| 0,0 → 1,11043 |
|---|
| 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,SollHoehe |
| 779 00a4 9091 0000 lds r25,(SollHoehe)+1 |
| 780 00a8 A091 0000 lds r26,(SollHoehe)+2 |
| 781 00ac B091 0000 lds r27,(SollHoehe)+3 |
| 782 00b0 BC01 movw r22,r24 |
| 783 00b2 CD01 movw r24,r26 |
| 784 00b4 25E0 ldi r18,lo8(5) |
| 785 00b6 30E0 ldi r19,hi8(5) |
| 786 00b8 40E0 ldi r20,hlo8(5) |
| 787 00ba 50E0 ldi r21,hhi8(5) |
| 788 00bc 0E94 0000 call __divmodsi4 |
| 789 00c0 3093 0000 sts (DebugOut+10)+1,r19 |
| 790 00c4 2093 0000 sts DebugOut+10,r18 |
| 791 00c8 8091 0000 lds r24,HoehenWert |
| 792 00cc 9091 0000 lds r25,(HoehenWert)+1 |
| 793 00d0 A091 0000 lds r26,(HoehenWert)+2 |
| 794 00d4 B091 0000 lds r27,(HoehenWert)+3 |
| 795 00d8 BC01 movw r22,r24 |
| 796 00da CD01 movw r24,r26 |
| 797 00dc 25E0 ldi r18,lo8(5) |
| 798 00de 30E0 ldi r19,hi8(5) |
| 799 00e0 40E0 ldi r20,hlo8(5) |
| 800 00e2 50E0 ldi r21,hhi8(5) |
| 801 00e4 0E94 0000 call __divmodsi4 |
| 802 00e8 3093 0000 sts (DebugOut+12)+1,r19 |
| 803 00ec 2093 0000 sts DebugOut+12,r18 |
| 804 00f0 8091 0000 lds r24,KompassValue |
| 805 00f4 9091 0000 lds r25,(KompassValue)+1 |
| 806 00f8 9093 0000 sts (DebugOut+14)+1,r25 |
| 807 00fc 8093 0000 sts DebugOut+14,r24 |
| 808 0100 8091 0000 lds r24,KompassSollWert |
| 809 0104 9091 0000 lds r25,(KompassSollWert)+1 |
| 810 0108 9093 0000 sts (DebugOut+16)+1,r25 |
| 811 010c 8093 0000 sts DebugOut+16,r24 |
| 812 0110 8091 0000 lds r24,Capacity |
| 813 0114 9091 0000 lds r25,(Capacity)+1 |
| 814 0118 9093 0000 sts (DebugOut+18)+1,r25 |
| 815 011c 8093 0000 sts DebugOut+18,r24 |
| 816 0120 8091 0000 lds r24,UBat |
| 817 0124 9091 0000 lds r25,(UBat)+1 |
| 818 0128 9093 0000 sts (DebugOut+20)+1,r25 |
| 819 012c 8093 0000 sts DebugOut+20,r24 |
| 820 0130 8091 0000 lds r24,Motor+1 |
| 821 0134 9927 clr r25 |
| 822 0136 9093 0000 sts (DebugOut+22)+1,r25 |
| 823 013a 8093 0000 sts DebugOut+22,r24 |
| 824 013e 8091 0000 lds r24,Motor+9 |
| 825 0142 9927 clr r25 |
| 826 0144 9093 0000 sts (DebugOut+24)+1,r25 |
| 827 0148 8093 0000 sts DebugOut+24,r24 |
| 828 014c 8091 0000 lds r24,Motor+17 |
| 829 0150 9927 clr r25 |
| 830 0152 9093 0000 sts (DebugOut+26)+1,r25 |
| 831 0156 8093 0000 sts DebugOut+26,r24 |
| 832 015a 8091 0000 lds r24,Motor+25 |
| 833 015e 9927 clr r25 |
| 834 0160 9093 0000 sts (DebugOut+28)+1,r25 |
| 835 0164 8093 0000 sts DebugOut+28,r24 |
| 836 0168 8091 0000 lds r24,Motor+33 |
| 837 016c 9927 clr r25 |
| 838 016e 9093 0000 sts (DebugOut+30)+1,r25 |
| 839 0172 8093 0000 sts DebugOut+30,r24 |
| 840 0176 8091 0000 lds r24,Motor+41 |
| 841 017a 9927 clr r25 |
| 842 017c 9093 0000 sts (DebugOut+32)+1,r25 |
| 843 0180 8093 0000 sts DebugOut+32,r24 |
| 844 0184 8091 0000 lds r24,SenderOkay |
| 845 0188 9927 clr r25 |
| 846 018a 9093 0000 sts (DebugOut+34)+1,r25 |
| 847 018e 8093 0000 sts DebugOut+34,r24 |
| 848 0192 8091 0000 lds r24,ErsatzKompass |
| 849 0196 9091 0000 lds r25,(ErsatzKompass)+1 |
| 850 019a A091 0000 lds r26,(ErsatzKompass)+2 |
| 851 019e B091 0000 lds r27,(ErsatzKompass)+3 |
| 852 01a2 2091 0000 lds r18,GIER_GRAD_FAKTOR |
| 853 01a6 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1 |
| 854 01aa 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2 |
| 855 01ae 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3 |
| 856 01b2 BC01 movw r22,r24 |
| 857 01b4 CD01 movw r24,r26 |
| 858 01b6 0E94 0000 call __divmodsi4 |
| 859 01ba 3093 0000 sts (DebugOut+36)+1,r19 |
| 860 01be 2093 0000 sts DebugOut+36,r18 |
| 861 01c2 8091 0000 lds r24,AdNeutralGier |
| 862 01c6 9091 0000 lds r25,(AdNeutralGier)+1 |
| 863 01ca 2091 0000 lds r18,AdWertGier |
| 864 01ce 3091 0000 lds r19,(AdWertGier)+1 |
| 865 01d2 821B sub r24,r18 |
| 866 01d4 930B sbc r25,r19 |
| 867 01d6 9093 0000 sts (DebugOut+38)+1,r25 |
| 868 01da 8093 0000 sts DebugOut+38,r24 |
| 869 01de 1092 0000 sts (DebugOut+40)+1,__zero_reg__ |
| 870 01e2 1092 0000 sts DebugOut+40,__zero_reg__ |
| 871 01e6 8091 0000 lds r24,ServoNickValue |
| 872 01ea 9091 0000 lds r25,(ServoNickValue)+1 |
| 873 01ee 9093 0000 sts (DebugOut+42)+1,r25 |
| 874 01f2 8093 0000 sts DebugOut+42,r24 |
| 875 01f6 1092 0000 sts (DebugOut+44)+1,__zero_reg__ |
| 876 01fa 1092 0000 sts DebugOut+44,__zero_reg__ |
| 877 01fe 1092 0000 sts (DebugOut+46)+1,__zero_reg__ |
| 878 0202 1092 0000 sts DebugOut+46,__zero_reg__ |
| 879 0206 8091 0000 lds r24,Capacity+4 |
| 880 020a 9091 0000 lds r25,(Capacity+4)+1 |
| 881 020e 9093 0000 sts (DebugOut+48)+1,r25 |
| 882 0212 8093 0000 sts DebugOut+48,r24 |
| 883 0216 8091 0000 lds r24,Capacity+6 |
| 884 021a 9927 clr r25 |
| 885 021c 9093 0000 sts (DebugOut+50)+1,r25 |
| 886 0220 8093 0000 sts DebugOut+50,r24 |
| 887 0224 1092 0000 sts (DebugOut+52)+1,__zero_reg__ |
| 888 0228 1092 0000 sts DebugOut+52,__zero_reg__ |
| 889 022c 1092 0000 sts (DebugOut+54)+1,__zero_reg__ |
| 890 0230 1092 0000 sts DebugOut+54,__zero_reg__ |
| 891 0234 1092 0000 sts (DebugOut+56)+1,__zero_reg__ |
| 892 0238 1092 0000 sts DebugOut+56,__zero_reg__ |
| 893 023c 8091 0000 lds r24,AdWertAccHoch |
| 894 0240 9091 0000 lds r25,(AdWertAccHoch)+1 |
| 895 0244 9093 0000 sts (DebugOut+58)+1,r25 |
| 896 0248 8093 0000 sts DebugOut+58,r24 |
| 897 024c 1092 0000 sts (DebugOut+60)+1,__zero_reg__ |
| 898 0250 1092 0000 sts DebugOut+60,__zero_reg__ |
| 899 0254 8091 0000 lds r24,GPS_Nick |
| 900 0258 9091 0000 lds r25,(GPS_Nick)+1 |
| 901 025c 9093 0000 sts (DebugOut+62)+1,r25 |
| 902 0260 8093 0000 sts DebugOut+62,r24 |
| 903 0264 8091 0000 lds r24,GPS_Roll |
| 904 0268 9091 0000 lds r25,(GPS_Roll)+1 |
| 905 026c 9093 0000 sts (DebugOut+64)+1,r25 |
| 906 0270 8093 0000 sts DebugOut+64,r24 |
| 907 0274 8091 0000 lds r24,VersionInfo+5 |
| 908 0278 8823 tst r24 |
| 909 027a 01F4 brne .L5 |
| 910 027c 8091 0000 lds r24,VersionInfo+6 |
| 911 0280 8823 tst r24 |
| 912 0282 01F0 breq .L4 |
| 913 .L5: |
| 914 0284 8091 0000 lds r24,DebugOut+1 |
| 915 0288 8160 ori r24,lo8(1) |
| 916 028a 00C0 rjmp .L7 |
| 917 .L4: |
| 918 028c 8091 0000 lds r24,DebugOut+1 |
| 919 0290 8E7F andi r24,lo8(-2) |
| 920 .L7: |
| 921 0292 8093 0000 sts DebugOut+1,r24 |
| 922 /* epilogue: frame size=0 */ |
| 923 0296 1F91 pop r17 |
| 924 0298 0F91 pop r16 |
| 925 029a FF90 pop r15 |
| 926 029c EF90 pop r14 |
| 927 029e 0895 ret |
| 928 /* epilogue end (size=5) */ |
| 929 /* function CopyDebugValues size 338 (329) */ |
| 931 .global Piep |
| 933 Piep: |
| 934 /* prologue: frame size=0 */ |
| 935 02a0 EF92 push r14 |
| 936 02a2 FF92 push r15 |
| 937 02a4 1F93 push r17 |
| 938 02a6 CF93 push r28 |
| 939 02a8 DF93 push r29 |
| 940 /* prologue end (size=5) */ |
| 941 02aa 182F mov r17,r24 |
| 942 02ac 7B01 movw r14,r22 |
| 943 02ae 8091 0000 lds r24,MotorenEin |
| 944 02b2 8823 tst r24 |
| 945 02b4 01F4 brne .L8 |
| 946 02b6 8091 0000 lds r24,PlatinenVersion |
| 947 02ba 8C30 cpi r24,lo8(12) |
| 948 02bc 00F0 brlo .L11 |
| 949 02be 8631 cpi r24,lo8(22) |
| 950 02c0 01F4 brne .L10 |
| 951 .L11: |
| 952 02c2 2998 cbi 37-0x20,1 |
| 953 02c4 00C0 rjmp .L12 |
| 954 .L10: |
| 955 02c6 299A sbi 37-0x20,1 |
| 956 .L12: |
| 957 02c8 1150 subi r17,lo8(-(-1)) |
| 958 02ca 1F3F cpi r17,lo8(-1) |
| 959 02cc 01F0 breq .L26 |
| 960 02ce F092 0000 sts (beeptime)+1,r15 |
| 961 02d2 E092 0000 sts beeptime,r14 |
| 962 02d6 E701 movw r28,r14 |
| 963 .L34: |
| 964 02d8 8091 0000 lds r24,beeptime |
| 965 02dc 9091 0000 lds r25,(beeptime)+1 |
| 966 02e0 892B or r24,r25 |
| 967 02e2 01F4 brne .L31 |
| 968 02e4 2097 sbiw r28,0 |
| 969 02e6 01F0 breq .L12 |
| 970 .L31: |
| 971 02e8 8091 0000 lds r24,UpdateMotor |
| 972 02ec 8823 tst r24 |
| 973 02ee 01F0 breq .L34 |
| 974 02f0 1092 0000 sts UpdateMotor,__zero_reg__ |
| 975 02f4 8091 0000 lds r24,beeptime |
| 976 02f8 9091 0000 lds r25,(beeptime)+1 |
| 977 02fc 892B or r24,r25 |
| 978 02fe 01F4 brne .L19 |
| 979 0300 2197 sbiw r28,1 |
| 980 .L19: |
| 981 0302 0E94 0000 call LIBFC_Polling |
| 982 0306 00C0 rjmp .L34 |
| 983 .L26: |
| 984 0308 8091 0000 lds r24,PlatinenVersion |
| 985 030c 8C30 cpi r24,lo8(12) |
| 986 030e 00F0 brlo .L23 |
| 987 0310 8631 cpi r24,lo8(22) |
| 988 0312 01F4 brne .L22 |
| 989 .L23: |
| 990 0314 299A sbi 37-0x20,1 |
| 991 0316 00C0 rjmp .L8 |
| 992 .L22: |
| 993 0318 2998 cbi 37-0x20,1 |
| 994 .L8: |
| 995 /* epilogue: frame size=0 */ |
| 996 031a DF91 pop r29 |
| 997 031c CF91 pop r28 |
| 998 031e 1F91 pop r17 |
| 999 0320 FF90 pop r15 |
| 1000 0322 EF90 pop r14 |
| 1001 0324 0895 ret |
| 1002 /* epilogue end (size=6) */ |
| 1003 /* function Piep size 67 (56) */ |
| 1005 .global CalibrierMittelwert |
| 1007 CalibrierMittelwert: |
| 1008 /* prologue: frame size=0 */ |
| 1009 0326 CF93 push r28 |
| 1010 0328 DF93 push r29 |
| 1011 /* prologue end (size=2) */ |
| 1012 032a 8091 0000 lds r24,PlatinenVersion |
| 1013 032e 8D30 cpi r24,lo8(13) |
| 1014 0330 01F4 brne .L36 |
| 1015 0332 0E94 0000 call SucheGyroOffset |
| 1016 .L36: |
| 1017 0336 1092 7A00 sts 122,__zero_reg__ |
| 1018 033a 8091 0000 lds r24,AdWertNick |
| 1019 033e 9091 0000 lds r25,(AdWertNick)+1 |
| 1020 0342 9093 0000 sts (MesswertNick)+1,r25 |
| 1021 0346 8093 0000 sts MesswertNick,r24 |
| 1022 034a 8091 0000 lds r24,AdWertRoll |
| 1023 034e 9091 0000 lds r25,(AdWertRoll)+1 |
| 1024 0352 9093 0000 sts (MesswertRoll)+1,r25 |
| 1025 0356 8093 0000 sts MesswertRoll,r24 |
| 1026 035a 8091 0000 lds r24,AdWertGier |
| 1027 035e 9091 0000 lds r25,(AdWertGier)+1 |
| 1028 0362 9093 0000 sts (MesswertGier)+1,r25 |
| 1029 0366 8093 0000 sts MesswertGier,r24 |
| 1030 036a 2091 0000 lds r18,AdWertAccNick |
| 1031 036e 3091 0000 lds r19,(AdWertAccNick)+1 |
| 1032 0372 C901 movw r24,r18 |
| 1033 0374 880F lsl r24 |
| 1034 0376 991F rol r25 |
| 1035 0378 880F lsl r24 |
| 1036 037a 991F rol r25 |
| 1037 037c 820F add r24,r18 |
| 1038 037e 931F adc r25,r19 |
| 1039 0380 820F add r24,r18 |
| 1040 0382 931F adc r25,r19 |
| 1041 0384 9093 0000 sts (Mittelwert_AccNick)+1,r25 |
| 1042 0388 8093 0000 sts Mittelwert_AccNick,r24 |
| 1043 038c 2091 0000 lds r18,AdWertAccRoll |
| 1044 0390 3091 0000 lds r19,(AdWertAccRoll)+1 |
| 1045 0394 C901 movw r24,r18 |
| 1046 0396 880F lsl r24 |
| 1047 0398 991F rol r25 |
| 1048 039a 880F lsl r24 |
| 1049 039c 991F rol r25 |
| 1050 039e 820F add r24,r18 |
| 1051 03a0 931F adc r25,r19 |
| 1052 03a2 820F add r24,r18 |
| 1053 03a4 931F adc r25,r19 |
| 1054 03a6 9093 0000 sts (Mittelwert_AccRoll)+1,r25 |
| 1055 03aa 8093 0000 sts Mittelwert_AccRoll,r24 |
| 1056 03ae 8FEC ldi r24,lo8(-49) |
| 1057 03b0 8093 7A00 sts 122,r24 |
| 1058 03b4 A0E0 ldi r26,lo8(Poti) |
| 1059 03b6 B0E0 ldi r27,hi8(Poti) |
| 1060 03b8 C0E0 ldi r28,lo8(EE_Parameter+5) |
| 1061 03ba D0E0 ldi r29,hi8(EE_Parameter+5) |
| 1062 03bc 97E0 ldi r25,lo8(7) |
| 1063 .L46: |
| 1064 03be 8991 ld r24,Y+ |
| 1065 03c0 E82F mov r30,r24 |
| 1066 03c2 FF27 clr r31 |
| 1067 03c4 EE0F add r30,r30 |
| 1068 03c6 FF1F adc r31,r31 |
| 1069 03c8 E050 subi r30,lo8(-(PPM_in)) |
| 1070 03ca F040 sbci r31,hi8(-(PPM_in)) |
| 1071 03cc 0190 ld __tmp_reg__,Z+ |
| 1072 03ce F081 ld r31,Z |
| 1073 03d0 E02D mov r30,__tmp_reg__ |
| 1074 03d2 E158 subi r30,lo8(-(127)) |
| 1075 03d4 FF4F sbci r31,hi8(-(127)) |
| 1076 03d6 1E16 cp __zero_reg__,r30 |
| 1077 03d8 1F06 cpc __zero_reg__,r31 |
| 1078 03da 04F0 brlt .L40 |
| 1079 03dc E0E0 ldi r30,lo8(0) |
| 1080 03de F0E0 ldi r31,hi8(0) |
| 1081 03e0 00C0 rjmp .L41 |
| 1082 .L40: |
| 1083 03e2 EF3F cpi r30,255 |
| 1084 03e4 F105 cpc r31,__zero_reg__ |
| 1085 03e6 04F0 brlt .L41 |
| 1086 03e8 EFEF ldi r30,lo8(255) |
| 1087 03ea F0E0 ldi r31,hi8(255) |
| 1088 .L41: |
| 1089 03ec 8C91 ld r24,X |
| 1090 03ee 282F mov r18,r24 |
| 1091 03f0 3327 clr r19 |
| 1092 03f2 E217 cp r30,r18 |
| 1093 03f4 F307 cpc r31,r19 |
| 1094 03f6 04F4 brge .L43 |
| 1095 03f8 8150 subi r24,lo8(-(-1)) |
| 1096 03fa 00C0 rjmp .L49 |
| 1097 .L43: |
| 1098 03fc 2E17 cp r18,r30 |
| 1099 03fe 3F07 cpc r19,r31 |
| 1100 0400 04F4 brge .L39 |
| 1101 0402 8F5F subi r24,lo8(-(1)) |
| 1102 .L49: |
| 1103 0404 8C93 st X,r24 |
| 1104 .L39: |
| 1105 0406 9150 subi r25,lo8(-(-1)) |
| 1106 0408 1196 adiw r26,1 |
| 1107 040a 97FF sbrs r25,7 |
| 1108 040c 00C0 rjmp .L46 |
| 1109 040e 8091 0000 lds r24,EE_Parameter+65 |
| 1110 0412 9927 clr r25 |
| 1111 0414 AA27 clr r26 |
| 1112 0416 BB27 clr r27 |
| 1113 0418 BC01 movw r22,r24 |
| 1114 041a CD01 movw r24,r26 |
| 1115 041c 24EC ldi r18,lo8(2500) |
| 1116 041e 39E0 ldi r19,hi8(2500) |
| 1117 0420 40E0 ldi r20,hlo8(2500) |
| 1118 0422 50E0 ldi r21,hhi8(2500) |
| 1119 0424 0E94 0000 call __mulsi3 |
| 1120 0428 DC01 movw r26,r24 |
| 1121 042a CB01 movw r24,r22 |
| 1122 042c 8093 0000 sts Umschlag180Nick,r24 |
| 1123 0430 9093 0000 sts (Umschlag180Nick)+1,r25 |
| 1124 0434 A093 0000 sts (Umschlag180Nick)+2,r26 |
| 1125 0438 B093 0000 sts (Umschlag180Nick)+3,r27 |
| 1126 043c 8091 0000 lds r24,EE_Parameter+66 |
| 1127 0440 9927 clr r25 |
| 1128 0442 AA27 clr r26 |
| 1129 0444 BB27 clr r27 |
| 1130 0446 BC01 movw r22,r24 |
| 1131 0448 CD01 movw r24,r26 |
| 1132 044a 0E94 0000 call __mulsi3 |
| 1133 044e DC01 movw r26,r24 |
| 1134 0450 CB01 movw r24,r22 |
| 1135 0452 8093 0000 sts Umschlag180Roll,r24 |
| 1136 0456 9093 0000 sts (Umschlag180Roll)+1,r25 |
| 1137 045a A093 0000 sts (Umschlag180Roll)+2,r26 |
| 1138 045e B093 0000 sts (Umschlag180Roll)+3,r27 |
| 1139 /* epilogue: frame size=0 */ |
| 1140 0462 DF91 pop r29 |
| 1141 0464 CF91 pop r28 |
| 1142 0466 0895 ret |
| 1143 /* epilogue end (size=3) */ |
| 1144 /* function CalibrierMittelwert size 161 (156) */ |
| 1146 .section .progmem.data,"a",@progbits |
| 1149 __c.35: |
| 1150 0000 0A0D 4143 .string "\n\rACC not calibrated!\r\n" |
| 1150 4320 6E6F |
| 1150 7420 6361 |
| 1150 6C69 6272 |
| 1150 6174 6564 |
| 1151 .text |
| 1152 .global SetNeutral |
| 1154 SetNeutral: |
| 1155 /* prologue: frame size=0 */ |
| 1156 0468 A0E0 ldi r26,lo8(0) |
| 1157 046a B0E0 ldi r27,hi8(0) |
| 1158 046c E0E0 ldi r30,pm_lo8(1f) |
| 1159 046e F0E0 ldi r31,pm_hi8(1f) |
| 1160 0470 0C94 0000 jmp __prologue_saves__+12 |
| 1161 1: |
| 1162 /* prologue end (size=6) */ |
| 1163 0474 882E mov r8,r24 |
| 1164 0476 C0E0 ldi r28,lo8(0) |
| 1165 0478 D0E0 ldi r29,hi8(0) |
| 1166 047a 7E01 movw r14,r28 |
| 1167 047c 6E01 movw r12,r28 |
| 1168 047e 1092 0000 sts VersionInfo+5,__zero_reg__ |
| 1169 0482 D093 0000 sts (NeutralAccX)+1,r29 |
| 1170 0486 C093 0000 sts NeutralAccX,r28 |
| 1171 048a D093 0000 sts (NeutralAccY)+1,r29 |
| 1172 048e C093 0000 sts NeutralAccY,r28 |
| 1173 0492 D093 0000 sts (NeutralAccZ)+1,r29 |
| 1174 0496 C093 0000 sts NeutralAccZ,r28 |
| 1175 049a D093 0000 sts (AdNeutralNick)+1,r29 |
| 1176 049e C093 0000 sts AdNeutralNick,r28 |
| 1177 04a2 D093 0000 sts (AdNeutralRoll)+1,r29 |
| 1178 04a6 C093 0000 sts AdNeutralRoll,r28 |
| 1179 04aa D093 0000 sts (AdNeutralGier)+1,r29 |
| 1180 04ae C093 0000 sts AdNeutralGier,r28 |
| 1181 04b2 1092 0000 sts Parameter_AchsKopplung1,__zero_reg__ |
| 1182 04b6 1092 0000 sts Parameter_AchsKopplung2,__zero_reg__ |
| 1183 04ba 1092 0000 sts ExpandBaro,__zero_reg__ |
| 1184 04be 0E94 0000 call CalibrierMittelwert |
| 1185 04c2 84E6 ldi r24,lo8(100) |
| 1186 04c4 90E0 ldi r25,hi8(100) |
| 1187 04c6 0E94 0000 call Delay_ms_Mess |
| 1188 04ca 0E94 0000 call CalibrierMittelwert |
| 1189 04ce 8091 0000 lds r24,EE_Parameter+13 |
| 1190 04d2 80FF sbrs r24,0 |
| 1191 04d4 00C0 rjmp .L51 |
| 1192 04d6 8091 0000 lds r24,MessLuftdruck |
| 1193 04da 9091 0000 lds r25,(MessLuftdruck)+1 |
| 1194 04de 875B subi r24,lo8(951) |
| 1195 04e0 9340 sbci r25,hi8(951) |
| 1196 04e2 00F4 brsh .L53 |
| 1197 04e4 8091 0000 lds r24,MessLuftdruck |
| 1198 04e8 9091 0000 lds r25,(MessLuftdruck)+1 |
| 1199 04ec 8E5E subi r24,lo8(750) |
| 1200 04ee 9240 sbci r25,hi8(750) |
| 1201 04f0 00F4 brsh .L51 |
| 1202 .L53: |
| 1203 04f2 0E94 0000 call SucheLuftruckOffset |
| 1204 .L51: |
| 1205 04f6 0FE1 ldi r16,lo8(31) |
| 1206 .L57: |
| 1207 04f8 8AE0 ldi r24,lo8(10) |
| 1208 04fa 90E0 ldi r25,hi8(10) |
| 1209 04fc 0E94 0000 call Delay_ms_Mess |
| 1210 0500 8091 0000 lds r24,AdWertGier |
| 1211 0504 9091 0000 lds r25,(AdWertGier)+1 |
| 1212 0508 C80F add r28,r24 |
| 1213 050a D91F adc r29,r25 |
| 1214 050c 8091 0000 lds r24,AdWertNick |
| 1215 0510 9091 0000 lds r25,(AdWertNick)+1 |
| 1216 0514 E80E add r14,r24 |
| 1217 0516 F91E adc r15,r25 |
| 1218 0518 8091 0000 lds r24,AdWertRoll |
| 1219 051c 9091 0000 lds r25,(AdWertRoll)+1 |
| 1220 0520 C80E add r12,r24 |
| 1221 0522 D91E adc r13,r25 |
| 1222 0524 0150 subi r16,lo8(-(-1)) |
| 1223 0526 07FF sbrs r16,7 |
| 1224 0528 00C0 rjmp .L57 |
| 1225 052a 9701 movw r18,r14 |
| 1226 052c 205F subi r18,lo8(-(16)) |
| 1227 052e 3F4F sbci r19,hi8(-(16)) |
| 1228 0530 3695 lsr r19 |
| 1229 0532 2795 ror r18 |
| 1230 0534 3695 lsr r19 |
| 1231 0536 2795 ror r18 |
| 1232 0538 3093 0000 sts (AdNeutralNick)+1,r19 |
| 1233 053c 2093 0000 sts AdNeutralNick,r18 |
| 1234 0540 C601 movw r24,r12 |
| 1235 0542 4096 adiw r24,16 |
| 1236 0544 9695 lsr r25 |
| 1237 0546 8795 ror r24 |
| 1238 0548 9695 lsr r25 |
| 1239 054a 8795 ror r24 |
| 1240 054c 9093 0000 sts (AdNeutralRoll)+1,r25 |
| 1241 0550 8093 0000 sts AdNeutralRoll,r24 |
| 1242 0554 6096 adiw r28,16 |
| 1243 0556 F5E0 ldi r31,5 |
| 1244 0558 D695 1: lsr r29 |
| 1245 055a C795 ror r28 |
| 1246 055c FA95 dec r31 |
| 1247 055e 01F4 brne 1b |
| 1248 0560 D093 0000 sts (AdNeutralGier)+1,r29 |
| 1249 0564 C093 0000 sts AdNeutralGier,r28 |
| 1250 0568 9093 0000 sts (StartNeutralRoll)+1,r25 |
| 1251 056c 8093 0000 sts StartNeutralRoll,r24 |
| 1252 0570 3093 0000 sts (StartNeutralNick)+1,r19 |
| 1253 0574 2093 0000 sts StartNeutralNick,r18 |
| 1254 0578 8820 tst r8 |
| 1255 057a 01F4 brne .+2 |
| 1256 057c 00C0 rjmp .L58 |
| 1257 057e 8091 0000 lds r24,Mittelwert_AccNick |
| 1258 0582 9091 0000 lds r25,(Mittelwert_AccNick)+1 |
| 1259 0586 97FF sbrs r25,7 |
| 1260 0588 00C0 rjmp .L59 |
| 1261 058a 9095 com r25 |
| 1262 058c 8195 neg r24 |
| 1263 058e 9F4F sbci r25,lo8(-1) |
| 1264 .L59: |
| 1265 0590 6CE0 ldi r22,lo8(12) |
| 1266 0592 70E0 ldi r23,hi8(12) |
| 1267 0594 0E94 0000 call __divmodhi4 |
| 1268 0598 9B01 movw r18,r22 |
| 1269 059a 7093 0000 sts (NeutralAccX)+1,r23 |
| 1270 059e 6093 0000 sts NeutralAccX,r22 |
| 1271 05a2 8091 0000 lds r24,Mittelwert_AccRoll |
| 1272 05a6 9091 0000 lds r25,(Mittelwert_AccRoll)+1 |
| 1273 05aa 97FF sbrs r25,7 |
| 1274 05ac 00C0 rjmp .L60 |
| 1275 05ae 9095 com r25 |
| 1276 05b0 8195 neg r24 |
| 1277 05b2 9F4F sbci r25,lo8(-1) |
| 1278 .L60: |
| 1279 05b4 6CE0 ldi r22,lo8(12) |
| 1280 05b6 70E0 ldi r23,hi8(12) |
| 1281 05b8 0E94 0000 call __divmodhi4 |
| 1282 05bc 7093 0000 sts (NeutralAccY)+1,r23 |
| 1283 05c0 6093 0000 sts NeutralAccY,r22 |
| 1284 05c4 8091 0000 lds r24,Aktuell_az |
| 1285 05c8 9091 0000 lds r25,(Aktuell_az)+1 |
| 1286 05cc 9093 0000 sts (NeutralAccZ)+1,r25 |
| 1287 05d0 8093 0000 sts NeutralAccZ,r24 |
| 1288 05d4 B901 movw r22,r18 |
| 1289 05d6 84E0 ldi r24,lo8(4) |
| 1290 05d8 90E0 ldi r25,hi8(4) |
| 1291 05da 0E94 0000 call SetParamWord |
| 1292 05de 6091 0000 lds r22,NeutralAccY |
| 1293 05e2 7091 0000 lds r23,(NeutralAccY)+1 |
| 1294 05e6 86E0 ldi r24,lo8(6) |
| 1295 05e8 90E0 ldi r25,hi8(6) |
| 1296 05ea 0E94 0000 call SetParamWord |
| 1297 05ee 6091 0000 lds r22,NeutralAccZ |
| 1298 05f2 7091 0000 lds r23,(NeutralAccZ)+1 |
| 1299 05f6 88E0 ldi r24,lo8(8) |
| 1300 05f8 90E0 ldi r25,hi8(8) |
| 1301 05fa 0E94 0000 call SetParamWord |
| 1302 05fe 00C0 rjmp .L61 |
| 1303 .L58: |
| 1304 0600 84E0 ldi r24,lo8(4) |
| 1305 0602 90E0 ldi r25,hi8(4) |
| 1306 0604 0E94 0000 call GetParamWord |
| 1307 0608 9093 0000 sts (NeutralAccX)+1,r25 |
| 1308 060c 8093 0000 sts NeutralAccX,r24 |
| 1309 0610 86E0 ldi r24,lo8(6) |
| 1310 0612 90E0 ldi r25,hi8(6) |
| 1311 0614 0E94 0000 call GetParamWord |
| 1312 0618 9093 0000 sts (NeutralAccY)+1,r25 |
| 1313 061c 8093 0000 sts NeutralAccY,r24 |
| 1314 0620 88E0 ldi r24,lo8(8) |
| 1315 0622 90E0 ldi r25,hi8(8) |
| 1316 0624 0E94 0000 call GetParamWord |
| 1317 0628 9C01 movw r18,r24 |
| 1318 062a 9093 0000 sts (NeutralAccZ)+1,r25 |
| 1319 062e 8093 0000 sts NeutralAccZ,r24 |
| 1320 0632 8091 0000 lds r24,NeutralAccX |
| 1321 0636 9091 0000 lds r25,(NeutralAccX)+1 |
| 1322 063a 8150 subi r24,lo8(2049) |
| 1323 063c 9840 sbci r25,hi8(2049) |
| 1324 063e 00F4 brsh .L63 |
| 1325 0640 8091 0000 lds r24,NeutralAccY |
| 1326 0644 9091 0000 lds r25,(NeutralAccY)+1 |
| 1327 0648 8150 subi r24,lo8(2049) |
| 1328 064a 9840 sbci r25,hi8(2049) |
| 1329 064c 00F4 brsh .L63 |
| 1330 064e 2150 subi r18,lo8(1025) |
| 1331 0650 3440 sbci r19,hi8(1025) |
| 1332 0652 00F0 brlo .L61 |
| 1333 .L63: |
| 1334 0654 80E0 ldi r24,lo8(__c.35) |
| 1335 0656 90E0 ldi r25,hi8(__c.35) |
| 1336 0658 9F93 push r25 |
| 1337 065a 8F93 push r24 |
| 1338 065c 80E0 ldi r24,lo8(pm(uart_putchar)) |
| 1339 065e 90E0 ldi r25,hi8(pm(uart_putchar)) |
| 1340 0660 9F93 push r25 |
| 1341 0662 8F93 push r24 |
| 1342 0664 E091 0000 lds r30,_printf_P |
| 1343 0668 F091 0000 lds r31,(_printf_P)+1 |
| 1344 066c 0995 icall |
| 1345 066e 8091 0000 lds r24,Mittelwert_AccNick |
| 1346 0672 9091 0000 lds r25,(Mittelwert_AccNick)+1 |
| 1347 0676 97FF sbrs r25,7 |
| 1348 0678 00C0 rjmp .L64 |
| 1349 067a 9095 com r25 |
| 1350 067c 8195 neg r24 |
| 1351 067e 9F4F sbci r25,lo8(-1) |
| 1352 .L64: |
| 1353 0680 6CE0 ldi r22,lo8(12) |
| 1354 0682 70E0 ldi r23,hi8(12) |
| 1355 0684 0E94 0000 call __divmodhi4 |
| 1356 0688 7093 0000 sts (NeutralAccX)+1,r23 |
| 1357 068c 6093 0000 sts NeutralAccX,r22 |
| 1358 0690 8091 0000 lds r24,Mittelwert_AccRoll |
| 1359 0694 9091 0000 lds r25,(Mittelwert_AccRoll)+1 |
| 1360 0698 97FF sbrs r25,7 |
| 1361 069a 00C0 rjmp .L65 |
| 1362 069c 9095 com r25 |
| 1363 069e 8195 neg r24 |
| 1364 06a0 9F4F sbci r25,lo8(-1) |
| 1365 .L65: |
| 1366 06a2 6CE0 ldi r22,lo8(12) |
| 1367 06a4 70E0 ldi r23,hi8(12) |
| 1368 06a6 0E94 0000 call __divmodhi4 |
| 1369 06aa 7093 0000 sts (NeutralAccY)+1,r23 |
| 1370 06ae 6093 0000 sts NeutralAccY,r22 |
| 1371 06b2 8091 0000 lds r24,Aktuell_az |
| 1372 06b6 9091 0000 lds r25,(Aktuell_az)+1 |
| 1373 06ba 9093 0000 sts (NeutralAccZ)+1,r25 |
| 1374 06be 8093 0000 sts NeutralAccZ,r24 |
| 1375 06c2 0F90 pop __tmp_reg__ |
| 1376 06c4 0F90 pop __tmp_reg__ |
| 1377 06c6 0F90 pop __tmp_reg__ |
| 1378 06c8 0F90 pop __tmp_reg__ |
| 1379 .L61: |
| 1380 06ca 1092 0000 sts (MesswertNick)+1,__zero_reg__ |
| 1381 06ce 1092 0000 sts MesswertNick,__zero_reg__ |
| 1382 06d2 1092 0000 sts (MesswertRoll)+1,__zero_reg__ |
| 1383 06d6 1092 0000 sts MesswertRoll,__zero_reg__ |
| 1384 06da 1092 0000 sts (MesswertGier)+1,__zero_reg__ |
| 1385 06de 1092 0000 sts MesswertGier,__zero_reg__ |
| 1386 06e2 84E6 ldi r24,lo8(100) |
| 1387 06e4 90E0 ldi r25,hi8(100) |
| 1388 06e6 0E94 0000 call Delay_ms_Mess |
| 1389 06ea 8091 0000 lds r24,AdWertAccNick |
| 1390 06ee 9091 0000 lds r25,(AdWertAccNick)+1 |
| 1391 06f2 9C01 movw r18,r24 |
| 1392 06f4 220F lsl r18 |
| 1393 06f6 331F rol r19 |
| 1394 06f8 220F lsl r18 |
| 1395 06fa 331F rol r19 |
| 1396 06fc 280F add r18,r24 |
| 1397 06fe 391F adc r19,r25 |
| 1398 0700 280F add r18,r24 |
| 1399 0702 391F adc r19,r25 |
| 1400 0704 3093 0000 sts (Mittelwert_AccNick)+1,r19 |
| 1401 0708 2093 0000 sts Mittelwert_AccNick,r18 |
| 1402 070c 8091 0000 lds r24,AdWertAccRoll |
| 1403 0710 9091 0000 lds r25,(AdWertAccRoll)+1 |
| 1404 0714 8C01 movw r16,r24 |
| 1405 0716 000F lsl r16 |
| 1406 0718 111F rol r17 |
| 1407 071a 000F lsl r16 |
| 1408 071c 111F rol r17 |
| 1409 071e 080F add r16,r24 |
| 1410 0720 191F adc r17,r25 |
| 1411 0722 080F add r16,r24 |
| 1412 0724 191F adc r17,r25 |
| 1413 0726 1093 0000 sts (Mittelwert_AccRoll)+1,r17 |
| 1414 072a 0093 0000 sts Mittelwert_AccRoll,r16 |
| 1415 072e 8091 0000 lds r24,EE_Parameter+28 |
| 1416 0732 C82E mov r12,r24 |
| 1417 0734 DD24 clr r13 |
| 1418 0736 EE24 clr r14 |
| 1419 0738 FF24 clr r15 |
| 1420 073a 4427 clr r20 |
| 1421 073c 37FD sbrc r19,7 |
| 1422 073e 4095 com r20 |
| 1423 0740 542F mov r21,r20 |
| 1424 0742 C701 movw r24,r14 |
| 1425 0744 B601 movw r22,r12 |
| 1426 0746 0E94 0000 call __mulsi3 |
| 1427 074a 4B01 movw r8,r22 |
| 1428 074c 5C01 movw r10,r24 |
| 1429 074e 6093 0000 sts IntegralNick,r22 |
| 1430 0752 7093 0000 sts (IntegralNick)+1,r23 |
| 1431 0756 8093 0000 sts (IntegralNick)+2,r24 |
| 1432 075a 9093 0000 sts (IntegralNick)+3,r25 |
| 1433 075e 9801 movw r18,r16 |
| 1434 0760 4427 clr r20 |
| 1435 0762 37FD sbrc r19,7 |
| 1436 0764 4095 com r20 |
| 1437 0766 542F mov r21,r20 |
| 1438 0768 C701 movw r24,r14 |
| 1439 076a B601 movw r22,r12 |
| 1440 076c 0E94 0000 call __mulsi3 |
| 1441 0770 DC01 movw r26,r24 |
| 1442 0772 CB01 movw r24,r22 |
| 1443 0774 8093 0000 sts IntegralRoll,r24 |
| 1444 0778 9093 0000 sts (IntegralRoll)+1,r25 |
| 1445 077c A093 0000 sts (IntegralRoll)+2,r26 |
| 1446 0780 B093 0000 sts (IntegralRoll)+3,r27 |
| 1447 0784 8092 0000 sts Mess_IntegralNick,r8 |
| 1448 0788 9092 0000 sts (Mess_IntegralNick)+1,r9 |
| 1449 078c A092 0000 sts (Mess_IntegralNick)+2,r10 |
| 1450 0790 B092 0000 sts (Mess_IntegralNick)+3,r11 |
| 1451 0794 8093 0000 sts Mess_IntegralRoll,r24 |
| 1452 0798 9093 0000 sts (Mess_IntegralRoll)+1,r25 |
| 1453 079c A093 0000 sts (Mess_IntegralRoll)+2,r26 |
| 1454 07a0 B093 0000 sts (Mess_IntegralRoll)+3,r27 |
| 1455 07a4 1092 0000 sts Mess_Integral_Gier,__zero_reg__ |
| 1456 07a8 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__ |
| 1457 07ac 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__ |
| 1458 07b0 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__ |
| 1459 07b4 8091 0000 lds r24,Luftdruck |
| 1460 07b8 9091 0000 lds r25,(Luftdruck)+1 |
| 1461 07bc A091 0000 lds r26,(Luftdruck)+2 |
| 1462 07c0 B091 0000 lds r27,(Luftdruck)+3 |
| 1463 07c4 9093 0000 sts (StartLuftdruck)+1,r25 |
| 1464 07c8 8093 0000 sts StartLuftdruck,r24 |
| 1465 07cc 1092 0000 sts (VarioMeter)+1,__zero_reg__ |
| 1466 07d0 1092 0000 sts VarioMeter,__zero_reg__ |
| 1467 07d4 1092 0000 sts Mess_Integral_Hoch,__zero_reg__ |
| 1468 07d8 1092 0000 sts (Mess_Integral_Hoch)+1,__zero_reg__ |
| 1469 07dc 1092 0000 sts (Mess_Integral_Hoch)+2,__zero_reg__ |
| 1470 07e0 1092 0000 sts (Mess_Integral_Hoch)+3,__zero_reg__ |
| 1471 07e4 0091 0000 lds r16,KompassValue |
| 1472 07e8 1091 0000 lds r17,(KompassValue)+1 |
| 1473 07ec 1093 0000 sts (KompassSollWert)+1,r17 |
| 1474 07f0 0093 0000 sts KompassSollWert,r16 |
| 1475 07f4 84E6 ldi r24,lo8(100) |
| 1476 07f6 90E0 ldi r25,hi8(100) |
| 1477 07f8 9093 0000 sts (KompassSignalSchlecht)+1,r25 |
| 1478 07fc 8093 0000 sts KompassSignalSchlecht,r24 |
| 1479 0800 82E3 ldi r24,lo8(50) |
| 1480 0802 90E0 ldi r25,hi8(50) |
| 1481 0804 9093 0000 sts (beeptime)+1,r25 |
| 1482 0808 8093 0000 sts beeptime,r24 |
| 1483 080c 8091 0000 lds r24,EE_Parameter+65 |
| 1484 0810 9927 clr r25 |
| 1485 0812 AA27 clr r26 |
| 1486 0814 BB27 clr r27 |
| 1487 0816 BC01 movw r22,r24 |
| 1488 0818 CD01 movw r24,r26 |
| 1489 081a 24EC ldi r18,lo8(2500) |
| 1490 081c 39E0 ldi r19,hi8(2500) |
| 1491 081e 40E0 ldi r20,hlo8(2500) |
| 1492 0820 50E0 ldi r21,hhi8(2500) |
| 1493 0822 0E94 0000 call __mulsi3 |
| 1494 0826 DC01 movw r26,r24 |
| 1495 0828 CB01 movw r24,r22 |
| 1496 082a 8856 subi r24,lo8(-(15000)) |
| 1497 082c 954C sbci r25,hi8(-(15000)) |
| 1498 082e AF4F sbci r26,hlo8(-(15000)) |
| 1499 0830 BF4F sbci r27,hhi8(-(15000)) |
| 1500 0832 8093 0000 sts Umschlag180Nick,r24 |
| 1501 0836 9093 0000 sts (Umschlag180Nick)+1,r25 |
| 1502 083a A093 0000 sts (Umschlag180Nick)+2,r26 |
| 1503 083e B093 0000 sts (Umschlag180Nick)+3,r27 |
| 1504 0842 8091 0000 lds r24,EE_Parameter+66 |
| 1505 0846 9927 clr r25 |
| 1506 0848 AA27 clr r26 |
| 1507 084a BB27 clr r27 |
| 1508 084c BC01 movw r22,r24 |
| 1509 084e CD01 movw r24,r26 |
| 1510 0850 0E94 0000 call __mulsi3 |
| 1511 0854 DC01 movw r26,r24 |
| 1512 0856 CB01 movw r24,r22 |
| 1513 0858 8856 subi r24,lo8(-(15000)) |
| 1514 085a 954C sbci r25,hi8(-(15000)) |
| 1515 085c AF4F sbci r26,hlo8(-(15000)) |
| 1516 085e BF4F sbci r27,hhi8(-(15000)) |
| 1517 0860 8093 0000 sts Umschlag180Roll,r24 |
| 1518 0864 9093 0000 sts (Umschlag180Roll)+1,r25 |
| 1519 0868 A093 0000 sts (Umschlag180Roll)+2,r26 |
| 1520 086c B093 0000 sts (Umschlag180Roll)+3,r27 |
| 1521 0870 1092 0000 sts (ExternHoehenValue)+1,__zero_reg__ |
| 1522 0874 1092 0000 sts ExternHoehenValue,__zero_reg__ |
| 1523 0878 C801 movw r24,r16 |
| 1524 087a AA27 clr r26 |
| 1525 087c 97FD sbrc r25,7 |
| 1526 087e A095 com r26 |
| 1527 0880 BA2F mov r27,r26 |
| 1528 0882 2091 0000 lds r18,GIER_GRAD_FAKTOR |
| 1529 0886 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1 |
| 1530 088a 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2 |
| 1531 088e 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3 |
| 1532 0892 BC01 movw r22,r24 |
| 1533 0894 CD01 movw r24,r26 |
| 1534 0896 0E94 0000 call __mulsi3 |
| 1535 089a DC01 movw r26,r24 |
| 1536 089c CB01 movw r24,r22 |
| 1537 089e 8093 0000 sts ErsatzKompass,r24 |
| 1538 08a2 9093 0000 sts (ErsatzKompass)+1,r25 |
| 1539 08a6 A093 0000 sts (ErsatzKompass)+2,r26 |
| 1540 08aa B093 0000 sts (ErsatzKompass)+3,r27 |
| 1541 08ae 1092 0000 sts (GierGyroFehler)+1,__zero_reg__ |
| 1542 08b2 1092 0000 sts GierGyroFehler,__zero_reg__ |
| 1543 08b6 0E94 0000 call LED_Init |
| 1544 08ba 8091 0000 lds r24,FC_StatusFlags |
| 1545 08be 8460 ori r24,lo8(4) |
| 1546 08c0 8093 0000 sts FC_StatusFlags,r24 |
| 1547 08c4 8FEF ldi r24,lo8(-1) |
| 1548 08c6 8093 0000 sts FromNaviCtrl_Value,r24 |
| 1549 08ca 1092 0000 sts FromNaviCtrl_Value+1,__zero_reg__ |
| 1550 08ce 80E2 ldi r24,lo8(32) |
| 1551 08d0 8093 0000 sts FromNaviCtrl_Value+2,r24 |
| 1552 08d4 C0E0 ldi r28,lo8(Poti) |
| 1553 08d6 D0E0 ldi r29,hi8(Poti) |
| 1554 08d8 A0E0 ldi r26,lo8(EE_Parameter+5) |
| 1555 08da B0E0 ldi r27,hi8(EE_Parameter+5) |
| 1556 08dc 07E0 ldi r16,lo8(7) |
| 1557 .L69: |
| 1558 08de 8D91 ld r24,X+ |
| 1559 08e0 E82F mov r30,r24 |
| 1560 08e2 FF27 clr r31 |
| 1561 08e4 EE0F add r30,r30 |
| 1562 08e6 FF1F adc r31,r31 |
| 1563 08e8 E050 subi r30,lo8(-(PPM_in)) |
| 1564 08ea F040 sbci r31,hi8(-(PPM_in)) |
| 1565 08ec 8081 ld r24,Z |
| 1566 08ee 9181 ldd r25,Z+1 |
| 1567 08f0 8158 subi r24,lo8(-(127)) |
| 1568 08f2 8993 st Y+,r24 |
| 1569 08f4 0150 subi r16,lo8(-(-1)) |
| 1570 08f6 07FF sbrs r16,7 |
| 1571 08f8 00C0 rjmp .L69 |
| 1572 08fa 84E6 ldi r24,lo8(100) |
| 1573 08fc 8093 0000 sts SenderOkay,r24 |
| 1574 0900 8091 0000 lds r24,ServoActive |
| 1575 0904 8823 tst r24 |
| 1576 0906 01F0 breq .L70 |
| 1577 0908 579A sbi 42-0x20,7 |
| 1578 090a 00C0 rjmp .L71 |
| 1579 .L70: |
| 1580 090c 80E0 ldi r24,lo8(4352) |
| 1581 090e 91E1 ldi r25,hi8(4352) |
| 1582 0910 9093 0000 sts (NickServoValue)+1,r25 |
| 1583 0914 8093 0000 sts NickServoValue,r24 |
| 1584 .L71: |
| 1585 0918 8091 0000 lds r24,AdNeutralNick |
| 1586 091c 9091 0000 lds r25,(AdNeutralNick)+1 |
| 1587 0920 8056 subi r24,lo8(-(-2400)) |
| 1588 0922 9940 sbci r25,hi8(-(-2400)) |
| 1589 0924 815C subi r24,lo8(11201) |
| 1590 0926 9B42 sbci r25,hi8(11201) |
| 1591 0928 00F0 brlo .L72 |
| 1592 092a 8091 0000 lds r24,VersionInfo+5 |
| 1593 092e 8160 ori r24,lo8(1) |
| 1594 0930 8093 0000 sts VersionInfo+5,r24 |
| 1595 .L72: |
| 1596 0934 8091 0000 lds r24,AdNeutralRoll |
| 1597 0938 9091 0000 lds r25,(AdNeutralRoll)+1 |
| 1598 093c 8056 subi r24,lo8(-(-2400)) |
| 1599 093e 9940 sbci r25,hi8(-(-2400)) |
| 1600 0940 815C subi r24,lo8(11201) |
| 1601 0942 9B42 sbci r25,hi8(11201) |
| 1602 0944 00F0 brlo .L73 |
| 1603 0946 8091 0000 lds r24,VersionInfo+5 |
| 1604 094a 8260 ori r24,lo8(2) |
| 1605 094c 8093 0000 sts VersionInfo+5,r24 |
| 1606 .L73: |
| 1607 0950 8091 0000 lds r24,AdNeutralGier |
| 1608 0954 9091 0000 lds r25,(AdNeutralGier)+1 |
| 1609 0958 8C52 subi r24,lo8(-(-300)) |
| 1610 095a 9140 sbci r25,hi8(-(-300)) |
| 1611 095c 8957 subi r24,lo8(1401) |
| 1612 095e 9540 sbci r25,hi8(1401) |
| 1613 0960 00F0 brlo .L74 |
| 1614 0962 8091 0000 lds r24,VersionInfo+5 |
| 1615 0966 8460 ori r24,lo8(4) |
| 1616 0968 8093 0000 sts VersionInfo+5,r24 |
| 1617 .L74: |
| 1618 096c 8091 0000 lds r24,NeutralAccX |
| 1619 0970 9091 0000 lds r25,(NeutralAccX)+1 |
| 1620 0974 8C52 subi r24,lo8(-(-300)) |
| 1621 0976 9140 sbci r25,hi8(-(-300)) |
| 1622 0978 835C subi r24,lo8(451) |
| 1623 097a 9140 sbci r25,hi8(451) |
| 1624 097c 00F0 brlo .L75 |
| 1625 097e 8091 0000 lds r24,VersionInfo+5 |
| 1626 0982 8860 ori r24,lo8(8) |
| 1627 0984 8093 0000 sts VersionInfo+5,r24 |
| 1628 .L75: |
| 1629 0988 8091 0000 lds r24,NeutralAccY |
| 1630 098c 9091 0000 lds r25,(NeutralAccY)+1 |
| 1631 0990 8C52 subi r24,lo8(-(-300)) |
| 1632 0992 9140 sbci r25,hi8(-(-300)) |
| 1633 0994 835C subi r24,lo8(451) |
| 1634 0996 9140 sbci r25,hi8(451) |
| 1635 0998 00F0 brlo .L76 |
| 1636 099a 8091 0000 lds r24,VersionInfo+5 |
| 1637 099e 8061 ori r24,lo8(16) |
| 1638 09a0 8093 0000 sts VersionInfo+5,r24 |
| 1639 .L76: |
| 1640 09a4 8091 0000 lds r24,NeutralAccZ |
| 1641 09a8 9091 0000 lds r25,(NeutralAccZ)+1 |
| 1642 09ac 8050 subi r24,lo8(-(-512)) |
| 1643 09ae 9240 sbci r25,hi8(-(-512)) |
| 1644 09b0 8355 subi r24,lo8(339) |
| 1645 09b2 9140 sbci r25,hi8(339) |
| 1646 09b4 00F0 brlo .L77 |
| 1647 09b6 8091 0000 lds r24,VersionInfo+5 |
| 1648 09ba 8062 ori r24,lo8(32) |
| 1649 09bc 8093 0000 sts VersionInfo+5,r24 |
| 1650 .L77: |
| 1651 09c0 86E4 ldi r24,lo8(70) |
| 1652 09c2 8093 0000 sts carefree_old,r24 |
| 1653 09c6 0E94 0000 call LIBFC_HoTT_Clear |
| 1654 /* epilogue: frame size=0 */ |
| 1655 09ca ECE0 ldi r30,12 |
| 1656 09cc CDB7 in r28,__SP_L__ |
| 1657 09ce DEB7 in r29,__SP_H__ |
| 1658 09d0 0C94 0000 jmp __epilogue_restores__+12 |
| 1659 /* epilogue end (size=5) */ |
| 1660 /* function SetNeutral size 705 (694) */ |
| 1662 .lcomm tmpl.27,4 |
| 1663 .lcomm tmpl2.28,4 |
| 1664 .lcomm tmpl3.29,4 |
| 1665 .lcomm tmpl4.30,4 |
| 1666 .lcomm oldNick.31,2 |
| 1667 .lcomm oldRoll.32,2 |
| 1668 .lcomm d2Roll.33,2 |
| 1669 .lcomm d2Nick.34,2 |
| 1670 .global Mittelwert |
| 1672 Mittelwert: |
| 1673 /* prologue: frame size=19 */ |
| 1674 09d4 A3E1 ldi r26,lo8(19) |
| 1675 09d6 B0E0 ldi r27,hi8(19) |
| 1676 09d8 E0E0 ldi r30,pm_lo8(1f) |
| 1677 09da F0E0 ldi r31,pm_hi8(1f) |
| 1678 09dc 0C94 0000 jmp __prologue_saves__+0 |
| 1679 1: |
| 1680 /* prologue end (size=6) */ |
| 1681 09e0 8091 0000 lds r24,AdNeutralGier |
| 1682 09e4 9091 0000 lds r25,(AdNeutralGier)+1 |
| 1683 09e8 2091 0000 lds r18,AdWertGier |
| 1684 09ec 3091 0000 lds r19,(AdWertGier)+1 |
| 1685 09f0 821B sub r24,r18 |
| 1686 09f2 930B sbc r25,r19 |
| 1687 09f4 9093 0000 sts (MesswertGier)+1,r25 |
| 1688 09f8 8093 0000 sts MesswertGier,r24 |
| 1689 09fc 8091 0000 lds r24,AdWertNickFilter |
| 1690 0a00 9091 0000 lds r25,(AdWertNickFilter)+1 |
| 1691 0a04 97FD sbrc r25,7 |
| 1692 0a06 0796 adiw r24,7 |
| 1693 .L83: |
| 1694 0a08 9C01 movw r18,r24 |
| 1695 0a0a 13E0 ldi r17,3 |
| 1696 0a0c 3595 1: asr r19 |
| 1697 0a0e 2795 ror r18 |
| 1698 0a10 1A95 dec r17 |
| 1699 0a12 01F4 brne 1b |
| 1700 0a14 3093 0000 sts (MesswertNick)+1,r19 |
| 1701 0a18 2093 0000 sts MesswertNick,r18 |
| 1702 0a1c 8091 0000 lds r24,AdWertRollFilter |
| 1703 0a20 9091 0000 lds r25,(AdWertRollFilter)+1 |
| 1704 0a24 97FD sbrc r25,7 |
| 1705 0a26 0796 adiw r24,7 |
| 1706 .L84: |
| 1707 0a28 B3E0 ldi r27,3 |
| 1708 0a2a 9595 1: asr r25 |
| 1709 0a2c 8795 ror r24 |
| 1710 0a2e BA95 dec r27 |
| 1711 0a30 01F4 brne 1b |
| 1712 0a32 9093 0000 sts (MesswertRoll)+1,r25 |
| 1713 0a36 8093 0000 sts MesswertRoll,r24 |
| 1714 0a3a 3093 0000 sts (RohMesswertNick)+1,r19 |
| 1715 0a3e 2093 0000 sts RohMesswertNick,r18 |
| 1716 0a42 9093 0000 sts (RohMesswertRoll)+1,r25 |
| 1717 0a46 8093 0000 sts RohMesswertRoll,r24 |
| 1718 0a4a 8091 0000 lds r24,Mittelwert_AccNick |
| 1719 0a4e 9091 0000 lds r25,(Mittelwert_AccNick)+1 |
| 1720 0a52 AC01 movw r20,r24 |
| 1721 0a54 440F lsl r20 |
| 1722 0a56 551F rol r21 |
| 1723 0a58 480F add r20,r24 |
| 1724 0a5a 591F adc r21,r25 |
| 1725 0a5c 2091 0000 lds r18,AdWertAccNick |
| 1726 0a60 3091 0000 lds r19,(AdWertAccNick)+1 |
| 1727 0a64 C901 movw r24,r18 |
| 1728 0a66 880F lsl r24 |
| 1729 0a68 991F rol r25 |
| 1730 0a6a 880F lsl r24 |
| 1731 0a6c 991F rol r25 |
| 1732 0a6e 820F add r24,r18 |
| 1733 0a70 931F adc r25,r19 |
| 1734 0a72 820F add r24,r18 |
| 1735 0a74 931F adc r25,r19 |
| 1736 0a76 480F add r20,r24 |
| 1737 0a78 591F adc r21,r25 |
| 1738 0a7a 57FF sbrs r21,7 |
| 1739 0a7c 00C0 rjmp .L85 |
| 1740 0a7e 4D5F subi r20,lo8(-(3)) |
| 1741 0a80 5F4F sbci r21,hi8(-(3)) |
| 1742 .L85: |
| 1743 0a82 5595 asr r21 |
| 1744 0a84 4795 ror r20 |
| 1745 0a86 5595 asr r21 |
| 1746 0a88 4795 ror r20 |
| 1747 0a8a 5093 0000 sts (Mittelwert_AccNick)+1,r21 |
| 1748 0a8e 4093 0000 sts Mittelwert_AccNick,r20 |
| 1749 0a92 8091 0000 lds r24,Mittelwert_AccRoll |
| 1750 0a96 9091 0000 lds r25,(Mittelwert_AccRoll)+1 |
| 1751 0a9a AC01 movw r20,r24 |
| 1752 0a9c 440F lsl r20 |
| 1753 0a9e 551F rol r21 |
| 1754 0aa0 480F add r20,r24 |
| 1755 0aa2 591F adc r21,r25 |
| 1756 0aa4 2091 0000 lds r18,AdWertAccRoll |
| 1757 0aa8 3091 0000 lds r19,(AdWertAccRoll)+1 |
| 1758 0aac C901 movw r24,r18 |
| 1759 0aae 880F lsl r24 |
| 1760 0ab0 991F rol r25 |
| 1761 0ab2 880F lsl r24 |
| 1762 0ab4 991F rol r25 |
| 1763 0ab6 820F add r24,r18 |
| 1764 0ab8 931F adc r25,r19 |
| 1765 0aba 820F add r24,r18 |
| 1766 0abc 931F adc r25,r19 |
| 1767 0abe 480F add r20,r24 |
| 1768 0ac0 591F adc r21,r25 |
| 1769 0ac2 57FF sbrs r21,7 |
| 1770 0ac4 00C0 rjmp .L86 |
| 1771 0ac6 4D5F subi r20,lo8(-(3)) |
| 1772 0ac8 5F4F sbci r21,hi8(-(3)) |
| 1773 .L86: |
| 1774 0aca 5595 asr r21 |
| 1775 0acc 4795 ror r20 |
| 1776 0ace 5595 asr r21 |
| 1777 0ad0 4795 ror r20 |
| 1778 0ad2 5093 0000 sts (Mittelwert_AccRoll)+1,r21 |
| 1779 0ad6 4093 0000 sts Mittelwert_AccRoll,r20 |
| 1780 0ada 2091 0000 lds r18,AdWertAccNick |
| 1781 0ade 3091 0000 lds r19,(AdWertAccNick)+1 |
| 1782 0ae2 C901 movw r24,r18 |
| 1783 0ae4 880F lsl r24 |
| 1784 0ae6 991F rol r25 |
| 1785 0ae8 880F lsl r24 |
| 1786 0aea 991F rol r25 |
| 1787 0aec 820F add r24,r18 |
| 1788 0aee 931F adc r25,r19 |
| 1789 0af0 820F add r24,r18 |
| 1790 0af2 931F adc r25,r19 |
| 1791 0af4 9C01 movw r18,r24 |
| 1792 0af6 4427 clr r20 |
| 1793 0af8 37FD sbrc r19,7 |
| 1794 0afa 4095 com r20 |
| 1795 0afc 542F mov r21,r20 |
| 1796 0afe 8091 0000 lds r24,IntegralAccNick |
| 1797 0b02 9091 0000 lds r25,(IntegralAccNick)+1 |
| 1798 0b06 A091 0000 lds r26,(IntegralAccNick)+2 |
| 1799 0b0a B091 0000 lds r27,(IntegralAccNick)+3 |
| 1800 0b0e 820F add r24,r18 |
| 1801 0b10 931F adc r25,r19 |
| 1802 0b12 A41F adc r26,r20 |
| 1803 0b14 B51F adc r27,r21 |
| 1804 0b16 8093 0000 sts IntegralAccNick,r24 |
| 1805 0b1a 9093 0000 sts (IntegralAccNick)+1,r25 |
| 1806 0b1e A093 0000 sts (IntegralAccNick)+2,r26 |
| 1807 0b22 B093 0000 sts (IntegralAccNick)+3,r27 |
| 1808 0b26 2091 0000 lds r18,AdWertAccRoll |
| 1809 0b2a 3091 0000 lds r19,(AdWertAccRoll)+1 |
| 1810 0b2e C901 movw r24,r18 |
| 1811 0b30 880F lsl r24 |
| 1812 0b32 991F rol r25 |
| 1813 0b34 880F lsl r24 |
| 1814 0b36 991F rol r25 |
| 1815 0b38 820F add r24,r18 |
| 1816 0b3a 931F adc r25,r19 |
| 1817 0b3c 820F add r24,r18 |
| 1818 0b3e 931F adc r25,r19 |
| 1819 0b40 9C01 movw r18,r24 |
| 1820 0b42 4427 clr r20 |
| 1821 0b44 37FD sbrc r19,7 |
| 1822 0b46 4095 com r20 |
| 1823 0b48 542F mov r21,r20 |
| 1824 0b4a 8091 0000 lds r24,IntegralAccRoll |
| 1825 0b4e 9091 0000 lds r25,(IntegralAccRoll)+1 |
| 1826 0b52 A091 0000 lds r26,(IntegralAccRoll)+2 |
| 1827 0b56 B091 0000 lds r27,(IntegralAccRoll)+3 |
| 1828 0b5a 820F add r24,r18 |
| 1829 0b5c 931F adc r25,r19 |
| 1830 0b5e A41F adc r26,r20 |
| 1831 0b60 B51F adc r27,r21 |
| 1832 0b62 8093 0000 sts IntegralAccRoll,r24 |
| 1833 0b66 9093 0000 sts (IntegralAccRoll)+1,r25 |
| 1834 0b6a A093 0000 sts (IntegralAccRoll)+2,r26 |
| 1835 0b6e B093 0000 sts (IntegralAccRoll)+3,r27 |
| 1836 0b72 8091 0000 lds r24,NaviAccNick |
| 1837 0b76 9091 0000 lds r25,(NaviAccNick)+1 |
| 1838 0b7a 2091 0000 lds r18,AdWertAccNick |
| 1839 0b7e 3091 0000 lds r19,(AdWertAccNick)+1 |
| 1840 0b82 820F add r24,r18 |
| 1841 0b84 931F adc r25,r19 |
| 1842 0b86 9093 0000 sts (NaviAccNick)+1,r25 |
| 1843 0b8a 8093 0000 sts NaviAccNick,r24 |
| 1844 0b8e 8091 0000 lds r24,NaviAccRoll |
| 1845 0b92 9091 0000 lds r25,(NaviAccRoll)+1 |
| 1846 0b96 2091 0000 lds r18,AdWertAccRoll |
| 1847 0b9a 3091 0000 lds r19,(AdWertAccRoll)+1 |
| 1848 0b9e 820F add r24,r18 |
| 1849 0ba0 931F adc r25,r19 |
| 1850 0ba2 9093 0000 sts (NaviAccRoll)+1,r25 |
| 1851 0ba6 8093 0000 sts NaviAccRoll,r24 |
| 1852 0baa 8091 0000 lds r24,NaviCntAcc |
| 1853 0bae 9091 0000 lds r25,(NaviCntAcc)+1 |
| 1854 0bb2 0196 adiw r24,1 |
| 1855 0bb4 9093 0000 sts (NaviCntAcc)+1,r25 |
| 1856 0bb8 8093 0000 sts NaviCntAcc,r24 |
| 1857 0bbc 8091 0000 lds r24,Aktuell_az |
| 1858 0bc0 9091 0000 lds r25,(Aktuell_az)+1 |
| 1859 0bc4 2091 0000 lds r18,NeutralAccZ |
| 1860 0bc8 3091 0000 lds r19,(NeutralAccZ)+1 |
| 1861 0bcc 821B sub r24,r18 |
| 1862 0bce 930B sbc r25,r19 |
| 1863 0bd0 9C01 movw r18,r24 |
| 1864 0bd2 4427 clr r20 |
| 1865 0bd4 37FD sbrc r19,7 |
| 1866 0bd6 4095 com r20 |
| 1867 0bd8 542F mov r21,r20 |
| 1868 0bda 8091 0000 lds r24,IntegralAccZ |
| 1869 0bde 9091 0000 lds r25,(IntegralAccZ)+1 |
| 1870 0be2 A091 0000 lds r26,(IntegralAccZ)+2 |
| 1871 0be6 B091 0000 lds r27,(IntegralAccZ)+3 |
| 1872 0bea 820F add r24,r18 |
| 1873 0bec 931F adc r25,r19 |
| 1874 0bee A41F adc r26,r20 |
| 1875 0bf0 B51F adc r27,r21 |
| 1876 0bf2 8093 0000 sts IntegralAccZ,r24 |
| 1877 0bf6 9093 0000 sts (IntegralAccZ)+1,r25 |
| 1878 0bfa A093 0000 sts (IntegralAccZ)+2,r26 |
| 1879 0bfe B093 0000 sts (IntegralAccZ)+3,r27 |
| 1880 0c02 8FEC ldi r24,lo8(-49) |
| 1881 0c04 8093 7A00 sts 122,r24 |
| 1882 0c08 1092 0000 sts AdReady,__zero_reg__ |
| 1883 0c0c 2091 0000 lds r18,Mess_IntegralRoll |
| 1884 0c10 3091 0000 lds r19,(Mess_IntegralRoll)+1 |
| 1885 0c14 4091 0000 lds r20,(Mess_IntegralRoll)+2 |
| 1886 0c18 5091 0000 lds r21,(Mess_IntegralRoll)+3 |
| 1887 0c1c 2987 std Y+9,r18 |
| 1888 0c1e 3A87 std Y+10,r19 |
| 1889 0c20 4B87 std Y+11,r20 |
| 1890 0c22 5C87 std Y+12,r21 |
| 1891 0c24 2954 subi r18,lo8(93001) |
| 1892 0c26 3B46 sbci r19,hi8(93001) |
| 1893 0c28 4140 sbci r20,hlo8(93001) |
| 1894 0c2a 5040 sbci r21,hhi8(93001) |
| 1895 0c2c 04F0 brlt .L87 |
| 1896 0c2e 28E4 ldi r18,lo8(93000) |
| 1897 0c30 3BE6 ldi r19,hi8(93000) |
| 1898 0c32 41E0 ldi r20,hlo8(93000) |
| 1899 0c34 50E0 ldi r21,hhi8(93000) |
| 1900 0c36 00C0 rjmp .L167 |
| 1901 .L87: |
| 1902 0c38 8985 ldd r24,Y+9 |
| 1903 0c3a 9A85 ldd r25,Y+10 |
| 1904 0c3c AB85 ldd r26,Y+11 |
| 1905 0c3e BC85 ldd r27,Y+12 |
| 1906 0c40 885B subi r24,lo8(-93000) |
| 1907 0c42 9449 sbci r25,hi8(-93000) |
| 1908 0c44 AE4F sbci r26,hlo8(-93000) |
| 1909 0c46 BF4F sbci r27,hhi8(-93000) |
| 1910 0c48 04F4 brge .L89 |
| 1911 0c4a 28EB ldi r18,lo8(-93000) |
| 1912 0c4c 34E9 ldi r19,hi8(-93000) |
| 1913 0c4e 4EEF ldi r20,hlo8(-93000) |
| 1914 0c50 5FEF ldi r21,hhi8(-93000) |
| 1915 .L167: |
| 1916 0c52 2D83 std Y+5,r18 |
| 1917 0c54 3E83 std Y+6,r19 |
| 1918 0c56 4F83 std Y+7,r20 |
| 1919 0c58 5887 std Y+8,r21 |
| 1920 0c5a 00C0 rjmp .L88 |
| 1921 .L89: |
| 1922 0c5c 8985 ldd r24,Y+9 |
| 1923 0c5e 9A85 ldd r25,Y+10 |
| 1924 0c60 AB85 ldd r26,Y+11 |
| 1925 0c62 BC85 ldd r27,Y+12 |
| 1926 0c64 8D83 std Y+5,r24 |
| 1927 0c66 9E83 std Y+6,r25 |
| 1928 0c68 AF83 std Y+7,r26 |
| 1929 0c6a B887 std Y+8,r27 |
| 1930 .L88: |
| 1931 0c6c 2091 0000 lds r18,Mess_IntegralNick |
| 1932 0c70 3091 0000 lds r19,(Mess_IntegralNick)+1 |
| 1933 0c74 4091 0000 lds r20,(Mess_IntegralNick)+2 |
| 1934 0c78 5091 0000 lds r21,(Mess_IntegralNick)+3 |
| 1935 0c7c 2D87 std Y+13,r18 |
| 1936 0c7e 3E87 std Y+14,r19 |
| 1937 0c80 4F87 std Y+15,r20 |
| 1938 0c82 588B std Y+16,r21 |
| 1939 0c84 2954 subi r18,lo8(93001) |
| 1940 0c86 3B46 sbci r19,hi8(93001) |
| 1941 0c88 4140 sbci r20,hlo8(93001) |
| 1942 0c8a 5040 sbci r21,hhi8(93001) |
| 1943 0c8c 04F0 brlt .L91 |
| 1944 0c8e 28E4 ldi r18,lo8(93000) |
| 1945 0c90 3BE6 ldi r19,hi8(93000) |
| 1946 0c92 41E0 ldi r20,hlo8(93000) |
| 1947 0c94 50E0 ldi r21,hhi8(93000) |
| 1948 0c96 00C0 rjmp .L168 |
| 1949 .L91: |
| 1950 0c98 8D85 ldd r24,Y+13 |
| 1951 0c9a 9E85 ldd r25,Y+14 |
| 1952 0c9c AF85 ldd r26,Y+15 |
| 1953 0c9e B889 ldd r27,Y+16 |
| 1954 0ca0 885B subi r24,lo8(-93000) |
| 1955 0ca2 9449 sbci r25,hi8(-93000) |
| 1956 0ca4 AE4F sbci r26,hlo8(-93000) |
| 1957 0ca6 BF4F sbci r27,hhi8(-93000) |
| 1958 0ca8 04F4 brge .L93 |
| 1959 0caa 28EB ldi r18,lo8(-93000) |
| 1960 0cac 34E9 ldi r19,hi8(-93000) |
| 1961 0cae 4EEF ldi r20,hlo8(-93000) |
| 1962 0cb0 5FEF ldi r21,hhi8(-93000) |
| 1963 .L168: |
| 1964 0cb2 2983 std Y+1,r18 |
| 1965 0cb4 3A83 std Y+2,r19 |
| 1966 0cb6 4B83 std Y+3,r20 |
| 1967 0cb8 5C83 std Y+4,r21 |
| 1968 0cba 00C0 rjmp .L92 |
| 1969 .L93: |
| 1970 0cbc 8D85 ldd r24,Y+13 |
| 1971 0cbe 9E85 ldd r25,Y+14 |
| 1972 0cc0 AF85 ldd r26,Y+15 |
| 1973 0cc2 B889 ldd r27,Y+16 |
| 1974 0cc4 8983 std Y+1,r24 |
| 1975 0cc6 9A83 std Y+2,r25 |
| 1976 0cc8 AB83 std Y+3,r26 |
| 1977 0cca BC83 std Y+4,r27 |
| 1978 .L92: |
| 1979 0ccc A091 0000 lds r26,MesswertGier |
| 1980 0cd0 B091 0000 lds r27,(MesswertGier)+1 |
| 1981 0cd4 BB8B std Y+19,r27 |
| 1982 0cd6 AA8B std Y+18,r26 |
| 1983 0cd8 FD01 movw r30,r26 |
| 1984 0cda CF01 movw r24,r30 |
| 1985 0cdc AA27 clr r26 |
| 1986 0cde 97FD sbrc r25,7 |
| 1987 0ce0 A095 com r26 |
| 1988 0ce2 BA2F mov r27,r26 |
| 1989 0ce4 A090 0000 lds r10,Mess_Integral_Gier |
| 1990 0ce8 B090 0000 lds r11,(Mess_Integral_Gier)+1 |
| 1991 0cec C090 0000 lds r12,(Mess_Integral_Gier)+2 |
| 1992 0cf0 D090 0000 lds r13,(Mess_Integral_Gier)+3 |
| 1993 0cf4 A80E add r10,r24 |
| 1994 0cf6 B91E adc r11,r25 |
| 1995 0cf8 CA1E adc r12,r26 |
| 1996 0cfa DB1E adc r13,r27 |
| 1997 0cfc A092 0000 sts Mess_Integral_Gier,r10 |
| 1998 0d00 B092 0000 sts (Mess_Integral_Gier)+1,r11 |
| 1999 0d04 C092 0000 sts (Mess_Integral_Gier)+2,r12 |
| 2000 0d08 D092 0000 sts (Mess_Integral_Gier)+3,r13 |
| 2001 0d0c E090 0000 lds r14,ErsatzKompass |
| 2002 0d10 F090 0000 lds r15,(ErsatzKompass)+1 |
| 2003 0d14 0091 0000 lds r16,(ErsatzKompass)+2 |
| 2004 0d18 1091 0000 lds r17,(ErsatzKompass)+3 |
| 2005 0d1c E80E add r14,r24 |
| 2006 0d1e F91E adc r15,r25 |
| 2007 0d20 0A1F adc r16,r26 |
| 2008 0d22 1B1F adc r17,r27 |
| 2009 0d24 E092 0000 sts ErsatzKompass,r14 |
| 2010 0d28 F092 0000 sts (ErsatzKompass)+1,r15 |
| 2011 0d2c 0093 0000 sts (ErsatzKompass)+2,r16 |
| 2012 0d30 1093 0000 sts (ErsatzKompass)+3,r17 |
| 2013 0d34 F091 0000 lds r31,Looping_Nick |
| 2014 0d38 F98B std Y+17,r31 |
| 2015 0d3a FF23 tst r31 |
| 2016 0d3c 01F0 breq .+2 |
| 2017 0d3e 00C0 rjmp .L95 |
| 2018 0d40 8091 0000 lds r24,Looping_Roll |
| 2019 0d44 8823 tst r24 |
| 2020 0d46 01F0 breq .+2 |
| 2021 0d48 00C0 rjmp .L95 |
| 2022 0d4a 8091 0000 lds r24,Parameter_GlobalConfig |
| 2023 0d4e 86FF sbrs r24,6 |
| 2024 0d50 00C0 rjmp .L95 |
| 2025 0d52 8091 0000 lds r24,MesswertRoll |
| 2026 0d56 9091 0000 lds r25,(MesswertRoll)+1 |
| 2027 0d5a AA27 clr r26 |
| 2028 0d5c 97FD sbrc r25,7 |
| 2029 0d5e A095 com r26 |
| 2030 0d60 BA2F mov r27,r26 |
| 2031 0d62 BC01 movw r22,r24 |
| 2032 0d64 CD01 movw r24,r26 |
| 2033 0d66 2981 ldd r18,Y+1 |
| 2034 0d68 3A81 ldd r19,Y+2 |
| 2035 0d6a 4B81 ldd r20,Y+3 |
| 2036 0d6c 5C81 ldd r21,Y+4 |
| 2037 0d6e 0E94 0000 call __mulsi3 |
| 2038 0d72 9B01 movw r18,r22 |
| 2039 0d74 AC01 movw r20,r24 |
| 2040 0d76 97FF sbrs r25,7 |
| 2041 0d78 00C0 rjmp .L96 |
| 2042 0d7a 2150 subi r18,lo8(-(2047)) |
| 2043 0d7c 384F sbci r19,hi8(-(2047)) |
| 2044 0d7e 4F4F sbci r20,hlo8(-(2047)) |
| 2045 0d80 5F4F sbci r21,hhi8(-(2047)) |
| 2046 .L96: |
| 2047 0d82 BBE0 ldi r27,11 |
| 2048 0d84 5595 1: asr r21 |
| 2049 0d86 4795 ror r20 |
| 2050 0d88 3795 ror r19 |
| 2051 0d8a 2795 ror r18 |
| 2052 0d8c BA95 dec r27 |
| 2053 0d8e 01F4 brne 1b |
| 2054 0d90 8091 0000 lds r24,Parameter_AchsKopplung2 |
| 2055 0d94 682E mov r6,r24 |
| 2056 0d96 7724 clr r7 |
| 2057 0d98 8824 clr r8 |
| 2058 0d9a 9924 clr r9 |
| 2059 0d9c CA01 movw r24,r20 |
| 2060 0d9e B901 movw r22,r18 |
| 2061 0da0 A401 movw r20,r8 |
| 2062 0da2 9301 movw r18,r6 |
| 2063 0da4 0E94 0000 call __mulsi3 |
| 2064 0da8 DC01 movw r26,r24 |
| 2065 0daa CB01 movw r24,r22 |
| 2066 0dac 8093 0000 sts tmpl3.29,r24 |
| 2067 0db0 9093 0000 sts (tmpl3.29)+1,r25 |
| 2068 0db4 A093 0000 sts (tmpl3.29)+2,r26 |
| 2069 0db8 B093 0000 sts (tmpl3.29)+3,r27 |
| 2070 0dbc B7FF sbrs r27,7 |
| 2071 0dbe 00C0 rjmp .L97 |
| 2072 0dc0 8150 subi r24,lo8(-(4095)) |
| 2073 0dc2 904F sbci r25,hi8(-(4095)) |
| 2074 0dc4 AF4F sbci r26,hlo8(-(4095)) |
| 2075 0dc6 BF4F sbci r27,hhi8(-(4095)) |
| 2076 .L97: |
| 2077 0dc8 1C01 movw r2,r24 |
| 2078 0dca 2D01 movw r4,r26 |
| 2079 0dcc ACE0 ldi r26,12 |
| 2080 0dce 5594 1: asr r5 |
| 2081 0dd0 4794 ror r4 |
| 2082 0dd2 3794 ror r3 |
| 2083 0dd4 2794 ror r2 |
| 2084 0dd6 AA95 dec r26 |
| 2085 0dd8 01F4 brne 1b |
| 2086 0dda 2092 0000 sts tmpl3.29,r2 |
| 2087 0dde 3092 0000 sts (tmpl3.29)+1,r3 |
| 2088 0de2 4092 0000 sts (tmpl3.29)+2,r4 |
| 2089 0de6 5092 0000 sts (tmpl3.29)+3,r5 |
| 2090 0dea 8091 0000 lds r24,MesswertNick |
| 2091 0dee 9091 0000 lds r25,(MesswertNick)+1 |
| 2092 0df2 AA27 clr r26 |
| 2093 0df4 97FD sbrc r25,7 |
| 2094 0df6 A095 com r26 |
| 2095 0df8 BA2F mov r27,r26 |
| 2096 0dfa BC01 movw r22,r24 |
| 2097 0dfc CD01 movw r24,r26 |
| 2098 0dfe 2D81 ldd r18,Y+5 |
| 2099 0e00 3E81 ldd r19,Y+6 |
| 2100 0e02 4F81 ldd r20,Y+7 |
| 2101 0e04 5885 ldd r21,Y+8 |
| 2102 0e06 0E94 0000 call __mulsi3 |
| 2103 0e0a 97FF sbrs r25,7 |
| 2104 0e0c 00C0 rjmp .L98 |
| 2105 0e0e 6150 subi r22,lo8(-(2047)) |
| 2106 0e10 784F sbci r23,hi8(-(2047)) |
| 2107 0e12 8F4F sbci r24,hlo8(-(2047)) |
| 2108 0e14 9F4F sbci r25,hhi8(-(2047)) |
| 2109 .L98: |
| 2110 0e16 FBE0 ldi r31,11 |
| 2111 0e18 9595 1: asr r25 |
| 2112 0e1a 8795 ror r24 |
| 2113 0e1c 7795 ror r23 |
| 2114 0e1e 6795 ror r22 |
| 2115 0e20 FA95 dec r31 |
| 2116 0e22 01F4 brne 1b |
| 2117 0e24 A401 movw r20,r8 |
| 2118 0e26 9301 movw r18,r6 |
| 2119 0e28 0E94 0000 call __mulsi3 |
| 2120 0e2c DC01 movw r26,r24 |
| 2121 0e2e CB01 movw r24,r22 |
| 2122 0e30 8093 0000 sts tmpl4.30,r24 |
| 2123 0e34 9093 0000 sts (tmpl4.30)+1,r25 |
| 2124 0e38 A093 0000 sts (tmpl4.30)+2,r26 |
| 2125 0e3c B093 0000 sts (tmpl4.30)+3,r27 |
| 2126 0e40 B7FF sbrs r27,7 |
| 2127 0e42 00C0 rjmp .L99 |
| 2128 0e44 8150 subi r24,lo8(-(4095)) |
| 2129 0e46 904F sbci r25,hi8(-(4095)) |
| 2130 0e48 AF4F sbci r26,hlo8(-(4095)) |
| 2131 0e4a BF4F sbci r27,hhi8(-(4095)) |
| 2132 .L99: |
| 2133 0e4c 9C01 movw r18,r24 |
| 2134 0e4e AD01 movw r20,r26 |
| 2135 0e50 ECE0 ldi r30,12 |
| 2136 0e52 5595 1: asr r21 |
| 2137 0e54 4795 ror r20 |
| 2138 0e56 3795 ror r19 |
| 2139 0e58 2795 ror r18 |
| 2140 0e5a EA95 dec r30 |
| 2141 0e5c 01F4 brne 1b |
| 2142 0e5e 2093 0000 sts tmpl4.30,r18 |
| 2143 0e62 3093 0000 sts (tmpl4.30)+1,r19 |
| 2144 0e66 4093 0000 sts (tmpl4.30)+2,r20 |
| 2145 0e6a 5093 0000 sts (tmpl4.30)+3,r21 |
| 2146 0e6e 8091 0000 lds r24,tmpl3.29 |
| 2147 0e72 9091 0000 lds r25,(tmpl3.29)+1 |
| 2148 0e76 9093 0000 sts (KopplungsteilNickRoll)+1,r25 |
| 2149 0e7a 8093 0000 sts KopplungsteilNickRoll,r24 |
| 2150 0e7e 8091 0000 lds r24,tmpl4.30 |
| 2151 0e82 9091 0000 lds r25,(tmpl4.30)+1 |
| 2152 0e86 9093 0000 sts (KopplungsteilRollNick)+1,r25 |
| 2153 0e8a 8093 0000 sts KopplungsteilRollNick,r24 |
| 2154 0e8e 2219 sub r18,r2 |
| 2155 0e90 3309 sbc r19,r3 |
| 2156 0e92 4409 sbc r20,r4 |
| 2157 0e94 5509 sbc r21,r5 |
| 2158 0e96 2093 0000 sts tmpl4.30,r18 |
| 2159 0e9a 3093 0000 sts (tmpl4.30)+1,r19 |
| 2160 0e9e 4093 0000 sts (tmpl4.30)+2,r20 |
| 2161 0ea2 5093 0000 sts (tmpl4.30)+3,r21 |
| 2162 0ea6 E20E add r14,r18 |
| 2163 0ea8 F31E adc r15,r19 |
| 2164 0eaa 041F adc r16,r20 |
| 2165 0eac 151F adc r17,r21 |
| 2166 0eae E092 0000 sts ErsatzKompass,r14 |
| 2167 0eb2 F092 0000 sts (ErsatzKompass)+1,r15 |
| 2168 0eb6 0093 0000 sts (ErsatzKompass)+2,r16 |
| 2169 0eba 1093 0000 sts (ErsatzKompass)+3,r17 |
| 2170 0ebe 8091 0000 lds r24,Parameter_CouplingYawCorrection |
| 2171 0ec2 8823 tst r24 |
| 2172 0ec4 01F4 brne .L100 |
| 2173 0ec6 57FF sbrs r21,7 |
| 2174 0ec8 00C0 rjmp .L101 |
| 2175 0eca 2F5F subi r18,lo8(-(1)) |
| 2176 0ecc 3F4F sbci r19,hi8(-(1)) |
| 2177 0ece 4F4F sbci r20,hlo8(-(1)) |
| 2178 0ed0 5F4F sbci r21,hhi8(-(1)) |
| 2179 .L101: |
| 2180 0ed2 5595 asr r21 |
| 2181 0ed4 4795 ror r20 |
| 2182 0ed6 3795 ror r19 |
| 2183 0ed8 2795 ror r18 |
| 2184 0eda A21A sub r10,r18 |
| 2185 0edc B30A sbc r11,r19 |
| 2186 0ede C40A sbc r12,r20 |
| 2187 0ee0 D50A sbc r13,r21 |
| 2188 0ee2 A092 0000 sts Mess_Integral_Gier,r10 |
| 2189 0ee6 B092 0000 sts (Mess_Integral_Gier)+1,r11 |
| 2190 0eea C092 0000 sts (Mess_Integral_Gier)+2,r12 |
| 2191 0eee D092 0000 sts (Mess_Integral_Gier)+3,r13 |
| 2192 .L100: |
| 2193 0ef2 2A89 ldd r18,Y+18 |
| 2194 0ef4 3B89 ldd r19,Y+19 |
| 2195 0ef6 7901 movw r14,r18 |
| 2196 0ef8 0027 clr r16 |
| 2197 0efa F7FC sbrc r15,7 |
| 2198 0efc 0095 com r16 |
| 2199 0efe 102F mov r17,r16 |
| 2200 0f00 8091 0000 lds r24,tmpl4.30 |
| 2201 0f04 9091 0000 lds r25,(tmpl4.30)+1 |
| 2202 0f08 A091 0000 lds r26,(tmpl4.30)+2 |
| 2203 0f0c B091 0000 lds r27,(tmpl4.30)+3 |
| 2204 0f10 E80E add r14,r24 |
| 2205 0f12 F91E adc r15,r25 |
| 2206 0f14 0A1F adc r16,r26 |
| 2207 0f16 1B1F adc r17,r27 |
| 2208 0f18 C801 movw r24,r16 |
| 2209 0f1a B701 movw r22,r14 |
| 2210 0f1c 2981 ldd r18,Y+1 |
| 2211 0f1e 3A81 ldd r19,Y+2 |
| 2212 0f20 4B81 ldd r20,Y+3 |
| 2213 0f22 5C81 ldd r21,Y+4 |
| 2214 0f24 0E94 0000 call __mulsi3 |
| 2215 0f28 9B01 movw r18,r22 |
| 2216 0f2a AC01 movw r20,r24 |
| 2217 0f2c 97FF sbrs r25,7 |
| 2218 0f2e 00C0 rjmp .L102 |
| 2219 0f30 2150 subi r18,lo8(-(2047)) |
| 2220 0f32 384F sbci r19,hi8(-(2047)) |
| 2221 0f34 4F4F sbci r20,hlo8(-(2047)) |
| 2222 0f36 5F4F sbci r21,hhi8(-(2047)) |
| 2223 .L102: |
| 2224 0f38 6BE0 ldi r22,11 |
| 2225 0f3a 5595 1: asr r21 |
| 2226 0f3c 4795 ror r20 |
| 2227 0f3e 3795 ror r19 |
| 2228 0f40 2795 ror r18 |
| 2229 0f42 6A95 dec r22 |
| 2230 0f44 01F4 brne 1b |
| 2231 0f46 8091 0000 lds r24,Parameter_AchsKopplung1 |
| 2232 0f4a A82E mov r10,r24 |
| 2233 0f4c BB24 clr r11 |
| 2234 0f4e CC24 clr r12 |
| 2235 0f50 DD24 clr r13 |
| 2236 0f52 CA01 movw r24,r20 |
| 2237 0f54 B901 movw r22,r18 |
| 2238 0f56 A601 movw r20,r12 |
| 2239 0f58 9501 movw r18,r10 |
| 2240 0f5a 0E94 0000 call __mulsi3 |
| 2241 0f5e DC01 movw r26,r24 |
| 2242 0f60 CB01 movw r24,r22 |
| 2243 0f62 8093 0000 sts tmpl.27,r24 |
| 2244 0f66 9093 0000 sts (tmpl.27)+1,r25 |
| 2245 0f6a A093 0000 sts (tmpl.27)+2,r26 |
| 2246 0f6e B093 0000 sts (tmpl.27)+3,r27 |
| 2247 0f72 B7FF sbrs r27,7 |
| 2248 0f74 00C0 rjmp .L103 |
| 2249 0f76 8150 subi r24,lo8(-(4095)) |
| 2250 0f78 904F sbci r25,hi8(-(4095)) |
| 2251 0f7a AF4F sbci r26,hlo8(-(4095)) |
| 2252 0f7c BF4F sbci r27,hhi8(-(4095)) |
| 2253 .L103: |
| 2254 0f7e 3C01 movw r6,r24 |
| 2255 0f80 4D01 movw r8,r26 |
| 2256 0f82 3CE0 ldi r19,12 |
| 2257 0f84 9594 1: asr r9 |
| 2258 0f86 8794 ror r8 |
| 2259 0f88 7794 ror r7 |
| 2260 0f8a 6794 ror r6 |
| 2261 0f8c 3A95 dec r19 |
| 2262 0f8e 01F4 brne 1b |
| 2263 0f90 6092 0000 sts tmpl.27,r6 |
| 2264 0f94 7092 0000 sts (tmpl.27)+1,r7 |
| 2265 0f98 8092 0000 sts (tmpl.27)+2,r8 |
| 2266 0f9c 9092 0000 sts (tmpl.27)+3,r9 |
| 2267 0fa0 C801 movw r24,r16 |
| 2268 0fa2 B701 movw r22,r14 |
| 2269 0fa4 2D81 ldd r18,Y+5 |
| 2270 0fa6 3E81 ldd r19,Y+6 |
| 2271 0fa8 4F81 ldd r20,Y+7 |
| 2272 0faa 5885 ldd r21,Y+8 |
| 2273 0fac 0E94 0000 call __mulsi3 |
| 2274 0fb0 97FF sbrs r25,7 |
| 2275 0fb2 00C0 rjmp .L104 |
| 2276 0fb4 6150 subi r22,lo8(-(2047)) |
| 2277 0fb6 784F sbci r23,hi8(-(2047)) |
| 2278 0fb8 8F4F sbci r24,hlo8(-(2047)) |
| 2279 0fba 9F4F sbci r25,hhi8(-(2047)) |
| 2280 .L104: |
| 2281 0fbc 2BE0 ldi r18,11 |
| 2282 0fbe 9595 1: asr r25 |
| 2283 0fc0 8795 ror r24 |
| 2284 0fc2 7795 ror r23 |
| 2285 0fc4 6795 ror r22 |
| 2286 0fc6 2A95 dec r18 |
| 2287 0fc8 01F4 brne 1b |
| 2288 0fca A601 movw r20,r12 |
| 2289 0fcc 9501 movw r18,r10 |
| 2290 0fce 0E94 0000 call __mulsi3 |
| 2291 0fd2 DC01 movw r26,r24 |
| 2292 0fd4 CB01 movw r24,r22 |
| 2293 0fd6 8093 0000 sts tmpl2.28,r24 |
| 2294 0fda 9093 0000 sts (tmpl2.28)+1,r25 |
| 2295 0fde A093 0000 sts (tmpl2.28)+2,r26 |
| 2296 0fe2 B093 0000 sts (tmpl2.28)+3,r27 |
| 2297 0fe6 B7FF sbrs r27,7 |
| 2298 0fe8 00C0 rjmp .L105 |
| 2299 0fea 8150 subi r24,lo8(-(4095)) |
| 2300 0fec 904F sbci r25,hi8(-(4095)) |
| 2301 0fee AF4F sbci r26,hlo8(-(4095)) |
| 2302 0ff0 BF4F sbci r27,hhi8(-(4095)) |
| 2303 .L105: |
| 2304 0ff2 AC01 movw r20,r24 |
| 2305 0ff4 BD01 movw r22,r26 |
| 2306 0ff6 8CE0 ldi r24,12 |
| 2307 0ff8 7595 1: asr r23 |
| 2308 0ffa 6795 ror r22 |
| 2309 0ffc 5795 ror r21 |
| 2310 0ffe 4795 ror r20 |
| 2311 1000 8A95 dec r24 |
| 2312 1002 01F4 brne 1b |
| 2313 1004 4093 0000 sts tmpl2.28,r20 |
| 2314 1008 5093 0000 sts (tmpl2.28)+1,r21 |
| 2315 100c 6093 0000 sts (tmpl2.28)+2,r22 |
| 2316 1010 7093 0000 sts (tmpl2.28)+3,r23 |
| 2317 1014 2A89 ldd r18,Y+18 |
| 2318 1016 3B89 ldd r19,Y+19 |
| 2319 1018 37FF sbrs r19,7 |
| 2320 101a 00C0 rjmp .L107 |
| 2321 101c 3095 com r19 |
| 2322 101e 2195 neg r18 |
| 2323 1020 3F4F sbci r19,lo8(-1) |
| 2324 .L107: |
| 2325 1022 2134 cpi r18,65 |
| 2326 1024 3105 cpc r19,__zero_reg__ |
| 2327 1026 04F0 brlt .L112 |
| 2328 1028 D401 movw r26,r8 |
| 2329 102a C301 movw r24,r6 |
| 2330 102c 97FE sbrs r9,7 |
| 2331 102e 00C0 rjmp .L110 |
| 2332 1030 B095 com r27 |
| 2333 1032 A095 com r26 |
| 2334 1034 9095 com r25 |
| 2335 1036 8195 neg r24 |
| 2336 1038 9F4F sbci r25,lo8(-1) |
| 2337 103a AF4F sbci r26,lo8(-1) |
| 2338 103c BF4F sbci r27,lo8(-1) |
| 2339 .L110: |
| 2340 103e 8138 cpi r24,lo8(129) |
| 2341 1040 9105 cpc r25,__zero_reg__ |
| 2342 1042 A105 cpc r26,__zero_reg__ |
| 2343 1044 B105 cpc r27,__zero_reg__ |
| 2344 1046 04F4 brge .L109 |
| 2345 1048 DB01 movw r26,r22 |
| 2346 104a CA01 movw r24,r20 |
| 2347 104c 77FF sbrs r23,7 |
| 2348 104e 00C0 rjmp .L111 |
| 2349 1050 B095 com r27 |
| 2350 1052 A095 com r26 |
| 2351 1054 9095 com r25 |
| 2352 1056 8195 neg r24 |
| 2353 1058 9F4F sbci r25,lo8(-1) |
| 2354 105a AF4F sbci r26,lo8(-1) |
| 2355 105c BF4F sbci r27,lo8(-1) |
| 2356 .L111: |
| 2357 105e 8138 cpi r24,lo8(129) |
| 2358 1060 9105 cpc r25,__zero_reg__ |
| 2359 1062 A105 cpc r26,__zero_reg__ |
| 2360 1064 B105 cpc r27,__zero_reg__ |
| 2361 1066 04F0 brlt .L112 |
| 2362 .L109: |
| 2363 1068 81E0 ldi r24,lo8(1) |
| 2364 106a 8093 0000 sts TrichterFlug,r24 |
| 2365 106e 00C0 rjmp .L112 |
| 2366 .L95: |
| 2367 1070 1092 0000 sts (KopplungsteilRollNick)+1,__zero_reg__ |
| 2368 1074 1092 0000 sts KopplungsteilRollNick,__zero_reg__ |
| 2369 1078 1092 0000 sts (KopplungsteilNickRoll)+1,__zero_reg__ |
| 2370 107c 1092 0000 sts KopplungsteilNickRoll,__zero_reg__ |
| 2371 1080 1092 0000 sts tmpl2.28,__zero_reg__ |
| 2372 1084 1092 0000 sts (tmpl2.28)+1,__zero_reg__ |
| 2373 1088 1092 0000 sts (tmpl2.28)+2,__zero_reg__ |
| 2374 108c 1092 0000 sts (tmpl2.28)+3,__zero_reg__ |
| 2375 1090 1092 0000 sts tmpl.27,__zero_reg__ |
| 2376 1094 1092 0000 sts (tmpl.27)+1,__zero_reg__ |
| 2377 1098 1092 0000 sts (tmpl.27)+2,__zero_reg__ |
| 2378 109c 1092 0000 sts (tmpl.27)+3,__zero_reg__ |
| 2379 .L112: |
| 2380 10a0 8091 0000 lds r24,tmpl2.28 |
| 2381 10a4 9091 0000 lds r25,(tmpl2.28)+1 |
| 2382 10a8 A091 0000 lds r26,(tmpl2.28)+2 |
| 2383 10ac B091 0000 lds r27,(tmpl2.28)+3 |
| 2384 10b0 BC01 movw r22,r24 |
| 2385 10b2 CD01 movw r24,r26 |
| 2386 10b4 24E6 ldi r18,lo8(100) |
| 2387 10b6 30E0 ldi r19,hi8(100) |
| 2388 10b8 40E0 ldi r20,hlo8(100) |
| 2389 10ba 50E0 ldi r21,hhi8(100) |
| 2390 10bc 0E94 0000 call __divmodsi4 |
| 2391 10c0 E090 0000 lds r14,tmpl.27 |
| 2392 10c4 F090 0000 lds r15,(tmpl.27)+1 |
| 2393 10c8 E21A sub r14,r18 |
| 2394 10ca F30A sbc r15,r19 |
| 2395 10cc F092 0000 sts (TrimRoll)+1,r15 |
| 2396 10d0 E092 0000 sts TrimRoll,r14 |
| 2397 10d4 8091 0000 lds r24,tmpl.27 |
| 2398 10d8 9091 0000 lds r25,(tmpl.27)+1 |
| 2399 10dc A091 0000 lds r26,(tmpl.27)+2 |
| 2400 10e0 B091 0000 lds r27,(tmpl.27)+3 |
| 2401 10e4 BC01 movw r22,r24 |
| 2402 10e6 CD01 movw r24,r26 |
| 2403 10e8 24E6 ldi r18,lo8(100) |
| 2404 10ea 30E0 ldi r19,hi8(100) |
| 2405 10ec 40E0 ldi r20,hlo8(100) |
| 2406 10ee 50E0 ldi r21,hhi8(100) |
| 2407 10f0 0E94 0000 call __divmodsi4 |
| 2408 10f4 DA01 movw r26,r20 |
| 2409 10f6 C901 movw r24,r18 |
| 2410 10f8 2091 0000 lds r18,tmpl2.28 |
| 2411 10fc 3091 0000 lds r19,(tmpl2.28)+1 |
| 2412 1100 8C01 movw r16,r24 |
| 2413 1102 021B sub r16,r18 |
| 2414 1104 130B sbc r17,r19 |
| 2415 1106 1093 0000 sts (TrimNick)+1,r17 |
| 2416 110a 0093 0000 sts TrimNick,r16 |
| 2417 110e 8091 0000 lds r24,GIER_GRAD_FAKTOR |
| 2418 1112 9091 0000 lds r25,(GIER_GRAD_FAKTOR)+1 |
| 2419 1116 A091 0000 lds r26,(GIER_GRAD_FAKTOR)+2 |
| 2420 111a B091 0000 lds r27,(GIER_GRAD_FAKTOR)+3 |
| 2421 111e BC01 movw r22,r24 |
| 2422 1120 CD01 movw r24,r26 |
| 2423 1122 28E6 ldi r18,lo8(360) |
| 2424 1124 31E0 ldi r19,hi8(360) |
| 2425 1126 40E0 ldi r20,hlo8(360) |
| 2426 1128 50E0 ldi r21,hhi8(360) |
| 2427 112a 0E94 0000 call __mulsi3 |
| 2428 112e 2091 0000 lds r18,ErsatzKompass |
| 2429 1132 3091 0000 lds r19,(ErsatzKompass)+1 |
| 2430 1136 4091 0000 lds r20,(ErsatzKompass)+2 |
| 2431 113a 5091 0000 lds r21,(ErsatzKompass)+3 |
| 2432 113e 2617 cp r18,r22 |
| 2433 1140 3707 cpc r19,r23 |
| 2434 1142 4807 cpc r20,r24 |
| 2435 1144 5907 cpc r21,r25 |
| 2436 1146 04F0 brlt .L113 |
| 2437 1148 261B sub r18,r22 |
| 2438 114a 370B sbc r19,r23 |
| 2439 114c 480B sbc r20,r24 |
| 2440 114e 590B sbc r21,r25 |
| 2441 1150 2093 0000 sts ErsatzKompass,r18 |
| 2442 1154 3093 0000 sts (ErsatzKompass)+1,r19 |
| 2443 1158 4093 0000 sts (ErsatzKompass)+2,r20 |
| 2444 115c 5093 0000 sts (ErsatzKompass)+3,r21 |
| 2445 .L113: |
| 2446 1160 2091 0000 lds r18,ErsatzKompass |
| 2447 1164 3091 0000 lds r19,(ErsatzKompass)+1 |
| 2448 1168 4091 0000 lds r20,(ErsatzKompass)+2 |
| 2449 116c 5091 0000 lds r21,(ErsatzKompass)+3 |
| 2450 1170 57FF sbrs r21,7 |
| 2451 1172 00C0 rjmp .L114 |
| 2452 1174 260F add r18,r22 |
| 2453 1176 371F adc r19,r23 |
| 2454 1178 481F adc r20,r24 |
| 2455 117a 591F adc r21,r25 |
| 2456 117c 2093 0000 sts ErsatzKompass,r18 |
| 2457 1180 3093 0000 sts (ErsatzKompass)+1,r19 |
| 2458 1184 4093 0000 sts (ErsatzKompass)+2,r20 |
| 2459 1188 5093 0000 sts (ErsatzKompass)+3,r21 |
| 2460 .L114: |
| 2461 118c 6091 0000 lds r22,MesswertRoll |
| 2462 1190 7091 0000 lds r23,(MesswertRoll)+1 |
| 2463 1194 6E0D add r22,r14 |
| 2464 1196 7F1D adc r23,r15 |
| 2465 1198 9B01 movw r18,r22 |
| 2466 119a 4427 clr r20 |
| 2467 119c 37FD sbrc r19,7 |
| 2468 119e 4095 com r20 |
| 2469 11a0 542F mov r21,r20 |
| 2470 11a2 8091 0000 lds r24,Mess_IntegralRoll2 |
| 2471 11a6 9091 0000 lds r25,(Mess_IntegralRoll2)+1 |
| 2472 11aa A091 0000 lds r26,(Mess_IntegralRoll2)+2 |
| 2473 11ae B091 0000 lds r27,(Mess_IntegralRoll2)+3 |
| 2474 11b2 820F add r24,r18 |
| 2475 11b4 931F adc r25,r19 |
| 2476 11b6 A41F adc r26,r20 |
| 2477 11b8 B51F adc r27,r21 |
| 2478 11ba 8093 0000 sts Mess_IntegralRoll2,r24 |
| 2479 11be 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
| 2480 11c2 A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
| 2481 11c6 B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
| 2482 11ca 8091 0000 lds r24,LageKorrekturRoll |
| 2483 11ce 9091 0000 lds r25,(LageKorrekturRoll)+1 |
| 2484 11d2 681B sub r22,r24 |
| 2485 11d4 790B sbc r23,r25 |
| 2486 11d6 CB01 movw r24,r22 |
| 2487 11d8 AA27 clr r26 |
| 2488 11da 97FD sbrc r25,7 |
| 2489 11dc A095 com r26 |
| 2490 11de BA2F mov r27,r26 |
| 2491 11e0 2985 ldd r18,Y+9 |
| 2492 11e2 3A85 ldd r19,Y+10 |
| 2493 11e4 4B85 ldd r20,Y+11 |
| 2494 11e6 5C85 ldd r21,Y+12 |
| 2495 11e8 820F add r24,r18 |
| 2496 11ea 931F adc r25,r19 |
| 2497 11ec A41F adc r26,r20 |
| 2498 11ee B51F adc r27,r21 |
| 2499 11f0 8093 0000 sts Mess_IntegralRoll,r24 |
| 2500 11f4 9093 0000 sts (Mess_IntegralRoll)+1,r25 |
| 2501 11f8 A093 0000 sts (Mess_IntegralRoll)+2,r26 |
| 2502 11fc B093 0000 sts (Mess_IntegralRoll)+3,r27 |
| 2503 1200 C090 0000 lds r12,Umschlag180Roll |
| 2504 1204 D090 0000 lds r13,(Umschlag180Roll)+1 |
| 2505 1208 E090 0000 lds r14,(Umschlag180Roll)+2 |
| 2506 120c F090 0000 lds r15,(Umschlag180Roll)+3 |
| 2507 1210 C816 cp r12,r24 |
| 2508 1212 D906 cpc r13,r25 |
| 2509 1214 EA06 cpc r14,r26 |
| 2510 1216 FB06 cpc r15,r27 |
| 2511 1218 04F4 brge .L115 |
| 2512 121a 88EA ldi r24,lo8(25000) |
| 2513 121c 91E6 ldi r25,hi8(25000) |
| 2514 121e A0E0 ldi r26,hlo8(25000) |
| 2515 1220 B0E0 ldi r27,hhi8(25000) |
| 2516 1222 8C19 sub r24,r12 |
| 2517 1224 9D09 sbc r25,r13 |
| 2518 1226 AE09 sbc r26,r14 |
| 2519 1228 BF09 sbc r27,r15 |
| 2520 122a 8093 0000 sts Mess_IntegralRoll,r24 |
| 2521 122e 9093 0000 sts (Mess_IntegralRoll)+1,r25 |
| 2522 1232 A093 0000 sts (Mess_IntegralRoll)+2,r26 |
| 2523 1236 B093 0000 sts (Mess_IntegralRoll)+3,r27 |
| 2524 123a 8093 0000 sts Mess_IntegralRoll2,r24 |
| 2525 123e 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
| 2526 1242 A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
| 2527 1246 B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
| 2528 .L115: |
| 2529 124a 2227 clr r18 |
| 2530 124c 3327 clr r19 |
| 2531 124e A901 movw r20,r18 |
| 2532 1250 2C19 sub r18,r12 |
| 2533 1252 3D09 sbc r19,r13 |
| 2534 1254 4E09 sbc r20,r14 |
| 2535 1256 5F09 sbc r21,r15 |
| 2536 1258 8091 0000 lds r24,Mess_IntegralRoll |
| 2537 125c 9091 0000 lds r25,(Mess_IntegralRoll)+1 |
| 2538 1260 A091 0000 lds r26,(Mess_IntegralRoll)+2 |
| 2539 1264 B091 0000 lds r27,(Mess_IntegralRoll)+3 |
| 2540 1268 8217 cp r24,r18 |
| 2541 126a 9307 cpc r25,r19 |
| 2542 126c A407 cpc r26,r20 |
| 2543 126e B507 cpc r27,r21 |
| 2544 1270 04F4 brge .L116 |
| 2545 1272 D701 movw r26,r14 |
| 2546 1274 C601 movw r24,r12 |
| 2547 1276 885A subi r24,lo8(-(-25000)) |
| 2548 1278 9146 sbci r25,hi8(-(-25000)) |
| 2549 127a A040 sbci r26,hlo8(-(-25000)) |
| 2550 127c B040 sbci r27,hhi8(-(-25000)) |
| 2551 127e 8093 0000 sts Mess_IntegralRoll,r24 |
| 2552 1282 9093 0000 sts (Mess_IntegralRoll)+1,r25 |
| 2553 1286 A093 0000 sts (Mess_IntegralRoll)+2,r26 |
| 2554 128a B093 0000 sts (Mess_IntegralRoll)+3,r27 |
| 2555 128e 8093 0000 sts Mess_IntegralRoll2,r24 |
| 2556 1292 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
| 2557 1296 A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
| 2558 129a B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
| 2559 .L116: |
| 2560 129e 6091 0000 lds r22,MesswertNick |
| 2561 12a2 7091 0000 lds r23,(MesswertNick)+1 |
| 2562 12a6 600F add r22,r16 |
| 2563 12a8 711F adc r23,r17 |
| 2564 12aa 9B01 movw r18,r22 |
| 2565 12ac 4427 clr r20 |
| 2566 12ae 37FD sbrc r19,7 |
| 2567 12b0 4095 com r20 |
| 2568 12b2 542F mov r21,r20 |
| 2569 12b4 8091 0000 lds r24,Mess_IntegralNick2 |
| 2570 12b8 9091 0000 lds r25,(Mess_IntegralNick2)+1 |
| 2571 12bc A091 0000 lds r26,(Mess_IntegralNick2)+2 |
| 2572 12c0 B091 0000 lds r27,(Mess_IntegralNick2)+3 |
| 2573 12c4 820F add r24,r18 |
| 2574 12c6 931F adc r25,r19 |
| 2575 12c8 A41F adc r26,r20 |
| 2576 12ca B51F adc r27,r21 |
| 2577 12cc 8093 0000 sts Mess_IntegralNick2,r24 |
| 2578 12d0 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
| 2579 12d4 A093 0000 sts (Mess_IntegralNick2)+2,r26 |
| 2580 12d8 B093 0000 sts (Mess_IntegralNick2)+3,r27 |
| 2581 12dc 8091 0000 lds r24,LageKorrekturNick |
| 2582 12e0 9091 0000 lds r25,(LageKorrekturNick)+1 |
| 2583 12e4 681B sub r22,r24 |
| 2584 12e6 790B sbc r23,r25 |
| 2585 12e8 CB01 movw r24,r22 |
| 2586 12ea AA27 clr r26 |
| 2587 12ec 97FD sbrc r25,7 |
| 2588 12ee A095 com r26 |
| 2589 12f0 BA2F mov r27,r26 |
| 2590 12f2 2D85 ldd r18,Y+13 |
| 2591 12f4 3E85 ldd r19,Y+14 |
| 2592 12f6 4F85 ldd r20,Y+15 |
| 2593 12f8 5889 ldd r21,Y+16 |
| 2594 12fa 820F add r24,r18 |
| 2595 12fc 931F adc r25,r19 |
| 2596 12fe A41F adc r26,r20 |
| 2597 1300 B51F adc r27,r21 |
| 2598 1302 8093 0000 sts Mess_IntegralNick,r24 |
| 2599 1306 9093 0000 sts (Mess_IntegralNick)+1,r25 |
| 2600 130a A093 0000 sts (Mess_IntegralNick)+2,r26 |
| 2601 130e B093 0000 sts (Mess_IntegralNick)+3,r27 |
| 2602 1312 E090 0000 lds r14,Umschlag180Nick |
| 2603 1316 F090 0000 lds r15,(Umschlag180Nick)+1 |
| 2604 131a 0091 0000 lds r16,(Umschlag180Nick)+2 |
| 2605 131e 1091 0000 lds r17,(Umschlag180Nick)+3 |
| 2606 1322 E816 cp r14,r24 |
| 2607 1324 F906 cpc r15,r25 |
| 2608 1326 0A07 cpc r16,r26 |
| 2609 1328 1B07 cpc r17,r27 |
| 2610 132a 04F4 brge .L117 |
| 2611 132c 88EA ldi r24,lo8(25000) |
| 2612 132e 91E6 ldi r25,hi8(25000) |
| 2613 1330 A0E0 ldi r26,hlo8(25000) |
| 2614 1332 B0E0 ldi r27,hhi8(25000) |
| 2615 1334 8E19 sub r24,r14 |
| 2616 1336 9F09 sbc r25,r15 |
| 2617 1338 A00B sbc r26,r16 |
| 2618 133a B10B sbc r27,r17 |
| 2619 133c 8093 0000 sts Mess_IntegralNick,r24 |
| 2620 1340 9093 0000 sts (Mess_IntegralNick)+1,r25 |
| 2621 1344 A093 0000 sts (Mess_IntegralNick)+2,r26 |
| 2622 1348 B093 0000 sts (Mess_IntegralNick)+3,r27 |
| 2623 134c 8093 0000 sts Mess_IntegralNick2,r24 |
| 2624 1350 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
| 2625 1354 A093 0000 sts (Mess_IntegralNick2)+2,r26 |
| 2626 1358 B093 0000 sts (Mess_IntegralNick2)+3,r27 |
| 2627 .L117: |
| 2628 135c 2227 clr r18 |
| 2629 135e 3327 clr r19 |
| 2630 1360 A901 movw r20,r18 |
| 2631 1362 2E19 sub r18,r14 |
| 2632 1364 3F09 sbc r19,r15 |
| 2633 1366 400B sbc r20,r16 |
| 2634 1368 510B sbc r21,r17 |
| 2635 136a 8091 0000 lds r24,Mess_IntegralNick |
| 2636 136e 9091 0000 lds r25,(Mess_IntegralNick)+1 |
| 2637 1372 A091 0000 lds r26,(Mess_IntegralNick)+2 |
| 2638 1376 B091 0000 lds r27,(Mess_IntegralNick)+3 |
| 2639 137a 8217 cp r24,r18 |
| 2640 137c 9307 cpc r25,r19 |
| 2641 137e A407 cpc r26,r20 |
| 2642 1380 B507 cpc r27,r21 |
| 2643 1382 04F4 brge .L118 |
| 2644 1384 D801 movw r26,r16 |
| 2645 1386 C701 movw r24,r14 |
| 2646 1388 885A subi r24,lo8(-(-25000)) |
| 2647 138a 9146 sbci r25,hi8(-(-25000)) |
| 2648 138c A040 sbci r26,hlo8(-(-25000)) |
| 2649 138e B040 sbci r27,hhi8(-(-25000)) |
| 2650 1390 8093 0000 sts Mess_IntegralNick,r24 |
| 2651 1394 9093 0000 sts (Mess_IntegralNick)+1,r25 |
| 2652 1398 A093 0000 sts (Mess_IntegralNick)+2,r26 |
| 2653 139c B093 0000 sts (Mess_IntegralNick)+3,r27 |
| 2654 13a0 8093 0000 sts Mess_IntegralNick2,r24 |
| 2655 13a4 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
| 2656 13a8 A093 0000 sts (Mess_IntegralNick2)+2,r26 |
| 2657 13ac B093 0000 sts (Mess_IntegralNick2)+3,r27 |
| 2658 .L118: |
| 2659 13b0 8091 0000 lds r24,Mess_Integral_Gier |
| 2660 13b4 9091 0000 lds r25,(Mess_Integral_Gier)+1 |
| 2661 13b8 A091 0000 lds r26,(Mess_Integral_Gier)+2 |
| 2662 13bc B091 0000 lds r27,(Mess_Integral_Gier)+3 |
| 2663 13c0 8093 0000 sts Integral_Gier,r24 |
| 2664 13c4 9093 0000 sts (Integral_Gier)+1,r25 |
| 2665 13c8 A093 0000 sts (Integral_Gier)+2,r26 |
| 2666 13cc B093 0000 sts (Integral_Gier)+3,r27 |
| 2667 13d0 8091 0000 lds r24,Mess_IntegralNick |
| 2668 13d4 9091 0000 lds r25,(Mess_IntegralNick)+1 |
| 2669 13d8 A091 0000 lds r26,(Mess_IntegralNick)+2 |
| 2670 13dc B091 0000 lds r27,(Mess_IntegralNick)+3 |
| 2671 13e0 8093 0000 sts IntegralNick,r24 |
| 2672 13e4 9093 0000 sts (IntegralNick)+1,r25 |
| 2673 13e8 A093 0000 sts (IntegralNick)+2,r26 |
| 2674 13ec B093 0000 sts (IntegralNick)+3,r27 |
| 2675 13f0 8091 0000 lds r24,Mess_IntegralRoll |
| 2676 13f4 9091 0000 lds r25,(Mess_IntegralRoll)+1 |
| 2677 13f8 A091 0000 lds r26,(Mess_IntegralRoll)+2 |
| 2678 13fc B091 0000 lds r27,(Mess_IntegralRoll)+3 |
| 2679 1400 8093 0000 sts IntegralRoll,r24 |
| 2680 1404 9093 0000 sts (IntegralRoll)+1,r25 |
| 2681 1408 A093 0000 sts (IntegralRoll)+2,r26 |
| 2682 140c B093 0000 sts (IntegralRoll)+3,r27 |
| 2683 1410 8091 0000 lds r24,Mess_IntegralNick2 |
| 2684 1414 9091 0000 lds r25,(Mess_IntegralNick2)+1 |
| 2685 1418 A091 0000 lds r26,(Mess_IntegralNick2)+2 |
| 2686 141c B091 0000 lds r27,(Mess_IntegralNick2)+3 |
| 2687 1420 8093 0000 sts IntegralNick2,r24 |
| 2688 1424 9093 0000 sts (IntegralNick2)+1,r25 |
| 2689 1428 A093 0000 sts (IntegralNick2)+2,r26 |
| 2690 142c B093 0000 sts (IntegralNick2)+3,r27 |
| 2691 1430 8091 0000 lds r24,Mess_IntegralRoll2 |
| 2692 1434 9091 0000 lds r25,(Mess_IntegralRoll2)+1 |
| 2693 1438 A091 0000 lds r26,(Mess_IntegralRoll2)+2 |
| 2694 143c B091 0000 lds r27,(Mess_IntegralRoll2)+3 |
| 2695 1440 8093 0000 sts IntegralRoll2,r24 |
| 2696 1444 9093 0000 sts (IntegralRoll2)+1,r25 |
| 2697 1448 A093 0000 sts (IntegralRoll2)+2,r26 |
| 2698 144c B093 0000 sts (IntegralRoll2)+3,r27 |
| 2699 1450 8091 0000 lds r24,HiResNick |
| 2700 1454 9091 0000 lds r25,(HiResNick)+1 |
| 2701 1458 97FD sbrc r25,7 |
| 2702 145a 0796 adiw r24,7 |
| 2703 .L119: |
| 2704 145c 03E0 ldi r16,3 |
| 2705 145e 9595 1: asr r25 |
| 2706 1460 8795 ror r24 |
| 2707 1462 0A95 dec r16 |
| 2708 1464 01F4 brne 1b |
| 2709 1466 9093 0000 sts (MesswertNick)+1,r25 |
| 2710 146a 8093 0000 sts MesswertNick,r24 |
| 2711 146e 8091 0000 lds r24,HiResRoll |
| 2712 1472 9091 0000 lds r25,(HiResRoll)+1 |
| 2713 1476 97FD sbrc r25,7 |
| 2714 1478 0796 adiw r24,7 |
| 2715 .L120: |
| 2716 147a 13E0 ldi r17,3 |
| 2717 147c 9595 1: asr r25 |
| 2718 147e 8795 ror r24 |
| 2719 1480 1A95 dec r17 |
| 2720 1482 01F4 brne 1b |
| 2721 1484 9093 0000 sts (MesswertRoll)+1,r25 |
| 2722 1488 8093 0000 sts MesswertRoll,r24 |
| 2723 148c 8091 0000 lds r24,AdWertNick |
| 2724 1490 9091 0000 lds r25,(AdWertNick)+1 |
| 2725 1494 0F97 sbiw r24,15 |
| 2726 1496 04F4 brge .L121 |
| 2727 1498 88E1 ldi r24,lo8(-1000) |
| 2728 149a 9CEF ldi r25,hi8(-1000) |
| 2729 149c 9093 0000 sts (MesswertNick)+1,r25 |
| 2730 14a0 8093 0000 sts MesswertNick,r24 |
| 2731 .L121: |
| 2732 14a4 8091 0000 lds r24,AdWertNick |
| 2733 14a8 9091 0000 lds r25,(AdWertNick)+1 |
| 2734 14ac 0797 sbiw r24,7 |
| 2735 14ae 04F4 brge .L122 |
| 2736 14b0 80E3 ldi r24,lo8(-2000) |
| 2737 14b2 98EF ldi r25,hi8(-2000) |
| 2738 14b4 9093 0000 sts (MesswertNick)+1,r25 |
| 2739 14b8 8093 0000 sts MesswertNick,r24 |
| 2740 .L122: |
| 2741 14bc 2091 0000 lds r18,PlatinenVersion |
| 2742 14c0 2A30 cpi r18,lo8(10) |
| 2743 14c2 01F4 brne .L123 |
| 2744 14c4 8091 0000 lds r24,AdWertNick |
| 2745 14c8 9091 0000 lds r25,(AdWertNick)+1 |
| 2746 14cc 835F subi r24,lo8(1011) |
| 2747 14ce 9340 sbci r25,hi8(1011) |
| 2748 14d0 04F0 brlt .L124 |
| 2749 14d2 88EE ldi r24,lo8(1000) |
| 2750 14d4 93E0 ldi r25,hi8(1000) |
| 2751 14d6 9093 0000 sts (MesswertNick)+1,r25 |
| 2752 14da 8093 0000 sts MesswertNick,r24 |
| 2753 .L124: |
| 2754 14de 8091 0000 lds r24,AdWertNick |
| 2755 14e2 9091 0000 lds r25,(AdWertNick)+1 |
| 2756 14e6 8A5F subi r24,lo8(1018) |
| 2757 14e8 9340 sbci r25,hi8(1018) |
| 2758 14ea 04F0 brlt .L126 |
| 2759 14ec 00C0 rjmp .L169 |
| 2760 .L123: |
| 2761 14ee 8091 0000 lds r24,AdWertNick |
| 2762 14f2 9091 0000 lds r25,(AdWertNick)+1 |
| 2763 14f6 815D subi r24,lo8(2001) |
| 2764 14f8 9740 sbci r25,hi8(2001) |
| 2765 14fa 04F0 brlt .L127 |
| 2766 14fc 88EE ldi r24,lo8(1000) |
| 2767 14fe 93E0 ldi r25,hi8(1000) |
| 2768 1500 9093 0000 sts (MesswertNick)+1,r25 |
| 2769 1504 8093 0000 sts MesswertNick,r24 |
| 2770 .L127: |
| 2771 1508 8091 0000 lds r24,AdWertNick |
| 2772 150c 9091 0000 lds r25,(AdWertNick)+1 |
| 2773 1510 805E subi r24,lo8(2016) |
| 2774 1512 9740 sbci r25,hi8(2016) |
| 2775 1514 04F0 brlt .L126 |
| 2776 .L169: |
| 2777 1516 80ED ldi r24,lo8(2000) |
| 2778 1518 97E0 ldi r25,hi8(2000) |
| 2779 151a 9093 0000 sts (MesswertNick)+1,r25 |
| 2780 151e 8093 0000 sts MesswertNick,r24 |
| 2781 .L126: |
| 2782 1522 8091 0000 lds r24,AdWertRoll |
| 2783 1526 9091 0000 lds r25,(AdWertRoll)+1 |
| 2784 152a 0F97 sbiw r24,15 |
| 2785 152c 04F4 brge .L129 |
| 2786 152e 88E1 ldi r24,lo8(-1000) |
| 2787 1530 9CEF ldi r25,hi8(-1000) |
| 2788 1532 9093 0000 sts (MesswertRoll)+1,r25 |
| 2789 1536 8093 0000 sts MesswertRoll,r24 |
| 2790 .L129: |
| 2791 153a 8091 0000 lds r24,AdWertRoll |
| 2792 153e 9091 0000 lds r25,(AdWertRoll)+1 |
| 2793 1542 0797 sbiw r24,7 |
| 2794 1544 04F4 brge .L130 |
| 2795 1546 80E3 ldi r24,lo8(-2000) |
| 2796 1548 98EF ldi r25,hi8(-2000) |
| 2797 154a 9093 0000 sts (MesswertRoll)+1,r25 |
| 2798 154e 8093 0000 sts MesswertRoll,r24 |
| 2799 .L130: |
| 2800 1552 2A30 cpi r18,lo8(10) |
| 2801 1554 01F4 brne .L131 |
| 2802 1556 8091 0000 lds r24,AdWertRoll |
| 2803 155a 9091 0000 lds r25,(AdWertRoll)+1 |
| 2804 155e 835F subi r24,lo8(1011) |
| 2805 1560 9340 sbci r25,hi8(1011) |
| 2806 1562 04F0 brlt .L132 |
| 2807 1564 88EE ldi r24,lo8(1000) |
| 2808 1566 93E0 ldi r25,hi8(1000) |
| 2809 1568 9093 0000 sts (MesswertRoll)+1,r25 |
| 2810 156c 8093 0000 sts MesswertRoll,r24 |
| 2811 .L132: |
| 2812 1570 8091 0000 lds r24,AdWertRoll |
| 2813 1574 9091 0000 lds r25,(AdWertRoll)+1 |
| 2814 1578 8A5F subi r24,lo8(1018) |
| 2815 157a 9340 sbci r25,hi8(1018) |
| 2816 157c 04F0 brlt .L134 |
| 2817 157e 00C0 rjmp .L170 |
| 2818 .L131: |
| 2819 1580 8091 0000 lds r24,AdWertRoll |
| 2820 1584 9091 0000 lds r25,(AdWertRoll)+1 |
| 2821 1588 815D subi r24,lo8(2001) |
| 2822 158a 9740 sbci r25,hi8(2001) |
| 2823 158c 04F0 brlt .L135 |
| 2824 158e 88EE ldi r24,lo8(1000) |
| 2825 1590 93E0 ldi r25,hi8(1000) |
| 2826 1592 9093 0000 sts (MesswertRoll)+1,r25 |
| 2827 1596 8093 0000 sts MesswertRoll,r24 |
| 2828 .L135: |
| 2829 159a 8091 0000 lds r24,AdWertRoll |
| 2830 159e 9091 0000 lds r25,(AdWertRoll)+1 |
| 2831 15a2 805E subi r24,lo8(2016) |
| 2832 15a4 9740 sbci r25,hi8(2016) |
| 2833 15a6 04F0 brlt .L134 |
| 2834 .L170: |
| 2835 15a8 80ED ldi r24,lo8(2000) |
| 2836 15aa 97E0 ldi r25,hi8(2000) |
| 2837 15ac 9093 0000 sts (MesswertRoll)+1,r25 |
| 2838 15b0 8093 0000 sts MesswertRoll,r24 |
| 2839 .L134: |
| 2840 15b4 6091 0000 lds r22,Parameter_Gyro_D |
| 2841 15b8 6623 tst r22 |
| 2842 15ba 01F4 brne .+2 |
| 2843 15bc 00C0 rjmp .L137 |
| 2844 15be 4091 0000 lds r20,HiResNick |
| 2845 15c2 5091 0000 lds r21,(HiResNick)+1 |
| 2846 15c6 8091 0000 lds r24,oldNick.31 |
| 2847 15ca 9091 0000 lds r25,(oldNick.31)+1 |
| 2848 15ce 481B sub r20,r24 |
| 2849 15d0 590B sbc r21,r25 |
| 2850 15d2 5093 0000 sts (d2Nick.34)+1,r21 |
| 2851 15d6 4093 0000 sts d2Nick.34,r20 |
| 2852 15da 2091 0000 lds r18,HiResNick |
| 2853 15de 3091 0000 lds r19,(HiResNick)+1 |
| 2854 15e2 280F add r18,r24 |
| 2855 15e4 391F adc r19,r25 |
| 2856 15e6 37FF sbrs r19,7 |
| 2857 15e8 00C0 rjmp .L138 |
| 2858 15ea 2F5F subi r18,lo8(-(1)) |
| 2859 15ec 3F4F sbci r19,hi8(-(1)) |
| 2860 .L138: |
| 2861 15ee 3595 asr r19 |
| 2862 15f0 2795 ror r18 |
| 2863 15f2 3093 0000 sts (oldNick.31)+1,r19 |
| 2864 15f6 2093 0000 sts oldNick.31,r18 |
| 2865 15fa 4138 cpi r20,129 |
| 2866 15fc 5105 cpc r21,__zero_reg__ |
| 2867 15fe 04F0 brlt .L139 |
| 2868 1600 80E8 ldi r24,lo8(128) |
| 2869 1602 90E0 ldi r25,hi8(128) |
| 2870 1604 00C0 rjmp .L171 |
| 2871 .L139: |
| 2872 1606 4058 subi r20,lo8(-128) |
| 2873 1608 5F4F sbci r21,hi8(-128) |
| 2874 160a 04F4 brge .L140 |
| 2875 160c 80E8 ldi r24,lo8(-128) |
| 2876 160e 9FEF ldi r25,hi8(-128) |
| 2877 .L171: |
| 2878 1610 9093 0000 sts (d2Nick.34)+1,r25 |
| 2879 1614 8093 0000 sts d2Nick.34,r24 |
| 2880 .L140: |
| 2881 1618 4091 0000 lds r20,HiResRoll |
| 2882 161c 5091 0000 lds r21,(HiResRoll)+1 |
| 2883 1620 8091 0000 lds r24,oldRoll.32 |
| 2884 1624 9091 0000 lds r25,(oldRoll.32)+1 |
| 2885 1628 481B sub r20,r24 |
| 2886 162a 590B sbc r21,r25 |
| 2887 162c 5093 0000 sts (d2Roll.33)+1,r21 |
| 2888 1630 4093 0000 sts d2Roll.33,r20 |
| 2889 1634 2091 0000 lds r18,HiResRoll |
| 2890 1638 3091 0000 lds r19,(HiResRoll)+1 |
| 2891 163c 280F add r18,r24 |
| 2892 163e 391F adc r19,r25 |
| 2893 1640 37FF sbrs r19,7 |
| 2894 1642 00C0 rjmp .L142 |
| 2895 1644 2F5F subi r18,lo8(-(1)) |
| 2896 1646 3F4F sbci r19,hi8(-(1)) |
| 2897 .L142: |
| 2898 1648 3595 asr r19 |
| 2899 164a 2795 ror r18 |
| 2900 164c 3093 0000 sts (oldRoll.32)+1,r19 |
| 2901 1650 2093 0000 sts oldRoll.32,r18 |
| 2902 1654 4138 cpi r20,129 |
| 2903 1656 5105 cpc r21,__zero_reg__ |
| 2904 1658 04F0 brlt .L143 |
| 2905 165a 80E8 ldi r24,lo8(128) |
| 2906 165c 90E0 ldi r25,hi8(128) |
| 2907 165e 00C0 rjmp .L172 |
| 2908 .L143: |
| 2909 1660 4058 subi r20,lo8(-128) |
| 2910 1662 5F4F sbci r21,hi8(-128) |
| 2911 1664 04F4 brge .L144 |
| 2912 1666 80E8 ldi r24,lo8(-128) |
| 2913 1668 9FEF ldi r25,hi8(-128) |
| 2914 .L172: |
| 2915 166a 9093 0000 sts (d2Roll.33)+1,r25 |
| 2916 166e 8093 0000 sts d2Roll.33,r24 |
| 2917 .L144: |
| 2918 1672 462F mov r20,r22 |
| 2919 1674 5527 clr r21 |
| 2920 1676 8091 0000 lds r24,d2Nick.34 |
| 2921 167a 9091 0000 lds r25,(d2Nick.34)+1 |
| 2922 167e 849F mul r24,r20 |
| 2923 1680 B001 movw r22,r0 |
| 2924 1682 859F mul r24,r21 |
| 2925 1684 700D add r23,r0 |
| 2926 1686 949F mul r25,r20 |
| 2927 1688 700D add r23,r0 |
| 2928 168a 1124 clr r1 |
| 2929 168c 9B01 movw r18,r22 |
| 2930 168e 77FF sbrs r23,7 |
| 2931 1690 00C0 rjmp .L146 |
| 2932 1692 215F subi r18,lo8(-(15)) |
| 2933 1694 3F4F sbci r19,hi8(-(15)) |
| 2934 .L146: |
| 2935 1696 F4E0 ldi r31,4 |
| 2936 1698 3595 1: asr r19 |
| 2937 169a 2795 ror r18 |
| 2938 169c FA95 dec r31 |
| 2939 169e 01F4 brne 1b |
| 2940 16a0 8091 0000 lds r24,MesswertNick |
| 2941 16a4 9091 0000 lds r25,(MesswertNick)+1 |
| 2942 16a8 820F add r24,r18 |
| 2943 16aa 931F adc r25,r19 |
| 2944 16ac 9093 0000 sts (MesswertNick)+1,r25 |
| 2945 16b0 8093 0000 sts MesswertNick,r24 |
| 2946 16b4 8091 0000 lds r24,d2Roll.33 |
| 2947 16b8 9091 0000 lds r25,(d2Roll.33)+1 |
| 2948 16bc 849F mul r24,r20 |
| 2949 16be D001 movw r26,r0 |
| 2950 16c0 859F mul r24,r21 |
| 2951 16c2 B00D add r27,r0 |
| 2952 16c4 949F mul r25,r20 |
| 2953 16c6 B00D add r27,r0 |
| 2954 16c8 1124 clr r1 |
| 2955 16ca AD01 movw r20,r26 |
| 2956 16cc 9D01 movw r18,r26 |
| 2957 16ce B7FF sbrs r27,7 |
| 2958 16d0 00C0 rjmp .L147 |
| 2959 16d2 215F subi r18,lo8(-(15)) |
| 2960 16d4 3F4F sbci r19,hi8(-(15)) |
| 2961 .L147: |
| 2962 16d6 E4E0 ldi r30,4 |
| 2963 16d8 3595 1: asr r19 |
| 2964 16da 2795 ror r18 |
| 2965 16dc EA95 dec r30 |
| 2966 16de 01F4 brne 1b |
| 2967 16e0 8091 0000 lds r24,MesswertRoll |
| 2968 16e4 9091 0000 lds r25,(MesswertRoll)+1 |
| 2969 16e8 820F add r24,r18 |
| 2970 16ea 931F adc r25,r19 |
| 2971 16ec 9093 0000 sts (MesswertRoll)+1,r25 |
| 2972 16f0 8093 0000 sts MesswertRoll,r24 |
| 2973 16f4 8091 0000 lds r24,HiResNick |
| 2974 16f8 9091 0000 lds r25,(HiResNick)+1 |
| 2975 16fc 860F add r24,r22 |
| 2976 16fe 971F adc r25,r23 |
| 2977 1700 9093 0000 sts (HiResNick)+1,r25 |
| 2978 1704 8093 0000 sts HiResNick,r24 |
| 2979 1708 8091 0000 lds r24,HiResRoll |
| 2980 170c 9091 0000 lds r25,(HiResRoll)+1 |
| 2981 1710 840F add r24,r20 |
| 2982 1712 951F adc r25,r21 |
| 2983 1714 9093 0000 sts (HiResRoll)+1,r25 |
| 2984 1718 8093 0000 sts HiResRoll,r24 |
| 2985 .L137: |
| 2986 171c 0091 0000 lds r16,RohMesswertRoll |
| 2987 1720 1091 0000 lds r17,(RohMesswertRoll)+1 |
| 2988 1724 8091 0000 lds r24,KopplungsteilNickRoll |
| 2989 1728 9091 0000 lds r25,(KopplungsteilNickRoll)+1 |
| 2990 172c 1016 cp __zero_reg__,r16 |
| 2991 172e 1106 cpc __zero_reg__,r17 |
| 2992 1730 04F4 brge .L148 |
| 2993 1732 9C01 movw r18,r24 |
| 2994 1734 97FF sbrs r25,7 |
| 2995 1736 00C0 rjmp .L149 |
| 2996 1738 2227 clr r18 |
| 2997 173a 3327 clr r19 |
| 2998 173c 281B sub r18,r24 |
| 2999 173e 390B sbc r19,r25 |
| 3000 .L149: |
| 3001 1740 C901 movw r24,r18 |
| 3002 1742 AA27 clr r26 |
| 3003 1744 97FD sbrc r25,7 |
| 3004 1746 A095 com r26 |
| 3005 1748 BA2F mov r27,r26 |
| 3006 174a 2091 0000 lds r18,Parameter_CouplingYawCorrection |
| 3007 174e 3327 clr r19 |
| 3008 1750 4427 clr r20 |
| 3009 1752 5527 clr r21 |
| 3010 1754 BC01 movw r22,r24 |
| 3011 1756 CD01 movw r24,r26 |
| 3012 1758 0E94 0000 call __mulsi3 |
| 3013 175c 9B01 movw r18,r22 |
| 3014 175e AC01 movw r20,r24 |
| 3015 1760 97FF sbrs r25,7 |
| 3016 1762 00C0 rjmp .L150 |
| 3017 1764 215C subi r18,lo8(-(63)) |
| 3018 1766 3F4F sbci r19,hi8(-(63)) |
| 3019 1768 4F4F sbci r20,hlo8(-(63)) |
| 3020 176a 5F4F sbci r21,hhi8(-(63)) |
| 3021 .L150: |
| 3022 176c 76E0 ldi r23,6 |
| 3023 176e 5595 1: asr r21 |
| 3024 1770 4795 ror r20 |
| 3025 1772 3795 ror r19 |
| 3026 1774 2795 ror r18 |
| 3027 1776 7A95 dec r23 |
| 3028 1778 01F4 brne 1b |
| 3029 177a 8091 0000 lds r24,TrimRoll |
| 3030 177e 9091 0000 lds r25,(TrimRoll)+1 |
| 3031 1782 820F add r24,r18 |
| 3032 1784 931F adc r25,r19 |
| 3033 1786 00C0 rjmp .L173 |
| 3034 .L148: |
| 3035 1788 97FF sbrs r25,7 |
| 3036 178a 00C0 rjmp .L152 |
| 3037 178c 9095 com r25 |
| 3038 178e 8195 neg r24 |
| 3039 1790 9F4F sbci r25,lo8(-1) |
| 3040 .L152: |
| 3041 1792 AA27 clr r26 |
| 3042 1794 97FD sbrc r25,7 |
| 3043 1796 A095 com r26 |
| 3044 1798 BA2F mov r27,r26 |
| 3045 179a 2091 0000 lds r18,Parameter_CouplingYawCorrection |
| 3046 179e 3327 clr r19 |
| 3047 17a0 4427 clr r20 |
| 3048 17a2 5527 clr r21 |
| 3049 17a4 BC01 movw r22,r24 |
| 3050 17a6 CD01 movw r24,r26 |
| 3051 17a8 0E94 0000 call __mulsi3 |
| 3052 17ac 9B01 movw r18,r22 |
| 3053 17ae AC01 movw r20,r24 |
| 3054 17b0 97FF sbrs r25,7 |
| 3055 17b2 00C0 rjmp .L153 |
| 3056 17b4 215C subi r18,lo8(-(63)) |
| 3057 17b6 3F4F sbci r19,hi8(-(63)) |
| 3058 17b8 4F4F sbci r20,hlo8(-(63)) |
| 3059 17ba 5F4F sbci r21,hhi8(-(63)) |
| 3060 .L153: |
| 3061 17bc 66E0 ldi r22,6 |
| 3062 17be 5595 1: asr r21 |
| 3063 17c0 4795 ror r20 |
| 3064 17c2 3795 ror r19 |
| 3065 17c4 2795 ror r18 |
| 3066 17c6 6A95 dec r22 |
| 3067 17c8 01F4 brne 1b |
| 3068 17ca 8091 0000 lds r24,TrimRoll |
| 3069 17ce 9091 0000 lds r25,(TrimRoll)+1 |
| 3070 17d2 821B sub r24,r18 |
| 3071 17d4 930B sbc r25,r19 |
| 3072 .L173: |
| 3073 17d6 9093 0000 sts (TrimRoll)+1,r25 |
| 3074 17da 8093 0000 sts TrimRoll,r24 |
| 3075 17de E090 0000 lds r14,RohMesswertNick |
| 3076 17e2 F090 0000 lds r15,(RohMesswertNick)+1 |
| 3077 17e6 8091 0000 lds r24,KopplungsteilRollNick |
| 3078 17ea 9091 0000 lds r25,(KopplungsteilRollNick)+1 |
| 3079 17ee 1E14 cp __zero_reg__,r14 |
| 3080 17f0 1F04 cpc __zero_reg__,r15 |
| 3081 17f2 04F4 brge .L154 |
| 3082 17f4 9C01 movw r18,r24 |
| 3083 17f6 97FF sbrs r25,7 |
| 3084 17f8 00C0 rjmp .L155 |
| 3085 17fa 2227 clr r18 |
| 3086 17fc 3327 clr r19 |
| 3087 17fe 281B sub r18,r24 |
| 3088 1800 390B sbc r19,r25 |
| 3089 .L155: |
| 3090 1802 C901 movw r24,r18 |
| 3091 1804 AA27 clr r26 |
| 3092 1806 97FD sbrc r25,7 |
| 3093 1808 A095 com r26 |
| 3094 180a BA2F mov r27,r26 |
| 3095 180c 2091 0000 lds r18,Parameter_CouplingYawCorrection |
| 3096 1810 3327 clr r19 |
| 3097 1812 4427 clr r20 |
| 3098 1814 5527 clr r21 |
| 3099 1816 BC01 movw r22,r24 |
| 3100 1818 CD01 movw r24,r26 |
| 3101 181a 0E94 0000 call __mulsi3 |
| 3102 181e 9B01 movw r18,r22 |
| 3103 1820 AC01 movw r20,r24 |
| 3104 1822 97FF sbrs r25,7 |
| 3105 1824 00C0 rjmp .L156 |
| 3106 1826 215C subi r18,lo8(-(63)) |
| 3107 1828 3F4F sbci r19,hi8(-(63)) |
| 3108 182a 4F4F sbci r20,hlo8(-(63)) |
| 3109 182c 5F4F sbci r21,hhi8(-(63)) |
| 3110 .L156: |
| 3111 182e 96E0 ldi r25,6 |
| 3112 1830 5595 1: asr r21 |
| 3113 1832 4795 ror r20 |
| 3114 1834 3795 ror r19 |
| 3115 1836 2795 ror r18 |
| 3116 1838 9A95 dec r25 |
| 3117 183a 01F4 brne 1b |
| 3118 183c 8091 0000 lds r24,TrimNick |
| 3119 1840 9091 0000 lds r25,(TrimNick)+1 |
| 3120 1844 820F add r24,r18 |
| 3121 1846 931F adc r25,r19 |
| 3122 1848 00C0 rjmp .L174 |
| 3123 .L154: |
| 3124 184a 97FF sbrs r25,7 |
| 3125 184c 00C0 rjmp .L158 |
| 3126 184e 9095 com r25 |
| 3127 1850 8195 neg r24 |
| 3128 1852 9F4F sbci r25,lo8(-1) |
| 3129 .L158: |
| 3130 1854 AA27 clr r26 |
| 3131 1856 97FD sbrc r25,7 |
| 3132 1858 A095 com r26 |
| 3133 185a BA2F mov r27,r26 |
| 3134 185c 2091 0000 lds r18,Parameter_CouplingYawCorrection |
| 3135 1860 3327 clr r19 |
| 3136 1862 4427 clr r20 |
| 3137 1864 5527 clr r21 |
| 3138 1866 BC01 movw r22,r24 |
| 3139 1868 CD01 movw r24,r26 |
| 3140 186a 0E94 0000 call __mulsi3 |
| 3141 186e 9B01 movw r18,r22 |
| 3142 1870 AC01 movw r20,r24 |
| 3143 1872 97FF sbrs r25,7 |
| 3144 1874 00C0 rjmp .L159 |
| 3145 1876 215C subi r18,lo8(-(63)) |
| 3146 1878 3F4F sbci r19,hi8(-(63)) |
| 3147 187a 4F4F sbci r20,hlo8(-(63)) |
| 3148 187c 5F4F sbci r21,hhi8(-(63)) |
| 3149 .L159: |
| 3150 187e 86E0 ldi r24,6 |
| 3151 1880 5595 1: asr r21 |
| 3152 1882 4795 ror r20 |
| 3153 1884 3795 ror r19 |
| 3154 1886 2795 ror r18 |
| 3155 1888 8A95 dec r24 |
| 3156 188a 01F4 brne 1b |
| 3157 188c 8091 0000 lds r24,TrimNick |
| 3158 1890 9091 0000 lds r25,(TrimNick)+1 |
| 3159 1894 821B sub r24,r18 |
| 3160 1896 930B sbc r25,r19 |
| 3161 .L174: |
| 3162 1898 9093 0000 sts (TrimNick)+1,r25 |
| 3163 189c 8093 0000 sts TrimNick,r24 |
| 3164 18a0 8091 0000 lds r24,Parameter_GlobalConfig |
| 3165 18a4 87FF sbrs r24,7 |
| 3166 18a6 00C0 rjmp .L82 |
| 3167 18a8 B989 ldd r27,Y+17 |
| 3168 18aa BB23 tst r27 |
| 3169 18ac 01F0 breq .+2 |
| 3170 18ae 00C0 rjmp .L82 |
| 3171 18b0 8091 0000 lds r24,Looping_Roll |
| 3172 18b4 8823 tst r24 |
| 3173 18b6 01F4 brne .L82 |
| 3174 18b8 E1E0 ldi r30,lo8(257) |
| 3175 18ba EE16 cp r14,r30 |
| 3176 18bc E1E0 ldi r30,hi8(257) |
| 3177 18be FE06 cpc r15,r30 |
| 3178 18c0 04F0 brlt .L161 |
| 3179 18c2 8091 0000 lds r24,MesswertNick |
| 3180 18c6 9091 0000 lds r25,(MesswertNick)+1 |
| 3181 18ca 8E0D add r24,r14 |
| 3182 18cc 9F1D adc r25,r15 |
| 3183 18ce 8050 subi r24,lo8(-(-256)) |
| 3184 18d0 9140 sbci r25,hi8(-(-256)) |
| 3185 18d2 00C0 rjmp .L175 |
| 3186 .L161: |
| 3187 18d4 F0E0 ldi r31,lo8(-256) |
| 3188 18d6 EF16 cp r14,r31 |
| 3189 18d8 FFEF ldi r31,hi8(-256) |
| 3190 18da FF06 cpc r15,r31 |
| 3191 18dc 04F4 brge .L162 |
| 3192 18de 8091 0000 lds r24,MesswertNick |
| 3193 18e2 9091 0000 lds r25,(MesswertNick)+1 |
| 3194 18e6 8E0D add r24,r14 |
| 3195 18e8 9F1D adc r25,r15 |
| 3196 18ea 8050 subi r24,lo8(-(256)) |
| 3197 18ec 9F4F sbci r25,hi8(-(256)) |
| 3198 .L175: |
| 3199 18ee 9093 0000 sts (MesswertNick)+1,r25 |
| 3200 18f2 8093 0000 sts MesswertNick,r24 |
| 3201 .L162: |
| 3202 18f6 21E0 ldi r18,hi8(257) |
| 3203 18f8 0130 cpi r16,lo8(257) |
| 3204 18fa 1207 cpc r17,r18 |
| 3205 18fc 04F0 brlt .L164 |
| 3206 18fe 8091 0000 lds r24,MesswertRoll |
| 3207 1902 9091 0000 lds r25,(MesswertRoll)+1 |
| 3208 1906 800F add r24,r16 |
| 3209 1908 911F adc r25,r17 |
| 3210 190a 8050 subi r24,lo8(-(-256)) |
| 3211 190c 9140 sbci r25,hi8(-(-256)) |
| 3212 190e 00C0 rjmp .L176 |
| 3213 .L164: |
| 3214 1910 3FEF ldi r19,hi8(-256) |
| 3215 1912 0030 cpi r16,lo8(-256) |
| 3216 1914 1307 cpc r17,r19 |
| 3217 1916 04F4 brge .L82 |
| 3218 1918 8091 0000 lds r24,MesswertRoll |
| 3219 191c 9091 0000 lds r25,(MesswertRoll)+1 |
| 3220 1920 800F add r24,r16 |
| 3221 1922 911F adc r25,r17 |
| 3222 1924 8050 subi r24,lo8(-(256)) |
| 3223 1926 9F4F sbci r25,hi8(-(256)) |
| 3224 .L176: |
| 3225 1928 9093 0000 sts (MesswertRoll)+1,r25 |
| 3226 192c 8093 0000 sts MesswertRoll,r24 |
| 3227 .L82: |
| 3228 /* epilogue: frame size=19 */ |
| 3229 1930 E2E1 ldi r30,18 |
| 3230 1932 CD5E subi r28,-19 |
| 3231 1934 0C94 0000 jmp __epilogue_restores__+0 |
| 3232 /* epilogue end (size=4) */ |
| 3233 /* function Mittelwert size 2000 (1990) */ |
| 3235 .global SendMotorData |
| 3237 SendMotorData: |
| 3238 /* prologue: frame size=0 */ |
| 3239 /* prologue end (size=0) */ |
| 3240 1938 8091 0000 lds r24,MotorenEin |
| 3241 193c 8823 tst r24 |
| 3242 193e 01F4 brne .L178 |
| 3243 1940 8091 0000 lds r24,FC_StatusFlags |
| 3244 1944 8C7F andi r24,lo8(-4) |
| 3245 1946 8093 0000 sts FC_StatusFlags,r24 |
| 3246 194a A0E0 ldi r26,lo8(MotorTest) |
| 3247 194c B0E0 ldi r27,hi8(MotorTest) |
| 3248 194e E0E0 ldi r30,lo8(Motor) |
| 3249 1950 F0E0 ldi r31,hi8(Motor) |
| 3250 1952 9BE0 ldi r25,lo8(11) |
| 3251 .L183: |
| 3252 1954 8091 0000 lds r24,PC_MotortestActive |
| 3253 1958 8823 tst r24 |
| 3254 195a 01F4 brne .L182 |
| 3255 195c 8C93 st X,r24 |
| 3256 .L182: |
| 3257 195e 8D91 ld r24,X+ |
| 3258 1960 8183 std Z+1,r24 |
| 3259 1962 1282 std Z+2,__zero_reg__ |
| 3260 1964 9150 subi r25,lo8(-(-1)) |
| 3261 1966 3896 adiw r30,8 |
| 3262 1968 97FF sbrs r25,7 |
| 3263 196a 00C0 rjmp .L183 |
| 3264 196c 8091 0000 lds r24,PC_MotortestActive |
| 3265 1970 8823 tst r24 |
| 3266 1972 01F0 breq .L185 |
| 3267 1974 8091 0000 lds r24,PC_MotortestActive |
| 3268 1978 8150 subi r24,lo8(-(-1)) |
| 3269 197a 8093 0000 sts PC_MotortestActive,r24 |
| 3270 197e 00C0 rjmp .L185 |
| 3271 .L178: |
| 3272 1980 8091 0000 lds r24,FC_StatusFlags |
| 3273 1984 8160 ori r24,lo8(1) |
| 3274 1986 8093 0000 sts FC_StatusFlags,r24 |
| 3275 .L185: |
| 3276 198a 8091 0000 lds r24,I2C_TransferActive |
| 3277 198e 8823 tst r24 |
| 3278 1990 01F0 breq .L186 |
| 3279 1992 1092 0000 sts I2C_TransferActive,__zero_reg__ |
| 3280 1996 0895 ret |
| 3281 .L186: |
| 3282 1998 8093 0000 sts motor_write,r24 |
| 3283 199c 8093 0000 sts twi_state,r24 |
| 3284 19a0 8091 0000 lds r24,BLFlags |
| 3285 19a4 8E7F andi r24,lo8(-2) |
| 3286 19a6 8093 0000 sts BLFlags,r24 |
| 3287 19aa 85EA ldi r24,lo8(-91) |
| 3288 19ac 8093 BC00 sts 188,r24 |
| 3289 19b0 0895 ret |
| 3290 /* epilogue: frame size=0 */ |
| 3291 /* epilogue: noreturn */ |
| 3292 /* epilogue end (size=0) */ |
| 3293 /* function SendMotorData size 61 (61) */ |
| 3295 .global ParameterZuordnung |
| 3297 ParameterZuordnung: |
| 3298 /* prologue: frame size=0 */ |
| 3299 19b2 CF93 push r28 |
| 3300 19b4 DF93 push r29 |
| 3301 /* prologue end (size=2) */ |
| 3302 19b6 A0E0 ldi r26,lo8(Poti) |
| 3303 19b8 B0E0 ldi r27,hi8(Poti) |
| 3304 19ba C0E0 ldi r28,lo8(EE_Parameter+5) |
| 3305 19bc D0E0 ldi r29,hi8(EE_Parameter+5) |
| 3306 19be 57E0 ldi r21,lo8(7) |
| 3307 .L203: |
| 3308 19c0 9991 ld r25,Y+ |
| 3309 19c2 E92F mov r30,r25 |
| 3310 19c4 FF27 clr r31 |
| 3311 19c6 EE0F add r30,r30 |
| 3312 19c8 FF1F adc r31,r31 |
| 3313 19ca E050 subi r30,lo8(-(PPM_in)) |
| 3314 19cc F040 sbci r31,hi8(-(PPM_in)) |
| 3315 19ce 0190 ld __tmp_reg__,Z+ |
| 3316 19d0 F081 ld r31,Z |
| 3317 19d2 E02D mov r30,__tmp_reg__ |
| 3318 19d4 E158 subi r30,lo8(-(127)) |
| 3319 19d6 FF4F sbci r31,hi8(-(127)) |
| 3320 19d8 EF3F cpi r30,255 |
| 3321 19da F105 cpc r31,__zero_reg__ |
| 3322 19dc 01F0 breq .L194 |
| 3323 19de 04F0 brlt .L194 |
| 3324 19e0 EFEF ldi r30,lo8(255) |
| 3325 19e2 F0E0 ldi r31,hi8(255) |
| 3326 19e4 00C0 rjmp .L195 |
| 3327 .L194: |
| 3328 19e6 F7FF sbrs r31,7 |
| 3329 19e8 00C0 rjmp .L195 |
| 3330 19ea E0E0 ldi r30,lo8(0) |
| 3331 19ec F0E0 ldi r31,hi8(0) |
| 3332 .L195: |
| 3333 19ee 9931 cpi r25,lo8(25) |
| 3334 19f0 01F4 brne .L197 |
| 3335 19f2 EC93 st X,r30 |
| 3336 19f4 00C0 rjmp .L193 |
| 3337 .L197: |
| 3338 19f6 4C91 ld r20,X |
| 3339 19f8 242F mov r18,r20 |
| 3340 19fa 3327 clr r19 |
| 3341 19fc E217 cp r30,r18 |
| 3342 19fe F307 cpc r31,r19 |
| 3343 1a00 01F0 breq .L193 |
| 3344 1a02 CF01 movw r24,r30 |
| 3345 1a04 821B sub r24,r18 |
| 3346 1a06 930B sbc r25,r19 |
| 3347 1a08 97FD sbrc r25,7 |
| 3348 1a0a 0396 adiw r24,3 |
| 3349 .L200: |
| 3350 1a0c 9595 asr r25 |
| 3351 1a0e 8795 ror r24 |
| 3352 1a10 9595 asr r25 |
| 3353 1a12 8795 ror r24 |
| 3354 1a14 242F mov r18,r20 |
| 3355 1a16 280F add r18,r24 |
| 3356 1a18 2C93 st X,r18 |
| 3357 1a1a 822F mov r24,r18 |
| 3358 1a1c 9927 clr r25 |
| 3359 1a1e E817 cp r30,r24 |
| 3360 1a20 F907 cpc r31,r25 |
| 3361 1a22 04F4 brge .L201 |
| 3362 1a24 2150 subi r18,lo8(-(-1)) |
| 3363 1a26 00C0 rjmp .L327 |
| 3364 .L201: |
| 3365 1a28 2F5F subi r18,lo8(-(1)) |
| 3366 .L327: |
| 3367 1a2a 2C93 st X,r18 |
| 3368 .L193: |
| 3369 1a2c 5150 subi r21,lo8(-(-1)) |
| 3370 1a2e 1196 adiw r26,1 |
| 3371 1a30 57FF sbrs r21,7 |
| 3372 1a32 00C0 rjmp .L203 |
| 3373 1a34 8091 0000 lds r24,EE_Parameter+15 |
| 3374 1a38 883F cpi r24,lo8(-8) |
| 3375 1a3a 00F0 brlo .L328 |
| 3376 1a3c EFEF ldi r30,lo8(255) |
| 3377 1a3e F0E0 ldi r31,hi8(255) |
| 3378 1a40 E81B sub r30,r24 |
| 3379 1a42 F109 sbc r31,__zero_reg__ |
| 3380 1a44 E050 subi r30,lo8(-(Poti)) |
| 3381 1a46 F040 sbci r31,hi8(-(Poti)) |
| 3382 1a48 8081 ld r24,Z |
| 3383 .L328: |
| 3384 1a4a 8093 0000 sts Parameter_Luftdruck_D,r24 |
| 3385 1a4e 8091 0000 lds r24,Parameter_Luftdruck_D |
| 3386 1a52 8823 tst r24 |
| 3387 1a54 01F0 breq .L207 |
| 3388 1a56 8436 cpi r24,lo8(100) |
| 3389 1a58 00F0 brlo .L207 |
| 3390 1a5a 84E6 ldi r24,lo8(100) |
| 3391 1a5c 8093 0000 sts Parameter_Luftdruck_D,r24 |
| 3392 .L207: |
| 3393 1a60 8091 0000 lds r24,EE_Parameter+17 |
| 3394 1a64 883F cpi r24,lo8(-8) |
| 3395 1a66 00F0 brlo .L329 |
| 3396 1a68 EFEF ldi r30,lo8(255) |
| 3397 1a6a F0E0 ldi r31,hi8(255) |
| 3398 1a6c E81B sub r30,r24 |
| 3399 1a6e F109 sbc r31,__zero_reg__ |
| 3400 1a70 E050 subi r30,lo8(-(Poti)) |
| 3401 1a72 F040 sbci r31,hi8(-(Poti)) |
| 3402 1a74 8081 ld r24,Z |
| 3403 .L329: |
| 3404 1a76 8093 0000 sts Parameter_Hoehe_P,r24 |
| 3405 1a7a 8091 0000 lds r24,Parameter_Hoehe_P |
| 3406 1a7e 8823 tst r24 |
| 3407 1a80 01F0 breq .L212 |
| 3408 1a82 8436 cpi r24,lo8(100) |
| 3409 1a84 00F0 brlo .L212 |
| 3410 1a86 84E6 ldi r24,lo8(100) |
| 3411 1a88 8093 0000 sts Parameter_Hoehe_P,r24 |
| 3412 .L212: |
| 3413 1a8c 8091 0000 lds r24,EE_Parameter+30 |
| 3414 1a90 883F cpi r24,lo8(-8) |
| 3415 1a92 00F0 brlo .L330 |
| 3416 1a94 EFEF ldi r30,lo8(255) |
| 3417 1a96 F0E0 ldi r31,hi8(255) |
| 3418 1a98 E81B sub r30,r24 |
| 3419 1a9a F109 sbc r31,__zero_reg__ |
| 3420 1a9c E050 subi r30,lo8(-(Poti)) |
| 3421 1a9e F040 sbci r31,hi8(-(Poti)) |
| 3422 1aa0 8081 ld r24,Z |
| 3423 .L330: |
| 3424 1aa2 8093 0000 sts Parameter_Gyro_P,r24 |
| 3425 1aa6 8091 0000 lds r24,Parameter_Gyro_P |
| 3426 1aaa 8B30 cpi r24,lo8(11) |
| 3427 1aac 00F4 brsh .L216 |
| 3428 1aae 8AE0 ldi r24,lo8(10) |
| 3429 1ab0 00C0 rjmp .L331 |
| 3430 .L216: |
| 3431 1ab2 8F3F cpi r24,lo8(-1) |
| 3432 1ab4 01F4 brne .L217 |
| 3433 .L331: |
| 3434 1ab6 8093 0000 sts Parameter_Gyro_P,r24 |
| 3435 .L217: |
| 3436 1aba 8091 0000 lds r24,EE_Parameter+75 |
| 3437 1abe 883F cpi r24,lo8(-8) |
| 3438 1ac0 00F0 brlo .L332 |
| 3439 1ac2 EFEF ldi r30,lo8(255) |
| 3440 1ac4 F0E0 ldi r31,hi8(255) |
| 3441 1ac6 E81B sub r30,r24 |
| 3442 1ac8 F109 sbc r31,__zero_reg__ |
| 3443 1aca E050 subi r30,lo8(-(Poti)) |
| 3444 1acc F040 sbci r31,hi8(-(Poti)) |
| 3445 1ace 8081 ld r24,Z |
| 3446 .L332: |
| 3447 1ad0 8093 0000 sts Parameter_J16Timing,r24 |
| 3448 1ad4 8091 0000 lds r24,Parameter_J16Timing |
| 3449 1ad8 8630 cpi r24,lo8(6) |
| 3450 1ada 00F4 brsh .L221 |
| 3451 1adc 85E0 ldi r24,lo8(5) |
| 3452 1ade 00C0 rjmp .L333 |
| 3453 .L221: |
| 3454 1ae0 8F3F cpi r24,lo8(-1) |
| 3455 1ae2 01F4 brne .L222 |
| 3456 .L333: |
| 3457 1ae4 8093 0000 sts Parameter_J16Timing,r24 |
| 3458 .L222: |
| 3459 1ae8 8091 0000 lds r24,EE_Parameter+77 |
| 3460 1aec 883F cpi r24,lo8(-8) |
| 3461 1aee 00F0 brlo .L334 |
| 3462 1af0 EFEF ldi r30,lo8(255) |
| 3463 1af2 F0E0 ldi r31,hi8(255) |
| 3464 1af4 E81B sub r30,r24 |
| 3465 1af6 F109 sbc r31,__zero_reg__ |
| 3466 1af8 E050 subi r30,lo8(-(Poti)) |
| 3467 1afa F040 sbci r31,hi8(-(Poti)) |
| 3468 1afc 8081 ld r24,Z |
| 3469 .L334: |
| 3470 1afe 8093 0000 sts Parameter_J17Timing,r24 |
| 3471 1b02 8091 0000 lds r24,Parameter_J17Timing |
| 3472 1b06 8630 cpi r24,lo8(6) |
| 3473 1b08 00F4 brsh .L226 |
| 3474 1b0a 85E0 ldi r24,lo8(5) |
| 3475 1b0c 00C0 rjmp .L335 |
| 3476 .L226: |
| 3477 1b0e 8F3F cpi r24,lo8(-1) |
| 3478 1b10 01F4 brne .L227 |
| 3479 .L335: |
| 3480 1b12 8093 0000 sts Parameter_J17Timing,r24 |
| 3481 .L227: |
| 3482 1b16 8091 0000 lds r24,EE_Parameter+56 |
| 3483 1b1a 873F cpi r24,lo8(-9) |
| 3484 1b1c 01F4 brne .L229 |
| 3485 1b1e 4299 sbic 40-0x20,2 |
| 3486 1b20 00C0 rjmp .L368 |
| 3487 1b22 00C0 rjmp .L234 |
| 3488 .L229: |
| 3489 1b24 863F cpi r24,lo8(-10) |
| 3490 1b26 01F4 brne .L233 |
| 3491 1b28 439B sbis 40-0x20,3 |
| 3492 1b2a 00C0 rjmp .L234 |
| 3493 .L368: |
| 3494 1b2c 8CE8 ldi r24,lo8(-116) |
| 3495 1b2e 00C0 rjmp .L336 |
| 3496 .L234: |
| 3497 1b30 86E4 ldi r24,lo8(70) |
| 3498 1b32 00C0 rjmp .L336 |
| 3499 .L233: |
| 3500 1b34 883F cpi r24,lo8(-8) |
| 3501 1b36 00F0 brlo .L336 |
| 3502 1b38 EFEF ldi r30,lo8(255) |
| 3503 1b3a F0E0 ldi r31,hi8(255) |
| 3504 1b3c E81B sub r30,r24 |
| 3505 1b3e F109 sbc r31,__zero_reg__ |
| 3506 1b40 E050 subi r30,lo8(-(Poti)) |
| 3507 1b42 F040 sbci r31,hi8(-(Poti)) |
| 3508 1b44 8081 ld r24,Z |
| 3509 .L336: |
| 3510 1b46 8093 0000 sts Parameter_Servo3,r24 |
| 3511 1b4a 8091 0000 lds r24,EE_Parameter+57 |
| 3512 1b4e 873F cpi r24,lo8(-9) |
| 3513 1b50 01F4 brne .L239 |
| 3514 1b52 4299 sbic 40-0x20,2 |
| 3515 1b54 00C0 rjmp .L369 |
| 3516 1b56 00C0 rjmp .L244 |
| 3517 .L239: |
| 3518 1b58 863F cpi r24,lo8(-10) |
| 3519 1b5a 01F4 brne .L243 |
| 3520 1b5c 439B sbis 40-0x20,3 |
| 3521 1b5e 00C0 rjmp .L244 |
| 3522 .L369: |
| 3523 1b60 8CE8 ldi r24,lo8(-116) |
| 3524 1b62 00C0 rjmp .L337 |
| 3525 .L244: |
| 3526 1b64 86E4 ldi r24,lo8(70) |
| 3527 1b66 00C0 rjmp .L337 |
| 3528 .L243: |
| 3529 1b68 883F cpi r24,lo8(-8) |
| 3530 1b6a 00F0 brlo .L337 |
| 3531 1b6c EFEF ldi r30,lo8(255) |
| 3532 1b6e F0E0 ldi r31,hi8(255) |
| 3533 1b70 E81B sub r30,r24 |
| 3534 1b72 F109 sbc r31,__zero_reg__ |
| 3535 1b74 E050 subi r30,lo8(-(Poti)) |
| 3536 1b76 F040 sbci r31,hi8(-(Poti)) |
| 3537 1b78 8081 ld r24,Z |
| 3538 .L337: |
| 3539 1b7a 8093 0000 sts Parameter_Servo4,r24 |
| 3540 1b7e 8091 0000 lds r24,EE_Parameter+58 |
| 3541 1b82 883F cpi r24,lo8(-8) |
| 3542 1b84 00F0 brlo .L338 |
| 3543 1b86 EFEF ldi r30,lo8(255) |
| 3544 1b88 F0E0 ldi r31,hi8(255) |
| 3545 1b8a E81B sub r30,r24 |
| 3546 1b8c F109 sbc r31,__zero_reg__ |
| 3547 1b8e E050 subi r30,lo8(-(Poti)) |
| 3548 1b90 F040 sbci r31,hi8(-(Poti)) |
| 3549 1b92 8081 ld r24,Z |
| 3550 .L338: |
| 3551 1b94 8093 0000 sts Parameter_Servo5,r24 |
| 3552 1b98 8091 0000 lds r24,EE_Parameter+16 |
| 3553 1b9c 883F cpi r24,lo8(-8) |
| 3554 1b9e 00F0 brlo .L339 |
| 3555 1ba0 EFEF ldi r30,lo8(255) |
| 3556 1ba2 F0E0 ldi r31,hi8(255) |
| 3557 1ba4 E81B sub r30,r24 |
| 3558 1ba6 F109 sbc r31,__zero_reg__ |
| 3559 1ba8 E050 subi r30,lo8(-(Poti)) |
| 3560 1baa F040 sbci r31,hi8(-(Poti)) |
| 3561 1bac 8081 ld r24,Z |
| 3562 .L339: |
| 3563 1bae 8093 0000 sts Parameter_HoehenSchalter,r24 |
| 3564 1bb2 8091 0000 lds r24,EE_Parameter+19 |
| 3565 1bb6 883F cpi r24,lo8(-8) |
| 3566 1bb8 00F0 brlo .L340 |
| 3567 1bba EFEF ldi r30,lo8(255) |
| 3568 1bbc F0E0 ldi r31,hi8(255) |
| 3569 1bbe E81B sub r30,r24 |
| 3570 1bc0 F109 sbc r31,__zero_reg__ |
| 3571 1bc2 E050 subi r30,lo8(-(Poti)) |
| 3572 1bc4 F040 sbci r31,hi8(-(Poti)) |
| 3573 1bc6 8081 ld r24,Z |
| 3574 .L340: |
| 3575 1bc8 8093 0000 sts Parameter_Hoehe_ACC_Wirkung,r24 |
| 3576 1bcc 8091 0000 lds r24,EE_Parameter+21 |
| 3577 1bd0 883F cpi r24,lo8(-8) |
| 3578 1bd2 00F0 brlo .L341 |
| 3579 1bd4 EFEF ldi r30,lo8(255) |
| 3580 1bd6 F0E0 ldi r31,hi8(255) |
| 3581 1bd8 E81B sub r30,r24 |
| 3582 1bda F109 sbc r31,__zero_reg__ |
| 3583 1bdc E050 subi r30,lo8(-(Poti)) |
| 3584 1bde F040 sbci r31,hi8(-(Poti)) |
| 3585 1be0 8081 ld r24,Z |
| 3586 .L341: |
| 3587 1be2 8093 0000 sts Parameter_Hoehe_GPS_Z,r24 |
| 3588 1be6 8091 0000 lds r24,EE_Parameter+29 |
| 3589 1bea 883F cpi r24,lo8(-8) |
| 3590 1bec 00F0 brlo .L342 |
| 3591 1bee EFEF ldi r30,lo8(255) |
| 3592 1bf0 F0E0 ldi r31,hi8(255) |
| 3593 1bf2 E81B sub r30,r24 |
| 3594 1bf4 F109 sbc r31,__zero_reg__ |
| 3595 1bf6 E050 subi r30,lo8(-(Poti)) |
| 3596 1bf8 F040 sbci r31,hi8(-(Poti)) |
| 3597 1bfa 8081 ld r24,Z |
| 3598 .L342: |
| 3599 1bfc 8093 0000 sts Parameter_KompassWirkung,r24 |
| 3600 1c00 8091 0000 lds r24,EE_Parameter+31 |
| 3601 1c04 883F cpi r24,lo8(-8) |
| 3602 1c06 00F0 brlo .L343 |
| 3603 1c08 EFEF ldi r30,lo8(255) |
| 3604 1c0a F0E0 ldi r31,hi8(255) |
| 3605 1c0c E81B sub r30,r24 |
| 3606 1c0e F109 sbc r31,__zero_reg__ |
| 3607 1c10 E050 subi r30,lo8(-(Poti)) |
| 3608 1c12 F040 sbci r31,hi8(-(Poti)) |
| 3609 1c14 8081 ld r24,Z |
| 3610 .L343: |
| 3611 1c16 8093 0000 sts Parameter_Gyro_I,r24 |
| 3612 1c1a 8091 0000 lds r24,EE_Parameter+32 |
| 3613 1c1e 883F cpi r24,lo8(-8) |
| 3614 1c20 00F0 brlo .L344 |
| 3615 1c22 EFEF ldi r30,lo8(255) |
| 3616 1c24 F0E0 ldi r31,hi8(255) |
| 3617 1c26 E81B sub r30,r24 |
| 3618 1c28 F109 sbc r31,__zero_reg__ |
| 3619 1c2a E050 subi r30,lo8(-(Poti)) |
| 3620 1c2c F040 sbci r31,hi8(-(Poti)) |
| 3621 1c2e 8081 ld r24,Z |
| 3622 .L344: |
| 3623 1c30 8093 0000 sts Parameter_Gyro_D,r24 |
| 3624 1c34 8091 0000 lds r24,EE_Parameter+33 |
| 3625 1c38 883F cpi r24,lo8(-8) |
| 3626 1c3a 00F0 brlo .L345 |
| 3627 1c3c EFEF ldi r30,lo8(255) |
| 3628 1c3e F0E0 ldi r31,hi8(255) |
| 3629 1c40 E81B sub r30,r24 |
| 3630 1c42 F109 sbc r31,__zero_reg__ |
| 3631 1c44 E050 subi r30,lo8(-(Poti)) |
| 3632 1c46 F040 sbci r31,hi8(-(Poti)) |
| 3633 1c48 8081 ld r24,Z |
| 3634 .L345: |
| 3635 1c4a 8093 0000 sts Parameter_Gyro_Gier_P,r24 |
| 3636 1c4e 8091 0000 lds r24,EE_Parameter+34 |
| 3637 1c52 883F cpi r24,lo8(-8) |
| 3638 1c54 00F0 brlo .L346 |
| 3639 1c56 EFEF ldi r30,lo8(255) |
| 3640 1c58 F0E0 ldi r31,hi8(255) |
| 3641 1c5a E81B sub r30,r24 |
| 3642 1c5c F109 sbc r31,__zero_reg__ |
| 3643 1c5e E050 subi r30,lo8(-(Poti)) |
| 3644 1c60 F040 sbci r31,hi8(-(Poti)) |
| 3645 1c62 8081 ld r24,Z |
| 3646 .L346: |
| 3647 1c64 8093 0000 sts Parameter_Gyro_Gier_I,r24 |
| 3648 1c68 8091 0000 lds r24,EE_Parameter+40 |
| 3649 1c6c 883F cpi r24,lo8(-8) |
| 3650 1c6e 00F0 brlo .L347 |
| 3651 1c70 EFEF ldi r30,lo8(255) |
| 3652 1c72 F0E0 ldi r31,hi8(255) |
| 3653 1c74 E81B sub r30,r24 |
| 3654 1c76 F109 sbc r31,__zero_reg__ |
| 3655 1c78 E050 subi r30,lo8(-(Poti)) |
| 3656 1c7a F040 sbci r31,hi8(-(Poti)) |
| 3657 1c7c 8081 ld r24,Z |
| 3658 .L347: |
| 3659 1c7e 8093 0000 sts Parameter_I_Faktor,r24 |
| 3660 1c82 8091 0000 lds r24,EE_Parameter+41 |
| 3661 1c86 883F cpi r24,lo8(-8) |
| 3662 1c88 00F0 brlo .L348 |
| 3663 1c8a EFEF ldi r30,lo8(255) |
| 3664 1c8c F0E0 ldi r31,hi8(255) |
| 3665 1c8e E81B sub r30,r24 |
| 3666 1c90 F109 sbc r31,__zero_reg__ |
| 3667 1c92 E050 subi r30,lo8(-(Poti)) |
| 3668 1c94 F040 sbci r31,hi8(-(Poti)) |
| 3669 1c96 8081 ld r24,Z |
| 3670 .L348: |
| 3671 1c98 8093 0000 sts Parameter_UserParam1,r24 |
| 3672 1c9c 8091 0000 lds r24,EE_Parameter+42 |
| 3673 1ca0 883F cpi r24,lo8(-8) |
| 3674 1ca2 00F0 brlo .L349 |
| 3675 1ca4 EFEF ldi r30,lo8(255) |
| 3676 1ca6 F0E0 ldi r31,hi8(255) |
| 3677 1ca8 E81B sub r30,r24 |
| 3678 1caa F109 sbc r31,__zero_reg__ |
| 3679 1cac E050 subi r30,lo8(-(Poti)) |
| 3680 1cae F040 sbci r31,hi8(-(Poti)) |
| 3681 1cb0 8081 ld r24,Z |
| 3682 .L349: |
| 3683 1cb2 8093 0000 sts Parameter_UserParam2,r24 |
| 3684 1cb6 8091 0000 lds r24,EE_Parameter+43 |
| 3685 1cba 883F cpi r24,lo8(-8) |
| 3686 1cbc 00F0 brlo .L350 |
| 3687 1cbe EFEF ldi r30,lo8(255) |
| 3688 1cc0 F0E0 ldi r31,hi8(255) |
| 3689 1cc2 E81B sub r30,r24 |
| 3690 1cc4 F109 sbc r31,__zero_reg__ |
| 3691 1cc6 E050 subi r30,lo8(-(Poti)) |
| 3692 1cc8 F040 sbci r31,hi8(-(Poti)) |
| 3693 1cca 8081 ld r24,Z |
| 3694 .L350: |
| 3695 1ccc 8093 0000 sts Parameter_UserParam3,r24 |
| 3696 1cd0 8091 0000 lds r24,EE_Parameter+44 |
| 3697 1cd4 883F cpi r24,lo8(-8) |
| 3698 1cd6 00F0 brlo .L351 |
| 3699 1cd8 EFEF ldi r30,lo8(255) |
| 3700 1cda F0E0 ldi r31,hi8(255) |
| 3701 1cdc E81B sub r30,r24 |
| 3702 1cde F109 sbc r31,__zero_reg__ |
| 3703 1ce0 E050 subi r30,lo8(-(Poti)) |
| 3704 1ce2 F040 sbci r31,hi8(-(Poti)) |
| 3705 1ce4 8081 ld r24,Z |
| 3706 .L351: |
| 3707 1ce6 8093 0000 sts Parameter_UserParam4,r24 |
| 3708 1cea 8091 0000 lds r24,EE_Parameter+70 |
| 3709 1cee 883F cpi r24,lo8(-8) |
| 3710 1cf0 00F0 brlo .L352 |
| 3711 1cf2 EFEF ldi r30,lo8(255) |
| 3712 1cf4 F0E0 ldi r31,hi8(255) |
| 3713 1cf6 E81B sub r30,r24 |
| 3714 1cf8 F109 sbc r31,__zero_reg__ |
| 3715 1cfa E050 subi r30,lo8(-(Poti)) |
| 3716 1cfc F040 sbci r31,hi8(-(Poti)) |
| 3717 1cfe 8081 ld r24,Z |
| 3718 .L352: |
| 3719 1d00 8093 0000 sts Parameter_UserParam5,r24 |
| 3720 1d04 8091 0000 lds r24,EE_Parameter+71 |
| 3721 1d08 883F cpi r24,lo8(-8) |
| 3722 1d0a 00F0 brlo .L353 |
| 3723 1d0c EFEF ldi r30,lo8(255) |
| 3724 1d0e F0E0 ldi r31,hi8(255) |
| 3725 1d10 E81B sub r30,r24 |
| 3726 1d12 F109 sbc r31,__zero_reg__ |
| 3727 1d14 E050 subi r30,lo8(-(Poti)) |
| 3728 1d16 F040 sbci r31,hi8(-(Poti)) |
| 3729 1d18 8081 ld r24,Z |
| 3730 .L353: |
| 3731 1d1a 8093 0000 sts Parameter_UserParam6,r24 |
| 3732 1d1e 8091 0000 lds r24,EE_Parameter+72 |
| 3733 1d22 883F cpi r24,lo8(-8) |
| 3734 1d24 00F0 brlo .L354 |
| 3735 1d26 EFEF ldi r30,lo8(255) |
| 3736 1d28 F0E0 ldi r31,hi8(255) |
| 3737 1d2a E81B sub r30,r24 |
| 3738 1d2c F109 sbc r31,__zero_reg__ |
| 3739 1d2e E050 subi r30,lo8(-(Poti)) |
| 3740 1d30 F040 sbci r31,hi8(-(Poti)) |
| 3741 1d32 8081 ld r24,Z |
| 3742 .L354: |
| 3743 1d34 8093 0000 sts Parameter_UserParam7,r24 |
| 3744 1d38 8091 0000 lds r24,EE_Parameter+73 |
| 3745 1d3c 883F cpi r24,lo8(-8) |
| 3746 1d3e 00F0 brlo .L355 |
| 3747 1d40 EFEF ldi r30,lo8(255) |
| 3748 1d42 F0E0 ldi r31,hi8(255) |
| 3749 1d44 E81B sub r30,r24 |
| 3750 1d46 F109 sbc r31,__zero_reg__ |
| 3751 1d48 E050 subi r30,lo8(-(Poti)) |
| 3752 1d4a F040 sbci r31,hi8(-(Poti)) |
| 3753 1d4c 8081 ld r24,Z |
| 3754 .L355: |
| 3755 1d4e 8093 0000 sts Parameter_UserParam8,r24 |
| 3756 1d52 8091 0000 lds r24,EE_Parameter+45 |
| 3757 1d56 883F cpi r24,lo8(-8) |
| 3758 1d58 00F0 brlo .L356 |
| 3759 1d5a EFEF ldi r30,lo8(255) |
| 3760 1d5c F0E0 ldi r31,hi8(255) |
| 3761 1d5e E81B sub r30,r24 |
| 3762 1d60 F109 sbc r31,__zero_reg__ |
| 3763 1d62 E050 subi r30,lo8(-(Poti)) |
| 3764 1d64 F040 sbci r31,hi8(-(Poti)) |
| 3765 1d66 8081 ld r24,Z |
| 3766 .L356: |
| 3767 1d68 8093 0000 sts Parameter_ServoNickControl,r24 |
| 3768 1d6c 8091 0000 lds r24,EE_Parameter+49 |
| 3769 1d70 883F cpi r24,lo8(-8) |
| 3770 1d72 00F0 brlo .L357 |
| 3771 1d74 EFEF ldi r30,lo8(255) |
| 3772 1d76 F0E0 ldi r31,hi8(255) |
| 3773 1d78 E81B sub r30,r24 |
| 3774 1d7a F109 sbc r31,__zero_reg__ |
| 3775 1d7c E050 subi r30,lo8(-(Poti)) |
| 3776 1d7e F040 sbci r31,hi8(-(Poti)) |
| 3777 1d80 8081 ld r24,Z |
| 3778 .L357: |
| 3779 1d82 8093 0000 sts Parameter_ServoRollControl,r24 |
| 3780 1d86 8091 0000 lds r24,EE_Parameter+46 |
| 3781 1d8a 883F cpi r24,lo8(-8) |
| 3782 1d8c 00F0 brlo .L358 |
| 3783 1d8e EFEF ldi r30,lo8(255) |
| 3784 1d90 F0E0 ldi r31,hi8(255) |
| 3785 1d92 E81B sub r30,r24 |
| 3786 1d94 F109 sbc r31,__zero_reg__ |
| 3787 1d96 E050 subi r30,lo8(-(Poti)) |
| 3788 1d98 F040 sbci r31,hi8(-(Poti)) |
| 3789 1d9a 8081 ld r24,Z |
| 3790 .L358: |
| 3791 1d9c 8093 0000 sts Parameter_ServoNickComp,r24 |
| 3792 1da0 8091 0000 lds r24,EE_Parameter+50 |
| 3793 1da4 883F cpi r24,lo8(-8) |
| 3794 1da6 00F0 brlo .L359 |
| 3795 1da8 EFEF ldi r30,lo8(255) |
| 3796 1daa F0E0 ldi r31,hi8(255) |
| 3797 1dac E81B sub r30,r24 |
| 3798 1dae F109 sbc r31,__zero_reg__ |
| 3799 1db0 E050 subi r30,lo8(-(Poti)) |
| 3800 1db2 F040 sbci r31,hi8(-(Poti)) |
| 3801 1db4 8081 ld r24,Z |
| 3802 .L359: |
| 3803 1db6 8093 0000 sts Parameter_ServoRollComp,r24 |
| 3804 1dba 8091 0000 lds r24,EE_Parameter+59 |
| 3805 1dbe 883F cpi r24,lo8(-8) |
| 3806 1dc0 00F0 brlo .L360 |
| 3807 1dc2 EFEF ldi r30,lo8(255) |
| 3808 1dc4 F0E0 ldi r31,hi8(255) |
| 3809 1dc6 E81B sub r30,r24 |
| 3810 1dc8 F109 sbc r31,__zero_reg__ |
| 3811 1dca E050 subi r30,lo8(-(Poti)) |
| 3812 1dcc F040 sbci r31,hi8(-(Poti)) |
| 3813 1dce 8081 ld r24,Z |
| 3814 .L360: |
| 3815 1dd0 8093 0000 sts Parameter_LoopGasLimit,r24 |
| 3816 1dd4 8091 0000 lds r24,EE_Parameter+62 |
| 3817 1dd8 883F cpi r24,lo8(-8) |
| 3818 1dda 00F0 brlo .L361 |
| 3819 1ddc EFEF ldi r30,lo8(255) |
| 3820 1dde F0E0 ldi r31,hi8(255) |
| 3821 1de0 E81B sub r30,r24 |
| 3822 1de2 F109 sbc r31,__zero_reg__ |
| 3823 1de4 E050 subi r30,lo8(-(Poti)) |
| 3824 1de6 F040 sbci r31,hi8(-(Poti)) |
| 3825 1de8 8081 ld r24,Z |
| 3826 .L361: |
| 3827 1dea 8093 0000 sts Parameter_AchsKopplung1,r24 |
| 3828 1dee 8091 0000 lds r24,EE_Parameter+63 |
| 3829 1df2 883F cpi r24,lo8(-8) |
| 3830 1df4 00F0 brlo .L362 |
| 3831 1df6 EFEF ldi r30,lo8(255) |
| 3832 1df8 F0E0 ldi r31,hi8(255) |
| 3833 1dfa E81B sub r30,r24 |
| 3834 1dfc F109 sbc r31,__zero_reg__ |
| 3835 1dfe E050 subi r30,lo8(-(Poti)) |
| 3836 1e00 F040 sbci r31,hi8(-(Poti)) |
| 3837 1e02 8081 ld r24,Z |
| 3838 .L362: |
| 3839 1e04 8093 0000 sts Parameter_AchsKopplung2,r24 |
| 3840 1e08 8091 0000 lds r24,EE_Parameter+64 |
| 3841 1e0c 883F cpi r24,lo8(-8) |
| 3842 1e0e 00F0 brlo .L363 |
| 3843 1e10 EFEF ldi r30,lo8(255) |
| 3844 1e12 F0E0 ldi r31,hi8(255) |
| 3845 1e14 E81B sub r30,r24 |
| 3846 1e16 F109 sbc r31,__zero_reg__ |
| 3847 1e18 E050 subi r30,lo8(-(Poti)) |
| 3848 1e1a F040 sbci r31,hi8(-(Poti)) |
| 3849 1e1c 8081 ld r24,Z |
| 3850 .L363: |
| 3851 1e1e 8093 0000 sts Parameter_CouplingYawCorrection,r24 |
| 3852 1e22 8091 0000 lds r24,EE_Parameter+104 |
| 3853 1e26 883F cpi r24,lo8(-8) |
| 3854 1e28 00F0 brlo .L364 |
| 3855 1e2a EFEF ldi r30,lo8(255) |
| 3856 1e2c F0E0 ldi r31,hi8(255) |
| 3857 1e2e E81B sub r30,r24 |
| 3858 1e30 F109 sbc r31,__zero_reg__ |
| 3859 1e32 E050 subi r30,lo8(-(Poti)) |
| 3860 1e34 F040 sbci r31,hi8(-(Poti)) |
| 3861 1e36 8081 ld r24,Z |
| 3862 .L364: |
| 3863 1e38 8093 0000 sts Parameter_MaximumAltitude,r24 |
| 3864 1e3c 9091 0000 lds r25,NC_To_FC_MaxAltitude |
| 3865 1e40 9923 tst r25 |
| 3866 1e42 01F0 breq .L305 |
| 3867 1e44 8091 0000 lds r24,Parameter_MaximumAltitude |
| 3868 1e48 9817 cp r25,r24 |
| 3869 1e4a 00F0 brlo .L304 |
| 3870 .L305: |
| 3871 1e4c 8091 0000 lds r24,Parameter_MaximumAltitude |
| 3872 1e50 8823 tst r24 |
| 3873 1e52 01F4 brne .L303 |
| 3874 .L304: |
| 3875 1e54 9093 0000 sts Parameter_MaximumAltitude,r25 |
| 3876 .L303: |
| 3877 1e58 8091 0000 lds r24,EE_Parameter+13 |
| 3878 1e5c 8093 0000 sts Parameter_GlobalConfig,r24 |
| 3879 1e60 8091 0000 lds r24,EE_Parameter+110 |
| 3880 1e64 8093 0000 sts Parameter_ExtraConfig,r24 |
| 3881 1e68 8091 0000 lds r24,EE_Parameter+69 |
| 3882 1e6c 883F cpi r24,lo8(-8) |
| 3883 1e6e 00F0 brlo .L365 |
| 3884 1e70 EFEF ldi r30,lo8(255) |
| 3885 1e72 F0E0 ldi r31,hi8(255) |
| 3886 1e74 E81B sub r30,r24 |
| 3887 1e76 F109 sbc r31,__zero_reg__ |
| 3888 1e78 E050 subi r30,lo8(-(Poti)) |
| 3889 1e7a F040 sbci r31,hi8(-(Poti)) |
| 3890 1e7c 8081 ld r24,Z |
| 3891 .L365: |
| 3892 1e7e 8093 0000 sts Parameter_DynamicStability,r24 |
| 3893 1e82 8091 0000 lds r24,EE_Parameter+97 |
| 3894 1e86 883F cpi r24,lo8(-8) |
| 3895 1e88 00F0 brlo .L366 |
| 3896 1e8a EFEF ldi r30,lo8(255) |
| 3897 1e8c F0E0 ldi r31,hi8(255) |
| 3898 1e8e E81B sub r30,r24 |
| 3899 1e90 F109 sbc r31,__zero_reg__ |
| 3900 1e92 E050 subi r30,lo8(-(Poti)) |
| 3901 1e94 F040 sbci r31,hi8(-(Poti)) |
| 3902 1e96 8081 ld r24,Z |
| 3903 .L366: |
| 3904 1e98 8093 0000 sts Parameter_ExternalControl,r24 |
| 3905 1e9c 8091 0000 lds r24,Parameter_I_Faktor |
| 3906 1ea0 282F mov r18,r24 |
| 3907 1ea2 3327 clr r19 |
| 3908 1ea4 2F5F subi r18,lo8(-(1)) |
| 3909 1ea6 3F4F sbci r19,hi8(-(1)) |
| 3910 1ea8 8CE3 ldi r24,lo8(10300) |
| 3911 1eaa 98E2 ldi r25,hi8(10300) |
| 3912 1eac B901 movw r22,r18 |
| 3913 1eae 0E94 0000 call __divmodhi4 |
| 3914 1eb2 7093 0000 sts (Ki)+1,r23 |
| 3915 1eb6 6093 0000 sts Ki,r22 |
| 3916 1eba 8091 0000 lds r24,EE_Parameter+27 |
| 3917 1ebe 8093 0000 sts MAX_GAS,r24 |
| 3918 1ec2 8091 0000 lds r24,EE_Parameter+26 |
| 3919 1ec6 8093 0000 sts MIN_GAS,r24 |
| 3920 1eca 9091 0000 lds r25,EE_Parameter+99 |
| 3921 1ece 9333 cpi r25,lo8(51) |
| 3922 1ed0 00F4 brsh .+2 |
| 3923 1ed2 00C0 rjmp .L310 |
| 3924 1ed4 81E0 ldi r24,lo8(1) |
| 3925 1ed6 8093 0000 sts CareFree,r24 |
| 3926 1eda 983F cpi r25,lo8(-8) |
| 3927 1edc 00F0 brlo .L311 |
| 3928 1ede EFEF ldi r30,lo8(255) |
| 3929 1ee0 F0E0 ldi r31,hi8(255) |
| 3930 1ee2 E91B sub r30,r25 |
| 3931 1ee4 F109 sbc r31,__zero_reg__ |
| 3932 1ee6 E050 subi r30,lo8(-(Poti)) |
| 3933 1ee8 F040 sbci r31,hi8(-(Poti)) |
| 3934 1eea 8081 ld r24,Z |
| 3935 1eec 8233 cpi r24,lo8(50) |
| 3936 1eee 00F4 brsh .L311 |
| 3937 1ef0 1092 0000 sts CareFree,__zero_reg__ |
| 3938 .L311: |
| 3939 1ef4 8091 0000 lds r24,carefree_old |
| 3940 1ef8 2091 0000 lds r18,CareFree |
| 3941 1efc 8217 cp r24,r18 |
| 3942 1efe 01F0 breq .L312 |
| 3943 1f00 8330 cpi r24,lo8(3) |
| 3944 1f02 00F4 brsh .L313 |
| 3945 1f04 3091 0000 lds r19,SpeakHoTT |
| 3946 1f08 2223 tst r18 |
| 3947 1f0a 01F0 breq .L314 |
| 3948 1f0c 8CED ldi r24,lo8(1500) |
| 3949 1f0e 95E0 ldi r25,hi8(1500) |
| 3950 1f10 9093 0000 sts (beeptime)+1,r25 |
| 3951 1f14 8093 0000 sts beeptime,r24 |
| 3952 1f18 3323 tst r19 |
| 3953 1f1a 01F4 brne .L316 |
| 3954 1f1c 8EE2 ldi r24,lo8(46) |
| 3955 1f1e 00C0 rjmp .L367 |
| 3956 .L314: |
| 3957 1f20 88EC ldi r24,lo8(200) |
| 3958 1f22 90E0 ldi r25,hi8(200) |
| 3959 1f24 9093 0000 sts (beeptime)+1,r25 |
| 3960 1f28 8093 0000 sts beeptime,r24 |
| 3961 1f2c 3323 tst r19 |
| 3962 1f2e 01F4 brne .L316 |
| 3963 1f30 87E1 ldi r24,lo8(23) |
| 3964 .L367: |
| 3965 1f32 8093 0000 sts SpeakHoTT,r24 |
| 3966 .L316: |
| 3967 1f36 85E0 ldi r24,lo8(5) |
| 3968 1f38 8093 0000 sts NeueKompassRichtungMerken,r24 |
| 3969 1f3c 2093 0000 sts carefree_old,r18 |
| 3970 1f40 00C0 rjmp .L312 |
| 3971 .L313: |
| 3972 1f42 8150 subi r24,lo8(-(-1)) |
| 3973 1f44 8093 0000 sts carefree_old,r24 |
| 3974 .L312: |
| 3975 1f48 8091 0000 lds r24,FromNaviCtrl+7 |
| 3976 1f4c 9091 0000 lds r25,(FromNaviCtrl+7)+1 |
| 3977 1f50 97FF sbrs r25,7 |
| 3978 1f52 00C0 rjmp .L320 |
| 3979 1f54 8091 0000 lds r24,CareFree |
| 3980 1f58 8823 tst r24 |
| 3981 1f5a 01F0 breq .L320 |
| 3982 1f5c 8091 0000 lds r24,VersionInfo+5 |
| 3983 1f60 8068 ori r24,lo8(-128) |
| 3984 1f62 8093 0000 sts VersionInfo+5,r24 |
| 3985 1f66 00C0 rjmp .L320 |
| 3986 .L310: |
| 3987 1f68 1092 0000 sts CareFree,__zero_reg__ |
| 3988 1f6c 8AE0 ldi r24,lo8(10) |
| 3989 1f6e 8093 0000 sts carefree_old,r24 |
| 3990 .L320: |
| 3991 1f72 8091 0000 lds r24,FromNaviCtrl+7 |
| 3992 1f76 9091 0000 lds r25,(FromNaviCtrl+7)+1 |
| 3993 1f7a 97FF sbrs r25,7 |
| 3994 1f7c 00C0 rjmp .L321 |
| 3995 1f7e 8091 0000 lds r24,MotorenEin |
| 3996 1f82 8823 tst r24 |
| 3997 1f84 01F0 breq .L321 |
| 3998 1f86 8091 0000 lds r24,CareFree |
| 3999 1f8a 8823 tst r24 |
| 4000 1f8c 01F0 breq .L321 |
| 4001 1f8e 8091 0000 lds r24,BeepMuster |
| 4002 1f92 9091 0000 lds r25,(BeepMuster)+1 |
| 4003 1f96 8F5F subi r24,lo8(-1) |
| 4004 1f98 9F4F sbci r25,hi8(-1) |
| 4005 1f9a 01F4 brne .L321 |
| 4006 1f9c 88E9 ldi r24,lo8(15000) |
| 4007 1f9e 9AE3 ldi r25,hi8(15000) |
| 4008 1fa0 9093 0000 sts (beeptime)+1,r25 |
| 4009 1fa4 8093 0000 sts beeptime,r24 |
| 4010 1fa8 80E0 ldi r24,lo8(-23552) |
| 4011 1faa 94EA ldi r25,hi8(-23552) |
| 4012 1fac 9093 0000 sts (BeepMuster)+1,r25 |
| 4013 1fb0 8093 0000 sts BeepMuster,r24 |
| 4014 1fb4 1092 0000 sts CareFree,__zero_reg__ |
| 4015 .L321: |
| 4016 1fb8 8091 0000 lds r24,CareFree |
| 4017 1fbc 8823 tst r24 |
| 4018 1fbe 01F0 breq .L322 |
| 4019 1fc0 8091 0000 lds r24,FC_StatusFlags2 |
| 4020 1fc4 8160 ori r24,lo8(1) |
| 4021 1fc6 8093 0000 sts FC_StatusFlags2,r24 |
| 4022 1fca 8091 0000 lds r24,Parameter_AchsKopplung1 |
| 4023 1fce 823D cpi r24,lo8(-46) |
| 4024 1fd0 00F4 brsh .L190 |
| 4025 1fd2 825E subi r24,lo8(-(30)) |
| 4026 1fd4 8093 0000 sts Parameter_AchsKopplung1,r24 |
| 4027 1fd8 00C0 rjmp .L190 |
| 4028 .L322: |
| 4029 1fda 8091 0000 lds r24,FC_StatusFlags2 |
| 4030 1fde 8E7F andi r24,lo8(-2) |
| 4031 1fe0 8093 0000 sts FC_StatusFlags2,r24 |
| 4032 .L190: |
| 4033 /* epilogue: frame size=0 */ |
| 4034 1fe4 DF91 pop r29 |
| 4035 1fe6 CF91 pop r28 |
| 4036 1fe8 0895 ret |
| 4037 /* epilogue end (size=3) */ |
| 4038 /* function ParameterZuordnung size 798 (793) */ |
| 4040 .lcomm sollGier.0,4 |
| 4041 .lcomm tmp_long.1,4 |
| 4042 .lcomm tmp_long2.2,4 |
| 4043 .lcomm IntegralFehlerNick.3,4 |
| 4044 .lcomm IntegralFehlerRoll.4,4 |
| 4045 .lcomm RcLostTimer.5,2 |
| 4046 .lcomm delay_neutral.6,1 |
| 4047 .lcomm delay_einschalten.7,1 |
| 4048 .lcomm delay_ausschalten.8,1 |
| 4049 .lcomm move_safety_switch.9,1 |
| 4050 .lcomm ausgleichNick.10,4 |
| 4051 .lcomm ausgleichRoll.11,4 |
| 4052 .lcomm stick_nick.12,2 |
| 4053 .lcomm stick_roll.13,2 |
| 4054 .lcomm cnt.14,2 |
| 4055 .lcomm last_n_p.15,1 |
| 4056 .lcomm last_n_n.16,1 |
| 4057 .lcomm last_r_p.17,1 |
| 4058 .lcomm last_r_n.18,1 |
| 4059 .lcomm MittelIntegralNick_Alt.19,4 |
| 4060 .lcomm MittelIntegralRoll_Alt.20,4 |
| 4061 .lcomm HeightTrimming.21,2 |
| 4062 .lcomm FilterHCGas.22,2 |
| 4063 .lcomm HoverGasFilter.23,4 |
| 4064 .data |
| 4067 delay.24: |
| 4068 0051 64 .byte 100 |
| 4069 .lcomm BaroAtUpperLimit.25,1 |
| 4070 .lcomm BaroAtLowerLimit.26,1 |
| 4071 .text |
| 4072 .global MotorRegler |
| 4074 MotorRegler: |
| 4075 /* prologue: frame size=23 */ |
| 4076 1fea A7E1 ldi r26,lo8(23) |
| 4077 1fec B0E0 ldi r27,hi8(23) |
| 4078 1fee E0E0 ldi r30,pm_lo8(1f) |
| 4079 1ff0 F0E0 ldi r31,pm_hi8(1f) |
| 4080 1ff2 0C94 0000 jmp __prologue_saves__+0 |
| 4081 1: |
| 4082 /* prologue end (size=6) */ |
| 4083 1ff6 0E94 0000 call Mittelwert |
| 4084 1ffa 8091 0000 lds r24,FC_StatusFlags |
| 4085 1ffe 9927 clr r25 |
| 4086 2000 8471 andi r24,lo8(20) |
| 4087 2002 9070 andi r25,hi8(20) |
| 4088 2004 892B or r24,r25 |
| 4089 2006 01F4 brne .L371 |
| 4090 2008 8091 0000 lds r24,EE_Parameter+111 |
| 4091 200c 82FF sbrs r24,2 |
| 4092 200e 00C0 rjmp .L372 |
| 4093 2010 8091 0000 lds r24,HoverGas |
| 4094 2014 9091 0000 lds r25,(HoverGas)+1 |
| 4095 2018 0097 sbiw r24,0 |
| 4096 201a 01F0 breq .L373 |
| 4097 201c 02E0 ldi r16,hi8(600) |
| 4098 201e 8835 cpi r24,lo8(600) |
| 4099 2020 9007 cpc r25,r16 |
| 4100 2022 04F4 brge .L373 |
| 4101 2024 9C01 movw r18,r24 |
| 4102 2026 97FF sbrs r25,7 |
| 4103 2028 00C0 rjmp .L374 |
| 4104 202a 2D5F subi r18,lo8(-(3)) |
| 4105 202c 3F4F sbci r19,hi8(-(3)) |
| 4106 .L374: |
| 4107 202e 3595 asr r19 |
| 4108 2030 2795 ror r18 |
| 4109 2032 3595 asr r19 |
| 4110 2034 2795 ror r18 |
| 4111 2036 8091 0000 lds r24,EE_Parameter+37 |
| 4112 203a 9927 clr r25 |
| 4113 203c 289F mul r18,r24 |
| 4114 203e A001 movw r20,r0 |
| 4115 2040 299F mul r18,r25 |
| 4116 2042 500D add r21,r0 |
| 4117 2044 389F mul r19,r24 |
| 4118 2046 500D add r21,r0 |
| 4119 2048 1124 clr r1 |
| 4120 204a CA01 movw r24,r20 |
| 4121 204c 64E6 ldi r22,lo8(100) |
| 4122 204e 70E0 ldi r23,hi8(100) |
| 4123 2050 0E94 0000 call __divmodhi4 |
| 4124 2054 CB01 movw r24,r22 |
| 4125 2056 00C0 rjmp .L893 |
| 4126 .L373: |
| 4127 2058 8DE2 ldi r24,lo8(45) |
| 4128 205a 90E0 ldi r25,hi8(45) |
| 4129 205c 00C0 rjmp .L893 |
| 4130 .L372: |
| 4131 205e 8091 0000 lds r24,EE_Parameter+37 |
| 4132 2062 9927 clr r25 |
| 4133 .L893: |
| 4134 2064 9093 0000 sts (HooverGasEmergencyPercent)+1,r25 |
| 4135 2068 8093 0000 sts HooverGasEmergencyPercent,r24 |
| 4136 .L371: |
| 4137 206c 2091 0000 lds r18,GasIsZeroCnt |
| 4138 2070 3091 0000 lds r19,(GasIsZeroCnt)+1 |
| 4139 2074 55E7 ldi r21,hi8(30000) |
| 4140 2076 2033 cpi r18,lo8(30000) |
| 4141 2078 3507 cpc r19,r21 |
| 4142 207a 01F4 brne .L377 |
| 4143 207c 1092 0000 sts (StickGas)+1,__zero_reg__ |
| 4144 2080 1092 0000 sts StickGas,__zero_reg__ |
| 4145 2084 8091 0000 lds r24,MIN_GAS |
| 4146 2088 9927 clr r25 |
| 4147 208a 9093 0000 sts (HooverGasEmergencyPercent)+1,r25 |
| 4148 208e 8093 0000 sts HooverGasEmergencyPercent,r24 |
| 4149 .L377: |
| 4150 2092 6091 0000 lds r22,StickGas |
| 4151 2096 7091 0000 lds r23,(StickGas)+1 |
| 4152 209a 7A83 std Y+2,r23 |
| 4153 209c 6983 std Y+1,r22 |
| 4154 209e 8091 0000 lds r24,MIN_GAS |
| 4155 20a2 9927 clr r25 |
| 4156 20a4 0A96 adiw r24,10 |
| 4157 20a6 6817 cp r22,r24 |
| 4158 20a8 7907 cpc r23,r25 |
| 4159 20aa 04F4 brge .L378 |
| 4160 20ac 9A83 std Y+2,r25 |
| 4161 20ae 8983 std Y+1,r24 |
| 4162 .L378: |
| 4163 20b0 8091 0000 lds r24,SenderOkay |
| 4164 20b4 8436 cpi r24,lo8(100) |
| 4165 20b6 00F0 brlo .+2 |
| 4166 20b8 00C0 rjmp .L379 |
| 4167 20ba 8091 0000 lds r24,FC_StatusFlags2 |
| 4168 20be 82FD sbrc r24,2 |
| 4169 20c0 00C0 rjmp .L379 |
| 4170 20c2 8091 0000 lds r24,RcLostTimer.5 |
| 4171 20c6 9091 0000 lds r25,(RcLostTimer.5)+1 |
| 4172 20ca 0097 sbiw r24,0 |
| 4173 20cc 01F0 breq .L380 |
| 4174 20ce 0197 sbiw r24,1 |
| 4175 20d0 9093 0000 sts (RcLostTimer.5)+1,r25 |
| 4176 20d4 8093 0000 sts RcLostTimer.5,r24 |
| 4177 20d8 00C0 rjmp .L381 |
| 4178 .L380: |
| 4179 20da 1092 0000 sts MotorenEin,__zero_reg__ |
| 4180 20de 9093 0000 sts (modell_fliegt)+1,r25 |
| 4181 20e2 8093 0000 sts modell_fliegt,r24 |
| 4182 20e6 8091 0000 lds r24,FC_StatusFlags |
| 4183 20ea 8D7E andi r24,lo8(-19) |
| 4184 20ec 8093 0000 sts FC_StatusFlags,r24 |
| 4185 .L381: |
| 4186 20f0 8091 0000 lds r24,PlatinenVersion |
| 4187 20f4 8A30 cpi r24,lo8(10) |
| 4188 20f6 01F0 breq .L383 |
| 4189 20f8 8431 cpi r24,lo8(20) |
| 4190 20fa 00F0 brlo .L382 |
| 4191 .L383: |
| 4192 20fc 289A sbi 37-0x20,0 |
| 4193 20fe 00C0 rjmp .L384 |
| 4194 .L382: |
| 4195 2100 2898 cbi 37-0x20,0 |
| 4196 .L384: |
| 4197 2102 8091 0000 lds r24,modell_fliegt |
| 4198 2106 9091 0000 lds r25,(modell_fliegt)+1 |
| 4199 210a 895E subi r24,lo8(1001) |
| 4200 210c 9340 sbci r25,hi8(1001) |
| 4201 210e 00F0 brlo .L385 |
| 4202 2110 8091 0000 lds r24,Capacity+6 |
| 4203 2114 8536 cpi r24,lo8(101) |
| 4204 2116 00F0 brlo .L385 |
| 4205 2118 8091 0000 lds r24,HooverGasEmergencyPercent |
| 4206 211c 9091 0000 lds r25,(HooverGasEmergencyPercent)+1 |
| 4207 2120 9A83 std Y+2,r25 |
| 4208 2122 8983 std Y+1,r24 |
| 4209 2124 8091 0000 lds r24,FC_StatusFlags |
| 4210 2128 8061 ori r24,lo8(16) |
| 4211 212a 8093 0000 sts FC_StatusFlags,r24 |
| 4212 212e 8091 0000 lds r24,EE_Parameter+1 |
| 4213 2132 A82F mov r26,r24 |
| 4214 2134 BB27 clr r27 |
| 4215 2136 AA0F add r26,r26 |
| 4216 2138 BB1F adc r27,r27 |
| 4217 213a FD01 movw r30,r26 |
| 4218 213c E050 subi r30,lo8(-(PPM_diff)) |
| 4219 213e F040 sbci r31,hi8(-(PPM_diff)) |
| 4220 2140 1182 std Z+1,__zero_reg__ |
| 4221 2142 1082 st Z,__zero_reg__ |
| 4222 2144 8091 0000 lds r24,EE_Parameter+2 |
| 4223 2148 282F mov r18,r24 |
| 4224 214a 3327 clr r19 |
| 4225 214c 220F add r18,r18 |
| 4226 214e 331F adc r19,r19 |
| 4227 2150 C901 movw r24,r18 |
| 4228 2152 8050 subi r24,lo8(-(PPM_diff)) |
| 4229 2154 9040 sbci r25,hi8(-(PPM_diff)) |
| 4230 2156 FC01 movw r30,r24 |
| 4231 2158 1182 std Z+1,__zero_reg__ |
| 4232 215a 1082 st Z,__zero_reg__ |
| 4233 215c A050 subi r26,lo8(-(PPM_in)) |
| 4234 215e B040 sbci r27,hi8(-(PPM_in)) |
| 4235 2160 1196 adiw r26,1 |
| 4236 2162 1C92 st X,__zero_reg__ |
| 4237 2164 1E92 st -X,__zero_reg__ |
| 4238 2166 2050 subi r18,lo8(-(PPM_in)) |
| 4239 2168 3040 sbci r19,hi8(-(PPM_in)) |
| 4240 216a D901 movw r26,r18 |
| 4241 216c 1196 adiw r26,1 |
| 4242 216e 1C92 st X,__zero_reg__ |
| 4243 2170 1E92 st -X,__zero_reg__ |
| 4244 2172 8091 0000 lds r24,EE_Parameter+4 |
| 4245 2176 E82F mov r30,r24 |
| 4246 2178 FF27 clr r31 |
| 4247 217a EE0F add r30,r30 |
| 4248 217c FF1F adc r31,r31 |
| 4249 217e E050 subi r30,lo8(-(PPM_in)) |
| 4250 2180 F040 sbci r31,hi8(-(PPM_in)) |
| 4251 2182 1182 std Z+1,__zero_reg__ |
| 4252 2184 1082 st Z,__zero_reg__ |
| 4253 2186 00C0 rjmp .L387 |
| 4254 .L385: |
| 4255 2188 1092 0000 sts MotorenEin,__zero_reg__ |
| 4256 218c 00C0 rjmp .L387 |
| 4257 .L379: |
| 4258 218e 8091 0000 lds r24,SenderOkay |
| 4259 2192 8D38 cpi r24,lo8(-115) |
| 4260 2194 00F4 brsh .+2 |
| 4261 2196 00C0 rjmp .L388 |
| 4262 2198 8091 0000 lds r24,FC_StatusFlags |
| 4263 219c 8F7E andi r24,lo8(-17) |
| 4264 219e 8093 0000 sts FC_StatusFlags,r24 |
| 4265 21a2 9091 0000 lds r25,EE_Parameter+38 |
| 4266 21a6 82E3 ldi r24,lo8(50) |
| 4267 21a8 989F mul r25,r24 |
| 4268 21aa C001 movw r24,r0 |
| 4269 21ac 1124 clr r1 |
| 4270 21ae 9093 0000 sts (RcLostTimer.5)+1,r25 |
| 4271 21b2 8093 0000 sts RcLostTimer.5,r24 |
| 4272 21b6 E981 ldd r30,Y+1 |
| 4273 21b8 FA81 ldd r31,Y+2 |
| 4274 21ba B997 sbiw r30,41 |
| 4275 21bc 04F0 brlt .L389 |
| 4276 21be 8091 0000 lds r24,MotorenEin |
| 4277 21c2 8823 tst r24 |
| 4278 21c4 01F0 breq .L389 |
| 4279 21c6 8091 0000 lds r24,modell_fliegt |
| 4280 21ca 9091 0000 lds r25,(modell_fliegt)+1 |
| 4281 21ce FFEF ldi r31,hi8(-1) |
| 4282 21d0 8F3F cpi r24,lo8(-1) |
| 4283 21d2 9F07 cpc r25,r31 |
| 4284 21d4 01F0 breq .L389 |
| 4285 21d6 0196 adiw r24,1 |
| 4286 21d8 9093 0000 sts (modell_fliegt)+1,r25 |
| 4287 21dc 8093 0000 sts modell_fliegt,r24 |
| 4288 .L389: |
| 4289 21e0 8091 0000 lds r24,modell_fliegt |
| 4290 21e4 9091 0000 lds r25,(modell_fliegt)+1 |
| 4291 21e8 8F3F cpi r24,255 |
| 4292 21ea 9105 cpc r25,__zero_reg__ |
| 4293 21ec 01F0 breq .+2 |
| 4294 21ee 00F4 brsh .L391 |
| 4295 21f0 1092 0000 sts SummeNick,__zero_reg__ |
| 4296 21f4 1092 0000 sts (SummeNick)+1,__zero_reg__ |
| 4297 21f8 1092 0000 sts (SummeNick)+2,__zero_reg__ |
| 4298 21fc 1092 0000 sts (SummeNick)+3,__zero_reg__ |
| 4299 2200 1092 0000 sts SummeRoll,__zero_reg__ |
| 4300 2204 1092 0000 sts (SummeRoll)+1,__zero_reg__ |
| 4301 2208 1092 0000 sts (SummeRoll)+2,__zero_reg__ |
| 4302 220c 1092 0000 sts (SummeRoll)+3,__zero_reg__ |
| 4303 2210 1092 0000 sts sollGier.0,__zero_reg__ |
| 4304 2214 1092 0000 sts (sollGier.0)+1,__zero_reg__ |
| 4305 2218 1092 0000 sts (sollGier.0)+2,__zero_reg__ |
| 4306 221c 1092 0000 sts (sollGier.0)+3,__zero_reg__ |
| 4307 2220 1092 0000 sts Mess_Integral_Gier,__zero_reg__ |
| 4308 2224 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__ |
| 4309 2228 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__ |
| 4310 222c 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__ |
| 4311 2230 00C0 rjmp .L392 |
| 4312 .L391: |
| 4313 2232 8091 0000 lds r24,FC_StatusFlags |
| 4314 2236 8260 ori r24,lo8(2) |
| 4315 2238 8093 0000 sts FC_StatusFlags,r24 |
| 4316 .L392: |
| 4317 223c 8091 0000 lds r24,EE_Parameter+3 |
| 4318 2240 E82F mov r30,r24 |
| 4319 2242 FF27 clr r31 |
| 4320 2244 EE0F add r30,r30 |
| 4321 2246 FF1F adc r31,r31 |
| 4322 2248 E050 subi r30,lo8(-(PPM_in)) |
| 4323 224a F040 sbci r31,hi8(-(PPM_in)) |
| 4324 224c 8081 ld r24,Z |
| 4325 224e 9181 ldd r25,Z+1 |
| 4326 2250 8135 cpi r24,81 |
| 4327 2252 9105 cpc r25,__zero_reg__ |
| 4328 2254 04F4 brge .+2 |
| 4329 2256 00C0 rjmp .L393 |
| 4330 2258 2091 0000 lds r18,MotorenEin |
| 4331 225c 2223 tst r18 |
| 4332 225e 01F0 breq .+2 |
| 4333 2260 00C0 rjmp .L393 |
| 4334 2262 8091 0000 lds r24,EE_Parameter+4 |
| 4335 2266 E82F mov r30,r24 |
| 4336 2268 FF27 clr r31 |
| 4337 226a EE0F add r30,r30 |
| 4338 226c FF1F adc r31,r31 |
| 4339 226e E050 subi r30,lo8(-(PPM_in)) |
| 4340 2270 F040 sbci r31,hi8(-(PPM_in)) |
| 4341 2272 8081 ld r24,Z |
| 4342 2274 9181 ldd r25,Z+1 |
| 4343 2276 8C34 cpi r24,76 |
| 4344 2278 9105 cpc r25,__zero_reg__ |
| 4345 227a 04F4 brge .+2 |
| 4346 227c 00C0 rjmp .L394 |
| 4347 227e 8091 0000 lds r24,delay_neutral.6 |
| 4348 2282 8F5F subi r24,lo8(-(1)) |
| 4349 2284 8093 0000 sts delay_neutral.6,r24 |
| 4350 2288 893C cpi r24,lo8(-55) |
| 4351 228a 00F4 brsh .+2 |
| 4352 228c 00C0 rjmp .L393 |
| 4353 228e 2093 0000 sts delay_neutral.6,r18 |
| 4354 2292 1092 0000 sts (modell_fliegt)+1,__zero_reg__ |
| 4355 2296 1092 0000 sts modell_fliegt,__zero_reg__ |
| 4356 229a 3091 0000 lds r19,EE_Parameter+1 |
| 4357 229e E32F mov r30,r19 |
| 4358 22a0 FF27 clr r31 |
| 4359 22a2 EE0F add r30,r30 |
| 4360 22a4 FF1F adc r31,r31 |
| 4361 22a6 E050 subi r30,lo8(-(PPM_in)) |
| 4362 22a8 F040 sbci r31,hi8(-(PPM_in)) |
| 4363 22aa 8081 ld r24,Z |
| 4364 22ac 9181 ldd r25,Z+1 |
| 4365 22ae 8734 cpi r24,71 |
| 4366 22b0 9105 cpc r25,__zero_reg__ |
| 4367 22b2 04F4 brge .L397 |
| 4368 22b4 8091 0000 lds r24,EE_Parameter+2 |
| 4369 22b8 E82F mov r30,r24 |
| 4370 22ba FF27 clr r31 |
| 4371 22bc EE0F add r30,r30 |
| 4372 22be FF1F adc r31,r31 |
| 4373 22c0 E050 subi r30,lo8(-(PPM_in)) |
| 4374 22c2 F040 sbci r31,hi8(-(PPM_in)) |
| 4375 22c4 8081 ld r24,Z |
| 4376 22c6 9181 ldd r25,Z+1 |
| 4377 22c8 0190 ld __tmp_reg__,Z+ |
| 4378 22ca F081 ld r31,Z |
| 4379 22cc E02D mov r30,__tmp_reg__ |
| 4380 22ce F7FF sbrs r31,7 |
| 4381 22d0 00C0 rjmp .L398 |
| 4382 22d2 F095 com r31 |
| 4383 22d4 E195 neg r30 |
| 4384 22d6 FF4F sbci r31,lo8(-1) |
| 4385 .L398: |
| 4386 22d8 E734 cpi r30,71 |
| 4387 22da F105 cpc r31,__zero_reg__ |
| 4388 22dc 04F4 brge .+2 |
| 4389 22de 00C0 rjmp .L396 |
| 4390 .L397: |
| 4391 22e0 41E0 ldi r20,lo8(1) |
| 4392 22e2 2091 0000 lds r18,EE_Parameter+2 |
| 4393 22e6 A22F mov r26,r18 |
| 4394 22e8 BB27 clr r27 |
| 4395 22ea AA0F add r26,r26 |
| 4396 22ec BB1F adc r27,r27 |
| 4397 22ee A050 subi r26,lo8(-(PPM_in)) |
| 4398 22f0 B040 sbci r27,hi8(-(PPM_in)) |
| 4399 22f2 8D91 ld r24,X+ |
| 4400 22f4 9C91 ld r25,X |
| 4401 22f6 1197 sbiw r26,1 |
| 4402 22f8 8734 cpi r24,71 |
| 4403 22fa 9105 cpc r25,__zero_reg__ |
| 4404 22fc 04F0 brlt .L399 |
| 4405 22fe E32F mov r30,r19 |
| 4406 2300 FF27 clr r31 |
| 4407 2302 EE0F add r30,r30 |
| 4408 2304 FF1F adc r31,r31 |
| 4409 2306 E050 subi r30,lo8(-(PPM_in)) |
| 4410 2308 F040 sbci r31,hi8(-(PPM_in)) |
| 4411 230a 8081 ld r24,Z |
| 4412 230c 9181 ldd r25,Z+1 |
| 4413 .L399: |
| 4414 230e 8D91 ld r24,X+ |
| 4415 2310 9C91 ld r25,X |
| 4416 2312 8734 cpi r24,71 |
| 4417 2314 9105 cpc r25,__zero_reg__ |
| 4418 2316 04F0 brlt .L400 |
| 4419 2318 8091 0000 lds r24,EE_Parameter+1 |
| 4420 231c E82F mov r30,r24 |
| 4421 231e FF27 clr r31 |
| 4422 2320 EE0F add r30,r30 |
| 4423 2322 FF1F adc r31,r31 |
| 4424 2324 E050 subi r30,lo8(-(PPM_in)) |
| 4425 2326 F040 sbci r31,hi8(-(PPM_in)) |
| 4426 2328 8081 ld r24,Z |
| 4427 232a 9181 ldd r25,Z+1 |
| 4428 232c 8734 cpi r24,71 |
| 4429 232e 9105 cpc r25,__zero_reg__ |
| 4430 2330 04F0 brlt .L400 |
| 4431 2332 42E0 ldi r20,lo8(2) |
| 4432 .L400: |
| 4433 2334 E22F mov r30,r18 |
| 4434 2336 FF27 clr r31 |
| 4435 2338 EE0F add r30,r30 |
| 4436 233a FF1F adc r31,r31 |
| 4437 233c E050 subi r30,lo8(-(PPM_in)) |
| 4438 233e F040 sbci r31,hi8(-(PPM_in)) |
| 4439 2340 8081 ld r24,Z |
| 4440 2342 9181 ldd r25,Z+1 |
| 4441 2344 8634 cpi r24,70 |
| 4442 2346 9105 cpc r25,__zero_reg__ |
| 4443 2348 04F4 brge .L401 |
| 4444 234a 8091 0000 lds r24,EE_Parameter+1 |
| 4445 234e E82F mov r30,r24 |
| 4446 2350 FF27 clr r31 |
| 4447 2352 EE0F add r30,r30 |
| 4448 2354 FF1F adc r31,r31 |
| 4449 2356 E050 subi r30,lo8(-(PPM_in)) |
| 4450 2358 F040 sbci r31,hi8(-(PPM_in)) |
| 4451 235a 8081 ld r24,Z |
| 4452 235c 9181 ldd r25,Z+1 |
| 4453 235e 8734 cpi r24,71 |
| 4454 2360 9105 cpc r25,__zero_reg__ |
| 4455 2362 04F0 brlt .L401 |
| 4456 2364 43E0 ldi r20,lo8(3) |
| 4457 .L401: |
| 4458 2366 E22F mov r30,r18 |
| 4459 2368 FF27 clr r31 |
| 4460 236a EE0F add r30,r30 |
| 4461 236c FF1F adc r31,r31 |
| 4462 236e E050 subi r30,lo8(-(PPM_in)) |
| 4463 2370 F040 sbci r31,hi8(-(PPM_in)) |
| 4464 2372 8081 ld r24,Z |
| 4465 2374 9181 ldd r25,Z+1 |
| 4466 2376 8A5B subi r24,lo8(-70) |
| 4467 2378 9F4F sbci r25,hi8(-70) |
| 4468 237a 04F4 brge .L402 |
| 4469 237c 8091 0000 lds r24,EE_Parameter+1 |
| 4470 2380 E82F mov r30,r24 |
| 4471 2382 FF27 clr r31 |
| 4472 2384 EE0F add r30,r30 |
| 4473 2386 FF1F adc r31,r31 |
| 4474 2388 E050 subi r30,lo8(-(PPM_in)) |
| 4475 238a F040 sbci r31,hi8(-(PPM_in)) |
| 4476 238c 8081 ld r24,Z |
| 4477 238e 9181 ldd r25,Z+1 |
| 4478 2390 8734 cpi r24,71 |
| 4479 2392 9105 cpc r25,__zero_reg__ |
| 4480 2394 04F0 brlt .L402 |
| 4481 2396 44E0 ldi r20,lo8(4) |
| 4482 .L402: |
| 4483 2398 E22F mov r30,r18 |
| 4484 239a FF27 clr r31 |
| 4485 239c EE0F add r30,r30 |
| 4486 239e FF1F adc r31,r31 |
| 4487 23a0 E050 subi r30,lo8(-(PPM_in)) |
| 4488 23a2 F040 sbci r31,hi8(-(PPM_in)) |
| 4489 23a4 8081 ld r24,Z |
| 4490 23a6 9181 ldd r25,Z+1 |
| 4491 23a8 8A5B subi r24,lo8(-70) |
| 4492 23aa 9F4F sbci r25,hi8(-70) |
| 4493 23ac 04F4 brge .L403 |
| 4494 23ae 8091 0000 lds r24,EE_Parameter+1 |
| 4495 23b2 E82F mov r30,r24 |
| 4496 23b4 FF27 clr r31 |
| 4497 23b6 EE0F add r30,r30 |
| 4498 23b8 FF1F adc r31,r31 |
| 4499 23ba E050 subi r30,lo8(-(PPM_in)) |
| 4500 23bc F040 sbci r31,hi8(-(PPM_in)) |
| 4501 23be 8081 ld r24,Z |
| 4502 23c0 9181 ldd r25,Z+1 |
| 4503 23c2 8634 cpi r24,70 |
| 4504 23c4 9105 cpc r25,__zero_reg__ |
| 4505 23c6 04F4 brge .L403 |
| 4506 23c8 45E0 ldi r20,lo8(5) |
| 4507 .L403: |
| 4508 23ca 842F mov r24,r20 |
| 4509 23cc 0E94 0000 call SetActiveParamSet |
| 4510 .L396: |
| 4511 23d0 8091 0000 lds r24,EE_Parameter+2 |
| 4512 23d4 E82F mov r30,r24 |
| 4513 23d6 FF27 clr r31 |
| 4514 23d8 EE0F add r30,r30 |
| 4515 23da FF1F adc r31,r31 |
| 4516 23dc E050 subi r30,lo8(-(PPM_in)) |
| 4517 23de F040 sbci r31,hi8(-(PPM_in)) |
| 4518 23e0 8081 ld r24,Z |
| 4519 23e2 9181 ldd r25,Z+1 |
| 4520 23e4 0190 ld __tmp_reg__,Z+ |
| 4521 23e6 F081 ld r31,Z |
| 4522 23e8 E02D mov r30,__tmp_reg__ |
| 4523 23ea F7FF sbrs r31,7 |
| 4524 23ec 00C0 rjmp .L405 |
| 4525 23ee F095 com r31 |
| 4526 23f0 E195 neg r30 |
| 4527 23f2 FF4F sbci r31,lo8(-1) |
| 4528 .L405: |
| 4529 23f4 7E97 sbiw r30,30 |
| 4530 23f6 04F4 brge .L404 |
| 4531 23f8 8091 0000 lds r24,EE_Parameter+1 |
| 4532 23fc E82F mov r30,r24 |
| 4533 23fe FF27 clr r31 |
| 4534 2400 EE0F add r30,r30 |
| 4535 2402 FF1F adc r31,r31 |
| 4536 2404 E050 subi r30,lo8(-(PPM_in)) |
| 4537 2406 F040 sbci r31,hi8(-(PPM_in)) |
| 4538 2408 8081 ld r24,Z |
| 4539 240a 9181 ldd r25,Z+1 |
| 4540 240c 8A5B subi r24,lo8(-70) |
| 4541 240e 9F4F sbci r25,hi8(-70) |
| 4542 2410 04F4 brge .L404 |
| 4543 2412 81E0 ldi r24,lo8(1) |
| 4544 2414 8093 0000 sts WinkelOut+6,r24 |
| 4545 2418 1092 0000 sts CalibrationDone,__zero_reg__ |
| 4546 241c 88EE ldi r24,lo8(1000) |
| 4547 241e 93E0 ldi r25,hi8(1000) |
| 4548 2420 9093 0000 sts (beeptime)+1,r25 |
| 4549 2424 8093 0000 sts beeptime,r24 |
| 4550 2428 00C0 rjmp .L393 |
| 4551 .L404: |
| 4552 242a 0E94 0000 call GetActiveParamSet |
| 4553 242e 0E94 0000 call ParamSet_ReadFromEEProm |
| 4554 2432 80E0 ldi r24,lo8(0) |
| 4555 2434 0E94 0000 call LipoDetection |
| 4556 2438 8091 0000 lds r24,EE_Parameter+39 |
| 4557 243c 0E94 0000 call LIBFC_ReceiverInit |
| 4558 2440 8091 0000 lds r24,Parameter_GlobalConfig |
| 4559 2444 80FF sbrs r24,0 |
| 4560 2446 00C0 rjmp .L407 |
| 4561 2448 8091 0000 lds r24,MessLuftdruck |
| 4562 244c 9091 0000 lds r25,(MessLuftdruck)+1 |
| 4563 2450 875B subi r24,lo8(951) |
| 4564 2452 9340 sbci r25,hi8(951) |
| 4565 2454 00F4 brsh .L409 |
| 4566 2456 8091 0000 lds r24,MessLuftdruck |
| 4567 245a 9091 0000 lds r25,(MessLuftdruck)+1 |
| 4568 245e 8E5E subi r24,lo8(750) |
| 4569 2460 9240 sbci r25,hi8(750) |
| 4570 2462 00F4 brsh .L407 |
| 4571 .L409: |
| 4572 2464 0E94 0000 call SucheLuftruckOffset |
| 4573 .L407: |
| 4574 2468 80E0 ldi r24,lo8(0) |
| 4575 246a 0E94 0000 call SetNeutral |
| 4576 246e 81E0 ldi r24,lo8(1) |
| 4577 2470 8093 0000 sts CalibrationDone,r24 |
| 4578 2474 8093 0000 sts ServoActive,r24 |
| 4579 2478 579A sbi 42-0x20,7 |
| 4580 247a 00C0 rjmp .L894 |
| 4581 .L394: |
| 4582 247c 8081 ld r24,Z |
| 4583 247e 9181 ldd r25,Z+1 |
| 4584 2480 855B subi r24,lo8(-75) |
| 4585 2482 9F4F sbci r25,hi8(-75) |
| 4586 2484 04F4 brge .L411 |
| 4587 2486 8091 0000 lds r24,delay_neutral.6 |
| 4588 248a 8F5F subi r24,lo8(-(1)) |
| 4589 248c 8093 0000 sts delay_neutral.6,r24 |
| 4590 2490 893C cpi r24,lo8(-55) |
| 4591 2492 00F0 brlo .L393 |
| 4592 2494 2093 0000 sts MotorenEin,r18 |
| 4593 2498 2093 0000 sts delay_neutral.6,r18 |
| 4594 249c 1092 0000 sts (modell_fliegt)+1,__zero_reg__ |
| 4595 24a0 1092 0000 sts modell_fliegt,__zero_reg__ |
| 4596 24a4 81E0 ldi r24,lo8(1) |
| 4597 24a6 0E94 0000 call SetNeutral |
| 4598 24aa 81E0 ldi r24,lo8(1) |
| 4599 24ac 8093 0000 sts CalibrationDone,r24 |
| 4600 .L894: |
| 4601 24b0 88E1 ldi r24,lo8(24) |
| 4602 24b2 8093 0000 sts SpeakHoTT,r24 |
| 4603 24b6 0E94 0000 call GetActiveParamSet |
| 4604 24ba 68E7 ldi r22,lo8(120) |
| 4605 24bc 70E0 ldi r23,hi8(120) |
| 4606 24be 0E94 0000 call Piep |
| 4607 24c2 00C0 rjmp .L393 |
| 4608 .L411: |
| 4609 24c4 2093 0000 sts delay_neutral.6,r18 |
| 4610 .L393: |
| 4611 24c8 8091 0000 lds r24,EE_Parameter+3 |
| 4612 24cc E82F mov r30,r24 |
| 4613 24ce FF27 clr r31 |
| 4614 24d0 EE0F add r30,r30 |
| 4615 24d2 FF1F adc r31,r31 |
| 4616 24d4 E050 subi r30,lo8(-(PPM_in)) |
| 4617 24d6 F040 sbci r31,hi8(-(PPM_in)) |
| 4618 24d8 8081 ld r24,Z |
| 4619 24da 9181 ldd r25,Z+1 |
| 4620 24dc 8B5A subi r24,lo8(-85) |
| 4621 24de 9F4F sbci r25,hi8(-85) |
| 4622 24e0 04F0 brlt .+2 |
| 4623 24e2 00C0 rjmp .L414 |
| 4624 24e4 2091 0000 lds r18,EE_Parameter+100 |
| 4625 24e8 E22F mov r30,r18 |
| 4626 24ea FF27 clr r31 |
| 4627 24ec EF77 andi r30,lo8(127) |
| 4628 24ee F070 andi r31,hi8(127) |
| 4629 24f0 EE0F add r30,r30 |
| 4630 24f2 FF1F adc r31,r31 |
| 4631 24f4 E050 subi r30,lo8(-(PPM_diff)) |
| 4632 24f6 F040 sbci r31,hi8(-(PPM_diff)) |
| 4633 24f8 8081 ld r24,Z |
| 4634 24fa 9181 ldd r25,Z+1 |
| 4635 24fc 0697 sbiw r24,6 |
| 4636 24fe 04F0 brlt .L415 |
| 4637 2500 84E6 ldi r24,lo8(100) |
| 4638 2502 00C0 rjmp .L895 |
| 4639 .L415: |
| 4640 2504 8081 ld r24,Z |
| 4641 2506 9181 ldd r25,Z+1 |
| 4642 2508 8B5F subi r24,lo8(-5) |
| 4643 250a 9F4F sbci r25,hi8(-5) |
| 4644 250c 04F4 brge .L416 |
| 4645 250e 8CE9 ldi r24,lo8(-100) |
| 4646 .L895: |
| 4647 2510 8093 0000 sts move_safety_switch.9,r24 |
| 4648 .L416: |
| 4649 2514 8091 0000 lds r24,MotorenEin |
| 4650 2518 E091 0000 lds r30,EE_Parameter+4 |
| 4651 251c 8823 tst r24 |
| 4652 251e 01F0 breq .+2 |
| 4653 2520 00C0 rjmp .L418 |
| 4654 2522 FF27 clr r31 |
| 4655 2524 EE0F add r30,r30 |
| 4656 2526 FF1F adc r31,r31 |
| 4657 2528 E050 subi r30,lo8(-(PPM_in)) |
| 4658 252a F040 sbci r31,hi8(-(PPM_in)) |
| 4659 252c 8081 ld r24,Z |
| 4660 252e 9181 ldd r25,Z+1 |
| 4661 2530 855B subi r24,lo8(-75) |
| 4662 2532 9F4F sbci r25,hi8(-75) |
| 4663 2534 04F4 brge .L421 |
| 4664 2536 8091 0000 lds r24,EE_Parameter+111 |
| 4665 253a 83FD sbrc r24,3 |
| 4666 253c 00C0 rjmp .L422 |
| 4667 253e E22F mov r30,r18 |
| 4668 2540 FF27 clr r31 |
| 4669 2542 EE0F add r30,r30 |
| 4670 2544 FF1F adc r31,r31 |
| 4671 2546 E050 subi r30,lo8(-(PPM_in)) |
| 4672 2548 F040 sbci r31,hi8(-(PPM_in)) |
| 4673 254a 8081 ld r24,Z |
| 4674 254c 9181 ldd r25,Z+1 |
| 4675 254e 855B subi r24,lo8(-75) |
| 4676 2550 9F4F sbci r25,hi8(-75) |
| 4677 2552 04F0 brlt .L420 |
| 4678 .L422: |
| 4679 2554 8091 0000 lds r24,EE_Parameter+100 |
| 4680 2558 8823 tst r24 |
| 4681 255a 01F0 breq .L420 |
| 4682 .L421: |
| 4683 255c 8091 0000 lds r24,EE_Parameter+111 |
| 4684 2560 83FF sbrs r24,3 |
| 4685 2562 00C0 rjmp .L419 |
| 4686 2564 8091 0000 lds r24,EE_Parameter+100 |
| 4687 2568 E82F mov r30,r24 |
| 4688 256a FF27 clr r31 |
| 4689 256c EE0F add r30,r30 |
| 4690 256e FF1F adc r31,r31 |
| 4691 2570 E050 subi r30,lo8(-(PPM_in)) |
| 4692 2572 F040 sbci r31,hi8(-(PPM_in)) |
| 4693 2574 8081 ld r24,Z |
| 4694 2576 9181 ldd r25,Z+1 |
| 4695 2578 875F subi r24,lo8(-9) |
| 4696 257a 9F4F sbci r25,hi8(-9) |
| 4697 257c 04F4 brge .+2 |
| 4698 257e 00C0 rjmp .L419 |
| 4699 2580 8091 0000 lds r24,move_safety_switch.9 |
| 4700 2584 8436 cpi r24,lo8(100) |
| 4701 2586 01F0 breq .+2 |
| 4702 2588 00C0 rjmp .L419 |
| 4703 .L420: |
| 4704 258a 2091 0000 lds r18,CalibrationDone |
| 4705 258e 2223 tst r18 |
| 4706 2590 01F0 breq .L423 |
| 4707 2592 8091 0000 lds r24,FC_StatusFlags |
| 4708 2596 8860 ori r24,lo8(8) |
| 4709 2598 8093 0000 sts FC_StatusFlags,r24 |
| 4710 .L423: |
| 4711 259c 8091 0000 lds r24,delay_einschalten.7 |
| 4712 25a0 8F5F subi r24,lo8(-(1)) |
| 4713 25a2 8093 0000 sts delay_einschalten.7,r24 |
| 4714 25a6 8E3F cpi r24,lo8(-2) |
| 4715 25a8 00F4 brsh .+2 |
| 4716 25aa 00C0 rjmp .L429 |
| 4717 25ac 1092 0000 sts delay_einschalten.7,__zero_reg__ |
| 4718 25b0 8091 0000 lds r24,VersionInfo+5 |
| 4719 25b4 8823 tst r24 |
| 4720 25b6 01F0 breq .+2 |
| 4721 25b8 00C0 rjmp .L425 |
| 4722 25ba 2223 tst r18 |
| 4723 25bc 01F4 brne .+2 |
| 4724 25be 00C0 rjmp .L425 |
| 4725 25c0 8091 0000 lds r24,NC_ErrorCode |
| 4726 25c4 8823 tst r24 |
| 4727 25c6 01F0 breq .+2 |
| 4728 25c8 00C0 rjmp .L425 |
| 4729 25ca 81E0 ldi r24,lo8(1) |
| 4730 25cc 90E0 ldi r25,hi8(1) |
| 4731 25ce 9093 0000 sts (modell_fliegt)+1,r25 |
| 4732 25d2 8093 0000 sts modell_fliegt,r24 |
| 4733 25d6 81E0 ldi r24,lo8(1) |
| 4734 25d8 8093 0000 sts MotorenEin,r24 |
| 4735 25dc 1092 0000 sts sollGier.0,__zero_reg__ |
| 4736 25e0 1092 0000 sts (sollGier.0)+1,__zero_reg__ |
| 4737 25e4 1092 0000 sts (sollGier.0)+2,__zero_reg__ |
| 4738 25e8 1092 0000 sts (sollGier.0)+3,__zero_reg__ |
| 4739 25ec 1092 0000 sts Mess_Integral_Gier,__zero_reg__ |
| 4740 25f0 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__ |
| 4741 25f4 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__ |
| 4742 25f8 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__ |
| 4743 25fc 1092 0000 sts Mess_Integral_Gier2,__zero_reg__ |
| 4744 2600 1092 0000 sts (Mess_Integral_Gier2)+1,__zero_reg__ |
| 4745 2604 1092 0000 sts (Mess_Integral_Gier2)+2,__zero_reg__ |
| 4746 2608 1092 0000 sts (Mess_Integral_Gier2)+3,__zero_reg__ |
| 4747 260c 8091 0000 lds r24,EE_Parameter+28 |
| 4748 2610 E82E mov r14,r24 |
| 4749 2612 FF24 clr r15 |
| 4750 2614 0027 clr r16 |
| 4751 2616 1127 clr r17 |
| 4752 2618 8091 0000 lds r24,Mittelwert_AccNick |
| 4753 261c 9091 0000 lds r25,(Mittelwert_AccNick)+1 |
| 4754 2620 9C01 movw r18,r24 |
| 4755 2622 4427 clr r20 |
| 4756 2624 37FD sbrc r19,7 |
| 4757 2626 4095 com r20 |
| 4758 2628 542F mov r21,r20 |
| 4759 262a C801 movw r24,r16 |
| 4760 262c B701 movw r22,r14 |
| 4761 262e 0E94 0000 call __mulsi3 |
| 4762 2632 DC01 movw r26,r24 |
| 4763 2634 CB01 movw r24,r22 |
| 4764 2636 8093 0000 sts Mess_IntegralNick,r24 |
| 4765 263a 9093 0000 sts (Mess_IntegralNick)+1,r25 |
| 4766 263e A093 0000 sts (Mess_IntegralNick)+2,r26 |
| 4767 2642 B093 0000 sts (Mess_IntegralNick)+3,r27 |
| 4768 2646 8091 0000 lds r24,Mittelwert_AccRoll |
| 4769 264a 9091 0000 lds r25,(Mittelwert_AccRoll)+1 |
| 4770 264e 9C01 movw r18,r24 |
| 4771 2650 4427 clr r20 |
| 4772 2652 37FD sbrc r19,7 |
| 4773 2654 4095 com r20 |
| 4774 2656 542F mov r21,r20 |
| 4775 2658 C801 movw r24,r16 |
| 4776 265a B701 movw r22,r14 |
| 4777 265c 0E94 0000 call __mulsi3 |
| 4778 2660 DC01 movw r26,r24 |
| 4779 2662 CB01 movw r24,r22 |
| 4780 2664 8093 0000 sts Mess_IntegralRoll,r24 |
| 4781 2668 9093 0000 sts (Mess_IntegralRoll)+1,r25 |
| 4782 266c A093 0000 sts (Mess_IntegralRoll)+2,r26 |
| 4783 2670 B093 0000 sts (Mess_IntegralRoll)+3,r27 |
| 4784 2674 8091 0000 lds r24,IntegralNick |
| 4785 2678 9091 0000 lds r25,(IntegralNick)+1 |
| 4786 267c A091 0000 lds r26,(IntegralNick)+2 |
| 4787 2680 B091 0000 lds r27,(IntegralNick)+3 |
| 4788 2684 8093 0000 sts Mess_IntegralNick2,r24 |
| 4789 2688 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
| 4790 268c A093 0000 sts (Mess_IntegralNick2)+2,r26 |
| 4791 2690 B093 0000 sts (Mess_IntegralNick2)+3,r27 |
| 4792 2694 8091 0000 lds r24,IntegralRoll |
| 4793 2698 9091 0000 lds r25,(IntegralRoll)+1 |
| 4794 269c A091 0000 lds r26,(IntegralRoll)+2 |
| 4795 26a0 B091 0000 lds r27,(IntegralRoll)+3 |
| 4796 26a4 8093 0000 sts Mess_IntegralRoll2,r24 |
| 4797 26a8 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
| 4798 26ac A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
| 4799 26b0 B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
| 4800 26b4 1092 0000 sts SummeNick,__zero_reg__ |
| 4801 26b8 1092 0000 sts (SummeNick)+1,__zero_reg__ |
| 4802 26bc 1092 0000 sts (SummeNick)+2,__zero_reg__ |
| 4803 26c0 1092 0000 sts (SummeNick)+3,__zero_reg__ |
| 4804 26c4 1092 0000 sts SummeRoll,__zero_reg__ |
| 4805 26c8 1092 0000 sts (SummeRoll)+1,__zero_reg__ |
| 4806 26cc 1092 0000 sts (SummeRoll)+2,__zero_reg__ |
| 4807 26d0 1092 0000 sts (SummeRoll)+3,__zero_reg__ |
| 4808 26d4 84E6 ldi r24,lo8(100) |
| 4809 26d6 8093 0000 sts NeueKompassRichtungMerken,r24 |
| 4810 26da 84E3 ldi r24,lo8(52) |
| 4811 26dc 00C0 rjmp .L896 |
| 4812 .L425: |
| 4813 26de 8CED ldi r24,lo8(1500) |
| 4814 26e0 95E0 ldi r25,hi8(1500) |
| 4815 26e2 9093 0000 sts (beeptime)+1,r25 |
| 4816 26e6 8093 0000 sts beeptime,r24 |
| 4817 26ea 2223 tst r18 |
| 4818 26ec 01F0 breq .+2 |
| 4819 26ee 00C0 rjmp .L429 |
| 4820 26f0 81E0 ldi r24,lo8(1) |
| 4821 26f2 00C0 rjmp .L896 |
| 4822 .L419: |
| 4823 26f4 1092 0000 sts delay_einschalten.7,__zero_reg__ |
| 4824 26f8 00C0 rjmp .L429 |
| 4825 .L418: |
| 4826 26fa FF27 clr r31 |
| 4827 26fc EE0F add r30,r30 |
| 4828 26fe FF1F adc r31,r31 |
| 4829 2700 E050 subi r30,lo8(-(PPM_in)) |
| 4830 2702 F040 sbci r31,hi8(-(PPM_in)) |
| 4831 2704 8081 ld r24,Z |
| 4832 2706 9181 ldd r25,Z+1 |
| 4833 2708 8C34 cpi r24,76 |
| 4834 270a 9105 cpc r25,__zero_reg__ |
| 4835 270c 04F0 brlt .L432 |
| 4836 270e 8091 0000 lds r24,EE_Parameter+111 |
| 4837 2712 83FD sbrc r24,3 |
| 4838 2714 00C0 rjmp .L433 |
| 4839 2716 E22F mov r30,r18 |
| 4840 2718 FF27 clr r31 |
| 4841 271a EE0F add r30,r30 |
| 4842 271c FF1F adc r31,r31 |
| 4843 271e E050 subi r30,lo8(-(PPM_in)) |
| 4844 2720 F040 sbci r31,hi8(-(PPM_in)) |
| 4845 2722 8081 ld r24,Z |
| 4846 2724 9181 ldd r25,Z+1 |
| 4847 2726 855B subi r24,lo8(-75) |
| 4848 2728 9F4F sbci r25,hi8(-75) |
| 4849 272a 04F0 brlt .L431 |
| 4850 .L433: |
| 4851 272c 8091 0000 lds r24,EE_Parameter+100 |
| 4852 2730 8823 tst r24 |
| 4853 2732 01F0 breq .L431 |
| 4854 .L432: |
| 4855 2734 8091 0000 lds r24,EE_Parameter+111 |
| 4856 2738 83FF sbrs r24,3 |
| 4857 273a 00C0 rjmp .L430 |
| 4858 273c 8091 0000 lds r24,EE_Parameter+100 |
| 4859 2740 E82F mov r30,r24 |
| 4860 2742 FF27 clr r31 |
| 4861 2744 EE0F add r30,r30 |
| 4862 2746 FF1F adc r31,r31 |
| 4863 2748 E050 subi r30,lo8(-(PPM_in)) |
| 4864 274a F040 sbci r31,hi8(-(PPM_in)) |
| 4865 274c 8081 ld r24,Z |
| 4866 274e 9181 ldd r25,Z+1 |
| 4867 2750 8E5C subi r24,lo8(-50) |
| 4868 2752 9F4F sbci r25,hi8(-50) |
| 4869 2754 04F4 brge .L430 |
| 4870 2756 8091 0000 lds r24,move_safety_switch.9 |
| 4871 275a 8C39 cpi r24,lo8(-100) |
| 4872 275c 01F4 brne .L430 |
| 4873 .L431: |
| 4874 275e 8091 0000 lds r24,delay_ausschalten.8 |
| 4875 2762 8F5F subi r24,lo8(-(1)) |
| 4876 2764 8093 0000 sts delay_ausschalten.8,r24 |
| 4877 2768 8B3F cpi r24,lo8(-5) |
| 4878 276a 00F0 brlo .L429 |
| 4879 276c 1092 0000 sts MotorenEin,__zero_reg__ |
| 4880 2770 1092 0000 sts delay_ausschalten.8,__zero_reg__ |
| 4881 2774 1092 0000 sts (modell_fliegt)+1,__zero_reg__ |
| 4882 2778 1092 0000 sts modell_fliegt,__zero_reg__ |
| 4883 277c 86E2 ldi r24,lo8(38) |
| 4884 .L896: |
| 4885 277e 8093 0000 sts SpeakHoTT,r24 |
| 4886 2782 00C0 rjmp .L429 |
| 4887 .L430: |
| 4888 2784 1092 0000 sts delay_ausschalten.8,__zero_reg__ |
| 4889 .L429: |
| 4890 2788 8091 0000 lds r24,GasIsZeroCnt |
| 4891 278c 9091 0000 lds r25,(GasIsZeroCnt)+1 |
| 4892 2790 13E0 ldi r17,hi8(1000) |
| 4893 2792 883E cpi r24,lo8(1000) |
| 4894 2794 9107 cpc r25,r17 |
| 4895 2796 00F4 brsh .L387 |
| 4896 2798 0196 adiw r24,1 |
| 4897 279a 9093 0000 sts (GasIsZeroCnt)+1,r25 |
| 4898 279e 8093 0000 sts GasIsZeroCnt,r24 |
| 4899 27a2 00C0 rjmp .L387 |
| 4900 .L414: |
| 4901 27a4 1092 0000 sts move_safety_switch.9,__zero_reg__ |
| 4902 27a8 1092 0000 sts (GasIsZeroCnt)+1,__zero_reg__ |
| 4903 27ac 1092 0000 sts GasIsZeroCnt,__zero_reg__ |
| 4904 27b0 00C0 rjmp .L387 |
| 4905 .L388: |
| 4906 27b2 2E5E subi r18,lo8(750) |
| 4907 27b4 3240 sbci r19,hi8(750) |
| 4908 27b6 00F0 brlo .L387 |
| 4909 27b8 8091 0000 lds r24,GPSInfo+4 |
| 4910 27bc 9091 0000 lds r25,(GPSInfo+4)+1 |
| 4911 27c0 8059 subi r24,lo8(400) |
| 4912 27c2 9140 sbci r25,hi8(400) |
| 4913 27c4 00F4 brsh .L387 |
| 4914 27c6 8091 0000 lds r24,HoehenWert |
| 4915 27ca 9091 0000 lds r25,(HoehenWert)+1 |
| 4916 27ce A091 0000 lds r26,(HoehenWert)+2 |
| 4917 27d2 B091 0000 lds r27,(HoehenWert)+3 |
| 4918 27d6 8C5D subi r24,lo8(1500) |
| 4919 27d8 9540 sbci r25,hi8(1500) |
| 4920 27da A040 sbci r26,hlo8(1500) |
| 4921 27dc B040 sbci r27,hhi8(1500) |
| 4922 27de 04F4 brge .L387 |
| 4923 27e0 80E3 ldi r24,lo8(30000) |
| 4924 27e2 95E7 ldi r25,hi8(30000) |
| 4925 27e4 9093 0000 sts (GasIsZeroCnt)+1,r25 |
| 4926 27e8 8093 0000 sts GasIsZeroCnt,r24 |
| 4927 27ec 8091 0000 lds r24,modell_fliegt |
| 4928 27f0 9091 0000 lds r25,(modell_fliegt)+1 |
| 4929 27f4 8A5E subi r24,lo8(1002) |
| 4930 27f6 9340 sbci r25,hi8(1002) |
| 4931 27f8 00F0 brlo .L387 |
| 4932 27fa 89EE ldi r24,lo8(1001) |
| 4933 27fc 93E0 ldi r25,hi8(1001) |
| 4934 27fe 9093 0000 sts (modell_fliegt)+1,r25 |
| 4935 2802 8093 0000 sts modell_fliegt,r24 |
| 4936 .L387: |
| 4937 2806 8091 0000 lds r24,NewPpmData |
| 4938 280a 8150 subi r24,lo8(-(-1)) |
| 4939 280c 8093 0000 sts NewPpmData,r24 |
| 4940 2810 8091 0000 lds r24,NewPpmData |
| 4941 2814 8F3F cpi r24,lo8(-1) |
| 4942 2816 01F0 breq .L443 |
| 4943 2818 8091 0000 lds r24,FC_StatusFlags |
| 4944 281c 84FF sbrs r24,4 |
| 4945 281e 00C0 rjmp .L442 |
| 4946 .L443: |
| 4947 2820 0E94 0000 call ParameterZuordnung |
| 4948 2824 B090 0000 lds r11,EE_Parameter+23 |
| 4949 2828 8091 0000 lds r24,stick_nick.12 |
| 4950 282c 9091 0000 lds r25,(stick_nick.12)+1 |
| 4951 2830 9C01 movw r18,r24 |
| 4952 2832 220F lsl r18 |
| 4953 2834 331F rol r19 |
| 4954 2836 280F add r18,r24 |
| 4955 2838 391F adc r19,r25 |
| 4956 283a C090 0000 lds r12,EE_Parameter+1 |
| 4957 283e AC2D mov r26,r12 |
| 4958 2840 BB27 clr r27 |
| 4959 2842 AA0F add r26,r26 |
| 4960 2844 BB1F adc r27,r27 |
| 4961 2846 FD01 movw r30,r26 |
| 4962 2848 E050 subi r30,lo8(-(PPM_in)) |
| 4963 284a F040 sbci r31,hi8(-(PPM_in)) |
| 4964 284c 4B2D mov r20,r11 |
| 4965 284e 5527 clr r21 |
| 4966 2850 8081 ld r24,Z |
| 4967 2852 9181 ldd r25,Z+1 |
| 4968 2854 849F mul r24,r20 |
| 4969 2856 F001 movw r30,r0 |
| 4970 2858 859F mul r24,r21 |
| 4971 285a F00D add r31,r0 |
| 4972 285c 949F mul r25,r20 |
| 4973 285e F00D add r31,r0 |
| 4974 2860 1124 clr r1 |
| 4975 2862 2E0F add r18,r30 |
| 4976 2864 3F1F adc r19,r31 |
| 4977 2866 37FF sbrs r19,7 |
| 4978 2868 00C0 rjmp .L444 |
| 4979 286a 2D5F subi r18,lo8(-(3)) |
| 4980 286c 3F4F sbci r19,hi8(-(3)) |
| 4981 .L444: |
| 4982 286e B901 movw r22,r18 |
| 4983 2870 7595 asr r23 |
| 4984 2872 6795 ror r22 |
| 4985 2874 7595 asr r23 |
| 4986 2876 6795 ror r22 |
| 4987 2878 A050 subi r26,lo8(-(PPM_diff)) |
| 4988 287a B040 sbci r27,hi8(-(PPM_diff)) |
| 4989 287c 8091 0000 lds r24,EE_Parameter+24 |
| 4990 2880 082F mov r16,r24 |
| 4991 2882 1127 clr r17 |
| 4992 2884 8D91 ld r24,X+ |
| 4993 2886 9C91 ld r25,X |
| 4994 2888 809F mul r24,r16 |
| 4995 288a 7001 movw r14,r0 |
| 4996 288c 819F mul r24,r17 |
| 4997 288e F00C add r15,r0 |
| 4998 2890 909F mul r25,r16 |
| 4999 2892 F00C add r15,r0 |
| 5000 2894 1124 clr r1 |
| 5001 2896 6E0D add r22,r14 |
| 5002 2898 7F1D adc r23,r15 |
| 5003 289a 7093 0000 sts (stick_nick.12)+1,r23 |
| 5004 289e 6093 0000 sts stick_nick.12,r22 |
| 5005 28a2 8091 0000 lds r24,stick_roll.13 |
| 5006 28a6 9091 0000 lds r25,(stick_roll.13)+1 |
| 5007 28aa 9C01 movw r18,r24 |
| 5008 28ac 220F lsl r18 |
| 5009 28ae 331F rol r19 |
| 5010 28b0 280F add r18,r24 |
| 5011 28b2 391F adc r19,r25 |
| 5012 28b4 D090 0000 lds r13,EE_Parameter+2 |
| 5013 28b8 AD2D mov r26,r13 |
| 5014 28ba BB27 clr r27 |
| 5015 28bc AA0F add r26,r26 |
| 5016 28be BB1F adc r27,r27 |
| 5017 28c0 FD01 movw r30,r26 |
| 5018 28c2 E050 subi r30,lo8(-(PPM_in)) |
| 5019 28c4 F040 sbci r31,hi8(-(PPM_in)) |
| 5020 28c6 8081 ld r24,Z |
| 5021 28c8 9181 ldd r25,Z+1 |
| 5022 28ca 849F mul r24,r20 |
| 5023 28cc F001 movw r30,r0 |
| 5024 28ce 859F mul r24,r21 |
| 5025 28d0 F00D add r31,r0 |
| 5026 28d2 949F mul r25,r20 |
| 5027 28d4 F00D add r31,r0 |
| 5028 28d6 1124 clr r1 |
| 5029 28d8 2E0F add r18,r30 |
| 5030 28da 3F1F adc r19,r31 |
| 5031 28dc 37FF sbrs r19,7 |
| 5032 28de 00C0 rjmp .L445 |
| 5033 28e0 2D5F subi r18,lo8(-(3)) |
| 5034 28e2 3F4F sbci r19,hi8(-(3)) |
| 5035 .L445: |
| 5036 28e4 A901 movw r20,r18 |
| 5037 28e6 5595 asr r21 |
| 5038 28e8 4795 ror r20 |
| 5039 28ea 5595 asr r21 |
| 5040 28ec 4795 ror r20 |
| 5041 28ee A050 subi r26,lo8(-(PPM_diff)) |
| 5042 28f0 B040 sbci r27,hi8(-(PPM_diff)) |
| 5043 28f2 8D91 ld r24,X+ |
| 5044 28f4 9C91 ld r25,X |
| 5045 28f6 809F mul r24,r16 |
| 5046 28f8 7001 movw r14,r0 |
| 5047 28fa 819F mul r24,r17 |
| 5048 28fc F00C add r15,r0 |
| 5049 28fe 909F mul r25,r16 |
| 5050 2900 F00C add r15,r0 |
| 5051 2902 1124 clr r1 |
| 5052 2904 4E0D add r20,r14 |
| 5053 2906 5F1D adc r21,r15 |
| 5054 2908 5093 0000 sts (stick_roll.13)+1,r21 |
| 5055 290c 4093 0000 sts stick_roll.13,r20 |
| 5056 2910 8091 0000 lds r24,CareFree |
| 5057 2914 8823 tst r24 |
| 5058 2916 01F4 brne .+2 |
| 5059 2918 00C0 rjmp .L446 |
| 5060 291a CB01 movw r24,r22 |
| 5061 291c 77FD sbrc r23,7 |
| 5062 291e 0396 adiw r24,3 |
| 5063 .L447: |
| 5064 2920 DC01 movw r26,r24 |
| 5065 2922 B595 asr r27 |
| 5066 2924 A795 ror r26 |
| 5067 2926 B595 asr r27 |
| 5068 2928 A795 ror r26 |
| 5069 292a CA01 movw r24,r20 |
| 5070 292c 57FD sbrc r21,7 |
| 5071 292e 0396 adiw r24,3 |
| 5072 .L448: |
| 5073 2930 FC01 movw r30,r24 |
| 5074 2932 F595 asr r31 |
| 5075 2934 E795 ror r30 |
| 5076 2936 F595 asr r31 |
| 5077 2938 E795 ror r30 |
| 5078 293a 8091 0000 lds r24,FromNC_Rotate_C |
| 5079 293e 682F mov r22,r24 |
| 5080 2940 7727 clr r23 |
| 5081 2942 67FD sbrc r22,7 |
| 5082 2944 7095 com r23 |
| 5083 2946 6A9F mul r22,r26 |
| 5084 2948 9001 movw r18,r0 |
| 5085 294a 6B9F mul r22,r27 |
| 5086 294c 300D add r19,r0 |
| 5087 294e 7A9F mul r23,r26 |
| 5088 2950 300D add r19,r0 |
| 5089 2952 1124 clr r1 |
| 5090 2954 8091 0000 lds r24,FromNC_Rotate_S |
| 5091 2958 482F mov r20,r24 |
| 5092 295a 5527 clr r21 |
| 5093 295c 47FD sbrc r20,7 |
| 5094 295e 5095 com r21 |
| 5095 2960 4E9F mul r20,r30 |
| 5096 2962 C001 movw r24,r0 |
| 5097 2964 4F9F mul r20,r31 |
| 5098 2966 900D add r25,r0 |
| 5099 2968 5E9F mul r21,r30 |
| 5100 296a 900D add r25,r0 |
| 5101 296c 1124 clr r1 |
| 5102 296e 280F add r18,r24 |
| 5103 2970 391F adc r19,r25 |
| 5104 2972 37FF sbrs r19,7 |
| 5105 2974 00C0 rjmp .L449 |
| 5106 2976 295F subi r18,lo8(-(7)) |
| 5107 2978 3F4F sbci r19,hi8(-(7)) |
| 5108 .L449: |
| 5109 297a 93E0 ldi r25,3 |
| 5110 297c 3595 1: asr r19 |
| 5111 297e 2795 ror r18 |
| 5112 2980 9A95 dec r25 |
| 5113 2982 01F4 brne 1b |
| 5114 2984 3093 0000 sts (StickNick)+1,r19 |
| 5115 2988 2093 0000 sts StickNick,r18 |
| 5116 298c 6E9F mul r22,r30 |
| 5117 298e 9001 movw r18,r0 |
| 5118 2990 6F9F mul r22,r31 |
| 5119 2992 300D add r19,r0 |
| 5120 2994 7E9F mul r23,r30 |
| 5121 2996 300D add r19,r0 |
| 5122 2998 1124 clr r1 |
| 5123 299a 4A9F mul r20,r26 |
| 5124 299c C001 movw r24,r0 |
| 5125 299e 4B9F mul r20,r27 |
| 5126 29a0 900D add r25,r0 |
| 5127 29a2 5A9F mul r21,r26 |
| 5128 29a4 900D add r25,r0 |
| 5129 29a6 1124 clr r1 |
| 5130 29a8 00C0 rjmp .L925 |
| 5131 .L446: |
| 5132 29aa 8091 0000 lds r24,EE_Parameter+98 |
| 5133 29ae E82F mov r30,r24 |
| 5134 29b0 FF27 clr r31 |
| 5135 29b2 E050 subi r30,lo8(-(sintab)) |
| 5136 29b4 F040 sbci r31,hi8(-(sintab)) |
| 5137 29b6 8681 ldd r24,Z+6 |
| 5138 29b8 8093 0000 sts FromNC_Rotate_C,r24 |
| 5139 29bc 9081 ld r25,Z |
| 5140 29be 9093 0000 sts FromNC_Rotate_S,r25 |
| 5141 29c2 A82F mov r26,r24 |
| 5142 29c4 BB27 clr r27 |
| 5143 29c6 A7FD sbrc r26,7 |
| 5144 29c8 B095 com r27 |
| 5145 29ca A69F mul r26,r22 |
| 5146 29cc 9001 movw r18,r0 |
| 5147 29ce A79F mul r26,r23 |
| 5148 29d0 300D add r19,r0 |
| 5149 29d2 B69F mul r27,r22 |
| 5150 29d4 300D add r19,r0 |
| 5151 29d6 1124 clr r1 |
| 5152 29d8 E92F mov r30,r25 |
| 5153 29da FF27 clr r31 |
| 5154 29dc E7FD sbrc r30,7 |
| 5155 29de F095 com r31 |
| 5156 29e0 E49F mul r30,r20 |
| 5157 29e2 C001 movw r24,r0 |
| 5158 29e4 E59F mul r30,r21 |
| 5159 29e6 900D add r25,r0 |
| 5160 29e8 F49F mul r31,r20 |
| 5161 29ea 900D add r25,r0 |
| 5162 29ec 1124 clr r1 |
| 5163 29ee 280F add r18,r24 |
| 5164 29f0 391F adc r19,r25 |
| 5165 29f2 37FF sbrs r19,7 |
| 5166 29f4 00C0 rjmp .L452 |
| 5167 29f6 295F subi r18,lo8(-(7)) |
| 5168 29f8 3F4F sbci r19,hi8(-(7)) |
| 5169 .L452: |
| 5170 29fa 83E0 ldi r24,3 |
| 5171 29fc 3595 1: asr r19 |
| 5172 29fe 2795 ror r18 |
| 5173 2a00 8A95 dec r24 |
| 5174 2a02 01F4 brne 1b |
| 5175 2a04 3093 0000 sts (StickNick)+1,r19 |
| 5176 2a08 2093 0000 sts StickNick,r18 |
| 5177 2a0c A49F mul r26,r20 |
| 5178 2a0e 9001 movw r18,r0 |
| 5179 2a10 A59F mul r26,r21 |
| 5180 2a12 300D add r19,r0 |
| 5181 2a14 B49F mul r27,r20 |
| 5182 2a16 300D add r19,r0 |
| 5183 2a18 1124 clr r1 |
| 5184 2a1a E69F mul r30,r22 |
| 5185 2a1c C001 movw r24,r0 |
| 5186 2a1e E79F mul r30,r23 |
| 5187 2a20 900D add r25,r0 |
| 5188 2a22 F69F mul r31,r22 |
| 5189 2a24 900D add r25,r0 |
| 5190 2a26 1124 clr r1 |
| 5191 .L925: |
| 5192 2a28 281B sub r18,r24 |
| 5193 2a2a 390B sbc r19,r25 |
| 5194 2a2c 37FF sbrs r19,7 |
| 5195 2a2e 00C0 rjmp .L453 |
| 5196 2a30 295F subi r18,lo8(-(7)) |
| 5197 2a32 3F4F sbci r19,hi8(-(7)) |
| 5198 .L453: |
| 5199 2a34 03E0 ldi r16,3 |
| 5200 2a36 3595 1: asr r19 |
| 5201 2a38 2795 ror r18 |
| 5202 2a3a 0A95 dec r16 |
| 5203 2a3c 01F4 brne 1b |
| 5204 2a3e 3093 0000 sts (StickRoll)+1,r19 |
| 5205 2a42 2093 0000 sts StickRoll,r18 |
| 5206 2a46 8091 0000 lds r24,EE_Parameter+4 |
| 5207 2a4a E82F mov r30,r24 |
| 5208 2a4c FF27 clr r31 |
| 5209 2a4e EE0F add r30,r30 |
| 5210 2a50 FF1F adc r31,r31 |
| 5211 2a52 E050 subi r30,lo8(-(PPM_in)) |
| 5212 2a54 F040 sbci r31,hi8(-(PPM_in)) |
| 5213 2a56 8081 ld r24,Z |
| 5214 2a58 9181 ldd r25,Z+1 |
| 5215 2a5a 9095 com r25 |
| 5216 2a5c 8195 neg r24 |
| 5217 2a5e 9F4F sbci r25,lo8(-1) |
| 5218 2a60 9093 0000 sts (StickGier)+1,r25 |
| 5219 2a64 8093 0000 sts StickGier,r24 |
| 5220 2a68 8530 cpi r24,5 |
| 5221 2a6a 9105 cpc r25,__zero_reg__ |
| 5222 2a6c 04F0 brlt .L454 |
| 5223 2a6e 0497 sbiw r24,4 |
| 5224 2a70 00C0 rjmp .L897 |
| 5225 .L454: |
| 5226 2a72 0FEF ldi r16,hi8(-4) |
| 5227 2a74 8C3F cpi r24,lo8(-4) |
| 5228 2a76 9007 cpc r25,r16 |
| 5229 2a78 04F4 brge .L456 |
| 5230 2a7a 0496 adiw r24,4 |
| 5231 .L897: |
| 5232 2a7c 9093 0000 sts (StickGier)+1,r25 |
| 5233 2a80 8093 0000 sts StickGier,r24 |
| 5234 2a84 00C0 rjmp .L455 |
| 5235 .L456: |
| 5236 2a86 1092 0000 sts (StickGier)+1,__zero_reg__ |
| 5237 2a8a 1092 0000 sts StickGier,__zero_reg__ |
| 5238 .L455: |
| 5239 2a8e 8091 0000 lds r24,GPS_Aid_StickMultiplikator |
| 5240 2a92 8823 tst r24 |
| 5241 2a94 01F4 brne .+2 |
| 5242 2a96 00C0 rjmp .L458 |
| 5243 2a98 282F mov r18,r24 |
| 5244 2a9a 3327 clr r19 |
| 5245 2a9c 8091 0000 lds r24,StickNick |
| 5246 2aa0 9091 0000 lds r25,(StickNick)+1 |
| 5247 2aa4 97FD sbrc r25,7 |
| 5248 2aa6 0796 adiw r24,7 |
| 5249 .L459: |
| 5250 2aa8 13E0 ldi r17,3 |
| 5251 2aaa 9595 1: asr r25 |
| 5252 2aac 8795 ror r24 |
| 5253 2aae 1A95 dec r17 |
| 5254 2ab0 01F4 brne 1b |
| 5255 2ab2 289F mul r18,r24 |
| 5256 2ab4 A001 movw r20,r0 |
| 5257 2ab6 299F mul r18,r25 |
| 5258 2ab8 500D add r21,r0 |
| 5259 2aba 389F mul r19,r24 |
| 5260 2abc 500D add r21,r0 |
| 5261 2abe 1124 clr r1 |
| 5262 2ac0 CA01 movw r24,r20 |
| 5263 2ac2 57FD sbrc r21,7 |
| 5264 2ac4 0F96 adiw r24,15 |
| 5265 .L460: |
| 5266 2ac6 B4E0 ldi r27,4 |
| 5267 2ac8 9595 1: asr r25 |
| 5268 2aca 8795 ror r24 |
| 5269 2acc BA95 dec r27 |
| 5270 2ace 01F4 brne 1b |
| 5271 2ad0 9093 0000 sts (StickNick)+1,r25 |
| 5272 2ad4 8093 0000 sts StickNick,r24 |
| 5273 2ad8 8091 0000 lds r24,StickRoll |
| 5274 2adc 9091 0000 lds r25,(StickRoll)+1 |
| 5275 2ae0 97FD sbrc r25,7 |
| 5276 2ae2 0796 adiw r24,7 |
| 5277 .L461: |
| 5278 2ae4 A3E0 ldi r26,3 |
| 5279 2ae6 9595 1: asr r25 |
| 5280 2ae8 8795 ror r24 |
| 5281 2aea AA95 dec r26 |
| 5282 2aec 01F4 brne 1b |
| 5283 2aee 289F mul r18,r24 |
| 5284 2af0 B001 movw r22,r0 |
| 5285 2af2 299F mul r18,r25 |
| 5286 2af4 700D add r23,r0 |
| 5287 2af6 389F mul r19,r24 |
| 5288 2af8 700D add r23,r0 |
| 5289 2afa 1124 clr r1 |
| 5290 2afc CB01 movw r24,r22 |
| 5291 2afe 77FD sbrc r23,7 |
| 5292 2b00 0F96 adiw r24,15 |
| 5293 .L462: |
| 5294 2b02 F4E0 ldi r31,4 |
| 5295 2b04 9595 1: asr r25 |
| 5296 2b06 8795 ror r24 |
| 5297 2b08 FA95 dec r31 |
| 5298 2b0a 01F4 brne 1b |
| 5299 2b0c 9093 0000 sts (StickRoll)+1,r25 |
| 5300 2b10 8093 0000 sts StickRoll,r24 |
| 5301 .L458: |
| 5302 2b14 8090 0000 lds r8,StickNick |
| 5303 2b18 9090 0000 lds r9,(StickNick)+1 |
| 5304 2b1c 8091 0000 lds r24,GPS_Nick |
| 5305 2b20 9091 0000 lds r25,(GPS_Nick)+1 |
| 5306 2b24 881A sub r8,r24 |
| 5307 2b26 990A sbc r9,r25 |
| 5308 2b28 9092 0000 sts (StickNick)+1,r9 |
| 5309 2b2c 8092 0000 sts StickNick,r8 |
| 5310 2b30 0091 0000 lds r16,StickRoll |
| 5311 2b34 1091 0000 lds r17,(StickRoll)+1 |
| 5312 2b38 8091 0000 lds r24,GPS_Roll |
| 5313 2b3c 9091 0000 lds r25,(GPS_Roll)+1 |
| 5314 2b40 081B sub r16,r24 |
| 5315 2b42 190B sbc r17,r25 |
| 5316 2b44 1093 0000 sts (StickRoll)+1,r17 |
| 5317 2b48 0093 0000 sts StickRoll,r16 |
| 5318 2b4c 8091 0000 lds r24,EE_Parameter+3 |
| 5319 2b50 E82F mov r30,r24 |
| 5320 2b52 FF27 clr r31 |
| 5321 2b54 EE0F add r30,r30 |
| 5322 2b56 FF1F adc r31,r31 |
| 5323 2b58 E050 subi r30,lo8(-(PPM_in)) |
| 5324 2b5a F040 sbci r31,hi8(-(PPM_in)) |
| 5325 2b5c E080 ld r14,Z |
| 5326 2b5e F180 ldd r15,Z+1 |
| 5327 2b60 8FE7 ldi r24,lo8(127) |
| 5328 2b62 90E0 ldi r25,hi8(127) |
| 5329 2b64 E80E add r14,r24 |
| 5330 2b66 F91E adc r15,r25 |
| 5331 2b68 F092 0000 sts (StickGas)+1,r15 |
| 5332 2b6c E092 0000 sts StickGas,r14 |
| 5333 2b70 8091 0000 lds r24,Parameter_Gyro_P |
| 5334 2b74 9927 clr r25 |
| 5335 2b76 AA27 clr r26 |
| 5336 2b78 97FD sbrc r25,7 |
| 5337 2b7a A095 com r26 |
| 5338 2b7c BA2F mov r27,r26 |
| 5339 2b7e BC01 movw r22,r24 |
| 5340 2b80 CD01 movw r24,r26 |
| 5341 2b82 0E94 0000 call __floatsisf |
| 5342 2b86 DC01 movw r26,r24 |
| 5343 2b88 CB01 movw r24,r22 |
| 5344 2b8a 20E0 ldi r18,lo8(0x41200000) |
| 5345 2b8c 30E0 ldi r19,hi8(0x41200000) |
| 5346 2b8e 40E2 ldi r20,hlo8(0x41200000) |
| 5347 2b90 51E4 ldi r21,hhi8(0x41200000) |
| 5348 2b92 BC01 movw r22,r24 |
| 5349 2b94 CD01 movw r24,r26 |
| 5350 2b96 0E94 0000 call __addsf3 |
| 5351 2b9a DC01 movw r26,r24 |
| 5352 2b9c CB01 movw r24,r22 |
| 5353 2b9e BC01 movw r22,r24 |
| 5354 2ba0 CD01 movw r24,r26 |
| 5355 2ba2 0E94 0000 call __fixunssfsi |
| 5356 2ba6 DC01 movw r26,r24 |
| 5357 2ba8 CB01 movw r24,r22 |
| 5358 2baa 8093 0000 sts GyroFaktor,r24 |
| 5359 2bae 8091 0000 lds r24,Parameter_Gyro_I |
| 5360 2bb2 8093 0000 sts IntegralFaktor,r24 |
| 5361 2bb6 8091 0000 lds r24,Parameter_Gyro_Gier_P |
| 5362 2bba 9927 clr r25 |
| 5363 2bbc AA27 clr r26 |
| 5364 2bbe 97FD sbrc r25,7 |
| 5365 2bc0 A095 com r26 |
| 5366 2bc2 BA2F mov r27,r26 |
| 5367 2bc4 BC01 movw r22,r24 |
| 5368 2bc6 CD01 movw r24,r26 |
| 5369 2bc8 0E94 0000 call __floatsisf |
| 5370 2bcc DC01 movw r26,r24 |
| 5371 2bce CB01 movw r24,r22 |
| 5372 2bd0 20E0 ldi r18,lo8(0x41200000) |
| 5373 2bd2 30E0 ldi r19,hi8(0x41200000) |
| 5374 2bd4 40E2 ldi r20,hlo8(0x41200000) |
| 5375 2bd6 51E4 ldi r21,hhi8(0x41200000) |
| 5376 2bd8 BC01 movw r22,r24 |
| 5377 2bda CD01 movw r24,r26 |
| 5378 2bdc 0E94 0000 call __addsf3 |
| 5379 2be0 DC01 movw r26,r24 |
| 5380 2be2 CB01 movw r24,r22 |
| 5381 2be4 BC01 movw r22,r24 |
| 5382 2be6 CD01 movw r24,r26 |
| 5383 2be8 0E94 0000 call __fixunssfsi |
| 5384 2bec DC01 movw r26,r24 |
| 5385 2bee CB01 movw r24,r22 |
| 5386 2bf0 8093 0000 sts GyroFaktorGier,r24 |
| 5387 2bf4 8091 0000 lds r24,Parameter_Gyro_Gier_I |
| 5388 2bf8 8093 0000 sts IntegralFaktorGier,r24 |
| 5389 2bfc 8091 0000 lds r24,ExternControl+10 |
| 5390 2c00 80FF sbrs r24,0 |
| 5391 2c02 00C0 rjmp .L463 |
| 5392 2c04 8091 0000 lds r24,Parameter_ExternalControl |
| 5393 2c08 8138 cpi r24,lo8(-127) |
| 5394 2c0a 00F4 brsh .+2 |
| 5395 2c0c 00C0 rjmp .L463 |
| 5396 2c0e 8091 0000 lds r24,ExternControl+3 |
| 5397 2c12 9927 clr r25 |
| 5398 2c14 87FD sbrc r24,7 |
| 5399 2c16 9095 com r25 |
| 5400 2c18 2B2D mov r18,r11 |
| 5401 2c1a 3327 clr r19 |
| 5402 2c1c 829F mul r24,r18 |
| 5403 2c1e D001 movw r26,r0 |
| 5404 2c20 839F mul r24,r19 |
| 5405 2c22 B00D add r27,r0 |
| 5406 2c24 929F mul r25,r18 |
| 5407 2c26 B00D add r27,r0 |
| 5408 2c28 1124 clr r1 |
| 5409 2c2a 8A0E add r8,r26 |
| 5410 2c2c 9B1E adc r9,r27 |
| 5411 2c2e 9092 0000 sts (StickNick)+1,r9 |
| 5412 2c32 8092 0000 sts StickNick,r8 |
| 5413 2c36 8091 0000 lds r24,ExternControl+4 |
| 5414 2c3a 9927 clr r25 |
| 5415 2c3c 87FD sbrc r24,7 |
| 5416 2c3e 9095 com r25 |
| 5417 2c40 829F mul r24,r18 |
| 5418 2c42 F001 movw r30,r0 |
| 5419 2c44 839F mul r24,r19 |
| 5420 2c46 F00D add r31,r0 |
| 5421 2c48 929F mul r25,r18 |
| 5422 2c4a F00D add r31,r0 |
| 5423 2c4c 1124 clr r1 |
| 5424 2c4e 0E0F add r16,r30 |
| 5425 2c50 1F1F adc r17,r31 |
| 5426 2c52 1093 0000 sts (StickRoll)+1,r17 |
| 5427 2c56 0093 0000 sts StickRoll,r16 |
| 5428 2c5a 8091 0000 lds r24,ExternControl+5 |
| 5429 2c5e 282F mov r18,r24 |
| 5430 2c60 3327 clr r19 |
| 5431 2c62 27FD sbrc r18,7 |
| 5432 2c64 3095 com r19 |
| 5433 2c66 8091 0000 lds r24,StickGier |
| 5434 2c6a 9091 0000 lds r25,(StickGier)+1 |
| 5435 2c6e 820F add r24,r18 |
| 5436 2c70 931F adc r25,r19 |
| 5437 2c72 9093 0000 sts (StickGier)+1,r25 |
| 5438 2c76 8093 0000 sts StickGier,r24 |
| 5439 2c7a 8091 0000 lds r24,ExternControl+7 |
| 5440 2c7e 282F mov r18,r24 |
| 5441 2c80 3327 clr r19 |
| 5442 2c82 27FD sbrc r18,7 |
| 5443 2c84 3095 com r19 |
| 5444 2c86 8091 0000 lds r24,EE_Parameter+18 |
| 5445 2c8a 9927 clr r25 |
| 5446 2c8c 289F mul r18,r24 |
| 5447 2c8e 8001 movw r16,r0 |
| 5448 2c90 299F mul r18,r25 |
| 5449 2c92 100D add r17,r0 |
| 5450 2c94 389F mul r19,r24 |
| 5451 2c96 100D add r17,r0 |
| 5452 2c98 1124 clr r1 |
| 5453 2c9a 1093 0000 sts (ExternHoehenValue)+1,r17 |
| 5454 2c9e 0093 0000 sts ExternHoehenValue,r16 |
| 5455 2ca2 8091 0000 lds r24,ExternControl+6 |
| 5456 2ca6 9927 clr r25 |
| 5457 2ca8 8E15 cp r24,r14 |
| 5458 2caa 9F05 cpc r25,r15 |
| 5459 2cac 04F4 brge .L463 |
| 5460 2cae 9093 0000 sts (StickGas)+1,r25 |
| 5461 2cb2 8093 0000 sts StickGas,r24 |
| 5462 .L463: |
| 5463 2cb6 8091 0000 lds r24,StickGas |
| 5464 2cba 9091 0000 lds r25,(StickGas)+1 |
| 5465 2cbe 97FF sbrs r25,7 |
| 5466 2cc0 00C0 rjmp .L465 |
| 5467 2cc2 1092 0000 sts (StickGas)+1,__zero_reg__ |
| 5468 2cc6 1092 0000 sts StickGas,__zero_reg__ |
| 5469 .L465: |
| 5470 2cca 8091 0000 lds r24,Parameter_GlobalConfig |
| 5471 2cce 82FF sbrs r24,2 |
| 5472 2cd0 00C0 rjmp .L466 |
| 5473 2cd2 1092 0000 sts IntegralFaktor,__zero_reg__ |
| 5474 .L466: |
| 5475 2cd6 4091 0000 lds r20,StickNick |
| 5476 2cda 5091 0000 lds r21,(StickNick)+1 |
| 5477 2cde CA01 movw r24,r20 |
| 5478 2ce0 57FD sbrc r21,7 |
| 5479 2ce2 0396 adiw r24,3 |
| 5480 .L468: |
| 5481 2ce4 9C01 movw r18,r24 |
| 5482 2ce6 3595 asr r19 |
| 5483 2ce8 2795 ror r18 |
| 5484 2cea 3595 asr r19 |
| 5485 2cec 2795 ror r18 |
| 5486 2cee 37FF sbrs r19,7 |
| 5487 2cf0 00C0 rjmp .L469 |
| 5488 2cf2 3095 com r19 |
| 5489 2cf4 2195 neg r18 |
| 5490 2cf6 3F4F sbci r19,lo8(-1) |
| 5491 .L469: |
| 5492 2cf8 8091 0000 lds r24,MaxStickNick |
| 5493 2cfc 9091 0000 lds r25,(MaxStickNick)+1 |
| 5494 2d00 8217 cp r24,r18 |
| 5495 2d02 9307 cpc r25,r19 |
| 5496 2d04 04F4 brge .L467 |
| 5497 2d06 CA01 movw r24,r20 |
| 5498 2d08 57FF sbrs r21,7 |
| 5499 2d0a 00C0 rjmp .L470 |
| 5500 2d0c 9095 com r25 |
| 5501 2d0e 8195 neg r24 |
| 5502 2d10 9F4F sbci r25,lo8(-1) |
| 5503 .L470: |
| 5504 2d12 97FD sbrc r25,7 |
| 5505 2d14 0396 adiw r24,3 |
| 5506 .L471: |
| 5507 2d16 9595 asr r25 |
| 5508 2d18 8795 ror r24 |
| 5509 2d1a 9595 asr r25 |
| 5510 2d1c 8795 ror r24 |
| 5511 2d1e 9093 0000 sts (MaxStickNick)+1,r25 |
| 5512 2d22 8093 0000 sts MaxStickNick,r24 |
| 5513 2d26 8536 cpi r24,101 |
| 5514 2d28 9105 cpc r25,__zero_reg__ |
| 5515 2d2a 04F0 brlt .L473 |
| 5516 2d2c 84E6 ldi r24,lo8(100) |
| 5517 2d2e 90E0 ldi r25,hi8(100) |
| 5518 2d30 00C0 rjmp .L898 |
| 5519 .L467: |
| 5520 2d32 0197 sbiw r24,1 |
| 5521 .L898: |
| 5522 2d34 9093 0000 sts (MaxStickNick)+1,r25 |
| 5523 2d38 8093 0000 sts MaxStickNick,r24 |
| 5524 .L473: |
| 5525 2d3c 4091 0000 lds r20,StickRoll |
| 5526 2d40 5091 0000 lds r21,(StickRoll)+1 |
| 5527 2d44 CA01 movw r24,r20 |
| 5528 2d46 57FD sbrc r21,7 |
| 5529 2d48 0396 adiw r24,3 |
| 5530 .L475: |
| 5531 2d4a 9C01 movw r18,r24 |
| 5532 2d4c 3595 asr r19 |
| 5533 2d4e 2795 ror r18 |
| 5534 2d50 3595 asr r19 |
| 5535 2d52 2795 ror r18 |
| 5536 2d54 37FF sbrs r19,7 |
| 5537 2d56 00C0 rjmp .L476 |
| 5538 2d58 3095 com r19 |
| 5539 2d5a 2195 neg r18 |
| 5540 2d5c 3F4F sbci r19,lo8(-1) |
| 5541 .L476: |
| 5542 2d5e 8091 0000 lds r24,MaxStickRoll |
| 5543 2d62 9091 0000 lds r25,(MaxStickRoll)+1 |
| 5544 2d66 8217 cp r24,r18 |
| 5545 2d68 9307 cpc r25,r19 |
| 5546 2d6a 04F4 brge .L474 |
| 5547 2d6c CA01 movw r24,r20 |
| 5548 2d6e 57FF sbrs r21,7 |
| 5549 2d70 00C0 rjmp .L477 |
| 5550 2d72 9095 com r25 |
| 5551 2d74 8195 neg r24 |
| 5552 2d76 9F4F sbci r25,lo8(-1) |
| 5553 .L477: |
| 5554 2d78 97FD sbrc r25,7 |
| 5555 2d7a 0396 adiw r24,3 |
| 5556 .L478: |
| 5557 2d7c 9595 asr r25 |
| 5558 2d7e 8795 ror r24 |
| 5559 2d80 9595 asr r25 |
| 5560 2d82 8795 ror r24 |
| 5561 2d84 9093 0000 sts (MaxStickRoll)+1,r25 |
| 5562 2d88 8093 0000 sts MaxStickRoll,r24 |
| 5563 2d8c 8536 cpi r24,101 |
| 5564 2d8e 9105 cpc r25,__zero_reg__ |
| 5565 2d90 04F0 brlt .L480 |
| 5566 2d92 84E6 ldi r24,lo8(100) |
| 5567 2d94 90E0 ldi r25,hi8(100) |
| 5568 2d96 00C0 rjmp .L899 |
| 5569 .L474: |
| 5570 2d98 0197 sbiw r24,1 |
| 5571 .L899: |
| 5572 2d9a 9093 0000 sts (MaxStickRoll)+1,r25 |
| 5573 2d9e 8093 0000 sts MaxStickRoll,r24 |
| 5574 .L480: |
| 5575 2da2 8091 0000 lds r24,FC_StatusFlags |
| 5576 2da6 84FF sbrs r24,4 |
| 5577 2da8 00C0 rjmp .L481 |
| 5578 2daa 1092 0000 sts (MaxStickNick)+1,__zero_reg__ |
| 5579 2dae 1092 0000 sts MaxStickNick,__zero_reg__ |
| 5580 2db2 1092 0000 sts (MaxStickRoll)+1,__zero_reg__ |
| 5581 2db6 1092 0000 sts MaxStickRoll,__zero_reg__ |
| 5582 .L481: |
| 5583 2dba ED2D mov r30,r13 |
| 5584 2dbc FF27 clr r31 |
| 5585 2dbe EE0F add r30,r30 |
| 5586 2dc0 FF1F adc r31,r31 |
| 5587 2dc2 E050 subi r30,lo8(-(PPM_in)) |
| 5588 2dc4 F040 sbci r31,hi8(-(PPM_in)) |
| 5589 2dc6 4091 0000 lds r20,EE_Parameter+60 |
| 5590 2dca 242F mov r18,r20 |
| 5591 2dcc 3327 clr r19 |
| 5592 2dce 8081 ld r24,Z |
| 5593 2dd0 9181 ldd r25,Z+1 |
| 5594 2dd2 2817 cp r18,r24 |
| 5595 2dd4 3907 cpc r19,r25 |
| 5596 2dd6 04F4 brge .L482 |
| 5597 2dd8 8091 0000 lds r24,EE_Parameter+108 |
| 5598 2ddc 82FF sbrs r24,2 |
| 5599 2dde 00C0 rjmp .L482 |
| 5600 2de0 81E0 ldi r24,lo8(1) |
| 5601 2de2 8093 0000 sts Looping_Links,r24 |
| 5602 2de6 00C0 rjmp .L483 |
| 5603 .L482: |
| 5604 2de8 ED2D mov r30,r13 |
| 5605 2dea FF27 clr r31 |
| 5606 2dec EE0F add r30,r30 |
| 5607 2dee FF1F adc r31,r31 |
| 5608 2df0 E050 subi r30,lo8(-(PPM_in)) |
| 5609 2df2 F040 sbci r31,hi8(-(PPM_in)) |
| 5610 2df4 842F mov r24,r20 |
| 5611 2df6 9927 clr r25 |
| 5612 2df8 2091 0000 lds r18,EE_Parameter+61 |
| 5613 2dfc 821B sub r24,r18 |
| 5614 2dfe 9109 sbc r25,__zero_reg__ |
| 5615 2e00 2081 ld r18,Z |
| 5616 2e02 3181 ldd r19,Z+1 |
| 5617 2e04 2817 cp r18,r24 |
| 5618 2e06 3907 cpc r19,r25 |
| 5619 2e08 04F4 brge .L483 |
| 5620 2e0a 1092 0000 sts Looping_Links,__zero_reg__ |
| 5621 .L483: |
| 5622 2e0e 4091 0000 lds r20,EE_Parameter+2 |
| 5623 2e12 E42F mov r30,r20 |
| 5624 2e14 FF27 clr r31 |
| 5625 2e16 EE0F add r30,r30 |
| 5626 2e18 FF1F adc r31,r31 |
| 5627 2e1a E050 subi r30,lo8(-(PPM_in)) |
| 5628 2e1c F040 sbci r31,hi8(-(PPM_in)) |
| 5629 2e1e 5091 0000 lds r21,EE_Parameter+60 |
| 5630 2e22 852F mov r24,r21 |
| 5631 2e24 9927 clr r25 |
| 5632 2e26 2227 clr r18 |
| 5633 2e28 3327 clr r19 |
| 5634 2e2a 281B sub r18,r24 |
| 5635 2e2c 390B sbc r19,r25 |
| 5636 2e2e 8081 ld r24,Z |
| 5637 2e30 9181 ldd r25,Z+1 |
| 5638 2e32 8217 cp r24,r18 |
| 5639 2e34 9307 cpc r25,r19 |
| 5640 2e36 04F4 brge .L485 |
| 5641 2e38 8091 0000 lds r24,EE_Parameter+108 |
| 5642 2e3c 83FF sbrs r24,3 |
| 5643 2e3e 00C0 rjmp .L485 |
| 5644 2e40 81E0 ldi r24,lo8(1) |
| 5645 2e42 8093 0000 sts Looping_Rechts,r24 |
| 5646 2e46 00C0 rjmp .L486 |
| 5647 .L485: |
| 5648 2e48 8091 0000 lds r24,Looping_Rechts |
| 5649 2e4c 8823 tst r24 |
| 5650 2e4e 01F0 breq .L486 |
| 5651 2e50 E42F mov r30,r20 |
| 5652 2e52 FF27 clr r31 |
| 5653 2e54 EE0F add r30,r30 |
| 5654 2e56 FF1F adc r31,r31 |
| 5655 2e58 E050 subi r30,lo8(-(PPM_in)) |
| 5656 2e5a F040 sbci r31,hi8(-(PPM_in)) |
| 5657 2e5c 8091 0000 lds r24,EE_Parameter+61 |
| 5658 2e60 9927 clr r25 |
| 5659 2e62 851B sub r24,r21 |
| 5660 2e64 9109 sbc r25,__zero_reg__ |
| 5661 2e66 2081 ld r18,Z |
| 5662 2e68 3181 ldd r19,Z+1 |
| 5663 2e6a 8217 cp r24,r18 |
| 5664 2e6c 9307 cpc r25,r19 |
| 5665 2e6e 04F4 brge .L486 |
| 5666 2e70 1092 0000 sts Looping_Rechts,__zero_reg__ |
| 5667 .L486: |
| 5668 2e74 EC2D mov r30,r12 |
| 5669 2e76 FF27 clr r31 |
| 5670 2e78 EE0F add r30,r30 |
| 5671 2e7a FF1F adc r31,r31 |
| 5672 2e7c E050 subi r30,lo8(-(PPM_in)) |
| 5673 2e7e F040 sbci r31,hi8(-(PPM_in)) |
| 5674 2e80 4091 0000 lds r20,EE_Parameter+60 |
| 5675 2e84 242F mov r18,r20 |
| 5676 2e86 3327 clr r19 |
| 5677 2e88 8081 ld r24,Z |
| 5678 2e8a 9181 ldd r25,Z+1 |
| 5679 2e8c 2817 cp r18,r24 |
| 5680 2e8e 3907 cpc r19,r25 |
| 5681 2e90 04F4 brge .L489 |
| 5682 2e92 8091 0000 lds r24,EE_Parameter+108 |
| 5683 2e96 80FF sbrs r24,0 |
| 5684 2e98 00C0 rjmp .L489 |
| 5685 2e9a 81E0 ldi r24,lo8(1) |
| 5686 2e9c 8093 0000 sts Looping_Oben,r24 |
| 5687 2ea0 00C0 rjmp .L490 |
| 5688 .L489: |
| 5689 2ea2 8091 0000 lds r24,Looping_Oben |
| 5690 2ea6 8823 tst r24 |
| 5691 2ea8 01F0 breq .L490 |
| 5692 2eaa EC2D mov r30,r12 |
| 5693 2eac FF27 clr r31 |
| 5694 2eae EE0F add r30,r30 |
| 5695 2eb0 FF1F adc r31,r31 |
| 5696 2eb2 E050 subi r30,lo8(-(PPM_in)) |
| 5697 2eb4 F040 sbci r31,hi8(-(PPM_in)) |
| 5698 2eb6 842F mov r24,r20 |
| 5699 2eb8 9927 clr r25 |
| 5700 2eba 2091 0000 lds r18,EE_Parameter+61 |
| 5701 2ebe 821B sub r24,r18 |
| 5702 2ec0 9109 sbc r25,__zero_reg__ |
| 5703 2ec2 2081 ld r18,Z |
| 5704 2ec4 3181 ldd r19,Z+1 |
| 5705 2ec6 2817 cp r18,r24 |
| 5706 2ec8 3907 cpc r19,r25 |
| 5707 2eca 04F4 brge .L490 |
| 5708 2ecc 1092 0000 sts Looping_Oben,__zero_reg__ |
| 5709 .L490: |
| 5710 2ed0 4091 0000 lds r20,EE_Parameter+1 |
| 5711 2ed4 E42F mov r30,r20 |
| 5712 2ed6 FF27 clr r31 |
| 5713 2ed8 EE0F add r30,r30 |
| 5714 2eda FF1F adc r31,r31 |
| 5715 2edc E050 subi r30,lo8(-(PPM_in)) |
| 5716 2ede F040 sbci r31,hi8(-(PPM_in)) |
| 5717 2ee0 5091 0000 lds r21,EE_Parameter+60 |
| 5718 2ee4 852F mov r24,r21 |
| 5719 2ee6 9927 clr r25 |
| 5720 2ee8 2227 clr r18 |
| 5721 2eea 3327 clr r19 |
| 5722 2eec 281B sub r18,r24 |
| 5723 2eee 390B sbc r19,r25 |
| 5724 2ef0 8081 ld r24,Z |
| 5725 2ef2 9181 ldd r25,Z+1 |
| 5726 2ef4 8217 cp r24,r18 |
| 5727 2ef6 9307 cpc r25,r19 |
| 5728 2ef8 04F4 brge .L493 |
| 5729 2efa 8091 0000 lds r24,EE_Parameter+108 |
| 5730 2efe 81FF sbrs r24,1 |
| 5731 2f00 00C0 rjmp .L493 |
| 5732 2f02 81E0 ldi r24,lo8(1) |
| 5733 2f04 8093 0000 sts Looping_Unten,r24 |
| 5734 2f08 00C0 rjmp .L494 |
| 5735 .L493: |
| 5736 2f0a 8091 0000 lds r24,Looping_Unten |
| 5737 2f0e 8823 tst r24 |
| 5738 2f10 01F0 breq .L494 |
| 5739 2f12 E42F mov r30,r20 |
| 5740 2f14 FF27 clr r31 |
| 5741 2f16 EE0F add r30,r30 |
| 5742 2f18 FF1F adc r31,r31 |
| 5743 2f1a E050 subi r30,lo8(-(PPM_in)) |
| 5744 2f1c F040 sbci r31,hi8(-(PPM_in)) |
| 5745 2f1e 8091 0000 lds r24,EE_Parameter+61 |
| 5746 2f22 9927 clr r25 |
| 5747 2f24 851B sub r24,r21 |
| 5748 2f26 9109 sbc r25,__zero_reg__ |
| 5749 2f28 2081 ld r18,Z |
| 5750 2f2a 3181 ldd r19,Z+1 |
| 5751 2f2c 8217 cp r24,r18 |
| 5752 2f2e 9307 cpc r25,r19 |
| 5753 2f30 04F4 brge .L494 |
| 5754 2f32 1092 0000 sts Looping_Unten,__zero_reg__ |
| 5755 .L494: |
| 5756 2f36 8091 0000 lds r24,Looping_Links |
| 5757 2f3a 8823 tst r24 |
| 5758 2f3c 01F4 brne .L498 |
| 5759 2f3e 8091 0000 lds r24,Looping_Rechts |
| 5760 2f42 8111 cpse r24,__zero_reg__ |
| 5761 .L498: |
| 5762 2f44 81E0 ldi r24,lo8(1) |
| 5763 .L497: |
| 5764 2f46 8093 0000 sts Looping_Roll,r24 |
| 5765 2f4a 8091 0000 lds r24,Looping_Oben |
| 5766 2f4e 8823 tst r24 |
| 5767 2f50 01F4 brne .L501 |
| 5768 2f52 8091 0000 lds r24,Looping_Unten |
| 5769 2f56 8823 tst r24 |
| 5770 2f58 01F0 breq .L500 |
| 5771 .L501: |
| 5772 2f5a 81E0 ldi r24,lo8(1) |
| 5773 2f5c 8093 0000 sts Looping_Nick,r24 |
| 5774 2f60 1092 0000 sts Looping_Roll,__zero_reg__ |
| 5775 2f64 1092 0000 sts Looping_Links,__zero_reg__ |
| 5776 2f68 1092 0000 sts Looping_Rechts,__zero_reg__ |
| 5777 2f6c 00C0 rjmp .L442 |
| 5778 .L500: |
| 5779 2f6e 8093 0000 sts Looping_Nick,r24 |
| 5780 .L442: |
| 5781 2f72 8091 0000 lds r24,Looping_Roll |
| 5782 2f76 8823 tst r24 |
| 5783 2f78 01F4 brne .L504 |
| 5784 2f7a 8091 0000 lds r24,Looping_Nick |
| 5785 2f7e 8823 tst r24 |
| 5786 2f80 01F0 breq .L503 |
| 5787 .L504: |
| 5788 2f82 8091 0000 lds r24,EE_Parameter+59 |
| 5789 2f86 9927 clr r25 |
| 5790 2f88 2981 ldd r18,Y+1 |
| 5791 2f8a 3A81 ldd r19,Y+2 |
| 5792 2f8c 8217 cp r24,r18 |
| 5793 2f8e 9307 cpc r25,r19 |
| 5794 2f90 04F4 brge .L505 |
| 5795 2f92 9A83 std Y+2,r25 |
| 5796 2f94 8983 std Y+1,r24 |
| 5797 .L505: |
| 5798 2f96 81E0 ldi r24,lo8(1) |
| 5799 2f98 8093 0000 sts TrichterFlug,r24 |
| 5800 .L503: |
| 5801 2f9c 8091 0000 lds r24,FC_StatusFlags2 |
| 5802 2fa0 9927 clr r25 |
| 5803 2fa2 9C01 movw r18,r24 |
| 5804 2fa4 2470 andi r18,lo8(4) |
| 5805 2fa6 3070 andi r19,hi8(4) |
| 5806 2fa8 82FF sbrs r24,2 |
| 5807 2faa 00C0 rjmp .L506 |
| 5808 2fac 8091 0000 lds r24,GPS_Nick |
| 5809 2fb0 9091 0000 lds r25,(GPS_Nick)+1 |
| 5810 2fb4 9095 com r25 |
| 5811 2fb6 8195 neg r24 |
| 5812 2fb8 9F4F sbci r25,lo8(-1) |
| 5813 2fba 9093 0000 sts (StickNick)+1,r25 |
| 5814 2fbe 8093 0000 sts StickNick,r24 |
| 5815 2fc2 8091 0000 lds r24,GPS_Roll |
| 5816 2fc6 9091 0000 lds r25,(GPS_Roll)+1 |
| 5817 2fca 9095 com r25 |
| 5818 2fcc 8195 neg r24 |
| 5819 2fce 9F4F sbci r25,lo8(-1) |
| 5820 2fd0 9093 0000 sts (StickRoll)+1,r25 |
| 5821 2fd4 8093 0000 sts StickRoll,r24 |
| 5822 2fd8 8091 0000 lds r24,StickGasHover |
| 5823 2fdc 9091 0000 lds r25,(StickGasHover)+1 |
| 5824 2fe0 9093 0000 sts (StickGas)+1,r25 |
| 5825 2fe4 8093 0000 sts StickGas,r24 |
| 5826 2fe8 8091 0000 lds r24,Parameter_GlobalConfig |
| 5827 2fec 8B77 andi r24,lo8(123) |
| 5828 2fee 8B66 ori r24,lo8(107) |
| 5829 2ff0 8093 0000 sts Parameter_GlobalConfig,r24 |
| 5830 2ff4 8091 0000 lds r24,Parameter_ExtraConfig |
| 5831 2ff8 8C7B andi r24,lo8(-68) |
| 5832 2ffa 8093 0000 sts Parameter_ExtraConfig,r24 |
| 5833 2ffe 88EC ldi r24,lo8(-56) |
| 5834 3000 8093 0000 sts Parameter_HoehenSchalter,r24 |
| 5835 3004 00C0 rjmp .L507 |
| 5836 .L506: |
| 5837 3006 8091 0000 lds r24,FC_StatusFlags |
| 5838 300a 84FF sbrs r24,4 |
| 5839 300c 00C0 rjmp .L507 |
| 5840 300e 3093 0000 sts (StickGier)+1,r19 |
| 5841 3012 2093 0000 sts StickGier,r18 |
| 5842 3016 3093 0000 sts (StickNick)+1,r19 |
| 5843 301a 2093 0000 sts StickNick,r18 |
| 5844 301e 3093 0000 sts (StickRoll)+1,r19 |
| 5845 3022 2093 0000 sts StickRoll,r18 |
| 5846 3026 9AE5 ldi r25,lo8(90) |
| 5847 3028 9093 0000 sts GyroFaktor,r25 |
| 5848 302c 88E7 ldi r24,lo8(120) |
| 5849 302e 8093 0000 sts IntegralFaktor,r24 |
| 5850 3032 9093 0000 sts GyroFaktorGier,r25 |
| 5851 3036 8093 0000 sts IntegralFaktorGier,r24 |
| 5852 303a 1092 0000 sts Looping_Roll,__zero_reg__ |
| 5853 303e 1092 0000 sts Looping_Nick,__zero_reg__ |
| 5854 .L507: |
| 5855 3042 8091 0000 lds r24,MittelIntegralNick |
| 5856 3046 9091 0000 lds r25,(MittelIntegralNick)+1 |
| 5857 304a A091 0000 lds r26,(MittelIntegralNick)+2 |
| 5858 304e B091 0000 lds r27,(MittelIntegralNick)+3 |
| 5859 3052 2091 0000 lds r18,IntegralNick |
| 5860 3056 3091 0000 lds r19,(IntegralNick)+1 |
| 5861 305a 4091 0000 lds r20,(IntegralNick)+2 |
| 5862 305e 5091 0000 lds r21,(IntegralNick)+3 |
| 5863 3062 820F add r24,r18 |
| 5864 3064 931F adc r25,r19 |
| 5865 3066 A41F adc r26,r20 |
| 5866 3068 B51F adc r27,r21 |
| 5867 306a 8093 0000 sts MittelIntegralNick,r24 |
| 5868 306e 9093 0000 sts (MittelIntegralNick)+1,r25 |
| 5869 3072 A093 0000 sts (MittelIntegralNick)+2,r26 |
| 5870 3076 B093 0000 sts (MittelIntegralNick)+3,r27 |
| 5871 307a 8091 0000 lds r24,MittelIntegralRoll |
| 5872 307e 9091 0000 lds r25,(MittelIntegralRoll)+1 |
| 5873 3082 A091 0000 lds r26,(MittelIntegralRoll)+2 |
| 5874 3086 B091 0000 lds r27,(MittelIntegralRoll)+3 |
| 5875 308a E090 0000 lds r14,IntegralRoll |
| 5876 308e F090 0000 lds r15,(IntegralRoll)+1 |
| 5877 3092 0091 0000 lds r16,(IntegralRoll)+2 |
| 5878 3096 1091 0000 lds r17,(IntegralRoll)+3 |
| 5879 309a EB82 std Y+3,r14 |
| 5880 309c FC82 std Y+4,r15 |
| 5881 309e 0D83 std Y+5,r16 |
| 5882 30a0 1E83 std Y+6,r17 |
| 5883 30a2 8E0D add r24,r14 |
| 5884 30a4 9F1D adc r25,r15 |
| 5885 30a6 A01F adc r26,r16 |
| 5886 30a8 B11F adc r27,r17 |
| 5887 30aa 8093 0000 sts MittelIntegralRoll,r24 |
| 5888 30ae 9093 0000 sts (MittelIntegralRoll)+1,r25 |
| 5889 30b2 A093 0000 sts (MittelIntegralRoll)+2,r26 |
| 5890 30b6 B093 0000 sts (MittelIntegralRoll)+3,r27 |
| 5891 30ba 8091 0000 lds r24,MittelIntegralNick2 |
| 5892 30be 9091 0000 lds r25,(MittelIntegralNick2)+1 |
| 5893 30c2 A091 0000 lds r26,(MittelIntegralNick2)+2 |
| 5894 30c6 B091 0000 lds r27,(MittelIntegralNick2)+3 |
| 5895 30ca E090 0000 lds r14,IntegralNick2 |
| 5896 30ce F090 0000 lds r15,(IntegralNick2)+1 |
| 5897 30d2 0091 0000 lds r16,(IntegralNick2)+2 |
| 5898 30d6 1091 0000 lds r17,(IntegralNick2)+3 |
| 5899 30da EF82 std Y+7,r14 |
| 5900 30dc F886 std Y+8,r15 |
| 5901 30de 0987 std Y+9,r16 |
| 5902 30e0 1A87 std Y+10,r17 |
| 5903 30e2 8E0D add r24,r14 |
| 5904 30e4 9F1D adc r25,r15 |
| 5905 30e6 A01F adc r26,r16 |
| 5906 30e8 B11F adc r27,r17 |
| 5907 30ea 8093 0000 sts MittelIntegralNick2,r24 |
| 5908 30ee 9093 0000 sts (MittelIntegralNick2)+1,r25 |
| 5909 30f2 A093 0000 sts (MittelIntegralNick2)+2,r26 |
| 5910 30f6 B093 0000 sts (MittelIntegralNick2)+3,r27 |
| 5911 30fa 8091 0000 lds r24,MittelIntegralRoll2 |
| 5912 30fe 9091 0000 lds r25,(MittelIntegralRoll2)+1 |
| 5913 3102 A091 0000 lds r26,(MittelIntegralRoll2)+2 |
| 5914 3106 B091 0000 lds r27,(MittelIntegralRoll2)+3 |
| 5915 310a E090 0000 lds r14,IntegralRoll2 |
| 5916 310e F090 0000 lds r15,(IntegralRoll2)+1 |
| 5917 3112 0091 0000 lds r16,(IntegralRoll2)+2 |
| 5918 3116 1091 0000 lds r17,(IntegralRoll2)+3 |
| 5919 311a EB86 std Y+11,r14 |
| 5920 311c FC86 std Y+12,r15 |
| 5921 311e 0D87 std Y+13,r16 |
| 5922 3120 1E87 std Y+14,r17 |
| 5923 3122 8E0D add r24,r14 |
| 5924 3124 9F1D adc r25,r15 |
| 5925 3126 A01F adc r26,r16 |
| 5926 3128 B11F adc r27,r17 |
| 5927 312a 8093 0000 sts MittelIntegralRoll2,r24 |
| 5928 312e 9093 0000 sts (MittelIntegralRoll2)+1,r25 |
| 5929 3132 A093 0000 sts (MittelIntegralRoll2)+2,r26 |
| 5930 3136 B093 0000 sts (MittelIntegralRoll2)+3,r27 |
| 5931 313a F090 0000 lds r15,Looping_Nick |
| 5932 313e FF86 std Y+15,r15 |
| 5933 3140 FF20 tst r15 |
| 5934 3142 01F4 brne .L510 |
| 5935 3144 8091 0000 lds r24,Looping_Roll |
| 5936 3148 8823 tst r24 |
| 5937 314a 01F4 brne .+2 |
| 5938 314c 00C0 rjmp .L892 |
| 5939 .L510: |
| 5940 314e 1092 0000 sts IntegralAccNick,__zero_reg__ |
| 5941 3152 1092 0000 sts (IntegralAccNick)+1,__zero_reg__ |
| 5942 3156 1092 0000 sts (IntegralAccNick)+2,__zero_reg__ |
| 5943 315a 1092 0000 sts (IntegralAccNick)+3,__zero_reg__ |
| 5944 315e 1092 0000 sts IntegralAccRoll,__zero_reg__ |
| 5945 3162 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__ |
| 5946 3166 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__ |
| 5947 316a 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__ |
| 5948 316e 1092 0000 sts MittelIntegralNick,__zero_reg__ |
| 5949 3172 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__ |
| 5950 3176 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__ |
| 5951 317a 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__ |
| 5952 317e 1092 0000 sts MittelIntegralRoll,__zero_reg__ |
| 5953 3182 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__ |
| 5954 3186 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__ |
| 5955 318a 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__ |
| 5956 318e 1092 0000 sts MittelIntegralNick2,__zero_reg__ |
| 5957 3192 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__ |
| 5958 3196 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__ |
| 5959 319a 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__ |
| 5960 319e 1092 0000 sts MittelIntegralRoll2,__zero_reg__ |
| 5961 31a2 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__ |
| 5962 31a6 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__ |
| 5963 31aa 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__ |
| 5964 31ae 8091 0000 lds r24,Mess_IntegralNick |
| 5965 31b2 9091 0000 lds r25,(Mess_IntegralNick)+1 |
| 5966 31b6 A091 0000 lds r26,(Mess_IntegralNick)+2 |
| 5967 31ba B091 0000 lds r27,(Mess_IntegralNick)+3 |
| 5968 31be 8093 0000 sts Mess_IntegralNick2,r24 |
| 5969 31c2 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
| 5970 31c6 A093 0000 sts (Mess_IntegralNick2)+2,r26 |
| 5971 31ca B093 0000 sts (Mess_IntegralNick2)+3,r27 |
| 5972 31ce 8091 0000 lds r24,Mess_IntegralRoll |
| 5973 31d2 9091 0000 lds r25,(Mess_IntegralRoll)+1 |
| 5974 31d6 A091 0000 lds r26,(Mess_IntegralRoll)+2 |
| 5975 31da B091 0000 lds r27,(Mess_IntegralRoll)+3 |
| 5976 31de 8093 0000 sts Mess_IntegralRoll2,r24 |
| 5977 31e2 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
| 5978 31e6 A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
| 5979 31ea B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
| 5980 31ee 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__ |
| 5981 31f2 1092 0000 sts ZaehlMessungen,__zero_reg__ |
| 5982 31f6 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__ |
| 5983 31fa 1092 0000 sts LageKorrekturNick,__zero_reg__ |
| 5984 31fe 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__ |
| 5985 3202 1092 0000 sts LageKorrekturRoll,__zero_reg__ |
| 5986 3206 0F85 ldd r16,Y+15 |
| 5987 3208 0023 tst r16 |
| 5988 320a 01F0 breq .+2 |
| 5989 320c 00C0 rjmp .L511 |
| 5990 .L892: |
| 5991 320e 8091 0000 lds r24,Looping_Roll |
| 5992 3212 8823 tst r24 |
| 5993 3214 01F0 breq .+2 |
| 5994 3216 00C0 rjmp .L511 |
| 5995 3218 8091 0000 lds r24,Aktuell_az |
| 5996 321c 9091 0000 lds r25,(Aktuell_az)+1 |
| 5997 3220 8150 subi r24,lo8(513) |
| 5998 3222 9240 sbci r25,hi8(513) |
| 5999 3224 04F4 brge .L512 |
| 6000 3226 8091 0000 lds r24,MotorenEin |
| 6001 322a 8823 tst r24 |
| 6002 322c 01F4 brne .+2 |
| 6003 322e 00C0 rjmp .L511 |
| 6004 .L512: |
| 6005 3230 9090 0000 lds r9,FromNaviCtrl_Value |
| 6006 3234 A090 0000 lds r10,EE_Parameter+28 |
| 6007 3238 2090 0000 lds r2,Mittelwert_AccNick |
| 6008 323c 3090 0000 lds r3,(Mittelwert_AccNick)+1 |
| 6009 3240 4090 0000 lds r4,Mittelwert_AccRoll |
| 6010 3244 5090 0000 lds r5,(Mittelwert_AccRoll)+1 |
| 6011 3248 1914 cp __zero_reg__,r9 |
| 6012 324a 04F0 brlt .+2 |
| 6013 324c 00C0 rjmp .L513 |
| 6014 324e BB24 clr r11 |
| 6015 3250 CC24 clr r12 |
| 6016 3252 DD24 clr r13 |
| 6017 3254 CA01 movw r24,r20 |
| 6018 3256 B901 movw r22,r18 |
| 6019 3258 A601 movw r20,r12 |
| 6020 325a 9501 movw r18,r10 |
| 6021 325c 0E94 0000 call __divmodsi4 |
| 6022 3260 7901 movw r14,r18 |
| 6023 3262 8A01 movw r16,r20 |
| 6024 3264 8091 0000 lds r24,FromNaviCtrl+9 |
| 6025 3268 9091 0000 lds r25,(FromNaviCtrl+9)+1 |
| 6026 326c 281A sub r2,r24 |
| 6027 326e 390A sbc r3,r25 |
| 6028 3270 C101 movw r24,r2 |
| 6029 3272 AA27 clr r26 |
| 6030 3274 97FD sbrc r25,7 |
| 6031 3276 A095 com r26 |
| 6032 3278 BA2F mov r27,r26 |
| 6033 327a E81A sub r14,r24 |
| 6034 327c F90A sbc r15,r25 |
| 6035 327e 0A0B sbc r16,r26 |
| 6036 3280 1B0B sbc r17,r27 |
| 6037 3282 6B81 ldd r22,Y+3 |
| 6038 3284 7C81 ldd r23,Y+4 |
| 6039 3286 8D81 ldd r24,Y+5 |
| 6040 3288 9E81 ldd r25,Y+6 |
| 6041 328a A601 movw r20,r12 |
| 6042 328c 9501 movw r18,r10 |
| 6043 328e 0E94 0000 call __divmodsi4 |
| 6044 3292 5901 movw r10,r18 |
| 6045 3294 6A01 movw r12,r20 |
| 6046 3296 8091 0000 lds r24,FromNaviCtrl+11 |
| 6047 329a 9091 0000 lds r25,(FromNaviCtrl+11)+1 |
| 6048 329e 481A sub r4,r24 |
| 6049 32a0 590A sbc r5,r25 |
| 6050 32a2 C201 movw r24,r4 |
| 6051 32a4 AA27 clr r26 |
| 6052 32a6 97FD sbrc r25,7 |
| 6053 32a8 A095 com r26 |
| 6054 32aa BA2F mov r27,r26 |
| 6055 32ac A81A sub r10,r24 |
| 6056 32ae B90A sbc r11,r25 |
| 6057 32b0 CA0A sbc r12,r26 |
| 6058 32b2 DB0A sbc r13,r27 |
| 6059 32b4 292C mov r2,r9 |
| 6060 32b6 3324 clr r3 |
| 6061 32b8 27FC sbrc r2,7 |
| 6062 32ba 3094 com r3 |
| 6063 32bc 432C mov r4,r3 |
| 6064 32be 532C mov r5,r3 |
| 6065 32c0 C801 movw r24,r16 |
| 6066 32c2 B701 movw r22,r14 |
| 6067 32c4 A201 movw r20,r4 |
| 6068 32c6 9101 movw r18,r2 |
| 6069 32c8 0E94 0000 call __mulsi3 |
| 6070 32cc 97FF sbrs r25,7 |
| 6071 32ce 00C0 rjmp .L514 |
| 6072 32d0 6150 subi r22,lo8(-(511)) |
| 6073 32d2 7E4F sbci r23,hi8(-(511)) |
| 6074 32d4 8F4F sbci r24,hlo8(-(511)) |
| 6075 32d6 9F4F sbci r25,hhi8(-(511)) |
| 6076 .L514: |
| 6077 32d8 3B01 movw r6,r22 |
| 6078 32da 4C01 movw r8,r24 |
| 6079 32dc 09E0 ldi r16,9 |
| 6080 32de 9594 1: asr r9 |
| 6081 32e0 8794 ror r8 |
| 6082 32e2 7794 ror r7 |
| 6083 32e4 6794 ror r6 |
| 6084 32e6 0A95 dec r16 |
| 6085 32e8 01F4 brne 1b |
| 6086 32ea C601 movw r24,r12 |
| 6087 32ec B501 movw r22,r10 |
| 6088 32ee A201 movw r20,r4 |
| 6089 32f0 9101 movw r18,r2 |
| 6090 32f2 0E94 0000 call __mulsi3 |
| 6091 32f6 97FF sbrs r25,7 |
| 6092 32f8 00C0 rjmp .L515 |
| 6093 32fa 6150 subi r22,lo8(-(511)) |
| 6094 32fc 7E4F sbci r23,hi8(-(511)) |
| 6095 32fe 8F4F sbci r24,hlo8(-(511)) |
| 6096 3300 9F4F sbci r25,hhi8(-(511)) |
| 6097 .L515: |
| 6098 3302 5B01 movw r10,r22 |
| 6099 3304 6C01 movw r12,r24 |
| 6100 3306 19E0 ldi r17,9 |
| 6101 3308 D594 1: asr r13 |
| 6102 330a C794 ror r12 |
| 6103 330c B794 ror r11 |
| 6104 330e A794 ror r10 |
| 6105 3310 1A95 dec r17 |
| 6106 3312 01F4 brne 1b |
| 6107 3314 8091 0000 lds r24,MaxStickNick |
| 6108 3318 9091 0000 lds r25,(MaxStickNick)+1 |
| 6109 331c 8134 cpi r24,65 |
| 6110 331e 9105 cpc r25,__zero_reg__ |
| 6111 3320 04F4 brge .L517 |
| 6112 3322 8091 0000 lds r24,MaxStickRoll |
| 6113 3326 9091 0000 lds r25,(MaxStickRoll)+1 |
| 6114 332a 8134 cpi r24,65 |
| 6115 332c 9105 cpc r25,__zero_reg__ |
| 6116 332e 04F0 brlt .L516 |
| 6117 .L517: |
| 6118 3330 D401 movw r26,r8 |
| 6119 3332 C301 movw r24,r6 |
| 6120 3334 97FE sbrs r9,7 |
| 6121 3336 00C0 rjmp .L518 |
| 6122 3338 0196 adiw r24,1 |
| 6123 333a A11D adc r26,__zero_reg__ |
| 6124 333c B11D adc r27,__zero_reg__ |
| 6125 .L518: |
| 6126 333e 3C01 movw r6,r24 |
| 6127 3340 4D01 movw r8,r26 |
| 6128 3342 9594 asr r9 |
| 6129 3344 8794 ror r8 |
| 6130 3346 7794 ror r7 |
| 6131 3348 6794 ror r6 |
| 6132 334a D601 movw r26,r12 |
| 6133 334c C501 movw r24,r10 |
| 6134 334e D7FE sbrs r13,7 |
| 6135 3350 00C0 rjmp .L519 |
| 6136 3352 0196 adiw r24,1 |
| 6137 3354 A11D adc r26,__zero_reg__ |
| 6138 3356 B11D adc r27,__zero_reg__ |
| 6139 .L519: |
| 6140 3358 5C01 movw r10,r24 |
| 6141 335a 6D01 movw r12,r26 |
| 6142 335c D594 asr r13 |
| 6143 335e C794 ror r12 |
| 6144 3360 B794 ror r11 |
| 6145 3362 A794 ror r10 |
| 6146 .L516: |
| 6147 3364 8091 0000 lds r24,FromNaviCtrl_Value+2 |
| 6148 3368 282F mov r18,r24 |
| 6149 336a 3327 clr r19 |
| 6150 336c 27FD sbrc r18,7 |
| 6151 336e 3095 com r19 |
| 6152 3370 432F mov r20,r19 |
| 6153 3372 532F mov r21,r19 |
| 6154 3374 2615 cp r18,r6 |
| 6155 3376 3705 cpc r19,r7 |
| 6156 3378 4805 cpc r20,r8 |
| 6157 337a 5905 cpc r21,r9 |
| 6158 337c 04F4 brge .L520 |
| 6159 337e 3901 movw r6,r18 |
| 6160 3380 4A01 movw r8,r20 |
| 6161 .L520: |
| 6162 3382 9927 clr r25 |
| 6163 3384 87FD sbrc r24,7 |
| 6164 3386 9095 com r25 |
| 6165 3388 9095 com r25 |
| 6166 338a 8195 neg r24 |
| 6167 338c 9F4F sbci r25,lo8(-1) |
| 6168 338e AA27 clr r26 |
| 6169 3390 97FD sbrc r25,7 |
| 6170 3392 A095 com r26 |
| 6171 3394 BA2F mov r27,r26 |
| 6172 3396 6816 cp r6,r24 |
| 6173 3398 7906 cpc r7,r25 |
| 6174 339a 8A06 cpc r8,r26 |
| 6175 339c 9B06 cpc r9,r27 |
| 6176 339e 04F4 brge .L521 |
| 6177 33a0 3C01 movw r6,r24 |
| 6178 33a2 4D01 movw r8,r26 |
| 6179 .L521: |
| 6180 33a4 2A15 cp r18,r10 |
| 6181 33a6 3B05 cpc r19,r11 |
| 6182 33a8 4C05 cpc r20,r12 |
| 6183 33aa 5D05 cpc r21,r13 |
| 6184 33ac 04F4 brge .L522 |
| 6185 33ae 5901 movw r10,r18 |
| 6186 33b0 6A01 movw r12,r20 |
| 6187 .L522: |
| 6188 33b2 A816 cp r10,r24 |
| 6189 33b4 B906 cpc r11,r25 |
| 6190 33b6 CA06 cpc r12,r26 |
| 6191 33b8 DB06 cpc r13,r27 |
| 6192 33ba 04F0 brlt .+2 |
| 6193 33bc 00C0 rjmp .L524 |
| 6194 33be 5C01 movw r10,r24 |
| 6195 33c0 6D01 movw r12,r26 |
| 6196 33c2 00C0 rjmp .L524 |
| 6197 .L513: |
| 6198 33c4 EA2C mov r14,r10 |
| 6199 33c6 FF24 clr r15 |
| 6200 33c8 0027 clr r16 |
| 6201 33ca 1127 clr r17 |
| 6202 33cc CA01 movw r24,r20 |
| 6203 33ce B901 movw r22,r18 |
| 6204 33d0 A801 movw r20,r16 |
| 6205 33d2 9701 movw r18,r14 |
| 6206 33d4 0E94 0000 call __divmodsi4 |
| 6207 33d8 3901 movw r6,r18 |
| 6208 33da 4A01 movw r8,r20 |
| 6209 33dc C101 movw r24,r2 |
| 6210 33de AA27 clr r26 |
| 6211 33e0 97FD sbrc r25,7 |
| 6212 33e2 A095 com r26 |
| 6213 33e4 BA2F mov r27,r26 |
| 6214 33e6 681A sub r6,r24 |
| 6215 33e8 790A sbc r7,r25 |
| 6216 33ea 8A0A sbc r8,r26 |
| 6217 33ec 9B0A sbc r9,r27 |
| 6218 33ee 6B81 ldd r22,Y+3 |
| 6219 33f0 7C81 ldd r23,Y+4 |
| 6220 33f2 8D81 ldd r24,Y+5 |
| 6221 33f4 9E81 ldd r25,Y+6 |
| 6222 33f6 A801 movw r20,r16 |
| 6223 33f8 9701 movw r18,r14 |
| 6224 33fa 0E94 0000 call __divmodsi4 |
| 6225 33fe 5901 movw r10,r18 |
| 6226 3400 6A01 movw r12,r20 |
| 6227 3402 C201 movw r24,r4 |
| 6228 3404 AA27 clr r26 |
| 6229 3406 97FD sbrc r25,7 |
| 6230 3408 A095 com r26 |
| 6231 340a BA2F mov r27,r26 |
| 6232 340c A81A sub r10,r24 |
| 6233 340e B90A sbc r11,r25 |
| 6234 3410 CA0A sbc r12,r26 |
| 6235 3412 DB0A sbc r13,r27 |
| 6236 3414 D401 movw r26,r8 |
| 6237 3416 C301 movw r24,r6 |
| 6238 3418 97FE sbrs r9,7 |
| 6239 341a 00C0 rjmp .L525 |
| 6240 341c 0F96 adiw r24,15 |
| 6241 341e A11D adc r26,__zero_reg__ |
| 6242 3420 B11D adc r27,__zero_reg__ |
| 6243 .L525: |
| 6244 3422 3C01 movw r6,r24 |
| 6245 3424 4D01 movw r8,r26 |
| 6246 3426 F4E0 ldi r31,4 |
| 6247 3428 9594 1: asr r9 |
| 6248 342a 8794 ror r8 |
| 6249 342c 7794 ror r7 |
| 6250 342e 6794 ror r6 |
| 6251 3430 FA95 dec r31 |
| 6252 3432 01F4 brne 1b |
| 6253 3434 D601 movw r26,r12 |
| 6254 3436 C501 movw r24,r10 |
| 6255 3438 D7FE sbrs r13,7 |
| 6256 343a 00C0 rjmp .L526 |
| 6257 343c 0F96 adiw r24,15 |
| 6258 343e A11D adc r26,__zero_reg__ |
| 6259 3440 B11D adc r27,__zero_reg__ |
| 6260 .L526: |
| 6261 3442 5C01 movw r10,r24 |
| 6262 3444 6D01 movw r12,r26 |
| 6263 3446 E4E0 ldi r30,4 |
| 6264 3448 D594 1: asr r13 |
| 6265 344a C794 ror r12 |
| 6266 344c B794 ror r11 |
| 6267 344e A794 ror r10 |
| 6268 3450 EA95 dec r30 |
| 6269 3452 01F4 brne 1b |
| 6270 3454 8091 0000 lds r24,MaxStickNick |
| 6271 3458 9091 0000 lds r25,(MaxStickNick)+1 |
| 6272 345c 8134 cpi r24,65 |
| 6273 345e 9105 cpc r25,__zero_reg__ |
| 6274 3460 04F4 brge .L528 |
| 6275 3462 8091 0000 lds r24,MaxStickRoll |
| 6276 3466 9091 0000 lds r25,(MaxStickRoll)+1 |
| 6277 346a 8134 cpi r24,65 |
| 6278 346c 9105 cpc r25,__zero_reg__ |
| 6279 346e 04F0 brlt .L527 |
| 6280 .L528: |
| 6281 3470 C401 movw r24,r8 |
| 6282 3472 B301 movw r22,r6 |
| 6283 3474 23E0 ldi r18,lo8(3) |
| 6284 3476 30E0 ldi r19,hi8(3) |
| 6285 3478 40E0 ldi r20,hlo8(3) |
| 6286 347a 50E0 ldi r21,hhi8(3) |
| 6287 347c 0E94 0000 call __divmodsi4 |
| 6288 3480 3901 movw r6,r18 |
| 6289 3482 4A01 movw r8,r20 |
| 6290 3484 C601 movw r24,r12 |
| 6291 3486 B501 movw r22,r10 |
| 6292 3488 23E0 ldi r18,lo8(3) |
| 6293 348a 30E0 ldi r19,hi8(3) |
| 6294 348c 40E0 ldi r20,hlo8(3) |
| 6295 348e 50E0 ldi r21,hhi8(3) |
| 6296 3490 0E94 0000 call __divmodsi4 |
| 6297 3494 5901 movw r10,r18 |
| 6298 3496 6A01 movw r12,r20 |
| 6299 .L527: |
| 6300 3498 8091 0000 lds r24,EE_Parameter+4 |
| 6301 349c E82F mov r30,r24 |
| 6302 349e FF27 clr r31 |
| 6303 34a0 EE0F add r30,r30 |
| 6304 34a2 FF1F adc r31,r31 |
| 6305 34a4 E050 subi r30,lo8(-(PPM_in)) |
| 6306 34a6 F040 sbci r31,hi8(-(PPM_in)) |
| 6307 34a8 8081 ld r24,Z |
| 6308 34aa 9181 ldd r25,Z+1 |
| 6309 34ac 0190 ld __tmp_reg__,Z+ |
| 6310 34ae F081 ld r31,Z |
| 6311 34b0 E02D mov r30,__tmp_reg__ |
| 6312 34b2 F7FF sbrs r31,7 |
| 6313 34b4 00C0 rjmp .L530 |
| 6314 34b6 F095 com r31 |
| 6315 34b8 E195 neg r30 |
| 6316 34ba FF4F sbci r31,lo8(-1) |
| 6317 .L530: |
| 6318 34bc 7A97 sbiw r30,26 |
| 6319 34be 04F0 brlt .L529 |
| 6320 34c0 C401 movw r24,r8 |
| 6321 34c2 B301 movw r22,r6 |
| 6322 34c4 23E0 ldi r18,lo8(3) |
| 6323 34c6 30E0 ldi r19,hi8(3) |
| 6324 34c8 40E0 ldi r20,hlo8(3) |
| 6325 34ca 50E0 ldi r21,hhi8(3) |
| 6326 34cc 0E94 0000 call __divmodsi4 |
| 6327 34d0 3901 movw r6,r18 |
| 6328 34d2 4A01 movw r8,r20 |
| 6329 34d4 C601 movw r24,r12 |
| 6330 34d6 B501 movw r22,r10 |
| 6331 34d8 23E0 ldi r18,lo8(3) |
| 6332 34da 30E0 ldi r19,hi8(3) |
| 6333 34dc 40E0 ldi r20,hlo8(3) |
| 6334 34de 50E0 ldi r21,hhi8(3) |
| 6335 34e0 0E94 0000 call __divmodsi4 |
| 6336 34e4 5901 movw r10,r18 |
| 6337 34e6 6A01 movw r12,r20 |
| 6338 .L529: |
| 6339 34e8 89E1 ldi r24,lo8(25) |
| 6340 34ea 8093 0000 sts KompassFusion,r24 |
| 6341 34ee 21E2 ldi r18,lo8(33) |
| 6342 34f0 6216 cp r6,r18 |
| 6343 34f2 7104 cpc r7,__zero_reg__ |
| 6344 34f4 8104 cpc r8,__zero_reg__ |
| 6345 34f6 9104 cpc r9,__zero_reg__ |
| 6346 34f8 04F0 brlt .L531 |
| 6347 34fa 70E2 ldi r23,lo8(32) |
| 6348 34fc 672E mov r6,r23 |
| 6349 34fe 712C mov r7,__zero_reg__ |
| 6350 3500 812C mov r8,__zero_reg__ |
| 6351 3502 912C mov r9,__zero_reg__ |
| 6352 .L531: |
| 6353 3504 30EE ldi r19,lo8(-32) |
| 6354 3506 6316 cp r6,r19 |
| 6355 3508 3FEF ldi r19,hi8(-32) |
| 6356 350a 7306 cpc r7,r19 |
| 6357 350c 3FEF ldi r19,hlo8(-32) |
| 6358 350e 8306 cpc r8,r19 |
| 6359 3510 3FEF ldi r19,hhi8(-32) |
| 6360 3512 9306 cpc r9,r19 |
| 6361 3514 04F4 brge .L532 |
| 6362 3516 60EE ldi r22,lo8(-32) |
| 6363 3518 662E mov r6,r22 |
| 6364 351a 6FEF ldi r22,hi8(-32) |
| 6365 351c 762E mov r7,r22 |
| 6366 351e 6FEF ldi r22,hlo8(-32) |
| 6367 3520 862E mov r8,r22 |
| 6368 3522 6FEF ldi r22,hhi8(-32) |
| 6369 3524 962E mov r9,r22 |
| 6370 .L532: |
| 6371 3526 41E2 ldi r20,lo8(33) |
| 6372 3528 A416 cp r10,r20 |
| 6373 352a B104 cpc r11,__zero_reg__ |
| 6374 352c C104 cpc r12,__zero_reg__ |
| 6375 352e D104 cpc r13,__zero_reg__ |
| 6376 3530 04F0 brlt .L533 |
| 6377 3532 50E2 ldi r21,lo8(32) |
| 6378 3534 A52E mov r10,r21 |
| 6379 3536 B12C mov r11,__zero_reg__ |
| 6380 3538 C12C mov r12,__zero_reg__ |
| 6381 353a D12C mov r13,__zero_reg__ |
| 6382 .L533: |
| 6383 353c 50EE ldi r21,lo8(-32) |
| 6384 353e A516 cp r10,r21 |
| 6385 3540 5FEF ldi r21,hi8(-32) |
| 6386 3542 B506 cpc r11,r21 |
| 6387 3544 5FEF ldi r21,hlo8(-32) |
| 6388 3546 C506 cpc r12,r21 |
| 6389 3548 5FEF ldi r21,hhi8(-32) |
| 6390 354a D506 cpc r13,r21 |
| 6391 354c 04F4 brge .L524 |
| 6392 354e 40EE ldi r20,lo8(-32) |
| 6393 3550 A42E mov r10,r20 |
| 6394 3552 4FEF ldi r20,hi8(-32) |
| 6395 3554 B42E mov r11,r20 |
| 6396 3556 4FEF ldi r20,hlo8(-32) |
| 6397 3558 C42E mov r12,r20 |
| 6398 355a 4FEF ldi r20,hhi8(-32) |
| 6399 355c D42E mov r13,r20 |
| 6400 .L524: |
| 6401 355e 8091 0000 lds r24,Mess_IntegralNick |
| 6402 3562 9091 0000 lds r25,(Mess_IntegralNick)+1 |
| 6403 3566 A091 0000 lds r26,(Mess_IntegralNick)+2 |
| 6404 356a B091 0000 lds r27,(Mess_IntegralNick)+3 |
| 6405 356e 8619 sub r24,r6 |
| 6406 3570 9709 sbc r25,r7 |
| 6407 3572 A809 sbc r26,r8 |
| 6408 3574 B909 sbc r27,r9 |
| 6409 3576 8093 0000 sts Mess_IntegralNick,r24 |
| 6410 357a 9093 0000 sts (Mess_IntegralNick)+1,r25 |
| 6411 357e A093 0000 sts (Mess_IntegralNick)+2,r26 |
| 6412 3582 B093 0000 sts (Mess_IntegralNick)+3,r27 |
| 6413 3586 8091 0000 lds r24,Mess_IntegralRoll |
| 6414 358a 9091 0000 lds r25,(Mess_IntegralRoll)+1 |
| 6415 358e A091 0000 lds r26,(Mess_IntegralRoll)+2 |
| 6416 3592 B091 0000 lds r27,(Mess_IntegralRoll)+3 |
| 6417 3596 8A19 sub r24,r10 |
| 6418 3598 9B09 sbc r25,r11 |
| 6419 359a AC09 sbc r26,r12 |
| 6420 359c BD09 sbc r27,r13 |
| 6421 359e 8093 0000 sts Mess_IntegralRoll,r24 |
| 6422 35a2 9093 0000 sts (Mess_IntegralRoll)+1,r25 |
| 6423 35a6 A093 0000 sts (Mess_IntegralRoll)+2,r26 |
| 6424 35aa B093 0000 sts (Mess_IntegralRoll)+3,r27 |
| 6425 .L511: |
| 6426 35ae 8091 0000 lds r24,ZaehlMessungen |
| 6427 35b2 9091 0000 lds r25,(ZaehlMessungen)+1 |
| 6428 35b6 8F3F cpi r24,255 |
| 6429 35b8 9105 cpc r25,__zero_reg__ |
| 6430 35ba 01F0 breq .+2 |
| 6431 35bc 00F4 brsh .+2 |
| 6432 35be 00C0 rjmp .L535 |
| 6433 35c0 6F85 ldd r22,Y+15 |
| 6434 35c2 6623 tst r22 |
| 6435 35c4 01F0 breq .+2 |
| 6436 35c6 00C0 rjmp .L536 |
| 6437 35c8 8091 0000 lds r24,Looping_Roll |
| 6438 35cc 8823 tst r24 |
| 6439 35ce 01F0 breq .+2 |
| 6440 35d0 00C0 rjmp .L536 |
| 6441 35d2 8091 0000 lds r24,TrichterFlug |
| 6442 35d6 8823 tst r24 |
| 6443 35d8 01F0 breq .+2 |
| 6444 35da 00C0 rjmp .L536 |
| 6445 35dc 7091 0000 lds r23,EE_Parameter+68 |
| 6446 35e0 788B std Y+16,r23 |
| 6447 35e2 7723 tst r23 |
| 6448 35e4 01F4 brne .+2 |
| 6449 35e6 00C0 rjmp .L536 |
| 6450 35e8 8091 0000 lds r24,MittelIntegralNick |
| 6451 35ec 9091 0000 lds r25,(MittelIntegralNick)+1 |
| 6452 35f0 A091 0000 lds r26,(MittelIntegralNick)+2 |
| 6453 35f4 B091 0000 lds r27,(MittelIntegralNick)+3 |
| 6454 35f8 B7FF sbrs r27,7 |
| 6455 35fa 00C0 rjmp .L537 |
| 6456 35fc 8150 subi r24,lo8(-(255)) |
| 6457 35fe 9F4F sbci r25,hi8(-(255)) |
| 6458 3600 AF4F sbci r26,hlo8(-(255)) |
| 6459 3602 BF4F sbci r27,hhi8(-(255)) |
| 6460 .L537: |
| 6461 3604 E92E mov r14,r25 |
| 6462 3606 FA2E mov r15,r26 |
| 6463 3608 0B2F mov r16,r27 |
| 6464 360a 1127 clr r17 |
| 6465 360c 07FD sbrc r16,7 |
| 6466 360e 1A95 dec r17 |
| 6467 3610 E092 0000 sts MittelIntegralNick,r14 |
| 6468 3614 F092 0000 sts (MittelIntegralNick)+1,r15 |
| 6469 3618 0093 0000 sts (MittelIntegralNick)+2,r16 |
| 6470 361c 1093 0000 sts (MittelIntegralNick)+3,r17 |
| 6471 3620 8091 0000 lds r24,MittelIntegralRoll |
| 6472 3624 9091 0000 lds r25,(MittelIntegralRoll)+1 |
| 6473 3628 A091 0000 lds r26,(MittelIntegralRoll)+2 |
| 6474 362c B091 0000 lds r27,(MittelIntegralRoll)+3 |
| 6475 3630 B7FF sbrs r27,7 |
| 6476 3632 00C0 rjmp .L538 |
| 6477 3634 8150 subi r24,lo8(-(255)) |
| 6478 3636 9F4F sbci r25,hi8(-(255)) |
| 6479 3638 AF4F sbci r26,hlo8(-(255)) |
| 6480 363a BF4F sbci r27,hhi8(-(255)) |
| 6481 .L538: |
| 6482 363c 892F mov r24,r25 |
| 6483 363e 9A2F mov r25,r26 |
| 6484 3640 AB2F mov r26,r27 |
| 6485 3642 BB27 clr r27 |
| 6486 3644 A7FD sbrc r26,7 |
| 6487 3646 BA95 dec r27 |
| 6488 3648 898B std Y+17,r24 |
| 6489 364a 9A8B std Y+18,r25 |
| 6490 364c AB8B std Y+19,r26 |
| 6491 364e BC8B std Y+20,r27 |
| 6492 3650 8093 0000 sts MittelIntegralRoll,r24 |
| 6493 3654 9093 0000 sts (MittelIntegralRoll)+1,r25 |
| 6494 3658 A093 0000 sts (MittelIntegralRoll)+2,r26 |
| 6495 365c B093 0000 sts (MittelIntegralRoll)+3,r27 |
| 6496 3660 8091 0000 lds r24,EE_Parameter+28 |
| 6497 3664 A82E mov r10,r24 |
| 6498 3666 BB24 clr r11 |
| 6499 3668 CC24 clr r12 |
| 6500 366a DD24 clr r13 |
| 6501 366c 2091 0000 lds r18,IntegralAccNick |
| 6502 3670 3091 0000 lds r19,(IntegralAccNick)+1 |
| 6503 3674 4091 0000 lds r20,(IntegralAccNick)+2 |
| 6504 3678 5091 0000 lds r21,(IntegralAccNick)+3 |
| 6505 367c C601 movw r24,r12 |
| 6506 367e B501 movw r22,r10 |
| 6507 3680 0E94 0000 call __mulsi3 |
| 6508 3684 97FF sbrs r25,7 |
| 6509 3686 00C0 rjmp .L539 |
| 6510 3688 6150 subi r22,lo8(-(255)) |
| 6511 368a 7F4F sbci r23,hi8(-(255)) |
| 6512 368c 8F4F sbci r24,hlo8(-(255)) |
| 6513 368e 9F4F sbci r25,hhi8(-(255)) |
| 6514 .L539: |
| 6515 3690 672E mov r6,r23 |
| 6516 3692 782E mov r7,r24 |
| 6517 3694 892E mov r8,r25 |
| 6518 3696 9924 clr r9 |
| 6519 3698 87FC sbrc r8,7 |
| 6520 369a 9A94 dec r9 |
| 6521 369c 6092 0000 sts IntegralAccNick,r6 |
| 6522 36a0 7092 0000 sts (IntegralAccNick)+1,r7 |
| 6523 36a4 8092 0000 sts (IntegralAccNick)+2,r8 |
| 6524 36a8 9092 0000 sts (IntegralAccNick)+3,r9 |
| 6525 36ac 2091 0000 lds r18,IntegralAccRoll |
| 6526 36b0 3091 0000 lds r19,(IntegralAccRoll)+1 |
| 6527 36b4 4091 0000 lds r20,(IntegralAccRoll)+2 |
| 6528 36b8 5091 0000 lds r21,(IntegralAccRoll)+3 |
| 6529 36bc C601 movw r24,r12 |
| 6530 36be B501 movw r22,r10 |
| 6531 36c0 0E94 0000 call __mulsi3 |
| 6532 36c4 97FF sbrs r25,7 |
| 6533 36c6 00C0 rjmp .L540 |
| 6534 36c8 6150 subi r22,lo8(-(255)) |
| 6535 36ca 7F4F sbci r23,hi8(-(255)) |
| 6536 36cc 8F4F sbci r24,hlo8(-(255)) |
| 6537 36ce 9F4F sbci r25,hhi8(-(255)) |
| 6538 .L540: |
| 6539 36d0 272E mov r2,r23 |
| 6540 36d2 382E mov r3,r24 |
| 6541 36d4 492E mov r4,r25 |
| 6542 36d6 5524 clr r5 |
| 6543 36d8 47FC sbrc r4,7 |
| 6544 36da 5A94 dec r5 |
| 6545 36dc 2092 0000 sts IntegralAccRoll,r2 |
| 6546 36e0 3092 0000 sts (IntegralAccRoll)+1,r3 |
| 6547 36e4 4092 0000 sts (IntegralAccRoll)+2,r4 |
| 6548 36e8 5092 0000 sts (IntegralAccRoll)+3,r5 |
| 6549 36ec 8091 0000 lds r24,IntegralAccZ |
| 6550 36f0 9091 0000 lds r25,(IntegralAccZ)+1 |
| 6551 36f4 A091 0000 lds r26,(IntegralAccZ)+2 |
| 6552 36f8 B091 0000 lds r27,(IntegralAccZ)+3 |
| 6553 36fc B7FF sbrs r27,7 |
| 6554 36fe 00C0 rjmp .L541 |
| 6555 3700 8150 subi r24,lo8(-(255)) |
| 6556 3702 9F4F sbci r25,hi8(-(255)) |
| 6557 3704 AF4F sbci r26,hlo8(-(255)) |
| 6558 3706 BF4F sbci r27,hhi8(-(255)) |
| 6559 .L541: |
| 6560 3708 892F mov r24,r25 |
| 6561 370a 9A2F mov r25,r26 |
| 6562 370c AB2F mov r26,r27 |
| 6563 370e BB27 clr r27 |
| 6564 3710 A7FD sbrc r26,7 |
| 6565 3712 BA95 dec r27 |
| 6566 3714 8093 0000 sts IntegralAccZ,r24 |
| 6567 3718 9093 0000 sts (IntegralAccZ)+1,r25 |
| 6568 371c A093 0000 sts (IntegralAccZ)+2,r26 |
| 6569 3720 B093 0000 sts (IntegralAccZ)+3,r27 |
| 6570 3724 D801 movw r26,r16 |
| 6571 3726 C701 movw r24,r14 |
| 6572 3728 8619 sub r24,r6 |
| 6573 372a 9709 sbc r25,r7 |
| 6574 372c A809 sbc r26,r8 |
| 6575 372e B909 sbc r27,r9 |
| 6576 3730 8093 0000 sts IntegralFehlerNick.3,r24 |
| 6577 3734 9093 0000 sts (IntegralFehlerNick.3)+1,r25 |
| 6578 3738 A093 0000 sts (IntegralFehlerNick.3)+2,r26 |
| 6579 373c B093 0000 sts (IntegralFehlerNick.3)+3,r27 |
| 6580 3740 2091 0000 lds r18,EE_Parameter+67 |
| 6581 3744 E22E mov r14,r18 |
| 6582 3746 FF24 clr r15 |
| 6583 3748 0027 clr r16 |
| 6584 374a 1127 clr r17 |
| 6585 374c BC01 movw r22,r24 |
| 6586 374e CD01 movw r24,r26 |
| 6587 3750 A801 movw r20,r16 |
| 6588 3752 9701 movw r18,r14 |
| 6589 3754 0E94 0000 call __divmodsi4 |
| 6590 3758 5901 movw r10,r18 |
| 6591 375a 6A01 movw r12,r20 |
| 6592 375c 2093 0000 sts ausgleichNick.10,r18 |
| 6593 3760 3093 0000 sts (ausgleichNick.10)+1,r19 |
| 6594 3764 4093 0000 sts (ausgleichNick.10)+2,r20 |
| 6595 3768 5093 0000 sts (ausgleichNick.10)+3,r21 |
| 6596 376c 8989 ldd r24,Y+17 |
| 6597 376e 9A89 ldd r25,Y+18 |
| 6598 3770 AB89 ldd r26,Y+19 |
| 6599 3772 BC89 ldd r27,Y+20 |
| 6600 3774 8219 sub r24,r2 |
| 6601 3776 9309 sbc r25,r3 |
| 6602 3778 A409 sbc r26,r4 |
| 6603 377a B509 sbc r27,r5 |
| 6604 377c 8093 0000 sts IntegralFehlerRoll.4,r24 |
| 6605 3780 9093 0000 sts (IntegralFehlerRoll.4)+1,r25 |
| 6606 3784 A093 0000 sts (IntegralFehlerRoll.4)+2,r26 |
| 6607 3788 B093 0000 sts (IntegralFehlerRoll.4)+3,r27 |
| 6608 378c BC01 movw r22,r24 |
| 6609 378e CD01 movw r24,r26 |
| 6610 3790 A801 movw r20,r16 |
| 6611 3792 9701 movw r18,r14 |
| 6612 3794 0E94 0000 call __divmodsi4 |
| 6613 3798 2093 0000 sts ausgleichRoll.11,r18 |
| 6614 379c 3093 0000 sts (ausgleichRoll.11)+1,r19 |
| 6615 37a0 4093 0000 sts (ausgleichRoll.11)+2,r20 |
| 6616 37a4 5093 0000 sts (ausgleichRoll.11)+3,r21 |
| 6617 37a8 D601 movw r26,r12 |
| 6618 37aa C501 movw r24,r10 |
| 6619 37ac D7FE sbrs r13,7 |
| 6620 37ae 00C0 rjmp .L542 |
| 6621 37b0 8150 subi r24,lo8(-(255)) |
| 6622 37b2 9F4F sbci r25,hi8(-(255)) |
| 6623 37b4 AF4F sbci r26,hlo8(-(255)) |
| 6624 37b6 BF4F sbci r27,hhi8(-(255)) |
| 6625 .L542: |
| 6626 37b8 892F mov r24,r25 |
| 6627 37ba 9A2F mov r25,r26 |
| 6628 37bc AB2F mov r26,r27 |
| 6629 37be BB27 clr r27 |
| 6630 37c0 A7FD sbrc r26,7 |
| 6631 37c2 BA95 dec r27 |
| 6632 37c4 9093 0000 sts (LageKorrekturNick)+1,r25 |
| 6633 37c8 8093 0000 sts LageKorrekturNick,r24 |
| 6634 37cc 57FF sbrs r21,7 |
| 6635 37ce 00C0 rjmp .L543 |
| 6636 37d0 2150 subi r18,lo8(-(255)) |
| 6637 37d2 3F4F sbci r19,hi8(-(255)) |
| 6638 37d4 4F4F sbci r20,hlo8(-(255)) |
| 6639 37d6 5F4F sbci r21,hhi8(-(255)) |
| 6640 .L543: |
| 6641 37d8 BB27 clr r27 |
| 6642 37da 57FD sbrc r21,7 |
| 6643 37dc BA95 dec r27 |
| 6644 37de A52F mov r26,r21 |
| 6645 37e0 942F mov r25,r20 |
| 6646 37e2 832F mov r24,r19 |
| 6647 37e4 9093 0000 sts (LageKorrekturRoll)+1,r25 |
| 6648 37e8 8093 0000 sts LageKorrekturRoll,r24 |
| 6649 37ec 8091 0000 lds r24,MaxStickNick |
| 6650 37f0 9091 0000 lds r25,(MaxStickNick)+1 |
| 6651 37f4 8134 cpi r24,65 |
| 6652 37f6 9105 cpc r25,__zero_reg__ |
| 6653 37f8 04F4 brge .L545 |
| 6654 37fa 8091 0000 lds r24,MaxStickRoll |
| 6655 37fe 9091 0000 lds r25,(MaxStickRoll)+1 |
| 6656 3802 8134 cpi r24,65 |
| 6657 3804 9105 cpc r25,__zero_reg__ |
| 6658 3806 04F4 brge .L545 |
| 6659 3808 8091 0000 lds r24,EE_Parameter+4 |
| 6660 380c E82F mov r30,r24 |
| 6661 380e FF27 clr r31 |
| 6662 3810 EE0F add r30,r30 |
| 6663 3812 FF1F adc r31,r31 |
| 6664 3814 E050 subi r30,lo8(-(PPM_in)) |
| 6665 3816 F040 sbci r31,hi8(-(PPM_in)) |
| 6666 3818 8081 ld r24,Z |
| 6667 381a 9181 ldd r25,Z+1 |
| 6668 381c 0190 ld __tmp_reg__,Z+ |
| 6669 381e F081 ld r31,Z |
| 6670 3820 E02D mov r30,__tmp_reg__ |
| 6671 3822 F7FF sbrs r31,7 |
| 6672 3824 00C0 rjmp .L546 |
| 6673 3826 F095 com r31 |
| 6674 3828 E195 neg r30 |
| 6675 382a FF4F sbci r31,lo8(-1) |
| 6676 .L546: |
| 6677 382c 7A97 sbiw r30,26 |
| 6678 382e 04F0 brlt .L544 |
| 6679 .L545: |
| 6680 3830 8091 0000 lds r24,FromNaviCtrl_Value |
| 6681 3834 8F3F cpi r24,lo8(-1) |
| 6682 3836 01F4 brne .L544 |
| 6683 3838 8091 0000 lds r24,LageKorrekturNick |
| 6684 383c 9091 0000 lds r25,(LageKorrekturNick)+1 |
| 6685 3840 97FD sbrc r25,7 |
| 6686 3842 0196 adiw r24,1 |
| 6687 .L547: |
| 6688 3844 9595 asr r25 |
| 6689 3846 8795 ror r24 |
| 6690 3848 9093 0000 sts (LageKorrekturNick)+1,r25 |
| 6691 384c 8093 0000 sts LageKorrekturNick,r24 |
| 6692 3850 8091 0000 lds r24,LageKorrekturRoll |
| 6693 3854 9091 0000 lds r25,(LageKorrekturRoll)+1 |
| 6694 3858 97FD sbrc r25,7 |
| 6695 385a 0196 adiw r24,1 |
| 6696 .L548: |
| 6697 385c 9595 asr r25 |
| 6698 385e 8795 ror r24 |
| 6699 3860 9093 0000 sts (LageKorrekturRoll)+1,r25 |
| 6700 3864 8093 0000 sts LageKorrekturRoll,r24 |
| 6701 .L544: |
| 6702 3868 8091 0000 lds r24,MittelIntegralNick2 |
| 6703 386c 9091 0000 lds r25,(MittelIntegralNick2)+1 |
| 6704 3870 A091 0000 lds r26,(MittelIntegralNick2)+2 |
| 6705 3874 B091 0000 lds r27,(MittelIntegralNick2)+3 |
| 6706 3878 B7FF sbrs r27,7 |
| 6707 387a 00C0 rjmp .L549 |
| 6708 387c 8150 subi r24,lo8(-(255)) |
| 6709 387e 9F4F sbci r25,hi8(-(255)) |
| 6710 3880 AF4F sbci r26,hlo8(-(255)) |
| 6711 3882 BF4F sbci r27,hhi8(-(255)) |
| 6712 .L549: |
| 6713 3884 892F mov r24,r25 |
| 6714 3886 9A2F mov r25,r26 |
| 6715 3888 AB2F mov r26,r27 |
| 6716 388a BB27 clr r27 |
| 6717 388c A7FD sbrc r26,7 |
| 6718 388e BA95 dec r27 |
| 6719 3890 8093 0000 sts MittelIntegralNick2,r24 |
| 6720 3894 9093 0000 sts (MittelIntegralNick2)+1,r25 |
| 6721 3898 A093 0000 sts (MittelIntegralNick2)+2,r26 |
| 6722 389c B093 0000 sts (MittelIntegralNick2)+3,r27 |
| 6723 38a0 8091 0000 lds r24,MittelIntegralRoll2 |
| 6724 38a4 9091 0000 lds r25,(MittelIntegralRoll2)+1 |
| 6725 38a8 A091 0000 lds r26,(MittelIntegralRoll2)+2 |
| 6726 38ac B091 0000 lds r27,(MittelIntegralRoll2)+3 |
| 6727 38b0 B7FF sbrs r27,7 |
| 6728 38b2 00C0 rjmp .L550 |
| 6729 38b4 8150 subi r24,lo8(-(255)) |
| 6730 38b6 9F4F sbci r25,hi8(-(255)) |
| 6731 38b8 AF4F sbci r26,hlo8(-(255)) |
| 6732 38ba BF4F sbci r27,hhi8(-(255)) |
| 6733 .L550: |
| 6734 38bc 892F mov r24,r25 |
| 6735 38be 9A2F mov r25,r26 |
| 6736 38c0 AB2F mov r26,r27 |
| 6737 38c2 BB27 clr r27 |
| 6738 38c4 A7FD sbrc r26,7 |
| 6739 38c6 BA95 dec r27 |
| 6740 38c8 8093 0000 sts MittelIntegralRoll2,r24 |
| 6741 38cc 9093 0000 sts (MittelIntegralRoll2)+1,r25 |
| 6742 38d0 A093 0000 sts (MittelIntegralRoll2)+2,r26 |
| 6743 38d4 B093 0000 sts (MittelIntegralRoll2)+3,r27 |
| 6744 38d8 8091 0000 lds r24,IntegralNick |
| 6745 38dc 9091 0000 lds r25,(IntegralNick)+1 |
| 6746 38e0 A091 0000 lds r26,(IntegralNick)+2 |
| 6747 38e4 B091 0000 lds r27,(IntegralNick)+3 |
| 6748 38e8 2F81 ldd r18,Y+7 |
| 6749 38ea 3885 ldd r19,Y+8 |
| 6750 38ec 4985 ldd r20,Y+9 |
| 6751 38ee 5A85 ldd r21,Y+10 |
| 6752 38f0 281B sub r18,r24 |
| 6753 38f2 390B sbc r19,r25 |
| 6754 38f4 4A0B sbc r20,r26 |
| 6755 38f6 5B0B sbc r21,r27 |
| 6756 38f8 2093 0000 sts tmp_long.1,r18 |
| 6757 38fc 3093 0000 sts (tmp_long.1)+1,r19 |
| 6758 3900 4093 0000 sts (tmp_long.1)+2,r20 |
| 6759 3904 5093 0000 sts (tmp_long.1)+3,r21 |
| 6760 3908 8091 0000 lds r24,IntegralRoll |
| 6761 390c 9091 0000 lds r25,(IntegralRoll)+1 |
| 6762 3910 A091 0000 lds r26,(IntegralRoll)+2 |
| 6763 3914 B091 0000 lds r27,(IntegralRoll)+3 |
| 6764 3918 EB84 ldd r14,Y+11 |
| 6765 391a FC84 ldd r15,Y+12 |
| 6766 391c 0D85 ldd r16,Y+13 |
| 6767 391e 1E85 ldd r17,Y+14 |
| 6768 3920 E81A sub r14,r24 |
| 6769 3922 F90A sbc r15,r25 |
| 6770 3924 0A0B sbc r16,r26 |
| 6771 3926 1B0B sbc r17,r27 |
| 6772 3928 E092 0000 sts tmp_long2.2,r14 |
| 6773 392c F092 0000 sts (tmp_long2.2)+1,r15 |
| 6774 3930 0093 0000 sts (tmp_long2.2)+2,r16 |
| 6775 3934 1093 0000 sts (tmp_long2.2)+3,r17 |
| 6776 3938 2093 0000 sts IntegralFehlerNick.3,r18 |
| 6777 393c 3093 0000 sts (IntegralFehlerNick.3)+1,r19 |
| 6778 3940 4093 0000 sts (IntegralFehlerNick.3)+2,r20 |
| 6779 3944 5093 0000 sts (IntegralFehlerNick.3)+3,r21 |
| 6780 3948 E092 0000 sts IntegralFehlerRoll.4,r14 |
| 6781 394c F092 0000 sts (IntegralFehlerRoll.4)+1,r15 |
| 6782 3950 0093 0000 sts (IntegralFehlerRoll.4)+2,r16 |
| 6783 3954 1093 0000 sts (IntegralFehlerRoll.4)+3,r17 |
| 6784 3958 8091 0000 lds r24,Mess_IntegralNick2 |
| 6785 395c 9091 0000 lds r25,(Mess_IntegralNick2)+1 |
| 6786 3960 A091 0000 lds r26,(Mess_IntegralNick2)+2 |
| 6787 3964 B091 0000 lds r27,(Mess_IntegralNick2)+3 |
| 6788 3968 821B sub r24,r18 |
| 6789 396a 930B sbc r25,r19 |
| 6790 396c A40B sbc r26,r20 |
| 6791 396e B50B sbc r27,r21 |
| 6792 3970 8093 0000 sts Mess_IntegralNick2,r24 |
| 6793 3974 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
| 6794 3978 A093 0000 sts (Mess_IntegralNick2)+2,r26 |
| 6795 397c B093 0000 sts (Mess_IntegralNick2)+3,r27 |
| 6796 3980 8091 0000 lds r24,Mess_IntegralRoll2 |
| 6797 3984 9091 0000 lds r25,(Mess_IntegralRoll2)+1 |
| 6798 3988 A091 0000 lds r26,(Mess_IntegralRoll2)+2 |
| 6799 398c B091 0000 lds r27,(Mess_IntegralRoll2)+3 |
| 6800 3990 8E19 sub r24,r14 |
| 6801 3992 9F09 sbc r25,r15 |
| 6802 3994 A00B sbc r26,r16 |
| 6803 3996 B10B sbc r27,r17 |
| 6804 3998 8093 0000 sts Mess_IntegralRoll2,r24 |
| 6805 399c 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
| 6806 39a0 A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
| 6807 39a4 B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
| 6808 39a8 8889 ldd r24,Y+16 |
| 6809 39aa 8823 tst r24 |
| 6810 39ac 01F0 breq .L551 |
| 6811 39ae 2091 0000 lds r18,GierGyroFehler |
| 6812 39b2 3091 0000 lds r19,(GierGyroFehler)+1 |
| 6813 39b6 2138 cpi r18,129 |
| 6814 39b8 3105 cpc r19,__zero_reg__ |
| 6815 39ba 04F0 brlt .L552 |
| 6816 39bc 8091 0000 lds r24,AdNeutralGier |
| 6817 39c0 9091 0000 lds r25,(AdNeutralGier)+1 |
| 6818 39c4 0196 adiw r24,1 |
| 6819 39c6 9093 0000 sts (AdNeutralGier)+1,r25 |
| 6820 39ca 8093 0000 sts AdNeutralGier,r24 |
| 6821 .L552: |
| 6822 39ce 2058 subi r18,lo8(-128) |
| 6823 39d0 3F4F sbci r19,hi8(-128) |
| 6824 39d2 04F4 brge .L551 |
| 6825 39d4 8091 0000 lds r24,AdNeutralGier |
| 6826 39d8 9091 0000 lds r25,(AdNeutralGier)+1 |
| 6827 39dc 0197 sbiw r24,1 |
| 6828 39de 9093 0000 sts (AdNeutralGier)+1,r25 |
| 6829 39e2 8093 0000 sts AdNeutralGier,r24 |
| 6830 .L551: |
| 6831 39e6 1092 0000 sts (GierGyroFehler)+1,__zero_reg__ |
| 6832 39ea 1092 0000 sts GierGyroFehler,__zero_reg__ |
| 6833 39ee 81E0 ldi r24,lo8(1) |
| 6834 39f0 90E0 ldi r25,hi8(1) |
| 6835 39f2 9093 0000 sts (cnt.14)+1,r25 |
| 6836 39f6 8093 0000 sts cnt.14,r24 |
| 6837 39fa E090 0000 lds r14,IntegralFehlerNick.3 |
| 6838 39fe F090 0000 lds r15,(IntegralFehlerNick.3)+1 |
| 6839 3a02 0091 0000 lds r16,(IntegralFehlerNick.3)+2 |
| 6840 3a06 1091 0000 lds r17,(IntegralFehlerNick.3)+3 |
| 6841 3a0a D801 movw r26,r16 |
| 6842 3a0c C701 movw r24,r14 |
| 6843 3a0e 17FF sbrs r17,7 |
| 6844 3a10 00C0 rjmp .L555 |
| 6845 3a12 8827 clr r24 |
| 6846 3a14 9927 clr r25 |
| 6847 3a16 DC01 movw r26,r24 |
| 6848 3a18 8E19 sub r24,r14 |
| 6849 3a1a 9F09 sbc r25,r15 |
| 6850 3a1c A00B sbc r26,r16 |
| 6851 3a1e B10B sbc r27,r17 |
| 6852 .L555: |
| 6853 3a20 8150 subi r24,lo8(513) |
| 6854 3a22 9240 sbci r25,hi8(513) |
| 6855 3a24 A040 sbci r26,hlo8(513) |
| 6856 3a26 B040 sbci r27,hhi8(513) |
| 6857 3a28 04F0 brlt .L554 |
| 6858 3a2a 84E0 ldi r24,lo8(4) |
| 6859 3a2c 90E0 ldi r25,hi8(4) |
| 6860 3a2e 9093 0000 sts (cnt.14)+1,r25 |
| 6861 3a32 8093 0000 sts cnt.14,r24 |
| 6862 .L554: |
| 6863 3a36 8091 0000 lds r24,MittelIntegralNick_Alt.19 |
| 6864 3a3a 9091 0000 lds r25,(MittelIntegralNick_Alt.19)+1 |
| 6865 3a3e A091 0000 lds r26,(MittelIntegralNick_Alt.19)+2 |
| 6866 3a42 B091 0000 lds r27,(MittelIntegralNick_Alt.19)+3 |
| 6867 3a46 2091 0000 lds r18,MittelIntegralNick |
| 6868 3a4a 3091 0000 lds r19,(MittelIntegralNick)+1 |
| 6869 3a4e 4091 0000 lds r20,(MittelIntegralNick)+2 |
| 6870 3a52 5091 0000 lds r21,(MittelIntegralNick)+3 |
| 6871 3a56 821B sub r24,r18 |
| 6872 3a58 930B sbc r25,r19 |
| 6873 3a5a A40B sbc r26,r20 |
| 6874 3a5c B50B sbc r27,r21 |
| 6875 3a5e 815E subi r24,lo8(-(19999)) |
| 6876 3a60 914B sbci r25,hi8(-(19999)) |
| 6877 3a62 AF4F sbci r26,hlo8(-(19999)) |
| 6878 3a64 BF4F sbci r27,hhi8(-(19999)) |
| 6879 3a66 8F53 subi r24,lo8(39999) |
| 6880 3a68 9C49 sbci r25,hi8(39999) |
| 6881 3a6a A040 sbci r26,hlo8(39999) |
| 6882 3a6c B040 sbci r27,hhi8(39999) |
| 6883 3a6e 00F0 brlo .L557 |
| 6884 3a70 8091 0000 lds r24,FromNaviCtrl_Value+1 |
| 6885 3a74 8931 cpi r24,lo8(25) |
| 6886 3a76 04F4 brge .+2 |
| 6887 3a78 00C0 rjmp .L556 |
| 6888 .L557: |
| 6889 3a7a 21E0 ldi r18,lo8(4097) |
| 6890 3a7c E216 cp r14,r18 |
| 6891 3a7e 20E1 ldi r18,hi8(4097) |
| 6892 3a80 F206 cpc r15,r18 |
| 6893 3a82 20E0 ldi r18,hlo8(4097) |
| 6894 3a84 0207 cpc r16,r18 |
| 6895 3a86 20E0 ldi r18,hhi8(4097) |
| 6896 3a88 1207 cpc r17,r18 |
| 6897 3a8a 04F4 brge .+2 |
| 6898 3a8c 00C0 rjmp .L558 |
| 6899 3a8e 8091 0000 lds r24,last_n_p.15 |
| 6900 3a92 8823 tst r24 |
| 6901 3a94 01F4 brne .+2 |
| 6902 3a96 00C0 rjmp .L559 |
| 6903 3a98 D801 movw r26,r16 |
| 6904 3a9a C701 movw r24,r14 |
| 6905 3a9c 17FF sbrs r17,7 |
| 6906 3a9e 00C0 rjmp .L560 |
| 6907 3aa0 8827 clr r24 |
| 6908 3aa2 9927 clr r25 |
| 6909 3aa4 DC01 movw r26,r24 |
| 6910 3aa6 8E19 sub r24,r14 |
| 6911 3aa8 9F09 sbc r25,r15 |
| 6912 3aaa A00B sbc r26,r16 |
| 6913 3aac B10B sbc r27,r17 |
| 6914 .L560: |
| 6915 3aae 9C01 movw r18,r24 |
| 6916 3ab0 AD01 movw r20,r26 |
| 6917 3ab2 B7FF sbrs r27,7 |
| 6918 3ab4 00C0 rjmp .L561 |
| 6919 3ab6 2150 subi r18,lo8(-(511)) |
| 6920 3ab8 3E4F sbci r19,hi8(-(511)) |
| 6921 3aba 4F4F sbci r20,hlo8(-(511)) |
| 6922 3abc 5F4F sbci r21,hhi8(-(511)) |
| 6923 .L561: |
| 6924 3abe F9E0 ldi r31,9 |
| 6925 3ac0 5595 1: asr r21 |
| 6926 3ac2 4795 ror r20 |
| 6927 3ac4 3795 ror r19 |
| 6928 3ac6 2795 ror r18 |
| 6929 3ac8 FA95 dec r31 |
| 6930 3aca 01F4 brne 1b |
| 6931 3acc 8091 0000 lds r24,cnt.14 |
| 6932 3ad0 9091 0000 lds r25,(cnt.14)+1 |
| 6933 3ad4 820F add r24,r18 |
| 6934 3ad6 931F adc r25,r19 |
| 6935 3ad8 9093 0000 sts (cnt.14)+1,r25 |
| 6936 3adc 8093 0000 sts cnt.14,r24 |
| 6937 3ae0 D801 movw r26,r16 |
| 6938 3ae2 C701 movw r24,r14 |
| 6939 3ae4 17FF sbrs r17,7 |
| 6940 3ae6 00C0 rjmp .L562 |
| 6941 3ae8 0796 adiw r24,7 |
| 6942 3aea A11D adc r26,__zero_reg__ |
| 6943 3aec B11D adc r27,__zero_reg__ |
| 6944 .L562: |
| 6945 3aee E3E0 ldi r30,3 |
| 6946 3af0 B595 1: asr r27 |
| 6947 3af2 A795 ror r26 |
| 6948 3af4 9795 ror r25 |
| 6949 3af6 8795 ror r24 |
| 6950 3af8 EA95 dec r30 |
| 6951 3afa 01F4 brne 1b |
| 6952 3afc 8093 0000 sts ausgleichNick.10,r24 |
| 6953 3b00 9093 0000 sts (ausgleichNick.10)+1,r25 |
| 6954 3b04 A093 0000 sts (ausgleichNick.10)+2,r26 |
| 6955 3b08 B093 0000 sts (ausgleichNick.10)+3,r27 |
| 6956 3b0c 8958 subi r24,lo8(5001) |
| 6957 3b0e 9341 sbci r25,hi8(5001) |
| 6958 3b10 A040 sbci r26,hlo8(5001) |
| 6959 3b12 B040 sbci r27,hhi8(5001) |
| 6960 3b14 04F0 brlt .L563 |
| 6961 3b16 88E8 ldi r24,lo8(5000) |
| 6962 3b18 93E1 ldi r25,hi8(5000) |
| 6963 3b1a A0E0 ldi r26,hlo8(5000) |
| 6964 3b1c B0E0 ldi r27,hhi8(5000) |
| 6965 3b1e 8093 0000 sts ausgleichNick.10,r24 |
| 6966 3b22 9093 0000 sts (ausgleichNick.10)+1,r25 |
| 6967 3b26 A093 0000 sts (ausgleichNick.10)+2,r26 |
| 6968 3b2a B093 0000 sts (ausgleichNick.10)+3,r27 |
| 6969 .L563: |
| 6970 3b2e 2091 0000 lds r18,ausgleichNick.10 |
| 6971 3b32 3091 0000 lds r19,(ausgleichNick.10)+1 |
| 6972 3b36 4091 0000 lds r20,(ausgleichNick.10)+2 |
| 6973 3b3a 5091 0000 lds r21,(ausgleichNick.10)+3 |
| 6974 3b3e 57FF sbrs r21,7 |
| 6975 3b40 00C0 rjmp .L564 |
| 6976 3b42 2150 subi r18,lo8(-(255)) |
| 6977 3b44 3F4F sbci r19,hi8(-(255)) |
| 6978 3b46 4F4F sbci r20,hlo8(-(255)) |
| 6979 3b48 5F4F sbci r21,hhi8(-(255)) |
| 6980 .L564: |
| 6981 3b4a 232F mov r18,r19 |
| 6982 3b4c 342F mov r19,r20 |
| 6983 3b4e 452F mov r20,r21 |
| 6984 3b50 5527 clr r21 |
| 6985 3b52 47FD sbrc r20,7 |
| 6986 3b54 5A95 dec r21 |
| 6987 3b56 8091 0000 lds r24,LageKorrekturNick |
| 6988 3b5a 9091 0000 lds r25,(LageKorrekturNick)+1 |
| 6989 3b5e 820F add r24,r18 |
| 6990 3b60 931F adc r25,r19 |
| 6991 3b62 9093 0000 sts (LageKorrekturNick)+1,r25 |
| 6992 3b66 8093 0000 sts LageKorrekturNick,r24 |
| 6993 3b6a 00C0 rjmp .L566 |
| 6994 .L559: |
| 6995 3b6c 81E0 ldi r24,lo8(1) |
| 6996 3b6e 8093 0000 sts last_n_p.15,r24 |
| 6997 3b72 00C0 rjmp .L566 |
| 6998 .L558: |
| 6999 3b74 1092 0000 sts last_n_p.15,__zero_reg__ |
| 7000 .L566: |
| 7001 3b78 40E0 ldi r20,lo8(-4096) |
| 7002 3b7a E416 cp r14,r20 |
| 7003 3b7c 40EF ldi r20,hi8(-4096) |
| 7004 3b7e F406 cpc r15,r20 |
| 7005 3b80 4FEF ldi r20,hlo8(-4096) |
| 7006 3b82 0407 cpc r16,r20 |
| 7007 3b84 4FEF ldi r20,hhi8(-4096) |
| 7008 3b86 1407 cpc r17,r20 |
| 7009 3b88 04F0 brlt .+2 |
| 7010 3b8a 00C0 rjmp .L567 |
| 7011 3b8c 8091 0000 lds r24,last_n_n.16 |
| 7012 3b90 8823 tst r24 |
| 7013 3b92 01F4 brne .+2 |
| 7014 3b94 00C0 rjmp .L568 |
| 7015 3b96 D801 movw r26,r16 |
| 7016 3b98 C701 movw r24,r14 |
| 7017 3b9a 17FF sbrs r17,7 |
| 7018 3b9c 00C0 rjmp .L569 |
| 7019 3b9e 8827 clr r24 |
| 7020 3ba0 9927 clr r25 |
| 7021 3ba2 DC01 movw r26,r24 |
| 7022 3ba4 8E19 sub r24,r14 |
| 7023 3ba6 9F09 sbc r25,r15 |
| 7024 3ba8 A00B sbc r26,r16 |
| 7025 3baa B10B sbc r27,r17 |
| 7026 .L569: |
| 7027 3bac 9C01 movw r18,r24 |
| 7028 3bae AD01 movw r20,r26 |
| 7029 3bb0 B7FF sbrs r27,7 |
| 7030 3bb2 00C0 rjmp .L570 |
| 7031 3bb4 2150 subi r18,lo8(-(511)) |
| 7032 3bb6 3E4F sbci r19,hi8(-(511)) |
| 7033 3bb8 4F4F sbci r20,hlo8(-(511)) |
| 7034 3bba 5F4F sbci r21,hhi8(-(511)) |
| 7035 .L570: |
| 7036 3bbc 69E0 ldi r22,9 |
| 7037 3bbe 5595 1: asr r21 |
| 7038 3bc0 4795 ror r20 |
| 7039 3bc2 3795 ror r19 |
| 7040 3bc4 2795 ror r18 |
| 7041 3bc6 6A95 dec r22 |
| 7042 3bc8 01F4 brne 1b |
| 7043 3bca 8091 0000 lds r24,cnt.14 |
| 7044 3bce 9091 0000 lds r25,(cnt.14)+1 |
| 7045 3bd2 820F add r24,r18 |
| 7046 3bd4 931F adc r25,r19 |
| 7047 3bd6 9093 0000 sts (cnt.14)+1,r25 |
| 7048 3bda 8093 0000 sts cnt.14,r24 |
| 7049 3bde D801 movw r26,r16 |
| 7050 3be0 C701 movw r24,r14 |
| 7051 3be2 17FF sbrs r17,7 |
| 7052 3be4 00C0 rjmp .L571 |
| 7053 3be6 0796 adiw r24,7 |
| 7054 3be8 A11D adc r26,__zero_reg__ |
| 7055 3bea B11D adc r27,__zero_reg__ |
| 7056 .L571: |
| 7057 3bec 23E0 ldi r18,3 |
| 7058 3bee B595 1: asr r27 |
| 7059 3bf0 A795 ror r26 |
| 7060 3bf2 9795 ror r25 |
| 7061 3bf4 8795 ror r24 |
| 7062 3bf6 2A95 dec r18 |
| 7063 3bf8 01F4 brne 1b |
| 7064 3bfa 8093 0000 sts ausgleichNick.10,r24 |
| 7065 3bfe 9093 0000 sts (ausgleichNick.10)+1,r25 |
| 7066 3c02 A093 0000 sts (ausgleichNick.10)+2,r26 |
| 7067 3c06 B093 0000 sts (ausgleichNick.10)+3,r27 |
| 7068 3c0a 8857 subi r24,lo8(-5000) |
| 7069 3c0c 9C4E sbci r25,hi8(-5000) |
| 7070 3c0e AF4F sbci r26,hlo8(-5000) |
| 7071 3c10 BF4F sbci r27,hhi8(-5000) |
| 7072 3c12 04F4 brge .L572 |
| 7073 3c14 88E7 ldi r24,lo8(-5000) |
| 7074 3c16 9CEE ldi r25,hi8(-5000) |
| 7075 3c18 AFEF ldi r26,hlo8(-5000) |
| 7076 3c1a BFEF ldi r27,hhi8(-5000) |
| 7077 3c1c 8093 0000 sts ausgleichNick.10,r24 |
| 7078 3c20 9093 0000 sts (ausgleichNick.10)+1,r25 |
| 7079 3c24 A093 0000 sts (ausgleichNick.10)+2,r26 |
| 7080 3c28 B093 0000 sts (ausgleichNick.10)+3,r27 |
| 7081 .L572: |
| 7082 3c2c 2091 0000 lds r18,ausgleichNick.10 |
| 7083 3c30 3091 0000 lds r19,(ausgleichNick.10)+1 |
| 7084 3c34 4091 0000 lds r20,(ausgleichNick.10)+2 |
| 7085 3c38 5091 0000 lds r21,(ausgleichNick.10)+3 |
| 7086 3c3c 57FF sbrs r21,7 |
| 7087 3c3e 00C0 rjmp .L573 |
| 7088 3c40 2150 subi r18,lo8(-(255)) |
| 7089 3c42 3F4F sbci r19,hi8(-(255)) |
| 7090 3c44 4F4F sbci r20,hlo8(-(255)) |
| 7091 3c46 5F4F sbci r21,hhi8(-(255)) |
| 7092 .L573: |
| 7093 3c48 232F mov r18,r19 |
| 7094 3c4a 342F mov r19,r20 |
| 7095 3c4c 452F mov r20,r21 |
| 7096 3c4e 5527 clr r21 |
| 7097 3c50 47FD sbrc r20,7 |
| 7098 3c52 5A95 dec r21 |
| 7099 3c54 8091 0000 lds r24,LageKorrekturNick |
| 7100 3c58 9091 0000 lds r25,(LageKorrekturNick)+1 |
| 7101 3c5c 820F add r24,r18 |
| 7102 3c5e 931F adc r25,r19 |
| 7103 3c60 9093 0000 sts (LageKorrekturNick)+1,r25 |
| 7104 3c64 8093 0000 sts LageKorrekturNick,r24 |
| 7105 3c68 00C0 rjmp .L576 |
| 7106 .L568: |
| 7107 3c6a 81E0 ldi r24,lo8(1) |
| 7108 3c6c 8093 0000 sts last_n_n.16,r24 |
| 7109 3c70 00C0 rjmp .L576 |
| 7110 .L567: |
| 7111 3c72 1092 0000 sts last_n_n.16,__zero_reg__ |
| 7112 3c76 00C0 rjmp .L576 |
| 7113 .L556: |
| 7114 3c78 1092 0000 sts (cnt.14)+1,__zero_reg__ |
| 7115 3c7c 1092 0000 sts cnt.14,__zero_reg__ |
| 7116 3c80 84E6 ldi r24,lo8(100) |
| 7117 3c82 90E0 ldi r25,hi8(100) |
| 7118 3c84 9093 0000 sts (KompassSignalSchlecht)+1,r25 |
| 7119 3c88 8093 0000 sts KompassSignalSchlecht,r24 |
| 7120 .L576: |
| 7121 3c8c 6889 ldd r22,Y+16 |
| 7122 3c8e 262F mov r18,r22 |
| 7123 3c90 3327 clr r19 |
| 7124 3c92 8091 0000 lds r24,cnt.14 |
| 7125 3c96 9091 0000 lds r25,(cnt.14)+1 |
| 7126 3c9a 2817 cp r18,r24 |
| 7127 3c9c 3907 cpc r19,r25 |
| 7128 3c9e 04F4 brge .L577 |
| 7129 3ca0 3093 0000 sts (cnt.14)+1,r19 |
| 7130 3ca4 2093 0000 sts cnt.14,r18 |
| 7131 .L577: |
| 7132 3ca8 1091 0000 lds r17,FromNaviCtrl_Value+1 |
| 7133 3cac 1123 tst r17 |
| 7134 3cae 01F0 breq .L578 |
| 7135 3cb0 212F mov r18,r17 |
| 7136 3cb2 3327 clr r19 |
| 7137 3cb4 27FD sbrc r18,7 |
| 7138 3cb6 3095 com r19 |
| 7139 3cb8 8091 0000 lds r24,cnt.14 |
| 7140 3cbc 9091 0000 lds r25,(cnt.14)+1 |
| 7141 3cc0 2817 cp r18,r24 |
| 7142 3cc2 3907 cpc r19,r25 |
| 7143 3cc4 04F4 brge .L578 |
| 7144 3cc6 3093 0000 sts (cnt.14)+1,r19 |
| 7145 3cca 2093 0000 sts cnt.14,r18 |
| 7146 .L578: |
| 7147 3cce 4091 0000 lds r20,IntegralFehlerNick.3 |
| 7148 3cd2 5091 0000 lds r21,(IntegralFehlerNick.3)+1 |
| 7149 3cd6 6091 0000 lds r22,(IntegralFehlerNick.3)+2 |
| 7150 3cda 7091 0000 lds r23,(IntegralFehlerNick.3)+3 |
| 7151 3cde 4138 cpi r20,lo8(129) |
| 7152 3ce0 5105 cpc r21,__zero_reg__ |
| 7153 3ce2 6105 cpc r22,__zero_reg__ |
| 7154 3ce4 7105 cpc r23,__zero_reg__ |
| 7155 3ce6 04F0 brlt .L580 |
| 7156 3ce8 8091 0000 lds r24,AdNeutralNick |
| 7157 3cec 9091 0000 lds r25,(AdNeutralNick)+1 |
| 7158 3cf0 2091 0000 lds r18,cnt.14 |
| 7159 3cf4 3091 0000 lds r19,(cnt.14)+1 |
| 7160 3cf8 820F add r24,r18 |
| 7161 3cfa 931F adc r25,r19 |
| 7162 3cfc 9093 0000 sts (AdNeutralNick)+1,r25 |
| 7163 3d00 8093 0000 sts AdNeutralNick,r24 |
| 7164 .L580: |
| 7165 3d04 4058 subi r20,lo8(-128) |
| 7166 3d06 5F4F sbci r21,hi8(-128) |
| 7167 3d08 6F4F sbci r22,hlo8(-128) |
| 7168 3d0a 7F4F sbci r23,hhi8(-128) |
| 7169 3d0c 04F4 brge .L581 |
| 7170 3d0e 8091 0000 lds r24,AdNeutralNick |
| 7171 3d12 9091 0000 lds r25,(AdNeutralNick)+1 |
| 7172 3d16 2091 0000 lds r18,cnt.14 |
| 7173 3d1a 3091 0000 lds r19,(cnt.14)+1 |
| 7174 3d1e 821B sub r24,r18 |
| 7175 3d20 930B sbc r25,r19 |
| 7176 3d22 9093 0000 sts (AdNeutralNick)+1,r25 |
| 7177 3d26 8093 0000 sts AdNeutralNick,r24 |
| 7178 .L581: |
| 7179 3d2a 81E0 ldi r24,lo8(1) |
| 7180 3d2c 90E0 ldi r25,hi8(1) |
| 7181 3d2e 9093 0000 sts (cnt.14)+1,r25 |
| 7182 3d32 8093 0000 sts cnt.14,r24 |
| 7183 3d36 C090 0000 lds r12,IntegralFehlerRoll.4 |
| 7184 3d3a D090 0000 lds r13,(IntegralFehlerRoll.4)+1 |
| 7185 3d3e E090 0000 lds r14,(IntegralFehlerRoll.4)+2 |
| 7186 3d42 F090 0000 lds r15,(IntegralFehlerRoll.4)+3 |
| 7187 3d46 D701 movw r26,r14 |
| 7188 3d48 C601 movw r24,r12 |
| 7189 3d4a F7FE sbrs r15,7 |
| 7190 3d4c 00C0 rjmp .L583 |
| 7191 3d4e 8827 clr r24 |
| 7192 3d50 9927 clr r25 |
| 7193 3d52 DC01 movw r26,r24 |
| 7194 3d54 8C19 sub r24,r12 |
| 7195 3d56 9D09 sbc r25,r13 |
| 7196 3d58 AE09 sbc r26,r14 |
| 7197 3d5a BF09 sbc r27,r15 |
| 7198 .L583: |
| 7199 3d5c 8150 subi r24,lo8(513) |
| 7200 3d5e 9240 sbci r25,hi8(513) |
| 7201 3d60 A040 sbci r26,hlo8(513) |
| 7202 3d62 B040 sbci r27,hhi8(513) |
| 7203 3d64 04F0 brlt .L582 |
| 7204 3d66 84E0 ldi r24,lo8(4) |
| 7205 3d68 90E0 ldi r25,hi8(4) |
| 7206 3d6a 9093 0000 sts (cnt.14)+1,r25 |
| 7207 3d6e 8093 0000 sts cnt.14,r24 |
| 7208 .L582: |
| 7209 3d72 8091 0000 lds r24,MittelIntegralRoll_Alt.20 |
| 7210 3d76 9091 0000 lds r25,(MittelIntegralRoll_Alt.20)+1 |
| 7211 3d7a A091 0000 lds r26,(MittelIntegralRoll_Alt.20)+2 |
| 7212 3d7e B091 0000 lds r27,(MittelIntegralRoll_Alt.20)+3 |
| 7213 3d82 2091 0000 lds r18,MittelIntegralRoll |
| 7214 3d86 3091 0000 lds r19,(MittelIntegralRoll)+1 |
| 7215 3d8a 4091 0000 lds r20,(MittelIntegralRoll)+2 |
| 7216 3d8e 5091 0000 lds r21,(MittelIntegralRoll)+3 |
| 7217 3d92 821B sub r24,r18 |
| 7218 3d94 930B sbc r25,r19 |
| 7219 3d96 A40B sbc r26,r20 |
| 7220 3d98 B50B sbc r27,r21 |
| 7221 3d9a 815E subi r24,lo8(-(19999)) |
| 7222 3d9c 914B sbci r25,hi8(-(19999)) |
| 7223 3d9e AF4F sbci r26,hlo8(-(19999)) |
| 7224 3da0 BF4F sbci r27,hhi8(-(19999)) |
| 7225 3da2 8F53 subi r24,lo8(39999) |
| 7226 3da4 9C49 sbci r25,hi8(39999) |
| 7227 3da6 A040 sbci r26,hlo8(39999) |
| 7228 3da8 B040 sbci r27,hhi8(39999) |
| 7229 3daa 00F0 brlo .L585 |
| 7230 3dac 1931 cpi r17,lo8(25) |
| 7231 3dae 04F4 brge .+2 |
| 7232 3db0 00C0 rjmp .L584 |
| 7233 .L585: |
| 7234 3db2 01E0 ldi r16,lo8(4097) |
| 7235 3db4 C016 cp r12,r16 |
| 7236 3db6 00E1 ldi r16,hi8(4097) |
| 7237 3db8 D006 cpc r13,r16 |
| 7238 3dba 00E0 ldi r16,hlo8(4097) |
| 7239 3dbc E006 cpc r14,r16 |
| 7240 3dbe 00E0 ldi r16,hhi8(4097) |
| 7241 3dc0 F006 cpc r15,r16 |
| 7242 3dc2 04F4 brge .+2 |
| 7243 3dc4 00C0 rjmp .L586 |
| 7244 3dc6 8091 0000 lds r24,last_r_p.17 |
| 7245 3dca 8823 tst r24 |
| 7246 3dcc 01F4 brne .+2 |
| 7247 3dce 00C0 rjmp .L587 |
| 7248 3dd0 D701 movw r26,r14 |
| 7249 3dd2 C601 movw r24,r12 |
| 7250 3dd4 F7FE sbrs r15,7 |
| 7251 3dd6 00C0 rjmp .L588 |
| 7252 3dd8 8827 clr r24 |
| 7253 3dda 9927 clr r25 |
| 7254 3ddc DC01 movw r26,r24 |
| 7255 3dde 8C19 sub r24,r12 |
| 7256 3de0 9D09 sbc r25,r13 |
| 7257 3de2 AE09 sbc r26,r14 |
| 7258 3de4 BF09 sbc r27,r15 |
| 7259 .L588: |
| 7260 3de6 9C01 movw r18,r24 |
| 7261 3de8 AD01 movw r20,r26 |
| 7262 3dea B7FF sbrs r27,7 |
| 7263 3dec 00C0 rjmp .L589 |
| 7264 3dee 2150 subi r18,lo8(-(511)) |
| 7265 3df0 3E4F sbci r19,hi8(-(511)) |
| 7266 3df2 4F4F sbci r20,hlo8(-(511)) |
| 7267 3df4 5F4F sbci r21,hhi8(-(511)) |
| 7268 .L589: |
| 7269 3df6 09E0 ldi r16,9 |
| 7270 3df8 5595 1: asr r21 |
| 7271 3dfa 4795 ror r20 |
| 7272 3dfc 3795 ror r19 |
| 7273 3dfe 2795 ror r18 |
| 7274 3e00 0A95 dec r16 |
| 7275 3e02 01F4 brne 1b |
| 7276 3e04 8091 0000 lds r24,cnt.14 |
| 7277 3e08 9091 0000 lds r25,(cnt.14)+1 |
| 7278 3e0c 820F add r24,r18 |
| 7279 3e0e 931F adc r25,r19 |
| 7280 3e10 9093 0000 sts (cnt.14)+1,r25 |
| 7281 3e14 8093 0000 sts cnt.14,r24 |
| 7282 3e18 D701 movw r26,r14 |
| 7283 3e1a C601 movw r24,r12 |
| 7284 3e1c F7FE sbrs r15,7 |
| 7285 3e1e 00C0 rjmp .L590 |
| 7286 3e20 0796 adiw r24,7 |
| 7287 3e22 A11D adc r26,__zero_reg__ |
| 7288 3e24 B11D adc r27,__zero_reg__ |
| 7289 .L590: |
| 7290 3e26 13E0 ldi r17,3 |
| 7291 3e28 B595 1: asr r27 |
| 7292 3e2a A795 ror r26 |
| 7293 3e2c 9795 ror r25 |
| 7294 3e2e 8795 ror r24 |
| 7295 3e30 1A95 dec r17 |
| 7296 3e32 01F4 brne 1b |
| 7297 3e34 8093 0000 sts ausgleichRoll.11,r24 |
| 7298 3e38 9093 0000 sts (ausgleichRoll.11)+1,r25 |
| 7299 3e3c A093 0000 sts (ausgleichRoll.11)+2,r26 |
| 7300 3e40 B093 0000 sts (ausgleichRoll.11)+3,r27 |
| 7301 3e44 8958 subi r24,lo8(5001) |
| 7302 3e46 9341 sbci r25,hi8(5001) |
| 7303 3e48 A040 sbci r26,hlo8(5001) |
| 7304 3e4a B040 sbci r27,hhi8(5001) |
| 7305 3e4c 04F0 brlt .L591 |
| 7306 3e4e 88E8 ldi r24,lo8(5000) |
| 7307 3e50 93E1 ldi r25,hi8(5000) |
| 7308 3e52 A0E0 ldi r26,hlo8(5000) |
| 7309 3e54 B0E0 ldi r27,hhi8(5000) |
| 7310 3e56 8093 0000 sts ausgleichRoll.11,r24 |
| 7311 3e5a 9093 0000 sts (ausgleichRoll.11)+1,r25 |
| 7312 3e5e A093 0000 sts (ausgleichRoll.11)+2,r26 |
| 7313 3e62 B093 0000 sts (ausgleichRoll.11)+3,r27 |
| 7314 .L591: |
| 7315 3e66 2091 0000 lds r18,ausgleichRoll.11 |
| 7316 3e6a 3091 0000 lds r19,(ausgleichRoll.11)+1 |
| 7317 3e6e 4091 0000 lds r20,(ausgleichRoll.11)+2 |
| 7318 3e72 5091 0000 lds r21,(ausgleichRoll.11)+3 |
| 7319 3e76 57FF sbrs r21,7 |
| 7320 3e78 00C0 rjmp .L592 |
| 7321 3e7a 2150 subi r18,lo8(-(255)) |
| 7322 3e7c 3F4F sbci r19,hi8(-(255)) |
| 7323 3e7e 4F4F sbci r20,hlo8(-(255)) |
| 7324 3e80 5F4F sbci r21,hhi8(-(255)) |
| 7325 .L592: |
| 7326 3e82 232F mov r18,r19 |
| 7327 3e84 342F mov r19,r20 |
| 7328 3e86 452F mov r20,r21 |
| 7329 3e88 5527 clr r21 |
| 7330 3e8a 47FD sbrc r20,7 |
| 7331 3e8c 5A95 dec r21 |
| 7332 3e8e 8091 0000 lds r24,LageKorrekturRoll |
| 7333 3e92 9091 0000 lds r25,(LageKorrekturRoll)+1 |
| 7334 3e96 820F add r24,r18 |
| 7335 3e98 931F adc r25,r19 |
| 7336 3e9a 9093 0000 sts (LageKorrekturRoll)+1,r25 |
| 7337 3e9e 8093 0000 sts LageKorrekturRoll,r24 |
| 7338 3ea2 00C0 rjmp .L594 |
| 7339 .L587: |
| 7340 3ea4 81E0 ldi r24,lo8(1) |
| 7341 3ea6 8093 0000 sts last_r_p.17,r24 |
| 7342 3eaa 00C0 rjmp .L594 |
| 7343 .L586: |
| 7344 3eac 1092 0000 sts last_r_p.17,__zero_reg__ |
| 7345 .L594: |
| 7346 3eb0 20E0 ldi r18,lo8(-4096) |
| 7347 3eb2 C216 cp r12,r18 |
| 7348 3eb4 20EF ldi r18,hi8(-4096) |
| 7349 3eb6 D206 cpc r13,r18 |
| 7350 3eb8 2FEF ldi r18,hlo8(-4096) |
| 7351 3eba E206 cpc r14,r18 |
| 7352 3ebc 2FEF ldi r18,hhi8(-4096) |
| 7353 3ebe F206 cpc r15,r18 |
| 7354 3ec0 04F0 brlt .+2 |
| 7355 3ec2 00C0 rjmp .L595 |
| 7356 3ec4 8091 0000 lds r24,last_r_n.18 |
| 7357 3ec8 8823 tst r24 |
| 7358 3eca 01F4 brne .+2 |
| 7359 3ecc 00C0 rjmp .L596 |
| 7360 3ece D701 movw r26,r14 |
| 7361 3ed0 C601 movw r24,r12 |
| 7362 3ed2 F7FE sbrs r15,7 |
| 7363 3ed4 00C0 rjmp .L597 |
| 7364 3ed6 8827 clr r24 |
| 7365 3ed8 9927 clr r25 |
| 7366 3eda DC01 movw r26,r24 |
| 7367 3edc 8C19 sub r24,r12 |
| 7368 3ede 9D09 sbc r25,r13 |
| 7369 3ee0 AE09 sbc r26,r14 |
| 7370 3ee2 BF09 sbc r27,r15 |
| 7371 .L597: |
| 7372 3ee4 9C01 movw r18,r24 |
| 7373 3ee6 AD01 movw r20,r26 |
| 7374 3ee8 B7FF sbrs r27,7 |
| 7375 3eea 00C0 rjmp .L598 |
| 7376 3eec 2150 subi r18,lo8(-(511)) |
| 7377 3eee 3E4F sbci r19,hi8(-(511)) |
| 7378 3ef0 4F4F sbci r20,hlo8(-(511)) |
| 7379 3ef2 5F4F sbci r21,hhi8(-(511)) |
| 7380 .L598: |
| 7381 3ef4 E9E0 ldi r30,9 |
| 7382 3ef6 5595 1: asr r21 |
| 7383 3ef8 4795 ror r20 |
| 7384 3efa 3795 ror r19 |
| 7385 3efc 2795 ror r18 |
| 7386 3efe EA95 dec r30 |
| 7387 3f00 01F4 brne 1b |
| 7388 3f02 8091 0000 lds r24,cnt.14 |
| 7389 3f06 9091 0000 lds r25,(cnt.14)+1 |
| 7390 3f0a 820F add r24,r18 |
| 7391 3f0c 931F adc r25,r19 |
| 7392 3f0e 9093 0000 sts (cnt.14)+1,r25 |
| 7393 3f12 8093 0000 sts cnt.14,r24 |
| 7394 3f16 D701 movw r26,r14 |
| 7395 3f18 C601 movw r24,r12 |
| 7396 3f1a F7FE sbrs r15,7 |
| 7397 3f1c 00C0 rjmp .L599 |
| 7398 3f1e 0796 adiw r24,7 |
| 7399 3f20 A11D adc r26,__zero_reg__ |
| 7400 3f22 B11D adc r27,__zero_reg__ |
| 7401 .L599: |
| 7402 3f24 73E0 ldi r23,3 |
| 7403 3f26 B595 1: asr r27 |
| 7404 3f28 A795 ror r26 |
| 7405 3f2a 9795 ror r25 |
| 7406 3f2c 8795 ror r24 |
| 7407 3f2e 7A95 dec r23 |
| 7408 3f30 01F4 brne 1b |
| 7409 3f32 8093 0000 sts ausgleichRoll.11,r24 |
| 7410 3f36 9093 0000 sts (ausgleichRoll.11)+1,r25 |
| 7411 3f3a A093 0000 sts (ausgleichRoll.11)+2,r26 |
| 7412 3f3e B093 0000 sts (ausgleichRoll.11)+3,r27 |
| 7413 3f42 8857 subi r24,lo8(-5000) |
| 7414 3f44 9C4E sbci r25,hi8(-5000) |
| 7415 3f46 AF4F sbci r26,hlo8(-5000) |
| 7416 3f48 BF4F sbci r27,hhi8(-5000) |
| 7417 3f4a 04F4 brge .L600 |
| 7418 3f4c 88E7 ldi r24,lo8(-5000) |
| 7419 3f4e 9CEE ldi r25,hi8(-5000) |
| 7420 3f50 AFEF ldi r26,hlo8(-5000) |
| 7421 3f52 BFEF ldi r27,hhi8(-5000) |
| 7422 3f54 8093 0000 sts ausgleichRoll.11,r24 |
| 7423 3f58 9093 0000 sts (ausgleichRoll.11)+1,r25 |
| 7424 3f5c A093 0000 sts (ausgleichRoll.11)+2,r26 |
| 7425 3f60 B093 0000 sts (ausgleichRoll.11)+3,r27 |
| 7426 .L600: |
| 7427 3f64 2091 0000 lds r18,ausgleichRoll.11 |
| 7428 3f68 3091 0000 lds r19,(ausgleichRoll.11)+1 |
| 7429 3f6c 4091 0000 lds r20,(ausgleichRoll.11)+2 |
| 7430 3f70 5091 0000 lds r21,(ausgleichRoll.11)+3 |
| 7431 3f74 57FF sbrs r21,7 |
| 7432 3f76 00C0 rjmp .L601 |
| 7433 3f78 2150 subi r18,lo8(-(255)) |
| 7434 3f7a 3F4F sbci r19,hi8(-(255)) |
| 7435 3f7c 4F4F sbci r20,hlo8(-(255)) |
| 7436 3f7e 5F4F sbci r21,hhi8(-(255)) |
| 7437 .L601: |
| 7438 3f80 232F mov r18,r19 |
| 7439 3f82 342F mov r19,r20 |
| 7440 3f84 452F mov r20,r21 |
| 7441 3f86 5527 clr r21 |
| 7442 3f88 47FD sbrc r20,7 |
| 7443 3f8a 5A95 dec r21 |
| 7444 3f8c 8091 0000 lds r24,LageKorrekturRoll |
| 7445 3f90 9091 0000 lds r25,(LageKorrekturRoll)+1 |
| 7446 3f94 820F add r24,r18 |
| 7447 3f96 931F adc r25,r19 |
| 7448 3f98 9093 0000 sts (LageKorrekturRoll)+1,r25 |
| 7449 3f9c 8093 0000 sts LageKorrekturRoll,r24 |
| 7450 3fa0 00C0 rjmp .L604 |
| 7451 .L596: |
| 7452 3fa2 81E0 ldi r24,lo8(1) |
| 7453 3fa4 8093 0000 sts last_r_n.18,r24 |
| 7454 3fa8 00C0 rjmp .L604 |
| 7455 .L595: |
| 7456 3faa 1092 0000 sts last_r_n.18,__zero_reg__ |
| 7457 3fae 00C0 rjmp .L604 |
| 7458 .L584: |
| 7459 3fb0 1092 0000 sts (cnt.14)+1,__zero_reg__ |
| 7460 3fb4 1092 0000 sts cnt.14,__zero_reg__ |
| 7461 3fb8 84E6 ldi r24,lo8(100) |
| 7462 3fba 90E0 ldi r25,hi8(100) |
| 7463 3fbc 9093 0000 sts (KompassSignalSchlecht)+1,r25 |
| 7464 3fc0 8093 0000 sts KompassSignalSchlecht,r24 |
| 7465 .L604: |
| 7466 3fc4 4889 ldd r20,Y+16 |
| 7467 3fc6 242F mov r18,r20 |
| 7468 3fc8 3327 clr r19 |
| 7469 3fca 8091 0000 lds r24,cnt.14 |
| 7470 3fce 9091 0000 lds r25,(cnt.14)+1 |
| 7471 3fd2 2817 cp r18,r24 |
| 7472 3fd4 3907 cpc r19,r25 |
| 7473 3fd6 04F4 brge .L605 |
| 7474 3fd8 3093 0000 sts (cnt.14)+1,r19 |
| 7475 3fdc 2093 0000 sts cnt.14,r18 |
| 7476 .L605: |
| 7477 3fe0 8091 0000 lds r24,FromNaviCtrl_Value+1 |
| 7478 3fe4 8823 tst r24 |
| 7479 3fe6 01F0 breq .L606 |
| 7480 3fe8 282F mov r18,r24 |
| 7481 3fea 3327 clr r19 |
| 7482 3fec 27FD sbrc r18,7 |
| 7483 3fee 3095 com r19 |
| 7484 3ff0 8091 0000 lds r24,cnt.14 |
| 7485 3ff4 9091 0000 lds r25,(cnt.14)+1 |
| 7486 3ff8 2817 cp r18,r24 |
| 7487 3ffa 3907 cpc r19,r25 |
| 7488 3ffc 04F4 brge .L606 |
| 7489 3ffe 3093 0000 sts (cnt.14)+1,r19 |
| 7490 4002 2093 0000 sts cnt.14,r18 |
| 7491 .L606: |
| 7492 4006 4091 0000 lds r20,IntegralFehlerRoll.4 |
| 7493 400a 5091 0000 lds r21,(IntegralFehlerRoll.4)+1 |
| 7494 400e 6091 0000 lds r22,(IntegralFehlerRoll.4)+2 |
| 7495 4012 7091 0000 lds r23,(IntegralFehlerRoll.4)+3 |
| 7496 4016 4138 cpi r20,lo8(129) |
| 7497 4018 5105 cpc r21,__zero_reg__ |
| 7498 401a 6105 cpc r22,__zero_reg__ |
| 7499 401c 7105 cpc r23,__zero_reg__ |
| 7500 401e 04F0 brlt .L608 |
| 7501 4020 8091 0000 lds r24,AdNeutralRoll |
| 7502 4024 9091 0000 lds r25,(AdNeutralRoll)+1 |
| 7503 4028 2091 0000 lds r18,cnt.14 |
| 7504 402c 3091 0000 lds r19,(cnt.14)+1 |
| 7505 4030 820F add r24,r18 |
| 7506 4032 931F adc r25,r19 |
| 7507 4034 9093 0000 sts (AdNeutralRoll)+1,r25 |
| 7508 4038 8093 0000 sts AdNeutralRoll,r24 |
| 7509 .L608: |
| 7510 403c 4058 subi r20,lo8(-128) |
| 7511 403e 5F4F sbci r21,hi8(-128) |
| 7512 4040 6F4F sbci r22,hlo8(-128) |
| 7513 4042 7F4F sbci r23,hhi8(-128) |
| 7514 4044 04F4 brge .L610 |
| 7515 4046 8091 0000 lds r24,AdNeutralRoll |
| 7516 404a 9091 0000 lds r25,(AdNeutralRoll)+1 |
| 7517 404e 2091 0000 lds r18,cnt.14 |
| 7518 4052 3091 0000 lds r19,(cnt.14)+1 |
| 7519 4056 821B sub r24,r18 |
| 7520 4058 930B sbc r25,r19 |
| 7521 405a 9093 0000 sts (AdNeutralRoll)+1,r25 |
| 7522 405e 8093 0000 sts AdNeutralRoll,r24 |
| 7523 4062 00C0 rjmp .L610 |
| 7524 .L536: |
| 7525 4064 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__ |
| 7526 4068 1092 0000 sts LageKorrekturRoll,__zero_reg__ |
| 7527 406c 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__ |
| 7528 4070 1092 0000 sts LageKorrekturNick,__zero_reg__ |
| 7529 4074 1092 0000 sts TrichterFlug,__zero_reg__ |
| 7530 .L610: |
| 7531 4078 8091 0000 lds r24,IntegralFaktor |
| 7532 407c 8823 tst r24 |
| 7533 407e 01F4 brne .L611 |
| 7534 4080 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__ |
| 7535 4084 1092 0000 sts LageKorrekturRoll,__zero_reg__ |
| 7536 4088 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__ |
| 7537 408c 1092 0000 sts LageKorrekturNick,__zero_reg__ |
| 7538 .L611: |
| 7539 4090 8091 0000 lds r24,MittelIntegralNick |
| 7540 4094 9091 0000 lds r25,(MittelIntegralNick)+1 |
| 7541 4098 A091 0000 lds r26,(MittelIntegralNick)+2 |
| 7542 409c B091 0000 lds r27,(MittelIntegralNick)+3 |
| 7543 40a0 8093 0000 sts MittelIntegralNick_Alt.19,r24 |
| 7544 40a4 9093 0000 sts (MittelIntegralNick_Alt.19)+1,r25 |
| 7545 40a8 A093 0000 sts (MittelIntegralNick_Alt.19)+2,r26 |
| 7546 40ac B093 0000 sts (MittelIntegralNick_Alt.19)+3,r27 |
| 7547 40b0 8091 0000 lds r24,MittelIntegralRoll |
| 7548 40b4 9091 0000 lds r25,(MittelIntegralRoll)+1 |
| 7549 40b8 A091 0000 lds r26,(MittelIntegralRoll)+2 |
| 7550 40bc B091 0000 lds r27,(MittelIntegralRoll)+3 |
| 7551 40c0 8093 0000 sts MittelIntegralRoll_Alt.20,r24 |
| 7552 40c4 9093 0000 sts (MittelIntegralRoll_Alt.20)+1,r25 |
| 7553 40c8 A093 0000 sts (MittelIntegralRoll_Alt.20)+2,r26 |
| 7554 40cc B093 0000 sts (MittelIntegralRoll_Alt.20)+3,r27 |
| 7555 40d0 1092 0000 sts IntegralAccNick,__zero_reg__ |
| 7556 40d4 1092 0000 sts (IntegralAccNick)+1,__zero_reg__ |
| 7557 40d8 1092 0000 sts (IntegralAccNick)+2,__zero_reg__ |
| 7558 40dc 1092 0000 sts (IntegralAccNick)+3,__zero_reg__ |
| 7559 40e0 1092 0000 sts IntegralAccRoll,__zero_reg__ |
| 7560 40e4 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__ |
| 7561 40e8 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__ |
| 7562 40ec 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__ |
| 7563 40f0 1092 0000 sts IntegralAccZ,__zero_reg__ |
| 7564 40f4 1092 0000 sts (IntegralAccZ)+1,__zero_reg__ |
| 7565 40f8 1092 0000 sts (IntegralAccZ)+2,__zero_reg__ |
| 7566 40fc 1092 0000 sts (IntegralAccZ)+3,__zero_reg__ |
| 7567 4100 1092 0000 sts MittelIntegralNick,__zero_reg__ |
| 7568 4104 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__ |
| 7569 4108 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__ |
| 7570 410c 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__ |
| 7571 4110 1092 0000 sts MittelIntegralRoll,__zero_reg__ |
| 7572 4114 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__ |
| 7573 4118 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__ |
| 7574 411c 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__ |
| 7575 4120 1092 0000 sts MittelIntegralNick2,__zero_reg__ |
| 7576 4124 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__ |
| 7577 4128 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__ |
| 7578 412c 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__ |
| 7579 4130 1092 0000 sts MittelIntegralRoll2,__zero_reg__ |
| 7580 4134 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__ |
| 7581 4138 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__ |
| 7582 413c 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__ |
| 7583 4140 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__ |
| 7584 4144 1092 0000 sts ZaehlMessungen,__zero_reg__ |
| 7585 .L535: |
| 7586 4148 E090 0000 lds r14,StickGier |
| 7587 414c F090 0000 lds r15,(StickGier)+1 |
| 7588 4150 C701 movw r24,r14 |
| 7589 4152 F7FE sbrs r15,7 |
| 7590 4154 00C0 rjmp .L613 |
| 7591 4156 8827 clr r24 |
| 7592 4158 9927 clr r25 |
| 7593 415a 8E19 sub r24,r14 |
| 7594 415c 9F09 sbc r25,r15 |
| 7595 .L613: |
| 7596 415e 0497 sbiw r24,4 |
| 7597 4160 04F0 brlt .L612 |
| 7598 4162 8091 0000 lds r24,Parameter_GlobalConfig |
| 7599 4166 84FD sbrc r24,4 |
| 7600 4168 00C0 rjmp .L612 |
| 7601 416a 82E3 ldi r24,lo8(50) |
| 7602 416c 8093 0000 sts NeueKompassRichtungMerken,r24 |
| 7603 .L612: |
| 7604 4170 1091 0000 lds r17,EE_Parameter+25 |
| 7605 4174 A12E mov r10,r17 |
| 7606 4176 BB24 clr r11 |
| 7607 4178 CC24 clr r12 |
| 7608 417a DD24 clr r13 |
| 7609 417c B701 movw r22,r14 |
| 7610 417e 8827 clr r24 |
| 7611 4180 77FD sbrc r23,7 |
| 7612 4182 8095 com r24 |
| 7613 4184 982F mov r25,r24 |
| 7614 4186 9701 movw r18,r14 |
| 7615 4188 F7FE sbrs r15,7 |
| 7616 418a 00C0 rjmp .L615 |
| 7617 418c 2227 clr r18 |
| 7618 418e 3327 clr r19 |
| 7619 4190 2E19 sub r18,r14 |
| 7620 4192 3F09 sbc r19,r15 |
| 7621 .L615: |
| 7622 4194 4427 clr r20 |
| 7623 4196 37FD sbrc r19,7 |
| 7624 4198 4095 com r20 |
| 7625 419a 542F mov r21,r20 |
| 7626 419c 0E94 0000 call __mulsi3 |
| 7627 41a0 9B01 movw r18,r22 |
| 7628 41a2 AC01 movw r20,r24 |
| 7629 41a4 C601 movw r24,r12 |
| 7630 41a6 B501 movw r22,r10 |
| 7631 41a8 0E94 0000 call __mulsi3 |
| 7632 41ac 97FF sbrs r25,7 |
| 7633 41ae 00C0 rjmp .L616 |
| 7634 41b0 6150 subi r22,lo8(-(511)) |
| 7635 41b2 7E4F sbci r23,hi8(-(511)) |
| 7636 41b4 8F4F sbci r24,hlo8(-(511)) |
| 7637 41b6 9F4F sbci r25,hhi8(-(511)) |
| 7638 .L616: |
| 7639 41b8 59E0 ldi r21,9 |
| 7640 41ba 9595 1: asr r25 |
| 7641 41bc 8795 ror r24 |
| 7642 41be 7795 ror r23 |
| 7643 41c0 6795 ror r22 |
| 7644 41c2 5A95 dec r21 |
| 7645 41c4 01F4 brne 1b |
| 7646 41c6 9B01 movw r18,r22 |
| 7647 41c8 812F mov r24,r17 |
| 7648 41ca 9927 clr r25 |
| 7649 41cc 8E9D mul r24,r14 |
| 7650 41ce D001 movw r26,r0 |
| 7651 41d0 8F9D mul r24,r15 |
| 7652 41d2 B00D add r27,r0 |
| 7653 41d4 9E9D mul r25,r14 |
| 7654 41d6 B00D add r27,r0 |
| 7655 41d8 1124 clr r1 |
| 7656 41da CD01 movw r24,r26 |
| 7657 41dc B7FD sbrc r27,7 |
| 7658 41de 0396 adiw r24,3 |
| 7659 .L617: |
| 7660 41e0 9595 asr r25 |
| 7661 41e2 8795 ror r24 |
| 7662 41e4 9595 asr r25 |
| 7663 41e6 8795 ror r24 |
| 7664 41e8 280F add r18,r24 |
| 7665 41ea 391F adc r19,r25 |
| 7666 41ec 8091 0000 lds r24,CompassGierSetpoint |
| 7667 41f0 9091 0000 lds r25,(CompassGierSetpoint)+1 |
| 7668 41f4 280F add r18,r24 |
| 7669 41f6 391F adc r19,r25 |
| 7670 41f8 4427 clr r20 |
| 7671 41fa 37FD sbrc r19,7 |
| 7672 41fc 4095 com r20 |
| 7673 41fe 542F mov r21,r20 |
| 7674 4200 2093 0000 sts sollGier.0,r18 |
| 7675 4204 3093 0000 sts (sollGier.0)+1,r19 |
| 7676 4208 4093 0000 sts (sollGier.0)+2,r20 |
| 7677 420c 5093 0000 sts (sollGier.0)+3,r21 |
| 7678 4210 8091 0000 lds r24,Mess_Integral_Gier |
| 7679 4214 9091 0000 lds r25,(Mess_Integral_Gier)+1 |
| 7680 4218 A091 0000 lds r26,(Mess_Integral_Gier)+2 |
| 7681 421c B091 0000 lds r27,(Mess_Integral_Gier)+3 |
| 7682 4220 821B sub r24,r18 |
| 7683 4222 930B sbc r25,r19 |
| 7684 4224 A40B sbc r26,r20 |
| 7685 4226 B50B sbc r27,r21 |
| 7686 4228 8093 0000 sts Mess_Integral_Gier,r24 |
| 7687 422c 9093 0000 sts (Mess_Integral_Gier)+1,r25 |
| 7688 4230 A093 0000 sts (Mess_Integral_Gier)+2,r26 |
| 7689 4234 B093 0000 sts (Mess_Integral_Gier)+3,r27 |
| 7690 4238 8155 subi r24,lo8(50001) |
| 7691 423a 934C sbci r25,hi8(50001) |
| 7692 423c A040 sbci r26,hlo8(50001) |
| 7693 423e B040 sbci r27,hhi8(50001) |
| 7694 4240 04F0 brlt .L618 |
| 7695 4242 80E5 ldi r24,lo8(50000) |
| 7696 4244 93EC ldi r25,hi8(50000) |
| 7697 4246 A0E0 ldi r26,hlo8(50000) |
| 7698 4248 B0E0 ldi r27,hhi8(50000) |
| 7699 424a 8093 0000 sts Mess_Integral_Gier,r24 |
| 7700 424e 9093 0000 sts (Mess_Integral_Gier)+1,r25 |
| 7701 4252 A093 0000 sts (Mess_Integral_Gier)+2,r26 |
| 7702 4256 B093 0000 sts (Mess_Integral_Gier)+3,r27 |
| 7703 .L618: |
| 7704 425a 8091 0000 lds r24,Mess_Integral_Gier |
| 7705 425e 9091 0000 lds r25,(Mess_Integral_Gier)+1 |
| 7706 4262 A091 0000 lds r26,(Mess_Integral_Gier)+2 |
| 7707 4266 B091 0000 lds r27,(Mess_Integral_Gier)+3 |
| 7708 426a 805B subi r24,lo8(-50000) |
| 7709 426c 9C43 sbci r25,hi8(-50000) |
| 7710 426e AF4F sbci r26,hlo8(-50000) |
| 7711 4270 BF4F sbci r27,hhi8(-50000) |
| 7712 4272 04F4 brge .L619 |
| 7713 4274 80EB ldi r24,lo8(-50000) |
| 7714 4276 9CE3 ldi r25,hi8(-50000) |
| 7715 4278 AFEF ldi r26,hlo8(-50000) |
| 7716 427a BFEF ldi r27,hhi8(-50000) |
| 7717 427c 8093 0000 sts Mess_Integral_Gier,r24 |
| 7718 4280 9093 0000 sts (Mess_Integral_Gier)+1,r25 |
| 7719 4284 A093 0000 sts (Mess_Integral_Gier)+2,r26 |
| 7720 4288 B093 0000 sts (Mess_Integral_Gier)+3,r27 |
| 7721 .L619: |
| 7722 428c 0091 0000 lds r16,KompassValue |
| 7723 4290 1091 0000 lds r17,(KompassValue)+1 |
| 7724 4294 17FD sbrc r17,7 |
| 7725 4296 00C0 rjmp .L620 |
| 7726 4298 8091 0000 lds r24,Parameter_GlobalConfig |
| 7727 429c 83FF sbrs r24,3 |
| 7728 429e 00C0 rjmp .L620 |
| 7729 42a0 8091 0000 lds r24,CalculateCompassTimer |
| 7730 42a4 8150 subi r24,lo8(-(-1)) |
| 7731 42a6 8093 0000 sts CalculateCompassTimer,r24 |
| 7732 42aa 8823 tst r24 |
| 7733 42ac 01F0 breq .+2 |
| 7734 42ae 00C0 rjmp .L637 |
| 7735 42b0 8DE0 ldi r24,lo8(13) |
| 7736 42b2 8093 0000 sts CalculateCompassTimer,r24 |
| 7737 42b6 8091 0000 lds r24,IntegralNick |
| 7738 42ba 9091 0000 lds r25,(IntegralNick)+1 |
| 7739 42be A091 0000 lds r26,(IntegralNick)+2 |
| 7740 42c2 B091 0000 lds r27,(IntegralNick)+3 |
| 7741 42c6 B7FF sbrs r27,7 |
| 7742 42c8 00C0 rjmp .L622 |
| 7743 42ca 8150 subi r24,lo8(-(511)) |
| 7744 42cc 9E4F sbci r25,hi8(-(511)) |
| 7745 42ce AF4F sbci r26,hlo8(-(511)) |
| 7746 42d0 BF4F sbci r27,hhi8(-(511)) |
| 7747 .L622: |
| 7748 42d2 39E0 ldi r19,9 |
| 7749 42d4 B595 1: asr r27 |
| 7750 42d6 A795 ror r26 |
| 7751 42d8 9795 ror r25 |
| 7752 42da 8795 ror r24 |
| 7753 42dc 3A95 dec r19 |
| 7754 42de 01F4 brne 1b |
| 7755 42e0 7C01 movw r14,r24 |
| 7756 42e2 97FF sbrs r25,7 |
| 7757 42e4 00C0 rjmp .L623 |
| 7758 42e6 F094 com r15 |
| 7759 42e8 E194 neg r14 |
| 7760 42ea F108 sbc r15,__zero_reg__ |
| 7761 42ec F394 inc r15 |
| 7762 .L623: |
| 7763 42ee 8091 0000 lds r24,IntegralRoll |
| 7764 42f2 9091 0000 lds r25,(IntegralRoll)+1 |
| 7765 42f6 A091 0000 lds r26,(IntegralRoll)+2 |
| 7766 42fa B091 0000 lds r27,(IntegralRoll)+3 |
| 7767 42fe B7FF sbrs r27,7 |
| 7768 4300 00C0 rjmp .L624 |
| 7769 4302 8150 subi r24,lo8(-(511)) |
| 7770 4304 9E4F sbci r25,hi8(-(511)) |
| 7771 4306 AF4F sbci r26,hlo8(-(511)) |
| 7772 4308 BF4F sbci r27,hhi8(-(511)) |
| 7773 .L624: |
| 7774 430a 29E0 ldi r18,9 |
| 7775 430c B595 1: asr r27 |
| 7776 430e A795 ror r26 |
| 7777 4310 9795 ror r25 |
| 7778 4312 8795 ror r24 |
| 7779 4314 2A95 dec r18 |
| 7780 4316 01F4 brne 1b |
| 7781 4318 9C01 movw r18,r24 |
| 7782 431a 97FF sbrs r25,7 |
| 7783 431c 00C0 rjmp .L625 |
| 7784 431e 3095 com r19 |
| 7785 4320 2195 neg r18 |
| 7786 4322 3F4F sbci r19,lo8(-1) |
| 7787 .L625: |
| 7788 4324 E216 cp r14,r18 |
| 7789 4326 F306 cpc r15,r19 |
| 7790 4328 04F4 brge .L626 |
| 7791 432a 7901 movw r14,r18 |
| 7792 .L626: |
| 7793 432c B701 movw r22,r14 |
| 7794 432e F7FE sbrs r15,7 |
| 7795 4330 00C0 rjmp .L627 |
| 7796 4332 695F subi r22,lo8(-(7)) |
| 7797 4334 7F4F sbci r23,hi8(-(7)) |
| 7798 .L627: |
| 7799 4336 2B01 movw r4,r22 |
| 7800 4338 A3E0 ldi r26,3 |
| 7801 433a 5594 1: asr r5 |
| 7802 433c 4794 ror r4 |
| 7803 433e AA95 dec r26 |
| 7804 4340 01F4 brne 1b |
| 7805 4342 22E0 ldi r18,lo8(2) |
| 7806 4344 30E0 ldi r19,hi8(2) |
| 7807 4346 420E add r4,r18 |
| 7808 4348 531E adc r5,r19 |
| 7809 434a 6090 0000 lds r6,ErsatzKompass |
| 7810 434e 7090 0000 lds r7,(ErsatzKompass)+1 |
| 7811 4352 8090 0000 lds r8,(ErsatzKompass)+2 |
| 7812 4356 9090 0000 lds r9,(ErsatzKompass)+3 |
| 7813 435a 2091 0000 lds r18,GIER_GRAD_FAKTOR |
| 7814 435e 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1 |
| 7815 4362 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2 |
| 7816 4366 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3 |
| 7817 436a C401 movw r24,r8 |
| 7818 436c B301 movw r22,r6 |
| 7819 436e 0E94 0000 call __divmodsi4 |
| 7820 4372 5901 movw r10,r18 |
| 7821 4374 6A01 movw r12,r20 |
| 7822 4376 3093 0000 sts (ErsatzKompassInGrad)+1,r19 |
| 7823 437a 2093 0000 sts ErsatzKompassInGrad,r18 |
| 7824 437e 021B sub r16,r18 |
| 7825 4380 130B sbc r17,r19 |
| 7826 4382 C801 movw r24,r16 |
| 7827 4384 845E subi r24,lo8(-(540)) |
| 7828 4386 9D4F sbci r25,hi8(-(540)) |
| 7829 4388 68E6 ldi r22,lo8(360) |
| 7830 438a 71E0 ldi r23,hi8(360) |
| 7831 438c 0E94 0000 call __divmodhi4 |
| 7832 4390 9C01 movw r18,r24 |
| 7833 4392 245B subi r18,lo8(-(-180)) |
| 7834 4394 3040 sbci r19,hi8(-(-180)) |
| 7835 4396 8091 0000 lds r24,KompassSignalSchlecht |
| 7836 439a 9091 0000 lds r25,(KompassSignalSchlecht)+1 |
| 7837 439e 0097 sbiw r24,0 |
| 7838 43a0 01F0 breq .L628 |
| 7839 43a2 0197 sbiw r24,1 |
| 7840 43a4 9093 0000 sts (KompassSignalSchlecht)+1,r25 |
| 7841 43a8 8093 0000 sts KompassSignalSchlecht,r24 |
| 7842 43ac 00C0 rjmp .L629 |
| 7843 .L628: |
| 7844 43ae 49E1 ldi r20,lo8(25) |
| 7845 43b0 E416 cp r14,r20 |
| 7846 43b2 F104 cpc r15,__zero_reg__ |
| 7847 43b4 04F4 brge .L629 |
| 7848 43b6 8091 0000 lds r24,GierGyroFehler |
| 7849 43ba 9091 0000 lds r25,(GierGyroFehler)+1 |
| 7850 43be 820F add r24,r18 |
| 7851 43c0 931F adc r25,r19 |
| 7852 43c2 9093 0000 sts (GierGyroFehler)+1,r25 |
| 7853 43c6 8093 0000 sts GierGyroFehler,r24 |
| 7854 43ca 8091 0000 lds r24,NeueKompassRichtungMerken |
| 7855 43ce 8823 tst r24 |
| 7856 43d0 01F0 breq .L629 |
| 7857 43d2 8150 subi r24,lo8(-(-1)) |
| 7858 43d4 8093 0000 sts NeueKompassRichtungMerken,r24 |
| 7859 43d8 8823 tst r24 |
| 7860 43da 01F4 brne .L629 |
| 7861 43dc B092 0000 sts (KompassSollWert)+1,r11 |
| 7862 43e0 A092 0000 sts KompassSollWert,r10 |
| 7863 .L629: |
| 7864 43e4 8091 0000 lds r24,KompassSignalSchlecht |
| 7865 43e8 9091 0000 lds r25,(KompassSignalSchlecht)+1 |
| 7866 43ec 892B or r24,r25 |
| 7867 43ee 01F4 brne .L633 |
| 7868 43f0 8091 0000 lds r24,KompassFusion |
| 7869 43f4 9927 clr r25 |
| 7870 43f6 289F mul r18,r24 |
| 7871 43f8 B001 movw r22,r0 |
| 7872 43fa 299F mul r18,r25 |
| 7873 43fc 700D add r23,r0 |
| 7874 43fe 389F mul r19,r24 |
| 7875 4400 700D add r23,r0 |
| 7876 4402 1124 clr r1 |
| 7877 4404 CB01 movw r24,r22 |
| 7878 4406 B201 movw r22,r4 |
| 7879 4408 0E94 0000 call __divmodhi4 |
| 7880 440c CB01 movw r24,r22 |
| 7881 440e AA27 clr r26 |
| 7882 4410 97FD sbrc r25,7 |
| 7883 4412 A095 com r26 |
| 7884 4414 BA2F mov r27,r26 |
| 7885 4416 680E add r6,r24 |
| 7886 4418 791E adc r7,r25 |
| 7887 441a 8A1E adc r8,r26 |
| 7888 441c 9B1E adc r9,r27 |
| 7889 441e 6092 0000 sts ErsatzKompass,r6 |
| 7890 4422 7092 0000 sts (ErsatzKompass)+1,r7 |
| 7891 4426 8092 0000 sts (ErsatzKompass)+2,r8 |
| 7892 442a 9092 0000 sts (ErsatzKompass)+3,r9 |
| 7893 .L633: |
| 7894 442e 8091 0000 lds r24,NeueKompassRichtungMerken |
| 7895 4432 8823 tst r24 |
| 7896 4434 01F4 brne .L620 |
| 7897 4436 8091 0000 lds r24,KompassSollWert |
| 7898 443a 9091 0000 lds r25,(KompassSollWert)+1 |
| 7899 443e 2091 0000 lds r18,ErsatzKompassInGrad |
| 7900 4442 3091 0000 lds r19,(ErsatzKompassInGrad)+1 |
| 7901 4446 821B sub r24,r18 |
| 7902 4448 930B sbc r25,r19 |
| 7903 444a 845E subi r24,lo8(-(540)) |
| 7904 444c 9D4F sbci r25,hi8(-(540)) |
| 7905 444e 68E6 ldi r22,lo8(360) |
| 7906 4450 71E0 ldi r23,hi8(360) |
| 7907 4452 0E94 0000 call __divmodhi4 |
| 7908 4456 9C01 movw r18,r24 |
| 7909 4458 245B subi r18,lo8(-(-180)) |
| 7910 445a 3040 sbci r19,hi8(-(-180)) |
| 7911 445c 8091 0000 lds r24,Parameter_KompassWirkung |
| 7912 4460 8695 lsr r24 |
| 7913 4462 9927 clr r25 |
| 7914 4464 289F mul r18,r24 |
| 7915 4466 D001 movw r26,r0 |
| 7916 4468 299F mul r18,r25 |
| 7917 446a B00D add r27,r0 |
| 7918 446c 389F mul r19,r24 |
| 7919 446e B00D add r27,r0 |
| 7920 4470 1124 clr r1 |
| 7921 4472 9D01 movw r18,r26 |
| 7922 4474 B7FF sbrs r27,7 |
| 7923 4476 00C0 rjmp .L635 |
| 7924 4478 215F subi r18,lo8(-(15)) |
| 7925 447a 3F4F sbci r19,hi8(-(15)) |
| 7926 .L635: |
| 7927 447c F4E0 ldi r31,4 |
| 7928 447e 3595 1: asr r19 |
| 7929 4480 2795 ror r18 |
| 7930 4482 FA95 dec r31 |
| 7931 4484 01F4 brne 1b |
| 7932 4486 3093 0000 sts (CompassGierSetpoint)+1,r19 |
| 7933 448a 2093 0000 sts CompassGierSetpoint,r18 |
| 7934 448e 00C0 rjmp .L637 |
| 7935 .L620: |
| 7936 4490 1092 0000 sts (CompassGierSetpoint)+1,__zero_reg__ |
| 7937 4494 1092 0000 sts CompassGierSetpoint,__zero_reg__ |
| 7938 .L637: |
| 7939 4498 8091 0000 lds r24,TrichterFlug |
| 7940 449c 8823 tst r24 |
| 7941 449e 01F0 breq .L638 |
| 7942 44a0 1092 0000 sts SummeRoll,__zero_reg__ |
| 7943 44a4 1092 0000 sts (SummeRoll)+1,__zero_reg__ |
| 7944 44a8 1092 0000 sts (SummeRoll)+2,__zero_reg__ |
| 7945 44ac 1092 0000 sts (SummeRoll)+3,__zero_reg__ |
| 7946 44b0 1092 0000 sts SummeNick,__zero_reg__ |
| 7947 44b4 1092 0000 sts (SummeNick)+1,__zero_reg__ |
| 7948 44b8 1092 0000 sts (SummeNick)+2,__zero_reg__ |
| 7949 44bc 1092 0000 sts (SummeNick)+3,__zero_reg__ |
| 7950 .L638: |
| 7951 44c0 F090 0000 lds r15,Looping_Nick |
| 7952 44c4 FF20 tst r15 |
| 7953 44c6 01F4 brne .L639 |
| 7954 44c8 8091 0000 lds r24,IntegralFaktor |
| 7955 44cc 282F mov r18,r24 |
| 7956 44ce 3327 clr r19 |
| 7957 44d0 4427 clr r20 |
| 7958 44d2 5527 clr r21 |
| 7959 44d4 8091 0000 lds r24,IntegralNick |
| 7960 44d8 9091 0000 lds r25,(IntegralNick)+1 |
| 7961 44dc A091 0000 lds r26,(IntegralNick)+2 |
| 7962 44e0 B091 0000 lds r27,(IntegralNick)+3 |
| 7963 44e4 BC01 movw r22,r24 |
| 7964 44e6 CD01 movw r24,r26 |
| 7965 44e8 0E94 0000 call __mulsi3 |
| 7966 44ec DC01 movw r26,r24 |
| 7967 44ee CB01 movw r24,r22 |
| 7968 44f0 BC01 movw r22,r24 |
| 7969 44f2 CD01 movw r24,r26 |
| 7970 44f4 28EF ldi r18,lo8(11000) |
| 7971 44f6 3AE2 ldi r19,hi8(11000) |
| 7972 44f8 40E0 ldi r20,hlo8(11000) |
| 7973 44fa 50E0 ldi r21,hhi8(11000) |
| 7974 44fc 0E94 0000 call __divmodsi4 |
| 7975 4500 3901 movw r6,r18 |
| 7976 4502 00C0 rjmp .L640 |
| 7977 .L639: |
| 7978 4504 6624 clr r6 |
| 7979 4506 7724 clr r7 |
| 7980 .L640: |
| 7981 4508 E090 0000 lds r14,Looping_Roll |
| 7982 450c EE20 tst r14 |
| 7983 450e 01F4 brne .L641 |
| 7984 4510 8091 0000 lds r24,IntegralFaktor |
| 7985 4514 282F mov r18,r24 |
| 7986 4516 3327 clr r19 |
| 7987 4518 4427 clr r20 |
| 7988 451a 5527 clr r21 |
| 7989 451c 8091 0000 lds r24,IntegralRoll |
| 7990 4520 9091 0000 lds r25,(IntegralRoll)+1 |
| 7991 4524 A091 0000 lds r26,(IntegralRoll)+2 |
| 7992 4528 B091 0000 lds r27,(IntegralRoll)+3 |
| 7993 452c BC01 movw r22,r24 |
| 7994 452e CD01 movw r24,r26 |
| 7995 4530 0E94 0000 call __mulsi3 |
| 7996 4534 DC01 movw r26,r24 |
| 7997 4536 CB01 movw r24,r22 |
| 7998 4538 BC01 movw r22,r24 |
| 7999 453a CD01 movw r24,r26 |
| 8000 453c 28EF ldi r18,lo8(11000) |
| 8001 453e 3AE2 ldi r19,hi8(11000) |
| 8002 4540 40E0 ldi r20,hlo8(11000) |
| 8003 4542 50E0 ldi r21,hhi8(11000) |
| 8004 4544 0E94 0000 call __divmodsi4 |
| 8005 4548 2901 movw r4,r18 |
| 8006 454a 00C0 rjmp .L642 |
| 8007 .L641: |
| 8008 454c 4424 clr r4 |
| 8009 454e 5524 clr r5 |
| 8010 .L642: |
| 8011 4550 8091 0000 lds r24,TrimNick |
| 8012 4554 9091 0000 lds r25,(TrimNick)+1 |
| 8013 4558 893C cpi r24,201 |
| 8014 455a 9105 cpc r25,__zero_reg__ |
| 8015 455c 04F0 brlt .L643 |
| 8016 455e 88EC ldi r24,lo8(200) |
| 8017 4560 90E0 ldi r25,hi8(200) |
| 8018 4562 00C0 rjmp .L900 |
| 8019 .L643: |
| 8020 4564 8853 subi r24,lo8(-200) |
| 8021 4566 9F4F sbci r25,hi8(-200) |
| 8022 4568 04F4 brge .L644 |
| 8023 456a 88E3 ldi r24,lo8(-200) |
| 8024 456c 9FEF ldi r25,hi8(-200) |
| 8025 .L900: |
| 8026 456e 9093 0000 sts (TrimNick)+1,r25 |
| 8027 4572 8093 0000 sts TrimNick,r24 |
| 8028 .L644: |
| 8029 4576 8091 0000 lds r24,TrimRoll |
| 8030 457a 9091 0000 lds r25,(TrimRoll)+1 |
| 8031 457e 893C cpi r24,201 |
| 8032 4580 9105 cpc r25,__zero_reg__ |
| 8033 4582 04F0 brlt .L646 |
| 8034 4584 88EC ldi r24,lo8(200) |
| 8035 4586 90E0 ldi r25,hi8(200) |
| 8036 4588 00C0 rjmp .L901 |
| 8037 .L646: |
| 8038 458a 8853 subi r24,lo8(-200) |
| 8039 458c 9F4F sbci r25,hi8(-200) |
| 8040 458e 04F4 brge .L647 |
| 8041 4590 88E3 ldi r24,lo8(-200) |
| 8042 4592 9FEF ldi r25,hi8(-200) |
| 8043 .L901: |
| 8044 4594 9093 0000 sts (TrimRoll)+1,r25 |
| 8045 4598 8093 0000 sts TrimRoll,r24 |
| 8046 .L647: |
| 8047 459c 8091 0000 lds r24,MesswertNick |
| 8048 45a0 9091 0000 lds r25,(MesswertNick)+1 |
| 8049 45a4 AA27 clr r26 |
| 8050 45a6 97FD sbrc r25,7 |
| 8051 45a8 A095 com r26 |
| 8052 45aa BA2F mov r27,r26 |
| 8053 45ac 2091 0000 lds r18,GyroFaktor |
| 8054 45b0 A22E mov r10,r18 |
| 8055 45b2 BB24 clr r11 |
| 8056 45b4 CC24 clr r12 |
| 8057 45b6 DD24 clr r13 |
| 8058 45b8 BC01 movw r22,r24 |
| 8059 45ba CD01 movw r24,r26 |
| 8060 45bc A601 movw r20,r12 |
| 8061 45be 9501 movw r18,r10 |
| 8062 45c0 0E94 0000 call __mulsi3 |
| 8063 45c4 9B01 movw r18,r22 |
| 8064 45c6 AC01 movw r20,r24 |
| 8065 45c8 8091 0000 lds r24,TrimNick |
| 8066 45cc 9091 0000 lds r25,(TrimNick)+1 |
| 8067 45d0 AA27 clr r26 |
| 8068 45d2 97FD sbrc r25,7 |
| 8069 45d4 A095 com r26 |
| 8070 45d6 BA2F mov r27,r26 |
| 8071 45d8 E7E0 ldi r30,7 |
| 8072 45da 880F 1: lsl r24 |
| 8073 45dc 991F rol r25 |
| 8074 45de AA1F rol r26 |
| 8075 45e0 BB1F rol r27 |
| 8076 45e2 EA95 dec r30 |
| 8077 45e4 01F4 brne 1b |
| 8078 45e6 280F add r18,r24 |
| 8079 45e8 391F adc r19,r25 |
| 8080 45ea 4A1F adc r20,r26 |
| 8081 45ec 5B1F adc r21,r27 |
| 8082 45ee 57FF sbrs r21,7 |
| 8083 45f0 00C0 rjmp .L649 |
| 8084 45f2 215C subi r18,lo8(-(63)) |
| 8085 45f4 3F4F sbci r19,hi8(-(63)) |
| 8086 45f6 4F4F sbci r20,hlo8(-(63)) |
| 8087 45f8 5F4F sbci r21,hhi8(-(63)) |
| 8088 .L649: |
| 8089 45fa 76E0 ldi r23,6 |
| 8090 45fc 5595 1: asr r21 |
| 8091 45fe 4795 ror r20 |
| 8092 4600 3795 ror r19 |
| 8093 4602 2795 ror r18 |
| 8094 4604 7A95 dec r23 |
| 8095 4606 01F4 brne 1b |
| 8096 4608 8301 movw r16,r6 |
| 8097 460a 020F add r16,r18 |
| 8098 460c 131F adc r17,r19 |
| 8099 460e 1093 0000 sts (MesswertNick)+1,r17 |
| 8100 4612 0093 0000 sts MesswertNick,r16 |
| 8101 4616 8091 0000 lds r24,MesswertRoll |
| 8102 461a 9091 0000 lds r25,(MesswertRoll)+1 |
| 8103 461e AA27 clr r26 |
| 8104 4620 97FD sbrc r25,7 |
| 8105 4622 A095 com r26 |
| 8106 4624 BA2F mov r27,r26 |
| 8107 4626 BC01 movw r22,r24 |
| 8108 4628 CD01 movw r24,r26 |
| 8109 462a A601 movw r20,r12 |
| 8110 462c 9501 movw r18,r10 |
| 8111 462e 0E94 0000 call __mulsi3 |
| 8112 4632 9B01 movw r18,r22 |
| 8113 4634 AC01 movw r20,r24 |
| 8114 4636 8091 0000 lds r24,TrimRoll |
| 8115 463a 9091 0000 lds r25,(TrimRoll)+1 |
| 8116 463e AA27 clr r26 |
| 8117 4640 97FD sbrc r25,7 |
| 8118 4642 A095 com r26 |
| 8119 4644 BA2F mov r27,r26 |
| 8120 4646 67E0 ldi r22,7 |
| 8121 4648 880F 1: lsl r24 |
| 8122 464a 991F rol r25 |
| 8123 464c AA1F rol r26 |
| 8124 464e BB1F rol r27 |
| 8125 4650 6A95 dec r22 |
| 8126 4652 01F4 brne 1b |
| 8127 4654 280F add r18,r24 |
| 8128 4656 391F adc r19,r25 |
| 8129 4658 4A1F adc r20,r26 |
| 8130 465a 5B1F adc r21,r27 |
| 8131 465c 57FF sbrs r21,7 |
| 8132 465e 00C0 rjmp .L650 |
| 8133 4660 215C subi r18,lo8(-(63)) |
| 8134 4662 3F4F sbci r19,hi8(-(63)) |
| 8135 4664 4F4F sbci r20,hlo8(-(63)) |
| 8136 4666 5F4F sbci r21,hhi8(-(63)) |
| 8137 .L650: |
| 8138 4668 F6E0 ldi r31,6 |
| 8139 466a 5595 1: asr r21 |
| 8140 466c 4795 ror r20 |
| 8141 466e 3795 ror r19 |
| 8142 4670 2795 ror r18 |
| 8143 4672 FA95 dec r31 |
| 8144 4674 01F4 brne 1b |
| 8145 4676 4201 movw r8,r4 |
| 8146 4678 820E add r8,r18 |
| 8147 467a 931E adc r9,r19 |
| 8148 467c 9092 0000 sts (MesswertRoll)+1,r9 |
| 8149 4680 8092 0000 sts MesswertRoll,r8 |
| 8150 4684 8091 0000 lds r24,MesswertGier |
| 8151 4688 9091 0000 lds r25,(MesswertGier)+1 |
| 8152 468c 880F add r24,r24 |
| 8153 468e 991F adc r25,r25 |
| 8154 4690 AA27 clr r26 |
| 8155 4692 97FD sbrc r25,7 |
| 8156 4694 A095 com r26 |
| 8157 4696 BA2F mov r27,r26 |
| 8158 4698 2091 0000 lds r18,GyroFaktorGier |
| 8159 469c 3327 clr r19 |
| 8160 469e 4427 clr r20 |
| 8161 46a0 5527 clr r21 |
| 8162 46a2 BC01 movw r22,r24 |
| 8163 46a4 CD01 movw r24,r26 |
| 8164 46a6 0E94 0000 call __mulsi3 |
| 8165 46aa 5B01 movw r10,r22 |
| 8166 46ac 6C01 movw r12,r24 |
| 8167 46ae 97FF sbrs r25,7 |
| 8168 46b0 00C0 rjmp .L651 |
| 8169 46b2 2FE3 ldi r18,lo8(63) |
| 8170 46b4 30E0 ldi r19,hi8(63) |
| 8171 46b6 40E0 ldi r20,hlo8(63) |
| 8172 46b8 50E0 ldi r21,hhi8(63) |
| 8173 46ba A20E add r10,r18 |
| 8174 46bc B31E adc r11,r19 |
| 8175 46be C41E adc r12,r20 |
| 8176 46c0 D51E adc r13,r21 |
| 8177 .L651: |
| 8178 46c2 E6E0 ldi r30,6 |
| 8179 46c4 D594 1: asr r13 |
| 8180 46c6 C794 ror r12 |
| 8181 46c8 B794 ror r11 |
| 8182 46ca A794 ror r10 |
| 8183 46cc EA95 dec r30 |
| 8184 46ce 01F4 brne 1b |
| 8185 46d0 8091 0000 lds r24,IntegralFaktorGier |
| 8186 46d4 282F mov r18,r24 |
| 8187 46d6 3327 clr r19 |
| 8188 46d8 4427 clr r20 |
| 8189 46da 5527 clr r21 |
| 8190 46dc 8091 0000 lds r24,Integral_Gier |
| 8191 46e0 9091 0000 lds r25,(Integral_Gier)+1 |
| 8192 46e4 A091 0000 lds r26,(Integral_Gier)+2 |
| 8193 46e8 B091 0000 lds r27,(Integral_Gier)+3 |
| 8194 46ec BC01 movw r22,r24 |
| 8195 46ee CD01 movw r24,r26 |
| 8196 46f0 0E94 0000 call __mulsi3 |
| 8197 46f4 DC01 movw r26,r24 |
| 8198 46f6 CB01 movw r24,r22 |
| 8199 46f8 BC01 movw r22,r24 |
| 8200 46fa CD01 movw r24,r26 |
| 8201 46fc 20EF ldi r18,lo8(22000) |
| 8202 46fe 35E5 ldi r19,hi8(22000) |
| 8203 4700 40E0 ldi r20,hlo8(22000) |
| 8204 4702 50E0 ldi r21,hhi8(22000) |
| 8205 4704 0E94 0000 call __divmodsi4 |
| 8206 4708 B501 movw r22,r10 |
| 8207 470a 620F add r22,r18 |
| 8208 470c 731F adc r23,r19 |
| 8209 470e 7093 0000 sts (MesswertGier)+1,r23 |
| 8210 4712 6093 0000 sts MesswertGier,r22 |
| 8211 4716 0150 subi r16,lo8(4097) |
| 8212 4718 1041 sbci r17,hi8(4097) |
| 8213 471a 04F0 brlt .L652 |
| 8214 471c 80E0 ldi r24,lo8(4096) |
| 8215 471e 90E1 ldi r25,hi8(4096) |
| 8216 4720 9093 0000 sts (MesswertNick)+1,r25 |
| 8217 4724 8093 0000 sts MesswertNick,r24 |
| 8218 .L652: |
| 8219 4728 8091 0000 lds r24,MesswertNick |
| 8220 472c 9091 0000 lds r25,(MesswertNick)+1 |
| 8221 4730 8050 subi r24,lo8(-4096) |
| 8222 4732 904F sbci r25,hi8(-4096) |
| 8223 4734 04F4 brge .L653 |
| 8224 4736 80E0 ldi r24,lo8(-4096) |
| 8225 4738 90EF ldi r25,hi8(-4096) |
| 8226 473a 9093 0000 sts (MesswertNick)+1,r25 |
| 8227 473e 8093 0000 sts MesswertNick,r24 |
| 8228 .L653: |
| 8229 4742 51E0 ldi r21,lo8(4097) |
| 8230 4744 8516 cp r8,r21 |
| 8231 4746 50E1 ldi r21,hi8(4097) |
| 8232 4748 9506 cpc r9,r21 |
| 8233 474a 04F0 brlt .L654 |
| 8234 474c 80E0 ldi r24,lo8(4096) |
| 8235 474e 90E1 ldi r25,hi8(4096) |
| 8236 4750 9093 0000 sts (MesswertRoll)+1,r25 |
| 8237 4754 8093 0000 sts MesswertRoll,r24 |
| 8238 .L654: |
| 8239 4758 8091 0000 lds r24,MesswertRoll |
| 8240 475c 9091 0000 lds r25,(MesswertRoll)+1 |
| 8241 4760 8050 subi r24,lo8(-4096) |
| 8242 4762 904F sbci r25,hi8(-4096) |
| 8243 4764 04F4 brge .L655 |
| 8244 4766 80E0 ldi r24,lo8(-4096) |
| 8245 4768 90EF ldi r25,hi8(-4096) |
| 8246 476a 9093 0000 sts (MesswertRoll)+1,r25 |
| 8247 476e 8093 0000 sts MesswertRoll,r24 |
| 8248 .L655: |
| 8249 4772 6150 subi r22,lo8(4097) |
| 8250 4774 7041 sbci r23,hi8(4097) |
| 8251 4776 04F0 brlt .L656 |
| 8252 4778 80E0 ldi r24,lo8(4096) |
| 8253 477a 90E1 ldi r25,hi8(4096) |
| 8254 477c 9093 0000 sts (MesswertGier)+1,r25 |
| 8255 4780 8093 0000 sts MesswertGier,r24 |
| 8256 .L656: |
| 8257 4784 8091 0000 lds r24,MesswertGier |
| 8258 4788 9091 0000 lds r25,(MesswertGier)+1 |
| 8259 478c 8050 subi r24,lo8(-4096) |
| 8260 478e 904F sbci r25,hi8(-4096) |
| 8261 4790 04F4 brge .L657 |
| 8262 4792 80E0 ldi r24,lo8(-4096) |
| 8263 4794 90EF ldi r25,hi8(-4096) |
| 8264 4796 9093 0000 sts (MesswertGier)+1,r25 |
| 8265 479a 8093 0000 sts MesswertGier,r24 |
| 8266 .L657: |
| 8267 479e 8091 0000 lds r24,BattLowVoltageWarning |
| 8268 47a2 482F mov r20,r24 |
| 8269 47a4 5527 clr r21 |
| 8270 47a6 8091 0000 lds r24,UBat |
| 8271 47aa 9091 0000 lds r25,(UBat)+1 |
| 8272 47ae 4817 cp r20,r24 |
| 8273 47b0 5907 cpc r21,r25 |
| 8274 47b2 04F4 brge .L658 |
| 8275 47b4 2091 0000 lds r18,UBat |
| 8276 47b8 3091 0000 lds r19,(UBat)+1 |
| 8277 47bc 0981 ldd r16,Y+1 |
| 8278 47be 1A81 ldd r17,Y+2 |
| 8279 47c0 049F mul r16,r20 |
| 8280 47c2 C001 movw r24,r0 |
| 8281 47c4 059F mul r16,r21 |
| 8282 47c6 900D add r25,r0 |
| 8283 47c8 149F mul r17,r20 |
| 8284 47ca 900D add r25,r0 |
| 8285 47cc 1124 clr r1 |
| 8286 47ce B901 movw r22,r18 |
| 8287 47d0 0E94 0000 call __udivmodhi4 |
| 8288 47d4 7A83 std Y+2,r23 |
| 8289 47d6 6983 std Y+1,r22 |
| 8290 .L658: |
| 8291 47d8 2981 ldd r18,Y+1 |
| 8292 47da 3A81 ldd r19,Y+2 |
| 8293 47dc 220F lsl r18 |
| 8294 47de 331F rol r19 |
| 8295 47e0 220F lsl r18 |
| 8296 47e2 331F rol r19 |
| 8297 47e4 3A83 std Y+2,r19 |
| 8298 47e6 2983 std Y+1,r18 |
| 8299 47e8 4091 0000 lds r20,Parameter_GlobalConfig |
| 8300 47ec 40FD sbrc r20,0 |
| 8301 47ee 00C0 rjmp .+4 |
| 8302 47f0 0C94 0000 jmp .L659 |
| 8303 47f4 EE20 tst r14 |
| 8304 47f6 01F0 breq .+4 |
| 8305 47f8 0C94 0000 jmp .L659 |
| 8306 47fc FF20 tst r15 |
| 8307 47fe 01F0 breq .+4 |
| 8308 4800 0C94 0000 jmp .L659 |
| 8309 4804 00E0 ldi r16,lo8(0) |
| 8310 4806 10E0 ldi r17,hi8(0) |
| 8311 4808 4801 movw r8,r16 |
| 8312 480a 8091 0000 lds r24,HoverGas |
| 8313 480e 9091 0000 lds r25,(HoverGas)+1 |
| 8314 4812 9093 0000 sts (DebugOut+44)+1,r25 |
| 8315 4816 8093 0000 sts DebugOut+44,r24 |
| 8316 481a 2091 0000 lds r18,BaroExpandActive |
| 8317 481e 3091 0000 lds r19,(BaroExpandActive)+1 |
| 8318 4822 2115 cp r18,__zero_reg__ |
| 8319 4824 3105 cpc r19,__zero_reg__ |
| 8320 4826 01F0 breq .+2 |
| 8321 4828 00C0 rjmp .L660 |
| 8322 482a 8091 0000 lds r24,MessLuftdruck |
| 8323 482e 9091 0000 lds r25,(MessLuftdruck)+1 |
| 8324 4832 8959 subi r24,lo8(921) |
| 8325 4834 9340 sbci r25,hi8(921) |
| 8326 4836 00F0 brlo .L661 |
| 8327 4838 87B5 in r24,71-0x20 |
| 8328 483a 803F cpi r24,lo8(-16) |
| 8329 483c 00F4 brsh .L662 |
| 8330 483e 8091 0000 lds r24,ExpandBaro |
| 8331 4842 8150 subi r24,lo8(-(-1)) |
| 8332 4844 00C0 rjmp .L902 |
| 8333 .L662: |
| 8334 4846 81E0 ldi r24,lo8(1) |
| 8335 4848 8093 0000 sts BaroAtLowerLimit.26,r24 |
| 8336 484c 00C0 rjmp .L669 |
| 8337 .L661: |
| 8338 484e 8091 0000 lds r24,MessLuftdruck |
| 8339 4852 9091 0000 lds r25,(MessLuftdruck)+1 |
| 8340 4856 8436 cpi r24,100 |
| 8341 4858 9105 cpc r25,__zero_reg__ |
| 8342 485a 00F4 brsh .L665 |
| 8343 485c 87B5 in r24,71-0x20 |
| 8344 485e 8031 cpi r24,lo8(16) |
| 8345 4860 00F0 brlo .L666 |
| 8346 4862 8091 0000 lds r24,ExpandBaro |
| 8347 4866 8F5F subi r24,lo8(-(1)) |
| 8348 .L902: |
| 8349 4868 8093 0000 sts ExpandBaro,r24 |
| 8350 486c 9FE0 ldi r25,lo8(15) |
| 8351 486e 8902 muls r24,r25 |
| 8352 4870 9001 movw r18,r0 |
| 8353 4872 1124 clr r1 |
| 8354 4874 8091 0000 lds r24,DruckOffsetSetting |
| 8355 4878 821B sub r24,r18 |
| 8356 487a 87BD out 71-0x20,r24 |
| 8357 487c 8CE2 ldi r24,lo8(300) |
| 8358 487e 91E0 ldi r25,hi8(300) |
| 8359 4880 9093 0000 sts (beeptime)+1,r25 |
| 8360 4884 8093 0000 sts beeptime,r24 |
| 8361 4888 8EE5 ldi r24,lo8(350) |
| 8362 488a 91E0 ldi r25,hi8(350) |
| 8363 488c 9093 0000 sts (BaroExpandActive)+1,r25 |
| 8364 4890 8093 0000 sts BaroExpandActive,r24 |
| 8365 4894 00C0 rjmp .L669 |
| 8366 .L666: |
| 8367 4896 81E0 ldi r24,lo8(1) |
| 8368 4898 8093 0000 sts BaroAtUpperLimit.25,r24 |
| 8369 489c 00C0 rjmp .L669 |
| 8370 .L665: |
| 8371 489e F092 0000 sts BaroAtUpperLimit.25,r15 |
| 8372 48a2 F092 0000 sts BaroAtLowerLimit.26,r15 |
| 8373 48a6 00C0 rjmp .L669 |
| 8374 .L660: |
| 8375 48a8 8091 0000 lds r24,HoehenWert |
| 8376 48ac 9091 0000 lds r25,(HoehenWert)+1 |
| 8377 48b0 A091 0000 lds r26,(HoehenWert)+2 |
| 8378 48b4 B091 0000 lds r27,(HoehenWert)+3 |
| 8379 48b8 64E0 ldi r22,4 |
| 8380 48ba 880F 1: lsl r24 |
| 8381 48bc 991F rol r25 |
| 8382 48be AA1F rol r26 |
| 8383 48c0 BB1F rol r27 |
| 8384 48c2 6A95 dec r22 |
| 8385 48c4 01F4 brne 1b |
| 8386 48c6 8093 0000 sts SummenHoehe,r24 |
| 8387 48ca 9093 0000 sts (SummenHoehe)+1,r25 |
| 8388 48ce A093 0000 sts (SummenHoehe)+2,r26 |
| 8389 48d2 B093 0000 sts (SummenHoehe)+3,r27 |
| 8390 48d6 1093 0000 sts (VarioMeter)+1,r17 |
| 8391 48da 0093 0000 sts VarioMeter,r16 |
| 8392 48de 2150 subi r18,lo8(-(-1)) |
| 8393 48e0 3040 sbci r19,hi8(-(-1)) |
| 8394 48e2 3093 0000 sts (BaroExpandActive)+1,r19 |
| 8395 48e6 2093 0000 sts BaroExpandActive,r18 |
| 8396 .L669: |
| 8397 48ea 2091 0000 lds r18,Parameter_HoehenSchalter |
| 8398 48ee 41FF sbrs r20,1 |
| 8399 48f0 00C0 rjmp .L670 |
| 8400 48f2 2233 cpi r18,lo8(50) |
| 8401 48f4 00F4 brsh .L671 |
| 8402 48f6 8091 0000 lds r24,delay.24 |
| 8403 48fa 8150 subi r24,lo8(-(-1)) |
| 8404 48fc 8093 0000 sts delay.24,r24 |
| 8405 4900 8F3F cpi r24,lo8(-1) |
| 8406 4902 01F0 breq .+2 |
| 8407 4904 00C0 rjmp .L677 |
| 8408 4906 8091 0000 lds r24,SpeakHoTT |
| 8409 490a 8823 tst r24 |
| 8410 490c 01F4 brne .L673 |
| 8411 490e 8091 0000 lds r24,HoehenReglerAktiv |
| 8412 4912 8823 tst r24 |
| 8413 4914 01F0 breq .L673 |
| 8414 4916 88E2 ldi r24,lo8(40) |
| 8415 4918 8093 0000 sts SpeakHoTT,r24 |
| 8416 .L673: |
| 8417 491c 1092 0000 sts HoehenReglerAktiv,__zero_reg__ |
| 8418 4920 8091 0000 lds r24,HoehenWert |
| 8419 4924 9091 0000 lds r25,(HoehenWert)+1 |
| 8420 4928 A091 0000 lds r26,(HoehenWert)+2 |
| 8421 492c B091 0000 lds r27,(HoehenWert)+3 |
| 8422 4930 8093 0000 sts SollHoehe,r24 |
| 8423 4934 9093 0000 sts (SollHoehe)+1,r25 |
| 8424 4938 A093 0000 sts (SollHoehe)+2,r26 |
| 8425 493c B093 0000 sts (SollHoehe)+3,r27 |
| 8426 4940 81E0 ldi r24,lo8(1) |
| 8427 4942 8093 0000 sts delay.24,r24 |
| 8428 4946 00C0 rjmp .L677 |
| 8429 .L671: |
| 8430 4948 2734 cpi r18,lo8(71) |
| 8431 494a 00F0 brlo .L677 |
| 8432 494c 8091 0000 lds r24,SpeakHoTT |
| 8433 4950 8823 tst r24 |
| 8434 4952 01F4 brne .L676 |
| 8435 4954 8091 0000 lds r24,HoehenReglerAktiv |
| 8436 4958 8823 tst r24 |
| 8437 495a 01F4 brne .L676 |
| 8438 495c 87E2 ldi r24,lo8(39) |
| 8439 495e 8093 0000 sts SpeakHoTT,r24 |
| 8440 .L676: |
| 8441 4962 88EC ldi r24,lo8(-56) |
| 8442 4964 8093 0000 sts delay.24,r24 |
| 8443 4968 00C0 rjmp .L903 |
| 8444 .L670: |
| 8445 496a 8091 0000 lds r24,ExternHoehenValue |
| 8446 496e 9091 0000 lds r25,(ExternHoehenValue)+1 |
| 8447 4972 820F add r24,r18 |
| 8448 4974 911D adc r25,__zero_reg__ |
| 8449 4976 2091 0000 lds r18,EE_Parameter+18 |
| 8450 497a 3327 clr r19 |
| 8451 497c 829F mul r24,r18 |
| 8452 497e A001 movw r20,r0 |
| 8453 4980 839F mul r24,r19 |
| 8454 4982 500D add r21,r0 |
| 8455 4984 929F mul r25,r18 |
| 8456 4986 500D add r21,r0 |
| 8457 4988 1124 clr r1 |
| 8458 498a CA01 movw r24,r20 |
| 8459 498c AA27 clr r26 |
| 8460 498e 97FD sbrc r25,7 |
| 8461 4990 A095 com r26 |
| 8462 4992 BA2F mov r27,r26 |
| 8463 4994 8093 0000 sts SollHoehe,r24 |
| 8464 4998 9093 0000 sts (SollHoehe)+1,r25 |
| 8465 499c A093 0000 sts (SollHoehe)+2,r26 |
| 8466 49a0 B093 0000 sts (SollHoehe)+3,r27 |
| 8467 .L903: |
| 8468 49a4 81E0 ldi r24,lo8(1) |
| 8469 49a6 8093 0000 sts HoehenReglerAktiv,r24 |
| 8470 .L677: |
| 8471 49aa 8091 0000 lds r24,IntegralNick |
| 8472 49ae 9091 0000 lds r25,(IntegralNick)+1 |
| 8473 49b2 A091 0000 lds r26,(IntegralNick)+2 |
| 8474 49b6 B091 0000 lds r27,(IntegralNick)+3 |
| 8475 49ba E090 0000 lds r14,GIER_GRAD_FAKTOR |
| 8476 49be F090 0000 lds r15,(GIER_GRAD_FAKTOR)+1 |
| 8477 49c2 0091 0000 lds r16,(GIER_GRAD_FAKTOR)+2 |
| 8478 49c6 1091 0000 lds r17,(GIER_GRAD_FAKTOR)+3 |
| 8479 49ca BC01 movw r22,r24 |
| 8480 49cc CD01 movw r24,r26 |
| 8481 49ce A801 movw r20,r16 |
| 8482 49d0 9701 movw r18,r14 |
| 8483 49d2 0E94 0000 call __divmodsi4 |
| 8484 49d6 5901 movw r10,r18 |
| 8485 49d8 6A01 movw r12,r20 |
| 8486 49da 8091 0000 lds r24,IntegralRoll |
| 8487 49de 9091 0000 lds r25,(IntegralRoll)+1 |
| 8488 49e2 A091 0000 lds r26,(IntegralRoll)+2 |
| 8489 49e6 B091 0000 lds r27,(IntegralRoll)+3 |
| 8490 49ea BC01 movw r22,r24 |
| 8491 49ec CD01 movw r24,r26 |
| 8492 49ee A801 movw r20,r16 |
| 8493 49f0 9701 movw r18,r14 |
| 8494 49f2 0E94 0000 call __divmodsi4 |
| 8495 49f6 B901 movw r22,r18 |
| 8496 49f8 C501 movw r24,r10 |
| 8497 49fa 0E94 0000 call ihypot |
| 8498 49fe 5C01 movw r10,r24 |
| 8499 4a00 CC97 sbiw r24,60 |
| 8500 4a02 04F0 brlt .L678 |
| 8501 4a04 5CE3 ldi r21,lo8(60) |
| 8502 4a06 A52E mov r10,r21 |
| 8503 4a08 B12C mov r11,__zero_reg__ |
| 8504 .L678: |
| 8505 4a0a C501 movw r24,r10 |
| 8506 4a0c 0E94 0000 call c_cos_8192 |
| 8507 4a10 5C01 movw r10,r24 |
| 8508 4a12 80E2 ldi r24,lo8(32) |
| 8509 4a14 8093 0000 sts VarioCharacter,r24 |
| 8510 4a18 1092 0000 sts (AltitudeSetpointTrimming)+1,__zero_reg__ |
| 8511 4a1c 1092 0000 sts AltitudeSetpointTrimming,__zero_reg__ |
| 8512 4a20 8091 0000 lds r24,HoehenReglerAktiv |
| 8513 4a24 8823 tst r24 |
| 8514 4a26 01F4 brne .+2 |
| 8515 4a28 00C0 rjmp .L679 |
| 8516 4a2a 8091 0000 lds r24,FC_StatusFlags |
| 8517 4a2e 9927 clr r25 |
| 8518 4a30 9C01 movw r18,r24 |
| 8519 4a32 2071 andi r18,lo8(16) |
| 8520 4a34 3070 andi r19,hi8(16) |
| 8521 4a36 84FD sbrc r24,4 |
| 8522 4a38 00C0 rjmp .L679 |
| 8523 4a3a 8091 0000 lds r24,FC_StatusFlags2 |
| 8524 4a3e 8260 ori r24,lo8(2) |
| 8525 4a40 8093 0000 sts FC_StatusFlags2,r24 |
| 8526 4a44 7091 0000 lds r23,Parameter_ExtraConfig |
| 8527 4a48 872F mov r24,r23 |
| 8528 4a4a 9927 clr r25 |
| 8529 4a4c 41E0 ldi r20,lo8(1) |
| 8530 4a4e C42E mov r12,r20 |
| 8531 4a50 D12C mov r13,__zero_reg__ |
| 8532 4a52 C822 and r12,r24 |
| 8533 4a54 D922 and r13,r25 |
| 8534 4a56 80FD sbrc r24,0 |
| 8535 4a58 00C0 rjmp .L681 |
| 8536 4a5a 8091 0000 lds r24,Parameter_GlobalConfig |
| 8537 4a5e 81FD sbrc r24,1 |
| 8538 4a60 00C0 rjmp .L680 |
| 8539 .L681: |
| 8540 4a62 C980 ldd r12,Y+1 |
| 8541 4a64 DA80 ldd r13,Y+2 |
| 8542 4a66 3093 0000 sts (HeightTrimming.21)+1,r19 |
| 8543 4a6a 2093 0000 sts HeightTrimming.21,r18 |
| 8544 4a6e 3093 0000 sts (AltitudeSetpointTrimming)+1,r19 |
| 8545 4a72 2093 0000 sts AltitudeSetpointTrimming,r18 |
| 8546 4a76 8091 0000 lds r24,FC_StatusFlags |
| 8547 4a7a 806C ori r24,lo8(-64) |
| 8548 4a7c 8093 0000 sts FC_StatusFlags,r24 |
| 8549 4a80 00C0 rjmp .L682 |
| 8550 .L680: |
| 8551 4a82 8091 0000 lds r24,FC_StatusFlags |
| 8552 4a86 81FF sbrs r24,1 |
| 8553 4a88 00C0 rjmp .L683 |
| 8554 4a8a 0091 0000 lds r16,StickGasHover |
| 8555 4a8e 1091 0000 lds r17,(StickGasHover)+1 |
| 8556 4a92 C801 movw r24,r16 |
| 8557 4a94 0F96 adiw r24,15 |
| 8558 4a96 2090 0000 lds r2,StickGas |
| 8559 4a9a 3090 0000 lds r3,(StickGas)+1 |
| 8560 4a9e 8215 cp r24,r2 |
| 8561 4aa0 9305 cpc r25,r3 |
| 8562 4aa2 04F0 brlt .+2 |
| 8563 4aa4 00C0 rjmp .L684 |
| 8564 4aa6 8091 0000 lds r24,BaroAtUpperLimit.25 |
| 8565 4aaa 8823 tst r24 |
| 8566 4aac 01F0 breq .+2 |
| 8567 4aae 00C0 rjmp .L684 |
| 8568 4ab0 8091 0000 lds r24,FC_StatusFlags |
| 8569 4ab4 87FF sbrs r24,7 |
| 8570 4ab6 00C0 rjmp .L685 |
| 8571 4ab8 8091 0000 lds r24,FC_StatusFlags |
| 8572 4abc 8F77 andi r24,lo8(127) |
| 8573 4abe 8093 0000 sts FC_StatusFlags,r24 |
| 8574 4ac2 8091 0000 lds r24,HoehenWert |
| 8575 4ac6 9091 0000 lds r25,(HoehenWert)+1 |
| 8576 4aca A091 0000 lds r26,(HoehenWert)+2 |
| 8577 4ace B091 0000 lds r27,(HoehenWert)+3 |
| 8578 4ad2 8093 0000 sts SollHoehe,r24 |
| 8579 4ad6 9093 0000 sts (SollHoehe)+1,r25 |
| 8580 4ada A093 0000 sts (SollHoehe)+2,r26 |
| 8581 4ade B093 0000 sts (SollHoehe)+3,r27 |
| 8582 .L685: |
| 8583 4ae2 8091 0000 lds r24,FC_StatusFlags |
| 8584 4ae6 8064 ori r24,lo8(64) |
| 8585 4ae8 8093 0000 sts FC_StatusFlags,r24 |
| 8586 4aec E090 0000 lds r14,Parameter_MaximumAltitude |
| 8587 4af0 EE20 tst r14 |
| 8588 4af2 01F0 breq .L686 |
| 8589 4af4 8091 0000 lds r24,SollHoehe |
| 8590 4af8 9091 0000 lds r25,(SollHoehe)+1 |
| 8591 4afc A091 0000 lds r26,(SollHoehe)+2 |
| 8592 4b00 B091 0000 lds r27,(SollHoehe)+3 |
| 8593 4b04 BC01 movw r22,r24 |
| 8594 4b06 CD01 movw r24,r26 |
| 8595 4b08 24E6 ldi r18,lo8(100) |
| 8596 4b0a 30E0 ldi r19,hi8(100) |
| 8597 4b0c 40E0 ldi r20,hlo8(100) |
| 8598 4b0e 50E0 ldi r21,hhi8(100) |
| 8599 4b10 0E94 0000 call __divmodsi4 |
| 8600 4b14 8E2D mov r24,r14 |
| 8601 4b16 9927 clr r25 |
| 8602 4b18 AA27 clr r26 |
| 8603 4b1a BB27 clr r27 |
| 8604 4b1c 8217 cp r24,r18 |
| 8605 4b1e 9307 cpc r25,r19 |
| 8606 4b20 A407 cpc r26,r20 |
| 8607 4b22 B507 cpc r27,r21 |
| 8608 4b24 04F4 brge .L686 |
| 8609 4b26 D092 0000 sts (AltitudeSetpointTrimming)+1,r13 |
| 8610 4b2a C092 0000 sts AltitudeSetpointTrimming,r12 |
| 8611 4b2e 00C0 rjmp .L687 |
| 8612 .L686: |
| 8613 4b30 C101 movw r24,r2 |
| 8614 4b32 801B sub r24,r16 |
| 8615 4b34 910B sbc r25,r17 |
| 8616 4b36 0F97 sbiw r24,15 |
| 8617 4b38 97FF sbrs r25,7 |
| 8618 4b3a 00C0 rjmp .L688 |
| 8619 4b3c 9095 com r25 |
| 8620 4b3e 8195 neg r24 |
| 8621 4b40 9F4F sbci r25,lo8(-1) |
| 8622 .L688: |
| 8623 4b42 9093 0000 sts (AltitudeSetpointTrimming)+1,r25 |
| 8624 4b46 8093 0000 sts AltitudeSetpointTrimming,r24 |
| 8625 4b4a 8BE2 ldi r24,lo8(43) |
| 8626 4b4c 8093 0000 sts VarioCharacter,r24 |
| 8627 .L687: |
| 8628 4b50 1092 0000 sts WaypointTrimming,__zero_reg__ |
| 8629 4b54 00C0 rjmp .L689 |
| 8630 .L684: |
| 8631 4b56 C801 movw r24,r16 |
| 8632 4b58 0F97 sbiw r24,15 |
| 8633 4b5a 2816 cp r2,r24 |
| 8634 4b5c 3906 cpc r3,r25 |
| 8635 4b5e 04F4 brge .L690 |
| 8636 4b60 2091 0000 lds r18,BaroAtLowerLimit.26 |
| 8637 4b64 2223 tst r18 |
| 8638 4b66 01F4 brne .L690 |
| 8639 4b68 8091 0000 lds r24,FC_StatusFlags |
| 8640 4b6c 86FF sbrs r24,6 |
| 8641 4b6e 00C0 rjmp .L691 |
| 8642 4b70 8091 0000 lds r24,FC_StatusFlags |
| 8643 4b74 8F7B andi r24,lo8(-65) |
| 8644 4b76 8093 0000 sts FC_StatusFlags,r24 |
| 8645 4b7a 8091 0000 lds r24,HoehenWert |
| 8646 4b7e 9091 0000 lds r25,(HoehenWert)+1 |
| 8647 4b82 A091 0000 lds r26,(HoehenWert)+2 |
| 8648 4b86 B091 0000 lds r27,(HoehenWert)+3 |
| 8649 4b8a 8093 0000 sts SollHoehe,r24 |
| 8650 4b8e 9093 0000 sts (SollHoehe)+1,r25 |
| 8651 4b92 A093 0000 sts (SollHoehe)+2,r26 |
| 8652 4b96 B093 0000 sts (SollHoehe)+3,r27 |
| 8653 .L691: |
| 8654 4b9a 8091 0000 lds r24,FC_StatusFlags |
| 8655 4b9e 8068 ori r24,lo8(-128) |
| 8656 4ba0 8093 0000 sts FC_StatusFlags,r24 |
| 8657 4ba4 C101 movw r24,r2 |
| 8658 4ba6 801B sub r24,r16 |
| 8659 4ba8 910B sbc r25,r17 |
| 8660 4baa 0F96 adiw r24,15 |
| 8661 4bac 97FF sbrs r25,7 |
| 8662 4bae 00C0 rjmp .L692 |
| 8663 4bb0 9095 com r25 |
| 8664 4bb2 8195 neg r24 |
| 8665 4bb4 9F4F sbci r25,lo8(-1) |
| 8666 .L692: |
| 8667 4bb6 9095 com r25 |
| 8668 4bb8 8195 neg r24 |
| 8669 4bba 9F4F sbci r25,lo8(-1) |
| 8670 4bbc 9093 0000 sts (AltitudeSetpointTrimming)+1,r25 |
| 8671 4bc0 8093 0000 sts AltitudeSetpointTrimming,r24 |
| 8672 4bc4 8DE2 ldi r24,lo8(45) |
| 8673 4bc6 8093 0000 sts VarioCharacter,r24 |
| 8674 4bca 2093 0000 sts WaypointTrimming,r18 |
| 8675 4bce 00C0 rjmp .L689 |
| 8676 .L690: |
| 8677 4bd0 8DE3 ldi r24,lo8(61) |
| 8678 4bd2 8093 0000 sts VarioCharacter,r24 |
| 8679 4bd6 6091 0000 lds r22,FromNC_AltitudeSpeed |
| 8680 4bda 6623 tst r22 |
| 8681 4bdc 01F0 breq .L694 |
| 8682 4bde 2091 0000 lds r18,FromNC_AltitudeSetpoint |
| 8683 4be2 3091 0000 lds r19,(FromNC_AltitudeSetpoint)+1 |
| 8684 4be6 4091 0000 lds r20,(FromNC_AltitudeSetpoint)+2 |
| 8685 4bea 5091 0000 lds r21,(FromNC_AltitudeSetpoint)+3 |
| 8686 4bee 8091 0000 lds r24,SollHoehe |
| 8687 4bf2 9091 0000 lds r25,(SollHoehe)+1 |
| 8688 4bf6 A091 0000 lds r26,(SollHoehe)+2 |
| 8689 4bfa B091 0000 lds r27,(SollHoehe)+3 |
| 8690 4bfe 8217 cp r24,r18 |
| 8691 4c00 9307 cpc r25,r19 |
| 8692 4c02 A407 cpc r26,r20 |
| 8693 4c04 B507 cpc r27,r21 |
| 8694 4c06 04F4 brge .L694 |
| 8695 4c08 8091 0000 lds r24,FC_StatusFlags |
| 8696 4c0c 8064 ori r24,lo8(64) |
| 8697 4c0e 8093 0000 sts FC_StatusFlags,r24 |
| 8698 4c12 862F mov r24,r22 |
| 8699 4c14 9927 clr r25 |
| 8700 4c16 9093 0000 sts (AltitudeSetpointTrimming)+1,r25 |
| 8701 4c1a 8093 0000 sts AltitudeSetpointTrimming,r24 |
| 8702 4c1e 8AE0 ldi r24,lo8(10) |
| 8703 4c20 8093 0000 sts WaypointTrimming,r24 |
| 8704 4c24 8EE5 ldi r24,lo8(94) |
| 8705 4c26 8093 0000 sts VarioCharacter,r24 |
| 8706 4c2a 8091 0000 lds r24,FC_StatusFlags |
| 8707 4c2e 87FF sbrs r24,7 |
| 8708 4c30 00C0 rjmp .L689 |
| 8709 4c32 8091 0000 lds r24,FC_StatusFlags |
| 8710 4c36 8F77 andi r24,lo8(127) |
| 8711 4c38 00C0 rjmp .L905 |
| 8712 .L694: |
| 8713 4c3a 6623 tst r22 |
| 8714 4c3c 01F4 brne .+2 |
| 8715 4c3e 00C0 rjmp .L697 |
| 8716 4c40 2091 0000 lds r18,FromNC_AltitudeSetpoint |
| 8717 4c44 3091 0000 lds r19,(FromNC_AltitudeSetpoint)+1 |
| 8718 4c48 4091 0000 lds r20,(FromNC_AltitudeSetpoint)+2 |
| 8719 4c4c 5091 0000 lds r21,(FromNC_AltitudeSetpoint)+3 |
| 8720 4c50 8091 0000 lds r24,SollHoehe |
| 8721 4c54 9091 0000 lds r25,(SollHoehe)+1 |
| 8722 4c58 A091 0000 lds r26,(SollHoehe)+2 |
| 8723 4c5c B091 0000 lds r27,(SollHoehe)+3 |
| 8724 4c60 2817 cp r18,r24 |
| 8725 4c62 3907 cpc r19,r25 |
| 8726 4c64 4A07 cpc r20,r26 |
| 8727 4c66 5B07 cpc r21,r27 |
| 8728 4c68 04F4 brge .L697 |
| 8729 4c6a 8091 0000 lds r24,FC_StatusFlags |
| 8730 4c6e 8068 ori r24,lo8(-128) |
| 8731 4c70 8093 0000 sts FC_StatusFlags,r24 |
| 8732 4c74 862F mov r24,r22 |
| 8733 4c76 9927 clr r25 |
| 8734 4c78 9095 com r25 |
| 8735 4c7a 8195 neg r24 |
| 8736 4c7c 9F4F sbci r25,lo8(-1) |
| 8737 4c7e 9093 0000 sts (AltitudeSetpointTrimming)+1,r25 |
| 8738 4c82 8093 0000 sts AltitudeSetpointTrimming,r24 |
| 8739 4c86 86EF ldi r24,lo8(-10) |
| 8740 4c88 8093 0000 sts WaypointTrimming,r24 |
| 8741 4c8c 86E7 ldi r24,lo8(118) |
| 8742 4c8e 8093 0000 sts VarioCharacter,r24 |
| 8743 4c92 8091 0000 lds r24,FC_StatusFlags |
| 8744 4c96 86FF sbrs r24,6 |
| 8745 4c98 00C0 rjmp .L689 |
| 8746 4c9a 8091 0000 lds r24,FC_StatusFlags |
| 8747 4c9e 8F7B andi r24,lo8(-65) |
| 8748 .L905: |
| 8749 4ca0 8093 0000 sts FC_StatusFlags,r24 |
| 8750 4ca4 8091 0000 lds r24,HoehenWert |
| 8751 4ca8 9091 0000 lds r25,(HoehenWert)+1 |
| 8752 4cac A091 0000 lds r26,(HoehenWert)+2 |
| 8753 4cb0 B091 0000 lds r27,(HoehenWert)+3 |
| 8754 4cb4 8093 0000 sts SollHoehe,r24 |
| 8755 4cb8 9093 0000 sts (SollHoehe)+1,r25 |
| 8756 4cbc A093 0000 sts (SollHoehe)+2,r26 |
| 8757 4cc0 B093 0000 sts (SollHoehe)+3,r27 |
| 8758 4cc4 00C0 rjmp .L689 |
| 8759 .L697: |
| 8760 4cc6 8091 0000 lds r24,FC_StatusFlags |
| 8761 4cca 807C andi r24,lo8(-64) |
| 8762 4ccc 01F4 brne .+2 |
| 8763 4cce 00C0 rjmp .L689 |
| 8764 4cd0 8091 0000 lds r24,WaypointTrimming |
| 8765 4cd4 8823 tst r24 |
| 8766 4cd6 01F4 brne .L701 |
| 8767 4cd8 E090 0000 lds r14,HoehenWert |
| 8768 4cdc F090 0000 lds r15,(HoehenWert)+1 |
| 8769 4ce0 0091 0000 lds r16,(HoehenWert)+2 |
| 8770 4ce4 1091 0000 lds r17,(HoehenWert)+3 |
| 8771 4ce8 D801 movw r26,r16 |
| 8772 4cea C701 movw r24,r14 |
| 8773 4cec 8058 subi r24,lo8(-(-128)) |
| 8774 4cee 9040 sbci r25,hi8(-(-128)) |
| 8775 4cf0 A040 sbci r26,hlo8(-(-128)) |
| 8776 4cf2 B040 sbci r27,hhi8(-(-128)) |
| 8777 4cf4 2091 0000 lds r18,SollHoehe |
| 8778 4cf8 3091 0000 lds r19,(SollHoehe)+1 |
| 8779 4cfc 4091 0000 lds r20,(SollHoehe)+2 |
| 8780 4d00 5091 0000 lds r21,(SollHoehe)+3 |
| 8781 4d04 8217 cp r24,r18 |
| 8782 4d06 9307 cpc r25,r19 |
| 8783 4d08 A407 cpc r26,r20 |
| 8784 4d0a B507 cpc r27,r21 |
| 8785 4d0c 04F4 brge .L904 |
| 8786 4d0e D801 movw r26,r16 |
| 8787 4d10 C701 movw r24,r14 |
| 8788 4d12 8058 subi r24,lo8(-(128)) |
| 8789 4d14 9F4F sbci r25,hi8(-(128)) |
| 8790 4d16 AF4F sbci r26,hlo8(-(128)) |
| 8791 4d18 BF4F sbci r27,hhi8(-(128)) |
| 8792 4d1a 2817 cp r18,r24 |
| 8793 4d1c 3907 cpc r19,r25 |
| 8794 4d1e 4A07 cpc r20,r26 |
| 8795 4d20 5B07 cpc r21,r27 |
| 8796 4d22 04F0 brlt .L705 |
| 8797 .L904: |
| 8798 4d24 8093 0000 sts SollHoehe,r24 |
| 8799 4d28 9093 0000 sts (SollHoehe)+1,r25 |
| 8800 4d2c A093 0000 sts (SollHoehe)+2,r26 |
| 8801 4d30 B093 0000 sts (SollHoehe)+3,r27 |
| 8802 4d34 00C0 rjmp .L705 |
| 8803 .L701: |
| 8804 4d36 1092 0000 sts WaypointTrimming,__zero_reg__ |
| 8805 .L705: |
| 8806 4d3a 8091 0000 lds r24,FC_StatusFlags |
| 8807 4d3e 8F73 andi r24,lo8(63) |
| 8808 4d40 8093 0000 sts FC_StatusFlags,r24 |
| 8809 4d44 1092 0000 sts (HeightTrimming.21)+1,__zero_reg__ |
| 8810 4d48 1092 0000 sts HeightTrimming.21,__zero_reg__ |
| 8811 4d4c 71FF sbrs r23,1 |
| 8812 4d4e 00C0 rjmp .L706 |
| 8813 4d50 84EF ldi r24,lo8(500) |
| 8814 4d52 91E0 ldi r25,hi8(500) |
| 8815 4d54 9093 0000 sts (beeptime)+1,r25 |
| 8816 4d58 8093 0000 sts beeptime,r24 |
| 8817 .L706: |
| 8818 4d5c 8091 0000 lds r24,StartTrigger |
| 8819 4d60 8823 tst r24 |
| 8820 4d62 01F4 brne .L689 |
| 8821 4d64 8091 0000 lds r24,HoehenWert |
| 8822 4d68 9091 0000 lds r25,(HoehenWert)+1 |
| 8823 4d6c A091 0000 lds r26,(HoehenWert)+2 |
| 8824 4d70 B091 0000 lds r27,(HoehenWert)+3 |
| 8825 4d74 C397 sbiw r24,51 |
| 8826 4d76 A105 cpc r26,__zero_reg__ |
| 8827 4d78 B105 cpc r27,__zero_reg__ |
| 8828 4d7a 04F0 brlt .L689 |
| 8829 4d7c 81E0 ldi r24,lo8(1) |
| 8830 4d7e 8093 0000 sts StartTrigger,r24 |
| 8831 .L689: |
| 8832 4d82 6091 0000 lds r22,HeightTrimming.21 |
| 8833 4d86 7091 0000 lds r23,(HeightTrimming.21)+1 |
| 8834 4d8a 8091 0000 lds r24,AltitudeSetpointTrimming |
| 8835 4d8e 9091 0000 lds r25,(AltitudeSetpointTrimming)+1 |
| 8836 4d92 680F add r22,r24 |
| 8837 4d94 791F adc r23,r25 |
| 8838 4d96 7093 0000 sts (HeightTrimming.21)+1,r23 |
| 8839 4d9a 6093 0000 sts HeightTrimming.21,r22 |
| 8840 4d9e CB01 movw r24,r22 |
| 8841 4da0 77FF sbrs r23,7 |
| 8842 4da2 00C0 rjmp .L709 |
| 8843 4da4 8827 clr r24 |
| 8844 4da6 9927 clr r25 |
| 8845 4da8 861B sub r24,r22 |
| 8846 4daa 970B sbc r25,r23 |
| 8847 .L709: |
| 8848 4dac 855F subi r24,lo8(501) |
| 8849 4dae 9140 sbci r25,hi8(501) |
| 8850 4db0 04F4 brge .+2 |
| 8851 4db2 00C0 rjmp .L708 |
| 8852 4db4 4091 0000 lds r20,WaypointTrimming |
| 8853 4db8 4423 tst r20 |
| 8854 4dba 01F0 breq .L710 |
| 8855 4dbc 8091 0000 lds r24,FromNC_AltitudeSetpoint |
| 8856 4dc0 9091 0000 lds r25,(FromNC_AltitudeSetpoint)+1 |
| 8857 4dc4 2091 0000 lds r18,SollHoehe |
| 8858 4dc8 3091 0000 lds r19,(SollHoehe)+1 |
| 8859 4dcc 821B sub r24,r18 |
| 8860 4dce 930B sbc r25,r19 |
| 8861 4dd0 0996 adiw r24,9 |
| 8862 4dd2 4397 sbiw r24,19 |
| 8863 4dd4 00F4 brsh .L711 |
| 8864 4dd6 8091 0000 lds r24,FromNC_AltitudeSetpoint |
| 8865 4dda 9091 0000 lds r25,(FromNC_AltitudeSetpoint)+1 |
| 8866 4dde A091 0000 lds r26,(FromNC_AltitudeSetpoint)+2 |
| 8867 4de2 B091 0000 lds r27,(FromNC_AltitudeSetpoint)+3 |
| 8868 4de6 00C0 rjmp .L907 |
| 8869 .L711: |
| 8870 4de8 242F mov r18,r20 |
| 8871 4dea 3327 clr r19 |
| 8872 4dec 27FD sbrc r18,7 |
| 8873 4dee 3095 com r19 |
| 8874 4df0 432F mov r20,r19 |
| 8875 4df2 532F mov r21,r19 |
| 8876 4df4 8091 0000 lds r24,SollHoehe |
| 8877 4df8 9091 0000 lds r25,(SollHoehe)+1 |
| 8878 4dfc A091 0000 lds r26,(SollHoehe)+2 |
| 8879 4e00 B091 0000 lds r27,(SollHoehe)+3 |
| 8880 4e04 820F add r24,r18 |
| 8881 4e06 931F adc r25,r19 |
| 8882 4e08 A41F adc r26,r20 |
| 8883 4e0a B51F adc r27,r21 |
| 8884 .L907: |
| 8885 4e0c 8093 0000 sts SollHoehe,r24 |
| 8886 4e10 9093 0000 sts (SollHoehe)+1,r25 |
| 8887 4e14 A093 0000 sts (SollHoehe)+2,r26 |
| 8888 4e18 B093 0000 sts (SollHoehe)+3,r27 |
| 8889 4e1c 00C0 rjmp .L713 |
| 8890 .L710: |
| 8891 4e1e 8091 0000 lds r24,EE_Parameter+18 |
| 8892 4e22 2091 0000 lds r18,SollHoehe |
| 8893 4e26 3091 0000 lds r19,(SollHoehe)+1 |
| 8894 4e2a 4091 0000 lds r20,(SollHoehe)+2 |
| 8895 4e2e 5091 0000 lds r21,(SollHoehe)+3 |
| 8896 4e32 1616 cp __zero_reg__,r22 |
| 8897 4e34 1706 cpc __zero_reg__,r23 |
| 8898 4e36 04F4 brge .L714 |
| 8899 4e38 63E0 ldi r22,lo8(3) |
| 8900 4e3a 0E94 0000 call __udivmodqi4 |
| 8901 4e3e 280F add r18,r24 |
| 8902 4e40 311D adc r19,__zero_reg__ |
| 8903 4e42 411D adc r20,__zero_reg__ |
| 8904 4e44 511D adc r21,__zero_reg__ |
| 8905 4e46 00C0 rjmp .L906 |
| 8906 .L714: |
| 8907 4e48 63E0 ldi r22,lo8(3) |
| 8908 4e4a 0E94 0000 call __udivmodqi4 |
| 8909 4e4e 281B sub r18,r24 |
| 8910 4e50 3109 sbc r19,__zero_reg__ |
| 8911 4e52 4109 sbc r20,__zero_reg__ |
| 8912 4e54 5109 sbc r21,__zero_reg__ |
| 8913 .L906: |
| 8914 4e56 2093 0000 sts SollHoehe,r18 |
| 8915 4e5a 3093 0000 sts (SollHoehe)+1,r19 |
| 8916 4e5e 4093 0000 sts (SollHoehe)+2,r20 |
| 8917 4e62 5093 0000 sts (SollHoehe)+3,r21 |
| 8918 .L713: |
| 8919 4e66 1092 0000 sts (HeightTrimming.21)+1,__zero_reg__ |
| 8920 4e6a 1092 0000 sts HeightTrimming.21,__zero_reg__ |
| 8921 4e6e E090 0000 lds r14,HoehenWert |
| 8922 4e72 F090 0000 lds r15,(HoehenWert)+1 |
| 8923 4e76 0091 0000 lds r16,(HoehenWert)+2 |
| 8924 4e7a 1091 0000 lds r17,(HoehenWert)+3 |
| 8925 4e7e D801 movw r26,r16 |
| 8926 4e80 C701 movw r24,r14 |
| 8927 4e82 8050 subi r24,lo8(-(-1024)) |
| 8928 4e84 9440 sbci r25,hi8(-(-1024)) |
| 8929 4e86 A040 sbci r26,hlo8(-(-1024)) |
| 8930 4e88 B040 sbci r27,hhi8(-(-1024)) |
| 8931 4e8a 2091 0000 lds r18,SollHoehe |
| 8932 4e8e 3091 0000 lds r19,(SollHoehe)+1 |
| 8933 4e92 4091 0000 lds r20,(SollHoehe)+2 |
| 8934 4e96 5091 0000 lds r21,(SollHoehe)+3 |
| 8935 4e9a 8217 cp r24,r18 |
| 8936 4e9c 9307 cpc r25,r19 |
| 8937 4e9e A407 cpc r26,r20 |
| 8938 4ea0 B507 cpc r27,r21 |
| 8939 4ea2 04F4 brge .L908 |
| 8940 4ea4 D801 movw r26,r16 |
| 8941 4ea6 C701 movw r24,r14 |
| 8942 4ea8 8050 subi r24,lo8(-(1024)) |
| 8943 4eaa 9C4F sbci r25,hi8(-(1024)) |
| 8944 4eac AF4F sbci r26,hlo8(-(1024)) |
| 8945 4eae BF4F sbci r27,hhi8(-(1024)) |
| 8946 4eb0 2817 cp r18,r24 |
| 8947 4eb2 3907 cpc r19,r25 |
| 8948 4eb4 4A07 cpc r20,r26 |
| 8949 4eb6 5B07 cpc r21,r27 |
| 8950 4eb8 04F0 brlt .L717 |
| 8951 .L908: |
| 8952 4eba 8093 0000 sts SollHoehe,r24 |
| 8953 4ebe 9093 0000 sts (SollHoehe)+1,r25 |
| 8954 4ec2 A093 0000 sts (SollHoehe)+2,r26 |
| 8955 4ec6 B093 0000 sts (SollHoehe)+3,r27 |
| 8956 .L717: |
| 8957 4eca 8091 0000 lds r24,Parameter_ExtraConfig |
| 8958 4ece 81FF sbrs r24,1 |
| 8959 4ed0 00C0 rjmp .L719 |
| 8960 4ed2 84E6 ldi r24,lo8(100) |
| 8961 4ed4 90E0 ldi r25,hi8(100) |
| 8962 4ed6 9093 0000 sts (beeptime)+1,r25 |
| 8963 4eda 8093 0000 sts beeptime,r24 |
| 8964 .L719: |
| 8965 4ede 8091 0000 lds r24,EE_Parameter+22 |
| 8966 4ee2 8823 tst r24 |
| 8967 4ee4 01F4 brne .L708 |
| 8968 4ee6 8091 0000 lds r24,FromNC_AltitudeSpeed |
| 8969 4eea 8823 tst r24 |
| 8970 4eec 01F4 brne .L708 |
| 8971 4eee 4091 0000 lds r20,HoverGas |
| 8972 4ef2 5091 0000 lds r21,(HoverGas)+1 |
| 8973 4ef6 57FF sbrs r21,7 |
| 8974 4ef8 00C0 rjmp .L721 |
| 8975 4efa 4D5F subi r20,lo8(-(3)) |
| 8976 4efc 5F4F sbci r21,hi8(-(3)) |
| 8977 .L721: |
| 8978 4efe 5595 asr r21 |
| 8979 4f00 4795 ror r20 |
| 8980 4f02 5595 asr r21 |
| 8981 4f04 4795 ror r20 |
| 8982 4f06 8091 0000 lds r24,UBat |
| 8983 4f0a 9091 0000 lds r25,(UBat)+1 |
| 8984 4f0e 2091 0000 lds r18,BattLowVoltageWarning |
| 8985 4f12 3327 clr r19 |
| 8986 4f14 489F mul r20,r24 |
| 8987 4f16 F001 movw r30,r0 |
| 8988 4f18 499F mul r20,r25 |
| 8989 4f1a F00D add r31,r0 |
| 8990 4f1c 589F mul r21,r24 |
| 8991 4f1e F00D add r31,r0 |
| 8992 4f20 1124 clr r1 |
| 8993 4f22 CF01 movw r24,r30 |
| 8994 4f24 B901 movw r22,r18 |
| 8995 4f26 0E94 0000 call __divmodhi4 |
| 8996 4f2a 7093 0000 sts (StickGasHover)+1,r23 |
| 8997 4f2e 6093 0000 sts StickGasHover,r22 |
| 8998 4f32 6634 cpi r22,70 |
| 8999 4f34 7105 cpc r23,__zero_reg__ |
| 9000 4f36 04F4 brge .L722 |
| 9001 4f38 86E4 ldi r24,lo8(70) |
| 9002 4f3a 90E0 ldi r25,hi8(70) |
| 9003 4f3c 00C0 rjmp .L909 |
| 9004 .L722: |
| 9005 4f3e 6739 cpi r22,151 |
| 9006 4f40 7105 cpc r23,__zero_reg__ |
| 9007 4f42 04F0 brlt .L708 |
| 9008 4f44 86E9 ldi r24,lo8(150) |
| 9009 4f46 90E0 ldi r25,hi8(150) |
| 9010 .L909: |
| 9011 4f48 9093 0000 sts (StickGasHover)+1,r25 |
| 9012 4f4c 8093 0000 sts StickGasHover,r24 |
| 9013 .L708: |
| 9014 4f50 8091 0000 lds r24,BaroExpandActive |
| 9015 4f54 9091 0000 lds r25,(BaroExpandActive)+1 |
| 9016 4f58 892B or r24,r25 |
| 9017 4f5a 01F0 breq .L726 |
| 9018 4f5c 8091 0000 lds r24,HoehenWert |
| 9019 4f60 9091 0000 lds r25,(HoehenWert)+1 |
| 9020 4f64 A091 0000 lds r26,(HoehenWert)+2 |
| 9021 4f68 B091 0000 lds r27,(HoehenWert)+3 |
| 9022 4f6c 8093 0000 sts SollHoehe,r24 |
| 9023 4f70 9093 0000 sts (SollHoehe)+1,r25 |
| 9024 4f74 A093 0000 sts (SollHoehe)+2,r26 |
| 9025 4f78 B093 0000 sts (SollHoehe)+3,r27 |
| 9026 4f7c 00C0 rjmp .L726 |
| 9027 .L683: |
| 9028 4f7e 8091 0000 lds r24,HoehenWert |
| 9029 4f82 9091 0000 lds r25,(HoehenWert)+1 |
| 9030 4f86 A091 0000 lds r26,(HoehenWert)+2 |
| 9031 4f8a B091 0000 lds r27,(HoehenWert)+3 |
| 9032 4f8e 8059 subi r24,lo8(-(-400)) |
| 9033 4f90 9140 sbci r25,hi8(-(-400)) |
| 9034 4f92 A040 sbci r26,hlo8(-(-400)) |
| 9035 4f94 B040 sbci r27,hhi8(-(-400)) |
| 9036 4f96 8093 0000 sts SollHoehe,r24 |
| 9037 4f9a 9093 0000 sts (SollHoehe)+1,r25 |
| 9038 4f9e A093 0000 sts (SollHoehe)+2,r26 |
| 9039 4fa2 B093 0000 sts (SollHoehe)+3,r27 |
| 9040 4fa6 8091 0000 lds r24,EE_Parameter+22 |
| 9041 4faa 8823 tst r24 |
| 9042 4fac 01F0 breq .L727 |
| 9043 4fae 9927 clr r25 |
| 9044 4fb0 00C0 rjmp .L910 |
| 9045 .L727: |
| 9046 4fb2 88E7 ldi r24,lo8(120) |
| 9047 4fb4 90E0 ldi r25,hi8(120) |
| 9048 .L910: |
| 9049 4fb6 9093 0000 sts (StickGasHover)+1,r25 |
| 9050 4fba 8093 0000 sts StickGasHover,r24 |
| 9051 4fbe E980 ldd r14,Y+1 |
| 9052 4fc0 FA80 ldd r15,Y+2 |
| 9053 4fc2 F092 0000 sts (HoverGas)+1,r15 |
| 9054 4fc6 E092 0000 sts HoverGas,r14 |
| 9055 4fca 8EE2 ldi r24,lo8(46) |
| 9056 4fcc 8093 0000 sts VarioCharacter,r24 |
| 9057 .L726: |
| 9058 4fd0 C090 0000 lds r12,HoverGas |
| 9059 4fd4 D090 0000 lds r13,(HoverGas)+1 |
| 9060 .L682: |
| 9061 4fd8 E090 0000 lds r14,HoehenWert |
| 9062 4fdc F090 0000 lds r15,(HoehenWert)+1 |
| 9063 4fe0 0091 0000 lds r16,(HoehenWert)+2 |
| 9064 4fe4 1091 0000 lds r17,(HoehenWert)+3 |
| 9065 4fe8 2091 0000 lds r18,SollHoehe |
| 9066 4fec 3091 0000 lds r19,(SollHoehe)+1 |
| 9067 4ff0 4091 0000 lds r20,(SollHoehe)+2 |
| 9068 4ff4 5091 0000 lds r21,(SollHoehe)+3 |
| 9069 4ff8 2E15 cp r18,r14 |
| 9070 4ffa 3F05 cpc r19,r15 |
| 9071 4ffc 4007 cpc r20,r16 |
| 9072 4ffe 5107 cpc r21,r17 |
| 9073 5000 04F0 brlt .L730 |
| 9074 5002 8091 0000 lds r24,Parameter_ExtraConfig |
| 9075 5006 80FD sbrc r24,0 |
| 9076 5008 00C0 rjmp .L788 |
| 9077 .L730: |
| 9078 500a 8091 0000 lds r24,BaroExpandActive |
| 9079 500e 9091 0000 lds r25,(BaroExpandActive)+1 |
| 9080 5012 892B or r24,r25 |
| 9081 5014 01F0 breq .L731 |
| 9082 5016 C090 0000 lds r12,HoverGas |
| 9083 501a D090 0000 lds r13,(HoverGas)+1 |
| 9084 501e 00E0 ldi r16,lo8(0) |
| 9085 5020 10E0 ldi r17,hi8(0) |
| 9086 5022 00C0 rjmp .L732 |
| 9087 .L731: |
| 9088 5024 D801 movw r26,r16 |
| 9089 5026 C701 movw r24,r14 |
| 9090 5028 821B sub r24,r18 |
| 9091 502a 930B sbc r25,r19 |
| 9092 502c A40B sbc r26,r20 |
| 9093 502e B50B sbc r27,r21 |
| 9094 5030 8093 0000 sts tmp_long.1,r24 |
| 9095 5034 9093 0000 sts (tmp_long.1)+1,r25 |
| 9096 5038 A093 0000 sts (tmp_long.1)+2,r26 |
| 9097 503c B093 0000 sts (tmp_long.1)+3,r27 |
| 9098 5040 8230 cpi r24,lo8(-32766) |
| 9099 5042 00E8 ldi r16,hi8(-32766) |
| 9100 5044 9007 cpc r25,r16 |
| 9101 5046 0FEF ldi r16,hlo8(-32766) |
| 9102 5048 A007 cpc r26,r16 |
| 9103 504a 0FEF ldi r16,hhi8(-32766) |
| 9104 504c B007 cpc r27,r16 |
| 9105 504e 04F4 brge .L733 |
| 9106 5050 81E0 ldi r24,lo8(-32767) |
| 9107 5052 90E8 ldi r25,hi8(-32767) |
| 9108 5054 AFEF ldi r26,hlo8(-32767) |
| 9109 5056 BFEF ldi r27,hhi8(-32767) |
| 9110 5058 00C0 rjmp .L911 |
| 9111 .L733: |
| 9112 505a 8F5F subi r24,lo8(32767) |
| 9113 505c 9F47 sbci r25,hi8(32767) |
| 9114 505e A040 sbci r26,hlo8(32767) |
| 9115 5060 B040 sbci r27,hhi8(32767) |
| 9116 5062 04F0 brlt .L734 |
| 9117 5064 8FEF ldi r24,lo8(32767) |
| 9118 5066 9FE7 ldi r25,hi8(32767) |
| 9119 5068 A0E0 ldi r26,hlo8(32767) |
| 9120 506a B0E0 ldi r27,hhi8(32767) |
| 9121 .L911: |
| 9122 506c 8093 0000 sts tmp_long.1,r24 |
| 9123 5070 9093 0000 sts (tmp_long.1)+1,r25 |
| 9124 5074 A093 0000 sts (tmp_long.1)+2,r26 |
| 9125 5078 B093 0000 sts (tmp_long.1)+3,r27 |
| 9126 .L734: |
| 9127 507c 0091 0000 lds r16,tmp_long.1 |
| 9128 5080 1091 0000 lds r17,(tmp_long.1)+1 |
| 9129 5084 8091 0000 lds r24,Parameter_Hoehe_P |
| 9130 5088 282F mov r18,r24 |
| 9131 508a 3327 clr r19 |
| 9132 508c 4427 clr r20 |
| 9133 508e 5527 clr r21 |
| 9134 5090 8091 0000 lds r24,tmp_long.1 |
| 9135 5094 9091 0000 lds r25,(tmp_long.1)+1 |
| 9136 5098 A091 0000 lds r26,(tmp_long.1)+2 |
| 9137 509c B091 0000 lds r27,(tmp_long.1)+3 |
| 9138 50a0 BC01 movw r22,r24 |
| 9139 50a2 CD01 movw r24,r26 |
| 9140 50a4 0E94 0000 call __mulsi3 |
| 9141 50a8 97FF sbrs r25,7 |
| 9142 50aa 00C0 rjmp .L736 |
| 9143 50ac 615E subi r22,lo8(-(31)) |
| 9144 50ae 7F4F sbci r23,hi8(-(31)) |
| 9145 50b0 8F4F sbci r24,hlo8(-(31)) |
| 9146 50b2 9F4F sbci r25,hhi8(-(31)) |
| 9147 .L736: |
| 9148 50b4 25E0 ldi r18,5 |
| 9149 50b6 9595 1: asr r25 |
| 9150 50b8 8795 ror r24 |
| 9151 50ba 7795 ror r23 |
| 9152 50bc 6795 ror r22 |
| 9153 50be 2A95 dec r18 |
| 9154 50c0 01F4 brne 1b |
| 9155 50c2 6093 0000 sts tmp_long.1,r22 |
| 9156 50c6 7093 0000 sts (tmp_long.1)+1,r23 |
| 9157 50ca 8093 0000 sts (tmp_long.1)+2,r24 |
| 9158 50ce 9093 0000 sts (tmp_long.1)+3,r25 |
| 9159 50d2 6530 cpi r22,lo8(-507) |
| 9160 50d4 2EEF ldi r18,hi8(-507) |
| 9161 50d6 7207 cpc r23,r18 |
| 9162 50d8 2FEF ldi r18,hlo8(-507) |
| 9163 50da 8207 cpc r24,r18 |
| 9164 50dc 2FEF ldi r18,hhi8(-507) |
| 9165 50de 9207 cpc r25,r18 |
| 9166 50e0 04F4 brge .L737 |
| 9167 50e2 84E0 ldi r24,lo8(-508) |
| 9168 50e4 9EEF ldi r25,hi8(-508) |
| 9169 50e6 AFEF ldi r26,hlo8(-508) |
| 9170 50e8 BFEF ldi r27,hhi8(-508) |
| 9171 50ea 00C0 rjmp .L912 |
| 9172 .L737: |
| 9173 50ec 6050 subi r22,lo8(1024) |
| 9174 50ee 7440 sbci r23,hi8(1024) |
| 9175 50f0 8040 sbci r24,hlo8(1024) |
| 9176 50f2 9040 sbci r25,hhi8(1024) |
| 9177 50f4 04F0 brlt .L738 |
| 9178 50f6 80E0 ldi r24,lo8(1024) |
| 9179 50f8 94E0 ldi r25,hi8(1024) |
| 9180 50fa A0E0 ldi r26,hlo8(1024) |
| 9181 50fc B0E0 ldi r27,hhi8(1024) |
| 9182 .L912: |
| 9183 50fe 8093 0000 sts tmp_long.1,r24 |
| 9184 5102 9093 0000 sts (tmp_long.1)+1,r25 |
| 9185 5106 A093 0000 sts (tmp_long.1)+2,r26 |
| 9186 510a B093 0000 sts (tmp_long.1)+3,r27 |
| 9187 .L738: |
| 9188 510e 8090 0000 lds r8,tmp_long.1 |
| 9189 5112 9090 0000 lds r9,(tmp_long.1)+1 |
| 9190 5116 2091 0000 lds r18,VarioMeter |
| 9191 511a 3091 0000 lds r19,(VarioMeter)+1 |
| 9192 511e 37FF sbrs r19,7 |
| 9193 5120 00C0 rjmp .L740 |
| 9194 5122 295F subi r18,lo8(-(7)) |
| 9195 5124 3F4F sbci r19,hi8(-(7)) |
| 9196 .L740: |
| 9197 5126 83E0 ldi r24,3 |
| 9198 5128 3595 1: asr r19 |
| 9199 512a 2795 ror r18 |
| 9200 512c 8A95 dec r24 |
| 9201 512e 01F4 brne 1b |
| 9202 5130 4FEF ldi r20,hi8(-126) |
| 9203 5132 2238 cpi r18,lo8(-126) |
| 9204 5134 3407 cpc r19,r20 |
| 9205 5136 04F4 brge .L741 |
| 9206 5138 21E8 ldi r18,lo8(-127) |
| 9207 513a 3FEF ldi r19,hi8(-127) |
| 9208 513c 00C0 rjmp .L742 |
| 9209 .L741: |
| 9210 513e 2038 cpi r18,128 |
| 9211 5140 3105 cpc r19,__zero_reg__ |
| 9212 5142 04F0 brlt .L742 |
| 9213 5144 20E8 ldi r18,lo8(128) |
| 9214 5146 30E0 ldi r19,hi8(128) |
| 9215 .L742: |
| 9216 5148 C901 movw r24,r18 |
| 9217 514a AA27 clr r26 |
| 9218 514c 97FD sbrc r25,7 |
| 9219 514e A095 com r26 |
| 9220 5150 BA2F mov r27,r26 |
| 9221 5152 2091 0000 lds r18,Parameter_Luftdruck_D |
| 9222 5156 3327 clr r19 |
| 9223 5158 4427 clr r20 |
| 9224 515a 5527 clr r21 |
| 9225 515c BC01 movw r22,r24 |
| 9226 515e CD01 movw r24,r26 |
| 9227 5160 0E94 0000 call __mulsi3 |
| 9228 5164 97FF sbrs r25,7 |
| 9229 5166 00C0 rjmp .L744 |
| 9230 5168 6D5F subi r22,lo8(-(3)) |
| 9231 516a 7F4F sbci r23,hi8(-(3)) |
| 9232 516c 8F4F sbci r24,hlo8(-(3)) |
| 9233 516e 9F4F sbci r25,hhi8(-(3)) |
| 9234 .L744: |
| 9235 5170 B2E0 ldi r27,2 |
| 9236 5172 9595 1: asr r25 |
| 9237 5174 8795 ror r24 |
| 9238 5176 7795 ror r23 |
| 9239 5178 6795 ror r22 |
| 9240 517a BA95 dec r27 |
| 9241 517c 01F4 brne 1b |
| 9242 517e 9B01 movw r18,r22 |
| 9243 5180 5FEF ldi r21,hi8(-255) |
| 9244 5182 6130 cpi r22,lo8(-255) |
| 9245 5184 7507 cpc r23,r21 |
| 9246 5186 04F4 brge .L745 |
| 9247 5188 20E0 ldi r18,lo8(-256) |
| 9248 518a 3FEF ldi r19,hi8(-256) |
| 9249 518c 00C0 rjmp .L746 |
| 9250 .L745: |
| 9251 518e 6F3F cpi r22,255 |
| 9252 5190 7105 cpc r23,__zero_reg__ |
| 9253 5192 01F0 breq .L746 |
| 9254 5194 04F0 brlt .L746 |
| 9255 5196 20E0 ldi r18,lo8(256) |
| 9256 5198 31E0 ldi r19,hi8(256) |
| 9257 .L746: |
| 9258 519a 8091 0000 lds r24,FC_StatusFlags |
| 9259 519e 807C andi r24,lo8(-64) |
| 9260 51a0 01F0 breq .L748 |
| 9261 51a2 C901 movw r24,r18 |
| 9262 51a4 37FD sbrc r19,7 |
| 9263 51a6 0396 adiw r24,3 |
| 9264 .L749: |
| 9265 51a8 9C01 movw r18,r24 |
| 9266 51aa 3595 asr r19 |
| 9267 51ac 2795 ror r18 |
| 9268 51ae 3595 asr r19 |
| 9269 51b0 2795 ror r18 |
| 9270 51b2 00C0 rjmp .L750 |
| 9271 .L748: |
| 9272 51b4 8091 0000 lds r24,Parameter_ExtraConfig |
| 9273 51b8 80FF sbrs r24,0 |
| 9274 51ba 00C0 rjmp .L750 |
| 9275 51bc C901 movw r24,r18 |
| 9276 51be 37FD sbrc r19,7 |
| 9277 51c0 0796 adiw r24,7 |
| 9278 .L752: |
| 9279 51c2 9C01 movw r18,r24 |
| 9280 51c4 F3E0 ldi r31,3 |
| 9281 51c6 3595 1: asr r19 |
| 9282 51c8 2795 ror r18 |
| 9283 51ca FA95 dec r31 |
| 9284 51cc 01F4 brne 1b |
| 9285 .L750: |
| 9286 51ce 820E add r8,r18 |
| 9287 51d0 931E adc r9,r19 |
| 9288 .L732: |
| 9289 51d2 2091 0000 lds r18,Parameter_Hoehe_ACC_Wirkung |
| 9290 51d6 2223 tst r18 |
| 9291 51d8 01F4 brne .+2 |
| 9292 51da 00C0 rjmp .L753 |
| 9293 51dc 6091 0000 lds r22,Mess_Integral_Hoch |
| 9294 51e0 7091 0000 lds r23,(Mess_Integral_Hoch)+1 |
| 9295 51e4 8091 0000 lds r24,(Mess_Integral_Hoch)+2 |
| 9296 51e8 9091 0000 lds r25,(Mess_Integral_Hoch)+3 |
| 9297 51ec 97FF sbrs r25,7 |
| 9298 51ee 00C0 rjmp .L754 |
| 9299 51f0 6158 subi r22,lo8(-(127)) |
| 9300 51f2 7F4F sbci r23,hi8(-(127)) |
| 9301 51f4 8F4F sbci r24,hlo8(-(127)) |
| 9302 51f6 9F4F sbci r25,hhi8(-(127)) |
| 9303 .L754: |
| 9304 51f8 E7E0 ldi r30,7 |
| 9305 51fa 9595 1: asr r25 |
| 9306 51fc 8795 ror r24 |
| 9307 51fe 7795 ror r23 |
| 9308 5200 6795 ror r22 |
| 9309 5202 EA95 dec r30 |
| 9310 5204 01F4 brne 1b |
| 9311 5206 3327 clr r19 |
| 9312 5208 4427 clr r20 |
| 9313 520a 5527 clr r21 |
| 9314 520c 0E94 0000 call __mulsi3 |
| 9315 5210 97FF sbrs r25,7 |
| 9316 5212 00C0 rjmp .L755 |
| 9317 5214 615E subi r22,lo8(-(31)) |
| 9318 5216 7F4F sbci r23,hi8(-(31)) |
| 9319 5218 8F4F sbci r24,hlo8(-(31)) |
| 9320 521a 9F4F sbci r25,hhi8(-(31)) |
| 9321 .L755: |
| 9322 521c 55E0 ldi r21,5 |
| 9323 521e 9595 1: asr r25 |
| 9324 5220 8795 ror r24 |
| 9325 5222 7795 ror r23 |
| 9326 5224 6795 ror r22 |
| 9327 5226 5A95 dec r21 |
| 9328 5228 01F4 brne 1b |
| 9329 522a 6093 0000 sts tmp_long.1,r22 |
| 9330 522e 7093 0000 sts (tmp_long.1)+1,r23 |
| 9331 5232 8093 0000 sts (tmp_long.1)+2,r24 |
| 9332 5236 9093 0000 sts (tmp_long.1)+3,r25 |
| 9333 523a 6138 cpi r22,lo8(-127) |
| 9334 523c AFEF ldi r26,hi8(-127) |
| 9335 523e 7A07 cpc r23,r26 |
| 9336 5240 AFEF ldi r26,hlo8(-127) |
| 9337 5242 8A07 cpc r24,r26 |
| 9338 5244 AFEF ldi r26,hhi8(-127) |
| 9339 5246 9A07 cpc r25,r26 |
| 9340 5248 04F4 brge .L756 |
| 9341 524a 80E8 ldi r24,lo8(-128) |
| 9342 524c 9FEF ldi r25,hi8(-128) |
| 9343 524e AFEF ldi r26,hlo8(-128) |
| 9344 5250 BFEF ldi r27,hhi8(-128) |
| 9345 5252 00C0 rjmp .L913 |
| 9346 .L756: |
| 9347 5254 6F3F cpi r22,lo8(255) |
| 9348 5256 7105 cpc r23,__zero_reg__ |
| 9349 5258 8105 cpc r24,__zero_reg__ |
| 9350 525a 9105 cpc r25,__zero_reg__ |
| 9351 525c 01F0 breq .L757 |
| 9352 525e 04F0 brlt .L757 |
| 9353 5260 80E0 ldi r24,lo8(256) |
| 9354 5262 91E0 ldi r25,hi8(256) |
| 9355 5264 A0E0 ldi r26,hlo8(256) |
| 9356 5266 B0E0 ldi r27,hhi8(256) |
| 9357 .L913: |
| 9358 5268 8093 0000 sts tmp_long.1,r24 |
| 9359 526c 9093 0000 sts (tmp_long.1)+1,r25 |
| 9360 5270 A093 0000 sts (tmp_long.1)+2,r26 |
| 9361 5274 B093 0000 sts (tmp_long.1)+3,r27 |
| 9362 .L757: |
| 9363 5278 8091 0000 lds r24,tmp_long.1 |
| 9364 527c 9091 0000 lds r25,(tmp_long.1)+1 |
| 9365 5280 880E add r8,r24 |
| 9366 5282 991E adc r9,r25 |
| 9367 .L753: |
| 9368 5284 8091 0000 lds r24,Parameter_Hoehe_GPS_Z |
| 9369 5288 282F mov r18,r24 |
| 9370 528a 3327 clr r19 |
| 9371 528c 8091 0000 lds r24,FromNaviCtrl_Value+4 |
| 9372 5290 9927 clr r25 |
| 9373 5292 87FD sbrc r24,7 |
| 9374 5294 9095 com r25 |
| 9375 5296 289F mul r18,r24 |
| 9376 5298 F001 movw r30,r0 |
| 9377 529a 299F mul r18,r25 |
| 9378 529c F00D add r31,r0 |
| 9379 529e 389F mul r19,r24 |
| 9380 52a0 F00D add r31,r0 |
| 9381 52a2 1124 clr r1 |
| 9382 52a4 9F01 movw r18,r30 |
| 9383 52a6 F7FF sbrs r31,7 |
| 9384 52a8 00C0 rjmp .L759 |
| 9385 52aa 2158 subi r18,lo8(-(127)) |
| 9386 52ac 3F4F sbci r19,hi8(-(127)) |
| 9387 .L759: |
| 9388 52ae 220F lsl r18 |
| 9389 52b0 232F mov r18,r19 |
| 9390 52b2 221F rol r18 |
| 9391 52b4 330B sbc r19,r19 |
| 9392 52b6 FFEF ldi r31,hi8(-127) |
| 9393 52b8 2138 cpi r18,lo8(-127) |
| 9394 52ba 3F07 cpc r19,r31 |
| 9395 52bc 04F4 brge .L760 |
| 9396 52be 20E8 ldi r18,lo8(-128) |
| 9397 52c0 3FEF ldi r19,hi8(-128) |
| 9398 52c2 00C0 rjmp .L761 |
| 9399 .L760: |
| 9400 52c4 2F3F cpi r18,255 |
| 9401 52c6 3105 cpc r19,__zero_reg__ |
| 9402 52c8 01F0 breq .L761 |
| 9403 52ca 04F0 brlt .L761 |
| 9404 52cc 20E0 ldi r18,lo8(256) |
| 9405 52ce 31E0 ldi r19,hi8(256) |
| 9406 .L761: |
| 9407 52d0 820E add r8,r18 |
| 9408 52d2 931E adc r9,r19 |
| 9409 52d4 C401 movw r24,r8 |
| 9410 52d6 AA27 clr r26 |
| 9411 52d8 97FD sbrc r25,7 |
| 9412 52da A095 com r26 |
| 9413 52dc BA2F mov r27,r26 |
| 9414 52de E090 0000 lds r14,HoverGas |
| 9415 52e2 F090 0000 lds r15,(HoverGas)+1 |
| 9416 52e6 9701 movw r18,r14 |
| 9417 52e8 4427 clr r20 |
| 9418 52ea 37FD sbrc r19,7 |
| 9419 52ec 4095 com r20 |
| 9420 52ee 542F mov r21,r20 |
| 9421 52f0 BC01 movw r22,r24 |
| 9422 52f2 CD01 movw r24,r26 |
| 9423 52f4 0E94 0000 call __mulsi3 |
| 9424 52f8 97FF sbrs r25,7 |
| 9425 52fa 00C0 rjmp .L763 |
| 9426 52fc 6150 subi r22,lo8(-(511)) |
| 9427 52fe 7E4F sbci r23,hi8(-(511)) |
| 9428 5300 8F4F sbci r24,hlo8(-(511)) |
| 9429 5302 9F4F sbci r25,hhi8(-(511)) |
| 9430 .L763: |
| 9431 5304 29E0 ldi r18,9 |
| 9432 5306 9595 1: asr r25 |
| 9433 5308 8795 ror r24 |
| 9434 530a 7795 ror r23 |
| 9435 530c 6795 ror r22 |
| 9436 530e 2A95 dec r18 |
| 9437 5310 01F4 brne 1b |
| 9438 5312 C61A sub r12,r22 |
| 9439 5314 D70A sbc r13,r23 |
| 9440 5316 8091 0000 lds r24,AltitudeSetpointTrimming |
| 9441 531a 9091 0000 lds r25,(AltitudeSetpointTrimming)+1 |
| 9442 531e 892B or r24,r25 |
| 9443 5320 01F0 breq .+2 |
| 9444 5322 00C0 rjmp .L764 |
| 9445 5324 1E14 cp __zero_reg__,r14 |
| 9446 5326 1F04 cpc __zero_reg__,r15 |
| 9447 5328 04F0 brlt .+2 |
| 9448 532a 00C0 rjmp .L764 |
| 9449 532c 9801 movw r18,r16 |
| 9450 532e 17FF sbrs r17,7 |
| 9451 5330 00C0 rjmp .L765 |
| 9452 5332 3095 com r19 |
| 9453 5334 2195 neg r18 |
| 9454 5336 3F4F sbci r19,lo8(-1) |
| 9455 .L765: |
| 9456 5338 2D33 cpi r18,61 |
| 9457 533a 3105 cpc r19,__zero_reg__ |
| 9458 533c 00F4 brsh .L766 |
| 9459 533e 8091 0000 lds r24,HoverGasMin |
| 9460 5342 9091 0000 lds r25,(HoverGasMin)+1 |
| 9461 5346 8C15 cp r24,r12 |
| 9462 5348 9D05 cpc r25,r13 |
| 9463 534a 04F4 brge .L915 |
| 9464 534c 00C0 rjmp .L924 |
| 9465 .L766: |
| 9466 534e 2C53 subi r18,lo8(-(-60)) |
| 9467 5350 3040 sbci r19,hi8(-(-60)) |
| 9468 5352 85E0 ldi r24,5 |
| 9469 5354 3695 1: lsr r19 |
| 9470 5356 2795 ror r18 |
| 9471 5358 8A95 dec r24 |
| 9472 535a 01F4 brne 1b |
| 9473 535c 2031 cpi r18,16 |
| 9474 535e 3105 cpc r19,__zero_reg__ |
| 9475 5360 00F0 brlo .L771 |
| 9476 5362 2FE0 ldi r18,lo8(15) |
| 9477 5364 30E0 ldi r19,hi8(15) |
| 9478 .L771: |
| 9479 5366 4091 0000 lds r20,HoverGasMin |
| 9480 536a 5091 0000 lds r21,(HoverGasMin)+1 |
| 9481 536e 1016 cp __zero_reg__,r16 |
| 9482 5370 1106 cpc __zero_reg__,r17 |
| 9483 5372 04F4 brge .L772 |
| 9484 5374 80E1 ldi r24,lo8(16) |
| 9485 5376 90E0 ldi r25,hi8(16) |
| 9486 5378 821B sub r24,r18 |
| 9487 537a 930B sbc r25,r19 |
| 9488 537c 489F mul r20,r24 |
| 9489 537e 9001 movw r18,r0 |
| 9490 5380 499F mul r20,r25 |
| 9491 5382 300D add r19,r0 |
| 9492 5384 589F mul r21,r24 |
| 9493 5386 300D add r19,r0 |
| 9494 5388 1124 clr r1 |
| 9495 538a B4E0 ldi r27,4 |
| 9496 538c 3695 1: lsr r19 |
| 9497 538e 2795 ror r18 |
| 9498 5390 BA95 dec r27 |
| 9499 5392 01F4 brne 1b |
| 9500 5394 2C15 cp r18,r12 |
| 9501 5396 3D05 cpc r19,r13 |
| 9502 5398 00F4 brsh .L914 |
| 9503 .L924: |
| 9504 539a 8091 0000 lds r24,HoverGasMax |
| 9505 539e 9091 0000 lds r25,(HoverGasMax)+1 |
| 9506 53a2 C816 cp r12,r24 |
| 9507 53a4 D906 cpc r13,r25 |
| 9508 53a6 04F0 brlt .L764 |
| 9509 .L915: |
| 9510 53a8 6C01 movw r12,r24 |
| 9511 53aa 00C0 rjmp .L764 |
| 9512 .L772: |
| 9513 53ac 205F subi r18,lo8(-(16)) |
| 9514 53ae 3F4F sbci r19,hi8(-(16)) |
| 9515 53b0 8091 0000 lds r24,HoverGasMax |
| 9516 53b4 9091 0000 lds r25,(HoverGasMax)+1 |
| 9517 53b8 829F mul r24,r18 |
| 9518 53ba 8001 movw r16,r0 |
| 9519 53bc 839F mul r24,r19 |
| 9520 53be 100D add r17,r0 |
| 9521 53c0 929F mul r25,r18 |
| 9522 53c2 100D add r17,r0 |
| 9523 53c4 1124 clr r1 |
| 9524 53c6 9801 movw r18,r16 |
| 9525 53c8 A4E0 ldi r26,4 |
| 9526 53ca 3695 1: lsr r19 |
| 9527 53cc 2795 ror r18 |
| 9528 53ce AA95 dec r26 |
| 9529 53d0 01F4 brne 1b |
| 9530 53d2 4C15 cp r20,r12 |
| 9531 53d4 5D05 cpc r21,r13 |
| 9532 53d6 04F0 brlt .L777 |
| 9533 53d8 6A01 movw r12,r20 |
| 9534 53da 00C0 rjmp .L764 |
| 9535 .L777: |
| 9536 53dc C216 cp r12,r18 |
| 9537 53de D306 cpc r13,r19 |
| 9538 53e0 00F0 brlo .L764 |
| 9539 .L914: |
| 9540 53e2 6901 movw r12,r18 |
| 9541 .L764: |
| 9542 53e4 C601 movw r24,r12 |
| 9543 53e6 AA27 clr r26 |
| 9544 53e8 97FD sbrc r25,7 |
| 9545 53ea A095 com r26 |
| 9546 53ec BA2F mov r27,r26 |
| 9547 53ee FDE0 ldi r31,13 |
| 9548 53f0 880F 1: lsl r24 |
| 9549 53f2 991F rol r25 |
| 9550 53f4 AA1F rol r26 |
| 9551 53f6 BB1F rol r27 |
| 9552 53f8 FA95 dec r31 |
| 9553 53fa 01F4 brne 1b |
| 9554 53fc 9501 movw r18,r10 |
| 9555 53fe 4427 clr r20 |
| 9556 5400 37FD sbrc r19,7 |
| 9557 5402 4095 com r20 |
| 9558 5404 542F mov r21,r20 |
| 9559 5406 BC01 movw r22,r24 |
| 9560 5408 CD01 movw r24,r26 |
| 9561 540a 0E94 0000 call __divmodsi4 |
| 9562 540e 2093 0000 sts tmp_long2.2,r18 |
| 9563 5412 3093 0000 sts (tmp_long2.2)+1,r19 |
| 9564 5416 4093 0000 sts (tmp_long2.2)+2,r20 |
| 9565 541a 5093 0000 sts (tmp_long2.2)+3,r21 |
| 9566 541e C090 0000 lds r12,tmp_long2.2 |
| 9567 5422 D090 0000 lds r13,(tmp_long2.2)+1 |
| 9568 5426 8091 0000 lds r24,FilterHCGas.22 |
| 9569 542a 9091 0000 lds r25,(FilterHCGas.22)+1 |
| 9570 542e 9C01 movw r18,r24 |
| 9571 5430 220F lsl r18 |
| 9572 5432 331F rol r19 |
| 9573 5434 280F add r18,r24 |
| 9574 5436 391F adc r19,r25 |
| 9575 5438 2C0D add r18,r12 |
| 9576 543a 3D1D adc r19,r13 |
| 9577 543c 37FF sbrs r19,7 |
| 9578 543e 00C0 rjmp .L780 |
| 9579 5440 2D5F subi r18,lo8(-(3)) |
| 9580 5442 3F4F sbci r19,hi8(-(3)) |
| 9581 .L780: |
| 9582 5444 A901 movw r20,r18 |
| 9583 5446 5595 asr r21 |
| 9584 5448 4795 ror r20 |
| 9585 544a 5595 asr r21 |
| 9586 544c 4795 ror r20 |
| 9587 544e 5093 0000 sts (FilterHCGas.22)+1,r21 |
| 9588 5452 4093 0000 sts FilterHCGas.22,r20 |
| 9589 5456 8091 0000 lds r24,EE_Parameter+14 |
| 9590 545a 282F mov r18,r24 |
| 9591 545c 3327 clr r19 |
| 9592 545e 220F lsl r18 |
| 9593 5460 331F rol r19 |
| 9594 5462 220F lsl r18 |
| 9595 5464 331F rol r19 |
| 9596 5466 2417 cp r18,r20 |
| 9597 5468 3507 cpc r19,r21 |
| 9598 546a 04F4 brge .L916 |
| 9599 546c 8091 0000 lds r24,MAX_GAS |
| 9600 5470 282F mov r18,r24 |
| 9601 5472 3327 clr r19 |
| 9602 5474 220F lsl r18 |
| 9603 5476 331F rol r19 |
| 9604 5478 220F lsl r18 |
| 9605 547a 331F rol r19 |
| 9606 547c 2055 subi r18,lo8(-(-80)) |
| 9607 547e 3040 sbci r19,hi8(-(-80)) |
| 9608 5480 4217 cp r20,r18 |
| 9609 5482 5307 cpc r21,r19 |
| 9610 5484 04F0 brlt .L782 |
| 9611 .L916: |
| 9612 5486 3093 0000 sts (FilterHCGas.22)+1,r19 |
| 9613 548a 2093 0000 sts FilterHCGas.22,r18 |
| 9614 .L782: |
| 9615 548e 8091 0000 lds r24,Parameter_ExtraConfig |
| 9616 5492 80FF sbrs r24,0 |
| 9617 5494 00C0 rjmp .L784 |
| 9618 5496 8091 0000 lds r24,FilterHCGas.22 |
| 9619 549a 9091 0000 lds r25,(FilterHCGas.22)+1 |
| 9620 549e 2981 ldd r18,Y+1 |
| 9621 54a0 3A81 ldd r19,Y+2 |
| 9622 54a2 8217 cp r24,r18 |
| 9623 54a4 9307 cpc r25,r19 |
| 9624 54a6 04F0 brlt .L785 |
| 9625 54a8 3093 0000 sts (FilterHCGas.22)+1,r19 |
| 9626 54ac 2093 0000 sts FilterHCGas.22,r18 |
| 9627 .L785: |
| 9628 54b0 4091 0000 lds r20,FilterHCGas.22 |
| 9629 54b4 5091 0000 lds r21,(FilterHCGas.22)+1 |
| 9630 54b8 5A83 std Y+2,r21 |
| 9631 54ba 4983 std Y+1,r20 |
| 9632 54bc 00C0 rjmp .L788 |
| 9633 .L784: |
| 9634 54be 2981 ldd r18,Y+1 |
| 9635 54c0 3A81 ldd r19,Y+2 |
| 9636 54c2 2E19 sub r18,r14 |
| 9637 54c4 3F09 sbc r19,r15 |
| 9638 54c6 37FF sbrs r19,7 |
| 9639 54c8 00C0 rjmp .L787 |
| 9640 54ca 2D5F subi r18,lo8(-(3)) |
| 9641 54cc 3F4F sbci r19,hi8(-(3)) |
| 9642 .L787: |
| 9643 54ce 3595 asr r19 |
| 9644 54d0 2795 ror r18 |
| 9645 54d2 3595 asr r19 |
| 9646 54d4 2795 ror r18 |
| 9647 54d6 6091 0000 lds r22,FilterHCGas.22 |
| 9648 54da 7091 0000 lds r23,(FilterHCGas.22)+1 |
| 9649 54de 620F add r22,r18 |
| 9650 54e0 731F adc r23,r19 |
| 9651 54e2 7A83 std Y+2,r23 |
| 9652 54e4 6983 std Y+1,r22 |
| 9653 54e6 00C0 rjmp .L788 |
| 9654 .L679: |
| 9655 54e8 8091 0000 lds r24,EE_Parameter+22 |
| 9656 54ec 8823 tst r24 |
| 9657 54ee 01F4 brne .L789 |
| 9658 54f0 6091 0000 lds r22,HoverGas |
| 9659 54f4 7091 0000 lds r23,(HoverGas)+1 |
| 9660 54f8 77FF sbrs r23,7 |
| 9661 54fa 00C0 rjmp .L790 |
| 9662 54fc 6D5F subi r22,lo8(-(3)) |
| 9663 54fe 7F4F sbci r23,hi8(-(3)) |
| 9664 .L790: |
| 9665 5500 7595 asr r23 |
| 9666 5502 6795 ror r22 |
| 9667 5504 7595 asr r23 |
| 9668 5506 6795 ror r22 |
| 9669 5508 4091 0000 lds r20,UBat |
| 9670 550c 5091 0000 lds r21,(UBat)+1 |
| 9671 5510 8091 0000 lds r24,BattLowVoltageWarning |
| 9672 5514 282F mov r18,r24 |
| 9673 5516 3327 clr r19 |
| 9674 5518 649F mul r22,r20 |
| 9675 551a C001 movw r24,r0 |
| 9676 551c 659F mul r22,r21 |
| 9677 551e 900D add r25,r0 |
| 9678 5520 749F mul r23,r20 |
| 9679 5522 900D add r25,r0 |
| 9680 5524 1124 clr r1 |
| 9681 5526 B901 movw r22,r18 |
| 9682 5528 0E94 0000 call __divmodhi4 |
| 9683 552c CB01 movw r24,r22 |
| 9684 552e 00C0 rjmp .L917 |
| 9685 .L789: |
| 9686 5530 9927 clr r25 |
| 9687 .L917: |
| 9688 5532 9093 0000 sts (StickGasHover)+1,r25 |
| 9689 5536 8093 0000 sts StickGasHover,r24 |
| 9690 553a 8091 0000 lds r24,StickGasHover |
| 9691 553e 9091 0000 lds r25,(StickGasHover)+1 |
| 9692 5542 8734 cpi r24,71 |
| 9693 5544 9105 cpc r25,__zero_reg__ |
| 9694 5546 04F4 brge .L792 |
| 9695 5548 86E4 ldi r24,lo8(70) |
| 9696 554a 90E0 ldi r25,hi8(70) |
| 9697 554c 00C0 rjmp .L918 |
| 9698 .L792: |
| 9699 554e 8639 cpi r24,150 |
| 9700 5550 9105 cpc r25,__zero_reg__ |
| 9701 5552 04F0 brlt .L793 |
| 9702 5554 86E9 ldi r24,lo8(150) |
| 9703 5556 90E0 ldi r25,hi8(150) |
| 9704 .L918: |
| 9705 5558 9093 0000 sts (StickGasHover)+1,r25 |
| 9706 555c 8093 0000 sts StickGasHover,r24 |
| 9707 .L793: |
| 9708 5560 8981 ldd r24,Y+1 |
| 9709 5562 9A81 ldd r25,Y+2 |
| 9710 5564 9093 0000 sts (FilterHCGas.22)+1,r25 |
| 9711 5568 8093 0000 sts FilterHCGas.22,r24 |
| 9712 556c 8091 0000 lds r24,FC_StatusFlags |
| 9713 5570 806C ori r24,lo8(-64) |
| 9714 5572 8093 0000 sts FC_StatusFlags,r24 |
| 9715 5576 8091 0000 lds r24,FC_StatusFlags2 |
| 9716 557a 8D7F andi r24,lo8(-3) |
| 9717 557c 8093 0000 sts FC_StatusFlags2,r24 |
| 9718 .L788: |
| 9719 5580 8091 0000 lds r24,FC_StatusFlags |
| 9720 5584 9927 clr r25 |
| 9721 5586 9C01 movw r18,r24 |
| 9722 5588 2270 andi r18,lo8(2) |
| 9723 558a 3070 andi r19,hi8(2) |
| 9724 558c 81FF sbrs r24,1 |
| 9725 558e 00C0 rjmp .L795 |
| 9726 5590 8091 0000 lds r24,HoverGasFilter.23 |
| 9727 5594 9091 0000 lds r25,(HoverGasFilter.23)+1 |
| 9728 5598 A091 0000 lds r26,(HoverGasFilter.23)+2 |
| 9729 559c B091 0000 lds r27,(HoverGasFilter.23)+3 |
| 9730 55a0 0097 sbiw r24,0 |
| 9731 55a2 A105 cpc r26,__zero_reg__ |
| 9732 55a4 B105 cpc r27,__zero_reg__ |
| 9733 55a6 01F0 breq .L797 |
| 9734 55a8 8091 0000 lds r24,StartTrigger |
| 9735 55ac 8130 cpi r24,lo8(1) |
| 9736 55ae 01F4 brne .L796 |
| 9737 .L797: |
| 9738 55b0 E981 ldd r30,Y+1 |
| 9739 55b2 FA81 ldd r31,Y+2 |
| 9740 55b4 CF01 movw r24,r30 |
| 9741 55b6 AA27 clr r26 |
| 9742 55b8 97FD sbrc r25,7 |
| 9743 55ba A095 com r26 |
| 9744 55bc BA2F mov r27,r26 |
| 9745 55be 1EE0 ldi r17,14 |
| 9746 55c0 880F 1: lsl r24 |
| 9747 55c2 991F rol r25 |
| 9748 55c4 AA1F rol r26 |
| 9749 55c6 BB1F rol r27 |
| 9750 55c8 1A95 dec r17 |
| 9751 55ca 01F4 brne 1b |
| 9752 55cc 8093 0000 sts HoverGasFilter.23,r24 |
| 9753 55d0 9093 0000 sts (HoverGasFilter.23)+1,r25 |
| 9754 55d4 A093 0000 sts (HoverGasFilter.23)+2,r26 |
| 9755 55d8 B093 0000 sts (HoverGasFilter.23)+3,r27 |
| 9756 .L796: |
| 9757 55dc 8091 0000 lds r24,StartTrigger |
| 9758 55e0 8130 cpi r24,lo8(1) |
| 9759 55e2 01F4 brne .L798 |
| 9760 55e4 82E0 ldi r24,lo8(2) |
| 9761 55e6 8093 0000 sts StartTrigger,r24 |
| 9762 .L798: |
| 9763 55ea E980 ldd r14,Y+1 |
| 9764 55ec FA80 ldd r15,Y+2 |
| 9765 55ee C701 movw r24,r14 |
| 9766 55f0 AA27 clr r26 |
| 9767 55f2 97FD sbrc r25,7 |
| 9768 55f4 A095 com r26 |
| 9769 55f6 BA2F mov r27,r26 |
| 9770 55f8 9501 movw r18,r10 |
| 9771 55fa 4427 clr r20 |
| 9772 55fc 37FD sbrc r19,7 |
| 9773 55fe 4095 com r20 |
| 9774 5600 542F mov r21,r20 |
| 9775 5602 BC01 movw r22,r24 |
| 9776 5604 CD01 movw r24,r26 |
| 9777 5606 0E94 0000 call __mulsi3 |
| 9778 560a DC01 movw r26,r24 |
| 9779 560c CB01 movw r24,r22 |
| 9780 560e 8093 0000 sts tmp_long2.2,r24 |
| 9781 5612 9093 0000 sts (tmp_long2.2)+1,r25 |
| 9782 5616 A093 0000 sts (tmp_long2.2)+2,r26 |
| 9783 561a B093 0000 sts (tmp_long2.2)+3,r27 |
| 9784 561e B7FF sbrs r27,7 |
| 9785 5620 00C0 rjmp .L799 |
| 9786 5622 8150 subi r24,lo8(-(8191)) |
| 9787 5624 904E sbci r25,hi8(-(8191)) |
| 9788 5626 AF4F sbci r26,hlo8(-(8191)) |
| 9789 5628 BF4F sbci r27,hhi8(-(8191)) |
| 9790 .L799: |
| 9791 562a 7C01 movw r14,r24 |
| 9792 562c 8D01 movw r16,r26 |
| 9793 562e ADE0 ldi r26,13 |
| 9794 5630 1595 1: asr r17 |
| 9795 5632 0795 ror r16 |
| 9796 5634 F794 ror r15 |
| 9797 5636 E794 ror r14 |
| 9798 5638 AA95 dec r26 |
| 9799 563a 01F4 brne 1b |
| 9800 563c E092 0000 sts tmp_long2.2,r14 |
| 9801 5640 F092 0000 sts (tmp_long2.2)+1,r15 |
| 9802 5644 0093 0000 sts (tmp_long2.2)+2,r16 |
| 9803 5648 1093 0000 sts (tmp_long2.2)+3,r17 |
| 9804 564c 6091 0000 lds r22,modell_fliegt |
| 9805 5650 7091 0000 lds r23,(modell_fliegt)+1 |
| 9806 5654 2FE0 ldi r18,hi8(4000) |
| 9807 5656 603A cpi r22,lo8(4000) |
| 9808 5658 7207 cpc r23,r18 |
| 9809 565a 00F4 brsh .L800 |
| 9810 565c 8091 0000 lds r24,HoverGasFilter.23 |
| 9811 5660 9091 0000 lds r25,(HoverGasFilter.23)+1 |
| 9812 5664 A091 0000 lds r26,(HoverGasFilter.23)+2 |
| 9813 5668 B091 0000 lds r27,(HoverGasFilter.23)+3 |
| 9814 566c 9C01 movw r18,r24 |
| 9815 566e AD01 movw r20,r26 |
| 9816 5670 FAE0 ldi r31,10 |
| 9817 5672 5695 1: lsr r21 |
| 9818 5674 4795 ror r20 |
| 9819 5676 3795 ror r19 |
| 9820 5678 2795 ror r18 |
| 9821 567a FA95 dec r31 |
| 9822 567c 01F4 brne 1b |
| 9823 567e 821B sub r24,r18 |
| 9824 5680 930B sbc r25,r19 |
| 9825 5682 A40B sbc r26,r20 |
| 9826 5684 B50B sbc r27,r21 |
| 9827 5686 A801 movw r20,r16 |
| 9828 5688 9701 movw r18,r14 |
| 9829 568a E4E0 ldi r30,4 |
| 9830 568c 220F 1: lsl r18 |
| 9831 568e 331F rol r19 |
| 9832 5690 441F rol r20 |
| 9833 5692 551F rol r21 |
| 9834 5694 EA95 dec r30 |
| 9835 5696 01F4 brne 1b |
| 9836 5698 820F add r24,r18 |
| 9837 569a 931F adc r25,r19 |
| 9838 569c A41F adc r26,r20 |
| 9839 569e B51F adc r27,r21 |
| 9840 56a0 8093 0000 sts HoverGasFilter.23,r24 |
| 9841 56a4 9093 0000 sts (HoverGasFilter.23)+1,r25 |
| 9842 56a8 A093 0000 sts (HoverGasFilter.23)+2,r26 |
| 9843 56ac B093 0000 sts (HoverGasFilter.23)+3,r27 |
| 9844 .L800: |
| 9845 56b0 6054 subi r22,lo8(8000) |
| 9846 56b2 7F41 sbci r23,hi8(8000) |
| 9847 56b4 00F4 brsh .L801 |
| 9848 56b6 8091 0000 lds r24,HoverGasFilter.23 |
| 9849 56ba 9091 0000 lds r25,(HoverGasFilter.23)+1 |
| 9850 56be A091 0000 lds r26,(HoverGasFilter.23)+2 |
| 9851 56c2 B091 0000 lds r27,(HoverGasFilter.23)+3 |
| 9852 56c6 9C01 movw r18,r24 |
| 9853 56c8 AD01 movw r20,r26 |
| 9854 56ca 6CE0 ldi r22,12 |
| 9855 56cc 5695 1: lsr r21 |
| 9856 56ce 4795 ror r20 |
| 9857 56d0 3795 ror r19 |
| 9858 56d2 2795 ror r18 |
| 9859 56d4 6A95 dec r22 |
| 9860 56d6 01F4 brne 1b |
| 9861 56d8 821B sub r24,r18 |
| 9862 56da 930B sbc r25,r19 |
| 9863 56dc A40B sbc r26,r20 |
| 9864 56de B50B sbc r27,r21 |
| 9865 56e0 A801 movw r20,r16 |
| 9866 56e2 9701 movw r18,r14 |
| 9867 56e4 F2E0 ldi r31,2 |
| 9868 56e6 220F 1: lsl r18 |
| 9869 56e8 331F rol r19 |
| 9870 56ea 441F rol r20 |
| 9871 56ec 551F rol r21 |
| 9872 56ee FA95 dec r31 |
| 9873 56f0 01F4 brne 1b |
| 9874 56f2 820F add r24,r18 |
| 9875 56f4 931F adc r25,r19 |
| 9876 56f6 A41F adc r26,r20 |
| 9877 56f8 B51F adc r27,r21 |
| 9878 56fa 00C0 rjmp .L919 |
| 9879 .L801: |
| 9880 56fc 8091 0000 lds r24,VarioMeter |
| 9881 5700 9091 0000 lds r25,(VarioMeter)+1 |
| 9882 5704 8091 0000 lds r24,VarioMeter |
| 9883 5708 9091 0000 lds r25,(VarioMeter)+1 |
| 9884 570c 97FF sbrs r25,7 |
| 9885 570e 00C0 rjmp .L804 |
| 9886 5710 9095 com r25 |
| 9887 5712 8195 neg r24 |
| 9888 5714 9F4F sbci r25,lo8(-1) |
| 9889 .L804: |
| 9890 5716 8436 cpi r24,100 |
| 9891 5718 9105 cpc r25,__zero_reg__ |
| 9892 571a 04F4 brge .L802 |
| 9893 571c 8091 0000 lds r24,HoehenWert |
| 9894 5720 9091 0000 lds r25,(HoehenWert)+1 |
| 9895 5724 2091 0000 lds r18,SollHoehe |
| 9896 5728 3091 0000 lds r19,(SollHoehe)+1 |
| 9897 572c 821B sub r24,r18 |
| 9898 572e 930B sbc r25,r19 |
| 9899 5730 8150 subi r24,lo8(-(255)) |
| 9900 5732 9F4F sbci r25,hi8(-(255)) |
| 9901 5734 8F5F subi r24,lo8(511) |
| 9902 5736 9140 sbci r25,hi8(511) |
| 9903 5738 00F4 brsh .L802 |
| 9904 573a 8091 0000 lds r24,HoverGasFilter.23 |
| 9905 573e 9091 0000 lds r25,(HoverGasFilter.23)+1 |
| 9906 5742 A091 0000 lds r26,(HoverGasFilter.23)+2 |
| 9907 5746 B091 0000 lds r27,(HoverGasFilter.23)+3 |
| 9908 574a 9C01 movw r18,r24 |
| 9909 574c AD01 movw r20,r26 |
| 9910 574e EEE0 ldi r30,14 |
| 9911 5750 5695 1: lsr r21 |
| 9912 5752 4795 ror r20 |
| 9913 5754 3795 ror r19 |
| 9914 5756 2795 ror r18 |
| 9915 5758 EA95 dec r30 |
| 9916 575a 01F4 brne 1b |
| 9917 575c 821B sub r24,r18 |
| 9918 575e 930B sbc r25,r19 |
| 9919 5760 A40B sbc r26,r20 |
| 9920 5762 B50B sbc r27,r21 |
| 9921 5764 8E0D add r24,r14 |
| 9922 5766 9F1D adc r25,r15 |
| 9923 5768 A01F adc r26,r16 |
| 9924 576a B11F adc r27,r17 |
| 9925 .L919: |
| 9926 576c 8093 0000 sts HoverGasFilter.23,r24 |
| 9927 5770 9093 0000 sts (HoverGasFilter.23)+1,r25 |
| 9928 5774 A093 0000 sts (HoverGasFilter.23)+2,r26 |
| 9929 5778 B093 0000 sts (HoverGasFilter.23)+3,r27 |
| 9930 .L802: |
| 9931 577c 8091 0000 lds r24,HoverGasFilter.23 |
| 9932 5780 9091 0000 lds r25,(HoverGasFilter.23)+1 |
| 9933 5784 A091 0000 lds r26,(HoverGasFilter.23)+2 |
| 9934 5788 B091 0000 lds r27,(HoverGasFilter.23)+3 |
| 9935 578c 7EE0 ldi r23,14 |
| 9936 578e B695 1: lsr r27 |
| 9937 5790 A795 ror r26 |
| 9938 5792 9795 ror r25 |
| 9939 5794 8795 ror r24 |
| 9940 5796 7A95 dec r23 |
| 9941 5798 01F4 brne 1b |
| 9942 579a 9093 0000 sts (HoverGas)+1,r25 |
| 9943 579e 8093 0000 sts HoverGas,r24 |
| 9944 57a2 4091 0000 lds r20,EE_Parameter+20 |
| 9945 57a6 4423 tst r20 |
| 9946 57a8 01F0 breq .L805 |
| 9947 57aa 5527 clr r21 |
| 9948 57ac 9C01 movw r18,r24 |
| 9949 57ae BA01 movw r22,r20 |
| 9950 57b0 0E94 0000 call __divmodhi4 |
| 9951 57b4 C901 movw r24,r18 |
| 9952 57b6 861B sub r24,r22 |
| 9953 57b8 970B sbc r25,r23 |
| 9954 57ba 9093 0000 sts (HoverGasMin)+1,r25 |
| 9955 57be 8093 0000 sts HoverGasMin,r24 |
| 9956 57c2 260F add r18,r22 |
| 9957 57c4 371F adc r19,r23 |
| 9958 57c6 3093 0000 sts (HoverGasMax)+1,r19 |
| 9959 57ca 2093 0000 sts HoverGasMax,r18 |
| 9960 57ce 00C0 rjmp .L808 |
| 9961 .L805: |
| 9962 57d0 1092 0000 sts (HoverGasMin)+1,__zero_reg__ |
| 9963 57d4 1092 0000 sts HoverGasMin,__zero_reg__ |
| 9964 57d8 8FEF ldi r24,lo8(1023) |
| 9965 57da 93E0 ldi r25,hi8(1023) |
| 9966 57dc 9093 0000 sts (HoverGasMax)+1,r25 |
| 9967 57e0 8093 0000 sts HoverGasMax,r24 |
| 9968 57e4 00C0 rjmp .L808 |
| 9969 .L795: |
| 9970 57e6 1092 0000 sts StartTrigger,__zero_reg__ |
| 9971 57ea 1092 0000 sts HoverGasFilter.23,__zero_reg__ |
| 9972 57ee 1092 0000 sts (HoverGasFilter.23)+1,__zero_reg__ |
| 9973 57f2 1092 0000 sts (HoverGasFilter.23)+2,__zero_reg__ |
| 9974 57f6 1092 0000 sts (HoverGasFilter.23)+3,__zero_reg__ |
| 9975 57fa 3093 0000 sts (HoverGas)+1,r19 |
| 9976 57fe 2093 0000 sts HoverGas,r18 |
| 9977 5802 00C0 rjmp .L808 |
| 9978 .L659: |
| 9979 5804 8091 0000 lds r24,FC_StatusFlags |
| 9980 5808 806C ori r24,lo8(-64) |
| 9981 580a 8093 0000 sts FC_StatusFlags,r24 |
| 9982 .L808: |
| 9983 580e 8091 0000 lds r24,NC_To_FC_Flags |
| 9984 5812 81FF sbrs r24,1 |
| 9985 5814 00C0 rjmp .L809 |
| 9986 5816 8981 ldd r24,Y+1 |
| 9987 5818 9A81 ldd r25,Y+2 |
| 9988 581a 97FD sbrc r25,7 |
| 9989 581c 0396 adiw r24,3 |
| 9990 .L811: |
| 9991 581e 9595 asr r25 |
| 9992 5820 8795 ror r24 |
| 9993 5822 9595 asr r25 |
| 9994 5824 8795 ror r24 |
| 9995 5826 2091 0000 lds r18,HooverGasEmergencyPercent |
| 9996 582a 3091 0000 lds r19,(HooverGasEmergencyPercent)+1 |
| 9997 582e 2817 cp r18,r24 |
| 9998 5830 3907 cpc r19,r25 |
| 9999 5832 00F4 brsh .L810 |
| 10000 5834 8091 0000 lds r24,HoverGas |
| 10001 5838 9091 0000 lds r25,(HoverGas)+1 |
| 10002 583c 892B or r24,r25 |
| 10003 583e 01F0 breq .L810 |
| 10004 5840 220F lsl r18 |
| 10005 5842 331F rol r19 |
| 10006 5844 220F lsl r18 |
| 10007 5846 331F rol r19 |
| 10008 5848 3A83 std Y+2,r19 |
| 10009 584a 2983 std Y+1,r18 |
| 10010 .L810: |
| 10011 584c 8091 0000 lds r24,HoehenWert |
| 10012 5850 9091 0000 lds r25,(HoehenWert)+1 |
| 10013 5854 A091 0000 lds r26,(HoehenWert)+2 |
| 10014 5858 B091 0000 lds r27,(HoehenWert)+3 |
| 10015 585c 8093 0000 sts SollHoehe,r24 |
| 10016 5860 9093 0000 sts (SollHoehe)+1,r25 |
| 10017 5864 A093 0000 sts (SollHoehe)+2,r26 |
| 10018 5868 B093 0000 sts (SollHoehe)+3,r27 |
| 10019 586c 88E9 ldi r24,lo8(15000) |
| 10020 586e 9AE3 ldi r25,hi8(15000) |
| 10021 5870 9093 0000 sts (beeptime)+1,r25 |
| 10022 5874 8093 0000 sts beeptime,r24 |
| 10023 5878 80E0 ldi r24,lo8(3584) |
| 10024 587a 9EE0 ldi r25,hi8(3584) |
| 10025 587c 9093 0000 sts (BeepMuster)+1,r25 |
| 10026 5880 8093 0000 sts BeepMuster,r24 |
| 10027 .L809: |
| 10028 5884 2091 0000 lds r18,MIN_GAS |
| 10029 5888 822F mov r24,r18 |
| 10030 588a 9927 clr r25 |
| 10031 588c 880F lsl r24 |
| 10032 588e 991F rol r25 |
| 10033 5890 880F lsl r24 |
| 10034 5892 991F rol r25 |
| 10035 5894 8896 adiw r24,40 |
| 10036 5896 6981 ldd r22,Y+1 |
| 10037 5898 7A81 ldd r23,Y+2 |
| 10038 589a 8617 cp r24,r22 |
| 10039 589c 9707 cpc r25,r23 |
| 10040 589e 04F0 brlt .L812 |
| 10041 58a0 9A83 std Y+2,r25 |
| 10042 58a2 8983 std Y+1,r24 |
| 10043 .L812: |
| 10044 58a4 7091 0000 lds r23,MAX_GAS |
| 10045 58a8 7D8B std Y+21,r23 |
| 10046 58aa 872F mov r24,r23 |
| 10047 58ac 9927 clr r25 |
| 10048 58ae 880F lsl r24 |
| 10049 58b0 991F rol r25 |
| 10050 58b2 880F lsl r24 |
| 10051 58b4 991F rol r25 |
| 10052 58b6 8055 subi r24,lo8(-(-80)) |
| 10053 58b8 9040 sbci r25,hi8(-(-80)) |
| 10054 58ba A981 ldd r26,Y+1 |
| 10055 58bc BA81 ldd r27,Y+2 |
| 10056 58be 8A17 cp r24,r26 |
| 10057 58c0 9B07 cpc r25,r27 |
| 10058 58c2 04F4 brge .L813 |
| 10059 58c4 9A83 std Y+2,r25 |
| 10060 58c6 8983 std Y+1,r24 |
| 10061 .L813: |
| 10062 58c8 8091 0000 lds r24,MissingMotor |
| 10063 58cc 8823 tst r24 |
| 10064 58ce 01F4 brne .L815 |
| 10065 58d0 8091 0000 lds r24,Capacity+6 |
| 10066 58d4 8F3F cpi r24,lo8(-1) |
| 10067 58d6 01F4 brne .L815 |
| 10068 58d8 8091 0000 lds r24,NC_ErrorCode |
| 10069 58dc 8823 tst r24 |
| 10070 58de 01F0 breq .L814 |
| 10071 .L815: |
| 10072 58e0 8091 0000 lds r24,modell_fliegt |
| 10073 58e4 9091 0000 lds r25,(modell_fliegt)+1 |
| 10074 58e8 0297 sbiw r24,2 |
| 10075 58ea C097 sbiw r24,48 |
| 10076 58ec 00F4 brsh .L814 |
| 10077 58ee E981 ldd r30,Y+1 |
| 10078 58f0 FA81 ldd r31,Y+2 |
| 10079 58f2 1E16 cp __zero_reg__,r30 |
| 10080 58f4 1F06 cpc __zero_reg__,r31 |
| 10081 58f6 04F4 brge .L814 |
| 10082 58f8 81E0 ldi r24,lo8(1) |
| 10083 58fa 90E0 ldi r25,hi8(1) |
| 10084 58fc 9093 0000 sts (modell_fliegt)+1,r25 |
| 10085 5900 8093 0000 sts modell_fliegt,r24 |
| 10086 5904 E22E mov r14,r18 |
| 10087 5906 FF24 clr r15 |
| 10088 5908 EE0C lsl r14 |
| 10089 590a FF1C rol r15 |
| 10090 590c EE0C lsl r14 |
| 10091 590e FF1C rol r15 |
| 10092 5910 8701 movw r16,r14 |
| 10093 5912 085D subi r16,lo8(-(40)) |
| 10094 5914 1F4F sbci r17,hi8(-(40)) |
| 10095 5916 1A83 std Y+2,r17 |
| 10096 5918 0983 std Y+1,r16 |
| 10097 .L814: |
| 10098 591a 2981 ldd r18,Y+1 |
| 10099 591c 3A81 ldd r19,Y+2 |
| 10100 591e 3093 0000 sts (DebugOut+16)+1,r19 |
| 10101 5922 2093 0000 sts DebugOut+16,r18 |
| 10102 5926 8091 0000 lds r24,sollGier.0 |
| 10103 592a 9091 0000 lds r25,(sollGier.0)+1 |
| 10104 592e A091 0000 lds r26,(sollGier.0)+2 |
| 10105 5932 B091 0000 lds r27,(sollGier.0)+3 |
| 10106 5936 12E0 ldi r17,2 |
| 10107 5938 880F 1: lsl r24 |
| 10108 593a 991F rol r25 |
| 10109 593c AA1F rol r26 |
| 10110 593e BB1F rol r27 |
| 10111 5940 1A95 dec r17 |
| 10112 5942 01F4 brne 1b |
| 10113 5944 0091 0000 lds r16,MesswertGier |
| 10114 5948 1091 0000 lds r17,(MesswertGier)+1 |
| 10115 594c 081B sub r16,r24 |
| 10116 594e 190B sbc r17,r25 |
| 10117 5950 213A cpi r18,161 |
| 10118 5952 3105 cpc r19,__zero_reg__ |
| 10119 5954 04F0 brlt .L817 |
| 10120 5956 C901 movw r24,r18 |
| 10121 5958 37FD sbrc r19,7 |
| 10122 595a 0196 adiw r24,1 |
| 10123 .L819: |
| 10124 595c 9595 asr r25 |
| 10125 595e 8795 ror r24 |
| 10126 5960 8017 cp r24,r16 |
| 10127 5962 9107 cpc r25,r17 |
| 10128 5964 04F4 brge .L818 |
| 10129 5966 8C01 movw r16,r24 |
| 10130 .L818: |
| 10131 5968 9095 com r25 |
| 10132 596a 8195 neg r24 |
| 10133 596c 9F4F sbci r25,lo8(-1) |
| 10134 596e 0817 cp r16,r24 |
| 10135 5970 1907 cpc r17,r25 |
| 10136 5972 04F4 brge .L824 |
| 10137 5974 8C01 movw r16,r24 |
| 10138 5976 00C0 rjmp .L824 |
| 10139 .L817: |
| 10140 5978 0135 cpi r16,81 |
| 10141 597a 1105 cpc r17,__zero_reg__ |
| 10142 597c 04F0 brlt .L825 |
| 10143 597e 00E5 ldi r16,lo8(80) |
| 10144 5980 10E0 ldi r17,hi8(80) |
| 10145 .L825: |
| 10146 5982 3FEF ldi r19,hi8(-80) |
| 10147 5984 003B cpi r16,lo8(-80) |
| 10148 5986 1307 cpc r17,r19 |
| 10149 5988 04F4 brge .L824 |
| 10150 598a 00EB ldi r16,lo8(-80) |
| 10151 598c 1FEF ldi r17,hi8(-80) |
| 10152 .L824: |
| 10153 598e 4D89 ldd r20,Y+21 |
| 10154 5990 242F mov r18,r20 |
| 10155 5992 3327 clr r19 |
| 10156 5994 220F lsl r18 |
| 10157 5996 331F rol r19 |
| 10158 5998 220F lsl r18 |
| 10159 599a 331F rol r19 |
| 10160 599c C901 movw r24,r18 |
| 10161 599e 6981 ldd r22,Y+1 |
| 10162 59a0 7A81 ldd r23,Y+2 |
| 10163 59a2 861B sub r24,r22 |
| 10164 59a4 970B sbc r25,r23 |
| 10165 59a6 8017 cp r24,r16 |
| 10166 59a8 9107 cpc r25,r17 |
| 10167 59aa 04F4 brge .L827 |
| 10168 59ac 8C01 movw r16,r24 |
| 10169 .L827: |
| 10170 59ae 8981 ldd r24,Y+1 |
| 10171 59b0 9A81 ldd r25,Y+2 |
| 10172 59b2 821B sub r24,r18 |
| 10173 59b4 930B sbc r25,r19 |
| 10174 59b6 0817 cp r16,r24 |
| 10175 59b8 1907 cpc r17,r25 |
| 10176 59ba 04F4 brge .L828 |
| 10177 59bc 8C01 movw r16,r24 |
| 10178 .L828: |
| 10179 59be 8091 0000 lds r24,MesswertNick |
| 10180 59c2 9091 0000 lds r25,(MesswertNick)+1 |
| 10181 59c6 6091 0000 lds r22,StickNick |
| 10182 59ca 7091 0000 lds r23,(StickNick)+1 |
| 10183 59ce 861B sub r24,r22 |
| 10184 59d0 970B sbc r25,r23 |
| 10185 59d2 9093 0000 sts (DiffNick)+1,r25 |
| 10186 59d6 8093 0000 sts DiffNick,r24 |
| 10187 59da D090 0000 lds r13,IntegralFaktor |
| 10188 59de 2091 0000 lds r18,SummeNick |
| 10189 59e2 3091 0000 lds r19,(SummeNick)+1 |
| 10190 59e6 4091 0000 lds r20,(SummeNick)+2 |
| 10191 59ea 5091 0000 lds r21,(SummeNick)+3 |
| 10192 59ee DD20 tst r13 |
| 10193 59f0 01F0 breq .L829 |
| 10194 59f2 661A sub r6,r22 |
| 10195 59f4 770A sbc r7,r23 |
| 10196 59f6 C301 movw r24,r6 |
| 10197 59f8 AA27 clr r26 |
| 10198 59fa 97FD sbrc r25,7 |
| 10199 59fc A095 com r26 |
| 10200 59fe BA2F mov r27,r26 |
| 10201 5a00 00C0 rjmp .L920 |
| 10202 .L829: |
| 10203 5a02 AA27 clr r26 |
| 10204 5a04 97FD sbrc r25,7 |
| 10205 5a06 A095 com r26 |
| 10206 5a08 BA2F mov r27,r26 |
| 10207 .L920: |
| 10208 5a0a 280F add r18,r24 |
| 10209 5a0c 391F adc r19,r25 |
| 10210 5a0e 4A1F adc r20,r26 |
| 10211 5a10 5B1F adc r21,r27 |
| 10212 5a12 2093 0000 sts SummeNick,r18 |
| 10213 5a16 3093 0000 sts (SummeNick)+1,r19 |
| 10214 5a1a 4093 0000 sts (SummeNick)+2,r20 |
| 10215 5a1e 5093 0000 sts (SummeNick)+3,r21 |
| 10216 5a22 8091 0000 lds r24,SummeNick |
| 10217 5a26 9091 0000 lds r25,(SummeNick)+1 |
| 10218 5a2a A091 0000 lds r26,(SummeNick)+2 |
| 10219 5a2e B091 0000 lds r27,(SummeNick)+3 |
| 10220 5a32 8150 subi r24,lo8(64001) |
| 10221 5a34 9A4F sbci r25,hi8(64001) |
| 10222 5a36 A040 sbci r26,hlo8(64001) |
| 10223 5a38 B040 sbci r27,hhi8(64001) |
| 10224 5a3a 04F0 brlt .L831 |
| 10225 5a3c 80E0 ldi r24,lo8(64000) |
| 10226 5a3e 9AEF ldi r25,hi8(64000) |
| 10227 5a40 A0E0 ldi r26,hlo8(64000) |
| 10228 5a42 B0E0 ldi r27,hhi8(64000) |
| 10229 5a44 8093 0000 sts SummeNick,r24 |
| 10230 5a48 9093 0000 sts (SummeNick)+1,r25 |
| 10231 5a4c A093 0000 sts (SummeNick)+2,r26 |
| 10232 5a50 B093 0000 sts (SummeNick)+3,r27 |
| 10233 .L831: |
| 10234 5a54 8091 0000 lds r24,SummeNick |
| 10235 5a58 9091 0000 lds r25,(SummeNick)+1 |
| 10236 5a5c A091 0000 lds r26,(SummeNick)+2 |
| 10237 5a60 B091 0000 lds r27,(SummeNick)+3 |
| 10238 5a64 8050 subi r24,lo8(-64000) |
| 10239 5a66 9640 sbci r25,hi8(-64000) |
| 10240 5a68 AF4F sbci r26,hlo8(-64000) |
| 10241 5a6a BF4F sbci r27,hhi8(-64000) |
| 10242 5a6c 04F4 brge .L832 |
| 10243 5a6e 80E0 ldi r24,lo8(-64000) |
| 10244 5a70 96E0 ldi r25,hi8(-64000) |
| 10245 5a72 AFEF ldi r26,hlo8(-64000) |
| 10246 5a74 BFEF ldi r27,hhi8(-64000) |
| 10247 5a76 8093 0000 sts SummeNick,r24 |
| 10248 5a7a 9093 0000 sts (SummeNick)+1,r25 |
| 10249 5a7e A093 0000 sts (SummeNick)+2,r26 |
| 10250 5a82 B093 0000 sts (SummeNick)+3,r27 |
| 10251 .L832: |
| 10252 5a86 C090 0000 lds r12,EE_Parameter+35 |
| 10253 5a8a 2091 0000 lds r18,DiffNick |
| 10254 5a8e 3091 0000 lds r19,(DiffNick)+1 |
| 10255 5a92 78E0 ldi r23,lo8(8) |
| 10256 5a94 E72E mov r14,r23 |
| 10257 5a96 EC14 cp r14,r12 |
| 10258 5a98 00F0 brlo .L833 |
| 10259 5a9a 8C2D mov r24,r12 |
| 10260 5a9c 9927 clr r25 |
| 10261 5a9e 829F mul r24,r18 |
| 10262 5aa0 A001 movw r20,r0 |
| 10263 5aa2 839F mul r24,r19 |
| 10264 5aa4 500D add r21,r0 |
| 10265 5aa6 929F mul r25,r18 |
| 10266 5aa8 500D add r21,r0 |
| 10267 5aaa 1124 clr r1 |
| 10268 5aac CA01 movw r24,r20 |
| 10269 5aae 57FD sbrc r21,7 |
| 10270 5ab0 0796 adiw r24,7 |
| 10271 .L834: |
| 10272 5ab2 7C01 movw r14,r24 |
| 10273 5ab4 63E0 ldi r22,3 |
| 10274 5ab6 F594 1: asr r15 |
| 10275 5ab8 E794 ror r14 |
| 10276 5aba 6A95 dec r22 |
| 10277 5abc 01F4 brne 1b |
| 10278 5abe 00C0 rjmp .L835 |
| 10279 .L833: |
| 10280 5ac0 8C2D mov r24,r12 |
| 10281 5ac2 8695 lsr r24 |
| 10282 5ac4 9927 clr r25 |
| 10283 5ac6 829F mul r24,r18 |
| 10284 5ac8 B001 movw r22,r0 |
| 10285 5aca 839F mul r24,r19 |
| 10286 5acc 700D add r23,r0 |
| 10287 5ace 929F mul r25,r18 |
| 10288 5ad0 700D add r23,r0 |
| 10289 5ad2 1124 clr r1 |
| 10290 5ad4 CB01 movw r24,r22 |
| 10291 5ad6 77FD sbrc r23,7 |
| 10292 5ad8 0396 adiw r24,3 |
| 10293 .L836: |
| 10294 5ada 7C01 movw r14,r24 |
| 10295 5adc F594 asr r15 |
| 10296 5ade E794 ror r14 |
| 10297 5ae0 F594 asr r15 |
| 10298 5ae2 E794 ror r14 |
| 10299 .L835: |
| 10300 5ae4 A090 0000 lds r10,Ki |
| 10301 5ae8 B090 0000 lds r11,(Ki)+1 |
| 10302 5aec 9501 movw r18,r10 |
| 10303 5aee 4427 clr r20 |
| 10304 5af0 37FD sbrc r19,7 |
| 10305 5af2 4095 com r20 |
| 10306 5af4 542F mov r21,r20 |
| 10307 5af6 8091 0000 lds r24,SummeNick |
| 10308 5afa 9091 0000 lds r25,(SummeNick)+1 |
| 10309 5afe A091 0000 lds r26,(SummeNick)+2 |
| 10310 5b02 B091 0000 lds r27,(SummeNick)+3 |
| 10311 5b06 BC01 movw r22,r24 |
| 10312 5b08 CD01 movw r24,r26 |
| 10313 5b0a 0E94 0000 call __divmodsi4 |
| 10314 5b0e E20E add r14,r18 |
| 10315 5b10 F31E adc r15,r19 |
| 10316 5b12 9090 0000 lds r9,Parameter_DynamicStability |
| 10317 5b16 692D mov r22,r9 |
| 10318 5b18 7727 clr r23 |
| 10319 5b1a 8827 clr r24 |
| 10320 5b1c 9927 clr r25 |
| 10321 5b1e 9801 movw r18,r16 |
| 10322 5b20 17FF sbrs r17,7 |
| 10323 5b22 00C0 rjmp .L837 |
| 10324 5b24 2227 clr r18 |
| 10325 5b26 3327 clr r19 |
| 10326 5b28 201B sub r18,r16 |
| 10327 5b2a 310B sbc r19,r17 |
| 10328 .L837: |
| 10329 5b2c 37FF sbrs r19,7 |
| 10330 5b2e 00C0 rjmp .L838 |
| 10331 5b30 2F5F subi r18,lo8(-(1)) |
| 10332 5b32 3F4F sbci r19,hi8(-(1)) |
| 10333 .L838: |
| 10334 5b34 3595 asr r19 |
| 10335 5b36 2795 ror r18 |
| 10336 5b38 A981 ldd r26,Y+1 |
| 10337 5b3a BA81 ldd r27,Y+2 |
| 10338 5b3c 2A0F add r18,r26 |
| 10339 5b3e 3B1F adc r19,r27 |
| 10340 5b40 4427 clr r20 |
| 10341 5b42 37FD sbrc r19,7 |
| 10342 5b44 4095 com r20 |
| 10343 5b46 542F mov r21,r20 |
| 10344 5b48 0E94 0000 call __mulsi3 |
| 10345 5b4c 97FF sbrs r25,7 |
| 10346 5b4e 00C0 rjmp .L839 |
| 10347 5b50 615C subi r22,lo8(-(63)) |
| 10348 5b52 7F4F sbci r23,hi8(-(63)) |
| 10349 5b54 8F4F sbci r24,hlo8(-(63)) |
| 10350 5b56 9F4F sbci r25,hhi8(-(63)) |
| 10351 .L839: |
| 10352 5b58 26E0 ldi r18,6 |
| 10353 5b5a 9595 1: asr r25 |
| 10354 5b5c 8795 ror r24 |
| 10355 5b5e 7795 ror r23 |
| 10356 5b60 6795 ror r22 |
| 10357 5b62 2A95 dec r18 |
| 10358 5b64 01F4 brne 1b |
| 10359 5b66 9B01 movw r18,r22 |
| 10360 5b68 6E15 cp r22,r14 |
| 10361 5b6a 7F05 cpc r23,r15 |
| 10362 5b6c 04F4 brge .L840 |
| 10363 5b6e 7B01 movw r14,r22 |
| 10364 .L840: |
| 10365 5b70 3095 com r19 |
| 10366 5b72 2195 neg r18 |
| 10367 5b74 3F4F sbci r19,lo8(-1) |
| 10368 5b76 E216 cp r14,r18 |
| 10369 5b78 F306 cpc r15,r19 |
| 10370 5b7a 04F4 brge .L841 |
| 10371 5b7c 7901 movw r14,r18 |
| 10372 .L841: |
| 10373 5b7e 8091 0000 lds r24,MesswertRoll |
| 10374 5b82 9091 0000 lds r25,(MesswertRoll)+1 |
| 10375 5b86 6091 0000 lds r22,StickRoll |
| 10376 5b8a 7091 0000 lds r23,(StickRoll)+1 |
| 10377 5b8e 861B sub r24,r22 |
| 10378 5b90 970B sbc r25,r23 |
| 10379 5b92 9093 0000 sts (DiffRoll)+1,r25 |
| 10380 5b96 8093 0000 sts DiffRoll,r24 |
| 10381 5b9a 2091 0000 lds r18,SummeRoll |
| 10382 5b9e 3091 0000 lds r19,(SummeRoll)+1 |
| 10383 5ba2 4091 0000 lds r20,(SummeRoll)+2 |
| 10384 5ba6 5091 0000 lds r21,(SummeRoll)+3 |
| 10385 5baa DD20 tst r13 |
| 10386 5bac 01F0 breq .L842 |
| 10387 5bae 461A sub r4,r22 |
| 10388 5bb0 570A sbc r5,r23 |
| 10389 5bb2 C201 movw r24,r4 |
| 10390 5bb4 AA27 clr r26 |
| 10391 5bb6 97FD sbrc r25,7 |
| 10392 5bb8 A095 com r26 |
| 10393 5bba BA2F mov r27,r26 |
| 10394 5bbc 00C0 rjmp .L921 |
| 10395 .L842: |
| 10396 5bbe AA27 clr r26 |
| 10397 5bc0 97FD sbrc r25,7 |
| 10398 5bc2 A095 com r26 |
| 10399 5bc4 BA2F mov r27,r26 |
| 10400 .L921: |
| 10401 5bc6 280F add r18,r24 |
| 10402 5bc8 391F adc r19,r25 |
| 10403 5bca 4A1F adc r20,r26 |
| 10404 5bcc 5B1F adc r21,r27 |
| 10405 5bce 2093 0000 sts SummeRoll,r18 |
| 10406 5bd2 3093 0000 sts (SummeRoll)+1,r19 |
| 10407 5bd6 4093 0000 sts (SummeRoll)+2,r20 |
| 10408 5bda 5093 0000 sts (SummeRoll)+3,r21 |
| 10409 5bde 8091 0000 lds r24,SummeRoll |
| 10410 5be2 9091 0000 lds r25,(SummeRoll)+1 |
| 10411 5be6 A091 0000 lds r26,(SummeRoll)+2 |
| 10412 5bea B091 0000 lds r27,(SummeRoll)+3 |
| 10413 5bee 8150 subi r24,lo8(64001) |
| 10414 5bf0 9A4F sbci r25,hi8(64001) |
| 10415 5bf2 A040 sbci r26,hlo8(64001) |
| 10416 5bf4 B040 sbci r27,hhi8(64001) |
| 10417 5bf6 04F0 brlt .L844 |
| 10418 5bf8 80E0 ldi r24,lo8(64000) |
| 10419 5bfa 9AEF ldi r25,hi8(64000) |
| 10420 5bfc A0E0 ldi r26,hlo8(64000) |
| 10421 5bfe B0E0 ldi r27,hhi8(64000) |
| 10422 5c00 8093 0000 sts SummeRoll,r24 |
| 10423 5c04 9093 0000 sts (SummeRoll)+1,r25 |
| 10424 5c08 A093 0000 sts (SummeRoll)+2,r26 |
| 10425 5c0c B093 0000 sts (SummeRoll)+3,r27 |
| 10426 .L844: |
| 10427 5c10 8091 0000 lds r24,SummeRoll |
| 10428 5c14 9091 0000 lds r25,(SummeRoll)+1 |
| 10429 5c18 A091 0000 lds r26,(SummeRoll)+2 |
| 10430 5c1c B091 0000 lds r27,(SummeRoll)+3 |
| 10431 5c20 8050 subi r24,lo8(-64000) |
| 10432 5c22 9640 sbci r25,hi8(-64000) |
| 10433 5c24 AF4F sbci r26,hlo8(-64000) |
| 10434 5c26 BF4F sbci r27,hhi8(-64000) |
| 10435 5c28 04F4 brge .L845 |
| 10436 5c2a 80E0 ldi r24,lo8(-64000) |
| 10437 5c2c 96E0 ldi r25,hi8(-64000) |
| 10438 5c2e AFEF ldi r26,hlo8(-64000) |
| 10439 5c30 BFEF ldi r27,hhi8(-64000) |
| 10440 5c32 8093 0000 sts SummeRoll,r24 |
| 10441 5c36 9093 0000 sts (SummeRoll)+1,r25 |
| 10442 5c3a A093 0000 sts (SummeRoll)+2,r26 |
| 10443 5c3e B093 0000 sts (SummeRoll)+3,r27 |
| 10444 .L845: |
| 10445 5c42 2091 0000 lds r18,DiffRoll |
| 10446 5c46 3091 0000 lds r19,(DiffRoll)+1 |
| 10447 5c4a 48E0 ldi r20,lo8(8) |
| 10448 5c4c 4C15 cp r20,r12 |
| 10449 5c4e 00F0 brlo .L846 |
| 10450 5c50 8C2D mov r24,r12 |
| 10451 5c52 9927 clr r25 |
| 10452 5c54 829F mul r24,r18 |
| 10453 5c56 B001 movw r22,r0 |
| 10454 5c58 839F mul r24,r19 |
| 10455 5c5a 700D add r23,r0 |
| 10456 5c5c 929F mul r25,r18 |
| 10457 5c5e 700D add r23,r0 |
| 10458 5c60 1124 clr r1 |
| 10459 5c62 CB01 movw r24,r22 |
| 10460 5c64 77FD sbrc r23,7 |
| 10461 5c66 0796 adiw r24,7 |
| 10462 .L847: |
| 10463 5c68 6C01 movw r12,r24 |
| 10464 5c6a B3E0 ldi r27,3 |
| 10465 5c6c D594 1: asr r13 |
| 10466 5c6e C794 ror r12 |
| 10467 5c70 BA95 dec r27 |
| 10468 5c72 01F4 brne 1b |
| 10469 5c74 00C0 rjmp .L848 |
| 10470 .L846: |
| 10471 5c76 C694 lsr r12 |
| 10472 5c78 8C2D mov r24,r12 |
| 10473 5c7a 9927 clr r25 |
| 10474 5c7c 829F mul r24,r18 |
| 10475 5c7e D001 movw r26,r0 |
| 10476 5c80 839F mul r24,r19 |
| 10477 5c82 B00D add r27,r0 |
| 10478 5c84 929F mul r25,r18 |
| 10479 5c86 B00D add r27,r0 |
| 10480 5c88 1124 clr r1 |
| 10481 5c8a CD01 movw r24,r26 |
| 10482 5c8c B7FD sbrc r27,7 |
| 10483 5c8e 0396 adiw r24,3 |
| 10484 .L849: |
| 10485 5c90 6C01 movw r12,r24 |
| 10486 5c92 D594 asr r13 |
| 10487 5c94 C794 ror r12 |
| 10488 5c96 D594 asr r13 |
| 10489 5c98 C794 ror r12 |
| 10490 .L848: |
| 10491 5c9a 9501 movw r18,r10 |
| 10492 5c9c 4427 clr r20 |
| 10493 5c9e 37FD sbrc r19,7 |
| 10494 5ca0 4095 com r20 |
| 10495 5ca2 542F mov r21,r20 |
| 10496 5ca4 8091 0000 lds r24,SummeRoll |
| 10497 5ca8 9091 0000 lds r25,(SummeRoll)+1 |
| 10498 5cac A091 0000 lds r26,(SummeRoll)+2 |
| 10499 5cb0 B091 0000 lds r27,(SummeRoll)+3 |
| 10500 5cb4 BC01 movw r22,r24 |
| 10501 5cb6 CD01 movw r24,r26 |
| 10502 5cb8 0E94 0000 call __divmodsi4 |
| 10503 5cbc C20E add r12,r18 |
| 10504 5cbe D31E adc r13,r19 |
| 10505 5cc0 692D mov r22,r9 |
| 10506 5cc2 7727 clr r23 |
| 10507 5cc4 8827 clr r24 |
| 10508 5cc6 9927 clr r25 |
| 10509 5cc8 9801 movw r18,r16 |
| 10510 5cca 17FF sbrs r17,7 |
| 10511 5ccc 00C0 rjmp .L850 |
| 10512 5cce 2227 clr r18 |
| 10513 5cd0 3327 clr r19 |
| 10514 5cd2 201B sub r18,r16 |
| 10515 5cd4 310B sbc r19,r17 |
| 10516 .L850: |
| 10517 5cd6 37FF sbrs r19,7 |
| 10518 5cd8 00C0 rjmp .L851 |
| 10519 5cda 2F5F subi r18,lo8(-(1)) |
| 10520 5cdc 3F4F sbci r19,hi8(-(1)) |
| 10521 .L851: |
| 10522 5cde 3595 asr r19 |
| 10523 5ce0 2795 ror r18 |
| 10524 5ce2 E981 ldd r30,Y+1 |
| 10525 5ce4 FA81 ldd r31,Y+2 |
| 10526 5ce6 2E0F add r18,r30 |
| 10527 5ce8 3F1F adc r19,r31 |
| 10528 5cea 4427 clr r20 |
| 10529 5cec 37FD sbrc r19,7 |
| 10530 5cee 4095 com r20 |
| 10531 5cf0 542F mov r21,r20 |
| 10532 5cf2 0E94 0000 call __mulsi3 |
| 10533 5cf6 97FF sbrs r25,7 |
| 10534 5cf8 00C0 rjmp .L852 |
| 10535 5cfa 615C subi r22,lo8(-(63)) |
| 10536 5cfc 7F4F sbci r23,hi8(-(63)) |
| 10537 5cfe 8F4F sbci r24,hlo8(-(63)) |
| 10538 5d00 9F4F sbci r25,hhi8(-(63)) |
| 10539 .L852: |
| 10540 5d02 E6E0 ldi r30,6 |
| 10541 5d04 9595 1: asr r25 |
| 10542 5d06 8795 ror r24 |
| 10543 5d08 7795 ror r23 |
| 10544 5d0a 6795 ror r22 |
| 10545 5d0c EA95 dec r30 |
| 10546 5d0e 01F4 brne 1b |
| 10547 5d10 9B01 movw r18,r22 |
| 10548 5d12 6C15 cp r22,r12 |
| 10549 5d14 7D05 cpc r23,r13 |
| 10550 5d16 04F4 brge .L853 |
| 10551 5d18 6B01 movw r12,r22 |
| 10552 .L853: |
| 10553 5d1a 3095 com r19 |
| 10554 5d1c 2195 neg r18 |
| 10555 5d1e 3F4F sbci r19,lo8(-1) |
| 10556 5d20 C216 cp r12,r18 |
| 10557 5d22 D306 cpc r13,r19 |
| 10558 5d24 04F4 brge .L854 |
| 10559 5d26 6901 movw r12,r18 |
| 10560 .L854: |
| 10561 5d28 8091 0000 lds r24,MIN_GAS |
| 10562 5d2c 282E mov r2,r24 |
| 10563 5d2e 3324 clr r3 |
| 10564 5d30 5090 0000 lds r5,EE_Parameter+101 |
| 10565 5d34 60E0 ldi r22,lo8(Motor) |
| 10566 5d36 862E mov r8,r22 |
| 10567 5d38 60E0 ldi r22,hi8(Motor) |
| 10568 5d3a 962E mov r9,r22 |
| 10569 5d3c 50E0 ldi r21,lo8(Mixer+13) |
| 10570 5d3e A52E mov r10,r21 |
| 10571 5d40 50E0 ldi r21,hi8(Mixer+13) |
| 10572 5d42 B52E mov r11,r21 |
| 10573 5d44 4BE0 ldi r20,lo8(11) |
| 10574 5d46 442E mov r4,r20 |
| 10575 5d48 30E0 ldi r19,lo8(tmp_motorwert) |
| 10576 5d4a 632E mov r6,r19 |
| 10577 5d4c 30E0 ldi r19,hi8(tmp_motorwert) |
| 10578 5d4e 732E mov r7,r19 |
| 10579 .L889: |
| 10580 5d50 D501 movw r26,r10 |
| 10581 5d52 2C91 ld r18,X |
| 10582 5d54 1216 cp __zero_reg__,r18 |
| 10583 5d56 04F0 brlt .+2 |
| 10584 5d58 00C0 rjmp .L858 |
| 10585 5d5a 2034 cpi r18,lo8(64) |
| 10586 5d5c 01F4 brne .L859 |
| 10587 5d5e E981 ldd r30,Y+1 |
| 10588 5d60 FA81 ldd r31,Y+2 |
| 10589 5d62 FF8B std Y+23,r31 |
| 10590 5d64 EE8B std Y+22,r30 |
| 10591 5d66 00C0 rjmp .L860 |
| 10592 .L859: |
| 10593 5d68 4981 ldd r20,Y+1 |
| 10594 5d6a 5A81 ldd r21,Y+2 |
| 10595 5d6c CA01 movw r24,r20 |
| 10596 5d6e AA27 clr r26 |
| 10597 5d70 97FD sbrc r25,7 |
| 10598 5d72 A095 com r26 |
| 10599 5d74 BA2F mov r27,r26 |
| 10600 5d76 3327 clr r19 |
| 10601 5d78 27FD sbrc r18,7 |
| 10602 5d7a 3095 com r19 |
| 10603 5d7c 432F mov r20,r19 |
| 10604 5d7e 532F mov r21,r19 |
| 10605 5d80 BC01 movw r22,r24 |
| 10606 5d82 CD01 movw r24,r26 |
| 10607 5d84 0E94 0000 call __mulsi3 |
| 10608 5d88 97FF sbrs r25,7 |
| 10609 5d8a 00C0 rjmp .L861 |
| 10610 5d8c 615C subi r22,lo8(-(63)) |
| 10611 5d8e 7F4F sbci r23,hi8(-(63)) |
| 10612 5d90 8F4F sbci r24,hlo8(-(63)) |
| 10613 5d92 9F4F sbci r25,hhi8(-(63)) |
| 10614 .L861: |
| 10615 5d94 26E0 ldi r18,6 |
| 10616 5d96 9595 1: asr r25 |
| 10617 5d98 8795 ror r24 |
| 10618 5d9a 7795 ror r23 |
| 10619 5d9c 6795 ror r22 |
| 10620 5d9e 2A95 dec r18 |
| 10621 5da0 01F4 brne 1b |
| 10622 5da2 7F8B std Y+23,r23 |
| 10623 5da4 6E8B std Y+22,r22 |
| 10624 .L860: |
| 10625 5da6 F501 movw r30,r10 |
| 10626 5da8 2181 ldd r18,Z+1 |
| 10627 5daa 2034 cpi r18,lo8(64) |
| 10628 5dac 01F4 brne .L862 |
| 10629 5dae 2E89 ldd r18,Y+22 |
| 10630 5db0 3F89 ldd r19,Y+23 |
| 10631 5db2 2E0D add r18,r14 |
| 10632 5db4 3F1D adc r19,r15 |
| 10633 5db6 3F8B std Y+23,r19 |
| 10634 5db8 2E8B std Y+22,r18 |
| 10635 5dba 00C0 rjmp .L863 |
| 10636 .L862: |
| 10637 5dbc 203C cpi r18,lo8(-64) |
| 10638 5dbe 01F4 brne .L864 |
| 10639 5dc0 4E89 ldd r20,Y+22 |
| 10640 5dc2 5F89 ldd r21,Y+23 |
| 10641 5dc4 4E19 sub r20,r14 |
| 10642 5dc6 5F09 sbc r21,r15 |
| 10643 5dc8 5F8B std Y+23,r21 |
| 10644 5dca 4E8B std Y+22,r20 |
| 10645 5dcc 00C0 rjmp .L863 |
| 10646 .L864: |
| 10647 5dce C701 movw r24,r14 |
| 10648 5dd0 AA27 clr r26 |
| 10649 5dd2 97FD sbrc r25,7 |
| 10650 5dd4 A095 com r26 |
| 10651 5dd6 BA2F mov r27,r26 |
| 10652 5dd8 3327 clr r19 |
| 10653 5dda 27FD sbrc r18,7 |
| 10654 5ddc 3095 com r19 |
| 10655 5dde 432F mov r20,r19 |
| 10656 5de0 532F mov r21,r19 |
| 10657 5de2 BC01 movw r22,r24 |
| 10658 5de4 CD01 movw r24,r26 |
| 10659 5de6 0E94 0000 call __mulsi3 |
| 10660 5dea 97FF sbrs r25,7 |
| 10661 5dec 00C0 rjmp .L866 |
| 10662 5dee 615C subi r22,lo8(-(63)) |
| 10663 5df0 7F4F sbci r23,hi8(-(63)) |
| 10664 5df2 8F4F sbci r24,hlo8(-(63)) |
| 10665 5df4 9F4F sbci r25,hhi8(-(63)) |
| 10666 .L866: |
| 10667 5df6 B6E0 ldi r27,6 |
| 10668 5df8 9595 1: asr r25 |
| 10669 5dfa 8795 ror r24 |
| 10670 5dfc 7795 ror r23 |
| 10671 5dfe 6795 ror r22 |
| 10672 5e00 BA95 dec r27 |
| 10673 5e02 01F4 brne 1b |
| 10674 5e04 AE89 ldd r26,Y+22 |
| 10675 5e06 BF89 ldd r27,Y+23 |
| 10676 5e08 A60F add r26,r22 |
| 10677 5e0a B71F adc r27,r23 |
| 10678 5e0c BF8B std Y+23,r27 |
| 10679 5e0e AE8B std Y+22,r26 |
| 10680 .L863: |
| 10681 5e10 F501 movw r30,r10 |
| 10682 5e12 2281 ldd r18,Z+2 |
| 10683 5e14 2034 cpi r18,lo8(64) |
| 10684 5e16 01F4 brne .L867 |
| 10685 5e18 2E89 ldd r18,Y+22 |
| 10686 5e1a 3F89 ldd r19,Y+23 |
| 10687 5e1c 2C0D add r18,r12 |
| 10688 5e1e 3D1D adc r19,r13 |
| 10689 5e20 3F8B std Y+23,r19 |
| 10690 5e22 2E8B std Y+22,r18 |
| 10691 5e24 00C0 rjmp .L868 |
| 10692 .L867: |
| 10693 5e26 203C cpi r18,lo8(-64) |
| 10694 5e28 01F4 brne .L869 |
| 10695 5e2a 4E89 ldd r20,Y+22 |
| 10696 5e2c 5F89 ldd r21,Y+23 |
| 10697 5e2e 4C19 sub r20,r12 |
| 10698 5e30 5D09 sbc r21,r13 |
| 10699 5e32 5F8B std Y+23,r21 |
| 10700 5e34 4E8B std Y+22,r20 |
| 10701 5e36 00C0 rjmp .L868 |
| 10702 .L869: |
| 10703 5e38 C601 movw r24,r12 |
| 10704 5e3a AA27 clr r26 |
| 10705 5e3c 97FD sbrc r25,7 |
| 10706 5e3e A095 com r26 |
| 10707 5e40 BA2F mov r27,r26 |
| 10708 5e42 3327 clr r19 |
| 10709 5e44 27FD sbrc r18,7 |
| 10710 5e46 3095 com r19 |
| 10711 5e48 432F mov r20,r19 |
| 10712 5e4a 532F mov r21,r19 |
| 10713 5e4c BC01 movw r22,r24 |
| 10714 5e4e CD01 movw r24,r26 |
| 10715 5e50 0E94 0000 call __mulsi3 |
| 10716 5e54 97FF sbrs r25,7 |
| 10717 5e56 00C0 rjmp .L871 |
| 10718 5e58 615C subi r22,lo8(-(63)) |
| 10719 5e5a 7F4F sbci r23,hi8(-(63)) |
| 10720 5e5c 8F4F sbci r24,hlo8(-(63)) |
| 10721 5e5e 9F4F sbci r25,hhi8(-(63)) |
| 10722 .L871: |
| 10723 5e60 A6E0 ldi r26,6 |
| 10724 5e62 9595 1: asr r25 |
| 10725 5e64 8795 ror r24 |
| 10726 5e66 7795 ror r23 |
| 10727 5e68 6795 ror r22 |
| 10728 5e6a AA95 dec r26 |
| 10729 5e6c 01F4 brne 1b |
| 10730 5e6e AE89 ldd r26,Y+22 |
| 10731 5e70 BF89 ldd r27,Y+23 |
| 10732 5e72 A60F add r26,r22 |
| 10733 5e74 B71F adc r27,r23 |
| 10734 5e76 BF8B std Y+23,r27 |
| 10735 5e78 AE8B std Y+22,r26 |
| 10736 .L868: |
| 10737 5e7a F501 movw r30,r10 |
| 10738 5e7c 2381 ldd r18,Z+3 |
| 10739 5e7e 2034 cpi r18,lo8(64) |
| 10740 5e80 01F4 brne .L872 |
| 10741 5e82 2E89 ldd r18,Y+22 |
| 10742 5e84 3F89 ldd r19,Y+23 |
| 10743 5e86 200F add r18,r16 |
| 10744 5e88 311F adc r19,r17 |
| 10745 5e8a 3F8B std Y+23,r19 |
| 10746 5e8c 2E8B std Y+22,r18 |
| 10747 5e8e 00C0 rjmp .L873 |
| 10748 .L872: |
| 10749 5e90 203C cpi r18,lo8(-64) |
| 10750 5e92 01F4 brne .L874 |
| 10751 5e94 4E89 ldd r20,Y+22 |
| 10752 5e96 5F89 ldd r21,Y+23 |
| 10753 5e98 401B sub r20,r16 |
| 10754 5e9a 510B sbc r21,r17 |
| 10755 5e9c 5F8B std Y+23,r21 |
| 10756 5e9e 4E8B std Y+22,r20 |
| 10757 5ea0 00C0 rjmp .L873 |
| 10758 .L874: |
| 10759 5ea2 C801 movw r24,r16 |
| 10760 5ea4 AA27 clr r26 |
| 10761 5ea6 97FD sbrc r25,7 |
| 10762 5ea8 A095 com r26 |
| 10763 5eaa BA2F mov r27,r26 |
| 10764 5eac 3327 clr r19 |
| 10765 5eae 27FD sbrc r18,7 |
| 10766 5eb0 3095 com r19 |
| 10767 5eb2 432F mov r20,r19 |
| 10768 5eb4 532F mov r21,r19 |
| 10769 5eb6 BC01 movw r22,r24 |
| 10770 5eb8 CD01 movw r24,r26 |
| 10771 5eba 0E94 0000 call __mulsi3 |
| 10772 5ebe 97FF sbrs r25,7 |
| 10773 5ec0 00C0 rjmp .L876 |
| 10774 5ec2 615C subi r22,lo8(-(63)) |
| 10775 5ec4 7F4F sbci r23,hi8(-(63)) |
| 10776 5ec6 8F4F sbci r24,hlo8(-(63)) |
| 10777 5ec8 9F4F sbci r25,hhi8(-(63)) |
| 10778 .L876: |
| 10779 5eca F6E0 ldi r31,6 |
| 10780 5ecc 9595 1: asr r25 |
| 10781 5ece 8795 ror r24 |
| 10782 5ed0 7795 ror r23 |
| 10783 5ed2 6795 ror r22 |
| 10784 5ed4 FA95 dec r31 |
| 10785 5ed6 01F4 brne 1b |
| 10786 5ed8 AE89 ldd r26,Y+22 |
| 10787 5eda BF89 ldd r27,Y+23 |
| 10788 5edc A60F add r26,r22 |
| 10789 5ede B71F adc r27,r23 |
| 10790 5ee0 BF8B std Y+23,r27 |
| 10791 5ee2 AE8B std Y+22,r26 |
| 10792 .L873: |
| 10793 5ee4 F301 movw r30,r6 |
| 10794 5ee6 8081 ld r24,Z |
| 10795 5ee8 9181 ldd r25,Z+1 |
| 10796 5eea 2E89 ldd r18,Y+22 |
| 10797 5eec 3F89 ldd r19,Y+23 |
| 10798 5eee 8217 cp r24,r18 |
| 10799 5ef0 9307 cpc r25,r19 |
| 10800 5ef2 04F4 brge .L877 |
| 10801 5ef4 B901 movw r22,r18 |
| 10802 5ef6 680F add r22,r24 |
| 10803 5ef8 791F adc r23,r25 |
| 10804 5efa 77FF sbrs r23,7 |
| 10805 5efc 00C0 rjmp .L878 |
| 10806 5efe 6F5F subi r22,lo8(-(1)) |
| 10807 5f00 7F4F sbci r23,hi8(-(1)) |
| 10808 .L878: |
| 10809 5f02 7595 asr r23 |
| 10810 5f04 6795 ror r22 |
| 10811 5f06 7F8B std Y+23,r23 |
| 10812 5f08 6E8B std Y+22,r22 |
| 10813 5f0a 00C0 rjmp .L879 |
| 10814 .L877: |
| 10815 5f0c 5520 tst r5 |
| 10816 5f0e 01F4 brne .L880 |
| 10817 5f10 4E89 ldd r20,Y+22 |
| 10818 5f12 5F89 ldd r21,Y+23 |
| 10819 5f14 440F add r20,r20 |
| 10820 5f16 551F adc r21,r21 |
| 10821 5f18 481B sub r20,r24 |
| 10822 5f1a 590B sbc r21,r25 |
| 10823 5f1c 5F8B std Y+23,r21 |
| 10824 5f1e 4E8B std Y+22,r20 |
| 10825 5f20 00C0 rjmp .L879 |
| 10826 .L880: |
| 10827 5f22 51E0 ldi r21,lo8(1) |
| 10828 5f24 5515 cp r21,r5 |
| 10829 5f26 00F4 brsh .L879 |
| 10830 5f28 252D mov r18,r5 |
| 10831 5f2a 3327 clr r19 |
| 10832 5f2c 6E89 ldd r22,Y+22 |
| 10833 5f2e 7F89 ldd r23,Y+23 |
| 10834 5f30 861B sub r24,r22 |
| 10835 5f32 970B sbc r25,r23 |
| 10836 5f34 B901 movw r22,r18 |
| 10837 5f36 0E94 0000 call __divmodhi4 |
| 10838 5f3a AE89 ldd r26,Y+22 |
| 10839 5f3c BF89 ldd r27,Y+23 |
| 10840 5f3e A60F add r26,r22 |
| 10841 5f40 B71F adc r27,r23 |
| 10842 5f42 BF8B std Y+23,r27 |
| 10843 5f44 AE8B std Y+22,r26 |
| 10844 .L879: |
| 10845 5f46 C101 movw r24,r2 |
| 10846 5f48 880F lsl r24 |
| 10847 5f4a 991F rol r25 |
| 10848 5f4c 880F lsl r24 |
| 10849 5f4e 991F rol r25 |
| 10850 5f50 EE89 ldd r30,Y+22 |
| 10851 5f52 FF89 ldd r31,Y+23 |
| 10852 5f54 8E17 cp r24,r30 |
| 10853 5f56 9F07 cpc r25,r31 |
| 10854 5f58 04F4 brge .L922 |
| 10855 5f5a FD89 ldd r31,Y+21 |
| 10856 5f5c 8F2F mov r24,r31 |
| 10857 5f5e 9927 clr r25 |
| 10858 5f60 880F lsl r24 |
| 10859 5f62 991F rol r25 |
| 10860 5f64 880F lsl r24 |
| 10861 5f66 991F rol r25 |
| 10862 5f68 2E89 ldd r18,Y+22 |
| 10863 5f6a 3F89 ldd r19,Y+23 |
| 10864 5f6c 2817 cp r18,r24 |
| 10865 5f6e 3907 cpc r19,r25 |
| 10866 5f70 04F0 brlt .L884 |
| 10867 .L922: |
| 10868 5f72 9F8B std Y+23,r25 |
| 10869 5f74 8E8B std Y+22,r24 |
| 10870 .L884: |
| 10871 5f76 8E89 ldd r24,Y+22 |
| 10872 5f78 9F89 ldd r25,Y+23 |
| 10873 5f7a 97FD sbrc r25,7 |
| 10874 5f7c 0396 adiw r24,3 |
| 10875 .L886: |
| 10876 5f7e 9595 asr r25 |
| 10877 5f80 8795 ror r24 |
| 10878 5f82 9595 asr r25 |
| 10879 5f84 8795 ror r24 |
| 10880 5f86 F401 movw r30,r8 |
| 10881 5f88 8183 std Z+1,r24 |
| 10882 5f8a 880F lsl r24 |
| 10883 5f8c 991F rol r25 |
| 10884 5f8e 880F lsl r24 |
| 10885 5f90 991F rol r25 |
| 10886 5f92 2E89 ldd r18,Y+22 |
| 10887 5f94 3F89 ldd r19,Y+23 |
| 10888 5f96 281B sub r18,r24 |
| 10889 5f98 390B sbc r19,r25 |
| 10890 5f9a C901 movw r24,r18 |
| 10891 5f9c 880F lsl r24 |
| 10892 5f9e 8283 std Z+2,r24 |
| 10893 5fa0 EE89 ldd r30,Y+22 |
| 10894 5fa2 FF89 ldd r31,Y+23 |
| 10895 5fa4 D301 movw r26,r6 |
| 10896 5fa6 ED93 st X+,r30 |
| 10897 5fa8 FC93 st X,r31 |
| 10898 5faa 00C0 rjmp .L857 |
| 10899 .L858: |
| 10900 5fac F401 movw r30,r8 |
| 10901 5fae 1182 std Z+1,__zero_reg__ |
| 10902 5fb0 1282 std Z+2,__zero_reg__ |
| 10903 .L857: |
| 10904 5fb2 4A94 dec r4 |
| 10905 5fb4 22E0 ldi r18,lo8(2) |
| 10906 5fb6 30E0 ldi r19,hi8(2) |
| 10907 5fb8 620E add r6,r18 |
| 10908 5fba 731E adc r7,r19 |
| 10909 5fbc 44E0 ldi r20,lo8(4) |
| 10910 5fbe 50E0 ldi r21,hi8(4) |
| 10911 5fc0 A40E add r10,r20 |
| 10912 5fc2 B51E adc r11,r21 |
| 10913 5fc4 68E0 ldi r22,lo8(8) |
| 10914 5fc6 70E0 ldi r23,hi8(8) |
| 10915 5fc8 860E add r8,r22 |
| 10916 5fca 971E adc r9,r23 |
| 10917 5fcc 47FE sbrs r4,7 |
| 10918 5fce 00C0 rjmp .L889 |
| 10919 /* epilogue: frame size=23 */ |
| 10920 5fd0 E2E1 ldi r30,18 |
| 10921 5fd2 C95E subi r28,-23 |
| 10922 5fd4 0C94 0000 jmp __epilogue_restores__+0 |
| 10923 /* epilogue end (size=4) */ |
| 10924 /* function MotorRegler size 8305 (8295) */ |
| 10926 .comm TrimNick,2,1 |
| 10927 .comm TrimRoll,2,1 |
| 10928 .comm ErsatzKompass,4,1 |
| 10929 .comm ErsatzKompassInGrad,2,1 |
| 10930 .comm MesswertNick,2,1 |
| 10931 .comm MesswertRoll,2,1 |
| 10932 .comm MesswertGier,2,1 |
| 10933 .comm Mittelwert_AccNick,2,1 |
| 10934 .comm Mittelwert_AccRoll,2,1 |
| 10935 .comm NaviAccNick,2,1 |
| 10936 .comm NaviAccRoll,2,1 |
| 10937 .comm h,1,1 |
| 10938 .comm m,1,1 |
| 10939 .comm s,1,1 |
| 10940 .comm DiffNick,2,1 |
| 10941 .comm DiffRoll,2,1 |
| 10942 .comm Parameter_Servo3,1,1 |
| 10943 .comm Parameter_Servo4,1,1 |
| 10944 .comm Parameter_Servo5,1,1 |
| 10945 .comm Parameter_J16Bitmask,1,1 |
| 10946 .comm Parameter_J16Timing,1,1 |
| 10947 .comm Parameter_J17Bitmask,1,1 |
| 10948 .comm Parameter_J17Timing,1,1 |
| 10949 .comm Parameter_GlobalConfig,1,1 |
| 10950 .comm Parameter_ExtraConfig,1,1 |
| 10951 .comm MesswertGierBias,2,1 |
| 10952 .comm RohMesswertNick,2,1 |
| 10953 .comm RohMesswertRoll,2,1 |
| 10954 .comm MittelIntegralNick,4,1 |
| 10955 .comm MittelIntegralRoll,4,1 |
| 10956 .comm MittelIntegralNick2,4,1 |
| 10957 .comm MittelIntegralRoll2,4,1 |
| 10958 .comm MAX_GAS,1,1 |
| 10959 .comm MIN_GAS,1,1 |
| 10960 .comm GyroFaktor,1,1 |
| 10961 .comm GyroFaktorGier,1,1 |
| 10962 .comm IntegralFaktor,1,1 |
| 10963 .comm IntegralFaktorGier,1,1 |
| 10964 .comm Parameter_NaviGpsModeControl,1,1 |
| 10965 .comm Parameter_NaviGpsGain,1,1 |
| 10966 .comm Parameter_NaviGpsP,1,1 |
| 10967 .comm Parameter_NaviGpsI,1,1 |
| 10968 .comm Parameter_NaviGpsD,1,1 |
| 10969 .comm Parameter_NaviGpsACC,1,1 |
| 10970 .comm Parameter_NaviOperatingRadius,1,1 |
| 10971 .comm Parameter_NaviWindCorrection,1,1 |
| 10972 .comm Parameter_NaviSpeedCompensation,1,1 |
| 10973 .comm Parameter_ExternalControl,1,1 |
| 10974 .comm Parameter_MaximumAltitude,1,1 |
| 10975 .comm KopplungsteilNickRoll,2,1 |
| 10976 .comm KopplungsteilRollNick,2,1 |
| 10977 .comm tmp_motorwert,24,1 |
| 10978 /* File "fc.c": code 12435 = 0x3093 (12374), prologues 31, epilogues 30 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 fc.c |
| C:\Temp/ccMKYVI5.s:3 *ABS*:0000003f __SREG__ |
| C:\Temp/ccMKYVI5.s:4 *ABS*:0000003e __SP_H__ |
| C:\Temp/ccMKYVI5.s:5 *ABS*:0000003d __SP_L__ |
| C:\Temp/ccMKYVI5.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\Temp/ccMKYVI5.s:7 *ABS*:00000001 __zero_reg__ |
| C:\Temp/ccMKYVI5.s:15 .bss:00000000 GasIsZeroCnt |
| C:\Temp/ccMKYVI5.s:21 .bss:00000002 HooverGasEmergencyPercent |
| C:\Temp/ccMKYVI5.s:27 .data:00000000 VarioCharacter |
| C:\Temp/ccMKYVI5.s:32 .data:00000001 GIER_GRAD_FAKTOR |
| C:\Temp/ccMKYVI5.s:39 .bss:00000004 FC_StatusFlags2 |
| C:\Temp/ccMKYVI5.s:45 .bss:00000005 FC_StatusFlags |
| C:\Temp/ccMKYVI5.s:51 .bss:00000006 modell_fliegt |
| C:\Temp/ccMKYVI5.s:57 .bss:00000008 MaxStickRoll |
| C:\Temp/ccMKYVI5.s:63 .bss:0000000a MaxStickNick |
| C:\Temp/ccMKYVI5.s:69 .data:00000005 ExternHoehenValue |
| C:\Temp/ccMKYVI5.s:76 .bss:0000000c ExternStickGier |
| C:\Temp/ccMKYVI5.s:82 .bss:0000000e ExternStickRoll |
| C:\Temp/ccMKYVI5.s:88 .bss:00000010 ExternStickNick |
| C:\Temp/ccMKYVI5.s:94 .data:00000007 sintab |
| C:\Temp/ccMKYVI5.s:131 .bss:00000012 CareFree |
| C:\Temp/ccMKYVI5.s:137 .data:00000026 Parameter_DynamicStability |
| C:\Temp/ccMKYVI5.s:142 .data:00000027 Parameter_CouplingYawCorrection |
| C:\Temp/ccMKYVI5.s:147 .data:00000028 Parameter_AchsKopplung2 |
| C:\Temp/ccMKYVI5.s:152 .data:00000029 Parameter_AchsKopplung1 |
| C:\Temp/ccMKYVI5.s:157 .data:0000002a Parameter_LoopGasLimit |
| C:\Temp/ccMKYVI5.s:162 .data:0000002b Parameter_ServoRollComp |
| C:\Temp/ccMKYVI5.s:167 .data:0000002c Parameter_ServoNickComp |
| C:\Temp/ccMKYVI5.s:172 .data:0000002d Parameter_ServoRollControl |
| C:\Temp/ccMKYVI5.s:177 .data:0000002e Parameter_ServoNickControl |
| C:\Temp/ccMKYVI5.s:184 .bss:00000013 Parameter_UserParam8 |
| C:\Temp/ccMKYVI5.s:190 .bss:00000014 Parameter_UserParam7 |
| C:\Temp/ccMKYVI5.s:196 .bss:00000015 Parameter_UserParam6 |
| C:\Temp/ccMKYVI5.s:202 .bss:00000016 Parameter_UserParam5 |
| C:\Temp/ccMKYVI5.s:208 .bss:00000017 Parameter_UserParam4 |
| C:\Temp/ccMKYVI5.s:214 .bss:00000018 Parameter_UserParam3 |
| C:\Temp/ccMKYVI5.s:220 .bss:00000019 Parameter_UserParam2 |
| C:\Temp/ccMKYVI5.s:226 .bss:0000001a Parameter_UserParam1 |
| C:\Temp/ccMKYVI5.s:232 .data:0000002f Parameter_I_Faktor |
| C:\Temp/ccMKYVI5.s:237 .data:00000030 Parameter_Gier_P |
| C:\Temp/ccMKYVI5.s:242 .data:00000031 Parameter_Gyro_Gier_I |
| C:\Temp/ccMKYVI5.s:247 .data:00000032 Parameter_Gyro_Gier_P |
| C:\Temp/ccMKYVI5.s:252 .data:00000033 Parameter_Gyro_I |
| C:\Temp/ccMKYVI5.s:257 .data:00000034 Parameter_Gyro_P |
| C:\Temp/ccMKYVI5.s:262 .data:00000035 Parameter_Gyro_D |
| C:\Temp/ccMKYVI5.s:267 .data:00000036 Parameter_Hoehe_GPS_Z |
| C:\Temp/ccMKYVI5.s:272 .data:00000037 Parameter_KompassWirkung |
| C:\Temp/ccMKYVI5.s:277 .data:00000038 Parameter_Hoehe_ACC_Wirkung |
| C:\Temp/ccMKYVI5.s:282 .data:00000039 Parameter_Hoehe_P |
| C:\Temp/ccMKYVI5.s:287 .data:0000003a Parameter_HoehenSchalter |
| C:\Temp/ccMKYVI5.s:292 .data:0000003b Parameter_Luftdruck_D |
| C:\Temp/ccMKYVI5.s:299 .bss:0000001b Looping_Oben |
| C:\Temp/ccMKYVI5.s:305 .bss:0000001c Looping_Unten |
| C:\Temp/ccMKYVI5.s:311 .bss:0000001d Looping_Rechts |
| C:\Temp/ccMKYVI5.s:317 .bss:0000001e Looping_Links |
| C:\Temp/ccMKYVI5.s:323 .bss:0000001f Looping_Roll |
| C:\Temp/ccMKYVI5.s:329 .bss:00000020 Looping_Nick |
| C:\Temp/ccMKYVI5.s:335 .data:0000003c Ki |
| C:\Temp/ccMKYVI5.s:342 .bss:00000021 HoverGas |
| C:\Temp/ccMKYVI5.s:348 .bss:00000023 LageKorrekturNick |
| C:\Temp/ccMKYVI5.s:354 .bss:00000025 LageKorrekturRoll |
| C:\Temp/ccMKYVI5.s:360 .bss:00000027 NeueKompassRichtungMerken |
| C:\Temp/ccMKYVI5.s:366 .bss:00000028 CalibrationDone |
| C:\Temp/ccMKYVI5.s:372 .bss:00000029 CompassGierSetpoint |
| C:\Temp/ccMKYVI5.s:378 .bss:0000002b WaypointTrimming |
| C:\Temp/ccMKYVI5.s:384 .data:0000003e carefree_old |
| C:\Temp/ccMKYVI5.s:391 .bss:0000002c FromNC_AltitudeSpeed |
| C:\Temp/ccMKYVI5.s:397 .bss:0000002d FromNC_AltitudeSetpoint |
| C:\Temp/ccMKYVI5.s:403 .bss:00000031 AltitudeSetpointTrimming |
| C:\Temp/ccMKYVI5.s:409 .bss:00000033 SollHoehe |
| C:\Temp/ccMKYVI5.s:415 .bss:00000037 HoehenWert |
| C:\Temp/ccMKYVI5.s:421 .bss:0000003b StartTrigger |
| C:\Temp/ccMKYVI5.s:427 .bss:0000003c MotorenEin |
| C:\Temp/ccMKYVI5.s:433 .bss:0000003d SenderOkay |
| C:\Temp/ccMKYVI5.s:439 .bss:0000003e Poti |
| C:\Temp/ccMKYVI5.s:445 .bss:00000047 StickGas |
| C:\Temp/ccMKYVI5.s:451 .bss:00000049 StickGier |
| C:\Temp/ccMKYVI5.s:457 .bss:0000004b StickRoll |
| C:\Temp/ccMKYVI5.s:463 .bss:0000004d StickNick |
| C:\Temp/ccMKYVI5.s:469 .data:0000003f HoverGasMax |
| C:\Temp/ccMKYVI5.s:476 .bss:0000004f HoverGasMin |
| C:\Temp/ccMKYVI5.s:482 .data:00000041 StickGasHover |
| C:\Temp/ccMKYVI5.s:489 .bss:00000051 GierGyroFehler |
| C:\Temp/ccMKYVI5.s:495 .data:00000043 Umschlag180Roll |
| C:\Temp/ccMKYVI5.s:500 .data:00000047 Umschlag180Nick |
| C:\Temp/ccMKYVI5.s:507 .bss:00000053 TrichterFlug |
| C:\Temp/ccMKYVI5.s:513 .bss:00000054 HoehenReglerAktiv |
| C:\Temp/ccMKYVI5.s:519 .data:0000004b KompassSignalSchlecht |
| C:\Temp/ccMKYVI5.s:524 .data:0000004d KompassFusion |
| C:\Temp/ccMKYVI5.s:529 .data:0000004e CalculateCompassTimer |
| C:\Temp/ccMKYVI5.s:536 .bss:00000055 KompassSollWert |
| C:\Temp/ccMKYVI5.s:542 .data:0000004f KompassValue |
| C:\Temp/ccMKYVI5.s:549 .bss:00000057 Mess_Integral_Hoch |
| C:\Temp/ccMKYVI5.s:555 .bss:0000005b SummeRoll |
| C:\Temp/ccMKYVI5.s:561 .bss:0000005f SummeNick |
| C:\Temp/ccMKYVI5.s:567 .bss:00000063 Mess_Integral_Gier2 |
| C:\Temp/ccMKYVI5.s:573 .bss:00000067 Mess_Integral_Gier |
| C:\Temp/ccMKYVI5.s:579 .bss:0000006b Mess_IntegralRoll2 |
| C:\Temp/ccMKYVI5.s:585 .bss:0000006f Mess_IntegralRoll |
| C:\Temp/ccMKYVI5.s:591 .bss:00000073 Mess_IntegralNick2 |
| C:\Temp/ccMKYVI5.s:597 .bss:00000077 Mess_IntegralNick |
| C:\Temp/ccMKYVI5.s:603 .bss:0000007b Integral_Gier |
| C:\Temp/ccMKYVI5.s:609 .bss:0000007f IntegralAccZ |
| C:\Temp/ccMKYVI5.s:615 .bss:00000083 IntegralAccRoll |
| C:\Temp/ccMKYVI5.s:621 .bss:00000087 IntegralAccNick |
| C:\Temp/ccMKYVI5.s:627 .bss:0000008b IntegralRoll2 |
| C:\Temp/ccMKYVI5.s:633 .bss:0000008f IntegralRoll |
| C:\Temp/ccMKYVI5.s:639 .bss:00000093 IntegralNick2 |
| C:\Temp/ccMKYVI5.s:645 .bss:00000097 IntegralNick |
| C:\Temp/ccMKYVI5.s:651 .bss:0000009b ControlHeading |
| C:\Temp/ccMKYVI5.s:657 .bss:0000009c NeutralAccZ |
| C:\Temp/ccMKYVI5.s:663 .bss:0000009e NaviCntAcc |
| C:\Temp/ccMKYVI5.s:669 .bss:000000a0 NeutralAccY |
| C:\Temp/ccMKYVI5.s:675 .bss:000000a2 NeutralAccX |
| C:\Temp/ccMKYVI5.s:681 .bss:000000a4 StartNeutralNick |
| C:\Temp/ccMKYVI5.s:687 .bss:000000a6 StartNeutralRoll |
| C:\Temp/ccMKYVI5.s:693 .bss:000000a8 AdNeutralGier |
| C:\Temp/ccMKYVI5.s:699 .bss:000000aa AdNeutralRoll |
| C:\Temp/ccMKYVI5.s:705 .bss:000000ac AdNeutralNick |
| C:\Temp/ccMKYVI5.s:711 .bss:000000ae BaroExpandActive |
| C:\Temp/ccMKYVI5.s:716 .text:00000000 CopyDebugValues |
| *COM*:00000002 Mittelwert_AccNick |
| *COM*:00000002 Mittelwert_AccRoll |
| *COM*:00000004 ErsatzKompass |
| C:\Temp/ccMKYVI5.s:933 .text:000002a0 Piep |
| C:\Temp/ccMKYVI5.s:1007 .text:00000326 CalibrierMittelwert |
| *COM*:00000002 MesswertNick |
| *COM*:00000002 MesswertRoll |
| *COM*:00000002 MesswertGier |
| C:\Temp/ccMKYVI5.s:1149 .progmem.data:00000000 __c.35 |
| C:\Temp/ccMKYVI5.s:1154 .text:00000468 SetNeutral |
| .bss:000000b0 tmpl.27 |
| C:\Temp/ccMKYVI5.s:1662 .bss:000000b4 tmpl2.28 |
| C:\Temp/ccMKYVI5.s:1663 .bss:000000b8 tmpl3.29 |
| C:\Temp/ccMKYVI5.s:1664 .bss:000000bc tmpl4.30 |
| C:\Temp/ccMKYVI5.s:1665 .bss:000000c0 oldNick.31 |
| C:\Temp/ccMKYVI5.s:1666 .bss:000000c2 oldRoll.32 |
| C:\Temp/ccMKYVI5.s:1667 .bss:000000c4 d2Roll.33 |
| C:\Temp/ccMKYVI5.s:1668 .bss:000000c6 d2Nick.34 |
| C:\Temp/ccMKYVI5.s:1672 .text:000009d4 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/ccMKYVI5.s:3237 .text:00001938 SendMotorData |
| C:\Temp/ccMKYVI5.s:3297 .text:000019b2 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/ccMKYVI5.s:1669 .bss:000000c8 sollGier.0 |
| C:\Temp/ccMKYVI5.s:4040 .bss:000000cc tmp_long.1 |
| C:\Temp/ccMKYVI5.s:4041 .bss:000000d0 tmp_long2.2 |
| C:\Temp/ccMKYVI5.s:4042 .bss:000000d4 IntegralFehlerNick.3 |
| C:\Temp/ccMKYVI5.s:4043 .bss:000000d8 IntegralFehlerRoll.4 |
| C:\Temp/ccMKYVI5.s:4044 .bss:000000dc RcLostTimer.5 |
| C:\Temp/ccMKYVI5.s:4045 .bss:000000de delay_neutral.6 |
| C:\Temp/ccMKYVI5.s:4046 .bss:000000df delay_einschalten.7 |
| C:\Temp/ccMKYVI5.s:4047 .bss:000000e0 delay_ausschalten.8 |
| C:\Temp/ccMKYVI5.s:4048 .bss:000000e1 move_safety_switch.9 |
| C:\Temp/ccMKYVI5.s:4049 .bss:000000e2 ausgleichNick.10 |
| C:\Temp/ccMKYVI5.s:4050 .bss:000000e6 ausgleichRoll.11 |
| C:\Temp/ccMKYVI5.s:4051 .bss:000000ea stick_nick.12 |
| C:\Temp/ccMKYVI5.s:4052 .bss:000000ec stick_roll.13 |
| C:\Temp/ccMKYVI5.s:4053 .bss:000000ee cnt.14 |
| C:\Temp/ccMKYVI5.s:4054 .bss:000000f0 last_n_p.15 |
| C:\Temp/ccMKYVI5.s:4055 .bss:000000f1 last_n_n.16 |
| C:\Temp/ccMKYVI5.s:4056 .bss:000000f2 last_r_p.17 |
| C:\Temp/ccMKYVI5.s:4057 .bss:000000f3 last_r_n.18 |
| C:\Temp/ccMKYVI5.s:4058 .bss:000000f4 MittelIntegralNick_Alt.19 |
| C:\Temp/ccMKYVI5.s:4059 .bss:000000f8 MittelIntegralRoll_Alt.20 |
| C:\Temp/ccMKYVI5.s:4060 .bss:000000fc HeightTrimming.21 |
| C:\Temp/ccMKYVI5.s:4061 .bss:000000fe FilterHCGas.22 |
| C:\Temp/ccMKYVI5.s:4062 .bss:00000100 HoverGasFilter.23 |
| C:\Temp/ccMKYVI5.s:4067 .data:00000051 delay.24 |
| C:\Temp/ccMKYVI5.s:4063 .bss:00000104 BaroAtUpperLimit.25 |
| C:\Temp/ccMKYVI5.s:4069 .bss:00000105 BaroAtLowerLimit.26 |
| C:\Temp/ccMKYVI5.s:4074 .text:00001fea MotorRegler |
| *COM*:00000001 GyroFaktor |
| *COM*:00000001 IntegralFaktor |
| *COM*:00000001 GyroFaktorGier |
| *COM*:00000001 IntegralFaktorGier |
| *COM*:00000004 MittelIntegralNick |
| *COM*:00000004 MittelIntegralRoll |
| *COM*:00000004 MittelIntegralNick2 |
| *COM*:00000004 MittelIntegralRoll2 |
| *COM*:00000002 ErsatzKompassInGrad |
| *COM*:00000002 DiffNick |
| *COM*:00000002 DiffRoll |
| *COM*:00000018 tmp_motorwert |
| *COM*:00000001 h |
| *COM*:00000001 m |
| *COM*:00000001 s |
| *COM*:00000001 Parameter_J16Bitmask |
| *COM*:00000001 Parameter_J17Bitmask |
| *COM*:00000002 MesswertGierBias |
| *COM*:00000001 Parameter_NaviGpsModeControl |
| *COM*:00000001 Parameter_NaviGpsGain |
| *COM*:00000001 Parameter_NaviGpsP |
| *COM*:00000001 Parameter_NaviGpsI |
| *COM*:00000001 Parameter_NaviGpsD |
| *COM*:00000001 Parameter_NaviGpsACC |
| *COM*:00000001 Parameter_NaviOperatingRadius |
| *COM*:00000001 Parameter_NaviWindCorrection |
| *COM*:00000001 Parameter_NaviSpeedCompensation |
| |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| EE_Parameter |
| __divmodsi4 |
| DebugOut |
| Capacity |
| UBat |
| Motor |
| AdWertGier |
| ServoNickValue |
| AdWertAccHoch |
| 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 |