| 0,0 → 1,11012 |
|---|
| 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_ServoRollComp |
| 162 Parameter_ServoRollComp: |
| 163 002b 55 .byte 85 |
| 164 .global Parameter_ServoNickComp |
| 167 Parameter_ServoNickComp: |
| 168 002c 32 .byte 50 |
| 169 .global Parameter_ServoRollControl |
| 172 Parameter_ServoRollControl: |
| 173 002d 64 .byte 100 |
| 174 .global Parameter_ServoNickControl |
| 177 Parameter_ServoNickControl: |
| 178 002e 64 .byte 100 |
| 179 .global Parameter_UserParam8 |
| 180 .global Parameter_UserParam8 |
| 181 .section .bss |
| 184 Parameter_UserParam8: |
| 185 0013 00 .skip 1,0 |
| 186 .global Parameter_UserParam7 |
| 187 .global Parameter_UserParam7 |
| 190 Parameter_UserParam7: |
| 191 0014 00 .skip 1,0 |
| 192 .global Parameter_UserParam6 |
| 193 .global Parameter_UserParam6 |
| 196 Parameter_UserParam6: |
| 197 0015 00 .skip 1,0 |
| 198 .global Parameter_UserParam5 |
| 199 .global Parameter_UserParam5 |
| 202 Parameter_UserParam5: |
| 203 0016 00 .skip 1,0 |
| 204 .global Parameter_UserParam4 |
| 205 .global Parameter_UserParam4 |
| 208 Parameter_UserParam4: |
| 209 0017 00 .skip 1,0 |
| 210 .global Parameter_UserParam3 |
| 211 .global Parameter_UserParam3 |
| 214 Parameter_UserParam3: |
| 215 0018 00 .skip 1,0 |
| 216 .global Parameter_UserParam2 |
| 217 .global Parameter_UserParam2 |
| 220 Parameter_UserParam2: |
| 221 0019 00 .skip 1,0 |
| 222 .global Parameter_UserParam1 |
| 223 .global Parameter_UserParam1 |
| 226 Parameter_UserParam1: |
| 227 001a 00 .skip 1,0 |
| 228 .global Parameter_I_Faktor |
| 229 .data |
| 232 Parameter_I_Faktor: |
| 233 002f 0A .byte 10 |
| 234 .global Parameter_Gier_P |
| 237 Parameter_Gier_P: |
| 238 0030 02 .byte 2 |
| 239 .global Parameter_Gyro_Gier_I |
| 242 Parameter_Gyro_Gier_I: |
| 243 0031 96 .byte -106 |
| 244 .global Parameter_Gyro_Gier_P |
| 247 Parameter_Gyro_Gier_P: |
| 248 0032 96 .byte -106 |
| 249 .global Parameter_Gyro_I |
| 252 Parameter_Gyro_I: |
| 253 0033 96 .byte -106 |
| 254 .global Parameter_Gyro_P |
| 257 Parameter_Gyro_P: |
| 258 0034 96 .byte -106 |
| 259 .global Parameter_Gyro_D |
| 262 Parameter_Gyro_D: |
| 263 0035 08 .byte 8 |
| 264 .global Parameter_Hoehe_GPS_Z |
| 267 Parameter_Hoehe_GPS_Z: |
| 268 0036 40 .byte 64 |
| 269 .global Parameter_KompassWirkung |
| 272 Parameter_KompassWirkung: |
| 273 0037 40 .byte 64 |
| 274 .global Parameter_Hoehe_ACC_Wirkung |
| 277 Parameter_Hoehe_ACC_Wirkung: |
| 278 0038 3A .byte 58 |
| 279 .global Parameter_Hoehe_P |
| 282 Parameter_Hoehe_P: |
| 283 0039 10 .byte 16 |
| 284 .global Parameter_HoehenSchalter |
| 287 Parameter_HoehenSchalter: |
| 288 003a FB .byte -5 |
| 289 .global Parameter_Luftdruck_D |
| 292 Parameter_Luftdruck_D: |
| 293 003b 30 .byte 48 |
| 294 .global Looping_Oben |
| 295 .global Looping_Oben |
| 296 .section .bss |
| 299 Looping_Oben: |
| 300 001b 00 .skip 1,0 |
| 301 .global Looping_Unten |
| 302 .global Looping_Unten |
| 305 Looping_Unten: |
| 306 001c 00 .skip 1,0 |
| 307 .global Looping_Rechts |
| 308 .global Looping_Rechts |
| 311 Looping_Rechts: |
| 312 001d 00 .skip 1,0 |
| 313 .global Looping_Links |
| 314 .global Looping_Links |
| 317 Looping_Links: |
| 318 001e 00 .skip 1,0 |
| 319 .global Looping_Roll |
| 320 .global Looping_Roll |
| 323 Looping_Roll: |
| 324 001f 00 .skip 1,0 |
| 325 .global Looping_Nick |
| 326 .global Looping_Nick |
| 329 Looping_Nick: |
| 330 0020 00 .skip 1,0 |
| 331 .global Ki |
| 332 .data |
| 335 Ki: |
| 336 003c 3801 .word 312 |
| 337 .global HoverGas |
| 338 .global HoverGas |
| 339 .section .bss |
| 342 HoverGas: |
| 343 0021 0000 .skip 2,0 |
| 344 .global LageKorrekturNick |
| 345 .global LageKorrekturNick |
| 348 LageKorrekturNick: |
| 349 0023 0000 .skip 2,0 |
| 350 .global LageKorrekturRoll |
| 351 .global LageKorrekturRoll |
| 354 LageKorrekturRoll: |
| 355 0025 0000 .skip 2,0 |
| 356 .global NeueKompassRichtungMerken |
| 357 .global NeueKompassRichtungMerken |
| 360 NeueKompassRichtungMerken: |
| 361 0027 00 .skip 1,0 |
| 362 .global CalibrationDone |
| 363 .global CalibrationDone |
| 366 CalibrationDone: |
| 367 0028 00 .skip 1,0 |
| 368 .global CompassGierSetpoint |
| 369 .global CompassGierSetpoint |
| 372 CompassGierSetpoint: |
| 373 0029 0000 .skip 2,0 |
| 374 .global WaypointTrimming |
| 375 .global WaypointTrimming |
| 378 WaypointTrimming: |
| 379 002b 00 .skip 1,0 |
| 380 .global carefree_old |
| 381 .data |
| 384 carefree_old: |
| 385 003e 32 .byte 50 |
| 386 .global FromNC_AltitudeSpeed |
| 387 .global FromNC_AltitudeSpeed |
| 388 .section .bss |
| 391 FromNC_AltitudeSpeed: |
| 392 002c 00 .skip 1,0 |
| 393 .global FromNC_AltitudeSetpoint |
| 394 .global FromNC_AltitudeSetpoint |
| 397 FromNC_AltitudeSetpoint: |
| 398 002d 0000 0000 .skip 4,0 |
| 399 .global AltitudeSetpointTrimming |
| 400 .global AltitudeSetpointTrimming |
| 403 AltitudeSetpointTrimming: |
| 404 0031 0000 .skip 2,0 |
| 405 .global SollHoehe |
| 406 .global SollHoehe |
| 409 SollHoehe: |
| 410 0033 0000 0000 .skip 4,0 |
| 411 .global HoehenWert |
| 412 .global HoehenWert |
| 415 HoehenWert: |
| 416 0037 0000 0000 .skip 4,0 |
| 417 .global StartTrigger |
| 418 .global StartTrigger |
| 421 StartTrigger: |
| 422 003b 00 .skip 1,0 |
| 423 .global MotorenEin |
| 424 .global MotorenEin |
| 427 MotorenEin: |
| 428 003c 00 .skip 1,0 |
| 429 .global SenderOkay |
| 430 .global SenderOkay |
| 433 SenderOkay: |
| 434 003d 00 .skip 1,0 |
| 435 .global Poti |
| 436 .global Poti |
| 439 Poti: |
| 440 003e 0000 0000 .skip 9,0 |
| 440 0000 0000 |
| 440 00 |
| 441 .global StickGas |
| 442 .global StickGas |
| 445 StickGas: |
| 446 0047 0000 .skip 2,0 |
| 447 .global StickGier |
| 448 .global StickGier |
| 451 StickGier: |
| 452 0049 0000 .skip 2,0 |
| 453 .global StickRoll |
| 454 .global StickRoll |
| 457 StickRoll: |
| 458 004b 0000 .skip 2,0 |
| 459 .global StickNick |
| 460 .global StickNick |
| 463 StickNick: |
| 464 004d 0000 .skip 2,0 |
| 465 .global HoverGasMax |
| 466 .data |
| 469 HoverGasMax: |
| 470 003f FF03 .word 1023 |
| 471 .global HoverGasMin |
| 472 .global HoverGasMin |
| 473 .section .bss |
| 476 HoverGasMin: |
| 477 004f 0000 .skip 2,0 |
| 478 .global StickGasHover |
| 479 .data |
| 482 StickGasHover: |
| 483 0041 7800 .word 120 |
| 484 .global GierGyroFehler |
| 485 .global GierGyroFehler |
| 486 .section .bss |
| 489 GierGyroFehler: |
| 490 0051 0000 .skip 2,0 |
| 491 .global Umschlag180Roll |
| 492 .data |
| 495 Umschlag180Roll: |
| 496 0043 90D0 0300 .long 250000 |
| 497 .global Umschlag180Nick |
| 500 Umschlag180Nick: |
| 501 0047 90D0 0300 .long 250000 |
| 502 .global TrichterFlug |
| 503 .global TrichterFlug |
| 504 .section .bss |
| 507 TrichterFlug: |
| 508 0053 00 .skip 1,0 |
| 509 .global HoehenReglerAktiv |
| 510 .global HoehenReglerAktiv |
| 513 HoehenReglerAktiv: |
| 514 0054 00 .skip 1,0 |
| 515 .global KompassSignalSchlecht |
| 516 .data |
| 519 KompassSignalSchlecht: |
| 520 004b 3200 .word 50 |
| 521 .global KompassFusion |
| 524 KompassFusion: |
| 525 004d 20 .byte 32 |
| 526 .global CalculateCompassTimer |
| 529 CalculateCompassTimer: |
| 530 004e 64 .byte 100 |
| 531 .global KompassSollWert |
| 532 .global KompassSollWert |
| 533 .section .bss |
| 536 KompassSollWert: |
| 537 0055 0000 .skip 2,0 |
| 538 .global KompassValue |
| 539 .data |
| 542 KompassValue: |
| 543 004f FFFF .word -1 |
| 544 .global Mess_Integral_Hoch |
| 545 .global Mess_Integral_Hoch |
| 546 .section .bss |
| 549 Mess_Integral_Hoch: |
| 550 0057 0000 0000 .skip 4,0 |
| 551 .global SummeRoll |
| 552 .global SummeRoll |
| 555 SummeRoll: |
| 556 005b 0000 0000 .skip 4,0 |
| 557 .global SummeNick |
| 558 .global SummeNick |
| 561 SummeNick: |
| 562 005f 0000 0000 .skip 4,0 |
| 563 .global Mess_Integral_Gier2 |
| 564 .global Mess_Integral_Gier2 |
| 567 Mess_Integral_Gier2: |
| 568 0063 0000 0000 .skip 4,0 |
| 569 .global Mess_Integral_Gier |
| 570 .global Mess_Integral_Gier |
| 573 Mess_Integral_Gier: |
| 574 0067 0000 0000 .skip 4,0 |
| 575 .global Mess_IntegralRoll2 |
| 576 .global Mess_IntegralRoll2 |
| 579 Mess_IntegralRoll2: |
| 580 006b 0000 0000 .skip 4,0 |
| 581 .global Mess_IntegralRoll |
| 582 .global Mess_IntegralRoll |
| 585 Mess_IntegralRoll: |
| 586 006f 0000 0000 .skip 4,0 |
| 587 .global Mess_IntegralNick2 |
| 588 .global Mess_IntegralNick2 |
| 591 Mess_IntegralNick2: |
| 592 0073 0000 0000 .skip 4,0 |
| 593 .global Mess_IntegralNick |
| 594 .global Mess_IntegralNick |
| 597 Mess_IntegralNick: |
| 598 0077 0000 0000 .skip 4,0 |
| 599 .global Integral_Gier |
| 600 .global Integral_Gier |
| 603 Integral_Gier: |
| 604 007b 0000 0000 .skip 4,0 |
| 605 .global IntegralAccZ |
| 606 .global IntegralAccZ |
| 609 IntegralAccZ: |
| 610 007f 0000 0000 .skip 4,0 |
| 611 .global IntegralAccRoll |
| 612 .global IntegralAccRoll |
| 615 IntegralAccRoll: |
| 616 0083 0000 0000 .skip 4,0 |
| 617 .global IntegralAccNick |
| 618 .global IntegralAccNick |
| 621 IntegralAccNick: |
| 622 0087 0000 0000 .skip 4,0 |
| 623 .global IntegralRoll2 |
| 624 .global IntegralRoll2 |
| 627 IntegralRoll2: |
| 628 008b 0000 0000 .skip 4,0 |
| 629 .global IntegralRoll |
| 630 .global IntegralRoll |
| 633 IntegralRoll: |
| 634 008f 0000 0000 .skip 4,0 |
| 635 .global IntegralNick2 |
| 636 .global IntegralNick2 |
| 639 IntegralNick2: |
| 640 0093 0000 0000 .skip 4,0 |
| 641 .global IntegralNick |
| 642 .global IntegralNick |
| 645 IntegralNick: |
| 646 0097 0000 0000 .skip 4,0 |
| 647 .global ControlHeading |
| 648 .global ControlHeading |
| 651 ControlHeading: |
| 652 009b 00 .skip 1,0 |
| 653 .global NeutralAccZ |
| 654 .global NeutralAccZ |
| 657 NeutralAccZ: |
| 658 009c 0000 .skip 2,0 |
| 659 .global NaviCntAcc |
| 660 .global NaviCntAcc |
| 663 NaviCntAcc: |
| 664 009e 0000 .skip 2,0 |
| 665 .global NeutralAccY |
| 666 .global NeutralAccY |
| 669 NeutralAccY: |
| 670 00a0 0000 .skip 2,0 |
| 671 .global NeutralAccX |
| 672 .global NeutralAccX |
| 675 NeutralAccX: |
| 676 00a2 0000 .skip 2,0 |
| 677 .global StartNeutralNick |
| 678 .global StartNeutralNick |
| 681 StartNeutralNick: |
| 682 00a4 0000 .skip 2,0 |
| 683 .global StartNeutralRoll |
| 684 .global StartNeutralRoll |
| 687 StartNeutralRoll: |
| 688 00a6 0000 .skip 2,0 |
| 689 .global AdNeutralGier |
| 690 .global AdNeutralGier |
| 693 AdNeutralGier: |
| 694 00a8 0000 .skip 2,0 |
| 695 .global AdNeutralRoll |
| 696 .global AdNeutralRoll |
| 699 AdNeutralRoll: |
| 700 00aa 0000 .skip 2,0 |
| 701 .global AdNeutralNick |
| 702 .global AdNeutralNick |
| 705 AdNeutralNick: |
| 706 00ac 0000 .skip 2,0 |
| 707 .global BaroExpandActive |
| 708 .global BaroExpandActive |
| 711 BaroExpandActive: |
| 712 00ae 0000 .skip 2,0 |
| 713 .text |
| 714 .global CopyDebugValues |
| 716 CopyDebugValues: |
| 717 /* prologue: frame size=0 */ |
| 718 0000 EF92 push r14 |
| 719 0002 FF92 push r15 |
| 720 0004 0F93 push r16 |
| 721 0006 1F93 push r17 |
| 722 /* prologue end (size=4) */ |
| 723 0008 8091 0000 lds r24,EE_Parameter+28 |
| 724 000c 9927 clr r25 |
| 725 000e 880F lsl r24 |
| 726 0010 991F rol r25 |
| 727 0012 880F lsl r24 |
| 728 0014 991F rol r25 |
| 729 0016 7C01 movw r14,r24 |
| 730 0018 0027 clr r16 |
| 731 001a F7FC sbrc r15,7 |
| 732 001c 0095 com r16 |
| 733 001e 102F mov r17,r16 |
| 734 0020 8091 0000 lds r24,IntegralNick |
| 735 0024 9091 0000 lds r25,(IntegralNick)+1 |
| 736 0028 A091 0000 lds r26,(IntegralNick)+2 |
| 737 002c B091 0000 lds r27,(IntegralNick)+3 |
| 738 0030 BC01 movw r22,r24 |
| 739 0032 CD01 movw r24,r26 |
| 740 0034 A801 movw r20,r16 |
| 741 0036 9701 movw r18,r14 |
| 742 0038 0E94 0000 call __divmodsi4 |
| 743 003c 3093 0000 sts (DebugOut+2)+1,r19 |
| 744 0040 2093 0000 sts DebugOut+2,r18 |
| 745 0044 8091 0000 lds r24,IntegralRoll |
| 746 0048 9091 0000 lds r25,(IntegralRoll)+1 |
| 747 004c A091 0000 lds r26,(IntegralRoll)+2 |
| 748 0050 B091 0000 lds r27,(IntegralRoll)+3 |
| 749 0054 BC01 movw r22,r24 |
| 750 0056 CD01 movw r24,r26 |
| 751 0058 A801 movw r20,r16 |
| 752 005a 9701 movw r18,r14 |
| 753 005c 0E94 0000 call __divmodsi4 |
| 754 0060 3093 0000 sts (DebugOut+4)+1,r19 |
| 755 0064 2093 0000 sts DebugOut+4,r18 |
| 756 0068 8091 0000 lds r24,Mittelwert_AccNick |
| 757 006c 9091 0000 lds r25,(Mittelwert_AccNick)+1 |
| 758 0070 97FD sbrc r25,7 |
| 759 0072 0396 adiw r24,3 |
| 760 .L2: |
| 761 0074 9595 asr r25 |
| 762 0076 8795 ror r24 |
| 763 0078 9595 asr r25 |
| 764 007a 8795 ror r24 |
| 765 007c 9093 0000 sts (DebugOut+6)+1,r25 |
| 766 0080 8093 0000 sts DebugOut+6,r24 |
| 767 0084 8091 0000 lds r24,Mittelwert_AccRoll |
| 768 0088 9091 0000 lds r25,(Mittelwert_AccRoll)+1 |
| 769 008c 97FD sbrc r25,7 |
| 770 008e 0396 adiw r24,3 |
| 771 .L3: |
| 772 0090 9595 asr r25 |
| 773 0092 8795 ror r24 |
| 774 0094 9595 asr r25 |
| 775 0096 8795 ror r24 |
| 776 0098 9093 0000 sts (DebugOut+8)+1,r25 |
| 777 009c 8093 0000 sts DebugOut+8,r24 |
| 778 00a0 8091 0000 lds r24,AdNeutralGier |
| 779 00a4 9091 0000 lds r25,(AdNeutralGier)+1 |
| 780 00a8 2091 0000 lds r18,AdWertGier |
| 781 00ac 3091 0000 lds r19,(AdWertGier)+1 |
| 782 00b0 821B sub r24,r18 |
| 783 00b2 930B sbc r25,r19 |
| 784 00b4 9093 0000 sts (DebugOut+10)+1,r25 |
| 785 00b8 8093 0000 sts DebugOut+10,r24 |
| 786 00bc 8091 0000 lds r24,HoehenWert |
| 787 00c0 9091 0000 lds r25,(HoehenWert)+1 |
| 788 00c4 A091 0000 lds r26,(HoehenWert)+2 |
| 789 00c8 B091 0000 lds r27,(HoehenWert)+3 |
| 790 00cc BC01 movw r22,r24 |
| 791 00ce CD01 movw r24,r26 |
| 792 00d0 25E0 ldi r18,lo8(5) |
| 793 00d2 30E0 ldi r19,hi8(5) |
| 794 00d4 40E0 ldi r20,hlo8(5) |
| 795 00d6 50E0 ldi r21,hhi8(5) |
| 796 00d8 0E94 0000 call __divmodsi4 |
| 797 00dc 3093 0000 sts (DebugOut+12)+1,r19 |
| 798 00e0 2093 0000 sts DebugOut+12,r18 |
| 799 00e4 8091 0000 lds r24,AdWertAccHoch |
| 800 00e8 9091 0000 lds r25,(AdWertAccHoch)+1 |
| 801 00ec 9093 0000 sts (DebugOut+14)+1,r25 |
| 802 00f0 8093 0000 sts DebugOut+14,r24 |
| 803 00f4 8091 0000 lds r24,KompassValue |
| 804 00f8 9091 0000 lds r25,(KompassValue)+1 |
| 805 00fc 9093 0000 sts (DebugOut+18)+1,r25 |
| 806 0100 8093 0000 sts DebugOut+18,r24 |
| 807 0104 8091 0000 lds r24,UBat |
| 808 0108 9091 0000 lds r25,(UBat)+1 |
| 809 010c 9093 0000 sts (DebugOut+20)+1,r25 |
| 810 0110 8093 0000 sts DebugOut+20,r24 |
| 811 0114 8091 0000 lds r24,SenderOkay |
| 812 0118 9927 clr r25 |
| 813 011a 9093 0000 sts (DebugOut+22)+1,r25 |
| 814 011e 8093 0000 sts DebugOut+22,r24 |
| 815 0122 8091 0000 lds r24,ErsatzKompassInGrad |
| 816 0126 9091 0000 lds r25,(ErsatzKompassInGrad)+1 |
| 817 012a 9093 0000 sts (DebugOut+24)+1,r25 |
| 818 012e 8093 0000 sts DebugOut+24,r24 |
| 819 0132 8091 0000 lds r24,Motor+1 |
| 820 0136 9927 clr r25 |
| 821 0138 9093 0000 sts (DebugOut+26)+1,r25 |
| 822 013c 8093 0000 sts DebugOut+26,r24 |
| 823 0140 8091 0000 lds r24,Motor+9 |
| 824 0144 9927 clr r25 |
| 825 0146 9093 0000 sts (DebugOut+28)+1,r25 |
| 826 014a 8093 0000 sts DebugOut+28,r24 |
| 827 014e 8091 0000 lds r24,Motor+17 |
| 828 0152 9927 clr r25 |
| 829 0154 9093 0000 sts (DebugOut+30)+1,r25 |
| 830 0158 8093 0000 sts DebugOut+30,r24 |
| 831 015c 8091 0000 lds r24,Motor+25 |
| 832 0160 9927 clr r25 |
| 833 0162 9093 0000 sts (DebugOut+32)+1,r25 |
| 834 0166 8093 0000 sts DebugOut+32,r24 |
| 835 016a 8091 0000 lds r24,ServoNickValue |
| 836 016e 9091 0000 lds r25,(ServoNickValue)+1 |
| 837 0172 9093 0000 sts (DebugOut+42)+1,r25 |
| 838 0176 8093 0000 sts DebugOut+42,r24 |
| 839 017a 8091 0000 lds r24,Capacity |
| 840 017e 9091 0000 lds r25,(Capacity)+1 |
| 841 0182 9093 0000 sts (DebugOut+46)+1,r25 |
| 842 0186 8093 0000 sts DebugOut+46,r24 |
| 843 018a 8091 0000 lds r24,Capacity+4 |
| 844 018e 9091 0000 lds r25,(Capacity+4)+1 |
| 845 0192 9093 0000 sts (DebugOut+48)+1,r25 |
| 846 0196 8093 0000 sts DebugOut+48,r24 |
| 847 019a 8091 0000 lds r24,SollHoehe |
| 848 019e 9091 0000 lds r25,(SollHoehe)+1 |
| 849 01a2 A091 0000 lds r26,(SollHoehe)+2 |
| 850 01a6 B091 0000 lds r27,(SollHoehe)+3 |
| 851 01aa BC01 movw r22,r24 |
| 852 01ac CD01 movw r24,r26 |
| 853 01ae 25E0 ldi r18,lo8(5) |
| 854 01b0 30E0 ldi r19,hi8(5) |
| 855 01b2 40E0 ldi r20,hlo8(5) |
| 856 01b4 50E0 ldi r21,hhi8(5) |
| 857 01b6 0E94 0000 call __divmodsi4 |
| 858 01ba 3093 0000 sts (DebugOut+50)+1,r19 |
| 859 01be 2093 0000 sts DebugOut+50,r18 |
| 860 01c2 8091 0000 lds r24,KompassSollWert |
| 861 01c6 9091 0000 lds r25,(KompassSollWert)+1 |
| 862 01ca 9093 0000 sts (DebugOut+56)+1,r25 |
| 863 01ce 8093 0000 sts DebugOut+56,r24 |
| 864 01d2 8091 0000 lds r24,Capacity+6 |
| 865 01d6 9927 clr r25 |
| 866 01d8 9093 0000 sts (DebugOut+60)+1,r25 |
| 867 01dc 8093 0000 sts DebugOut+60,r24 |
| 868 01e0 8091 0000 lds r24,GPS_Nick |
| 869 01e4 9091 0000 lds r25,(GPS_Nick)+1 |
| 870 01e8 9093 0000 sts (DebugOut+62)+1,r25 |
| 871 01ec 8093 0000 sts DebugOut+62,r24 |
| 872 01f0 8091 0000 lds r24,GPS_Roll |
| 873 01f4 9091 0000 lds r25,(GPS_Roll)+1 |
| 874 01f8 9093 0000 sts (DebugOut+64)+1,r25 |
| 875 01fc 8093 0000 sts DebugOut+64,r24 |
| 876 0200 8091 0000 lds r24,VersionInfo+5 |
| 877 0204 8823 tst r24 |
| 878 0206 01F4 brne .L5 |
| 879 0208 8091 0000 lds r24,VersionInfo+6 |
| 880 020c 8823 tst r24 |
| 881 020e 01F0 breq .L4 |
| 882 .L5: |
| 883 0210 8091 0000 lds r24,DebugOut+1 |
| 884 0214 8160 ori r24,lo8(1) |
| 885 0216 00C0 rjmp .L7 |
| 886 .L4: |
| 887 0218 8091 0000 lds r24,DebugOut+1 |
| 888 021c 8E7F andi r24,lo8(-2) |
| 889 .L7: |
| 890 021e 8093 0000 sts DebugOut+1,r24 |
| 891 /* epilogue: frame size=0 */ |
| 892 0222 1F91 pop r17 |
| 893 0224 0F91 pop r16 |
| 894 0226 FF90 pop r15 |
| 895 0228 EF90 pop r14 |
| 896 022a 0895 ret |
| 897 /* epilogue end (size=5) */ |
| 898 /* function CopyDebugValues size 280 (271) */ |
| 900 .global Piep |
| 902 Piep: |
| 903 /* prologue: frame size=0 */ |
| 904 022c EF92 push r14 |
| 905 022e FF92 push r15 |
| 906 0230 1F93 push r17 |
| 907 0232 CF93 push r28 |
| 908 0234 DF93 push r29 |
| 909 /* prologue end (size=5) */ |
| 910 0236 182F mov r17,r24 |
| 911 0238 7B01 movw r14,r22 |
| 912 023a 8091 0000 lds r24,MotorenEin |
| 913 023e 8823 tst r24 |
| 914 0240 01F4 brne .L8 |
| 915 0242 8091 0000 lds r24,PlatinenVersion |
| 916 0246 8C30 cpi r24,lo8(12) |
| 917 0248 00F0 brlo .L11 |
| 918 024a 8631 cpi r24,lo8(22) |
| 919 024c 01F4 brne .L10 |
| 920 .L11: |
| 921 024e 2998 cbi 37-0x20,1 |
| 922 0250 00C0 rjmp .L12 |
| 923 .L10: |
| 924 0252 299A sbi 37-0x20,1 |
| 925 .L12: |
| 926 0254 1150 subi r17,lo8(-(-1)) |
| 927 0256 1F3F cpi r17,lo8(-1) |
| 928 0258 01F0 breq .L26 |
| 929 025a F092 0000 sts (beeptime)+1,r15 |
| 930 025e E092 0000 sts beeptime,r14 |
| 931 0262 E701 movw r28,r14 |
| 932 .L34: |
| 933 0264 8091 0000 lds r24,beeptime |
| 934 0268 9091 0000 lds r25,(beeptime)+1 |
| 935 026c 892B or r24,r25 |
| 936 026e 01F4 brne .L31 |
| 937 0270 2097 sbiw r28,0 |
| 938 0272 01F0 breq .L12 |
| 939 .L31: |
| 940 0274 8091 0000 lds r24,UpdateMotor |
| 941 0278 8823 tst r24 |
| 942 027a 01F0 breq .L34 |
| 943 027c 1092 0000 sts UpdateMotor,__zero_reg__ |
| 944 0280 8091 0000 lds r24,beeptime |
| 945 0284 9091 0000 lds r25,(beeptime)+1 |
| 946 0288 892B or r24,r25 |
| 947 028a 01F4 brne .L19 |
| 948 028c 2197 sbiw r28,1 |
| 949 .L19: |
| 950 028e 0E94 0000 call LIBFC_Polling |
| 951 0292 00C0 rjmp .L34 |
| 952 .L26: |
| 953 0294 8091 0000 lds r24,PlatinenVersion |
| 954 0298 8C30 cpi r24,lo8(12) |
| 955 029a 00F0 brlo .L23 |
| 956 029c 8631 cpi r24,lo8(22) |
| 957 029e 01F4 brne .L22 |
| 958 .L23: |
| 959 02a0 299A sbi 37-0x20,1 |
| 960 02a2 00C0 rjmp .L8 |
| 961 .L22: |
| 962 02a4 2998 cbi 37-0x20,1 |
| 963 .L8: |
| 964 /* epilogue: frame size=0 */ |
| 965 02a6 DF91 pop r29 |
| 966 02a8 CF91 pop r28 |
| 967 02aa 1F91 pop r17 |
| 968 02ac FF90 pop r15 |
| 969 02ae EF90 pop r14 |
| 970 02b0 0895 ret |
| 971 /* epilogue end (size=6) */ |
| 972 /* function Piep size 67 (56) */ |
| 974 .global CalibrierMittelwert |
| 976 CalibrierMittelwert: |
| 977 /* prologue: frame size=0 */ |
| 978 02b2 CF93 push r28 |
| 979 02b4 DF93 push r29 |
| 980 /* prologue end (size=2) */ |
| 981 02b6 8091 0000 lds r24,PlatinenVersion |
| 982 02ba 8D30 cpi r24,lo8(13) |
| 983 02bc 01F4 brne .L36 |
| 984 02be 0E94 0000 call SucheGyroOffset |
| 985 .L36: |
| 986 02c2 1092 7A00 sts 122,__zero_reg__ |
| 987 02c6 8091 0000 lds r24,AdWertNick |
| 988 02ca 9091 0000 lds r25,(AdWertNick)+1 |
| 989 02ce 9093 0000 sts (MesswertNick)+1,r25 |
| 990 02d2 8093 0000 sts MesswertNick,r24 |
| 991 02d6 8091 0000 lds r24,AdWertRoll |
| 992 02da 9091 0000 lds r25,(AdWertRoll)+1 |
| 993 02de 9093 0000 sts (MesswertRoll)+1,r25 |
| 994 02e2 8093 0000 sts MesswertRoll,r24 |
| 995 02e6 8091 0000 lds r24,AdWertGier |
| 996 02ea 9091 0000 lds r25,(AdWertGier)+1 |
| 997 02ee 9093 0000 sts (MesswertGier)+1,r25 |
| 998 02f2 8093 0000 sts MesswertGier,r24 |
| 999 02f6 2091 0000 lds r18,AdWertAccNick |
| 1000 02fa 3091 0000 lds r19,(AdWertAccNick)+1 |
| 1001 02fe C901 movw r24,r18 |
| 1002 0300 880F lsl r24 |
| 1003 0302 991F rol r25 |
| 1004 0304 880F lsl r24 |
| 1005 0306 991F rol r25 |
| 1006 0308 820F add r24,r18 |
| 1007 030a 931F adc r25,r19 |
| 1008 030c 820F add r24,r18 |
| 1009 030e 931F adc r25,r19 |
| 1010 0310 9093 0000 sts (Mittelwert_AccNick)+1,r25 |
| 1011 0314 8093 0000 sts Mittelwert_AccNick,r24 |
| 1012 0318 2091 0000 lds r18,AdWertAccRoll |
| 1013 031c 3091 0000 lds r19,(AdWertAccRoll)+1 |
| 1014 0320 C901 movw r24,r18 |
| 1015 0322 880F lsl r24 |
| 1016 0324 991F rol r25 |
| 1017 0326 880F lsl r24 |
| 1018 0328 991F rol r25 |
| 1019 032a 820F add r24,r18 |
| 1020 032c 931F adc r25,r19 |
| 1021 032e 820F add r24,r18 |
| 1022 0330 931F adc r25,r19 |
| 1023 0332 9093 0000 sts (Mittelwert_AccRoll)+1,r25 |
| 1024 0336 8093 0000 sts Mittelwert_AccRoll,r24 |
| 1025 033a 8FEC ldi r24,lo8(-49) |
| 1026 033c 8093 7A00 sts 122,r24 |
| 1027 0340 A0E0 ldi r26,lo8(Poti) |
| 1028 0342 B0E0 ldi r27,hi8(Poti) |
| 1029 0344 C0E0 ldi r28,lo8(EE_Parameter+5) |
| 1030 0346 D0E0 ldi r29,hi8(EE_Parameter+5) |
| 1031 0348 97E0 ldi r25,lo8(7) |
| 1032 .L46: |
| 1033 034a 8991 ld r24,Y+ |
| 1034 034c E82F mov r30,r24 |
| 1035 034e FF27 clr r31 |
| 1036 0350 EE0F add r30,r30 |
| 1037 0352 FF1F adc r31,r31 |
| 1038 0354 E050 subi r30,lo8(-(PPM_in)) |
| 1039 0356 F040 sbci r31,hi8(-(PPM_in)) |
| 1040 0358 0190 ld __tmp_reg__,Z+ |
| 1041 035a F081 ld r31,Z |
| 1042 035c E02D mov r30,__tmp_reg__ |
| 1043 035e E158 subi r30,lo8(-(127)) |
| 1044 0360 FF4F sbci r31,hi8(-(127)) |
| 1045 0362 1E16 cp __zero_reg__,r30 |
| 1046 0364 1F06 cpc __zero_reg__,r31 |
| 1047 0366 04F0 brlt .L40 |
| 1048 0368 E0E0 ldi r30,lo8(0) |
| 1049 036a F0E0 ldi r31,hi8(0) |
| 1050 036c 00C0 rjmp .L41 |
| 1051 .L40: |
| 1052 036e EF3F cpi r30,255 |
| 1053 0370 F105 cpc r31,__zero_reg__ |
| 1054 0372 04F0 brlt .L41 |
| 1055 0374 EFEF ldi r30,lo8(255) |
| 1056 0376 F0E0 ldi r31,hi8(255) |
| 1057 .L41: |
| 1058 0378 8C91 ld r24,X |
| 1059 037a 282F mov r18,r24 |
| 1060 037c 3327 clr r19 |
| 1061 037e E217 cp r30,r18 |
| 1062 0380 F307 cpc r31,r19 |
| 1063 0382 04F4 brge .L43 |
| 1064 0384 8150 subi r24,lo8(-(-1)) |
| 1065 0386 00C0 rjmp .L49 |
| 1066 .L43: |
| 1067 0388 2E17 cp r18,r30 |
| 1068 038a 3F07 cpc r19,r31 |
| 1069 038c 04F4 brge .L39 |
| 1070 038e 8F5F subi r24,lo8(-(1)) |
| 1071 .L49: |
| 1072 0390 8C93 st X,r24 |
| 1073 .L39: |
| 1074 0392 9150 subi r25,lo8(-(-1)) |
| 1075 0394 1196 adiw r26,1 |
| 1076 0396 97FF sbrs r25,7 |
| 1077 0398 00C0 rjmp .L46 |
| 1078 039a 8091 0000 lds r24,EE_Parameter+65 |
| 1079 039e 9927 clr r25 |
| 1080 03a0 AA27 clr r26 |
| 1081 03a2 BB27 clr r27 |
| 1082 03a4 BC01 movw r22,r24 |
| 1083 03a6 CD01 movw r24,r26 |
| 1084 03a8 24EC ldi r18,lo8(2500) |
| 1085 03aa 39E0 ldi r19,hi8(2500) |
| 1086 03ac 40E0 ldi r20,hlo8(2500) |
| 1087 03ae 50E0 ldi r21,hhi8(2500) |
| 1088 03b0 0E94 0000 call __mulsi3 |
| 1089 03b4 DC01 movw r26,r24 |
| 1090 03b6 CB01 movw r24,r22 |
| 1091 03b8 8093 0000 sts Umschlag180Nick,r24 |
| 1092 03bc 9093 0000 sts (Umschlag180Nick)+1,r25 |
| 1093 03c0 A093 0000 sts (Umschlag180Nick)+2,r26 |
| 1094 03c4 B093 0000 sts (Umschlag180Nick)+3,r27 |
| 1095 03c8 8091 0000 lds r24,EE_Parameter+66 |
| 1096 03cc 9927 clr r25 |
| 1097 03ce AA27 clr r26 |
| 1098 03d0 BB27 clr r27 |
| 1099 03d2 BC01 movw r22,r24 |
| 1100 03d4 CD01 movw r24,r26 |
| 1101 03d6 0E94 0000 call __mulsi3 |
| 1102 03da DC01 movw r26,r24 |
| 1103 03dc CB01 movw r24,r22 |
| 1104 03de 8093 0000 sts Umschlag180Roll,r24 |
| 1105 03e2 9093 0000 sts (Umschlag180Roll)+1,r25 |
| 1106 03e6 A093 0000 sts (Umschlag180Roll)+2,r26 |
| 1107 03ea B093 0000 sts (Umschlag180Roll)+3,r27 |
| 1108 /* epilogue: frame size=0 */ |
| 1109 03ee DF91 pop r29 |
| 1110 03f0 CF91 pop r28 |
| 1111 03f2 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 03f4 A0E0 ldi r26,lo8(0) |
| 1126 03f6 B0E0 ldi r27,hi8(0) |
| 1127 03f8 E0E0 ldi r30,pm_lo8(1f) |
| 1128 03fa F0E0 ldi r31,pm_hi8(1f) |
| 1129 03fc 0C94 0000 jmp __prologue_saves__+12 |
| 1130 1: |
| 1131 /* prologue end (size=6) */ |
| 1132 0400 882E mov r8,r24 |
| 1133 0402 C0E0 ldi r28,lo8(0) |
| 1134 0404 D0E0 ldi r29,hi8(0) |
| 1135 0406 7E01 movw r14,r28 |
| 1136 0408 6E01 movw r12,r28 |
| 1137 040a 1092 0000 sts VersionInfo+5,__zero_reg__ |
| 1138 040e D093 0000 sts (NeutralAccX)+1,r29 |
| 1139 0412 C093 0000 sts NeutralAccX,r28 |
| 1140 0416 D093 0000 sts (NeutralAccY)+1,r29 |
| 1141 041a C093 0000 sts NeutralAccY,r28 |
| 1142 041e D093 0000 sts (NeutralAccZ)+1,r29 |
| 1143 0422 C093 0000 sts NeutralAccZ,r28 |
| 1144 0426 D093 0000 sts (AdNeutralNick)+1,r29 |
| 1145 042a C093 0000 sts AdNeutralNick,r28 |
| 1146 042e D093 0000 sts (AdNeutralRoll)+1,r29 |
| 1147 0432 C093 0000 sts AdNeutralRoll,r28 |
| 1148 0436 D093 0000 sts (AdNeutralGier)+1,r29 |
| 1149 043a C093 0000 sts AdNeutralGier,r28 |
| 1150 043e 1092 0000 sts Parameter_AchsKopplung1,__zero_reg__ |
| 1151 0442 1092 0000 sts Parameter_AchsKopplung2,__zero_reg__ |
| 1152 0446 1092 0000 sts ExpandBaro,__zero_reg__ |
| 1153 044a 0E94 0000 call CalibrierMittelwert |
| 1154 044e 84E6 ldi r24,lo8(100) |
| 1155 0450 90E0 ldi r25,hi8(100) |
| 1156 0452 0E94 0000 call Delay_ms_Mess |
| 1157 0456 0E94 0000 call CalibrierMittelwert |
| 1158 045a 8091 0000 lds r24,EE_Parameter+13 |
| 1159 045e 80FF sbrs r24,0 |
| 1160 0460 00C0 rjmp .L51 |
| 1161 0462 8091 0000 lds r24,MessLuftdruck |
| 1162 0466 9091 0000 lds r25,(MessLuftdruck)+1 |
| 1163 046a 875B subi r24,lo8(951) |
| 1164 046c 9340 sbci r25,hi8(951) |
| 1165 046e 00F4 brsh .L53 |
| 1166 0470 8091 0000 lds r24,MessLuftdruck |
| 1167 0474 9091 0000 lds r25,(MessLuftdruck)+1 |
| 1168 0478 8E5E subi r24,lo8(750) |
| 1169 047a 9240 sbci r25,hi8(750) |
| 1170 047c 00F4 brsh .L51 |
| 1171 .L53: |
| 1172 047e 0E94 0000 call SucheLuftruckOffset |
| 1173 .L51: |
| 1174 0482 0FE1 ldi r16,lo8(31) |
| 1175 .L57: |
| 1176 0484 8AE0 ldi r24,lo8(10) |
| 1177 0486 90E0 ldi r25,hi8(10) |
| 1178 0488 0E94 0000 call Delay_ms_Mess |
| 1179 048c 8091 0000 lds r24,AdWertGier |
| 1180 0490 9091 0000 lds r25,(AdWertGier)+1 |
| 1181 0494 C80F add r28,r24 |
| 1182 0496 D91F adc r29,r25 |
| 1183 0498 8091 0000 lds r24,AdWertNick |
| 1184 049c 9091 0000 lds r25,(AdWertNick)+1 |
| 1185 04a0 E80E add r14,r24 |
| 1186 04a2 F91E adc r15,r25 |
| 1187 04a4 8091 0000 lds r24,AdWertRoll |
| 1188 04a8 9091 0000 lds r25,(AdWertRoll)+1 |
| 1189 04ac C80E add r12,r24 |
| 1190 04ae D91E adc r13,r25 |
| 1191 04b0 0150 subi r16,lo8(-(-1)) |
| 1192 04b2 07FF sbrs r16,7 |
| 1193 04b4 00C0 rjmp .L57 |
| 1194 04b6 9701 movw r18,r14 |
| 1195 04b8 205F subi r18,lo8(-(16)) |
| 1196 04ba 3F4F sbci r19,hi8(-(16)) |
| 1197 04bc 3695 lsr r19 |
| 1198 04be 2795 ror r18 |
| 1199 04c0 3695 lsr r19 |
| 1200 04c2 2795 ror r18 |
| 1201 04c4 3093 0000 sts (AdNeutralNick)+1,r19 |
| 1202 04c8 2093 0000 sts AdNeutralNick,r18 |
| 1203 04cc C601 movw r24,r12 |
| 1204 04ce 4096 adiw r24,16 |
| 1205 04d0 9695 lsr r25 |
| 1206 04d2 8795 ror r24 |
| 1207 04d4 9695 lsr r25 |
| 1208 04d6 8795 ror r24 |
| 1209 04d8 9093 0000 sts (AdNeutralRoll)+1,r25 |
| 1210 04dc 8093 0000 sts AdNeutralRoll,r24 |
| 1211 04e0 6096 adiw r28,16 |
| 1212 04e2 F5E0 ldi r31,5 |
| 1213 04e4 D695 1: lsr r29 |
| 1214 04e6 C795 ror r28 |
| 1215 04e8 FA95 dec r31 |
| 1216 04ea 01F4 brne 1b |
| 1217 04ec D093 0000 sts (AdNeutralGier)+1,r29 |
| 1218 04f0 C093 0000 sts AdNeutralGier,r28 |
| 1219 04f4 9093 0000 sts (StartNeutralRoll)+1,r25 |
| 1220 04f8 8093 0000 sts StartNeutralRoll,r24 |
| 1221 04fc 3093 0000 sts (StartNeutralNick)+1,r19 |
| 1222 0500 2093 0000 sts StartNeutralNick,r18 |
| 1223 0504 8820 tst r8 |
| 1224 0506 01F4 brne .+2 |
| 1225 0508 00C0 rjmp .L58 |
| 1226 050a 8091 0000 lds r24,Mittelwert_AccNick |
| 1227 050e 9091 0000 lds r25,(Mittelwert_AccNick)+1 |
| 1228 0512 97FF sbrs r25,7 |
| 1229 0514 00C0 rjmp .L59 |
| 1230 0516 9095 com r25 |
| 1231 0518 8195 neg r24 |
| 1232 051a 9F4F sbci r25,lo8(-1) |
| 1233 .L59: |
| 1234 051c 6CE0 ldi r22,lo8(12) |
| 1235 051e 70E0 ldi r23,hi8(12) |
| 1236 0520 0E94 0000 call __divmodhi4 |
| 1237 0524 9B01 movw r18,r22 |
| 1238 0526 7093 0000 sts (NeutralAccX)+1,r23 |
| 1239 052a 6093 0000 sts NeutralAccX,r22 |
| 1240 052e 8091 0000 lds r24,Mittelwert_AccRoll |
| 1241 0532 9091 0000 lds r25,(Mittelwert_AccRoll)+1 |
| 1242 0536 97FF sbrs r25,7 |
| 1243 0538 00C0 rjmp .L60 |
| 1244 053a 9095 com r25 |
| 1245 053c 8195 neg r24 |
| 1246 053e 9F4F sbci r25,lo8(-1) |
| 1247 .L60: |
| 1248 0540 6CE0 ldi r22,lo8(12) |
| 1249 0542 70E0 ldi r23,hi8(12) |
| 1250 0544 0E94 0000 call __divmodhi4 |
| 1251 0548 7093 0000 sts (NeutralAccY)+1,r23 |
| 1252 054c 6093 0000 sts NeutralAccY,r22 |
| 1253 0550 8091 0000 lds r24,Aktuell_az |
| 1254 0554 9091 0000 lds r25,(Aktuell_az)+1 |
| 1255 0558 9093 0000 sts (NeutralAccZ)+1,r25 |
| 1256 055c 8093 0000 sts NeutralAccZ,r24 |
| 1257 0560 B901 movw r22,r18 |
| 1258 0562 84E0 ldi r24,lo8(4) |
| 1259 0564 90E0 ldi r25,hi8(4) |
| 1260 0566 0E94 0000 call SetParamWord |
| 1261 056a 6091 0000 lds r22,NeutralAccY |
| 1262 056e 7091 0000 lds r23,(NeutralAccY)+1 |
| 1263 0572 86E0 ldi r24,lo8(6) |
| 1264 0574 90E0 ldi r25,hi8(6) |
| 1265 0576 0E94 0000 call SetParamWord |
| 1266 057a 6091 0000 lds r22,NeutralAccZ |
| 1267 057e 7091 0000 lds r23,(NeutralAccZ)+1 |
| 1268 0582 88E0 ldi r24,lo8(8) |
| 1269 0584 90E0 ldi r25,hi8(8) |
| 1270 0586 0E94 0000 call SetParamWord |
| 1271 058a 00C0 rjmp .L61 |
| 1272 .L58: |
| 1273 058c 84E0 ldi r24,lo8(4) |
| 1274 058e 90E0 ldi r25,hi8(4) |
| 1275 0590 0E94 0000 call GetParamWord |
| 1276 0594 9093 0000 sts (NeutralAccX)+1,r25 |
| 1277 0598 8093 0000 sts NeutralAccX,r24 |
| 1278 059c 86E0 ldi r24,lo8(6) |
| 1279 059e 90E0 ldi r25,hi8(6) |
| 1280 05a0 0E94 0000 call GetParamWord |
| 1281 05a4 9093 0000 sts (NeutralAccY)+1,r25 |
| 1282 05a8 8093 0000 sts NeutralAccY,r24 |
| 1283 05ac 88E0 ldi r24,lo8(8) |
| 1284 05ae 90E0 ldi r25,hi8(8) |
| 1285 05b0 0E94 0000 call GetParamWord |
| 1286 05b4 9C01 movw r18,r24 |
| 1287 05b6 9093 0000 sts (NeutralAccZ)+1,r25 |
| 1288 05ba 8093 0000 sts NeutralAccZ,r24 |
| 1289 05be 8091 0000 lds r24,NeutralAccX |
| 1290 05c2 9091 0000 lds r25,(NeutralAccX)+1 |
| 1291 05c6 8150 subi r24,lo8(2049) |
| 1292 05c8 9840 sbci r25,hi8(2049) |
| 1293 05ca 00F4 brsh .L63 |
| 1294 05cc 8091 0000 lds r24,NeutralAccY |
| 1295 05d0 9091 0000 lds r25,(NeutralAccY)+1 |
| 1296 05d4 8150 subi r24,lo8(2049) |
| 1297 05d6 9840 sbci r25,hi8(2049) |
| 1298 05d8 00F4 brsh .L63 |
| 1299 05da 2150 subi r18,lo8(1025) |
| 1300 05dc 3440 sbci r19,hi8(1025) |
| 1301 05de 00F0 brlo .L61 |
| 1302 .L63: |
| 1303 05e0 80E0 ldi r24,lo8(__c.35) |
| 1304 05e2 90E0 ldi r25,hi8(__c.35) |
| 1305 05e4 9F93 push r25 |
| 1306 05e6 8F93 push r24 |
| 1307 05e8 80E0 ldi r24,lo8(pm(uart_putchar)) |
| 1308 05ea 90E0 ldi r25,hi8(pm(uart_putchar)) |
| 1309 05ec 9F93 push r25 |
| 1310 05ee 8F93 push r24 |
| 1311 05f0 E091 0000 lds r30,_printf_P |
| 1312 05f4 F091 0000 lds r31,(_printf_P)+1 |
| 1313 05f8 0995 icall |
| 1314 05fa 8091 0000 lds r24,Mittelwert_AccNick |
| 1315 05fe 9091 0000 lds r25,(Mittelwert_AccNick)+1 |
| 1316 0602 97FF sbrs r25,7 |
| 1317 0604 00C0 rjmp .L64 |
| 1318 0606 9095 com r25 |
| 1319 0608 8195 neg r24 |
| 1320 060a 9F4F sbci r25,lo8(-1) |
| 1321 .L64: |
| 1322 060c 6CE0 ldi r22,lo8(12) |
| 1323 060e 70E0 ldi r23,hi8(12) |
| 1324 0610 0E94 0000 call __divmodhi4 |
| 1325 0614 7093 0000 sts (NeutralAccX)+1,r23 |
| 1326 0618 6093 0000 sts NeutralAccX,r22 |
| 1327 061c 8091 0000 lds r24,Mittelwert_AccRoll |
| 1328 0620 9091 0000 lds r25,(Mittelwert_AccRoll)+1 |
| 1329 0624 97FF sbrs r25,7 |
| 1330 0626 00C0 rjmp .L65 |
| 1331 0628 9095 com r25 |
| 1332 062a 8195 neg r24 |
| 1333 062c 9F4F sbci r25,lo8(-1) |
| 1334 .L65: |
| 1335 062e 6CE0 ldi r22,lo8(12) |
| 1336 0630 70E0 ldi r23,hi8(12) |
| 1337 0632 0E94 0000 call __divmodhi4 |
| 1338 0636 7093 0000 sts (NeutralAccY)+1,r23 |
| 1339 063a 6093 0000 sts NeutralAccY,r22 |
| 1340 063e 8091 0000 lds r24,Aktuell_az |
| 1341 0642 9091 0000 lds r25,(Aktuell_az)+1 |
| 1342 0646 9093 0000 sts (NeutralAccZ)+1,r25 |
| 1343 064a 8093 0000 sts NeutralAccZ,r24 |
| 1344 064e 0F90 pop __tmp_reg__ |
| 1345 0650 0F90 pop __tmp_reg__ |
| 1346 0652 0F90 pop __tmp_reg__ |
| 1347 0654 0F90 pop __tmp_reg__ |
| 1348 .L61: |
| 1349 0656 1092 0000 sts (MesswertNick)+1,__zero_reg__ |
| 1350 065a 1092 0000 sts MesswertNick,__zero_reg__ |
| 1351 065e 1092 0000 sts (MesswertRoll)+1,__zero_reg__ |
| 1352 0662 1092 0000 sts MesswertRoll,__zero_reg__ |
| 1353 0666 1092 0000 sts (MesswertGier)+1,__zero_reg__ |
| 1354 066a 1092 0000 sts MesswertGier,__zero_reg__ |
| 1355 066e 84E6 ldi r24,lo8(100) |
| 1356 0670 90E0 ldi r25,hi8(100) |
| 1357 0672 0E94 0000 call Delay_ms_Mess |
| 1358 0676 8091 0000 lds r24,AdWertAccNick |
| 1359 067a 9091 0000 lds r25,(AdWertAccNick)+1 |
| 1360 067e 9C01 movw r18,r24 |
| 1361 0680 220F lsl r18 |
| 1362 0682 331F rol r19 |
| 1363 0684 220F lsl r18 |
| 1364 0686 331F rol r19 |
| 1365 0688 280F add r18,r24 |
| 1366 068a 391F adc r19,r25 |
| 1367 068c 280F add r18,r24 |
| 1368 068e 391F adc r19,r25 |
| 1369 0690 3093 0000 sts (Mittelwert_AccNick)+1,r19 |
| 1370 0694 2093 0000 sts Mittelwert_AccNick,r18 |
| 1371 0698 8091 0000 lds r24,AdWertAccRoll |
| 1372 069c 9091 0000 lds r25,(AdWertAccRoll)+1 |
| 1373 06a0 8C01 movw r16,r24 |
| 1374 06a2 000F lsl r16 |
| 1375 06a4 111F rol r17 |
| 1376 06a6 000F lsl r16 |
| 1377 06a8 111F rol r17 |
| 1378 06aa 080F add r16,r24 |
| 1379 06ac 191F adc r17,r25 |
| 1380 06ae 080F add r16,r24 |
| 1381 06b0 191F adc r17,r25 |
| 1382 06b2 1093 0000 sts (Mittelwert_AccRoll)+1,r17 |
| 1383 06b6 0093 0000 sts Mittelwert_AccRoll,r16 |
| 1384 06ba 8091 0000 lds r24,EE_Parameter+28 |
| 1385 06be C82E mov r12,r24 |
| 1386 06c0 DD24 clr r13 |
| 1387 06c2 EE24 clr r14 |
| 1388 06c4 FF24 clr r15 |
| 1389 06c6 4427 clr r20 |
| 1390 06c8 37FD sbrc r19,7 |
| 1391 06ca 4095 com r20 |
| 1392 06cc 542F mov r21,r20 |
| 1393 06ce C701 movw r24,r14 |
| 1394 06d0 B601 movw r22,r12 |
| 1395 06d2 0E94 0000 call __mulsi3 |
| 1396 06d6 4B01 movw r8,r22 |
| 1397 06d8 5C01 movw r10,r24 |
| 1398 06da 6093 0000 sts IntegralNick,r22 |
| 1399 06de 7093 0000 sts (IntegralNick)+1,r23 |
| 1400 06e2 8093 0000 sts (IntegralNick)+2,r24 |
| 1401 06e6 9093 0000 sts (IntegralNick)+3,r25 |
| 1402 06ea 9801 movw r18,r16 |
| 1403 06ec 4427 clr r20 |
| 1404 06ee 37FD sbrc r19,7 |
| 1405 06f0 4095 com r20 |
| 1406 06f2 542F mov r21,r20 |
| 1407 06f4 C701 movw r24,r14 |
| 1408 06f6 B601 movw r22,r12 |
| 1409 06f8 0E94 0000 call __mulsi3 |
| 1410 06fc DC01 movw r26,r24 |
| 1411 06fe CB01 movw r24,r22 |
| 1412 0700 8093 0000 sts IntegralRoll,r24 |
| 1413 0704 9093 0000 sts (IntegralRoll)+1,r25 |
| 1414 0708 A093 0000 sts (IntegralRoll)+2,r26 |
| 1415 070c B093 0000 sts (IntegralRoll)+3,r27 |
| 1416 0710 8092 0000 sts Mess_IntegralNick,r8 |
| 1417 0714 9092 0000 sts (Mess_IntegralNick)+1,r9 |
| 1418 0718 A092 0000 sts (Mess_IntegralNick)+2,r10 |
| 1419 071c B092 0000 sts (Mess_IntegralNick)+3,r11 |
| 1420 0720 8093 0000 sts Mess_IntegralRoll,r24 |
| 1421 0724 9093 0000 sts (Mess_IntegralRoll)+1,r25 |
| 1422 0728 A093 0000 sts (Mess_IntegralRoll)+2,r26 |
| 1423 072c B093 0000 sts (Mess_IntegralRoll)+3,r27 |
| 1424 0730 1092 0000 sts Mess_Integral_Gier,__zero_reg__ |
| 1425 0734 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__ |
| 1426 0738 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__ |
| 1427 073c 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__ |
| 1428 0740 8091 0000 lds r24,Luftdruck |
| 1429 0744 9091 0000 lds r25,(Luftdruck)+1 |
| 1430 0748 A091 0000 lds r26,(Luftdruck)+2 |
| 1431 074c B091 0000 lds r27,(Luftdruck)+3 |
| 1432 0750 9093 0000 sts (StartLuftdruck)+1,r25 |
| 1433 0754 8093 0000 sts StartLuftdruck,r24 |
| 1434 0758 1092 0000 sts (VarioMeter)+1,__zero_reg__ |
| 1435 075c 1092 0000 sts VarioMeter,__zero_reg__ |
| 1436 0760 1092 0000 sts Mess_Integral_Hoch,__zero_reg__ |
| 1437 0764 1092 0000 sts (Mess_Integral_Hoch)+1,__zero_reg__ |
| 1438 0768 1092 0000 sts (Mess_Integral_Hoch)+2,__zero_reg__ |
| 1439 076c 1092 0000 sts (Mess_Integral_Hoch)+3,__zero_reg__ |
| 1440 0770 0091 0000 lds r16,KompassValue |
| 1441 0774 1091 0000 lds r17,(KompassValue)+1 |
| 1442 0778 1093 0000 sts (KompassSollWert)+1,r17 |
| 1443 077c 0093 0000 sts KompassSollWert,r16 |
| 1444 0780 84E6 ldi r24,lo8(100) |
| 1445 0782 90E0 ldi r25,hi8(100) |
| 1446 0784 9093 0000 sts (KompassSignalSchlecht)+1,r25 |
| 1447 0788 8093 0000 sts KompassSignalSchlecht,r24 |
| 1448 078c 82E3 ldi r24,lo8(50) |
| 1449 078e 90E0 ldi r25,hi8(50) |
| 1450 0790 9093 0000 sts (beeptime)+1,r25 |
| 1451 0794 8093 0000 sts beeptime,r24 |
| 1452 0798 8091 0000 lds r24,EE_Parameter+65 |
| 1453 079c 9927 clr r25 |
| 1454 079e AA27 clr r26 |
| 1455 07a0 BB27 clr r27 |
| 1456 07a2 BC01 movw r22,r24 |
| 1457 07a4 CD01 movw r24,r26 |
| 1458 07a6 24EC ldi r18,lo8(2500) |
| 1459 07a8 39E0 ldi r19,hi8(2500) |
| 1460 07aa 40E0 ldi r20,hlo8(2500) |
| 1461 07ac 50E0 ldi r21,hhi8(2500) |
| 1462 07ae 0E94 0000 call __mulsi3 |
| 1463 07b2 DC01 movw r26,r24 |
| 1464 07b4 CB01 movw r24,r22 |
| 1465 07b6 8856 subi r24,lo8(-(15000)) |
| 1466 07b8 954C sbci r25,hi8(-(15000)) |
| 1467 07ba AF4F sbci r26,hlo8(-(15000)) |
| 1468 07bc BF4F sbci r27,hhi8(-(15000)) |
| 1469 07be 8093 0000 sts Umschlag180Nick,r24 |
| 1470 07c2 9093 0000 sts (Umschlag180Nick)+1,r25 |
| 1471 07c6 A093 0000 sts (Umschlag180Nick)+2,r26 |
| 1472 07ca B093 0000 sts (Umschlag180Nick)+3,r27 |
| 1473 07ce 8091 0000 lds r24,EE_Parameter+66 |
| 1474 07d2 9927 clr r25 |
| 1475 07d4 AA27 clr r26 |
| 1476 07d6 BB27 clr r27 |
| 1477 07d8 BC01 movw r22,r24 |
| 1478 07da CD01 movw r24,r26 |
| 1479 07dc 0E94 0000 call __mulsi3 |
| 1480 07e0 DC01 movw r26,r24 |
| 1481 07e2 CB01 movw r24,r22 |
| 1482 07e4 8856 subi r24,lo8(-(15000)) |
| 1483 07e6 954C sbci r25,hi8(-(15000)) |
| 1484 07e8 AF4F sbci r26,hlo8(-(15000)) |
| 1485 07ea BF4F sbci r27,hhi8(-(15000)) |
| 1486 07ec 8093 0000 sts Umschlag180Roll,r24 |
| 1487 07f0 9093 0000 sts (Umschlag180Roll)+1,r25 |
| 1488 07f4 A093 0000 sts (Umschlag180Roll)+2,r26 |
| 1489 07f8 B093 0000 sts (Umschlag180Roll)+3,r27 |
| 1490 07fc 1092 0000 sts (ExternHoehenValue)+1,__zero_reg__ |
| 1491 0800 1092 0000 sts ExternHoehenValue,__zero_reg__ |
| 1492 0804 C801 movw r24,r16 |
| 1493 0806 AA27 clr r26 |
| 1494 0808 97FD sbrc r25,7 |
| 1495 080a A095 com r26 |
| 1496 080c BA2F mov r27,r26 |
| 1497 080e 2091 0000 lds r18,GIER_GRAD_FAKTOR |
| 1498 0812 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1 |
| 1499 0816 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2 |
| 1500 081a 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3 |
| 1501 081e BC01 movw r22,r24 |
| 1502 0820 CD01 movw r24,r26 |
| 1503 0822 0E94 0000 call __mulsi3 |
| 1504 0826 DC01 movw r26,r24 |
| 1505 0828 CB01 movw r24,r22 |
| 1506 082a 8093 0000 sts ErsatzKompass,r24 |
| 1507 082e 9093 0000 sts (ErsatzKompass)+1,r25 |
| 1508 0832 A093 0000 sts (ErsatzKompass)+2,r26 |
| 1509 0836 B093 0000 sts (ErsatzKompass)+3,r27 |
| 1510 083a 1092 0000 sts (GierGyroFehler)+1,__zero_reg__ |
| 1511 083e 1092 0000 sts GierGyroFehler,__zero_reg__ |
| 1512 0842 0E94 0000 call LED_Init |
| 1513 0846 8091 0000 lds r24,FC_StatusFlags |
| 1514 084a 8460 ori r24,lo8(4) |
| 1515 084c 8093 0000 sts FC_StatusFlags,r24 |
| 1516 0850 8FEF ldi r24,lo8(-1) |
| 1517 0852 8093 0000 sts FromNaviCtrl_Value,r24 |
| 1518 0856 1092 0000 sts FromNaviCtrl_Value+1,__zero_reg__ |
| 1519 085a 80E2 ldi r24,lo8(32) |
| 1520 085c 8093 0000 sts FromNaviCtrl_Value+2,r24 |
| 1521 0860 C0E0 ldi r28,lo8(Poti) |
| 1522 0862 D0E0 ldi r29,hi8(Poti) |
| 1523 0864 A0E0 ldi r26,lo8(EE_Parameter+5) |
| 1524 0866 B0E0 ldi r27,hi8(EE_Parameter+5) |
| 1525 0868 07E0 ldi r16,lo8(7) |
| 1526 .L69: |
| 1527 086a 8D91 ld r24,X+ |
| 1528 086c E82F mov r30,r24 |
| 1529 086e FF27 clr r31 |
| 1530 0870 EE0F add r30,r30 |
| 1531 0872 FF1F adc r31,r31 |
| 1532 0874 E050 subi r30,lo8(-(PPM_in)) |
| 1533 0876 F040 sbci r31,hi8(-(PPM_in)) |
| 1534 0878 8081 ld r24,Z |
| 1535 087a 9181 ldd r25,Z+1 |
| 1536 087c 8158 subi r24,lo8(-(127)) |
| 1537 087e 8993 st Y+,r24 |
| 1538 0880 0150 subi r16,lo8(-(-1)) |
| 1539 0882 07FF sbrs r16,7 |
| 1540 0884 00C0 rjmp .L69 |
| 1541 0886 84E6 ldi r24,lo8(100) |
| 1542 0888 8093 0000 sts SenderOkay,r24 |
| 1543 088c 8091 0000 lds r24,ServoActive |
| 1544 0890 8823 tst r24 |
| 1545 0892 01F0 breq .L70 |
| 1546 0894 579A sbi 42-0x20,7 |
| 1547 0896 00C0 rjmp .L71 |
| 1548 .L70: |
| 1549 0898 80E0 ldi r24,lo8(4352) |
| 1550 089a 91E1 ldi r25,hi8(4352) |
| 1551 089c 9093 0000 sts (NickServoValue)+1,r25 |
| 1552 08a0 8093 0000 sts NickServoValue,r24 |
| 1553 .L71: |
| 1554 08a4 8091 0000 lds r24,AdNeutralNick |
| 1555 08a8 9091 0000 lds r25,(AdNeutralNick)+1 |
| 1556 08ac 8056 subi r24,lo8(-(-2400)) |
| 1557 08ae 9940 sbci r25,hi8(-(-2400)) |
| 1558 08b0 815C subi r24,lo8(11201) |
| 1559 08b2 9B42 sbci r25,hi8(11201) |
| 1560 08b4 00F0 brlo .L72 |
| 1561 08b6 8091 0000 lds r24,VersionInfo+5 |
| 1562 08ba 8160 ori r24,lo8(1) |
| 1563 08bc 8093 0000 sts VersionInfo+5,r24 |
| 1564 .L72: |
| 1565 08c0 8091 0000 lds r24,AdNeutralRoll |
| 1566 08c4 9091 0000 lds r25,(AdNeutralRoll)+1 |
| 1567 08c8 8056 subi r24,lo8(-(-2400)) |
| 1568 08ca 9940 sbci r25,hi8(-(-2400)) |
| 1569 08cc 815C subi r24,lo8(11201) |
| 1570 08ce 9B42 sbci r25,hi8(11201) |
| 1571 08d0 00F0 brlo .L73 |
| 1572 08d2 8091 0000 lds r24,VersionInfo+5 |
| 1573 08d6 8260 ori r24,lo8(2) |
| 1574 08d8 8093 0000 sts VersionInfo+5,r24 |
| 1575 .L73: |
| 1576 08dc 8091 0000 lds r24,AdNeutralGier |
| 1577 08e0 9091 0000 lds r25,(AdNeutralGier)+1 |
| 1578 08e4 8C52 subi r24,lo8(-(-300)) |
| 1579 08e6 9140 sbci r25,hi8(-(-300)) |
| 1580 08e8 8957 subi r24,lo8(1401) |
| 1581 08ea 9540 sbci r25,hi8(1401) |
| 1582 08ec 00F0 brlo .L74 |
| 1583 08ee 8091 0000 lds r24,VersionInfo+5 |
| 1584 08f2 8460 ori r24,lo8(4) |
| 1585 08f4 8093 0000 sts VersionInfo+5,r24 |
| 1586 .L74: |
| 1587 08f8 8091 0000 lds r24,NeutralAccX |
| 1588 08fc 9091 0000 lds r25,(NeutralAccX)+1 |
| 1589 0900 8C52 subi r24,lo8(-(-300)) |
| 1590 0902 9140 sbci r25,hi8(-(-300)) |
| 1591 0904 835C subi r24,lo8(451) |
| 1592 0906 9140 sbci r25,hi8(451) |
| 1593 0908 00F0 brlo .L75 |
| 1594 090a 8091 0000 lds r24,VersionInfo+5 |
| 1595 090e 8860 ori r24,lo8(8) |
| 1596 0910 8093 0000 sts VersionInfo+5,r24 |
| 1597 .L75: |
| 1598 0914 8091 0000 lds r24,NeutralAccY |
| 1599 0918 9091 0000 lds r25,(NeutralAccY)+1 |
| 1600 091c 8C52 subi r24,lo8(-(-300)) |
| 1601 091e 9140 sbci r25,hi8(-(-300)) |
| 1602 0920 835C subi r24,lo8(451) |
| 1603 0922 9140 sbci r25,hi8(451) |
| 1604 0924 00F0 brlo .L76 |
| 1605 0926 8091 0000 lds r24,VersionInfo+5 |
| 1606 092a 8061 ori r24,lo8(16) |
| 1607 092c 8093 0000 sts VersionInfo+5,r24 |
| 1608 .L76: |
| 1609 0930 8091 0000 lds r24,NeutralAccZ |
| 1610 0934 9091 0000 lds r25,(NeutralAccZ)+1 |
| 1611 0938 8050 subi r24,lo8(-(-512)) |
| 1612 093a 9240 sbci r25,hi8(-(-512)) |
| 1613 093c 8355 subi r24,lo8(339) |
| 1614 093e 9140 sbci r25,hi8(339) |
| 1615 0940 00F0 brlo .L77 |
| 1616 0942 8091 0000 lds r24,VersionInfo+5 |
| 1617 0946 8062 ori r24,lo8(32) |
| 1618 0948 8093 0000 sts VersionInfo+5,r24 |
| 1619 .L77: |
| 1620 094c 86E4 ldi r24,lo8(70) |
| 1621 094e 8093 0000 sts carefree_old,r24 |
| 1622 0952 0E94 0000 call LIBFC_HoTT_Clear |
| 1623 /* epilogue: frame size=0 */ |
| 1624 0956 ECE0 ldi r30,12 |
| 1625 0958 CDB7 in r28,__SP_L__ |
| 1626 095a DEB7 in r29,__SP_H__ |
| 1627 095c 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 0960 A3E1 ldi r26,lo8(19) |
| 1644 0962 B0E0 ldi r27,hi8(19) |
| 1645 0964 E0E0 ldi r30,pm_lo8(1f) |
| 1646 0966 F0E0 ldi r31,pm_hi8(1f) |
| 1647 0968 0C94 0000 jmp __prologue_saves__+0 |
| 1648 1: |
| 1649 /* prologue end (size=6) */ |
| 1650 096c 8091 0000 lds r24,AdNeutralGier |
| 1651 0970 9091 0000 lds r25,(AdNeutralGier)+1 |
| 1652 0974 2091 0000 lds r18,AdWertGier |
| 1653 0978 3091 0000 lds r19,(AdWertGier)+1 |
| 1654 097c 821B sub r24,r18 |
| 1655 097e 930B sbc r25,r19 |
| 1656 0980 9093 0000 sts (MesswertGier)+1,r25 |
| 1657 0984 8093 0000 sts MesswertGier,r24 |
| 1658 0988 8091 0000 lds r24,AdWertNickFilter |
| 1659 098c 9091 0000 lds r25,(AdWertNickFilter)+1 |
| 1660 0990 97FD sbrc r25,7 |
| 1661 0992 0796 adiw r24,7 |
| 1662 .L83: |
| 1663 0994 9C01 movw r18,r24 |
| 1664 0996 13E0 ldi r17,3 |
| 1665 0998 3595 1: asr r19 |
| 1666 099a 2795 ror r18 |
| 1667 099c 1A95 dec r17 |
| 1668 099e 01F4 brne 1b |
| 1669 09a0 3093 0000 sts (MesswertNick)+1,r19 |
| 1670 09a4 2093 0000 sts MesswertNick,r18 |
| 1671 09a8 8091 0000 lds r24,AdWertRollFilter |
| 1672 09ac 9091 0000 lds r25,(AdWertRollFilter)+1 |
| 1673 09b0 97FD sbrc r25,7 |
| 1674 09b2 0796 adiw r24,7 |
| 1675 .L84: |
| 1676 09b4 B3E0 ldi r27,3 |
| 1677 09b6 9595 1: asr r25 |
| 1678 09b8 8795 ror r24 |
| 1679 09ba BA95 dec r27 |
| 1680 09bc 01F4 brne 1b |
| 1681 09be 9093 0000 sts (MesswertRoll)+1,r25 |
| 1682 09c2 8093 0000 sts MesswertRoll,r24 |
| 1683 09c6 3093 0000 sts (RohMesswertNick)+1,r19 |
| 1684 09ca 2093 0000 sts RohMesswertNick,r18 |
| 1685 09ce 9093 0000 sts (RohMesswertRoll)+1,r25 |
| 1686 09d2 8093 0000 sts RohMesswertRoll,r24 |
| 1687 09d6 8091 0000 lds r24,Mittelwert_AccNick |
| 1688 09da 9091 0000 lds r25,(Mittelwert_AccNick)+1 |
| 1689 09de AC01 movw r20,r24 |
| 1690 09e0 440F lsl r20 |
| 1691 09e2 551F rol r21 |
| 1692 09e4 480F add r20,r24 |
| 1693 09e6 591F adc r21,r25 |
| 1694 09e8 2091 0000 lds r18,AdWertAccNick |
| 1695 09ec 3091 0000 lds r19,(AdWertAccNick)+1 |
| 1696 09f0 C901 movw r24,r18 |
| 1697 09f2 880F lsl r24 |
| 1698 09f4 991F rol r25 |
| 1699 09f6 880F lsl r24 |
| 1700 09f8 991F rol r25 |
| 1701 09fa 820F add r24,r18 |
| 1702 09fc 931F adc r25,r19 |
| 1703 09fe 820F add r24,r18 |
| 1704 0a00 931F adc r25,r19 |
| 1705 0a02 480F add r20,r24 |
| 1706 0a04 591F adc r21,r25 |
| 1707 0a06 57FF sbrs r21,7 |
| 1708 0a08 00C0 rjmp .L85 |
| 1709 0a0a 4D5F subi r20,lo8(-(3)) |
| 1710 0a0c 5F4F sbci r21,hi8(-(3)) |
| 1711 .L85: |
| 1712 0a0e 5595 asr r21 |
| 1713 0a10 4795 ror r20 |
| 1714 0a12 5595 asr r21 |
| 1715 0a14 4795 ror r20 |
| 1716 0a16 5093 0000 sts (Mittelwert_AccNick)+1,r21 |
| 1717 0a1a 4093 0000 sts Mittelwert_AccNick,r20 |
| 1718 0a1e 8091 0000 lds r24,Mittelwert_AccRoll |
| 1719 0a22 9091 0000 lds r25,(Mittelwert_AccRoll)+1 |
| 1720 0a26 AC01 movw r20,r24 |
| 1721 0a28 440F lsl r20 |
| 1722 0a2a 551F rol r21 |
| 1723 0a2c 480F add r20,r24 |
| 1724 0a2e 591F adc r21,r25 |
| 1725 0a30 2091 0000 lds r18,AdWertAccRoll |
| 1726 0a34 3091 0000 lds r19,(AdWertAccRoll)+1 |
| 1727 0a38 C901 movw r24,r18 |
| 1728 0a3a 880F lsl r24 |
| 1729 0a3c 991F rol r25 |
| 1730 0a3e 880F lsl r24 |
| 1731 0a40 991F rol r25 |
| 1732 0a42 820F add r24,r18 |
| 1733 0a44 931F adc r25,r19 |
| 1734 0a46 820F add r24,r18 |
| 1735 0a48 931F adc r25,r19 |
| 1736 0a4a 480F add r20,r24 |
| 1737 0a4c 591F adc r21,r25 |
| 1738 0a4e 57FF sbrs r21,7 |
| 1739 0a50 00C0 rjmp .L86 |
| 1740 0a52 4D5F subi r20,lo8(-(3)) |
| 1741 0a54 5F4F sbci r21,hi8(-(3)) |
| 1742 .L86: |
| 1743 0a56 5595 asr r21 |
| 1744 0a58 4795 ror r20 |
| 1745 0a5a 5595 asr r21 |
| 1746 0a5c 4795 ror r20 |
| 1747 0a5e 5093 0000 sts (Mittelwert_AccRoll)+1,r21 |
| 1748 0a62 4093 0000 sts Mittelwert_AccRoll,r20 |
| 1749 0a66 2091 0000 lds r18,AdWertAccNick |
| 1750 0a6a 3091 0000 lds r19,(AdWertAccNick)+1 |
| 1751 0a6e C901 movw r24,r18 |
| 1752 0a70 880F lsl r24 |
| 1753 0a72 991F rol r25 |
| 1754 0a74 880F lsl r24 |
| 1755 0a76 991F rol r25 |
| 1756 0a78 820F add r24,r18 |
| 1757 0a7a 931F adc r25,r19 |
| 1758 0a7c 820F add r24,r18 |
| 1759 0a7e 931F adc r25,r19 |
| 1760 0a80 9C01 movw r18,r24 |
| 1761 0a82 4427 clr r20 |
| 1762 0a84 37FD sbrc r19,7 |
| 1763 0a86 4095 com r20 |
| 1764 0a88 542F mov r21,r20 |
| 1765 0a8a 8091 0000 lds r24,IntegralAccNick |
| 1766 0a8e 9091 0000 lds r25,(IntegralAccNick)+1 |
| 1767 0a92 A091 0000 lds r26,(IntegralAccNick)+2 |
| 1768 0a96 B091 0000 lds r27,(IntegralAccNick)+3 |
| 1769 0a9a 820F add r24,r18 |
| 1770 0a9c 931F adc r25,r19 |
| 1771 0a9e A41F adc r26,r20 |
| 1772 0aa0 B51F adc r27,r21 |
| 1773 0aa2 8093 0000 sts IntegralAccNick,r24 |
| 1774 0aa6 9093 0000 sts (IntegralAccNick)+1,r25 |
| 1775 0aaa A093 0000 sts (IntegralAccNick)+2,r26 |
| 1776 0aae B093 0000 sts (IntegralAccNick)+3,r27 |
| 1777 0ab2 2091 0000 lds r18,AdWertAccRoll |
| 1778 0ab6 3091 0000 lds r19,(AdWertAccRoll)+1 |
| 1779 0aba C901 movw r24,r18 |
| 1780 0abc 880F lsl r24 |
| 1781 0abe 991F rol r25 |
| 1782 0ac0 880F lsl r24 |
| 1783 0ac2 991F rol r25 |
| 1784 0ac4 820F add r24,r18 |
| 1785 0ac6 931F adc r25,r19 |
| 1786 0ac8 820F add r24,r18 |
| 1787 0aca 931F adc r25,r19 |
| 1788 0acc 9C01 movw r18,r24 |
| 1789 0ace 4427 clr r20 |
| 1790 0ad0 37FD sbrc r19,7 |
| 1791 0ad2 4095 com r20 |
| 1792 0ad4 542F mov r21,r20 |
| 1793 0ad6 8091 0000 lds r24,IntegralAccRoll |
| 1794 0ada 9091 0000 lds r25,(IntegralAccRoll)+1 |
| 1795 0ade A091 0000 lds r26,(IntegralAccRoll)+2 |
| 1796 0ae2 B091 0000 lds r27,(IntegralAccRoll)+3 |
| 1797 0ae6 820F add r24,r18 |
| 1798 0ae8 931F adc r25,r19 |
| 1799 0aea A41F adc r26,r20 |
| 1800 0aec B51F adc r27,r21 |
| 1801 0aee 8093 0000 sts IntegralAccRoll,r24 |
| 1802 0af2 9093 0000 sts (IntegralAccRoll)+1,r25 |
| 1803 0af6 A093 0000 sts (IntegralAccRoll)+2,r26 |
| 1804 0afa B093 0000 sts (IntegralAccRoll)+3,r27 |
| 1805 0afe 8091 0000 lds r24,NaviAccNick |
| 1806 0b02 9091 0000 lds r25,(NaviAccNick)+1 |
| 1807 0b06 2091 0000 lds r18,AdWertAccNick |
| 1808 0b0a 3091 0000 lds r19,(AdWertAccNick)+1 |
| 1809 0b0e 820F add r24,r18 |
| 1810 0b10 931F adc r25,r19 |
| 1811 0b12 9093 0000 sts (NaviAccNick)+1,r25 |
| 1812 0b16 8093 0000 sts NaviAccNick,r24 |
| 1813 0b1a 8091 0000 lds r24,NaviAccRoll |
| 1814 0b1e 9091 0000 lds r25,(NaviAccRoll)+1 |
| 1815 0b22 2091 0000 lds r18,AdWertAccRoll |
| 1816 0b26 3091 0000 lds r19,(AdWertAccRoll)+1 |
| 1817 0b2a 820F add r24,r18 |
| 1818 0b2c 931F adc r25,r19 |
| 1819 0b2e 9093 0000 sts (NaviAccRoll)+1,r25 |
| 1820 0b32 8093 0000 sts NaviAccRoll,r24 |
| 1821 0b36 8091 0000 lds r24,NaviCntAcc |
| 1822 0b3a 9091 0000 lds r25,(NaviCntAcc)+1 |
| 1823 0b3e 0196 adiw r24,1 |
| 1824 0b40 9093 0000 sts (NaviCntAcc)+1,r25 |
| 1825 0b44 8093 0000 sts NaviCntAcc,r24 |
| 1826 0b48 8091 0000 lds r24,Aktuell_az |
| 1827 0b4c 9091 0000 lds r25,(Aktuell_az)+1 |
| 1828 0b50 2091 0000 lds r18,NeutralAccZ |
| 1829 0b54 3091 0000 lds r19,(NeutralAccZ)+1 |
| 1830 0b58 821B sub r24,r18 |
| 1831 0b5a 930B sbc r25,r19 |
| 1832 0b5c 9C01 movw r18,r24 |
| 1833 0b5e 4427 clr r20 |
| 1834 0b60 37FD sbrc r19,7 |
| 1835 0b62 4095 com r20 |
| 1836 0b64 542F mov r21,r20 |
| 1837 0b66 8091 0000 lds r24,IntegralAccZ |
| 1838 0b6a 9091 0000 lds r25,(IntegralAccZ)+1 |
| 1839 0b6e A091 0000 lds r26,(IntegralAccZ)+2 |
| 1840 0b72 B091 0000 lds r27,(IntegralAccZ)+3 |
| 1841 0b76 820F add r24,r18 |
| 1842 0b78 931F adc r25,r19 |
| 1843 0b7a A41F adc r26,r20 |
| 1844 0b7c B51F adc r27,r21 |
| 1845 0b7e 8093 0000 sts IntegralAccZ,r24 |
| 1846 0b82 9093 0000 sts (IntegralAccZ)+1,r25 |
| 1847 0b86 A093 0000 sts (IntegralAccZ)+2,r26 |
| 1848 0b8a B093 0000 sts (IntegralAccZ)+3,r27 |
| 1849 0b8e 8FEC ldi r24,lo8(-49) |
| 1850 0b90 8093 7A00 sts 122,r24 |
| 1851 0b94 1092 0000 sts AdReady,__zero_reg__ |
| 1852 0b98 2091 0000 lds r18,Mess_IntegralRoll |
| 1853 0b9c 3091 0000 lds r19,(Mess_IntegralRoll)+1 |
| 1854 0ba0 4091 0000 lds r20,(Mess_IntegralRoll)+2 |
| 1855 0ba4 5091 0000 lds r21,(Mess_IntegralRoll)+3 |
| 1856 0ba8 2987 std Y+9,r18 |
| 1857 0baa 3A87 std Y+10,r19 |
| 1858 0bac 4B87 std Y+11,r20 |
| 1859 0bae 5C87 std Y+12,r21 |
| 1860 0bb0 2954 subi r18,lo8(93001) |
| 1861 0bb2 3B46 sbci r19,hi8(93001) |
| 1862 0bb4 4140 sbci r20,hlo8(93001) |
| 1863 0bb6 5040 sbci r21,hhi8(93001) |
| 1864 0bb8 04F0 brlt .L87 |
| 1865 0bba 28E4 ldi r18,lo8(93000) |
| 1866 0bbc 3BE6 ldi r19,hi8(93000) |
| 1867 0bbe 41E0 ldi r20,hlo8(93000) |
| 1868 0bc0 50E0 ldi r21,hhi8(93000) |
| 1869 0bc2 00C0 rjmp .L167 |
| 1870 .L87: |
| 1871 0bc4 8985 ldd r24,Y+9 |
| 1872 0bc6 9A85 ldd r25,Y+10 |
| 1873 0bc8 AB85 ldd r26,Y+11 |
| 1874 0bca BC85 ldd r27,Y+12 |
| 1875 0bcc 885B subi r24,lo8(-93000) |
| 1876 0bce 9449 sbci r25,hi8(-93000) |
| 1877 0bd0 AE4F sbci r26,hlo8(-93000) |
| 1878 0bd2 BF4F sbci r27,hhi8(-93000) |
| 1879 0bd4 04F4 brge .L89 |
| 1880 0bd6 28EB ldi r18,lo8(-93000) |
| 1881 0bd8 34E9 ldi r19,hi8(-93000) |
| 1882 0bda 4EEF ldi r20,hlo8(-93000) |
| 1883 0bdc 5FEF ldi r21,hhi8(-93000) |
| 1884 .L167: |
| 1885 0bde 2D83 std Y+5,r18 |
| 1886 0be0 3E83 std Y+6,r19 |
| 1887 0be2 4F83 std Y+7,r20 |
| 1888 0be4 5887 std Y+8,r21 |
| 1889 0be6 00C0 rjmp .L88 |
| 1890 .L89: |
| 1891 0be8 8985 ldd r24,Y+9 |
| 1892 0bea 9A85 ldd r25,Y+10 |
| 1893 0bec AB85 ldd r26,Y+11 |
| 1894 0bee BC85 ldd r27,Y+12 |
| 1895 0bf0 8D83 std Y+5,r24 |
| 1896 0bf2 9E83 std Y+6,r25 |
| 1897 0bf4 AF83 std Y+7,r26 |
| 1898 0bf6 B887 std Y+8,r27 |
| 1899 .L88: |
| 1900 0bf8 2091 0000 lds r18,Mess_IntegralNick |
| 1901 0bfc 3091 0000 lds r19,(Mess_IntegralNick)+1 |
| 1902 0c00 4091 0000 lds r20,(Mess_IntegralNick)+2 |
| 1903 0c04 5091 0000 lds r21,(Mess_IntegralNick)+3 |
| 1904 0c08 2D87 std Y+13,r18 |
| 1905 0c0a 3E87 std Y+14,r19 |
| 1906 0c0c 4F87 std Y+15,r20 |
| 1907 0c0e 588B std Y+16,r21 |
| 1908 0c10 2954 subi r18,lo8(93001) |
| 1909 0c12 3B46 sbci r19,hi8(93001) |
| 1910 0c14 4140 sbci r20,hlo8(93001) |
| 1911 0c16 5040 sbci r21,hhi8(93001) |
| 1912 0c18 04F0 brlt .L91 |
| 1913 0c1a 28E4 ldi r18,lo8(93000) |
| 1914 0c1c 3BE6 ldi r19,hi8(93000) |
| 1915 0c1e 41E0 ldi r20,hlo8(93000) |
| 1916 0c20 50E0 ldi r21,hhi8(93000) |
| 1917 0c22 00C0 rjmp .L168 |
| 1918 .L91: |
| 1919 0c24 8D85 ldd r24,Y+13 |
| 1920 0c26 9E85 ldd r25,Y+14 |
| 1921 0c28 AF85 ldd r26,Y+15 |
| 1922 0c2a B889 ldd r27,Y+16 |
| 1923 0c2c 885B subi r24,lo8(-93000) |
| 1924 0c2e 9449 sbci r25,hi8(-93000) |
| 1925 0c30 AE4F sbci r26,hlo8(-93000) |
| 1926 0c32 BF4F sbci r27,hhi8(-93000) |
| 1927 0c34 04F4 brge .L93 |
| 1928 0c36 28EB ldi r18,lo8(-93000) |
| 1929 0c38 34E9 ldi r19,hi8(-93000) |
| 1930 0c3a 4EEF ldi r20,hlo8(-93000) |
| 1931 0c3c 5FEF ldi r21,hhi8(-93000) |
| 1932 .L168: |
| 1933 0c3e 2983 std Y+1,r18 |
| 1934 0c40 3A83 std Y+2,r19 |
| 1935 0c42 4B83 std Y+3,r20 |
| 1936 0c44 5C83 std Y+4,r21 |
| 1937 0c46 00C0 rjmp .L92 |
| 1938 .L93: |
| 1939 0c48 8D85 ldd r24,Y+13 |
| 1940 0c4a 9E85 ldd r25,Y+14 |
| 1941 0c4c AF85 ldd r26,Y+15 |
| 1942 0c4e B889 ldd r27,Y+16 |
| 1943 0c50 8983 std Y+1,r24 |
| 1944 0c52 9A83 std Y+2,r25 |
| 1945 0c54 AB83 std Y+3,r26 |
| 1946 0c56 BC83 std Y+4,r27 |
| 1947 .L92: |
| 1948 0c58 A091 0000 lds r26,MesswertGier |
| 1949 0c5c B091 0000 lds r27,(MesswertGier)+1 |
| 1950 0c60 BB8B std Y+19,r27 |
| 1951 0c62 AA8B std Y+18,r26 |
| 1952 0c64 FD01 movw r30,r26 |
| 1953 0c66 CF01 movw r24,r30 |
| 1954 0c68 AA27 clr r26 |
| 1955 0c6a 97FD sbrc r25,7 |
| 1956 0c6c A095 com r26 |
| 1957 0c6e BA2F mov r27,r26 |
| 1958 0c70 A090 0000 lds r10,Mess_Integral_Gier |
| 1959 0c74 B090 0000 lds r11,(Mess_Integral_Gier)+1 |
| 1960 0c78 C090 0000 lds r12,(Mess_Integral_Gier)+2 |
| 1961 0c7c D090 0000 lds r13,(Mess_Integral_Gier)+3 |
| 1962 0c80 A80E add r10,r24 |
| 1963 0c82 B91E adc r11,r25 |
| 1964 0c84 CA1E adc r12,r26 |
| 1965 0c86 DB1E adc r13,r27 |
| 1966 0c88 A092 0000 sts Mess_Integral_Gier,r10 |
| 1967 0c8c B092 0000 sts (Mess_Integral_Gier)+1,r11 |
| 1968 0c90 C092 0000 sts (Mess_Integral_Gier)+2,r12 |
| 1969 0c94 D092 0000 sts (Mess_Integral_Gier)+3,r13 |
| 1970 0c98 E090 0000 lds r14,ErsatzKompass |
| 1971 0c9c F090 0000 lds r15,(ErsatzKompass)+1 |
| 1972 0ca0 0091 0000 lds r16,(ErsatzKompass)+2 |
| 1973 0ca4 1091 0000 lds r17,(ErsatzKompass)+3 |
| 1974 0ca8 E80E add r14,r24 |
| 1975 0caa F91E adc r15,r25 |
| 1976 0cac 0A1F adc r16,r26 |
| 1977 0cae 1B1F adc r17,r27 |
| 1978 0cb0 E092 0000 sts ErsatzKompass,r14 |
| 1979 0cb4 F092 0000 sts (ErsatzKompass)+1,r15 |
| 1980 0cb8 0093 0000 sts (ErsatzKompass)+2,r16 |
| 1981 0cbc 1093 0000 sts (ErsatzKompass)+3,r17 |
| 1982 0cc0 F091 0000 lds r31,Looping_Nick |
| 1983 0cc4 F98B std Y+17,r31 |
| 1984 0cc6 FF23 tst r31 |
| 1985 0cc8 01F0 breq .+2 |
| 1986 0cca 00C0 rjmp .L95 |
| 1987 0ccc 8091 0000 lds r24,Looping_Roll |
| 1988 0cd0 8823 tst r24 |
| 1989 0cd2 01F0 breq .+2 |
| 1990 0cd4 00C0 rjmp .L95 |
| 1991 0cd6 8091 0000 lds r24,Parameter_GlobalConfig |
| 1992 0cda 86FF sbrs r24,6 |
| 1993 0cdc 00C0 rjmp .L95 |
| 1994 0cde 8091 0000 lds r24,MesswertRoll |
| 1995 0ce2 9091 0000 lds r25,(MesswertRoll)+1 |
| 1996 0ce6 AA27 clr r26 |
| 1997 0ce8 97FD sbrc r25,7 |
| 1998 0cea A095 com r26 |
| 1999 0cec BA2F mov r27,r26 |
| 2000 0cee BC01 movw r22,r24 |
| 2001 0cf0 CD01 movw r24,r26 |
| 2002 0cf2 2981 ldd r18,Y+1 |
| 2003 0cf4 3A81 ldd r19,Y+2 |
| 2004 0cf6 4B81 ldd r20,Y+3 |
| 2005 0cf8 5C81 ldd r21,Y+4 |
| 2006 0cfa 0E94 0000 call __mulsi3 |
| 2007 0cfe 9B01 movw r18,r22 |
| 2008 0d00 AC01 movw r20,r24 |
| 2009 0d02 97FF sbrs r25,7 |
| 2010 0d04 00C0 rjmp .L96 |
| 2011 0d06 2150 subi r18,lo8(-(2047)) |
| 2012 0d08 384F sbci r19,hi8(-(2047)) |
| 2013 0d0a 4F4F sbci r20,hlo8(-(2047)) |
| 2014 0d0c 5F4F sbci r21,hhi8(-(2047)) |
| 2015 .L96: |
| 2016 0d0e BBE0 ldi r27,11 |
| 2017 0d10 5595 1: asr r21 |
| 2018 0d12 4795 ror r20 |
| 2019 0d14 3795 ror r19 |
| 2020 0d16 2795 ror r18 |
| 2021 0d18 BA95 dec r27 |
| 2022 0d1a 01F4 brne 1b |
| 2023 0d1c 8091 0000 lds r24,Parameter_AchsKopplung2 |
| 2024 0d20 682E mov r6,r24 |
| 2025 0d22 7724 clr r7 |
| 2026 0d24 8824 clr r8 |
| 2027 0d26 9924 clr r9 |
| 2028 0d28 CA01 movw r24,r20 |
| 2029 0d2a B901 movw r22,r18 |
| 2030 0d2c A401 movw r20,r8 |
| 2031 0d2e 9301 movw r18,r6 |
| 2032 0d30 0E94 0000 call __mulsi3 |
| 2033 0d34 DC01 movw r26,r24 |
| 2034 0d36 CB01 movw r24,r22 |
| 2035 0d38 8093 0000 sts tmpl3.29,r24 |
| 2036 0d3c 9093 0000 sts (tmpl3.29)+1,r25 |
| 2037 0d40 A093 0000 sts (tmpl3.29)+2,r26 |
| 2038 0d44 B093 0000 sts (tmpl3.29)+3,r27 |
| 2039 0d48 B7FF sbrs r27,7 |
| 2040 0d4a 00C0 rjmp .L97 |
| 2041 0d4c 8150 subi r24,lo8(-(4095)) |
| 2042 0d4e 904F sbci r25,hi8(-(4095)) |
| 2043 0d50 AF4F sbci r26,hlo8(-(4095)) |
| 2044 0d52 BF4F sbci r27,hhi8(-(4095)) |
| 2045 .L97: |
| 2046 0d54 1C01 movw r2,r24 |
| 2047 0d56 2D01 movw r4,r26 |
| 2048 0d58 ACE0 ldi r26,12 |
| 2049 0d5a 5594 1: asr r5 |
| 2050 0d5c 4794 ror r4 |
| 2051 0d5e 3794 ror r3 |
| 2052 0d60 2794 ror r2 |
| 2053 0d62 AA95 dec r26 |
| 2054 0d64 01F4 brne 1b |
| 2055 0d66 2092 0000 sts tmpl3.29,r2 |
| 2056 0d6a 3092 0000 sts (tmpl3.29)+1,r3 |
| 2057 0d6e 4092 0000 sts (tmpl3.29)+2,r4 |
| 2058 0d72 5092 0000 sts (tmpl3.29)+3,r5 |
| 2059 0d76 8091 0000 lds r24,MesswertNick |
| 2060 0d7a 9091 0000 lds r25,(MesswertNick)+1 |
| 2061 0d7e AA27 clr r26 |
| 2062 0d80 97FD sbrc r25,7 |
| 2063 0d82 A095 com r26 |
| 2064 0d84 BA2F mov r27,r26 |
| 2065 0d86 BC01 movw r22,r24 |
| 2066 0d88 CD01 movw r24,r26 |
| 2067 0d8a 2D81 ldd r18,Y+5 |
| 2068 0d8c 3E81 ldd r19,Y+6 |
| 2069 0d8e 4F81 ldd r20,Y+7 |
| 2070 0d90 5885 ldd r21,Y+8 |
| 2071 0d92 0E94 0000 call __mulsi3 |
| 2072 0d96 97FF sbrs r25,7 |
| 2073 0d98 00C0 rjmp .L98 |
| 2074 0d9a 6150 subi r22,lo8(-(2047)) |
| 2075 0d9c 784F sbci r23,hi8(-(2047)) |
| 2076 0d9e 8F4F sbci r24,hlo8(-(2047)) |
| 2077 0da0 9F4F sbci r25,hhi8(-(2047)) |
| 2078 .L98: |
| 2079 0da2 FBE0 ldi r31,11 |
| 2080 0da4 9595 1: asr r25 |
| 2081 0da6 8795 ror r24 |
| 2082 0da8 7795 ror r23 |
| 2083 0daa 6795 ror r22 |
| 2084 0dac FA95 dec r31 |
| 2085 0dae 01F4 brne 1b |
| 2086 0db0 A401 movw r20,r8 |
| 2087 0db2 9301 movw r18,r6 |
| 2088 0db4 0E94 0000 call __mulsi3 |
| 2089 0db8 DC01 movw r26,r24 |
| 2090 0dba CB01 movw r24,r22 |
| 2091 0dbc 8093 0000 sts tmpl4.30,r24 |
| 2092 0dc0 9093 0000 sts (tmpl4.30)+1,r25 |
| 2093 0dc4 A093 0000 sts (tmpl4.30)+2,r26 |
| 2094 0dc8 B093 0000 sts (tmpl4.30)+3,r27 |
| 2095 0dcc B7FF sbrs r27,7 |
| 2096 0dce 00C0 rjmp .L99 |
| 2097 0dd0 8150 subi r24,lo8(-(4095)) |
| 2098 0dd2 904F sbci r25,hi8(-(4095)) |
| 2099 0dd4 AF4F sbci r26,hlo8(-(4095)) |
| 2100 0dd6 BF4F sbci r27,hhi8(-(4095)) |
| 2101 .L99: |
| 2102 0dd8 9C01 movw r18,r24 |
| 2103 0dda AD01 movw r20,r26 |
| 2104 0ddc ECE0 ldi r30,12 |
| 2105 0dde 5595 1: asr r21 |
| 2106 0de0 4795 ror r20 |
| 2107 0de2 3795 ror r19 |
| 2108 0de4 2795 ror r18 |
| 2109 0de6 EA95 dec r30 |
| 2110 0de8 01F4 brne 1b |
| 2111 0dea 2093 0000 sts tmpl4.30,r18 |
| 2112 0dee 3093 0000 sts (tmpl4.30)+1,r19 |
| 2113 0df2 4093 0000 sts (tmpl4.30)+2,r20 |
| 2114 0df6 5093 0000 sts (tmpl4.30)+3,r21 |
| 2115 0dfa 8091 0000 lds r24,tmpl3.29 |
| 2116 0dfe 9091 0000 lds r25,(tmpl3.29)+1 |
| 2117 0e02 9093 0000 sts (KopplungsteilNickRoll)+1,r25 |
| 2118 0e06 8093 0000 sts KopplungsteilNickRoll,r24 |
| 2119 0e0a 8091 0000 lds r24,tmpl4.30 |
| 2120 0e0e 9091 0000 lds r25,(tmpl4.30)+1 |
| 2121 0e12 9093 0000 sts (KopplungsteilRollNick)+1,r25 |
| 2122 0e16 8093 0000 sts KopplungsteilRollNick,r24 |
| 2123 0e1a 2219 sub r18,r2 |
| 2124 0e1c 3309 sbc r19,r3 |
| 2125 0e1e 4409 sbc r20,r4 |
| 2126 0e20 5509 sbc r21,r5 |
| 2127 0e22 2093 0000 sts tmpl4.30,r18 |
| 2128 0e26 3093 0000 sts (tmpl4.30)+1,r19 |
| 2129 0e2a 4093 0000 sts (tmpl4.30)+2,r20 |
| 2130 0e2e 5093 0000 sts (tmpl4.30)+3,r21 |
| 2131 0e32 E20E add r14,r18 |
| 2132 0e34 F31E adc r15,r19 |
| 2133 0e36 041F adc r16,r20 |
| 2134 0e38 151F adc r17,r21 |
| 2135 0e3a E092 0000 sts ErsatzKompass,r14 |
| 2136 0e3e F092 0000 sts (ErsatzKompass)+1,r15 |
| 2137 0e42 0093 0000 sts (ErsatzKompass)+2,r16 |
| 2138 0e46 1093 0000 sts (ErsatzKompass)+3,r17 |
| 2139 0e4a 8091 0000 lds r24,Parameter_CouplingYawCorrection |
| 2140 0e4e 8823 tst r24 |
| 2141 0e50 01F4 brne .L100 |
| 2142 0e52 57FF sbrs r21,7 |
| 2143 0e54 00C0 rjmp .L101 |
| 2144 0e56 2F5F subi r18,lo8(-(1)) |
| 2145 0e58 3F4F sbci r19,hi8(-(1)) |
| 2146 0e5a 4F4F sbci r20,hlo8(-(1)) |
| 2147 0e5c 5F4F sbci r21,hhi8(-(1)) |
| 2148 .L101: |
| 2149 0e5e 5595 asr r21 |
| 2150 0e60 4795 ror r20 |
| 2151 0e62 3795 ror r19 |
| 2152 0e64 2795 ror r18 |
| 2153 0e66 A21A sub r10,r18 |
| 2154 0e68 B30A sbc r11,r19 |
| 2155 0e6a C40A sbc r12,r20 |
| 2156 0e6c D50A sbc r13,r21 |
| 2157 0e6e A092 0000 sts Mess_Integral_Gier,r10 |
| 2158 0e72 B092 0000 sts (Mess_Integral_Gier)+1,r11 |
| 2159 0e76 C092 0000 sts (Mess_Integral_Gier)+2,r12 |
| 2160 0e7a D092 0000 sts (Mess_Integral_Gier)+3,r13 |
| 2161 .L100: |
| 2162 0e7e 2A89 ldd r18,Y+18 |
| 2163 0e80 3B89 ldd r19,Y+19 |
| 2164 0e82 7901 movw r14,r18 |
| 2165 0e84 0027 clr r16 |
| 2166 0e86 F7FC sbrc r15,7 |
| 2167 0e88 0095 com r16 |
| 2168 0e8a 102F mov r17,r16 |
| 2169 0e8c 8091 0000 lds r24,tmpl4.30 |
| 2170 0e90 9091 0000 lds r25,(tmpl4.30)+1 |
| 2171 0e94 A091 0000 lds r26,(tmpl4.30)+2 |
| 2172 0e98 B091 0000 lds r27,(tmpl4.30)+3 |
| 2173 0e9c E80E add r14,r24 |
| 2174 0e9e F91E adc r15,r25 |
| 2175 0ea0 0A1F adc r16,r26 |
| 2176 0ea2 1B1F adc r17,r27 |
| 2177 0ea4 C801 movw r24,r16 |
| 2178 0ea6 B701 movw r22,r14 |
| 2179 0ea8 2981 ldd r18,Y+1 |
| 2180 0eaa 3A81 ldd r19,Y+2 |
| 2181 0eac 4B81 ldd r20,Y+3 |
| 2182 0eae 5C81 ldd r21,Y+4 |
| 2183 0eb0 0E94 0000 call __mulsi3 |
| 2184 0eb4 9B01 movw r18,r22 |
| 2185 0eb6 AC01 movw r20,r24 |
| 2186 0eb8 97FF sbrs r25,7 |
| 2187 0eba 00C0 rjmp .L102 |
| 2188 0ebc 2150 subi r18,lo8(-(2047)) |
| 2189 0ebe 384F sbci r19,hi8(-(2047)) |
| 2190 0ec0 4F4F sbci r20,hlo8(-(2047)) |
| 2191 0ec2 5F4F sbci r21,hhi8(-(2047)) |
| 2192 .L102: |
| 2193 0ec4 6BE0 ldi r22,11 |
| 2194 0ec6 5595 1: asr r21 |
| 2195 0ec8 4795 ror r20 |
| 2196 0eca 3795 ror r19 |
| 2197 0ecc 2795 ror r18 |
| 2198 0ece 6A95 dec r22 |
| 2199 0ed0 01F4 brne 1b |
| 2200 0ed2 8091 0000 lds r24,Parameter_AchsKopplung1 |
| 2201 0ed6 A82E mov r10,r24 |
| 2202 0ed8 BB24 clr r11 |
| 2203 0eda CC24 clr r12 |
| 2204 0edc DD24 clr r13 |
| 2205 0ede CA01 movw r24,r20 |
| 2206 0ee0 B901 movw r22,r18 |
| 2207 0ee2 A601 movw r20,r12 |
| 2208 0ee4 9501 movw r18,r10 |
| 2209 0ee6 0E94 0000 call __mulsi3 |
| 2210 0eea DC01 movw r26,r24 |
| 2211 0eec CB01 movw r24,r22 |
| 2212 0eee 8093 0000 sts tmpl.27,r24 |
| 2213 0ef2 9093 0000 sts (tmpl.27)+1,r25 |
| 2214 0ef6 A093 0000 sts (tmpl.27)+2,r26 |
| 2215 0efa B093 0000 sts (tmpl.27)+3,r27 |
| 2216 0efe B7FF sbrs r27,7 |
| 2217 0f00 00C0 rjmp .L103 |
| 2218 0f02 8150 subi r24,lo8(-(4095)) |
| 2219 0f04 904F sbci r25,hi8(-(4095)) |
| 2220 0f06 AF4F sbci r26,hlo8(-(4095)) |
| 2221 0f08 BF4F sbci r27,hhi8(-(4095)) |
| 2222 .L103: |
| 2223 0f0a 3C01 movw r6,r24 |
| 2224 0f0c 4D01 movw r8,r26 |
| 2225 0f0e 3CE0 ldi r19,12 |
| 2226 0f10 9594 1: asr r9 |
| 2227 0f12 8794 ror r8 |
| 2228 0f14 7794 ror r7 |
| 2229 0f16 6794 ror r6 |
| 2230 0f18 3A95 dec r19 |
| 2231 0f1a 01F4 brne 1b |
| 2232 0f1c 6092 0000 sts tmpl.27,r6 |
| 2233 0f20 7092 0000 sts (tmpl.27)+1,r7 |
| 2234 0f24 8092 0000 sts (tmpl.27)+2,r8 |
| 2235 0f28 9092 0000 sts (tmpl.27)+3,r9 |
| 2236 0f2c C801 movw r24,r16 |
| 2237 0f2e B701 movw r22,r14 |
| 2238 0f30 2D81 ldd r18,Y+5 |
| 2239 0f32 3E81 ldd r19,Y+6 |
| 2240 0f34 4F81 ldd r20,Y+7 |
| 2241 0f36 5885 ldd r21,Y+8 |
| 2242 0f38 0E94 0000 call __mulsi3 |
| 2243 0f3c 97FF sbrs r25,7 |
| 2244 0f3e 00C0 rjmp .L104 |
| 2245 0f40 6150 subi r22,lo8(-(2047)) |
| 2246 0f42 784F sbci r23,hi8(-(2047)) |
| 2247 0f44 8F4F sbci r24,hlo8(-(2047)) |
| 2248 0f46 9F4F sbci r25,hhi8(-(2047)) |
| 2249 .L104: |
| 2250 0f48 2BE0 ldi r18,11 |
| 2251 0f4a 9595 1: asr r25 |
| 2252 0f4c 8795 ror r24 |
| 2253 0f4e 7795 ror r23 |
| 2254 0f50 6795 ror r22 |
| 2255 0f52 2A95 dec r18 |
| 2256 0f54 01F4 brne 1b |
| 2257 0f56 A601 movw r20,r12 |
| 2258 0f58 9501 movw r18,r10 |
| 2259 0f5a 0E94 0000 call __mulsi3 |
| 2260 0f5e DC01 movw r26,r24 |
| 2261 0f60 CB01 movw r24,r22 |
| 2262 0f62 8093 0000 sts tmpl2.28,r24 |
| 2263 0f66 9093 0000 sts (tmpl2.28)+1,r25 |
| 2264 0f6a A093 0000 sts (tmpl2.28)+2,r26 |
| 2265 0f6e B093 0000 sts (tmpl2.28)+3,r27 |
| 2266 0f72 B7FF sbrs r27,7 |
| 2267 0f74 00C0 rjmp .L105 |
| 2268 0f76 8150 subi r24,lo8(-(4095)) |
| 2269 0f78 904F sbci r25,hi8(-(4095)) |
| 2270 0f7a AF4F sbci r26,hlo8(-(4095)) |
| 2271 0f7c BF4F sbci r27,hhi8(-(4095)) |
| 2272 .L105: |
| 2273 0f7e AC01 movw r20,r24 |
| 2274 0f80 BD01 movw r22,r26 |
| 2275 0f82 8CE0 ldi r24,12 |
| 2276 0f84 7595 1: asr r23 |
| 2277 0f86 6795 ror r22 |
| 2278 0f88 5795 ror r21 |
| 2279 0f8a 4795 ror r20 |
| 2280 0f8c 8A95 dec r24 |
| 2281 0f8e 01F4 brne 1b |
| 2282 0f90 4093 0000 sts tmpl2.28,r20 |
| 2283 0f94 5093 0000 sts (tmpl2.28)+1,r21 |
| 2284 0f98 6093 0000 sts (tmpl2.28)+2,r22 |
| 2285 0f9c 7093 0000 sts (tmpl2.28)+3,r23 |
| 2286 0fa0 2A89 ldd r18,Y+18 |
| 2287 0fa2 3B89 ldd r19,Y+19 |
| 2288 0fa4 37FF sbrs r19,7 |
| 2289 0fa6 00C0 rjmp .L107 |
| 2290 0fa8 3095 com r19 |
| 2291 0faa 2195 neg r18 |
| 2292 0fac 3F4F sbci r19,lo8(-1) |
| 2293 .L107: |
| 2294 0fae 2134 cpi r18,65 |
| 2295 0fb0 3105 cpc r19,__zero_reg__ |
| 2296 0fb2 04F0 brlt .L112 |
| 2297 0fb4 D401 movw r26,r8 |
| 2298 0fb6 C301 movw r24,r6 |
| 2299 0fb8 97FE sbrs r9,7 |
| 2300 0fba 00C0 rjmp .L110 |
| 2301 0fbc B095 com r27 |
| 2302 0fbe A095 com r26 |
| 2303 0fc0 9095 com r25 |
| 2304 0fc2 8195 neg r24 |
| 2305 0fc4 9F4F sbci r25,lo8(-1) |
| 2306 0fc6 AF4F sbci r26,lo8(-1) |
| 2307 0fc8 BF4F sbci r27,lo8(-1) |
| 2308 .L110: |
| 2309 0fca 8138 cpi r24,lo8(129) |
| 2310 0fcc 9105 cpc r25,__zero_reg__ |
| 2311 0fce A105 cpc r26,__zero_reg__ |
| 2312 0fd0 B105 cpc r27,__zero_reg__ |
| 2313 0fd2 04F4 brge .L109 |
| 2314 0fd4 DB01 movw r26,r22 |
| 2315 0fd6 CA01 movw r24,r20 |
| 2316 0fd8 77FF sbrs r23,7 |
| 2317 0fda 00C0 rjmp .L111 |
| 2318 0fdc B095 com r27 |
| 2319 0fde A095 com r26 |
| 2320 0fe0 9095 com r25 |
| 2321 0fe2 8195 neg r24 |
| 2322 0fe4 9F4F sbci r25,lo8(-1) |
| 2323 0fe6 AF4F sbci r26,lo8(-1) |
| 2324 0fe8 BF4F sbci r27,lo8(-1) |
| 2325 .L111: |
| 2326 0fea 8138 cpi r24,lo8(129) |
| 2327 0fec 9105 cpc r25,__zero_reg__ |
| 2328 0fee A105 cpc r26,__zero_reg__ |
| 2329 0ff0 B105 cpc r27,__zero_reg__ |
| 2330 0ff2 04F0 brlt .L112 |
| 2331 .L109: |
| 2332 0ff4 81E0 ldi r24,lo8(1) |
| 2333 0ff6 8093 0000 sts TrichterFlug,r24 |
| 2334 0ffa 00C0 rjmp .L112 |
| 2335 .L95: |
| 2336 0ffc 1092 0000 sts (KopplungsteilRollNick)+1,__zero_reg__ |
| 2337 1000 1092 0000 sts KopplungsteilRollNick,__zero_reg__ |
| 2338 1004 1092 0000 sts (KopplungsteilNickRoll)+1,__zero_reg__ |
| 2339 1008 1092 0000 sts KopplungsteilNickRoll,__zero_reg__ |
| 2340 100c 1092 0000 sts tmpl2.28,__zero_reg__ |
| 2341 1010 1092 0000 sts (tmpl2.28)+1,__zero_reg__ |
| 2342 1014 1092 0000 sts (tmpl2.28)+2,__zero_reg__ |
| 2343 1018 1092 0000 sts (tmpl2.28)+3,__zero_reg__ |
| 2344 101c 1092 0000 sts tmpl.27,__zero_reg__ |
| 2345 1020 1092 0000 sts (tmpl.27)+1,__zero_reg__ |
| 2346 1024 1092 0000 sts (tmpl.27)+2,__zero_reg__ |
| 2347 1028 1092 0000 sts (tmpl.27)+3,__zero_reg__ |
| 2348 .L112: |
| 2349 102c 8091 0000 lds r24,tmpl2.28 |
| 2350 1030 9091 0000 lds r25,(tmpl2.28)+1 |
| 2351 1034 A091 0000 lds r26,(tmpl2.28)+2 |
| 2352 1038 B091 0000 lds r27,(tmpl2.28)+3 |
| 2353 103c BC01 movw r22,r24 |
| 2354 103e CD01 movw r24,r26 |
| 2355 1040 24E6 ldi r18,lo8(100) |
| 2356 1042 30E0 ldi r19,hi8(100) |
| 2357 1044 40E0 ldi r20,hlo8(100) |
| 2358 1046 50E0 ldi r21,hhi8(100) |
| 2359 1048 0E94 0000 call __divmodsi4 |
| 2360 104c E090 0000 lds r14,tmpl.27 |
| 2361 1050 F090 0000 lds r15,(tmpl.27)+1 |
| 2362 1054 E21A sub r14,r18 |
| 2363 1056 F30A sbc r15,r19 |
| 2364 1058 F092 0000 sts (TrimRoll)+1,r15 |
| 2365 105c E092 0000 sts TrimRoll,r14 |
| 2366 1060 8091 0000 lds r24,tmpl.27 |
| 2367 1064 9091 0000 lds r25,(tmpl.27)+1 |
| 2368 1068 A091 0000 lds r26,(tmpl.27)+2 |
| 2369 106c B091 0000 lds r27,(tmpl.27)+3 |
| 2370 1070 BC01 movw r22,r24 |
| 2371 1072 CD01 movw r24,r26 |
| 2372 1074 24E6 ldi r18,lo8(100) |
| 2373 1076 30E0 ldi r19,hi8(100) |
| 2374 1078 40E0 ldi r20,hlo8(100) |
| 2375 107a 50E0 ldi r21,hhi8(100) |
| 2376 107c 0E94 0000 call __divmodsi4 |
| 2377 1080 DA01 movw r26,r20 |
| 2378 1082 C901 movw r24,r18 |
| 2379 1084 2091 0000 lds r18,tmpl2.28 |
| 2380 1088 3091 0000 lds r19,(tmpl2.28)+1 |
| 2381 108c 8C01 movw r16,r24 |
| 2382 108e 021B sub r16,r18 |
| 2383 1090 130B sbc r17,r19 |
| 2384 1092 1093 0000 sts (TrimNick)+1,r17 |
| 2385 1096 0093 0000 sts TrimNick,r16 |
| 2386 109a 8091 0000 lds r24,GIER_GRAD_FAKTOR |
| 2387 109e 9091 0000 lds r25,(GIER_GRAD_FAKTOR)+1 |
| 2388 10a2 A091 0000 lds r26,(GIER_GRAD_FAKTOR)+2 |
| 2389 10a6 B091 0000 lds r27,(GIER_GRAD_FAKTOR)+3 |
| 2390 10aa BC01 movw r22,r24 |
| 2391 10ac CD01 movw r24,r26 |
| 2392 10ae 28E6 ldi r18,lo8(360) |
| 2393 10b0 31E0 ldi r19,hi8(360) |
| 2394 10b2 40E0 ldi r20,hlo8(360) |
| 2395 10b4 50E0 ldi r21,hhi8(360) |
| 2396 10b6 0E94 0000 call __mulsi3 |
| 2397 10ba 2091 0000 lds r18,ErsatzKompass |
| 2398 10be 3091 0000 lds r19,(ErsatzKompass)+1 |
| 2399 10c2 4091 0000 lds r20,(ErsatzKompass)+2 |
| 2400 10c6 5091 0000 lds r21,(ErsatzKompass)+3 |
| 2401 10ca 2617 cp r18,r22 |
| 2402 10cc 3707 cpc r19,r23 |
| 2403 10ce 4807 cpc r20,r24 |
| 2404 10d0 5907 cpc r21,r25 |
| 2405 10d2 04F0 brlt .L113 |
| 2406 10d4 261B sub r18,r22 |
| 2407 10d6 370B sbc r19,r23 |
| 2408 10d8 480B sbc r20,r24 |
| 2409 10da 590B sbc r21,r25 |
| 2410 10dc 2093 0000 sts ErsatzKompass,r18 |
| 2411 10e0 3093 0000 sts (ErsatzKompass)+1,r19 |
| 2412 10e4 4093 0000 sts (ErsatzKompass)+2,r20 |
| 2413 10e8 5093 0000 sts (ErsatzKompass)+3,r21 |
| 2414 .L113: |
| 2415 10ec 2091 0000 lds r18,ErsatzKompass |
| 2416 10f0 3091 0000 lds r19,(ErsatzKompass)+1 |
| 2417 10f4 4091 0000 lds r20,(ErsatzKompass)+2 |
| 2418 10f8 5091 0000 lds r21,(ErsatzKompass)+3 |
| 2419 10fc 57FF sbrs r21,7 |
| 2420 10fe 00C0 rjmp .L114 |
| 2421 1100 260F add r18,r22 |
| 2422 1102 371F adc r19,r23 |
| 2423 1104 481F adc r20,r24 |
| 2424 1106 591F adc r21,r25 |
| 2425 1108 2093 0000 sts ErsatzKompass,r18 |
| 2426 110c 3093 0000 sts (ErsatzKompass)+1,r19 |
| 2427 1110 4093 0000 sts (ErsatzKompass)+2,r20 |
| 2428 1114 5093 0000 sts (ErsatzKompass)+3,r21 |
| 2429 .L114: |
| 2430 1118 6091 0000 lds r22,MesswertRoll |
| 2431 111c 7091 0000 lds r23,(MesswertRoll)+1 |
| 2432 1120 6E0D add r22,r14 |
| 2433 1122 7F1D adc r23,r15 |
| 2434 1124 9B01 movw r18,r22 |
| 2435 1126 4427 clr r20 |
| 2436 1128 37FD sbrc r19,7 |
| 2437 112a 4095 com r20 |
| 2438 112c 542F mov r21,r20 |
| 2439 112e 8091 0000 lds r24,Mess_IntegralRoll2 |
| 2440 1132 9091 0000 lds r25,(Mess_IntegralRoll2)+1 |
| 2441 1136 A091 0000 lds r26,(Mess_IntegralRoll2)+2 |
| 2442 113a B091 0000 lds r27,(Mess_IntegralRoll2)+3 |
| 2443 113e 820F add r24,r18 |
| 2444 1140 931F adc r25,r19 |
| 2445 1142 A41F adc r26,r20 |
| 2446 1144 B51F adc r27,r21 |
| 2447 1146 8093 0000 sts Mess_IntegralRoll2,r24 |
| 2448 114a 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
| 2449 114e A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
| 2450 1152 B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
| 2451 1156 8091 0000 lds r24,LageKorrekturRoll |
| 2452 115a 9091 0000 lds r25,(LageKorrekturRoll)+1 |
| 2453 115e 681B sub r22,r24 |
| 2454 1160 790B sbc r23,r25 |
| 2455 1162 CB01 movw r24,r22 |
| 2456 1164 AA27 clr r26 |
| 2457 1166 97FD sbrc r25,7 |
| 2458 1168 A095 com r26 |
| 2459 116a BA2F mov r27,r26 |
| 2460 116c 2985 ldd r18,Y+9 |
| 2461 116e 3A85 ldd r19,Y+10 |
| 2462 1170 4B85 ldd r20,Y+11 |
| 2463 1172 5C85 ldd r21,Y+12 |
| 2464 1174 820F add r24,r18 |
| 2465 1176 931F adc r25,r19 |
| 2466 1178 A41F adc r26,r20 |
| 2467 117a B51F adc r27,r21 |
| 2468 117c 8093 0000 sts Mess_IntegralRoll,r24 |
| 2469 1180 9093 0000 sts (Mess_IntegralRoll)+1,r25 |
| 2470 1184 A093 0000 sts (Mess_IntegralRoll)+2,r26 |
| 2471 1188 B093 0000 sts (Mess_IntegralRoll)+3,r27 |
| 2472 118c C090 0000 lds r12,Umschlag180Roll |
| 2473 1190 D090 0000 lds r13,(Umschlag180Roll)+1 |
| 2474 1194 E090 0000 lds r14,(Umschlag180Roll)+2 |
| 2475 1198 F090 0000 lds r15,(Umschlag180Roll)+3 |
| 2476 119c C816 cp r12,r24 |
| 2477 119e D906 cpc r13,r25 |
| 2478 11a0 EA06 cpc r14,r26 |
| 2479 11a2 FB06 cpc r15,r27 |
| 2480 11a4 04F4 brge .L115 |
| 2481 11a6 88EA ldi r24,lo8(25000) |
| 2482 11a8 91E6 ldi r25,hi8(25000) |
| 2483 11aa A0E0 ldi r26,hlo8(25000) |
| 2484 11ac B0E0 ldi r27,hhi8(25000) |
| 2485 11ae 8C19 sub r24,r12 |
| 2486 11b0 9D09 sbc r25,r13 |
| 2487 11b2 AE09 sbc r26,r14 |
| 2488 11b4 BF09 sbc r27,r15 |
| 2489 11b6 8093 0000 sts Mess_IntegralRoll,r24 |
| 2490 11ba 9093 0000 sts (Mess_IntegralRoll)+1,r25 |
| 2491 11be A093 0000 sts (Mess_IntegralRoll)+2,r26 |
| 2492 11c2 B093 0000 sts (Mess_IntegralRoll)+3,r27 |
| 2493 11c6 8093 0000 sts Mess_IntegralRoll2,r24 |
| 2494 11ca 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
| 2495 11ce A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
| 2496 11d2 B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
| 2497 .L115: |
| 2498 11d6 2227 clr r18 |
| 2499 11d8 3327 clr r19 |
| 2500 11da A901 movw r20,r18 |
| 2501 11dc 2C19 sub r18,r12 |
| 2502 11de 3D09 sbc r19,r13 |
| 2503 11e0 4E09 sbc r20,r14 |
| 2504 11e2 5F09 sbc r21,r15 |
| 2505 11e4 8091 0000 lds r24,Mess_IntegralRoll |
| 2506 11e8 9091 0000 lds r25,(Mess_IntegralRoll)+1 |
| 2507 11ec A091 0000 lds r26,(Mess_IntegralRoll)+2 |
| 2508 11f0 B091 0000 lds r27,(Mess_IntegralRoll)+3 |
| 2509 11f4 8217 cp r24,r18 |
| 2510 11f6 9307 cpc r25,r19 |
| 2511 11f8 A407 cpc r26,r20 |
| 2512 11fa B507 cpc r27,r21 |
| 2513 11fc 04F4 brge .L116 |
| 2514 11fe D701 movw r26,r14 |
| 2515 1200 C601 movw r24,r12 |
| 2516 1202 885A subi r24,lo8(-(-25000)) |
| 2517 1204 9146 sbci r25,hi8(-(-25000)) |
| 2518 1206 A040 sbci r26,hlo8(-(-25000)) |
| 2519 1208 B040 sbci r27,hhi8(-(-25000)) |
| 2520 120a 8093 0000 sts Mess_IntegralRoll,r24 |
| 2521 120e 9093 0000 sts (Mess_IntegralRoll)+1,r25 |
| 2522 1212 A093 0000 sts (Mess_IntegralRoll)+2,r26 |
| 2523 1216 B093 0000 sts (Mess_IntegralRoll)+3,r27 |
| 2524 121a 8093 0000 sts Mess_IntegralRoll2,r24 |
| 2525 121e 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
| 2526 1222 A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
| 2527 1226 B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
| 2528 .L116: |
| 2529 122a 6091 0000 lds r22,MesswertNick |
| 2530 122e 7091 0000 lds r23,(MesswertNick)+1 |
| 2531 1232 600F add r22,r16 |
| 2532 1234 711F adc r23,r17 |
| 2533 1236 9B01 movw r18,r22 |
| 2534 1238 4427 clr r20 |
| 2535 123a 37FD sbrc r19,7 |
| 2536 123c 4095 com r20 |
| 2537 123e 542F mov r21,r20 |
| 2538 1240 8091 0000 lds r24,Mess_IntegralNick2 |
| 2539 1244 9091 0000 lds r25,(Mess_IntegralNick2)+1 |
| 2540 1248 A091 0000 lds r26,(Mess_IntegralNick2)+2 |
| 2541 124c B091 0000 lds r27,(Mess_IntegralNick2)+3 |
| 2542 1250 820F add r24,r18 |
| 2543 1252 931F adc r25,r19 |
| 2544 1254 A41F adc r26,r20 |
| 2545 1256 B51F adc r27,r21 |
| 2546 1258 8093 0000 sts Mess_IntegralNick2,r24 |
| 2547 125c 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
| 2548 1260 A093 0000 sts (Mess_IntegralNick2)+2,r26 |
| 2549 1264 B093 0000 sts (Mess_IntegralNick2)+3,r27 |
| 2550 1268 8091 0000 lds r24,LageKorrekturNick |
| 2551 126c 9091 0000 lds r25,(LageKorrekturNick)+1 |
| 2552 1270 681B sub r22,r24 |
| 2553 1272 790B sbc r23,r25 |
| 2554 1274 CB01 movw r24,r22 |
| 2555 1276 AA27 clr r26 |
| 2556 1278 97FD sbrc r25,7 |
| 2557 127a A095 com r26 |
| 2558 127c BA2F mov r27,r26 |
| 2559 127e 2D85 ldd r18,Y+13 |
| 2560 1280 3E85 ldd r19,Y+14 |
| 2561 1282 4F85 ldd r20,Y+15 |
| 2562 1284 5889 ldd r21,Y+16 |
| 2563 1286 820F add r24,r18 |
| 2564 1288 931F adc r25,r19 |
| 2565 128a A41F adc r26,r20 |
| 2566 128c B51F adc r27,r21 |
| 2567 128e 8093 0000 sts Mess_IntegralNick,r24 |
| 2568 1292 9093 0000 sts (Mess_IntegralNick)+1,r25 |
| 2569 1296 A093 0000 sts (Mess_IntegralNick)+2,r26 |
| 2570 129a B093 0000 sts (Mess_IntegralNick)+3,r27 |
| 2571 129e E090 0000 lds r14,Umschlag180Nick |
| 2572 12a2 F090 0000 lds r15,(Umschlag180Nick)+1 |
| 2573 12a6 0091 0000 lds r16,(Umschlag180Nick)+2 |
| 2574 12aa 1091 0000 lds r17,(Umschlag180Nick)+3 |
| 2575 12ae E816 cp r14,r24 |
| 2576 12b0 F906 cpc r15,r25 |
| 2577 12b2 0A07 cpc r16,r26 |
| 2578 12b4 1B07 cpc r17,r27 |
| 2579 12b6 04F4 brge .L117 |
| 2580 12b8 88EA ldi r24,lo8(25000) |
| 2581 12ba 91E6 ldi r25,hi8(25000) |
| 2582 12bc A0E0 ldi r26,hlo8(25000) |
| 2583 12be B0E0 ldi r27,hhi8(25000) |
| 2584 12c0 8E19 sub r24,r14 |
| 2585 12c2 9F09 sbc r25,r15 |
| 2586 12c4 A00B sbc r26,r16 |
| 2587 12c6 B10B sbc r27,r17 |
| 2588 12c8 8093 0000 sts Mess_IntegralNick,r24 |
| 2589 12cc 9093 0000 sts (Mess_IntegralNick)+1,r25 |
| 2590 12d0 A093 0000 sts (Mess_IntegralNick)+2,r26 |
| 2591 12d4 B093 0000 sts (Mess_IntegralNick)+3,r27 |
| 2592 12d8 8093 0000 sts Mess_IntegralNick2,r24 |
| 2593 12dc 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
| 2594 12e0 A093 0000 sts (Mess_IntegralNick2)+2,r26 |
| 2595 12e4 B093 0000 sts (Mess_IntegralNick2)+3,r27 |
| 2596 .L117: |
| 2597 12e8 2227 clr r18 |
| 2598 12ea 3327 clr r19 |
| 2599 12ec A901 movw r20,r18 |
| 2600 12ee 2E19 sub r18,r14 |
| 2601 12f0 3F09 sbc r19,r15 |
| 2602 12f2 400B sbc r20,r16 |
| 2603 12f4 510B sbc r21,r17 |
| 2604 12f6 8091 0000 lds r24,Mess_IntegralNick |
| 2605 12fa 9091 0000 lds r25,(Mess_IntegralNick)+1 |
| 2606 12fe A091 0000 lds r26,(Mess_IntegralNick)+2 |
| 2607 1302 B091 0000 lds r27,(Mess_IntegralNick)+3 |
| 2608 1306 8217 cp r24,r18 |
| 2609 1308 9307 cpc r25,r19 |
| 2610 130a A407 cpc r26,r20 |
| 2611 130c B507 cpc r27,r21 |
| 2612 130e 04F4 brge .L118 |
| 2613 1310 D801 movw r26,r16 |
| 2614 1312 C701 movw r24,r14 |
| 2615 1314 885A subi r24,lo8(-(-25000)) |
| 2616 1316 9146 sbci r25,hi8(-(-25000)) |
| 2617 1318 A040 sbci r26,hlo8(-(-25000)) |
| 2618 131a B040 sbci r27,hhi8(-(-25000)) |
| 2619 131c 8093 0000 sts Mess_IntegralNick,r24 |
| 2620 1320 9093 0000 sts (Mess_IntegralNick)+1,r25 |
| 2621 1324 A093 0000 sts (Mess_IntegralNick)+2,r26 |
| 2622 1328 B093 0000 sts (Mess_IntegralNick)+3,r27 |
| 2623 132c 8093 0000 sts Mess_IntegralNick2,r24 |
| 2624 1330 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
| 2625 1334 A093 0000 sts (Mess_IntegralNick2)+2,r26 |
| 2626 1338 B093 0000 sts (Mess_IntegralNick2)+3,r27 |
| 2627 .L118: |
| 2628 133c 8091 0000 lds r24,Mess_Integral_Gier |
| 2629 1340 9091 0000 lds r25,(Mess_Integral_Gier)+1 |
| 2630 1344 A091 0000 lds r26,(Mess_Integral_Gier)+2 |
| 2631 1348 B091 0000 lds r27,(Mess_Integral_Gier)+3 |
| 2632 134c 8093 0000 sts Integral_Gier,r24 |
| 2633 1350 9093 0000 sts (Integral_Gier)+1,r25 |
| 2634 1354 A093 0000 sts (Integral_Gier)+2,r26 |
| 2635 1358 B093 0000 sts (Integral_Gier)+3,r27 |
| 2636 135c 8091 0000 lds r24,Mess_IntegralNick |
| 2637 1360 9091 0000 lds r25,(Mess_IntegralNick)+1 |
| 2638 1364 A091 0000 lds r26,(Mess_IntegralNick)+2 |
| 2639 1368 B091 0000 lds r27,(Mess_IntegralNick)+3 |
| 2640 136c 8093 0000 sts IntegralNick,r24 |
| 2641 1370 9093 0000 sts (IntegralNick)+1,r25 |
| 2642 1374 A093 0000 sts (IntegralNick)+2,r26 |
| 2643 1378 B093 0000 sts (IntegralNick)+3,r27 |
| 2644 137c 8091 0000 lds r24,Mess_IntegralRoll |
| 2645 1380 9091 0000 lds r25,(Mess_IntegralRoll)+1 |
| 2646 1384 A091 0000 lds r26,(Mess_IntegralRoll)+2 |
| 2647 1388 B091 0000 lds r27,(Mess_IntegralRoll)+3 |
| 2648 138c 8093 0000 sts IntegralRoll,r24 |
| 2649 1390 9093 0000 sts (IntegralRoll)+1,r25 |
| 2650 1394 A093 0000 sts (IntegralRoll)+2,r26 |
| 2651 1398 B093 0000 sts (IntegralRoll)+3,r27 |
| 2652 139c 8091 0000 lds r24,Mess_IntegralNick2 |
| 2653 13a0 9091 0000 lds r25,(Mess_IntegralNick2)+1 |
| 2654 13a4 A091 0000 lds r26,(Mess_IntegralNick2)+2 |
| 2655 13a8 B091 0000 lds r27,(Mess_IntegralNick2)+3 |
| 2656 13ac 8093 0000 sts IntegralNick2,r24 |
| 2657 13b0 9093 0000 sts (IntegralNick2)+1,r25 |
| 2658 13b4 A093 0000 sts (IntegralNick2)+2,r26 |
| 2659 13b8 B093 0000 sts (IntegralNick2)+3,r27 |
| 2660 13bc 8091 0000 lds r24,Mess_IntegralRoll2 |
| 2661 13c0 9091 0000 lds r25,(Mess_IntegralRoll2)+1 |
| 2662 13c4 A091 0000 lds r26,(Mess_IntegralRoll2)+2 |
| 2663 13c8 B091 0000 lds r27,(Mess_IntegralRoll2)+3 |
| 2664 13cc 8093 0000 sts IntegralRoll2,r24 |
| 2665 13d0 9093 0000 sts (IntegralRoll2)+1,r25 |
| 2666 13d4 A093 0000 sts (IntegralRoll2)+2,r26 |
| 2667 13d8 B093 0000 sts (IntegralRoll2)+3,r27 |
| 2668 13dc 8091 0000 lds r24,HiResNick |
| 2669 13e0 9091 0000 lds r25,(HiResNick)+1 |
| 2670 13e4 97FD sbrc r25,7 |
| 2671 13e6 0796 adiw r24,7 |
| 2672 .L119: |
| 2673 13e8 03E0 ldi r16,3 |
| 2674 13ea 9595 1: asr r25 |
| 2675 13ec 8795 ror r24 |
| 2676 13ee 0A95 dec r16 |
| 2677 13f0 01F4 brne 1b |
| 2678 13f2 9093 0000 sts (MesswertNick)+1,r25 |
| 2679 13f6 8093 0000 sts MesswertNick,r24 |
| 2680 13fa 8091 0000 lds r24,HiResRoll |
| 2681 13fe 9091 0000 lds r25,(HiResRoll)+1 |
| 2682 1402 97FD sbrc r25,7 |
| 2683 1404 0796 adiw r24,7 |
| 2684 .L120: |
| 2685 1406 13E0 ldi r17,3 |
| 2686 1408 9595 1: asr r25 |
| 2687 140a 8795 ror r24 |
| 2688 140c 1A95 dec r17 |
| 2689 140e 01F4 brne 1b |
| 2690 1410 9093 0000 sts (MesswertRoll)+1,r25 |
| 2691 1414 8093 0000 sts MesswertRoll,r24 |
| 2692 1418 8091 0000 lds r24,AdWertNick |
| 2693 141c 9091 0000 lds r25,(AdWertNick)+1 |
| 2694 1420 0F97 sbiw r24,15 |
| 2695 1422 04F4 brge .L121 |
| 2696 1424 88E1 ldi r24,lo8(-1000) |
| 2697 1426 9CEF ldi r25,hi8(-1000) |
| 2698 1428 9093 0000 sts (MesswertNick)+1,r25 |
| 2699 142c 8093 0000 sts MesswertNick,r24 |
| 2700 .L121: |
| 2701 1430 8091 0000 lds r24,AdWertNick |
| 2702 1434 9091 0000 lds r25,(AdWertNick)+1 |
| 2703 1438 0797 sbiw r24,7 |
| 2704 143a 04F4 brge .L122 |
| 2705 143c 80E3 ldi r24,lo8(-2000) |
| 2706 143e 98EF ldi r25,hi8(-2000) |
| 2707 1440 9093 0000 sts (MesswertNick)+1,r25 |
| 2708 1444 8093 0000 sts MesswertNick,r24 |
| 2709 .L122: |
| 2710 1448 2091 0000 lds r18,PlatinenVersion |
| 2711 144c 2A30 cpi r18,lo8(10) |
| 2712 144e 01F4 brne .L123 |
| 2713 1450 8091 0000 lds r24,AdWertNick |
| 2714 1454 9091 0000 lds r25,(AdWertNick)+1 |
| 2715 1458 835F subi r24,lo8(1011) |
| 2716 145a 9340 sbci r25,hi8(1011) |
| 2717 145c 04F0 brlt .L124 |
| 2718 145e 88EE ldi r24,lo8(1000) |
| 2719 1460 93E0 ldi r25,hi8(1000) |
| 2720 1462 9093 0000 sts (MesswertNick)+1,r25 |
| 2721 1466 8093 0000 sts MesswertNick,r24 |
| 2722 .L124: |
| 2723 146a 8091 0000 lds r24,AdWertNick |
| 2724 146e 9091 0000 lds r25,(AdWertNick)+1 |
| 2725 1472 8A5F subi r24,lo8(1018) |
| 2726 1474 9340 sbci r25,hi8(1018) |
| 2727 1476 04F0 brlt .L126 |
| 2728 1478 00C0 rjmp .L169 |
| 2729 .L123: |
| 2730 147a 8091 0000 lds r24,AdWertNick |
| 2731 147e 9091 0000 lds r25,(AdWertNick)+1 |
| 2732 1482 815D subi r24,lo8(2001) |
| 2733 1484 9740 sbci r25,hi8(2001) |
| 2734 1486 04F0 brlt .L127 |
| 2735 1488 88EE ldi r24,lo8(1000) |
| 2736 148a 93E0 ldi r25,hi8(1000) |
| 2737 148c 9093 0000 sts (MesswertNick)+1,r25 |
| 2738 1490 8093 0000 sts MesswertNick,r24 |
| 2739 .L127: |
| 2740 1494 8091 0000 lds r24,AdWertNick |
| 2741 1498 9091 0000 lds r25,(AdWertNick)+1 |
| 2742 149c 805E subi r24,lo8(2016) |
| 2743 149e 9740 sbci r25,hi8(2016) |
| 2744 14a0 04F0 brlt .L126 |
| 2745 .L169: |
| 2746 14a2 80ED ldi r24,lo8(2000) |
| 2747 14a4 97E0 ldi r25,hi8(2000) |
| 2748 14a6 9093 0000 sts (MesswertNick)+1,r25 |
| 2749 14aa 8093 0000 sts MesswertNick,r24 |
| 2750 .L126: |
| 2751 14ae 8091 0000 lds r24,AdWertRoll |
| 2752 14b2 9091 0000 lds r25,(AdWertRoll)+1 |
| 2753 14b6 0F97 sbiw r24,15 |
| 2754 14b8 04F4 brge .L129 |
| 2755 14ba 88E1 ldi r24,lo8(-1000) |
| 2756 14bc 9CEF ldi r25,hi8(-1000) |
| 2757 14be 9093 0000 sts (MesswertRoll)+1,r25 |
| 2758 14c2 8093 0000 sts MesswertRoll,r24 |
| 2759 .L129: |
| 2760 14c6 8091 0000 lds r24,AdWertRoll |
| 2761 14ca 9091 0000 lds r25,(AdWertRoll)+1 |
| 2762 14ce 0797 sbiw r24,7 |
| 2763 14d0 04F4 brge .L130 |
| 2764 14d2 80E3 ldi r24,lo8(-2000) |
| 2765 14d4 98EF ldi r25,hi8(-2000) |
| 2766 14d6 9093 0000 sts (MesswertRoll)+1,r25 |
| 2767 14da 8093 0000 sts MesswertRoll,r24 |
| 2768 .L130: |
| 2769 14de 2A30 cpi r18,lo8(10) |
| 2770 14e0 01F4 brne .L131 |
| 2771 14e2 8091 0000 lds r24,AdWertRoll |
| 2772 14e6 9091 0000 lds r25,(AdWertRoll)+1 |
| 2773 14ea 835F subi r24,lo8(1011) |
| 2774 14ec 9340 sbci r25,hi8(1011) |
| 2775 14ee 04F0 brlt .L132 |
| 2776 14f0 88EE ldi r24,lo8(1000) |
| 2777 14f2 93E0 ldi r25,hi8(1000) |
| 2778 14f4 9093 0000 sts (MesswertRoll)+1,r25 |
| 2779 14f8 8093 0000 sts MesswertRoll,r24 |
| 2780 .L132: |
| 2781 14fc 8091 0000 lds r24,AdWertRoll |
| 2782 1500 9091 0000 lds r25,(AdWertRoll)+1 |
| 2783 1504 8A5F subi r24,lo8(1018) |
| 2784 1506 9340 sbci r25,hi8(1018) |
| 2785 1508 04F0 brlt .L134 |
| 2786 150a 00C0 rjmp .L170 |
| 2787 .L131: |
| 2788 150c 8091 0000 lds r24,AdWertRoll |
| 2789 1510 9091 0000 lds r25,(AdWertRoll)+1 |
| 2790 1514 815D subi r24,lo8(2001) |
| 2791 1516 9740 sbci r25,hi8(2001) |
| 2792 1518 04F0 brlt .L135 |
| 2793 151a 88EE ldi r24,lo8(1000) |
| 2794 151c 93E0 ldi r25,hi8(1000) |
| 2795 151e 9093 0000 sts (MesswertRoll)+1,r25 |
| 2796 1522 8093 0000 sts MesswertRoll,r24 |
| 2797 .L135: |
| 2798 1526 8091 0000 lds r24,AdWertRoll |
| 2799 152a 9091 0000 lds r25,(AdWertRoll)+1 |
| 2800 152e 805E subi r24,lo8(2016) |
| 2801 1530 9740 sbci r25,hi8(2016) |
| 2802 1532 04F0 brlt .L134 |
| 2803 .L170: |
| 2804 1534 80ED ldi r24,lo8(2000) |
| 2805 1536 97E0 ldi r25,hi8(2000) |
| 2806 1538 9093 0000 sts (MesswertRoll)+1,r25 |
| 2807 153c 8093 0000 sts MesswertRoll,r24 |
| 2808 .L134: |
| 2809 1540 6091 0000 lds r22,Parameter_Gyro_D |
| 2810 1544 6623 tst r22 |
| 2811 1546 01F4 brne .+2 |
| 2812 1548 00C0 rjmp .L137 |
| 2813 154a 4091 0000 lds r20,HiResNick |
| 2814 154e 5091 0000 lds r21,(HiResNick)+1 |
| 2815 1552 8091 0000 lds r24,oldNick.31 |
| 2816 1556 9091 0000 lds r25,(oldNick.31)+1 |
| 2817 155a 481B sub r20,r24 |
| 2818 155c 590B sbc r21,r25 |
| 2819 155e 5093 0000 sts (d2Nick.34)+1,r21 |
| 2820 1562 4093 0000 sts d2Nick.34,r20 |
| 2821 1566 2091 0000 lds r18,HiResNick |
| 2822 156a 3091 0000 lds r19,(HiResNick)+1 |
| 2823 156e 280F add r18,r24 |
| 2824 1570 391F adc r19,r25 |
| 2825 1572 37FF sbrs r19,7 |
| 2826 1574 00C0 rjmp .L138 |
| 2827 1576 2F5F subi r18,lo8(-(1)) |
| 2828 1578 3F4F sbci r19,hi8(-(1)) |
| 2829 .L138: |
| 2830 157a 3595 asr r19 |
| 2831 157c 2795 ror r18 |
| 2832 157e 3093 0000 sts (oldNick.31)+1,r19 |
| 2833 1582 2093 0000 sts oldNick.31,r18 |
| 2834 1586 4138 cpi r20,129 |
| 2835 1588 5105 cpc r21,__zero_reg__ |
| 2836 158a 04F0 brlt .L139 |
| 2837 158c 80E8 ldi r24,lo8(128) |
| 2838 158e 90E0 ldi r25,hi8(128) |
| 2839 1590 00C0 rjmp .L171 |
| 2840 .L139: |
| 2841 1592 4058 subi r20,lo8(-128) |
| 2842 1594 5F4F sbci r21,hi8(-128) |
| 2843 1596 04F4 brge .L140 |
| 2844 1598 80E8 ldi r24,lo8(-128) |
| 2845 159a 9FEF ldi r25,hi8(-128) |
| 2846 .L171: |
| 2847 159c 9093 0000 sts (d2Nick.34)+1,r25 |
| 2848 15a0 8093 0000 sts d2Nick.34,r24 |
| 2849 .L140: |
| 2850 15a4 4091 0000 lds r20,HiResRoll |
| 2851 15a8 5091 0000 lds r21,(HiResRoll)+1 |
| 2852 15ac 8091 0000 lds r24,oldRoll.32 |
| 2853 15b0 9091 0000 lds r25,(oldRoll.32)+1 |
| 2854 15b4 481B sub r20,r24 |
| 2855 15b6 590B sbc r21,r25 |
| 2856 15b8 5093 0000 sts (d2Roll.33)+1,r21 |
| 2857 15bc 4093 0000 sts d2Roll.33,r20 |
| 2858 15c0 2091 0000 lds r18,HiResRoll |
| 2859 15c4 3091 0000 lds r19,(HiResRoll)+1 |
| 2860 15c8 280F add r18,r24 |
| 2861 15ca 391F adc r19,r25 |
| 2862 15cc 37FF sbrs r19,7 |
| 2863 15ce 00C0 rjmp .L142 |
| 2864 15d0 2F5F subi r18,lo8(-(1)) |
| 2865 15d2 3F4F sbci r19,hi8(-(1)) |
| 2866 .L142: |
| 2867 15d4 3595 asr r19 |
| 2868 15d6 2795 ror r18 |
| 2869 15d8 3093 0000 sts (oldRoll.32)+1,r19 |
| 2870 15dc 2093 0000 sts oldRoll.32,r18 |
| 2871 15e0 4138 cpi r20,129 |
| 2872 15e2 5105 cpc r21,__zero_reg__ |
| 2873 15e4 04F0 brlt .L143 |
| 2874 15e6 80E8 ldi r24,lo8(128) |
| 2875 15e8 90E0 ldi r25,hi8(128) |
| 2876 15ea 00C0 rjmp .L172 |
| 2877 .L143: |
| 2878 15ec 4058 subi r20,lo8(-128) |
| 2879 15ee 5F4F sbci r21,hi8(-128) |
| 2880 15f0 04F4 brge .L144 |
| 2881 15f2 80E8 ldi r24,lo8(-128) |
| 2882 15f4 9FEF ldi r25,hi8(-128) |
| 2883 .L172: |
| 2884 15f6 9093 0000 sts (d2Roll.33)+1,r25 |
| 2885 15fa 8093 0000 sts d2Roll.33,r24 |
| 2886 .L144: |
| 2887 15fe 462F mov r20,r22 |
| 2888 1600 5527 clr r21 |
| 2889 1602 8091 0000 lds r24,d2Nick.34 |
| 2890 1606 9091 0000 lds r25,(d2Nick.34)+1 |
| 2891 160a 849F mul r24,r20 |
| 2892 160c B001 movw r22,r0 |
| 2893 160e 859F mul r24,r21 |
| 2894 1610 700D add r23,r0 |
| 2895 1612 949F mul r25,r20 |
| 2896 1614 700D add r23,r0 |
| 2897 1616 1124 clr r1 |
| 2898 1618 9B01 movw r18,r22 |
| 2899 161a 77FF sbrs r23,7 |
| 2900 161c 00C0 rjmp .L146 |
| 2901 161e 215F subi r18,lo8(-(15)) |
| 2902 1620 3F4F sbci r19,hi8(-(15)) |
| 2903 .L146: |
| 2904 1622 F4E0 ldi r31,4 |
| 2905 1624 3595 1: asr r19 |
| 2906 1626 2795 ror r18 |
| 2907 1628 FA95 dec r31 |
| 2908 162a 01F4 brne 1b |
| 2909 162c 8091 0000 lds r24,MesswertNick |
| 2910 1630 9091 0000 lds r25,(MesswertNick)+1 |
| 2911 1634 820F add r24,r18 |
| 2912 1636 931F adc r25,r19 |
| 2913 1638 9093 0000 sts (MesswertNick)+1,r25 |
| 2914 163c 8093 0000 sts MesswertNick,r24 |
| 2915 1640 8091 0000 lds r24,d2Roll.33 |
| 2916 1644 9091 0000 lds r25,(d2Roll.33)+1 |
| 2917 1648 849F mul r24,r20 |
| 2918 164a D001 movw r26,r0 |
| 2919 164c 859F mul r24,r21 |
| 2920 164e B00D add r27,r0 |
| 2921 1650 949F mul r25,r20 |
| 2922 1652 B00D add r27,r0 |
| 2923 1654 1124 clr r1 |
| 2924 1656 AD01 movw r20,r26 |
| 2925 1658 9D01 movw r18,r26 |
| 2926 165a B7FF sbrs r27,7 |
| 2927 165c 00C0 rjmp .L147 |
| 2928 165e 215F subi r18,lo8(-(15)) |
| 2929 1660 3F4F sbci r19,hi8(-(15)) |
| 2930 .L147: |
| 2931 1662 E4E0 ldi r30,4 |
| 2932 1664 3595 1: asr r19 |
| 2933 1666 2795 ror r18 |
| 2934 1668 EA95 dec r30 |
| 2935 166a 01F4 brne 1b |
| 2936 166c 8091 0000 lds r24,MesswertRoll |
| 2937 1670 9091 0000 lds r25,(MesswertRoll)+1 |
| 2938 1674 820F add r24,r18 |
| 2939 1676 931F adc r25,r19 |
| 2940 1678 9093 0000 sts (MesswertRoll)+1,r25 |
| 2941 167c 8093 0000 sts MesswertRoll,r24 |
| 2942 1680 8091 0000 lds r24,HiResNick |
| 2943 1684 9091 0000 lds r25,(HiResNick)+1 |
| 2944 1688 860F add r24,r22 |
| 2945 168a 971F adc r25,r23 |
| 2946 168c 9093 0000 sts (HiResNick)+1,r25 |
| 2947 1690 8093 0000 sts HiResNick,r24 |
| 2948 1694 8091 0000 lds r24,HiResRoll |
| 2949 1698 9091 0000 lds r25,(HiResRoll)+1 |
| 2950 169c 840F add r24,r20 |
| 2951 169e 951F adc r25,r21 |
| 2952 16a0 9093 0000 sts (HiResRoll)+1,r25 |
| 2953 16a4 8093 0000 sts HiResRoll,r24 |
| 2954 .L137: |
| 2955 16a8 0091 0000 lds r16,RohMesswertRoll |
| 2956 16ac 1091 0000 lds r17,(RohMesswertRoll)+1 |
| 2957 16b0 8091 0000 lds r24,KopplungsteilNickRoll |
| 2958 16b4 9091 0000 lds r25,(KopplungsteilNickRoll)+1 |
| 2959 16b8 1016 cp __zero_reg__,r16 |
| 2960 16ba 1106 cpc __zero_reg__,r17 |
| 2961 16bc 04F4 brge .L148 |
| 2962 16be 9C01 movw r18,r24 |
| 2963 16c0 97FF sbrs r25,7 |
| 2964 16c2 00C0 rjmp .L149 |
| 2965 16c4 2227 clr r18 |
| 2966 16c6 3327 clr r19 |
| 2967 16c8 281B sub r18,r24 |
| 2968 16ca 390B sbc r19,r25 |
| 2969 .L149: |
| 2970 16cc C901 movw r24,r18 |
| 2971 16ce AA27 clr r26 |
| 2972 16d0 97FD sbrc r25,7 |
| 2973 16d2 A095 com r26 |
| 2974 16d4 BA2F mov r27,r26 |
| 2975 16d6 2091 0000 lds r18,Parameter_CouplingYawCorrection |
| 2976 16da 3327 clr r19 |
| 2977 16dc 4427 clr r20 |
| 2978 16de 5527 clr r21 |
| 2979 16e0 BC01 movw r22,r24 |
| 2980 16e2 CD01 movw r24,r26 |
| 2981 16e4 0E94 0000 call __mulsi3 |
| 2982 16e8 9B01 movw r18,r22 |
| 2983 16ea AC01 movw r20,r24 |
| 2984 16ec 97FF sbrs r25,7 |
| 2985 16ee 00C0 rjmp .L150 |
| 2986 16f0 215C subi r18,lo8(-(63)) |
| 2987 16f2 3F4F sbci r19,hi8(-(63)) |
| 2988 16f4 4F4F sbci r20,hlo8(-(63)) |
| 2989 16f6 5F4F sbci r21,hhi8(-(63)) |
| 2990 .L150: |
| 2991 16f8 76E0 ldi r23,6 |
| 2992 16fa 5595 1: asr r21 |
| 2993 16fc 4795 ror r20 |
| 2994 16fe 3795 ror r19 |
| 2995 1700 2795 ror r18 |
| 2996 1702 7A95 dec r23 |
| 2997 1704 01F4 brne 1b |
| 2998 1706 8091 0000 lds r24,TrimRoll |
| 2999 170a 9091 0000 lds r25,(TrimRoll)+1 |
| 3000 170e 820F add r24,r18 |
| 3001 1710 931F adc r25,r19 |
| 3002 1712 00C0 rjmp .L173 |
| 3003 .L148: |
| 3004 1714 97FF sbrs r25,7 |
| 3005 1716 00C0 rjmp .L152 |
| 3006 1718 9095 com r25 |
| 3007 171a 8195 neg r24 |
| 3008 171c 9F4F sbci r25,lo8(-1) |
| 3009 .L152: |
| 3010 171e AA27 clr r26 |
| 3011 1720 97FD sbrc r25,7 |
| 3012 1722 A095 com r26 |
| 3013 1724 BA2F mov r27,r26 |
| 3014 1726 2091 0000 lds r18,Parameter_CouplingYawCorrection |
| 3015 172a 3327 clr r19 |
| 3016 172c 4427 clr r20 |
| 3017 172e 5527 clr r21 |
| 3018 1730 BC01 movw r22,r24 |
| 3019 1732 CD01 movw r24,r26 |
| 3020 1734 0E94 0000 call __mulsi3 |
| 3021 1738 9B01 movw r18,r22 |
| 3022 173a AC01 movw r20,r24 |
| 3023 173c 97FF sbrs r25,7 |
| 3024 173e 00C0 rjmp .L153 |
| 3025 1740 215C subi r18,lo8(-(63)) |
| 3026 1742 3F4F sbci r19,hi8(-(63)) |
| 3027 1744 4F4F sbci r20,hlo8(-(63)) |
| 3028 1746 5F4F sbci r21,hhi8(-(63)) |
| 3029 .L153: |
| 3030 1748 66E0 ldi r22,6 |
| 3031 174a 5595 1: asr r21 |
| 3032 174c 4795 ror r20 |
| 3033 174e 3795 ror r19 |
| 3034 1750 2795 ror r18 |
| 3035 1752 6A95 dec r22 |
| 3036 1754 01F4 brne 1b |
| 3037 1756 8091 0000 lds r24,TrimRoll |
| 3038 175a 9091 0000 lds r25,(TrimRoll)+1 |
| 3039 175e 821B sub r24,r18 |
| 3040 1760 930B sbc r25,r19 |
| 3041 .L173: |
| 3042 1762 9093 0000 sts (TrimRoll)+1,r25 |
| 3043 1766 8093 0000 sts TrimRoll,r24 |
| 3044 176a E090 0000 lds r14,RohMesswertNick |
| 3045 176e F090 0000 lds r15,(RohMesswertNick)+1 |
| 3046 1772 8091 0000 lds r24,KopplungsteilRollNick |
| 3047 1776 9091 0000 lds r25,(KopplungsteilRollNick)+1 |
| 3048 177a 1E14 cp __zero_reg__,r14 |
| 3049 177c 1F04 cpc __zero_reg__,r15 |
| 3050 177e 04F4 brge .L154 |
| 3051 1780 9C01 movw r18,r24 |
| 3052 1782 97FF sbrs r25,7 |
| 3053 1784 00C0 rjmp .L155 |
| 3054 1786 2227 clr r18 |
| 3055 1788 3327 clr r19 |
| 3056 178a 281B sub r18,r24 |
| 3057 178c 390B sbc r19,r25 |
| 3058 .L155: |
| 3059 178e C901 movw r24,r18 |
| 3060 1790 AA27 clr r26 |
| 3061 1792 97FD sbrc r25,7 |
| 3062 1794 A095 com r26 |
| 3063 1796 BA2F mov r27,r26 |
| 3064 1798 2091 0000 lds r18,Parameter_CouplingYawCorrection |
| 3065 179c 3327 clr r19 |
| 3066 179e 4427 clr r20 |
| 3067 17a0 5527 clr r21 |
| 3068 17a2 BC01 movw r22,r24 |
| 3069 17a4 CD01 movw r24,r26 |
| 3070 17a6 0E94 0000 call __mulsi3 |
| 3071 17aa 9B01 movw r18,r22 |
| 3072 17ac AC01 movw r20,r24 |
| 3073 17ae 97FF sbrs r25,7 |
| 3074 17b0 00C0 rjmp .L156 |
| 3075 17b2 215C subi r18,lo8(-(63)) |
| 3076 17b4 3F4F sbci r19,hi8(-(63)) |
| 3077 17b6 4F4F sbci r20,hlo8(-(63)) |
| 3078 17b8 5F4F sbci r21,hhi8(-(63)) |
| 3079 .L156: |
| 3080 17ba 96E0 ldi r25,6 |
| 3081 17bc 5595 1: asr r21 |
| 3082 17be 4795 ror r20 |
| 3083 17c0 3795 ror r19 |
| 3084 17c2 2795 ror r18 |
| 3085 17c4 9A95 dec r25 |
| 3086 17c6 01F4 brne 1b |
| 3087 17c8 8091 0000 lds r24,TrimNick |
| 3088 17cc 9091 0000 lds r25,(TrimNick)+1 |
| 3089 17d0 820F add r24,r18 |
| 3090 17d2 931F adc r25,r19 |
| 3091 17d4 00C0 rjmp .L174 |
| 3092 .L154: |
| 3093 17d6 97FF sbrs r25,7 |
| 3094 17d8 00C0 rjmp .L158 |
| 3095 17da 9095 com r25 |
| 3096 17dc 8195 neg r24 |
| 3097 17de 9F4F sbci r25,lo8(-1) |
| 3098 .L158: |
| 3099 17e0 AA27 clr r26 |
| 3100 17e2 97FD sbrc r25,7 |
| 3101 17e4 A095 com r26 |
| 3102 17e6 BA2F mov r27,r26 |
| 3103 17e8 2091 0000 lds r18,Parameter_CouplingYawCorrection |
| 3104 17ec 3327 clr r19 |
| 3105 17ee 4427 clr r20 |
| 3106 17f0 5527 clr r21 |
| 3107 17f2 BC01 movw r22,r24 |
| 3108 17f4 CD01 movw r24,r26 |
| 3109 17f6 0E94 0000 call __mulsi3 |
| 3110 17fa 9B01 movw r18,r22 |
| 3111 17fc AC01 movw r20,r24 |
| 3112 17fe 97FF sbrs r25,7 |
| 3113 1800 00C0 rjmp .L159 |
| 3114 1802 215C subi r18,lo8(-(63)) |
| 3115 1804 3F4F sbci r19,hi8(-(63)) |
| 3116 1806 4F4F sbci r20,hlo8(-(63)) |
| 3117 1808 5F4F sbci r21,hhi8(-(63)) |
| 3118 .L159: |
| 3119 180a 86E0 ldi r24,6 |
| 3120 180c 5595 1: asr r21 |
| 3121 180e 4795 ror r20 |
| 3122 1810 3795 ror r19 |
| 3123 1812 2795 ror r18 |
| 3124 1814 8A95 dec r24 |
| 3125 1816 01F4 brne 1b |
| 3126 1818 8091 0000 lds r24,TrimNick |
| 3127 181c 9091 0000 lds r25,(TrimNick)+1 |
| 3128 1820 821B sub r24,r18 |
| 3129 1822 930B sbc r25,r19 |
| 3130 .L174: |
| 3131 1824 9093 0000 sts (TrimNick)+1,r25 |
| 3132 1828 8093 0000 sts TrimNick,r24 |
| 3133 182c 8091 0000 lds r24,Parameter_GlobalConfig |
| 3134 1830 87FF sbrs r24,7 |
| 3135 1832 00C0 rjmp .L82 |
| 3136 1834 B989 ldd r27,Y+17 |
| 3137 1836 BB23 tst r27 |
| 3138 1838 01F0 breq .+2 |
| 3139 183a 00C0 rjmp .L82 |
| 3140 183c 8091 0000 lds r24,Looping_Roll |
| 3141 1840 8823 tst r24 |
| 3142 1842 01F4 brne .L82 |
| 3143 1844 E1E0 ldi r30,lo8(257) |
| 3144 1846 EE16 cp r14,r30 |
| 3145 1848 E1E0 ldi r30,hi8(257) |
| 3146 184a FE06 cpc r15,r30 |
| 3147 184c 04F0 brlt .L161 |
| 3148 184e 8091 0000 lds r24,MesswertNick |
| 3149 1852 9091 0000 lds r25,(MesswertNick)+1 |
| 3150 1856 8E0D add r24,r14 |
| 3151 1858 9F1D adc r25,r15 |
| 3152 185a 8050 subi r24,lo8(-(-256)) |
| 3153 185c 9140 sbci r25,hi8(-(-256)) |
| 3154 185e 00C0 rjmp .L175 |
| 3155 .L161: |
| 3156 1860 F0E0 ldi r31,lo8(-256) |
| 3157 1862 EF16 cp r14,r31 |
| 3158 1864 FFEF ldi r31,hi8(-256) |
| 3159 1866 FF06 cpc r15,r31 |
| 3160 1868 04F4 brge .L162 |
| 3161 186a 8091 0000 lds r24,MesswertNick |
| 3162 186e 9091 0000 lds r25,(MesswertNick)+1 |
| 3163 1872 8E0D add r24,r14 |
| 3164 1874 9F1D adc r25,r15 |
| 3165 1876 8050 subi r24,lo8(-(256)) |
| 3166 1878 9F4F sbci r25,hi8(-(256)) |
| 3167 .L175: |
| 3168 187a 9093 0000 sts (MesswertNick)+1,r25 |
| 3169 187e 8093 0000 sts MesswertNick,r24 |
| 3170 .L162: |
| 3171 1882 21E0 ldi r18,hi8(257) |
| 3172 1884 0130 cpi r16,lo8(257) |
| 3173 1886 1207 cpc r17,r18 |
| 3174 1888 04F0 brlt .L164 |
| 3175 188a 8091 0000 lds r24,MesswertRoll |
| 3176 188e 9091 0000 lds r25,(MesswertRoll)+1 |
| 3177 1892 800F add r24,r16 |
| 3178 1894 911F adc r25,r17 |
| 3179 1896 8050 subi r24,lo8(-(-256)) |
| 3180 1898 9140 sbci r25,hi8(-(-256)) |
| 3181 189a 00C0 rjmp .L176 |
| 3182 .L164: |
| 3183 189c 3FEF ldi r19,hi8(-256) |
| 3184 189e 0030 cpi r16,lo8(-256) |
| 3185 18a0 1307 cpc r17,r19 |
| 3186 18a2 04F4 brge .L82 |
| 3187 18a4 8091 0000 lds r24,MesswertRoll |
| 3188 18a8 9091 0000 lds r25,(MesswertRoll)+1 |
| 3189 18ac 800F add r24,r16 |
| 3190 18ae 911F adc r25,r17 |
| 3191 18b0 8050 subi r24,lo8(-(256)) |
| 3192 18b2 9F4F sbci r25,hi8(-(256)) |
| 3193 .L176: |
| 3194 18b4 9093 0000 sts (MesswertRoll)+1,r25 |
| 3195 18b8 8093 0000 sts MesswertRoll,r24 |
| 3196 .L82: |
| 3197 /* epilogue: frame size=19 */ |
| 3198 18bc E2E1 ldi r30,18 |
| 3199 18be CD5E subi r28,-19 |
| 3200 18c0 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 18c4 8091 0000 lds r24,MotorenEin |
| 3210 18c8 8823 tst r24 |
| 3211 18ca 01F4 brne .L178 |
| 3212 18cc 8091 0000 lds r24,FC_StatusFlags |
| 3213 18d0 8C7F andi r24,lo8(-4) |
| 3214 18d2 8093 0000 sts FC_StatusFlags,r24 |
| 3215 18d6 A0E0 ldi r26,lo8(MotorTest) |
| 3216 18d8 B0E0 ldi r27,hi8(MotorTest) |
| 3217 18da E0E0 ldi r30,lo8(Motor) |
| 3218 18dc F0E0 ldi r31,hi8(Motor) |
| 3219 18de 9BE0 ldi r25,lo8(11) |
| 3220 .L183: |
| 3221 18e0 8091 0000 lds r24,PC_MotortestActive |
| 3222 18e4 8823 tst r24 |
| 3223 18e6 01F4 brne .L182 |
| 3224 18e8 8C93 st X,r24 |
| 3225 .L182: |
| 3226 18ea 8D91 ld r24,X+ |
| 3227 18ec 8183 std Z+1,r24 |
| 3228 18ee 1282 std Z+2,__zero_reg__ |
| 3229 18f0 9150 subi r25,lo8(-(-1)) |
| 3230 18f2 3896 adiw r30,8 |
| 3231 18f4 97FF sbrs r25,7 |
| 3232 18f6 00C0 rjmp .L183 |
| 3233 18f8 8091 0000 lds r24,PC_MotortestActive |
| 3234 18fc 8823 tst r24 |
| 3235 18fe 01F0 breq .L185 |
| 3236 1900 8091 0000 lds r24,PC_MotortestActive |
| 3237 1904 8150 subi r24,lo8(-(-1)) |
| 3238 1906 8093 0000 sts PC_MotortestActive,r24 |
| 3239 190a 00C0 rjmp .L185 |
| 3240 .L178: |
| 3241 190c 8091 0000 lds r24,FC_StatusFlags |
| 3242 1910 8160 ori r24,lo8(1) |
| 3243 1912 8093 0000 sts FC_StatusFlags,r24 |
| 3244 .L185: |
| 3245 1916 8091 0000 lds r24,I2C_TransferActive |
| 3246 191a 8823 tst r24 |
| 3247 191c 01F0 breq .L186 |
| 3248 191e 1092 0000 sts I2C_TransferActive,__zero_reg__ |
| 3249 1922 0895 ret |
| 3250 .L186: |
| 3251 1924 8093 0000 sts motor_write,r24 |
| 3252 1928 8093 0000 sts twi_state,r24 |
| 3253 192c 8091 0000 lds r24,BLFlags |
| 3254 1930 8E7F andi r24,lo8(-2) |
| 3255 1932 8093 0000 sts BLFlags,r24 |
| 3256 1936 85EA ldi r24,lo8(-91) |
| 3257 1938 8093 BC00 sts 188,r24 |
| 3258 193c 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 193e CF93 push r28 |
| 3269 1940 DF93 push r29 |
| 3270 /* prologue end (size=2) */ |
| 3271 1942 A0E0 ldi r26,lo8(Poti) |
| 3272 1944 B0E0 ldi r27,hi8(Poti) |
| 3273 1946 C0E0 ldi r28,lo8(EE_Parameter+5) |
| 3274 1948 D0E0 ldi r29,hi8(EE_Parameter+5) |
| 3275 194a 57E0 ldi r21,lo8(7) |
| 3276 .L203: |
| 3277 194c 9991 ld r25,Y+ |
| 3278 194e E92F mov r30,r25 |
| 3279 1950 FF27 clr r31 |
| 3280 1952 EE0F add r30,r30 |
| 3281 1954 FF1F adc r31,r31 |
| 3282 1956 E050 subi r30,lo8(-(PPM_in)) |
| 3283 1958 F040 sbci r31,hi8(-(PPM_in)) |
| 3284 195a 0190 ld __tmp_reg__,Z+ |
| 3285 195c F081 ld r31,Z |
| 3286 195e E02D mov r30,__tmp_reg__ |
| 3287 1960 E158 subi r30,lo8(-(127)) |
| 3288 1962 FF4F sbci r31,hi8(-(127)) |
| 3289 1964 EF3F cpi r30,255 |
| 3290 1966 F105 cpc r31,__zero_reg__ |
| 3291 1968 01F0 breq .L194 |
| 3292 196a 04F0 brlt .L194 |
| 3293 196c EFEF ldi r30,lo8(255) |
| 3294 196e F0E0 ldi r31,hi8(255) |
| 3295 1970 00C0 rjmp .L195 |
| 3296 .L194: |
| 3297 1972 F7FF sbrs r31,7 |
| 3298 1974 00C0 rjmp .L195 |
| 3299 1976 E0E0 ldi r30,lo8(0) |
| 3300 1978 F0E0 ldi r31,hi8(0) |
| 3301 .L195: |
| 3302 197a 9931 cpi r25,lo8(25) |
| 3303 197c 01F4 brne .L197 |
| 3304 197e EC93 st X,r30 |
| 3305 1980 00C0 rjmp .L193 |
| 3306 .L197: |
| 3307 1982 4C91 ld r20,X |
| 3308 1984 242F mov r18,r20 |
| 3309 1986 3327 clr r19 |
| 3310 1988 E217 cp r30,r18 |
| 3311 198a F307 cpc r31,r19 |
| 3312 198c 01F0 breq .L193 |
| 3313 198e CF01 movw r24,r30 |
| 3314 1990 821B sub r24,r18 |
| 3315 1992 930B sbc r25,r19 |
| 3316 1994 97FD sbrc r25,7 |
| 3317 1996 0396 adiw r24,3 |
| 3318 .L200: |
| 3319 1998 9595 asr r25 |
| 3320 199a 8795 ror r24 |
| 3321 199c 9595 asr r25 |
| 3322 199e 8795 ror r24 |
| 3323 19a0 242F mov r18,r20 |
| 3324 19a2 280F add r18,r24 |
| 3325 19a4 2C93 st X,r18 |
| 3326 19a6 822F mov r24,r18 |
| 3327 19a8 9927 clr r25 |
| 3328 19aa E817 cp r30,r24 |
| 3329 19ac F907 cpc r31,r25 |
| 3330 19ae 04F4 brge .L201 |
| 3331 19b0 2150 subi r18,lo8(-(-1)) |
| 3332 19b2 00C0 rjmp .L327 |
| 3333 .L201: |
| 3334 19b4 2F5F subi r18,lo8(-(1)) |
| 3335 .L327: |
| 3336 19b6 2C93 st X,r18 |
| 3337 .L193: |
| 3338 19b8 5150 subi r21,lo8(-(-1)) |
| 3339 19ba 1196 adiw r26,1 |
| 3340 19bc 57FF sbrs r21,7 |
| 3341 19be 00C0 rjmp .L203 |
| 3342 19c0 8091 0000 lds r24,EE_Parameter+15 |
| 3343 19c4 883F cpi r24,lo8(-8) |
| 3344 19c6 00F0 brlo .L328 |
| 3345 19c8 EFEF ldi r30,lo8(255) |
| 3346 19ca F0E0 ldi r31,hi8(255) |
| 3347 19cc E81B sub r30,r24 |
| 3348 19ce F109 sbc r31,__zero_reg__ |
| 3349 19d0 E050 subi r30,lo8(-(Poti)) |
| 3350 19d2 F040 sbci r31,hi8(-(Poti)) |
| 3351 19d4 8081 ld r24,Z |
| 3352 .L328: |
| 3353 19d6 8093 0000 sts Parameter_Luftdruck_D,r24 |
| 3354 19da 8091 0000 lds r24,Parameter_Luftdruck_D |
| 3355 19de 8823 tst r24 |
| 3356 19e0 01F0 breq .L207 |
| 3357 19e2 8436 cpi r24,lo8(100) |
| 3358 19e4 00F0 brlo .L207 |
| 3359 19e6 84E6 ldi r24,lo8(100) |
| 3360 19e8 8093 0000 sts Parameter_Luftdruck_D,r24 |
| 3361 .L207: |
| 3362 19ec 8091 0000 lds r24,EE_Parameter+17 |
| 3363 19f0 883F cpi r24,lo8(-8) |
| 3364 19f2 00F0 brlo .L329 |
| 3365 19f4 EFEF ldi r30,lo8(255) |
| 3366 19f6 F0E0 ldi r31,hi8(255) |
| 3367 19f8 E81B sub r30,r24 |
| 3368 19fa F109 sbc r31,__zero_reg__ |
| 3369 19fc E050 subi r30,lo8(-(Poti)) |
| 3370 19fe F040 sbci r31,hi8(-(Poti)) |
| 3371 1a00 8081 ld r24,Z |
| 3372 .L329: |
| 3373 1a02 8093 0000 sts Parameter_Hoehe_P,r24 |
| 3374 1a06 8091 0000 lds r24,Parameter_Hoehe_P |
| 3375 1a0a 8823 tst r24 |
| 3376 1a0c 01F0 breq .L212 |
| 3377 1a0e 8436 cpi r24,lo8(100) |
| 3378 1a10 00F0 brlo .L212 |
| 3379 1a12 84E6 ldi r24,lo8(100) |
| 3380 1a14 8093 0000 sts Parameter_Hoehe_P,r24 |
| 3381 .L212: |
| 3382 1a18 8091 0000 lds r24,EE_Parameter+30 |
| 3383 1a1c 883F cpi r24,lo8(-8) |
| 3384 1a1e 00F0 brlo .L330 |
| 3385 1a20 EFEF ldi r30,lo8(255) |
| 3386 1a22 F0E0 ldi r31,hi8(255) |
| 3387 1a24 E81B sub r30,r24 |
| 3388 1a26 F109 sbc r31,__zero_reg__ |
| 3389 1a28 E050 subi r30,lo8(-(Poti)) |
| 3390 1a2a F040 sbci r31,hi8(-(Poti)) |
| 3391 1a2c 8081 ld r24,Z |
| 3392 .L330: |
| 3393 1a2e 8093 0000 sts Parameter_Gyro_P,r24 |
| 3394 1a32 8091 0000 lds r24,Parameter_Gyro_P |
| 3395 1a36 8B30 cpi r24,lo8(11) |
| 3396 1a38 00F4 brsh .L216 |
| 3397 1a3a 8AE0 ldi r24,lo8(10) |
| 3398 1a3c 00C0 rjmp .L331 |
| 3399 .L216: |
| 3400 1a3e 8F3F cpi r24,lo8(-1) |
| 3401 1a40 01F4 brne .L217 |
| 3402 .L331: |
| 3403 1a42 8093 0000 sts Parameter_Gyro_P,r24 |
| 3404 .L217: |
| 3405 1a46 8091 0000 lds r24,EE_Parameter+75 |
| 3406 1a4a 883F cpi r24,lo8(-8) |
| 3407 1a4c 00F0 brlo .L332 |
| 3408 1a4e EFEF ldi r30,lo8(255) |
| 3409 1a50 F0E0 ldi r31,hi8(255) |
| 3410 1a52 E81B sub r30,r24 |
| 3411 1a54 F109 sbc r31,__zero_reg__ |
| 3412 1a56 E050 subi r30,lo8(-(Poti)) |
| 3413 1a58 F040 sbci r31,hi8(-(Poti)) |
| 3414 1a5a 8081 ld r24,Z |
| 3415 .L332: |
| 3416 1a5c 8093 0000 sts Parameter_J16Timing,r24 |
| 3417 1a60 8091 0000 lds r24,Parameter_J16Timing |
| 3418 1a64 8630 cpi r24,lo8(6) |
| 3419 1a66 00F4 brsh .L221 |
| 3420 1a68 85E0 ldi r24,lo8(5) |
| 3421 1a6a 00C0 rjmp .L333 |
| 3422 .L221: |
| 3423 1a6c 8F3F cpi r24,lo8(-1) |
| 3424 1a6e 01F4 brne .L222 |
| 3425 .L333: |
| 3426 1a70 8093 0000 sts Parameter_J16Timing,r24 |
| 3427 .L222: |
| 3428 1a74 8091 0000 lds r24,EE_Parameter+77 |
| 3429 1a78 883F cpi r24,lo8(-8) |
| 3430 1a7a 00F0 brlo .L334 |
| 3431 1a7c EFEF ldi r30,lo8(255) |
| 3432 1a7e F0E0 ldi r31,hi8(255) |
| 3433 1a80 E81B sub r30,r24 |
| 3434 1a82 F109 sbc r31,__zero_reg__ |
| 3435 1a84 E050 subi r30,lo8(-(Poti)) |
| 3436 1a86 F040 sbci r31,hi8(-(Poti)) |
| 3437 1a88 8081 ld r24,Z |
| 3438 .L334: |
| 3439 1a8a 8093 0000 sts Parameter_J17Timing,r24 |
| 3440 1a8e 8091 0000 lds r24,Parameter_J17Timing |
| 3441 1a92 8630 cpi r24,lo8(6) |
| 3442 1a94 00F4 brsh .L226 |
| 3443 1a96 85E0 ldi r24,lo8(5) |
| 3444 1a98 00C0 rjmp .L335 |
| 3445 .L226: |
| 3446 1a9a 8F3F cpi r24,lo8(-1) |
| 3447 1a9c 01F4 brne .L227 |
| 3448 .L335: |
| 3449 1a9e 8093 0000 sts Parameter_J17Timing,r24 |
| 3450 .L227: |
| 3451 1aa2 8091 0000 lds r24,EE_Parameter+56 |
| 3452 1aa6 873F cpi r24,lo8(-9) |
| 3453 1aa8 01F4 brne .L229 |
| 3454 1aaa 4299 sbic 40-0x20,2 |
| 3455 1aac 00C0 rjmp .L368 |
| 3456 1aae 00C0 rjmp .L234 |
| 3457 .L229: |
| 3458 1ab0 863F cpi r24,lo8(-10) |
| 3459 1ab2 01F4 brne .L233 |
| 3460 1ab4 439B sbis 40-0x20,3 |
| 3461 1ab6 00C0 rjmp .L234 |
| 3462 .L368: |
| 3463 1ab8 8CE8 ldi r24,lo8(-116) |
| 3464 1aba 00C0 rjmp .L336 |
| 3465 .L234: |
| 3466 1abc 86E4 ldi r24,lo8(70) |
| 3467 1abe 00C0 rjmp .L336 |
| 3468 .L233: |
| 3469 1ac0 883F cpi r24,lo8(-8) |
| 3470 1ac2 00F0 brlo .L336 |
| 3471 1ac4 EFEF ldi r30,lo8(255) |
| 3472 1ac6 F0E0 ldi r31,hi8(255) |
| 3473 1ac8 E81B sub r30,r24 |
| 3474 1aca F109 sbc r31,__zero_reg__ |
| 3475 1acc E050 subi r30,lo8(-(Poti)) |
| 3476 1ace F040 sbci r31,hi8(-(Poti)) |
| 3477 1ad0 8081 ld r24,Z |
| 3478 .L336: |
| 3479 1ad2 8093 0000 sts Parameter_Servo3,r24 |
| 3480 1ad6 8091 0000 lds r24,EE_Parameter+57 |
| 3481 1ada 873F cpi r24,lo8(-9) |
| 3482 1adc 01F4 brne .L239 |
| 3483 1ade 4299 sbic 40-0x20,2 |
| 3484 1ae0 00C0 rjmp .L369 |
| 3485 1ae2 00C0 rjmp .L244 |
| 3486 .L239: |
| 3487 1ae4 863F cpi r24,lo8(-10) |
| 3488 1ae6 01F4 brne .L243 |
| 3489 1ae8 439B sbis 40-0x20,3 |
| 3490 1aea 00C0 rjmp .L244 |
| 3491 .L369: |
| 3492 1aec 8CE8 ldi r24,lo8(-116) |
| 3493 1aee 00C0 rjmp .L337 |
| 3494 .L244: |
| 3495 1af0 86E4 ldi r24,lo8(70) |
| 3496 1af2 00C0 rjmp .L337 |
| 3497 .L243: |
| 3498 1af4 883F cpi r24,lo8(-8) |
| 3499 1af6 00F0 brlo .L337 |
| 3500 1af8 EFEF ldi r30,lo8(255) |
| 3501 1afa F0E0 ldi r31,hi8(255) |
| 3502 1afc E81B sub r30,r24 |
| 3503 1afe F109 sbc r31,__zero_reg__ |
| 3504 1b00 E050 subi r30,lo8(-(Poti)) |
| 3505 1b02 F040 sbci r31,hi8(-(Poti)) |
| 3506 1b04 8081 ld r24,Z |
| 3507 .L337: |
| 3508 1b06 8093 0000 sts Parameter_Servo4,r24 |
| 3509 1b0a 8091 0000 lds r24,EE_Parameter+58 |
| 3510 1b0e 883F cpi r24,lo8(-8) |
| 3511 1b10 00F0 brlo .L338 |
| 3512 1b12 EFEF ldi r30,lo8(255) |
| 3513 1b14 F0E0 ldi r31,hi8(255) |
| 3514 1b16 E81B sub r30,r24 |
| 3515 1b18 F109 sbc r31,__zero_reg__ |
| 3516 1b1a E050 subi r30,lo8(-(Poti)) |
| 3517 1b1c F040 sbci r31,hi8(-(Poti)) |
| 3518 1b1e 8081 ld r24,Z |
| 3519 .L338: |
| 3520 1b20 8093 0000 sts Parameter_Servo5,r24 |
| 3521 1b24 8091 0000 lds r24,EE_Parameter+16 |
| 3522 1b28 883F cpi r24,lo8(-8) |
| 3523 1b2a 00F0 brlo .L339 |
| 3524 1b2c EFEF ldi r30,lo8(255) |
| 3525 1b2e F0E0 ldi r31,hi8(255) |
| 3526 1b30 E81B sub r30,r24 |
| 3527 1b32 F109 sbc r31,__zero_reg__ |
| 3528 1b34 E050 subi r30,lo8(-(Poti)) |
| 3529 1b36 F040 sbci r31,hi8(-(Poti)) |
| 3530 1b38 8081 ld r24,Z |
| 3531 .L339: |
| 3532 1b3a 8093 0000 sts Parameter_HoehenSchalter,r24 |
| 3533 1b3e 8091 0000 lds r24,EE_Parameter+19 |
| 3534 1b42 883F cpi r24,lo8(-8) |
| 3535 1b44 00F0 brlo .L340 |
| 3536 1b46 EFEF ldi r30,lo8(255) |
| 3537 1b48 F0E0 ldi r31,hi8(255) |
| 3538 1b4a E81B sub r30,r24 |
| 3539 1b4c F109 sbc r31,__zero_reg__ |
| 3540 1b4e E050 subi r30,lo8(-(Poti)) |
| 3541 1b50 F040 sbci r31,hi8(-(Poti)) |
| 3542 1b52 8081 ld r24,Z |
| 3543 .L340: |
| 3544 1b54 8093 0000 sts Parameter_Hoehe_ACC_Wirkung,r24 |
| 3545 1b58 8091 0000 lds r24,EE_Parameter+21 |
| 3546 1b5c 883F cpi r24,lo8(-8) |
| 3547 1b5e 00F0 brlo .L341 |
| 3548 1b60 EFEF ldi r30,lo8(255) |
| 3549 1b62 F0E0 ldi r31,hi8(255) |
| 3550 1b64 E81B sub r30,r24 |
| 3551 1b66 F109 sbc r31,__zero_reg__ |
| 3552 1b68 E050 subi r30,lo8(-(Poti)) |
| 3553 1b6a F040 sbci r31,hi8(-(Poti)) |
| 3554 1b6c 8081 ld r24,Z |
| 3555 .L341: |
| 3556 1b6e 8093 0000 sts Parameter_Hoehe_GPS_Z,r24 |
| 3557 1b72 8091 0000 lds r24,EE_Parameter+29 |
| 3558 1b76 883F cpi r24,lo8(-8) |
| 3559 1b78 00F0 brlo .L342 |
| 3560 1b7a EFEF ldi r30,lo8(255) |
| 3561 1b7c F0E0 ldi r31,hi8(255) |
| 3562 1b7e E81B sub r30,r24 |
| 3563 1b80 F109 sbc r31,__zero_reg__ |
| 3564 1b82 E050 subi r30,lo8(-(Poti)) |
| 3565 1b84 F040 sbci r31,hi8(-(Poti)) |
| 3566 1b86 8081 ld r24,Z |
| 3567 .L342: |
| 3568 1b88 8093 0000 sts Parameter_KompassWirkung,r24 |
| 3569 1b8c 8091 0000 lds r24,EE_Parameter+31 |
| 3570 1b90 883F cpi r24,lo8(-8) |
| 3571 1b92 00F0 brlo .L343 |
| 3572 1b94 EFEF ldi r30,lo8(255) |
| 3573 1b96 F0E0 ldi r31,hi8(255) |
| 3574 1b98 E81B sub r30,r24 |
| 3575 1b9a F109 sbc r31,__zero_reg__ |
| 3576 1b9c E050 subi r30,lo8(-(Poti)) |
| 3577 1b9e F040 sbci r31,hi8(-(Poti)) |
| 3578 1ba0 8081 ld r24,Z |
| 3579 .L343: |
| 3580 1ba2 8093 0000 sts Parameter_Gyro_I,r24 |
| 3581 1ba6 8091 0000 lds r24,EE_Parameter+32 |
| 3582 1baa 883F cpi r24,lo8(-8) |
| 3583 1bac 00F0 brlo .L344 |
| 3584 1bae EFEF ldi r30,lo8(255) |
| 3585 1bb0 F0E0 ldi r31,hi8(255) |
| 3586 1bb2 E81B sub r30,r24 |
| 3587 1bb4 F109 sbc r31,__zero_reg__ |
| 3588 1bb6 E050 subi r30,lo8(-(Poti)) |
| 3589 1bb8 F040 sbci r31,hi8(-(Poti)) |
| 3590 1bba 8081 ld r24,Z |
| 3591 .L344: |
| 3592 1bbc 8093 0000 sts Parameter_Gyro_D,r24 |
| 3593 1bc0 8091 0000 lds r24,EE_Parameter+33 |
| 3594 1bc4 883F cpi r24,lo8(-8) |
| 3595 1bc6 00F0 brlo .L345 |
| 3596 1bc8 EFEF ldi r30,lo8(255) |
| 3597 1bca F0E0 ldi r31,hi8(255) |
| 3598 1bcc E81B sub r30,r24 |
| 3599 1bce F109 sbc r31,__zero_reg__ |
| 3600 1bd0 E050 subi r30,lo8(-(Poti)) |
| 3601 1bd2 F040 sbci r31,hi8(-(Poti)) |
| 3602 1bd4 8081 ld r24,Z |
| 3603 .L345: |
| 3604 1bd6 8093 0000 sts Parameter_Gyro_Gier_P,r24 |
| 3605 1bda 8091 0000 lds r24,EE_Parameter+34 |
| 3606 1bde 883F cpi r24,lo8(-8) |
| 3607 1be0 00F0 brlo .L346 |
| 3608 1be2 EFEF ldi r30,lo8(255) |
| 3609 1be4 F0E0 ldi r31,hi8(255) |
| 3610 1be6 E81B sub r30,r24 |
| 3611 1be8 F109 sbc r31,__zero_reg__ |
| 3612 1bea E050 subi r30,lo8(-(Poti)) |
| 3613 1bec F040 sbci r31,hi8(-(Poti)) |
| 3614 1bee 8081 ld r24,Z |
| 3615 .L346: |
| 3616 1bf0 8093 0000 sts Parameter_Gyro_Gier_I,r24 |
| 3617 1bf4 8091 0000 lds r24,EE_Parameter+40 |
| 3618 1bf8 883F cpi r24,lo8(-8) |
| 3619 1bfa 00F0 brlo .L347 |
| 3620 1bfc EFEF ldi r30,lo8(255) |
| 3621 1bfe F0E0 ldi r31,hi8(255) |
| 3622 1c00 E81B sub r30,r24 |
| 3623 1c02 F109 sbc r31,__zero_reg__ |
| 3624 1c04 E050 subi r30,lo8(-(Poti)) |
| 3625 1c06 F040 sbci r31,hi8(-(Poti)) |
| 3626 1c08 8081 ld r24,Z |
| 3627 .L347: |
| 3628 1c0a 8093 0000 sts Parameter_I_Faktor,r24 |
| 3629 1c0e 8091 0000 lds r24,EE_Parameter+41 |
| 3630 1c12 883F cpi r24,lo8(-8) |
| 3631 1c14 00F0 brlo .L348 |
| 3632 1c16 EFEF ldi r30,lo8(255) |
| 3633 1c18 F0E0 ldi r31,hi8(255) |
| 3634 1c1a E81B sub r30,r24 |
| 3635 1c1c F109 sbc r31,__zero_reg__ |
| 3636 1c1e E050 subi r30,lo8(-(Poti)) |
| 3637 1c20 F040 sbci r31,hi8(-(Poti)) |
| 3638 1c22 8081 ld r24,Z |
| 3639 .L348: |
| 3640 1c24 8093 0000 sts Parameter_UserParam1,r24 |
| 3641 1c28 8091 0000 lds r24,EE_Parameter+42 |
| 3642 1c2c 883F cpi r24,lo8(-8) |
| 3643 1c2e 00F0 brlo .L349 |
| 3644 1c30 EFEF ldi r30,lo8(255) |
| 3645 1c32 F0E0 ldi r31,hi8(255) |
| 3646 1c34 E81B sub r30,r24 |
| 3647 1c36 F109 sbc r31,__zero_reg__ |
| 3648 1c38 E050 subi r30,lo8(-(Poti)) |
| 3649 1c3a F040 sbci r31,hi8(-(Poti)) |
| 3650 1c3c 8081 ld r24,Z |
| 3651 .L349: |
| 3652 1c3e 8093 0000 sts Parameter_UserParam2,r24 |
| 3653 1c42 8091 0000 lds r24,EE_Parameter+43 |
| 3654 1c46 883F cpi r24,lo8(-8) |
| 3655 1c48 00F0 brlo .L350 |
| 3656 1c4a EFEF ldi r30,lo8(255) |
| 3657 1c4c F0E0 ldi r31,hi8(255) |
| 3658 1c4e E81B sub r30,r24 |
| 3659 1c50 F109 sbc r31,__zero_reg__ |
| 3660 1c52 E050 subi r30,lo8(-(Poti)) |
| 3661 1c54 F040 sbci r31,hi8(-(Poti)) |
| 3662 1c56 8081 ld r24,Z |
| 3663 .L350: |
| 3664 1c58 8093 0000 sts Parameter_UserParam3,r24 |
| 3665 1c5c 8091 0000 lds r24,EE_Parameter+44 |
| 3666 1c60 883F cpi r24,lo8(-8) |
| 3667 1c62 00F0 brlo .L351 |
| 3668 1c64 EFEF ldi r30,lo8(255) |
| 3669 1c66 F0E0 ldi r31,hi8(255) |
| 3670 1c68 E81B sub r30,r24 |
| 3671 1c6a F109 sbc r31,__zero_reg__ |
| 3672 1c6c E050 subi r30,lo8(-(Poti)) |
| 3673 1c6e F040 sbci r31,hi8(-(Poti)) |
| 3674 1c70 8081 ld r24,Z |
| 3675 .L351: |
| 3676 1c72 8093 0000 sts Parameter_UserParam4,r24 |
| 3677 1c76 8091 0000 lds r24,EE_Parameter+70 |
| 3678 1c7a 883F cpi r24,lo8(-8) |
| 3679 1c7c 00F0 brlo .L352 |
| 3680 1c7e EFEF ldi r30,lo8(255) |
| 3681 1c80 F0E0 ldi r31,hi8(255) |
| 3682 1c82 E81B sub r30,r24 |
| 3683 1c84 F109 sbc r31,__zero_reg__ |
| 3684 1c86 E050 subi r30,lo8(-(Poti)) |
| 3685 1c88 F040 sbci r31,hi8(-(Poti)) |
| 3686 1c8a 8081 ld r24,Z |
| 3687 .L352: |
| 3688 1c8c 8093 0000 sts Parameter_UserParam5,r24 |
| 3689 1c90 8091 0000 lds r24,EE_Parameter+71 |
| 3690 1c94 883F cpi r24,lo8(-8) |
| 3691 1c96 00F0 brlo .L353 |
| 3692 1c98 EFEF ldi r30,lo8(255) |
| 3693 1c9a F0E0 ldi r31,hi8(255) |
| 3694 1c9c E81B sub r30,r24 |
| 3695 1c9e F109 sbc r31,__zero_reg__ |
| 3696 1ca0 E050 subi r30,lo8(-(Poti)) |
| 3697 1ca2 F040 sbci r31,hi8(-(Poti)) |
| 3698 1ca4 8081 ld r24,Z |
| 3699 .L353: |
| 3700 1ca6 8093 0000 sts Parameter_UserParam6,r24 |
| 3701 1caa 8091 0000 lds r24,EE_Parameter+72 |
| 3702 1cae 883F cpi r24,lo8(-8) |
| 3703 1cb0 00F0 brlo .L354 |
| 3704 1cb2 EFEF ldi r30,lo8(255) |
| 3705 1cb4 F0E0 ldi r31,hi8(255) |
| 3706 1cb6 E81B sub r30,r24 |
| 3707 1cb8 F109 sbc r31,__zero_reg__ |
| 3708 1cba E050 subi r30,lo8(-(Poti)) |
| 3709 1cbc F040 sbci r31,hi8(-(Poti)) |
| 3710 1cbe 8081 ld r24,Z |
| 3711 .L354: |
| 3712 1cc0 8093 0000 sts Parameter_UserParam7,r24 |
| 3713 1cc4 8091 0000 lds r24,EE_Parameter+73 |
| 3714 1cc8 883F cpi r24,lo8(-8) |
| 3715 1cca 00F0 brlo .L355 |
| 3716 1ccc EFEF ldi r30,lo8(255) |
| 3717 1cce F0E0 ldi r31,hi8(255) |
| 3718 1cd0 E81B sub r30,r24 |
| 3719 1cd2 F109 sbc r31,__zero_reg__ |
| 3720 1cd4 E050 subi r30,lo8(-(Poti)) |
| 3721 1cd6 F040 sbci r31,hi8(-(Poti)) |
| 3722 1cd8 8081 ld r24,Z |
| 3723 .L355: |
| 3724 1cda 8093 0000 sts Parameter_UserParam8,r24 |
| 3725 1cde 8091 0000 lds r24,EE_Parameter+45 |
| 3726 1ce2 883F cpi r24,lo8(-8) |
| 3727 1ce4 00F0 brlo .L356 |
| 3728 1ce6 EFEF ldi r30,lo8(255) |
| 3729 1ce8 F0E0 ldi r31,hi8(255) |
| 3730 1cea E81B sub r30,r24 |
| 3731 1cec F109 sbc r31,__zero_reg__ |
| 3732 1cee E050 subi r30,lo8(-(Poti)) |
| 3733 1cf0 F040 sbci r31,hi8(-(Poti)) |
| 3734 1cf2 8081 ld r24,Z |
| 3735 .L356: |
| 3736 1cf4 8093 0000 sts Parameter_ServoNickControl,r24 |
| 3737 1cf8 8091 0000 lds r24,EE_Parameter+49 |
| 3738 1cfc 883F cpi r24,lo8(-8) |
| 3739 1cfe 00F0 brlo .L357 |
| 3740 1d00 EFEF ldi r30,lo8(255) |
| 3741 1d02 F0E0 ldi r31,hi8(255) |
| 3742 1d04 E81B sub r30,r24 |
| 3743 1d06 F109 sbc r31,__zero_reg__ |
| 3744 1d08 E050 subi r30,lo8(-(Poti)) |
| 3745 1d0a F040 sbci r31,hi8(-(Poti)) |
| 3746 1d0c 8081 ld r24,Z |
| 3747 .L357: |
| 3748 1d0e 8093 0000 sts Parameter_ServoRollControl,r24 |
| 3749 1d12 8091 0000 lds r24,EE_Parameter+46 |
| 3750 1d16 883F cpi r24,lo8(-8) |
| 3751 1d18 00F0 brlo .L358 |
| 3752 1d1a EFEF ldi r30,lo8(255) |
| 3753 1d1c F0E0 ldi r31,hi8(255) |
| 3754 1d1e E81B sub r30,r24 |
| 3755 1d20 F109 sbc r31,__zero_reg__ |
| 3756 1d22 E050 subi r30,lo8(-(Poti)) |
| 3757 1d24 F040 sbci r31,hi8(-(Poti)) |
| 3758 1d26 8081 ld r24,Z |
| 3759 .L358: |
| 3760 1d28 8093 0000 sts Parameter_ServoNickComp,r24 |
| 3761 1d2c 8091 0000 lds r24,EE_Parameter+50 |
| 3762 1d30 883F cpi r24,lo8(-8) |
| 3763 1d32 00F0 brlo .L359 |
| 3764 1d34 EFEF ldi r30,lo8(255) |
| 3765 1d36 F0E0 ldi r31,hi8(255) |
| 3766 1d38 E81B sub r30,r24 |
| 3767 1d3a F109 sbc r31,__zero_reg__ |
| 3768 1d3c E050 subi r30,lo8(-(Poti)) |
| 3769 1d3e F040 sbci r31,hi8(-(Poti)) |
| 3770 1d40 8081 ld r24,Z |
| 3771 .L359: |
| 3772 1d42 8093 0000 sts Parameter_ServoRollComp,r24 |
| 3773 1d46 8091 0000 lds r24,EE_Parameter+59 |
| 3774 1d4a 883F cpi r24,lo8(-8) |
| 3775 1d4c 00F0 brlo .L360 |
| 3776 1d4e EFEF ldi r30,lo8(255) |
| 3777 1d50 F0E0 ldi r31,hi8(255) |
| 3778 1d52 E81B sub r30,r24 |
| 3779 1d54 F109 sbc r31,__zero_reg__ |
| 3780 1d56 E050 subi r30,lo8(-(Poti)) |
| 3781 1d58 F040 sbci r31,hi8(-(Poti)) |
| 3782 1d5a 8081 ld r24,Z |
| 3783 .L360: |
| 3784 1d5c 8093 0000 sts Parameter_LoopGasLimit,r24 |
| 3785 1d60 8091 0000 lds r24,EE_Parameter+62 |
| 3786 1d64 883F cpi r24,lo8(-8) |
| 3787 1d66 00F0 brlo .L361 |
| 3788 1d68 EFEF ldi r30,lo8(255) |
| 3789 1d6a F0E0 ldi r31,hi8(255) |
| 3790 1d6c E81B sub r30,r24 |
| 3791 1d6e F109 sbc r31,__zero_reg__ |
| 3792 1d70 E050 subi r30,lo8(-(Poti)) |
| 3793 1d72 F040 sbci r31,hi8(-(Poti)) |
| 3794 1d74 8081 ld r24,Z |
| 3795 .L361: |
| 3796 1d76 8093 0000 sts Parameter_AchsKopplung1,r24 |
| 3797 1d7a 8091 0000 lds r24,EE_Parameter+63 |
| 3798 1d7e 883F cpi r24,lo8(-8) |
| 3799 1d80 00F0 brlo .L362 |
| 3800 1d82 EFEF ldi r30,lo8(255) |
| 3801 1d84 F0E0 ldi r31,hi8(255) |
| 3802 1d86 E81B sub r30,r24 |
| 3803 1d88 F109 sbc r31,__zero_reg__ |
| 3804 1d8a E050 subi r30,lo8(-(Poti)) |
| 3805 1d8c F040 sbci r31,hi8(-(Poti)) |
| 3806 1d8e 8081 ld r24,Z |
| 3807 .L362: |
| 3808 1d90 8093 0000 sts Parameter_AchsKopplung2,r24 |
| 3809 1d94 8091 0000 lds r24,EE_Parameter+64 |
| 3810 1d98 883F cpi r24,lo8(-8) |
| 3811 1d9a 00F0 brlo .L363 |
| 3812 1d9c EFEF ldi r30,lo8(255) |
| 3813 1d9e F0E0 ldi r31,hi8(255) |
| 3814 1da0 E81B sub r30,r24 |
| 3815 1da2 F109 sbc r31,__zero_reg__ |
| 3816 1da4 E050 subi r30,lo8(-(Poti)) |
| 3817 1da6 F040 sbci r31,hi8(-(Poti)) |
| 3818 1da8 8081 ld r24,Z |
| 3819 .L363: |
| 3820 1daa 8093 0000 sts Parameter_CouplingYawCorrection,r24 |
| 3821 1dae 8091 0000 lds r24,EE_Parameter+104 |
| 3822 1db2 883F cpi r24,lo8(-8) |
| 3823 1db4 00F0 brlo .L364 |
| 3824 1db6 EFEF ldi r30,lo8(255) |
| 3825 1db8 F0E0 ldi r31,hi8(255) |
| 3826 1dba E81B sub r30,r24 |
| 3827 1dbc F109 sbc r31,__zero_reg__ |
| 3828 1dbe E050 subi r30,lo8(-(Poti)) |
| 3829 1dc0 F040 sbci r31,hi8(-(Poti)) |
| 3830 1dc2 8081 ld r24,Z |
| 3831 .L364: |
| 3832 1dc4 8093 0000 sts Parameter_MaximumAltitude,r24 |
| 3833 1dc8 9091 0000 lds r25,NC_To_FC_MaxAltitude |
| 3834 1dcc 9923 tst r25 |
| 3835 1dce 01F0 breq .L305 |
| 3836 1dd0 8091 0000 lds r24,Parameter_MaximumAltitude |
| 3837 1dd4 9817 cp r25,r24 |
| 3838 1dd6 00F0 brlo .L304 |
| 3839 .L305: |
| 3840 1dd8 8091 0000 lds r24,Parameter_MaximumAltitude |
| 3841 1ddc 8823 tst r24 |
| 3842 1dde 01F4 brne .L303 |
| 3843 .L304: |
| 3844 1de0 9093 0000 sts Parameter_MaximumAltitude,r25 |
| 3845 .L303: |
| 3846 1de4 8091 0000 lds r24,EE_Parameter+13 |
| 3847 1de8 8093 0000 sts Parameter_GlobalConfig,r24 |
| 3848 1dec 8091 0000 lds r24,EE_Parameter+110 |
| 3849 1df0 8093 0000 sts Parameter_ExtraConfig,r24 |
| 3850 1df4 8091 0000 lds r24,EE_Parameter+69 |
| 3851 1df8 883F cpi r24,lo8(-8) |
| 3852 1dfa 00F0 brlo .L365 |
| 3853 1dfc EFEF ldi r30,lo8(255) |
| 3854 1dfe F0E0 ldi r31,hi8(255) |
| 3855 1e00 E81B sub r30,r24 |
| 3856 1e02 F109 sbc r31,__zero_reg__ |
| 3857 1e04 E050 subi r30,lo8(-(Poti)) |
| 3858 1e06 F040 sbci r31,hi8(-(Poti)) |
| 3859 1e08 8081 ld r24,Z |
| 3860 .L365: |
| 3861 1e0a 8093 0000 sts Parameter_DynamicStability,r24 |
| 3862 1e0e 8091 0000 lds r24,EE_Parameter+97 |
| 3863 1e12 883F cpi r24,lo8(-8) |
| 3864 1e14 00F0 brlo .L366 |
| 3865 1e16 EFEF ldi r30,lo8(255) |
| 3866 1e18 F0E0 ldi r31,hi8(255) |
| 3867 1e1a E81B sub r30,r24 |
| 3868 1e1c F109 sbc r31,__zero_reg__ |
| 3869 1e1e E050 subi r30,lo8(-(Poti)) |
| 3870 1e20 F040 sbci r31,hi8(-(Poti)) |
| 3871 1e22 8081 ld r24,Z |
| 3872 .L366: |
| 3873 1e24 8093 0000 sts Parameter_ExternalControl,r24 |
| 3874 1e28 8091 0000 lds r24,Parameter_I_Faktor |
| 3875 1e2c 282F mov r18,r24 |
| 3876 1e2e 3327 clr r19 |
| 3877 1e30 2F5F subi r18,lo8(-(1)) |
| 3878 1e32 3F4F sbci r19,hi8(-(1)) |
| 3879 1e34 8CE3 ldi r24,lo8(10300) |
| 3880 1e36 98E2 ldi r25,hi8(10300) |
| 3881 1e38 B901 movw r22,r18 |
| 3882 1e3a 0E94 0000 call __divmodhi4 |
| 3883 1e3e 7093 0000 sts (Ki)+1,r23 |
| 3884 1e42 6093 0000 sts Ki,r22 |
| 3885 1e46 8091 0000 lds r24,EE_Parameter+27 |
| 3886 1e4a 8093 0000 sts MAX_GAS,r24 |
| 3887 1e4e 8091 0000 lds r24,EE_Parameter+26 |
| 3888 1e52 8093 0000 sts MIN_GAS,r24 |
| 3889 1e56 9091 0000 lds r25,EE_Parameter+99 |
| 3890 1e5a 9333 cpi r25,lo8(51) |
| 3891 1e5c 00F4 brsh .+2 |
| 3892 1e5e 00C0 rjmp .L310 |
| 3893 1e60 81E0 ldi r24,lo8(1) |
| 3894 1e62 8093 0000 sts CareFree,r24 |
| 3895 1e66 983F cpi r25,lo8(-8) |
| 3896 1e68 00F0 brlo .L311 |
| 3897 1e6a EFEF ldi r30,lo8(255) |
| 3898 1e6c F0E0 ldi r31,hi8(255) |
| 3899 1e6e E91B sub r30,r25 |
| 3900 1e70 F109 sbc r31,__zero_reg__ |
| 3901 1e72 E050 subi r30,lo8(-(Poti)) |
| 3902 1e74 F040 sbci r31,hi8(-(Poti)) |
| 3903 1e76 8081 ld r24,Z |
| 3904 1e78 8233 cpi r24,lo8(50) |
| 3905 1e7a 00F4 brsh .L311 |
| 3906 1e7c 1092 0000 sts CareFree,__zero_reg__ |
| 3907 .L311: |
| 3908 1e80 8091 0000 lds r24,carefree_old |
| 3909 1e84 2091 0000 lds r18,CareFree |
| 3910 1e88 8217 cp r24,r18 |
| 3911 1e8a 01F0 breq .L312 |
| 3912 1e8c 8330 cpi r24,lo8(3) |
| 3913 1e8e 00F4 brsh .L313 |
| 3914 1e90 3091 0000 lds r19,SpeakHoTT |
| 3915 1e94 2223 tst r18 |
| 3916 1e96 01F0 breq .L314 |
| 3917 1e98 8CED ldi r24,lo8(1500) |
| 3918 1e9a 95E0 ldi r25,hi8(1500) |
| 3919 1e9c 9093 0000 sts (beeptime)+1,r25 |
| 3920 1ea0 8093 0000 sts beeptime,r24 |
| 3921 1ea4 3323 tst r19 |
| 3922 1ea6 01F4 brne .L316 |
| 3923 1ea8 8EE2 ldi r24,lo8(46) |
| 3924 1eaa 00C0 rjmp .L367 |
| 3925 .L314: |
| 3926 1eac 88EC ldi r24,lo8(200) |
| 3927 1eae 90E0 ldi r25,hi8(200) |
| 3928 1eb0 9093 0000 sts (beeptime)+1,r25 |
| 3929 1eb4 8093 0000 sts beeptime,r24 |
| 3930 1eb8 3323 tst r19 |
| 3931 1eba 01F4 brne .L316 |
| 3932 1ebc 87E1 ldi r24,lo8(23) |
| 3933 .L367: |
| 3934 1ebe 8093 0000 sts SpeakHoTT,r24 |
| 3935 .L316: |
| 3936 1ec2 85E0 ldi r24,lo8(5) |
| 3937 1ec4 8093 0000 sts NeueKompassRichtungMerken,r24 |
| 3938 1ec8 2093 0000 sts carefree_old,r18 |
| 3939 1ecc 00C0 rjmp .L312 |
| 3940 .L313: |
| 3941 1ece 8150 subi r24,lo8(-(-1)) |
| 3942 1ed0 8093 0000 sts carefree_old,r24 |
| 3943 .L312: |
| 3944 1ed4 8091 0000 lds r24,FromNaviCtrl+7 |
| 3945 1ed8 9091 0000 lds r25,(FromNaviCtrl+7)+1 |
| 3946 1edc 97FF sbrs r25,7 |
| 3947 1ede 00C0 rjmp .L320 |
| 3948 1ee0 8091 0000 lds r24,CareFree |
| 3949 1ee4 8823 tst r24 |
| 3950 1ee6 01F0 breq .L320 |
| 3951 1ee8 8091 0000 lds r24,VersionInfo+5 |
| 3952 1eec 8068 ori r24,lo8(-128) |
| 3953 1eee 8093 0000 sts VersionInfo+5,r24 |
| 3954 1ef2 00C0 rjmp .L320 |
| 3955 .L310: |
| 3956 1ef4 1092 0000 sts CareFree,__zero_reg__ |
| 3957 1ef8 8AE0 ldi r24,lo8(10) |
| 3958 1efa 8093 0000 sts carefree_old,r24 |
| 3959 .L320: |
| 3960 1efe 8091 0000 lds r24,FromNaviCtrl+7 |
| 3961 1f02 9091 0000 lds r25,(FromNaviCtrl+7)+1 |
| 3962 1f06 97FF sbrs r25,7 |
| 3963 1f08 00C0 rjmp .L321 |
| 3964 1f0a 8091 0000 lds r24,MotorenEin |
| 3965 1f0e 8823 tst r24 |
| 3966 1f10 01F0 breq .L321 |
| 3967 1f12 8091 0000 lds r24,CareFree |
| 3968 1f16 8823 tst r24 |
| 3969 1f18 01F0 breq .L321 |
| 3970 1f1a 8091 0000 lds r24,BeepMuster |
| 3971 1f1e 9091 0000 lds r25,(BeepMuster)+1 |
| 3972 1f22 8F5F subi r24,lo8(-1) |
| 3973 1f24 9F4F sbci r25,hi8(-1) |
| 3974 1f26 01F4 brne .L321 |
| 3975 1f28 88E9 ldi r24,lo8(15000) |
| 3976 1f2a 9AE3 ldi r25,hi8(15000) |
| 3977 1f2c 9093 0000 sts (beeptime)+1,r25 |
| 3978 1f30 8093 0000 sts beeptime,r24 |
| 3979 1f34 80E0 ldi r24,lo8(-23552) |
| 3980 1f36 94EA ldi r25,hi8(-23552) |
| 3981 1f38 9093 0000 sts (BeepMuster)+1,r25 |
| 3982 1f3c 8093 0000 sts BeepMuster,r24 |
| 3983 1f40 1092 0000 sts CareFree,__zero_reg__ |
| 3984 .L321: |
| 3985 1f44 8091 0000 lds r24,CareFree |
| 3986 1f48 8823 tst r24 |
| 3987 1f4a 01F0 breq .L322 |
| 3988 1f4c 8091 0000 lds r24,FC_StatusFlags2 |
| 3989 1f50 8160 ori r24,lo8(1) |
| 3990 1f52 8093 0000 sts FC_StatusFlags2,r24 |
| 3991 1f56 8091 0000 lds r24,Parameter_AchsKopplung1 |
| 3992 1f5a 823D cpi r24,lo8(-46) |
| 3993 1f5c 00F4 brsh .L190 |
| 3994 1f5e 825E subi r24,lo8(-(30)) |
| 3995 1f60 8093 0000 sts Parameter_AchsKopplung1,r24 |
| 3996 1f64 00C0 rjmp .L190 |
| 3997 .L322: |
| 3998 1f66 8091 0000 lds r24,FC_StatusFlags2 |
| 3999 1f6a 8E7F andi r24,lo8(-2) |
| 4000 1f6c 8093 0000 sts FC_StatusFlags2,r24 |
| 4001 .L190: |
| 4002 /* epilogue: frame size=0 */ |
| 4003 1f70 DF91 pop r29 |
| 4004 1f72 CF91 pop r28 |
| 4005 1f74 0895 ret |
| 4006 /* epilogue end (size=3) */ |
| 4007 /* function ParameterZuordnung size 798 (793) */ |
| 4009 .lcomm sollGier.0,4 |
| 4010 .lcomm tmp_long.1,4 |
| 4011 .lcomm tmp_long2.2,4 |
| 4012 .lcomm IntegralFehlerNick.3,4 |
| 4013 .lcomm IntegralFehlerRoll.4,4 |
| 4014 .lcomm RcLostTimer.5,2 |
| 4015 .lcomm delay_neutral.6,1 |
| 4016 .lcomm delay_einschalten.7,1 |
| 4017 .lcomm delay_ausschalten.8,1 |
| 4018 .lcomm move_safety_switch.9,1 |
| 4019 .lcomm ausgleichNick.10,4 |
| 4020 .lcomm ausgleichRoll.11,4 |
| 4021 .lcomm stick_nick.12,2 |
| 4022 .lcomm stick_roll.13,2 |
| 4023 .lcomm cnt.14,2 |
| 4024 .lcomm last_n_p.15,1 |
| 4025 .lcomm last_n_n.16,1 |
| 4026 .lcomm last_r_p.17,1 |
| 4027 .lcomm last_r_n.18,1 |
| 4028 .lcomm MittelIntegralNick_Alt.19,4 |
| 4029 .lcomm MittelIntegralRoll_Alt.20,4 |
| 4030 .lcomm HeightTrimming.21,2 |
| 4031 .lcomm FilterHCGas.22,2 |
| 4032 .lcomm HoverGasFilter.23,4 |
| 4033 .data |
| 4036 delay.24: |
| 4037 0051 64 .byte 100 |
| 4038 .lcomm BaroAtUpperLimit.25,1 |
| 4039 .lcomm BaroAtLowerLimit.26,1 |
| 4040 .text |
| 4041 .global MotorRegler |
| 4043 MotorRegler: |
| 4044 /* prologue: frame size=23 */ |
| 4045 1f76 A7E1 ldi r26,lo8(23) |
| 4046 1f78 B0E0 ldi r27,hi8(23) |
| 4047 1f7a E0E0 ldi r30,pm_lo8(1f) |
| 4048 1f7c F0E0 ldi r31,pm_hi8(1f) |
| 4049 1f7e 0C94 0000 jmp __prologue_saves__+0 |
| 4050 1: |
| 4051 /* prologue end (size=6) */ |
| 4052 1f82 0E94 0000 call Mittelwert |
| 4053 1f86 8091 0000 lds r24,FC_StatusFlags |
| 4054 1f8a 9927 clr r25 |
| 4055 1f8c 8471 andi r24,lo8(20) |
| 4056 1f8e 9070 andi r25,hi8(20) |
| 4057 1f90 892B or r24,r25 |
| 4058 1f92 01F4 brne .L371 |
| 4059 1f94 8091 0000 lds r24,EE_Parameter+111 |
| 4060 1f98 82FF sbrs r24,2 |
| 4061 1f9a 00C0 rjmp .L372 |
| 4062 1f9c 8091 0000 lds r24,HoverGas |
| 4063 1fa0 9091 0000 lds r25,(HoverGas)+1 |
| 4064 1fa4 0097 sbiw r24,0 |
| 4065 1fa6 01F0 breq .L373 |
| 4066 1fa8 02E0 ldi r16,hi8(600) |
| 4067 1faa 8835 cpi r24,lo8(600) |
| 4068 1fac 9007 cpc r25,r16 |
| 4069 1fae 04F4 brge .L373 |
| 4070 1fb0 9C01 movw r18,r24 |
| 4071 1fb2 97FF sbrs r25,7 |
| 4072 1fb4 00C0 rjmp .L374 |
| 4073 1fb6 2D5F subi r18,lo8(-(3)) |
| 4074 1fb8 3F4F sbci r19,hi8(-(3)) |
| 4075 .L374: |
| 4076 1fba 3595 asr r19 |
| 4077 1fbc 2795 ror r18 |
| 4078 1fbe 3595 asr r19 |
| 4079 1fc0 2795 ror r18 |
| 4080 1fc2 8091 0000 lds r24,EE_Parameter+37 |
| 4081 1fc6 9927 clr r25 |
| 4082 1fc8 289F mul r18,r24 |
| 4083 1fca A001 movw r20,r0 |
| 4084 1fcc 299F mul r18,r25 |
| 4085 1fce 500D add r21,r0 |
| 4086 1fd0 389F mul r19,r24 |
| 4087 1fd2 500D add r21,r0 |
| 4088 1fd4 1124 clr r1 |
| 4089 1fd6 CA01 movw r24,r20 |
| 4090 1fd8 64E6 ldi r22,lo8(100) |
| 4091 1fda 70E0 ldi r23,hi8(100) |
| 4092 1fdc 0E94 0000 call __divmodhi4 |
| 4093 1fe0 CB01 movw r24,r22 |
| 4094 1fe2 00C0 rjmp .L893 |
| 4095 .L373: |
| 4096 1fe4 8DE2 ldi r24,lo8(45) |
| 4097 1fe6 90E0 ldi r25,hi8(45) |
| 4098 1fe8 00C0 rjmp .L893 |
| 4099 .L372: |
| 4100 1fea 8091 0000 lds r24,EE_Parameter+37 |
| 4101 1fee 9927 clr r25 |
| 4102 .L893: |
| 4103 1ff0 9093 0000 sts (HooverGasEmergencyPercent)+1,r25 |
| 4104 1ff4 8093 0000 sts HooverGasEmergencyPercent,r24 |
| 4105 .L371: |
| 4106 1ff8 2091 0000 lds r18,GasIsZeroCnt |
| 4107 1ffc 3091 0000 lds r19,(GasIsZeroCnt)+1 |
| 4108 2000 55E7 ldi r21,hi8(30000) |
| 4109 2002 2033 cpi r18,lo8(30000) |
| 4110 2004 3507 cpc r19,r21 |
| 4111 2006 01F4 brne .L377 |
| 4112 2008 1092 0000 sts (StickGas)+1,__zero_reg__ |
| 4113 200c 1092 0000 sts StickGas,__zero_reg__ |
| 4114 2010 8091 0000 lds r24,MIN_GAS |
| 4115 2014 9927 clr r25 |
| 4116 2016 9093 0000 sts (HooverGasEmergencyPercent)+1,r25 |
| 4117 201a 8093 0000 sts HooverGasEmergencyPercent,r24 |
| 4118 .L377: |
| 4119 201e 6091 0000 lds r22,StickGas |
| 4120 2022 7091 0000 lds r23,(StickGas)+1 |
| 4121 2026 7A83 std Y+2,r23 |
| 4122 2028 6983 std Y+1,r22 |
| 4123 202a 8091 0000 lds r24,MIN_GAS |
| 4124 202e 9927 clr r25 |
| 4125 2030 0A96 adiw r24,10 |
| 4126 2032 6817 cp r22,r24 |
| 4127 2034 7907 cpc r23,r25 |
| 4128 2036 04F4 brge .L378 |
| 4129 2038 9A83 std Y+2,r25 |
| 4130 203a 8983 std Y+1,r24 |
| 4131 .L378: |
| 4132 203c 8091 0000 lds r24,SenderOkay |
| 4133 2040 8436 cpi r24,lo8(100) |
| 4134 2042 00F0 brlo .+2 |
| 4135 2044 00C0 rjmp .L379 |
| 4136 2046 8091 0000 lds r24,FC_StatusFlags2 |
| 4137 204a 82FD sbrc r24,2 |
| 4138 204c 00C0 rjmp .L379 |
| 4139 204e 8091 0000 lds r24,RcLostTimer.5 |
| 4140 2052 9091 0000 lds r25,(RcLostTimer.5)+1 |
| 4141 2056 0097 sbiw r24,0 |
| 4142 2058 01F0 breq .L380 |
| 4143 205a 0197 sbiw r24,1 |
| 4144 205c 9093 0000 sts (RcLostTimer.5)+1,r25 |
| 4145 2060 8093 0000 sts RcLostTimer.5,r24 |
| 4146 2064 00C0 rjmp .L381 |
| 4147 .L380: |
| 4148 2066 1092 0000 sts MotorenEin,__zero_reg__ |
| 4149 206a 9093 0000 sts (modell_fliegt)+1,r25 |
| 4150 206e 8093 0000 sts modell_fliegt,r24 |
| 4151 2072 8091 0000 lds r24,FC_StatusFlags |
| 4152 2076 8D7E andi r24,lo8(-19) |
| 4153 2078 8093 0000 sts FC_StatusFlags,r24 |
| 4154 .L381: |
| 4155 207c 8091 0000 lds r24,PlatinenVersion |
| 4156 2080 8A30 cpi r24,lo8(10) |
| 4157 2082 01F0 breq .L383 |
| 4158 2084 8431 cpi r24,lo8(20) |
| 4159 2086 00F0 brlo .L382 |
| 4160 .L383: |
| 4161 2088 289A sbi 37-0x20,0 |
| 4162 208a 00C0 rjmp .L384 |
| 4163 .L382: |
| 4164 208c 2898 cbi 37-0x20,0 |
| 4165 .L384: |
| 4166 208e 8091 0000 lds r24,modell_fliegt |
| 4167 2092 9091 0000 lds r25,(modell_fliegt)+1 |
| 4168 2096 895E subi r24,lo8(1001) |
| 4169 2098 9340 sbci r25,hi8(1001) |
| 4170 209a 00F0 brlo .L385 |
| 4171 209c 8091 0000 lds r24,Capacity+6 |
| 4172 20a0 8536 cpi r24,lo8(101) |
| 4173 20a2 00F0 brlo .L385 |
| 4174 20a4 8091 0000 lds r24,HooverGasEmergencyPercent |
| 4175 20a8 9091 0000 lds r25,(HooverGasEmergencyPercent)+1 |
| 4176 20ac 9A83 std Y+2,r25 |
| 4177 20ae 8983 std Y+1,r24 |
| 4178 20b0 8091 0000 lds r24,FC_StatusFlags |
| 4179 20b4 8061 ori r24,lo8(16) |
| 4180 20b6 8093 0000 sts FC_StatusFlags,r24 |
| 4181 20ba 8091 0000 lds r24,EE_Parameter+1 |
| 4182 20be A82F mov r26,r24 |
| 4183 20c0 BB27 clr r27 |
| 4184 20c2 AA0F add r26,r26 |
| 4185 20c4 BB1F adc r27,r27 |
| 4186 20c6 FD01 movw r30,r26 |
| 4187 20c8 E050 subi r30,lo8(-(PPM_diff)) |
| 4188 20ca F040 sbci r31,hi8(-(PPM_diff)) |
| 4189 20cc 1182 std Z+1,__zero_reg__ |
| 4190 20ce 1082 st Z,__zero_reg__ |
| 4191 20d0 8091 0000 lds r24,EE_Parameter+2 |
| 4192 20d4 282F mov r18,r24 |
| 4193 20d6 3327 clr r19 |
| 4194 20d8 220F add r18,r18 |
| 4195 20da 331F adc r19,r19 |
| 4196 20dc C901 movw r24,r18 |
| 4197 20de 8050 subi r24,lo8(-(PPM_diff)) |
| 4198 20e0 9040 sbci r25,hi8(-(PPM_diff)) |
| 4199 20e2 FC01 movw r30,r24 |
| 4200 20e4 1182 std Z+1,__zero_reg__ |
| 4201 20e6 1082 st Z,__zero_reg__ |
| 4202 20e8 A050 subi r26,lo8(-(PPM_in)) |
| 4203 20ea B040 sbci r27,hi8(-(PPM_in)) |
| 4204 20ec 1196 adiw r26,1 |
| 4205 20ee 1C92 st X,__zero_reg__ |
| 4206 20f0 1E92 st -X,__zero_reg__ |
| 4207 20f2 2050 subi r18,lo8(-(PPM_in)) |
| 4208 20f4 3040 sbci r19,hi8(-(PPM_in)) |
| 4209 20f6 D901 movw r26,r18 |
| 4210 20f8 1196 adiw r26,1 |
| 4211 20fa 1C92 st X,__zero_reg__ |
| 4212 20fc 1E92 st -X,__zero_reg__ |
| 4213 20fe 8091 0000 lds r24,EE_Parameter+4 |
| 4214 2102 E82F mov r30,r24 |
| 4215 2104 FF27 clr r31 |
| 4216 2106 EE0F add r30,r30 |
| 4217 2108 FF1F adc r31,r31 |
| 4218 210a E050 subi r30,lo8(-(PPM_in)) |
| 4219 210c F040 sbci r31,hi8(-(PPM_in)) |
| 4220 210e 1182 std Z+1,__zero_reg__ |
| 4221 2110 1082 st Z,__zero_reg__ |
| 4222 2112 00C0 rjmp .L387 |
| 4223 .L385: |
| 4224 2114 1092 0000 sts MotorenEin,__zero_reg__ |
| 4225 2118 00C0 rjmp .L387 |
| 4226 .L379: |
| 4227 211a 8091 0000 lds r24,SenderOkay |
| 4228 211e 8D38 cpi r24,lo8(-115) |
| 4229 2120 00F4 brsh .+2 |
| 4230 2122 00C0 rjmp .L388 |
| 4231 2124 8091 0000 lds r24,FC_StatusFlags |
| 4232 2128 8F7E andi r24,lo8(-17) |
| 4233 212a 8093 0000 sts FC_StatusFlags,r24 |
| 4234 212e 9091 0000 lds r25,EE_Parameter+38 |
| 4235 2132 82E3 ldi r24,lo8(50) |
| 4236 2134 989F mul r25,r24 |
| 4237 2136 C001 movw r24,r0 |
| 4238 2138 1124 clr r1 |
| 4239 213a 9093 0000 sts (RcLostTimer.5)+1,r25 |
| 4240 213e 8093 0000 sts RcLostTimer.5,r24 |
| 4241 2142 E981 ldd r30,Y+1 |
| 4242 2144 FA81 ldd r31,Y+2 |
| 4243 2146 B997 sbiw r30,41 |
| 4244 2148 04F0 brlt .L389 |
| 4245 214a 8091 0000 lds r24,MotorenEin |
| 4246 214e 8823 tst r24 |
| 4247 2150 01F0 breq .L389 |
| 4248 2152 8091 0000 lds r24,modell_fliegt |
| 4249 2156 9091 0000 lds r25,(modell_fliegt)+1 |
| 4250 215a FFEF ldi r31,hi8(-1) |
| 4251 215c 8F3F cpi r24,lo8(-1) |
| 4252 215e 9F07 cpc r25,r31 |
| 4253 2160 01F0 breq .L389 |
| 4254 2162 0196 adiw r24,1 |
| 4255 2164 9093 0000 sts (modell_fliegt)+1,r25 |
| 4256 2168 8093 0000 sts modell_fliegt,r24 |
| 4257 .L389: |
| 4258 216c 8091 0000 lds r24,modell_fliegt |
| 4259 2170 9091 0000 lds r25,(modell_fliegt)+1 |
| 4260 2174 8F3F cpi r24,255 |
| 4261 2176 9105 cpc r25,__zero_reg__ |
| 4262 2178 01F0 breq .+2 |
| 4263 217a 00F4 brsh .L391 |
| 4264 217c 1092 0000 sts SummeNick,__zero_reg__ |
| 4265 2180 1092 0000 sts (SummeNick)+1,__zero_reg__ |
| 4266 2184 1092 0000 sts (SummeNick)+2,__zero_reg__ |
| 4267 2188 1092 0000 sts (SummeNick)+3,__zero_reg__ |
| 4268 218c 1092 0000 sts SummeRoll,__zero_reg__ |
| 4269 2190 1092 0000 sts (SummeRoll)+1,__zero_reg__ |
| 4270 2194 1092 0000 sts (SummeRoll)+2,__zero_reg__ |
| 4271 2198 1092 0000 sts (SummeRoll)+3,__zero_reg__ |
| 4272 219c 1092 0000 sts sollGier.0,__zero_reg__ |
| 4273 21a0 1092 0000 sts (sollGier.0)+1,__zero_reg__ |
| 4274 21a4 1092 0000 sts (sollGier.0)+2,__zero_reg__ |
| 4275 21a8 1092 0000 sts (sollGier.0)+3,__zero_reg__ |
| 4276 21ac 1092 0000 sts Mess_Integral_Gier,__zero_reg__ |
| 4277 21b0 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__ |
| 4278 21b4 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__ |
| 4279 21b8 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__ |
| 4280 21bc 00C0 rjmp .L392 |
| 4281 .L391: |
| 4282 21be 8091 0000 lds r24,FC_StatusFlags |
| 4283 21c2 8260 ori r24,lo8(2) |
| 4284 21c4 8093 0000 sts FC_StatusFlags,r24 |
| 4285 .L392: |
| 4286 21c8 8091 0000 lds r24,EE_Parameter+3 |
| 4287 21cc E82F mov r30,r24 |
| 4288 21ce FF27 clr r31 |
| 4289 21d0 EE0F add r30,r30 |
| 4290 21d2 FF1F adc r31,r31 |
| 4291 21d4 E050 subi r30,lo8(-(PPM_in)) |
| 4292 21d6 F040 sbci r31,hi8(-(PPM_in)) |
| 4293 21d8 8081 ld r24,Z |
| 4294 21da 9181 ldd r25,Z+1 |
| 4295 21dc 8135 cpi r24,81 |
| 4296 21de 9105 cpc r25,__zero_reg__ |
| 4297 21e0 04F4 brge .+2 |
| 4298 21e2 00C0 rjmp .L393 |
| 4299 21e4 2091 0000 lds r18,MotorenEin |
| 4300 21e8 2223 tst r18 |
| 4301 21ea 01F0 breq .+2 |
| 4302 21ec 00C0 rjmp .L393 |
| 4303 21ee 8091 0000 lds r24,EE_Parameter+4 |
| 4304 21f2 E82F mov r30,r24 |
| 4305 21f4 FF27 clr r31 |
| 4306 21f6 EE0F add r30,r30 |
| 4307 21f8 FF1F adc r31,r31 |
| 4308 21fa E050 subi r30,lo8(-(PPM_in)) |
| 4309 21fc F040 sbci r31,hi8(-(PPM_in)) |
| 4310 21fe 8081 ld r24,Z |
| 4311 2200 9181 ldd r25,Z+1 |
| 4312 2202 8C34 cpi r24,76 |
| 4313 2204 9105 cpc r25,__zero_reg__ |
| 4314 2206 04F4 brge .+2 |
| 4315 2208 00C0 rjmp .L394 |
| 4316 220a 8091 0000 lds r24,delay_neutral.6 |
| 4317 220e 8F5F subi r24,lo8(-(1)) |
| 4318 2210 8093 0000 sts delay_neutral.6,r24 |
| 4319 2214 893C cpi r24,lo8(-55) |
| 4320 2216 00F4 brsh .+2 |
| 4321 2218 00C0 rjmp .L393 |
| 4322 221a 2093 0000 sts delay_neutral.6,r18 |
| 4323 221e 1092 0000 sts (modell_fliegt)+1,__zero_reg__ |
| 4324 2222 1092 0000 sts modell_fliegt,__zero_reg__ |
| 4325 2226 3091 0000 lds r19,EE_Parameter+1 |
| 4326 222a E32F mov r30,r19 |
| 4327 222c FF27 clr r31 |
| 4328 222e EE0F add r30,r30 |
| 4329 2230 FF1F adc r31,r31 |
| 4330 2232 E050 subi r30,lo8(-(PPM_in)) |
| 4331 2234 F040 sbci r31,hi8(-(PPM_in)) |
| 4332 2236 8081 ld r24,Z |
| 4333 2238 9181 ldd r25,Z+1 |
| 4334 223a 8734 cpi r24,71 |
| 4335 223c 9105 cpc r25,__zero_reg__ |
| 4336 223e 04F4 brge .L397 |
| 4337 2240 8091 0000 lds r24,EE_Parameter+2 |
| 4338 2244 E82F mov r30,r24 |
| 4339 2246 FF27 clr r31 |
| 4340 2248 EE0F add r30,r30 |
| 4341 224a FF1F adc r31,r31 |
| 4342 224c E050 subi r30,lo8(-(PPM_in)) |
| 4343 224e F040 sbci r31,hi8(-(PPM_in)) |
| 4344 2250 8081 ld r24,Z |
| 4345 2252 9181 ldd r25,Z+1 |
| 4346 2254 0190 ld __tmp_reg__,Z+ |
| 4347 2256 F081 ld r31,Z |
| 4348 2258 E02D mov r30,__tmp_reg__ |
| 4349 225a F7FF sbrs r31,7 |
| 4350 225c 00C0 rjmp .L398 |
| 4351 225e F095 com r31 |
| 4352 2260 E195 neg r30 |
| 4353 2262 FF4F sbci r31,lo8(-1) |
| 4354 .L398: |
| 4355 2264 E734 cpi r30,71 |
| 4356 2266 F105 cpc r31,__zero_reg__ |
| 4357 2268 04F4 brge .+2 |
| 4358 226a 00C0 rjmp .L396 |
| 4359 .L397: |
| 4360 226c 41E0 ldi r20,lo8(1) |
| 4361 226e 2091 0000 lds r18,EE_Parameter+2 |
| 4362 2272 A22F mov r26,r18 |
| 4363 2274 BB27 clr r27 |
| 4364 2276 AA0F add r26,r26 |
| 4365 2278 BB1F adc r27,r27 |
| 4366 227a A050 subi r26,lo8(-(PPM_in)) |
| 4367 227c B040 sbci r27,hi8(-(PPM_in)) |
| 4368 227e 8D91 ld r24,X+ |
| 4369 2280 9C91 ld r25,X |
| 4370 2282 1197 sbiw r26,1 |
| 4371 2284 8734 cpi r24,71 |
| 4372 2286 9105 cpc r25,__zero_reg__ |
| 4373 2288 04F0 brlt .L399 |
| 4374 228a E32F mov r30,r19 |
| 4375 228c FF27 clr r31 |
| 4376 228e EE0F add r30,r30 |
| 4377 2290 FF1F adc r31,r31 |
| 4378 2292 E050 subi r30,lo8(-(PPM_in)) |
| 4379 2294 F040 sbci r31,hi8(-(PPM_in)) |
| 4380 2296 8081 ld r24,Z |
| 4381 2298 9181 ldd r25,Z+1 |
| 4382 .L399: |
| 4383 229a 8D91 ld r24,X+ |
| 4384 229c 9C91 ld r25,X |
| 4385 229e 8734 cpi r24,71 |
| 4386 22a0 9105 cpc r25,__zero_reg__ |
| 4387 22a2 04F0 brlt .L400 |
| 4388 22a4 8091 0000 lds r24,EE_Parameter+1 |
| 4389 22a8 E82F mov r30,r24 |
| 4390 22aa FF27 clr r31 |
| 4391 22ac EE0F add r30,r30 |
| 4392 22ae FF1F adc r31,r31 |
| 4393 22b0 E050 subi r30,lo8(-(PPM_in)) |
| 4394 22b2 F040 sbci r31,hi8(-(PPM_in)) |
| 4395 22b4 8081 ld r24,Z |
| 4396 22b6 9181 ldd r25,Z+1 |
| 4397 22b8 8734 cpi r24,71 |
| 4398 22ba 9105 cpc r25,__zero_reg__ |
| 4399 22bc 04F0 brlt .L400 |
| 4400 22be 42E0 ldi r20,lo8(2) |
| 4401 .L400: |
| 4402 22c0 E22F mov r30,r18 |
| 4403 22c2 FF27 clr r31 |
| 4404 22c4 EE0F add r30,r30 |
| 4405 22c6 FF1F adc r31,r31 |
| 4406 22c8 E050 subi r30,lo8(-(PPM_in)) |
| 4407 22ca F040 sbci r31,hi8(-(PPM_in)) |
| 4408 22cc 8081 ld r24,Z |
| 4409 22ce 9181 ldd r25,Z+1 |
| 4410 22d0 8634 cpi r24,70 |
| 4411 22d2 9105 cpc r25,__zero_reg__ |
| 4412 22d4 04F4 brge .L401 |
| 4413 22d6 8091 0000 lds r24,EE_Parameter+1 |
| 4414 22da E82F mov r30,r24 |
| 4415 22dc FF27 clr r31 |
| 4416 22de EE0F add r30,r30 |
| 4417 22e0 FF1F adc r31,r31 |
| 4418 22e2 E050 subi r30,lo8(-(PPM_in)) |
| 4419 22e4 F040 sbci r31,hi8(-(PPM_in)) |
| 4420 22e6 8081 ld r24,Z |
| 4421 22e8 9181 ldd r25,Z+1 |
| 4422 22ea 8734 cpi r24,71 |
| 4423 22ec 9105 cpc r25,__zero_reg__ |
| 4424 22ee 04F0 brlt .L401 |
| 4425 22f0 43E0 ldi r20,lo8(3) |
| 4426 .L401: |
| 4427 22f2 E22F mov r30,r18 |
| 4428 22f4 FF27 clr r31 |
| 4429 22f6 EE0F add r30,r30 |
| 4430 22f8 FF1F adc r31,r31 |
| 4431 22fa E050 subi r30,lo8(-(PPM_in)) |
| 4432 22fc F040 sbci r31,hi8(-(PPM_in)) |
| 4433 22fe 8081 ld r24,Z |
| 4434 2300 9181 ldd r25,Z+1 |
| 4435 2302 8A5B subi r24,lo8(-70) |
| 4436 2304 9F4F sbci r25,hi8(-70) |
| 4437 2306 04F4 brge .L402 |
| 4438 2308 8091 0000 lds r24,EE_Parameter+1 |
| 4439 230c E82F mov r30,r24 |
| 4440 230e FF27 clr r31 |
| 4441 2310 EE0F add r30,r30 |
| 4442 2312 FF1F adc r31,r31 |
| 4443 2314 E050 subi r30,lo8(-(PPM_in)) |
| 4444 2316 F040 sbci r31,hi8(-(PPM_in)) |
| 4445 2318 8081 ld r24,Z |
| 4446 231a 9181 ldd r25,Z+1 |
| 4447 231c 8734 cpi r24,71 |
| 4448 231e 9105 cpc r25,__zero_reg__ |
| 4449 2320 04F0 brlt .L402 |
| 4450 2322 44E0 ldi r20,lo8(4) |
| 4451 .L402: |
| 4452 2324 E22F mov r30,r18 |
| 4453 2326 FF27 clr r31 |
| 4454 2328 EE0F add r30,r30 |
| 4455 232a FF1F adc r31,r31 |
| 4456 232c E050 subi r30,lo8(-(PPM_in)) |
| 4457 232e F040 sbci r31,hi8(-(PPM_in)) |
| 4458 2330 8081 ld r24,Z |
| 4459 2332 9181 ldd r25,Z+1 |
| 4460 2334 8A5B subi r24,lo8(-70) |
| 4461 2336 9F4F sbci r25,hi8(-70) |
| 4462 2338 04F4 brge .L403 |
| 4463 233a 8091 0000 lds r24,EE_Parameter+1 |
| 4464 233e E82F mov r30,r24 |
| 4465 2340 FF27 clr r31 |
| 4466 2342 EE0F add r30,r30 |
| 4467 2344 FF1F adc r31,r31 |
| 4468 2346 E050 subi r30,lo8(-(PPM_in)) |
| 4469 2348 F040 sbci r31,hi8(-(PPM_in)) |
| 4470 234a 8081 ld r24,Z |
| 4471 234c 9181 ldd r25,Z+1 |
| 4472 234e 8634 cpi r24,70 |
| 4473 2350 9105 cpc r25,__zero_reg__ |
| 4474 2352 04F4 brge .L403 |
| 4475 2354 45E0 ldi r20,lo8(5) |
| 4476 .L403: |
| 4477 2356 842F mov r24,r20 |
| 4478 2358 0E94 0000 call SetActiveParamSet |
| 4479 .L396: |
| 4480 235c 8091 0000 lds r24,EE_Parameter+2 |
| 4481 2360 E82F mov r30,r24 |
| 4482 2362 FF27 clr r31 |
| 4483 2364 EE0F add r30,r30 |
| 4484 2366 FF1F adc r31,r31 |
| 4485 2368 E050 subi r30,lo8(-(PPM_in)) |
| 4486 236a F040 sbci r31,hi8(-(PPM_in)) |
| 4487 236c 8081 ld r24,Z |
| 4488 236e 9181 ldd r25,Z+1 |
| 4489 2370 0190 ld __tmp_reg__,Z+ |
| 4490 2372 F081 ld r31,Z |
| 4491 2374 E02D mov r30,__tmp_reg__ |
| 4492 2376 F7FF sbrs r31,7 |
| 4493 2378 00C0 rjmp .L405 |
| 4494 237a F095 com r31 |
| 4495 237c E195 neg r30 |
| 4496 237e FF4F sbci r31,lo8(-1) |
| 4497 .L405: |
| 4498 2380 7E97 sbiw r30,30 |
| 4499 2382 04F4 brge .L404 |
| 4500 2384 8091 0000 lds r24,EE_Parameter+1 |
| 4501 2388 E82F mov r30,r24 |
| 4502 238a FF27 clr r31 |
| 4503 238c EE0F add r30,r30 |
| 4504 238e FF1F adc r31,r31 |
| 4505 2390 E050 subi r30,lo8(-(PPM_in)) |
| 4506 2392 F040 sbci r31,hi8(-(PPM_in)) |
| 4507 2394 8081 ld r24,Z |
| 4508 2396 9181 ldd r25,Z+1 |
| 4509 2398 8A5B subi r24,lo8(-70) |
| 4510 239a 9F4F sbci r25,hi8(-70) |
| 4511 239c 04F4 brge .L404 |
| 4512 239e 81E0 ldi r24,lo8(1) |
| 4513 23a0 8093 0000 sts WinkelOut+6,r24 |
| 4514 23a4 1092 0000 sts CalibrationDone,__zero_reg__ |
| 4515 23a8 88EE ldi r24,lo8(1000) |
| 4516 23aa 93E0 ldi r25,hi8(1000) |
| 4517 23ac 9093 0000 sts (beeptime)+1,r25 |
| 4518 23b0 8093 0000 sts beeptime,r24 |
| 4519 23b4 00C0 rjmp .L393 |
| 4520 .L404: |
| 4521 23b6 0E94 0000 call GetActiveParamSet |
| 4522 23ba 0E94 0000 call ParamSet_ReadFromEEProm |
| 4523 23be 80E0 ldi r24,lo8(0) |
| 4524 23c0 0E94 0000 call LipoDetection |
| 4525 23c4 8091 0000 lds r24,EE_Parameter+39 |
| 4526 23c8 0E94 0000 call LIBFC_ReceiverInit |
| 4527 23cc 8091 0000 lds r24,Parameter_GlobalConfig |
| 4528 23d0 80FF sbrs r24,0 |
| 4529 23d2 00C0 rjmp .L407 |
| 4530 23d4 8091 0000 lds r24,MessLuftdruck |
| 4531 23d8 9091 0000 lds r25,(MessLuftdruck)+1 |
| 4532 23dc 875B subi r24,lo8(951) |
| 4533 23de 9340 sbci r25,hi8(951) |
| 4534 23e0 00F4 brsh .L409 |
| 4535 23e2 8091 0000 lds r24,MessLuftdruck |
| 4536 23e6 9091 0000 lds r25,(MessLuftdruck)+1 |
| 4537 23ea 8E5E subi r24,lo8(750) |
| 4538 23ec 9240 sbci r25,hi8(750) |
| 4539 23ee 00F4 brsh .L407 |
| 4540 .L409: |
| 4541 23f0 0E94 0000 call SucheLuftruckOffset |
| 4542 .L407: |
| 4543 23f4 80E0 ldi r24,lo8(0) |
| 4544 23f6 0E94 0000 call SetNeutral |
| 4545 23fa 81E0 ldi r24,lo8(1) |
| 4546 23fc 8093 0000 sts CalibrationDone,r24 |
| 4547 2400 8093 0000 sts ServoActive,r24 |
| 4548 2404 579A sbi 42-0x20,7 |
| 4549 2406 00C0 rjmp .L894 |
| 4550 .L394: |
| 4551 2408 8081 ld r24,Z |
| 4552 240a 9181 ldd r25,Z+1 |
| 4553 240c 855B subi r24,lo8(-75) |
| 4554 240e 9F4F sbci r25,hi8(-75) |
| 4555 2410 04F4 brge .L411 |
| 4556 2412 8091 0000 lds r24,delay_neutral.6 |
| 4557 2416 8F5F subi r24,lo8(-(1)) |
| 4558 2418 8093 0000 sts delay_neutral.6,r24 |
| 4559 241c 893C cpi r24,lo8(-55) |
| 4560 241e 00F0 brlo .L393 |
| 4561 2420 2093 0000 sts MotorenEin,r18 |
| 4562 2424 2093 0000 sts delay_neutral.6,r18 |
| 4563 2428 1092 0000 sts (modell_fliegt)+1,__zero_reg__ |
| 4564 242c 1092 0000 sts modell_fliegt,__zero_reg__ |
| 4565 2430 81E0 ldi r24,lo8(1) |
| 4566 2432 0E94 0000 call SetNeutral |
| 4567 2436 81E0 ldi r24,lo8(1) |
| 4568 2438 8093 0000 sts CalibrationDone,r24 |
| 4569 .L894: |
| 4570 243c 88E1 ldi r24,lo8(24) |
| 4571 243e 8093 0000 sts SpeakHoTT,r24 |
| 4572 2442 0E94 0000 call GetActiveParamSet |
| 4573 2446 68E7 ldi r22,lo8(120) |
| 4574 2448 70E0 ldi r23,hi8(120) |
| 4575 244a 0E94 0000 call Piep |
| 4576 244e 00C0 rjmp .L393 |
| 4577 .L411: |
| 4578 2450 2093 0000 sts delay_neutral.6,r18 |
| 4579 .L393: |
| 4580 2454 8091 0000 lds r24,EE_Parameter+3 |
| 4581 2458 E82F mov r30,r24 |
| 4582 245a FF27 clr r31 |
| 4583 245c EE0F add r30,r30 |
| 4584 245e FF1F adc r31,r31 |
| 4585 2460 E050 subi r30,lo8(-(PPM_in)) |
| 4586 2462 F040 sbci r31,hi8(-(PPM_in)) |
| 4587 2464 8081 ld r24,Z |
| 4588 2466 9181 ldd r25,Z+1 |
| 4589 2468 8B5A subi r24,lo8(-85) |
| 4590 246a 9F4F sbci r25,hi8(-85) |
| 4591 246c 04F0 brlt .+2 |
| 4592 246e 00C0 rjmp .L414 |
| 4593 2470 2091 0000 lds r18,EE_Parameter+100 |
| 4594 2474 E22F mov r30,r18 |
| 4595 2476 FF27 clr r31 |
| 4596 2478 EF77 andi r30,lo8(127) |
| 4597 247a F070 andi r31,hi8(127) |
| 4598 247c EE0F add r30,r30 |
| 4599 247e FF1F adc r31,r31 |
| 4600 2480 E050 subi r30,lo8(-(PPM_diff)) |
| 4601 2482 F040 sbci r31,hi8(-(PPM_diff)) |
| 4602 2484 8081 ld r24,Z |
| 4603 2486 9181 ldd r25,Z+1 |
| 4604 2488 0697 sbiw r24,6 |
| 4605 248a 04F0 brlt .L415 |
| 4606 248c 84E6 ldi r24,lo8(100) |
| 4607 248e 00C0 rjmp .L895 |
| 4608 .L415: |
| 4609 2490 8081 ld r24,Z |
| 4610 2492 9181 ldd r25,Z+1 |
| 4611 2494 8B5F subi r24,lo8(-5) |
| 4612 2496 9F4F sbci r25,hi8(-5) |
| 4613 2498 04F4 brge .L416 |
| 4614 249a 8CE9 ldi r24,lo8(-100) |
| 4615 .L895: |
| 4616 249c 8093 0000 sts move_safety_switch.9,r24 |
| 4617 .L416: |
| 4618 24a0 8091 0000 lds r24,MotorenEin |
| 4619 24a4 E091 0000 lds r30,EE_Parameter+4 |
| 4620 24a8 8823 tst r24 |
| 4621 24aa 01F0 breq .+2 |
| 4622 24ac 00C0 rjmp .L418 |
| 4623 24ae FF27 clr r31 |
| 4624 24b0 EE0F add r30,r30 |
| 4625 24b2 FF1F adc r31,r31 |
| 4626 24b4 E050 subi r30,lo8(-(PPM_in)) |
| 4627 24b6 F040 sbci r31,hi8(-(PPM_in)) |
| 4628 24b8 8081 ld r24,Z |
| 4629 24ba 9181 ldd r25,Z+1 |
| 4630 24bc 855B subi r24,lo8(-75) |
| 4631 24be 9F4F sbci r25,hi8(-75) |
| 4632 24c0 04F4 brge .L421 |
| 4633 24c2 8091 0000 lds r24,EE_Parameter+111 |
| 4634 24c6 83FD sbrc r24,3 |
| 4635 24c8 00C0 rjmp .L422 |
| 4636 24ca E22F mov r30,r18 |
| 4637 24cc FF27 clr r31 |
| 4638 24ce EE0F add r30,r30 |
| 4639 24d0 FF1F adc r31,r31 |
| 4640 24d2 E050 subi r30,lo8(-(PPM_in)) |
| 4641 24d4 F040 sbci r31,hi8(-(PPM_in)) |
| 4642 24d6 8081 ld r24,Z |
| 4643 24d8 9181 ldd r25,Z+1 |
| 4644 24da 855B subi r24,lo8(-75) |
| 4645 24dc 9F4F sbci r25,hi8(-75) |
| 4646 24de 04F0 brlt .L420 |
| 4647 .L422: |
| 4648 24e0 8091 0000 lds r24,EE_Parameter+100 |
| 4649 24e4 8823 tst r24 |
| 4650 24e6 01F0 breq .L420 |
| 4651 .L421: |
| 4652 24e8 8091 0000 lds r24,EE_Parameter+111 |
| 4653 24ec 83FF sbrs r24,3 |
| 4654 24ee 00C0 rjmp .L419 |
| 4655 24f0 8091 0000 lds r24,EE_Parameter+100 |
| 4656 24f4 E82F mov r30,r24 |
| 4657 24f6 FF27 clr r31 |
| 4658 24f8 EE0F add r30,r30 |
| 4659 24fa FF1F adc r31,r31 |
| 4660 24fc E050 subi r30,lo8(-(PPM_in)) |
| 4661 24fe F040 sbci r31,hi8(-(PPM_in)) |
| 4662 2500 8081 ld r24,Z |
| 4663 2502 9181 ldd r25,Z+1 |
| 4664 2504 875F subi r24,lo8(-9) |
| 4665 2506 9F4F sbci r25,hi8(-9) |
| 4666 2508 04F4 brge .+2 |
| 4667 250a 00C0 rjmp .L419 |
| 4668 250c 8091 0000 lds r24,move_safety_switch.9 |
| 4669 2510 8436 cpi r24,lo8(100) |
| 4670 2512 01F0 breq .+2 |
| 4671 2514 00C0 rjmp .L419 |
| 4672 .L420: |
| 4673 2516 2091 0000 lds r18,CalibrationDone |
| 4674 251a 2223 tst r18 |
| 4675 251c 01F0 breq .L423 |
| 4676 251e 8091 0000 lds r24,FC_StatusFlags |
| 4677 2522 8860 ori r24,lo8(8) |
| 4678 2524 8093 0000 sts FC_StatusFlags,r24 |
| 4679 .L423: |
| 4680 2528 8091 0000 lds r24,delay_einschalten.7 |
| 4681 252c 8F5F subi r24,lo8(-(1)) |
| 4682 252e 8093 0000 sts delay_einschalten.7,r24 |
| 4683 2532 8E3F cpi r24,lo8(-2) |
| 4684 2534 00F4 brsh .+2 |
| 4685 2536 00C0 rjmp .L429 |
| 4686 2538 1092 0000 sts delay_einschalten.7,__zero_reg__ |
| 4687 253c 8091 0000 lds r24,VersionInfo+5 |
| 4688 2540 8823 tst r24 |
| 4689 2542 01F0 breq .+2 |
| 4690 2544 00C0 rjmp .L425 |
| 4691 2546 2223 tst r18 |
| 4692 2548 01F4 brne .+2 |
| 4693 254a 00C0 rjmp .L425 |
| 4694 254c 8091 0000 lds r24,NC_ErrorCode |
| 4695 2550 8823 tst r24 |
| 4696 2552 01F0 breq .+2 |
| 4697 2554 00C0 rjmp .L425 |
| 4698 2556 81E0 ldi r24,lo8(1) |
| 4699 2558 90E0 ldi r25,hi8(1) |
| 4700 255a 9093 0000 sts (modell_fliegt)+1,r25 |
| 4701 255e 8093 0000 sts modell_fliegt,r24 |
| 4702 2562 81E0 ldi r24,lo8(1) |
| 4703 2564 8093 0000 sts MotorenEin,r24 |
| 4704 2568 1092 0000 sts sollGier.0,__zero_reg__ |
| 4705 256c 1092 0000 sts (sollGier.0)+1,__zero_reg__ |
| 4706 2570 1092 0000 sts (sollGier.0)+2,__zero_reg__ |
| 4707 2574 1092 0000 sts (sollGier.0)+3,__zero_reg__ |
| 4708 2578 1092 0000 sts Mess_Integral_Gier,__zero_reg__ |
| 4709 257c 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__ |
| 4710 2580 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__ |
| 4711 2584 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__ |
| 4712 2588 1092 0000 sts Mess_Integral_Gier2,__zero_reg__ |
| 4713 258c 1092 0000 sts (Mess_Integral_Gier2)+1,__zero_reg__ |
| 4714 2590 1092 0000 sts (Mess_Integral_Gier2)+2,__zero_reg__ |
| 4715 2594 1092 0000 sts (Mess_Integral_Gier2)+3,__zero_reg__ |
| 4716 2598 8091 0000 lds r24,EE_Parameter+28 |
| 4717 259c E82E mov r14,r24 |
| 4718 259e FF24 clr r15 |
| 4719 25a0 0027 clr r16 |
| 4720 25a2 1127 clr r17 |
| 4721 25a4 8091 0000 lds r24,Mittelwert_AccNick |
| 4722 25a8 9091 0000 lds r25,(Mittelwert_AccNick)+1 |
| 4723 25ac 9C01 movw r18,r24 |
| 4724 25ae 4427 clr r20 |
| 4725 25b0 37FD sbrc r19,7 |
| 4726 25b2 4095 com r20 |
| 4727 25b4 542F mov r21,r20 |
| 4728 25b6 C801 movw r24,r16 |
| 4729 25b8 B701 movw r22,r14 |
| 4730 25ba 0E94 0000 call __mulsi3 |
| 4731 25be DC01 movw r26,r24 |
| 4732 25c0 CB01 movw r24,r22 |
| 4733 25c2 8093 0000 sts Mess_IntegralNick,r24 |
| 4734 25c6 9093 0000 sts (Mess_IntegralNick)+1,r25 |
| 4735 25ca A093 0000 sts (Mess_IntegralNick)+2,r26 |
| 4736 25ce B093 0000 sts (Mess_IntegralNick)+3,r27 |
| 4737 25d2 8091 0000 lds r24,Mittelwert_AccRoll |
| 4738 25d6 9091 0000 lds r25,(Mittelwert_AccRoll)+1 |
| 4739 25da 9C01 movw r18,r24 |
| 4740 25dc 4427 clr r20 |
| 4741 25de 37FD sbrc r19,7 |
| 4742 25e0 4095 com r20 |
| 4743 25e2 542F mov r21,r20 |
| 4744 25e4 C801 movw r24,r16 |
| 4745 25e6 B701 movw r22,r14 |
| 4746 25e8 0E94 0000 call __mulsi3 |
| 4747 25ec DC01 movw r26,r24 |
| 4748 25ee CB01 movw r24,r22 |
| 4749 25f0 8093 0000 sts Mess_IntegralRoll,r24 |
| 4750 25f4 9093 0000 sts (Mess_IntegralRoll)+1,r25 |
| 4751 25f8 A093 0000 sts (Mess_IntegralRoll)+2,r26 |
| 4752 25fc B093 0000 sts (Mess_IntegralRoll)+3,r27 |
| 4753 2600 8091 0000 lds r24,IntegralNick |
| 4754 2604 9091 0000 lds r25,(IntegralNick)+1 |
| 4755 2608 A091 0000 lds r26,(IntegralNick)+2 |
| 4756 260c B091 0000 lds r27,(IntegralNick)+3 |
| 4757 2610 8093 0000 sts Mess_IntegralNick2,r24 |
| 4758 2614 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
| 4759 2618 A093 0000 sts (Mess_IntegralNick2)+2,r26 |
| 4760 261c B093 0000 sts (Mess_IntegralNick2)+3,r27 |
| 4761 2620 8091 0000 lds r24,IntegralRoll |
| 4762 2624 9091 0000 lds r25,(IntegralRoll)+1 |
| 4763 2628 A091 0000 lds r26,(IntegralRoll)+2 |
| 4764 262c B091 0000 lds r27,(IntegralRoll)+3 |
| 4765 2630 8093 0000 sts Mess_IntegralRoll2,r24 |
| 4766 2634 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
| 4767 2638 A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
| 4768 263c B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
| 4769 2640 1092 0000 sts SummeNick,__zero_reg__ |
| 4770 2644 1092 0000 sts (SummeNick)+1,__zero_reg__ |
| 4771 2648 1092 0000 sts (SummeNick)+2,__zero_reg__ |
| 4772 264c 1092 0000 sts (SummeNick)+3,__zero_reg__ |
| 4773 2650 1092 0000 sts SummeRoll,__zero_reg__ |
| 4774 2654 1092 0000 sts (SummeRoll)+1,__zero_reg__ |
| 4775 2658 1092 0000 sts (SummeRoll)+2,__zero_reg__ |
| 4776 265c 1092 0000 sts (SummeRoll)+3,__zero_reg__ |
| 4777 2660 84E6 ldi r24,lo8(100) |
| 4778 2662 8093 0000 sts NeueKompassRichtungMerken,r24 |
| 4779 2666 84E3 ldi r24,lo8(52) |
| 4780 2668 00C0 rjmp .L896 |
| 4781 .L425: |
| 4782 266a 8CED ldi r24,lo8(1500) |
| 4783 266c 95E0 ldi r25,hi8(1500) |
| 4784 266e 9093 0000 sts (beeptime)+1,r25 |
| 4785 2672 8093 0000 sts beeptime,r24 |
| 4786 2676 2223 tst r18 |
| 4787 2678 01F0 breq .+2 |
| 4788 267a 00C0 rjmp .L429 |
| 4789 267c 81E0 ldi r24,lo8(1) |
| 4790 267e 00C0 rjmp .L896 |
| 4791 .L419: |
| 4792 2680 1092 0000 sts delay_einschalten.7,__zero_reg__ |
| 4793 2684 00C0 rjmp .L429 |
| 4794 .L418: |
| 4795 2686 FF27 clr r31 |
| 4796 2688 EE0F add r30,r30 |
| 4797 268a FF1F adc r31,r31 |
| 4798 268c E050 subi r30,lo8(-(PPM_in)) |
| 4799 268e F040 sbci r31,hi8(-(PPM_in)) |
| 4800 2690 8081 ld r24,Z |
| 4801 2692 9181 ldd r25,Z+1 |
| 4802 2694 8C34 cpi r24,76 |
| 4803 2696 9105 cpc r25,__zero_reg__ |
| 4804 2698 04F0 brlt .L432 |
| 4805 269a 8091 0000 lds r24,EE_Parameter+111 |
| 4806 269e 83FD sbrc r24,3 |
| 4807 26a0 00C0 rjmp .L433 |
| 4808 26a2 E22F mov r30,r18 |
| 4809 26a4 FF27 clr r31 |
| 4810 26a6 EE0F add r30,r30 |
| 4811 26a8 FF1F adc r31,r31 |
| 4812 26aa E050 subi r30,lo8(-(PPM_in)) |
| 4813 26ac F040 sbci r31,hi8(-(PPM_in)) |
| 4814 26ae 8081 ld r24,Z |
| 4815 26b0 9181 ldd r25,Z+1 |
| 4816 26b2 855B subi r24,lo8(-75) |
| 4817 26b4 9F4F sbci r25,hi8(-75) |
| 4818 26b6 04F0 brlt .L431 |
| 4819 .L433: |
| 4820 26b8 8091 0000 lds r24,EE_Parameter+100 |
| 4821 26bc 8823 tst r24 |
| 4822 26be 01F0 breq .L431 |
| 4823 .L432: |
| 4824 26c0 8091 0000 lds r24,EE_Parameter+111 |
| 4825 26c4 83FF sbrs r24,3 |
| 4826 26c6 00C0 rjmp .L430 |
| 4827 26c8 8091 0000 lds r24,EE_Parameter+100 |
| 4828 26cc E82F mov r30,r24 |
| 4829 26ce FF27 clr r31 |
| 4830 26d0 EE0F add r30,r30 |
| 4831 26d2 FF1F adc r31,r31 |
| 4832 26d4 E050 subi r30,lo8(-(PPM_in)) |
| 4833 26d6 F040 sbci r31,hi8(-(PPM_in)) |
| 4834 26d8 8081 ld r24,Z |
| 4835 26da 9181 ldd r25,Z+1 |
| 4836 26dc 8E5C subi r24,lo8(-50) |
| 4837 26de 9F4F sbci r25,hi8(-50) |
| 4838 26e0 04F4 brge .L430 |
| 4839 26e2 8091 0000 lds r24,move_safety_switch.9 |
| 4840 26e6 8C39 cpi r24,lo8(-100) |
| 4841 26e8 01F4 brne .L430 |
| 4842 .L431: |
| 4843 26ea 8091 0000 lds r24,delay_ausschalten.8 |
| 4844 26ee 8F5F subi r24,lo8(-(1)) |
| 4845 26f0 8093 0000 sts delay_ausschalten.8,r24 |
| 4846 26f4 8B3F cpi r24,lo8(-5) |
| 4847 26f6 00F0 brlo .L429 |
| 4848 26f8 1092 0000 sts MotorenEin,__zero_reg__ |
| 4849 26fc 1092 0000 sts delay_ausschalten.8,__zero_reg__ |
| 4850 2700 1092 0000 sts (modell_fliegt)+1,__zero_reg__ |
| 4851 2704 1092 0000 sts modell_fliegt,__zero_reg__ |
| 4852 2708 86E2 ldi r24,lo8(38) |
| 4853 .L896: |
| 4854 270a 8093 0000 sts SpeakHoTT,r24 |
| 4855 270e 00C0 rjmp .L429 |
| 4856 .L430: |
| 4857 2710 1092 0000 sts delay_ausschalten.8,__zero_reg__ |
| 4858 .L429: |
| 4859 2714 8091 0000 lds r24,GasIsZeroCnt |
| 4860 2718 9091 0000 lds r25,(GasIsZeroCnt)+1 |
| 4861 271c 13E0 ldi r17,hi8(1000) |
| 4862 271e 883E cpi r24,lo8(1000) |
| 4863 2720 9107 cpc r25,r17 |
| 4864 2722 00F4 brsh .L387 |
| 4865 2724 0196 adiw r24,1 |
| 4866 2726 9093 0000 sts (GasIsZeroCnt)+1,r25 |
| 4867 272a 8093 0000 sts GasIsZeroCnt,r24 |
| 4868 272e 00C0 rjmp .L387 |
| 4869 .L414: |
| 4870 2730 1092 0000 sts move_safety_switch.9,__zero_reg__ |
| 4871 2734 1092 0000 sts (GasIsZeroCnt)+1,__zero_reg__ |
| 4872 2738 1092 0000 sts GasIsZeroCnt,__zero_reg__ |
| 4873 273c 00C0 rjmp .L387 |
| 4874 .L388: |
| 4875 273e 2E5E subi r18,lo8(750) |
| 4876 2740 3240 sbci r19,hi8(750) |
| 4877 2742 00F0 brlo .L387 |
| 4878 2744 8091 0000 lds r24,GPSInfo+4 |
| 4879 2748 9091 0000 lds r25,(GPSInfo+4)+1 |
| 4880 274c 8059 subi r24,lo8(400) |
| 4881 274e 9140 sbci r25,hi8(400) |
| 4882 2750 00F4 brsh .L387 |
| 4883 2752 8091 0000 lds r24,HoehenWert |
| 4884 2756 9091 0000 lds r25,(HoehenWert)+1 |
| 4885 275a A091 0000 lds r26,(HoehenWert)+2 |
| 4886 275e B091 0000 lds r27,(HoehenWert)+3 |
| 4887 2762 8C5D subi r24,lo8(1500) |
| 4888 2764 9540 sbci r25,hi8(1500) |
| 4889 2766 A040 sbci r26,hlo8(1500) |
| 4890 2768 B040 sbci r27,hhi8(1500) |
| 4891 276a 04F4 brge .L387 |
| 4892 276c 80E3 ldi r24,lo8(30000) |
| 4893 276e 95E7 ldi r25,hi8(30000) |
| 4894 2770 9093 0000 sts (GasIsZeroCnt)+1,r25 |
| 4895 2774 8093 0000 sts GasIsZeroCnt,r24 |
| 4896 2778 8091 0000 lds r24,modell_fliegt |
| 4897 277c 9091 0000 lds r25,(modell_fliegt)+1 |
| 4898 2780 8A5E subi r24,lo8(1002) |
| 4899 2782 9340 sbci r25,hi8(1002) |
| 4900 2784 00F0 brlo .L387 |
| 4901 2786 89EE ldi r24,lo8(1001) |
| 4902 2788 93E0 ldi r25,hi8(1001) |
| 4903 278a 9093 0000 sts (modell_fliegt)+1,r25 |
| 4904 278e 8093 0000 sts modell_fliegt,r24 |
| 4905 .L387: |
| 4906 2792 8091 0000 lds r24,NewPpmData |
| 4907 2796 8150 subi r24,lo8(-(-1)) |
| 4908 2798 8093 0000 sts NewPpmData,r24 |
| 4909 279c 8091 0000 lds r24,NewPpmData |
| 4910 27a0 8F3F cpi r24,lo8(-1) |
| 4911 27a2 01F0 breq .L443 |
| 4912 27a4 8091 0000 lds r24,FC_StatusFlags |
| 4913 27a8 84FF sbrs r24,4 |
| 4914 27aa 00C0 rjmp .L442 |
| 4915 .L443: |
| 4916 27ac 0E94 0000 call ParameterZuordnung |
| 4917 27b0 B090 0000 lds r11,EE_Parameter+23 |
| 4918 27b4 8091 0000 lds r24,stick_nick.12 |
| 4919 27b8 9091 0000 lds r25,(stick_nick.12)+1 |
| 4920 27bc 9C01 movw r18,r24 |
| 4921 27be 220F lsl r18 |
| 4922 27c0 331F rol r19 |
| 4923 27c2 280F add r18,r24 |
| 4924 27c4 391F adc r19,r25 |
| 4925 27c6 C090 0000 lds r12,EE_Parameter+1 |
| 4926 27ca AC2D mov r26,r12 |
| 4927 27cc BB27 clr r27 |
| 4928 27ce AA0F add r26,r26 |
| 4929 27d0 BB1F adc r27,r27 |
| 4930 27d2 FD01 movw r30,r26 |
| 4931 27d4 E050 subi r30,lo8(-(PPM_in)) |
| 4932 27d6 F040 sbci r31,hi8(-(PPM_in)) |
| 4933 27d8 4B2D mov r20,r11 |
| 4934 27da 5527 clr r21 |
| 4935 27dc 8081 ld r24,Z |
| 4936 27de 9181 ldd r25,Z+1 |
| 4937 27e0 849F mul r24,r20 |
| 4938 27e2 F001 movw r30,r0 |
| 4939 27e4 859F mul r24,r21 |
| 4940 27e6 F00D add r31,r0 |
| 4941 27e8 949F mul r25,r20 |
| 4942 27ea F00D add r31,r0 |
| 4943 27ec 1124 clr r1 |
| 4944 27ee 2E0F add r18,r30 |
| 4945 27f0 3F1F adc r19,r31 |
| 4946 27f2 37FF sbrs r19,7 |
| 4947 27f4 00C0 rjmp .L444 |
| 4948 27f6 2D5F subi r18,lo8(-(3)) |
| 4949 27f8 3F4F sbci r19,hi8(-(3)) |
| 4950 .L444: |
| 4951 27fa B901 movw r22,r18 |
| 4952 27fc 7595 asr r23 |
| 4953 27fe 6795 ror r22 |
| 4954 2800 7595 asr r23 |
| 4955 2802 6795 ror r22 |
| 4956 2804 A050 subi r26,lo8(-(PPM_diff)) |
| 4957 2806 B040 sbci r27,hi8(-(PPM_diff)) |
| 4958 2808 8091 0000 lds r24,EE_Parameter+24 |
| 4959 280c 082F mov r16,r24 |
| 4960 280e 1127 clr r17 |
| 4961 2810 8D91 ld r24,X+ |
| 4962 2812 9C91 ld r25,X |
| 4963 2814 809F mul r24,r16 |
| 4964 2816 7001 movw r14,r0 |
| 4965 2818 819F mul r24,r17 |
| 4966 281a F00C add r15,r0 |
| 4967 281c 909F mul r25,r16 |
| 4968 281e F00C add r15,r0 |
| 4969 2820 1124 clr r1 |
| 4970 2822 6E0D add r22,r14 |
| 4971 2824 7F1D adc r23,r15 |
| 4972 2826 7093 0000 sts (stick_nick.12)+1,r23 |
| 4973 282a 6093 0000 sts stick_nick.12,r22 |
| 4974 282e 8091 0000 lds r24,stick_roll.13 |
| 4975 2832 9091 0000 lds r25,(stick_roll.13)+1 |
| 4976 2836 9C01 movw r18,r24 |
| 4977 2838 220F lsl r18 |
| 4978 283a 331F rol r19 |
| 4979 283c 280F add r18,r24 |
| 4980 283e 391F adc r19,r25 |
| 4981 2840 D090 0000 lds r13,EE_Parameter+2 |
| 4982 2844 AD2D mov r26,r13 |
| 4983 2846 BB27 clr r27 |
| 4984 2848 AA0F add r26,r26 |
| 4985 284a BB1F adc r27,r27 |
| 4986 284c FD01 movw r30,r26 |
| 4987 284e E050 subi r30,lo8(-(PPM_in)) |
| 4988 2850 F040 sbci r31,hi8(-(PPM_in)) |
| 4989 2852 8081 ld r24,Z |
| 4990 2854 9181 ldd r25,Z+1 |
| 4991 2856 849F mul r24,r20 |
| 4992 2858 F001 movw r30,r0 |
| 4993 285a 859F mul r24,r21 |
| 4994 285c F00D add r31,r0 |
| 4995 285e 949F mul r25,r20 |
| 4996 2860 F00D add r31,r0 |
| 4997 2862 1124 clr r1 |
| 4998 2864 2E0F add r18,r30 |
| 4999 2866 3F1F adc r19,r31 |
| 5000 2868 37FF sbrs r19,7 |
| 5001 286a 00C0 rjmp .L445 |
| 5002 286c 2D5F subi r18,lo8(-(3)) |
| 5003 286e 3F4F sbci r19,hi8(-(3)) |
| 5004 .L445: |
| 5005 2870 A901 movw r20,r18 |
| 5006 2872 5595 asr r21 |
| 5007 2874 4795 ror r20 |
| 5008 2876 5595 asr r21 |
| 5009 2878 4795 ror r20 |
| 5010 287a A050 subi r26,lo8(-(PPM_diff)) |
| 5011 287c B040 sbci r27,hi8(-(PPM_diff)) |
| 5012 287e 8D91 ld r24,X+ |
| 5013 2880 9C91 ld r25,X |
| 5014 2882 809F mul r24,r16 |
| 5015 2884 7001 movw r14,r0 |
| 5016 2886 819F mul r24,r17 |
| 5017 2888 F00C add r15,r0 |
| 5018 288a 909F mul r25,r16 |
| 5019 288c F00C add r15,r0 |
| 5020 288e 1124 clr r1 |
| 5021 2890 4E0D add r20,r14 |
| 5022 2892 5F1D adc r21,r15 |
| 5023 2894 5093 0000 sts (stick_roll.13)+1,r21 |
| 5024 2898 4093 0000 sts stick_roll.13,r20 |
| 5025 289c 8091 0000 lds r24,CareFree |
| 5026 28a0 8823 tst r24 |
| 5027 28a2 01F4 brne .+2 |
| 5028 28a4 00C0 rjmp .L446 |
| 5029 28a6 CB01 movw r24,r22 |
| 5030 28a8 77FD sbrc r23,7 |
| 5031 28aa 0396 adiw r24,3 |
| 5032 .L447: |
| 5033 28ac DC01 movw r26,r24 |
| 5034 28ae B595 asr r27 |
| 5035 28b0 A795 ror r26 |
| 5036 28b2 B595 asr r27 |
| 5037 28b4 A795 ror r26 |
| 5038 28b6 CA01 movw r24,r20 |
| 5039 28b8 57FD sbrc r21,7 |
| 5040 28ba 0396 adiw r24,3 |
| 5041 .L448: |
| 5042 28bc FC01 movw r30,r24 |
| 5043 28be F595 asr r31 |
| 5044 28c0 E795 ror r30 |
| 5045 28c2 F595 asr r31 |
| 5046 28c4 E795 ror r30 |
| 5047 28c6 8091 0000 lds r24,FromNC_Rotate_C |
| 5048 28ca 682F mov r22,r24 |
| 5049 28cc 7727 clr r23 |
| 5050 28ce 67FD sbrc r22,7 |
| 5051 28d0 7095 com r23 |
| 5052 28d2 6A9F mul r22,r26 |
| 5053 28d4 9001 movw r18,r0 |
| 5054 28d6 6B9F mul r22,r27 |
| 5055 28d8 300D add r19,r0 |
| 5056 28da 7A9F mul r23,r26 |
| 5057 28dc 300D add r19,r0 |
| 5058 28de 1124 clr r1 |
| 5059 28e0 8091 0000 lds r24,FromNC_Rotate_S |
| 5060 28e4 482F mov r20,r24 |
| 5061 28e6 5527 clr r21 |
| 5062 28e8 47FD sbrc r20,7 |
| 5063 28ea 5095 com r21 |
| 5064 28ec 4E9F mul r20,r30 |
| 5065 28ee C001 movw r24,r0 |
| 5066 28f0 4F9F mul r20,r31 |
| 5067 28f2 900D add r25,r0 |
| 5068 28f4 5E9F mul r21,r30 |
| 5069 28f6 900D add r25,r0 |
| 5070 28f8 1124 clr r1 |
| 5071 28fa 280F add r18,r24 |
| 5072 28fc 391F adc r19,r25 |
| 5073 28fe 37FF sbrs r19,7 |
| 5074 2900 00C0 rjmp .L449 |
| 5075 2902 295F subi r18,lo8(-(7)) |
| 5076 2904 3F4F sbci r19,hi8(-(7)) |
| 5077 .L449: |
| 5078 2906 93E0 ldi r25,3 |
| 5079 2908 3595 1: asr r19 |
| 5080 290a 2795 ror r18 |
| 5081 290c 9A95 dec r25 |
| 5082 290e 01F4 brne 1b |
| 5083 2910 3093 0000 sts (StickNick)+1,r19 |
| 5084 2914 2093 0000 sts StickNick,r18 |
| 5085 2918 6E9F mul r22,r30 |
| 5086 291a 9001 movw r18,r0 |
| 5087 291c 6F9F mul r22,r31 |
| 5088 291e 300D add r19,r0 |
| 5089 2920 7E9F mul r23,r30 |
| 5090 2922 300D add r19,r0 |
| 5091 2924 1124 clr r1 |
| 5092 2926 4A9F mul r20,r26 |
| 5093 2928 C001 movw r24,r0 |
| 5094 292a 4B9F mul r20,r27 |
| 5095 292c 900D add r25,r0 |
| 5096 292e 5A9F mul r21,r26 |
| 5097 2930 900D add r25,r0 |
| 5098 2932 1124 clr r1 |
| 5099 2934 00C0 rjmp .L925 |
| 5100 .L446: |
| 5101 2936 8091 0000 lds r24,EE_Parameter+98 |
| 5102 293a E82F mov r30,r24 |
| 5103 293c FF27 clr r31 |
| 5104 293e E050 subi r30,lo8(-(sintab)) |
| 5105 2940 F040 sbci r31,hi8(-(sintab)) |
| 5106 2942 8681 ldd r24,Z+6 |
| 5107 2944 8093 0000 sts FromNC_Rotate_C,r24 |
| 5108 2948 9081 ld r25,Z |
| 5109 294a 9093 0000 sts FromNC_Rotate_S,r25 |
| 5110 294e A82F mov r26,r24 |
| 5111 2950 BB27 clr r27 |
| 5112 2952 A7FD sbrc r26,7 |
| 5113 2954 B095 com r27 |
| 5114 2956 A69F mul r26,r22 |
| 5115 2958 9001 movw r18,r0 |
| 5116 295a A79F mul r26,r23 |
| 5117 295c 300D add r19,r0 |
| 5118 295e B69F mul r27,r22 |
| 5119 2960 300D add r19,r0 |
| 5120 2962 1124 clr r1 |
| 5121 2964 E92F mov r30,r25 |
| 5122 2966 FF27 clr r31 |
| 5123 2968 E7FD sbrc r30,7 |
| 5124 296a F095 com r31 |
| 5125 296c E49F mul r30,r20 |
| 5126 296e C001 movw r24,r0 |
| 5127 2970 E59F mul r30,r21 |
| 5128 2972 900D add r25,r0 |
| 5129 2974 F49F mul r31,r20 |
| 5130 2976 900D add r25,r0 |
| 5131 2978 1124 clr r1 |
| 5132 297a 280F add r18,r24 |
| 5133 297c 391F adc r19,r25 |
| 5134 297e 37FF sbrs r19,7 |
| 5135 2980 00C0 rjmp .L452 |
| 5136 2982 295F subi r18,lo8(-(7)) |
| 5137 2984 3F4F sbci r19,hi8(-(7)) |
| 5138 .L452: |
| 5139 2986 83E0 ldi r24,3 |
| 5140 2988 3595 1: asr r19 |
| 5141 298a 2795 ror r18 |
| 5142 298c 8A95 dec r24 |
| 5143 298e 01F4 brne 1b |
| 5144 2990 3093 0000 sts (StickNick)+1,r19 |
| 5145 2994 2093 0000 sts StickNick,r18 |
| 5146 2998 A49F mul r26,r20 |
| 5147 299a 9001 movw r18,r0 |
| 5148 299c A59F mul r26,r21 |
| 5149 299e 300D add r19,r0 |
| 5150 29a0 B49F mul r27,r20 |
| 5151 29a2 300D add r19,r0 |
| 5152 29a4 1124 clr r1 |
| 5153 29a6 E69F mul r30,r22 |
| 5154 29a8 C001 movw r24,r0 |
| 5155 29aa E79F mul r30,r23 |
| 5156 29ac 900D add r25,r0 |
| 5157 29ae F69F mul r31,r22 |
| 5158 29b0 900D add r25,r0 |
| 5159 29b2 1124 clr r1 |
| 5160 .L925: |
| 5161 29b4 281B sub r18,r24 |
| 5162 29b6 390B sbc r19,r25 |
| 5163 29b8 37FF sbrs r19,7 |
| 5164 29ba 00C0 rjmp .L453 |
| 5165 29bc 295F subi r18,lo8(-(7)) |
| 5166 29be 3F4F sbci r19,hi8(-(7)) |
| 5167 .L453: |
| 5168 29c0 03E0 ldi r16,3 |
| 5169 29c2 3595 1: asr r19 |
| 5170 29c4 2795 ror r18 |
| 5171 29c6 0A95 dec r16 |
| 5172 29c8 01F4 brne 1b |
| 5173 29ca 3093 0000 sts (StickRoll)+1,r19 |
| 5174 29ce 2093 0000 sts StickRoll,r18 |
| 5175 29d2 8091 0000 lds r24,EE_Parameter+4 |
| 5176 29d6 E82F mov r30,r24 |
| 5177 29d8 FF27 clr r31 |
| 5178 29da EE0F add r30,r30 |
| 5179 29dc FF1F adc r31,r31 |
| 5180 29de E050 subi r30,lo8(-(PPM_in)) |
| 5181 29e0 F040 sbci r31,hi8(-(PPM_in)) |
| 5182 29e2 8081 ld r24,Z |
| 5183 29e4 9181 ldd r25,Z+1 |
| 5184 29e6 9095 com r25 |
| 5185 29e8 8195 neg r24 |
| 5186 29ea 9F4F sbci r25,lo8(-1) |
| 5187 29ec 9093 0000 sts (StickGier)+1,r25 |
| 5188 29f0 8093 0000 sts StickGier,r24 |
| 5189 29f4 8530 cpi r24,5 |
| 5190 29f6 9105 cpc r25,__zero_reg__ |
| 5191 29f8 04F0 brlt .L454 |
| 5192 29fa 0497 sbiw r24,4 |
| 5193 29fc 00C0 rjmp .L897 |
| 5194 .L454: |
| 5195 29fe 0FEF ldi r16,hi8(-4) |
| 5196 2a00 8C3F cpi r24,lo8(-4) |
| 5197 2a02 9007 cpc r25,r16 |
| 5198 2a04 04F4 brge .L456 |
| 5199 2a06 0496 adiw r24,4 |
| 5200 .L897: |
| 5201 2a08 9093 0000 sts (StickGier)+1,r25 |
| 5202 2a0c 8093 0000 sts StickGier,r24 |
| 5203 2a10 00C0 rjmp .L455 |
| 5204 .L456: |
| 5205 2a12 1092 0000 sts (StickGier)+1,__zero_reg__ |
| 5206 2a16 1092 0000 sts StickGier,__zero_reg__ |
| 5207 .L455: |
| 5208 2a1a 8091 0000 lds r24,GPS_Aid_StickMultiplikator |
| 5209 2a1e 8823 tst r24 |
| 5210 2a20 01F4 brne .+2 |
| 5211 2a22 00C0 rjmp .L458 |
| 5212 2a24 282F mov r18,r24 |
| 5213 2a26 3327 clr r19 |
| 5214 2a28 8091 0000 lds r24,StickNick |
| 5215 2a2c 9091 0000 lds r25,(StickNick)+1 |
| 5216 2a30 97FD sbrc r25,7 |
| 5217 2a32 0796 adiw r24,7 |
| 5218 .L459: |
| 5219 2a34 13E0 ldi r17,3 |
| 5220 2a36 9595 1: asr r25 |
| 5221 2a38 8795 ror r24 |
| 5222 2a3a 1A95 dec r17 |
| 5223 2a3c 01F4 brne 1b |
| 5224 2a3e 289F mul r18,r24 |
| 5225 2a40 A001 movw r20,r0 |
| 5226 2a42 299F mul r18,r25 |
| 5227 2a44 500D add r21,r0 |
| 5228 2a46 389F mul r19,r24 |
| 5229 2a48 500D add r21,r0 |
| 5230 2a4a 1124 clr r1 |
| 5231 2a4c CA01 movw r24,r20 |
| 5232 2a4e 57FD sbrc r21,7 |
| 5233 2a50 0F96 adiw r24,15 |
| 5234 .L460: |
| 5235 2a52 B4E0 ldi r27,4 |
| 5236 2a54 9595 1: asr r25 |
| 5237 2a56 8795 ror r24 |
| 5238 2a58 BA95 dec r27 |
| 5239 2a5a 01F4 brne 1b |
| 5240 2a5c 9093 0000 sts (StickNick)+1,r25 |
| 5241 2a60 8093 0000 sts StickNick,r24 |
| 5242 2a64 8091 0000 lds r24,StickRoll |
| 5243 2a68 9091 0000 lds r25,(StickRoll)+1 |
| 5244 2a6c 97FD sbrc r25,7 |
| 5245 2a6e 0796 adiw r24,7 |
| 5246 .L461: |
| 5247 2a70 A3E0 ldi r26,3 |
| 5248 2a72 9595 1: asr r25 |
| 5249 2a74 8795 ror r24 |
| 5250 2a76 AA95 dec r26 |
| 5251 2a78 01F4 brne 1b |
| 5252 2a7a 289F mul r18,r24 |
| 5253 2a7c B001 movw r22,r0 |
| 5254 2a7e 299F mul r18,r25 |
| 5255 2a80 700D add r23,r0 |
| 5256 2a82 389F mul r19,r24 |
| 5257 2a84 700D add r23,r0 |
| 5258 2a86 1124 clr r1 |
| 5259 2a88 CB01 movw r24,r22 |
| 5260 2a8a 77FD sbrc r23,7 |
| 5261 2a8c 0F96 adiw r24,15 |
| 5262 .L462: |
| 5263 2a8e F4E0 ldi r31,4 |
| 5264 2a90 9595 1: asr r25 |
| 5265 2a92 8795 ror r24 |
| 5266 2a94 FA95 dec r31 |
| 5267 2a96 01F4 brne 1b |
| 5268 2a98 9093 0000 sts (StickRoll)+1,r25 |
| 5269 2a9c 8093 0000 sts StickRoll,r24 |
| 5270 .L458: |
| 5271 2aa0 8090 0000 lds r8,StickNick |
| 5272 2aa4 9090 0000 lds r9,(StickNick)+1 |
| 5273 2aa8 8091 0000 lds r24,GPS_Nick |
| 5274 2aac 9091 0000 lds r25,(GPS_Nick)+1 |
| 5275 2ab0 881A sub r8,r24 |
| 5276 2ab2 990A sbc r9,r25 |
| 5277 2ab4 9092 0000 sts (StickNick)+1,r9 |
| 5278 2ab8 8092 0000 sts StickNick,r8 |
| 5279 2abc 0091 0000 lds r16,StickRoll |
| 5280 2ac0 1091 0000 lds r17,(StickRoll)+1 |
| 5281 2ac4 8091 0000 lds r24,GPS_Roll |
| 5282 2ac8 9091 0000 lds r25,(GPS_Roll)+1 |
| 5283 2acc 081B sub r16,r24 |
| 5284 2ace 190B sbc r17,r25 |
| 5285 2ad0 1093 0000 sts (StickRoll)+1,r17 |
| 5286 2ad4 0093 0000 sts StickRoll,r16 |
| 5287 2ad8 8091 0000 lds r24,EE_Parameter+3 |
| 5288 2adc E82F mov r30,r24 |
| 5289 2ade FF27 clr r31 |
| 5290 2ae0 EE0F add r30,r30 |
| 5291 2ae2 FF1F adc r31,r31 |
| 5292 2ae4 E050 subi r30,lo8(-(PPM_in)) |
| 5293 2ae6 F040 sbci r31,hi8(-(PPM_in)) |
| 5294 2ae8 E080 ld r14,Z |
| 5295 2aea F180 ldd r15,Z+1 |
| 5296 2aec 8FE7 ldi r24,lo8(127) |
| 5297 2aee 90E0 ldi r25,hi8(127) |
| 5298 2af0 E80E add r14,r24 |
| 5299 2af2 F91E adc r15,r25 |
| 5300 2af4 F092 0000 sts (StickGas)+1,r15 |
| 5301 2af8 E092 0000 sts StickGas,r14 |
| 5302 2afc 8091 0000 lds r24,Parameter_Gyro_P |
| 5303 2b00 9927 clr r25 |
| 5304 2b02 AA27 clr r26 |
| 5305 2b04 97FD sbrc r25,7 |
| 5306 2b06 A095 com r26 |
| 5307 2b08 BA2F mov r27,r26 |
| 5308 2b0a BC01 movw r22,r24 |
| 5309 2b0c CD01 movw r24,r26 |
| 5310 2b0e 0E94 0000 call __floatsisf |
| 5311 2b12 DC01 movw r26,r24 |
| 5312 2b14 CB01 movw r24,r22 |
| 5313 2b16 20E0 ldi r18,lo8(0x41200000) |
| 5314 2b18 30E0 ldi r19,hi8(0x41200000) |
| 5315 2b1a 40E2 ldi r20,hlo8(0x41200000) |
| 5316 2b1c 51E4 ldi r21,hhi8(0x41200000) |
| 5317 2b1e BC01 movw r22,r24 |
| 5318 2b20 CD01 movw r24,r26 |
| 5319 2b22 0E94 0000 call __addsf3 |
| 5320 2b26 DC01 movw r26,r24 |
| 5321 2b28 CB01 movw r24,r22 |
| 5322 2b2a BC01 movw r22,r24 |
| 5323 2b2c CD01 movw r24,r26 |
| 5324 2b2e 0E94 0000 call __fixunssfsi |
| 5325 2b32 DC01 movw r26,r24 |
| 5326 2b34 CB01 movw r24,r22 |
| 5327 2b36 8093 0000 sts GyroFaktor,r24 |
| 5328 2b3a 8091 0000 lds r24,Parameter_Gyro_I |
| 5329 2b3e 8093 0000 sts IntegralFaktor,r24 |
| 5330 2b42 8091 0000 lds r24,Parameter_Gyro_Gier_P |
| 5331 2b46 9927 clr r25 |
| 5332 2b48 AA27 clr r26 |
| 5333 2b4a 97FD sbrc r25,7 |
| 5334 2b4c A095 com r26 |
| 5335 2b4e BA2F mov r27,r26 |
| 5336 2b50 BC01 movw r22,r24 |
| 5337 2b52 CD01 movw r24,r26 |
| 5338 2b54 0E94 0000 call __floatsisf |
| 5339 2b58 DC01 movw r26,r24 |
| 5340 2b5a CB01 movw r24,r22 |
| 5341 2b5c 20E0 ldi r18,lo8(0x41200000) |
| 5342 2b5e 30E0 ldi r19,hi8(0x41200000) |
| 5343 2b60 40E2 ldi r20,hlo8(0x41200000) |
| 5344 2b62 51E4 ldi r21,hhi8(0x41200000) |
| 5345 2b64 BC01 movw r22,r24 |
| 5346 2b66 CD01 movw r24,r26 |
| 5347 2b68 0E94 0000 call __addsf3 |
| 5348 2b6c DC01 movw r26,r24 |
| 5349 2b6e CB01 movw r24,r22 |
| 5350 2b70 BC01 movw r22,r24 |
| 5351 2b72 CD01 movw r24,r26 |
| 5352 2b74 0E94 0000 call __fixunssfsi |
| 5353 2b78 DC01 movw r26,r24 |
| 5354 2b7a CB01 movw r24,r22 |
| 5355 2b7c 8093 0000 sts GyroFaktorGier,r24 |
| 5356 2b80 8091 0000 lds r24,Parameter_Gyro_Gier_I |
| 5357 2b84 8093 0000 sts IntegralFaktorGier,r24 |
| 5358 2b88 8091 0000 lds r24,ExternControl+10 |
| 5359 2b8c 80FF sbrs r24,0 |
| 5360 2b8e 00C0 rjmp .L463 |
| 5361 2b90 8091 0000 lds r24,Parameter_ExternalControl |
| 5362 2b94 8138 cpi r24,lo8(-127) |
| 5363 2b96 00F4 brsh .+2 |
| 5364 2b98 00C0 rjmp .L463 |
| 5365 2b9a 8091 0000 lds r24,ExternControl+3 |
| 5366 2b9e 9927 clr r25 |
| 5367 2ba0 87FD sbrc r24,7 |
| 5368 2ba2 9095 com r25 |
| 5369 2ba4 2B2D mov r18,r11 |
| 5370 2ba6 3327 clr r19 |
| 5371 2ba8 829F mul r24,r18 |
| 5372 2baa D001 movw r26,r0 |
| 5373 2bac 839F mul r24,r19 |
| 5374 2bae B00D add r27,r0 |
| 5375 2bb0 929F mul r25,r18 |
| 5376 2bb2 B00D add r27,r0 |
| 5377 2bb4 1124 clr r1 |
| 5378 2bb6 8A0E add r8,r26 |
| 5379 2bb8 9B1E adc r9,r27 |
| 5380 2bba 9092 0000 sts (StickNick)+1,r9 |
| 5381 2bbe 8092 0000 sts StickNick,r8 |
| 5382 2bc2 8091 0000 lds r24,ExternControl+4 |
| 5383 2bc6 9927 clr r25 |
| 5384 2bc8 87FD sbrc r24,7 |
| 5385 2bca 9095 com r25 |
| 5386 2bcc 829F mul r24,r18 |
| 5387 2bce F001 movw r30,r0 |
| 5388 2bd0 839F mul r24,r19 |
| 5389 2bd2 F00D add r31,r0 |
| 5390 2bd4 929F mul r25,r18 |
| 5391 2bd6 F00D add r31,r0 |
| 5392 2bd8 1124 clr r1 |
| 5393 2bda 0E0F add r16,r30 |
| 5394 2bdc 1F1F adc r17,r31 |
| 5395 2bde 1093 0000 sts (StickRoll)+1,r17 |
| 5396 2be2 0093 0000 sts StickRoll,r16 |
| 5397 2be6 8091 0000 lds r24,ExternControl+5 |
| 5398 2bea 282F mov r18,r24 |
| 5399 2bec 3327 clr r19 |
| 5400 2bee 27FD sbrc r18,7 |
| 5401 2bf0 3095 com r19 |
| 5402 2bf2 8091 0000 lds r24,StickGier |
| 5403 2bf6 9091 0000 lds r25,(StickGier)+1 |
| 5404 2bfa 820F add r24,r18 |
| 5405 2bfc 931F adc r25,r19 |
| 5406 2bfe 9093 0000 sts (StickGier)+1,r25 |
| 5407 2c02 8093 0000 sts StickGier,r24 |
| 5408 2c06 8091 0000 lds r24,ExternControl+7 |
| 5409 2c0a 282F mov r18,r24 |
| 5410 2c0c 3327 clr r19 |
| 5411 2c0e 27FD sbrc r18,7 |
| 5412 2c10 3095 com r19 |
| 5413 2c12 8091 0000 lds r24,EE_Parameter+18 |
| 5414 2c16 9927 clr r25 |
| 5415 2c18 289F mul r18,r24 |
| 5416 2c1a 8001 movw r16,r0 |
| 5417 2c1c 299F mul r18,r25 |
| 5418 2c1e 100D add r17,r0 |
| 5419 2c20 389F mul r19,r24 |
| 5420 2c22 100D add r17,r0 |
| 5421 2c24 1124 clr r1 |
| 5422 2c26 1093 0000 sts (ExternHoehenValue)+1,r17 |
| 5423 2c2a 0093 0000 sts ExternHoehenValue,r16 |
| 5424 2c2e 8091 0000 lds r24,ExternControl+6 |
| 5425 2c32 9927 clr r25 |
| 5426 2c34 8E15 cp r24,r14 |
| 5427 2c36 9F05 cpc r25,r15 |
| 5428 2c38 04F4 brge .L463 |
| 5429 2c3a 9093 0000 sts (StickGas)+1,r25 |
| 5430 2c3e 8093 0000 sts StickGas,r24 |
| 5431 .L463: |
| 5432 2c42 8091 0000 lds r24,StickGas |
| 5433 2c46 9091 0000 lds r25,(StickGas)+1 |
| 5434 2c4a 97FF sbrs r25,7 |
| 5435 2c4c 00C0 rjmp .L465 |
| 5436 2c4e 1092 0000 sts (StickGas)+1,__zero_reg__ |
| 5437 2c52 1092 0000 sts StickGas,__zero_reg__ |
| 5438 .L465: |
| 5439 2c56 8091 0000 lds r24,Parameter_GlobalConfig |
| 5440 2c5a 82FF sbrs r24,2 |
| 5441 2c5c 00C0 rjmp .L466 |
| 5442 2c5e 1092 0000 sts IntegralFaktor,__zero_reg__ |
| 5443 .L466: |
| 5444 2c62 4091 0000 lds r20,StickNick |
| 5445 2c66 5091 0000 lds r21,(StickNick)+1 |
| 5446 2c6a CA01 movw r24,r20 |
| 5447 2c6c 57FD sbrc r21,7 |
| 5448 2c6e 0396 adiw r24,3 |
| 5449 .L468: |
| 5450 2c70 9C01 movw r18,r24 |
| 5451 2c72 3595 asr r19 |
| 5452 2c74 2795 ror r18 |
| 5453 2c76 3595 asr r19 |
| 5454 2c78 2795 ror r18 |
| 5455 2c7a 37FF sbrs r19,7 |
| 5456 2c7c 00C0 rjmp .L469 |
| 5457 2c7e 3095 com r19 |
| 5458 2c80 2195 neg r18 |
| 5459 2c82 3F4F sbci r19,lo8(-1) |
| 5460 .L469: |
| 5461 2c84 8091 0000 lds r24,MaxStickNick |
| 5462 2c88 9091 0000 lds r25,(MaxStickNick)+1 |
| 5463 2c8c 8217 cp r24,r18 |
| 5464 2c8e 9307 cpc r25,r19 |
| 5465 2c90 04F4 brge .L467 |
| 5466 2c92 CA01 movw r24,r20 |
| 5467 2c94 57FF sbrs r21,7 |
| 5468 2c96 00C0 rjmp .L470 |
| 5469 2c98 9095 com r25 |
| 5470 2c9a 8195 neg r24 |
| 5471 2c9c 9F4F sbci r25,lo8(-1) |
| 5472 .L470: |
| 5473 2c9e 97FD sbrc r25,7 |
| 5474 2ca0 0396 adiw r24,3 |
| 5475 .L471: |
| 5476 2ca2 9595 asr r25 |
| 5477 2ca4 8795 ror r24 |
| 5478 2ca6 9595 asr r25 |
| 5479 2ca8 8795 ror r24 |
| 5480 2caa 9093 0000 sts (MaxStickNick)+1,r25 |
| 5481 2cae 8093 0000 sts MaxStickNick,r24 |
| 5482 2cb2 8536 cpi r24,101 |
| 5483 2cb4 9105 cpc r25,__zero_reg__ |
| 5484 2cb6 04F0 brlt .L473 |
| 5485 2cb8 84E6 ldi r24,lo8(100) |
| 5486 2cba 90E0 ldi r25,hi8(100) |
| 5487 2cbc 00C0 rjmp .L898 |
| 5488 .L467: |
| 5489 2cbe 0197 sbiw r24,1 |
| 5490 .L898: |
| 5491 2cc0 9093 0000 sts (MaxStickNick)+1,r25 |
| 5492 2cc4 8093 0000 sts MaxStickNick,r24 |
| 5493 .L473: |
| 5494 2cc8 4091 0000 lds r20,StickRoll |
| 5495 2ccc 5091 0000 lds r21,(StickRoll)+1 |
| 5496 2cd0 CA01 movw r24,r20 |
| 5497 2cd2 57FD sbrc r21,7 |
| 5498 2cd4 0396 adiw r24,3 |
| 5499 .L475: |
| 5500 2cd6 9C01 movw r18,r24 |
| 5501 2cd8 3595 asr r19 |
| 5502 2cda 2795 ror r18 |
| 5503 2cdc 3595 asr r19 |
| 5504 2cde 2795 ror r18 |
| 5505 2ce0 37FF sbrs r19,7 |
| 5506 2ce2 00C0 rjmp .L476 |
| 5507 2ce4 3095 com r19 |
| 5508 2ce6 2195 neg r18 |
| 5509 2ce8 3F4F sbci r19,lo8(-1) |
| 5510 .L476: |
| 5511 2cea 8091 0000 lds r24,MaxStickRoll |
| 5512 2cee 9091 0000 lds r25,(MaxStickRoll)+1 |
| 5513 2cf2 8217 cp r24,r18 |
| 5514 2cf4 9307 cpc r25,r19 |
| 5515 2cf6 04F4 brge .L474 |
| 5516 2cf8 CA01 movw r24,r20 |
| 5517 2cfa 57FF sbrs r21,7 |
| 5518 2cfc 00C0 rjmp .L477 |
| 5519 2cfe 9095 com r25 |
| 5520 2d00 8195 neg r24 |
| 5521 2d02 9F4F sbci r25,lo8(-1) |
| 5522 .L477: |
| 5523 2d04 97FD sbrc r25,7 |
| 5524 2d06 0396 adiw r24,3 |
| 5525 .L478: |
| 5526 2d08 9595 asr r25 |
| 5527 2d0a 8795 ror r24 |
| 5528 2d0c 9595 asr r25 |
| 5529 2d0e 8795 ror r24 |
| 5530 2d10 9093 0000 sts (MaxStickRoll)+1,r25 |
| 5531 2d14 8093 0000 sts MaxStickRoll,r24 |
| 5532 2d18 8536 cpi r24,101 |
| 5533 2d1a 9105 cpc r25,__zero_reg__ |
| 5534 2d1c 04F0 brlt .L480 |
| 5535 2d1e 84E6 ldi r24,lo8(100) |
| 5536 2d20 90E0 ldi r25,hi8(100) |
| 5537 2d22 00C0 rjmp .L899 |
| 5538 .L474: |
| 5539 2d24 0197 sbiw r24,1 |
| 5540 .L899: |
| 5541 2d26 9093 0000 sts (MaxStickRoll)+1,r25 |
| 5542 2d2a 8093 0000 sts MaxStickRoll,r24 |
| 5543 .L480: |
| 5544 2d2e 8091 0000 lds r24,FC_StatusFlags |
| 5545 2d32 84FF sbrs r24,4 |
| 5546 2d34 00C0 rjmp .L481 |
| 5547 2d36 1092 0000 sts (MaxStickNick)+1,__zero_reg__ |
| 5548 2d3a 1092 0000 sts MaxStickNick,__zero_reg__ |
| 5549 2d3e 1092 0000 sts (MaxStickRoll)+1,__zero_reg__ |
| 5550 2d42 1092 0000 sts MaxStickRoll,__zero_reg__ |
| 5551 .L481: |
| 5552 2d46 ED2D mov r30,r13 |
| 5553 2d48 FF27 clr r31 |
| 5554 2d4a EE0F add r30,r30 |
| 5555 2d4c FF1F adc r31,r31 |
| 5556 2d4e E050 subi r30,lo8(-(PPM_in)) |
| 5557 2d50 F040 sbci r31,hi8(-(PPM_in)) |
| 5558 2d52 4091 0000 lds r20,EE_Parameter+60 |
| 5559 2d56 242F mov r18,r20 |
| 5560 2d58 3327 clr r19 |
| 5561 2d5a 8081 ld r24,Z |
| 5562 2d5c 9181 ldd r25,Z+1 |
| 5563 2d5e 2817 cp r18,r24 |
| 5564 2d60 3907 cpc r19,r25 |
| 5565 2d62 04F4 brge .L482 |
| 5566 2d64 8091 0000 lds r24,EE_Parameter+108 |
| 5567 2d68 82FF sbrs r24,2 |
| 5568 2d6a 00C0 rjmp .L482 |
| 5569 2d6c 81E0 ldi r24,lo8(1) |
| 5570 2d6e 8093 0000 sts Looping_Links,r24 |
| 5571 2d72 00C0 rjmp .L483 |
| 5572 .L482: |
| 5573 2d74 ED2D mov r30,r13 |
| 5574 2d76 FF27 clr r31 |
| 5575 2d78 EE0F add r30,r30 |
| 5576 2d7a FF1F adc r31,r31 |
| 5577 2d7c E050 subi r30,lo8(-(PPM_in)) |
| 5578 2d7e F040 sbci r31,hi8(-(PPM_in)) |
| 5579 2d80 842F mov r24,r20 |
| 5580 2d82 9927 clr r25 |
| 5581 2d84 2091 0000 lds r18,EE_Parameter+61 |
| 5582 2d88 821B sub r24,r18 |
| 5583 2d8a 9109 sbc r25,__zero_reg__ |
| 5584 2d8c 2081 ld r18,Z |
| 5585 2d8e 3181 ldd r19,Z+1 |
| 5586 2d90 2817 cp r18,r24 |
| 5587 2d92 3907 cpc r19,r25 |
| 5588 2d94 04F4 brge .L483 |
| 5589 2d96 1092 0000 sts Looping_Links,__zero_reg__ |
| 5590 .L483: |
| 5591 2d9a 4091 0000 lds r20,EE_Parameter+2 |
| 5592 2d9e E42F mov r30,r20 |
| 5593 2da0 FF27 clr r31 |
| 5594 2da2 EE0F add r30,r30 |
| 5595 2da4 FF1F adc r31,r31 |
| 5596 2da6 E050 subi r30,lo8(-(PPM_in)) |
| 5597 2da8 F040 sbci r31,hi8(-(PPM_in)) |
| 5598 2daa 5091 0000 lds r21,EE_Parameter+60 |
| 5599 2dae 852F mov r24,r21 |
| 5600 2db0 9927 clr r25 |
| 5601 2db2 2227 clr r18 |
| 5602 2db4 3327 clr r19 |
| 5603 2db6 281B sub r18,r24 |
| 5604 2db8 390B sbc r19,r25 |
| 5605 2dba 8081 ld r24,Z |
| 5606 2dbc 9181 ldd r25,Z+1 |
| 5607 2dbe 8217 cp r24,r18 |
| 5608 2dc0 9307 cpc r25,r19 |
| 5609 2dc2 04F4 brge .L485 |
| 5610 2dc4 8091 0000 lds r24,EE_Parameter+108 |
| 5611 2dc8 83FF sbrs r24,3 |
| 5612 2dca 00C0 rjmp .L485 |
| 5613 2dcc 81E0 ldi r24,lo8(1) |
| 5614 2dce 8093 0000 sts Looping_Rechts,r24 |
| 5615 2dd2 00C0 rjmp .L486 |
| 5616 .L485: |
| 5617 2dd4 8091 0000 lds r24,Looping_Rechts |
| 5618 2dd8 8823 tst r24 |
| 5619 2dda 01F0 breq .L486 |
| 5620 2ddc E42F mov r30,r20 |
| 5621 2dde FF27 clr r31 |
| 5622 2de0 EE0F add r30,r30 |
| 5623 2de2 FF1F adc r31,r31 |
| 5624 2de4 E050 subi r30,lo8(-(PPM_in)) |
| 5625 2de6 F040 sbci r31,hi8(-(PPM_in)) |
| 5626 2de8 8091 0000 lds r24,EE_Parameter+61 |
| 5627 2dec 9927 clr r25 |
| 5628 2dee 851B sub r24,r21 |
| 5629 2df0 9109 sbc r25,__zero_reg__ |
| 5630 2df2 2081 ld r18,Z |
| 5631 2df4 3181 ldd r19,Z+1 |
| 5632 2df6 8217 cp r24,r18 |
| 5633 2df8 9307 cpc r25,r19 |
| 5634 2dfa 04F4 brge .L486 |
| 5635 2dfc 1092 0000 sts Looping_Rechts,__zero_reg__ |
| 5636 .L486: |
| 5637 2e00 EC2D mov r30,r12 |
| 5638 2e02 FF27 clr r31 |
| 5639 2e04 EE0F add r30,r30 |
| 5640 2e06 FF1F adc r31,r31 |
| 5641 2e08 E050 subi r30,lo8(-(PPM_in)) |
| 5642 2e0a F040 sbci r31,hi8(-(PPM_in)) |
| 5643 2e0c 4091 0000 lds r20,EE_Parameter+60 |
| 5644 2e10 242F mov r18,r20 |
| 5645 2e12 3327 clr r19 |
| 5646 2e14 8081 ld r24,Z |
| 5647 2e16 9181 ldd r25,Z+1 |
| 5648 2e18 2817 cp r18,r24 |
| 5649 2e1a 3907 cpc r19,r25 |
| 5650 2e1c 04F4 brge .L489 |
| 5651 2e1e 8091 0000 lds r24,EE_Parameter+108 |
| 5652 2e22 80FF sbrs r24,0 |
| 5653 2e24 00C0 rjmp .L489 |
| 5654 2e26 81E0 ldi r24,lo8(1) |
| 5655 2e28 8093 0000 sts Looping_Oben,r24 |
| 5656 2e2c 00C0 rjmp .L490 |
| 5657 .L489: |
| 5658 2e2e 8091 0000 lds r24,Looping_Oben |
| 5659 2e32 8823 tst r24 |
| 5660 2e34 01F0 breq .L490 |
| 5661 2e36 EC2D mov r30,r12 |
| 5662 2e38 FF27 clr r31 |
| 5663 2e3a EE0F add r30,r30 |
| 5664 2e3c FF1F adc r31,r31 |
| 5665 2e3e E050 subi r30,lo8(-(PPM_in)) |
| 5666 2e40 F040 sbci r31,hi8(-(PPM_in)) |
| 5667 2e42 842F mov r24,r20 |
| 5668 2e44 9927 clr r25 |
| 5669 2e46 2091 0000 lds r18,EE_Parameter+61 |
| 5670 2e4a 821B sub r24,r18 |
| 5671 2e4c 9109 sbc r25,__zero_reg__ |
| 5672 2e4e 2081 ld r18,Z |
| 5673 2e50 3181 ldd r19,Z+1 |
| 5674 2e52 2817 cp r18,r24 |
| 5675 2e54 3907 cpc r19,r25 |
| 5676 2e56 04F4 brge .L490 |
| 5677 2e58 1092 0000 sts Looping_Oben,__zero_reg__ |
| 5678 .L490: |
| 5679 2e5c 4091 0000 lds r20,EE_Parameter+1 |
| 5680 2e60 E42F mov r30,r20 |
| 5681 2e62 FF27 clr r31 |
| 5682 2e64 EE0F add r30,r30 |
| 5683 2e66 FF1F adc r31,r31 |
| 5684 2e68 E050 subi r30,lo8(-(PPM_in)) |
| 5685 2e6a F040 sbci r31,hi8(-(PPM_in)) |
| 5686 2e6c 5091 0000 lds r21,EE_Parameter+60 |
| 5687 2e70 852F mov r24,r21 |
| 5688 2e72 9927 clr r25 |
| 5689 2e74 2227 clr r18 |
| 5690 2e76 3327 clr r19 |
| 5691 2e78 281B sub r18,r24 |
| 5692 2e7a 390B sbc r19,r25 |
| 5693 2e7c 8081 ld r24,Z |
| 5694 2e7e 9181 ldd r25,Z+1 |
| 5695 2e80 8217 cp r24,r18 |
| 5696 2e82 9307 cpc r25,r19 |
| 5697 2e84 04F4 brge .L493 |
| 5698 2e86 8091 0000 lds r24,EE_Parameter+108 |
| 5699 2e8a 81FF sbrs r24,1 |
| 5700 2e8c 00C0 rjmp .L493 |
| 5701 2e8e 81E0 ldi r24,lo8(1) |
| 5702 2e90 8093 0000 sts Looping_Unten,r24 |
| 5703 2e94 00C0 rjmp .L494 |
| 5704 .L493: |
| 5705 2e96 8091 0000 lds r24,Looping_Unten |
| 5706 2e9a 8823 tst r24 |
| 5707 2e9c 01F0 breq .L494 |
| 5708 2e9e E42F mov r30,r20 |
| 5709 2ea0 FF27 clr r31 |
| 5710 2ea2 EE0F add r30,r30 |
| 5711 2ea4 FF1F adc r31,r31 |
| 5712 2ea6 E050 subi r30,lo8(-(PPM_in)) |
| 5713 2ea8 F040 sbci r31,hi8(-(PPM_in)) |
| 5714 2eaa 8091 0000 lds r24,EE_Parameter+61 |
| 5715 2eae 9927 clr r25 |
| 5716 2eb0 851B sub r24,r21 |
| 5717 2eb2 9109 sbc r25,__zero_reg__ |
| 5718 2eb4 2081 ld r18,Z |
| 5719 2eb6 3181 ldd r19,Z+1 |
| 5720 2eb8 8217 cp r24,r18 |
| 5721 2eba 9307 cpc r25,r19 |
| 5722 2ebc 04F4 brge .L494 |
| 5723 2ebe 1092 0000 sts Looping_Unten,__zero_reg__ |
| 5724 .L494: |
| 5725 2ec2 8091 0000 lds r24,Looping_Links |
| 5726 2ec6 8823 tst r24 |
| 5727 2ec8 01F4 brne .L498 |
| 5728 2eca 8091 0000 lds r24,Looping_Rechts |
| 5729 2ece 8111 cpse r24,__zero_reg__ |
| 5730 .L498: |
| 5731 2ed0 81E0 ldi r24,lo8(1) |
| 5732 .L497: |
| 5733 2ed2 8093 0000 sts Looping_Roll,r24 |
| 5734 2ed6 8091 0000 lds r24,Looping_Oben |
| 5735 2eda 8823 tst r24 |
| 5736 2edc 01F4 brne .L501 |
| 5737 2ede 8091 0000 lds r24,Looping_Unten |
| 5738 2ee2 8823 tst r24 |
| 5739 2ee4 01F0 breq .L500 |
| 5740 .L501: |
| 5741 2ee6 81E0 ldi r24,lo8(1) |
| 5742 2ee8 8093 0000 sts Looping_Nick,r24 |
| 5743 2eec 1092 0000 sts Looping_Roll,__zero_reg__ |
| 5744 2ef0 1092 0000 sts Looping_Links,__zero_reg__ |
| 5745 2ef4 1092 0000 sts Looping_Rechts,__zero_reg__ |
| 5746 2ef8 00C0 rjmp .L442 |
| 5747 .L500: |
| 5748 2efa 8093 0000 sts Looping_Nick,r24 |
| 5749 .L442: |
| 5750 2efe 8091 0000 lds r24,Looping_Roll |
| 5751 2f02 8823 tst r24 |
| 5752 2f04 01F4 brne .L504 |
| 5753 2f06 8091 0000 lds r24,Looping_Nick |
| 5754 2f0a 8823 tst r24 |
| 5755 2f0c 01F0 breq .L503 |
| 5756 .L504: |
| 5757 2f0e 8091 0000 lds r24,EE_Parameter+59 |
| 5758 2f12 9927 clr r25 |
| 5759 2f14 2981 ldd r18,Y+1 |
| 5760 2f16 3A81 ldd r19,Y+2 |
| 5761 2f18 8217 cp r24,r18 |
| 5762 2f1a 9307 cpc r25,r19 |
| 5763 2f1c 04F4 brge .L505 |
| 5764 2f1e 9A83 std Y+2,r25 |
| 5765 2f20 8983 std Y+1,r24 |
| 5766 .L505: |
| 5767 2f22 81E0 ldi r24,lo8(1) |
| 5768 2f24 8093 0000 sts TrichterFlug,r24 |
| 5769 .L503: |
| 5770 2f28 8091 0000 lds r24,FC_StatusFlags2 |
| 5771 2f2c 9927 clr r25 |
| 5772 2f2e 9C01 movw r18,r24 |
| 5773 2f30 2470 andi r18,lo8(4) |
| 5774 2f32 3070 andi r19,hi8(4) |
| 5775 2f34 82FF sbrs r24,2 |
| 5776 2f36 00C0 rjmp .L506 |
| 5777 2f38 8091 0000 lds r24,GPS_Nick |
| 5778 2f3c 9091 0000 lds r25,(GPS_Nick)+1 |
| 5779 2f40 9095 com r25 |
| 5780 2f42 8195 neg r24 |
| 5781 2f44 9F4F sbci r25,lo8(-1) |
| 5782 2f46 9093 0000 sts (StickNick)+1,r25 |
| 5783 2f4a 8093 0000 sts StickNick,r24 |
| 5784 2f4e 8091 0000 lds r24,GPS_Roll |
| 5785 2f52 9091 0000 lds r25,(GPS_Roll)+1 |
| 5786 2f56 9095 com r25 |
| 5787 2f58 8195 neg r24 |
| 5788 2f5a 9F4F sbci r25,lo8(-1) |
| 5789 2f5c 9093 0000 sts (StickRoll)+1,r25 |
| 5790 2f60 8093 0000 sts StickRoll,r24 |
| 5791 2f64 8091 0000 lds r24,StickGasHover |
| 5792 2f68 9091 0000 lds r25,(StickGasHover)+1 |
| 5793 2f6c 9093 0000 sts (StickGas)+1,r25 |
| 5794 2f70 8093 0000 sts StickGas,r24 |
| 5795 2f74 8091 0000 lds r24,Parameter_GlobalConfig |
| 5796 2f78 8B77 andi r24,lo8(123) |
| 5797 2f7a 8B66 ori r24,lo8(107) |
| 5798 2f7c 8093 0000 sts Parameter_GlobalConfig,r24 |
| 5799 2f80 8091 0000 lds r24,Parameter_ExtraConfig |
| 5800 2f84 8C7B andi r24,lo8(-68) |
| 5801 2f86 8093 0000 sts Parameter_ExtraConfig,r24 |
| 5802 2f8a 88EC ldi r24,lo8(-56) |
| 5803 2f8c 8093 0000 sts Parameter_HoehenSchalter,r24 |
| 5804 2f90 00C0 rjmp .L507 |
| 5805 .L506: |
| 5806 2f92 8091 0000 lds r24,FC_StatusFlags |
| 5807 2f96 84FF sbrs r24,4 |
| 5808 2f98 00C0 rjmp .L507 |
| 5809 2f9a 3093 0000 sts (StickGier)+1,r19 |
| 5810 2f9e 2093 0000 sts StickGier,r18 |
| 5811 2fa2 3093 0000 sts (StickNick)+1,r19 |
| 5812 2fa6 2093 0000 sts StickNick,r18 |
| 5813 2faa 3093 0000 sts (StickRoll)+1,r19 |
| 5814 2fae 2093 0000 sts StickRoll,r18 |
| 5815 2fb2 9AE5 ldi r25,lo8(90) |
| 5816 2fb4 9093 0000 sts GyroFaktor,r25 |
| 5817 2fb8 88E7 ldi r24,lo8(120) |
| 5818 2fba 8093 0000 sts IntegralFaktor,r24 |
| 5819 2fbe 9093 0000 sts GyroFaktorGier,r25 |
| 5820 2fc2 8093 0000 sts IntegralFaktorGier,r24 |
| 5821 2fc6 1092 0000 sts Looping_Roll,__zero_reg__ |
| 5822 2fca 1092 0000 sts Looping_Nick,__zero_reg__ |
| 5823 .L507: |
| 5824 2fce 8091 0000 lds r24,MittelIntegralNick |
| 5825 2fd2 9091 0000 lds r25,(MittelIntegralNick)+1 |
| 5826 2fd6 A091 0000 lds r26,(MittelIntegralNick)+2 |
| 5827 2fda B091 0000 lds r27,(MittelIntegralNick)+3 |
| 5828 2fde 2091 0000 lds r18,IntegralNick |
| 5829 2fe2 3091 0000 lds r19,(IntegralNick)+1 |
| 5830 2fe6 4091 0000 lds r20,(IntegralNick)+2 |
| 5831 2fea 5091 0000 lds r21,(IntegralNick)+3 |
| 5832 2fee 820F add r24,r18 |
| 5833 2ff0 931F adc r25,r19 |
| 5834 2ff2 A41F adc r26,r20 |
| 5835 2ff4 B51F adc r27,r21 |
| 5836 2ff6 8093 0000 sts MittelIntegralNick,r24 |
| 5837 2ffa 9093 0000 sts (MittelIntegralNick)+1,r25 |
| 5838 2ffe A093 0000 sts (MittelIntegralNick)+2,r26 |
| 5839 3002 B093 0000 sts (MittelIntegralNick)+3,r27 |
| 5840 3006 8091 0000 lds r24,MittelIntegralRoll |
| 5841 300a 9091 0000 lds r25,(MittelIntegralRoll)+1 |
| 5842 300e A091 0000 lds r26,(MittelIntegralRoll)+2 |
| 5843 3012 B091 0000 lds r27,(MittelIntegralRoll)+3 |
| 5844 3016 E090 0000 lds r14,IntegralRoll |
| 5845 301a F090 0000 lds r15,(IntegralRoll)+1 |
| 5846 301e 0091 0000 lds r16,(IntegralRoll)+2 |
| 5847 3022 1091 0000 lds r17,(IntegralRoll)+3 |
| 5848 3026 EB82 std Y+3,r14 |
| 5849 3028 FC82 std Y+4,r15 |
| 5850 302a 0D83 std Y+5,r16 |
| 5851 302c 1E83 std Y+6,r17 |
| 5852 302e 8E0D add r24,r14 |
| 5853 3030 9F1D adc r25,r15 |
| 5854 3032 A01F adc r26,r16 |
| 5855 3034 B11F adc r27,r17 |
| 5856 3036 8093 0000 sts MittelIntegralRoll,r24 |
| 5857 303a 9093 0000 sts (MittelIntegralRoll)+1,r25 |
| 5858 303e A093 0000 sts (MittelIntegralRoll)+2,r26 |
| 5859 3042 B093 0000 sts (MittelIntegralRoll)+3,r27 |
| 5860 3046 8091 0000 lds r24,MittelIntegralNick2 |
| 5861 304a 9091 0000 lds r25,(MittelIntegralNick2)+1 |
| 5862 304e A091 0000 lds r26,(MittelIntegralNick2)+2 |
| 5863 3052 B091 0000 lds r27,(MittelIntegralNick2)+3 |
| 5864 3056 E090 0000 lds r14,IntegralNick2 |
| 5865 305a F090 0000 lds r15,(IntegralNick2)+1 |
| 5866 305e 0091 0000 lds r16,(IntegralNick2)+2 |
| 5867 3062 1091 0000 lds r17,(IntegralNick2)+3 |
| 5868 3066 EF82 std Y+7,r14 |
| 5869 3068 F886 std Y+8,r15 |
| 5870 306a 0987 std Y+9,r16 |
| 5871 306c 1A87 std Y+10,r17 |
| 5872 306e 8E0D add r24,r14 |
| 5873 3070 9F1D adc r25,r15 |
| 5874 3072 A01F adc r26,r16 |
| 5875 3074 B11F adc r27,r17 |
| 5876 3076 8093 0000 sts MittelIntegralNick2,r24 |
| 5877 307a 9093 0000 sts (MittelIntegralNick2)+1,r25 |
| 5878 307e A093 0000 sts (MittelIntegralNick2)+2,r26 |
| 5879 3082 B093 0000 sts (MittelIntegralNick2)+3,r27 |
| 5880 3086 8091 0000 lds r24,MittelIntegralRoll2 |
| 5881 308a 9091 0000 lds r25,(MittelIntegralRoll2)+1 |
| 5882 308e A091 0000 lds r26,(MittelIntegralRoll2)+2 |
| 5883 3092 B091 0000 lds r27,(MittelIntegralRoll2)+3 |
| 5884 3096 E090 0000 lds r14,IntegralRoll2 |
| 5885 309a F090 0000 lds r15,(IntegralRoll2)+1 |
| 5886 309e 0091 0000 lds r16,(IntegralRoll2)+2 |
| 5887 30a2 1091 0000 lds r17,(IntegralRoll2)+3 |
| 5888 30a6 EB86 std Y+11,r14 |
| 5889 30a8 FC86 std Y+12,r15 |
| 5890 30aa 0D87 std Y+13,r16 |
| 5891 30ac 1E87 std Y+14,r17 |
| 5892 30ae 8E0D add r24,r14 |
| 5893 30b0 9F1D adc r25,r15 |
| 5894 30b2 A01F adc r26,r16 |
| 5895 30b4 B11F adc r27,r17 |
| 5896 30b6 8093 0000 sts MittelIntegralRoll2,r24 |
| 5897 30ba 9093 0000 sts (MittelIntegralRoll2)+1,r25 |
| 5898 30be A093 0000 sts (MittelIntegralRoll2)+2,r26 |
| 5899 30c2 B093 0000 sts (MittelIntegralRoll2)+3,r27 |
| 5900 30c6 F090 0000 lds r15,Looping_Nick |
| 5901 30ca FF86 std Y+15,r15 |
| 5902 30cc FF20 tst r15 |
| 5903 30ce 01F4 brne .L510 |
| 5904 30d0 8091 0000 lds r24,Looping_Roll |
| 5905 30d4 8823 tst r24 |
| 5906 30d6 01F4 brne .+2 |
| 5907 30d8 00C0 rjmp .L892 |
| 5908 .L510: |
| 5909 30da 1092 0000 sts IntegralAccNick,__zero_reg__ |
| 5910 30de 1092 0000 sts (IntegralAccNick)+1,__zero_reg__ |
| 5911 30e2 1092 0000 sts (IntegralAccNick)+2,__zero_reg__ |
| 5912 30e6 1092 0000 sts (IntegralAccNick)+3,__zero_reg__ |
| 5913 30ea 1092 0000 sts IntegralAccRoll,__zero_reg__ |
| 5914 30ee 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__ |
| 5915 30f2 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__ |
| 5916 30f6 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__ |
| 5917 30fa 1092 0000 sts MittelIntegralNick,__zero_reg__ |
| 5918 30fe 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__ |
| 5919 3102 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__ |
| 5920 3106 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__ |
| 5921 310a 1092 0000 sts MittelIntegralRoll,__zero_reg__ |
| 5922 310e 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__ |
| 5923 3112 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__ |
| 5924 3116 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__ |
| 5925 311a 1092 0000 sts MittelIntegralNick2,__zero_reg__ |
| 5926 311e 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__ |
| 5927 3122 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__ |
| 5928 3126 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__ |
| 5929 312a 1092 0000 sts MittelIntegralRoll2,__zero_reg__ |
| 5930 312e 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__ |
| 5931 3132 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__ |
| 5932 3136 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__ |
| 5933 313a 8091 0000 lds r24,Mess_IntegralNick |
| 5934 313e 9091 0000 lds r25,(Mess_IntegralNick)+1 |
| 5935 3142 A091 0000 lds r26,(Mess_IntegralNick)+2 |
| 5936 3146 B091 0000 lds r27,(Mess_IntegralNick)+3 |
| 5937 314a 8093 0000 sts Mess_IntegralNick2,r24 |
| 5938 314e 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
| 5939 3152 A093 0000 sts (Mess_IntegralNick2)+2,r26 |
| 5940 3156 B093 0000 sts (Mess_IntegralNick2)+3,r27 |
| 5941 315a 8091 0000 lds r24,Mess_IntegralRoll |
| 5942 315e 9091 0000 lds r25,(Mess_IntegralRoll)+1 |
| 5943 3162 A091 0000 lds r26,(Mess_IntegralRoll)+2 |
| 5944 3166 B091 0000 lds r27,(Mess_IntegralRoll)+3 |
| 5945 316a 8093 0000 sts Mess_IntegralRoll2,r24 |
| 5946 316e 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
| 5947 3172 A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
| 5948 3176 B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
| 5949 317a 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__ |
| 5950 317e 1092 0000 sts ZaehlMessungen,__zero_reg__ |
| 5951 3182 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__ |
| 5952 3186 1092 0000 sts LageKorrekturNick,__zero_reg__ |
| 5953 318a 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__ |
| 5954 318e 1092 0000 sts LageKorrekturRoll,__zero_reg__ |
| 5955 3192 0F85 ldd r16,Y+15 |
| 5956 3194 0023 tst r16 |
| 5957 3196 01F0 breq .+2 |
| 5958 3198 00C0 rjmp .L511 |
| 5959 .L892: |
| 5960 319a 8091 0000 lds r24,Looping_Roll |
| 5961 319e 8823 tst r24 |
| 5962 31a0 01F0 breq .+2 |
| 5963 31a2 00C0 rjmp .L511 |
| 5964 31a4 8091 0000 lds r24,Aktuell_az |
| 5965 31a8 9091 0000 lds r25,(Aktuell_az)+1 |
| 5966 31ac 8150 subi r24,lo8(513) |
| 5967 31ae 9240 sbci r25,hi8(513) |
| 5968 31b0 04F4 brge .L512 |
| 5969 31b2 8091 0000 lds r24,MotorenEin |
| 5970 31b6 8823 tst r24 |
| 5971 31b8 01F4 brne .+2 |
| 5972 31ba 00C0 rjmp .L511 |
| 5973 .L512: |
| 5974 31bc 9090 0000 lds r9,FromNaviCtrl_Value |
| 5975 31c0 A090 0000 lds r10,EE_Parameter+28 |
| 5976 31c4 2090 0000 lds r2,Mittelwert_AccNick |
| 5977 31c8 3090 0000 lds r3,(Mittelwert_AccNick)+1 |
| 5978 31cc 4090 0000 lds r4,Mittelwert_AccRoll |
| 5979 31d0 5090 0000 lds r5,(Mittelwert_AccRoll)+1 |
| 5980 31d4 1914 cp __zero_reg__,r9 |
| 5981 31d6 04F0 brlt .+2 |
| 5982 31d8 00C0 rjmp .L513 |
| 5983 31da BB24 clr r11 |
| 5984 31dc CC24 clr r12 |
| 5985 31de DD24 clr r13 |
| 5986 31e0 CA01 movw r24,r20 |
| 5987 31e2 B901 movw r22,r18 |
| 5988 31e4 A601 movw r20,r12 |
| 5989 31e6 9501 movw r18,r10 |
| 5990 31e8 0E94 0000 call __divmodsi4 |
| 5991 31ec 7901 movw r14,r18 |
| 5992 31ee 8A01 movw r16,r20 |
| 5993 31f0 8091 0000 lds r24,FromNaviCtrl+9 |
| 5994 31f4 9091 0000 lds r25,(FromNaviCtrl+9)+1 |
| 5995 31f8 281A sub r2,r24 |
| 5996 31fa 390A sbc r3,r25 |
| 5997 31fc C101 movw r24,r2 |
| 5998 31fe AA27 clr r26 |
| 5999 3200 97FD sbrc r25,7 |
| 6000 3202 A095 com r26 |
| 6001 3204 BA2F mov r27,r26 |
| 6002 3206 E81A sub r14,r24 |
| 6003 3208 F90A sbc r15,r25 |
| 6004 320a 0A0B sbc r16,r26 |
| 6005 320c 1B0B sbc r17,r27 |
| 6006 320e 6B81 ldd r22,Y+3 |
| 6007 3210 7C81 ldd r23,Y+4 |
| 6008 3212 8D81 ldd r24,Y+5 |
| 6009 3214 9E81 ldd r25,Y+6 |
| 6010 3216 A601 movw r20,r12 |
| 6011 3218 9501 movw r18,r10 |
| 6012 321a 0E94 0000 call __divmodsi4 |
| 6013 321e 5901 movw r10,r18 |
| 6014 3220 6A01 movw r12,r20 |
| 6015 3222 8091 0000 lds r24,FromNaviCtrl+11 |
| 6016 3226 9091 0000 lds r25,(FromNaviCtrl+11)+1 |
| 6017 322a 481A sub r4,r24 |
| 6018 322c 590A sbc r5,r25 |
| 6019 322e C201 movw r24,r4 |
| 6020 3230 AA27 clr r26 |
| 6021 3232 97FD sbrc r25,7 |
| 6022 3234 A095 com r26 |
| 6023 3236 BA2F mov r27,r26 |
| 6024 3238 A81A sub r10,r24 |
| 6025 323a B90A sbc r11,r25 |
| 6026 323c CA0A sbc r12,r26 |
| 6027 323e DB0A sbc r13,r27 |
| 6028 3240 292C mov r2,r9 |
| 6029 3242 3324 clr r3 |
| 6030 3244 27FC sbrc r2,7 |
| 6031 3246 3094 com r3 |
| 6032 3248 432C mov r4,r3 |
| 6033 324a 532C mov r5,r3 |
| 6034 324c C801 movw r24,r16 |
| 6035 324e B701 movw r22,r14 |
| 6036 3250 A201 movw r20,r4 |
| 6037 3252 9101 movw r18,r2 |
| 6038 3254 0E94 0000 call __mulsi3 |
| 6039 3258 97FF sbrs r25,7 |
| 6040 325a 00C0 rjmp .L514 |
| 6041 325c 6150 subi r22,lo8(-(511)) |
| 6042 325e 7E4F sbci r23,hi8(-(511)) |
| 6043 3260 8F4F sbci r24,hlo8(-(511)) |
| 6044 3262 9F4F sbci r25,hhi8(-(511)) |
| 6045 .L514: |
| 6046 3264 3B01 movw r6,r22 |
| 6047 3266 4C01 movw r8,r24 |
| 6048 3268 09E0 ldi r16,9 |
| 6049 326a 9594 1: asr r9 |
| 6050 326c 8794 ror r8 |
| 6051 326e 7794 ror r7 |
| 6052 3270 6794 ror r6 |
| 6053 3272 0A95 dec r16 |
| 6054 3274 01F4 brne 1b |
| 6055 3276 C601 movw r24,r12 |
| 6056 3278 B501 movw r22,r10 |
| 6057 327a A201 movw r20,r4 |
| 6058 327c 9101 movw r18,r2 |
| 6059 327e 0E94 0000 call __mulsi3 |
| 6060 3282 97FF sbrs r25,7 |
| 6061 3284 00C0 rjmp .L515 |
| 6062 3286 6150 subi r22,lo8(-(511)) |
| 6063 3288 7E4F sbci r23,hi8(-(511)) |
| 6064 328a 8F4F sbci r24,hlo8(-(511)) |
| 6065 328c 9F4F sbci r25,hhi8(-(511)) |
| 6066 .L515: |
| 6067 328e 5B01 movw r10,r22 |
| 6068 3290 6C01 movw r12,r24 |
| 6069 3292 19E0 ldi r17,9 |
| 6070 3294 D594 1: asr r13 |
| 6071 3296 C794 ror r12 |
| 6072 3298 B794 ror r11 |
| 6073 329a A794 ror r10 |
| 6074 329c 1A95 dec r17 |
| 6075 329e 01F4 brne 1b |
| 6076 32a0 8091 0000 lds r24,MaxStickNick |
| 6077 32a4 9091 0000 lds r25,(MaxStickNick)+1 |
| 6078 32a8 8134 cpi r24,65 |
| 6079 32aa 9105 cpc r25,__zero_reg__ |
| 6080 32ac 04F4 brge .L517 |
| 6081 32ae 8091 0000 lds r24,MaxStickRoll |
| 6082 32b2 9091 0000 lds r25,(MaxStickRoll)+1 |
| 6083 32b6 8134 cpi r24,65 |
| 6084 32b8 9105 cpc r25,__zero_reg__ |
| 6085 32ba 04F0 brlt .L516 |
| 6086 .L517: |
| 6087 32bc D401 movw r26,r8 |
| 6088 32be C301 movw r24,r6 |
| 6089 32c0 97FE sbrs r9,7 |
| 6090 32c2 00C0 rjmp .L518 |
| 6091 32c4 0196 adiw r24,1 |
| 6092 32c6 A11D adc r26,__zero_reg__ |
| 6093 32c8 B11D adc r27,__zero_reg__ |
| 6094 .L518: |
| 6095 32ca 3C01 movw r6,r24 |
| 6096 32cc 4D01 movw r8,r26 |
| 6097 32ce 9594 asr r9 |
| 6098 32d0 8794 ror r8 |
| 6099 32d2 7794 ror r7 |
| 6100 32d4 6794 ror r6 |
| 6101 32d6 D601 movw r26,r12 |
| 6102 32d8 C501 movw r24,r10 |
| 6103 32da D7FE sbrs r13,7 |
| 6104 32dc 00C0 rjmp .L519 |
| 6105 32de 0196 adiw r24,1 |
| 6106 32e0 A11D adc r26,__zero_reg__ |
| 6107 32e2 B11D adc r27,__zero_reg__ |
| 6108 .L519: |
| 6109 32e4 5C01 movw r10,r24 |
| 6110 32e6 6D01 movw r12,r26 |
| 6111 32e8 D594 asr r13 |
| 6112 32ea C794 ror r12 |
| 6113 32ec B794 ror r11 |
| 6114 32ee A794 ror r10 |
| 6115 .L516: |
| 6116 32f0 8091 0000 lds r24,FromNaviCtrl_Value+2 |
| 6117 32f4 282F mov r18,r24 |
| 6118 32f6 3327 clr r19 |
| 6119 32f8 27FD sbrc r18,7 |
| 6120 32fa 3095 com r19 |
| 6121 32fc 432F mov r20,r19 |
| 6122 32fe 532F mov r21,r19 |
| 6123 3300 2615 cp r18,r6 |
| 6124 3302 3705 cpc r19,r7 |
| 6125 3304 4805 cpc r20,r8 |
| 6126 3306 5905 cpc r21,r9 |
| 6127 3308 04F4 brge .L520 |
| 6128 330a 3901 movw r6,r18 |
| 6129 330c 4A01 movw r8,r20 |
| 6130 .L520: |
| 6131 330e 9927 clr r25 |
| 6132 3310 87FD sbrc r24,7 |
| 6133 3312 9095 com r25 |
| 6134 3314 9095 com r25 |
| 6135 3316 8195 neg r24 |
| 6136 3318 9F4F sbci r25,lo8(-1) |
| 6137 331a AA27 clr r26 |
| 6138 331c 97FD sbrc r25,7 |
| 6139 331e A095 com r26 |
| 6140 3320 BA2F mov r27,r26 |
| 6141 3322 6816 cp r6,r24 |
| 6142 3324 7906 cpc r7,r25 |
| 6143 3326 8A06 cpc r8,r26 |
| 6144 3328 9B06 cpc r9,r27 |
| 6145 332a 04F4 brge .L521 |
| 6146 332c 3C01 movw r6,r24 |
| 6147 332e 4D01 movw r8,r26 |
| 6148 .L521: |
| 6149 3330 2A15 cp r18,r10 |
| 6150 3332 3B05 cpc r19,r11 |
| 6151 3334 4C05 cpc r20,r12 |
| 6152 3336 5D05 cpc r21,r13 |
| 6153 3338 04F4 brge .L522 |
| 6154 333a 5901 movw r10,r18 |
| 6155 333c 6A01 movw r12,r20 |
| 6156 .L522: |
| 6157 333e A816 cp r10,r24 |
| 6158 3340 B906 cpc r11,r25 |
| 6159 3342 CA06 cpc r12,r26 |
| 6160 3344 DB06 cpc r13,r27 |
| 6161 3346 04F0 brlt .+2 |
| 6162 3348 00C0 rjmp .L524 |
| 6163 334a 5C01 movw r10,r24 |
| 6164 334c 6D01 movw r12,r26 |
| 6165 334e 00C0 rjmp .L524 |
| 6166 .L513: |
| 6167 3350 EA2C mov r14,r10 |
| 6168 3352 FF24 clr r15 |
| 6169 3354 0027 clr r16 |
| 6170 3356 1127 clr r17 |
| 6171 3358 CA01 movw r24,r20 |
| 6172 335a B901 movw r22,r18 |
| 6173 335c A801 movw r20,r16 |
| 6174 335e 9701 movw r18,r14 |
| 6175 3360 0E94 0000 call __divmodsi4 |
| 6176 3364 3901 movw r6,r18 |
| 6177 3366 4A01 movw r8,r20 |
| 6178 3368 C101 movw r24,r2 |
| 6179 336a AA27 clr r26 |
| 6180 336c 97FD sbrc r25,7 |
| 6181 336e A095 com r26 |
| 6182 3370 BA2F mov r27,r26 |
| 6183 3372 681A sub r6,r24 |
| 6184 3374 790A sbc r7,r25 |
| 6185 3376 8A0A sbc r8,r26 |
| 6186 3378 9B0A sbc r9,r27 |
| 6187 337a 6B81 ldd r22,Y+3 |
| 6188 337c 7C81 ldd r23,Y+4 |
| 6189 337e 8D81 ldd r24,Y+5 |
| 6190 3380 9E81 ldd r25,Y+6 |
| 6191 3382 A801 movw r20,r16 |
| 6192 3384 9701 movw r18,r14 |
| 6193 3386 0E94 0000 call __divmodsi4 |
| 6194 338a 5901 movw r10,r18 |
| 6195 338c 6A01 movw r12,r20 |
| 6196 338e C201 movw r24,r4 |
| 6197 3390 AA27 clr r26 |
| 6198 3392 97FD sbrc r25,7 |
| 6199 3394 A095 com r26 |
| 6200 3396 BA2F mov r27,r26 |
| 6201 3398 A81A sub r10,r24 |
| 6202 339a B90A sbc r11,r25 |
| 6203 339c CA0A sbc r12,r26 |
| 6204 339e DB0A sbc r13,r27 |
| 6205 33a0 D401 movw r26,r8 |
| 6206 33a2 C301 movw r24,r6 |
| 6207 33a4 97FE sbrs r9,7 |
| 6208 33a6 00C0 rjmp .L525 |
| 6209 33a8 0F96 adiw r24,15 |
| 6210 33aa A11D adc r26,__zero_reg__ |
| 6211 33ac B11D adc r27,__zero_reg__ |
| 6212 .L525: |
| 6213 33ae 3C01 movw r6,r24 |
| 6214 33b0 4D01 movw r8,r26 |
| 6215 33b2 F4E0 ldi r31,4 |
| 6216 33b4 9594 1: asr r9 |
| 6217 33b6 8794 ror r8 |
| 6218 33b8 7794 ror r7 |
| 6219 33ba 6794 ror r6 |
| 6220 33bc FA95 dec r31 |
| 6221 33be 01F4 brne 1b |
| 6222 33c0 D601 movw r26,r12 |
| 6223 33c2 C501 movw r24,r10 |
| 6224 33c4 D7FE sbrs r13,7 |
| 6225 33c6 00C0 rjmp .L526 |
| 6226 33c8 0F96 adiw r24,15 |
| 6227 33ca A11D adc r26,__zero_reg__ |
| 6228 33cc B11D adc r27,__zero_reg__ |
| 6229 .L526: |
| 6230 33ce 5C01 movw r10,r24 |
| 6231 33d0 6D01 movw r12,r26 |
| 6232 33d2 E4E0 ldi r30,4 |
| 6233 33d4 D594 1: asr r13 |
| 6234 33d6 C794 ror r12 |
| 6235 33d8 B794 ror r11 |
| 6236 33da A794 ror r10 |
| 6237 33dc EA95 dec r30 |
| 6238 33de 01F4 brne 1b |
| 6239 33e0 8091 0000 lds r24,MaxStickNick |
| 6240 33e4 9091 0000 lds r25,(MaxStickNick)+1 |
| 6241 33e8 8134 cpi r24,65 |
| 6242 33ea 9105 cpc r25,__zero_reg__ |
| 6243 33ec 04F4 brge .L528 |
| 6244 33ee 8091 0000 lds r24,MaxStickRoll |
| 6245 33f2 9091 0000 lds r25,(MaxStickRoll)+1 |
| 6246 33f6 8134 cpi r24,65 |
| 6247 33f8 9105 cpc r25,__zero_reg__ |
| 6248 33fa 04F0 brlt .L527 |
| 6249 .L528: |
| 6250 33fc C401 movw r24,r8 |
| 6251 33fe B301 movw r22,r6 |
| 6252 3400 23E0 ldi r18,lo8(3) |
| 6253 3402 30E0 ldi r19,hi8(3) |
| 6254 3404 40E0 ldi r20,hlo8(3) |
| 6255 3406 50E0 ldi r21,hhi8(3) |
| 6256 3408 0E94 0000 call __divmodsi4 |
| 6257 340c 3901 movw r6,r18 |
| 6258 340e 4A01 movw r8,r20 |
| 6259 3410 C601 movw r24,r12 |
| 6260 3412 B501 movw r22,r10 |
| 6261 3414 23E0 ldi r18,lo8(3) |
| 6262 3416 30E0 ldi r19,hi8(3) |
| 6263 3418 40E0 ldi r20,hlo8(3) |
| 6264 341a 50E0 ldi r21,hhi8(3) |
| 6265 341c 0E94 0000 call __divmodsi4 |
| 6266 3420 5901 movw r10,r18 |
| 6267 3422 6A01 movw r12,r20 |
| 6268 .L527: |
| 6269 3424 8091 0000 lds r24,EE_Parameter+4 |
| 6270 3428 E82F mov r30,r24 |
| 6271 342a FF27 clr r31 |
| 6272 342c EE0F add r30,r30 |
| 6273 342e FF1F adc r31,r31 |
| 6274 3430 E050 subi r30,lo8(-(PPM_in)) |
| 6275 3432 F040 sbci r31,hi8(-(PPM_in)) |
| 6276 3434 8081 ld r24,Z |
| 6277 3436 9181 ldd r25,Z+1 |
| 6278 3438 0190 ld __tmp_reg__,Z+ |
| 6279 343a F081 ld r31,Z |
| 6280 343c E02D mov r30,__tmp_reg__ |
| 6281 343e F7FF sbrs r31,7 |
| 6282 3440 00C0 rjmp .L530 |
| 6283 3442 F095 com r31 |
| 6284 3444 E195 neg r30 |
| 6285 3446 FF4F sbci r31,lo8(-1) |
| 6286 .L530: |
| 6287 3448 7A97 sbiw r30,26 |
| 6288 344a 04F0 brlt .L529 |
| 6289 344c C401 movw r24,r8 |
| 6290 344e B301 movw r22,r6 |
| 6291 3450 23E0 ldi r18,lo8(3) |
| 6292 3452 30E0 ldi r19,hi8(3) |
| 6293 3454 40E0 ldi r20,hlo8(3) |
| 6294 3456 50E0 ldi r21,hhi8(3) |
| 6295 3458 0E94 0000 call __divmodsi4 |
| 6296 345c 3901 movw r6,r18 |
| 6297 345e 4A01 movw r8,r20 |
| 6298 3460 C601 movw r24,r12 |
| 6299 3462 B501 movw r22,r10 |
| 6300 3464 23E0 ldi r18,lo8(3) |
| 6301 3466 30E0 ldi r19,hi8(3) |
| 6302 3468 40E0 ldi r20,hlo8(3) |
| 6303 346a 50E0 ldi r21,hhi8(3) |
| 6304 346c 0E94 0000 call __divmodsi4 |
| 6305 3470 5901 movw r10,r18 |
| 6306 3472 6A01 movw r12,r20 |
| 6307 .L529: |
| 6308 3474 89E1 ldi r24,lo8(25) |
| 6309 3476 8093 0000 sts KompassFusion,r24 |
| 6310 347a 21E2 ldi r18,lo8(33) |
| 6311 347c 6216 cp r6,r18 |
| 6312 347e 7104 cpc r7,__zero_reg__ |
| 6313 3480 8104 cpc r8,__zero_reg__ |
| 6314 3482 9104 cpc r9,__zero_reg__ |
| 6315 3484 04F0 brlt .L531 |
| 6316 3486 70E2 ldi r23,lo8(32) |
| 6317 3488 672E mov r6,r23 |
| 6318 348a 712C mov r7,__zero_reg__ |
| 6319 348c 812C mov r8,__zero_reg__ |
| 6320 348e 912C mov r9,__zero_reg__ |
| 6321 .L531: |
| 6322 3490 30EE ldi r19,lo8(-32) |
| 6323 3492 6316 cp r6,r19 |
| 6324 3494 3FEF ldi r19,hi8(-32) |
| 6325 3496 7306 cpc r7,r19 |
| 6326 3498 3FEF ldi r19,hlo8(-32) |
| 6327 349a 8306 cpc r8,r19 |
| 6328 349c 3FEF ldi r19,hhi8(-32) |
| 6329 349e 9306 cpc r9,r19 |
| 6330 34a0 04F4 brge .L532 |
| 6331 34a2 60EE ldi r22,lo8(-32) |
| 6332 34a4 662E mov r6,r22 |
| 6333 34a6 6FEF ldi r22,hi8(-32) |
| 6334 34a8 762E mov r7,r22 |
| 6335 34aa 6FEF ldi r22,hlo8(-32) |
| 6336 34ac 862E mov r8,r22 |
| 6337 34ae 6FEF ldi r22,hhi8(-32) |
| 6338 34b0 962E mov r9,r22 |
| 6339 .L532: |
| 6340 34b2 41E2 ldi r20,lo8(33) |
| 6341 34b4 A416 cp r10,r20 |
| 6342 34b6 B104 cpc r11,__zero_reg__ |
| 6343 34b8 C104 cpc r12,__zero_reg__ |
| 6344 34ba D104 cpc r13,__zero_reg__ |
| 6345 34bc 04F0 brlt .L533 |
| 6346 34be 50E2 ldi r21,lo8(32) |
| 6347 34c0 A52E mov r10,r21 |
| 6348 34c2 B12C mov r11,__zero_reg__ |
| 6349 34c4 C12C mov r12,__zero_reg__ |
| 6350 34c6 D12C mov r13,__zero_reg__ |
| 6351 .L533: |
| 6352 34c8 50EE ldi r21,lo8(-32) |
| 6353 34ca A516 cp r10,r21 |
| 6354 34cc 5FEF ldi r21,hi8(-32) |
| 6355 34ce B506 cpc r11,r21 |
| 6356 34d0 5FEF ldi r21,hlo8(-32) |
| 6357 34d2 C506 cpc r12,r21 |
| 6358 34d4 5FEF ldi r21,hhi8(-32) |
| 6359 34d6 D506 cpc r13,r21 |
| 6360 34d8 04F4 brge .L524 |
| 6361 34da 40EE ldi r20,lo8(-32) |
| 6362 34dc A42E mov r10,r20 |
| 6363 34de 4FEF ldi r20,hi8(-32) |
| 6364 34e0 B42E mov r11,r20 |
| 6365 34e2 4FEF ldi r20,hlo8(-32) |
| 6366 34e4 C42E mov r12,r20 |
| 6367 34e6 4FEF ldi r20,hhi8(-32) |
| 6368 34e8 D42E mov r13,r20 |
| 6369 .L524: |
| 6370 34ea 8091 0000 lds r24,Mess_IntegralNick |
| 6371 34ee 9091 0000 lds r25,(Mess_IntegralNick)+1 |
| 6372 34f2 A091 0000 lds r26,(Mess_IntegralNick)+2 |
| 6373 34f6 B091 0000 lds r27,(Mess_IntegralNick)+3 |
| 6374 34fa 8619 sub r24,r6 |
| 6375 34fc 9709 sbc r25,r7 |
| 6376 34fe A809 sbc r26,r8 |
| 6377 3500 B909 sbc r27,r9 |
| 6378 3502 8093 0000 sts Mess_IntegralNick,r24 |
| 6379 3506 9093 0000 sts (Mess_IntegralNick)+1,r25 |
| 6380 350a A093 0000 sts (Mess_IntegralNick)+2,r26 |
| 6381 350e B093 0000 sts (Mess_IntegralNick)+3,r27 |
| 6382 3512 8091 0000 lds r24,Mess_IntegralRoll |
| 6383 3516 9091 0000 lds r25,(Mess_IntegralRoll)+1 |
| 6384 351a A091 0000 lds r26,(Mess_IntegralRoll)+2 |
| 6385 351e B091 0000 lds r27,(Mess_IntegralRoll)+3 |
| 6386 3522 8A19 sub r24,r10 |
| 6387 3524 9B09 sbc r25,r11 |
| 6388 3526 AC09 sbc r26,r12 |
| 6389 3528 BD09 sbc r27,r13 |
| 6390 352a 8093 0000 sts Mess_IntegralRoll,r24 |
| 6391 352e 9093 0000 sts (Mess_IntegralRoll)+1,r25 |
| 6392 3532 A093 0000 sts (Mess_IntegralRoll)+2,r26 |
| 6393 3536 B093 0000 sts (Mess_IntegralRoll)+3,r27 |
| 6394 .L511: |
| 6395 353a 8091 0000 lds r24,ZaehlMessungen |
| 6396 353e 9091 0000 lds r25,(ZaehlMessungen)+1 |
| 6397 3542 8F3F cpi r24,255 |
| 6398 3544 9105 cpc r25,__zero_reg__ |
| 6399 3546 01F0 breq .+2 |
| 6400 3548 00F4 brsh .+2 |
| 6401 354a 00C0 rjmp .L535 |
| 6402 354c 6F85 ldd r22,Y+15 |
| 6403 354e 6623 tst r22 |
| 6404 3550 01F0 breq .+2 |
| 6405 3552 00C0 rjmp .L536 |
| 6406 3554 8091 0000 lds r24,Looping_Roll |
| 6407 3558 8823 tst r24 |
| 6408 355a 01F0 breq .+2 |
| 6409 355c 00C0 rjmp .L536 |
| 6410 355e 8091 0000 lds r24,TrichterFlug |
| 6411 3562 8823 tst r24 |
| 6412 3564 01F0 breq .+2 |
| 6413 3566 00C0 rjmp .L536 |
| 6414 3568 7091 0000 lds r23,EE_Parameter+68 |
| 6415 356c 788B std Y+16,r23 |
| 6416 356e 7723 tst r23 |
| 6417 3570 01F4 brne .+2 |
| 6418 3572 00C0 rjmp .L536 |
| 6419 3574 8091 0000 lds r24,MittelIntegralNick |
| 6420 3578 9091 0000 lds r25,(MittelIntegralNick)+1 |
| 6421 357c A091 0000 lds r26,(MittelIntegralNick)+2 |
| 6422 3580 B091 0000 lds r27,(MittelIntegralNick)+3 |
| 6423 3584 B7FF sbrs r27,7 |
| 6424 3586 00C0 rjmp .L537 |
| 6425 3588 8150 subi r24,lo8(-(255)) |
| 6426 358a 9F4F sbci r25,hi8(-(255)) |
| 6427 358c AF4F sbci r26,hlo8(-(255)) |
| 6428 358e BF4F sbci r27,hhi8(-(255)) |
| 6429 .L537: |
| 6430 3590 E92E mov r14,r25 |
| 6431 3592 FA2E mov r15,r26 |
| 6432 3594 0B2F mov r16,r27 |
| 6433 3596 1127 clr r17 |
| 6434 3598 07FD sbrc r16,7 |
| 6435 359a 1A95 dec r17 |
| 6436 359c E092 0000 sts MittelIntegralNick,r14 |
| 6437 35a0 F092 0000 sts (MittelIntegralNick)+1,r15 |
| 6438 35a4 0093 0000 sts (MittelIntegralNick)+2,r16 |
| 6439 35a8 1093 0000 sts (MittelIntegralNick)+3,r17 |
| 6440 35ac 8091 0000 lds r24,MittelIntegralRoll |
| 6441 35b0 9091 0000 lds r25,(MittelIntegralRoll)+1 |
| 6442 35b4 A091 0000 lds r26,(MittelIntegralRoll)+2 |
| 6443 35b8 B091 0000 lds r27,(MittelIntegralRoll)+3 |
| 6444 35bc B7FF sbrs r27,7 |
| 6445 35be 00C0 rjmp .L538 |
| 6446 35c0 8150 subi r24,lo8(-(255)) |
| 6447 35c2 9F4F sbci r25,hi8(-(255)) |
| 6448 35c4 AF4F sbci r26,hlo8(-(255)) |
| 6449 35c6 BF4F sbci r27,hhi8(-(255)) |
| 6450 .L538: |
| 6451 35c8 892F mov r24,r25 |
| 6452 35ca 9A2F mov r25,r26 |
| 6453 35cc AB2F mov r26,r27 |
| 6454 35ce BB27 clr r27 |
| 6455 35d0 A7FD sbrc r26,7 |
| 6456 35d2 BA95 dec r27 |
| 6457 35d4 898B std Y+17,r24 |
| 6458 35d6 9A8B std Y+18,r25 |
| 6459 35d8 AB8B std Y+19,r26 |
| 6460 35da BC8B std Y+20,r27 |
| 6461 35dc 8093 0000 sts MittelIntegralRoll,r24 |
| 6462 35e0 9093 0000 sts (MittelIntegralRoll)+1,r25 |
| 6463 35e4 A093 0000 sts (MittelIntegralRoll)+2,r26 |
| 6464 35e8 B093 0000 sts (MittelIntegralRoll)+3,r27 |
| 6465 35ec 8091 0000 lds r24,EE_Parameter+28 |
| 6466 35f0 A82E mov r10,r24 |
| 6467 35f2 BB24 clr r11 |
| 6468 35f4 CC24 clr r12 |
| 6469 35f6 DD24 clr r13 |
| 6470 35f8 2091 0000 lds r18,IntegralAccNick |
| 6471 35fc 3091 0000 lds r19,(IntegralAccNick)+1 |
| 6472 3600 4091 0000 lds r20,(IntegralAccNick)+2 |
| 6473 3604 5091 0000 lds r21,(IntegralAccNick)+3 |
| 6474 3608 C601 movw r24,r12 |
| 6475 360a B501 movw r22,r10 |
| 6476 360c 0E94 0000 call __mulsi3 |
| 6477 3610 97FF sbrs r25,7 |
| 6478 3612 00C0 rjmp .L539 |
| 6479 3614 6150 subi r22,lo8(-(255)) |
| 6480 3616 7F4F sbci r23,hi8(-(255)) |
| 6481 3618 8F4F sbci r24,hlo8(-(255)) |
| 6482 361a 9F4F sbci r25,hhi8(-(255)) |
| 6483 .L539: |
| 6484 361c 672E mov r6,r23 |
| 6485 361e 782E mov r7,r24 |
| 6486 3620 892E mov r8,r25 |
| 6487 3622 9924 clr r9 |
| 6488 3624 87FC sbrc r8,7 |
| 6489 3626 9A94 dec r9 |
| 6490 3628 6092 0000 sts IntegralAccNick,r6 |
| 6491 362c 7092 0000 sts (IntegralAccNick)+1,r7 |
| 6492 3630 8092 0000 sts (IntegralAccNick)+2,r8 |
| 6493 3634 9092 0000 sts (IntegralAccNick)+3,r9 |
| 6494 3638 2091 0000 lds r18,IntegralAccRoll |
| 6495 363c 3091 0000 lds r19,(IntegralAccRoll)+1 |
| 6496 3640 4091 0000 lds r20,(IntegralAccRoll)+2 |
| 6497 3644 5091 0000 lds r21,(IntegralAccRoll)+3 |
| 6498 3648 C601 movw r24,r12 |
| 6499 364a B501 movw r22,r10 |
| 6500 364c 0E94 0000 call __mulsi3 |
| 6501 3650 97FF sbrs r25,7 |
| 6502 3652 00C0 rjmp .L540 |
| 6503 3654 6150 subi r22,lo8(-(255)) |
| 6504 3656 7F4F sbci r23,hi8(-(255)) |
| 6505 3658 8F4F sbci r24,hlo8(-(255)) |
| 6506 365a 9F4F sbci r25,hhi8(-(255)) |
| 6507 .L540: |
| 6508 365c 272E mov r2,r23 |
| 6509 365e 382E mov r3,r24 |
| 6510 3660 492E mov r4,r25 |
| 6511 3662 5524 clr r5 |
| 6512 3664 47FC sbrc r4,7 |
| 6513 3666 5A94 dec r5 |
| 6514 3668 2092 0000 sts IntegralAccRoll,r2 |
| 6515 366c 3092 0000 sts (IntegralAccRoll)+1,r3 |
| 6516 3670 4092 0000 sts (IntegralAccRoll)+2,r4 |
| 6517 3674 5092 0000 sts (IntegralAccRoll)+3,r5 |
| 6518 3678 8091 0000 lds r24,IntegralAccZ |
| 6519 367c 9091 0000 lds r25,(IntegralAccZ)+1 |
| 6520 3680 A091 0000 lds r26,(IntegralAccZ)+2 |
| 6521 3684 B091 0000 lds r27,(IntegralAccZ)+3 |
| 6522 3688 B7FF sbrs r27,7 |
| 6523 368a 00C0 rjmp .L541 |
| 6524 368c 8150 subi r24,lo8(-(255)) |
| 6525 368e 9F4F sbci r25,hi8(-(255)) |
| 6526 3690 AF4F sbci r26,hlo8(-(255)) |
| 6527 3692 BF4F sbci r27,hhi8(-(255)) |
| 6528 .L541: |
| 6529 3694 892F mov r24,r25 |
| 6530 3696 9A2F mov r25,r26 |
| 6531 3698 AB2F mov r26,r27 |
| 6532 369a BB27 clr r27 |
| 6533 369c A7FD sbrc r26,7 |
| 6534 369e BA95 dec r27 |
| 6535 36a0 8093 0000 sts IntegralAccZ,r24 |
| 6536 36a4 9093 0000 sts (IntegralAccZ)+1,r25 |
| 6537 36a8 A093 0000 sts (IntegralAccZ)+2,r26 |
| 6538 36ac B093 0000 sts (IntegralAccZ)+3,r27 |
| 6539 36b0 D801 movw r26,r16 |
| 6540 36b2 C701 movw r24,r14 |
| 6541 36b4 8619 sub r24,r6 |
| 6542 36b6 9709 sbc r25,r7 |
| 6543 36b8 A809 sbc r26,r8 |
| 6544 36ba B909 sbc r27,r9 |
| 6545 36bc 8093 0000 sts IntegralFehlerNick.3,r24 |
| 6546 36c0 9093 0000 sts (IntegralFehlerNick.3)+1,r25 |
| 6547 36c4 A093 0000 sts (IntegralFehlerNick.3)+2,r26 |
| 6548 36c8 B093 0000 sts (IntegralFehlerNick.3)+3,r27 |
| 6549 36cc 2091 0000 lds r18,EE_Parameter+67 |
| 6550 36d0 E22E mov r14,r18 |
| 6551 36d2 FF24 clr r15 |
| 6552 36d4 0027 clr r16 |
| 6553 36d6 1127 clr r17 |
| 6554 36d8 BC01 movw r22,r24 |
| 6555 36da CD01 movw r24,r26 |
| 6556 36dc A801 movw r20,r16 |
| 6557 36de 9701 movw r18,r14 |
| 6558 36e0 0E94 0000 call __divmodsi4 |
| 6559 36e4 5901 movw r10,r18 |
| 6560 36e6 6A01 movw r12,r20 |
| 6561 36e8 2093 0000 sts ausgleichNick.10,r18 |
| 6562 36ec 3093 0000 sts (ausgleichNick.10)+1,r19 |
| 6563 36f0 4093 0000 sts (ausgleichNick.10)+2,r20 |
| 6564 36f4 5093 0000 sts (ausgleichNick.10)+3,r21 |
| 6565 36f8 8989 ldd r24,Y+17 |
| 6566 36fa 9A89 ldd r25,Y+18 |
| 6567 36fc AB89 ldd r26,Y+19 |
| 6568 36fe BC89 ldd r27,Y+20 |
| 6569 3700 8219 sub r24,r2 |
| 6570 3702 9309 sbc r25,r3 |
| 6571 3704 A409 sbc r26,r4 |
| 6572 3706 B509 sbc r27,r5 |
| 6573 3708 8093 0000 sts IntegralFehlerRoll.4,r24 |
| 6574 370c 9093 0000 sts (IntegralFehlerRoll.4)+1,r25 |
| 6575 3710 A093 0000 sts (IntegralFehlerRoll.4)+2,r26 |
| 6576 3714 B093 0000 sts (IntegralFehlerRoll.4)+3,r27 |
| 6577 3718 BC01 movw r22,r24 |
| 6578 371a CD01 movw r24,r26 |
| 6579 371c A801 movw r20,r16 |
| 6580 371e 9701 movw r18,r14 |
| 6581 3720 0E94 0000 call __divmodsi4 |
| 6582 3724 2093 0000 sts ausgleichRoll.11,r18 |
| 6583 3728 3093 0000 sts (ausgleichRoll.11)+1,r19 |
| 6584 372c 4093 0000 sts (ausgleichRoll.11)+2,r20 |
| 6585 3730 5093 0000 sts (ausgleichRoll.11)+3,r21 |
| 6586 3734 D601 movw r26,r12 |
| 6587 3736 C501 movw r24,r10 |
| 6588 3738 D7FE sbrs r13,7 |
| 6589 373a 00C0 rjmp .L542 |
| 6590 373c 8150 subi r24,lo8(-(255)) |
| 6591 373e 9F4F sbci r25,hi8(-(255)) |
| 6592 3740 AF4F sbci r26,hlo8(-(255)) |
| 6593 3742 BF4F sbci r27,hhi8(-(255)) |
| 6594 .L542: |
| 6595 3744 892F mov r24,r25 |
| 6596 3746 9A2F mov r25,r26 |
| 6597 3748 AB2F mov r26,r27 |
| 6598 374a BB27 clr r27 |
| 6599 374c A7FD sbrc r26,7 |
| 6600 374e BA95 dec r27 |
| 6601 3750 9093 0000 sts (LageKorrekturNick)+1,r25 |
| 6602 3754 8093 0000 sts LageKorrekturNick,r24 |
| 6603 3758 57FF sbrs r21,7 |
| 6604 375a 00C0 rjmp .L543 |
| 6605 375c 2150 subi r18,lo8(-(255)) |
| 6606 375e 3F4F sbci r19,hi8(-(255)) |
| 6607 3760 4F4F sbci r20,hlo8(-(255)) |
| 6608 3762 5F4F sbci r21,hhi8(-(255)) |
| 6609 .L543: |
| 6610 3764 BB27 clr r27 |
| 6611 3766 57FD sbrc r21,7 |
| 6612 3768 BA95 dec r27 |
| 6613 376a A52F mov r26,r21 |
| 6614 376c 942F mov r25,r20 |
| 6615 376e 832F mov r24,r19 |
| 6616 3770 9093 0000 sts (LageKorrekturRoll)+1,r25 |
| 6617 3774 8093 0000 sts LageKorrekturRoll,r24 |
| 6618 3778 8091 0000 lds r24,MaxStickNick |
| 6619 377c 9091 0000 lds r25,(MaxStickNick)+1 |
| 6620 3780 8134 cpi r24,65 |
| 6621 3782 9105 cpc r25,__zero_reg__ |
| 6622 3784 04F4 brge .L545 |
| 6623 3786 8091 0000 lds r24,MaxStickRoll |
| 6624 378a 9091 0000 lds r25,(MaxStickRoll)+1 |
| 6625 378e 8134 cpi r24,65 |
| 6626 3790 9105 cpc r25,__zero_reg__ |
| 6627 3792 04F4 brge .L545 |
| 6628 3794 8091 0000 lds r24,EE_Parameter+4 |
| 6629 3798 E82F mov r30,r24 |
| 6630 379a FF27 clr r31 |
| 6631 379c EE0F add r30,r30 |
| 6632 379e FF1F adc r31,r31 |
| 6633 37a0 E050 subi r30,lo8(-(PPM_in)) |
| 6634 37a2 F040 sbci r31,hi8(-(PPM_in)) |
| 6635 37a4 8081 ld r24,Z |
| 6636 37a6 9181 ldd r25,Z+1 |
| 6637 37a8 0190 ld __tmp_reg__,Z+ |
| 6638 37aa F081 ld r31,Z |
| 6639 37ac E02D mov r30,__tmp_reg__ |
| 6640 37ae F7FF sbrs r31,7 |
| 6641 37b0 00C0 rjmp .L546 |
| 6642 37b2 F095 com r31 |
| 6643 37b4 E195 neg r30 |
| 6644 37b6 FF4F sbci r31,lo8(-1) |
| 6645 .L546: |
| 6646 37b8 7A97 sbiw r30,26 |
| 6647 37ba 04F0 brlt .L544 |
| 6648 .L545: |
| 6649 37bc 8091 0000 lds r24,FromNaviCtrl_Value |
| 6650 37c0 8F3F cpi r24,lo8(-1) |
| 6651 37c2 01F4 brne .L544 |
| 6652 37c4 8091 0000 lds r24,LageKorrekturNick |
| 6653 37c8 9091 0000 lds r25,(LageKorrekturNick)+1 |
| 6654 37cc 97FD sbrc r25,7 |
| 6655 37ce 0196 adiw r24,1 |
| 6656 .L547: |
| 6657 37d0 9595 asr r25 |
| 6658 37d2 8795 ror r24 |
| 6659 37d4 9093 0000 sts (LageKorrekturNick)+1,r25 |
| 6660 37d8 8093 0000 sts LageKorrekturNick,r24 |
| 6661 37dc 8091 0000 lds r24,LageKorrekturRoll |
| 6662 37e0 9091 0000 lds r25,(LageKorrekturRoll)+1 |
| 6663 37e4 97FD sbrc r25,7 |
| 6664 37e6 0196 adiw r24,1 |
| 6665 .L548: |
| 6666 37e8 9595 asr r25 |
| 6667 37ea 8795 ror r24 |
| 6668 37ec 9093 0000 sts (LageKorrekturRoll)+1,r25 |
| 6669 37f0 8093 0000 sts LageKorrekturRoll,r24 |
| 6670 .L544: |
| 6671 37f4 8091 0000 lds r24,MittelIntegralNick2 |
| 6672 37f8 9091 0000 lds r25,(MittelIntegralNick2)+1 |
| 6673 37fc A091 0000 lds r26,(MittelIntegralNick2)+2 |
| 6674 3800 B091 0000 lds r27,(MittelIntegralNick2)+3 |
| 6675 3804 B7FF sbrs r27,7 |
| 6676 3806 00C0 rjmp .L549 |
| 6677 3808 8150 subi r24,lo8(-(255)) |
| 6678 380a 9F4F sbci r25,hi8(-(255)) |
| 6679 380c AF4F sbci r26,hlo8(-(255)) |
| 6680 380e BF4F sbci r27,hhi8(-(255)) |
| 6681 .L549: |
| 6682 3810 892F mov r24,r25 |
| 6683 3812 9A2F mov r25,r26 |
| 6684 3814 AB2F mov r26,r27 |
| 6685 3816 BB27 clr r27 |
| 6686 3818 A7FD sbrc r26,7 |
| 6687 381a BA95 dec r27 |
| 6688 381c 8093 0000 sts MittelIntegralNick2,r24 |
| 6689 3820 9093 0000 sts (MittelIntegralNick2)+1,r25 |
| 6690 3824 A093 0000 sts (MittelIntegralNick2)+2,r26 |
| 6691 3828 B093 0000 sts (MittelIntegralNick2)+3,r27 |
| 6692 382c 8091 0000 lds r24,MittelIntegralRoll2 |
| 6693 3830 9091 0000 lds r25,(MittelIntegralRoll2)+1 |
| 6694 3834 A091 0000 lds r26,(MittelIntegralRoll2)+2 |
| 6695 3838 B091 0000 lds r27,(MittelIntegralRoll2)+3 |
| 6696 383c B7FF sbrs r27,7 |
| 6697 383e 00C0 rjmp .L550 |
| 6698 3840 8150 subi r24,lo8(-(255)) |
| 6699 3842 9F4F sbci r25,hi8(-(255)) |
| 6700 3844 AF4F sbci r26,hlo8(-(255)) |
| 6701 3846 BF4F sbci r27,hhi8(-(255)) |
| 6702 .L550: |
| 6703 3848 892F mov r24,r25 |
| 6704 384a 9A2F mov r25,r26 |
| 6705 384c AB2F mov r26,r27 |
| 6706 384e BB27 clr r27 |
| 6707 3850 A7FD sbrc r26,7 |
| 6708 3852 BA95 dec r27 |
| 6709 3854 8093 0000 sts MittelIntegralRoll2,r24 |
| 6710 3858 9093 0000 sts (MittelIntegralRoll2)+1,r25 |
| 6711 385c A093 0000 sts (MittelIntegralRoll2)+2,r26 |
| 6712 3860 B093 0000 sts (MittelIntegralRoll2)+3,r27 |
| 6713 3864 8091 0000 lds r24,IntegralNick |
| 6714 3868 9091 0000 lds r25,(IntegralNick)+1 |
| 6715 386c A091 0000 lds r26,(IntegralNick)+2 |
| 6716 3870 B091 0000 lds r27,(IntegralNick)+3 |
| 6717 3874 2F81 ldd r18,Y+7 |
| 6718 3876 3885 ldd r19,Y+8 |
| 6719 3878 4985 ldd r20,Y+9 |
| 6720 387a 5A85 ldd r21,Y+10 |
| 6721 387c 281B sub r18,r24 |
| 6722 387e 390B sbc r19,r25 |
| 6723 3880 4A0B sbc r20,r26 |
| 6724 3882 5B0B sbc r21,r27 |
| 6725 3884 2093 0000 sts tmp_long.1,r18 |
| 6726 3888 3093 0000 sts (tmp_long.1)+1,r19 |
| 6727 388c 4093 0000 sts (tmp_long.1)+2,r20 |
| 6728 3890 5093 0000 sts (tmp_long.1)+3,r21 |
| 6729 3894 8091 0000 lds r24,IntegralRoll |
| 6730 3898 9091 0000 lds r25,(IntegralRoll)+1 |
| 6731 389c A091 0000 lds r26,(IntegralRoll)+2 |
| 6732 38a0 B091 0000 lds r27,(IntegralRoll)+3 |
| 6733 38a4 EB84 ldd r14,Y+11 |
| 6734 38a6 FC84 ldd r15,Y+12 |
| 6735 38a8 0D85 ldd r16,Y+13 |
| 6736 38aa 1E85 ldd r17,Y+14 |
| 6737 38ac E81A sub r14,r24 |
| 6738 38ae F90A sbc r15,r25 |
| 6739 38b0 0A0B sbc r16,r26 |
| 6740 38b2 1B0B sbc r17,r27 |
| 6741 38b4 E092 0000 sts tmp_long2.2,r14 |
| 6742 38b8 F092 0000 sts (tmp_long2.2)+1,r15 |
| 6743 38bc 0093 0000 sts (tmp_long2.2)+2,r16 |
| 6744 38c0 1093 0000 sts (tmp_long2.2)+3,r17 |
| 6745 38c4 2093 0000 sts IntegralFehlerNick.3,r18 |
| 6746 38c8 3093 0000 sts (IntegralFehlerNick.3)+1,r19 |
| 6747 38cc 4093 0000 sts (IntegralFehlerNick.3)+2,r20 |
| 6748 38d0 5093 0000 sts (IntegralFehlerNick.3)+3,r21 |
| 6749 38d4 E092 0000 sts IntegralFehlerRoll.4,r14 |
| 6750 38d8 F092 0000 sts (IntegralFehlerRoll.4)+1,r15 |
| 6751 38dc 0093 0000 sts (IntegralFehlerRoll.4)+2,r16 |
| 6752 38e0 1093 0000 sts (IntegralFehlerRoll.4)+3,r17 |
| 6753 38e4 8091 0000 lds r24,Mess_IntegralNick2 |
| 6754 38e8 9091 0000 lds r25,(Mess_IntegralNick2)+1 |
| 6755 38ec A091 0000 lds r26,(Mess_IntegralNick2)+2 |
| 6756 38f0 B091 0000 lds r27,(Mess_IntegralNick2)+3 |
| 6757 38f4 821B sub r24,r18 |
| 6758 38f6 930B sbc r25,r19 |
| 6759 38f8 A40B sbc r26,r20 |
| 6760 38fa B50B sbc r27,r21 |
| 6761 38fc 8093 0000 sts Mess_IntegralNick2,r24 |
| 6762 3900 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
| 6763 3904 A093 0000 sts (Mess_IntegralNick2)+2,r26 |
| 6764 3908 B093 0000 sts (Mess_IntegralNick2)+3,r27 |
| 6765 390c 8091 0000 lds r24,Mess_IntegralRoll2 |
| 6766 3910 9091 0000 lds r25,(Mess_IntegralRoll2)+1 |
| 6767 3914 A091 0000 lds r26,(Mess_IntegralRoll2)+2 |
| 6768 3918 B091 0000 lds r27,(Mess_IntegralRoll2)+3 |
| 6769 391c 8E19 sub r24,r14 |
| 6770 391e 9F09 sbc r25,r15 |
| 6771 3920 A00B sbc r26,r16 |
| 6772 3922 B10B sbc r27,r17 |
| 6773 3924 8093 0000 sts Mess_IntegralRoll2,r24 |
| 6774 3928 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
| 6775 392c A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
| 6776 3930 B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
| 6777 3934 8889 ldd r24,Y+16 |
| 6778 3936 8823 tst r24 |
| 6779 3938 01F0 breq .L551 |
| 6780 393a 2091 0000 lds r18,GierGyroFehler |
| 6781 393e 3091 0000 lds r19,(GierGyroFehler)+1 |
| 6782 3942 2138 cpi r18,129 |
| 6783 3944 3105 cpc r19,__zero_reg__ |
| 6784 3946 04F0 brlt .L552 |
| 6785 3948 8091 0000 lds r24,AdNeutralGier |
| 6786 394c 9091 0000 lds r25,(AdNeutralGier)+1 |
| 6787 3950 0196 adiw r24,1 |
| 6788 3952 9093 0000 sts (AdNeutralGier)+1,r25 |
| 6789 3956 8093 0000 sts AdNeutralGier,r24 |
| 6790 .L552: |
| 6791 395a 2058 subi r18,lo8(-128) |
| 6792 395c 3F4F sbci r19,hi8(-128) |
| 6793 395e 04F4 brge .L551 |
| 6794 3960 8091 0000 lds r24,AdNeutralGier |
| 6795 3964 9091 0000 lds r25,(AdNeutralGier)+1 |
| 6796 3968 0197 sbiw r24,1 |
| 6797 396a 9093 0000 sts (AdNeutralGier)+1,r25 |
| 6798 396e 8093 0000 sts AdNeutralGier,r24 |
| 6799 .L551: |
| 6800 3972 1092 0000 sts (GierGyroFehler)+1,__zero_reg__ |
| 6801 3976 1092 0000 sts GierGyroFehler,__zero_reg__ |
| 6802 397a 81E0 ldi r24,lo8(1) |
| 6803 397c 90E0 ldi r25,hi8(1) |
| 6804 397e 9093 0000 sts (cnt.14)+1,r25 |
| 6805 3982 8093 0000 sts cnt.14,r24 |
| 6806 3986 E090 0000 lds r14,IntegralFehlerNick.3 |
| 6807 398a F090 0000 lds r15,(IntegralFehlerNick.3)+1 |
| 6808 398e 0091 0000 lds r16,(IntegralFehlerNick.3)+2 |
| 6809 3992 1091 0000 lds r17,(IntegralFehlerNick.3)+3 |
| 6810 3996 D801 movw r26,r16 |
| 6811 3998 C701 movw r24,r14 |
| 6812 399a 17FF sbrs r17,7 |
| 6813 399c 00C0 rjmp .L555 |
| 6814 399e 8827 clr r24 |
| 6815 39a0 9927 clr r25 |
| 6816 39a2 DC01 movw r26,r24 |
| 6817 39a4 8E19 sub r24,r14 |
| 6818 39a6 9F09 sbc r25,r15 |
| 6819 39a8 A00B sbc r26,r16 |
| 6820 39aa B10B sbc r27,r17 |
| 6821 .L555: |
| 6822 39ac 8150 subi r24,lo8(513) |
| 6823 39ae 9240 sbci r25,hi8(513) |
| 6824 39b0 A040 sbci r26,hlo8(513) |
| 6825 39b2 B040 sbci r27,hhi8(513) |
| 6826 39b4 04F0 brlt .L554 |
| 6827 39b6 84E0 ldi r24,lo8(4) |
| 6828 39b8 90E0 ldi r25,hi8(4) |
| 6829 39ba 9093 0000 sts (cnt.14)+1,r25 |
| 6830 39be 8093 0000 sts cnt.14,r24 |
| 6831 .L554: |
| 6832 39c2 8091 0000 lds r24,MittelIntegralNick_Alt.19 |
| 6833 39c6 9091 0000 lds r25,(MittelIntegralNick_Alt.19)+1 |
| 6834 39ca A091 0000 lds r26,(MittelIntegralNick_Alt.19)+2 |
| 6835 39ce B091 0000 lds r27,(MittelIntegralNick_Alt.19)+3 |
| 6836 39d2 2091 0000 lds r18,MittelIntegralNick |
| 6837 39d6 3091 0000 lds r19,(MittelIntegralNick)+1 |
| 6838 39da 4091 0000 lds r20,(MittelIntegralNick)+2 |
| 6839 39de 5091 0000 lds r21,(MittelIntegralNick)+3 |
| 6840 39e2 821B sub r24,r18 |
| 6841 39e4 930B sbc r25,r19 |
| 6842 39e6 A40B sbc r26,r20 |
| 6843 39e8 B50B sbc r27,r21 |
| 6844 39ea 815E subi r24,lo8(-(19999)) |
| 6845 39ec 914B sbci r25,hi8(-(19999)) |
| 6846 39ee AF4F sbci r26,hlo8(-(19999)) |
| 6847 39f0 BF4F sbci r27,hhi8(-(19999)) |
| 6848 39f2 8F53 subi r24,lo8(39999) |
| 6849 39f4 9C49 sbci r25,hi8(39999) |
| 6850 39f6 A040 sbci r26,hlo8(39999) |
| 6851 39f8 B040 sbci r27,hhi8(39999) |
| 6852 39fa 00F0 brlo .L557 |
| 6853 39fc 8091 0000 lds r24,FromNaviCtrl_Value+1 |
| 6854 3a00 8931 cpi r24,lo8(25) |
| 6855 3a02 04F4 brge .+2 |
| 6856 3a04 00C0 rjmp .L556 |
| 6857 .L557: |
| 6858 3a06 21E0 ldi r18,lo8(4097) |
| 6859 3a08 E216 cp r14,r18 |
| 6860 3a0a 20E1 ldi r18,hi8(4097) |
| 6861 3a0c F206 cpc r15,r18 |
| 6862 3a0e 20E0 ldi r18,hlo8(4097) |
| 6863 3a10 0207 cpc r16,r18 |
| 6864 3a12 20E0 ldi r18,hhi8(4097) |
| 6865 3a14 1207 cpc r17,r18 |
| 6866 3a16 04F4 brge .+2 |
| 6867 3a18 00C0 rjmp .L558 |
| 6868 3a1a 8091 0000 lds r24,last_n_p.15 |
| 6869 3a1e 8823 tst r24 |
| 6870 3a20 01F4 brne .+2 |
| 6871 3a22 00C0 rjmp .L559 |
| 6872 3a24 D801 movw r26,r16 |
| 6873 3a26 C701 movw r24,r14 |
| 6874 3a28 17FF sbrs r17,7 |
| 6875 3a2a 00C0 rjmp .L560 |
| 6876 3a2c 8827 clr r24 |
| 6877 3a2e 9927 clr r25 |
| 6878 3a30 DC01 movw r26,r24 |
| 6879 3a32 8E19 sub r24,r14 |
| 6880 3a34 9F09 sbc r25,r15 |
| 6881 3a36 A00B sbc r26,r16 |
| 6882 3a38 B10B sbc r27,r17 |
| 6883 .L560: |
| 6884 3a3a 9C01 movw r18,r24 |
| 6885 3a3c AD01 movw r20,r26 |
| 6886 3a3e B7FF sbrs r27,7 |
| 6887 3a40 00C0 rjmp .L561 |
| 6888 3a42 2150 subi r18,lo8(-(511)) |
| 6889 3a44 3E4F sbci r19,hi8(-(511)) |
| 6890 3a46 4F4F sbci r20,hlo8(-(511)) |
| 6891 3a48 5F4F sbci r21,hhi8(-(511)) |
| 6892 .L561: |
| 6893 3a4a F9E0 ldi r31,9 |
| 6894 3a4c 5595 1: asr r21 |
| 6895 3a4e 4795 ror r20 |
| 6896 3a50 3795 ror r19 |
| 6897 3a52 2795 ror r18 |
| 6898 3a54 FA95 dec r31 |
| 6899 3a56 01F4 brne 1b |
| 6900 3a58 8091 0000 lds r24,cnt.14 |
| 6901 3a5c 9091 0000 lds r25,(cnt.14)+1 |
| 6902 3a60 820F add r24,r18 |
| 6903 3a62 931F adc r25,r19 |
| 6904 3a64 9093 0000 sts (cnt.14)+1,r25 |
| 6905 3a68 8093 0000 sts cnt.14,r24 |
| 6906 3a6c D801 movw r26,r16 |
| 6907 3a6e C701 movw r24,r14 |
| 6908 3a70 17FF sbrs r17,7 |
| 6909 3a72 00C0 rjmp .L562 |
| 6910 3a74 0796 adiw r24,7 |
| 6911 3a76 A11D adc r26,__zero_reg__ |
| 6912 3a78 B11D adc r27,__zero_reg__ |
| 6913 .L562: |
| 6914 3a7a E3E0 ldi r30,3 |
| 6915 3a7c B595 1: asr r27 |
| 6916 3a7e A795 ror r26 |
| 6917 3a80 9795 ror r25 |
| 6918 3a82 8795 ror r24 |
| 6919 3a84 EA95 dec r30 |
| 6920 3a86 01F4 brne 1b |
| 6921 3a88 8093 0000 sts ausgleichNick.10,r24 |
| 6922 3a8c 9093 0000 sts (ausgleichNick.10)+1,r25 |
| 6923 3a90 A093 0000 sts (ausgleichNick.10)+2,r26 |
| 6924 3a94 B093 0000 sts (ausgleichNick.10)+3,r27 |
| 6925 3a98 8958 subi r24,lo8(5001) |
| 6926 3a9a 9341 sbci r25,hi8(5001) |
| 6927 3a9c A040 sbci r26,hlo8(5001) |
| 6928 3a9e B040 sbci r27,hhi8(5001) |
| 6929 3aa0 04F0 brlt .L563 |
| 6930 3aa2 88E8 ldi r24,lo8(5000) |
| 6931 3aa4 93E1 ldi r25,hi8(5000) |
| 6932 3aa6 A0E0 ldi r26,hlo8(5000) |
| 6933 3aa8 B0E0 ldi r27,hhi8(5000) |
| 6934 3aaa 8093 0000 sts ausgleichNick.10,r24 |
| 6935 3aae 9093 0000 sts (ausgleichNick.10)+1,r25 |
| 6936 3ab2 A093 0000 sts (ausgleichNick.10)+2,r26 |
| 6937 3ab6 B093 0000 sts (ausgleichNick.10)+3,r27 |
| 6938 .L563: |
| 6939 3aba 2091 0000 lds r18,ausgleichNick.10 |
| 6940 3abe 3091 0000 lds r19,(ausgleichNick.10)+1 |
| 6941 3ac2 4091 0000 lds r20,(ausgleichNick.10)+2 |
| 6942 3ac6 5091 0000 lds r21,(ausgleichNick.10)+3 |
| 6943 3aca 57FF sbrs r21,7 |
| 6944 3acc 00C0 rjmp .L564 |
| 6945 3ace 2150 subi r18,lo8(-(255)) |
| 6946 3ad0 3F4F sbci r19,hi8(-(255)) |
| 6947 3ad2 4F4F sbci r20,hlo8(-(255)) |
| 6948 3ad4 5F4F sbci r21,hhi8(-(255)) |
| 6949 .L564: |
| 6950 3ad6 232F mov r18,r19 |
| 6951 3ad8 342F mov r19,r20 |
| 6952 3ada 452F mov r20,r21 |
| 6953 3adc 5527 clr r21 |
| 6954 3ade 47FD sbrc r20,7 |
| 6955 3ae0 5A95 dec r21 |
| 6956 3ae2 8091 0000 lds r24,LageKorrekturNick |
| 6957 3ae6 9091 0000 lds r25,(LageKorrekturNick)+1 |
| 6958 3aea 820F add r24,r18 |
| 6959 3aec 931F adc r25,r19 |
| 6960 3aee 9093 0000 sts (LageKorrekturNick)+1,r25 |
| 6961 3af2 8093 0000 sts LageKorrekturNick,r24 |
| 6962 3af6 00C0 rjmp .L566 |
| 6963 .L559: |
| 6964 3af8 81E0 ldi r24,lo8(1) |
| 6965 3afa 8093 0000 sts last_n_p.15,r24 |
| 6966 3afe 00C0 rjmp .L566 |
| 6967 .L558: |
| 6968 3b00 1092 0000 sts last_n_p.15,__zero_reg__ |
| 6969 .L566: |
| 6970 3b04 40E0 ldi r20,lo8(-4096) |
| 6971 3b06 E416 cp r14,r20 |
| 6972 3b08 40EF ldi r20,hi8(-4096) |
| 6973 3b0a F406 cpc r15,r20 |
| 6974 3b0c 4FEF ldi r20,hlo8(-4096) |
| 6975 3b0e 0407 cpc r16,r20 |
| 6976 3b10 4FEF ldi r20,hhi8(-4096) |
| 6977 3b12 1407 cpc r17,r20 |
| 6978 3b14 04F0 brlt .+2 |
| 6979 3b16 00C0 rjmp .L567 |
| 6980 3b18 8091 0000 lds r24,last_n_n.16 |
| 6981 3b1c 8823 tst r24 |
| 6982 3b1e 01F4 brne .+2 |
| 6983 3b20 00C0 rjmp .L568 |
| 6984 3b22 D801 movw r26,r16 |
| 6985 3b24 C701 movw r24,r14 |
| 6986 3b26 17FF sbrs r17,7 |
| 6987 3b28 00C0 rjmp .L569 |
| 6988 3b2a 8827 clr r24 |
| 6989 3b2c 9927 clr r25 |
| 6990 3b2e DC01 movw r26,r24 |
| 6991 3b30 8E19 sub r24,r14 |
| 6992 3b32 9F09 sbc r25,r15 |
| 6993 3b34 A00B sbc r26,r16 |
| 6994 3b36 B10B sbc r27,r17 |
| 6995 .L569: |
| 6996 3b38 9C01 movw r18,r24 |
| 6997 3b3a AD01 movw r20,r26 |
| 6998 3b3c B7FF sbrs r27,7 |
| 6999 3b3e 00C0 rjmp .L570 |
| 7000 3b40 2150 subi r18,lo8(-(511)) |
| 7001 3b42 3E4F sbci r19,hi8(-(511)) |
| 7002 3b44 4F4F sbci r20,hlo8(-(511)) |
| 7003 3b46 5F4F sbci r21,hhi8(-(511)) |
| 7004 .L570: |
| 7005 3b48 69E0 ldi r22,9 |
| 7006 3b4a 5595 1: asr r21 |
| 7007 3b4c 4795 ror r20 |
| 7008 3b4e 3795 ror r19 |
| 7009 3b50 2795 ror r18 |
| 7010 3b52 6A95 dec r22 |
| 7011 3b54 01F4 brne 1b |
| 7012 3b56 8091 0000 lds r24,cnt.14 |
| 7013 3b5a 9091 0000 lds r25,(cnt.14)+1 |
| 7014 3b5e 820F add r24,r18 |
| 7015 3b60 931F adc r25,r19 |
| 7016 3b62 9093 0000 sts (cnt.14)+1,r25 |
| 7017 3b66 8093 0000 sts cnt.14,r24 |
| 7018 3b6a D801 movw r26,r16 |
| 7019 3b6c C701 movw r24,r14 |
| 7020 3b6e 17FF sbrs r17,7 |
| 7021 3b70 00C0 rjmp .L571 |
| 7022 3b72 0796 adiw r24,7 |
| 7023 3b74 A11D adc r26,__zero_reg__ |
| 7024 3b76 B11D adc r27,__zero_reg__ |
| 7025 .L571: |
| 7026 3b78 23E0 ldi r18,3 |
| 7027 3b7a B595 1: asr r27 |
| 7028 3b7c A795 ror r26 |
| 7029 3b7e 9795 ror r25 |
| 7030 3b80 8795 ror r24 |
| 7031 3b82 2A95 dec r18 |
| 7032 3b84 01F4 brne 1b |
| 7033 3b86 8093 0000 sts ausgleichNick.10,r24 |
| 7034 3b8a 9093 0000 sts (ausgleichNick.10)+1,r25 |
| 7035 3b8e A093 0000 sts (ausgleichNick.10)+2,r26 |
| 7036 3b92 B093 0000 sts (ausgleichNick.10)+3,r27 |
| 7037 3b96 8857 subi r24,lo8(-5000) |
| 7038 3b98 9C4E sbci r25,hi8(-5000) |
| 7039 3b9a AF4F sbci r26,hlo8(-5000) |
| 7040 3b9c BF4F sbci r27,hhi8(-5000) |
| 7041 3b9e 04F4 brge .L572 |
| 7042 3ba0 88E7 ldi r24,lo8(-5000) |
| 7043 3ba2 9CEE ldi r25,hi8(-5000) |
| 7044 3ba4 AFEF ldi r26,hlo8(-5000) |
| 7045 3ba6 BFEF ldi r27,hhi8(-5000) |
| 7046 3ba8 8093 0000 sts ausgleichNick.10,r24 |
| 7047 3bac 9093 0000 sts (ausgleichNick.10)+1,r25 |
| 7048 3bb0 A093 0000 sts (ausgleichNick.10)+2,r26 |
| 7049 3bb4 B093 0000 sts (ausgleichNick.10)+3,r27 |
| 7050 .L572: |
| 7051 3bb8 2091 0000 lds r18,ausgleichNick.10 |
| 7052 3bbc 3091 0000 lds r19,(ausgleichNick.10)+1 |
| 7053 3bc0 4091 0000 lds r20,(ausgleichNick.10)+2 |
| 7054 3bc4 5091 0000 lds r21,(ausgleichNick.10)+3 |
| 7055 3bc8 57FF sbrs r21,7 |
| 7056 3bca 00C0 rjmp .L573 |
| 7057 3bcc 2150 subi r18,lo8(-(255)) |
| 7058 3bce 3F4F sbci r19,hi8(-(255)) |
| 7059 3bd0 4F4F sbci r20,hlo8(-(255)) |
| 7060 3bd2 5F4F sbci r21,hhi8(-(255)) |
| 7061 .L573: |
| 7062 3bd4 232F mov r18,r19 |
| 7063 3bd6 342F mov r19,r20 |
| 7064 3bd8 452F mov r20,r21 |
| 7065 3bda 5527 clr r21 |
| 7066 3bdc 47FD sbrc r20,7 |
| 7067 3bde 5A95 dec r21 |
| 7068 3be0 8091 0000 lds r24,LageKorrekturNick |
| 7069 3be4 9091 0000 lds r25,(LageKorrekturNick)+1 |
| 7070 3be8 820F add r24,r18 |
| 7071 3bea 931F adc r25,r19 |
| 7072 3bec 9093 0000 sts (LageKorrekturNick)+1,r25 |
| 7073 3bf0 8093 0000 sts LageKorrekturNick,r24 |
| 7074 3bf4 00C0 rjmp .L576 |
| 7075 .L568: |
| 7076 3bf6 81E0 ldi r24,lo8(1) |
| 7077 3bf8 8093 0000 sts last_n_n.16,r24 |
| 7078 3bfc 00C0 rjmp .L576 |
| 7079 .L567: |
| 7080 3bfe 1092 0000 sts last_n_n.16,__zero_reg__ |
| 7081 3c02 00C0 rjmp .L576 |
| 7082 .L556: |
| 7083 3c04 1092 0000 sts (cnt.14)+1,__zero_reg__ |
| 7084 3c08 1092 0000 sts cnt.14,__zero_reg__ |
| 7085 3c0c 84E6 ldi r24,lo8(100) |
| 7086 3c0e 90E0 ldi r25,hi8(100) |
| 7087 3c10 9093 0000 sts (KompassSignalSchlecht)+1,r25 |
| 7088 3c14 8093 0000 sts KompassSignalSchlecht,r24 |
| 7089 .L576: |
| 7090 3c18 6889 ldd r22,Y+16 |
| 7091 3c1a 262F mov r18,r22 |
| 7092 3c1c 3327 clr r19 |
| 7093 3c1e 8091 0000 lds r24,cnt.14 |
| 7094 3c22 9091 0000 lds r25,(cnt.14)+1 |
| 7095 3c26 2817 cp r18,r24 |
| 7096 3c28 3907 cpc r19,r25 |
| 7097 3c2a 04F4 brge .L577 |
| 7098 3c2c 3093 0000 sts (cnt.14)+1,r19 |
| 7099 3c30 2093 0000 sts cnt.14,r18 |
| 7100 .L577: |
| 7101 3c34 1091 0000 lds r17,FromNaviCtrl_Value+1 |
| 7102 3c38 1123 tst r17 |
| 7103 3c3a 01F0 breq .L578 |
| 7104 3c3c 212F mov r18,r17 |
| 7105 3c3e 3327 clr r19 |
| 7106 3c40 27FD sbrc r18,7 |
| 7107 3c42 3095 com r19 |
| 7108 3c44 8091 0000 lds r24,cnt.14 |
| 7109 3c48 9091 0000 lds r25,(cnt.14)+1 |
| 7110 3c4c 2817 cp r18,r24 |
| 7111 3c4e 3907 cpc r19,r25 |
| 7112 3c50 04F4 brge .L578 |
| 7113 3c52 3093 0000 sts (cnt.14)+1,r19 |
| 7114 3c56 2093 0000 sts cnt.14,r18 |
| 7115 .L578: |
| 7116 3c5a 4091 0000 lds r20,IntegralFehlerNick.3 |
| 7117 3c5e 5091 0000 lds r21,(IntegralFehlerNick.3)+1 |
| 7118 3c62 6091 0000 lds r22,(IntegralFehlerNick.3)+2 |
| 7119 3c66 7091 0000 lds r23,(IntegralFehlerNick.3)+3 |
| 7120 3c6a 4138 cpi r20,lo8(129) |
| 7121 3c6c 5105 cpc r21,__zero_reg__ |
| 7122 3c6e 6105 cpc r22,__zero_reg__ |
| 7123 3c70 7105 cpc r23,__zero_reg__ |
| 7124 3c72 04F0 brlt .L580 |
| 7125 3c74 8091 0000 lds r24,AdNeutralNick |
| 7126 3c78 9091 0000 lds r25,(AdNeutralNick)+1 |
| 7127 3c7c 2091 0000 lds r18,cnt.14 |
| 7128 3c80 3091 0000 lds r19,(cnt.14)+1 |
| 7129 3c84 820F add r24,r18 |
| 7130 3c86 931F adc r25,r19 |
| 7131 3c88 9093 0000 sts (AdNeutralNick)+1,r25 |
| 7132 3c8c 8093 0000 sts AdNeutralNick,r24 |
| 7133 .L580: |
| 7134 3c90 4058 subi r20,lo8(-128) |
| 7135 3c92 5F4F sbci r21,hi8(-128) |
| 7136 3c94 6F4F sbci r22,hlo8(-128) |
| 7137 3c96 7F4F sbci r23,hhi8(-128) |
| 7138 3c98 04F4 brge .L581 |
| 7139 3c9a 8091 0000 lds r24,AdNeutralNick |
| 7140 3c9e 9091 0000 lds r25,(AdNeutralNick)+1 |
| 7141 3ca2 2091 0000 lds r18,cnt.14 |
| 7142 3ca6 3091 0000 lds r19,(cnt.14)+1 |
| 7143 3caa 821B sub r24,r18 |
| 7144 3cac 930B sbc r25,r19 |
| 7145 3cae 9093 0000 sts (AdNeutralNick)+1,r25 |
| 7146 3cb2 8093 0000 sts AdNeutralNick,r24 |
| 7147 .L581: |
| 7148 3cb6 81E0 ldi r24,lo8(1) |
| 7149 3cb8 90E0 ldi r25,hi8(1) |
| 7150 3cba 9093 0000 sts (cnt.14)+1,r25 |
| 7151 3cbe 8093 0000 sts cnt.14,r24 |
| 7152 3cc2 C090 0000 lds r12,IntegralFehlerRoll.4 |
| 7153 3cc6 D090 0000 lds r13,(IntegralFehlerRoll.4)+1 |
| 7154 3cca E090 0000 lds r14,(IntegralFehlerRoll.4)+2 |
| 7155 3cce F090 0000 lds r15,(IntegralFehlerRoll.4)+3 |
| 7156 3cd2 D701 movw r26,r14 |
| 7157 3cd4 C601 movw r24,r12 |
| 7158 3cd6 F7FE sbrs r15,7 |
| 7159 3cd8 00C0 rjmp .L583 |
| 7160 3cda 8827 clr r24 |
| 7161 3cdc 9927 clr r25 |
| 7162 3cde DC01 movw r26,r24 |
| 7163 3ce0 8C19 sub r24,r12 |
| 7164 3ce2 9D09 sbc r25,r13 |
| 7165 3ce4 AE09 sbc r26,r14 |
| 7166 3ce6 BF09 sbc r27,r15 |
| 7167 .L583: |
| 7168 3ce8 8150 subi r24,lo8(513) |
| 7169 3cea 9240 sbci r25,hi8(513) |
| 7170 3cec A040 sbci r26,hlo8(513) |
| 7171 3cee B040 sbci r27,hhi8(513) |
| 7172 3cf0 04F0 brlt .L582 |
| 7173 3cf2 84E0 ldi r24,lo8(4) |
| 7174 3cf4 90E0 ldi r25,hi8(4) |
| 7175 3cf6 9093 0000 sts (cnt.14)+1,r25 |
| 7176 3cfa 8093 0000 sts cnt.14,r24 |
| 7177 .L582: |
| 7178 3cfe 8091 0000 lds r24,MittelIntegralRoll_Alt.20 |
| 7179 3d02 9091 0000 lds r25,(MittelIntegralRoll_Alt.20)+1 |
| 7180 3d06 A091 0000 lds r26,(MittelIntegralRoll_Alt.20)+2 |
| 7181 3d0a B091 0000 lds r27,(MittelIntegralRoll_Alt.20)+3 |
| 7182 3d0e 2091 0000 lds r18,MittelIntegralRoll |
| 7183 3d12 3091 0000 lds r19,(MittelIntegralRoll)+1 |
| 7184 3d16 4091 0000 lds r20,(MittelIntegralRoll)+2 |
| 7185 3d1a 5091 0000 lds r21,(MittelIntegralRoll)+3 |
| 7186 3d1e 821B sub r24,r18 |
| 7187 3d20 930B sbc r25,r19 |
| 7188 3d22 A40B sbc r26,r20 |
| 7189 3d24 B50B sbc r27,r21 |
| 7190 3d26 815E subi r24,lo8(-(19999)) |
| 7191 3d28 914B sbci r25,hi8(-(19999)) |
| 7192 3d2a AF4F sbci r26,hlo8(-(19999)) |
| 7193 3d2c BF4F sbci r27,hhi8(-(19999)) |
| 7194 3d2e 8F53 subi r24,lo8(39999) |
| 7195 3d30 9C49 sbci r25,hi8(39999) |
| 7196 3d32 A040 sbci r26,hlo8(39999) |
| 7197 3d34 B040 sbci r27,hhi8(39999) |
| 7198 3d36 00F0 brlo .L585 |
| 7199 3d38 1931 cpi r17,lo8(25) |
| 7200 3d3a 04F4 brge .+2 |
| 7201 3d3c 00C0 rjmp .L584 |
| 7202 .L585: |
| 7203 3d3e 01E0 ldi r16,lo8(4097) |
| 7204 3d40 C016 cp r12,r16 |
| 7205 3d42 00E1 ldi r16,hi8(4097) |
| 7206 3d44 D006 cpc r13,r16 |
| 7207 3d46 00E0 ldi r16,hlo8(4097) |
| 7208 3d48 E006 cpc r14,r16 |
| 7209 3d4a 00E0 ldi r16,hhi8(4097) |
| 7210 3d4c F006 cpc r15,r16 |
| 7211 3d4e 04F4 brge .+2 |
| 7212 3d50 00C0 rjmp .L586 |
| 7213 3d52 8091 0000 lds r24,last_r_p.17 |
| 7214 3d56 8823 tst r24 |
| 7215 3d58 01F4 brne .+2 |
| 7216 3d5a 00C0 rjmp .L587 |
| 7217 3d5c D701 movw r26,r14 |
| 7218 3d5e C601 movw r24,r12 |
| 7219 3d60 F7FE sbrs r15,7 |
| 7220 3d62 00C0 rjmp .L588 |
| 7221 3d64 8827 clr r24 |
| 7222 3d66 9927 clr r25 |
| 7223 3d68 DC01 movw r26,r24 |
| 7224 3d6a 8C19 sub r24,r12 |
| 7225 3d6c 9D09 sbc r25,r13 |
| 7226 3d6e AE09 sbc r26,r14 |
| 7227 3d70 BF09 sbc r27,r15 |
| 7228 .L588: |
| 7229 3d72 9C01 movw r18,r24 |
| 7230 3d74 AD01 movw r20,r26 |
| 7231 3d76 B7FF sbrs r27,7 |
| 7232 3d78 00C0 rjmp .L589 |
| 7233 3d7a 2150 subi r18,lo8(-(511)) |
| 7234 3d7c 3E4F sbci r19,hi8(-(511)) |
| 7235 3d7e 4F4F sbci r20,hlo8(-(511)) |
| 7236 3d80 5F4F sbci r21,hhi8(-(511)) |
| 7237 .L589: |
| 7238 3d82 09E0 ldi r16,9 |
| 7239 3d84 5595 1: asr r21 |
| 7240 3d86 4795 ror r20 |
| 7241 3d88 3795 ror r19 |
| 7242 3d8a 2795 ror r18 |
| 7243 3d8c 0A95 dec r16 |
| 7244 3d8e 01F4 brne 1b |
| 7245 3d90 8091 0000 lds r24,cnt.14 |
| 7246 3d94 9091 0000 lds r25,(cnt.14)+1 |
| 7247 3d98 820F add r24,r18 |
| 7248 3d9a 931F adc r25,r19 |
| 7249 3d9c 9093 0000 sts (cnt.14)+1,r25 |
| 7250 3da0 8093 0000 sts cnt.14,r24 |
| 7251 3da4 D701 movw r26,r14 |
| 7252 3da6 C601 movw r24,r12 |
| 7253 3da8 F7FE sbrs r15,7 |
| 7254 3daa 00C0 rjmp .L590 |
| 7255 3dac 0796 adiw r24,7 |
| 7256 3dae A11D adc r26,__zero_reg__ |
| 7257 3db0 B11D adc r27,__zero_reg__ |
| 7258 .L590: |
| 7259 3db2 13E0 ldi r17,3 |
| 7260 3db4 B595 1: asr r27 |
| 7261 3db6 A795 ror r26 |
| 7262 3db8 9795 ror r25 |
| 7263 3dba 8795 ror r24 |
| 7264 3dbc 1A95 dec r17 |
| 7265 3dbe 01F4 brne 1b |
| 7266 3dc0 8093 0000 sts ausgleichRoll.11,r24 |
| 7267 3dc4 9093 0000 sts (ausgleichRoll.11)+1,r25 |
| 7268 3dc8 A093 0000 sts (ausgleichRoll.11)+2,r26 |
| 7269 3dcc B093 0000 sts (ausgleichRoll.11)+3,r27 |
| 7270 3dd0 8958 subi r24,lo8(5001) |
| 7271 3dd2 9341 sbci r25,hi8(5001) |
| 7272 3dd4 A040 sbci r26,hlo8(5001) |
| 7273 3dd6 B040 sbci r27,hhi8(5001) |
| 7274 3dd8 04F0 brlt .L591 |
| 7275 3dda 88E8 ldi r24,lo8(5000) |
| 7276 3ddc 93E1 ldi r25,hi8(5000) |
| 7277 3dde A0E0 ldi r26,hlo8(5000) |
| 7278 3de0 B0E0 ldi r27,hhi8(5000) |
| 7279 3de2 8093 0000 sts ausgleichRoll.11,r24 |
| 7280 3de6 9093 0000 sts (ausgleichRoll.11)+1,r25 |
| 7281 3dea A093 0000 sts (ausgleichRoll.11)+2,r26 |
| 7282 3dee B093 0000 sts (ausgleichRoll.11)+3,r27 |
| 7283 .L591: |
| 7284 3df2 2091 0000 lds r18,ausgleichRoll.11 |
| 7285 3df6 3091 0000 lds r19,(ausgleichRoll.11)+1 |
| 7286 3dfa 4091 0000 lds r20,(ausgleichRoll.11)+2 |
| 7287 3dfe 5091 0000 lds r21,(ausgleichRoll.11)+3 |
| 7288 3e02 57FF sbrs r21,7 |
| 7289 3e04 00C0 rjmp .L592 |
| 7290 3e06 2150 subi r18,lo8(-(255)) |
| 7291 3e08 3F4F sbci r19,hi8(-(255)) |
| 7292 3e0a 4F4F sbci r20,hlo8(-(255)) |
| 7293 3e0c 5F4F sbci r21,hhi8(-(255)) |
| 7294 .L592: |
| 7295 3e0e 232F mov r18,r19 |
| 7296 3e10 342F mov r19,r20 |
| 7297 3e12 452F mov r20,r21 |
| 7298 3e14 5527 clr r21 |
| 7299 3e16 47FD sbrc r20,7 |
| 7300 3e18 5A95 dec r21 |
| 7301 3e1a 8091 0000 lds r24,LageKorrekturRoll |
| 7302 3e1e 9091 0000 lds r25,(LageKorrekturRoll)+1 |
| 7303 3e22 820F add r24,r18 |
| 7304 3e24 931F adc r25,r19 |
| 7305 3e26 9093 0000 sts (LageKorrekturRoll)+1,r25 |
| 7306 3e2a 8093 0000 sts LageKorrekturRoll,r24 |
| 7307 3e2e 00C0 rjmp .L594 |
| 7308 .L587: |
| 7309 3e30 81E0 ldi r24,lo8(1) |
| 7310 3e32 8093 0000 sts last_r_p.17,r24 |
| 7311 3e36 00C0 rjmp .L594 |
| 7312 .L586: |
| 7313 3e38 1092 0000 sts last_r_p.17,__zero_reg__ |
| 7314 .L594: |
| 7315 3e3c 20E0 ldi r18,lo8(-4096) |
| 7316 3e3e C216 cp r12,r18 |
| 7317 3e40 20EF ldi r18,hi8(-4096) |
| 7318 3e42 D206 cpc r13,r18 |
| 7319 3e44 2FEF ldi r18,hlo8(-4096) |
| 7320 3e46 E206 cpc r14,r18 |
| 7321 3e48 2FEF ldi r18,hhi8(-4096) |
| 7322 3e4a F206 cpc r15,r18 |
| 7323 3e4c 04F0 brlt .+2 |
| 7324 3e4e 00C0 rjmp .L595 |
| 7325 3e50 8091 0000 lds r24,last_r_n.18 |
| 7326 3e54 8823 tst r24 |
| 7327 3e56 01F4 brne .+2 |
| 7328 3e58 00C0 rjmp .L596 |
| 7329 3e5a D701 movw r26,r14 |
| 7330 3e5c C601 movw r24,r12 |
| 7331 3e5e F7FE sbrs r15,7 |
| 7332 3e60 00C0 rjmp .L597 |
| 7333 3e62 8827 clr r24 |
| 7334 3e64 9927 clr r25 |
| 7335 3e66 DC01 movw r26,r24 |
| 7336 3e68 8C19 sub r24,r12 |
| 7337 3e6a 9D09 sbc r25,r13 |
| 7338 3e6c AE09 sbc r26,r14 |
| 7339 3e6e BF09 sbc r27,r15 |
| 7340 .L597: |
| 7341 3e70 9C01 movw r18,r24 |
| 7342 3e72 AD01 movw r20,r26 |
| 7343 3e74 B7FF sbrs r27,7 |
| 7344 3e76 00C0 rjmp .L598 |
| 7345 3e78 2150 subi r18,lo8(-(511)) |
| 7346 3e7a 3E4F sbci r19,hi8(-(511)) |
| 7347 3e7c 4F4F sbci r20,hlo8(-(511)) |
| 7348 3e7e 5F4F sbci r21,hhi8(-(511)) |
| 7349 .L598: |
| 7350 3e80 E9E0 ldi r30,9 |
| 7351 3e82 5595 1: asr r21 |
| 7352 3e84 4795 ror r20 |
| 7353 3e86 3795 ror r19 |
| 7354 3e88 2795 ror r18 |
| 7355 3e8a EA95 dec r30 |
| 7356 3e8c 01F4 brne 1b |
| 7357 3e8e 8091 0000 lds r24,cnt.14 |
| 7358 3e92 9091 0000 lds r25,(cnt.14)+1 |
| 7359 3e96 820F add r24,r18 |
| 7360 3e98 931F adc r25,r19 |
| 7361 3e9a 9093 0000 sts (cnt.14)+1,r25 |
| 7362 3e9e 8093 0000 sts cnt.14,r24 |
| 7363 3ea2 D701 movw r26,r14 |
| 7364 3ea4 C601 movw r24,r12 |
| 7365 3ea6 F7FE sbrs r15,7 |
| 7366 3ea8 00C0 rjmp .L599 |
| 7367 3eaa 0796 adiw r24,7 |
| 7368 3eac A11D adc r26,__zero_reg__ |
| 7369 3eae B11D adc r27,__zero_reg__ |
| 7370 .L599: |
| 7371 3eb0 73E0 ldi r23,3 |
| 7372 3eb2 B595 1: asr r27 |
| 7373 3eb4 A795 ror r26 |
| 7374 3eb6 9795 ror r25 |
| 7375 3eb8 8795 ror r24 |
| 7376 3eba 7A95 dec r23 |
| 7377 3ebc 01F4 brne 1b |
| 7378 3ebe 8093 0000 sts ausgleichRoll.11,r24 |
| 7379 3ec2 9093 0000 sts (ausgleichRoll.11)+1,r25 |
| 7380 3ec6 A093 0000 sts (ausgleichRoll.11)+2,r26 |
| 7381 3eca B093 0000 sts (ausgleichRoll.11)+3,r27 |
| 7382 3ece 8857 subi r24,lo8(-5000) |
| 7383 3ed0 9C4E sbci r25,hi8(-5000) |
| 7384 3ed2 AF4F sbci r26,hlo8(-5000) |
| 7385 3ed4 BF4F sbci r27,hhi8(-5000) |
| 7386 3ed6 04F4 brge .L600 |
| 7387 3ed8 88E7 ldi r24,lo8(-5000) |
| 7388 3eda 9CEE ldi r25,hi8(-5000) |
| 7389 3edc AFEF ldi r26,hlo8(-5000) |
| 7390 3ede BFEF ldi r27,hhi8(-5000) |
| 7391 3ee0 8093 0000 sts ausgleichRoll.11,r24 |
| 7392 3ee4 9093 0000 sts (ausgleichRoll.11)+1,r25 |
| 7393 3ee8 A093 0000 sts (ausgleichRoll.11)+2,r26 |
| 7394 3eec B093 0000 sts (ausgleichRoll.11)+3,r27 |
| 7395 .L600: |
| 7396 3ef0 2091 0000 lds r18,ausgleichRoll.11 |
| 7397 3ef4 3091 0000 lds r19,(ausgleichRoll.11)+1 |
| 7398 3ef8 4091 0000 lds r20,(ausgleichRoll.11)+2 |
| 7399 3efc 5091 0000 lds r21,(ausgleichRoll.11)+3 |
| 7400 3f00 57FF sbrs r21,7 |
| 7401 3f02 00C0 rjmp .L601 |
| 7402 3f04 2150 subi r18,lo8(-(255)) |
| 7403 3f06 3F4F sbci r19,hi8(-(255)) |
| 7404 3f08 4F4F sbci r20,hlo8(-(255)) |
| 7405 3f0a 5F4F sbci r21,hhi8(-(255)) |
| 7406 .L601: |
| 7407 3f0c 232F mov r18,r19 |
| 7408 3f0e 342F mov r19,r20 |
| 7409 3f10 452F mov r20,r21 |
| 7410 3f12 5527 clr r21 |
| 7411 3f14 47FD sbrc r20,7 |
| 7412 3f16 5A95 dec r21 |
| 7413 3f18 8091 0000 lds r24,LageKorrekturRoll |
| 7414 3f1c 9091 0000 lds r25,(LageKorrekturRoll)+1 |
| 7415 3f20 820F add r24,r18 |
| 7416 3f22 931F adc r25,r19 |
| 7417 3f24 9093 0000 sts (LageKorrekturRoll)+1,r25 |
| 7418 3f28 8093 0000 sts LageKorrekturRoll,r24 |
| 7419 3f2c 00C0 rjmp .L604 |
| 7420 .L596: |
| 7421 3f2e 81E0 ldi r24,lo8(1) |
| 7422 3f30 8093 0000 sts last_r_n.18,r24 |
| 7423 3f34 00C0 rjmp .L604 |
| 7424 .L595: |
| 7425 3f36 1092 0000 sts last_r_n.18,__zero_reg__ |
| 7426 3f3a 00C0 rjmp .L604 |
| 7427 .L584: |
| 7428 3f3c 1092 0000 sts (cnt.14)+1,__zero_reg__ |
| 7429 3f40 1092 0000 sts cnt.14,__zero_reg__ |
| 7430 3f44 84E6 ldi r24,lo8(100) |
| 7431 3f46 90E0 ldi r25,hi8(100) |
| 7432 3f48 9093 0000 sts (KompassSignalSchlecht)+1,r25 |
| 7433 3f4c 8093 0000 sts KompassSignalSchlecht,r24 |
| 7434 .L604: |
| 7435 3f50 4889 ldd r20,Y+16 |
| 7436 3f52 242F mov r18,r20 |
| 7437 3f54 3327 clr r19 |
| 7438 3f56 8091 0000 lds r24,cnt.14 |
| 7439 3f5a 9091 0000 lds r25,(cnt.14)+1 |
| 7440 3f5e 2817 cp r18,r24 |
| 7441 3f60 3907 cpc r19,r25 |
| 7442 3f62 04F4 brge .L605 |
| 7443 3f64 3093 0000 sts (cnt.14)+1,r19 |
| 7444 3f68 2093 0000 sts cnt.14,r18 |
| 7445 .L605: |
| 7446 3f6c 8091 0000 lds r24,FromNaviCtrl_Value+1 |
| 7447 3f70 8823 tst r24 |
| 7448 3f72 01F0 breq .L606 |
| 7449 3f74 282F mov r18,r24 |
| 7450 3f76 3327 clr r19 |
| 7451 3f78 27FD sbrc r18,7 |
| 7452 3f7a 3095 com r19 |
| 7453 3f7c 8091 0000 lds r24,cnt.14 |
| 7454 3f80 9091 0000 lds r25,(cnt.14)+1 |
| 7455 3f84 2817 cp r18,r24 |
| 7456 3f86 3907 cpc r19,r25 |
| 7457 3f88 04F4 brge .L606 |
| 7458 3f8a 3093 0000 sts (cnt.14)+1,r19 |
| 7459 3f8e 2093 0000 sts cnt.14,r18 |
| 7460 .L606: |
| 7461 3f92 4091 0000 lds r20,IntegralFehlerRoll.4 |
| 7462 3f96 5091 0000 lds r21,(IntegralFehlerRoll.4)+1 |
| 7463 3f9a 6091 0000 lds r22,(IntegralFehlerRoll.4)+2 |
| 7464 3f9e 7091 0000 lds r23,(IntegralFehlerRoll.4)+3 |
| 7465 3fa2 4138 cpi r20,lo8(129) |
| 7466 3fa4 5105 cpc r21,__zero_reg__ |
| 7467 3fa6 6105 cpc r22,__zero_reg__ |
| 7468 3fa8 7105 cpc r23,__zero_reg__ |
| 7469 3faa 04F0 brlt .L608 |
| 7470 3fac 8091 0000 lds r24,AdNeutralRoll |
| 7471 3fb0 9091 0000 lds r25,(AdNeutralRoll)+1 |
| 7472 3fb4 2091 0000 lds r18,cnt.14 |
| 7473 3fb8 3091 0000 lds r19,(cnt.14)+1 |
| 7474 3fbc 820F add r24,r18 |
| 7475 3fbe 931F adc r25,r19 |
| 7476 3fc0 9093 0000 sts (AdNeutralRoll)+1,r25 |
| 7477 3fc4 8093 0000 sts AdNeutralRoll,r24 |
| 7478 .L608: |
| 7479 3fc8 4058 subi r20,lo8(-128) |
| 7480 3fca 5F4F sbci r21,hi8(-128) |
| 7481 3fcc 6F4F sbci r22,hlo8(-128) |
| 7482 3fce 7F4F sbci r23,hhi8(-128) |
| 7483 3fd0 04F4 brge .L610 |
| 7484 3fd2 8091 0000 lds r24,AdNeutralRoll |
| 7485 3fd6 9091 0000 lds r25,(AdNeutralRoll)+1 |
| 7486 3fda 2091 0000 lds r18,cnt.14 |
| 7487 3fde 3091 0000 lds r19,(cnt.14)+1 |
| 7488 3fe2 821B sub r24,r18 |
| 7489 3fe4 930B sbc r25,r19 |
| 7490 3fe6 9093 0000 sts (AdNeutralRoll)+1,r25 |
| 7491 3fea 8093 0000 sts AdNeutralRoll,r24 |
| 7492 3fee 00C0 rjmp .L610 |
| 7493 .L536: |
| 7494 3ff0 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__ |
| 7495 3ff4 1092 0000 sts LageKorrekturRoll,__zero_reg__ |
| 7496 3ff8 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__ |
| 7497 3ffc 1092 0000 sts LageKorrekturNick,__zero_reg__ |
| 7498 4000 1092 0000 sts TrichterFlug,__zero_reg__ |
| 7499 .L610: |
| 7500 4004 8091 0000 lds r24,IntegralFaktor |
| 7501 4008 8823 tst r24 |
| 7502 400a 01F4 brne .L611 |
| 7503 400c 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__ |
| 7504 4010 1092 0000 sts LageKorrekturRoll,__zero_reg__ |
| 7505 4014 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__ |
| 7506 4018 1092 0000 sts LageKorrekturNick,__zero_reg__ |
| 7507 .L611: |
| 7508 401c 8091 0000 lds r24,MittelIntegralNick |
| 7509 4020 9091 0000 lds r25,(MittelIntegralNick)+1 |
| 7510 4024 A091 0000 lds r26,(MittelIntegralNick)+2 |
| 7511 4028 B091 0000 lds r27,(MittelIntegralNick)+3 |
| 7512 402c 8093 0000 sts MittelIntegralNick_Alt.19,r24 |
| 7513 4030 9093 0000 sts (MittelIntegralNick_Alt.19)+1,r25 |
| 7514 4034 A093 0000 sts (MittelIntegralNick_Alt.19)+2,r26 |
| 7515 4038 B093 0000 sts (MittelIntegralNick_Alt.19)+3,r27 |
| 7516 403c 8091 0000 lds r24,MittelIntegralRoll |
| 7517 4040 9091 0000 lds r25,(MittelIntegralRoll)+1 |
| 7518 4044 A091 0000 lds r26,(MittelIntegralRoll)+2 |
| 7519 4048 B091 0000 lds r27,(MittelIntegralRoll)+3 |
| 7520 404c 8093 0000 sts MittelIntegralRoll_Alt.20,r24 |
| 7521 4050 9093 0000 sts (MittelIntegralRoll_Alt.20)+1,r25 |
| 7522 4054 A093 0000 sts (MittelIntegralRoll_Alt.20)+2,r26 |
| 7523 4058 B093 0000 sts (MittelIntegralRoll_Alt.20)+3,r27 |
| 7524 405c 1092 0000 sts IntegralAccNick,__zero_reg__ |
| 7525 4060 1092 0000 sts (IntegralAccNick)+1,__zero_reg__ |
| 7526 4064 1092 0000 sts (IntegralAccNick)+2,__zero_reg__ |
| 7527 4068 1092 0000 sts (IntegralAccNick)+3,__zero_reg__ |
| 7528 406c 1092 0000 sts IntegralAccRoll,__zero_reg__ |
| 7529 4070 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__ |
| 7530 4074 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__ |
| 7531 4078 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__ |
| 7532 407c 1092 0000 sts IntegralAccZ,__zero_reg__ |
| 7533 4080 1092 0000 sts (IntegralAccZ)+1,__zero_reg__ |
| 7534 4084 1092 0000 sts (IntegralAccZ)+2,__zero_reg__ |
| 7535 4088 1092 0000 sts (IntegralAccZ)+3,__zero_reg__ |
| 7536 408c 1092 0000 sts MittelIntegralNick,__zero_reg__ |
| 7537 4090 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__ |
| 7538 4094 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__ |
| 7539 4098 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__ |
| 7540 409c 1092 0000 sts MittelIntegralRoll,__zero_reg__ |
| 7541 40a0 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__ |
| 7542 40a4 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__ |
| 7543 40a8 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__ |
| 7544 40ac 1092 0000 sts MittelIntegralNick2,__zero_reg__ |
| 7545 40b0 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__ |
| 7546 40b4 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__ |
| 7547 40b8 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__ |
| 7548 40bc 1092 0000 sts MittelIntegralRoll2,__zero_reg__ |
| 7549 40c0 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__ |
| 7550 40c4 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__ |
| 7551 40c8 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__ |
| 7552 40cc 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__ |
| 7553 40d0 1092 0000 sts ZaehlMessungen,__zero_reg__ |
| 7554 .L535: |
| 7555 40d4 E090 0000 lds r14,StickGier |
| 7556 40d8 F090 0000 lds r15,(StickGier)+1 |
| 7557 40dc C701 movw r24,r14 |
| 7558 40de F7FE sbrs r15,7 |
| 7559 40e0 00C0 rjmp .L613 |
| 7560 40e2 8827 clr r24 |
| 7561 40e4 9927 clr r25 |
| 7562 40e6 8E19 sub r24,r14 |
| 7563 40e8 9F09 sbc r25,r15 |
| 7564 .L613: |
| 7565 40ea 0497 sbiw r24,4 |
| 7566 40ec 04F0 brlt .L612 |
| 7567 40ee 8091 0000 lds r24,Parameter_GlobalConfig |
| 7568 40f2 84FD sbrc r24,4 |
| 7569 40f4 00C0 rjmp .L612 |
| 7570 40f6 82E3 ldi r24,lo8(50) |
| 7571 40f8 8093 0000 sts NeueKompassRichtungMerken,r24 |
| 7572 .L612: |
| 7573 40fc 1091 0000 lds r17,EE_Parameter+25 |
| 7574 4100 A12E mov r10,r17 |
| 7575 4102 BB24 clr r11 |
| 7576 4104 CC24 clr r12 |
| 7577 4106 DD24 clr r13 |
| 7578 4108 B701 movw r22,r14 |
| 7579 410a 8827 clr r24 |
| 7580 410c 77FD sbrc r23,7 |
| 7581 410e 8095 com r24 |
| 7582 4110 982F mov r25,r24 |
| 7583 4112 9701 movw r18,r14 |
| 7584 4114 F7FE sbrs r15,7 |
| 7585 4116 00C0 rjmp .L615 |
| 7586 4118 2227 clr r18 |
| 7587 411a 3327 clr r19 |
| 7588 411c 2E19 sub r18,r14 |
| 7589 411e 3F09 sbc r19,r15 |
| 7590 .L615: |
| 7591 4120 4427 clr r20 |
| 7592 4122 37FD sbrc r19,7 |
| 7593 4124 4095 com r20 |
| 7594 4126 542F mov r21,r20 |
| 7595 4128 0E94 0000 call __mulsi3 |
| 7596 412c 9B01 movw r18,r22 |
| 7597 412e AC01 movw r20,r24 |
| 7598 4130 C601 movw r24,r12 |
| 7599 4132 B501 movw r22,r10 |
| 7600 4134 0E94 0000 call __mulsi3 |
| 7601 4138 97FF sbrs r25,7 |
| 7602 413a 00C0 rjmp .L616 |
| 7603 413c 6150 subi r22,lo8(-(511)) |
| 7604 413e 7E4F sbci r23,hi8(-(511)) |
| 7605 4140 8F4F sbci r24,hlo8(-(511)) |
| 7606 4142 9F4F sbci r25,hhi8(-(511)) |
| 7607 .L616: |
| 7608 4144 59E0 ldi r21,9 |
| 7609 4146 9595 1: asr r25 |
| 7610 4148 8795 ror r24 |
| 7611 414a 7795 ror r23 |
| 7612 414c 6795 ror r22 |
| 7613 414e 5A95 dec r21 |
| 7614 4150 01F4 brne 1b |
| 7615 4152 9B01 movw r18,r22 |
| 7616 4154 812F mov r24,r17 |
| 7617 4156 9927 clr r25 |
| 7618 4158 8E9D mul r24,r14 |
| 7619 415a D001 movw r26,r0 |
| 7620 415c 8F9D mul r24,r15 |
| 7621 415e B00D add r27,r0 |
| 7622 4160 9E9D mul r25,r14 |
| 7623 4162 B00D add r27,r0 |
| 7624 4164 1124 clr r1 |
| 7625 4166 CD01 movw r24,r26 |
| 7626 4168 B7FD sbrc r27,7 |
| 7627 416a 0396 adiw r24,3 |
| 7628 .L617: |
| 7629 416c 9595 asr r25 |
| 7630 416e 8795 ror r24 |
| 7631 4170 9595 asr r25 |
| 7632 4172 8795 ror r24 |
| 7633 4174 280F add r18,r24 |
| 7634 4176 391F adc r19,r25 |
| 7635 4178 8091 0000 lds r24,CompassGierSetpoint |
| 7636 417c 9091 0000 lds r25,(CompassGierSetpoint)+1 |
| 7637 4180 280F add r18,r24 |
| 7638 4182 391F adc r19,r25 |
| 7639 4184 4427 clr r20 |
| 7640 4186 37FD sbrc r19,7 |
| 7641 4188 4095 com r20 |
| 7642 418a 542F mov r21,r20 |
| 7643 418c 2093 0000 sts sollGier.0,r18 |
| 7644 4190 3093 0000 sts (sollGier.0)+1,r19 |
| 7645 4194 4093 0000 sts (sollGier.0)+2,r20 |
| 7646 4198 5093 0000 sts (sollGier.0)+3,r21 |
| 7647 419c 8091 0000 lds r24,Mess_Integral_Gier |
| 7648 41a0 9091 0000 lds r25,(Mess_Integral_Gier)+1 |
| 7649 41a4 A091 0000 lds r26,(Mess_Integral_Gier)+2 |
| 7650 41a8 B091 0000 lds r27,(Mess_Integral_Gier)+3 |
| 7651 41ac 821B sub r24,r18 |
| 7652 41ae 930B sbc r25,r19 |
| 7653 41b0 A40B sbc r26,r20 |
| 7654 41b2 B50B sbc r27,r21 |
| 7655 41b4 8093 0000 sts Mess_Integral_Gier,r24 |
| 7656 41b8 9093 0000 sts (Mess_Integral_Gier)+1,r25 |
| 7657 41bc A093 0000 sts (Mess_Integral_Gier)+2,r26 |
| 7658 41c0 B093 0000 sts (Mess_Integral_Gier)+3,r27 |
| 7659 41c4 8155 subi r24,lo8(50001) |
| 7660 41c6 934C sbci r25,hi8(50001) |
| 7661 41c8 A040 sbci r26,hlo8(50001) |
| 7662 41ca B040 sbci r27,hhi8(50001) |
| 7663 41cc 04F0 brlt .L618 |
| 7664 41ce 80E5 ldi r24,lo8(50000) |
| 7665 41d0 93EC ldi r25,hi8(50000) |
| 7666 41d2 A0E0 ldi r26,hlo8(50000) |
| 7667 41d4 B0E0 ldi r27,hhi8(50000) |
| 7668 41d6 8093 0000 sts Mess_Integral_Gier,r24 |
| 7669 41da 9093 0000 sts (Mess_Integral_Gier)+1,r25 |
| 7670 41de A093 0000 sts (Mess_Integral_Gier)+2,r26 |
| 7671 41e2 B093 0000 sts (Mess_Integral_Gier)+3,r27 |
| 7672 .L618: |
| 7673 41e6 8091 0000 lds r24,Mess_Integral_Gier |
| 7674 41ea 9091 0000 lds r25,(Mess_Integral_Gier)+1 |
| 7675 41ee A091 0000 lds r26,(Mess_Integral_Gier)+2 |
| 7676 41f2 B091 0000 lds r27,(Mess_Integral_Gier)+3 |
| 7677 41f6 805B subi r24,lo8(-50000) |
| 7678 41f8 9C43 sbci r25,hi8(-50000) |
| 7679 41fa AF4F sbci r26,hlo8(-50000) |
| 7680 41fc BF4F sbci r27,hhi8(-50000) |
| 7681 41fe 04F4 brge .L619 |
| 7682 4200 80EB ldi r24,lo8(-50000) |
| 7683 4202 9CE3 ldi r25,hi8(-50000) |
| 7684 4204 AFEF ldi r26,hlo8(-50000) |
| 7685 4206 BFEF ldi r27,hhi8(-50000) |
| 7686 4208 8093 0000 sts Mess_Integral_Gier,r24 |
| 7687 420c 9093 0000 sts (Mess_Integral_Gier)+1,r25 |
| 7688 4210 A093 0000 sts (Mess_Integral_Gier)+2,r26 |
| 7689 4214 B093 0000 sts (Mess_Integral_Gier)+3,r27 |
| 7690 .L619: |
| 7691 4218 0091 0000 lds r16,KompassValue |
| 7692 421c 1091 0000 lds r17,(KompassValue)+1 |
| 7693 4220 17FD sbrc r17,7 |
| 7694 4222 00C0 rjmp .L620 |
| 7695 4224 8091 0000 lds r24,Parameter_GlobalConfig |
| 7696 4228 83FF sbrs r24,3 |
| 7697 422a 00C0 rjmp .L620 |
| 7698 422c 8091 0000 lds r24,CalculateCompassTimer |
| 7699 4230 8150 subi r24,lo8(-(-1)) |
| 7700 4232 8093 0000 sts CalculateCompassTimer,r24 |
| 7701 4236 8823 tst r24 |
| 7702 4238 01F0 breq .+2 |
| 7703 423a 00C0 rjmp .L637 |
| 7704 423c 8DE0 ldi r24,lo8(13) |
| 7705 423e 8093 0000 sts CalculateCompassTimer,r24 |
| 7706 4242 8091 0000 lds r24,IntegralNick |
| 7707 4246 9091 0000 lds r25,(IntegralNick)+1 |
| 7708 424a A091 0000 lds r26,(IntegralNick)+2 |
| 7709 424e B091 0000 lds r27,(IntegralNick)+3 |
| 7710 4252 B7FF sbrs r27,7 |
| 7711 4254 00C0 rjmp .L622 |
| 7712 4256 8150 subi r24,lo8(-(511)) |
| 7713 4258 9E4F sbci r25,hi8(-(511)) |
| 7714 425a AF4F sbci r26,hlo8(-(511)) |
| 7715 425c BF4F sbci r27,hhi8(-(511)) |
| 7716 .L622: |
| 7717 425e 39E0 ldi r19,9 |
| 7718 4260 B595 1: asr r27 |
| 7719 4262 A795 ror r26 |
| 7720 4264 9795 ror r25 |
| 7721 4266 8795 ror r24 |
| 7722 4268 3A95 dec r19 |
| 7723 426a 01F4 brne 1b |
| 7724 426c 7C01 movw r14,r24 |
| 7725 426e 97FF sbrs r25,7 |
| 7726 4270 00C0 rjmp .L623 |
| 7727 4272 F094 com r15 |
| 7728 4274 E194 neg r14 |
| 7729 4276 F108 sbc r15,__zero_reg__ |
| 7730 4278 F394 inc r15 |
| 7731 .L623: |
| 7732 427a 8091 0000 lds r24,IntegralRoll |
| 7733 427e 9091 0000 lds r25,(IntegralRoll)+1 |
| 7734 4282 A091 0000 lds r26,(IntegralRoll)+2 |
| 7735 4286 B091 0000 lds r27,(IntegralRoll)+3 |
| 7736 428a B7FF sbrs r27,7 |
| 7737 428c 00C0 rjmp .L624 |
| 7738 428e 8150 subi r24,lo8(-(511)) |
| 7739 4290 9E4F sbci r25,hi8(-(511)) |
| 7740 4292 AF4F sbci r26,hlo8(-(511)) |
| 7741 4294 BF4F sbci r27,hhi8(-(511)) |
| 7742 .L624: |
| 7743 4296 29E0 ldi r18,9 |
| 7744 4298 B595 1: asr r27 |
| 7745 429a A795 ror r26 |
| 7746 429c 9795 ror r25 |
| 7747 429e 8795 ror r24 |
| 7748 42a0 2A95 dec r18 |
| 7749 42a2 01F4 brne 1b |
| 7750 42a4 9C01 movw r18,r24 |
| 7751 42a6 97FF sbrs r25,7 |
| 7752 42a8 00C0 rjmp .L625 |
| 7753 42aa 3095 com r19 |
| 7754 42ac 2195 neg r18 |
| 7755 42ae 3F4F sbci r19,lo8(-1) |
| 7756 .L625: |
| 7757 42b0 E216 cp r14,r18 |
| 7758 42b2 F306 cpc r15,r19 |
| 7759 42b4 04F4 brge .L626 |
| 7760 42b6 7901 movw r14,r18 |
| 7761 .L626: |
| 7762 42b8 B701 movw r22,r14 |
| 7763 42ba F7FE sbrs r15,7 |
| 7764 42bc 00C0 rjmp .L627 |
| 7765 42be 695F subi r22,lo8(-(7)) |
| 7766 42c0 7F4F sbci r23,hi8(-(7)) |
| 7767 .L627: |
| 7768 42c2 2B01 movw r4,r22 |
| 7769 42c4 A3E0 ldi r26,3 |
| 7770 42c6 5594 1: asr r5 |
| 7771 42c8 4794 ror r4 |
| 7772 42ca AA95 dec r26 |
| 7773 42cc 01F4 brne 1b |
| 7774 42ce 22E0 ldi r18,lo8(2) |
| 7775 42d0 30E0 ldi r19,hi8(2) |
| 7776 42d2 420E add r4,r18 |
| 7777 42d4 531E adc r5,r19 |
| 7778 42d6 6090 0000 lds r6,ErsatzKompass |
| 7779 42da 7090 0000 lds r7,(ErsatzKompass)+1 |
| 7780 42de 8090 0000 lds r8,(ErsatzKompass)+2 |
| 7781 42e2 9090 0000 lds r9,(ErsatzKompass)+3 |
| 7782 42e6 2091 0000 lds r18,GIER_GRAD_FAKTOR |
| 7783 42ea 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1 |
| 7784 42ee 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2 |
| 7785 42f2 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3 |
| 7786 42f6 C401 movw r24,r8 |
| 7787 42f8 B301 movw r22,r6 |
| 7788 42fa 0E94 0000 call __divmodsi4 |
| 7789 42fe 5901 movw r10,r18 |
| 7790 4300 6A01 movw r12,r20 |
| 7791 4302 3093 0000 sts (ErsatzKompassInGrad)+1,r19 |
| 7792 4306 2093 0000 sts ErsatzKompassInGrad,r18 |
| 7793 430a 021B sub r16,r18 |
| 7794 430c 130B sbc r17,r19 |
| 7795 430e C801 movw r24,r16 |
| 7796 4310 845E subi r24,lo8(-(540)) |
| 7797 4312 9D4F sbci r25,hi8(-(540)) |
| 7798 4314 68E6 ldi r22,lo8(360) |
| 7799 4316 71E0 ldi r23,hi8(360) |
| 7800 4318 0E94 0000 call __divmodhi4 |
| 7801 431c 9C01 movw r18,r24 |
| 7802 431e 245B subi r18,lo8(-(-180)) |
| 7803 4320 3040 sbci r19,hi8(-(-180)) |
| 7804 4322 8091 0000 lds r24,KompassSignalSchlecht |
| 7805 4326 9091 0000 lds r25,(KompassSignalSchlecht)+1 |
| 7806 432a 0097 sbiw r24,0 |
| 7807 432c 01F0 breq .L628 |
| 7808 432e 0197 sbiw r24,1 |
| 7809 4330 9093 0000 sts (KompassSignalSchlecht)+1,r25 |
| 7810 4334 8093 0000 sts KompassSignalSchlecht,r24 |
| 7811 4338 00C0 rjmp .L629 |
| 7812 .L628: |
| 7813 433a 49E1 ldi r20,lo8(25) |
| 7814 433c E416 cp r14,r20 |
| 7815 433e F104 cpc r15,__zero_reg__ |
| 7816 4340 04F4 brge .L629 |
| 7817 4342 8091 0000 lds r24,GierGyroFehler |
| 7818 4346 9091 0000 lds r25,(GierGyroFehler)+1 |
| 7819 434a 820F add r24,r18 |
| 7820 434c 931F adc r25,r19 |
| 7821 434e 9093 0000 sts (GierGyroFehler)+1,r25 |
| 7822 4352 8093 0000 sts GierGyroFehler,r24 |
| 7823 4356 8091 0000 lds r24,NeueKompassRichtungMerken |
| 7824 435a 8823 tst r24 |
| 7825 435c 01F0 breq .L629 |
| 7826 435e 8150 subi r24,lo8(-(-1)) |
| 7827 4360 8093 0000 sts NeueKompassRichtungMerken,r24 |
| 7828 4364 8823 tst r24 |
| 7829 4366 01F4 brne .L629 |
| 7830 4368 B092 0000 sts (KompassSollWert)+1,r11 |
| 7831 436c A092 0000 sts KompassSollWert,r10 |
| 7832 .L629: |
| 7833 4370 8091 0000 lds r24,KompassSignalSchlecht |
| 7834 4374 9091 0000 lds r25,(KompassSignalSchlecht)+1 |
| 7835 4378 892B or r24,r25 |
| 7836 437a 01F4 brne .L633 |
| 7837 437c 8091 0000 lds r24,KompassFusion |
| 7838 4380 9927 clr r25 |
| 7839 4382 289F mul r18,r24 |
| 7840 4384 B001 movw r22,r0 |
| 7841 4386 299F mul r18,r25 |
| 7842 4388 700D add r23,r0 |
| 7843 438a 389F mul r19,r24 |
| 7844 438c 700D add r23,r0 |
| 7845 438e 1124 clr r1 |
| 7846 4390 CB01 movw r24,r22 |
| 7847 4392 B201 movw r22,r4 |
| 7848 4394 0E94 0000 call __divmodhi4 |
| 7849 4398 CB01 movw r24,r22 |
| 7850 439a AA27 clr r26 |
| 7851 439c 97FD sbrc r25,7 |
| 7852 439e A095 com r26 |
| 7853 43a0 BA2F mov r27,r26 |
| 7854 43a2 680E add r6,r24 |
| 7855 43a4 791E adc r7,r25 |
| 7856 43a6 8A1E adc r8,r26 |
| 7857 43a8 9B1E adc r9,r27 |
| 7858 43aa 6092 0000 sts ErsatzKompass,r6 |
| 7859 43ae 7092 0000 sts (ErsatzKompass)+1,r7 |
| 7860 43b2 8092 0000 sts (ErsatzKompass)+2,r8 |
| 7861 43b6 9092 0000 sts (ErsatzKompass)+3,r9 |
| 7862 .L633: |
| 7863 43ba 8091 0000 lds r24,NeueKompassRichtungMerken |
| 7864 43be 8823 tst r24 |
| 7865 43c0 01F4 brne .L620 |
| 7866 43c2 8091 0000 lds r24,KompassSollWert |
| 7867 43c6 9091 0000 lds r25,(KompassSollWert)+1 |
| 7868 43ca 2091 0000 lds r18,ErsatzKompassInGrad |
| 7869 43ce 3091 0000 lds r19,(ErsatzKompassInGrad)+1 |
| 7870 43d2 821B sub r24,r18 |
| 7871 43d4 930B sbc r25,r19 |
| 7872 43d6 845E subi r24,lo8(-(540)) |
| 7873 43d8 9D4F sbci r25,hi8(-(540)) |
| 7874 43da 68E6 ldi r22,lo8(360) |
| 7875 43dc 71E0 ldi r23,hi8(360) |
| 7876 43de 0E94 0000 call __divmodhi4 |
| 7877 43e2 9C01 movw r18,r24 |
| 7878 43e4 245B subi r18,lo8(-(-180)) |
| 7879 43e6 3040 sbci r19,hi8(-(-180)) |
| 7880 43e8 8091 0000 lds r24,Parameter_KompassWirkung |
| 7881 43ec 8695 lsr r24 |
| 7882 43ee 9927 clr r25 |
| 7883 43f0 289F mul r18,r24 |
| 7884 43f2 D001 movw r26,r0 |
| 7885 43f4 299F mul r18,r25 |
| 7886 43f6 B00D add r27,r0 |
| 7887 43f8 389F mul r19,r24 |
| 7888 43fa B00D add r27,r0 |
| 7889 43fc 1124 clr r1 |
| 7890 43fe 9D01 movw r18,r26 |
| 7891 4400 B7FF sbrs r27,7 |
| 7892 4402 00C0 rjmp .L635 |
| 7893 4404 215F subi r18,lo8(-(15)) |
| 7894 4406 3F4F sbci r19,hi8(-(15)) |
| 7895 .L635: |
| 7896 4408 F4E0 ldi r31,4 |
| 7897 440a 3595 1: asr r19 |
| 7898 440c 2795 ror r18 |
| 7899 440e FA95 dec r31 |
| 7900 4410 01F4 brne 1b |
| 7901 4412 3093 0000 sts (CompassGierSetpoint)+1,r19 |
| 7902 4416 2093 0000 sts CompassGierSetpoint,r18 |
| 7903 441a 00C0 rjmp .L637 |
| 7904 .L620: |
| 7905 441c 1092 0000 sts (CompassGierSetpoint)+1,__zero_reg__ |
| 7906 4420 1092 0000 sts CompassGierSetpoint,__zero_reg__ |
| 7907 .L637: |
| 7908 4424 8091 0000 lds r24,TrichterFlug |
| 7909 4428 8823 tst r24 |
| 7910 442a 01F0 breq .L638 |
| 7911 442c 1092 0000 sts SummeRoll,__zero_reg__ |
| 7912 4430 1092 0000 sts (SummeRoll)+1,__zero_reg__ |
| 7913 4434 1092 0000 sts (SummeRoll)+2,__zero_reg__ |
| 7914 4438 1092 0000 sts (SummeRoll)+3,__zero_reg__ |
| 7915 443c 1092 0000 sts SummeNick,__zero_reg__ |
| 7916 4440 1092 0000 sts (SummeNick)+1,__zero_reg__ |
| 7917 4444 1092 0000 sts (SummeNick)+2,__zero_reg__ |
| 7918 4448 1092 0000 sts (SummeNick)+3,__zero_reg__ |
| 7919 .L638: |
| 7920 444c F090 0000 lds r15,Looping_Nick |
| 7921 4450 FF20 tst r15 |
| 7922 4452 01F4 brne .L639 |
| 7923 4454 8091 0000 lds r24,IntegralFaktor |
| 7924 4458 282F mov r18,r24 |
| 7925 445a 3327 clr r19 |
| 7926 445c 4427 clr r20 |
| 7927 445e 5527 clr r21 |
| 7928 4460 8091 0000 lds r24,IntegralNick |
| 7929 4464 9091 0000 lds r25,(IntegralNick)+1 |
| 7930 4468 A091 0000 lds r26,(IntegralNick)+2 |
| 7931 446c B091 0000 lds r27,(IntegralNick)+3 |
| 7932 4470 BC01 movw r22,r24 |
| 7933 4472 CD01 movw r24,r26 |
| 7934 4474 0E94 0000 call __mulsi3 |
| 7935 4478 DC01 movw r26,r24 |
| 7936 447a CB01 movw r24,r22 |
| 7937 447c BC01 movw r22,r24 |
| 7938 447e CD01 movw r24,r26 |
| 7939 4480 28EF ldi r18,lo8(11000) |
| 7940 4482 3AE2 ldi r19,hi8(11000) |
| 7941 4484 40E0 ldi r20,hlo8(11000) |
| 7942 4486 50E0 ldi r21,hhi8(11000) |
| 7943 4488 0E94 0000 call __divmodsi4 |
| 7944 448c 3901 movw r6,r18 |
| 7945 448e 00C0 rjmp .L640 |
| 7946 .L639: |
| 7947 4490 6624 clr r6 |
| 7948 4492 7724 clr r7 |
| 7949 .L640: |
| 7950 4494 E090 0000 lds r14,Looping_Roll |
| 7951 4498 EE20 tst r14 |
| 7952 449a 01F4 brne .L641 |
| 7953 449c 8091 0000 lds r24,IntegralFaktor |
| 7954 44a0 282F mov r18,r24 |
| 7955 44a2 3327 clr r19 |
| 7956 44a4 4427 clr r20 |
| 7957 44a6 5527 clr r21 |
| 7958 44a8 8091 0000 lds r24,IntegralRoll |
| 7959 44ac 9091 0000 lds r25,(IntegralRoll)+1 |
| 7960 44b0 A091 0000 lds r26,(IntegralRoll)+2 |
| 7961 44b4 B091 0000 lds r27,(IntegralRoll)+3 |
| 7962 44b8 BC01 movw r22,r24 |
| 7963 44ba CD01 movw r24,r26 |
| 7964 44bc 0E94 0000 call __mulsi3 |
| 7965 44c0 DC01 movw r26,r24 |
| 7966 44c2 CB01 movw r24,r22 |
| 7967 44c4 BC01 movw r22,r24 |
| 7968 44c6 CD01 movw r24,r26 |
| 7969 44c8 28EF ldi r18,lo8(11000) |
| 7970 44ca 3AE2 ldi r19,hi8(11000) |
| 7971 44cc 40E0 ldi r20,hlo8(11000) |
| 7972 44ce 50E0 ldi r21,hhi8(11000) |
| 7973 44d0 0E94 0000 call __divmodsi4 |
| 7974 44d4 2901 movw r4,r18 |
| 7975 44d6 00C0 rjmp .L642 |
| 7976 .L641: |
| 7977 44d8 4424 clr r4 |
| 7978 44da 5524 clr r5 |
| 7979 .L642: |
| 7980 44dc 8091 0000 lds r24,TrimNick |
| 7981 44e0 9091 0000 lds r25,(TrimNick)+1 |
| 7982 44e4 893C cpi r24,201 |
| 7983 44e6 9105 cpc r25,__zero_reg__ |
| 7984 44e8 04F0 brlt .L643 |
| 7985 44ea 88EC ldi r24,lo8(200) |
| 7986 44ec 90E0 ldi r25,hi8(200) |
| 7987 44ee 00C0 rjmp .L900 |
| 7988 .L643: |
| 7989 44f0 8853 subi r24,lo8(-200) |
| 7990 44f2 9F4F sbci r25,hi8(-200) |
| 7991 44f4 04F4 brge .L644 |
| 7992 44f6 88E3 ldi r24,lo8(-200) |
| 7993 44f8 9FEF ldi r25,hi8(-200) |
| 7994 .L900: |
| 7995 44fa 9093 0000 sts (TrimNick)+1,r25 |
| 7996 44fe 8093 0000 sts TrimNick,r24 |
| 7997 .L644: |
| 7998 4502 8091 0000 lds r24,TrimRoll |
| 7999 4506 9091 0000 lds r25,(TrimRoll)+1 |
| 8000 450a 893C cpi r24,201 |
| 8001 450c 9105 cpc r25,__zero_reg__ |
| 8002 450e 04F0 brlt .L646 |
| 8003 4510 88EC ldi r24,lo8(200) |
| 8004 4512 90E0 ldi r25,hi8(200) |
| 8005 4514 00C0 rjmp .L901 |
| 8006 .L646: |
| 8007 4516 8853 subi r24,lo8(-200) |
| 8008 4518 9F4F sbci r25,hi8(-200) |
| 8009 451a 04F4 brge .L647 |
| 8010 451c 88E3 ldi r24,lo8(-200) |
| 8011 451e 9FEF ldi r25,hi8(-200) |
| 8012 .L901: |
| 8013 4520 9093 0000 sts (TrimRoll)+1,r25 |
| 8014 4524 8093 0000 sts TrimRoll,r24 |
| 8015 .L647: |
| 8016 4528 8091 0000 lds r24,MesswertNick |
| 8017 452c 9091 0000 lds r25,(MesswertNick)+1 |
| 8018 4530 AA27 clr r26 |
| 8019 4532 97FD sbrc r25,7 |
| 8020 4534 A095 com r26 |
| 8021 4536 BA2F mov r27,r26 |
| 8022 4538 2091 0000 lds r18,GyroFaktor |
| 8023 453c A22E mov r10,r18 |
| 8024 453e BB24 clr r11 |
| 8025 4540 CC24 clr r12 |
| 8026 4542 DD24 clr r13 |
| 8027 4544 BC01 movw r22,r24 |
| 8028 4546 CD01 movw r24,r26 |
| 8029 4548 A601 movw r20,r12 |
| 8030 454a 9501 movw r18,r10 |
| 8031 454c 0E94 0000 call __mulsi3 |
| 8032 4550 9B01 movw r18,r22 |
| 8033 4552 AC01 movw r20,r24 |
| 8034 4554 8091 0000 lds r24,TrimNick |
| 8035 4558 9091 0000 lds r25,(TrimNick)+1 |
| 8036 455c AA27 clr r26 |
| 8037 455e 97FD sbrc r25,7 |
| 8038 4560 A095 com r26 |
| 8039 4562 BA2F mov r27,r26 |
| 8040 4564 E7E0 ldi r30,7 |
| 8041 4566 880F 1: lsl r24 |
| 8042 4568 991F rol r25 |
| 8043 456a AA1F rol r26 |
| 8044 456c BB1F rol r27 |
| 8045 456e EA95 dec r30 |
| 8046 4570 01F4 brne 1b |
| 8047 4572 280F add r18,r24 |
| 8048 4574 391F adc r19,r25 |
| 8049 4576 4A1F adc r20,r26 |
| 8050 4578 5B1F adc r21,r27 |
| 8051 457a 57FF sbrs r21,7 |
| 8052 457c 00C0 rjmp .L649 |
| 8053 457e 215C subi r18,lo8(-(63)) |
| 8054 4580 3F4F sbci r19,hi8(-(63)) |
| 8055 4582 4F4F sbci r20,hlo8(-(63)) |
| 8056 4584 5F4F sbci r21,hhi8(-(63)) |
| 8057 .L649: |
| 8058 4586 76E0 ldi r23,6 |
| 8059 4588 5595 1: asr r21 |
| 8060 458a 4795 ror r20 |
| 8061 458c 3795 ror r19 |
| 8062 458e 2795 ror r18 |
| 8063 4590 7A95 dec r23 |
| 8064 4592 01F4 brne 1b |
| 8065 4594 8301 movw r16,r6 |
| 8066 4596 020F add r16,r18 |
| 8067 4598 131F adc r17,r19 |
| 8068 459a 1093 0000 sts (MesswertNick)+1,r17 |
| 8069 459e 0093 0000 sts MesswertNick,r16 |
| 8070 45a2 8091 0000 lds r24,MesswertRoll |
| 8071 45a6 9091 0000 lds r25,(MesswertRoll)+1 |
| 8072 45aa AA27 clr r26 |
| 8073 45ac 97FD sbrc r25,7 |
| 8074 45ae A095 com r26 |
| 8075 45b0 BA2F mov r27,r26 |
| 8076 45b2 BC01 movw r22,r24 |
| 8077 45b4 CD01 movw r24,r26 |
| 8078 45b6 A601 movw r20,r12 |
| 8079 45b8 9501 movw r18,r10 |
| 8080 45ba 0E94 0000 call __mulsi3 |
| 8081 45be 9B01 movw r18,r22 |
| 8082 45c0 AC01 movw r20,r24 |
| 8083 45c2 8091 0000 lds r24,TrimRoll |
| 8084 45c6 9091 0000 lds r25,(TrimRoll)+1 |
| 8085 45ca AA27 clr r26 |
| 8086 45cc 97FD sbrc r25,7 |
| 8087 45ce A095 com r26 |
| 8088 45d0 BA2F mov r27,r26 |
| 8089 45d2 67E0 ldi r22,7 |
| 8090 45d4 880F 1: lsl r24 |
| 8091 45d6 991F rol r25 |
| 8092 45d8 AA1F rol r26 |
| 8093 45da BB1F rol r27 |
| 8094 45dc 6A95 dec r22 |
| 8095 45de 01F4 brne 1b |
| 8096 45e0 280F add r18,r24 |
| 8097 45e2 391F adc r19,r25 |
| 8098 45e4 4A1F adc r20,r26 |
| 8099 45e6 5B1F adc r21,r27 |
| 8100 45e8 57FF sbrs r21,7 |
| 8101 45ea 00C0 rjmp .L650 |
| 8102 45ec 215C subi r18,lo8(-(63)) |
| 8103 45ee 3F4F sbci r19,hi8(-(63)) |
| 8104 45f0 4F4F sbci r20,hlo8(-(63)) |
| 8105 45f2 5F4F sbci r21,hhi8(-(63)) |
| 8106 .L650: |
| 8107 45f4 F6E0 ldi r31,6 |
| 8108 45f6 5595 1: asr r21 |
| 8109 45f8 4795 ror r20 |
| 8110 45fa 3795 ror r19 |
| 8111 45fc 2795 ror r18 |
| 8112 45fe FA95 dec r31 |
| 8113 4600 01F4 brne 1b |
| 8114 4602 4201 movw r8,r4 |
| 8115 4604 820E add r8,r18 |
| 8116 4606 931E adc r9,r19 |
| 8117 4608 9092 0000 sts (MesswertRoll)+1,r9 |
| 8118 460c 8092 0000 sts MesswertRoll,r8 |
| 8119 4610 8091 0000 lds r24,MesswertGier |
| 8120 4614 9091 0000 lds r25,(MesswertGier)+1 |
| 8121 4618 880F add r24,r24 |
| 8122 461a 991F adc r25,r25 |
| 8123 461c AA27 clr r26 |
| 8124 461e 97FD sbrc r25,7 |
| 8125 4620 A095 com r26 |
| 8126 4622 BA2F mov r27,r26 |
| 8127 4624 2091 0000 lds r18,GyroFaktorGier |
| 8128 4628 3327 clr r19 |
| 8129 462a 4427 clr r20 |
| 8130 462c 5527 clr r21 |
| 8131 462e BC01 movw r22,r24 |
| 8132 4630 CD01 movw r24,r26 |
| 8133 4632 0E94 0000 call __mulsi3 |
| 8134 4636 5B01 movw r10,r22 |
| 8135 4638 6C01 movw r12,r24 |
| 8136 463a 97FF sbrs r25,7 |
| 8137 463c 00C0 rjmp .L651 |
| 8138 463e 2FE3 ldi r18,lo8(63) |
| 8139 4640 30E0 ldi r19,hi8(63) |
| 8140 4642 40E0 ldi r20,hlo8(63) |
| 8141 4644 50E0 ldi r21,hhi8(63) |
| 8142 4646 A20E add r10,r18 |
| 8143 4648 B31E adc r11,r19 |
| 8144 464a C41E adc r12,r20 |
| 8145 464c D51E adc r13,r21 |
| 8146 .L651: |
| 8147 464e E6E0 ldi r30,6 |
| 8148 4650 D594 1: asr r13 |
| 8149 4652 C794 ror r12 |
| 8150 4654 B794 ror r11 |
| 8151 4656 A794 ror r10 |
| 8152 4658 EA95 dec r30 |
| 8153 465a 01F4 brne 1b |
| 8154 465c 8091 0000 lds r24,IntegralFaktorGier |
| 8155 4660 282F mov r18,r24 |
| 8156 4662 3327 clr r19 |
| 8157 4664 4427 clr r20 |
| 8158 4666 5527 clr r21 |
| 8159 4668 8091 0000 lds r24,Integral_Gier |
| 8160 466c 9091 0000 lds r25,(Integral_Gier)+1 |
| 8161 4670 A091 0000 lds r26,(Integral_Gier)+2 |
| 8162 4674 B091 0000 lds r27,(Integral_Gier)+3 |
| 8163 4678 BC01 movw r22,r24 |
| 8164 467a CD01 movw r24,r26 |
| 8165 467c 0E94 0000 call __mulsi3 |
| 8166 4680 DC01 movw r26,r24 |
| 8167 4682 CB01 movw r24,r22 |
| 8168 4684 BC01 movw r22,r24 |
| 8169 4686 CD01 movw r24,r26 |
| 8170 4688 20EF ldi r18,lo8(22000) |
| 8171 468a 35E5 ldi r19,hi8(22000) |
| 8172 468c 40E0 ldi r20,hlo8(22000) |
| 8173 468e 50E0 ldi r21,hhi8(22000) |
| 8174 4690 0E94 0000 call __divmodsi4 |
| 8175 4694 B501 movw r22,r10 |
| 8176 4696 620F add r22,r18 |
| 8177 4698 731F adc r23,r19 |
| 8178 469a 7093 0000 sts (MesswertGier)+1,r23 |
| 8179 469e 6093 0000 sts MesswertGier,r22 |
| 8180 46a2 0150 subi r16,lo8(4097) |
| 8181 46a4 1041 sbci r17,hi8(4097) |
| 8182 46a6 04F0 brlt .L652 |
| 8183 46a8 80E0 ldi r24,lo8(4096) |
| 8184 46aa 90E1 ldi r25,hi8(4096) |
| 8185 46ac 9093 0000 sts (MesswertNick)+1,r25 |
| 8186 46b0 8093 0000 sts MesswertNick,r24 |
| 8187 .L652: |
| 8188 46b4 8091 0000 lds r24,MesswertNick |
| 8189 46b8 9091 0000 lds r25,(MesswertNick)+1 |
| 8190 46bc 8050 subi r24,lo8(-4096) |
| 8191 46be 904F sbci r25,hi8(-4096) |
| 8192 46c0 04F4 brge .L653 |
| 8193 46c2 80E0 ldi r24,lo8(-4096) |
| 8194 46c4 90EF ldi r25,hi8(-4096) |
| 8195 46c6 9093 0000 sts (MesswertNick)+1,r25 |
| 8196 46ca 8093 0000 sts MesswertNick,r24 |
| 8197 .L653: |
| 8198 46ce 51E0 ldi r21,lo8(4097) |
| 8199 46d0 8516 cp r8,r21 |
| 8200 46d2 50E1 ldi r21,hi8(4097) |
| 8201 46d4 9506 cpc r9,r21 |
| 8202 46d6 04F0 brlt .L654 |
| 8203 46d8 80E0 ldi r24,lo8(4096) |
| 8204 46da 90E1 ldi r25,hi8(4096) |
| 8205 46dc 9093 0000 sts (MesswertRoll)+1,r25 |
| 8206 46e0 8093 0000 sts MesswertRoll,r24 |
| 8207 .L654: |
| 8208 46e4 8091 0000 lds r24,MesswertRoll |
| 8209 46e8 9091 0000 lds r25,(MesswertRoll)+1 |
| 8210 46ec 8050 subi r24,lo8(-4096) |
| 8211 46ee 904F sbci r25,hi8(-4096) |
| 8212 46f0 04F4 brge .L655 |
| 8213 46f2 80E0 ldi r24,lo8(-4096) |
| 8214 46f4 90EF ldi r25,hi8(-4096) |
| 8215 46f6 9093 0000 sts (MesswertRoll)+1,r25 |
| 8216 46fa 8093 0000 sts MesswertRoll,r24 |
| 8217 .L655: |
| 8218 46fe 6150 subi r22,lo8(4097) |
| 8219 4700 7041 sbci r23,hi8(4097) |
| 8220 4702 04F0 brlt .L656 |
| 8221 4704 80E0 ldi r24,lo8(4096) |
| 8222 4706 90E1 ldi r25,hi8(4096) |
| 8223 4708 9093 0000 sts (MesswertGier)+1,r25 |
| 8224 470c 8093 0000 sts MesswertGier,r24 |
| 8225 .L656: |
| 8226 4710 8091 0000 lds r24,MesswertGier |
| 8227 4714 9091 0000 lds r25,(MesswertGier)+1 |
| 8228 4718 8050 subi r24,lo8(-4096) |
| 8229 471a 904F sbci r25,hi8(-4096) |
| 8230 471c 04F4 brge .L657 |
| 8231 471e 80E0 ldi r24,lo8(-4096) |
| 8232 4720 90EF ldi r25,hi8(-4096) |
| 8233 4722 9093 0000 sts (MesswertGier)+1,r25 |
| 8234 4726 8093 0000 sts MesswertGier,r24 |
| 8235 .L657: |
| 8236 472a 8091 0000 lds r24,BattLowVoltageWarning |
| 8237 472e 482F mov r20,r24 |
| 8238 4730 5527 clr r21 |
| 8239 4732 8091 0000 lds r24,UBat |
| 8240 4736 9091 0000 lds r25,(UBat)+1 |
| 8241 473a 4817 cp r20,r24 |
| 8242 473c 5907 cpc r21,r25 |
| 8243 473e 04F4 brge .L658 |
| 8244 4740 2091 0000 lds r18,UBat |
| 8245 4744 3091 0000 lds r19,(UBat)+1 |
| 8246 4748 0981 ldd r16,Y+1 |
| 8247 474a 1A81 ldd r17,Y+2 |
| 8248 474c 049F mul r16,r20 |
| 8249 474e C001 movw r24,r0 |
| 8250 4750 059F mul r16,r21 |
| 8251 4752 900D add r25,r0 |
| 8252 4754 149F mul r17,r20 |
| 8253 4756 900D add r25,r0 |
| 8254 4758 1124 clr r1 |
| 8255 475a B901 movw r22,r18 |
| 8256 475c 0E94 0000 call __udivmodhi4 |
| 8257 4760 7A83 std Y+2,r23 |
| 8258 4762 6983 std Y+1,r22 |
| 8259 .L658: |
| 8260 4764 2981 ldd r18,Y+1 |
| 8261 4766 3A81 ldd r19,Y+2 |
| 8262 4768 220F lsl r18 |
| 8263 476a 331F rol r19 |
| 8264 476c 220F lsl r18 |
| 8265 476e 331F rol r19 |
| 8266 4770 3A83 std Y+2,r19 |
| 8267 4772 2983 std Y+1,r18 |
| 8268 4774 4091 0000 lds r20,Parameter_GlobalConfig |
| 8269 4778 40FD sbrc r20,0 |
| 8270 477a 00C0 rjmp .+4 |
| 8271 477c 0C94 0000 jmp .L659 |
| 8272 4780 EE20 tst r14 |
| 8273 4782 01F0 breq .+4 |
| 8274 4784 0C94 0000 jmp .L659 |
| 8275 4788 FF20 tst r15 |
| 8276 478a 01F0 breq .+4 |
| 8277 478c 0C94 0000 jmp .L659 |
| 8278 4790 00E0 ldi r16,lo8(0) |
| 8279 4792 10E0 ldi r17,hi8(0) |
| 8280 4794 4801 movw r8,r16 |
| 8281 4796 8091 0000 lds r24,HoverGas |
| 8282 479a 9091 0000 lds r25,(HoverGas)+1 |
| 8283 479e 9093 0000 sts (DebugOut+44)+1,r25 |
| 8284 47a2 8093 0000 sts DebugOut+44,r24 |
| 8285 47a6 2091 0000 lds r18,BaroExpandActive |
| 8286 47aa 3091 0000 lds r19,(BaroExpandActive)+1 |
| 8287 47ae 2115 cp r18,__zero_reg__ |
| 8288 47b0 3105 cpc r19,__zero_reg__ |
| 8289 47b2 01F0 breq .+2 |
| 8290 47b4 00C0 rjmp .L660 |
| 8291 47b6 8091 0000 lds r24,MessLuftdruck |
| 8292 47ba 9091 0000 lds r25,(MessLuftdruck)+1 |
| 8293 47be 8959 subi r24,lo8(921) |
| 8294 47c0 9340 sbci r25,hi8(921) |
| 8295 47c2 00F0 brlo .L661 |
| 8296 47c4 87B5 in r24,71-0x20 |
| 8297 47c6 803F cpi r24,lo8(-16) |
| 8298 47c8 00F4 brsh .L662 |
| 8299 47ca 8091 0000 lds r24,ExpandBaro |
| 8300 47ce 8150 subi r24,lo8(-(-1)) |
| 8301 47d0 00C0 rjmp .L902 |
| 8302 .L662: |
| 8303 47d2 81E0 ldi r24,lo8(1) |
| 8304 47d4 8093 0000 sts BaroAtLowerLimit.26,r24 |
| 8305 47d8 00C0 rjmp .L669 |
| 8306 .L661: |
| 8307 47da 8091 0000 lds r24,MessLuftdruck |
| 8308 47de 9091 0000 lds r25,(MessLuftdruck)+1 |
| 8309 47e2 8436 cpi r24,100 |
| 8310 47e4 9105 cpc r25,__zero_reg__ |
| 8311 47e6 00F4 brsh .L665 |
| 8312 47e8 87B5 in r24,71-0x20 |
| 8313 47ea 8031 cpi r24,lo8(16) |
| 8314 47ec 00F0 brlo .L666 |
| 8315 47ee 8091 0000 lds r24,ExpandBaro |
| 8316 47f2 8F5F subi r24,lo8(-(1)) |
| 8317 .L902: |
| 8318 47f4 8093 0000 sts ExpandBaro,r24 |
| 8319 47f8 9FE0 ldi r25,lo8(15) |
| 8320 47fa 8902 muls r24,r25 |
| 8321 47fc 9001 movw r18,r0 |
| 8322 47fe 1124 clr r1 |
| 8323 4800 8091 0000 lds r24,DruckOffsetSetting |
| 8324 4804 821B sub r24,r18 |
| 8325 4806 87BD out 71-0x20,r24 |
| 8326 4808 8CE2 ldi r24,lo8(300) |
| 8327 480a 91E0 ldi r25,hi8(300) |
| 8328 480c 9093 0000 sts (beeptime)+1,r25 |
| 8329 4810 8093 0000 sts beeptime,r24 |
| 8330 4814 8EE5 ldi r24,lo8(350) |
| 8331 4816 91E0 ldi r25,hi8(350) |
| 8332 4818 9093 0000 sts (BaroExpandActive)+1,r25 |
| 8333 481c 8093 0000 sts BaroExpandActive,r24 |
| 8334 4820 00C0 rjmp .L669 |
| 8335 .L666: |
| 8336 4822 81E0 ldi r24,lo8(1) |
| 8337 4824 8093 0000 sts BaroAtUpperLimit.25,r24 |
| 8338 4828 00C0 rjmp .L669 |
| 8339 .L665: |
| 8340 482a F092 0000 sts BaroAtUpperLimit.25,r15 |
| 8341 482e F092 0000 sts BaroAtLowerLimit.26,r15 |
| 8342 4832 00C0 rjmp .L669 |
| 8343 .L660: |
| 8344 4834 8091 0000 lds r24,HoehenWert |
| 8345 4838 9091 0000 lds r25,(HoehenWert)+1 |
| 8346 483c A091 0000 lds r26,(HoehenWert)+2 |
| 8347 4840 B091 0000 lds r27,(HoehenWert)+3 |
| 8348 4844 64E0 ldi r22,4 |
| 8349 4846 880F 1: lsl r24 |
| 8350 4848 991F rol r25 |
| 8351 484a AA1F rol r26 |
| 8352 484c BB1F rol r27 |
| 8353 484e 6A95 dec r22 |
| 8354 4850 01F4 brne 1b |
| 8355 4852 8093 0000 sts SummenHoehe,r24 |
| 8356 4856 9093 0000 sts (SummenHoehe)+1,r25 |
| 8357 485a A093 0000 sts (SummenHoehe)+2,r26 |
| 8358 485e B093 0000 sts (SummenHoehe)+3,r27 |
| 8359 4862 1093 0000 sts (VarioMeter)+1,r17 |
| 8360 4866 0093 0000 sts VarioMeter,r16 |
| 8361 486a 2150 subi r18,lo8(-(-1)) |
| 8362 486c 3040 sbci r19,hi8(-(-1)) |
| 8363 486e 3093 0000 sts (BaroExpandActive)+1,r19 |
| 8364 4872 2093 0000 sts BaroExpandActive,r18 |
| 8365 .L669: |
| 8366 4876 2091 0000 lds r18,Parameter_HoehenSchalter |
| 8367 487a 41FF sbrs r20,1 |
| 8368 487c 00C0 rjmp .L670 |
| 8369 487e 2233 cpi r18,lo8(50) |
| 8370 4880 00F4 brsh .L671 |
| 8371 4882 8091 0000 lds r24,delay.24 |
| 8372 4886 8150 subi r24,lo8(-(-1)) |
| 8373 4888 8093 0000 sts delay.24,r24 |
| 8374 488c 8F3F cpi r24,lo8(-1) |
| 8375 488e 01F0 breq .+2 |
| 8376 4890 00C0 rjmp .L677 |
| 8377 4892 8091 0000 lds r24,SpeakHoTT |
| 8378 4896 8823 tst r24 |
| 8379 4898 01F4 brne .L673 |
| 8380 489a 8091 0000 lds r24,HoehenReglerAktiv |
| 8381 489e 8823 tst r24 |
| 8382 48a0 01F0 breq .L673 |
| 8383 48a2 88E2 ldi r24,lo8(40) |
| 8384 48a4 8093 0000 sts SpeakHoTT,r24 |
| 8385 .L673: |
| 8386 48a8 1092 0000 sts HoehenReglerAktiv,__zero_reg__ |
| 8387 48ac 8091 0000 lds r24,HoehenWert |
| 8388 48b0 9091 0000 lds r25,(HoehenWert)+1 |
| 8389 48b4 A091 0000 lds r26,(HoehenWert)+2 |
| 8390 48b8 B091 0000 lds r27,(HoehenWert)+3 |
| 8391 48bc 8093 0000 sts SollHoehe,r24 |
| 8392 48c0 9093 0000 sts (SollHoehe)+1,r25 |
| 8393 48c4 A093 0000 sts (SollHoehe)+2,r26 |
| 8394 48c8 B093 0000 sts (SollHoehe)+3,r27 |
| 8395 48cc 81E0 ldi r24,lo8(1) |
| 8396 48ce 8093 0000 sts delay.24,r24 |
| 8397 48d2 00C0 rjmp .L677 |
| 8398 .L671: |
| 8399 48d4 2734 cpi r18,lo8(71) |
| 8400 48d6 00F0 brlo .L677 |
| 8401 48d8 8091 0000 lds r24,SpeakHoTT |
| 8402 48dc 8823 tst r24 |
| 8403 48de 01F4 brne .L676 |
| 8404 48e0 8091 0000 lds r24,HoehenReglerAktiv |
| 8405 48e4 8823 tst r24 |
| 8406 48e6 01F4 brne .L676 |
| 8407 48e8 87E2 ldi r24,lo8(39) |
| 8408 48ea 8093 0000 sts SpeakHoTT,r24 |
| 8409 .L676: |
| 8410 48ee 88EC ldi r24,lo8(-56) |
| 8411 48f0 8093 0000 sts delay.24,r24 |
| 8412 48f4 00C0 rjmp .L903 |
| 8413 .L670: |
| 8414 48f6 8091 0000 lds r24,ExternHoehenValue |
| 8415 48fa 9091 0000 lds r25,(ExternHoehenValue)+1 |
| 8416 48fe 820F add r24,r18 |
| 8417 4900 911D adc r25,__zero_reg__ |
| 8418 4902 2091 0000 lds r18,EE_Parameter+18 |
| 8419 4906 3327 clr r19 |
| 8420 4908 829F mul r24,r18 |
| 8421 490a A001 movw r20,r0 |
| 8422 490c 839F mul r24,r19 |
| 8423 490e 500D add r21,r0 |
| 8424 4910 929F mul r25,r18 |
| 8425 4912 500D add r21,r0 |
| 8426 4914 1124 clr r1 |
| 8427 4916 CA01 movw r24,r20 |
| 8428 4918 AA27 clr r26 |
| 8429 491a 97FD sbrc r25,7 |
| 8430 491c A095 com r26 |
| 8431 491e BA2F mov r27,r26 |
| 8432 4920 8093 0000 sts SollHoehe,r24 |
| 8433 4924 9093 0000 sts (SollHoehe)+1,r25 |
| 8434 4928 A093 0000 sts (SollHoehe)+2,r26 |
| 8435 492c B093 0000 sts (SollHoehe)+3,r27 |
| 8436 .L903: |
| 8437 4930 81E0 ldi r24,lo8(1) |
| 8438 4932 8093 0000 sts HoehenReglerAktiv,r24 |
| 8439 .L677: |
| 8440 4936 8091 0000 lds r24,IntegralNick |
| 8441 493a 9091 0000 lds r25,(IntegralNick)+1 |
| 8442 493e A091 0000 lds r26,(IntegralNick)+2 |
| 8443 4942 B091 0000 lds r27,(IntegralNick)+3 |
| 8444 4946 E090 0000 lds r14,GIER_GRAD_FAKTOR |
| 8445 494a F090 0000 lds r15,(GIER_GRAD_FAKTOR)+1 |
| 8446 494e 0091 0000 lds r16,(GIER_GRAD_FAKTOR)+2 |
| 8447 4952 1091 0000 lds r17,(GIER_GRAD_FAKTOR)+3 |
| 8448 4956 BC01 movw r22,r24 |
| 8449 4958 CD01 movw r24,r26 |
| 8450 495a A801 movw r20,r16 |
| 8451 495c 9701 movw r18,r14 |
| 8452 495e 0E94 0000 call __divmodsi4 |
| 8453 4962 5901 movw r10,r18 |
| 8454 4964 6A01 movw r12,r20 |
| 8455 4966 8091 0000 lds r24,IntegralRoll |
| 8456 496a 9091 0000 lds r25,(IntegralRoll)+1 |
| 8457 496e A091 0000 lds r26,(IntegralRoll)+2 |
| 8458 4972 B091 0000 lds r27,(IntegralRoll)+3 |
| 8459 4976 BC01 movw r22,r24 |
| 8460 4978 CD01 movw r24,r26 |
| 8461 497a A801 movw r20,r16 |
| 8462 497c 9701 movw r18,r14 |
| 8463 497e 0E94 0000 call __divmodsi4 |
| 8464 4982 B901 movw r22,r18 |
| 8465 4984 C501 movw r24,r10 |
| 8466 4986 0E94 0000 call ihypot |
| 8467 498a 5C01 movw r10,r24 |
| 8468 498c CC97 sbiw r24,60 |
| 8469 498e 04F0 brlt .L678 |
| 8470 4990 5CE3 ldi r21,lo8(60) |
| 8471 4992 A52E mov r10,r21 |
| 8472 4994 B12C mov r11,__zero_reg__ |
| 8473 .L678: |
| 8474 4996 C501 movw r24,r10 |
| 8475 4998 0E94 0000 call c_cos_8192 |
| 8476 499c 5C01 movw r10,r24 |
| 8477 499e 80E2 ldi r24,lo8(32) |
| 8478 49a0 8093 0000 sts VarioCharacter,r24 |
| 8479 49a4 1092 0000 sts (AltitudeSetpointTrimming)+1,__zero_reg__ |
| 8480 49a8 1092 0000 sts AltitudeSetpointTrimming,__zero_reg__ |
| 8481 49ac 8091 0000 lds r24,HoehenReglerAktiv |
| 8482 49b0 8823 tst r24 |
| 8483 49b2 01F4 brne .+2 |
| 8484 49b4 00C0 rjmp .L679 |
| 8485 49b6 8091 0000 lds r24,FC_StatusFlags |
| 8486 49ba 9927 clr r25 |
| 8487 49bc 9C01 movw r18,r24 |
| 8488 49be 2071 andi r18,lo8(16) |
| 8489 49c0 3070 andi r19,hi8(16) |
| 8490 49c2 84FD sbrc r24,4 |
| 8491 49c4 00C0 rjmp .L679 |
| 8492 49c6 8091 0000 lds r24,FC_StatusFlags2 |
| 8493 49ca 8260 ori r24,lo8(2) |
| 8494 49cc 8093 0000 sts FC_StatusFlags2,r24 |
| 8495 49d0 7091 0000 lds r23,Parameter_ExtraConfig |
| 8496 49d4 872F mov r24,r23 |
| 8497 49d6 9927 clr r25 |
| 8498 49d8 41E0 ldi r20,lo8(1) |
| 8499 49da C42E mov r12,r20 |
| 8500 49dc D12C mov r13,__zero_reg__ |
| 8501 49de C822 and r12,r24 |
| 8502 49e0 D922 and r13,r25 |
| 8503 49e2 80FD sbrc r24,0 |
| 8504 49e4 00C0 rjmp .L681 |
| 8505 49e6 8091 0000 lds r24,Parameter_GlobalConfig |
| 8506 49ea 81FD sbrc r24,1 |
| 8507 49ec 00C0 rjmp .L680 |
| 8508 .L681: |
| 8509 49ee C980 ldd r12,Y+1 |
| 8510 49f0 DA80 ldd r13,Y+2 |
| 8511 49f2 3093 0000 sts (HeightTrimming.21)+1,r19 |
| 8512 49f6 2093 0000 sts HeightTrimming.21,r18 |
| 8513 49fa 3093 0000 sts (AltitudeSetpointTrimming)+1,r19 |
| 8514 49fe 2093 0000 sts AltitudeSetpointTrimming,r18 |
| 8515 4a02 8091 0000 lds r24,FC_StatusFlags |
| 8516 4a06 806C ori r24,lo8(-64) |
| 8517 4a08 8093 0000 sts FC_StatusFlags,r24 |
| 8518 4a0c 00C0 rjmp .L682 |
| 8519 .L680: |
| 8520 4a0e 8091 0000 lds r24,FC_StatusFlags |
| 8521 4a12 81FF sbrs r24,1 |
| 8522 4a14 00C0 rjmp .L683 |
| 8523 4a16 0091 0000 lds r16,StickGasHover |
| 8524 4a1a 1091 0000 lds r17,(StickGasHover)+1 |
| 8525 4a1e C801 movw r24,r16 |
| 8526 4a20 0F96 adiw r24,15 |
| 8527 4a22 2090 0000 lds r2,StickGas |
| 8528 4a26 3090 0000 lds r3,(StickGas)+1 |
| 8529 4a2a 8215 cp r24,r2 |
| 8530 4a2c 9305 cpc r25,r3 |
| 8531 4a2e 04F0 brlt .+2 |
| 8532 4a30 00C0 rjmp .L684 |
| 8533 4a32 8091 0000 lds r24,BaroAtUpperLimit.25 |
| 8534 4a36 8823 tst r24 |
| 8535 4a38 01F0 breq .+2 |
| 8536 4a3a 00C0 rjmp .L684 |
| 8537 4a3c 8091 0000 lds r24,FC_StatusFlags |
| 8538 4a40 87FF sbrs r24,7 |
| 8539 4a42 00C0 rjmp .L685 |
| 8540 4a44 8091 0000 lds r24,FC_StatusFlags |
| 8541 4a48 8F77 andi r24,lo8(127) |
| 8542 4a4a 8093 0000 sts FC_StatusFlags,r24 |
| 8543 4a4e 8091 0000 lds r24,HoehenWert |
| 8544 4a52 9091 0000 lds r25,(HoehenWert)+1 |
| 8545 4a56 A091 0000 lds r26,(HoehenWert)+2 |
| 8546 4a5a B091 0000 lds r27,(HoehenWert)+3 |
| 8547 4a5e 8093 0000 sts SollHoehe,r24 |
| 8548 4a62 9093 0000 sts (SollHoehe)+1,r25 |
| 8549 4a66 A093 0000 sts (SollHoehe)+2,r26 |
| 8550 4a6a B093 0000 sts (SollHoehe)+3,r27 |
| 8551 .L685: |
| 8552 4a6e 8091 0000 lds r24,FC_StatusFlags |
| 8553 4a72 8064 ori r24,lo8(64) |
| 8554 4a74 8093 0000 sts FC_StatusFlags,r24 |
| 8555 4a78 E090 0000 lds r14,Parameter_MaximumAltitude |
| 8556 4a7c EE20 tst r14 |
| 8557 4a7e 01F0 breq .L686 |
| 8558 4a80 8091 0000 lds r24,SollHoehe |
| 8559 4a84 9091 0000 lds r25,(SollHoehe)+1 |
| 8560 4a88 A091 0000 lds r26,(SollHoehe)+2 |
| 8561 4a8c B091 0000 lds r27,(SollHoehe)+3 |
| 8562 4a90 BC01 movw r22,r24 |
| 8563 4a92 CD01 movw r24,r26 |
| 8564 4a94 24E6 ldi r18,lo8(100) |
| 8565 4a96 30E0 ldi r19,hi8(100) |
| 8566 4a98 40E0 ldi r20,hlo8(100) |
| 8567 4a9a 50E0 ldi r21,hhi8(100) |
| 8568 4a9c 0E94 0000 call __divmodsi4 |
| 8569 4aa0 8E2D mov r24,r14 |
| 8570 4aa2 9927 clr r25 |
| 8571 4aa4 AA27 clr r26 |
| 8572 4aa6 BB27 clr r27 |
| 8573 4aa8 8217 cp r24,r18 |
| 8574 4aaa 9307 cpc r25,r19 |
| 8575 4aac A407 cpc r26,r20 |
| 8576 4aae B507 cpc r27,r21 |
| 8577 4ab0 04F4 brge .L686 |
| 8578 4ab2 D092 0000 sts (AltitudeSetpointTrimming)+1,r13 |
| 8579 4ab6 C092 0000 sts AltitudeSetpointTrimming,r12 |
| 8580 4aba 00C0 rjmp .L687 |
| 8581 .L686: |
| 8582 4abc C101 movw r24,r2 |
| 8583 4abe 801B sub r24,r16 |
| 8584 4ac0 910B sbc r25,r17 |
| 8585 4ac2 0F97 sbiw r24,15 |
| 8586 4ac4 97FF sbrs r25,7 |
| 8587 4ac6 00C0 rjmp .L688 |
| 8588 4ac8 9095 com r25 |
| 8589 4aca 8195 neg r24 |
| 8590 4acc 9F4F sbci r25,lo8(-1) |
| 8591 .L688: |
| 8592 4ace 9093 0000 sts (AltitudeSetpointTrimming)+1,r25 |
| 8593 4ad2 8093 0000 sts AltitudeSetpointTrimming,r24 |
| 8594 4ad6 8BE2 ldi r24,lo8(43) |
| 8595 4ad8 8093 0000 sts VarioCharacter,r24 |
| 8596 .L687: |
| 8597 4adc 1092 0000 sts WaypointTrimming,__zero_reg__ |
| 8598 4ae0 00C0 rjmp .L689 |
| 8599 .L684: |
| 8600 4ae2 C801 movw r24,r16 |
| 8601 4ae4 0F97 sbiw r24,15 |
| 8602 4ae6 2816 cp r2,r24 |
| 8603 4ae8 3906 cpc r3,r25 |
| 8604 4aea 04F4 brge .L690 |
| 8605 4aec 2091 0000 lds r18,BaroAtLowerLimit.26 |
| 8606 4af0 2223 tst r18 |
| 8607 4af2 01F4 brne .L690 |
| 8608 4af4 8091 0000 lds r24,FC_StatusFlags |
| 8609 4af8 86FF sbrs r24,6 |
| 8610 4afa 00C0 rjmp .L691 |
| 8611 4afc 8091 0000 lds r24,FC_StatusFlags |
| 8612 4b00 8F7B andi r24,lo8(-65) |
| 8613 4b02 8093 0000 sts FC_StatusFlags,r24 |
| 8614 4b06 8091 0000 lds r24,HoehenWert |
| 8615 4b0a 9091 0000 lds r25,(HoehenWert)+1 |
| 8616 4b0e A091 0000 lds r26,(HoehenWert)+2 |
| 8617 4b12 B091 0000 lds r27,(HoehenWert)+3 |
| 8618 4b16 8093 0000 sts SollHoehe,r24 |
| 8619 4b1a 9093 0000 sts (SollHoehe)+1,r25 |
| 8620 4b1e A093 0000 sts (SollHoehe)+2,r26 |
| 8621 4b22 B093 0000 sts (SollHoehe)+3,r27 |
| 8622 .L691: |
| 8623 4b26 8091 0000 lds r24,FC_StatusFlags |
| 8624 4b2a 8068 ori r24,lo8(-128) |
| 8625 4b2c 8093 0000 sts FC_StatusFlags,r24 |
| 8626 4b30 C101 movw r24,r2 |
| 8627 4b32 801B sub r24,r16 |
| 8628 4b34 910B sbc r25,r17 |
| 8629 4b36 0F96 adiw r24,15 |
| 8630 4b38 97FF sbrs r25,7 |
| 8631 4b3a 00C0 rjmp .L692 |
| 8632 4b3c 9095 com r25 |
| 8633 4b3e 8195 neg r24 |
| 8634 4b40 9F4F sbci r25,lo8(-1) |
| 8635 .L692: |
| 8636 4b42 9095 com r25 |
| 8637 4b44 8195 neg r24 |
| 8638 4b46 9F4F sbci r25,lo8(-1) |
| 8639 4b48 9093 0000 sts (AltitudeSetpointTrimming)+1,r25 |
| 8640 4b4c 8093 0000 sts AltitudeSetpointTrimming,r24 |
| 8641 4b50 8DE2 ldi r24,lo8(45) |
| 8642 4b52 8093 0000 sts VarioCharacter,r24 |
| 8643 4b56 2093 0000 sts WaypointTrimming,r18 |
| 8644 4b5a 00C0 rjmp .L689 |
| 8645 .L690: |
| 8646 4b5c 8DE3 ldi r24,lo8(61) |
| 8647 4b5e 8093 0000 sts VarioCharacter,r24 |
| 8648 4b62 6091 0000 lds r22,FromNC_AltitudeSpeed |
| 8649 4b66 6623 tst r22 |
| 8650 4b68 01F0 breq .L694 |
| 8651 4b6a 2091 0000 lds r18,FromNC_AltitudeSetpoint |
| 8652 4b6e 3091 0000 lds r19,(FromNC_AltitudeSetpoint)+1 |
| 8653 4b72 4091 0000 lds r20,(FromNC_AltitudeSetpoint)+2 |
| 8654 4b76 5091 0000 lds r21,(FromNC_AltitudeSetpoint)+3 |
| 8655 4b7a 8091 0000 lds r24,SollHoehe |
| 8656 4b7e 9091 0000 lds r25,(SollHoehe)+1 |
| 8657 4b82 A091 0000 lds r26,(SollHoehe)+2 |
| 8658 4b86 B091 0000 lds r27,(SollHoehe)+3 |
| 8659 4b8a 8217 cp r24,r18 |
| 8660 4b8c 9307 cpc r25,r19 |
| 8661 4b8e A407 cpc r26,r20 |
| 8662 4b90 B507 cpc r27,r21 |
| 8663 4b92 04F4 brge .L694 |
| 8664 4b94 8091 0000 lds r24,FC_StatusFlags |
| 8665 4b98 8064 ori r24,lo8(64) |
| 8666 4b9a 8093 0000 sts FC_StatusFlags,r24 |
| 8667 4b9e 862F mov r24,r22 |
| 8668 4ba0 9927 clr r25 |
| 8669 4ba2 9093 0000 sts (AltitudeSetpointTrimming)+1,r25 |
| 8670 4ba6 8093 0000 sts AltitudeSetpointTrimming,r24 |
| 8671 4baa 8AE0 ldi r24,lo8(10) |
| 8672 4bac 8093 0000 sts WaypointTrimming,r24 |
| 8673 4bb0 8EE5 ldi r24,lo8(94) |
| 8674 4bb2 8093 0000 sts VarioCharacter,r24 |
| 8675 4bb6 8091 0000 lds r24,FC_StatusFlags |
| 8676 4bba 87FF sbrs r24,7 |
| 8677 4bbc 00C0 rjmp .L689 |
| 8678 4bbe 8091 0000 lds r24,FC_StatusFlags |
| 8679 4bc2 8F77 andi r24,lo8(127) |
| 8680 4bc4 00C0 rjmp .L905 |
| 8681 .L694: |
| 8682 4bc6 6623 tst r22 |
| 8683 4bc8 01F4 brne .+2 |
| 8684 4bca 00C0 rjmp .L697 |
| 8685 4bcc 2091 0000 lds r18,FromNC_AltitudeSetpoint |
| 8686 4bd0 3091 0000 lds r19,(FromNC_AltitudeSetpoint)+1 |
| 8687 4bd4 4091 0000 lds r20,(FromNC_AltitudeSetpoint)+2 |
| 8688 4bd8 5091 0000 lds r21,(FromNC_AltitudeSetpoint)+3 |
| 8689 4bdc 8091 0000 lds r24,SollHoehe |
| 8690 4be0 9091 0000 lds r25,(SollHoehe)+1 |
| 8691 4be4 A091 0000 lds r26,(SollHoehe)+2 |
| 8692 4be8 B091 0000 lds r27,(SollHoehe)+3 |
| 8693 4bec 2817 cp r18,r24 |
| 8694 4bee 3907 cpc r19,r25 |
| 8695 4bf0 4A07 cpc r20,r26 |
| 8696 4bf2 5B07 cpc r21,r27 |
| 8697 4bf4 04F4 brge .L697 |
| 8698 4bf6 8091 0000 lds r24,FC_StatusFlags |
| 8699 4bfa 8068 ori r24,lo8(-128) |
| 8700 4bfc 8093 0000 sts FC_StatusFlags,r24 |
| 8701 4c00 862F mov r24,r22 |
| 8702 4c02 9927 clr r25 |
| 8703 4c04 9095 com r25 |
| 8704 4c06 8195 neg r24 |
| 8705 4c08 9F4F sbci r25,lo8(-1) |
| 8706 4c0a 9093 0000 sts (AltitudeSetpointTrimming)+1,r25 |
| 8707 4c0e 8093 0000 sts AltitudeSetpointTrimming,r24 |
| 8708 4c12 86EF ldi r24,lo8(-10) |
| 8709 4c14 8093 0000 sts WaypointTrimming,r24 |
| 8710 4c18 86E7 ldi r24,lo8(118) |
| 8711 4c1a 8093 0000 sts VarioCharacter,r24 |
| 8712 4c1e 8091 0000 lds r24,FC_StatusFlags |
| 8713 4c22 86FF sbrs r24,6 |
| 8714 4c24 00C0 rjmp .L689 |
| 8715 4c26 8091 0000 lds r24,FC_StatusFlags |
| 8716 4c2a 8F7B andi r24,lo8(-65) |
| 8717 .L905: |
| 8718 4c2c 8093 0000 sts FC_StatusFlags,r24 |
| 8719 4c30 8091 0000 lds r24,HoehenWert |
| 8720 4c34 9091 0000 lds r25,(HoehenWert)+1 |
| 8721 4c38 A091 0000 lds r26,(HoehenWert)+2 |
| 8722 4c3c B091 0000 lds r27,(HoehenWert)+3 |
| 8723 4c40 8093 0000 sts SollHoehe,r24 |
| 8724 4c44 9093 0000 sts (SollHoehe)+1,r25 |
| 8725 4c48 A093 0000 sts (SollHoehe)+2,r26 |
| 8726 4c4c B093 0000 sts (SollHoehe)+3,r27 |
| 8727 4c50 00C0 rjmp .L689 |
| 8728 .L697: |
| 8729 4c52 8091 0000 lds r24,FC_StatusFlags |
| 8730 4c56 807C andi r24,lo8(-64) |
| 8731 4c58 01F4 brne .+2 |
| 8732 4c5a 00C0 rjmp .L689 |
| 8733 4c5c 8091 0000 lds r24,WaypointTrimming |
| 8734 4c60 8823 tst r24 |
| 8735 4c62 01F4 brne .L701 |
| 8736 4c64 E090 0000 lds r14,HoehenWert |
| 8737 4c68 F090 0000 lds r15,(HoehenWert)+1 |
| 8738 4c6c 0091 0000 lds r16,(HoehenWert)+2 |
| 8739 4c70 1091 0000 lds r17,(HoehenWert)+3 |
| 8740 4c74 D801 movw r26,r16 |
| 8741 4c76 C701 movw r24,r14 |
| 8742 4c78 8058 subi r24,lo8(-(-128)) |
| 8743 4c7a 9040 sbci r25,hi8(-(-128)) |
| 8744 4c7c A040 sbci r26,hlo8(-(-128)) |
| 8745 4c7e B040 sbci r27,hhi8(-(-128)) |
| 8746 4c80 2091 0000 lds r18,SollHoehe |
| 8747 4c84 3091 0000 lds r19,(SollHoehe)+1 |
| 8748 4c88 4091 0000 lds r20,(SollHoehe)+2 |
| 8749 4c8c 5091 0000 lds r21,(SollHoehe)+3 |
| 8750 4c90 8217 cp r24,r18 |
| 8751 4c92 9307 cpc r25,r19 |
| 8752 4c94 A407 cpc r26,r20 |
| 8753 4c96 B507 cpc r27,r21 |
| 8754 4c98 04F4 brge .L904 |
| 8755 4c9a D801 movw r26,r16 |
| 8756 4c9c C701 movw r24,r14 |
| 8757 4c9e 8058 subi r24,lo8(-(128)) |
| 8758 4ca0 9F4F sbci r25,hi8(-(128)) |
| 8759 4ca2 AF4F sbci r26,hlo8(-(128)) |
| 8760 4ca4 BF4F sbci r27,hhi8(-(128)) |
| 8761 4ca6 2817 cp r18,r24 |
| 8762 4ca8 3907 cpc r19,r25 |
| 8763 4caa 4A07 cpc r20,r26 |
| 8764 4cac 5B07 cpc r21,r27 |
| 8765 4cae 04F0 brlt .L705 |
| 8766 .L904: |
| 8767 4cb0 8093 0000 sts SollHoehe,r24 |
| 8768 4cb4 9093 0000 sts (SollHoehe)+1,r25 |
| 8769 4cb8 A093 0000 sts (SollHoehe)+2,r26 |
| 8770 4cbc B093 0000 sts (SollHoehe)+3,r27 |
| 8771 4cc0 00C0 rjmp .L705 |
| 8772 .L701: |
| 8773 4cc2 1092 0000 sts WaypointTrimming,__zero_reg__ |
| 8774 .L705: |
| 8775 4cc6 8091 0000 lds r24,FC_StatusFlags |
| 8776 4cca 8F73 andi r24,lo8(63) |
| 8777 4ccc 8093 0000 sts FC_StatusFlags,r24 |
| 8778 4cd0 1092 0000 sts (HeightTrimming.21)+1,__zero_reg__ |
| 8779 4cd4 1092 0000 sts HeightTrimming.21,__zero_reg__ |
| 8780 4cd8 71FF sbrs r23,1 |
| 8781 4cda 00C0 rjmp .L706 |
| 8782 4cdc 84EF ldi r24,lo8(500) |
| 8783 4cde 91E0 ldi r25,hi8(500) |
| 8784 4ce0 9093 0000 sts (beeptime)+1,r25 |
| 8785 4ce4 8093 0000 sts beeptime,r24 |
| 8786 .L706: |
| 8787 4ce8 8091 0000 lds r24,StartTrigger |
| 8788 4cec 8823 tst r24 |
| 8789 4cee 01F4 brne .L689 |
| 8790 4cf0 8091 0000 lds r24,HoehenWert |
| 8791 4cf4 9091 0000 lds r25,(HoehenWert)+1 |
| 8792 4cf8 A091 0000 lds r26,(HoehenWert)+2 |
| 8793 4cfc B091 0000 lds r27,(HoehenWert)+3 |
| 8794 4d00 C397 sbiw r24,51 |
| 8795 4d02 A105 cpc r26,__zero_reg__ |
| 8796 4d04 B105 cpc r27,__zero_reg__ |
| 8797 4d06 04F0 brlt .L689 |
| 8798 4d08 81E0 ldi r24,lo8(1) |
| 8799 4d0a 8093 0000 sts StartTrigger,r24 |
| 8800 .L689: |
| 8801 4d0e 6091 0000 lds r22,HeightTrimming.21 |
| 8802 4d12 7091 0000 lds r23,(HeightTrimming.21)+1 |
| 8803 4d16 8091 0000 lds r24,AltitudeSetpointTrimming |
| 8804 4d1a 9091 0000 lds r25,(AltitudeSetpointTrimming)+1 |
| 8805 4d1e 680F add r22,r24 |
| 8806 4d20 791F adc r23,r25 |
| 8807 4d22 7093 0000 sts (HeightTrimming.21)+1,r23 |
| 8808 4d26 6093 0000 sts HeightTrimming.21,r22 |
| 8809 4d2a CB01 movw r24,r22 |
| 8810 4d2c 77FF sbrs r23,7 |
| 8811 4d2e 00C0 rjmp .L709 |
| 8812 4d30 8827 clr r24 |
| 8813 4d32 9927 clr r25 |
| 8814 4d34 861B sub r24,r22 |
| 8815 4d36 970B sbc r25,r23 |
| 8816 .L709: |
| 8817 4d38 855F subi r24,lo8(501) |
| 8818 4d3a 9140 sbci r25,hi8(501) |
| 8819 4d3c 04F4 brge .+2 |
| 8820 4d3e 00C0 rjmp .L708 |
| 8821 4d40 4091 0000 lds r20,WaypointTrimming |
| 8822 4d44 4423 tst r20 |
| 8823 4d46 01F0 breq .L710 |
| 8824 4d48 8091 0000 lds r24,FromNC_AltitudeSetpoint |
| 8825 4d4c 9091 0000 lds r25,(FromNC_AltitudeSetpoint)+1 |
| 8826 4d50 2091 0000 lds r18,SollHoehe |
| 8827 4d54 3091 0000 lds r19,(SollHoehe)+1 |
| 8828 4d58 821B sub r24,r18 |
| 8829 4d5a 930B sbc r25,r19 |
| 8830 4d5c 0996 adiw r24,9 |
| 8831 4d5e 4397 sbiw r24,19 |
| 8832 4d60 00F4 brsh .L711 |
| 8833 4d62 8091 0000 lds r24,FromNC_AltitudeSetpoint |
| 8834 4d66 9091 0000 lds r25,(FromNC_AltitudeSetpoint)+1 |
| 8835 4d6a A091 0000 lds r26,(FromNC_AltitudeSetpoint)+2 |
| 8836 4d6e B091 0000 lds r27,(FromNC_AltitudeSetpoint)+3 |
| 8837 4d72 00C0 rjmp .L907 |
| 8838 .L711: |
| 8839 4d74 242F mov r18,r20 |
| 8840 4d76 3327 clr r19 |
| 8841 4d78 27FD sbrc r18,7 |
| 8842 4d7a 3095 com r19 |
| 8843 4d7c 432F mov r20,r19 |
| 8844 4d7e 532F mov r21,r19 |
| 8845 4d80 8091 0000 lds r24,SollHoehe |
| 8846 4d84 9091 0000 lds r25,(SollHoehe)+1 |
| 8847 4d88 A091 0000 lds r26,(SollHoehe)+2 |
| 8848 4d8c B091 0000 lds r27,(SollHoehe)+3 |
| 8849 4d90 820F add r24,r18 |
| 8850 4d92 931F adc r25,r19 |
| 8851 4d94 A41F adc r26,r20 |
| 8852 4d96 B51F adc r27,r21 |
| 8853 .L907: |
| 8854 4d98 8093 0000 sts SollHoehe,r24 |
| 8855 4d9c 9093 0000 sts (SollHoehe)+1,r25 |
| 8856 4da0 A093 0000 sts (SollHoehe)+2,r26 |
| 8857 4da4 B093 0000 sts (SollHoehe)+3,r27 |
| 8858 4da8 00C0 rjmp .L713 |
| 8859 .L710: |
| 8860 4daa 8091 0000 lds r24,EE_Parameter+18 |
| 8861 4dae 2091 0000 lds r18,SollHoehe |
| 8862 4db2 3091 0000 lds r19,(SollHoehe)+1 |
| 8863 4db6 4091 0000 lds r20,(SollHoehe)+2 |
| 8864 4dba 5091 0000 lds r21,(SollHoehe)+3 |
| 8865 4dbe 1616 cp __zero_reg__,r22 |
| 8866 4dc0 1706 cpc __zero_reg__,r23 |
| 8867 4dc2 04F4 brge .L714 |
| 8868 4dc4 63E0 ldi r22,lo8(3) |
| 8869 4dc6 0E94 0000 call __udivmodqi4 |
| 8870 4dca 280F add r18,r24 |
| 8871 4dcc 311D adc r19,__zero_reg__ |
| 8872 4dce 411D adc r20,__zero_reg__ |
| 8873 4dd0 511D adc r21,__zero_reg__ |
| 8874 4dd2 00C0 rjmp .L906 |
| 8875 .L714: |
| 8876 4dd4 63E0 ldi r22,lo8(3) |
| 8877 4dd6 0E94 0000 call __udivmodqi4 |
| 8878 4dda 281B sub r18,r24 |
| 8879 4ddc 3109 sbc r19,__zero_reg__ |
| 8880 4dde 4109 sbc r20,__zero_reg__ |
| 8881 4de0 5109 sbc r21,__zero_reg__ |
| 8882 .L906: |
| 8883 4de2 2093 0000 sts SollHoehe,r18 |
| 8884 4de6 3093 0000 sts (SollHoehe)+1,r19 |
| 8885 4dea 4093 0000 sts (SollHoehe)+2,r20 |
| 8886 4dee 5093 0000 sts (SollHoehe)+3,r21 |
| 8887 .L713: |
| 8888 4df2 1092 0000 sts (HeightTrimming.21)+1,__zero_reg__ |
| 8889 4df6 1092 0000 sts HeightTrimming.21,__zero_reg__ |
| 8890 4dfa E090 0000 lds r14,HoehenWert |
| 8891 4dfe F090 0000 lds r15,(HoehenWert)+1 |
| 8892 4e02 0091 0000 lds r16,(HoehenWert)+2 |
| 8893 4e06 1091 0000 lds r17,(HoehenWert)+3 |
| 8894 4e0a D801 movw r26,r16 |
| 8895 4e0c C701 movw r24,r14 |
| 8896 4e0e 8050 subi r24,lo8(-(-1024)) |
| 8897 4e10 9440 sbci r25,hi8(-(-1024)) |
| 8898 4e12 A040 sbci r26,hlo8(-(-1024)) |
| 8899 4e14 B040 sbci r27,hhi8(-(-1024)) |
| 8900 4e16 2091 0000 lds r18,SollHoehe |
| 8901 4e1a 3091 0000 lds r19,(SollHoehe)+1 |
| 8902 4e1e 4091 0000 lds r20,(SollHoehe)+2 |
| 8903 4e22 5091 0000 lds r21,(SollHoehe)+3 |
| 8904 4e26 8217 cp r24,r18 |
| 8905 4e28 9307 cpc r25,r19 |
| 8906 4e2a A407 cpc r26,r20 |
| 8907 4e2c B507 cpc r27,r21 |
| 8908 4e2e 04F4 brge .L908 |
| 8909 4e30 D801 movw r26,r16 |
| 8910 4e32 C701 movw r24,r14 |
| 8911 4e34 8050 subi r24,lo8(-(1024)) |
| 8912 4e36 9C4F sbci r25,hi8(-(1024)) |
| 8913 4e38 AF4F sbci r26,hlo8(-(1024)) |
| 8914 4e3a BF4F sbci r27,hhi8(-(1024)) |
| 8915 4e3c 2817 cp r18,r24 |
| 8916 4e3e 3907 cpc r19,r25 |
| 8917 4e40 4A07 cpc r20,r26 |
| 8918 4e42 5B07 cpc r21,r27 |
| 8919 4e44 04F0 brlt .L717 |
| 8920 .L908: |
| 8921 4e46 8093 0000 sts SollHoehe,r24 |
| 8922 4e4a 9093 0000 sts (SollHoehe)+1,r25 |
| 8923 4e4e A093 0000 sts (SollHoehe)+2,r26 |
| 8924 4e52 B093 0000 sts (SollHoehe)+3,r27 |
| 8925 .L717: |
| 8926 4e56 8091 0000 lds r24,Parameter_ExtraConfig |
| 8927 4e5a 81FF sbrs r24,1 |
| 8928 4e5c 00C0 rjmp .L719 |
| 8929 4e5e 84E6 ldi r24,lo8(100) |
| 8930 4e60 90E0 ldi r25,hi8(100) |
| 8931 4e62 9093 0000 sts (beeptime)+1,r25 |
| 8932 4e66 8093 0000 sts beeptime,r24 |
| 8933 .L719: |
| 8934 4e6a 8091 0000 lds r24,EE_Parameter+22 |
| 8935 4e6e 8823 tst r24 |
| 8936 4e70 01F4 brne .L708 |
| 8937 4e72 8091 0000 lds r24,FromNC_AltitudeSpeed |
| 8938 4e76 8823 tst r24 |
| 8939 4e78 01F4 brne .L708 |
| 8940 4e7a 4091 0000 lds r20,HoverGas |
| 8941 4e7e 5091 0000 lds r21,(HoverGas)+1 |
| 8942 4e82 57FF sbrs r21,7 |
| 8943 4e84 00C0 rjmp .L721 |
| 8944 4e86 4D5F subi r20,lo8(-(3)) |
| 8945 4e88 5F4F sbci r21,hi8(-(3)) |
| 8946 .L721: |
| 8947 4e8a 5595 asr r21 |
| 8948 4e8c 4795 ror r20 |
| 8949 4e8e 5595 asr r21 |
| 8950 4e90 4795 ror r20 |
| 8951 4e92 8091 0000 lds r24,UBat |
| 8952 4e96 9091 0000 lds r25,(UBat)+1 |
| 8953 4e9a 2091 0000 lds r18,BattLowVoltageWarning |
| 8954 4e9e 3327 clr r19 |
| 8955 4ea0 489F mul r20,r24 |
| 8956 4ea2 F001 movw r30,r0 |
| 8957 4ea4 499F mul r20,r25 |
| 8958 4ea6 F00D add r31,r0 |
| 8959 4ea8 589F mul r21,r24 |
| 8960 4eaa F00D add r31,r0 |
| 8961 4eac 1124 clr r1 |
| 8962 4eae CF01 movw r24,r30 |
| 8963 4eb0 B901 movw r22,r18 |
| 8964 4eb2 0E94 0000 call __divmodhi4 |
| 8965 4eb6 7093 0000 sts (StickGasHover)+1,r23 |
| 8966 4eba 6093 0000 sts StickGasHover,r22 |
| 8967 4ebe 6634 cpi r22,70 |
| 8968 4ec0 7105 cpc r23,__zero_reg__ |
| 8969 4ec2 04F4 brge .L722 |
| 8970 4ec4 86E4 ldi r24,lo8(70) |
| 8971 4ec6 90E0 ldi r25,hi8(70) |
| 8972 4ec8 00C0 rjmp .L909 |
| 8973 .L722: |
| 8974 4eca 6739 cpi r22,151 |
| 8975 4ecc 7105 cpc r23,__zero_reg__ |
| 8976 4ece 04F0 brlt .L708 |
| 8977 4ed0 86E9 ldi r24,lo8(150) |
| 8978 4ed2 90E0 ldi r25,hi8(150) |
| 8979 .L909: |
| 8980 4ed4 9093 0000 sts (StickGasHover)+1,r25 |
| 8981 4ed8 8093 0000 sts StickGasHover,r24 |
| 8982 .L708: |
| 8983 4edc 8091 0000 lds r24,BaroExpandActive |
| 8984 4ee0 9091 0000 lds r25,(BaroExpandActive)+1 |
| 8985 4ee4 892B or r24,r25 |
| 8986 4ee6 01F0 breq .L726 |
| 8987 4ee8 8091 0000 lds r24,HoehenWert |
| 8988 4eec 9091 0000 lds r25,(HoehenWert)+1 |
| 8989 4ef0 A091 0000 lds r26,(HoehenWert)+2 |
| 8990 4ef4 B091 0000 lds r27,(HoehenWert)+3 |
| 8991 4ef8 8093 0000 sts SollHoehe,r24 |
| 8992 4efc 9093 0000 sts (SollHoehe)+1,r25 |
| 8993 4f00 A093 0000 sts (SollHoehe)+2,r26 |
| 8994 4f04 B093 0000 sts (SollHoehe)+3,r27 |
| 8995 4f08 00C0 rjmp .L726 |
| 8996 .L683: |
| 8997 4f0a 8091 0000 lds r24,HoehenWert |
| 8998 4f0e 9091 0000 lds r25,(HoehenWert)+1 |
| 8999 4f12 A091 0000 lds r26,(HoehenWert)+2 |
| 9000 4f16 B091 0000 lds r27,(HoehenWert)+3 |
| 9001 4f1a 8059 subi r24,lo8(-(-400)) |
| 9002 4f1c 9140 sbci r25,hi8(-(-400)) |
| 9003 4f1e A040 sbci r26,hlo8(-(-400)) |
| 9004 4f20 B040 sbci r27,hhi8(-(-400)) |
| 9005 4f22 8093 0000 sts SollHoehe,r24 |
| 9006 4f26 9093 0000 sts (SollHoehe)+1,r25 |
| 9007 4f2a A093 0000 sts (SollHoehe)+2,r26 |
| 9008 4f2e B093 0000 sts (SollHoehe)+3,r27 |
| 9009 4f32 8091 0000 lds r24,EE_Parameter+22 |
| 9010 4f36 8823 tst r24 |
| 9011 4f38 01F0 breq .L727 |
| 9012 4f3a 9927 clr r25 |
| 9013 4f3c 00C0 rjmp .L910 |
| 9014 .L727: |
| 9015 4f3e 88E7 ldi r24,lo8(120) |
| 9016 4f40 90E0 ldi r25,hi8(120) |
| 9017 .L910: |
| 9018 4f42 9093 0000 sts (StickGasHover)+1,r25 |
| 9019 4f46 8093 0000 sts StickGasHover,r24 |
| 9020 4f4a E980 ldd r14,Y+1 |
| 9021 4f4c FA80 ldd r15,Y+2 |
| 9022 4f4e F092 0000 sts (HoverGas)+1,r15 |
| 9023 4f52 E092 0000 sts HoverGas,r14 |
| 9024 4f56 8EE2 ldi r24,lo8(46) |
| 9025 4f58 8093 0000 sts VarioCharacter,r24 |
| 9026 .L726: |
| 9027 4f5c C090 0000 lds r12,HoverGas |
| 9028 4f60 D090 0000 lds r13,(HoverGas)+1 |
| 9029 .L682: |
| 9030 4f64 E090 0000 lds r14,HoehenWert |
| 9031 4f68 F090 0000 lds r15,(HoehenWert)+1 |
| 9032 4f6c 0091 0000 lds r16,(HoehenWert)+2 |
| 9033 4f70 1091 0000 lds r17,(HoehenWert)+3 |
| 9034 4f74 2091 0000 lds r18,SollHoehe |
| 9035 4f78 3091 0000 lds r19,(SollHoehe)+1 |
| 9036 4f7c 4091 0000 lds r20,(SollHoehe)+2 |
| 9037 4f80 5091 0000 lds r21,(SollHoehe)+3 |
| 9038 4f84 2E15 cp r18,r14 |
| 9039 4f86 3F05 cpc r19,r15 |
| 9040 4f88 4007 cpc r20,r16 |
| 9041 4f8a 5107 cpc r21,r17 |
| 9042 4f8c 04F0 brlt .L730 |
| 9043 4f8e 8091 0000 lds r24,Parameter_ExtraConfig |
| 9044 4f92 80FD sbrc r24,0 |
| 9045 4f94 00C0 rjmp .L788 |
| 9046 .L730: |
| 9047 4f96 8091 0000 lds r24,BaroExpandActive |
| 9048 4f9a 9091 0000 lds r25,(BaroExpandActive)+1 |
| 9049 4f9e 892B or r24,r25 |
| 9050 4fa0 01F0 breq .L731 |
| 9051 4fa2 C090 0000 lds r12,HoverGas |
| 9052 4fa6 D090 0000 lds r13,(HoverGas)+1 |
| 9053 4faa 00E0 ldi r16,lo8(0) |
| 9054 4fac 10E0 ldi r17,hi8(0) |
| 9055 4fae 00C0 rjmp .L732 |
| 9056 .L731: |
| 9057 4fb0 D801 movw r26,r16 |
| 9058 4fb2 C701 movw r24,r14 |
| 9059 4fb4 821B sub r24,r18 |
| 9060 4fb6 930B sbc r25,r19 |
| 9061 4fb8 A40B sbc r26,r20 |
| 9062 4fba B50B sbc r27,r21 |
| 9063 4fbc 8093 0000 sts tmp_long.1,r24 |
| 9064 4fc0 9093 0000 sts (tmp_long.1)+1,r25 |
| 9065 4fc4 A093 0000 sts (tmp_long.1)+2,r26 |
| 9066 4fc8 B093 0000 sts (tmp_long.1)+3,r27 |
| 9067 4fcc 8230 cpi r24,lo8(-32766) |
| 9068 4fce 00E8 ldi r16,hi8(-32766) |
| 9069 4fd0 9007 cpc r25,r16 |
| 9070 4fd2 0FEF ldi r16,hlo8(-32766) |
| 9071 4fd4 A007 cpc r26,r16 |
| 9072 4fd6 0FEF ldi r16,hhi8(-32766) |
| 9073 4fd8 B007 cpc r27,r16 |
| 9074 4fda 04F4 brge .L733 |
| 9075 4fdc 81E0 ldi r24,lo8(-32767) |
| 9076 4fde 90E8 ldi r25,hi8(-32767) |
| 9077 4fe0 AFEF ldi r26,hlo8(-32767) |
| 9078 4fe2 BFEF ldi r27,hhi8(-32767) |
| 9079 4fe4 00C0 rjmp .L911 |
| 9080 .L733: |
| 9081 4fe6 8F5F subi r24,lo8(32767) |
| 9082 4fe8 9F47 sbci r25,hi8(32767) |
| 9083 4fea A040 sbci r26,hlo8(32767) |
| 9084 4fec B040 sbci r27,hhi8(32767) |
| 9085 4fee 04F0 brlt .L734 |
| 9086 4ff0 8FEF ldi r24,lo8(32767) |
| 9087 4ff2 9FE7 ldi r25,hi8(32767) |
| 9088 4ff4 A0E0 ldi r26,hlo8(32767) |
| 9089 4ff6 B0E0 ldi r27,hhi8(32767) |
| 9090 .L911: |
| 9091 4ff8 8093 0000 sts tmp_long.1,r24 |
| 9092 4ffc 9093 0000 sts (tmp_long.1)+1,r25 |
| 9093 5000 A093 0000 sts (tmp_long.1)+2,r26 |
| 9094 5004 B093 0000 sts (tmp_long.1)+3,r27 |
| 9095 .L734: |
| 9096 5008 0091 0000 lds r16,tmp_long.1 |
| 9097 500c 1091 0000 lds r17,(tmp_long.1)+1 |
| 9098 5010 8091 0000 lds r24,Parameter_Hoehe_P |
| 9099 5014 282F mov r18,r24 |
| 9100 5016 3327 clr r19 |
| 9101 5018 4427 clr r20 |
| 9102 501a 5527 clr r21 |
| 9103 501c 8091 0000 lds r24,tmp_long.1 |
| 9104 5020 9091 0000 lds r25,(tmp_long.1)+1 |
| 9105 5024 A091 0000 lds r26,(tmp_long.1)+2 |
| 9106 5028 B091 0000 lds r27,(tmp_long.1)+3 |
| 9107 502c BC01 movw r22,r24 |
| 9108 502e CD01 movw r24,r26 |
| 9109 5030 0E94 0000 call __mulsi3 |
| 9110 5034 97FF sbrs r25,7 |
| 9111 5036 00C0 rjmp .L736 |
| 9112 5038 615E subi r22,lo8(-(31)) |
| 9113 503a 7F4F sbci r23,hi8(-(31)) |
| 9114 503c 8F4F sbci r24,hlo8(-(31)) |
| 9115 503e 9F4F sbci r25,hhi8(-(31)) |
| 9116 .L736: |
| 9117 5040 25E0 ldi r18,5 |
| 9118 5042 9595 1: asr r25 |
| 9119 5044 8795 ror r24 |
| 9120 5046 7795 ror r23 |
| 9121 5048 6795 ror r22 |
| 9122 504a 2A95 dec r18 |
| 9123 504c 01F4 brne 1b |
| 9124 504e 6093 0000 sts tmp_long.1,r22 |
| 9125 5052 7093 0000 sts (tmp_long.1)+1,r23 |
| 9126 5056 8093 0000 sts (tmp_long.1)+2,r24 |
| 9127 505a 9093 0000 sts (tmp_long.1)+3,r25 |
| 9128 505e 6530 cpi r22,lo8(-507) |
| 9129 5060 2EEF ldi r18,hi8(-507) |
| 9130 5062 7207 cpc r23,r18 |
| 9131 5064 2FEF ldi r18,hlo8(-507) |
| 9132 5066 8207 cpc r24,r18 |
| 9133 5068 2FEF ldi r18,hhi8(-507) |
| 9134 506a 9207 cpc r25,r18 |
| 9135 506c 04F4 brge .L737 |
| 9136 506e 84E0 ldi r24,lo8(-508) |
| 9137 5070 9EEF ldi r25,hi8(-508) |
| 9138 5072 AFEF ldi r26,hlo8(-508) |
| 9139 5074 BFEF ldi r27,hhi8(-508) |
| 9140 5076 00C0 rjmp .L912 |
| 9141 .L737: |
| 9142 5078 6050 subi r22,lo8(1024) |
| 9143 507a 7440 sbci r23,hi8(1024) |
| 9144 507c 8040 sbci r24,hlo8(1024) |
| 9145 507e 9040 sbci r25,hhi8(1024) |
| 9146 5080 04F0 brlt .L738 |
| 9147 5082 80E0 ldi r24,lo8(1024) |
| 9148 5084 94E0 ldi r25,hi8(1024) |
| 9149 5086 A0E0 ldi r26,hlo8(1024) |
| 9150 5088 B0E0 ldi r27,hhi8(1024) |
| 9151 .L912: |
| 9152 508a 8093 0000 sts tmp_long.1,r24 |
| 9153 508e 9093 0000 sts (tmp_long.1)+1,r25 |
| 9154 5092 A093 0000 sts (tmp_long.1)+2,r26 |
| 9155 5096 B093 0000 sts (tmp_long.1)+3,r27 |
| 9156 .L738: |
| 9157 509a 8090 0000 lds r8,tmp_long.1 |
| 9158 509e 9090 0000 lds r9,(tmp_long.1)+1 |
| 9159 50a2 2091 0000 lds r18,VarioMeter |
| 9160 50a6 3091 0000 lds r19,(VarioMeter)+1 |
| 9161 50aa 37FF sbrs r19,7 |
| 9162 50ac 00C0 rjmp .L740 |
| 9163 50ae 295F subi r18,lo8(-(7)) |
| 9164 50b0 3F4F sbci r19,hi8(-(7)) |
| 9165 .L740: |
| 9166 50b2 83E0 ldi r24,3 |
| 9167 50b4 3595 1: asr r19 |
| 9168 50b6 2795 ror r18 |
| 9169 50b8 8A95 dec r24 |
| 9170 50ba 01F4 brne 1b |
| 9171 50bc 4FEF ldi r20,hi8(-126) |
| 9172 50be 2238 cpi r18,lo8(-126) |
| 9173 50c0 3407 cpc r19,r20 |
| 9174 50c2 04F4 brge .L741 |
| 9175 50c4 21E8 ldi r18,lo8(-127) |
| 9176 50c6 3FEF ldi r19,hi8(-127) |
| 9177 50c8 00C0 rjmp .L742 |
| 9178 .L741: |
| 9179 50ca 2038 cpi r18,128 |
| 9180 50cc 3105 cpc r19,__zero_reg__ |
| 9181 50ce 04F0 brlt .L742 |
| 9182 50d0 20E8 ldi r18,lo8(128) |
| 9183 50d2 30E0 ldi r19,hi8(128) |
| 9184 .L742: |
| 9185 50d4 C901 movw r24,r18 |
| 9186 50d6 AA27 clr r26 |
| 9187 50d8 97FD sbrc r25,7 |
| 9188 50da A095 com r26 |
| 9189 50dc BA2F mov r27,r26 |
| 9190 50de 2091 0000 lds r18,Parameter_Luftdruck_D |
| 9191 50e2 3327 clr r19 |
| 9192 50e4 4427 clr r20 |
| 9193 50e6 5527 clr r21 |
| 9194 50e8 BC01 movw r22,r24 |
| 9195 50ea CD01 movw r24,r26 |
| 9196 50ec 0E94 0000 call __mulsi3 |
| 9197 50f0 97FF sbrs r25,7 |
| 9198 50f2 00C0 rjmp .L744 |
| 9199 50f4 6D5F subi r22,lo8(-(3)) |
| 9200 50f6 7F4F sbci r23,hi8(-(3)) |
| 9201 50f8 8F4F sbci r24,hlo8(-(3)) |
| 9202 50fa 9F4F sbci r25,hhi8(-(3)) |
| 9203 .L744: |
| 9204 50fc B2E0 ldi r27,2 |
| 9205 50fe 9595 1: asr r25 |
| 9206 5100 8795 ror r24 |
| 9207 5102 7795 ror r23 |
| 9208 5104 6795 ror r22 |
| 9209 5106 BA95 dec r27 |
| 9210 5108 01F4 brne 1b |
| 9211 510a 9B01 movw r18,r22 |
| 9212 510c 5FEF ldi r21,hi8(-255) |
| 9213 510e 6130 cpi r22,lo8(-255) |
| 9214 5110 7507 cpc r23,r21 |
| 9215 5112 04F4 brge .L745 |
| 9216 5114 20E0 ldi r18,lo8(-256) |
| 9217 5116 3FEF ldi r19,hi8(-256) |
| 9218 5118 00C0 rjmp .L746 |
| 9219 .L745: |
| 9220 511a 6F3F cpi r22,255 |
| 9221 511c 7105 cpc r23,__zero_reg__ |
| 9222 511e 01F0 breq .L746 |
| 9223 5120 04F0 brlt .L746 |
| 9224 5122 20E0 ldi r18,lo8(256) |
| 9225 5124 31E0 ldi r19,hi8(256) |
| 9226 .L746: |
| 9227 5126 8091 0000 lds r24,FC_StatusFlags |
| 9228 512a 807C andi r24,lo8(-64) |
| 9229 512c 01F0 breq .L748 |
| 9230 512e C901 movw r24,r18 |
| 9231 5130 37FD sbrc r19,7 |
| 9232 5132 0396 adiw r24,3 |
| 9233 .L749: |
| 9234 5134 9C01 movw r18,r24 |
| 9235 5136 3595 asr r19 |
| 9236 5138 2795 ror r18 |
| 9237 513a 3595 asr r19 |
| 9238 513c 2795 ror r18 |
| 9239 513e 00C0 rjmp .L750 |
| 9240 .L748: |
| 9241 5140 8091 0000 lds r24,Parameter_ExtraConfig |
| 9242 5144 80FF sbrs r24,0 |
| 9243 5146 00C0 rjmp .L750 |
| 9244 5148 C901 movw r24,r18 |
| 9245 514a 37FD sbrc r19,7 |
| 9246 514c 0796 adiw r24,7 |
| 9247 .L752: |
| 9248 514e 9C01 movw r18,r24 |
| 9249 5150 F3E0 ldi r31,3 |
| 9250 5152 3595 1: asr r19 |
| 9251 5154 2795 ror r18 |
| 9252 5156 FA95 dec r31 |
| 9253 5158 01F4 brne 1b |
| 9254 .L750: |
| 9255 515a 820E add r8,r18 |
| 9256 515c 931E adc r9,r19 |
| 9257 .L732: |
| 9258 515e 2091 0000 lds r18,Parameter_Hoehe_ACC_Wirkung |
| 9259 5162 2223 tst r18 |
| 9260 5164 01F4 brne .+2 |
| 9261 5166 00C0 rjmp .L753 |
| 9262 5168 6091 0000 lds r22,Mess_Integral_Hoch |
| 9263 516c 7091 0000 lds r23,(Mess_Integral_Hoch)+1 |
| 9264 5170 8091 0000 lds r24,(Mess_Integral_Hoch)+2 |
| 9265 5174 9091 0000 lds r25,(Mess_Integral_Hoch)+3 |
| 9266 5178 97FF sbrs r25,7 |
| 9267 517a 00C0 rjmp .L754 |
| 9268 517c 6158 subi r22,lo8(-(127)) |
| 9269 517e 7F4F sbci r23,hi8(-(127)) |
| 9270 5180 8F4F sbci r24,hlo8(-(127)) |
| 9271 5182 9F4F sbci r25,hhi8(-(127)) |
| 9272 .L754: |
| 9273 5184 E7E0 ldi r30,7 |
| 9274 5186 9595 1: asr r25 |
| 9275 5188 8795 ror r24 |
| 9276 518a 7795 ror r23 |
| 9277 518c 6795 ror r22 |
| 9278 518e EA95 dec r30 |
| 9279 5190 01F4 brne 1b |
| 9280 5192 3327 clr r19 |
| 9281 5194 4427 clr r20 |
| 9282 5196 5527 clr r21 |
| 9283 5198 0E94 0000 call __mulsi3 |
| 9284 519c 97FF sbrs r25,7 |
| 9285 519e 00C0 rjmp .L755 |
| 9286 51a0 615E subi r22,lo8(-(31)) |
| 9287 51a2 7F4F sbci r23,hi8(-(31)) |
| 9288 51a4 8F4F sbci r24,hlo8(-(31)) |
| 9289 51a6 9F4F sbci r25,hhi8(-(31)) |
| 9290 .L755: |
| 9291 51a8 55E0 ldi r21,5 |
| 9292 51aa 9595 1: asr r25 |
| 9293 51ac 8795 ror r24 |
| 9294 51ae 7795 ror r23 |
| 9295 51b0 6795 ror r22 |
| 9296 51b2 5A95 dec r21 |
| 9297 51b4 01F4 brne 1b |
| 9298 51b6 6093 0000 sts tmp_long.1,r22 |
| 9299 51ba 7093 0000 sts (tmp_long.1)+1,r23 |
| 9300 51be 8093 0000 sts (tmp_long.1)+2,r24 |
| 9301 51c2 9093 0000 sts (tmp_long.1)+3,r25 |
| 9302 51c6 6138 cpi r22,lo8(-127) |
| 9303 51c8 AFEF ldi r26,hi8(-127) |
| 9304 51ca 7A07 cpc r23,r26 |
| 9305 51cc AFEF ldi r26,hlo8(-127) |
| 9306 51ce 8A07 cpc r24,r26 |
| 9307 51d0 AFEF ldi r26,hhi8(-127) |
| 9308 51d2 9A07 cpc r25,r26 |
| 9309 51d4 04F4 brge .L756 |
| 9310 51d6 80E8 ldi r24,lo8(-128) |
| 9311 51d8 9FEF ldi r25,hi8(-128) |
| 9312 51da AFEF ldi r26,hlo8(-128) |
| 9313 51dc BFEF ldi r27,hhi8(-128) |
| 9314 51de 00C0 rjmp .L913 |
| 9315 .L756: |
| 9316 51e0 6F3F cpi r22,lo8(255) |
| 9317 51e2 7105 cpc r23,__zero_reg__ |
| 9318 51e4 8105 cpc r24,__zero_reg__ |
| 9319 51e6 9105 cpc r25,__zero_reg__ |
| 9320 51e8 01F0 breq .L757 |
| 9321 51ea 04F0 brlt .L757 |
| 9322 51ec 80E0 ldi r24,lo8(256) |
| 9323 51ee 91E0 ldi r25,hi8(256) |
| 9324 51f0 A0E0 ldi r26,hlo8(256) |
| 9325 51f2 B0E0 ldi r27,hhi8(256) |
| 9326 .L913: |
| 9327 51f4 8093 0000 sts tmp_long.1,r24 |
| 9328 51f8 9093 0000 sts (tmp_long.1)+1,r25 |
| 9329 51fc A093 0000 sts (tmp_long.1)+2,r26 |
| 9330 5200 B093 0000 sts (tmp_long.1)+3,r27 |
| 9331 .L757: |
| 9332 5204 8091 0000 lds r24,tmp_long.1 |
| 9333 5208 9091 0000 lds r25,(tmp_long.1)+1 |
| 9334 520c 880E add r8,r24 |
| 9335 520e 991E adc r9,r25 |
| 9336 .L753: |
| 9337 5210 8091 0000 lds r24,Parameter_Hoehe_GPS_Z |
| 9338 5214 282F mov r18,r24 |
| 9339 5216 3327 clr r19 |
| 9340 5218 8091 0000 lds r24,FromNaviCtrl_Value+4 |
| 9341 521c 9927 clr r25 |
| 9342 521e 87FD sbrc r24,7 |
| 9343 5220 9095 com r25 |
| 9344 5222 289F mul r18,r24 |
| 9345 5224 F001 movw r30,r0 |
| 9346 5226 299F mul r18,r25 |
| 9347 5228 F00D add r31,r0 |
| 9348 522a 389F mul r19,r24 |
| 9349 522c F00D add r31,r0 |
| 9350 522e 1124 clr r1 |
| 9351 5230 9F01 movw r18,r30 |
| 9352 5232 F7FF sbrs r31,7 |
| 9353 5234 00C0 rjmp .L759 |
| 9354 5236 2158 subi r18,lo8(-(127)) |
| 9355 5238 3F4F sbci r19,hi8(-(127)) |
| 9356 .L759: |
| 9357 523a 220F lsl r18 |
| 9358 523c 232F mov r18,r19 |
| 9359 523e 221F rol r18 |
| 9360 5240 330B sbc r19,r19 |
| 9361 5242 FFEF ldi r31,hi8(-127) |
| 9362 5244 2138 cpi r18,lo8(-127) |
| 9363 5246 3F07 cpc r19,r31 |
| 9364 5248 04F4 brge .L760 |
| 9365 524a 20E8 ldi r18,lo8(-128) |
| 9366 524c 3FEF ldi r19,hi8(-128) |
| 9367 524e 00C0 rjmp .L761 |
| 9368 .L760: |
| 9369 5250 2F3F cpi r18,255 |
| 9370 5252 3105 cpc r19,__zero_reg__ |
| 9371 5254 01F0 breq .L761 |
| 9372 5256 04F0 brlt .L761 |
| 9373 5258 20E0 ldi r18,lo8(256) |
| 9374 525a 31E0 ldi r19,hi8(256) |
| 9375 .L761: |
| 9376 525c 820E add r8,r18 |
| 9377 525e 931E adc r9,r19 |
| 9378 5260 C401 movw r24,r8 |
| 9379 5262 AA27 clr r26 |
| 9380 5264 97FD sbrc r25,7 |
| 9381 5266 A095 com r26 |
| 9382 5268 BA2F mov r27,r26 |
| 9383 526a E090 0000 lds r14,HoverGas |
| 9384 526e F090 0000 lds r15,(HoverGas)+1 |
| 9385 5272 9701 movw r18,r14 |
| 9386 5274 4427 clr r20 |
| 9387 5276 37FD sbrc r19,7 |
| 9388 5278 4095 com r20 |
| 9389 527a 542F mov r21,r20 |
| 9390 527c BC01 movw r22,r24 |
| 9391 527e CD01 movw r24,r26 |
| 9392 5280 0E94 0000 call __mulsi3 |
| 9393 5284 97FF sbrs r25,7 |
| 9394 5286 00C0 rjmp .L763 |
| 9395 5288 6150 subi r22,lo8(-(511)) |
| 9396 528a 7E4F sbci r23,hi8(-(511)) |
| 9397 528c 8F4F sbci r24,hlo8(-(511)) |
| 9398 528e 9F4F sbci r25,hhi8(-(511)) |
| 9399 .L763: |
| 9400 5290 29E0 ldi r18,9 |
| 9401 5292 9595 1: asr r25 |
| 9402 5294 8795 ror r24 |
| 9403 5296 7795 ror r23 |
| 9404 5298 6795 ror r22 |
| 9405 529a 2A95 dec r18 |
| 9406 529c 01F4 brne 1b |
| 9407 529e C61A sub r12,r22 |
| 9408 52a0 D70A sbc r13,r23 |
| 9409 52a2 8091 0000 lds r24,AltitudeSetpointTrimming |
| 9410 52a6 9091 0000 lds r25,(AltitudeSetpointTrimming)+1 |
| 9411 52aa 892B or r24,r25 |
| 9412 52ac 01F0 breq .+2 |
| 9413 52ae 00C0 rjmp .L764 |
| 9414 52b0 1E14 cp __zero_reg__,r14 |
| 9415 52b2 1F04 cpc __zero_reg__,r15 |
| 9416 52b4 04F0 brlt .+2 |
| 9417 52b6 00C0 rjmp .L764 |
| 9418 52b8 9801 movw r18,r16 |
| 9419 52ba 17FF sbrs r17,7 |
| 9420 52bc 00C0 rjmp .L765 |
| 9421 52be 3095 com r19 |
| 9422 52c0 2195 neg r18 |
| 9423 52c2 3F4F sbci r19,lo8(-1) |
| 9424 .L765: |
| 9425 52c4 2D33 cpi r18,61 |
| 9426 52c6 3105 cpc r19,__zero_reg__ |
| 9427 52c8 00F4 brsh .L766 |
| 9428 52ca 8091 0000 lds r24,HoverGasMin |
| 9429 52ce 9091 0000 lds r25,(HoverGasMin)+1 |
| 9430 52d2 8C15 cp r24,r12 |
| 9431 52d4 9D05 cpc r25,r13 |
| 9432 52d6 04F4 brge .L915 |
| 9433 52d8 00C0 rjmp .L924 |
| 9434 .L766: |
| 9435 52da 2C53 subi r18,lo8(-(-60)) |
| 9436 52dc 3040 sbci r19,hi8(-(-60)) |
| 9437 52de 85E0 ldi r24,5 |
| 9438 52e0 3695 1: lsr r19 |
| 9439 52e2 2795 ror r18 |
| 9440 52e4 8A95 dec r24 |
| 9441 52e6 01F4 brne 1b |
| 9442 52e8 2031 cpi r18,16 |
| 9443 52ea 3105 cpc r19,__zero_reg__ |
| 9444 52ec 00F0 brlo .L771 |
| 9445 52ee 2FE0 ldi r18,lo8(15) |
| 9446 52f0 30E0 ldi r19,hi8(15) |
| 9447 .L771: |
| 9448 52f2 4091 0000 lds r20,HoverGasMin |
| 9449 52f6 5091 0000 lds r21,(HoverGasMin)+1 |
| 9450 52fa 1016 cp __zero_reg__,r16 |
| 9451 52fc 1106 cpc __zero_reg__,r17 |
| 9452 52fe 04F4 brge .L772 |
| 9453 5300 80E1 ldi r24,lo8(16) |
| 9454 5302 90E0 ldi r25,hi8(16) |
| 9455 5304 821B sub r24,r18 |
| 9456 5306 930B sbc r25,r19 |
| 9457 5308 489F mul r20,r24 |
| 9458 530a 9001 movw r18,r0 |
| 9459 530c 499F mul r20,r25 |
| 9460 530e 300D add r19,r0 |
| 9461 5310 589F mul r21,r24 |
| 9462 5312 300D add r19,r0 |
| 9463 5314 1124 clr r1 |
| 9464 5316 B4E0 ldi r27,4 |
| 9465 5318 3695 1: lsr r19 |
| 9466 531a 2795 ror r18 |
| 9467 531c BA95 dec r27 |
| 9468 531e 01F4 brne 1b |
| 9469 5320 2C15 cp r18,r12 |
| 9470 5322 3D05 cpc r19,r13 |
| 9471 5324 00F4 brsh .L914 |
| 9472 .L924: |
| 9473 5326 8091 0000 lds r24,HoverGasMax |
| 9474 532a 9091 0000 lds r25,(HoverGasMax)+1 |
| 9475 532e C816 cp r12,r24 |
| 9476 5330 D906 cpc r13,r25 |
| 9477 5332 04F0 brlt .L764 |
| 9478 .L915: |
| 9479 5334 6C01 movw r12,r24 |
| 9480 5336 00C0 rjmp .L764 |
| 9481 .L772: |
| 9482 5338 205F subi r18,lo8(-(16)) |
| 9483 533a 3F4F sbci r19,hi8(-(16)) |
| 9484 533c 8091 0000 lds r24,HoverGasMax |
| 9485 5340 9091 0000 lds r25,(HoverGasMax)+1 |
| 9486 5344 829F mul r24,r18 |
| 9487 5346 8001 movw r16,r0 |
| 9488 5348 839F mul r24,r19 |
| 9489 534a 100D add r17,r0 |
| 9490 534c 929F mul r25,r18 |
| 9491 534e 100D add r17,r0 |
| 9492 5350 1124 clr r1 |
| 9493 5352 9801 movw r18,r16 |
| 9494 5354 A4E0 ldi r26,4 |
| 9495 5356 3695 1: lsr r19 |
| 9496 5358 2795 ror r18 |
| 9497 535a AA95 dec r26 |
| 9498 535c 01F4 brne 1b |
| 9499 535e 4C15 cp r20,r12 |
| 9500 5360 5D05 cpc r21,r13 |
| 9501 5362 04F0 brlt .L777 |
| 9502 5364 6A01 movw r12,r20 |
| 9503 5366 00C0 rjmp .L764 |
| 9504 .L777: |
| 9505 5368 C216 cp r12,r18 |
| 9506 536a D306 cpc r13,r19 |
| 9507 536c 00F0 brlo .L764 |
| 9508 .L914: |
| 9509 536e 6901 movw r12,r18 |
| 9510 .L764: |
| 9511 5370 C601 movw r24,r12 |
| 9512 5372 AA27 clr r26 |
| 9513 5374 97FD sbrc r25,7 |
| 9514 5376 A095 com r26 |
| 9515 5378 BA2F mov r27,r26 |
| 9516 537a FDE0 ldi r31,13 |
| 9517 537c 880F 1: lsl r24 |
| 9518 537e 991F rol r25 |
| 9519 5380 AA1F rol r26 |
| 9520 5382 BB1F rol r27 |
| 9521 5384 FA95 dec r31 |
| 9522 5386 01F4 brne 1b |
| 9523 5388 9501 movw r18,r10 |
| 9524 538a 4427 clr r20 |
| 9525 538c 37FD sbrc r19,7 |
| 9526 538e 4095 com r20 |
| 9527 5390 542F mov r21,r20 |
| 9528 5392 BC01 movw r22,r24 |
| 9529 5394 CD01 movw r24,r26 |
| 9530 5396 0E94 0000 call __divmodsi4 |
| 9531 539a 2093 0000 sts tmp_long2.2,r18 |
| 9532 539e 3093 0000 sts (tmp_long2.2)+1,r19 |
| 9533 53a2 4093 0000 sts (tmp_long2.2)+2,r20 |
| 9534 53a6 5093 0000 sts (tmp_long2.2)+3,r21 |
| 9535 53aa C090 0000 lds r12,tmp_long2.2 |
| 9536 53ae D090 0000 lds r13,(tmp_long2.2)+1 |
| 9537 53b2 8091 0000 lds r24,FilterHCGas.22 |
| 9538 53b6 9091 0000 lds r25,(FilterHCGas.22)+1 |
| 9539 53ba 9C01 movw r18,r24 |
| 9540 53bc 220F lsl r18 |
| 9541 53be 331F rol r19 |
| 9542 53c0 280F add r18,r24 |
| 9543 53c2 391F adc r19,r25 |
| 9544 53c4 2C0D add r18,r12 |
| 9545 53c6 3D1D adc r19,r13 |
| 9546 53c8 37FF sbrs r19,7 |
| 9547 53ca 00C0 rjmp .L780 |
| 9548 53cc 2D5F subi r18,lo8(-(3)) |
| 9549 53ce 3F4F sbci r19,hi8(-(3)) |
| 9550 .L780: |
| 9551 53d0 A901 movw r20,r18 |
| 9552 53d2 5595 asr r21 |
| 9553 53d4 4795 ror r20 |
| 9554 53d6 5595 asr r21 |
| 9555 53d8 4795 ror r20 |
| 9556 53da 5093 0000 sts (FilterHCGas.22)+1,r21 |
| 9557 53de 4093 0000 sts FilterHCGas.22,r20 |
| 9558 53e2 8091 0000 lds r24,EE_Parameter+14 |
| 9559 53e6 282F mov r18,r24 |
| 9560 53e8 3327 clr r19 |
| 9561 53ea 220F lsl r18 |
| 9562 53ec 331F rol r19 |
| 9563 53ee 220F lsl r18 |
| 9564 53f0 331F rol r19 |
| 9565 53f2 2417 cp r18,r20 |
| 9566 53f4 3507 cpc r19,r21 |
| 9567 53f6 04F4 brge .L916 |
| 9568 53f8 8091 0000 lds r24,MAX_GAS |
| 9569 53fc 282F mov r18,r24 |
| 9570 53fe 3327 clr r19 |
| 9571 5400 220F lsl r18 |
| 9572 5402 331F rol r19 |
| 9573 5404 220F lsl r18 |
| 9574 5406 331F rol r19 |
| 9575 5408 2055 subi r18,lo8(-(-80)) |
| 9576 540a 3040 sbci r19,hi8(-(-80)) |
| 9577 540c 4217 cp r20,r18 |
| 9578 540e 5307 cpc r21,r19 |
| 9579 5410 04F0 brlt .L782 |
| 9580 .L916: |
| 9581 5412 3093 0000 sts (FilterHCGas.22)+1,r19 |
| 9582 5416 2093 0000 sts FilterHCGas.22,r18 |
| 9583 .L782: |
| 9584 541a 8091 0000 lds r24,Parameter_ExtraConfig |
| 9585 541e 80FF sbrs r24,0 |
| 9586 5420 00C0 rjmp .L784 |
| 9587 5422 8091 0000 lds r24,FilterHCGas.22 |
| 9588 5426 9091 0000 lds r25,(FilterHCGas.22)+1 |
| 9589 542a 2981 ldd r18,Y+1 |
| 9590 542c 3A81 ldd r19,Y+2 |
| 9591 542e 8217 cp r24,r18 |
| 9592 5430 9307 cpc r25,r19 |
| 9593 5432 04F0 brlt .L785 |
| 9594 5434 3093 0000 sts (FilterHCGas.22)+1,r19 |
| 9595 5438 2093 0000 sts FilterHCGas.22,r18 |
| 9596 .L785: |
| 9597 543c 4091 0000 lds r20,FilterHCGas.22 |
| 9598 5440 5091 0000 lds r21,(FilterHCGas.22)+1 |
| 9599 5444 5A83 std Y+2,r21 |
| 9600 5446 4983 std Y+1,r20 |
| 9601 5448 00C0 rjmp .L788 |
| 9602 .L784: |
| 9603 544a 2981 ldd r18,Y+1 |
| 9604 544c 3A81 ldd r19,Y+2 |
| 9605 544e 2E19 sub r18,r14 |
| 9606 5450 3F09 sbc r19,r15 |
| 9607 5452 37FF sbrs r19,7 |
| 9608 5454 00C0 rjmp .L787 |
| 9609 5456 2D5F subi r18,lo8(-(3)) |
| 9610 5458 3F4F sbci r19,hi8(-(3)) |
| 9611 .L787: |
| 9612 545a 3595 asr r19 |
| 9613 545c 2795 ror r18 |
| 9614 545e 3595 asr r19 |
| 9615 5460 2795 ror r18 |
| 9616 5462 6091 0000 lds r22,FilterHCGas.22 |
| 9617 5466 7091 0000 lds r23,(FilterHCGas.22)+1 |
| 9618 546a 620F add r22,r18 |
| 9619 546c 731F adc r23,r19 |
| 9620 546e 7A83 std Y+2,r23 |
| 9621 5470 6983 std Y+1,r22 |
| 9622 5472 00C0 rjmp .L788 |
| 9623 .L679: |
| 9624 5474 8091 0000 lds r24,EE_Parameter+22 |
| 9625 5478 8823 tst r24 |
| 9626 547a 01F4 brne .L789 |
| 9627 547c 6091 0000 lds r22,HoverGas |
| 9628 5480 7091 0000 lds r23,(HoverGas)+1 |
| 9629 5484 77FF sbrs r23,7 |
| 9630 5486 00C0 rjmp .L790 |
| 9631 5488 6D5F subi r22,lo8(-(3)) |
| 9632 548a 7F4F sbci r23,hi8(-(3)) |
| 9633 .L790: |
| 9634 548c 7595 asr r23 |
| 9635 548e 6795 ror r22 |
| 9636 5490 7595 asr r23 |
| 9637 5492 6795 ror r22 |
| 9638 5494 4091 0000 lds r20,UBat |
| 9639 5498 5091 0000 lds r21,(UBat)+1 |
| 9640 549c 8091 0000 lds r24,BattLowVoltageWarning |
| 9641 54a0 282F mov r18,r24 |
| 9642 54a2 3327 clr r19 |
| 9643 54a4 649F mul r22,r20 |
| 9644 54a6 C001 movw r24,r0 |
| 9645 54a8 659F mul r22,r21 |
| 9646 54aa 900D add r25,r0 |
| 9647 54ac 749F mul r23,r20 |
| 9648 54ae 900D add r25,r0 |
| 9649 54b0 1124 clr r1 |
| 9650 54b2 B901 movw r22,r18 |
| 9651 54b4 0E94 0000 call __divmodhi4 |
| 9652 54b8 CB01 movw r24,r22 |
| 9653 54ba 00C0 rjmp .L917 |
| 9654 .L789: |
| 9655 54bc 9927 clr r25 |
| 9656 .L917: |
| 9657 54be 9093 0000 sts (StickGasHover)+1,r25 |
| 9658 54c2 8093 0000 sts StickGasHover,r24 |
| 9659 54c6 8091 0000 lds r24,StickGasHover |
| 9660 54ca 9091 0000 lds r25,(StickGasHover)+1 |
| 9661 54ce 8734 cpi r24,71 |
| 9662 54d0 9105 cpc r25,__zero_reg__ |
| 9663 54d2 04F4 brge .L792 |
| 9664 54d4 86E4 ldi r24,lo8(70) |
| 9665 54d6 90E0 ldi r25,hi8(70) |
| 9666 54d8 00C0 rjmp .L918 |
| 9667 .L792: |
| 9668 54da 8639 cpi r24,150 |
| 9669 54dc 9105 cpc r25,__zero_reg__ |
| 9670 54de 04F0 brlt .L793 |
| 9671 54e0 86E9 ldi r24,lo8(150) |
| 9672 54e2 90E0 ldi r25,hi8(150) |
| 9673 .L918: |
| 9674 54e4 9093 0000 sts (StickGasHover)+1,r25 |
| 9675 54e8 8093 0000 sts StickGasHover,r24 |
| 9676 .L793: |
| 9677 54ec 8981 ldd r24,Y+1 |
| 9678 54ee 9A81 ldd r25,Y+2 |
| 9679 54f0 9093 0000 sts (FilterHCGas.22)+1,r25 |
| 9680 54f4 8093 0000 sts FilterHCGas.22,r24 |
| 9681 54f8 8091 0000 lds r24,FC_StatusFlags |
| 9682 54fc 806C ori r24,lo8(-64) |
| 9683 54fe 8093 0000 sts FC_StatusFlags,r24 |
| 9684 5502 8091 0000 lds r24,FC_StatusFlags2 |
| 9685 5506 8D7F andi r24,lo8(-3) |
| 9686 5508 8093 0000 sts FC_StatusFlags2,r24 |
| 9687 .L788: |
| 9688 550c 8091 0000 lds r24,FC_StatusFlags |
| 9689 5510 9927 clr r25 |
| 9690 5512 9C01 movw r18,r24 |
| 9691 5514 2270 andi r18,lo8(2) |
| 9692 5516 3070 andi r19,hi8(2) |
| 9693 5518 81FF sbrs r24,1 |
| 9694 551a 00C0 rjmp .L795 |
| 9695 551c 8091 0000 lds r24,HoverGasFilter.23 |
| 9696 5520 9091 0000 lds r25,(HoverGasFilter.23)+1 |
| 9697 5524 A091 0000 lds r26,(HoverGasFilter.23)+2 |
| 9698 5528 B091 0000 lds r27,(HoverGasFilter.23)+3 |
| 9699 552c 0097 sbiw r24,0 |
| 9700 552e A105 cpc r26,__zero_reg__ |
| 9701 5530 B105 cpc r27,__zero_reg__ |
| 9702 5532 01F0 breq .L797 |
| 9703 5534 8091 0000 lds r24,StartTrigger |
| 9704 5538 8130 cpi r24,lo8(1) |
| 9705 553a 01F4 brne .L796 |
| 9706 .L797: |
| 9707 553c E981 ldd r30,Y+1 |
| 9708 553e FA81 ldd r31,Y+2 |
| 9709 5540 CF01 movw r24,r30 |
| 9710 5542 AA27 clr r26 |
| 9711 5544 97FD sbrc r25,7 |
| 9712 5546 A095 com r26 |
| 9713 5548 BA2F mov r27,r26 |
| 9714 554a 1EE0 ldi r17,14 |
| 9715 554c 880F 1: lsl r24 |
| 9716 554e 991F rol r25 |
| 9717 5550 AA1F rol r26 |
| 9718 5552 BB1F rol r27 |
| 9719 5554 1A95 dec r17 |
| 9720 5556 01F4 brne 1b |
| 9721 5558 8093 0000 sts HoverGasFilter.23,r24 |
| 9722 555c 9093 0000 sts (HoverGasFilter.23)+1,r25 |
| 9723 5560 A093 0000 sts (HoverGasFilter.23)+2,r26 |
| 9724 5564 B093 0000 sts (HoverGasFilter.23)+3,r27 |
| 9725 .L796: |
| 9726 5568 8091 0000 lds r24,StartTrigger |
| 9727 556c 8130 cpi r24,lo8(1) |
| 9728 556e 01F4 brne .L798 |
| 9729 5570 82E0 ldi r24,lo8(2) |
| 9730 5572 8093 0000 sts StartTrigger,r24 |
| 9731 .L798: |
| 9732 5576 E980 ldd r14,Y+1 |
| 9733 5578 FA80 ldd r15,Y+2 |
| 9734 557a C701 movw r24,r14 |
| 9735 557c AA27 clr r26 |
| 9736 557e 97FD sbrc r25,7 |
| 9737 5580 A095 com r26 |
| 9738 5582 BA2F mov r27,r26 |
| 9739 5584 9501 movw r18,r10 |
| 9740 5586 4427 clr r20 |
| 9741 5588 37FD sbrc r19,7 |
| 9742 558a 4095 com r20 |
| 9743 558c 542F mov r21,r20 |
| 9744 558e BC01 movw r22,r24 |
| 9745 5590 CD01 movw r24,r26 |
| 9746 5592 0E94 0000 call __mulsi3 |
| 9747 5596 DC01 movw r26,r24 |
| 9748 5598 CB01 movw r24,r22 |
| 9749 559a 8093 0000 sts tmp_long2.2,r24 |
| 9750 559e 9093 0000 sts (tmp_long2.2)+1,r25 |
| 9751 55a2 A093 0000 sts (tmp_long2.2)+2,r26 |
| 9752 55a6 B093 0000 sts (tmp_long2.2)+3,r27 |
| 9753 55aa B7FF sbrs r27,7 |
| 9754 55ac 00C0 rjmp .L799 |
| 9755 55ae 8150 subi r24,lo8(-(8191)) |
| 9756 55b0 904E sbci r25,hi8(-(8191)) |
| 9757 55b2 AF4F sbci r26,hlo8(-(8191)) |
| 9758 55b4 BF4F sbci r27,hhi8(-(8191)) |
| 9759 .L799: |
| 9760 55b6 7C01 movw r14,r24 |
| 9761 55b8 8D01 movw r16,r26 |
| 9762 55ba ADE0 ldi r26,13 |
| 9763 55bc 1595 1: asr r17 |
| 9764 55be 0795 ror r16 |
| 9765 55c0 F794 ror r15 |
| 9766 55c2 E794 ror r14 |
| 9767 55c4 AA95 dec r26 |
| 9768 55c6 01F4 brne 1b |
| 9769 55c8 E092 0000 sts tmp_long2.2,r14 |
| 9770 55cc F092 0000 sts (tmp_long2.2)+1,r15 |
| 9771 55d0 0093 0000 sts (tmp_long2.2)+2,r16 |
| 9772 55d4 1093 0000 sts (tmp_long2.2)+3,r17 |
| 9773 55d8 6091 0000 lds r22,modell_fliegt |
| 9774 55dc 7091 0000 lds r23,(modell_fliegt)+1 |
| 9775 55e0 2FE0 ldi r18,hi8(4000) |
| 9776 55e2 603A cpi r22,lo8(4000) |
| 9777 55e4 7207 cpc r23,r18 |
| 9778 55e6 00F4 brsh .L800 |
| 9779 55e8 8091 0000 lds r24,HoverGasFilter.23 |
| 9780 55ec 9091 0000 lds r25,(HoverGasFilter.23)+1 |
| 9781 55f0 A091 0000 lds r26,(HoverGasFilter.23)+2 |
| 9782 55f4 B091 0000 lds r27,(HoverGasFilter.23)+3 |
| 9783 55f8 9C01 movw r18,r24 |
| 9784 55fa AD01 movw r20,r26 |
| 9785 55fc FAE0 ldi r31,10 |
| 9786 55fe 5695 1: lsr r21 |
| 9787 5600 4795 ror r20 |
| 9788 5602 3795 ror r19 |
| 9789 5604 2795 ror r18 |
| 9790 5606 FA95 dec r31 |
| 9791 5608 01F4 brne 1b |
| 9792 560a 821B sub r24,r18 |
| 9793 560c 930B sbc r25,r19 |
| 9794 560e A40B sbc r26,r20 |
| 9795 5610 B50B sbc r27,r21 |
| 9796 5612 A801 movw r20,r16 |
| 9797 5614 9701 movw r18,r14 |
| 9798 5616 E4E0 ldi r30,4 |
| 9799 5618 220F 1: lsl r18 |
| 9800 561a 331F rol r19 |
| 9801 561c 441F rol r20 |
| 9802 561e 551F rol r21 |
| 9803 5620 EA95 dec r30 |
| 9804 5622 01F4 brne 1b |
| 9805 5624 820F add r24,r18 |
| 9806 5626 931F adc r25,r19 |
| 9807 5628 A41F adc r26,r20 |
| 9808 562a B51F adc r27,r21 |
| 9809 562c 8093 0000 sts HoverGasFilter.23,r24 |
| 9810 5630 9093 0000 sts (HoverGasFilter.23)+1,r25 |
| 9811 5634 A093 0000 sts (HoverGasFilter.23)+2,r26 |
| 9812 5638 B093 0000 sts (HoverGasFilter.23)+3,r27 |
| 9813 .L800: |
| 9814 563c 6054 subi r22,lo8(8000) |
| 9815 563e 7F41 sbci r23,hi8(8000) |
| 9816 5640 00F4 brsh .L801 |
| 9817 5642 8091 0000 lds r24,HoverGasFilter.23 |
| 9818 5646 9091 0000 lds r25,(HoverGasFilter.23)+1 |
| 9819 564a A091 0000 lds r26,(HoverGasFilter.23)+2 |
| 9820 564e B091 0000 lds r27,(HoverGasFilter.23)+3 |
| 9821 5652 9C01 movw r18,r24 |
| 9822 5654 AD01 movw r20,r26 |
| 9823 5656 6CE0 ldi r22,12 |
| 9824 5658 5695 1: lsr r21 |
| 9825 565a 4795 ror r20 |
| 9826 565c 3795 ror r19 |
| 9827 565e 2795 ror r18 |
| 9828 5660 6A95 dec r22 |
| 9829 5662 01F4 brne 1b |
| 9830 5664 821B sub r24,r18 |
| 9831 5666 930B sbc r25,r19 |
| 9832 5668 A40B sbc r26,r20 |
| 9833 566a B50B sbc r27,r21 |
| 9834 566c A801 movw r20,r16 |
| 9835 566e 9701 movw r18,r14 |
| 9836 5670 F2E0 ldi r31,2 |
| 9837 5672 220F 1: lsl r18 |
| 9838 5674 331F rol r19 |
| 9839 5676 441F rol r20 |
| 9840 5678 551F rol r21 |
| 9841 567a FA95 dec r31 |
| 9842 567c 01F4 brne 1b |
| 9843 567e 820F add r24,r18 |
| 9844 5680 931F adc r25,r19 |
| 9845 5682 A41F adc r26,r20 |
| 9846 5684 B51F adc r27,r21 |
| 9847 5686 00C0 rjmp .L919 |
| 9848 .L801: |
| 9849 5688 8091 0000 lds r24,VarioMeter |
| 9850 568c 9091 0000 lds r25,(VarioMeter)+1 |
| 9851 5690 8091 0000 lds r24,VarioMeter |
| 9852 5694 9091 0000 lds r25,(VarioMeter)+1 |
| 9853 5698 97FF sbrs r25,7 |
| 9854 569a 00C0 rjmp .L804 |
| 9855 569c 9095 com r25 |
| 9856 569e 8195 neg r24 |
| 9857 56a0 9F4F sbci r25,lo8(-1) |
| 9858 .L804: |
| 9859 56a2 8436 cpi r24,100 |
| 9860 56a4 9105 cpc r25,__zero_reg__ |
| 9861 56a6 04F4 brge .L802 |
| 9862 56a8 8091 0000 lds r24,HoehenWert |
| 9863 56ac 9091 0000 lds r25,(HoehenWert)+1 |
| 9864 56b0 2091 0000 lds r18,SollHoehe |
| 9865 56b4 3091 0000 lds r19,(SollHoehe)+1 |
| 9866 56b8 821B sub r24,r18 |
| 9867 56ba 930B sbc r25,r19 |
| 9868 56bc 8150 subi r24,lo8(-(255)) |
| 9869 56be 9F4F sbci r25,hi8(-(255)) |
| 9870 56c0 8F5F subi r24,lo8(511) |
| 9871 56c2 9140 sbci r25,hi8(511) |
| 9872 56c4 00F4 brsh .L802 |
| 9873 56c6 8091 0000 lds r24,HoverGasFilter.23 |
| 9874 56ca 9091 0000 lds r25,(HoverGasFilter.23)+1 |
| 9875 56ce A091 0000 lds r26,(HoverGasFilter.23)+2 |
| 9876 56d2 B091 0000 lds r27,(HoverGasFilter.23)+3 |
| 9877 56d6 9C01 movw r18,r24 |
| 9878 56d8 AD01 movw r20,r26 |
| 9879 56da EEE0 ldi r30,14 |
| 9880 56dc 5695 1: lsr r21 |
| 9881 56de 4795 ror r20 |
| 9882 56e0 3795 ror r19 |
| 9883 56e2 2795 ror r18 |
| 9884 56e4 EA95 dec r30 |
| 9885 56e6 01F4 brne 1b |
| 9886 56e8 821B sub r24,r18 |
| 9887 56ea 930B sbc r25,r19 |
| 9888 56ec A40B sbc r26,r20 |
| 9889 56ee B50B sbc r27,r21 |
| 9890 56f0 8E0D add r24,r14 |
| 9891 56f2 9F1D adc r25,r15 |
| 9892 56f4 A01F adc r26,r16 |
| 9893 56f6 B11F adc r27,r17 |
| 9894 .L919: |
| 9895 56f8 8093 0000 sts HoverGasFilter.23,r24 |
| 9896 56fc 9093 0000 sts (HoverGasFilter.23)+1,r25 |
| 9897 5700 A093 0000 sts (HoverGasFilter.23)+2,r26 |
| 9898 5704 B093 0000 sts (HoverGasFilter.23)+3,r27 |
| 9899 .L802: |
| 9900 5708 8091 0000 lds r24,HoverGasFilter.23 |
| 9901 570c 9091 0000 lds r25,(HoverGasFilter.23)+1 |
| 9902 5710 A091 0000 lds r26,(HoverGasFilter.23)+2 |
| 9903 5714 B091 0000 lds r27,(HoverGasFilter.23)+3 |
| 9904 5718 7EE0 ldi r23,14 |
| 9905 571a B695 1: lsr r27 |
| 9906 571c A795 ror r26 |
| 9907 571e 9795 ror r25 |
| 9908 5720 8795 ror r24 |
| 9909 5722 7A95 dec r23 |
| 9910 5724 01F4 brne 1b |
| 9911 5726 9093 0000 sts (HoverGas)+1,r25 |
| 9912 572a 8093 0000 sts HoverGas,r24 |
| 9913 572e 4091 0000 lds r20,EE_Parameter+20 |
| 9914 5732 4423 tst r20 |
| 9915 5734 01F0 breq .L805 |
| 9916 5736 5527 clr r21 |
| 9917 5738 9C01 movw r18,r24 |
| 9918 573a BA01 movw r22,r20 |
| 9919 573c 0E94 0000 call __divmodhi4 |
| 9920 5740 C901 movw r24,r18 |
| 9921 5742 861B sub r24,r22 |
| 9922 5744 970B sbc r25,r23 |
| 9923 5746 9093 0000 sts (HoverGasMin)+1,r25 |
| 9924 574a 8093 0000 sts HoverGasMin,r24 |
| 9925 574e 260F add r18,r22 |
| 9926 5750 371F adc r19,r23 |
| 9927 5752 3093 0000 sts (HoverGasMax)+1,r19 |
| 9928 5756 2093 0000 sts HoverGasMax,r18 |
| 9929 575a 00C0 rjmp .L808 |
| 9930 .L805: |
| 9931 575c 1092 0000 sts (HoverGasMin)+1,__zero_reg__ |
| 9932 5760 1092 0000 sts HoverGasMin,__zero_reg__ |
| 9933 5764 8FEF ldi r24,lo8(1023) |
| 9934 5766 93E0 ldi r25,hi8(1023) |
| 9935 5768 9093 0000 sts (HoverGasMax)+1,r25 |
| 9936 576c 8093 0000 sts HoverGasMax,r24 |
| 9937 5770 00C0 rjmp .L808 |
| 9938 .L795: |
| 9939 5772 1092 0000 sts StartTrigger,__zero_reg__ |
| 9940 5776 1092 0000 sts HoverGasFilter.23,__zero_reg__ |
| 9941 577a 1092 0000 sts (HoverGasFilter.23)+1,__zero_reg__ |
| 9942 577e 1092 0000 sts (HoverGasFilter.23)+2,__zero_reg__ |
| 9943 5782 1092 0000 sts (HoverGasFilter.23)+3,__zero_reg__ |
| 9944 5786 3093 0000 sts (HoverGas)+1,r19 |
| 9945 578a 2093 0000 sts HoverGas,r18 |
| 9946 578e 00C0 rjmp .L808 |
| 9947 .L659: |
| 9948 5790 8091 0000 lds r24,FC_StatusFlags |
| 9949 5794 806C ori r24,lo8(-64) |
| 9950 5796 8093 0000 sts FC_StatusFlags,r24 |
| 9951 .L808: |
| 9952 579a 8091 0000 lds r24,NC_To_FC_Flags |
| 9953 579e 81FF sbrs r24,1 |
| 9954 57a0 00C0 rjmp .L809 |
| 9955 57a2 8981 ldd r24,Y+1 |
| 9956 57a4 9A81 ldd r25,Y+2 |
| 9957 57a6 97FD sbrc r25,7 |
| 9958 57a8 0396 adiw r24,3 |
| 9959 .L811: |
| 9960 57aa 9595 asr r25 |
| 9961 57ac 8795 ror r24 |
| 9962 57ae 9595 asr r25 |
| 9963 57b0 8795 ror r24 |
| 9964 57b2 2091 0000 lds r18,HooverGasEmergencyPercent |
| 9965 57b6 3091 0000 lds r19,(HooverGasEmergencyPercent)+1 |
| 9966 57ba 2817 cp r18,r24 |
| 9967 57bc 3907 cpc r19,r25 |
| 9968 57be 00F4 brsh .L810 |
| 9969 57c0 8091 0000 lds r24,HoverGas |
| 9970 57c4 9091 0000 lds r25,(HoverGas)+1 |
| 9971 57c8 892B or r24,r25 |
| 9972 57ca 01F0 breq .L810 |
| 9973 57cc 220F lsl r18 |
| 9974 57ce 331F rol r19 |
| 9975 57d0 220F lsl r18 |
| 9976 57d2 331F rol r19 |
| 9977 57d4 3A83 std Y+2,r19 |
| 9978 57d6 2983 std Y+1,r18 |
| 9979 .L810: |
| 9980 57d8 8091 0000 lds r24,HoehenWert |
| 9981 57dc 9091 0000 lds r25,(HoehenWert)+1 |
| 9982 57e0 A091 0000 lds r26,(HoehenWert)+2 |
| 9983 57e4 B091 0000 lds r27,(HoehenWert)+3 |
| 9984 57e8 8093 0000 sts SollHoehe,r24 |
| 9985 57ec 9093 0000 sts (SollHoehe)+1,r25 |
| 9986 57f0 A093 0000 sts (SollHoehe)+2,r26 |
| 9987 57f4 B093 0000 sts (SollHoehe)+3,r27 |
| 9988 57f8 88E9 ldi r24,lo8(15000) |
| 9989 57fa 9AE3 ldi r25,hi8(15000) |
| 9990 57fc 9093 0000 sts (beeptime)+1,r25 |
| 9991 5800 8093 0000 sts beeptime,r24 |
| 9992 5804 80E0 ldi r24,lo8(3584) |
| 9993 5806 9EE0 ldi r25,hi8(3584) |
| 9994 5808 9093 0000 sts (BeepMuster)+1,r25 |
| 9995 580c 8093 0000 sts BeepMuster,r24 |
| 9996 .L809: |
| 9997 5810 2091 0000 lds r18,MIN_GAS |
| 9998 5814 822F mov r24,r18 |
| 9999 5816 9927 clr r25 |
| 10000 5818 880F lsl r24 |
| 10001 581a 991F rol r25 |
| 10002 581c 880F lsl r24 |
| 10003 581e 991F rol r25 |
| 10004 5820 8896 adiw r24,40 |
| 10005 5822 6981 ldd r22,Y+1 |
| 10006 5824 7A81 ldd r23,Y+2 |
| 10007 5826 8617 cp r24,r22 |
| 10008 5828 9707 cpc r25,r23 |
| 10009 582a 04F0 brlt .L812 |
| 10010 582c 9A83 std Y+2,r25 |
| 10011 582e 8983 std Y+1,r24 |
| 10012 .L812: |
| 10013 5830 7091 0000 lds r23,MAX_GAS |
| 10014 5834 7D8B std Y+21,r23 |
| 10015 5836 872F mov r24,r23 |
| 10016 5838 9927 clr r25 |
| 10017 583a 880F lsl r24 |
| 10018 583c 991F rol r25 |
| 10019 583e 880F lsl r24 |
| 10020 5840 991F rol r25 |
| 10021 5842 8055 subi r24,lo8(-(-80)) |
| 10022 5844 9040 sbci r25,hi8(-(-80)) |
| 10023 5846 A981 ldd r26,Y+1 |
| 10024 5848 BA81 ldd r27,Y+2 |
| 10025 584a 8A17 cp r24,r26 |
| 10026 584c 9B07 cpc r25,r27 |
| 10027 584e 04F4 brge .L813 |
| 10028 5850 9A83 std Y+2,r25 |
| 10029 5852 8983 std Y+1,r24 |
| 10030 .L813: |
| 10031 5854 8091 0000 lds r24,MissingMotor |
| 10032 5858 8823 tst r24 |
| 10033 585a 01F4 brne .L815 |
| 10034 585c 8091 0000 lds r24,Capacity+6 |
| 10035 5860 8F3F cpi r24,lo8(-1) |
| 10036 5862 01F4 brne .L815 |
| 10037 5864 8091 0000 lds r24,NC_ErrorCode |
| 10038 5868 8823 tst r24 |
| 10039 586a 01F0 breq .L814 |
| 10040 .L815: |
| 10041 586c 8091 0000 lds r24,modell_fliegt |
| 10042 5870 9091 0000 lds r25,(modell_fliegt)+1 |
| 10043 5874 0297 sbiw r24,2 |
| 10044 5876 C097 sbiw r24,48 |
| 10045 5878 00F4 brsh .L814 |
| 10046 587a E981 ldd r30,Y+1 |
| 10047 587c FA81 ldd r31,Y+2 |
| 10048 587e 1E16 cp __zero_reg__,r30 |
| 10049 5880 1F06 cpc __zero_reg__,r31 |
| 10050 5882 04F4 brge .L814 |
| 10051 5884 81E0 ldi r24,lo8(1) |
| 10052 5886 90E0 ldi r25,hi8(1) |
| 10053 5888 9093 0000 sts (modell_fliegt)+1,r25 |
| 10054 588c 8093 0000 sts modell_fliegt,r24 |
| 10055 5890 E22E mov r14,r18 |
| 10056 5892 FF24 clr r15 |
| 10057 5894 EE0C lsl r14 |
| 10058 5896 FF1C rol r15 |
| 10059 5898 EE0C lsl r14 |
| 10060 589a FF1C rol r15 |
| 10061 589c 8701 movw r16,r14 |
| 10062 589e 085D subi r16,lo8(-(40)) |
| 10063 58a0 1F4F sbci r17,hi8(-(40)) |
| 10064 58a2 1A83 std Y+2,r17 |
| 10065 58a4 0983 std Y+1,r16 |
| 10066 .L814: |
| 10067 58a6 2981 ldd r18,Y+1 |
| 10068 58a8 3A81 ldd r19,Y+2 |
| 10069 58aa 3093 0000 sts (DebugOut+16)+1,r19 |
| 10070 58ae 2093 0000 sts DebugOut+16,r18 |
| 10071 58b2 8091 0000 lds r24,sollGier.0 |
| 10072 58b6 9091 0000 lds r25,(sollGier.0)+1 |
| 10073 58ba A091 0000 lds r26,(sollGier.0)+2 |
| 10074 58be B091 0000 lds r27,(sollGier.0)+3 |
| 10075 58c2 12E0 ldi r17,2 |
| 10076 58c4 880F 1: lsl r24 |
| 10077 58c6 991F rol r25 |
| 10078 58c8 AA1F rol r26 |
| 10079 58ca BB1F rol r27 |
| 10080 58cc 1A95 dec r17 |
| 10081 58ce 01F4 brne 1b |
| 10082 58d0 0091 0000 lds r16,MesswertGier |
| 10083 58d4 1091 0000 lds r17,(MesswertGier)+1 |
| 10084 58d8 081B sub r16,r24 |
| 10085 58da 190B sbc r17,r25 |
| 10086 58dc 213A cpi r18,161 |
| 10087 58de 3105 cpc r19,__zero_reg__ |
| 10088 58e0 04F0 brlt .L817 |
| 10089 58e2 C901 movw r24,r18 |
| 10090 58e4 37FD sbrc r19,7 |
| 10091 58e6 0196 adiw r24,1 |
| 10092 .L819: |
| 10093 58e8 9595 asr r25 |
| 10094 58ea 8795 ror r24 |
| 10095 58ec 8017 cp r24,r16 |
| 10096 58ee 9107 cpc r25,r17 |
| 10097 58f0 04F4 brge .L818 |
| 10098 58f2 8C01 movw r16,r24 |
| 10099 .L818: |
| 10100 58f4 9095 com r25 |
| 10101 58f6 8195 neg r24 |
| 10102 58f8 9F4F sbci r25,lo8(-1) |
| 10103 58fa 0817 cp r16,r24 |
| 10104 58fc 1907 cpc r17,r25 |
| 10105 58fe 04F4 brge .L824 |
| 10106 5900 8C01 movw r16,r24 |
| 10107 5902 00C0 rjmp .L824 |
| 10108 .L817: |
| 10109 5904 0135 cpi r16,81 |
| 10110 5906 1105 cpc r17,__zero_reg__ |
| 10111 5908 04F0 brlt .L825 |
| 10112 590a 00E5 ldi r16,lo8(80) |
| 10113 590c 10E0 ldi r17,hi8(80) |
| 10114 .L825: |
| 10115 590e 3FEF ldi r19,hi8(-80) |
| 10116 5910 003B cpi r16,lo8(-80) |
| 10117 5912 1307 cpc r17,r19 |
| 10118 5914 04F4 brge .L824 |
| 10119 5916 00EB ldi r16,lo8(-80) |
| 10120 5918 1FEF ldi r17,hi8(-80) |
| 10121 .L824: |
| 10122 591a 4D89 ldd r20,Y+21 |
| 10123 591c 242F mov r18,r20 |
| 10124 591e 3327 clr r19 |
| 10125 5920 220F lsl r18 |
| 10126 5922 331F rol r19 |
| 10127 5924 220F lsl r18 |
| 10128 5926 331F rol r19 |
| 10129 5928 C901 movw r24,r18 |
| 10130 592a 6981 ldd r22,Y+1 |
| 10131 592c 7A81 ldd r23,Y+2 |
| 10132 592e 861B sub r24,r22 |
| 10133 5930 970B sbc r25,r23 |
| 10134 5932 8017 cp r24,r16 |
| 10135 5934 9107 cpc r25,r17 |
| 10136 5936 04F4 brge .L827 |
| 10137 5938 8C01 movw r16,r24 |
| 10138 .L827: |
| 10139 593a 8981 ldd r24,Y+1 |
| 10140 593c 9A81 ldd r25,Y+2 |
| 10141 593e 821B sub r24,r18 |
| 10142 5940 930B sbc r25,r19 |
| 10143 5942 0817 cp r16,r24 |
| 10144 5944 1907 cpc r17,r25 |
| 10145 5946 04F4 brge .L828 |
| 10146 5948 8C01 movw r16,r24 |
| 10147 .L828: |
| 10148 594a 8091 0000 lds r24,MesswertNick |
| 10149 594e 9091 0000 lds r25,(MesswertNick)+1 |
| 10150 5952 6091 0000 lds r22,StickNick |
| 10151 5956 7091 0000 lds r23,(StickNick)+1 |
| 10152 595a 861B sub r24,r22 |
| 10153 595c 970B sbc r25,r23 |
| 10154 595e 9093 0000 sts (DiffNick)+1,r25 |
| 10155 5962 8093 0000 sts DiffNick,r24 |
| 10156 5966 D090 0000 lds r13,IntegralFaktor |
| 10157 596a 2091 0000 lds r18,SummeNick |
| 10158 596e 3091 0000 lds r19,(SummeNick)+1 |
| 10159 5972 4091 0000 lds r20,(SummeNick)+2 |
| 10160 5976 5091 0000 lds r21,(SummeNick)+3 |
| 10161 597a DD20 tst r13 |
| 10162 597c 01F0 breq .L829 |
| 10163 597e 661A sub r6,r22 |
| 10164 5980 770A sbc r7,r23 |
| 10165 5982 C301 movw r24,r6 |
| 10166 5984 AA27 clr r26 |
| 10167 5986 97FD sbrc r25,7 |
| 10168 5988 A095 com r26 |
| 10169 598a BA2F mov r27,r26 |
| 10170 598c 00C0 rjmp .L920 |
| 10171 .L829: |
| 10172 598e AA27 clr r26 |
| 10173 5990 97FD sbrc r25,7 |
| 10174 5992 A095 com r26 |
| 10175 5994 BA2F mov r27,r26 |
| 10176 .L920: |
| 10177 5996 280F add r18,r24 |
| 10178 5998 391F adc r19,r25 |
| 10179 599a 4A1F adc r20,r26 |
| 10180 599c 5B1F adc r21,r27 |
| 10181 599e 2093 0000 sts SummeNick,r18 |
| 10182 59a2 3093 0000 sts (SummeNick)+1,r19 |
| 10183 59a6 4093 0000 sts (SummeNick)+2,r20 |
| 10184 59aa 5093 0000 sts (SummeNick)+3,r21 |
| 10185 59ae 8091 0000 lds r24,SummeNick |
| 10186 59b2 9091 0000 lds r25,(SummeNick)+1 |
| 10187 59b6 A091 0000 lds r26,(SummeNick)+2 |
| 10188 59ba B091 0000 lds r27,(SummeNick)+3 |
| 10189 59be 8150 subi r24,lo8(64001) |
| 10190 59c0 9A4F sbci r25,hi8(64001) |
| 10191 59c2 A040 sbci r26,hlo8(64001) |
| 10192 59c4 B040 sbci r27,hhi8(64001) |
| 10193 59c6 04F0 brlt .L831 |
| 10194 59c8 80E0 ldi r24,lo8(64000) |
| 10195 59ca 9AEF ldi r25,hi8(64000) |
| 10196 59cc A0E0 ldi r26,hlo8(64000) |
| 10197 59ce B0E0 ldi r27,hhi8(64000) |
| 10198 59d0 8093 0000 sts SummeNick,r24 |
| 10199 59d4 9093 0000 sts (SummeNick)+1,r25 |
| 10200 59d8 A093 0000 sts (SummeNick)+2,r26 |
| 10201 59dc B093 0000 sts (SummeNick)+3,r27 |
| 10202 .L831: |
| 10203 59e0 8091 0000 lds r24,SummeNick |
| 10204 59e4 9091 0000 lds r25,(SummeNick)+1 |
| 10205 59e8 A091 0000 lds r26,(SummeNick)+2 |
| 10206 59ec B091 0000 lds r27,(SummeNick)+3 |
| 10207 59f0 8050 subi r24,lo8(-64000) |
| 10208 59f2 9640 sbci r25,hi8(-64000) |
| 10209 59f4 AF4F sbci r26,hlo8(-64000) |
| 10210 59f6 BF4F sbci r27,hhi8(-64000) |
| 10211 59f8 04F4 brge .L832 |
| 10212 59fa 80E0 ldi r24,lo8(-64000) |
| 10213 59fc 96E0 ldi r25,hi8(-64000) |
| 10214 59fe AFEF ldi r26,hlo8(-64000) |
| 10215 5a00 BFEF ldi r27,hhi8(-64000) |
| 10216 5a02 8093 0000 sts SummeNick,r24 |
| 10217 5a06 9093 0000 sts (SummeNick)+1,r25 |
| 10218 5a0a A093 0000 sts (SummeNick)+2,r26 |
| 10219 5a0e B093 0000 sts (SummeNick)+3,r27 |
| 10220 .L832: |
| 10221 5a12 C090 0000 lds r12,EE_Parameter+35 |
| 10222 5a16 2091 0000 lds r18,DiffNick |
| 10223 5a1a 3091 0000 lds r19,(DiffNick)+1 |
| 10224 5a1e 78E0 ldi r23,lo8(8) |
| 10225 5a20 E72E mov r14,r23 |
| 10226 5a22 EC14 cp r14,r12 |
| 10227 5a24 00F0 brlo .L833 |
| 10228 5a26 8C2D mov r24,r12 |
| 10229 5a28 9927 clr r25 |
| 10230 5a2a 829F mul r24,r18 |
| 10231 5a2c A001 movw r20,r0 |
| 10232 5a2e 839F mul r24,r19 |
| 10233 5a30 500D add r21,r0 |
| 10234 5a32 929F mul r25,r18 |
| 10235 5a34 500D add r21,r0 |
| 10236 5a36 1124 clr r1 |
| 10237 5a38 CA01 movw r24,r20 |
| 10238 5a3a 57FD sbrc r21,7 |
| 10239 5a3c 0796 adiw r24,7 |
| 10240 .L834: |
| 10241 5a3e 7C01 movw r14,r24 |
| 10242 5a40 63E0 ldi r22,3 |
| 10243 5a42 F594 1: asr r15 |
| 10244 5a44 E794 ror r14 |
| 10245 5a46 6A95 dec r22 |
| 10246 5a48 01F4 brne 1b |
| 10247 5a4a 00C0 rjmp .L835 |
| 10248 .L833: |
| 10249 5a4c 8C2D mov r24,r12 |
| 10250 5a4e 8695 lsr r24 |
| 10251 5a50 9927 clr r25 |
| 10252 5a52 829F mul r24,r18 |
| 10253 5a54 B001 movw r22,r0 |
| 10254 5a56 839F mul r24,r19 |
| 10255 5a58 700D add r23,r0 |
| 10256 5a5a 929F mul r25,r18 |
| 10257 5a5c 700D add r23,r0 |
| 10258 5a5e 1124 clr r1 |
| 10259 5a60 CB01 movw r24,r22 |
| 10260 5a62 77FD sbrc r23,7 |
| 10261 5a64 0396 adiw r24,3 |
| 10262 .L836: |
| 10263 5a66 7C01 movw r14,r24 |
| 10264 5a68 F594 asr r15 |
| 10265 5a6a E794 ror r14 |
| 10266 5a6c F594 asr r15 |
| 10267 5a6e E794 ror r14 |
| 10268 .L835: |
| 10269 5a70 A090 0000 lds r10,Ki |
| 10270 5a74 B090 0000 lds r11,(Ki)+1 |
| 10271 5a78 9501 movw r18,r10 |
| 10272 5a7a 4427 clr r20 |
| 10273 5a7c 37FD sbrc r19,7 |
| 10274 5a7e 4095 com r20 |
| 10275 5a80 542F mov r21,r20 |
| 10276 5a82 8091 0000 lds r24,SummeNick |
| 10277 5a86 9091 0000 lds r25,(SummeNick)+1 |
| 10278 5a8a A091 0000 lds r26,(SummeNick)+2 |
| 10279 5a8e B091 0000 lds r27,(SummeNick)+3 |
| 10280 5a92 BC01 movw r22,r24 |
| 10281 5a94 CD01 movw r24,r26 |
| 10282 5a96 0E94 0000 call __divmodsi4 |
| 10283 5a9a E20E add r14,r18 |
| 10284 5a9c F31E adc r15,r19 |
| 10285 5a9e 9090 0000 lds r9,Parameter_DynamicStability |
| 10286 5aa2 692D mov r22,r9 |
| 10287 5aa4 7727 clr r23 |
| 10288 5aa6 8827 clr r24 |
| 10289 5aa8 9927 clr r25 |
| 10290 5aaa 9801 movw r18,r16 |
| 10291 5aac 17FF sbrs r17,7 |
| 10292 5aae 00C0 rjmp .L837 |
| 10293 5ab0 2227 clr r18 |
| 10294 5ab2 3327 clr r19 |
| 10295 5ab4 201B sub r18,r16 |
| 10296 5ab6 310B sbc r19,r17 |
| 10297 .L837: |
| 10298 5ab8 37FF sbrs r19,7 |
| 10299 5aba 00C0 rjmp .L838 |
| 10300 5abc 2F5F subi r18,lo8(-(1)) |
| 10301 5abe 3F4F sbci r19,hi8(-(1)) |
| 10302 .L838: |
| 10303 5ac0 3595 asr r19 |
| 10304 5ac2 2795 ror r18 |
| 10305 5ac4 A981 ldd r26,Y+1 |
| 10306 5ac6 BA81 ldd r27,Y+2 |
| 10307 5ac8 2A0F add r18,r26 |
| 10308 5aca 3B1F adc r19,r27 |
| 10309 5acc 4427 clr r20 |
| 10310 5ace 37FD sbrc r19,7 |
| 10311 5ad0 4095 com r20 |
| 10312 5ad2 542F mov r21,r20 |
| 10313 5ad4 0E94 0000 call __mulsi3 |
| 10314 5ad8 97FF sbrs r25,7 |
| 10315 5ada 00C0 rjmp .L839 |
| 10316 5adc 615C subi r22,lo8(-(63)) |
| 10317 5ade 7F4F sbci r23,hi8(-(63)) |
| 10318 5ae0 8F4F sbci r24,hlo8(-(63)) |
| 10319 5ae2 9F4F sbci r25,hhi8(-(63)) |
| 10320 .L839: |
| 10321 5ae4 26E0 ldi r18,6 |
| 10322 5ae6 9595 1: asr r25 |
| 10323 5ae8 8795 ror r24 |
| 10324 5aea 7795 ror r23 |
| 10325 5aec 6795 ror r22 |
| 10326 5aee 2A95 dec r18 |
| 10327 5af0 01F4 brne 1b |
| 10328 5af2 9B01 movw r18,r22 |
| 10329 5af4 6E15 cp r22,r14 |
| 10330 5af6 7F05 cpc r23,r15 |
| 10331 5af8 04F4 brge .L840 |
| 10332 5afa 7B01 movw r14,r22 |
| 10333 .L840: |
| 10334 5afc 3095 com r19 |
| 10335 5afe 2195 neg r18 |
| 10336 5b00 3F4F sbci r19,lo8(-1) |
| 10337 5b02 E216 cp r14,r18 |
| 10338 5b04 F306 cpc r15,r19 |
| 10339 5b06 04F4 brge .L841 |
| 10340 5b08 7901 movw r14,r18 |
| 10341 .L841: |
| 10342 5b0a 8091 0000 lds r24,MesswertRoll |
| 10343 5b0e 9091 0000 lds r25,(MesswertRoll)+1 |
| 10344 5b12 6091 0000 lds r22,StickRoll |
| 10345 5b16 7091 0000 lds r23,(StickRoll)+1 |
| 10346 5b1a 861B sub r24,r22 |
| 10347 5b1c 970B sbc r25,r23 |
| 10348 5b1e 9093 0000 sts (DiffRoll)+1,r25 |
| 10349 5b22 8093 0000 sts DiffRoll,r24 |
| 10350 5b26 2091 0000 lds r18,SummeRoll |
| 10351 5b2a 3091 0000 lds r19,(SummeRoll)+1 |
| 10352 5b2e 4091 0000 lds r20,(SummeRoll)+2 |
| 10353 5b32 5091 0000 lds r21,(SummeRoll)+3 |
| 10354 5b36 DD20 tst r13 |
| 10355 5b38 01F0 breq .L842 |
| 10356 5b3a 461A sub r4,r22 |
| 10357 5b3c 570A sbc r5,r23 |
| 10358 5b3e C201 movw r24,r4 |
| 10359 5b40 AA27 clr r26 |
| 10360 5b42 97FD sbrc r25,7 |
| 10361 5b44 A095 com r26 |
| 10362 5b46 BA2F mov r27,r26 |
| 10363 5b48 00C0 rjmp .L921 |
| 10364 .L842: |
| 10365 5b4a AA27 clr r26 |
| 10366 5b4c 97FD sbrc r25,7 |
| 10367 5b4e A095 com r26 |
| 10368 5b50 BA2F mov r27,r26 |
| 10369 .L921: |
| 10370 5b52 280F add r18,r24 |
| 10371 5b54 391F adc r19,r25 |
| 10372 5b56 4A1F adc r20,r26 |
| 10373 5b58 5B1F adc r21,r27 |
| 10374 5b5a 2093 0000 sts SummeRoll,r18 |
| 10375 5b5e 3093 0000 sts (SummeRoll)+1,r19 |
| 10376 5b62 4093 0000 sts (SummeRoll)+2,r20 |
| 10377 5b66 5093 0000 sts (SummeRoll)+3,r21 |
| 10378 5b6a 8091 0000 lds r24,SummeRoll |
| 10379 5b6e 9091 0000 lds r25,(SummeRoll)+1 |
| 10380 5b72 A091 0000 lds r26,(SummeRoll)+2 |
| 10381 5b76 B091 0000 lds r27,(SummeRoll)+3 |
| 10382 5b7a 8150 subi r24,lo8(64001) |
| 10383 5b7c 9A4F sbci r25,hi8(64001) |
| 10384 5b7e A040 sbci r26,hlo8(64001) |
| 10385 5b80 B040 sbci r27,hhi8(64001) |
| 10386 5b82 04F0 brlt .L844 |
| 10387 5b84 80E0 ldi r24,lo8(64000) |
| 10388 5b86 9AEF ldi r25,hi8(64000) |
| 10389 5b88 A0E0 ldi r26,hlo8(64000) |
| 10390 5b8a B0E0 ldi r27,hhi8(64000) |
| 10391 5b8c 8093 0000 sts SummeRoll,r24 |
| 10392 5b90 9093 0000 sts (SummeRoll)+1,r25 |
| 10393 5b94 A093 0000 sts (SummeRoll)+2,r26 |
| 10394 5b98 B093 0000 sts (SummeRoll)+3,r27 |
| 10395 .L844: |
| 10396 5b9c 8091 0000 lds r24,SummeRoll |
| 10397 5ba0 9091 0000 lds r25,(SummeRoll)+1 |
| 10398 5ba4 A091 0000 lds r26,(SummeRoll)+2 |
| 10399 5ba8 B091 0000 lds r27,(SummeRoll)+3 |
| 10400 5bac 8050 subi r24,lo8(-64000) |
| 10401 5bae 9640 sbci r25,hi8(-64000) |
| 10402 5bb0 AF4F sbci r26,hlo8(-64000) |
| 10403 5bb2 BF4F sbci r27,hhi8(-64000) |
| 10404 5bb4 04F4 brge .L845 |
| 10405 5bb6 80E0 ldi r24,lo8(-64000) |
| 10406 5bb8 96E0 ldi r25,hi8(-64000) |
| 10407 5bba AFEF ldi r26,hlo8(-64000) |
| 10408 5bbc BFEF ldi r27,hhi8(-64000) |
| 10409 5bbe 8093 0000 sts SummeRoll,r24 |
| 10410 5bc2 9093 0000 sts (SummeRoll)+1,r25 |
| 10411 5bc6 A093 0000 sts (SummeRoll)+2,r26 |
| 10412 5bca B093 0000 sts (SummeRoll)+3,r27 |
| 10413 .L845: |
| 10414 5bce 2091 0000 lds r18,DiffRoll |
| 10415 5bd2 3091 0000 lds r19,(DiffRoll)+1 |
| 10416 5bd6 48E0 ldi r20,lo8(8) |
| 10417 5bd8 4C15 cp r20,r12 |
| 10418 5bda 00F0 brlo .L846 |
| 10419 5bdc 8C2D mov r24,r12 |
| 10420 5bde 9927 clr r25 |
| 10421 5be0 829F mul r24,r18 |
| 10422 5be2 B001 movw r22,r0 |
| 10423 5be4 839F mul r24,r19 |
| 10424 5be6 700D add r23,r0 |
| 10425 5be8 929F mul r25,r18 |
| 10426 5bea 700D add r23,r0 |
| 10427 5bec 1124 clr r1 |
| 10428 5bee CB01 movw r24,r22 |
| 10429 5bf0 77FD sbrc r23,7 |
| 10430 5bf2 0796 adiw r24,7 |
| 10431 .L847: |
| 10432 5bf4 6C01 movw r12,r24 |
| 10433 5bf6 B3E0 ldi r27,3 |
| 10434 5bf8 D594 1: asr r13 |
| 10435 5bfa C794 ror r12 |
| 10436 5bfc BA95 dec r27 |
| 10437 5bfe 01F4 brne 1b |
| 10438 5c00 00C0 rjmp .L848 |
| 10439 .L846: |
| 10440 5c02 C694 lsr r12 |
| 10441 5c04 8C2D mov r24,r12 |
| 10442 5c06 9927 clr r25 |
| 10443 5c08 829F mul r24,r18 |
| 10444 5c0a D001 movw r26,r0 |
| 10445 5c0c 839F mul r24,r19 |
| 10446 5c0e B00D add r27,r0 |
| 10447 5c10 929F mul r25,r18 |
| 10448 5c12 B00D add r27,r0 |
| 10449 5c14 1124 clr r1 |
| 10450 5c16 CD01 movw r24,r26 |
| 10451 5c18 B7FD sbrc r27,7 |
| 10452 5c1a 0396 adiw r24,3 |
| 10453 .L849: |
| 10454 5c1c 6C01 movw r12,r24 |
| 10455 5c1e D594 asr r13 |
| 10456 5c20 C794 ror r12 |
| 10457 5c22 D594 asr r13 |
| 10458 5c24 C794 ror r12 |
| 10459 .L848: |
| 10460 5c26 9501 movw r18,r10 |
| 10461 5c28 4427 clr r20 |
| 10462 5c2a 37FD sbrc r19,7 |
| 10463 5c2c 4095 com r20 |
| 10464 5c2e 542F mov r21,r20 |
| 10465 5c30 8091 0000 lds r24,SummeRoll |
| 10466 5c34 9091 0000 lds r25,(SummeRoll)+1 |
| 10467 5c38 A091 0000 lds r26,(SummeRoll)+2 |
| 10468 5c3c B091 0000 lds r27,(SummeRoll)+3 |
| 10469 5c40 BC01 movw r22,r24 |
| 10470 5c42 CD01 movw r24,r26 |
| 10471 5c44 0E94 0000 call __divmodsi4 |
| 10472 5c48 C20E add r12,r18 |
| 10473 5c4a D31E adc r13,r19 |
| 10474 5c4c 692D mov r22,r9 |
| 10475 5c4e 7727 clr r23 |
| 10476 5c50 8827 clr r24 |
| 10477 5c52 9927 clr r25 |
| 10478 5c54 9801 movw r18,r16 |
| 10479 5c56 17FF sbrs r17,7 |
| 10480 5c58 00C0 rjmp .L850 |
| 10481 5c5a 2227 clr r18 |
| 10482 5c5c 3327 clr r19 |
| 10483 5c5e 201B sub r18,r16 |
| 10484 5c60 310B sbc r19,r17 |
| 10485 .L850: |
| 10486 5c62 37FF sbrs r19,7 |
| 10487 5c64 00C0 rjmp .L851 |
| 10488 5c66 2F5F subi r18,lo8(-(1)) |
| 10489 5c68 3F4F sbci r19,hi8(-(1)) |
| 10490 .L851: |
| 10491 5c6a 3595 asr r19 |
| 10492 5c6c 2795 ror r18 |
| 10493 5c6e E981 ldd r30,Y+1 |
| 10494 5c70 FA81 ldd r31,Y+2 |
| 10495 5c72 2E0F add r18,r30 |
| 10496 5c74 3F1F adc r19,r31 |
| 10497 5c76 4427 clr r20 |
| 10498 5c78 37FD sbrc r19,7 |
| 10499 5c7a 4095 com r20 |
| 10500 5c7c 542F mov r21,r20 |
| 10501 5c7e 0E94 0000 call __mulsi3 |
| 10502 5c82 97FF sbrs r25,7 |
| 10503 5c84 00C0 rjmp .L852 |
| 10504 5c86 615C subi r22,lo8(-(63)) |
| 10505 5c88 7F4F sbci r23,hi8(-(63)) |
| 10506 5c8a 8F4F sbci r24,hlo8(-(63)) |
| 10507 5c8c 9F4F sbci r25,hhi8(-(63)) |
| 10508 .L852: |
| 10509 5c8e E6E0 ldi r30,6 |
| 10510 5c90 9595 1: asr r25 |
| 10511 5c92 8795 ror r24 |
| 10512 5c94 7795 ror r23 |
| 10513 5c96 6795 ror r22 |
| 10514 5c98 EA95 dec r30 |
| 10515 5c9a 01F4 brne 1b |
| 10516 5c9c 9B01 movw r18,r22 |
| 10517 5c9e 6C15 cp r22,r12 |
| 10518 5ca0 7D05 cpc r23,r13 |
| 10519 5ca2 04F4 brge .L853 |
| 10520 5ca4 6B01 movw r12,r22 |
| 10521 .L853: |
| 10522 5ca6 3095 com r19 |
| 10523 5ca8 2195 neg r18 |
| 10524 5caa 3F4F sbci r19,lo8(-1) |
| 10525 5cac C216 cp r12,r18 |
| 10526 5cae D306 cpc r13,r19 |
| 10527 5cb0 04F4 brge .L854 |
| 10528 5cb2 6901 movw r12,r18 |
| 10529 .L854: |
| 10530 5cb4 8091 0000 lds r24,MIN_GAS |
| 10531 5cb8 282E mov r2,r24 |
| 10532 5cba 3324 clr r3 |
| 10533 5cbc 5090 0000 lds r5,EE_Parameter+101 |
| 10534 5cc0 60E0 ldi r22,lo8(Motor) |
| 10535 5cc2 862E mov r8,r22 |
| 10536 5cc4 60E0 ldi r22,hi8(Motor) |
| 10537 5cc6 962E mov r9,r22 |
| 10538 5cc8 50E0 ldi r21,lo8(Mixer+13) |
| 10539 5cca A52E mov r10,r21 |
| 10540 5ccc 50E0 ldi r21,hi8(Mixer+13) |
| 10541 5cce B52E mov r11,r21 |
| 10542 5cd0 4BE0 ldi r20,lo8(11) |
| 10543 5cd2 442E mov r4,r20 |
| 10544 5cd4 30E0 ldi r19,lo8(tmp_motorwert) |
| 10545 5cd6 632E mov r6,r19 |
| 10546 5cd8 30E0 ldi r19,hi8(tmp_motorwert) |
| 10547 5cda 732E mov r7,r19 |
| 10548 .L889: |
| 10549 5cdc D501 movw r26,r10 |
| 10550 5cde 2C91 ld r18,X |
| 10551 5ce0 1216 cp __zero_reg__,r18 |
| 10552 5ce2 04F0 brlt .+2 |
| 10553 5ce4 00C0 rjmp .L858 |
| 10554 5ce6 2034 cpi r18,lo8(64) |
| 10555 5ce8 01F4 brne .L859 |
| 10556 5cea E981 ldd r30,Y+1 |
| 10557 5cec FA81 ldd r31,Y+2 |
| 10558 5cee FF8B std Y+23,r31 |
| 10559 5cf0 EE8B std Y+22,r30 |
| 10560 5cf2 00C0 rjmp .L860 |
| 10561 .L859: |
| 10562 5cf4 4981 ldd r20,Y+1 |
| 10563 5cf6 5A81 ldd r21,Y+2 |
| 10564 5cf8 CA01 movw r24,r20 |
| 10565 5cfa AA27 clr r26 |
| 10566 5cfc 97FD sbrc r25,7 |
| 10567 5cfe A095 com r26 |
| 10568 5d00 BA2F mov r27,r26 |
| 10569 5d02 3327 clr r19 |
| 10570 5d04 27FD sbrc r18,7 |
| 10571 5d06 3095 com r19 |
| 10572 5d08 432F mov r20,r19 |
| 10573 5d0a 532F mov r21,r19 |
| 10574 5d0c BC01 movw r22,r24 |
| 10575 5d0e CD01 movw r24,r26 |
| 10576 5d10 0E94 0000 call __mulsi3 |
| 10577 5d14 97FF sbrs r25,7 |
| 10578 5d16 00C0 rjmp .L861 |
| 10579 5d18 615C subi r22,lo8(-(63)) |
| 10580 5d1a 7F4F sbci r23,hi8(-(63)) |
| 10581 5d1c 8F4F sbci r24,hlo8(-(63)) |
| 10582 5d1e 9F4F sbci r25,hhi8(-(63)) |
| 10583 .L861: |
| 10584 5d20 26E0 ldi r18,6 |
| 10585 5d22 9595 1: asr r25 |
| 10586 5d24 8795 ror r24 |
| 10587 5d26 7795 ror r23 |
| 10588 5d28 6795 ror r22 |
| 10589 5d2a 2A95 dec r18 |
| 10590 5d2c 01F4 brne 1b |
| 10591 5d2e 7F8B std Y+23,r23 |
| 10592 5d30 6E8B std Y+22,r22 |
| 10593 .L860: |
| 10594 5d32 F501 movw r30,r10 |
| 10595 5d34 2181 ldd r18,Z+1 |
| 10596 5d36 2034 cpi r18,lo8(64) |
| 10597 5d38 01F4 brne .L862 |
| 10598 5d3a 2E89 ldd r18,Y+22 |
| 10599 5d3c 3F89 ldd r19,Y+23 |
| 10600 5d3e 2E0D add r18,r14 |
| 10601 5d40 3F1D adc r19,r15 |
| 10602 5d42 3F8B std Y+23,r19 |
| 10603 5d44 2E8B std Y+22,r18 |
| 10604 5d46 00C0 rjmp .L863 |
| 10605 .L862: |
| 10606 5d48 203C cpi r18,lo8(-64) |
| 10607 5d4a 01F4 brne .L864 |
| 10608 5d4c 4E89 ldd r20,Y+22 |
| 10609 5d4e 5F89 ldd r21,Y+23 |
| 10610 5d50 4E19 sub r20,r14 |
| 10611 5d52 5F09 sbc r21,r15 |
| 10612 5d54 5F8B std Y+23,r21 |
| 10613 5d56 4E8B std Y+22,r20 |
| 10614 5d58 00C0 rjmp .L863 |
| 10615 .L864: |
| 10616 5d5a C701 movw r24,r14 |
| 10617 5d5c AA27 clr r26 |
| 10618 5d5e 97FD sbrc r25,7 |
| 10619 5d60 A095 com r26 |
| 10620 5d62 BA2F mov r27,r26 |
| 10621 5d64 3327 clr r19 |
| 10622 5d66 27FD sbrc r18,7 |
| 10623 5d68 3095 com r19 |
| 10624 5d6a 432F mov r20,r19 |
| 10625 5d6c 532F mov r21,r19 |
| 10626 5d6e BC01 movw r22,r24 |
| 10627 5d70 CD01 movw r24,r26 |
| 10628 5d72 0E94 0000 call __mulsi3 |
| 10629 5d76 97FF sbrs r25,7 |
| 10630 5d78 00C0 rjmp .L866 |
| 10631 5d7a 615C subi r22,lo8(-(63)) |
| 10632 5d7c 7F4F sbci r23,hi8(-(63)) |
| 10633 5d7e 8F4F sbci r24,hlo8(-(63)) |
| 10634 5d80 9F4F sbci r25,hhi8(-(63)) |
| 10635 .L866: |
| 10636 5d82 B6E0 ldi r27,6 |
| 10637 5d84 9595 1: asr r25 |
| 10638 5d86 8795 ror r24 |
| 10639 5d88 7795 ror r23 |
| 10640 5d8a 6795 ror r22 |
| 10641 5d8c BA95 dec r27 |
| 10642 5d8e 01F4 brne 1b |
| 10643 5d90 AE89 ldd r26,Y+22 |
| 10644 5d92 BF89 ldd r27,Y+23 |
| 10645 5d94 A60F add r26,r22 |
| 10646 5d96 B71F adc r27,r23 |
| 10647 5d98 BF8B std Y+23,r27 |
| 10648 5d9a AE8B std Y+22,r26 |
| 10649 .L863: |
| 10650 5d9c F501 movw r30,r10 |
| 10651 5d9e 2281 ldd r18,Z+2 |
| 10652 5da0 2034 cpi r18,lo8(64) |
| 10653 5da2 01F4 brne .L867 |
| 10654 5da4 2E89 ldd r18,Y+22 |
| 10655 5da6 3F89 ldd r19,Y+23 |
| 10656 5da8 2C0D add r18,r12 |
| 10657 5daa 3D1D adc r19,r13 |
| 10658 5dac 3F8B std Y+23,r19 |
| 10659 5dae 2E8B std Y+22,r18 |
| 10660 5db0 00C0 rjmp .L868 |
| 10661 .L867: |
| 10662 5db2 203C cpi r18,lo8(-64) |
| 10663 5db4 01F4 brne .L869 |
| 10664 5db6 4E89 ldd r20,Y+22 |
| 10665 5db8 5F89 ldd r21,Y+23 |
| 10666 5dba 4C19 sub r20,r12 |
| 10667 5dbc 5D09 sbc r21,r13 |
| 10668 5dbe 5F8B std Y+23,r21 |
| 10669 5dc0 4E8B std Y+22,r20 |
| 10670 5dc2 00C0 rjmp .L868 |
| 10671 .L869: |
| 10672 5dc4 C601 movw r24,r12 |
| 10673 5dc6 AA27 clr r26 |
| 10674 5dc8 97FD sbrc r25,7 |
| 10675 5dca A095 com r26 |
| 10676 5dcc BA2F mov r27,r26 |
| 10677 5dce 3327 clr r19 |
| 10678 5dd0 27FD sbrc r18,7 |
| 10679 5dd2 3095 com r19 |
| 10680 5dd4 432F mov r20,r19 |
| 10681 5dd6 532F mov r21,r19 |
| 10682 5dd8 BC01 movw r22,r24 |
| 10683 5dda CD01 movw r24,r26 |
| 10684 5ddc 0E94 0000 call __mulsi3 |
| 10685 5de0 97FF sbrs r25,7 |
| 10686 5de2 00C0 rjmp .L871 |
| 10687 5de4 615C subi r22,lo8(-(63)) |
| 10688 5de6 7F4F sbci r23,hi8(-(63)) |
| 10689 5de8 8F4F sbci r24,hlo8(-(63)) |
| 10690 5dea 9F4F sbci r25,hhi8(-(63)) |
| 10691 .L871: |
| 10692 5dec A6E0 ldi r26,6 |
| 10693 5dee 9595 1: asr r25 |
| 10694 5df0 8795 ror r24 |
| 10695 5df2 7795 ror r23 |
| 10696 5df4 6795 ror r22 |
| 10697 5df6 AA95 dec r26 |
| 10698 5df8 01F4 brne 1b |
| 10699 5dfa AE89 ldd r26,Y+22 |
| 10700 5dfc BF89 ldd r27,Y+23 |
| 10701 5dfe A60F add r26,r22 |
| 10702 5e00 B71F adc r27,r23 |
| 10703 5e02 BF8B std Y+23,r27 |
| 10704 5e04 AE8B std Y+22,r26 |
| 10705 .L868: |
| 10706 5e06 F501 movw r30,r10 |
| 10707 5e08 2381 ldd r18,Z+3 |
| 10708 5e0a 2034 cpi r18,lo8(64) |
| 10709 5e0c 01F4 brne .L872 |
| 10710 5e0e 2E89 ldd r18,Y+22 |
| 10711 5e10 3F89 ldd r19,Y+23 |
| 10712 5e12 200F add r18,r16 |
| 10713 5e14 311F adc r19,r17 |
| 10714 5e16 3F8B std Y+23,r19 |
| 10715 5e18 2E8B std Y+22,r18 |
| 10716 5e1a 00C0 rjmp .L873 |
| 10717 .L872: |
| 10718 5e1c 203C cpi r18,lo8(-64) |
| 10719 5e1e 01F4 brne .L874 |
| 10720 5e20 4E89 ldd r20,Y+22 |
| 10721 5e22 5F89 ldd r21,Y+23 |
| 10722 5e24 401B sub r20,r16 |
| 10723 5e26 510B sbc r21,r17 |
| 10724 5e28 5F8B std Y+23,r21 |
| 10725 5e2a 4E8B std Y+22,r20 |
| 10726 5e2c 00C0 rjmp .L873 |
| 10727 .L874: |
| 10728 5e2e C801 movw r24,r16 |
| 10729 5e30 AA27 clr r26 |
| 10730 5e32 97FD sbrc r25,7 |
| 10731 5e34 A095 com r26 |
| 10732 5e36 BA2F mov r27,r26 |
| 10733 5e38 3327 clr r19 |
| 10734 5e3a 27FD sbrc r18,7 |
| 10735 5e3c 3095 com r19 |
| 10736 5e3e 432F mov r20,r19 |
| 10737 5e40 532F mov r21,r19 |
| 10738 5e42 BC01 movw r22,r24 |
| 10739 5e44 CD01 movw r24,r26 |
| 10740 5e46 0E94 0000 call __mulsi3 |
| 10741 5e4a 97FF sbrs r25,7 |
| 10742 5e4c 00C0 rjmp .L876 |
| 10743 5e4e 615C subi r22,lo8(-(63)) |
| 10744 5e50 7F4F sbci r23,hi8(-(63)) |
| 10745 5e52 8F4F sbci r24,hlo8(-(63)) |
| 10746 5e54 9F4F sbci r25,hhi8(-(63)) |
| 10747 .L876: |
| 10748 5e56 F6E0 ldi r31,6 |
| 10749 5e58 9595 1: asr r25 |
| 10750 5e5a 8795 ror r24 |
| 10751 5e5c 7795 ror r23 |
| 10752 5e5e 6795 ror r22 |
| 10753 5e60 FA95 dec r31 |
| 10754 5e62 01F4 brne 1b |
| 10755 5e64 AE89 ldd r26,Y+22 |
| 10756 5e66 BF89 ldd r27,Y+23 |
| 10757 5e68 A60F add r26,r22 |
| 10758 5e6a B71F adc r27,r23 |
| 10759 5e6c BF8B std Y+23,r27 |
| 10760 5e6e AE8B std Y+22,r26 |
| 10761 .L873: |
| 10762 5e70 F301 movw r30,r6 |
| 10763 5e72 8081 ld r24,Z |
| 10764 5e74 9181 ldd r25,Z+1 |
| 10765 5e76 2E89 ldd r18,Y+22 |
| 10766 5e78 3F89 ldd r19,Y+23 |
| 10767 5e7a 8217 cp r24,r18 |
| 10768 5e7c 9307 cpc r25,r19 |
| 10769 5e7e 04F4 brge .L877 |
| 10770 5e80 B901 movw r22,r18 |
| 10771 5e82 680F add r22,r24 |
| 10772 5e84 791F adc r23,r25 |
| 10773 5e86 77FF sbrs r23,7 |
| 10774 5e88 00C0 rjmp .L878 |
| 10775 5e8a 6F5F subi r22,lo8(-(1)) |
| 10776 5e8c 7F4F sbci r23,hi8(-(1)) |
| 10777 .L878: |
| 10778 5e8e 7595 asr r23 |
| 10779 5e90 6795 ror r22 |
| 10780 5e92 7F8B std Y+23,r23 |
| 10781 5e94 6E8B std Y+22,r22 |
| 10782 5e96 00C0 rjmp .L879 |
| 10783 .L877: |
| 10784 5e98 5520 tst r5 |
| 10785 5e9a 01F4 brne .L880 |
| 10786 5e9c 4E89 ldd r20,Y+22 |
| 10787 5e9e 5F89 ldd r21,Y+23 |
| 10788 5ea0 440F add r20,r20 |
| 10789 5ea2 551F adc r21,r21 |
| 10790 5ea4 481B sub r20,r24 |
| 10791 5ea6 590B sbc r21,r25 |
| 10792 5ea8 5F8B std Y+23,r21 |
| 10793 5eaa 4E8B std Y+22,r20 |
| 10794 5eac 00C0 rjmp .L879 |
| 10795 .L880: |
| 10796 5eae 51E0 ldi r21,lo8(1) |
| 10797 5eb0 5515 cp r21,r5 |
| 10798 5eb2 00F4 brsh .L879 |
| 10799 5eb4 252D mov r18,r5 |
| 10800 5eb6 3327 clr r19 |
| 10801 5eb8 6E89 ldd r22,Y+22 |
| 10802 5eba 7F89 ldd r23,Y+23 |
| 10803 5ebc 861B sub r24,r22 |
| 10804 5ebe 970B sbc r25,r23 |
| 10805 5ec0 B901 movw r22,r18 |
| 10806 5ec2 0E94 0000 call __divmodhi4 |
| 10807 5ec6 AE89 ldd r26,Y+22 |
| 10808 5ec8 BF89 ldd r27,Y+23 |
| 10809 5eca A60F add r26,r22 |
| 10810 5ecc B71F adc r27,r23 |
| 10811 5ece BF8B std Y+23,r27 |
| 10812 5ed0 AE8B std Y+22,r26 |
| 10813 .L879: |
| 10814 5ed2 C101 movw r24,r2 |
| 10815 5ed4 880F lsl r24 |
| 10816 5ed6 991F rol r25 |
| 10817 5ed8 880F lsl r24 |
| 10818 5eda 991F rol r25 |
| 10819 5edc EE89 ldd r30,Y+22 |
| 10820 5ede FF89 ldd r31,Y+23 |
| 10821 5ee0 8E17 cp r24,r30 |
| 10822 5ee2 9F07 cpc r25,r31 |
| 10823 5ee4 04F4 brge .L922 |
| 10824 5ee6 FD89 ldd r31,Y+21 |
| 10825 5ee8 8F2F mov r24,r31 |
| 10826 5eea 9927 clr r25 |
| 10827 5eec 880F lsl r24 |
| 10828 5eee 991F rol r25 |
| 10829 5ef0 880F lsl r24 |
| 10830 5ef2 991F rol r25 |
| 10831 5ef4 2E89 ldd r18,Y+22 |
| 10832 5ef6 3F89 ldd r19,Y+23 |
| 10833 5ef8 2817 cp r18,r24 |
| 10834 5efa 3907 cpc r19,r25 |
| 10835 5efc 04F0 brlt .L884 |
| 10836 .L922: |
| 10837 5efe 9F8B std Y+23,r25 |
| 10838 5f00 8E8B std Y+22,r24 |
| 10839 .L884: |
| 10840 5f02 8E89 ldd r24,Y+22 |
| 10841 5f04 9F89 ldd r25,Y+23 |
| 10842 5f06 97FD sbrc r25,7 |
| 10843 5f08 0396 adiw r24,3 |
| 10844 .L886: |
| 10845 5f0a 9595 asr r25 |
| 10846 5f0c 8795 ror r24 |
| 10847 5f0e 9595 asr r25 |
| 10848 5f10 8795 ror r24 |
| 10849 5f12 F401 movw r30,r8 |
| 10850 5f14 8183 std Z+1,r24 |
| 10851 5f16 880F lsl r24 |
| 10852 5f18 991F rol r25 |
| 10853 5f1a 880F lsl r24 |
| 10854 5f1c 991F rol r25 |
| 10855 5f1e 2E89 ldd r18,Y+22 |
| 10856 5f20 3F89 ldd r19,Y+23 |
| 10857 5f22 281B sub r18,r24 |
| 10858 5f24 390B sbc r19,r25 |
| 10859 5f26 C901 movw r24,r18 |
| 10860 5f28 880F lsl r24 |
| 10861 5f2a 8283 std Z+2,r24 |
| 10862 5f2c EE89 ldd r30,Y+22 |
| 10863 5f2e FF89 ldd r31,Y+23 |
| 10864 5f30 D301 movw r26,r6 |
| 10865 5f32 ED93 st X+,r30 |
| 10866 5f34 FC93 st X,r31 |
| 10867 5f36 00C0 rjmp .L857 |
| 10868 .L858: |
| 10869 5f38 F401 movw r30,r8 |
| 10870 5f3a 1182 std Z+1,__zero_reg__ |
| 10871 5f3c 1282 std Z+2,__zero_reg__ |
| 10872 .L857: |
| 10873 5f3e 4A94 dec r4 |
| 10874 5f40 22E0 ldi r18,lo8(2) |
| 10875 5f42 30E0 ldi r19,hi8(2) |
| 10876 5f44 620E add r6,r18 |
| 10877 5f46 731E adc r7,r19 |
| 10878 5f48 44E0 ldi r20,lo8(4) |
| 10879 5f4a 50E0 ldi r21,hi8(4) |
| 10880 5f4c A40E add r10,r20 |
| 10881 5f4e B51E adc r11,r21 |
| 10882 5f50 68E0 ldi r22,lo8(8) |
| 10883 5f52 70E0 ldi r23,hi8(8) |
| 10884 5f54 860E add r8,r22 |
| 10885 5f56 971E adc r9,r23 |
| 10886 5f58 47FE sbrs r4,7 |
| 10887 5f5a 00C0 rjmp .L889 |
| 10888 /* epilogue: frame size=23 */ |
| 10889 5f5c E2E1 ldi r30,18 |
| 10890 5f5e C95E subi r28,-23 |
| 10891 5f60 0C94 0000 jmp __epilogue_restores__+0 |
| 10892 /* epilogue end (size=4) */ |
| 10893 /* function MotorRegler size 8305 (8295) */ |
| 10895 .comm TrimNick,2,1 |
| 10896 .comm TrimRoll,2,1 |
| 10897 .comm ErsatzKompass,4,1 |
| 10898 .comm ErsatzKompassInGrad,2,1 |
| 10899 .comm MesswertNick,2,1 |
| 10900 .comm MesswertRoll,2,1 |
| 10901 .comm MesswertGier,2,1 |
| 10902 .comm Mittelwert_AccNick,2,1 |
| 10903 .comm Mittelwert_AccRoll,2,1 |
| 10904 .comm NaviAccNick,2,1 |
| 10905 .comm NaviAccRoll,2,1 |
| 10906 .comm h,1,1 |
| 10907 .comm m,1,1 |
| 10908 .comm s,1,1 |
| 10909 .comm DiffNick,2,1 |
| 10910 .comm DiffRoll,2,1 |
| 10911 .comm Parameter_Servo3,1,1 |
| 10912 .comm Parameter_Servo4,1,1 |
| 10913 .comm Parameter_Servo5,1,1 |
| 10914 .comm Parameter_J16Bitmask,1,1 |
| 10915 .comm Parameter_J16Timing,1,1 |
| 10916 .comm Parameter_J17Bitmask,1,1 |
| 10917 .comm Parameter_J17Timing,1,1 |
| 10918 .comm Parameter_GlobalConfig,1,1 |
| 10919 .comm Parameter_ExtraConfig,1,1 |
| 10920 .comm MesswertGierBias,2,1 |
| 10921 .comm RohMesswertNick,2,1 |
| 10922 .comm RohMesswertRoll,2,1 |
| 10923 .comm MittelIntegralNick,4,1 |
| 10924 .comm MittelIntegralRoll,4,1 |
| 10925 .comm MittelIntegralNick2,4,1 |
| 10926 .comm MittelIntegralRoll2,4,1 |
| 10927 .comm MAX_GAS,1,1 |
| 10928 .comm MIN_GAS,1,1 |
| 10929 .comm GyroFaktor,1,1 |
| 10930 .comm GyroFaktorGier,1,1 |
| 10931 .comm IntegralFaktor,1,1 |
| 10932 .comm IntegralFaktorGier,1,1 |
| 10933 .comm Parameter_NaviGpsModeControl,1,1 |
| 10934 .comm Parameter_NaviGpsGain,1,1 |
| 10935 .comm Parameter_NaviGpsP,1,1 |
| 10936 .comm Parameter_NaviGpsI,1,1 |
| 10937 .comm Parameter_NaviGpsD,1,1 |
| 10938 .comm Parameter_NaviGpsACC,1,1 |
| 10939 .comm Parameter_NaviOperatingRadius,1,1 |
| 10940 .comm Parameter_NaviWindCorrection,1,1 |
| 10941 .comm Parameter_NaviSpeedCompensation,1,1 |
| 10942 .comm Parameter_ExternalControl,1,1 |
| 10943 .comm Parameter_MaximumAltitude,1,1 |
| 10944 .comm KopplungsteilNickRoll,2,1 |
| 10945 .comm KopplungsteilRollNick,2,1 |
| 10946 .comm tmp_motorwert,24,1 |
| 10947 /* File "fc.c": code 12377 = 0x3059 (12316), prologues 31, epilogues 30 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 fc.c |
| C:\Temp/cch19s1E.s:3 *ABS*:0000003f __SREG__ |
| C:\Temp/cch19s1E.s:4 *ABS*:0000003e __SP_H__ |
| C:\Temp/cch19s1E.s:5 *ABS*:0000003d __SP_L__ |
| C:\Temp/cch19s1E.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\Temp/cch19s1E.s:7 *ABS*:00000001 __zero_reg__ |
| C:\Temp/cch19s1E.s:15 .bss:00000000 GasIsZeroCnt |
| C:\Temp/cch19s1E.s:21 .bss:00000002 HooverGasEmergencyPercent |
| C:\Temp/cch19s1E.s:27 .data:00000000 VarioCharacter |
| C:\Temp/cch19s1E.s:32 .data:00000001 GIER_GRAD_FAKTOR |
| C:\Temp/cch19s1E.s:39 .bss:00000004 FC_StatusFlags2 |
| C:\Temp/cch19s1E.s:45 .bss:00000005 FC_StatusFlags |
| C:\Temp/cch19s1E.s:51 .bss:00000006 modell_fliegt |
| C:\Temp/cch19s1E.s:57 .bss:00000008 MaxStickRoll |
| C:\Temp/cch19s1E.s:63 .bss:0000000a MaxStickNick |
| C:\Temp/cch19s1E.s:69 .data:00000005 ExternHoehenValue |
| C:\Temp/cch19s1E.s:76 .bss:0000000c ExternStickGier |
| C:\Temp/cch19s1E.s:82 .bss:0000000e ExternStickRoll |
| C:\Temp/cch19s1E.s:88 .bss:00000010 ExternStickNick |
| C:\Temp/cch19s1E.s:94 .data:00000007 sintab |
| C:\Temp/cch19s1E.s:131 .bss:00000012 CareFree |
| C:\Temp/cch19s1E.s:137 .data:00000026 Parameter_DynamicStability |
| C:\Temp/cch19s1E.s:142 .data:00000027 Parameter_CouplingYawCorrection |
| C:\Temp/cch19s1E.s:147 .data:00000028 Parameter_AchsKopplung2 |
| C:\Temp/cch19s1E.s:152 .data:00000029 Parameter_AchsKopplung1 |
| C:\Temp/cch19s1E.s:157 .data:0000002a Parameter_LoopGasLimit |
| C:\Temp/cch19s1E.s:162 .data:0000002b Parameter_ServoRollComp |
| C:\Temp/cch19s1E.s:167 .data:0000002c Parameter_ServoNickComp |
| C:\Temp/cch19s1E.s:172 .data:0000002d Parameter_ServoRollControl |
| C:\Temp/cch19s1E.s:177 .data:0000002e Parameter_ServoNickControl |
| C:\Temp/cch19s1E.s:184 .bss:00000013 Parameter_UserParam8 |
| C:\Temp/cch19s1E.s:190 .bss:00000014 Parameter_UserParam7 |
| C:\Temp/cch19s1E.s:196 .bss:00000015 Parameter_UserParam6 |
| C:\Temp/cch19s1E.s:202 .bss:00000016 Parameter_UserParam5 |
| C:\Temp/cch19s1E.s:208 .bss:00000017 Parameter_UserParam4 |
| C:\Temp/cch19s1E.s:214 .bss:00000018 Parameter_UserParam3 |
| C:\Temp/cch19s1E.s:220 .bss:00000019 Parameter_UserParam2 |
| C:\Temp/cch19s1E.s:226 .bss:0000001a Parameter_UserParam1 |
| C:\Temp/cch19s1E.s:232 .data:0000002f Parameter_I_Faktor |
| C:\Temp/cch19s1E.s:237 .data:00000030 Parameter_Gier_P |
| C:\Temp/cch19s1E.s:242 .data:00000031 Parameter_Gyro_Gier_I |
| C:\Temp/cch19s1E.s:247 .data:00000032 Parameter_Gyro_Gier_P |
| C:\Temp/cch19s1E.s:252 .data:00000033 Parameter_Gyro_I |
| C:\Temp/cch19s1E.s:257 .data:00000034 Parameter_Gyro_P |
| C:\Temp/cch19s1E.s:262 .data:00000035 Parameter_Gyro_D |
| C:\Temp/cch19s1E.s:267 .data:00000036 Parameter_Hoehe_GPS_Z |
| C:\Temp/cch19s1E.s:272 .data:00000037 Parameter_KompassWirkung |
| C:\Temp/cch19s1E.s:277 .data:00000038 Parameter_Hoehe_ACC_Wirkung |
| C:\Temp/cch19s1E.s:282 .data:00000039 Parameter_Hoehe_P |
| C:\Temp/cch19s1E.s:287 .data:0000003a Parameter_HoehenSchalter |
| C:\Temp/cch19s1E.s:292 .data:0000003b Parameter_Luftdruck_D |
| C:\Temp/cch19s1E.s:299 .bss:0000001b Looping_Oben |
| C:\Temp/cch19s1E.s:305 .bss:0000001c Looping_Unten |
| C:\Temp/cch19s1E.s:311 .bss:0000001d Looping_Rechts |
| C:\Temp/cch19s1E.s:317 .bss:0000001e Looping_Links |
| C:\Temp/cch19s1E.s:323 .bss:0000001f Looping_Roll |
| C:\Temp/cch19s1E.s:329 .bss:00000020 Looping_Nick |
| C:\Temp/cch19s1E.s:335 .data:0000003c Ki |
| C:\Temp/cch19s1E.s:342 .bss:00000021 HoverGas |
| C:\Temp/cch19s1E.s:348 .bss:00000023 LageKorrekturNick |
| C:\Temp/cch19s1E.s:354 .bss:00000025 LageKorrekturRoll |
| C:\Temp/cch19s1E.s:360 .bss:00000027 NeueKompassRichtungMerken |
| C:\Temp/cch19s1E.s:366 .bss:00000028 CalibrationDone |
| C:\Temp/cch19s1E.s:372 .bss:00000029 CompassGierSetpoint |
| C:\Temp/cch19s1E.s:378 .bss:0000002b WaypointTrimming |
| C:\Temp/cch19s1E.s:384 .data:0000003e carefree_old |
| C:\Temp/cch19s1E.s:391 .bss:0000002c FromNC_AltitudeSpeed |
| C:\Temp/cch19s1E.s:397 .bss:0000002d FromNC_AltitudeSetpoint |
| C:\Temp/cch19s1E.s:403 .bss:00000031 AltitudeSetpointTrimming |
| C:\Temp/cch19s1E.s:409 .bss:00000033 SollHoehe |
| C:\Temp/cch19s1E.s:415 .bss:00000037 HoehenWert |
| C:\Temp/cch19s1E.s:421 .bss:0000003b StartTrigger |
| C:\Temp/cch19s1E.s:427 .bss:0000003c MotorenEin |
| C:\Temp/cch19s1E.s:433 .bss:0000003d SenderOkay |
| C:\Temp/cch19s1E.s:439 .bss:0000003e Poti |
| C:\Temp/cch19s1E.s:445 .bss:00000047 StickGas |
| C:\Temp/cch19s1E.s:451 .bss:00000049 StickGier |
| C:\Temp/cch19s1E.s:457 .bss:0000004b StickRoll |
| C:\Temp/cch19s1E.s:463 .bss:0000004d StickNick |
| C:\Temp/cch19s1E.s:469 .data:0000003f HoverGasMax |
| C:\Temp/cch19s1E.s:476 .bss:0000004f HoverGasMin |
| C:\Temp/cch19s1E.s:482 .data:00000041 StickGasHover |
| C:\Temp/cch19s1E.s:489 .bss:00000051 GierGyroFehler |
| C:\Temp/cch19s1E.s:495 .data:00000043 Umschlag180Roll |
| C:\Temp/cch19s1E.s:500 .data:00000047 Umschlag180Nick |
| C:\Temp/cch19s1E.s:507 .bss:00000053 TrichterFlug |
| C:\Temp/cch19s1E.s:513 .bss:00000054 HoehenReglerAktiv |
| C:\Temp/cch19s1E.s:519 .data:0000004b KompassSignalSchlecht |
| C:\Temp/cch19s1E.s:524 .data:0000004d KompassFusion |
| C:\Temp/cch19s1E.s:529 .data:0000004e CalculateCompassTimer |
| C:\Temp/cch19s1E.s:536 .bss:00000055 KompassSollWert |
| C:\Temp/cch19s1E.s:542 .data:0000004f KompassValue |
| C:\Temp/cch19s1E.s:549 .bss:00000057 Mess_Integral_Hoch |
| C:\Temp/cch19s1E.s:555 .bss:0000005b SummeRoll |
| C:\Temp/cch19s1E.s:561 .bss:0000005f SummeNick |
| C:\Temp/cch19s1E.s:567 .bss:00000063 Mess_Integral_Gier2 |
| C:\Temp/cch19s1E.s:573 .bss:00000067 Mess_Integral_Gier |
| C:\Temp/cch19s1E.s:579 .bss:0000006b Mess_IntegralRoll2 |
| C:\Temp/cch19s1E.s:585 .bss:0000006f Mess_IntegralRoll |
| C:\Temp/cch19s1E.s:591 .bss:00000073 Mess_IntegralNick2 |
| C:\Temp/cch19s1E.s:597 .bss:00000077 Mess_IntegralNick |
| C:\Temp/cch19s1E.s:603 .bss:0000007b Integral_Gier |
| C:\Temp/cch19s1E.s:609 .bss:0000007f IntegralAccZ |
| C:\Temp/cch19s1E.s:615 .bss:00000083 IntegralAccRoll |
| C:\Temp/cch19s1E.s:621 .bss:00000087 IntegralAccNick |
| C:\Temp/cch19s1E.s:627 .bss:0000008b IntegralRoll2 |
| C:\Temp/cch19s1E.s:633 .bss:0000008f IntegralRoll |
| C:\Temp/cch19s1E.s:639 .bss:00000093 IntegralNick2 |
| C:\Temp/cch19s1E.s:645 .bss:00000097 IntegralNick |
| C:\Temp/cch19s1E.s:651 .bss:0000009b ControlHeading |
| C:\Temp/cch19s1E.s:657 .bss:0000009c NeutralAccZ |
| C:\Temp/cch19s1E.s:663 .bss:0000009e NaviCntAcc |
| C:\Temp/cch19s1E.s:669 .bss:000000a0 NeutralAccY |
| C:\Temp/cch19s1E.s:675 .bss:000000a2 NeutralAccX |
| C:\Temp/cch19s1E.s:681 .bss:000000a4 StartNeutralNick |
| C:\Temp/cch19s1E.s:687 .bss:000000a6 StartNeutralRoll |
| C:\Temp/cch19s1E.s:693 .bss:000000a8 AdNeutralGier |
| C:\Temp/cch19s1E.s:699 .bss:000000aa AdNeutralRoll |
| C:\Temp/cch19s1E.s:705 .bss:000000ac AdNeutralNick |
| C:\Temp/cch19s1E.s:711 .bss:000000ae BaroExpandActive |
| C:\Temp/cch19s1E.s:716 .text:00000000 CopyDebugValues |
| *COM*:00000002 Mittelwert_AccNick |
| *COM*:00000002 Mittelwert_AccRoll |
| *COM*:00000002 ErsatzKompassInGrad |
| C:\Temp/cch19s1E.s:902 .text:0000022c Piep |
| C:\Temp/cch19s1E.s:976 .text:000002b2 CalibrierMittelwert |
| *COM*:00000002 MesswertNick |
| *COM*:00000002 MesswertRoll |
| *COM*:00000002 MesswertGier |
| C:\Temp/cch19s1E.s:1118 .progmem.data:00000000 __c.35 |
| C:\Temp/cch19s1E.s:1123 .text:000003f4 SetNeutral |
| *COM*:00000004 ErsatzKompass |
| .bss:000000b0 tmpl.27 |
| C:\Temp/cch19s1E.s:1631 .bss:000000b4 tmpl2.28 |
| C:\Temp/cch19s1E.s:1632 .bss:000000b8 tmpl3.29 |
| C:\Temp/cch19s1E.s:1633 .bss:000000bc tmpl4.30 |
| C:\Temp/cch19s1E.s:1634 .bss:000000c0 oldNick.31 |
| C:\Temp/cch19s1E.s:1635 .bss:000000c2 oldRoll.32 |
| C:\Temp/cch19s1E.s:1636 .bss:000000c4 d2Roll.33 |
| C:\Temp/cch19s1E.s:1637 .bss:000000c6 d2Nick.34 |
| C:\Temp/cch19s1E.s:1641 .text:00000960 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/cch19s1E.s:3206 .text:000018c4 SendMotorData |
| C:\Temp/cch19s1E.s:3266 .text:0000193e 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/cch19s1E.s:1638 .bss:000000c8 sollGier.0 |
| C:\Temp/cch19s1E.s:4009 .bss:000000cc tmp_long.1 |
| C:\Temp/cch19s1E.s:4010 .bss:000000d0 tmp_long2.2 |
| C:\Temp/cch19s1E.s:4011 .bss:000000d4 IntegralFehlerNick.3 |
| C:\Temp/cch19s1E.s:4012 .bss:000000d8 IntegralFehlerRoll.4 |
| C:\Temp/cch19s1E.s:4013 .bss:000000dc RcLostTimer.5 |
| C:\Temp/cch19s1E.s:4014 .bss:000000de delay_neutral.6 |
| C:\Temp/cch19s1E.s:4015 .bss:000000df delay_einschalten.7 |
| C:\Temp/cch19s1E.s:4016 .bss:000000e0 delay_ausschalten.8 |
| C:\Temp/cch19s1E.s:4017 .bss:000000e1 move_safety_switch.9 |
| C:\Temp/cch19s1E.s:4018 .bss:000000e2 ausgleichNick.10 |
| C:\Temp/cch19s1E.s:4019 .bss:000000e6 ausgleichRoll.11 |
| C:\Temp/cch19s1E.s:4020 .bss:000000ea stick_nick.12 |
| C:\Temp/cch19s1E.s:4021 .bss:000000ec stick_roll.13 |
| C:\Temp/cch19s1E.s:4022 .bss:000000ee cnt.14 |
| C:\Temp/cch19s1E.s:4023 .bss:000000f0 last_n_p.15 |
| C:\Temp/cch19s1E.s:4024 .bss:000000f1 last_n_n.16 |
| C:\Temp/cch19s1E.s:4025 .bss:000000f2 last_r_p.17 |
| C:\Temp/cch19s1E.s:4026 .bss:000000f3 last_r_n.18 |
| C:\Temp/cch19s1E.s:4027 .bss:000000f4 MittelIntegralNick_Alt.19 |
| C:\Temp/cch19s1E.s:4028 .bss:000000f8 MittelIntegralRoll_Alt.20 |
| C:\Temp/cch19s1E.s:4029 .bss:000000fc HeightTrimming.21 |
| C:\Temp/cch19s1E.s:4030 .bss:000000fe FilterHCGas.22 |
| C:\Temp/cch19s1E.s:4031 .bss:00000100 HoverGasFilter.23 |
| C:\Temp/cch19s1E.s:4036 .data:00000051 delay.24 |
| C:\Temp/cch19s1E.s:4032 .bss:00000104 BaroAtUpperLimit.25 |
| C:\Temp/cch19s1E.s:4038 .bss:00000105 BaroAtLowerLimit.26 |
| C:\Temp/cch19s1E.s:4043 .text:00001f76 MotorRegler |
| *COM*:00000001 GyroFaktor |
| *COM*:00000001 IntegralFaktor |
| *COM*:00000001 GyroFaktorGier |
| *COM*:00000001 IntegralFaktorGier |
| *COM*:00000004 MittelIntegralNick |
| *COM*:00000004 MittelIntegralRoll |
| *COM*:00000004 MittelIntegralNick2 |
| *COM*:00000004 MittelIntegralRoll2 |
| *COM*:00000002 DiffNick |
| *COM*:00000002 DiffRoll |
| *COM*:00000018 tmp_motorwert |
| *COM*:00000001 h |
| *COM*:00000001 m |
| *COM*:00000001 s |
| *COM*:00000001 Parameter_J16Bitmask |
| *COM*:00000001 Parameter_J17Bitmask |
| *COM*:00000002 MesswertGierBias |
| *COM*:00000001 Parameter_NaviGpsModeControl |
| *COM*:00000001 Parameter_NaviGpsGain |
| *COM*:00000001 Parameter_NaviGpsP |
| *COM*:00000001 Parameter_NaviGpsI |
| *COM*:00000001 Parameter_NaviGpsD |
| *COM*:00000001 Parameter_NaviGpsACC |
| *COM*:00000001 Parameter_NaviOperatingRadius |
| *COM*:00000001 Parameter_NaviWindCorrection |
| *COM*:00000001 Parameter_NaviSpeedCompensation |
| |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| EE_Parameter |
| __divmodsi4 |
| DebugOut |
| AdWertGier |
| AdWertAccHoch |
| UBat |
| Motor |
| ServoNickValue |
| Capacity |
| GPS_Nick |
| GPS_Roll |
| VersionInfo |
| 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 |