_p.15 |
C:\Temp/ccsD8yYp.s:4000 .bss:000000f1 last_n_n.16 |
C:\Temp/ccsD8yYp.s:4001 .bss:000000f2 last_r_p.17 |
C:\Temp/ccsD8yYp.s:4002 .bss:000000f3 last_r_n.18 |
C:\Temp/ccsD8yYp.s:4003 .bss:000000f4 MittelIntegralNick_Alt.19 |
C:\Temp/ccsD8yYp.s:4004 .bss:000000f8 MittelIntegralRoll_Alt.20 |
C:\Temp/ccsD8yYp.s:4005 .bss:000000fc HeightTrimming.21 |
C:\Temp/ccsD8yYp.s:4006 .bss:000000fe FilterHCGas.22 |
C:\Temp/ccsD8yYp.s:4007 .bss:00000100 HoverGasFilter.23 |
C:\Temp/ccsD8yYp.s:4012 .data:0000004f delay.24 |
C:\Temp/ccsD8yYp.s:4008 .bss:00000104 BaroAtUpperLimit.25 |
C:\Temp/ccsD8yYp.s:4014 .bss:00000105 BaroAtLowerLimit.26 |
C:\Temp/ccsD8yYp.s:4019 .text:00001f6a 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 ErsatzKompassInGrad |
*COM*:00000002 DiffNick |
*COM*:00000002 DiffRoll |
*COM*:00000018 tmp_motorwert |
*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 |
Capacity |
ServoNickValue |
GPS_Nick |
GPS_Roll |
VersionInfo |
PlatinenVersion |
beeptime |
UpdateMotor |
LIBFC_Polling |
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 |
LED_Init |
FromNaviCtrl_Value |
ServoActive |
NickServoValue |
LIBFC_HoTT_Clear |
__epilogue_restores__ |
AdWertNickFilter |
AdWertRollFilter |
AdReady |
HiResNick |
HiResRoll |
MotorTest |
PC_MotortestActive |
I2C_TransferActive |
motor_write |
twi_state |
BLFlags |
NC_To_FC_MaxAltitude |
SpeakHoTT |
FromNaviCtrl |
BeepMuster |
PPM_diff |
SetActiveParamSet |
WinkelOut |
GetActiveParamSet |
ParamSet_ReadFromEEProm |
LipoDetection |
LIBFC_ReceiverInit |
NC_ErrorCode |
GPSInfo |
NewPpmData |
FromNC_Rotate_C |
FromNC_Rotate_S |
GPS_Aid_StickMultiplikator |
__floatsisf |
__addsf3 |
__fixunssfsi |
ExternControl |
ZaehlMessungen |
BattLowVoltageWarning |
__udivmodhi4 |
DruckOffsetSetting |
SummenHoehe |
ihypot |
c_cos_8192 |
__udivmodqi4 |
NC_To_FC_Flags |
MissingMotor |
Mixer |