| 0,0 → 1,11011 |
|---|
| 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_ServoRollControl |
| 162 Parameter_ServoRollControl: |
| 163 002b 64 .byte 100 |
| 164 .global Parameter_ServoNickControl |
| 167 Parameter_ServoNickControl: |
| 168 002c 64 .byte 100 |
| 169 .global Parameter_UserParam8 |
| 170 .global Parameter_UserParam8 |
| 171 .section .bss |
| 174 Parameter_UserParam8: |
| 175 0013 00 .skip 1,0 |
| 176 .global Parameter_UserParam7 |
| 177 .global Parameter_UserParam7 |
| 180 Parameter_UserParam7: |
| 181 0014 00 .skip 1,0 |
| 182 .global Parameter_UserParam6 |
| 183 .global Parameter_UserParam6 |
| 186 Parameter_UserParam6: |
| 187 0015 00 .skip 1,0 |
| 188 .global Parameter_UserParam5 |
| 189 .global Parameter_UserParam5 |
| 192 Parameter_UserParam5: |
| 193 0016 00 .skip 1,0 |
| 194 .global Parameter_UserParam4 |
| 195 .global Parameter_UserParam4 |
| 198 Parameter_UserParam4: |
| 199 0017 00 .skip 1,0 |
| 200 .global Parameter_UserParam3 |
| 201 .global Parameter_UserParam3 |
| 204 Parameter_UserParam3: |
| 205 0018 00 .skip 1,0 |
| 206 .global Parameter_UserParam2 |
| 207 .global Parameter_UserParam2 |
| 210 Parameter_UserParam2: |
| 211 0019 00 .skip 1,0 |
| 212 .global Parameter_UserParam1 |
| 213 .global Parameter_UserParam1 |
| 216 Parameter_UserParam1: |
| 217 001a 00 .skip 1,0 |
| 218 .global Parameter_I_Faktor |
| 219 .data |
| 222 Parameter_I_Faktor: |
| 223 002d 0A .byte 10 |
| 224 .global Parameter_Gier_P |
| 227 Parameter_Gier_P: |
| 228 002e 02 .byte 2 |
| 229 .global Parameter_Gyro_Gier_I |
| 232 Parameter_Gyro_Gier_I: |
| 233 002f 96 .byte -106 |
| 234 .global Parameter_Gyro_Gier_P |
| 237 Parameter_Gyro_Gier_P: |
| 238 0030 96 .byte -106 |
| 239 .global Parameter_Gyro_I |
| 242 Parameter_Gyro_I: |
| 243 0031 96 .byte -106 |
| 244 .global Parameter_Gyro_P |
| 247 Parameter_Gyro_P: |
| 248 0032 96 .byte -106 |
| 249 .global Parameter_Gyro_D |
| 252 Parameter_Gyro_D: |
| 253 0033 08 .byte 8 |
| 254 .global Parameter_Hoehe_GPS_Z |
| 257 Parameter_Hoehe_GPS_Z: |
| 258 0034 40 .byte 64 |
| 259 .global Parameter_KompassWirkung |
| 262 Parameter_KompassWirkung: |
| 263 0035 40 .byte 64 |
| 264 .global Parameter_Hoehe_ACC_Wirkung |
| 267 Parameter_Hoehe_ACC_Wirkung: |
| 268 0036 3A .byte 58 |
| 269 .global Parameter_Hoehe_P |
| 272 Parameter_Hoehe_P: |
| 273 0037 10 .byte 16 |
| 274 .global Parameter_HoehenSchalter |
| 277 Parameter_HoehenSchalter: |
| 278 0038 FB .byte -5 |
| 279 .global Parameter_Luftdruck_D |
| 282 Parameter_Luftdruck_D: |
| 283 0039 30 .byte 48 |
| 284 .global Looping_Oben |
| 285 .global Looping_Oben |
| 286 .section .bss |
| 289 Looping_Oben: |
| 290 001b 00 .skip 1,0 |
| 291 .global Looping_Unten |
| 292 .global Looping_Unten |
| 295 Looping_Unten: |
| 296 001c 00 .skip 1,0 |
| 297 .global Looping_Rechts |
| 298 .global Looping_Rechts |
| 301 Looping_Rechts: |
| 302 001d 00 .skip 1,0 |
| 303 .global Looping_Links |
| 304 .global Looping_Links |
| 307 Looping_Links: |
| 308 001e 00 .skip 1,0 |
| 309 .global Looping_Roll |
| 310 .global Looping_Roll |
| 313 Looping_Roll: |
| 314 001f 00 .skip 1,0 |
| 315 .global Looping_Nick |
| 316 .global Looping_Nick |
| 319 Looping_Nick: |
| 320 0020 00 .skip 1,0 |
| 321 .global Ki |
| 322 .data |
| 325 Ki: |
| 326 003a 3801 .word 312 |
| 327 .global HoverGas |
| 328 .global HoverGas |
| 329 .section .bss |
| 332 HoverGas: |
| 333 0021 0000 .skip 2,0 |
| 334 .global LageKorrekturNick |
| 335 .global LageKorrekturNick |
| 338 LageKorrekturNick: |
| 339 0023 0000 .skip 2,0 |
| 340 .global LageKorrekturRoll |
| 341 .global LageKorrekturRoll |
| 344 LageKorrekturRoll: |
| 345 0025 0000 .skip 2,0 |
| 346 .global NeueKompassRichtungMerken |
| 347 .global NeueKompassRichtungMerken |
| 350 NeueKompassRichtungMerken: |
| 351 0027 00 .skip 1,0 |
| 352 .global CalibrationDone |
| 353 .global CalibrationDone |
| 356 CalibrationDone: |
| 357 0028 00 .skip 1,0 |
| 358 .global CompassGierSetpoint |
| 359 .global CompassGierSetpoint |
| 362 CompassGierSetpoint: |
| 363 0029 0000 .skip 2,0 |
| 364 .global WaypointTrimming |
| 365 .global WaypointTrimming |
| 368 WaypointTrimming: |
| 369 002b 00 .skip 1,0 |
| 370 .global carefree_old |
| 371 .data |
| 374 carefree_old: |
| 375 003c 32 .byte 50 |
| 376 .global FromNC_AltitudeSpeed |
| 377 .global FromNC_AltitudeSpeed |
| 378 .section .bss |
| 381 FromNC_AltitudeSpeed: |
| 382 002c 00 .skip 1,0 |
| 383 .global FromNC_AltitudeSetpoint |
| 384 .global FromNC_AltitudeSetpoint |
| 387 FromNC_AltitudeSetpoint: |
| 388 002d 0000 0000 .skip 4,0 |
| 389 .global AltitudeSetpointTrimming |
| 390 .global AltitudeSetpointTrimming |
| 393 AltitudeSetpointTrimming: |
| 394 0031 0000 .skip 2,0 |
| 395 .global SollHoehe |
| 396 .global SollHoehe |
| 399 SollHoehe: |
| 400 0033 0000 0000 .skip 4,0 |
| 401 .global HoehenWert |
| 402 .global HoehenWert |
| 405 HoehenWert: |
| 406 0037 0000 0000 .skip 4,0 |
| 407 .global StartTrigger |
| 408 .global StartTrigger |
| 411 StartTrigger: |
| 412 003b 00 .skip 1,0 |
| 413 .global MotorenEin |
| 414 .global MotorenEin |
| 417 MotorenEin: |
| 418 003c 00 .skip 1,0 |
| 419 .global SenderOkay |
| 420 .global SenderOkay |
| 423 SenderOkay: |
| 424 003d 00 .skip 1,0 |
| 425 .global Poti |
| 426 .global Poti |
| 429 Poti: |
| 430 003e 0000 0000 .skip 9,0 |
| 430 0000 0000 |
| 430 00 |
| 431 .global StickGas |
| 432 .global StickGas |
| 435 StickGas: |
| 436 0047 0000 .skip 2,0 |
| 437 .global StickGier |
| 438 .global StickGier |
| 441 StickGier: |
| 442 0049 0000 .skip 2,0 |
| 443 .global StickRoll |
| 444 .global StickRoll |
| 447 StickRoll: |
| 448 004b 0000 .skip 2,0 |
| 449 .global StickNick |
| 450 .global StickNick |
| 453 StickNick: |
| 454 004d 0000 .skip 2,0 |
| 455 .global HoverGasMax |
| 456 .data |
| 459 HoverGasMax: |
| 460 003d FF03 .word 1023 |
| 461 .global HoverGasMin |
| 462 .global HoverGasMin |
| 463 .section .bss |
| 466 HoverGasMin: |
| 467 004f 0000 .skip 2,0 |
| 468 .global StickGasHover |
| 469 .data |
| 472 StickGasHover: |
| 473 003f 7800 .word 120 |
| 474 .global GierGyroFehler |
| 475 .global GierGyroFehler |
| 476 .section .bss |
| 479 GierGyroFehler: |
| 480 0051 0000 .skip 2,0 |
| 481 .global Umschlag180Roll |
| 482 .data |
| 485 Umschlag180Roll: |
| 486 0041 90D0 0300 .long 250000 |
| 487 .global Umschlag180Nick |
| 490 Umschlag180Nick: |
| 491 0045 90D0 0300 .long 250000 |
| 492 .global TrichterFlug |
| 493 .global TrichterFlug |
| 494 .section .bss |
| 497 TrichterFlug: |
| 498 0053 00 .skip 1,0 |
| 499 .global HoehenReglerAktiv |
| 500 .global HoehenReglerAktiv |
| 503 HoehenReglerAktiv: |
| 504 0054 00 .skip 1,0 |
| 505 .global KompassSignalSchlecht |
| 506 .data |
| 509 KompassSignalSchlecht: |
| 510 0049 3200 .word 50 |
| 511 .global KompassFusion |
| 514 KompassFusion: |
| 515 004b 20 .byte 32 |
| 516 .global CalculateCompassTimer |
| 519 CalculateCompassTimer: |
| 520 004c 64 .byte 100 |
| 521 .global KompassSollWert |
| 522 .global KompassSollWert |
| 523 .section .bss |
| 526 KompassSollWert: |
| 527 0055 0000 .skip 2,0 |
| 528 .global KompassValue |
| 529 .data |
| 532 KompassValue: |
| 533 004d FFFF .word -1 |
| 534 .global Mess_Integral_Hoch |
| 535 .global Mess_Integral_Hoch |
| 536 .section .bss |
| 539 Mess_Integral_Hoch: |
| 540 0057 0000 0000 .skip 4,0 |
| 541 .global SummeRoll |
| 542 .global SummeRoll |
| 545 SummeRoll: |
| 546 005b 0000 0000 .skip 4,0 |
| 547 .global SummeNick |
| 548 .global SummeNick |
| 551 SummeNick: |
| 552 005f 0000 0000 .skip 4,0 |
| 553 .global Mess_Integral_Gier2 |
| 554 .global Mess_Integral_Gier2 |
| 557 Mess_Integral_Gier2: |
| 558 0063 0000 0000 .skip 4,0 |
| 559 .global Mess_Integral_Gier |
| 560 .global Mess_Integral_Gier |
| 563 Mess_Integral_Gier: |
| 564 0067 0000 0000 .skip 4,0 |
| 565 .global Mess_IntegralRoll2 |
| 566 .global Mess_IntegralRoll2 |
| 569 Mess_IntegralRoll2: |
| 570 006b 0000 0000 .skip 4,0 |
| 571 .global Mess_IntegralRoll |
| 572 .global Mess_IntegralRoll |
| 575 Mess_IntegralRoll: |
| 576 006f 0000 0000 .skip 4,0 |
| 577 .global Mess_IntegralNick2 |
| 578 .global Mess_IntegralNick2 |
| 581 Mess_IntegralNick2: |
| 582 0073 0000 0000 .skip 4,0 |
| 583 .global Mess_IntegralNick |
| 584 .global Mess_IntegralNick |
| 587 Mess_IntegralNick: |
| 588 0077 0000 0000 .skip 4,0 |
| 589 .global Integral_Gier |
| 590 .global Integral_Gier |
| 593 Integral_Gier: |
| 594 007b 0000 0000 .skip 4,0 |
| 595 .global IntegralAccZ |
| 596 .global IntegralAccZ |
| 599 IntegralAccZ: |
| 600 007f 0000 0000 .skip 4,0 |
| 601 .global IntegralAccRoll |
| 602 .global IntegralAccRoll |
| 605 IntegralAccRoll: |
| 606 0083 0000 0000 .skip 4,0 |
| 607 .global IntegralAccNick |
| 608 .global IntegralAccNick |
| 611 IntegralAccNick: |
| 612 0087 0000 0000 .skip 4,0 |
| 613 .global IntegralRoll2 |
| 614 .global IntegralRoll2 |
| 617 IntegralRoll2: |
| 618 008b 0000 0000 .skip 4,0 |
| 619 .global IntegralRoll |
| 620 .global IntegralRoll |
| 623 IntegralRoll: |
| 624 008f 0000 0000 .skip 4,0 |
| 625 .global IntegralNick2 |
| 626 .global IntegralNick2 |
| 629 IntegralNick2: |
| 630 0093 0000 0000 .skip 4,0 |
| 631 .global IntegralNick |
| 632 .global IntegralNick |
| 635 IntegralNick: |
| 636 0097 0000 0000 .skip 4,0 |
| 637 .global ControlHeading |
| 638 .global ControlHeading |
| 641 ControlHeading: |
| 642 009b 00 .skip 1,0 |
| 643 .global NeutralAccZ |
| 644 .global NeutralAccZ |
| 647 NeutralAccZ: |
| 648 009c 0000 .skip 2,0 |
| 649 .global NaviCntAcc |
| 650 .global NaviCntAcc |
| 653 NaviCntAcc: |
| 654 009e 0000 .skip 2,0 |
| 655 .global NeutralAccY |
| 656 .global NeutralAccY |
| 659 NeutralAccY: |
| 660 00a0 0000 .skip 2,0 |
| 661 .global NeutralAccX |
| 662 .global NeutralAccX |
| 665 NeutralAccX: |
| 666 00a2 0000 .skip 2,0 |
| 667 .global StartNeutralNick |
| 668 .global StartNeutralNick |
| 671 StartNeutralNick: |
| 672 00a4 0000 .skip 2,0 |
| 673 .global StartNeutralRoll |
| 674 .global StartNeutralRoll |
| 677 StartNeutralRoll: |
| 678 00a6 0000 .skip 2,0 |
| 679 .global AdNeutralGier |
| 680 .global AdNeutralGier |
| 683 AdNeutralGier: |
| 684 00a8 0000 .skip 2,0 |
| 685 .global AdNeutralRoll |
| 686 .global AdNeutralRoll |
| 689 AdNeutralRoll: |
| 690 00aa 0000 .skip 2,0 |
| 691 .global AdNeutralNick |
| 692 .global AdNeutralNick |
| 695 AdNeutralNick: |
| 696 00ac 0000 .skip 2,0 |
| 697 .global BaroExpandActive |
| 698 .global BaroExpandActive |
| 701 BaroExpandActive: |
| 702 00ae 0000 .skip 2,0 |
| 703 .text |
| 704 .global CopyDebugValues |
| 706 CopyDebugValues: |
| 707 /* prologue: frame size=0 */ |
| 708 0000 EF92 push r14 |
| 709 0002 FF92 push r15 |
| 710 0004 0F93 push r16 |
| 711 0006 1F93 push r17 |
| 712 /* prologue end (size=4) */ |
| 713 0008 8091 0000 lds r24,EE_Parameter+28 |
| 714 000c 9927 clr r25 |
| 715 000e 880F lsl r24 |
| 716 0010 991F rol r25 |
| 717 0012 880F lsl r24 |
| 718 0014 991F rol r25 |
| 719 0016 7C01 movw r14,r24 |
| 720 0018 0027 clr r16 |
| 721 001a F7FC sbrc r15,7 |
| 722 001c 0095 com r16 |
| 723 001e 102F mov r17,r16 |
| 724 0020 8091 0000 lds r24,IntegralNick |
| 725 0024 9091 0000 lds r25,(IntegralNick)+1 |
| 726 0028 A091 0000 lds r26,(IntegralNick)+2 |
| 727 002c B091 0000 lds r27,(IntegralNick)+3 |
| 728 0030 BC01 movw r22,r24 |
| 729 0032 CD01 movw r24,r26 |
| 730 0034 A801 movw r20,r16 |
| 731 0036 9701 movw r18,r14 |
| 732 0038 0E94 0000 call __divmodsi4 |
| 733 003c 3093 0000 sts (DebugOut+2)+1,r19 |
| 734 0040 2093 0000 sts DebugOut+2,r18 |
| 735 0044 8091 0000 lds r24,IntegralRoll |
| 736 0048 9091 0000 lds r25,(IntegralRoll)+1 |
| 737 004c A091 0000 lds r26,(IntegralRoll)+2 |
| 738 0050 B091 0000 lds r27,(IntegralRoll)+3 |
| 739 0054 BC01 movw r22,r24 |
| 740 0056 CD01 movw r24,r26 |
| 741 0058 A801 movw r20,r16 |
| 742 005a 9701 movw r18,r14 |
| 743 005c 0E94 0000 call __divmodsi4 |
| 744 0060 3093 0000 sts (DebugOut+4)+1,r19 |
| 745 0064 2093 0000 sts DebugOut+4,r18 |
| 746 0068 8091 0000 lds r24,Mittelwert_AccNick |
| 747 006c 9091 0000 lds r25,(Mittelwert_AccNick)+1 |
| 748 0070 97FD sbrc r25,7 |
| 749 0072 0396 adiw r24,3 |
| 750 .L2: |
| 751 0074 9595 asr r25 |
| 752 0076 8795 ror r24 |
| 753 0078 9595 asr r25 |
| 754 007a 8795 ror r24 |
| 755 007c 9093 0000 sts (DebugOut+6)+1,r25 |
| 756 0080 8093 0000 sts DebugOut+6,r24 |
| 757 0084 8091 0000 lds r24,Mittelwert_AccRoll |
| 758 0088 9091 0000 lds r25,(Mittelwert_AccRoll)+1 |
| 759 008c 97FD sbrc r25,7 |
| 760 008e 0396 adiw r24,3 |
| 761 .L3: |
| 762 0090 9595 asr r25 |
| 763 0092 8795 ror r24 |
| 764 0094 9595 asr r25 |
| 765 0096 8795 ror r24 |
| 766 0098 9093 0000 sts (DebugOut+8)+1,r25 |
| 767 009c 8093 0000 sts DebugOut+8,r24 |
| 768 00a0 8091 0000 lds r24,SollHoehe |
| 769 00a4 9091 0000 lds r25,(SollHoehe)+1 |
| 770 00a8 A091 0000 lds r26,(SollHoehe)+2 |
| 771 00ac B091 0000 lds r27,(SollHoehe)+3 |
| 772 00b0 BC01 movw r22,r24 |
| 773 00b2 CD01 movw r24,r26 |
| 774 00b4 25E0 ldi r18,lo8(5) |
| 775 00b6 30E0 ldi r19,hi8(5) |
| 776 00b8 40E0 ldi r20,hlo8(5) |
| 777 00ba 50E0 ldi r21,hhi8(5) |
| 778 00bc 0E94 0000 call __divmodsi4 |
| 779 00c0 3093 0000 sts (DebugOut+10)+1,r19 |
| 780 00c4 2093 0000 sts DebugOut+10,r18 |
| 781 00c8 8091 0000 lds r24,HoehenWert |
| 782 00cc 9091 0000 lds r25,(HoehenWert)+1 |
| 783 00d0 A091 0000 lds r26,(HoehenWert)+2 |
| 784 00d4 B091 0000 lds r27,(HoehenWert)+3 |
| 785 00d8 BC01 movw r22,r24 |
| 786 00da CD01 movw r24,r26 |
| 787 00dc 25E0 ldi r18,lo8(5) |
| 788 00de 30E0 ldi r19,hi8(5) |
| 789 00e0 40E0 ldi r20,hlo8(5) |
| 790 00e2 50E0 ldi r21,hhi8(5) |
| 791 00e4 0E94 0000 call __divmodsi4 |
| 792 00e8 3093 0000 sts (DebugOut+12)+1,r19 |
| 793 00ec 2093 0000 sts DebugOut+12,r18 |
| 794 00f0 8091 0000 lds r24,KompassValue |
| 795 00f4 9091 0000 lds r25,(KompassValue)+1 |
| 796 00f8 9093 0000 sts (DebugOut+14)+1,r25 |
| 797 00fc 8093 0000 sts DebugOut+14,r24 |
| 798 0100 8091 0000 lds r24,KompassSollWert |
| 799 0104 9091 0000 lds r25,(KompassSollWert)+1 |
| 800 0108 9093 0000 sts (DebugOut+16)+1,r25 |
| 801 010c 8093 0000 sts DebugOut+16,r24 |
| 802 0110 8091 0000 lds r24,Capacity |
| 803 0114 9091 0000 lds r25,(Capacity)+1 |
| 804 0118 9093 0000 sts (DebugOut+18)+1,r25 |
| 805 011c 8093 0000 sts DebugOut+18,r24 |
| 806 0120 8091 0000 lds r24,UBat |
| 807 0124 9091 0000 lds r25,(UBat)+1 |
| 808 0128 9093 0000 sts (DebugOut+20)+1,r25 |
| 809 012c 8093 0000 sts DebugOut+20,r24 |
| 810 0130 8091 0000 lds r24,Motor+1 |
| 811 0134 9927 clr r25 |
| 812 0136 9093 0000 sts (DebugOut+22)+1,r25 |
| 813 013a 8093 0000 sts DebugOut+22,r24 |
| 814 013e 8091 0000 lds r24,Motor+9 |
| 815 0142 9927 clr r25 |
| 816 0144 9093 0000 sts (DebugOut+24)+1,r25 |
| 817 0148 8093 0000 sts DebugOut+24,r24 |
| 818 014c 8091 0000 lds r24,Motor+17 |
| 819 0150 9927 clr r25 |
| 820 0152 9093 0000 sts (DebugOut+26)+1,r25 |
| 821 0156 8093 0000 sts DebugOut+26,r24 |
| 822 015a 8091 0000 lds r24,Motor+25 |
| 823 015e 9927 clr r25 |
| 824 0160 9093 0000 sts (DebugOut+28)+1,r25 |
| 825 0164 8093 0000 sts DebugOut+28,r24 |
| 826 0168 8091 0000 lds r24,Motor+33 |
| 827 016c 9927 clr r25 |
| 828 016e 9093 0000 sts (DebugOut+30)+1,r25 |
| 829 0172 8093 0000 sts DebugOut+30,r24 |
| 830 0176 8091 0000 lds r24,Motor+41 |
| 831 017a 9927 clr r25 |
| 832 017c 9093 0000 sts (DebugOut+32)+1,r25 |
| 833 0180 8093 0000 sts DebugOut+32,r24 |
| 834 0184 8091 0000 lds r24,SenderOkay |
| 835 0188 9927 clr r25 |
| 836 018a 9093 0000 sts (DebugOut+34)+1,r25 |
| 837 018e 8093 0000 sts DebugOut+34,r24 |
| 838 0192 8091 0000 lds r24,ErsatzKompass |
| 839 0196 9091 0000 lds r25,(ErsatzKompass)+1 |
| 840 019a A091 0000 lds r26,(ErsatzKompass)+2 |
| 841 019e B091 0000 lds r27,(ErsatzKompass)+3 |
| 842 01a2 2091 0000 lds r18,GIER_GRAD_FAKTOR |
| 843 01a6 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1 |
| 844 01aa 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2 |
| 845 01ae 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3 |
| 846 01b2 BC01 movw r22,r24 |
| 847 01b4 CD01 movw r24,r26 |
| 848 01b6 0E94 0000 call __divmodsi4 |
| 849 01ba 3093 0000 sts (DebugOut+36)+1,r19 |
| 850 01be 2093 0000 sts DebugOut+36,r18 |
| 851 01c2 8091 0000 lds r24,AdNeutralGier |
| 852 01c6 9091 0000 lds r25,(AdNeutralGier)+1 |
| 853 01ca 2091 0000 lds r18,AdWertGier |
| 854 01ce 3091 0000 lds r19,(AdWertGier)+1 |
| 855 01d2 821B sub r24,r18 |
| 856 01d4 930B sbc r25,r19 |
| 857 01d6 9093 0000 sts (DebugOut+38)+1,r25 |
| 858 01da 8093 0000 sts DebugOut+38,r24 |
| 859 01de 1092 0000 sts (DebugOut+40)+1,__zero_reg__ |
| 860 01e2 1092 0000 sts DebugOut+40,__zero_reg__ |
| 861 01e6 8091 0000 lds r24,ServoNickValue |
| 862 01ea 9091 0000 lds r25,(ServoNickValue)+1 |
| 863 01ee 9093 0000 sts (DebugOut+42)+1,r25 |
| 864 01f2 8093 0000 sts DebugOut+42,r24 |
| 865 01f6 1092 0000 sts (DebugOut+44)+1,__zero_reg__ |
| 866 01fa 1092 0000 sts DebugOut+44,__zero_reg__ |
| 867 01fe 1092 0000 sts (DebugOut+46)+1,__zero_reg__ |
| 868 0202 1092 0000 sts DebugOut+46,__zero_reg__ |
| 869 0206 8091 0000 lds r24,Capacity+4 |
| 870 020a 9091 0000 lds r25,(Capacity+4)+1 |
| 871 020e 9093 0000 sts (DebugOut+48)+1,r25 |
| 872 0212 8093 0000 sts DebugOut+48,r24 |
| 873 0216 8091 0000 lds r24,Capacity+6 |
| 874 021a 9927 clr r25 |
| 875 021c 9093 0000 sts (DebugOut+50)+1,r25 |
| 876 0220 8093 0000 sts DebugOut+50,r24 |
| 877 0224 1092 0000 sts (DebugOut+52)+1,__zero_reg__ |
| 878 0228 1092 0000 sts DebugOut+52,__zero_reg__ |
| 879 022c 1092 0000 sts (DebugOut+54)+1,__zero_reg__ |
| 880 0230 1092 0000 sts DebugOut+54,__zero_reg__ |
| 881 0234 1092 0000 sts (DebugOut+56)+1,__zero_reg__ |
| 882 0238 1092 0000 sts DebugOut+56,__zero_reg__ |
| 883 023c 8091 0000 lds r24,AdWertAccHoch |
| 884 0240 9091 0000 lds r25,(AdWertAccHoch)+1 |
| 885 0244 9093 0000 sts (DebugOut+58)+1,r25 |
| 886 0248 8093 0000 sts DebugOut+58,r24 |
| 887 024c 1092 0000 sts (DebugOut+60)+1,__zero_reg__ |
| 888 0250 1092 0000 sts DebugOut+60,__zero_reg__ |
| 889 0254 8091 0000 lds r24,GPS_Nick |
| 890 0258 9091 0000 lds r25,(GPS_Nick)+1 |
| 891 025c 9093 0000 sts (DebugOut+62)+1,r25 |
| 892 0260 8093 0000 sts DebugOut+62,r24 |
| 893 0264 8091 0000 lds r24,GPS_Roll |
| 894 0268 9091 0000 lds r25,(GPS_Roll)+1 |
| 895 026c 9093 0000 sts (DebugOut+64)+1,r25 |
| 896 0270 8093 0000 sts DebugOut+64,r24 |
| 897 0274 8091 0000 lds r24,VersionInfo+5 |
| 898 0278 8823 tst r24 |
| 899 027a 01F4 brne .L5 |
| 900 027c 8091 0000 lds r24,VersionInfo+6 |
| 901 0280 8823 tst r24 |
| 902 0282 01F0 breq .L4 |
| 903 .L5: |
| 904 0284 8091 0000 lds r24,DebugOut+1 |
| 905 0288 8160 ori r24,lo8(1) |
| 906 028a 00C0 rjmp .L7 |
| 907 .L4: |
| 908 028c 8091 0000 lds r24,DebugOut+1 |
| 909 0290 8E7F andi r24,lo8(-2) |
| 910 .L7: |
| 911 0292 8093 0000 sts DebugOut+1,r24 |
| 912 /* epilogue: frame size=0 */ |
| 913 0296 1F91 pop r17 |
| 914 0298 0F91 pop r16 |
| 915 029a FF90 pop r15 |
| 916 029c EF90 pop r14 |
| 917 029e 0895 ret |
| 918 /* epilogue end (size=5) */ |
| 919 /* function CopyDebugValues size 338 (329) */ |
| 921 .global Piep |
| 923 Piep: |
| 924 /* prologue: frame size=0 */ |
| 925 02a0 EF92 push r14 |
| 926 02a2 FF92 push r15 |
| 927 02a4 1F93 push r17 |
| 928 02a6 CF93 push r28 |
| 929 02a8 DF93 push r29 |
| 930 /* prologue end (size=5) */ |
| 931 02aa 182F mov r17,r24 |
| 932 02ac 7B01 movw r14,r22 |
| 933 02ae 8091 0000 lds r24,MotorenEin |
| 934 02b2 8823 tst r24 |
| 935 02b4 01F4 brne .L8 |
| 936 02b6 8091 0000 lds r24,PlatinenVersion |
| 937 02ba 8C30 cpi r24,lo8(12) |
| 938 02bc 00F0 brlo .L11 |
| 939 02be 8631 cpi r24,lo8(22) |
| 940 02c0 01F4 brne .L10 |
| 941 .L11: |
| 942 02c2 2998 cbi 37-0x20,1 |
| 943 02c4 00C0 rjmp .L12 |
| 944 .L10: |
| 945 02c6 299A sbi 37-0x20,1 |
| 946 .L12: |
| 947 02c8 1150 subi r17,lo8(-(-1)) |
| 948 02ca 1F3F cpi r17,lo8(-1) |
| 949 02cc 01F0 breq .L26 |
| 950 02ce F092 0000 sts (beeptime)+1,r15 |
| 951 02d2 E092 0000 sts beeptime,r14 |
| 952 02d6 E701 movw r28,r14 |
| 953 .L34: |
| 954 02d8 8091 0000 lds r24,beeptime |
| 955 02dc 9091 0000 lds r25,(beeptime)+1 |
| 956 02e0 892B or r24,r25 |
| 957 02e2 01F4 brne .L31 |
| 958 02e4 2097 sbiw r28,0 |
| 959 02e6 01F0 breq .L12 |
| 960 .L31: |
| 961 02e8 8091 0000 lds r24,UpdateMotor |
| 962 02ec 8823 tst r24 |
| 963 02ee 01F0 breq .L34 |
| 964 02f0 1092 0000 sts UpdateMotor,__zero_reg__ |
| 965 02f4 8091 0000 lds r24,beeptime |
| 966 02f8 9091 0000 lds r25,(beeptime)+1 |
| 967 02fc 892B or r24,r25 |
| 968 02fe 01F4 brne .L19 |
| 969 0300 2197 sbiw r28,1 |
| 970 .L19: |
| 971 0302 0E94 0000 call LIBFC_Polling |
| 972 0306 00C0 rjmp .L34 |
| 973 .L26: |
| 974 0308 8091 0000 lds r24,PlatinenVersion |
| 975 030c 8C30 cpi r24,lo8(12) |
| 976 030e 00F0 brlo .L23 |
| 977 0310 8631 cpi r24,lo8(22) |
| 978 0312 01F4 brne .L22 |
| 979 .L23: |
| 980 0314 299A sbi 37-0x20,1 |
| 981 0316 00C0 rjmp .L8 |
| 982 .L22: |
| 983 0318 2998 cbi 37-0x20,1 |
| 984 .L8: |
| 985 /* epilogue: frame size=0 */ |
| 986 031a DF91 pop r29 |
| 987 031c CF91 pop r28 |
| 988 031e 1F91 pop r17 |
| 989 0320 FF90 pop r15 |
| 990 0322 EF90 pop r14 |
| 991 0324 0895 ret |
| 992 /* epilogue end (size=6) */ |
| 993 /* function Piep size 67 (56) */ |
| 995 .global CalibrierMittelwert |
| 997 CalibrierMittelwert: |
| 998 /* prologue: frame size=0 */ |
| 999 0326 CF93 push r28 |
| 1000 0328 DF93 push r29 |
| 1001 /* prologue end (size=2) */ |
| 1002 032a 8091 0000 lds r24,PlatinenVersion |
| 1003 032e 8D30 cpi r24,lo8(13) |
| 1004 0330 01F4 brne .L36 |
| 1005 0332 0E94 0000 call SucheGyroOffset |
| 1006 .L36: |
| 1007 0336 1092 7A00 sts 122,__zero_reg__ |
| 1008 033a 8091 0000 lds r24,AdWertNick |
| 1009 033e 9091 0000 lds r25,(AdWertNick)+1 |
| 1010 0342 9093 0000 sts (MesswertNick)+1,r25 |
| 1011 0346 8093 0000 sts MesswertNick,r24 |
| 1012 034a 8091 0000 lds r24,AdWertRoll |
| 1013 034e 9091 0000 lds r25,(AdWertRoll)+1 |
| 1014 0352 9093 0000 sts (MesswertRoll)+1,r25 |
| 1015 0356 8093 0000 sts MesswertRoll,r24 |
| 1016 035a 8091 0000 lds r24,AdWertGier |
| 1017 035e 9091 0000 lds r25,(AdWertGier)+1 |
| 1018 0362 9093 0000 sts (MesswertGier)+1,r25 |
| 1019 0366 8093 0000 sts MesswertGier,r24 |
| 1020 036a 2091 0000 lds r18,AdWertAccNick |
| 1021 036e 3091 0000 lds r19,(AdWertAccNick)+1 |
| 1022 0372 C901 movw r24,r18 |
| 1023 0374 880F lsl r24 |
| 1024 0376 991F rol r25 |
| 1025 0378 880F lsl r24 |
| 1026 037a 991F rol r25 |
| 1027 037c 820F add r24,r18 |
| 1028 037e 931F adc r25,r19 |
| 1029 0380 820F add r24,r18 |
| 1030 0382 931F adc r25,r19 |
| 1031 0384 9093 0000 sts (Mittelwert_AccNick)+1,r25 |
| 1032 0388 8093 0000 sts Mittelwert_AccNick,r24 |
| 1033 038c 2091 0000 lds r18,AdWertAccRoll |
| 1034 0390 3091 0000 lds r19,(AdWertAccRoll)+1 |
| 1035 0394 C901 movw r24,r18 |
| 1036 0396 880F lsl r24 |
| 1037 0398 991F rol r25 |
| 1038 039a 880F lsl r24 |
| 1039 039c 991F rol r25 |
| 1040 039e 820F add r24,r18 |
| 1041 03a0 931F adc r25,r19 |
| 1042 03a2 820F add r24,r18 |
| 1043 03a4 931F adc r25,r19 |
| 1044 03a6 9093 0000 sts (Mittelwert_AccRoll)+1,r25 |
| 1045 03aa 8093 0000 sts Mittelwert_AccRoll,r24 |
| 1046 03ae 8FEC ldi r24,lo8(-49) |
| 1047 03b0 8093 7A00 sts 122,r24 |
| 1048 03b4 A0E0 ldi r26,lo8(Poti) |
| 1049 03b6 B0E0 ldi r27,hi8(Poti) |
| 1050 03b8 C0E0 ldi r28,lo8(EE_Parameter+5) |
| 1051 03ba D0E0 ldi r29,hi8(EE_Parameter+5) |
| 1052 03bc 97E0 ldi r25,lo8(7) |
| 1053 .L46: |
| 1054 03be 8991 ld r24,Y+ |
| 1055 03c0 E82F mov r30,r24 |
| 1056 03c2 FF27 clr r31 |
| 1057 03c4 EE0F add r30,r30 |
| 1058 03c6 FF1F adc r31,r31 |
| 1059 03c8 E050 subi r30,lo8(-(PPM_in)) |
| 1060 03ca F040 sbci r31,hi8(-(PPM_in)) |
| 1061 03cc 0190 ld __tmp_reg__,Z+ |
| 1062 03ce F081 ld r31,Z |
| 1063 03d0 E02D mov r30,__tmp_reg__ |
| 1064 03d2 E158 subi r30,lo8(-(127)) |
| 1065 03d4 FF4F sbci r31,hi8(-(127)) |
| 1066 03d6 1E16 cp __zero_reg__,r30 |
| 1067 03d8 1F06 cpc __zero_reg__,r31 |
| 1068 03da 04F0 brlt .L40 |
| 1069 03dc E0E0 ldi r30,lo8(0) |
| 1070 03de F0E0 ldi r31,hi8(0) |
| 1071 03e0 00C0 rjmp .L41 |
| 1072 .L40: |
| 1073 03e2 EF3F cpi r30,255 |
| 1074 03e4 F105 cpc r31,__zero_reg__ |
| 1075 03e6 04F0 brlt .L41 |
| 1076 03e8 EFEF ldi r30,lo8(255) |
| 1077 03ea F0E0 ldi r31,hi8(255) |
| 1078 .L41: |
| 1079 03ec 8C91 ld r24,X |
| 1080 03ee 282F mov r18,r24 |
| 1081 03f0 3327 clr r19 |
| 1082 03f2 E217 cp r30,r18 |
| 1083 03f4 F307 cpc r31,r19 |
| 1084 03f6 04F4 brge .L43 |
| 1085 03f8 8150 subi r24,lo8(-(-1)) |
| 1086 03fa 00C0 rjmp .L49 |
| 1087 .L43: |
| 1088 03fc 2E17 cp r18,r30 |
| 1089 03fe 3F07 cpc r19,r31 |
| 1090 0400 04F4 brge .L39 |
| 1091 0402 8F5F subi r24,lo8(-(1)) |
| 1092 .L49: |
| 1093 0404 8C93 st X,r24 |
| 1094 .L39: |
| 1095 0406 9150 subi r25,lo8(-(-1)) |
| 1096 0408 1196 adiw r26,1 |
| 1097 040a 97FF sbrs r25,7 |
| 1098 040c 00C0 rjmp .L46 |
| 1099 040e 8091 0000 lds r24,EE_Parameter+65 |
| 1100 0412 9927 clr r25 |
| 1101 0414 AA27 clr r26 |
| 1102 0416 BB27 clr r27 |
| 1103 0418 BC01 movw r22,r24 |
| 1104 041a CD01 movw r24,r26 |
| 1105 041c 24EC ldi r18,lo8(2500) |
| 1106 041e 39E0 ldi r19,hi8(2500) |
| 1107 0420 40E0 ldi r20,hlo8(2500) |
| 1108 0422 50E0 ldi r21,hhi8(2500) |
| 1109 0424 0E94 0000 call __mulsi3 |
| 1110 0428 DC01 movw r26,r24 |
| 1111 042a CB01 movw r24,r22 |
| 1112 042c 8093 0000 sts Umschlag180Nick,r24 |
| 1113 0430 9093 0000 sts (Umschlag180Nick)+1,r25 |
| 1114 0434 A093 0000 sts (Umschlag180Nick)+2,r26 |
| 1115 0438 B093 0000 sts (Umschlag180Nick)+3,r27 |
| 1116 043c 8091 0000 lds r24,EE_Parameter+66 |
| 1117 0440 9927 clr r25 |
| 1118 0442 AA27 clr r26 |
| 1119 0444 BB27 clr r27 |
| 1120 0446 BC01 movw r22,r24 |
| 1121 0448 CD01 movw r24,r26 |
| 1122 044a 0E94 0000 call __mulsi3 |
| 1123 044e DC01 movw r26,r24 |
| 1124 0450 CB01 movw r24,r22 |
| 1125 0452 8093 0000 sts Umschlag180Roll,r24 |
| 1126 0456 9093 0000 sts (Umschlag180Roll)+1,r25 |
| 1127 045a A093 0000 sts (Umschlag180Roll)+2,r26 |
| 1128 045e B093 0000 sts (Umschlag180Roll)+3,r27 |
| 1129 /* epilogue: frame size=0 */ |
| 1130 0462 DF91 pop r29 |
| 1131 0464 CF91 pop r28 |
| 1132 0466 0895 ret |
| 1133 /* epilogue end (size=3) */ |
| 1134 /* function CalibrierMittelwert size 161 (156) */ |
| 1136 .section .progmem.data,"a",@progbits |
| 1139 __c.35: |
| 1140 0000 0A0D 4143 .string "\n\rACC not calibrated!\r\n" |
| 1140 4320 6E6F |
| 1140 7420 6361 |
| 1140 6C69 6272 |
| 1140 6174 6564 |
| 1141 .text |
| 1142 .global SetNeutral |
| 1144 SetNeutral: |
| 1145 /* prologue: frame size=0 */ |
| 1146 0468 A0E0 ldi r26,lo8(0) |
| 1147 046a B0E0 ldi r27,hi8(0) |
| 1148 046c E0E0 ldi r30,pm_lo8(1f) |
| 1149 046e F0E0 ldi r31,pm_hi8(1f) |
| 1150 0470 0C94 0000 jmp __prologue_saves__+12 |
| 1151 1: |
| 1152 /* prologue end (size=6) */ |
| 1153 0474 882E mov r8,r24 |
| 1154 0476 C0E0 ldi r28,lo8(0) |
| 1155 0478 D0E0 ldi r29,hi8(0) |
| 1156 047a 7E01 movw r14,r28 |
| 1157 047c 6E01 movw r12,r28 |
| 1158 047e 1092 0000 sts VersionInfo+5,__zero_reg__ |
| 1159 0482 D093 0000 sts (NeutralAccX)+1,r29 |
| 1160 0486 C093 0000 sts NeutralAccX,r28 |
| 1161 048a D093 0000 sts (NeutralAccY)+1,r29 |
| 1162 048e C093 0000 sts NeutralAccY,r28 |
| 1163 0492 D093 0000 sts (NeutralAccZ)+1,r29 |
| 1164 0496 C093 0000 sts NeutralAccZ,r28 |
| 1165 049a D093 0000 sts (AdNeutralNick)+1,r29 |
| 1166 049e C093 0000 sts AdNeutralNick,r28 |
| 1167 04a2 D093 0000 sts (AdNeutralRoll)+1,r29 |
| 1168 04a6 C093 0000 sts AdNeutralRoll,r28 |
| 1169 04aa D093 0000 sts (AdNeutralGier)+1,r29 |
| 1170 04ae C093 0000 sts AdNeutralGier,r28 |
| 1171 04b2 1092 0000 sts Parameter_AchsKopplung1,__zero_reg__ |
| 1172 04b6 1092 0000 sts Parameter_AchsKopplung2,__zero_reg__ |
| 1173 04ba 1092 0000 sts ExpandBaro,__zero_reg__ |
| 1174 04be 0E94 0000 call CalibrierMittelwert |
| 1175 04c2 84E6 ldi r24,lo8(100) |
| 1176 04c4 90E0 ldi r25,hi8(100) |
| 1177 04c6 0E94 0000 call Delay_ms_Mess |
| 1178 04ca 0E94 0000 call CalibrierMittelwert |
| 1179 04ce 8091 0000 lds r24,EE_Parameter+13 |
| 1180 04d2 80FF sbrs r24,0 |
| 1181 04d4 00C0 rjmp .L51 |
| 1182 04d6 8091 0000 lds r24,MessLuftdruck |
| 1183 04da 9091 0000 lds r25,(MessLuftdruck)+1 |
| 1184 04de 875B subi r24,lo8(951) |
| 1185 04e0 9340 sbci r25,hi8(951) |
| 1186 04e2 00F4 brsh .L53 |
| 1187 04e4 8091 0000 lds r24,MessLuftdruck |
| 1188 04e8 9091 0000 lds r25,(MessLuftdruck)+1 |
| 1189 04ec 8E5E subi r24,lo8(750) |
| 1190 04ee 9240 sbci r25,hi8(750) |
| 1191 04f0 00F4 brsh .L51 |
| 1192 .L53: |
| 1193 04f2 0E94 0000 call SucheLuftruckOffset |
| 1194 .L51: |
| 1195 04f6 0FE1 ldi r16,lo8(31) |
| 1196 .L57: |
| 1197 04f8 8AE0 ldi r24,lo8(10) |
| 1198 04fa 90E0 ldi r25,hi8(10) |
| 1199 04fc 0E94 0000 call Delay_ms_Mess |
| 1200 0500 8091 0000 lds r24,AdWertGier |
| 1201 0504 9091 0000 lds r25,(AdWertGier)+1 |
| 1202 0508 C80F add r28,r24 |
| 1203 050a D91F adc r29,r25 |
| 1204 050c 8091 0000 lds r24,AdWertNick |
| 1205 0510 9091 0000 lds r25,(AdWertNick)+1 |
| 1206 0514 E80E add r14,r24 |
| 1207 0516 F91E adc r15,r25 |
| 1208 0518 8091 0000 lds r24,AdWertRoll |
| 1209 051c 9091 0000 lds r25,(AdWertRoll)+1 |
| 1210 0520 C80E add r12,r24 |
| 1211 0522 D91E adc r13,r25 |
| 1212 0524 0150 subi r16,lo8(-(-1)) |
| 1213 0526 07FF sbrs r16,7 |
| 1214 0528 00C0 rjmp .L57 |
| 1215 052a 9701 movw r18,r14 |
| 1216 052c 205F subi r18,lo8(-(16)) |
| 1217 052e 3F4F sbci r19,hi8(-(16)) |
| 1218 0530 3695 lsr r19 |
| 1219 0532 2795 ror r18 |
| 1220 0534 3695 lsr r19 |
| 1221 0536 2795 ror r18 |
| 1222 0538 3093 0000 sts (AdNeutralNick)+1,r19 |
| 1223 053c 2093 0000 sts AdNeutralNick,r18 |
| 1224 0540 C601 movw r24,r12 |
| 1225 0542 4096 adiw r24,16 |
| 1226 0544 9695 lsr r25 |
| 1227 0546 8795 ror r24 |
| 1228 0548 9695 lsr r25 |
| 1229 054a 8795 ror r24 |
| 1230 054c 9093 0000 sts (AdNeutralRoll)+1,r25 |
| 1231 0550 8093 0000 sts AdNeutralRoll,r24 |
| 1232 0554 6096 adiw r28,16 |
| 1233 0556 F5E0 ldi r31,5 |
| 1234 0558 D695 1: lsr r29 |
| 1235 055a C795 ror r28 |
| 1236 055c FA95 dec r31 |
| 1237 055e 01F4 brne 1b |
| 1238 0560 D093 0000 sts (AdNeutralGier)+1,r29 |
| 1239 0564 C093 0000 sts AdNeutralGier,r28 |
| 1240 0568 9093 0000 sts (StartNeutralRoll)+1,r25 |
| 1241 056c 8093 0000 sts StartNeutralRoll,r24 |
| 1242 0570 3093 0000 sts (StartNeutralNick)+1,r19 |
| 1243 0574 2093 0000 sts StartNeutralNick,r18 |
| 1244 0578 8820 tst r8 |
| 1245 057a 01F4 brne .+2 |
| 1246 057c 00C0 rjmp .L58 |
| 1247 057e 8091 0000 lds r24,Mittelwert_AccNick |
| 1248 0582 9091 0000 lds r25,(Mittelwert_AccNick)+1 |
| 1249 0586 97FF sbrs r25,7 |
| 1250 0588 00C0 rjmp .L59 |
| 1251 058a 9095 com r25 |
| 1252 058c 8195 neg r24 |
| 1253 058e 9F4F sbci r25,lo8(-1) |
| 1254 .L59: |
| 1255 0590 6CE0 ldi r22,lo8(12) |
| 1256 0592 70E0 ldi r23,hi8(12) |
| 1257 0594 0E94 0000 call __divmodhi4 |
| 1258 0598 9B01 movw r18,r22 |
| 1259 059a 7093 0000 sts (NeutralAccX)+1,r23 |
| 1260 059e 6093 0000 sts NeutralAccX,r22 |
| 1261 05a2 8091 0000 lds r24,Mittelwert_AccRoll |
| 1262 05a6 9091 0000 lds r25,(Mittelwert_AccRoll)+1 |
| 1263 05aa 97FF sbrs r25,7 |
| 1264 05ac 00C0 rjmp .L60 |
| 1265 05ae 9095 com r25 |
| 1266 05b0 8195 neg r24 |
| 1267 05b2 9F4F sbci r25,lo8(-1) |
| 1268 .L60: |
| 1269 05b4 6CE0 ldi r22,lo8(12) |
| 1270 05b6 70E0 ldi r23,hi8(12) |
| 1271 05b8 0E94 0000 call __divmodhi4 |
| 1272 05bc 7093 0000 sts (NeutralAccY)+1,r23 |
| 1273 05c0 6093 0000 sts NeutralAccY,r22 |
| 1274 05c4 8091 0000 lds r24,Aktuell_az |
| 1275 05c8 9091 0000 lds r25,(Aktuell_az)+1 |
| 1276 05cc 9093 0000 sts (NeutralAccZ)+1,r25 |
| 1277 05d0 8093 0000 sts NeutralAccZ,r24 |
| 1278 05d4 B901 movw r22,r18 |
| 1279 05d6 84E0 ldi r24,lo8(4) |
| 1280 05d8 90E0 ldi r25,hi8(4) |
| 1281 05da 0E94 0000 call SetParamWord |
| 1282 05de 6091 0000 lds r22,NeutralAccY |
| 1283 05e2 7091 0000 lds r23,(NeutralAccY)+1 |
| 1284 05e6 86E0 ldi r24,lo8(6) |
| 1285 05e8 90E0 ldi r25,hi8(6) |
| 1286 05ea 0E94 0000 call SetParamWord |
| 1287 05ee 6091 0000 lds r22,NeutralAccZ |
| 1288 05f2 7091 0000 lds r23,(NeutralAccZ)+1 |
| 1289 05f6 88E0 ldi r24,lo8(8) |
| 1290 05f8 90E0 ldi r25,hi8(8) |
| 1291 05fa 0E94 0000 call SetParamWord |
| 1292 05fe 00C0 rjmp .L61 |
| 1293 .L58: |
| 1294 0600 84E0 ldi r24,lo8(4) |
| 1295 0602 90E0 ldi r25,hi8(4) |
| 1296 0604 0E94 0000 call GetParamWord |
| 1297 0608 9093 0000 sts (NeutralAccX)+1,r25 |
| 1298 060c 8093 0000 sts NeutralAccX,r24 |
| 1299 0610 86E0 ldi r24,lo8(6) |
| 1300 0612 90E0 ldi r25,hi8(6) |
| 1301 0614 0E94 0000 call GetParamWord |
| 1302 0618 9093 0000 sts (NeutralAccY)+1,r25 |
| 1303 061c 8093 0000 sts NeutralAccY,r24 |
| 1304 0620 88E0 ldi r24,lo8(8) |
| 1305 0622 90E0 ldi r25,hi8(8) |
| 1306 0624 0E94 0000 call GetParamWord |
| 1307 0628 9C01 movw r18,r24 |
| 1308 062a 9093 0000 sts (NeutralAccZ)+1,r25 |
| 1309 062e 8093 0000 sts NeutralAccZ,r24 |
| 1310 0632 8091 0000 lds r24,NeutralAccX |
| 1311 0636 9091 0000 lds r25,(NeutralAccX)+1 |
| 1312 063a 8150 subi r24,lo8(2049) |
| 1313 063c 9840 sbci r25,hi8(2049) |
| 1314 063e 00F4 brsh .L63 |
| 1315 0640 8091 0000 lds r24,NeutralAccY |
| 1316 0644 9091 0000 lds r25,(NeutralAccY)+1 |
| 1317 0648 8150 subi r24,lo8(2049) |
| 1318 064a 9840 sbci r25,hi8(2049) |
| 1319 064c 00F4 brsh .L63 |
| 1320 064e 2150 subi r18,lo8(1025) |
| 1321 0650 3440 sbci r19,hi8(1025) |
| 1322 0652 00F0 brlo .L61 |
| 1323 .L63: |
| 1324 0654 80E0 ldi r24,lo8(__c.35) |
| 1325 0656 90E0 ldi r25,hi8(__c.35) |
| 1326 0658 9F93 push r25 |
| 1327 065a 8F93 push r24 |
| 1328 065c 80E0 ldi r24,lo8(pm(uart_putchar)) |
| 1329 065e 90E0 ldi r25,hi8(pm(uart_putchar)) |
| 1330 0660 9F93 push r25 |
| 1331 0662 8F93 push r24 |
| 1332 0664 E091 0000 lds r30,_printf_P |
| 1333 0668 F091 0000 lds r31,(_printf_P)+1 |
| 1334 066c 0995 icall |
| 1335 066e 8091 0000 lds r24,Mittelwert_AccNick |
| 1336 0672 9091 0000 lds r25,(Mittelwert_AccNick)+1 |
| 1337 0676 97FF sbrs r25,7 |
| 1338 0678 00C0 rjmp .L64 |
| 1339 067a 9095 com r25 |
| 1340 067c 8195 neg r24 |
| 1341 067e 9F4F sbci r25,lo8(-1) |
| 1342 .L64: |
| 1343 0680 6CE0 ldi r22,lo8(12) |
| 1344 0682 70E0 ldi r23,hi8(12) |
| 1345 0684 0E94 0000 call __divmodhi4 |
| 1346 0688 7093 0000 sts (NeutralAccX)+1,r23 |
| 1347 068c 6093 0000 sts NeutralAccX,r22 |
| 1348 0690 8091 0000 lds r24,Mittelwert_AccRoll |
| 1349 0694 9091 0000 lds r25,(Mittelwert_AccRoll)+1 |
| 1350 0698 97FF sbrs r25,7 |
| 1351 069a 00C0 rjmp .L65 |
| 1352 069c 9095 com r25 |
| 1353 069e 8195 neg r24 |
| 1354 06a0 9F4F sbci r25,lo8(-1) |
| 1355 .L65: |
| 1356 06a2 6CE0 ldi r22,lo8(12) |
| 1357 06a4 70E0 ldi r23,hi8(12) |
| 1358 06a6 0E94 0000 call __divmodhi4 |
| 1359 06aa 7093 0000 sts (NeutralAccY)+1,r23 |
| 1360 06ae 6093 0000 sts NeutralAccY,r22 |
| 1361 06b2 8091 0000 lds r24,Aktuell_az |
| 1362 06b6 9091 0000 lds r25,(Aktuell_az)+1 |
| 1363 06ba 9093 0000 sts (NeutralAccZ)+1,r25 |
| 1364 06be 8093 0000 sts NeutralAccZ,r24 |
| 1365 06c2 0F90 pop __tmp_reg__ |
| 1366 06c4 0F90 pop __tmp_reg__ |
| 1367 06c6 0F90 pop __tmp_reg__ |
| 1368 06c8 0F90 pop __tmp_reg__ |
| 1369 .L61: |
| 1370 06ca 1092 0000 sts (MesswertNick)+1,__zero_reg__ |
| 1371 06ce 1092 0000 sts MesswertNick,__zero_reg__ |
| 1372 06d2 1092 0000 sts (MesswertRoll)+1,__zero_reg__ |
| 1373 06d6 1092 0000 sts MesswertRoll,__zero_reg__ |
| 1374 06da 1092 0000 sts (MesswertGier)+1,__zero_reg__ |
| 1375 06de 1092 0000 sts MesswertGier,__zero_reg__ |
| 1376 06e2 84E6 ldi r24,lo8(100) |
| 1377 06e4 90E0 ldi r25,hi8(100) |
| 1378 06e6 0E94 0000 call Delay_ms_Mess |
| 1379 06ea 8091 0000 lds r24,AdWertAccNick |
| 1380 06ee 9091 0000 lds r25,(AdWertAccNick)+1 |
| 1381 06f2 9C01 movw r18,r24 |
| 1382 06f4 220F lsl r18 |
| 1383 06f6 331F rol r19 |
| 1384 06f8 220F lsl r18 |
| 1385 06fa 331F rol r19 |
| 1386 06fc 280F add r18,r24 |
| 1387 06fe 391F adc r19,r25 |
| 1388 0700 280F add r18,r24 |
| 1389 0702 391F adc r19,r25 |
| 1390 0704 3093 0000 sts (Mittelwert_AccNick)+1,r19 |
| 1391 0708 2093 0000 sts Mittelwert_AccNick,r18 |
| 1392 070c 8091 0000 lds r24,AdWertAccRoll |
| 1393 0710 9091 0000 lds r25,(AdWertAccRoll)+1 |
| 1394 0714 8C01 movw r16,r24 |
| 1395 0716 000F lsl r16 |
| 1396 0718 111F rol r17 |
| 1397 071a 000F lsl r16 |
| 1398 071c 111F rol r17 |
| 1399 071e 080F add r16,r24 |
| 1400 0720 191F adc r17,r25 |
| 1401 0722 080F add r16,r24 |
| 1402 0724 191F adc r17,r25 |
| 1403 0726 1093 0000 sts (Mittelwert_AccRoll)+1,r17 |
| 1404 072a 0093 0000 sts Mittelwert_AccRoll,r16 |
| 1405 072e 8091 0000 lds r24,EE_Parameter+28 |
| 1406 0732 C82E mov r12,r24 |
| 1407 0734 DD24 clr r13 |
| 1408 0736 EE24 clr r14 |
| 1409 0738 FF24 clr r15 |
| 1410 073a 4427 clr r20 |
| 1411 073c 37FD sbrc r19,7 |
| 1412 073e 4095 com r20 |
| 1413 0740 542F mov r21,r20 |
| 1414 0742 C701 movw r24,r14 |
| 1415 0744 B601 movw r22,r12 |
| 1416 0746 0E94 0000 call __mulsi3 |
| 1417 074a 4B01 movw r8,r22 |
| 1418 074c 5C01 movw r10,r24 |
| 1419 074e 6093 0000 sts IntegralNick,r22 |
| 1420 0752 7093 0000 sts (IntegralNick)+1,r23 |
| 1421 0756 8093 0000 sts (IntegralNick)+2,r24 |
| 1422 075a 9093 0000 sts (IntegralNick)+3,r25 |
| 1423 075e 9801 movw r18,r16 |
| 1424 0760 4427 clr r20 |
| 1425 0762 37FD sbrc r19,7 |
| 1426 0764 4095 com r20 |
| 1427 0766 542F mov r21,r20 |
| 1428 0768 C701 movw r24,r14 |
| 1429 076a B601 movw r22,r12 |
| 1430 076c 0E94 0000 call __mulsi3 |
| 1431 0770 DC01 movw r26,r24 |
| 1432 0772 CB01 movw r24,r22 |
| 1433 0774 8093 0000 sts IntegralRoll,r24 |
| 1434 0778 9093 0000 sts (IntegralRoll)+1,r25 |
| 1435 077c A093 0000 sts (IntegralRoll)+2,r26 |
| 1436 0780 B093 0000 sts (IntegralRoll)+3,r27 |
| 1437 0784 8092 0000 sts Mess_IntegralNick,r8 |
| 1438 0788 9092 0000 sts (Mess_IntegralNick)+1,r9 |
| 1439 078c A092 0000 sts (Mess_IntegralNick)+2,r10 |
| 1440 0790 B092 0000 sts (Mess_IntegralNick)+3,r11 |
| 1441 0794 8093 0000 sts Mess_IntegralRoll,r24 |
| 1442 0798 9093 0000 sts (Mess_IntegralRoll)+1,r25 |
| 1443 079c A093 0000 sts (Mess_IntegralRoll)+2,r26 |
| 1444 07a0 B093 0000 sts (Mess_IntegralRoll)+3,r27 |
| 1445 07a4 1092 0000 sts Mess_Integral_Gier,__zero_reg__ |
| 1446 07a8 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__ |
| 1447 07ac 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__ |
| 1448 07b0 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__ |
| 1449 07b4 8091 0000 lds r24,Luftdruck |
| 1450 07b8 9091 0000 lds r25,(Luftdruck)+1 |
| 1451 07bc A091 0000 lds r26,(Luftdruck)+2 |
| 1452 07c0 B091 0000 lds r27,(Luftdruck)+3 |
| 1453 07c4 9093 0000 sts (StartLuftdruck)+1,r25 |
| 1454 07c8 8093 0000 sts StartLuftdruck,r24 |
| 1455 07cc 1092 0000 sts (VarioMeter)+1,__zero_reg__ |
| 1456 07d0 1092 0000 sts VarioMeter,__zero_reg__ |
| 1457 07d4 1092 0000 sts Mess_Integral_Hoch,__zero_reg__ |
| 1458 07d8 1092 0000 sts (Mess_Integral_Hoch)+1,__zero_reg__ |
| 1459 07dc 1092 0000 sts (Mess_Integral_Hoch)+2,__zero_reg__ |
| 1460 07e0 1092 0000 sts (Mess_Integral_Hoch)+3,__zero_reg__ |
| 1461 07e4 0091 0000 lds r16,KompassValue |
| 1462 07e8 1091 0000 lds r17,(KompassValue)+1 |
| 1463 07ec 1093 0000 sts (KompassSollWert)+1,r17 |
| 1464 07f0 0093 0000 sts KompassSollWert,r16 |
| 1465 07f4 84E6 ldi r24,lo8(100) |
| 1466 07f6 90E0 ldi r25,hi8(100) |
| 1467 07f8 9093 0000 sts (KompassSignalSchlecht)+1,r25 |
| 1468 07fc 8093 0000 sts KompassSignalSchlecht,r24 |
| 1469 0800 82E3 ldi r24,lo8(50) |
| 1470 0802 90E0 ldi r25,hi8(50) |
| 1471 0804 9093 0000 sts (beeptime)+1,r25 |
| 1472 0808 8093 0000 sts beeptime,r24 |
| 1473 080c 8091 0000 lds r24,EE_Parameter+65 |
| 1474 0810 9927 clr r25 |
| 1475 0812 AA27 clr r26 |
| 1476 0814 BB27 clr r27 |
| 1477 0816 BC01 movw r22,r24 |
| 1478 0818 CD01 movw r24,r26 |
| 1479 081a 24EC ldi r18,lo8(2500) |
| 1480 081c 39E0 ldi r19,hi8(2500) |
| 1481 081e 40E0 ldi r20,hlo8(2500) |
| 1482 0820 50E0 ldi r21,hhi8(2500) |
| 1483 0822 0E94 0000 call __mulsi3 |
| 1484 0826 DC01 movw r26,r24 |
| 1485 0828 CB01 movw r24,r22 |
| 1486 082a 8856 subi r24,lo8(-(15000)) |
| 1487 082c 954C sbci r25,hi8(-(15000)) |
| 1488 082e AF4F sbci r26,hlo8(-(15000)) |
| 1489 0830 BF4F sbci r27,hhi8(-(15000)) |
| 1490 0832 8093 0000 sts Umschlag180Nick,r24 |
| 1491 0836 9093 0000 sts (Umschlag180Nick)+1,r25 |
| 1492 083a A093 0000 sts (Umschlag180Nick)+2,r26 |
| 1493 083e B093 0000 sts (Umschlag180Nick)+3,r27 |
| 1494 0842 8091 0000 lds r24,EE_Parameter+66 |
| 1495 0846 9927 clr r25 |
| 1496 0848 AA27 clr r26 |
| 1497 084a BB27 clr r27 |
| 1498 084c BC01 movw r22,r24 |
| 1499 084e CD01 movw r24,r26 |
| 1500 0850 0E94 0000 call __mulsi3 |
| 1501 0854 DC01 movw r26,r24 |
| 1502 0856 CB01 movw r24,r22 |
| 1503 0858 8856 subi r24,lo8(-(15000)) |
| 1504 085a 954C sbci r25,hi8(-(15000)) |
| 1505 085c AF4F sbci r26,hlo8(-(15000)) |
| 1506 085e BF4F sbci r27,hhi8(-(15000)) |
| 1507 0860 8093 0000 sts Umschlag180Roll,r24 |
| 1508 0864 9093 0000 sts (Umschlag180Roll)+1,r25 |
| 1509 0868 A093 0000 sts (Umschlag180Roll)+2,r26 |
| 1510 086c B093 0000 sts (Umschlag180Roll)+3,r27 |
| 1511 0870 1092 0000 sts (ExternHoehenValue)+1,__zero_reg__ |
| 1512 0874 1092 0000 sts ExternHoehenValue,__zero_reg__ |
| 1513 0878 C801 movw r24,r16 |
| 1514 087a AA27 clr r26 |
| 1515 087c 97FD sbrc r25,7 |
| 1516 087e A095 com r26 |
| 1517 0880 BA2F mov r27,r26 |
| 1518 0882 2091 0000 lds r18,GIER_GRAD_FAKTOR |
| 1519 0886 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1 |
| 1520 088a 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2 |
| 1521 088e 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3 |
| 1522 0892 BC01 movw r22,r24 |
| 1523 0894 CD01 movw r24,r26 |
| 1524 0896 0E94 0000 call __mulsi3 |
| 1525 089a DC01 movw r26,r24 |
| 1526 089c CB01 movw r24,r22 |
| 1527 089e 8093 0000 sts ErsatzKompass,r24 |
| 1528 08a2 9093 0000 sts (ErsatzKompass)+1,r25 |
| 1529 08a6 A093 0000 sts (ErsatzKompass)+2,r26 |
| 1530 08aa B093 0000 sts (ErsatzKompass)+3,r27 |
| 1531 08ae 1092 0000 sts (GierGyroFehler)+1,__zero_reg__ |
| 1532 08b2 1092 0000 sts GierGyroFehler,__zero_reg__ |
| 1533 08b6 0E94 0000 call LED_Init |
| 1534 08ba 8091 0000 lds r24,FC_StatusFlags |
| 1535 08be 8460 ori r24,lo8(4) |
| 1536 08c0 8093 0000 sts FC_StatusFlags,r24 |
| 1537 08c4 8FEF ldi r24,lo8(-1) |
| 1538 08c6 8093 0000 sts FromNaviCtrl_Value,r24 |
| 1539 08ca 1092 0000 sts FromNaviCtrl_Value+1,__zero_reg__ |
| 1540 08ce 80E2 ldi r24,lo8(32) |
| 1541 08d0 8093 0000 sts FromNaviCtrl_Value+2,r24 |
| 1542 08d4 C0E0 ldi r28,lo8(Poti) |
| 1543 08d6 D0E0 ldi r29,hi8(Poti) |
| 1544 08d8 A0E0 ldi r26,lo8(EE_Parameter+5) |
| 1545 08da B0E0 ldi r27,hi8(EE_Parameter+5) |
| 1546 08dc 07E0 ldi r16,lo8(7) |
| 1547 .L69: |
| 1548 08de 8D91 ld r24,X+ |
| 1549 08e0 E82F mov r30,r24 |
| 1550 08e2 FF27 clr r31 |
| 1551 08e4 EE0F add r30,r30 |
| 1552 08e6 FF1F adc r31,r31 |
| 1553 08e8 E050 subi r30,lo8(-(PPM_in)) |
| 1554 08ea F040 sbci r31,hi8(-(PPM_in)) |
| 1555 08ec 8081 ld r24,Z |
| 1556 08ee 9181 ldd r25,Z+1 |
| 1557 08f0 8158 subi r24,lo8(-(127)) |
| 1558 08f2 8993 st Y+,r24 |
| 1559 08f4 0150 subi r16,lo8(-(-1)) |
| 1560 08f6 07FF sbrs r16,7 |
| 1561 08f8 00C0 rjmp .L69 |
| 1562 08fa 84E6 ldi r24,lo8(100) |
| 1563 08fc 8093 0000 sts SenderOkay,r24 |
| 1564 0900 8091 0000 lds r24,ServoActive |
| 1565 0904 8823 tst r24 |
| 1566 0906 01F0 breq .L70 |
| 1567 0908 579A sbi 42-0x20,7 |
| 1568 090a 00C0 rjmp .L71 |
| 1569 .L70: |
| 1570 090c 80E0 ldi r24,lo8(4352) |
| 1571 090e 91E1 ldi r25,hi8(4352) |
| 1572 0910 9093 0000 sts (NickServoValue)+1,r25 |
| 1573 0914 8093 0000 sts NickServoValue,r24 |
| 1574 .L71: |
| 1575 0918 8091 0000 lds r24,AdNeutralNick |
| 1576 091c 9091 0000 lds r25,(AdNeutralNick)+1 |
| 1577 0920 8056 subi r24,lo8(-(-2400)) |
| 1578 0922 9940 sbci r25,hi8(-(-2400)) |
| 1579 0924 815C subi r24,lo8(11201) |
| 1580 0926 9B42 sbci r25,hi8(11201) |
| 1581 0928 00F0 brlo .L72 |
| 1582 092a 8091 0000 lds r24,VersionInfo+5 |
| 1583 092e 8160 ori r24,lo8(1) |
| 1584 0930 8093 0000 sts VersionInfo+5,r24 |
| 1585 .L72: |
| 1586 0934 8091 0000 lds r24,AdNeutralRoll |
| 1587 0938 9091 0000 lds r25,(AdNeutralRoll)+1 |
| 1588 093c 8056 subi r24,lo8(-(-2400)) |
| 1589 093e 9940 sbci r25,hi8(-(-2400)) |
| 1590 0940 815C subi r24,lo8(11201) |
| 1591 0942 9B42 sbci r25,hi8(11201) |
| 1592 0944 00F0 brlo .L73 |
| 1593 0946 8091 0000 lds r24,VersionInfo+5 |
| 1594 094a 8260 ori r24,lo8(2) |
| 1595 094c 8093 0000 sts VersionInfo+5,r24 |
| 1596 .L73: |
| 1597 0950 8091 0000 lds r24,AdNeutralGier |
| 1598 0954 9091 0000 lds r25,(AdNeutralGier)+1 |
| 1599 0958 8C52 subi r24,lo8(-(-300)) |
| 1600 095a 9140 sbci r25,hi8(-(-300)) |
| 1601 095c 8957 subi r24,lo8(1401) |
| 1602 095e 9540 sbci r25,hi8(1401) |
| 1603 0960 00F0 brlo .L74 |
| 1604 0962 8091 0000 lds r24,VersionInfo+5 |
| 1605 0966 8460 ori r24,lo8(4) |
| 1606 0968 8093 0000 sts VersionInfo+5,r24 |
| 1607 .L74: |
| 1608 096c 8091 0000 lds r24,NeutralAccX |
| 1609 0970 9091 0000 lds r25,(NeutralAccX)+1 |
| 1610 0974 8C52 subi r24,lo8(-(-300)) |
| 1611 0976 9140 sbci r25,hi8(-(-300)) |
| 1612 0978 835C subi r24,lo8(451) |
| 1613 097a 9140 sbci r25,hi8(451) |
| 1614 097c 00F0 brlo .L75 |
| 1615 097e 8091 0000 lds r24,VersionInfo+5 |
| 1616 0982 8860 ori r24,lo8(8) |
| 1617 0984 8093 0000 sts VersionInfo+5,r24 |
| 1618 .L75: |
| 1619 0988 8091 0000 lds r24,NeutralAccY |
| 1620 098c 9091 0000 lds r25,(NeutralAccY)+1 |
| 1621 0990 8C52 subi r24,lo8(-(-300)) |
| 1622 0992 9140 sbci r25,hi8(-(-300)) |
| 1623 0994 835C subi r24,lo8(451) |
| 1624 0996 9140 sbci r25,hi8(451) |
| 1625 0998 00F0 brlo .L76 |
| 1626 099a 8091 0000 lds r24,VersionInfo+5 |
| 1627 099e 8061 ori r24,lo8(16) |
| 1628 09a0 8093 0000 sts VersionInfo+5,r24 |
| 1629 .L76: |
| 1630 09a4 8091 0000 lds r24,NeutralAccZ |
| 1631 09a8 9091 0000 lds r25,(NeutralAccZ)+1 |
| 1632 09ac 8050 subi r24,lo8(-(-512)) |
| 1633 09ae 9240 sbci r25,hi8(-(-512)) |
| 1634 09b0 8355 subi r24,lo8(339) |
| 1635 09b2 9140 sbci r25,hi8(339) |
| 1636 09b4 00F0 brlo .L77 |
| 1637 09b6 8091 0000 lds r24,VersionInfo+5 |
| 1638 09ba 8062 ori r24,lo8(32) |
| 1639 09bc 8093 0000 sts VersionInfo+5,r24 |
| 1640 .L77: |
| 1641 09c0 86E4 ldi r24,lo8(70) |
| 1642 09c2 8093 0000 sts carefree_old,r24 |
| 1643 09c6 0E94 0000 call LIBFC_HoTT_Clear |
| 1644 /* epilogue: frame size=0 */ |
| 1645 09ca ECE0 ldi r30,12 |
| 1646 09cc CDB7 in r28,__SP_L__ |
| 1647 09ce DEB7 in r29,__SP_H__ |
| 1648 09d0 0C94 0000 jmp __epilogue_restores__+12 |
| 1649 /* epilogue end (size=5) */ |
| 1650 /* function SetNeutral size 705 (694) */ |
| 1652 .lcomm tmpl.27,4 |
| 1653 .lcomm tmpl2.28,4 |
| 1654 .lcomm tmpl3.29,4 |
| 1655 .lcomm tmpl4.30,4 |
| 1656 .lcomm oldNick.31,2 |
| 1657 .lcomm oldRoll.32,2 |
| 1658 .lcomm d2Roll.33,2 |
| 1659 .lcomm d2Nick.34,2 |
| 1660 .global Mittelwert |
| 1662 Mittelwert: |
| 1663 /* prologue: frame size=19 */ |
| 1664 09d4 A3E1 ldi r26,lo8(19) |
| 1665 09d6 B0E0 ldi r27,hi8(19) |
| 1666 09d8 E0E0 ldi r30,pm_lo8(1f) |
| 1667 09da F0E0 ldi r31,pm_hi8(1f) |
| 1668 09dc 0C94 0000 jmp __prologue_saves__+0 |
| 1669 1: |
| 1670 /* prologue end (size=6) */ |
| 1671 09e0 8091 0000 lds r24,AdNeutralGier |
| 1672 09e4 9091 0000 lds r25,(AdNeutralGier)+1 |
| 1673 09e8 2091 0000 lds r18,AdWertGier |
| 1674 09ec 3091 0000 lds r19,(AdWertGier)+1 |
| 1675 09f0 821B sub r24,r18 |
| 1676 09f2 930B sbc r25,r19 |
| 1677 09f4 9093 0000 sts (MesswertGier)+1,r25 |
| 1678 09f8 8093 0000 sts MesswertGier,r24 |
| 1679 09fc 8091 0000 lds r24,AdWertNickFilter |
| 1680 0a00 9091 0000 lds r25,(AdWertNickFilter)+1 |
| 1681 0a04 97FD sbrc r25,7 |
| 1682 0a06 0796 adiw r24,7 |
| 1683 .L83: |
| 1684 0a08 9C01 movw r18,r24 |
| 1685 0a0a 13E0 ldi r17,3 |
| 1686 0a0c 3595 1: asr r19 |
| 1687 0a0e 2795 ror r18 |
| 1688 0a10 1A95 dec r17 |
| 1689 0a12 01F4 brne 1b |
| 1690 0a14 3093 0000 sts (MesswertNick)+1,r19 |
| 1691 0a18 2093 0000 sts MesswertNick,r18 |
| 1692 0a1c 8091 0000 lds r24,AdWertRollFilter |
| 1693 0a20 9091 0000 lds r25,(AdWertRollFilter)+1 |
| 1694 0a24 97FD sbrc r25,7 |
| 1695 0a26 0796 adiw r24,7 |
| 1696 .L84: |
| 1697 0a28 B3E0 ldi r27,3 |
| 1698 0a2a 9595 1: asr r25 |
| 1699 0a2c 8795 ror r24 |
| 1700 0a2e BA95 dec r27 |
| 1701 0a30 01F4 brne 1b |
| 1702 0a32 9093 0000 sts (MesswertRoll)+1,r25 |
| 1703 0a36 8093 0000 sts MesswertRoll,r24 |
| 1704 0a3a 3093 0000 sts (RohMesswertNick)+1,r19 |
| 1705 0a3e 2093 0000 sts RohMesswertNick,r18 |
| 1706 0a42 9093 0000 sts (RohMesswertRoll)+1,r25 |
| 1707 0a46 8093 0000 sts RohMesswertRoll,r24 |
| 1708 0a4a 8091 0000 lds r24,Mittelwert_AccNick |
| 1709 0a4e 9091 0000 lds r25,(Mittelwert_AccNick)+1 |
| 1710 0a52 AC01 movw r20,r24 |
| 1711 0a54 440F lsl r20 |
| 1712 0a56 551F rol r21 |
| 1713 0a58 480F add r20,r24 |
| 1714 0a5a 591F adc r21,r25 |
| 1715 0a5c 2091 0000 lds r18,AdWertAccNick |
| 1716 0a60 3091 0000 lds r19,(AdWertAccNick)+1 |
| 1717 0a64 C901 movw r24,r18 |
| 1718 0a66 880F lsl r24 |
| 1719 0a68 991F rol r25 |
| 1720 0a6a 880F lsl r24 |
| 1721 0a6c 991F rol r25 |
| 1722 0a6e 820F add r24,r18 |
| 1723 0a70 931F adc r25,r19 |
| 1724 0a72 820F add r24,r18 |
| 1725 0a74 931F adc r25,r19 |
| 1726 0a76 480F add r20,r24 |
| 1727 0a78 591F adc r21,r25 |
| 1728 0a7a 57FF sbrs r21,7 |
| 1729 0a7c 00C0 rjmp .L85 |
| 1730 0a7e 4D5F subi r20,lo8(-(3)) |
| 1731 0a80 5F4F sbci r21,hi8(-(3)) |
| 1732 .L85: |
| 1733 0a82 5595 asr r21 |
| 1734 0a84 4795 ror r20 |
| 1735 0a86 5595 asr r21 |
| 1736 0a88 4795 ror r20 |
| 1737 0a8a 5093 0000 sts (Mittelwert_AccNick)+1,r21 |
| 1738 0a8e 4093 0000 sts Mittelwert_AccNick,r20 |
| 1739 0a92 8091 0000 lds r24,Mittelwert_AccRoll |
| 1740 0a96 9091 0000 lds r25,(Mittelwert_AccRoll)+1 |
| 1741 0a9a AC01 movw r20,r24 |
| 1742 0a9c 440F lsl r20 |
| 1743 0a9e 551F rol r21 |
| 1744 0aa0 480F add r20,r24 |
| 1745 0aa2 591F adc r21,r25 |
| 1746 0aa4 2091 0000 lds r18,AdWertAccRoll |
| 1747 0aa8 3091 0000 lds r19,(AdWertAccRoll)+1 |
| 1748 0aac C901 movw r24,r18 |
| 1749 0aae 880F lsl r24 |
| 1750 0ab0 991F rol r25 |
| 1751 0ab2 880F lsl r24 |
| 1752 0ab4 991F rol r25 |
| 1753 0ab6 820F add r24,r18 |
| 1754 0ab8 931F adc r25,r19 |
| 1755 0aba 820F add r24,r18 |
| 1756 0abc 931F adc r25,r19 |
| 1757 0abe 480F add r20,r24 |
| 1758 0ac0 591F adc r21,r25 |
| 1759 0ac2 57FF sbrs r21,7 |
| 1760 0ac4 00C0 rjmp .L86 |
| 1761 0ac6 4D5F subi r20,lo8(-(3)) |
| 1762 0ac8 5F4F sbci r21,hi8(-(3)) |
| 1763 .L86: |
| 1764 0aca 5595 asr r21 |
| 1765 0acc 4795 ror r20 |
| 1766 0ace 5595 asr r21 |
| 1767 0ad0 4795 ror r20 |
| 1768 0ad2 5093 0000 sts (Mittelwert_AccRoll)+1,r21 |
| 1769 0ad6 4093 0000 sts Mittelwert_AccRoll,r20 |
| 1770 0ada 2091 0000 lds r18,AdWertAccNick |
| 1771 0ade 3091 0000 lds r19,(AdWertAccNick)+1 |
| 1772 0ae2 C901 movw r24,r18 |
| 1773 0ae4 880F lsl r24 |
| 1774 0ae6 991F rol r25 |
| 1775 0ae8 880F lsl r24 |
| 1776 0aea 991F rol r25 |
| 1777 0aec 820F add r24,r18 |
| 1778 0aee 931F adc r25,r19 |
| 1779 0af0 820F add r24,r18 |
| 1780 0af2 931F adc r25,r19 |
| 1781 0af4 9C01 movw r18,r24 |
| 1782 0af6 4427 clr r20 |
| 1783 0af8 37FD sbrc r19,7 |
| 1784 0afa 4095 com r20 |
| 1785 0afc 542F mov r21,r20 |
| 1786 0afe 8091 0000 lds r24,IntegralAccNick |
| 1787 0b02 9091 0000 lds r25,(IntegralAccNick)+1 |
| 1788 0b06 A091 0000 lds r26,(IntegralAccNick)+2 |
| 1789 0b0a B091 0000 lds r27,(IntegralAccNick)+3 |
| 1790 0b0e 820F add r24,r18 |
| 1791 0b10 931F adc r25,r19 |
| 1792 0b12 A41F adc r26,r20 |
| 1793 0b14 B51F adc r27,r21 |
| 1794 0b16 8093 0000 sts IntegralAccNick,r24 |
| 1795 0b1a 9093 0000 sts (IntegralAccNick)+1,r25 |
| 1796 0b1e A093 0000 sts (IntegralAccNick)+2,r26 |
| 1797 0b22 B093 0000 sts (IntegralAccNick)+3,r27 |
| 1798 0b26 2091 0000 lds r18,AdWertAccRoll |
| 1799 0b2a 3091 0000 lds r19,(AdWertAccRoll)+1 |
| 1800 0b2e C901 movw r24,r18 |
| 1801 0b30 880F lsl r24 |
| 1802 0b32 991F rol r25 |
| 1803 0b34 880F lsl r24 |
| 1804 0b36 991F rol r25 |
| 1805 0b38 820F add r24,r18 |
| 1806 0b3a 931F adc r25,r19 |
| 1807 0b3c 820F add r24,r18 |
| 1808 0b3e 931F adc r25,r19 |
| 1809 0b40 9C01 movw r18,r24 |
| 1810 0b42 4427 clr r20 |
| 1811 0b44 37FD sbrc r19,7 |
| 1812 0b46 4095 com r20 |
| 1813 0b48 542F mov r21,r20 |
| 1814 0b4a 8091 0000 lds r24,IntegralAccRoll |
| 1815 0b4e 9091 0000 lds r25,(IntegralAccRoll)+1 |
| 1816 0b52 A091 0000 lds r26,(IntegralAccRoll)+2 |
| 1817 0b56 B091 0000 lds r27,(IntegralAccRoll)+3 |
| 1818 0b5a 820F add r24,r18 |
| 1819 0b5c 931F adc r25,r19 |
| 1820 0b5e A41F adc r26,r20 |
| 1821 0b60 B51F adc r27,r21 |
| 1822 0b62 8093 0000 sts IntegralAccRoll,r24 |
| 1823 0b66 9093 0000 sts (IntegralAccRoll)+1,r25 |
| 1824 0b6a A093 0000 sts (IntegralAccRoll)+2,r26 |
| 1825 0b6e B093 0000 sts (IntegralAccRoll)+3,r27 |
| 1826 0b72 8091 0000 lds r24,NaviAccNick |
| 1827 0b76 9091 0000 lds r25,(NaviAccNick)+1 |
| 1828 0b7a 2091 0000 lds r18,AdWertAccNick |
| 1829 0b7e 3091 0000 lds r19,(AdWertAccNick)+1 |
| 1830 0b82 820F add r24,r18 |
| 1831 0b84 931F adc r25,r19 |
| 1832 0b86 9093 0000 sts (NaviAccNick)+1,r25 |
| 1833 0b8a 8093 0000 sts NaviAccNick,r24 |
| 1834 0b8e 8091 0000 lds r24,NaviAccRoll |
| 1835 0b92 9091 0000 lds r25,(NaviAccRoll)+1 |
| 1836 0b96 2091 0000 lds r18,AdWertAccRoll |
| 1837 0b9a 3091 0000 lds r19,(AdWertAccRoll)+1 |
| 1838 0b9e 820F add r24,r18 |
| 1839 0ba0 931F adc r25,r19 |
| 1840 0ba2 9093 0000 sts (NaviAccRoll)+1,r25 |
| 1841 0ba6 8093 0000 sts NaviAccRoll,r24 |
| 1842 0baa 8091 0000 lds r24,NaviCntAcc |
| 1843 0bae 9091 0000 lds r25,(NaviCntAcc)+1 |
| 1844 0bb2 0196 adiw r24,1 |
| 1845 0bb4 9093 0000 sts (NaviCntAcc)+1,r25 |
| 1846 0bb8 8093 0000 sts NaviCntAcc,r24 |
| 1847 0bbc 8091 0000 lds r24,Aktuell_az |
| 1848 0bc0 9091 0000 lds r25,(Aktuell_az)+1 |
| 1849 0bc4 2091 0000 lds r18,NeutralAccZ |
| 1850 0bc8 3091 0000 lds r19,(NeutralAccZ)+1 |
| 1851 0bcc 821B sub r24,r18 |
| 1852 0bce 930B sbc r25,r19 |
| 1853 0bd0 9C01 movw r18,r24 |
| 1854 0bd2 4427 clr r20 |
| 1855 0bd4 37FD sbrc r19,7 |
| 1856 0bd6 4095 com r20 |
| 1857 0bd8 542F mov r21,r20 |
| 1858 0bda 8091 0000 lds r24,IntegralAccZ |
| 1859 0bde 9091 0000 lds r25,(IntegralAccZ)+1 |
| 1860 0be2 A091 0000 lds r26,(IntegralAccZ)+2 |
| 1861 0be6 B091 0000 lds r27,(IntegralAccZ)+3 |
| 1862 0bea 820F add r24,r18 |
| 1863 0bec 931F adc r25,r19 |
| 1864 0bee A41F adc r26,r20 |
| 1865 0bf0 B51F adc r27,r21 |
| 1866 0bf2 8093 0000 sts IntegralAccZ,r24 |
| 1867 0bf6 9093 0000 sts (IntegralAccZ)+1,r25 |
| 1868 0bfa A093 0000 sts (IntegralAccZ)+2,r26 |
| 1869 0bfe B093 0000 sts (IntegralAccZ)+3,r27 |
| 1870 0c02 8FEC ldi r24,lo8(-49) |
| 1871 0c04 8093 7A00 sts 122,r24 |
| 1872 0c08 1092 0000 sts AdReady,__zero_reg__ |
| 1873 0c0c 2091 0000 lds r18,Mess_IntegralRoll |
| 1874 0c10 3091 0000 lds r19,(Mess_IntegralRoll)+1 |
| 1875 0c14 4091 0000 lds r20,(Mess_IntegralRoll)+2 |
| 1876 0c18 5091 0000 lds r21,(Mess_IntegralRoll)+3 |
| 1877 0c1c 2987 std Y+9,r18 |
| 1878 0c1e 3A87 std Y+10,r19 |
| 1879 0c20 4B87 std Y+11,r20 |
| 1880 0c22 5C87 std Y+12,r21 |
| 1881 0c24 2954 subi r18,lo8(93001) |
| 1882 0c26 3B46 sbci r19,hi8(93001) |
| 1883 0c28 4140 sbci r20,hlo8(93001) |
| 1884 0c2a 5040 sbci r21,hhi8(93001) |
| 1885 0c2c 04F0 brlt .L87 |
| 1886 0c2e 28E4 ldi r18,lo8(93000) |
| 1887 0c30 3BE6 ldi r19,hi8(93000) |
| 1888 0c32 41E0 ldi r20,hlo8(93000) |
| 1889 0c34 50E0 ldi r21,hhi8(93000) |
| 1890 0c36 00C0 rjmp .L167 |
| 1891 .L87: |
| 1892 0c38 8985 ldd r24,Y+9 |
| 1893 0c3a 9A85 ldd r25,Y+10 |
| 1894 0c3c AB85 ldd r26,Y+11 |
| 1895 0c3e BC85 ldd r27,Y+12 |
| 1896 0c40 885B subi r24,lo8(-93000) |
| 1897 0c42 9449 sbci r25,hi8(-93000) |
| 1898 0c44 AE4F sbci r26,hlo8(-93000) |
| 1899 0c46 BF4F sbci r27,hhi8(-93000) |
| 1900 0c48 04F4 brge .L89 |
| 1901 0c4a 28EB ldi r18,lo8(-93000) |
| 1902 0c4c 34E9 ldi r19,hi8(-93000) |
| 1903 0c4e 4EEF ldi r20,hlo8(-93000) |
| 1904 0c50 5FEF ldi r21,hhi8(-93000) |
| 1905 .L167: |
| 1906 0c52 2D83 std Y+5,r18 |
| 1907 0c54 3E83 std Y+6,r19 |
| 1908 0c56 4F83 std Y+7,r20 |
| 1909 0c58 5887 std Y+8,r21 |
| 1910 0c5a 00C0 rjmp .L88 |
| 1911 .L89: |
| 1912 0c5c 8985 ldd r24,Y+9 |
| 1913 0c5e 9A85 ldd r25,Y+10 |
| 1914 0c60 AB85 ldd r26,Y+11 |
| 1915 0c62 BC85 ldd r27,Y+12 |
| 1916 0c64 8D83 std Y+5,r24 |
| 1917 0c66 9E83 std Y+6,r25 |
| 1918 0c68 AF83 std Y+7,r26 |
| 1919 0c6a B887 std Y+8,r27 |
| 1920 .L88: |
| 1921 0c6c 2091 0000 lds r18,Mess_IntegralNick |
| 1922 0c70 3091 0000 lds r19,(Mess_IntegralNick)+1 |
| 1923 0c74 4091 0000 lds r20,(Mess_IntegralNick)+2 |
| 1924 0c78 5091 0000 lds r21,(Mess_IntegralNick)+3 |
| 1925 0c7c 2D87 std Y+13,r18 |
| 1926 0c7e 3E87 std Y+14,r19 |
| 1927 0c80 4F87 std Y+15,r20 |
| 1928 0c82 588B std Y+16,r21 |
| 1929 0c84 2954 subi r18,lo8(93001) |
| 1930 0c86 3B46 sbci r19,hi8(93001) |
| 1931 0c88 4140 sbci r20,hlo8(93001) |
| 1932 0c8a 5040 sbci r21,hhi8(93001) |
| 1933 0c8c 04F0 brlt .L91 |
| 1934 0c8e 28E4 ldi r18,lo8(93000) |
| 1935 0c90 3BE6 ldi r19,hi8(93000) |
| 1936 0c92 41E0 ldi r20,hlo8(93000) |
| 1937 0c94 50E0 ldi r21,hhi8(93000) |
| 1938 0c96 00C0 rjmp .L168 |
| 1939 .L91: |
| 1940 0c98 8D85 ldd r24,Y+13 |
| 1941 0c9a 9E85 ldd r25,Y+14 |
| 1942 0c9c AF85 ldd r26,Y+15 |
| 1943 0c9e B889 ldd r27,Y+16 |
| 1944 0ca0 885B subi r24,lo8(-93000) |
| 1945 0ca2 9449 sbci r25,hi8(-93000) |
| 1946 0ca4 AE4F sbci r26,hlo8(-93000) |
| 1947 0ca6 BF4F sbci r27,hhi8(-93000) |
| 1948 0ca8 04F4 brge .L93 |
| 1949 0caa 28EB ldi r18,lo8(-93000) |
| 1950 0cac 34E9 ldi r19,hi8(-93000) |
| 1951 0cae 4EEF ldi r20,hlo8(-93000) |
| 1952 0cb0 5FEF ldi r21,hhi8(-93000) |
| 1953 .L168: |
| 1954 0cb2 2983 std Y+1,r18 |
| 1955 0cb4 3A83 std Y+2,r19 |
| 1956 0cb6 4B83 std Y+3,r20 |
| 1957 0cb8 5C83 std Y+4,r21 |
| 1958 0cba 00C0 rjmp .L92 |
| 1959 .L93: |
| 1960 0cbc 8D85 ldd r24,Y+13 |
| 1961 0cbe 9E85 ldd r25,Y+14 |
| 1962 0cc0 AF85 ldd r26,Y+15 |
| 1963 0cc2 B889 ldd r27,Y+16 |
| 1964 0cc4 8983 std Y+1,r24 |
| 1965 0cc6 9A83 std Y+2,r25 |
| 1966 0cc8 AB83 std Y+3,r26 |
| 1967 0cca BC83 std Y+4,r27 |
| 1968 .L92: |
| 1969 0ccc A091 0000 lds r26,MesswertGier |
| 1970 0cd0 B091 0000 lds r27,(MesswertGier)+1 |
| 1971 0cd4 BB8B std Y+19,r27 |
| 1972 0cd6 AA8B std Y+18,r26 |
| 1973 0cd8 FD01 movw r30,r26 |
| 1974 0cda CF01 movw r24,r30 |
| 1975 0cdc AA27 clr r26 |
| 1976 0cde 97FD sbrc r25,7 |
| 1977 0ce0 A095 com r26 |
| 1978 0ce2 BA2F mov r27,r26 |
| 1979 0ce4 A090 0000 lds r10,Mess_Integral_Gier |
| 1980 0ce8 B090 0000 lds r11,(Mess_Integral_Gier)+1 |
| 1981 0cec C090 0000 lds r12,(Mess_Integral_Gier)+2 |
| 1982 0cf0 D090 0000 lds r13,(Mess_Integral_Gier)+3 |
| 1983 0cf4 A80E add r10,r24 |
| 1984 0cf6 B91E adc r11,r25 |
| 1985 0cf8 CA1E adc r12,r26 |
| 1986 0cfa DB1E adc r13,r27 |
| 1987 0cfc A092 0000 sts Mess_Integral_Gier,r10 |
| 1988 0d00 B092 0000 sts (Mess_Integral_Gier)+1,r11 |
| 1989 0d04 C092 0000 sts (Mess_Integral_Gier)+2,r12 |
| 1990 0d08 D092 0000 sts (Mess_Integral_Gier)+3,r13 |
| 1991 0d0c E090 0000 lds r14,ErsatzKompass |
| 1992 0d10 F090 0000 lds r15,(ErsatzKompass)+1 |
| 1993 0d14 0091 0000 lds r16,(ErsatzKompass)+2 |
| 1994 0d18 1091 0000 lds r17,(ErsatzKompass)+3 |
| 1995 0d1c E80E add r14,r24 |
| 1996 0d1e F91E adc r15,r25 |
| 1997 0d20 0A1F adc r16,r26 |
| 1998 0d22 1B1F adc r17,r27 |
| 1999 0d24 E092 0000 sts ErsatzKompass,r14 |
| 2000 0d28 F092 0000 sts (ErsatzKompass)+1,r15 |
| 2001 0d2c 0093 0000 sts (ErsatzKompass)+2,r16 |
| 2002 0d30 1093 0000 sts (ErsatzKompass)+3,r17 |
| 2003 0d34 F091 0000 lds r31,Looping_Nick |
| 2004 0d38 F98B std Y+17,r31 |
| 2005 0d3a FF23 tst r31 |
| 2006 0d3c 01F0 breq .+2 |
| 2007 0d3e 00C0 rjmp .L95 |
| 2008 0d40 8091 0000 lds r24,Looping_Roll |
| 2009 0d44 8823 tst r24 |
| 2010 0d46 01F0 breq .+2 |
| 2011 0d48 00C0 rjmp .L95 |
| 2012 0d4a 8091 0000 lds r24,Parameter_GlobalConfig |
| 2013 0d4e 86FF sbrs r24,6 |
| 2014 0d50 00C0 rjmp .L95 |
| 2015 0d52 8091 0000 lds r24,MesswertRoll |
| 2016 0d56 9091 0000 lds r25,(MesswertRoll)+1 |
| 2017 0d5a AA27 clr r26 |
| 2018 0d5c 97FD sbrc r25,7 |
| 2019 0d5e A095 com r26 |
| 2020 0d60 BA2F mov r27,r26 |
| 2021 0d62 BC01 movw r22,r24 |
| 2022 0d64 CD01 movw r24,r26 |
| 2023 0d66 2981 ldd r18,Y+1 |
| 2024 0d68 3A81 ldd r19,Y+2 |
| 2025 0d6a 4B81 ldd r20,Y+3 |
| 2026 0d6c 5C81 ldd r21,Y+4 |
| 2027 0d6e 0E94 0000 call __mulsi3 |
| 2028 0d72 9B01 movw r18,r22 |
| 2029 0d74 AC01 movw r20,r24 |
| 2030 0d76 97FF sbrs r25,7 |
| 2031 0d78 00C0 rjmp .L96 |
| 2032 0d7a 2150 subi r18,lo8(-(2047)) |
| 2033 0d7c 384F sbci r19,hi8(-(2047)) |
| 2034 0d7e 4F4F sbci r20,hlo8(-(2047)) |
| 2035 0d80 5F4F sbci r21,hhi8(-(2047)) |
| 2036 .L96: |
| 2037 0d82 BBE0 ldi r27,11 |
| 2038 0d84 5595 1: asr r21 |
| 2039 0d86 4795 ror r20 |
| 2040 0d88 3795 ror r19 |
| 2041 0d8a 2795 ror r18 |
| 2042 0d8c BA95 dec r27 |
| 2043 0d8e 01F4 brne 1b |
| 2044 0d90 8091 0000 lds r24,Parameter_AchsKopplung2 |
| 2045 0d94 682E mov r6,r24 |
| 2046 0d96 7724 clr r7 |
| 2047 0d98 8824 clr r8 |
| 2048 0d9a 9924 clr r9 |
| 2049 0d9c CA01 movw r24,r20 |
| 2050 0d9e B901 movw r22,r18 |
| 2051 0da0 A401 movw r20,r8 |
| 2052 0da2 9301 movw r18,r6 |
| 2053 0da4 0E94 0000 call __mulsi3 |
| 2054 0da8 DC01 movw r26,r24 |
| 2055 0daa CB01 movw r24,r22 |
| 2056 0dac 8093 0000 sts tmpl3.29,r24 |
| 2057 0db0 9093 0000 sts (tmpl3.29)+1,r25 |
| 2058 0db4 A093 0000 sts (tmpl3.29)+2,r26 |
| 2059 0db8 B093 0000 sts (tmpl3.29)+3,r27 |
| 2060 0dbc B7FF sbrs r27,7 |
| 2061 0dbe 00C0 rjmp .L97 |
| 2062 0dc0 8150 subi r24,lo8(-(4095)) |
| 2063 0dc2 904F sbci r25,hi8(-(4095)) |
| 2064 0dc4 AF4F sbci r26,hlo8(-(4095)) |
| 2065 0dc6 BF4F sbci r27,hhi8(-(4095)) |
| 2066 .L97: |
| 2067 0dc8 1C01 movw r2,r24 |
| 2068 0dca 2D01 movw r4,r26 |
| 2069 0dcc ACE0 ldi r26,12 |
| 2070 0dce 5594 1: asr r5 |
| 2071 0dd0 4794 ror r4 |
| 2072 0dd2 3794 ror r3 |
| 2073 0dd4 2794 ror r2 |
| 2074 0dd6 AA95 dec r26 |
| 2075 0dd8 01F4 brne 1b |
| 2076 0dda 2092 0000 sts tmpl3.29,r2 |
| 2077 0dde 3092 0000 sts (tmpl3.29)+1,r3 |
| 2078 0de2 4092 0000 sts (tmpl3.29)+2,r4 |
| 2079 0de6 5092 0000 sts (tmpl3.29)+3,r5 |
| 2080 0dea 8091 0000 lds r24,MesswertNick |
| 2081 0dee 9091 0000 lds r25,(MesswertNick)+1 |
| 2082 0df2 AA27 clr r26 |
| 2083 0df4 97FD sbrc r25,7 |
| 2084 0df6 A095 com r26 |
| 2085 0df8 BA2F mov r27,r26 |
| 2086 0dfa BC01 movw r22,r24 |
| 2087 0dfc CD01 movw r24,r26 |
| 2088 0dfe 2D81 ldd r18,Y+5 |
| 2089 0e00 3E81 ldd r19,Y+6 |
| 2090 0e02 4F81 ldd r20,Y+7 |
| 2091 0e04 5885 ldd r21,Y+8 |
| 2092 0e06 0E94 0000 call __mulsi3 |
| 2093 0e0a 97FF sbrs r25,7 |
| 2094 0e0c 00C0 rjmp .L98 |
| 2095 0e0e 6150 subi r22,lo8(-(2047)) |
| 2096 0e10 784F sbci r23,hi8(-(2047)) |
| 2097 0e12 8F4F sbci r24,hlo8(-(2047)) |
| 2098 0e14 9F4F sbci r25,hhi8(-(2047)) |
| 2099 .L98: |
| 2100 0e16 FBE0 ldi r31,11 |
| 2101 0e18 9595 1: asr r25 |
| 2102 0e1a 8795 ror r24 |
| 2103 0e1c 7795 ror r23 |
| 2104 0e1e 6795 ror r22 |
| 2105 0e20 FA95 dec r31 |
| 2106 0e22 01F4 brne 1b |
| 2107 0e24 A401 movw r20,r8 |
| 2108 0e26 9301 movw r18,r6 |
| 2109 0e28 0E94 0000 call __mulsi3 |
| 2110 0e2c DC01 movw r26,r24 |
| 2111 0e2e CB01 movw r24,r22 |
| 2112 0e30 8093 0000 sts tmpl4.30,r24 |
| 2113 0e34 9093 0000 sts (tmpl4.30)+1,r25 |
| 2114 0e38 A093 0000 sts (tmpl4.30)+2,r26 |
| 2115 0e3c B093 0000 sts (tmpl4.30)+3,r27 |
| 2116 0e40 B7FF sbrs r27,7 |
| 2117 0e42 00C0 rjmp .L99 |
| 2118 0e44 8150 subi r24,lo8(-(4095)) |
| 2119 0e46 904F sbci r25,hi8(-(4095)) |
| 2120 0e48 AF4F sbci r26,hlo8(-(4095)) |
| 2121 0e4a BF4F sbci r27,hhi8(-(4095)) |
| 2122 .L99: |
| 2123 0e4c 9C01 movw r18,r24 |
| 2124 0e4e AD01 movw r20,r26 |
| 2125 0e50 ECE0 ldi r30,12 |
| 2126 0e52 5595 1: asr r21 |
| 2127 0e54 4795 ror r20 |
| 2128 0e56 3795 ror r19 |
| 2129 0e58 2795 ror r18 |
| 2130 0e5a EA95 dec r30 |
| 2131 0e5c 01F4 brne 1b |
| 2132 0e5e 2093 0000 sts tmpl4.30,r18 |
| 2133 0e62 3093 0000 sts (tmpl4.30)+1,r19 |
| 2134 0e66 4093 0000 sts (tmpl4.30)+2,r20 |
| 2135 0e6a 5093 0000 sts (tmpl4.30)+3,r21 |
| 2136 0e6e 8091 0000 lds r24,tmpl3.29 |
| 2137 0e72 9091 0000 lds r25,(tmpl3.29)+1 |
| 2138 0e76 9093 0000 sts (KopplungsteilNickRoll)+1,r25 |
| 2139 0e7a 8093 0000 sts KopplungsteilNickRoll,r24 |
| 2140 0e7e 8091 0000 lds r24,tmpl4.30 |
| 2141 0e82 9091 0000 lds r25,(tmpl4.30)+1 |
| 2142 0e86 9093 0000 sts (KopplungsteilRollNick)+1,r25 |
| 2143 0e8a 8093 0000 sts KopplungsteilRollNick,r24 |
| 2144 0e8e 2219 sub r18,r2 |
| 2145 0e90 3309 sbc r19,r3 |
| 2146 0e92 4409 sbc r20,r4 |
| 2147 0e94 5509 sbc r21,r5 |
| 2148 0e96 2093 0000 sts tmpl4.30,r18 |
| 2149 0e9a 3093 0000 sts (tmpl4.30)+1,r19 |
| 2150 0e9e 4093 0000 sts (tmpl4.30)+2,r20 |
| 2151 0ea2 5093 0000 sts (tmpl4.30)+3,r21 |
| 2152 0ea6 E20E add r14,r18 |
| 2153 0ea8 F31E adc r15,r19 |
| 2154 0eaa 041F adc r16,r20 |
| 2155 0eac 151F adc r17,r21 |
| 2156 0eae E092 0000 sts ErsatzKompass,r14 |
| 2157 0eb2 F092 0000 sts (ErsatzKompass)+1,r15 |
| 2158 0eb6 0093 0000 sts (ErsatzKompass)+2,r16 |
| 2159 0eba 1093 0000 sts (ErsatzKompass)+3,r17 |
| 2160 0ebe 8091 0000 lds r24,Parameter_CouplingYawCorrection |
| 2161 0ec2 8823 tst r24 |
| 2162 0ec4 01F4 brne .L100 |
| 2163 0ec6 57FF sbrs r21,7 |
| 2164 0ec8 00C0 rjmp .L101 |
| 2165 0eca 2F5F subi r18,lo8(-(1)) |
| 2166 0ecc 3F4F sbci r19,hi8(-(1)) |
| 2167 0ece 4F4F sbci r20,hlo8(-(1)) |
| 2168 0ed0 5F4F sbci r21,hhi8(-(1)) |
| 2169 .L101: |
| 2170 0ed2 5595 asr r21 |
| 2171 0ed4 4795 ror r20 |
| 2172 0ed6 3795 ror r19 |
| 2173 0ed8 2795 ror r18 |
| 2174 0eda A21A sub r10,r18 |
| 2175 0edc B30A sbc r11,r19 |
| 2176 0ede C40A sbc r12,r20 |
| 2177 0ee0 D50A sbc r13,r21 |
| 2178 0ee2 A092 0000 sts Mess_Integral_Gier,r10 |
| 2179 0ee6 B092 0000 sts (Mess_Integral_Gier)+1,r11 |
| 2180 0eea C092 0000 sts (Mess_Integral_Gier)+2,r12 |
| 2181 0eee D092 0000 sts (Mess_Integral_Gier)+3,r13 |
| 2182 .L100: |
| 2183 0ef2 2A89 ldd r18,Y+18 |
| 2184 0ef4 3B89 ldd r19,Y+19 |
| 2185 0ef6 7901 movw r14,r18 |
| 2186 0ef8 0027 clr r16 |
| 2187 0efa F7FC sbrc r15,7 |
| 2188 0efc 0095 com r16 |
| 2189 0efe 102F mov r17,r16 |
| 2190 0f00 8091 0000 lds r24,tmpl4.30 |
| 2191 0f04 9091 0000 lds r25,(tmpl4.30)+1 |
| 2192 0f08 A091 0000 lds r26,(tmpl4.30)+2 |
| 2193 0f0c B091 0000 lds r27,(tmpl4.30)+3 |
| 2194 0f10 E80E add r14,r24 |
| 2195 0f12 F91E adc r15,r25 |
| 2196 0f14 0A1F adc r16,r26 |
| 2197 0f16 1B1F adc r17,r27 |
| 2198 0f18 C801 movw r24,r16 |
| 2199 0f1a B701 movw r22,r14 |
| 2200 0f1c 2981 ldd r18,Y+1 |
| 2201 0f1e 3A81 ldd r19,Y+2 |
| 2202 0f20 4B81 ldd r20,Y+3 |
| 2203 0f22 5C81 ldd r21,Y+4 |
| 2204 0f24 0E94 0000 call __mulsi3 |
| 2205 0f28 9B01 movw r18,r22 |
| 2206 0f2a AC01 movw r20,r24 |
| 2207 0f2c 97FF sbrs r25,7 |
| 2208 0f2e 00C0 rjmp .L102 |
| 2209 0f30 2150 subi r18,lo8(-(2047)) |
| 2210 0f32 384F sbci r19,hi8(-(2047)) |
| 2211 0f34 4F4F sbci r20,hlo8(-(2047)) |
| 2212 0f36 5F4F sbci r21,hhi8(-(2047)) |
| 2213 .L102: |
| 2214 0f38 6BE0 ldi r22,11 |
| 2215 0f3a 5595 1: asr r21 |
| 2216 0f3c 4795 ror r20 |
| 2217 0f3e 3795 ror r19 |
| 2218 0f40 2795 ror r18 |
| 2219 0f42 6A95 dec r22 |
| 2220 0f44 01F4 brne 1b |
| 2221 0f46 8091 0000 lds r24,Parameter_AchsKopplung1 |
| 2222 0f4a A82E mov r10,r24 |
| 2223 0f4c BB24 clr r11 |
| 2224 0f4e CC24 clr r12 |
| 2225 0f50 DD24 clr r13 |
| 2226 0f52 CA01 movw r24,r20 |
| 2227 0f54 B901 movw r22,r18 |
| 2228 0f56 A601 movw r20,r12 |
| 2229 0f58 9501 movw r18,r10 |
| 2230 0f5a 0E94 0000 call __mulsi3 |
| 2231 0f5e DC01 movw r26,r24 |
| 2232 0f60 CB01 movw r24,r22 |
| 2233 0f62 8093 0000 sts tmpl.27,r24 |
| 2234 0f66 9093 0000 sts (tmpl.27)+1,r25 |
| 2235 0f6a A093 0000 sts (tmpl.27)+2,r26 |
| 2236 0f6e B093 0000 sts (tmpl.27)+3,r27 |
| 2237 0f72 B7FF sbrs r27,7 |
| 2238 0f74 00C0 rjmp .L103 |
| 2239 0f76 8150 subi r24,lo8(-(4095)) |
| 2240 0f78 904F sbci r25,hi8(-(4095)) |
| 2241 0f7a AF4F sbci r26,hlo8(-(4095)) |
| 2242 0f7c BF4F sbci r27,hhi8(-(4095)) |
| 2243 .L103: |
| 2244 0f7e 3C01 movw r6,r24 |
| 2245 0f80 4D01 movw r8,r26 |
| 2246 0f82 3CE0 ldi r19,12 |
| 2247 0f84 9594 1: asr r9 |
| 2248 0f86 8794 ror r8 |
| 2249 0f88 7794 ror r7 |
| 2250 0f8a 6794 ror r6 |
| 2251 0f8c 3A95 dec r19 |
| 2252 0f8e 01F4 brne 1b |
| 2253 0f90 6092 0000 sts tmpl.27,r6 |
| 2254 0f94 7092 0000 sts (tmpl.27)+1,r7 |
| 2255 0f98 8092 0000 sts (tmpl.27)+2,r8 |
| 2256 0f9c 9092 0000 sts (tmpl.27)+3,r9 |
| 2257 0fa0 C801 movw r24,r16 |
| 2258 0fa2 B701 movw r22,r14 |
| 2259 0fa4 2D81 ldd r18,Y+5 |
| 2260 0fa6 3E81 ldd r19,Y+6 |
| 2261 0fa8 4F81 ldd r20,Y+7 |
| 2262 0faa 5885 ldd r21,Y+8 |
| 2263 0fac 0E94 0000 call __mulsi3 |
| 2264 0fb0 97FF sbrs r25,7 |
| 2265 0fb2 00C0 rjmp .L104 |
| 2266 0fb4 6150 subi r22,lo8(-(2047)) |
| 2267 0fb6 784F sbci r23,hi8(-(2047)) |
| 2268 0fb8 8F4F sbci r24,hlo8(-(2047)) |
| 2269 0fba 9F4F sbci r25,hhi8(-(2047)) |
| 2270 .L104: |
| 2271 0fbc 2BE0 ldi r18,11 |
| 2272 0fbe 9595 1: asr r25 |
| 2273 0fc0 8795 ror r24 |
| 2274 0fc2 7795 ror r23 |
| 2275 0fc4 6795 ror r22 |
| 2276 0fc6 2A95 dec r18 |
| 2277 0fc8 01F4 brne 1b |
| 2278 0fca A601 movw r20,r12 |
| 2279 0fcc 9501 movw r18,r10 |
| 2280 0fce 0E94 0000 call __mulsi3 |
| 2281 0fd2 DC01 movw r26,r24 |
| 2282 0fd4 CB01 movw r24,r22 |
| 2283 0fd6 8093 0000 sts tmpl2.28,r24 |
| 2284 0fda 9093 0000 sts (tmpl2.28)+1,r25 |
| 2285 0fde A093 0000 sts (tmpl2.28)+2,r26 |
| 2286 0fe2 B093 0000 sts (tmpl2.28)+3,r27 |
| 2287 0fe6 B7FF sbrs r27,7 |
| 2288 0fe8 00C0 rjmp .L105 |
| 2289 0fea 8150 subi r24,lo8(-(4095)) |
| 2290 0fec 904F sbci r25,hi8(-(4095)) |
| 2291 0fee AF4F sbci r26,hlo8(-(4095)) |
| 2292 0ff0 BF4F sbci r27,hhi8(-(4095)) |
| 2293 .L105: |
| 2294 0ff2 AC01 movw r20,r24 |
| 2295 0ff4 BD01 movw r22,r26 |
| 2296 0ff6 8CE0 ldi r24,12 |
| 2297 0ff8 7595 1: asr r23 |
| 2298 0ffa 6795 ror r22 |
| 2299 0ffc 5795 ror r21 |
| 2300 0ffe 4795 ror r20 |
| 2301 1000 8A95 dec r24 |
| 2302 1002 01F4 brne 1b |
| 2303 1004 4093 0000 sts tmpl2.28,r20 |
| 2304 1008 5093 0000 sts (tmpl2.28)+1,r21 |
| 2305 100c 6093 0000 sts (tmpl2.28)+2,r22 |
| 2306 1010 7093 0000 sts (tmpl2.28)+3,r23 |
| 2307 1014 2A89 ldd r18,Y+18 |
| 2308 1016 3B89 ldd r19,Y+19 |
| 2309 1018 37FF sbrs r19,7 |
| 2310 101a 00C0 rjmp .L107 |
| 2311 101c 3095 com r19 |
| 2312 101e 2195 neg r18 |
| 2313 1020 3F4F sbci r19,lo8(-1) |
| 2314 .L107: |
| 2315 1022 2134 cpi r18,65 |
| 2316 1024 3105 cpc r19,__zero_reg__ |
| 2317 1026 04F0 brlt .L112 |
| 2318 1028 D401 movw r26,r8 |
| 2319 102a C301 movw r24,r6 |
| 2320 102c 97FE sbrs r9,7 |
| 2321 102e 00C0 rjmp .L110 |
| 2322 1030 B095 com r27 |
| 2323 1032 A095 com r26 |
| 2324 1034 9095 com r25 |
| 2325 1036 8195 neg r24 |
| 2326 1038 9F4F sbci r25,lo8(-1) |
| 2327 103a AF4F sbci r26,lo8(-1) |
| 2328 103c BF4F sbci r27,lo8(-1) |
| 2329 .L110: |
| 2330 103e 8138 cpi r24,lo8(129) |
| 2331 1040 9105 cpc r25,__zero_reg__ |
| 2332 1042 A105 cpc r26,__zero_reg__ |
| 2333 1044 B105 cpc r27,__zero_reg__ |
| 2334 1046 04F4 brge .L109 |
| 2335 1048 DB01 movw r26,r22 |
| 2336 104a CA01 movw r24,r20 |
| 2337 104c 77FF sbrs r23,7 |
| 2338 104e 00C0 rjmp .L111 |
| 2339 1050 B095 com r27 |
| 2340 1052 A095 com r26 |
| 2341 1054 9095 com r25 |
| 2342 1056 8195 neg r24 |
| 2343 1058 9F4F sbci r25,lo8(-1) |
| 2344 105a AF4F sbci r26,lo8(-1) |
| 2345 105c BF4F sbci r27,lo8(-1) |
| 2346 .L111: |
| 2347 105e 8138 cpi r24,lo8(129) |
| 2348 1060 9105 cpc r25,__zero_reg__ |
| 2349 1062 A105 cpc r26,__zero_reg__ |
| 2350 1064 B105 cpc r27,__zero_reg__ |
| 2351 1066 04F0 brlt .L112 |
| 2352 .L109: |
| 2353 1068 81E0 ldi r24,lo8(1) |
| 2354 106a 8093 0000 sts TrichterFlug,r24 |
| 2355 106e 00C0 rjmp .L112 |
| 2356 .L95: |
| 2357 1070 1092 0000 sts (KopplungsteilRollNick)+1,__zero_reg__ |
| 2358 1074 1092 0000 sts KopplungsteilRollNick,__zero_reg__ |
| 2359 1078 1092 0000 sts (KopplungsteilNickRoll)+1,__zero_reg__ |
| 2360 107c 1092 0000 sts KopplungsteilNickRoll,__zero_reg__ |
| 2361 1080 1092 0000 sts tmpl2.28,__zero_reg__ |
| 2362 1084 1092 0000 sts (tmpl2.28)+1,__zero_reg__ |
| 2363 1088 1092 0000 sts (tmpl2.28)+2,__zero_reg__ |
| 2364 108c 1092 0000 sts (tmpl2.28)+3,__zero_reg__ |
| 2365 1090 1092 0000 sts tmpl.27,__zero_reg__ |
| 2366 1094 1092 0000 sts (tmpl.27)+1,__zero_reg__ |
| 2367 1098 1092 0000 sts (tmpl.27)+2,__zero_reg__ |
| 2368 109c 1092 0000 sts (tmpl.27)+3,__zero_reg__ |
| 2369 .L112: |
| 2370 10a0 8091 0000 lds r24,tmpl2.28 |
| 2371 10a4 9091 0000 lds r25,(tmpl2.28)+1 |
| 2372 10a8 A091 0000 lds r26,(tmpl2.28)+2 |
| 2373 10ac B091 0000 lds r27,(tmpl2.28)+3 |
| 2374 10b0 BC01 movw r22,r24 |
| 2375 10b2 CD01 movw r24,r26 |
| 2376 10b4 24E6 ldi r18,lo8(100) |
| 2377 10b6 30E0 ldi r19,hi8(100) |
| 2378 10b8 40E0 ldi r20,hlo8(100) |
| 2379 10ba 50E0 ldi r21,hhi8(100) |
| 2380 10bc 0E94 0000 call __divmodsi4 |
| 2381 10c0 E090 0000 lds r14,tmpl.27 |
| 2382 10c4 F090 0000 lds r15,(tmpl.27)+1 |
| 2383 10c8 E21A sub r14,r18 |
| 2384 10ca F30A sbc r15,r19 |
| 2385 10cc F092 0000 sts (TrimRoll)+1,r15 |
| 2386 10d0 E092 0000 sts TrimRoll,r14 |
| 2387 10d4 8091 0000 lds r24,tmpl.27 |
| 2388 10d8 9091 0000 lds r25,(tmpl.27)+1 |
| 2389 10dc A091 0000 lds r26,(tmpl.27)+2 |
| 2390 10e0 B091 0000 lds r27,(tmpl.27)+3 |
| 2391 10e4 BC01 movw r22,r24 |
| 2392 10e6 CD01 movw r24,r26 |
| 2393 10e8 24E6 ldi r18,lo8(100) |
| 2394 10ea 30E0 ldi r19,hi8(100) |
| 2395 10ec 40E0 ldi r20,hlo8(100) |
| 2396 10ee 50E0 ldi r21,hhi8(100) |
| 2397 10f0 0E94 0000 call __divmodsi4 |
| 2398 10f4 DA01 movw r26,r20 |
| 2399 10f6 C901 movw r24,r18 |
| 2400 10f8 2091 0000 lds r18,tmpl2.28 |
| 2401 10fc 3091 0000 lds r19,(tmpl2.28)+1 |
| 2402 1100 8C01 movw r16,r24 |
| 2403 1102 021B sub r16,r18 |
| 2404 1104 130B sbc r17,r19 |
| 2405 1106 1093 0000 sts (TrimNick)+1,r17 |
| 2406 110a 0093 0000 sts TrimNick,r16 |
| 2407 110e 8091 0000 lds r24,GIER_GRAD_FAKTOR |
| 2408 1112 9091 0000 lds r25,(GIER_GRAD_FAKTOR)+1 |
| 2409 1116 A091 0000 lds r26,(GIER_GRAD_FAKTOR)+2 |
| 2410 111a B091 0000 lds r27,(GIER_GRAD_FAKTOR)+3 |
| 2411 111e BC01 movw r22,r24 |
| 2412 1120 CD01 movw r24,r26 |
| 2413 1122 28E6 ldi r18,lo8(360) |
| 2414 1124 31E0 ldi r19,hi8(360) |
| 2415 1126 40E0 ldi r20,hlo8(360) |
| 2416 1128 50E0 ldi r21,hhi8(360) |
| 2417 112a 0E94 0000 call __mulsi3 |
| 2418 112e 2091 0000 lds r18,ErsatzKompass |
| 2419 1132 3091 0000 lds r19,(ErsatzKompass)+1 |
| 2420 1136 4091 0000 lds r20,(ErsatzKompass)+2 |
| 2421 113a 5091 0000 lds r21,(ErsatzKompass)+3 |
| 2422 113e 2617 cp r18,r22 |
| 2423 1140 3707 cpc r19,r23 |
| 2424 1142 4807 cpc r20,r24 |
| 2425 1144 5907 cpc r21,r25 |
| 2426 1146 04F0 brlt .L113 |
| 2427 1148 261B sub r18,r22 |
| 2428 114a 370B sbc r19,r23 |
| 2429 114c 480B sbc r20,r24 |
| 2430 114e 590B sbc r21,r25 |
| 2431 1150 2093 0000 sts ErsatzKompass,r18 |
| 2432 1154 3093 0000 sts (ErsatzKompass)+1,r19 |
| 2433 1158 4093 0000 sts (ErsatzKompass)+2,r20 |
| 2434 115c 5093 0000 sts (ErsatzKompass)+3,r21 |
| 2435 .L113: |
| 2436 1160 2091 0000 lds r18,ErsatzKompass |
| 2437 1164 3091 0000 lds r19,(ErsatzKompass)+1 |
| 2438 1168 4091 0000 lds r20,(ErsatzKompass)+2 |
| 2439 116c 5091 0000 lds r21,(ErsatzKompass)+3 |
| 2440 1170 57FF sbrs r21,7 |
| 2441 1172 00C0 rjmp .L114 |
| 2442 1174 260F add r18,r22 |
| 2443 1176 371F adc r19,r23 |
| 2444 1178 481F adc r20,r24 |
| 2445 117a 591F adc r21,r25 |
| 2446 117c 2093 0000 sts ErsatzKompass,r18 |
| 2447 1180 3093 0000 sts (ErsatzKompass)+1,r19 |
| 2448 1184 4093 0000 sts (ErsatzKompass)+2,r20 |
| 2449 1188 5093 0000 sts (ErsatzKompass)+3,r21 |
| 2450 .L114: |
| 2451 118c 6091 0000 lds r22,MesswertRoll |
| 2452 1190 7091 0000 lds r23,(MesswertRoll)+1 |
| 2453 1194 6E0D add r22,r14 |
| 2454 1196 7F1D adc r23,r15 |
| 2455 1198 9B01 movw r18,r22 |
| 2456 119a 4427 clr r20 |
| 2457 119c 37FD sbrc r19,7 |
| 2458 119e 4095 com r20 |
| 2459 11a0 542F mov r21,r20 |
| 2460 11a2 8091 0000 lds r24,Mess_IntegralRoll2 |
| 2461 11a6 9091 0000 lds r25,(Mess_IntegralRoll2)+1 |
| 2462 11aa A091 0000 lds r26,(Mess_IntegralRoll2)+2 |
| 2463 11ae B091 0000 lds r27,(Mess_IntegralRoll2)+3 |
| 2464 11b2 820F add r24,r18 |
| 2465 11b4 931F adc r25,r19 |
| 2466 11b6 A41F adc r26,r20 |
| 2467 11b8 B51F adc r27,r21 |
| 2468 11ba 8093 0000 sts Mess_IntegralRoll2,r24 |
| 2469 11be 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
| 2470 11c2 A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
| 2471 11c6 B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
| 2472 11ca 8091 0000 lds r24,LageKorrekturRoll |
| 2473 11ce 9091 0000 lds r25,(LageKorrekturRoll)+1 |
| 2474 11d2 681B sub r22,r24 |
| 2475 11d4 790B sbc r23,r25 |
| 2476 11d6 CB01 movw r24,r22 |
| 2477 11d8 AA27 clr r26 |
| 2478 11da 97FD sbrc r25,7 |
| 2479 11dc A095 com r26 |
| 2480 11de BA2F mov r27,r26 |
| 2481 11e0 2985 ldd r18,Y+9 |
| 2482 11e2 3A85 ldd r19,Y+10 |
| 2483 11e4 4B85 ldd r20,Y+11 |
| 2484 11e6 5C85 ldd r21,Y+12 |
| 2485 11e8 820F add r24,r18 |
| 2486 11ea 931F adc r25,r19 |
| 2487 11ec A41F adc r26,r20 |
| 2488 11ee B51F adc r27,r21 |
| 2489 11f0 8093 0000 sts Mess_IntegralRoll,r24 |
| 2490 11f4 9093 0000 sts (Mess_IntegralRoll)+1,r25 |
| 2491 11f8 A093 0000 sts (Mess_IntegralRoll)+2,r26 |
| 2492 11fc B093 0000 sts (Mess_IntegralRoll)+3,r27 |
| 2493 1200 C090 0000 lds r12,Umschlag180Roll |
| 2494 1204 D090 0000 lds r13,(Umschlag180Roll)+1 |
| 2495 1208 E090 0000 lds r14,(Umschlag180Roll)+2 |
| 2496 120c F090 0000 lds r15,(Umschlag180Roll)+3 |
| 2497 1210 C816 cp r12,r24 |
| 2498 1212 D906 cpc r13,r25 |
| 2499 1214 EA06 cpc r14,r26 |
| 2500 1216 FB06 cpc r15,r27 |
| 2501 1218 04F4 brge .L115 |
| 2502 121a 88EA ldi r24,lo8(25000) |
| 2503 121c 91E6 ldi r25,hi8(25000) |
| 2504 121e A0E0 ldi r26,hlo8(25000) |
| 2505 1220 B0E0 ldi r27,hhi8(25000) |
| 2506 1222 8C19 sub r24,r12 |
| 2507 1224 9D09 sbc r25,r13 |
| 2508 1226 AE09 sbc r26,r14 |
| 2509 1228 BF09 sbc r27,r15 |
| 2510 122a 8093 0000 sts Mess_IntegralRoll,r24 |
| 2511 122e 9093 0000 sts (Mess_IntegralRoll)+1,r25 |
| 2512 1232 A093 0000 sts (Mess_IntegralRoll)+2,r26 |
| 2513 1236 B093 0000 sts (Mess_IntegralRoll)+3,r27 |
| 2514 123a 8093 0000 sts Mess_IntegralRoll2,r24 |
| 2515 123e 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
| 2516 1242 A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
| 2517 1246 B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
| 2518 .L115: |
| 2519 124a 2227 clr r18 |
| 2520 124c 3327 clr r19 |
| 2521 124e A901 movw r20,r18 |
| 2522 1250 2C19 sub r18,r12 |
| 2523 1252 3D09 sbc r19,r13 |
| 2524 1254 4E09 sbc r20,r14 |
| 2525 1256 5F09 sbc r21,r15 |
| 2526 1258 8091 0000 lds r24,Mess_IntegralRoll |
| 2527 125c 9091 0000 lds r25,(Mess_IntegralRoll)+1 |
| 2528 1260 A091 0000 lds r26,(Mess_IntegralRoll)+2 |
| 2529 1264 B091 0000 lds r27,(Mess_IntegralRoll)+3 |
| 2530 1268 8217 cp r24,r18 |
| 2531 126a 9307 cpc r25,r19 |
| 2532 126c A407 cpc r26,r20 |
| 2533 126e B507 cpc r27,r21 |
| 2534 1270 04F4 brge .L116 |
| 2535 1272 D701 movw r26,r14 |
| 2536 1274 C601 movw r24,r12 |
| 2537 1276 885A subi r24,lo8(-(-25000)) |
| 2538 1278 9146 sbci r25,hi8(-(-25000)) |
| 2539 127a A040 sbci r26,hlo8(-(-25000)) |
| 2540 127c B040 sbci r27,hhi8(-(-25000)) |
| 2541 127e 8093 0000 sts Mess_IntegralRoll,r24 |
| 2542 1282 9093 0000 sts (Mess_IntegralRoll)+1,r25 |
| 2543 1286 A093 0000 sts (Mess_IntegralRoll)+2,r26 |
| 2544 128a B093 0000 sts (Mess_IntegralRoll)+3,r27 |
| 2545 128e 8093 0000 sts Mess_IntegralRoll2,r24 |
| 2546 1292 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
| 2547 1296 A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
| 2548 129a B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
| 2549 .L116: |
| 2550 129e 6091 0000 lds r22,MesswertNick |
| 2551 12a2 7091 0000 lds r23,(MesswertNick)+1 |
| 2552 12a6 600F add r22,r16 |
| 2553 12a8 711F adc r23,r17 |
| 2554 12aa 9B01 movw r18,r22 |
| 2555 12ac 4427 clr r20 |
| 2556 12ae 37FD sbrc r19,7 |
| 2557 12b0 4095 com r20 |
| 2558 12b2 542F mov r21,r20 |
| 2559 12b4 8091 0000 lds r24,Mess_IntegralNick2 |
| 2560 12b8 9091 0000 lds r25,(Mess_IntegralNick2)+1 |
| 2561 12bc A091 0000 lds r26,(Mess_IntegralNick2)+2 |
| 2562 12c0 B091 0000 lds r27,(Mess_IntegralNick2)+3 |
| 2563 12c4 820F add r24,r18 |
| 2564 12c6 931F adc r25,r19 |
| 2565 12c8 A41F adc r26,r20 |
| 2566 12ca B51F adc r27,r21 |
| 2567 12cc 8093 0000 sts Mess_IntegralNick2,r24 |
| 2568 12d0 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
| 2569 12d4 A093 0000 sts (Mess_IntegralNick2)+2,r26 |
| 2570 12d8 B093 0000 sts (Mess_IntegralNick2)+3,r27 |
| 2571 12dc 8091 0000 lds r24,LageKorrekturNick |
| 2572 12e0 9091 0000 lds r25,(LageKorrekturNick)+1 |
| 2573 12e4 681B sub r22,r24 |
| 2574 12e6 790B sbc r23,r25 |
| 2575 12e8 CB01 movw r24,r22 |
| 2576 12ea AA27 clr r26 |
| 2577 12ec 97FD sbrc r25,7 |
| 2578 12ee A095 com r26 |
| 2579 12f0 BA2F mov r27,r26 |
| 2580 12f2 2D85 ldd r18,Y+13 |
| 2581 12f4 3E85 ldd r19,Y+14 |
| 2582 12f6 4F85 ldd r20,Y+15 |
| 2583 12f8 5889 ldd r21,Y+16 |
| 2584 12fa 820F add r24,r18 |
| 2585 12fc 931F adc r25,r19 |
| 2586 12fe A41F adc r26,r20 |
| 2587 1300 B51F adc r27,r21 |
| 2588 1302 8093 0000 sts Mess_IntegralNick,r24 |
| 2589 1306 9093 0000 sts (Mess_IntegralNick)+1,r25 |
| 2590 130a A093 0000 sts (Mess_IntegralNick)+2,r26 |
| 2591 130e B093 0000 sts (Mess_IntegralNick)+3,r27 |
| 2592 1312 E090 0000 lds r14,Umschlag180Nick |
| 2593 1316 F090 0000 lds r15,(Umschlag180Nick)+1 |
| 2594 131a 0091 0000 lds r16,(Umschlag180Nick)+2 |
| 2595 131e 1091 0000 lds r17,(Umschlag180Nick)+3 |
| 2596 1322 E816 cp r14,r24 |
| 2597 1324 F906 cpc r15,r25 |
| 2598 1326 0A07 cpc r16,r26 |
| 2599 1328 1B07 cpc r17,r27 |
| 2600 132a 04F4 brge .L117 |
| 2601 132c 88EA ldi r24,lo8(25000) |
| 2602 132e 91E6 ldi r25,hi8(25000) |
| 2603 1330 A0E0 ldi r26,hlo8(25000) |
| 2604 1332 B0E0 ldi r27,hhi8(25000) |
| 2605 1334 8E19 sub r24,r14 |
| 2606 1336 9F09 sbc r25,r15 |
| 2607 1338 A00B sbc r26,r16 |
| 2608 133a B10B sbc r27,r17 |
| 2609 133c 8093 0000 sts Mess_IntegralNick,r24 |
| 2610 1340 9093 0000 sts (Mess_IntegralNick)+1,r25 |
| 2611 1344 A093 0000 sts (Mess_IntegralNick)+2,r26 |
| 2612 1348 B093 0000 sts (Mess_IntegralNick)+3,r27 |
| 2613 134c 8093 0000 sts Mess_IntegralNick2,r24 |
| 2614 1350 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
| 2615 1354 A093 0000 sts (Mess_IntegralNick2)+2,r26 |
| 2616 1358 B093 0000 sts (Mess_IntegralNick2)+3,r27 |
| 2617 .L117: |
| 2618 135c 2227 clr r18 |
| 2619 135e 3327 clr r19 |
| 2620 1360 A901 movw r20,r18 |
| 2621 1362 2E19 sub r18,r14 |
| 2622 1364 3F09 sbc r19,r15 |
| 2623 1366 400B sbc r20,r16 |
| 2624 1368 510B sbc r21,r17 |
| 2625 136a 8091 0000 lds r24,Mess_IntegralNick |
| 2626 136e 9091 0000 lds r25,(Mess_IntegralNick)+1 |
| 2627 1372 A091 0000 lds r26,(Mess_IntegralNick)+2 |
| 2628 1376 B091 0000 lds r27,(Mess_IntegralNick)+3 |
| 2629 137a 8217 cp r24,r18 |
| 2630 137c 9307 cpc r25,r19 |
| 2631 137e A407 cpc r26,r20 |
| 2632 1380 B507 cpc r27,r21 |
| 2633 1382 04F4 brge .L118 |
| 2634 1384 D801 movw r26,r16 |
| 2635 1386 C701 movw r24,r14 |
| 2636 1388 885A subi r24,lo8(-(-25000)) |
| 2637 138a 9146 sbci r25,hi8(-(-25000)) |
| 2638 138c A040 sbci r26,hlo8(-(-25000)) |
| 2639 138e B040 sbci r27,hhi8(-(-25000)) |
| 2640 1390 8093 0000 sts Mess_IntegralNick,r24 |
| 2641 1394 9093 0000 sts (Mess_IntegralNick)+1,r25 |
| 2642 1398 A093 0000 sts (Mess_IntegralNick)+2,r26 |
| 2643 139c B093 0000 sts (Mess_IntegralNick)+3,r27 |
| 2644 13a0 8093 0000 sts Mess_IntegralNick2,r24 |
| 2645 13a4 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
| 2646 13a8 A093 0000 sts (Mess_IntegralNick2)+2,r26 |
| 2647 13ac B093 0000 sts (Mess_IntegralNick2)+3,r27 |
| 2648 .L118: |
| 2649 13b0 8091 0000 lds r24,Mess_Integral_Gier |
| 2650 13b4 9091 0000 lds r25,(Mess_Integral_Gier)+1 |
| 2651 13b8 A091 0000 lds r26,(Mess_Integral_Gier)+2 |
| 2652 13bc B091 0000 lds r27,(Mess_Integral_Gier)+3 |
| 2653 13c0 8093 0000 sts Integral_Gier,r24 |
| 2654 13c4 9093 0000 sts (Integral_Gier)+1,r25 |
| 2655 13c8 A093 0000 sts (Integral_Gier)+2,r26 |
| 2656 13cc B093 0000 sts (Integral_Gier)+3,r27 |
| 2657 13d0 8091 0000 lds r24,Mess_IntegralNick |
| 2658 13d4 9091 0000 lds r25,(Mess_IntegralNick)+1 |
| 2659 13d8 A091 0000 lds r26,(Mess_IntegralNick)+2 |
| 2660 13dc B091 0000 lds r27,(Mess_IntegralNick)+3 |
| 2661 13e0 8093 0000 sts IntegralNick,r24 |
| 2662 13e4 9093 0000 sts (IntegralNick)+1,r25 |
| 2663 13e8 A093 0000 sts (IntegralNick)+2,r26 |
| 2664 13ec B093 0000 sts (IntegralNick)+3,r27 |
| 2665 13f0 8091 0000 lds r24,Mess_IntegralRoll |
| 2666 13f4 9091 0000 lds r25,(Mess_IntegralRoll)+1 |
| 2667 13f8 A091 0000 lds r26,(Mess_IntegralRoll)+2 |
| 2668 13fc B091 0000 lds r27,(Mess_IntegralRoll)+3 |
| 2669 1400 8093 0000 sts IntegralRoll,r24 |
| 2670 1404 9093 0000 sts (IntegralRoll)+1,r25 |
| 2671 1408 A093 0000 sts (IntegralRoll)+2,r26 |
| 2672 140c B093 0000 sts (IntegralRoll)+3,r27 |
| 2673 1410 8091 0000 lds r24,Mess_IntegralNick2 |
| 2674 1414 9091 0000 lds r25,(Mess_IntegralNick2)+1 |
| 2675 1418 A091 0000 lds r26,(Mess_IntegralNick2)+2 |
| 2676 141c B091 0000 lds r27,(Mess_IntegralNick2)+3 |
| 2677 1420 8093 0000 sts IntegralNick2,r24 |
| 2678 1424 9093 0000 sts (IntegralNick2)+1,r25 |
| 2679 1428 A093 0000 sts (IntegralNick2)+2,r26 |
| 2680 142c B093 0000 sts (IntegralNick2)+3,r27 |
| 2681 1430 8091 0000 lds r24,Mess_IntegralRoll2 |
| 2682 1434 9091 0000 lds r25,(Mess_IntegralRoll2)+1 |
| 2683 1438 A091 0000 lds r26,(Mess_IntegralRoll2)+2 |
| 2684 143c B091 0000 lds r27,(Mess_IntegralRoll2)+3 |
| 2685 1440 8093 0000 sts IntegralRoll2,r24 |
| 2686 1444 9093 0000 sts (IntegralRoll2)+1,r25 |
| 2687 1448 A093 0000 sts (IntegralRoll2)+2,r26 |
| 2688 144c B093 0000 sts (IntegralRoll2)+3,r27 |
| 2689 1450 8091 0000 lds r24,HiResNick |
| 2690 1454 9091 0000 lds r25,(HiResNick)+1 |
| 2691 1458 97FD sbrc r25,7 |
| 2692 145a 0796 adiw r24,7 |
| 2693 .L119: |
| 2694 145c 03E0 ldi r16,3 |
| 2695 145e 9595 1: asr r25 |
| 2696 1460 8795 ror r24 |
| 2697 1462 0A95 dec r16 |
| 2698 1464 01F4 brne 1b |
| 2699 1466 9093 0000 sts (MesswertNick)+1,r25 |
| 2700 146a 8093 0000 sts MesswertNick,r24 |
| 2701 146e 8091 0000 lds r24,HiResRoll |
| 2702 1472 9091 0000 lds r25,(HiResRoll)+1 |
| 2703 1476 97FD sbrc r25,7 |
| 2704 1478 0796 adiw r24,7 |
| 2705 .L120: |
| 2706 147a 13E0 ldi r17,3 |
| 2707 147c 9595 1: asr r25 |
| 2708 147e 8795 ror r24 |
| 2709 1480 1A95 dec r17 |
| 2710 1482 01F4 brne 1b |
| 2711 1484 9093 0000 sts (MesswertRoll)+1,r25 |
| 2712 1488 8093 0000 sts MesswertRoll,r24 |
| 2713 148c 8091 0000 lds r24,AdWertNick |
| 2714 1490 9091 0000 lds r25,(AdWertNick)+1 |
| 2715 1494 0F97 sbiw r24,15 |
| 2716 1496 04F4 brge .L121 |
| 2717 1498 88E1 ldi r24,lo8(-1000) |
| 2718 149a 9CEF ldi r25,hi8(-1000) |
| 2719 149c 9093 0000 sts (MesswertNick)+1,r25 |
| 2720 14a0 8093 0000 sts MesswertNick,r24 |
| 2721 .L121: |
| 2722 14a4 8091 0000 lds r24,AdWertNick |
| 2723 14a8 9091 0000 lds r25,(AdWertNick)+1 |
| 2724 14ac 0797 sbiw r24,7 |
| 2725 14ae 04F4 brge .L122 |
| 2726 14b0 80E3 ldi r24,lo8(-2000) |
| 2727 14b2 98EF ldi r25,hi8(-2000) |
| 2728 14b4 9093 0000 sts (MesswertNick)+1,r25 |
| 2729 14b8 8093 0000 sts MesswertNick,r24 |
| 2730 .L122: |
| 2731 14bc 2091 0000 lds r18,PlatinenVersion |
| 2732 14c0 2A30 cpi r18,lo8(10) |
| 2733 14c2 01F4 brne .L123 |
| 2734 14c4 8091 0000 lds r24,AdWertNick |
| 2735 14c8 9091 0000 lds r25,(AdWertNick)+1 |
| 2736 14cc 835F subi r24,lo8(1011) |
| 2737 14ce 9340 sbci r25,hi8(1011) |
| 2738 14d0 04F0 brlt .L124 |
| 2739 14d2 88EE ldi r24,lo8(1000) |
| 2740 14d4 93E0 ldi r25,hi8(1000) |
| 2741 14d6 9093 0000 sts (MesswertNick)+1,r25 |
| 2742 14da 8093 0000 sts MesswertNick,r24 |
| 2743 .L124: |
| 2744 14de 8091 0000 lds r24,AdWertNick |
| 2745 14e2 9091 0000 lds r25,(AdWertNick)+1 |
| 2746 14e6 8A5F subi r24,lo8(1018) |
| 2747 14e8 9340 sbci r25,hi8(1018) |
| 2748 14ea 04F0 brlt .L126 |
| 2749 14ec 00C0 rjmp .L169 |
| 2750 .L123: |
| 2751 14ee 8091 0000 lds r24,AdWertNick |
| 2752 14f2 9091 0000 lds r25,(AdWertNick)+1 |
| 2753 14f6 815D subi r24,lo8(2001) |
| 2754 14f8 9740 sbci r25,hi8(2001) |
| 2755 14fa 04F0 brlt .L127 |
| 2756 14fc 88EE ldi r24,lo8(1000) |
| 2757 14fe 93E0 ldi r25,hi8(1000) |
| 2758 1500 9093 0000 sts (MesswertNick)+1,r25 |
| 2759 1504 8093 0000 sts MesswertNick,r24 |
| 2760 .L127: |
| 2761 1508 8091 0000 lds r24,AdWertNick |
| 2762 150c 9091 0000 lds r25,(AdWertNick)+1 |
| 2763 1510 805E subi r24,lo8(2016) |
| 2764 1512 9740 sbci r25,hi8(2016) |
| 2765 1514 04F0 brlt .L126 |
| 2766 .L169: |
| 2767 1516 80ED ldi r24,lo8(2000) |
| 2768 1518 97E0 ldi r25,hi8(2000) |
| 2769 151a 9093 0000 sts (MesswertNick)+1,r25 |
| 2770 151e 8093 0000 sts MesswertNick,r24 |
| 2771 .L126: |
| 2772 1522 8091 0000 lds r24,AdWertRoll |
| 2773 1526 9091 0000 lds r25,(AdWertRoll)+1 |
| 2774 152a 0F97 sbiw r24,15 |
| 2775 152c 04F4 brge .L129 |
| 2776 152e 88E1 ldi r24,lo8(-1000) |
| 2777 1530 9CEF ldi r25,hi8(-1000) |
| 2778 1532 9093 0000 sts (MesswertRoll)+1,r25 |
| 2779 1536 8093 0000 sts MesswertRoll,r24 |
| 2780 .L129: |
| 2781 153a 8091 0000 lds r24,AdWertRoll |
| 2782 153e 9091 0000 lds r25,(AdWertRoll)+1 |
| 2783 1542 0797 sbiw r24,7 |
| 2784 1544 04F4 brge .L130 |
| 2785 1546 80E3 ldi r24,lo8(-2000) |
| 2786 1548 98EF ldi r25,hi8(-2000) |
| 2787 154a 9093 0000 sts (MesswertRoll)+1,r25 |
| 2788 154e 8093 0000 sts MesswertRoll,r24 |
| 2789 .L130: |
| 2790 1552 2A30 cpi r18,lo8(10) |
| 2791 1554 01F4 brne .L131 |
| 2792 1556 8091 0000 lds r24,AdWertRoll |
| 2793 155a 9091 0000 lds r25,(AdWertRoll)+1 |
| 2794 155e 835F subi r24,lo8(1011) |
| 2795 1560 9340 sbci r25,hi8(1011) |
| 2796 1562 04F0 brlt .L132 |
| 2797 1564 88EE ldi r24,lo8(1000) |
| 2798 1566 93E0 ldi r25,hi8(1000) |
| 2799 1568 9093 0000 sts (MesswertRoll)+1,r25 |
| 2800 156c 8093 0000 sts MesswertRoll,r24 |
| 2801 .L132: |
| 2802 1570 8091 0000 lds r24,AdWertRoll |
| 2803 1574 9091 0000 lds r25,(AdWertRoll)+1 |
| 2804 1578 8A5F subi r24,lo8(1018) |
| 2805 157a 9340 sbci r25,hi8(1018) |
| 2806 157c 04F0 brlt .L134 |
| 2807 157e 00C0 rjmp .L170 |
| 2808 .L131: |
| 2809 1580 8091 0000 lds r24,AdWertRoll |
| 2810 1584 9091 0000 lds r25,(AdWertRoll)+1 |
| 2811 1588 815D subi r24,lo8(2001) |
| 2812 158a 9740 sbci r25,hi8(2001) |
| 2813 158c 04F0 brlt .L135 |
| 2814 158e 88EE ldi r24,lo8(1000) |
| 2815 1590 93E0 ldi r25,hi8(1000) |
| 2816 1592 9093 0000 sts (MesswertRoll)+1,r25 |
| 2817 1596 8093 0000 sts MesswertRoll,r24 |
| 2818 .L135: |
| 2819 159a 8091 0000 lds r24,AdWertRoll |
| 2820 159e 9091 0000 lds r25,(AdWertRoll)+1 |
| 2821 15a2 805E subi r24,lo8(2016) |
| 2822 15a4 9740 sbci r25,hi8(2016) |
| 2823 15a6 04F0 brlt .L134 |
| 2824 .L170: |
| 2825 15a8 80ED ldi r24,lo8(2000) |
| 2826 15aa 97E0 ldi r25,hi8(2000) |
| 2827 15ac 9093 0000 sts (MesswertRoll)+1,r25 |
| 2828 15b0 8093 0000 sts MesswertRoll,r24 |
| 2829 .L134: |
| 2830 15b4 6091 0000 lds r22,Parameter_Gyro_D |
| 2831 15b8 6623 tst r22 |
| 2832 15ba 01F4 brne .+2 |
| 2833 15bc 00C0 rjmp .L137 |
| 2834 15be 4091 0000 lds r20,HiResNick |
| 2835 15c2 5091 0000 lds r21,(HiResNick)+1 |
| 2836 15c6 8091 0000 lds r24,oldNick.31 |
| 2837 15ca 9091 0000 lds r25,(oldNick.31)+1 |
| 2838 15ce 481B sub r20,r24 |
| 2839 15d0 590B sbc r21,r25 |
| 2840 15d2 5093 0000 sts (d2Nick.34)+1,r21 |
| 2841 15d6 4093 0000 sts d2Nick.34,r20 |
| 2842 15da 2091 0000 lds r18,HiResNick |
| 2843 15de 3091 0000 lds r19,(HiResNick)+1 |
| 2844 15e2 280F add r18,r24 |
| 2845 15e4 391F adc r19,r25 |
| 2846 15e6 37FF sbrs r19,7 |
| 2847 15e8 00C0 rjmp .L138 |
| 2848 15ea 2F5F subi r18,lo8(-(1)) |
| 2849 15ec 3F4F sbci r19,hi8(-(1)) |
| 2850 .L138: |
| 2851 15ee 3595 asr r19 |
| 2852 15f0 2795 ror r18 |
| 2853 15f2 3093 0000 sts (oldNick.31)+1,r19 |
| 2854 15f6 2093 0000 sts oldNick.31,r18 |
| 2855 15fa 4138 cpi r20,129 |
| 2856 15fc 5105 cpc r21,__zero_reg__ |
| 2857 15fe 04F0 brlt .L139 |
| 2858 1600 80E8 ldi r24,lo8(128) |
| 2859 1602 90E0 ldi r25,hi8(128) |
| 2860 1604 00C0 rjmp .L171 |
| 2861 .L139: |
| 2862 1606 4058 subi r20,lo8(-128) |
| 2863 1608 5F4F sbci r21,hi8(-128) |
| 2864 160a 04F4 brge .L140 |
| 2865 160c 80E8 ldi r24,lo8(-128) |
| 2866 160e 9FEF ldi r25,hi8(-128) |
| 2867 .L171: |
| 2868 1610 9093 0000 sts (d2Nick.34)+1,r25 |
| 2869 1614 8093 0000 sts d2Nick.34,r24 |
| 2870 .L140: |
| 2871 1618 4091 0000 lds r20,HiResRoll |
| 2872 161c 5091 0000 lds r21,(HiResRoll)+1 |
| 2873 1620 8091 0000 lds r24,oldRoll.32 |
| 2874 1624 9091 0000 lds r25,(oldRoll.32)+1 |
| 2875 1628 481B sub r20,r24 |
| 2876 162a 590B sbc r21,r25 |
| 2877 162c 5093 0000 sts (d2Roll.33)+1,r21 |
| 2878 1630 4093 0000 sts d2Roll.33,r20 |
| 2879 1634 2091 0000 lds r18,HiResRoll |
| 2880 1638 3091 0000 lds r19,(HiResRoll)+1 |
| 2881 163c 280F add r18,r24 |
| 2882 163e 391F adc r19,r25 |
| 2883 1640 37FF sbrs r19,7 |
| 2884 1642 00C0 rjmp .L142 |
| 2885 1644 2F5F subi r18,lo8(-(1)) |
| 2886 1646 3F4F sbci r19,hi8(-(1)) |
| 2887 .L142: |
| 2888 1648 3595 asr r19 |
| 2889 164a 2795 ror r18 |
| 2890 164c 3093 0000 sts (oldRoll.32)+1,r19 |
| 2891 1650 2093 0000 sts oldRoll.32,r18 |
| 2892 1654 4138 cpi r20,129 |
| 2893 1656 5105 cpc r21,__zero_reg__ |
| 2894 1658 04F0 brlt .L143 |
| 2895 165a 80E8 ldi r24,lo8(128) |
| 2896 165c 90E0 ldi r25,hi8(128) |
| 2897 165e 00C0 rjmp .L172 |
| 2898 .L143: |
| 2899 1660 4058 subi r20,lo8(-128) |
| 2900 1662 5F4F sbci r21,hi8(-128) |
| 2901 1664 04F4 brge .L144 |
| 2902 1666 80E8 ldi r24,lo8(-128) |
| 2903 1668 9FEF ldi r25,hi8(-128) |
| 2904 .L172: |
| 2905 166a 9093 0000 sts (d2Roll.33)+1,r25 |
| 2906 166e 8093 0000 sts d2Roll.33,r24 |
| 2907 .L144: |
| 2908 1672 462F mov r20,r22 |
| 2909 1674 5527 clr r21 |
| 2910 1676 8091 0000 lds r24,d2Nick.34 |
| 2911 167a 9091 0000 lds r25,(d2Nick.34)+1 |
| 2912 167e 849F mul r24,r20 |
| 2913 1680 B001 movw r22,r0 |
| 2914 1682 859F mul r24,r21 |
| 2915 1684 700D add r23,r0 |
| 2916 1686 949F mul r25,r20 |
| 2917 1688 700D add r23,r0 |
| 2918 168a 1124 clr r1 |
| 2919 168c 9B01 movw r18,r22 |
| 2920 168e 77FF sbrs r23,7 |
| 2921 1690 00C0 rjmp .L146 |
| 2922 1692 215F subi r18,lo8(-(15)) |
| 2923 1694 3F4F sbci r19,hi8(-(15)) |
| 2924 .L146: |
| 2925 1696 F4E0 ldi r31,4 |
| 2926 1698 3595 1: asr r19 |
| 2927 169a 2795 ror r18 |
| 2928 169c FA95 dec r31 |
| 2929 169e 01F4 brne 1b |
| 2930 16a0 8091 0000 lds r24,MesswertNick |
| 2931 16a4 9091 0000 lds r25,(MesswertNick)+1 |
| 2932 16a8 820F add r24,r18 |
| 2933 16aa 931F adc r25,r19 |
| 2934 16ac 9093 0000 sts (MesswertNick)+1,r25 |
| 2935 16b0 8093 0000 sts MesswertNick,r24 |
| 2936 16b4 8091 0000 lds r24,d2Roll.33 |
| 2937 16b8 9091 0000 lds r25,(d2Roll.33)+1 |
| 2938 16bc 849F mul r24,r20 |
| 2939 16be D001 movw r26,r0 |
| 2940 16c0 859F mul r24,r21 |
| 2941 16c2 B00D add r27,r0 |
| 2942 16c4 949F mul r25,r20 |
| 2943 16c6 B00D add r27,r0 |
| 2944 16c8 1124 clr r1 |
| 2945 16ca AD01 movw r20,r26 |
| 2946 16cc 9D01 movw r18,r26 |
| 2947 16ce B7FF sbrs r27,7 |
| 2948 16d0 00C0 rjmp .L147 |
| 2949 16d2 215F subi r18,lo8(-(15)) |
| 2950 16d4 3F4F sbci r19,hi8(-(15)) |
| 2951 .L147: |
| 2952 16d6 E4E0 ldi r30,4 |
| 2953 16d8 3595 1: asr r19 |
| 2954 16da 2795 ror r18 |
| 2955 16dc EA95 dec r30 |
| 2956 16de 01F4 brne 1b |
| 2957 16e0 8091 0000 lds r24,MesswertRoll |
| 2958 16e4 9091 0000 lds r25,(MesswertRoll)+1 |
| 2959 16e8 820F add r24,r18 |
| 2960 16ea 931F adc r25,r19 |
| 2961 16ec 9093 0000 sts (MesswertRoll)+1,r25 |
| 2962 16f0 8093 0000 sts MesswertRoll,r24 |
| 2963 16f4 8091 0000 lds r24,HiResNick |
| 2964 16f8 9091 0000 lds r25,(HiResNick)+1 |
| 2965 16fc 860F add r24,r22 |
| 2966 16fe 971F adc r25,r23 |
| 2967 1700 9093 0000 sts (HiResNick)+1,r25 |
| 2968 1704 8093 0000 sts HiResNick,r24 |
| 2969 1708 8091 0000 lds r24,HiResRoll |
| 2970 170c 9091 0000 lds r25,(HiResRoll)+1 |
| 2971 1710 840F add r24,r20 |
| 2972 1712 951F adc r25,r21 |
| 2973 1714 9093 0000 sts (HiResRoll)+1,r25 |
| 2974 1718 8093 0000 sts HiResRoll,r24 |
| 2975 .L137: |
| 2976 171c 0091 0000 lds r16,RohMesswertRoll |
| 2977 1720 1091 0000 lds r17,(RohMesswertRoll)+1 |
| 2978 1724 8091 0000 lds r24,KopplungsteilNickRoll |
| 2979 1728 9091 0000 lds r25,(KopplungsteilNickRoll)+1 |
| 2980 172c 1016 cp __zero_reg__,r16 |
| 2981 172e 1106 cpc __zero_reg__,r17 |
| 2982 1730 04F4 brge .L148 |
| 2983 1732 9C01 movw r18,r24 |
| 2984 1734 97FF sbrs r25,7 |
| 2985 1736 00C0 rjmp .L149 |
| 2986 1738 2227 clr r18 |
| 2987 173a 3327 clr r19 |
| 2988 173c 281B sub r18,r24 |
| 2989 173e 390B sbc r19,r25 |
| 2990 .L149: |
| 2991 1740 C901 movw r24,r18 |
| 2992 1742 AA27 clr r26 |
| 2993 1744 97FD sbrc r25,7 |
| 2994 1746 A095 com r26 |
| 2995 1748 BA2F mov r27,r26 |
| 2996 174a 2091 0000 lds r18,Parameter_CouplingYawCorrection |
| 2997 174e 3327 clr r19 |
| 2998 1750 4427 clr r20 |
| 2999 1752 5527 clr r21 |
| 3000 1754 BC01 movw r22,r24 |
| 3001 1756 CD01 movw r24,r26 |
| 3002 1758 0E94 0000 call __mulsi3 |
| 3003 175c 9B01 movw r18,r22 |
| 3004 175e AC01 movw r20,r24 |
| 3005 1760 97FF sbrs r25,7 |
| 3006 1762 00C0 rjmp .L150 |
| 3007 1764 215C subi r18,lo8(-(63)) |
| 3008 1766 3F4F sbci r19,hi8(-(63)) |
| 3009 1768 4F4F sbci r20,hlo8(-(63)) |
| 3010 176a 5F4F sbci r21,hhi8(-(63)) |
| 3011 .L150: |
| 3012 176c 76E0 ldi r23,6 |
| 3013 176e 5595 1: asr r21 |
| 3014 1770 4795 ror r20 |
| 3015 1772 3795 ror r19 |
| 3016 1774 2795 ror r18 |
| 3017 1776 7A95 dec r23 |
| 3018 1778 01F4 brne 1b |
| 3019 177a 8091 0000 lds r24,TrimRoll |
| 3020 177e 9091 0000 lds r25,(TrimRoll)+1 |
| 3021 1782 820F add r24,r18 |
| 3022 1784 931F adc r25,r19 |
| 3023 1786 00C0 rjmp .L173 |
| 3024 .L148: |
| 3025 1788 97FF sbrs r25,7 |
| 3026 178a 00C0 rjmp .L152 |
| 3027 178c 9095 com r25 |
| 3028 178e 8195 neg r24 |
| 3029 1790 9F4F sbci r25,lo8(-1) |
| 3030 .L152: |
| 3031 1792 AA27 clr r26 |
| 3032 1794 97FD sbrc r25,7 |
| 3033 1796 A095 com r26 |
| 3034 1798 BA2F mov r27,r26 |
| 3035 179a 2091 0000 lds r18,Parameter_CouplingYawCorrection |
| 3036 179e 3327 clr r19 |
| 3037 17a0 4427 clr r20 |
| 3038 17a2 5527 clr r21 |
| 3039 17a4 BC01 movw r22,r24 |
| 3040 17a6 CD01 movw r24,r26 |
| 3041 17a8 0E94 0000 call __mulsi3 |
| 3042 17ac 9B01 movw r18,r22 |
| 3043 17ae AC01 movw r20,r24 |
| 3044 17b0 97FF sbrs r25,7 |
| 3045 17b2 00C0 rjmp .L153 |
| 3046 17b4 215C subi r18,lo8(-(63)) |
| 3047 17b6 3F4F sbci r19,hi8(-(63)) |
| 3048 17b8 4F4F sbci r20,hlo8(-(63)) |
| 3049 17ba 5F4F sbci r21,hhi8(-(63)) |
| 3050 .L153: |
| 3051 17bc 66E0 ldi r22,6 |
| 3052 17be 5595 1: asr r21 |
| 3053 17c0 4795 ror r20 |
| 3054 17c2 3795 ror r19 |
| 3055 17c4 2795 ror r18 |
| 3056 17c6 6A95 dec r22 |
| 3057 17c8 01F4 brne 1b |
| 3058 17ca 8091 0000 lds r24,TrimRoll |
| 3059 17ce 9091 0000 lds r25,(TrimRoll)+1 |
| 3060 17d2 821B sub r24,r18 |
| 3061 17d4 930B sbc r25,r19 |
| 3062 .L173: |
| 3063 17d6 9093 0000 sts (TrimRoll)+1,r25 |
| 3064 17da 8093 0000 sts TrimRoll,r24 |
| 3065 17de E090 0000 lds r14,RohMesswertNick |
| 3066 17e2 F090 0000 lds r15,(RohMesswertNick)+1 |
| 3067 17e6 8091 0000 lds r24,KopplungsteilRollNick |
| 3068 17ea 9091 0000 lds r25,(KopplungsteilRollNick)+1 |
| 3069 17ee 1E14 cp __zero_reg__,r14 |
| 3070 17f0 1F04 cpc __zero_reg__,r15 |
| 3071 17f2 04F4 brge .L154 |
| 3072 17f4 9C01 movw r18,r24 |
| 3073 17f6 97FF sbrs r25,7 |
| 3074 17f8 00C0 rjmp .L155 |
| 3075 17fa 2227 clr r18 |
| 3076 17fc 3327 clr r19 |
| 3077 17fe 281B sub r18,r24 |
| 3078 1800 390B sbc r19,r25 |
| 3079 .L155: |
| 3080 1802 C901 movw r24,r18 |
| 3081 1804 AA27 clr r26 |
| 3082 1806 97FD sbrc r25,7 |
| 3083 1808 A095 com r26 |
| 3084 180a BA2F mov r27,r26 |
| 3085 180c 2091 0000 lds r18,Parameter_CouplingYawCorrection |
| 3086 1810 3327 clr r19 |
| 3087 1812 4427 clr r20 |
| 3088 1814 5527 clr r21 |
| 3089 1816 BC01 movw r22,r24 |
| 3090 1818 CD01 movw r24,r26 |
| 3091 181a 0E94 0000 call __mulsi3 |
| 3092 181e 9B01 movw r18,r22 |
| 3093 1820 AC01 movw r20,r24 |
| 3094 1822 97FF sbrs r25,7 |
| 3095 1824 00C0 rjmp .L156 |
| 3096 1826 215C subi r18,lo8(-(63)) |
| 3097 1828 3F4F sbci r19,hi8(-(63)) |
| 3098 182a 4F4F sbci r20,hlo8(-(63)) |
| 3099 182c 5F4F sbci r21,hhi8(-(63)) |
| 3100 .L156: |
| 3101 182e 96E0 ldi r25,6 |
| 3102 1830 5595 1: asr r21 |
| 3103 1832 4795 ror r20 |
| 3104 1834 3795 ror r19 |
| 3105 1836 2795 ror r18 |
| 3106 1838 9A95 dec r25 |
| 3107 183a 01F4 brne 1b |
| 3108 183c 8091 0000 lds r24,TrimNick |
| 3109 1840 9091 0000 lds r25,(TrimNick)+1 |
| 3110 1844 820F add r24,r18 |
| 3111 1846 931F adc r25,r19 |
| 3112 1848 00C0 rjmp .L174 |
| 3113 .L154: |
| 3114 184a 97FF sbrs r25,7 |
| 3115 184c 00C0 rjmp .L158 |
| 3116 184e 9095 com r25 |
| 3117 1850 8195 neg r24 |
| 3118 1852 9F4F sbci r25,lo8(-1) |
| 3119 .L158: |
| 3120 1854 AA27 clr r26 |
| 3121 1856 97FD sbrc r25,7 |
| 3122 1858 A095 com r26 |
| 3123 185a BA2F mov r27,r26 |
| 3124 185c 2091 0000 lds r18,Parameter_CouplingYawCorrection |
| 3125 1860 3327 clr r19 |
| 3126 1862 4427 clr r20 |
| 3127 1864 5527 clr r21 |
| 3128 1866 BC01 movw r22,r24 |
| 3129 1868 CD01 movw r24,r26 |
| 3130 186a 0E94 0000 call __mulsi3 |
| 3131 186e 9B01 movw r18,r22 |
| 3132 1870 AC01 movw r20,r24 |
| 3133 1872 97FF sbrs r25,7 |
| 3134 1874 00C0 rjmp .L159 |
| 3135 1876 215C subi r18,lo8(-(63)) |
| 3136 1878 3F4F sbci r19,hi8(-(63)) |
| 3137 187a 4F4F sbci r20,hlo8(-(63)) |
| 3138 187c 5F4F sbci r21,hhi8(-(63)) |
| 3139 .L159: |
| 3140 187e 86E0 ldi r24,6 |
| 3141 1880 5595 1: asr r21 |
| 3142 1882 4795 ror r20 |
| 3143 1884 3795 ror r19 |
| 3144 1886 2795 ror r18 |
| 3145 1888 8A95 dec r24 |
| 3146 188a 01F4 brne 1b |
| 3147 188c 8091 0000 lds r24,TrimNick |
| 3148 1890 9091 0000 lds r25,(TrimNick)+1 |
| 3149 1894 821B sub r24,r18 |
| 3150 1896 930B sbc r25,r19 |
| 3151 .L174: |
| 3152 1898 9093 0000 sts (TrimNick)+1,r25 |
| 3153 189c 8093 0000 sts TrimNick,r24 |
| 3154 18a0 8091 0000 lds r24,Parameter_GlobalConfig |
| 3155 18a4 87FF sbrs r24,7 |
| 3156 18a6 00C0 rjmp .L82 |
| 3157 18a8 B989 ldd r27,Y+17 |
| 3158 18aa BB23 tst r27 |
| 3159 18ac 01F0 breq .+2 |
| 3160 18ae 00C0 rjmp .L82 |
| 3161 18b0 8091 0000 lds r24,Looping_Roll |
| 3162 18b4 8823 tst r24 |
| 3163 18b6 01F4 brne .L82 |
| 3164 18b8 E1E0 ldi r30,lo8(257) |
| 3165 18ba EE16 cp r14,r30 |
| 3166 18bc E1E0 ldi r30,hi8(257) |
| 3167 18be FE06 cpc r15,r30 |
| 3168 18c0 04F0 brlt .L161 |
| 3169 18c2 8091 0000 lds r24,MesswertNick |
| 3170 18c6 9091 0000 lds r25,(MesswertNick)+1 |
| 3171 18ca 8E0D add r24,r14 |
| 3172 18cc 9F1D adc r25,r15 |
| 3173 18ce 8050 subi r24,lo8(-(-256)) |
| 3174 18d0 9140 sbci r25,hi8(-(-256)) |
| 3175 18d2 00C0 rjmp .L175 |
| 3176 .L161: |
| 3177 18d4 F0E0 ldi r31,lo8(-256) |
| 3178 18d6 EF16 cp r14,r31 |
| 3179 18d8 FFEF ldi r31,hi8(-256) |
| 3180 18da FF06 cpc r15,r31 |
| 3181 18dc 04F4 brge .L162 |
| 3182 18de 8091 0000 lds r24,MesswertNick |
| 3183 18e2 9091 0000 lds r25,(MesswertNick)+1 |
| 3184 18e6 8E0D add r24,r14 |
| 3185 18e8 9F1D adc r25,r15 |
| 3186 18ea 8050 subi r24,lo8(-(256)) |
| 3187 18ec 9F4F sbci r25,hi8(-(256)) |
| 3188 .L175: |
| 3189 18ee 9093 0000 sts (MesswertNick)+1,r25 |
| 3190 18f2 8093 0000 sts MesswertNick,r24 |
| 3191 .L162: |
| 3192 18f6 21E0 ldi r18,hi8(257) |
| 3193 18f8 0130 cpi r16,lo8(257) |
| 3194 18fa 1207 cpc r17,r18 |
| 3195 18fc 04F0 brlt .L164 |
| 3196 18fe 8091 0000 lds r24,MesswertRoll |
| 3197 1902 9091 0000 lds r25,(MesswertRoll)+1 |
| 3198 1906 800F add r24,r16 |
| 3199 1908 911F adc r25,r17 |
| 3200 190a 8050 subi r24,lo8(-(-256)) |
| 3201 190c 9140 sbci r25,hi8(-(-256)) |
| 3202 190e 00C0 rjmp .L176 |
| 3203 .L164: |
| 3204 1910 3FEF ldi r19,hi8(-256) |
| 3205 1912 0030 cpi r16,lo8(-256) |
| 3206 1914 1307 cpc r17,r19 |
| 3207 1916 04F4 brge .L82 |
| 3208 1918 8091 0000 lds r24,MesswertRoll |
| 3209 191c 9091 0000 lds r25,(MesswertRoll)+1 |
| 3210 1920 800F add r24,r16 |
| 3211 1922 911F adc r25,r17 |
| 3212 1924 8050 subi r24,lo8(-(256)) |
| 3213 1926 9F4F sbci r25,hi8(-(256)) |
| 3214 .L176: |
| 3215 1928 9093 0000 sts (MesswertRoll)+1,r25 |
| 3216 192c 8093 0000 sts MesswertRoll,r24 |
| 3217 .L82: |
| 3218 /* epilogue: frame size=19 */ |
| 3219 1930 E2E1 ldi r30,18 |
| 3220 1932 CD5E subi r28,-19 |
| 3221 1934 0C94 0000 jmp __epilogue_restores__+0 |
| 3222 /* epilogue end (size=4) */ |
| 3223 /* function Mittelwert size 2000 (1990) */ |
| 3225 .global SendMotorData |
| 3227 SendMotorData: |
| 3228 /* prologue: frame size=0 */ |
| 3229 /* prologue end (size=0) */ |
| 3230 1938 8091 0000 lds r24,MotorenEin |
| 3231 193c 8823 tst r24 |
| 3232 193e 01F4 brne .L178 |
| 3233 1940 8091 0000 lds r24,FC_StatusFlags |
| 3234 1944 8C7F andi r24,lo8(-4) |
| 3235 1946 8093 0000 sts FC_StatusFlags,r24 |
| 3236 194a A0E0 ldi r26,lo8(MotorTest) |
| 3237 194c B0E0 ldi r27,hi8(MotorTest) |
| 3238 194e E0E0 ldi r30,lo8(Motor) |
| 3239 1950 F0E0 ldi r31,hi8(Motor) |
| 3240 1952 9BE0 ldi r25,lo8(11) |
| 3241 .L183: |
| 3242 1954 8091 0000 lds r24,PC_MotortestActive |
| 3243 1958 8823 tst r24 |
| 3244 195a 01F4 brne .L182 |
| 3245 195c 8C93 st X,r24 |
| 3246 .L182: |
| 3247 195e 8D91 ld r24,X+ |
| 3248 1960 8183 std Z+1,r24 |
| 3249 1962 1282 std Z+2,__zero_reg__ |
| 3250 1964 9150 subi r25,lo8(-(-1)) |
| 3251 1966 3896 adiw r30,8 |
| 3252 1968 97FF sbrs r25,7 |
| 3253 196a 00C0 rjmp .L183 |
| 3254 196c 8091 0000 lds r24,PC_MotortestActive |
| 3255 1970 8823 tst r24 |
| 3256 1972 01F0 breq .L185 |
| 3257 1974 8091 0000 lds r24,PC_MotortestActive |
| 3258 1978 8150 subi r24,lo8(-(-1)) |
| 3259 197a 8093 0000 sts PC_MotortestActive,r24 |
| 3260 197e 00C0 rjmp .L185 |
| 3261 .L178: |
| 3262 1980 8091 0000 lds r24,FC_StatusFlags |
| 3263 1984 8160 ori r24,lo8(1) |
| 3264 1986 8093 0000 sts FC_StatusFlags,r24 |
| 3265 .L185: |
| 3266 198a 8091 0000 lds r24,I2C_TransferActive |
| 3267 198e 8823 tst r24 |
| 3268 1990 01F0 breq .L186 |
| 3269 1992 1092 0000 sts I2C_TransferActive,__zero_reg__ |
| 3270 1996 0895 ret |
| 3271 .L186: |
| 3272 1998 8093 0000 sts motor_write,r24 |
| 3273 199c 8093 0000 sts twi_state,r24 |
| 3274 19a0 8091 0000 lds r24,BLFlags |
| 3275 19a4 8E7F andi r24,lo8(-2) |
| 3276 19a6 8093 0000 sts BLFlags,r24 |
| 3277 19aa 85EA ldi r24,lo8(-91) |
| 3278 19ac 8093 BC00 sts 188,r24 |
| 3279 19b0 0895 ret |
| 3280 /* epilogue: frame size=0 */ |
| 3281 /* epilogue: noreturn */ |
| 3282 /* epilogue end (size=0) */ |
| 3283 /* function SendMotorData size 61 (61) */ |
| 3285 .global ParameterZuordnung |
| 3287 ParameterZuordnung: |
| 3288 /* prologue: frame size=0 */ |
| 3289 19b2 CF93 push r28 |
| 3290 19b4 DF93 push r29 |
| 3291 /* prologue end (size=2) */ |
| 3292 19b6 A0E0 ldi r26,lo8(Poti) |
| 3293 19b8 B0E0 ldi r27,hi8(Poti) |
| 3294 19ba C0E0 ldi r28,lo8(EE_Parameter+5) |
| 3295 19bc D0E0 ldi r29,hi8(EE_Parameter+5) |
| 3296 19be 57E0 ldi r21,lo8(7) |
| 3297 .L203: |
| 3298 19c0 9991 ld r25,Y+ |
| 3299 19c2 E92F mov r30,r25 |
| 3300 19c4 FF27 clr r31 |
| 3301 19c6 EE0F add r30,r30 |
| 3302 19c8 FF1F adc r31,r31 |
| 3303 19ca E050 subi r30,lo8(-(PPM_in)) |
| 3304 19cc F040 sbci r31,hi8(-(PPM_in)) |
| 3305 19ce 0190 ld __tmp_reg__,Z+ |
| 3306 19d0 F081 ld r31,Z |
| 3307 19d2 E02D mov r30,__tmp_reg__ |
| 3308 19d4 E158 subi r30,lo8(-(127)) |
| 3309 19d6 FF4F sbci r31,hi8(-(127)) |
| 3310 19d8 EF3F cpi r30,255 |
| 3311 19da F105 cpc r31,__zero_reg__ |
| 3312 19dc 01F0 breq .L194 |
| 3313 19de 04F0 brlt .L194 |
| 3314 19e0 EFEF ldi r30,lo8(255) |
| 3315 19e2 F0E0 ldi r31,hi8(255) |
| 3316 19e4 00C0 rjmp .L195 |
| 3317 .L194: |
| 3318 19e6 F7FF sbrs r31,7 |
| 3319 19e8 00C0 rjmp .L195 |
| 3320 19ea E0E0 ldi r30,lo8(0) |
| 3321 19ec F0E0 ldi r31,hi8(0) |
| 3322 .L195: |
| 3323 19ee 9931 cpi r25,lo8(25) |
| 3324 19f0 01F4 brne .L197 |
| 3325 19f2 EC93 st X,r30 |
| 3326 19f4 00C0 rjmp .L193 |
| 3327 .L197: |
| 3328 19f6 4C91 ld r20,X |
| 3329 19f8 242F mov r18,r20 |
| 3330 19fa 3327 clr r19 |
| 3331 19fc E217 cp r30,r18 |
| 3332 19fe F307 cpc r31,r19 |
| 3333 1a00 01F0 breq .L193 |
| 3334 1a02 CF01 movw r24,r30 |
| 3335 1a04 821B sub r24,r18 |
| 3336 1a06 930B sbc r25,r19 |
| 3337 1a08 97FD sbrc r25,7 |
| 3338 1a0a 0396 adiw r24,3 |
| 3339 .L200: |
| 3340 1a0c 9595 asr r25 |
| 3341 1a0e 8795 ror r24 |
| 3342 1a10 9595 asr r25 |
| 3343 1a12 8795 ror r24 |
| 3344 1a14 242F mov r18,r20 |
| 3345 1a16 280F add r18,r24 |
| 3346 1a18 2C93 st X,r18 |
| 3347 1a1a 822F mov r24,r18 |
| 3348 1a1c 9927 clr r25 |
| 3349 1a1e E817 cp r30,r24 |
| 3350 1a20 F907 cpc r31,r25 |
| 3351 1a22 04F4 brge .L201 |
| 3352 1a24 2150 subi r18,lo8(-(-1)) |
| 3353 1a26 00C0 rjmp .L323 |
| 3354 .L201: |
| 3355 1a28 2F5F subi r18,lo8(-(1)) |
| 3356 .L323: |
| 3357 1a2a 2C93 st X,r18 |
| 3358 .L193: |
| 3359 1a2c 5150 subi r21,lo8(-(-1)) |
| 3360 1a2e 1196 adiw r26,1 |
| 3361 1a30 57FF sbrs r21,7 |
| 3362 1a32 00C0 rjmp .L203 |
| 3363 1a34 8091 0000 lds r24,EE_Parameter+15 |
| 3364 1a38 883F cpi r24,lo8(-8) |
| 3365 1a3a 00F0 brlo .L324 |
| 3366 1a3c EFEF ldi r30,lo8(255) |
| 3367 1a3e F0E0 ldi r31,hi8(255) |
| 3368 1a40 E81B sub r30,r24 |
| 3369 1a42 F109 sbc r31,__zero_reg__ |
| 3370 1a44 E050 subi r30,lo8(-(Poti)) |
| 3371 1a46 F040 sbci r31,hi8(-(Poti)) |
| 3372 1a48 8081 ld r24,Z |
| 3373 .L324: |
| 3374 1a4a 8093 0000 sts Parameter_Luftdruck_D,r24 |
| 3375 1a4e 8091 0000 lds r24,Parameter_Luftdruck_D |
| 3376 1a52 8823 tst r24 |
| 3377 1a54 01F0 breq .L207 |
| 3378 1a56 8436 cpi r24,lo8(100) |
| 3379 1a58 00F0 brlo .L207 |
| 3380 1a5a 84E6 ldi r24,lo8(100) |
| 3381 1a5c 8093 0000 sts Parameter_Luftdruck_D,r24 |
| 3382 .L207: |
| 3383 1a60 8091 0000 lds r24,EE_Parameter+17 |
| 3384 1a64 883F cpi r24,lo8(-8) |
| 3385 1a66 00F0 brlo .L325 |
| 3386 1a68 EFEF ldi r30,lo8(255) |
| 3387 1a6a F0E0 ldi r31,hi8(255) |
| 3388 1a6c E81B sub r30,r24 |
| 3389 1a6e F109 sbc r31,__zero_reg__ |
| 3390 1a70 E050 subi r30,lo8(-(Poti)) |
| 3391 1a72 F040 sbci r31,hi8(-(Poti)) |
| 3392 1a74 8081 ld r24,Z |
| 3393 .L325: |
| 3394 1a76 8093 0000 sts Parameter_Hoehe_P,r24 |
| 3395 1a7a 8091 0000 lds r24,Parameter_Hoehe_P |
| 3396 1a7e 8823 tst r24 |
| 3397 1a80 01F0 breq .L212 |
| 3398 1a82 8436 cpi r24,lo8(100) |
| 3399 1a84 00F0 brlo .L212 |
| 3400 1a86 84E6 ldi r24,lo8(100) |
| 3401 1a88 8093 0000 sts Parameter_Hoehe_P,r24 |
| 3402 .L212: |
| 3403 1a8c 8091 0000 lds r24,EE_Parameter+30 |
| 3404 1a90 883F cpi r24,lo8(-8) |
| 3405 1a92 00F0 brlo .L326 |
| 3406 1a94 EFEF ldi r30,lo8(255) |
| 3407 1a96 F0E0 ldi r31,hi8(255) |
| 3408 1a98 E81B sub r30,r24 |
| 3409 1a9a F109 sbc r31,__zero_reg__ |
| 3410 1a9c E050 subi r30,lo8(-(Poti)) |
| 3411 1a9e F040 sbci r31,hi8(-(Poti)) |
| 3412 1aa0 8081 ld r24,Z |
| 3413 .L326: |
| 3414 1aa2 8093 0000 sts Parameter_Gyro_P,r24 |
| 3415 1aa6 8091 0000 lds r24,Parameter_Gyro_P |
| 3416 1aaa 8B30 cpi r24,lo8(11) |
| 3417 1aac 00F4 brsh .L216 |
| 3418 1aae 8AE0 ldi r24,lo8(10) |
| 3419 1ab0 00C0 rjmp .L327 |
| 3420 .L216: |
| 3421 1ab2 8F3F cpi r24,lo8(-1) |
| 3422 1ab4 01F4 brne .L217 |
| 3423 .L327: |
| 3424 1ab6 8093 0000 sts Parameter_Gyro_P,r24 |
| 3425 .L217: |
| 3426 1aba 8091 0000 lds r24,EE_Parameter+75 |
| 3427 1abe 883F cpi r24,lo8(-8) |
| 3428 1ac0 00F0 brlo .L328 |
| 3429 1ac2 EFEF ldi r30,lo8(255) |
| 3430 1ac4 F0E0 ldi r31,hi8(255) |
| 3431 1ac6 E81B sub r30,r24 |
| 3432 1ac8 F109 sbc r31,__zero_reg__ |
| 3433 1aca E050 subi r30,lo8(-(Poti)) |
| 3434 1acc F040 sbci r31,hi8(-(Poti)) |
| 3435 1ace 8081 ld r24,Z |
| 3436 .L328: |
| 3437 1ad0 8093 0000 sts Parameter_J16Timing,r24 |
| 3438 1ad4 8091 0000 lds r24,Parameter_J16Timing |
| 3439 1ad8 8630 cpi r24,lo8(6) |
| 3440 1ada 00F4 brsh .L221 |
| 3441 1adc 85E0 ldi r24,lo8(5) |
| 3442 1ade 00C0 rjmp .L329 |
| 3443 .L221: |
| 3444 1ae0 8F3F cpi r24,lo8(-1) |
| 3445 1ae2 01F4 brne .L222 |
| 3446 .L329: |
| 3447 1ae4 8093 0000 sts Parameter_J16Timing,r24 |
| 3448 .L222: |
| 3449 1ae8 8091 0000 lds r24,EE_Parameter+77 |
| 3450 1aec 883F cpi r24,lo8(-8) |
| 3451 1aee 00F0 brlo .L330 |
| 3452 1af0 EFEF ldi r30,lo8(255) |
| 3453 1af2 F0E0 ldi r31,hi8(255) |
| 3454 1af4 E81B sub r30,r24 |
| 3455 1af6 F109 sbc r31,__zero_reg__ |
| 3456 1af8 E050 subi r30,lo8(-(Poti)) |
| 3457 1afa F040 sbci r31,hi8(-(Poti)) |
| 3458 1afc 8081 ld r24,Z |
| 3459 .L330: |
| 3460 1afe 8093 0000 sts Parameter_J17Timing,r24 |
| 3461 1b02 8091 0000 lds r24,Parameter_J17Timing |
| 3462 1b06 8630 cpi r24,lo8(6) |
| 3463 1b08 00F4 brsh .L226 |
| 3464 1b0a 85E0 ldi r24,lo8(5) |
| 3465 1b0c 00C0 rjmp .L331 |
| 3466 .L226: |
| 3467 1b0e 8F3F cpi r24,lo8(-1) |
| 3468 1b10 01F4 brne .L227 |
| 3469 .L331: |
| 3470 1b12 8093 0000 sts Parameter_J17Timing,r24 |
| 3471 .L227: |
| 3472 1b16 8091 0000 lds r24,EE_Parameter+56 |
| 3473 1b1a 873F cpi r24,lo8(-9) |
| 3474 1b1c 01F4 brne .L229 |
| 3475 1b1e 4299 sbic 40-0x20,2 |
| 3476 1b20 00C0 rjmp .L362 |
| 3477 1b22 00C0 rjmp .L234 |
| 3478 .L229: |
| 3479 1b24 863F cpi r24,lo8(-10) |
| 3480 1b26 01F4 brne .L233 |
| 3481 1b28 439B sbis 40-0x20,3 |
| 3482 1b2a 00C0 rjmp .L234 |
| 3483 .L362: |
| 3484 1b2c 8CE8 ldi r24,lo8(-116) |
| 3485 1b2e 00C0 rjmp .L332 |
| 3486 .L234: |
| 3487 1b30 86E4 ldi r24,lo8(70) |
| 3488 1b32 00C0 rjmp .L332 |
| 3489 .L233: |
| 3490 1b34 883F cpi r24,lo8(-8) |
| 3491 1b36 00F0 brlo .L332 |
| 3492 1b38 EFEF ldi r30,lo8(255) |
| 3493 1b3a F0E0 ldi r31,hi8(255) |
| 3494 1b3c E81B sub r30,r24 |
| 3495 1b3e F109 sbc r31,__zero_reg__ |
| 3496 1b40 E050 subi r30,lo8(-(Poti)) |
| 3497 1b42 F040 sbci r31,hi8(-(Poti)) |
| 3498 1b44 8081 ld r24,Z |
| 3499 .L332: |
| 3500 1b46 8093 0000 sts Parameter_Servo3,r24 |
| 3501 1b4a 8091 0000 lds r24,EE_Parameter+57 |
| 3502 1b4e 873F cpi r24,lo8(-9) |
| 3503 1b50 01F4 brne .L239 |
| 3504 1b52 4299 sbic 40-0x20,2 |
| 3505 1b54 00C0 rjmp .L363 |
| 3506 1b56 00C0 rjmp .L244 |
| 3507 .L239: |
| 3508 1b58 863F cpi r24,lo8(-10) |
| 3509 1b5a 01F4 brne .L243 |
| 3510 1b5c 439B sbis 40-0x20,3 |
| 3511 1b5e 00C0 rjmp .L244 |
| 3512 .L363: |
| 3513 1b60 8CE8 ldi r24,lo8(-116) |
| 3514 1b62 00C0 rjmp .L333 |
| 3515 .L244: |
| 3516 1b64 86E4 ldi r24,lo8(70) |
| 3517 1b66 00C0 rjmp .L333 |
| 3518 .L243: |
| 3519 1b68 883F cpi r24,lo8(-8) |
| 3520 1b6a 00F0 brlo .L333 |
| 3521 1b6c EFEF ldi r30,lo8(255) |
| 3522 1b6e F0E0 ldi r31,hi8(255) |
| 3523 1b70 E81B sub r30,r24 |
| 3524 1b72 F109 sbc r31,__zero_reg__ |
| 3525 1b74 E050 subi r30,lo8(-(Poti)) |
| 3526 1b76 F040 sbci r31,hi8(-(Poti)) |
| 3527 1b78 8081 ld r24,Z |
| 3528 .L333: |
| 3529 1b7a 8093 0000 sts Parameter_Servo4,r24 |
| 3530 1b7e 8091 0000 lds r24,EE_Parameter+58 |
| 3531 1b82 883F cpi r24,lo8(-8) |
| 3532 1b84 00F0 brlo .L334 |
| 3533 1b86 EFEF ldi r30,lo8(255) |
| 3534 1b88 F0E0 ldi r31,hi8(255) |
| 3535 1b8a E81B sub r30,r24 |
| 3536 1b8c F109 sbc r31,__zero_reg__ |
| 3537 1b8e E050 subi r30,lo8(-(Poti)) |
| 3538 1b90 F040 sbci r31,hi8(-(Poti)) |
| 3539 1b92 8081 ld r24,Z |
| 3540 .L334: |
| 3541 1b94 8093 0000 sts Parameter_Servo5,r24 |
| 3542 1b98 8091 0000 lds r24,EE_Parameter+16 |
| 3543 1b9c 883F cpi r24,lo8(-8) |
| 3544 1b9e 00F0 brlo .L335 |
| 3545 1ba0 EFEF ldi r30,lo8(255) |
| 3546 1ba2 F0E0 ldi r31,hi8(255) |
| 3547 1ba4 E81B sub r30,r24 |
| 3548 1ba6 F109 sbc r31,__zero_reg__ |
| 3549 1ba8 E050 subi r30,lo8(-(Poti)) |
| 3550 1baa F040 sbci r31,hi8(-(Poti)) |
| 3551 1bac 8081 ld r24,Z |
| 3552 .L335: |
| 3553 1bae 8093 0000 sts Parameter_HoehenSchalter,r24 |
| 3554 1bb2 8091 0000 lds r24,EE_Parameter+19 |
| 3555 1bb6 883F cpi r24,lo8(-8) |
| 3556 1bb8 00F0 brlo .L336 |
| 3557 1bba EFEF ldi r30,lo8(255) |
| 3558 1bbc F0E0 ldi r31,hi8(255) |
| 3559 1bbe E81B sub r30,r24 |
| 3560 1bc0 F109 sbc r31,__zero_reg__ |
| 3561 1bc2 E050 subi r30,lo8(-(Poti)) |
| 3562 1bc4 F040 sbci r31,hi8(-(Poti)) |
| 3563 1bc6 8081 ld r24,Z |
| 3564 .L336: |
| 3565 1bc8 8093 0000 sts Parameter_Hoehe_ACC_Wirkung,r24 |
| 3566 1bcc 8091 0000 lds r24,EE_Parameter+21 |
| 3567 1bd0 883F cpi r24,lo8(-8) |
| 3568 1bd2 00F0 brlo .L337 |
| 3569 1bd4 EFEF ldi r30,lo8(255) |
| 3570 1bd6 F0E0 ldi r31,hi8(255) |
| 3571 1bd8 E81B sub r30,r24 |
| 3572 1bda F109 sbc r31,__zero_reg__ |
| 3573 1bdc E050 subi r30,lo8(-(Poti)) |
| 3574 1bde F040 sbci r31,hi8(-(Poti)) |
| 3575 1be0 8081 ld r24,Z |
| 3576 .L337: |
| 3577 1be2 8093 0000 sts Parameter_Hoehe_GPS_Z,r24 |
| 3578 1be6 8091 0000 lds r24,EE_Parameter+29 |
| 3579 1bea 883F cpi r24,lo8(-8) |
| 3580 1bec 00F0 brlo .L338 |
| 3581 1bee EFEF ldi r30,lo8(255) |
| 3582 1bf0 F0E0 ldi r31,hi8(255) |
| 3583 1bf2 E81B sub r30,r24 |
| 3584 1bf4 F109 sbc r31,__zero_reg__ |
| 3585 1bf6 E050 subi r30,lo8(-(Poti)) |
| 3586 1bf8 F040 sbci r31,hi8(-(Poti)) |
| 3587 1bfa 8081 ld r24,Z |
| 3588 .L338: |
| 3589 1bfc 8093 0000 sts Parameter_KompassWirkung,r24 |
| 3590 1c00 8091 0000 lds r24,EE_Parameter+31 |
| 3591 1c04 883F cpi r24,lo8(-8) |
| 3592 1c06 00F0 brlo .L339 |
| 3593 1c08 EFEF ldi r30,lo8(255) |
| 3594 1c0a F0E0 ldi r31,hi8(255) |
| 3595 1c0c E81B sub r30,r24 |
| 3596 1c0e F109 sbc r31,__zero_reg__ |
| 3597 1c10 E050 subi r30,lo8(-(Poti)) |
| 3598 1c12 F040 sbci r31,hi8(-(Poti)) |
| 3599 1c14 8081 ld r24,Z |
| 3600 .L339: |
| 3601 1c16 8093 0000 sts Parameter_Gyro_I,r24 |
| 3602 1c1a 8091 0000 lds r24,EE_Parameter+32 |
| 3603 1c1e 883F cpi r24,lo8(-8) |
| 3604 1c20 00F0 brlo .L340 |
| 3605 1c22 EFEF ldi r30,lo8(255) |
| 3606 1c24 F0E0 ldi r31,hi8(255) |
| 3607 1c26 E81B sub r30,r24 |
| 3608 1c28 F109 sbc r31,__zero_reg__ |
| 3609 1c2a E050 subi r30,lo8(-(Poti)) |
| 3610 1c2c F040 sbci r31,hi8(-(Poti)) |
| 3611 1c2e 8081 ld r24,Z |
| 3612 .L340: |
| 3613 1c30 8093 0000 sts Parameter_Gyro_D,r24 |
| 3614 1c34 8091 0000 lds r24,EE_Parameter+33 |
| 3615 1c38 883F cpi r24,lo8(-8) |
| 3616 1c3a 00F0 brlo .L341 |
| 3617 1c3c EFEF ldi r30,lo8(255) |
| 3618 1c3e F0E0 ldi r31,hi8(255) |
| 3619 1c40 E81B sub r30,r24 |
| 3620 1c42 F109 sbc r31,__zero_reg__ |
| 3621 1c44 E050 subi r30,lo8(-(Poti)) |
| 3622 1c46 F040 sbci r31,hi8(-(Poti)) |
| 3623 1c48 8081 ld r24,Z |
| 3624 .L341: |
| 3625 1c4a 8093 0000 sts Parameter_Gyro_Gier_P,r24 |
| 3626 1c4e 8091 0000 lds r24,EE_Parameter+34 |
| 3627 1c52 883F cpi r24,lo8(-8) |
| 3628 1c54 00F0 brlo .L342 |
| 3629 1c56 EFEF ldi r30,lo8(255) |
| 3630 1c58 F0E0 ldi r31,hi8(255) |
| 3631 1c5a E81B sub r30,r24 |
| 3632 1c5c F109 sbc r31,__zero_reg__ |
| 3633 1c5e E050 subi r30,lo8(-(Poti)) |
| 3634 1c60 F040 sbci r31,hi8(-(Poti)) |
| 3635 1c62 8081 ld r24,Z |
| 3636 .L342: |
| 3637 1c64 8093 0000 sts Parameter_Gyro_Gier_I,r24 |
| 3638 1c68 8091 0000 lds r24,EE_Parameter+40 |
| 3639 1c6c 883F cpi r24,lo8(-8) |
| 3640 1c6e 00F0 brlo .L343 |
| 3641 1c70 EFEF ldi r30,lo8(255) |
| 3642 1c72 F0E0 ldi r31,hi8(255) |
| 3643 1c74 E81B sub r30,r24 |
| 3644 1c76 F109 sbc r31,__zero_reg__ |
| 3645 1c78 E050 subi r30,lo8(-(Poti)) |
| 3646 1c7a F040 sbci r31,hi8(-(Poti)) |
| 3647 1c7c 8081 ld r24,Z |
| 3648 .L343: |
| 3649 1c7e 8093 0000 sts Parameter_I_Faktor,r24 |
| 3650 1c82 8091 0000 lds r24,EE_Parameter+41 |
| 3651 1c86 883F cpi r24,lo8(-8) |
| 3652 1c88 00F0 brlo .L344 |
| 3653 1c8a EFEF ldi r30,lo8(255) |
| 3654 1c8c F0E0 ldi r31,hi8(255) |
| 3655 1c8e E81B sub r30,r24 |
| 3656 1c90 F109 sbc r31,__zero_reg__ |
| 3657 1c92 E050 subi r30,lo8(-(Poti)) |
| 3658 1c94 F040 sbci r31,hi8(-(Poti)) |
| 3659 1c96 8081 ld r24,Z |
| 3660 .L344: |
| 3661 1c98 8093 0000 sts Parameter_UserParam1,r24 |
| 3662 1c9c 8091 0000 lds r24,EE_Parameter+42 |
| 3663 1ca0 883F cpi r24,lo8(-8) |
| 3664 1ca2 00F0 brlo .L345 |
| 3665 1ca4 EFEF ldi r30,lo8(255) |
| 3666 1ca6 F0E0 ldi r31,hi8(255) |
| 3667 1ca8 E81B sub r30,r24 |
| 3668 1caa F109 sbc r31,__zero_reg__ |
| 3669 1cac E050 subi r30,lo8(-(Poti)) |
| 3670 1cae F040 sbci r31,hi8(-(Poti)) |
| 3671 1cb0 8081 ld r24,Z |
| 3672 .L345: |
| 3673 1cb2 8093 0000 sts Parameter_UserParam2,r24 |
| 3674 1cb6 8091 0000 lds r24,EE_Parameter+43 |
| 3675 1cba 883F cpi r24,lo8(-8) |
| 3676 1cbc 00F0 brlo .L346 |
| 3677 1cbe EFEF ldi r30,lo8(255) |
| 3678 1cc0 F0E0 ldi r31,hi8(255) |
| 3679 1cc2 E81B sub r30,r24 |
| 3680 1cc4 F109 sbc r31,__zero_reg__ |
| 3681 1cc6 E050 subi r30,lo8(-(Poti)) |
| 3682 1cc8 F040 sbci r31,hi8(-(Poti)) |
| 3683 1cca 8081 ld r24,Z |
| 3684 .L346: |
| 3685 1ccc 8093 0000 sts Parameter_UserParam3,r24 |
| 3686 1cd0 8091 0000 lds r24,EE_Parameter+44 |
| 3687 1cd4 883F cpi r24,lo8(-8) |
| 3688 1cd6 00F0 brlo .L347 |
| 3689 1cd8 EFEF ldi r30,lo8(255) |
| 3690 1cda F0E0 ldi r31,hi8(255) |
| 3691 1cdc E81B sub r30,r24 |
| 3692 1cde F109 sbc r31,__zero_reg__ |
| 3693 1ce0 E050 subi r30,lo8(-(Poti)) |
| 3694 1ce2 F040 sbci r31,hi8(-(Poti)) |
| 3695 1ce4 8081 ld r24,Z |
| 3696 .L347: |
| 3697 1ce6 8093 0000 sts Parameter_UserParam4,r24 |
| 3698 1cea 8091 0000 lds r24,EE_Parameter+70 |
| 3699 1cee 883F cpi r24,lo8(-8) |
| 3700 1cf0 00F0 brlo .L348 |
| 3701 1cf2 EFEF ldi r30,lo8(255) |
| 3702 1cf4 F0E0 ldi r31,hi8(255) |
| 3703 1cf6 E81B sub r30,r24 |
| 3704 1cf8 F109 sbc r31,__zero_reg__ |
| 3705 1cfa E050 subi r30,lo8(-(Poti)) |
| 3706 1cfc F040 sbci r31,hi8(-(Poti)) |
| 3707 1cfe 8081 ld r24,Z |
| 3708 .L348: |
| 3709 1d00 8093 0000 sts Parameter_UserParam5,r24 |
| 3710 1d04 8091 0000 lds r24,EE_Parameter+71 |
| 3711 1d08 883F cpi r24,lo8(-8) |
| 3712 1d0a 00F0 brlo .L349 |
| 3713 1d0c EFEF ldi r30,lo8(255) |
| 3714 1d0e F0E0 ldi r31,hi8(255) |
| 3715 1d10 E81B sub r30,r24 |
| 3716 1d12 F109 sbc r31,__zero_reg__ |
| 3717 1d14 E050 subi r30,lo8(-(Poti)) |
| 3718 1d16 F040 sbci r31,hi8(-(Poti)) |
| 3719 1d18 8081 ld r24,Z |
| 3720 .L349: |
| 3721 1d1a 8093 0000 sts Parameter_UserParam6,r24 |
| 3722 1d1e 8091 0000 lds r24,EE_Parameter+72 |
| 3723 1d22 883F cpi r24,lo8(-8) |
| 3724 1d24 00F0 brlo .L350 |
| 3725 1d26 EFEF ldi r30,lo8(255) |
| 3726 1d28 F0E0 ldi r31,hi8(255) |
| 3727 1d2a E81B sub r30,r24 |
| 3728 1d2c F109 sbc r31,__zero_reg__ |
| 3729 1d2e E050 subi r30,lo8(-(Poti)) |
| 3730 1d30 F040 sbci r31,hi8(-(Poti)) |
| 3731 1d32 8081 ld r24,Z |
| 3732 .L350: |
| 3733 1d34 8093 0000 sts Parameter_UserParam7,r24 |
| 3734 1d38 8091 0000 lds r24,EE_Parameter+73 |
| 3735 1d3c 883F cpi r24,lo8(-8) |
| 3736 1d3e 00F0 brlo .L351 |
| 3737 1d40 EFEF ldi r30,lo8(255) |
| 3738 1d42 F0E0 ldi r31,hi8(255) |
| 3739 1d44 E81B sub r30,r24 |
| 3740 1d46 F109 sbc r31,__zero_reg__ |
| 3741 1d48 E050 subi r30,lo8(-(Poti)) |
| 3742 1d4a F040 sbci r31,hi8(-(Poti)) |
| 3743 1d4c 8081 ld r24,Z |
| 3744 .L351: |
| 3745 1d4e 8093 0000 sts Parameter_UserParam8,r24 |
| 3746 1d52 8091 0000 lds r24,EE_Parameter+45 |
| 3747 1d56 883F cpi r24,lo8(-8) |
| 3748 1d58 00F0 brlo .L352 |
| 3749 1d5a EFEF ldi r30,lo8(255) |
| 3750 1d5c F0E0 ldi r31,hi8(255) |
| 3751 1d5e E81B sub r30,r24 |
| 3752 1d60 F109 sbc r31,__zero_reg__ |
| 3753 1d62 E050 subi r30,lo8(-(Poti)) |
| 3754 1d64 F040 sbci r31,hi8(-(Poti)) |
| 3755 1d66 8081 ld r24,Z |
| 3756 .L352: |
| 3757 1d68 8093 0000 sts Parameter_ServoNickControl,r24 |
| 3758 1d6c 8091 0000 lds r24,EE_Parameter+49 |
| 3759 1d70 883F cpi r24,lo8(-8) |
| 3760 1d72 00F0 brlo .L353 |
| 3761 1d74 EFEF ldi r30,lo8(255) |
| 3762 1d76 F0E0 ldi r31,hi8(255) |
| 3763 1d78 E81B sub r30,r24 |
| 3764 1d7a F109 sbc r31,__zero_reg__ |
| 3765 1d7c E050 subi r30,lo8(-(Poti)) |
| 3766 1d7e F040 sbci r31,hi8(-(Poti)) |
| 3767 1d80 8081 ld r24,Z |
| 3768 .L353: |
| 3769 1d82 8093 0000 sts Parameter_ServoRollControl,r24 |
| 3770 1d86 8091 0000 lds r24,EE_Parameter+59 |
| 3771 1d8a 883F cpi r24,lo8(-8) |
| 3772 1d8c 00F0 brlo .L354 |
| 3773 1d8e EFEF ldi r30,lo8(255) |
| 3774 1d90 F0E0 ldi r31,hi8(255) |
| 3775 1d92 E81B sub r30,r24 |
| 3776 1d94 F109 sbc r31,__zero_reg__ |
| 3777 1d96 E050 subi r30,lo8(-(Poti)) |
| 3778 1d98 F040 sbci r31,hi8(-(Poti)) |
| 3779 1d9a 8081 ld r24,Z |
| 3780 .L354: |
| 3781 1d9c 8093 0000 sts Parameter_LoopGasLimit,r24 |
| 3782 1da0 8091 0000 lds r24,EE_Parameter+62 |
| 3783 1da4 883F cpi r24,lo8(-8) |
| 3784 1da6 00F0 brlo .L355 |
| 3785 1da8 EFEF ldi r30,lo8(255) |
| 3786 1daa F0E0 ldi r31,hi8(255) |
| 3787 1dac E81B sub r30,r24 |
| 3788 1dae F109 sbc r31,__zero_reg__ |
| 3789 1db0 E050 subi r30,lo8(-(Poti)) |
| 3790 1db2 F040 sbci r31,hi8(-(Poti)) |
| 3791 1db4 8081 ld r24,Z |
| 3792 .L355: |
| 3793 1db6 8093 0000 sts Parameter_AchsKopplung1,r24 |
| 3794 1dba 8091 0000 lds r24,EE_Parameter+63 |
| 3795 1dbe 883F cpi r24,lo8(-8) |
| 3796 1dc0 00F0 brlo .L356 |
| 3797 1dc2 EFEF ldi r30,lo8(255) |
| 3798 1dc4 F0E0 ldi r31,hi8(255) |
| 3799 1dc6 E81B sub r30,r24 |
| 3800 1dc8 F109 sbc r31,__zero_reg__ |
| 3801 1dca E050 subi r30,lo8(-(Poti)) |
| 3802 1dcc F040 sbci r31,hi8(-(Poti)) |
| 3803 1dce 8081 ld r24,Z |
| 3804 .L356: |
| 3805 1dd0 8093 0000 sts Parameter_AchsKopplung2,r24 |
| 3806 1dd4 8091 0000 lds r24,EE_Parameter+64 |
| 3807 1dd8 883F cpi r24,lo8(-8) |
| 3808 1dda 00F0 brlo .L357 |
| 3809 1ddc EFEF ldi r30,lo8(255) |
| 3810 1dde F0E0 ldi r31,hi8(255) |
| 3811 1de0 E81B sub r30,r24 |
| 3812 1de2 F109 sbc r31,__zero_reg__ |
| 3813 1de4 E050 subi r30,lo8(-(Poti)) |
| 3814 1de6 F040 sbci r31,hi8(-(Poti)) |
| 3815 1de8 8081 ld r24,Z |
| 3816 .L357: |
| 3817 1dea 8093 0000 sts Parameter_CouplingYawCorrection,r24 |
| 3818 1dee 8091 0000 lds r24,EE_Parameter+104 |
| 3819 1df2 883F cpi r24,lo8(-8) |
| 3820 1df4 00F0 brlo .L358 |
| 3821 1df6 EFEF ldi r30,lo8(255) |
| 3822 1df8 F0E0 ldi r31,hi8(255) |
| 3823 1dfa E81B sub r30,r24 |
| 3824 1dfc F109 sbc r31,__zero_reg__ |
| 3825 1dfe E050 subi r30,lo8(-(Poti)) |
| 3826 1e00 F040 sbci r31,hi8(-(Poti)) |
| 3827 1e02 8081 ld r24,Z |
| 3828 .L358: |
| 3829 1e04 8093 0000 sts Parameter_MaximumAltitude,r24 |
| 3830 1e08 9091 0000 lds r25,NC_To_FC_MaxAltitude |
| 3831 1e0c 9923 tst r25 |
| 3832 1e0e 01F0 breq .L301 |
| 3833 1e10 8091 0000 lds r24,Parameter_MaximumAltitude |
| 3834 1e14 9817 cp r25,r24 |
| 3835 1e16 00F0 brlo .L300 |
| 3836 .L301: |
| 3837 1e18 8091 0000 lds r24,Parameter_MaximumAltitude |
| 3838 1e1c 8823 tst r24 |
| 3839 1e1e 01F4 brne .L299 |
| 3840 .L300: |
| 3841 1e20 9093 0000 sts Parameter_MaximumAltitude,r25 |
| 3842 .L299: |
| 3843 1e24 8091 0000 lds r24,EE_Parameter+13 |
| 3844 1e28 8093 0000 sts Parameter_GlobalConfig,r24 |
| 3845 1e2c 8091 0000 lds r24,EE_Parameter+110 |
| 3846 1e30 8093 0000 sts Parameter_ExtraConfig,r24 |
| 3847 1e34 8091 0000 lds r24,EE_Parameter+69 |
| 3848 1e38 883F cpi r24,lo8(-8) |
| 3849 1e3a 00F0 brlo .L359 |
| 3850 1e3c EFEF ldi r30,lo8(255) |
| 3851 1e3e F0E0 ldi r31,hi8(255) |
| 3852 1e40 E81B sub r30,r24 |
| 3853 1e42 F109 sbc r31,__zero_reg__ |
| 3854 1e44 E050 subi r30,lo8(-(Poti)) |
| 3855 1e46 F040 sbci r31,hi8(-(Poti)) |
| 3856 1e48 8081 ld r24,Z |
| 3857 .L359: |
| 3858 1e4a 8093 0000 sts Parameter_DynamicStability,r24 |
| 3859 1e4e 8091 0000 lds r24,EE_Parameter+97 |
| 3860 1e52 883F cpi r24,lo8(-8) |
| 3861 1e54 00F0 brlo .L360 |
| 3862 1e56 EFEF ldi r30,lo8(255) |
| 3863 1e58 F0E0 ldi r31,hi8(255) |
| 3864 1e5a E81B sub r30,r24 |
| 3865 1e5c F109 sbc r31,__zero_reg__ |
| 3866 1e5e E050 subi r30,lo8(-(Poti)) |
| 3867 1e60 F040 sbci r31,hi8(-(Poti)) |
| 3868 1e62 8081 ld r24,Z |
| 3869 .L360: |
| 3870 1e64 8093 0000 sts Parameter_ExternalControl,r24 |
| 3871 1e68 8091 0000 lds r24,Parameter_I_Faktor |
| 3872 1e6c 282F mov r18,r24 |
| 3873 1e6e 3327 clr r19 |
| 3874 1e70 2F5F subi r18,lo8(-(1)) |
| 3875 1e72 3F4F sbci r19,hi8(-(1)) |
| 3876 1e74 8CE3 ldi r24,lo8(10300) |
| 3877 1e76 98E2 ldi r25,hi8(10300) |
| 3878 1e78 B901 movw r22,r18 |
| 3879 1e7a 0E94 0000 call __divmodhi4 |
| 3880 1e7e 7093 0000 sts (Ki)+1,r23 |
| 3881 1e82 6093 0000 sts Ki,r22 |
| 3882 1e86 8091 0000 lds r24,EE_Parameter+27 |
| 3883 1e8a 8093 0000 sts MAX_GAS,r24 |
| 3884 1e8e 8091 0000 lds r24,EE_Parameter+26 |
| 3885 1e92 8093 0000 sts MIN_GAS,r24 |
| 3886 1e96 9091 0000 lds r25,EE_Parameter+99 |
| 3887 1e9a 9333 cpi r25,lo8(51) |
| 3888 1e9c 00F4 brsh .+2 |
| 3889 1e9e 00C0 rjmp .L306 |
| 3890 1ea0 81E0 ldi r24,lo8(1) |
| 3891 1ea2 8093 0000 sts CareFree,r24 |
| 3892 1ea6 983F cpi r25,lo8(-8) |
| 3893 1ea8 00F0 brlo .L307 |
| 3894 1eaa EFEF ldi r30,lo8(255) |
| 3895 1eac F0E0 ldi r31,hi8(255) |
| 3896 1eae E91B sub r30,r25 |
| 3897 1eb0 F109 sbc r31,__zero_reg__ |
| 3898 1eb2 E050 subi r30,lo8(-(Poti)) |
| 3899 1eb4 F040 sbci r31,hi8(-(Poti)) |
| 3900 1eb6 8081 ld r24,Z |
| 3901 1eb8 8233 cpi r24,lo8(50) |
| 3902 1eba 00F4 brsh .L307 |
| 3903 1ebc 1092 0000 sts CareFree,__zero_reg__ |
| 3904 .L307: |
| 3905 1ec0 8091 0000 lds r24,carefree_old |
| 3906 1ec4 2091 0000 lds r18,CareFree |
| 3907 1ec8 8217 cp r24,r18 |
| 3908 1eca 01F0 breq .L308 |
| 3909 1ecc 8330 cpi r24,lo8(3) |
| 3910 1ece 00F4 brsh .L309 |
| 3911 1ed0 3091 0000 lds r19,SpeakHoTT |
| 3912 1ed4 2223 tst r18 |
| 3913 1ed6 01F0 breq .L310 |
| 3914 1ed8 8CED ldi r24,lo8(1500) |
| 3915 1eda 95E0 ldi r25,hi8(1500) |
| 3916 1edc 9093 0000 sts (beeptime)+1,r25 |
| 3917 1ee0 8093 0000 sts beeptime,r24 |
| 3918 1ee4 3323 tst r19 |
| 3919 1ee6 01F4 brne .L312 |
| 3920 1ee8 8EE2 ldi r24,lo8(46) |
| 3921 1eea 00C0 rjmp .L361 |
| 3922 .L310: |
| 3923 1eec 88EC ldi r24,lo8(200) |
| 3924 1eee 90E0 ldi r25,hi8(200) |
| 3925 1ef0 9093 0000 sts (beeptime)+1,r25 |
| 3926 1ef4 8093 0000 sts beeptime,r24 |
| 3927 1ef8 3323 tst r19 |
| 3928 1efa 01F4 brne .L312 |
| 3929 1efc 87E1 ldi r24,lo8(23) |
| 3930 .L361: |
| 3931 1efe 8093 0000 sts SpeakHoTT,r24 |
| 3932 .L312: |
| 3933 1f02 85E0 ldi r24,lo8(5) |
| 3934 1f04 8093 0000 sts NeueKompassRichtungMerken,r24 |
| 3935 1f08 2093 0000 sts carefree_old,r18 |
| 3936 1f0c 00C0 rjmp .L308 |
| 3937 .L309: |
| 3938 1f0e 8150 subi r24,lo8(-(-1)) |
| 3939 1f10 8093 0000 sts carefree_old,r24 |
| 3940 .L308: |
| 3941 1f14 8091 0000 lds r24,FromNaviCtrl+7 |
| 3942 1f18 9091 0000 lds r25,(FromNaviCtrl+7)+1 |
| 3943 1f1c 97FF sbrs r25,7 |
| 3944 1f1e 00C0 rjmp .L316 |
| 3945 1f20 8091 0000 lds r24,CareFree |
| 3946 1f24 8823 tst r24 |
| 3947 1f26 01F0 breq .L316 |
| 3948 1f28 8091 0000 lds r24,VersionInfo+5 |
| 3949 1f2c 8068 ori r24,lo8(-128) |
| 3950 1f2e 8093 0000 sts VersionInfo+5,r24 |
| 3951 1f32 00C0 rjmp .L316 |
| 3952 .L306: |
| 3953 1f34 1092 0000 sts CareFree,__zero_reg__ |
| 3954 1f38 8AE0 ldi r24,lo8(10) |
| 3955 1f3a 8093 0000 sts carefree_old,r24 |
| 3956 .L316: |
| 3957 1f3e 8091 0000 lds r24,FromNaviCtrl+7 |
| 3958 1f42 9091 0000 lds r25,(FromNaviCtrl+7)+1 |
| 3959 1f46 97FF sbrs r25,7 |
| 3960 1f48 00C0 rjmp .L317 |
| 3961 1f4a 8091 0000 lds r24,MotorenEin |
| 3962 1f4e 8823 tst r24 |
| 3963 1f50 01F0 breq .L317 |
| 3964 1f52 8091 0000 lds r24,CareFree |
| 3965 1f56 8823 tst r24 |
| 3966 1f58 01F0 breq .L317 |
| 3967 1f5a 8091 0000 lds r24,BeepMuster |
| 3968 1f5e 9091 0000 lds r25,(BeepMuster)+1 |
| 3969 1f62 8F5F subi r24,lo8(-1) |
| 3970 1f64 9F4F sbci r25,hi8(-1) |
| 3971 1f66 01F4 brne .L317 |
| 3972 1f68 88E9 ldi r24,lo8(15000) |
| 3973 1f6a 9AE3 ldi r25,hi8(15000) |
| 3974 1f6c 9093 0000 sts (beeptime)+1,r25 |
| 3975 1f70 8093 0000 sts beeptime,r24 |
| 3976 1f74 80E0 ldi r24,lo8(-23552) |
| 3977 1f76 94EA ldi r25,hi8(-23552) |
| 3978 1f78 9093 0000 sts (BeepMuster)+1,r25 |
| 3979 1f7c 8093 0000 sts BeepMuster,r24 |
| 3980 1f80 1092 0000 sts CareFree,__zero_reg__ |
| 3981 .L317: |
| 3982 1f84 8091 0000 lds r24,CareFree |
| 3983 1f88 8823 tst r24 |
| 3984 1f8a 01F0 breq .L318 |
| 3985 1f8c 8091 0000 lds r24,FC_StatusFlags2 |
| 3986 1f90 8160 ori r24,lo8(1) |
| 3987 1f92 8093 0000 sts FC_StatusFlags2,r24 |
| 3988 1f96 8091 0000 lds r24,Parameter_AchsKopplung1 |
| 3989 1f9a 823D cpi r24,lo8(-46) |
| 3990 1f9c 00F4 brsh .L190 |
| 3991 1f9e 825E subi r24,lo8(-(30)) |
| 3992 1fa0 8093 0000 sts Parameter_AchsKopplung1,r24 |
| 3993 1fa4 00C0 rjmp .L190 |
| 3994 .L318: |
| 3995 1fa6 8091 0000 lds r24,FC_StatusFlags2 |
| 3996 1faa 8E7F andi r24,lo8(-2) |
| 3997 1fac 8093 0000 sts FC_StatusFlags2,r24 |
| 3998 .L190: |
| 3999 /* epilogue: frame size=0 */ |
| 4000 1fb0 DF91 pop r29 |
| 4001 1fb2 CF91 pop r28 |
| 4002 1fb4 0895 ret |
| 4003 /* epilogue end (size=3) */ |
| 4004 /* function ParameterZuordnung size 772 (767) */ |
| 4006 .lcomm sollGier.0,4 |
| 4007 .lcomm tmp_long.1,4 |
| 4008 .lcomm tmp_long2.2,4 |
| 4009 .lcomm IntegralFehlerNick.3,4 |
| 4010 .lcomm IntegralFehlerRoll.4,4 |
| 4011 .lcomm RcLostTimer.5,2 |
| 4012 .lcomm delay_neutral.6,1 |
| 4013 .lcomm delay_einschalten.7,1 |
| 4014 .lcomm delay_ausschalten.8,1 |
| 4015 .lcomm move_safety_switch.9,1 |
| 4016 .lcomm ausgleichNick.10,4 |
| 4017 .lcomm ausgleichRoll.11,4 |
| 4018 .lcomm stick_nick.12,2 |
| 4019 .lcomm stick_roll.13,2 |
| 4020 .lcomm cnt.14,2 |
| 4021 .lcomm last_n_p.15,1 |
| 4022 .lcomm last_n_n.16,1 |
| 4023 .lcomm last_r_p.17,1 |
| 4024 .lcomm last_r_n.18,1 |
| 4025 .lcomm MittelIntegralNick_Alt.19,4 |
| 4026 .lcomm MittelIntegralRoll_Alt.20,4 |
| 4027 .lcomm HeightTrimming.21,2 |
| 4028 .lcomm FilterHCGas.22,2 |
| 4029 .lcomm HoverGasFilter.23,4 |
| 4030 .data |
| 4033 delay.24: |
| 4034 004f 64 .byte 100 |
| 4035 .lcomm BaroAtUpperLimit.25,1 |
| 4036 .lcomm BaroAtLowerLimit.26,1 |
| 4037 .text |
| 4038 .global MotorRegler |
| 4040 MotorRegler: |
| 4041 /* prologue: frame size=23 */ |
| 4042 1fb6 A7E1 ldi r26,lo8(23) |
| 4043 1fb8 B0E0 ldi r27,hi8(23) |
| 4044 1fba E0E0 ldi r30,pm_lo8(1f) |
| 4045 1fbc F0E0 ldi r31,pm_hi8(1f) |
| 4046 1fbe 0C94 0000 jmp __prologue_saves__+0 |
| 4047 1: |
| 4048 /* prologue end (size=6) */ |
| 4049 1fc2 0E94 0000 call Mittelwert |
| 4050 1fc6 8091 0000 lds r24,FC_StatusFlags |
| 4051 1fca 9927 clr r25 |
| 4052 1fcc 8471 andi r24,lo8(20) |
| 4053 1fce 9070 andi r25,hi8(20) |
| 4054 1fd0 892B or r24,r25 |
| 4055 1fd2 01F4 brne .L365 |
| 4056 1fd4 8091 0000 lds r24,EE_Parameter+111 |
| 4057 1fd8 82FF sbrs r24,2 |
| 4058 1fda 00C0 rjmp .L366 |
| 4059 1fdc 8091 0000 lds r24,HoverGas |
| 4060 1fe0 9091 0000 lds r25,(HoverGas)+1 |
| 4061 1fe4 0097 sbiw r24,0 |
| 4062 1fe6 01F0 breq .L367 |
| 4063 1fe8 02E0 ldi r16,hi8(600) |
| 4064 1fea 8835 cpi r24,lo8(600) |
| 4065 1fec 9007 cpc r25,r16 |
| 4066 1fee 04F4 brge .L367 |
| 4067 1ff0 9C01 movw r18,r24 |
| 4068 1ff2 97FF sbrs r25,7 |
| 4069 1ff4 00C0 rjmp .L368 |
| 4070 1ff6 2D5F subi r18,lo8(-(3)) |
| 4071 1ff8 3F4F sbci r19,hi8(-(3)) |
| 4072 .L368: |
| 4073 1ffa 3595 asr r19 |
| 4074 1ffc 2795 ror r18 |
| 4075 1ffe 3595 asr r19 |
| 4076 2000 2795 ror r18 |
| 4077 2002 8091 0000 lds r24,EE_Parameter+37 |
| 4078 2006 9927 clr r25 |
| 4079 2008 289F mul r18,r24 |
| 4080 200a A001 movw r20,r0 |
| 4081 200c 299F mul r18,r25 |
| 4082 200e 500D add r21,r0 |
| 4083 2010 389F mul r19,r24 |
| 4084 2012 500D add r21,r0 |
| 4085 2014 1124 clr r1 |
| 4086 2016 CA01 movw r24,r20 |
| 4087 2018 64E6 ldi r22,lo8(100) |
| 4088 201a 70E0 ldi r23,hi8(100) |
| 4089 201c 0E94 0000 call __divmodhi4 |
| 4090 2020 CB01 movw r24,r22 |
| 4091 2022 00C0 rjmp .L887 |
| 4092 .L367: |
| 4093 2024 8DE2 ldi r24,lo8(45) |
| 4094 2026 90E0 ldi r25,hi8(45) |
| 4095 2028 00C0 rjmp .L887 |
| 4096 .L366: |
| 4097 202a 8091 0000 lds r24,EE_Parameter+37 |
| 4098 202e 9927 clr r25 |
| 4099 .L887: |
| 4100 2030 9093 0000 sts (HooverGasEmergencyPercent)+1,r25 |
| 4101 2034 8093 0000 sts HooverGasEmergencyPercent,r24 |
| 4102 .L365: |
| 4103 2038 2091 0000 lds r18,GasIsZeroCnt |
| 4104 203c 3091 0000 lds r19,(GasIsZeroCnt)+1 |
| 4105 2040 55E7 ldi r21,hi8(30000) |
| 4106 2042 2033 cpi r18,lo8(30000) |
| 4107 2044 3507 cpc r19,r21 |
| 4108 2046 01F4 brne .L371 |
| 4109 2048 1092 0000 sts (StickGas)+1,__zero_reg__ |
| 4110 204c 1092 0000 sts StickGas,__zero_reg__ |
| 4111 2050 8091 0000 lds r24,MIN_GAS |
| 4112 2054 9927 clr r25 |
| 4113 2056 9093 0000 sts (HooverGasEmergencyPercent)+1,r25 |
| 4114 205a 8093 0000 sts HooverGasEmergencyPercent,r24 |
| 4115 .L371: |
| 4116 205e 6091 0000 lds r22,StickGas |
| 4117 2062 7091 0000 lds r23,(StickGas)+1 |
| 4118 2066 7A83 std Y+2,r23 |
| 4119 2068 6983 std Y+1,r22 |
| 4120 206a 8091 0000 lds r24,MIN_GAS |
| 4121 206e 9927 clr r25 |
| 4122 2070 0A96 adiw r24,10 |
| 4123 2072 6817 cp r22,r24 |
| 4124 2074 7907 cpc r23,r25 |
| 4125 2076 04F4 brge .L372 |
| 4126 2078 9A83 std Y+2,r25 |
| 4127 207a 8983 std Y+1,r24 |
| 4128 .L372: |
| 4129 207c 8091 0000 lds r24,SenderOkay |
| 4130 2080 8436 cpi r24,lo8(100) |
| 4131 2082 00F0 brlo .+2 |
| 4132 2084 00C0 rjmp .L373 |
| 4133 2086 8091 0000 lds r24,FC_StatusFlags2 |
| 4134 208a 82FD sbrc r24,2 |
| 4135 208c 00C0 rjmp .L373 |
| 4136 208e 8091 0000 lds r24,RcLostTimer.5 |
| 4137 2092 9091 0000 lds r25,(RcLostTimer.5)+1 |
| 4138 2096 0097 sbiw r24,0 |
| 4139 2098 01F0 breq .L374 |
| 4140 209a 0197 sbiw r24,1 |
| 4141 209c 9093 0000 sts (RcLostTimer.5)+1,r25 |
| 4142 20a0 8093 0000 sts RcLostTimer.5,r24 |
| 4143 20a4 00C0 rjmp .L375 |
| 4144 .L374: |
| 4145 20a6 1092 0000 sts MotorenEin,__zero_reg__ |
| 4146 20aa 9093 0000 sts (modell_fliegt)+1,r25 |
| 4147 20ae 8093 0000 sts modell_fliegt,r24 |
| 4148 20b2 8091 0000 lds r24,FC_StatusFlags |
| 4149 20b6 8D7E andi r24,lo8(-19) |
| 4150 20b8 8093 0000 sts FC_StatusFlags,r24 |
| 4151 .L375: |
| 4152 20bc 8091 0000 lds r24,PlatinenVersion |
| 4153 20c0 8A30 cpi r24,lo8(10) |
| 4154 20c2 01F0 breq .L377 |
| 4155 20c4 8431 cpi r24,lo8(20) |
| 4156 20c6 00F0 brlo .L376 |
| 4157 .L377: |
| 4158 20c8 289A sbi 37-0x20,0 |
| 4159 20ca 00C0 rjmp .L378 |
| 4160 .L376: |
| 4161 20cc 2898 cbi 37-0x20,0 |
| 4162 .L378: |
| 4163 20ce 8091 0000 lds r24,modell_fliegt |
| 4164 20d2 9091 0000 lds r25,(modell_fliegt)+1 |
| 4165 20d6 895E subi r24,lo8(1001) |
| 4166 20d8 9340 sbci r25,hi8(1001) |
| 4167 20da 00F0 brlo .L379 |
| 4168 20dc 8091 0000 lds r24,Capacity+6 |
| 4169 20e0 8536 cpi r24,lo8(101) |
| 4170 20e2 00F0 brlo .L379 |
| 4171 20e4 8091 0000 lds r24,HooverGasEmergencyPercent |
| 4172 20e8 9091 0000 lds r25,(HooverGasEmergencyPercent)+1 |
| 4173 20ec 9A83 std Y+2,r25 |
| 4174 20ee 8983 std Y+1,r24 |
| 4175 20f0 8091 0000 lds r24,FC_StatusFlags |
| 4176 20f4 8061 ori r24,lo8(16) |
| 4177 20f6 8093 0000 sts FC_StatusFlags,r24 |
| 4178 20fa 8091 0000 lds r24,EE_Parameter+1 |
| 4179 20fe A82F mov r26,r24 |
| 4180 2100 BB27 clr r27 |
| 4181 2102 AA0F add r26,r26 |
| 4182 2104 BB1F adc r27,r27 |
| 4183 2106 FD01 movw r30,r26 |
| 4184 2108 E050 subi r30,lo8(-(PPM_diff)) |
| 4185 210a F040 sbci r31,hi8(-(PPM_diff)) |
| 4186 210c 1182 std Z+1,__zero_reg__ |
| 4187 210e 1082 st Z,__zero_reg__ |
| 4188 2110 8091 0000 lds r24,EE_Parameter+2 |
| 4189 2114 282F mov r18,r24 |
| 4190 2116 3327 clr r19 |
| 4191 2118 220F add r18,r18 |
| 4192 211a 331F adc r19,r19 |
| 4193 211c C901 movw r24,r18 |
| 4194 211e 8050 subi r24,lo8(-(PPM_diff)) |
| 4195 2120 9040 sbci r25,hi8(-(PPM_diff)) |
| 4196 2122 FC01 movw r30,r24 |
| 4197 2124 1182 std Z+1,__zero_reg__ |
| 4198 2126 1082 st Z,__zero_reg__ |
| 4199 2128 A050 subi r26,lo8(-(PPM_in)) |
| 4200 212a B040 sbci r27,hi8(-(PPM_in)) |
| 4201 212c 1196 adiw r26,1 |
| 4202 212e 1C92 st X,__zero_reg__ |
| 4203 2130 1E92 st -X,__zero_reg__ |
| 4204 2132 2050 subi r18,lo8(-(PPM_in)) |
| 4205 2134 3040 sbci r19,hi8(-(PPM_in)) |
| 4206 2136 D901 movw r26,r18 |
| 4207 2138 1196 adiw r26,1 |
| 4208 213a 1C92 st X,__zero_reg__ |
| 4209 213c 1E92 st -X,__zero_reg__ |
| 4210 213e 8091 0000 lds r24,EE_Parameter+4 |
| 4211 2142 E82F mov r30,r24 |
| 4212 2144 FF27 clr r31 |
| 4213 2146 EE0F add r30,r30 |
| 4214 2148 FF1F adc r31,r31 |
| 4215 214a E050 subi r30,lo8(-(PPM_in)) |
| 4216 214c F040 sbci r31,hi8(-(PPM_in)) |
| 4217 214e 1182 std Z+1,__zero_reg__ |
| 4218 2150 1082 st Z,__zero_reg__ |
| 4219 2152 00C0 rjmp .L381 |
| 4220 .L379: |
| 4221 2154 1092 0000 sts MotorenEin,__zero_reg__ |
| 4222 2158 00C0 rjmp .L381 |
| 4223 .L373: |
| 4224 215a 8091 0000 lds r24,SenderOkay |
| 4225 215e 8D38 cpi r24,lo8(-115) |
| 4226 2160 00F4 brsh .+2 |
| 4227 2162 00C0 rjmp .L382 |
| 4228 2164 8091 0000 lds r24,FC_StatusFlags |
| 4229 2168 8F7E andi r24,lo8(-17) |
| 4230 216a 8093 0000 sts FC_StatusFlags,r24 |
| 4231 216e 9091 0000 lds r25,EE_Parameter+38 |
| 4232 2172 82E3 ldi r24,lo8(50) |
| 4233 2174 989F mul r25,r24 |
| 4234 2176 C001 movw r24,r0 |
| 4235 2178 1124 clr r1 |
| 4236 217a 9093 0000 sts (RcLostTimer.5)+1,r25 |
| 4237 217e 8093 0000 sts RcLostTimer.5,r24 |
| 4238 2182 E981 ldd r30,Y+1 |
| 4239 2184 FA81 ldd r31,Y+2 |
| 4240 2186 B997 sbiw r30,41 |
| 4241 2188 04F0 brlt .L383 |
| 4242 218a 8091 0000 lds r24,MotorenEin |
| 4243 218e 8823 tst r24 |
| 4244 2190 01F0 breq .L383 |
| 4245 2192 8091 0000 lds r24,modell_fliegt |
| 4246 2196 9091 0000 lds r25,(modell_fliegt)+1 |
| 4247 219a FFEF ldi r31,hi8(-1) |
| 4248 219c 8F3F cpi r24,lo8(-1) |
| 4249 219e 9F07 cpc r25,r31 |
| 4250 21a0 01F0 breq .L383 |
| 4251 21a2 0196 adiw r24,1 |
| 4252 21a4 9093 0000 sts (modell_fliegt)+1,r25 |
| 4253 21a8 8093 0000 sts modell_fliegt,r24 |
| 4254 .L383: |
| 4255 21ac 8091 0000 lds r24,modell_fliegt |
| 4256 21b0 9091 0000 lds r25,(modell_fliegt)+1 |
| 4257 21b4 8F3F cpi r24,255 |
| 4258 21b6 9105 cpc r25,__zero_reg__ |
| 4259 21b8 01F0 breq .+2 |
| 4260 21ba 00F4 brsh .L385 |
| 4261 21bc 1092 0000 sts SummeNick,__zero_reg__ |
| 4262 21c0 1092 0000 sts (SummeNick)+1,__zero_reg__ |
| 4263 21c4 1092 0000 sts (SummeNick)+2,__zero_reg__ |
| 4264 21c8 1092 0000 sts (SummeNick)+3,__zero_reg__ |
| 4265 21cc 1092 0000 sts SummeRoll,__zero_reg__ |
| 4266 21d0 1092 0000 sts (SummeRoll)+1,__zero_reg__ |
| 4267 21d4 1092 0000 sts (SummeRoll)+2,__zero_reg__ |
| 4268 21d8 1092 0000 sts (SummeRoll)+3,__zero_reg__ |
| 4269 21dc 1092 0000 sts sollGier.0,__zero_reg__ |
| 4270 21e0 1092 0000 sts (sollGier.0)+1,__zero_reg__ |
| 4271 21e4 1092 0000 sts (sollGier.0)+2,__zero_reg__ |
| 4272 21e8 1092 0000 sts (sollGier.0)+3,__zero_reg__ |
| 4273 21ec 1092 0000 sts Mess_Integral_Gier,__zero_reg__ |
| 4274 21f0 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__ |
| 4275 21f4 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__ |
| 4276 21f8 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__ |
| 4277 21fc 00C0 rjmp .L386 |
| 4278 .L385: |
| 4279 21fe 8091 0000 lds r24,FC_StatusFlags |
| 4280 2202 8260 ori r24,lo8(2) |
| 4281 2204 8093 0000 sts FC_StatusFlags,r24 |
| 4282 .L386: |
| 4283 2208 8091 0000 lds r24,EE_Parameter+3 |
| 4284 220c E82F mov r30,r24 |
| 4285 220e FF27 clr r31 |
| 4286 2210 EE0F add r30,r30 |
| 4287 2212 FF1F adc r31,r31 |
| 4288 2214 E050 subi r30,lo8(-(PPM_in)) |
| 4289 2216 F040 sbci r31,hi8(-(PPM_in)) |
| 4290 2218 8081 ld r24,Z |
| 4291 221a 9181 ldd r25,Z+1 |
| 4292 221c 8135 cpi r24,81 |
| 4293 221e 9105 cpc r25,__zero_reg__ |
| 4294 2220 04F4 brge .+2 |
| 4295 2222 00C0 rjmp .L387 |
| 4296 2224 2091 0000 lds r18,MotorenEin |
| 4297 2228 2223 tst r18 |
| 4298 222a 01F0 breq .+2 |
| 4299 222c 00C0 rjmp .L387 |
| 4300 222e 8091 0000 lds r24,EE_Parameter+4 |
| 4301 2232 E82F mov r30,r24 |
| 4302 2234 FF27 clr r31 |
| 4303 2236 EE0F add r30,r30 |
| 4304 2238 FF1F adc r31,r31 |
| 4305 223a E050 subi r30,lo8(-(PPM_in)) |
| 4306 223c F040 sbci r31,hi8(-(PPM_in)) |
| 4307 223e 8081 ld r24,Z |
| 4308 2240 9181 ldd r25,Z+1 |
| 4309 2242 8C34 cpi r24,76 |
| 4310 2244 9105 cpc r25,__zero_reg__ |
| 4311 2246 04F4 brge .+2 |
| 4312 2248 00C0 rjmp .L388 |
| 4313 224a 8091 0000 lds r24,delay_neutral.6 |
| 4314 224e 8F5F subi r24,lo8(-(1)) |
| 4315 2250 8093 0000 sts delay_neutral.6,r24 |
| 4316 2254 893C cpi r24,lo8(-55) |
| 4317 2256 00F4 brsh .+2 |
| 4318 2258 00C0 rjmp .L387 |
| 4319 225a 2093 0000 sts delay_neutral.6,r18 |
| 4320 225e 1092 0000 sts (modell_fliegt)+1,__zero_reg__ |
| 4321 2262 1092 0000 sts modell_fliegt,__zero_reg__ |
| 4322 2266 3091 0000 lds r19,EE_Parameter+1 |
| 4323 226a E32F mov r30,r19 |
| 4324 226c FF27 clr r31 |
| 4325 226e EE0F add r30,r30 |
| 4326 2270 FF1F adc r31,r31 |
| 4327 2272 E050 subi r30,lo8(-(PPM_in)) |
| 4328 2274 F040 sbci r31,hi8(-(PPM_in)) |
| 4329 2276 8081 ld r24,Z |
| 4330 2278 9181 ldd r25,Z+1 |
| 4331 227a 8734 cpi r24,71 |
| 4332 227c 9105 cpc r25,__zero_reg__ |
| 4333 227e 04F4 brge .L391 |
| 4334 2280 8091 0000 lds r24,EE_Parameter+2 |
| 4335 2284 E82F mov r30,r24 |
| 4336 2286 FF27 clr r31 |
| 4337 2288 EE0F add r30,r30 |
| 4338 228a FF1F adc r31,r31 |
| 4339 228c E050 subi r30,lo8(-(PPM_in)) |
| 4340 228e F040 sbci r31,hi8(-(PPM_in)) |
| 4341 2290 8081 ld r24,Z |
| 4342 2292 9181 ldd r25,Z+1 |
| 4343 2294 0190 ld __tmp_reg__,Z+ |
| 4344 2296 F081 ld r31,Z |
| 4345 2298 E02D mov r30,__tmp_reg__ |
| 4346 229a F7FF sbrs r31,7 |
| 4347 229c 00C0 rjmp .L392 |
| 4348 229e F095 com r31 |
| 4349 22a0 E195 neg r30 |
| 4350 22a2 FF4F sbci r31,lo8(-1) |
| 4351 .L392: |
| 4352 22a4 E734 cpi r30,71 |
| 4353 22a6 F105 cpc r31,__zero_reg__ |
| 4354 22a8 04F4 brge .+2 |
| 4355 22aa 00C0 rjmp .L390 |
| 4356 .L391: |
| 4357 22ac 41E0 ldi r20,lo8(1) |
| 4358 22ae 2091 0000 lds r18,EE_Parameter+2 |
| 4359 22b2 A22F mov r26,r18 |
| 4360 22b4 BB27 clr r27 |
| 4361 22b6 AA0F add r26,r26 |
| 4362 22b8 BB1F adc r27,r27 |
| 4363 22ba A050 subi r26,lo8(-(PPM_in)) |
| 4364 22bc B040 sbci r27,hi8(-(PPM_in)) |
| 4365 22be 8D91 ld r24,X+ |
| 4366 22c0 9C91 ld r25,X |
| 4367 22c2 1197 sbiw r26,1 |
| 4368 22c4 8734 cpi r24,71 |
| 4369 22c6 9105 cpc r25,__zero_reg__ |
| 4370 22c8 04F0 brlt .L393 |
| 4371 22ca E32F mov r30,r19 |
| 4372 22cc FF27 clr r31 |
| 4373 22ce EE0F add r30,r30 |
| 4374 22d0 FF1F adc r31,r31 |
| 4375 22d2 E050 subi r30,lo8(-(PPM_in)) |
| 4376 22d4 F040 sbci r31,hi8(-(PPM_in)) |
| 4377 22d6 8081 ld r24,Z |
| 4378 22d8 9181 ldd r25,Z+1 |
| 4379 .L393: |
| 4380 22da 8D91 ld r24,X+ |
| 4381 22dc 9C91 ld r25,X |
| 4382 22de 8734 cpi r24,71 |
| 4383 22e0 9105 cpc r25,__zero_reg__ |
| 4384 22e2 04F0 brlt .L394 |
| 4385 22e4 8091 0000 lds r24,EE_Parameter+1 |
| 4386 22e8 E82F mov r30,r24 |
| 4387 22ea FF27 clr r31 |
| 4388 22ec EE0F add r30,r30 |
| 4389 22ee FF1F adc r31,r31 |
| 4390 22f0 E050 subi r30,lo8(-(PPM_in)) |
| 4391 22f2 F040 sbci r31,hi8(-(PPM_in)) |
| 4392 22f4 8081 ld r24,Z |
| 4393 22f6 9181 ldd r25,Z+1 |
| 4394 22f8 8734 cpi r24,71 |
| 4395 22fa 9105 cpc r25,__zero_reg__ |
| 4396 22fc 04F0 brlt .L394 |
| 4397 22fe 42E0 ldi r20,lo8(2) |
| 4398 .L394: |
| 4399 2300 E22F mov r30,r18 |
| 4400 2302 FF27 clr r31 |
| 4401 2304 EE0F add r30,r30 |
| 4402 2306 FF1F adc r31,r31 |
| 4403 2308 E050 subi r30,lo8(-(PPM_in)) |
| 4404 230a F040 sbci r31,hi8(-(PPM_in)) |
| 4405 230c 8081 ld r24,Z |
| 4406 230e 9181 ldd r25,Z+1 |
| 4407 2310 8634 cpi r24,70 |
| 4408 2312 9105 cpc r25,__zero_reg__ |
| 4409 2314 04F4 brge .L395 |
| 4410 2316 8091 0000 lds r24,EE_Parameter+1 |
| 4411 231a E82F mov r30,r24 |
| 4412 231c FF27 clr r31 |
| 4413 231e EE0F add r30,r30 |
| 4414 2320 FF1F adc r31,r31 |
| 4415 2322 E050 subi r30,lo8(-(PPM_in)) |
| 4416 2324 F040 sbci r31,hi8(-(PPM_in)) |
| 4417 2326 8081 ld r24,Z |
| 4418 2328 9181 ldd r25,Z+1 |
| 4419 232a 8734 cpi r24,71 |
| 4420 232c 9105 cpc r25,__zero_reg__ |
| 4421 232e 04F0 brlt .L395 |
| 4422 2330 43E0 ldi r20,lo8(3) |
| 4423 .L395: |
| 4424 2332 E22F mov r30,r18 |
| 4425 2334 FF27 clr r31 |
| 4426 2336 EE0F add r30,r30 |
| 4427 2338 FF1F adc r31,r31 |
| 4428 233a E050 subi r30,lo8(-(PPM_in)) |
| 4429 233c F040 sbci r31,hi8(-(PPM_in)) |
| 4430 233e 8081 ld r24,Z |
| 4431 2340 9181 ldd r25,Z+1 |
| 4432 2342 8A5B subi r24,lo8(-70) |
| 4433 2344 9F4F sbci r25,hi8(-70) |
| 4434 2346 04F4 brge .L396 |
| 4435 2348 8091 0000 lds r24,EE_Parameter+1 |
| 4436 234c E82F mov r30,r24 |
| 4437 234e FF27 clr r31 |
| 4438 2350 EE0F add r30,r30 |
| 4439 2352 FF1F adc r31,r31 |
| 4440 2354 E050 subi r30,lo8(-(PPM_in)) |
| 4441 2356 F040 sbci r31,hi8(-(PPM_in)) |
| 4442 2358 8081 ld r24,Z |
| 4443 235a 9181 ldd r25,Z+1 |
| 4444 235c 8734 cpi r24,71 |
| 4445 235e 9105 cpc r25,__zero_reg__ |
| 4446 2360 04F0 brlt .L396 |
| 4447 2362 44E0 ldi r20,lo8(4) |
| 4448 .L396: |
| 4449 2364 E22F mov r30,r18 |
| 4450 2366 FF27 clr r31 |
| 4451 2368 EE0F add r30,r30 |
| 4452 236a FF1F adc r31,r31 |
| 4453 236c E050 subi r30,lo8(-(PPM_in)) |
| 4454 236e F040 sbci r31,hi8(-(PPM_in)) |
| 4455 2370 8081 ld r24,Z |
| 4456 2372 9181 ldd r25,Z+1 |
| 4457 2374 8A5B subi r24,lo8(-70) |
| 4458 2376 9F4F sbci r25,hi8(-70) |
| 4459 2378 04F4 brge .L397 |
| 4460 237a 8091 0000 lds r24,EE_Parameter+1 |
| 4461 237e E82F mov r30,r24 |
| 4462 2380 FF27 clr r31 |
| 4463 2382 EE0F add r30,r30 |
| 4464 2384 FF1F adc r31,r31 |
| 4465 2386 E050 subi r30,lo8(-(PPM_in)) |
| 4466 2388 F040 sbci r31,hi8(-(PPM_in)) |
| 4467 238a 8081 ld r24,Z |
| 4468 238c 9181 ldd r25,Z+1 |
| 4469 238e 8634 cpi r24,70 |
| 4470 2390 9105 cpc r25,__zero_reg__ |
| 4471 2392 04F4 brge .L397 |
| 4472 2394 45E0 ldi r20,lo8(5) |
| 4473 .L397: |
| 4474 2396 842F mov r24,r20 |
| 4475 2398 0E94 0000 call SetActiveParamSet |
| 4476 .L390: |
| 4477 239c 8091 0000 lds r24,EE_Parameter+2 |
| 4478 23a0 E82F mov r30,r24 |
| 4479 23a2 FF27 clr r31 |
| 4480 23a4 EE0F add r30,r30 |
| 4481 23a6 FF1F adc r31,r31 |
| 4482 23a8 E050 subi r30,lo8(-(PPM_in)) |
| 4483 23aa F040 sbci r31,hi8(-(PPM_in)) |
| 4484 23ac 8081 ld r24,Z |
| 4485 23ae 9181 ldd r25,Z+1 |
| 4486 23b0 0190 ld __tmp_reg__,Z+ |
| 4487 23b2 F081 ld r31,Z |
| 4488 23b4 E02D mov r30,__tmp_reg__ |
| 4489 23b6 F7FF sbrs r31,7 |
| 4490 23b8 00C0 rjmp .L399 |
| 4491 23ba F095 com r31 |
| 4492 23bc E195 neg r30 |
| 4493 23be FF4F sbci r31,lo8(-1) |
| 4494 .L399: |
| 4495 23c0 7E97 sbiw r30,30 |
| 4496 23c2 04F4 brge .L398 |
| 4497 23c4 8091 0000 lds r24,EE_Parameter+1 |
| 4498 23c8 E82F mov r30,r24 |
| 4499 23ca FF27 clr r31 |
| 4500 23cc EE0F add r30,r30 |
| 4501 23ce FF1F adc r31,r31 |
| 4502 23d0 E050 subi r30,lo8(-(PPM_in)) |
| 4503 23d2 F040 sbci r31,hi8(-(PPM_in)) |
| 4504 23d4 8081 ld r24,Z |
| 4505 23d6 9181 ldd r25,Z+1 |
| 4506 23d8 8A5B subi r24,lo8(-70) |
| 4507 23da 9F4F sbci r25,hi8(-70) |
| 4508 23dc 04F4 brge .L398 |
| 4509 23de 81E0 ldi r24,lo8(1) |
| 4510 23e0 8093 0000 sts WinkelOut+6,r24 |
| 4511 23e4 1092 0000 sts CalibrationDone,__zero_reg__ |
| 4512 23e8 88EE ldi r24,lo8(1000) |
| 4513 23ea 93E0 ldi r25,hi8(1000) |
| 4514 23ec 9093 0000 sts (beeptime)+1,r25 |
| 4515 23f0 8093 0000 sts beeptime,r24 |
| 4516 23f4 00C0 rjmp .L387 |
| 4517 .L398: |
| 4518 23f6 0E94 0000 call GetActiveParamSet |
| 4519 23fa 0E94 0000 call ParamSet_ReadFromEEProm |
| 4520 23fe 80E0 ldi r24,lo8(0) |
| 4521 2400 0E94 0000 call LipoDetection |
| 4522 2404 8091 0000 lds r24,EE_Parameter+39 |
| 4523 2408 0E94 0000 call LIBFC_ReceiverInit |
| 4524 240c 8091 0000 lds r24,Parameter_GlobalConfig |
| 4525 2410 80FF sbrs r24,0 |
| 4526 2412 00C0 rjmp .L401 |
| 4527 2414 8091 0000 lds r24,MessLuftdruck |
| 4528 2418 9091 0000 lds r25,(MessLuftdruck)+1 |
| 4529 241c 875B subi r24,lo8(951) |
| 4530 241e 9340 sbci r25,hi8(951) |
| 4531 2420 00F4 brsh .L403 |
| 4532 2422 8091 0000 lds r24,MessLuftdruck |
| 4533 2426 9091 0000 lds r25,(MessLuftdruck)+1 |
| 4534 242a 8E5E subi r24,lo8(750) |
| 4535 242c 9240 sbci r25,hi8(750) |
| 4536 242e 00F4 brsh .L401 |
| 4537 .L403: |
| 4538 2430 0E94 0000 call SucheLuftruckOffset |
| 4539 .L401: |
| 4540 2434 80E0 ldi r24,lo8(0) |
| 4541 2436 0E94 0000 call SetNeutral |
| 4542 243a 81E0 ldi r24,lo8(1) |
| 4543 243c 8093 0000 sts CalibrationDone,r24 |
| 4544 2440 8093 0000 sts ServoActive,r24 |
| 4545 2444 579A sbi 42-0x20,7 |
| 4546 2446 00C0 rjmp .L888 |
| 4547 .L388: |
| 4548 2448 8081 ld r24,Z |
| 4549 244a 9181 ldd r25,Z+1 |
| 4550 244c 855B subi r24,lo8(-75) |
| 4551 244e 9F4F sbci r25,hi8(-75) |
| 4552 2450 04F4 brge .L405 |
| 4553 2452 8091 0000 lds r24,delay_neutral.6 |
| 4554 2456 8F5F subi r24,lo8(-(1)) |
| 4555 2458 8093 0000 sts delay_neutral.6,r24 |
| 4556 245c 893C cpi r24,lo8(-55) |
| 4557 245e 00F0 brlo .L387 |
| 4558 2460 2093 0000 sts MotorenEin,r18 |
| 4559 2464 2093 0000 sts delay_neutral.6,r18 |
| 4560 2468 1092 0000 sts (modell_fliegt)+1,__zero_reg__ |
| 4561 246c 1092 0000 sts modell_fliegt,__zero_reg__ |
| 4562 2470 81E0 ldi r24,lo8(1) |
| 4563 2472 0E94 0000 call SetNeutral |
| 4564 2476 81E0 ldi r24,lo8(1) |
| 4565 2478 8093 0000 sts CalibrationDone,r24 |
| 4566 .L888: |
| 4567 247c 88E1 ldi r24,lo8(24) |
| 4568 247e 8093 0000 sts SpeakHoTT,r24 |
| 4569 2482 0E94 0000 call GetActiveParamSet |
| 4570 2486 68E7 ldi r22,lo8(120) |
| 4571 2488 70E0 ldi r23,hi8(120) |
| 4572 248a 0E94 0000 call Piep |
| 4573 248e 00C0 rjmp .L387 |
| 4574 .L405: |
| 4575 2490 2093 0000 sts delay_neutral.6,r18 |
| 4576 .L387: |
| 4577 2494 8091 0000 lds r24,EE_Parameter+3 |
| 4578 2498 E82F mov r30,r24 |
| 4579 249a FF27 clr r31 |
| 4580 249c EE0F add r30,r30 |
| 4581 249e FF1F adc r31,r31 |
| 4582 24a0 E050 subi r30,lo8(-(PPM_in)) |
| 4583 24a2 F040 sbci r31,hi8(-(PPM_in)) |
| 4584 24a4 8081 ld r24,Z |
| 4585 24a6 9181 ldd r25,Z+1 |
| 4586 24a8 8B5A subi r24,lo8(-85) |
| 4587 24aa 9F4F sbci r25,hi8(-85) |
| 4588 24ac 04F0 brlt .+2 |
| 4589 24ae 00C0 rjmp .L408 |
| 4590 24b0 2091 0000 lds r18,EE_Parameter+100 |
| 4591 24b4 E22F mov r30,r18 |
| 4592 24b6 FF27 clr r31 |
| 4593 24b8 EF77 andi r30,lo8(127) |
| 4594 24ba F070 andi r31,hi8(127) |
| 4595 24bc EE0F add r30,r30 |
| 4596 24be FF1F adc r31,r31 |
| 4597 24c0 E050 subi r30,lo8(-(PPM_diff)) |
| 4598 24c2 F040 sbci r31,hi8(-(PPM_diff)) |
| 4599 24c4 8081 ld r24,Z |
| 4600 24c6 9181 ldd r25,Z+1 |
| 4601 24c8 0697 sbiw r24,6 |
| 4602 24ca 04F0 brlt .L409 |
| 4603 24cc 84E6 ldi r24,lo8(100) |
| 4604 24ce 00C0 rjmp .L889 |
| 4605 .L409: |
| 4606 24d0 8081 ld r24,Z |
| 4607 24d2 9181 ldd r25,Z+1 |
| 4608 24d4 8B5F subi r24,lo8(-5) |
| 4609 24d6 9F4F sbci r25,hi8(-5) |
| 4610 24d8 04F4 brge .L410 |
| 4611 24da 8CE9 ldi r24,lo8(-100) |
| 4612 .L889: |
| 4613 24dc 8093 0000 sts move_safety_switch.9,r24 |
| 4614 .L410: |
| 4615 24e0 8091 0000 lds r24,MotorenEin |
| 4616 24e4 E091 0000 lds r30,EE_Parameter+4 |
| 4617 24e8 8823 tst r24 |
| 4618 24ea 01F0 breq .+2 |
| 4619 24ec 00C0 rjmp .L412 |
| 4620 24ee FF27 clr r31 |
| 4621 24f0 EE0F add r30,r30 |
| 4622 24f2 FF1F adc r31,r31 |
| 4623 24f4 E050 subi r30,lo8(-(PPM_in)) |
| 4624 24f6 F040 sbci r31,hi8(-(PPM_in)) |
| 4625 24f8 8081 ld r24,Z |
| 4626 24fa 9181 ldd r25,Z+1 |
| 4627 24fc 855B subi r24,lo8(-75) |
| 4628 24fe 9F4F sbci r25,hi8(-75) |
| 4629 2500 04F4 brge .L415 |
| 4630 2502 8091 0000 lds r24,EE_Parameter+111 |
| 4631 2506 83FD sbrc r24,3 |
| 4632 2508 00C0 rjmp .L416 |
| 4633 250a E22F mov r30,r18 |
| 4634 250c FF27 clr r31 |
| 4635 250e EE0F add r30,r30 |
| 4636 2510 FF1F adc r31,r31 |
| 4637 2512 E050 subi r30,lo8(-(PPM_in)) |
| 4638 2514 F040 sbci r31,hi8(-(PPM_in)) |
| 4639 2516 8081 ld r24,Z |
| 4640 2518 9181 ldd r25,Z+1 |
| 4641 251a 855B subi r24,lo8(-75) |
| 4642 251c 9F4F sbci r25,hi8(-75) |
| 4643 251e 04F0 brlt .L414 |
| 4644 .L416: |
| 4645 2520 8091 0000 lds r24,EE_Parameter+100 |
| 4646 2524 8823 tst r24 |
| 4647 2526 01F0 breq .L414 |
| 4648 .L415: |
| 4649 2528 8091 0000 lds r24,EE_Parameter+111 |
| 4650 252c 83FF sbrs r24,3 |
| 4651 252e 00C0 rjmp .L413 |
| 4652 2530 8091 0000 lds r24,EE_Parameter+100 |
| 4653 2534 E82F mov r30,r24 |
| 4654 2536 FF27 clr r31 |
| 4655 2538 EE0F add r30,r30 |
| 4656 253a FF1F adc r31,r31 |
| 4657 253c E050 subi r30,lo8(-(PPM_in)) |
| 4658 253e F040 sbci r31,hi8(-(PPM_in)) |
| 4659 2540 8081 ld r24,Z |
| 4660 2542 9181 ldd r25,Z+1 |
| 4661 2544 875F subi r24,lo8(-9) |
| 4662 2546 9F4F sbci r25,hi8(-9) |
| 4663 2548 04F4 brge .+2 |
| 4664 254a 00C0 rjmp .L413 |
| 4665 254c 8091 0000 lds r24,move_safety_switch.9 |
| 4666 2550 8436 cpi r24,lo8(100) |
| 4667 2552 01F0 breq .+2 |
| 4668 2554 00C0 rjmp .L413 |
| 4669 .L414: |
| 4670 2556 2091 0000 lds r18,CalibrationDone |
| 4671 255a 2223 tst r18 |
| 4672 255c 01F0 breq .L417 |
| 4673 255e 8091 0000 lds r24,FC_StatusFlags |
| 4674 2562 8860 ori r24,lo8(8) |
| 4675 2564 8093 0000 sts FC_StatusFlags,r24 |
| 4676 .L417: |
| 4677 2568 8091 0000 lds r24,delay_einschalten.7 |
| 4678 256c 8F5F subi r24,lo8(-(1)) |
| 4679 256e 8093 0000 sts delay_einschalten.7,r24 |
| 4680 2572 8E3F cpi r24,lo8(-2) |
| 4681 2574 00F4 brsh .+2 |
| 4682 2576 00C0 rjmp .L423 |
| 4683 2578 1092 0000 sts delay_einschalten.7,__zero_reg__ |
| 4684 257c 8091 0000 lds r24,VersionInfo+5 |
| 4685 2580 8823 tst r24 |
| 4686 2582 01F0 breq .+2 |
| 4687 2584 00C0 rjmp .L419 |
| 4688 2586 2223 tst r18 |
| 4689 2588 01F4 brne .+2 |
| 4690 258a 00C0 rjmp .L419 |
| 4691 258c 8091 0000 lds r24,NC_ErrorCode |
| 4692 2590 8823 tst r24 |
| 4693 2592 01F0 breq .+2 |
| 4694 2594 00C0 rjmp .L419 |
| 4695 2596 81E0 ldi r24,lo8(1) |
| 4696 2598 90E0 ldi r25,hi8(1) |
| 4697 259a 9093 0000 sts (modell_fliegt)+1,r25 |
| 4698 259e 8093 0000 sts modell_fliegt,r24 |
| 4699 25a2 81E0 ldi r24,lo8(1) |
| 4700 25a4 8093 0000 sts MotorenEin,r24 |
| 4701 25a8 1092 0000 sts sollGier.0,__zero_reg__ |
| 4702 25ac 1092 0000 sts (sollGier.0)+1,__zero_reg__ |
| 4703 25b0 1092 0000 sts (sollGier.0)+2,__zero_reg__ |
| 4704 25b4 1092 0000 sts (sollGier.0)+3,__zero_reg__ |
| 4705 25b8 1092 0000 sts Mess_Integral_Gier,__zero_reg__ |
| 4706 25bc 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__ |
| 4707 25c0 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__ |
| 4708 25c4 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__ |
| 4709 25c8 1092 0000 sts Mess_Integral_Gier2,__zero_reg__ |
| 4710 25cc 1092 0000 sts (Mess_Integral_Gier2)+1,__zero_reg__ |
| 4711 25d0 1092 0000 sts (Mess_Integral_Gier2)+2,__zero_reg__ |
| 4712 25d4 1092 0000 sts (Mess_Integral_Gier2)+3,__zero_reg__ |
| 4713 25d8 8091 0000 lds r24,EE_Parameter+28 |
| 4714 25dc E82E mov r14,r24 |
| 4715 25de FF24 clr r15 |
| 4716 25e0 0027 clr r16 |
| 4717 25e2 1127 clr r17 |
| 4718 25e4 8091 0000 lds r24,Mittelwert_AccNick |
| 4719 25e8 9091 0000 lds r25,(Mittelwert_AccNick)+1 |
| 4720 25ec 9C01 movw r18,r24 |
| 4721 25ee 4427 clr r20 |
| 4722 25f0 37FD sbrc r19,7 |
| 4723 25f2 4095 com r20 |
| 4724 25f4 542F mov r21,r20 |
| 4725 25f6 C801 movw r24,r16 |
| 4726 25f8 B701 movw r22,r14 |
| 4727 25fa 0E94 0000 call __mulsi3 |
| 4728 25fe DC01 movw r26,r24 |
| 4729 2600 CB01 movw r24,r22 |
| 4730 2602 8093 0000 sts Mess_IntegralNick,r24 |
| 4731 2606 9093 0000 sts (Mess_IntegralNick)+1,r25 |
| 4732 260a A093 0000 sts (Mess_IntegralNick)+2,r26 |
| 4733 260e B093 0000 sts (Mess_IntegralNick)+3,r27 |
| 4734 2612 8091 0000 lds r24,Mittelwert_AccRoll |
| 4735 2616 9091 0000 lds r25,(Mittelwert_AccRoll)+1 |
| 4736 261a 9C01 movw r18,r24 |
| 4737 261c 4427 clr r20 |
| 4738 261e 37FD sbrc r19,7 |
| 4739 2620 4095 com r20 |
| 4740 2622 542F mov r21,r20 |
| 4741 2624 C801 movw r24,r16 |
| 4742 2626 B701 movw r22,r14 |
| 4743 2628 0E94 0000 call __mulsi3 |
| 4744 262c DC01 movw r26,r24 |
| 4745 262e CB01 movw r24,r22 |
| 4746 2630 8093 0000 sts Mess_IntegralRoll,r24 |
| 4747 2634 9093 0000 sts (Mess_IntegralRoll)+1,r25 |
| 4748 2638 A093 0000 sts (Mess_IntegralRoll)+2,r26 |
| 4749 263c B093 0000 sts (Mess_IntegralRoll)+3,r27 |
| 4750 2640 8091 0000 lds r24,IntegralNick |
| 4751 2644 9091 0000 lds r25,(IntegralNick)+1 |
| 4752 2648 A091 0000 lds r26,(IntegralNick)+2 |
| 4753 264c B091 0000 lds r27,(IntegralNick)+3 |
| 4754 2650 8093 0000 sts Mess_IntegralNick2,r24 |
| 4755 2654 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
| 4756 2658 A093 0000 sts (Mess_IntegralNick2)+2,r26 |
| 4757 265c B093 0000 sts (Mess_IntegralNick2)+3,r27 |
| 4758 2660 8091 0000 lds r24,IntegralRoll |
| 4759 2664 9091 0000 lds r25,(IntegralRoll)+1 |
| 4760 2668 A091 0000 lds r26,(IntegralRoll)+2 |
| 4761 266c B091 0000 lds r27,(IntegralRoll)+3 |
| 4762 2670 8093 0000 sts Mess_IntegralRoll2,r24 |
| 4763 2674 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
| 4764 2678 A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
| 4765 267c B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
| 4766 2680 1092 0000 sts SummeNick,__zero_reg__ |
| 4767 2684 1092 0000 sts (SummeNick)+1,__zero_reg__ |
| 4768 2688 1092 0000 sts (SummeNick)+2,__zero_reg__ |
| 4769 268c 1092 0000 sts (SummeNick)+3,__zero_reg__ |
| 4770 2690 1092 0000 sts SummeRoll,__zero_reg__ |
| 4771 2694 1092 0000 sts (SummeRoll)+1,__zero_reg__ |
| 4772 2698 1092 0000 sts (SummeRoll)+2,__zero_reg__ |
| 4773 269c 1092 0000 sts (SummeRoll)+3,__zero_reg__ |
| 4774 26a0 84E6 ldi r24,lo8(100) |
| 4775 26a2 8093 0000 sts NeueKompassRichtungMerken,r24 |
| 4776 26a6 84E3 ldi r24,lo8(52) |
| 4777 26a8 00C0 rjmp .L890 |
| 4778 .L419: |
| 4779 26aa 8CED ldi r24,lo8(1500) |
| 4780 26ac 95E0 ldi r25,hi8(1500) |
| 4781 26ae 9093 0000 sts (beeptime)+1,r25 |
| 4782 26b2 8093 0000 sts beeptime,r24 |
| 4783 26b6 2223 tst r18 |
| 4784 26b8 01F0 breq .+2 |
| 4785 26ba 00C0 rjmp .L423 |
| 4786 26bc 81E0 ldi r24,lo8(1) |
| 4787 26be 00C0 rjmp .L890 |
| 4788 .L413: |
| 4789 26c0 1092 0000 sts delay_einschalten.7,__zero_reg__ |
| 4790 26c4 00C0 rjmp .L423 |
| 4791 .L412: |
| 4792 26c6 FF27 clr r31 |
| 4793 26c8 EE0F add r30,r30 |
| 4794 26ca FF1F adc r31,r31 |
| 4795 26cc E050 subi r30,lo8(-(PPM_in)) |
| 4796 26ce F040 sbci r31,hi8(-(PPM_in)) |
| 4797 26d0 8081 ld r24,Z |
| 4798 26d2 9181 ldd r25,Z+1 |
| 4799 26d4 8C34 cpi r24,76 |
| 4800 26d6 9105 cpc r25,__zero_reg__ |
| 4801 26d8 04F0 brlt .L426 |
| 4802 26da 8091 0000 lds r24,EE_Parameter+111 |
| 4803 26de 83FD sbrc r24,3 |
| 4804 26e0 00C0 rjmp .L427 |
| 4805 26e2 E22F mov r30,r18 |
| 4806 26e4 FF27 clr r31 |
| 4807 26e6 EE0F add r30,r30 |
| 4808 26e8 FF1F adc r31,r31 |
| 4809 26ea E050 subi r30,lo8(-(PPM_in)) |
| 4810 26ec F040 sbci r31,hi8(-(PPM_in)) |
| 4811 26ee 8081 ld r24,Z |
| 4812 26f0 9181 ldd r25,Z+1 |
| 4813 26f2 855B subi r24,lo8(-75) |
| 4814 26f4 9F4F sbci r25,hi8(-75) |
| 4815 26f6 04F0 brlt .L425 |
| 4816 .L427: |
| 4817 26f8 8091 0000 lds r24,EE_Parameter+100 |
| 4818 26fc 8823 tst r24 |
| 4819 26fe 01F0 breq .L425 |
| 4820 .L426: |
| 4821 2700 8091 0000 lds r24,EE_Parameter+111 |
| 4822 2704 83FF sbrs r24,3 |
| 4823 2706 00C0 rjmp .L424 |
| 4824 2708 8091 0000 lds r24,EE_Parameter+100 |
| 4825 270c E82F mov r30,r24 |
| 4826 270e FF27 clr r31 |
| 4827 2710 EE0F add r30,r30 |
| 4828 2712 FF1F adc r31,r31 |
| 4829 2714 E050 subi r30,lo8(-(PPM_in)) |
| 4830 2716 F040 sbci r31,hi8(-(PPM_in)) |
| 4831 2718 8081 ld r24,Z |
| 4832 271a 9181 ldd r25,Z+1 |
| 4833 271c 8E5C subi r24,lo8(-50) |
| 4834 271e 9F4F sbci r25,hi8(-50) |
| 4835 2720 04F4 brge .L424 |
| 4836 2722 8091 0000 lds r24,move_safety_switch.9 |
| 4837 2726 8C39 cpi r24,lo8(-100) |
| 4838 2728 01F4 brne .L424 |
| 4839 .L425: |
| 4840 272a 8091 0000 lds r24,delay_ausschalten.8 |
| 4841 272e 8F5F subi r24,lo8(-(1)) |
| 4842 2730 8093 0000 sts delay_ausschalten.8,r24 |
| 4843 2734 8B3F cpi r24,lo8(-5) |
| 4844 2736 00F0 brlo .L423 |
| 4845 2738 1092 0000 sts MotorenEin,__zero_reg__ |
| 4846 273c 1092 0000 sts delay_ausschalten.8,__zero_reg__ |
| 4847 2740 1092 0000 sts (modell_fliegt)+1,__zero_reg__ |
| 4848 2744 1092 0000 sts modell_fliegt,__zero_reg__ |
| 4849 2748 86E2 ldi r24,lo8(38) |
| 4850 .L890: |
| 4851 274a 8093 0000 sts SpeakHoTT,r24 |
| 4852 274e 00C0 rjmp .L423 |
| 4853 .L424: |
| 4854 2750 1092 0000 sts delay_ausschalten.8,__zero_reg__ |
| 4855 .L423: |
| 4856 2754 8091 0000 lds r24,GasIsZeroCnt |
| 4857 2758 9091 0000 lds r25,(GasIsZeroCnt)+1 |
| 4858 275c 13E0 ldi r17,hi8(1000) |
| 4859 275e 883E cpi r24,lo8(1000) |
| 4860 2760 9107 cpc r25,r17 |
| 4861 2762 00F4 brsh .L381 |
| 4862 2764 0196 adiw r24,1 |
| 4863 2766 9093 0000 sts (GasIsZeroCnt)+1,r25 |
| 4864 276a 8093 0000 sts GasIsZeroCnt,r24 |
| 4865 276e 00C0 rjmp .L381 |
| 4866 .L408: |
| 4867 2770 1092 0000 sts move_safety_switch.9,__zero_reg__ |
| 4868 2774 1092 0000 sts (GasIsZeroCnt)+1,__zero_reg__ |
| 4869 2778 1092 0000 sts GasIsZeroCnt,__zero_reg__ |
| 4870 277c 00C0 rjmp .L381 |
| 4871 .L382: |
| 4872 277e 2E5E subi r18,lo8(750) |
| 4873 2780 3240 sbci r19,hi8(750) |
| 4874 2782 00F0 brlo .L381 |
| 4875 2784 8091 0000 lds r24,GPSInfo+4 |
| 4876 2788 9091 0000 lds r25,(GPSInfo+4)+1 |
| 4877 278c 8059 subi r24,lo8(400) |
| 4878 278e 9140 sbci r25,hi8(400) |
| 4879 2790 00F4 brsh .L381 |
| 4880 2792 8091 0000 lds r24,HoehenWert |
| 4881 2796 9091 0000 lds r25,(HoehenWert)+1 |
| 4882 279a A091 0000 lds r26,(HoehenWert)+2 |
| 4883 279e B091 0000 lds r27,(HoehenWert)+3 |
| 4884 27a2 8C5D subi r24,lo8(1500) |
| 4885 27a4 9540 sbci r25,hi8(1500) |
| 4886 27a6 A040 sbci r26,hlo8(1500) |
| 4887 27a8 B040 sbci r27,hhi8(1500) |
| 4888 27aa 04F4 brge .L381 |
| 4889 27ac 80E3 ldi r24,lo8(30000) |
| 4890 27ae 95E7 ldi r25,hi8(30000) |
| 4891 27b0 9093 0000 sts (GasIsZeroCnt)+1,r25 |
| 4892 27b4 8093 0000 sts GasIsZeroCnt,r24 |
| 4893 27b8 8091 0000 lds r24,modell_fliegt |
| 4894 27bc 9091 0000 lds r25,(modell_fliegt)+1 |
| 4895 27c0 8A5E subi r24,lo8(1002) |
| 4896 27c2 9340 sbci r25,hi8(1002) |
| 4897 27c4 00F0 brlo .L381 |
| 4898 27c6 89EE ldi r24,lo8(1001) |
| 4899 27c8 93E0 ldi r25,hi8(1001) |
| 4900 27ca 9093 0000 sts (modell_fliegt)+1,r25 |
| 4901 27ce 8093 0000 sts modell_fliegt,r24 |
| 4902 .L381: |
| 4903 27d2 8091 0000 lds r24,NewPpmData |
| 4904 27d6 8150 subi r24,lo8(-(-1)) |
| 4905 27d8 8093 0000 sts NewPpmData,r24 |
| 4906 27dc 8091 0000 lds r24,NewPpmData |
| 4907 27e0 8F3F cpi r24,lo8(-1) |
| 4908 27e2 01F0 breq .L437 |
| 4909 27e4 8091 0000 lds r24,FC_StatusFlags |
| 4910 27e8 84FF sbrs r24,4 |
| 4911 27ea 00C0 rjmp .L436 |
| 4912 .L437: |
| 4913 27ec 0E94 0000 call ParameterZuordnung |
| 4914 27f0 B090 0000 lds r11,EE_Parameter+23 |
| 4915 27f4 8091 0000 lds r24,stick_nick.12 |
| 4916 27f8 9091 0000 lds r25,(stick_nick.12)+1 |
| 4917 27fc 9C01 movw r18,r24 |
| 4918 27fe 220F lsl r18 |
| 4919 2800 331F rol r19 |
| 4920 2802 280F add r18,r24 |
| 4921 2804 391F adc r19,r25 |
| 4922 2806 C090 0000 lds r12,EE_Parameter+1 |
| 4923 280a AC2D mov r26,r12 |
| 4924 280c BB27 clr r27 |
| 4925 280e AA0F add r26,r26 |
| 4926 2810 BB1F adc r27,r27 |
| 4927 2812 FD01 movw r30,r26 |
| 4928 2814 E050 subi r30,lo8(-(PPM_in)) |
| 4929 2816 F040 sbci r31,hi8(-(PPM_in)) |
| 4930 2818 4B2D mov r20,r11 |
| 4931 281a 5527 clr r21 |
| 4932 281c 8081 ld r24,Z |
| 4933 281e 9181 ldd r25,Z+1 |
| 4934 2820 849F mul r24,r20 |
| 4935 2822 F001 movw r30,r0 |
| 4936 2824 859F mul r24,r21 |
| 4937 2826 F00D add r31,r0 |
| 4938 2828 949F mul r25,r20 |
| 4939 282a F00D add r31,r0 |
| 4940 282c 1124 clr r1 |
| 4941 282e 2E0F add r18,r30 |
| 4942 2830 3F1F adc r19,r31 |
| 4943 2832 37FF sbrs r19,7 |
| 4944 2834 00C0 rjmp .L438 |
| 4945 2836 2D5F subi r18,lo8(-(3)) |
| 4946 2838 3F4F sbci r19,hi8(-(3)) |
| 4947 .L438: |
| 4948 283a B901 movw r22,r18 |
| 4949 283c 7595 asr r23 |
| 4950 283e 6795 ror r22 |
| 4951 2840 7595 asr r23 |
| 4952 2842 6795 ror r22 |
| 4953 2844 A050 subi r26,lo8(-(PPM_diff)) |
| 4954 2846 B040 sbci r27,hi8(-(PPM_diff)) |
| 4955 2848 8091 0000 lds r24,EE_Parameter+24 |
| 4956 284c 082F mov r16,r24 |
| 4957 284e 1127 clr r17 |
| 4958 2850 8D91 ld r24,X+ |
| 4959 2852 9C91 ld r25,X |
| 4960 2854 809F mul r24,r16 |
| 4961 2856 7001 movw r14,r0 |
| 4962 2858 819F mul r24,r17 |
| 4963 285a F00C add r15,r0 |
| 4964 285c 909F mul r25,r16 |
| 4965 285e F00C add r15,r0 |
| 4966 2860 1124 clr r1 |
| 4967 2862 6E0D add r22,r14 |
| 4968 2864 7F1D adc r23,r15 |
| 4969 2866 7093 0000 sts (stick_nick.12)+1,r23 |
| 4970 286a 6093 0000 sts stick_nick.12,r22 |
| 4971 286e 8091 0000 lds r24,stick_roll.13 |
| 4972 2872 9091 0000 lds r25,(stick_roll.13)+1 |
| 4973 2876 9C01 movw r18,r24 |
| 4974 2878 220F lsl r18 |
| 4975 287a 331F rol r19 |
| 4976 287c 280F add r18,r24 |
| 4977 287e 391F adc r19,r25 |
| 4978 2880 D090 0000 lds r13,EE_Parameter+2 |
| 4979 2884 AD2D mov r26,r13 |
| 4980 2886 BB27 clr r27 |
| 4981 2888 AA0F add r26,r26 |
| 4982 288a BB1F adc r27,r27 |
| 4983 288c FD01 movw r30,r26 |
| 4984 288e E050 subi r30,lo8(-(PPM_in)) |
| 4985 2890 F040 sbci r31,hi8(-(PPM_in)) |
| 4986 2892 8081 ld r24,Z |
| 4987 2894 9181 ldd r25,Z+1 |
| 4988 2896 849F mul r24,r20 |
| 4989 2898 F001 movw r30,r0 |
| 4990 289a 859F mul r24,r21 |
| 4991 289c F00D add r31,r0 |
| 4992 289e 949F mul r25,r20 |
| 4993 28a0 F00D add r31,r0 |
| 4994 28a2 1124 clr r1 |
| 4995 28a4 2E0F add r18,r30 |
| 4996 28a6 3F1F adc r19,r31 |
| 4997 28a8 37FF sbrs r19,7 |
| 4998 28aa 00C0 rjmp .L439 |
| 4999 28ac 2D5F subi r18,lo8(-(3)) |
| 5000 28ae 3F4F sbci r19,hi8(-(3)) |
| 5001 .L439: |
| 5002 28b0 A901 movw r20,r18 |
| 5003 28b2 5595 asr r21 |
| 5004 28b4 4795 ror r20 |
| 5005 28b6 5595 asr r21 |
| 5006 28b8 4795 ror r20 |
| 5007 28ba A050 subi r26,lo8(-(PPM_diff)) |
| 5008 28bc B040 sbci r27,hi8(-(PPM_diff)) |
| 5009 28be 8D91 ld r24,X+ |
| 5010 28c0 9C91 ld r25,X |
| 5011 28c2 809F mul r24,r16 |
| 5012 28c4 7001 movw r14,r0 |
| 5013 28c6 819F mul r24,r17 |
| 5014 28c8 F00C add r15,r0 |
| 5015 28ca 909F mul r25,r16 |
| 5016 28cc F00C add r15,r0 |
| 5017 28ce 1124 clr r1 |
| 5018 28d0 4E0D add r20,r14 |
| 5019 28d2 5F1D adc r21,r15 |
| 5020 28d4 5093 0000 sts (stick_roll.13)+1,r21 |
| 5021 28d8 4093 0000 sts stick_roll.13,r20 |
| 5022 28dc 8091 0000 lds r24,CareFree |
| 5023 28e0 8823 tst r24 |
| 5024 28e2 01F4 brne .+2 |
| 5025 28e4 00C0 rjmp .L440 |
| 5026 28e6 CB01 movw r24,r22 |
| 5027 28e8 77FD sbrc r23,7 |
| 5028 28ea 0396 adiw r24,3 |
| 5029 .L441: |
| 5030 28ec DC01 movw r26,r24 |
| 5031 28ee B595 asr r27 |
| 5032 28f0 A795 ror r26 |
| 5033 28f2 B595 asr r27 |
| 5034 28f4 A795 ror r26 |
| 5035 28f6 CA01 movw r24,r20 |
| 5036 28f8 57FD sbrc r21,7 |
| 5037 28fa 0396 adiw r24,3 |
| 5038 .L442: |
| 5039 28fc FC01 movw r30,r24 |
| 5040 28fe F595 asr r31 |
| 5041 2900 E795 ror r30 |
| 5042 2902 F595 asr r31 |
| 5043 2904 E795 ror r30 |
| 5044 2906 8091 0000 lds r24,FromNC_Rotate_C |
| 5045 290a 682F mov r22,r24 |
| 5046 290c 7727 clr r23 |
| 5047 290e 67FD sbrc r22,7 |
| 5048 2910 7095 com r23 |
| 5049 2912 6A9F mul r22,r26 |
| 5050 2914 9001 movw r18,r0 |
| 5051 2916 6B9F mul r22,r27 |
| 5052 2918 300D add r19,r0 |
| 5053 291a 7A9F mul r23,r26 |
| 5054 291c 300D add r19,r0 |
| 5055 291e 1124 clr r1 |
| 5056 2920 8091 0000 lds r24,FromNC_Rotate_S |
| 5057 2924 482F mov r20,r24 |
| 5058 2926 5527 clr r21 |
| 5059 2928 47FD sbrc r20,7 |
| 5060 292a 5095 com r21 |
| 5061 292c 4E9F mul r20,r30 |
| 5062 292e C001 movw r24,r0 |
| 5063 2930 4F9F mul r20,r31 |
| 5064 2932 900D add r25,r0 |
| 5065 2934 5E9F mul r21,r30 |
| 5066 2936 900D add r25,r0 |
| 5067 2938 1124 clr r1 |
| 5068 293a 280F add r18,r24 |
| 5069 293c 391F adc r19,r25 |
| 5070 293e 37FF sbrs r19,7 |
| 5071 2940 00C0 rjmp .L443 |
| 5072 2942 295F subi r18,lo8(-(7)) |
| 5073 2944 3F4F sbci r19,hi8(-(7)) |
| 5074 .L443: |
| 5075 2946 93E0 ldi r25,3 |
| 5076 2948 3595 1: asr r19 |
| 5077 294a 2795 ror r18 |
| 5078 294c 9A95 dec r25 |
| 5079 294e 01F4 brne 1b |
| 5080 2950 3093 0000 sts (StickNick)+1,r19 |
| 5081 2954 2093 0000 sts StickNick,r18 |
| 5082 2958 6E9F mul r22,r30 |
| 5083 295a 9001 movw r18,r0 |
| 5084 295c 6F9F mul r22,r31 |
| 5085 295e 300D add r19,r0 |
| 5086 2960 7E9F mul r23,r30 |
| 5087 2962 300D add r19,r0 |
| 5088 2964 1124 clr r1 |
| 5089 2966 4A9F mul r20,r26 |
| 5090 2968 C001 movw r24,r0 |
| 5091 296a 4B9F mul r20,r27 |
| 5092 296c 900D add r25,r0 |
| 5093 296e 5A9F mul r21,r26 |
| 5094 2970 900D add r25,r0 |
| 5095 2972 1124 clr r1 |
| 5096 2974 00C0 rjmp .L919 |
| 5097 .L440: |
| 5098 2976 8091 0000 lds r24,EE_Parameter+98 |
| 5099 297a E82F mov r30,r24 |
| 5100 297c FF27 clr r31 |
| 5101 297e E050 subi r30,lo8(-(sintab)) |
| 5102 2980 F040 sbci r31,hi8(-(sintab)) |
| 5103 2982 8681 ldd r24,Z+6 |
| 5104 2984 8093 0000 sts FromNC_Rotate_C,r24 |
| 5105 2988 9081 ld r25,Z |
| 5106 298a 9093 0000 sts FromNC_Rotate_S,r25 |
| 5107 298e A82F mov r26,r24 |
| 5108 2990 BB27 clr r27 |
| 5109 2992 A7FD sbrc r26,7 |
| 5110 2994 B095 com r27 |
| 5111 2996 A69F mul r26,r22 |
| 5112 2998 9001 movw r18,r0 |
| 5113 299a A79F mul r26,r23 |
| 5114 299c 300D add r19,r0 |
| 5115 299e B69F mul r27,r22 |
| 5116 29a0 300D add r19,r0 |
| 5117 29a2 1124 clr r1 |
| 5118 29a4 E92F mov r30,r25 |
| 5119 29a6 FF27 clr r31 |
| 5120 29a8 E7FD sbrc r30,7 |
| 5121 29aa F095 com r31 |
| 5122 29ac E49F mul r30,r20 |
| 5123 29ae C001 movw r24,r0 |
| 5124 29b0 E59F mul r30,r21 |
| 5125 29b2 900D add r25,r0 |
| 5126 29b4 F49F mul r31,r20 |
| 5127 29b6 900D add r25,r0 |
| 5128 29b8 1124 clr r1 |
| 5129 29ba 280F add r18,r24 |
| 5130 29bc 391F adc r19,r25 |
| 5131 29be 37FF sbrs r19,7 |
| 5132 29c0 00C0 rjmp .L446 |
| 5133 29c2 295F subi r18,lo8(-(7)) |
| 5134 29c4 3F4F sbci r19,hi8(-(7)) |
| 5135 .L446: |
| 5136 29c6 83E0 ldi r24,3 |
| 5137 29c8 3595 1: asr r19 |
| 5138 29ca 2795 ror r18 |
| 5139 29cc 8A95 dec r24 |
| 5140 29ce 01F4 brne 1b |
| 5141 29d0 3093 0000 sts (StickNick)+1,r19 |
| 5142 29d4 2093 0000 sts StickNick,r18 |
| 5143 29d8 A49F mul r26,r20 |
| 5144 29da 9001 movw r18,r0 |
| 5145 29dc A59F mul r26,r21 |
| 5146 29de 300D add r19,r0 |
| 5147 29e0 B49F mul r27,r20 |
| 5148 29e2 300D add r19,r0 |
| 5149 29e4 1124 clr r1 |
| 5150 29e6 E69F mul r30,r22 |
| 5151 29e8 C001 movw r24,r0 |
| 5152 29ea E79F mul r30,r23 |
| 5153 29ec 900D add r25,r0 |
| 5154 29ee F69F mul r31,r22 |
| 5155 29f0 900D add r25,r0 |
| 5156 29f2 1124 clr r1 |
| 5157 .L919: |
| 5158 29f4 281B sub r18,r24 |
| 5159 29f6 390B sbc r19,r25 |
| 5160 29f8 37FF sbrs r19,7 |
| 5161 29fa 00C0 rjmp .L447 |
| 5162 29fc 295F subi r18,lo8(-(7)) |
| 5163 29fe 3F4F sbci r19,hi8(-(7)) |
| 5164 .L447: |
| 5165 2a00 03E0 ldi r16,3 |
| 5166 2a02 3595 1: asr r19 |
| 5167 2a04 2795 ror r18 |
| 5168 2a06 0A95 dec r16 |
| 5169 2a08 01F4 brne 1b |
| 5170 2a0a 3093 0000 sts (StickRoll)+1,r19 |
| 5171 2a0e 2093 0000 sts StickRoll,r18 |
| 5172 2a12 8091 0000 lds r24,EE_Parameter+4 |
| 5173 2a16 E82F mov r30,r24 |
| 5174 2a18 FF27 clr r31 |
| 5175 2a1a EE0F add r30,r30 |
| 5176 2a1c FF1F adc r31,r31 |
| 5177 2a1e E050 subi r30,lo8(-(PPM_in)) |
| 5178 2a20 F040 sbci r31,hi8(-(PPM_in)) |
| 5179 2a22 8081 ld r24,Z |
| 5180 2a24 9181 ldd r25,Z+1 |
| 5181 2a26 9095 com r25 |
| 5182 2a28 8195 neg r24 |
| 5183 2a2a 9F4F sbci r25,lo8(-1) |
| 5184 2a2c 9093 0000 sts (StickGier)+1,r25 |
| 5185 2a30 8093 0000 sts StickGier,r24 |
| 5186 2a34 8530 cpi r24,5 |
| 5187 2a36 9105 cpc r25,__zero_reg__ |
| 5188 2a38 04F0 brlt .L448 |
| 5189 2a3a 0497 sbiw r24,4 |
| 5190 2a3c 00C0 rjmp .L891 |
| 5191 .L448: |
| 5192 2a3e 0FEF ldi r16,hi8(-4) |
| 5193 2a40 8C3F cpi r24,lo8(-4) |
| 5194 2a42 9007 cpc r25,r16 |
| 5195 2a44 04F4 brge .L450 |
| 5196 2a46 0496 adiw r24,4 |
| 5197 .L891: |
| 5198 2a48 9093 0000 sts (StickGier)+1,r25 |
| 5199 2a4c 8093 0000 sts StickGier,r24 |
| 5200 2a50 00C0 rjmp .L449 |
| 5201 .L450: |
| 5202 2a52 1092 0000 sts (StickGier)+1,__zero_reg__ |
| 5203 2a56 1092 0000 sts StickGier,__zero_reg__ |
| 5204 .L449: |
| 5205 2a5a 8091 0000 lds r24,GPS_Aid_StickMultiplikator |
| 5206 2a5e 8823 tst r24 |
| 5207 2a60 01F4 brne .+2 |
| 5208 2a62 00C0 rjmp .L452 |
| 5209 2a64 282F mov r18,r24 |
| 5210 2a66 3327 clr r19 |
| 5211 2a68 8091 0000 lds r24,StickNick |
| 5212 2a6c 9091 0000 lds r25,(StickNick)+1 |
| 5213 2a70 97FD sbrc r25,7 |
| 5214 2a72 0796 adiw r24,7 |
| 5215 .L453: |
| 5216 2a74 13E0 ldi r17,3 |
| 5217 2a76 9595 1: asr r25 |
| 5218 2a78 8795 ror r24 |
| 5219 2a7a 1A95 dec r17 |
| 5220 2a7c 01F4 brne 1b |
| 5221 2a7e 289F mul r18,r24 |
| 5222 2a80 A001 movw r20,r0 |
| 5223 2a82 299F mul r18,r25 |
| 5224 2a84 500D add r21,r0 |
| 5225 2a86 389F mul r19,r24 |
| 5226 2a88 500D add r21,r0 |
| 5227 2a8a 1124 clr r1 |
| 5228 2a8c CA01 movw r24,r20 |
| 5229 2a8e 57FD sbrc r21,7 |
| 5230 2a90 0F96 adiw r24,15 |
| 5231 .L454: |
| 5232 2a92 B4E0 ldi r27,4 |
| 5233 2a94 9595 1: asr r25 |
| 5234 2a96 8795 ror r24 |
| 5235 2a98 BA95 dec r27 |
| 5236 2a9a 01F4 brne 1b |
| 5237 2a9c 9093 0000 sts (StickNick)+1,r25 |
| 5238 2aa0 8093 0000 sts StickNick,r24 |
| 5239 2aa4 8091 0000 lds r24,StickRoll |
| 5240 2aa8 9091 0000 lds r25,(StickRoll)+1 |
| 5241 2aac 97FD sbrc r25,7 |
| 5242 2aae 0796 adiw r24,7 |
| 5243 .L455: |
| 5244 2ab0 A3E0 ldi r26,3 |
| 5245 2ab2 9595 1: asr r25 |
| 5246 2ab4 8795 ror r24 |
| 5247 2ab6 AA95 dec r26 |
| 5248 2ab8 01F4 brne 1b |
| 5249 2aba 289F mul r18,r24 |
| 5250 2abc B001 movw r22,r0 |
| 5251 2abe 299F mul r18,r25 |
| 5252 2ac0 700D add r23,r0 |
| 5253 2ac2 389F mul r19,r24 |
| 5254 2ac4 700D add r23,r0 |
| 5255 2ac6 1124 clr r1 |
| 5256 2ac8 CB01 movw r24,r22 |
| 5257 2aca 77FD sbrc r23,7 |
| 5258 2acc 0F96 adiw r24,15 |
| 5259 .L456: |
| 5260 2ace F4E0 ldi r31,4 |
| 5261 2ad0 9595 1: asr r25 |
| 5262 2ad2 8795 ror r24 |
| 5263 2ad4 FA95 dec r31 |
| 5264 2ad6 01F4 brne 1b |
| 5265 2ad8 9093 0000 sts (StickRoll)+1,r25 |
| 5266 2adc 8093 0000 sts StickRoll,r24 |
| 5267 .L452: |
| 5268 2ae0 8090 0000 lds r8,StickNick |
| 5269 2ae4 9090 0000 lds r9,(StickNick)+1 |
| 5270 2ae8 8091 0000 lds r24,GPS_Nick |
| 5271 2aec 9091 0000 lds r25,(GPS_Nick)+1 |
| 5272 2af0 881A sub r8,r24 |
| 5273 2af2 990A sbc r9,r25 |
| 5274 2af4 9092 0000 sts (StickNick)+1,r9 |
| 5275 2af8 8092 0000 sts StickNick,r8 |
| 5276 2afc 0091 0000 lds r16,StickRoll |
| 5277 2b00 1091 0000 lds r17,(StickRoll)+1 |
| 5278 2b04 8091 0000 lds r24,GPS_Roll |
| 5279 2b08 9091 0000 lds r25,(GPS_Roll)+1 |
| 5280 2b0c 081B sub r16,r24 |
| 5281 2b0e 190B sbc r17,r25 |
| 5282 2b10 1093 0000 sts (StickRoll)+1,r17 |
| 5283 2b14 0093 0000 sts StickRoll,r16 |
| 5284 2b18 8091 0000 lds r24,EE_Parameter+3 |
| 5285 2b1c E82F mov r30,r24 |
| 5286 2b1e FF27 clr r31 |
| 5287 2b20 EE0F add r30,r30 |
| 5288 2b22 FF1F adc r31,r31 |
| 5289 2b24 E050 subi r30,lo8(-(PPM_in)) |
| 5290 2b26 F040 sbci r31,hi8(-(PPM_in)) |
| 5291 2b28 E080 ld r14,Z |
| 5292 2b2a F180 ldd r15,Z+1 |
| 5293 2b2c 8FE7 ldi r24,lo8(127) |
| 5294 2b2e 90E0 ldi r25,hi8(127) |
| 5295 2b30 E80E add r14,r24 |
| 5296 2b32 F91E adc r15,r25 |
| 5297 2b34 F092 0000 sts (StickGas)+1,r15 |
| 5298 2b38 E092 0000 sts StickGas,r14 |
| 5299 2b3c 8091 0000 lds r24,Parameter_Gyro_P |
| 5300 2b40 9927 clr r25 |
| 5301 2b42 AA27 clr r26 |
| 5302 2b44 97FD sbrc r25,7 |
| 5303 2b46 A095 com r26 |
| 5304 2b48 BA2F mov r27,r26 |
| 5305 2b4a BC01 movw r22,r24 |
| 5306 2b4c CD01 movw r24,r26 |
| 5307 2b4e 0E94 0000 call __floatsisf |
| 5308 2b52 DC01 movw r26,r24 |
| 5309 2b54 CB01 movw r24,r22 |
| 5310 2b56 20E0 ldi r18,lo8(0x41200000) |
| 5311 2b58 30E0 ldi r19,hi8(0x41200000) |
| 5312 2b5a 40E2 ldi r20,hlo8(0x41200000) |
| 5313 2b5c 51E4 ldi r21,hhi8(0x41200000) |
| 5314 2b5e BC01 movw r22,r24 |
| 5315 2b60 CD01 movw r24,r26 |
| 5316 2b62 0E94 0000 call __addsf3 |
| 5317 2b66 DC01 movw r26,r24 |
| 5318 2b68 CB01 movw r24,r22 |
| 5319 2b6a BC01 movw r22,r24 |
| 5320 2b6c CD01 movw r24,r26 |
| 5321 2b6e 0E94 0000 call __fixunssfsi |
| 5322 2b72 DC01 movw r26,r24 |
| 5323 2b74 CB01 movw r24,r22 |
| 5324 2b76 8093 0000 sts GyroFaktor,r24 |
| 5325 2b7a 8091 0000 lds r24,Parameter_Gyro_I |
| 5326 2b7e 8093 0000 sts IntegralFaktor,r24 |
| 5327 2b82 8091 0000 lds r24,Parameter_Gyro_Gier_P |
| 5328 2b86 9927 clr r25 |
| 5329 2b88 AA27 clr r26 |
| 5330 2b8a 97FD sbrc r25,7 |
| 5331 2b8c A095 com r26 |
| 5332 2b8e BA2F mov r27,r26 |
| 5333 2b90 BC01 movw r22,r24 |
| 5334 2b92 CD01 movw r24,r26 |
| 5335 2b94 0E94 0000 call __floatsisf |
| 5336 2b98 DC01 movw r26,r24 |
| 5337 2b9a CB01 movw r24,r22 |
| 5338 2b9c 20E0 ldi r18,lo8(0x41200000) |
| 5339 2b9e 30E0 ldi r19,hi8(0x41200000) |
| 5340 2ba0 40E2 ldi r20,hlo8(0x41200000) |
| 5341 2ba2 51E4 ldi r21,hhi8(0x41200000) |
| 5342 2ba4 BC01 movw r22,r24 |
| 5343 2ba6 CD01 movw r24,r26 |
| 5344 2ba8 0E94 0000 call __addsf3 |
| 5345 2bac DC01 movw r26,r24 |
| 5346 2bae CB01 movw r24,r22 |
| 5347 2bb0 BC01 movw r22,r24 |
| 5348 2bb2 CD01 movw r24,r26 |
| 5349 2bb4 0E94 0000 call __fixunssfsi |
| 5350 2bb8 DC01 movw r26,r24 |
| 5351 2bba CB01 movw r24,r22 |
| 5352 2bbc 8093 0000 sts GyroFaktorGier,r24 |
| 5353 2bc0 8091 0000 lds r24,Parameter_Gyro_Gier_I |
| 5354 2bc4 8093 0000 sts IntegralFaktorGier,r24 |
| 5355 2bc8 8091 0000 lds r24,ExternControl+10 |
| 5356 2bcc 80FF sbrs r24,0 |
| 5357 2bce 00C0 rjmp .L457 |
| 5358 2bd0 8091 0000 lds r24,Parameter_ExternalControl |
| 5359 2bd4 8138 cpi r24,lo8(-127) |
| 5360 2bd6 00F4 brsh .+2 |
| 5361 2bd8 00C0 rjmp .L457 |
| 5362 2bda 8091 0000 lds r24,ExternControl+3 |
| 5363 2bde 9927 clr r25 |
| 5364 2be0 87FD sbrc r24,7 |
| 5365 2be2 9095 com r25 |
| 5366 2be4 2B2D mov r18,r11 |
| 5367 2be6 3327 clr r19 |
| 5368 2be8 829F mul r24,r18 |
| 5369 2bea D001 movw r26,r0 |
| 5370 2bec 839F mul r24,r19 |
| 5371 2bee B00D add r27,r0 |
| 5372 2bf0 929F mul r25,r18 |
| 5373 2bf2 B00D add r27,r0 |
| 5374 2bf4 1124 clr r1 |
| 5375 2bf6 8A0E add r8,r26 |
| 5376 2bf8 9B1E adc r9,r27 |
| 5377 2bfa 9092 0000 sts (StickNick)+1,r9 |
| 5378 2bfe 8092 0000 sts StickNick,r8 |
| 5379 2c02 8091 0000 lds r24,ExternControl+4 |
| 5380 2c06 9927 clr r25 |
| 5381 2c08 87FD sbrc r24,7 |
| 5382 2c0a 9095 com r25 |
| 5383 2c0c 829F mul r24,r18 |
| 5384 2c0e F001 movw r30,r0 |
| 5385 2c10 839F mul r24,r19 |
| 5386 2c12 F00D add r31,r0 |
| 5387 2c14 929F mul r25,r18 |
| 5388 2c16 F00D add r31,r0 |
| 5389 2c18 1124 clr r1 |
| 5390 2c1a 0E0F add r16,r30 |
| 5391 2c1c 1F1F adc r17,r31 |
| 5392 2c1e 1093 0000 sts (StickRoll)+1,r17 |
| 5393 2c22 0093 0000 sts StickRoll,r16 |
| 5394 2c26 8091 0000 lds r24,ExternControl+5 |
| 5395 2c2a 282F mov r18,r24 |
| 5396 2c2c 3327 clr r19 |
| 5397 2c2e 27FD sbrc r18,7 |
| 5398 2c30 3095 com r19 |
| 5399 2c32 8091 0000 lds r24,StickGier |
| 5400 2c36 9091 0000 lds r25,(StickGier)+1 |
| 5401 2c3a 820F add r24,r18 |
| 5402 2c3c 931F adc r25,r19 |
| 5403 2c3e 9093 0000 sts (StickGier)+1,r25 |
| 5404 2c42 8093 0000 sts StickGier,r24 |
| 5405 2c46 8091 0000 lds r24,ExternControl+7 |
| 5406 2c4a 282F mov r18,r24 |
| 5407 2c4c 3327 clr r19 |
| 5408 2c4e 27FD sbrc r18,7 |
| 5409 2c50 3095 com r19 |
| 5410 2c52 8091 0000 lds r24,EE_Parameter+18 |
| 5411 2c56 9927 clr r25 |
| 5412 2c58 289F mul r18,r24 |
| 5413 2c5a 8001 movw r16,r0 |
| 5414 2c5c 299F mul r18,r25 |
| 5415 2c5e 100D add r17,r0 |
| 5416 2c60 389F mul r19,r24 |
| 5417 2c62 100D add r17,r0 |
| 5418 2c64 1124 clr r1 |
| 5419 2c66 1093 0000 sts (ExternHoehenValue)+1,r17 |
| 5420 2c6a 0093 0000 sts ExternHoehenValue,r16 |
| 5421 2c6e 8091 0000 lds r24,ExternControl+6 |
| 5422 2c72 9927 clr r25 |
| 5423 2c74 8E15 cp r24,r14 |
| 5424 2c76 9F05 cpc r25,r15 |
| 5425 2c78 04F4 brge .L457 |
| 5426 2c7a 9093 0000 sts (StickGas)+1,r25 |
| 5427 2c7e 8093 0000 sts StickGas,r24 |
| 5428 .L457: |
| 5429 2c82 8091 0000 lds r24,StickGas |
| 5430 2c86 9091 0000 lds r25,(StickGas)+1 |
| 5431 2c8a 97FF sbrs r25,7 |
| 5432 2c8c 00C0 rjmp .L459 |
| 5433 2c8e 1092 0000 sts (StickGas)+1,__zero_reg__ |
| 5434 2c92 1092 0000 sts StickGas,__zero_reg__ |
| 5435 .L459: |
| 5436 2c96 8091 0000 lds r24,Parameter_GlobalConfig |
| 5437 2c9a 82FF sbrs r24,2 |
| 5438 2c9c 00C0 rjmp .L460 |
| 5439 2c9e 1092 0000 sts IntegralFaktor,__zero_reg__ |
| 5440 .L460: |
| 5441 2ca2 4091 0000 lds r20,StickNick |
| 5442 2ca6 5091 0000 lds r21,(StickNick)+1 |
| 5443 2caa CA01 movw r24,r20 |
| 5444 2cac 57FD sbrc r21,7 |
| 5445 2cae 0396 adiw r24,3 |
| 5446 .L462: |
| 5447 2cb0 9C01 movw r18,r24 |
| 5448 2cb2 3595 asr r19 |
| 5449 2cb4 2795 ror r18 |
| 5450 2cb6 3595 asr r19 |
| 5451 2cb8 2795 ror r18 |
| 5452 2cba 37FF sbrs r19,7 |
| 5453 2cbc 00C0 rjmp .L463 |
| 5454 2cbe 3095 com r19 |
| 5455 2cc0 2195 neg r18 |
| 5456 2cc2 3F4F sbci r19,lo8(-1) |
| 5457 .L463: |
| 5458 2cc4 8091 0000 lds r24,MaxStickNick |
| 5459 2cc8 9091 0000 lds r25,(MaxStickNick)+1 |
| 5460 2ccc 8217 cp r24,r18 |
| 5461 2cce 9307 cpc r25,r19 |
| 5462 2cd0 04F4 brge .L461 |
| 5463 2cd2 CA01 movw r24,r20 |
| 5464 2cd4 57FF sbrs r21,7 |
| 5465 2cd6 00C0 rjmp .L464 |
| 5466 2cd8 9095 com r25 |
| 5467 2cda 8195 neg r24 |
| 5468 2cdc 9F4F sbci r25,lo8(-1) |
| 5469 .L464: |
| 5470 2cde 97FD sbrc r25,7 |
| 5471 2ce0 0396 adiw r24,3 |
| 5472 .L465: |
| 5473 2ce2 9595 asr r25 |
| 5474 2ce4 8795 ror r24 |
| 5475 2ce6 9595 asr r25 |
| 5476 2ce8 8795 ror r24 |
| 5477 2cea 9093 0000 sts (MaxStickNick)+1,r25 |
| 5478 2cee 8093 0000 sts MaxStickNick,r24 |
| 5479 2cf2 8536 cpi r24,101 |
| 5480 2cf4 9105 cpc r25,__zero_reg__ |
| 5481 2cf6 04F0 brlt .L467 |
| 5482 2cf8 84E6 ldi r24,lo8(100) |
| 5483 2cfa 90E0 ldi r25,hi8(100) |
| 5484 2cfc 00C0 rjmp .L892 |
| 5485 .L461: |
| 5486 2cfe 0197 sbiw r24,1 |
| 5487 .L892: |
| 5488 2d00 9093 0000 sts (MaxStickNick)+1,r25 |
| 5489 2d04 8093 0000 sts MaxStickNick,r24 |
| 5490 .L467: |
| 5491 2d08 4091 0000 lds r20,StickRoll |
| 5492 2d0c 5091 0000 lds r21,(StickRoll)+1 |
| 5493 2d10 CA01 movw r24,r20 |
| 5494 2d12 57FD sbrc r21,7 |
| 5495 2d14 0396 adiw r24,3 |
| 5496 .L469: |
| 5497 2d16 9C01 movw r18,r24 |
| 5498 2d18 3595 asr r19 |
| 5499 2d1a 2795 ror r18 |
| 5500 2d1c 3595 asr r19 |
| 5501 2d1e 2795 ror r18 |
| 5502 2d20 37FF sbrs r19,7 |
| 5503 2d22 00C0 rjmp .L470 |
| 5504 2d24 3095 com r19 |
| 5505 2d26 2195 neg r18 |
| 5506 2d28 3F4F sbci r19,lo8(-1) |
| 5507 .L470: |
| 5508 2d2a 8091 0000 lds r24,MaxStickRoll |
| 5509 2d2e 9091 0000 lds r25,(MaxStickRoll)+1 |
| 5510 2d32 8217 cp r24,r18 |
| 5511 2d34 9307 cpc r25,r19 |
| 5512 2d36 04F4 brge .L468 |
| 5513 2d38 CA01 movw r24,r20 |
| 5514 2d3a 57FF sbrs r21,7 |
| 5515 2d3c 00C0 rjmp .L471 |
| 5516 2d3e 9095 com r25 |
| 5517 2d40 8195 neg r24 |
| 5518 2d42 9F4F sbci r25,lo8(-1) |
| 5519 .L471: |
| 5520 2d44 97FD sbrc r25,7 |
| 5521 2d46 0396 adiw r24,3 |
| 5522 .L472: |
| 5523 2d48 9595 asr r25 |
| 5524 2d4a 8795 ror r24 |
| 5525 2d4c 9595 asr r25 |
| 5526 2d4e 8795 ror r24 |
| 5527 2d50 9093 0000 sts (MaxStickRoll)+1,r25 |
| 5528 2d54 8093 0000 sts MaxStickRoll,r24 |
| 5529 2d58 8536 cpi r24,101 |
| 5530 2d5a 9105 cpc r25,__zero_reg__ |
| 5531 2d5c 04F0 brlt .L474 |
| 5532 2d5e 84E6 ldi r24,lo8(100) |
| 5533 2d60 90E0 ldi r25,hi8(100) |
| 5534 2d62 00C0 rjmp .L893 |
| 5535 .L468: |
| 5536 2d64 0197 sbiw r24,1 |
| 5537 .L893: |
| 5538 2d66 9093 0000 sts (MaxStickRoll)+1,r25 |
| 5539 2d6a 8093 0000 sts MaxStickRoll,r24 |
| 5540 .L474: |
| 5541 2d6e 8091 0000 lds r24,FC_StatusFlags |
| 5542 2d72 84FF sbrs r24,4 |
| 5543 2d74 00C0 rjmp .L475 |
| 5544 2d76 1092 0000 sts (MaxStickNick)+1,__zero_reg__ |
| 5545 2d7a 1092 0000 sts MaxStickNick,__zero_reg__ |
| 5546 2d7e 1092 0000 sts (MaxStickRoll)+1,__zero_reg__ |
| 5547 2d82 1092 0000 sts MaxStickRoll,__zero_reg__ |
| 5548 .L475: |
| 5549 2d86 ED2D mov r30,r13 |
| 5550 2d88 FF27 clr r31 |
| 5551 2d8a EE0F add r30,r30 |
| 5552 2d8c FF1F adc r31,r31 |
| 5553 2d8e E050 subi r30,lo8(-(PPM_in)) |
| 5554 2d90 F040 sbci r31,hi8(-(PPM_in)) |
| 5555 2d92 4091 0000 lds r20,EE_Parameter+60 |
| 5556 2d96 242F mov r18,r20 |
| 5557 2d98 3327 clr r19 |
| 5558 2d9a 8081 ld r24,Z |
| 5559 2d9c 9181 ldd r25,Z+1 |
| 5560 2d9e 2817 cp r18,r24 |
| 5561 2da0 3907 cpc r19,r25 |
| 5562 2da2 04F4 brge .L476 |
| 5563 2da4 8091 0000 lds r24,EE_Parameter+108 |
| 5564 2da8 82FF sbrs r24,2 |
| 5565 2daa 00C0 rjmp .L476 |
| 5566 2dac 81E0 ldi r24,lo8(1) |
| 5567 2dae 8093 0000 sts Looping_Links,r24 |
| 5568 2db2 00C0 rjmp .L477 |
| 5569 .L476: |
| 5570 2db4 ED2D mov r30,r13 |
| 5571 2db6 FF27 clr r31 |
| 5572 2db8 EE0F add r30,r30 |
| 5573 2dba FF1F adc r31,r31 |
| 5574 2dbc E050 subi r30,lo8(-(PPM_in)) |
| 5575 2dbe F040 sbci r31,hi8(-(PPM_in)) |
| 5576 2dc0 842F mov r24,r20 |
| 5577 2dc2 9927 clr r25 |
| 5578 2dc4 2091 0000 lds r18,EE_Parameter+61 |
| 5579 2dc8 821B sub r24,r18 |
| 5580 2dca 9109 sbc r25,__zero_reg__ |
| 5581 2dcc 2081 ld r18,Z |
| 5582 2dce 3181 ldd r19,Z+1 |
| 5583 2dd0 2817 cp r18,r24 |
| 5584 2dd2 3907 cpc r19,r25 |
| 5585 2dd4 04F4 brge .L477 |
| 5586 2dd6 1092 0000 sts Looping_Links,__zero_reg__ |
| 5587 .L477: |
| 5588 2dda 4091 0000 lds r20,EE_Parameter+2 |
| 5589 2dde E42F mov r30,r20 |
| 5590 2de0 FF27 clr r31 |
| 5591 2de2 EE0F add r30,r30 |
| 5592 2de4 FF1F adc r31,r31 |
| 5593 2de6 E050 subi r30,lo8(-(PPM_in)) |
| 5594 2de8 F040 sbci r31,hi8(-(PPM_in)) |
| 5595 2dea 5091 0000 lds r21,EE_Parameter+60 |
| 5596 2dee 852F mov r24,r21 |
| 5597 2df0 9927 clr r25 |
| 5598 2df2 2227 clr r18 |
| 5599 2df4 3327 clr r19 |
| 5600 2df6 281B sub r18,r24 |
| 5601 2df8 390B sbc r19,r25 |
| 5602 2dfa 8081 ld r24,Z |
| 5603 2dfc 9181 ldd r25,Z+1 |
| 5604 2dfe 8217 cp r24,r18 |
| 5605 2e00 9307 cpc r25,r19 |
| 5606 2e02 04F4 brge .L479 |
| 5607 2e04 8091 0000 lds r24,EE_Parameter+108 |
| 5608 2e08 83FF sbrs r24,3 |
| 5609 2e0a 00C0 rjmp .L479 |
| 5610 2e0c 81E0 ldi r24,lo8(1) |
| 5611 2e0e 8093 0000 sts Looping_Rechts,r24 |
| 5612 2e12 00C0 rjmp .L480 |
| 5613 .L479: |
| 5614 2e14 8091 0000 lds r24,Looping_Rechts |
| 5615 2e18 8823 tst r24 |
| 5616 2e1a 01F0 breq .L480 |
| 5617 2e1c E42F mov r30,r20 |
| 5618 2e1e FF27 clr r31 |
| 5619 2e20 EE0F add r30,r30 |
| 5620 2e22 FF1F adc r31,r31 |
| 5621 2e24 E050 subi r30,lo8(-(PPM_in)) |
| 5622 2e26 F040 sbci r31,hi8(-(PPM_in)) |
| 5623 2e28 8091 0000 lds r24,EE_Parameter+61 |
| 5624 2e2c 9927 clr r25 |
| 5625 2e2e 851B sub r24,r21 |
| 5626 2e30 9109 sbc r25,__zero_reg__ |
| 5627 2e32 2081 ld r18,Z |
| 5628 2e34 3181 ldd r19,Z+1 |
| 5629 2e36 8217 cp r24,r18 |
| 5630 2e38 9307 cpc r25,r19 |
| 5631 2e3a 04F4 brge .L480 |
| 5632 2e3c 1092 0000 sts Looping_Rechts,__zero_reg__ |
| 5633 .L480: |
| 5634 2e40 EC2D mov r30,r12 |
| 5635 2e42 FF27 clr r31 |
| 5636 2e44 EE0F add r30,r30 |
| 5637 2e46 FF1F adc r31,r31 |
| 5638 2e48 E050 subi r30,lo8(-(PPM_in)) |
| 5639 2e4a F040 sbci r31,hi8(-(PPM_in)) |
| 5640 2e4c 4091 0000 lds r20,EE_Parameter+60 |
| 5641 2e50 242F mov r18,r20 |
| 5642 2e52 3327 clr r19 |
| 5643 2e54 8081 ld r24,Z |
| 5644 2e56 9181 ldd r25,Z+1 |
| 5645 2e58 2817 cp r18,r24 |
| 5646 2e5a 3907 cpc r19,r25 |
| 5647 2e5c 04F4 brge .L483 |
| 5648 2e5e 8091 0000 lds r24,EE_Parameter+108 |
| 5649 2e62 80FF sbrs r24,0 |
| 5650 2e64 00C0 rjmp .L483 |
| 5651 2e66 81E0 ldi r24,lo8(1) |
| 5652 2e68 8093 0000 sts Looping_Oben,r24 |
| 5653 2e6c 00C0 rjmp .L484 |
| 5654 .L483: |
| 5655 2e6e 8091 0000 lds r24,Looping_Oben |
| 5656 2e72 8823 tst r24 |
| 5657 2e74 01F0 breq .L484 |
| 5658 2e76 EC2D mov r30,r12 |
| 5659 2e78 FF27 clr r31 |
| 5660 2e7a EE0F add r30,r30 |
| 5661 2e7c FF1F adc r31,r31 |
| 5662 2e7e E050 subi r30,lo8(-(PPM_in)) |
| 5663 2e80 F040 sbci r31,hi8(-(PPM_in)) |
| 5664 2e82 842F mov r24,r20 |
| 5665 2e84 9927 clr r25 |
| 5666 2e86 2091 0000 lds r18,EE_Parameter+61 |
| 5667 2e8a 821B sub r24,r18 |
| 5668 2e8c 9109 sbc r25,__zero_reg__ |
| 5669 2e8e 2081 ld r18,Z |
| 5670 2e90 3181 ldd r19,Z+1 |
| 5671 2e92 2817 cp r18,r24 |
| 5672 2e94 3907 cpc r19,r25 |
| 5673 2e96 04F4 brge .L484 |
| 5674 2e98 1092 0000 sts Looping_Oben,__zero_reg__ |
| 5675 .L484: |
| 5676 2e9c 4091 0000 lds r20,EE_Parameter+1 |
| 5677 2ea0 E42F mov r30,r20 |
| 5678 2ea2 FF27 clr r31 |
| 5679 2ea4 EE0F add r30,r30 |
| 5680 2ea6 FF1F adc r31,r31 |
| 5681 2ea8 E050 subi r30,lo8(-(PPM_in)) |
| 5682 2eaa F040 sbci r31,hi8(-(PPM_in)) |
| 5683 2eac 5091 0000 lds r21,EE_Parameter+60 |
| 5684 2eb0 852F mov r24,r21 |
| 5685 2eb2 9927 clr r25 |
| 5686 2eb4 2227 clr r18 |
| 5687 2eb6 3327 clr r19 |
| 5688 2eb8 281B sub r18,r24 |
| 5689 2eba 390B sbc r19,r25 |
| 5690 2ebc 8081 ld r24,Z |
| 5691 2ebe 9181 ldd r25,Z+1 |
| 5692 2ec0 8217 cp r24,r18 |
| 5693 2ec2 9307 cpc r25,r19 |
| 5694 2ec4 04F4 brge .L487 |
| 5695 2ec6 8091 0000 lds r24,EE_Parameter+108 |
| 5696 2eca 81FF sbrs r24,1 |
| 5697 2ecc 00C0 rjmp .L487 |
| 5698 2ece 81E0 ldi r24,lo8(1) |
| 5699 2ed0 8093 0000 sts Looping_Unten,r24 |
| 5700 2ed4 00C0 rjmp .L488 |
| 5701 .L487: |
| 5702 2ed6 8091 0000 lds r24,Looping_Unten |
| 5703 2eda 8823 tst r24 |
| 5704 2edc 01F0 breq .L488 |
| 5705 2ede E42F mov r30,r20 |
| 5706 2ee0 FF27 clr r31 |
| 5707 2ee2 EE0F add r30,r30 |
| 5708 2ee4 FF1F adc r31,r31 |
| 5709 2ee6 E050 subi r30,lo8(-(PPM_in)) |
| 5710 2ee8 F040 sbci r31,hi8(-(PPM_in)) |
| 5711 2eea 8091 0000 lds r24,EE_Parameter+61 |
| 5712 2eee 9927 clr r25 |
| 5713 2ef0 851B sub r24,r21 |
| 5714 2ef2 9109 sbc r25,__zero_reg__ |
| 5715 2ef4 2081 ld r18,Z |
| 5716 2ef6 3181 ldd r19,Z+1 |
| 5717 2ef8 8217 cp r24,r18 |
| 5718 2efa 9307 cpc r25,r19 |
| 5719 2efc 04F4 brge .L488 |
| 5720 2efe 1092 0000 sts Looping_Unten,__zero_reg__ |
| 5721 .L488: |
| 5722 2f02 8091 0000 lds r24,Looping_Links |
| 5723 2f06 8823 tst r24 |
| 5724 2f08 01F4 brne .L492 |
| 5725 2f0a 8091 0000 lds r24,Looping_Rechts |
| 5726 2f0e 8111 cpse r24,__zero_reg__ |
| 5727 .L492: |
| 5728 2f10 81E0 ldi r24,lo8(1) |
| 5729 .L491: |
| 5730 2f12 8093 0000 sts Looping_Roll,r24 |
| 5731 2f16 8091 0000 lds r24,Looping_Oben |
| 5732 2f1a 8823 tst r24 |
| 5733 2f1c 01F4 brne .L495 |
| 5734 2f1e 8091 0000 lds r24,Looping_Unten |
| 5735 2f22 8823 tst r24 |
| 5736 2f24 01F0 breq .L494 |
| 5737 .L495: |
| 5738 2f26 81E0 ldi r24,lo8(1) |
| 5739 2f28 8093 0000 sts Looping_Nick,r24 |
| 5740 2f2c 1092 0000 sts Looping_Roll,__zero_reg__ |
| 5741 2f30 1092 0000 sts Looping_Links,__zero_reg__ |
| 5742 2f34 1092 0000 sts Looping_Rechts,__zero_reg__ |
| 5743 2f38 00C0 rjmp .L436 |
| 5744 .L494: |
| 5745 2f3a 8093 0000 sts Looping_Nick,r24 |
| 5746 .L436: |
| 5747 2f3e 8091 0000 lds r24,Looping_Roll |
| 5748 2f42 8823 tst r24 |
| 5749 2f44 01F4 brne .L498 |
| 5750 2f46 8091 0000 lds r24,Looping_Nick |
| 5751 2f4a 8823 tst r24 |
| 5752 2f4c 01F0 breq .L497 |
| 5753 .L498: |
| 5754 2f4e 8091 0000 lds r24,EE_Parameter+59 |
| 5755 2f52 9927 clr r25 |
| 5756 2f54 2981 ldd r18,Y+1 |
| 5757 2f56 3A81 ldd r19,Y+2 |
| 5758 2f58 8217 cp r24,r18 |
| 5759 2f5a 9307 cpc r25,r19 |
| 5760 2f5c 04F4 brge .L499 |
| 5761 2f5e 9A83 std Y+2,r25 |
| 5762 2f60 8983 std Y+1,r24 |
| 5763 .L499: |
| 5764 2f62 81E0 ldi r24,lo8(1) |
| 5765 2f64 8093 0000 sts TrichterFlug,r24 |
| 5766 .L497: |
| 5767 2f68 8091 0000 lds r24,FC_StatusFlags2 |
| 5768 2f6c 9927 clr r25 |
| 5769 2f6e 9C01 movw r18,r24 |
| 5770 2f70 2470 andi r18,lo8(4) |
| 5771 2f72 3070 andi r19,hi8(4) |
| 5772 2f74 82FF sbrs r24,2 |
| 5773 2f76 00C0 rjmp .L500 |
| 5774 2f78 8091 0000 lds r24,GPS_Nick |
| 5775 2f7c 9091 0000 lds r25,(GPS_Nick)+1 |
| 5776 2f80 9095 com r25 |
| 5777 2f82 8195 neg r24 |
| 5778 2f84 9F4F sbci r25,lo8(-1) |
| 5779 2f86 9093 0000 sts (StickNick)+1,r25 |
| 5780 2f8a 8093 0000 sts StickNick,r24 |
| 5781 2f8e 8091 0000 lds r24,GPS_Roll |
| 5782 2f92 9091 0000 lds r25,(GPS_Roll)+1 |
| 5783 2f96 9095 com r25 |
| 5784 2f98 8195 neg r24 |
| 5785 2f9a 9F4F sbci r25,lo8(-1) |
| 5786 2f9c 9093 0000 sts (StickRoll)+1,r25 |
| 5787 2fa0 8093 0000 sts StickRoll,r24 |
| 5788 2fa4 8091 0000 lds r24,StickGasHover |
| 5789 2fa8 9091 0000 lds r25,(StickGasHover)+1 |
| 5790 2fac 9093 0000 sts (StickGas)+1,r25 |
| 5791 2fb0 8093 0000 sts StickGas,r24 |
| 5792 2fb4 8091 0000 lds r24,Parameter_GlobalConfig |
| 5793 2fb8 8B77 andi r24,lo8(123) |
| 5794 2fba 8B66 ori r24,lo8(107) |
| 5795 2fbc 8093 0000 sts Parameter_GlobalConfig,r24 |
| 5796 2fc0 8091 0000 lds r24,Parameter_ExtraConfig |
| 5797 2fc4 8C7B andi r24,lo8(-68) |
| 5798 2fc6 8093 0000 sts Parameter_ExtraConfig,r24 |
| 5799 2fca 88EC ldi r24,lo8(-56) |
| 5800 2fcc 8093 0000 sts Parameter_HoehenSchalter,r24 |
| 5801 2fd0 00C0 rjmp .L501 |
| 5802 .L500: |
| 5803 2fd2 8091 0000 lds r24,FC_StatusFlags |
| 5804 2fd6 84FF sbrs r24,4 |
| 5805 2fd8 00C0 rjmp .L501 |
| 5806 2fda 3093 0000 sts (StickGier)+1,r19 |
| 5807 2fde 2093 0000 sts StickGier,r18 |
| 5808 2fe2 3093 0000 sts (StickNick)+1,r19 |
| 5809 2fe6 2093 0000 sts StickNick,r18 |
| 5810 2fea 3093 0000 sts (StickRoll)+1,r19 |
| 5811 2fee 2093 0000 sts StickRoll,r18 |
| 5812 2ff2 9AE5 ldi r25,lo8(90) |
| 5813 2ff4 9093 0000 sts GyroFaktor,r25 |
| 5814 2ff8 88E7 ldi r24,lo8(120) |
| 5815 2ffa 8093 0000 sts IntegralFaktor,r24 |
| 5816 2ffe 9093 0000 sts GyroFaktorGier,r25 |
| 5817 3002 8093 0000 sts IntegralFaktorGier,r24 |
| 5818 3006 1092 0000 sts Looping_Roll,__zero_reg__ |
| 5819 300a 1092 0000 sts Looping_Nick,__zero_reg__ |
| 5820 .L501: |
| 5821 300e 8091 0000 lds r24,MittelIntegralNick |
| 5822 3012 9091 0000 lds r25,(MittelIntegralNick)+1 |
| 5823 3016 A091 0000 lds r26,(MittelIntegralNick)+2 |
| 5824 301a B091 0000 lds r27,(MittelIntegralNick)+3 |
| 5825 301e 2091 0000 lds r18,IntegralNick |
| 5826 3022 3091 0000 lds r19,(IntegralNick)+1 |
| 5827 3026 4091 0000 lds r20,(IntegralNick)+2 |
| 5828 302a 5091 0000 lds r21,(IntegralNick)+3 |
| 5829 302e 820F add r24,r18 |
| 5830 3030 931F adc r25,r19 |
| 5831 3032 A41F adc r26,r20 |
| 5832 3034 B51F adc r27,r21 |
| 5833 3036 8093 0000 sts MittelIntegralNick,r24 |
| 5834 303a 9093 0000 sts (MittelIntegralNick)+1,r25 |
| 5835 303e A093 0000 sts (MittelIntegralNick)+2,r26 |
| 5836 3042 B093 0000 sts (MittelIntegralNick)+3,r27 |
| 5837 3046 8091 0000 lds r24,MittelIntegralRoll |
| 5838 304a 9091 0000 lds r25,(MittelIntegralRoll)+1 |
| 5839 304e A091 0000 lds r26,(MittelIntegralRoll)+2 |
| 5840 3052 B091 0000 lds r27,(MittelIntegralRoll)+3 |
| 5841 3056 E090 0000 lds r14,IntegralRoll |
| 5842 305a F090 0000 lds r15,(IntegralRoll)+1 |
| 5843 305e 0091 0000 lds r16,(IntegralRoll)+2 |
| 5844 3062 1091 0000 lds r17,(IntegralRoll)+3 |
| 5845 3066 EB82 std Y+3,r14 |
| 5846 3068 FC82 std Y+4,r15 |
| 5847 306a 0D83 std Y+5,r16 |
| 5848 306c 1E83 std Y+6,r17 |
| 5849 306e 8E0D add r24,r14 |
| 5850 3070 9F1D adc r25,r15 |
| 5851 3072 A01F adc r26,r16 |
| 5852 3074 B11F adc r27,r17 |
| 5853 3076 8093 0000 sts MittelIntegralRoll,r24 |
| 5854 307a 9093 0000 sts (MittelIntegralRoll)+1,r25 |
| 5855 307e A093 0000 sts (MittelIntegralRoll)+2,r26 |
| 5856 3082 B093 0000 sts (MittelIntegralRoll)+3,r27 |
| 5857 3086 8091 0000 lds r24,MittelIntegralNick2 |
| 5858 308a 9091 0000 lds r25,(MittelIntegralNick2)+1 |
| 5859 308e A091 0000 lds r26,(MittelIntegralNick2)+2 |
| 5860 3092 B091 0000 lds r27,(MittelIntegralNick2)+3 |
| 5861 3096 E090 0000 lds r14,IntegralNick2 |
| 5862 309a F090 0000 lds r15,(IntegralNick2)+1 |
| 5863 309e 0091 0000 lds r16,(IntegralNick2)+2 |
| 5864 30a2 1091 0000 lds r17,(IntegralNick2)+3 |
| 5865 30a6 EF82 std Y+7,r14 |
| 5866 30a8 F886 std Y+8,r15 |
| 5867 30aa 0987 std Y+9,r16 |
| 5868 30ac 1A87 std Y+10,r17 |
| 5869 30ae 8E0D add r24,r14 |
| 5870 30b0 9F1D adc r25,r15 |
| 5871 30b2 A01F adc r26,r16 |
| 5872 30b4 B11F adc r27,r17 |
| 5873 30b6 8093 0000 sts MittelIntegralNick2,r24 |
| 5874 30ba 9093 0000 sts (MittelIntegralNick2)+1,r25 |
| 5875 30be A093 0000 sts (MittelIntegralNick2)+2,r26 |
| 5876 30c2 B093 0000 sts (MittelIntegralNick2)+3,r27 |
| 5877 30c6 8091 0000 lds r24,MittelIntegralRoll2 |
| 5878 30ca 9091 0000 lds r25,(MittelIntegralRoll2)+1 |
| 5879 30ce A091 0000 lds r26,(MittelIntegralRoll2)+2 |
| 5880 30d2 B091 0000 lds r27,(MittelIntegralRoll2)+3 |
| 5881 30d6 E090 0000 lds r14,IntegralRoll2 |
| 5882 30da F090 0000 lds r15,(IntegralRoll2)+1 |
| 5883 30de 0091 0000 lds r16,(IntegralRoll2)+2 |
| 5884 30e2 1091 0000 lds r17,(IntegralRoll2)+3 |
| 5885 30e6 EB86 std Y+11,r14 |
| 5886 30e8 FC86 std Y+12,r15 |
| 5887 30ea 0D87 std Y+13,r16 |
| 5888 30ec 1E87 std Y+14,r17 |
| 5889 30ee 8E0D add r24,r14 |
| 5890 30f0 9F1D adc r25,r15 |
| 5891 30f2 A01F adc r26,r16 |
| 5892 30f4 B11F adc r27,r17 |
| 5893 30f6 8093 0000 sts MittelIntegralRoll2,r24 |
| 5894 30fa 9093 0000 sts (MittelIntegralRoll2)+1,r25 |
| 5895 30fe A093 0000 sts (MittelIntegralRoll2)+2,r26 |
| 5896 3102 B093 0000 sts (MittelIntegralRoll2)+3,r27 |
| 5897 3106 F090 0000 lds r15,Looping_Nick |
| 5898 310a FF86 std Y+15,r15 |
| 5899 310c FF20 tst r15 |
| 5900 310e 01F4 brne .L504 |
| 5901 3110 8091 0000 lds r24,Looping_Roll |
| 5902 3114 8823 tst r24 |
| 5903 3116 01F4 brne .+2 |
| 5904 3118 00C0 rjmp .L886 |
| 5905 .L504: |
| 5906 311a 1092 0000 sts IntegralAccNick,__zero_reg__ |
| 5907 311e 1092 0000 sts (IntegralAccNick)+1,__zero_reg__ |
| 5908 3122 1092 0000 sts (IntegralAccNick)+2,__zero_reg__ |
| 5909 3126 1092 0000 sts (IntegralAccNick)+3,__zero_reg__ |
| 5910 312a 1092 0000 sts IntegralAccRoll,__zero_reg__ |
| 5911 312e 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__ |
| 5912 3132 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__ |
| 5913 3136 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__ |
| 5914 313a 1092 0000 sts MittelIntegralNick,__zero_reg__ |
| 5915 313e 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__ |
| 5916 3142 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__ |
| 5917 3146 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__ |
| 5918 314a 1092 0000 sts MittelIntegralRoll,__zero_reg__ |
| 5919 314e 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__ |
| 5920 3152 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__ |
| 5921 3156 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__ |
| 5922 315a 1092 0000 sts MittelIntegralNick2,__zero_reg__ |
| 5923 315e 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__ |
| 5924 3162 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__ |
| 5925 3166 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__ |
| 5926 316a 1092 0000 sts MittelIntegralRoll2,__zero_reg__ |
| 5927 316e 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__ |
| 5928 3172 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__ |
| 5929 3176 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__ |
| 5930 317a 8091 0000 lds r24,Mess_IntegralNick |
| 5931 317e 9091 0000 lds r25,(Mess_IntegralNick)+1 |
| 5932 3182 A091 0000 lds r26,(Mess_IntegralNick)+2 |
| 5933 3186 B091 0000 lds r27,(Mess_IntegralNick)+3 |
| 5934 318a 8093 0000 sts Mess_IntegralNick2,r24 |
| 5935 318e 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
| 5936 3192 A093 0000 sts (Mess_IntegralNick2)+2,r26 |
| 5937 3196 B093 0000 sts (Mess_IntegralNick2)+3,r27 |
| 5938 319a 8091 0000 lds r24,Mess_IntegralRoll |
| 5939 319e 9091 0000 lds r25,(Mess_IntegralRoll)+1 |
| 5940 31a2 A091 0000 lds r26,(Mess_IntegralRoll)+2 |
| 5941 31a6 B091 0000 lds r27,(Mess_IntegralRoll)+3 |
| 5942 31aa 8093 0000 sts Mess_IntegralRoll2,r24 |
| 5943 31ae 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
| 5944 31b2 A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
| 5945 31b6 B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
| 5946 31ba 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__ |
| 5947 31be 1092 0000 sts ZaehlMessungen,__zero_reg__ |
| 5948 31c2 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__ |
| 5949 31c6 1092 0000 sts LageKorrekturNick,__zero_reg__ |
| 5950 31ca 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__ |
| 5951 31ce 1092 0000 sts LageKorrekturRoll,__zero_reg__ |
| 5952 31d2 0F85 ldd r16,Y+15 |
| 5953 31d4 0023 tst r16 |
| 5954 31d6 01F0 breq .+2 |
| 5955 31d8 00C0 rjmp .L505 |
| 5956 .L886: |
| 5957 31da 8091 0000 lds r24,Looping_Roll |
| 5958 31de 8823 tst r24 |
| 5959 31e0 01F0 breq .+2 |
| 5960 31e2 00C0 rjmp .L505 |
| 5961 31e4 8091 0000 lds r24,Aktuell_az |
| 5962 31e8 9091 0000 lds r25,(Aktuell_az)+1 |
| 5963 31ec 8150 subi r24,lo8(513) |
| 5964 31ee 9240 sbci r25,hi8(513) |
| 5965 31f0 04F4 brge .L506 |
| 5966 31f2 8091 0000 lds r24,MotorenEin |
| 5967 31f6 8823 tst r24 |
| 5968 31f8 01F4 brne .+2 |
| 5969 31fa 00C0 rjmp .L505 |
| 5970 .L506: |
| 5971 31fc 9090 0000 lds r9,FromNaviCtrl_Value |
| 5972 3200 A090 0000 lds r10,EE_Parameter+28 |
| 5973 3204 2090 0000 lds r2,Mittelwert_AccNick |
| 5974 3208 3090 0000 lds r3,(Mittelwert_AccNick)+1 |
| 5975 320c 4090 0000 lds r4,Mittelwert_AccRoll |
| 5976 3210 5090 0000 lds r5,(Mittelwert_AccRoll)+1 |
| 5977 3214 1914 cp __zero_reg__,r9 |
| 5978 3216 04F0 brlt .+2 |
| 5979 3218 00C0 rjmp .L507 |
| 5980 321a BB24 clr r11 |
| 5981 321c CC24 clr r12 |
| 5982 321e DD24 clr r13 |
| 5983 3220 CA01 movw r24,r20 |
| 5984 3222 B901 movw r22,r18 |
| 5985 3224 A601 movw r20,r12 |
| 5986 3226 9501 movw r18,r10 |
| 5987 3228 0E94 0000 call __divmodsi4 |
| 5988 322c 7901 movw r14,r18 |
| 5989 322e 8A01 movw r16,r20 |
| 5990 3230 8091 0000 lds r24,FromNaviCtrl+9 |
| 5991 3234 9091 0000 lds r25,(FromNaviCtrl+9)+1 |
| 5992 3238 281A sub r2,r24 |
| 5993 323a 390A sbc r3,r25 |
| 5994 323c C101 movw r24,r2 |
| 5995 323e AA27 clr r26 |
| 5996 3240 97FD sbrc r25,7 |
| 5997 3242 A095 com r26 |
| 5998 3244 BA2F mov r27,r26 |
| 5999 3246 E81A sub r14,r24 |
| 6000 3248 F90A sbc r15,r25 |
| 6001 324a 0A0B sbc r16,r26 |
| 6002 324c 1B0B sbc r17,r27 |
| 6003 324e 6B81 ldd r22,Y+3 |
| 6004 3250 7C81 ldd r23,Y+4 |
| 6005 3252 8D81 ldd r24,Y+5 |
| 6006 3254 9E81 ldd r25,Y+6 |
| 6007 3256 A601 movw r20,r12 |
| 6008 3258 9501 movw r18,r10 |
| 6009 325a 0E94 0000 call __divmodsi4 |
| 6010 325e 5901 movw r10,r18 |
| 6011 3260 6A01 movw r12,r20 |
| 6012 3262 8091 0000 lds r24,FromNaviCtrl+11 |
| 6013 3266 9091 0000 lds r25,(FromNaviCtrl+11)+1 |
| 6014 326a 481A sub r4,r24 |
| 6015 326c 590A sbc r5,r25 |
| 6016 326e C201 movw r24,r4 |
| 6017 3270 AA27 clr r26 |
| 6018 3272 97FD sbrc r25,7 |
| 6019 3274 A095 com r26 |
| 6020 3276 BA2F mov r27,r26 |
| 6021 3278 A81A sub r10,r24 |
| 6022 327a B90A sbc r11,r25 |
| 6023 327c CA0A sbc r12,r26 |
| 6024 327e DB0A sbc r13,r27 |
| 6025 3280 292C mov r2,r9 |
| 6026 3282 3324 clr r3 |
| 6027 3284 27FC sbrc r2,7 |
| 6028 3286 3094 com r3 |
| 6029 3288 432C mov r4,r3 |
| 6030 328a 532C mov r5,r3 |
| 6031 328c C801 movw r24,r16 |
| 6032 328e B701 movw r22,r14 |
| 6033 3290 A201 movw r20,r4 |
| 6034 3292 9101 movw r18,r2 |
| 6035 3294 0E94 0000 call __mulsi3 |
| 6036 3298 97FF sbrs r25,7 |
| 6037 329a 00C0 rjmp .L508 |
| 6038 329c 6150 subi r22,lo8(-(511)) |
| 6039 329e 7E4F sbci r23,hi8(-(511)) |
| 6040 32a0 8F4F sbci r24,hlo8(-(511)) |
| 6041 32a2 9F4F sbci r25,hhi8(-(511)) |
| 6042 .L508: |
| 6043 32a4 3B01 movw r6,r22 |
| 6044 32a6 4C01 movw r8,r24 |
| 6045 32a8 09E0 ldi r16,9 |
| 6046 32aa 9594 1: asr r9 |
| 6047 32ac 8794 ror r8 |
| 6048 32ae 7794 ror r7 |
| 6049 32b0 6794 ror r6 |
| 6050 32b2 0A95 dec r16 |
| 6051 32b4 01F4 brne 1b |
| 6052 32b6 C601 movw r24,r12 |
| 6053 32b8 B501 movw r22,r10 |
| 6054 32ba A201 movw r20,r4 |
| 6055 32bc 9101 movw r18,r2 |
| 6056 32be 0E94 0000 call __mulsi3 |
| 6057 32c2 97FF sbrs r25,7 |
| 6058 32c4 00C0 rjmp .L509 |
| 6059 32c6 6150 subi r22,lo8(-(511)) |
| 6060 32c8 7E4F sbci r23,hi8(-(511)) |
| 6061 32ca 8F4F sbci r24,hlo8(-(511)) |
| 6062 32cc 9F4F sbci r25,hhi8(-(511)) |
| 6063 .L509: |
| 6064 32ce 5B01 movw r10,r22 |
| 6065 32d0 6C01 movw r12,r24 |
| 6066 32d2 19E0 ldi r17,9 |
| 6067 32d4 D594 1: asr r13 |
| 6068 32d6 C794 ror r12 |
| 6069 32d8 B794 ror r11 |
| 6070 32da A794 ror r10 |
| 6071 32dc 1A95 dec r17 |
| 6072 32de 01F4 brne 1b |
| 6073 32e0 8091 0000 lds r24,MaxStickNick |
| 6074 32e4 9091 0000 lds r25,(MaxStickNick)+1 |
| 6075 32e8 8134 cpi r24,65 |
| 6076 32ea 9105 cpc r25,__zero_reg__ |
| 6077 32ec 04F4 brge .L511 |
| 6078 32ee 8091 0000 lds r24,MaxStickRoll |
| 6079 32f2 9091 0000 lds r25,(MaxStickRoll)+1 |
| 6080 32f6 8134 cpi r24,65 |
| 6081 32f8 9105 cpc r25,__zero_reg__ |
| 6082 32fa 04F0 brlt .L510 |
| 6083 .L511: |
| 6084 32fc D401 movw r26,r8 |
| 6085 32fe C301 movw r24,r6 |
| 6086 3300 97FE sbrs r9,7 |
| 6087 3302 00C0 rjmp .L512 |
| 6088 3304 0196 adiw r24,1 |
| 6089 3306 A11D adc r26,__zero_reg__ |
| 6090 3308 B11D adc r27,__zero_reg__ |
| 6091 .L512: |
| 6092 330a 3C01 movw r6,r24 |
| 6093 330c 4D01 movw r8,r26 |
| 6094 330e 9594 asr r9 |
| 6095 3310 8794 ror r8 |
| 6096 3312 7794 ror r7 |
| 6097 3314 6794 ror r6 |
| 6098 3316 D601 movw r26,r12 |
| 6099 3318 C501 movw r24,r10 |
| 6100 331a D7FE sbrs r13,7 |
| 6101 331c 00C0 rjmp .L513 |
| 6102 331e 0196 adiw r24,1 |
| 6103 3320 A11D adc r26,__zero_reg__ |
| 6104 3322 B11D adc r27,__zero_reg__ |
| 6105 .L513: |
| 6106 3324 5C01 movw r10,r24 |
| 6107 3326 6D01 movw r12,r26 |
| 6108 3328 D594 asr r13 |
| 6109 332a C794 ror r12 |
| 6110 332c B794 ror r11 |
| 6111 332e A794 ror r10 |
| 6112 .L510: |
| 6113 3330 8091 0000 lds r24,FromNaviCtrl_Value+2 |
| 6114 3334 282F mov r18,r24 |
| 6115 3336 3327 clr r19 |
| 6116 3338 27FD sbrc r18,7 |
| 6117 333a 3095 com r19 |
| 6118 333c 432F mov r20,r19 |
| 6119 333e 532F mov r21,r19 |
| 6120 3340 2615 cp r18,r6 |
| 6121 3342 3705 cpc r19,r7 |
| 6122 3344 4805 cpc r20,r8 |
| 6123 3346 5905 cpc r21,r9 |
| 6124 3348 04F4 brge .L514 |
| 6125 334a 3901 movw r6,r18 |
| 6126 334c 4A01 movw r8,r20 |
| 6127 .L514: |
| 6128 334e 9927 clr r25 |
| 6129 3350 87FD sbrc r24,7 |
| 6130 3352 9095 com r25 |
| 6131 3354 9095 com r25 |
| 6132 3356 8195 neg r24 |
| 6133 3358 9F4F sbci r25,lo8(-1) |
| 6134 335a AA27 clr r26 |
| 6135 335c 97FD sbrc r25,7 |
| 6136 335e A095 com r26 |
| 6137 3360 BA2F mov r27,r26 |
| 6138 3362 6816 cp r6,r24 |
| 6139 3364 7906 cpc r7,r25 |
| 6140 3366 8A06 cpc r8,r26 |
| 6141 3368 9B06 cpc r9,r27 |
| 6142 336a 04F4 brge .L515 |
| 6143 336c 3C01 movw r6,r24 |
| 6144 336e 4D01 movw r8,r26 |
| 6145 .L515: |
| 6146 3370 2A15 cp r18,r10 |
| 6147 3372 3B05 cpc r19,r11 |
| 6148 3374 4C05 cpc r20,r12 |
| 6149 3376 5D05 cpc r21,r13 |
| 6150 3378 04F4 brge .L516 |
| 6151 337a 5901 movw r10,r18 |
| 6152 337c 6A01 movw r12,r20 |
| 6153 .L516: |
| 6154 337e A816 cp r10,r24 |
| 6155 3380 B906 cpc r11,r25 |
| 6156 3382 CA06 cpc r12,r26 |
| 6157 3384 DB06 cpc r13,r27 |
| 6158 3386 04F0 brlt .+2 |
| 6159 3388 00C0 rjmp .L518 |
| 6160 338a 5C01 movw r10,r24 |
| 6161 338c 6D01 movw r12,r26 |
| 6162 338e 00C0 rjmp .L518 |
| 6163 .L507: |
| 6164 3390 EA2C mov r14,r10 |
| 6165 3392 FF24 clr r15 |
| 6166 3394 0027 clr r16 |
| 6167 3396 1127 clr r17 |
| 6168 3398 CA01 movw r24,r20 |
| 6169 339a B901 movw r22,r18 |
| 6170 339c A801 movw r20,r16 |
| 6171 339e 9701 movw r18,r14 |
| 6172 33a0 0E94 0000 call __divmodsi4 |
| 6173 33a4 3901 movw r6,r18 |
| 6174 33a6 4A01 movw r8,r20 |
| 6175 33a8 C101 movw r24,r2 |
| 6176 33aa AA27 clr r26 |
| 6177 33ac 97FD sbrc r25,7 |
| 6178 33ae A095 com r26 |
| 6179 33b0 BA2F mov r27,r26 |
| 6180 33b2 681A sub r6,r24 |
| 6181 33b4 790A sbc r7,r25 |
| 6182 33b6 8A0A sbc r8,r26 |
| 6183 33b8 9B0A sbc r9,r27 |
| 6184 33ba 6B81 ldd r22,Y+3 |
| 6185 33bc 7C81 ldd r23,Y+4 |
| 6186 33be 8D81 ldd r24,Y+5 |
| 6187 33c0 9E81 ldd r25,Y+6 |
| 6188 33c2 A801 movw r20,r16 |
| 6189 33c4 9701 movw r18,r14 |
| 6190 33c6 0E94 0000 call __divmodsi4 |
| 6191 33ca 5901 movw r10,r18 |
| 6192 33cc 6A01 movw r12,r20 |
| 6193 33ce C201 movw r24,r4 |
| 6194 33d0 AA27 clr r26 |
| 6195 33d2 97FD sbrc r25,7 |
| 6196 33d4 A095 com r26 |
| 6197 33d6 BA2F mov r27,r26 |
| 6198 33d8 A81A sub r10,r24 |
| 6199 33da B90A sbc r11,r25 |
| 6200 33dc CA0A sbc r12,r26 |
| 6201 33de DB0A sbc r13,r27 |
| 6202 33e0 D401 movw r26,r8 |
| 6203 33e2 C301 movw r24,r6 |
| 6204 33e4 97FE sbrs r9,7 |
| 6205 33e6 00C0 rjmp .L519 |
| 6206 33e8 0F96 adiw r24,15 |
| 6207 33ea A11D adc r26,__zero_reg__ |
| 6208 33ec B11D adc r27,__zero_reg__ |
| 6209 .L519: |
| 6210 33ee 3C01 movw r6,r24 |
| 6211 33f0 4D01 movw r8,r26 |
| 6212 33f2 F4E0 ldi r31,4 |
| 6213 33f4 9594 1: asr r9 |
| 6214 33f6 8794 ror r8 |
| 6215 33f8 7794 ror r7 |
| 6216 33fa 6794 ror r6 |
| 6217 33fc FA95 dec r31 |
| 6218 33fe 01F4 brne 1b |
| 6219 3400 D601 movw r26,r12 |
| 6220 3402 C501 movw r24,r10 |
| 6221 3404 D7FE sbrs r13,7 |
| 6222 3406 00C0 rjmp .L520 |
| 6223 3408 0F96 adiw r24,15 |
| 6224 340a A11D adc r26,__zero_reg__ |
| 6225 340c B11D adc r27,__zero_reg__ |
| 6226 .L520: |
| 6227 340e 5C01 movw r10,r24 |
| 6228 3410 6D01 movw r12,r26 |
| 6229 3412 E4E0 ldi r30,4 |
| 6230 3414 D594 1: asr r13 |
| 6231 3416 C794 ror r12 |
| 6232 3418 B794 ror r11 |
| 6233 341a A794 ror r10 |
| 6234 341c EA95 dec r30 |
| 6235 341e 01F4 brne 1b |
| 6236 3420 8091 0000 lds r24,MaxStickNick |
| 6237 3424 9091 0000 lds r25,(MaxStickNick)+1 |
| 6238 3428 8134 cpi r24,65 |
| 6239 342a 9105 cpc r25,__zero_reg__ |
| 6240 342c 04F4 brge .L522 |
| 6241 342e 8091 0000 lds r24,MaxStickRoll |
| 6242 3432 9091 0000 lds r25,(MaxStickRoll)+1 |
| 6243 3436 8134 cpi r24,65 |
| 6244 3438 9105 cpc r25,__zero_reg__ |
| 6245 343a 04F0 brlt .L521 |
| 6246 .L522: |
| 6247 343c C401 movw r24,r8 |
| 6248 343e B301 movw r22,r6 |
| 6249 3440 23E0 ldi r18,lo8(3) |
| 6250 3442 30E0 ldi r19,hi8(3) |
| 6251 3444 40E0 ldi r20,hlo8(3) |
| 6252 3446 50E0 ldi r21,hhi8(3) |
| 6253 3448 0E94 0000 call __divmodsi4 |
| 6254 344c 3901 movw r6,r18 |
| 6255 344e 4A01 movw r8,r20 |
| 6256 3450 C601 movw r24,r12 |
| 6257 3452 B501 movw r22,r10 |
| 6258 3454 23E0 ldi r18,lo8(3) |
| 6259 3456 30E0 ldi r19,hi8(3) |
| 6260 3458 40E0 ldi r20,hlo8(3) |
| 6261 345a 50E0 ldi r21,hhi8(3) |
| 6262 345c 0E94 0000 call __divmodsi4 |
| 6263 3460 5901 movw r10,r18 |
| 6264 3462 6A01 movw r12,r20 |
| 6265 .L521: |
| 6266 3464 8091 0000 lds r24,EE_Parameter+4 |
| 6267 3468 E82F mov r30,r24 |
| 6268 346a FF27 clr r31 |
| 6269 346c EE0F add r30,r30 |
| 6270 346e FF1F adc r31,r31 |
| 6271 3470 E050 subi r30,lo8(-(PPM_in)) |
| 6272 3472 F040 sbci r31,hi8(-(PPM_in)) |
| 6273 3474 8081 ld r24,Z |
| 6274 3476 9181 ldd r25,Z+1 |
| 6275 3478 0190 ld __tmp_reg__,Z+ |
| 6276 347a F081 ld r31,Z |
| 6277 347c E02D mov r30,__tmp_reg__ |
| 6278 347e F7FF sbrs r31,7 |
| 6279 3480 00C0 rjmp .L524 |
| 6280 3482 F095 com r31 |
| 6281 3484 E195 neg r30 |
| 6282 3486 FF4F sbci r31,lo8(-1) |
| 6283 .L524: |
| 6284 3488 7A97 sbiw r30,26 |
| 6285 348a 04F0 brlt .L523 |
| 6286 348c C401 movw r24,r8 |
| 6287 348e B301 movw r22,r6 |
| 6288 3490 23E0 ldi r18,lo8(3) |
| 6289 3492 30E0 ldi r19,hi8(3) |
| 6290 3494 40E0 ldi r20,hlo8(3) |
| 6291 3496 50E0 ldi r21,hhi8(3) |
| 6292 3498 0E94 0000 call __divmodsi4 |
| 6293 349c 3901 movw r6,r18 |
| 6294 349e 4A01 movw r8,r20 |
| 6295 34a0 C601 movw r24,r12 |
| 6296 34a2 B501 movw r22,r10 |
| 6297 34a4 23E0 ldi r18,lo8(3) |
| 6298 34a6 30E0 ldi r19,hi8(3) |
| 6299 34a8 40E0 ldi r20,hlo8(3) |
| 6300 34aa 50E0 ldi r21,hhi8(3) |
| 6301 34ac 0E94 0000 call __divmodsi4 |
| 6302 34b0 5901 movw r10,r18 |
| 6303 34b2 6A01 movw r12,r20 |
| 6304 .L523: |
| 6305 34b4 89E1 ldi r24,lo8(25) |
| 6306 34b6 8093 0000 sts KompassFusion,r24 |
| 6307 34ba 21E2 ldi r18,lo8(33) |
| 6308 34bc 6216 cp r6,r18 |
| 6309 34be 7104 cpc r7,__zero_reg__ |
| 6310 34c0 8104 cpc r8,__zero_reg__ |
| 6311 34c2 9104 cpc r9,__zero_reg__ |
| 6312 34c4 04F0 brlt .L525 |
| 6313 34c6 70E2 ldi r23,lo8(32) |
| 6314 34c8 672E mov r6,r23 |
| 6315 34ca 712C mov r7,__zero_reg__ |
| 6316 34cc 812C mov r8,__zero_reg__ |
| 6317 34ce 912C mov r9,__zero_reg__ |
| 6318 .L525: |
| 6319 34d0 30EE ldi r19,lo8(-32) |
| 6320 34d2 6316 cp r6,r19 |
| 6321 34d4 3FEF ldi r19,hi8(-32) |
| 6322 34d6 7306 cpc r7,r19 |
| 6323 34d8 3FEF ldi r19,hlo8(-32) |
| 6324 34da 8306 cpc r8,r19 |
| 6325 34dc 3FEF ldi r19,hhi8(-32) |
| 6326 34de 9306 cpc r9,r19 |
| 6327 34e0 04F4 brge .L526 |
| 6328 34e2 60EE ldi r22,lo8(-32) |
| 6329 34e4 662E mov r6,r22 |
| 6330 34e6 6FEF ldi r22,hi8(-32) |
| 6331 34e8 762E mov r7,r22 |
| 6332 34ea 6FEF ldi r22,hlo8(-32) |
| 6333 34ec 862E mov r8,r22 |
| 6334 34ee 6FEF ldi r22,hhi8(-32) |
| 6335 34f0 962E mov r9,r22 |
| 6336 .L526: |
| 6337 34f2 41E2 ldi r20,lo8(33) |
| 6338 34f4 A416 cp r10,r20 |
| 6339 34f6 B104 cpc r11,__zero_reg__ |
| 6340 34f8 C104 cpc r12,__zero_reg__ |
| 6341 34fa D104 cpc r13,__zero_reg__ |
| 6342 34fc 04F0 brlt .L527 |
| 6343 34fe 50E2 ldi r21,lo8(32) |
| 6344 3500 A52E mov r10,r21 |
| 6345 3502 B12C mov r11,__zero_reg__ |
| 6346 3504 C12C mov r12,__zero_reg__ |
| 6347 3506 D12C mov r13,__zero_reg__ |
| 6348 .L527: |
| 6349 3508 50EE ldi r21,lo8(-32) |
| 6350 350a A516 cp r10,r21 |
| 6351 350c 5FEF ldi r21,hi8(-32) |
| 6352 350e B506 cpc r11,r21 |
| 6353 3510 5FEF ldi r21,hlo8(-32) |
| 6354 3512 C506 cpc r12,r21 |
| 6355 3514 5FEF ldi r21,hhi8(-32) |
| 6356 3516 D506 cpc r13,r21 |
| 6357 3518 04F4 brge .L518 |
| 6358 351a 40EE ldi r20,lo8(-32) |
| 6359 351c A42E mov r10,r20 |
| 6360 351e 4FEF ldi r20,hi8(-32) |
| 6361 3520 B42E mov r11,r20 |
| 6362 3522 4FEF ldi r20,hlo8(-32) |
| 6363 3524 C42E mov r12,r20 |
| 6364 3526 4FEF ldi r20,hhi8(-32) |
| 6365 3528 D42E mov r13,r20 |
| 6366 .L518: |
| 6367 352a 8091 0000 lds r24,Mess_IntegralNick |
| 6368 352e 9091 0000 lds r25,(Mess_IntegralNick)+1 |
| 6369 3532 A091 0000 lds r26,(Mess_IntegralNick)+2 |
| 6370 3536 B091 0000 lds r27,(Mess_IntegralNick)+3 |
| 6371 353a 8619 sub r24,r6 |
| 6372 353c 9709 sbc r25,r7 |
| 6373 353e A809 sbc r26,r8 |
| 6374 3540 B909 sbc r27,r9 |
| 6375 3542 8093 0000 sts Mess_IntegralNick,r24 |
| 6376 3546 9093 0000 sts (Mess_IntegralNick)+1,r25 |
| 6377 354a A093 0000 sts (Mess_IntegralNick)+2,r26 |
| 6378 354e B093 0000 sts (Mess_IntegralNick)+3,r27 |
| 6379 3552 8091 0000 lds r24,Mess_IntegralRoll |
| 6380 3556 9091 0000 lds r25,(Mess_IntegralRoll)+1 |
| 6381 355a A091 0000 lds r26,(Mess_IntegralRoll)+2 |
| 6382 355e B091 0000 lds r27,(Mess_IntegralRoll)+3 |
| 6383 3562 8A19 sub r24,r10 |
| 6384 3564 9B09 sbc r25,r11 |
| 6385 3566 AC09 sbc r26,r12 |
| 6386 3568 BD09 sbc r27,r13 |
| 6387 356a 8093 0000 sts Mess_IntegralRoll,r24 |
| 6388 356e 9093 0000 sts (Mess_IntegralRoll)+1,r25 |
| 6389 3572 A093 0000 sts (Mess_IntegralRoll)+2,r26 |
| 6390 3576 B093 0000 sts (Mess_IntegralRoll)+3,r27 |
| 6391 .L505: |
| 6392 357a 8091 0000 lds r24,ZaehlMessungen |
| 6393 357e 9091 0000 lds r25,(ZaehlMessungen)+1 |
| 6394 3582 8F3F cpi r24,255 |
| 6395 3584 9105 cpc r25,__zero_reg__ |
| 6396 3586 01F0 breq .+2 |
| 6397 3588 00F4 brsh .+2 |
| 6398 358a 00C0 rjmp .L529 |
| 6399 358c 6F85 ldd r22,Y+15 |
| 6400 358e 6623 tst r22 |
| 6401 3590 01F0 breq .+2 |
| 6402 3592 00C0 rjmp .L530 |
| 6403 3594 8091 0000 lds r24,Looping_Roll |
| 6404 3598 8823 tst r24 |
| 6405 359a 01F0 breq .+2 |
| 6406 359c 00C0 rjmp .L530 |
| 6407 359e 8091 0000 lds r24,TrichterFlug |
| 6408 35a2 8823 tst r24 |
| 6409 35a4 01F0 breq .+2 |
| 6410 35a6 00C0 rjmp .L530 |
| 6411 35a8 7091 0000 lds r23,EE_Parameter+68 |
| 6412 35ac 788B std Y+16,r23 |
| 6413 35ae 7723 tst r23 |
| 6414 35b0 01F4 brne .+2 |
| 6415 35b2 00C0 rjmp .L530 |
| 6416 35b4 8091 0000 lds r24,MittelIntegralNick |
| 6417 35b8 9091 0000 lds r25,(MittelIntegralNick)+1 |
| 6418 35bc A091 0000 lds r26,(MittelIntegralNick)+2 |
| 6419 35c0 B091 0000 lds r27,(MittelIntegralNick)+3 |
| 6420 35c4 B7FF sbrs r27,7 |
| 6421 35c6 00C0 rjmp .L531 |
| 6422 35c8 8150 subi r24,lo8(-(255)) |
| 6423 35ca 9F4F sbci r25,hi8(-(255)) |
| 6424 35cc AF4F sbci r26,hlo8(-(255)) |
| 6425 35ce BF4F sbci r27,hhi8(-(255)) |
| 6426 .L531: |
| 6427 35d0 E92E mov r14,r25 |
| 6428 35d2 FA2E mov r15,r26 |
| 6429 35d4 0B2F mov r16,r27 |
| 6430 35d6 1127 clr r17 |
| 6431 35d8 07FD sbrc r16,7 |
| 6432 35da 1A95 dec r17 |
| 6433 35dc E092 0000 sts MittelIntegralNick,r14 |
| 6434 35e0 F092 0000 sts (MittelIntegralNick)+1,r15 |
| 6435 35e4 0093 0000 sts (MittelIntegralNick)+2,r16 |
| 6436 35e8 1093 0000 sts (MittelIntegralNick)+3,r17 |
| 6437 35ec 8091 0000 lds r24,MittelIntegralRoll |
| 6438 35f0 9091 0000 lds r25,(MittelIntegralRoll)+1 |
| 6439 35f4 A091 0000 lds r26,(MittelIntegralRoll)+2 |
| 6440 35f8 B091 0000 lds r27,(MittelIntegralRoll)+3 |
| 6441 35fc B7FF sbrs r27,7 |
| 6442 35fe 00C0 rjmp .L532 |
| 6443 3600 8150 subi r24,lo8(-(255)) |
| 6444 3602 9F4F sbci r25,hi8(-(255)) |
| 6445 3604 AF4F sbci r26,hlo8(-(255)) |
| 6446 3606 BF4F sbci r27,hhi8(-(255)) |
| 6447 .L532: |
| 6448 3608 892F mov r24,r25 |
| 6449 360a 9A2F mov r25,r26 |
| 6450 360c AB2F mov r26,r27 |
| 6451 360e BB27 clr r27 |
| 6452 3610 A7FD sbrc r26,7 |
| 6453 3612 BA95 dec r27 |
| 6454 3614 898B std Y+17,r24 |
| 6455 3616 9A8B std Y+18,r25 |
| 6456 3618 AB8B std Y+19,r26 |
| 6457 361a BC8B std Y+20,r27 |
| 6458 361c 8093 0000 sts MittelIntegralRoll,r24 |
| 6459 3620 9093 0000 sts (MittelIntegralRoll)+1,r25 |
| 6460 3624 A093 0000 sts (MittelIntegralRoll)+2,r26 |
| 6461 3628 B093 0000 sts (MittelIntegralRoll)+3,r27 |
| 6462 362c 8091 0000 lds r24,EE_Parameter+28 |
| 6463 3630 A82E mov r10,r24 |
| 6464 3632 BB24 clr r11 |
| 6465 3634 CC24 clr r12 |
| 6466 3636 DD24 clr r13 |
| 6467 3638 2091 0000 lds r18,IntegralAccNick |
| 6468 363c 3091 0000 lds r19,(IntegralAccNick)+1 |
| 6469 3640 4091 0000 lds r20,(IntegralAccNick)+2 |
| 6470 3644 5091 0000 lds r21,(IntegralAccNick)+3 |
| 6471 3648 C601 movw r24,r12 |
| 6472 364a B501 movw r22,r10 |
| 6473 364c 0E94 0000 call __mulsi3 |
| 6474 3650 97FF sbrs r25,7 |
| 6475 3652 00C0 rjmp .L533 |
| 6476 3654 6150 subi r22,lo8(-(255)) |
| 6477 3656 7F4F sbci r23,hi8(-(255)) |
| 6478 3658 8F4F sbci r24,hlo8(-(255)) |
| 6479 365a 9F4F sbci r25,hhi8(-(255)) |
| 6480 .L533: |
| 6481 365c 672E mov r6,r23 |
| 6482 365e 782E mov r7,r24 |
| 6483 3660 892E mov r8,r25 |
| 6484 3662 9924 clr r9 |
| 6485 3664 87FC sbrc r8,7 |
| 6486 3666 9A94 dec r9 |
| 6487 3668 6092 0000 sts IntegralAccNick,r6 |
| 6488 366c 7092 0000 sts (IntegralAccNick)+1,r7 |
| 6489 3670 8092 0000 sts (IntegralAccNick)+2,r8 |
| 6490 3674 9092 0000 sts (IntegralAccNick)+3,r9 |
| 6491 3678 2091 0000 lds r18,IntegralAccRoll |
| 6492 367c 3091 0000 lds r19,(IntegralAccRoll)+1 |
| 6493 3680 4091 0000 lds r20,(IntegralAccRoll)+2 |
| 6494 3684 5091 0000 lds r21,(IntegralAccRoll)+3 |
| 6495 3688 C601 movw r24,r12 |
| 6496 368a B501 movw r22,r10 |
| 6497 368c 0E94 0000 call __mulsi3 |
| 6498 3690 97FF sbrs r25,7 |
| 6499 3692 00C0 rjmp .L534 |
| 6500 3694 6150 subi r22,lo8(-(255)) |
| 6501 3696 7F4F sbci r23,hi8(-(255)) |
| 6502 3698 8F4F sbci r24,hlo8(-(255)) |
| 6503 369a 9F4F sbci r25,hhi8(-(255)) |
| 6504 .L534: |
| 6505 369c 272E mov r2,r23 |
| 6506 369e 382E mov r3,r24 |
| 6507 36a0 492E mov r4,r25 |
| 6508 36a2 5524 clr r5 |
| 6509 36a4 47FC sbrc r4,7 |
| 6510 36a6 5A94 dec r5 |
| 6511 36a8 2092 0000 sts IntegralAccRoll,r2 |
| 6512 36ac 3092 0000 sts (IntegralAccRoll)+1,r3 |
| 6513 36b0 4092 0000 sts (IntegralAccRoll)+2,r4 |
| 6514 36b4 5092 0000 sts (IntegralAccRoll)+3,r5 |
| 6515 36b8 8091 0000 lds r24,IntegralAccZ |
| 6516 36bc 9091 0000 lds r25,(IntegralAccZ)+1 |
| 6517 36c0 A091 0000 lds r26,(IntegralAccZ)+2 |
| 6518 36c4 B091 0000 lds r27,(IntegralAccZ)+3 |
| 6519 36c8 B7FF sbrs r27,7 |
| 6520 36ca 00C0 rjmp .L535 |
| 6521 36cc 8150 subi r24,lo8(-(255)) |
| 6522 36ce 9F4F sbci r25,hi8(-(255)) |
| 6523 36d0 AF4F sbci r26,hlo8(-(255)) |
| 6524 36d2 BF4F sbci r27,hhi8(-(255)) |
| 6525 .L535: |
| 6526 36d4 892F mov r24,r25 |
| 6527 36d6 9A2F mov r25,r26 |
| 6528 36d8 AB2F mov r26,r27 |
| 6529 36da BB27 clr r27 |
| 6530 36dc A7FD sbrc r26,7 |
| 6531 36de BA95 dec r27 |
| 6532 36e0 8093 0000 sts IntegralAccZ,r24 |
| 6533 36e4 9093 0000 sts (IntegralAccZ)+1,r25 |
| 6534 36e8 A093 0000 sts (IntegralAccZ)+2,r26 |
| 6535 36ec B093 0000 sts (IntegralAccZ)+3,r27 |
| 6536 36f0 D801 movw r26,r16 |
| 6537 36f2 C701 movw r24,r14 |
| 6538 36f4 8619 sub r24,r6 |
| 6539 36f6 9709 sbc r25,r7 |
| 6540 36f8 A809 sbc r26,r8 |
| 6541 36fa B909 sbc r27,r9 |
| 6542 36fc 8093 0000 sts IntegralFehlerNick.3,r24 |
| 6543 3700 9093 0000 sts (IntegralFehlerNick.3)+1,r25 |
| 6544 3704 A093 0000 sts (IntegralFehlerNick.3)+2,r26 |
| 6545 3708 B093 0000 sts (IntegralFehlerNick.3)+3,r27 |
| 6546 370c 2091 0000 lds r18,EE_Parameter+67 |
| 6547 3710 E22E mov r14,r18 |
| 6548 3712 FF24 clr r15 |
| 6549 3714 0027 clr r16 |
| 6550 3716 1127 clr r17 |
| 6551 3718 BC01 movw r22,r24 |
| 6552 371a CD01 movw r24,r26 |
| 6553 371c A801 movw r20,r16 |
| 6554 371e 9701 movw r18,r14 |
| 6555 3720 0E94 0000 call __divmodsi4 |
| 6556 3724 5901 movw r10,r18 |
| 6557 3726 6A01 movw r12,r20 |
| 6558 3728 2093 0000 sts ausgleichNick.10,r18 |
| 6559 372c 3093 0000 sts (ausgleichNick.10)+1,r19 |
| 6560 3730 4093 0000 sts (ausgleichNick.10)+2,r20 |
| 6561 3734 5093 0000 sts (ausgleichNick.10)+3,r21 |
| 6562 3738 8989 ldd r24,Y+17 |
| 6563 373a 9A89 ldd r25,Y+18 |
| 6564 373c AB89 ldd r26,Y+19 |
| 6565 373e BC89 ldd r27,Y+20 |
| 6566 3740 8219 sub r24,r2 |
| 6567 3742 9309 sbc r25,r3 |
| 6568 3744 A409 sbc r26,r4 |
| 6569 3746 B509 sbc r27,r5 |
| 6570 3748 8093 0000 sts IntegralFehlerRoll.4,r24 |
| 6571 374c 9093 0000 sts (IntegralFehlerRoll.4)+1,r25 |
| 6572 3750 A093 0000 sts (IntegralFehlerRoll.4)+2,r26 |
| 6573 3754 B093 0000 sts (IntegralFehlerRoll.4)+3,r27 |
| 6574 3758 BC01 movw r22,r24 |
| 6575 375a CD01 movw r24,r26 |
| 6576 375c A801 movw r20,r16 |
| 6577 375e 9701 movw r18,r14 |
| 6578 3760 0E94 0000 call __divmodsi4 |
| 6579 3764 2093 0000 sts ausgleichRoll.11,r18 |
| 6580 3768 3093 0000 sts (ausgleichRoll.11)+1,r19 |
| 6581 376c 4093 0000 sts (ausgleichRoll.11)+2,r20 |
| 6582 3770 5093 0000 sts (ausgleichRoll.11)+3,r21 |
| 6583 3774 D601 movw r26,r12 |
| 6584 3776 C501 movw r24,r10 |
| 6585 3778 D7FE sbrs r13,7 |
| 6586 377a 00C0 rjmp .L536 |
| 6587 377c 8150 subi r24,lo8(-(255)) |
| 6588 377e 9F4F sbci r25,hi8(-(255)) |
| 6589 3780 AF4F sbci r26,hlo8(-(255)) |
| 6590 3782 BF4F sbci r27,hhi8(-(255)) |
| 6591 .L536: |
| 6592 3784 892F mov r24,r25 |
| 6593 3786 9A2F mov r25,r26 |
| 6594 3788 AB2F mov r26,r27 |
| 6595 378a BB27 clr r27 |
| 6596 378c A7FD sbrc r26,7 |
| 6597 378e BA95 dec r27 |
| 6598 3790 9093 0000 sts (LageKorrekturNick)+1,r25 |
| 6599 3794 8093 0000 sts LageKorrekturNick,r24 |
| 6600 3798 57FF sbrs r21,7 |
| 6601 379a 00C0 rjmp .L537 |
| 6602 379c 2150 subi r18,lo8(-(255)) |
| 6603 379e 3F4F sbci r19,hi8(-(255)) |
| 6604 37a0 4F4F sbci r20,hlo8(-(255)) |
| 6605 37a2 5F4F sbci r21,hhi8(-(255)) |
| 6606 .L537: |
| 6607 37a4 BB27 clr r27 |
| 6608 37a6 57FD sbrc r21,7 |
| 6609 37a8 BA95 dec r27 |
| 6610 37aa A52F mov r26,r21 |
| 6611 37ac 942F mov r25,r20 |
| 6612 37ae 832F mov r24,r19 |
| 6613 37b0 9093 0000 sts (LageKorrekturRoll)+1,r25 |
| 6614 37b4 8093 0000 sts LageKorrekturRoll,r24 |
| 6615 37b8 8091 0000 lds r24,MaxStickNick |
| 6616 37bc 9091 0000 lds r25,(MaxStickNick)+1 |
| 6617 37c0 8134 cpi r24,65 |
| 6618 37c2 9105 cpc r25,__zero_reg__ |
| 6619 37c4 04F4 brge .L539 |
| 6620 37c6 8091 0000 lds r24,MaxStickRoll |
| 6621 37ca 9091 0000 lds r25,(MaxStickRoll)+1 |
| 6622 37ce 8134 cpi r24,65 |
| 6623 37d0 9105 cpc r25,__zero_reg__ |
| 6624 37d2 04F4 brge .L539 |
| 6625 37d4 8091 0000 lds r24,EE_Parameter+4 |
| 6626 37d8 E82F mov r30,r24 |
| 6627 37da FF27 clr r31 |
| 6628 37dc EE0F add r30,r30 |
| 6629 37de FF1F adc r31,r31 |
| 6630 37e0 E050 subi r30,lo8(-(PPM_in)) |
| 6631 37e2 F040 sbci r31,hi8(-(PPM_in)) |
| 6632 37e4 8081 ld r24,Z |
| 6633 37e6 9181 ldd r25,Z+1 |
| 6634 37e8 0190 ld __tmp_reg__,Z+ |
| 6635 37ea F081 ld r31,Z |
| 6636 37ec E02D mov r30,__tmp_reg__ |
| 6637 37ee F7FF sbrs r31,7 |
| 6638 37f0 00C0 rjmp .L540 |
| 6639 37f2 F095 com r31 |
| 6640 37f4 E195 neg r30 |
| 6641 37f6 FF4F sbci r31,lo8(-1) |
| 6642 .L540: |
| 6643 37f8 7A97 sbiw r30,26 |
| 6644 37fa 04F0 brlt .L538 |
| 6645 .L539: |
| 6646 37fc 8091 0000 lds r24,FromNaviCtrl_Value |
| 6647 3800 8F3F cpi r24,lo8(-1) |
| 6648 3802 01F4 brne .L538 |
| 6649 3804 8091 0000 lds r24,LageKorrekturNick |
| 6650 3808 9091 0000 lds r25,(LageKorrekturNick)+1 |
| 6651 380c 97FD sbrc r25,7 |
| 6652 380e 0196 adiw r24,1 |
| 6653 .L541: |
| 6654 3810 9595 asr r25 |
| 6655 3812 8795 ror r24 |
| 6656 3814 9093 0000 sts (LageKorrekturNick)+1,r25 |
| 6657 3818 8093 0000 sts LageKorrekturNick,r24 |
| 6658 381c 8091 0000 lds r24,LageKorrekturRoll |
| 6659 3820 9091 0000 lds r25,(LageKorrekturRoll)+1 |
| 6660 3824 97FD sbrc r25,7 |
| 6661 3826 0196 adiw r24,1 |
| 6662 .L542: |
| 6663 3828 9595 asr r25 |
| 6664 382a 8795 ror r24 |
| 6665 382c 9093 0000 sts (LageKorrekturRoll)+1,r25 |
| 6666 3830 8093 0000 sts LageKorrekturRoll,r24 |
| 6667 .L538: |
| 6668 3834 8091 0000 lds r24,MittelIntegralNick2 |
| 6669 3838 9091 0000 lds r25,(MittelIntegralNick2)+1 |
| 6670 383c A091 0000 lds r26,(MittelIntegralNick2)+2 |
| 6671 3840 B091 0000 lds r27,(MittelIntegralNick2)+3 |
| 6672 3844 B7FF sbrs r27,7 |
| 6673 3846 00C0 rjmp .L543 |
| 6674 3848 8150 subi r24,lo8(-(255)) |
| 6675 384a 9F4F sbci r25,hi8(-(255)) |
| 6676 384c AF4F sbci r26,hlo8(-(255)) |
| 6677 384e BF4F sbci r27,hhi8(-(255)) |
| 6678 .L543: |
| 6679 3850 892F mov r24,r25 |
| 6680 3852 9A2F mov r25,r26 |
| 6681 3854 AB2F mov r26,r27 |
| 6682 3856 BB27 clr r27 |
| 6683 3858 A7FD sbrc r26,7 |
| 6684 385a BA95 dec r27 |
| 6685 385c 8093 0000 sts MittelIntegralNick2,r24 |
| 6686 3860 9093 0000 sts (MittelIntegralNick2)+1,r25 |
| 6687 3864 A093 0000 sts (MittelIntegralNick2)+2,r26 |
| 6688 3868 B093 0000 sts (MittelIntegralNick2)+3,r27 |
| 6689 386c 8091 0000 lds r24,MittelIntegralRoll2 |
| 6690 3870 9091 0000 lds r25,(MittelIntegralRoll2)+1 |
| 6691 3874 A091 0000 lds r26,(MittelIntegralRoll2)+2 |
| 6692 3878 B091 0000 lds r27,(MittelIntegralRoll2)+3 |
| 6693 387c B7FF sbrs r27,7 |
| 6694 387e 00C0 rjmp .L544 |
| 6695 3880 8150 subi r24,lo8(-(255)) |
| 6696 3882 9F4F sbci r25,hi8(-(255)) |
| 6697 3884 AF4F sbci r26,hlo8(-(255)) |
| 6698 3886 BF4F sbci r27,hhi8(-(255)) |
| 6699 .L544: |
| 6700 3888 892F mov r24,r25 |
| 6701 388a 9A2F mov r25,r26 |
| 6702 388c AB2F mov r26,r27 |
| 6703 388e BB27 clr r27 |
| 6704 3890 A7FD sbrc r26,7 |
| 6705 3892 BA95 dec r27 |
| 6706 3894 8093 0000 sts MittelIntegralRoll2,r24 |
| 6707 3898 9093 0000 sts (MittelIntegralRoll2)+1,r25 |
| 6708 389c A093 0000 sts (MittelIntegralRoll2)+2,r26 |
| 6709 38a0 B093 0000 sts (MittelIntegralRoll2)+3,r27 |
| 6710 38a4 8091 0000 lds r24,IntegralNick |
| 6711 38a8 9091 0000 lds r25,(IntegralNick)+1 |
| 6712 38ac A091 0000 lds r26,(IntegralNick)+2 |
| 6713 38b0 B091 0000 lds r27,(IntegralNick)+3 |
| 6714 38b4 2F81 ldd r18,Y+7 |
| 6715 38b6 3885 ldd r19,Y+8 |
| 6716 38b8 4985 ldd r20,Y+9 |
| 6717 38ba 5A85 ldd r21,Y+10 |
| 6718 38bc 281B sub r18,r24 |
| 6719 38be 390B sbc r19,r25 |
| 6720 38c0 4A0B sbc r20,r26 |
| 6721 38c2 5B0B sbc r21,r27 |
| 6722 38c4 2093 0000 sts tmp_long.1,r18 |
| 6723 38c8 3093 0000 sts (tmp_long.1)+1,r19 |
| 6724 38cc 4093 0000 sts (tmp_long.1)+2,r20 |
| 6725 38d0 5093 0000 sts (tmp_long.1)+3,r21 |
| 6726 38d4 8091 0000 lds r24,IntegralRoll |
| 6727 38d8 9091 0000 lds r25,(IntegralRoll)+1 |
| 6728 38dc A091 0000 lds r26,(IntegralRoll)+2 |
| 6729 38e0 B091 0000 lds r27,(IntegralRoll)+3 |
| 6730 38e4 EB84 ldd r14,Y+11 |
| 6731 38e6 FC84 ldd r15,Y+12 |
| 6732 38e8 0D85 ldd r16,Y+13 |
| 6733 38ea 1E85 ldd r17,Y+14 |
| 6734 38ec E81A sub r14,r24 |
| 6735 38ee F90A sbc r15,r25 |
| 6736 38f0 0A0B sbc r16,r26 |
| 6737 38f2 1B0B sbc r17,r27 |
| 6738 38f4 E092 0000 sts tmp_long2.2,r14 |
| 6739 38f8 F092 0000 sts (tmp_long2.2)+1,r15 |
| 6740 38fc 0093 0000 sts (tmp_long2.2)+2,r16 |
| 6741 3900 1093 0000 sts (tmp_long2.2)+3,r17 |
| 6742 3904 2093 0000 sts IntegralFehlerNick.3,r18 |
| 6743 3908 3093 0000 sts (IntegralFehlerNick.3)+1,r19 |
| 6744 390c 4093 0000 sts (IntegralFehlerNick.3)+2,r20 |
| 6745 3910 5093 0000 sts (IntegralFehlerNick.3)+3,r21 |
| 6746 3914 E092 0000 sts IntegralFehlerRoll.4,r14 |
| 6747 3918 F092 0000 sts (IntegralFehlerRoll.4)+1,r15 |
| 6748 391c 0093 0000 sts (IntegralFehlerRoll.4)+2,r16 |
| 6749 3920 1093 0000 sts (IntegralFehlerRoll.4)+3,r17 |
| 6750 3924 8091 0000 lds r24,Mess_IntegralNick2 |
| 6751 3928 9091 0000 lds r25,(Mess_IntegralNick2)+1 |
| 6752 392c A091 0000 lds r26,(Mess_IntegralNick2)+2 |
| 6753 3930 B091 0000 lds r27,(Mess_IntegralNick2)+3 |
| 6754 3934 821B sub r24,r18 |
| 6755 3936 930B sbc r25,r19 |
| 6756 3938 A40B sbc r26,r20 |
| 6757 393a B50B sbc r27,r21 |
| 6758 393c 8093 0000 sts Mess_IntegralNick2,r24 |
| 6759 3940 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
| 6760 3944 A093 0000 sts (Mess_IntegralNick2)+2,r26 |
| 6761 3948 B093 0000 sts (Mess_IntegralNick2)+3,r27 |
| 6762 394c 8091 0000 lds r24,Mess_IntegralRoll2 |
| 6763 3950 9091 0000 lds r25,(Mess_IntegralRoll2)+1 |
| 6764 3954 A091 0000 lds r26,(Mess_IntegralRoll2)+2 |
| 6765 3958 B091 0000 lds r27,(Mess_IntegralRoll2)+3 |
| 6766 395c 8E19 sub r24,r14 |
| 6767 395e 9F09 sbc r25,r15 |
| 6768 3960 A00B sbc r26,r16 |
| 6769 3962 B10B sbc r27,r17 |
| 6770 3964 8093 0000 sts Mess_IntegralRoll2,r24 |
| 6771 3968 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
| 6772 396c A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
| 6773 3970 B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
| 6774 3974 8889 ldd r24,Y+16 |
| 6775 3976 8823 tst r24 |
| 6776 3978 01F0 breq .L545 |
| 6777 397a 2091 0000 lds r18,GierGyroFehler |
| 6778 397e 3091 0000 lds r19,(GierGyroFehler)+1 |
| 6779 3982 2138 cpi r18,129 |
| 6780 3984 3105 cpc r19,__zero_reg__ |
| 6781 3986 04F0 brlt .L546 |
| 6782 3988 8091 0000 lds r24,AdNeutralGier |
| 6783 398c 9091 0000 lds r25,(AdNeutralGier)+1 |
| 6784 3990 0196 adiw r24,1 |
| 6785 3992 9093 0000 sts (AdNeutralGier)+1,r25 |
| 6786 3996 8093 0000 sts AdNeutralGier,r24 |
| 6787 .L546: |
| 6788 399a 2058 subi r18,lo8(-128) |
| 6789 399c 3F4F sbci r19,hi8(-128) |
| 6790 399e 04F4 brge .L545 |
| 6791 39a0 8091 0000 lds r24,AdNeutralGier |
| 6792 39a4 9091 0000 lds r25,(AdNeutralGier)+1 |
| 6793 39a8 0197 sbiw r24,1 |
| 6794 39aa 9093 0000 sts (AdNeutralGier)+1,r25 |
| 6795 39ae 8093 0000 sts AdNeutralGier,r24 |
| 6796 .L545: |
| 6797 39b2 1092 0000 sts (GierGyroFehler)+1,__zero_reg__ |
| 6798 39b6 1092 0000 sts GierGyroFehler,__zero_reg__ |
| 6799 39ba 81E0 ldi r24,lo8(1) |
| 6800 39bc 90E0 ldi r25,hi8(1) |
| 6801 39be 9093 0000 sts (cnt.14)+1,r25 |
| 6802 39c2 8093 0000 sts cnt.14,r24 |
| 6803 39c6 E090 0000 lds r14,IntegralFehlerNick.3 |
| 6804 39ca F090 0000 lds r15,(IntegralFehlerNick.3)+1 |
| 6805 39ce 0091 0000 lds r16,(IntegralFehlerNick.3)+2 |
| 6806 39d2 1091 0000 lds r17,(IntegralFehlerNick.3)+3 |
| 6807 39d6 D801 movw r26,r16 |
| 6808 39d8 C701 movw r24,r14 |
| 6809 39da 17FF sbrs r17,7 |
| 6810 39dc 00C0 rjmp .L549 |
| 6811 39de 8827 clr r24 |
| 6812 39e0 9927 clr r25 |
| 6813 39e2 DC01 movw r26,r24 |
| 6814 39e4 8E19 sub r24,r14 |
| 6815 39e6 9F09 sbc r25,r15 |
| 6816 39e8 A00B sbc r26,r16 |
| 6817 39ea B10B sbc r27,r17 |
| 6818 .L549: |
| 6819 39ec 8150 subi r24,lo8(513) |
| 6820 39ee 9240 sbci r25,hi8(513) |
| 6821 39f0 A040 sbci r26,hlo8(513) |
| 6822 39f2 B040 sbci r27,hhi8(513) |
| 6823 39f4 04F0 brlt .L548 |
| 6824 39f6 84E0 ldi r24,lo8(4) |
| 6825 39f8 90E0 ldi r25,hi8(4) |
| 6826 39fa 9093 0000 sts (cnt.14)+1,r25 |
| 6827 39fe 8093 0000 sts cnt.14,r24 |
| 6828 .L548: |
| 6829 3a02 8091 0000 lds r24,MittelIntegralNick_Alt.19 |
| 6830 3a06 9091 0000 lds r25,(MittelIntegralNick_Alt.19)+1 |
| 6831 3a0a A091 0000 lds r26,(MittelIntegralNick_Alt.19)+2 |
| 6832 3a0e B091 0000 lds r27,(MittelIntegralNick_Alt.19)+3 |
| 6833 3a12 2091 0000 lds r18,MittelIntegralNick |
| 6834 3a16 3091 0000 lds r19,(MittelIntegralNick)+1 |
| 6835 3a1a 4091 0000 lds r20,(MittelIntegralNick)+2 |
| 6836 3a1e 5091 0000 lds r21,(MittelIntegralNick)+3 |
| 6837 3a22 821B sub r24,r18 |
| 6838 3a24 930B sbc r25,r19 |
| 6839 3a26 A40B sbc r26,r20 |
| 6840 3a28 B50B sbc r27,r21 |
| 6841 3a2a 815E subi r24,lo8(-(19999)) |
| 6842 3a2c 914B sbci r25,hi8(-(19999)) |
| 6843 3a2e AF4F sbci r26,hlo8(-(19999)) |
| 6844 3a30 BF4F sbci r27,hhi8(-(19999)) |
| 6845 3a32 8F53 subi r24,lo8(39999) |
| 6846 3a34 9C49 sbci r25,hi8(39999) |
| 6847 3a36 A040 sbci r26,hlo8(39999) |
| 6848 3a38 B040 sbci r27,hhi8(39999) |
| 6849 3a3a 00F0 brlo .L551 |
| 6850 3a3c 8091 0000 lds r24,FromNaviCtrl_Value+1 |
| 6851 3a40 8931 cpi r24,lo8(25) |
| 6852 3a42 04F4 brge .+2 |
| 6853 3a44 00C0 rjmp .L550 |
| 6854 .L551: |
| 6855 3a46 21E0 ldi r18,lo8(4097) |
| 6856 3a48 E216 cp r14,r18 |
| 6857 3a4a 20E1 ldi r18,hi8(4097) |
| 6858 3a4c F206 cpc r15,r18 |
| 6859 3a4e 20E0 ldi r18,hlo8(4097) |
| 6860 3a50 0207 cpc r16,r18 |
| 6861 3a52 20E0 ldi r18,hhi8(4097) |
| 6862 3a54 1207 cpc r17,r18 |
| 6863 3a56 04F4 brge .+2 |
| 6864 3a58 00C0 rjmp .L552 |
| 6865 3a5a 8091 0000 lds r24,last_n_p.15 |
| 6866 3a5e 8823 tst r24 |
| 6867 3a60 01F4 brne .+2 |
| 6868 3a62 00C0 rjmp .L553 |
| 6869 3a64 D801 movw r26,r16 |
| 6870 3a66 C701 movw r24,r14 |
| 6871 3a68 17FF sbrs r17,7 |
| 6872 3a6a 00C0 rjmp .L554 |
| 6873 3a6c 8827 clr r24 |
| 6874 3a6e 9927 clr r25 |
| 6875 3a70 DC01 movw r26,r24 |
| 6876 3a72 8E19 sub r24,r14 |
| 6877 3a74 9F09 sbc r25,r15 |
| 6878 3a76 A00B sbc r26,r16 |
| 6879 3a78 B10B sbc r27,r17 |
| 6880 .L554: |
| 6881 3a7a 9C01 movw r18,r24 |
| 6882 3a7c AD01 movw r20,r26 |
| 6883 3a7e B7FF sbrs r27,7 |
| 6884 3a80 00C0 rjmp .L555 |
| 6885 3a82 2150 subi r18,lo8(-(511)) |
| 6886 3a84 3E4F sbci r19,hi8(-(511)) |
| 6887 3a86 4F4F sbci r20,hlo8(-(511)) |
| 6888 3a88 5F4F sbci r21,hhi8(-(511)) |
| 6889 .L555: |
| 6890 3a8a F9E0 ldi r31,9 |
| 6891 3a8c 5595 1: asr r21 |
| 6892 3a8e 4795 ror r20 |
| 6893 3a90 3795 ror r19 |
| 6894 3a92 2795 ror r18 |
| 6895 3a94 FA95 dec r31 |
| 6896 3a96 01F4 brne 1b |
| 6897 3a98 8091 0000 lds r24,cnt.14 |
| 6898 3a9c 9091 0000 lds r25,(cnt.14)+1 |
| 6899 3aa0 820F add r24,r18 |
| 6900 3aa2 931F adc r25,r19 |
| 6901 3aa4 9093 0000 sts (cnt.14)+1,r25 |
| 6902 3aa8 8093 0000 sts cnt.14,r24 |
| 6903 3aac D801 movw r26,r16 |
| 6904 3aae C701 movw r24,r14 |
| 6905 3ab0 17FF sbrs r17,7 |
| 6906 3ab2 00C0 rjmp .L556 |
| 6907 3ab4 0796 adiw r24,7 |
| 6908 3ab6 A11D adc r26,__zero_reg__ |
| 6909 3ab8 B11D adc r27,__zero_reg__ |
| 6910 .L556: |
| 6911 3aba E3E0 ldi r30,3 |
| 6912 3abc B595 1: asr r27 |
| 6913 3abe A795 ror r26 |
| 6914 3ac0 9795 ror r25 |
| 6915 3ac2 8795 ror r24 |
| 6916 3ac4 EA95 dec r30 |
| 6917 3ac6 01F4 brne 1b |
| 6918 3ac8 8093 0000 sts ausgleichNick.10,r24 |
| 6919 3acc 9093 0000 sts (ausgleichNick.10)+1,r25 |
| 6920 3ad0 A093 0000 sts (ausgleichNick.10)+2,r26 |
| 6921 3ad4 B093 0000 sts (ausgleichNick.10)+3,r27 |
| 6922 3ad8 8958 subi r24,lo8(5001) |
| 6923 3ada 9341 sbci r25,hi8(5001) |
| 6924 3adc A040 sbci r26,hlo8(5001) |
| 6925 3ade B040 sbci r27,hhi8(5001) |
| 6926 3ae0 04F0 brlt .L557 |
| 6927 3ae2 88E8 ldi r24,lo8(5000) |
| 6928 3ae4 93E1 ldi r25,hi8(5000) |
| 6929 3ae6 A0E0 ldi r26,hlo8(5000) |
| 6930 3ae8 B0E0 ldi r27,hhi8(5000) |
| 6931 3aea 8093 0000 sts ausgleichNick.10,r24 |
| 6932 3aee 9093 0000 sts (ausgleichNick.10)+1,r25 |
| 6933 3af2 A093 0000 sts (ausgleichNick.10)+2,r26 |
| 6934 3af6 B093 0000 sts (ausgleichNick.10)+3,r27 |
| 6935 .L557: |
| 6936 3afa 2091 0000 lds r18,ausgleichNick.10 |
| 6937 3afe 3091 0000 lds r19,(ausgleichNick.10)+1 |
| 6938 3b02 4091 0000 lds r20,(ausgleichNick.10)+2 |
| 6939 3b06 5091 0000 lds r21,(ausgleichNick.10)+3 |
| 6940 3b0a 57FF sbrs r21,7 |
| 6941 3b0c 00C0 rjmp .L558 |
| 6942 3b0e 2150 subi r18,lo8(-(255)) |
| 6943 3b10 3F4F sbci r19,hi8(-(255)) |
| 6944 3b12 4F4F sbci r20,hlo8(-(255)) |
| 6945 3b14 5F4F sbci r21,hhi8(-(255)) |
| 6946 .L558: |
| 6947 3b16 232F mov r18,r19 |
| 6948 3b18 342F mov r19,r20 |
| 6949 3b1a 452F mov r20,r21 |
| 6950 3b1c 5527 clr r21 |
| 6951 3b1e 47FD sbrc r20,7 |
| 6952 3b20 5A95 dec r21 |
| 6953 3b22 8091 0000 lds r24,LageKorrekturNick |
| 6954 3b26 9091 0000 lds r25,(LageKorrekturNick)+1 |
| 6955 3b2a 820F add r24,r18 |
| 6956 3b2c 931F adc r25,r19 |
| 6957 3b2e 9093 0000 sts (LageKorrekturNick)+1,r25 |
| 6958 3b32 8093 0000 sts LageKorrekturNick,r24 |
| 6959 3b36 00C0 rjmp .L560 |
| 6960 .L553: |
| 6961 3b38 81E0 ldi r24,lo8(1) |
| 6962 3b3a 8093 0000 sts last_n_p.15,r24 |
| 6963 3b3e 00C0 rjmp .L560 |
| 6964 .L552: |
| 6965 3b40 1092 0000 sts last_n_p.15,__zero_reg__ |
| 6966 .L560: |
| 6967 3b44 40E0 ldi r20,lo8(-4096) |
| 6968 3b46 E416 cp r14,r20 |
| 6969 3b48 40EF ldi r20,hi8(-4096) |
| 6970 3b4a F406 cpc r15,r20 |
| 6971 3b4c 4FEF ldi r20,hlo8(-4096) |
| 6972 3b4e 0407 cpc r16,r20 |
| 6973 3b50 4FEF ldi r20,hhi8(-4096) |
| 6974 3b52 1407 cpc r17,r20 |
| 6975 3b54 04F0 brlt .+2 |
| 6976 3b56 00C0 rjmp .L561 |
| 6977 3b58 8091 0000 lds r24,last_n_n.16 |
| 6978 3b5c 8823 tst r24 |
| 6979 3b5e 01F4 brne .+2 |
| 6980 3b60 00C0 rjmp .L562 |
| 6981 3b62 D801 movw r26,r16 |
| 6982 3b64 C701 movw r24,r14 |
| 6983 3b66 17FF sbrs r17,7 |
| 6984 3b68 00C0 rjmp .L563 |
| 6985 3b6a 8827 clr r24 |
| 6986 3b6c 9927 clr r25 |
| 6987 3b6e DC01 movw r26,r24 |
| 6988 3b70 8E19 sub r24,r14 |
| 6989 3b72 9F09 sbc r25,r15 |
| 6990 3b74 A00B sbc r26,r16 |
| 6991 3b76 B10B sbc r27,r17 |
| 6992 .L563: |
| 6993 3b78 9C01 movw r18,r24 |
| 6994 3b7a AD01 movw r20,r26 |
| 6995 3b7c B7FF sbrs r27,7 |
| 6996 3b7e 00C0 rjmp .L564 |
| 6997 3b80 2150 subi r18,lo8(-(511)) |
| 6998 3b82 3E4F sbci r19,hi8(-(511)) |
| 6999 3b84 4F4F sbci r20,hlo8(-(511)) |
| 7000 3b86 5F4F sbci r21,hhi8(-(511)) |
| 7001 .L564: |
| 7002 3b88 69E0 ldi r22,9 |
| 7003 3b8a 5595 1: asr r21 |
| 7004 3b8c 4795 ror r20 |
| 7005 3b8e 3795 ror r19 |
| 7006 3b90 2795 ror r18 |
| 7007 3b92 6A95 dec r22 |
| 7008 3b94 01F4 brne 1b |
| 7009 3b96 8091 0000 lds r24,cnt.14 |
| 7010 3b9a 9091 0000 lds r25,(cnt.14)+1 |
| 7011 3b9e 820F add r24,r18 |
| 7012 3ba0 931F adc r25,r19 |
| 7013 3ba2 9093 0000 sts (cnt.14)+1,r25 |
| 7014 3ba6 8093 0000 sts cnt.14,r24 |
| 7015 3baa D801 movw r26,r16 |
| 7016 3bac C701 movw r24,r14 |
| 7017 3bae 17FF sbrs r17,7 |
| 7018 3bb0 00C0 rjmp .L565 |
| 7019 3bb2 0796 adiw r24,7 |
| 7020 3bb4 A11D adc r26,__zero_reg__ |
| 7021 3bb6 B11D adc r27,__zero_reg__ |
| 7022 .L565: |
| 7023 3bb8 23E0 ldi r18,3 |
| 7024 3bba B595 1: asr r27 |
| 7025 3bbc A795 ror r26 |
| 7026 3bbe 9795 ror r25 |
| 7027 3bc0 8795 ror r24 |
| 7028 3bc2 2A95 dec r18 |
| 7029 3bc4 01F4 brne 1b |
| 7030 3bc6 8093 0000 sts ausgleichNick.10,r24 |
| 7031 3bca 9093 0000 sts (ausgleichNick.10)+1,r25 |
| 7032 3bce A093 0000 sts (ausgleichNick.10)+2,r26 |
| 7033 3bd2 B093 0000 sts (ausgleichNick.10)+3,r27 |
| 7034 3bd6 8857 subi r24,lo8(-5000) |
| 7035 3bd8 9C4E sbci r25,hi8(-5000) |
| 7036 3bda AF4F sbci r26,hlo8(-5000) |
| 7037 3bdc BF4F sbci r27,hhi8(-5000) |
| 7038 3bde 04F4 brge .L566 |
| 7039 3be0 88E7 ldi r24,lo8(-5000) |
| 7040 3be2 9CEE ldi r25,hi8(-5000) |
| 7041 3be4 AFEF ldi r26,hlo8(-5000) |
| 7042 3be6 BFEF ldi r27,hhi8(-5000) |
| 7043 3be8 8093 0000 sts ausgleichNick.10,r24 |
| 7044 3bec 9093 0000 sts (ausgleichNick.10)+1,r25 |
| 7045 3bf0 A093 0000 sts (ausgleichNick.10)+2,r26 |
| 7046 3bf4 B093 0000 sts (ausgleichNick.10)+3,r27 |
| 7047 .L566: |
| 7048 3bf8 2091 0000 lds r18,ausgleichNick.10 |
| 7049 3bfc 3091 0000 lds r19,(ausgleichNick.10)+1 |
| 7050 3c00 4091 0000 lds r20,(ausgleichNick.10)+2 |
| 7051 3c04 5091 0000 lds r21,(ausgleichNick.10)+3 |
| 7052 3c08 57FF sbrs r21,7 |
| 7053 3c0a 00C0 rjmp .L567 |
| 7054 3c0c 2150 subi r18,lo8(-(255)) |
| 7055 3c0e 3F4F sbci r19,hi8(-(255)) |
| 7056 3c10 4F4F sbci r20,hlo8(-(255)) |
| 7057 3c12 5F4F sbci r21,hhi8(-(255)) |
| 7058 .L567: |
| 7059 3c14 232F mov r18,r19 |
| 7060 3c16 342F mov r19,r20 |
| 7061 3c18 452F mov r20,r21 |
| 7062 3c1a 5527 clr r21 |
| 7063 3c1c 47FD sbrc r20,7 |
| 7064 3c1e 5A95 dec r21 |
| 7065 3c20 8091 0000 lds r24,LageKorrekturNick |
| 7066 3c24 9091 0000 lds r25,(LageKorrekturNick)+1 |
| 7067 3c28 820F add r24,r18 |
| 7068 3c2a 931F adc r25,r19 |
| 7069 3c2c 9093 0000 sts (LageKorrekturNick)+1,r25 |
| 7070 3c30 8093 0000 sts LageKorrekturNick,r24 |
| 7071 3c34 00C0 rjmp .L570 |
| 7072 .L562: |
| 7073 3c36 81E0 ldi r24,lo8(1) |
| 7074 3c38 8093 0000 sts last_n_n.16,r24 |
| 7075 3c3c 00C0 rjmp .L570 |
| 7076 .L561: |
| 7077 3c3e 1092 0000 sts last_n_n.16,__zero_reg__ |
| 7078 3c42 00C0 rjmp .L570 |
| 7079 .L550: |
| 7080 3c44 1092 0000 sts (cnt.14)+1,__zero_reg__ |
| 7081 3c48 1092 0000 sts cnt.14,__zero_reg__ |
| 7082 3c4c 84E6 ldi r24,lo8(100) |
| 7083 3c4e 90E0 ldi r25,hi8(100) |
| 7084 3c50 9093 0000 sts (KompassSignalSchlecht)+1,r25 |
| 7085 3c54 8093 0000 sts KompassSignalSchlecht,r24 |
| 7086 .L570: |
| 7087 3c58 6889 ldd r22,Y+16 |
| 7088 3c5a 262F mov r18,r22 |
| 7089 3c5c 3327 clr r19 |
| 7090 3c5e 8091 0000 lds r24,cnt.14 |
| 7091 3c62 9091 0000 lds r25,(cnt.14)+1 |
| 7092 3c66 2817 cp r18,r24 |
| 7093 3c68 3907 cpc r19,r25 |
| 7094 3c6a 04F4 brge .L571 |
| 7095 3c6c 3093 0000 sts (cnt.14)+1,r19 |
| 7096 3c70 2093 0000 sts cnt.14,r18 |
| 7097 .L571: |
| 7098 3c74 1091 0000 lds r17,FromNaviCtrl_Value+1 |
| 7099 3c78 1123 tst r17 |
| 7100 3c7a 01F0 breq .L572 |
| 7101 3c7c 212F mov r18,r17 |
| 7102 3c7e 3327 clr r19 |
| 7103 3c80 27FD sbrc r18,7 |
| 7104 3c82 3095 com r19 |
| 7105 3c84 8091 0000 lds r24,cnt.14 |
| 7106 3c88 9091 0000 lds r25,(cnt.14)+1 |
| 7107 3c8c 2817 cp r18,r24 |
| 7108 3c8e 3907 cpc r19,r25 |
| 7109 3c90 04F4 brge .L572 |
| 7110 3c92 3093 0000 sts (cnt.14)+1,r19 |
| 7111 3c96 2093 0000 sts cnt.14,r18 |
| 7112 .L572: |
| 7113 3c9a 4091 0000 lds r20,IntegralFehlerNick.3 |
| 7114 3c9e 5091 0000 lds r21,(IntegralFehlerNick.3)+1 |
| 7115 3ca2 6091 0000 lds r22,(IntegralFehlerNick.3)+2 |
| 7116 3ca6 7091 0000 lds r23,(IntegralFehlerNick.3)+3 |
| 7117 3caa 4138 cpi r20,lo8(129) |
| 7118 3cac 5105 cpc r21,__zero_reg__ |
| 7119 3cae 6105 cpc r22,__zero_reg__ |
| 7120 3cb0 7105 cpc r23,__zero_reg__ |
| 7121 3cb2 04F0 brlt .L574 |
| 7122 3cb4 8091 0000 lds r24,AdNeutralNick |
| 7123 3cb8 9091 0000 lds r25,(AdNeutralNick)+1 |
| 7124 3cbc 2091 0000 lds r18,cnt.14 |
| 7125 3cc0 3091 0000 lds r19,(cnt.14)+1 |
| 7126 3cc4 820F add r24,r18 |
| 7127 3cc6 931F adc r25,r19 |
| 7128 3cc8 9093 0000 sts (AdNeutralNick)+1,r25 |
| 7129 3ccc 8093 0000 sts AdNeutralNick,r24 |
| 7130 .L574: |
| 7131 3cd0 4058 subi r20,lo8(-128) |
| 7132 3cd2 5F4F sbci r21,hi8(-128) |
| 7133 3cd4 6F4F sbci r22,hlo8(-128) |
| 7134 3cd6 7F4F sbci r23,hhi8(-128) |
| 7135 3cd8 04F4 brge .L575 |
| 7136 3cda 8091 0000 lds r24,AdNeutralNick |
| 7137 3cde 9091 0000 lds r25,(AdNeutralNick)+1 |
| 7138 3ce2 2091 0000 lds r18,cnt.14 |
| 7139 3ce6 3091 0000 lds r19,(cnt.14)+1 |
| 7140 3cea 821B sub r24,r18 |
| 7141 3cec 930B sbc r25,r19 |
| 7142 3cee 9093 0000 sts (AdNeutralNick)+1,r25 |
| 7143 3cf2 8093 0000 sts AdNeutralNick,r24 |
| 7144 .L575: |
| 7145 3cf6 81E0 ldi r24,lo8(1) |
| 7146 3cf8 90E0 ldi r25,hi8(1) |
| 7147 3cfa 9093 0000 sts (cnt.14)+1,r25 |
| 7148 3cfe 8093 0000 sts cnt.14,r24 |
| 7149 3d02 C090 0000 lds r12,IntegralFehlerRoll.4 |
| 7150 3d06 D090 0000 lds r13,(IntegralFehlerRoll.4)+1 |
| 7151 3d0a E090 0000 lds r14,(IntegralFehlerRoll.4)+2 |
| 7152 3d0e F090 0000 lds r15,(IntegralFehlerRoll.4)+3 |
| 7153 3d12 D701 movw r26,r14 |
| 7154 3d14 C601 movw r24,r12 |
| 7155 3d16 F7FE sbrs r15,7 |
| 7156 3d18 00C0 rjmp .L577 |
| 7157 3d1a 8827 clr r24 |
| 7158 3d1c 9927 clr r25 |
| 7159 3d1e DC01 movw r26,r24 |
| 7160 3d20 8C19 sub r24,r12 |
| 7161 3d22 9D09 sbc r25,r13 |
| 7162 3d24 AE09 sbc r26,r14 |
| 7163 3d26 BF09 sbc r27,r15 |
| 7164 .L577: |
| 7165 3d28 8150 subi r24,lo8(513) |
| 7166 3d2a 9240 sbci r25,hi8(513) |
| 7167 3d2c A040 sbci r26,hlo8(513) |
| 7168 3d2e B040 sbci r27,hhi8(513) |
| 7169 3d30 04F0 brlt .L576 |
| 7170 3d32 84E0 ldi r24,lo8(4) |
| 7171 3d34 90E0 ldi r25,hi8(4) |
| 7172 3d36 9093 0000 sts (cnt.14)+1,r25 |
| 7173 3d3a 8093 0000 sts cnt.14,r24 |
| 7174 .L576: |
| 7175 3d3e 8091 0000 lds r24,MittelIntegralRoll_Alt.20 |
| 7176 3d42 9091 0000 lds r25,(MittelIntegralRoll_Alt.20)+1 |
| 7177 3d46 A091 0000 lds r26,(MittelIntegralRoll_Alt.20)+2 |
| 7178 3d4a B091 0000 lds r27,(MittelIntegralRoll_Alt.20)+3 |
| 7179 3d4e 2091 0000 lds r18,MittelIntegralRoll |
| 7180 3d52 3091 0000 lds r19,(MittelIntegralRoll)+1 |
| 7181 3d56 4091 0000 lds r20,(MittelIntegralRoll)+2 |
| 7182 3d5a 5091 0000 lds r21,(MittelIntegralRoll)+3 |
| 7183 3d5e 821B sub r24,r18 |
| 7184 3d60 930B sbc r25,r19 |
| 7185 3d62 A40B sbc r26,r20 |
| 7186 3d64 B50B sbc r27,r21 |
| 7187 3d66 815E subi r24,lo8(-(19999)) |
| 7188 3d68 914B sbci r25,hi8(-(19999)) |
| 7189 3d6a AF4F sbci r26,hlo8(-(19999)) |
| 7190 3d6c BF4F sbci r27,hhi8(-(19999)) |
| 7191 3d6e 8F53 subi r24,lo8(39999) |
| 7192 3d70 9C49 sbci r25,hi8(39999) |
| 7193 3d72 A040 sbci r26,hlo8(39999) |
| 7194 3d74 B040 sbci r27,hhi8(39999) |
| 7195 3d76 00F0 brlo .L579 |
| 7196 3d78 1931 cpi r17,lo8(25) |
| 7197 3d7a 04F4 brge .+2 |
| 7198 3d7c 00C0 rjmp .L578 |
| 7199 .L579: |
| 7200 3d7e 01E0 ldi r16,lo8(4097) |
| 7201 3d80 C016 cp r12,r16 |
| 7202 3d82 00E1 ldi r16,hi8(4097) |
| 7203 3d84 D006 cpc r13,r16 |
| 7204 3d86 00E0 ldi r16,hlo8(4097) |
| 7205 3d88 E006 cpc r14,r16 |
| 7206 3d8a 00E0 ldi r16,hhi8(4097) |
| 7207 3d8c F006 cpc r15,r16 |
| 7208 3d8e 04F4 brge .+2 |
| 7209 3d90 00C0 rjmp .L580 |
| 7210 3d92 8091 0000 lds r24,last_r_p.17 |
| 7211 3d96 8823 tst r24 |
| 7212 3d98 01F4 brne .+2 |
| 7213 3d9a 00C0 rjmp .L581 |
| 7214 3d9c D701 movw r26,r14 |
| 7215 3d9e C601 movw r24,r12 |
| 7216 3da0 F7FE sbrs r15,7 |
| 7217 3da2 00C0 rjmp .L582 |
| 7218 3da4 8827 clr r24 |
| 7219 3da6 9927 clr r25 |
| 7220 3da8 DC01 movw r26,r24 |
| 7221 3daa 8C19 sub r24,r12 |
| 7222 3dac 9D09 sbc r25,r13 |
| 7223 3dae AE09 sbc r26,r14 |
| 7224 3db0 BF09 sbc r27,r15 |
| 7225 .L582: |
| 7226 3db2 9C01 movw r18,r24 |
| 7227 3db4 AD01 movw r20,r26 |
| 7228 3db6 B7FF sbrs r27,7 |
| 7229 3db8 00C0 rjmp .L583 |
| 7230 3dba 2150 subi r18,lo8(-(511)) |
| 7231 3dbc 3E4F sbci r19,hi8(-(511)) |
| 7232 3dbe 4F4F sbci r20,hlo8(-(511)) |
| 7233 3dc0 5F4F sbci r21,hhi8(-(511)) |
| 7234 .L583: |
| 7235 3dc2 09E0 ldi r16,9 |
| 7236 3dc4 5595 1: asr r21 |
| 7237 3dc6 4795 ror r20 |
| 7238 3dc8 3795 ror r19 |
| 7239 3dca 2795 ror r18 |
| 7240 3dcc 0A95 dec r16 |
| 7241 3dce 01F4 brne 1b |
| 7242 3dd0 8091 0000 lds r24,cnt.14 |
| 7243 3dd4 9091 0000 lds r25,(cnt.14)+1 |
| 7244 3dd8 820F add r24,r18 |
| 7245 3dda 931F adc r25,r19 |
| 7246 3ddc 9093 0000 sts (cnt.14)+1,r25 |
| 7247 3de0 8093 0000 sts cnt.14,r24 |
| 7248 3de4 D701 movw r26,r14 |
| 7249 3de6 C601 movw r24,r12 |
| 7250 3de8 F7FE sbrs r15,7 |
| 7251 3dea 00C0 rjmp .L584 |
| 7252 3dec 0796 adiw r24,7 |
| 7253 3dee A11D adc r26,__zero_reg__ |
| 7254 3df0 B11D adc r27,__zero_reg__ |
| 7255 .L584: |
| 7256 3df2 13E0 ldi r17,3 |
| 7257 3df4 B595 1: asr r27 |
| 7258 3df6 A795 ror r26 |
| 7259 3df8 9795 ror r25 |
| 7260 3dfa 8795 ror r24 |
| 7261 3dfc 1A95 dec r17 |
| 7262 3dfe 01F4 brne 1b |
| 7263 3e00 8093 0000 sts ausgleichRoll.11,r24 |
| 7264 3e04 9093 0000 sts (ausgleichRoll.11)+1,r25 |
| 7265 3e08 A093 0000 sts (ausgleichRoll.11)+2,r26 |
| 7266 3e0c B093 0000 sts (ausgleichRoll.11)+3,r27 |
| 7267 3e10 8958 subi r24,lo8(5001) |
| 7268 3e12 9341 sbci r25,hi8(5001) |
| 7269 3e14 A040 sbci r26,hlo8(5001) |
| 7270 3e16 B040 sbci r27,hhi8(5001) |
| 7271 3e18 04F0 brlt .L585 |
| 7272 3e1a 88E8 ldi r24,lo8(5000) |
| 7273 3e1c 93E1 ldi r25,hi8(5000) |
| 7274 3e1e A0E0 ldi r26,hlo8(5000) |
| 7275 3e20 B0E0 ldi r27,hhi8(5000) |
| 7276 3e22 8093 0000 sts ausgleichRoll.11,r24 |
| 7277 3e26 9093 0000 sts (ausgleichRoll.11)+1,r25 |
| 7278 3e2a A093 0000 sts (ausgleichRoll.11)+2,r26 |
| 7279 3e2e B093 0000 sts (ausgleichRoll.11)+3,r27 |
| 7280 .L585: |
| 7281 3e32 2091 0000 lds r18,ausgleichRoll.11 |
| 7282 3e36 3091 0000 lds r19,(ausgleichRoll.11)+1 |
| 7283 3e3a 4091 0000 lds r20,(ausgleichRoll.11)+2 |
| 7284 3e3e 5091 0000 lds r21,(ausgleichRoll.11)+3 |
| 7285 3e42 57FF sbrs r21,7 |
| 7286 3e44 00C0 rjmp .L586 |
| 7287 3e46 2150 subi r18,lo8(-(255)) |
| 7288 3e48 3F4F sbci r19,hi8(-(255)) |
| 7289 3e4a 4F4F sbci r20,hlo8(-(255)) |
| 7290 3e4c 5F4F sbci r21,hhi8(-(255)) |
| 7291 .L586: |
| 7292 3e4e 232F mov r18,r19 |
| 7293 3e50 342F mov r19,r20 |
| 7294 3e52 452F mov r20,r21 |
| 7295 3e54 5527 clr r21 |
| 7296 3e56 47FD sbrc r20,7 |
| 7297 3e58 5A95 dec r21 |
| 7298 3e5a 8091 0000 lds r24,LageKorrekturRoll |
| 7299 3e5e 9091 0000 lds r25,(LageKorrekturRoll)+1 |
| 7300 3e62 820F add r24,r18 |
| 7301 3e64 931F adc r25,r19 |
| 7302 3e66 9093 0000 sts (LageKorrekturRoll)+1,r25 |
| 7303 3e6a 8093 0000 sts LageKorrekturRoll,r24 |
| 7304 3e6e 00C0 rjmp .L588 |
| 7305 .L581: |
| 7306 3e70 81E0 ldi r24,lo8(1) |
| 7307 3e72 8093 0000 sts last_r_p.17,r24 |
| 7308 3e76 00C0 rjmp .L588 |
| 7309 .L580: |
| 7310 3e78 1092 0000 sts last_r_p.17,__zero_reg__ |
| 7311 .L588: |
| 7312 3e7c 20E0 ldi r18,lo8(-4096) |
| 7313 3e7e C216 cp r12,r18 |
| 7314 3e80 20EF ldi r18,hi8(-4096) |
| 7315 3e82 D206 cpc r13,r18 |
| 7316 3e84 2FEF ldi r18,hlo8(-4096) |
| 7317 3e86 E206 cpc r14,r18 |
| 7318 3e88 2FEF ldi r18,hhi8(-4096) |
| 7319 3e8a F206 cpc r15,r18 |
| 7320 3e8c 04F0 brlt .+2 |
| 7321 3e8e 00C0 rjmp .L589 |
| 7322 3e90 8091 0000 lds r24,last_r_n.18 |
| 7323 3e94 8823 tst r24 |
| 7324 3e96 01F4 brne .+2 |
| 7325 3e98 00C0 rjmp .L590 |
| 7326 3e9a D701 movw r26,r14 |
| 7327 3e9c C601 movw r24,r12 |
| 7328 3e9e F7FE sbrs r15,7 |
| 7329 3ea0 00C0 rjmp .L591 |
| 7330 3ea2 8827 clr r24 |
| 7331 3ea4 9927 clr r25 |
| 7332 3ea6 DC01 movw r26,r24 |
| 7333 3ea8 8C19 sub r24,r12 |
| 7334 3eaa 9D09 sbc r25,r13 |
| 7335 3eac AE09 sbc r26,r14 |
| 7336 3eae BF09 sbc r27,r15 |
| 7337 .L591: |
| 7338 3eb0 9C01 movw r18,r24 |
| 7339 3eb2 AD01 movw r20,r26 |
| 7340 3eb4 B7FF sbrs r27,7 |
| 7341 3eb6 00C0 rjmp .L592 |
| 7342 3eb8 2150 subi r18,lo8(-(511)) |
| 7343 3eba 3E4F sbci r19,hi8(-(511)) |
| 7344 3ebc 4F4F sbci r20,hlo8(-(511)) |
| 7345 3ebe 5F4F sbci r21,hhi8(-(511)) |
| 7346 .L592: |
| 7347 3ec0 E9E0 ldi r30,9 |
| 7348 3ec2 5595 1: asr r21 |
| 7349 3ec4 4795 ror r20 |
| 7350 3ec6 3795 ror r19 |
| 7351 3ec8 2795 ror r18 |
| 7352 3eca EA95 dec r30 |
| 7353 3ecc 01F4 brne 1b |
| 7354 3ece 8091 0000 lds r24,cnt.14 |
| 7355 3ed2 9091 0000 lds r25,(cnt.14)+1 |
| 7356 3ed6 820F add r24,r18 |
| 7357 3ed8 931F adc r25,r19 |
| 7358 3eda 9093 0000 sts (cnt.14)+1,r25 |
| 7359 3ede 8093 0000 sts cnt.14,r24 |
| 7360 3ee2 D701 movw r26,r14 |
| 7361 3ee4 C601 movw r24,r12 |
| 7362 3ee6 F7FE sbrs r15,7 |
| 7363 3ee8 00C0 rjmp .L593 |
| 7364 3eea 0796 adiw r24,7 |
| 7365 3eec A11D adc r26,__zero_reg__ |
| 7366 3eee B11D adc r27,__zero_reg__ |
| 7367 .L593: |
| 7368 3ef0 73E0 ldi r23,3 |
| 7369 3ef2 B595 1: asr r27 |
| 7370 3ef4 A795 ror r26 |
| 7371 3ef6 9795 ror r25 |
| 7372 3ef8 8795 ror r24 |
| 7373 3efa 7A95 dec r23 |
| 7374 3efc 01F4 brne 1b |
| 7375 3efe 8093 0000 sts ausgleichRoll.11,r24 |
| 7376 3f02 9093 0000 sts (ausgleichRoll.11)+1,r25 |
| 7377 3f06 A093 0000 sts (ausgleichRoll.11)+2,r26 |
| 7378 3f0a B093 0000 sts (ausgleichRoll.11)+3,r27 |
| 7379 3f0e 8857 subi r24,lo8(-5000) |
| 7380 3f10 9C4E sbci r25,hi8(-5000) |
| 7381 3f12 AF4F sbci r26,hlo8(-5000) |
| 7382 3f14 BF4F sbci r27,hhi8(-5000) |
| 7383 3f16 04F4 brge .L594 |
| 7384 3f18 88E7 ldi r24,lo8(-5000) |
| 7385 3f1a 9CEE ldi r25,hi8(-5000) |
| 7386 3f1c AFEF ldi r26,hlo8(-5000) |
| 7387 3f1e BFEF ldi r27,hhi8(-5000) |
| 7388 3f20 8093 0000 sts ausgleichRoll.11,r24 |
| 7389 3f24 9093 0000 sts (ausgleichRoll.11)+1,r25 |
| 7390 3f28 A093 0000 sts (ausgleichRoll.11)+2,r26 |
| 7391 3f2c B093 0000 sts (ausgleichRoll.11)+3,r27 |
| 7392 .L594: |
| 7393 3f30 2091 0000 lds r18,ausgleichRoll.11 |
| 7394 3f34 3091 0000 lds r19,(ausgleichRoll.11)+1 |
| 7395 3f38 4091 0000 lds r20,(ausgleichRoll.11)+2 |
| 7396 3f3c 5091 0000 lds r21,(ausgleichRoll.11)+3 |
| 7397 3f40 57FF sbrs r21,7 |
| 7398 3f42 00C0 rjmp .L595 |
| 7399 3f44 2150 subi r18,lo8(-(255)) |
| 7400 3f46 3F4F sbci r19,hi8(-(255)) |
| 7401 3f48 4F4F sbci r20,hlo8(-(255)) |
| 7402 3f4a 5F4F sbci r21,hhi8(-(255)) |
| 7403 .L595: |
| 7404 3f4c 232F mov r18,r19 |
| 7405 3f4e 342F mov r19,r20 |
| 7406 3f50 452F mov r20,r21 |
| 7407 3f52 5527 clr r21 |
| 7408 3f54 47FD sbrc r20,7 |
| 7409 3f56 5A95 dec r21 |
| 7410 3f58 8091 0000 lds r24,LageKorrekturRoll |
| 7411 3f5c 9091 0000 lds r25,(LageKorrekturRoll)+1 |
| 7412 3f60 820F add r24,r18 |
| 7413 3f62 931F adc r25,r19 |
| 7414 3f64 9093 0000 sts (LageKorrekturRoll)+1,r25 |
| 7415 3f68 8093 0000 sts LageKorrekturRoll,r24 |
| 7416 3f6c 00C0 rjmp .L598 |
| 7417 .L590: |
| 7418 3f6e 81E0 ldi r24,lo8(1) |
| 7419 3f70 8093 0000 sts last_r_n.18,r24 |
| 7420 3f74 00C0 rjmp .L598 |
| 7421 .L589: |
| 7422 3f76 1092 0000 sts last_r_n.18,__zero_reg__ |
| 7423 3f7a 00C0 rjmp .L598 |
| 7424 .L578: |
| 7425 3f7c 1092 0000 sts (cnt.14)+1,__zero_reg__ |
| 7426 3f80 1092 0000 sts cnt.14,__zero_reg__ |
| 7427 3f84 84E6 ldi r24,lo8(100) |
| 7428 3f86 90E0 ldi r25,hi8(100) |
| 7429 3f88 9093 0000 sts (KompassSignalSchlecht)+1,r25 |
| 7430 3f8c 8093 0000 sts KompassSignalSchlecht,r24 |
| 7431 .L598: |
| 7432 3f90 4889 ldd r20,Y+16 |
| 7433 3f92 242F mov r18,r20 |
| 7434 3f94 3327 clr r19 |
| 7435 3f96 8091 0000 lds r24,cnt.14 |
| 7436 3f9a 9091 0000 lds r25,(cnt.14)+1 |
| 7437 3f9e 2817 cp r18,r24 |
| 7438 3fa0 3907 cpc r19,r25 |
| 7439 3fa2 04F4 brge .L599 |
| 7440 3fa4 3093 0000 sts (cnt.14)+1,r19 |
| 7441 3fa8 2093 0000 sts cnt.14,r18 |
| 7442 .L599: |
| 7443 3fac 8091 0000 lds r24,FromNaviCtrl_Value+1 |
| 7444 3fb0 8823 tst r24 |
| 7445 3fb2 01F0 breq .L600 |
| 7446 3fb4 282F mov r18,r24 |
| 7447 3fb6 3327 clr r19 |
| 7448 3fb8 27FD sbrc r18,7 |
| 7449 3fba 3095 com r19 |
| 7450 3fbc 8091 0000 lds r24,cnt.14 |
| 7451 3fc0 9091 0000 lds r25,(cnt.14)+1 |
| 7452 3fc4 2817 cp r18,r24 |
| 7453 3fc6 3907 cpc r19,r25 |
| 7454 3fc8 04F4 brge .L600 |
| 7455 3fca 3093 0000 sts (cnt.14)+1,r19 |
| 7456 3fce 2093 0000 sts cnt.14,r18 |
| 7457 .L600: |
| 7458 3fd2 4091 0000 lds r20,IntegralFehlerRoll.4 |
| 7459 3fd6 5091 0000 lds r21,(IntegralFehlerRoll.4)+1 |
| 7460 3fda 6091 0000 lds r22,(IntegralFehlerRoll.4)+2 |
| 7461 3fde 7091 0000 lds r23,(IntegralFehlerRoll.4)+3 |
| 7462 3fe2 4138 cpi r20,lo8(129) |
| 7463 3fe4 5105 cpc r21,__zero_reg__ |
| 7464 3fe6 6105 cpc r22,__zero_reg__ |
| 7465 3fe8 7105 cpc r23,__zero_reg__ |
| 7466 3fea 04F0 brlt .L602 |
| 7467 3fec 8091 0000 lds r24,AdNeutralRoll |
| 7468 3ff0 9091 0000 lds r25,(AdNeutralRoll)+1 |
| 7469 3ff4 2091 0000 lds r18,cnt.14 |
| 7470 3ff8 3091 0000 lds r19,(cnt.14)+1 |
| 7471 3ffc 820F add r24,r18 |
| 7472 3ffe 931F adc r25,r19 |
| 7473 4000 9093 0000 sts (AdNeutralRoll)+1,r25 |
| 7474 4004 8093 0000 sts AdNeutralRoll,r24 |
| 7475 .L602: |
| 7476 4008 4058 subi r20,lo8(-128) |
| 7477 400a 5F4F sbci r21,hi8(-128) |
| 7478 400c 6F4F sbci r22,hlo8(-128) |
| 7479 400e 7F4F sbci r23,hhi8(-128) |
| 7480 4010 04F4 brge .L604 |
| 7481 4012 8091 0000 lds r24,AdNeutralRoll |
| 7482 4016 9091 0000 lds r25,(AdNeutralRoll)+1 |
| 7483 401a 2091 0000 lds r18,cnt.14 |
| 7484 401e 3091 0000 lds r19,(cnt.14)+1 |
| 7485 4022 821B sub r24,r18 |
| 7486 4024 930B sbc r25,r19 |
| 7487 4026 9093 0000 sts (AdNeutralRoll)+1,r25 |
| 7488 402a 8093 0000 sts AdNeutralRoll,r24 |
| 7489 402e 00C0 rjmp .L604 |
| 7490 .L530: |
| 7491 4030 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__ |
| 7492 4034 1092 0000 sts LageKorrekturRoll,__zero_reg__ |
| 7493 4038 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__ |
| 7494 403c 1092 0000 sts LageKorrekturNick,__zero_reg__ |
| 7495 4040 1092 0000 sts TrichterFlug,__zero_reg__ |
| 7496 .L604: |
| 7497 4044 8091 0000 lds r24,IntegralFaktor |
| 7498 4048 8823 tst r24 |
| 7499 404a 01F4 brne .L605 |
| 7500 404c 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__ |
| 7501 4050 1092 0000 sts LageKorrekturRoll,__zero_reg__ |
| 7502 4054 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__ |
| 7503 4058 1092 0000 sts LageKorrekturNick,__zero_reg__ |
| 7504 .L605: |
| 7505 405c 8091 0000 lds r24,MittelIntegralNick |
| 7506 4060 9091 0000 lds r25,(MittelIntegralNick)+1 |
| 7507 4064 A091 0000 lds r26,(MittelIntegralNick)+2 |
| 7508 4068 B091 0000 lds r27,(MittelIntegralNick)+3 |
| 7509 406c 8093 0000 sts MittelIntegralNick_Alt.19,r24 |
| 7510 4070 9093 0000 sts (MittelIntegralNick_Alt.19)+1,r25 |
| 7511 4074 A093 0000 sts (MittelIntegralNick_Alt.19)+2,r26 |
| 7512 4078 B093 0000 sts (MittelIntegralNick_Alt.19)+3,r27 |
| 7513 407c 8091 0000 lds r24,MittelIntegralRoll |
| 7514 4080 9091 0000 lds r25,(MittelIntegralRoll)+1 |
| 7515 4084 A091 0000 lds r26,(MittelIntegralRoll)+2 |
| 7516 4088 B091 0000 lds r27,(MittelIntegralRoll)+3 |
| 7517 408c 8093 0000 sts MittelIntegralRoll_Alt.20,r24 |
| 7518 4090 9093 0000 sts (MittelIntegralRoll_Alt.20)+1,r25 |
| 7519 4094 A093 0000 sts (MittelIntegralRoll_Alt.20)+2,r26 |
| 7520 4098 B093 0000 sts (MittelIntegralRoll_Alt.20)+3,r27 |
| 7521 409c 1092 0000 sts IntegralAccNick,__zero_reg__ |
| 7522 40a0 1092 0000 sts (IntegralAccNick)+1,__zero_reg__ |
| 7523 40a4 1092 0000 sts (IntegralAccNick)+2,__zero_reg__ |
| 7524 40a8 1092 0000 sts (IntegralAccNick)+3,__zero_reg__ |
| 7525 40ac 1092 0000 sts IntegralAccRoll,__zero_reg__ |
| 7526 40b0 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__ |
| 7527 40b4 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__ |
| 7528 40b8 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__ |
| 7529 40bc 1092 0000 sts IntegralAccZ,__zero_reg__ |
| 7530 40c0 1092 0000 sts (IntegralAccZ)+1,__zero_reg__ |
| 7531 40c4 1092 0000 sts (IntegralAccZ)+2,__zero_reg__ |
| 7532 40c8 1092 0000 sts (IntegralAccZ)+3,__zero_reg__ |
| 7533 40cc 1092 0000 sts MittelIntegralNick,__zero_reg__ |
| 7534 40d0 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__ |
| 7535 40d4 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__ |
| 7536 40d8 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__ |
| 7537 40dc 1092 0000 sts MittelIntegralRoll,__zero_reg__ |
| 7538 40e0 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__ |
| 7539 40e4 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__ |
| 7540 40e8 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__ |
| 7541 40ec 1092 0000 sts MittelIntegralNick2,__zero_reg__ |
| 7542 40f0 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__ |
| 7543 40f4 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__ |
| 7544 40f8 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__ |
| 7545 40fc 1092 0000 sts MittelIntegralRoll2,__zero_reg__ |
| 7546 4100 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__ |
| 7547 4104 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__ |
| 7548 4108 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__ |
| 7549 410c 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__ |
| 7550 4110 1092 0000 sts ZaehlMessungen,__zero_reg__ |
| 7551 .L529: |
| 7552 4114 E090 0000 lds r14,StickGier |
| 7553 4118 F090 0000 lds r15,(StickGier)+1 |
| 7554 411c C701 movw r24,r14 |
| 7555 411e F7FE sbrs r15,7 |
| 7556 4120 00C0 rjmp .L607 |
| 7557 4122 8827 clr r24 |
| 7558 4124 9927 clr r25 |
| 7559 4126 8E19 sub r24,r14 |
| 7560 4128 9F09 sbc r25,r15 |
| 7561 .L607: |
| 7562 412a 0497 sbiw r24,4 |
| 7563 412c 04F0 brlt .L606 |
| 7564 412e 8091 0000 lds r24,Parameter_GlobalConfig |
| 7565 4132 84FD sbrc r24,4 |
| 7566 4134 00C0 rjmp .L606 |
| 7567 4136 82E3 ldi r24,lo8(50) |
| 7568 4138 8093 0000 sts NeueKompassRichtungMerken,r24 |
| 7569 .L606: |
| 7570 413c 1091 0000 lds r17,EE_Parameter+25 |
| 7571 4140 A12E mov r10,r17 |
| 7572 4142 BB24 clr r11 |
| 7573 4144 CC24 clr r12 |
| 7574 4146 DD24 clr r13 |
| 7575 4148 B701 movw r22,r14 |
| 7576 414a 8827 clr r24 |
| 7577 414c 77FD sbrc r23,7 |
| 7578 414e 8095 com r24 |
| 7579 4150 982F mov r25,r24 |
| 7580 4152 9701 movw r18,r14 |
| 7581 4154 F7FE sbrs r15,7 |
| 7582 4156 00C0 rjmp .L609 |
| 7583 4158 2227 clr r18 |
| 7584 415a 3327 clr r19 |
| 7585 415c 2E19 sub r18,r14 |
| 7586 415e 3F09 sbc r19,r15 |
| 7587 .L609: |
| 7588 4160 4427 clr r20 |
| 7589 4162 37FD sbrc r19,7 |
| 7590 4164 4095 com r20 |
| 7591 4166 542F mov r21,r20 |
| 7592 4168 0E94 0000 call __mulsi3 |
| 7593 416c 9B01 movw r18,r22 |
| 7594 416e AC01 movw r20,r24 |
| 7595 4170 C601 movw r24,r12 |
| 7596 4172 B501 movw r22,r10 |
| 7597 4174 0E94 0000 call __mulsi3 |
| 7598 4178 97FF sbrs r25,7 |
| 7599 417a 00C0 rjmp .L610 |
| 7600 417c 6150 subi r22,lo8(-(511)) |
| 7601 417e 7E4F sbci r23,hi8(-(511)) |
| 7602 4180 8F4F sbci r24,hlo8(-(511)) |
| 7603 4182 9F4F sbci r25,hhi8(-(511)) |
| 7604 .L610: |
| 7605 4184 59E0 ldi r21,9 |
| 7606 4186 9595 1: asr r25 |
| 7607 4188 8795 ror r24 |
| 7608 418a 7795 ror r23 |
| 7609 418c 6795 ror r22 |
| 7610 418e 5A95 dec r21 |
| 7611 4190 01F4 brne 1b |
| 7612 4192 9B01 movw r18,r22 |
| 7613 4194 812F mov r24,r17 |
| 7614 4196 9927 clr r25 |
| 7615 4198 8E9D mul r24,r14 |
| 7616 419a D001 movw r26,r0 |
| 7617 419c 8F9D mul r24,r15 |
| 7618 419e B00D add r27,r0 |
| 7619 41a0 9E9D mul r25,r14 |
| 7620 41a2 B00D add r27,r0 |
| 7621 41a4 1124 clr r1 |
| 7622 41a6 CD01 movw r24,r26 |
| 7623 41a8 B7FD sbrc r27,7 |
| 7624 41aa 0396 adiw r24,3 |
| 7625 .L611: |
| 7626 41ac 9595 asr r25 |
| 7627 41ae 8795 ror r24 |
| 7628 41b0 9595 asr r25 |
| 7629 41b2 8795 ror r24 |
| 7630 41b4 280F add r18,r24 |
| 7631 41b6 391F adc r19,r25 |
| 7632 41b8 8091 0000 lds r24,CompassGierSetpoint |
| 7633 41bc 9091 0000 lds r25,(CompassGierSetpoint)+1 |
| 7634 41c0 280F add r18,r24 |
| 7635 41c2 391F adc r19,r25 |
| 7636 41c4 4427 clr r20 |
| 7637 41c6 37FD sbrc r19,7 |
| 7638 41c8 4095 com r20 |
| 7639 41ca 542F mov r21,r20 |
| 7640 41cc 2093 0000 sts sollGier.0,r18 |
| 7641 41d0 3093 0000 sts (sollGier.0)+1,r19 |
| 7642 41d4 4093 0000 sts (sollGier.0)+2,r20 |
| 7643 41d8 5093 0000 sts (sollGier.0)+3,r21 |
| 7644 41dc 8091 0000 lds r24,Mess_Integral_Gier |
| 7645 41e0 9091 0000 lds r25,(Mess_Integral_Gier)+1 |
| 7646 41e4 A091 0000 lds r26,(Mess_Integral_Gier)+2 |
| 7647 41e8 B091 0000 lds r27,(Mess_Integral_Gier)+3 |
| 7648 41ec 821B sub r24,r18 |
| 7649 41ee 930B sbc r25,r19 |
| 7650 41f0 A40B sbc r26,r20 |
| 7651 41f2 B50B sbc r27,r21 |
| 7652 41f4 8093 0000 sts Mess_Integral_Gier,r24 |
| 7653 41f8 9093 0000 sts (Mess_Integral_Gier)+1,r25 |
| 7654 41fc A093 0000 sts (Mess_Integral_Gier)+2,r26 |
| 7655 4200 B093 0000 sts (Mess_Integral_Gier)+3,r27 |
| 7656 4204 8155 subi r24,lo8(50001) |
| 7657 4206 934C sbci r25,hi8(50001) |
| 7658 4208 A040 sbci r26,hlo8(50001) |
| 7659 420a B040 sbci r27,hhi8(50001) |
| 7660 420c 04F0 brlt .L612 |
| 7661 420e 80E5 ldi r24,lo8(50000) |
| 7662 4210 93EC ldi r25,hi8(50000) |
| 7663 4212 A0E0 ldi r26,hlo8(50000) |
| 7664 4214 B0E0 ldi r27,hhi8(50000) |
| 7665 4216 8093 0000 sts Mess_Integral_Gier,r24 |
| 7666 421a 9093 0000 sts (Mess_Integral_Gier)+1,r25 |
| 7667 421e A093 0000 sts (Mess_Integral_Gier)+2,r26 |
| 7668 4222 B093 0000 sts (Mess_Integral_Gier)+3,r27 |
| 7669 .L612: |
| 7670 4226 8091 0000 lds r24,Mess_Integral_Gier |
| 7671 422a 9091 0000 lds r25,(Mess_Integral_Gier)+1 |
| 7672 422e A091 0000 lds r26,(Mess_Integral_Gier)+2 |
| 7673 4232 B091 0000 lds r27,(Mess_Integral_Gier)+3 |
| 7674 4236 805B subi r24,lo8(-50000) |
| 7675 4238 9C43 sbci r25,hi8(-50000) |
| 7676 423a AF4F sbci r26,hlo8(-50000) |
| 7677 423c BF4F sbci r27,hhi8(-50000) |
| 7678 423e 04F4 brge .L613 |
| 7679 4240 80EB ldi r24,lo8(-50000) |
| 7680 4242 9CE3 ldi r25,hi8(-50000) |
| 7681 4244 AFEF ldi r26,hlo8(-50000) |
| 7682 4246 BFEF ldi r27,hhi8(-50000) |
| 7683 4248 8093 0000 sts Mess_Integral_Gier,r24 |
| 7684 424c 9093 0000 sts (Mess_Integral_Gier)+1,r25 |
| 7685 4250 A093 0000 sts (Mess_Integral_Gier)+2,r26 |
| 7686 4254 B093 0000 sts (Mess_Integral_Gier)+3,r27 |
| 7687 .L613: |
| 7688 4258 0091 0000 lds r16,KompassValue |
| 7689 425c 1091 0000 lds r17,(KompassValue)+1 |
| 7690 4260 17FD sbrc r17,7 |
| 7691 4262 00C0 rjmp .L614 |
| 7692 4264 8091 0000 lds r24,Parameter_GlobalConfig |
| 7693 4268 83FF sbrs r24,3 |
| 7694 426a 00C0 rjmp .L614 |
| 7695 426c 8091 0000 lds r24,CalculateCompassTimer |
| 7696 4270 8150 subi r24,lo8(-(-1)) |
| 7697 4272 8093 0000 sts CalculateCompassTimer,r24 |
| 7698 4276 8823 tst r24 |
| 7699 4278 01F0 breq .+2 |
| 7700 427a 00C0 rjmp .L631 |
| 7701 427c 8DE0 ldi r24,lo8(13) |
| 7702 427e 8093 0000 sts CalculateCompassTimer,r24 |
| 7703 4282 8091 0000 lds r24,IntegralNick |
| 7704 4286 9091 0000 lds r25,(IntegralNick)+1 |
| 7705 428a A091 0000 lds r26,(IntegralNick)+2 |
| 7706 428e B091 0000 lds r27,(IntegralNick)+3 |
| 7707 4292 B7FF sbrs r27,7 |
| 7708 4294 00C0 rjmp .L616 |
| 7709 4296 8150 subi r24,lo8(-(511)) |
| 7710 4298 9E4F sbci r25,hi8(-(511)) |
| 7711 429a AF4F sbci r26,hlo8(-(511)) |
| 7712 429c BF4F sbci r27,hhi8(-(511)) |
| 7713 .L616: |
| 7714 429e 39E0 ldi r19,9 |
| 7715 42a0 B595 1: asr r27 |
| 7716 42a2 A795 ror r26 |
| 7717 42a4 9795 ror r25 |
| 7718 42a6 8795 ror r24 |
| 7719 42a8 3A95 dec r19 |
| 7720 42aa 01F4 brne 1b |
| 7721 42ac 7C01 movw r14,r24 |
| 7722 42ae 97FF sbrs r25,7 |
| 7723 42b0 00C0 rjmp .L617 |
| 7724 42b2 F094 com r15 |
| 7725 42b4 E194 neg r14 |
| 7726 42b6 F108 sbc r15,__zero_reg__ |
| 7727 42b8 F394 inc r15 |
| 7728 .L617: |
| 7729 42ba 8091 0000 lds r24,IntegralRoll |
| 7730 42be 9091 0000 lds r25,(IntegralRoll)+1 |
| 7731 42c2 A091 0000 lds r26,(IntegralRoll)+2 |
| 7732 42c6 B091 0000 lds r27,(IntegralRoll)+3 |
| 7733 42ca B7FF sbrs r27,7 |
| 7734 42cc 00C0 rjmp .L618 |
| 7735 42ce 8150 subi r24,lo8(-(511)) |
| 7736 42d0 9E4F sbci r25,hi8(-(511)) |
| 7737 42d2 AF4F sbci r26,hlo8(-(511)) |
| 7738 42d4 BF4F sbci r27,hhi8(-(511)) |
| 7739 .L618: |
| 7740 42d6 29E0 ldi r18,9 |
| 7741 42d8 B595 1: asr r27 |
| 7742 42da A795 ror r26 |
| 7743 42dc 9795 ror r25 |
| 7744 42de 8795 ror r24 |
| 7745 42e0 2A95 dec r18 |
| 7746 42e2 01F4 brne 1b |
| 7747 42e4 9C01 movw r18,r24 |
| 7748 42e6 97FF sbrs r25,7 |
| 7749 42e8 00C0 rjmp .L619 |
| 7750 42ea 3095 com r19 |
| 7751 42ec 2195 neg r18 |
| 7752 42ee 3F4F sbci r19,lo8(-1) |
| 7753 .L619: |
| 7754 42f0 E216 cp r14,r18 |
| 7755 42f2 F306 cpc r15,r19 |
| 7756 42f4 04F4 brge .L620 |
| 7757 42f6 7901 movw r14,r18 |
| 7758 .L620: |
| 7759 42f8 B701 movw r22,r14 |
| 7760 42fa F7FE sbrs r15,7 |
| 7761 42fc 00C0 rjmp .L621 |
| 7762 42fe 695F subi r22,lo8(-(7)) |
| 7763 4300 7F4F sbci r23,hi8(-(7)) |
| 7764 .L621: |
| 7765 4302 2B01 movw r4,r22 |
| 7766 4304 A3E0 ldi r26,3 |
| 7767 4306 5594 1: asr r5 |
| 7768 4308 4794 ror r4 |
| 7769 430a AA95 dec r26 |
| 7770 430c 01F4 brne 1b |
| 7771 430e 22E0 ldi r18,lo8(2) |
| 7772 4310 30E0 ldi r19,hi8(2) |
| 7773 4312 420E add r4,r18 |
| 7774 4314 531E adc r5,r19 |
| 7775 4316 6090 0000 lds r6,ErsatzKompass |
| 7776 431a 7090 0000 lds r7,(ErsatzKompass)+1 |
| 7777 431e 8090 0000 lds r8,(ErsatzKompass)+2 |
| 7778 4322 9090 0000 lds r9,(ErsatzKompass)+3 |
| 7779 4326 2091 0000 lds r18,GIER_GRAD_FAKTOR |
| 7780 432a 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1 |
| 7781 432e 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2 |
| 7782 4332 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3 |
| 7783 4336 C401 movw r24,r8 |
| 7784 4338 B301 movw r22,r6 |
| 7785 433a 0E94 0000 call __divmodsi4 |
| 7786 433e 5901 movw r10,r18 |
| 7787 4340 6A01 movw r12,r20 |
| 7788 4342 3093 0000 sts (ErsatzKompassInGrad)+1,r19 |
| 7789 4346 2093 0000 sts ErsatzKompassInGrad,r18 |
| 7790 434a 021B sub r16,r18 |
| 7791 434c 130B sbc r17,r19 |
| 7792 434e C801 movw r24,r16 |
| 7793 4350 845E subi r24,lo8(-(540)) |
| 7794 4352 9D4F sbci r25,hi8(-(540)) |
| 7795 4354 68E6 ldi r22,lo8(360) |
| 7796 4356 71E0 ldi r23,hi8(360) |
| 7797 4358 0E94 0000 call __divmodhi4 |
| 7798 435c 9C01 movw r18,r24 |
| 7799 435e 245B subi r18,lo8(-(-180)) |
| 7800 4360 3040 sbci r19,hi8(-(-180)) |
| 7801 4362 8091 0000 lds r24,KompassSignalSchlecht |
| 7802 4366 9091 0000 lds r25,(KompassSignalSchlecht)+1 |
| 7803 436a 0097 sbiw r24,0 |
| 7804 436c 01F0 breq .L622 |
| 7805 436e 0197 sbiw r24,1 |
| 7806 4370 9093 0000 sts (KompassSignalSchlecht)+1,r25 |
| 7807 4374 8093 0000 sts KompassSignalSchlecht,r24 |
| 7808 4378 00C0 rjmp .L623 |
| 7809 .L622: |
| 7810 437a 49E1 ldi r20,lo8(25) |
| 7811 437c E416 cp r14,r20 |
| 7812 437e F104 cpc r15,__zero_reg__ |
| 7813 4380 04F4 brge .L623 |
| 7814 4382 8091 0000 lds r24,GierGyroFehler |
| 7815 4386 9091 0000 lds r25,(GierGyroFehler)+1 |
| 7816 438a 820F add r24,r18 |
| 7817 438c 931F adc r25,r19 |
| 7818 438e 9093 0000 sts (GierGyroFehler)+1,r25 |
| 7819 4392 8093 0000 sts GierGyroFehler,r24 |
| 7820 4396 8091 0000 lds r24,NeueKompassRichtungMerken |
| 7821 439a 8823 tst r24 |
| 7822 439c 01F0 breq .L623 |
| 7823 439e 8150 subi r24,lo8(-(-1)) |
| 7824 43a0 8093 0000 sts NeueKompassRichtungMerken,r24 |
| 7825 43a4 8823 tst r24 |
| 7826 43a6 01F4 brne .L623 |
| 7827 43a8 B092 0000 sts (KompassSollWert)+1,r11 |
| 7828 43ac A092 0000 sts KompassSollWert,r10 |
| 7829 .L623: |
| 7830 43b0 8091 0000 lds r24,KompassSignalSchlecht |
| 7831 43b4 9091 0000 lds r25,(KompassSignalSchlecht)+1 |
| 7832 43b8 892B or r24,r25 |
| 7833 43ba 01F4 brne .L627 |
| 7834 43bc 8091 0000 lds r24,KompassFusion |
| 7835 43c0 9927 clr r25 |
| 7836 43c2 289F mul r18,r24 |
| 7837 43c4 B001 movw r22,r0 |
| 7838 43c6 299F mul r18,r25 |
| 7839 43c8 700D add r23,r0 |
| 7840 43ca 389F mul r19,r24 |
| 7841 43cc 700D add r23,r0 |
| 7842 43ce 1124 clr r1 |
| 7843 43d0 CB01 movw r24,r22 |
| 7844 43d2 B201 movw r22,r4 |
| 7845 43d4 0E94 0000 call __divmodhi4 |
| 7846 43d8 CB01 movw r24,r22 |
| 7847 43da AA27 clr r26 |
| 7848 43dc 97FD sbrc r25,7 |
| 7849 43de A095 com r26 |
| 7850 43e0 BA2F mov r27,r26 |
| 7851 43e2 680E add r6,r24 |
| 7852 43e4 791E adc r7,r25 |
| 7853 43e6 8A1E adc r8,r26 |
| 7854 43e8 9B1E adc r9,r27 |
| 7855 43ea 6092 0000 sts ErsatzKompass,r6 |
| 7856 43ee 7092 0000 sts (ErsatzKompass)+1,r7 |
| 7857 43f2 8092 0000 sts (ErsatzKompass)+2,r8 |
| 7858 43f6 9092 0000 sts (ErsatzKompass)+3,r9 |
| 7859 .L627: |
| 7860 43fa 8091 0000 lds r24,NeueKompassRichtungMerken |
| 7861 43fe 8823 tst r24 |
| 7862 4400 01F4 brne .L614 |
| 7863 4402 8091 0000 lds r24,KompassSollWert |
| 7864 4406 9091 0000 lds r25,(KompassSollWert)+1 |
| 7865 440a 2091 0000 lds r18,ErsatzKompassInGrad |
| 7866 440e 3091 0000 lds r19,(ErsatzKompassInGrad)+1 |
| 7867 4412 821B sub r24,r18 |
| 7868 4414 930B sbc r25,r19 |
| 7869 4416 845E subi r24,lo8(-(540)) |
| 7870 4418 9D4F sbci r25,hi8(-(540)) |
| 7871 441a 68E6 ldi r22,lo8(360) |
| 7872 441c 71E0 ldi r23,hi8(360) |
| 7873 441e 0E94 0000 call __divmodhi4 |
| 7874 4422 9C01 movw r18,r24 |
| 7875 4424 245B subi r18,lo8(-(-180)) |
| 7876 4426 3040 sbci r19,hi8(-(-180)) |
| 7877 4428 8091 0000 lds r24,Parameter_KompassWirkung |
| 7878 442c 8695 lsr r24 |
| 7879 442e 9927 clr r25 |
| 7880 4430 289F mul r18,r24 |
| 7881 4432 D001 movw r26,r0 |
| 7882 4434 299F mul r18,r25 |
| 7883 4436 B00D add r27,r0 |
| 7884 4438 389F mul r19,r24 |
| 7885 443a B00D add r27,r0 |
| 7886 443c 1124 clr r1 |
| 7887 443e 9D01 movw r18,r26 |
| 7888 4440 B7FF sbrs r27,7 |
| 7889 4442 00C0 rjmp .L629 |
| 7890 4444 215F subi r18,lo8(-(15)) |
| 7891 4446 3F4F sbci r19,hi8(-(15)) |
| 7892 .L629: |
| 7893 4448 F4E0 ldi r31,4 |
| 7894 444a 3595 1: asr r19 |
| 7895 444c 2795 ror r18 |
| 7896 444e FA95 dec r31 |
| 7897 4450 01F4 brne 1b |
| 7898 4452 3093 0000 sts (CompassGierSetpoint)+1,r19 |
| 7899 4456 2093 0000 sts CompassGierSetpoint,r18 |
| 7900 445a 00C0 rjmp .L631 |
| 7901 .L614: |
| 7902 445c 1092 0000 sts (CompassGierSetpoint)+1,__zero_reg__ |
| 7903 4460 1092 0000 sts CompassGierSetpoint,__zero_reg__ |
| 7904 .L631: |
| 7905 4464 8091 0000 lds r24,TrichterFlug |
| 7906 4468 8823 tst r24 |
| 7907 446a 01F0 breq .L632 |
| 7908 446c 1092 0000 sts SummeRoll,__zero_reg__ |
| 7909 4470 1092 0000 sts (SummeRoll)+1,__zero_reg__ |
| 7910 4474 1092 0000 sts (SummeRoll)+2,__zero_reg__ |
| 7911 4478 1092 0000 sts (SummeRoll)+3,__zero_reg__ |
| 7912 447c 1092 0000 sts SummeNick,__zero_reg__ |
| 7913 4480 1092 0000 sts (SummeNick)+1,__zero_reg__ |
| 7914 4484 1092 0000 sts (SummeNick)+2,__zero_reg__ |
| 7915 4488 1092 0000 sts (SummeNick)+3,__zero_reg__ |
| 7916 .L632: |
| 7917 448c F090 0000 lds r15,Looping_Nick |
| 7918 4490 FF20 tst r15 |
| 7919 4492 01F4 brne .L633 |
| 7920 4494 8091 0000 lds r24,IntegralFaktor |
| 7921 4498 282F mov r18,r24 |
| 7922 449a 3327 clr r19 |
| 7923 449c 4427 clr r20 |
| 7924 449e 5527 clr r21 |
| 7925 44a0 8091 0000 lds r24,IntegralNick |
| 7926 44a4 9091 0000 lds r25,(IntegralNick)+1 |
| 7927 44a8 A091 0000 lds r26,(IntegralNick)+2 |
| 7928 44ac B091 0000 lds r27,(IntegralNick)+3 |
| 7929 44b0 BC01 movw r22,r24 |
| 7930 44b2 CD01 movw r24,r26 |
| 7931 44b4 0E94 0000 call __mulsi3 |
| 7932 44b8 DC01 movw r26,r24 |
| 7933 44ba CB01 movw r24,r22 |
| 7934 44bc BC01 movw r22,r24 |
| 7935 44be CD01 movw r24,r26 |
| 7936 44c0 28EF ldi r18,lo8(11000) |
| 7937 44c2 3AE2 ldi r19,hi8(11000) |
| 7938 44c4 40E0 ldi r20,hlo8(11000) |
| 7939 44c6 50E0 ldi r21,hhi8(11000) |
| 7940 44c8 0E94 0000 call __divmodsi4 |
| 7941 44cc 3901 movw r6,r18 |
| 7942 44ce 00C0 rjmp .L634 |
| 7943 .L633: |
| 7944 44d0 6624 clr r6 |
| 7945 44d2 7724 clr r7 |
| 7946 .L634: |
| 7947 44d4 E090 0000 lds r14,Looping_Roll |
| 7948 44d8 EE20 tst r14 |
| 7949 44da 01F4 brne .L635 |
| 7950 44dc 8091 0000 lds r24,IntegralFaktor |
| 7951 44e0 282F mov r18,r24 |
| 7952 44e2 3327 clr r19 |
| 7953 44e4 4427 clr r20 |
| 7954 44e6 5527 clr r21 |
| 7955 44e8 8091 0000 lds r24,IntegralRoll |
| 7956 44ec 9091 0000 lds r25,(IntegralRoll)+1 |
| 7957 44f0 A091 0000 lds r26,(IntegralRoll)+2 |
| 7958 44f4 B091 0000 lds r27,(IntegralRoll)+3 |
| 7959 44f8 BC01 movw r22,r24 |
| 7960 44fa CD01 movw r24,r26 |
| 7961 44fc 0E94 0000 call __mulsi3 |
| 7962 4500 DC01 movw r26,r24 |
| 7963 4502 CB01 movw r24,r22 |
| 7964 4504 BC01 movw r22,r24 |
| 7965 4506 CD01 movw r24,r26 |
| 7966 4508 28EF ldi r18,lo8(11000) |
| 7967 450a 3AE2 ldi r19,hi8(11000) |
| 7968 450c 40E0 ldi r20,hlo8(11000) |
| 7969 450e 50E0 ldi r21,hhi8(11000) |
| 7970 4510 0E94 0000 call __divmodsi4 |
| 7971 4514 2901 movw r4,r18 |
| 7972 4516 00C0 rjmp .L636 |
| 7973 .L635: |
| 7974 4518 4424 clr r4 |
| 7975 451a 5524 clr r5 |
| 7976 .L636: |
| 7977 451c 8091 0000 lds r24,TrimNick |
| 7978 4520 9091 0000 lds r25,(TrimNick)+1 |
| 7979 4524 893C cpi r24,201 |
| 7980 4526 9105 cpc r25,__zero_reg__ |
| 7981 4528 04F0 brlt .L637 |
| 7982 452a 88EC ldi r24,lo8(200) |
| 7983 452c 90E0 ldi r25,hi8(200) |
| 7984 452e 00C0 rjmp .L894 |
| 7985 .L637: |
| 7986 4530 8853 subi r24,lo8(-200) |
| 7987 4532 9F4F sbci r25,hi8(-200) |
| 7988 4534 04F4 brge .L638 |
| 7989 4536 88E3 ldi r24,lo8(-200) |
| 7990 4538 9FEF ldi r25,hi8(-200) |
| 7991 .L894: |
| 7992 453a 9093 0000 sts (TrimNick)+1,r25 |
| 7993 453e 8093 0000 sts TrimNick,r24 |
| 7994 .L638: |
| 7995 4542 8091 0000 lds r24,TrimRoll |
| 7996 4546 9091 0000 lds r25,(TrimRoll)+1 |
| 7997 454a 893C cpi r24,201 |
| 7998 454c 9105 cpc r25,__zero_reg__ |
| 7999 454e 04F0 brlt .L640 |
| 8000 4550 88EC ldi r24,lo8(200) |
| 8001 4552 90E0 ldi r25,hi8(200) |
| 8002 4554 00C0 rjmp .L895 |
| 8003 .L640: |
| 8004 4556 8853 subi r24,lo8(-200) |
| 8005 4558 9F4F sbci r25,hi8(-200) |
| 8006 455a 04F4 brge .L641 |
| 8007 455c 88E3 ldi r24,lo8(-200) |
| 8008 455e 9FEF ldi r25,hi8(-200) |
| 8009 .L895: |
| 8010 4560 9093 0000 sts (TrimRoll)+1,r25 |
| 8011 4564 8093 0000 sts TrimRoll,r24 |
| 8012 .L641: |
| 8013 4568 8091 0000 lds r24,MesswertNick |
| 8014 456c 9091 0000 lds r25,(MesswertNick)+1 |
| 8015 4570 AA27 clr r26 |
| 8016 4572 97FD sbrc r25,7 |
| 8017 4574 A095 com r26 |
| 8018 4576 BA2F mov r27,r26 |
| 8019 4578 2091 0000 lds r18,GyroFaktor |
| 8020 457c A22E mov r10,r18 |
| 8021 457e BB24 clr r11 |
| 8022 4580 CC24 clr r12 |
| 8023 4582 DD24 clr r13 |
| 8024 4584 BC01 movw r22,r24 |
| 8025 4586 CD01 movw r24,r26 |
| 8026 4588 A601 movw r20,r12 |
| 8027 458a 9501 movw r18,r10 |
| 8028 458c 0E94 0000 call __mulsi3 |
| 8029 4590 9B01 movw r18,r22 |
| 8030 4592 AC01 movw r20,r24 |
| 8031 4594 8091 0000 lds r24,TrimNick |
| 8032 4598 9091 0000 lds r25,(TrimNick)+1 |
| 8033 459c AA27 clr r26 |
| 8034 459e 97FD sbrc r25,7 |
| 8035 45a0 A095 com r26 |
| 8036 45a2 BA2F mov r27,r26 |
| 8037 45a4 E7E0 ldi r30,7 |
| 8038 45a6 880F 1: lsl r24 |
| 8039 45a8 991F rol r25 |
| 8040 45aa AA1F rol r26 |
| 8041 45ac BB1F rol r27 |
| 8042 45ae EA95 dec r30 |
| 8043 45b0 01F4 brne 1b |
| 8044 45b2 280F add r18,r24 |
| 8045 45b4 391F adc r19,r25 |
| 8046 45b6 4A1F adc r20,r26 |
| 8047 45b8 5B1F adc r21,r27 |
| 8048 45ba 57FF sbrs r21,7 |
| 8049 45bc 00C0 rjmp .L643 |
| 8050 45be 215C subi r18,lo8(-(63)) |
| 8051 45c0 3F4F sbci r19,hi8(-(63)) |
| 8052 45c2 4F4F sbci r20,hlo8(-(63)) |
| 8053 45c4 5F4F sbci r21,hhi8(-(63)) |
| 8054 .L643: |
| 8055 45c6 76E0 ldi r23,6 |
| 8056 45c8 5595 1: asr r21 |
| 8057 45ca 4795 ror r20 |
| 8058 45cc 3795 ror r19 |
| 8059 45ce 2795 ror r18 |
| 8060 45d0 7A95 dec r23 |
| 8061 45d2 01F4 brne 1b |
| 8062 45d4 8301 movw r16,r6 |
| 8063 45d6 020F add r16,r18 |
| 8064 45d8 131F adc r17,r19 |
| 8065 45da 1093 0000 sts (MesswertNick)+1,r17 |
| 8066 45de 0093 0000 sts MesswertNick,r16 |
| 8067 45e2 8091 0000 lds r24,MesswertRoll |
| 8068 45e6 9091 0000 lds r25,(MesswertRoll)+1 |
| 8069 45ea AA27 clr r26 |
| 8070 45ec 97FD sbrc r25,7 |
| 8071 45ee A095 com r26 |
| 8072 45f0 BA2F mov r27,r26 |
| 8073 45f2 BC01 movw r22,r24 |
| 8074 45f4 CD01 movw r24,r26 |
| 8075 45f6 A601 movw r20,r12 |
| 8076 45f8 9501 movw r18,r10 |
| 8077 45fa 0E94 0000 call __mulsi3 |
| 8078 45fe 9B01 movw r18,r22 |
| 8079 4600 AC01 movw r20,r24 |
| 8080 4602 8091 0000 lds r24,TrimRoll |
| 8081 4606 9091 0000 lds r25,(TrimRoll)+1 |
| 8082 460a AA27 clr r26 |
| 8083 460c 97FD sbrc r25,7 |
| 8084 460e A095 com r26 |
| 8085 4610 BA2F mov r27,r26 |
| 8086 4612 67E0 ldi r22,7 |
| 8087 4614 880F 1: lsl r24 |
| 8088 4616 991F rol r25 |
| 8089 4618 AA1F rol r26 |
| 8090 461a BB1F rol r27 |
| 8091 461c 6A95 dec r22 |
| 8092 461e 01F4 brne 1b |
| 8093 4620 280F add r18,r24 |
| 8094 4622 391F adc r19,r25 |
| 8095 4624 4A1F adc r20,r26 |
| 8096 4626 5B1F adc r21,r27 |
| 8097 4628 57FF sbrs r21,7 |
| 8098 462a 00C0 rjmp .L644 |
| 8099 462c 215C subi r18,lo8(-(63)) |
| 8100 462e 3F4F sbci r19,hi8(-(63)) |
| 8101 4630 4F4F sbci r20,hlo8(-(63)) |
| 8102 4632 5F4F sbci r21,hhi8(-(63)) |
| 8103 .L644: |
| 8104 4634 F6E0 ldi r31,6 |
| 8105 4636 5595 1: asr r21 |
| 8106 4638 4795 ror r20 |
| 8107 463a 3795 ror r19 |
| 8108 463c 2795 ror r18 |
| 8109 463e FA95 dec r31 |
| 8110 4640 01F4 brne 1b |
| 8111 4642 4201 movw r8,r4 |
| 8112 4644 820E add r8,r18 |
| 8113 4646 931E adc r9,r19 |
| 8114 4648 9092 0000 sts (MesswertRoll)+1,r9 |
| 8115 464c 8092 0000 sts MesswertRoll,r8 |
| 8116 4650 8091 0000 lds r24,MesswertGier |
| 8117 4654 9091 0000 lds r25,(MesswertGier)+1 |
| 8118 4658 880F add r24,r24 |
| 8119 465a 991F adc r25,r25 |
| 8120 465c AA27 clr r26 |
| 8121 465e 97FD sbrc r25,7 |
| 8122 4660 A095 com r26 |
| 8123 4662 BA2F mov r27,r26 |
| 8124 4664 2091 0000 lds r18,GyroFaktorGier |
| 8125 4668 3327 clr r19 |
| 8126 466a 4427 clr r20 |
| 8127 466c 5527 clr r21 |
| 8128 466e BC01 movw r22,r24 |
| 8129 4670 CD01 movw r24,r26 |
| 8130 4672 0E94 0000 call __mulsi3 |
| 8131 4676 5B01 movw r10,r22 |
| 8132 4678 6C01 movw r12,r24 |
| 8133 467a 97FF sbrs r25,7 |
| 8134 467c 00C0 rjmp .L645 |
| 8135 467e 2FE3 ldi r18,lo8(63) |
| 8136 4680 30E0 ldi r19,hi8(63) |
| 8137 4682 40E0 ldi r20,hlo8(63) |
| 8138 4684 50E0 ldi r21,hhi8(63) |
| 8139 4686 A20E add r10,r18 |
| 8140 4688 B31E adc r11,r19 |
| 8141 468a C41E adc r12,r20 |
| 8142 468c D51E adc r13,r21 |
| 8143 .L645: |
| 8144 468e E6E0 ldi r30,6 |
| 8145 4690 D594 1: asr r13 |
| 8146 4692 C794 ror r12 |
| 8147 4694 B794 ror r11 |
| 8148 4696 A794 ror r10 |
| 8149 4698 EA95 dec r30 |
| 8150 469a 01F4 brne 1b |
| 8151 469c 8091 0000 lds r24,IntegralFaktorGier |
| 8152 46a0 282F mov r18,r24 |
| 8153 46a2 3327 clr r19 |
| 8154 46a4 4427 clr r20 |
| 8155 46a6 5527 clr r21 |
| 8156 46a8 8091 0000 lds r24,Integral_Gier |
| 8157 46ac 9091 0000 lds r25,(Integral_Gier)+1 |
| 8158 46b0 A091 0000 lds r26,(Integral_Gier)+2 |
| 8159 46b4 B091 0000 lds r27,(Integral_Gier)+3 |
| 8160 46b8 BC01 movw r22,r24 |
| 8161 46ba CD01 movw r24,r26 |
| 8162 46bc 0E94 0000 call __mulsi3 |
| 8163 46c0 DC01 movw r26,r24 |
| 8164 46c2 CB01 movw r24,r22 |
| 8165 46c4 BC01 movw r22,r24 |
| 8166 46c6 CD01 movw r24,r26 |
| 8167 46c8 20EF ldi r18,lo8(22000) |
| 8168 46ca 35E5 ldi r19,hi8(22000) |
| 8169 46cc 40E0 ldi r20,hlo8(22000) |
| 8170 46ce 50E0 ldi r21,hhi8(22000) |
| 8171 46d0 0E94 0000 call __divmodsi4 |
| 8172 46d4 B501 movw r22,r10 |
| 8173 46d6 620F add r22,r18 |
| 8174 46d8 731F adc r23,r19 |
| 8175 46da 7093 0000 sts (MesswertGier)+1,r23 |
| 8176 46de 6093 0000 sts MesswertGier,r22 |
| 8177 46e2 0150 subi r16,lo8(4097) |
| 8178 46e4 1041 sbci r17,hi8(4097) |
| 8179 46e6 04F0 brlt .L646 |
| 8180 46e8 80E0 ldi r24,lo8(4096) |
| 8181 46ea 90E1 ldi r25,hi8(4096) |
| 8182 46ec 9093 0000 sts (MesswertNick)+1,r25 |
| 8183 46f0 8093 0000 sts MesswertNick,r24 |
| 8184 .L646: |
| 8185 46f4 8091 0000 lds r24,MesswertNick |
| 8186 46f8 9091 0000 lds r25,(MesswertNick)+1 |
| 8187 46fc 8050 subi r24,lo8(-4096) |
| 8188 46fe 904F sbci r25,hi8(-4096) |
| 8189 4700 04F4 brge .L647 |
| 8190 4702 80E0 ldi r24,lo8(-4096) |
| 8191 4704 90EF ldi r25,hi8(-4096) |
| 8192 4706 9093 0000 sts (MesswertNick)+1,r25 |
| 8193 470a 8093 0000 sts MesswertNick,r24 |
| 8194 .L647: |
| 8195 470e 51E0 ldi r21,lo8(4097) |
| 8196 4710 8516 cp r8,r21 |
| 8197 4712 50E1 ldi r21,hi8(4097) |
| 8198 4714 9506 cpc r9,r21 |
| 8199 4716 04F0 brlt .L648 |
| 8200 4718 80E0 ldi r24,lo8(4096) |
| 8201 471a 90E1 ldi r25,hi8(4096) |
| 8202 471c 9093 0000 sts (MesswertRoll)+1,r25 |
| 8203 4720 8093 0000 sts MesswertRoll,r24 |
| 8204 .L648: |
| 8205 4724 8091 0000 lds r24,MesswertRoll |
| 8206 4728 9091 0000 lds r25,(MesswertRoll)+1 |
| 8207 472c 8050 subi r24,lo8(-4096) |
| 8208 472e 904F sbci r25,hi8(-4096) |
| 8209 4730 04F4 brge .L649 |
| 8210 4732 80E0 ldi r24,lo8(-4096) |
| 8211 4734 90EF ldi r25,hi8(-4096) |
| 8212 4736 9093 0000 sts (MesswertRoll)+1,r25 |
| 8213 473a 8093 0000 sts MesswertRoll,r24 |
| 8214 .L649: |
| 8215 473e 6150 subi r22,lo8(4097) |
| 8216 4740 7041 sbci r23,hi8(4097) |
| 8217 4742 04F0 brlt .L650 |
| 8218 4744 80E0 ldi r24,lo8(4096) |
| 8219 4746 90E1 ldi r25,hi8(4096) |
| 8220 4748 9093 0000 sts (MesswertGier)+1,r25 |
| 8221 474c 8093 0000 sts MesswertGier,r24 |
| 8222 .L650: |
| 8223 4750 8091 0000 lds r24,MesswertGier |
| 8224 4754 9091 0000 lds r25,(MesswertGier)+1 |
| 8225 4758 8050 subi r24,lo8(-4096) |
| 8226 475a 904F sbci r25,hi8(-4096) |
| 8227 475c 04F4 brge .L651 |
| 8228 475e 80E0 ldi r24,lo8(-4096) |
| 8229 4760 90EF ldi r25,hi8(-4096) |
| 8230 4762 9093 0000 sts (MesswertGier)+1,r25 |
| 8231 4766 8093 0000 sts MesswertGier,r24 |
| 8232 .L651: |
| 8233 476a 8091 0000 lds r24,BattLowVoltageWarning |
| 8234 476e 482F mov r20,r24 |
| 8235 4770 5527 clr r21 |
| 8236 4772 8091 0000 lds r24,UBat |
| 8237 4776 9091 0000 lds r25,(UBat)+1 |
| 8238 477a 4817 cp r20,r24 |
| 8239 477c 5907 cpc r21,r25 |
| 8240 477e 04F4 brge .L652 |
| 8241 4780 2091 0000 lds r18,UBat |
| 8242 4784 3091 0000 lds r19,(UBat)+1 |
| 8243 4788 0981 ldd r16,Y+1 |
| 8244 478a 1A81 ldd r17,Y+2 |
| 8245 478c 049F mul r16,r20 |
| 8246 478e C001 movw r24,r0 |
| 8247 4790 059F mul r16,r21 |
| 8248 4792 900D add r25,r0 |
| 8249 4794 149F mul r17,r20 |
| 8250 4796 900D add r25,r0 |
| 8251 4798 1124 clr r1 |
| 8252 479a B901 movw r22,r18 |
| 8253 479c 0E94 0000 call __udivmodhi4 |
| 8254 47a0 7A83 std Y+2,r23 |
| 8255 47a2 6983 std Y+1,r22 |
| 8256 .L652: |
| 8257 47a4 2981 ldd r18,Y+1 |
| 8258 47a6 3A81 ldd r19,Y+2 |
| 8259 47a8 220F lsl r18 |
| 8260 47aa 331F rol r19 |
| 8261 47ac 220F lsl r18 |
| 8262 47ae 331F rol r19 |
| 8263 47b0 3A83 std Y+2,r19 |
| 8264 47b2 2983 std Y+1,r18 |
| 8265 47b4 4091 0000 lds r20,Parameter_GlobalConfig |
| 8266 47b8 40FD sbrc r20,0 |
| 8267 47ba 00C0 rjmp .+4 |
| 8268 47bc 0C94 0000 jmp .L653 |
| 8269 47c0 EE20 tst r14 |
| 8270 47c2 01F0 breq .+4 |
| 8271 47c4 0C94 0000 jmp .L653 |
| 8272 47c8 FF20 tst r15 |
| 8273 47ca 01F0 breq .+4 |
| 8274 47cc 0C94 0000 jmp .L653 |
| 8275 47d0 00E0 ldi r16,lo8(0) |
| 8276 47d2 10E0 ldi r17,hi8(0) |
| 8277 47d4 4801 movw r8,r16 |
| 8278 47d6 8091 0000 lds r24,HoverGas |
| 8279 47da 9091 0000 lds r25,(HoverGas)+1 |
| 8280 47de 9093 0000 sts (DebugOut+44)+1,r25 |
| 8281 47e2 8093 0000 sts DebugOut+44,r24 |
| 8282 47e6 2091 0000 lds r18,BaroExpandActive |
| 8283 47ea 3091 0000 lds r19,(BaroExpandActive)+1 |
| 8284 47ee 2115 cp r18,__zero_reg__ |
| 8285 47f0 3105 cpc r19,__zero_reg__ |
| 8286 47f2 01F0 breq .+2 |
| 8287 47f4 00C0 rjmp .L654 |
| 8288 47f6 8091 0000 lds r24,MessLuftdruck |
| 8289 47fa 9091 0000 lds r25,(MessLuftdruck)+1 |
| 8290 47fe 8959 subi r24,lo8(921) |
| 8291 4800 9340 sbci r25,hi8(921) |
| 8292 4802 00F0 brlo .L655 |
| 8293 4804 87B5 in r24,71-0x20 |
| 8294 4806 803F cpi r24,lo8(-16) |
| 8295 4808 00F4 brsh .L656 |
| 8296 480a 8091 0000 lds r24,ExpandBaro |
| 8297 480e 8150 subi r24,lo8(-(-1)) |
| 8298 4810 00C0 rjmp .L896 |
| 8299 .L656: |
| 8300 4812 81E0 ldi r24,lo8(1) |
| 8301 4814 8093 0000 sts BaroAtLowerLimit.26,r24 |
| 8302 4818 00C0 rjmp .L663 |
| 8303 .L655: |
| 8304 481a 8091 0000 lds r24,MessLuftdruck |
| 8305 481e 9091 0000 lds r25,(MessLuftdruck)+1 |
| 8306 4822 8436 cpi r24,100 |
| 8307 4824 9105 cpc r25,__zero_reg__ |
| 8308 4826 00F4 brsh .L659 |
| 8309 4828 87B5 in r24,71-0x20 |
| 8310 482a 8031 cpi r24,lo8(16) |
| 8311 482c 00F0 brlo .L660 |
| 8312 482e 8091 0000 lds r24,ExpandBaro |
| 8313 4832 8F5F subi r24,lo8(-(1)) |
| 8314 .L896: |
| 8315 4834 8093 0000 sts ExpandBaro,r24 |
| 8316 4838 9FE0 ldi r25,lo8(15) |
| 8317 483a 8902 muls r24,r25 |
| 8318 483c 9001 movw r18,r0 |
| 8319 483e 1124 clr r1 |
| 8320 4840 8091 0000 lds r24,DruckOffsetSetting |
| 8321 4844 821B sub r24,r18 |
| 8322 4846 87BD out 71-0x20,r24 |
| 8323 4848 8CE2 ldi r24,lo8(300) |
| 8324 484a 91E0 ldi r25,hi8(300) |
| 8325 484c 9093 0000 sts (beeptime)+1,r25 |
| 8326 4850 8093 0000 sts beeptime,r24 |
| 8327 4854 8EE5 ldi r24,lo8(350) |
| 8328 4856 91E0 ldi r25,hi8(350) |
| 8329 4858 9093 0000 sts (BaroExpandActive)+1,r25 |
| 8330 485c 8093 0000 sts BaroExpandActive,r24 |
| 8331 4860 00C0 rjmp .L663 |
| 8332 .L660: |
| 8333 4862 81E0 ldi r24,lo8(1) |
| 8334 4864 8093 0000 sts BaroAtUpperLimit.25,r24 |
| 8335 4868 00C0 rjmp .L663 |
| 8336 .L659: |
| 8337 486a F092 0000 sts BaroAtUpperLimit.25,r15 |
| 8338 486e F092 0000 sts BaroAtLowerLimit.26,r15 |
| 8339 4872 00C0 rjmp .L663 |
| 8340 .L654: |
| 8341 4874 8091 0000 lds r24,HoehenWert |
| 8342 4878 9091 0000 lds r25,(HoehenWert)+1 |
| 8343 487c A091 0000 lds r26,(HoehenWert)+2 |
| 8344 4880 B091 0000 lds r27,(HoehenWert)+3 |
| 8345 4884 64E0 ldi r22,4 |
| 8346 4886 880F 1: lsl r24 |
| 8347 4888 991F rol r25 |
| 8348 488a AA1F rol r26 |
| 8349 488c BB1F rol r27 |
| 8350 488e 6A95 dec r22 |
| 8351 4890 01F4 brne 1b |
| 8352 4892 8093 0000 sts SummenHoehe,r24 |
| 8353 4896 9093 0000 sts (SummenHoehe)+1,r25 |
| 8354 489a A093 0000 sts (SummenHoehe)+2,r26 |
| 8355 489e B093 0000 sts (SummenHoehe)+3,r27 |
| 8356 48a2 1093 0000 sts (VarioMeter)+1,r17 |
| 8357 48a6 0093 0000 sts VarioMeter,r16 |
| 8358 48aa 2150 subi r18,lo8(-(-1)) |
| 8359 48ac 3040 sbci r19,hi8(-(-1)) |
| 8360 48ae 3093 0000 sts (BaroExpandActive)+1,r19 |
| 8361 48b2 2093 0000 sts BaroExpandActive,r18 |
| 8362 .L663: |
| 8363 48b6 2091 0000 lds r18,Parameter_HoehenSchalter |
| 8364 48ba 41FF sbrs r20,1 |
| 8365 48bc 00C0 rjmp .L664 |
| 8366 48be 2233 cpi r18,lo8(50) |
| 8367 48c0 00F4 brsh .L665 |
| 8368 48c2 8091 0000 lds r24,delay.24 |
| 8369 48c6 8150 subi r24,lo8(-(-1)) |
| 8370 48c8 8093 0000 sts delay.24,r24 |
| 8371 48cc 8F3F cpi r24,lo8(-1) |
| 8372 48ce 01F0 breq .+2 |
| 8373 48d0 00C0 rjmp .L671 |
| 8374 48d2 8091 0000 lds r24,SpeakHoTT |
| 8375 48d6 8823 tst r24 |
| 8376 48d8 01F4 brne .L667 |
| 8377 48da 8091 0000 lds r24,HoehenReglerAktiv |
| 8378 48de 8823 tst r24 |
| 8379 48e0 01F0 breq .L667 |
| 8380 48e2 88E2 ldi r24,lo8(40) |
| 8381 48e4 8093 0000 sts SpeakHoTT,r24 |
| 8382 .L667: |
| 8383 48e8 1092 0000 sts HoehenReglerAktiv,__zero_reg__ |
| 8384 48ec 8091 0000 lds r24,HoehenWert |
| 8385 48f0 9091 0000 lds r25,(HoehenWert)+1 |
| 8386 48f4 A091 0000 lds r26,(HoehenWert)+2 |
| 8387 48f8 B091 0000 lds r27,(HoehenWert)+3 |
| 8388 48fc 8093 0000 sts SollHoehe,r24 |
| 8389 4900 9093 0000 sts (SollHoehe)+1,r25 |
| 8390 4904 A093 0000 sts (SollHoehe)+2,r26 |
| 8391 4908 B093 0000 sts (SollHoehe)+3,r27 |
| 8392 490c 81E0 ldi r24,lo8(1) |
| 8393 490e 8093 0000 sts delay.24,r24 |
| 8394 4912 00C0 rjmp .L671 |
| 8395 .L665: |
| 8396 4914 2734 cpi r18,lo8(71) |
| 8397 4916 00F0 brlo .L671 |
| 8398 4918 8091 0000 lds r24,SpeakHoTT |
| 8399 491c 8823 tst r24 |
| 8400 491e 01F4 brne .L670 |
| 8401 4920 8091 0000 lds r24,HoehenReglerAktiv |
| 8402 4924 8823 tst r24 |
| 8403 4926 01F4 brne .L670 |
| 8404 4928 87E2 ldi r24,lo8(39) |
| 8405 492a 8093 0000 sts SpeakHoTT,r24 |
| 8406 .L670: |
| 8407 492e 88EC ldi r24,lo8(-56) |
| 8408 4930 8093 0000 sts delay.24,r24 |
| 8409 4934 00C0 rjmp .L897 |
| 8410 .L664: |
| 8411 4936 8091 0000 lds r24,ExternHoehenValue |
| 8412 493a 9091 0000 lds r25,(ExternHoehenValue)+1 |
| 8413 493e 820F add r24,r18 |
| 8414 4940 911D adc r25,__zero_reg__ |
| 8415 4942 2091 0000 lds r18,EE_Parameter+18 |
| 8416 4946 3327 clr r19 |
| 8417 4948 829F mul r24,r18 |
| 8418 494a A001 movw r20,r0 |
| 8419 494c 839F mul r24,r19 |
| 8420 494e 500D add r21,r0 |
| 8421 4950 929F mul r25,r18 |
| 8422 4952 500D add r21,r0 |
| 8423 4954 1124 clr r1 |
| 8424 4956 CA01 movw r24,r20 |
| 8425 4958 AA27 clr r26 |
| 8426 495a 97FD sbrc r25,7 |
| 8427 495c A095 com r26 |
| 8428 495e BA2F mov r27,r26 |
| 8429 4960 8093 0000 sts SollHoehe,r24 |
| 8430 4964 9093 0000 sts (SollHoehe)+1,r25 |
| 8431 4968 A093 0000 sts (SollHoehe)+2,r26 |
| 8432 496c B093 0000 sts (SollHoehe)+3,r27 |
| 8433 .L897: |
| 8434 4970 81E0 ldi r24,lo8(1) |
| 8435 4972 8093 0000 sts HoehenReglerAktiv,r24 |
| 8436 .L671: |
| 8437 4976 8091 0000 lds r24,IntegralNick |
| 8438 497a 9091 0000 lds r25,(IntegralNick)+1 |
| 8439 497e A091 0000 lds r26,(IntegralNick)+2 |
| 8440 4982 B091 0000 lds r27,(IntegralNick)+3 |
| 8441 4986 E090 0000 lds r14,GIER_GRAD_FAKTOR |
| 8442 498a F090 0000 lds r15,(GIER_GRAD_FAKTOR)+1 |
| 8443 498e 0091 0000 lds r16,(GIER_GRAD_FAKTOR)+2 |
| 8444 4992 1091 0000 lds r17,(GIER_GRAD_FAKTOR)+3 |
| 8445 4996 BC01 movw r22,r24 |
| 8446 4998 CD01 movw r24,r26 |
| 8447 499a A801 movw r20,r16 |
| 8448 499c 9701 movw r18,r14 |
| 8449 499e 0E94 0000 call __divmodsi4 |
| 8450 49a2 5901 movw r10,r18 |
| 8451 49a4 6A01 movw r12,r20 |
| 8452 49a6 8091 0000 lds r24,IntegralRoll |
| 8453 49aa 9091 0000 lds r25,(IntegralRoll)+1 |
| 8454 49ae A091 0000 lds r26,(IntegralRoll)+2 |
| 8455 49b2 B091 0000 lds r27,(IntegralRoll)+3 |
| 8456 49b6 BC01 movw r22,r24 |
| 8457 49b8 CD01 movw r24,r26 |
| 8458 49ba A801 movw r20,r16 |
| 8459 49bc 9701 movw r18,r14 |
| 8460 49be 0E94 0000 call __divmodsi4 |
| 8461 49c2 B901 movw r22,r18 |
| 8462 49c4 C501 movw r24,r10 |
| 8463 49c6 0E94 0000 call ihypot |
| 8464 49ca 5C01 movw r10,r24 |
| 8465 49cc CC97 sbiw r24,60 |
| 8466 49ce 04F0 brlt .L672 |
| 8467 49d0 5CE3 ldi r21,lo8(60) |
| 8468 49d2 A52E mov r10,r21 |
| 8469 49d4 B12C mov r11,__zero_reg__ |
| 8470 .L672: |
| 8471 49d6 C501 movw r24,r10 |
| 8472 49d8 0E94 0000 call c_cos_8192 |
| 8473 49dc 5C01 movw r10,r24 |
| 8474 49de 80E2 ldi r24,lo8(32) |
| 8475 49e0 8093 0000 sts VarioCharacter,r24 |
| 8476 49e4 1092 0000 sts (AltitudeSetpointTrimming)+1,__zero_reg__ |
| 8477 49e8 1092 0000 sts AltitudeSetpointTrimming,__zero_reg__ |
| 8478 49ec 8091 0000 lds r24,HoehenReglerAktiv |
| 8479 49f0 8823 tst r24 |
| 8480 49f2 01F4 brne .+2 |
| 8481 49f4 00C0 rjmp .L673 |
| 8482 49f6 8091 0000 lds r24,FC_StatusFlags |
| 8483 49fa 9927 clr r25 |
| 8484 49fc 9C01 movw r18,r24 |
| 8485 49fe 2071 andi r18,lo8(16) |
| 8486 4a00 3070 andi r19,hi8(16) |
| 8487 4a02 84FD sbrc r24,4 |
| 8488 4a04 00C0 rjmp .L673 |
| 8489 4a06 8091 0000 lds r24,FC_StatusFlags2 |
| 8490 4a0a 8260 ori r24,lo8(2) |
| 8491 4a0c 8093 0000 sts FC_StatusFlags2,r24 |
| 8492 4a10 7091 0000 lds r23,Parameter_ExtraConfig |
| 8493 4a14 872F mov r24,r23 |
| 8494 4a16 9927 clr r25 |
| 8495 4a18 41E0 ldi r20,lo8(1) |
| 8496 4a1a C42E mov r12,r20 |
| 8497 4a1c D12C mov r13,__zero_reg__ |
| 8498 4a1e C822 and r12,r24 |
| 8499 4a20 D922 and r13,r25 |
| 8500 4a22 80FD sbrc r24,0 |
| 8501 4a24 00C0 rjmp .L675 |
| 8502 4a26 8091 0000 lds r24,Parameter_GlobalConfig |
| 8503 4a2a 81FD sbrc r24,1 |
| 8504 4a2c 00C0 rjmp .L674 |
| 8505 .L675: |
| 8506 4a2e C980 ldd r12,Y+1 |
| 8507 4a30 DA80 ldd r13,Y+2 |
| 8508 4a32 3093 0000 sts (HeightTrimming.21)+1,r19 |
| 8509 4a36 2093 0000 sts HeightTrimming.21,r18 |
| 8510 4a3a 3093 0000 sts (AltitudeSetpointTrimming)+1,r19 |
| 8511 4a3e 2093 0000 sts AltitudeSetpointTrimming,r18 |
| 8512 4a42 8091 0000 lds r24,FC_StatusFlags |
| 8513 4a46 806C ori r24,lo8(-64) |
| 8514 4a48 8093 0000 sts FC_StatusFlags,r24 |
| 8515 4a4c 00C0 rjmp .L676 |
| 8516 .L674: |
| 8517 4a4e 8091 0000 lds r24,FC_StatusFlags |
| 8518 4a52 81FF sbrs r24,1 |
| 8519 4a54 00C0 rjmp .L677 |
| 8520 4a56 0091 0000 lds r16,StickGasHover |
| 8521 4a5a 1091 0000 lds r17,(StickGasHover)+1 |
| 8522 4a5e C801 movw r24,r16 |
| 8523 4a60 0F96 adiw r24,15 |
| 8524 4a62 2090 0000 lds r2,StickGas |
| 8525 4a66 3090 0000 lds r3,(StickGas)+1 |
| 8526 4a6a 8215 cp r24,r2 |
| 8527 4a6c 9305 cpc r25,r3 |
| 8528 4a6e 04F0 brlt .+2 |
| 8529 4a70 00C0 rjmp .L678 |
| 8530 4a72 8091 0000 lds r24,BaroAtUpperLimit.25 |
| 8531 4a76 8823 tst r24 |
| 8532 4a78 01F0 breq .+2 |
| 8533 4a7a 00C0 rjmp .L678 |
| 8534 4a7c 8091 0000 lds r24,FC_StatusFlags |
| 8535 4a80 87FF sbrs r24,7 |
| 8536 4a82 00C0 rjmp .L679 |
| 8537 4a84 8091 0000 lds r24,FC_StatusFlags |
| 8538 4a88 8F77 andi r24,lo8(127) |
| 8539 4a8a 8093 0000 sts FC_StatusFlags,r24 |
| 8540 4a8e 8091 0000 lds r24,HoehenWert |
| 8541 4a92 9091 0000 lds r25,(HoehenWert)+1 |
| 8542 4a96 A091 0000 lds r26,(HoehenWert)+2 |
| 8543 4a9a B091 0000 lds r27,(HoehenWert)+3 |
| 8544 4a9e 8093 0000 sts SollHoehe,r24 |
| 8545 4aa2 9093 0000 sts (SollHoehe)+1,r25 |
| 8546 4aa6 A093 0000 sts (SollHoehe)+2,r26 |
| 8547 4aaa B093 0000 sts (SollHoehe)+3,r27 |
| 8548 .L679: |
| 8549 4aae 8091 0000 lds r24,FC_StatusFlags |
| 8550 4ab2 8064 ori r24,lo8(64) |
| 8551 4ab4 8093 0000 sts FC_StatusFlags,r24 |
| 8552 4ab8 E090 0000 lds r14,Parameter_MaximumAltitude |
| 8553 4abc EE20 tst r14 |
| 8554 4abe 01F0 breq .L680 |
| 8555 4ac0 8091 0000 lds r24,SollHoehe |
| 8556 4ac4 9091 0000 lds r25,(SollHoehe)+1 |
| 8557 4ac8 A091 0000 lds r26,(SollHoehe)+2 |
| 8558 4acc B091 0000 lds r27,(SollHoehe)+3 |
| 8559 4ad0 BC01 movw r22,r24 |
| 8560 4ad2 CD01 movw r24,r26 |
| 8561 4ad4 24E6 ldi r18,lo8(100) |
| 8562 4ad6 30E0 ldi r19,hi8(100) |
| 8563 4ad8 40E0 ldi r20,hlo8(100) |
| 8564 4ada 50E0 ldi r21,hhi8(100) |
| 8565 4adc 0E94 0000 call __divmodsi4 |
| 8566 4ae0 8E2D mov r24,r14 |
| 8567 4ae2 9927 clr r25 |
| 8568 4ae4 AA27 clr r26 |
| 8569 4ae6 BB27 clr r27 |
| 8570 4ae8 8217 cp r24,r18 |
| 8571 4aea 9307 cpc r25,r19 |
| 8572 4aec A407 cpc r26,r20 |
| 8573 4aee B507 cpc r27,r21 |
| 8574 4af0 04F4 brge .L680 |
| 8575 4af2 D092 0000 sts (AltitudeSetpointTrimming)+1,r13 |
| 8576 4af6 C092 0000 sts AltitudeSetpointTrimming,r12 |
| 8577 4afa 00C0 rjmp .L681 |
| 8578 .L680: |
| 8579 4afc C101 movw r24,r2 |
| 8580 4afe 801B sub r24,r16 |
| 8581 4b00 910B sbc r25,r17 |
| 8582 4b02 0F97 sbiw r24,15 |
| 8583 4b04 97FF sbrs r25,7 |
| 8584 4b06 00C0 rjmp .L682 |
| 8585 4b08 9095 com r25 |
| 8586 4b0a 8195 neg r24 |
| 8587 4b0c 9F4F sbci r25,lo8(-1) |
| 8588 .L682: |
| 8589 4b0e 9093 0000 sts (AltitudeSetpointTrimming)+1,r25 |
| 8590 4b12 8093 0000 sts AltitudeSetpointTrimming,r24 |
| 8591 4b16 8BE2 ldi r24,lo8(43) |
| 8592 4b18 8093 0000 sts VarioCharacter,r24 |
| 8593 .L681: |
| 8594 4b1c 1092 0000 sts WaypointTrimming,__zero_reg__ |
| 8595 4b20 00C0 rjmp .L683 |
| 8596 .L678: |
| 8597 4b22 C801 movw r24,r16 |
| 8598 4b24 0F97 sbiw r24,15 |
| 8599 4b26 2816 cp r2,r24 |
| 8600 4b28 3906 cpc r3,r25 |
| 8601 4b2a 04F4 brge .L684 |
| 8602 4b2c 2091 0000 lds r18,BaroAtLowerLimit.26 |
| 8603 4b30 2223 tst r18 |
| 8604 4b32 01F4 brne .L684 |
| 8605 4b34 8091 0000 lds r24,FC_StatusFlags |
| 8606 4b38 86FF sbrs r24,6 |
| 8607 4b3a 00C0 rjmp .L685 |
| 8608 4b3c 8091 0000 lds r24,FC_StatusFlags |
| 8609 4b40 8F7B andi r24,lo8(-65) |
| 8610 4b42 8093 0000 sts FC_StatusFlags,r24 |
| 8611 4b46 8091 0000 lds r24,HoehenWert |
| 8612 4b4a 9091 0000 lds r25,(HoehenWert)+1 |
| 8613 4b4e A091 0000 lds r26,(HoehenWert)+2 |
| 8614 4b52 B091 0000 lds r27,(HoehenWert)+3 |
| 8615 4b56 8093 0000 sts SollHoehe,r24 |
| 8616 4b5a 9093 0000 sts (SollHoehe)+1,r25 |
| 8617 4b5e A093 0000 sts (SollHoehe)+2,r26 |
| 8618 4b62 B093 0000 sts (SollHoehe)+3,r27 |
| 8619 .L685: |
| 8620 4b66 8091 0000 lds r24,FC_StatusFlags |
| 8621 4b6a 8068 ori r24,lo8(-128) |
| 8622 4b6c 8093 0000 sts FC_StatusFlags,r24 |
| 8623 4b70 C101 movw r24,r2 |
| 8624 4b72 801B sub r24,r16 |
| 8625 4b74 910B sbc r25,r17 |
| 8626 4b76 0F96 adiw r24,15 |
| 8627 4b78 97FF sbrs r25,7 |
| 8628 4b7a 00C0 rjmp .L686 |
| 8629 4b7c 9095 com r25 |
| 8630 4b7e 8195 neg r24 |
| 8631 4b80 9F4F sbci r25,lo8(-1) |
| 8632 .L686: |
| 8633 4b82 9095 com r25 |
| 8634 4b84 8195 neg r24 |
| 8635 4b86 9F4F sbci r25,lo8(-1) |
| 8636 4b88 9093 0000 sts (AltitudeSetpointTrimming)+1,r25 |
| 8637 4b8c 8093 0000 sts AltitudeSetpointTrimming,r24 |
| 8638 4b90 8DE2 ldi r24,lo8(45) |
| 8639 4b92 8093 0000 sts VarioCharacter,r24 |
| 8640 4b96 2093 0000 sts WaypointTrimming,r18 |
| 8641 4b9a 00C0 rjmp .L683 |
| 8642 .L684: |
| 8643 4b9c 8DE3 ldi r24,lo8(61) |
| 8644 4b9e 8093 0000 sts VarioCharacter,r24 |
| 8645 4ba2 6091 0000 lds r22,FromNC_AltitudeSpeed |
| 8646 4ba6 6623 tst r22 |
| 8647 4ba8 01F0 breq .L688 |
| 8648 4baa 2091 0000 lds r18,FromNC_AltitudeSetpoint |
| 8649 4bae 3091 0000 lds r19,(FromNC_AltitudeSetpoint)+1 |
| 8650 4bb2 4091 0000 lds r20,(FromNC_AltitudeSetpoint)+2 |
| 8651 4bb6 5091 0000 lds r21,(FromNC_AltitudeSetpoint)+3 |
| 8652 4bba 8091 0000 lds r24,SollHoehe |
| 8653 4bbe 9091 0000 lds r25,(SollHoehe)+1 |
| 8654 4bc2 A091 0000 lds r26,(SollHoehe)+2 |
| 8655 4bc6 B091 0000 lds r27,(SollHoehe)+3 |
| 8656 4bca 8217 cp r24,r18 |
| 8657 4bcc 9307 cpc r25,r19 |
| 8658 4bce A407 cpc r26,r20 |
| 8659 4bd0 B507 cpc r27,r21 |
| 8660 4bd2 04F4 brge .L688 |
| 8661 4bd4 8091 0000 lds r24,FC_StatusFlags |
| 8662 4bd8 8064 ori r24,lo8(64) |
| 8663 4bda 8093 0000 sts FC_StatusFlags,r24 |
| 8664 4bde 862F mov r24,r22 |
| 8665 4be0 9927 clr r25 |
| 8666 4be2 9093 0000 sts (AltitudeSetpointTrimming)+1,r25 |
| 8667 4be6 8093 0000 sts AltitudeSetpointTrimming,r24 |
| 8668 4bea 8AE0 ldi r24,lo8(10) |
| 8669 4bec 8093 0000 sts WaypointTrimming,r24 |
| 8670 4bf0 8EE5 ldi r24,lo8(94) |
| 8671 4bf2 8093 0000 sts VarioCharacter,r24 |
| 8672 4bf6 8091 0000 lds r24,FC_StatusFlags |
| 8673 4bfa 87FF sbrs r24,7 |
| 8674 4bfc 00C0 rjmp .L683 |
| 8675 4bfe 8091 0000 lds r24,FC_StatusFlags |
| 8676 4c02 8F77 andi r24,lo8(127) |
| 8677 4c04 00C0 rjmp .L899 |
| 8678 .L688: |
| 8679 4c06 6623 tst r22 |
| 8680 4c08 01F4 brne .+2 |
| 8681 4c0a 00C0 rjmp .L691 |
| 8682 4c0c 2091 0000 lds r18,FromNC_AltitudeSetpoint |
| 8683 4c10 3091 0000 lds r19,(FromNC_AltitudeSetpoint)+1 |
| 8684 4c14 4091 0000 lds r20,(FromNC_AltitudeSetpoint)+2 |
| 8685 4c18 5091 0000 lds r21,(FromNC_AltitudeSetpoint)+3 |
| 8686 4c1c 8091 0000 lds r24,SollHoehe |
| 8687 4c20 9091 0000 lds r25,(SollHoehe)+1 |
| 8688 4c24 A091 0000 lds r26,(SollHoehe)+2 |
| 8689 4c28 B091 0000 lds r27,(SollHoehe)+3 |
| 8690 4c2c 2817 cp r18,r24 |
| 8691 4c2e 3907 cpc r19,r25 |
| 8692 4c30 4A07 cpc r20,r26 |
| 8693 4c32 5B07 cpc r21,r27 |
| 8694 4c34 04F4 brge .L691 |
| 8695 4c36 8091 0000 lds r24,FC_StatusFlags |
| 8696 4c3a 8068 ori r24,lo8(-128) |
| 8697 4c3c 8093 0000 sts FC_StatusFlags,r24 |
| 8698 4c40 862F mov r24,r22 |
| 8699 4c42 9927 clr r25 |
| 8700 4c44 9095 com r25 |
| 8701 4c46 8195 neg r24 |
| 8702 4c48 9F4F sbci r25,lo8(-1) |
| 8703 4c4a 9093 0000 sts (AltitudeSetpointTrimming)+1,r25 |
| 8704 4c4e 8093 0000 sts AltitudeSetpointTrimming,r24 |
| 8705 4c52 86EF ldi r24,lo8(-10) |
| 8706 4c54 8093 0000 sts WaypointTrimming,r24 |
| 8707 4c58 86E7 ldi r24,lo8(118) |
| 8708 4c5a 8093 0000 sts VarioCharacter,r24 |
| 8709 4c5e 8091 0000 lds r24,FC_StatusFlags |
| 8710 4c62 86FF sbrs r24,6 |
| 8711 4c64 00C0 rjmp .L683 |
| 8712 4c66 8091 0000 lds r24,FC_StatusFlags |
| 8713 4c6a 8F7B andi r24,lo8(-65) |
| 8714 .L899: |
| 8715 4c6c 8093 0000 sts FC_StatusFlags,r24 |
| 8716 4c70 8091 0000 lds r24,HoehenWert |
| 8717 4c74 9091 0000 lds r25,(HoehenWert)+1 |
| 8718 4c78 A091 0000 lds r26,(HoehenWert)+2 |
| 8719 4c7c B091 0000 lds r27,(HoehenWert)+3 |
| 8720 4c80 8093 0000 sts SollHoehe,r24 |
| 8721 4c84 9093 0000 sts (SollHoehe)+1,r25 |
| 8722 4c88 A093 0000 sts (SollHoehe)+2,r26 |
| 8723 4c8c B093 0000 sts (SollHoehe)+3,r27 |
| 8724 4c90 00C0 rjmp .L683 |
| 8725 .L691: |
| 8726 4c92 8091 0000 lds r24,FC_StatusFlags |
| 8727 4c96 807C andi r24,lo8(-64) |
| 8728 4c98 01F4 brne .+2 |
| 8729 4c9a 00C0 rjmp .L683 |
| 8730 4c9c 8091 0000 lds r24,WaypointTrimming |
| 8731 4ca0 8823 tst r24 |
| 8732 4ca2 01F4 brne .L695 |
| 8733 4ca4 E090 0000 lds r14,HoehenWert |
| 8734 4ca8 F090 0000 lds r15,(HoehenWert)+1 |
| 8735 4cac 0091 0000 lds r16,(HoehenWert)+2 |
| 8736 4cb0 1091 0000 lds r17,(HoehenWert)+3 |
| 8737 4cb4 D801 movw r26,r16 |
| 8738 4cb6 C701 movw r24,r14 |
| 8739 4cb8 8058 subi r24,lo8(-(-128)) |
| 8740 4cba 9040 sbci r25,hi8(-(-128)) |
| 8741 4cbc A040 sbci r26,hlo8(-(-128)) |
| 8742 4cbe B040 sbci r27,hhi8(-(-128)) |
| 8743 4cc0 2091 0000 lds r18,SollHoehe |
| 8744 4cc4 3091 0000 lds r19,(SollHoehe)+1 |
| 8745 4cc8 4091 0000 lds r20,(SollHoehe)+2 |
| 8746 4ccc 5091 0000 lds r21,(SollHoehe)+3 |
| 8747 4cd0 8217 cp r24,r18 |
| 8748 4cd2 9307 cpc r25,r19 |
| 8749 4cd4 A407 cpc r26,r20 |
| 8750 4cd6 B507 cpc r27,r21 |
| 8751 4cd8 04F4 brge .L898 |
| 8752 4cda D801 movw r26,r16 |
| 8753 4cdc C701 movw r24,r14 |
| 8754 4cde 8058 subi r24,lo8(-(128)) |
| 8755 4ce0 9F4F sbci r25,hi8(-(128)) |
| 8756 4ce2 AF4F sbci r26,hlo8(-(128)) |
| 8757 4ce4 BF4F sbci r27,hhi8(-(128)) |
| 8758 4ce6 2817 cp r18,r24 |
| 8759 4ce8 3907 cpc r19,r25 |
| 8760 4cea 4A07 cpc r20,r26 |
| 8761 4cec 5B07 cpc r21,r27 |
| 8762 4cee 04F0 brlt .L699 |
| 8763 .L898: |
| 8764 4cf0 8093 0000 sts SollHoehe,r24 |
| 8765 4cf4 9093 0000 sts (SollHoehe)+1,r25 |
| 8766 4cf8 A093 0000 sts (SollHoehe)+2,r26 |
| 8767 4cfc B093 0000 sts (SollHoehe)+3,r27 |
| 8768 4d00 00C0 rjmp .L699 |
| 8769 .L695: |
| 8770 4d02 1092 0000 sts WaypointTrimming,__zero_reg__ |
| 8771 .L699: |
| 8772 4d06 8091 0000 lds r24,FC_StatusFlags |
| 8773 4d0a 8F73 andi r24,lo8(63) |
| 8774 4d0c 8093 0000 sts FC_StatusFlags,r24 |
| 8775 4d10 1092 0000 sts (HeightTrimming.21)+1,__zero_reg__ |
| 8776 4d14 1092 0000 sts HeightTrimming.21,__zero_reg__ |
| 8777 4d18 71FF sbrs r23,1 |
| 8778 4d1a 00C0 rjmp .L700 |
| 8779 4d1c 84EF ldi r24,lo8(500) |
| 8780 4d1e 91E0 ldi r25,hi8(500) |
| 8781 4d20 9093 0000 sts (beeptime)+1,r25 |
| 8782 4d24 8093 0000 sts beeptime,r24 |
| 8783 .L700: |
| 8784 4d28 8091 0000 lds r24,StartTrigger |
| 8785 4d2c 8823 tst r24 |
| 8786 4d2e 01F4 brne .L683 |
| 8787 4d30 8091 0000 lds r24,HoehenWert |
| 8788 4d34 9091 0000 lds r25,(HoehenWert)+1 |
| 8789 4d38 A091 0000 lds r26,(HoehenWert)+2 |
| 8790 4d3c B091 0000 lds r27,(HoehenWert)+3 |
| 8791 4d40 C397 sbiw r24,51 |
| 8792 4d42 A105 cpc r26,__zero_reg__ |
| 8793 4d44 B105 cpc r27,__zero_reg__ |
| 8794 4d46 04F0 brlt .L683 |
| 8795 4d48 81E0 ldi r24,lo8(1) |
| 8796 4d4a 8093 0000 sts StartTrigger,r24 |
| 8797 .L683: |
| 8798 4d4e 6091 0000 lds r22,HeightTrimming.21 |
| 8799 4d52 7091 0000 lds r23,(HeightTrimming.21)+1 |
| 8800 4d56 8091 0000 lds r24,AltitudeSetpointTrimming |
| 8801 4d5a 9091 0000 lds r25,(AltitudeSetpointTrimming)+1 |
| 8802 4d5e 680F add r22,r24 |
| 8803 4d60 791F adc r23,r25 |
| 8804 4d62 7093 0000 sts (HeightTrimming.21)+1,r23 |
| 8805 4d66 6093 0000 sts HeightTrimming.21,r22 |
| 8806 4d6a CB01 movw r24,r22 |
| 8807 4d6c 77FF sbrs r23,7 |
| 8808 4d6e 00C0 rjmp .L703 |
| 8809 4d70 8827 clr r24 |
| 8810 4d72 9927 clr r25 |
| 8811 4d74 861B sub r24,r22 |
| 8812 4d76 970B sbc r25,r23 |
| 8813 .L703: |
| 8814 4d78 855F subi r24,lo8(501) |
| 8815 4d7a 9140 sbci r25,hi8(501) |
| 8816 4d7c 04F4 brge .+2 |
| 8817 4d7e 00C0 rjmp .L702 |
| 8818 4d80 4091 0000 lds r20,WaypointTrimming |
| 8819 4d84 4423 tst r20 |
| 8820 4d86 01F0 breq .L704 |
| 8821 4d88 8091 0000 lds r24,FromNC_AltitudeSetpoint |
| 8822 4d8c 9091 0000 lds r25,(FromNC_AltitudeSetpoint)+1 |
| 8823 4d90 2091 0000 lds r18,SollHoehe |
| 8824 4d94 3091 0000 lds r19,(SollHoehe)+1 |
| 8825 4d98 821B sub r24,r18 |
| 8826 4d9a 930B sbc r25,r19 |
| 8827 4d9c 0996 adiw r24,9 |
| 8828 4d9e 4397 sbiw r24,19 |
| 8829 4da0 00F4 brsh .L705 |
| 8830 4da2 8091 0000 lds r24,FromNC_AltitudeSetpoint |
| 8831 4da6 9091 0000 lds r25,(FromNC_AltitudeSetpoint)+1 |
| 8832 4daa A091 0000 lds r26,(FromNC_AltitudeSetpoint)+2 |
| 8833 4dae B091 0000 lds r27,(FromNC_AltitudeSetpoint)+3 |
| 8834 4db2 00C0 rjmp .L901 |
| 8835 .L705: |
| 8836 4db4 242F mov r18,r20 |
| 8837 4db6 3327 clr r19 |
| 8838 4db8 27FD sbrc r18,7 |
| 8839 4dba 3095 com r19 |
| 8840 4dbc 432F mov r20,r19 |
| 8841 4dbe 532F mov r21,r19 |
| 8842 4dc0 8091 0000 lds r24,SollHoehe |
| 8843 4dc4 9091 0000 lds r25,(SollHoehe)+1 |
| 8844 4dc8 A091 0000 lds r26,(SollHoehe)+2 |
| 8845 4dcc B091 0000 lds r27,(SollHoehe)+3 |
| 8846 4dd0 820F add r24,r18 |
| 8847 4dd2 931F adc r25,r19 |
| 8848 4dd4 A41F adc r26,r20 |
| 8849 4dd6 B51F adc r27,r21 |
| 8850 .L901: |
| 8851 4dd8 8093 0000 sts SollHoehe,r24 |
| 8852 4ddc 9093 0000 sts (SollHoehe)+1,r25 |
| 8853 4de0 A093 0000 sts (SollHoehe)+2,r26 |
| 8854 4de4 B093 0000 sts (SollHoehe)+3,r27 |
| 8855 4de8 00C0 rjmp .L707 |
| 8856 .L704: |
| 8857 4dea 8091 0000 lds r24,EE_Parameter+18 |
| 8858 4dee 2091 0000 lds r18,SollHoehe |
| 8859 4df2 3091 0000 lds r19,(SollHoehe)+1 |
| 8860 4df6 4091 0000 lds r20,(SollHoehe)+2 |
| 8861 4dfa 5091 0000 lds r21,(SollHoehe)+3 |
| 8862 4dfe 1616 cp __zero_reg__,r22 |
| 8863 4e00 1706 cpc __zero_reg__,r23 |
| 8864 4e02 04F4 brge .L708 |
| 8865 4e04 63E0 ldi r22,lo8(3) |
| 8866 4e06 0E94 0000 call __udivmodqi4 |
| 8867 4e0a 280F add r18,r24 |
| 8868 4e0c 311D adc r19,__zero_reg__ |
| 8869 4e0e 411D adc r20,__zero_reg__ |
| 8870 4e10 511D adc r21,__zero_reg__ |
| 8871 4e12 00C0 rjmp .L900 |
| 8872 .L708: |
| 8873 4e14 63E0 ldi r22,lo8(3) |
| 8874 4e16 0E94 0000 call __udivmodqi4 |
| 8875 4e1a 281B sub r18,r24 |
| 8876 4e1c 3109 sbc r19,__zero_reg__ |
| 8877 4e1e 4109 sbc r20,__zero_reg__ |
| 8878 4e20 5109 sbc r21,__zero_reg__ |
| 8879 .L900: |
| 8880 4e22 2093 0000 sts SollHoehe,r18 |
| 8881 4e26 3093 0000 sts (SollHoehe)+1,r19 |
| 8882 4e2a 4093 0000 sts (SollHoehe)+2,r20 |
| 8883 4e2e 5093 0000 sts (SollHoehe)+3,r21 |
| 8884 .L707: |
| 8885 4e32 1092 0000 sts (HeightTrimming.21)+1,__zero_reg__ |
| 8886 4e36 1092 0000 sts HeightTrimming.21,__zero_reg__ |
| 8887 4e3a E090 0000 lds r14,HoehenWert |
| 8888 4e3e F090 0000 lds r15,(HoehenWert)+1 |
| 8889 4e42 0091 0000 lds r16,(HoehenWert)+2 |
| 8890 4e46 1091 0000 lds r17,(HoehenWert)+3 |
| 8891 4e4a D801 movw r26,r16 |
| 8892 4e4c C701 movw r24,r14 |
| 8893 4e4e 8050 subi r24,lo8(-(-1024)) |
| 8894 4e50 9440 sbci r25,hi8(-(-1024)) |
| 8895 4e52 A040 sbci r26,hlo8(-(-1024)) |
| 8896 4e54 B040 sbci r27,hhi8(-(-1024)) |
| 8897 4e56 2091 0000 lds r18,SollHoehe |
| 8898 4e5a 3091 0000 lds r19,(SollHoehe)+1 |
| 8899 4e5e 4091 0000 lds r20,(SollHoehe)+2 |
| 8900 4e62 5091 0000 lds r21,(SollHoehe)+3 |
| 8901 4e66 8217 cp r24,r18 |
| 8902 4e68 9307 cpc r25,r19 |
| 8903 4e6a A407 cpc r26,r20 |
| 8904 4e6c B507 cpc r27,r21 |
| 8905 4e6e 04F4 brge .L902 |
| 8906 4e70 D801 movw r26,r16 |
| 8907 4e72 C701 movw r24,r14 |
| 8908 4e74 8050 subi r24,lo8(-(1024)) |
| 8909 4e76 9C4F sbci r25,hi8(-(1024)) |
| 8910 4e78 AF4F sbci r26,hlo8(-(1024)) |
| 8911 4e7a BF4F sbci r27,hhi8(-(1024)) |
| 8912 4e7c 2817 cp r18,r24 |
| 8913 4e7e 3907 cpc r19,r25 |
| 8914 4e80 4A07 cpc r20,r26 |
| 8915 4e82 5B07 cpc r21,r27 |
| 8916 4e84 04F0 brlt .L711 |
| 8917 .L902: |
| 8918 4e86 8093 0000 sts SollHoehe,r24 |
| 8919 4e8a 9093 0000 sts (SollHoehe)+1,r25 |
| 8920 4e8e A093 0000 sts (SollHoehe)+2,r26 |
| 8921 4e92 B093 0000 sts (SollHoehe)+3,r27 |
| 8922 .L711: |
| 8923 4e96 8091 0000 lds r24,Parameter_ExtraConfig |
| 8924 4e9a 81FF sbrs r24,1 |
| 8925 4e9c 00C0 rjmp .L713 |
| 8926 4e9e 84E6 ldi r24,lo8(100) |
| 8927 4ea0 90E0 ldi r25,hi8(100) |
| 8928 4ea2 9093 0000 sts (beeptime)+1,r25 |
| 8929 4ea6 8093 0000 sts beeptime,r24 |
| 8930 .L713: |
| 8931 4eaa 8091 0000 lds r24,EE_Parameter+22 |
| 8932 4eae 8823 tst r24 |
| 8933 4eb0 01F4 brne .L702 |
| 8934 4eb2 8091 0000 lds r24,FromNC_AltitudeSpeed |
| 8935 4eb6 8823 tst r24 |
| 8936 4eb8 01F4 brne .L702 |
| 8937 4eba 4091 0000 lds r20,HoverGas |
| 8938 4ebe 5091 0000 lds r21,(HoverGas)+1 |
| 8939 4ec2 57FF sbrs r21,7 |
| 8940 4ec4 00C0 rjmp .L715 |
| 8941 4ec6 4D5F subi r20,lo8(-(3)) |
| 8942 4ec8 5F4F sbci r21,hi8(-(3)) |
| 8943 .L715: |
| 8944 4eca 5595 asr r21 |
| 8945 4ecc 4795 ror r20 |
| 8946 4ece 5595 asr r21 |
| 8947 4ed0 4795 ror r20 |
| 8948 4ed2 8091 0000 lds r24,UBat |
| 8949 4ed6 9091 0000 lds r25,(UBat)+1 |
| 8950 4eda 2091 0000 lds r18,BattLowVoltageWarning |
| 8951 4ede 3327 clr r19 |
| 8952 4ee0 489F mul r20,r24 |
| 8953 4ee2 F001 movw r30,r0 |
| 8954 4ee4 499F mul r20,r25 |
| 8955 4ee6 F00D add r31,r0 |
| 8956 4ee8 589F mul r21,r24 |
| 8957 4eea F00D add r31,r0 |
| 8958 4eec 1124 clr r1 |
| 8959 4eee CF01 movw r24,r30 |
| 8960 4ef0 B901 movw r22,r18 |
| 8961 4ef2 0E94 0000 call __divmodhi4 |
| 8962 4ef6 7093 0000 sts (StickGasHover)+1,r23 |
| 8963 4efa 6093 0000 sts StickGasHover,r22 |
| 8964 4efe 6634 cpi r22,70 |
| 8965 4f00 7105 cpc r23,__zero_reg__ |
| 8966 4f02 04F4 brge .L716 |
| 8967 4f04 86E4 ldi r24,lo8(70) |
| 8968 4f06 90E0 ldi r25,hi8(70) |
| 8969 4f08 00C0 rjmp .L903 |
| 8970 .L716: |
| 8971 4f0a 6739 cpi r22,151 |
| 8972 4f0c 7105 cpc r23,__zero_reg__ |
| 8973 4f0e 04F0 brlt .L702 |
| 8974 4f10 86E9 ldi r24,lo8(150) |
| 8975 4f12 90E0 ldi r25,hi8(150) |
| 8976 .L903: |
| 8977 4f14 9093 0000 sts (StickGasHover)+1,r25 |
| 8978 4f18 8093 0000 sts StickGasHover,r24 |
| 8979 .L702: |
| 8980 4f1c 8091 0000 lds r24,BaroExpandActive |
| 8981 4f20 9091 0000 lds r25,(BaroExpandActive)+1 |
| 8982 4f24 892B or r24,r25 |
| 8983 4f26 01F0 breq .L720 |
| 8984 4f28 8091 0000 lds r24,HoehenWert |
| 8985 4f2c 9091 0000 lds r25,(HoehenWert)+1 |
| 8986 4f30 A091 0000 lds r26,(HoehenWert)+2 |
| 8987 4f34 B091 0000 lds r27,(HoehenWert)+3 |
| 8988 4f38 8093 0000 sts SollHoehe,r24 |
| 8989 4f3c 9093 0000 sts (SollHoehe)+1,r25 |
| 8990 4f40 A093 0000 sts (SollHoehe)+2,r26 |
| 8991 4f44 B093 0000 sts (SollHoehe)+3,r27 |
| 8992 4f48 00C0 rjmp .L720 |
| 8993 .L677: |
| 8994 4f4a 8091 0000 lds r24,HoehenWert |
| 8995 4f4e 9091 0000 lds r25,(HoehenWert)+1 |
| 8996 4f52 A091 0000 lds r26,(HoehenWert)+2 |
| 8997 4f56 B091 0000 lds r27,(HoehenWert)+3 |
| 8998 4f5a 8059 subi r24,lo8(-(-400)) |
| 8999 4f5c 9140 sbci r25,hi8(-(-400)) |
| 9000 4f5e A040 sbci r26,hlo8(-(-400)) |
| 9001 4f60 B040 sbci r27,hhi8(-(-400)) |
| 9002 4f62 8093 0000 sts SollHoehe,r24 |
| 9003 4f66 9093 0000 sts (SollHoehe)+1,r25 |
| 9004 4f6a A093 0000 sts (SollHoehe)+2,r26 |
| 9005 4f6e B093 0000 sts (SollHoehe)+3,r27 |
| 9006 4f72 8091 0000 lds r24,EE_Parameter+22 |
| 9007 4f76 8823 tst r24 |
| 9008 4f78 01F0 breq .L721 |
| 9009 4f7a 9927 clr r25 |
| 9010 4f7c 00C0 rjmp .L904 |
| 9011 .L721: |
| 9012 4f7e 88E7 ldi r24,lo8(120) |
| 9013 4f80 90E0 ldi r25,hi8(120) |
| 9014 .L904: |
| 9015 4f82 9093 0000 sts (StickGasHover)+1,r25 |
| 9016 4f86 8093 0000 sts StickGasHover,r24 |
| 9017 4f8a E980 ldd r14,Y+1 |
| 9018 4f8c FA80 ldd r15,Y+2 |
| 9019 4f8e F092 0000 sts (HoverGas)+1,r15 |
| 9020 4f92 E092 0000 sts HoverGas,r14 |
| 9021 4f96 8EE2 ldi r24,lo8(46) |
| 9022 4f98 8093 0000 sts VarioCharacter,r24 |
| 9023 .L720: |
| 9024 4f9c C090 0000 lds r12,HoverGas |
| 9025 4fa0 D090 0000 lds r13,(HoverGas)+1 |
| 9026 .L676: |
| 9027 4fa4 E090 0000 lds r14,HoehenWert |
| 9028 4fa8 F090 0000 lds r15,(HoehenWert)+1 |
| 9029 4fac 0091 0000 lds r16,(HoehenWert)+2 |
| 9030 4fb0 1091 0000 lds r17,(HoehenWert)+3 |
| 9031 4fb4 2091 0000 lds r18,SollHoehe |
| 9032 4fb8 3091 0000 lds r19,(SollHoehe)+1 |
| 9033 4fbc 4091 0000 lds r20,(SollHoehe)+2 |
| 9034 4fc0 5091 0000 lds r21,(SollHoehe)+3 |
| 9035 4fc4 2E15 cp r18,r14 |
| 9036 4fc6 3F05 cpc r19,r15 |
| 9037 4fc8 4007 cpc r20,r16 |
| 9038 4fca 5107 cpc r21,r17 |
| 9039 4fcc 04F0 brlt .L724 |
| 9040 4fce 8091 0000 lds r24,Parameter_ExtraConfig |
| 9041 4fd2 80FD sbrc r24,0 |
| 9042 4fd4 00C0 rjmp .L782 |
| 9043 .L724: |
| 9044 4fd6 8091 0000 lds r24,BaroExpandActive |
| 9045 4fda 9091 0000 lds r25,(BaroExpandActive)+1 |
| 9046 4fde 892B or r24,r25 |
| 9047 4fe0 01F0 breq .L725 |
| 9048 4fe2 C090 0000 lds r12,HoverGas |
| 9049 4fe6 D090 0000 lds r13,(HoverGas)+1 |
| 9050 4fea 00E0 ldi r16,lo8(0) |
| 9051 4fec 10E0 ldi r17,hi8(0) |
| 9052 4fee 00C0 rjmp .L726 |
| 9053 .L725: |
| 9054 4ff0 D801 movw r26,r16 |
| 9055 4ff2 C701 movw r24,r14 |
| 9056 4ff4 821B sub r24,r18 |
| 9057 4ff6 930B sbc r25,r19 |
| 9058 4ff8 A40B sbc r26,r20 |
| 9059 4ffa B50B sbc r27,r21 |
| 9060 4ffc 8093 0000 sts tmp_long.1,r24 |
| 9061 5000 9093 0000 sts (tmp_long.1)+1,r25 |
| 9062 5004 A093 0000 sts (tmp_long.1)+2,r26 |
| 9063 5008 B093 0000 sts (tmp_long.1)+3,r27 |
| 9064 500c 8230 cpi r24,lo8(-32766) |
| 9065 500e 00E8 ldi r16,hi8(-32766) |
| 9066 5010 9007 cpc r25,r16 |
| 9067 5012 0FEF ldi r16,hlo8(-32766) |
| 9068 5014 A007 cpc r26,r16 |
| 9069 5016 0FEF ldi r16,hhi8(-32766) |
| 9070 5018 B007 cpc r27,r16 |
| 9071 501a 04F4 brge .L727 |
| 9072 501c 81E0 ldi r24,lo8(-32767) |
| 9073 501e 90E8 ldi r25,hi8(-32767) |
| 9074 5020 AFEF ldi r26,hlo8(-32767) |
| 9075 5022 BFEF ldi r27,hhi8(-32767) |
| 9076 5024 00C0 rjmp .L905 |
| 9077 .L727: |
| 9078 5026 8F5F subi r24,lo8(32767) |
| 9079 5028 9F47 sbci r25,hi8(32767) |
| 9080 502a A040 sbci r26,hlo8(32767) |
| 9081 502c B040 sbci r27,hhi8(32767) |
| 9082 502e 04F0 brlt .L728 |
| 9083 5030 8FEF ldi r24,lo8(32767) |
| 9084 5032 9FE7 ldi r25,hi8(32767) |
| 9085 5034 A0E0 ldi r26,hlo8(32767) |
| 9086 5036 B0E0 ldi r27,hhi8(32767) |
| 9087 .L905: |
| 9088 5038 8093 0000 sts tmp_long.1,r24 |
| 9089 503c 9093 0000 sts (tmp_long.1)+1,r25 |
| 9090 5040 A093 0000 sts (tmp_long.1)+2,r26 |
| 9091 5044 B093 0000 sts (tmp_long.1)+3,r27 |
| 9092 .L728: |
| 9093 5048 0091 0000 lds r16,tmp_long.1 |
| 9094 504c 1091 0000 lds r17,(tmp_long.1)+1 |
| 9095 5050 8091 0000 lds r24,Parameter_Hoehe_P |
| 9096 5054 282F mov r18,r24 |
| 9097 5056 3327 clr r19 |
| 9098 5058 4427 clr r20 |
| 9099 505a 5527 clr r21 |
| 9100 505c 8091 0000 lds r24,tmp_long.1 |
| 9101 5060 9091 0000 lds r25,(tmp_long.1)+1 |
| 9102 5064 A091 0000 lds r26,(tmp_long.1)+2 |
| 9103 5068 B091 0000 lds r27,(tmp_long.1)+3 |
| 9104 506c BC01 movw r22,r24 |
| 9105 506e CD01 movw r24,r26 |
| 9106 5070 0E94 0000 call __mulsi3 |
| 9107 5074 97FF sbrs r25,7 |
| 9108 5076 00C0 rjmp .L730 |
| 9109 5078 615E subi r22,lo8(-(31)) |
| 9110 507a 7F4F sbci r23,hi8(-(31)) |
| 9111 507c 8F4F sbci r24,hlo8(-(31)) |
| 9112 507e 9F4F sbci r25,hhi8(-(31)) |
| 9113 .L730: |
| 9114 5080 25E0 ldi r18,5 |
| 9115 5082 9595 1: asr r25 |
| 9116 5084 8795 ror r24 |
| 9117 5086 7795 ror r23 |
| 9118 5088 6795 ror r22 |
| 9119 508a 2A95 dec r18 |
| 9120 508c 01F4 brne 1b |
| 9121 508e 6093 0000 sts tmp_long.1,r22 |
| 9122 5092 7093 0000 sts (tmp_long.1)+1,r23 |
| 9123 5096 8093 0000 sts (tmp_long.1)+2,r24 |
| 9124 509a 9093 0000 sts (tmp_long.1)+3,r25 |
| 9125 509e 6530 cpi r22,lo8(-507) |
| 9126 50a0 2EEF ldi r18,hi8(-507) |
| 9127 50a2 7207 cpc r23,r18 |
| 9128 50a4 2FEF ldi r18,hlo8(-507) |
| 9129 50a6 8207 cpc r24,r18 |
| 9130 50a8 2FEF ldi r18,hhi8(-507) |
| 9131 50aa 9207 cpc r25,r18 |
| 9132 50ac 04F4 brge .L731 |
| 9133 50ae 84E0 ldi r24,lo8(-508) |
| 9134 50b0 9EEF ldi r25,hi8(-508) |
| 9135 50b2 AFEF ldi r26,hlo8(-508) |
| 9136 50b4 BFEF ldi r27,hhi8(-508) |
| 9137 50b6 00C0 rjmp .L906 |
| 9138 .L731: |
| 9139 50b8 6050 subi r22,lo8(1024) |
| 9140 50ba 7440 sbci r23,hi8(1024) |
| 9141 50bc 8040 sbci r24,hlo8(1024) |
| 9142 50be 9040 sbci r25,hhi8(1024) |
| 9143 50c0 04F0 brlt .L732 |
| 9144 50c2 80E0 ldi r24,lo8(1024) |
| 9145 50c4 94E0 ldi r25,hi8(1024) |
| 9146 50c6 A0E0 ldi r26,hlo8(1024) |
| 9147 50c8 B0E0 ldi r27,hhi8(1024) |
| 9148 .L906: |
| 9149 50ca 8093 0000 sts tmp_long.1,r24 |
| 9150 50ce 9093 0000 sts (tmp_long.1)+1,r25 |
| 9151 50d2 A093 0000 sts (tmp_long.1)+2,r26 |
| 9152 50d6 B093 0000 sts (tmp_long.1)+3,r27 |
| 9153 .L732: |
| 9154 50da 8090 0000 lds r8,tmp_long.1 |
| 9155 50de 9090 0000 lds r9,(tmp_long.1)+1 |
| 9156 50e2 2091 0000 lds r18,VarioMeter |
| 9157 50e6 3091 0000 lds r19,(VarioMeter)+1 |
| 9158 50ea 37FF sbrs r19,7 |
| 9159 50ec 00C0 rjmp .L734 |
| 9160 50ee 295F subi r18,lo8(-(7)) |
| 9161 50f0 3F4F sbci r19,hi8(-(7)) |
| 9162 .L734: |
| 9163 50f2 83E0 ldi r24,3 |
| 9164 50f4 3595 1: asr r19 |
| 9165 50f6 2795 ror r18 |
| 9166 50f8 8A95 dec r24 |
| 9167 50fa 01F4 brne 1b |
| 9168 50fc 4FEF ldi r20,hi8(-126) |
| 9169 50fe 2238 cpi r18,lo8(-126) |
| 9170 5100 3407 cpc r19,r20 |
| 9171 5102 04F4 brge .L735 |
| 9172 5104 21E8 ldi r18,lo8(-127) |
| 9173 5106 3FEF ldi r19,hi8(-127) |
| 9174 5108 00C0 rjmp .L736 |
| 9175 .L735: |
| 9176 510a 2038 cpi r18,128 |
| 9177 510c 3105 cpc r19,__zero_reg__ |
| 9178 510e 04F0 brlt .L736 |
| 9179 5110 20E8 ldi r18,lo8(128) |
| 9180 5112 30E0 ldi r19,hi8(128) |
| 9181 .L736: |
| 9182 5114 C901 movw r24,r18 |
| 9183 5116 AA27 clr r26 |
| 9184 5118 97FD sbrc r25,7 |
| 9185 511a A095 com r26 |
| 9186 511c BA2F mov r27,r26 |
| 9187 511e 2091 0000 lds r18,Parameter_Luftdruck_D |
| 9188 5122 3327 clr r19 |
| 9189 5124 4427 clr r20 |
| 9190 5126 5527 clr r21 |
| 9191 5128 BC01 movw r22,r24 |
| 9192 512a CD01 movw r24,r26 |
| 9193 512c 0E94 0000 call __mulsi3 |
| 9194 5130 97FF sbrs r25,7 |
| 9195 5132 00C0 rjmp .L738 |
| 9196 5134 6D5F subi r22,lo8(-(3)) |
| 9197 5136 7F4F sbci r23,hi8(-(3)) |
| 9198 5138 8F4F sbci r24,hlo8(-(3)) |
| 9199 513a 9F4F sbci r25,hhi8(-(3)) |
| 9200 .L738: |
| 9201 513c B2E0 ldi r27,2 |
| 9202 513e 9595 1: asr r25 |
| 9203 5140 8795 ror r24 |
| 9204 5142 7795 ror r23 |
| 9205 5144 6795 ror r22 |
| 9206 5146 BA95 dec r27 |
| 9207 5148 01F4 brne 1b |
| 9208 514a 9B01 movw r18,r22 |
| 9209 514c 5FEF ldi r21,hi8(-255) |
| 9210 514e 6130 cpi r22,lo8(-255) |
| 9211 5150 7507 cpc r23,r21 |
| 9212 5152 04F4 brge .L739 |
| 9213 5154 20E0 ldi r18,lo8(-256) |
| 9214 5156 3FEF ldi r19,hi8(-256) |
| 9215 5158 00C0 rjmp .L740 |
| 9216 .L739: |
| 9217 515a 6F3F cpi r22,255 |
| 9218 515c 7105 cpc r23,__zero_reg__ |
| 9219 515e 01F0 breq .L740 |
| 9220 5160 04F0 brlt .L740 |
| 9221 5162 20E0 ldi r18,lo8(256) |
| 9222 5164 31E0 ldi r19,hi8(256) |
| 9223 .L740: |
| 9224 5166 8091 0000 lds r24,FC_StatusFlags |
| 9225 516a 807C andi r24,lo8(-64) |
| 9226 516c 01F0 breq .L742 |
| 9227 516e C901 movw r24,r18 |
| 9228 5170 37FD sbrc r19,7 |
| 9229 5172 0396 adiw r24,3 |
| 9230 .L743: |
| 9231 5174 9C01 movw r18,r24 |
| 9232 5176 3595 asr r19 |
| 9233 5178 2795 ror r18 |
| 9234 517a 3595 asr r19 |
| 9235 517c 2795 ror r18 |
| 9236 517e 00C0 rjmp .L744 |
| 9237 .L742: |
| 9238 5180 8091 0000 lds r24,Parameter_ExtraConfig |
| 9239 5184 80FF sbrs r24,0 |
| 9240 5186 00C0 rjmp .L744 |
| 9241 5188 C901 movw r24,r18 |
| 9242 518a 37FD sbrc r19,7 |
| 9243 518c 0796 adiw r24,7 |
| 9244 .L746: |
| 9245 518e 9C01 movw r18,r24 |
| 9246 5190 F3E0 ldi r31,3 |
| 9247 5192 3595 1: asr r19 |
| 9248 5194 2795 ror r18 |
| 9249 5196 FA95 dec r31 |
| 9250 5198 01F4 brne 1b |
| 9251 .L744: |
| 9252 519a 820E add r8,r18 |
| 9253 519c 931E adc r9,r19 |
| 9254 .L726: |
| 9255 519e 2091 0000 lds r18,Parameter_Hoehe_ACC_Wirkung |
| 9256 51a2 2223 tst r18 |
| 9257 51a4 01F4 brne .+2 |
| 9258 51a6 00C0 rjmp .L747 |
| 9259 51a8 6091 0000 lds r22,Mess_Integral_Hoch |
| 9260 51ac 7091 0000 lds r23,(Mess_Integral_Hoch)+1 |
| 9261 51b0 8091 0000 lds r24,(Mess_Integral_Hoch)+2 |
| 9262 51b4 9091 0000 lds r25,(Mess_Integral_Hoch)+3 |
| 9263 51b8 97FF sbrs r25,7 |
| 9264 51ba 00C0 rjmp .L748 |
| 9265 51bc 6158 subi r22,lo8(-(127)) |
| 9266 51be 7F4F sbci r23,hi8(-(127)) |
| 9267 51c0 8F4F sbci r24,hlo8(-(127)) |
| 9268 51c2 9F4F sbci r25,hhi8(-(127)) |
| 9269 .L748: |
| 9270 51c4 E7E0 ldi r30,7 |
| 9271 51c6 9595 1: asr r25 |
| 9272 51c8 8795 ror r24 |
| 9273 51ca 7795 ror r23 |
| 9274 51cc 6795 ror r22 |
| 9275 51ce EA95 dec r30 |
| 9276 51d0 01F4 brne 1b |
| 9277 51d2 3327 clr r19 |
| 9278 51d4 4427 clr r20 |
| 9279 51d6 5527 clr r21 |
| 9280 51d8 0E94 0000 call __mulsi3 |
| 9281 51dc 97FF sbrs r25,7 |
| 9282 51de 00C0 rjmp .L749 |
| 9283 51e0 615E subi r22,lo8(-(31)) |
| 9284 51e2 7F4F sbci r23,hi8(-(31)) |
| 9285 51e4 8F4F sbci r24,hlo8(-(31)) |
| 9286 51e6 9F4F sbci r25,hhi8(-(31)) |
| 9287 .L749: |
| 9288 51e8 55E0 ldi r21,5 |
| 9289 51ea 9595 1: asr r25 |
| 9290 51ec 8795 ror r24 |
| 9291 51ee 7795 ror r23 |
| 9292 51f0 6795 ror r22 |
| 9293 51f2 5A95 dec r21 |
| 9294 51f4 01F4 brne 1b |
| 9295 51f6 6093 0000 sts tmp_long.1,r22 |
| 9296 51fa 7093 0000 sts (tmp_long.1)+1,r23 |
| 9297 51fe 8093 0000 sts (tmp_long.1)+2,r24 |
| 9298 5202 9093 0000 sts (tmp_long.1)+3,r25 |
| 9299 5206 6138 cpi r22,lo8(-127) |
| 9300 5208 AFEF ldi r26,hi8(-127) |
| 9301 520a 7A07 cpc r23,r26 |
| 9302 520c AFEF ldi r26,hlo8(-127) |
| 9303 520e 8A07 cpc r24,r26 |
| 9304 5210 AFEF ldi r26,hhi8(-127) |
| 9305 5212 9A07 cpc r25,r26 |
| 9306 5214 04F4 brge .L750 |
| 9307 5216 80E8 ldi r24,lo8(-128) |
| 9308 5218 9FEF ldi r25,hi8(-128) |
| 9309 521a AFEF ldi r26,hlo8(-128) |
| 9310 521c BFEF ldi r27,hhi8(-128) |
| 9311 521e 00C0 rjmp .L907 |
| 9312 .L750: |
| 9313 5220 6F3F cpi r22,lo8(255) |
| 9314 5222 7105 cpc r23,__zero_reg__ |
| 9315 5224 8105 cpc r24,__zero_reg__ |
| 9316 5226 9105 cpc r25,__zero_reg__ |
| 9317 5228 01F0 breq .L751 |
| 9318 522a 04F0 brlt .L751 |
| 9319 522c 80E0 ldi r24,lo8(256) |
| 9320 522e 91E0 ldi r25,hi8(256) |
| 9321 5230 A0E0 ldi r26,hlo8(256) |
| 9322 5232 B0E0 ldi r27,hhi8(256) |
| 9323 .L907: |
| 9324 5234 8093 0000 sts tmp_long.1,r24 |
| 9325 5238 9093 0000 sts (tmp_long.1)+1,r25 |
| 9326 523c A093 0000 sts (tmp_long.1)+2,r26 |
| 9327 5240 B093 0000 sts (tmp_long.1)+3,r27 |
| 9328 .L751: |
| 9329 5244 8091 0000 lds r24,tmp_long.1 |
| 9330 5248 9091 0000 lds r25,(tmp_long.1)+1 |
| 9331 524c 880E add r8,r24 |
| 9332 524e 991E adc r9,r25 |
| 9333 .L747: |
| 9334 5250 8091 0000 lds r24,Parameter_Hoehe_GPS_Z |
| 9335 5254 282F mov r18,r24 |
| 9336 5256 3327 clr r19 |
| 9337 5258 8091 0000 lds r24,FromNaviCtrl_Value+4 |
| 9338 525c 9927 clr r25 |
| 9339 525e 87FD sbrc r24,7 |
| 9340 5260 9095 com r25 |
| 9341 5262 289F mul r18,r24 |
| 9342 5264 F001 movw r30,r0 |
| 9343 5266 299F mul r18,r25 |
| 9344 5268 F00D add r31,r0 |
| 9345 526a 389F mul r19,r24 |
| 9346 526c F00D add r31,r0 |
| 9347 526e 1124 clr r1 |
| 9348 5270 9F01 movw r18,r30 |
| 9349 5272 F7FF sbrs r31,7 |
| 9350 5274 00C0 rjmp .L753 |
| 9351 5276 2158 subi r18,lo8(-(127)) |
| 9352 5278 3F4F sbci r19,hi8(-(127)) |
| 9353 .L753: |
| 9354 527a 220F lsl r18 |
| 9355 527c 232F mov r18,r19 |
| 9356 527e 221F rol r18 |
| 9357 5280 330B sbc r19,r19 |
| 9358 5282 FFEF ldi r31,hi8(-127) |
| 9359 5284 2138 cpi r18,lo8(-127) |
| 9360 5286 3F07 cpc r19,r31 |
| 9361 5288 04F4 brge .L754 |
| 9362 528a 20E8 ldi r18,lo8(-128) |
| 9363 528c 3FEF ldi r19,hi8(-128) |
| 9364 528e 00C0 rjmp .L755 |
| 9365 .L754: |
| 9366 5290 2F3F cpi r18,255 |
| 9367 5292 3105 cpc r19,__zero_reg__ |
| 9368 5294 01F0 breq .L755 |
| 9369 5296 04F0 brlt .L755 |
| 9370 5298 20E0 ldi r18,lo8(256) |
| 9371 529a 31E0 ldi r19,hi8(256) |
| 9372 .L755: |
| 9373 529c 820E add r8,r18 |
| 9374 529e 931E adc r9,r19 |
| 9375 52a0 C401 movw r24,r8 |
| 9376 52a2 AA27 clr r26 |
| 9377 52a4 97FD sbrc r25,7 |
| 9378 52a6 A095 com r26 |
| 9379 52a8 BA2F mov r27,r26 |
| 9380 52aa E090 0000 lds r14,HoverGas |
| 9381 52ae F090 0000 lds r15,(HoverGas)+1 |
| 9382 52b2 9701 movw r18,r14 |
| 9383 52b4 4427 clr r20 |
| 9384 52b6 37FD sbrc r19,7 |
| 9385 52b8 4095 com r20 |
| 9386 52ba 542F mov r21,r20 |
| 9387 52bc BC01 movw r22,r24 |
| 9388 52be CD01 movw r24,r26 |
| 9389 52c0 0E94 0000 call __mulsi3 |
| 9390 52c4 97FF sbrs r25,7 |
| 9391 52c6 00C0 rjmp .L757 |
| 9392 52c8 6150 subi r22,lo8(-(511)) |
| 9393 52ca 7E4F sbci r23,hi8(-(511)) |
| 9394 52cc 8F4F sbci r24,hlo8(-(511)) |
| 9395 52ce 9F4F sbci r25,hhi8(-(511)) |
| 9396 .L757: |
| 9397 52d0 29E0 ldi r18,9 |
| 9398 52d2 9595 1: asr r25 |
| 9399 52d4 8795 ror r24 |
| 9400 52d6 7795 ror r23 |
| 9401 52d8 6795 ror r22 |
| 9402 52da 2A95 dec r18 |
| 9403 52dc 01F4 brne 1b |
| 9404 52de C61A sub r12,r22 |
| 9405 52e0 D70A sbc r13,r23 |
| 9406 52e2 8091 0000 lds r24,AltitudeSetpointTrimming |
| 9407 52e6 9091 0000 lds r25,(AltitudeSetpointTrimming)+1 |
| 9408 52ea 892B or r24,r25 |
| 9409 52ec 01F0 breq .+2 |
| 9410 52ee 00C0 rjmp .L758 |
| 9411 52f0 1E14 cp __zero_reg__,r14 |
| 9412 52f2 1F04 cpc __zero_reg__,r15 |
| 9413 52f4 04F0 brlt .+2 |
| 9414 52f6 00C0 rjmp .L758 |
| 9415 52f8 9801 movw r18,r16 |
| 9416 52fa 17FF sbrs r17,7 |
| 9417 52fc 00C0 rjmp .L759 |
| 9418 52fe 3095 com r19 |
| 9419 5300 2195 neg r18 |
| 9420 5302 3F4F sbci r19,lo8(-1) |
| 9421 .L759: |
| 9422 5304 2D33 cpi r18,61 |
| 9423 5306 3105 cpc r19,__zero_reg__ |
| 9424 5308 00F4 brsh .L760 |
| 9425 530a 8091 0000 lds r24,HoverGasMin |
| 9426 530e 9091 0000 lds r25,(HoverGasMin)+1 |
| 9427 5312 8C15 cp r24,r12 |
| 9428 5314 9D05 cpc r25,r13 |
| 9429 5316 04F4 brge .L909 |
| 9430 5318 00C0 rjmp .L918 |
| 9431 .L760: |
| 9432 531a 2C53 subi r18,lo8(-(-60)) |
| 9433 531c 3040 sbci r19,hi8(-(-60)) |
| 9434 531e 85E0 ldi r24,5 |
| 9435 5320 3695 1: lsr r19 |
| 9436 5322 2795 ror r18 |
| 9437 5324 8A95 dec r24 |
| 9438 5326 01F4 brne 1b |
| 9439 5328 2031 cpi r18,16 |
| 9440 532a 3105 cpc r19,__zero_reg__ |
| 9441 532c 00F0 brlo .L765 |
| 9442 532e 2FE0 ldi r18,lo8(15) |
| 9443 5330 30E0 ldi r19,hi8(15) |
| 9444 .L765: |
| 9445 5332 4091 0000 lds r20,HoverGasMin |
| 9446 5336 5091 0000 lds r21,(HoverGasMin)+1 |
| 9447 533a 1016 cp __zero_reg__,r16 |
| 9448 533c 1106 cpc __zero_reg__,r17 |
| 9449 533e 04F4 brge .L766 |
| 9450 5340 80E1 ldi r24,lo8(16) |
| 9451 5342 90E0 ldi r25,hi8(16) |
| 9452 5344 821B sub r24,r18 |
| 9453 5346 930B sbc r25,r19 |
| 9454 5348 489F mul r20,r24 |
| 9455 534a 9001 movw r18,r0 |
| 9456 534c 499F mul r20,r25 |
| 9457 534e 300D add r19,r0 |
| 9458 5350 589F mul r21,r24 |
| 9459 5352 300D add r19,r0 |
| 9460 5354 1124 clr r1 |
| 9461 5356 B4E0 ldi r27,4 |
| 9462 5358 3695 1: lsr r19 |
| 9463 535a 2795 ror r18 |
| 9464 535c BA95 dec r27 |
| 9465 535e 01F4 brne 1b |
| 9466 5360 2C15 cp r18,r12 |
| 9467 5362 3D05 cpc r19,r13 |
| 9468 5364 00F4 brsh .L908 |
| 9469 .L918: |
| 9470 5366 8091 0000 lds r24,HoverGasMax |
| 9471 536a 9091 0000 lds r25,(HoverGasMax)+1 |
| 9472 536e C816 cp r12,r24 |
| 9473 5370 D906 cpc r13,r25 |
| 9474 5372 04F0 brlt .L758 |
| 9475 .L909: |
| 9476 5374 6C01 movw r12,r24 |
| 9477 5376 00C0 rjmp .L758 |
| 9478 .L766: |
| 9479 5378 205F subi r18,lo8(-(16)) |
| 9480 537a 3F4F sbci r19,hi8(-(16)) |
| 9481 537c 8091 0000 lds r24,HoverGasMax |
| 9482 5380 9091 0000 lds r25,(HoverGasMax)+1 |
| 9483 5384 829F mul r24,r18 |
| 9484 5386 8001 movw r16,r0 |
| 9485 5388 839F mul r24,r19 |
| 9486 538a 100D add r17,r0 |
| 9487 538c 929F mul r25,r18 |
| 9488 538e 100D add r17,r0 |
| 9489 5390 1124 clr r1 |
| 9490 5392 9801 movw r18,r16 |
| 9491 5394 A4E0 ldi r26,4 |
| 9492 5396 3695 1: lsr r19 |
| 9493 5398 2795 ror r18 |
| 9494 539a AA95 dec r26 |
| 9495 539c 01F4 brne 1b |
| 9496 539e 4C15 cp r20,r12 |
| 9497 53a0 5D05 cpc r21,r13 |
| 9498 53a2 04F0 brlt .L771 |
| 9499 53a4 6A01 movw r12,r20 |
| 9500 53a6 00C0 rjmp .L758 |
| 9501 .L771: |
| 9502 53a8 C216 cp r12,r18 |
| 9503 53aa D306 cpc r13,r19 |
| 9504 53ac 00F0 brlo .L758 |
| 9505 .L908: |
| 9506 53ae 6901 movw r12,r18 |
| 9507 .L758: |
| 9508 53b0 C601 movw r24,r12 |
| 9509 53b2 AA27 clr r26 |
| 9510 53b4 97FD sbrc r25,7 |
| 9511 53b6 A095 com r26 |
| 9512 53b8 BA2F mov r27,r26 |
| 9513 53ba FDE0 ldi r31,13 |
| 9514 53bc 880F 1: lsl r24 |
| 9515 53be 991F rol r25 |
| 9516 53c0 AA1F rol r26 |
| 9517 53c2 BB1F rol r27 |
| 9518 53c4 FA95 dec r31 |
| 9519 53c6 01F4 brne 1b |
| 9520 53c8 9501 movw r18,r10 |
| 9521 53ca 4427 clr r20 |
| 9522 53cc 37FD sbrc r19,7 |
| 9523 53ce 4095 com r20 |
| 9524 53d0 542F mov r21,r20 |
| 9525 53d2 BC01 movw r22,r24 |
| 9526 53d4 CD01 movw r24,r26 |
| 9527 53d6 0E94 0000 call __divmodsi4 |
| 9528 53da 2093 0000 sts tmp_long2.2,r18 |
| 9529 53de 3093 0000 sts (tmp_long2.2)+1,r19 |
| 9530 53e2 4093 0000 sts (tmp_long2.2)+2,r20 |
| 9531 53e6 5093 0000 sts (tmp_long2.2)+3,r21 |
| 9532 53ea C090 0000 lds r12,tmp_long2.2 |
| 9533 53ee D090 0000 lds r13,(tmp_long2.2)+1 |
| 9534 53f2 8091 0000 lds r24,FilterHCGas.22 |
| 9535 53f6 9091 0000 lds r25,(FilterHCGas.22)+1 |
| 9536 53fa 9C01 movw r18,r24 |
| 9537 53fc 220F lsl r18 |
| 9538 53fe 331F rol r19 |
| 9539 5400 280F add r18,r24 |
| 9540 5402 391F adc r19,r25 |
| 9541 5404 2C0D add r18,r12 |
| 9542 5406 3D1D adc r19,r13 |
| 9543 5408 37FF sbrs r19,7 |
| 9544 540a 00C0 rjmp .L774 |
| 9545 540c 2D5F subi r18,lo8(-(3)) |
| 9546 540e 3F4F sbci r19,hi8(-(3)) |
| 9547 .L774: |
| 9548 5410 A901 movw r20,r18 |
| 9549 5412 5595 asr r21 |
| 9550 5414 4795 ror r20 |
| 9551 5416 5595 asr r21 |
| 9552 5418 4795 ror r20 |
| 9553 541a 5093 0000 sts (FilterHCGas.22)+1,r21 |
| 9554 541e 4093 0000 sts FilterHCGas.22,r20 |
| 9555 5422 8091 0000 lds r24,EE_Parameter+14 |
| 9556 5426 282F mov r18,r24 |
| 9557 5428 3327 clr r19 |
| 9558 542a 220F lsl r18 |
| 9559 542c 331F rol r19 |
| 9560 542e 220F lsl r18 |
| 9561 5430 331F rol r19 |
| 9562 5432 2417 cp r18,r20 |
| 9563 5434 3507 cpc r19,r21 |
| 9564 5436 04F4 brge .L910 |
| 9565 5438 8091 0000 lds r24,MAX_GAS |
| 9566 543c 282F mov r18,r24 |
| 9567 543e 3327 clr r19 |
| 9568 5440 220F lsl r18 |
| 9569 5442 331F rol r19 |
| 9570 5444 220F lsl r18 |
| 9571 5446 331F rol r19 |
| 9572 5448 2055 subi r18,lo8(-(-80)) |
| 9573 544a 3040 sbci r19,hi8(-(-80)) |
| 9574 544c 4217 cp r20,r18 |
| 9575 544e 5307 cpc r21,r19 |
| 9576 5450 04F0 brlt .L776 |
| 9577 .L910: |
| 9578 5452 3093 0000 sts (FilterHCGas.22)+1,r19 |
| 9579 5456 2093 0000 sts FilterHCGas.22,r18 |
| 9580 .L776: |
| 9581 545a 8091 0000 lds r24,Parameter_ExtraConfig |
| 9582 545e 80FF sbrs r24,0 |
| 9583 5460 00C0 rjmp .L778 |
| 9584 5462 8091 0000 lds r24,FilterHCGas.22 |
| 9585 5466 9091 0000 lds r25,(FilterHCGas.22)+1 |
| 9586 546a 2981 ldd r18,Y+1 |
| 9587 546c 3A81 ldd r19,Y+2 |
| 9588 546e 8217 cp r24,r18 |
| 9589 5470 9307 cpc r25,r19 |
| 9590 5472 04F0 brlt .L779 |
| 9591 5474 3093 0000 sts (FilterHCGas.22)+1,r19 |
| 9592 5478 2093 0000 sts FilterHCGas.22,r18 |
| 9593 .L779: |
| 9594 547c 4091 0000 lds r20,FilterHCGas.22 |
| 9595 5480 5091 0000 lds r21,(FilterHCGas.22)+1 |
| 9596 5484 5A83 std Y+2,r21 |
| 9597 5486 4983 std Y+1,r20 |
| 9598 5488 00C0 rjmp .L782 |
| 9599 .L778: |
| 9600 548a 2981 ldd r18,Y+1 |
| 9601 548c 3A81 ldd r19,Y+2 |
| 9602 548e 2E19 sub r18,r14 |
| 9603 5490 3F09 sbc r19,r15 |
| 9604 5492 37FF sbrs r19,7 |
| 9605 5494 00C0 rjmp .L781 |
| 9606 5496 2D5F subi r18,lo8(-(3)) |
| 9607 5498 3F4F sbci r19,hi8(-(3)) |
| 9608 .L781: |
| 9609 549a 3595 asr r19 |
| 9610 549c 2795 ror r18 |
| 9611 549e 3595 asr r19 |
| 9612 54a0 2795 ror r18 |
| 9613 54a2 6091 0000 lds r22,FilterHCGas.22 |
| 9614 54a6 7091 0000 lds r23,(FilterHCGas.22)+1 |
| 9615 54aa 620F add r22,r18 |
| 9616 54ac 731F adc r23,r19 |
| 9617 54ae 7A83 std Y+2,r23 |
| 9618 54b0 6983 std Y+1,r22 |
| 9619 54b2 00C0 rjmp .L782 |
| 9620 .L673: |
| 9621 54b4 8091 0000 lds r24,EE_Parameter+22 |
| 9622 54b8 8823 tst r24 |
| 9623 54ba 01F4 brne .L783 |
| 9624 54bc 6091 0000 lds r22,HoverGas |
| 9625 54c0 7091 0000 lds r23,(HoverGas)+1 |
| 9626 54c4 77FF sbrs r23,7 |
| 9627 54c6 00C0 rjmp .L784 |
| 9628 54c8 6D5F subi r22,lo8(-(3)) |
| 9629 54ca 7F4F sbci r23,hi8(-(3)) |
| 9630 .L784: |
| 9631 54cc 7595 asr r23 |
| 9632 54ce 6795 ror r22 |
| 9633 54d0 7595 asr r23 |
| 9634 54d2 6795 ror r22 |
| 9635 54d4 4091 0000 lds r20,UBat |
| 9636 54d8 5091 0000 lds r21,(UBat)+1 |
| 9637 54dc 8091 0000 lds r24,BattLowVoltageWarning |
| 9638 54e0 282F mov r18,r24 |
| 9639 54e2 3327 clr r19 |
| 9640 54e4 649F mul r22,r20 |
| 9641 54e6 C001 movw r24,r0 |
| 9642 54e8 659F mul r22,r21 |
| 9643 54ea 900D add r25,r0 |
| 9644 54ec 749F mul r23,r20 |
| 9645 54ee 900D add r25,r0 |
| 9646 54f0 1124 clr r1 |
| 9647 54f2 B901 movw r22,r18 |
| 9648 54f4 0E94 0000 call __divmodhi4 |
| 9649 54f8 CB01 movw r24,r22 |
| 9650 54fa 00C0 rjmp .L911 |
| 9651 .L783: |
| 9652 54fc 9927 clr r25 |
| 9653 .L911: |
| 9654 54fe 9093 0000 sts (StickGasHover)+1,r25 |
| 9655 5502 8093 0000 sts StickGasHover,r24 |
| 9656 5506 8091 0000 lds r24,StickGasHover |
| 9657 550a 9091 0000 lds r25,(StickGasHover)+1 |
| 9658 550e 8734 cpi r24,71 |
| 9659 5510 9105 cpc r25,__zero_reg__ |
| 9660 5512 04F4 brge .L786 |
| 9661 5514 86E4 ldi r24,lo8(70) |
| 9662 5516 90E0 ldi r25,hi8(70) |
| 9663 5518 00C0 rjmp .L912 |
| 9664 .L786: |
| 9665 551a 8639 cpi r24,150 |
| 9666 551c 9105 cpc r25,__zero_reg__ |
| 9667 551e 04F0 brlt .L787 |
| 9668 5520 86E9 ldi r24,lo8(150) |
| 9669 5522 90E0 ldi r25,hi8(150) |
| 9670 .L912: |
| 9671 5524 9093 0000 sts (StickGasHover)+1,r25 |
| 9672 5528 8093 0000 sts StickGasHover,r24 |
| 9673 .L787: |
| 9674 552c 8981 ldd r24,Y+1 |
| 9675 552e 9A81 ldd r25,Y+2 |
| 9676 5530 9093 0000 sts (FilterHCGas.22)+1,r25 |
| 9677 5534 8093 0000 sts FilterHCGas.22,r24 |
| 9678 5538 8091 0000 lds r24,FC_StatusFlags |
| 9679 553c 806C ori r24,lo8(-64) |
| 9680 553e 8093 0000 sts FC_StatusFlags,r24 |
| 9681 5542 8091 0000 lds r24,FC_StatusFlags2 |
| 9682 5546 8D7F andi r24,lo8(-3) |
| 9683 5548 8093 0000 sts FC_StatusFlags2,r24 |
| 9684 .L782: |
| 9685 554c 8091 0000 lds r24,FC_StatusFlags |
| 9686 5550 9927 clr r25 |
| 9687 5552 9C01 movw r18,r24 |
| 9688 5554 2270 andi r18,lo8(2) |
| 9689 5556 3070 andi r19,hi8(2) |
| 9690 5558 81FF sbrs r24,1 |
| 9691 555a 00C0 rjmp .L789 |
| 9692 555c 8091 0000 lds r24,HoverGasFilter.23 |
| 9693 5560 9091 0000 lds r25,(HoverGasFilter.23)+1 |
| 9694 5564 A091 0000 lds r26,(HoverGasFilter.23)+2 |
| 9695 5568 B091 0000 lds r27,(HoverGasFilter.23)+3 |
| 9696 556c 0097 sbiw r24,0 |
| 9697 556e A105 cpc r26,__zero_reg__ |
| 9698 5570 B105 cpc r27,__zero_reg__ |
| 9699 5572 01F0 breq .L791 |
| 9700 5574 8091 0000 lds r24,StartTrigger |
| 9701 5578 8130 cpi r24,lo8(1) |
| 9702 557a 01F4 brne .L790 |
| 9703 .L791: |
| 9704 557c E981 ldd r30,Y+1 |
| 9705 557e FA81 ldd r31,Y+2 |
| 9706 5580 CF01 movw r24,r30 |
| 9707 5582 AA27 clr r26 |
| 9708 5584 97FD sbrc r25,7 |
| 9709 5586 A095 com r26 |
| 9710 5588 BA2F mov r27,r26 |
| 9711 558a 1EE0 ldi r17,14 |
| 9712 558c 880F 1: lsl r24 |
| 9713 558e 991F rol r25 |
| 9714 5590 AA1F rol r26 |
| 9715 5592 BB1F rol r27 |
| 9716 5594 1A95 dec r17 |
| 9717 5596 01F4 brne 1b |
| 9718 5598 8093 0000 sts HoverGasFilter.23,r24 |
| 9719 559c 9093 0000 sts (HoverGasFilter.23)+1,r25 |
| 9720 55a0 A093 0000 sts (HoverGasFilter.23)+2,r26 |
| 9721 55a4 B093 0000 sts (HoverGasFilter.23)+3,r27 |
| 9722 .L790: |
| 9723 55a8 8091 0000 lds r24,StartTrigger |
| 9724 55ac 8130 cpi r24,lo8(1) |
| 9725 55ae 01F4 brne .L792 |
| 9726 55b0 82E0 ldi r24,lo8(2) |
| 9727 55b2 8093 0000 sts StartTrigger,r24 |
| 9728 .L792: |
| 9729 55b6 E980 ldd r14,Y+1 |
| 9730 55b8 FA80 ldd r15,Y+2 |
| 9731 55ba C701 movw r24,r14 |
| 9732 55bc AA27 clr r26 |
| 9733 55be 97FD sbrc r25,7 |
| 9734 55c0 A095 com r26 |
| 9735 55c2 BA2F mov r27,r26 |
| 9736 55c4 9501 movw r18,r10 |
| 9737 55c6 4427 clr r20 |
| 9738 55c8 37FD sbrc r19,7 |
| 9739 55ca 4095 com r20 |
| 9740 55cc 542F mov r21,r20 |
| 9741 55ce BC01 movw r22,r24 |
| 9742 55d0 CD01 movw r24,r26 |
| 9743 55d2 0E94 0000 call __mulsi3 |
| 9744 55d6 DC01 movw r26,r24 |
| 9745 55d8 CB01 movw r24,r22 |
| 9746 55da 8093 0000 sts tmp_long2.2,r24 |
| 9747 55de 9093 0000 sts (tmp_long2.2)+1,r25 |
| 9748 55e2 A093 0000 sts (tmp_long2.2)+2,r26 |
| 9749 55e6 B093 0000 sts (tmp_long2.2)+3,r27 |
| 9750 55ea B7FF sbrs r27,7 |
| 9751 55ec 00C0 rjmp .L793 |
| 9752 55ee 8150 subi r24,lo8(-(8191)) |
| 9753 55f0 904E sbci r25,hi8(-(8191)) |
| 9754 55f2 AF4F sbci r26,hlo8(-(8191)) |
| 9755 55f4 BF4F sbci r27,hhi8(-(8191)) |
| 9756 .L793: |
| 9757 55f6 7C01 movw r14,r24 |
| 9758 55f8 8D01 movw r16,r26 |
| 9759 55fa ADE0 ldi r26,13 |
| 9760 55fc 1595 1: asr r17 |
| 9761 55fe 0795 ror r16 |
| 9762 5600 F794 ror r15 |
| 9763 5602 E794 ror r14 |
| 9764 5604 AA95 dec r26 |
| 9765 5606 01F4 brne 1b |
| 9766 5608 E092 0000 sts tmp_long2.2,r14 |
| 9767 560c F092 0000 sts (tmp_long2.2)+1,r15 |
| 9768 5610 0093 0000 sts (tmp_long2.2)+2,r16 |
| 9769 5614 1093 0000 sts (tmp_long2.2)+3,r17 |
| 9770 5618 6091 0000 lds r22,modell_fliegt |
| 9771 561c 7091 0000 lds r23,(modell_fliegt)+1 |
| 9772 5620 2FE0 ldi r18,hi8(4000) |
| 9773 5622 603A cpi r22,lo8(4000) |
| 9774 5624 7207 cpc r23,r18 |
| 9775 5626 00F4 brsh .L794 |
| 9776 5628 8091 0000 lds r24,HoverGasFilter.23 |
| 9777 562c 9091 0000 lds r25,(HoverGasFilter.23)+1 |
| 9778 5630 A091 0000 lds r26,(HoverGasFilter.23)+2 |
| 9779 5634 B091 0000 lds r27,(HoverGasFilter.23)+3 |
| 9780 5638 9C01 movw r18,r24 |
| 9781 563a AD01 movw r20,r26 |
| 9782 563c FAE0 ldi r31,10 |
| 9783 563e 5695 1: lsr r21 |
| 9784 5640 4795 ror r20 |
| 9785 5642 3795 ror r19 |
| 9786 5644 2795 ror r18 |
| 9787 5646 FA95 dec r31 |
| 9788 5648 01F4 brne 1b |
| 9789 564a 821B sub r24,r18 |
| 9790 564c 930B sbc r25,r19 |
| 9791 564e A40B sbc r26,r20 |
| 9792 5650 B50B sbc r27,r21 |
| 9793 5652 A801 movw r20,r16 |
| 9794 5654 9701 movw r18,r14 |
| 9795 5656 E4E0 ldi r30,4 |
| 9796 5658 220F 1: lsl r18 |
| 9797 565a 331F rol r19 |
| 9798 565c 441F rol r20 |
| 9799 565e 551F rol r21 |
| 9800 5660 EA95 dec r30 |
| 9801 5662 01F4 brne 1b |
| 9802 5664 820F add r24,r18 |
| 9803 5666 931F adc r25,r19 |
| 9804 5668 A41F adc r26,r20 |
| 9805 566a B51F adc r27,r21 |
| 9806 566c 8093 0000 sts HoverGasFilter.23,r24 |
| 9807 5670 9093 0000 sts (HoverGasFilter.23)+1,r25 |
| 9808 5674 A093 0000 sts (HoverGasFilter.23)+2,r26 |
| 9809 5678 B093 0000 sts (HoverGasFilter.23)+3,r27 |
| 9810 .L794: |
| 9811 567c 6054 subi r22,lo8(8000) |
| 9812 567e 7F41 sbci r23,hi8(8000) |
| 9813 5680 00F4 brsh .L795 |
| 9814 5682 8091 0000 lds r24,HoverGasFilter.23 |
| 9815 5686 9091 0000 lds r25,(HoverGasFilter.23)+1 |
| 9816 568a A091 0000 lds r26,(HoverGasFilter.23)+2 |
| 9817 568e B091 0000 lds r27,(HoverGasFilter.23)+3 |
| 9818 5692 9C01 movw r18,r24 |
| 9819 5694 AD01 movw r20,r26 |
| 9820 5696 6CE0 ldi r22,12 |
| 9821 5698 5695 1: lsr r21 |
| 9822 569a 4795 ror r20 |
| 9823 569c 3795 ror r19 |
| 9824 569e 2795 ror r18 |
| 9825 56a0 6A95 dec r22 |
| 9826 56a2 01F4 brne 1b |
| 9827 56a4 821B sub r24,r18 |
| 9828 56a6 930B sbc r25,r19 |
| 9829 56a8 A40B sbc r26,r20 |
| 9830 56aa B50B sbc r27,r21 |
| 9831 56ac A801 movw r20,r16 |
| 9832 56ae 9701 movw r18,r14 |
| 9833 56b0 F2E0 ldi r31,2 |
| 9834 56b2 220F 1: lsl r18 |
| 9835 56b4 331F rol r19 |
| 9836 56b6 441F rol r20 |
| 9837 56b8 551F rol r21 |
| 9838 56ba FA95 dec r31 |
| 9839 56bc 01F4 brne 1b |
| 9840 56be 820F add r24,r18 |
| 9841 56c0 931F adc r25,r19 |
| 9842 56c2 A41F adc r26,r20 |
| 9843 56c4 B51F adc r27,r21 |
| 9844 56c6 00C0 rjmp .L913 |
| 9845 .L795: |
| 9846 56c8 8091 0000 lds r24,VarioMeter |
| 9847 56cc 9091 0000 lds r25,(VarioMeter)+1 |
| 9848 56d0 8091 0000 lds r24,VarioMeter |
| 9849 56d4 9091 0000 lds r25,(VarioMeter)+1 |
| 9850 56d8 97FF sbrs r25,7 |
| 9851 56da 00C0 rjmp .L798 |
| 9852 56dc 9095 com r25 |
| 9853 56de 8195 neg r24 |
| 9854 56e0 9F4F sbci r25,lo8(-1) |
| 9855 .L798: |
| 9856 56e2 8436 cpi r24,100 |
| 9857 56e4 9105 cpc r25,__zero_reg__ |
| 9858 56e6 04F4 brge .L796 |
| 9859 56e8 8091 0000 lds r24,HoehenWert |
| 9860 56ec 9091 0000 lds r25,(HoehenWert)+1 |
| 9861 56f0 2091 0000 lds r18,SollHoehe |
| 9862 56f4 3091 0000 lds r19,(SollHoehe)+1 |
| 9863 56f8 821B sub r24,r18 |
| 9864 56fa 930B sbc r25,r19 |
| 9865 56fc 8150 subi r24,lo8(-(255)) |
| 9866 56fe 9F4F sbci r25,hi8(-(255)) |
| 9867 5700 8F5F subi r24,lo8(511) |
| 9868 5702 9140 sbci r25,hi8(511) |
| 9869 5704 00F4 brsh .L796 |
| 9870 5706 8091 0000 lds r24,HoverGasFilter.23 |
| 9871 570a 9091 0000 lds r25,(HoverGasFilter.23)+1 |
| 9872 570e A091 0000 lds r26,(HoverGasFilter.23)+2 |
| 9873 5712 B091 0000 lds r27,(HoverGasFilter.23)+3 |
| 9874 5716 9C01 movw r18,r24 |
| 9875 5718 AD01 movw r20,r26 |
| 9876 571a EEE0 ldi r30,14 |
| 9877 571c 5695 1: lsr r21 |
| 9878 571e 4795 ror r20 |
| 9879 5720 3795 ror r19 |
| 9880 5722 2795 ror r18 |
| 9881 5724 EA95 dec r30 |
| 9882 5726 01F4 brne 1b |
| 9883 5728 821B sub r24,r18 |
| 9884 572a 930B sbc r25,r19 |
| 9885 572c A40B sbc r26,r20 |
| 9886 572e B50B sbc r27,r21 |
| 9887 5730 8E0D add r24,r14 |
| 9888 5732 9F1D adc r25,r15 |
| 9889 5734 A01F adc r26,r16 |
| 9890 5736 B11F adc r27,r17 |
| 9891 .L913: |
| 9892 5738 8093 0000 sts HoverGasFilter.23,r24 |
| 9893 573c 9093 0000 sts (HoverGasFilter.23)+1,r25 |
| 9894 5740 A093 0000 sts (HoverGasFilter.23)+2,r26 |
| 9895 5744 B093 0000 sts (HoverGasFilter.23)+3,r27 |
| 9896 .L796: |
| 9897 5748 8091 0000 lds r24,HoverGasFilter.23 |
| 9898 574c 9091 0000 lds r25,(HoverGasFilter.23)+1 |
| 9899 5750 A091 0000 lds r26,(HoverGasFilter.23)+2 |
| 9900 5754 B091 0000 lds r27,(HoverGasFilter.23)+3 |
| 9901 5758 7EE0 ldi r23,14 |
| 9902 575a B695 1: lsr r27 |
| 9903 575c A795 ror r26 |
| 9904 575e 9795 ror r25 |
| 9905 5760 8795 ror r24 |
| 9906 5762 7A95 dec r23 |
| 9907 5764 01F4 brne 1b |
| 9908 5766 9093 0000 sts (HoverGas)+1,r25 |
| 9909 576a 8093 0000 sts HoverGas,r24 |
| 9910 576e 4091 0000 lds r20,EE_Parameter+20 |
| 9911 5772 4423 tst r20 |
| 9912 5774 01F0 breq .L799 |
| 9913 5776 5527 clr r21 |
| 9914 5778 9C01 movw r18,r24 |
| 9915 577a BA01 movw r22,r20 |
| 9916 577c 0E94 0000 call __divmodhi4 |
| 9917 5780 C901 movw r24,r18 |
| 9918 5782 861B sub r24,r22 |
| 9919 5784 970B sbc r25,r23 |
| 9920 5786 9093 0000 sts (HoverGasMin)+1,r25 |
| 9921 578a 8093 0000 sts HoverGasMin,r24 |
| 9922 578e 260F add r18,r22 |
| 9923 5790 371F adc r19,r23 |
| 9924 5792 3093 0000 sts (HoverGasMax)+1,r19 |
| 9925 5796 2093 0000 sts HoverGasMax,r18 |
| 9926 579a 00C0 rjmp .L802 |
| 9927 .L799: |
| 9928 579c 1092 0000 sts (HoverGasMin)+1,__zero_reg__ |
| 9929 57a0 1092 0000 sts HoverGasMin,__zero_reg__ |
| 9930 57a4 8FEF ldi r24,lo8(1023) |
| 9931 57a6 93E0 ldi r25,hi8(1023) |
| 9932 57a8 9093 0000 sts (HoverGasMax)+1,r25 |
| 9933 57ac 8093 0000 sts HoverGasMax,r24 |
| 9934 57b0 00C0 rjmp .L802 |
| 9935 .L789: |
| 9936 57b2 1092 0000 sts StartTrigger,__zero_reg__ |
| 9937 57b6 1092 0000 sts HoverGasFilter.23,__zero_reg__ |
| 9938 57ba 1092 0000 sts (HoverGasFilter.23)+1,__zero_reg__ |
| 9939 57be 1092 0000 sts (HoverGasFilter.23)+2,__zero_reg__ |
| 9940 57c2 1092 0000 sts (HoverGasFilter.23)+3,__zero_reg__ |
| 9941 57c6 3093 0000 sts (HoverGas)+1,r19 |
| 9942 57ca 2093 0000 sts HoverGas,r18 |
| 9943 57ce 00C0 rjmp .L802 |
| 9944 .L653: |
| 9945 57d0 8091 0000 lds r24,FC_StatusFlags |
| 9946 57d4 806C ori r24,lo8(-64) |
| 9947 57d6 8093 0000 sts FC_StatusFlags,r24 |
| 9948 .L802: |
| 9949 57da 8091 0000 lds r24,NC_To_FC_Flags |
| 9950 57de 81FF sbrs r24,1 |
| 9951 57e0 00C0 rjmp .L803 |
| 9952 57e2 8981 ldd r24,Y+1 |
| 9953 57e4 9A81 ldd r25,Y+2 |
| 9954 57e6 97FD sbrc r25,7 |
| 9955 57e8 0396 adiw r24,3 |
| 9956 .L805: |
| 9957 57ea 9595 asr r25 |
| 9958 57ec 8795 ror r24 |
| 9959 57ee 9595 asr r25 |
| 9960 57f0 8795 ror r24 |
| 9961 57f2 2091 0000 lds r18,HooverGasEmergencyPercent |
| 9962 57f6 3091 0000 lds r19,(HooverGasEmergencyPercent)+1 |
| 9963 57fa 2817 cp r18,r24 |
| 9964 57fc 3907 cpc r19,r25 |
| 9965 57fe 00F4 brsh .L804 |
| 9966 5800 8091 0000 lds r24,HoverGas |
| 9967 5804 9091 0000 lds r25,(HoverGas)+1 |
| 9968 5808 892B or r24,r25 |
| 9969 580a 01F0 breq .L804 |
| 9970 580c 220F lsl r18 |
| 9971 580e 331F rol r19 |
| 9972 5810 220F lsl r18 |
| 9973 5812 331F rol r19 |
| 9974 5814 3A83 std Y+2,r19 |
| 9975 5816 2983 std Y+1,r18 |
| 9976 .L804: |
| 9977 5818 8091 0000 lds r24,HoehenWert |
| 9978 581c 9091 0000 lds r25,(HoehenWert)+1 |
| 9979 5820 A091 0000 lds r26,(HoehenWert)+2 |
| 9980 5824 B091 0000 lds r27,(HoehenWert)+3 |
| 9981 5828 8093 0000 sts SollHoehe,r24 |
| 9982 582c 9093 0000 sts (SollHoehe)+1,r25 |
| 9983 5830 A093 0000 sts (SollHoehe)+2,r26 |
| 9984 5834 B093 0000 sts (SollHoehe)+3,r27 |
| 9985 5838 88E9 ldi r24,lo8(15000) |
| 9986 583a 9AE3 ldi r25,hi8(15000) |
| 9987 583c 9093 0000 sts (beeptime)+1,r25 |
| 9988 5840 8093 0000 sts beeptime,r24 |
| 9989 5844 80E0 ldi r24,lo8(3584) |
| 9990 5846 9EE0 ldi r25,hi8(3584) |
| 9991 5848 9093 0000 sts (BeepMuster)+1,r25 |
| 9992 584c 8093 0000 sts BeepMuster,r24 |
| 9993 .L803: |
| 9994 5850 2091 0000 lds r18,MIN_GAS |
| 9995 5854 822F mov r24,r18 |
| 9996 5856 9927 clr r25 |
| 9997 5858 880F lsl r24 |
| 9998 585a 991F rol r25 |
| 9999 585c 880F lsl r24 |
| 10000 585e 991F rol r25 |
| 10001 5860 8896 adiw r24,40 |
| 10002 5862 6981 ldd r22,Y+1 |
| 10003 5864 7A81 ldd r23,Y+2 |
| 10004 5866 8617 cp r24,r22 |
| 10005 5868 9707 cpc r25,r23 |
| 10006 586a 04F0 brlt .L806 |
| 10007 586c 9A83 std Y+2,r25 |
| 10008 586e 8983 std Y+1,r24 |
| 10009 .L806: |
| 10010 5870 7091 0000 lds r23,MAX_GAS |
| 10011 5874 7D8B std Y+21,r23 |
| 10012 5876 872F mov r24,r23 |
| 10013 5878 9927 clr r25 |
| 10014 587a 880F lsl r24 |
| 10015 587c 991F rol r25 |
| 10016 587e 880F lsl r24 |
| 10017 5880 991F rol r25 |
| 10018 5882 8055 subi r24,lo8(-(-80)) |
| 10019 5884 9040 sbci r25,hi8(-(-80)) |
| 10020 5886 A981 ldd r26,Y+1 |
| 10021 5888 BA81 ldd r27,Y+2 |
| 10022 588a 8A17 cp r24,r26 |
| 10023 588c 9B07 cpc r25,r27 |
| 10024 588e 04F4 brge .L807 |
| 10025 5890 9A83 std Y+2,r25 |
| 10026 5892 8983 std Y+1,r24 |
| 10027 .L807: |
| 10028 5894 8091 0000 lds r24,MissingMotor |
| 10029 5898 8823 tst r24 |
| 10030 589a 01F4 brne .L809 |
| 10031 589c 8091 0000 lds r24,Capacity+6 |
| 10032 58a0 8F3F cpi r24,lo8(-1) |
| 10033 58a2 01F4 brne .L809 |
| 10034 58a4 8091 0000 lds r24,NC_ErrorCode |
| 10035 58a8 8823 tst r24 |
| 10036 58aa 01F0 breq .L808 |
| 10037 .L809: |
| 10038 58ac 8091 0000 lds r24,modell_fliegt |
| 10039 58b0 9091 0000 lds r25,(modell_fliegt)+1 |
| 10040 58b4 0297 sbiw r24,2 |
| 10041 58b6 C097 sbiw r24,48 |
| 10042 58b8 00F4 brsh .L808 |
| 10043 58ba E981 ldd r30,Y+1 |
| 10044 58bc FA81 ldd r31,Y+2 |
| 10045 58be 1E16 cp __zero_reg__,r30 |
| 10046 58c0 1F06 cpc __zero_reg__,r31 |
| 10047 58c2 04F4 brge .L808 |
| 10048 58c4 81E0 ldi r24,lo8(1) |
| 10049 58c6 90E0 ldi r25,hi8(1) |
| 10050 58c8 9093 0000 sts (modell_fliegt)+1,r25 |
| 10051 58cc 8093 0000 sts modell_fliegt,r24 |
| 10052 58d0 E22E mov r14,r18 |
| 10053 58d2 FF24 clr r15 |
| 10054 58d4 EE0C lsl r14 |
| 10055 58d6 FF1C rol r15 |
| 10056 58d8 EE0C lsl r14 |
| 10057 58da FF1C rol r15 |
| 10058 58dc 8701 movw r16,r14 |
| 10059 58de 085D subi r16,lo8(-(40)) |
| 10060 58e0 1F4F sbci r17,hi8(-(40)) |
| 10061 58e2 1A83 std Y+2,r17 |
| 10062 58e4 0983 std Y+1,r16 |
| 10063 .L808: |
| 10064 58e6 2981 ldd r18,Y+1 |
| 10065 58e8 3A81 ldd r19,Y+2 |
| 10066 58ea 3093 0000 sts (DebugOut+16)+1,r19 |
| 10067 58ee 2093 0000 sts DebugOut+16,r18 |
| 10068 58f2 8091 0000 lds r24,sollGier.0 |
| 10069 58f6 9091 0000 lds r25,(sollGier.0)+1 |
| 10070 58fa A091 0000 lds r26,(sollGier.0)+2 |
| 10071 58fe B091 0000 lds r27,(sollGier.0)+3 |
| 10072 5902 12E0 ldi r17,2 |
| 10073 5904 880F 1: lsl r24 |
| 10074 5906 991F rol r25 |
| 10075 5908 AA1F rol r26 |
| 10076 590a BB1F rol r27 |
| 10077 590c 1A95 dec r17 |
| 10078 590e 01F4 brne 1b |
| 10079 5910 0091 0000 lds r16,MesswertGier |
| 10080 5914 1091 0000 lds r17,(MesswertGier)+1 |
| 10081 5918 081B sub r16,r24 |
| 10082 591a 190B sbc r17,r25 |
| 10083 591c 213A cpi r18,161 |
| 10084 591e 3105 cpc r19,__zero_reg__ |
| 10085 5920 04F0 brlt .L811 |
| 10086 5922 C901 movw r24,r18 |
| 10087 5924 37FD sbrc r19,7 |
| 10088 5926 0196 adiw r24,1 |
| 10089 .L813: |
| 10090 5928 9595 asr r25 |
| 10091 592a 8795 ror r24 |
| 10092 592c 8017 cp r24,r16 |
| 10093 592e 9107 cpc r25,r17 |
| 10094 5930 04F4 brge .L812 |
| 10095 5932 8C01 movw r16,r24 |
| 10096 .L812: |
| 10097 5934 9095 com r25 |
| 10098 5936 8195 neg r24 |
| 10099 5938 9F4F sbci r25,lo8(-1) |
| 10100 593a 0817 cp r16,r24 |
| 10101 593c 1907 cpc r17,r25 |
| 10102 593e 04F4 brge .L818 |
| 10103 5940 8C01 movw r16,r24 |
| 10104 5942 00C0 rjmp .L818 |
| 10105 .L811: |
| 10106 5944 0135 cpi r16,81 |
| 10107 5946 1105 cpc r17,__zero_reg__ |
| 10108 5948 04F0 brlt .L819 |
| 10109 594a 00E5 ldi r16,lo8(80) |
| 10110 594c 10E0 ldi r17,hi8(80) |
| 10111 .L819: |
| 10112 594e 3FEF ldi r19,hi8(-80) |
| 10113 5950 003B cpi r16,lo8(-80) |
| 10114 5952 1307 cpc r17,r19 |
| 10115 5954 04F4 brge .L818 |
| 10116 5956 00EB ldi r16,lo8(-80) |
| 10117 5958 1FEF ldi r17,hi8(-80) |
| 10118 .L818: |
| 10119 595a 4D89 ldd r20,Y+21 |
| 10120 595c 242F mov r18,r20 |
| 10121 595e 3327 clr r19 |
| 10122 5960 220F lsl r18 |
| 10123 5962 331F rol r19 |
| 10124 5964 220F lsl r18 |
| 10125 5966 331F rol r19 |
| 10126 5968 C901 movw r24,r18 |
| 10127 596a 6981 ldd r22,Y+1 |
| 10128 596c 7A81 ldd r23,Y+2 |
| 10129 596e 861B sub r24,r22 |
| 10130 5970 970B sbc r25,r23 |
| 10131 5972 8017 cp r24,r16 |
| 10132 5974 9107 cpc r25,r17 |
| 10133 5976 04F4 brge .L821 |
| 10134 5978 8C01 movw r16,r24 |
| 10135 .L821: |
| 10136 597a 8981 ldd r24,Y+1 |
| 10137 597c 9A81 ldd r25,Y+2 |
| 10138 597e 821B sub r24,r18 |
| 10139 5980 930B sbc r25,r19 |
| 10140 5982 0817 cp r16,r24 |
| 10141 5984 1907 cpc r17,r25 |
| 10142 5986 04F4 brge .L822 |
| 10143 5988 8C01 movw r16,r24 |
| 10144 .L822: |
| 10145 598a 8091 0000 lds r24,MesswertNick |
| 10146 598e 9091 0000 lds r25,(MesswertNick)+1 |
| 10147 5992 6091 0000 lds r22,StickNick |
| 10148 5996 7091 0000 lds r23,(StickNick)+1 |
| 10149 599a 861B sub r24,r22 |
| 10150 599c 970B sbc r25,r23 |
| 10151 599e 9093 0000 sts (DiffNick)+1,r25 |
| 10152 59a2 8093 0000 sts DiffNick,r24 |
| 10153 59a6 D090 0000 lds r13,IntegralFaktor |
| 10154 59aa 2091 0000 lds r18,SummeNick |
| 10155 59ae 3091 0000 lds r19,(SummeNick)+1 |
| 10156 59b2 4091 0000 lds r20,(SummeNick)+2 |
| 10157 59b6 5091 0000 lds r21,(SummeNick)+3 |
| 10158 59ba DD20 tst r13 |
| 10159 59bc 01F0 breq .L823 |
| 10160 59be 661A sub r6,r22 |
| 10161 59c0 770A sbc r7,r23 |
| 10162 59c2 C301 movw r24,r6 |
| 10163 59c4 AA27 clr r26 |
| 10164 59c6 97FD sbrc r25,7 |
| 10165 59c8 A095 com r26 |
| 10166 59ca BA2F mov r27,r26 |
| 10167 59cc 00C0 rjmp .L914 |
| 10168 .L823: |
| 10169 59ce AA27 clr r26 |
| 10170 59d0 97FD sbrc r25,7 |
| 10171 59d2 A095 com r26 |
| 10172 59d4 BA2F mov r27,r26 |
| 10173 .L914: |
| 10174 59d6 280F add r18,r24 |
| 10175 59d8 391F adc r19,r25 |
| 10176 59da 4A1F adc r20,r26 |
| 10177 59dc 5B1F adc r21,r27 |
| 10178 59de 2093 0000 sts SummeNick,r18 |
| 10179 59e2 3093 0000 sts (SummeNick)+1,r19 |
| 10180 59e6 4093 0000 sts (SummeNick)+2,r20 |
| 10181 59ea 5093 0000 sts (SummeNick)+3,r21 |
| 10182 59ee 8091 0000 lds r24,SummeNick |
| 10183 59f2 9091 0000 lds r25,(SummeNick)+1 |
| 10184 59f6 A091 0000 lds r26,(SummeNick)+2 |
| 10185 59fa B091 0000 lds r27,(SummeNick)+3 |
| 10186 59fe 8150 subi r24,lo8(64001) |
| 10187 5a00 9A4F sbci r25,hi8(64001) |
| 10188 5a02 A040 sbci r26,hlo8(64001) |
| 10189 5a04 B040 sbci r27,hhi8(64001) |
| 10190 5a06 04F0 brlt .L825 |
| 10191 5a08 80E0 ldi r24,lo8(64000) |
| 10192 5a0a 9AEF ldi r25,hi8(64000) |
| 10193 5a0c A0E0 ldi r26,hlo8(64000) |
| 10194 5a0e B0E0 ldi r27,hhi8(64000) |
| 10195 5a10 8093 0000 sts SummeNick,r24 |
| 10196 5a14 9093 0000 sts (SummeNick)+1,r25 |
| 10197 5a18 A093 0000 sts (SummeNick)+2,r26 |
| 10198 5a1c B093 0000 sts (SummeNick)+3,r27 |
| 10199 .L825: |
| 10200 5a20 8091 0000 lds r24,SummeNick |
| 10201 5a24 9091 0000 lds r25,(SummeNick)+1 |
| 10202 5a28 A091 0000 lds r26,(SummeNick)+2 |
| 10203 5a2c B091 0000 lds r27,(SummeNick)+3 |
| 10204 5a30 8050 subi r24,lo8(-64000) |
| 10205 5a32 9640 sbci r25,hi8(-64000) |
| 10206 5a34 AF4F sbci r26,hlo8(-64000) |
| 10207 5a36 BF4F sbci r27,hhi8(-64000) |
| 10208 5a38 04F4 brge .L826 |
| 10209 5a3a 80E0 ldi r24,lo8(-64000) |
| 10210 5a3c 96E0 ldi r25,hi8(-64000) |
| 10211 5a3e AFEF ldi r26,hlo8(-64000) |
| 10212 5a40 BFEF ldi r27,hhi8(-64000) |
| 10213 5a42 8093 0000 sts SummeNick,r24 |
| 10214 5a46 9093 0000 sts (SummeNick)+1,r25 |
| 10215 5a4a A093 0000 sts (SummeNick)+2,r26 |
| 10216 5a4e B093 0000 sts (SummeNick)+3,r27 |
| 10217 .L826: |
| 10218 5a52 C090 0000 lds r12,EE_Parameter+35 |
| 10219 5a56 2091 0000 lds r18,DiffNick |
| 10220 5a5a 3091 0000 lds r19,(DiffNick)+1 |
| 10221 5a5e 78E0 ldi r23,lo8(8) |
| 10222 5a60 E72E mov r14,r23 |
| 10223 5a62 EC14 cp r14,r12 |
| 10224 5a64 00F0 brlo .L827 |
| 10225 5a66 8C2D mov r24,r12 |
| 10226 5a68 9927 clr r25 |
| 10227 5a6a 829F mul r24,r18 |
| 10228 5a6c A001 movw r20,r0 |
| 10229 5a6e 839F mul r24,r19 |
| 10230 5a70 500D add r21,r0 |
| 10231 5a72 929F mul r25,r18 |
| 10232 5a74 500D add r21,r0 |
| 10233 5a76 1124 clr r1 |
| 10234 5a78 CA01 movw r24,r20 |
| 10235 5a7a 57FD sbrc r21,7 |
| 10236 5a7c 0796 adiw r24,7 |
| 10237 .L828: |
| 10238 5a7e 7C01 movw r14,r24 |
| 10239 5a80 63E0 ldi r22,3 |
| 10240 5a82 F594 1: asr r15 |
| 10241 5a84 E794 ror r14 |
| 10242 5a86 6A95 dec r22 |
| 10243 5a88 01F4 brne 1b |
| 10244 5a8a 00C0 rjmp .L829 |
| 10245 .L827: |
| 10246 5a8c 8C2D mov r24,r12 |
| 10247 5a8e 8695 lsr r24 |
| 10248 5a90 9927 clr r25 |
| 10249 5a92 829F mul r24,r18 |
| 10250 5a94 B001 movw r22,r0 |
| 10251 5a96 839F mul r24,r19 |
| 10252 5a98 700D add r23,r0 |
| 10253 5a9a 929F mul r25,r18 |
| 10254 5a9c 700D add r23,r0 |
| 10255 5a9e 1124 clr r1 |
| 10256 5aa0 CB01 movw r24,r22 |
| 10257 5aa2 77FD sbrc r23,7 |
| 10258 5aa4 0396 adiw r24,3 |
| 10259 .L830: |
| 10260 5aa6 7C01 movw r14,r24 |
| 10261 5aa8 F594 asr r15 |
| 10262 5aaa E794 ror r14 |
| 10263 5aac F594 asr r15 |
| 10264 5aae E794 ror r14 |
| 10265 .L829: |
| 10266 5ab0 A090 0000 lds r10,Ki |
| 10267 5ab4 B090 0000 lds r11,(Ki)+1 |
| 10268 5ab8 9501 movw r18,r10 |
| 10269 5aba 4427 clr r20 |
| 10270 5abc 37FD sbrc r19,7 |
| 10271 5abe 4095 com r20 |
| 10272 5ac0 542F mov r21,r20 |
| 10273 5ac2 8091 0000 lds r24,SummeNick |
| 10274 5ac6 9091 0000 lds r25,(SummeNick)+1 |
| 10275 5aca A091 0000 lds r26,(SummeNick)+2 |
| 10276 5ace B091 0000 lds r27,(SummeNick)+3 |
| 10277 5ad2 BC01 movw r22,r24 |
| 10278 5ad4 CD01 movw r24,r26 |
| 10279 5ad6 0E94 0000 call __divmodsi4 |
| 10280 5ada E20E add r14,r18 |
| 10281 5adc F31E adc r15,r19 |
| 10282 5ade 9090 0000 lds r9,Parameter_DynamicStability |
| 10283 5ae2 692D mov r22,r9 |
| 10284 5ae4 7727 clr r23 |
| 10285 5ae6 8827 clr r24 |
| 10286 5ae8 9927 clr r25 |
| 10287 5aea 9801 movw r18,r16 |
| 10288 5aec 17FF sbrs r17,7 |
| 10289 5aee 00C0 rjmp .L831 |
| 10290 5af0 2227 clr r18 |
| 10291 5af2 3327 clr r19 |
| 10292 5af4 201B sub r18,r16 |
| 10293 5af6 310B sbc r19,r17 |
| 10294 .L831: |
| 10295 5af8 37FF sbrs r19,7 |
| 10296 5afa 00C0 rjmp .L832 |
| 10297 5afc 2F5F subi r18,lo8(-(1)) |
| 10298 5afe 3F4F sbci r19,hi8(-(1)) |
| 10299 .L832: |
| 10300 5b00 3595 asr r19 |
| 10301 5b02 2795 ror r18 |
| 10302 5b04 A981 ldd r26,Y+1 |
| 10303 5b06 BA81 ldd r27,Y+2 |
| 10304 5b08 2A0F add r18,r26 |
| 10305 5b0a 3B1F adc r19,r27 |
| 10306 5b0c 4427 clr r20 |
| 10307 5b0e 37FD sbrc r19,7 |
| 10308 5b10 4095 com r20 |
| 10309 5b12 542F mov r21,r20 |
| 10310 5b14 0E94 0000 call __mulsi3 |
| 10311 5b18 97FF sbrs r25,7 |
| 10312 5b1a 00C0 rjmp .L833 |
| 10313 5b1c 615C subi r22,lo8(-(63)) |
| 10314 5b1e 7F4F sbci r23,hi8(-(63)) |
| 10315 5b20 8F4F sbci r24,hlo8(-(63)) |
| 10316 5b22 9F4F sbci r25,hhi8(-(63)) |
| 10317 .L833: |
| 10318 5b24 26E0 ldi r18,6 |
| 10319 5b26 9595 1: asr r25 |
| 10320 5b28 8795 ror r24 |
| 10321 5b2a 7795 ror r23 |
| 10322 5b2c 6795 ror r22 |
| 10323 5b2e 2A95 dec r18 |
| 10324 5b30 01F4 brne 1b |
| 10325 5b32 9B01 movw r18,r22 |
| 10326 5b34 6E15 cp r22,r14 |
| 10327 5b36 7F05 cpc r23,r15 |
| 10328 5b38 04F4 brge .L834 |
| 10329 5b3a 7B01 movw r14,r22 |
| 10330 .L834: |
| 10331 5b3c 3095 com r19 |
| 10332 5b3e 2195 neg r18 |
| 10333 5b40 3F4F sbci r19,lo8(-1) |
| 10334 5b42 E216 cp r14,r18 |
| 10335 5b44 F306 cpc r15,r19 |
| 10336 5b46 04F4 brge .L835 |
| 10337 5b48 7901 movw r14,r18 |
| 10338 .L835: |
| 10339 5b4a 8091 0000 lds r24,MesswertRoll |
| 10340 5b4e 9091 0000 lds r25,(MesswertRoll)+1 |
| 10341 5b52 6091 0000 lds r22,StickRoll |
| 10342 5b56 7091 0000 lds r23,(StickRoll)+1 |
| 10343 5b5a 861B sub r24,r22 |
| 10344 5b5c 970B sbc r25,r23 |
| 10345 5b5e 9093 0000 sts (DiffRoll)+1,r25 |
| 10346 5b62 8093 0000 sts DiffRoll,r24 |
| 10347 5b66 2091 0000 lds r18,SummeRoll |
| 10348 5b6a 3091 0000 lds r19,(SummeRoll)+1 |
| 10349 5b6e 4091 0000 lds r20,(SummeRoll)+2 |
| 10350 5b72 5091 0000 lds r21,(SummeRoll)+3 |
| 10351 5b76 DD20 tst r13 |
| 10352 5b78 01F0 breq .L836 |
| 10353 5b7a 461A sub r4,r22 |
| 10354 5b7c 570A sbc r5,r23 |
| 10355 5b7e C201 movw r24,r4 |
| 10356 5b80 AA27 clr r26 |
| 10357 5b82 97FD sbrc r25,7 |
| 10358 5b84 A095 com r26 |
| 10359 5b86 BA2F mov r27,r26 |
| 10360 5b88 00C0 rjmp .L915 |
| 10361 .L836: |
| 10362 5b8a AA27 clr r26 |
| 10363 5b8c 97FD sbrc r25,7 |
| 10364 5b8e A095 com r26 |
| 10365 5b90 BA2F mov r27,r26 |
| 10366 .L915: |
| 10367 5b92 280F add r18,r24 |
| 10368 5b94 391F adc r19,r25 |
| 10369 5b96 4A1F adc r20,r26 |
| 10370 5b98 5B1F adc r21,r27 |
| 10371 5b9a 2093 0000 sts SummeRoll,r18 |
| 10372 5b9e 3093 0000 sts (SummeRoll)+1,r19 |
| 10373 5ba2 4093 0000 sts (SummeRoll)+2,r20 |
| 10374 5ba6 5093 0000 sts (SummeRoll)+3,r21 |
| 10375 5baa 8091 0000 lds r24,SummeRoll |
| 10376 5bae 9091 0000 lds r25,(SummeRoll)+1 |
| 10377 5bb2 A091 0000 lds r26,(SummeRoll)+2 |
| 10378 5bb6 B091 0000 lds r27,(SummeRoll)+3 |
| 10379 5bba 8150 subi r24,lo8(64001) |
| 10380 5bbc 9A4F sbci r25,hi8(64001) |
| 10381 5bbe A040 sbci r26,hlo8(64001) |
| 10382 5bc0 B040 sbci r27,hhi8(64001) |
| 10383 5bc2 04F0 brlt .L838 |
| 10384 5bc4 80E0 ldi r24,lo8(64000) |
| 10385 5bc6 9AEF ldi r25,hi8(64000) |
| 10386 5bc8 A0E0 ldi r26,hlo8(64000) |
| 10387 5bca B0E0 ldi r27,hhi8(64000) |
| 10388 5bcc 8093 0000 sts SummeRoll,r24 |
| 10389 5bd0 9093 0000 sts (SummeRoll)+1,r25 |
| 10390 5bd4 A093 0000 sts (SummeRoll)+2,r26 |
| 10391 5bd8 B093 0000 sts (SummeRoll)+3,r27 |
| 10392 .L838: |
| 10393 5bdc 8091 0000 lds r24,SummeRoll |
| 10394 5be0 9091 0000 lds r25,(SummeRoll)+1 |
| 10395 5be4 A091 0000 lds r26,(SummeRoll)+2 |
| 10396 5be8 B091 0000 lds r27,(SummeRoll)+3 |
| 10397 5bec 8050 subi r24,lo8(-64000) |
| 10398 5bee 9640 sbci r25,hi8(-64000) |
| 10399 5bf0 AF4F sbci r26,hlo8(-64000) |
| 10400 5bf2 BF4F sbci r27,hhi8(-64000) |
| 10401 5bf4 04F4 brge .L839 |
| 10402 5bf6 80E0 ldi r24,lo8(-64000) |
| 10403 5bf8 96E0 ldi r25,hi8(-64000) |
| 10404 5bfa AFEF ldi r26,hlo8(-64000) |
| 10405 5bfc BFEF ldi r27,hhi8(-64000) |
| 10406 5bfe 8093 0000 sts SummeRoll,r24 |
| 10407 5c02 9093 0000 sts (SummeRoll)+1,r25 |
| 10408 5c06 A093 0000 sts (SummeRoll)+2,r26 |
| 10409 5c0a B093 0000 sts (SummeRoll)+3,r27 |
| 10410 .L839: |
| 10411 5c0e 2091 0000 lds r18,DiffRoll |
| 10412 5c12 3091 0000 lds r19,(DiffRoll)+1 |
| 10413 5c16 48E0 ldi r20,lo8(8) |
| 10414 5c18 4C15 cp r20,r12 |
| 10415 5c1a 00F0 brlo .L840 |
| 10416 5c1c 8C2D mov r24,r12 |
| 10417 5c1e 9927 clr r25 |
| 10418 5c20 829F mul r24,r18 |
| 10419 5c22 B001 movw r22,r0 |
| 10420 5c24 839F mul r24,r19 |
| 10421 5c26 700D add r23,r0 |
| 10422 5c28 929F mul r25,r18 |
| 10423 5c2a 700D add r23,r0 |
| 10424 5c2c 1124 clr r1 |
| 10425 5c2e CB01 movw r24,r22 |
| 10426 5c30 77FD sbrc r23,7 |
| 10427 5c32 0796 adiw r24,7 |
| 10428 .L841: |
| 10429 5c34 6C01 movw r12,r24 |
| 10430 5c36 B3E0 ldi r27,3 |
| 10431 5c38 D594 1: asr r13 |
| 10432 5c3a C794 ror r12 |
| 10433 5c3c BA95 dec r27 |
| 10434 5c3e 01F4 brne 1b |
| 10435 5c40 00C0 rjmp .L842 |
| 10436 .L840: |
| 10437 5c42 C694 lsr r12 |
| 10438 5c44 8C2D mov r24,r12 |
| 10439 5c46 9927 clr r25 |
| 10440 5c48 829F mul r24,r18 |
| 10441 5c4a D001 movw r26,r0 |
| 10442 5c4c 839F mul r24,r19 |
| 10443 5c4e B00D add r27,r0 |
| 10444 5c50 929F mul r25,r18 |
| 10445 5c52 B00D add r27,r0 |
| 10446 5c54 1124 clr r1 |
| 10447 5c56 CD01 movw r24,r26 |
| 10448 5c58 B7FD sbrc r27,7 |
| 10449 5c5a 0396 adiw r24,3 |
| 10450 .L843: |
| 10451 5c5c 6C01 movw r12,r24 |
| 10452 5c5e D594 asr r13 |
| 10453 5c60 C794 ror r12 |
| 10454 5c62 D594 asr r13 |
| 10455 5c64 C794 ror r12 |
| 10456 .L842: |
| 10457 5c66 9501 movw r18,r10 |
| 10458 5c68 4427 clr r20 |
| 10459 5c6a 37FD sbrc r19,7 |
| 10460 5c6c 4095 com r20 |
| 10461 5c6e 542F mov r21,r20 |
| 10462 5c70 8091 0000 lds r24,SummeRoll |
| 10463 5c74 9091 0000 lds r25,(SummeRoll)+1 |
| 10464 5c78 A091 0000 lds r26,(SummeRoll)+2 |
| 10465 5c7c B091 0000 lds r27,(SummeRoll)+3 |
| 10466 5c80 BC01 movw r22,r24 |
| 10467 5c82 CD01 movw r24,r26 |
| 10468 5c84 0E94 0000 call __divmodsi4 |
| 10469 5c88 C20E add r12,r18 |
| 10470 5c8a D31E adc r13,r19 |
| 10471 5c8c 692D mov r22,r9 |
| 10472 5c8e 7727 clr r23 |
| 10473 5c90 8827 clr r24 |
| 10474 5c92 9927 clr r25 |
| 10475 5c94 9801 movw r18,r16 |
| 10476 5c96 17FF sbrs r17,7 |
| 10477 5c98 00C0 rjmp .L844 |
| 10478 5c9a 2227 clr r18 |
| 10479 5c9c 3327 clr r19 |
| 10480 5c9e 201B sub r18,r16 |
| 10481 5ca0 310B sbc r19,r17 |
| 10482 .L844: |
| 10483 5ca2 37FF sbrs r19,7 |
| 10484 5ca4 00C0 rjmp .L845 |
| 10485 5ca6 2F5F subi r18,lo8(-(1)) |
| 10486 5ca8 3F4F sbci r19,hi8(-(1)) |
| 10487 .L845: |
| 10488 5caa 3595 asr r19 |
| 10489 5cac 2795 ror r18 |
| 10490 5cae E981 ldd r30,Y+1 |
| 10491 5cb0 FA81 ldd r31,Y+2 |
| 10492 5cb2 2E0F add r18,r30 |
| 10493 5cb4 3F1F adc r19,r31 |
| 10494 5cb6 4427 clr r20 |
| 10495 5cb8 37FD sbrc r19,7 |
| 10496 5cba 4095 com r20 |
| 10497 5cbc 542F mov r21,r20 |
| 10498 5cbe 0E94 0000 call __mulsi3 |
| 10499 5cc2 97FF sbrs r25,7 |
| 10500 5cc4 00C0 rjmp .L846 |
| 10501 5cc6 615C subi r22,lo8(-(63)) |
| 10502 5cc8 7F4F sbci r23,hi8(-(63)) |
| 10503 5cca 8F4F sbci r24,hlo8(-(63)) |
| 10504 5ccc 9F4F sbci r25,hhi8(-(63)) |
| 10505 .L846: |
| 10506 5cce E6E0 ldi r30,6 |
| 10507 5cd0 9595 1: asr r25 |
| 10508 5cd2 8795 ror r24 |
| 10509 5cd4 7795 ror r23 |
| 10510 5cd6 6795 ror r22 |
| 10511 5cd8 EA95 dec r30 |
| 10512 5cda 01F4 brne 1b |
| 10513 5cdc 9B01 movw r18,r22 |
| 10514 5cde 6C15 cp r22,r12 |
| 10515 5ce0 7D05 cpc r23,r13 |
| 10516 5ce2 04F4 brge .L847 |
| 10517 5ce4 6B01 movw r12,r22 |
| 10518 .L847: |
| 10519 5ce6 3095 com r19 |
| 10520 5ce8 2195 neg r18 |
| 10521 5cea 3F4F sbci r19,lo8(-1) |
| 10522 5cec C216 cp r12,r18 |
| 10523 5cee D306 cpc r13,r19 |
| 10524 5cf0 04F4 brge .L848 |
| 10525 5cf2 6901 movw r12,r18 |
| 10526 .L848: |
| 10527 5cf4 8091 0000 lds r24,MIN_GAS |
| 10528 5cf8 282E mov r2,r24 |
| 10529 5cfa 3324 clr r3 |
| 10530 5cfc 5090 0000 lds r5,EE_Parameter+101 |
| 10531 5d00 60E0 ldi r22,lo8(Motor) |
| 10532 5d02 862E mov r8,r22 |
| 10533 5d04 60E0 ldi r22,hi8(Motor) |
| 10534 5d06 962E mov r9,r22 |
| 10535 5d08 50E0 ldi r21,lo8(Mixer+13) |
| 10536 5d0a A52E mov r10,r21 |
| 10537 5d0c 50E0 ldi r21,hi8(Mixer+13) |
| 10538 5d0e B52E mov r11,r21 |
| 10539 5d10 4BE0 ldi r20,lo8(11) |
| 10540 5d12 442E mov r4,r20 |
| 10541 5d14 30E0 ldi r19,lo8(tmp_motorwert) |
| 10542 5d16 632E mov r6,r19 |
| 10543 5d18 30E0 ldi r19,hi8(tmp_motorwert) |
| 10544 5d1a 732E mov r7,r19 |
| 10545 .L883: |
| 10546 5d1c D501 movw r26,r10 |
| 10547 5d1e 2C91 ld r18,X |
| 10548 5d20 1216 cp __zero_reg__,r18 |
| 10549 5d22 04F0 brlt .+2 |
| 10550 5d24 00C0 rjmp .L852 |
| 10551 5d26 2034 cpi r18,lo8(64) |
| 10552 5d28 01F4 brne .L853 |
| 10553 5d2a E981 ldd r30,Y+1 |
| 10554 5d2c FA81 ldd r31,Y+2 |
| 10555 5d2e FF8B std Y+23,r31 |
| 10556 5d30 EE8B std Y+22,r30 |
| 10557 5d32 00C0 rjmp .L854 |
| 10558 .L853: |
| 10559 5d34 4981 ldd r20,Y+1 |
| 10560 5d36 5A81 ldd r21,Y+2 |
| 10561 5d38 CA01 movw r24,r20 |
| 10562 5d3a AA27 clr r26 |
| 10563 5d3c 97FD sbrc r25,7 |
| 10564 5d3e A095 com r26 |
| 10565 5d40 BA2F mov r27,r26 |
| 10566 5d42 3327 clr r19 |
| 10567 5d44 27FD sbrc r18,7 |
| 10568 5d46 3095 com r19 |
| 10569 5d48 432F mov r20,r19 |
| 10570 5d4a 532F mov r21,r19 |
| 10571 5d4c BC01 movw r22,r24 |
| 10572 5d4e CD01 movw r24,r26 |
| 10573 5d50 0E94 0000 call __mulsi3 |
| 10574 5d54 97FF sbrs r25,7 |
| 10575 5d56 00C0 rjmp .L855 |
| 10576 5d58 615C subi r22,lo8(-(63)) |
| 10577 5d5a 7F4F sbci r23,hi8(-(63)) |
| 10578 5d5c 8F4F sbci r24,hlo8(-(63)) |
| 10579 5d5e 9F4F sbci r25,hhi8(-(63)) |
| 10580 .L855: |
| 10581 5d60 26E0 ldi r18,6 |
| 10582 5d62 9595 1: asr r25 |
| 10583 5d64 8795 ror r24 |
| 10584 5d66 7795 ror r23 |
| 10585 5d68 6795 ror r22 |
| 10586 5d6a 2A95 dec r18 |
| 10587 5d6c 01F4 brne 1b |
| 10588 5d6e 7F8B std Y+23,r23 |
| 10589 5d70 6E8B std Y+22,r22 |
| 10590 .L854: |
| 10591 5d72 F501 movw r30,r10 |
| 10592 5d74 2181 ldd r18,Z+1 |
| 10593 5d76 2034 cpi r18,lo8(64) |
| 10594 5d78 01F4 brne .L856 |
| 10595 5d7a 2E89 ldd r18,Y+22 |
| 10596 5d7c 3F89 ldd r19,Y+23 |
| 10597 5d7e 2E0D add r18,r14 |
| 10598 5d80 3F1D adc r19,r15 |
| 10599 5d82 3F8B std Y+23,r19 |
| 10600 5d84 2E8B std Y+22,r18 |
| 10601 5d86 00C0 rjmp .L857 |
| 10602 .L856: |
| 10603 5d88 203C cpi r18,lo8(-64) |
| 10604 5d8a 01F4 brne .L858 |
| 10605 5d8c 4E89 ldd r20,Y+22 |
| 10606 5d8e 5F89 ldd r21,Y+23 |
| 10607 5d90 4E19 sub r20,r14 |
| 10608 5d92 5F09 sbc r21,r15 |
| 10609 5d94 5F8B std Y+23,r21 |
| 10610 5d96 4E8B std Y+22,r20 |
| 10611 5d98 00C0 rjmp .L857 |
| 10612 .L858: |
| 10613 5d9a C701 movw r24,r14 |
| 10614 5d9c AA27 clr r26 |
| 10615 5d9e 97FD sbrc r25,7 |
| 10616 5da0 A095 com r26 |
| 10617 5da2 BA2F mov r27,r26 |
| 10618 5da4 3327 clr r19 |
| 10619 5da6 27FD sbrc r18,7 |
| 10620 5da8 3095 com r19 |
| 10621 5daa 432F mov r20,r19 |
| 10622 5dac 532F mov r21,r19 |
| 10623 5dae BC01 movw r22,r24 |
| 10624 5db0 CD01 movw r24,r26 |
| 10625 5db2 0E94 0000 call __mulsi3 |
| 10626 5db6 97FF sbrs r25,7 |
| 10627 5db8 00C0 rjmp .L860 |
| 10628 5dba 615C subi r22,lo8(-(63)) |
| 10629 5dbc 7F4F sbci r23,hi8(-(63)) |
| 10630 5dbe 8F4F sbci r24,hlo8(-(63)) |
| 10631 5dc0 9F4F sbci r25,hhi8(-(63)) |
| 10632 .L860: |
| 10633 5dc2 B6E0 ldi r27,6 |
| 10634 5dc4 9595 1: asr r25 |
| 10635 5dc6 8795 ror r24 |
| 10636 5dc8 7795 ror r23 |
| 10637 5dca 6795 ror r22 |
| 10638 5dcc BA95 dec r27 |
| 10639 5dce 01F4 brne 1b |
| 10640 5dd0 AE89 ldd r26,Y+22 |
| 10641 5dd2 BF89 ldd r27,Y+23 |
| 10642 5dd4 A60F add r26,r22 |
| 10643 5dd6 B71F adc r27,r23 |
| 10644 5dd8 BF8B std Y+23,r27 |
| 10645 5dda AE8B std Y+22,r26 |
| 10646 .L857: |
| 10647 5ddc F501 movw r30,r10 |
| 10648 5dde 2281 ldd r18,Z+2 |
| 10649 5de0 2034 cpi r18,lo8(64) |
| 10650 5de2 01F4 brne .L861 |
| 10651 5de4 2E89 ldd r18,Y+22 |
| 10652 5de6 3F89 ldd r19,Y+23 |
| 10653 5de8 2C0D add r18,r12 |
| 10654 5dea 3D1D adc r19,r13 |
| 10655 5dec 3F8B std Y+23,r19 |
| 10656 5dee 2E8B std Y+22,r18 |
| 10657 5df0 00C0 rjmp .L862 |
| 10658 .L861: |
| 10659 5df2 203C cpi r18,lo8(-64) |
| 10660 5df4 01F4 brne .L863 |
| 10661 5df6 4E89 ldd r20,Y+22 |
| 10662 5df8 5F89 ldd r21,Y+23 |
| 10663 5dfa 4C19 sub r20,r12 |
| 10664 5dfc 5D09 sbc r21,r13 |
| 10665 5dfe 5F8B std Y+23,r21 |
| 10666 5e00 4E8B std Y+22,r20 |
| 10667 5e02 00C0 rjmp .L862 |
| 10668 .L863: |
| 10669 5e04 C601 movw r24,r12 |
| 10670 5e06 AA27 clr r26 |
| 10671 5e08 97FD sbrc r25,7 |
| 10672 5e0a A095 com r26 |
| 10673 5e0c BA2F mov r27,r26 |
| 10674 5e0e 3327 clr r19 |
| 10675 5e10 27FD sbrc r18,7 |
| 10676 5e12 3095 com r19 |
| 10677 5e14 432F mov r20,r19 |
| 10678 5e16 532F mov r21,r19 |
| 10679 5e18 BC01 movw r22,r24 |
| 10680 5e1a CD01 movw r24,r26 |
| 10681 5e1c 0E94 0000 call __mulsi3 |
| 10682 5e20 97FF sbrs r25,7 |
| 10683 5e22 00C0 rjmp .L865 |
| 10684 5e24 615C subi r22,lo8(-(63)) |
| 10685 5e26 7F4F sbci r23,hi8(-(63)) |
| 10686 5e28 8F4F sbci r24,hlo8(-(63)) |
| 10687 5e2a 9F4F sbci r25,hhi8(-(63)) |
| 10688 .L865: |
| 10689 5e2c A6E0 ldi r26,6 |
| 10690 5e2e 9595 1: asr r25 |
| 10691 5e30 8795 ror r24 |
| 10692 5e32 7795 ror r23 |
| 10693 5e34 6795 ror r22 |
| 10694 5e36 AA95 dec r26 |
| 10695 5e38 01F4 brne 1b |
| 10696 5e3a AE89 ldd r26,Y+22 |
| 10697 5e3c BF89 ldd r27,Y+23 |
| 10698 5e3e A60F add r26,r22 |
| 10699 5e40 B71F adc r27,r23 |
| 10700 5e42 BF8B std Y+23,r27 |
| 10701 5e44 AE8B std Y+22,r26 |
| 10702 .L862: |
| 10703 5e46 F501 movw r30,r10 |
| 10704 5e48 2381 ldd r18,Z+3 |
| 10705 5e4a 2034 cpi r18,lo8(64) |
| 10706 5e4c 01F4 brne .L866 |
| 10707 5e4e 2E89 ldd r18,Y+22 |
| 10708 5e50 3F89 ldd r19,Y+23 |
| 10709 5e52 200F add r18,r16 |
| 10710 5e54 311F adc r19,r17 |
| 10711 5e56 3F8B std Y+23,r19 |
| 10712 5e58 2E8B std Y+22,r18 |
| 10713 5e5a 00C0 rjmp .L867 |
| 10714 .L866: |
| 10715 5e5c 203C cpi r18,lo8(-64) |
| 10716 5e5e 01F4 brne .L868 |
| 10717 5e60 4E89 ldd r20,Y+22 |
| 10718 5e62 5F89 ldd r21,Y+23 |
| 10719 5e64 401B sub r20,r16 |
| 10720 5e66 510B sbc r21,r17 |
| 10721 5e68 5F8B std Y+23,r21 |
| 10722 5e6a 4E8B std Y+22,r20 |
| 10723 5e6c 00C0 rjmp .L867 |
| 10724 .L868: |
| 10725 5e6e C801 movw r24,r16 |
| 10726 5e70 AA27 clr r26 |
| 10727 5e72 97FD sbrc r25,7 |
| 10728 5e74 A095 com r26 |
| 10729 5e76 BA2F mov r27,r26 |
| 10730 5e78 3327 clr r19 |
| 10731 5e7a 27FD sbrc r18,7 |
| 10732 5e7c 3095 com r19 |
| 10733 5e7e 432F mov r20,r19 |
| 10734 5e80 532F mov r21,r19 |
| 10735 5e82 BC01 movw r22,r24 |
| 10736 5e84 CD01 movw r24,r26 |
| 10737 5e86 0E94 0000 call __mulsi3 |
| 10738 5e8a 97FF sbrs r25,7 |
| 10739 5e8c 00C0 rjmp .L870 |
| 10740 5e8e 615C subi r22,lo8(-(63)) |
| 10741 5e90 7F4F sbci r23,hi8(-(63)) |
| 10742 5e92 8F4F sbci r24,hlo8(-(63)) |
| 10743 5e94 9F4F sbci r25,hhi8(-(63)) |
| 10744 .L870: |
| 10745 5e96 F6E0 ldi r31,6 |
| 10746 5e98 9595 1: asr r25 |
| 10747 5e9a 8795 ror r24 |
| 10748 5e9c 7795 ror r23 |
| 10749 5e9e 6795 ror r22 |
| 10750 5ea0 FA95 dec r31 |
| 10751 5ea2 01F4 brne 1b |
| 10752 5ea4 AE89 ldd r26,Y+22 |
| 10753 5ea6 BF89 ldd r27,Y+23 |
| 10754 5ea8 A60F add r26,r22 |
| 10755 5eaa B71F adc r27,r23 |
| 10756 5eac BF8B std Y+23,r27 |
| 10757 5eae AE8B std Y+22,r26 |
| 10758 .L867: |
| 10759 5eb0 F301 movw r30,r6 |
| 10760 5eb2 8081 ld r24,Z |
| 10761 5eb4 9181 ldd r25,Z+1 |
| 10762 5eb6 2E89 ldd r18,Y+22 |
| 10763 5eb8 3F89 ldd r19,Y+23 |
| 10764 5eba 8217 cp r24,r18 |
| 10765 5ebc 9307 cpc r25,r19 |
| 10766 5ebe 04F4 brge .L871 |
| 10767 5ec0 B901 movw r22,r18 |
| 10768 5ec2 680F add r22,r24 |
| 10769 5ec4 791F adc r23,r25 |
| 10770 5ec6 77FF sbrs r23,7 |
| 10771 5ec8 00C0 rjmp .L872 |
| 10772 5eca 6F5F subi r22,lo8(-(1)) |
| 10773 5ecc 7F4F sbci r23,hi8(-(1)) |
| 10774 .L872: |
| 10775 5ece 7595 asr r23 |
| 10776 5ed0 6795 ror r22 |
| 10777 5ed2 7F8B std Y+23,r23 |
| 10778 5ed4 6E8B std Y+22,r22 |
| 10779 5ed6 00C0 rjmp .L873 |
| 10780 .L871: |
| 10781 5ed8 5520 tst r5 |
| 10782 5eda 01F4 brne .L874 |
| 10783 5edc 4E89 ldd r20,Y+22 |
| 10784 5ede 5F89 ldd r21,Y+23 |
| 10785 5ee0 440F add r20,r20 |
| 10786 5ee2 551F adc r21,r21 |
| 10787 5ee4 481B sub r20,r24 |
| 10788 5ee6 590B sbc r21,r25 |
| 10789 5ee8 5F8B std Y+23,r21 |
| 10790 5eea 4E8B std Y+22,r20 |
| 10791 5eec 00C0 rjmp .L873 |
| 10792 .L874: |
| 10793 5eee 51E0 ldi r21,lo8(1) |
| 10794 5ef0 5515 cp r21,r5 |
| 10795 5ef2 00F4 brsh .L873 |
| 10796 5ef4 252D mov r18,r5 |
| 10797 5ef6 3327 clr r19 |
| 10798 5ef8 6E89 ldd r22,Y+22 |
| 10799 5efa 7F89 ldd r23,Y+23 |
| 10800 5efc 861B sub r24,r22 |
| 10801 5efe 970B sbc r25,r23 |
| 10802 5f00 B901 movw r22,r18 |
| 10803 5f02 0E94 0000 call __divmodhi4 |
| 10804 5f06 AE89 ldd r26,Y+22 |
| 10805 5f08 BF89 ldd r27,Y+23 |
| 10806 5f0a A60F add r26,r22 |
| 10807 5f0c B71F adc r27,r23 |
| 10808 5f0e BF8B std Y+23,r27 |
| 10809 5f10 AE8B std Y+22,r26 |
| 10810 .L873: |
| 10811 5f12 C101 movw r24,r2 |
| 10812 5f14 880F lsl r24 |
| 10813 5f16 991F rol r25 |
| 10814 5f18 880F lsl r24 |
| 10815 5f1a 991F rol r25 |
| 10816 5f1c EE89 ldd r30,Y+22 |
| 10817 5f1e FF89 ldd r31,Y+23 |
| 10818 5f20 8E17 cp r24,r30 |
| 10819 5f22 9F07 cpc r25,r31 |
| 10820 5f24 04F4 brge .L916 |
| 10821 5f26 FD89 ldd r31,Y+21 |
| 10822 5f28 8F2F mov r24,r31 |
| 10823 5f2a 9927 clr r25 |
| 10824 5f2c 880F lsl r24 |
| 10825 5f2e 991F rol r25 |
| 10826 5f30 880F lsl r24 |
| 10827 5f32 991F rol r25 |
| 10828 5f34 2E89 ldd r18,Y+22 |
| 10829 5f36 3F89 ldd r19,Y+23 |
| 10830 5f38 2817 cp r18,r24 |
| 10831 5f3a 3907 cpc r19,r25 |
| 10832 5f3c 04F0 brlt .L878 |
| 10833 .L916: |
| 10834 5f3e 9F8B std Y+23,r25 |
| 10835 5f40 8E8B std Y+22,r24 |
| 10836 .L878: |
| 10837 5f42 8E89 ldd r24,Y+22 |
| 10838 5f44 9F89 ldd r25,Y+23 |
| 10839 5f46 97FD sbrc r25,7 |
| 10840 5f48 0396 adiw r24,3 |
| 10841 .L880: |
| 10842 5f4a 9595 asr r25 |
| 10843 5f4c 8795 ror r24 |
| 10844 5f4e 9595 asr r25 |
| 10845 5f50 8795 ror r24 |
| 10846 5f52 F401 movw r30,r8 |
| 10847 5f54 8183 std Z+1,r24 |
| 10848 5f56 880F lsl r24 |
| 10849 5f58 991F rol r25 |
| 10850 5f5a 880F lsl r24 |
| 10851 5f5c 991F rol r25 |
| 10852 5f5e 2E89 ldd r18,Y+22 |
| 10853 5f60 3F89 ldd r19,Y+23 |
| 10854 5f62 281B sub r18,r24 |
| 10855 5f64 390B sbc r19,r25 |
| 10856 5f66 C901 movw r24,r18 |
| 10857 5f68 880F lsl r24 |
| 10858 5f6a 8283 std Z+2,r24 |
| 10859 5f6c EE89 ldd r30,Y+22 |
| 10860 5f6e FF89 ldd r31,Y+23 |
| 10861 5f70 D301 movw r26,r6 |
| 10862 5f72 ED93 st X+,r30 |
| 10863 5f74 FC93 st X,r31 |
| 10864 5f76 00C0 rjmp .L851 |
| 10865 .L852: |
| 10866 5f78 F401 movw r30,r8 |
| 10867 5f7a 1182 std Z+1,__zero_reg__ |
| 10868 5f7c 1282 std Z+2,__zero_reg__ |
| 10869 .L851: |
| 10870 5f7e 4A94 dec r4 |
| 10871 5f80 22E0 ldi r18,lo8(2) |
| 10872 5f82 30E0 ldi r19,hi8(2) |
| 10873 5f84 620E add r6,r18 |
| 10874 5f86 731E adc r7,r19 |
| 10875 5f88 44E0 ldi r20,lo8(4) |
| 10876 5f8a 50E0 ldi r21,hi8(4) |
| 10877 5f8c A40E add r10,r20 |
| 10878 5f8e B51E adc r11,r21 |
| 10879 5f90 68E0 ldi r22,lo8(8) |
| 10880 5f92 70E0 ldi r23,hi8(8) |
| 10881 5f94 860E add r8,r22 |
| 10882 5f96 971E adc r9,r23 |
| 10883 5f98 47FE sbrs r4,7 |
| 10884 5f9a 00C0 rjmp .L883 |
| 10885 /* epilogue: frame size=23 */ |
| 10886 5f9c E2E1 ldi r30,18 |
| 10887 5f9e C95E subi r28,-23 |
| 10888 5fa0 0C94 0000 jmp __epilogue_restores__+0 |
| 10889 /* epilogue end (size=4) */ |
| 10890 /* function MotorRegler size 8305 (8295) */ |
| 10892 .comm TrimNick,2,1 |
| 10893 .comm TrimRoll,2,1 |
| 10894 .comm ErsatzKompass,4,1 |
| 10895 .comm ErsatzKompassInGrad,2,1 |
| 10896 .comm MesswertNick,2,1 |
| 10897 .comm MesswertRoll,2,1 |
| 10898 .comm MesswertGier,2,1 |
| 10899 .comm Mittelwert_AccNick,2,1 |
| 10900 .comm Mittelwert_AccRoll,2,1 |
| 10901 .comm NaviAccNick,2,1 |
| 10902 .comm NaviAccRoll,2,1 |
| 10903 .comm h,1,1 |
| 10904 .comm m,1,1 |
| 10905 .comm s,1,1 |
| 10906 .comm DiffNick,2,1 |
| 10907 .comm DiffRoll,2,1 |
| 10908 .comm Parameter_Servo3,1,1 |
| 10909 .comm Parameter_Servo4,1,1 |
| 10910 .comm Parameter_Servo5,1,1 |
| 10911 .comm Parameter_J16Bitmask,1,1 |
| 10912 .comm Parameter_J16Timing,1,1 |
| 10913 .comm Parameter_J17Bitmask,1,1 |
| 10914 .comm Parameter_J17Timing,1,1 |
| 10915 .comm Parameter_GlobalConfig,1,1 |
| 10916 .comm Parameter_ExtraConfig,1,1 |
| 10917 .comm MesswertGierBias,2,1 |
| 10918 .comm RohMesswertNick,2,1 |
| 10919 .comm RohMesswertRoll,2,1 |
| 10920 .comm MittelIntegralNick,4,1 |
| 10921 .comm MittelIntegralRoll,4,1 |
| 10922 .comm MittelIntegralNick2,4,1 |
| 10923 .comm MittelIntegralRoll2,4,1 |
| 10924 .comm MAX_GAS,1,1 |
| 10925 .comm MIN_GAS,1,1 |
| 10926 .comm GyroFaktor,1,1 |
| 10927 .comm GyroFaktorGier,1,1 |
| 10928 .comm IntegralFaktor,1,1 |
| 10929 .comm IntegralFaktorGier,1,1 |
| 10930 .comm Parameter_NaviGpsModeControl,1,1 |
| 10931 .comm Parameter_NaviGpsGain,1,1 |
| 10932 .comm Parameter_NaviGpsP,1,1 |
| 10933 .comm Parameter_NaviGpsI,1,1 |
| 10934 .comm Parameter_NaviGpsD,1,1 |
| 10935 .comm Parameter_NaviGpsACC,1,1 |
| 10936 .comm Parameter_NaviOperatingRadius,1,1 |
| 10937 .comm Parameter_NaviWindCorrection,1,1 |
| 10938 .comm Parameter_NaviSpeedCompensation,1,1 |
| 10939 .comm Parameter_ExternalControl,1,1 |
| 10940 .comm Parameter_MaximumAltitude,1,1 |
| 10941 .comm KopplungsteilNickRoll,2,1 |
| 10942 .comm KopplungsteilRollNick,2,1 |
| 10943 .comm tmp_motorwert,24,1 |
| 10944 /* File "fc.c": code 12409 = 0x3079 (12348), prologues 31, epilogues 30 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 fc.c |
| C:\Temp/ccjSs5Dt.s:3 *ABS*:0000003f __SREG__ |
| C:\Temp/ccjSs5Dt.s:4 *ABS*:0000003e __SP_H__ |
| C:\Temp/ccjSs5Dt.s:5 *ABS*:0000003d __SP_L__ |
| C:\Temp/ccjSs5Dt.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\Temp/ccjSs5Dt.s:7 *ABS*:00000001 __zero_reg__ |
| C:\Temp/ccjSs5Dt.s:15 .bss:00000000 GasIsZeroCnt |
| C:\Temp/ccjSs5Dt.s:21 .bss:00000002 HooverGasEmergencyPercent |
| C:\Temp/ccjSs5Dt.s:27 .data:00000000 VarioCharacter |
| C:\Temp/ccjSs5Dt.s:32 .data:00000001 GIER_GRAD_FAKTOR |
| C:\Temp/ccjSs5Dt.s:39 .bss:00000004 FC_StatusFlags2 |
| C:\Temp/ccjSs5Dt.s:45 .bss:00000005 FC_StatusFlags |
| C:\Temp/ccjSs5Dt.s:51 .bss:00000006 modell_fliegt |
| C:\Temp/ccjSs5Dt.s:57 .bss:00000008 MaxStickRoll |
| C:\Temp/ccjSs5Dt.s:63 .bss:0000000a MaxStickNick |
| C:\Temp/ccjSs5Dt.s:69 .data:00000005 ExternHoehenValue |
| C:\Temp/ccjSs5Dt.s:76 .bss:0000000c ExternStickGier |
| C:\Temp/ccjSs5Dt.s:82 .bss:0000000e ExternStickRoll |
| C:\Temp/ccjSs5Dt.s:88 .bss:00000010 ExternStickNick |
| C:\Temp/ccjSs5Dt.s:94 .data:00000007 sintab |
| C:\Temp/ccjSs5Dt.s:131 .bss:00000012 CareFree |
| C:\Temp/ccjSs5Dt.s:137 .data:00000026 Parameter_DynamicStability |
| C:\Temp/ccjSs5Dt.s:142 .data:00000027 Parameter_CouplingYawCorrection |
| C:\Temp/ccjSs5Dt.s:147 .data:00000028 Parameter_AchsKopplung2 |
| C:\Temp/ccjSs5Dt.s:152 .data:00000029 Parameter_AchsKopplung1 |
| C:\Temp/ccjSs5Dt.s:157 .data:0000002a Parameter_LoopGasLimit |
| C:\Temp/ccjSs5Dt.s:162 .data:0000002b Parameter_ServoRollControl |
| C:\Temp/ccjSs5Dt.s:167 .data:0000002c Parameter_ServoNickControl |
| C:\Temp/ccjSs5Dt.s:174 .bss:00000013 Parameter_UserParam8 |
| C:\Temp/ccjSs5Dt.s:180 .bss:00000014 Parameter_UserParam7 |
| C:\Temp/ccjSs5Dt.s:186 .bss:00000015 Parameter_UserParam6 |
| C:\Temp/ccjSs5Dt.s:192 .bss:00000016 Parameter_UserParam5 |
| C:\Temp/ccjSs5Dt.s:198 .bss:00000017 Parameter_UserParam4 |
| C:\Temp/ccjSs5Dt.s:204 .bss:00000018 Parameter_UserParam3 |
| C:\Temp/ccjSs5Dt.s:210 .bss:00000019 Parameter_UserParam2 |
| C:\Temp/ccjSs5Dt.s:216 .bss:0000001a Parameter_UserParam1 |
| C:\Temp/ccjSs5Dt.s:222 .data:0000002d Parameter_I_Faktor |
| C:\Temp/ccjSs5Dt.s:227 .data:0000002e Parameter_Gier_P |
| C:\Temp/ccjSs5Dt.s:232 .data:0000002f Parameter_Gyro_Gier_I |
| C:\Temp/ccjSs5Dt.s:237 .data:00000030 Parameter_Gyro_Gier_P |
| C:\Temp/ccjSs5Dt.s:242 .data:00000031 Parameter_Gyro_I |
| C:\Temp/ccjSs5Dt.s:247 .data:00000032 Parameter_Gyro_P |
| C:\Temp/ccjSs5Dt.s:252 .data:00000033 Parameter_Gyro_D |
| C:\Temp/ccjSs5Dt.s:257 .data:00000034 Parameter_Hoehe_GPS_Z |
| C:\Temp/ccjSs5Dt.s:262 .data:00000035 Parameter_KompassWirkung |
| C:\Temp/ccjSs5Dt.s:267 .data:00000036 Parameter_Hoehe_ACC_Wirkung |
| C:\Temp/ccjSs5Dt.s:272 .data:00000037 Parameter_Hoehe_P |
| C:\Temp/ccjSs5Dt.s:277 .data:00000038 Parameter_HoehenSchalter |
| C:\Temp/ccjSs5Dt.s:282 .data:00000039 Parameter_Luftdruck_D |
| C:\Temp/ccjSs5Dt.s:289 .bss:0000001b Looping_Oben |
| C:\Temp/ccjSs5Dt.s:295 .bss:0000001c Looping_Unten |
| C:\Temp/ccjSs5Dt.s:301 .bss:0000001d Looping_Rechts |
| C:\Temp/ccjSs5Dt.s:307 .bss:0000001e Looping_Links |
| C:\Temp/ccjSs5Dt.s:313 .bss:0000001f Looping_Roll |
| C:\Temp/ccjSs5Dt.s:319 .bss:00000020 Looping_Nick |
| C:\Temp/ccjSs5Dt.s:325 .data:0000003a Ki |
| C:\Temp/ccjSs5Dt.s:332 .bss:00000021 HoverGas |
| C:\Temp/ccjSs5Dt.s:338 .bss:00000023 LageKorrekturNick |
| C:\Temp/ccjSs5Dt.s:344 .bss:00000025 LageKorrekturRoll |
| C:\Temp/ccjSs5Dt.s:350 .bss:00000027 NeueKompassRichtungMerken |
| C:\Temp/ccjSs5Dt.s:356 .bss:00000028 CalibrationDone |
| C:\Temp/ccjSs5Dt.s:362 .bss:00000029 CompassGierSetpoint |
| C:\Temp/ccjSs5Dt.s:368 .bss:0000002b WaypointTrimming |
| C:\Temp/ccjSs5Dt.s:374 .data:0000003c carefree_old |
| C:\Temp/ccjSs5Dt.s:381 .bss:0000002c FromNC_AltitudeSpeed |
| C:\Temp/ccjSs5Dt.s:387 .bss:0000002d FromNC_AltitudeSetpoint |
| C:\Temp/ccjSs5Dt.s:393 .bss:00000031 AltitudeSetpointTrimming |
| C:\Temp/ccjSs5Dt.s:399 .bss:00000033 SollHoehe |
| C:\Temp/ccjSs5Dt.s:405 .bss:00000037 HoehenWert |
| C:\Temp/ccjSs5Dt.s:411 .bss:0000003b StartTrigger |
| C:\Temp/ccjSs5Dt.s:417 .bss:0000003c MotorenEin |
| C:\Temp/ccjSs5Dt.s:423 .bss:0000003d SenderOkay |
| C:\Temp/ccjSs5Dt.s:429 .bss:0000003e Poti |
| C:\Temp/ccjSs5Dt.s:435 .bss:00000047 StickGas |
| C:\Temp/ccjSs5Dt.s:441 .bss:00000049 StickGier |
| C:\Temp/ccjSs5Dt.s:447 .bss:0000004b StickRoll |
| C:\Temp/ccjSs5Dt.s:453 .bss:0000004d StickNick |
| C:\Temp/ccjSs5Dt.s:459 .data:0000003d HoverGasMax |
| C:\Temp/ccjSs5Dt.s:466 .bss:0000004f HoverGasMin |
| C:\Temp/ccjSs5Dt.s:472 .data:0000003f StickGasHover |
| C:\Temp/ccjSs5Dt.s:479 .bss:00000051 GierGyroFehler |
| C:\Temp/ccjSs5Dt.s:485 .data:00000041 Umschlag180Roll |
| C:\Temp/ccjSs5Dt.s:490 .data:00000045 Umschlag180Nick |
| C:\Temp/ccjSs5Dt.s:497 .bss:00000053 TrichterFlug |
| C:\Temp/ccjSs5Dt.s:503 .bss:00000054 HoehenReglerAktiv |
| C:\Temp/ccjSs5Dt.s:509 .data:00000049 KompassSignalSchlecht |
| C:\Temp/ccjSs5Dt.s:514 .data:0000004b KompassFusion |
| C:\Temp/ccjSs5Dt.s:519 .data:0000004c CalculateCompassTimer |
| C:\Temp/ccjSs5Dt.s:526 .bss:00000055 KompassSollWert |
| C:\Temp/ccjSs5Dt.s:532 .data:0000004d KompassValue |
| C:\Temp/ccjSs5Dt.s:539 .bss:00000057 Mess_Integral_Hoch |
| C:\Temp/ccjSs5Dt.s:545 .bss:0000005b SummeRoll |
| C:\Temp/ccjSs5Dt.s:551 .bss:0000005f SummeNick |
| C:\Temp/ccjSs5Dt.s:557 .bss:00000063 Mess_Integral_Gier2 |
| C:\Temp/ccjSs5Dt.s:563 .bss:00000067 Mess_Integral_Gier |
| C:\Temp/ccjSs5Dt.s:569 .bss:0000006b Mess_IntegralRoll2 |
| C:\Temp/ccjSs5Dt.s:575 .bss:0000006f Mess_IntegralRoll |
| C:\Temp/ccjSs5Dt.s:581 .bss:00000073 Mess_IntegralNick2 |
| C:\Temp/ccjSs5Dt.s:587 .bss:00000077 Mess_IntegralNick |
| C:\Temp/ccjSs5Dt.s:593 .bss:0000007b Integral_Gier |
| C:\Temp/ccjSs5Dt.s:599 .bss:0000007f IntegralAccZ |
| C:\Temp/ccjSs5Dt.s:605 .bss:00000083 IntegralAccRoll |
| C:\Temp/ccjSs5Dt.s:611 .bss:00000087 IntegralAccNick |
| C:\Temp/ccjSs5Dt.s:617 .bss:0000008b IntegralRoll2 |
| C:\Temp/ccjSs5Dt.s:623 .bss:0000008f IntegralRoll |
| C:\Temp/ccjSs5Dt.s:629 .bss:00000093 IntegralNick2 |
| C:\Temp/ccjSs5Dt.s:635 .bss:00000097 IntegralNick |
| C:\Temp/ccjSs5Dt.s:641 .bss:0000009b ControlHeading |
| C:\Temp/ccjSs5Dt.s:647 .bss:0000009c NeutralAccZ |
| C:\Temp/ccjSs5Dt.s:653 .bss:0000009e NaviCntAcc |
| C:\Temp/ccjSs5Dt.s:659 .bss:000000a0 NeutralAccY |
| C:\Temp/ccjSs5Dt.s:665 .bss:000000a2 NeutralAccX |
| C:\Temp/ccjSs5Dt.s:671 .bss:000000a4 StartNeutralNick |
| C:\Temp/ccjSs5Dt.s:677 .bss:000000a6 StartNeutralRoll |
| C:\Temp/ccjSs5Dt.s:683 .bss:000000a8 AdNeutralGier |
| C:\Temp/ccjSs5Dt.s:689 .bss:000000aa AdNeutralRoll |
| C:\Temp/ccjSs5Dt.s:695 .bss:000000ac AdNeutralNick |
| C:\Temp/ccjSs5Dt.s:701 .bss:000000ae BaroExpandActive |
| C:\Temp/ccjSs5Dt.s:706 .text:00000000 CopyDebugValues |
| *COM*:00000002 Mittelwert_AccNick |
| *COM*:00000002 Mittelwert_AccRoll |
| *COM*:00000004 ErsatzKompass |
| C:\Temp/ccjSs5Dt.s:923 .text:000002a0 Piep |
| C:\Temp/ccjSs5Dt.s:997 .text:00000326 CalibrierMittelwert |
| *COM*:00000002 MesswertNick |
| *COM*:00000002 MesswertRoll |
| *COM*:00000002 MesswertGier |
| C:\Temp/ccjSs5Dt.s:1139 .progmem.data:00000000 __c.35 |
| C:\Temp/ccjSs5Dt.s:1144 .text:00000468 SetNeutral |
| .bss:000000b0 tmpl.27 |
| C:\Temp/ccjSs5Dt.s:1652 .bss:000000b4 tmpl2.28 |
| C:\Temp/ccjSs5Dt.s:1653 .bss:000000b8 tmpl3.29 |
| C:\Temp/ccjSs5Dt.s:1654 .bss:000000bc tmpl4.30 |
| C:\Temp/ccjSs5Dt.s:1655 .bss:000000c0 oldNick.31 |
| C:\Temp/ccjSs5Dt.s:1656 .bss:000000c2 oldRoll.32 |
| C:\Temp/ccjSs5Dt.s:1657 .bss:000000c4 d2Roll.33 |
| C:\Temp/ccjSs5Dt.s:1658 .bss:000000c6 d2Nick.34 |
| C:\Temp/ccjSs5Dt.s:1662 .text:000009d4 Mittelwert |
| *COM*:00000002 RohMesswertNick |
| *COM*:00000002 RohMesswertRoll |
| *COM*:00000002 NaviAccNick |
| *COM*:00000002 NaviAccRoll |
| *COM*:00000001 Parameter_GlobalConfig |
| *COM*:00000002 KopplungsteilNickRoll |
| *COM*:00000002 KopplungsteilRollNick |
| *COM*:00000002 TrimRoll |
| *COM*:00000002 TrimNick |
| C:\Temp/ccjSs5Dt.s:3227 .text:00001938 SendMotorData |
| C:\Temp/ccjSs5Dt.s:3287 .text:000019b2 ParameterZuordnung |
| *COM*:00000001 Parameter_J16Timing |
| *COM*:00000001 Parameter_J17Timing |
| *COM*:00000001 Parameter_Servo3 |
| *COM*:00000001 Parameter_Servo4 |
| *COM*:00000001 Parameter_Servo5 |
| *COM*:00000001 Parameter_MaximumAltitude |
| *COM*:00000001 Parameter_ExtraConfig |
| *COM*:00000001 Parameter_ExternalControl |
| *COM*:00000001 MAX_GAS |
| *COM*:00000001 MIN_GAS |
| C:\Temp/ccjSs5Dt.s:1659 .bss:000000c8 sollGier.0 |
| C:\Temp/ccjSs5Dt.s:4006 .bss:000000cc tmp_long.1 |
| C:\Temp/ccjSs5Dt.s:4007 .bss:000000d0 tmp_long2.2 |
| C:\Temp/ccjSs5Dt.s:4008 .bss:000000d4 IntegralFehlerNick.3 |
| C:\Temp/ccjSs5Dt.s:4009 .bss:000000d8 IntegralFehlerRoll.4 |
| C:\Temp/ccjSs5Dt.s:4010 .bss:000000dc RcLostTimer.5 |
| C:\Temp/ccjSs5Dt.s:4011 .bss:000000de delay_neutral.6 |
| C:\Temp/ccjSs5Dt.s:4012 .bss:000000df delay_einschalten.7 |
| C:\Temp/ccjSs5Dt.s:4013 .bss:000000e0 delay_ausschalten.8 |
| C:\Temp/ccjSs5Dt.s:4014 .bss:000000e1 move_safety_switch.9 |
| C:\Temp/ccjSs5Dt.s:4015 .bss:000000e2 ausgleichNick.10 |
| C:\Temp/ccjSs5Dt.s:4016 .bss:000000e6 ausgleichRoll.11 |
| C:\Temp/ccjSs5Dt.s:4017 .bss:000000ea stick_nick.12 |
| C:\Temp/ccjSs5Dt.s:4018 .bss:000000ec stick_roll.13 |
| C:\Temp/ccjSs5Dt.s:4019 .bss:000000ee cnt.14 |
| C:\Temp/ccjSs5Dt.s:4020 .bss:000000f0 last_n_p.15 |
| C:\Temp/ccjSs5Dt.s:4021 .bss:000000f1 last_n_n.16 |
| C:\Temp/ccjSs5Dt.s:4022 .bss:000000f2 last_r_p.17 |
| C:\Temp/ccjSs5Dt.s:4023 .bss:000000f3 last_r_n.18 |
| C:\Temp/ccjSs5Dt.s:4024 .bss:000000f4 MittelIntegralNick_Alt.19 |
| C:\Temp/ccjSs5Dt.s:4025 .bss:000000f8 MittelIntegralRoll_Alt.20 |
| C:\Temp/ccjSs5Dt.s:4026 .bss:000000fc HeightTrimming.21 |
| C:\Temp/ccjSs5Dt.s:4027 .bss:000000fe FilterHCGas.22 |
| C:\Temp/ccjSs5Dt.s:4028 .bss:00000100 HoverGasFilter.23 |
| C:\Temp/ccjSs5Dt.s:4033 .data:0000004f delay.24 |
| C:\Temp/ccjSs5Dt.s:4029 .bss:00000104 BaroAtUpperLimit.25 |
| C:\Temp/ccjSs5Dt.s:4035 .bss:00000105 BaroAtLowerLimit.26 |
| C:\Temp/ccjSs5Dt.s:4040 .text:00001fb6 MotorRegler |
| *COM*:00000001 GyroFaktor |
| *COM*:00000001 IntegralFaktor |
| *COM*:00000001 GyroFaktorGier |
| *COM*:00000001 IntegralFaktorGier |
| *COM*:00000004 MittelIntegralNick |
| *COM*:00000004 MittelIntegralRoll |
| *COM*:00000004 MittelIntegralNick2 |
| *COM*:00000004 MittelIntegralRoll2 |
| *COM*:00000002 ErsatzKompassInGrad |
| *COM*:00000002 DiffNick |
| *COM*:00000002 DiffRoll |
| *COM*:00000018 tmp_motorwert |
| *COM*:00000001 h |
| *COM*:00000001 m |
| *COM*:00000001 s |
| *COM*:00000001 Parameter_J16Bitmask |
| *COM*:00000001 Parameter_J17Bitmask |
| *COM*:00000002 MesswertGierBias |
| *COM*:00000001 Parameter_NaviGpsModeControl |
| *COM*:00000001 Parameter_NaviGpsGain |
| *COM*:00000001 Parameter_NaviGpsP |
| *COM*:00000001 Parameter_NaviGpsI |
| *COM*:00000001 Parameter_NaviGpsD |
| *COM*:00000001 Parameter_NaviGpsACC |
| *COM*:00000001 Parameter_NaviOperatingRadius |
| *COM*:00000001 Parameter_NaviWindCorrection |
| *COM*:00000001 Parameter_NaviSpeedCompensation |
| |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| EE_Parameter |
| __divmodsi4 |
| DebugOut |
| Capacity |
| UBat |
| Motor |
| AdWertGier |
| ServoNickValue |
| AdWertAccHoch |
| GPS_Nick |
| GPS_Roll |
| VersionInfo |
| PlatinenVersion |
| beeptime |
| UpdateMotor |
| LIBFC_Polling |
| SucheGyroOffset |
| AdWertNick |
| AdWertRoll |
| AdWertAccNick |
| AdWertAccRoll |
| PPM_in |
| __mulsi3 |
| __prologue_saves__ |
| ExpandBaro |
| Delay_ms_Mess |
| MessLuftdruck |
| SucheLuftruckOffset |
| __divmodhi4 |
| Aktuell_az |
| SetParamWord |
| GetParamWord |
| uart_putchar |
| _printf_P |
| Luftdruck |
| StartLuftdruck |
| VarioMeter |
| LED_Init |
| FromNaviCtrl_Value |
| ServoActive |
| NickServoValue |
| LIBFC_HoTT_Clear |
| __epilogue_restores__ |
| AdWertNickFilter |
| AdWertRollFilter |
| AdReady |
| HiResNick |
| HiResRoll |
| MotorTest |
| PC_MotortestActive |
| I2C_TransferActive |
| motor_write |
| twi_state |
| BLFlags |
| NC_To_FC_MaxAltitude |
| SpeakHoTT |
| FromNaviCtrl |
| BeepMuster |
| PPM_diff |
| SetActiveParamSet |
| WinkelOut |
| GetActiveParamSet |
| ParamSet_ReadFromEEProm |
| LipoDetection |
| LIBFC_ReceiverInit |
| NC_ErrorCode |
| GPSInfo |
| NewPpmData |
| FromNC_Rotate_C |
| FromNC_Rotate_S |
| GPS_Aid_StickMultiplikator |
| __floatsisf |
| __addsf3 |
| __fixunssfsi |
| ExternControl |
| ZaehlMessungen |
| BattLowVoltageWarning |
| __udivmodhi4 |
| DruckOffsetSetting |
| SummenHoehe |
| ihypot |
| c_cos_8192 |
| __udivmodqi4 |
| NC_To_FC_Flags |
| MissingMotor |
| Mixer |