0,0 → 1,11022 |
1 .file "fc.c" |
2 .arch atmega1284p |
3 __SREG__ = 0x3f |
4 __SP_H__ = 0x3e |
5 __SP_L__ = 0x3d |
6 __tmp_reg__ = 0 |
7 __zero_reg__ = 1 |
8 .global __do_copy_data |
9 .global __do_clear_bss |
10 .global GasIsZeroCnt |
11 .global GasIsZeroCnt |
12 .section .bss |
15 GasIsZeroCnt: |
16 0000 0000 .skip 2,0 |
17 .global HooverGasEmergencyPercent |
18 .global HooverGasEmergencyPercent |
21 HooverGasEmergencyPercent: |
22 0002 0000 .skip 2,0 |
23 .global VarioCharacter |
24 .data |
27 VarioCharacter: |
28 0000 20 .byte 32 |
29 .global GIER_GRAD_FAKTOR |
32 GIER_GRAD_FAKTOR: |
33 0001 0B05 0000 .long 1291 |
34 .global FC_StatusFlags2 |
35 .global FC_StatusFlags2 |
36 .section .bss |
39 FC_StatusFlags2: |
40 0004 00 .skip 1,0 |
41 .global FC_StatusFlags |
42 .global FC_StatusFlags |
45 FC_StatusFlags: |
46 0005 00 .skip 1,0 |
47 .global modell_fliegt |
48 .global modell_fliegt |
51 modell_fliegt: |
52 0006 0000 .skip 2,0 |
53 .global MaxStickRoll |
54 .global MaxStickRoll |
57 MaxStickRoll: |
58 0008 0000 .skip 2,0 |
59 .global MaxStickNick |
60 .global MaxStickNick |
63 MaxStickNick: |
64 000a 0000 .skip 2,0 |
65 .global ExternHoehenValue |
66 .data |
69 ExternHoehenValue: |
70 0005 ECFF .word -20 |
71 .global ExternStickGier |
72 .global ExternStickGier |
73 .section .bss |
76 ExternStickGier: |
77 000c 0000 .skip 2,0 |
78 .global ExternStickRoll |
79 .global ExternStickRoll |
82 ExternStickRoll: |
83 000e 0000 .skip 2,0 |
84 .global ExternStickNick |
85 .global ExternStickNick |
88 ExternStickNick: |
89 0010 0000 .skip 2,0 |
90 .global sintab |
91 .data |
94 sintab: |
95 0007 00 .byte 0 |
96 0008 02 .byte 2 |
97 0009 04 .byte 4 |
98 000a 06 .byte 6 |
99 000b 07 .byte 7 |
100 000c 08 .byte 8 |
101 000d 08 .byte 8 |
102 000e 08 .byte 8 |
103 000f 07 .byte 7 |
104 0010 06 .byte 6 |
105 0011 04 .byte 4 |
106 0012 02 .byte 2 |
107 0013 00 .byte 0 |
108 0014 FE .byte -2 |
109 0015 FC .byte -4 |
110 0016 FA .byte -6 |
111 0017 F9 .byte -7 |
112 0018 F8 .byte -8 |
113 0019 F8 .byte -8 |
114 001a F8 .byte -8 |
115 001b F9 .byte -7 |
116 001c FA .byte -6 |
117 001d FC .byte -4 |
118 001e FE .byte -2 |
119 001f 00 .byte 0 |
120 0020 02 .byte 2 |
121 0021 04 .byte 4 |
122 0022 06 .byte 6 |
123 0023 07 .byte 7 |
124 0024 08 .byte 8 |
125 0025 08 .byte 8 |
126 .global CareFree |
127 .global CareFree |
128 .section .bss |
131 CareFree: |
132 0012 00 .skip 1,0 |
133 .global Parameter_DynamicStability |
134 .data |
137 Parameter_DynamicStability: |
138 0026 64 .byte 100 |
139 .global Parameter_CouplingYawCorrection |
142 Parameter_CouplingYawCorrection: |
143 0027 40 .byte 64 |
144 .global Parameter_AchsKopplung2 |
147 Parameter_AchsKopplung2: |
148 0028 41 .byte 65 |
149 .global Parameter_AchsKopplung1 |
152 Parameter_AchsKopplung1: |
153 0029 5A .byte 90 |
154 .global Parameter_LoopGasLimit |
157 Parameter_LoopGasLimit: |
158 002a 46 .byte 70 |
159 .global Parameter_ServoRollComp |
162 Parameter_ServoRollComp: |
163 002b 55 .byte 85 |
164 .global Parameter_ServoNickComp |
167 Parameter_ServoNickComp: |
168 002c 32 .byte 50 |
169 .global Parameter_ServoRollControl |
172 Parameter_ServoRollControl: |
173 002d 64 .byte 100 |
174 .global Parameter_ServoNickControl |
177 Parameter_ServoNickControl: |
178 002e 64 .byte 100 |
179 .global Parameter_UserParam8 |
180 .global Parameter_UserParam8 |
181 .section .bss |
184 Parameter_UserParam8: |
185 0013 00 .skip 1,0 |
186 .global Parameter_UserParam7 |
187 .global Parameter_UserParam7 |
190 Parameter_UserParam7: |
191 0014 00 .skip 1,0 |
192 .global Parameter_UserParam6 |
193 .global Parameter_UserParam6 |
196 Parameter_UserParam6: |
197 0015 00 .skip 1,0 |
198 .global Parameter_UserParam5 |
199 .global Parameter_UserParam5 |
202 Parameter_UserParam5: |
203 0016 00 .skip 1,0 |
204 .global Parameter_UserParam4 |
205 .global Parameter_UserParam4 |
208 Parameter_UserParam4: |
209 0017 00 .skip 1,0 |
210 .global Parameter_UserParam3 |
211 .global Parameter_UserParam3 |
214 Parameter_UserParam3: |
215 0018 00 .skip 1,0 |
216 .global Parameter_UserParam2 |
217 .global Parameter_UserParam2 |
220 Parameter_UserParam2: |
221 0019 00 .skip 1,0 |
222 .global Parameter_UserParam1 |
223 .global Parameter_UserParam1 |
226 Parameter_UserParam1: |
227 001a 00 .skip 1,0 |
228 .global Parameter_I_Faktor |
229 .data |
232 Parameter_I_Faktor: |
233 002f 0A .byte 10 |
234 .global Parameter_Gier_P |
237 Parameter_Gier_P: |
238 0030 02 .byte 2 |
239 .global Parameter_Gyro_Gier_I |
242 Parameter_Gyro_Gier_I: |
243 0031 96 .byte -106 |
244 .global Parameter_Gyro_Gier_P |
247 Parameter_Gyro_Gier_P: |
248 0032 96 .byte -106 |
249 .global Parameter_Gyro_I |
252 Parameter_Gyro_I: |
253 0033 96 .byte -106 |
254 .global Parameter_Gyro_P |
257 Parameter_Gyro_P: |
258 0034 96 .byte -106 |
259 .global Parameter_Gyro_D |
262 Parameter_Gyro_D: |
263 0035 08 .byte 8 |
264 .global Parameter_Hoehe_GPS_Z |
267 Parameter_Hoehe_GPS_Z: |
268 0036 40 .byte 64 |
269 .global Parameter_KompassWirkung |
272 Parameter_KompassWirkung: |
273 0037 40 .byte 64 |
274 .global Parameter_Hoehe_ACC_Wirkung |
277 Parameter_Hoehe_ACC_Wirkung: |
278 0038 3A .byte 58 |
279 .global Parameter_Hoehe_P |
282 Parameter_Hoehe_P: |
283 0039 10 .byte 16 |
284 .global Parameter_HoehenSchalter |
287 Parameter_HoehenSchalter: |
288 003a FB .byte -5 |
289 .global Parameter_Luftdruck_D |
292 Parameter_Luftdruck_D: |
293 003b 30 .byte 48 |
294 .global Looping_Oben |
295 .global Looping_Oben |
296 .section .bss |
299 Looping_Oben: |
300 001b 00 .skip 1,0 |
301 .global Looping_Unten |
302 .global Looping_Unten |
305 Looping_Unten: |
306 001c 00 .skip 1,0 |
307 .global Looping_Rechts |
308 .global Looping_Rechts |
311 Looping_Rechts: |
312 001d 00 .skip 1,0 |
313 .global Looping_Links |
314 .global Looping_Links |
317 Looping_Links: |
318 001e 00 .skip 1,0 |
319 .global Looping_Roll |
320 .global Looping_Roll |
323 Looping_Roll: |
324 001f 00 .skip 1,0 |
325 .global Looping_Nick |
326 .global Looping_Nick |
329 Looping_Nick: |
330 0020 00 .skip 1,0 |
331 .global Ki |
332 .data |
335 Ki: |
336 003c 3801 .word 312 |
337 .global HoverGas |
338 .global HoverGas |
339 .section .bss |
342 HoverGas: |
343 0021 0000 .skip 2,0 |
344 .global LageKorrekturNick |
345 .global LageKorrekturNick |
348 LageKorrekturNick: |
349 0023 0000 .skip 2,0 |
350 .global LageKorrekturRoll |
351 .global LageKorrekturRoll |
354 LageKorrekturRoll: |
355 0025 0000 .skip 2,0 |
356 .global NeueKompassRichtungMerken |
357 .global NeueKompassRichtungMerken |
360 NeueKompassRichtungMerken: |
361 0027 00 .skip 1,0 |
362 .global CalibrationDone |
363 .global CalibrationDone |
366 CalibrationDone: |
367 0028 00 .skip 1,0 |
368 .global CompassGierSetpoint |
369 .global CompassGierSetpoint |
372 CompassGierSetpoint: |
373 0029 0000 .skip 2,0 |
374 .global WaypointTrimming |
375 .global WaypointTrimming |
378 WaypointTrimming: |
379 002b 00 .skip 1,0 |
380 .global carefree_old |
381 .data |
384 carefree_old: |
385 003e 32 .byte 50 |
386 .global FromNC_AltitudeSpeed |
387 .global FromNC_AltitudeSpeed |
388 .section .bss |
391 FromNC_AltitudeSpeed: |
392 002c 00 .skip 1,0 |
393 .global FromNC_AltitudeSetpoint |
394 .global FromNC_AltitudeSetpoint |
397 FromNC_AltitudeSetpoint: |
398 002d 0000 0000 .skip 4,0 |
399 .global AltitudeSetpointTrimming |
400 .global AltitudeSetpointTrimming |
403 AltitudeSetpointTrimming: |
404 0031 0000 .skip 2,0 |
405 .global SollHoehe |
406 .global SollHoehe |
409 SollHoehe: |
410 0033 0000 0000 .skip 4,0 |
411 .global HoehenWert |
412 .global HoehenWert |
415 HoehenWert: |
416 0037 0000 0000 .skip 4,0 |
417 .global StartTrigger |
418 .global StartTrigger |
421 StartTrigger: |
422 003b 00 .skip 1,0 |
423 .global MotorenEin |
424 .global MotorenEin |
427 MotorenEin: |
428 003c 00 .skip 1,0 |
429 .global SenderOkay |
430 .global SenderOkay |
433 SenderOkay: |
434 003d 00 .skip 1,0 |
435 .global Poti |
436 .global Poti |
439 Poti: |
440 003e 0000 0000 .skip 9,0 |
440 0000 0000 |
440 00 |
441 .global StickGas |
442 .global StickGas |
445 StickGas: |
446 0047 0000 .skip 2,0 |
447 .global StickGier |
448 .global StickGier |
451 StickGier: |
452 0049 0000 .skip 2,0 |
453 .global StickRoll |
454 .global StickRoll |
457 StickRoll: |
458 004b 0000 .skip 2,0 |
459 .global StickNick |
460 .global StickNick |
463 StickNick: |
464 004d 0000 .skip 2,0 |
465 .global HoverGasMax |
466 .data |
469 HoverGasMax: |
470 003f FF03 .word 1023 |
471 .global HoverGasMin |
472 .global HoverGasMin |
473 .section .bss |
476 HoverGasMin: |
477 004f 0000 .skip 2,0 |
478 .global StickGasHover |
479 .data |
482 StickGasHover: |
483 0041 7800 .word 120 |
484 .global GierGyroFehler |
485 .global GierGyroFehler |
486 .section .bss |
489 GierGyroFehler: |
490 0051 0000 .skip 2,0 |
491 .global Umschlag180Roll |
492 .data |
495 Umschlag180Roll: |
496 0043 90D0 0300 .long 250000 |
497 .global Umschlag180Nick |
500 Umschlag180Nick: |
501 0047 90D0 0300 .long 250000 |
502 .global TrichterFlug |
503 .global TrichterFlug |
504 .section .bss |
507 TrichterFlug: |
508 0053 00 .skip 1,0 |
509 .global HoehenReglerAktiv |
510 .global HoehenReglerAktiv |
513 HoehenReglerAktiv: |
514 0054 00 .skip 1,0 |
515 .global KompassSignalSchlecht |
516 .data |
519 KompassSignalSchlecht: |
520 004b 3200 .word 50 |
521 .global KompassFusion |
524 KompassFusion: |
525 004d 20 .byte 32 |
526 .global CalculateCompassTimer |
529 CalculateCompassTimer: |
530 004e 64 .byte 100 |
531 .global KompassSollWert |
532 .global KompassSollWert |
533 .section .bss |
536 KompassSollWert: |
537 0055 0000 .skip 2,0 |
538 .global KompassValue |
539 .data |
542 KompassValue: |
543 004f FFFF .word -1 |
544 .global Mess_Integral_Hoch |
545 .global Mess_Integral_Hoch |
546 .section .bss |
549 Mess_Integral_Hoch: |
550 0057 0000 0000 .skip 4,0 |
551 .global SummeRoll |
552 .global SummeRoll |
555 SummeRoll: |
556 005b 0000 0000 .skip 4,0 |
557 .global SummeNick |
558 .global SummeNick |
561 SummeNick: |
562 005f 0000 0000 .skip 4,0 |
563 .global Mess_Integral_Gier2 |
564 .global Mess_Integral_Gier2 |
567 Mess_Integral_Gier2: |
568 0063 0000 0000 .skip 4,0 |
569 .global Mess_Integral_Gier |
570 .global Mess_Integral_Gier |
573 Mess_Integral_Gier: |
574 0067 0000 0000 .skip 4,0 |
575 .global Mess_IntegralRoll2 |
576 .global Mess_IntegralRoll2 |
579 Mess_IntegralRoll2: |
580 006b 0000 0000 .skip 4,0 |
581 .global Mess_IntegralRoll |
582 .global Mess_IntegralRoll |
585 Mess_IntegralRoll: |
586 006f 0000 0000 .skip 4,0 |
587 .global Mess_IntegralNick2 |
588 .global Mess_IntegralNick2 |
591 Mess_IntegralNick2: |
592 0073 0000 0000 .skip 4,0 |
593 .global Mess_IntegralNick |
594 .global Mess_IntegralNick |
597 Mess_IntegralNick: |
598 0077 0000 0000 .skip 4,0 |
599 .global Integral_Gier |
600 .global Integral_Gier |
603 Integral_Gier: |
604 007b 0000 0000 .skip 4,0 |
605 .global IntegralAccZ |
606 .global IntegralAccZ |
609 IntegralAccZ: |
610 007f 0000 0000 .skip 4,0 |
611 .global IntegralAccRoll |
612 .global IntegralAccRoll |
615 IntegralAccRoll: |
616 0083 0000 0000 .skip 4,0 |
617 .global IntegralAccNick |
618 .global IntegralAccNick |
621 IntegralAccNick: |
622 0087 0000 0000 .skip 4,0 |
623 .global IntegralRoll2 |
624 .global IntegralRoll2 |
627 IntegralRoll2: |
628 008b 0000 0000 .skip 4,0 |
629 .global IntegralRoll |
630 .global IntegralRoll |
633 IntegralRoll: |
634 008f 0000 0000 .skip 4,0 |
635 .global IntegralNick2 |
636 .global IntegralNick2 |
639 IntegralNick2: |
640 0093 0000 0000 .skip 4,0 |
641 .global IntegralNick |
642 .global IntegralNick |
645 IntegralNick: |
646 0097 0000 0000 .skip 4,0 |
647 .global ControlHeading |
648 .global ControlHeading |
651 ControlHeading: |
652 009b 00 .skip 1,0 |
653 .global NeutralAccZ |
654 .global NeutralAccZ |
657 NeutralAccZ: |
658 009c 0000 .skip 2,0 |
659 .global NaviCntAcc |
660 .global NaviCntAcc |
663 NaviCntAcc: |
664 009e 0000 .skip 2,0 |
665 .global NeutralAccY |
666 .global NeutralAccY |
669 NeutralAccY: |
670 00a0 0000 .skip 2,0 |
671 .global NeutralAccX |
672 .global NeutralAccX |
675 NeutralAccX: |
676 00a2 0000 .skip 2,0 |
677 .global StartNeutralNick |
678 .global StartNeutralNick |
681 StartNeutralNick: |
682 00a4 0000 .skip 2,0 |
683 .global StartNeutralRoll |
684 .global StartNeutralRoll |
687 StartNeutralRoll: |
688 00a6 0000 .skip 2,0 |
689 .global AdNeutralGier |
690 .global AdNeutralGier |
693 AdNeutralGier: |
694 00a8 0000 .skip 2,0 |
695 .global AdNeutralRoll |
696 .global AdNeutralRoll |
699 AdNeutralRoll: |
700 00aa 0000 .skip 2,0 |
701 .global AdNeutralNick |
702 .global AdNeutralNick |
705 AdNeutralNick: |
706 00ac 0000 .skip 2,0 |
707 .global BaroExpandActive |
708 .global BaroExpandActive |
711 BaroExpandActive: |
712 00ae 0000 .skip 2,0 |
713 .text |
714 .global CopyDebugValues |
716 CopyDebugValues: |
717 /* prologue: frame size=0 */ |
718 0000 EF92 push r14 |
719 0002 FF92 push r15 |
720 0004 0F93 push r16 |
721 0006 1F93 push r17 |
722 /* prologue end (size=4) */ |
723 0008 8091 0000 lds r24,EE_Parameter+28 |
724 000c 9927 clr r25 |
725 000e 880F lsl r24 |
726 0010 991F rol r25 |
727 0012 880F lsl r24 |
728 0014 991F rol r25 |
729 0016 7C01 movw r14,r24 |
730 0018 0027 clr r16 |
731 001a F7FC sbrc r15,7 |
732 001c 0095 com r16 |
733 001e 102F mov r17,r16 |
734 0020 8091 0000 lds r24,IntegralNick |
735 0024 9091 0000 lds r25,(IntegralNick)+1 |
736 0028 A091 0000 lds r26,(IntegralNick)+2 |
737 002c B091 0000 lds r27,(IntegralNick)+3 |
738 0030 BC01 movw r22,r24 |
739 0032 CD01 movw r24,r26 |
740 0034 A801 movw r20,r16 |
741 0036 9701 movw r18,r14 |
742 0038 0E94 0000 call __divmodsi4 |
743 003c 3093 0000 sts (DebugOut+2)+1,r19 |
744 0040 2093 0000 sts DebugOut+2,r18 |
745 0044 8091 0000 lds r24,IntegralRoll |
746 0048 9091 0000 lds r25,(IntegralRoll)+1 |
747 004c A091 0000 lds r26,(IntegralRoll)+2 |
748 0050 B091 0000 lds r27,(IntegralRoll)+3 |
749 0054 BC01 movw r22,r24 |
750 0056 CD01 movw r24,r26 |
751 0058 A801 movw r20,r16 |
752 005a 9701 movw r18,r14 |
753 005c 0E94 0000 call __divmodsi4 |
754 0060 3093 0000 sts (DebugOut+4)+1,r19 |
755 0064 2093 0000 sts DebugOut+4,r18 |
756 0068 8091 0000 lds r24,Mittelwert_AccNick |
757 006c 9091 0000 lds r25,(Mittelwert_AccNick)+1 |
758 0070 97FD sbrc r25,7 |
759 0072 0396 adiw r24,3 |
760 .L2: |
761 0074 9595 asr r25 |
762 0076 8795 ror r24 |
763 0078 9595 asr r25 |
764 007a 8795 ror r24 |
765 007c 9093 0000 sts (DebugOut+6)+1,r25 |
766 0080 8093 0000 sts DebugOut+6,r24 |
767 0084 8091 0000 lds r24,Mittelwert_AccRoll |
768 0088 9091 0000 lds r25,(Mittelwert_AccRoll)+1 |
769 008c 97FD sbrc r25,7 |
770 008e 0396 adiw r24,3 |
771 .L3: |
772 0090 9595 asr r25 |
773 0092 8795 ror r24 |
774 0094 9595 asr r25 |
775 0096 8795 ror r24 |
776 0098 9093 0000 sts (DebugOut+8)+1,r25 |
777 009c 8093 0000 sts DebugOut+8,r24 |
778 00a0 8091 0000 lds r24,AdNeutralGier |
779 00a4 9091 0000 lds r25,(AdNeutralGier)+1 |
780 00a8 2091 0000 lds r18,AdWertGier |
781 00ac 3091 0000 lds r19,(AdWertGier)+1 |
782 00b0 821B sub r24,r18 |
783 00b2 930B sbc r25,r19 |
784 00b4 9093 0000 sts (DebugOut+10)+1,r25 |
785 00b8 8093 0000 sts DebugOut+10,r24 |
786 00bc 8091 0000 lds r24,HoehenWert |
787 00c0 9091 0000 lds r25,(HoehenWert)+1 |
788 00c4 A091 0000 lds r26,(HoehenWert)+2 |
789 00c8 B091 0000 lds r27,(HoehenWert)+3 |
790 00cc BC01 movw r22,r24 |
791 00ce CD01 movw r24,r26 |
792 00d0 25E0 ldi r18,lo8(5) |
793 00d2 30E0 ldi r19,hi8(5) |
794 00d4 40E0 ldi r20,hlo8(5) |
795 00d6 50E0 ldi r21,hhi8(5) |
796 00d8 0E94 0000 call __divmodsi4 |
797 00dc 3093 0000 sts (DebugOut+12)+1,r19 |
798 00e0 2093 0000 sts DebugOut+12,r18 |
799 00e4 8091 0000 lds r24,AdWertAccHoch |
800 00e8 9091 0000 lds r25,(AdWertAccHoch)+1 |
801 00ec 9093 0000 sts (DebugOut+14)+1,r25 |
802 00f0 8093 0000 sts DebugOut+14,r24 |
803 00f4 8091 0000 lds r24,UBat |
804 00f8 9091 0000 lds r25,(UBat)+1 |
805 00fc 9093 0000 sts (DebugOut+16)+1,r25 |
806 0100 8093 0000 sts DebugOut+16,r24 |
807 0104 8091 0000 lds r24,Motor+1 |
808 0108 9927 clr r25 |
809 010a 9093 0000 sts (DebugOut+18)+1,r25 |
810 010e 8093 0000 sts DebugOut+18,r24 |
811 0112 8091 0000 lds r24,Motor+9 |
812 0116 9927 clr r25 |
813 0118 9093 0000 sts (DebugOut+20)+1,r25 |
814 011c 8093 0000 sts DebugOut+20,r24 |
815 0120 8091 0000 lds r24,Motor+17 |
816 0124 9927 clr r25 |
817 0126 9093 0000 sts (DebugOut+22)+1,r25 |
818 012a 8093 0000 sts DebugOut+22,r24 |
819 012e 8091 0000 lds r24,Motor+25 |
820 0132 9927 clr r25 |
821 0134 9093 0000 sts (DebugOut+24)+1,r25 |
822 0138 8093 0000 sts DebugOut+24,r24 |
823 013c 8091 0000 lds r24,Motor+33 |
824 0140 9927 clr r25 |
825 0142 9093 0000 sts (DebugOut+26)+1,r25 |
826 0146 8093 0000 sts DebugOut+26,r24 |
827 014a 8091 0000 lds r24,Motor+41 |
828 014e 9927 clr r25 |
829 0150 9093 0000 sts (DebugOut+28)+1,r25 |
830 0154 8093 0000 sts DebugOut+28,r24 |
831 0158 8091 0000 lds r24,Motor+49 |
832 015c 9927 clr r25 |
833 015e 9093 0000 sts (DebugOut+30)+1,r25 |
834 0162 8093 0000 sts DebugOut+30,r24 |
835 0166 8091 0000 lds r24,Motor+57 |
836 016a 9927 clr r25 |
837 016c 9093 0000 sts (DebugOut+32)+1,r25 |
838 0170 8093 0000 sts DebugOut+32,r24 |
839 0174 8091 0000 lds r24,SenderOkay |
840 0178 9927 clr r25 |
841 017a 9093 0000 sts (DebugOut+34)+1,r25 |
842 017e 8093 0000 sts DebugOut+34,r24 |
843 0182 8091 0000 lds r24,ErsatzKompass |
844 0186 9091 0000 lds r25,(ErsatzKompass)+1 |
845 018a A091 0000 lds r26,(ErsatzKompass)+2 |
846 018e B091 0000 lds r27,(ErsatzKompass)+3 |
847 0192 2091 0000 lds r18,GIER_GRAD_FAKTOR |
848 0196 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1 |
849 019a 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2 |
850 019e 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3 |
851 01a2 BC01 movw r22,r24 |
852 01a4 CD01 movw r24,r26 |
853 01a6 0E94 0000 call __divmodsi4 |
854 01aa 3093 0000 sts (DebugOut+36)+1,r19 |
855 01ae 2093 0000 sts DebugOut+36,r18 |
856 01b2 8091 0000 lds r24,Capacity |
857 01b6 9091 0000 lds r25,(Capacity)+1 |
858 01ba 9093 0000 sts (DebugOut+38)+1,r25 |
859 01be 8093 0000 sts DebugOut+38,r24 |
860 01c2 8091 0000 lds r24,Capacity+4 |
861 01c6 9091 0000 lds r25,(Capacity+4)+1 |
862 01ca 9093 0000 sts (DebugOut+40)+1,r25 |
863 01ce 8093 0000 sts DebugOut+40,r24 |
864 01d2 8091 0000 lds r24,ServoNickValue |
865 01d6 9091 0000 lds r25,(ServoNickValue)+1 |
866 01da 9093 0000 sts (DebugOut+42)+1,r25 |
867 01de 8093 0000 sts DebugOut+42,r24 |
868 01e2 8091 0000 lds r24,KompassValue |
869 01e6 9091 0000 lds r25,(KompassValue)+1 |
870 01ea 9093 0000 sts (DebugOut+44)+1,r25 |
871 01ee 8093 0000 sts DebugOut+44,r24 |
872 01f2 1092 0000 sts (DebugOut+46)+1,__zero_reg__ |
873 01f6 1092 0000 sts DebugOut+46,__zero_reg__ |
874 01fa 8091 0000 lds r24,Capacity+6 |
875 01fe 9927 clr r25 |
876 0200 9093 0000 sts (DebugOut+48)+1,r25 |
877 0204 8093 0000 sts DebugOut+48,r24 |
878 0208 8091 0000 lds r24,GPS_Nick |
879 020c 9091 0000 lds r25,(GPS_Nick)+1 |
880 0210 9093 0000 sts (DebugOut+50)+1,r25 |
881 0214 8093 0000 sts DebugOut+50,r24 |
882 0218 8091 0000 lds r24,GPS_Roll |
883 021c 9091 0000 lds r25,(GPS_Roll)+1 |
884 0220 9093 0000 sts (DebugOut+52)+1,r25 |
885 0224 8093 0000 sts DebugOut+52,r24 |
886 0228 8091 0000 lds r24,VersionInfo+5 |
887 022c 8823 tst r24 |
888 022e 01F4 brne .L5 |
889 0230 8091 0000 lds r24,VersionInfo+6 |
890 0234 8823 tst r24 |
891 0236 01F0 breq .L4 |
892 .L5: |
893 0238 8091 0000 lds r24,DebugOut+1 |
894 023c 8160 ori r24,lo8(1) |
895 023e 00C0 rjmp .L7 |
896 .L4: |
897 0240 8091 0000 lds r24,DebugOut+1 |
898 0244 8E7F andi r24,lo8(-2) |
899 .L7: |
900 0246 8093 0000 sts DebugOut+1,r24 |
901 /* epilogue: frame size=0 */ |
902 024a 1F91 pop r17 |
903 024c 0F91 pop r16 |
904 024e FF90 pop r15 |
905 0250 EF90 pop r14 |
906 0252 0895 ret |
907 /* epilogue end (size=5) */ |
908 /* function CopyDebugValues size 300 (291) */ |
910 .global Piep |
912 Piep: |
913 /* prologue: frame size=0 */ |
914 0254 EF92 push r14 |
915 0256 FF92 push r15 |
916 0258 1F93 push r17 |
917 025a CF93 push r28 |
918 025c DF93 push r29 |
919 /* prologue end (size=5) */ |
920 025e 182F mov r17,r24 |
921 0260 7B01 movw r14,r22 |
922 0262 8091 0000 lds r24,MotorenEin |
923 0266 8823 tst r24 |
924 0268 01F4 brne .L8 |
925 026a 8091 0000 lds r24,PlatinenVersion |
926 026e 8C30 cpi r24,lo8(12) |
927 0270 00F0 brlo .L11 |
928 0272 8631 cpi r24,lo8(22) |
929 0274 01F4 brne .L10 |
930 .L11: |
931 0276 2998 cbi 37-0x20,1 |
932 0278 00C0 rjmp .L12 |
933 .L10: |
934 027a 299A sbi 37-0x20,1 |
935 .L12: |
936 027c 1150 subi r17,lo8(-(-1)) |
937 027e 1F3F cpi r17,lo8(-1) |
938 0280 01F0 breq .L26 |
939 0282 F092 0000 sts (beeptime)+1,r15 |
940 0286 E092 0000 sts beeptime,r14 |
941 028a E701 movw r28,r14 |
942 .L34: |
943 028c 8091 0000 lds r24,beeptime |
944 0290 9091 0000 lds r25,(beeptime)+1 |
945 0294 892B or r24,r25 |
946 0296 01F4 brne .L31 |
947 0298 2097 sbiw r28,0 |
948 029a 01F0 breq .L12 |
949 .L31: |
950 029c 8091 0000 lds r24,UpdateMotor |
951 02a0 8823 tst r24 |
952 02a2 01F0 breq .L34 |
953 02a4 1092 0000 sts UpdateMotor,__zero_reg__ |
954 02a8 8091 0000 lds r24,beeptime |
955 02ac 9091 0000 lds r25,(beeptime)+1 |
956 02b0 892B or r24,r25 |
957 02b2 01F4 brne .L19 |
958 02b4 2197 sbiw r28,1 |
959 .L19: |
960 02b6 0E94 0000 call LIBFC_Polling |
961 02ba 00C0 rjmp .L34 |
962 .L26: |
963 02bc 8091 0000 lds r24,PlatinenVersion |
964 02c0 8C30 cpi r24,lo8(12) |
965 02c2 00F0 brlo .L23 |
966 02c4 8631 cpi r24,lo8(22) |
967 02c6 01F4 brne .L22 |
968 .L23: |
969 02c8 299A sbi 37-0x20,1 |
970 02ca 00C0 rjmp .L8 |
971 .L22: |
972 02cc 2998 cbi 37-0x20,1 |
973 .L8: |
974 /* epilogue: frame size=0 */ |
975 02ce DF91 pop r29 |
976 02d0 CF91 pop r28 |
977 02d2 1F91 pop r17 |
978 02d4 FF90 pop r15 |
979 02d6 EF90 pop r14 |
980 02d8 0895 ret |
981 /* epilogue end (size=6) */ |
982 /* function Piep size 67 (56) */ |
984 .global CalibrierMittelwert |
986 CalibrierMittelwert: |
987 /* prologue: frame size=0 */ |
988 02da CF93 push r28 |
989 02dc DF93 push r29 |
990 /* prologue end (size=2) */ |
991 02de 8091 0000 lds r24,PlatinenVersion |
992 02e2 8D30 cpi r24,lo8(13) |
993 02e4 01F4 brne .L36 |
994 02e6 0E94 0000 call SucheGyroOffset |
995 .L36: |
996 02ea 1092 7A00 sts 122,__zero_reg__ |
997 02ee 8091 0000 lds r24,AdWertNick |
998 02f2 9091 0000 lds r25,(AdWertNick)+1 |
999 02f6 9093 0000 sts (MesswertNick)+1,r25 |
1000 02fa 8093 0000 sts MesswertNick,r24 |
1001 02fe 8091 0000 lds r24,AdWertRoll |
1002 0302 9091 0000 lds r25,(AdWertRoll)+1 |
1003 0306 9093 0000 sts (MesswertRoll)+1,r25 |
1004 030a 8093 0000 sts MesswertRoll,r24 |
1005 030e 8091 0000 lds r24,AdWertGier |
1006 0312 9091 0000 lds r25,(AdWertGier)+1 |
1007 0316 9093 0000 sts (MesswertGier)+1,r25 |
1008 031a 8093 0000 sts MesswertGier,r24 |
1009 031e 2091 0000 lds r18,AdWertAccNick |
1010 0322 3091 0000 lds r19,(AdWertAccNick)+1 |
1011 0326 C901 movw r24,r18 |
1012 0328 880F lsl r24 |
1013 032a 991F rol r25 |
1014 032c 880F lsl r24 |
1015 032e 991F rol r25 |
1016 0330 820F add r24,r18 |
1017 0332 931F adc r25,r19 |
1018 0334 820F add r24,r18 |
1019 0336 931F adc r25,r19 |
1020 0338 9093 0000 sts (Mittelwert_AccNick)+1,r25 |
1021 033c 8093 0000 sts Mittelwert_AccNick,r24 |
1022 0340 2091 0000 lds r18,AdWertAccRoll |
1023 0344 3091 0000 lds r19,(AdWertAccRoll)+1 |
1024 0348 C901 movw r24,r18 |
1025 034a 880F lsl r24 |
1026 034c 991F rol r25 |
1027 034e 880F lsl r24 |
1028 0350 991F rol r25 |
1029 0352 820F add r24,r18 |
1030 0354 931F adc r25,r19 |
1031 0356 820F add r24,r18 |
1032 0358 931F adc r25,r19 |
1033 035a 9093 0000 sts (Mittelwert_AccRoll)+1,r25 |
1034 035e 8093 0000 sts Mittelwert_AccRoll,r24 |
1035 0362 8FEC ldi r24,lo8(-49) |
1036 0364 8093 7A00 sts 122,r24 |
1037 0368 A0E0 ldi r26,lo8(Poti) |
1038 036a B0E0 ldi r27,hi8(Poti) |
1039 036c C0E0 ldi r28,lo8(EE_Parameter+5) |
1040 036e D0E0 ldi r29,hi8(EE_Parameter+5) |
1041 0370 97E0 ldi r25,lo8(7) |
1042 .L46: |
1043 0372 8991 ld r24,Y+ |
1044 0374 E82F mov r30,r24 |
1045 0376 FF27 clr r31 |
1046 0378 EE0F add r30,r30 |
1047 037a FF1F adc r31,r31 |
1048 037c E050 subi r30,lo8(-(PPM_in)) |
1049 037e F040 sbci r31,hi8(-(PPM_in)) |
1050 0380 0190 ld __tmp_reg__,Z+ |
1051 0382 F081 ld r31,Z |
1052 0384 E02D mov r30,__tmp_reg__ |
1053 0386 E158 subi r30,lo8(-(127)) |
1054 0388 FF4F sbci r31,hi8(-(127)) |
1055 038a 1E16 cp __zero_reg__,r30 |
1056 038c 1F06 cpc __zero_reg__,r31 |
1057 038e 04F0 brlt .L40 |
1058 0390 E0E0 ldi r30,lo8(0) |
1059 0392 F0E0 ldi r31,hi8(0) |
1060 0394 00C0 rjmp .L41 |
1061 .L40: |
1062 0396 EF3F cpi r30,255 |
1063 0398 F105 cpc r31,__zero_reg__ |
1064 039a 04F0 brlt .L41 |
1065 039c EFEF ldi r30,lo8(255) |
1066 039e F0E0 ldi r31,hi8(255) |
1067 .L41: |
1068 03a0 8C91 ld r24,X |
1069 03a2 282F mov r18,r24 |
1070 03a4 3327 clr r19 |
1071 03a6 E217 cp r30,r18 |
1072 03a8 F307 cpc r31,r19 |
1073 03aa 04F4 brge .L43 |
1074 03ac 8150 subi r24,lo8(-(-1)) |
1075 03ae 00C0 rjmp .L49 |
1076 .L43: |
1077 03b0 2E17 cp r18,r30 |
1078 03b2 3F07 cpc r19,r31 |
1079 03b4 04F4 brge .L39 |
1080 03b6 8F5F subi r24,lo8(-(1)) |
1081 .L49: |
1082 03b8 8C93 st X,r24 |
1083 .L39: |
1084 03ba 9150 subi r25,lo8(-(-1)) |
1085 03bc 1196 adiw r26,1 |
1086 03be 97FF sbrs r25,7 |
1087 03c0 00C0 rjmp .L46 |
1088 03c2 8091 0000 lds r24,EE_Parameter+65 |
1089 03c6 9927 clr r25 |
1090 03c8 AA27 clr r26 |
1091 03ca BB27 clr r27 |
1092 03cc BC01 movw r22,r24 |
1093 03ce CD01 movw r24,r26 |
1094 03d0 24EC ldi r18,lo8(2500) |
1095 03d2 39E0 ldi r19,hi8(2500) |
1096 03d4 40E0 ldi r20,hlo8(2500) |
1097 03d6 50E0 ldi r21,hhi8(2500) |
1098 03d8 0E94 0000 call __mulsi3 |
1099 03dc DC01 movw r26,r24 |
1100 03de CB01 movw r24,r22 |
1101 03e0 8093 0000 sts Umschlag180Nick,r24 |
1102 03e4 9093 0000 sts (Umschlag180Nick)+1,r25 |
1103 03e8 A093 0000 sts (Umschlag180Nick)+2,r26 |
1104 03ec B093 0000 sts (Umschlag180Nick)+3,r27 |
1105 03f0 8091 0000 lds r24,EE_Parameter+66 |
1106 03f4 9927 clr r25 |
1107 03f6 AA27 clr r26 |
1108 03f8 BB27 clr r27 |
1109 03fa BC01 movw r22,r24 |
1110 03fc CD01 movw r24,r26 |
1111 03fe 0E94 0000 call __mulsi3 |
1112 0402 DC01 movw r26,r24 |
1113 0404 CB01 movw r24,r22 |
1114 0406 8093 0000 sts Umschlag180Roll,r24 |
1115 040a 9093 0000 sts (Umschlag180Roll)+1,r25 |
1116 040e A093 0000 sts (Umschlag180Roll)+2,r26 |
1117 0412 B093 0000 sts (Umschlag180Roll)+3,r27 |
1118 /* epilogue: frame size=0 */ |
1119 0416 DF91 pop r29 |
1120 0418 CF91 pop r28 |
1121 041a 0895 ret |
1122 /* epilogue end (size=3) */ |
1123 /* function CalibrierMittelwert size 161 (156) */ |
1125 .section .progmem.data,"a",@progbits |
1128 __c.35: |
1129 0000 0A0D 4143 .string "\n\rACC not calibrated!\r\n" |
1129 4320 6E6F |
1129 7420 6361 |
1129 6C69 6272 |
1129 6174 6564 |
1130 .text |
1131 .global SetNeutral |
1133 SetNeutral: |
1134 /* prologue: frame size=0 */ |
1135 041c A0E0 ldi r26,lo8(0) |
1136 041e B0E0 ldi r27,hi8(0) |
1137 0420 E0E0 ldi r30,pm_lo8(1f) |
1138 0422 F0E0 ldi r31,pm_hi8(1f) |
1139 0424 0C94 0000 jmp __prologue_saves__+12 |
1140 1: |
1141 /* prologue end (size=6) */ |
1142 0428 882E mov r8,r24 |
1143 042a C0E0 ldi r28,lo8(0) |
1144 042c D0E0 ldi r29,hi8(0) |
1145 042e 7E01 movw r14,r28 |
1146 0430 6E01 movw r12,r28 |
1147 0432 1092 0000 sts VersionInfo+5,__zero_reg__ |
1148 0436 D093 0000 sts (NeutralAccX)+1,r29 |
1149 043a C093 0000 sts NeutralAccX,r28 |
1150 043e D093 0000 sts (NeutralAccY)+1,r29 |
1151 0442 C093 0000 sts NeutralAccY,r28 |
1152 0446 D093 0000 sts (NeutralAccZ)+1,r29 |
1153 044a C093 0000 sts NeutralAccZ,r28 |
1154 044e D093 0000 sts (AdNeutralNick)+1,r29 |
1155 0452 C093 0000 sts AdNeutralNick,r28 |
1156 0456 D093 0000 sts (AdNeutralRoll)+1,r29 |
1157 045a C093 0000 sts AdNeutralRoll,r28 |
1158 045e D093 0000 sts (AdNeutralGier)+1,r29 |
1159 0462 C093 0000 sts AdNeutralGier,r28 |
1160 0466 1092 0000 sts Parameter_AchsKopplung1,__zero_reg__ |
1161 046a 1092 0000 sts Parameter_AchsKopplung2,__zero_reg__ |
1162 046e 1092 0000 sts ExpandBaro,__zero_reg__ |
1163 0472 0E94 0000 call CalibrierMittelwert |
1164 0476 84E6 ldi r24,lo8(100) |
1165 0478 90E0 ldi r25,hi8(100) |
1166 047a 0E94 0000 call Delay_ms_Mess |
1167 047e 0E94 0000 call CalibrierMittelwert |
1168 0482 8091 0000 lds r24,EE_Parameter+13 |
1169 0486 80FF sbrs r24,0 |
1170 0488 00C0 rjmp .L51 |
1171 048a 8091 0000 lds r24,MessLuftdruck |
1172 048e 9091 0000 lds r25,(MessLuftdruck)+1 |
1173 0492 875B subi r24,lo8(951) |
1174 0494 9340 sbci r25,hi8(951) |
1175 0496 00F4 brsh .L53 |
1176 0498 8091 0000 lds r24,MessLuftdruck |
1177 049c 9091 0000 lds r25,(MessLuftdruck)+1 |
1178 04a0 8E5E subi r24,lo8(750) |
1179 04a2 9240 sbci r25,hi8(750) |
1180 04a4 00F4 brsh .L51 |
1181 .L53: |
1182 04a6 0E94 0000 call SucheLuftruckOffset |
1183 .L51: |
1184 04aa 0FE1 ldi r16,lo8(31) |
1185 .L57: |
1186 04ac 8AE0 ldi r24,lo8(10) |
1187 04ae 90E0 ldi r25,hi8(10) |
1188 04b0 0E94 0000 call Delay_ms_Mess |
1189 04b4 8091 0000 lds r24,AdWertGier |
1190 04b8 9091 0000 lds r25,(AdWertGier)+1 |
1191 04bc C80F add r28,r24 |
1192 04be D91F adc r29,r25 |
1193 04c0 8091 0000 lds r24,AdWertNick |
1194 04c4 9091 0000 lds r25,(AdWertNick)+1 |
1195 04c8 E80E add r14,r24 |
1196 04ca F91E adc r15,r25 |
1197 04cc 8091 0000 lds r24,AdWertRoll |
1198 04d0 9091 0000 lds r25,(AdWertRoll)+1 |
1199 04d4 C80E add r12,r24 |
1200 04d6 D91E adc r13,r25 |
1201 04d8 0150 subi r16,lo8(-(-1)) |
1202 04da 07FF sbrs r16,7 |
1203 04dc 00C0 rjmp .L57 |
1204 04de 9701 movw r18,r14 |
1205 04e0 205F subi r18,lo8(-(16)) |
1206 04e2 3F4F sbci r19,hi8(-(16)) |
1207 04e4 3695 lsr r19 |
1208 04e6 2795 ror r18 |
1209 04e8 3695 lsr r19 |
1210 04ea 2795 ror r18 |
1211 04ec 3093 0000 sts (AdNeutralNick)+1,r19 |
1212 04f0 2093 0000 sts AdNeutralNick,r18 |
1213 04f4 C601 movw r24,r12 |
1214 04f6 4096 adiw r24,16 |
1215 04f8 9695 lsr r25 |
1216 04fa 8795 ror r24 |
1217 04fc 9695 lsr r25 |
1218 04fe 8795 ror r24 |
1219 0500 9093 0000 sts (AdNeutralRoll)+1,r25 |
1220 0504 8093 0000 sts AdNeutralRoll,r24 |
1221 0508 6096 adiw r28,16 |
1222 050a F5E0 ldi r31,5 |
1223 050c D695 1: lsr r29 |
1224 050e C795 ror r28 |
1225 0510 FA95 dec r31 |
1226 0512 01F4 brne 1b |
1227 0514 D093 0000 sts (AdNeutralGier)+1,r29 |
1228 0518 C093 0000 sts AdNeutralGier,r28 |
1229 051c 9093 0000 sts (StartNeutralRoll)+1,r25 |
1230 0520 8093 0000 sts StartNeutralRoll,r24 |
1231 0524 3093 0000 sts (StartNeutralNick)+1,r19 |
1232 0528 2093 0000 sts StartNeutralNick,r18 |
1233 052c 8820 tst r8 |
1234 052e 01F4 brne .+2 |
1235 0530 00C0 rjmp .L58 |
1236 0532 8091 0000 lds r24,Mittelwert_AccNick |
1237 0536 9091 0000 lds r25,(Mittelwert_AccNick)+1 |
1238 053a 97FF sbrs r25,7 |
1239 053c 00C0 rjmp .L59 |
1240 053e 9095 com r25 |
1241 0540 8195 neg r24 |
1242 0542 9F4F sbci r25,lo8(-1) |
1243 .L59: |
1244 0544 6CE0 ldi r22,lo8(12) |
1245 0546 70E0 ldi r23,hi8(12) |
1246 0548 0E94 0000 call __divmodhi4 |
1247 054c 9B01 movw r18,r22 |
1248 054e 7093 0000 sts (NeutralAccX)+1,r23 |
1249 0552 6093 0000 sts NeutralAccX,r22 |
1250 0556 8091 0000 lds r24,Mittelwert_AccRoll |
1251 055a 9091 0000 lds r25,(Mittelwert_AccRoll)+1 |
1252 055e 97FF sbrs r25,7 |
1253 0560 00C0 rjmp .L60 |
1254 0562 9095 com r25 |
1255 0564 8195 neg r24 |
1256 0566 9F4F sbci r25,lo8(-1) |
1257 .L60: |
1258 0568 6CE0 ldi r22,lo8(12) |
1259 056a 70E0 ldi r23,hi8(12) |
1260 056c 0E94 0000 call __divmodhi4 |
1261 0570 7093 0000 sts (NeutralAccY)+1,r23 |
1262 0574 6093 0000 sts NeutralAccY,r22 |
1263 0578 8091 0000 lds r24,Aktuell_az |
1264 057c 9091 0000 lds r25,(Aktuell_az)+1 |
1265 0580 9093 0000 sts (NeutralAccZ)+1,r25 |
1266 0584 8093 0000 sts NeutralAccZ,r24 |
1267 0588 B901 movw r22,r18 |
1268 058a 84E0 ldi r24,lo8(4) |
1269 058c 90E0 ldi r25,hi8(4) |
1270 058e 0E94 0000 call SetParamWord |
1271 0592 6091 0000 lds r22,NeutralAccY |
1272 0596 7091 0000 lds r23,(NeutralAccY)+1 |
1273 059a 86E0 ldi r24,lo8(6) |
1274 059c 90E0 ldi r25,hi8(6) |
1275 059e 0E94 0000 call SetParamWord |
1276 05a2 6091 0000 lds r22,NeutralAccZ |
1277 05a6 7091 0000 lds r23,(NeutralAccZ)+1 |
1278 05aa 88E0 ldi r24,lo8(8) |
1279 05ac 90E0 ldi r25,hi8(8) |
1280 05ae 0E94 0000 call SetParamWord |
1281 05b2 00C0 rjmp .L61 |
1282 .L58: |
1283 05b4 84E0 ldi r24,lo8(4) |
1284 05b6 90E0 ldi r25,hi8(4) |
1285 05b8 0E94 0000 call GetParamWord |
1286 05bc 9093 0000 sts (NeutralAccX)+1,r25 |
1287 05c0 8093 0000 sts NeutralAccX,r24 |
1288 05c4 86E0 ldi r24,lo8(6) |
1289 05c6 90E0 ldi r25,hi8(6) |
1290 05c8 0E94 0000 call GetParamWord |
1291 05cc 9093 0000 sts (NeutralAccY)+1,r25 |
1292 05d0 8093 0000 sts NeutralAccY,r24 |
1293 05d4 88E0 ldi r24,lo8(8) |
1294 05d6 90E0 ldi r25,hi8(8) |
1295 05d8 0E94 0000 call GetParamWord |
1296 05dc 9C01 movw r18,r24 |
1297 05de 9093 0000 sts (NeutralAccZ)+1,r25 |
1298 05e2 8093 0000 sts NeutralAccZ,r24 |
1299 05e6 8091 0000 lds r24,NeutralAccX |
1300 05ea 9091 0000 lds r25,(NeutralAccX)+1 |
1301 05ee 8150 subi r24,lo8(2049) |
1302 05f0 9840 sbci r25,hi8(2049) |
1303 05f2 00F4 brsh .L63 |
1304 05f4 8091 0000 lds r24,NeutralAccY |
1305 05f8 9091 0000 lds r25,(NeutralAccY)+1 |
1306 05fc 8150 subi r24,lo8(2049) |
1307 05fe 9840 sbci r25,hi8(2049) |
1308 0600 00F4 brsh .L63 |
1309 0602 2150 subi r18,lo8(1025) |
1310 0604 3440 sbci r19,hi8(1025) |
1311 0606 00F0 brlo .L61 |
1312 .L63: |
1313 0608 80E0 ldi r24,lo8(__c.35) |
1314 060a 90E0 ldi r25,hi8(__c.35) |
1315 060c 9F93 push r25 |
1316 060e 8F93 push r24 |
1317 0610 80E0 ldi r24,lo8(pm(uart_putchar)) |
1318 0612 90E0 ldi r25,hi8(pm(uart_putchar)) |
1319 0614 9F93 push r25 |
1320 0616 8F93 push r24 |
1321 0618 E091 0000 lds r30,_printf_P |
1322 061c F091 0000 lds r31,(_printf_P)+1 |
1323 0620 0995 icall |
1324 0622 8091 0000 lds r24,Mittelwert_AccNick |
1325 0626 9091 0000 lds r25,(Mittelwert_AccNick)+1 |
1326 062a 97FF sbrs r25,7 |
1327 062c 00C0 rjmp .L64 |
1328 062e 9095 com r25 |
1329 0630 8195 neg r24 |
1330 0632 9F4F sbci r25,lo8(-1) |
1331 .L64: |
1332 0634 6CE0 ldi r22,lo8(12) |
1333 0636 70E0 ldi r23,hi8(12) |
1334 0638 0E94 0000 call __divmodhi4 |
1335 063c 7093 0000 sts (NeutralAccX)+1,r23 |
1336 0640 6093 0000 sts NeutralAccX,r22 |
1337 0644 8091 0000 lds r24,Mittelwert_AccRoll |
1338 0648 9091 0000 lds r25,(Mittelwert_AccRoll)+1 |
1339 064c 97FF sbrs r25,7 |
1340 064e 00C0 rjmp .L65 |
1341 0650 9095 com r25 |
1342 0652 8195 neg r24 |
1343 0654 9F4F sbci r25,lo8(-1) |
1344 .L65: |
1345 0656 6CE0 ldi r22,lo8(12) |
1346 0658 70E0 ldi r23,hi8(12) |
1347 065a 0E94 0000 call __divmodhi4 |
1348 065e 7093 0000 sts (NeutralAccY)+1,r23 |
1349 0662 6093 0000 sts NeutralAccY,r22 |
1350 0666 8091 0000 lds r24,Aktuell_az |
1351 066a 9091 0000 lds r25,(Aktuell_az)+1 |
1352 066e 9093 0000 sts (NeutralAccZ)+1,r25 |
1353 0672 8093 0000 sts NeutralAccZ,r24 |
1354 0676 0F90 pop __tmp_reg__ |
1355 0678 0F90 pop __tmp_reg__ |
1356 067a 0F90 pop __tmp_reg__ |
1357 067c 0F90 pop __tmp_reg__ |
1358 .L61: |
1359 067e 1092 0000 sts (MesswertNick)+1,__zero_reg__ |
1360 0682 1092 0000 sts MesswertNick,__zero_reg__ |
1361 0686 1092 0000 sts (MesswertRoll)+1,__zero_reg__ |
1362 068a 1092 0000 sts MesswertRoll,__zero_reg__ |
1363 068e 1092 0000 sts (MesswertGier)+1,__zero_reg__ |
1364 0692 1092 0000 sts MesswertGier,__zero_reg__ |
1365 0696 84E6 ldi r24,lo8(100) |
1366 0698 90E0 ldi r25,hi8(100) |
1367 069a 0E94 0000 call Delay_ms_Mess |
1368 069e 8091 0000 lds r24,AdWertAccNick |
1369 06a2 9091 0000 lds r25,(AdWertAccNick)+1 |
1370 06a6 9C01 movw r18,r24 |
1371 06a8 220F lsl r18 |
1372 06aa 331F rol r19 |
1373 06ac 220F lsl r18 |
1374 06ae 331F rol r19 |
1375 06b0 280F add r18,r24 |
1376 06b2 391F adc r19,r25 |
1377 06b4 280F add r18,r24 |
1378 06b6 391F adc r19,r25 |
1379 06b8 3093 0000 sts (Mittelwert_AccNick)+1,r19 |
1380 06bc 2093 0000 sts Mittelwert_AccNick,r18 |
1381 06c0 8091 0000 lds r24,AdWertAccRoll |
1382 06c4 9091 0000 lds r25,(AdWertAccRoll)+1 |
1383 06c8 8C01 movw r16,r24 |
1384 06ca 000F lsl r16 |
1385 06cc 111F rol r17 |
1386 06ce 000F lsl r16 |
1387 06d0 111F rol r17 |
1388 06d2 080F add r16,r24 |
1389 06d4 191F adc r17,r25 |
1390 06d6 080F add r16,r24 |
1391 06d8 191F adc r17,r25 |
1392 06da 1093 0000 sts (Mittelwert_AccRoll)+1,r17 |
1393 06de 0093 0000 sts Mittelwert_AccRoll,r16 |
1394 06e2 8091 0000 lds r24,EE_Parameter+28 |
1395 06e6 C82E mov r12,r24 |
1396 06e8 DD24 clr r13 |
1397 06ea EE24 clr r14 |
1398 06ec FF24 clr r15 |
1399 06ee 4427 clr r20 |
1400 06f0 37FD sbrc r19,7 |
1401 06f2 4095 com r20 |
1402 06f4 542F mov r21,r20 |
1403 06f6 C701 movw r24,r14 |
1404 06f8 B601 movw r22,r12 |
1405 06fa 0E94 0000 call __mulsi3 |
1406 06fe 4B01 movw r8,r22 |
1407 0700 5C01 movw r10,r24 |
1408 0702 6093 0000 sts IntegralNick,r22 |
1409 0706 7093 0000 sts (IntegralNick)+1,r23 |
1410 070a 8093 0000 sts (IntegralNick)+2,r24 |
1411 070e 9093 0000 sts (IntegralNick)+3,r25 |
1412 0712 9801 movw r18,r16 |
1413 0714 4427 clr r20 |
1414 0716 37FD sbrc r19,7 |
1415 0718 4095 com r20 |
1416 071a 542F mov r21,r20 |
1417 071c C701 movw r24,r14 |
1418 071e B601 movw r22,r12 |
1419 0720 0E94 0000 call __mulsi3 |
1420 0724 DC01 movw r26,r24 |
1421 0726 CB01 movw r24,r22 |
1422 0728 8093 0000 sts IntegralRoll,r24 |
1423 072c 9093 0000 sts (IntegralRoll)+1,r25 |
1424 0730 A093 0000 sts (IntegralRoll)+2,r26 |
1425 0734 B093 0000 sts (IntegralRoll)+3,r27 |
1426 0738 8092 0000 sts Mess_IntegralNick,r8 |
1427 073c 9092 0000 sts (Mess_IntegralNick)+1,r9 |
1428 0740 A092 0000 sts (Mess_IntegralNick)+2,r10 |
1429 0744 B092 0000 sts (Mess_IntegralNick)+3,r11 |
1430 0748 8093 0000 sts Mess_IntegralRoll,r24 |
1431 074c 9093 0000 sts (Mess_IntegralRoll)+1,r25 |
1432 0750 A093 0000 sts (Mess_IntegralRoll)+2,r26 |
1433 0754 B093 0000 sts (Mess_IntegralRoll)+3,r27 |
1434 0758 1092 0000 sts Mess_Integral_Gier,__zero_reg__ |
1435 075c 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__ |
1436 0760 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__ |
1437 0764 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__ |
1438 0768 8091 0000 lds r24,Luftdruck |
1439 076c 9091 0000 lds r25,(Luftdruck)+1 |
1440 0770 A091 0000 lds r26,(Luftdruck)+2 |
1441 0774 B091 0000 lds r27,(Luftdruck)+3 |
1442 0778 9093 0000 sts (StartLuftdruck)+1,r25 |
1443 077c 8093 0000 sts StartLuftdruck,r24 |
1444 0780 1092 0000 sts (VarioMeter)+1,__zero_reg__ |
1445 0784 1092 0000 sts VarioMeter,__zero_reg__ |
1446 0788 1092 0000 sts Mess_Integral_Hoch,__zero_reg__ |
1447 078c 1092 0000 sts (Mess_Integral_Hoch)+1,__zero_reg__ |
1448 0790 1092 0000 sts (Mess_Integral_Hoch)+2,__zero_reg__ |
1449 0794 1092 0000 sts (Mess_Integral_Hoch)+3,__zero_reg__ |
1450 0798 0091 0000 lds r16,KompassValue |
1451 079c 1091 0000 lds r17,(KompassValue)+1 |
1452 07a0 1093 0000 sts (KompassSollWert)+1,r17 |
1453 07a4 0093 0000 sts KompassSollWert,r16 |
1454 07a8 84E6 ldi r24,lo8(100) |
1455 07aa 90E0 ldi r25,hi8(100) |
1456 07ac 9093 0000 sts (KompassSignalSchlecht)+1,r25 |
1457 07b0 8093 0000 sts KompassSignalSchlecht,r24 |
1458 07b4 82E3 ldi r24,lo8(50) |
1459 07b6 90E0 ldi r25,hi8(50) |
1460 07b8 9093 0000 sts (beeptime)+1,r25 |
1461 07bc 8093 0000 sts beeptime,r24 |
1462 07c0 8091 0000 lds r24,EE_Parameter+65 |
1463 07c4 9927 clr r25 |
1464 07c6 AA27 clr r26 |
1465 07c8 BB27 clr r27 |
1466 07ca BC01 movw r22,r24 |
1467 07cc CD01 movw r24,r26 |
1468 07ce 24EC ldi r18,lo8(2500) |
1469 07d0 39E0 ldi r19,hi8(2500) |
1470 07d2 40E0 ldi r20,hlo8(2500) |
1471 07d4 50E0 ldi r21,hhi8(2500) |
1472 07d6 0E94 0000 call __mulsi3 |
1473 07da DC01 movw r26,r24 |
1474 07dc CB01 movw r24,r22 |
1475 07de 8856 subi r24,lo8(-(15000)) |
1476 07e0 954C sbci r25,hi8(-(15000)) |
1477 07e2 AF4F sbci r26,hlo8(-(15000)) |
1478 07e4 BF4F sbci r27,hhi8(-(15000)) |
1479 07e6 8093 0000 sts Umschlag180Nick,r24 |
1480 07ea 9093 0000 sts (Umschlag180Nick)+1,r25 |
1481 07ee A093 0000 sts (Umschlag180Nick)+2,r26 |
1482 07f2 B093 0000 sts (Umschlag180Nick)+3,r27 |
1483 07f6 8091 0000 lds r24,EE_Parameter+66 |
1484 07fa 9927 clr r25 |
1485 07fc AA27 clr r26 |
1486 07fe BB27 clr r27 |
1487 0800 BC01 movw r22,r24 |
1488 0802 CD01 movw r24,r26 |
1489 0804 0E94 0000 call __mulsi3 |
1490 0808 DC01 movw r26,r24 |
1491 080a CB01 movw r24,r22 |
1492 080c 8856 subi r24,lo8(-(15000)) |
1493 080e 954C sbci r25,hi8(-(15000)) |
1494 0810 AF4F sbci r26,hlo8(-(15000)) |
1495 0812 BF4F sbci r27,hhi8(-(15000)) |
1496 0814 8093 0000 sts Umschlag180Roll,r24 |
1497 0818 9093 0000 sts (Umschlag180Roll)+1,r25 |
1498 081c A093 0000 sts (Umschlag180Roll)+2,r26 |
1499 0820 B093 0000 sts (Umschlag180Roll)+3,r27 |
1500 0824 1092 0000 sts (ExternHoehenValue)+1,__zero_reg__ |
1501 0828 1092 0000 sts ExternHoehenValue,__zero_reg__ |
1502 082c C801 movw r24,r16 |
1503 082e AA27 clr r26 |
1504 0830 97FD sbrc r25,7 |
1505 0832 A095 com r26 |
1506 0834 BA2F mov r27,r26 |
1507 0836 2091 0000 lds r18,GIER_GRAD_FAKTOR |
1508 083a 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1 |
1509 083e 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2 |
1510 0842 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3 |
1511 0846 BC01 movw r22,r24 |
1512 0848 CD01 movw r24,r26 |
1513 084a 0E94 0000 call __mulsi3 |
1514 084e DC01 movw r26,r24 |
1515 0850 CB01 movw r24,r22 |
1516 0852 8093 0000 sts ErsatzKompass,r24 |
1517 0856 9093 0000 sts (ErsatzKompass)+1,r25 |
1518 085a A093 0000 sts (ErsatzKompass)+2,r26 |
1519 085e B093 0000 sts (ErsatzKompass)+3,r27 |
1520 0862 1092 0000 sts (GierGyroFehler)+1,__zero_reg__ |
1521 0866 1092 0000 sts GierGyroFehler,__zero_reg__ |
1522 086a 0E94 0000 call LED_Init |
1523 086e 8091 0000 lds r24,FC_StatusFlags |
1524 0872 8460 ori r24,lo8(4) |
1525 0874 8093 0000 sts FC_StatusFlags,r24 |
1526 0878 8FEF ldi r24,lo8(-1) |
1527 087a 8093 0000 sts FromNaviCtrl_Value,r24 |
1528 087e 1092 0000 sts FromNaviCtrl_Value+1,__zero_reg__ |
1529 0882 80E2 ldi r24,lo8(32) |
1530 0884 8093 0000 sts FromNaviCtrl_Value+2,r24 |
1531 0888 C0E0 ldi r28,lo8(Poti) |
1532 088a D0E0 ldi r29,hi8(Poti) |
1533 088c A0E0 ldi r26,lo8(EE_Parameter+5) |
1534 088e B0E0 ldi r27,hi8(EE_Parameter+5) |
1535 0890 07E0 ldi r16,lo8(7) |
1536 .L69: |
1537 0892 8D91 ld r24,X+ |
1538 0894 E82F mov r30,r24 |
1539 0896 FF27 clr r31 |
1540 0898 EE0F add r30,r30 |
1541 089a FF1F adc r31,r31 |
1542 089c E050 subi r30,lo8(-(PPM_in)) |
1543 089e F040 sbci r31,hi8(-(PPM_in)) |
1544 08a0 8081 ld r24,Z |
1545 08a2 9181 ldd r25,Z+1 |
1546 08a4 8158 subi r24,lo8(-(127)) |
1547 08a6 8993 st Y+,r24 |
1548 08a8 0150 subi r16,lo8(-(-1)) |
1549 08aa 07FF sbrs r16,7 |
1550 08ac 00C0 rjmp .L69 |
1551 08ae 84E6 ldi r24,lo8(100) |
1552 08b0 8093 0000 sts SenderOkay,r24 |
1553 08b4 8091 0000 lds r24,ServoActive |
1554 08b8 8823 tst r24 |
1555 08ba 01F0 breq .L70 |
1556 08bc 579A sbi 42-0x20,7 |
1557 08be 00C0 rjmp .L71 |
1558 .L70: |
1559 08c0 80E0 ldi r24,lo8(4352) |
1560 08c2 91E1 ldi r25,hi8(4352) |
1561 08c4 9093 0000 sts (NickServoValue)+1,r25 |
1562 08c8 8093 0000 sts NickServoValue,r24 |
1563 .L71: |
1564 08cc 8091 0000 lds r24,AdNeutralNick |
1565 08d0 9091 0000 lds r25,(AdNeutralNick)+1 |
1566 08d4 8056 subi r24,lo8(-(-2400)) |
1567 08d6 9940 sbci r25,hi8(-(-2400)) |
1568 08d8 815C subi r24,lo8(11201) |
1569 08da 9B42 sbci r25,hi8(11201) |
1570 08dc 00F0 brlo .L72 |
1571 08de 8091 0000 lds r24,VersionInfo+5 |
1572 08e2 8160 ori r24,lo8(1) |
1573 08e4 8093 0000 sts VersionInfo+5,r24 |
1574 .L72: |
1575 08e8 8091 0000 lds r24,AdNeutralRoll |
1576 08ec 9091 0000 lds r25,(AdNeutralRoll)+1 |
1577 08f0 8056 subi r24,lo8(-(-2400)) |
1578 08f2 9940 sbci r25,hi8(-(-2400)) |
1579 08f4 815C subi r24,lo8(11201) |
1580 08f6 9B42 sbci r25,hi8(11201) |
1581 08f8 00F0 brlo .L73 |
1582 08fa 8091 0000 lds r24,VersionInfo+5 |
1583 08fe 8260 ori r24,lo8(2) |
1584 0900 8093 0000 sts VersionInfo+5,r24 |
1585 .L73: |
1586 0904 8091 0000 lds r24,AdNeutralGier |
1587 0908 9091 0000 lds r25,(AdNeutralGier)+1 |
1588 090c 8C52 subi r24,lo8(-(-300)) |
1589 090e 9140 sbci r25,hi8(-(-300)) |
1590 0910 8957 subi r24,lo8(1401) |
1591 0912 9540 sbci r25,hi8(1401) |
1592 0914 00F0 brlo .L74 |
1593 0916 8091 0000 lds r24,VersionInfo+5 |
1594 091a 8460 ori r24,lo8(4) |
1595 091c 8093 0000 sts VersionInfo+5,r24 |
1596 .L74: |
1597 0920 8091 0000 lds r24,NeutralAccX |
1598 0924 9091 0000 lds r25,(NeutralAccX)+1 |
1599 0928 8C52 subi r24,lo8(-(-300)) |
1600 092a 9140 sbci r25,hi8(-(-300)) |
1601 092c 835C subi r24,lo8(451) |
1602 092e 9140 sbci r25,hi8(451) |
1603 0930 00F0 brlo .L75 |
1604 0932 8091 0000 lds r24,VersionInfo+5 |
1605 0936 8860 ori r24,lo8(8) |
1606 0938 8093 0000 sts VersionInfo+5,r24 |
1607 .L75: |
1608 093c 8091 0000 lds r24,NeutralAccY |
1609 0940 9091 0000 lds r25,(NeutralAccY)+1 |
1610 0944 8C52 subi r24,lo8(-(-300)) |
1611 0946 9140 sbci r25,hi8(-(-300)) |
1612 0948 835C subi r24,lo8(451) |
1613 094a 9140 sbci r25,hi8(451) |
1614 094c 00F0 brlo .L76 |
1615 094e 8091 0000 lds r24,VersionInfo+5 |
1616 0952 8061 ori r24,lo8(16) |
1617 0954 8093 0000 sts VersionInfo+5,r24 |
1618 .L76: |
1619 0958 8091 0000 lds r24,NeutralAccZ |
1620 095c 9091 0000 lds r25,(NeutralAccZ)+1 |
1621 0960 8050 subi r24,lo8(-(-512)) |
1622 0962 9240 sbci r25,hi8(-(-512)) |
1623 0964 8355 subi r24,lo8(339) |
1624 0966 9140 sbci r25,hi8(339) |
1625 0968 00F0 brlo .L77 |
1626 096a 8091 0000 lds r24,VersionInfo+5 |
1627 096e 8062 ori r24,lo8(32) |
1628 0970 8093 0000 sts VersionInfo+5,r24 |
1629 .L77: |
1630 0974 86E4 ldi r24,lo8(70) |
1631 0976 8093 0000 sts carefree_old,r24 |
1632 097a 0E94 0000 call LIBFC_HoTT_Clear |
1633 /* epilogue: frame size=0 */ |
1634 097e ECE0 ldi r30,12 |
1635 0980 CDB7 in r28,__SP_L__ |
1636 0982 DEB7 in r29,__SP_H__ |
1637 0984 0C94 0000 jmp __epilogue_restores__+12 |
1638 /* epilogue end (size=5) */ |
1639 /* function SetNeutral size 705 (694) */ |
1641 .lcomm tmpl.27,4 |
1642 .lcomm tmpl2.28,4 |
1643 .lcomm tmpl3.29,4 |
1644 .lcomm tmpl4.30,4 |
1645 .lcomm oldNick.31,2 |
1646 .lcomm oldRoll.32,2 |
1647 .lcomm d2Roll.33,2 |
1648 .lcomm d2Nick.34,2 |
1649 .global Mittelwert |
1651 Mittelwert: |
1652 /* prologue: frame size=19 */ |
1653 0988 A3E1 ldi r26,lo8(19) |
1654 098a B0E0 ldi r27,hi8(19) |
1655 098c E0E0 ldi r30,pm_lo8(1f) |
1656 098e F0E0 ldi r31,pm_hi8(1f) |
1657 0990 0C94 0000 jmp __prologue_saves__+0 |
1658 1: |
1659 /* prologue end (size=6) */ |
1660 0994 8091 0000 lds r24,AdNeutralGier |
1661 0998 9091 0000 lds r25,(AdNeutralGier)+1 |
1662 099c 2091 0000 lds r18,AdWertGier |
1663 09a0 3091 0000 lds r19,(AdWertGier)+1 |
1664 09a4 821B sub r24,r18 |
1665 09a6 930B sbc r25,r19 |
1666 09a8 9093 0000 sts (MesswertGier)+1,r25 |
1667 09ac 8093 0000 sts MesswertGier,r24 |
1668 09b0 8091 0000 lds r24,AdWertNickFilter |
1669 09b4 9091 0000 lds r25,(AdWertNickFilter)+1 |
1670 09b8 97FD sbrc r25,7 |
1671 09ba 0796 adiw r24,7 |
1672 .L83: |
1673 09bc 9C01 movw r18,r24 |
1674 09be 13E0 ldi r17,3 |
1675 09c0 3595 1: asr r19 |
1676 09c2 2795 ror r18 |
1677 09c4 1A95 dec r17 |
1678 09c6 01F4 brne 1b |
1679 09c8 3093 0000 sts (MesswertNick)+1,r19 |
1680 09cc 2093 0000 sts MesswertNick,r18 |
1681 09d0 8091 0000 lds r24,AdWertRollFilter |
1682 09d4 9091 0000 lds r25,(AdWertRollFilter)+1 |
1683 09d8 97FD sbrc r25,7 |
1684 09da 0796 adiw r24,7 |
1685 .L84: |
1686 09dc B3E0 ldi r27,3 |
1687 09de 9595 1: asr r25 |
1688 09e0 8795 ror r24 |
1689 09e2 BA95 dec r27 |
1690 09e4 01F4 brne 1b |
1691 09e6 9093 0000 sts (MesswertRoll)+1,r25 |
1692 09ea 8093 0000 sts MesswertRoll,r24 |
1693 09ee 3093 0000 sts (RohMesswertNick)+1,r19 |
1694 09f2 2093 0000 sts RohMesswertNick,r18 |
1695 09f6 9093 0000 sts (RohMesswertRoll)+1,r25 |
1696 09fa 8093 0000 sts RohMesswertRoll,r24 |
1697 09fe 8091 0000 lds r24,Mittelwert_AccNick |
1698 0a02 9091 0000 lds r25,(Mittelwert_AccNick)+1 |
1699 0a06 AC01 movw r20,r24 |
1700 0a08 440F lsl r20 |
1701 0a0a 551F rol r21 |
1702 0a0c 480F add r20,r24 |
1703 0a0e 591F adc r21,r25 |
1704 0a10 2091 0000 lds r18,AdWertAccNick |
1705 0a14 3091 0000 lds r19,(AdWertAccNick)+1 |
1706 0a18 C901 movw r24,r18 |
1707 0a1a 880F lsl r24 |
1708 0a1c 991F rol r25 |
1709 0a1e 880F lsl r24 |
1710 0a20 991F rol r25 |
1711 0a22 820F add r24,r18 |
1712 0a24 931F adc r25,r19 |
1713 0a26 820F add r24,r18 |
1714 0a28 931F adc r25,r19 |
1715 0a2a 480F add r20,r24 |
1716 0a2c 591F adc r21,r25 |
1717 0a2e 57FF sbrs r21,7 |
1718 0a30 00C0 rjmp .L85 |
1719 0a32 4D5F subi r20,lo8(-(3)) |
1720 0a34 5F4F sbci r21,hi8(-(3)) |
1721 .L85: |
1722 0a36 5595 asr r21 |
1723 0a38 4795 ror r20 |
1724 0a3a 5595 asr r21 |
1725 0a3c 4795 ror r20 |
1726 0a3e 5093 0000 sts (Mittelwert_AccNick)+1,r21 |
1727 0a42 4093 0000 sts Mittelwert_AccNick,r20 |
1728 0a46 8091 0000 lds r24,Mittelwert_AccRoll |
1729 0a4a 9091 0000 lds r25,(Mittelwert_AccRoll)+1 |
1730 0a4e AC01 movw r20,r24 |
1731 0a50 440F lsl r20 |
1732 0a52 551F rol r21 |
1733 0a54 480F add r20,r24 |
1734 0a56 591F adc r21,r25 |
1735 0a58 2091 0000 lds r18,AdWertAccRoll |
1736 0a5c 3091 0000 lds r19,(AdWertAccRoll)+1 |
1737 0a60 C901 movw r24,r18 |
1738 0a62 880F lsl r24 |
1739 0a64 991F rol r25 |
1740 0a66 880F lsl r24 |
1741 0a68 991F rol r25 |
1742 0a6a 820F add r24,r18 |
1743 0a6c 931F adc r25,r19 |
1744 0a6e 820F add r24,r18 |
1745 0a70 931F adc r25,r19 |
1746 0a72 480F add r20,r24 |
1747 0a74 591F adc r21,r25 |
1748 0a76 57FF sbrs r21,7 |
1749 0a78 00C0 rjmp .L86 |
1750 0a7a 4D5F subi r20,lo8(-(3)) |
1751 0a7c 5F4F sbci r21,hi8(-(3)) |
1752 .L86: |
1753 0a7e 5595 asr r21 |
1754 0a80 4795 ror r20 |
1755 0a82 5595 asr r21 |
1756 0a84 4795 ror r20 |
1757 0a86 5093 0000 sts (Mittelwert_AccRoll)+1,r21 |
1758 0a8a 4093 0000 sts Mittelwert_AccRoll,r20 |
1759 0a8e 2091 0000 lds r18,AdWertAccNick |
1760 0a92 3091 0000 lds r19,(AdWertAccNick)+1 |
1761 0a96 C901 movw r24,r18 |
1762 0a98 880F lsl r24 |
1763 0a9a 991F rol r25 |
1764 0a9c 880F lsl r24 |
1765 0a9e 991F rol r25 |
1766 0aa0 820F add r24,r18 |
1767 0aa2 931F adc r25,r19 |
1768 0aa4 820F add r24,r18 |
1769 0aa6 931F adc r25,r19 |
1770 0aa8 9C01 movw r18,r24 |
1771 0aaa 4427 clr r20 |
1772 0aac 37FD sbrc r19,7 |
1773 0aae 4095 com r20 |
1774 0ab0 542F mov r21,r20 |
1775 0ab2 8091 0000 lds r24,IntegralAccNick |
1776 0ab6 9091 0000 lds r25,(IntegralAccNick)+1 |
1777 0aba A091 0000 lds r26,(IntegralAccNick)+2 |
1778 0abe B091 0000 lds r27,(IntegralAccNick)+3 |
1779 0ac2 820F add r24,r18 |
1780 0ac4 931F adc r25,r19 |
1781 0ac6 A41F adc r26,r20 |
1782 0ac8 B51F adc r27,r21 |
1783 0aca 8093 0000 sts IntegralAccNick,r24 |
1784 0ace 9093 0000 sts (IntegralAccNick)+1,r25 |
1785 0ad2 A093 0000 sts (IntegralAccNick)+2,r26 |
1786 0ad6 B093 0000 sts (IntegralAccNick)+3,r27 |
1787 0ada 2091 0000 lds r18,AdWertAccRoll |
1788 0ade 3091 0000 lds r19,(AdWertAccRoll)+1 |
1789 0ae2 C901 movw r24,r18 |
1790 0ae4 880F lsl r24 |
1791 0ae6 991F rol r25 |
1792 0ae8 880F lsl r24 |
1793 0aea 991F rol r25 |
1794 0aec 820F add r24,r18 |
1795 0aee 931F adc r25,r19 |
1796 0af0 820F add r24,r18 |
1797 0af2 931F adc r25,r19 |
1798 0af4 9C01 movw r18,r24 |
1799 0af6 4427 clr r20 |
1800 0af8 37FD sbrc r19,7 |
1801 0afa 4095 com r20 |
1802 0afc 542F mov r21,r20 |
1803 0afe 8091 0000 lds r24,IntegralAccRoll |
1804 0b02 9091 0000 lds r25,(IntegralAccRoll)+1 |
1805 0b06 A091 0000 lds r26,(IntegralAccRoll)+2 |
1806 0b0a B091 0000 lds r27,(IntegralAccRoll)+3 |
1807 0b0e 820F add r24,r18 |
1808 0b10 931F adc r25,r19 |
1809 0b12 A41F adc r26,r20 |
1810 0b14 B51F adc r27,r21 |
1811 0b16 8093 0000 sts IntegralAccRoll,r24 |
1812 0b1a 9093 0000 sts (IntegralAccRoll)+1,r25 |
1813 0b1e A093 0000 sts (IntegralAccRoll)+2,r26 |
1814 0b22 B093 0000 sts (IntegralAccRoll)+3,r27 |
1815 0b26 8091 0000 lds r24,NaviAccNick |
1816 0b2a 9091 0000 lds r25,(NaviAccNick)+1 |
1817 0b2e 2091 0000 lds r18,AdWertAccNick |
1818 0b32 3091 0000 lds r19,(AdWertAccNick)+1 |
1819 0b36 820F add r24,r18 |
1820 0b38 931F adc r25,r19 |
1821 0b3a 9093 0000 sts (NaviAccNick)+1,r25 |
1822 0b3e 8093 0000 sts NaviAccNick,r24 |
1823 0b42 8091 0000 lds r24,NaviAccRoll |
1824 0b46 9091 0000 lds r25,(NaviAccRoll)+1 |
1825 0b4a 2091 0000 lds r18,AdWertAccRoll |
1826 0b4e 3091 0000 lds r19,(AdWertAccRoll)+1 |
1827 0b52 820F add r24,r18 |
1828 0b54 931F adc r25,r19 |
1829 0b56 9093 0000 sts (NaviAccRoll)+1,r25 |
1830 0b5a 8093 0000 sts NaviAccRoll,r24 |
1831 0b5e 8091 0000 lds r24,NaviCntAcc |
1832 0b62 9091 0000 lds r25,(NaviCntAcc)+1 |
1833 0b66 0196 adiw r24,1 |
1834 0b68 9093 0000 sts (NaviCntAcc)+1,r25 |
1835 0b6c 8093 0000 sts NaviCntAcc,r24 |
1836 0b70 8091 0000 lds r24,Aktuell_az |
1837 0b74 9091 0000 lds r25,(Aktuell_az)+1 |
1838 0b78 2091 0000 lds r18,NeutralAccZ |
1839 0b7c 3091 0000 lds r19,(NeutralAccZ)+1 |
1840 0b80 821B sub r24,r18 |
1841 0b82 930B sbc r25,r19 |
1842 0b84 9C01 movw r18,r24 |
1843 0b86 4427 clr r20 |
1844 0b88 37FD sbrc r19,7 |
1845 0b8a 4095 com r20 |
1846 0b8c 542F mov r21,r20 |
1847 0b8e 8091 0000 lds r24,IntegralAccZ |
1848 0b92 9091 0000 lds r25,(IntegralAccZ)+1 |
1849 0b96 A091 0000 lds r26,(IntegralAccZ)+2 |
1850 0b9a B091 0000 lds r27,(IntegralAccZ)+3 |
1851 0b9e 820F add r24,r18 |
1852 0ba0 931F adc r25,r19 |
1853 0ba2 A41F adc r26,r20 |
1854 0ba4 B51F adc r27,r21 |
1855 0ba6 8093 0000 sts IntegralAccZ,r24 |
1856 0baa 9093 0000 sts (IntegralAccZ)+1,r25 |
1857 0bae A093 0000 sts (IntegralAccZ)+2,r26 |
1858 0bb2 B093 0000 sts (IntegralAccZ)+3,r27 |
1859 0bb6 8FEC ldi r24,lo8(-49) |
1860 0bb8 8093 7A00 sts 122,r24 |
1861 0bbc 1092 0000 sts AdReady,__zero_reg__ |
1862 0bc0 2091 0000 lds r18,Mess_IntegralRoll |
1863 0bc4 3091 0000 lds r19,(Mess_IntegralRoll)+1 |
1864 0bc8 4091 0000 lds r20,(Mess_IntegralRoll)+2 |
1865 0bcc 5091 0000 lds r21,(Mess_IntegralRoll)+3 |
1866 0bd0 2987 std Y+9,r18 |
1867 0bd2 3A87 std Y+10,r19 |
1868 0bd4 4B87 std Y+11,r20 |
1869 0bd6 5C87 std Y+12,r21 |
1870 0bd8 2954 subi r18,lo8(93001) |
1871 0bda 3B46 sbci r19,hi8(93001) |
1872 0bdc 4140 sbci r20,hlo8(93001) |
1873 0bde 5040 sbci r21,hhi8(93001) |
1874 0be0 04F0 brlt .L87 |
1875 0be2 28E4 ldi r18,lo8(93000) |
1876 0be4 3BE6 ldi r19,hi8(93000) |
1877 0be6 41E0 ldi r20,hlo8(93000) |
1878 0be8 50E0 ldi r21,hhi8(93000) |
1879 0bea 00C0 rjmp .L167 |
1880 .L87: |
1881 0bec 8985 ldd r24,Y+9 |
1882 0bee 9A85 ldd r25,Y+10 |
1883 0bf0 AB85 ldd r26,Y+11 |
1884 0bf2 BC85 ldd r27,Y+12 |
1885 0bf4 885B subi r24,lo8(-93000) |
1886 0bf6 9449 sbci r25,hi8(-93000) |
1887 0bf8 AE4F sbci r26,hlo8(-93000) |
1888 0bfa BF4F sbci r27,hhi8(-93000) |
1889 0bfc 04F4 brge .L89 |
1890 0bfe 28EB ldi r18,lo8(-93000) |
1891 0c00 34E9 ldi r19,hi8(-93000) |
1892 0c02 4EEF ldi r20,hlo8(-93000) |
1893 0c04 5FEF ldi r21,hhi8(-93000) |
1894 .L167: |
1895 0c06 2D83 std Y+5,r18 |
1896 0c08 3E83 std Y+6,r19 |
1897 0c0a 4F83 std Y+7,r20 |
1898 0c0c 5887 std Y+8,r21 |
1899 0c0e 00C0 rjmp .L88 |
1900 .L89: |
1901 0c10 8985 ldd r24,Y+9 |
1902 0c12 9A85 ldd r25,Y+10 |
1903 0c14 AB85 ldd r26,Y+11 |
1904 0c16 BC85 ldd r27,Y+12 |
1905 0c18 8D83 std Y+5,r24 |
1906 0c1a 9E83 std Y+6,r25 |
1907 0c1c AF83 std Y+7,r26 |
1908 0c1e B887 std Y+8,r27 |
1909 .L88: |
1910 0c20 2091 0000 lds r18,Mess_IntegralNick |
1911 0c24 3091 0000 lds r19,(Mess_IntegralNick)+1 |
1912 0c28 4091 0000 lds r20,(Mess_IntegralNick)+2 |
1913 0c2c 5091 0000 lds r21,(Mess_IntegralNick)+3 |
1914 0c30 2D87 std Y+13,r18 |
1915 0c32 3E87 std Y+14,r19 |
1916 0c34 4F87 std Y+15,r20 |
1917 0c36 588B std Y+16,r21 |
1918 0c38 2954 subi r18,lo8(93001) |
1919 0c3a 3B46 sbci r19,hi8(93001) |
1920 0c3c 4140 sbci r20,hlo8(93001) |
1921 0c3e 5040 sbci r21,hhi8(93001) |
1922 0c40 04F0 brlt .L91 |
1923 0c42 28E4 ldi r18,lo8(93000) |
1924 0c44 3BE6 ldi r19,hi8(93000) |
1925 0c46 41E0 ldi r20,hlo8(93000) |
1926 0c48 50E0 ldi r21,hhi8(93000) |
1927 0c4a 00C0 rjmp .L168 |
1928 .L91: |
1929 0c4c 8D85 ldd r24,Y+13 |
1930 0c4e 9E85 ldd r25,Y+14 |
1931 0c50 AF85 ldd r26,Y+15 |
1932 0c52 B889 ldd r27,Y+16 |
1933 0c54 885B subi r24,lo8(-93000) |
1934 0c56 9449 sbci r25,hi8(-93000) |
1935 0c58 AE4F sbci r26,hlo8(-93000) |
1936 0c5a BF4F sbci r27,hhi8(-93000) |
1937 0c5c 04F4 brge .L93 |
1938 0c5e 28EB ldi r18,lo8(-93000) |
1939 0c60 34E9 ldi r19,hi8(-93000) |
1940 0c62 4EEF ldi r20,hlo8(-93000) |
1941 0c64 5FEF ldi r21,hhi8(-93000) |
1942 .L168: |
1943 0c66 2983 std Y+1,r18 |
1944 0c68 3A83 std Y+2,r19 |
1945 0c6a 4B83 std Y+3,r20 |
1946 0c6c 5C83 std Y+4,r21 |
1947 0c6e 00C0 rjmp .L92 |
1948 .L93: |
1949 0c70 8D85 ldd r24,Y+13 |
1950 0c72 9E85 ldd r25,Y+14 |
1951 0c74 AF85 ldd r26,Y+15 |
1952 0c76 B889 ldd r27,Y+16 |
1953 0c78 8983 std Y+1,r24 |
1954 0c7a 9A83 std Y+2,r25 |
1955 0c7c AB83 std Y+3,r26 |
1956 0c7e BC83 std Y+4,r27 |
1957 .L92: |
1958 0c80 A091 0000 lds r26,MesswertGier |
1959 0c84 B091 0000 lds r27,(MesswertGier)+1 |
1960 0c88 BB8B std Y+19,r27 |
1961 0c8a AA8B std Y+18,r26 |
1962 0c8c FD01 movw r30,r26 |
1963 0c8e CF01 movw r24,r30 |
1964 0c90 AA27 clr r26 |
1965 0c92 97FD sbrc r25,7 |
1966 0c94 A095 com r26 |
1967 0c96 BA2F mov r27,r26 |
1968 0c98 A090 0000 lds r10,Mess_Integral_Gier |
1969 0c9c B090 0000 lds r11,(Mess_Integral_Gier)+1 |
1970 0ca0 C090 0000 lds r12,(Mess_Integral_Gier)+2 |
1971 0ca4 D090 0000 lds r13,(Mess_Integral_Gier)+3 |
1972 0ca8 A80E add r10,r24 |
1973 0caa B91E adc r11,r25 |
1974 0cac CA1E adc r12,r26 |
1975 0cae DB1E adc r13,r27 |
1976 0cb0 A092 0000 sts Mess_Integral_Gier,r10 |
1977 0cb4 B092 0000 sts (Mess_Integral_Gier)+1,r11 |
1978 0cb8 C092 0000 sts (Mess_Integral_Gier)+2,r12 |
1979 0cbc D092 0000 sts (Mess_Integral_Gier)+3,r13 |
1980 0cc0 E090 0000 lds r14,ErsatzKompass |
1981 0cc4 F090 0000 lds r15,(ErsatzKompass)+1 |
1982 0cc8 0091 0000 lds r16,(ErsatzKompass)+2 |
1983 0ccc 1091 0000 lds r17,(ErsatzKompass)+3 |
1984 0cd0 E80E add r14,r24 |
1985 0cd2 F91E adc r15,r25 |
1986 0cd4 0A1F adc r16,r26 |
1987 0cd6 1B1F adc r17,r27 |
1988 0cd8 E092 0000 sts ErsatzKompass,r14 |
1989 0cdc F092 0000 sts (ErsatzKompass)+1,r15 |
1990 0ce0 0093 0000 sts (ErsatzKompass)+2,r16 |
1991 0ce4 1093 0000 sts (ErsatzKompass)+3,r17 |
1992 0ce8 F091 0000 lds r31,Looping_Nick |
1993 0cec F98B std Y+17,r31 |
1994 0cee FF23 tst r31 |
1995 0cf0 01F0 breq .+2 |
1996 0cf2 00C0 rjmp .L95 |
1997 0cf4 8091 0000 lds r24,Looping_Roll |
1998 0cf8 8823 tst r24 |
1999 0cfa 01F0 breq .+2 |
2000 0cfc 00C0 rjmp .L95 |
2001 0cfe 8091 0000 lds r24,Parameter_GlobalConfig |
2002 0d02 86FF sbrs r24,6 |
2003 0d04 00C0 rjmp .L95 |
2004 0d06 8091 0000 lds r24,MesswertRoll |
2005 0d0a 9091 0000 lds r25,(MesswertRoll)+1 |
2006 0d0e AA27 clr r26 |
2007 0d10 97FD sbrc r25,7 |
2008 0d12 A095 com r26 |
2009 0d14 BA2F mov r27,r26 |
2010 0d16 BC01 movw r22,r24 |
2011 0d18 CD01 movw r24,r26 |
2012 0d1a 2981 ldd r18,Y+1 |
2013 0d1c 3A81 ldd r19,Y+2 |
2014 0d1e 4B81 ldd r20,Y+3 |
2015 0d20 5C81 ldd r21,Y+4 |
2016 0d22 0E94 0000 call __mulsi3 |
2017 0d26 9B01 movw r18,r22 |
2018 0d28 AC01 movw r20,r24 |
2019 0d2a 97FF sbrs r25,7 |
2020 0d2c 00C0 rjmp .L96 |
2021 0d2e 2150 subi r18,lo8(-(2047)) |
2022 0d30 384F sbci r19,hi8(-(2047)) |
2023 0d32 4F4F sbci r20,hlo8(-(2047)) |
2024 0d34 5F4F sbci r21,hhi8(-(2047)) |
2025 .L96: |
2026 0d36 BBE0 ldi r27,11 |
2027 0d38 5595 1: asr r21 |
2028 0d3a 4795 ror r20 |
2029 0d3c 3795 ror r19 |
2030 0d3e 2795 ror r18 |
2031 0d40 BA95 dec r27 |
2032 0d42 01F4 brne 1b |
2033 0d44 8091 0000 lds r24,Parameter_AchsKopplung2 |
2034 0d48 682E mov r6,r24 |
2035 0d4a 7724 clr r7 |
2036 0d4c 8824 clr r8 |
2037 0d4e 9924 clr r9 |
2038 0d50 CA01 movw r24,r20 |
2039 0d52 B901 movw r22,r18 |
2040 0d54 A401 movw r20,r8 |
2041 0d56 9301 movw r18,r6 |
2042 0d58 0E94 0000 call __mulsi3 |
2043 0d5c DC01 movw r26,r24 |
2044 0d5e CB01 movw r24,r22 |
2045 0d60 8093 0000 sts tmpl3.29,r24 |
2046 0d64 9093 0000 sts (tmpl3.29)+1,r25 |
2047 0d68 A093 0000 sts (tmpl3.29)+2,r26 |
2048 0d6c B093 0000 sts (tmpl3.29)+3,r27 |
2049 0d70 B7FF sbrs r27,7 |
2050 0d72 00C0 rjmp .L97 |
2051 0d74 8150 subi r24,lo8(-(4095)) |
2052 0d76 904F sbci r25,hi8(-(4095)) |
2053 0d78 AF4F sbci r26,hlo8(-(4095)) |
2054 0d7a BF4F sbci r27,hhi8(-(4095)) |
2055 .L97: |
2056 0d7c 1C01 movw r2,r24 |
2057 0d7e 2D01 movw r4,r26 |
2058 0d80 ACE0 ldi r26,12 |
2059 0d82 5594 1: asr r5 |
2060 0d84 4794 ror r4 |
2061 0d86 3794 ror r3 |
2062 0d88 2794 ror r2 |
2063 0d8a AA95 dec r26 |
2064 0d8c 01F4 brne 1b |
2065 0d8e 2092 0000 sts tmpl3.29,r2 |
2066 0d92 3092 0000 sts (tmpl3.29)+1,r3 |
2067 0d96 4092 0000 sts (tmpl3.29)+2,r4 |
2068 0d9a 5092 0000 sts (tmpl3.29)+3,r5 |
2069 0d9e 8091 0000 lds r24,MesswertNick |
2070 0da2 9091 0000 lds r25,(MesswertNick)+1 |
2071 0da6 AA27 clr r26 |
2072 0da8 97FD sbrc r25,7 |
2073 0daa A095 com r26 |
2074 0dac BA2F mov r27,r26 |
2075 0dae BC01 movw r22,r24 |
2076 0db0 CD01 movw r24,r26 |
2077 0db2 2D81 ldd r18,Y+5 |
2078 0db4 3E81 ldd r19,Y+6 |
2079 0db6 4F81 ldd r20,Y+7 |
2080 0db8 5885 ldd r21,Y+8 |
2081 0dba 0E94 0000 call __mulsi3 |
2082 0dbe 97FF sbrs r25,7 |
2083 0dc0 00C0 rjmp .L98 |
2084 0dc2 6150 subi r22,lo8(-(2047)) |
2085 0dc4 784F sbci r23,hi8(-(2047)) |
2086 0dc6 8F4F sbci r24,hlo8(-(2047)) |
2087 0dc8 9F4F sbci r25,hhi8(-(2047)) |
2088 .L98: |
2089 0dca FBE0 ldi r31,11 |
2090 0dcc 9595 1: asr r25 |
2091 0dce 8795 ror r24 |
2092 0dd0 7795 ror r23 |
2093 0dd2 6795 ror r22 |
2094 0dd4 FA95 dec r31 |
2095 0dd6 01F4 brne 1b |
2096 0dd8 A401 movw r20,r8 |
2097 0dda 9301 movw r18,r6 |
2098 0ddc 0E94 0000 call __mulsi3 |
2099 0de0 DC01 movw r26,r24 |
2100 0de2 CB01 movw r24,r22 |
2101 0de4 8093 0000 sts tmpl4.30,r24 |
2102 0de8 9093 0000 sts (tmpl4.30)+1,r25 |
2103 0dec A093 0000 sts (tmpl4.30)+2,r26 |
2104 0df0 B093 0000 sts (tmpl4.30)+3,r27 |
2105 0df4 B7FF sbrs r27,7 |
2106 0df6 00C0 rjmp .L99 |
2107 0df8 8150 subi r24,lo8(-(4095)) |
2108 0dfa 904F sbci r25,hi8(-(4095)) |
2109 0dfc AF4F sbci r26,hlo8(-(4095)) |
2110 0dfe BF4F sbci r27,hhi8(-(4095)) |
2111 .L99: |
2112 0e00 9C01 movw r18,r24 |
2113 0e02 AD01 movw r20,r26 |
2114 0e04 ECE0 ldi r30,12 |
2115 0e06 5595 1: asr r21 |
2116 0e08 4795 ror r20 |
2117 0e0a 3795 ror r19 |
2118 0e0c 2795 ror r18 |
2119 0e0e EA95 dec r30 |
2120 0e10 01F4 brne 1b |
2121 0e12 2093 0000 sts tmpl4.30,r18 |
2122 0e16 3093 0000 sts (tmpl4.30)+1,r19 |
2123 0e1a 4093 0000 sts (tmpl4.30)+2,r20 |
2124 0e1e 5093 0000 sts (tmpl4.30)+3,r21 |
2125 0e22 8091 0000 lds r24,tmpl3.29 |
2126 0e26 9091 0000 lds r25,(tmpl3.29)+1 |
2127 0e2a 9093 0000 sts (KopplungsteilNickRoll)+1,r25 |
2128 0e2e 8093 0000 sts KopplungsteilNickRoll,r24 |
2129 0e32 8091 0000 lds r24,tmpl4.30 |
2130 0e36 9091 0000 lds r25,(tmpl4.30)+1 |
2131 0e3a 9093 0000 sts (KopplungsteilRollNick)+1,r25 |
2132 0e3e 8093 0000 sts KopplungsteilRollNick,r24 |
2133 0e42 2219 sub r18,r2 |
2134 0e44 3309 sbc r19,r3 |
2135 0e46 4409 sbc r20,r4 |
2136 0e48 5509 sbc r21,r5 |
2137 0e4a 2093 0000 sts tmpl4.30,r18 |
2138 0e4e 3093 0000 sts (tmpl4.30)+1,r19 |
2139 0e52 4093 0000 sts (tmpl4.30)+2,r20 |
2140 0e56 5093 0000 sts (tmpl4.30)+3,r21 |
2141 0e5a E20E add r14,r18 |
2142 0e5c F31E adc r15,r19 |
2143 0e5e 041F adc r16,r20 |
2144 0e60 151F adc r17,r21 |
2145 0e62 E092 0000 sts ErsatzKompass,r14 |
2146 0e66 F092 0000 sts (ErsatzKompass)+1,r15 |
2147 0e6a 0093 0000 sts (ErsatzKompass)+2,r16 |
2148 0e6e 1093 0000 sts (ErsatzKompass)+3,r17 |
2149 0e72 8091 0000 lds r24,Parameter_CouplingYawCorrection |
2150 0e76 8823 tst r24 |
2151 0e78 01F4 brne .L100 |
2152 0e7a 57FF sbrs r21,7 |
2153 0e7c 00C0 rjmp .L101 |
2154 0e7e 2F5F subi r18,lo8(-(1)) |
2155 0e80 3F4F sbci r19,hi8(-(1)) |
2156 0e82 4F4F sbci r20,hlo8(-(1)) |
2157 0e84 5F4F sbci r21,hhi8(-(1)) |
2158 .L101: |
2159 0e86 5595 asr r21 |
2160 0e88 4795 ror r20 |
2161 0e8a 3795 ror r19 |
2162 0e8c 2795 ror r18 |
2163 0e8e A21A sub r10,r18 |
2164 0e90 B30A sbc r11,r19 |
2165 0e92 C40A sbc r12,r20 |
2166 0e94 D50A sbc r13,r21 |
2167 0e96 A092 0000 sts Mess_Integral_Gier,r10 |
2168 0e9a B092 0000 sts (Mess_Integral_Gier)+1,r11 |
2169 0e9e C092 0000 sts (Mess_Integral_Gier)+2,r12 |
2170 0ea2 D092 0000 sts (Mess_Integral_Gier)+3,r13 |
2171 .L100: |
2172 0ea6 2A89 ldd r18,Y+18 |
2173 0ea8 3B89 ldd r19,Y+19 |
2174 0eaa 7901 movw r14,r18 |
2175 0eac 0027 clr r16 |
2176 0eae F7FC sbrc r15,7 |
2177 0eb0 0095 com r16 |
2178 0eb2 102F mov r17,r16 |
2179 0eb4 8091 0000 lds r24,tmpl4.30 |
2180 0eb8 9091 0000 lds r25,(tmpl4.30)+1 |
2181 0ebc A091 0000 lds r26,(tmpl4.30)+2 |
2182 0ec0 B091 0000 lds r27,(tmpl4.30)+3 |
2183 0ec4 E80E add r14,r24 |
2184 0ec6 F91E adc r15,r25 |
2185 0ec8 0A1F adc r16,r26 |
2186 0eca 1B1F adc r17,r27 |
2187 0ecc C801 movw r24,r16 |
2188 0ece B701 movw r22,r14 |
2189 0ed0 2981 ldd r18,Y+1 |
2190 0ed2 3A81 ldd r19,Y+2 |
2191 0ed4 4B81 ldd r20,Y+3 |
2192 0ed6 5C81 ldd r21,Y+4 |
2193 0ed8 0E94 0000 call __mulsi3 |
2194 0edc 9B01 movw r18,r22 |
2195 0ede AC01 movw r20,r24 |
2196 0ee0 97FF sbrs r25,7 |
2197 0ee2 00C0 rjmp .L102 |
2198 0ee4 2150 subi r18,lo8(-(2047)) |
2199 0ee6 384F sbci r19,hi8(-(2047)) |
2200 0ee8 4F4F sbci r20,hlo8(-(2047)) |
2201 0eea 5F4F sbci r21,hhi8(-(2047)) |
2202 .L102: |
2203 0eec 6BE0 ldi r22,11 |
2204 0eee 5595 1: asr r21 |
2205 0ef0 4795 ror r20 |
2206 0ef2 3795 ror r19 |
2207 0ef4 2795 ror r18 |
2208 0ef6 6A95 dec r22 |
2209 0ef8 01F4 brne 1b |
2210 0efa 8091 0000 lds r24,Parameter_AchsKopplung1 |
2211 0efe A82E mov r10,r24 |
2212 0f00 BB24 clr r11 |
2213 0f02 CC24 clr r12 |
2214 0f04 DD24 clr r13 |
2215 0f06 CA01 movw r24,r20 |
2216 0f08 B901 movw r22,r18 |
2217 0f0a A601 movw r20,r12 |
2218 0f0c 9501 movw r18,r10 |
2219 0f0e 0E94 0000 call __mulsi3 |
2220 0f12 DC01 movw r26,r24 |
2221 0f14 CB01 movw r24,r22 |
2222 0f16 8093 0000 sts tmpl.27,r24 |
2223 0f1a 9093 0000 sts (tmpl.27)+1,r25 |
2224 0f1e A093 0000 sts (tmpl.27)+2,r26 |
2225 0f22 B093 0000 sts (tmpl.27)+3,r27 |
2226 0f26 B7FF sbrs r27,7 |
2227 0f28 00C0 rjmp .L103 |
2228 0f2a 8150 subi r24,lo8(-(4095)) |
2229 0f2c 904F sbci r25,hi8(-(4095)) |
2230 0f2e AF4F sbci r26,hlo8(-(4095)) |
2231 0f30 BF4F sbci r27,hhi8(-(4095)) |
2232 .L103: |
2233 0f32 3C01 movw r6,r24 |
2234 0f34 4D01 movw r8,r26 |
2235 0f36 3CE0 ldi r19,12 |
2236 0f38 9594 1: asr r9 |
2237 0f3a 8794 ror r8 |
2238 0f3c 7794 ror r7 |
2239 0f3e 6794 ror r6 |
2240 0f40 3A95 dec r19 |
2241 0f42 01F4 brne 1b |
2242 0f44 6092 0000 sts tmpl.27,r6 |
2243 0f48 7092 0000 sts (tmpl.27)+1,r7 |
2244 0f4c 8092 0000 sts (tmpl.27)+2,r8 |
2245 0f50 9092 0000 sts (tmpl.27)+3,r9 |
2246 0f54 C801 movw r24,r16 |
2247 0f56 B701 movw r22,r14 |
2248 0f58 2D81 ldd r18,Y+5 |
2249 0f5a 3E81 ldd r19,Y+6 |
2250 0f5c 4F81 ldd r20,Y+7 |
2251 0f5e 5885 ldd r21,Y+8 |
2252 0f60 0E94 0000 call __mulsi3 |
2253 0f64 97FF sbrs r25,7 |
2254 0f66 00C0 rjmp .L104 |
2255 0f68 6150 subi r22,lo8(-(2047)) |
2256 0f6a 784F sbci r23,hi8(-(2047)) |
2257 0f6c 8F4F sbci r24,hlo8(-(2047)) |
2258 0f6e 9F4F sbci r25,hhi8(-(2047)) |
2259 .L104: |
2260 0f70 2BE0 ldi r18,11 |
2261 0f72 9595 1: asr r25 |
2262 0f74 8795 ror r24 |
2263 0f76 7795 ror r23 |
2264 0f78 6795 ror r22 |
2265 0f7a 2A95 dec r18 |
2266 0f7c 01F4 brne 1b |
2267 0f7e A601 movw r20,r12 |
2268 0f80 9501 movw r18,r10 |
2269 0f82 0E94 0000 call __mulsi3 |
2270 0f86 DC01 movw r26,r24 |
2271 0f88 CB01 movw r24,r22 |
2272 0f8a 8093 0000 sts tmpl2.28,r24 |
2273 0f8e 9093 0000 sts (tmpl2.28)+1,r25 |
2274 0f92 A093 0000 sts (tmpl2.28)+2,r26 |
2275 0f96 B093 0000 sts (tmpl2.28)+3,r27 |
2276 0f9a B7FF sbrs r27,7 |
2277 0f9c 00C0 rjmp .L105 |
2278 0f9e 8150 subi r24,lo8(-(4095)) |
2279 0fa0 904F sbci r25,hi8(-(4095)) |
2280 0fa2 AF4F sbci r26,hlo8(-(4095)) |
2281 0fa4 BF4F sbci r27,hhi8(-(4095)) |
2282 .L105: |
2283 0fa6 AC01 movw r20,r24 |
2284 0fa8 BD01 movw r22,r26 |
2285 0faa 8CE0 ldi r24,12 |
2286 0fac 7595 1: asr r23 |
2287 0fae 6795 ror r22 |
2288 0fb0 5795 ror r21 |
2289 0fb2 4795 ror r20 |
2290 0fb4 8A95 dec r24 |
2291 0fb6 01F4 brne 1b |
2292 0fb8 4093 0000 sts tmpl2.28,r20 |
2293 0fbc 5093 0000 sts (tmpl2.28)+1,r21 |
2294 0fc0 6093 0000 sts (tmpl2.28)+2,r22 |
2295 0fc4 7093 0000 sts (tmpl2.28)+3,r23 |
2296 0fc8 2A89 ldd r18,Y+18 |
2297 0fca 3B89 ldd r19,Y+19 |
2298 0fcc 37FF sbrs r19,7 |
2299 0fce 00C0 rjmp .L107 |
2300 0fd0 3095 com r19 |
2301 0fd2 2195 neg r18 |
2302 0fd4 3F4F sbci r19,lo8(-1) |
2303 .L107: |
2304 0fd6 2134 cpi r18,65 |
2305 0fd8 3105 cpc r19,__zero_reg__ |
2306 0fda 04F0 brlt .L112 |
2307 0fdc D401 movw r26,r8 |
2308 0fde C301 movw r24,r6 |
2309 0fe0 97FE sbrs r9,7 |
2310 0fe2 00C0 rjmp .L110 |
2311 0fe4 B095 com r27 |
2312 0fe6 A095 com r26 |
2313 0fe8 9095 com r25 |
2314 0fea 8195 neg r24 |
2315 0fec 9F4F sbci r25,lo8(-1) |
2316 0fee AF4F sbci r26,lo8(-1) |
2317 0ff0 BF4F sbci r27,lo8(-1) |
2318 .L110: |
2319 0ff2 8138 cpi r24,lo8(129) |
2320 0ff4 9105 cpc r25,__zero_reg__ |
2321 0ff6 A105 cpc r26,__zero_reg__ |
2322 0ff8 B105 cpc r27,__zero_reg__ |
2323 0ffa 04F4 brge .L109 |
2324 0ffc DB01 movw r26,r22 |
2325 0ffe CA01 movw r24,r20 |
2326 1000 77FF sbrs r23,7 |
2327 1002 00C0 rjmp .L111 |
2328 1004 B095 com r27 |
2329 1006 A095 com r26 |
2330 1008 9095 com r25 |
2331 100a 8195 neg r24 |
2332 100c 9F4F sbci r25,lo8(-1) |
2333 100e AF4F sbci r26,lo8(-1) |
2334 1010 BF4F sbci r27,lo8(-1) |
2335 .L111: |
2336 1012 8138 cpi r24,lo8(129) |
2337 1014 9105 cpc r25,__zero_reg__ |
2338 1016 A105 cpc r26,__zero_reg__ |
2339 1018 B105 cpc r27,__zero_reg__ |
2340 101a 04F0 brlt .L112 |
2341 .L109: |
2342 101c 81E0 ldi r24,lo8(1) |
2343 101e 8093 0000 sts TrichterFlug,r24 |
2344 1022 00C0 rjmp .L112 |
2345 .L95: |
2346 1024 1092 0000 sts (KopplungsteilRollNick)+1,__zero_reg__ |
2347 1028 1092 0000 sts KopplungsteilRollNick,__zero_reg__ |
2348 102c 1092 0000 sts (KopplungsteilNickRoll)+1,__zero_reg__ |
2349 1030 1092 0000 sts KopplungsteilNickRoll,__zero_reg__ |
2350 1034 1092 0000 sts tmpl2.28,__zero_reg__ |
2351 1038 1092 0000 sts (tmpl2.28)+1,__zero_reg__ |
2352 103c 1092 0000 sts (tmpl2.28)+2,__zero_reg__ |
2353 1040 1092 0000 sts (tmpl2.28)+3,__zero_reg__ |
2354 1044 1092 0000 sts tmpl.27,__zero_reg__ |
2355 1048 1092 0000 sts (tmpl.27)+1,__zero_reg__ |
2356 104c 1092 0000 sts (tmpl.27)+2,__zero_reg__ |
2357 1050 1092 0000 sts (tmpl.27)+3,__zero_reg__ |
2358 .L112: |
2359 1054 8091 0000 lds r24,tmpl2.28 |
2360 1058 9091 0000 lds r25,(tmpl2.28)+1 |
2361 105c A091 0000 lds r26,(tmpl2.28)+2 |
2362 1060 B091 0000 lds r27,(tmpl2.28)+3 |
2363 1064 BC01 movw r22,r24 |
2364 1066 CD01 movw r24,r26 |
2365 1068 24E6 ldi r18,lo8(100) |
2366 106a 30E0 ldi r19,hi8(100) |
2367 106c 40E0 ldi r20,hlo8(100) |
2368 106e 50E0 ldi r21,hhi8(100) |
2369 1070 0E94 0000 call __divmodsi4 |
2370 1074 E090 0000 lds r14,tmpl.27 |
2371 1078 F090 0000 lds r15,(tmpl.27)+1 |
2372 107c E21A sub r14,r18 |
2373 107e F30A sbc r15,r19 |
2374 1080 F092 0000 sts (TrimRoll)+1,r15 |
2375 1084 E092 0000 sts TrimRoll,r14 |
2376 1088 8091 0000 lds r24,tmpl.27 |
2377 108c 9091 0000 lds r25,(tmpl.27)+1 |
2378 1090 A091 0000 lds r26,(tmpl.27)+2 |
2379 1094 B091 0000 lds r27,(tmpl.27)+3 |
2380 1098 BC01 movw r22,r24 |
2381 109a CD01 movw r24,r26 |
2382 109c 24E6 ldi r18,lo8(100) |
2383 109e 30E0 ldi r19,hi8(100) |
2384 10a0 40E0 ldi r20,hlo8(100) |
2385 10a2 50E0 ldi r21,hhi8(100) |
2386 10a4 0E94 0000 call __divmodsi4 |
2387 10a8 DA01 movw r26,r20 |
2388 10aa C901 movw r24,r18 |
2389 10ac 2091 0000 lds r18,tmpl2.28 |
2390 10b0 3091 0000 lds r19,(tmpl2.28)+1 |
2391 10b4 8C01 movw r16,r24 |
2392 10b6 021B sub r16,r18 |
2393 10b8 130B sbc r17,r19 |
2394 10ba 1093 0000 sts (TrimNick)+1,r17 |
2395 10be 0093 0000 sts TrimNick,r16 |
2396 10c2 8091 0000 lds r24,GIER_GRAD_FAKTOR |
2397 10c6 9091 0000 lds r25,(GIER_GRAD_FAKTOR)+1 |
2398 10ca A091 0000 lds r26,(GIER_GRAD_FAKTOR)+2 |
2399 10ce B091 0000 lds r27,(GIER_GRAD_FAKTOR)+3 |
2400 10d2 BC01 movw r22,r24 |
2401 10d4 CD01 movw r24,r26 |
2402 10d6 28E6 ldi r18,lo8(360) |
2403 10d8 31E0 ldi r19,hi8(360) |
2404 10da 40E0 ldi r20,hlo8(360) |
2405 10dc 50E0 ldi r21,hhi8(360) |
2406 10de 0E94 0000 call __mulsi3 |
2407 10e2 2091 0000 lds r18,ErsatzKompass |
2408 10e6 3091 0000 lds r19,(ErsatzKompass)+1 |
2409 10ea 4091 0000 lds r20,(ErsatzKompass)+2 |
2410 10ee 5091 0000 lds r21,(ErsatzKompass)+3 |
2411 10f2 2617 cp r18,r22 |
2412 10f4 3707 cpc r19,r23 |
2413 10f6 4807 cpc r20,r24 |
2414 10f8 5907 cpc r21,r25 |
2415 10fa 04F0 brlt .L113 |
2416 10fc 261B sub r18,r22 |
2417 10fe 370B sbc r19,r23 |
2418 1100 480B sbc r20,r24 |
2419 1102 590B sbc r21,r25 |
2420 1104 2093 0000 sts ErsatzKompass,r18 |
2421 1108 3093 0000 sts (ErsatzKompass)+1,r19 |
2422 110c 4093 0000 sts (ErsatzKompass)+2,r20 |
2423 1110 5093 0000 sts (ErsatzKompass)+3,r21 |
2424 .L113: |
2425 1114 2091 0000 lds r18,ErsatzKompass |
2426 1118 3091 0000 lds r19,(ErsatzKompass)+1 |
2427 111c 4091 0000 lds r20,(ErsatzKompass)+2 |
2428 1120 5091 0000 lds r21,(ErsatzKompass)+3 |
2429 1124 57FF sbrs r21,7 |
2430 1126 00C0 rjmp .L114 |
2431 1128 260F add r18,r22 |
2432 112a 371F adc r19,r23 |
2433 112c 481F adc r20,r24 |
2434 112e 591F adc r21,r25 |
2435 1130 2093 0000 sts ErsatzKompass,r18 |
2436 1134 3093 0000 sts (ErsatzKompass)+1,r19 |
2437 1138 4093 0000 sts (ErsatzKompass)+2,r20 |
2438 113c 5093 0000 sts (ErsatzKompass)+3,r21 |
2439 .L114: |
2440 1140 6091 0000 lds r22,MesswertRoll |
2441 1144 7091 0000 lds r23,(MesswertRoll)+1 |
2442 1148 6E0D add r22,r14 |
2443 114a 7F1D adc r23,r15 |
2444 114c 9B01 movw r18,r22 |
2445 114e 4427 clr r20 |
2446 1150 37FD sbrc r19,7 |
2447 1152 4095 com r20 |
2448 1154 542F mov r21,r20 |
2449 1156 8091 0000 lds r24,Mess_IntegralRoll2 |
2450 115a 9091 0000 lds r25,(Mess_IntegralRoll2)+1 |
2451 115e A091 0000 lds r26,(Mess_IntegralRoll2)+2 |
2452 1162 B091 0000 lds r27,(Mess_IntegralRoll2)+3 |
2453 1166 820F add r24,r18 |
2454 1168 931F adc r25,r19 |
2455 116a A41F adc r26,r20 |
2456 116c B51F adc r27,r21 |
2457 116e 8093 0000 sts Mess_IntegralRoll2,r24 |
2458 1172 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
2459 1176 A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
2460 117a B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
2461 117e 8091 0000 lds r24,LageKorrekturRoll |
2462 1182 9091 0000 lds r25,(LageKorrekturRoll)+1 |
2463 1186 681B sub r22,r24 |
2464 1188 790B sbc r23,r25 |
2465 118a CB01 movw r24,r22 |
2466 118c AA27 clr r26 |
2467 118e 97FD sbrc r25,7 |
2468 1190 A095 com r26 |
2469 1192 BA2F mov r27,r26 |
2470 1194 2985 ldd r18,Y+9 |
2471 1196 3A85 ldd r19,Y+10 |
2472 1198 4B85 ldd r20,Y+11 |
2473 119a 5C85 ldd r21,Y+12 |
2474 119c 820F add r24,r18 |
2475 119e 931F adc r25,r19 |
2476 11a0 A41F adc r26,r20 |
2477 11a2 B51F adc r27,r21 |
2478 11a4 8093 0000 sts Mess_IntegralRoll,r24 |
2479 11a8 9093 0000 sts (Mess_IntegralRoll)+1,r25 |
2480 11ac A093 0000 sts (Mess_IntegralRoll)+2,r26 |
2481 11b0 B093 0000 sts (Mess_IntegralRoll)+3,r27 |
2482 11b4 C090 0000 lds r12,Umschlag180Roll |
2483 11b8 D090 0000 lds r13,(Umschlag180Roll)+1 |
2484 11bc E090 0000 lds r14,(Umschlag180Roll)+2 |
2485 11c0 F090 0000 lds r15,(Umschlag180Roll)+3 |
2486 11c4 C816 cp r12,r24 |
2487 11c6 D906 cpc r13,r25 |
2488 11c8 EA06 cpc r14,r26 |
2489 11ca FB06 cpc r15,r27 |
2490 11cc 04F4 brge .L115 |
2491 11ce 88EA ldi r24,lo8(25000) |
2492 11d0 91E6 ldi r25,hi8(25000) |
2493 11d2 A0E0 ldi r26,hlo8(25000) |
2494 11d4 B0E0 ldi r27,hhi8(25000) |
2495 11d6 8C19 sub r24,r12 |
2496 11d8 9D09 sbc r25,r13 |
2497 11da AE09 sbc r26,r14 |
2498 11dc BF09 sbc r27,r15 |
2499 11de 8093 0000 sts Mess_IntegralRoll,r24 |
2500 11e2 9093 0000 sts (Mess_IntegralRoll)+1,r25 |
2501 11e6 A093 0000 sts (Mess_IntegralRoll)+2,r26 |
2502 11ea B093 0000 sts (Mess_IntegralRoll)+3,r27 |
2503 11ee 8093 0000 sts Mess_IntegralRoll2,r24 |
2504 11f2 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
2505 11f6 A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
2506 11fa B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
2507 .L115: |
2508 11fe 2227 clr r18 |
2509 1200 3327 clr r19 |
2510 1202 A901 movw r20,r18 |
2511 1204 2C19 sub r18,r12 |
2512 1206 3D09 sbc r19,r13 |
2513 1208 4E09 sbc r20,r14 |
2514 120a 5F09 sbc r21,r15 |
2515 120c 8091 0000 lds r24,Mess_IntegralRoll |
2516 1210 9091 0000 lds r25,(Mess_IntegralRoll)+1 |
2517 1214 A091 0000 lds r26,(Mess_IntegralRoll)+2 |
2518 1218 B091 0000 lds r27,(Mess_IntegralRoll)+3 |
2519 121c 8217 cp r24,r18 |
2520 121e 9307 cpc r25,r19 |
2521 1220 A407 cpc r26,r20 |
2522 1222 B507 cpc r27,r21 |
2523 1224 04F4 brge .L116 |
2524 1226 D701 movw r26,r14 |
2525 1228 C601 movw r24,r12 |
2526 122a 885A subi r24,lo8(-(-25000)) |
2527 122c 9146 sbci r25,hi8(-(-25000)) |
2528 122e A040 sbci r26,hlo8(-(-25000)) |
2529 1230 B040 sbci r27,hhi8(-(-25000)) |
2530 1232 8093 0000 sts Mess_IntegralRoll,r24 |
2531 1236 9093 0000 sts (Mess_IntegralRoll)+1,r25 |
2532 123a A093 0000 sts (Mess_IntegralRoll)+2,r26 |
2533 123e B093 0000 sts (Mess_IntegralRoll)+3,r27 |
2534 1242 8093 0000 sts Mess_IntegralRoll2,r24 |
2535 1246 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
2536 124a A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
2537 124e B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
2538 .L116: |
2539 1252 6091 0000 lds r22,MesswertNick |
2540 1256 7091 0000 lds r23,(MesswertNick)+1 |
2541 125a 600F add r22,r16 |
2542 125c 711F adc r23,r17 |
2543 125e 9B01 movw r18,r22 |
2544 1260 4427 clr r20 |
2545 1262 37FD sbrc r19,7 |
2546 1264 4095 com r20 |
2547 1266 542F mov r21,r20 |
2548 1268 8091 0000 lds r24,Mess_IntegralNick2 |
2549 126c 9091 0000 lds r25,(Mess_IntegralNick2)+1 |
2550 1270 A091 0000 lds r26,(Mess_IntegralNick2)+2 |
2551 1274 B091 0000 lds r27,(Mess_IntegralNick2)+3 |
2552 1278 820F add r24,r18 |
2553 127a 931F adc r25,r19 |
2554 127c A41F adc r26,r20 |
2555 127e B51F adc r27,r21 |
2556 1280 8093 0000 sts Mess_IntegralNick2,r24 |
2557 1284 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
2558 1288 A093 0000 sts (Mess_IntegralNick2)+2,r26 |
2559 128c B093 0000 sts (Mess_IntegralNick2)+3,r27 |
2560 1290 8091 0000 lds r24,LageKorrekturNick |
2561 1294 9091 0000 lds r25,(LageKorrekturNick)+1 |
2562 1298 681B sub r22,r24 |
2563 129a 790B sbc r23,r25 |
2564 129c CB01 movw r24,r22 |
2565 129e AA27 clr r26 |
2566 12a0 97FD sbrc r25,7 |
2567 12a2 A095 com r26 |
2568 12a4 BA2F mov r27,r26 |
2569 12a6 2D85 ldd r18,Y+13 |
2570 12a8 3E85 ldd r19,Y+14 |
2571 12aa 4F85 ldd r20,Y+15 |
2572 12ac 5889 ldd r21,Y+16 |
2573 12ae 820F add r24,r18 |
2574 12b0 931F adc r25,r19 |
2575 12b2 A41F adc r26,r20 |
2576 12b4 B51F adc r27,r21 |
2577 12b6 8093 0000 sts Mess_IntegralNick,r24 |
2578 12ba 9093 0000 sts (Mess_IntegralNick)+1,r25 |
2579 12be A093 0000 sts (Mess_IntegralNick)+2,r26 |
2580 12c2 B093 0000 sts (Mess_IntegralNick)+3,r27 |
2581 12c6 E090 0000 lds r14,Umschlag180Nick |
2582 12ca F090 0000 lds r15,(Umschlag180Nick)+1 |
2583 12ce 0091 0000 lds r16,(Umschlag180Nick)+2 |
2584 12d2 1091 0000 lds r17,(Umschlag180Nick)+3 |
2585 12d6 E816 cp r14,r24 |
2586 12d8 F906 cpc r15,r25 |
2587 12da 0A07 cpc r16,r26 |
2588 12dc 1B07 cpc r17,r27 |
2589 12de 04F4 brge .L117 |
2590 12e0 88EA ldi r24,lo8(25000) |
2591 12e2 91E6 ldi r25,hi8(25000) |
2592 12e4 A0E0 ldi r26,hlo8(25000) |
2593 12e6 B0E0 ldi r27,hhi8(25000) |
2594 12e8 8E19 sub r24,r14 |
2595 12ea 9F09 sbc r25,r15 |
2596 12ec A00B sbc r26,r16 |
2597 12ee B10B sbc r27,r17 |
2598 12f0 8093 0000 sts Mess_IntegralNick,r24 |
2599 12f4 9093 0000 sts (Mess_IntegralNick)+1,r25 |
2600 12f8 A093 0000 sts (Mess_IntegralNick)+2,r26 |
2601 12fc B093 0000 sts (Mess_IntegralNick)+3,r27 |
2602 1300 8093 0000 sts Mess_IntegralNick2,r24 |
2603 1304 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
2604 1308 A093 0000 sts (Mess_IntegralNick2)+2,r26 |
2605 130c B093 0000 sts (Mess_IntegralNick2)+3,r27 |
2606 .L117: |
2607 1310 2227 clr r18 |
2608 1312 3327 clr r19 |
2609 1314 A901 movw r20,r18 |
2610 1316 2E19 sub r18,r14 |
2611 1318 3F09 sbc r19,r15 |
2612 131a 400B sbc r20,r16 |
2613 131c 510B sbc r21,r17 |
2614 131e 8091 0000 lds r24,Mess_IntegralNick |
2615 1322 9091 0000 lds r25,(Mess_IntegralNick)+1 |
2616 1326 A091 0000 lds r26,(Mess_IntegralNick)+2 |
2617 132a B091 0000 lds r27,(Mess_IntegralNick)+3 |
2618 132e 8217 cp r24,r18 |
2619 1330 9307 cpc r25,r19 |
2620 1332 A407 cpc r26,r20 |
2621 1334 B507 cpc r27,r21 |
2622 1336 04F4 brge .L118 |
2623 1338 D801 movw r26,r16 |
2624 133a C701 movw r24,r14 |
2625 133c 885A subi r24,lo8(-(-25000)) |
2626 133e 9146 sbci r25,hi8(-(-25000)) |
2627 1340 A040 sbci r26,hlo8(-(-25000)) |
2628 1342 B040 sbci r27,hhi8(-(-25000)) |
2629 1344 8093 0000 sts Mess_IntegralNick,r24 |
2630 1348 9093 0000 sts (Mess_IntegralNick)+1,r25 |
2631 134c A093 0000 sts (Mess_IntegralNick)+2,r26 |
2632 1350 B093 0000 sts (Mess_IntegralNick)+3,r27 |
2633 1354 8093 0000 sts Mess_IntegralNick2,r24 |
2634 1358 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
2635 135c A093 0000 sts (Mess_IntegralNick2)+2,r26 |
2636 1360 B093 0000 sts (Mess_IntegralNick2)+3,r27 |
2637 .L118: |
2638 1364 8091 0000 lds r24,Mess_Integral_Gier |
2639 1368 9091 0000 lds r25,(Mess_Integral_Gier)+1 |
2640 136c A091 0000 lds r26,(Mess_Integral_Gier)+2 |
2641 1370 B091 0000 lds r27,(Mess_Integral_Gier)+3 |
2642 1374 8093 0000 sts Integral_Gier,r24 |
2643 1378 9093 0000 sts (Integral_Gier)+1,r25 |
2644 137c A093 0000 sts (Integral_Gier)+2,r26 |
2645 1380 B093 0000 sts (Integral_Gier)+3,r27 |
2646 1384 8091 0000 lds r24,Mess_IntegralNick |
2647 1388 9091 0000 lds r25,(Mess_IntegralNick)+1 |
2648 138c A091 0000 lds r26,(Mess_IntegralNick)+2 |
2649 1390 B091 0000 lds r27,(Mess_IntegralNick)+3 |
2650 1394 8093 0000 sts IntegralNick,r24 |
2651 1398 9093 0000 sts (IntegralNick)+1,r25 |
2652 139c A093 0000 sts (IntegralNick)+2,r26 |
2653 13a0 B093 0000 sts (IntegralNick)+3,r27 |
2654 13a4 8091 0000 lds r24,Mess_IntegralRoll |
2655 13a8 9091 0000 lds r25,(Mess_IntegralRoll)+1 |
2656 13ac A091 0000 lds r26,(Mess_IntegralRoll)+2 |
2657 13b0 B091 0000 lds r27,(Mess_IntegralRoll)+3 |
2658 13b4 8093 0000 sts IntegralRoll,r24 |
2659 13b8 9093 0000 sts (IntegralRoll)+1,r25 |
2660 13bc A093 0000 sts (IntegralRoll)+2,r26 |
2661 13c0 B093 0000 sts (IntegralRoll)+3,r27 |
2662 13c4 8091 0000 lds r24,Mess_IntegralNick2 |
2663 13c8 9091 0000 lds r25,(Mess_IntegralNick2)+1 |
2664 13cc A091 0000 lds r26,(Mess_IntegralNick2)+2 |
2665 13d0 B091 0000 lds r27,(Mess_IntegralNick2)+3 |
2666 13d4 8093 0000 sts IntegralNick2,r24 |
2667 13d8 9093 0000 sts (IntegralNick2)+1,r25 |
2668 13dc A093 0000 sts (IntegralNick2)+2,r26 |
2669 13e0 B093 0000 sts (IntegralNick2)+3,r27 |
2670 13e4 8091 0000 lds r24,Mess_IntegralRoll2 |
2671 13e8 9091 0000 lds r25,(Mess_IntegralRoll2)+1 |
2672 13ec A091 0000 lds r26,(Mess_IntegralRoll2)+2 |
2673 13f0 B091 0000 lds r27,(Mess_IntegralRoll2)+3 |
2674 13f4 8093 0000 sts IntegralRoll2,r24 |
2675 13f8 9093 0000 sts (IntegralRoll2)+1,r25 |
2676 13fc A093 0000 sts (IntegralRoll2)+2,r26 |
2677 1400 B093 0000 sts (IntegralRoll2)+3,r27 |
2678 1404 8091 0000 lds r24,HiResNick |
2679 1408 9091 0000 lds r25,(HiResNick)+1 |
2680 140c 97FD sbrc r25,7 |
2681 140e 0796 adiw r24,7 |
2682 .L119: |
2683 1410 03E0 ldi r16,3 |
2684 1412 9595 1: asr r25 |
2685 1414 8795 ror r24 |
2686 1416 0A95 dec r16 |
2687 1418 01F4 brne 1b |
2688 141a 9093 0000 sts (MesswertNick)+1,r25 |
2689 141e 8093 0000 sts MesswertNick,r24 |
2690 1422 8091 0000 lds r24,HiResRoll |
2691 1426 9091 0000 lds r25,(HiResRoll)+1 |
2692 142a 97FD sbrc r25,7 |
2693 142c 0796 adiw r24,7 |
2694 .L120: |
2695 142e 13E0 ldi r17,3 |
2696 1430 9595 1: asr r25 |
2697 1432 8795 ror r24 |
2698 1434 1A95 dec r17 |
2699 1436 01F4 brne 1b |
2700 1438 9093 0000 sts (MesswertRoll)+1,r25 |
2701 143c 8093 0000 sts MesswertRoll,r24 |
2702 1440 8091 0000 lds r24,AdWertNick |
2703 1444 9091 0000 lds r25,(AdWertNick)+1 |
2704 1448 0F97 sbiw r24,15 |
2705 144a 04F4 brge .L121 |
2706 144c 88E1 ldi r24,lo8(-1000) |
2707 144e 9CEF ldi r25,hi8(-1000) |
2708 1450 9093 0000 sts (MesswertNick)+1,r25 |
2709 1454 8093 0000 sts MesswertNick,r24 |
2710 .L121: |
2711 1458 8091 0000 lds r24,AdWertNick |
2712 145c 9091 0000 lds r25,(AdWertNick)+1 |
2713 1460 0797 sbiw r24,7 |
2714 1462 04F4 brge .L122 |
2715 1464 80E3 ldi r24,lo8(-2000) |
2716 1466 98EF ldi r25,hi8(-2000) |
2717 1468 9093 0000 sts (MesswertNick)+1,r25 |
2718 146c 8093 0000 sts MesswertNick,r24 |
2719 .L122: |
2720 1470 2091 0000 lds r18,PlatinenVersion |
2721 1474 2A30 cpi r18,lo8(10) |
2722 1476 01F4 brne .L123 |
2723 1478 8091 0000 lds r24,AdWertNick |
2724 147c 9091 0000 lds r25,(AdWertNick)+1 |
2725 1480 835F subi r24,lo8(1011) |
2726 1482 9340 sbci r25,hi8(1011) |
2727 1484 04F0 brlt .L124 |
2728 1486 88EE ldi r24,lo8(1000) |
2729 1488 93E0 ldi r25,hi8(1000) |
2730 148a 9093 0000 sts (MesswertNick)+1,r25 |
2731 148e 8093 0000 sts MesswertNick,r24 |
2732 .L124: |
2733 1492 8091 0000 lds r24,AdWertNick |
2734 1496 9091 0000 lds r25,(AdWertNick)+1 |
2735 149a 8A5F subi r24,lo8(1018) |
2736 149c 9340 sbci r25,hi8(1018) |
2737 149e 04F0 brlt .L126 |
2738 14a0 00C0 rjmp .L169 |
2739 .L123: |
2740 14a2 8091 0000 lds r24,AdWertNick |
2741 14a6 9091 0000 lds r25,(AdWertNick)+1 |
2742 14aa 815D subi r24,lo8(2001) |
2743 14ac 9740 sbci r25,hi8(2001) |
2744 14ae 04F0 brlt .L127 |
2745 14b0 88EE ldi r24,lo8(1000) |
2746 14b2 93E0 ldi r25,hi8(1000) |
2747 14b4 9093 0000 sts (MesswertNick)+1,r25 |
2748 14b8 8093 0000 sts MesswertNick,r24 |
2749 .L127: |
2750 14bc 8091 0000 lds r24,AdWertNick |
2751 14c0 9091 0000 lds r25,(AdWertNick)+1 |
2752 14c4 805E subi r24,lo8(2016) |
2753 14c6 9740 sbci r25,hi8(2016) |
2754 14c8 04F0 brlt .L126 |
2755 .L169: |
2756 14ca 80ED ldi r24,lo8(2000) |
2757 14cc 97E0 ldi r25,hi8(2000) |
2758 14ce 9093 0000 sts (MesswertNick)+1,r25 |
2759 14d2 8093 0000 sts MesswertNick,r24 |
2760 .L126: |
2761 14d6 8091 0000 lds r24,AdWertRoll |
2762 14da 9091 0000 lds r25,(AdWertRoll)+1 |
2763 14de 0F97 sbiw r24,15 |
2764 14e0 04F4 brge .L129 |
2765 14e2 88E1 ldi r24,lo8(-1000) |
2766 14e4 9CEF ldi r25,hi8(-1000) |
2767 14e6 9093 0000 sts (MesswertRoll)+1,r25 |
2768 14ea 8093 0000 sts MesswertRoll,r24 |
2769 .L129: |
2770 14ee 8091 0000 lds r24,AdWertRoll |
2771 14f2 9091 0000 lds r25,(AdWertRoll)+1 |
2772 14f6 0797 sbiw r24,7 |
2773 14f8 04F4 brge .L130 |
2774 14fa 80E3 ldi r24,lo8(-2000) |
2775 14fc 98EF ldi r25,hi8(-2000) |
2776 14fe 9093 0000 sts (MesswertRoll)+1,r25 |
2777 1502 8093 0000 sts MesswertRoll,r24 |
2778 .L130: |
2779 1506 2A30 cpi r18,lo8(10) |
2780 1508 01F4 brne .L131 |
2781 150a 8091 0000 lds r24,AdWertRoll |
2782 150e 9091 0000 lds r25,(AdWertRoll)+1 |
2783 1512 835F subi r24,lo8(1011) |
2784 1514 9340 sbci r25,hi8(1011) |
2785 1516 04F0 brlt .L132 |
2786 1518 88EE ldi r24,lo8(1000) |
2787 151a 93E0 ldi r25,hi8(1000) |
2788 151c 9093 0000 sts (MesswertRoll)+1,r25 |
2789 1520 8093 0000 sts MesswertRoll,r24 |
2790 .L132: |
2791 1524 8091 0000 lds r24,AdWertRoll |
2792 1528 9091 0000 lds r25,(AdWertRoll)+1 |
2793 152c 8A5F subi r24,lo8(1018) |
2794 152e 9340 sbci r25,hi8(1018) |
2795 1530 04F0 brlt .L134 |
2796 1532 00C0 rjmp .L170 |
2797 .L131: |
2798 1534 8091 0000 lds r24,AdWertRoll |
2799 1538 9091 0000 lds r25,(AdWertRoll)+1 |
2800 153c 815D subi r24,lo8(2001) |
2801 153e 9740 sbci r25,hi8(2001) |
2802 1540 04F0 brlt .L135 |
2803 1542 88EE ldi r24,lo8(1000) |
2804 1544 93E0 ldi r25,hi8(1000) |
2805 1546 9093 0000 sts (MesswertRoll)+1,r25 |
2806 154a 8093 0000 sts MesswertRoll,r24 |
2807 .L135: |
2808 154e 8091 0000 lds r24,AdWertRoll |
2809 1552 9091 0000 lds r25,(AdWertRoll)+1 |
2810 1556 805E subi r24,lo8(2016) |
2811 1558 9740 sbci r25,hi8(2016) |
2812 155a 04F0 brlt .L134 |
2813 .L170: |
2814 155c 80ED ldi r24,lo8(2000) |
2815 155e 97E0 ldi r25,hi8(2000) |
2816 1560 9093 0000 sts (MesswertRoll)+1,r25 |
2817 1564 8093 0000 sts MesswertRoll,r24 |
2818 .L134: |
2819 1568 6091 0000 lds r22,Parameter_Gyro_D |
2820 156c 6623 tst r22 |
2821 156e 01F4 brne .+2 |
2822 1570 00C0 rjmp .L137 |
2823 1572 4091 0000 lds r20,HiResNick |
2824 1576 5091 0000 lds r21,(HiResNick)+1 |
2825 157a 8091 0000 lds r24,oldNick.31 |
2826 157e 9091 0000 lds r25,(oldNick.31)+1 |
2827 1582 481B sub r20,r24 |
2828 1584 590B sbc r21,r25 |
2829 1586 5093 0000 sts (d2Nick.34)+1,r21 |
2830 158a 4093 0000 sts d2Nick.34,r20 |
2831 158e 2091 0000 lds r18,HiResNick |
2832 1592 3091 0000 lds r19,(HiResNick)+1 |
2833 1596 280F add r18,r24 |
2834 1598 391F adc r19,r25 |
2835 159a 37FF sbrs r19,7 |
2836 159c 00C0 rjmp .L138 |
2837 159e 2F5F subi r18,lo8(-(1)) |
2838 15a0 3F4F sbci r19,hi8(-(1)) |
2839 .L138: |
2840 15a2 3595 asr r19 |
2841 15a4 2795 ror r18 |
2842 15a6 3093 0000 sts (oldNick.31)+1,r19 |
2843 15aa 2093 0000 sts oldNick.31,r18 |
2844 15ae 4138 cpi r20,129 |
2845 15b0 5105 cpc r21,__zero_reg__ |
2846 15b2 04F0 brlt .L139 |
2847 15b4 80E8 ldi r24,lo8(128) |
2848 15b6 90E0 ldi r25,hi8(128) |
2849 15b8 00C0 rjmp .L171 |
2850 .L139: |
2851 15ba 4058 subi r20,lo8(-128) |
2852 15bc 5F4F sbci r21,hi8(-128) |
2853 15be 04F4 brge .L140 |
2854 15c0 80E8 ldi r24,lo8(-128) |
2855 15c2 9FEF ldi r25,hi8(-128) |
2856 .L171: |
2857 15c4 9093 0000 sts (d2Nick.34)+1,r25 |
2858 15c8 8093 0000 sts d2Nick.34,r24 |
2859 .L140: |
2860 15cc 4091 0000 lds r20,HiResRoll |
2861 15d0 5091 0000 lds r21,(HiResRoll)+1 |
2862 15d4 8091 0000 lds r24,oldRoll.32 |
2863 15d8 9091 0000 lds r25,(oldRoll.32)+1 |
2864 15dc 481B sub r20,r24 |
2865 15de 590B sbc r21,r25 |
2866 15e0 5093 0000 sts (d2Roll.33)+1,r21 |
2867 15e4 4093 0000 sts d2Roll.33,r20 |
2868 15e8 2091 0000 lds r18,HiResRoll |
2869 15ec 3091 0000 lds r19,(HiResRoll)+1 |
2870 15f0 280F add r18,r24 |
2871 15f2 391F adc r19,r25 |
2872 15f4 37FF sbrs r19,7 |
2873 15f6 00C0 rjmp .L142 |
2874 15f8 2F5F subi r18,lo8(-(1)) |
2875 15fa 3F4F sbci r19,hi8(-(1)) |
2876 .L142: |
2877 15fc 3595 asr r19 |
2878 15fe 2795 ror r18 |
2879 1600 3093 0000 sts (oldRoll.32)+1,r19 |
2880 1604 2093 0000 sts oldRoll.32,r18 |
2881 1608 4138 cpi r20,129 |
2882 160a 5105 cpc r21,__zero_reg__ |
2883 160c 04F0 brlt .L143 |
2884 160e 80E8 ldi r24,lo8(128) |
2885 1610 90E0 ldi r25,hi8(128) |
2886 1612 00C0 rjmp .L172 |
2887 .L143: |
2888 1614 4058 subi r20,lo8(-128) |
2889 1616 5F4F sbci r21,hi8(-128) |
2890 1618 04F4 brge .L144 |
2891 161a 80E8 ldi r24,lo8(-128) |
2892 161c 9FEF ldi r25,hi8(-128) |
2893 .L172: |
2894 161e 9093 0000 sts (d2Roll.33)+1,r25 |
2895 1622 8093 0000 sts d2Roll.33,r24 |
2896 .L144: |
2897 1626 462F mov r20,r22 |
2898 1628 5527 clr r21 |
2899 162a 8091 0000 lds r24,d2Nick.34 |
2900 162e 9091 0000 lds r25,(d2Nick.34)+1 |
2901 1632 849F mul r24,r20 |
2902 1634 B001 movw r22,r0 |
2903 1636 859F mul r24,r21 |
2904 1638 700D add r23,r0 |
2905 163a 949F mul r25,r20 |
2906 163c 700D add r23,r0 |
2907 163e 1124 clr r1 |
2908 1640 9B01 movw r18,r22 |
2909 1642 77FF sbrs r23,7 |
2910 1644 00C0 rjmp .L146 |
2911 1646 215F subi r18,lo8(-(15)) |
2912 1648 3F4F sbci r19,hi8(-(15)) |
2913 .L146: |
2914 164a F4E0 ldi r31,4 |
2915 164c 3595 1: asr r19 |
2916 164e 2795 ror r18 |
2917 1650 FA95 dec r31 |
2918 1652 01F4 brne 1b |
2919 1654 8091 0000 lds r24,MesswertNick |
2920 1658 9091 0000 lds r25,(MesswertNick)+1 |
2921 165c 820F add r24,r18 |
2922 165e 931F adc r25,r19 |
2923 1660 9093 0000 sts (MesswertNick)+1,r25 |
2924 1664 8093 0000 sts MesswertNick,r24 |
2925 1668 8091 0000 lds r24,d2Roll.33 |
2926 166c 9091 0000 lds r25,(d2Roll.33)+1 |
2927 1670 849F mul r24,r20 |
2928 1672 D001 movw r26,r0 |
2929 1674 859F mul r24,r21 |
2930 1676 B00D add r27,r0 |
2931 1678 949F mul r25,r20 |
2932 167a B00D add r27,r0 |
2933 167c 1124 clr r1 |
2934 167e AD01 movw r20,r26 |
2935 1680 9D01 movw r18,r26 |
2936 1682 B7FF sbrs r27,7 |
2937 1684 00C0 rjmp .L147 |
2938 1686 215F subi r18,lo8(-(15)) |
2939 1688 3F4F sbci r19,hi8(-(15)) |
2940 .L147: |
2941 168a E4E0 ldi r30,4 |
2942 168c 3595 1: asr r19 |
2943 168e 2795 ror r18 |
2944 1690 EA95 dec r30 |
2945 1692 01F4 brne 1b |
2946 1694 8091 0000 lds r24,MesswertRoll |
2947 1698 9091 0000 lds r25,(MesswertRoll)+1 |
2948 169c 820F add r24,r18 |
2949 169e 931F adc r25,r19 |
2950 16a0 9093 0000 sts (MesswertRoll)+1,r25 |
2951 16a4 8093 0000 sts MesswertRoll,r24 |
2952 16a8 8091 0000 lds r24,HiResNick |
2953 16ac 9091 0000 lds r25,(HiResNick)+1 |
2954 16b0 860F add r24,r22 |
2955 16b2 971F adc r25,r23 |
2956 16b4 9093 0000 sts (HiResNick)+1,r25 |
2957 16b8 8093 0000 sts HiResNick,r24 |
2958 16bc 8091 0000 lds r24,HiResRoll |
2959 16c0 9091 0000 lds r25,(HiResRoll)+1 |
2960 16c4 840F add r24,r20 |
2961 16c6 951F adc r25,r21 |
2962 16c8 9093 0000 sts (HiResRoll)+1,r25 |
2963 16cc 8093 0000 sts HiResRoll,r24 |
2964 .L137: |
2965 16d0 0091 0000 lds r16,RohMesswertRoll |
2966 16d4 1091 0000 lds r17,(RohMesswertRoll)+1 |
2967 16d8 8091 0000 lds r24,KopplungsteilNickRoll |
2968 16dc 9091 0000 lds r25,(KopplungsteilNickRoll)+1 |
2969 16e0 1016 cp __zero_reg__,r16 |
2970 16e2 1106 cpc __zero_reg__,r17 |
2971 16e4 04F4 brge .L148 |
2972 16e6 9C01 movw r18,r24 |
2973 16e8 97FF sbrs r25,7 |
2974 16ea 00C0 rjmp .L149 |
2975 16ec 2227 clr r18 |
2976 16ee 3327 clr r19 |
2977 16f0 281B sub r18,r24 |
2978 16f2 390B sbc r19,r25 |
2979 .L149: |
2980 16f4 C901 movw r24,r18 |
2981 16f6 AA27 clr r26 |
2982 16f8 97FD sbrc r25,7 |
2983 16fa A095 com r26 |
2984 16fc BA2F mov r27,r26 |
2985 16fe 2091 0000 lds r18,Parameter_CouplingYawCorrection |
2986 1702 3327 clr r19 |
2987 1704 4427 clr r20 |
2988 1706 5527 clr r21 |
2989 1708 BC01 movw r22,r24 |
2990 170a CD01 movw r24,r26 |
2991 170c 0E94 0000 call __mulsi3 |
2992 1710 9B01 movw r18,r22 |
2993 1712 AC01 movw r20,r24 |
2994 1714 97FF sbrs r25,7 |
2995 1716 00C0 rjmp .L150 |
2996 1718 215C subi r18,lo8(-(63)) |
2997 171a 3F4F sbci r19,hi8(-(63)) |
2998 171c 4F4F sbci r20,hlo8(-(63)) |
2999 171e 5F4F sbci r21,hhi8(-(63)) |
3000 .L150: |
3001 1720 76E0 ldi r23,6 |
3002 1722 5595 1: asr r21 |
3003 1724 4795 ror r20 |
3004 1726 3795 ror r19 |
3005 1728 2795 ror r18 |
3006 172a 7A95 dec r23 |
3007 172c 01F4 brne 1b |
3008 172e 8091 0000 lds r24,TrimRoll |
3009 1732 9091 0000 lds r25,(TrimRoll)+1 |
3010 1736 820F add r24,r18 |
3011 1738 931F adc r25,r19 |
3012 173a 00C0 rjmp .L173 |
3013 .L148: |
3014 173c 97FF sbrs r25,7 |
3015 173e 00C0 rjmp .L152 |
3016 1740 9095 com r25 |
3017 1742 8195 neg r24 |
3018 1744 9F4F sbci r25,lo8(-1) |
3019 .L152: |
3020 1746 AA27 clr r26 |
3021 1748 97FD sbrc r25,7 |
3022 174a A095 com r26 |
3023 174c BA2F mov r27,r26 |
3024 174e 2091 0000 lds r18,Parameter_CouplingYawCorrection |
3025 1752 3327 clr r19 |
3026 1754 4427 clr r20 |
3027 1756 5527 clr r21 |
3028 1758 BC01 movw r22,r24 |
3029 175a CD01 movw r24,r26 |
3030 175c 0E94 0000 call __mulsi3 |
3031 1760 9B01 movw r18,r22 |
3032 1762 AC01 movw r20,r24 |
3033 1764 97FF sbrs r25,7 |
3034 1766 00C0 rjmp .L153 |
3035 1768 215C subi r18,lo8(-(63)) |
3036 176a 3F4F sbci r19,hi8(-(63)) |
3037 176c 4F4F sbci r20,hlo8(-(63)) |
3038 176e 5F4F sbci r21,hhi8(-(63)) |
3039 .L153: |
3040 1770 66E0 ldi r22,6 |
3041 1772 5595 1: asr r21 |
3042 1774 4795 ror r20 |
3043 1776 3795 ror r19 |
3044 1778 2795 ror r18 |
3045 177a 6A95 dec r22 |
3046 177c 01F4 brne 1b |
3047 177e 8091 0000 lds r24,TrimRoll |
3048 1782 9091 0000 lds r25,(TrimRoll)+1 |
3049 1786 821B sub r24,r18 |
3050 1788 930B sbc r25,r19 |
3051 .L173: |
3052 178a 9093 0000 sts (TrimRoll)+1,r25 |
3053 178e 8093 0000 sts TrimRoll,r24 |
3054 1792 E090 0000 lds r14,RohMesswertNick |
3055 1796 F090 0000 lds r15,(RohMesswertNick)+1 |
3056 179a 8091 0000 lds r24,KopplungsteilRollNick |
3057 179e 9091 0000 lds r25,(KopplungsteilRollNick)+1 |
3058 17a2 1E14 cp __zero_reg__,r14 |
3059 17a4 1F04 cpc __zero_reg__,r15 |
3060 17a6 04F4 brge .L154 |
3061 17a8 9C01 movw r18,r24 |
3062 17aa 97FF sbrs r25,7 |
3063 17ac 00C0 rjmp .L155 |
3064 17ae 2227 clr r18 |
3065 17b0 3327 clr r19 |
3066 17b2 281B sub r18,r24 |
3067 17b4 390B sbc r19,r25 |
3068 .L155: |
3069 17b6 C901 movw r24,r18 |
3070 17b8 AA27 clr r26 |
3071 17ba 97FD sbrc r25,7 |
3072 17bc A095 com r26 |
3073 17be BA2F mov r27,r26 |
3074 17c0 2091 0000 lds r18,Parameter_CouplingYawCorrection |
3075 17c4 3327 clr r19 |
3076 17c6 4427 clr r20 |
3077 17c8 5527 clr r21 |
3078 17ca BC01 movw r22,r24 |
3079 17cc CD01 movw r24,r26 |
3080 17ce 0E94 0000 call __mulsi3 |
3081 17d2 9B01 movw r18,r22 |
3082 17d4 AC01 movw r20,r24 |
3083 17d6 97FF sbrs r25,7 |
3084 17d8 00C0 rjmp .L156 |
3085 17da 215C subi r18,lo8(-(63)) |
3086 17dc 3F4F sbci r19,hi8(-(63)) |
3087 17de 4F4F sbci r20,hlo8(-(63)) |
3088 17e0 5F4F sbci r21,hhi8(-(63)) |
3089 .L156: |
3090 17e2 96E0 ldi r25,6 |
3091 17e4 5595 1: asr r21 |
3092 17e6 4795 ror r20 |
3093 17e8 3795 ror r19 |
3094 17ea 2795 ror r18 |
3095 17ec 9A95 dec r25 |
3096 17ee 01F4 brne 1b |
3097 17f0 8091 0000 lds r24,TrimNick |
3098 17f4 9091 0000 lds r25,(TrimNick)+1 |
3099 17f8 820F add r24,r18 |
3100 17fa 931F adc r25,r19 |
3101 17fc 00C0 rjmp .L174 |
3102 .L154: |
3103 17fe 97FF sbrs r25,7 |
3104 1800 00C0 rjmp .L158 |
3105 1802 9095 com r25 |
3106 1804 8195 neg r24 |
3107 1806 9F4F sbci r25,lo8(-1) |
3108 .L158: |
3109 1808 AA27 clr r26 |
3110 180a 97FD sbrc r25,7 |
3111 180c A095 com r26 |
3112 180e BA2F mov r27,r26 |
3113 1810 2091 0000 lds r18,Parameter_CouplingYawCorrection |
3114 1814 3327 clr r19 |
3115 1816 4427 clr r20 |
3116 1818 5527 clr r21 |
3117 181a BC01 movw r22,r24 |
3118 181c CD01 movw r24,r26 |
3119 181e 0E94 0000 call __mulsi3 |
3120 1822 9B01 movw r18,r22 |
3121 1824 AC01 movw r20,r24 |
3122 1826 97FF sbrs r25,7 |
3123 1828 00C0 rjmp .L159 |
3124 182a 215C subi r18,lo8(-(63)) |
3125 182c 3F4F sbci r19,hi8(-(63)) |
3126 182e 4F4F sbci r20,hlo8(-(63)) |
3127 1830 5F4F sbci r21,hhi8(-(63)) |
3128 .L159: |
3129 1832 86E0 ldi r24,6 |
3130 1834 5595 1: asr r21 |
3131 1836 4795 ror r20 |
3132 1838 3795 ror r19 |
3133 183a 2795 ror r18 |
3134 183c 8A95 dec r24 |
3135 183e 01F4 brne 1b |
3136 1840 8091 0000 lds r24,TrimNick |
3137 1844 9091 0000 lds r25,(TrimNick)+1 |
3138 1848 821B sub r24,r18 |
3139 184a 930B sbc r25,r19 |
3140 .L174: |
3141 184c 9093 0000 sts (TrimNick)+1,r25 |
3142 1850 8093 0000 sts TrimNick,r24 |
3143 1854 8091 0000 lds r24,Parameter_GlobalConfig |
3144 1858 87FF sbrs r24,7 |
3145 185a 00C0 rjmp .L82 |
3146 185c B989 ldd r27,Y+17 |
3147 185e BB23 tst r27 |
3148 1860 01F0 breq .+2 |
3149 1862 00C0 rjmp .L82 |
3150 1864 8091 0000 lds r24,Looping_Roll |
3151 1868 8823 tst r24 |
3152 186a 01F4 brne .L82 |
3153 186c E1E0 ldi r30,lo8(257) |
3154 186e EE16 cp r14,r30 |
3155 1870 E1E0 ldi r30,hi8(257) |
3156 1872 FE06 cpc r15,r30 |
3157 1874 04F0 brlt .L161 |
3158 1876 8091 0000 lds r24,MesswertNick |
3159 187a 9091 0000 lds r25,(MesswertNick)+1 |
3160 187e 8E0D add r24,r14 |
3161 1880 9F1D adc r25,r15 |
3162 1882 8050 subi r24,lo8(-(-256)) |
3163 1884 9140 sbci r25,hi8(-(-256)) |
3164 1886 00C0 rjmp .L175 |
3165 .L161: |
3166 1888 F0E0 ldi r31,lo8(-256) |
3167 188a EF16 cp r14,r31 |
3168 188c FFEF ldi r31,hi8(-256) |
3169 188e FF06 cpc r15,r31 |
3170 1890 04F4 brge .L162 |
3171 1892 8091 0000 lds r24,MesswertNick |
3172 1896 9091 0000 lds r25,(MesswertNick)+1 |
3173 189a 8E0D add r24,r14 |
3174 189c 9F1D adc r25,r15 |
3175 189e 8050 subi r24,lo8(-(256)) |
3176 18a0 9F4F sbci r25,hi8(-(256)) |
3177 .L175: |
3178 18a2 9093 0000 sts (MesswertNick)+1,r25 |
3179 18a6 8093 0000 sts MesswertNick,r24 |
3180 .L162: |
3181 18aa 21E0 ldi r18,hi8(257) |
3182 18ac 0130 cpi r16,lo8(257) |
3183 18ae 1207 cpc r17,r18 |
3184 18b0 04F0 brlt .L164 |
3185 18b2 8091 0000 lds r24,MesswertRoll |
3186 18b6 9091 0000 lds r25,(MesswertRoll)+1 |
3187 18ba 800F add r24,r16 |
3188 18bc 911F adc r25,r17 |
3189 18be 8050 subi r24,lo8(-(-256)) |
3190 18c0 9140 sbci r25,hi8(-(-256)) |
3191 18c2 00C0 rjmp .L176 |
3192 .L164: |
3193 18c4 3FEF ldi r19,hi8(-256) |
3194 18c6 0030 cpi r16,lo8(-256) |
3195 18c8 1307 cpc r17,r19 |
3196 18ca 04F4 brge .L82 |
3197 18cc 8091 0000 lds r24,MesswertRoll |
3198 18d0 9091 0000 lds r25,(MesswertRoll)+1 |
3199 18d4 800F add r24,r16 |
3200 18d6 911F adc r25,r17 |
3201 18d8 8050 subi r24,lo8(-(256)) |
3202 18da 9F4F sbci r25,hi8(-(256)) |
3203 .L176: |
3204 18dc 9093 0000 sts (MesswertRoll)+1,r25 |
3205 18e0 8093 0000 sts MesswertRoll,r24 |
3206 .L82: |
3207 /* epilogue: frame size=19 */ |
3208 18e4 E2E1 ldi r30,18 |
3209 18e6 CD5E subi r28,-19 |
3210 18e8 0C94 0000 jmp __epilogue_restores__+0 |
3211 /* epilogue end (size=4) */ |
3212 /* function Mittelwert size 2000 (1990) */ |
3214 .global SendMotorData |
3216 SendMotorData: |
3217 /* prologue: frame size=0 */ |
3218 /* prologue end (size=0) */ |
3219 18ec 8091 0000 lds r24,MotorenEin |
3220 18f0 8823 tst r24 |
3221 18f2 01F4 brne .L178 |
3222 18f4 8091 0000 lds r24,FC_StatusFlags |
3223 18f8 8C7F andi r24,lo8(-4) |
3224 18fa 8093 0000 sts FC_StatusFlags,r24 |
3225 18fe A0E0 ldi r26,lo8(MotorTest) |
3226 1900 B0E0 ldi r27,hi8(MotorTest) |
3227 1902 E0E0 ldi r30,lo8(Motor) |
3228 1904 F0E0 ldi r31,hi8(Motor) |
3229 1906 9BE0 ldi r25,lo8(11) |
3230 .L183: |
3231 1908 8091 0000 lds r24,PC_MotortestActive |
3232 190c 8823 tst r24 |
3233 190e 01F4 brne .L182 |
3234 1910 8C93 st X,r24 |
3235 .L182: |
3236 1912 8D91 ld r24,X+ |
3237 1914 8183 std Z+1,r24 |
3238 1916 1282 std Z+2,__zero_reg__ |
3239 1918 9150 subi r25,lo8(-(-1)) |
3240 191a 3896 adiw r30,8 |
3241 191c 97FF sbrs r25,7 |
3242 191e 00C0 rjmp .L183 |
3243 1920 8091 0000 lds r24,PC_MotortestActive |
3244 1924 8823 tst r24 |
3245 1926 01F0 breq .L185 |
3246 1928 8091 0000 lds r24,PC_MotortestActive |
3247 192c 8150 subi r24,lo8(-(-1)) |
3248 192e 8093 0000 sts PC_MotortestActive,r24 |
3249 1932 00C0 rjmp .L185 |
3250 .L178: |
3251 1934 8091 0000 lds r24,FC_StatusFlags |
3252 1938 8160 ori r24,lo8(1) |
3253 193a 8093 0000 sts FC_StatusFlags,r24 |
3254 .L185: |
3255 193e 8091 0000 lds r24,I2C_TransferActive |
3256 1942 8823 tst r24 |
3257 1944 01F0 breq .L186 |
3258 1946 1092 0000 sts I2C_TransferActive,__zero_reg__ |
3259 194a 0895 ret |
3260 .L186: |
3261 194c 8093 0000 sts motor_write,r24 |
3262 1950 8093 0000 sts twi_state,r24 |
3263 1954 8091 0000 lds r24,BLFlags |
3264 1958 8E7F andi r24,lo8(-2) |
3265 195a 8093 0000 sts BLFlags,r24 |
3266 195e 85EA ldi r24,lo8(-91) |
3267 1960 8093 BC00 sts 188,r24 |
3268 1964 0895 ret |
3269 /* epilogue: frame size=0 */ |
3270 /* epilogue: noreturn */ |
3271 /* epilogue end (size=0) */ |
3272 /* function SendMotorData size 61 (61) */ |
3274 .global ParameterZuordnung |
3276 ParameterZuordnung: |
3277 /* prologue: frame size=0 */ |
3278 1966 CF93 push r28 |
3279 1968 DF93 push r29 |
3280 /* prologue end (size=2) */ |
3281 196a A0E0 ldi r26,lo8(Poti) |
3282 196c B0E0 ldi r27,hi8(Poti) |
3283 196e C0E0 ldi r28,lo8(EE_Parameter+5) |
3284 1970 D0E0 ldi r29,hi8(EE_Parameter+5) |
3285 1972 57E0 ldi r21,lo8(7) |
3286 .L203: |
3287 1974 9991 ld r25,Y+ |
3288 1976 E92F mov r30,r25 |
3289 1978 FF27 clr r31 |
3290 197a EE0F add r30,r30 |
3291 197c FF1F adc r31,r31 |
3292 197e E050 subi r30,lo8(-(PPM_in)) |
3293 1980 F040 sbci r31,hi8(-(PPM_in)) |
3294 1982 0190 ld __tmp_reg__,Z+ |
3295 1984 F081 ld r31,Z |
3296 1986 E02D mov r30,__tmp_reg__ |
3297 1988 E158 subi r30,lo8(-(127)) |
3298 198a FF4F sbci r31,hi8(-(127)) |
3299 198c EF3F cpi r30,255 |
3300 198e F105 cpc r31,__zero_reg__ |
3301 1990 01F0 breq .L194 |
3302 1992 04F0 brlt .L194 |
3303 1994 EFEF ldi r30,lo8(255) |
3304 1996 F0E0 ldi r31,hi8(255) |
3305 1998 00C0 rjmp .L195 |
3306 .L194: |
3307 199a F7FF sbrs r31,7 |
3308 199c 00C0 rjmp .L195 |
3309 199e E0E0 ldi r30,lo8(0) |
3310 19a0 F0E0 ldi r31,hi8(0) |
3311 .L195: |
3312 19a2 9931 cpi r25,lo8(25) |
3313 19a4 01F4 brne .L197 |
3314 19a6 EC93 st X,r30 |
3315 19a8 00C0 rjmp .L193 |
3316 .L197: |
3317 19aa 4C91 ld r20,X |
3318 19ac 242F mov r18,r20 |
3319 19ae 3327 clr r19 |
3320 19b0 E217 cp r30,r18 |
3321 19b2 F307 cpc r31,r19 |
3322 19b4 01F0 breq .L193 |
3323 19b6 CF01 movw r24,r30 |
3324 19b8 821B sub r24,r18 |
3325 19ba 930B sbc r25,r19 |
3326 19bc 97FD sbrc r25,7 |
3327 19be 0396 adiw r24,3 |
3328 .L200: |
3329 19c0 9595 asr r25 |
3330 19c2 8795 ror r24 |
3331 19c4 9595 asr r25 |
3332 19c6 8795 ror r24 |
3333 19c8 242F mov r18,r20 |
3334 19ca 280F add r18,r24 |
3335 19cc 2C93 st X,r18 |
3336 19ce 822F mov r24,r18 |
3337 19d0 9927 clr r25 |
3338 19d2 E817 cp r30,r24 |
3339 19d4 F907 cpc r31,r25 |
3340 19d6 04F4 brge .L201 |
3341 19d8 2150 subi r18,lo8(-(-1)) |
3342 19da 00C0 rjmp .L327 |
3343 .L201: |
3344 19dc 2F5F subi r18,lo8(-(1)) |
3345 .L327: |
3346 19de 2C93 st X,r18 |
3347 .L193: |
3348 19e0 5150 subi r21,lo8(-(-1)) |
3349 19e2 1196 adiw r26,1 |
3350 19e4 57FF sbrs r21,7 |
3351 19e6 00C0 rjmp .L203 |
3352 19e8 8091 0000 lds r24,EE_Parameter+15 |
3353 19ec 883F cpi r24,lo8(-8) |
3354 19ee 00F0 brlo .L328 |
3355 19f0 EFEF ldi r30,lo8(255) |
3356 19f2 F0E0 ldi r31,hi8(255) |
3357 19f4 E81B sub r30,r24 |
3358 19f6 F109 sbc r31,__zero_reg__ |
3359 19f8 E050 subi r30,lo8(-(Poti)) |
3360 19fa F040 sbci r31,hi8(-(Poti)) |
3361 19fc 8081 ld r24,Z |
3362 .L328: |
3363 19fe 8093 0000 sts Parameter_Luftdruck_D,r24 |
3364 1a02 8091 0000 lds r24,Parameter_Luftdruck_D |
3365 1a06 8823 tst r24 |
3366 1a08 01F0 breq .L207 |
3367 1a0a 8436 cpi r24,lo8(100) |
3368 1a0c 00F0 brlo .L207 |
3369 1a0e 84E6 ldi r24,lo8(100) |
3370 1a10 8093 0000 sts Parameter_Luftdruck_D,r24 |
3371 .L207: |
3372 1a14 8091 0000 lds r24,EE_Parameter+17 |
3373 1a18 883F cpi r24,lo8(-8) |
3374 1a1a 00F0 brlo .L329 |
3375 1a1c EFEF ldi r30,lo8(255) |
3376 1a1e F0E0 ldi r31,hi8(255) |
3377 1a20 E81B sub r30,r24 |
3378 1a22 F109 sbc r31,__zero_reg__ |
3379 1a24 E050 subi r30,lo8(-(Poti)) |
3380 1a26 F040 sbci r31,hi8(-(Poti)) |
3381 1a28 8081 ld r24,Z |
3382 .L329: |
3383 1a2a 8093 0000 sts Parameter_Hoehe_P,r24 |
3384 1a2e 8091 0000 lds r24,Parameter_Hoehe_P |
3385 1a32 8823 tst r24 |
3386 1a34 01F0 breq .L212 |
3387 1a36 8436 cpi r24,lo8(100) |
3388 1a38 00F0 brlo .L212 |
3389 1a3a 84E6 ldi r24,lo8(100) |
3390 1a3c 8093 0000 sts Parameter_Hoehe_P,r24 |
3391 .L212: |
3392 1a40 8091 0000 lds r24,EE_Parameter+30 |
3393 1a44 883F cpi r24,lo8(-8) |
3394 1a46 00F0 brlo .L330 |
3395 1a48 EFEF ldi r30,lo8(255) |
3396 1a4a F0E0 ldi r31,hi8(255) |
3397 1a4c E81B sub r30,r24 |
3398 1a4e F109 sbc r31,__zero_reg__ |
3399 1a50 E050 subi r30,lo8(-(Poti)) |
3400 1a52 F040 sbci r31,hi8(-(Poti)) |
3401 1a54 8081 ld r24,Z |
3402 .L330: |
3403 1a56 8093 0000 sts Parameter_Gyro_P,r24 |
3404 1a5a 8091 0000 lds r24,Parameter_Gyro_P |
3405 1a5e 8B30 cpi r24,lo8(11) |
3406 1a60 00F4 brsh .L216 |
3407 1a62 8AE0 ldi r24,lo8(10) |
3408 1a64 00C0 rjmp .L331 |
3409 .L216: |
3410 1a66 8F3F cpi r24,lo8(-1) |
3411 1a68 01F4 brne .L217 |
3412 .L331: |
3413 1a6a 8093 0000 sts Parameter_Gyro_P,r24 |
3414 .L217: |
3415 1a6e 8091 0000 lds r24,EE_Parameter+75 |
3416 1a72 883F cpi r24,lo8(-8) |
3417 1a74 00F0 brlo .L332 |
3418 1a76 EFEF ldi r30,lo8(255) |
3419 1a78 F0E0 ldi r31,hi8(255) |
3420 1a7a E81B sub r30,r24 |
3421 1a7c F109 sbc r31,__zero_reg__ |
3422 1a7e E050 subi r30,lo8(-(Poti)) |
3423 1a80 F040 sbci r31,hi8(-(Poti)) |
3424 1a82 8081 ld r24,Z |
3425 .L332: |
3426 1a84 8093 0000 sts Parameter_J16Timing,r24 |
3427 1a88 8091 0000 lds r24,Parameter_J16Timing |
3428 1a8c 8630 cpi r24,lo8(6) |
3429 1a8e 00F4 brsh .L221 |
3430 1a90 85E0 ldi r24,lo8(5) |
3431 1a92 00C0 rjmp .L333 |
3432 .L221: |
3433 1a94 8F3F cpi r24,lo8(-1) |
3434 1a96 01F4 brne .L222 |
3435 .L333: |
3436 1a98 8093 0000 sts Parameter_J16Timing,r24 |
3437 .L222: |
3438 1a9c 8091 0000 lds r24,EE_Parameter+77 |
3439 1aa0 883F cpi r24,lo8(-8) |
3440 1aa2 00F0 brlo .L334 |
3441 1aa4 EFEF ldi r30,lo8(255) |
3442 1aa6 F0E0 ldi r31,hi8(255) |
3443 1aa8 E81B sub r30,r24 |
3444 1aaa F109 sbc r31,__zero_reg__ |
3445 1aac E050 subi r30,lo8(-(Poti)) |
3446 1aae F040 sbci r31,hi8(-(Poti)) |
3447 1ab0 8081 ld r24,Z |
3448 .L334: |
3449 1ab2 8093 0000 sts Parameter_J17Timing,r24 |
3450 1ab6 8091 0000 lds r24,Parameter_J17Timing |
3451 1aba 8630 cpi r24,lo8(6) |
3452 1abc 00F4 brsh .L226 |
3453 1abe 85E0 ldi r24,lo8(5) |
3454 1ac0 00C0 rjmp .L335 |
3455 .L226: |
3456 1ac2 8F3F cpi r24,lo8(-1) |
3457 1ac4 01F4 brne .L227 |
3458 .L335: |
3459 1ac6 8093 0000 sts Parameter_J17Timing,r24 |
3460 .L227: |
3461 1aca 8091 0000 lds r24,EE_Parameter+56 |
3462 1ace 873F cpi r24,lo8(-9) |
3463 1ad0 01F4 brne .L229 |
3464 1ad2 4299 sbic 40-0x20,2 |
3465 1ad4 00C0 rjmp .L368 |
3466 1ad6 00C0 rjmp .L234 |
3467 .L229: |
3468 1ad8 863F cpi r24,lo8(-10) |
3469 1ada 01F4 brne .L233 |
3470 1adc 439B sbis 40-0x20,3 |
3471 1ade 00C0 rjmp .L234 |
3472 .L368: |
3473 1ae0 8CE8 ldi r24,lo8(-116) |
3474 1ae2 00C0 rjmp .L336 |
3475 .L234: |
3476 1ae4 86E4 ldi r24,lo8(70) |
3477 1ae6 00C0 rjmp .L336 |
3478 .L233: |
3479 1ae8 883F cpi r24,lo8(-8) |
3480 1aea 00F0 brlo .L336 |
3481 1aec EFEF ldi r30,lo8(255) |
3482 1aee F0E0 ldi r31,hi8(255) |
3483 1af0 E81B sub r30,r24 |
3484 1af2 F109 sbc r31,__zero_reg__ |
3485 1af4 E050 subi r30,lo8(-(Poti)) |
3486 1af6 F040 sbci r31,hi8(-(Poti)) |
3487 1af8 8081 ld r24,Z |
3488 .L336: |
3489 1afa 8093 0000 sts Parameter_Servo3,r24 |
3490 1afe 8091 0000 lds r24,EE_Parameter+57 |
3491 1b02 873F cpi r24,lo8(-9) |
3492 1b04 01F4 brne .L239 |
3493 1b06 4299 sbic 40-0x20,2 |
3494 1b08 00C0 rjmp .L369 |
3495 1b0a 00C0 rjmp .L244 |
3496 .L239: |
3497 1b0c 863F cpi r24,lo8(-10) |
3498 1b0e 01F4 brne .L243 |
3499 1b10 439B sbis 40-0x20,3 |
3500 1b12 00C0 rjmp .L244 |
3501 .L369: |
3502 1b14 8CE8 ldi r24,lo8(-116) |
3503 1b16 00C0 rjmp .L337 |
3504 .L244: |
3505 1b18 86E4 ldi r24,lo8(70) |
3506 1b1a 00C0 rjmp .L337 |
3507 .L243: |
3508 1b1c 883F cpi r24,lo8(-8) |
3509 1b1e 00F0 brlo .L337 |
3510 1b20 EFEF ldi r30,lo8(255) |
3511 1b22 F0E0 ldi r31,hi8(255) |
3512 1b24 E81B sub r30,r24 |
3513 1b26 F109 sbc r31,__zero_reg__ |
3514 1b28 E050 subi r30,lo8(-(Poti)) |
3515 1b2a F040 sbci r31,hi8(-(Poti)) |
3516 1b2c 8081 ld r24,Z |
3517 .L337: |
3518 1b2e 8093 0000 sts Parameter_Servo4,r24 |
3519 1b32 8091 0000 lds r24,EE_Parameter+58 |
3520 1b36 883F cpi r24,lo8(-8) |
3521 1b38 00F0 brlo .L338 |
3522 1b3a EFEF ldi r30,lo8(255) |
3523 1b3c F0E0 ldi r31,hi8(255) |
3524 1b3e E81B sub r30,r24 |
3525 1b40 F109 sbc r31,__zero_reg__ |
3526 1b42 E050 subi r30,lo8(-(Poti)) |
3527 1b44 F040 sbci r31,hi8(-(Poti)) |
3528 1b46 8081 ld r24,Z |
3529 .L338: |
3530 1b48 8093 0000 sts Parameter_Servo5,r24 |
3531 1b4c 8091 0000 lds r24,EE_Parameter+16 |
3532 1b50 883F cpi r24,lo8(-8) |
3533 1b52 00F0 brlo .L339 |
3534 1b54 EFEF ldi r30,lo8(255) |
3535 1b56 F0E0 ldi r31,hi8(255) |
3536 1b58 E81B sub r30,r24 |
3537 1b5a F109 sbc r31,__zero_reg__ |
3538 1b5c E050 subi r30,lo8(-(Poti)) |
3539 1b5e F040 sbci r31,hi8(-(Poti)) |
3540 1b60 8081 ld r24,Z |
3541 .L339: |
3542 1b62 8093 0000 sts Parameter_HoehenSchalter,r24 |
3543 1b66 8091 0000 lds r24,EE_Parameter+19 |
3544 1b6a 883F cpi r24,lo8(-8) |
3545 1b6c 00F0 brlo .L340 |
3546 1b6e EFEF ldi r30,lo8(255) |
3547 1b70 F0E0 ldi r31,hi8(255) |
3548 1b72 E81B sub r30,r24 |
3549 1b74 F109 sbc r31,__zero_reg__ |
3550 1b76 E050 subi r30,lo8(-(Poti)) |
3551 1b78 F040 sbci r31,hi8(-(Poti)) |
3552 1b7a 8081 ld r24,Z |
3553 .L340: |
3554 1b7c 8093 0000 sts Parameter_Hoehe_ACC_Wirkung,r24 |
3555 1b80 8091 0000 lds r24,EE_Parameter+21 |
3556 1b84 883F cpi r24,lo8(-8) |
3557 1b86 00F0 brlo .L341 |
3558 1b88 EFEF ldi r30,lo8(255) |
3559 1b8a F0E0 ldi r31,hi8(255) |
3560 1b8c E81B sub r30,r24 |
3561 1b8e F109 sbc r31,__zero_reg__ |
3562 1b90 E050 subi r30,lo8(-(Poti)) |
3563 1b92 F040 sbci r31,hi8(-(Poti)) |
3564 1b94 8081 ld r24,Z |
3565 .L341: |
3566 1b96 8093 0000 sts Parameter_Hoehe_GPS_Z,r24 |
3567 1b9a 8091 0000 lds r24,EE_Parameter+29 |
3568 1b9e 883F cpi r24,lo8(-8) |
3569 1ba0 00F0 brlo .L342 |
3570 1ba2 EFEF ldi r30,lo8(255) |
3571 1ba4 F0E0 ldi r31,hi8(255) |
3572 1ba6 E81B sub r30,r24 |
3573 1ba8 F109 sbc r31,__zero_reg__ |
3574 1baa E050 subi r30,lo8(-(Poti)) |
3575 1bac F040 sbci r31,hi8(-(Poti)) |
3576 1bae 8081 ld r24,Z |
3577 .L342: |
3578 1bb0 8093 0000 sts Parameter_KompassWirkung,r24 |
3579 1bb4 8091 0000 lds r24,EE_Parameter+31 |
3580 1bb8 883F cpi r24,lo8(-8) |
3581 1bba 00F0 brlo .L343 |
3582 1bbc EFEF ldi r30,lo8(255) |
3583 1bbe F0E0 ldi r31,hi8(255) |
3584 1bc0 E81B sub r30,r24 |
3585 1bc2 F109 sbc r31,__zero_reg__ |
3586 1bc4 E050 subi r30,lo8(-(Poti)) |
3587 1bc6 F040 sbci r31,hi8(-(Poti)) |
3588 1bc8 8081 ld r24,Z |
3589 .L343: |
3590 1bca 8093 0000 sts Parameter_Gyro_I,r24 |
3591 1bce 8091 0000 lds r24,EE_Parameter+32 |
3592 1bd2 883F cpi r24,lo8(-8) |
3593 1bd4 00F0 brlo .L344 |
3594 1bd6 EFEF ldi r30,lo8(255) |
3595 1bd8 F0E0 ldi r31,hi8(255) |
3596 1bda E81B sub r30,r24 |
3597 1bdc F109 sbc r31,__zero_reg__ |
3598 1bde E050 subi r30,lo8(-(Poti)) |
3599 1be0 F040 sbci r31,hi8(-(Poti)) |
3600 1be2 8081 ld r24,Z |
3601 .L344: |
3602 1be4 8093 0000 sts Parameter_Gyro_D,r24 |
3603 1be8 8091 0000 lds r24,EE_Parameter+33 |
3604 1bec 883F cpi r24,lo8(-8) |
3605 1bee 00F0 brlo .L345 |
3606 1bf0 EFEF ldi r30,lo8(255) |
3607 1bf2 F0E0 ldi r31,hi8(255) |
3608 1bf4 E81B sub r30,r24 |
3609 1bf6 F109 sbc r31,__zero_reg__ |
3610 1bf8 E050 subi r30,lo8(-(Poti)) |
3611 1bfa F040 sbci r31,hi8(-(Poti)) |
3612 1bfc 8081 ld r24,Z |
3613 .L345: |
3614 1bfe 8093 0000 sts Parameter_Gyro_Gier_P,r24 |
3615 1c02 8091 0000 lds r24,EE_Parameter+34 |
3616 1c06 883F cpi r24,lo8(-8) |
3617 1c08 00F0 brlo .L346 |
3618 1c0a EFEF ldi r30,lo8(255) |
3619 1c0c F0E0 ldi r31,hi8(255) |
3620 1c0e E81B sub r30,r24 |
3621 1c10 F109 sbc r31,__zero_reg__ |
3622 1c12 E050 subi r30,lo8(-(Poti)) |
3623 1c14 F040 sbci r31,hi8(-(Poti)) |
3624 1c16 8081 ld r24,Z |
3625 .L346: |
3626 1c18 8093 0000 sts Parameter_Gyro_Gier_I,r24 |
3627 1c1c 8091 0000 lds r24,EE_Parameter+40 |
3628 1c20 883F cpi r24,lo8(-8) |
3629 1c22 00F0 brlo .L347 |
3630 1c24 EFEF ldi r30,lo8(255) |
3631 1c26 F0E0 ldi r31,hi8(255) |
3632 1c28 E81B sub r30,r24 |
3633 1c2a F109 sbc r31,__zero_reg__ |
3634 1c2c E050 subi r30,lo8(-(Poti)) |
3635 1c2e F040 sbci r31,hi8(-(Poti)) |
3636 1c30 8081 ld r24,Z |
3637 .L347: |
3638 1c32 8093 0000 sts Parameter_I_Faktor,r24 |
3639 1c36 8091 0000 lds r24,EE_Parameter+41 |
3640 1c3a 883F cpi r24,lo8(-8) |
3641 1c3c 00F0 brlo .L348 |
3642 1c3e EFEF ldi r30,lo8(255) |
3643 1c40 F0E0 ldi r31,hi8(255) |
3644 1c42 E81B sub r30,r24 |
3645 1c44 F109 sbc r31,__zero_reg__ |
3646 1c46 E050 subi r30,lo8(-(Poti)) |
3647 1c48 F040 sbci r31,hi8(-(Poti)) |
3648 1c4a 8081 ld r24,Z |
3649 .L348: |
3650 1c4c 8093 0000 sts Parameter_UserParam1,r24 |
3651 1c50 8091 0000 lds r24,EE_Parameter+42 |
3652 1c54 883F cpi r24,lo8(-8) |
3653 1c56 00F0 brlo .L349 |
3654 1c58 EFEF ldi r30,lo8(255) |
3655 1c5a F0E0 ldi r31,hi8(255) |
3656 1c5c E81B sub r30,r24 |
3657 1c5e F109 sbc r31,__zero_reg__ |
3658 1c60 E050 subi r30,lo8(-(Poti)) |
3659 1c62 F040 sbci r31,hi8(-(Poti)) |
3660 1c64 8081 ld r24,Z |
3661 .L349: |
3662 1c66 8093 0000 sts Parameter_UserParam2,r24 |
3663 1c6a 8091 0000 lds r24,EE_Parameter+43 |
3664 1c6e 883F cpi r24,lo8(-8) |
3665 1c70 00F0 brlo .L350 |
3666 1c72 EFEF ldi r30,lo8(255) |
3667 1c74 F0E0 ldi r31,hi8(255) |
3668 1c76 E81B sub r30,r24 |
3669 1c78 F109 sbc r31,__zero_reg__ |
3670 1c7a E050 subi r30,lo8(-(Poti)) |
3671 1c7c F040 sbci r31,hi8(-(Poti)) |
3672 1c7e 8081 ld r24,Z |
3673 .L350: |
3674 1c80 8093 0000 sts Parameter_UserParam3,r24 |
3675 1c84 8091 0000 lds r24,EE_Parameter+44 |
3676 1c88 883F cpi r24,lo8(-8) |
3677 1c8a 00F0 brlo .L351 |
3678 1c8c EFEF ldi r30,lo8(255) |
3679 1c8e F0E0 ldi r31,hi8(255) |
3680 1c90 E81B sub r30,r24 |
3681 1c92 F109 sbc r31,__zero_reg__ |
3682 1c94 E050 subi r30,lo8(-(Poti)) |
3683 1c96 F040 sbci r31,hi8(-(Poti)) |
3684 1c98 8081 ld r24,Z |
3685 .L351: |
3686 1c9a 8093 0000 sts Parameter_UserParam4,r24 |
3687 1c9e 8091 0000 lds r24,EE_Parameter+70 |
3688 1ca2 883F cpi r24,lo8(-8) |
3689 1ca4 00F0 brlo .L352 |
3690 1ca6 EFEF ldi r30,lo8(255) |
3691 1ca8 F0E0 ldi r31,hi8(255) |
3692 1caa E81B sub r30,r24 |
3693 1cac F109 sbc r31,__zero_reg__ |
3694 1cae E050 subi r30,lo8(-(Poti)) |
3695 1cb0 F040 sbci r31,hi8(-(Poti)) |
3696 1cb2 8081 ld r24,Z |
3697 .L352: |
3698 1cb4 8093 0000 sts Parameter_UserParam5,r24 |
3699 1cb8 8091 0000 lds r24,EE_Parameter+71 |
3700 1cbc 883F cpi r24,lo8(-8) |
3701 1cbe 00F0 brlo .L353 |
3702 1cc0 EFEF ldi r30,lo8(255) |
3703 1cc2 F0E0 ldi r31,hi8(255) |
3704 1cc4 E81B sub r30,r24 |
3705 1cc6 F109 sbc r31,__zero_reg__ |
3706 1cc8 E050 subi r30,lo8(-(Poti)) |
3707 1cca F040 sbci r31,hi8(-(Poti)) |
3708 1ccc 8081 ld r24,Z |
3709 .L353: |
3710 1cce 8093 0000 sts Parameter_UserParam6,r24 |
3711 1cd2 8091 0000 lds r24,EE_Parameter+72 |
3712 1cd6 883F cpi r24,lo8(-8) |
3713 1cd8 00F0 brlo .L354 |
3714 1cda EFEF ldi r30,lo8(255) |
3715 1cdc F0E0 ldi r31,hi8(255) |
3716 1cde E81B sub r30,r24 |
3717 1ce0 F109 sbc r31,__zero_reg__ |
3718 1ce2 E050 subi r30,lo8(-(Poti)) |
3719 1ce4 F040 sbci r31,hi8(-(Poti)) |
3720 1ce6 8081 ld r24,Z |
3721 .L354: |
3722 1ce8 8093 0000 sts Parameter_UserParam7,r24 |
3723 1cec 8091 0000 lds r24,EE_Parameter+73 |
3724 1cf0 883F cpi r24,lo8(-8) |
3725 1cf2 00F0 brlo .L355 |
3726 1cf4 EFEF ldi r30,lo8(255) |
3727 1cf6 F0E0 ldi r31,hi8(255) |
3728 1cf8 E81B sub r30,r24 |
3729 1cfa F109 sbc r31,__zero_reg__ |
3730 1cfc E050 subi r30,lo8(-(Poti)) |
3731 1cfe F040 sbci r31,hi8(-(Poti)) |
3732 1d00 8081 ld r24,Z |
3733 .L355: |
3734 1d02 8093 0000 sts Parameter_UserParam8,r24 |
3735 1d06 8091 0000 lds r24,EE_Parameter+45 |
3736 1d0a 883F cpi r24,lo8(-8) |
3737 1d0c 00F0 brlo .L356 |
3738 1d0e EFEF ldi r30,lo8(255) |
3739 1d10 F0E0 ldi r31,hi8(255) |
3740 1d12 E81B sub r30,r24 |
3741 1d14 F109 sbc r31,__zero_reg__ |
3742 1d16 E050 subi r30,lo8(-(Poti)) |
3743 1d18 F040 sbci r31,hi8(-(Poti)) |
3744 1d1a 8081 ld r24,Z |
3745 .L356: |
3746 1d1c 8093 0000 sts Parameter_ServoNickControl,r24 |
3747 1d20 8091 0000 lds r24,EE_Parameter+49 |
3748 1d24 883F cpi r24,lo8(-8) |
3749 1d26 00F0 brlo .L357 |
3750 1d28 EFEF ldi r30,lo8(255) |
3751 1d2a F0E0 ldi r31,hi8(255) |
3752 1d2c E81B sub r30,r24 |
3753 1d2e F109 sbc r31,__zero_reg__ |
3754 1d30 E050 subi r30,lo8(-(Poti)) |
3755 1d32 F040 sbci r31,hi8(-(Poti)) |
3756 1d34 8081 ld r24,Z |
3757 .L357: |
3758 1d36 8093 0000 sts Parameter_ServoRollControl,r24 |
3759 1d3a 8091 0000 lds r24,EE_Parameter+46 |
3760 1d3e 883F cpi r24,lo8(-8) |
3761 1d40 00F0 brlo .L358 |
3762 1d42 EFEF ldi r30,lo8(255) |
3763 1d44 F0E0 ldi r31,hi8(255) |
3764 1d46 E81B sub r30,r24 |
3765 1d48 F109 sbc r31,__zero_reg__ |
3766 1d4a E050 subi r30,lo8(-(Poti)) |
3767 1d4c F040 sbci r31,hi8(-(Poti)) |
3768 1d4e 8081 ld r24,Z |
3769 .L358: |
3770 1d50 8093 0000 sts Parameter_ServoNickComp,r24 |
3771 1d54 8091 0000 lds r24,EE_Parameter+50 |
3772 1d58 883F cpi r24,lo8(-8) |
3773 1d5a 00F0 brlo .L359 |
3774 1d5c EFEF ldi r30,lo8(255) |
3775 1d5e F0E0 ldi r31,hi8(255) |
3776 1d60 E81B sub r30,r24 |
3777 1d62 F109 sbc r31,__zero_reg__ |
3778 1d64 E050 subi r30,lo8(-(Poti)) |
3779 1d66 F040 sbci r31,hi8(-(Poti)) |
3780 1d68 8081 ld r24,Z |
3781 .L359: |
3782 1d6a 8093 0000 sts Parameter_ServoRollComp,r24 |
3783 1d6e 8091 0000 lds r24,EE_Parameter+59 |
3784 1d72 883F cpi r24,lo8(-8) |
3785 1d74 00F0 brlo .L360 |
3786 1d76 EFEF ldi r30,lo8(255) |
3787 1d78 F0E0 ldi r31,hi8(255) |
3788 1d7a E81B sub r30,r24 |
3789 1d7c F109 sbc r31,__zero_reg__ |
3790 1d7e E050 subi r30,lo8(-(Poti)) |
3791 1d80 F040 sbci r31,hi8(-(Poti)) |
3792 1d82 8081 ld r24,Z |
3793 .L360: |
3794 1d84 8093 0000 sts Parameter_LoopGasLimit,r24 |
3795 1d88 8091 0000 lds r24,EE_Parameter+62 |
3796 1d8c 883F cpi r24,lo8(-8) |
3797 1d8e 00F0 brlo .L361 |
3798 1d90 EFEF ldi r30,lo8(255) |
3799 1d92 F0E0 ldi r31,hi8(255) |
3800 1d94 E81B sub r30,r24 |
3801 1d96 F109 sbc r31,__zero_reg__ |
3802 1d98 E050 subi r30,lo8(-(Poti)) |
3803 1d9a F040 sbci r31,hi8(-(Poti)) |
3804 1d9c 8081 ld r24,Z |
3805 .L361: |
3806 1d9e 8093 0000 sts Parameter_AchsKopplung1,r24 |
3807 1da2 8091 0000 lds r24,EE_Parameter+63 |
3808 1da6 883F cpi r24,lo8(-8) |
3809 1da8 00F0 brlo .L362 |
3810 1daa EFEF ldi r30,lo8(255) |
3811 1dac F0E0 ldi r31,hi8(255) |
3812 1dae E81B sub r30,r24 |
3813 1db0 F109 sbc r31,__zero_reg__ |
3814 1db2 E050 subi r30,lo8(-(Poti)) |
3815 1db4 F040 sbci r31,hi8(-(Poti)) |
3816 1db6 8081 ld r24,Z |
3817 .L362: |
3818 1db8 8093 0000 sts Parameter_AchsKopplung2,r24 |
3819 1dbc 8091 0000 lds r24,EE_Parameter+64 |
3820 1dc0 883F cpi r24,lo8(-8) |
3821 1dc2 00F0 brlo .L363 |
3822 1dc4 EFEF ldi r30,lo8(255) |
3823 1dc6 F0E0 ldi r31,hi8(255) |
3824 1dc8 E81B sub r30,r24 |
3825 1dca F109 sbc r31,__zero_reg__ |
3826 1dcc E050 subi r30,lo8(-(Poti)) |
3827 1dce F040 sbci r31,hi8(-(Poti)) |
3828 1dd0 8081 ld r24,Z |
3829 .L363: |
3830 1dd2 8093 0000 sts Parameter_CouplingYawCorrection,r24 |
3831 1dd6 8091 0000 lds r24,EE_Parameter+104 |
3832 1dda 883F cpi r24,lo8(-8) |
3833 1ddc 00F0 brlo .L364 |
3834 1dde EFEF ldi r30,lo8(255) |
3835 1de0 F0E0 ldi r31,hi8(255) |
3836 1de2 E81B sub r30,r24 |
3837 1de4 F109 sbc r31,__zero_reg__ |
3838 1de6 E050 subi r30,lo8(-(Poti)) |
3839 1de8 F040 sbci r31,hi8(-(Poti)) |
3840 1dea 8081 ld r24,Z |
3841 .L364: |
3842 1dec 8093 0000 sts Parameter_MaximumAltitude,r24 |
3843 1df0 9091 0000 lds r25,NC_To_FC_MaxAltitude |
3844 1df4 9923 tst r25 |
3845 1df6 01F0 breq .L305 |
3846 1df8 8091 0000 lds r24,Parameter_MaximumAltitude |
3847 1dfc 9817 cp r25,r24 |
3848 1dfe 00F0 brlo .L304 |
3849 .L305: |
3850 1e00 8091 0000 lds r24,Parameter_MaximumAltitude |
3851 1e04 8823 tst r24 |
3852 1e06 01F4 brne .L303 |
3853 .L304: |
3854 1e08 9093 0000 sts Parameter_MaximumAltitude,r25 |
3855 .L303: |
3856 1e0c 8091 0000 lds r24,EE_Parameter+13 |
3857 1e10 8093 0000 sts Parameter_GlobalConfig,r24 |
3858 1e14 8091 0000 lds r24,EE_Parameter+110 |
3859 1e18 8093 0000 sts Parameter_ExtraConfig,r24 |
3860 1e1c 8091 0000 lds r24,EE_Parameter+69 |
3861 1e20 883F cpi r24,lo8(-8) |
3862 1e22 00F0 brlo .L365 |
3863 1e24 EFEF ldi r30,lo8(255) |
3864 1e26 F0E0 ldi r31,hi8(255) |
3865 1e28 E81B sub r30,r24 |
3866 1e2a F109 sbc r31,__zero_reg__ |
3867 1e2c E050 subi r30,lo8(-(Poti)) |
3868 1e2e F040 sbci r31,hi8(-(Poti)) |
3869 1e30 8081 ld r24,Z |
3870 .L365: |
3871 1e32 8093 0000 sts Parameter_DynamicStability,r24 |
3872 1e36 8091 0000 lds r24,EE_Parameter+97 |
3873 1e3a 883F cpi r24,lo8(-8) |
3874 1e3c 00F0 brlo .L366 |
3875 1e3e EFEF ldi r30,lo8(255) |
3876 1e40 F0E0 ldi r31,hi8(255) |
3877 1e42 E81B sub r30,r24 |
3878 1e44 F109 sbc r31,__zero_reg__ |
3879 1e46 E050 subi r30,lo8(-(Poti)) |
3880 1e48 F040 sbci r31,hi8(-(Poti)) |
3881 1e4a 8081 ld r24,Z |
3882 .L366: |
3883 1e4c 8093 0000 sts Parameter_ExternalControl,r24 |
3884 1e50 8091 0000 lds r24,Parameter_I_Faktor |
3885 1e54 282F mov r18,r24 |
3886 1e56 3327 clr r19 |
3887 1e58 2F5F subi r18,lo8(-(1)) |
3888 1e5a 3F4F sbci r19,hi8(-(1)) |
3889 1e5c 8CE3 ldi r24,lo8(10300) |
3890 1e5e 98E2 ldi r25,hi8(10300) |
3891 1e60 B901 movw r22,r18 |
3892 1e62 0E94 0000 call __divmodhi4 |
3893 1e66 7093 0000 sts (Ki)+1,r23 |
3894 1e6a 6093 0000 sts Ki,r22 |
3895 1e6e 8091 0000 lds r24,EE_Parameter+27 |
3896 1e72 8093 0000 sts MAX_GAS,r24 |
3897 1e76 8091 0000 lds r24,EE_Parameter+26 |
3898 1e7a 8093 0000 sts MIN_GAS,r24 |
3899 1e7e 9091 0000 lds r25,EE_Parameter+99 |
3900 1e82 9333 cpi r25,lo8(51) |
3901 1e84 00F4 brsh .+2 |
3902 1e86 00C0 rjmp .L310 |
3903 1e88 81E0 ldi r24,lo8(1) |
3904 1e8a 8093 0000 sts CareFree,r24 |
3905 1e8e 983F cpi r25,lo8(-8) |
3906 1e90 00F0 brlo .L311 |
3907 1e92 EFEF ldi r30,lo8(255) |
3908 1e94 F0E0 ldi r31,hi8(255) |
3909 1e96 E91B sub r30,r25 |
3910 1e98 F109 sbc r31,__zero_reg__ |
3911 1e9a E050 subi r30,lo8(-(Poti)) |
3912 1e9c F040 sbci r31,hi8(-(Poti)) |
3913 1e9e 8081 ld r24,Z |
3914 1ea0 8233 cpi r24,lo8(50) |
3915 1ea2 00F4 brsh .L311 |
3916 1ea4 1092 0000 sts CareFree,__zero_reg__ |
3917 .L311: |
3918 1ea8 8091 0000 lds r24,carefree_old |
3919 1eac 2091 0000 lds r18,CareFree |
3920 1eb0 8217 cp r24,r18 |
3921 1eb2 01F0 breq .L312 |
3922 1eb4 8330 cpi r24,lo8(3) |
3923 1eb6 00F4 brsh .L313 |
3924 1eb8 3091 0000 lds r19,SpeakHoTT |
3925 1ebc 2223 tst r18 |
3926 1ebe 01F0 breq .L314 |
3927 1ec0 8CED ldi r24,lo8(1500) |
3928 1ec2 95E0 ldi r25,hi8(1500) |
3929 1ec4 9093 0000 sts (beeptime)+1,r25 |
3930 1ec8 8093 0000 sts beeptime,r24 |
3931 1ecc 3323 tst r19 |
3932 1ece 01F4 brne .L316 |
3933 1ed0 8EE2 ldi r24,lo8(46) |
3934 1ed2 00C0 rjmp .L367 |
3935 .L314: |
3936 1ed4 88EC ldi r24,lo8(200) |
3937 1ed6 90E0 ldi r25,hi8(200) |
3938 1ed8 9093 0000 sts (beeptime)+1,r25 |
3939 1edc 8093 0000 sts beeptime,r24 |
3940 1ee0 3323 tst r19 |
3941 1ee2 01F4 brne .L316 |
3942 1ee4 87E1 ldi r24,lo8(23) |
3943 .L367: |
3944 1ee6 8093 0000 sts SpeakHoTT,r24 |
3945 .L316: |
3946 1eea 85E0 ldi r24,lo8(5) |
3947 1eec 8093 0000 sts NeueKompassRichtungMerken,r24 |
3948 1ef0 2093 0000 sts carefree_old,r18 |
3949 1ef4 00C0 rjmp .L312 |
3950 .L313: |
3951 1ef6 8150 subi r24,lo8(-(-1)) |
3952 1ef8 8093 0000 sts carefree_old,r24 |
3953 .L312: |
3954 1efc 8091 0000 lds r24,FromNaviCtrl+7 |
3955 1f00 9091 0000 lds r25,(FromNaviCtrl+7)+1 |
3956 1f04 97FF sbrs r25,7 |
3957 1f06 00C0 rjmp .L320 |
3958 1f08 8091 0000 lds r24,CareFree |
3959 1f0c 8823 tst r24 |
3960 1f0e 01F0 breq .L320 |
3961 1f10 8091 0000 lds r24,VersionInfo+5 |
3962 1f14 8068 ori r24,lo8(-128) |
3963 1f16 8093 0000 sts VersionInfo+5,r24 |
3964 1f1a 00C0 rjmp .L320 |
3965 .L310: |
3966 1f1c 1092 0000 sts CareFree,__zero_reg__ |
3967 1f20 8AE0 ldi r24,lo8(10) |
3968 1f22 8093 0000 sts carefree_old,r24 |
3969 .L320: |
3970 1f26 8091 0000 lds r24,FromNaviCtrl+7 |
3971 1f2a 9091 0000 lds r25,(FromNaviCtrl+7)+1 |
3972 1f2e 97FF sbrs r25,7 |
3973 1f30 00C0 rjmp .L321 |
3974 1f32 8091 0000 lds r24,MotorenEin |
3975 1f36 8823 tst r24 |
3976 1f38 01F0 breq .L321 |
3977 1f3a 8091 0000 lds r24,CareFree |
3978 1f3e 8823 tst r24 |
3979 1f40 01F0 breq .L321 |
3980 1f42 8091 0000 lds r24,BeepMuster |
3981 1f46 9091 0000 lds r25,(BeepMuster)+1 |
3982 1f4a 8F5F subi r24,lo8(-1) |
3983 1f4c 9F4F sbci r25,hi8(-1) |
3984 1f4e 01F4 brne .L321 |
3985 1f50 88E9 ldi r24,lo8(15000) |
3986 1f52 9AE3 ldi r25,hi8(15000) |
3987 1f54 9093 0000 sts (beeptime)+1,r25 |
3988 1f58 8093 0000 sts beeptime,r24 |
3989 1f5c 80E0 ldi r24,lo8(-23552) |
3990 1f5e 94EA ldi r25,hi8(-23552) |
3991 1f60 9093 0000 sts (BeepMuster)+1,r25 |
3992 1f64 8093 0000 sts BeepMuster,r24 |
3993 1f68 1092 0000 sts CareFree,__zero_reg__ |
3994 .L321: |
3995 1f6c 8091 0000 lds r24,CareFree |
3996 1f70 8823 tst r24 |
3997 1f72 01F0 breq .L322 |
3998 1f74 8091 0000 lds r24,FC_StatusFlags2 |
3999 1f78 8160 ori r24,lo8(1) |
4000 1f7a 8093 0000 sts FC_StatusFlags2,r24 |
4001 1f7e 8091 0000 lds r24,Parameter_AchsKopplung1 |
4002 1f82 823D cpi r24,lo8(-46) |
4003 1f84 00F4 brsh .L190 |
4004 1f86 825E subi r24,lo8(-(30)) |
4005 1f88 8093 0000 sts Parameter_AchsKopplung1,r24 |
4006 1f8c 00C0 rjmp .L190 |
4007 .L322: |
4008 1f8e 8091 0000 lds r24,FC_StatusFlags2 |
4009 1f92 8E7F andi r24,lo8(-2) |
4010 1f94 8093 0000 sts FC_StatusFlags2,r24 |
4011 .L190: |
4012 /* epilogue: frame size=0 */ |
4013 1f98 DF91 pop r29 |
4014 1f9a CF91 pop r28 |
4015 1f9c 0895 ret |
4016 /* epilogue end (size=3) */ |
4017 /* function ParameterZuordnung size 798 (793) */ |
4019 .lcomm sollGier.0,4 |
4020 .lcomm tmp_long.1,4 |
4021 .lcomm tmp_long2.2,4 |
4022 .lcomm IntegralFehlerNick.3,4 |
4023 .lcomm IntegralFehlerRoll.4,4 |
4024 .lcomm RcLostTimer.5,2 |
4025 .lcomm delay_neutral.6,1 |
4026 .lcomm delay_einschalten.7,1 |
4027 .lcomm delay_ausschalten.8,1 |
4028 .lcomm move_safety_switch.9,1 |
4029 .lcomm ausgleichNick.10,4 |
4030 .lcomm ausgleichRoll.11,4 |
4031 .lcomm stick_nick.12,2 |
4032 .lcomm stick_roll.13,2 |
4033 .lcomm cnt.14,2 |
4034 .lcomm last_n_p.15,1 |
4035 .lcomm last_n_n.16,1 |
4036 .lcomm last_r_p.17,1 |
4037 .lcomm last_r_n.18,1 |
4038 .lcomm MittelIntegralNick_Alt.19,4 |
4039 .lcomm MittelIntegralRoll_Alt.20,4 |
4040 .lcomm HeightTrimming.21,2 |
4041 .lcomm FilterHCGas.22,2 |
4042 .lcomm HoverGasFilter.23,4 |
4043 .data |
4046 delay.24: |
4047 0051 64 .byte 100 |
4048 .lcomm BaroAtUpperLimit.25,1 |
4049 .lcomm BaroAtLowerLimit.26,1 |
4050 .text |
4051 .global MotorRegler |
4053 MotorRegler: |
4054 /* prologue: frame size=23 */ |
4055 1f9e A7E1 ldi r26,lo8(23) |
4056 1fa0 B0E0 ldi r27,hi8(23) |
4057 1fa2 E0E0 ldi r30,pm_lo8(1f) |
4058 1fa4 F0E0 ldi r31,pm_hi8(1f) |
4059 1fa6 0C94 0000 jmp __prologue_saves__+0 |
4060 1: |
4061 /* prologue end (size=6) */ |
4062 1faa 0E94 0000 call Mittelwert |
4063 1fae 8091 0000 lds r24,FC_StatusFlags |
4064 1fb2 9927 clr r25 |
4065 1fb4 8471 andi r24,lo8(20) |
4066 1fb6 9070 andi r25,hi8(20) |
4067 1fb8 892B or r24,r25 |
4068 1fba 01F4 brne .L371 |
4069 1fbc 8091 0000 lds r24,EE_Parameter+111 |
4070 1fc0 82FF sbrs r24,2 |
4071 1fc2 00C0 rjmp .L372 |
4072 1fc4 8091 0000 lds r24,HoverGas |
4073 1fc8 9091 0000 lds r25,(HoverGas)+1 |
4074 1fcc 0097 sbiw r24,0 |
4075 1fce 01F0 breq .L373 |
4076 1fd0 02E0 ldi r16,hi8(600) |
4077 1fd2 8835 cpi r24,lo8(600) |
4078 1fd4 9007 cpc r25,r16 |
4079 1fd6 04F4 brge .L373 |
4080 1fd8 9C01 movw r18,r24 |
4081 1fda 97FF sbrs r25,7 |
4082 1fdc 00C0 rjmp .L374 |
4083 1fde 2D5F subi r18,lo8(-(3)) |
4084 1fe0 3F4F sbci r19,hi8(-(3)) |
4085 .L374: |
4086 1fe2 3595 asr r19 |
4087 1fe4 2795 ror r18 |
4088 1fe6 3595 asr r19 |
4089 1fe8 2795 ror r18 |
4090 1fea 8091 0000 lds r24,EE_Parameter+37 |
4091 1fee 9927 clr r25 |
4092 1ff0 289F mul r18,r24 |
4093 1ff2 A001 movw r20,r0 |
4094 1ff4 299F mul r18,r25 |
4095 1ff6 500D add r21,r0 |
4096 1ff8 389F mul r19,r24 |
4097 1ffa 500D add r21,r0 |
4098 1ffc 1124 clr r1 |
4099 1ffe CA01 movw r24,r20 |
4100 2000 64E6 ldi r22,lo8(100) |
4101 2002 70E0 ldi r23,hi8(100) |
4102 2004 0E94 0000 call __divmodhi4 |
4103 2008 CB01 movw r24,r22 |
4104 200a 00C0 rjmp .L893 |
4105 .L373: |
4106 200c 8DE2 ldi r24,lo8(45) |
4107 200e 90E0 ldi r25,hi8(45) |
4108 2010 00C0 rjmp .L893 |
4109 .L372: |
4110 2012 8091 0000 lds r24,EE_Parameter+37 |
4111 2016 9927 clr r25 |
4112 .L893: |
4113 2018 9093 0000 sts (HooverGasEmergencyPercent)+1,r25 |
4114 201c 8093 0000 sts HooverGasEmergencyPercent,r24 |
4115 .L371: |
4116 2020 2091 0000 lds r18,GasIsZeroCnt |
4117 2024 3091 0000 lds r19,(GasIsZeroCnt)+1 |
4118 2028 55E7 ldi r21,hi8(30000) |
4119 202a 2033 cpi r18,lo8(30000) |
4120 202c 3507 cpc r19,r21 |
4121 202e 01F4 brne .L377 |
4122 2030 1092 0000 sts (StickGas)+1,__zero_reg__ |
4123 2034 1092 0000 sts StickGas,__zero_reg__ |
4124 2038 8091 0000 lds r24,MIN_GAS |
4125 203c 9927 clr r25 |
4126 203e 9093 0000 sts (HooverGasEmergencyPercent)+1,r25 |
4127 2042 8093 0000 sts HooverGasEmergencyPercent,r24 |
4128 .L377: |
4129 2046 6091 0000 lds r22,StickGas |
4130 204a 7091 0000 lds r23,(StickGas)+1 |
4131 204e 7A83 std Y+2,r23 |
4132 2050 6983 std Y+1,r22 |
4133 2052 8091 0000 lds r24,MIN_GAS |
4134 2056 9927 clr r25 |
4135 2058 0A96 adiw r24,10 |
4136 205a 6817 cp r22,r24 |
4137 205c 7907 cpc r23,r25 |
4138 205e 04F4 brge .L378 |
4139 2060 9A83 std Y+2,r25 |
4140 2062 8983 std Y+1,r24 |
4141 .L378: |
4142 2064 8091 0000 lds r24,SenderOkay |
4143 2068 8436 cpi r24,lo8(100) |
4144 206a 00F0 brlo .+2 |
4145 206c 00C0 rjmp .L379 |
4146 206e 8091 0000 lds r24,FC_StatusFlags2 |
4147 2072 82FD sbrc r24,2 |
4148 2074 00C0 rjmp .L379 |
4149 2076 8091 0000 lds r24,RcLostTimer.5 |
4150 207a 9091 0000 lds r25,(RcLostTimer.5)+1 |
4151 207e 0097 sbiw r24,0 |
4152 2080 01F0 breq .L380 |
4153 2082 0197 sbiw r24,1 |
4154 2084 9093 0000 sts (RcLostTimer.5)+1,r25 |
4155 2088 8093 0000 sts RcLostTimer.5,r24 |
4156 208c 00C0 rjmp .L381 |
4157 .L380: |
4158 208e 1092 0000 sts MotorenEin,__zero_reg__ |
4159 2092 9093 0000 sts (modell_fliegt)+1,r25 |
4160 2096 8093 0000 sts modell_fliegt,r24 |
4161 209a 8091 0000 lds r24,FC_StatusFlags |
4162 209e 8D7E andi r24,lo8(-19) |
4163 20a0 8093 0000 sts FC_StatusFlags,r24 |
4164 .L381: |
4165 20a4 8091 0000 lds r24,PlatinenVersion |
4166 20a8 8A30 cpi r24,lo8(10) |
4167 20aa 01F0 breq .L383 |
4168 20ac 8431 cpi r24,lo8(20) |
4169 20ae 00F0 brlo .L382 |
4170 .L383: |
4171 20b0 289A sbi 37-0x20,0 |
4172 20b2 00C0 rjmp .L384 |
4173 .L382: |
4174 20b4 2898 cbi 37-0x20,0 |
4175 .L384: |
4176 20b6 8091 0000 lds r24,modell_fliegt |
4177 20ba 9091 0000 lds r25,(modell_fliegt)+1 |
4178 20be 895E subi r24,lo8(1001) |
4179 20c0 9340 sbci r25,hi8(1001) |
4180 20c2 00F0 brlo .L385 |
4181 20c4 8091 0000 lds r24,Capacity+6 |
4182 20c8 8536 cpi r24,lo8(101) |
4183 20ca 00F0 brlo .L385 |
4184 20cc 8091 0000 lds r24,HooverGasEmergencyPercent |
4185 20d0 9091 0000 lds r25,(HooverGasEmergencyPercent)+1 |
4186 20d4 9A83 std Y+2,r25 |
4187 20d6 8983 std Y+1,r24 |
4188 20d8 8091 0000 lds r24,FC_StatusFlags |
4189 20dc 8061 ori r24,lo8(16) |
4190 20de 8093 0000 sts FC_StatusFlags,r24 |
4191 20e2 8091 0000 lds r24,EE_Parameter+1 |
4192 20e6 A82F mov r26,r24 |
4193 20e8 BB27 clr r27 |
4194 20ea AA0F add r26,r26 |
4195 20ec BB1F adc r27,r27 |
4196 20ee FD01 movw r30,r26 |
4197 20f0 E050 subi r30,lo8(-(PPM_diff)) |
4198 20f2 F040 sbci r31,hi8(-(PPM_diff)) |
4199 20f4 1182 std Z+1,__zero_reg__ |
4200 20f6 1082 st Z,__zero_reg__ |
4201 20f8 8091 0000 lds r24,EE_Parameter+2 |
4202 20fc 282F mov r18,r24 |
4203 20fe 3327 clr r19 |
4204 2100 220F add r18,r18 |
4205 2102 331F adc r19,r19 |
4206 2104 C901 movw r24,r18 |
4207 2106 8050 subi r24,lo8(-(PPM_diff)) |
4208 2108 9040 sbci r25,hi8(-(PPM_diff)) |
4209 210a FC01 movw r30,r24 |
4210 210c 1182 std Z+1,__zero_reg__ |
4211 210e 1082 st Z,__zero_reg__ |
4212 2110 A050 subi r26,lo8(-(PPM_in)) |
4213 2112 B040 sbci r27,hi8(-(PPM_in)) |
4214 2114 1196 adiw r26,1 |
4215 2116 1C92 st X,__zero_reg__ |
4216 2118 1E92 st -X,__zero_reg__ |
4217 211a 2050 subi r18,lo8(-(PPM_in)) |
4218 211c 3040 sbci r19,hi8(-(PPM_in)) |
4219 211e D901 movw r26,r18 |
4220 2120 1196 adiw r26,1 |
4221 2122 1C92 st X,__zero_reg__ |
4222 2124 1E92 st -X,__zero_reg__ |
4223 2126 8091 0000 lds r24,EE_Parameter+4 |
4224 212a E82F mov r30,r24 |
4225 212c FF27 clr r31 |
4226 212e EE0F add r30,r30 |
4227 2130 FF1F adc r31,r31 |
4228 2132 E050 subi r30,lo8(-(PPM_in)) |
4229 2134 F040 sbci r31,hi8(-(PPM_in)) |
4230 2136 1182 std Z+1,__zero_reg__ |
4231 2138 1082 st Z,__zero_reg__ |
4232 213a 00C0 rjmp .L387 |
4233 .L385: |
4234 213c 1092 0000 sts MotorenEin,__zero_reg__ |
4235 2140 00C0 rjmp .L387 |
4236 .L379: |
4237 2142 8091 0000 lds r24,SenderOkay |
4238 2146 8D38 cpi r24,lo8(-115) |
4239 2148 00F4 brsh .+2 |
4240 214a 00C0 rjmp .L388 |
4241 214c 8091 0000 lds r24,FC_StatusFlags |
4242 2150 8F7E andi r24,lo8(-17) |
4243 2152 8093 0000 sts FC_StatusFlags,r24 |
4244 2156 9091 0000 lds r25,EE_Parameter+38 |
4245 215a 82E3 ldi r24,lo8(50) |
4246 215c 989F mul r25,r24 |
4247 215e C001 movw r24,r0 |
4248 2160 1124 clr r1 |
4249 2162 9093 0000 sts (RcLostTimer.5)+1,r25 |
4250 2166 8093 0000 sts RcLostTimer.5,r24 |
4251 216a E981 ldd r30,Y+1 |
4252 216c FA81 ldd r31,Y+2 |
4253 216e B997 sbiw r30,41 |
4254 2170 04F0 brlt .L389 |
4255 2172 8091 0000 lds r24,MotorenEin |
4256 2176 8823 tst r24 |
4257 2178 01F0 breq .L389 |
4258 217a 8091 0000 lds r24,modell_fliegt |
4259 217e 9091 0000 lds r25,(modell_fliegt)+1 |
4260 2182 FFEF ldi r31,hi8(-1) |
4261 2184 8F3F cpi r24,lo8(-1) |
4262 2186 9F07 cpc r25,r31 |
4263 2188 01F0 breq .L389 |
4264 218a 0196 adiw r24,1 |
4265 218c 9093 0000 sts (modell_fliegt)+1,r25 |
4266 2190 8093 0000 sts modell_fliegt,r24 |
4267 .L389: |
4268 2194 8091 0000 lds r24,modell_fliegt |
4269 2198 9091 0000 lds r25,(modell_fliegt)+1 |
4270 219c 8F3F cpi r24,255 |
4271 219e 9105 cpc r25,__zero_reg__ |
4272 21a0 01F0 breq .+2 |
4273 21a2 00F4 brsh .L391 |
4274 21a4 1092 0000 sts SummeNick,__zero_reg__ |
4275 21a8 1092 0000 sts (SummeNick)+1,__zero_reg__ |
4276 21ac 1092 0000 sts (SummeNick)+2,__zero_reg__ |
4277 21b0 1092 0000 sts (SummeNick)+3,__zero_reg__ |
4278 21b4 1092 0000 sts SummeRoll,__zero_reg__ |
4279 21b8 1092 0000 sts (SummeRoll)+1,__zero_reg__ |
4280 21bc 1092 0000 sts (SummeRoll)+2,__zero_reg__ |
4281 21c0 1092 0000 sts (SummeRoll)+3,__zero_reg__ |
4282 21c4 1092 0000 sts sollGier.0,__zero_reg__ |
4283 21c8 1092 0000 sts (sollGier.0)+1,__zero_reg__ |
4284 21cc 1092 0000 sts (sollGier.0)+2,__zero_reg__ |
4285 21d0 1092 0000 sts (sollGier.0)+3,__zero_reg__ |
4286 21d4 1092 0000 sts Mess_Integral_Gier,__zero_reg__ |
4287 21d8 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__ |
4288 21dc 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__ |
4289 21e0 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__ |
4290 21e4 00C0 rjmp .L392 |
4291 .L391: |
4292 21e6 8091 0000 lds r24,FC_StatusFlags |
4293 21ea 8260 ori r24,lo8(2) |
4294 21ec 8093 0000 sts FC_StatusFlags,r24 |
4295 .L392: |
4296 21f0 8091 0000 lds r24,EE_Parameter+3 |
4297 21f4 E82F mov r30,r24 |
4298 21f6 FF27 clr r31 |
4299 21f8 EE0F add r30,r30 |
4300 21fa FF1F adc r31,r31 |
4301 21fc E050 subi r30,lo8(-(PPM_in)) |
4302 21fe F040 sbci r31,hi8(-(PPM_in)) |
4303 2200 8081 ld r24,Z |
4304 2202 9181 ldd r25,Z+1 |
4305 2204 8135 cpi r24,81 |
4306 2206 9105 cpc r25,__zero_reg__ |
4307 2208 04F4 brge .+2 |
4308 220a 00C0 rjmp .L393 |
4309 220c 2091 0000 lds r18,MotorenEin |
4310 2210 2223 tst r18 |
4311 2212 01F0 breq .+2 |
4312 2214 00C0 rjmp .L393 |
4313 2216 8091 0000 lds r24,EE_Parameter+4 |
4314 221a E82F mov r30,r24 |
4315 221c FF27 clr r31 |
4316 221e EE0F add r30,r30 |
4317 2220 FF1F adc r31,r31 |
4318 2222 E050 subi r30,lo8(-(PPM_in)) |
4319 2224 F040 sbci r31,hi8(-(PPM_in)) |
4320 2226 8081 ld r24,Z |
4321 2228 9181 ldd r25,Z+1 |
4322 222a 8C34 cpi r24,76 |
4323 222c 9105 cpc r25,__zero_reg__ |
4324 222e 04F4 brge .+2 |
4325 2230 00C0 rjmp .L394 |
4326 2232 8091 0000 lds r24,delay_neutral.6 |
4327 2236 8F5F subi r24,lo8(-(1)) |
4328 2238 8093 0000 sts delay_neutral.6,r24 |
4329 223c 893C cpi r24,lo8(-55) |
4330 223e 00F4 brsh .+2 |
4331 2240 00C0 rjmp .L393 |
4332 2242 2093 0000 sts delay_neutral.6,r18 |
4333 2246 1092 0000 sts (modell_fliegt)+1,__zero_reg__ |
4334 224a 1092 0000 sts modell_fliegt,__zero_reg__ |
4335 224e 3091 0000 lds r19,EE_Parameter+1 |
4336 2252 E32F mov r30,r19 |
4337 2254 FF27 clr r31 |
4338 2256 EE0F add r30,r30 |
4339 2258 FF1F adc r31,r31 |
4340 225a E050 subi r30,lo8(-(PPM_in)) |
4341 225c F040 sbci r31,hi8(-(PPM_in)) |
4342 225e 8081 ld r24,Z |
4343 2260 9181 ldd r25,Z+1 |
4344 2262 8734 cpi r24,71 |
4345 2264 9105 cpc r25,__zero_reg__ |
4346 2266 04F4 brge .L397 |
4347 2268 8091 0000 lds r24,EE_Parameter+2 |
4348 226c E82F mov r30,r24 |
4349 226e FF27 clr r31 |
4350 2270 EE0F add r30,r30 |
4351 2272 FF1F adc r31,r31 |
4352 2274 E050 subi r30,lo8(-(PPM_in)) |
4353 2276 F040 sbci r31,hi8(-(PPM_in)) |
4354 2278 8081 ld r24,Z |
4355 227a 9181 ldd r25,Z+1 |
4356 227c 0190 ld __tmp_reg__,Z+ |
4357 227e F081 ld r31,Z |
4358 2280 E02D mov r30,__tmp_reg__ |
4359 2282 F7FF sbrs r31,7 |
4360 2284 00C0 rjmp .L398 |
4361 2286 F095 com r31 |
4362 2288 E195 neg r30 |
4363 228a FF4F sbci r31,lo8(-1) |
4364 .L398: |
4365 228c E734 cpi r30,71 |
4366 228e F105 cpc r31,__zero_reg__ |
4367 2290 04F4 brge .+2 |
4368 2292 00C0 rjmp .L396 |
4369 .L397: |
4370 2294 41E0 ldi r20,lo8(1) |
4371 2296 2091 0000 lds r18,EE_Parameter+2 |
4372 229a A22F mov r26,r18 |
4373 229c BB27 clr r27 |
4374 229e AA0F add r26,r26 |
4375 22a0 BB1F adc r27,r27 |
4376 22a2 A050 subi r26,lo8(-(PPM_in)) |
4377 22a4 B040 sbci r27,hi8(-(PPM_in)) |
4378 22a6 8D91 ld r24,X+ |
4379 22a8 9C91 ld r25,X |
4380 22aa 1197 sbiw r26,1 |
4381 22ac 8734 cpi r24,71 |
4382 22ae 9105 cpc r25,__zero_reg__ |
4383 22b0 04F0 brlt .L399 |
4384 22b2 E32F mov r30,r19 |
4385 22b4 FF27 clr r31 |
4386 22b6 EE0F add r30,r30 |
4387 22b8 FF1F adc r31,r31 |
4388 22ba E050 subi r30,lo8(-(PPM_in)) |
4389 22bc F040 sbci r31,hi8(-(PPM_in)) |
4390 22be 8081 ld r24,Z |
4391 22c0 9181 ldd r25,Z+1 |
4392 .L399: |
4393 22c2 8D91 ld r24,X+ |
4394 22c4 9C91 ld r25,X |
4395 22c6 8734 cpi r24,71 |
4396 22c8 9105 cpc r25,__zero_reg__ |
4397 22ca 04F0 brlt .L400 |
4398 22cc 8091 0000 lds r24,EE_Parameter+1 |
4399 22d0 E82F mov r30,r24 |
4400 22d2 FF27 clr r31 |
4401 22d4 EE0F add r30,r30 |
4402 22d6 FF1F adc r31,r31 |
4403 22d8 E050 subi r30,lo8(-(PPM_in)) |
4404 22da F040 sbci r31,hi8(-(PPM_in)) |
4405 22dc 8081 ld r24,Z |
4406 22de 9181 ldd r25,Z+1 |
4407 22e0 8734 cpi r24,71 |
4408 22e2 9105 cpc r25,__zero_reg__ |
4409 22e4 04F0 brlt .L400 |
4410 22e6 42E0 ldi r20,lo8(2) |
4411 .L400: |
4412 22e8 E22F mov r30,r18 |
4413 22ea FF27 clr r31 |
4414 22ec EE0F add r30,r30 |
4415 22ee FF1F adc r31,r31 |
4416 22f0 E050 subi r30,lo8(-(PPM_in)) |
4417 22f2 F040 sbci r31,hi8(-(PPM_in)) |
4418 22f4 8081 ld r24,Z |
4419 22f6 9181 ldd r25,Z+1 |
4420 22f8 8634 cpi r24,70 |
4421 22fa 9105 cpc r25,__zero_reg__ |
4422 22fc 04F4 brge .L401 |
4423 22fe 8091 0000 lds r24,EE_Parameter+1 |
4424 2302 E82F mov r30,r24 |
4425 2304 FF27 clr r31 |
4426 2306 EE0F add r30,r30 |
4427 2308 FF1F adc r31,r31 |
4428 230a E050 subi r30,lo8(-(PPM_in)) |
4429 230c F040 sbci r31,hi8(-(PPM_in)) |
4430 230e 8081 ld r24,Z |
4431 2310 9181 ldd r25,Z+1 |
4432 2312 8734 cpi r24,71 |
4433 2314 9105 cpc r25,__zero_reg__ |
4434 2316 04F0 brlt .L401 |
4435 2318 43E0 ldi r20,lo8(3) |
4436 .L401: |
4437 231a E22F mov r30,r18 |
4438 231c FF27 clr r31 |
4439 231e EE0F add r30,r30 |
4440 2320 FF1F adc r31,r31 |
4441 2322 E050 subi r30,lo8(-(PPM_in)) |
4442 2324 F040 sbci r31,hi8(-(PPM_in)) |
4443 2326 8081 ld r24,Z |
4444 2328 9181 ldd r25,Z+1 |
4445 232a 8A5B subi r24,lo8(-70) |
4446 232c 9F4F sbci r25,hi8(-70) |
4447 232e 04F4 brge .L402 |
4448 2330 8091 0000 lds r24,EE_Parameter+1 |
4449 2334 E82F mov r30,r24 |
4450 2336 FF27 clr r31 |
4451 2338 EE0F add r30,r30 |
4452 233a FF1F adc r31,r31 |
4453 233c E050 subi r30,lo8(-(PPM_in)) |
4454 233e F040 sbci r31,hi8(-(PPM_in)) |
4455 2340 8081 ld r24,Z |
4456 2342 9181 ldd r25,Z+1 |
4457 2344 8734 cpi r24,71 |
4458 2346 9105 cpc r25,__zero_reg__ |
4459 2348 04F0 brlt .L402 |
4460 234a 44E0 ldi r20,lo8(4) |
4461 .L402: |
4462 234c E22F mov r30,r18 |
4463 234e FF27 clr r31 |
4464 2350 EE0F add r30,r30 |
4465 2352 FF1F adc r31,r31 |
4466 2354 E050 subi r30,lo8(-(PPM_in)) |
4467 2356 F040 sbci r31,hi8(-(PPM_in)) |
4468 2358 8081 ld r24,Z |
4469 235a 9181 ldd r25,Z+1 |
4470 235c 8A5B subi r24,lo8(-70) |
4471 235e 9F4F sbci r25,hi8(-70) |
4472 2360 04F4 brge .L403 |
4473 2362 8091 0000 lds r24,EE_Parameter+1 |
4474 2366 E82F mov r30,r24 |
4475 2368 FF27 clr r31 |
4476 236a EE0F add r30,r30 |
4477 236c FF1F adc r31,r31 |
4478 236e E050 subi r30,lo8(-(PPM_in)) |
4479 2370 F040 sbci r31,hi8(-(PPM_in)) |
4480 2372 8081 ld r24,Z |
4481 2374 9181 ldd r25,Z+1 |
4482 2376 8634 cpi r24,70 |
4483 2378 9105 cpc r25,__zero_reg__ |
4484 237a 04F4 brge .L403 |
4485 237c 45E0 ldi r20,lo8(5) |
4486 .L403: |
4487 237e 842F mov r24,r20 |
4488 2380 0E94 0000 call SetActiveParamSet |
4489 .L396: |
4490 2384 8091 0000 lds r24,EE_Parameter+2 |
4491 2388 E82F mov r30,r24 |
4492 238a FF27 clr r31 |
4493 238c EE0F add r30,r30 |
4494 238e FF1F adc r31,r31 |
4495 2390 E050 subi r30,lo8(-(PPM_in)) |
4496 2392 F040 sbci r31,hi8(-(PPM_in)) |
4497 2394 8081 ld r24,Z |
4498 2396 9181 ldd r25,Z+1 |
4499 2398 0190 ld __tmp_reg__,Z+ |
4500 239a F081 ld r31,Z |
4501 239c E02D mov r30,__tmp_reg__ |
4502 239e F7FF sbrs r31,7 |
4503 23a0 00C0 rjmp .L405 |
4504 23a2 F095 com r31 |
4505 23a4 E195 neg r30 |
4506 23a6 FF4F sbci r31,lo8(-1) |
4507 .L405: |
4508 23a8 7E97 sbiw r30,30 |
4509 23aa 04F4 brge .L404 |
4510 23ac 8091 0000 lds r24,EE_Parameter+1 |
4511 23b0 E82F mov r30,r24 |
4512 23b2 FF27 clr r31 |
4513 23b4 EE0F add r30,r30 |
4514 23b6 FF1F adc r31,r31 |
4515 23b8 E050 subi r30,lo8(-(PPM_in)) |
4516 23ba F040 sbci r31,hi8(-(PPM_in)) |
4517 23bc 8081 ld r24,Z |
4518 23be 9181 ldd r25,Z+1 |
4519 23c0 8A5B subi r24,lo8(-70) |
4520 23c2 9F4F sbci r25,hi8(-70) |
4521 23c4 04F4 brge .L404 |
4522 23c6 81E0 ldi r24,lo8(1) |
4523 23c8 8093 0000 sts WinkelOut+6,r24 |
4524 23cc 1092 0000 sts CalibrationDone,__zero_reg__ |
4525 23d0 88EE ldi r24,lo8(1000) |
4526 23d2 93E0 ldi r25,hi8(1000) |
4527 23d4 9093 0000 sts (beeptime)+1,r25 |
4528 23d8 8093 0000 sts beeptime,r24 |
4529 23dc 00C0 rjmp .L393 |
4530 .L404: |
4531 23de 0E94 0000 call GetActiveParamSet |
4532 23e2 0E94 0000 call ParamSet_ReadFromEEProm |
4533 23e6 80E0 ldi r24,lo8(0) |
4534 23e8 0E94 0000 call LipoDetection |
4535 23ec 8091 0000 lds r24,EE_Parameter+39 |
4536 23f0 0E94 0000 call LIBFC_ReceiverInit |
4537 23f4 8091 0000 lds r24,Parameter_GlobalConfig |
4538 23f8 80FF sbrs r24,0 |
4539 23fa 00C0 rjmp .L407 |
4540 23fc 8091 0000 lds r24,MessLuftdruck |
4541 2400 9091 0000 lds r25,(MessLuftdruck)+1 |
4542 2404 875B subi r24,lo8(951) |
4543 2406 9340 sbci r25,hi8(951) |
4544 2408 00F4 brsh .L409 |
4545 240a 8091 0000 lds r24,MessLuftdruck |
4546 240e 9091 0000 lds r25,(MessLuftdruck)+1 |
4547 2412 8E5E subi r24,lo8(750) |
4548 2414 9240 sbci r25,hi8(750) |
4549 2416 00F4 brsh .L407 |
4550 .L409: |
4551 2418 0E94 0000 call SucheLuftruckOffset |
4552 .L407: |
4553 241c 80E0 ldi r24,lo8(0) |
4554 241e 0E94 0000 call SetNeutral |
4555 2422 81E0 ldi r24,lo8(1) |
4556 2424 8093 0000 sts CalibrationDone,r24 |
4557 2428 8093 0000 sts ServoActive,r24 |
4558 242c 579A sbi 42-0x20,7 |
4559 242e 00C0 rjmp .L894 |
4560 .L394: |
4561 2430 8081 ld r24,Z |
4562 2432 9181 ldd r25,Z+1 |
4563 2434 855B subi r24,lo8(-75) |
4564 2436 9F4F sbci r25,hi8(-75) |
4565 2438 04F4 brge .L411 |
4566 243a 8091 0000 lds r24,delay_neutral.6 |
4567 243e 8F5F subi r24,lo8(-(1)) |
4568 2440 8093 0000 sts delay_neutral.6,r24 |
4569 2444 893C cpi r24,lo8(-55) |
4570 2446 00F0 brlo .L393 |
4571 2448 2093 0000 sts MotorenEin,r18 |
4572 244c 2093 0000 sts delay_neutral.6,r18 |
4573 2450 1092 0000 sts (modell_fliegt)+1,__zero_reg__ |
4574 2454 1092 0000 sts modell_fliegt,__zero_reg__ |
4575 2458 81E0 ldi r24,lo8(1) |
4576 245a 0E94 0000 call SetNeutral |
4577 245e 81E0 ldi r24,lo8(1) |
4578 2460 8093 0000 sts CalibrationDone,r24 |
4579 .L894: |
4580 2464 88E1 ldi r24,lo8(24) |
4581 2466 8093 0000 sts SpeakHoTT,r24 |
4582 246a 0E94 0000 call GetActiveParamSet |
4583 246e 68E7 ldi r22,lo8(120) |
4584 2470 70E0 ldi r23,hi8(120) |
4585 2472 0E94 0000 call Piep |
4586 2476 00C0 rjmp .L393 |
4587 .L411: |
4588 2478 2093 0000 sts delay_neutral.6,r18 |
4589 .L393: |
4590 247c 8091 0000 lds r24,EE_Parameter+3 |
4591 2480 E82F mov r30,r24 |
4592 2482 FF27 clr r31 |
4593 2484 EE0F add r30,r30 |
4594 2486 FF1F adc r31,r31 |
4595 2488 E050 subi r30,lo8(-(PPM_in)) |
4596 248a F040 sbci r31,hi8(-(PPM_in)) |
4597 248c 8081 ld r24,Z |
4598 248e 9181 ldd r25,Z+1 |
4599 2490 8B5A subi r24,lo8(-85) |
4600 2492 9F4F sbci r25,hi8(-85) |
4601 2494 04F0 brlt .+2 |
4602 2496 00C0 rjmp .L414 |
4603 2498 2091 0000 lds r18,EE_Parameter+100 |
4604 249c E22F mov r30,r18 |
4605 249e FF27 clr r31 |
4606 24a0 EF77 andi r30,lo8(127) |
4607 24a2 F070 andi r31,hi8(127) |
4608 24a4 EE0F add r30,r30 |
4609 24a6 FF1F adc r31,r31 |
4610 24a8 E050 subi r30,lo8(-(PPM_diff)) |
4611 24aa F040 sbci r31,hi8(-(PPM_diff)) |
4612 24ac 8081 ld r24,Z |
4613 24ae 9181 ldd r25,Z+1 |
4614 24b0 0697 sbiw r24,6 |
4615 24b2 04F0 brlt .L415 |
4616 24b4 84E6 ldi r24,lo8(100) |
4617 24b6 00C0 rjmp .L895 |
4618 .L415: |
4619 24b8 8081 ld r24,Z |
4620 24ba 9181 ldd r25,Z+1 |
4621 24bc 8B5F subi r24,lo8(-5) |
4622 24be 9F4F sbci r25,hi8(-5) |
4623 24c0 04F4 brge .L416 |
4624 24c2 8CE9 ldi r24,lo8(-100) |
4625 .L895: |
4626 24c4 8093 0000 sts move_safety_switch.9,r24 |
4627 .L416: |
4628 24c8 8091 0000 lds r24,MotorenEin |
4629 24cc E091 0000 lds r30,EE_Parameter+4 |
4630 24d0 8823 tst r24 |
4631 24d2 01F0 breq .+2 |
4632 24d4 00C0 rjmp .L418 |
4633 24d6 FF27 clr r31 |
4634 24d8 EE0F add r30,r30 |
4635 24da FF1F adc r31,r31 |
4636 24dc E050 subi r30,lo8(-(PPM_in)) |
4637 24de F040 sbci r31,hi8(-(PPM_in)) |
4638 24e0 8081 ld r24,Z |
4639 24e2 9181 ldd r25,Z+1 |
4640 24e4 855B subi r24,lo8(-75) |
4641 24e6 9F4F sbci r25,hi8(-75) |
4642 24e8 04F4 brge .L421 |
4643 24ea 8091 0000 lds r24,EE_Parameter+111 |
4644 24ee 83FD sbrc r24,3 |
4645 24f0 00C0 rjmp .L422 |
4646 24f2 E22F mov r30,r18 |
4647 24f4 FF27 clr r31 |
4648 24f6 EE0F add r30,r30 |
4649 24f8 FF1F adc r31,r31 |
4650 24fa E050 subi r30,lo8(-(PPM_in)) |
4651 24fc F040 sbci r31,hi8(-(PPM_in)) |
4652 24fe 8081 ld r24,Z |
4653 2500 9181 ldd r25,Z+1 |
4654 2502 855B subi r24,lo8(-75) |
4655 2504 9F4F sbci r25,hi8(-75) |
4656 2506 04F0 brlt .L420 |
4657 .L422: |
4658 2508 8091 0000 lds r24,EE_Parameter+100 |
4659 250c 8823 tst r24 |
4660 250e 01F0 breq .L420 |
4661 .L421: |
4662 2510 8091 0000 lds r24,EE_Parameter+111 |
4663 2514 83FF sbrs r24,3 |
4664 2516 00C0 rjmp .L419 |
4665 2518 8091 0000 lds r24,EE_Parameter+100 |
4666 251c E82F mov r30,r24 |
4667 251e FF27 clr r31 |
4668 2520 EE0F add r30,r30 |
4669 2522 FF1F adc r31,r31 |
4670 2524 E050 subi r30,lo8(-(PPM_in)) |
4671 2526 F040 sbci r31,hi8(-(PPM_in)) |
4672 2528 8081 ld r24,Z |
4673 252a 9181 ldd r25,Z+1 |
4674 252c 875F subi r24,lo8(-9) |
4675 252e 9F4F sbci r25,hi8(-9) |
4676 2530 04F4 brge .+2 |
4677 2532 00C0 rjmp .L419 |
4678 2534 8091 0000 lds r24,move_safety_switch.9 |
4679 2538 8436 cpi r24,lo8(100) |
4680 253a 01F0 breq .+2 |
4681 253c 00C0 rjmp .L419 |
4682 .L420: |
4683 253e 2091 0000 lds r18,CalibrationDone |
4684 2542 2223 tst r18 |
4685 2544 01F0 breq .L423 |
4686 2546 8091 0000 lds r24,FC_StatusFlags |
4687 254a 8860 ori r24,lo8(8) |
4688 254c 8093 0000 sts FC_StatusFlags,r24 |
4689 .L423: |
4690 2550 8091 0000 lds r24,delay_einschalten.7 |
4691 2554 8F5F subi r24,lo8(-(1)) |
4692 2556 8093 0000 sts delay_einschalten.7,r24 |
4693 255a 8E3F cpi r24,lo8(-2) |
4694 255c 00F4 brsh .+2 |
4695 255e 00C0 rjmp .L429 |
4696 2560 1092 0000 sts delay_einschalten.7,__zero_reg__ |
4697 2564 8091 0000 lds r24,VersionInfo+5 |
4698 2568 8823 tst r24 |
4699 256a 01F0 breq .+2 |
4700 256c 00C0 rjmp .L425 |
4701 256e 2223 tst r18 |
4702 2570 01F4 brne .+2 |
4703 2572 00C0 rjmp .L425 |
4704 2574 8091 0000 lds r24,NC_ErrorCode |
4705 2578 8823 tst r24 |
4706 257a 01F0 breq .+2 |
4707 257c 00C0 rjmp .L425 |
4708 257e 81E0 ldi r24,lo8(1) |
4709 2580 90E0 ldi r25,hi8(1) |
4710 2582 9093 0000 sts (modell_fliegt)+1,r25 |
4711 2586 8093 0000 sts modell_fliegt,r24 |
4712 258a 81E0 ldi r24,lo8(1) |
4713 258c 8093 0000 sts MotorenEin,r24 |
4714 2590 1092 0000 sts sollGier.0,__zero_reg__ |
4715 2594 1092 0000 sts (sollGier.0)+1,__zero_reg__ |
4716 2598 1092 0000 sts (sollGier.0)+2,__zero_reg__ |
4717 259c 1092 0000 sts (sollGier.0)+3,__zero_reg__ |
4718 25a0 1092 0000 sts Mess_Integral_Gier,__zero_reg__ |
4719 25a4 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__ |
4720 25a8 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__ |
4721 25ac 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__ |
4722 25b0 1092 0000 sts Mess_Integral_Gier2,__zero_reg__ |
4723 25b4 1092 0000 sts (Mess_Integral_Gier2)+1,__zero_reg__ |
4724 25b8 1092 0000 sts (Mess_Integral_Gier2)+2,__zero_reg__ |
4725 25bc 1092 0000 sts (Mess_Integral_Gier2)+3,__zero_reg__ |
4726 25c0 8091 0000 lds r24,EE_Parameter+28 |
4727 25c4 E82E mov r14,r24 |
4728 25c6 FF24 clr r15 |
4729 25c8 0027 clr r16 |
4730 25ca 1127 clr r17 |
4731 25cc 8091 0000 lds r24,Mittelwert_AccNick |
4732 25d0 9091 0000 lds r25,(Mittelwert_AccNick)+1 |
4733 25d4 9C01 movw r18,r24 |
4734 25d6 4427 clr r20 |
4735 25d8 37FD sbrc r19,7 |
4736 25da 4095 com r20 |
4737 25dc 542F mov r21,r20 |
4738 25de C801 movw r24,r16 |
4739 25e0 B701 movw r22,r14 |
4740 25e2 0E94 0000 call __mulsi3 |
4741 25e6 DC01 movw r26,r24 |
4742 25e8 CB01 movw r24,r22 |
4743 25ea 8093 0000 sts Mess_IntegralNick,r24 |
4744 25ee 9093 0000 sts (Mess_IntegralNick)+1,r25 |
4745 25f2 A093 0000 sts (Mess_IntegralNick)+2,r26 |
4746 25f6 B093 0000 sts (Mess_IntegralNick)+3,r27 |
4747 25fa 8091 0000 lds r24,Mittelwert_AccRoll |
4748 25fe 9091 0000 lds r25,(Mittelwert_AccRoll)+1 |
4749 2602 9C01 movw r18,r24 |
4750 2604 4427 clr r20 |
4751 2606 37FD sbrc r19,7 |
4752 2608 4095 com r20 |
4753 260a 542F mov r21,r20 |
4754 260c C801 movw r24,r16 |
4755 260e B701 movw r22,r14 |
4756 2610 0E94 0000 call __mulsi3 |
4757 2614 DC01 movw r26,r24 |
4758 2616 CB01 movw r24,r22 |
4759 2618 8093 0000 sts Mess_IntegralRoll,r24 |
4760 261c 9093 0000 sts (Mess_IntegralRoll)+1,r25 |
4761 2620 A093 0000 sts (Mess_IntegralRoll)+2,r26 |
4762 2624 B093 0000 sts (Mess_IntegralRoll)+3,r27 |
4763 2628 8091 0000 lds r24,IntegralNick |
4764 262c 9091 0000 lds r25,(IntegralNick)+1 |
4765 2630 A091 0000 lds r26,(IntegralNick)+2 |
4766 2634 B091 0000 lds r27,(IntegralNick)+3 |
4767 2638 8093 0000 sts Mess_IntegralNick2,r24 |
4768 263c 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
4769 2640 A093 0000 sts (Mess_IntegralNick2)+2,r26 |
4770 2644 B093 0000 sts (Mess_IntegralNick2)+3,r27 |
4771 2648 8091 0000 lds r24,IntegralRoll |
4772 264c 9091 0000 lds r25,(IntegralRoll)+1 |
4773 2650 A091 0000 lds r26,(IntegralRoll)+2 |
4774 2654 B091 0000 lds r27,(IntegralRoll)+3 |
4775 2658 8093 0000 sts Mess_IntegralRoll2,r24 |
4776 265c 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
4777 2660 A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
4778 2664 B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
4779 2668 1092 0000 sts SummeNick,__zero_reg__ |
4780 266c 1092 0000 sts (SummeNick)+1,__zero_reg__ |
4781 2670 1092 0000 sts (SummeNick)+2,__zero_reg__ |
4782 2674 1092 0000 sts (SummeNick)+3,__zero_reg__ |
4783 2678 1092 0000 sts SummeRoll,__zero_reg__ |
4784 267c 1092 0000 sts (SummeRoll)+1,__zero_reg__ |
4785 2680 1092 0000 sts (SummeRoll)+2,__zero_reg__ |
4786 2684 1092 0000 sts (SummeRoll)+3,__zero_reg__ |
4787 2688 84E6 ldi r24,lo8(100) |
4788 268a 8093 0000 sts NeueKompassRichtungMerken,r24 |
4789 268e 84E3 ldi r24,lo8(52) |
4790 2690 00C0 rjmp .L896 |
4791 .L425: |
4792 2692 8CED ldi r24,lo8(1500) |
4793 2694 95E0 ldi r25,hi8(1500) |
4794 2696 9093 0000 sts (beeptime)+1,r25 |
4795 269a 8093 0000 sts beeptime,r24 |
4796 269e 2223 tst r18 |
4797 26a0 01F0 breq .+2 |
4798 26a2 00C0 rjmp .L429 |
4799 26a4 81E0 ldi r24,lo8(1) |
4800 26a6 00C0 rjmp .L896 |
4801 .L419: |
4802 26a8 1092 0000 sts delay_einschalten.7,__zero_reg__ |
4803 26ac 00C0 rjmp .L429 |
4804 .L418: |
4805 26ae FF27 clr r31 |
4806 26b0 EE0F add r30,r30 |
4807 26b2 FF1F adc r31,r31 |
4808 26b4 E050 subi r30,lo8(-(PPM_in)) |
4809 26b6 F040 sbci r31,hi8(-(PPM_in)) |
4810 26b8 8081 ld r24,Z |
4811 26ba 9181 ldd r25,Z+1 |
4812 26bc 8C34 cpi r24,76 |
4813 26be 9105 cpc r25,__zero_reg__ |
4814 26c0 04F0 brlt .L432 |
4815 26c2 8091 0000 lds r24,EE_Parameter+111 |
4816 26c6 83FD sbrc r24,3 |
4817 26c8 00C0 rjmp .L433 |
4818 26ca E22F mov r30,r18 |
4819 26cc FF27 clr r31 |
4820 26ce EE0F add r30,r30 |
4821 26d0 FF1F adc r31,r31 |
4822 26d2 E050 subi r30,lo8(-(PPM_in)) |
4823 26d4 F040 sbci r31,hi8(-(PPM_in)) |
4824 26d6 8081 ld r24,Z |
4825 26d8 9181 ldd r25,Z+1 |
4826 26da 855B subi r24,lo8(-75) |
4827 26dc 9F4F sbci r25,hi8(-75) |
4828 26de 04F0 brlt .L431 |
4829 .L433: |
4830 26e0 8091 0000 lds r24,EE_Parameter+100 |
4831 26e4 8823 tst r24 |
4832 26e6 01F0 breq .L431 |
4833 .L432: |
4834 26e8 8091 0000 lds r24,EE_Parameter+111 |
4835 26ec 83FF sbrs r24,3 |
4836 26ee 00C0 rjmp .L430 |
4837 26f0 8091 0000 lds r24,EE_Parameter+100 |
4838 26f4 E82F mov r30,r24 |
4839 26f6 FF27 clr r31 |
4840 26f8 EE0F add r30,r30 |
4841 26fa FF1F adc r31,r31 |
4842 26fc E050 subi r30,lo8(-(PPM_in)) |
4843 26fe F040 sbci r31,hi8(-(PPM_in)) |
4844 2700 8081 ld r24,Z |
4845 2702 9181 ldd r25,Z+1 |
4846 2704 8E5C subi r24,lo8(-50) |
4847 2706 9F4F sbci r25,hi8(-50) |
4848 2708 04F4 brge .L430 |
4849 270a 8091 0000 lds r24,move_safety_switch.9 |
4850 270e 8C39 cpi r24,lo8(-100) |
4851 2710 01F4 brne .L430 |
4852 .L431: |
4853 2712 8091 0000 lds r24,delay_ausschalten.8 |
4854 2716 8F5F subi r24,lo8(-(1)) |
4855 2718 8093 0000 sts delay_ausschalten.8,r24 |
4856 271c 8B3F cpi r24,lo8(-5) |
4857 271e 00F0 brlo .L429 |
4858 2720 1092 0000 sts MotorenEin,__zero_reg__ |
4859 2724 1092 0000 sts delay_ausschalten.8,__zero_reg__ |
4860 2728 1092 0000 sts (modell_fliegt)+1,__zero_reg__ |
4861 272c 1092 0000 sts modell_fliegt,__zero_reg__ |
4862 2730 86E2 ldi r24,lo8(38) |
4863 .L896: |
4864 2732 8093 0000 sts SpeakHoTT,r24 |
4865 2736 00C0 rjmp .L429 |
4866 .L430: |
4867 2738 1092 0000 sts delay_ausschalten.8,__zero_reg__ |
4868 .L429: |
4869 273c 8091 0000 lds r24,GasIsZeroCnt |
4870 2740 9091 0000 lds r25,(GasIsZeroCnt)+1 |
4871 2744 13E0 ldi r17,hi8(1000) |
4872 2746 883E cpi r24,lo8(1000) |
4873 2748 9107 cpc r25,r17 |
4874 274a 00F4 brsh .L387 |
4875 274c 0196 adiw r24,1 |
4876 274e 9093 0000 sts (GasIsZeroCnt)+1,r25 |
4877 2752 8093 0000 sts GasIsZeroCnt,r24 |
4878 2756 00C0 rjmp .L387 |
4879 .L414: |
4880 2758 1092 0000 sts move_safety_switch.9,__zero_reg__ |
4881 275c 1092 0000 sts (GasIsZeroCnt)+1,__zero_reg__ |
4882 2760 1092 0000 sts GasIsZeroCnt,__zero_reg__ |
4883 2764 00C0 rjmp .L387 |
4884 .L388: |
4885 2766 2E5E subi r18,lo8(750) |
4886 2768 3240 sbci r19,hi8(750) |
4887 276a 00F0 brlo .L387 |
4888 276c 8091 0000 lds r24,GPSInfo+4 |
4889 2770 9091 0000 lds r25,(GPSInfo+4)+1 |
4890 2774 8059 subi r24,lo8(400) |
4891 2776 9140 sbci r25,hi8(400) |
4892 2778 00F4 brsh .L387 |
4893 277a 8091 0000 lds r24,HoehenWert |
4894 277e 9091 0000 lds r25,(HoehenWert)+1 |
4895 2782 A091 0000 lds r26,(HoehenWert)+2 |
4896 2786 B091 0000 lds r27,(HoehenWert)+3 |
4897 278a 8C5D subi r24,lo8(1500) |
4898 278c 9540 sbci r25,hi8(1500) |
4899 278e A040 sbci r26,hlo8(1500) |
4900 2790 B040 sbci r27,hhi8(1500) |
4901 2792 04F4 brge .L387 |
4902 2794 80E3 ldi r24,lo8(30000) |
4903 2796 95E7 ldi r25,hi8(30000) |
4904 2798 9093 0000 sts (GasIsZeroCnt)+1,r25 |
4905 279c 8093 0000 sts GasIsZeroCnt,r24 |
4906 27a0 8091 0000 lds r24,modell_fliegt |
4907 27a4 9091 0000 lds r25,(modell_fliegt)+1 |
4908 27a8 8A5E subi r24,lo8(1002) |
4909 27aa 9340 sbci r25,hi8(1002) |
4910 27ac 00F0 brlo .L387 |
4911 27ae 89EE ldi r24,lo8(1001) |
4912 27b0 93E0 ldi r25,hi8(1001) |
4913 27b2 9093 0000 sts (modell_fliegt)+1,r25 |
4914 27b6 8093 0000 sts modell_fliegt,r24 |
4915 .L387: |
4916 27ba 8091 0000 lds r24,NewPpmData |
4917 27be 8150 subi r24,lo8(-(-1)) |
4918 27c0 8093 0000 sts NewPpmData,r24 |
4919 27c4 8091 0000 lds r24,NewPpmData |
4920 27c8 8F3F cpi r24,lo8(-1) |
4921 27ca 01F0 breq .L443 |
4922 27cc 8091 0000 lds r24,FC_StatusFlags |
4923 27d0 84FF sbrs r24,4 |
4924 27d2 00C0 rjmp .L442 |
4925 .L443: |
4926 27d4 0E94 0000 call ParameterZuordnung |
4927 27d8 B090 0000 lds r11,EE_Parameter+23 |
4928 27dc 8091 0000 lds r24,stick_nick.12 |
4929 27e0 9091 0000 lds r25,(stick_nick.12)+1 |
4930 27e4 9C01 movw r18,r24 |
4931 27e6 220F lsl r18 |
4932 27e8 331F rol r19 |
4933 27ea 280F add r18,r24 |
4934 27ec 391F adc r19,r25 |
4935 27ee C090 0000 lds r12,EE_Parameter+1 |
4936 27f2 AC2D mov r26,r12 |
4937 27f4 BB27 clr r27 |
4938 27f6 AA0F add r26,r26 |
4939 27f8 BB1F adc r27,r27 |
4940 27fa FD01 movw r30,r26 |
4941 27fc E050 subi r30,lo8(-(PPM_in)) |
4942 27fe F040 sbci r31,hi8(-(PPM_in)) |
4943 2800 4B2D mov r20,r11 |
4944 2802 5527 clr r21 |
4945 2804 8081 ld r24,Z |
4946 2806 9181 ldd r25,Z+1 |
4947 2808 849F mul r24,r20 |
4948 280a F001 movw r30,r0 |
4949 280c 859F mul r24,r21 |
4950 280e F00D add r31,r0 |
4951 2810 949F mul r25,r20 |
4952 2812 F00D add r31,r0 |
4953 2814 1124 clr r1 |
4954 2816 2E0F add r18,r30 |
4955 2818 3F1F adc r19,r31 |
4956 281a 37FF sbrs r19,7 |
4957 281c 00C0 rjmp .L444 |
4958 281e 2D5F subi r18,lo8(-(3)) |
4959 2820 3F4F sbci r19,hi8(-(3)) |
4960 .L444: |
4961 2822 B901 movw r22,r18 |
4962 2824 7595 asr r23 |
4963 2826 6795 ror r22 |
4964 2828 7595 asr r23 |
4965 282a 6795 ror r22 |
4966 282c A050 subi r26,lo8(-(PPM_diff)) |
4967 282e B040 sbci r27,hi8(-(PPM_diff)) |
4968 2830 8091 0000 lds r24,EE_Parameter+24 |
4969 2834 082F mov r16,r24 |
4970 2836 1127 clr r17 |
4971 2838 8D91 ld r24,X+ |
4972 283a 9C91 ld r25,X |
4973 283c 809F mul r24,r16 |
4974 283e 7001 movw r14,r0 |
4975 2840 819F mul r24,r17 |
4976 2842 F00C add r15,r0 |
4977 2844 909F mul r25,r16 |
4978 2846 F00C add r15,r0 |
4979 2848 1124 clr r1 |
4980 284a 6E0D add r22,r14 |
4981 284c 7F1D adc r23,r15 |
4982 284e 7093 0000 sts (stick_nick.12)+1,r23 |
4983 2852 6093 0000 sts stick_nick.12,r22 |
4984 2856 8091 0000 lds r24,stick_roll.13 |
4985 285a 9091 0000 lds r25,(stick_roll.13)+1 |
4986 285e 9C01 movw r18,r24 |
4987 2860 220F lsl r18 |
4988 2862 331F rol r19 |
4989 2864 280F add r18,r24 |
4990 2866 391F adc r19,r25 |
4991 2868 D090 0000 lds r13,EE_Parameter+2 |
4992 286c AD2D mov r26,r13 |
4993 286e BB27 clr r27 |
4994 2870 AA0F add r26,r26 |
4995 2872 BB1F adc r27,r27 |
4996 2874 FD01 movw r30,r26 |
4997 2876 E050 subi r30,lo8(-(PPM_in)) |
4998 2878 F040 sbci r31,hi8(-(PPM_in)) |
4999 287a 8081 ld r24,Z |
5000 287c 9181 ldd r25,Z+1 |
5001 287e 849F mul r24,r20 |
5002 2880 F001 movw r30,r0 |
5003 2882 859F mul r24,r21 |
5004 2884 F00D add r31,r0 |
5005 2886 949F mul r25,r20 |
5006 2888 F00D add r31,r0 |
5007 288a 1124 clr r1 |
5008 288c 2E0F add r18,r30 |
5009 288e 3F1F adc r19,r31 |
5010 2890 37FF sbrs r19,7 |
5011 2892 00C0 rjmp .L445 |
5012 2894 2D5F subi r18,lo8(-(3)) |
5013 2896 3F4F sbci r19,hi8(-(3)) |
5014 .L445: |
5015 2898 A901 movw r20,r18 |
5016 289a 5595 asr r21 |
5017 289c 4795 ror r20 |
5018 289e 5595 asr r21 |
5019 28a0 4795 ror r20 |
5020 28a2 A050 subi r26,lo8(-(PPM_diff)) |
5021 28a4 B040 sbci r27,hi8(-(PPM_diff)) |
5022 28a6 8D91 ld r24,X+ |
5023 28a8 9C91 ld r25,X |
5024 28aa 809F mul r24,r16 |
5025 28ac 7001 movw r14,r0 |
5026 28ae 819F mul r24,r17 |
5027 28b0 F00C add r15,r0 |
5028 28b2 909F mul r25,r16 |
5029 28b4 F00C add r15,r0 |
5030 28b6 1124 clr r1 |
5031 28b8 4E0D add r20,r14 |
5032 28ba 5F1D adc r21,r15 |
5033 28bc 5093 0000 sts (stick_roll.13)+1,r21 |
5034 28c0 4093 0000 sts stick_roll.13,r20 |
5035 28c4 8091 0000 lds r24,CareFree |
5036 28c8 8823 tst r24 |
5037 28ca 01F4 brne .+2 |
5038 28cc 00C0 rjmp .L446 |
5039 28ce CB01 movw r24,r22 |
5040 28d0 77FD sbrc r23,7 |
5041 28d2 0396 adiw r24,3 |
5042 .L447: |
5043 28d4 DC01 movw r26,r24 |
5044 28d6 B595 asr r27 |
5045 28d8 A795 ror r26 |
5046 28da B595 asr r27 |
5047 28dc A795 ror r26 |
5048 28de CA01 movw r24,r20 |
5049 28e0 57FD sbrc r21,7 |
5050 28e2 0396 adiw r24,3 |
5051 .L448: |
5052 28e4 FC01 movw r30,r24 |
5053 28e6 F595 asr r31 |
5054 28e8 E795 ror r30 |
5055 28ea F595 asr r31 |
5056 28ec E795 ror r30 |
5057 28ee 8091 0000 lds r24,FromNC_Rotate_C |
5058 28f2 682F mov r22,r24 |
5059 28f4 7727 clr r23 |
5060 28f6 67FD sbrc r22,7 |
5061 28f8 7095 com r23 |
5062 28fa 6A9F mul r22,r26 |
5063 28fc 9001 movw r18,r0 |
5064 28fe 6B9F mul r22,r27 |
5065 2900 300D add r19,r0 |
5066 2902 7A9F mul r23,r26 |
5067 2904 300D add r19,r0 |
5068 2906 1124 clr r1 |
5069 2908 8091 0000 lds r24,FromNC_Rotate_S |
5070 290c 482F mov r20,r24 |
5071 290e 5527 clr r21 |
5072 2910 47FD sbrc r20,7 |
5073 2912 5095 com r21 |
5074 2914 4E9F mul r20,r30 |
5075 2916 C001 movw r24,r0 |
5076 2918 4F9F mul r20,r31 |
5077 291a 900D add r25,r0 |
5078 291c 5E9F mul r21,r30 |
5079 291e 900D add r25,r0 |
5080 2920 1124 clr r1 |
5081 2922 280F add r18,r24 |
5082 2924 391F adc r19,r25 |
5083 2926 37FF sbrs r19,7 |
5084 2928 00C0 rjmp .L449 |
5085 292a 295F subi r18,lo8(-(7)) |
5086 292c 3F4F sbci r19,hi8(-(7)) |
5087 .L449: |
5088 292e 93E0 ldi r25,3 |
5089 2930 3595 1: asr r19 |
5090 2932 2795 ror r18 |
5091 2934 9A95 dec r25 |
5092 2936 01F4 brne 1b |
5093 2938 3093 0000 sts (StickNick)+1,r19 |
5094 293c 2093 0000 sts StickNick,r18 |
5095 2940 6E9F mul r22,r30 |
5096 2942 9001 movw r18,r0 |
5097 2944 6F9F mul r22,r31 |
5098 2946 300D add r19,r0 |
5099 2948 7E9F mul r23,r30 |
5100 294a 300D add r19,r0 |
5101 294c 1124 clr r1 |
5102 294e 4A9F mul r20,r26 |
5103 2950 C001 movw r24,r0 |
5104 2952 4B9F mul r20,r27 |
5105 2954 900D add r25,r0 |
5106 2956 5A9F mul r21,r26 |
5107 2958 900D add r25,r0 |
5108 295a 1124 clr r1 |
5109 295c 00C0 rjmp .L925 |
5110 .L446: |
5111 295e 8091 0000 lds r24,EE_Parameter+98 |
5112 2962 E82F mov r30,r24 |
5113 2964 FF27 clr r31 |
5114 2966 E050 subi r30,lo8(-(sintab)) |
5115 2968 F040 sbci r31,hi8(-(sintab)) |
5116 296a 8681 ldd r24,Z+6 |
5117 296c 8093 0000 sts FromNC_Rotate_C,r24 |
5118 2970 9081 ld r25,Z |
5119 2972 9093 0000 sts FromNC_Rotate_S,r25 |
5120 2976 A82F mov r26,r24 |
5121 2978 BB27 clr r27 |
5122 297a A7FD sbrc r26,7 |
5123 297c B095 com r27 |
5124 297e A69F mul r26,r22 |
5125 2980 9001 movw r18,r0 |
5126 2982 A79F mul r26,r23 |
5127 2984 300D add r19,r0 |
5128 2986 B69F mul r27,r22 |
5129 2988 300D add r19,r0 |
5130 298a 1124 clr r1 |
5131 298c E92F mov r30,r25 |
5132 298e FF27 clr r31 |
5133 2990 E7FD sbrc r30,7 |
5134 2992 F095 com r31 |
5135 2994 E49F mul r30,r20 |
5136 2996 C001 movw r24,r0 |
5137 2998 E59F mul r30,r21 |
5138 299a 900D add r25,r0 |
5139 299c F49F mul r31,r20 |
5140 299e 900D add r25,r0 |
5141 29a0 1124 clr r1 |
5142 29a2 280F add r18,r24 |
5143 29a4 391F adc r19,r25 |
5144 29a6 37FF sbrs r19,7 |
5145 29a8 00C0 rjmp .L452 |
5146 29aa 295F subi r18,lo8(-(7)) |
5147 29ac 3F4F sbci r19,hi8(-(7)) |
5148 .L452: |
5149 29ae 83E0 ldi r24,3 |
5150 29b0 3595 1: asr r19 |
5151 29b2 2795 ror r18 |
5152 29b4 8A95 dec r24 |
5153 29b6 01F4 brne 1b |
5154 29b8 3093 0000 sts (StickNick)+1,r19 |
5155 29bc 2093 0000 sts StickNick,r18 |
5156 29c0 A49F mul r26,r20 |
5157 29c2 9001 movw r18,r0 |
5158 29c4 A59F mul r26,r21 |
5159 29c6 300D add r19,r0 |
5160 29c8 B49F mul r27,r20 |
5161 29ca 300D add r19,r0 |
5162 29cc 1124 clr r1 |
5163 29ce E69F mul r30,r22 |
5164 29d0 C001 movw r24,r0 |
5165 29d2 E79F mul r30,r23 |
5166 29d4 900D add r25,r0 |
5167 29d6 F69F mul r31,r22 |
5168 29d8 900D add r25,r0 |
5169 29da 1124 clr r1 |
5170 .L925: |
5171 29dc 281B sub r18,r24 |
5172 29de 390B sbc r19,r25 |
5173 29e0 37FF sbrs r19,7 |
5174 29e2 00C0 rjmp .L453 |
5175 29e4 295F subi r18,lo8(-(7)) |
5176 29e6 3F4F sbci r19,hi8(-(7)) |
5177 .L453: |
5178 29e8 03E0 ldi r16,3 |
5179 29ea 3595 1: asr r19 |
5180 29ec 2795 ror r18 |
5181 29ee 0A95 dec r16 |
5182 29f0 01F4 brne 1b |
5183 29f2 3093 0000 sts (StickRoll)+1,r19 |
5184 29f6 2093 0000 sts StickRoll,r18 |
5185 29fa 8091 0000 lds r24,EE_Parameter+4 |
5186 29fe E82F mov r30,r24 |
5187 2a00 FF27 clr r31 |
5188 2a02 EE0F add r30,r30 |
5189 2a04 FF1F adc r31,r31 |
5190 2a06 E050 subi r30,lo8(-(PPM_in)) |
5191 2a08 F040 sbci r31,hi8(-(PPM_in)) |
5192 2a0a 8081 ld r24,Z |
5193 2a0c 9181 ldd r25,Z+1 |
5194 2a0e 9095 com r25 |
5195 2a10 8195 neg r24 |
5196 2a12 9F4F sbci r25,lo8(-1) |
5197 2a14 9093 0000 sts (StickGier)+1,r25 |
5198 2a18 8093 0000 sts StickGier,r24 |
5199 2a1c 8530 cpi r24,5 |
5200 2a1e 9105 cpc r25,__zero_reg__ |
5201 2a20 04F0 brlt .L454 |
5202 2a22 0497 sbiw r24,4 |
5203 2a24 00C0 rjmp .L897 |
5204 .L454: |
5205 2a26 0FEF ldi r16,hi8(-4) |
5206 2a28 8C3F cpi r24,lo8(-4) |
5207 2a2a 9007 cpc r25,r16 |
5208 2a2c 04F4 brge .L456 |
5209 2a2e 0496 adiw r24,4 |
5210 .L897: |
5211 2a30 9093 0000 sts (StickGier)+1,r25 |
5212 2a34 8093 0000 sts StickGier,r24 |
5213 2a38 00C0 rjmp .L455 |
5214 .L456: |
5215 2a3a 1092 0000 sts (StickGier)+1,__zero_reg__ |
5216 2a3e 1092 0000 sts StickGier,__zero_reg__ |
5217 .L455: |
5218 2a42 8091 0000 lds r24,GPS_Aid_StickMultiplikator |
5219 2a46 8823 tst r24 |
5220 2a48 01F4 brne .+2 |
5221 2a4a 00C0 rjmp .L458 |
5222 2a4c 282F mov r18,r24 |
5223 2a4e 3327 clr r19 |
5224 2a50 8091 0000 lds r24,StickNick |
5225 2a54 9091 0000 lds r25,(StickNick)+1 |
5226 2a58 97FD sbrc r25,7 |
5227 2a5a 0796 adiw r24,7 |
5228 .L459: |
5229 2a5c 13E0 ldi r17,3 |
5230 2a5e 9595 1: asr r25 |
5231 2a60 8795 ror r24 |
5232 2a62 1A95 dec r17 |
5233 2a64 01F4 brne 1b |
5234 2a66 289F mul r18,r24 |
5235 2a68 A001 movw r20,r0 |
5236 2a6a 299F mul r18,r25 |
5237 2a6c 500D add r21,r0 |
5238 2a6e 389F mul r19,r24 |
5239 2a70 500D add r21,r0 |
5240 2a72 1124 clr r1 |
5241 2a74 CA01 movw r24,r20 |
5242 2a76 57FD sbrc r21,7 |
5243 2a78 0F96 adiw r24,15 |
5244 .L460: |
5245 2a7a B4E0 ldi r27,4 |
5246 2a7c 9595 1: asr r25 |
5247 2a7e 8795 ror r24 |
5248 2a80 BA95 dec r27 |
5249 2a82 01F4 brne 1b |
5250 2a84 9093 0000 sts (StickNick)+1,r25 |
5251 2a88 8093 0000 sts StickNick,r24 |
5252 2a8c 8091 0000 lds r24,StickRoll |
5253 2a90 9091 0000 lds r25,(StickRoll)+1 |
5254 2a94 97FD sbrc r25,7 |
5255 2a96 0796 adiw r24,7 |
5256 .L461: |
5257 2a98 A3E0 ldi r26,3 |
5258 2a9a 9595 1: asr r25 |
5259 2a9c 8795 ror r24 |
5260 2a9e AA95 dec r26 |
5261 2aa0 01F4 brne 1b |
5262 2aa2 289F mul r18,r24 |
5263 2aa4 B001 movw r22,r0 |
5264 2aa6 299F mul r18,r25 |
5265 2aa8 700D add r23,r0 |
5266 2aaa 389F mul r19,r24 |
5267 2aac 700D add r23,r0 |
5268 2aae 1124 clr r1 |
5269 2ab0 CB01 movw r24,r22 |
5270 2ab2 77FD sbrc r23,7 |
5271 2ab4 0F96 adiw r24,15 |
5272 .L462: |
5273 2ab6 F4E0 ldi r31,4 |
5274 2ab8 9595 1: asr r25 |
5275 2aba 8795 ror r24 |
5276 2abc FA95 dec r31 |
5277 2abe 01F4 brne 1b |
5278 2ac0 9093 0000 sts (StickRoll)+1,r25 |
5279 2ac4 8093 0000 sts StickRoll,r24 |
5280 .L458: |
5281 2ac8 8090 0000 lds r8,StickNick |
5282 2acc 9090 0000 lds r9,(StickNick)+1 |
5283 2ad0 8091 0000 lds r24,GPS_Nick |
5284 2ad4 9091 0000 lds r25,(GPS_Nick)+1 |
5285 2ad8 881A sub r8,r24 |
5286 2ada 990A sbc r9,r25 |
5287 2adc 9092 0000 sts (StickNick)+1,r9 |
5288 2ae0 8092 0000 sts StickNick,r8 |
5289 2ae4 0091 0000 lds r16,StickRoll |
5290 2ae8 1091 0000 lds r17,(StickRoll)+1 |
5291 2aec 8091 0000 lds r24,GPS_Roll |
5292 2af0 9091 0000 lds r25,(GPS_Roll)+1 |
5293 2af4 081B sub r16,r24 |
5294 2af6 190B sbc r17,r25 |
5295 2af8 1093 0000 sts (StickRoll)+1,r17 |
5296 2afc 0093 0000 sts StickRoll,r16 |
5297 2b00 8091 0000 lds r24,EE_Parameter+3 |
5298 2b04 E82F mov r30,r24 |
5299 2b06 FF27 clr r31 |
5300 2b08 EE0F add r30,r30 |
5301 2b0a FF1F adc r31,r31 |
5302 2b0c E050 subi r30,lo8(-(PPM_in)) |
5303 2b0e F040 sbci r31,hi8(-(PPM_in)) |
5304 2b10 E080 ld r14,Z |
5305 2b12 F180 ldd r15,Z+1 |
5306 2b14 8FE7 ldi r24,lo8(127) |
5307 2b16 90E0 ldi r25,hi8(127) |
5308 2b18 E80E add r14,r24 |
5309 2b1a F91E adc r15,r25 |
5310 2b1c F092 0000 sts (StickGas)+1,r15 |
5311 2b20 E092 0000 sts StickGas,r14 |
5312 2b24 8091 0000 lds r24,Parameter_Gyro_P |
5313 2b28 9927 clr r25 |
5314 2b2a AA27 clr r26 |
5315 2b2c 97FD sbrc r25,7 |
5316 2b2e A095 com r26 |
5317 2b30 BA2F mov r27,r26 |
5318 2b32 BC01 movw r22,r24 |
5319 2b34 CD01 movw r24,r26 |
5320 2b36 0E94 0000 call __floatsisf |
5321 2b3a DC01 movw r26,r24 |
5322 2b3c CB01 movw r24,r22 |
5323 2b3e 20E0 ldi r18,lo8(0x41200000) |
5324 2b40 30E0 ldi r19,hi8(0x41200000) |
5325 2b42 40E2 ldi r20,hlo8(0x41200000) |
5326 2b44 51E4 ldi r21,hhi8(0x41200000) |
5327 2b46 BC01 movw r22,r24 |
5328 2b48 CD01 movw r24,r26 |
5329 2b4a 0E94 0000 call __addsf3 |
5330 2b4e DC01 movw r26,r24 |
5331 2b50 CB01 movw r24,r22 |
5332 2b52 BC01 movw r22,r24 |
5333 2b54 CD01 movw r24,r26 |
5334 2b56 0E94 0000 call __fixunssfsi |
5335 2b5a DC01 movw r26,r24 |
5336 2b5c CB01 movw r24,r22 |
5337 2b5e 8093 0000 sts GyroFaktor,r24 |
5338 2b62 8091 0000 lds r24,Parameter_Gyro_I |
5339 2b66 8093 0000 sts IntegralFaktor,r24 |
5340 2b6a 8091 0000 lds r24,Parameter_Gyro_Gier_P |
5341 2b6e 9927 clr r25 |
5342 2b70 AA27 clr r26 |
5343 2b72 97FD sbrc r25,7 |
5344 2b74 A095 com r26 |
5345 2b76 BA2F mov r27,r26 |
5346 2b78 BC01 movw r22,r24 |
5347 2b7a CD01 movw r24,r26 |
5348 2b7c 0E94 0000 call __floatsisf |
5349 2b80 DC01 movw r26,r24 |
5350 2b82 CB01 movw r24,r22 |
5351 2b84 20E0 ldi r18,lo8(0x41200000) |
5352 2b86 30E0 ldi r19,hi8(0x41200000) |
5353 2b88 40E2 ldi r20,hlo8(0x41200000) |
5354 2b8a 51E4 ldi r21,hhi8(0x41200000) |
5355 2b8c BC01 movw r22,r24 |
5356 2b8e CD01 movw r24,r26 |
5357 2b90 0E94 0000 call __addsf3 |
5358 2b94 DC01 movw r26,r24 |
5359 2b96 CB01 movw r24,r22 |
5360 2b98 BC01 movw r22,r24 |
5361 2b9a CD01 movw r24,r26 |
5362 2b9c 0E94 0000 call __fixunssfsi |
5363 2ba0 DC01 movw r26,r24 |
5364 2ba2 CB01 movw r24,r22 |
5365 2ba4 8093 0000 sts GyroFaktorGier,r24 |
5366 2ba8 8091 0000 lds r24,Parameter_Gyro_Gier_I |
5367 2bac 8093 0000 sts IntegralFaktorGier,r24 |
5368 2bb0 8091 0000 lds r24,ExternControl+10 |
5369 2bb4 80FF sbrs r24,0 |
5370 2bb6 00C0 rjmp .L463 |
5371 2bb8 8091 0000 lds r24,Parameter_ExternalControl |
5372 2bbc 8138 cpi r24,lo8(-127) |
5373 2bbe 00F4 brsh .+2 |
5374 2bc0 00C0 rjmp .L463 |
5375 2bc2 8091 0000 lds r24,ExternControl+3 |
5376 2bc6 9927 clr r25 |
5377 2bc8 87FD sbrc r24,7 |
5378 2bca 9095 com r25 |
5379 2bcc 2B2D mov r18,r11 |
5380 2bce 3327 clr r19 |
5381 2bd0 829F mul r24,r18 |
5382 2bd2 D001 movw r26,r0 |
5383 2bd4 839F mul r24,r19 |
5384 2bd6 B00D add r27,r0 |
5385 2bd8 929F mul r25,r18 |
5386 2bda B00D add r27,r0 |
5387 2bdc 1124 clr r1 |
5388 2bde 8A0E add r8,r26 |
5389 2be0 9B1E adc r9,r27 |
5390 2be2 9092 0000 sts (StickNick)+1,r9 |
5391 2be6 8092 0000 sts StickNick,r8 |
5392 2bea 8091 0000 lds r24,ExternControl+4 |
5393 2bee 9927 clr r25 |
5394 2bf0 87FD sbrc r24,7 |
5395 2bf2 9095 com r25 |
5396 2bf4 829F mul r24,r18 |
5397 2bf6 F001 movw r30,r0 |
5398 2bf8 839F mul r24,r19 |
5399 2bfa F00D add r31,r0 |
5400 2bfc 929F mul r25,r18 |
5401 2bfe F00D add r31,r0 |
5402 2c00 1124 clr r1 |
5403 2c02 0E0F add r16,r30 |
5404 2c04 1F1F adc r17,r31 |
5405 2c06 1093 0000 sts (StickRoll)+1,r17 |
5406 2c0a 0093 0000 sts StickRoll,r16 |
5407 2c0e 8091 0000 lds r24,ExternControl+5 |
5408 2c12 282F mov r18,r24 |
5409 2c14 3327 clr r19 |
5410 2c16 27FD sbrc r18,7 |
5411 2c18 3095 com r19 |
5412 2c1a 8091 0000 lds r24,StickGier |
5413 2c1e 9091 0000 lds r25,(StickGier)+1 |
5414 2c22 820F add r24,r18 |
5415 2c24 931F adc r25,r19 |
5416 2c26 9093 0000 sts (StickGier)+1,r25 |
5417 2c2a 8093 0000 sts StickGier,r24 |
5418 2c2e 8091 0000 lds r24,ExternControl+7 |
5419 2c32 282F mov r18,r24 |
5420 2c34 3327 clr r19 |
5421 2c36 27FD sbrc r18,7 |
5422 2c38 3095 com r19 |
5423 2c3a 8091 0000 lds r24,EE_Parameter+18 |
5424 2c3e 9927 clr r25 |
5425 2c40 289F mul r18,r24 |
5426 2c42 8001 movw r16,r0 |
5427 2c44 299F mul r18,r25 |
5428 2c46 100D add r17,r0 |
5429 2c48 389F mul r19,r24 |
5430 2c4a 100D add r17,r0 |
5431 2c4c 1124 clr r1 |
5432 2c4e 1093 0000 sts (ExternHoehenValue)+1,r17 |
5433 2c52 0093 0000 sts ExternHoehenValue,r16 |
5434 2c56 8091 0000 lds r24,ExternControl+6 |
5435 2c5a 9927 clr r25 |
5436 2c5c 8E15 cp r24,r14 |
5437 2c5e 9F05 cpc r25,r15 |
5438 2c60 04F4 brge .L463 |
5439 2c62 9093 0000 sts (StickGas)+1,r25 |
5440 2c66 8093 0000 sts StickGas,r24 |
5441 .L463: |
5442 2c6a 8091 0000 lds r24,StickGas |
5443 2c6e 9091 0000 lds r25,(StickGas)+1 |
5444 2c72 97FF sbrs r25,7 |
5445 2c74 00C0 rjmp .L465 |
5446 2c76 1092 0000 sts (StickGas)+1,__zero_reg__ |
5447 2c7a 1092 0000 sts StickGas,__zero_reg__ |
5448 .L465: |
5449 2c7e 8091 0000 lds r24,Parameter_GlobalConfig |
5450 2c82 82FF sbrs r24,2 |
5451 2c84 00C0 rjmp .L466 |
5452 2c86 1092 0000 sts IntegralFaktor,__zero_reg__ |
5453 .L466: |
5454 2c8a 4091 0000 lds r20,StickNick |
5455 2c8e 5091 0000 lds r21,(StickNick)+1 |
5456 2c92 CA01 movw r24,r20 |
5457 2c94 57FD sbrc r21,7 |
5458 2c96 0396 adiw r24,3 |
5459 .L468: |
5460 2c98 9C01 movw r18,r24 |
5461 2c9a 3595 asr r19 |
5462 2c9c 2795 ror r18 |
5463 2c9e 3595 asr r19 |
5464 2ca0 2795 ror r18 |
5465 2ca2 37FF sbrs r19,7 |
5466 2ca4 00C0 rjmp .L469 |
5467 2ca6 3095 com r19 |
5468 2ca8 2195 neg r18 |
5469 2caa 3F4F sbci r19,lo8(-1) |
5470 .L469: |
5471 2cac 8091 0000 lds r24,MaxStickNick |
5472 2cb0 9091 0000 lds r25,(MaxStickNick)+1 |
5473 2cb4 8217 cp r24,r18 |
5474 2cb6 9307 cpc r25,r19 |
5475 2cb8 04F4 brge .L467 |
5476 2cba CA01 movw r24,r20 |
5477 2cbc 57FF sbrs r21,7 |
5478 2cbe 00C0 rjmp .L470 |
5479 2cc0 9095 com r25 |
5480 2cc2 8195 neg r24 |
5481 2cc4 9F4F sbci r25,lo8(-1) |
5482 .L470: |
5483 2cc6 97FD sbrc r25,7 |
5484 2cc8 0396 adiw r24,3 |
5485 .L471: |
5486 2cca 9595 asr r25 |
5487 2ccc 8795 ror r24 |
5488 2cce 9595 asr r25 |
5489 2cd0 8795 ror r24 |
5490 2cd2 9093 0000 sts (MaxStickNick)+1,r25 |
5491 2cd6 8093 0000 sts MaxStickNick,r24 |
5492 2cda 8536 cpi r24,101 |
5493 2cdc 9105 cpc r25,__zero_reg__ |
5494 2cde 04F0 brlt .L473 |
5495 2ce0 84E6 ldi r24,lo8(100) |
5496 2ce2 90E0 ldi r25,hi8(100) |
5497 2ce4 00C0 rjmp .L898 |
5498 .L467: |
5499 2ce6 0197 sbiw r24,1 |
5500 .L898: |
5501 2ce8 9093 0000 sts (MaxStickNick)+1,r25 |
5502 2cec 8093 0000 sts MaxStickNick,r24 |
5503 .L473: |
5504 2cf0 4091 0000 lds r20,StickRoll |
5505 2cf4 5091 0000 lds r21,(StickRoll)+1 |
5506 2cf8 CA01 movw r24,r20 |
5507 2cfa 57FD sbrc r21,7 |
5508 2cfc 0396 adiw r24,3 |
5509 .L475: |
5510 2cfe 9C01 movw r18,r24 |
5511 2d00 3595 asr r19 |
5512 2d02 2795 ror r18 |
5513 2d04 3595 asr r19 |
5514 2d06 2795 ror r18 |
5515 2d08 37FF sbrs r19,7 |
5516 2d0a 00C0 rjmp .L476 |
5517 2d0c 3095 com r19 |
5518 2d0e 2195 neg r18 |
5519 2d10 3F4F sbci r19,lo8(-1) |
5520 .L476: |
5521 2d12 8091 0000 lds r24,MaxStickRoll |
5522 2d16 9091 0000 lds r25,(MaxStickRoll)+1 |
5523 2d1a 8217 cp r24,r18 |
5524 2d1c 9307 cpc r25,r19 |
5525 2d1e 04F4 brge .L474 |
5526 2d20 CA01 movw r24,r20 |
5527 2d22 57FF sbrs r21,7 |
5528 2d24 00C0 rjmp .L477 |
5529 2d26 9095 com r25 |
5530 2d28 8195 neg r24 |
5531 2d2a 9F4F sbci r25,lo8(-1) |
5532 .L477: |
5533 2d2c 97FD sbrc r25,7 |
5534 2d2e 0396 adiw r24,3 |
5535 .L478: |
5536 2d30 9595 asr r25 |
5537 2d32 8795 ror r24 |
5538 2d34 9595 asr r25 |
5539 2d36 8795 ror r24 |
5540 2d38 9093 0000 sts (MaxStickRoll)+1,r25 |
5541 2d3c 8093 0000 sts MaxStickRoll,r24 |
5542 2d40 8536 cpi r24,101 |
5543 2d42 9105 cpc r25,__zero_reg__ |
5544 2d44 04F0 brlt .L480 |
5545 2d46 84E6 ldi r24,lo8(100) |
5546 2d48 90E0 ldi r25,hi8(100) |
5547 2d4a 00C0 rjmp .L899 |
5548 .L474: |
5549 2d4c 0197 sbiw r24,1 |
5550 .L899: |
5551 2d4e 9093 0000 sts (MaxStickRoll)+1,r25 |
5552 2d52 8093 0000 sts MaxStickRoll,r24 |
5553 .L480: |
5554 2d56 8091 0000 lds r24,FC_StatusFlags |
5555 2d5a 84FF sbrs r24,4 |
5556 2d5c 00C0 rjmp .L481 |
5557 2d5e 1092 0000 sts (MaxStickNick)+1,__zero_reg__ |
5558 2d62 1092 0000 sts MaxStickNick,__zero_reg__ |
5559 2d66 1092 0000 sts (MaxStickRoll)+1,__zero_reg__ |
5560 2d6a 1092 0000 sts MaxStickRoll,__zero_reg__ |
5561 .L481: |
5562 2d6e ED2D mov r30,r13 |
5563 2d70 FF27 clr r31 |
5564 2d72 EE0F add r30,r30 |
5565 2d74 FF1F adc r31,r31 |
5566 2d76 E050 subi r30,lo8(-(PPM_in)) |
5567 2d78 F040 sbci r31,hi8(-(PPM_in)) |
5568 2d7a 4091 0000 lds r20,EE_Parameter+60 |
5569 2d7e 242F mov r18,r20 |
5570 2d80 3327 clr r19 |
5571 2d82 8081 ld r24,Z |
5572 2d84 9181 ldd r25,Z+1 |
5573 2d86 2817 cp r18,r24 |
5574 2d88 3907 cpc r19,r25 |
5575 2d8a 04F4 brge .L482 |
5576 2d8c 8091 0000 lds r24,EE_Parameter+108 |
5577 2d90 82FF sbrs r24,2 |
5578 2d92 00C0 rjmp .L482 |
5579 2d94 81E0 ldi r24,lo8(1) |
5580 2d96 8093 0000 sts Looping_Links,r24 |
5581 2d9a 00C0 rjmp .L483 |
5582 .L482: |
5583 2d9c ED2D mov r30,r13 |
5584 2d9e FF27 clr r31 |
5585 2da0 EE0F add r30,r30 |
5586 2da2 FF1F adc r31,r31 |
5587 2da4 E050 subi r30,lo8(-(PPM_in)) |
5588 2da6 F040 sbci r31,hi8(-(PPM_in)) |
5589 2da8 842F mov r24,r20 |
5590 2daa 9927 clr r25 |
5591 2dac 2091 0000 lds r18,EE_Parameter+61 |
5592 2db0 821B sub r24,r18 |
5593 2db2 9109 sbc r25,__zero_reg__ |
5594 2db4 2081 ld r18,Z |
5595 2db6 3181 ldd r19,Z+1 |
5596 2db8 2817 cp r18,r24 |
5597 2dba 3907 cpc r19,r25 |
5598 2dbc 04F4 brge .L483 |
5599 2dbe 1092 0000 sts Looping_Links,__zero_reg__ |
5600 .L483: |
5601 2dc2 4091 0000 lds r20,EE_Parameter+2 |
5602 2dc6 E42F mov r30,r20 |
5603 2dc8 FF27 clr r31 |
5604 2dca EE0F add r30,r30 |
5605 2dcc FF1F adc r31,r31 |
5606 2dce E050 subi r30,lo8(-(PPM_in)) |
5607 2dd0 F040 sbci r31,hi8(-(PPM_in)) |
5608 2dd2 5091 0000 lds r21,EE_Parameter+60 |
5609 2dd6 852F mov r24,r21 |
5610 2dd8 9927 clr r25 |
5611 2dda 2227 clr r18 |
5612 2ddc 3327 clr r19 |
5613 2dde 281B sub r18,r24 |
5614 2de0 390B sbc r19,r25 |
5615 2de2 8081 ld r24,Z |
5616 2de4 9181 ldd r25,Z+1 |
5617 2de6 8217 cp r24,r18 |
5618 2de8 9307 cpc r25,r19 |
5619 2dea 04F4 brge .L485 |
5620 2dec 8091 0000 lds r24,EE_Parameter+108 |
5621 2df0 83FF sbrs r24,3 |
5622 2df2 00C0 rjmp .L485 |
5623 2df4 81E0 ldi r24,lo8(1) |
5624 2df6 8093 0000 sts Looping_Rechts,r24 |
5625 2dfa 00C0 rjmp .L486 |
5626 .L485: |
5627 2dfc 8091 0000 lds r24,Looping_Rechts |
5628 2e00 8823 tst r24 |
5629 2e02 01F0 breq .L486 |
5630 2e04 E42F mov r30,r20 |
5631 2e06 FF27 clr r31 |
5632 2e08 EE0F add r30,r30 |
5633 2e0a FF1F adc r31,r31 |
5634 2e0c E050 subi r30,lo8(-(PPM_in)) |
5635 2e0e F040 sbci r31,hi8(-(PPM_in)) |
5636 2e10 8091 0000 lds r24,EE_Parameter+61 |
5637 2e14 9927 clr r25 |
5638 2e16 851B sub r24,r21 |
5639 2e18 9109 sbc r25,__zero_reg__ |
5640 2e1a 2081 ld r18,Z |
5641 2e1c 3181 ldd r19,Z+1 |
5642 2e1e 8217 cp r24,r18 |
5643 2e20 9307 cpc r25,r19 |
5644 2e22 04F4 brge .L486 |
5645 2e24 1092 0000 sts Looping_Rechts,__zero_reg__ |
5646 .L486: |
5647 2e28 EC2D mov r30,r12 |
5648 2e2a FF27 clr r31 |
5649 2e2c EE0F add r30,r30 |
5650 2e2e FF1F adc r31,r31 |
5651 2e30 E050 subi r30,lo8(-(PPM_in)) |
5652 2e32 F040 sbci r31,hi8(-(PPM_in)) |
5653 2e34 4091 0000 lds r20,EE_Parameter+60 |
5654 2e38 242F mov r18,r20 |
5655 2e3a 3327 clr r19 |
5656 2e3c 8081 ld r24,Z |
5657 2e3e 9181 ldd r25,Z+1 |
5658 2e40 2817 cp r18,r24 |
5659 2e42 3907 cpc r19,r25 |
5660 2e44 04F4 brge .L489 |
5661 2e46 8091 0000 lds r24,EE_Parameter+108 |
5662 2e4a 80FF sbrs r24,0 |
5663 2e4c 00C0 rjmp .L489 |
5664 2e4e 81E0 ldi r24,lo8(1) |
5665 2e50 8093 0000 sts Looping_Oben,r24 |
5666 2e54 00C0 rjmp .L490 |
5667 .L489: |
5668 2e56 8091 0000 lds r24,Looping_Oben |
5669 2e5a 8823 tst r24 |
5670 2e5c 01F0 breq .L490 |
5671 2e5e EC2D mov r30,r12 |
5672 2e60 FF27 clr r31 |
5673 2e62 EE0F add r30,r30 |
5674 2e64 FF1F adc r31,r31 |
5675 2e66 E050 subi r30,lo8(-(PPM_in)) |
5676 2e68 F040 sbci r31,hi8(-(PPM_in)) |
5677 2e6a 842F mov r24,r20 |
5678 2e6c 9927 clr r25 |
5679 2e6e 2091 0000 lds r18,EE_Parameter+61 |
5680 2e72 821B sub r24,r18 |
5681 2e74 9109 sbc r25,__zero_reg__ |
5682 2e76 2081 ld r18,Z |
5683 2e78 3181 ldd r19,Z+1 |
5684 2e7a 2817 cp r18,r24 |
5685 2e7c 3907 cpc r19,r25 |
5686 2e7e 04F4 brge .L490 |
5687 2e80 1092 0000 sts Looping_Oben,__zero_reg__ |
5688 .L490: |
5689 2e84 4091 0000 lds r20,EE_Parameter+1 |
5690 2e88 E42F mov r30,r20 |
5691 2e8a FF27 clr r31 |
5692 2e8c EE0F add r30,r30 |
5693 2e8e FF1F adc r31,r31 |
5694 2e90 E050 subi r30,lo8(-(PPM_in)) |
5695 2e92 F040 sbci r31,hi8(-(PPM_in)) |
5696 2e94 5091 0000 lds r21,EE_Parameter+60 |
5697 2e98 852F mov r24,r21 |
5698 2e9a 9927 clr r25 |
5699 2e9c 2227 clr r18 |
5700 2e9e 3327 clr r19 |
5701 2ea0 281B sub r18,r24 |
5702 2ea2 390B sbc r19,r25 |
5703 2ea4 8081 ld r24,Z |
5704 2ea6 9181 ldd r25,Z+1 |
5705 2ea8 8217 cp r24,r18 |
5706 2eaa 9307 cpc r25,r19 |
5707 2eac 04F4 brge .L493 |
5708 2eae 8091 0000 lds r24,EE_Parameter+108 |
5709 2eb2 81FF sbrs r24,1 |
5710 2eb4 00C0 rjmp .L493 |
5711 2eb6 81E0 ldi r24,lo8(1) |
5712 2eb8 8093 0000 sts Looping_Unten,r24 |
5713 2ebc 00C0 rjmp .L494 |
5714 .L493: |
5715 2ebe 8091 0000 lds r24,Looping_Unten |
5716 2ec2 8823 tst r24 |
5717 2ec4 01F0 breq .L494 |
5718 2ec6 E42F mov r30,r20 |
5719 2ec8 FF27 clr r31 |
5720 2eca EE0F add r30,r30 |
5721 2ecc FF1F adc r31,r31 |
5722 2ece E050 subi r30,lo8(-(PPM_in)) |
5723 2ed0 F040 sbci r31,hi8(-(PPM_in)) |
5724 2ed2 8091 0000 lds r24,EE_Parameter+61 |
5725 2ed6 9927 clr r25 |
5726 2ed8 851B sub r24,r21 |
5727 2eda 9109 sbc r25,__zero_reg__ |
5728 2edc 2081 ld r18,Z |
5729 2ede 3181 ldd r19,Z+1 |
5730 2ee0 8217 cp r24,r18 |
5731 2ee2 9307 cpc r25,r19 |
5732 2ee4 04F4 brge .L494 |
5733 2ee6 1092 0000 sts Looping_Unten,__zero_reg__ |
5734 .L494: |
5735 2eea 8091 0000 lds r24,Looping_Links |
5736 2eee 8823 tst r24 |
5737 2ef0 01F4 brne .L498 |
5738 2ef2 8091 0000 lds r24,Looping_Rechts |
5739 2ef6 8111 cpse r24,__zero_reg__ |
5740 .L498: |
5741 2ef8 81E0 ldi r24,lo8(1) |
5742 .L497: |
5743 2efa 8093 0000 sts Looping_Roll,r24 |
5744 2efe 8091 0000 lds r24,Looping_Oben |
5745 2f02 8823 tst r24 |
5746 2f04 01F4 brne .L501 |
5747 2f06 8091 0000 lds r24,Looping_Unten |
5748 2f0a 8823 tst r24 |
5749 2f0c 01F0 breq .L500 |
5750 .L501: |
5751 2f0e 81E0 ldi r24,lo8(1) |
5752 2f10 8093 0000 sts Looping_Nick,r24 |
5753 2f14 1092 0000 sts Looping_Roll,__zero_reg__ |
5754 2f18 1092 0000 sts Looping_Links,__zero_reg__ |
5755 2f1c 1092 0000 sts Looping_Rechts,__zero_reg__ |
5756 2f20 00C0 rjmp .L442 |
5757 .L500: |
5758 2f22 8093 0000 sts Looping_Nick,r24 |
5759 .L442: |
5760 2f26 8091 0000 lds r24,Looping_Roll |
5761 2f2a 8823 tst r24 |
5762 2f2c 01F4 brne .L504 |
5763 2f2e 8091 0000 lds r24,Looping_Nick |
5764 2f32 8823 tst r24 |
5765 2f34 01F0 breq .L503 |
5766 .L504: |
5767 2f36 8091 0000 lds r24,EE_Parameter+59 |
5768 2f3a 9927 clr r25 |
5769 2f3c 2981 ldd r18,Y+1 |
5770 2f3e 3A81 ldd r19,Y+2 |
5771 2f40 8217 cp r24,r18 |
5772 2f42 9307 cpc r25,r19 |
5773 2f44 04F4 brge .L505 |
5774 2f46 9A83 std Y+2,r25 |
5775 2f48 8983 std Y+1,r24 |
5776 .L505: |
5777 2f4a 81E0 ldi r24,lo8(1) |
5778 2f4c 8093 0000 sts TrichterFlug,r24 |
5779 .L503: |
5780 2f50 8091 0000 lds r24,FC_StatusFlags2 |
5781 2f54 9927 clr r25 |
5782 2f56 9C01 movw r18,r24 |
5783 2f58 2470 andi r18,lo8(4) |
5784 2f5a 3070 andi r19,hi8(4) |
5785 2f5c 82FF sbrs r24,2 |
5786 2f5e 00C0 rjmp .L506 |
5787 2f60 8091 0000 lds r24,GPS_Nick |
5788 2f64 9091 0000 lds r25,(GPS_Nick)+1 |
5789 2f68 9095 com r25 |
5790 2f6a 8195 neg r24 |
5791 2f6c 9F4F sbci r25,lo8(-1) |
5792 2f6e 9093 0000 sts (StickNick)+1,r25 |
5793 2f72 8093 0000 sts StickNick,r24 |
5794 2f76 8091 0000 lds r24,GPS_Roll |
5795 2f7a 9091 0000 lds r25,(GPS_Roll)+1 |
5796 2f7e 9095 com r25 |
5797 2f80 8195 neg r24 |
5798 2f82 9F4F sbci r25,lo8(-1) |
5799 2f84 9093 0000 sts (StickRoll)+1,r25 |
5800 2f88 8093 0000 sts StickRoll,r24 |
5801 2f8c 8091 0000 lds r24,StickGasHover |
5802 2f90 9091 0000 lds r25,(StickGasHover)+1 |
5803 2f94 9093 0000 sts (StickGas)+1,r25 |
5804 2f98 8093 0000 sts StickGas,r24 |
5805 2f9c 8091 0000 lds r24,Parameter_GlobalConfig |
5806 2fa0 8B77 andi r24,lo8(123) |
5807 2fa2 8B66 ori r24,lo8(107) |
5808 2fa4 8093 0000 sts Parameter_GlobalConfig,r24 |
5809 2fa8 8091 0000 lds r24,Parameter_ExtraConfig |
5810 2fac 8C7B andi r24,lo8(-68) |
5811 2fae 8093 0000 sts Parameter_ExtraConfig,r24 |
5812 2fb2 88EC ldi r24,lo8(-56) |
5813 2fb4 8093 0000 sts Parameter_HoehenSchalter,r24 |
5814 2fb8 00C0 rjmp .L507 |
5815 .L506: |
5816 2fba 8091 0000 lds r24,FC_StatusFlags |
5817 2fbe 84FF sbrs r24,4 |
5818 2fc0 00C0 rjmp .L507 |
5819 2fc2 3093 0000 sts (StickGier)+1,r19 |
5820 2fc6 2093 0000 sts StickGier,r18 |
5821 2fca 3093 0000 sts (StickNick)+1,r19 |
5822 2fce 2093 0000 sts StickNick,r18 |
5823 2fd2 3093 0000 sts (StickRoll)+1,r19 |
5824 2fd6 2093 0000 sts StickRoll,r18 |
5825 2fda 9AE5 ldi r25,lo8(90) |
5826 2fdc 9093 0000 sts GyroFaktor,r25 |
5827 2fe0 88E7 ldi r24,lo8(120) |
5828 2fe2 8093 0000 sts IntegralFaktor,r24 |
5829 2fe6 9093 0000 sts GyroFaktorGier,r25 |
5830 2fea 8093 0000 sts IntegralFaktorGier,r24 |
5831 2fee 1092 0000 sts Looping_Roll,__zero_reg__ |
5832 2ff2 1092 0000 sts Looping_Nick,__zero_reg__ |
5833 .L507: |
5834 2ff6 8091 0000 lds r24,MittelIntegralNick |
5835 2ffa 9091 0000 lds r25,(MittelIntegralNick)+1 |
5836 2ffe A091 0000 lds r26,(MittelIntegralNick)+2 |
5837 3002 B091 0000 lds r27,(MittelIntegralNick)+3 |
5838 3006 2091 0000 lds r18,IntegralNick |
5839 300a 3091 0000 lds r19,(IntegralNick)+1 |
5840 300e 4091 0000 lds r20,(IntegralNick)+2 |
5841 3012 5091 0000 lds r21,(IntegralNick)+3 |
5842 3016 820F add r24,r18 |
5843 3018 931F adc r25,r19 |
5844 301a A41F adc r26,r20 |
5845 301c B51F adc r27,r21 |
5846 301e 8093 0000 sts MittelIntegralNick,r24 |
5847 3022 9093 0000 sts (MittelIntegralNick)+1,r25 |
5848 3026 A093 0000 sts (MittelIntegralNick)+2,r26 |
5849 302a B093 0000 sts (MittelIntegralNick)+3,r27 |
5850 302e 8091 0000 lds r24,MittelIntegralRoll |
5851 3032 9091 0000 lds r25,(MittelIntegralRoll)+1 |
5852 3036 A091 0000 lds r26,(MittelIntegralRoll)+2 |
5853 303a B091 0000 lds r27,(MittelIntegralRoll)+3 |
5854 303e E090 0000 lds r14,IntegralRoll |
5855 3042 F090 0000 lds r15,(IntegralRoll)+1 |
5856 3046 0091 0000 lds r16,(IntegralRoll)+2 |
5857 304a 1091 0000 lds r17,(IntegralRoll)+3 |
5858 304e EB82 std Y+3,r14 |
5859 3050 FC82 std Y+4,r15 |
5860 3052 0D83 std Y+5,r16 |
5861 3054 1E83 std Y+6,r17 |
5862 3056 8E0D add r24,r14 |
5863 3058 9F1D adc r25,r15 |
5864 305a A01F adc r26,r16 |
5865 305c B11F adc r27,r17 |
5866 305e 8093 0000 sts MittelIntegralRoll,r24 |
5867 3062 9093 0000 sts (MittelIntegralRoll)+1,r25 |
5868 3066 A093 0000 sts (MittelIntegralRoll)+2,r26 |
5869 306a B093 0000 sts (MittelIntegralRoll)+3,r27 |
5870 306e 8091 0000 lds r24,MittelIntegralNick2 |
5871 3072 9091 0000 lds r25,(MittelIntegralNick2)+1 |
5872 3076 A091 0000 lds r26,(MittelIntegralNick2)+2 |
5873 307a B091 0000 lds r27,(MittelIntegralNick2)+3 |
5874 307e E090 0000 lds r14,IntegralNick2 |
5875 3082 F090 0000 lds r15,(IntegralNick2)+1 |
5876 3086 0091 0000 lds r16,(IntegralNick2)+2 |
5877 308a 1091 0000 lds r17,(IntegralNick2)+3 |
5878 308e EF82 std Y+7,r14 |
5879 3090 F886 std Y+8,r15 |
5880 3092 0987 std Y+9,r16 |
5881 3094 1A87 std Y+10,r17 |
5882 3096 8E0D add r24,r14 |
5883 3098 9F1D adc r25,r15 |
5884 309a A01F adc r26,r16 |
5885 309c B11F adc r27,r17 |
5886 309e 8093 0000 sts MittelIntegralNick2,r24 |
5887 30a2 9093 0000 sts (MittelIntegralNick2)+1,r25 |
5888 30a6 A093 0000 sts (MittelIntegralNick2)+2,r26 |
5889 30aa B093 0000 sts (MittelIntegralNick2)+3,r27 |
5890 30ae 8091 0000 lds r24,MittelIntegralRoll2 |
5891 30b2 9091 0000 lds r25,(MittelIntegralRoll2)+1 |
5892 30b6 A091 0000 lds r26,(MittelIntegralRoll2)+2 |
5893 30ba B091 0000 lds r27,(MittelIntegralRoll2)+3 |
5894 30be E090 0000 lds r14,IntegralRoll2 |
5895 30c2 F090 0000 lds r15,(IntegralRoll2)+1 |
5896 30c6 0091 0000 lds r16,(IntegralRoll2)+2 |
5897 30ca 1091 0000 lds r17,(IntegralRoll2)+3 |
5898 30ce EB86 std Y+11,r14 |
5899 30d0 FC86 std Y+12,r15 |
5900 30d2 0D87 std Y+13,r16 |
5901 30d4 1E87 std Y+14,r17 |
5902 30d6 8E0D add r24,r14 |
5903 30d8 9F1D adc r25,r15 |
5904 30da A01F adc r26,r16 |
5905 30dc B11F adc r27,r17 |
5906 30de 8093 0000 sts MittelIntegralRoll2,r24 |
5907 30e2 9093 0000 sts (MittelIntegralRoll2)+1,r25 |
5908 30e6 A093 0000 sts (MittelIntegralRoll2)+2,r26 |
5909 30ea B093 0000 sts (MittelIntegralRoll2)+3,r27 |
5910 30ee F090 0000 lds r15,Looping_Nick |
5911 30f2 FF86 std Y+15,r15 |
5912 30f4 FF20 tst r15 |
5913 30f6 01F4 brne .L510 |
5914 30f8 8091 0000 lds r24,Looping_Roll |
5915 30fc 8823 tst r24 |
5916 30fe 01F4 brne .+2 |
5917 3100 00C0 rjmp .L892 |
5918 .L510: |
5919 3102 1092 0000 sts IntegralAccNick,__zero_reg__ |
5920 3106 1092 0000 sts (IntegralAccNick)+1,__zero_reg__ |
5921 310a 1092 0000 sts (IntegralAccNick)+2,__zero_reg__ |
5922 310e 1092 0000 sts (IntegralAccNick)+3,__zero_reg__ |
5923 3112 1092 0000 sts IntegralAccRoll,__zero_reg__ |
5924 3116 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__ |
5925 311a 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__ |
5926 311e 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__ |
5927 3122 1092 0000 sts MittelIntegralNick,__zero_reg__ |
5928 3126 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__ |
5929 312a 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__ |
5930 312e 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__ |
5931 3132 1092 0000 sts MittelIntegralRoll,__zero_reg__ |
5932 3136 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__ |
5933 313a 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__ |
5934 313e 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__ |
5935 3142 1092 0000 sts MittelIntegralNick2,__zero_reg__ |
5936 3146 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__ |
5937 314a 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__ |
5938 314e 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__ |
5939 3152 1092 0000 sts MittelIntegralRoll2,__zero_reg__ |
5940 3156 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__ |
5941 315a 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__ |
5942 315e 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__ |
5943 3162 8091 0000 lds r24,Mess_IntegralNick |
5944 3166 9091 0000 lds r25,(Mess_IntegralNick)+1 |
5945 316a A091 0000 lds r26,(Mess_IntegralNick)+2 |
5946 316e B091 0000 lds r27,(Mess_IntegralNick)+3 |
5947 3172 8093 0000 sts Mess_IntegralNick2,r24 |
5948 3176 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
5949 317a A093 0000 sts (Mess_IntegralNick2)+2,r26 |
5950 317e B093 0000 sts (Mess_IntegralNick2)+3,r27 |
5951 3182 8091 0000 lds r24,Mess_IntegralRoll |
5952 3186 9091 0000 lds r25,(Mess_IntegralRoll)+1 |
5953 318a A091 0000 lds r26,(Mess_IntegralRoll)+2 |
5954 318e B091 0000 lds r27,(Mess_IntegralRoll)+3 |
5955 3192 8093 0000 sts Mess_IntegralRoll2,r24 |
5956 3196 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
5957 319a A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
5958 319e B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
5959 31a2 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__ |
5960 31a6 1092 0000 sts ZaehlMessungen,__zero_reg__ |
5961 31aa 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__ |
5962 31ae 1092 0000 sts LageKorrekturNick,__zero_reg__ |
5963 31b2 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__ |
5964 31b6 1092 0000 sts LageKorrekturRoll,__zero_reg__ |
5965 31ba 0F85 ldd r16,Y+15 |
5966 31bc 0023 tst r16 |
5967 31be 01F0 breq .+2 |
5968 31c0 00C0 rjmp .L511 |
5969 .L892: |
5970 31c2 8091 0000 lds r24,Looping_Roll |
5971 31c6 8823 tst r24 |
5972 31c8 01F0 breq .+2 |
5973 31ca 00C0 rjmp .L511 |
5974 31cc 8091 0000 lds r24,Aktuell_az |
5975 31d0 9091 0000 lds r25,(Aktuell_az)+1 |
5976 31d4 8150 subi r24,lo8(513) |
5977 31d6 9240 sbci r25,hi8(513) |
5978 31d8 04F4 brge .L512 |
5979 31da 8091 0000 lds r24,MotorenEin |
5980 31de 8823 tst r24 |
5981 31e0 01F4 brne .+2 |
5982 31e2 00C0 rjmp .L511 |
5983 .L512: |
5984 31e4 9090 0000 lds r9,FromNaviCtrl_Value |
5985 31e8 A090 0000 lds r10,EE_Parameter+28 |
5986 31ec 2090 0000 lds r2,Mittelwert_AccNick |
5987 31f0 3090 0000 lds r3,(Mittelwert_AccNick)+1 |
5988 31f4 4090 0000 lds r4,Mittelwert_AccRoll |
5989 31f8 5090 0000 lds r5,(Mittelwert_AccRoll)+1 |
5990 31fc 1914 cp __zero_reg__,r9 |
5991 31fe 04F0 brlt .+2 |
5992 3200 00C0 rjmp .L513 |
5993 3202 BB24 clr r11 |
5994 3204 CC24 clr r12 |
5995 3206 DD24 clr r13 |
5996 3208 CA01 movw r24,r20 |
5997 320a B901 movw r22,r18 |
5998 320c A601 movw r20,r12 |
5999 320e 9501 movw r18,r10 |
6000 3210 0E94 0000 call __divmodsi4 |
6001 3214 7901 movw r14,r18 |
6002 3216 8A01 movw r16,r20 |
6003 3218 8091 0000 lds r24,FromNaviCtrl+9 |
6004 321c 9091 0000 lds r25,(FromNaviCtrl+9)+1 |
6005 3220 281A sub r2,r24 |
6006 3222 390A sbc r3,r25 |
6007 3224 C101 movw r24,r2 |
6008 3226 AA27 clr r26 |
6009 3228 97FD sbrc r25,7 |
6010 322a A095 com r26 |
6011 322c BA2F mov r27,r26 |
6012 322e E81A sub r14,r24 |
6013 3230 F90A sbc r15,r25 |
6014 3232 0A0B sbc r16,r26 |
6015 3234 1B0B sbc r17,r27 |
6016 3236 6B81 ldd r22,Y+3 |
6017 3238 7C81 ldd r23,Y+4 |
6018 323a 8D81 ldd r24,Y+5 |
6019 323c 9E81 ldd r25,Y+6 |
6020 323e A601 movw r20,r12 |
6021 3240 9501 movw r18,r10 |
6022 3242 0E94 0000 call __divmodsi4 |
6023 3246 5901 movw r10,r18 |
6024 3248 6A01 movw r12,r20 |
6025 324a 8091 0000 lds r24,FromNaviCtrl+11 |
6026 324e 9091 0000 lds r25,(FromNaviCtrl+11)+1 |
6027 3252 481A sub r4,r24 |
6028 3254 590A sbc r5,r25 |
6029 3256 C201 movw r24,r4 |
6030 3258 AA27 clr r26 |
6031 325a 97FD sbrc r25,7 |
6032 325c A095 com r26 |
6033 325e BA2F mov r27,r26 |
6034 3260 A81A sub r10,r24 |
6035 3262 B90A sbc r11,r25 |
6036 3264 CA0A sbc r12,r26 |
6037 3266 DB0A sbc r13,r27 |
6038 3268 292C mov r2,r9 |
6039 326a 3324 clr r3 |
6040 326c 27FC sbrc r2,7 |
6041 326e 3094 com r3 |
6042 3270 432C mov r4,r3 |
6043 3272 532C mov r5,r3 |
6044 3274 C801 movw r24,r16 |
6045 3276 B701 movw r22,r14 |
6046 3278 A201 movw r20,r4 |
6047 327a 9101 movw r18,r2 |
6048 327c 0E94 0000 call __mulsi3 |
6049 3280 97FF sbrs r25,7 |
6050 3282 00C0 rjmp .L514 |
6051 3284 6150 subi r22,lo8(-(511)) |
6052 3286 7E4F sbci r23,hi8(-(511)) |
6053 3288 8F4F sbci r24,hlo8(-(511)) |
6054 328a 9F4F sbci r25,hhi8(-(511)) |
6055 .L514: |
6056 328c 3B01 movw r6,r22 |
6057 328e 4C01 movw r8,r24 |
6058 3290 09E0 ldi r16,9 |
6059 3292 9594 1: asr r9 |
6060 3294 8794 ror r8 |
6061 3296 7794 ror r7 |
6062 3298 6794 ror r6 |
6063 329a 0A95 dec r16 |
6064 329c 01F4 brne 1b |
6065 329e C601 movw r24,r12 |
6066 32a0 B501 movw r22,r10 |
6067 32a2 A201 movw r20,r4 |
6068 32a4 9101 movw r18,r2 |
6069 32a6 0E94 0000 call __mulsi3 |
6070 32aa 97FF sbrs r25,7 |
6071 32ac 00C0 rjmp .L515 |
6072 32ae 6150 subi r22,lo8(-(511)) |
6073 32b0 7E4F sbci r23,hi8(-(511)) |
6074 32b2 8F4F sbci r24,hlo8(-(511)) |
6075 32b4 9F4F sbci r25,hhi8(-(511)) |
6076 .L515: |
6077 32b6 5B01 movw r10,r22 |
6078 32b8 6C01 movw r12,r24 |
6079 32ba 19E0 ldi r17,9 |
6080 32bc D594 1: asr r13 |
6081 32be C794 ror r12 |
6082 32c0 B794 ror r11 |
6083 32c2 A794 ror r10 |
6084 32c4 1A95 dec r17 |
6085 32c6 01F4 brne 1b |
6086 32c8 8091 0000 lds r24,MaxStickNick |
6087 32cc 9091 0000 lds r25,(MaxStickNick)+1 |
6088 32d0 8134 cpi r24,65 |
6089 32d2 9105 cpc r25,__zero_reg__ |
6090 32d4 04F4 brge .L517 |
6091 32d6 8091 0000 lds r24,MaxStickRoll |
6092 32da 9091 0000 lds r25,(MaxStickRoll)+1 |
6093 32de 8134 cpi r24,65 |
6094 32e0 9105 cpc r25,__zero_reg__ |
6095 32e2 04F0 brlt .L516 |
6096 .L517: |
6097 32e4 D401 movw r26,r8 |
6098 32e6 C301 movw r24,r6 |
6099 32e8 97FE sbrs r9,7 |
6100 32ea 00C0 rjmp .L518 |
6101 32ec 0196 adiw r24,1 |
6102 32ee A11D adc r26,__zero_reg__ |
6103 32f0 B11D adc r27,__zero_reg__ |
6104 .L518: |
6105 32f2 3C01 movw r6,r24 |
6106 32f4 4D01 movw r8,r26 |
6107 32f6 9594 asr r9 |
6108 32f8 8794 ror r8 |
6109 32fa 7794 ror r7 |
6110 32fc 6794 ror r6 |
6111 32fe D601 movw r26,r12 |
6112 3300 C501 movw r24,r10 |
6113 3302 D7FE sbrs r13,7 |
6114 3304 00C0 rjmp .L519 |
6115 3306 0196 adiw r24,1 |
6116 3308 A11D adc r26,__zero_reg__ |
6117 330a B11D adc r27,__zero_reg__ |
6118 .L519: |
6119 330c 5C01 movw r10,r24 |
6120 330e 6D01 movw r12,r26 |
6121 3310 D594 asr r13 |
6122 3312 C794 ror r12 |
6123 3314 B794 ror r11 |
6124 3316 A794 ror r10 |
6125 .L516: |
6126 3318 8091 0000 lds r24,FromNaviCtrl_Value+2 |
6127 331c 282F mov r18,r24 |
6128 331e 3327 clr r19 |
6129 3320 27FD sbrc r18,7 |
6130 3322 3095 com r19 |
6131 3324 432F mov r20,r19 |
6132 3326 532F mov r21,r19 |
6133 3328 2615 cp r18,r6 |
6134 332a 3705 cpc r19,r7 |
6135 332c 4805 cpc r20,r8 |
6136 332e 5905 cpc r21,r9 |
6137 3330 04F4 brge .L520 |
6138 3332 3901 movw r6,r18 |
6139 3334 4A01 movw r8,r20 |
6140 .L520: |
6141 3336 9927 clr r25 |
6142 3338 87FD sbrc r24,7 |
6143 333a 9095 com r25 |
6144 333c 9095 com r25 |
6145 333e 8195 neg r24 |
6146 3340 9F4F sbci r25,lo8(-1) |
6147 3342 AA27 clr r26 |
6148 3344 97FD sbrc r25,7 |
6149 3346 A095 com r26 |
6150 3348 BA2F mov r27,r26 |
6151 334a 6816 cp r6,r24 |
6152 334c 7906 cpc r7,r25 |
6153 334e 8A06 cpc r8,r26 |
6154 3350 9B06 cpc r9,r27 |
6155 3352 04F4 brge .L521 |
6156 3354 3C01 movw r6,r24 |
6157 3356 4D01 movw r8,r26 |
6158 .L521: |
6159 3358 2A15 cp r18,r10 |
6160 335a 3B05 cpc r19,r11 |
6161 335c 4C05 cpc r20,r12 |
6162 335e 5D05 cpc r21,r13 |
6163 3360 04F4 brge .L522 |
6164 3362 5901 movw r10,r18 |
6165 3364 6A01 movw r12,r20 |
6166 .L522: |
6167 3366 A816 cp r10,r24 |
6168 3368 B906 cpc r11,r25 |
6169 336a CA06 cpc r12,r26 |
6170 336c DB06 cpc r13,r27 |
6171 336e 04F0 brlt .+2 |
6172 3370 00C0 rjmp .L524 |
6173 3372 5C01 movw r10,r24 |
6174 3374 6D01 movw r12,r26 |
6175 3376 00C0 rjmp .L524 |
6176 .L513: |
6177 3378 EA2C mov r14,r10 |
6178 337a FF24 clr r15 |
6179 337c 0027 clr r16 |
6180 337e 1127 clr r17 |
6181 3380 CA01 movw r24,r20 |
6182 3382 B901 movw r22,r18 |
6183 3384 A801 movw r20,r16 |
6184 3386 9701 movw r18,r14 |
6185 3388 0E94 0000 call __divmodsi4 |
6186 338c 3901 movw r6,r18 |
6187 338e 4A01 movw r8,r20 |
6188 3390 C101 movw r24,r2 |
6189 3392 AA27 clr r26 |
6190 3394 97FD sbrc r25,7 |
6191 3396 A095 com r26 |
6192 3398 BA2F mov r27,r26 |
6193 339a 681A sub r6,r24 |
6194 339c 790A sbc r7,r25 |
6195 339e 8A0A sbc r8,r26 |
6196 33a0 9B0A sbc r9,r27 |
6197 33a2 6B81 ldd r22,Y+3 |
6198 33a4 7C81 ldd r23,Y+4 |
6199 33a6 8D81 ldd r24,Y+5 |
6200 33a8 9E81 ldd r25,Y+6 |
6201 33aa A801 movw r20,r16 |
6202 33ac 9701 movw r18,r14 |
6203 33ae 0E94 0000 call __divmodsi4 |
6204 33b2 5901 movw r10,r18 |
6205 33b4 6A01 movw r12,r20 |
6206 33b6 C201 movw r24,r4 |
6207 33b8 AA27 clr r26 |
6208 33ba 97FD sbrc r25,7 |
6209 33bc A095 com r26 |
6210 33be BA2F mov r27,r26 |
6211 33c0 A81A sub r10,r24 |
6212 33c2 B90A sbc r11,r25 |
6213 33c4 CA0A sbc r12,r26 |
6214 33c6 DB0A sbc r13,r27 |
6215 33c8 D401 movw r26,r8 |
6216 33ca C301 movw r24,r6 |
6217 33cc 97FE sbrs r9,7 |
6218 33ce 00C0 rjmp .L525 |
6219 33d0 0F96 adiw r24,15 |
6220 33d2 A11D adc r26,__zero_reg__ |
6221 33d4 B11D adc r27,__zero_reg__ |
6222 .L525: |
6223 33d6 3C01 movw r6,r24 |
6224 33d8 4D01 movw r8,r26 |
6225 33da F4E0 ldi r31,4 |
6226 33dc 9594 1: asr r9 |
6227 33de 8794 ror r8 |
6228 33e0 7794 ror r7 |
6229 33e2 6794 ror r6 |
6230 33e4 FA95 dec r31 |
6231 33e6 01F4 brne 1b |
6232 33e8 D601 movw r26,r12 |
6233 33ea C501 movw r24,r10 |
6234 33ec D7FE sbrs r13,7 |
6235 33ee 00C0 rjmp .L526 |
6236 33f0 0F96 adiw r24,15 |
6237 33f2 A11D adc r26,__zero_reg__ |
6238 33f4 B11D adc r27,__zero_reg__ |
6239 .L526: |
6240 33f6 5C01 movw r10,r24 |
6241 33f8 6D01 movw r12,r26 |
6242 33fa E4E0 ldi r30,4 |
6243 33fc D594 1: asr r13 |
6244 33fe C794 ror r12 |
6245 3400 B794 ror r11 |
6246 3402 A794 ror r10 |
6247 3404 EA95 dec r30 |
6248 3406 01F4 brne 1b |
6249 3408 8091 0000 lds r24,MaxStickNick |
6250 340c 9091 0000 lds r25,(MaxStickNick)+1 |
6251 3410 8134 cpi r24,65 |
6252 3412 9105 cpc r25,__zero_reg__ |
6253 3414 04F4 brge .L528 |
6254 3416 8091 0000 lds r24,MaxStickRoll |
6255 341a 9091 0000 lds r25,(MaxStickRoll)+1 |
6256 341e 8134 cpi r24,65 |
6257 3420 9105 cpc r25,__zero_reg__ |
6258 3422 04F0 brlt .L527 |
6259 .L528: |
6260 3424 C401 movw r24,r8 |
6261 3426 B301 movw r22,r6 |
6262 3428 23E0 ldi r18,lo8(3) |
6263 342a 30E0 ldi r19,hi8(3) |
6264 342c 40E0 ldi r20,hlo8(3) |
6265 342e 50E0 ldi r21,hhi8(3) |
6266 3430 0E94 0000 call __divmodsi4 |
6267 3434 3901 movw r6,r18 |
6268 3436 4A01 movw r8,r20 |
6269 3438 C601 movw r24,r12 |
6270 343a B501 movw r22,r10 |
6271 343c 23E0 ldi r18,lo8(3) |
6272 343e 30E0 ldi r19,hi8(3) |
6273 3440 40E0 ldi r20,hlo8(3) |
6274 3442 50E0 ldi r21,hhi8(3) |
6275 3444 0E94 0000 call __divmodsi4 |
6276 3448 5901 movw r10,r18 |
6277 344a 6A01 movw r12,r20 |
6278 .L527: |
6279 344c 8091 0000 lds r24,EE_Parameter+4 |
6280 3450 E82F mov r30,r24 |
6281 3452 FF27 clr r31 |
6282 3454 EE0F add r30,r30 |
6283 3456 FF1F adc r31,r31 |
6284 3458 E050 subi r30,lo8(-(PPM_in)) |
6285 345a F040 sbci r31,hi8(-(PPM_in)) |
6286 345c 8081 ld r24,Z |
6287 345e 9181 ldd r25,Z+1 |
6288 3460 0190 ld __tmp_reg__,Z+ |
6289 3462 F081 ld r31,Z |
6290 3464 E02D mov r30,__tmp_reg__ |
6291 3466 F7FF sbrs r31,7 |
6292 3468 00C0 rjmp .L530 |
6293 346a F095 com r31 |
6294 346c E195 neg r30 |
6295 346e FF4F sbci r31,lo8(-1) |
6296 .L530: |
6297 3470 7A97 sbiw r30,26 |
6298 3472 04F0 brlt .L529 |
6299 3474 C401 movw r24,r8 |
6300 3476 B301 movw r22,r6 |
6301 3478 23E0 ldi r18,lo8(3) |
6302 347a 30E0 ldi r19,hi8(3) |
6303 347c 40E0 ldi r20,hlo8(3) |
6304 347e 50E0 ldi r21,hhi8(3) |
6305 3480 0E94 0000 call __divmodsi4 |
6306 3484 3901 movw r6,r18 |
6307 3486 4A01 movw r8,r20 |
6308 3488 C601 movw r24,r12 |
6309 348a B501 movw r22,r10 |
6310 348c 23E0 ldi r18,lo8(3) |
6311 348e 30E0 ldi r19,hi8(3) |
6312 3490 40E0 ldi r20,hlo8(3) |
6313 3492 50E0 ldi r21,hhi8(3) |
6314 3494 0E94 0000 call __divmodsi4 |
6315 3498 5901 movw r10,r18 |
6316 349a 6A01 movw r12,r20 |
6317 .L529: |
6318 349c 89E1 ldi r24,lo8(25) |
6319 349e 8093 0000 sts KompassFusion,r24 |
6320 34a2 21E2 ldi r18,lo8(33) |
6321 34a4 6216 cp r6,r18 |
6322 34a6 7104 cpc r7,__zero_reg__ |
6323 34a8 8104 cpc r8,__zero_reg__ |
6324 34aa 9104 cpc r9,__zero_reg__ |
6325 34ac 04F0 brlt .L531 |
6326 34ae 70E2 ldi r23,lo8(32) |
6327 34b0 672E mov r6,r23 |
6328 34b2 712C mov r7,__zero_reg__ |
6329 34b4 812C mov r8,__zero_reg__ |
6330 34b6 912C mov r9,__zero_reg__ |
6331 .L531: |
6332 34b8 30EE ldi r19,lo8(-32) |
6333 34ba 6316 cp r6,r19 |
6334 34bc 3FEF ldi r19,hi8(-32) |
6335 34be 7306 cpc r7,r19 |
6336 34c0 3FEF ldi r19,hlo8(-32) |
6337 34c2 8306 cpc r8,r19 |
6338 34c4 3FEF ldi r19,hhi8(-32) |
6339 34c6 9306 cpc r9,r19 |
6340 34c8 04F4 brge .L532 |
6341 34ca 60EE ldi r22,lo8(-32) |
6342 34cc 662E mov r6,r22 |
6343 34ce 6FEF ldi r22,hi8(-32) |
6344 34d0 762E mov r7,r22 |
6345 34d2 6FEF ldi r22,hlo8(-32) |
6346 34d4 862E mov r8,r22 |
6347 34d6 6FEF ldi r22,hhi8(-32) |
6348 34d8 962E mov r9,r22 |
6349 .L532: |
6350 34da 41E2 ldi r20,lo8(33) |
6351 34dc A416 cp r10,r20 |
6352 34de B104 cpc r11,__zero_reg__ |
6353 34e0 C104 cpc r12,__zero_reg__ |
6354 34e2 D104 cpc r13,__zero_reg__ |
6355 34e4 04F0 brlt .L533 |
6356 34e6 50E2 ldi r21,lo8(32) |
6357 34e8 A52E mov r10,r21 |
6358 34ea B12C mov r11,__zero_reg__ |
6359 34ec C12C mov r12,__zero_reg__ |
6360 34ee D12C mov r13,__zero_reg__ |
6361 .L533: |
6362 34f0 50EE ldi r21,lo8(-32) |
6363 34f2 A516 cp r10,r21 |
6364 34f4 5FEF ldi r21,hi8(-32) |
6365 34f6 B506 cpc r11,r21 |
6366 34f8 5FEF ldi r21,hlo8(-32) |
6367 34fa C506 cpc r12,r21 |
6368 34fc 5FEF ldi r21,hhi8(-32) |
6369 34fe D506 cpc r13,r21 |
6370 3500 04F4 brge .L524 |
6371 3502 40EE ldi r20,lo8(-32) |
6372 3504 A42E mov r10,r20 |
6373 3506 4FEF ldi r20,hi8(-32) |
6374 3508 B42E mov r11,r20 |
6375 350a 4FEF ldi r20,hlo8(-32) |
6376 350c C42E mov r12,r20 |
6377 350e 4FEF ldi r20,hhi8(-32) |
6378 3510 D42E mov r13,r20 |
6379 .L524: |
6380 3512 8091 0000 lds r24,Mess_IntegralNick |
6381 3516 9091 0000 lds r25,(Mess_IntegralNick)+1 |
6382 351a A091 0000 lds r26,(Mess_IntegralNick)+2 |
6383 351e B091 0000 lds r27,(Mess_IntegralNick)+3 |
6384 3522 8619 sub r24,r6 |
6385 3524 9709 sbc r25,r7 |
6386 3526 A809 sbc r26,r8 |
6387 3528 B909 sbc r27,r9 |
6388 352a 8093 0000 sts Mess_IntegralNick,r24 |
6389 352e 9093 0000 sts (Mess_IntegralNick)+1,r25 |
6390 3532 A093 0000 sts (Mess_IntegralNick)+2,r26 |
6391 3536 B093 0000 sts (Mess_IntegralNick)+3,r27 |
6392 353a 8091 0000 lds r24,Mess_IntegralRoll |
6393 353e 9091 0000 lds r25,(Mess_IntegralRoll)+1 |
6394 3542 A091 0000 lds r26,(Mess_IntegralRoll)+2 |
6395 3546 B091 0000 lds r27,(Mess_IntegralRoll)+3 |
6396 354a 8A19 sub r24,r10 |
6397 354c 9B09 sbc r25,r11 |
6398 354e AC09 sbc r26,r12 |
6399 3550 BD09 sbc r27,r13 |
6400 3552 8093 0000 sts Mess_IntegralRoll,r24 |
6401 3556 9093 0000 sts (Mess_IntegralRoll)+1,r25 |
6402 355a A093 0000 sts (Mess_IntegralRoll)+2,r26 |
6403 355e B093 0000 sts (Mess_IntegralRoll)+3,r27 |
6404 .L511: |
6405 3562 8091 0000 lds r24,ZaehlMessungen |
6406 3566 9091 0000 lds r25,(ZaehlMessungen)+1 |
6407 356a 8F3F cpi r24,255 |
6408 356c 9105 cpc r25,__zero_reg__ |
6409 356e 01F0 breq .+2 |
6410 3570 00F4 brsh .+2 |
6411 3572 00C0 rjmp .L535 |
6412 3574 6F85 ldd r22,Y+15 |
6413 3576 6623 tst r22 |
6414 3578 01F0 breq .+2 |
6415 357a 00C0 rjmp .L536 |
6416 357c 8091 0000 lds r24,Looping_Roll |
6417 3580 8823 tst r24 |
6418 3582 01F0 breq .+2 |
6419 3584 00C0 rjmp .L536 |
6420 3586 8091 0000 lds r24,TrichterFlug |
6421 358a 8823 tst r24 |
6422 358c 01F0 breq .+2 |
6423 358e 00C0 rjmp .L536 |
6424 3590 7091 0000 lds r23,EE_Parameter+68 |
6425 3594 788B std Y+16,r23 |
6426 3596 7723 tst r23 |
6427 3598 01F4 brne .+2 |
6428 359a 00C0 rjmp .L536 |
6429 359c 8091 0000 lds r24,MittelIntegralNick |
6430 35a0 9091 0000 lds r25,(MittelIntegralNick)+1 |
6431 35a4 A091 0000 lds r26,(MittelIntegralNick)+2 |
6432 35a8 B091 0000 lds r27,(MittelIntegralNick)+3 |
6433 35ac B7FF sbrs r27,7 |
6434 35ae 00C0 rjmp .L537 |
6435 35b0 8150 subi r24,lo8(-(255)) |
6436 35b2 9F4F sbci r25,hi8(-(255)) |
6437 35b4 AF4F sbci r26,hlo8(-(255)) |
6438 35b6 BF4F sbci r27,hhi8(-(255)) |
6439 .L537: |
6440 35b8 E92E mov r14,r25 |
6441 35ba FA2E mov r15,r26 |
6442 35bc 0B2F mov r16,r27 |
6443 35be 1127 clr r17 |
6444 35c0 07FD sbrc r16,7 |
6445 35c2 1A95 dec r17 |
6446 35c4 E092 0000 sts MittelIntegralNick,r14 |
6447 35c8 F092 0000 sts (MittelIntegralNick)+1,r15 |
6448 35cc 0093 0000 sts (MittelIntegralNick)+2,r16 |
6449 35d0 1093 0000 sts (MittelIntegralNick)+3,r17 |
6450 35d4 8091 0000 lds r24,MittelIntegralRoll |
6451 35d8 9091 0000 lds r25,(MittelIntegralRoll)+1 |
6452 35dc A091 0000 lds r26,(MittelIntegralRoll)+2 |
6453 35e0 B091 0000 lds r27,(MittelIntegralRoll)+3 |
6454 35e4 B7FF sbrs r27,7 |
6455 35e6 00C0 rjmp .L538 |
6456 35e8 8150 subi r24,lo8(-(255)) |
6457 35ea 9F4F sbci r25,hi8(-(255)) |
6458 35ec AF4F sbci r26,hlo8(-(255)) |
6459 35ee BF4F sbci r27,hhi8(-(255)) |
6460 .L538: |
6461 35f0 892F mov r24,r25 |
6462 35f2 9A2F mov r25,r26 |
6463 35f4 AB2F mov r26,r27 |
6464 35f6 BB27 clr r27 |
6465 35f8 A7FD sbrc r26,7 |
6466 35fa BA95 dec r27 |
6467 35fc 898B std Y+17,r24 |
6468 35fe 9A8B std Y+18,r25 |
6469 3600 AB8B std Y+19,r26 |
6470 3602 BC8B std Y+20,r27 |
6471 3604 8093 0000 sts MittelIntegralRoll,r24 |
6472 3608 9093 0000 sts (MittelIntegralRoll)+1,r25 |
6473 360c A093 0000 sts (MittelIntegralRoll)+2,r26 |
6474 3610 B093 0000 sts (MittelIntegralRoll)+3,r27 |
6475 3614 8091 0000 lds r24,EE_Parameter+28 |
6476 3618 A82E mov r10,r24 |
6477 361a BB24 clr r11 |
6478 361c CC24 clr r12 |
6479 361e DD24 clr r13 |
6480 3620 2091 0000 lds r18,IntegralAccNick |
6481 3624 3091 0000 lds r19,(IntegralAccNick)+1 |
6482 3628 4091 0000 lds r20,(IntegralAccNick)+2 |
6483 362c 5091 0000 lds r21,(IntegralAccNick)+3 |
6484 3630 C601 movw r24,r12 |
6485 3632 B501 movw r22,r10 |
6486 3634 0E94 0000 call __mulsi3 |
6487 3638 97FF sbrs r25,7 |
6488 363a 00C0 rjmp .L539 |
6489 363c 6150 subi r22,lo8(-(255)) |
6490 363e 7F4F sbci r23,hi8(-(255)) |
6491 3640 8F4F sbci r24,hlo8(-(255)) |
6492 3642 9F4F sbci r25,hhi8(-(255)) |
6493 .L539: |
6494 3644 672E mov r6,r23 |
6495 3646 782E mov r7,r24 |
6496 3648 892E mov r8,r25 |
6497 364a 9924 clr r9 |
6498 364c 87FC sbrc r8,7 |
6499 364e 9A94 dec r9 |
6500 3650 6092 0000 sts IntegralAccNick,r6 |
6501 3654 7092 0000 sts (IntegralAccNick)+1,r7 |
6502 3658 8092 0000 sts (IntegralAccNick)+2,r8 |
6503 365c 9092 0000 sts (IntegralAccNick)+3,r9 |
6504 3660 2091 0000 lds r18,IntegralAccRoll |
6505 3664 3091 0000 lds r19,(IntegralAccRoll)+1 |
6506 3668 4091 0000 lds r20,(IntegralAccRoll)+2 |
6507 366c 5091 0000 lds r21,(IntegralAccRoll)+3 |
6508 3670 C601 movw r24,r12 |
6509 3672 B501 movw r22,r10 |
6510 3674 0E94 0000 call __mulsi3 |
6511 3678 97FF sbrs r25,7 |
6512 367a 00C0 rjmp .L540 |
6513 367c 6150 subi r22,lo8(-(255)) |
6514 367e 7F4F sbci r23,hi8(-(255)) |
6515 3680 8F4F sbci r24,hlo8(-(255)) |
6516 3682 9F4F sbci r25,hhi8(-(255)) |
6517 .L540: |
6518 3684 272E mov r2,r23 |
6519 3686 382E mov r3,r24 |
6520 3688 492E mov r4,r25 |
6521 368a 5524 clr r5 |
6522 368c 47FC sbrc r4,7 |
6523 368e 5A94 dec r5 |
6524 3690 2092 0000 sts IntegralAccRoll,r2 |
6525 3694 3092 0000 sts (IntegralAccRoll)+1,r3 |
6526 3698 4092 0000 sts (IntegralAccRoll)+2,r4 |
6527 369c 5092 0000 sts (IntegralAccRoll)+3,r5 |
6528 36a0 8091 0000 lds r24,IntegralAccZ |
6529 36a4 9091 0000 lds r25,(IntegralAccZ)+1 |
6530 36a8 A091 0000 lds r26,(IntegralAccZ)+2 |
6531 36ac B091 0000 lds r27,(IntegralAccZ)+3 |
6532 36b0 B7FF sbrs r27,7 |
6533 36b2 00C0 rjmp .L541 |
6534 36b4 8150 subi r24,lo8(-(255)) |
6535 36b6 9F4F sbci r25,hi8(-(255)) |
6536 36b8 AF4F sbci r26,hlo8(-(255)) |
6537 36ba BF4F sbci r27,hhi8(-(255)) |
6538 .L541: |
6539 36bc 892F mov r24,r25 |
6540 36be 9A2F mov r25,r26 |
6541 36c0 AB2F mov r26,r27 |
6542 36c2 BB27 clr r27 |
6543 36c4 A7FD sbrc r26,7 |
6544 36c6 BA95 dec r27 |
6545 36c8 8093 0000 sts IntegralAccZ,r24 |
6546 36cc 9093 0000 sts (IntegralAccZ)+1,r25 |
6547 36d0 A093 0000 sts (IntegralAccZ)+2,r26 |
6548 36d4 B093 0000 sts (IntegralAccZ)+3,r27 |
6549 36d8 D801 movw r26,r16 |
6550 36da C701 movw r24,r14 |
6551 36dc 8619 sub r24,r6 |
6552 36de 9709 sbc r25,r7 |
6553 36e0 A809 sbc r26,r8 |
6554 36e2 B909 sbc r27,r9 |
6555 36e4 8093 0000 sts IntegralFehlerNick.3,r24 |
6556 36e8 9093 0000 sts (IntegralFehlerNick.3)+1,r25 |
6557 36ec A093 0000 sts (IntegralFehlerNick.3)+2,r26 |
6558 36f0 B093 0000 sts (IntegralFehlerNick.3)+3,r27 |
6559 36f4 2091 0000 lds r18,EE_Parameter+67 |
6560 36f8 E22E mov r14,r18 |
6561 36fa FF24 clr r15 |
6562 36fc 0027 clr r16 |
6563 36fe 1127 clr r17 |
6564 3700 BC01 movw r22,r24 |
6565 3702 CD01 movw r24,r26 |
6566 3704 A801 movw r20,r16 |
6567 3706 9701 movw r18,r14 |
6568 3708 0E94 0000 call __divmodsi4 |
6569 370c 5901 movw r10,r18 |
6570 370e 6A01 movw r12,r20 |
6571 3710 2093 0000 sts ausgleichNick.10,r18 |
6572 3714 3093 0000 sts (ausgleichNick.10)+1,r19 |
6573 3718 4093 0000 sts (ausgleichNick.10)+2,r20 |
6574 371c 5093 0000 sts (ausgleichNick.10)+3,r21 |
6575 3720 8989 ldd r24,Y+17 |
6576 3722 9A89 ldd r25,Y+18 |
6577 3724 AB89 ldd r26,Y+19 |
6578 3726 BC89 ldd r27,Y+20 |
6579 3728 8219 sub r24,r2 |
6580 372a 9309 sbc r25,r3 |
6581 372c A409 sbc r26,r4 |
6582 372e B509 sbc r27,r5 |
6583 3730 8093 0000 sts IntegralFehlerRoll.4,r24 |
6584 3734 9093 0000 sts (IntegralFehlerRoll.4)+1,r25 |
6585 3738 A093 0000 sts (IntegralFehlerRoll.4)+2,r26 |
6586 373c B093 0000 sts (IntegralFehlerRoll.4)+3,r27 |
6587 3740 BC01 movw r22,r24 |
6588 3742 CD01 movw r24,r26 |
6589 3744 A801 movw r20,r16 |
6590 3746 9701 movw r18,r14 |
6591 3748 0E94 0000 call __divmodsi4 |
6592 374c 2093 0000 sts ausgleichRoll.11,r18 |
6593 3750 3093 0000 sts (ausgleichRoll.11)+1,r19 |
6594 3754 4093 0000 sts (ausgleichRoll.11)+2,r20 |
6595 3758 5093 0000 sts (ausgleichRoll.11)+3,r21 |
6596 375c D601 movw r26,r12 |
6597 375e C501 movw r24,r10 |
6598 3760 D7FE sbrs r13,7 |
6599 3762 00C0 rjmp .L542 |
6600 3764 8150 subi r24,lo8(-(255)) |
6601 3766 9F4F sbci r25,hi8(-(255)) |
6602 3768 AF4F sbci r26,hlo8(-(255)) |
6603 376a BF4F sbci r27,hhi8(-(255)) |
6604 .L542: |
6605 376c 892F mov r24,r25 |
6606 376e 9A2F mov r25,r26 |
6607 3770 AB2F mov r26,r27 |
6608 3772 BB27 clr r27 |
6609 3774 A7FD sbrc r26,7 |
6610 3776 BA95 dec r27 |
6611 3778 9093 0000 sts (LageKorrekturNick)+1,r25 |
6612 377c 8093 0000 sts LageKorrekturNick,r24 |
6613 3780 57FF sbrs r21,7 |
6614 3782 00C0 rjmp .L543 |
6615 3784 2150 subi r18,lo8(-(255)) |
6616 3786 3F4F sbci r19,hi8(-(255)) |
6617 3788 4F4F sbci r20,hlo8(-(255)) |
6618 378a 5F4F sbci r21,hhi8(-(255)) |
6619 .L543: |
6620 378c BB27 clr r27 |
6621 378e 57FD sbrc r21,7 |
6622 3790 BA95 dec r27 |
6623 3792 A52F mov r26,r21 |
6624 3794 942F mov r25,r20 |
6625 3796 832F mov r24,r19 |
6626 3798 9093 0000 sts (LageKorrekturRoll)+1,r25 |
6627 379c 8093 0000 sts LageKorrekturRoll,r24 |
6628 37a0 8091 0000 lds r24,MaxStickNick |
6629 37a4 9091 0000 lds r25,(MaxStickNick)+1 |
6630 37a8 8134 cpi r24,65 |
6631 37aa 9105 cpc r25,__zero_reg__ |
6632 37ac 04F4 brge .L545 |
6633 37ae 8091 0000 lds r24,MaxStickRoll |
6634 37b2 9091 0000 lds r25,(MaxStickRoll)+1 |
6635 37b6 8134 cpi r24,65 |
6636 37b8 9105 cpc r25,__zero_reg__ |
6637 37ba 04F4 brge .L545 |
6638 37bc 8091 0000 lds r24,EE_Parameter+4 |
6639 37c0 E82F mov r30,r24 |
6640 37c2 FF27 clr r31 |
6641 37c4 EE0F add r30,r30 |
6642 37c6 FF1F adc r31,r31 |
6643 37c8 E050 subi r30,lo8(-(PPM_in)) |
6644 37ca F040 sbci r31,hi8(-(PPM_in)) |
6645 37cc 8081 ld r24,Z |
6646 37ce 9181 ldd r25,Z+1 |
6647 37d0 0190 ld __tmp_reg__,Z+ |
6648 37d2 F081 ld r31,Z |
6649 37d4 E02D mov r30,__tmp_reg__ |
6650 37d6 F7FF sbrs r31,7 |
6651 37d8 00C0 rjmp .L546 |
6652 37da F095 com r31 |
6653 37dc E195 neg r30 |
6654 37de FF4F sbci r31,lo8(-1) |
6655 .L546: |
6656 37e0 7A97 sbiw r30,26 |
6657 37e2 04F0 brlt .L544 |
6658 .L545: |
6659 37e4 8091 0000 lds r24,FromNaviCtrl_Value |
6660 37e8 8F3F cpi r24,lo8(-1) |
6661 37ea 01F4 brne .L544 |
6662 37ec 8091 0000 lds r24,LageKorrekturNick |
6663 37f0 9091 0000 lds r25,(LageKorrekturNick)+1 |
6664 37f4 97FD sbrc r25,7 |
6665 37f6 0196 adiw r24,1 |
6666 .L547: |
6667 37f8 9595 asr r25 |
6668 37fa 8795 ror r24 |
6669 37fc 9093 0000 sts (LageKorrekturNick)+1,r25 |
6670 3800 8093 0000 sts LageKorrekturNick,r24 |
6671 3804 8091 0000 lds r24,LageKorrekturRoll |
6672 3808 9091 0000 lds r25,(LageKorrekturRoll)+1 |
6673 380c 97FD sbrc r25,7 |
6674 380e 0196 adiw r24,1 |
6675 .L548: |
6676 3810 9595 asr r25 |
6677 3812 8795 ror r24 |
6678 3814 9093 0000 sts (LageKorrekturRoll)+1,r25 |
6679 3818 8093 0000 sts LageKorrekturRoll,r24 |
6680 .L544: |
6681 381c 8091 0000 lds r24,MittelIntegralNick2 |
6682 3820 9091 0000 lds r25,(MittelIntegralNick2)+1 |
6683 3824 A091 0000 lds r26,(MittelIntegralNick2)+2 |
6684 3828 B091 0000 lds r27,(MittelIntegralNick2)+3 |
6685 382c B7FF sbrs r27,7 |
6686 382e 00C0 rjmp .L549 |
6687 3830 8150 subi r24,lo8(-(255)) |
6688 3832 9F4F sbci r25,hi8(-(255)) |
6689 3834 AF4F sbci r26,hlo8(-(255)) |
6690 3836 BF4F sbci r27,hhi8(-(255)) |
6691 .L549: |
6692 3838 892F mov r24,r25 |
6693 383a 9A2F mov r25,r26 |
6694 383c AB2F mov r26,r27 |
6695 383e BB27 clr r27 |
6696 3840 A7FD sbrc r26,7 |
6697 3842 BA95 dec r27 |
6698 3844 8093 0000 sts MittelIntegralNick2,r24 |
6699 3848 9093 0000 sts (MittelIntegralNick2)+1,r25 |
6700 384c A093 0000 sts (MittelIntegralNick2)+2,r26 |
6701 3850 B093 0000 sts (MittelIntegralNick2)+3,r27 |
6702 3854 8091 0000 lds r24,MittelIntegralRoll2 |
6703 3858 9091 0000 lds r25,(MittelIntegralRoll2)+1 |
6704 385c A091 0000 lds r26,(MittelIntegralRoll2)+2 |
6705 3860 B091 0000 lds r27,(MittelIntegralRoll2)+3 |
6706 3864 B7FF sbrs r27,7 |
6707 3866 00C0 rjmp .L550 |
6708 3868 8150 subi r24,lo8(-(255)) |
6709 386a 9F4F sbci r25,hi8(-(255)) |
6710 386c AF4F sbci r26,hlo8(-(255)) |
6711 386e BF4F sbci r27,hhi8(-(255)) |
6712 .L550: |
6713 3870 892F mov r24,r25 |
6714 3872 9A2F mov r25,r26 |
6715 3874 AB2F mov r26,r27 |
6716 3876 BB27 clr r27 |
6717 3878 A7FD sbrc r26,7 |
6718 387a BA95 dec r27 |
6719 387c 8093 0000 sts MittelIntegralRoll2,r24 |
6720 3880 9093 0000 sts (MittelIntegralRoll2)+1,r25 |
6721 3884 A093 0000 sts (MittelIntegralRoll2)+2,r26 |
6722 3888 B093 0000 sts (MittelIntegralRoll2)+3,r27 |
6723 388c 8091 0000 lds r24,IntegralNick |
6724 3890 9091 0000 lds r25,(IntegralNick)+1 |
6725 3894 A091 0000 lds r26,(IntegralNick)+2 |
6726 3898 B091 0000 lds r27,(IntegralNick)+3 |
6727 389c 2F81 ldd r18,Y+7 |
6728 389e 3885 ldd r19,Y+8 |
6729 38a0 4985 ldd r20,Y+9 |
6730 38a2 5A85 ldd r21,Y+10 |
6731 38a4 281B sub r18,r24 |
6732 38a6 390B sbc r19,r25 |
6733 38a8 4A0B sbc r20,r26 |
6734 38aa 5B0B sbc r21,r27 |
6735 38ac 2093 0000 sts tmp_long.1,r18 |
6736 38b0 3093 0000 sts (tmp_long.1)+1,r19 |
6737 38b4 4093 0000 sts (tmp_long.1)+2,r20 |
6738 38b8 5093 0000 sts (tmp_long.1)+3,r21 |
6739 38bc 8091 0000 lds r24,IntegralRoll |
6740 38c0 9091 0000 lds r25,(IntegralRoll)+1 |
6741 38c4 A091 0000 lds r26,(IntegralRoll)+2 |
6742 38c8 B091 0000 lds r27,(IntegralRoll)+3 |
6743 38cc EB84 ldd r14,Y+11 |
6744 38ce FC84 ldd r15,Y+12 |
6745 38d0 0D85 ldd r16,Y+13 |
6746 38d2 1E85 ldd r17,Y+14 |
6747 38d4 E81A sub r14,r24 |
6748 38d6 F90A sbc r15,r25 |
6749 38d8 0A0B sbc r16,r26 |
6750 38da 1B0B sbc r17,r27 |
6751 38dc E092 0000 sts tmp_long2.2,r14 |
6752 38e0 F092 0000 sts (tmp_long2.2)+1,r15 |
6753 38e4 0093 0000 sts (tmp_long2.2)+2,r16 |
6754 38e8 1093 0000 sts (tmp_long2.2)+3,r17 |
6755 38ec 2093 0000 sts IntegralFehlerNick.3,r18 |
6756 38f0 3093 0000 sts (IntegralFehlerNick.3)+1,r19 |
6757 38f4 4093 0000 sts (IntegralFehlerNick.3)+2,r20 |
6758 38f8 5093 0000 sts (IntegralFehlerNick.3)+3,r21 |
6759 38fc E092 0000 sts IntegralFehlerRoll.4,r14 |
6760 3900 F092 0000 sts (IntegralFehlerRoll.4)+1,r15 |
6761 3904 0093 0000 sts (IntegralFehlerRoll.4)+2,r16 |
6762 3908 1093 0000 sts (IntegralFehlerRoll.4)+3,r17 |
6763 390c 8091 0000 lds r24,Mess_IntegralNick2 |
6764 3910 9091 0000 lds r25,(Mess_IntegralNick2)+1 |
6765 3914 A091 0000 lds r26,(Mess_IntegralNick2)+2 |
6766 3918 B091 0000 lds r27,(Mess_IntegralNick2)+3 |
6767 391c 821B sub r24,r18 |
6768 391e 930B sbc r25,r19 |
6769 3920 A40B sbc r26,r20 |
6770 3922 B50B sbc r27,r21 |
6771 3924 8093 0000 sts Mess_IntegralNick2,r24 |
6772 3928 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
6773 392c A093 0000 sts (Mess_IntegralNick2)+2,r26 |
6774 3930 B093 0000 sts (Mess_IntegralNick2)+3,r27 |
6775 3934 8091 0000 lds r24,Mess_IntegralRoll2 |
6776 3938 9091 0000 lds r25,(Mess_IntegralRoll2)+1 |
6777 393c A091 0000 lds r26,(Mess_IntegralRoll2)+2 |
6778 3940 B091 0000 lds r27,(Mess_IntegralRoll2)+3 |
6779 3944 8E19 sub r24,r14 |
6780 3946 9F09 sbc r25,r15 |
6781 3948 A00B sbc r26,r16 |
6782 394a B10B sbc r27,r17 |
6783 394c 8093 0000 sts Mess_IntegralRoll2,r24 |
6784 3950 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
6785 3954 A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
6786 3958 B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
6787 395c 8889 ldd r24,Y+16 |
6788 395e 8823 tst r24 |
6789 3960 01F0 breq .L551 |
6790 3962 2091 0000 lds r18,GierGyroFehler |
6791 3966 3091 0000 lds r19,(GierGyroFehler)+1 |
6792 396a 2138 cpi r18,129 |
6793 396c 3105 cpc r19,__zero_reg__ |
6794 396e 04F0 brlt .L552 |
6795 3970 8091 0000 lds r24,AdNeutralGier |
6796 3974 9091 0000 lds r25,(AdNeutralGier)+1 |
6797 3978 0196 adiw r24,1 |
6798 397a 9093 0000 sts (AdNeutralGier)+1,r25 |
6799 397e 8093 0000 sts AdNeutralGier,r24 |
6800 .L552: |
6801 3982 2058 subi r18,lo8(-128) |
6802 3984 3F4F sbci r19,hi8(-128) |
6803 3986 04F4 brge .L551 |
6804 3988 8091 0000 lds r24,AdNeutralGier |
6805 398c 9091 0000 lds r25,(AdNeutralGier)+1 |
6806 3990 0197 sbiw r24,1 |
6807 3992 9093 0000 sts (AdNeutralGier)+1,r25 |
6808 3996 8093 0000 sts AdNeutralGier,r24 |
6809 .L551: |
6810 399a 1092 0000 sts (GierGyroFehler)+1,__zero_reg__ |
6811 399e 1092 0000 sts GierGyroFehler,__zero_reg__ |
6812 39a2 81E0 ldi r24,lo8(1) |
6813 39a4 90E0 ldi r25,hi8(1) |
6814 39a6 9093 0000 sts (cnt.14)+1,r25 |
6815 39aa 8093 0000 sts cnt.14,r24 |
6816 39ae E090 0000 lds r14,IntegralFehlerNick.3 |
6817 39b2 F090 0000 lds r15,(IntegralFehlerNick.3)+1 |
6818 39b6 0091 0000 lds r16,(IntegralFehlerNick.3)+2 |
6819 39ba 1091 0000 lds r17,(IntegralFehlerNick.3)+3 |
6820 39be D801 movw r26,r16 |
6821 39c0 C701 movw r24,r14 |
6822 39c2 17FF sbrs r17,7 |
6823 39c4 00C0 rjmp .L555 |
6824 39c6 8827 clr r24 |
6825 39c8 9927 clr r25 |
6826 39ca DC01 movw r26,r24 |
6827 39cc 8E19 sub r24,r14 |
6828 39ce 9F09 sbc r25,r15 |
6829 39d0 A00B sbc r26,r16 |
6830 39d2 B10B sbc r27,r17 |
6831 .L555: |
6832 39d4 8150 subi r24,lo8(513) |
6833 39d6 9240 sbci r25,hi8(513) |
6834 39d8 A040 sbci r26,hlo8(513) |
6835 39da B040 sbci r27,hhi8(513) |
6836 39dc 04F0 brlt .L554 |
6837 39de 84E0 ldi r24,lo8(4) |
6838 39e0 90E0 ldi r25,hi8(4) |
6839 39e2 9093 0000 sts (cnt.14)+1,r25 |
6840 39e6 8093 0000 sts cnt.14,r24 |
6841 .L554: |
6842 39ea 8091 0000 lds r24,MittelIntegralNick_Alt.19 |
6843 39ee 9091 0000 lds r25,(MittelIntegralNick_Alt.19)+1 |
6844 39f2 A091 0000 lds r26,(MittelIntegralNick_Alt.19)+2 |
6845 39f6 B091 0000 lds r27,(MittelIntegralNick_Alt.19)+3 |
6846 39fa 2091 0000 lds r18,MittelIntegralNick |
6847 39fe 3091 0000 lds r19,(MittelIntegralNick)+1 |
6848 3a02 4091 0000 lds r20,(MittelIntegralNick)+2 |
6849 3a06 5091 0000 lds r21,(MittelIntegralNick)+3 |
6850 3a0a 821B sub r24,r18 |
6851 3a0c 930B sbc r25,r19 |
6852 3a0e A40B sbc r26,r20 |
6853 3a10 B50B sbc r27,r21 |
6854 3a12 815E subi r24,lo8(-(19999)) |
6855 3a14 914B sbci r25,hi8(-(19999)) |
6856 3a16 AF4F sbci r26,hlo8(-(19999)) |
6857 3a18 BF4F sbci r27,hhi8(-(19999)) |
6858 3a1a 8F53 subi r24,lo8(39999) |
6859 3a1c 9C49 sbci r25,hi8(39999) |
6860 3a1e A040 sbci r26,hlo8(39999) |
6861 3a20 B040 sbci r27,hhi8(39999) |
6862 3a22 00F0 brlo .L557 |
6863 3a24 8091 0000 lds r24,FromNaviCtrl_Value+1 |
6864 3a28 8931 cpi r24,lo8(25) |
6865 3a2a 04F4 brge .+2 |
6866 3a2c 00C0 rjmp .L556 |
6867 .L557: |
6868 3a2e 21E0 ldi r18,lo8(4097) |
6869 3a30 E216 cp r14,r18 |
6870 3a32 20E1 ldi r18,hi8(4097) |
6871 3a34 F206 cpc r15,r18 |
6872 3a36 20E0 ldi r18,hlo8(4097) |
6873 3a38 0207 cpc r16,r18 |
6874 3a3a 20E0 ldi r18,hhi8(4097) |
6875 3a3c 1207 cpc r17,r18 |
6876 3a3e 04F4 brge .+2 |
6877 3a40 00C0 rjmp .L558 |
6878 3a42 8091 0000 lds r24,last_n_p.15 |
6879 3a46 8823 tst r24 |
6880 3a48 01F4 brne .+2 |
6881 3a4a 00C0 rjmp .L559 |
6882 3a4c D801 movw r26,r16 |
6883 3a4e C701 movw r24,r14 |
6884 3a50 17FF sbrs r17,7 |
6885 3a52 00C0 rjmp .L560 |
6886 3a54 8827 clr r24 |
6887 3a56 9927 clr r25 |
6888 3a58 DC01 movw r26,r24 |
6889 3a5a 8E19 sub r24,r14 |
6890 3a5c 9F09 sbc r25,r15 |
6891 3a5e A00B sbc r26,r16 |
6892 3a60 B10B sbc r27,r17 |
6893 .L560: |
6894 3a62 9C01 movw r18,r24 |
6895 3a64 AD01 movw r20,r26 |
6896 3a66 B7FF sbrs r27,7 |
6897 3a68 00C0 rjmp .L561 |
6898 3a6a 2150 subi r18,lo8(-(511)) |
6899 3a6c 3E4F sbci r19,hi8(-(511)) |
6900 3a6e 4F4F sbci r20,hlo8(-(511)) |
6901 3a70 5F4F sbci r21,hhi8(-(511)) |
6902 .L561: |
6903 3a72 F9E0 ldi r31,9 |
6904 3a74 5595 1: asr r21 |
6905 3a76 4795 ror r20 |
6906 3a78 3795 ror r19 |
6907 3a7a 2795 ror r18 |
6908 3a7c FA95 dec r31 |
6909 3a7e 01F4 brne 1b |
6910 3a80 8091 0000 lds r24,cnt.14 |
6911 3a84 9091 0000 lds r25,(cnt.14)+1 |
6912 3a88 820F add r24,r18 |
6913 3a8a 931F adc r25,r19 |
6914 3a8c 9093 0000 sts (cnt.14)+1,r25 |
6915 3a90 8093 0000 sts cnt.14,r24 |
6916 3a94 D801 movw r26,r16 |
6917 3a96 C701 movw r24,r14 |
6918 3a98 17FF sbrs r17,7 |
6919 3a9a 00C0 rjmp .L562 |
6920 3a9c 0796 adiw r24,7 |
6921 3a9e A11D adc r26,__zero_reg__ |
6922 3aa0 B11D adc r27,__zero_reg__ |
6923 .L562: |
6924 3aa2 E3E0 ldi r30,3 |
6925 3aa4 B595 1: asr r27 |
6926 3aa6 A795 ror r26 |
6927 3aa8 9795 ror r25 |
6928 3aaa 8795 ror r24 |
6929 3aac EA95 dec r30 |
6930 3aae 01F4 brne 1b |
6931 3ab0 8093 0000 sts ausgleichNick.10,r24 |
6932 3ab4 9093 0000 sts (ausgleichNick.10)+1,r25 |
6933 3ab8 A093 0000 sts (ausgleichNick.10)+2,r26 |
6934 3abc B093 0000 sts (ausgleichNick.10)+3,r27 |
6935 3ac0 8958 subi r24,lo8(5001) |
6936 3ac2 9341 sbci r25,hi8(5001) |
6937 3ac4 A040 sbci r26,hlo8(5001) |
6938 3ac6 B040 sbci r27,hhi8(5001) |
6939 3ac8 04F0 brlt .L563 |
6940 3aca 88E8 ldi r24,lo8(5000) |
6941 3acc 93E1 ldi r25,hi8(5000) |
6942 3ace A0E0 ldi r26,hlo8(5000) |
6943 3ad0 B0E0 ldi r27,hhi8(5000) |
6944 3ad2 8093 0000 sts ausgleichNick.10,r24 |
6945 3ad6 9093 0000 sts (ausgleichNick.10)+1,r25 |
6946 3ada A093 0000 sts (ausgleichNick.10)+2,r26 |
6947 3ade B093 0000 sts (ausgleichNick.10)+3,r27 |
6948 .L563: |
6949 3ae2 2091 0000 lds r18,ausgleichNick.10 |
6950 3ae6 3091 0000 lds r19,(ausgleichNick.10)+1 |
6951 3aea 4091 0000 lds r20,(ausgleichNick.10)+2 |
6952 3aee 5091 0000 lds r21,(ausgleichNick.10)+3 |
6953 3af2 57FF sbrs r21,7 |
6954 3af4 00C0 rjmp .L564 |
6955 3af6 2150 subi r18,lo8(-(255)) |
6956 3af8 3F4F sbci r19,hi8(-(255)) |
6957 3afa 4F4F sbci r20,hlo8(-(255)) |
6958 3afc 5F4F sbci r21,hhi8(-(255)) |
6959 .L564: |
6960 3afe 232F mov r18,r19 |
6961 3b00 342F mov r19,r20 |
6962 3b02 452F mov r20,r21 |
6963 3b04 5527 clr r21 |
6964 3b06 47FD sbrc r20,7 |
6965 3b08 5A95 dec r21 |
6966 3b0a 8091 0000 lds r24,LageKorrekturNick |
6967 3b0e 9091 0000 lds r25,(LageKorrekturNick)+1 |
6968 3b12 820F add r24,r18 |
6969 3b14 931F adc r25,r19 |
6970 3b16 9093 0000 sts (LageKorrekturNick)+1,r25 |
6971 3b1a 8093 0000 sts LageKorrekturNick,r24 |
6972 3b1e 00C0 rjmp .L566 |
6973 .L559: |
6974 3b20 81E0 ldi r24,lo8(1) |
6975 3b22 8093 0000 sts last_n_p.15,r24 |
6976 3b26 00C0 rjmp .L566 |
6977 .L558: |
6978 3b28 1092 0000 sts last_n_p.15,__zero_reg__ |
6979 .L566: |
6980 3b2c 40E0 ldi r20,lo8(-4096) |
6981 3b2e E416 cp r14,r20 |
6982 3b30 40EF ldi r20,hi8(-4096) |
6983 3b32 F406 cpc r15,r20 |
6984 3b34 4FEF ldi r20,hlo8(-4096) |
6985 3b36 0407 cpc r16,r20 |
6986 3b38 4FEF ldi r20,hhi8(-4096) |
6987 3b3a 1407 cpc r17,r20 |
6988 3b3c 04F0 brlt .+2 |
6989 3b3e 00C0 rjmp .L567 |
6990 3b40 8091 0000 lds r24,last_n_n.16 |
6991 3b44 8823 tst r24 |
6992 3b46 01F4 brne .+2 |
6993 3b48 00C0 rjmp .L568 |
6994 3b4a D801 movw r26,r16 |
6995 3b4c C701 movw r24,r14 |
6996 3b4e 17FF sbrs r17,7 |
6997 3b50 00C0 rjmp .L569 |
6998 3b52 8827 clr r24 |
6999 3b54 9927 clr r25 |
7000 3b56 DC01 movw r26,r24 |
7001 3b58 8E19 sub r24,r14 |
7002 3b5a 9F09 sbc r25,r15 |
7003 3b5c A00B sbc r26,r16 |
7004 3b5e B10B sbc r27,r17 |
7005 .L569: |
7006 3b60 9C01 movw r18,r24 |
7007 3b62 AD01 movw r20,r26 |
7008 3b64 B7FF sbrs r27,7 |
7009 3b66 00C0 rjmp .L570 |
7010 3b68 2150 subi r18,lo8(-(511)) |
7011 3b6a 3E4F sbci r19,hi8(-(511)) |
7012 3b6c 4F4F sbci r20,hlo8(-(511)) |
7013 3b6e 5F4F sbci r21,hhi8(-(511)) |
7014 .L570: |
7015 3b70 69E0 ldi r22,9 |
7016 3b72 5595 1: asr r21 |
7017 3b74 4795 ror r20 |
7018 3b76 3795 ror r19 |
7019 3b78 2795 ror r18 |
7020 3b7a 6A95 dec r22 |
7021 3b7c 01F4 brne 1b |
7022 3b7e 8091 0000 lds r24,cnt.14 |
7023 3b82 9091 0000 lds r25,(cnt.14)+1 |
7024 3b86 820F add r24,r18 |
7025 3b88 931F adc r25,r19 |
7026 3b8a 9093 0000 sts (cnt.14)+1,r25 |
7027 3b8e 8093 0000 sts cnt.14,r24 |
7028 3b92 D801 movw r26,r16 |
7029 3b94 C701 movw r24,r14 |
7030 3b96 17FF sbrs r17,7 |
7031 3b98 00C0 rjmp .L571 |
7032 3b9a 0796 adiw r24,7 |
7033 3b9c A11D adc r26,__zero_reg__ |
7034 3b9e B11D adc r27,__zero_reg__ |
7035 .L571: |
7036 3ba0 23E0 ldi r18,3 |
7037 3ba2 B595 1: asr r27 |
7038 3ba4 A795 ror r26 |
7039 3ba6 9795 ror r25 |
7040 3ba8 8795 ror r24 |
7041 3baa 2A95 dec r18 |
7042 3bac 01F4 brne 1b |
7043 3bae 8093 0000 sts ausgleichNick.10,r24 |
7044 3bb2 9093 0000 sts (ausgleichNick.10)+1,r25 |
7045 3bb6 A093 0000 sts (ausgleichNick.10)+2,r26 |
7046 3bba B093 0000 sts (ausgleichNick.10)+3,r27 |
7047 3bbe 8857 subi r24,lo8(-5000) |
7048 3bc0 9C4E sbci r25,hi8(-5000) |
7049 3bc2 AF4F sbci r26,hlo8(-5000) |
7050 3bc4 BF4F sbci r27,hhi8(-5000) |
7051 3bc6 04F4 brge .L572 |
7052 3bc8 88E7 ldi r24,lo8(-5000) |
7053 3bca 9CEE ldi r25,hi8(-5000) |
7054 3bcc AFEF ldi r26,hlo8(-5000) |
7055 3bce BFEF ldi r27,hhi8(-5000) |
7056 3bd0 8093 0000 sts ausgleichNick.10,r24 |
7057 3bd4 9093 0000 sts (ausgleichNick.10)+1,r25 |
7058 3bd8 A093 0000 sts (ausgleichNick.10)+2,r26 |
7059 3bdc B093 0000 sts (ausgleichNick.10)+3,r27 |
7060 .L572: |
7061 3be0 2091 0000 lds r18,ausgleichNick.10 |
7062 3be4 3091 0000 lds r19,(ausgleichNick.10)+1 |
7063 3be8 4091 0000 lds r20,(ausgleichNick.10)+2 |
7064 3bec 5091 0000 lds r21,(ausgleichNick.10)+3 |
7065 3bf0 57FF sbrs r21,7 |
7066 3bf2 00C0 rjmp .L573 |
7067 3bf4 2150 subi r18,lo8(-(255)) |
7068 3bf6 3F4F sbci r19,hi8(-(255)) |
7069 3bf8 4F4F sbci r20,hlo8(-(255)) |
7070 3bfa 5F4F sbci r21,hhi8(-(255)) |
7071 .L573: |
7072 3bfc 232F mov r18,r19 |
7073 3bfe 342F mov r19,r20 |
7074 3c00 452F mov r20,r21 |
7075 3c02 5527 clr r21 |
7076 3c04 47FD sbrc r20,7 |
7077 3c06 5A95 dec r21 |
7078 3c08 8091 0000 lds r24,LageKorrekturNick |
7079 3c0c 9091 0000 lds r25,(LageKorrekturNick)+1 |
7080 3c10 820F add r24,r18 |
7081 3c12 931F adc r25,r19 |
7082 3c14 9093 0000 sts (LageKorrekturNick)+1,r25 |
7083 3c18 8093 0000 sts LageKorrekturNick,r24 |
7084 3c1c 00C0 rjmp .L576 |
7085 .L568: |
7086 3c1e 81E0 ldi r24,lo8(1) |
7087 3c20 8093 0000 sts last_n_n.16,r24 |
7088 3c24 00C0 rjmp .L576 |
7089 .L567: |
7090 3c26 1092 0000 sts last_n_n.16,__zero_reg__ |
7091 3c2a 00C0 rjmp .L576 |
7092 .L556: |
7093 3c2c 1092 0000 sts (cnt.14)+1,__zero_reg__ |
7094 3c30 1092 0000 sts cnt.14,__zero_reg__ |
7095 3c34 84E6 ldi r24,lo8(100) |
7096 3c36 90E0 ldi r25,hi8(100) |
7097 3c38 9093 0000 sts (KompassSignalSchlecht)+1,r25 |
7098 3c3c 8093 0000 sts KompassSignalSchlecht,r24 |
7099 .L576: |
7100 3c40 6889 ldd r22,Y+16 |
7101 3c42 262F mov r18,r22 |
7102 3c44 3327 clr r19 |
7103 3c46 8091 0000 lds r24,cnt.14 |
7104 3c4a 9091 0000 lds r25,(cnt.14)+1 |
7105 3c4e 2817 cp r18,r24 |
7106 3c50 3907 cpc r19,r25 |
7107 3c52 04F4 brge .L577 |
7108 3c54 3093 0000 sts (cnt.14)+1,r19 |
7109 3c58 2093 0000 sts cnt.14,r18 |
7110 .L577: |
7111 3c5c 1091 0000 lds r17,FromNaviCtrl_Value+1 |
7112 3c60 1123 tst r17 |
7113 3c62 01F0 breq .L578 |
7114 3c64 212F mov r18,r17 |
7115 3c66 3327 clr r19 |
7116 3c68 27FD sbrc r18,7 |
7117 3c6a 3095 com r19 |
7118 3c6c 8091 0000 lds r24,cnt.14 |
7119 3c70 9091 0000 lds r25,(cnt.14)+1 |
7120 3c74 2817 cp r18,r24 |
7121 3c76 3907 cpc r19,r25 |
7122 3c78 04F4 brge .L578 |
7123 3c7a 3093 0000 sts (cnt.14)+1,r19 |
7124 3c7e 2093 0000 sts cnt.14,r18 |
7125 .L578: |
7126 3c82 4091 0000 lds r20,IntegralFehlerNick.3 |
7127 3c86 5091 0000 lds r21,(IntegralFehlerNick.3)+1 |
7128 3c8a 6091 0000 lds r22,(IntegralFehlerNick.3)+2 |
7129 3c8e 7091 0000 lds r23,(IntegralFehlerNick.3)+3 |
7130 3c92 4138 cpi r20,lo8(129) |
7131 3c94 5105 cpc r21,__zero_reg__ |
7132 3c96 6105 cpc r22,__zero_reg__ |
7133 3c98 7105 cpc r23,__zero_reg__ |
7134 3c9a 04F0 brlt .L580 |
7135 3c9c 8091 0000 lds r24,AdNeutralNick |
7136 3ca0 9091 0000 lds r25,(AdNeutralNick)+1 |
7137 3ca4 2091 0000 lds r18,cnt.14 |
7138 3ca8 3091 0000 lds r19,(cnt.14)+1 |
7139 3cac 820F add r24,r18 |
7140 3cae 931F adc r25,r19 |
7141 3cb0 9093 0000 sts (AdNeutralNick)+1,r25 |
7142 3cb4 8093 0000 sts AdNeutralNick,r24 |
7143 .L580: |
7144 3cb8 4058 subi r20,lo8(-128) |
7145 3cba 5F4F sbci r21,hi8(-128) |
7146 3cbc 6F4F sbci r22,hlo8(-128) |
7147 3cbe 7F4F sbci r23,hhi8(-128) |
7148 3cc0 04F4 brge .L581 |
7149 3cc2 8091 0000 lds r24,AdNeutralNick |
7150 3cc6 9091 0000 lds r25,(AdNeutralNick)+1 |
7151 3cca 2091 0000 lds r18,cnt.14 |
7152 3cce 3091 0000 lds r19,(cnt.14)+1 |
7153 3cd2 821B sub r24,r18 |
7154 3cd4 930B sbc r25,r19 |
7155 3cd6 9093 0000 sts (AdNeutralNick)+1,r25 |
7156 3cda 8093 0000 sts AdNeutralNick,r24 |
7157 .L581: |
7158 3cde 81E0 ldi r24,lo8(1) |
7159 3ce0 90E0 ldi r25,hi8(1) |
7160 3ce2 9093 0000 sts (cnt.14)+1,r25 |
7161 3ce6 8093 0000 sts cnt.14,r24 |
7162 3cea C090 0000 lds r12,IntegralFehlerRoll.4 |
7163 3cee D090 0000 lds r13,(IntegralFehlerRoll.4)+1 |
7164 3cf2 E090 0000 lds r14,(IntegralFehlerRoll.4)+2 |
7165 3cf6 F090 0000 lds r15,(IntegralFehlerRoll.4)+3 |
7166 3cfa D701 movw r26,r14 |
7167 3cfc C601 movw r24,r12 |
7168 3cfe F7FE sbrs r15,7 |
7169 3d00 00C0 rjmp .L583 |
7170 3d02 8827 clr r24 |
7171 3d04 9927 clr r25 |
7172 3d06 DC01 movw r26,r24 |
7173 3d08 8C19 sub r24,r12 |
7174 3d0a 9D09 sbc r25,r13 |
7175 3d0c AE09 sbc r26,r14 |
7176 3d0e BF09 sbc r27,r15 |
7177 .L583: |
7178 3d10 8150 subi r24,lo8(513) |
7179 3d12 9240 sbci r25,hi8(513) |
7180 3d14 A040 sbci r26,hlo8(513) |
7181 3d16 B040 sbci r27,hhi8(513) |
7182 3d18 04F0 brlt .L582 |
7183 3d1a 84E0 ldi r24,lo8(4) |
7184 3d1c 90E0 ldi r25,hi8(4) |
7185 3d1e 9093 0000 sts (cnt.14)+1,r25 |
7186 3d22 8093 0000 sts cnt.14,r24 |
7187 .L582: |
7188 3d26 8091 0000 lds r24,MittelIntegralRoll_Alt.20 |
7189 3d2a 9091 0000 lds r25,(MittelIntegralRoll_Alt.20)+1 |
7190 3d2e A091 0000 lds r26,(MittelIntegralRoll_Alt.20)+2 |
7191 3d32 B091 0000 lds r27,(MittelIntegralRoll_Alt.20)+3 |
7192 3d36 2091 0000 lds r18,MittelIntegralRoll |
7193 3d3a 3091 0000 lds r19,(MittelIntegralRoll)+1 |
7194 3d3e 4091 0000 lds r20,(MittelIntegralRoll)+2 |
7195 3d42 5091 0000 lds r21,(MittelIntegralRoll)+3 |
7196 3d46 821B sub r24,r18 |
7197 3d48 930B sbc r25,r19 |
7198 3d4a A40B sbc r26,r20 |
7199 3d4c B50B sbc r27,r21 |
7200 3d4e 815E subi r24,lo8(-(19999)) |
7201 3d50 914B sbci r25,hi8(-(19999)) |
7202 3d52 AF4F sbci r26,hlo8(-(19999)) |
7203 3d54 BF4F sbci r27,hhi8(-(19999)) |
7204 3d56 8F53 subi r24,lo8(39999) |
7205 3d58 9C49 sbci r25,hi8(39999) |
7206 3d5a A040 sbci r26,hlo8(39999) |
7207 3d5c B040 sbci r27,hhi8(39999) |
7208 3d5e 00F0 brlo .L585 |
7209 3d60 1931 cpi r17,lo8(25) |
7210 3d62 04F4 brge .+2 |
7211 3d64 00C0 rjmp .L584 |
7212 .L585: |
7213 3d66 01E0 ldi r16,lo8(4097) |
7214 3d68 C016 cp r12,r16 |
7215 3d6a 00E1 ldi r16,hi8(4097) |
7216 3d6c D006 cpc r13,r16 |
7217 3d6e 00E0 ldi r16,hlo8(4097) |
7218 3d70 E006 cpc r14,r16 |
7219 3d72 00E0 ldi r16,hhi8(4097) |
7220 3d74 F006 cpc r15,r16 |
7221 3d76 04F4 brge .+2 |
7222 3d78 00C0 rjmp .L586 |
7223 3d7a 8091 0000 lds r24,last_r_p.17 |
7224 3d7e 8823 tst r24 |
7225 3d80 01F4 brne .+2 |
7226 3d82 00C0 rjmp .L587 |
7227 3d84 D701 movw r26,r14 |
7228 3d86 C601 movw r24,r12 |
7229 3d88 F7FE sbrs r15,7 |
7230 3d8a 00C0 rjmp .L588 |
7231 3d8c 8827 clr r24 |
7232 3d8e 9927 clr r25 |
7233 3d90 DC01 movw r26,r24 |
7234 3d92 8C19 sub r24,r12 |
7235 3d94 9D09 sbc r25,r13 |
7236 3d96 AE09 sbc r26,r14 |
7237 3d98 BF09 sbc r27,r15 |
7238 .L588: |
7239 3d9a 9C01 movw r18,r24 |
7240 3d9c AD01 movw r20,r26 |
7241 3d9e B7FF sbrs r27,7 |
7242 3da0 00C0 rjmp .L589 |
7243 3da2 2150 subi r18,lo8(-(511)) |
7244 3da4 3E4F sbci r19,hi8(-(511)) |
7245 3da6 4F4F sbci r20,hlo8(-(511)) |
7246 3da8 5F4F sbci r21,hhi8(-(511)) |
7247 .L589: |
7248 3daa 09E0 ldi r16,9 |
7249 3dac 5595 1: asr r21 |
7250 3dae 4795 ror r20 |
7251 3db0 3795 ror r19 |
7252 3db2 2795 ror r18 |
7253 3db4 0A95 dec r16 |
7254 3db6 01F4 brne 1b |
7255 3db8 8091 0000 lds r24,cnt.14 |
7256 3dbc 9091 0000 lds r25,(cnt.14)+1 |
7257 3dc0 820F add r24,r18 |
7258 3dc2 931F adc r25,r19 |
7259 3dc4 9093 0000 sts (cnt.14)+1,r25 |
7260 3dc8 8093 0000 sts cnt.14,r24 |
7261 3dcc D701 movw r26,r14 |
7262 3dce C601 movw r24,r12 |
7263 3dd0 F7FE sbrs r15,7 |
7264 3dd2 00C0 rjmp .L590 |
7265 3dd4 0796 adiw r24,7 |
7266 3dd6 A11D adc r26,__zero_reg__ |
7267 3dd8 B11D adc r27,__zero_reg__ |
7268 .L590: |
7269 3dda 13E0 ldi r17,3 |
7270 3ddc B595 1: asr r27 |
7271 3dde A795 ror r26 |
7272 3de0 9795 ror r25 |
7273 3de2 8795 ror r24 |
7274 3de4 1A95 dec r17 |
7275 3de6 01F4 brne 1b |
7276 3de8 8093 0000 sts ausgleichRoll.11,r24 |
7277 3dec 9093 0000 sts (ausgleichRoll.11)+1,r25 |
7278 3df0 A093 0000 sts (ausgleichRoll.11)+2,r26 |
7279 3df4 B093 0000 sts (ausgleichRoll.11)+3,r27 |
7280 3df8 8958 subi r24,lo8(5001) |
7281 3dfa 9341 sbci r25,hi8(5001) |
7282 3dfc A040 sbci r26,hlo8(5001) |
7283 3dfe B040 sbci r27,hhi8(5001) |
7284 3e00 04F0 brlt .L591 |
7285 3e02 88E8 ldi r24,lo8(5000) |
7286 3e04 93E1 ldi r25,hi8(5000) |
7287 3e06 A0E0 ldi r26,hlo8(5000) |
7288 3e08 B0E0 ldi r27,hhi8(5000) |
7289 3e0a 8093 0000 sts ausgleichRoll.11,r24 |
7290 3e0e 9093 0000 sts (ausgleichRoll.11)+1,r25 |
7291 3e12 A093 0000 sts (ausgleichRoll.11)+2,r26 |
7292 3e16 B093 0000 sts (ausgleichRoll.11)+3,r27 |
7293 .L591: |
7294 3e1a 2091 0000 lds r18,ausgleichRoll.11 |
7295 3e1e 3091 0000 lds r19,(ausgleichRoll.11)+1 |
7296 3e22 4091 0000 lds r20,(ausgleichRoll.11)+2 |
7297 3e26 5091 0000 lds r21,(ausgleichRoll.11)+3 |
7298 3e2a 57FF sbrs r21,7 |
7299 3e2c 00C0 rjmp .L592 |
7300 3e2e 2150 subi r18,lo8(-(255)) |
7301 3e30 3F4F sbci r19,hi8(-(255)) |
7302 3e32 4F4F sbci r20,hlo8(-(255)) |
7303 3e34 5F4F sbci r21,hhi8(-(255)) |
7304 .L592: |
7305 3e36 232F mov r18,r19 |
7306 3e38 342F mov r19,r20 |
7307 3e3a 452F mov r20,r21 |
7308 3e3c 5527 clr r21 |
7309 3e3e 47FD sbrc r20,7 |
7310 3e40 5A95 dec r21 |
7311 3e42 8091 0000 lds r24,LageKorrekturRoll |
7312 3e46 9091 0000 lds r25,(LageKorrekturRoll)+1 |
7313 3e4a 820F add r24,r18 |
7314 3e4c 931F adc r25,r19 |
7315 3e4e 9093 0000 sts (LageKorrekturRoll)+1,r25 |
7316 3e52 8093 0000 sts LageKorrekturRoll,r24 |
7317 3e56 00C0 rjmp .L594 |
7318 .L587: |
7319 3e58 81E0 ldi r24,lo8(1) |
7320 3e5a 8093 0000 sts last_r_p.17,r24 |
7321 3e5e 00C0 rjmp .L594 |
7322 .L586: |
7323 3e60 1092 0000 sts last_r_p.17,__zero_reg__ |
7324 .L594: |
7325 3e64 20E0 ldi r18,lo8(-4096) |
7326 3e66 C216 cp r12,r18 |
7327 3e68 20EF ldi r18,hi8(-4096) |
7328 3e6a D206 cpc r13,r18 |
7329 3e6c 2FEF ldi r18,hlo8(-4096) |
7330 3e6e E206 cpc r14,r18 |
7331 3e70 2FEF ldi r18,hhi8(-4096) |
7332 3e72 F206 cpc r15,r18 |
7333 3e74 04F0 brlt .+2 |
7334 3e76 00C0 rjmp .L595 |
7335 3e78 8091 0000 lds r24,last_r_n.18 |
7336 3e7c 8823 tst r24 |
7337 3e7e 01F4 brne .+2 |
7338 3e80 00C0 rjmp .L596 |
7339 3e82 D701 movw r26,r14 |
7340 3e84 C601 movw r24,r12 |
7341 3e86 F7FE sbrs r15,7 |
7342 3e88 00C0 rjmp .L597 |
7343 3e8a 8827 clr r24 |
7344 3e8c 9927 clr r25 |
7345 3e8e DC01 movw r26,r24 |
7346 3e90 8C19 sub r24,r12 |
7347 3e92 9D09 sbc r25,r13 |
7348 3e94 AE09 sbc r26,r14 |
7349 3e96 BF09 sbc r27,r15 |
7350 .L597: |
7351 3e98 9C01 movw r18,r24 |
7352 3e9a AD01 movw r20,r26 |
7353 3e9c B7FF sbrs r27,7 |
7354 3e9e 00C0 rjmp .L598 |
7355 3ea0 2150 subi r18,lo8(-(511)) |
7356 3ea2 3E4F sbci r19,hi8(-(511)) |
7357 3ea4 4F4F sbci r20,hlo8(-(511)) |
7358 3ea6 5F4F sbci r21,hhi8(-(511)) |
7359 .L598: |
7360 3ea8 E9E0 ldi r30,9 |
7361 3eaa 5595 1: asr r21 |
7362 3eac 4795 ror r20 |
7363 3eae 3795 ror r19 |
7364 3eb0 2795 ror r18 |
7365 3eb2 EA95 dec r30 |
7366 3eb4 01F4 brne 1b |
7367 3eb6 8091 0000 lds r24,cnt.14 |
7368 3eba 9091 0000 lds r25,(cnt.14)+1 |
7369 3ebe 820F add r24,r18 |
7370 3ec0 931F adc r25,r19 |
7371 3ec2 9093 0000 sts (cnt.14)+1,r25 |
7372 3ec6 8093 0000 sts cnt.14,r24 |
7373 3eca D701 movw r26,r14 |
7374 3ecc C601 movw r24,r12 |
7375 3ece F7FE sbrs r15,7 |
7376 3ed0 00C0 rjmp .L599 |
7377 3ed2 0796 adiw r24,7 |
7378 3ed4 A11D adc r26,__zero_reg__ |
7379 3ed6 B11D adc r27,__zero_reg__ |
7380 .L599: |
7381 3ed8 73E0 ldi r23,3 |
7382 3eda B595 1: asr r27 |
7383 3edc A795 ror r26 |
7384 3ede 9795 ror r25 |
7385 3ee0 8795 ror r24 |
7386 3ee2 7A95 dec r23 |
7387 3ee4 01F4 brne 1b |
7388 3ee6 8093 0000 sts ausgleichRoll.11,r24 |
7389 3eea 9093 0000 sts (ausgleichRoll.11)+1,r25 |
7390 3eee A093 0000 sts (ausgleichRoll.11)+2,r26 |
7391 3ef2 B093 0000 sts (ausgleichRoll.11)+3,r27 |
7392 3ef6 8857 subi r24,lo8(-5000) |
7393 3ef8 9C4E sbci r25,hi8(-5000) |
7394 3efa AF4F sbci r26,hlo8(-5000) |
7395 3efc BF4F sbci r27,hhi8(-5000) |
7396 3efe 04F4 brge .L600 |
7397 3f00 88E7 ldi r24,lo8(-5000) |
7398 3f02 9CEE ldi r25,hi8(-5000) |
7399 3f04 AFEF ldi r26,hlo8(-5000) |
7400 3f06 BFEF ldi r27,hhi8(-5000) |
7401 3f08 8093 0000 sts ausgleichRoll.11,r24 |
7402 3f0c 9093 0000 sts (ausgleichRoll.11)+1,r25 |
7403 3f10 A093 0000 sts (ausgleichRoll.11)+2,r26 |
7404 3f14 B093 0000 sts (ausgleichRoll.11)+3,r27 |
7405 .L600: |
7406 3f18 2091 0000 lds r18,ausgleichRoll.11 |
7407 3f1c 3091 0000 lds r19,(ausgleichRoll.11)+1 |
7408 3f20 4091 0000 lds r20,(ausgleichRoll.11)+2 |
7409 3f24 5091 0000 lds r21,(ausgleichRoll.11)+3 |
7410 3f28 57FF sbrs r21,7 |
7411 3f2a 00C0 rjmp .L601 |
7412 3f2c 2150 subi r18,lo8(-(255)) |
7413 3f2e 3F4F sbci r19,hi8(-(255)) |
7414 3f30 4F4F sbci r20,hlo8(-(255)) |
7415 3f32 5F4F sbci r21,hhi8(-(255)) |
7416 .L601: |
7417 3f34 232F mov r18,r19 |
7418 3f36 342F mov r19,r20 |
7419 3f38 452F mov r20,r21 |
7420 3f3a 5527 clr r21 |
7421 3f3c 47FD sbrc r20,7 |
7422 3f3e 5A95 dec r21 |
7423 3f40 8091 0000 lds r24,LageKorrekturRoll |
7424 3f44 9091 0000 lds r25,(LageKorrekturRoll)+1 |
7425 3f48 820F add r24,r18 |
7426 3f4a 931F adc r25,r19 |
7427 3f4c 9093 0000 sts (LageKorrekturRoll)+1,r25 |
7428 3f50 8093 0000 sts LageKorrekturRoll,r24 |
7429 3f54 00C0 rjmp .L604 |
7430 .L596: |
7431 3f56 81E0 ldi r24,lo8(1) |
7432 3f58 8093 0000 sts last_r_n.18,r24 |
7433 3f5c 00C0 rjmp .L604 |
7434 .L595: |
7435 3f5e 1092 0000 sts last_r_n.18,__zero_reg__ |
7436 3f62 00C0 rjmp .L604 |
7437 .L584: |
7438 3f64 1092 0000 sts (cnt.14)+1,__zero_reg__ |
7439 3f68 1092 0000 sts cnt.14,__zero_reg__ |
7440 3f6c 84E6 ldi r24,lo8(100) |
7441 3f6e 90E0 ldi r25,hi8(100) |
7442 3f70 9093 0000 sts (KompassSignalSchlecht)+1,r25 |
7443 3f74 8093 0000 sts KompassSignalSchlecht,r24 |
7444 .L604: |
7445 3f78 4889 ldd r20,Y+16 |
7446 3f7a 242F mov r18,r20 |
7447 3f7c 3327 clr r19 |
7448 3f7e 8091 0000 lds r24,cnt.14 |
7449 3f82 9091 0000 lds r25,(cnt.14)+1 |
7450 3f86 2817 cp r18,r24 |
7451 3f88 3907 cpc r19,r25 |
7452 3f8a 04F4 brge .L605 |
7453 3f8c 3093 0000 sts (cnt.14)+1,r19 |
7454 3f90 2093 0000 sts cnt.14,r18 |
7455 .L605: |
7456 3f94 8091 0000 lds r24,FromNaviCtrl_Value+1 |
7457 3f98 8823 tst r24 |
7458 3f9a 01F0 breq .L606 |
7459 3f9c 282F mov r18,r24 |
7460 3f9e 3327 clr r19 |
7461 3fa0 27FD sbrc r18,7 |
7462 3fa2 3095 com r19 |
7463 3fa4 8091 0000 lds r24,cnt.14 |
7464 3fa8 9091 0000 lds r25,(cnt.14)+1 |
7465 3fac 2817 cp r18,r24 |
7466 3fae 3907 cpc r19,r25 |
7467 3fb0 04F4 brge .L606 |
7468 3fb2 3093 0000 sts (cnt.14)+1,r19 |
7469 3fb6 2093 0000 sts cnt.14,r18 |
7470 .L606: |
7471 3fba 4091 0000 lds r20,IntegralFehlerRoll.4 |
7472 3fbe 5091 0000 lds r21,(IntegralFehlerRoll.4)+1 |
7473 3fc2 6091 0000 lds r22,(IntegralFehlerRoll.4)+2 |
7474 3fc6 7091 0000 lds r23,(IntegralFehlerRoll.4)+3 |
7475 3fca 4138 cpi r20,lo8(129) |
7476 3fcc 5105 cpc r21,__zero_reg__ |
7477 3fce 6105 cpc r22,__zero_reg__ |
7478 3fd0 7105 cpc r23,__zero_reg__ |
7479 3fd2 04F0 brlt .L608 |
7480 3fd4 8091 0000 lds r24,AdNeutralRoll |
7481 3fd8 9091 0000 lds r25,(AdNeutralRoll)+1 |
7482 3fdc 2091 0000 lds r18,cnt.14 |
7483 3fe0 3091 0000 lds r19,(cnt.14)+1 |
7484 3fe4 820F add r24,r18 |
7485 3fe6 931F adc r25,r19 |
7486 3fe8 9093 0000 sts (AdNeutralRoll)+1,r25 |
7487 3fec 8093 0000 sts AdNeutralRoll,r24 |
7488 .L608: |
7489 3ff0 4058 subi r20,lo8(-128) |
7490 3ff2 5F4F sbci r21,hi8(-128) |
7491 3ff4 6F4F sbci r22,hlo8(-128) |
7492 3ff6 7F4F sbci r23,hhi8(-128) |
7493 3ff8 04F4 brge .L610 |
7494 3ffa 8091 0000 lds r24,AdNeutralRoll |
7495 3ffe 9091 0000 lds r25,(AdNeutralRoll)+1 |
7496 4002 2091 0000 lds r18,cnt.14 |
7497 4006 3091 0000 lds r19,(cnt.14)+1 |
7498 400a 821B sub r24,r18 |
7499 400c 930B sbc r25,r19 |
7500 400e 9093 0000 sts (AdNeutralRoll)+1,r25 |
7501 4012 8093 0000 sts AdNeutralRoll,r24 |
7502 4016 00C0 rjmp .L610 |
7503 .L536: |
7504 4018 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__ |
7505 401c 1092 0000 sts LageKorrekturRoll,__zero_reg__ |
7506 4020 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__ |
7507 4024 1092 0000 sts LageKorrekturNick,__zero_reg__ |
7508 4028 1092 0000 sts TrichterFlug,__zero_reg__ |
7509 .L610: |
7510 402c 8091 0000 lds r24,IntegralFaktor |
7511 4030 8823 tst r24 |
7512 4032 01F4 brne .L611 |
7513 4034 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__ |
7514 4038 1092 0000 sts LageKorrekturRoll,__zero_reg__ |
7515 403c 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__ |
7516 4040 1092 0000 sts LageKorrekturNick,__zero_reg__ |
7517 .L611: |
7518 4044 8091 0000 lds r24,MittelIntegralNick |
7519 4048 9091 0000 lds r25,(MittelIntegralNick)+1 |
7520 404c A091 0000 lds r26,(MittelIntegralNick)+2 |
7521 4050 B091 0000 lds r27,(MittelIntegralNick)+3 |
7522 4054 8093 0000 sts MittelIntegralNick_Alt.19,r24 |
7523 4058 9093 0000 sts (MittelIntegralNick_Alt.19)+1,r25 |
7524 405c A093 0000 sts (MittelIntegralNick_Alt.19)+2,r26 |
7525 4060 B093 0000 sts (MittelIntegralNick_Alt.19)+3,r27 |
7526 4064 8091 0000 lds r24,MittelIntegralRoll |
7527 4068 9091 0000 lds r25,(MittelIntegralRoll)+1 |
7528 406c A091 0000 lds r26,(MittelIntegralRoll)+2 |
7529 4070 B091 0000 lds r27,(MittelIntegralRoll)+3 |
7530 4074 8093 0000 sts MittelIntegralRoll_Alt.20,r24 |
7531 4078 9093 0000 sts (MittelIntegralRoll_Alt.20)+1,r25 |
7532 407c A093 0000 sts (MittelIntegralRoll_Alt.20)+2,r26 |
7533 4080 B093 0000 sts (MittelIntegralRoll_Alt.20)+3,r27 |
7534 4084 1092 0000 sts IntegralAccNick,__zero_reg__ |
7535 4088 1092 0000 sts (IntegralAccNick)+1,__zero_reg__ |
7536 408c 1092 0000 sts (IntegralAccNick)+2,__zero_reg__ |
7537 4090 1092 0000 sts (IntegralAccNick)+3,__zero_reg__ |
7538 4094 1092 0000 sts IntegralAccRoll,__zero_reg__ |
7539 4098 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__ |
7540 409c 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__ |
7541 40a0 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__ |
7542 40a4 1092 0000 sts IntegralAccZ,__zero_reg__ |
7543 40a8 1092 0000 sts (IntegralAccZ)+1,__zero_reg__ |
7544 40ac 1092 0000 sts (IntegralAccZ)+2,__zero_reg__ |
7545 40b0 1092 0000 sts (IntegralAccZ)+3,__zero_reg__ |
7546 40b4 1092 0000 sts MittelIntegralNick,__zero_reg__ |
7547 40b8 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__ |
7548 40bc 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__ |
7549 40c0 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__ |
7550 40c4 1092 0000 sts MittelIntegralRoll,__zero_reg__ |
7551 40c8 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__ |
7552 40cc 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__ |
7553 40d0 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__ |
7554 40d4 1092 0000 sts MittelIntegralNick2,__zero_reg__ |
7555 40d8 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__ |
7556 40dc 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__ |
7557 40e0 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__ |
7558 40e4 1092 0000 sts MittelIntegralRoll2,__zero_reg__ |
7559 40e8 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__ |
7560 40ec 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__ |
7561 40f0 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__ |
7562 40f4 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__ |
7563 40f8 1092 0000 sts ZaehlMessungen,__zero_reg__ |
7564 .L535: |
7565 40fc E090 0000 lds r14,StickGier |
7566 4100 F090 0000 lds r15,(StickGier)+1 |
7567 4104 C701 movw r24,r14 |
7568 4106 F7FE sbrs r15,7 |
7569 4108 00C0 rjmp .L613 |
7570 410a 8827 clr r24 |
7571 410c 9927 clr r25 |
7572 410e 8E19 sub r24,r14 |
7573 4110 9F09 sbc r25,r15 |
7574 .L613: |
7575 4112 0497 sbiw r24,4 |
7576 4114 04F0 brlt .L612 |
7577 4116 8091 0000 lds r24,Parameter_GlobalConfig |
7578 411a 84FD sbrc r24,4 |
7579 411c 00C0 rjmp .L612 |
7580 411e 82E3 ldi r24,lo8(50) |
7581 4120 8093 0000 sts NeueKompassRichtungMerken,r24 |
7582 .L612: |
7583 4124 1091 0000 lds r17,EE_Parameter+25 |
7584 4128 A12E mov r10,r17 |
7585 412a BB24 clr r11 |
7586 412c CC24 clr r12 |
7587 412e DD24 clr r13 |
7588 4130 B701 movw r22,r14 |
7589 4132 8827 clr r24 |
7590 4134 77FD sbrc r23,7 |
7591 4136 8095 com r24 |
7592 4138 982F mov r25,r24 |
7593 413a 9701 movw r18,r14 |
7594 413c F7FE sbrs r15,7 |
7595 413e 00C0 rjmp .L615 |
7596 4140 2227 clr r18 |
7597 4142 3327 clr r19 |
7598 4144 2E19 sub r18,r14 |
7599 4146 3F09 sbc r19,r15 |
7600 .L615: |
7601 4148 4427 clr r20 |
7602 414a 37FD sbrc r19,7 |
7603 414c 4095 com r20 |
7604 414e 542F mov r21,r20 |
7605 4150 0E94 0000 call __mulsi3 |
7606 4154 9B01 movw r18,r22 |
7607 4156 AC01 movw r20,r24 |
7608 4158 C601 movw r24,r12 |
7609 415a B501 movw r22,r10 |
7610 415c 0E94 0000 call __mulsi3 |
7611 4160 97FF sbrs r25,7 |
7612 4162 00C0 rjmp .L616 |
7613 4164 6150 subi r22,lo8(-(511)) |
7614 4166 7E4F sbci r23,hi8(-(511)) |
7615 4168 8F4F sbci r24,hlo8(-(511)) |
7616 416a 9F4F sbci r25,hhi8(-(511)) |
7617 .L616: |
7618 416c 59E0 ldi r21,9 |
7619 416e 9595 1: asr r25 |
7620 4170 8795 ror r24 |
7621 4172 7795 ror r23 |
7622 4174 6795 ror r22 |
7623 4176 5A95 dec r21 |
7624 4178 01F4 brne 1b |
7625 417a 9B01 movw r18,r22 |
7626 417c 812F mov r24,r17 |
7627 417e 9927 clr r25 |
7628 4180 8E9D mul r24,r14 |
7629 4182 D001 movw r26,r0 |
7630 4184 8F9D mul r24,r15 |
7631 4186 B00D add r27,r0 |
7632 4188 9E9D mul r25,r14 |
7633 418a B00D add r27,r0 |
7634 418c 1124 clr r1 |
7635 418e CD01 movw r24,r26 |
7636 4190 B7FD sbrc r27,7 |
7637 4192 0396 adiw r24,3 |
7638 .L617: |
7639 4194 9595 asr r25 |
7640 4196 8795 ror r24 |
7641 4198 9595 asr r25 |
7642 419a 8795 ror r24 |
7643 419c 280F add r18,r24 |
7644 419e 391F adc r19,r25 |
7645 41a0 8091 0000 lds r24,CompassGierSetpoint |
7646 41a4 9091 0000 lds r25,(CompassGierSetpoint)+1 |
7647 41a8 280F add r18,r24 |
7648 41aa 391F adc r19,r25 |
7649 41ac 4427 clr r20 |
7650 41ae 37FD sbrc r19,7 |
7651 41b0 4095 com r20 |
7652 41b2 542F mov r21,r20 |
7653 41b4 2093 0000 sts sollGier.0,r18 |
7654 41b8 3093 0000 sts (sollGier.0)+1,r19 |
7655 41bc 4093 0000 sts (sollGier.0)+2,r20 |
7656 41c0 5093 0000 sts (sollGier.0)+3,r21 |
7657 41c4 8091 0000 lds r24,Mess_Integral_Gier |
7658 41c8 9091 0000 lds r25,(Mess_Integral_Gier)+1 |
7659 41cc A091 0000 lds r26,(Mess_Integral_Gier)+2 |
7660 41d0 B091 0000 lds r27,(Mess_Integral_Gier)+3 |
7661 41d4 821B sub r24,r18 |
7662 41d6 930B sbc r25,r19 |
7663 41d8 A40B sbc r26,r20 |
7664 41da B50B sbc r27,r21 |
7665 41dc 8093 0000 sts Mess_Integral_Gier,r24 |
7666 41e0 9093 0000 sts (Mess_Integral_Gier)+1,r25 |
7667 41e4 A093 0000 sts (Mess_Integral_Gier)+2,r26 |
7668 41e8 B093 0000 sts (Mess_Integral_Gier)+3,r27 |
7669 41ec 8155 subi r24,lo8(50001) |
7670 41ee 934C sbci r25,hi8(50001) |
7671 41f0 A040 sbci r26,hlo8(50001) |
7672 41f2 B040 sbci r27,hhi8(50001) |
7673 41f4 04F0 brlt .L618 |
7674 41f6 80E5 ldi r24,lo8(50000) |
7675 41f8 93EC ldi r25,hi8(50000) |
7676 41fa A0E0 ldi r26,hlo8(50000) |
7677 41fc B0E0 ldi r27,hhi8(50000) |
7678 41fe 8093 0000 sts Mess_Integral_Gier,r24 |
7679 4202 9093 0000 sts (Mess_Integral_Gier)+1,r25 |
7680 4206 A093 0000 sts (Mess_Integral_Gier)+2,r26 |
7681 420a B093 0000 sts (Mess_Integral_Gier)+3,r27 |
7682 .L618: |
7683 420e 8091 0000 lds r24,Mess_Integral_Gier |
7684 4212 9091 0000 lds r25,(Mess_Integral_Gier)+1 |
7685 4216 A091 0000 lds r26,(Mess_Integral_Gier)+2 |
7686 421a B091 0000 lds r27,(Mess_Integral_Gier)+3 |
7687 421e 805B subi r24,lo8(-50000) |
7688 4220 9C43 sbci r25,hi8(-50000) |
7689 4222 AF4F sbci r26,hlo8(-50000) |
7690 4224 BF4F sbci r27,hhi8(-50000) |
7691 4226 04F4 brge .L619 |
7692 4228 80EB ldi r24,lo8(-50000) |
7693 422a 9CE3 ldi r25,hi8(-50000) |
7694 422c AFEF ldi r26,hlo8(-50000) |
7695 422e BFEF ldi r27,hhi8(-50000) |
7696 4230 8093 0000 sts Mess_Integral_Gier,r24 |
7697 4234 9093 0000 sts (Mess_Integral_Gier)+1,r25 |
7698 4238 A093 0000 sts (Mess_Integral_Gier)+2,r26 |
7699 423c B093 0000 sts (Mess_Integral_Gier)+3,r27 |
7700 .L619: |
7701 4240 0091 0000 lds r16,KompassValue |
7702 4244 1091 0000 lds r17,(KompassValue)+1 |
7703 4248 17FD sbrc r17,7 |
7704 424a 00C0 rjmp .L620 |
7705 424c 8091 0000 lds r24,Parameter_GlobalConfig |
7706 4250 83FF sbrs r24,3 |
7707 4252 00C0 rjmp .L620 |
7708 4254 8091 0000 lds r24,CalculateCompassTimer |
7709 4258 8150 subi r24,lo8(-(-1)) |
7710 425a 8093 0000 sts CalculateCompassTimer,r24 |
7711 425e 8823 tst r24 |
7712 4260 01F0 breq .+2 |
7713 4262 00C0 rjmp .L637 |
7714 4264 8DE0 ldi r24,lo8(13) |
7715 4266 8093 0000 sts CalculateCompassTimer,r24 |
7716 426a 8091 0000 lds r24,IntegralNick |
7717 426e 9091 0000 lds r25,(IntegralNick)+1 |
7718 4272 A091 0000 lds r26,(IntegralNick)+2 |
7719 4276 B091 0000 lds r27,(IntegralNick)+3 |
7720 427a B7FF sbrs r27,7 |
7721 427c 00C0 rjmp .L622 |
7722 427e 8150 subi r24,lo8(-(511)) |
7723 4280 9E4F sbci r25,hi8(-(511)) |
7724 4282 AF4F sbci r26,hlo8(-(511)) |
7725 4284 BF4F sbci r27,hhi8(-(511)) |
7726 .L622: |
7727 4286 39E0 ldi r19,9 |
7728 4288 B595 1: asr r27 |
7729 428a A795 ror r26 |
7730 428c 9795 ror r25 |
7731 428e 8795 ror r24 |
7732 4290 3A95 dec r19 |
7733 4292 01F4 brne 1b |
7734 4294 7C01 movw r14,r24 |
7735 4296 97FF sbrs r25,7 |
7736 4298 00C0 rjmp .L623 |
7737 429a F094 com r15 |
7738 429c E194 neg r14 |
7739 429e F108 sbc r15,__zero_reg__ |
7740 42a0 F394 inc r15 |
7741 .L623: |
7742 42a2 8091 0000 lds r24,IntegralRoll |
7743 42a6 9091 0000 lds r25,(IntegralRoll)+1 |
7744 42aa A091 0000 lds r26,(IntegralRoll)+2 |
7745 42ae B091 0000 lds r27,(IntegralRoll)+3 |
7746 42b2 B7FF sbrs r27,7 |
7747 42b4 00C0 rjmp .L624 |
7748 42b6 8150 subi r24,lo8(-(511)) |
7749 42b8 9E4F sbci r25,hi8(-(511)) |
7750 42ba AF4F sbci r26,hlo8(-(511)) |
7751 42bc BF4F sbci r27,hhi8(-(511)) |
7752 .L624: |
7753 42be 29E0 ldi r18,9 |
7754 42c0 B595 1: asr r27 |
7755 42c2 A795 ror r26 |
7756 42c4 9795 ror r25 |
7757 42c6 8795 ror r24 |
7758 42c8 2A95 dec r18 |
7759 42ca 01F4 brne 1b |
7760 42cc 9C01 movw r18,r24 |
7761 42ce 97FF sbrs r25,7 |
7762 42d0 00C0 rjmp .L625 |
7763 42d2 3095 com r19 |
7764 42d4 2195 neg r18 |
7765 42d6 3F4F sbci r19,lo8(-1) |
7766 .L625: |
7767 42d8 E216 cp r14,r18 |
7768 42da F306 cpc r15,r19 |
7769 42dc 04F4 brge .L626 |
7770 42de 7901 movw r14,r18 |
7771 .L626: |
7772 42e0 B701 movw r22,r14 |
7773 42e2 F7FE sbrs r15,7 |
7774 42e4 00C0 rjmp .L627 |
7775 42e6 695F subi r22,lo8(-(7)) |
7776 42e8 7F4F sbci r23,hi8(-(7)) |
7777 .L627: |
7778 42ea 2B01 movw r4,r22 |
7779 42ec A3E0 ldi r26,3 |
7780 42ee 5594 1: asr r5 |
7781 42f0 4794 ror r4 |
7782 42f2 AA95 dec r26 |
7783 42f4 01F4 brne 1b |
7784 42f6 22E0 ldi r18,lo8(2) |
7785 42f8 30E0 ldi r19,hi8(2) |
7786 42fa 420E add r4,r18 |
7787 42fc 531E adc r5,r19 |
7788 42fe 6090 0000 lds r6,ErsatzKompass |
7789 4302 7090 0000 lds r7,(ErsatzKompass)+1 |
7790 4306 8090 0000 lds r8,(ErsatzKompass)+2 |
7791 430a 9090 0000 lds r9,(ErsatzKompass)+3 |
7792 430e 2091 0000 lds r18,GIER_GRAD_FAKTOR |
7793 4312 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1 |
7794 4316 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2 |
7795 431a 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3 |
7796 431e C401 movw r24,r8 |
7797 4320 B301 movw r22,r6 |
7798 4322 0E94 0000 call __divmodsi4 |
7799 4326 5901 movw r10,r18 |
7800 4328 6A01 movw r12,r20 |
7801 432a 3093 0000 sts (ErsatzKompassInGrad)+1,r19 |
7802 432e 2093 0000 sts ErsatzKompassInGrad,r18 |
7803 4332 021B sub r16,r18 |
7804 4334 130B sbc r17,r19 |
7805 4336 C801 movw r24,r16 |
7806 4338 845E subi r24,lo8(-(540)) |
7807 433a 9D4F sbci r25,hi8(-(540)) |
7808 433c 68E6 ldi r22,lo8(360) |
7809 433e 71E0 ldi r23,hi8(360) |
7810 4340 0E94 0000 call __divmodhi4 |
7811 4344 9C01 movw r18,r24 |
7812 4346 245B subi r18,lo8(-(-180)) |
7813 4348 3040 sbci r19,hi8(-(-180)) |
7814 434a 8091 0000 lds r24,KompassSignalSchlecht |
7815 434e 9091 0000 lds r25,(KompassSignalSchlecht)+1 |
7816 4352 0097 sbiw r24,0 |
7817 4354 01F0 breq .L628 |
7818 4356 0197 sbiw r24,1 |
7819 4358 9093 0000 sts (KompassSignalSchlecht)+1,r25 |
7820 435c 8093 0000 sts KompassSignalSchlecht,r24 |
7821 4360 00C0 rjmp .L629 |
7822 .L628: |
7823 4362 49E1 ldi r20,lo8(25) |
7824 4364 E416 cp r14,r20 |
7825 4366 F104 cpc r15,__zero_reg__ |
7826 4368 04F4 brge .L629 |
7827 436a 8091 0000 lds r24,GierGyroFehler |
7828 436e 9091 0000 lds r25,(GierGyroFehler)+1 |
7829 4372 820F add r24,r18 |
7830 4374 931F adc r25,r19 |
7831 4376 9093 0000 sts (GierGyroFehler)+1,r25 |
7832 437a 8093 0000 sts GierGyroFehler,r24 |
7833 437e 8091 0000 lds r24,NeueKompassRichtungMerken |
7834 4382 8823 tst r24 |
7835 4384 01F0 breq .L629 |
7836 4386 8150 subi r24,lo8(-(-1)) |
7837 4388 8093 0000 sts NeueKompassRichtungMerken,r24 |
7838 438c 8823 tst r24 |
7839 438e 01F4 brne .L629 |
7840 4390 B092 0000 sts (KompassSollWert)+1,r11 |
7841 4394 A092 0000 sts KompassSollWert,r10 |
7842 .L629: |
7843 4398 8091 0000 lds r24,KompassSignalSchlecht |
7844 439c 9091 0000 lds r25,(KompassSignalSchlecht)+1 |
7845 43a0 892B or r24,r25 |
7846 43a2 01F4 brne .L633 |
7847 43a4 8091 0000 lds r24,KompassFusion |
7848 43a8 9927 clr r25 |
7849 43aa 289F mul r18,r24 |
7850 43ac B001 movw r22,r0 |
7851 43ae 299F mul r18,r25 |
7852 43b0 700D add r23,r0 |
7853 43b2 389F mul r19,r24 |
7854 43b4 700D add r23,r0 |
7855 43b6 1124 clr r1 |
7856 43b8 CB01 movw r24,r22 |
7857 43ba B201 movw r22,r4 |
7858 43bc 0E94 0000 call __divmodhi4 |
7859 43c0 CB01 movw r24,r22 |
7860 43c2 AA27 clr r26 |
7861 43c4 97FD sbrc r25,7 |
7862 43c6 A095 com r26 |
7863 43c8 BA2F mov r27,r26 |
7864 43ca 680E add r6,r24 |
7865 43cc 791E adc r7,r25 |
7866 43ce 8A1E adc r8,r26 |
7867 43d0 9B1E adc r9,r27 |
7868 43d2 6092 0000 sts ErsatzKompass,r6 |
7869 43d6 7092 0000 sts (ErsatzKompass)+1,r7 |
7870 43da 8092 0000 sts (ErsatzKompass)+2,r8 |
7871 43de 9092 0000 sts (ErsatzKompass)+3,r9 |
7872 .L633: |
7873 43e2 8091 0000 lds r24,NeueKompassRichtungMerken |
7874 43e6 8823 tst r24 |
7875 43e8 01F4 brne .L620 |
7876 43ea 8091 0000 lds r24,KompassSollWert |
7877 43ee 9091 0000 lds r25,(KompassSollWert)+1 |
7878 43f2 2091 0000 lds r18,ErsatzKompassInGrad |
7879 43f6 3091 0000 lds r19,(ErsatzKompassInGrad)+1 |
7880 43fa 821B sub r24,r18 |
7881 43fc 930B sbc r25,r19 |
7882 43fe 845E subi r24,lo8(-(540)) |
7883 4400 9D4F sbci r25,hi8(-(540)) |
7884 4402 68E6 ldi r22,lo8(360) |
7885 4404 71E0 ldi r23,hi8(360) |
7886 4406 0E94 0000 call __divmodhi4 |
7887 440a 9C01 movw r18,r24 |
7888 440c 245B subi r18,lo8(-(-180)) |
7889 440e 3040 sbci r19,hi8(-(-180)) |
7890 4410 8091 0000 lds r24,Parameter_KompassWirkung |
7891 4414 8695 lsr r24 |
7892 4416 9927 clr r25 |
7893 4418 289F mul r18,r24 |
7894 441a D001 movw r26,r0 |
7895 441c 299F mul r18,r25 |
7896 441e B00D add r27,r0 |
7897 4420 389F mul r19,r24 |
7898 4422 B00D add r27,r0 |
7899 4424 1124 clr r1 |
7900 4426 9D01 movw r18,r26 |
7901 4428 B7FF sbrs r27,7 |
7902 442a 00C0 rjmp .L635 |
7903 442c 215F subi r18,lo8(-(15)) |
7904 442e 3F4F sbci r19,hi8(-(15)) |
7905 .L635: |
7906 4430 F4E0 ldi r31,4 |
7907 4432 3595 1: asr r19 |
7908 4434 2795 ror r18 |
7909 4436 FA95 dec r31 |
7910 4438 01F4 brne 1b |
7911 443a 3093 0000 sts (CompassGierSetpoint)+1,r19 |
7912 443e 2093 0000 sts CompassGierSetpoint,r18 |
7913 4442 00C0 rjmp .L637 |
7914 .L620: |
7915 4444 1092 0000 sts (CompassGierSetpoint)+1,__zero_reg__ |
7916 4448 1092 0000 sts CompassGierSetpoint,__zero_reg__ |
7917 .L637: |
7918 444c 8091 0000 lds r24,TrichterFlug |
7919 4450 8823 tst r24 |
7920 4452 01F0 breq .L638 |
7921 4454 1092 0000 sts SummeRoll,__zero_reg__ |
7922 4458 1092 0000 sts (SummeRoll)+1,__zero_reg__ |
7923 445c 1092 0000 sts (SummeRoll)+2,__zero_reg__ |
7924 4460 1092 0000 sts (SummeRoll)+3,__zero_reg__ |
7925 4464 1092 0000 sts SummeNick,__zero_reg__ |
7926 4468 1092 0000 sts (SummeNick)+1,__zero_reg__ |
7927 446c 1092 0000 sts (SummeNick)+2,__zero_reg__ |
7928 4470 1092 0000 sts (SummeNick)+3,__zero_reg__ |
7929 .L638: |
7930 4474 F090 0000 lds r15,Looping_Nick |
7931 4478 FF20 tst r15 |
7932 447a 01F4 brne .L639 |
7933 447c 8091 0000 lds r24,IntegralFaktor |
7934 4480 282F mov r18,r24 |
7935 4482 3327 clr r19 |
7936 4484 4427 clr r20 |
7937 4486 5527 clr r21 |
7938 4488 8091 0000 lds r24,IntegralNick |
7939 448c 9091 0000 lds r25,(IntegralNick)+1 |
7940 4490 A091 0000 lds r26,(IntegralNick)+2 |
7941 4494 B091 0000 lds r27,(IntegralNick)+3 |
7942 4498 BC01 movw r22,r24 |
7943 449a CD01 movw r24,r26 |
7944 449c 0E94 0000 call __mulsi3 |
7945 44a0 DC01 movw r26,r24 |
7946 44a2 CB01 movw r24,r22 |
7947 44a4 BC01 movw r22,r24 |
7948 44a6 CD01 movw r24,r26 |
7949 44a8 28EF ldi r18,lo8(11000) |
7950 44aa 3AE2 ldi r19,hi8(11000) |
7951 44ac 40E0 ldi r20,hlo8(11000) |
7952 44ae 50E0 ldi r21,hhi8(11000) |
7953 44b0 0E94 0000 call __divmodsi4 |
7954 44b4 3901 movw r6,r18 |
7955 44b6 00C0 rjmp .L640 |
7956 .L639: |
7957 44b8 6624 clr r6 |
7958 44ba 7724 clr r7 |
7959 .L640: |
7960 44bc E090 0000 lds r14,Looping_Roll |
7961 44c0 EE20 tst r14 |
7962 44c2 01F4 brne .L641 |
7963 44c4 8091 0000 lds r24,IntegralFaktor |
7964 44c8 282F mov r18,r24 |
7965 44ca 3327 clr r19 |
7966 44cc 4427 clr r20 |
7967 44ce 5527 clr r21 |
7968 44d0 8091 0000 lds r24,IntegralRoll |
7969 44d4 9091 0000 lds r25,(IntegralRoll)+1 |
7970 44d8 A091 0000 lds r26,(IntegralRoll)+2 |
7971 44dc B091 0000 lds r27,(IntegralRoll)+3 |
7972 44e0 BC01 movw r22,r24 |
7973 44e2 CD01 movw r24,r26 |
7974 44e4 0E94 0000 call __mulsi3 |
7975 44e8 DC01 movw r26,r24 |
7976 44ea CB01 movw r24,r22 |
7977 44ec BC01 movw r22,r24 |
7978 44ee CD01 movw r24,r26 |
7979 44f0 28EF ldi r18,lo8(11000) |
7980 44f2 3AE2 ldi r19,hi8(11000) |
7981 44f4 40E0 ldi r20,hlo8(11000) |
7982 44f6 50E0 ldi r21,hhi8(11000) |
7983 44f8 0E94 0000 call __divmodsi4 |
7984 44fc 2901 movw r4,r18 |
7985 44fe 00C0 rjmp .L642 |
7986 .L641: |
7987 4500 4424 clr r4 |
7988 4502 5524 clr r5 |
7989 .L642: |
7990 4504 8091 0000 lds r24,TrimNick |
7991 4508 9091 0000 lds r25,(TrimNick)+1 |
7992 450c 893C cpi r24,201 |
7993 450e 9105 cpc r25,__zero_reg__ |
7994 4510 04F0 brlt .L643 |
7995 4512 88EC ldi r24,lo8(200) |
7996 4514 90E0 ldi r25,hi8(200) |
7997 4516 00C0 rjmp .L900 |
7998 .L643: |
7999 4518 8853 subi r24,lo8(-200) |
8000 451a 9F4F sbci r25,hi8(-200) |
8001 451c 04F4 brge .L644 |
8002 451e 88E3 ldi r24,lo8(-200) |
8003 4520 9FEF ldi r25,hi8(-200) |
8004 .L900: |
8005 4522 9093 0000 sts (TrimNick)+1,r25 |
8006 4526 8093 0000 sts TrimNick,r24 |
8007 .L644: |
8008 452a 8091 0000 lds r24,TrimRoll |
8009 452e 9091 0000 lds r25,(TrimRoll)+1 |
8010 4532 893C cpi r24,201 |
8011 4534 9105 cpc r25,__zero_reg__ |
8012 4536 04F0 brlt .L646 |
8013 4538 88EC ldi r24,lo8(200) |
8014 453a 90E0 ldi r25,hi8(200) |
8015 453c 00C0 rjmp .L901 |
8016 .L646: |
8017 453e 8853 subi r24,lo8(-200) |
8018 4540 9F4F sbci r25,hi8(-200) |
8019 4542 04F4 brge .L647 |
8020 4544 88E3 ldi r24,lo8(-200) |
8021 4546 9FEF ldi r25,hi8(-200) |
8022 .L901: |
8023 4548 9093 0000 sts (TrimRoll)+1,r25 |
8024 454c 8093 0000 sts TrimRoll,r24 |
8025 .L647: |
8026 4550 8091 0000 lds r24,MesswertNick |
8027 4554 9091 0000 lds r25,(MesswertNick)+1 |
8028 4558 AA27 clr r26 |
8029 455a 97FD sbrc r25,7 |
8030 455c A095 com r26 |
8031 455e BA2F mov r27,r26 |
8032 4560 2091 0000 lds r18,GyroFaktor |
8033 4564 A22E mov r10,r18 |
8034 4566 BB24 clr r11 |
8035 4568 CC24 clr r12 |
8036 456a DD24 clr r13 |
8037 456c BC01 movw r22,r24 |
8038 456e CD01 movw r24,r26 |
8039 4570 A601 movw r20,r12 |
8040 4572 9501 movw r18,r10 |
8041 4574 0E94 0000 call __mulsi3 |
8042 4578 9B01 movw r18,r22 |
8043 457a AC01 movw r20,r24 |
8044 457c 8091 0000 lds r24,TrimNick |
8045 4580 9091 0000 lds r25,(TrimNick)+1 |
8046 4584 AA27 clr r26 |
8047 4586 97FD sbrc r25,7 |
8048 4588 A095 com r26 |
8049 458a BA2F mov r27,r26 |
8050 458c E7E0 ldi r30,7 |
8051 458e 880F 1: lsl r24 |
8052 4590 991F rol r25 |
8053 4592 AA1F rol r26 |
8054 4594 BB1F rol r27 |
8055 4596 EA95 dec r30 |
8056 4598 01F4 brne 1b |
8057 459a 280F add r18,r24 |
8058 459c 391F adc r19,r25 |
8059 459e 4A1F adc r20,r26 |
8060 45a0 5B1F adc r21,r27 |
8061 45a2 57FF sbrs r21,7 |
8062 45a4 00C0 rjmp .L649 |
8063 45a6 215C subi r18,lo8(-(63)) |
8064 45a8 3F4F sbci r19,hi8(-(63)) |
8065 45aa 4F4F sbci r20,hlo8(-(63)) |
8066 45ac 5F4F sbci r21,hhi8(-(63)) |
8067 .L649: |
8068 45ae 76E0 ldi r23,6 |
8069 45b0 5595 1: asr r21 |
8070 45b2 4795 ror r20 |
8071 45b4 3795 ror r19 |
8072 45b6 2795 ror r18 |
8073 45b8 7A95 dec r23 |
8074 45ba 01F4 brne 1b |
8075 45bc 8301 movw r16,r6 |
8076 45be 020F add r16,r18 |
8077 45c0 131F adc r17,r19 |
8078 45c2 1093 0000 sts (MesswertNick)+1,r17 |
8079 45c6 0093 0000 sts MesswertNick,r16 |
8080 45ca 8091 0000 lds r24,MesswertRoll |
8081 45ce 9091 0000 lds r25,(MesswertRoll)+1 |
8082 45d2 AA27 clr r26 |
8083 45d4 97FD sbrc r25,7 |
8084 45d6 A095 com r26 |
8085 45d8 BA2F mov r27,r26 |
8086 45da BC01 movw r22,r24 |
8087 45dc CD01 movw r24,r26 |
8088 45de A601 movw r20,r12 |
8089 45e0 9501 movw r18,r10 |
8090 45e2 0E94 0000 call __mulsi3 |
8091 45e6 9B01 movw r18,r22 |
8092 45e8 AC01 movw r20,r24 |
8093 45ea 8091 0000 lds r24,TrimRoll |
8094 45ee 9091 0000 lds r25,(TrimRoll)+1 |
8095 45f2 AA27 clr r26 |
8096 45f4 97FD sbrc r25,7 |
8097 45f6 A095 com r26 |
8098 45f8 BA2F mov r27,r26 |
8099 45fa 67E0 ldi r22,7 |
8100 45fc 880F 1: lsl r24 |
8101 45fe 991F rol r25 |
8102 4600 AA1F rol r26 |
8103 4602 BB1F rol r27 |
8104 4604 6A95 dec r22 |
8105 4606 01F4 brne 1b |
8106 4608 280F add r18,r24 |
8107 460a 391F adc r19,r25 |
8108 460c 4A1F adc r20,r26 |
8109 460e 5B1F adc r21,r27 |
8110 4610 57FF sbrs r21,7 |
8111 4612 00C0 rjmp .L650 |
8112 4614 215C subi r18,lo8(-(63)) |
8113 4616 3F4F sbci r19,hi8(-(63)) |
8114 4618 4F4F sbci r20,hlo8(-(63)) |
8115 461a 5F4F sbci r21,hhi8(-(63)) |
8116 .L650: |
8117 461c F6E0 ldi r31,6 |
8118 461e 5595 1: asr r21 |
8119 4620 4795 ror r20 |
8120 4622 3795 ror r19 |
8121 4624 2795 ror r18 |
8122 4626 FA95 dec r31 |
8123 4628 01F4 brne 1b |
8124 462a 4201 movw r8,r4 |
8125 462c 820E add r8,r18 |
8126 462e 931E adc r9,r19 |
8127 4630 9092 0000 sts (MesswertRoll)+1,r9 |
8128 4634 8092 0000 sts MesswertRoll,r8 |
8129 4638 8091 0000 lds r24,MesswertGier |
8130 463c 9091 0000 lds r25,(MesswertGier)+1 |
8131 4640 880F add r24,r24 |
8132 4642 991F adc r25,r25 |
8133 4644 AA27 clr r26 |
8134 4646 97FD sbrc r25,7 |
8135 4648 A095 com r26 |
8136 464a BA2F mov r27,r26 |
8137 464c 2091 0000 lds r18,GyroFaktorGier |
8138 4650 3327 clr r19 |
8139 4652 4427 clr r20 |
8140 4654 5527 clr r21 |
8141 4656 BC01 movw r22,r24 |
8142 4658 CD01 movw r24,r26 |
8143 465a 0E94 0000 call __mulsi3 |
8144 465e 5B01 movw r10,r22 |
8145 4660 6C01 movw r12,r24 |
8146 4662 97FF sbrs r25,7 |
8147 4664 00C0 rjmp .L651 |
8148 4666 2FE3 ldi r18,lo8(63) |
8149 4668 30E0 ldi r19,hi8(63) |
8150 466a 40E0 ldi r20,hlo8(63) |
8151 466c 50E0 ldi r21,hhi8(63) |
8152 466e A20E add r10,r18 |
8153 4670 B31E adc r11,r19 |
8154 4672 C41E adc r12,r20 |
8155 4674 D51E adc r13,r21 |
8156 .L651: |
8157 4676 E6E0 ldi r30,6 |
8158 4678 D594 1: asr r13 |
8159 467a C794 ror r12 |
8160 467c B794 ror r11 |
8161 467e A794 ror r10 |
8162 4680 EA95 dec r30 |
8163 4682 01F4 brne 1b |
8164 4684 8091 0000 lds r24,IntegralFaktorGier |
8165 4688 282F mov r18,r24 |
8166 468a 3327 clr r19 |
8167 468c 4427 clr r20 |
8168 468e 5527 clr r21 |
8169 4690 8091 0000 lds r24,Integral_Gier |
8170 4694 9091 0000 lds r25,(Integral_Gier)+1 |
8171 4698 A091 0000 lds r26,(Integral_Gier)+2 |
8172 469c B091 0000 lds r27,(Integral_Gier)+3 |
8173 46a0 BC01 movw r22,r24 |
8174 46a2 CD01 movw r24,r26 |
8175 46a4 0E94 0000 call __mulsi3 |
8176 46a8 DC01 movw r26,r24 |
8177 46aa CB01 movw r24,r22 |
8178 46ac BC01 movw r22,r24 |
8179 46ae CD01 movw r24,r26 |
8180 46b0 20EF ldi r18,lo8(22000) |
8181 46b2 35E5 ldi r19,hi8(22000) |
8182 46b4 40E0 ldi r20,hlo8(22000) |
8183 46b6 50E0 ldi r21,hhi8(22000) |
8184 46b8 0E94 0000 call __divmodsi4 |
8185 46bc B501 movw r22,r10 |
8186 46be 620F add r22,r18 |
8187 46c0 731F adc r23,r19 |
8188 46c2 7093 0000 sts (MesswertGier)+1,r23 |
8189 46c6 6093 0000 sts MesswertGier,r22 |
8190 46ca 0150 subi r16,lo8(4097) |
8191 46cc 1041 sbci r17,hi8(4097) |
8192 46ce 04F0 brlt .L652 |
8193 46d0 80E0 ldi r24,lo8(4096) |
8194 46d2 90E1 ldi r25,hi8(4096) |
8195 46d4 9093 0000 sts (MesswertNick)+1,r25 |
8196 46d8 8093 0000 sts MesswertNick,r24 |
8197 .L652: |
8198 46dc 8091 0000 lds r24,MesswertNick |
8199 46e0 9091 0000 lds r25,(MesswertNick)+1 |
8200 46e4 8050 subi r24,lo8(-4096) |
8201 46e6 904F sbci r25,hi8(-4096) |
8202 46e8 04F4 brge .L653 |
8203 46ea 80E0 ldi r24,lo8(-4096) |
8204 46ec 90EF ldi r25,hi8(-4096) |
8205 46ee 9093 0000 sts (MesswertNick)+1,r25 |
8206 46f2 8093 0000 sts MesswertNick,r24 |
8207 .L653: |
8208 46f6 51E0 ldi r21,lo8(4097) |
8209 46f8 8516 cp r8,r21 |
8210 46fa 50E1 ldi r21,hi8(4097) |
8211 46fc 9506 cpc r9,r21 |
8212 46fe 04F0 brlt .L654 |
8213 4700 80E0 ldi r24,lo8(4096) |
8214 4702 90E1 ldi r25,hi8(4096) |
8215 4704 9093 0000 sts (MesswertRoll)+1,r25 |
8216 4708 8093 0000 sts MesswertRoll,r24 |
8217 .L654: |
8218 470c 8091 0000 lds r24,MesswertRoll |
8219 4710 9091 0000 lds r25,(MesswertRoll)+1 |
8220 4714 8050 subi r24,lo8(-4096) |
8221 4716 904F sbci r25,hi8(-4096) |
8222 4718 04F4 brge .L655 |
8223 471a 80E0 ldi r24,lo8(-4096) |
8224 471c 90EF ldi r25,hi8(-4096) |
8225 471e 9093 0000 sts (MesswertRoll)+1,r25 |
8226 4722 8093 0000 sts MesswertRoll,r24 |
8227 .L655: |
8228 4726 6150 subi r22,lo8(4097) |
8229 4728 7041 sbci r23,hi8(4097) |
8230 472a 04F0 brlt .L656 |
8231 472c 80E0 ldi r24,lo8(4096) |
8232 472e 90E1 ldi r25,hi8(4096) |
8233 4730 9093 0000 sts (MesswertGier)+1,r25 |
8234 4734 8093 0000 sts MesswertGier,r24 |
8235 .L656: |
8236 4738 8091 0000 lds r24,MesswertGier |
8237 473c 9091 0000 lds r25,(MesswertGier)+1 |
8238 4740 8050 subi r24,lo8(-4096) |
8239 4742 904F sbci r25,hi8(-4096) |
8240 4744 04F4 brge .L657 |
8241 4746 80E0 ldi r24,lo8(-4096) |
8242 4748 90EF ldi r25,hi8(-4096) |
8243 474a 9093 0000 sts (MesswertGier)+1,r25 |
8244 474e 8093 0000 sts MesswertGier,r24 |
8245 .L657: |
8246 4752 8091 0000 lds r24,BattLowVoltageWarning |
8247 4756 482F mov r20,r24 |
8248 4758 5527 clr r21 |
8249 475a 8091 0000 lds r24,UBat |
8250 475e 9091 0000 lds r25,(UBat)+1 |
8251 4762 4817 cp r20,r24 |
8252 4764 5907 cpc r21,r25 |
8253 4766 04F4 brge .L658 |
8254 4768 2091 0000 lds r18,UBat |
8255 476c 3091 0000 lds r19,(UBat)+1 |
8256 4770 0981 ldd r16,Y+1 |
8257 4772 1A81 ldd r17,Y+2 |
8258 4774 049F mul r16,r20 |
8259 4776 C001 movw r24,r0 |
8260 4778 059F mul r16,r21 |
8261 477a 900D add r25,r0 |
8262 477c 149F mul r17,r20 |
8263 477e 900D add r25,r0 |
8264 4780 1124 clr r1 |
8265 4782 B901 movw r22,r18 |
8266 4784 0E94 0000 call __udivmodhi4 |
8267 4788 7A83 std Y+2,r23 |
8268 478a 6983 std Y+1,r22 |
8269 .L658: |
8270 478c 2981 ldd r18,Y+1 |
8271 478e 3A81 ldd r19,Y+2 |
8272 4790 220F lsl r18 |
8273 4792 331F rol r19 |
8274 4794 220F lsl r18 |
8275 4796 331F rol r19 |
8276 4798 3A83 std Y+2,r19 |
8277 479a 2983 std Y+1,r18 |
8278 479c 4091 0000 lds r20,Parameter_GlobalConfig |
8279 47a0 40FD sbrc r20,0 |
8280 47a2 00C0 rjmp .+4 |
8281 47a4 0C94 0000 jmp .L659 |
8282 47a8 EE20 tst r14 |
8283 47aa 01F0 breq .+4 |
8284 47ac 0C94 0000 jmp .L659 |
8285 47b0 FF20 tst r15 |
8286 47b2 01F0 breq .+4 |
8287 47b4 0C94 0000 jmp .L659 |
8288 47b8 00E0 ldi r16,lo8(0) |
8289 47ba 10E0 ldi r17,hi8(0) |
8290 47bc 4801 movw r8,r16 |
8291 47be 8091 0000 lds r24,HoverGas |
8292 47c2 9091 0000 lds r25,(HoverGas)+1 |
8293 47c6 9093 0000 sts (DebugOut+44)+1,r25 |
8294 47ca 8093 0000 sts DebugOut+44,r24 |
8295 47ce 2091 0000 lds r18,BaroExpandActive |
8296 47d2 3091 0000 lds r19,(BaroExpandActive)+1 |
8297 47d6 2115 cp r18,__zero_reg__ |
8298 47d8 3105 cpc r19,__zero_reg__ |
8299 47da 01F0 breq .+2 |
8300 47dc 00C0 rjmp .L660 |
8301 47de 8091 0000 lds r24,MessLuftdruck |
8302 47e2 9091 0000 lds r25,(MessLuftdruck)+1 |
8303 47e6 8959 subi r24,lo8(921) |
8304 47e8 9340 sbci r25,hi8(921) |
8305 47ea 00F0 brlo .L661 |
8306 47ec 87B5 in r24,71-0x20 |
8307 47ee 803F cpi r24,lo8(-16) |
8308 47f0 00F4 brsh .L662 |
8309 47f2 8091 0000 lds r24,ExpandBaro |
8310 47f6 8150 subi r24,lo8(-(-1)) |
8311 47f8 00C0 rjmp .L902 |
8312 .L662: |
8313 47fa 81E0 ldi r24,lo8(1) |
8314 47fc 8093 0000 sts BaroAtLowerLimit.26,r24 |
8315 4800 00C0 rjmp .L669 |
8316 .L661: |
8317 4802 8091 0000 lds r24,MessLuftdruck |
8318 4806 9091 0000 lds r25,(MessLuftdruck)+1 |
8319 480a 8436 cpi r24,100 |
8320 480c 9105 cpc r25,__zero_reg__ |
8321 480e 00F4 brsh .L665 |
8322 4810 87B5 in r24,71-0x20 |
8323 4812 8031 cpi r24,lo8(16) |
8324 4814 00F0 brlo .L666 |
8325 4816 8091 0000 lds r24,ExpandBaro |
8326 481a 8F5F subi r24,lo8(-(1)) |
8327 .L902: |
8328 481c 8093 0000 sts ExpandBaro,r24 |
8329 4820 9FE0 ldi r25,lo8(15) |
8330 4822 8902 muls r24,r25 |
8331 4824 9001 movw r18,r0 |
8332 4826 1124 clr r1 |
8333 4828 8091 0000 lds r24,DruckOffsetSetting |
8334 482c 821B sub r24,r18 |
8335 482e 87BD out 71-0x20,r24 |
8336 4830 8CE2 ldi r24,lo8(300) |
8337 4832 91E0 ldi r25,hi8(300) |
8338 4834 9093 0000 sts (beeptime)+1,r25 |
8339 4838 8093 0000 sts beeptime,r24 |
8340 483c 8EE5 ldi r24,lo8(350) |
8341 483e 91E0 ldi r25,hi8(350) |
8342 4840 9093 0000 sts (BaroExpandActive)+1,r25 |
8343 4844 8093 0000 sts BaroExpandActive,r24 |
8344 4848 00C0 rjmp .L669 |
8345 .L666: |
8346 484a 81E0 ldi r24,lo8(1) |
8347 484c 8093 0000 sts BaroAtUpperLimit.25,r24 |
8348 4850 00C0 rjmp .L669 |
8349 .L665: |
8350 4852 F092 0000 sts BaroAtUpperLimit.25,r15 |
8351 4856 F092 0000 sts BaroAtLowerLimit.26,r15 |
8352 485a 00C0 rjmp .L669 |
8353 .L660: |
8354 485c 8091 0000 lds r24,HoehenWert |
8355 4860 9091 0000 lds r25,(HoehenWert)+1 |
8356 4864 A091 0000 lds r26,(HoehenWert)+2 |
8357 4868 B091 0000 lds r27,(HoehenWert)+3 |
8358 486c 64E0 ldi r22,4 |
8359 486e 880F 1: lsl r24 |
8360 4870 991F rol r25 |
8361 4872 AA1F rol r26 |
8362 4874 BB1F rol r27 |
8363 4876 6A95 dec r22 |
8364 4878 01F4 brne 1b |
8365 487a 8093 0000 sts SummenHoehe,r24 |
8366 487e 9093 0000 sts (SummenHoehe)+1,r25 |
8367 4882 A093 0000 sts (SummenHoehe)+2,r26 |
8368 4886 B093 0000 sts (SummenHoehe)+3,r27 |
8369 488a 1093 0000 sts (VarioMeter)+1,r17 |
8370 488e 0093 0000 sts VarioMeter,r16 |
8371 4892 2150 subi r18,lo8(-(-1)) |
8372 4894 3040 sbci r19,hi8(-(-1)) |
8373 4896 3093 0000 sts (BaroExpandActive)+1,r19 |
8374 489a 2093 0000 sts BaroExpandActive,r18 |
8375 .L669: |
8376 489e 2091 0000 lds r18,Parameter_HoehenSchalter |
8377 48a2 41FF sbrs r20,1 |
8378 48a4 00C0 rjmp .L670 |
8379 48a6 2233 cpi r18,lo8(50) |
8380 48a8 00F4 brsh .L671 |
8381 48aa 8091 0000 lds r24,delay.24 |
8382 48ae 8150 subi r24,lo8(-(-1)) |
8383 48b0 8093 0000 sts delay.24,r24 |
8384 48b4 8F3F cpi r24,lo8(-1) |
8385 48b6 01F0 breq .+2 |
8386 48b8 00C0 rjmp .L677 |
8387 48ba 8091 0000 lds r24,SpeakHoTT |
8388 48be 8823 tst r24 |
8389 48c0 01F4 brne .L673 |
8390 48c2 8091 0000 lds r24,HoehenReglerAktiv |
8391 48c6 8823 tst r24 |
8392 48c8 01F0 breq .L673 |
8393 48ca 88E2 ldi r24,lo8(40) |
8394 48cc 8093 0000 sts SpeakHoTT,r24 |
8395 .L673: |
8396 48d0 1092 0000 sts HoehenReglerAktiv,__zero_reg__ |
8397 48d4 8091 0000 lds r24,HoehenWert |
8398 48d8 9091 0000 lds r25,(HoehenWert)+1 |
8399 48dc A091 0000 lds r26,(HoehenWert)+2 |
8400 48e0 B091 0000 lds r27,(HoehenWert)+3 |
8401 48e4 8093 0000 sts SollHoehe,r24 |
8402 48e8 9093 0000 sts (SollHoehe)+1,r25 |
8403 48ec A093 0000 sts (SollHoehe)+2,r26 |
8404 48f0 B093 0000 sts (SollHoehe)+3,r27 |
8405 48f4 81E0 ldi r24,lo8(1) |
8406 48f6 8093 0000 sts delay.24,r24 |
8407 48fa 00C0 rjmp .L677 |
8408 .L671: |
8409 48fc 2734 cpi r18,lo8(71) |
8410 48fe 00F0 brlo .L677 |
8411 4900 8091 0000 lds r24,SpeakHoTT |
8412 4904 8823 tst r24 |
8413 4906 01F4 brne .L676 |
8414 4908 8091 0000 lds r24,HoehenReglerAktiv |
8415 490c 8823 tst r24 |
8416 490e 01F4 brne .L676 |
8417 4910 87E2 ldi r24,lo8(39) |
8418 4912 8093 0000 sts SpeakHoTT,r24 |
8419 .L676: |
8420 4916 88EC ldi r24,lo8(-56) |
8421 4918 8093 0000 sts delay.24,r24 |
8422 491c 00C0 rjmp .L903 |
8423 .L670: |
8424 491e 8091 0000 lds r24,ExternHoehenValue |
8425 4922 9091 0000 lds r25,(ExternHoehenValue)+1 |
8426 4926 820F add r24,r18 |
8427 4928 911D adc r25,__zero_reg__ |
8428 492a 2091 0000 lds r18,EE_Parameter+18 |
8429 492e 3327 clr r19 |
8430 4930 829F mul r24,r18 |
8431 4932 A001 movw r20,r0 |
8432 4934 839F mul r24,r19 |
8433 4936 500D add r21,r0 |
8434 4938 929F mul r25,r18 |
8435 493a 500D add r21,r0 |
8436 493c 1124 clr r1 |
8437 493e CA01 movw r24,r20 |
8438 4940 AA27 clr r26 |
8439 4942 97FD sbrc r25,7 |
8440 4944 A095 com r26 |
8441 4946 BA2F mov r27,r26 |
8442 4948 8093 0000 sts SollHoehe,r24 |
8443 494c 9093 0000 sts (SollHoehe)+1,r25 |
8444 4950 A093 0000 sts (SollHoehe)+2,r26 |
8445 4954 B093 0000 sts (SollHoehe)+3,r27 |
8446 .L903: |
8447 4958 81E0 ldi r24,lo8(1) |
8448 495a 8093 0000 sts HoehenReglerAktiv,r24 |
8449 .L677: |
8450 495e 8091 0000 lds r24,IntegralNick |
8451 4962 9091 0000 lds r25,(IntegralNick)+1 |
8452 4966 A091 0000 lds r26,(IntegralNick)+2 |
8453 496a B091 0000 lds r27,(IntegralNick)+3 |
8454 496e E090 0000 lds r14,GIER_GRAD_FAKTOR |
8455 4972 F090 0000 lds r15,(GIER_GRAD_FAKTOR)+1 |
8456 4976 0091 0000 lds r16,(GIER_GRAD_FAKTOR)+2 |
8457 497a 1091 0000 lds r17,(GIER_GRAD_FAKTOR)+3 |
8458 497e BC01 movw r22,r24 |
8459 4980 CD01 movw r24,r26 |
8460 4982 A801 movw r20,r16 |
8461 4984 9701 movw r18,r14 |
8462 4986 0E94 0000 call __divmodsi4 |
8463 498a 5901 movw r10,r18 |
8464 498c 6A01 movw r12,r20 |
8465 498e 8091 0000 lds r24,IntegralRoll |
8466 4992 9091 0000 lds r25,(IntegralRoll)+1 |
8467 4996 A091 0000 lds r26,(IntegralRoll)+2 |
8468 499a B091 0000 lds r27,(IntegralRoll)+3 |
8469 499e BC01 movw r22,r24 |
8470 49a0 CD01 movw r24,r26 |
8471 49a2 A801 movw r20,r16 |
8472 49a4 9701 movw r18,r14 |
8473 49a6 0E94 0000 call __divmodsi4 |
8474 49aa B901 movw r22,r18 |
8475 49ac C501 movw r24,r10 |
8476 49ae 0E94 0000 call ihypot |
8477 49b2 5C01 movw r10,r24 |
8478 49b4 CC97 sbiw r24,60 |
8479 49b6 04F0 brlt .L678 |
8480 49b8 5CE3 ldi r21,lo8(60) |
8481 49ba A52E mov r10,r21 |
8482 49bc B12C mov r11,__zero_reg__ |
8483 .L678: |
8484 49be C501 movw r24,r10 |
8485 49c0 0E94 0000 call c_cos_8192 |
8486 49c4 5C01 movw r10,r24 |
8487 49c6 80E2 ldi r24,lo8(32) |
8488 49c8 8093 0000 sts VarioCharacter,r24 |
8489 49cc 1092 0000 sts (AltitudeSetpointTrimming)+1,__zero_reg__ |
8490 49d0 1092 0000 sts AltitudeSetpointTrimming,__zero_reg__ |
8491 49d4 8091 0000 lds r24,HoehenReglerAktiv |
8492 49d8 8823 tst r24 |
8493 49da 01F4 brne .+2 |
8494 49dc 00C0 rjmp .L679 |
8495 49de 8091 0000 lds r24,FC_StatusFlags |
8496 49e2 9927 clr r25 |
8497 49e4 9C01 movw r18,r24 |
8498 49e6 2071 andi r18,lo8(16) |
8499 49e8 3070 andi r19,hi8(16) |
8500 49ea 84FD sbrc r24,4 |
8501 49ec 00C0 rjmp .L679 |
8502 49ee 8091 0000 lds r24,FC_StatusFlags2 |
8503 49f2 8260 ori r24,lo8(2) |
8504 49f4 8093 0000 sts FC_StatusFlags2,r24 |
8505 49f8 7091 0000 lds r23,Parameter_ExtraConfig |
8506 49fc 872F mov r24,r23 |
8507 49fe 9927 clr r25 |
8508 4a00 41E0 ldi r20,lo8(1) |
8509 4a02 C42E mov r12,r20 |
8510 4a04 D12C mov r13,__zero_reg__ |
8511 4a06 C822 and r12,r24 |
8512 4a08 D922 and r13,r25 |
8513 4a0a 80FD sbrc r24,0 |
8514 4a0c 00C0 rjmp .L681 |
8515 4a0e 8091 0000 lds r24,Parameter_GlobalConfig |
8516 4a12 81FD sbrc r24,1 |
8517 4a14 00C0 rjmp .L680 |
8518 .L681: |
8519 4a16 C980 ldd r12,Y+1 |
8520 4a18 DA80 ldd r13,Y+2 |
8521 4a1a 3093 0000 sts (HeightTrimming.21)+1,r19 |
8522 4a1e 2093 0000 sts HeightTrimming.21,r18 |
8523 4a22 3093 0000 sts (AltitudeSetpointTrimming)+1,r19 |
8524 4a26 2093 0000 sts AltitudeSetpointTrimming,r18 |
8525 4a2a 8091 0000 lds r24,FC_StatusFlags |
8526 4a2e 806C ori r24,lo8(-64) |
8527 4a30 8093 0000 sts FC_StatusFlags,r24 |
8528 4a34 00C0 rjmp .L682 |
8529 .L680: |
8530 4a36 8091 0000 lds r24,FC_StatusFlags |
8531 4a3a 81FF sbrs r24,1 |
8532 4a3c 00C0 rjmp .L683 |
8533 4a3e 0091 0000 lds r16,StickGasHover |
8534 4a42 1091 0000 lds r17,(StickGasHover)+1 |
8535 4a46 C801 movw r24,r16 |
8536 4a48 0F96 adiw r24,15 |
8537 4a4a 2090 0000 lds r2,StickGas |
8538 4a4e 3090 0000 lds r3,(StickGas)+1 |
8539 4a52 8215 cp r24,r2 |
8540 4a54 9305 cpc r25,r3 |
8541 4a56 04F0 brlt .+2 |
8542 4a58 00C0 rjmp .L684 |
8543 4a5a 8091 0000 lds r24,BaroAtUpperLimit.25 |
8544 4a5e 8823 tst r24 |
8545 4a60 01F0 breq .+2 |
8546 4a62 00C0 rjmp .L684 |
8547 4a64 8091 0000 lds r24,FC_StatusFlags |
8548 4a68 87FF sbrs r24,7 |
8549 4a6a 00C0 rjmp .L685 |
8550 4a6c 8091 0000 lds r24,FC_StatusFlags |
8551 4a70 8F77 andi r24,lo8(127) |
8552 4a72 8093 0000 sts FC_StatusFlags,r24 |
8553 4a76 8091 0000 lds r24,HoehenWert |
8554 4a7a 9091 0000 lds r25,(HoehenWert)+1 |
8555 4a7e A091 0000 lds r26,(HoehenWert)+2 |
8556 4a82 B091 0000 lds r27,(HoehenWert)+3 |
8557 4a86 8093 0000 sts SollHoehe,r24 |
8558 4a8a 9093 0000 sts (SollHoehe)+1,r25 |
8559 4a8e A093 0000 sts (SollHoehe)+2,r26 |
8560 4a92 B093 0000 sts (SollHoehe)+3,r27 |
8561 .L685: |
8562 4a96 8091 0000 lds r24,FC_StatusFlags |
8563 4a9a 8064 ori r24,lo8(64) |
8564 4a9c 8093 0000 sts FC_StatusFlags,r24 |
8565 4aa0 E090 0000 lds r14,Parameter_MaximumAltitude |
8566 4aa4 EE20 tst r14 |
8567 4aa6 01F0 breq .L686 |
8568 4aa8 8091 0000 lds r24,SollHoehe |
8569 4aac 9091 0000 lds r25,(SollHoehe)+1 |
8570 4ab0 A091 0000 lds r26,(SollHoehe)+2 |
8571 4ab4 B091 0000 lds r27,(SollHoehe)+3 |
8572 4ab8 BC01 movw r22,r24 |
8573 4aba CD01 movw r24,r26 |
8574 4abc 24E6 ldi r18,lo8(100) |
8575 4abe 30E0 ldi r19,hi8(100) |
8576 4ac0 40E0 ldi r20,hlo8(100) |
8577 4ac2 50E0 ldi r21,hhi8(100) |
8578 4ac4 0E94 0000 call __divmodsi4 |
8579 4ac8 8E2D mov r24,r14 |
8580 4aca 9927 clr r25 |
8581 4acc AA27 clr r26 |
8582 4ace BB27 clr r27 |
8583 4ad0 8217 cp r24,r18 |
8584 4ad2 9307 cpc r25,r19 |
8585 4ad4 A407 cpc r26,r20 |
8586 4ad6 B507 cpc r27,r21 |
8587 4ad8 04F4 brge .L686 |
8588 4ada D092 0000 sts (AltitudeSetpointTrimming)+1,r13 |
8589 4ade C092 0000 sts AltitudeSetpointTrimming,r12 |
8590 4ae2 00C0 rjmp .L687 |
8591 .L686: |
8592 4ae4 C101 movw r24,r2 |
8593 4ae6 801B sub r24,r16 |
8594 4ae8 910B sbc r25,r17 |
8595 4aea 0F97 sbiw r24,15 |
8596 4aec 97FF sbrs r25,7 |
8597 4aee 00C0 rjmp .L688 |
8598 4af0 9095 com r25 |
8599 4af2 8195 neg r24 |
8600 4af4 9F4F sbci r25,lo8(-1) |
8601 .L688: |
8602 4af6 9093 0000 sts (AltitudeSetpointTrimming)+1,r25 |
8603 4afa 8093 0000 sts AltitudeSetpointTrimming,r24 |
8604 4afe 8BE2 ldi r24,lo8(43) |
8605 4b00 8093 0000 sts VarioCharacter,r24 |
8606 .L687: |
8607 4b04 1092 0000 sts WaypointTrimming,__zero_reg__ |
8608 4b08 00C0 rjmp .L689 |
8609 .L684: |
8610 4b0a C801 movw r24,r16 |
8611 4b0c 0F97 sbiw r24,15 |
8612 4b0e 2816 cp r2,r24 |
8613 4b10 3906 cpc r3,r25 |
8614 4b12 04F4 brge .L690 |
8615 4b14 2091 0000 lds r18,BaroAtLowerLimit.26 |
8616 4b18 2223 tst r18 |
8617 4b1a 01F4 brne .L690 |
8618 4b1c 8091 0000 lds r24,FC_StatusFlags |
8619 4b20 86FF sbrs r24,6 |
8620 4b22 00C0 rjmp .L691 |
8621 4b24 8091 0000 lds r24,FC_StatusFlags |
8622 4b28 8F7B andi r24,lo8(-65) |
8623 4b2a 8093 0000 sts FC_StatusFlags,r24 |
8624 4b2e 8091 0000 lds r24,HoehenWert |
8625 4b32 9091 0000 lds r25,(HoehenWert)+1 |
8626 4b36 A091 0000 lds r26,(HoehenWert)+2 |
8627 4b3a B091 0000 lds r27,(HoehenWert)+3 |
8628 4b3e 8093 0000 sts SollHoehe,r24 |
8629 4b42 9093 0000 sts (SollHoehe)+1,r25 |
8630 4b46 A093 0000 sts (SollHoehe)+2,r26 |
8631 4b4a B093 0000 sts (SollHoehe)+3,r27 |
8632 .L691: |
8633 4b4e 8091 0000 lds r24,FC_StatusFlags |
8634 4b52 8068 ori r24,lo8(-128) |
8635 4b54 8093 0000 sts FC_StatusFlags,r24 |
8636 4b58 C101 movw r24,r2 |
8637 4b5a 801B sub r24,r16 |
8638 4b5c 910B sbc r25,r17 |
8639 4b5e 0F96 adiw r24,15 |
8640 4b60 97FF sbrs r25,7 |
8641 4b62 00C0 rjmp .L692 |
8642 4b64 9095 com r25 |
8643 4b66 8195 neg r24 |
8644 4b68 9F4F sbci r25,lo8(-1) |
8645 .L692: |
8646 4b6a 9095 com r25 |
8647 4b6c 8195 neg r24 |
8648 4b6e 9F4F sbci r25,lo8(-1) |
8649 4b70 9093 0000 sts (AltitudeSetpointTrimming)+1,r25 |
8650 4b74 8093 0000 sts AltitudeSetpointTrimming,r24 |
8651 4b78 8DE2 ldi r24,lo8(45) |
8652 4b7a 8093 0000 sts VarioCharacter,r24 |
8653 4b7e 2093 0000 sts WaypointTrimming,r18 |
8654 4b82 00C0 rjmp .L689 |
8655 .L690: |
8656 4b84 8DE3 ldi r24,lo8(61) |
8657 4b86 8093 0000 sts VarioCharacter,r24 |
8658 4b8a 6091 0000 lds r22,FromNC_AltitudeSpeed |
8659 4b8e 6623 tst r22 |
8660 4b90 01F0 breq .L694 |
8661 4b92 2091 0000 lds r18,FromNC_AltitudeSetpoint |
8662 4b96 3091 0000 lds r19,(FromNC_AltitudeSetpoint)+1 |
8663 4b9a 4091 0000 lds r20,(FromNC_AltitudeSetpoint)+2 |
8664 4b9e 5091 0000 lds r21,(FromNC_AltitudeSetpoint)+3 |
8665 4ba2 8091 0000 lds r24,SollHoehe |
8666 4ba6 9091 0000 lds r25,(SollHoehe)+1 |
8667 4baa A091 0000 lds r26,(SollHoehe)+2 |
8668 4bae B091 0000 lds r27,(SollHoehe)+3 |
8669 4bb2 8217 cp r24,r18 |
8670 4bb4 9307 cpc r25,r19 |
8671 4bb6 A407 cpc r26,r20 |
8672 4bb8 B507 cpc r27,r21 |
8673 4bba 04F4 brge .L694 |
8674 4bbc 8091 0000 lds r24,FC_StatusFlags |
8675 4bc0 8064 ori r24,lo8(64) |
8676 4bc2 8093 0000 sts FC_StatusFlags,r24 |
8677 4bc6 862F mov r24,r22 |
8678 4bc8 9927 clr r25 |
8679 4bca 9093 0000 sts (AltitudeSetpointTrimming)+1,r25 |
8680 4bce 8093 0000 sts AltitudeSetpointTrimming,r24 |
8681 4bd2 8AE0 ldi r24,lo8(10) |
8682 4bd4 8093 0000 sts WaypointTrimming,r24 |
8683 4bd8 8EE5 ldi r24,lo8(94) |
8684 4bda 8093 0000 sts VarioCharacter,r24 |
8685 4bde 8091 0000 lds r24,FC_StatusFlags |
8686 4be2 87FF sbrs r24,7 |
8687 4be4 00C0 rjmp .L689 |
8688 4be6 8091 0000 lds r24,FC_StatusFlags |
8689 4bea 8F77 andi r24,lo8(127) |
8690 4bec 00C0 rjmp .L905 |
8691 .L694: |
8692 4bee 6623 tst r22 |
8693 4bf0 01F4 brne .+2 |
8694 4bf2 00C0 rjmp .L697 |
8695 4bf4 2091 0000 lds r18,FromNC_AltitudeSetpoint |
8696 4bf8 3091 0000 lds r19,(FromNC_AltitudeSetpoint)+1 |
8697 4bfc 4091 0000 lds r20,(FromNC_AltitudeSetpoint)+2 |
8698 4c00 5091 0000 lds r21,(FromNC_AltitudeSetpoint)+3 |
8699 4c04 8091 0000 lds r24,SollHoehe |
8700 4c08 9091 0000 lds r25,(SollHoehe)+1 |
8701 4c0c A091 0000 lds r26,(SollHoehe)+2 |
8702 4c10 B091 0000 lds r27,(SollHoehe)+3 |
8703 4c14 2817 cp r18,r24 |
8704 4c16 3907 cpc r19,r25 |
8705 4c18 4A07 cpc r20,r26 |
8706 4c1a 5B07 cpc r21,r27 |
8707 4c1c 04F4 brge .L697 |
8708 4c1e 8091 0000 lds r24,FC_StatusFlags |
8709 4c22 8068 ori r24,lo8(-128) |
8710 4c24 8093 0000 sts FC_StatusFlags,r24 |
8711 4c28 862F mov r24,r22 |
8712 4c2a 9927 clr r25 |
8713 4c2c 9095 com r25 |
8714 4c2e 8195 neg r24 |
8715 4c30 9F4F sbci r25,lo8(-1) |
8716 4c32 9093 0000 sts (AltitudeSetpointTrimming)+1,r25 |
8717 4c36 8093 0000 sts AltitudeSetpointTrimming,r24 |
8718 4c3a 86EF ldi r24,lo8(-10) |
8719 4c3c 8093 0000 sts WaypointTrimming,r24 |
8720 4c40 86E7 ldi r24,lo8(118) |
8721 4c42 8093 0000 sts VarioCharacter,r24 |
8722 4c46 8091 0000 lds r24,FC_StatusFlags |
8723 4c4a 86FF sbrs r24,6 |
8724 4c4c 00C0 rjmp .L689 |
8725 4c4e 8091 0000 lds r24,FC_StatusFlags |
8726 4c52 8F7B andi r24,lo8(-65) |
8727 .L905: |
8728 4c54 8093 0000 sts FC_StatusFlags,r24 |
8729 4c58 8091 0000 lds r24,HoehenWert |
8730 4c5c 9091 0000 lds r25,(HoehenWert)+1 |
8731 4c60 A091 0000 lds r26,(HoehenWert)+2 |
8732 4c64 B091 0000 lds r27,(HoehenWert)+3 |
8733 4c68 8093 0000 sts SollHoehe,r24 |
8734 4c6c 9093 0000 sts (SollHoehe)+1,r25 |
8735 4c70 A093 0000 sts (SollHoehe)+2,r26 |
8736 4c74 B093 0000 sts (SollHoehe)+3,r27 |
8737 4c78 00C0 rjmp .L689 |
8738 .L697: |
8739 4c7a 8091 0000 lds r24,FC_StatusFlags |
8740 4c7e 807C andi r24,lo8(-64) |
8741 4c80 01F4 brne .+2 |
8742 4c82 00C0 rjmp .L689 |
8743 4c84 8091 0000 lds r24,WaypointTrimming |
8744 4c88 8823 tst r24 |
8745 4c8a 01F4 brne .L701 |
8746 4c8c E090 0000 lds r14,HoehenWert |
8747 4c90 F090 0000 lds r15,(HoehenWert)+1 |
8748 4c94 0091 0000 lds r16,(HoehenWert)+2 |
8749 4c98 1091 0000 lds r17,(HoehenWert)+3 |
8750 4c9c D801 movw r26,r16 |
8751 4c9e C701 movw r24,r14 |
8752 4ca0 8058 subi r24,lo8(-(-128)) |
8753 4ca2 9040 sbci r25,hi8(-(-128)) |
8754 4ca4 A040 sbci r26,hlo8(-(-128)) |
8755 4ca6 B040 sbci r27,hhi8(-(-128)) |
8756 4ca8 2091 0000 lds r18,SollHoehe |
8757 4cac 3091 0000 lds r19,(SollHoehe)+1 |
8758 4cb0 4091 0000 lds r20,(SollHoehe)+2 |
8759 4cb4 5091 0000 lds r21,(SollHoehe)+3 |
8760 4cb8 8217 cp r24,r18 |
8761 4cba 9307 cpc r25,r19 |
8762 4cbc A407 cpc r26,r20 |
8763 4cbe B507 cpc r27,r21 |
8764 4cc0 04F4 brge .L904 |
8765 4cc2 D801 movw r26,r16 |
8766 4cc4 C701 movw r24,r14 |
8767 4cc6 8058 subi r24,lo8(-(128)) |
8768 4cc8 9F4F sbci r25,hi8(-(128)) |
8769 4cca AF4F sbci r26,hlo8(-(128)) |
8770 4ccc BF4F sbci r27,hhi8(-(128)) |
8771 4cce 2817 cp r18,r24 |
8772 4cd0 3907 cpc r19,r25 |
8773 4cd2 4A07 cpc r20,r26 |
8774 4cd4 5B07 cpc r21,r27 |
8775 4cd6 04F0 brlt .L705 |
8776 .L904: |
8777 4cd8 8093 0000 sts SollHoehe,r24 |
8778 4cdc 9093 0000 sts (SollHoehe)+1,r25 |
8779 4ce0 A093 0000 sts (SollHoehe)+2,r26 |
8780 4ce4 B093 0000 sts (SollHoehe)+3,r27 |
8781 4ce8 00C0 rjmp .L705 |
8782 .L701: |
8783 4cea 1092 0000 sts WaypointTrimming,__zero_reg__ |
8784 .L705: |
8785 4cee 8091 0000 lds r24,FC_StatusFlags |
8786 4cf2 8F73 andi r24,lo8(63) |
8787 4cf4 8093 0000 sts FC_StatusFlags,r24 |
8788 4cf8 1092 0000 sts (HeightTrimming.21)+1,__zero_reg__ |
8789 4cfc 1092 0000 sts HeightTrimming.21,__zero_reg__ |
8790 4d00 71FF sbrs r23,1 |
8791 4d02 00C0 rjmp .L706 |
8792 4d04 84EF ldi r24,lo8(500) |
8793 4d06 91E0 ldi r25,hi8(500) |
8794 4d08 9093 0000 sts (beeptime)+1,r25 |
8795 4d0c 8093 0000 sts beeptime,r24 |
8796 .L706: |
8797 4d10 8091 0000 lds r24,StartTrigger |
8798 4d14 8823 tst r24 |
8799 4d16 01F4 brne .L689 |
8800 4d18 8091 0000 lds r24,HoehenWert |
8801 4d1c 9091 0000 lds r25,(HoehenWert)+1 |
8802 4d20 A091 0000 lds r26,(HoehenWert)+2 |
8803 4d24 B091 0000 lds r27,(HoehenWert)+3 |
8804 4d28 C397 sbiw r24,51 |
8805 4d2a A105 cpc r26,__zero_reg__ |
8806 4d2c B105 cpc r27,__zero_reg__ |
8807 4d2e 04F0 brlt .L689 |
8808 4d30 81E0 ldi r24,lo8(1) |
8809 4d32 8093 0000 sts StartTrigger,r24 |
8810 .L689: |
8811 4d36 6091 0000 lds r22,HeightTrimming.21 |
8812 4d3a 7091 0000 lds r23,(HeightTrimming.21)+1 |
8813 4d3e 8091 0000 lds r24,AltitudeSetpointTrimming |
8814 4d42 9091 0000 lds r25,(AltitudeSetpointTrimming)+1 |
8815 4d46 680F add r22,r24 |
8816 4d48 791F adc r23,r25 |
8817 4d4a 7093 0000 sts (HeightTrimming.21)+1,r23 |
8818 4d4e 6093 0000 sts HeightTrimming.21,r22 |
8819 4d52 CB01 movw r24,r22 |
8820 4d54 77FF sbrs r23,7 |
8821 4d56 00C0 rjmp .L709 |
8822 4d58 8827 clr r24 |
8823 4d5a 9927 clr r25 |
8824 4d5c 861B sub r24,r22 |
8825 4d5e 970B sbc r25,r23 |
8826 .L709: |
8827 4d60 855F subi r24,lo8(501) |
8828 4d62 9140 sbci r25,hi8(501) |
8829 4d64 04F4 brge .+2 |
8830 4d66 00C0 rjmp .L708 |
8831 4d68 4091 0000 lds r20,WaypointTrimming |
8832 4d6c 4423 tst r20 |
8833 4d6e 01F0 breq .L710 |
8834 4d70 8091 0000 lds r24,FromNC_AltitudeSetpoint |
8835 4d74 9091 0000 lds r25,(FromNC_AltitudeSetpoint)+1 |
8836 4d78 2091 0000 lds r18,SollHoehe |
8837 4d7c 3091 0000 lds r19,(SollHoehe)+1 |
8838 4d80 821B sub r24,r18 |
8839 4d82 930B sbc r25,r19 |
8840 4d84 0996 adiw r24,9 |
8841 4d86 4397 sbiw r24,19 |
8842 4d88 00F4 brsh .L711 |
8843 4d8a 8091 0000 lds r24,FromNC_AltitudeSetpoint |
8844 4d8e 9091 0000 lds r25,(FromNC_AltitudeSetpoint)+1 |
8845 4d92 A091 0000 lds r26,(FromNC_AltitudeSetpoint)+2 |
8846 4d96 B091 0000 lds r27,(FromNC_AltitudeSetpoint)+3 |
8847 4d9a 00C0 rjmp .L907 |
8848 .L711: |
8849 4d9c 242F mov r18,r20 |
8850 4d9e 3327 clr r19 |
8851 4da0 27FD sbrc r18,7 |
8852 4da2 3095 com r19 |
8853 4da4 432F mov r20,r19 |
8854 4da6 532F mov r21,r19 |
8855 4da8 8091 0000 lds r24,SollHoehe |
8856 4dac 9091 0000 lds r25,(SollHoehe)+1 |
8857 4db0 A091 0000 lds r26,(SollHoehe)+2 |
8858 4db4 B091 0000 lds r27,(SollHoehe)+3 |
8859 4db8 820F add r24,r18 |
8860 4dba 931F adc r25,r19 |
8861 4dbc A41F adc r26,r20 |
8862 4dbe B51F adc r27,r21 |
8863 .L907: |
8864 4dc0 8093 0000 sts SollHoehe,r24 |
8865 4dc4 9093 0000 sts (SollHoehe)+1,r25 |
8866 4dc8 A093 0000 sts (SollHoehe)+2,r26 |
8867 4dcc B093 0000 sts (SollHoehe)+3,r27 |
8868 4dd0 00C0 rjmp .L713 |
8869 .L710: |
8870 4dd2 8091 0000 lds r24,EE_Parameter+18 |
8871 4dd6 2091 0000 lds r18,SollHoehe |
8872 4dda 3091 0000 lds r19,(SollHoehe)+1 |
8873 4dde 4091 0000 lds r20,(SollHoehe)+2 |
8874 4de2 5091 0000 lds r21,(SollHoehe)+3 |
8875 4de6 1616 cp __zero_reg__,r22 |
8876 4de8 1706 cpc __zero_reg__,r23 |
8877 4dea 04F4 brge .L714 |
8878 4dec 63E0 ldi r22,lo8(3) |
8879 4dee 0E94 0000 call __udivmodqi4 |
8880 4df2 280F add r18,r24 |
8881 4df4 311D adc r19,__zero_reg__ |
8882 4df6 411D adc r20,__zero_reg__ |
8883 4df8 511D adc r21,__zero_reg__ |
8884 4dfa 00C0 rjmp .L906 |
8885 .L714: |
8886 4dfc 63E0 ldi r22,lo8(3) |
8887 4dfe 0E94 0000 call __udivmodqi4 |
8888 4e02 281B sub r18,r24 |
8889 4e04 3109 sbc r19,__zero_reg__ |
8890 4e06 4109 sbc r20,__zero_reg__ |
8891 4e08 5109 sbc r21,__zero_reg__ |
8892 .L906: |
8893 4e0a 2093 0000 sts SollHoehe,r18 |
8894 4e0e 3093 0000 sts (SollHoehe)+1,r19 |
8895 4e12 4093 0000 sts (SollHoehe)+2,r20 |
8896 4e16 5093 0000 sts (SollHoehe)+3,r21 |
8897 .L713: |
8898 4e1a 1092 0000 sts (HeightTrimming.21)+1,__zero_reg__ |
8899 4e1e 1092 0000 sts HeightTrimming.21,__zero_reg__ |
8900 4e22 E090 0000 lds r14,HoehenWert |
8901 4e26 F090 0000 lds r15,(HoehenWert)+1 |
8902 4e2a 0091 0000 lds r16,(HoehenWert)+2 |
8903 4e2e 1091 0000 lds r17,(HoehenWert)+3 |
8904 4e32 D801 movw r26,r16 |
8905 4e34 C701 movw r24,r14 |
8906 4e36 8050 subi r24,lo8(-(-1024)) |
8907 4e38 9440 sbci r25,hi8(-(-1024)) |
8908 4e3a A040 sbci r26,hlo8(-(-1024)) |
8909 4e3c B040 sbci r27,hhi8(-(-1024)) |
8910 4e3e 2091 0000 lds r18,SollHoehe |
8911 4e42 3091 0000 lds r19,(SollHoehe)+1 |
8912 4e46 4091 0000 lds r20,(SollHoehe)+2 |
8913 4e4a 5091 0000 lds r21,(SollHoehe)+3 |
8914 4e4e 8217 cp r24,r18 |
8915 4e50 9307 cpc r25,r19 |
8916 4e52 A407 cpc r26,r20 |
8917 4e54 B507 cpc r27,r21 |
8918 4e56 04F4 brge .L908 |
8919 4e58 D801 movw r26,r16 |
8920 4e5a C701 movw r24,r14 |
8921 4e5c 8050 subi r24,lo8(-(1024)) |
8922 4e5e 9C4F sbci r25,hi8(-(1024)) |
8923 4e60 AF4F sbci r26,hlo8(-(1024)) |
8924 4e62 BF4F sbci r27,hhi8(-(1024)) |
8925 4e64 2817 cp r18,r24 |
8926 4e66 3907 cpc r19,r25 |
8927 4e68 4A07 cpc r20,r26 |
8928 4e6a 5B07 cpc r21,r27 |
8929 4e6c 04F0 brlt .L717 |
8930 .L908: |
8931 4e6e 8093 0000 sts SollHoehe,r24 |
8932 4e72 9093 0000 sts (SollHoehe)+1,r25 |
8933 4e76 A093 0000 sts (SollHoehe)+2,r26 |
8934 4e7a B093 0000 sts (SollHoehe)+3,r27 |
8935 .L717: |
8936 4e7e 8091 0000 lds r24,Parameter_ExtraConfig |
8937 4e82 81FF sbrs r24,1 |
8938 4e84 00C0 rjmp .L719 |
8939 4e86 84E6 ldi r24,lo8(100) |
8940 4e88 90E0 ldi r25,hi8(100) |
8941 4e8a 9093 0000 sts (beeptime)+1,r25 |
8942 4e8e 8093 0000 sts beeptime,r24 |
8943 .L719: |
8944 4e92 8091 0000 lds r24,EE_Parameter+22 |
8945 4e96 8823 tst r24 |
8946 4e98 01F4 brne .L708 |
8947 4e9a 8091 0000 lds r24,FromNC_AltitudeSpeed |
8948 4e9e 8823 tst r24 |
8949 4ea0 01F4 brne .L708 |
8950 4ea2 4091 0000 lds r20,HoverGas |
8951 4ea6 5091 0000 lds r21,(HoverGas)+1 |
8952 4eaa 57FF sbrs r21,7 |
8953 4eac 00C0 rjmp .L721 |
8954 4eae 4D5F subi r20,lo8(-(3)) |
8955 4eb0 5F4F sbci r21,hi8(-(3)) |
8956 .L721: |
8957 4eb2 5595 asr r21 |
8958 4eb4 4795 ror r20 |
8959 4eb6 5595 asr r21 |
8960 4eb8 4795 ror r20 |
8961 4eba 8091 0000 lds r24,UBat |
8962 4ebe 9091 0000 lds r25,(UBat)+1 |
8963 4ec2 2091 0000 lds r18,BattLowVoltageWarning |
8964 4ec6 3327 clr r19 |
8965 4ec8 489F mul r20,r24 |
8966 4eca F001 movw r30,r0 |
8967 4ecc 499F mul r20,r25 |
8968 4ece F00D add r31,r0 |
8969 4ed0 589F mul r21,r24 |
8970 4ed2 F00D add r31,r0 |
8971 4ed4 1124 clr r1 |
8972 4ed6 CF01 movw r24,r30 |
8973 4ed8 B901 movw r22,r18 |
8974 4eda 0E94 0000 call __divmodhi4 |
8975 4ede 7093 0000 sts (StickGasHover)+1,r23 |
8976 4ee2 6093 0000 sts StickGasHover,r22 |
8977 4ee6 6634 cpi r22,70 |
8978 4ee8 7105 cpc r23,__zero_reg__ |
8979 4eea 04F4 brge .L722 |
8980 4eec 86E4 ldi r24,lo8(70) |
8981 4eee 90E0 ldi r25,hi8(70) |
8982 4ef0 00C0 rjmp .L909 |
8983 .L722: |
8984 4ef2 6739 cpi r22,151 |
8985 4ef4 7105 cpc r23,__zero_reg__ |
8986 4ef6 04F0 brlt .L708 |
8987 4ef8 86E9 ldi r24,lo8(150) |
8988 4efa 90E0 ldi r25,hi8(150) |
8989 .L909: |
8990 4efc 9093 0000 sts (StickGasHover)+1,r25 |
8991 4f00 8093 0000 sts StickGasHover,r24 |
8992 .L708: |
8993 4f04 8091 0000 lds r24,BaroExpandActive |
8994 4f08 9091 0000 lds r25,(BaroExpandActive)+1 |
8995 4f0c 892B or r24,r25 |
8996 4f0e 01F0 breq .L726 |
8997 4f10 8091 0000 lds r24,HoehenWert |
8998 4f14 9091 0000 lds r25,(HoehenWert)+1 |
8999 4f18 A091 0000 lds r26,(HoehenWert)+2 |
9000 4f1c B091 0000 lds r27,(HoehenWert)+3 |
9001 4f20 8093 0000 sts SollHoehe,r24 |
9002 4f24 9093 0000 sts (SollHoehe)+1,r25 |
9003 4f28 A093 0000 sts (SollHoehe)+2,r26 |
9004 4f2c B093 0000 sts (SollHoehe)+3,r27 |
9005 4f30 00C0 rjmp .L726 |
9006 .L683: |
9007 4f32 8091 0000 lds r24,HoehenWert |
9008 4f36 9091 0000 lds r25,(HoehenWert)+1 |
9009 4f3a A091 0000 lds r26,(HoehenWert)+2 |
9010 4f3e B091 0000 lds r27,(HoehenWert)+3 |
9011 4f42 8059 subi r24,lo8(-(-400)) |
9012 4f44 9140 sbci r25,hi8(-(-400)) |
9013 4f46 A040 sbci r26,hlo8(-(-400)) |
9014 4f48 B040 sbci r27,hhi8(-(-400)) |
9015 4f4a 8093 0000 sts SollHoehe,r24 |
9016 4f4e 9093 0000 sts (SollHoehe)+1,r25 |
9017 4f52 A093 0000 sts (SollHoehe)+2,r26 |
9018 4f56 B093 0000 sts (SollHoehe)+3,r27 |
9019 4f5a 8091 0000 lds r24,EE_Parameter+22 |
9020 4f5e 8823 tst r24 |
9021 4f60 01F0 breq .L727 |
9022 4f62 9927 clr r25 |
9023 4f64 00C0 rjmp .L910 |
9024 .L727: |
9025 4f66 88E7 ldi r24,lo8(120) |
9026 4f68 90E0 ldi r25,hi8(120) |
9027 .L910: |
9028 4f6a 9093 0000 sts (StickGasHover)+1,r25 |
9029 4f6e 8093 0000 sts StickGasHover,r24 |
9030 4f72 E980 ldd r14,Y+1 |
9031 4f74 FA80 ldd r15,Y+2 |
9032 4f76 F092 0000 sts (HoverGas)+1,r15 |
9033 4f7a E092 0000 sts HoverGas,r14 |
9034 4f7e 8EE2 ldi r24,lo8(46) |
9035 4f80 8093 0000 sts VarioCharacter,r24 |
9036 .L726: |
9037 4f84 C090 0000 lds r12,HoverGas |
9038 4f88 D090 0000 lds r13,(HoverGas)+1 |
9039 .L682: |
9040 4f8c E090 0000 lds r14,HoehenWert |
9041 4f90 F090 0000 lds r15,(HoehenWert)+1 |
9042 4f94 0091 0000 lds r16,(HoehenWert)+2 |
9043 4f98 1091 0000 lds r17,(HoehenWert)+3 |
9044 4f9c 2091 0000 lds r18,SollHoehe |
9045 4fa0 3091 0000 lds r19,(SollHoehe)+1 |
9046 4fa4 4091 0000 lds r20,(SollHoehe)+2 |
9047 4fa8 5091 0000 lds r21,(SollHoehe)+3 |
9048 4fac 2E15 cp r18,r14 |
9049 4fae 3F05 cpc r19,r15 |
9050 4fb0 4007 cpc r20,r16 |
9051 4fb2 5107 cpc r21,r17 |
9052 4fb4 04F0 brlt .L730 |
9053 4fb6 8091 0000 lds r24,Parameter_ExtraConfig |
9054 4fba 80FD sbrc r24,0 |
9055 4fbc 00C0 rjmp .L788 |
9056 .L730: |
9057 4fbe 8091 0000 lds r24,BaroExpandActive |
9058 4fc2 9091 0000 lds r25,(BaroExpandActive)+1 |
9059 4fc6 892B or r24,r25 |
9060 4fc8 01F0 breq .L731 |
9061 4fca C090 0000 lds r12,HoverGas |
9062 4fce D090 0000 lds r13,(HoverGas)+1 |
9063 4fd2 00E0 ldi r16,lo8(0) |
9064 4fd4 10E0 ldi r17,hi8(0) |
9065 4fd6 00C0 rjmp .L732 |
9066 .L731: |
9067 4fd8 D801 movw r26,r16 |
9068 4fda C701 movw r24,r14 |
9069 4fdc 821B sub r24,r18 |
9070 4fde 930B sbc r25,r19 |
9071 4fe0 A40B sbc r26,r20 |
9072 4fe2 B50B sbc r27,r21 |
9073 4fe4 8093 0000 sts tmp_long.1,r24 |
9074 4fe8 9093 0000 sts (tmp_long.1)+1,r25 |
9075 4fec A093 0000 sts (tmp_long.1)+2,r26 |
9076 4ff0 B093 0000 sts (tmp_long.1)+3,r27 |
9077 4ff4 8230 cpi r24,lo8(-32766) |
9078 4ff6 00E8 ldi r16,hi8(-32766) |
9079 4ff8 9007 cpc r25,r16 |
9080 4ffa 0FEF ldi r16,hlo8(-32766) |
9081 4ffc A007 cpc r26,r16 |
9082 4ffe 0FEF ldi r16,hhi8(-32766) |
9083 5000 B007 cpc r27,r16 |
9084 5002 04F4 brge .L733 |
9085 5004 81E0 ldi r24,lo8(-32767) |
9086 5006 90E8 ldi r25,hi8(-32767) |
9087 5008 AFEF ldi r26,hlo8(-32767) |
9088 500a BFEF ldi r27,hhi8(-32767) |
9089 500c 00C0 rjmp .L911 |
9090 .L733: |
9091 500e 8F5F subi r24,lo8(32767) |
9092 5010 9F47 sbci r25,hi8(32767) |
9093 5012 A040 sbci r26,hlo8(32767) |
9094 5014 B040 sbci r27,hhi8(32767) |
9095 5016 04F0 brlt .L734 |
9096 5018 8FEF ldi r24,lo8(32767) |
9097 501a 9FE7 ldi r25,hi8(32767) |
9098 501c A0E0 ldi r26,hlo8(32767) |
9099 501e B0E0 ldi r27,hhi8(32767) |
9100 .L911: |
9101 5020 8093 0000 sts tmp_long.1,r24 |
9102 5024 9093 0000 sts (tmp_long.1)+1,r25 |
9103 5028 A093 0000 sts (tmp_long.1)+2,r26 |
9104 502c B093 0000 sts (tmp_long.1)+3,r27 |
9105 .L734: |
9106 5030 0091 0000 lds r16,tmp_long.1 |
9107 5034 1091 0000 lds r17,(tmp_long.1)+1 |
9108 5038 8091 0000 lds r24,Parameter_Hoehe_P |
9109 503c 282F mov r18,r24 |
9110 503e 3327 clr r19 |
9111 5040 4427 clr r20 |
9112 5042 5527 clr r21 |
9113 5044 8091 0000 lds r24,tmp_long.1 |
9114 5048 9091 0000 lds r25,(tmp_long.1)+1 |
9115 504c A091 0000 lds r26,(tmp_long.1)+2 |
9116 5050 B091 0000 lds r27,(tmp_long.1)+3 |
9117 5054 BC01 movw r22,r24 |
9118 5056 CD01 movw r24,r26 |
9119 5058 0E94 0000 call __mulsi3 |
9120 505c 97FF sbrs r25,7 |
9121 505e 00C0 rjmp .L736 |
9122 5060 615E subi r22,lo8(-(31)) |
9123 5062 7F4F sbci r23,hi8(-(31)) |
9124 5064 8F4F sbci r24,hlo8(-(31)) |
9125 5066 9F4F sbci r25,hhi8(-(31)) |
9126 .L736: |
9127 5068 25E0 ldi r18,5 |
9128 506a 9595 1: asr r25 |
9129 506c 8795 ror r24 |
9130 506e 7795 ror r23 |
9131 5070 6795 ror r22 |
9132 5072 2A95 dec r18 |
9133 5074 01F4 brne 1b |
9134 5076 6093 0000 sts tmp_long.1,r22 |
9135 507a 7093 0000 sts (tmp_long.1)+1,r23 |
9136 507e 8093 0000 sts (tmp_long.1)+2,r24 |
9137 5082 9093 0000 sts (tmp_long.1)+3,r25 |
9138 5086 6530 cpi r22,lo8(-507) |
9139 5088 2EEF ldi r18,hi8(-507) |
9140 508a 7207 cpc r23,r18 |
9141 508c 2FEF ldi r18,hlo8(-507) |
9142 508e 8207 cpc r24,r18 |
9143 5090 2FEF ldi r18,hhi8(-507) |
9144 5092 9207 cpc r25,r18 |
9145 5094 04F4 brge .L737 |
9146 5096 84E0 ldi r24,lo8(-508) |
9147 5098 9EEF ldi r25,hi8(-508) |
9148 509a AFEF ldi r26,hlo8(-508) |
9149 509c BFEF ldi r27,hhi8(-508) |
9150 509e 00C0 rjmp .L912 |
9151 .L737: |
9152 50a0 6050 subi r22,lo8(1024) |
9153 50a2 7440 sbci r23,hi8(1024) |
9154 50a4 8040 sbci r24,hlo8(1024) |
9155 50a6 9040 sbci r25,hhi8(1024) |
9156 50a8 04F0 brlt .L738 |
9157 50aa 80E0 ldi r24,lo8(1024) |
9158 50ac 94E0 ldi r25,hi8(1024) |
9159 50ae A0E0 ldi r26,hlo8(1024) |
9160 50b0 B0E0 ldi r27,hhi8(1024) |
9161 .L912: |
9162 50b2 8093 0000 sts tmp_long.1,r24 |
9163 50b6 9093 0000 sts (tmp_long.1)+1,r25 |
9164 50ba A093 0000 sts (tmp_long.1)+2,r26 |
9165 50be B093 0000 sts (tmp_long.1)+3,r27 |
9166 .L738: |
9167 50c2 8090 0000 lds r8,tmp_long.1 |
9168 50c6 9090 0000 lds r9,(tmp_long.1)+1 |
9169 50ca 2091 0000 lds r18,VarioMeter |
9170 50ce 3091 0000 lds r19,(VarioMeter)+1 |
9171 50d2 37FF sbrs r19,7 |
9172 50d4 00C0 rjmp .L740 |
9173 50d6 295F subi r18,lo8(-(7)) |
9174 50d8 3F4F sbci r19,hi8(-(7)) |
9175 .L740: |
9176 50da 83E0 ldi r24,3 |
9177 50dc 3595 1: asr r19 |
9178 50de 2795 ror r18 |
9179 50e0 8A95 dec r24 |
9180 50e2 01F4 brne 1b |
9181 50e4 4FEF ldi r20,hi8(-126) |
9182 50e6 2238 cpi r18,lo8(-126) |
9183 50e8 3407 cpc r19,r20 |
9184 50ea 04F4 brge .L741 |
9185 50ec 21E8 ldi r18,lo8(-127) |
9186 50ee 3FEF ldi r19,hi8(-127) |
9187 50f0 00C0 rjmp .L742 |
9188 .L741: |
9189 50f2 2038 cpi r18,128 |
9190 50f4 3105 cpc r19,__zero_reg__ |
9191 50f6 04F0 brlt .L742 |
9192 50f8 20E8 ldi r18,lo8(128) |
9193 50fa 30E0 ldi r19,hi8(128) |
9194 .L742: |
9195 50fc C901 movw r24,r18 |
9196 50fe AA27 clr r26 |
9197 5100 97FD sbrc r25,7 |
9198 5102 A095 com r26 |
9199 5104 BA2F mov r27,r26 |
9200 5106 2091 0000 lds r18,Parameter_Luftdruck_D |
9201 510a 3327 clr r19 |
9202 510c 4427 clr r20 |
9203 510e 5527 clr r21 |
9204 5110 BC01 movw r22,r24 |
9205 5112 CD01 movw r24,r26 |
9206 5114 0E94 0000 call __mulsi3 |
9207 5118 97FF sbrs r25,7 |
9208 511a 00C0 rjmp .L744 |
9209 511c 6D5F subi r22,lo8(-(3)) |
9210 511e 7F4F sbci r23,hi8(-(3)) |
9211 5120 8F4F sbci r24,hlo8(-(3)) |
9212 5122 9F4F sbci r25,hhi8(-(3)) |
9213 .L744: |
9214 5124 B2E0 ldi r27,2 |
9215 5126 9595 1: asr r25 |
9216 5128 8795 ror r24 |
9217 512a 7795 ror r23 |
9218 512c 6795 ror r22 |
9219 512e BA95 dec r27 |
9220 5130 01F4 brne 1b |
9221 5132 9B01 movw r18,r22 |
9222 5134 5FEF ldi r21,hi8(-255) |
9223 5136 6130 cpi r22,lo8(-255) |
9224 5138 7507 cpc r23,r21 |
9225 513a 04F4 brge .L745 |
9226 513c 20E0 ldi r18,lo8(-256) |
9227 513e 3FEF ldi r19,hi8(-256) |
9228 5140 00C0 rjmp .L746 |
9229 .L745: |
9230 5142 6F3F cpi r22,255 |
9231 5144 7105 cpc r23,__zero_reg__ |
9232 5146 01F0 breq .L746 |
9233 5148 04F0 brlt .L746 |
9234 514a 20E0 ldi r18,lo8(256) |
9235 514c 31E0 ldi r19,hi8(256) |
9236 .L746: |
9237 514e 8091 0000 lds r24,FC_StatusFlags |
9238 5152 807C andi r24,lo8(-64) |
9239 5154 01F0 breq .L748 |
9240 5156 C901 movw r24,r18 |
9241 5158 37FD sbrc r19,7 |
9242 515a 0396 adiw r24,3 |
9243 .L749: |
9244 515c 9C01 movw r18,r24 |
9245 515e 3595 asr r19 |
9246 5160 2795 ror r18 |
9247 5162 3595 asr r19 |
9248 5164 2795 ror r18 |
9249 5166 00C0 rjmp .L750 |
9250 .L748: |
9251 5168 8091 0000 lds r24,Parameter_ExtraConfig |
9252 516c 80FF sbrs r24,0 |
9253 516e 00C0 rjmp .L750 |
9254 5170 C901 movw r24,r18 |
9255 5172 37FD sbrc r19,7 |
9256 5174 0796 adiw r24,7 |
9257 .L752: |
9258 5176 9C01 movw r18,r24 |
9259 5178 F3E0 ldi r31,3 |
9260 517a 3595 1: asr r19 |
9261 517c 2795 ror r18 |
9262 517e FA95 dec r31 |
9263 5180 01F4 brne 1b |
9264 .L750: |
9265 5182 820E add r8,r18 |
9266 5184 931E adc r9,r19 |
9267 .L732: |
9268 5186 2091 0000 lds r18,Parameter_Hoehe_ACC_Wirkung |
9269 518a 2223 tst r18 |
9270 518c 01F4 brne .+2 |
9271 518e 00C0 rjmp .L753 |
9272 5190 6091 0000 lds r22,Mess_Integral_Hoch |
9273 5194 7091 0000 lds r23,(Mess_Integral_Hoch)+1 |
9274 5198 8091 0000 lds r24,(Mess_Integral_Hoch)+2 |
9275 519c 9091 0000 lds r25,(Mess_Integral_Hoch)+3 |
9276 51a0 97FF sbrs r25,7 |
9277 51a2 00C0 rjmp .L754 |
9278 51a4 6158 subi r22,lo8(-(127)) |
9279 51a6 7F4F sbci r23,hi8(-(127)) |
9280 51a8 8F4F sbci r24,hlo8(-(127)) |
9281 51aa 9F4F sbci r25,hhi8(-(127)) |
9282 .L754: |
9283 51ac E7E0 ldi r30,7 |
9284 51ae 9595 1: asr r25 |
9285 51b0 8795 ror r24 |
9286 51b2 7795 ror r23 |
9287 51b4 6795 ror r22 |
9288 51b6 EA95 dec r30 |
9289 51b8 01F4 brne 1b |
9290 51ba 3327 clr r19 |
9291 51bc 4427 clr r20 |
9292 51be 5527 clr r21 |
9293 51c0 0E94 0000 call __mulsi3 |
9294 51c4 97FF sbrs r25,7 |
9295 51c6 00C0 rjmp .L755 |
9296 51c8 615E subi r22,lo8(-(31)) |
9297 51ca 7F4F sbci r23,hi8(-(31)) |
9298 51cc 8F4F sbci r24,hlo8(-(31)) |
9299 51ce 9F4F sbci r25,hhi8(-(31)) |
9300 .L755: |
9301 51d0 55E0 ldi r21,5 |
9302 51d2 9595 1: asr r25 |
9303 51d4 8795 ror r24 |
9304 51d6 7795 ror r23 |
9305 51d8 6795 ror r22 |
9306 51da 5A95 dec r21 |
9307 51dc 01F4 brne 1b |
9308 51de 6093 0000 sts tmp_long.1,r22 |
9309 51e2 7093 0000 sts (tmp_long.1)+1,r23 |
9310 51e6 8093 0000 sts (tmp_long.1)+2,r24 |
9311 51ea 9093 0000 sts (tmp_long.1)+3,r25 |
9312 51ee 6138 cpi r22,lo8(-127) |
9313 51f0 AFEF ldi r26,hi8(-127) |
9314 51f2 7A07 cpc r23,r26 |
9315 51f4 AFEF ldi r26,hlo8(-127) |
9316 51f6 8A07 cpc r24,r26 |
9317 51f8 AFEF ldi r26,hhi8(-127) |
9318 51fa 9A07 cpc r25,r26 |
9319 51fc 04F4 brge .L756 |
9320 51fe 80E8 ldi r24,lo8(-128) |
9321 5200 9FEF ldi r25,hi8(-128) |
9322 5202 AFEF ldi r26,hlo8(-128) |
9323 5204 BFEF ldi r27,hhi8(-128) |
9324 5206 00C0 rjmp .L913 |
9325 .L756: |
9326 5208 6F3F cpi r22,lo8(255) |
9327 520a 7105 cpc r23,__zero_reg__ |
9328 520c 8105 cpc r24,__zero_reg__ |
9329 520e 9105 cpc r25,__zero_reg__ |
9330 5210 01F0 breq .L757 |
9331 5212 04F0 brlt .L757 |
9332 5214 80E0 ldi r24,lo8(256) |
9333 5216 91E0 ldi r25,hi8(256) |
9334 5218 A0E0 ldi r26,hlo8(256) |
9335 521a B0E0 ldi r27,hhi8(256) |
9336 .L913: |
9337 521c 8093 0000 sts tmp_long.1,r24 |
9338 5220 9093 0000 sts (tmp_long.1)+1,r25 |
9339 5224 A093 0000 sts (tmp_long.1)+2,r26 |
9340 5228 B093 0000 sts (tmp_long.1)+3,r27 |
9341 .L757: |
9342 522c 8091 0000 lds r24,tmp_long.1 |
9343 5230 9091 0000 lds r25,(tmp_long.1)+1 |
9344 5234 880E add r8,r24 |
9345 5236 991E adc r9,r25 |
9346 .L753: |
9347 5238 8091 0000 lds r24,Parameter_Hoehe_GPS_Z |
9348 523c 282F mov r18,r24 |
9349 523e 3327 clr r19 |
9350 5240 8091 0000 lds r24,FromNaviCtrl_Value+4 |
9351 5244 9927 clr r25 |
9352 5246 87FD sbrc r24,7 |
9353 5248 9095 com r25 |
9354 524a 289F mul r18,r24 |
9355 524c F001 movw r30,r0 |
9356 524e 299F mul r18,r25 |
9357 5250 F00D add r31,r0 |
9358 5252 389F mul r19,r24 |
9359 5254 F00D add r31,r0 |
9360 5256 1124 clr r1 |
9361 5258 9F01 movw r18,r30 |
9362 525a F7FF sbrs r31,7 |
9363 525c 00C0 rjmp .L759 |
9364 525e 2158 subi r18,lo8(-(127)) |
9365 5260 3F4F sbci r19,hi8(-(127)) |
9366 .L759: |
9367 5262 220F lsl r18 |
9368 5264 232F mov r18,r19 |
9369 5266 221F rol r18 |
9370 5268 330B sbc r19,r19 |
9371 526a FFEF ldi r31,hi8(-127) |
9372 526c 2138 cpi r18,lo8(-127) |
9373 526e 3F07 cpc r19,r31 |
9374 5270 04F4 brge .L760 |
9375 5272 20E8 ldi r18,lo8(-128) |
9376 5274 3FEF ldi r19,hi8(-128) |
9377 5276 00C0 rjmp .L761 |
9378 .L760: |
9379 5278 2F3F cpi r18,255 |
9380 527a 3105 cpc r19,__zero_reg__ |
9381 527c 01F0 breq .L761 |
9382 527e 04F0 brlt .L761 |
9383 5280 20E0 ldi r18,lo8(256) |
9384 5282 31E0 ldi r19,hi8(256) |
9385 .L761: |
9386 5284 820E add r8,r18 |
9387 5286 931E adc r9,r19 |
9388 5288 C401 movw r24,r8 |
9389 528a AA27 clr r26 |
9390 528c 97FD sbrc r25,7 |
9391 528e A095 com r26 |
9392 5290 BA2F mov r27,r26 |
9393 5292 E090 0000 lds r14,HoverGas |
9394 5296 F090 0000 lds r15,(HoverGas)+1 |
9395 529a 9701 movw r18,r14 |
9396 529c 4427 clr r20 |
9397 529e 37FD sbrc r19,7 |
9398 52a0 4095 com r20 |
9399 52a2 542F mov r21,r20 |
9400 52a4 BC01 movw r22,r24 |
9401 52a6 CD01 movw r24,r26 |
9402 52a8 0E94 0000 call __mulsi3 |
9403 52ac 97FF sbrs r25,7 |
9404 52ae 00C0 rjmp .L763 |
9405 52b0 6150 subi r22,lo8(-(511)) |
9406 52b2 7E4F sbci r23,hi8(-(511)) |
9407 52b4 8F4F sbci r24,hlo8(-(511)) |
9408 52b6 9F4F sbci r25,hhi8(-(511)) |
9409 .L763: |
9410 52b8 29E0 ldi r18,9 |
9411 52ba 9595 1: asr r25 |
9412 52bc 8795 ror r24 |
9413 52be 7795 ror r23 |
9414 52c0 6795 ror r22 |
9415 52c2 2A95 dec r18 |
9416 52c4 01F4 brne 1b |
9417 52c6 C61A sub r12,r22 |
9418 52c8 D70A sbc r13,r23 |
9419 52ca 8091 0000 lds r24,AltitudeSetpointTrimming |
9420 52ce 9091 0000 lds r25,(AltitudeSetpointTrimming)+1 |
9421 52d2 892B or r24,r25 |
9422 52d4 01F0 breq .+2 |
9423 52d6 00C0 rjmp .L764 |
9424 52d8 1E14 cp __zero_reg__,r14 |
9425 52da 1F04 cpc __zero_reg__,r15 |
9426 52dc 04F0 brlt .+2 |
9427 52de 00C0 rjmp .L764 |
9428 52e0 9801 movw r18,r16 |
9429 52e2 17FF sbrs r17,7 |
9430 52e4 00C0 rjmp .L765 |
9431 52e6 3095 com r19 |
9432 52e8 2195 neg r18 |
9433 52ea 3F4F sbci r19,lo8(-1) |
9434 .L765: |
9435 52ec 2D33 cpi r18,61 |
9436 52ee 3105 cpc r19,__zero_reg__ |
9437 52f0 00F4 brsh .L766 |
9438 52f2 8091 0000 lds r24,HoverGasMin |
9439 52f6 9091 0000 lds r25,(HoverGasMin)+1 |
9440 52fa 8C15 cp r24,r12 |
9441 52fc 9D05 cpc r25,r13 |
9442 52fe 04F4 brge .L915 |
9443 5300 00C0 rjmp .L924 |
9444 .L766: |
9445 5302 2C53 subi r18,lo8(-(-60)) |
9446 5304 3040 sbci r19,hi8(-(-60)) |
9447 5306 85E0 ldi r24,5 |
9448 5308 3695 1: lsr r19 |
9449 530a 2795 ror r18 |
9450 530c 8A95 dec r24 |
9451 530e 01F4 brne 1b |
9452 5310 2031 cpi r18,16 |
9453 5312 3105 cpc r19,__zero_reg__ |
9454 5314 00F0 brlo .L771 |
9455 5316 2FE0 ldi r18,lo8(15) |
9456 5318 30E0 ldi r19,hi8(15) |
9457 .L771: |
9458 531a 4091 0000 lds r20,HoverGasMin |
9459 531e 5091 0000 lds r21,(HoverGasMin)+1 |
9460 5322 1016 cp __zero_reg__,r16 |
9461 5324 1106 cpc __zero_reg__,r17 |
9462 5326 04F4 brge .L772 |
9463 5328 80E1 ldi r24,lo8(16) |
9464 532a 90E0 ldi r25,hi8(16) |
9465 532c 821B sub r24,r18 |
9466 532e 930B sbc r25,r19 |
9467 5330 489F mul r20,r24 |
9468 5332 9001 movw r18,r0 |
9469 5334 499F mul r20,r25 |
9470 5336 300D add r19,r0 |
9471 5338 589F mul r21,r24 |
9472 533a 300D add r19,r0 |
9473 533c 1124 clr r1 |
9474 533e B4E0 ldi r27,4 |
9475 5340 3695 1: lsr r19 |
9476 5342 2795 ror r18 |
9477 5344 BA95 dec r27 |
9478 5346 01F4 brne 1b |
9479 5348 2C15 cp r18,r12 |
9480 534a 3D05 cpc r19,r13 |
9481 534c 00F4 brsh .L914 |
9482 .L924: |
9483 534e 8091 0000 lds r24,HoverGasMax |
9484 5352 9091 0000 lds r25,(HoverGasMax)+1 |
9485 5356 C816 cp r12,r24 |
9486 5358 D906 cpc r13,r25 |
9487 535a 04F0 brlt .L764 |
9488 .L915: |
9489 535c 6C01 movw r12,r24 |
9490 535e 00C0 rjmp .L764 |
9491 .L772: |
9492 5360 205F subi r18,lo8(-(16)) |
9493 5362 3F4F sbci r19,hi8(-(16)) |
9494 5364 8091 0000 lds r24,HoverGasMax |
9495 5368 9091 0000 lds r25,(HoverGasMax)+1 |
9496 536c 829F mul r24,r18 |
9497 536e 8001 movw r16,r0 |
9498 5370 839F mul r24,r19 |
9499 5372 100D add r17,r0 |
9500 5374 929F mul r25,r18 |
9501 5376 100D add r17,r0 |
9502 5378 1124 clr r1 |
9503 537a 9801 movw r18,r16 |
9504 537c A4E0 ldi r26,4 |
9505 537e 3695 1: lsr r19 |
9506 5380 2795 ror r18 |
9507 5382 AA95 dec r26 |
9508 5384 01F4 brne 1b |
9509 5386 4C15 cp r20,r12 |
9510 5388 5D05 cpc r21,r13 |
9511 538a 04F0 brlt .L777 |
9512 538c 6A01 movw r12,r20 |
9513 538e 00C0 rjmp .L764 |
9514 .L777: |
9515 5390 C216 cp r12,r18 |
9516 5392 D306 cpc r13,r19 |
9517 5394 00F0 brlo .L764 |
9518 .L914: |
9519 5396 6901 movw r12,r18 |
9520 .L764: |
9521 5398 C601 movw r24,r12 |
9522 539a AA27 clr r26 |
9523 539c 97FD sbrc r25,7 |
9524 539e A095 com r26 |
9525 53a0 BA2F mov r27,r26 |
9526 53a2 FDE0 ldi r31,13 |
9527 53a4 880F 1: lsl r24 |
9528 53a6 991F rol r25 |
9529 53a8 AA1F rol r26 |
9530 53aa BB1F rol r27 |
9531 53ac FA95 dec r31 |
9532 53ae 01F4 brne 1b |
9533 53b0 9501 movw r18,r10 |
9534 53b2 4427 clr r20 |
9535 53b4 37FD sbrc r19,7 |
9536 53b6 4095 com r20 |
9537 53b8 542F mov r21,r20 |
9538 53ba BC01 movw r22,r24 |
9539 53bc CD01 movw r24,r26 |
9540 53be 0E94 0000 call __divmodsi4 |
9541 53c2 2093 0000 sts tmp_long2.2,r18 |
9542 53c6 3093 0000 sts (tmp_long2.2)+1,r19 |
9543 53ca 4093 0000 sts (tmp_long2.2)+2,r20 |
9544 53ce 5093 0000 sts (tmp_long2.2)+3,r21 |
9545 53d2 C090 0000 lds r12,tmp_long2.2 |
9546 53d6 D090 0000 lds r13,(tmp_long2.2)+1 |
9547 53da 8091 0000 lds r24,FilterHCGas.22 |
9548 53de 9091 0000 lds r25,(FilterHCGas.22)+1 |
9549 53e2 9C01 movw r18,r24 |
9550 53e4 220F lsl r18 |
9551 53e6 331F rol r19 |
9552 53e8 280F add r18,r24 |
9553 53ea 391F adc r19,r25 |
9554 53ec 2C0D add r18,r12 |
9555 53ee 3D1D adc r19,r13 |
9556 53f0 37FF sbrs r19,7 |
9557 53f2 00C0 rjmp .L780 |
9558 53f4 2D5F subi r18,lo8(-(3)) |
9559 53f6 3F4F sbci r19,hi8(-(3)) |
9560 .L780: |
9561 53f8 A901 movw r20,r18 |
9562 53fa 5595 asr r21 |
9563 53fc 4795 ror r20 |
9564 53fe 5595 asr r21 |
9565 5400 4795 ror r20 |
9566 5402 5093 0000 sts (FilterHCGas.22)+1,r21 |
9567 5406 4093 0000 sts FilterHCGas.22,r20 |
9568 540a 8091 0000 lds r24,EE_Parameter+14 |
9569 540e 282F mov r18,r24 |
9570 5410 3327 clr r19 |
9571 5412 220F lsl r18 |
9572 5414 331F rol r19 |
9573 5416 220F lsl r18 |
9574 5418 331F rol r19 |
9575 541a 2417 cp r18,r20 |
9576 541c 3507 cpc r19,r21 |
9577 541e 04F4 brge .L916 |
9578 5420 8091 0000 lds r24,MAX_GAS |
9579 5424 282F mov r18,r24 |
9580 5426 3327 clr r19 |
9581 5428 220F lsl r18 |
9582 542a 331F rol r19 |
9583 542c 220F lsl r18 |
9584 542e 331F rol r19 |
9585 5430 2055 subi r18,lo8(-(-80)) |
9586 5432 3040 sbci r19,hi8(-(-80)) |
9587 5434 4217 cp r20,r18 |
9588 5436 5307 cpc r21,r19 |
9589 5438 04F0 brlt .L782 |
9590 .L916: |
9591 543a 3093 0000 sts (FilterHCGas.22)+1,r19 |
9592 543e 2093 0000 sts FilterHCGas.22,r18 |
9593 .L782: |
9594 5442 8091 0000 lds r24,Parameter_ExtraConfig |
9595 5446 80FF sbrs r24,0 |
9596 5448 00C0 rjmp .L784 |
9597 544a 8091 0000 lds r24,FilterHCGas.22 |
9598 544e 9091 0000 lds r25,(FilterHCGas.22)+1 |
9599 5452 2981 ldd r18,Y+1 |
9600 5454 3A81 ldd r19,Y+2 |
9601 5456 8217 cp r24,r18 |
9602 5458 9307 cpc r25,r19 |
9603 545a 04F0 brlt .L785 |
9604 545c 3093 0000 sts (FilterHCGas.22)+1,r19 |
9605 5460 2093 0000 sts FilterHCGas.22,r18 |
9606 .L785: |
9607 5464 4091 0000 lds r20,FilterHCGas.22 |
9608 5468 5091 0000 lds r21,(FilterHCGas.22)+1 |
9609 546c 5A83 std Y+2,r21 |
9610 546e 4983 std Y+1,r20 |
9611 5470 00C0 rjmp .L788 |
9612 .L784: |
9613 5472 2981 ldd r18,Y+1 |
9614 5474 3A81 ldd r19,Y+2 |
9615 5476 2E19 sub r18,r14 |
9616 5478 3F09 sbc r19,r15 |
9617 547a 37FF sbrs r19,7 |
9618 547c 00C0 rjmp .L787 |
9619 547e 2D5F subi r18,lo8(-(3)) |
9620 5480 3F4F sbci r19,hi8(-(3)) |
9621 .L787: |
9622 5482 3595 asr r19 |
9623 5484 2795 ror r18 |
9624 5486 3595 asr r19 |
9625 5488 2795 ror r18 |
9626 548a 6091 0000 lds r22,FilterHCGas.22 |
9627 548e 7091 0000 lds r23,(FilterHCGas.22)+1 |
9628 5492 620F add r22,r18 |
9629 5494 731F adc r23,r19 |
9630 5496 7A83 std Y+2,r23 |
9631 5498 6983 std Y+1,r22 |
9632 549a 00C0 rjmp .L788 |
9633 .L679: |
9634 549c 8091 0000 lds r24,EE_Parameter+22 |
9635 54a0 8823 tst r24 |
9636 54a2 01F4 brne .L789 |
9637 54a4 6091 0000 lds r22,HoverGas |
9638 54a8 7091 0000 lds r23,(HoverGas)+1 |
9639 54ac 77FF sbrs r23,7 |
9640 54ae 00C0 rjmp .L790 |
9641 54b0 6D5F subi r22,lo8(-(3)) |
9642 54b2 7F4F sbci r23,hi8(-(3)) |
9643 .L790: |
9644 54b4 7595 asr r23 |
9645 54b6 6795 ror r22 |
9646 54b8 7595 asr r23 |
9647 54ba 6795 ror r22 |
9648 54bc 4091 0000 lds r20,UBat |
9649 54c0 5091 0000 lds r21,(UBat)+1 |
9650 54c4 8091 0000 lds r24,BattLowVoltageWarning |
9651 54c8 282F mov r18,r24 |
9652 54ca 3327 clr r19 |
9653 54cc 649F mul r22,r20 |
9654 54ce C001 movw r24,r0 |
9655 54d0 659F mul r22,r21 |
9656 54d2 900D add r25,r0 |
9657 54d4 749F mul r23,r20 |
9658 54d6 900D add r25,r0 |
9659 54d8 1124 clr r1 |
9660 54da B901 movw r22,r18 |
9661 54dc 0E94 0000 call __divmodhi4 |
9662 54e0 CB01 movw r24,r22 |
9663 54e2 00C0 rjmp .L917 |
9664 .L789: |
9665 54e4 9927 clr r25 |
9666 .L917: |
9667 54e6 9093 0000 sts (StickGasHover)+1,r25 |
9668 54ea 8093 0000 sts StickGasHover,r24 |
9669 54ee 8091 0000 lds r24,StickGasHover |
9670 54f2 9091 0000 lds r25,(StickGasHover)+1 |
9671 54f6 8734 cpi r24,71 |
9672 54f8 9105 cpc r25,__zero_reg__ |
9673 54fa 04F4 brge .L792 |
9674 54fc 86E4 ldi r24,lo8(70) |
9675 54fe 90E0 ldi r25,hi8(70) |
9676 5500 00C0 rjmp .L918 |
9677 .L792: |
9678 5502 8639 cpi r24,150 |
9679 5504 9105 cpc r25,__zero_reg__ |
9680 5506 04F0 brlt .L793 |
9681 5508 86E9 ldi r24,lo8(150) |
9682 550a 90E0 ldi r25,hi8(150) |
9683 .L918: |
9684 550c 9093 0000 sts (StickGasHover)+1,r25 |
9685 5510 8093 0000 sts StickGasHover,r24 |
9686 .L793: |
9687 5514 8981 ldd r24,Y+1 |
9688 5516 9A81 ldd r25,Y+2 |
9689 5518 9093 0000 sts (FilterHCGas.22)+1,r25 |
9690 551c 8093 0000 sts FilterHCGas.22,r24 |
9691 5520 8091 0000 lds r24,FC_StatusFlags |
9692 5524 806C ori r24,lo8(-64) |
9693 5526 8093 0000 sts FC_StatusFlags,r24 |
9694 552a 8091 0000 lds r24,FC_StatusFlags2 |
9695 552e 8D7F andi r24,lo8(-3) |
9696 5530 8093 0000 sts FC_StatusFlags2,r24 |
9697 .L788: |
9698 5534 8091 0000 lds r24,FC_StatusFlags |
9699 5538 9927 clr r25 |
9700 553a 9C01 movw r18,r24 |
9701 553c 2270 andi r18,lo8(2) |
9702 553e 3070 andi r19,hi8(2) |
9703 5540 81FF sbrs r24,1 |
9704 5542 00C0 rjmp .L795 |
9705 5544 8091 0000 lds r24,HoverGasFilter.23 |
9706 5548 9091 0000 lds r25,(HoverGasFilter.23)+1 |
9707 554c A091 0000 lds r26,(HoverGasFilter.23)+2 |
9708 5550 B091 0000 lds r27,(HoverGasFilter.23)+3 |
9709 5554 0097 sbiw r24,0 |
9710 5556 A105 cpc r26,__zero_reg__ |
9711 5558 B105 cpc r27,__zero_reg__ |
9712 555a 01F0 breq .L797 |
9713 555c 8091 0000 lds r24,StartTrigger |
9714 5560 8130 cpi r24,lo8(1) |
9715 5562 01F4 brne .L796 |
9716 .L797: |
9717 5564 E981 ldd r30,Y+1 |
9718 5566 FA81 ldd r31,Y+2 |
9719 5568 CF01 movw r24,r30 |
9720 556a AA27 clr r26 |
9721 556c 97FD sbrc r25,7 |
9722 556e A095 com r26 |
9723 5570 BA2F mov r27,r26 |
9724 5572 1EE0 ldi r17,14 |
9725 5574 880F 1: lsl r24 |
9726 5576 991F rol r25 |
9727 5578 AA1F rol r26 |
9728 557a BB1F rol r27 |
9729 557c 1A95 dec r17 |
9730 557e 01F4 brne 1b |
9731 5580 8093 0000 sts HoverGasFilter.23,r24 |
9732 5584 9093 0000 sts (HoverGasFilter.23)+1,r25 |
9733 5588 A093 0000 sts (HoverGasFilter.23)+2,r26 |
9734 558c B093 0000 sts (HoverGasFilter.23)+3,r27 |
9735 .L796: |
9736 5590 8091 0000 lds r24,StartTrigger |
9737 5594 8130 cpi r24,lo8(1) |
9738 5596 01F4 brne .L798 |
9739 5598 82E0 ldi r24,lo8(2) |
9740 559a 8093 0000 sts StartTrigger,r24 |
9741 .L798: |
9742 559e E980 ldd r14,Y+1 |
9743 55a0 FA80 ldd r15,Y+2 |
9744 55a2 C701 movw r24,r14 |
9745 55a4 AA27 clr r26 |
9746 55a6 97FD sbrc r25,7 |
9747 55a8 A095 com r26 |
9748 55aa BA2F mov r27,r26 |
9749 55ac 9501 movw r18,r10 |
9750 55ae 4427 clr r20 |
9751 55b0 37FD sbrc r19,7 |
9752 55b2 4095 com r20 |
9753 55b4 542F mov r21,r20 |
9754 55b6 BC01 movw r22,r24 |
9755 55b8 CD01 movw r24,r26 |
9756 55ba 0E94 0000 call __mulsi3 |
9757 55be DC01 movw r26,r24 |
9758 55c0 CB01 movw r24,r22 |
9759 55c2 8093 0000 sts tmp_long2.2,r24 |
9760 55c6 9093 0000 sts (tmp_long2.2)+1,r25 |
9761 55ca A093 0000 sts (tmp_long2.2)+2,r26 |
9762 55ce B093 0000 sts (tmp_long2.2)+3,r27 |
9763 55d2 B7FF sbrs r27,7 |
9764 55d4 00C0 rjmp .L799 |
9765 55d6 8150 subi r24,lo8(-(8191)) |
9766 55d8 904E sbci r25,hi8(-(8191)) |
9767 55da AF4F sbci r26,hlo8(-(8191)) |
9768 55dc BF4F sbci r27,hhi8(-(8191)) |
9769 .L799: |
9770 55de 7C01 movw r14,r24 |
9771 55e0 8D01 movw r16,r26 |
9772 55e2 ADE0 ldi r26,13 |
9773 55e4 1595 1: asr r17 |
9774 55e6 0795 ror r16 |
9775 55e8 F794 ror r15 |
9776 55ea E794 ror r14 |
9777 55ec AA95 dec r26 |
9778 55ee 01F4 brne 1b |
9779 55f0 E092 0000 sts tmp_long2.2,r14 |
9780 55f4 F092 0000 sts (tmp_long2.2)+1,r15 |
9781 55f8 0093 0000 sts (tmp_long2.2)+2,r16 |
9782 55fc 1093 0000 sts (tmp_long2.2)+3,r17 |
9783 5600 6091 0000 lds r22,modell_fliegt |
9784 5604 7091 0000 lds r23,(modell_fliegt)+1 |
9785 5608 2FE0 ldi r18,hi8(4000) |
9786 560a 603A cpi r22,lo8(4000) |
9787 560c 7207 cpc r23,r18 |
9788 560e 00F4 brsh .L800 |
9789 5610 8091 0000 lds r24,HoverGasFilter.23 |
9790 5614 9091 0000 lds r25,(HoverGasFilter.23)+1 |
9791 5618 A091 0000 lds r26,(HoverGasFilter.23)+2 |
9792 561c B091 0000 lds r27,(HoverGasFilter.23)+3 |
9793 5620 9C01 movw r18,r24 |
9794 5622 AD01 movw r20,r26 |
9795 5624 FAE0 ldi r31,10 |
9796 5626 5695 1: lsr r21 |
9797 5628 4795 ror r20 |
9798 562a 3795 ror r19 |
9799 562c 2795 ror r18 |
9800 562e FA95 dec r31 |
9801 5630 01F4 brne 1b |
9802 5632 821B sub r24,r18 |
9803 5634 930B sbc r25,r19 |
9804 5636 A40B sbc r26,r20 |
9805 5638 B50B sbc r27,r21 |
9806 563a A801 movw r20,r16 |
9807 563c 9701 movw r18,r14 |
9808 563e E4E0 ldi r30,4 |
9809 5640 220F 1: lsl r18 |
9810 5642 331F rol r19 |
9811 5644 441F rol r20 |
9812 5646 551F rol r21 |
9813 5648 EA95 dec r30 |
9814 564a 01F4 brne 1b |
9815 564c 820F add r24,r18 |
9816 564e 931F adc r25,r19 |
9817 5650 A41F adc r26,r20 |
9818 5652 B51F adc r27,r21 |
9819 5654 8093 0000 sts HoverGasFilter.23,r24 |
9820 5658 9093 0000 sts (HoverGasFilter.23)+1,r25 |
9821 565c A093 0000 sts (HoverGasFilter.23)+2,r26 |
9822 5660 B093 0000 sts (HoverGasFilter.23)+3,r27 |
9823 .L800: |
9824 5664 6054 subi r22,lo8(8000) |
9825 5666 7F41 sbci r23,hi8(8000) |
9826 5668 00F4 brsh .L801 |
9827 566a 8091 0000 lds r24,HoverGasFilter.23 |
9828 566e 9091 0000 lds r25,(HoverGasFilter.23)+1 |
9829 5672 A091 0000 lds r26,(HoverGasFilter.23)+2 |
9830 5676 B091 0000 lds r27,(HoverGasFilter.23)+3 |
9831 567a 9C01 movw r18,r24 |
9832 567c AD01 movw r20,r26 |
9833 567e 6CE0 ldi r22,12 |
9834 5680 5695 1: lsr r21 |
9835 5682 4795 ror r20 |
9836 5684 3795 ror r19 |
9837 5686 2795 ror r18 |
9838 5688 6A95 dec r22 |
9839 568a 01F4 brne 1b |
9840 568c 821B sub r24,r18 |
9841 568e 930B sbc r25,r19 |
9842 5690 A40B sbc r26,r20 |
9843 5692 B50B sbc r27,r21 |
9844 5694 A801 movw r20,r16 |
9845 5696 9701 movw r18,r14 |
9846 5698 F2E0 ldi r31,2 |
9847 569a 220F 1: lsl r18 |
9848 569c 331F rol r19 |
9849 569e 441F rol r20 |
9850 56a0 551F rol r21 |
9851 56a2 FA95 dec r31 |
9852 56a4 01F4 brne 1b |
9853 56a6 820F add r24,r18 |
9854 56a8 931F adc r25,r19 |
9855 56aa A41F adc r26,r20 |
9856 56ac B51F adc r27,r21 |
9857 56ae 00C0 rjmp .L919 |
9858 .L801: |
9859 56b0 8091 0000 lds r24,VarioMeter |
9860 56b4 9091 0000 lds r25,(VarioMeter)+1 |
9861 56b8 8091 0000 lds r24,VarioMeter |
9862 56bc 9091 0000 lds r25,(VarioMeter)+1 |
9863 56c0 97FF sbrs r25,7 |
9864 56c2 00C0 rjmp .L804 |
9865 56c4 9095 com r25 |
9866 56c6 8195 neg r24 |
9867 56c8 9F4F sbci r25,lo8(-1) |
9868 .L804: |
9869 56ca 8436 cpi r24,100 |
9870 56cc 9105 cpc r25,__zero_reg__ |
9871 56ce 04F4 brge .L802 |
9872 56d0 8091 0000 lds r24,HoehenWert |
9873 56d4 9091 0000 lds r25,(HoehenWert)+1 |
9874 56d8 2091 0000 lds r18,SollHoehe |
9875 56dc 3091 0000 lds r19,(SollHoehe)+1 |
9876 56e0 821B sub r24,r18 |
9877 56e2 930B sbc r25,r19 |
9878 56e4 8150 subi r24,lo8(-(255)) |
9879 56e6 9F4F sbci r25,hi8(-(255)) |
9880 56e8 8F5F subi r24,lo8(511) |
9881 56ea 9140 sbci r25,hi8(511) |
9882 56ec 00F4 brsh .L802 |
9883 56ee 8091 0000 lds r24,HoverGasFilter.23 |
9884 56f2 9091 0000 lds r25,(HoverGasFilter.23)+1 |
9885 56f6 A091 0000 lds r26,(HoverGasFilter.23)+2 |
9886 56fa B091 0000 lds r27,(HoverGasFilter.23)+3 |
9887 56fe 9C01 movw r18,r24 |
9888 5700 AD01 movw r20,r26 |
9889 5702 EEE0 ldi r30,14 |
9890 5704 5695 1: lsr r21 |
9891 5706 4795 ror r20 |
9892 5708 3795 ror r19 |
9893 570a 2795 ror r18 |
9894 570c EA95 dec r30 |
9895 570e 01F4 brne 1b |
9896 5710 821B sub r24,r18 |
9897 5712 930B sbc r25,r19 |
9898 5714 A40B sbc r26,r20 |
9899 5716 B50B sbc r27,r21 |
9900 5718 8E0D add r24,r14 |
9901 571a 9F1D adc r25,r15 |
9902 571c A01F adc r26,r16 |
9903 571e B11F adc r27,r17 |
9904 .L919: |
9905 5720 8093 0000 sts HoverGasFilter.23,r24 |
9906 5724 9093 0000 sts (HoverGasFilter.23)+1,r25 |
9907 5728 A093 0000 sts (HoverGasFilter.23)+2,r26 |
9908 572c B093 0000 sts (HoverGasFilter.23)+3,r27 |
9909 .L802: |
9910 5730 8091 0000 lds r24,HoverGasFilter.23 |
9911 5734 9091 0000 lds r25,(HoverGasFilter.23)+1 |
9912 5738 A091 0000 lds r26,(HoverGasFilter.23)+2 |
9913 573c B091 0000 lds r27,(HoverGasFilter.23)+3 |
9914 5740 7EE0 ldi r23,14 |
9915 5742 B695 1: lsr r27 |
9916 5744 A795 ror r26 |
9917 5746 9795 ror r25 |
9918 5748 8795 ror r24 |
9919 574a 7A95 dec r23 |
9920 574c 01F4 brne 1b |
9921 574e 9093 0000 sts (HoverGas)+1,r25 |
9922 5752 8093 0000 sts HoverGas,r24 |
9923 5756 4091 0000 lds r20,EE_Parameter+20 |
9924 575a 4423 tst r20 |
9925 575c 01F0 breq .L805 |
9926 575e 5527 clr r21 |
9927 5760 9C01 movw r18,r24 |
9928 5762 BA01 movw r22,r20 |
9929 5764 0E94 0000 call __divmodhi4 |
9930 5768 C901 movw r24,r18 |
9931 576a 861B sub r24,r22 |
9932 576c 970B sbc r25,r23 |
9933 576e 9093 0000 sts (HoverGasMin)+1,r25 |
9934 5772 8093 0000 sts HoverGasMin,r24 |
9935 5776 260F add r18,r22 |
9936 5778 371F adc r19,r23 |
9937 577a 3093 0000 sts (HoverGasMax)+1,r19 |
9938 577e 2093 0000 sts HoverGasMax,r18 |
9939 5782 00C0 rjmp .L808 |
9940 .L805: |
9941 5784 1092 0000 sts (HoverGasMin)+1,__zero_reg__ |
9942 5788 1092 0000 sts HoverGasMin,__zero_reg__ |
9943 578c 8FEF ldi r24,lo8(1023) |
9944 578e 93E0 ldi r25,hi8(1023) |
9945 5790 9093 0000 sts (HoverGasMax)+1,r25 |
9946 5794 8093 0000 sts HoverGasMax,r24 |
9947 5798 00C0 rjmp .L808 |
9948 .L795: |
9949 579a 1092 0000 sts StartTrigger,__zero_reg__ |
9950 579e 1092 0000 sts HoverGasFilter.23,__zero_reg__ |
9951 57a2 1092 0000 sts (HoverGasFilter.23)+1,__zero_reg__ |
9952 57a6 1092 0000 sts (HoverGasFilter.23)+2,__zero_reg__ |
9953 57aa 1092 0000 sts (HoverGasFilter.23)+3,__zero_reg__ |
9954 57ae 3093 0000 sts (HoverGas)+1,r19 |
9955 57b2 2093 0000 sts HoverGas,r18 |
9956 57b6 00C0 rjmp .L808 |
9957 .L659: |
9958 57b8 8091 0000 lds r24,FC_StatusFlags |
9959 57bc 806C ori r24,lo8(-64) |
9960 57be 8093 0000 sts FC_StatusFlags,r24 |
9961 .L808: |
9962 57c2 8091 0000 lds r24,NC_To_FC_Flags |
9963 57c6 81FF sbrs r24,1 |
9964 57c8 00C0 rjmp .L809 |
9965 57ca 8981 ldd r24,Y+1 |
9966 57cc 9A81 ldd r25,Y+2 |
9967 57ce 97FD sbrc r25,7 |
9968 57d0 0396 adiw r24,3 |
9969 .L811: |
9970 57d2 9595 asr r25 |
9971 57d4 8795 ror r24 |
9972 57d6 9595 asr r25 |
9973 57d8 8795 ror r24 |
9974 57da 2091 0000 lds r18,HooverGasEmergencyPercent |
9975 57de 3091 0000 lds r19,(HooverGasEmergencyPercent)+1 |
9976 57e2 2817 cp r18,r24 |
9977 57e4 3907 cpc r19,r25 |
9978 57e6 00F4 brsh .L810 |
9979 57e8 8091 0000 lds r24,HoverGas |
9980 57ec 9091 0000 lds r25,(HoverGas)+1 |
9981 57f0 892B or r24,r25 |
9982 57f2 01F0 breq .L810 |
9983 57f4 220F lsl r18 |
9984 57f6 331F rol r19 |
9985 57f8 220F lsl r18 |
9986 57fa 331F rol r19 |
9987 57fc 3A83 std Y+2,r19 |
9988 57fe 2983 std Y+1,r18 |
9989 .L810: |
9990 5800 8091 0000 lds r24,HoehenWert |
9991 5804 9091 0000 lds r25,(HoehenWert)+1 |
9992 5808 A091 0000 lds r26,(HoehenWert)+2 |
9993 580c B091 0000 lds r27,(HoehenWert)+3 |
9994 5810 8093 0000 sts SollHoehe,r24 |
9995 5814 9093 0000 sts (SollHoehe)+1,r25 |
9996 5818 A093 0000 sts (SollHoehe)+2,r26 |
9997 581c B093 0000 sts (SollHoehe)+3,r27 |
9998 5820 88E9 ldi r24,lo8(15000) |
9999 5822 9AE3 ldi r25,hi8(15000) |
10000 5824 9093 0000 sts (beeptime)+1,r25 |
10001 5828 8093 0000 sts beeptime,r24 |
10002 582c 80E0 ldi r24,lo8(3584) |
10003 582e 9EE0 ldi r25,hi8(3584) |
10004 5830 9093 0000 sts (BeepMuster)+1,r25 |
10005 5834 8093 0000 sts BeepMuster,r24 |
10006 .L809: |
10007 5838 2091 0000 lds r18,MIN_GAS |
10008 583c 822F mov r24,r18 |
10009 583e 9927 clr r25 |
10010 5840 880F lsl r24 |
10011 5842 991F rol r25 |
10012 5844 880F lsl r24 |
10013 5846 991F rol r25 |
10014 5848 8896 adiw r24,40 |
10015 584a 6981 ldd r22,Y+1 |
10016 584c 7A81 ldd r23,Y+2 |
10017 584e 8617 cp r24,r22 |
10018 5850 9707 cpc r25,r23 |
10019 5852 04F0 brlt .L812 |
10020 5854 9A83 std Y+2,r25 |
10021 5856 8983 std Y+1,r24 |
10022 .L812: |
10023 5858 7091 0000 lds r23,MAX_GAS |
10024 585c 7D8B std Y+21,r23 |
10025 585e 872F mov r24,r23 |
10026 5860 9927 clr r25 |
10027 5862 880F lsl r24 |
10028 5864 991F rol r25 |
10029 5866 880F lsl r24 |
10030 5868 991F rol r25 |
10031 586a 8055 subi r24,lo8(-(-80)) |
10032 586c 9040 sbci r25,hi8(-(-80)) |
10033 586e A981 ldd r26,Y+1 |
10034 5870 BA81 ldd r27,Y+2 |
10035 5872 8A17 cp r24,r26 |
10036 5874 9B07 cpc r25,r27 |
10037 5876 04F4 brge .L813 |
10038 5878 9A83 std Y+2,r25 |
10039 587a 8983 std Y+1,r24 |
10040 .L813: |
10041 587c 8091 0000 lds r24,MissingMotor |
10042 5880 8823 tst r24 |
10043 5882 01F4 brne .L815 |
10044 5884 8091 0000 lds r24,Capacity+6 |
10045 5888 8F3F cpi r24,lo8(-1) |
10046 588a 01F4 brne .L815 |
10047 588c 8091 0000 lds r24,NC_ErrorCode |
10048 5890 8823 tst r24 |
10049 5892 01F0 breq .L814 |
10050 .L815: |
10051 5894 8091 0000 lds r24,modell_fliegt |
10052 5898 9091 0000 lds r25,(modell_fliegt)+1 |
10053 589c 0297 sbiw r24,2 |
10054 589e C097 sbiw r24,48 |
10055 58a0 00F4 brsh .L814 |
10056 58a2 E981 ldd r30,Y+1 |
10057 58a4 FA81 ldd r31,Y+2 |
10058 58a6 1E16 cp __zero_reg__,r30 |
10059 58a8 1F06 cpc __zero_reg__,r31 |
10060 58aa 04F4 brge .L814 |
10061 58ac 81E0 ldi r24,lo8(1) |
10062 58ae 90E0 ldi r25,hi8(1) |
10063 58b0 9093 0000 sts (modell_fliegt)+1,r25 |
10064 58b4 8093 0000 sts modell_fliegt,r24 |
10065 58b8 E22E mov r14,r18 |
10066 58ba FF24 clr r15 |
10067 58bc EE0C lsl r14 |
10068 58be FF1C rol r15 |
10069 58c0 EE0C lsl r14 |
10070 58c2 FF1C rol r15 |
10071 58c4 8701 movw r16,r14 |
10072 58c6 085D subi r16,lo8(-(40)) |
10073 58c8 1F4F sbci r17,hi8(-(40)) |
10074 58ca 1A83 std Y+2,r17 |
10075 58cc 0983 std Y+1,r16 |
10076 .L814: |
10077 58ce 2981 ldd r18,Y+1 |
10078 58d0 3A81 ldd r19,Y+2 |
10079 58d2 3093 0000 sts (DebugOut+16)+1,r19 |
10080 58d6 2093 0000 sts DebugOut+16,r18 |
10081 58da 8091 0000 lds r24,sollGier.0 |
10082 58de 9091 0000 lds r25,(sollGier.0)+1 |
10083 58e2 A091 0000 lds r26,(sollGier.0)+2 |
10084 58e6 B091 0000 lds r27,(sollGier.0)+3 |
10085 58ea 12E0 ldi r17,2 |
10086 58ec 880F 1: lsl r24 |
10087 58ee 991F rol r25 |
10088 58f0 AA1F rol r26 |
10089 58f2 BB1F rol r27 |
10090 58f4 1A95 dec r17 |
10091 58f6 01F4 brne 1b |
10092 58f8 0091 0000 lds r16,MesswertGier |
10093 58fc 1091 0000 lds r17,(MesswertGier)+1 |
10094 5900 081B sub r16,r24 |
10095 5902 190B sbc r17,r25 |
10096 5904 213A cpi r18,161 |
10097 5906 3105 cpc r19,__zero_reg__ |
10098 5908 04F0 brlt .L817 |
10099 590a C901 movw r24,r18 |
10100 590c 37FD sbrc r19,7 |
10101 590e 0196 adiw r24,1 |
10102 .L819: |
10103 5910 9595 asr r25 |
10104 5912 8795 ror r24 |
10105 5914 8017 cp r24,r16 |
10106 5916 9107 cpc r25,r17 |
10107 5918 04F4 brge .L818 |
10108 591a 8C01 movw r16,r24 |
10109 .L818: |
10110 591c 9095 com r25 |
10111 591e 8195 neg r24 |
10112 5920 9F4F sbci r25,lo8(-1) |
10113 5922 0817 cp r16,r24 |
10114 5924 1907 cpc r17,r25 |
10115 5926 04F4 brge .L824 |
10116 5928 8C01 movw r16,r24 |
10117 592a 00C0 rjmp .L824 |
10118 .L817: |
10119 592c 0135 cpi r16,81 |
10120 592e 1105 cpc r17,__zero_reg__ |
10121 5930 04F0 brlt .L825 |
10122 5932 00E5 ldi r16,lo8(80) |
10123 5934 10E0 ldi r17,hi8(80) |
10124 .L825: |
10125 5936 3FEF ldi r19,hi8(-80) |
10126 5938 003B cpi r16,lo8(-80) |
10127 593a 1307 cpc r17,r19 |
10128 593c 04F4 brge .L824 |
10129 593e 00EB ldi r16,lo8(-80) |
10130 5940 1FEF ldi r17,hi8(-80) |
10131 .L824: |
10132 5942 4D89 ldd r20,Y+21 |
10133 5944 242F mov r18,r20 |
10134 5946 3327 clr r19 |
10135 5948 220F lsl r18 |
10136 594a 331F rol r19 |
10137 594c 220F lsl r18 |
10138 594e 331F rol r19 |
10139 5950 C901 movw r24,r18 |
10140 5952 6981 ldd r22,Y+1 |
10141 5954 7A81 ldd r23,Y+2 |
10142 5956 861B sub r24,r22 |
10143 5958 970B sbc r25,r23 |
10144 595a 8017 cp r24,r16 |
10145 595c 9107 cpc r25,r17 |
10146 595e 04F4 brge .L827 |
10147 5960 8C01 movw r16,r24 |
10148 .L827: |
10149 5962 8981 ldd r24,Y+1 |
10150 5964 9A81 ldd r25,Y+2 |
10151 5966 821B sub r24,r18 |
10152 5968 930B sbc r25,r19 |
10153 596a 0817 cp r16,r24 |
10154 596c 1907 cpc r17,r25 |
10155 596e 04F4 brge .L828 |
10156 5970 8C01 movw r16,r24 |
10157 .L828: |
10158 5972 8091 0000 lds r24,MesswertNick |
10159 5976 9091 0000 lds r25,(MesswertNick)+1 |
10160 597a 6091 0000 lds r22,StickNick |
10161 597e 7091 0000 lds r23,(StickNick)+1 |
10162 5982 861B sub r24,r22 |
10163 5984 970B sbc r25,r23 |
10164 5986 9093 0000 sts (DiffNick)+1,r25 |
10165 598a 8093 0000 sts DiffNick,r24 |
10166 598e D090 0000 lds r13,IntegralFaktor |
10167 5992 2091 0000 lds r18,SummeNick |
10168 5996 3091 0000 lds r19,(SummeNick)+1 |
10169 599a 4091 0000 lds r20,(SummeNick)+2 |
10170 599e 5091 0000 lds r21,(SummeNick)+3 |
10171 59a2 DD20 tst r13 |
10172 59a4 01F0 breq .L829 |
10173 59a6 661A sub r6,r22 |
10174 59a8 770A sbc r7,r23 |
10175 59aa C301 movw r24,r6 |
10176 59ac AA27 clr r26 |
10177 59ae 97FD sbrc r25,7 |
10178 59b0 A095 com r26 |
10179 59b2 BA2F mov r27,r26 |
10180 59b4 00C0 rjmp .L920 |
10181 .L829: |
10182 59b6 AA27 clr r26 |
10183 59b8 97FD sbrc r25,7 |
10184 59ba A095 com r26 |
10185 59bc BA2F mov r27,r26 |
10186 .L920: |
10187 59be 280F add r18,r24 |
10188 59c0 391F adc r19,r25 |
10189 59c2 4A1F adc r20,r26 |
10190 59c4 5B1F adc r21,r27 |
10191 59c6 2093 0000 sts SummeNick,r18 |
10192 59ca 3093 0000 sts (SummeNick)+1,r19 |
10193 59ce 4093 0000 sts (SummeNick)+2,r20 |
10194 59d2 5093 0000 sts (SummeNick)+3,r21 |
10195 59d6 8091 0000 lds r24,SummeNick |
10196 59da 9091 0000 lds r25,(SummeNick)+1 |
10197 59de A091 0000 lds r26,(SummeNick)+2 |
10198 59e2 B091 0000 lds r27,(SummeNick)+3 |
10199 59e6 8150 subi r24,lo8(64001) |
10200 59e8 9A4F sbci r25,hi8(64001) |
10201 59ea A040 sbci r26,hlo8(64001) |
10202 59ec B040 sbci r27,hhi8(64001) |
10203 59ee 04F0 brlt .L831 |
10204 59f0 80E0 ldi r24,lo8(64000) |
10205 59f2 9AEF ldi r25,hi8(64000) |
10206 59f4 A0E0 ldi r26,hlo8(64000) |
10207 59f6 B0E0 ldi r27,hhi8(64000) |
10208 59f8 8093 0000 sts SummeNick,r24 |
10209 59fc 9093 0000 sts (SummeNick)+1,r25 |
10210 5a00 A093 0000 sts (SummeNick)+2,r26 |
10211 5a04 B093 0000 sts (SummeNick)+3,r27 |
10212 .L831: |
10213 5a08 8091 0000 lds r24,SummeNick |
10214 5a0c 9091 0000 lds r25,(SummeNick)+1 |
10215 5a10 A091 0000 lds r26,(SummeNick)+2 |
10216 5a14 B091 0000 lds r27,(SummeNick)+3 |
10217 5a18 8050 subi r24,lo8(-64000) |
10218 5a1a 9640 sbci r25,hi8(-64000) |
10219 5a1c AF4F sbci r26,hlo8(-64000) |
10220 5a1e BF4F sbci r27,hhi8(-64000) |
10221 5a20 04F4 brge .L832 |
10222 5a22 80E0 ldi r24,lo8(-64000) |
10223 5a24 96E0 ldi r25,hi8(-64000) |
10224 5a26 AFEF ldi r26,hlo8(-64000) |
10225 5a28 BFEF ldi r27,hhi8(-64000) |
10226 5a2a 8093 0000 sts SummeNick,r24 |
10227 5a2e 9093 0000 sts (SummeNick)+1,r25 |
10228 5a32 A093 0000 sts (SummeNick)+2,r26 |
10229 5a36 B093 0000 sts (SummeNick)+3,r27 |
10230 .L832: |
10231 5a3a C090 0000 lds r12,EE_Parameter+35 |
10232 5a3e 2091 0000 lds r18,DiffNick |
10233 5a42 3091 0000 lds r19,(DiffNick)+1 |
10234 5a46 78E0 ldi r23,lo8(8) |
10235 5a48 E72E mov r14,r23 |
10236 5a4a EC14 cp r14,r12 |
10237 5a4c 00F0 brlo .L833 |
10238 5a4e 8C2D mov r24,r12 |
10239 5a50 9927 clr r25 |
10240 5a52 829F mul r24,r18 |
10241 5a54 A001 movw r20,r0 |
10242 5a56 839F mul r24,r19 |
10243 5a58 500D add r21,r0 |
10244 5a5a 929F mul r25,r18 |
10245 5a5c 500D add r21,r0 |
10246 5a5e 1124 clr r1 |
10247 5a60 CA01 movw r24,r20 |
10248 5a62 57FD sbrc r21,7 |
10249 5a64 0796 adiw r24,7 |
10250 .L834: |
10251 5a66 7C01 movw r14,r24 |
10252 5a68 63E0 ldi r22,3 |
10253 5a6a F594 1: asr r15 |
10254 5a6c E794 ror r14 |
10255 5a6e 6A95 dec r22 |
10256 5a70 01F4 brne 1b |
10257 5a72 00C0 rjmp .L835 |
10258 .L833: |
10259 5a74 8C2D mov r24,r12 |
10260 5a76 8695 lsr r24 |
10261 5a78 9927 clr r25 |
10262 5a7a 829F mul r24,r18 |
10263 5a7c B001 movw r22,r0 |
10264 5a7e 839F mul r24,r19 |
10265 5a80 700D add r23,r0 |
10266 5a82 929F mul r25,r18 |
10267 5a84 700D add r23,r0 |
10268 5a86 1124 clr r1 |
10269 5a88 CB01 movw r24,r22 |
10270 5a8a 77FD sbrc r23,7 |
10271 5a8c 0396 adiw r24,3 |
10272 .L836: |
10273 5a8e 7C01 movw r14,r24 |
10274 5a90 F594 asr r15 |
10275 5a92 E794 ror r14 |
10276 5a94 F594 asr r15 |
10277 5a96 E794 ror r14 |
10278 .L835: |
10279 5a98 A090 0000 lds r10,Ki |
10280 5a9c B090 0000 lds r11,(Ki)+1 |
10281 5aa0 9501 movw r18,r10 |
10282 5aa2 4427 clr r20 |
10283 5aa4 37FD sbrc r19,7 |
10284 5aa6 4095 com r20 |
10285 5aa8 542F mov r21,r20 |
10286 5aaa 8091 0000 lds r24,SummeNick |
10287 5aae 9091 0000 lds r25,(SummeNick)+1 |
10288 5ab2 A091 0000 lds r26,(SummeNick)+2 |
10289 5ab6 B091 0000 lds r27,(SummeNick)+3 |
10290 5aba BC01 movw r22,r24 |
10291 5abc CD01 movw r24,r26 |
10292 5abe 0E94 0000 call __divmodsi4 |
10293 5ac2 E20E add r14,r18 |
10294 5ac4 F31E adc r15,r19 |
10295 5ac6 9090 0000 lds r9,Parameter_DynamicStability |
10296 5aca 692D mov r22,r9 |
10297 5acc 7727 clr r23 |
10298 5ace 8827 clr r24 |
10299 5ad0 9927 clr r25 |
10300 5ad2 9801 movw r18,r16 |
10301 5ad4 17FF sbrs r17,7 |
10302 5ad6 00C0 rjmp .L837 |
10303 5ad8 2227 clr r18 |
10304 5ada 3327 clr r19 |
10305 5adc 201B sub r18,r16 |
10306 5ade 310B sbc r19,r17 |
10307 .L837: |
10308 5ae0 37FF sbrs r19,7 |
10309 5ae2 00C0 rjmp .L838 |
10310 5ae4 2F5F subi r18,lo8(-(1)) |
10311 5ae6 3F4F sbci r19,hi8(-(1)) |
10312 .L838: |
10313 5ae8 3595 asr r19 |
10314 5aea 2795 ror r18 |
10315 5aec A981 ldd r26,Y+1 |
10316 5aee BA81 ldd r27,Y+2 |
10317 5af0 2A0F add r18,r26 |
10318 5af2 3B1F adc r19,r27 |
10319 5af4 4427 clr r20 |
10320 5af6 37FD sbrc r19,7 |
10321 5af8 4095 com r20 |
10322 5afa 542F mov r21,r20 |
10323 5afc 0E94 0000 call __mulsi3 |
10324 5b00 97FF sbrs r25,7 |
10325 5b02 00C0 rjmp .L839 |
10326 5b04 615C subi r22,lo8(-(63)) |
10327 5b06 7F4F sbci r23,hi8(-(63)) |
10328 5b08 8F4F sbci r24,hlo8(-(63)) |
10329 5b0a 9F4F sbci r25,hhi8(-(63)) |
10330 .L839: |
10331 5b0c 26E0 ldi r18,6 |
10332 5b0e 9595 1: asr r25 |
10333 5b10 8795 ror r24 |
10334 5b12 7795 ror r23 |
10335 5b14 6795 ror r22 |
10336 5b16 2A95 dec r18 |
10337 5b18 01F4 brne 1b |
10338 5b1a 9B01 movw r18,r22 |
10339 5b1c 6E15 cp r22,r14 |
10340 5b1e 7F05 cpc r23,r15 |
10341 5b20 04F4 brge .L840 |
10342 5b22 7B01 movw r14,r22 |
10343 .L840: |
10344 5b24 3095 com r19 |
10345 5b26 2195 neg r18 |
10346 5b28 3F4F sbci r19,lo8(-1) |
10347 5b2a E216 cp r14,r18 |
10348 5b2c F306 cpc r15,r19 |
10349 5b2e 04F4 brge .L841 |
10350 5b30 7901 movw r14,r18 |
10351 .L841: |
10352 5b32 8091 0000 lds r24,MesswertRoll |
10353 5b36 9091 0000 lds r25,(MesswertRoll)+1 |
10354 5b3a 6091 0000 lds r22,StickRoll |
10355 5b3e 7091 0000 lds r23,(StickRoll)+1 |
10356 5b42 861B sub r24,r22 |
10357 5b44 970B sbc r25,r23 |
10358 5b46 9093 0000 sts (DiffRoll)+1,r25 |
10359 5b4a 8093 0000 sts DiffRoll,r24 |
10360 5b4e 2091 0000 lds r18,SummeRoll |
10361 5b52 3091 0000 lds r19,(SummeRoll)+1 |
10362 5b56 4091 0000 lds r20,(SummeRoll)+2 |
10363 5b5a 5091 0000 lds r21,(SummeRoll)+3 |
10364 5b5e DD20 tst r13 |
10365 5b60 01F0 breq .L842 |
10366 5b62 461A sub r4,r22 |
10367 5b64 570A sbc r5,r23 |
10368 5b66 C201 movw r24,r4 |
10369 5b68 AA27 clr r26 |
10370 5b6a 97FD sbrc r25,7 |
10371 5b6c A095 com r26 |
10372 5b6e BA2F mov r27,r26 |
10373 5b70 00C0 rjmp .L921 |
10374 .L842: |
10375 5b72 AA27 clr r26 |
10376 5b74 97FD sbrc r25,7 |
10377 5b76 A095 com r26 |
10378 5b78 BA2F mov r27,r26 |
10379 .L921: |
10380 5b7a 280F add r18,r24 |
10381 5b7c 391F adc r19,r25 |
10382 5b7e 4A1F adc r20,r26 |
10383 5b80 5B1F adc r21,r27 |
10384 5b82 2093 0000 sts SummeRoll,r18 |
10385 5b86 3093 0000 sts (SummeRoll)+1,r19 |
10386 5b8a 4093 0000 sts (SummeRoll)+2,r20 |
10387 5b8e 5093 0000 sts (SummeRoll)+3,r21 |
10388 5b92 8091 0000 lds r24,SummeRoll |
10389 5b96 9091 0000 lds r25,(SummeRoll)+1 |
10390 5b9a A091 0000 lds r26,(SummeRoll)+2 |
10391 5b9e B091 0000 lds r27,(SummeRoll)+3 |
10392 5ba2 8150 subi r24,lo8(64001) |
10393 5ba4 9A4F sbci r25,hi8(64001) |
10394 5ba6 A040 sbci r26,hlo8(64001) |
10395 5ba8 B040 sbci r27,hhi8(64001) |
10396 5baa 04F0 brlt .L844 |
10397 5bac 80E0 ldi r24,lo8(64000) |
10398 5bae 9AEF ldi r25,hi8(64000) |
10399 5bb0 A0E0 ldi r26,hlo8(64000) |
10400 5bb2 B0E0 ldi r27,hhi8(64000) |
10401 5bb4 8093 0000 sts SummeRoll,r24 |
10402 5bb8 9093 0000 sts (SummeRoll)+1,r25 |
10403 5bbc A093 0000 sts (SummeRoll)+2,r26 |
10404 5bc0 B093 0000 sts (SummeRoll)+3,r27 |
10405 .L844: |
10406 5bc4 8091 0000 lds r24,SummeRoll |
10407 5bc8 9091 0000 lds r25,(SummeRoll)+1 |
10408 5bcc A091 0000 lds r26,(SummeRoll)+2 |
10409 5bd0 B091 0000 lds r27,(SummeRoll)+3 |
10410 5bd4 8050 subi r24,lo8(-64000) |
10411 5bd6 9640 sbci r25,hi8(-64000) |
10412 5bd8 AF4F sbci r26,hlo8(-64000) |
10413 5bda BF4F sbci r27,hhi8(-64000) |
10414 5bdc 04F4 brge .L845 |
10415 5bde 80E0 ldi r24,lo8(-64000) |
10416 5be0 96E0 ldi r25,hi8(-64000) |
10417 5be2 AFEF ldi r26,hlo8(-64000) |
10418 5be4 BFEF ldi r27,hhi8(-64000) |
10419 5be6 8093 0000 sts SummeRoll,r24 |
10420 5bea 9093 0000 sts (SummeRoll)+1,r25 |
10421 5bee A093 0000 sts (SummeRoll)+2,r26 |
10422 5bf2 B093 0000 sts (SummeRoll)+3,r27 |
10423 .L845: |
10424 5bf6 2091 0000 lds r18,DiffRoll |
10425 5bfa 3091 0000 lds r19,(DiffRoll)+1 |
10426 5bfe 48E0 ldi r20,lo8(8) |
10427 5c00 4C15 cp r20,r12 |
10428 5c02 00F0 brlo .L846 |
10429 5c04 8C2D mov r24,r12 |
10430 5c06 9927 clr r25 |
10431 5c08 829F mul r24,r18 |
10432 5c0a B001 movw r22,r0 |
10433 5c0c 839F mul r24,r19 |
10434 5c0e 700D add r23,r0 |
10435 5c10 929F mul r25,r18 |
10436 5c12 700D add r23,r0 |
10437 5c14 1124 clr r1 |
10438 5c16 CB01 movw r24,r22 |
10439 5c18 77FD sbrc r23,7 |
10440 5c1a 0796 adiw r24,7 |
10441 .L847: |
10442 5c1c 6C01 movw r12,r24 |
10443 5c1e B3E0 ldi r27,3 |
10444 5c20 D594 1: asr r13 |
10445 5c22 C794 ror r12 |
10446 5c24 BA95 dec r27 |
10447 5c26 01F4 brne 1b |
10448 5c28 00C0 rjmp .L848 |
10449 .L846: |
10450 5c2a C694 lsr r12 |
10451 5c2c 8C2D mov r24,r12 |
10452 5c2e 9927 clr r25 |
10453 5c30 829F mul r24,r18 |
10454 5c32 D001 movw r26,r0 |
10455 5c34 839F mul r24,r19 |
10456 5c36 B00D add r27,r0 |
10457 5c38 929F mul r25,r18 |
10458 5c3a B00D add r27,r0 |
10459 5c3c 1124 clr r1 |
10460 5c3e CD01 movw r24,r26 |
10461 5c40 B7FD sbrc r27,7 |
10462 5c42 0396 adiw r24,3 |
10463 .L849: |
10464 5c44 6C01 movw r12,r24 |
10465 5c46 D594 asr r13 |
10466 5c48 C794 ror r12 |
10467 5c4a D594 asr r13 |
10468 5c4c C794 ror r12 |
10469 .L848: |
10470 5c4e 9501 movw r18,r10 |
10471 5c50 4427 clr r20 |
10472 5c52 37FD sbrc r19,7 |
10473 5c54 4095 com r20 |
10474 5c56 542F mov r21,r20 |
10475 5c58 8091 0000 lds r24,SummeRoll |
10476 5c5c 9091 0000 lds r25,(SummeRoll)+1 |
10477 5c60 A091 0000 lds r26,(SummeRoll)+2 |
10478 5c64 B091 0000 lds r27,(SummeRoll)+3 |
10479 5c68 BC01 movw r22,r24 |
10480 5c6a CD01 movw r24,r26 |
10481 5c6c 0E94 0000 call __divmodsi4 |
10482 5c70 C20E add r12,r18 |
10483 5c72 D31E adc r13,r19 |
10484 5c74 692D mov r22,r9 |
10485 5c76 7727 clr r23 |
10486 5c78 8827 clr r24 |
10487 5c7a 9927 clr r25 |
10488 5c7c 9801 movw r18,r16 |
10489 5c7e 17FF sbrs r17,7 |
10490 5c80 00C0 rjmp .L850 |
10491 5c82 2227 clr r18 |
10492 5c84 3327 clr r19 |
10493 5c86 201B sub r18,r16 |
10494 5c88 310B sbc r19,r17 |
10495 .L850: |
10496 5c8a 37FF sbrs r19,7 |
10497 5c8c 00C0 rjmp .L851 |
10498 5c8e 2F5F subi r18,lo8(-(1)) |
10499 5c90 3F4F sbci r19,hi8(-(1)) |
10500 .L851: |
10501 5c92 3595 asr r19 |
10502 5c94 2795 ror r18 |
10503 5c96 E981 ldd r30,Y+1 |
10504 5c98 FA81 ldd r31,Y+2 |
10505 5c9a 2E0F add r18,r30 |
10506 5c9c 3F1F adc r19,r31 |
10507 5c9e 4427 clr r20 |
10508 5ca0 37FD sbrc r19,7 |
10509 5ca2 4095 com r20 |
10510 5ca4 542F mov r21,r20 |
10511 5ca6 0E94 0000 call __mulsi3 |
10512 5caa 97FF sbrs r25,7 |
10513 5cac 00C0 rjmp .L852 |
10514 5cae 615C subi r22,lo8(-(63)) |
10515 5cb0 7F4F sbci r23,hi8(-(63)) |
10516 5cb2 8F4F sbci r24,hlo8(-(63)) |
10517 5cb4 9F4F sbci r25,hhi8(-(63)) |
10518 .L852: |
10519 5cb6 E6E0 ldi r30,6 |
10520 5cb8 9595 1: asr r25 |
10521 5cba 8795 ror r24 |
10522 5cbc 7795 ror r23 |
10523 5cbe 6795 ror r22 |
10524 5cc0 EA95 dec r30 |
10525 5cc2 01F4 brne 1b |
10526 5cc4 9B01 movw r18,r22 |
10527 5cc6 6C15 cp r22,r12 |
10528 5cc8 7D05 cpc r23,r13 |
10529 5cca 04F4 brge .L853 |
10530 5ccc 6B01 movw r12,r22 |
10531 .L853: |
10532 5cce 3095 com r19 |
10533 5cd0 2195 neg r18 |
10534 5cd2 3F4F sbci r19,lo8(-1) |
10535 5cd4 C216 cp r12,r18 |
10536 5cd6 D306 cpc r13,r19 |
10537 5cd8 04F4 brge .L854 |
10538 5cda 6901 movw r12,r18 |
10539 .L854: |
10540 5cdc 8091 0000 lds r24,MIN_GAS |
10541 5ce0 282E mov r2,r24 |
10542 5ce2 3324 clr r3 |
10543 5ce4 5090 0000 lds r5,EE_Parameter+101 |
10544 5ce8 60E0 ldi r22,lo8(Motor) |
10545 5cea 862E mov r8,r22 |
10546 5cec 60E0 ldi r22,hi8(Motor) |
10547 5cee 962E mov r9,r22 |
10548 5cf0 50E0 ldi r21,lo8(Mixer+13) |
10549 5cf2 A52E mov r10,r21 |
10550 5cf4 50E0 ldi r21,hi8(Mixer+13) |
10551 5cf6 B52E mov r11,r21 |
10552 5cf8 4BE0 ldi r20,lo8(11) |
10553 5cfa 442E mov r4,r20 |
10554 5cfc 30E0 ldi r19,lo8(tmp_motorwert) |
10555 5cfe 632E mov r6,r19 |
10556 5d00 30E0 ldi r19,hi8(tmp_motorwert) |
10557 5d02 732E mov r7,r19 |
10558 .L889: |
10559 5d04 D501 movw r26,r10 |
10560 5d06 2C91 ld r18,X |
10561 5d08 1216 cp __zero_reg__,r18 |
10562 5d0a 04F0 brlt .+2 |
10563 5d0c 00C0 rjmp .L858 |
10564 5d0e 2034 cpi r18,lo8(64) |
10565 5d10 01F4 brne .L859 |
10566 5d12 E981 ldd r30,Y+1 |
10567 5d14 FA81 ldd r31,Y+2 |
10568 5d16 FF8B std Y+23,r31 |
10569 5d18 EE8B std Y+22,r30 |
10570 5d1a 00C0 rjmp .L860 |
10571 .L859: |
10572 5d1c 4981 ldd r20,Y+1 |
10573 5d1e 5A81 ldd r21,Y+2 |
10574 5d20 CA01 movw r24,r20 |
10575 5d22 AA27 clr r26 |
10576 5d24 97FD sbrc r25,7 |
10577 5d26 A095 com r26 |
10578 5d28 BA2F mov r27,r26 |
10579 5d2a 3327 clr r19 |
10580 5d2c 27FD sbrc r18,7 |
10581 5d2e 3095 com r19 |
10582 5d30 432F mov r20,r19 |
10583 5d32 532F mov r21,r19 |
10584 5d34 BC01 movw r22,r24 |
10585 5d36 CD01 movw r24,r26 |
10586 5d38 0E94 0000 call __mulsi3 |
10587 5d3c 97FF sbrs r25,7 |
10588 5d3e 00C0 rjmp .L861 |
10589 5d40 615C subi r22,lo8(-(63)) |
10590 5d42 7F4F sbci r23,hi8(-(63)) |
10591 5d44 8F4F sbci r24,hlo8(-(63)) |
10592 5d46 9F4F sbci r25,hhi8(-(63)) |
10593 .L861: |
10594 5d48 26E0 ldi r18,6 |
10595 5d4a 9595 1: asr r25 |
10596 5d4c 8795 ror r24 |
10597 5d4e 7795 ror r23 |
10598 5d50 6795 ror r22 |
10599 5d52 2A95 dec r18 |
10600 5d54 01F4 brne 1b |
10601 5d56 7F8B std Y+23,r23 |
10602 5d58 6E8B std Y+22,r22 |
10603 .L860: |
10604 5d5a F501 movw r30,r10 |
10605 5d5c 2181 ldd r18,Z+1 |
10606 5d5e 2034 cpi r18,lo8(64) |
10607 5d60 01F4 brne .L862 |
10608 5d62 2E89 ldd r18,Y+22 |
10609 5d64 3F89 ldd r19,Y+23 |
10610 5d66 2E0D add r18,r14 |
10611 5d68 3F1D adc r19,r15 |
10612 5d6a 3F8B std Y+23,r19 |
10613 5d6c 2E8B std Y+22,r18 |
10614 5d6e 00C0 rjmp .L863 |
10615 .L862: |
10616 5d70 203C cpi r18,lo8(-64) |
10617 5d72 01F4 brne .L864 |
10618 5d74 4E89 ldd r20,Y+22 |
10619 5d76 5F89 ldd r21,Y+23 |
10620 5d78 4E19 sub r20,r14 |
10621 5d7a 5F09 sbc r21,r15 |
10622 5d7c 5F8B std Y+23,r21 |
10623 5d7e 4E8B std Y+22,r20 |
10624 5d80 00C0 rjmp .L863 |
10625 .L864: |
10626 5d82 C701 movw r24,r14 |
10627 5d84 AA27 clr r26 |
10628 5d86 97FD sbrc r25,7 |
10629 5d88 A095 com r26 |
10630 5d8a BA2F mov r27,r26 |
10631 5d8c 3327 clr r19 |
10632 5d8e 27FD sbrc r18,7 |
10633 5d90 3095 com r19 |
10634 5d92 432F mov r20,r19 |
10635 5d94 532F mov r21,r19 |
10636 5d96 BC01 movw r22,r24 |
10637 5d98 CD01 movw r24,r26 |
10638 5d9a 0E94 0000 call __mulsi3 |
10639 5d9e 97FF sbrs r25,7 |
10640 5da0 00C0 rjmp .L866 |
10641 5da2 615C subi r22,lo8(-(63)) |
10642 5da4 7F4F sbci r23,hi8(-(63)) |
10643 5da6 8F4F sbci r24,hlo8(-(63)) |
10644 5da8 9F4F sbci r25,hhi8(-(63)) |
10645 .L866: |
10646 5daa B6E0 ldi r27,6 |
10647 5dac 9595 1: asr r25 |
10648 5dae 8795 ror r24 |
10649 5db0 7795 ror r23 |
10650 5db2 6795 ror r22 |
10651 5db4 BA95 dec r27 |
10652 5db6 01F4 brne 1b |
10653 5db8 AE89 ldd r26,Y+22 |
10654 5dba BF89 ldd r27,Y+23 |
10655 5dbc A60F add r26,r22 |
10656 5dbe B71F adc r27,r23 |
10657 5dc0 BF8B std Y+23,r27 |
10658 5dc2 AE8B std Y+22,r26 |
10659 .L863: |
10660 5dc4 F501 movw r30,r10 |
10661 5dc6 2281 ldd r18,Z+2 |
10662 5dc8 2034 cpi r18,lo8(64) |
10663 5dca 01F4 brne .L867 |
10664 5dcc 2E89 ldd r18,Y+22 |
10665 5dce 3F89 ldd r19,Y+23 |
10666 5dd0 2C0D add r18,r12 |
10667 5dd2 3D1D adc r19,r13 |
10668 5dd4 3F8B std Y+23,r19 |
10669 5dd6 2E8B std Y+22,r18 |
10670 5dd8 00C0 rjmp .L868 |
10671 .L867: |
10672 5dda 203C cpi r18,lo8(-64) |
10673 5ddc 01F4 brne .L869 |
10674 5dde 4E89 ldd r20,Y+22 |
10675 5de0 5F89 ldd r21,Y+23 |
10676 5de2 4C19 sub r20,r12 |
10677 5de4 5D09 sbc r21,r13 |
10678 5de6 5F8B std Y+23,r21 |
10679 5de8 4E8B std Y+22,r20 |
10680 5dea 00C0 rjmp .L868 |
10681 .L869: |
10682 5dec C601 movw r24,r12 |
10683 5dee AA27 clr r26 |
10684 5df0 97FD sbrc r25,7 |
10685 5df2 A095 com r26 |
10686 5df4 BA2F mov r27,r26 |
10687 5df6 3327 clr r19 |
10688 5df8 27FD sbrc r18,7 |
10689 5dfa 3095 com r19 |
10690 5dfc 432F mov r20,r19 |
10691 5dfe 532F mov r21,r19 |
10692 5e00 BC01 movw r22,r24 |
10693 5e02 CD01 movw r24,r26 |
10694 5e04 0E94 0000 call __mulsi3 |
10695 5e08 97FF sbrs r25,7 |
10696 5e0a 00C0 rjmp .L871 |
10697 5e0c 615C subi r22,lo8(-(63)) |
10698 5e0e 7F4F sbci r23,hi8(-(63)) |
10699 5e10 8F4F sbci r24,hlo8(-(63)) |
10700 5e12 9F4F sbci r25,hhi8(-(63)) |
10701 .L871: |
10702 5e14 A6E0 ldi r26,6 |
10703 5e16 9595 1: asr r25 |
10704 5e18 8795 ror r24 |
10705 5e1a 7795 ror r23 |
10706 5e1c 6795 ror r22 |
10707 5e1e AA95 dec r26 |
10708 5e20 01F4 brne 1b |
10709 5e22 AE89 ldd r26,Y+22 |
10710 5e24 BF89 ldd r27,Y+23 |
10711 5e26 A60F add r26,r22 |
10712 5e28 B71F adc r27,r23 |
10713 5e2a BF8B std Y+23,r27 |
10714 5e2c AE8B std Y+22,r26 |
10715 .L868: |
10716 5e2e F501 movw r30,r10 |
10717 5e30 2381 ldd r18,Z+3 |
10718 5e32 2034 cpi r18,lo8(64) |
10719 5e34 01F4 brne .L872 |
10720 5e36 2E89 ldd r18,Y+22 |
10721 5e38 3F89 ldd r19,Y+23 |
10722 5e3a 200F add r18,r16 |
10723 5e3c 311F adc r19,r17 |
10724 5e3e 3F8B std Y+23,r19 |
10725 5e40 2E8B std Y+22,r18 |
10726 5e42 00C0 rjmp .L873 |
10727 .L872: |
10728 5e44 203C cpi r18,lo8(-64) |
10729 5e46 01F4 brne .L874 |
10730 5e48 4E89 ldd r20,Y+22 |
10731 5e4a 5F89 ldd r21,Y+23 |
10732 5e4c 401B sub r20,r16 |
10733 5e4e 510B sbc r21,r17 |
10734 5e50 5F8B std Y+23,r21 |
10735 5e52 4E8B std Y+22,r20 |
10736 5e54 00C0 rjmp .L873 |
10737 .L874: |
10738 5e56 C801 movw r24,r16 |
10739 5e58 AA27 clr r26 |
10740 5e5a 97FD sbrc r25,7 |
10741 5e5c A095 com r26 |
10742 5e5e BA2F mov r27,r26 |
10743 5e60 3327 clr r19 |
10744 5e62 27FD sbrc r18,7 |
10745 5e64 3095 com r19 |
10746 5e66 432F mov r20,r19 |
10747 5e68 532F mov r21,r19 |
10748 5e6a BC01 movw r22,r24 |
10749 5e6c CD01 movw r24,r26 |
10750 5e6e 0E94 0000 call __mulsi3 |
10751 5e72 97FF sbrs r25,7 |
10752 5e74 00C0 rjmp .L876 |
10753 5e76 615C subi r22,lo8(-(63)) |
10754 5e78 7F4F sbci r23,hi8(-(63)) |
10755 5e7a 8F4F sbci r24,hlo8(-(63)) |
10756 5e7c 9F4F sbci r25,hhi8(-(63)) |
10757 .L876: |
10758 5e7e F6E0 ldi r31,6 |
10759 5e80 9595 1: asr r25 |
10760 5e82 8795 ror r24 |
10761 5e84 7795 ror r23 |
10762 5e86 6795 ror r22 |
10763 5e88 FA95 dec r31 |
10764 5e8a 01F4 brne 1b |
10765 5e8c AE89 ldd r26,Y+22 |
10766 5e8e BF89 ldd r27,Y+23 |
10767 5e90 A60F add r26,r22 |
10768 5e92 B71F adc r27,r23 |
10769 5e94 BF8B std Y+23,r27 |
10770 5e96 AE8B std Y+22,r26 |
10771 .L873: |
10772 5e98 F301 movw r30,r6 |
10773 5e9a 8081 ld r24,Z |
10774 5e9c 9181 ldd r25,Z+1 |
10775 5e9e 2E89 ldd r18,Y+22 |
10776 5ea0 3F89 ldd r19,Y+23 |
10777 5ea2 8217 cp r24,r18 |
10778 5ea4 9307 cpc r25,r19 |
10779 5ea6 04F4 brge .L877 |
10780 5ea8 B901 movw r22,r18 |
10781 5eaa 680F add r22,r24 |
10782 5eac 791F adc r23,r25 |
10783 5eae 77FF sbrs r23,7 |
10784 5eb0 00C0 rjmp .L878 |
10785 5eb2 6F5F subi r22,lo8(-(1)) |
10786 5eb4 7F4F sbci r23,hi8(-(1)) |
10787 .L878: |
10788 5eb6 7595 asr r23 |
10789 5eb8 6795 ror r22 |
10790 5eba 7F8B std Y+23,r23 |
10791 5ebc 6E8B std Y+22,r22 |
10792 5ebe 00C0 rjmp .L879 |
10793 .L877: |
10794 5ec0 5520 tst r5 |
10795 5ec2 01F4 brne .L880 |
10796 5ec4 4E89 ldd r20,Y+22 |
10797 5ec6 5F89 ldd r21,Y+23 |
10798 5ec8 440F add r20,r20 |
10799 5eca 551F adc r21,r21 |
10800 5ecc 481B sub r20,r24 |
10801 5ece 590B sbc r21,r25 |
10802 5ed0 5F8B std Y+23,r21 |
10803 5ed2 4E8B std Y+22,r20 |
10804 5ed4 00C0 rjmp .L879 |
10805 .L880: |
10806 5ed6 51E0 ldi r21,lo8(1) |
10807 5ed8 5515 cp r21,r5 |
10808 5eda 00F4 brsh .L879 |
10809 5edc 252D mov r18,r5 |
10810 5ede 3327 clr r19 |
10811 5ee0 6E89 ldd r22,Y+22 |
10812 5ee2 7F89 ldd r23,Y+23 |
10813 5ee4 861B sub r24,r22 |
10814 5ee6 970B sbc r25,r23 |
10815 5ee8 B901 movw r22,r18 |
10816 5eea 0E94 0000 call __divmodhi4 |
10817 5eee AE89 ldd r26,Y+22 |
10818 5ef0 BF89 ldd r27,Y+23 |
10819 5ef2 A60F add r26,r22 |
10820 5ef4 B71F adc r27,r23 |
10821 5ef6 BF8B std Y+23,r27 |
10822 5ef8 AE8B std Y+22,r26 |
10823 .L879: |
10824 5efa C101 movw r24,r2 |
10825 5efc 880F lsl r24 |
10826 5efe 991F rol r25 |
10827 5f00 880F lsl r24 |
10828 5f02 991F rol r25 |
10829 5f04 EE89 ldd r30,Y+22 |
10830 5f06 FF89 ldd r31,Y+23 |
10831 5f08 8E17 cp r24,r30 |
10832 5f0a 9F07 cpc r25,r31 |
10833 5f0c 04F4 brge .L922 |
10834 5f0e FD89 ldd r31,Y+21 |
10835 5f10 8F2F mov r24,r31 |
10836 5f12 9927 clr r25 |
10837 5f14 880F lsl r24 |
10838 5f16 991F rol r25 |
10839 5f18 880F lsl r24 |
10840 5f1a 991F rol r25 |
10841 5f1c 2E89 ldd r18,Y+22 |
10842 5f1e 3F89 ldd r19,Y+23 |
10843 5f20 2817 cp r18,r24 |
10844 5f22 3907 cpc r19,r25 |
10845 5f24 04F0 brlt .L884 |
10846 .L922: |
10847 5f26 9F8B std Y+23,r25 |
10848 5f28 8E8B std Y+22,r24 |
10849 .L884: |
10850 5f2a 8E89 ldd r24,Y+22 |
10851 5f2c 9F89 ldd r25,Y+23 |
10852 5f2e 97FD sbrc r25,7 |
10853 5f30 0396 adiw r24,3 |
10854 .L886: |
10855 5f32 9595 asr r25 |
10856 5f34 8795 ror r24 |
10857 5f36 9595 asr r25 |
10858 5f38 8795 ror r24 |
10859 5f3a F401 movw r30,r8 |
10860 5f3c 8183 std Z+1,r24 |
10861 5f3e 880F lsl r24 |
10862 5f40 991F rol r25 |
10863 5f42 880F lsl r24 |
10864 5f44 991F rol r25 |
10865 5f46 2E89 ldd r18,Y+22 |
10866 5f48 3F89 ldd r19,Y+23 |
10867 5f4a 281B sub r18,r24 |
10868 5f4c 390B sbc r19,r25 |
10869 5f4e C901 movw r24,r18 |
10870 5f50 880F lsl r24 |
10871 5f52 8283 std Z+2,r24 |
10872 5f54 EE89 ldd r30,Y+22 |
10873 5f56 FF89 ldd r31,Y+23 |
10874 5f58 D301 movw r26,r6 |
10875 5f5a ED93 st X+,r30 |
10876 5f5c FC93 st X,r31 |
10877 5f5e 00C0 rjmp .L857 |
10878 .L858: |
10879 5f60 F401 movw r30,r8 |
10880 5f62 1182 std Z+1,__zero_reg__ |
10881 5f64 1282 std Z+2,__zero_reg__ |
10882 .L857: |
10883 5f66 4A94 dec r4 |
10884 5f68 22E0 ldi r18,lo8(2) |
10885 5f6a 30E0 ldi r19,hi8(2) |
10886 5f6c 620E add r6,r18 |
10887 5f6e 731E adc r7,r19 |
10888 5f70 44E0 ldi r20,lo8(4) |
10889 5f72 50E0 ldi r21,hi8(4) |
10890 5f74 A40E add r10,r20 |
10891 5f76 B51E adc r11,r21 |
10892 5f78 68E0 ldi r22,lo8(8) |
10893 5f7a 70E0 ldi r23,hi8(8) |
10894 5f7c 860E add r8,r22 |
10895 5f7e 971E adc r9,r23 |
10896 5f80 47FE sbrs r4,7 |
10897 5f82 00C0 rjmp .L889 |
10898 /* epilogue: frame size=23 */ |
10899 5f84 E2E1 ldi r30,18 |
10900 5f86 C95E subi r28,-23 |
10901 5f88 0C94 0000 jmp __epilogue_restores__+0 |
10902 /* epilogue end (size=4) */ |
10903 /* function MotorRegler size 8305 (8295) */ |
10905 .comm TrimNick,2,1 |
10906 .comm TrimRoll,2,1 |
10907 .comm ErsatzKompass,4,1 |
10908 .comm ErsatzKompassInGrad,2,1 |
10909 .comm MesswertNick,2,1 |
10910 .comm MesswertRoll,2,1 |
10911 .comm MesswertGier,2,1 |
10912 .comm Mittelwert_AccNick,2,1 |
10913 .comm Mittelwert_AccRoll,2,1 |
10914 .comm NaviAccNick,2,1 |
10915 .comm NaviAccRoll,2,1 |
10916 .comm h,1,1 |
10917 .comm m,1,1 |
10918 .comm s,1,1 |
10919 .comm DiffNick,2,1 |
10920 .comm DiffRoll,2,1 |
10921 .comm Parameter_Servo3,1,1 |
10922 .comm Parameter_Servo4,1,1 |
10923 .comm Parameter_Servo5,1,1 |
10924 .comm Parameter_J16Bitmask,1,1 |
10925 .comm Parameter_J16Timing,1,1 |
10926 .comm Parameter_J17Bitmask,1,1 |
10927 .comm Parameter_J17Timing,1,1 |
10928 .comm Parameter_GlobalConfig,1,1 |
10929 .comm Parameter_ExtraConfig,1,1 |
10930 .comm MesswertGierBias,2,1 |
10931 .comm RohMesswertNick,2,1 |
10932 .comm RohMesswertRoll,2,1 |
10933 .comm MittelIntegralNick,4,1 |
10934 .comm MittelIntegralRoll,4,1 |
10935 .comm MittelIntegralNick2,4,1 |
10936 .comm MittelIntegralRoll2,4,1 |
10937 .comm MAX_GAS,1,1 |
10938 .comm MIN_GAS,1,1 |
10939 .comm GyroFaktor,1,1 |
10940 .comm GyroFaktorGier,1,1 |
10941 .comm IntegralFaktor,1,1 |
10942 .comm IntegralFaktorGier,1,1 |
10943 .comm Parameter_NaviGpsModeControl,1,1 |
10944 .comm Parameter_NaviGpsGain,1,1 |
10945 .comm Parameter_NaviGpsP,1,1 |
10946 .comm Parameter_NaviGpsI,1,1 |
10947 .comm Parameter_NaviGpsD,1,1 |
10948 .comm Parameter_NaviGpsACC,1,1 |
10949 .comm Parameter_NaviOperatingRadius,1,1 |
10950 .comm Parameter_NaviWindCorrection,1,1 |
10951 .comm Parameter_NaviSpeedCompensation,1,1 |
10952 .comm Parameter_ExternalControl,1,1 |
10953 .comm Parameter_MaximumAltitude,1,1 |
10954 .comm KopplungsteilNickRoll,2,1 |
10955 .comm KopplungsteilRollNick,2,1 |
10956 .comm tmp_motorwert,24,1 |
10957 /* File "fc.c": code 12397 = 0x306d (12336), prologues 31, epilogues 30 */ |
DEFINED SYMBOLS |
*ABS*:00000000 fc.c |
C:\Temp/ccfR0jIT.s:3 *ABS*:0000003f __SREG__ |
C:\Temp/ccfR0jIT.s:4 *ABS*:0000003e __SP_H__ |
C:\Temp/ccfR0jIT.s:5 *ABS*:0000003d __SP_L__ |
C:\Temp/ccfR0jIT.s:6 *ABS*:00000000 __tmp_reg__ |
C:\Temp/ccfR0jIT.s:7 *ABS*:00000001 __zero_reg__ |
C:\Temp/ccfR0jIT.s:15 .bss:00000000 GasIsZeroCnt |
C:\Temp/ccfR0jIT.s:21 .bss:00000002 HooverGasEmergencyPercent |
C:\Temp/ccfR0jIT.s:27 .data:00000000 VarioCharacter |
C:\Temp/ccfR0jIT.s:32 .data:00000001 GIER_GRAD_FAKTOR |
C:\Temp/ccfR0jIT.s:39 .bss:00000004 FC_StatusFlags2 |
C:\Temp/ccfR0jIT.s:45 .bss:00000005 FC_StatusFlags |
C:\Temp/ccfR0jIT.s:51 .bss:00000006 modell_fliegt |
C:\Temp/ccfR0jIT.s:57 .bss:00000008 MaxStickRoll |
C:\Temp/ccfR0jIT.s:63 .bss:0000000a MaxStickNick |
C:\Temp/ccfR0jIT.s:69 .data:00000005 ExternHoehenValue |
C:\Temp/ccfR0jIT.s:76 .bss:0000000c ExternStickGier |
C:\Temp/ccfR0jIT.s:82 .bss:0000000e ExternStickRoll |
C:\Temp/ccfR0jIT.s:88 .bss:00000010 ExternStickNick |
C:\Temp/ccfR0jIT.s:94 .data:00000007 sintab |
C:\Temp/ccfR0jIT.s:131 .bss:00000012 CareFree |
C:\Temp/ccfR0jIT.s:137 .data:00000026 Parameter_DynamicStability |
C:\Temp/ccfR0jIT.s:142 .data:00000027 Parameter_CouplingYawCorrection |
C:\Temp/ccfR0jIT.s:147 .data:00000028 Parameter_AchsKopplung2 |
C:\Temp/ccfR0jIT.s:152 .data:00000029 Parameter_AchsKopplung1 |
C:\Temp/ccfR0jIT.s:157 .data:0000002a Parameter_LoopGasLimit |
C:\Temp/ccfR0jIT.s:162 .data:0000002b Parameter_ServoRollComp |
C:\Temp/ccfR0jIT.s:167 .data:0000002c Parameter_ServoNickComp |
C:\Temp/ccfR0jIT.s:172 .data:0000002d Parameter_ServoRollControl |
C:\Temp/ccfR0jIT.s:177 .data:0000002e Parameter_ServoNickControl |
C:\Temp/ccfR0jIT.s:184 .bss:00000013 Parameter_UserParam8 |
C:\Temp/ccfR0jIT.s:190 .bss:00000014 Parameter_UserParam7 |
C:\Temp/ccfR0jIT.s:196 .bss:00000015 Parameter_UserParam6 |
C:\Temp/ccfR0jIT.s:202 .bss:00000016 Parameter_UserParam5 |
C:\Temp/ccfR0jIT.s:208 .bss:00000017 Parameter_UserParam4 |
C:\Temp/ccfR0jIT.s:214 .bss:00000018 Parameter_UserParam3 |
C:\Temp/ccfR0jIT.s:220 .bss:00000019 Parameter_UserParam2 |
C:\Temp/ccfR0jIT.s:226 .bss:0000001a Parameter_UserParam1 |
C:\Temp/ccfR0jIT.s:232 .data:0000002f Parameter_I_Faktor |
C:\Temp/ccfR0jIT.s:237 .data:00000030 Parameter_Gier_P |
C:\Temp/ccfR0jIT.s:242 .data:00000031 Parameter_Gyro_Gier_I |
C:\Temp/ccfR0jIT.s:247 .data:00000032 Parameter_Gyro_Gier_P |
C:\Temp/ccfR0jIT.s:252 .data:00000033 Parameter_Gyro_I |
C:\Temp/ccfR0jIT.s:257 .data:00000034 Parameter_Gyro_P |
C:\Temp/ccfR0jIT.s:262 .data:00000035 Parameter_Gyro_D |
C:\Temp/ccfR0jIT.s:267 .data:00000036 Parameter_Hoehe_GPS_Z |
C:\Temp/ccfR0jIT.s:272 .data:00000037 Parameter_KompassWirkung |
C:\Temp/ccfR0jIT.s:277 .data:00000038 Parameter_Hoehe_ACC_Wirkung |
C:\Temp/ccfR0jIT.s:282 .data:00000039 Parameter_Hoehe_P |
C:\Temp/ccfR0jIT.s:287 .data:0000003a Parameter_HoehenSchalter |
C:\Temp/ccfR0jIT.s:292 .data:0000003b Parameter_Luftdruck_D |
C:\Temp/ccfR0jIT.s:299 .bss:0000001b Looping_Oben |
C:\Temp/ccfR0jIT.s:305 .bss:0000001c Looping_Unten |
C:\Temp/ccfR0jIT.s:311 .bss:0000001d Looping_Rechts |
C:\Temp/ccfR0jIT.s:317 .bss:0000001e Looping_Links |
C:\Temp/ccfR0jIT.s:323 .bss:0000001f Looping_Roll |
C:\Temp/ccfR0jIT.s:329 .bss:00000020 Looping_Nick |
C:\Temp/ccfR0jIT.s:335 .data:0000003c Ki |
C:\Temp/ccfR0jIT.s:342 .bss:00000021 HoverGas |
C:\Temp/ccfR0jIT.s:348 .bss:00000023 LageKorrekturNick |
C:\Temp/ccfR0jIT.s:354 .bss:00000025 LageKorrekturRoll |
C:\Temp/ccfR0jIT.s:360 .bss:00000027 NeueKompassRichtungMerken |
C:\Temp/ccfR0jIT.s:366 .bss:00000028 CalibrationDone |
C:\Temp/ccfR0jIT.s:372 .bss:00000029 CompassGierSetpoint |
C:\Temp/ccfR0jIT.s:378 .bss:0000002b WaypointTrimming |
C:\Temp/ccfR0jIT.s:384 .data:0000003e carefree_old |
C:\Temp/ccfR0jIT.s:391 .bss:0000002c FromNC_AltitudeSpeed |
C:\Temp/ccfR0jIT.s:397 .bss:0000002d FromNC_AltitudeSetpoint |
C:\Temp/ccfR0jIT.s:403 .bss:00000031 AltitudeSetpointTrimming |
C:\Temp/ccfR0jIT.s:409 .bss:00000033 SollHoehe |
C:\Temp/ccfR0jIT.s:415 .bss:00000037 HoehenWert |
C:\Temp/ccfR0jIT.s:421 .bss:0000003b StartTrigger |
C:\Temp/ccfR0jIT.s:427 .bss:0000003c MotorenEin |
C:\Temp/ccfR0jIT.s:433 .bss:0000003d SenderOkay |
C:\Temp/ccfR0jIT.s:439 .bss:0000003e Poti |
C:\Temp/ccfR0jIT.s:445 .bss:00000047 StickGas |
C:\Temp/ccfR0jIT.s:451 .bss:00000049 StickGier |
C:\Temp/ccfR0jIT.s:457 .bss:0000004b StickRoll |
C:\Temp/ccfR0jIT.s:463 .bss:0000004d StickNick |
C:\Temp/ccfR0jIT.s:469 .data:0000003f HoverGasMax |
C:\Temp/ccfR0jIT.s:476 .bss:0000004f HoverGasMin |
C:\Temp/ccfR0jIT.s:482 .data:00000041 StickGasHover |
C:\Temp/ccfR0jIT.s:489 .bss:00000051 GierGyroFehler |
C:\Temp/ccfR0jIT.s:495 .data:00000043 Umschlag180Roll |
C:\Temp/ccfR0jIT.s:500 .data:00000047 Umschlag180Nick |
C:\Temp/ccfR0jIT.s:507 .bss:00000053 TrichterFlug |
C:\Temp/ccfR0jIT.s:513 .bss:00000054 HoehenReglerAktiv |
C:\Temp/ccfR0jIT.s:519 .data:0000004b KompassSignalSchlecht |
C:\Temp/ccfR0jIT.s:524 .data:0000004d KompassFusion |
C:\Temp/ccfR0jIT.s:529 .data:0000004e CalculateCompassTimer |
C:\Temp/ccfR0jIT.s:536 .bss:00000055 KompassSollWert |
C:\Temp/ccfR0jIT.s:542 .data:0000004f KompassValue |
C:\Temp/ccfR0jIT.s:549 .bss:00000057 Mess_Integral_Hoch |
C:\Temp/ccfR0jIT.s:555 .bss:0000005b SummeRoll |
C:\Temp/ccfR0jIT.s:561 .bss:0000005f SummeNick |
C:\Temp/ccfR0jIT.s:567 .bss:00000063 Mess_Integral_Gier2 |
C:\Temp/ccfR0jIT.s:573 .bss:00000067 Mess_Integral_Gier |
C:\Temp/ccfR0jIT.s:579 .bss:0000006b Mess_IntegralRoll2 |
C:\Temp/ccfR0jIT.s:585 .bss:0000006f Mess_IntegralRoll |
C:\Temp/ccfR0jIT.s:591 .bss:00000073 Mess_IntegralNick2 |
C:\Temp/ccfR0jIT.s:597 .bss:00000077 Mess_IntegralNick |
C:\Temp/ccfR0jIT.s:603 .bss:0000007b Integral_Gier |
C:\Temp/ccfR0jIT.s:609 .bss:0000007f IntegralAccZ |
C:\Temp/ccfR0jIT.s:615 .bss:00000083 IntegralAccRoll |
C:\Temp/ccfR0jIT.s:621 .bss:00000087 IntegralAccNick |
C:\Temp/ccfR0jIT.s:627 .bss:0000008b IntegralRoll2 |
C:\Temp/ccfR0jIT.s:633 .bss:0000008f IntegralRoll |
C:\Temp/ccfR0jIT.s:639 .bss:00000093 IntegralNick2 |
C:\Temp/ccfR0jIT.s:645 .bss:00000097 IntegralNick |
C:\Temp/ccfR0jIT.s:651 .bss:0000009b ControlHeading |
C:\Temp/ccfR0jIT.s:657 .bss:0000009c NeutralAccZ |
C:\Temp/ccfR0jIT.s:663 .bss:0000009e NaviCntAcc |
C:\Temp/ccfR0jIT.s:669 .bss:000000a0 NeutralAccY |
C:\Temp/ccfR0jIT.s:675 .bss:000000a2 NeutralAccX |
C:\Temp/ccfR0jIT.s:681 .bss:000000a4 StartNeutralNick |
C:\Temp/ccfR0jIT.s:687 .bss:000000a6 StartNeutralRoll |
C:\Temp/ccfR0jIT.s:693 .bss:000000a8 AdNeutralGier |
C:\Temp/ccfR0jIT.s:699 .bss:000000aa AdNeutralRoll |
C:\Temp/ccfR0jIT.s:705 .bss:000000ac AdNeutralNick |
C:\Temp/ccfR0jIT.s:711 .bss:000000ae BaroExpandActive |
C:\Temp/ccfR0jIT.s:716 .text:00000000 CopyDebugValues |
*COM*:00000002 Mittelwert_AccNick |
*COM*:00000002 Mittelwert_AccRoll |
*COM*:00000004 ErsatzKompass |
C:\Temp/ccfR0jIT.s:912 .text:00000254 Piep |
C:\Temp/ccfR0jIT.s:986 .text:000002da CalibrierMittelwert |
*COM*:00000002 MesswertNick |
*COM*:00000002 MesswertRoll |
*COM*:00000002 MesswertGier |
C:\Temp/ccfR0jIT.s:1128 .progmem.data:00000000 __c.35 |
C:\Temp/ccfR0jIT.s:1133 .text:0000041c SetNeutral |
.bss:000000b0 tmpl.27 |
C:\Temp/ccfR0jIT.s:1641 .bss:000000b4 tmpl2.28 |
C:\Temp/ccfR0jIT.s:1642 .bss:000000b8 tmpl3.29 |
C:\Temp/ccfR0jIT.s:1643 .bss:000000bc tmpl4.30 |
C:\Temp/ccfR0jIT.s:1644 .bss:000000c0 oldNick.31 |
C:\Temp/ccfR0jIT.s:1645 .bss:000000c2 oldRoll.32 |
C:\Temp/ccfR0jIT.s:1646 .bss:000000c4 d2Roll.33 |
C:\Temp/ccfR0jIT.s:1647 .bss:000000c6 d2Nick.34 |
C:\Temp/ccfR0jIT.s:1651 .text:00000988 Mittelwert |
*COM*:00000002 RohMesswertNick |
*COM*:00000002 RohMesswertRoll |
*COM*:00000002 NaviAccNick |
*COM*:00000002 NaviAccRoll |
*COM*:00000001 Parameter_GlobalConfig |
*COM*:00000002 KopplungsteilNickRoll |
*COM*:00000002 KopplungsteilRollNick |
*COM*:00000002 TrimRoll |
*COM*:00000002 TrimNick |
C:\Temp/ccfR0jIT.s:3216 .text:000018ec SendMotorData |
C:\Temp/ccfR0jIT.s:3276 .text:00001966 ParameterZuordnung |
*COM*:00000001 Parameter_J16Timing |
*COM*:00000001 Parameter_J17Timing |
*COM*:00000001 Parameter_Servo3 |
*COM*:00000001 Parameter_Servo4 |
*COM*:00000001 Parameter_Servo5 |
*COM*:00000001 Parameter_MaximumAltitude |
*COM*:00000001 Parameter_ExtraConfig |
*COM*:00000001 Parameter_ExternalControl |
*COM*:00000001 MAX_GAS |
*COM*:00000001 MIN_GAS |
C:\Temp/ccfR0jIT.s:1648 .bss:000000c8 sollGier.0 |
C:\Temp/ccfR0jIT.s:4019 .bss:000000cc tmp_long.1 |
C:\Temp/ccfR0jIT.s:4020 .bss:000000d0 tmp_long2.2 |
C:\Temp/ccfR0jIT.s:4021 .bss:000000d4 IntegralFehlerNick.3 |
C:\Temp/ccfR0jIT.s:4022 .bss:000000d8 IntegralFehlerRoll.4 |
C:\Temp/ccfR0jIT.s:4023 .bss:000000dc RcLostTimer.5 |
C:\Temp/ccfR0jIT.s:4024 .bss:000000de delay_neutral.6 |
C:\Temp/ccfR0jIT.s:4025 .bss:000000df delay_einschalten.7 |
C:\Temp/ccfR0jIT.s:4026 .bss:000000e0 delay_ausschalten.8 |
C:\Temp/ccfR0jIT.s:4027 .bss:000000e1 move_safety_switch.9 |
C:\Temp/ccfR0jIT.s:4028 .bss:000000e2 ausgleichNick.10 |
C:\Temp/ccfR0jIT.s:4029 .bss:000000e6 ausgleichRoll.11 |
C:\Temp/ccfR0jIT.s:4030 .bss:000000ea stick_nick.12 |
C:\Temp/ccfR0jIT.s:4031 .bss:000000ec stick_roll.13 |
C:\Temp/ccfR0jIT.s:4032 .bss:000000ee cnt.14 |
C:\Temp/ccfR0jIT.s:4033 .bss:000000f0 last_n_p.15 |
C:\Temp/ccfR0jIT.s:4034 .bss:000000f1 last_n_n.16 |
C:\Temp/ccfR0jIT.s:4035 .bss:000000f2 last_r_p.17 |
C:\Temp/ccfR0jIT.s:4036 .bss:000000f3 last_r_n.18 |
C:\Temp/ccfR0jIT.s:4037 .bss:000000f4 MittelIntegralNick_Alt.19 |
C:\Temp/ccfR0jIT.s:4038 .bss:000000f8 MittelIntegralRoll_Alt.20 |
C:\Temp/ccfR0jIT.s:4039 .bss:000000fc HeightTrimming.21 |
C:\Temp/ccfR0jIT.s:4040 .bss:000000fe FilterHCGas.22 |
C:\Temp/ccfR0jIT.s:4041 .bss:00000100 HoverGasFilter.23 |
C:\Temp/ccfR0jIT.s:4046 .data:00000051 delay.24 |
C:\Temp/ccfR0jIT.s:4042 .bss:00000104 BaroAtUpperLimit.25 |
C:\Temp/ccfR0jIT.s:4048 .bss:00000105 BaroAtLowerLimit.26 |
C:\Temp/ccfR0jIT.s:4053 .text:00001f9e MotorRegler |
*COM*:00000001 GyroFaktor |
*COM*:00000001 IntegralFaktor |
*COM*:00000001 GyroFaktorGier |
*COM*:00000001 IntegralFaktorGier |
*COM*:00000004 MittelIntegralNick |
*COM*:00000004 MittelIntegralRoll |
*COM*:00000004 MittelIntegralNick2 |
*COM*:00000004 MittelIntegralRoll2 |
*COM*:00000002 ErsatzKompassInGrad |
*COM*:00000002 DiffNick |
*COM*:00000002 DiffRoll |
*COM*:00000018 tmp_motorwert |
*COM*:00000001 h |
*COM*:00000001 m |
*COM*:00000001 s |
*COM*:00000001 Parameter_J16Bitmask |
*COM*:00000001 Parameter_J17Bitmask |
*COM*:00000002 MesswertGierBias |
*COM*:00000001 Parameter_NaviGpsModeControl |
*COM*:00000001 Parameter_NaviGpsGain |
*COM*:00000001 Parameter_NaviGpsP |
*COM*:00000001 Parameter_NaviGpsI |
*COM*:00000001 Parameter_NaviGpsD |
*COM*:00000001 Parameter_NaviGpsACC |
*COM*:00000001 Parameter_NaviOperatingRadius |
*COM*:00000001 Parameter_NaviWindCorrection |
*COM*:00000001 Parameter_NaviSpeedCompensation |
|
UNDEFINED SYMBOLS |
__do_copy_data |
__do_clear_bss |
EE_Parameter |
__divmodsi4 |
DebugOut |
AdWertGier |
AdWertAccHoch |
UBat |
Motor |
Capacity |
ServoNickValue |
GPS_Nick |
GPS_Roll |
VersionInfo |
PlatinenVersion |
beeptime |
UpdateMotor |
LIBFC_Polling |
SucheGyroOffset |
AdWertNick |
AdWertRoll |
AdWertAccNick |
AdWertAccRoll |
PPM_in |
__mulsi3 |
__prologue_saves__ |
ExpandBaro |
Delay_ms_Mess |
MessLuftdruck |
SucheLuftruckOffset |
__divmodhi4 |
Aktuell_az |
SetParamWord |
GetParamWord |
uart_putchar |
_printf_P |
Luftdruck |
StartLuftdruck |
VarioMeter |
LED_Init |
FromNaviCtrl_Value |
ServoActive |
NickServoValue |
LIBFC_HoTT_Clear |
__epilogue_restores__ |
AdWertNickFilter |
AdWertRollFilter |
AdReady |
HiResNick |
HiResRoll |
MotorTest |
PC_MotortestActive |
I2C_TransferActive |
motor_write |
twi_state |
BLFlags |
NC_To_FC_MaxAltitude |
SpeakHoTT |
FromNaviCtrl |
BeepMuster |
PPM_diff |
SetActiveParamSet |
WinkelOut |
GetActiveParamSet |
ParamSet_ReadFromEEProm |
LipoDetection |
LIBFC_ReceiverInit |
NC_ErrorCode |
GPSInfo |
NewPpmData |
FromNC_Rotate_C |
FromNC_Rotate_S |
GPS_Aid_StickMultiplikator |
__floatsisf |
__addsf3 |
__fixunssfsi |
ExternControl |
ZaehlMessungen |
BattLowVoltageWarning |
__udivmodhi4 |
DruckOffsetSetting |
SummenHoehe |
ihypot |
c_cos_8192 |
__udivmodqi4 |
NC_To_FC_Flags |
MissingMotor |
Mixer |