| 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 |