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Rev 21 Rev 36
Line 24... Line 24...
24 
  25 0014 8F93      		push r24
 24 
  25 0014 8F93      		push r24
25 
  26 0016 9F93      		push r25
 25 
  26 0016 9F93      		push r25
26 
  27 0018 AF93      		push r26
 26 
  27 0018 AF93      		push r26
27 
  28 001a BF93      		push r27
 27 
  28 001a BF93      		push r27
28 
  29               	/* prologue end (size=14) */
 28 
  29               	/* prologue end (size=14) */
29 
  30 001c 8091 0000 		lds r24,cnt.1976
 29 
  30 001c 8091 0000 		lds r24,cnt.1977
30 
  31 0020 8150      		subi r24,lo8(-(-1))
 30 
  31 0020 8150      		subi r24,lo8(-(-1))
31 
  32 0022 8093 0000 		sts cnt.1976,r24
 31 
  32 0022 8093 0000 		sts cnt.1977,r24
32 
  33 0026 8F3F      		cpi r24,lo8(-1)
 32 
  33 0026 8F3F      		cpi r24,lo8(-1)
33 
  34 0028 01F4      		brne .L2
 33 
  34 0028 01F4      		brne .L2
34 
  35 002a 89E0      		ldi r24,lo8(9)
 34 
  35 002a 89E0      		ldi r24,lo8(9)
35 
  36 002c 8093 0000 		sts cnt.1976,r24
 35 
  36 002c 8093 0000 		sts cnt.1977,r24
36 
  37 0030 8091 0000 		lds r24,cnt_1ms.1975
 36 
  37 0030 8091 0000 		lds r24,cnt_1ms.1976
37 
  38 0034 8F5F      		subi r24,lo8(-(1))
 37 
  38 0034 8F5F      		subi r24,lo8(-(1))
38 
  39 0036 8170      		andi r24,lo8(1)
 38 
  39 0036 8170      		andi r24,lo8(1)
39 
  40 0038 8093 0000 		sts cnt_1ms.1975,r24
 39 
  40 0038 8093 0000 		sts cnt_1ms.1976,r24
40 
  41 003c 8823      		tst r24
 40 
  41 003c 8823      		tst r24
41 
  42 003e 01F4      		brne .L4
 41 
  42 003e 01F4      		brne .L4
42 
  43 0040 81E0      		ldi r24,lo8(1)
 42 
  43 0040 81E0      		ldi r24,lo8(1)
43 
  44 0042 8093 0000 		sts UpdateMotor,r24
 43 
  44 0042 8093 0000 		sts UpdateMotor,r24
44 
  45               	.L4:
 44 
  45               	.L4:
Line 185... Line 185...
185 
 192 0178 CF93      		push r28
 185 
 192 0178 CF93      		push r28
186 
 193 017a DF93      		push r29
 186 
 193 017a DF93      		push r29
187 
 194 017c EF93      		push r30
 187 
 194 017c EF93      		push r30
188 
 195 017e FF93      		push r31
 188 
 195 017e FF93      		push r31
189 
 196               	/* prologue end (size=23) */
 189 
 196               	/* prologue end (size=23) */
190 
 197 0180 8091 0000 		lds r24,timer.2062
 190 
 197 0180 8091 0000 		lds r24,timer.2063
191 
 198 0184 8150      		subi r24,lo8(-(-1))
 191 
 198 0184 8150      		subi r24,lo8(-(-1))
192 
 199 0186 8093 0000 		sts timer.2062,r24
 192 
 199 0186 8093 0000 		sts timer.2063,r24
193 
 200 018a 8F3F      		cpi r24,lo8(-1)
 193 
 200 018a 8F3F      		cpi r24,lo8(-1)
194 
 201 018c 01F0      		breq .+2
 194 
 201 018c 01F0      		breq .+2
195 
 202 018e 00C0      		rjmp .L23
 195 
 202 018e 00C0      		rjmp .L23
196 
 203 0190 83E8      		ldi r24,lo8(-125)
 196 
 203 0190 83E8      		ldi r24,lo8(-125)
197 
 204 0192 8093 B000 		sts 176,r24
 197 
 204 0192 8093 B000 		sts 176,r24
Line 273... Line 273...
273 
 280 025c 9091 0000 		lds r25,(ServoValue)+1
 273 
 280 025c 9091 0000 		lds r25,(ServoValue)+1
274 
 281 0260 9093 0000 		sts (DebugOut+38)+1,r25
 274 
 281 0260 9093 0000 		sts (DebugOut+38)+1,r25
275 
 282 0264 8093 0000 		sts DebugOut+38,r24
 275 
 282 0264 8093 0000 		sts DebugOut+38,r24
276 
 283 0268 8093 B300 		sts 179,r24
 276 
 283 0268 8093 B300 		sts 179,r24
277 
 284 026c 8091 0000 		lds r24,EE_Parameter+37
 277 
 284 026c 8091 0000 		lds r24,EE_Parameter+37
278 
 285 0270 8093 0000 		sts timer.2062,r24
 278 
 285 0270 8093 0000 		sts timer.2063,r24
279 
 286 0274 00C0      		rjmp .L33
 279 
 286 0274 00C0      		rjmp .L33
280 
 287               	.L23:
 280 
 287               	.L23:
281 
 288 0276 83E0      		ldi r24,lo8(3)
 281 
 288 0276 83E0      		ldi r24,lo8(3)
282 
 289 0278 8093 B000 		sts 176,r24
 282 
 289 0278 8093 B000 		sts 176,r24
283 
 290 027c 5F98      		cbi 43-0x20,7
 283 
 290 027c 5F98      		cbi 43-0x20,7
Line 388... Line 388...
388 
 408               	.global	ServoValue
 388 
 408               	.global	ServoValue
389 
 409               	.global	ServoValue
 389 
 409               	.global	ServoValue
390 
 412               	ServoValue:
 390 
 412               	ServoValue:
391 
 413 0007 0000      		.skip 2,0
 391 
 413 0007 0000      		.skip 2,0
392 
 414               		.data
 392 
 414               		.data
393 
 417               	timer.2062:
 393 
 417               	timer.2063:
394 
 418 0000 0A        		.byte	10
 394 
 418 0000 0A        		.byte	10
395 
 419               		.lcomm cnt.1976,1
 395 
 419               		.lcomm cnt.1977,1
396 
 422               	cnt_1ms.1975:
 396 
 422               	cnt_1ms.1976:
397 
 423 0001 01        		.byte	1
 397 
 423 0001 01        		.byte	1
398 
 424               		.lcomm tim_main,2
 398 
 424               		.lcomm tim_main,2
399 
 425               		.comm DiffNick,2,1
 399 
 425               		.comm DiffNick,2,1
400 
 426               		.comm DiffRoll,2,1
 400 
 426               		.comm DiffRoll,2,1
401 
 427               		.comm SenderOkay,1,1
 401 
 427               		.comm SenderOkay,1,1
Line 404... Line 404...
404 
 430               		.comm durchschnitt_northing,4,1
 404 
 430               		.comm durchschnitt_northing,4,1
405 
 431               		.comm durchschnitt_easting,4,1
 405 
 431               		.comm durchschnitt_easting,4,1
406 
 432               		.comm gps_p,2,1
 406 
 432               		.comm gps_p,2,1
407 
 433               		.comm gps_d,2,1
 407 
 433               		.comm gps_d,2,1
408 
 434               		.comm skal,2,1
 408 
 434               		.comm skal,2,1
- 
 
 409 
 435               		.comm gps_gethome,2,1
409 
 435               		.comm RemoteTasten,1,1
 410 
 436               		.comm RemoteTasten,1,1
410 
 436               		.comm Timeout,1,1
 411 
 437               		.comm Timeout,1,1
411 
 437               		.comm IntegralNick,4,1
 412 
 438               		.comm IntegralNick,4,1
412 
 438               		.comm IntegralNick2,4,1
 413 
 439               		.comm IntegralNick2,4,1
413 
 439               		.comm IntegralRoll,4,1
 414 
 440               		.comm IntegralRoll,4,1
414 
 440               		.comm IntegralRoll2,4,1
 415 
 441               		.comm IntegralRoll2,4,1
415 
 441               		.comm Mess_IntegralNick,4,1
 416 
 442               		.comm Mess_IntegralNick,4,1
416 
 442               		.comm Mess_IntegralNick2,4,1
 417 
 443               		.comm Mess_IntegralNick2,4,1
417 
 443               		.comm Mess_IntegralRoll,4,1
 418 
 444               		.comm Mess_IntegralRoll,4,1
418 
 444               		.comm Mess_IntegralRoll2,4,1
 419 
 445               		.comm Mess_IntegralRoll2,4,1
419 
 445               		.comm Integral_Gier,4,1
 420 
 446               		.comm Integral_Gier,4,1
420 
 446               		.comm Mess_Integral_Gier,4,1
 421 
 447               		.comm Mess_Integral_Gier,4,1
421 
 447               		.comm h,1,1
 422 
 448               		.comm h,1,1
422 
 448               		.comm m,1,1
 423 
 449               		.comm m,1,1
423 
 449               		.comm s,1,1
 424 
 450               		.comm s,1,1
424 
 450               		.comm Motor_Vorne,1,1
 425 
 451               		.comm Motor_Vorne,1,1
425 
 451               		.comm Motor_Hinten,1,1
 426 
 452               		.comm Motor_Hinten,1,1
426 
 452               		.comm Motor_Rechts,1,1
 427 
 453               		.comm Motor_Rechts,1,1
427 
 453               		.comm Motor_Links,1,1
 428 
 454               		.comm Motor_Links,1,1
428 
 454               		.comm Count,1,1
 429 
 455               		.comm Count,1,1
429 
 455               		.comm MotorWert,5,1
 430 
 456               		.comm MotorWert,5,1
430 
 456               		.comm StickNick,2,1
 431 
 457               		.comm StickNick,2,1
431 
 457               		.comm StickRoll,2,1
 432 
 458               		.comm StickRoll,2,1
432 
 458               		.comm StickGier,2,1
 433 
 459               		.comm StickGier,2,1
433 
 459               		.comm MotorenEin,1,1
 434 
 460               		.comm MotorenEin,1,1
434 
 460               	/* File "timer0.c": code  401 = 0x0191 ( 323), prologues  37, epilogues  41 */
 435 
 461               	/* File "timer0.c": code  401 = 0x0191 ( 323), prologues  37, epilogues  41 */
435 
DEFINED SYMBOLS
 436 
DEFINED SYMBOLS
436 
                            *ABS*:00000000 timer0.c
 437 
                            *ABS*:00000000 timer0.c
437 
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccrEuRYp.s:3      *ABS*:0000003f __SREG__
 438 
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc4Vn1ck.s:3      *ABS*:0000003f __SREG__
438 
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccrEuRYp.s:4      *ABS*:0000003e __SP_H__
 439 
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc4Vn1ck.s:4      *ABS*:0000003e __SP_H__
439 
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccrEuRYp.s:5      *ABS*:0000003d __SP_L__
 440 
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc4Vn1ck.s:5      *ABS*:0000003d __SP_L__
440 
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccrEuRYp.s:6      *ABS*:00000000 __tmp_reg__
 441 
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc4Vn1ck.s:6      *ABS*:00000000 __tmp_reg__
441 
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccrEuRYp.s:7      *ABS*:00000001 __zero_reg__
 442 
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc4Vn1ck.s:7      *ABS*:00000001 __zero_reg__
442 
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccrEuRYp.s:13     .text:00000000 __vector_18
 443 
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc4Vn1ck.s:13     .text:00000000 __vector_18
443 
                             .bss:00000009 cnt.1976
 444 
                             .bss:00000009 cnt.1977
444 
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccrEuRYp.s:422    .data:00000001 cnt_1ms.1975
 445 
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc4Vn1ck.s:422    .data:00000001 cnt_1ms.1976
445 
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccrEuRYp.s:394    .bss:00000002 UpdateMotor
 446 
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc4Vn1ck.s:394    .bss:00000002 UpdateMotor
446 
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccrEuRYp.s:388    .bss:00000000 CountMilliseconds
 447 
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc4Vn1ck.s:388    .bss:00000000 CountMilliseconds
447 
                            *COM*:00000001 Timeout
 448 
                            *COM*:00000001 Timeout
448 
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccrEuRYp.s:406    .bss:00000005 beeptime
 449 
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc4Vn1ck.s:406    .bss:00000005 beeptime
449 
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccrEuRYp.s:400    .bss:00000003 cntKompass
 450 
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc4Vn1ck.s:400    .bss:00000003 cntKompass
450 
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccrEuRYp.s:136    .text:00000128 SetDelay
 451 
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc4Vn1ck.s:136    .text:00000128 SetDelay
451 
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccrEuRYp.s:152    .text:0000013a CheckDelay
 452 
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc4Vn1ck.s:152    .text:0000013a CheckDelay
452 
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccrEuRYp.s:171    .text:00000152 __vector_9
 453 
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc4Vn1ck.s:171    .text:00000152 __vector_9
453 
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccrEuRYp.s:417    .data:00000000 timer.2062
 454 
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc4Vn1ck.s:417    .data:00000000 timer.2063
454 
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccrEuRYp.s:412    .bss:00000007 ServoValue
 455 
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc4Vn1ck.s:412    .bss:00000007 ServoValue
455 
                            *COM*:00000004 IntegralNick
 456 
                            *COM*:00000004 IntegralNick
456 
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccrEuRYp.s:321    .text:000002ac Timer_Init
 457 
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc4Vn1ck.s:321    .text:000002ac Timer_Init
457 
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccrEuRYp.s:419    .bss:0000000a tim_main
 458 
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc4Vn1ck.s:419    .bss:0000000a tim_main
458 
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccrEuRYp.s:361    .text:000002fa Delay_ms
 459 
C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc4Vn1ck.s:361    .text:000002fa Delay_ms
459 
                            *COM*:00000002 DiffNick
 460 
                            *COM*:00000002 DiffNick
460 
                            *COM*:00000002 DiffRoll
 461 
                            *COM*:00000002 DiffRoll
461 
                            *COM*:00000001 SenderOkay
 462 
                            *COM*:00000001 SenderOkay
462 
                            *COM*:00000001 CosinusNickWinkel
 463 
                            *COM*:00000001 CosinusNickWinkel
463 
                            *COM*:00000001 CosinusRollWinkel
 464 
                            *COM*:00000001 CosinusRollWinkel
464 
                            *COM*:00000004 durchschnitt_northing
 465 
                            *COM*:00000004 durchschnitt_northing
465 
                            *COM*:00000004 durchschnitt_easting
 466 
                            *COM*:00000004 durchschnitt_easting
466 
                            *COM*:00000002 gps_p
 467 
                            *COM*:00000002 gps_p
467 
                            *COM*:00000002 gps_d
 468 
                            *COM*:00000002 gps_d
468 
                            *COM*:00000002 skal
 469 
                            *COM*:00000002 skal
- 
 
 470 
                            *COM*:00000002 gps_gethome
469 
                            *COM*:00000001 RemoteTasten
 471 
                            *COM*:00000001 RemoteTasten
470 
                            *COM*:00000004 IntegralNick2
 472 
                            *COM*:00000004 IntegralNick2
471 
                            *COM*:00000004 IntegralRoll
 473 
                            *COM*:00000004 IntegralRoll
472 
                            *COM*:00000004 IntegralRoll2
 474 
                            *COM*:00000004 IntegralRoll2
473 
                            *COM*:00000004 Mess_IntegralNick
 475 
                            *COM*:00000004 Mess_IntegralNick