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Rev 1189 Rev 1193
1 
   1               		.file	"spi.c"
 1 
   1               		.file	"spi.c"
2 
   2               	__SREG__ = 0x3f
 2 
   2               	__SREG__ = 0x3f
3 
   3               	__SP_H__ = 0x3e
 3 
   3               	__SP_H__ = 0x3e
4 
   4               	__SP_L__ = 0x3d
 4 
   4               	__SP_L__ = 0x3d
5 
   5               	__tmp_reg__ = 0
 5 
   5               	__tmp_reg__ = 0
6 
   6               	__zero_reg__ = 1
 6 
   6               	__zero_reg__ = 1
7 
   7               		.global __do_copy_data
 7 
   7               		.global __do_copy_data
8 
   8               		.global __do_clear_bss
 8 
   8               		.global __do_clear_bss
9 
   9               		.text
 9 
   9               		.text
10 
  10               	.global	SPI_MasterInit
 10 
  10               	.global	SPI_MasterInit
11 
  12               	SPI_MasterInit:
 11 
  12               	SPI_MasterInit:
12 
  13               	/* prologue: frame size=0 */
 12 
  13               	/* prologue: frame size=0 */
13 
  14               	/* prologue end (size=0) */
 13 
  14               	/* prologue end (size=0) */
14 
  15 0000 84B1      		in r24,36-0x20
 14 
  15 0000 84B1      		in r24,36-0x20
15 
  16 0002 806A      		ori r24,lo8(-96)
 15 
  16 0002 806A      		ori r24,lo8(-96)
16 
  17 0004 84B9      		out 36-0x20,r24
 16 
  17 0004 84B9      		out 36-0x20,r24
17 
  18 0006 3D9A      		sbi 39-0x20,5
 17 
  18 0006 3D9A      		sbi 39-0x20,5
18 
  19 0008 82E5      		ldi r24,lo8(82)
 18 
  19 0008 82E5      		ldi r24,lo8(82)
19 
  20 000a 8CBD      		out 76-0x20,r24
 19 
  20 000a 8CBD      		out 76-0x20,r24
20 
  21 000c 1DBC      		out 77-0x20,__zero_reg__
 20 
  21 000c 1DBC      		out 77-0x20,__zero_reg__
21 
  22 000e 459A      		sbi 40-0x20,5
 21 
  22 000e 459A      		sbi 40-0x20,5
22 
  23 0010 81E0      		ldi r24,lo8(1)
 22 
  23 0010 81E0      		ldi r24,lo8(1)
23 
  24 0012 8093 0000 		sts SPITransferCompleted,r24
 23 
  24 0012 8093 0000 		sts SPITransferCompleted,r24
24 
  25 0016 8AEA      		ldi r24,lo8(-86)
 24 
  25 0016 8AEA      		ldi r24,lo8(-86)
25 
  26 0018 8093 0000 		sts ToNaviCtrl,r24
 25 
  26 0018 8093 0000 		sts ToNaviCtrl,r24
26 
  27 001c 83E8      		ldi r24,lo8(-125)
 26 
  27 001c 83E8      		ldi r24,lo8(-125)
27 
  28 001e 8093 0000 		sts ToNaviCtrl+1,r24
 27 
  28 001e 8093 0000 		sts ToNaviCtrl+1,r24
28 
  29 0022 8AE0      		ldi r24,lo8(10)
 28 
  29 0022 8AE0      		ldi r24,lo8(10)
29 
  30 0024 8093 0000 		sts ToNaviCtrl+2,r24
 29 
  30 0024 8093 0000 		sts ToNaviCtrl+2,r24
30 
  31 0028 1092 0000 		sts (ToNaviCtrl+3)+1,__zero_reg__
 30 
  31 0028 1092 0000 		sts (ToNaviCtrl+3)+1,__zero_reg__
31 
  32 002c 1092 0000 		sts ToNaviCtrl+3,__zero_reg__
 31 
  32 002c 1092 0000 		sts ToNaviCtrl+3,__zero_reg__
32 
  33 0030 1092 0000 		sts (ToNaviCtrl+5)+1,__zero_reg__
 32 
  33 0030 1092 0000 		sts (ToNaviCtrl+5)+1,__zero_reg__
33 
  34 0034 1092 0000 		sts ToNaviCtrl+5,__zero_reg__
 33 
  34 0034 1092 0000 		sts ToNaviCtrl+5,__zero_reg__
34 
  35 0038 1092 0000 		sts SPI_RxDataValid,__zero_reg__
 34 
  35 0038 1092 0000 		sts SPI_RxDataValid,__zero_reg__
35 
  36 003c 1092 0000 		sts SPI_VersionInfo,__zero_reg__
 35 
  36 003c 1092 0000 		sts SPI_VersionInfo,__zero_reg__
36 
  37 0040 88E4      		ldi r24,lo8(72)
 36 
  37 0040 88E4      		ldi r24,lo8(72)
37 
  38 0042 8093 0000 		sts SPI_VersionInfo+1,r24
 37 
  38 0042 8093 0000 		sts SPI_VersionInfo+1,r24
38 
  39 0046 8FE0      		ldi r24,lo8(15)
 38 
  39 0046 8FE0      		ldi r24,lo8(15)
39 
  40 0048 8093 0000 		sts SPI_VersionInfo+2,r24
 39 
  40 0048 8093 0000 		sts SPI_VersionInfo+2,r24
40 
  41 004c 85E0      		ldi r24,lo8(5)
 40 
  41 004c 85E0      		ldi r24,lo8(5)
41 
  42 004e 8093 0000 		sts SPI_VersionInfo+3,r24
 41 
  42 004e 8093 0000 		sts SPI_VersionInfo+3,r24
42 
  43               	/* epilogue: frame size=0 */
 42 
  43               	/* epilogue: frame size=0 */
43 
  44 0052 0895      		ret
 43 
  44 0052 0895      		ret
44 
  45               	/* epilogue end (size=1) */
 44 
  45               	/* epilogue end (size=1) */
45 
  46               	/* function SPI_MasterInit size 42 (41) */
 45 
  46               	/* function SPI_MasterInit size 42 (41) */
46 
  48               	.global	UpdateSPI_Buffer
 46 
  48               	.global	UpdateSPI_Buffer
47 
  50               	UpdateSPI_Buffer:
 47 
  50               	UpdateSPI_Buffer:
48 
  51               	/* prologue: frame size=0 */
 48 
  51               	/* prologue: frame size=0 */
49 
  52 0054 EF92      		push r14
 49 
  52 0054 EF92      		push r14
50 
  53 0056 FF92      		push r15
 50 
  53 0056 FF92      		push r15
51 
  54 0058 0F93      		push r16
 51 
  54 0058 0F93      		push r16
52 
  55 005a 1F93      		push r17
 52 
  55 005a 1F93      		push r17
53 
  56               	/* prologue end (size=4) */
 53 
  56               	/* prologue end (size=4) */
54 
  57               	/* #APP */
 54 
  57               	/* #APP */
55 
  58 005c F894      		cli
 55 
  58 005c F894      		cli
56 
  59               	/* #NOAPP */
 56 
  59               	/* #NOAPP */
57 
  60 005e E090 0000 		lds r14,EE_Parameter+20
 57 
  60 005e E090 0000 		lds r14,EE_Parameter+20
58 
  61 0062 FF24      		clr r15
 58 
  61 0062 FF24      		clr r15
59 
  62 0064 EE0C      		lsl r14
 59 
  62 0064 EE0C      		lsl r14
60 
  63 0066 FF1C      		rol r15
 60 
  63 0066 FF1C      		rol r15
61 
  64 0068 EE0C      		lsl r14
 61 
  64 0068 EE0C      		lsl r14
62 
  65 006a FF1C      		rol r15
 62 
  65 006a FF1C      		rol r15
63 
  66 006c 0027      		clr r16
 63 
  66 006c 0027      		clr r16
64 
  67 006e F7FC      		sbrc r15,7
 64 
  67 006e F7FC      		sbrc r15,7
65 
  68 0070 0095      		com r16
 65 
  68 0070 0095      		com r16
66 
  69 0072 102F      		mov r17,r16
 66 
  69 0072 102F      		mov r17,r16
67 
  70 0074 6091 0000 		lds r22,IntegralNick
 67 
  70 0074 6091 0000 		lds r22,IntegralNick
68 
  71 0078 7091 0000 		lds r23,(IntegralNick)+1
 68 
  71 0078 7091 0000 		lds r23,(IntegralNick)+1
69 
  72 007c 8091 0000 		lds r24,(IntegralNick)+2
 69 
  72 007c 8091 0000 		lds r24,(IntegralNick)+2
70 
  73 0080 9091 0000 		lds r25,(IntegralNick)+3
 70 
  73 0080 9091 0000 		lds r25,(IntegralNick)+3
71 
  74 0084 A801      		movw r20,r16
 71 
  74 0084 A801      		movw r20,r16
72 
  75 0086 9701      		movw r18,r14
 72 
  75 0086 9701      		movw r18,r14
73 
  76 0088 0E94 0000 		call __divmodsi4
 73 
  76 0088 0E94 0000 		call __divmodsi4
74 
  77 008c 3093 0000 		sts (ToNaviCtrl+3)+1,r19
 74 
  77 008c 3093 0000 		sts (ToNaviCtrl+3)+1,r19
75 
  78 0090 2093 0000 		sts ToNaviCtrl+3,r18
 75 
  78 0090 2093 0000 		sts ToNaviCtrl+3,r18
76 
  79 0094 6091 0000 		lds r22,IntegralRoll
 76 
  79 0094 6091 0000 		lds r22,IntegralRoll
77 
  80 0098 7091 0000 		lds r23,(IntegralRoll)+1
 77 
  80 0098 7091 0000 		lds r23,(IntegralRoll)+1
78 
  81 009c 8091 0000 		lds r24,(IntegralRoll)+2
 78 
  81 009c 8091 0000 		lds r24,(IntegralRoll)+2
79 
  82 00a0 9091 0000 		lds r25,(IntegralRoll)+3
 79 
  82 00a0 9091 0000 		lds r25,(IntegralRoll)+3
80 
  83 00a4 A801      		movw r20,r16
 80 
  83 00a4 A801      		movw r20,r16
81 
  84 00a6 9701      		movw r18,r14
 81 
  84 00a6 9701      		movw r18,r14
82 
  85 00a8 0E94 0000 		call __divmodsi4
 82 
  85 00a8 0E94 0000 		call __divmodsi4
83 
  86 00ac 3093 0000 		sts (ToNaviCtrl+5)+1,r19
 83 
  86 00ac 3093 0000 		sts (ToNaviCtrl+5)+1,r19
84 
  87 00b0 2093 0000 		sts ToNaviCtrl+5,r18
 84 
  87 00b0 2093 0000 		sts ToNaviCtrl+5,r18
85 
  88 00b4 6091 0000 		lds r22,ErsatzKompass
 85 
  88 00b4 6091 0000 		lds r22,ErsatzKompass
86 
  89 00b8 7091 0000 		lds r23,(ErsatzKompass)+1
 86 
  89 00b8 7091 0000 		lds r23,(ErsatzKompass)+1
87 
  90 00bc 8091 0000 		lds r24,(ErsatzKompass)+2
 87 
  90 00bc 8091 0000 		lds r24,(ErsatzKompass)+2
88 
  91 00c0 9091 0000 		lds r25,(ErsatzKompass)+3
 88 
  91 00c0 9091 0000 		lds r25,(ErsatzKompass)+3
89 
  92 00c4 2AE0      		ldi r18,lo8(10)
 89 
  92 00c4 2AE0      		ldi r18,lo8(10)
90 
  93 00c6 30E0      		ldi r19,hi8(10)
 90 
  93 00c6 30E0      		ldi r19,hi8(10)
91 
  94 00c8 40E0      		ldi r20,hlo8(10)
 91 
  94 00c8 40E0      		ldi r20,hlo8(10)
92 
  95 00ca 50E0      		ldi r21,hhi8(10)
 92 
  95 00ca 50E0      		ldi r21,hhi8(10)
93 
  96 00cc 0E94 0000 		call __mulsi3
 93 
  96 00cc 0E94 0000 		call __mulsi3
94 
  97 00d0 2091 0000 		lds r18,GIER_GRAD_FAKTOR
 94 
  97 00d0 2091 0000 		lds r18,GIER_GRAD_FAKTOR
95 
  98 00d4 3091 0000 		lds r19,(GIER_GRAD_FAKTOR)+1
 95 
  98 00d4 3091 0000 		lds r19,(GIER_GRAD_FAKTOR)+1
96 
  99 00d8 4091 0000 		lds r20,(GIER_GRAD_FAKTOR)+2
 96 
  99 00d8 4091 0000 		lds r20,(GIER_GRAD_FAKTOR)+2
97 
 100 00dc 5091 0000 		lds r21,(GIER_GRAD_FAKTOR)+3
 97 
 100 00dc 5091 0000 		lds r21,(GIER_GRAD_FAKTOR)+3
98 
 101 00e0 0E94 0000 		call __divmodsi4
 98 
 101 00e0 0E94 0000 		call __divmodsi4
99 
 102 00e4 3093 0000 		sts (ToNaviCtrl+11)+1,r19
 99 
 102 00e4 3093 0000 		sts (ToNaviCtrl+11)+1,r19
100 
 103 00e8 2093 0000 		sts ToNaviCtrl+11,r18
 100 
 103 00e8 2093 0000 		sts ToNaviCtrl+11,r18
101 
 104 00ec E091 0000 		lds r30,NaviCntAcc
 101 
 104 00ec E091 0000 		lds r30,NaviCntAcc
102 
 105 00f0 F091 0000 		lds r31,(NaviCntAcc)+1
 102 
 105 00f0 F091 0000 		lds r31,(NaviCntAcc)+1
103 
 106 00f4 8091 0000 		lds r24,NaviAccNick
 103 
 106 00f4 8091 0000 		lds r24,NaviAccNick
104 
 107 00f8 9091 0000 		lds r25,(NaviAccNick)+1
 104 
 107 00f8 9091 0000 		lds r25,(NaviAccNick)+1
105 
 108 00fc BF01      		movw r22,r30
 105 
 108 00fc BF01      		movw r22,r30
106 
 109 00fe 0E94 0000 		call __divmodhi4
 106 
 109 00fe 0E94 0000 		call __divmodhi4
107 
 110 0102 CB01      		movw r24,r22
 107 
 110 0102 CB01      		movw r24,r22
108 
 111 0104 880F      		lsl r24
 108 
 111 0104 880F      		lsl r24
109 
 112 0106 991F      		rol r25
 109 
 112 0106 991F      		rol r25
110 
 113 0108 860F      		add r24,r22
 110 
 113 0108 860F      		add r24,r22
111 
 114 010a 971F      		adc r25,r23
 111 
 114 010a 971F      		adc r25,r23
112 
 115 010c 9C01      		movw r18,r24
 112 
 115 010c 9C01      		movw r18,r24
113 
 116 010e 220F      		lsl r18
 113 
 116 010e 220F      		lsl r18
114 
 117 0110 331F      		rol r19
 114 
 117 0110 331F      		rol r19
115 
 118 0112 96FD      		sbrc r25,6
 115 
 118 0112 96FD      		sbrc r25,6
116 
 119 0114 00C0      		rjmp .L39
 116 
 119 0114 00C0      		rjmp .L39
117 
 120               	.L4:
 117 
 120               	.L4:
118 
 121 0116 3595      		asr r19
 118 
 121 0116 3595      		asr r19
119 
 122 0118 2795      		ror r18
 119 
 122 0118 2795      		ror r18
120 
 123 011a 3595      		asr r19
 120 
 123 011a 3595      		asr r19
121 
 124 011c 2795      		ror r18
 121 
 124 011c 2795      		ror r18
122 
 125 011e 3093 0000 		sts (ToNaviCtrl+7)+1,r19
 122 
 125 011e 3093 0000 		sts (ToNaviCtrl+7)+1,r19
123 
 126 0122 2093 0000 		sts ToNaviCtrl+7,r18
 123 
 126 0122 2093 0000 		sts ToNaviCtrl+7,r18
124 
 127 0126 8091 0000 		lds r24,NaviAccRoll
 124 
 127 0126 8091 0000 		lds r24,NaviAccRoll
125 
 128 012a 9091 0000 		lds r25,(NaviAccRoll)+1
 125 
 128 012a 9091 0000 		lds r25,(NaviAccRoll)+1
126 
 129 012e BF01      		movw r22,r30
 126 
 129 012e BF01      		movw r22,r30
127 
 130 0130 0E94 0000 		call __divmodhi4
 127 
 130 0130 0E94 0000 		call __divmodhi4
128 
 131 0134 CB01      		movw r24,r22
 128 
 131 0134 CB01      		movw r24,r22
129 
 132 0136 880F      		lsl r24
 129 
 132 0136 880F      		lsl r24
130 
 133 0138 991F      		rol r25
 130 
 133 0138 991F      		rol r25
131 
 134 013a 860F      		add r24,r22
 131 
 134 013a 860F      		add r24,r22
132 
 135 013c 971F      		adc r25,r23
 132 
 135 013c 971F      		adc r25,r23
133 
 136 013e 9C01      		movw r18,r24
 133 
 136 013e 9C01      		movw r18,r24
134 
 137 0140 220F      		lsl r18
 134 
 137 0140 220F      		lsl r18
135 
 138 0142 331F      		rol r19
 135 
 138 0142 331F      		rol r19
136 
 139 0144 96FD      		sbrc r25,6
 136 
 139 0144 96FD      		sbrc r25,6
137 
 140 0146 00C0      		rjmp .L40
 137 
 140 0146 00C0      		rjmp .L40
138 
 141               	.L5:
 138 
 141               	.L5:
139 
 142 0148 3595      		asr r19
 139 
 142 0148 3595      		asr r19
140 
 143 014a 2795      		ror r18
 140 
 143 014a 2795      		ror r18
141 
 144 014c 3595      		asr r19
 141 
 144 014c 3595      		asr r19
142 
 145 014e 2795      		ror r18
 142 
 145 014e 2795      		ror r18
143 
 146 0150 3093 0000 		sts (ToNaviCtrl+9)+1,r19
 143 
 146 0150 3093 0000 		sts (ToNaviCtrl+9)+1,r19
144 
 147 0154 2093 0000 		sts ToNaviCtrl+9,r18
 144 
 147 0154 2093 0000 		sts ToNaviCtrl+9,r18
145 
 148 0158 1092 0000 		sts (NaviCntAcc)+1,__zero_reg__
 145 
 148 0158 1092 0000 		sts (NaviCntAcc)+1,__zero_reg__
146 
 149 015c 1092 0000 		sts NaviCntAcc,__zero_reg__
 146 
 149 015c 1092 0000 		sts NaviCntAcc,__zero_reg__
147 
 150 0160 1092 0000 		sts (NaviAccNick)+1,__zero_reg__
 147 
 150 0160 1092 0000 		sts (NaviAccNick)+1,__zero_reg__
148 
 151 0164 1092 0000 		sts NaviAccNick,__zero_reg__
 148 
 151 0164 1092 0000 		sts NaviAccNick,__zero_reg__
149 
 152 0168 1092 0000 		sts (NaviAccRoll)+1,__zero_reg__
 149 
 152 0168 1092 0000 		sts (NaviAccRoll)+1,__zero_reg__
150 
 153 016c 1092 0000 		sts NaviAccRoll,__zero_reg__
 150 
 153 016c 1092 0000 		sts NaviAccRoll,__zero_reg__
151 
 154 0170 8091 0000 		lds r24,ToNaviCtrl+2
 151 
 154 0170 8091 0000 		lds r24,ToNaviCtrl+2
152 
 155 0174 8C30      		cpi r24,lo8(12)
 152 
 155 0174 8C30      		cpi r24,lo8(12)
153 
 156 0176 01F4      		brne .+2
 153 
 156 0176 01F4      		brne .+2
154 
 157 0178 00C0      		rjmp .L9
 154 
 157 0178 00C0      		rjmp .L9
155 
 158 017a 8D30      		cpi r24,lo8(13)
 155 
 158 017a 8D30      		cpi r24,lo8(13)
156 
 159 017c 00F4      		brsh .+2
 156 
 159 017c 00F4      		brsh .+2
157 
 160 017e 00C0      		rjmp .L41
 157 
 160 017e 00C0      		rjmp .L41
158 
 161 0180 8D30      		cpi r24,lo8(13)
 158 
 161 0180 8D30      		cpi r24,lo8(13)
159 
 162 0182 01F4      		brne .+2
 159 
 162 0182 01F4      		brne .+2
160 
 163 0184 00C0      		rjmp .L10
 160 
 163 0184 00C0      		rjmp .L10
161 
 164 0186 8E30      		cpi r24,lo8(14)
 161 
 164 0186 8E30      		cpi r24,lo8(14)
162 
 165 0188 01F4      		brne .+2
 162 
 165 0188 01F4      		brne .+2
163 
 166 018a 00C0      		rjmp .L42
 163 
 166 018a 00C0      		rjmp .L42
164 
 167               	.L6:
 164 
 167               	.L6:
165 
 168               	/* #APP */
 165 
 168               	/* #APP */
166 
 169 018c 7894      		sei
 166 
 169 018c 7894      		sei
167 
 170               	/* #NOAPP */
 167 
 170               	/* #NOAPP */
168 
 171 018e 8091 0000 		lds r24,SPI_RxDataValid
 168 
 171 018e 8091 0000 		lds r24,SPI_RxDataValid
169 
 172 0192 8823      		tst r24
 169 
 172 0192 8823      		tst r24
170 
 173 0194 01F4      		brne .+2
 170 
 173 0194 01F4      		brne .+2
171 
 174 0196 00C0      		rjmp .L24
 171 
 174 0196 00C0      		rjmp .L24
172 
 175               	.L45:
 172 
 175               	.L45:
173 
 176 0198 2091 0000 		lds r18,FromNaviCtrl+1
 173 
 176 0198 2091 0000 		lds r18,FromNaviCtrl+1
174 
 177 019c 3091 0000 		lds r19,(FromNaviCtrl+1)+1
 174 
 177 019c 3091 0000 		lds r19,(FromNaviCtrl+1)+1
175 
 178 01a0 C901      		movw r24,r18
 175 
 178 01a0 C901      		movw r24,r18
176 
 179 01a2 8150      		subi r24,lo8(-(511))
 176 
 179 01a2 8150      		subi r24,lo8(-(511))
177 
 180 01a4 9E4F      		sbci r25,hi8(-(511))
 177 
 180 01a4 9E4F      		sbci r25,hi8(-(511))
178 
 181 01a6 8F5F      		subi r24,lo8(1023)
 178 
 181 01a6 8F5F      		subi r24,lo8(1023)
179 
 182 01a8 9340      		sbci r25,hi8(1023)
 179 
 182 01a8 9340      		sbci r25,hi8(1023)
180 
 183 01aa 00F4      		brsh .L26
 180 
 183 01aa 00F4      		brsh .L26
181 
 184 01ac 4091 0000 		lds r20,FromNaviCtrl+3
 181 
 184 01ac 4091 0000 		lds r20,FromNaviCtrl+3
182 
 185 01b0 5091 0000 		lds r21,(FromNaviCtrl+3)+1
 182 
 185 01b0 5091 0000 		lds r21,(FromNaviCtrl+3)+1
183 
 186 01b4 CA01      		movw r24,r20
 183 
 186 01b4 CA01      		movw r24,r20
184 
 187 01b6 8150      		subi r24,lo8(-(511))
 184 
 187 01b6 8150      		subi r24,lo8(-(511))
185 
 188 01b8 9E4F      		sbci r25,hi8(-(511))
 185 
 188 01b8 9E4F      		sbci r25,hi8(-(511))
186 
 189 01ba 8F5F      		subi r24,lo8(1023)
 186 
 189 01ba 8F5F      		subi r24,lo8(1023)
187 
 190 01bc 9340      		sbci r25,hi8(1023)
 187 
 190 01bc 9340      		sbci r25,hi8(1023)
188 
 191 01be 00F4      		brsh .+2
 188 
 191 01be 00F4      		brsh .+2
189 
 192 01c0 00C0      		rjmp .L43
 189 
 192 01c0 00C0      		rjmp .L43
190 
 193               	.L26:
 190 
 193               	.L26:
191 
 194 01c2 8091 0000 		lds r24,FromNaviCtrl+7
 191 
 194 01c2 8091 0000 		lds r24,FromNaviCtrl+7
192 
 195 01c6 9091 0000 		lds r25,(FromNaviCtrl+7)+1
 192 
 195 01c6 9091 0000 		lds r25,(FromNaviCtrl+7)+1
193 
 196 01ca 21E0      		ldi r18,hi8(361)
 193 
 196 01ca 21E0      		ldi r18,hi8(361)
194 
 197 01cc 8936      		cpi r24,lo8(361)
 194 
 197 01cc 8936      		cpi r24,lo8(361)
195 
 198 01ce 9207      		cpc r25,r18
 195 
 198 01ce 9207      		cpc r25,r18
196 
 199 01d0 04F4      		brge .L30
 196 
 199 01d0 04F4      		brge .L30
197 
 200 01d2 9093 0000 		sts (KompassValue)+1,r25
 197 
 200 01d2 9093 0000 		sts (KompassValue)+1,r25
198 
 201 01d6 8093 0000 		sts KompassValue,r24
 198 
 201 01d6 8093 0000 		sts KompassValue,r24
199 
 202               	.L30:
 199 
 202               	.L30:
200 
 203 01da 8091 0000 		lds r24,KompassValue
 200 
 203 01da 8091 0000 		lds r24,KompassValue
201 
 204 01de 9091 0000 		lds r25,(KompassValue)+1
 201 
 204 01de 9091 0000 		lds r25,(KompassValue)+1
202 
 205 01e2 845E      		subi r24,lo8(-(540))
 202 
 205 01e2 845E      		subi r24,lo8(-(540))
203 
 206 01e4 9D4F      		sbci r25,hi8(-(540))
 203 
 206 01e4 9D4F      		sbci r25,hi8(-(540))
204 
 207 01e6 2091 0000 		lds r18,KompassStartwert
 204 
 207 01e6 2091 0000 		lds r18,KompassStartwert
205 
 208 01ea 3091 0000 		lds r19,(KompassStartwert)+1
 205 
 208 01ea 3091 0000 		lds r19,(KompassStartwert)+1
206 
 209 01ee 821B      		sub r24,r18
 206 
 209 01ee 821B      		sub r24,r18
207 
 210 01f0 930B      		sbc r25,r19
 207 
 210 01f0 930B      		sbc r25,r19
208 
 211 01f2 68E6      		ldi r22,lo8(360)
 208 
 211 01f2 68E6      		ldi r22,lo8(360)
209 
 212 01f4 71E0      		ldi r23,hi8(360)
 209 
 212 01f4 71E0      		ldi r23,hi8(360)
210 
 213 01f6 0E94 0000 		call __divmodhi4
 210 
 213 01f6 0E94 0000 		call __divmodhi4
211 
 214 01fa 845B      		subi r24,lo8(-(-180))
 211 
 214 01fa 845B      		subi r24,lo8(-(-180))
212 
 215 01fc 9040      		sbci r25,hi8(-(-180))
 212 
 215 01fc 9040      		sbci r25,hi8(-(-180))
213 
 216 01fe 9093 0000 		sts (KompassRichtung)+1,r25
 213 
 216 01fe 9093 0000 		sts (KompassRichtung)+1,r25
214 
 217 0202 8093 0000 		sts KompassRichtung,r24
 214 
 217 0202 8093 0000 		sts KompassRichtung,r24
215 
 218 0206 2091 0000 		lds r18,FromNaviCtrl+11
 215 
 218 0206 2091 0000 		lds r18,FromNaviCtrl+11
216 
 219 020a 3091 0000 		lds r19,(FromNaviCtrl+11)+1
 216 
 219 020a 3091 0000 		lds r19,(FromNaviCtrl+11)+1
217 
 220 020e 8091 0000 		lds r24,beeptime
 217 
 220 020e 8091 0000 		lds r24,beeptime
218 
 221 0212 9091 0000 		lds r25,(beeptime)+1
 218 
 221 0212 9091 0000 		lds r25,(beeptime)+1
219 
 222 0216 8217      		cp r24,r18
 219 
 222 0216 8217      		cp r24,r18
220 
 223 0218 9307      		cpc r25,r19
 220 
 223 0218 9307      		cpc r25,r19
221 
 224 021a 00F4      		brsh .L32
 221 
 224 021a 00F4      		brsh .L32
222 
 225 021c 8091 0000 		lds r24,WinkelOut+6
 222 
 225 021c 8091 0000 		lds r24,WinkelOut+6
223 
 226 0220 8823      		tst r24
 223 
 226 0220 8823      		tst r24
224 
 227 0222 01F4      		brne .+2
 224 
 227 0222 01F4      		brne .+2
225 
 228 0224 00C0      		rjmp .L44
 225 
 228 0224 00C0      		rjmp .L44
226 
 229               	.L32:
 226 
 229               	.L32:
227 
 230 0226 8091 0000 		lds r24,FromNaviCtrl
 227 
 230 0226 8091 0000 		lds r24,FromNaviCtrl
228 
 231 022a 8736      		cpi r24,lo8(103)
 228 
 231 022a 8736      		cpi r24,lo8(103)
229 
 232 022c 01F0      		breq .+2
 229 
 232 022c 01F0      		breq .+2
230 
 233 022e 00C0      		rjmp .L37
 230 
 233 022e 00C0      		rjmp .L37
231 
 234 0230 8091 0000 		lds r24,FromNaviCtrl+13
 231 
 234 0230 8091 0000 		lds r24,FromNaviCtrl+13
232 
 235 0234 8093 0000 		sts FromNaviCtrl_Value,r24
 232 
 235 0234 8093 0000 		sts FromNaviCtrl_Value,r24
233 
 236 0238 8091 0000 		lds r24,FromNaviCtrl+14
 233 
 236 0238 8091 0000 		lds r24,FromNaviCtrl+14
234 
 237 023c 8093 0000 		sts FromNaviCtrl_Value+2,r24
 234 
 237 023c 8093 0000 		sts FromNaviCtrl_Value+2,r24
235 
 238 0240 8091 0000 		lds r24,FromNaviCtrl+15
 235 
 238 0240 8091 0000 		lds r24,FromNaviCtrl+15
236 
 239 0244 8093 0000 		sts FromNaviCtrl_Value+1,r24
 236 
 239 0244 8093 0000 		sts FromNaviCtrl_Value+1,r24
237 
 240 0248 00C0      		rjmp .L37
 237 
 240 0248 00C0      		rjmp .L37
238 
 241               	.L41:
 238 
 241               	.L41:
239 
 242 024a 8A30      		cpi r24,lo8(10)
 239 
 242 024a 8A30      		cpi r24,lo8(10)
240 
 243 024c 01F4      		brne .+2
 240 
 243 024c 01F4      		brne .+2
241 
 244 024e 00C0      		rjmp .L7
 241 
 244 024e 00C0      		rjmp .L7
242 
 245 0250 8B30      		cpi r24,lo8(11)
 242 
 245 0250 8B30      		cpi r24,lo8(11)
243 
 246 0252 01F0      		breq .+2
 243 
 246 0252 01F0      		breq .+2
244 
 247 0254 00C0      		rjmp .L6
 244 
 247 0254 00C0      		rjmp .L6
245 
 248 0256 E091 0000 		lds r30,EE_Parameter+2
 245 
 248 0256 E091 0000 		lds r30,EE_Parameter+2
246 
 249 025a F0E0      		ldi r31,lo8(0)
 246 
 249 025a F0E0      		ldi r31,lo8(0)
247 
 250 025c EE0F      		lsl r30
 247 
 250 025c EE0F      		lsl r30
248 
 251 025e FF1F      		rol r31
 248 
 251 025e FF1F      		rol r31
249 
 252 0260 E050      		subi r30,lo8(-(PPM_in))
 249 
 252 0260 E050      		subi r30,lo8(-(PPM_in))
250 
 253 0262 F040      		sbci r31,hi8(-(PPM_in))
 250 
 253 0262 F040      		sbci r31,hi8(-(PPM_in))
251 
 254 0264 0190      		ld __tmp_reg__,Z+
 251 
 254 0264 0190      		ld __tmp_reg__,Z+
252 
 255 0266 F081      		ld r31,Z
 252 
 255 0266 F081      		ld r31,Z
253 
 256 0268 E02D      		mov r30,__tmp_reg__
 253 
 256 0268 E02D      		mov r30,__tmp_reg__
254 
 257 026a 2FEF      		ldi r18,hi8(-127)
 254 
 257 026a 2FEF      		ldi r18,hi8(-127)
255 
 258 026c E138      		cpi r30,lo8(-127)
 255 
 258 026c E138      		cpi r30,lo8(-127)
256 
 259 026e F207      		cpc r31,r18
 256 
 259 026e F207      		cpc r31,r18
257 
 260 0270 04F4      		brge .L13
 257 
 260 0270 04F4      		brge .L13
258 
 261 0272 E1E8      		ldi r30,lo8(-127)
 258 
 261 0272 E1E8      		ldi r30,lo8(-127)
259 
 262 0274 FFEF      		ldi r31,hi8(-127)
 259 
 262 0274 FFEF      		ldi r31,hi8(-127)
260 
 263               	.L13:
 260 
 263               	.L13:
261 
 264 0276 E038      		cpi r30,128
 261 
 264 0276 E038      		cpi r30,128
262 
 265 0278 F105      		cpc r31,__zero_reg__
 262 
 265 0278 F105      		cpc r31,__zero_reg__
263 
 266 027a 04F0      		brlt .L14
 263 
 266 027a 04F0      		brlt .L14
264 
 267 027c EFE7      		ldi r30,lo8(127)
 264 
 267 027c EFE7      		ldi r30,lo8(127)
265 
 268 027e F0E0      		ldi r31,hi8(127)
 265 
 268 027e F0E0      		ldi r31,hi8(127)
266 
 269               	.L14:
 266 
 269               	.L14:
267 
 270 0280 E093 0000 		sts ToNaviCtrl+19,r30
 267 
 270 0280 E093 0000 		sts ToNaviCtrl+19,r30
268 
 271 0284 E091 0000 		lds r30,EE_Parameter+3
 268 
 271 0284 E091 0000 		lds r30,EE_Parameter+3
269 
 272 0288 F0E0      		ldi r31,lo8(0)
 269 
 272 0288 F0E0      		ldi r31,lo8(0)
270 
 273 028a EE0F      		lsl r30
 270 
 273 028a EE0F      		lsl r30
271 
 274 028c FF1F      		rol r31
 271 
 274 028c FF1F      		rol r31
272 
 275 028e E050      		subi r30,lo8(-(PPM_in))
 272 
 275 028e E050      		subi r30,lo8(-(PPM_in))
273 
 276 0290 F040      		sbci r31,hi8(-(PPM_in))
 273 
 276 0290 F040      		sbci r31,hi8(-(PPM_in))
274 
 277 0292 0190      		ld __tmp_reg__,Z+
 274 
 277 0292 0190      		ld __tmp_reg__,Z+
275 
 278 0294 F081      		ld r31,Z
 275 
 278 0294 F081      		ld r31,Z
276 
 279 0296 E02D      		mov r30,__tmp_reg__
 276 
 279 0296 E02D      		mov r30,__tmp_reg__
277 
 280 0298 4FEF      		ldi r20,hi8(-127)
 277 
 280 0298 4FEF      		ldi r20,hi8(-127)
278 
 281 029a E138      		cpi r30,lo8(-127)
 278 
 281 029a E138      		cpi r30,lo8(-127)
279 
 282 029c F407      		cpc r31,r20
 279 
 282 029c F407      		cpc r31,r20
280 
 283 029e 04F4      		brge .L15
 280 
 283 029e 04F4      		brge .L15
281 
 284 02a0 E1E8      		ldi r30,lo8(-127)
 281 
 284 02a0 E1E8      		ldi r30,lo8(-127)
282 
 285 02a2 FFEF      		ldi r31,hi8(-127)
 282 
 285 02a2 FFEF      		ldi r31,hi8(-127)
283 
 286               	.L15:
 283 
 286               	.L15:
284 
 287 02a4 E038      		cpi r30,128
 284 
 287 02a4 E038      		cpi r30,128
285 
 288 02a6 F105      		cpc r31,__zero_reg__
 285 
 288 02a6 F105      		cpc r31,__zero_reg__
286 
 289 02a8 04F0      		brlt .L16
 286 
 289 02a8 04F0      		brlt .L16
287 
 290 02aa EFE7      		ldi r30,lo8(127)
 287 
 290 02aa EFE7      		ldi r30,lo8(127)
288 
 291 02ac F0E0      		ldi r31,hi8(127)
 288 
 291 02ac F0E0      		ldi r31,hi8(127)
289 
 292               	.L16:
 289 
 292               	.L16:
290 
 293 02ae E093 0000 		sts ToNaviCtrl+20,r30
 290 
 293 02ae E093 0000 		sts ToNaviCtrl+20,r30
291 
 294 02b2 E091 0000 		lds r30,EE_Parameter+1
 291 
 294 02b2 E091 0000 		lds r30,EE_Parameter+1
292 
 295 02b6 F0E0      		ldi r31,lo8(0)
 292 
 295 02b6 F0E0      		ldi r31,lo8(0)
293 
 296 02b8 EE0F      		lsl r30
 293 
 296 02b8 EE0F      		lsl r30
294 
 297 02ba FF1F      		rol r31
 294 
 297 02ba FF1F      		rol r31
295 
 298 02bc E050      		subi r30,lo8(-(PPM_in))
 295 
 298 02bc E050      		subi r30,lo8(-(PPM_in))
296 
 299 02be F040      		sbci r31,hi8(-(PPM_in))
 296 
 299 02be F040      		sbci r31,hi8(-(PPM_in))
297 
 300 02c0 0190      		ld __tmp_reg__,Z+
 297 
 300 02c0 0190      		ld __tmp_reg__,Z+
298 
 301 02c2 F081      		ld r31,Z
 298 
 301 02c2 F081      		ld r31,Z
299 
 302 02c4 E02D      		mov r30,__tmp_reg__
 299 
 302 02c4 E02D      		mov r30,__tmp_reg__
300 
 303 02c6 6FEF      		ldi r22,hi8(-127)
 300 
 303 02c6 6FEF      		ldi r22,hi8(-127)
301 
 304 02c8 E138      		cpi r30,lo8(-127)
 301 
 304 02c8 E138      		cpi r30,lo8(-127)
302 
 305 02ca F607      		cpc r31,r22
 302 
 305 02ca F607      		cpc r31,r22
303 
 306 02cc 04F4      		brge .L17
 303 
 306 02cc 04F4      		brge .L17
304 
 307 02ce E1E8      		ldi r30,lo8(-127)
 304 
 307 02ce E1E8      		ldi r30,lo8(-127)
305 
 308 02d0 FFEF      		ldi r31,hi8(-127)
 305 
 308 02d0 FFEF      		ldi r31,hi8(-127)
306 
 309               	.L17:
 306 
 309               	.L17:
307 
 310 02d2 E038      		cpi r30,128
 307 
 310 02d2 E038      		cpi r30,128
308 
 311 02d4 F105      		cpc r31,__zero_reg__
 308 
 311 02d4 F105      		cpc r31,__zero_reg__
309 
 312 02d6 04F0      		brlt .L18
 309 
 312 02d6 04F0      		brlt .L18
310 
 313 02d8 EFE7      		ldi r30,lo8(127)
 310 
 313 02d8 EFE7      		ldi r30,lo8(127)
311 
 314 02da F0E0      		ldi r31,hi8(127)
 311 
 314 02da F0E0      		ldi r31,hi8(127)
312 
 315               	.L18:
 312 
 315               	.L18:
313 
 316 02dc E093 0000 		sts ToNaviCtrl+21,r30
 313 
 316 02dc E093 0000 		sts ToNaviCtrl+21,r30
314 
 317 02e0 E091 0000 		lds r30,EE_Parameter
 314 
 317 02e0 E091 0000 		lds r30,EE_Parameter
315 
 318 02e4 F0E0      		ldi r31,lo8(0)
 315 
 318 02e4 F0E0      		ldi r31,lo8(0)
316 
 319 02e6 EE0F      		lsl r30
 316 
 319 02e6 EE0F      		lsl r30
317 
 320 02e8 FF1F      		rol r31
 317 
 320 02e8 FF1F      		rol r31
318 
 321 02ea E050      		subi r30,lo8(-(PPM_in))
 318 
 321 02ea E050      		subi r30,lo8(-(PPM_in))
319 
 322 02ec F040      		sbci r31,hi8(-(PPM_in))
 319 
 322 02ec F040      		sbci r31,hi8(-(PPM_in))
320 
 323 02ee 0190      		ld __tmp_reg__,Z+
 320 
 323 02ee 0190      		ld __tmp_reg__,Z+
321 
 324 02f0 F081      		ld r31,Z
 321 
 324 02f0 F081      		ld r31,Z
322 
 325 02f2 E02D      		mov r30,__tmp_reg__
 322 
 325 02f2 E02D      		mov r30,__tmp_reg__
323 
 326 02f4 8FEF      		ldi r24,hi8(-127)
 323 
 326 02f4 8FEF      		ldi r24,hi8(-127)
324 
 327 02f6 E138      		cpi r30,lo8(-127)
 324 
 327 02f6 E138      		cpi r30,lo8(-127)
325 
 328 02f8 F807      		cpc r31,r24
 325 
 328 02f8 F807      		cpc r31,r24
326 
 329 02fa 04F4      		brge .L19
 326 
 329 02fa 04F4      		brge .L19
327 
 330 02fc E1E8      		ldi r30,lo8(-127)
 327 
 330 02fc E1E8      		ldi r30,lo8(-127)
328 
 331 02fe FFEF      		ldi r31,hi8(-127)
 328 
 331 02fe FFEF      		ldi r31,hi8(-127)
329 
 332               	.L19:
 329 
 332               	.L19:
330 
 333 0300 E038      		cpi r30,128
 330 
 333 0300 E038      		cpi r30,128
331 
 334 0302 F105      		cpc r31,__zero_reg__
 331 
 334 0302 F105      		cpc r31,__zero_reg__
332 
 335 0304 04F0      		brlt .L20
 332 
 335 0304 04F0      		brlt .L20
333 
 336 0306 EFE7      		ldi r30,lo8(127)
 333 
 336 0306 EFE7      		ldi r30,lo8(127)
334 
 337 0308 F0E0      		ldi r31,hi8(127)
 334 
 337 0308 F0E0      		ldi r31,hi8(127)
335 
 338               	.L20:
 335 
 338               	.L20:
336 
 339 030a E093 0000 		sts ToNaviCtrl+22,r30
 336 
 339 030a E093 0000 		sts ToNaviCtrl+22,r30
337 
 340 030e 8091 0000 		lds r24,Poti1
 337 
 340 030e 8091 0000 		lds r24,Poti1
338 
 341 0312 8093 0000 		sts ToNaviCtrl+23,r24
 338 
 341 0312 8093 0000 		sts ToNaviCtrl+23,r24
339 
 342 0316 8091 0000 		lds r24,Poti2
 339 
 342 0316 8091 0000 		lds r24,Poti2
340 
 343 031a 8093 0000 		sts ToNaviCtrl+24,r24
 340 
 343 031a 8093 0000 		sts ToNaviCtrl+24,r24
341 
 344 031e 8091 0000 		lds r24,Poti3
 341 
 344 031e 8091 0000 		lds r24,Poti3
342 
 345 0322 8093 0000 		sts ToNaviCtrl+25,r24
 342 
 345 0322 8093 0000 		sts ToNaviCtrl+25,r24
343 
 346 0326 8091 0000 		lds r24,Poti4
 343 
 346 0326 8091 0000 		lds r24,Poti4
344 
 347 032a 8093 0000 		sts ToNaviCtrl+26,r24
 344 
 347 032a 8093 0000 		sts ToNaviCtrl+26,r24
345 
 348 032e 8091 0000 		lds r24,SenderOkay
 345 
 348 032e 8091 0000 		lds r24,SenderOkay
346 
 349 0332 8093 0000 		sts ToNaviCtrl+27,r24
 346 
 349 0332 8093 0000 		sts ToNaviCtrl+27,r24
347 
 350               	/* #APP */
 347 
 350               	/* #APP */
348 
 351 0336 7894      		sei
 348 
 351 0336 7894      		sei
349 
 352               	/* #NOAPP */
 349 
 352               	/* #NOAPP */
350 
 353 0338 8091 0000 		lds r24,SPI_RxDataValid
 350 
 353 0338 8091 0000 		lds r24,SPI_RxDataValid
351 
 354 033c 8823      		tst r24
 351 
 354 033c 8823      		tst r24
352 
 355 033e 01F0      		breq .+2
 352 
 355 033e 01F0      		breq .+2
353 
 356 0340 00C0      		rjmp .L45
 353 
 356 0340 00C0      		rjmp .L45
354 
 357               	.L24:
 354 
 357               	.L24:
355 
 358 0342 1092 0000 		sts (GPS_Nick)+1,__zero_reg__
 355 
 358 0342 1092 0000 		sts (GPS_Nick)+1,__zero_reg__
356 
 359 0346 1092 0000 		sts GPS_Nick,__zero_reg__
 356 
 359 0346 1092 0000 		sts GPS_Nick,__zero_reg__
357 
 360 034a 1092 0000 		sts (GPS_Roll)+1,__zero_reg__
 357 
 360 034a 1092 0000 		sts (GPS_Roll)+1,__zero_reg__
358 
 361 034e 1092 0000 		sts GPS_Roll,__zero_reg__
 358 
 361 034e 1092 0000 		sts GPS_Roll,__zero_reg__
359 
 362 0352 00C0      		rjmp .L37
 359 
 362 0352 00C0      		rjmp .L37
360 
 363               	.L40:
 360 
 363               	.L40:
361 
 364 0354 2D5F      		subi r18,lo8(-(3))
 361 
 364 0354 2D5F      		subi r18,lo8(-(3))
362 
 365 0356 3F4F      		sbci r19,hi8(-(3))
 362 
 365 0356 3F4F      		sbci r19,hi8(-(3))
363 
 366 0358 00C0      		rjmp .L5
 363 
 366 0358 00C0      		rjmp .L5
364 
 367               	.L39:
 364 
 367               	.L39:
365 
 368 035a 2D5F      		subi r18,lo8(-(3))
 365 
 368 035a 2D5F      		subi r18,lo8(-(3))
366 
 369 035c 3F4F      		sbci r19,hi8(-(3))
 366 
 369 035c 3F4F      		sbci r19,hi8(-(3))
367 
 370 035e 00C0      		rjmp .L4
 367 
 370 035e 00C0      		rjmp .L4
368 
 371               	.L44:
 368 
 371               	.L44:
369 
 372 0360 3093 0000 		sts (beeptime)+1,r19
 369 
 372 0360 3093 0000 		sts (beeptime)+1,r19
370 
 373 0364 2093 0000 		sts beeptime,r18
 370 
 373 0364 2093 0000 		sts beeptime,r18
371 
 374 0368 00C0      		rjmp .L32
 371 
 374 0368 00C0      		rjmp .L32
372 
 375               	.L43:
 372 
 375               	.L43:
373 
 376 036a 8091 0000 		lds r24,EE_Parameter+8
 373 
 376 036a 8091 0000 		lds r24,EE_Parameter+8
374 
 377 036e 85FF      		sbrs r24,5
 374 
 377 036e 85FF      		sbrs r24,5
375 
 378 0370 00C0      		rjmp .L26
 375 
 378 0370 00C0      		rjmp .L26
376 
 379 0372 3093 0000 		sts (GPS_Nick)+1,r19
 376 
 379 0372 3093 0000 		sts (GPS_Nick)+1,r19
377 
 380 0376 2093 0000 		sts GPS_Nick,r18
 377 
 380 0376 2093 0000 		sts GPS_Nick,r18
378 
 381 037a 5093 0000 		sts (GPS_Roll)+1,r21
 378 
 381 037a 5093 0000 		sts (GPS_Roll)+1,r21
379 
 382 037e 4093 0000 		sts GPS_Roll,r20
 379 
 382 037e 4093 0000 		sts GPS_Roll,r20
380 
 383 0382 00C0      		rjmp .L26
 380 
 383 0382 00C0      		rjmp .L26
381 
 384               	.L42:
 381 
 384               	.L42:
382 
 385 0384 8091 0000 		lds r24,SPI_VersionInfo
 382 
 385 0384 8091 0000 		lds r24,SPI_VersionInfo
383 
 386 0388 8093 0000 		sts ToNaviCtrl+19,r24
 383 
 386 0388 8093 0000 		sts ToNaviCtrl+19,r24
384 
 387 038c 8091 0000 		lds r24,SPI_VersionInfo+1
 384 
 387 038c 8091 0000 		lds r24,SPI_VersionInfo+1
385 
 388 0390 8093 0000 		sts ToNaviCtrl+20,r24
 385 
 388 0390 8093 0000 		sts ToNaviCtrl+20,r24
386 
 389 0394 8091 0000 		lds r24,SPI_VersionInfo+2
 386 
 389 0394 8091 0000 		lds r24,SPI_VersionInfo+2
387 
 390 0398 8093 0000 		sts ToNaviCtrl+21,r24
 387 
 390 0398 8093 0000 		sts ToNaviCtrl+21,r24
388 
 391 039c 8091 0000 		lds r24,SPI_VersionInfo+3
 388 
 391 039c 8091 0000 		lds r24,SPI_VersionInfo+3
389 
 392 03a0 8093 0000 		sts ToNaviCtrl+22,r24
 389 
 392 03a0 8093 0000 		sts ToNaviCtrl+22,r24
390 
 393 03a4 8091 0000 		lds r24,PlatinenVersion
 390 
 393 03a4 8091 0000 		lds r24,PlatinenVersion
391 
 394 03a8 8093 0000 		sts ToNaviCtrl+23,r24
 391 
 394 03a8 8093 0000 		sts ToNaviCtrl+23,r24
392 
 395 03ac 00C0      		rjmp .L6
 392 
 395 03ac 00C0      		rjmp .L6
393 
 396               	.L10:
 393 
 396               	.L10:
394 
 397 03ae 8091 0000 		lds r24,EE_Parameter+58
 394 
 397 03ae 8091 0000 		lds r24,EE_Parameter+58
395 
 398 03b2 8093 0000 		sts ToNaviCtrl+19,r24
 395 
 398 03b2 8093 0000 		sts ToNaviCtrl+19,r24
396 
 399 03b6 8091 0000 		lds r24,EE_Parameter+59
 396 
 399 03b6 8091 0000 		lds r24,EE_Parameter+59
397 
 400 03ba 8093 0000 		sts ToNaviCtrl+20,r24
 397 
 400 03ba 8093 0000 		sts ToNaviCtrl+20,r24
398 
 401 03be 8091 0000 		lds r24,EE_Parameter+60
 398 
 401 03be 8091 0000 		lds r24,EE_Parameter+60
399 
 402 03c2 8093 0000 		sts ToNaviCtrl+21,r24
 399 
 402 03c2 8093 0000 		sts ToNaviCtrl+21,r24
400 
 403 03c6 8091 0000 		lds r24,EE_Parameter+61
 400 
 403 03c6 8091 0000 		lds r24,EE_Parameter+61
401 
 404 03ca 8093 0000 		sts ToNaviCtrl+22,r24
 401 
 404 03ca 8093 0000 		sts ToNaviCtrl+22,r24
402 
 405 03ce 8091 0000 		lds r24,EE_Parameter+62
 402 
 405 03ce 8091 0000 		lds r24,EE_Parameter+62
403 
 406 03d2 8093 0000 		sts ToNaviCtrl+23,r24
 403 
 406 03d2 8093 0000 		sts ToNaviCtrl+23,r24
404 
 407 03d6 8091 0000 		lds r24,EE_Parameter+66
 404 
 407 03d6 8091 0000 		lds r24,EE_Parameter+66
405 
 408 03da 8093 0000 		sts ToNaviCtrl+24,r24
 405 
 408 03da 8093 0000 		sts ToNaviCtrl+24,r24
406 
 409 03de 8091 0000 		lds r24,EE_Parameter+67
 406 
 409 03de 8091 0000 		lds r24,EE_Parameter+67
407 
 410 03e2 8093 0000 		sts ToNaviCtrl+25,r24
 407 
 410 03e2 8093 0000 		sts ToNaviCtrl+25,r24
408 
 411 03e6 8091 0000 		lds r24,EE_Parameter+68
 408 
 411 03e6 8091 0000 		lds r24,EE_Parameter+68
409 
 412 03ea 8093 0000 		sts ToNaviCtrl+26,r24
 409 
 412 03ea 8093 0000 		sts ToNaviCtrl+26,r24
410 
 413 03ee 8091 0000 		lds r24,EE_Parameter+71
 410 
 413 03ee 8091 0000 		lds r24,EE_Parameter+71
411 
 414 03f2 8093 0000 		sts ToNaviCtrl+27,r24
 411 
 414 03f2 8093 0000 		sts ToNaviCtrl+27,r24
412 
 415 03f6 8091 0000 		lds r24,EE_Parameter+69
 412 
 415 03f6 8091 0000 		lds r24,EE_Parameter+69
413 
 416 03fa 8093 0000 		sts ToNaviCtrl+28,r24
 413 
 416 03fa 8093 0000 		sts ToNaviCtrl+28,r24
414 
 417 03fe 8091 0000 		lds r24,EE_Parameter+70
 414 
 417 03fe 8091 0000 		lds r24,EE_Parameter+70
415 
 418 0402 8093 0000 		sts ToNaviCtrl+29,r24
 415 
 418 0402 8093 0000 		sts ToNaviCtrl+29,r24
416 
 419 0406 8091 0000 		lds r24,EE_Parameter+72
 416 
 419 0406 8091 0000 		lds r24,EE_Parameter+72
417 
 420 040a 8093 0000 		sts ToNaviCtrl+30,r24
 417 
 420 040a 8093 0000 		sts ToNaviCtrl+30,r24
418 
 421 040e 00C0      		rjmp .L6
 418 
 421 040e 00C0      		rjmp .L6
419 
 422               	.L7:
 419 
 422               	.L7:
420 
 423 0410 8091 0000 		lds r24,Parameter_UserParam1
 420 
 423 0410 8091 0000 		lds r24,Parameter_UserParam1
421 
 424 0414 8093 0000 		sts ToNaviCtrl+19,r24
 421 
 424 0414 8093 0000 		sts ToNaviCtrl+19,r24
422 
 425 0418 8091 0000 		lds r24,Parameter_UserParam2
 422 
 425 0418 8091 0000 		lds r24,Parameter_UserParam2
423 
 426 041c 8093 0000 		sts ToNaviCtrl+20,r24
 423 
 426 041c 8093 0000 		sts ToNaviCtrl+20,r24
424 
 427 0420 8091 0000 		lds r24,Parameter_UserParam3
 424 
 427 0420 8091 0000 		lds r24,Parameter_UserParam3
425 
 428 0424 8093 0000 		sts ToNaviCtrl+21,r24
 425 
 428 0424 8093 0000 		sts ToNaviCtrl+21,r24
426 
 429 0428 8091 0000 		lds r24,Parameter_UserParam4
 426 
 429 0428 8091 0000 		lds r24,Parameter_UserParam4
427 
 430 042c 8093 0000 		sts ToNaviCtrl+22,r24
 427 
 430 042c 8093 0000 		sts ToNaviCtrl+22,r24
428 
 431 0430 8091 0000 		lds r24,Parameter_UserParam5
 428 
 431 0430 8091 0000 		lds r24,Parameter_UserParam5
429 
 432 0434 8093 0000 		sts ToNaviCtrl+23,r24
 429 
 432 0434 8093 0000 		sts ToNaviCtrl+23,r24
430 
 433 0438 8091 0000 		lds r24,Parameter_UserParam6
 430 
 433 0438 8091 0000 		lds r24,Parameter_UserParam6
431 
 434 043c 8093 0000 		sts ToNaviCtrl+24,r24
 431 
 434 043c 8093 0000 		sts ToNaviCtrl+24,r24
432 
 435 0440 8091 0000 		lds r24,Parameter_UserParam7
 432 
 435 0440 8091 0000 		lds r24,Parameter_UserParam7
433 
 436 0444 8093 0000 		sts ToNaviCtrl+25,r24
 433 
 436 0444 8093 0000 		sts ToNaviCtrl+25,r24
434 
 437 0448 8091 0000 		lds r24,Parameter_UserParam8
 434 
 437 0448 8091 0000 		lds r24,Parameter_UserParam8
435 
 438 044c 8093 0000 		sts ToNaviCtrl+26,r24
 435 
 438 044c 8093 0000 		sts ToNaviCtrl+26,r24
436 
 439 0450 8091 0000 		lds r24,MikroKopterFlags
 436 
 439 0450 8091 0000 		lds r24,MikroKopterFlags
437 
 440 0454 8093 0000 		sts ToNaviCtrl+27,r24
 437 
 440 0454 8093 0000 		sts ToNaviCtrl+27,r24
438 
 441 0458 837F      		andi r24,lo8(-13)
 438 
 441 0458 837F      		andi r24,lo8(-13)
439 
 442 045a 8093 0000 		sts MikroKopterFlags,r24
 439 
 442 045a 8093 0000 		sts MikroKopterFlags,r24
440 
 443 045e 8091 0000 		lds r24,UBat
 440 
 443 045e 8091 0000 		lds r24,UBat
441 
 444 0462 9091 0000 		lds r25,(UBat)+1
 441 
 444 0462 9091 0000 		lds r25,(UBat)+1
442 
 445 0466 8093 0000 		sts ToNaviCtrl+28,r24
 442 
 445 0466 8093 0000 		sts ToNaviCtrl+28,r24
443 
 446 046a 8091 0000 		lds r24,EE_Parameter+25
 443 
 446 046a 8091 0000 		lds r24,EE_Parameter+25
444 
 447 046e 8093 0000 		sts ToNaviCtrl+29,r24
 444 
 447 046e 8093 0000 		sts ToNaviCtrl+29,r24
445 
 448 0472 A0E0      		ldi r26,lo8(EEPromArray+2)
 445 
 448 0472 A0E0      		ldi r26,lo8(EEPromArray+2)
446 
 449 0474 B0E0      		ldi r27,hi8(EEPromArray+2)
 446 
 449 0474 B0E0      		ldi r27,hi8(EEPromArray+2)
447 
 450               	/* #APP */
 447 
 450               	/* #APP */
448 
 451 0476 0E94 0000 		call __eeprom_read_byte_1F2021
 448 
 451 0476 0E94 0000 		call __eeprom_read_byte_1F2021
449 
 452 047a 802D      		mov r24,__tmp_reg__
 449 
 452 047a 802D      		mov r24,__tmp_reg__
450 
 453               	/* #NOAPP */
 450 
 453               	/* #NOAPP */
451 
 454 047c 8093 0000 		sts ToNaviCtrl+30,r24
 451 
 454 047c 8093 0000 		sts ToNaviCtrl+30,r24
452 
 455 0480 00C0      		rjmp .L6
 452 
 455 0480 00C0      		rjmp .L6
453 
 456               	.L9:
 453 
 456               	.L9:
454 
 457 0482 8091 0000 		lds r24,WinkelOut+6
 454 
 457 0482 8091 0000 		lds r24,WinkelOut+6
455 
 458 0486 8630      		cpi r24,lo8(6)
 455 
 458 0486 8630      		cpi r24,lo8(6)
456 
 459 0488 00F0      		brlo .L21
 456 
 459 0488 00F0      		brlo .L21
457 
 460 048a 1092 0000 		sts WinkelOut+6,__zero_reg__
 457 
 460 048a 1092 0000 		sts WinkelOut+6,__zero_reg__
458 
 461 048e 85E0      		ldi r24,lo8(5)
 458 
 461 048e 85E0      		ldi r24,lo8(5)
459 
 462 0490 8093 0000 		sts ToNaviCtrl+19,r24
 459 
 462 0490 8093 0000 		sts ToNaviCtrl+19,r24
460 
 463               	.L23:
 460 
 463               	.L23:
461 
 464 0494 8091 0000 		lds r24,HoehenWert
 461 
 464 0494 8091 0000 		lds r24,HoehenWert
462 
 465 0498 9091 0000 		lds r25,(HoehenWert)+1
 462 
 465 0498 9091 0000 		lds r25,(HoehenWert)+1
463 
 466 049c 9093 0000 		sts (ToNaviCtrl+21)+1,r25
 463 
 466 049c 9093 0000 		sts (ToNaviCtrl+21)+1,r25
464 
 467 04a0 8093 0000 		sts ToNaviCtrl+21,r24
 464 
 467 04a0 8093 0000 		sts ToNaviCtrl+21,r24
465 
 468 04a4 8091 0000 		lds r24,EE_Parameter+73
 465 
 468 04a4 8091 0000 		lds r24,EE_Parameter+73
466 
 469 04a8 8093 0000 		sts ToNaviCtrl+20,r24
 466 
 469 04a8 8093 0000 		sts ToNaviCtrl+20,r24
467 
 470 04ac 8091 0000 		lds r24,EE_Parameter+63
 467 
 470 04ac 8091 0000 		lds r24,EE_Parameter+63
468 
 471 04b0 8093 0000 		sts ToNaviCtrl+23,r24
 468 
 471 04b0 8093 0000 		sts ToNaviCtrl+23,r24
469 
 472 04b4 8091 0000 		lds r24,EE_Parameter+64
 469 
 472 04b4 8091 0000 		lds r24,EE_Parameter+64
470 
 473 04b8 8093 0000 		sts ToNaviCtrl+24,r24
 470 
 473 04b8 8093 0000 		sts ToNaviCtrl+24,r24
471 
 474 04bc 8091 0000 		lds r24,EE_Parameter+65
 471 
 474 04bc 8091 0000 		lds r24,EE_Parameter+65
472 
 475 04c0 8093 0000 		sts ToNaviCtrl+25,r24
 472 
 475 04c0 8093 0000 		sts ToNaviCtrl+25,r24
473 
 476 04c4 00C0      		rjmp .L6
 473 
 476 04c4 00C0      		rjmp .L6
474 
 477               	.L21:
 474 
 477               	.L21:
475 
 478 04c6 8093 0000 		sts ToNaviCtrl+19,r24
 475 
 478 04c6 8093 0000 		sts ToNaviCtrl+19,r24
476 
 479 04ca 00C0      		rjmp .L23
 476 
 479 04ca 00C0      		rjmp .L23
477 
 480               	.L37:
 477 
 480               	.L37:
478 
 481               	/* epilogue: frame size=0 */
 478 
 481               	/* epilogue: frame size=0 */
479 
 482 04cc 1F91      		pop r17
 479 
 482 04cc 1F91      		pop r17
480 
 483 04ce 0F91      		pop r16
 480 
 483 04ce 0F91      		pop r16
481 
 484 04d0 FF90      		pop r15
 481 
 484 04d0 FF90      		pop r15
482 
 485 04d2 EF90      		pop r14
 482 
 485 04d2 EF90      		pop r14
483 
 486 04d4 0895      		ret
 483 
 486 04d4 0895      		ret
484 
 487               	/* epilogue end (size=5) */
 484 
 487               	/* epilogue end (size=5) */
485 
 488               	/* function UpdateSPI_Buffer size 583 (574) */
 485 
 488               	/* function UpdateSPI_Buffer size 583 (574) */
486 
 490               	.global	SPI_StartTransmitPacket
 486 
 490               	.global	SPI_StartTransmitPacket
487 
 492               	SPI_StartTransmitPacket:
 487 
 492               	SPI_StartTransmitPacket:
488 
 493               	/* prologue: frame size=0 */
 488 
 493               	/* prologue: frame size=0 */
489 
 494               	/* prologue end (size=0) */
 489 
 494               	/* prologue end (size=0) */
490 
 495 04d6 8091 0000 		lds r24,SPITransferCompleted
 490 
 495 04d6 8091 0000 		lds r24,SPITransferCompleted
491 
 496 04da 8823      		tst r24
 491 
 496 04da 8823      		tst r24
492 
 497 04dc 01F4      		brne .+2
 492 
 497 04dc 01F4      		brne .+2
493 
 498 04de 00C0      		rjmp .L51
 493 
 498 04de 00C0      		rjmp .L51
494 
 499 04e0 4598      		cbi 40-0x20,5
 494 
 499 04e0 4598      		cbi 40-0x20,5
495 
 500 04e2 80E0      		ldi r24,lo8(ToNaviCtrl)
 495 
 500 04e2 80E0      		ldi r24,lo8(ToNaviCtrl)
496 
 501 04e4 90E0      		ldi r25,hi8(ToNaviCtrl)
 496 
 501 04e4 90E0      		ldi r25,hi8(ToNaviCtrl)
497 
 502 04e6 9093 0000 		sts (SPI_TX_Buffer)+1,r25
 497 
 502 04e6 9093 0000 		sts (SPI_TX_Buffer)+1,r25
498 
 503 04ea 8093 0000 		sts SPI_TX_Buffer,r24
 498 
 503 04ea 8093 0000 		sts SPI_TX_Buffer,r24
499 
 504 04ee 9091 0000 		lds r25,SPI_CommandCounter
 499 
 504 04ee 9091 0000 		lds r25,SPI_CommandCounter
500 
 505 04f2 E92F      		mov r30,r25
 500 
 505 04f2 E92F      		mov r30,r25
501 
 506 04f4 F0E0      		ldi r31,lo8(0)
 501 
 506 04f4 F0E0      		ldi r31,lo8(0)
502 
 507 04f6 E050      		subi r30,lo8(-(SPI_CommandSequence))
 502 
 507 04f6 E050      		subi r30,lo8(-(SPI_CommandSequence))
503 
 508 04f8 F040      		sbci r31,hi8(-(SPI_CommandSequence))
 503 
 508 04f8 F040      		sbci r31,hi8(-(SPI_CommandSequence))
504 
 509 04fa 8081      		ld r24,Z
 504 
 509 04fa 8081      		ld r24,Z
505 
 510 04fc 8093 0000 		sts ToNaviCtrl+2,r24
 505 
 510 04fc 8093 0000 		sts ToNaviCtrl+2,r24
506 
 511 0500 9F5F      		subi r25,lo8(-(1))
 506 
 511 0500 9F5F      		subi r25,lo8(-(1))
507 
 512 0502 9093 0000 		sts SPI_CommandCounter,r25
 507 
 512 0502 9093 0000 		sts SPI_CommandCounter,r25
508 
 513 0506 9630      		cpi r25,lo8(6)
 508 
 513 0506 9630      		cpi r25,lo8(6)
509 
 514 0508 00F0      		brlo .L49
 509 
 514 0508 00F0      		brlo .L49
510 
 515 050a 1092 0000 		sts SPI_CommandCounter,__zero_reg__
 510 
 515 050a 1092 0000 		sts SPI_CommandCounter,__zero_reg__
511 
 516               	.L49:
 511 
 516               	.L49:
512 
 517 050e 1092 0000 		sts SPITransferCompleted,__zero_reg__
 512 
 517 050e 1092 0000 		sts SPITransferCompleted,__zero_reg__
513 
 518 0512 0E94 0000 		call UpdateSPI_Buffer
 513 
 518 0512 0E94 0000 		call UpdateSPI_Buffer
514 
 519 0516 81E0      		ldi r24,lo8(1)
 514 
 519 0516 81E0      		ldi r24,lo8(1)
515 
 520 0518 8093 0000 		sts SPI_BufferIndex,r24
 515 
 520 0518 8093 0000 		sts SPI_BufferIndex,r24
516 
 521               	/* #APP */
 516 
 521               	/* #APP */
517 
 522 051c 0000      		nop
 517 
 522 051c 0000      		nop
518 
 523 051e 0000      		nop
 518 
 523 051e 0000      		nop
519 
 524 0520 0000      		nop
 519 
 524 0520 0000      		nop
520 
 525 0522 0000      		nop
 520 
 525 0522 0000      		nop
521 
 526 0524 0000      		nop
 521 
 526 0524 0000      		nop
522 
 527 0526 0000      		nop
 522 
 527 0526 0000      		nop
523 
 528 0528 0000      		nop
 523 
 528 0528 0000      		nop
524 
 529 052a 0000      		nop
 524 
 529 052a 0000      		nop
525 
 530 052c 0000      		nop
 525 
 530 052c 0000      		nop
526 
 531 052e 0000      		nop
 526 
 531 052e 0000      		nop
527 
 532 0530 0000      		nop
 527 
 532 0530 0000      		nop
528 
 533 0532 0000      		nop
 528 
 533 0532 0000      		nop
529 
 534 0534 0000      		nop
 529 
 534 0534 0000      		nop
530 
 535 0536 0000      		nop
 530 
 535 0536 0000      		nop
531 
 536 0538 0000      		nop
 531 
 536 0538 0000      		nop
532 
 537 053a 0000      		nop
 532 
 537 053a 0000      		nop
533 
 538 053c 0000      		nop
 533 
 538 053c 0000      		nop
534 
 539 053e 0000      		nop
 534 
 539 053e 0000      		nop
535 
 540 0540 0000      		nop
 535 
 540 0540 0000      		nop
536 
 541 0542 0000      		nop
 536 
 541 0542 0000      		nop
537 
 542 0544 0000      		nop
 537 
 542 0544 0000      		nop
538 
 543 0546 0000      		nop
 538 
 543 0546 0000      		nop
539 
 544 0548 0000      		nop
 539 
 544 0548 0000      		nop
540 
 545 054a 0000      		nop
 540 
 545 054a 0000      		nop
541 
 546               	/* #NOAPP */
 541 
 546               	/* #NOAPP */
542 
 547 054c 8091 0000 		lds r24,ToNaviCtrl
 542 
 547 054c 8091 0000 		lds r24,ToNaviCtrl
543 
 548 0550 8093 0000 		sts ToNaviCtrl+31,r24
 543 
 548 0550 8093 0000 		sts ToNaviCtrl+31,r24
544 
 549 0554 8EBD      		out 78-0x20,r24
 544 
 549 0554 8EBD      		out 78-0x20,r24
545 
 550               	.L51:
 545 
 550               	.L51:
546 
 551 0556 0895      		ret
 546 
 551 0556 0895      		ret
547 
 552               	/* epilogue: frame size=0 */
 547 
 552               	/* epilogue: frame size=0 */
548 
 553               	/* epilogue: noreturn */
 548 
 553               	/* epilogue: noreturn */
549 
 554               	/* epilogue end (size=0) */
 549 
 554               	/* epilogue end (size=0) */
550 
 555               	/* function SPI_StartTransmitPacket size 89 (89) */
 550 
 555               	/* function SPI_StartTransmitPacket size 89 (89) */
551 
 557               	.global	SPI_TransmitByte
 551 
 557               	.global	SPI_TransmitByte
552 
 559               	SPI_TransmitByte:
 552 
 559               	SPI_TransmitByte:
553 
 560               	/* prologue: frame size=0 */
 553 
 560               	/* prologue: frame size=0 */
554 
 561               	/* prologue end (size=0) */
 554 
 561               	/* prologue end (size=0) */
555 
 562 0558 8091 0000 		lds r24,SPITransferCompleted
 555 
 562 0558 8091 0000 		lds r24,SPITransferCompleted
556 
 563 055c 8823      		tst r24
 556 
 563 055c 8823      		tst r24
557 
 564 055e 01F4      		brne .L72
 557 
 564 055e 01F4      		brne .L72
558 
 565 0560 0DB4      		in __tmp_reg__,77-0x20
 558 
 565 0560 0DB4      		in __tmp_reg__,77-0x20
559 
 566 0562 07FE      		sbrs __tmp_reg__,7
 559 
 566 0562 07FE      		sbrs __tmp_reg__,7
560 
 567               	.L72:
 560 
 567               	.L72:
561 
 568 0564 0895      		ret
 561 
 568 0564 0895      		ret
562 
 569               	.L75:
 562 
 569               	.L75:
563 
 570 0566 84E0      		ldi r24,lo8(4)
 563 
 570 0566 84E0      		ldi r24,lo8(4)
564 
 571 0568 8093 0000 		sts SendSPI,r24
 564 
 571 0568 8093 0000 		sts SendSPI,r24
565 
 572 056c 459A      		sbi 40-0x20,5
 565 
 572 056c 459A      		sbi 40-0x20,5
566 
 573 056e 9EB5      		in r25,78-0x20
 566 
 573 056e 9EB5      		in r25,78-0x20
567 
 574 0570 8091 0000 		lds r24,SPI_RXState.2396
 567 
 574 0570 8091 0000 		lds r24,SPI_RXState.2396
568 
 575 0574 8130      		cpi r24,lo8(1)
 568 
 575 0574 8130      		cpi r24,lo8(1)
569 
 576 0576 01F4      		brne .+2
 569 
 576 0576 01F4      		brne .+2
570 
 577 0578 00C0      		rjmp .L58
 570 
 577 0578 00C0      		rjmp .L58
571 
 578 057a 8130      		cpi r24,lo8(1)
 571 
 578 057a 8130      		cpi r24,lo8(1)
572 
 579 057c 00F0      		brlo .+2
 572 
 579 057c 00F0      		brlo .+2
573 
 580 057e 00C0      		rjmp .L76
 573 
 580 057e 00C0      		rjmp .L76
574 
 581 0580 1092 0000 		sts SPI_RxBufferIndex,__zero_reg__
 574 
 581 0580 1092 0000 		sts SPI_RxBufferIndex,__zero_reg__
575 
 582 0584 9093 0000 		sts rxchksum.2398,r25
 575 
 582 0584 9093 0000 		sts rxchksum.2398,r25
576 
 583 0588 9138      		cpi r25,lo8(-127)
 576 
 583 0588 9138      		cpi r25,lo8(-127)
577 
 584 058a 01F4      		brne .+2
 577 
 584 058a 01F4      		brne .+2
578 
 585 058c 00C0      		rjmp .L77
 578 
 585 058c 00C0      		rjmp .L77
579 
 586               	.L56:
 579 
 586               	.L56:
580 
 587 058e 2091 0000 		lds r18,SPI_BufferIndex
 580 
 587 058e 2091 0000 		lds r18,SPI_BufferIndex
581 
 588 0592 2032      		cpi r18,lo8(32)
 581 
 588 0592 2032      		cpi r18,lo8(32)
582 
 589 0594 00F0      		brlo .+2
 582 
 589 0594 00F0      		brlo .+2
583 
 590 0596 00C0      		rjmp .L69
 583 
 590 0596 00C0      		rjmp .L69
584 
 591 0598 4598      		cbi 40-0x20,5
 584 
 591 0598 4598      		cbi 40-0x20,5
585 
 592               	/* #APP */
 585 
 592               	/* #APP */
586 
 593 059a 0000      		nop
 586 
 593 059a 0000      		nop
587 
 594 059c 0000      		nop
 587 
 594 059c 0000      		nop
588 
 595 059e 0000      		nop
 588 
 595 059e 0000      		nop
589 
 596 05a0 0000      		nop
 589 
 596 05a0 0000      		nop
590 
 597 05a2 0000      		nop
 590 
 597 05a2 0000      		nop
591 
 598 05a4 0000      		nop
 591 
 598 05a4 0000      		nop
592 
 599 05a6 0000      		nop
 592 
 599 05a6 0000      		nop
593 
 600 05a8 0000      		nop
 593 
 600 05a8 0000      		nop
594 
 601 05aa 0000      		nop
 594 
 601 05aa 0000      		nop
595 
 602 05ac 0000      		nop
 595 
 602 05ac 0000      		nop
596 
 603 05ae 0000      		nop
 596 
 603 05ae 0000      		nop
597 
 604 05b0 0000      		nop
 597 
 604 05b0 0000      		nop
598 
 605 05b2 0000      		nop
 598 
 605 05b2 0000      		nop
599 
 606 05b4 0000      		nop
 599 
 606 05b4 0000      		nop
600 
 607 05b6 0000      		nop
 600 
 607 05b6 0000      		nop
601 
 608 05b8 0000      		nop
 601 
 608 05b8 0000      		nop
602 
 609 05ba 0000      		nop
 602 
 609 05ba 0000      		nop
603 
 610 05bc 0000      		nop
 603 
 610 05bc 0000      		nop
604 
 611 05be 0000      		nop
 604 
 611 05be 0000      		nop
605 
 612 05c0 0000      		nop
 605 
 612 05c0 0000      		nop
606 
 613 05c2 0000      		nop
 606 
 613 05c2 0000      		nop
607 
 614 05c4 0000      		nop
 607 
 614 05c4 0000      		nop
608 
 615 05c6 0000      		nop
 608 
 615 05c6 0000      		nop
609 
 616 05c8 0000      		nop
 609 
 616 05c8 0000      		nop
610 
 617               	/* #NOAPP */
 610 
 617               	/* #NOAPP */
611 
 618 05ca E091 0000 		lds r30,SPI_TX_Buffer
 611 
 618 05ca E091 0000 		lds r30,SPI_TX_Buffer
612 
 619 05ce F091 0000 		lds r31,(SPI_TX_Buffer)+1
 612 
 619 05ce F091 0000 		lds r31,(SPI_TX_Buffer)+1
613 
 620 05d2 E20F      		add r30,r18
 613 
 620 05d2 E20F      		add r30,r18
614 
 621 05d4 F11D      		adc r31,__zero_reg__
 614 
 621 05d4 F11D      		adc r31,__zero_reg__
615 
 622 05d6 8081      		ld r24,Z
 615 
 622 05d6 8081      		ld r24,Z
616 
 623 05d8 8EBD      		out 78-0x20,r24
 616 
 623 05d8 8EBD      		out 78-0x20,r24
617 
 624 05da 8081      		ld r24,Z
 617 
 624 05da 8081      		ld r24,Z
618 
 625 05dc 9091 0000 		lds r25,ToNaviCtrl+31
 618 
 625 05dc 9091 0000 		lds r25,ToNaviCtrl+31
619 
 626 05e0 890F      		add r24,r25
 619 
 626 05e0 890F      		add r24,r25
620 
 627 05e2 8093 0000 		sts ToNaviCtrl+31,r24
 620 
 627 05e2 8093 0000 		sts ToNaviCtrl+31,r24
621 
 628               	.L71:
 621 
 628               	.L71:
622 
 629 05e6 2F5F      		subi r18,lo8(-(1))
 622 
 629 05e6 2F5F      		subi r18,lo8(-(1))
623 
 630 05e8 2093 0000 		sts SPI_BufferIndex,r18
 623 
 630 05e8 2093 0000 		sts SPI_BufferIndex,r18
624 
 631 05ec 0895      		ret
 624 
 631 05ec 0895      		ret
625 
 632               	.L58:
 625 
 632               	.L58:
626 
 633 05ee 9535      		cpi r25,lo8(85)
 626 
 633 05ee 9535      		cpi r25,lo8(85)
627 
 634 05f0 01F0      		breq .L78
 627 
 634 05f0 01F0      		breq .L78
628 
 635               	.L68:
 628 
 635               	.L68:
629 
 636 05f2 1092 0000 		sts SPI_RXState.2396,__zero_reg__
 629 
 636 05f2 1092 0000 		sts SPI_RXState.2396,__zero_reg__
630 
 637 05f6 00C0      		rjmp .L56
 630 
 637 05f6 00C0      		rjmp .L56
631 
 638               	.L69:
 631 
 638               	.L69:
632 
 639 05f8 81E0      		ldi r24,lo8(1)
 632 
 639 05f8 81E0      		ldi r24,lo8(1)
633 
 640 05fa 8093 0000 		sts SPITransferCompleted,r24
 633 
 640 05fa 8093 0000 		sts SPITransferCompleted,r24
634 
 641 05fe 00C0      		rjmp .L71
 634 
 641 05fe 00C0      		rjmp .L71
635 
 642               	.L76:
 635 
 642               	.L76:
636 
 643 0600 8230      		cpi r24,lo8(2)
 636 
 643 0600 8230      		cpi r24,lo8(2)
637 
 644 0602 01F0      		breq .+2
 637 
 644 0602 01F0      		breq .+2
638 
 645 0604 00C0      		rjmp .L56
 638 
 645 0604 00C0      		rjmp .L56
639 
 646 0606 8091 0000 		lds r24,SPI_RxBufferIndex
 639 
 646 0606 8091 0000 		lds r24,SPI_RxBufferIndex
640 
 647 060a E82F      		mov r30,r24
 640 
 647 060a E82F      		mov r30,r24
641 
 648 060c F0E0      		ldi r31,lo8(0)
 641 
 648 060c F0E0      		ldi r31,lo8(0)
642 
 649 060e E050      		subi r30,lo8(-(SPI_Buffer))
 642 
 649 060e E050      		subi r30,lo8(-(SPI_Buffer))
643 
 650 0610 F040      		sbci r31,hi8(-(SPI_Buffer))
 643 
 650 0610 F040      		sbci r31,hi8(-(SPI_Buffer))
644 
 651 0612 9083      		st Z,r25
 644 
 651 0612 9083      		st Z,r25
645 
 652 0614 8F5F      		subi r24,lo8(-(1))
 645 
 652 0614 8F5F      		subi r24,lo8(-(1))
646 
 653 0616 8093 0000 		sts SPI_RxBufferIndex,r24
 646 
 653 0616 8093 0000 		sts SPI_RxBufferIndex,r24
647 
 654 061a 8A31      		cpi r24,lo8(26)
 647 
 654 061a 8A31      		cpi r24,lo8(26)
648 
 655 061c 00F0      		brlo .L63
 648 
 655 061c 00F0      		brlo .L63
649 
 656 061e 8091 0000 		lds r24,rxchksum.2398
 649 
 656 061e 8091 0000 		lds r24,rxchksum.2398
650 
 657 0622 9817      		cp r25,r24
 650 
 657 0622 9817      		cp r25,r24
651 
 658 0624 01F0      		breq .L79
 651 
 658 0624 01F0      		breq .L79
652 
 659 0626 1092 0000 		sts SPI_RxDataValid,__zero_reg__
 652 
 659 0626 1092 0000 		sts SPI_RxDataValid,__zero_reg__
653 
 660 062a 00C0      		rjmp .L68
 653 
 660 062a 00C0      		rjmp .L68
654 
 661               	.L63:
 654 
 661               	.L63:
655 
 662 062c 8091 0000 		lds r24,rxchksum.2398
 655 
 662 062c 8091 0000 		lds r24,rxchksum.2398
656 
 663 0630 890F      		add r24,r25
 656 
 663 0630 890F      		add r24,r25
657 
 664 0632 8093 0000 		sts rxchksum.2398,r24
 657 
 664 0632 8093 0000 		sts rxchksum.2398,r24
658 
 665 0636 00C0      		rjmp .L56
 658 
 665 0636 00C0      		rjmp .L56
659 
 666               	.L78:
 659 
 666               	.L78:
660 
 667 0638 8091 0000 		lds r24,rxchksum.2398
 660 
 667 0638 8091 0000 		lds r24,rxchksum.2398
661 
 668 063c 8B5A      		subi r24,lo8(-(85))
 661 
 668 063c 8B5A      		subi r24,lo8(-(85))
662 
 669 063e 8093 0000 		sts rxchksum.2398,r24
 662 
 669 063e 8093 0000 		sts rxchksum.2398,r24
663 
 670 0642 82E0      		ldi r24,lo8(2)
 663 
 670 0642 82E0      		ldi r24,lo8(2)
664 
 671 0644 8093 0000 		sts SPI_RXState.2396,r24
 664 
 671 0644 8093 0000 		sts SPI_RXState.2396,r24
665 
 672 0648 00C0      		rjmp .L56
 665 
 672 0648 00C0      		rjmp .L56
666 
 673               	.L77:
 666 
 673               	.L77:
667 
 674 064a 81E0      		ldi r24,lo8(1)
 667 
 674 064a 81E0      		ldi r24,lo8(1)
668 
 675 064c 8093 0000 		sts SPI_RXState.2396,r24
 668 
 675 064c 8093 0000 		sts SPI_RXState.2396,r24
669 
 676 0650 00C0      		rjmp .L56
 669 
 676 0650 00C0      		rjmp .L56
670 
 677               	.L79:
 670 
 677               	.L79:
671 
 678 0652 A0E0      		ldi r26,lo8(FromNaviCtrl)
 671 
 678 0652 A0E0      		ldi r26,lo8(FromNaviCtrl)
672 
 679 0654 B0E0      		ldi r27,hi8(FromNaviCtrl)
 672 
 679 0654 B0E0      		ldi r27,hi8(FromNaviCtrl)
673 
 680 0656 E0E0      		ldi r30,lo8(SPI_Buffer)
 673 
 680 0656 E0E0      		ldi r30,lo8(SPI_Buffer)
674 
 681 0658 F0E0      		ldi r31,hi8(SPI_Buffer)
 674 
 681 0658 F0E0      		ldi r31,hi8(SPI_Buffer)
675 
 682 065a 8AE1      		ldi r24,lo8(26)
 675 
 682 065a 8AE1      		ldi r24,lo8(26)
676 
 683               	.L67:
 676 
 683               	.L67:
677 
 684 065c 0190      		ld r0,Z+
 677 
 684 065c 0190      		ld r0,Z+
678 
 685 065e 0D92      		st X+,r0
 678 
 685 065e 0D92      		st X+,r0
679 
 686 0660 8150      		subi r24,lo8(-(-1))
 679 
 686 0660 8150      		subi r24,lo8(-(-1))
680 
 687 0662 01F4      		brne .L67
 680 
 687 0662 01F4      		brne .L67
681 
 688 0664 81E0      		ldi r24,lo8(1)
 681 
 688 0664 81E0      		ldi r24,lo8(1)
682 
 689 0666 8093 0000 		sts SPI_RxDataValid,r24
 682 
 689 0666 8093 0000 		sts SPI_RxDataValid,r24
683 
 690 066a 00C0      		rjmp .L68
 683 
 690 066a 00C0      		rjmp .L68
684 
 691               	/* epilogue: frame size=0 */
 684 
 691               	/* epilogue: frame size=0 */
685 
 692               	/* epilogue: noreturn */
 685 
 692               	/* epilogue: noreturn */
686 
 693               	/* epilogue end (size=0) */
 686 
 693               	/* epilogue end (size=0) */
687 
 694               	/* function SPI_TransmitByte size 164 (164) */
 687 
 694               	/* function SPI_TransmitByte size 164 (164) */
688 
 696               	.global	SPI_CommandSequence
 688 
 696               	.global	SPI_CommandSequence
689 
 697               		.data
 689 
 697               		.data
690 
 700               	SPI_CommandSequence:
 690 
 700               	SPI_CommandSequence:
691 
 701 0000 0A        		.byte	10
 691 
 701 0000 0A        		.byte	10
692 
 702 0001 0B        		.byte	11
 692 
 702 0001 0B        		.byte	11
693 
 703 0002 0D        		.byte	13
 693 
 703 0002 0D        		.byte	13
694 
 704 0003 0B        		.byte	11
 694 
 704 0003 0B        		.byte	11
695 
 705 0004 0C        		.byte	12
 695 
 705 0004 0C        		.byte	12
696 
 706 0005 0E        		.byte	14
 696 
 706 0005 0E        		.byte	14
697 
 707               	.global	SPI_CommandCounter
 697 
 707               	.global	SPI_CommandCounter
698 
 708               	.global	SPI_CommandCounter
 698 
 708               	.global	SPI_CommandCounter
699 
 709               		.section .bss
 699 
 709               		.section .bss
700 
 712               	SPI_CommandCounter:
 700 
 712               	SPI_CommandCounter:
701 
 713 0000 00        		.skip 1,0
 701 
 713 0000 00        		.skip 1,0
702 
 714               		.lcomm rxchksum.2398,1
 702 
 714               		.lcomm rxchksum.2398,1
703 
 715               		.lcomm SPI_RXState.2396,1
 703 
 715               		.lcomm SPI_RXState.2396,1
704 
 716               		.comm FromNaviCtrl_Value,3,1
 704 
 716               		.comm FromNaviCtrl_Value,3,1
705 
 717               		.comm ToNaviCtrl,32,1
 705 
 717               		.comm ToNaviCtrl,32,1
706 
 718               		.comm FromNaviCtrl,26,1
 706 
 718               		.comm FromNaviCtrl,26,1
707 
 719               		.comm SPI_VersionInfo,4,1
 707 
 719               		.comm SPI_VersionInfo,4,1
708 
 720               		.comm SPI_BufferIndex,1,1
 708 
 720               		.comm SPI_BufferIndex,1,1
709 
 721               		.comm SPI_RxBufferIndex,1,1
 709 
 721               		.comm SPI_RxBufferIndex,1,1
710 
 722               		.comm SPI_Buffer,26,1
 710 
 722               		.comm SPI_Buffer,26,1
711 
 723               		.comm SPI_TX_Buffer,2,1
 711 
 723               		.comm SPI_TX_Buffer,2,1
712 
 724               		.comm SPITransferCompleted,1,1
 712 
 724               		.comm SPITransferCompleted,1,1
713 
 725               		.comm SPI_ChkSum,1,1
 713 
 725               		.comm SPI_ChkSum,1,1
714 
 726               		.comm SPI_RxDataValid,1,1
 714 
 726               		.comm SPI_RxDataValid,1,1
715 
 727               	/* File "spi.c": code  878 = 0x036e ( 868), prologues   4, epilogues   6 */
 715 
 727               	/* File "spi.c": code  878 = 0x036e ( 868), prologues   4, epilogues   6 */
716 
DEFINED SYMBOLS
 716 
DEFINED SYMBOLS
717 
                            *ABS*:00000000 spi.c
 717 
                            *ABS*:00000000 spi.c
718 
C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccuv0Mvj.s:2      *ABS*:0000003f __SREG__
 718 
C:\DOKUME~1\David\LOKALE~1\Temp/ccSdEvF6.s:2      *ABS*:0000003f __SREG__
719 
C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccuv0Mvj.s:3      *ABS*:0000003e __SP_H__
 719 
C:\DOKUME~1\David\LOKALE~1\Temp/ccSdEvF6.s:3      *ABS*:0000003e __SP_H__
720 
C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccuv0Mvj.s:4      *ABS*:0000003d __SP_L__
 720 
C:\DOKUME~1\David\LOKALE~1\Temp/ccSdEvF6.s:4      *ABS*:0000003d __SP_L__
721 
C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccuv0Mvj.s:5      *ABS*:00000000 __tmp_reg__
 721 
C:\DOKUME~1\David\LOKALE~1\Temp/ccSdEvF6.s:5      *ABS*:00000000 __tmp_reg__
722 
C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccuv0Mvj.s:6      *ABS*:00000001 __zero_reg__
 722 
C:\DOKUME~1\David\LOKALE~1\Temp/ccSdEvF6.s:6      *ABS*:00000001 __zero_reg__
723 
C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccuv0Mvj.s:12     .text:00000000 SPI_MasterInit
 723 
C:\DOKUME~1\David\LOKALE~1\Temp/ccSdEvF6.s:12     .text:00000000 SPI_MasterInit
724 
                            *COM*:00000001 SPITransferCompleted
 724 
                            *COM*:00000001 SPITransferCompleted
725 
                            *COM*:00000020 ToNaviCtrl
 725 
                            *COM*:00000020 ToNaviCtrl
726 
                            *COM*:00000001 SPI_RxDataValid
 726 
                            *COM*:00000001 SPI_RxDataValid
727 
                            *COM*:00000004 SPI_VersionInfo
 727 
                            *COM*:00000004 SPI_VersionInfo
728 
C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccuv0Mvj.s:50     .text:00000054 UpdateSPI_Buffer
 728 
C:\DOKUME~1\David\LOKALE~1\Temp/ccSdEvF6.s:50     .text:00000054 UpdateSPI_Buffer
729 
                            *COM*:0000001a FromNaviCtrl
 729 
                            *COM*:0000001a FromNaviCtrl
730 
                            *COM*:00000003 FromNaviCtrl_Value
 730 
                            *COM*:00000003 FromNaviCtrl_Value
731 
C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccuv0Mvj.s:492    .text:000004d6 SPI_StartTransmitPacket
 731 
C:\DOKUME~1\David\LOKALE~1\Temp/ccSdEvF6.s:492    .text:000004d6 SPI_StartTransmitPacket
732 
                            *COM*:00000002 SPI_TX_Buffer
 732 
                            *COM*:00000002 SPI_TX_Buffer
733 
C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccuv0Mvj.s:712    .bss:00000000 SPI_CommandCounter
 733 
C:\DOKUME~1\David\LOKALE~1\Temp/ccSdEvF6.s:712    .bss:00000000 SPI_CommandCounter
734 
C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccuv0Mvj.s:700    .data:00000000 SPI_CommandSequence
 734 
C:\DOKUME~1\David\LOKALE~1\Temp/ccSdEvF6.s:700    .data:00000000 SPI_CommandSequence
735 
                            *COM*:00000001 SPI_BufferIndex
 735 
                            *COM*:00000001 SPI_BufferIndex
736 
C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccuv0Mvj.s:559    .text:00000558 SPI_TransmitByte
 736 
C:\DOKUME~1\David\LOKALE~1\Temp/ccSdEvF6.s:559    .text:00000558 SPI_TransmitByte
737 
C:\DOKUME~1\DPeters\LOKALE~1\Temp/ccuv0Mvj.s:714    .bss:00000002 SPI_RXState.2396
 737 
C:\DOKUME~1\David\LOKALE~1\Temp/ccSdEvF6.s:714    .bss:00000002 SPI_RXState.2396
738 
                            *COM*:00000001 SPI_RxBufferIndex
 738 
                            *COM*:00000001 SPI_RxBufferIndex
739 
                             .bss:00000001 rxchksum.2398
 739 
                             .bss:00000001 rxchksum.2398
740 
                            *COM*:0000001a SPI_Buffer
 740 
                            *COM*:0000001a SPI_Buffer
741 
                            *COM*:00000001 SPI_ChkSum
 741 
                            *COM*:00000001 SPI_ChkSum
742 
 
 742 
 
743 
UNDEFINED SYMBOLS
 743 
UNDEFINED SYMBOLS
744 
__do_copy_data
 744 
__do_copy_data
745 
__do_clear_bss
 745 
__do_clear_bss
746 
EE_Parameter
 746 
EE_Parameter
747 
IntegralNick
 747 
IntegralNick
748 
__divmodsi4
 748 
__divmodsi4
749 
IntegralRoll
 749 
IntegralRoll
750 
ErsatzKompass
 750 
ErsatzKompass
751 
__mulsi3
 751 
__mulsi3
752 
GIER_GRAD_FAKTOR
 752 
GIER_GRAD_FAKTOR
753 
NaviCntAcc
 753 
NaviCntAcc
754 
NaviAccNick
 754 
NaviAccNick
755 
__divmodhi4
 755 
__divmodhi4
756 
NaviAccRoll
 756 
NaviAccRoll
757 
KompassValue
 757 
KompassValue
758 
KompassStartwert
 758 
KompassStartwert
759 
KompassRichtung
 759 
KompassRichtung
760 
beeptime
 760 
beeptime
761 
WinkelOut
 761 
WinkelOut
762 
PPM_in
 762 
PPM_in
763 
Poti1
 763 
Poti1
764 
Poti2
 764 
Poti2
765 
Poti3
 765 
Poti3
766 
Poti4
 766 
Poti4
767 
SenderOkay
 767 
SenderOkay
768 
GPS_Nick
 768 
GPS_Nick
769 
GPS_Roll
 769 
GPS_Roll
770 
PlatinenVersion
 770 
PlatinenVersion
771 
Parameter_UserParam1
 771 
Parameter_UserParam1
772 
Parameter_UserParam2
 772 
Parameter_UserParam2
773 
Parameter_UserParam3
 773 
Parameter_UserParam3
774 
Parameter_UserParam4
 774 
Parameter_UserParam4
775 
Parameter_UserParam5
 775 
Parameter_UserParam5
776 
Parameter_UserParam6
 776 
Parameter_UserParam6
777 
Parameter_UserParam7
 777 
Parameter_UserParam7
778 
Parameter_UserParam8
 778 
Parameter_UserParam8
779 
MikroKopterFlags
 779 
MikroKopterFlags
780 
UBat
 780 
UBat
781 
EEPromArray
 781 
EEPromArray
782 
__eeprom_read_byte_1F2021
 782 
__eeprom_read_byte_1F2021
783 
HoehenWert
 783 
HoehenWert
784 
SendSPI
 784 
SendSPI