| 0,0 → 1,1378 |
|---|
| 1 .file "timer0.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 ServoRollValue |
| 11 .global ServoRollValue |
| 12 .section .bss |
| 15 ServoRollValue: |
| 16 0000 0000 .skip 2,0 |
| 17 .global ServoNickValue |
| 18 .global ServoNickValue |
| 21 ServoNickValue: |
| 22 0002 0000 .skip 2,0 |
| 23 .global NickServoValue |
| 24 .data |
| 27 NickServoValue: |
| 28 0000 0020 .word 8192 |
| 29 .global BeepMuster |
| 32 BeepMuster: |
| 33 0002 FFFF .word -1 |
| 34 .global ServoRollOffset |
| 37 ServoRollOffset: |
| 38 0004 C01F .word 8128 |
| 39 .global ServoNickOffset |
| 42 ServoNickOffset: |
| 43 0006 C01F .word 8128 |
| 44 .global RemainingPulse |
| 45 .global RemainingPulse |
| 46 .section .bss |
| 49 RemainingPulse: |
| 50 0004 0000 .skip 2,0 |
| 51 .global CalculateServoSignals |
| 52 .data |
| 55 CalculateServoSignals: |
| 56 0008 01 .byte 1 |
| 57 .global ServoActive |
| 58 .global ServoActive |
| 59 .section .bss |
| 62 ServoActive: |
| 63 0006 00 .skip 1,0 |
| 64 .global SendSPI |
| 65 .global SendSPI |
| 68 SendSPI: |
| 69 0007 00 .skip 1,0 |
| 70 .global beeptime |
| 71 .global beeptime |
| 74 beeptime: |
| 75 0008 0000 .skip 2,0 |
| 76 .global cntKompass |
| 77 .global cntKompass |
| 80 cntKompass: |
| 81 000a 0000 .skip 2,0 |
| 82 .global UpdateMotor |
| 83 .global UpdateMotor |
| 86 UpdateMotor: |
| 87 000c 00 .skip 1,0 |
| 88 .global CountMilliseconds |
| 89 .global CountMilliseconds |
| 92 CountMilliseconds: |
| 93 000d 0000 .skip 2,0 |
| 94 .data |
| 97 cnt_1ms.3: |
| 98 0009 01 .byte 1 |
| 99 .lcomm cnt.4,1 |
| 100 .lcomm compass_active.5,1 |
| 101 .text |
| 102 .global __vector_18 |
| 104 __vector_18: |
| 105 /* prologue: frame size=0 */ |
| 106 0000 1F92 push __zero_reg__ |
| 107 0002 0F92 push __tmp_reg__ |
| 108 0004 0FB6 in __tmp_reg__,__SREG__ |
| 109 0006 0F92 push __tmp_reg__ |
| 110 0008 1124 clr __zero_reg__ |
| 111 000a 2F93 push r18 |
| 112 000c 3F93 push r19 |
| 113 000e 5F93 push r21 |
| 114 0010 6F93 push r22 |
| 115 0012 7F93 push r23 |
| 116 0014 8F93 push r24 |
| 117 0016 9F93 push r25 |
| 118 0018 AF93 push r26 |
| 119 001a BF93 push r27 |
| 120 001c EF93 push r30 |
| 121 001e FF93 push r31 |
| 122 /* prologue end (size=16) */ |
| 123 0020 20E0 ldi r18,lo8(0) |
| 124 0022 8091 0000 lds r24,SendSPI |
| 125 0026 8823 tst r24 |
| 126 0028 01F0 breq .L2 |
| 127 002a 8091 0000 lds r24,SendSPI |
| 128 002e 8150 subi r24,lo8(-(-1)) |
| 129 0030 8093 0000 sts SendSPI,r24 |
| 130 .L2: |
| 131 0034 8091 0000 lds r24,SpektrumTimer |
| 132 0038 8823 tst r24 |
| 133 003a 01F0 breq .L3 |
| 134 003c 8150 subi r24,lo8(-(-1)) |
| 135 003e 8093 0000 sts SpektrumTimer,r24 |
| 136 .L3: |
| 137 0042 8091 0000 lds r24,cnt.4 |
| 138 0046 8150 subi r24,lo8(-(-1)) |
| 139 0048 8093 0000 sts cnt.4,r24 |
| 140 004c 8F3F cpi r24,lo8(-1) |
| 141 004e 01F0 breq .+2 |
| 142 0050 00C0 rjmp .L4 |
| 143 0052 89E0 ldi r24,lo8(9) |
| 144 0054 8093 0000 sts cnt.4,r24 |
| 145 0058 8091 0000 lds r24,CountMilliseconds |
| 146 005c 9091 0000 lds r25,(CountMilliseconds)+1 |
| 147 0060 0196 adiw r24,1 |
| 148 0062 9093 0000 sts (CountMilliseconds)+1,r25 |
| 149 0066 8093 0000 sts CountMilliseconds,r24 |
| 150 006a 8091 0000 lds r24,cnt_1ms.3 |
| 151 006e 8F5F subi r24,lo8(-(1)) |
| 152 0070 8170 andi r24,lo8(1) |
| 153 0072 8093 0000 sts cnt_1ms.3,r24 |
| 154 0076 8823 tst r24 |
| 155 0078 01F4 brne .L5 |
| 156 007a 81E0 ldi r24,lo8(1) |
| 157 007c 8093 0000 sts UpdateMotor,r24 |
| 158 .L5: |
| 159 0080 3499 sbic 38-0x20,4 |
| 160 0082 00C0 rjmp .L6 |
| 161 0084 81E0 ldi r24,lo8(1) |
| 162 0086 8093 0000 sts compass_active.5,r24 |
| 163 .L6: |
| 164 008a 8091 0000 lds r24,beeptime |
| 165 008e 9091 0000 lds r25,(beeptime)+1 |
| 166 0092 892B or r24,r25 |
| 167 0094 01F0 breq .L7 |
| 168 0096 8091 0000 lds r24,beeptime |
| 169 009a 9091 0000 lds r25,(beeptime)+1 |
| 170 009e 0B97 sbiw r24,11 |
| 171 00a0 00F0 brlo .L8 |
| 172 00a2 8091 0000 lds r24,beeptime |
| 173 00a6 9091 0000 lds r25,(beeptime)+1 |
| 174 00aa 0A97 sbiw r24,10 |
| 175 00ac 9093 0000 sts (beeptime)+1,r25 |
| 176 00b0 8093 0000 sts beeptime,r24 |
| 177 00b4 00C0 rjmp .L9 |
| 178 .L8: |
| 179 00b6 1092 0000 sts (beeptime)+1,__zero_reg__ |
| 180 00ba 1092 0000 sts beeptime,__zero_reg__ |
| 181 .L9: |
| 182 00be 8091 0000 lds r24,beeptime |
| 183 00c2 9091 0000 lds r25,(beeptime)+1 |
| 184 00c6 2091 0000 lds r18,BeepMuster |
| 185 00ca 3091 0000 lds r19,(BeepMuster)+1 |
| 186 00ce 8223 and r24,r18 |
| 187 00d0 9323 and r25,r19 |
| 188 00d2 892B or r24,r25 |
| 189 00d4 01F0 breq .L10 |
| 190 00d6 21E0 ldi r18,lo8(1) |
| 191 00d8 00C0 rjmp .L12 |
| 192 .L10: |
| 193 00da 20E0 ldi r18,lo8(0) |
| 194 00dc 00C0 rjmp .L12 |
| 195 .L7: |
| 196 00de 8FEF ldi r24,lo8(-1) |
| 197 00e0 9FEF ldi r25,hi8(-1) |
| 198 00e2 9093 0000 sts (BeepMuster)+1,r25 |
| 199 00e6 8093 0000 sts BeepMuster,r24 |
| 200 .L12: |
| 201 00ea 8091 0000 lds r24,PlatinenVersion |
| 202 00ee 2223 tst r18 |
| 203 00f0 01F0 breq .L13 |
| 204 00f2 8A30 cpi r24,lo8(10) |
| 205 00f4 01F4 brne .L14 |
| 206 00f6 5A9A sbi 43-0x20,2 |
| 207 00f8 00C0 rjmp .L4 |
| 208 .L14: |
| 209 00fa 479A sbi 40-0x20,7 |
| 210 00fc 00C0 rjmp .L4 |
| 211 .L13: |
| 212 00fe 8A30 cpi r24,lo8(10) |
| 213 0100 01F4 brne .L17 |
| 214 0102 5A98 cbi 43-0x20,2 |
| 215 0104 00C0 rjmp .L4 |
| 216 .L17: |
| 217 0106 4798 cbi 40-0x20,7 |
| 218 .L4: |
| 219 0108 8091 0000 lds r24,compass_active.5 |
| 220 010c 8823 tst r24 |
| 221 010e 01F4 brne .+2 |
| 222 0110 00C0 rjmp .L1 |
| 223 0112 2091 0000 lds r18,NaviDataOkay |
| 224 0116 2223 tst r18 |
| 225 0118 01F0 breq .+2 |
| 226 011a 00C0 rjmp .L1 |
| 227 011c 8091 0000 lds r24,Parameter_GlobalConfig |
| 228 0120 83FF sbrs r24,3 |
| 229 0122 00C0 rjmp .L1 |
| 230 0124 86B1 in r24,38-0x20 |
| 231 0126 9927 clr r25 |
| 232 0128 FC01 movw r30,r24 |
| 233 012a E071 andi r30,lo8(16) |
| 234 012c F070 andi r31,hi8(16) |
| 235 012e 84FF sbrs r24,4 |
| 236 0130 00C0 rjmp .L20 |
| 237 0132 8091 0000 lds r24,cntKompass |
| 238 0136 9091 0000 lds r25,(cntKompass)+1 |
| 239 013a 0196 adiw r24,1 |
| 240 013c 9093 0000 sts (cntKompass)+1,r25 |
| 241 0140 8093 0000 sts cntKompass,r24 |
| 242 0144 8091 0000 lds r24,cntKompass |
| 243 0148 9091 0000 lds r25,(cntKompass)+1 |
| 244 014c 895E subi r24,lo8(1001) |
| 245 014e 9340 sbci r25,hi8(1001) |
| 246 0150 00F0 brlo .L1 |
| 247 0152 2093 0000 sts compass_active.5,r18 |
| 248 0156 00C0 rjmp .L1 |
| 249 .L20: |
| 250 0158 8091 0000 lds r24,cntKompass |
| 251 015c 9091 0000 lds r25,(cntKompass)+1 |
| 252 0160 892B or r24,r25 |
| 253 0162 01F0 breq .L23 |
| 254 0164 8091 0000 lds r24,cntKompass |
| 255 0168 9091 0000 lds r25,(cntKompass)+1 |
| 256 016c 8A56 subi r24,lo8(362) |
| 257 016e 9140 sbci r25,hi8(362) |
| 258 0170 00F4 brsh .L23 |
| 259 0172 8091 0000 lds r24,cntKompass |
| 260 0176 9091 0000 lds r25,(cntKompass)+1 |
| 261 017a 69E2 ldi r22,lo8(41) |
| 262 017c 70E0 ldi r23,hi8(41) |
| 263 017e 0E94 0000 call __udivmodhi4 |
| 264 0182 8091 0000 lds r24,cntKompass |
| 265 0186 9091 0000 lds r25,(cntKompass)+1 |
| 266 018a 860F add r24,r22 |
| 267 018c 971F adc r25,r23 |
| 268 018e 9093 0000 sts (cntKompass)+1,r25 |
| 269 0192 8093 0000 sts cntKompass,r24 |
| 270 0196 8091 0000 lds r24,cntKompass |
| 271 019a 9091 0000 lds r25,(cntKompass)+1 |
| 272 019e 0B97 sbiw r24,11 |
| 273 01a0 00F0 brlo .L24 |
| 274 01a2 8091 0000 lds r24,cntKompass |
| 275 01a6 9091 0000 lds r25,(cntKompass)+1 |
| 276 01aa 0A97 sbiw r24,10 |
| 277 01ac 9093 0000 sts (KompassValue)+1,r25 |
| 278 01b0 8093 0000 sts KompassValue,r24 |
| 279 01b4 00C0 rjmp .L23 |
| 280 .L24: |
| 281 01b6 F093 0000 sts (KompassValue)+1,r31 |
| 282 01ba E093 0000 sts KompassValue,r30 |
| 283 .L23: |
| 284 01be 1092 0000 sts (cntKompass)+1,__zero_reg__ |
| 285 01c2 1092 0000 sts cntKompass,__zero_reg__ |
| 286 .L1: |
| 287 /* epilogue: frame size=0 */ |
| 288 01c6 FF91 pop r31 |
| 289 01c8 EF91 pop r30 |
| 290 01ca BF91 pop r27 |
| 291 01cc AF91 pop r26 |
| 292 01ce 9F91 pop r25 |
| 293 01d0 8F91 pop r24 |
| 294 01d2 7F91 pop r23 |
| 295 01d4 6F91 pop r22 |
| 296 01d6 5F91 pop r21 |
| 297 01d8 3F91 pop r19 |
| 298 01da 2F91 pop r18 |
| 299 01dc 0F90 pop __tmp_reg__ |
| 300 01de 0FBE out __SREG__,__tmp_reg__ |
| 301 01e0 0F90 pop __tmp_reg__ |
| 302 01e2 1F90 pop __zero_reg__ |
| 303 01e4 1895 reti |
| 304 /* epilogue end (size=16) */ |
| 305 /* function __vector_18 size 247 (215) */ |
| 307 .global SetDelay |
| 309 SetDelay: |
| 310 /* prologue: frame size=0 */ |
| 311 /* prologue end (size=0) */ |
| 312 01e6 2091 0000 lds r18,CountMilliseconds |
| 313 01ea 3091 0000 lds r19,(CountMilliseconds)+1 |
| 314 01ee 280F add r18,r24 |
| 315 01f0 391F adc r19,r25 |
| 316 01f2 C901 movw r24,r18 |
| 317 01f4 0196 adiw r24,1 |
| 318 /* epilogue: frame size=0 */ |
| 319 01f6 0895 ret |
| 320 /* epilogue end (size=1) */ |
| 321 /* function SetDelay size 9 (8) */ |
| 323 .global CheckDelay |
| 325 CheckDelay: |
| 326 /* prologue: frame size=0 */ |
| 327 /* prologue end (size=0) */ |
| 328 01f8 2091 0000 lds r18,CountMilliseconds |
| 329 01fc 3091 0000 lds r19,(CountMilliseconds)+1 |
| 330 0200 821B sub r24,r18 |
| 331 0202 930B sbc r25,r19 |
| 332 0204 892F mov r24,r25 |
| 333 0206 9927 clr r25 |
| 334 0208 8695 lsr r24 |
| 335 020a 8074 andi r24,lo8(64) |
| 336 020c 9070 andi r25,hi8(64) |
| 337 /* epilogue: frame size=0 */ |
| 338 020e 0895 ret |
| 339 /* epilogue end (size=1) */ |
| 340 /* function CheckDelay size 12 (11) */ |
| 342 .global Delay_ms |
| 344 Delay_ms: |
| 345 /* prologue: frame size=0 */ |
| 346 0210 CF93 push r28 |
| 347 0212 DF93 push r29 |
| 348 /* prologue end (size=2) */ |
| 349 0214 0E94 0000 call SetDelay |
| 350 0218 EC01 movw r28,r24 |
| 351 .L29: |
| 352 021a CE01 movw r24,r28 |
| 353 021c 0E94 0000 call CheckDelay |
| 354 0220 8823 tst r24 |
| 355 0222 01F0 breq .L29 |
| 356 /* epilogue: frame size=0 */ |
| 357 0224 DF91 pop r29 |
| 358 0226 CF91 pop r28 |
| 359 0228 0895 ret |
| 360 /* epilogue end (size=3) */ |
| 361 /* function Delay_ms size 13 (8) */ |
| 363 .global Delay_ms_Mess |
| 365 Delay_ms_Mess: |
| 366 /* prologue: frame size=0 */ |
| 367 022a CF93 push r28 |
| 368 022c DF93 push r29 |
| 369 /* prologue end (size=2) */ |
| 370 022e 0E94 0000 call SetDelay |
| 371 0232 EC01 movw r28,r24 |
| 372 0234 00C0 rjmp .L40 |
| 373 .L36: |
| 374 0236 8091 0000 lds r24,AdReady |
| 375 023a 8823 tst r24 |
| 376 023c 01F0 breq .L40 |
| 377 023e 9093 0000 sts AdReady,r25 |
| 378 0242 8FEC ldi r24,lo8(-49) |
| 379 0244 8093 7A00 sts 122,r24 |
| 380 .L40: |
| 381 0248 CE01 movw r24,r28 |
| 382 024a 0E94 0000 call CheckDelay |
| 383 024e 982F mov r25,r24 |
| 384 0250 8823 tst r24 |
| 385 0252 01F0 breq .L36 |
| 386 /* epilogue: frame size=0 */ |
| 387 0254 DF91 pop r29 |
| 388 0256 CF91 pop r28 |
| 389 0258 0895 ret |
| 390 /* epilogue end (size=3) */ |
| 391 /* function Delay_ms_Mess size 24 (19) */ |
| 393 .global TIMER2_Init |
| 395 TIMER2_Init: |
| 396 /* prologue: frame size=0 */ |
| 397 /* prologue end (size=0) */ |
| 398 025a 9FB7 in r25,95-0x20 |
| 399 /* #APP */ |
| 400 025c F894 cli |
| 401 /* #NOAPP */ |
| 402 025e 5F98 cbi 43-0x20,7 |
| 403 0260 3E9A sbi 39-0x20,6 |
| 404 0262 469A sbi 40-0x20,6 |
| 405 0264 8091 B000 lds r24,176 |
| 406 0268 8F70 andi r24,lo8(15) |
| 407 026a 8093 B000 sts 176,r24 |
| 408 026e 8091 B000 lds r24,176 |
| 409 0272 8360 ori r24,lo8(3) |
| 410 0274 8093 B000 sts 176,r24 |
| 411 0278 8091 B100 lds r24,177 |
| 412 027c 8B73 andi r24,lo8(59) |
| 413 027e 8093 B100 sts 177,r24 |
| 414 0282 8091 B100 lds r24,177 |
| 415 0286 8B60 ori r24,lo8(11) |
| 416 0288 8093 B100 sts 177,r24 |
| 417 028c 1092 B200 sts 178,__zero_reg__ |
| 418 0290 8FEF ldi r24,lo8(-1) |
| 419 0292 8093 B300 sts 179,r24 |
| 420 0296 8091 B000 lds r24,176 |
| 421 029a 8068 ori r24,lo8(-128) |
| 422 029c 8093 B000 sts 176,r24 |
| 423 02a0 8091 7000 lds r24,112 |
| 424 02a4 8A7F andi r24,lo8(-6) |
| 425 02a6 8093 7000 sts 112,r24 |
| 426 02aa 8091 7000 lds r24,112 |
| 427 02ae 8260 ori r24,lo8(2) |
| 428 02b0 8093 7000 sts 112,r24 |
| 429 02b4 9FBF out 95-0x20,r25 |
| 430 /* epilogue: frame size=0 */ |
| 431 02b6 0895 ret |
| 432 /* epilogue end (size=1) */ |
| 433 /* function TIMER2_Init size 48 (47) */ |
| 435 .global Timer_Init |
| 437 Timer_Init: |
| 438 /* prologue: frame size=0 */ |
| 439 /* prologue end (size=0) */ |
| 440 02b8 8AE0 ldi r24,lo8(10) |
| 441 02ba 90E0 ldi r25,hi8(10) |
| 442 02bc 0E94 0000 call SetDelay |
| 443 02c0 9093 0000 sts (tim_main)+1,r25 |
| 444 02c4 8093 0000 sts tim_main,r24 |
| 445 02c8 82E0 ldi r24,lo8(2) |
| 446 02ca 85BD out 69-0x20,r24 |
| 447 02cc 83EA ldi r24,lo8(-93) |
| 448 02ce 84BD out 68-0x20,r24 |
| 449 02d0 17BC out 71-0x20,__zero_reg__ |
| 450 02d2 84EB ldi r24,lo8(-76) |
| 451 02d4 88BD out 72-0x20,r24 |
| 452 02d6 86E0 ldi r24,lo8(6) |
| 453 02d8 86BD out 70-0x20,r24 |
| 454 02da 8091 6E00 lds r24,110 |
| 455 02de 8160 ori r24,lo8(1) |
| 456 02e0 8093 6E00 sts 110,r24 |
| 457 /* epilogue: frame size=0 */ |
| 458 02e4 0895 ret |
| 459 /* epilogue end (size=1) */ |
| 460 /* function Timer_Init size 23 (22) */ |
| 462 .global CalcNickServoValue |
| 464 CalcNickServoValue: |
| 465 /* prologue: frame size=0 */ |
| 466 /* prologue end (size=0) */ |
| 467 02e6 8091 0000 lds r24,EE_Parameter+109 |
| 468 02ea 2091 0000 lds r18,Parameter_ServoNickControl |
| 469 02ee 82FF sbrs r24,2 |
| 470 02f0 00C0 rjmp .L44 |
| 471 02f2 9091 0000 lds r25,EE_Parameter+48 |
| 472 02f6 8CE3 ldi r24,lo8(60) |
| 473 02f8 989F mul r25,r24 |
| 474 02fa B001 movw r22,r0 |
| 475 02fc 1124 clr r1 |
| 476 02fe 9091 0000 lds r25,EE_Parameter+47 |
| 477 0302 80E5 ldi r24,lo8(80) |
| 478 0304 989F mul r25,r24 |
| 479 0306 A001 movw r20,r0 |
| 480 0308 1124 clr r1 |
| 481 030a 922F mov r25,r18 |
| 482 030c 9058 subi r25,lo8(-(-128)) |
| 483 030e 97FD sbrc r25,7 |
| 484 0310 9D5F subi r25,lo8(-(3)) |
| 485 .L45: |
| 486 0312 9595 asr r25 |
| 487 0314 9595 asr r25 |
| 488 0316 86E0 ldi r24,lo8(6) |
| 489 0318 9802 muls r25,r24 |
| 490 031a C001 movw r24,r0 |
| 491 031c 1124 clr r1 |
| 492 031e 2091 0000 lds r18,NickServoValue |
| 493 0322 3091 0000 lds r19,(NickServoValue)+1 |
| 494 0326 281B sub r18,r24 |
| 495 0328 390B sbc r19,r25 |
| 496 032a 3093 0000 sts (NickServoValue)+1,r19 |
| 497 032e 2093 0000 sts NickServoValue,r18 |
| 498 0332 4217 cp r20,r18 |
| 499 0334 5307 cpc r21,r19 |
| 500 0336 04F0 brlt .L46 |
| 501 0338 5093 0000 sts (NickServoValue)+1,r21 |
| 502 033c 4093 0000 sts NickServoValue,r20 |
| 503 0340 0895 ret |
| 504 .L46: |
| 505 0342 2617 cp r18,r22 |
| 506 0344 3707 cpc r19,r23 |
| 507 0346 04F0 brlt .L43 |
| 508 0348 7093 0000 sts (NickServoValue)+1,r23 |
| 509 034c 6093 0000 sts NickServoValue,r22 |
| 510 0350 0895 ret |
| 511 .L44: |
| 512 0352 822F mov r24,r18 |
| 513 0354 9927 clr r25 |
| 514 0356 36E0 ldi r19,6 |
| 515 0358 880F 1: lsl r24 |
| 516 035a 991F rol r25 |
| 517 035c 3A95 dec r19 |
| 518 035e 01F4 brne 1b |
| 519 0360 9093 0000 sts (NickServoValue)+1,r25 |
| 520 0364 8093 0000 sts NickServoValue,r24 |
| 521 .L43: |
| 522 0368 0895 ret |
| 523 /* epilogue: frame size=0 */ |
| 524 /* epilogue: noreturn */ |
| 525 /* epilogue end (size=0) */ |
| 526 /* function CalcNickServoValue size 67 (67) */ |
| 528 .global CalculateServo |
| 530 CalculateServo: |
| 531 /* prologue: frame size=0 */ |
| 532 036a A0E0 ldi r26,lo8(0) |
| 533 036c B0E0 ldi r27,hi8(0) |
| 534 036e E0E0 ldi r30,pm_lo8(1f) |
| 535 0370 F0E0 ldi r31,pm_hi8(1f) |
| 536 0372 0C94 0000 jmp __prologue_saves__+22 |
| 537 1: |
| 538 /* prologue end (size=6) */ |
| 539 0376 8091 0000 lds r24,EE_Parameter+55 |
| 540 037a E82F mov r30,r24 |
| 541 037c FF27 clr r31 |
| 542 037e E050 subi r30,lo8(-(sintab)) |
| 543 0380 F040 sbci r31,hi8(-(sintab)) |
| 544 0382 9681 ldd r25,Z+6 |
| 545 0384 D080 ld r13,Z |
| 546 0386 8091 0000 lds r24,CalculateServoSignals |
| 547 038a A92F mov r26,r25 |
| 548 038c BB27 clr r27 |
| 549 038e A7FD sbrc r26,7 |
| 550 0390 B095 com r27 |
| 551 0392 CB2F mov r28,r27 |
| 552 0394 DB2F mov r29,r27 |
| 553 0396 8130 cpi r24,lo8(1) |
| 554 0398 01F0 breq .+2 |
| 555 039a 00C0 rjmp .L51 |
| 556 039c 2091 0000 lds r18,IntegralNick |
| 557 03a0 3091 0000 lds r19,(IntegralNick)+1 |
| 558 03a4 4091 0000 lds r20,(IntegralNick)+2 |
| 559 03a8 5091 0000 lds r21,(IntegralNick)+3 |
| 560 03ac BD01 movw r22,r26 |
| 561 03ae CE01 movw r24,r28 |
| 562 03b0 0E94 0000 call __mulsi3 |
| 563 03b4 97FF sbrs r25,7 |
| 564 03b6 00C0 rjmp .L52 |
| 565 03b8 6158 subi r22,lo8(-(127)) |
| 566 03ba 7F4F sbci r23,hi8(-(127)) |
| 567 03bc 8F4F sbci r24,hlo8(-(127)) |
| 568 03be 9F4F sbci r25,hhi8(-(127)) |
| 569 .L52: |
| 570 03c0 7B01 movw r14,r22 |
| 571 03c2 8C01 movw r16,r24 |
| 572 03c4 C7E0 ldi r28,7 |
| 573 03c6 1595 1: asr r17 |
| 574 03c8 0795 ror r16 |
| 575 03ca F794 ror r15 |
| 576 03cc E794 ror r14 |
| 577 03ce CA95 dec r28 |
| 578 03d0 01F4 brne 1b |
| 579 03d2 8D2D mov r24,r13 |
| 580 03d4 9927 clr r25 |
| 581 03d6 87FD sbrc r24,7 |
| 582 03d8 9095 com r25 |
| 583 03da A92F mov r26,r25 |
| 584 03dc B92F mov r27,r25 |
| 585 03de 2091 0000 lds r18,IntegralRoll |
| 586 03e2 3091 0000 lds r19,(IntegralRoll)+1 |
| 587 03e6 4091 0000 lds r20,(IntegralRoll)+2 |
| 588 03ea 5091 0000 lds r21,(IntegralRoll)+3 |
| 589 03ee BC01 movw r22,r24 |
| 590 03f0 CD01 movw r24,r26 |
| 591 03f2 0E94 0000 call __mulsi3 |
| 592 03f6 97FF sbrs r25,7 |
| 593 03f8 00C0 rjmp .L53 |
| 594 03fa 6158 subi r22,lo8(-(127)) |
| 595 03fc 7F4F sbci r23,hi8(-(127)) |
| 596 03fe 8F4F sbci r24,hlo8(-(127)) |
| 597 0400 9F4F sbci r25,hhi8(-(127)) |
| 598 .L53: |
| 599 0402 B7E0 ldi r27,7 |
| 600 0404 9595 1: asr r25 |
| 601 0406 8795 ror r24 |
| 602 0408 7795 ror r23 |
| 603 040a 6795 ror r22 |
| 604 040c BA95 dec r27 |
| 605 040e 01F4 brne 1b |
| 606 0410 F801 movw r30,r16 |
| 607 0412 E701 movw r28,r14 |
| 608 0414 C61B sub r28,r22 |
| 609 0416 D70B sbc r29,r23 |
| 610 0418 E80B sbc r30,r24 |
| 611 041a F90B sbc r31,r25 |
| 612 041c 2091 0000 lds r18,POI_KameraNick |
| 613 0420 3091 0000 lds r19,(POI_KameraNick)+1 |
| 614 0424 C901 movw r24,r18 |
| 615 0426 A3E0 ldi r26,3 |
| 616 0428 880F 1: lsl r24 |
| 617 042a 991F rol r25 |
| 618 042c AA95 dec r26 |
| 619 042e 01F4 brne 1b |
| 620 0430 821B sub r24,r18 |
| 621 0432 930B sbc r25,r19 |
| 622 0434 AA27 clr r26 |
| 623 0436 97FD sbrc r25,7 |
| 624 0438 A095 com r26 |
| 625 043a BA2F mov r27,r26 |
| 626 043c C81B sub r28,r24 |
| 627 043e D90B sbc r29,r25 |
| 628 0440 EA0B sbc r30,r26 |
| 629 0442 FB0B sbc r31,r27 |
| 630 0444 8091 0000 lds r24,Parameter_ServoNickComp |
| 631 0448 9927 clr r25 |
| 632 044a AA27 clr r26 |
| 633 044c BB27 clr r27 |
| 634 044e BC01 movw r22,r24 |
| 635 0450 CD01 movw r24,r26 |
| 636 0452 9E01 movw r18,r28 |
| 637 0454 AF01 movw r20,r30 |
| 638 0456 0E94 0000 call __mulsi3 |
| 639 045a 97FF sbrs r25,7 |
| 640 045c 00C0 rjmp .L54 |
| 641 045e 6150 subi r22,lo8(-(511)) |
| 642 0460 7E4F sbci r23,hi8(-(511)) |
| 643 0462 8F4F sbci r24,hlo8(-(511)) |
| 644 0464 9F4F sbci r25,hhi8(-(511)) |
| 645 .L54: |
| 646 0466 FC01 movw r30,r24 |
| 647 0468 EB01 movw r28,r22 |
| 648 046a 79E0 ldi r23,9 |
| 649 046c F595 1: asr r31 |
| 650 046e E795 ror r30 |
| 651 0470 D795 ror r29 |
| 652 0472 C795 ror r28 |
| 653 0474 7A95 dec r23 |
| 654 0476 01F4 brne 1b |
| 655 0478 1091 0000 lds r17,EE_Parameter+109 |
| 656 047c 6091 0000 lds r22,NickServoValue |
| 657 0480 7091 0000 lds r23,(NickServoValue)+1 |
| 658 0484 12FF sbrs r17,2 |
| 659 0486 00C0 rjmp .L55 |
| 660 0488 7093 0000 sts (ServoNickOffset)+1,r23 |
| 661 048c 6093 0000 sts ServoNickOffset,r22 |
| 662 0490 00C0 rjmp .L56 |
| 663 .L55: |
| 664 0492 4091 0000 lds r20,ServoNickOffset |
| 665 0496 5091 0000 lds r21,(ServoNickOffset)+1 |
| 666 049a 8091 0000 lds r24,EE_Parameter+54 |
| 667 049e 282F mov r18,r24 |
| 668 04a0 3327 clr r19 |
| 669 04a2 CB01 movw r24,r22 |
| 670 04a4 841B sub r24,r20 |
| 671 04a6 950B sbc r25,r21 |
| 672 04a8 B901 movw r22,r18 |
| 673 04aa 0E94 0000 call __divmodhi4 |
| 674 04ae 8091 0000 lds r24,ServoNickOffset |
| 675 04b2 9091 0000 lds r25,(ServoNickOffset)+1 |
| 676 04b6 860F add r24,r22 |
| 677 04b8 971F adc r25,r23 |
| 678 04ba 9093 0000 sts (ServoNickOffset)+1,r25 |
| 679 04be 8093 0000 sts ServoNickOffset,r24 |
| 680 .L56: |
| 681 04c2 10FF sbrs r17,0 |
| 682 04c4 00C0 rjmp .L57 |
| 683 04c6 8091 0000 lds r24,ServoNickOffset |
| 684 04ca 9091 0000 lds r25,(ServoNickOffset)+1 |
| 685 04ce 97FD sbrc r25,7 |
| 686 04d0 0F96 adiw r24,15 |
| 687 .L58: |
| 688 04d2 64E0 ldi r22,4 |
| 689 04d4 9595 1: asr r25 |
| 690 04d6 8795 ror r24 |
| 691 04d8 6A95 dec r22 |
| 692 04da 01F4 brne 1b |
| 693 04dc AA27 clr r26 |
| 694 04de 97FD sbrc r25,7 |
| 695 04e0 A095 com r26 |
| 696 04e2 BA2F mov r27,r26 |
| 697 04e4 C80F add r28,r24 |
| 698 04e6 D91F adc r29,r25 |
| 699 04e8 EA1F adc r30,r26 |
| 700 04ea FB1F adc r31,r27 |
| 701 04ec 00C0 rjmp .L59 |
| 702 .L57: |
| 703 04ee 8091 0000 lds r24,ServoNickOffset |
| 704 04f2 9091 0000 lds r25,(ServoNickOffset)+1 |
| 705 04f6 97FD sbrc r25,7 |
| 706 04f8 0F96 adiw r24,15 |
| 707 .L60: |
| 708 04fa 54E0 ldi r21,4 |
| 709 04fc 9595 1: asr r25 |
| 710 04fe 8795 ror r24 |
| 711 0500 5A95 dec r21 |
| 712 0502 01F4 brne 1b |
| 713 0504 AA27 clr r26 |
| 714 0506 97FD sbrc r25,7 |
| 715 0508 A095 com r26 |
| 716 050a BA2F mov r27,r26 |
| 717 050c 8C1B sub r24,r28 |
| 718 050e 9D0B sbc r25,r29 |
| 719 0510 AE0B sbc r26,r30 |
| 720 0512 BF0B sbc r27,r31 |
| 721 0514 FD01 movw r30,r26 |
| 722 0516 EC01 movw r28,r24 |
| 723 .L59: |
| 724 0518 2091 0000 lds r18,EE_Parameter+106 |
| 725 051c 2223 tst r18 |
| 726 051e 01F0 breq .L61 |
| 727 0520 3327 clr r19 |
| 728 0522 8091 0000 lds r24,ServoNickValue |
| 729 0526 9091 0000 lds r25,(ServoNickValue)+1 |
| 730 052a 829F mul r24,r18 |
| 731 052c A001 movw r20,r0 |
| 732 052e 839F mul r24,r19 |
| 733 0530 500D add r21,r0 |
| 734 0532 929F mul r25,r18 |
| 735 0534 500D add r21,r0 |
| 736 0536 1124 clr r1 |
| 737 0538 CA01 movw r24,r20 |
| 738 053a AA27 clr r26 |
| 739 053c 97FD sbrc r25,7 |
| 740 053e A095 com r26 |
| 741 0540 BA2F mov r27,r26 |
| 742 0542 8C0F add r24,r28 |
| 743 0544 9D1F adc r25,r29 |
| 744 0546 AE1F adc r26,r30 |
| 745 0548 BF1F adc r27,r31 |
| 746 054a 2F5F subi r18,lo8(-(1)) |
| 747 054c 3F4F sbci r19,hi8(-(1)) |
| 748 054e 4427 clr r20 |
| 749 0550 37FD sbrc r19,7 |
| 750 0552 4095 com r20 |
| 751 0554 542F mov r21,r20 |
| 752 0556 BC01 movw r22,r24 |
| 753 0558 CD01 movw r24,r26 |
| 754 055a 0E94 0000 call __divmodsi4 |
| 755 055e 3093 0000 sts (ServoNickValue)+1,r19 |
| 756 0562 2093 0000 sts ServoNickValue,r18 |
| 757 0566 00C0 rjmp .L62 |
| 758 .L61: |
| 759 0568 D093 0000 sts (ServoNickValue)+1,r29 |
| 760 056c C093 0000 sts ServoNickValue,r28 |
| 761 .L62: |
| 762 0570 8091 0000 lds r24,EE_Parameter+47 |
| 763 0574 282F mov r18,r24 |
| 764 0576 3327 clr r19 |
| 765 0578 220F lsl r18 |
| 766 057a 331F rol r19 |
| 767 057c 220F lsl r18 |
| 768 057e 331F rol r19 |
| 769 0580 8091 0000 lds r24,ServoNickValue |
| 770 0584 9091 0000 lds r25,(ServoNickValue)+1 |
| 771 0588 8217 cp r24,r18 |
| 772 058a 9307 cpc r25,r19 |
| 773 058c 04F0 brlt .L81 |
| 774 058e 8091 0000 lds r24,EE_Parameter+48 |
| 775 0592 282F mov r18,r24 |
| 776 0594 3327 clr r19 |
| 777 0596 220F lsl r18 |
| 778 0598 331F rol r19 |
| 779 059a 220F lsl r18 |
| 780 059c 331F rol r19 |
| 781 059e 8091 0000 lds r24,ServoNickValue |
| 782 05a2 9091 0000 lds r25,(ServoNickValue)+1 |
| 783 05a6 2817 cp r18,r24 |
| 784 05a8 3907 cpc r19,r25 |
| 785 05aa 04F4 brge .L64 |
| 786 .L81: |
| 787 05ac 3093 0000 sts (ServoNickValue)+1,r19 |
| 788 05b0 2093 0000 sts ServoNickValue,r18 |
| 789 .L64: |
| 790 05b4 8091 0000 lds r24,PlatinenVersion |
| 791 05b8 8431 cpi r24,lo8(20) |
| 792 05ba 00F4 brsh .+2 |
| 793 05bc 00C0 rjmp .L79 |
| 794 05be 8091 0000 lds r24,CalculateServoSignals |
| 795 05c2 8F5F subi r24,lo8(-(1)) |
| 796 05c4 8093 0000 sts CalculateServoSignals,r24 |
| 797 05c8 00C0 rjmp .L50 |
| 798 .L51: |
| 799 05ca 2091 0000 lds r18,IntegralRoll |
| 800 05ce 3091 0000 lds r19,(IntegralRoll)+1 |
| 801 05d2 4091 0000 lds r20,(IntegralRoll)+2 |
| 802 05d6 5091 0000 lds r21,(IntegralRoll)+3 |
| 803 05da BD01 movw r22,r26 |
| 804 05dc CE01 movw r24,r28 |
| 805 05de 0E94 0000 call __mulsi3 |
| 806 05e2 97FF sbrs r25,7 |
| 807 05e4 00C0 rjmp .L69 |
| 808 05e6 6158 subi r22,lo8(-(127)) |
| 809 05e8 7F4F sbci r23,hi8(-(127)) |
| 810 05ea 8F4F sbci r24,hlo8(-(127)) |
| 811 05ec 9F4F sbci r25,hhi8(-(127)) |
| 812 .L69: |
| 813 05ee 7B01 movw r14,r22 |
| 814 05f0 8C01 movw r16,r24 |
| 815 05f2 87E0 ldi r24,7 |
| 816 05f4 1595 1: asr r17 |
| 817 05f6 0795 ror r16 |
| 818 05f8 F794 ror r15 |
| 819 05fa E794 ror r14 |
| 820 05fc 8A95 dec r24 |
| 821 05fe 01F4 brne 1b |
| 822 0600 8D2D mov r24,r13 |
| 823 0602 9927 clr r25 |
| 824 0604 87FD sbrc r24,7 |
| 825 0606 9095 com r25 |
| 826 0608 A92F mov r26,r25 |
| 827 060a B92F mov r27,r25 |
| 828 060c 2091 0000 lds r18,IntegralNick |
| 829 0610 3091 0000 lds r19,(IntegralNick)+1 |
| 830 0614 4091 0000 lds r20,(IntegralNick)+2 |
| 831 0618 5091 0000 lds r21,(IntegralNick)+3 |
| 832 061c BC01 movw r22,r24 |
| 833 061e CD01 movw r24,r26 |
| 834 0620 0E94 0000 call __mulsi3 |
| 835 0624 9B01 movw r18,r22 |
| 836 0626 AC01 movw r20,r24 |
| 837 0628 97FF sbrs r25,7 |
| 838 062a 00C0 rjmp .L70 |
| 839 062c 2158 subi r18,lo8(-(127)) |
| 840 062e 3F4F sbci r19,hi8(-(127)) |
| 841 0630 4F4F sbci r20,hlo8(-(127)) |
| 842 0632 5F4F sbci r21,hhi8(-(127)) |
| 843 .L70: |
| 844 0634 C7E0 ldi r28,7 |
| 845 0636 5595 1: asr r21 |
| 846 0638 4795 ror r20 |
| 847 063a 3795 ror r19 |
| 848 063c 2795 ror r18 |
| 849 063e CA95 dec r28 |
| 850 0640 01F4 brne 1b |
| 851 0642 2E0D add r18,r14 |
| 852 0644 3F1D adc r19,r15 |
| 853 0646 401F adc r20,r16 |
| 854 0648 511F adc r21,r17 |
| 855 064a 8091 0000 lds r24,Parameter_ServoRollComp |
| 856 064e 9927 clr r25 |
| 857 0650 AA27 clr r26 |
| 858 0652 BB27 clr r27 |
| 859 0654 BC01 movw r22,r24 |
| 860 0656 CD01 movw r24,r26 |
| 861 0658 0E94 0000 call __mulsi3 |
| 862 065c 97FF sbrs r25,7 |
| 863 065e 00C0 rjmp .L71 |
| 864 0660 6150 subi r22,lo8(-(511)) |
| 865 0662 7E4F sbci r23,hi8(-(511)) |
| 866 0664 8F4F sbci r24,hlo8(-(511)) |
| 867 0666 9F4F sbci r25,hhi8(-(511)) |
| 868 .L71: |
| 869 0668 FC01 movw r30,r24 |
| 870 066a EB01 movw r28,r22 |
| 871 066c B9E0 ldi r27,9 |
| 872 066e F595 1: asr r31 |
| 873 0670 E795 ror r30 |
| 874 0672 D795 ror r29 |
| 875 0674 C795 ror r28 |
| 876 0676 BA95 dec r27 |
| 877 0678 01F4 brne 1b |
| 878 067a 8091 0000 lds r24,Parameter_ServoRollControl |
| 879 067e 9927 clr r25 |
| 880 0680 A6E0 ldi r26,6 |
| 881 0682 880F 1: lsl r24 |
| 882 0684 991F rol r25 |
| 883 0686 AA95 dec r26 |
| 884 0688 01F4 brne 1b |
| 885 068a 4091 0000 lds r20,ServoRollOffset |
| 886 068e 5091 0000 lds r21,(ServoRollOffset)+1 |
| 887 0692 2091 0000 lds r18,EE_Parameter+54 |
| 888 0696 3327 clr r19 |
| 889 0698 841B sub r24,r20 |
| 890 069a 950B sbc r25,r21 |
| 891 069c B901 movw r22,r18 |
| 892 069e 0E94 0000 call __divmodhi4 |
| 893 06a2 8091 0000 lds r24,ServoRollOffset |
| 894 06a6 9091 0000 lds r25,(ServoRollOffset)+1 |
| 895 06aa 860F add r24,r22 |
| 896 06ac 971F adc r25,r23 |
| 897 06ae 9093 0000 sts (ServoRollOffset)+1,r25 |
| 898 06b2 8093 0000 sts ServoRollOffset,r24 |
| 899 06b6 8091 0000 lds r24,EE_Parameter+109 |
| 900 06ba 81FF sbrs r24,1 |
| 901 06bc 00C0 rjmp .L72 |
| 902 06be 8091 0000 lds r24,ServoRollOffset |
| 903 06c2 9091 0000 lds r25,(ServoRollOffset)+1 |
| 904 06c6 97FD sbrc r25,7 |
| 905 06c8 0F96 adiw r24,15 |
| 906 .L73: |
| 907 06ca 74E0 ldi r23,4 |
| 908 06cc 9595 1: asr r25 |
| 909 06ce 8795 ror r24 |
| 910 06d0 7A95 dec r23 |
| 911 06d2 01F4 brne 1b |
| 912 06d4 AA27 clr r26 |
| 913 06d6 97FD sbrc r25,7 |
| 914 06d8 A095 com r26 |
| 915 06da BA2F mov r27,r26 |
| 916 06dc C80F add r28,r24 |
| 917 06de D91F adc r29,r25 |
| 918 06e0 EA1F adc r30,r26 |
| 919 06e2 FB1F adc r31,r27 |
| 920 06e4 00C0 rjmp .L74 |
| 921 .L72: |
| 922 06e6 8091 0000 lds r24,ServoRollOffset |
| 923 06ea 9091 0000 lds r25,(ServoRollOffset)+1 |
| 924 06ee 97FD sbrc r25,7 |
| 925 06f0 0F96 adiw r24,15 |
| 926 .L75: |
| 927 06f2 64E0 ldi r22,4 |
| 928 06f4 9595 1: asr r25 |
| 929 06f6 8795 ror r24 |
| 930 06f8 6A95 dec r22 |
| 931 06fa 01F4 brne 1b |
| 932 06fc AA27 clr r26 |
| 933 06fe 97FD sbrc r25,7 |
| 934 0700 A095 com r26 |
| 935 0702 BA2F mov r27,r26 |
| 936 0704 8C1B sub r24,r28 |
| 937 0706 9D0B sbc r25,r29 |
| 938 0708 AE0B sbc r26,r30 |
| 939 070a BF0B sbc r27,r31 |
| 940 070c FD01 movw r30,r26 |
| 941 070e EC01 movw r28,r24 |
| 942 .L74: |
| 943 0710 2091 0000 lds r18,EE_Parameter+107 |
| 944 0714 2223 tst r18 |
| 945 0716 01F0 breq .L76 |
| 946 0718 3327 clr r19 |
| 947 071a 8091 0000 lds r24,ServoRollValue |
| 948 071e 9091 0000 lds r25,(ServoRollValue)+1 |
| 949 0722 829F mul r24,r18 |
| 950 0724 A001 movw r20,r0 |
| 951 0726 839F mul r24,r19 |
| 952 0728 500D add r21,r0 |
| 953 072a 929F mul r25,r18 |
| 954 072c 500D add r21,r0 |
| 955 072e 1124 clr r1 |
| 956 0730 CA01 movw r24,r20 |
| 957 0732 AA27 clr r26 |
| 958 0734 97FD sbrc r25,7 |
| 959 0736 A095 com r26 |
| 960 0738 BA2F mov r27,r26 |
| 961 073a 8C0F add r24,r28 |
| 962 073c 9D1F adc r25,r29 |
| 963 073e AE1F adc r26,r30 |
| 964 0740 BF1F adc r27,r31 |
| 965 0742 2F5F subi r18,lo8(-(1)) |
| 966 0744 3F4F sbci r19,hi8(-(1)) |
| 967 0746 4427 clr r20 |
| 968 0748 37FD sbrc r19,7 |
| 969 074a 4095 com r20 |
| 970 074c 542F mov r21,r20 |
| 971 074e BC01 movw r22,r24 |
| 972 0750 CD01 movw r24,r26 |
| 973 0752 0E94 0000 call __divmodsi4 |
| 974 0756 3093 0000 sts (ServoRollValue)+1,r19 |
| 975 075a 2093 0000 sts ServoRollValue,r18 |
| 976 075e 00C0 rjmp .L77 |
| 977 .L76: |
| 978 0760 D093 0000 sts (ServoRollValue)+1,r29 |
| 979 0764 C093 0000 sts ServoRollValue,r28 |
| 980 .L77: |
| 981 0768 8091 0000 lds r24,EE_Parameter+51 |
| 982 076c 282F mov r18,r24 |
| 983 076e 3327 clr r19 |
| 984 0770 220F lsl r18 |
| 985 0772 331F rol r19 |
| 986 0774 220F lsl r18 |
| 987 0776 331F rol r19 |
| 988 0778 8091 0000 lds r24,ServoRollValue |
| 989 077c 9091 0000 lds r25,(ServoRollValue)+1 |
| 990 0780 8217 cp r24,r18 |
| 991 0782 9307 cpc r25,r19 |
| 992 0784 04F0 brlt .L82 |
| 993 0786 8091 0000 lds r24,EE_Parameter+52 |
| 994 078a 282F mov r18,r24 |
| 995 078c 3327 clr r19 |
| 996 078e 220F lsl r18 |
| 997 0790 331F rol r19 |
| 998 0792 220F lsl r18 |
| 999 0794 331F rol r19 |
| 1000 0796 8091 0000 lds r24,ServoRollValue |
| 1001 079a 9091 0000 lds r25,(ServoRollValue)+1 |
| 1002 079e 2817 cp r18,r24 |
| 1003 07a0 3907 cpc r19,r25 |
| 1004 07a2 04F4 brge .L79 |
| 1005 .L82: |
| 1006 07a4 3093 0000 sts (ServoRollValue)+1,r19 |
| 1007 07a8 2093 0000 sts ServoRollValue,r18 |
| 1008 .L79: |
| 1009 07ac 1092 0000 sts CalculateServoSignals,__zero_reg__ |
| 1010 .L50: |
| 1011 /* epilogue: frame size=0 */ |
| 1012 07b0 E7E0 ldi r30,7 |
| 1013 07b2 CDB7 in r28,__SP_L__ |
| 1014 07b4 DEB7 in r29,__SP_H__ |
| 1015 07b6 0C94 0000 jmp __epilogue_restores__+22 |
| 1016 /* epilogue end (size=5) */ |
| 1017 /* function CalculateServo size 556 (545) */ |
| 1019 .lcomm PulseOutput.0,1 |
| 1020 .lcomm ServoFrameTime.1,2 |
| 1021 .lcomm ServoIndex.2,1 |
| 1022 .global __vector_9 |
| 1024 __vector_9: |
| 1025 /* prologue: frame size=0 */ |
| 1026 07ba 1F92 push __zero_reg__ |
| 1027 07bc 0F92 push __tmp_reg__ |
| 1028 07be 0FB6 in __tmp_reg__,__SREG__ |
| 1029 07c0 0F92 push __tmp_reg__ |
| 1030 07c2 1124 clr __zero_reg__ |
| 1031 07c4 2F93 push r18 |
| 1032 07c6 3F93 push r19 |
| 1033 07c8 4F93 push r20 |
| 1034 07ca 5F93 push r21 |
| 1035 07cc 8F93 push r24 |
| 1036 07ce 9F93 push r25 |
| 1037 07d0 EF93 push r30 |
| 1038 07d2 FF93 push r31 |
| 1039 /* prologue end (size=13) */ |
| 1040 07d4 8091 0000 lds r24,PlatinenVersion |
| 1041 07d8 9091 0000 lds r25,PulseOutput.0 |
| 1042 07dc 8431 cpi r24,lo8(20) |
| 1043 07de 00F0 brlo .+2 |
| 1044 07e0 00C0 rjmp .L84 |
| 1045 07e2 9923 tst r25 |
| 1046 07e4 01F0 breq .+2 |
| 1047 07e6 00C0 rjmp .L91 |
| 1048 07e8 8091 B000 lds r24,176 |
| 1049 07ec 86FF sbrs r24,6 |
| 1050 07ee 00C0 rjmp .L86 |
| 1051 07f0 8091 B000 lds r24,176 |
| 1052 07f4 8F7B andi r24,lo8(-65) |
| 1053 07f6 8093 B000 sts 176,r24 |
| 1054 07fa 8091 0000 lds r24,ServoNickValue |
| 1055 07fe 9091 0000 lds r25,(ServoNickValue)+1 |
| 1056 0802 8755 subi r24,lo8(-(425)) |
| 1057 0804 9E4F sbci r25,hi8(-(425)) |
| 1058 0806 9093 0000 sts (RemainingPulse)+1,r25 |
| 1059 080a 8093 0000 sts RemainingPulse,r24 |
| 1060 080e 25E0 ldi r18,hi8(1501) |
| 1061 0810 8D3D cpi r24,lo8(1501) |
| 1062 0812 9207 cpc r25,r18 |
| 1063 0814 00F0 brlo .L87 |
| 1064 0816 8CED ldi r24,lo8(1500) |
| 1065 0818 95E0 ldi r25,hi8(1500) |
| 1066 081a 00C0 rjmp .L121 |
| 1067 .L87: |
| 1068 081c 8757 subi r24,lo8(375) |
| 1069 081e 9140 sbci r25,hi8(375) |
| 1070 0820 00F4 brsh .L88 |
| 1071 0822 87E7 ldi r24,lo8(375) |
| 1072 0824 91E0 ldi r25,hi8(375) |
| 1073 .L121: |
| 1074 0826 9093 0000 sts (RemainingPulse)+1,r25 |
| 1075 082a 8093 0000 sts RemainingPulse,r24 |
| 1076 .L88: |
| 1077 082e 8091 0000 lds r24,RemainingPulse |
| 1078 0832 9091 0000 lds r25,(RemainingPulse)+1 |
| 1079 0836 00C0 rjmp .L126 |
| 1080 .L86: |
| 1081 0838 8091 B000 lds r24,176 |
| 1082 083c 8064 ori r24,lo8(64) |
| 1083 083e 8093 B000 sts 176,r24 |
| 1084 0842 8091 0000 lds r24,EE_Parameter+53 |
| 1085 0846 282F mov r18,r24 |
| 1086 0848 3327 clr r19 |
| 1087 084a 8DED ldi r24,lo8(1757) |
| 1088 084c 96E0 ldi r25,hi8(1757) |
| 1089 084e 289F mul r18,r24 |
| 1090 0850 A001 movw r20,r0 |
| 1091 0852 299F mul r18,r25 |
| 1092 0854 500D add r21,r0 |
| 1093 0856 389F mul r19,r24 |
| 1094 0858 500D add r21,r0 |
| 1095 085a 1124 clr r1 |
| 1096 085c CA01 movw r24,r20 |
| 1097 085e 2091 0000 lds r18,ServoFrameTime.1 |
| 1098 0862 3091 0000 lds r19,(ServoFrameTime.1)+1 |
| 1099 0866 821B sub r24,r18 |
| 1100 0868 930B sbc r25,r19 |
| 1101 086a 9093 0000 sts (RemainingPulse)+1,r25 |
| 1102 086e 8093 0000 sts RemainingPulse,r24 |
| 1103 0872 81E0 ldi r24,lo8(1) |
| 1104 0874 8093 0000 sts CalculateServoSignals,r24 |
| 1105 0878 00C0 rjmp .L109 |
| 1106 .L84: |
| 1107 087a 9923 tst r25 |
| 1108 087c 01F0 breq .+2 |
| 1109 087e 00C0 rjmp .L91 |
| 1110 0880 8091 B000 lds r24,176 |
| 1111 0884 86FF sbrs r24,6 |
| 1112 0886 00C0 rjmp .L93 |
| 1113 0888 8091 B000 lds r24,176 |
| 1114 088c 8F7B andi r24,lo8(-65) |
| 1115 088e 8093 B000 sts 176,r24 |
| 1116 0892 E091 0000 lds r30,ServoIndex.2 |
| 1117 0896 2091 0000 lds r18,EE_Parameter+53 |
| 1118 089a EE23 tst r30 |
| 1119 089c 01F4 brne .L94 |
| 1120 089e 3327 clr r19 |
| 1121 08a0 8DED ldi r24,lo8(1757) |
| 1122 08a2 96E0 ldi r25,hi8(1757) |
| 1123 08a4 289F mul r18,r24 |
| 1124 08a6 A001 movw r20,r0 |
| 1125 08a8 299F mul r18,r25 |
| 1126 08aa 500D add r21,r0 |
| 1127 08ac 389F mul r19,r24 |
| 1128 08ae 500D add r21,r0 |
| 1129 08b0 1124 clr r1 |
| 1130 08b2 CA01 movw r24,r20 |
| 1131 08b4 2091 0000 lds r18,ServoFrameTime.1 |
| 1132 08b8 3091 0000 lds r19,(ServoFrameTime.1)+1 |
| 1133 08bc 821B sub r24,r18 |
| 1134 08be 930B sbc r25,r19 |
| 1135 08c0 9093 0000 sts (RemainingPulse)+1,r25 |
| 1136 08c4 8093 0000 sts RemainingPulse,r24 |
| 1137 08c8 1092 0000 sts (ServoFrameTime.1)+1,__zero_reg__ |
| 1138 08cc 1092 0000 sts ServoFrameTime.1,__zero_reg__ |
| 1139 08d0 469A sbi 40-0x20,6 |
| 1140 08d2 00C0 rjmp .L109 |
| 1141 .L94: |
| 1142 08d4 2E17 cp r18,r30 |
| 1143 08d6 00F4 brsh .L96 |
| 1144 08d8 8AE0 ldi r24,lo8(10) |
| 1145 08da 90E0 ldi r25,hi8(10) |
| 1146 08dc 9093 0000 sts (RemainingPulse)+1,r25 |
| 1147 08e0 8093 0000 sts RemainingPulse,r24 |
| 1148 08e4 00C0 rjmp .L109 |
| 1149 .L96: |
| 1150 08e6 89EA ldi r24,lo8(937) |
| 1151 08e8 93E0 ldi r25,hi8(937) |
| 1152 08ea 9093 0000 sts (RemainingPulse)+1,r25 |
| 1153 08ee 8093 0000 sts RemainingPulse,r24 |
| 1154 08f2 8E2F mov r24,r30 |
| 1155 08f4 9927 clr r25 |
| 1156 08f6 8330 cpi r24,3 |
| 1157 08f8 9105 cpc r25,__zero_reg__ |
| 1158 08fa 01F0 breq .L101 |
| 1159 08fc 8430 cpi r24,4 |
| 1160 08fe 9105 cpc r25,__zero_reg__ |
| 1161 0900 04F4 brge .L105 |
| 1162 0902 8130 cpi r24,1 |
| 1163 0904 9105 cpc r25,__zero_reg__ |
| 1164 0906 01F0 breq .L99 |
| 1165 0908 0297 sbiw r24,2 |
| 1166 090a 01F0 breq .L100 |
| 1167 090c 00C0 rjmp .L104 |
| 1168 .L105: |
| 1169 090e 8430 cpi r24,4 |
| 1170 0910 9105 cpc r25,__zero_reg__ |
| 1171 0912 01F0 breq .L102 |
| 1172 0914 0597 sbiw r24,5 |
| 1173 0916 01F0 breq .L103 |
| 1174 0918 00C0 rjmp .L104 |
| 1175 .L99: |
| 1176 091a 8091 0000 lds r24,ServoNickValue |
| 1177 091e 9091 0000 lds r25,(ServoNickValue)+1 |
| 1178 0922 00C0 rjmp .L125 |
| 1179 .L100: |
| 1180 0924 8091 0000 lds r24,ServoRollValue |
| 1181 0928 9091 0000 lds r25,(ServoRollValue)+1 |
| 1182 .L125: |
| 1183 092c 8755 subi r24,lo8(-(425)) |
| 1184 092e 9E4F sbci r25,hi8(-(425)) |
| 1185 0930 00C0 rjmp .L122 |
| 1186 .L101: |
| 1187 0932 8091 0000 lds r24,Parameter_Servo3 |
| 1188 0936 00C0 rjmp .L127 |
| 1189 .L102: |
| 1190 0938 8091 0000 lds r24,Parameter_Servo4 |
| 1191 093c 00C0 rjmp .L127 |
| 1192 .L103: |
| 1193 093e 8091 0000 lds r24,Parameter_Servo5 |
| 1194 .L127: |
| 1195 0942 9927 clr r25 |
| 1196 0944 880F lsl r24 |
| 1197 0946 991F rol r25 |
| 1198 0948 880F lsl r24 |
| 1199 094a 991F rol r25 |
| 1200 094c 00C0 rjmp .L125 |
| 1201 .L104: |
| 1202 094e FF27 clr r31 |
| 1203 0950 EE0F add r30,r30 |
| 1204 0952 FF1F adc r31,r31 |
| 1205 0954 E050 subi r30,lo8(-(PPM_in)) |
| 1206 0956 F040 sbci r31,hi8(-(PPM_in)) |
| 1207 0958 2081 ld r18,Z |
| 1208 095a 3181 ldd r19,Z+1 |
| 1209 095c 220F add r18,r18 |
| 1210 095e 331F adc r19,r19 |
| 1211 0960 8091 0000 lds r24,RemainingPulse |
| 1212 0964 9091 0000 lds r25,(RemainingPulse)+1 |
| 1213 0968 820F add r24,r18 |
| 1214 096a 931F adc r25,r19 |
| 1215 .L122: |
| 1216 096c 9093 0000 sts (RemainingPulse)+1,r25 |
| 1217 0970 8093 0000 sts RemainingPulse,r24 |
| 1218 0974 8091 0000 lds r24,RemainingPulse |
| 1219 0978 9091 0000 lds r25,(RemainingPulse)+1 |
| 1220 097c 55E0 ldi r21,hi8(1501) |
| 1221 097e 8D3D cpi r24,lo8(1501) |
| 1222 0980 9507 cpc r25,r21 |
| 1223 0982 00F0 brlo .L106 |
| 1224 0984 8CED ldi r24,lo8(1500) |
| 1225 0986 95E0 ldi r25,hi8(1500) |
| 1226 0988 00C0 rjmp .L123 |
| 1227 .L106: |
| 1228 098a 8757 subi r24,lo8(375) |
| 1229 098c 9140 sbci r25,hi8(375) |
| 1230 098e 00F4 brsh .L107 |
| 1231 0990 87E7 ldi r24,lo8(375) |
| 1232 0992 91E0 ldi r25,hi8(375) |
| 1233 .L123: |
| 1234 0994 9093 0000 sts (RemainingPulse)+1,r25 |
| 1235 0998 8093 0000 sts RemainingPulse,r24 |
| 1236 .L107: |
| 1237 099c 2091 0000 lds r18,RemainingPulse |
| 1238 09a0 3091 0000 lds r19,(RemainingPulse)+1 |
| 1239 09a4 2C5B subi r18,lo8(-(-188)) |
| 1240 09a6 3040 sbci r19,hi8(-(-188)) |
| 1241 09a8 3093 0000 sts (RemainingPulse)+1,r19 |
| 1242 09ac 2093 0000 sts RemainingPulse,r18 |
| 1243 09b0 8091 0000 lds r24,ServoFrameTime.1 |
| 1244 09b4 9091 0000 lds r25,(ServoFrameTime.1)+1 |
| 1245 09b8 820F add r24,r18 |
| 1246 09ba 931F adc r25,r19 |
| 1247 .L126: |
| 1248 09bc 9093 0000 sts (ServoFrameTime.1)+1,r25 |
| 1249 09c0 8093 0000 sts ServoFrameTime.1,r24 |
| 1250 09c4 00C0 rjmp .L109 |
| 1251 .L93: |
| 1252 09c6 8091 B000 lds r24,176 |
| 1253 09ca 8064 ori r24,lo8(64) |
| 1254 09cc 8093 B000 sts 176,r24 |
| 1255 09d0 8CEB ldi r24,lo8(188) |
| 1256 09d2 90E0 ldi r25,hi8(188) |
| 1257 09d4 9093 0000 sts (RemainingPulse)+1,r25 |
| 1258 09d8 8093 0000 sts RemainingPulse,r24 |
| 1259 09dc 8091 0000 lds r24,ServoFrameTime.1 |
| 1260 09e0 9091 0000 lds r25,(ServoFrameTime.1)+1 |
| 1261 09e4 8454 subi r24,lo8(-(188)) |
| 1262 09e6 9F4F sbci r25,hi8(-(188)) |
| 1263 09e8 9093 0000 sts (ServoFrameTime.1)+1,r25 |
| 1264 09ec 8093 0000 sts ServoFrameTime.1,r24 |
| 1265 09f0 8091 0000 lds r24,ServoActive |
| 1266 09f4 8823 tst r24 |
| 1267 09f6 01F0 breq .L112 |
| 1268 09f8 8091 0000 lds r24,SenderOkay |
| 1269 09fc 8823 tst r24 |
| 1270 09fe 01F4 brne .L111 |
| 1271 .L112: |
| 1272 0a00 8091 0000 lds r24,ServoActive |
| 1273 0a04 8230 cpi r24,lo8(2) |
| 1274 0a06 01F4 brne .L110 |
| 1275 .L111: |
| 1276 0a08 4698 cbi 40-0x20,6 |
| 1277 0a0a 00C0 rjmp .L113 |
| 1278 .L110: |
| 1279 0a0c 469A sbi 40-0x20,6 |
| 1280 .L113: |
| 1281 0a0e 8091 0000 lds r24,ServoIndex.2 |
| 1282 0a12 8F5F subi r24,lo8(-(1)) |
| 1283 0a14 8093 0000 sts ServoIndex.2,r24 |
| 1284 0a18 282F mov r18,r24 |
| 1285 0a1a 3327 clr r19 |
| 1286 0a1c 8091 0000 lds r24,EE_Parameter+53 |
| 1287 0a20 9927 clr r25 |
| 1288 0a22 0196 adiw r24,1 |
| 1289 0a24 8217 cp r24,r18 |
| 1290 0a26 9307 cpc r25,r19 |
| 1291 0a28 04F4 brge .L109 |
| 1292 0a2a 81E0 ldi r24,lo8(1) |
| 1293 0a2c 8093 0000 sts CalculateServoSignals,r24 |
| 1294 0a30 1092 0000 sts ServoIndex.2,__zero_reg__ |
| 1295 .L109: |
| 1296 0a34 81E0 ldi r24,lo8(1) |
| 1297 0a36 8093 0000 sts PulseOutput.0,r24 |
| 1298 .L91: |
| 1299 0a3a 2091 0000 lds r18,RemainingPulse |
| 1300 0a3e 3091 0000 lds r19,(RemainingPulse)+1 |
| 1301 0a42 41E0 ldi r20,hi8(383) |
| 1302 0a44 2F37 cpi r18,lo8(383) |
| 1303 0a46 3407 cpc r19,r20 |
| 1304 0a48 00F0 brlo .L115 |
| 1305 0a4a 8FEF ldi r24,lo8(-1) |
| 1306 0a4c 8093 B300 sts 179,r24 |
| 1307 0a50 2F5F subi r18,lo8(-(-255)) |
| 1308 0a52 3040 sbci r19,hi8(-(-255)) |
| 1309 0a54 00C0 rjmp .L124 |
| 1310 .L115: |
| 1311 0a56 2F3F cpi r18,255 |
| 1312 0a58 3105 cpc r19,__zero_reg__ |
| 1313 0a5a 01F0 breq .L117 |
| 1314 0a5c 00F0 brlo .L117 |
| 1315 0a5e A901 movw r20,r18 |
| 1316 0a60 4F5F subi r20,lo8(-(-255)) |
| 1317 0a62 5040 sbci r21,hi8(-(-255)) |
| 1318 0a64 4F37 cpi r20,127 |
| 1319 0a66 5105 cpc r21,__zero_reg__ |
| 1320 0a68 00F4 brsh .L118 |
| 1321 0a6a 80E8 ldi r24,lo8(-128) |
| 1322 0a6c 8093 B300 sts 179,r24 |
| 1323 0a70 2058 subi r18,lo8(-(-128)) |
| 1324 0a72 3040 sbci r19,hi8(-(-128)) |
| 1325 .L124: |
| 1326 0a74 3093 0000 sts (RemainingPulse)+1,r19 |
| 1327 0a78 2093 0000 sts RemainingPulse,r18 |
| 1328 0a7c 00C0 rjmp .L83 |
| 1329 .L118: |
| 1330 0a7e 8FEF ldi r24,lo8(-1) |
| 1331 0a80 8093 B300 sts 179,r24 |
| 1332 0a84 5093 0000 sts (RemainingPulse)+1,r21 |
| 1333 0a88 4093 0000 sts RemainingPulse,r20 |
| 1334 0a8c 00C0 rjmp .L83 |
| 1335 .L117: |
| 1336 0a8e 8091 0000 lds r24,RemainingPulse |
| 1337 0a92 8093 B300 sts 179,r24 |
| 1338 0a96 1092 0000 sts (RemainingPulse)+1,__zero_reg__ |
| 1339 0a9a 1092 0000 sts RemainingPulse,__zero_reg__ |
| 1340 0a9e 1092 0000 sts PulseOutput.0,__zero_reg__ |
| 1341 .L83: |
| 1342 /* epilogue: frame size=0 */ |
| 1343 0aa2 FF91 pop r31 |
| 1344 0aa4 EF91 pop r30 |
| 1345 0aa6 9F91 pop r25 |
| 1346 0aa8 8F91 pop r24 |
| 1347 0aaa 5F91 pop r21 |
| 1348 0aac 4F91 pop r20 |
| 1349 0aae 3F91 pop r19 |
| 1350 0ab0 2F91 pop r18 |
| 1351 0ab2 0F90 pop __tmp_reg__ |
| 1352 0ab4 0FBE out __SREG__,__tmp_reg__ |
| 1353 0ab6 0F90 pop __tmp_reg__ |
| 1354 0ab8 1F90 pop __zero_reg__ |
| 1355 0aba 1895 reti |
| 1356 /* epilogue end (size=13) */ |
| 1357 /* function __vector_9 size 389 (363) */ |
| 1359 .comm tim_main,2,1 |
| 1360 /* File "timer0.c": code 1388 = 0x056c (1305), prologues 39, epilogues 44 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 timer0.c |
| C:\Temp/ccwsJuWZ.s:3 *ABS*:0000003f __SREG__ |
| C:\Temp/ccwsJuWZ.s:4 *ABS*:0000003e __SP_H__ |
| C:\Temp/ccwsJuWZ.s:5 *ABS*:0000003d __SP_L__ |
| C:\Temp/ccwsJuWZ.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\Temp/ccwsJuWZ.s:7 *ABS*:00000001 __zero_reg__ |
| C:\Temp/ccwsJuWZ.s:15 .bss:00000000 ServoRollValue |
| C:\Temp/ccwsJuWZ.s:21 .bss:00000002 ServoNickValue |
| C:\Temp/ccwsJuWZ.s:27 .data:00000000 NickServoValue |
| C:\Temp/ccwsJuWZ.s:32 .data:00000002 BeepMuster |
| C:\Temp/ccwsJuWZ.s:37 .data:00000004 ServoRollOffset |
| C:\Temp/ccwsJuWZ.s:42 .data:00000006 ServoNickOffset |
| C:\Temp/ccwsJuWZ.s:49 .bss:00000004 RemainingPulse |
| C:\Temp/ccwsJuWZ.s:55 .data:00000008 CalculateServoSignals |
| C:\Temp/ccwsJuWZ.s:62 .bss:00000006 ServoActive |
| C:\Temp/ccwsJuWZ.s:68 .bss:00000007 SendSPI |
| C:\Temp/ccwsJuWZ.s:74 .bss:00000008 beeptime |
| C:\Temp/ccwsJuWZ.s:80 .bss:0000000a cntKompass |
| C:\Temp/ccwsJuWZ.s:86 .bss:0000000c UpdateMotor |
| C:\Temp/ccwsJuWZ.s:92 .bss:0000000d CountMilliseconds |
| C:\Temp/ccwsJuWZ.s:97 .data:00000009 cnt_1ms.3 |
| .bss:0000000f cnt.4 |
| C:\Temp/ccwsJuWZ.s:99 .bss:00000010 compass_active.5 |
| C:\Temp/ccwsJuWZ.s:104 .text:00000000 __vector_18 |
| C:\Temp/ccwsJuWZ.s:309 .text:000001e6 SetDelay |
| C:\Temp/ccwsJuWZ.s:325 .text:000001f8 CheckDelay |
| C:\Temp/ccwsJuWZ.s:344 .text:00000210 Delay_ms |
| C:\Temp/ccwsJuWZ.s:365 .text:0000022a Delay_ms_Mess |
| C:\Temp/ccwsJuWZ.s:395 .text:0000025a TIMER2_Init |
| C:\Temp/ccwsJuWZ.s:437 .text:000002b8 Timer_Init |
| *COM*:00000002 tim_main |
| C:\Temp/ccwsJuWZ.s:464 .text:000002e6 CalcNickServoValue |
| C:\Temp/ccwsJuWZ.s:530 .text:0000036a CalculateServo |
| C:\Temp/ccwsJuWZ.s:100 .bss:00000011 PulseOutput.0 |
| C:\Temp/ccwsJuWZ.s:1019 .bss:00000012 ServoFrameTime.1 |
| C:\Temp/ccwsJuWZ.s:1020 .bss:00000014 ServoIndex.2 |
| C:\Temp/ccwsJuWZ.s:1024 .text:000007ba __vector_9 |
| |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| SpektrumTimer |
| PlatinenVersion |
| NaviDataOkay |
| Parameter_GlobalConfig |
| __udivmodhi4 |
| KompassValue |
| AdReady |
| EE_Parameter |
| Parameter_ServoNickControl |
| __prologue_saves__ |
| sintab |
| IntegralNick |
| __mulsi3 |
| IntegralRoll |
| POI_KameraNick |
| Parameter_ServoNickComp |
| __divmodhi4 |
| __divmodsi4 |
| Parameter_ServoRollComp |
| Parameter_ServoRollControl |
| __epilogue_restores__ |
| Parameter_Servo3 |
| Parameter_Servo4 |
| Parameter_Servo5 |
| PPM_in |
| SenderOkay |