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1 .file "GPS.c"2 .arch atmega6443 __SREG__ = 0x3f4 __SP_H__ = 0x3e5 __SP_L__ = 0x3d6 __tmp_reg__ = 07 __zero_reg__ = 18 .global __do_copy_data9 .global __do_clear_bss10 .text11 .global gps_main13 gps_main:14 /* prologue: frame size=31 */15 0000 2F92 push r216 0002 3F92 push r317 0004 4F92 push r418 0006 5F92 push r519 0008 6F92 push r620 000a 7F92 push r721 000c 8F92 push r822 000e 9F92 push r923 0010 AF92 push r1024 0012 BF92 push r1125 0014 CF92 push r1226 0016 DF92 push r1327 0018 EF92 push r1428 001a FF92 push r1529 001c 0F93 push r1630 001e 1F93 push r1731 0020 CF93 push r2832 0022 DF93 push r2933 0024 CDB7 in r28,__SP_L__34 0026 DEB7 in r29,__SP_H__35 0028 6F97 sbiw r28,3136 002a 0FB6 in __tmp_reg__,__SREG__37 002c F894 cli38 002e DEBF out __SP_H__,r2939 0030 0FBE out __SREG__,__tmp_reg__40 0032 CDBF out __SP_L__,r2841 /* prologue end (size=26) */42 0034 2091 0000 lds r18,actualPos+4543 0038 2D87 std Y+13,r1844 003a 2330 cpi r18,lo8(3)45 003c 01F0 breq .+246 003e 00C0 rjmp .L247 0040 E091 0000 lds r30,FilterPos48 0044 FF27 clr r3149 0046 EE0F lsl r3050 0048 FF1F rol r3151 004a EE0F lsl r3052 004c FF1F rol r3153 004e E050 subi r30,lo8(-(filter_north))54 0050 F040 sbci r31,hi8(-(filter_north))55 0052 8091 0000 lds r24,actualPos+2456 0056 9091 0000 lds r25,(actualPos+24)+157 005a A091 0000 lds r26,(actualPos+24)+258 005e B091 0000 lds r27,(actualPos+24)+359 0062 8083 st Z,r2460 0064 9183 std Z+1,r2561 0066 A283 std Z+2,r2662 0068 B383 std Z+3,r2763 006a E091 0000 lds r30,FilterPos64 006e FF27 clr r3165 0070 EE0F lsl r3066 0072 FF1F rol r3167 0074 EE0F lsl r3068 0076 FF1F rol r3169 0078 E050 subi r30,lo8(-(filter_east))70 007a F040 sbci r31,hi8(-(filter_east))71 007c 8091 0000 lds r24,actualPos+2872 0080 9091 0000 lds r25,(actualPos+28)+173 0084 A091 0000 lds r26,(actualPos+28)+274 0088 B091 0000 lds r27,(actualPos+28)+375 008c 8083 st Z,r2476 008e 9183 std Z+1,r2577 0090 A283 std Z+2,r2678 0092 B383 std Z+3,r2779 0094 8091 0000 lds r24,FilterPos80 0098 8F5F subi r24,lo8(-(1))81 009a 8093 0000 sts FilterPos,r2482 009e 8091 0000 lds r24,FilterPos83 00a2 8830 cpi r24,lo8(8)84 00a4 01F4 brne .L485 00a6 1092 0000 sts FilterPos,__zero_reg__86 .L4:87 00aa 8091 0000 lds r24,filterfilled88 00ae 9091 0000 lds r25,(filterfilled)+189 00b2 0897 sbiw r24,890 00b4 04F4 brge .L691 00b6 8091 0000 lds r24,filterfilled92 00ba 9091 0000 lds r25,(filterfilled)+193 00be 0196 adiw r24,194 00c0 9093 0000 sts (filterfilled)+1,r2595 00c4 8093 0000 sts filterfilled,r2496 .L6:97 00c8 1092 0000 sts NORTH_LONG_LONG,__zero_reg__98 00cc 1092 0000 sts NORTH_LONG_LONG+1,__zero_reg__99 00d0 1092 0000 sts NORTH_LONG_LONG+2,__zero_reg__100 00d4 1092 0000 sts NORTH_LONG_LONG+3,__zero_reg__101 00d8 1092 0000 sts NORTH_LONG_LONG+4,__zero_reg__102 00dc 1092 0000 sts NORTH_LONG_LONG+5,__zero_reg__103 00e0 1092 0000 sts NORTH_LONG_LONG+6,__zero_reg__104 00e4 1092 0000 sts NORTH_LONG_LONG+7,__zero_reg__105 00e8 1092 0000 sts EAST_LONG_LONG,__zero_reg__106 00ec 1092 0000 sts EAST_LONG_LONG+1,__zero_reg__107 00f0 1092 0000 sts EAST_LONG_LONG+2,__zero_reg__108 00f4 1092 0000 sts EAST_LONG_LONG+3,__zero_reg__109 00f8 1092 0000 sts EAST_LONG_LONG+4,__zero_reg__110 00fc 1092 0000 sts EAST_LONG_LONG+5,__zero_reg__111 0100 1092 0000 sts EAST_LONG_LONG+6,__zero_reg__112 0104 1092 0000 sts EAST_LONG_LONG+7,__zero_reg__113 0108 1C82 std Y+4,__zero_reg__114 010a 1B82 std Y+3,__zero_reg__115 010c 80E0 ldi r24,lo8(filter_north)116 010e 90E0 ldi r25,hi8(filter_north)117 0110 9A83 std Y+2,r25118 0112 8983 std Y+1,r24119 0114 A0E0 ldi r26,lo8(filter_east)120 0116 B0E0 ldi r27,hi8(filter_east)121 0118 BF8F std Y+31,r27122 011a AE8F std Y+30,r26123 011c 00C0 rjmp .L8124 .L9:125 011e 2090 0000 lds r2,NORTH_LONG_LONG126 0122 3090 0000 lds r3,NORTH_LONG_LONG+1127 0126 4090 0000 lds r4,NORTH_LONG_LONG+2128 012a 5090 0000 lds r5,NORTH_LONG_LONG+3129 012e 6090 0000 lds r6,NORTH_LONG_LONG+4130 0132 7090 0000 lds r7,NORTH_LONG_LONG+5131 0136 8090 0000 lds r8,NORTH_LONG_LONG+6132 013a 9090 0000 lds r9,NORTH_LONG_LONG+7133 013e E981 ldd r30,Y+1134 0140 FA81 ldd r31,Y+2135 0142 2081 ld r18,Z136 0144 3181 ldd r19,Z+1137 0146 4281 ldd r20,Z+2138 0148 5381 ldd r21,Z+3139 014a DA01 movw r26,r20140 014c C901 movw r24,r18141 014e BB0F lsl r27142 0150 880B sbc r24,r24143 0152 982F mov r25,r24144 0154 DC01 movw r26,r24145 0156 2E87 std Y+14,r18146 0158 3F87 std Y+15,r19147 015a 488B std Y+16,r20148 015c 598B std Y+17,r21149 015e 8A8B std Y+18,r24150 0160 8B8B std Y+19,r24151 0162 8C8B std Y+20,r24152 0164 8D8B std Y+21,r24153 0166 AE84 ldd r10,Y+14154 0168 A20C add r10,r2155 016a 81E0 ldi r24,lo8(1)156 016c A214 cp r10,r2157 016e 00F0 brlo .L10158 0170 80E0 ldi r24,lo8(0)159 .L10:160 0172 BF84 ldd r11,Y+15161 0174 B30C add r11,r3162 0176 21E0 ldi r18,lo8(1)163 0178 B314 cp r11,r3164 017a 00F0 brlo .L11165 017c 20E0 ldi r18,lo8(0)166 .L11:167 017e 8B0D add r24,r11168 0180 91E0 ldi r25,lo8(1)169 0182 8B15 cp r24,r11170 0184 00F0 brlo .L12171 0186 90E0 ldi r25,lo8(0)172 .L12:173 0188 292B or r18,r25174 018a B82E mov r11,r24175 018c C888 ldd r12,Y+16176 018e C40C add r12,r4177 0190 31E0 ldi r19,lo8(1)178 0192 C414 cp r12,r4179 0194 00F0 brlo .L13180 0196 30E0 ldi r19,lo8(0)181 .L13:182 0198 822F mov r24,r18183 019a 8C0D add r24,r12184 019c 91E0 ldi r25,lo8(1)185 019e 8C15 cp r24,r12186 01a0 00F0 brlo .L14187 01a2 90E0 ldi r25,lo8(0)188 .L14:189 01a4 392B or r19,r25190 01a6 C82E mov r12,r24191 01a8 D988 ldd r13,Y+17192 01aa D50C add r13,r5193 01ac 21E0 ldi r18,lo8(1)194 01ae D514 cp r13,r5195 01b0 00F0 brlo .L15196 01b2 20E0 ldi r18,lo8(0)197 .L15:198 01b4 832F mov r24,r19199 01b6 8D0D add r24,r13200 01b8 91E0 ldi r25,lo8(1)201 01ba 8D15 cp r24,r13202 01bc 00F0 brlo .L16203 01be 90E0 ldi r25,lo8(0)204 .L16:205 01c0 292B or r18,r25206 01c2 D82E mov r13,r24207 01c4 EA88 ldd r14,Y+18208 01c6 E60C add r14,r6209 01c8 31E0 ldi r19,lo8(1)210 01ca E614 cp r14,r6211 01cc 00F0 brlo .L17212 01ce 30E0 ldi r19,lo8(0)213 .L17:214 01d0 822F mov r24,r18215 01d2 8E0D add r24,r14216 01d4 91E0 ldi r25,lo8(1)217 01d6 8E15 cp r24,r14218 01d8 00F0 brlo .L18219 01da 90E0 ldi r25,lo8(0)220 .L18:221 01dc 392B or r19,r25222 01de E82E mov r14,r24223 01e0 FB88 ldd r15,Y+19224 01e2 F70C add r15,r7225 01e4 21E0 ldi r18,lo8(1)226 01e6 F714 cp r15,r7227 01e8 00F0 brlo .L19228 01ea 20E0 ldi r18,lo8(0)229 .L19:230 01ec 832F mov r24,r19231 01ee 8F0D add r24,r15232 01f0 91E0 ldi r25,lo8(1)233 01f2 8F15 cp r24,r15234 01f4 00F0 brlo .L20235 01f6 90E0 ldi r25,lo8(0)236 .L20:237 01f8 292B or r18,r25238 01fa F82E mov r15,r24239 01fc 0C89 ldd r16,Y+20240 01fe 080D add r16,r8241 0200 91E0 ldi r25,lo8(1)242 0202 0815 cp r16,r8243 0204 00F0 brlo .L21244 0206 90E0 ldi r25,lo8(0)245 .L21:246 0208 822F mov r24,r18247 020a 800F add r24,r16248 020c E1E0 ldi r30,lo8(1)249 020e 8017 cp r24,r16250 0210 00F0 brlo .L22251 0212 E0E0 ldi r30,lo8(0)252 .L22:253 0214 AE2F mov r26,r30254 0216 A92B or r26,r25255 0218 1D89 ldd r17,Y+21256 021a 190D add r17,r9257 021c A10F add r26,r17258 021e A092 0000 sts NORTH_LONG_LONG,r10259 0222 B092 0000 sts NORTH_LONG_LONG+1,r11260 0226 C092 0000 sts NORTH_LONG_LONG+2,r12261 022a D092 0000 sts NORTH_LONG_LONG+3,r13262 022e E092 0000 sts NORTH_LONG_LONG+4,r14263 0232 F092 0000 sts NORTH_LONG_LONG+5,r15264 0236 8093 0000 sts NORTH_LONG_LONG+6,r24265 023a A093 0000 sts NORTH_LONG_LONG+7,r26266 023e 2090 0000 lds r2,EAST_LONG_LONG267 0242 3090 0000 lds r3,EAST_LONG_LONG+1268 0246 4090 0000 lds r4,EAST_LONG_LONG+2269 024a 5090 0000 lds r5,EAST_LONG_LONG+3270 024e 6090 0000 lds r6,EAST_LONG_LONG+4271 0252 7090 0000 lds r7,EAST_LONG_LONG+5272 0256 8090 0000 lds r8,EAST_LONG_LONG+6273 025a 9090 0000 lds r9,EAST_LONG_LONG+7274 025e AE8D ldd r26,Y+30275 0260 BF8D ldd r27,Y+31276 0262 2D91 ld r18,X+277 0264 3D91 ld r19,X+278 0266 4D91 ld r20,X+279 0268 5C91 ld r21,X280 026a DA01 movw r26,r20281 026c C901 movw r24,r18282 026e BB0F lsl r27283 0270 880B sbc r24,r24284 0272 982F mov r25,r24285 0274 DC01 movw r26,r24286 0276 2E8B std Y+22,r18287 0278 3F8B std Y+23,r19288 027a 488F std Y+24,r20289 027c 598F std Y+25,r21290 027e 8A8F std Y+26,r24291 0280 8B8F std Y+27,r24292 0282 8C8F std Y+28,r24293 0284 8D8F std Y+29,r24294 0286 AE88 ldd r10,Y+22295 0288 A20C add r10,r2296 028a 81E0 ldi r24,lo8(1)297 028c A214 cp r10,r2298 028e 00F0 brlo .L23299 0290 80E0 ldi r24,lo8(0)300 .L23:301 0292 BF88 ldd r11,Y+23302 0294 B30C add r11,r3303 0296 21E0 ldi r18,lo8(1)304 0298 B314 cp r11,r3305 029a 00F0 brlo .L24306 029c 20E0 ldi r18,lo8(0)307 .L24:308 029e 8B0D add r24,r11309 02a0 91E0 ldi r25,lo8(1)310 02a2 8B15 cp r24,r11311 02a4 00F0 brlo .L25312 02a6 90E0 ldi r25,lo8(0)313 .L25:314 02a8 292B or r18,r25315 02aa B82E mov r11,r24316 02ac C88C ldd r12,Y+24317 02ae C40C add r12,r4318 02b0 31E0 ldi r19,lo8(1)319 02b2 C414 cp r12,r4320 02b4 00F0 brlo .L26321 02b6 30E0 ldi r19,lo8(0)322 .L26:323 02b8 822F mov r24,r18324 02ba 8C0D add r24,r12325 02bc 91E0 ldi r25,lo8(1)326 02be 8C15 cp r24,r12327 02c0 00F0 brlo .L27328 02c2 90E0 ldi r25,lo8(0)329 .L27:330 02c4 392B or r19,r25331 02c6 C82E mov r12,r24332 02c8 D98C ldd r13,Y+25333 02ca D50C add r13,r5334 02cc 21E0 ldi r18,lo8(1)335 02ce D514 cp r13,r5336 02d0 00F0 brlo .L28337 02d2 20E0 ldi r18,lo8(0)338 .L28:339 02d4 832F mov r24,r19340 02d6 8D0D add r24,r13341 02d8 91E0 ldi r25,lo8(1)342 02da 8D15 cp r24,r13343 02dc 00F0 brlo .L29344 02de 90E0 ldi r25,lo8(0)345 .L29:346 02e0 292B or r18,r25347 02e2 D82E mov r13,r24348 02e4 EA8C ldd r14,Y+26349 02e6 E60C add r14,r6350 02e8 31E0 ldi r19,lo8(1)351 02ea E614 cp r14,r6352 02ec 00F0 brlo .L30353 02ee 30E0 ldi r19,lo8(0)354 .L30:355 02f0 822F mov r24,r18356 02f2 8E0D add r24,r14357 02f4 91E0 ldi r25,lo8(1)358 02f6 8E15 cp r24,r14359 02f8 00F0 brlo .L31360 02fa 90E0 ldi r25,lo8(0)361 .L31:362 02fc 392B or r19,r25363 02fe E82E mov r14,r24364 0300 FB8C ldd r15,Y+27365 0302 F70C add r15,r7366 0304 21E0 ldi r18,lo8(1)367 0306 F714 cp r15,r7368 0308 00F0 brlo .L32369 030a 20E0 ldi r18,lo8(0)370 .L32:371 030c 832F mov r24,r19372 030e 8F0D add r24,r15373 0310 91E0 ldi r25,lo8(1)374 0312 8F15 cp r24,r15375 0314 00F0 brlo .L33376 0316 90E0 ldi r25,lo8(0)377 .L33:378 0318 292B or r18,r25379 031a F82E mov r15,r24380 031c 0C8D ldd r16,Y+28381 031e 080D add r16,r8382 0320 91E0 ldi r25,lo8(1)383 0322 0815 cp r16,r8384 0324 00F0 brlo .L34385 0326 90E0 ldi r25,lo8(0)386 .L34:387 0328 822F mov r24,r18388 032a 800F add r24,r16389 032c E1E0 ldi r30,lo8(1)390 032e 8017 cp r24,r16391 0330 00F0 brlo .L35392 0332 E0E0 ldi r30,lo8(0)393 .L35:394 0334 AE2F mov r26,r30395 0336 A92B or r26,r25396 0338 1D8D ldd r17,Y+29397 033a 190D add r17,r9398 033c A10F add r26,r17399 033e A092 0000 sts EAST_LONG_LONG,r10400 0342 B092 0000 sts EAST_LONG_LONG+1,r11401 0346 C092 0000 sts EAST_LONG_LONG+2,r12402 034a D092 0000 sts EAST_LONG_LONG+3,r13403 034e E092 0000 sts EAST_LONG_LONG+4,r14404 0352 F092 0000 sts EAST_LONG_LONG+5,r15405 0356 8093 0000 sts EAST_LONG_LONG+6,r24406 035a A093 0000 sts EAST_LONG_LONG+7,r26407 035e EB81 ldd r30,Y+3408 0360 FC81 ldd r31,Y+4409 0362 3196 adiw r30,1410 0364 FC83 std Y+4,r31411 0366 EB83 std Y+3,r30412 0368 2981 ldd r18,Y+1413 036a 3A81 ldd r19,Y+2414 036c 2C5F subi r18,lo8(-(4))415 036e 3F4F sbci r19,hi8(-(4))416 0370 3A83 std Y+2,r19417 0372 2983 std Y+1,r18418 0374 8E8D ldd r24,Y+30419 0376 9F8D ldd r25,Y+31420 0378 0496 adiw r24,4421 037a 9F8F std Y+31,r25422 037c 8E8F std Y+30,r24423 .L8:424 037e 8091 0000 lds r24,filterfilled425 0382 9091 0000 lds r25,(filterfilled)+1426 0386 AB81 ldd r26,Y+3427 0388 BC81 ldd r27,Y+4428 038a A817 cp r26,r24429 038c B907 cpc r27,r25430 038e 04F4 brge .+2431 0390 00C0 rjmp .L9432 0392 2090 0000 lds r2,NORTH_LONG_LONG433 0396 3090 0000 lds r3,NORTH_LONG_LONG+1434 039a 4090 0000 lds r4,NORTH_LONG_LONG+2435 039e 5090 0000 lds r5,NORTH_LONG_LONG+3436 03a2 6090 0000 lds r6,NORTH_LONG_LONG+4437 03a6 7090 0000 lds r7,NORTH_LONG_LONG+5438 03aa 8090 0000 lds r8,NORTH_LONG_LONG+6439 03ae 9090 0000 lds r9,NORTH_LONG_LONG+7440 03b2 A091 0000 lds r26,filterfilled441 03b6 B091 0000 lds r27,(filterfilled)+1442 03ba FD01 movw r30,r26443 03bc FF0F lsl r31444 03be EE0B sbc r30,r30445 03c0 FE2F mov r31,r30446 03c2 9D01 movw r18,r26447 03c4 AA2E mov r10,r26448 03c6 B32E mov r11,r19449 03c8 CE2E mov r12,r30450 03ca DE2E mov r13,r30451 03cc EE2E mov r14,r30452 03ce FE2E mov r15,r30453 03d0 0E2F mov r16,r30454 03d2 1E2F mov r17,r30455 03d4 222D mov r18,r2456 03d6 332D mov r19,r3457 03d8 442D mov r20,r4458 03da 552D mov r21,r5459 03dc 662D mov r22,r6460 03de 772D mov r23,r7461 03e0 882D mov r24,r8462 03e2 992D mov r25,r9463 03e4 0E94 0000 call __divdi3464 03e8 2093 0000 sts NORTH_LONG_LONG,r18465 03ec 3093 0000 sts NORTH_LONG_LONG+1,r19466 03f0 4093 0000 sts NORTH_LONG_LONG+2,r20467 03f4 5093 0000 sts NORTH_LONG_LONG+3,r21468 03f8 6093 0000 sts NORTH_LONG_LONG+4,r22469 03fc 7093 0000 sts NORTH_LONG_LONG+5,r23470 0400 8093 0000 sts NORTH_LONG_LONG+6,r24471 0404 9093 0000 sts NORTH_LONG_LONG+7,r25472 0408 2090 0000 lds r2,EAST_LONG_LONG473 040c 3090 0000 lds r3,EAST_LONG_LONG+1474 0410 4090 0000 lds r4,EAST_LONG_LONG+2475 0414 5090 0000 lds r5,EAST_LONG_LONG+3476 0418 6090 0000 lds r6,EAST_LONG_LONG+4477 041c 7090 0000 lds r7,EAST_LONG_LONG+5478 0420 8090 0000 lds r8,EAST_LONG_LONG+6479 0424 9090 0000 lds r9,EAST_LONG_LONG+7480 0428 A091 0000 lds r26,filterfilled481 042c B091 0000 lds r27,(filterfilled)+1482 0430 FD01 movw r30,r26483 0432 FF0F lsl r31484 0434 EE0B sbc r30,r30485 0436 FE2F mov r31,r30486 0438 9D01 movw r18,r26487 043a AA2E mov r10,r26488 043c B32E mov r11,r19489 043e CE2E mov r12,r30490 0440 DE2E mov r13,r30491 0442 EE2E mov r14,r30492 0444 FE2E mov r15,r30493 0446 0E2F mov r16,r30494 0448 1E2F mov r17,r30495 044a 222D mov r18,r2496 044c 332D mov r19,r3497 044e 442D mov r20,r4498 0450 552D mov r21,r5499 0452 662D mov r22,r6500 0454 772D mov r23,r7501 0456 882D mov r24,r8502 0458 992D mov r25,r9503 045a 0E94 0000 call __divdi3504 045e 2093 0000 sts EAST_LONG_LONG,r18505 0462 3093 0000 sts EAST_LONG_LONG+1,r19506 0466 4093 0000 sts EAST_LONG_LONG+2,r20507 046a 5093 0000 sts EAST_LONG_LONG+3,r21508 046e 6093 0000 sts EAST_LONG_LONG+4,r22509 0472 7093 0000 sts EAST_LONG_LONG+5,r23510 0476 8093 0000 sts EAST_LONG_LONG+6,r24511 047a 9093 0000 sts EAST_LONG_LONG+7,r25512 047e 2091 0000 lds r18,NORTH_LONG_LONG513 0482 3091 0000 lds r19,NORTH_LONG_LONG+1514 0486 4091 0000 lds r20,NORTH_LONG_LONG+2515 048a 5091 0000 lds r21,NORTH_LONG_LONG+3516 048e 6091 0000 lds r22,NORTH_LONG_LONG+4517 0492 7091 0000 lds r23,NORTH_LONG_LONG+5518 0496 8091 0000 lds r24,NORTH_LONG_LONG+6519 049a 9091 0000 lds r25,NORTH_LONG_LONG+7520 049e 2093 0000 sts NORTH_MITTEL,r18521 04a2 3093 0000 sts (NORTH_MITTEL)+1,r19522 04a6 4093 0000 sts (NORTH_MITTEL)+2,r20523 04aa 5093 0000 sts (NORTH_MITTEL)+3,r21524 04ae 2091 0000 lds r18,EAST_LONG_LONG525 04b2 3091 0000 lds r19,EAST_LONG_LONG+1526 04b6 4091 0000 lds r20,EAST_LONG_LONG+2527 04ba 5091 0000 lds r21,EAST_LONG_LONG+3528 04be 6091 0000 lds r22,EAST_LONG_LONG+4529 04c2 7091 0000 lds r23,EAST_LONG_LONG+5530 04c6 8091 0000 lds r24,EAST_LONG_LONG+6531 04ca 9091 0000 lds r25,EAST_LONG_LONG+7532 04ce 2093 0000 sts EAST_MITTEL,r18533 04d2 3093 0000 sts (EAST_MITTEL)+1,r19534 04d6 4093 0000 sts (EAST_MITTEL)+2,r20535 04da 5093 0000 sts (EAST_MITTEL)+3,r21536 04de 81E0 ldi r24,lo8(1)537 04e0 8093 0000 sts NeuerMittelwert,r24538 04e4 2091 0000 lds r18,MotorenEin539 04e8 2130 cpi r18,lo8(1)540 04ea 01F0 breq .+2541 04ec 00C0 rjmp .L38542 04ee 00C0 rjmp .L37543 .L2:544 04f0 BD85 ldd r27,Y+13545 04f2 B330 cpi r27,lo8(3)546 04f4 00F0 brlo .+2547 04f6 00C0 rjmp .L38548 04f8 8091 0000 lds r24,Poti3549 04fc 9091 0000 lds r25,(Poti3)+1550 0500 8734 cpi r24,71551 0502 9105 cpc r25,__zero_reg__552 0504 04F4 brge .+2553 0506 00C0 rjmp .L38554 0508 1092 0000 sts (GPS_Nick)+1,__zero_reg__555 050c 1092 0000 sts GPS_Nick,__zero_reg__556 0510 1092 0000 sts (GPS_Roll)+1,__zero_reg__557 0514 1092 0000 sts GPS_Roll,__zero_reg__558 0518 4398 cbi 40-0x20,3559 051a 82E3 ldi r24,lo8(50)560 051c 90E0 ldi r25,hi8(50)561 051e 9093 0000 sts (beeptime)+1,r25562 0522 8093 0000 sts beeptime,r24563 0526 00C0 rjmp .L38564 .L37:565 0528 8091 0000 lds r24,gethome566 052c 8823 tst r24567 052e 01F0 breq .+2568 0530 00C0 rjmp .L41569 0532 8091 0000 lds r24,modell_fliegt_gps570 0536 9091 0000 lds r25,(modell_fliegt_gps)+1571 053a 805D subi r24,lo8(2000)572 053c 9740 sbci r25,hi8(2000)573 053e 00F0 brlo .+2574 0540 00C0 rjmp .L41575 0542 8091 0000 lds r24,NORTH_MITTEL576 0546 9091 0000 lds r25,(NORTH_MITTEL)+1577 054a A091 0000 lds r26,(NORTH_MITTEL)+2578 054e B091 0000 lds r27,(NORTH_MITTEL)+3579 0552 8093 0000 sts GPS_Home_North,r24580 0556 9093 0000 sts (GPS_Home_North)+1,r25581 055a A093 0000 sts (GPS_Home_North)+2,r26582 055e B093 0000 sts (GPS_Home_North)+3,r27583 0562 8091 0000 lds r24,EAST_MITTEL584 0566 9091 0000 lds r25,(EAST_MITTEL)+1585 056a A091 0000 lds r26,(EAST_MITTEL)+2586 056e B091 0000 lds r27,(EAST_MITTEL)+3587 0572 8093 0000 sts GPS_Home_East,r24588 0576 9093 0000 sts (GPS_Home_East)+1,r25589 057a A093 0000 sts (GPS_Home_East)+2,r26590 057e B093 0000 sts (GPS_Home_East)+3,r27591 0582 8091 0000 lds r24,NORTH_MITTEL592 0586 9091 0000 lds r25,(NORTH_MITTEL)+1593 058a A091 0000 lds r26,(NORTH_MITTEL)+2594 058e B091 0000 lds r27,(NORTH_MITTEL)+3595 0592 8093 0000 sts Soll_Position_North,r24596 0596 9093 0000 sts (Soll_Position_North)+1,r25597 059a A093 0000 sts (Soll_Position_North)+2,r26598 059e B093 0000 sts (Soll_Position_North)+3,r27599 05a2 8091 0000 lds r24,EAST_MITTEL600 05a6 9091 0000 lds r25,(EAST_MITTEL)+1601 05aa A091 0000 lds r26,(EAST_MITTEL)+2602 05ae B091 0000 lds r27,(EAST_MITTEL)+3603 05b2 8093 0000 sts Soll_Position_East,r24604 05b6 9093 0000 sts (Soll_Position_East)+1,r25605 05ba A093 0000 sts (Soll_Position_East)+2,r26606 05be B093 0000 sts (Soll_Position_East)+3,r27607 05c2 82E3 ldi r24,lo8(50)608 05c4 90E0 ldi r25,hi8(50)609 05c6 9093 0000 sts (beeptime)+1,r25610 05ca 8093 0000 sts beeptime,r24611 05ce 2093 0000 sts gethome,r18612 05d2 00C0 rjmp .L41613 .L38:614 05d4 8091 0000 lds r24,MotorenEin615 05d8 8823 tst r24616 05da 01F4 brne .L41617 05dc 1092 0000 sts GPS_Home_North,__zero_reg__618 05e0 1092 0000 sts (GPS_Home_North)+1,__zero_reg__619 05e4 1092 0000 sts (GPS_Home_North)+2,__zero_reg__620 05e8 1092 0000 sts (GPS_Home_North)+3,__zero_reg__621 05ec 1092 0000 sts GPS_Home_East,__zero_reg__622 05f0 1092 0000 sts (GPS_Home_East)+1,__zero_reg__623 05f4 1092 0000 sts (GPS_Home_East)+2,__zero_reg__624 05f8 1092 0000 sts (GPS_Home_East)+3,__zero_reg__625 05fc 1092 0000 sts gethome,__zero_reg__626 0600 1092 0000 sts (modell_fliegt_gps)+1,__zero_reg__627 0604 1092 0000 sts modell_fliegt_gps,__zero_reg__628 .L41:629 0608 2091 0000 lds r18,Poti3630 060c 3091 0000 lds r19,(Poti3)+1631 0610 3F8F std Y+31,r19632 0612 2E8F std Y+30,r18633 0614 2634 cpi r18,70634 0616 3105 cpc r19,__zero_reg__635 0618 04F4 brge .L45636 061a 8091 0000 lds r24,NORTH_MITTEL637 061e 9091 0000 lds r25,(NORTH_MITTEL)+1638 0622 A091 0000 lds r26,(NORTH_MITTEL)+2639 0626 B091 0000 lds r27,(NORTH_MITTEL)+3640 062a 8093 0000 sts Soll_Position_North,r24641 062e 9093 0000 sts (Soll_Position_North)+1,r25642 0632 A093 0000 sts (Soll_Position_North)+2,r26643 0636 B093 0000 sts (Soll_Position_North)+3,r27644 063a 8091 0000 lds r24,EAST_MITTEL645 063e 9091 0000 lds r25,(EAST_MITTEL)+1646 0642 A091 0000 lds r26,(EAST_MITTEL)+2647 0646 B091 0000 lds r27,(EAST_MITTEL)+3648 064a 8093 0000 sts Soll_Position_East,r24649 064e 9093 0000 sts (Soll_Position_East)+1,r25650 0652 A093 0000 sts (Soll_Position_East)+2,r26651 0656 B093 0000 sts (Soll_Position_East)+3,r27652 065a 1092 0000 sts (GPS_Nick)+1,__zero_reg__653 065e 1092 0000 sts GPS_Nick,__zero_reg__654 0662 1092 0000 sts (GPS_Roll)+1,__zero_reg__655 0666 1092 0000 sts GPS_Roll,__zero_reg__656 066a 4398 cbi 40-0x20,3657 .L45:658 066c 3D85 ldd r19,Y+13659 066e 3330 cpi r19,lo8(3)660 0670 01F0 breq .+2661 0672 00C0 rjmp .L94662 0674 8E8D ldd r24,Y+30663 0676 9F8D ldd r25,Y+31664 0678 8734 cpi r24,71665 067a 9105 cpc r25,__zero_reg__666 067c 04F4 brge .+2667 067e 00C0 rjmp .L94668 0680 8639 cpi r24,150669 0682 9105 cpc r25,__zero_reg__670 0684 04F0 brlt .+2671 0686 00C0 rjmp .L50672 0688 8091 0000 lds r24,StickNick673 068c 9091 0000 lds r25,(StickNick)+1674 0690 0C96 adiw r24,12675 0692 4997 sbiw r24,25676 0694 00F4 brsh .L52677 0696 8091 0000 lds r24,StickRoll678 069a 9091 0000 lds r25,(StickRoll)+1679 069e 8D30 cpi r24,13680 06a0 9105 cpc r25,__zero_reg__681 06a2 04F4 brge .L52682 06a4 845F subi r24,lo8(-12)683 06a6 9F4F sbci r25,hi8(-12)684 06a8 04F4 brge .L50685 .L52:686 06aa 1092 0000 sts (GPS_Nick)+1,__zero_reg__687 06ae 1092 0000 sts GPS_Nick,__zero_reg__688 06b2 1092 0000 sts (GPS_Roll)+1,__zero_reg__689 06b6 1092 0000 sts GPS_Roll,__zero_reg__690 06ba 8091 0000 lds r24,NORTH_MITTEL691 06be 9091 0000 lds r25,(NORTH_MITTEL)+1692 06c2 A091 0000 lds r26,(NORTH_MITTEL)+2693 06c6 B091 0000 lds r27,(NORTH_MITTEL)+3694 06ca 8093 0000 sts Soll_Position_North,r24695 06ce 9093 0000 sts (Soll_Position_North)+1,r25696 06d2 A093 0000 sts (Soll_Position_North)+2,r26697 06d6 B093 0000 sts (Soll_Position_North)+3,r27698 06da 8091 0000 lds r24,EAST_MITTEL699 06de 9091 0000 lds r25,(EAST_MITTEL)+1700 06e2 A091 0000 lds r26,(EAST_MITTEL)+2701 06e6 B091 0000 lds r27,(EAST_MITTEL)+3702 06ea 8093 0000 sts Soll_Position_East,r24703 06ee 9093 0000 sts (Soll_Position_East)+1,r25704 06f2 A093 0000 sts (Soll_Position_East)+2,r26705 06f6 B093 0000 sts (Soll_Position_East)+3,r27706 06fa 8091 0000 lds r24,blinkcount_LED2707 06fe 883C cpi r24,lo8(-56)708 0700 00F0 brlo .L55709 0702 88B1 in r24,40-0x20710 0704 98E0 ldi r25,lo8(8)711 0706 8927 eor r24,r25712 0708 88B9 out 40-0x20,r24713 070a 1092 0000 sts blinkcount_LED2,__zero_reg__714 .L55:715 070e 8091 0000 lds r24,blinkcount_LED2716 0712 8F5F subi r24,lo8(-(1))717 0714 8093 0000 sts blinkcount_LED2,r24718 .L50:719 0718 8091 0000 lds r24,NeuerMittelwert720 071c 8130 cpi r24,lo8(1)721 071e 01F0 breq .+2722 0720 00C0 rjmp .L94723 0722 E090 0000 lds r14,Soll_Position_North724 0726 F090 0000 lds r15,(Soll_Position_North)+1725 072a 0091 0000 lds r16,(Soll_Position_North)+2726 072e 1091 0000 lds r17,(Soll_Position_North)+3727 0732 E114 cp r14,__zero_reg__728 0734 F104 cpc r15,__zero_reg__729 0736 0105 cpc r16,__zero_reg__730 0738 1105 cpc r17,__zero_reg__731 073a 01F4 brne .+2732 073c 00C0 rjmp .L94733 073e A090 0000 lds r10,Soll_Position_East734 0742 B090 0000 lds r11,(Soll_Position_East)+1735 0746 C090 0000 lds r12,(Soll_Position_East)+2736 074a D090 0000 lds r13,(Soll_Position_East)+3737 074e A114 cp r10,__zero_reg__738 0750 B104 cpc r11,__zero_reg__739 0752 C104 cpc r12,__zero_reg__740 0754 D104 cpc r13,__zero_reg__741 0756 01F4 brne .+2742 0758 00C0 rjmp .L94743 075a 8091 0000 lds r24,StickNick744 075e 9091 0000 lds r25,(StickNick)+1745 0762 8D30 cpi r24,13746 0764 9105 cpc r25,__zero_reg__747 0766 04F0 brlt .+2748 0768 00C0 rjmp .L94749 076a 845F subi r24,lo8(-12)750 076c 9F4F sbci r25,hi8(-12)751 076e 04F4 brge .+2752 0770 00C0 rjmp .L94753 0772 8091 0000 lds r24,StickRoll754 0776 9091 0000 lds r25,(StickRoll)+1755 077a 8D30 cpi r24,13756 077c 9105 cpc r25,__zero_reg__757 077e 04F0 brlt .+2758 0780 00C0 rjmp .L94759 0782 845F subi r24,lo8(-12)760 0784 9F4F sbci r25,hi8(-12)761 0786 04F4 brge .+2762 0788 00C0 rjmp .L94763 078a 2E8D ldd r18,Y+30764 078c 3F8D ldd r19,Y+31765 078e 2639 cpi r18,150766 0790 3105 cpc r19,__zero_reg__767 0792 04F0 brlt .+2768 0794 00C0 rjmp .L64769 0796 8091 0000 lds r24,NORTH_MITTEL770 079a 9091 0000 lds r25,(NORTH_MITTEL)+1771 079e A091 0000 lds r26,(NORTH_MITTEL)+2772 07a2 B091 0000 lds r27,(NORTH_MITTEL)+3773 07a6 E81A sub r14,r24774 07a8 F90A sbc r15,r25775 07aa 0A0B sbc r16,r26776 07ac 1B0B sbc r17,r27777 07ae E092 0000 sts GPS_Positionsabweichung_North,r14778 07b2 F092 0000 sts (GPS_Positionsabweichung_North)+1,r15779 07b6 0093 0000 sts (GPS_Positionsabweichung_North)+2,r16780 07ba 1093 0000 sts (GPS_Positionsabweichung_North)+3,r17781 07be 8091 0000 lds r24,EAST_MITTEL782 07c2 9091 0000 lds r25,(EAST_MITTEL)+1783 07c6 A091 0000 lds r26,(EAST_MITTEL)+2784 07ca B091 0000 lds r27,(EAST_MITTEL)+3785 07ce A81A sub r10,r24786 07d0 B90A sbc r11,r25787 07d2 CA0A sbc r12,r26788 07d4 DB0A sbc r13,r27789 07d6 A092 0000 sts GPS_Positionsabweichung_East,r10790 07da B092 0000 sts (GPS_Positionsabweichung_East)+1,r11791 07de C092 0000 sts (GPS_Positionsabweichung_East)+2,r12792 07e2 D092 0000 sts (GPS_Positionsabweichung_East)+3,r13793 07e6 00C0 rjmp .L96794 .L67:795 07e8 E090 0000 lds r14,GPS_Home_East796 07ec F090 0000 lds r15,(GPS_Home_East)+1797 07f0 0091 0000 lds r16,(GPS_Home_East)+2798 07f4 1091 0000 lds r17,(GPS_Home_East)+3799 07f8 E114 cp r14,__zero_reg__800 07fa F104 cpc r15,__zero_reg__801 07fc 0105 cpc r16,__zero_reg__802 07fe 1105 cpc r17,__zero_reg__803 0800 01F4 brne .+2804 0802 00C0 rjmp .L66805 0804 8091 0000 lds r24,NORTH_MITTEL806 0808 9091 0000 lds r25,(NORTH_MITTEL)+1807 080c A091 0000 lds r26,(NORTH_MITTEL)+2808 0810 B091 0000 lds r27,(NORTH_MITTEL)+3809 0814 281B sub r18,r24810 0816 390B sbc r19,r25811 0818 4A0B sbc r20,r26812 081a 5B0B sbc r21,r27813 081c 2093 0000 sts GPS_Positionsabweichung_North,r18814 0820 3093 0000 sts (GPS_Positionsabweichung_North)+1,r19815 0824 4093 0000 sts (GPS_Positionsabweichung_North)+2,r20816 0828 5093 0000 sts (GPS_Positionsabweichung_North)+3,r21817 082c 8091 0000 lds r24,EAST_MITTEL818 0830 9091 0000 lds r25,(EAST_MITTEL)+1819 0834 A091 0000 lds r26,(EAST_MITTEL)+2820 0838 B091 0000 lds r27,(EAST_MITTEL)+3821 083c E81A sub r14,r24822 083e F90A sbc r15,r25823 0840 0A0B sbc r16,r26824 0842 1B0B sbc r17,r27825 0844 E092 0000 sts GPS_Positionsabweichung_East,r14826 0848 F092 0000 sts (GPS_Positionsabweichung_East)+1,r15827 084c 0093 0000 sts (GPS_Positionsabweichung_East)+2,r16828 0850 1093 0000 sts (GPS_Positionsabweichung_East)+3,r17829 0854 8091 0000 lds r24,NORTH_MITTEL830 0858 9091 0000 lds r25,(NORTH_MITTEL)+1831 085c A091 0000 lds r26,(NORTH_MITTEL)+2832 0860 B091 0000 lds r27,(NORTH_MITTEL)+3833 0864 8093 0000 sts Soll_Position_North,r24834 0868 9093 0000 sts (Soll_Position_North)+1,r25835 086c A093 0000 sts (Soll_Position_North)+2,r26836 0870 B093 0000 sts (Soll_Position_North)+3,r27837 0874 8091 0000 lds r24,EAST_MITTEL838 0878 9091 0000 lds r25,(EAST_MITTEL)+1839 087c A091 0000 lds r26,(EAST_MITTEL)+2840 0880 B091 0000 lds r27,(EAST_MITTEL)+3841 0884 8093 0000 sts Soll_Position_East,r24842 0888 9093 0000 sts (Soll_Position_East)+1,r25843 088c A093 0000 sts (Soll_Position_East)+2,r26844 0890 B093 0000 sts (Soll_Position_East)+3,r27845 .L96:846 0894 439A sbi 40-0x20,3847 0896 00C0 rjmp .L66848 .L95:849 0898 8091 0000 lds r24,GPS_Home_East850 089c 9091 0000 lds r25,(GPS_Home_East)+1851 08a0 A091 0000 lds r26,(GPS_Home_East)+2852 08a4 B091 0000 lds r27,(GPS_Home_East)+3853 08a8 0097 sbiw r24,0854 08aa A105 cpc r26,__zero_reg__855 08ac B105 cpc r27,__zero_reg__856 08ae 01F4 brne .L66857 08b0 8091 0000 lds r24,NORTH_MITTEL858 08b4 9091 0000 lds r25,(NORTH_MITTEL)+1859 08b8 A091 0000 lds r26,(NORTH_MITTEL)+2860 08bc B091 0000 lds r27,(NORTH_MITTEL)+3861 08c0 E81A sub r14,r24862 08c2 F90A sbc r15,r25863 08c4 0A0B sbc r16,r26864 08c6 1B0B sbc r17,r27865 08c8 E092 0000 sts GPS_Positionsabweichung_North,r14866 08cc F092 0000 sts (GPS_Positionsabweichung_North)+1,r15867 08d0 0093 0000 sts (GPS_Positionsabweichung_North)+2,r16868 08d4 1093 0000 sts (GPS_Positionsabweichung_North)+3,r17869 08d8 8091 0000 lds r24,EAST_MITTEL870 08dc 9091 0000 lds r25,(EAST_MITTEL)+1871 08e0 A091 0000 lds r26,(EAST_MITTEL)+2872 08e4 B091 0000 lds r27,(EAST_MITTEL)+3873 08e8 A81A sub r10,r24874 08ea B90A sbc r11,r25875 08ec CA0A sbc r12,r26876 08ee DB0A sbc r13,r27877 08f0 A092 0000 sts GPS_Positionsabweichung_East,r10878 08f4 B092 0000 sts (GPS_Positionsabweichung_East)+1,r11879 08f8 C092 0000 sts (GPS_Positionsabweichung_East)+2,r12880 08fc D092 0000 sts (GPS_Positionsabweichung_East)+3,r13881 0900 439A sbi 40-0x20,3882 0902 82E3 ldi r24,lo8(50)883 0904 90E0 ldi r25,hi8(50)884 0906 9093 0000 sts (beeptime)+1,r25885 090a 8093 0000 sts beeptime,r24886 .L66:887 090e E090 0000 lds r14,actualPos+36888 0912 F090 0000 lds r15,(actualPos+36)+1889 0916 0091 0000 lds r16,(actualPos+36)+2890 091a 1091 0000 lds r17,(actualPos+36)+3891 091e E092 0000 sts GPS_Geschwindigkeit_North,r14892 0922 F092 0000 sts (GPS_Geschwindigkeit_North)+1,r15893 0926 0093 0000 sts (GPS_Geschwindigkeit_North)+2,r16894 092a 1093 0000 sts (GPS_Geschwindigkeit_North)+3,r17895 092e A090 0000 lds r10,actualPos+40896 0932 B090 0000 lds r11,(actualPos+40)+1897 0936 C090 0000 lds r12,(actualPos+40)+2898 093a D090 0000 lds r13,(actualPos+40)+3899 093e A092 0000 sts GPS_Geschwindigkeit_East,r10900 0942 B092 0000 sts (GPS_Geschwindigkeit_East)+1,r11901 0946 C092 0000 sts (GPS_Geschwindigkeit_East)+2,r12902 094a D092 0000 sts (GPS_Geschwindigkeit_East)+3,r13903 094e 6091 0000 lds r22,P_GPS_Verstaerkung904 0952 7091 0000 lds r23,(P_GPS_Verstaerkung)+1905 0956 6090 0000 lds r6,GPS_Positionsabweichung_North906 095a 7090 0000 lds r7,(GPS_Positionsabweichung_North)+1907 095e 8090 0000 lds r8,(GPS_Positionsabweichung_North)+2908 0962 9090 0000 lds r9,(GPS_Positionsabweichung_North)+3909 0966 8827 clr r24910 0968 77FD sbrc r23,7911 096a 8095 com r24912 096c 982F mov r25,r24913 096e A401 movw r20,r8914 0970 9301 movw r18,r6915 0972 0E94 0000 call __mulsi3916 0976 0E94 0000 call __floatsisf917 097a 2FE6 ldi r18,lo8(0x3a03126f)918 097c 32E1 ldi r19,hi8(0x3a03126f)919 097e 43E0 ldi r20,hlo8(0x3a03126f)920 0980 5AE3 ldi r21,hhi8(0x3a03126f)921 0982 0E94 0000 call __mulsf3922 0986 0E94 0000 call __fixsfsi923 098a 6987 std Y+9,r22924 098c 7A87 std Y+10,r23925 098e 8B87 std Y+11,r24926 0990 9C87 std Y+12,r25927 0992 6093 0000 sts P_Einfluss_North,r22928 0996 7093 0000 sts (P_Einfluss_North)+1,r23929 099a 8093 0000 sts (P_Einfluss_North)+2,r24930 099e 9093 0000 sts (P_Einfluss_North)+3,r25931 09a2 6091 0000 lds r22,D_GPS_Verstaerkung932 09a6 7091 0000 lds r23,(D_GPS_Verstaerkung)+1933 09aa 8827 clr r24934 09ac 77FD sbrc r23,7935 09ae 8095 com r24936 09b0 982F mov r25,r24937 09b2 A801 movw r20,r16938 09b4 9701 movw r18,r14939 09b6 0E94 0000 call __mulsi3940 09ba 0E94 0000 call __floatsisf941 09be 21E2 ldi r18,lo8(0x3b5a3c21)942 09c0 3CE3 ldi r19,hi8(0x3b5a3c21)943 09c2 4AE5 ldi r20,hlo8(0x3b5a3c21)944 09c4 5BE3 ldi r21,hhi8(0x3b5a3c21)945 09c6 0E94 0000 call __mulsf3946 09ca 0E94 0000 call __fixsfsi947 09ce 1B01 movw r2,r22948 09d0 2C01 movw r4,r24949 09d2 6093 0000 sts D_Einfluss_North,r22950 09d6 7093 0000 sts (D_Einfluss_North)+1,r23951 09da 8093 0000 sts (D_Einfluss_North)+2,r24952 09de 9093 0000 sts (D_Einfluss_North)+3,r25953 09e2 6091 0000 lds r22,P_GPS_Verstaerkung954 09e6 7091 0000 lds r23,(P_GPS_Verstaerkung)+1955 09ea E090 0000 lds r14,GPS_Positionsabweichung_East956 09ee F090 0000 lds r15,(GPS_Positionsabweichung_East)+1957 09f2 0091 0000 lds r16,(GPS_Positionsabweichung_East)+2958 09f6 1091 0000 lds r17,(GPS_Positionsabweichung_East)+3959 09fa 8827 clr r24960 09fc 77FD sbrc r23,7961 09fe 8095 com r24962 0a00 982F mov r25,r24963 0a02 A801 movw r20,r16964 0a04 9701 movw r18,r14965 0a06 0E94 0000 call __mulsi3966 0a0a 0E94 0000 call __floatsisf967 0a0e 2FE6 ldi r18,lo8(0x3a03126f)968 0a10 32E1 ldi r19,hi8(0x3a03126f)969 0a12 43E0 ldi r20,hlo8(0x3a03126f)970 0a14 5AE3 ldi r21,hhi8(0x3a03126f)971 0a16 0E94 0000 call __mulsf3972 0a1a 0E94 0000 call __fixsfsi973 0a1e 6D83 std Y+5,r22974 0a20 7E83 std Y+6,r23975 0a22 8F83 std Y+7,r24976 0a24 9887 std Y+8,r25977 0a26 6093 0000 sts P_Einfluss_East,r22978 0a2a 7093 0000 sts (P_Einfluss_East)+1,r23979 0a2e 8093 0000 sts (P_Einfluss_East)+2,r24980 0a32 9093 0000 sts (P_Einfluss_East)+3,r25981 0a36 6091 0000 lds r22,D_GPS_Verstaerkung982 0a3a 7091 0000 lds r23,(D_GPS_Verstaerkung)+1983 0a3e 8827 clr r24984 0a40 77FD sbrc r23,7985 0a42 8095 com r24986 0a44 982F mov r25,r24987 0a46 A601 movw r20,r12988 0a48 9501 movw r18,r10989 0a4a 0E94 0000 call __mulsi3990 0a4e 0E94 0000 call __floatsisf991 0a52 21E2 ldi r18,lo8(0x3b5a3c21)992 0a54 3CE3 ldi r19,hi8(0x3b5a3c21)993 0a56 4AE5 ldi r20,hlo8(0x3b5a3c21)994 0a58 5BE3 ldi r21,hhi8(0x3b5a3c21)995 0a5a 0E94 0000 call __mulsf3996 0a5e 0E94 0000 call __fixsfsi997 0a62 5B01 movw r10,r22998 0a64 6C01 movw r12,r24999 0a66 6093 0000 sts D_Einfluss_East,r221000 0a6a 7093 0000 sts (D_Einfluss_East)+1,r231001 0a6e 8093 0000 sts (D_Einfluss_East)+2,r241002 0a72 9093 0000 sts (D_Einfluss_East)+3,r251003 0a76 8E8D ldd r24,Y+301004 0a78 9F8D ldd r25,Y+311005 0a7a 8639 cpi r24,1501006 0a7c 9105 cpc r25,__zero_reg__1007 0a7e 04F4 brge .+21008 0a80 00C0 rjmp .L711009 0a82 8091 0000 lds r24,GPS_Home_North1010 0a86 9091 0000 lds r25,(GPS_Home_North)+11011 0a8a A091 0000 lds r26,(GPS_Home_North)+21012 0a8e B091 0000 lds r27,(GPS_Home_North)+31013 0a92 0097 sbiw r24,01014 0a94 A105 cpc r26,__zero_reg__1015 0a96 B105 cpc r27,__zero_reg__1016 0a98 01F4 brne .+21017 0a9a 00C0 rjmp .L711018 0a9c 8091 0000 lds r24,GPS_Home_East1019 0aa0 9091 0000 lds r25,(GPS_Home_East)+11020 0aa4 A091 0000 lds r26,(GPS_Home_East)+21021 0aa8 B091 0000 lds r27,(GPS_Home_East)+31022 0aac 0097 sbiw r24,01023 0aae A105 cpc r26,__zero_reg__1024 0ab0 B105 cpc r27,__zero_reg__1025 0ab2 01F4 brne .+21026 0ab4 00C0 rjmp .L711027 0ab6 C301 movw r24,r61028 0ab8 77FE sbrs r7,71029 0aba 00C0 rjmp .L761030 0abc 9095 com r251031 0abe 8195 neg r241032 0ac0 9F4F sbci r25,lo8(-1)1033 .L76:1034 0ac2 8B3F cpi r24,2511035 0ac4 9105 cpc r25,__zero_reg__1036 0ac6 04F4 brge .L751037 0ac8 C701 movw r24,r141038 0aca F7FE sbrs r15,71039 0acc 00C0 rjmp .L781040 0ace 9095 com r251041 0ad0 8195 neg r241042 0ad2 9F4F sbci r25,lo8(-1)1043 .L78:1044 0ad4 8B3F cpi r24,2511045 0ad6 9105 cpc r25,__zero_reg__1046 0ad8 04F4 brge .+21047 0ada 00C0 rjmp .L711048 .L75:1049 0adc 8091 0000 lds r24,Limit_D_Anteil1050 0ae0 282F mov r18,r241051 0ae2 3327 clr r191052 0ae4 4427 clr r201053 0ae6 5527 clr r211054 0ae8 2215 cp r18,r21055 0aea 3305 cpc r19,r31056 0aec 4405 cpc r20,r41057 0aee 5505 cpc r21,r51058 0af0 04F4 brge .L791059 0af2 2093 0000 sts D_Einfluss_North,r181060 0af6 3093 0000 sts (D_Einfluss_North)+1,r191061 0afa 4093 0000 sts (D_Einfluss_North)+2,r201062 0afe 5093 0000 sts (D_Einfluss_North)+3,r211063 .L79:1064 0b02 2A15 cp r18,r101065 0b04 3B05 cpc r19,r111066 0b06 4C05 cpc r20,r121067 0b08 5D05 cpc r21,r131068 0b0a 04F4 brge .L811069 0b0c 2093 0000 sts D_Einfluss_East,r181070 0b10 3093 0000 sts (D_Einfluss_East)+1,r191071 0b14 4093 0000 sts (D_Einfluss_East)+2,r201072 0b18 5093 0000 sts (D_Einfluss_East)+3,r211073 .L81:1074 0b1c 9927 clr r251075 0b1e 9095 com r251076 0b20 8195 neg r241077 0b22 9F4F sbci r25,lo8(-1)1078 0b24 9C01 movw r18,r241079 0b26 4427 clr r201080 0b28 37FD sbrc r19,71081 0b2a 4095 com r201082 0b2c 542F mov r21,r201083 0b2e 8091 0000 lds r24,D_Einfluss_North1084 0b32 9091 0000 lds r25,(D_Einfluss_North)+11085 0b36 A091 0000 lds r26,(D_Einfluss_North)+21086 0b3a B091 0000 lds r27,(D_Einfluss_North)+31087 0b3e 8217 cp r24,r181088 0b40 9307 cpc r25,r191089 0b42 A407 cpc r26,r201090 0b44 B507 cpc r27,r211091 0b46 04F4 brge .L831092 0b48 2093 0000 sts D_Einfluss_North,r181093 0b4c 3093 0000 sts (D_Einfluss_North)+1,r191094 0b50 4093 0000 sts (D_Einfluss_North)+2,r201095 0b54 5093 0000 sts (D_Einfluss_North)+3,r211096 .L83:1097 0b58 8091 0000 lds r24,D_Einfluss_East1098 0b5c 9091 0000 lds r25,(D_Einfluss_East)+11099 0b60 A091 0000 lds r26,(D_Einfluss_East)+21100 0b64 B091 0000 lds r27,(D_Einfluss_East)+31101 0b68 8217 cp r24,r181102 0b6a 9307 cpc r25,r191103 0b6c A407 cpc r26,r201104 0b6e B507 cpc r27,r211105 0b70 04F4 brge .L711106 0b72 2093 0000 sts D_Einfluss_East,r181107 0b76 3093 0000 sts (D_Einfluss_East)+1,r191108 0b7a 4093 0000 sts (D_Einfluss_East)+2,r201109 0b7e 5093 0000 sts (D_Einfluss_East)+3,r211110 .L71:1111 0b82 E090 0000 lds r14,D_Einfluss_North1112 0b86 F090 0000 lds r15,(D_Einfluss_North)+11113 0b8a A985 ldd r26,Y+91114 0b8c BA85 ldd r27,Y+101115 0b8e EA1A sub r14,r261116 0b90 FB0A sbc r15,r271117 0b92 F092 0000 sts (GPS_North)+1,r151118 0b96 E092 0000 sts GPS_North,r141119 0b9a 8091 0000 lds r24,D_Einfluss_East1120 0b9e 9091 0000 lds r25,(D_Einfluss_East)+11121 0ba2 6D81 ldd r22,Y+51122 0ba4 7E81 ldd r23,Y+61123 0ba6 681B sub r22,r241124 0ba8 790B sbc r23,r251125 0baa 7093 0000 sts (GPS_East)+1,r231126 0bae 6093 0000 sts GPS_East,r221127 0bb2 C090 0000 lds r12,KompassValue1128 0bb6 D090 0000 lds r13,(KompassValue)+11129 0bba 8827 clr r241130 0bbc 77FD sbrc r23,71131 0bbe 8095 com r241132 0bc0 982F mov r25,r241133 0bc2 0E94 0000 call __floatsisf1134 0bc6 3B01 movw r6,r221135 0bc8 4C01 movw r8,r241136 0bca A090 0000 lds r10,KompassValue1137 0bce B090 0000 lds r11,(KompassValue)+11138 0bd2 0027 clr r161139 0bd4 F7FC sbrc r15,71140 0bd6 0095 com r161141 0bd8 102F mov r17,r161142 0bda C801 movw r24,r161143 0bdc B701 movw r22,r141144 0bde 0E94 0000 call __floatsisf1145 0be2 1B01 movw r2,r221146 0be4 2C01 movw r4,r241147 0be6 CC0C lsl r121148 0be8 DD1C rol r131149 0bea E0E0 ldi r30,lo8(c_sin)1150 0bec F0E0 ldi r31,hi8(c_sin)1151 0bee CE0E add r12,r301152 0bf0 DF1E adc r13,r311153 0bf2 D601 movw r26,r121154 0bf4 6D91 ld r22,X+1155 0bf6 7C91 ld r23,X1156 0bf8 7095 com r231157 0bfa 6195 neg r221158 0bfc 7F4F sbci r23,lo8(-1)1159 0bfe 8827 clr r241160 0c00 77FD sbrc r23,71161 0c02 8095 com r241162 0c04 982F mov r25,r241163 0c06 0E94 0000 call __floatsisf1164 0c0a 2FE6 ldi r18,lo8(0x3a83126f)1165 0c0c 32E1 ldi r19,hi8(0x3a83126f)1166 0c0e 43E8 ldi r20,hlo8(0x3a83126f)1167 0c10 5AE3 ldi r21,hhi8(0x3a83126f)1168 0c12 0E94 0000 call __mulsf31169 0c16 A401 movw r20,r81170 0c18 9301 movw r18,r61171 0c1a 0E94 0000 call __mulsf31172 0c1e 7B01 movw r14,r221173 0c20 8C01 movw r16,r241174 0c22 AA0C lsl r101175 0c24 BB1C rol r111176 0c26 E0E0 ldi r30,lo8(c_cos)1177 0c28 F0E0 ldi r31,hi8(c_cos)1178 0c2a AE0E add r10,r301179 0c2c BF1E adc r11,r311180 0c2e D501 movw r26,r101181 0c30 6D91 ld r22,X+1182 0c32 7C91 ld r23,X1183 0c34 8827 clr r241184 0c36 77FD sbrc r23,71185 0c38 8095 com r241186 0c3a 982F mov r25,r241187 0c3c 0E94 0000 call __floatsisf1188 0c40 2FE6 ldi r18,lo8(0x3a83126f)1189 0c42 32E1 ldi r19,hi8(0x3a83126f)1190 0c44 43E8 ldi r20,hlo8(0x3a83126f)1191 0c46 5AE3 ldi r21,hhi8(0x3a83126f)1192 0c48 0E94 0000 call __mulsf31193 0c4c A201 movw r20,r41194 0c4e 9101 movw r18,r21195 0c50 0E94 0000 call __mulsf31196 0c54 9B01 movw r18,r221197 0c56 AC01 movw r20,r241198 0c58 C801 movw r24,r161199 0c5a B701 movw r22,r141200 0c5c 0E94 0000 call __addsf31201 0c60 0E94 0000 call __fixsfsi1202 0c64 5B01 movw r10,r221203 0c66 7093 0000 sts (GPS_Nick)+1,r231204 0c6a 6093 0000 sts GPS_Nick,r221205 0c6e E091 0000 lds r30,KompassValue1206 0c72 F091 0000 lds r31,(KompassValue)+11207 0c76 0091 0000 lds r16,KompassValue1208 0c7a 1091 0000 lds r17,(KompassValue)+11209 0c7e EE0F lsl r301210 0c80 FF1F rol r311211 0c82 E050 subi r30,lo8(-(c_cos))1212 0c84 F040 sbci r31,hi8(-(c_cos))1213 0c86 6081 ld r22,Z1214 0c88 7181 ldd r23,Z+11215 0c8a 8827 clr r241216 0c8c 77FD sbrc r23,71217 0c8e 8095 com r241218 0c90 982F mov r25,r241219 0c92 0E94 0000 call __floatsisf1220 0c96 2FE6 ldi r18,lo8(0x3a83126f)1221 0c98 32E1 ldi r19,hi8(0x3a83126f)1222 0c9a 43E8 ldi r20,hlo8(0x3a83126f)1223 0c9c 5AE3 ldi r21,hhi8(0x3a83126f)1224 0c9e 0E94 0000 call __mulsf31225 0ca2 A401 movw r20,r81226 0ca4 9301 movw r18,r61227 0ca6 0E94 0000 call __mulsf31228 0caa 6B01 movw r12,r221229 0cac 7C01 movw r14,r241230 0cae 000F lsl r161231 0cb0 111F rol r171232 0cb2 0050 subi r16,lo8(-(c_sin))1233 0cb4 1040 sbci r17,hi8(-(c_sin))1234 0cb6 F801 movw r30,r161235 0cb8 6081 ld r22,Z1236 0cba 7181 ldd r23,Z+11237 0cbc 8827 clr r241238 0cbe 77FD sbrc r23,71239 0cc0 8095 com r241240 0cc2 982F mov r25,r241241 0cc4 0E94 0000 call __floatsisf1242 0cc8 2FE6 ldi r18,lo8(0x3a83126f)1243 0cca 32E1 ldi r19,hi8(0x3a83126f)1244 0ccc 43E8 ldi r20,hlo8(0x3a83126f)1245 0cce 5AE3 ldi r21,hhi8(0x3a83126f)1246 0cd0 0E94 0000 call __mulsf31247 0cd4 A201 movw r20,r41248 0cd6 9101 movw r18,r21249 0cd8 0E94 0000 call __mulsf31250 0cdc 9B01 movw r18,r221251 0cde AC01 movw r20,r241252 0ce0 C701 movw r24,r141253 0ce2 B601 movw r22,r121254 0ce4 0E94 0000 call __addsf31255 0ce8 0E94 0000 call __fixsfsi1256 0cec 9B01 movw r18,r221257 0cee 7093 0000 sts (GPS_Roll)+1,r231258 0cf2 6093 0000 sts GPS_Roll,r221259 0cf6 F4E2 ldi r31,lo8(36)1260 0cf8 AF16 cp r10,r311261 0cfa B104 cpc r11,__zero_reg__1262 0cfc 04F0 brlt .L861263 0cfe 83E2 ldi r24,lo8(35)1264 0d00 90E0 ldi r25,hi8(35)1265 0d02 9093 0000 sts (GPS_Nick)+1,r251266 0d06 8093 0000 sts GPS_Nick,r241267 .L86:1268 0d0a 2432 cpi r18,361269 0d0c 3105 cpc r19,__zero_reg__1270 0d0e 04F0 brlt .L881271 0d10 83E2 ldi r24,lo8(35)1272 0d12 90E0 ldi r25,hi8(35)1273 0d14 9093 0000 sts (GPS_Roll)+1,r251274 0d18 8093 0000 sts GPS_Roll,r241275 .L88:1276 0d1c 8091 0000 lds r24,GPS_Nick1277 0d20 9091 0000 lds r25,(GPS_Nick)+11278 0d24 8D5D subi r24,lo8(-35)1279 0d26 9F4F sbci r25,hi8(-35)1280 0d28 04F4 brge .L901281 0d2a 8DED ldi r24,lo8(-35)1282 0d2c 9FEF ldi r25,hi8(-35)1283 0d2e 9093 0000 sts (GPS_Nick)+1,r251284 0d32 8093 0000 sts GPS_Nick,r241285 .L90:1286 0d36 8091 0000 lds r24,GPS_Roll1287 0d3a 9091 0000 lds r25,(GPS_Roll)+11288 0d3e 8D5D subi r24,lo8(-35)1289 0d40 9F4F sbci r25,hi8(-35)1290 0d42 04F4 brge .L921291 0d44 8DED ldi r24,lo8(-35)1292 0d46 9FEF ldi r25,hi8(-35)1293 0d48 9093 0000 sts (GPS_Roll)+1,r251294 0d4c 8093 0000 sts GPS_Roll,r241295 .L92:1296 0d50 1092 0000 sts NeuerMittelwert,__zero_reg__1297 0d54 00C0 rjmp .L941298 .L64:1299 0d56 2091 0000 lds r18,GPS_Home_North1300 0d5a 3091 0000 lds r19,(GPS_Home_North)+11301 0d5e 4091 0000 lds r20,(GPS_Home_North)+21302 0d62 5091 0000 lds r21,(GPS_Home_North)+31303 0d66 2115 cp r18,__zero_reg__1304 0d68 3105 cpc r19,__zero_reg__1305 0d6a 4105 cpc r20,__zero_reg__1306 0d6c 5105 cpc r21,__zero_reg__1307 0d6e 01F0 breq .+21308 0d70 00C0 rjmp .L671309 0d72 00C0 rjmp .L951310 .L94:1311 /* epilogue: frame size=31 */1312 0d74 6F96 adiw r28,311313 0d76 0FB6 in __tmp_reg__,__SREG__1314 0d78 F894 cli1315 0d7a DEBF out __SP_H__,r291316 0d7c 0FBE out __SREG__,__tmp_reg__1317 0d7e CDBF out __SP_L__,r281318 0d80 DF91 pop r291319 0d82 CF91 pop r281320 0d84 1F91 pop r171321 0d86 0F91 pop r161322 0d88 FF90 pop r151323 0d8a EF90 pop r141324 0d8c DF90 pop r131325 0d8e CF90 pop r121326 0d90 BF90 pop r111327 0d92 AF90 pop r101328 0d94 9F90 pop r91329 0d96 8F90 pop r81330 0d98 7F90 pop r71331 0d9a 6F90 pop r61332 0d9c 5F90 pop r51333 0d9e 4F90 pop r41334 0da0 3F90 pop r31335 0da2 2F90 pop r21336 0da4 0895 ret1337 /* epilogue end (size=25) */1338 /* function gps_main size 1755 (1704) */1340 .global c_sin1341 .data1344 c_sin:1345 0000 0000 .word 01346 0002 1100 .word 171347 0004 2200 .word 341348 0006 3400 .word 521349 0008 4500 .word 691350 000a 5700 .word 871351 000c 6800 .word 1041352 000e 7900 .word 1211353 0010 8B00 .word 1391354 0012 9C00 .word 1561355 0014 AD00 .word 1731356 0016 BE00 .word 1901357 0018 CF00 .word 2071358 001a E000 .word 2241359 001c F100 .word 2411360 001e 0201 .word 2581361 0020 1301 .word 2751362 0022 2401 .word 2921363 0024 3501 .word 3091364 0026 4501 .word 3251365 0028 5601 .word 3421366 002a 6601 .word 3581367 002c 7601 .word 3741368 002e 8601 .word 3901369 0030 9601 .word 4061370 0032 A601 .word 4221371 0034 B601 .word 4381372 0036 C501 .word 4531373 0038 D501 .word 4691374 003a E401 .word 4841375 003c F401 .word 5001376 003e 0302 .word 5151377 0040 1102 .word 5291378 0042 2002 .word 5441379 0044 2F02 .word 5591380 0046 3D02 .word 5731381 0048 4B02 .word 5871382 004a 5902 .word 6011383 004c 6702 .word 6151384 004e 7502 .word 6291385 0050 8202 .word 6421386 0052 9002 .word 6561387 0054 9D02 .word 6691388 0056 AA02 .word 6821389 0058 B602 .word 6941390 005a C302 .word 7071391 005c CF02 .word 7191392 005e DB02 .word 7311393 0060 E702 .word 7431394 0062 F202 .word 7541395 0064 FE02 .word 7661396 0066 0903 .word 7771397 0068 1403 .word 7881398 006a 1E03 .word 7981399 006c 2903 .word 8091400 006e 3303 .word 8191401 0070 3D03 .word 8291402 0072 4603 .word 8381403 0074 5003 .word 8481404 0076 5903 .word 8571405 0078 6203 .word 8661406 007a 6A03 .word 8741407 007c 7203 .word 8821408 007e 7B03 .word 8911409 0080 8203 .word 8981410 0082 8A03 .word 9061411 0084 9103 .word 9131412 0086 9803 .word 9201413 0088 9F03 .word 9271414 008a A503 .word 9331415 008c AB03 .word 9391416 008e B103 .word 9451417 0090 B703 .word 9511418 0092 BC03 .word 9561419 0094 C103 .word 9611420 0096 C503 .word 9651421 0098 CA03 .word 9701422 009a CE03 .word 9741423 009c D203 .word 9781424 009e D503 .word 9811425 00a0 D803 .word 9841426 00a2 DB03 .word 9871427 00a4 DE03 .word 9901428 00a6 E003 .word 9921429 00a8 E203 .word 9941430 00aa E403 .word 9961431 00ac E503 .word 9971432 00ae E603 .word 9981433 00b0 E703 .word 9991434 00b2 E703 .word 9991435 00b4 E803 .word 10001436 00b6 E703 .word 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.word -7431848 03e6 0EFD .word -7541849 03e8 02FD .word -7661850 03ea F7FC .word -7771851 03ec ECFC .word -7881852 03ee E2FC .word -7981853 03f0 D7FC .word -8091854 03f2 CDFC .word -8191855 03f4 C3FC .word -8291856 03f6 BAFC .word -8381857 03f8 B0FC .word -8481858 03fa A7FC .word -8571859 03fc 9EFC .word -8661860 03fe 96FC .word -8741861 0400 8EFC .word -8821862 0402 85FC .word -8911863 0404 7EFC .word -8981864 0406 76FC .word -9061865 0408 6FFC .word -9131866 040a 68FC .word -9201867 040c 61FC .word -9271868 040e 5BFC .word -9331869 0410 55FC .word -9391870 0412 4FFC .word -9451871 0414 49FC .word -9511872 0416 44FC .word -9561873 0418 3FFC .word -9611874 041a 3BFC .word -9651875 041c 36FC .word -9701876 041e 32FC .word -9741877 0420 2EFC .word -9781878 0422 2BFC .word -9811879 0424 28FC .word -9841880 0426 25FC .word -9871881 0428 22FC .word -9901882 042a 20FC .word -9921883 042c 1EFC .word -9941884 042e 1CFC .word -9961885 0430 1BFC .word -9971886 0432 1AFC .word -9981887 0434 19FC .word -9991888 0436 19FC .word -9991889 0438 18FC .word -10001890 043a 19FC .word -9991891 043c 19FC .word -9991892 043e 1AFC .word -9981893 0440 1BFC .word -9971894 0442 1CFC .word -9961895 0444 1EFC .word -9941896 0446 20FC .word -9921897 0448 22FC .word -9901898 044a 25FC .word -9871899 044c 28FC .word -9841900 044e 2BFC .word -9811901 0450 2EFC .word -9781902 0452 32FC .word -9741903 0454 36FC .word -9701904 0456 3BFC .word -9651905 0458 3FFC .word -9611906 045a 44FC .word -9561907 045c 49FC .word -9511908 045e 4FFC .word -9451909 0460 55FC .word -9391910 0462 5BFC .word -9331911 0464 61FC .word -9271912 0466 68FC .word -9201913 0468 6FFC .word -9131914 046a 76FC .word -9061915 046c 7EFC .word -8981916 046e 85FC .word -8911917 0470 8EFC .word -8821918 0472 96FC .word -8741919 0474 9EFC .word -8661920 0476 A7FC .word -8571921 0478 B0FC .word -8481922 047a BAFC .word -8381923 047c C3FC .word -8291924 047e CDFC .word -8191925 0480 D7FC .word -8091926 0482 E2FC .word -7981927 0484 ECFC .word -7881928 0486 F7FC .word -7771929 0488 02FD .word -7661930 048a 0EFD .word -7541931 048c 19FD .word -7431932 048e 25FD .word -7311933 0490 31FD .word -7191934 0492 3DFD .word -7071935 0494 4AFD .word -6941936 0496 56FD .word -6821937 0498 63FD .word -6691938 049a 70FD .word -6561939 049c 7EFD .word -6421940 049e 8BFD .word -6291941 04a0 99FD .word -6151942 04a2 A7FD .word -6011943 04a4 B5FD .word -5871944 04a6 C3FD .word -5731945 04a8 D1FD .word -5591946 04aa E0FD .word -5441947 04ac EFFD .word -5291948 04ae FDFD .word -5151949 04b0 0CFE .word -5001950 04b2 1CFE .word -4841951 04b4 2BFE .word -4691952 04b6 3BFE .word -4531953 04b8 4AFE .word -4381954 04ba 5AFE .word -4221955 04bc 6AFE .word -4061956 04be 7AFE .word -3901957 04c0 8AFE .word -3741958 04c2 9AFE .word -3581959 04c4 AAFE .word -3421960 04c6 BBFE .word -3251961 04c8 CBFE .word -3091962 04ca DCFE .word -2921963 04cc EDFE .word -2751964 04ce FEFE .word -2581965 04d0 0FFF .word -2411966 04d2 20FF .word -2241967 04d4 31FF .word -2071968 04d6 42FF .word -1901969 04d8 53FF .word -1731970 04da 64FF .word -1561971 04dc 75FF .word -1391972 04de 87FF .word -1211973 04e0 98FF .word -1041974 04e2 A9FF .word -871975 04e4 BBFF .word -691976 04e6 CCFF .word -521977 04e8 DEFF .word -341978 04ea EFFF .word -171979 04ec 0000 .word 01980 04ee 1100 .word 171981 04f0 2200 .word 341982 04f2 3400 .word 521983 04f4 4500 .word 691984 04f6 5700 .word 871985 04f8 6800 .word 1041986 04fa 7900 .word 1211987 04fc 8B00 .word 1391988 04fe 9C00 .word 1561989 0500 AD00 .word 1731990 0502 BE00 .word 1901991 0504 CF00 .word 2071992 0506 E000 .word 2241993 0508 F100 .word 2411994 050a 0201 .word 2581995 050c 1301 .word 2751996 050e 2401 .word 2921997 0510 3501 .word 3091998 0512 4501 .word 3251999 0514 5601 .word 3422000 0516 6601 .word 3582001 0518 7601 .word 3742002 051a 8601 .word 3902003 051c 9601 .word 4062004 051e A601 .word 4222005 0520 B601 .word 4382006 0522 C501 .word 4532007 0524 D501 .word 4692008 0526 E401 .word 4842009 0528 F401 .word 5002010 052a 0302 .word 5152011 052c 1102 .word 5292012 052e 2002 .word 5442013 0530 2F02 .word 5592014 0532 3D02 .word 5732015 0534 4B02 .word 5872016 0536 5902 .word 6012017 0538 6702 .word 6152018 053a 7502 .word 6292019 053c 8202 .word 6422020 053e 9002 .word 6562021 0540 9D02 .word 6692022 0542 AA02 .word 6822023 0544 B602 .word 6942024 0546 C302 .word 7072025 0548 CF02 .word 7192026 054a DB02 .word 7312027 054c E702 .word 7432028 054e F202 .word 7542029 0550 FE02 .word 7662030 0552 0903 .word 7772031 0554 1403 .word 7882032 0556 1E03 .word 7982033 0558 2903 .word 8092034 055a 3303 .word 8192035 055c 3D03 .word 8292036 055e 4603 .word 8382037 0560 5003 .word 8482038 0562 5903 .word 8572039 0564 6203 .word 8662040 0566 6A03 .word 8742041 0568 7203 .word 8822042 056a 7B03 .word 8912043 056c 8203 .word 8982044 056e 8A03 .word 9062045 0570 9103 .word 9132046 0572 9803 .word 9202047 0574 9F03 .word 9272048 0576 A503 .word 9332049 0578 AB03 .word 9392050 057a B103 .word 9452051 057c B703 .word 9512052 057e BC03 .word 9562053 0580 C103 .word 9612054 0582 C503 .word 9652055 0584 CA03 .word 9702056 0586 CE03 .word 9742057 0588 D203 .word 9782058 058a D503 .word 9812059 058c D803 .word 9842060 058e DB03 .word 9872061 0590 DE03 .word 9902062 0592 E003 .word 9922063 0594 E203 .word 9942064 0596 E403 .word 9962065 0598 E503 .word 9972066 059a E603 .word 9982067 059c E703 .word 9992068 059e E703 .word 9992069 .global Soll_Position_North2070 .global Soll_Position_North2071 .section .bss2074 Soll_Position_North:2075 0000 0000 0000 .skip 4,02076 .global Soll_Position_East2077 .global Soll_Position_East2080 Soll_Position_East:2081 0004 0000 0000 .skip 4,02082 .global GPS_Positionsabweichung_North2083 .global GPS_Positionsabweichung_North2086 GPS_Positionsabweichung_North:2087 0008 0000 0000 .skip 4,02088 .global GPS_Positionsabweichung_East2089 .global GPS_Positionsabweichung_East2092 GPS_Positionsabweichung_East:2093 000c 0000 0000 .skip 4,02094 .global GPS_Geschwindigkeit_North2095 .global GPS_Geschwindigkeit_North2098 GPS_Geschwindigkeit_North:2099 0010 0000 0000 .skip 4,02100 .global GPS_Geschwindigkeit_East2101 .global GPS_Geschwindigkeit_East2104 GPS_Geschwindigkeit_East:2105 0014 0000 0000 .skip 4,02106 .global P_Einfluss_North2107 .global P_Einfluss_North2110 P_Einfluss_North:2111 0018 0000 0000 .skip 4,02112 .global D_Einfluss_North2113 .global D_Einfluss_North2116 D_Einfluss_North:2117 001c 0000 0000 .skip 4,02118 .global P_Einfluss_East2119 .global P_Einfluss_East2122 P_Einfluss_East:2123 0020 0000 0000 .skip 4,02124 .global D_Einfluss_East2125 .global D_Einfluss_East2128 D_Einfluss_East:2129 0024 0000 0000 .skip 4,02130 .global GPS_North2131 .global GPS_North2134 GPS_North:2135 0028 0000 .skip 2,02136 .global GPS_East2137 .global GPS_East2140 GPS_East:2141 002a 0000 .skip 2,02142 .global GPS_Nick2143 .global GPS_Nick2146 GPS_Nick:2147 002c 0000 .skip 2,02148 .global GPS_Roll2149 .global GPS_Roll2152 GPS_Roll:2153 002e 0000 .skip 2,02154 .global gethome2155 .global gethome2158 gethome:2159 0030 00 .skip 1,02160 .global GPS_Home_North2161 .global GPS_Home_North2164 GPS_Home_North:2165 0031 0000 0000 .skip 4,02166 .global GPS_Home_East2167 .global GPS_Home_East2170 GPS_Home_East:2171 0035 0000 0000 .skip 4,02172 .global blinkcount_LED22173 .global blinkcount_LED22176 blinkcount_LED2:2177 0039 00 .skip 1,02178 .global NeuerMittelwert2179 .global NeuerMittelwert2182 NeuerMittelwert:2183 003a 00 .skip 1,02184 .global FilterPos2185 .global FilterPos2188 FilterPos:2189 003b 00 .skip 1,02190 .global NORTH_MITTEL2191 .global NORTH_MITTEL2194 NORTH_MITTEL:2195 003c 0000 0000 .skip 4,02196 .global EAST_MITTEL2197 .global EAST_MITTEL2200 EAST_MITTEL:2201 0040 0000 0000 .skip 4,02202 .global NORTH_LONG_LONG2203 .global NORTH_LONG_LONG2206 NORTH_LONG_LONG:2207 0044 0000 0000 .skip 8,02207 0000 00002208 .global EAST_LONG_LONG2209 .global EAST_LONG_LONG2212 EAST_LONG_LONG:2213 004c 0000 0000 .skip 8,02213 0000 00002214 .global filterfilled2215 .global filterfilled2218 filterfilled:2219 0054 0000 .skip 2,02220 .comm DiffNick,2,12221 .comm DiffRoll,2,12222 .comm SenderOkay,1,12223 .comm CosinusNickWinkel,1,12224 .comm CosinusRollWinkel,1,12225 .comm durchschnitt_northing,4,12226 .comm durchschnitt_easting,4,12227 .comm P_GPS_Verstaerkung,2,12228 .comm D_GPS_Verstaerkung,2,12229 .comm RemoteTasten,1,12230 .comm Timeout,1,12231 .comm IntegralNick,4,12232 .comm IntegralNick2,4,12233 .comm IntegralRoll,4,12234 .comm IntegralRoll2,4,12235 .comm Mess_IntegralNick,4,12236 .comm Mess_IntegralNick2,4,12237 .comm Mess_IntegralRoll,4,12238 .comm Mess_IntegralRoll2,4,12239 .comm Integral_Gier,4,12240 .comm Mess_Integral_Gier,4,12241 .comm h,1,12242 .comm m,1,12243 .comm s,1,12244 .comm Motor_Vorne,1,12245 .comm Motor_Hinten,1,12246 .comm Motor_Rechts,1,12247 .comm Motor_Links,1,12248 .comm Count,1,12249 .comm MotorWert,5,12250 .comm filter_north,32,12251 .comm filter_east,32,12252 /* File "GPS.c": code 1755 = 0x06db (1704), prologues 26, epilogues 25 */DEFINED SYMBOLS*ABS*:00000000 GPS.cC:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:3 *ABS*:0000003f __SREG__C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:4 *ABS*:0000003e __SP_H__C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:5 *ABS*:0000003d __SP_L__C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:6 *ABS*:00000000 __tmp_reg__C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:7 *ABS*:00000001 __zero_reg__C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:13 .text:00000000 gps_mainC:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2188 .bss:0000003b FilterPos*COM*:00000020 filter_north*COM*:00000020 filter_eastC:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2218 .bss:00000054 filterfilledC:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2206 .bss:00000044 NORTH_LONG_LONGC:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2212 .bss:0000004c EAST_LONG_LONGC:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2194 .bss:0000003c NORTH_MITTELC:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2200 .bss:00000040 EAST_MITTELC:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2182 .bss:0000003a NeuerMittelwertC:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2146 .bss:0000002c GPS_NickC:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2152 .bss:0000002e GPS_RollC:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2158 .bss:00000030 gethomeC:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2164 .bss:00000031 GPS_Home_NorthC:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2170 .bss:00000035 GPS_Home_EastC:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2074 .bss:00000000 Soll_Position_NorthC:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2080 .bss:00000004 Soll_Position_EastC:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2176 .bss:00000039 blinkcount_LED2C:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2086 .bss:00000008 GPS_Positionsabweichung_NorthC:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2092 .bss:0000000c GPS_Positionsabweichung_EastC:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2098 .bss:00000010 GPS_Geschwindigkeit_NorthC:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2104 .bss:00000014 GPS_Geschwindigkeit_East*COM*:00000002 P_GPS_VerstaerkungC:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2110 .bss:00000018 P_Einfluss_North*COM*:00000002 D_GPS_VerstaerkungC:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2116 .bss:0000001c D_Einfluss_NorthC:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2122 .bss:00000020 P_Einfluss_EastC:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2128 .bss:00000024 D_Einfluss_EastC:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2134 .bss:00000028 GPS_NorthC:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:2140 .bss:0000002a GPS_EastC:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:1344 .data:00000000 c_sinC:\DOKUME~1\none\LOKALE~1\Temp/cc7fUdHj.s:1708 .data:000002d0 c_cos*COM*:00000002 DiffNick*COM*:00000002 DiffRoll*COM*:00000001 SenderOkay*COM*:00000001 CosinusNickWinkel*COM*:00000001 CosinusRollWinkel*COM*:00000004 durchschnitt_northing*COM*:00000004 durchschnitt_easting*COM*:00000001 RemoteTasten*COM*:00000001 Timeout*COM*:00000004 IntegralNick*COM*:00000004 IntegralNick2*COM*:00000004 IntegralRoll*COM*:00000004 IntegralRoll2*COM*:00000004 Mess_IntegralNick*COM*:00000004 Mess_IntegralNick2*COM*:00000004 Mess_IntegralRoll*COM*:00000004 Mess_IntegralRoll2*COM*:00000004 Integral_Gier*COM*:00000004 Mess_Integral_Gier*COM*:00000001 h*COM*:00000001 m*COM*:00000001 s*COM*:00000001 Motor_Vorne*COM*:00000001 Motor_Hinten*COM*:00000001 Motor_Rechts*COM*:00000001 Motor_Links*COM*:00000001 Count*COM*:00000005 MotorWertUNDEFINED SYMBOLS__do_copy_data__do_clear_bssactualPos__divdi3MotorenEinPoti3beeptimemodell_fliegt_gpsStickNickStickRoll__mulsi3__floatsisf__mulsf3__fixsfsiLimit_D_AnteilKompassValue__addsf3