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1 .file "fc.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 Mittelwert13 Mittelwert:14 /* prologue: frame size=0 */15 0000 AF92 push r1016 0002 BF92 push r1117 0004 CF92 push r1218 0006 DF92 push r1319 0008 EF92 push r1420 000a FF92 push r1521 000c 0F93 push r1622 000e 1F93 push r1723 /* prologue end (size=8) */24 0010 1092 7A00 sts 122,__zero_reg__25 0014 8091 0000 lds r24,MessanzahlNick26 0018 8823 tst r2427 001a 01F0 breq .L228 001c 8091 0000 lds r24,AccumulateNick29 0020 9091 0000 lds r25,(AccumulateNick)+130 0024 6091 0000 lds r22,MessanzahlNick31 0028 7727 clr r2332 002a 0E94 0000 call __divmodhi433 002e 7093 0000 sts (MesswertNick)+1,r2334 0032 6093 0000 sts MesswertNick,r2235 .L2:36 0036 8091 0000 lds r24,MessanzahlRoll37 003a 8823 tst r2438 003c 01F0 breq .L439 003e 8091 0000 lds r24,AccumulateRoll40 0042 9091 0000 lds r25,(AccumulateRoll)+141 0046 6091 0000 lds r22,MessanzahlRoll42 004a 7727 clr r2343 004c 0E94 0000 call __divmodhi444 0050 7093 0000 sts (MesswertRoll)+1,r2345 0054 6093 0000 sts MesswertRoll,r2246 .L4:47 0058 8091 0000 lds r24,MessanzahlGier48 005c 8823 tst r2449 005e 01F0 breq .L650 0060 8091 0000 lds r24,AccumulateGier51 0064 9091 0000 lds r25,(AccumulateGier)+152 0068 6091 0000 lds r22,MessanzahlGier53 006c 7727 clr r2354 006e 0E94 0000 call __divmodhi455 0072 7093 0000 sts (MesswertGier)+1,r2356 0076 6093 0000 sts MesswertGier,r2257 .L6:58 007a 8091 0000 lds r24,messanzahl_AccNick59 007e 8823 tst r2460 0080 01F0 breq .L861 0082 E090 0000 lds r14,Mittelwert_AccNick62 0086 F090 0000 lds r15,(Mittelwert_AccNick)+163 008a 6091 0000 lds r22,accumulate_AccNick64 008e 7091 0000 lds r23,(accumulate_AccNick)+165 0092 2091 0000 lds r18,messanzahl_AccNick66 0096 0027 clr r1667 0098 F7FC sbrc r15,768 009a 0095 com r1669 009c 102F mov r17,r1670 009e 5701 movw r10,r1471 00a0 6801 movw r12,r1672 00a2 43E0 ldi r20,373 00a4 AA0C 1: lsl r1074 00a6 BB1C rol r1175 00a8 CC1C rol r1276 00aa DD1C rol r1377 00ac 4A95 dec r2078 00ae 01F4 brne 1b79 00b0 AE18 sub r10,r1480 00b2 BF08 sbc r11,r1581 00b4 C00A sbc r12,r1682 00b6 D10A sbc r13,r1783 00b8 8827 clr r2484 00ba 77FD sbrc r23,785 00bc 8095 com r2486 00be 982F mov r25,r2487 00c0 34E0 ldi r19,488 00c2 660F 1: lsl r2289 00c4 771F rol r2390 00c6 881F rol r2491 00c8 991F rol r2592 00ca 3A95 dec r1993 00cc 01F4 brne 1b94 00ce 3327 clr r1995 00d0 4427 clr r2096 00d2 5527 clr r2197 00d4 0E94 0000 call __divmodsi498 00d8 A20E add r10,r1899 00da B31E adc r11,r19100 00dc C41E adc r12,r20101 00de D51E adc r13,r21102 00e0 C601 movw r24,r12103 00e2 B501 movw r22,r10104 00e4 28E0 ldi r18,lo8(8)105 00e6 30E0 ldi r19,hi8(8)106 00e8 40E0 ldi r20,hlo8(8)107 00ea 50E0 ldi r21,hhi8(8)108 00ec 0E94 0000 call __divmodsi4109 00f0 3093 0000 sts (Mittelwert_AccNick)+1,r19110 00f4 2093 0000 sts Mittelwert_AccNick,r18111 .L8:112 00f8 8091 0000 lds r24,messanzahl_AccRoll113 00fc 8823 tst r24114 00fe 01F0 breq .L10115 0100 E090 0000 lds r14,Mittelwert_AccRoll116 0104 F090 0000 lds r15,(Mittelwert_AccRoll)+1117 0108 6091 0000 lds r22,accumulate_AccRoll118 010c 7091 0000 lds r23,(accumulate_AccRoll)+1119 0110 2091 0000 lds r18,messanzahl_AccRoll120 0114 0027 clr r16121 0116 F7FC sbrc r15,7122 0118 0095 com r16123 011a 102F mov r17,r16124 011c 5701 movw r10,r14125 011e 6801 movw r12,r16126 0120 83E0 ldi r24,3127 0122 AA0C 1: lsl r10128 0124 BB1C rol r11129 0126 CC1C rol r12130 0128 DD1C rol r13131 012a 8A95 dec r24132 012c 01F4 brne 1b133 012e AE18 sub r10,r14134 0130 BF08 sbc r11,r15135 0132 C00A sbc r12,r16136 0134 D10A sbc r13,r17137 0136 8827 clr r24138 0138 77FD sbrc r23,7139 013a 8095 com r24140 013c 982F mov r25,r24141 013e B4E0 ldi r27,4142 0140 660F 1: lsl r22143 0142 771F rol r23144 0144 881F rol r24145 0146 991F rol r25146 0148 BA95 dec r27147 014a 01F4 brne 1b148 014c 3327 clr r19149 014e 4427 clr r20150 0150 5527 clr r21151 0152 0E94 0000 call __divmodsi4152 0156 A20E add r10,r18153 0158 B31E adc r11,r19154 015a C41E adc r12,r20155 015c D51E adc r13,r21156 015e C601 movw r24,r12157 0160 B501 movw r22,r10158 0162 28E0 ldi r18,lo8(8)159 0164 30E0 ldi r19,hi8(8)160 0166 40E0 ldi r20,hlo8(8)161 0168 50E0 ldi r21,hhi8(8)162 016a 0E94 0000 call __divmodsi4163 016e 3093 0000 sts (Mittelwert_AccRoll)+1,r19164 0172 2093 0000 sts Mittelwert_AccRoll,r18165 .L10:166 0176 8091 0000 lds r24,messanzahl_AccHoch167 017a 8823 tst r24168 017c 01F0 breq .L12169 017e E090 0000 lds r14,Mittelwert_AccHoch170 0182 F090 0000 lds r15,(Mittelwert_AccHoch)+1171 0186 6091 0000 lds r22,accumulate_AccHoch172 018a 7091 0000 lds r23,(accumulate_AccHoch)+1173 018e 2091 0000 lds r18,messanzahl_AccHoch174 0192 0027 clr r16175 0194 F7FC sbrc r15,7176 0196 0095 com r16177 0198 102F mov r17,r16178 019a 5701 movw r10,r14179 019c 6801 movw r12,r16180 019e A3E0 ldi r26,3181 01a0 AA0C 1: lsl r10182 01a2 BB1C rol r11183 01a4 CC1C rol r12184 01a6 DD1C rol r13185 01a8 AA95 dec r26186 01aa 01F4 brne 1b187 01ac AE18 sub r10,r14188 01ae BF08 sbc r11,r15189 01b0 C00A sbc r12,r16190 01b2 D10A sbc r13,r17191 01b4 8827 clr r24192 01b6 77FD sbrc r23,7193 01b8 8095 com r24194 01ba 982F mov r25,r24195 01bc 3327 clr r19196 01be 4427 clr r20197 01c0 5527 clr r21198 01c2 0E94 0000 call __divmodsi4199 01c6 A20E add r10,r18200 01c8 B31E adc r11,r19201 01ca C41E adc r12,r20202 01cc D51E adc r13,r21203 01ce C601 movw r24,r12204 01d0 B501 movw r22,r10205 01d2 28E0 ldi r18,lo8(8)206 01d4 30E0 ldi r19,hi8(8)207 01d6 40E0 ldi r20,hlo8(8)208 01d8 50E0 ldi r21,hhi8(8)209 01da 0E94 0000 call __divmodsi4210 01de 3093 0000 sts (Mittelwert_AccHoch)+1,r19211 01e2 2093 0000 sts Mittelwert_AccHoch,r18212 .L12:213 01e6 1092 0000 sts (AccumulateNick)+1,__zero_reg__214 01ea 1092 0000 sts AccumulateNick,__zero_reg__215 01ee 1092 0000 sts MessanzahlNick,__zero_reg__216 01f2 1092 0000 sts (AccumulateRoll)+1,__zero_reg__217 01f6 1092 0000 sts AccumulateRoll,__zero_reg__218 01fa 1092 0000 sts MessanzahlRoll,__zero_reg__219 01fe 1092 0000 sts (AccumulateGier)+1,__zero_reg__220 0202 1092 0000 sts AccumulateGier,__zero_reg__221 0206 1092 0000 sts MessanzahlGier,__zero_reg__222 020a 1092 0000 sts (accumulate_AccRoll)+1,__zero_reg__223 020e 1092 0000 sts accumulate_AccRoll,__zero_reg__224 0212 1092 0000 sts messanzahl_AccRoll,__zero_reg__225 0216 1092 0000 sts (accumulate_AccNick)+1,__zero_reg__226 021a 1092 0000 sts accumulate_AccNick,__zero_reg__227 021e 1092 0000 sts messanzahl_AccNick,__zero_reg__228 0222 1092 0000 sts (accumulate_AccHoch)+1,__zero_reg__229 0226 1092 0000 sts accumulate_AccHoch,__zero_reg__230 022a 1092 0000 sts messanzahl_AccHoch,__zero_reg__231 022e 8091 0000 lds r24,Mess_Integral_Gier232 0232 9091 0000 lds r25,(Mess_Integral_Gier)+1233 0236 A091 0000 lds r26,(Mess_Integral_Gier)+2234 023a B091 0000 lds r27,(Mess_Integral_Gier)+3235 023e 8093 0000 sts Integral_Gier,r24236 0242 9093 0000 sts (Integral_Gier)+1,r25237 0246 A093 0000 sts (Integral_Gier)+2,r26238 024a B093 0000 sts (Integral_Gier)+3,r27239 024e 8091 0000 lds r24,Mess_IntegralNick240 0252 9091 0000 lds r25,(Mess_IntegralNick)+1241 0256 A091 0000 lds r26,(Mess_IntegralNick)+2242 025a B091 0000 lds r27,(Mess_IntegralNick)+3243 025e 8093 0000 sts IntegralNick,r24244 0262 9093 0000 sts (IntegralNick)+1,r25245 0266 A093 0000 sts (IntegralNick)+2,r26246 026a B093 0000 sts (IntegralNick)+3,r27247 026e 8091 0000 lds r24,Mess_IntegralRoll248 0272 9091 0000 lds r25,(Mess_IntegralRoll)+1249 0276 A091 0000 lds r26,(Mess_IntegralRoll)+2250 027a B091 0000 lds r27,(Mess_IntegralRoll)+3251 027e 8093 0000 sts IntegralRoll,r24252 0282 9093 0000 sts (IntegralRoll)+1,r25253 0286 A093 0000 sts (IntegralRoll)+2,r26254 028a B093 0000 sts (IntegralRoll)+3,r27255 028e 8091 0000 lds r24,Mess_IntegralNick2256 0292 9091 0000 lds r25,(Mess_IntegralNick2)+1257 0296 A091 0000 lds r26,(Mess_IntegralNick2)+2258 029a B091 0000 lds r27,(Mess_IntegralNick2)+3259 029e 8093 0000 sts IntegralNick2,r24260 02a2 9093 0000 sts (IntegralNick2)+1,r25261 02a6 A093 0000 sts (IntegralNick2)+2,r26262 02aa B093 0000 sts (IntegralNick2)+3,r27263 02ae 8091 0000 lds r24,Mess_IntegralRoll2264 02b2 9091 0000 lds r25,(Mess_IntegralRoll2)+1265 02b6 A091 0000 lds r26,(Mess_IntegralRoll2)+2266 02ba B091 0000 lds r27,(Mess_IntegralRoll2)+3267 02be 8093 0000 sts IntegralRoll2,r24268 02c2 9093 0000 sts (IntegralRoll2)+1,r25269 02c6 A093 0000 sts (IntegralRoll2)+2,r26270 02ca B093 0000 sts (IntegralRoll2)+3,r27271 02ce 8FEE ldi r24,lo8(-17)272 02d0 8093 7A00 sts 122,r24273 02d4 8091 0000 lds r24,MesswertNick274 02d8 9091 0000 lds r25,(MesswertNick)+1275 02dc 893C cpi r24,201276 02de 9105 cpc r25,__zero_reg__277 02e0 04F0 brlt .L14278 02e2 2091 0000 lds r18,MesswertNick279 02e6 3091 0000 lds r19,(MesswertNick)+1280 02ea 8091 0000 lds r24,MesswertNick281 02ee 9091 0000 lds r25,(MesswertNick)+1282 02f2 880F lsl r24283 02f4 991F rol r25284 02f6 880F lsl r24285 02f8 991F rol r25286 02fa 2052 subi r18,lo8(-(-800))287 02fc 3340 sbci r19,hi8(-(-800))288 02fe 00C0 rjmp .L95289 .L14:290 0300 8091 0000 lds r24,MesswertNick291 0304 9091 0000 lds r25,(MesswertNick)+1292 0308 8853 subi r24,lo8(-200)293 030a 9F4F sbci r25,hi8(-200)294 030c 04F4 brge .L16295 030e 2091 0000 lds r18,MesswertNick296 0312 3091 0000 lds r19,(MesswertNick)+1297 0316 8091 0000 lds r24,MesswertNick298 031a 9091 0000 lds r25,(MesswertNick)+1299 031e 880F lsl r24300 0320 991F rol r25301 0322 880F lsl r24302 0324 991F rol r25303 0326 205E subi r18,lo8(-(800))304 0328 3C4F sbci r19,hi8(-(800))305 .L95:306 032a 820F add r24,r18307 032c 931F adc r25,r19308 032e 9093 0000 sts (MesswertNick)+1,r25309 0332 8093 0000 sts MesswertNick,r24310 .L16:311 0336 8091 0000 lds r24,MesswertRoll312 033a 9091 0000 lds r25,(MesswertRoll)+1313 033e 893C cpi r24,201314 0340 9105 cpc r25,__zero_reg__315 0342 04F0 brlt .L18316 0344 2091 0000 lds r18,MesswertRoll317 0348 3091 0000 lds r19,(MesswertRoll)+1318 034c 8091 0000 lds r24,MesswertRoll319 0350 9091 0000 lds r25,(MesswertRoll)+1320 0354 880F lsl r24321 0356 991F rol r25322 0358 880F lsl r24323 035a 991F rol r25324 035c 2052 subi r18,lo8(-(-800))325 035e 3340 sbci r19,hi8(-(-800))326 0360 00C0 rjmp .L96327 .L18:328 0362 8091 0000 lds r24,MesswertRoll329 0366 9091 0000 lds r25,(MesswertRoll)+1330 036a 8853 subi r24,lo8(-200)331 036c 9F4F sbci r25,hi8(-200)332 036e 04F4 brge .L20333 0370 2091 0000 lds r18,MesswertRoll334 0374 3091 0000 lds r19,(MesswertRoll)+1335 0378 8091 0000 lds r24,MesswertRoll336 037c 9091 0000 lds r25,(MesswertRoll)+1337 0380 880F lsl r24338 0382 991F rol r25339 0384 880F lsl r24340 0386 991F rol r25341 0388 205E subi r18,lo8(-(800))342 038a 3C4F sbci r19,hi8(-(800))343 .L96:344 038c 820F add r24,r18345 038e 931F adc r25,r19346 0390 9093 0000 sts (MesswertRoll)+1,r25347 0394 8093 0000 sts MesswertRoll,r24348 .L20:349 0398 2091 0000 lds r18,Poti1350 039c 3091 0000 lds r19,(Poti1)+1351 03a0 8091 0000 lds r24,EE_Parameter+4352 03a4 E82F mov r30,r24353 03a6 FF27 clr r31354 03a8 EE0F lsl r30355 03aa FF1F rol r31356 03ac E050 subi r30,lo8(-(PPM_in))357 03ae F040 sbci r31,hi8(-(PPM_in))358 03b0 8081 ld r24,Z359 03b2 9181 ldd r25,Z+1360 03b4 8259 subi r24,lo8(-(110))361 03b6 9F4F sbci r25,hi8(-(110))362 03b8 2817 cp r18,r24363 03ba 3907 cpc r19,r25364 03bc 04F4 brge .L22365 03be 2F5F subi r18,lo8(-(1))366 03c0 3F4F sbci r19,hi8(-(1))367 03c2 00C0 rjmp .L97368 .L22:369 03c4 8081 ld r24,Z370 03c6 9181 ldd r25,Z+1371 03c8 8259 subi r24,lo8(-(110))372 03ca 9F4F sbci r25,hi8(-(110))373 03cc 8217 cp r24,r18374 03ce 9307 cpc r25,r19375 03d0 04F4 brge .L24376 03d2 2115 cp r18,__zero_reg__377 03d4 3105 cpc r19,__zero_reg__378 03d6 01F0 breq .L24379 03d8 2150 subi r18,lo8(-(-1))380 03da 3040 sbci r19,hi8(-(-1))381 .L97:382 03dc 3093 0000 sts (Poti1)+1,r19383 03e0 2093 0000 sts Poti1,r18384 .L24:385 03e4 2091 0000 lds r18,Poti2386 03e8 3091 0000 lds r19,(Poti2)+1387 03ec 8091 0000 lds r24,EE_Parameter+5388 03f0 E82F mov r30,r24389 03f2 FF27 clr r31390 03f4 EE0F lsl r30391 03f6 FF1F rol r31392 03f8 E050 subi r30,lo8(-(PPM_in))393 03fa F040 sbci r31,hi8(-(PPM_in))394 03fc 8081 ld r24,Z395 03fe 9181 ldd r25,Z+1396 0400 8259 subi r24,lo8(-(110))397 0402 9F4F sbci r25,hi8(-(110))398 0404 2817 cp r18,r24399 0406 3907 cpc r19,r25400 0408 04F4 brge .L27401 040a 2F5F subi r18,lo8(-(1))402 040c 3F4F sbci r19,hi8(-(1))403 040e 00C0 rjmp .L98404 .L27:405 0410 8081 ld r24,Z406 0412 9181 ldd r25,Z+1407 0414 8259 subi r24,lo8(-(110))408 0416 9F4F sbci r25,hi8(-(110))409 0418 8217 cp r24,r18410 041a 9307 cpc r25,r19411 041c 04F4 brge .L29412 041e 2115 cp r18,__zero_reg__413 0420 3105 cpc r19,__zero_reg__414 0422 01F0 breq .L29415 0424 2150 subi r18,lo8(-(-1))416 0426 3040 sbci r19,hi8(-(-1))417 .L98:418 0428 3093 0000 sts (Poti2)+1,r19419 042c 2093 0000 sts Poti2,r18420 .L29:421 0430 2091 0000 lds r18,Poti3422 0434 3091 0000 lds r19,(Poti3)+1423 0438 8091 0000 lds r24,EE_Parameter+6424 043c E82F mov r30,r24425 043e FF27 clr r31426 0440 EE0F lsl r30427 0442 FF1F rol r31428 0444 E050 subi r30,lo8(-(PPM_in))429 0446 F040 sbci r31,hi8(-(PPM_in))430 0448 8081 ld r24,Z431 044a 9181 ldd r25,Z+1432 044c 8259 subi r24,lo8(-(110))433 044e 9F4F sbci r25,hi8(-(110))434 0450 2817 cp r18,r24435 0452 3907 cpc r19,r25436 0454 04F4 brge .L32437 0456 2F5F subi r18,lo8(-(1))438 0458 3F4F sbci r19,hi8(-(1))439 045a 00C0 rjmp .L99440 .L32:441 045c 8081 ld r24,Z442 045e 9181 ldd r25,Z+1443 0460 8259 subi r24,lo8(-(110))444 0462 9F4F sbci r25,hi8(-(110))445 0464 8217 cp r24,r18446 0466 9307 cpc r25,r19447 0468 04F4 brge .L34448 046a 2115 cp r18,__zero_reg__449 046c 3105 cpc r19,__zero_reg__450 046e 01F0 breq .L34451 0470 2150 subi r18,lo8(-(-1))452 0472 3040 sbci r19,hi8(-(-1))453 .L99:454 0474 3093 0000 sts (Poti3)+1,r19455 0478 2093 0000 sts Poti3,r18456 .L34:457 047c 2091 0000 lds r18,Poti4458 0480 3091 0000 lds r19,(Poti4)+1459 0484 8091 0000 lds r24,EE_Parameter+7460 0488 E82F mov r30,r24461 048a FF27 clr r31462 048c EE0F lsl r30463 048e FF1F rol r31464 0490 E050 subi r30,lo8(-(PPM_in))465 0492 F040 sbci r31,hi8(-(PPM_in))466 0494 8081 ld r24,Z467 0496 9181 ldd r25,Z+1468 0498 8259 subi r24,lo8(-(110))469 049a 9F4F sbci r25,hi8(-(110))470 049c 2817 cp r18,r24471 049e 3907 cpc r19,r25472 04a0 04F4 brge .L37473 04a2 2F5F subi r18,lo8(-(1))474 04a4 3F4F sbci r19,hi8(-(1))475 04a6 00C0 rjmp .L100476 .L37:477 04a8 8081 ld r24,Z478 04aa 9181 ldd r25,Z+1479 04ac 8259 subi r24,lo8(-(110))480 04ae 9F4F sbci r25,hi8(-(110))481 04b0 8217 cp r24,r18482 04b2 9307 cpc r25,r19483 04b4 04F4 brge .L39484 04b6 2115 cp r18,__zero_reg__485 04b8 3105 cpc r19,__zero_reg__486 04ba 01F0 breq .L39487 04bc 2150 subi r18,lo8(-(-1))488 04be 3040 sbci r19,hi8(-(-1))489 .L100:490 04c0 3093 0000 sts (Poti4)+1,r19491 04c4 2093 0000 sts Poti4,r18492 .L39:493 04c8 2091 0000 lds r18,Poti5494 04cc 3091 0000 lds r19,(Poti5)+1495 04d0 8091 0000 lds r24,PPM_in+18496 04d4 9091 0000 lds r25,(PPM_in+18)+1497 04d8 8259 subi r24,lo8(-(110))498 04da 9F4F sbci r25,hi8(-(110))499 04dc 2817 cp r18,r24500 04de 3907 cpc r19,r25501 04e0 04F4 brge .L42502 04e2 2F5F subi r18,lo8(-(1))503 04e4 3F4F sbci r19,hi8(-(1))504 04e6 00C0 rjmp .L101505 .L42:506 04e8 8091 0000 lds r24,PPM_in+18507 04ec 9091 0000 lds r25,(PPM_in+18)+1508 04f0 8259 subi r24,lo8(-(110))509 04f2 9F4F sbci r25,hi8(-(110))510 04f4 8217 cp r24,r18511 04f6 9307 cpc r25,r19512 04f8 04F4 brge .L44513 04fa 2115 cp r18,__zero_reg__514 04fc 3105 cpc r19,__zero_reg__515 04fe 01F0 breq .L44516 0500 2150 subi r18,lo8(-(-1))517 0502 3040 sbci r19,hi8(-(-1))518 .L101:519 0504 3093 0000 sts (Poti5)+1,r19520 0508 2093 0000 sts Poti5,r18521 .L44:522 050c 2091 0000 lds r18,Poti6523 0510 3091 0000 lds r19,(Poti6)+1524 0514 8091 0000 lds r24,PPM_in+20525 0518 9091 0000 lds r25,(PPM_in+20)+1526 051c 8259 subi r24,lo8(-(110))527 051e 9F4F sbci r25,hi8(-(110))528 0520 2817 cp r18,r24529 0522 3907 cpc r19,r25530 0524 04F4 brge .L47531 0526 2F5F subi r18,lo8(-(1))532 0528 3F4F sbci r19,hi8(-(1))533 052a 00C0 rjmp .L102534 .L47:535 052c 8091 0000 lds r24,PPM_in+20536 0530 9091 0000 lds r25,(PPM_in+20)+1537 0534 8259 subi r24,lo8(-(110))538 0536 9F4F sbci r25,hi8(-(110))539 0538 8217 cp r24,r18540 053a 9307 cpc r25,r19541 053c 04F4 brge .L49542 053e 2115 cp r18,__zero_reg__543 0540 3105 cpc r19,__zero_reg__544 0542 01F0 breq .L49545 0544 2150 subi r18,lo8(-(-1))546 0546 3040 sbci r19,hi8(-(-1))547 .L102:548 0548 3093 0000 sts (Poti6)+1,r19549 054c 2093 0000 sts Poti6,r18550 .L49:551 0550 2091 0000 lds r18,Poti7552 0554 3091 0000 lds r19,(Poti7)+1553 0558 8091 0000 lds r24,PPM_in+22554 055c 9091 0000 lds r25,(PPM_in+22)+1555 0560 8259 subi r24,lo8(-(110))556 0562 9F4F sbci r25,hi8(-(110))557 0564 2817 cp r18,r24558 0566 3907 cpc r19,r25559 0568 04F4 brge .L52560 056a 2F5F subi r18,lo8(-(1))561 056c 3F4F sbci r19,hi8(-(1))562 056e 00C0 rjmp .L103563 .L52:564 0570 8091 0000 lds r24,PPM_in+22565 0574 9091 0000 lds r25,(PPM_in+22)+1566 0578 8259 subi r24,lo8(-(110))567 057a 9F4F sbci r25,hi8(-(110))568 057c 8217 cp r24,r18569 057e 9307 cpc r25,r19570 0580 04F4 brge .L54571 0582 2115 cp r18,__zero_reg__572 0584 3105 cpc r19,__zero_reg__573 0586 01F0 breq .L54574 0588 2150 subi r18,lo8(-(-1))575 058a 3040 sbci r19,hi8(-(-1))576 .L103:577 058c 3093 0000 sts (Poti7)+1,r19578 0590 2093 0000 sts Poti7,r18579 .L54:580 0594 2091 0000 lds r18,Poti8581 0598 3091 0000 lds r19,(Poti8)+1582 059c 8091 0000 lds r24,PPM_in+24583 05a0 9091 0000 lds r25,(PPM_in+24)+1584 05a4 8259 subi r24,lo8(-(110))585 05a6 9F4F sbci r25,hi8(-(110))586 05a8 2817 cp r18,r24587 05aa 3907 cpc r19,r25588 05ac 04F4 brge .L57589 05ae 2F5F subi r18,lo8(-(1))590 05b0 3F4F sbci r19,hi8(-(1))591 05b2 00C0 rjmp .L104592 .L57:593 05b4 8091 0000 lds r24,PPM_in+24594 05b8 9091 0000 lds r25,(PPM_in+24)+1595 05bc 8259 subi r24,lo8(-(110))596 05be 9F4F sbci r25,hi8(-(110))597 05c0 8217 cp r24,r18598 05c2 9307 cpc r25,r19599 05c4 04F4 brge .L59600 05c6 2115 cp r18,__zero_reg__601 05c8 3105 cpc r19,__zero_reg__602 05ca 01F0 breq .L59603 05cc 2150 subi r18,lo8(-(-1))604 05ce 3040 sbci r19,hi8(-(-1))605 .L104:606 05d0 3093 0000 sts (Poti8)+1,r19607 05d4 2093 0000 sts Poti8,r18608 .L59:609 05d8 8091 0000 lds r24,Poti1610 05dc 9091 0000 lds r25,(Poti1)+1611 05e0 97FF sbrs r25,7612 05e2 00C0 rjmp .L62613 05e4 1092 0000 sts (Poti1)+1,__zero_reg__614 05e8 1092 0000 sts Poti1,__zero_reg__615 05ec 00C0 rjmp .L64616 .L62:617 05ee 8F3F cpi r24,255618 05f0 9105 cpc r25,__zero_reg__619 05f2 01F0 breq .L64620 05f4 04F0 brlt .L64621 05f6 8FEF ldi r24,lo8(255)622 05f8 90E0 ldi r25,hi8(255)623 05fa 9093 0000 sts (Poti1)+1,r25624 05fe 8093 0000 sts Poti1,r24625 .L64:626 0602 8091 0000 lds r24,Poti2627 0606 9091 0000 lds r25,(Poti2)+1628 060a 97FF sbrs r25,7629 060c 00C0 rjmp .L66630 060e 1092 0000 sts (Poti2)+1,__zero_reg__631 0612 1092 0000 sts Poti2,__zero_reg__632 0616 00C0 rjmp .L68633 .L66:634 0618 8F3F cpi r24,255635 061a 9105 cpc r25,__zero_reg__636 061c 01F0 breq .L68637 061e 04F0 brlt .L68638 0620 8FEF ldi r24,lo8(255)639 0622 90E0 ldi r25,hi8(255)640 0624 9093 0000 sts (Poti2)+1,r25641 0628 8093 0000 sts Poti2,r24642 .L68:643 062c 8091 0000 lds r24,Poti3644 0630 9091 0000 lds r25,(Poti3)+1645 0634 97FF sbrs r25,7646 0636 00C0 rjmp .L70647 0638 1092 0000 sts (Poti3)+1,__zero_reg__648 063c 1092 0000 sts Poti3,__zero_reg__649 0640 00C0 rjmp .L72650 .L70:651 0642 8F3F cpi r24,255652 0644 9105 cpc r25,__zero_reg__653 0646 01F0 breq .L72654 0648 04F0 brlt .L72655 064a 8FEF ldi r24,lo8(255)656 064c 90E0 ldi r25,hi8(255)657 064e 9093 0000 sts (Poti3)+1,r25658 0652 8093 0000 sts Poti3,r24659 .L72:660 0656 8091 0000 lds r24,Poti4661 065a 9091 0000 lds r25,(Poti4)+1662 065e 97FF sbrs r25,7663 0660 00C0 rjmp .L74664 0662 1092 0000 sts (Poti4)+1,__zero_reg__665 0666 1092 0000 sts Poti4,__zero_reg__666 066a 00C0 rjmp .L76667 .L74:668 066c 8F3F cpi r24,255669 066e 9105 cpc r25,__zero_reg__670 0670 01F0 breq .L76671 0672 04F0 brlt .L76672 0674 8FEF ldi r24,lo8(255)673 0676 90E0 ldi r25,hi8(255)674 0678 9093 0000 sts (Poti4)+1,r25675 067c 8093 0000 sts Poti4,r24676 .L76:677 0680 8091 0000 lds r24,Poti5678 0684 9091 0000 lds r25,(Poti5)+1679 0688 97FF sbrs r25,7680 068a 00C0 rjmp .L78681 068c 1092 0000 sts (Poti5)+1,__zero_reg__682 0690 1092 0000 sts Poti5,__zero_reg__683 0694 00C0 rjmp .L80684 .L78:685 0696 8F3F cpi r24,255686 0698 9105 cpc r25,__zero_reg__687 069a 01F0 breq .L80688 069c 04F0 brlt .L80689 069e 8FEF ldi r24,lo8(255)690 06a0 90E0 ldi r25,hi8(255)691 06a2 9093 0000 sts (Poti5)+1,r25692 06a6 8093 0000 sts Poti5,r24693 .L80:694 06aa 8091 0000 lds r24,Poti6695 06ae 9091 0000 lds r25,(Poti6)+1696 06b2 97FF sbrs r25,7697 06b4 00C0 rjmp .L82698 06b6 1092 0000 sts (Poti6)+1,__zero_reg__699 06ba 1092 0000 sts Poti6,__zero_reg__700 06be 00C0 rjmp .L84701 .L82:702 06c0 8F3F cpi r24,255703 06c2 9105 cpc r25,__zero_reg__704 06c4 01F0 breq .L84705 06c6 04F0 brlt .L84706 06c8 8FEF ldi r24,lo8(255)707 06ca 90E0 ldi r25,hi8(255)708 06cc 9093 0000 sts (Poti6)+1,r25709 06d0 8093 0000 sts Poti6,r24710 .L84:711 06d4 8091 0000 lds r24,Poti7712 06d8 9091 0000 lds r25,(Poti7)+1713 06dc 97FF sbrs r25,7714 06de 00C0 rjmp .L86715 06e0 1092 0000 sts (Poti7)+1,__zero_reg__716 06e4 1092 0000 sts Poti7,__zero_reg__717 06e8 00C0 rjmp .L88718 .L86:719 06ea 8F3F cpi r24,255720 06ec 9105 cpc r25,__zero_reg__721 06ee 01F0 breq .L88722 06f0 04F0 brlt .L88723 06f2 8FEF ldi r24,lo8(255)724 06f4 90E0 ldi r25,hi8(255)725 06f6 9093 0000 sts (Poti7)+1,r25726 06fa 8093 0000 sts Poti7,r24727 .L88:728 06fe 8091 0000 lds r24,Poti8729 0702 9091 0000 lds r25,(Poti8)+1730 0706 97FF sbrs r25,7731 0708 00C0 rjmp .L90732 070a 1092 0000 sts (Poti8)+1,__zero_reg__733 070e 1092 0000 sts Poti8,__zero_reg__734 0712 00C0 rjmp .L94735 .L90:736 0714 8F3F cpi r24,255737 0716 9105 cpc r25,__zero_reg__738 0718 01F0 breq .L94739 071a 04F0 brlt .L94740 071c 8FEF ldi r24,lo8(255)741 071e 90E0 ldi r25,hi8(255)742 0720 9093 0000 sts (Poti8)+1,r25743 0724 8093 0000 sts Poti8,r24744 .L94:745 /* epilogue: frame size=0 */746 0728 1F91 pop r17747 072a 0F91 pop r16748 072c FF90 pop r15749 072e EF90 pop r14750 0730 DF90 pop r13751 0732 CF90 pop r12752 0734 BF90 pop r11753 0736 AF90 pop r10754 0738 0895 ret755 /* epilogue end (size=9) */756 /* function Mittelwert size 927 (910) */758 .global CalibrierMittelwert760 CalibrierMittelwert:761 /* prologue: frame size=0 */762 /* prologue end (size=0) */763 073a 1092 7A00 sts 122,__zero_reg__764 073e 8091 0000 lds r24,MessanzahlNick765 0742 8823 tst r24766 0744 01F0 breq .L106767 0746 8091 0000 lds r24,AccumulateNick768 074a 9091 0000 lds r25,(AccumulateNick)+1769 074e 6091 0000 lds r22,MessanzahlNick770 0752 7727 clr r23771 0754 0E94 0000 call __divmodhi4772 0758 7093 0000 sts (MesswertNick)+1,r23773 075c 6093 0000 sts MesswertNick,r22774 .L106:775 0760 8091 0000 lds r24,MessanzahlRoll776 0764 8823 tst r24777 0766 01F0 breq .L108778 0768 8091 0000 lds r24,AccumulateRoll779 076c 9091 0000 lds r25,(AccumulateRoll)+1780 0770 6091 0000 lds r22,MessanzahlRoll781 0774 7727 clr r23782 0776 0E94 0000 call __divmodhi4783 077a 7093 0000 sts (MesswertRoll)+1,r23784 077e 6093 0000 sts MesswertRoll,r22785 .L108:786 0782 8091 0000 lds r24,MessanzahlGier787 0786 8823 tst r24788 0788 01F0 breq .L110789 078a 8091 0000 lds r24,AccumulateGier790 078e 9091 0000 lds r25,(AccumulateGier)+1791 0792 6091 0000 lds r22,MessanzahlGier792 0796 7727 clr r23793 0798 0E94 0000 call __divmodhi4794 079c 7093 0000 sts (MesswertGier)+1,r23795 07a0 6093 0000 sts MesswertGier,r22796 .L110:797 07a4 8091 0000 lds r24,messanzahl_AccNick798 07a8 8823 tst r24799 07aa 01F0 breq .L112800 07ac 6091 0000 lds r22,accumulate_AccNick801 07b0 7091 0000 lds r23,(accumulate_AccNick)+1802 07b4 2091 0000 lds r18,messanzahl_AccNick803 07b8 8827 clr r24804 07ba 77FD sbrc r23,7805 07bc 8095 com r24806 07be 982F mov r25,r24807 07c0 34E0 ldi r19,4808 07c2 660F 1: lsl r22809 07c4 771F rol r23810 07c6 881F rol r24811 07c8 991F rol r25812 07ca 3A95 dec r19813 07cc 01F4 brne 1b814 07ce 3327 clr r19815 07d0 4427 clr r20816 07d2 5527 clr r21817 07d4 0E94 0000 call __divmodsi4818 07d8 3093 0000 sts (Mittelwert_AccNick)+1,r19819 07dc 2093 0000 sts Mittelwert_AccNick,r18820 .L112:821 07e0 8091 0000 lds r24,messanzahl_AccRoll822 07e4 8823 tst r24823 07e6 01F0 breq .L114824 07e8 6091 0000 lds r22,accumulate_AccRoll825 07ec 7091 0000 lds r23,(accumulate_AccRoll)+1826 07f0 2091 0000 lds r18,messanzahl_AccRoll827 07f4 8827 clr r24828 07f6 77FD sbrc r23,7829 07f8 8095 com r24830 07fa 982F mov r25,r24831 07fc B4E0 ldi r27,4832 07fe 660F 1: lsl r22833 0800 771F rol r23834 0802 881F rol r24835 0804 991F rol r25836 0806 BA95 dec r27837 0808 01F4 brne 1b838 080a 3327 clr r19839 080c 4427 clr r20840 080e 5527 clr r21841 0810 0E94 0000 call __divmodsi4842 0814 3093 0000 sts (Mittelwert_AccRoll)+1,r19843 0818 2093 0000 sts Mittelwert_AccRoll,r18844 .L114:845 081c 8091 0000 lds r24,messanzahl_AccHoch846 0820 8823 tst r24847 0822 01F0 breq .L116848 0824 6091 0000 lds r22,accumulate_AccHoch849 0828 7091 0000 lds r23,(accumulate_AccHoch)+1850 082c 2091 0000 lds r18,messanzahl_AccHoch851 0830 8827 clr r24852 0832 77FD sbrc r23,7853 0834 8095 com r24854 0836 982F mov r25,r24855 0838 3327 clr r19856 083a 4427 clr r20857 083c 5527 clr r21858 083e 0E94 0000 call __divmodsi4859 0842 3093 0000 sts (Mittelwert_AccHoch)+1,r19860 0846 2093 0000 sts Mittelwert_AccHoch,r18861 .L116:862 084a 1092 0000 sts (AccumulateNick)+1,__zero_reg__863 084e 1092 0000 sts AccumulateNick,__zero_reg__864 0852 1092 0000 sts MessanzahlNick,__zero_reg__865 0856 1092 0000 sts (AccumulateRoll)+1,__zero_reg__866 085a 1092 0000 sts AccumulateRoll,__zero_reg__867 085e 1092 0000 sts MessanzahlRoll,__zero_reg__868 0862 1092 0000 sts (AccumulateGier)+1,__zero_reg__869 0866 1092 0000 sts AccumulateGier,__zero_reg__870 086a 1092 0000 sts MessanzahlGier,__zero_reg__871 086e 1092 0000 sts (accumulate_AccRoll)+1,__zero_reg__872 0872 1092 0000 sts accumulate_AccRoll,__zero_reg__873 0876 1092 0000 sts messanzahl_AccRoll,__zero_reg__874 087a 1092 0000 sts (accumulate_AccNick)+1,__zero_reg__875 087e 1092 0000 sts accumulate_AccNick,__zero_reg__876 0882 1092 0000 sts messanzahl_AccNick,__zero_reg__877 0886 1092 0000 sts (accumulate_AccHoch)+1,__zero_reg__878 088a 1092 0000 sts accumulate_AccHoch,__zero_reg__879 088e 1092 0000 sts messanzahl_AccHoch,__zero_reg__880 0892 8FEE ldi r24,lo8(-17)881 0894 8093 7A00 sts 122,r24882 0898 2091 0000 lds r18,Poti1883 089c 3091 0000 lds r19,(Poti1)+1884 08a0 8091 0000 lds r24,EE_Parameter+4885 08a4 E82F mov r30,r24886 08a6 FF27 clr r31887 08a8 EE0F lsl r30888 08aa FF1F rol r31889 08ac E050 subi r30,lo8(-(PPM_in))890 08ae F040 sbci r31,hi8(-(PPM_in))891 08b0 8081 ld r24,Z892 08b2 9181 ldd r25,Z+1893 08b4 8259 subi r24,lo8(-(110))894 08b6 9F4F sbci r25,hi8(-(110))895 08b8 2817 cp r18,r24896 08ba 3907 cpc r19,r25897 08bc 04F4 brge .L118898 08be 2F5F subi r18,lo8(-(1))899 08c0 3F4F sbci r19,hi8(-(1))900 08c2 00C0 rjmp .L191901 .L118:902 08c4 8081 ld r24,Z903 08c6 9181 ldd r25,Z+1904 08c8 8259 subi r24,lo8(-(110))905 08ca 9F4F sbci r25,hi8(-(110))906 08cc 8217 cp r24,r18907 08ce 9307 cpc r25,r19908 08d0 04F4 brge .L120909 08d2 2115 cp r18,__zero_reg__910 08d4 3105 cpc r19,__zero_reg__911 08d6 01F0 breq .L120912 08d8 2150 subi r18,lo8(-(-1))913 08da 3040 sbci r19,hi8(-(-1))914 .L191:915 08dc 3093 0000 sts (Poti1)+1,r19916 08e0 2093 0000 sts Poti1,r18917 .L120:918 08e4 2091 0000 lds r18,Poti2919 08e8 3091 0000 lds r19,(Poti2)+1920 08ec 8091 0000 lds r24,EE_Parameter+5921 08f0 E82F mov r30,r24922 08f2 FF27 clr r31923 08f4 EE0F lsl r30924 08f6 FF1F rol r31925 08f8 E050 subi r30,lo8(-(PPM_in))926 08fa F040 sbci r31,hi8(-(PPM_in))927 08fc 8081 ld r24,Z928 08fe 9181 ldd r25,Z+1929 0900 8259 subi r24,lo8(-(110))930 0902 9F4F sbci r25,hi8(-(110))931 0904 2817 cp r18,r24932 0906 3907 cpc r19,r25933 0908 04F4 brge .L123934 090a 2F5F subi r18,lo8(-(1))935 090c 3F4F sbci r19,hi8(-(1))936 090e 00C0 rjmp .L192937 .L123:938 0910 8081 ld r24,Z939 0912 9181 ldd r25,Z+1940 0914 8259 subi r24,lo8(-(110))941 0916 9F4F sbci r25,hi8(-(110))942 0918 8217 cp r24,r18943 091a 9307 cpc r25,r19944 091c 04F4 brge .L125945 091e 2115 cp r18,__zero_reg__946 0920 3105 cpc r19,__zero_reg__947 0922 01F0 breq .L125948 0924 2150 subi r18,lo8(-(-1))949 0926 3040 sbci r19,hi8(-(-1))950 .L192:951 0928 3093 0000 sts (Poti2)+1,r19952 092c 2093 0000 sts Poti2,r18953 .L125:954 0930 2091 0000 lds r18,Poti3955 0934 3091 0000 lds r19,(Poti3)+1956 0938 8091 0000 lds r24,EE_Parameter+6957 093c E82F mov r30,r24958 093e FF27 clr r31959 0940 EE0F lsl r30960 0942 FF1F rol r31961 0944 E050 subi r30,lo8(-(PPM_in))962 0946 F040 sbci r31,hi8(-(PPM_in))963 0948 8081 ld r24,Z964 094a 9181 ldd r25,Z+1965 094c 8259 subi r24,lo8(-(110))966 094e 9F4F sbci r25,hi8(-(110))967 0950 2817 cp r18,r24968 0952 3907 cpc r19,r25969 0954 04F4 brge .L128970 0956 2F5F subi r18,lo8(-(1))971 0958 3F4F sbci r19,hi8(-(1))972 095a 00C0 rjmp .L193973 .L128:974 095c 8081 ld r24,Z975 095e 9181 ldd r25,Z+1976 0960 8259 subi r24,lo8(-(110))977 0962 9F4F sbci r25,hi8(-(110))978 0964 8217 cp r24,r18979 0966 9307 cpc r25,r19980 0968 04F4 brge .L130981 096a 2115 cp r18,__zero_reg__982 096c 3105 cpc r19,__zero_reg__983 096e 01F0 breq .L130984 0970 2150 subi r18,lo8(-(-1))985 0972 3040 sbci r19,hi8(-(-1))986 .L193:987 0974 3093 0000 sts (Poti3)+1,r19988 0978 2093 0000 sts Poti3,r18989 .L130:990 097c 2091 0000 lds r18,Poti4991 0980 3091 0000 lds r19,(Poti4)+1992 0984 8091 0000 lds r24,EE_Parameter+7993 0988 E82F mov r30,r24994 098a FF27 clr r31995 098c EE0F lsl r30996 098e FF1F rol r31997 0990 E050 subi r30,lo8(-(PPM_in))998 0992 F040 sbci r31,hi8(-(PPM_in))999 0994 8081 ld r24,Z1000 0996 9181 ldd r25,Z+11001 0998 8259 subi r24,lo8(-(110))1002 099a 9F4F sbci r25,hi8(-(110))1003 099c 2817 cp r18,r241004 099e 3907 cpc r19,r251005 09a0 04F4 brge .L1331006 09a2 2F5F subi r18,lo8(-(1))1007 09a4 3F4F sbci r19,hi8(-(1))1008 09a6 00C0 rjmp .L1941009 .L133:1010 09a8 8081 ld r24,Z1011 09aa 9181 ldd r25,Z+11012 09ac 8259 subi r24,lo8(-(110))1013 09ae 9F4F sbci r25,hi8(-(110))1014 09b0 8217 cp r24,r181015 09b2 9307 cpc r25,r191016 09b4 04F4 brge .L1351017 09b6 2115 cp r18,__zero_reg__1018 09b8 3105 cpc r19,__zero_reg__1019 09ba 01F0 breq .L1351020 09bc 2150 subi r18,lo8(-(-1))1021 09be 3040 sbci r19,hi8(-(-1))1022 .L194:1023 09c0 3093 0000 sts (Poti4)+1,r191024 09c4 2093 0000 sts Poti4,r181025 .L135:1026 09c8 2091 0000 lds r18,Poti51027 09cc 3091 0000 lds r19,(Poti5)+11028 09d0 8091 0000 lds r24,PPM_in+181029 09d4 9091 0000 lds r25,(PPM_in+18)+11030 09d8 8259 subi r24,lo8(-(110))1031 09da 9F4F sbci r25,hi8(-(110))1032 09dc 2817 cp r18,r241033 09de 3907 cpc r19,r251034 09e0 04F4 brge .L1381035 09e2 2F5F subi r18,lo8(-(1))1036 09e4 3F4F sbci r19,hi8(-(1))1037 09e6 00C0 rjmp .L1951038 .L138:1039 09e8 8091 0000 lds r24,PPM_in+181040 09ec 9091 0000 lds r25,(PPM_in+18)+11041 09f0 8259 subi r24,lo8(-(110))1042 09f2 9F4F sbci r25,hi8(-(110))1043 09f4 8217 cp r24,r181044 09f6 9307 cpc r25,r191045 09f8 04F4 brge .L1401046 09fa 2115 cp r18,__zero_reg__1047 09fc 3105 cpc r19,__zero_reg__1048 09fe 01F0 breq .L1401049 0a00 2150 subi r18,lo8(-(-1))1050 0a02 3040 sbci r19,hi8(-(-1))1051 .L195:1052 0a04 3093 0000 sts (Poti5)+1,r191053 0a08 2093 0000 sts Poti5,r181054 .L140:1055 0a0c 2091 0000 lds r18,Poti61056 0a10 3091 0000 lds r19,(Poti6)+11057 0a14 8091 0000 lds r24,PPM_in+201058 0a18 9091 0000 lds r25,(PPM_in+20)+11059 0a1c 8259 subi r24,lo8(-(110))1060 0a1e 9F4F sbci r25,hi8(-(110))1061 0a20 2817 cp r18,r241062 0a22 3907 cpc r19,r251063 0a24 04F4 brge .L1431064 0a26 2F5F subi r18,lo8(-(1))1065 0a28 3F4F sbci r19,hi8(-(1))1066 0a2a 00C0 rjmp .L1961067 .L143:1068 0a2c 8091 0000 lds r24,PPM_in+201069 0a30 9091 0000 lds r25,(PPM_in+20)+11070 0a34 8259 subi r24,lo8(-(110))1071 0a36 9F4F sbci r25,hi8(-(110))1072 0a38 8217 cp r24,r181073 0a3a 9307 cpc r25,r191074 0a3c 04F4 brge .L1451075 0a3e 2115 cp r18,__zero_reg__1076 0a40 3105 cpc r19,__zero_reg__1077 0a42 01F0 breq .L1451078 0a44 2150 subi r18,lo8(-(-1))1079 0a46 3040 sbci r19,hi8(-(-1))1080 .L196:1081 0a48 3093 0000 sts (Poti6)+1,r191082 0a4c 2093 0000 sts Poti6,r181083 .L145:1084 0a50 2091 0000 lds r18,Poti71085 0a54 3091 0000 lds r19,(Poti7)+11086 0a58 8091 0000 lds r24,PPM_in+221087 0a5c 9091 0000 lds r25,(PPM_in+22)+11088 0a60 8259 subi r24,lo8(-(110))1089 0a62 9F4F sbci r25,hi8(-(110))1090 0a64 2817 cp r18,r241091 0a66 3907 cpc r19,r251092 0a68 04F4 brge .L1481093 0a6a 2F5F subi r18,lo8(-(1))1094 0a6c 3F4F sbci r19,hi8(-(1))1095 0a6e 00C0 rjmp .L1971096 .L148:1097 0a70 8091 0000 lds r24,PPM_in+221098 0a74 9091 0000 lds r25,(PPM_in+22)+11099 0a78 8259 subi r24,lo8(-(110))1100 0a7a 9F4F sbci r25,hi8(-(110))1101 0a7c 8217 cp r24,r181102 0a7e 9307 cpc r25,r191103 0a80 04F4 brge .L1501104 0a82 2115 cp r18,__zero_reg__1105 0a84 3105 cpc r19,__zero_reg__1106 0a86 01F0 breq .L1501107 0a88 2150 subi r18,lo8(-(-1))1108 0a8a 3040 sbci r19,hi8(-(-1))1109 .L197:1110 0a8c 3093 0000 sts (Poti7)+1,r191111 0a90 2093 0000 sts Poti7,r181112 .L150:1113 0a94 2091 0000 lds r18,Poti81114 0a98 3091 0000 lds r19,(Poti8)+11115 0a9c 8091 0000 lds r24,PPM_in+241116 0aa0 9091 0000 lds r25,(PPM_in+24)+11117 0aa4 8259 subi r24,lo8(-(110))1118 0aa6 9F4F sbci r25,hi8(-(110))1119 0aa8 2817 cp r18,r241120 0aaa 3907 cpc r19,r251121 0aac 04F4 brge .L1531122 0aae 2F5F subi r18,lo8(-(1))1123 0ab0 3F4F sbci r19,hi8(-(1))1124 0ab2 00C0 rjmp .L1981125 .L153:1126 0ab4 8091 0000 lds r24,PPM_in+241127 0ab8 9091 0000 lds r25,(PPM_in+24)+11128 0abc 8259 subi r24,lo8(-(110))1129 0abe 9F4F sbci r25,hi8(-(110))1130 0ac0 8217 cp r24,r181131 0ac2 9307 cpc r25,r191132 0ac4 04F4 brge .L1551133 0ac6 2115 cp r18,__zero_reg__1134 0ac8 3105 cpc r19,__zero_reg__1135 0aca 01F0 breq .L1551136 0acc 2150 subi r18,lo8(-(-1))1137 0ace 3040 sbci r19,hi8(-(-1))1138 .L198:1139 0ad0 3093 0000 sts (Poti8)+1,r191140 0ad4 2093 0000 sts Poti8,r181141 .L155:1142 0ad8 8091 0000 lds r24,Poti11143 0adc 9091 0000 lds r25,(Poti1)+11144 0ae0 97FF sbrs r25,71145 0ae2 00C0 rjmp .L1581146 0ae4 1092 0000 sts (Poti1)+1,__zero_reg__1147 0ae8 1092 0000 sts Poti1,__zero_reg__1148 0aec 00C0 rjmp .L1601149 .L158:1150 0aee 8F3F cpi r24,2551151 0af0 9105 cpc r25,__zero_reg__1152 0af2 01F0 breq .L1601153 0af4 04F0 brlt .L1601154 0af6 8FEF ldi r24,lo8(255)1155 0af8 90E0 ldi r25,hi8(255)1156 0afa 9093 0000 sts (Poti1)+1,r251157 0afe 8093 0000 sts Poti1,r241158 .L160:1159 0b02 8091 0000 lds r24,Poti21160 0b06 9091 0000 lds r25,(Poti2)+11161 0b0a 97FF sbrs r25,71162 0b0c 00C0 rjmp .L1621163 0b0e 1092 0000 sts (Poti2)+1,__zero_reg__1164 0b12 1092 0000 sts Poti2,__zero_reg__1165 0b16 00C0 rjmp .L1641166 .L162:1167 0b18 8F3F cpi r24,2551168 0b1a 9105 cpc r25,__zero_reg__1169 0b1c 01F0 breq .L1641170 0b1e 04F0 brlt .L1641171 0b20 8FEF ldi r24,lo8(255)1172 0b22 90E0 ldi r25,hi8(255)1173 0b24 9093 0000 sts (Poti2)+1,r251174 0b28 8093 0000 sts Poti2,r241175 .L164:1176 0b2c 8091 0000 lds r24,Poti31177 0b30 9091 0000 lds r25,(Poti3)+11178 0b34 97FF sbrs r25,71179 0b36 00C0 rjmp .L1661180 0b38 1092 0000 sts (Poti3)+1,__zero_reg__1181 0b3c 1092 0000 sts Poti3,__zero_reg__1182 0b40 00C0 rjmp .L1681183 .L166:1184 0b42 8F3F cpi r24,2551185 0b44 9105 cpc r25,__zero_reg__1186 0b46 01F0 breq .L1681187 0b48 04F0 brlt .L1681188 0b4a 8FEF ldi r24,lo8(255)1189 0b4c 90E0 ldi r25,hi8(255)1190 0b4e 9093 0000 sts (Poti3)+1,r251191 0b52 8093 0000 sts Poti3,r241192 .L168:1193 0b56 8091 0000 lds r24,Poti41194 0b5a 9091 0000 lds r25,(Poti4)+11195 0b5e 97FF sbrs r25,71196 0b60 00C0 rjmp .L1701197 0b62 1092 0000 sts (Poti4)+1,__zero_reg__1198 0b66 1092 0000 sts Poti4,__zero_reg__1199 0b6a 00C0 rjmp .L1721200 .L170:1201 0b6c 8F3F cpi r24,2551202 0b6e 9105 cpc r25,__zero_reg__1203 0b70 01F0 breq .L1721204 0b72 04F0 brlt .L1721205 0b74 8FEF ldi r24,lo8(255)1206 0b76 90E0 ldi r25,hi8(255)1207 0b78 9093 0000 sts (Poti4)+1,r251208 0b7c 8093 0000 sts Poti4,r241209 .L172:1210 0b80 8091 0000 lds r24,Poti51211 0b84 9091 0000 lds r25,(Poti5)+11212 0b88 97FF sbrs r25,71213 0b8a 00C0 rjmp .L1741214 0b8c 1092 0000 sts (Poti5)+1,__zero_reg__1215 0b90 1092 0000 sts Poti5,__zero_reg__1216 0b94 00C0 rjmp .L1761217 .L174:1218 0b96 8F3F cpi r24,2551219 0b98 9105 cpc r25,__zero_reg__1220 0b9a 01F0 breq .L1761221 0b9c 04F0 brlt .L1761222 0b9e 8FEF ldi r24,lo8(255)1223 0ba0 90E0 ldi r25,hi8(255)1224 0ba2 9093 0000 sts (Poti5)+1,r251225 0ba6 8093 0000 sts Poti5,r241226 .L176:1227 0baa 8091 0000 lds r24,Poti61228 0bae 9091 0000 lds r25,(Poti6)+11229 0bb2 97FF sbrs r25,71230 0bb4 00C0 rjmp .L1781231 0bb6 1092 0000 sts (Poti6)+1,__zero_reg__1232 0bba 1092 0000 sts Poti6,__zero_reg__1233 0bbe 00C0 rjmp .L1801234 .L178:1235 0bc0 8F3F cpi r24,2551236 0bc2 9105 cpc r25,__zero_reg__1237 0bc4 01F0 breq .L1801238 0bc6 04F0 brlt .L1801239 0bc8 8FEF ldi r24,lo8(255)1240 0bca 90E0 ldi r25,hi8(255)1241 0bcc 9093 0000 sts (Poti6)+1,r251242 0bd0 8093 0000 sts Poti6,r241243 .L180:1244 0bd4 8091 0000 lds r24,Poti71245 0bd8 9091 0000 lds r25,(Poti7)+11246 0bdc 97FF sbrs r25,71247 0bde 00C0 rjmp .L1821248 0be0 1092 0000 sts (Poti7)+1,__zero_reg__1249 0be4 1092 0000 sts Poti7,__zero_reg__1250 0be8 00C0 rjmp .L1841251 .L182:1252 0bea 8F3F cpi r24,2551253 0bec 9105 cpc r25,__zero_reg__1254 0bee 01F0 breq .L1841255 0bf0 04F0 brlt .L1841256 0bf2 8FEF ldi r24,lo8(255)1257 0bf4 90E0 ldi r25,hi8(255)1258 0bf6 9093 0000 sts (Poti7)+1,r251259 0bfa 8093 0000 sts Poti7,r241260 .L184:1261 0bfe 8091 0000 lds r24,Poti81262 0c02 9091 0000 lds r25,(Poti8)+11263 0c06 97FF sbrs r25,71264 0c08 00C0 rjmp .L1861265 0c0a 1092 0000 sts (Poti8)+1,__zero_reg__1266 0c0e 1092 0000 sts Poti8,__zero_reg__1267 0c12 0895 ret1268 .L186:1269 0c14 8F3F cpi r24,2551270 0c16 9105 cpc r25,__zero_reg__1271 0c18 01F0 breq .L1901272 0c1a 04F0 brlt .L1901273 0c1c 8FEF ldi r24,lo8(255)1274 0c1e 90E0 ldi r25,hi8(255)1275 0c20 9093 0000 sts (Poti8)+1,r251276 0c24 8093 0000 sts Poti8,r241277 .L190:1278 0c28 0895 ret1279 /* epilogue: frame size=0 */1280 /* epilogue: noreturn */1281 /* epilogue end (size=0) */1282 /* function CalibrierMittelwert size 632 (632) */1284 .global ParameterZuordnung1286 ParameterZuordnung:1287 /* prologue: frame size=0 */1288 0c2a 1F93 push r171289 /* prologue end (size=1) */1290 0c2c 8091 0000 lds r24,EE_Parameter+111291 0c30 8B3F cpi r24,lo8(-5)1292 0c32 00F0 brlo .L2001293 0c34 8B3F cpi r24,lo8(-5)1294 0c36 01F4 brne .L2021295 0c38 8091 0000 lds r24,Poti11296 0c3c 00C0 rjmp .L2001297 .L202:1298 0c3e 8C3F cpi r24,lo8(-4)1299 0c40 01F4 brne .L2051300 0c42 8091 0000 lds r24,Poti21301 0c46 00C0 rjmp .L2001302 .L205:1303 0c48 8D3F cpi r24,lo8(-3)1304 0c4a 01F4 brne .L2071305 0c4c 8091 0000 lds r24,Poti31306 0c50 00C0 rjmp .L2001307 .L207:1308 0c52 8E3F cpi r24,lo8(-2)1309 0c54 01F4 brne .L2041310 0c56 8091 0000 lds r24,Poti41311 .L200:1312 0c5a 8093 0000 sts Parameter_MaxHoehe,r241313 .L204:1314 0c5e 8091 0000 lds r24,Parameter_MaxHoehe1315 0c62 8823 tst r241316 0c64 01F4 brne .L2101317 0c66 1092 0000 sts Parameter_MaxHoehe,__zero_reg__1318 0c6a 00C0 rjmp .L2121319 .L210:1320 0c6c 8F3F cpi r24,lo8(-1)1321 0c6e 01F4 brne .L2121322 0c70 8093 0000 sts Parameter_MaxHoehe,r241323 .L212:1324 0c74 8091 0000 lds r24,EE_Parameter+101325 0c78 8B3F cpi r24,lo8(-5)1326 0c7a 00F0 brlo .L2141327 0c7c 8B3F cpi r24,lo8(-5)1328 0c7e 01F4 brne .L2161329 0c80 8091 0000 lds r24,Poti11330 0c84 00C0 rjmp .L2141331 .L216:1332 0c86 8C3F cpi r24,lo8(-4)1333 0c88 01F4 brne .L2191334 0c8a 8091 0000 lds r24,Poti21335 0c8e 00C0 rjmp .L2141336 .L219:1337 0c90 8D3F cpi r24,lo8(-3)1338 0c92 01F4 brne .L2211339 0c94 8091 0000 lds r24,Poti31340 0c98 00C0 rjmp .L2141341 .L221:1342 0c9a 8E3F cpi r24,lo8(-2)1343 0c9c 01F4 brne .L2181344 0c9e 8091 0000 lds r24,Poti41345 .L214:1346 0ca2 8093 0000 sts Parameter_Luftdruck_D,r241347 .L218:1348 0ca6 8091 0000 lds r24,Parameter_Luftdruck_D1349 0caa 8823 tst r241350 0cac 01F4 brne .L2241351 0cae 1092 0000 sts Parameter_Luftdruck_D,__zero_reg__1352 0cb2 00C0 rjmp .L2261353 .L224:1354 0cb4 8436 cpi r24,lo8(100)1355 0cb6 00F0 brlo .L2261356 0cb8 84E6 ldi r24,lo8(100)1357 0cba 8093 0000 sts Parameter_Luftdruck_D,r241358 .L226:1359 0cbe 8091 0000 lds r24,EE_Parameter+121360 0cc2 8B3F cpi r24,lo8(-5)1361 0cc4 00F0 brlo .L2281362 0cc6 8B3F cpi r24,lo8(-5)1363 0cc8 01F4 brne .L2301364 0cca 8091 0000 lds r24,Poti11365 0cce 00C0 rjmp .L2281366 .L230:1367 0cd0 8C3F cpi r24,lo8(-4)1368 0cd2 01F4 brne .L2331369 0cd4 8091 0000 lds r24,Poti21370 0cd8 00C0 rjmp .L2281371 .L233:1372 0cda 8D3F cpi r24,lo8(-3)1373 0cdc 01F4 brne .L2351374 0cde 8091 0000 lds r24,Poti31375 0ce2 00C0 rjmp .L2281376 .L235:1377 0ce4 8E3F cpi r24,lo8(-2)1378 0ce6 01F4 brne .L2321379 0ce8 8091 0000 lds r24,Poti41380 .L228:1381 0cec 8093 0000 sts Parameter_Hoehe_P,r241382 .L232:1383 0cf0 8091 0000 lds r24,Parameter_Hoehe_P1384 0cf4 8823 tst r241385 0cf6 01F4 brne .L2381386 0cf8 1092 0000 sts Parameter_Hoehe_P,__zero_reg__1387 0cfc 00C0 rjmp .L2401388 .L238:1389 0cfe 8436 cpi r24,lo8(100)1390 0d00 00F0 brlo .L2401391 0d02 84E6 ldi r24,lo8(100)1392 0d04 8093 0000 sts Parameter_Hoehe_P,r241393 .L240:1394 0d08 8091 0000 lds r24,EE_Parameter+141395 0d0c 8B3F cpi r24,lo8(-5)1396 0d0e 00F0 brlo .L2421397 0d10 8B3F cpi r24,lo8(-5)1398 0d12 01F4 brne .L2441399 0d14 8091 0000 lds r24,Poti11400 0d18 00C0 rjmp .L2421401 .L244:1402 0d1a 8C3F cpi r24,lo8(-4)1403 0d1c 01F4 brne .L2471404 0d1e 8091 0000 lds r24,Poti21405 0d22 00C0 rjmp .L2421406 .L247:1407 0d24 8D3F cpi r24,lo8(-3)1408 0d26 01F4 brne .L2491409 0d28 8091 0000 lds r24,Poti31410 0d2c 00C0 rjmp .L2421411 .L249:1412 0d2e 8E3F cpi r24,lo8(-2)1413 0d30 01F4 brne .L2461414 0d32 8091 0000 lds r24,Poti41415 .L242:1416 0d36 8093 0000 sts Parameter_Hoehe_ACC_Wirkung,r241417 .L246:1418 0d3a 8091 0000 lds r24,Parameter_Hoehe_ACC_Wirkung1419 0d3e 8823 tst r241420 0d40 01F4 brne .L2521421 0d42 1092 0000 sts Parameter_Hoehe_ACC_Wirkung,__zero_reg__1422 0d46 00C0 rjmp .L2541423 .L252:1424 0d48 8F3F cpi r24,lo8(-1)1425 0d4a 01F4 brne .L2541426 0d4c 8093 0000 sts Parameter_Hoehe_ACC_Wirkung,r241427 .L254:1428 0d50 8091 0000 lds r24,EE_Parameter+211429 0d54 8B3F cpi r24,lo8(-5)1430 0d56 00F0 brlo .L2561431 0d58 8B3F cpi r24,lo8(-5)1432 0d5a 01F4 brne .L2581433 0d5c 8091 0000 lds r24,Poti11434 0d60 00C0 rjmp .L2561435 .L258:1436 0d62 8C3F cpi r24,lo8(-4)1437 0d64 01F4 brne .L2611438 0d66 8091 0000 lds r24,Poti21439 0d6a 00C0 rjmp .L2561440 .L261:1441 0d6c 8D3F cpi r24,lo8(-3)1442 0d6e 01F4 brne .L2631443 0d70 8091 0000 lds r24,Poti31444 0d74 00C0 rjmp .L2561445 .L263:1446 0d76 8E3F cpi r24,lo8(-2)1447 0d78 01F4 brne .L2601448 0d7a 8091 0000 lds r24,Poti41449 .L256:1450 0d7e 8093 0000 sts Parameter_KompassWirkung,r241451 .L260:1452 0d82 8091 0000 lds r24,Parameter_KompassWirkung1453 0d86 8823 tst r241454 0d88 01F4 brne .L2661455 0d8a 1092 0000 sts Parameter_KompassWirkung,__zero_reg__1456 0d8e 00C0 rjmp .L2681457 .L266:1458 0d90 8F3F cpi r24,lo8(-1)1459 0d92 01F4 brne .L2681460 0d94 8093 0000 sts Parameter_KompassWirkung,r241461 .L268:1462 0d98 8091 0000 lds r24,EE_Parameter+221463 0d9c 8B3F cpi r24,lo8(-5)1464 0d9e 00F0 brlo .L2701465 0da0 8B3F cpi r24,lo8(-5)1466 0da2 01F4 brne .L2721467 0da4 8091 0000 lds r24,Poti11468 0da8 00C0 rjmp .L2701469 .L272:1470 0daa 8C3F cpi r24,lo8(-4)1471 0dac 01F4 brne .L2751472 0dae 8091 0000 lds r24,Poti21473 0db2 00C0 rjmp .L2701474 .L275:1475 0db4 8D3F cpi r24,lo8(-3)1476 0db6 01F4 brne .L2771477 0db8 8091 0000 lds r24,Poti31478 0dbc 00C0 rjmp .L2701479 .L277:1480 0dbe 8E3F cpi r24,lo8(-2)1481 0dc0 01F4 brne .L2741482 0dc2 8091 0000 lds r24,Poti41483 .L270:1484 0dc6 8093 0000 sts Parameter_Gyro_P,r241485 .L274:1486 0dca 8091 0000 lds r24,Parameter_Gyro_P1487 0dce 8B30 cpi r24,lo8(11)1488 0dd0 00F4 brsh .L2801489 0dd2 8AE0 ldi r24,lo8(10)1490 0dd4 00C0 rjmp .L4121491 .L280:1492 0dd6 8F3F cpi r24,lo8(-1)1493 0dd8 01F4 brne .L2821494 .L412:1495 0dda 8093 0000 sts Parameter_Gyro_P,r241496 .L282:1497 0dde 8091 0000 lds r24,EE_Parameter+231498 0de2 8B3F cpi r24,lo8(-5)1499 0de4 00F0 brlo .L2841500 0de6 8B3F cpi r24,lo8(-5)1501 0de8 01F4 brne .L2861502 0dea 8091 0000 lds r24,Poti11503 0dee 00C0 rjmp .L2841504 .L286:1505 0df0 8C3F cpi r24,lo8(-4)1506 0df2 01F4 brne .L2891507 0df4 8091 0000 lds r24,Poti21508 0df8 00C0 rjmp .L2841509 .L289:1510 0dfa 8D3F cpi r24,lo8(-3)1511 0dfc 01F4 brne .L2911512 0dfe 8091 0000 lds r24,Poti31513 0e02 00C0 rjmp .L2841514 .L291:1515 0e04 8E3F cpi r24,lo8(-2)1516 0e06 01F4 brne .L2881517 0e08 8091 0000 lds r24,Poti41518 .L284:1519 0e0c 8093 0000 sts Parameter_Gyro_I,r241520 .L288:1521 0e10 8091 0000 lds r24,Parameter_Gyro_I1522 0e14 8823 tst r241523 0e16 01F4 brne .L2941524 0e18 1092 0000 sts Parameter_Gyro_I,__zero_reg__1525 0e1c 00C0 rjmp .L2961526 .L294:1527 0e1e 8F3F cpi r24,lo8(-1)1528 0e20 01F4 brne .L2961529 0e22 8093 0000 sts Parameter_Gyro_I,r241530 .L296:1531 0e26 8091 0000 lds r24,EE_Parameter+281532 0e2a 8B3F cpi r24,lo8(-5)1533 0e2c 00F0 brlo .L2981534 0e2e 8B3F cpi r24,lo8(-5)1535 0e30 01F4 brne .L3001536 0e32 8091 0000 lds r24,Poti11537 0e36 00C0 rjmp .L2981538 .L300:1539 0e38 8C3F cpi r24,lo8(-4)1540 0e3a 01F4 brne .L3031541 0e3c 8091 0000 lds r24,Poti21542 0e40 00C0 rjmp .L2981543 .L303:1544 0e42 8D3F cpi r24,lo8(-3)1545 0e44 01F4 brne .L3051546 0e46 8091 0000 lds r24,Poti31547 0e4a 00C0 rjmp .L2981548 .L305:1549 0e4c 8E3F cpi r24,lo8(-2)1550 0e4e 01F4 brne .L3021551 0e50 8091 0000 lds r24,Poti41552 .L298:1553 0e54 8093 0000 sts Parameter_I_Faktor,r241554 .L302:1555 0e58 8091 0000 lds r24,Parameter_I_Faktor1556 0e5c 8823 tst r241557 0e5e 01F4 brne .L3081558 0e60 1092 0000 sts Parameter_I_Faktor,__zero_reg__1559 0e64 00C0 rjmp .L3101560 .L308:1561 0e66 8F3F cpi r24,lo8(-1)1562 0e68 01F4 brne .L3101563 0e6a 8093 0000 sts Parameter_I_Faktor,r241564 .L310:1565 0e6e 8091 0000 lds r24,EE_Parameter+291566 0e72 8B3F cpi r24,lo8(-5)1567 0e74 00F0 brlo .L3121568 0e76 8B3F cpi r24,lo8(-5)1569 0e78 01F4 brne .L3141570 0e7a 8091 0000 lds r24,Poti11571 0e7e 00C0 rjmp .L3121572 .L314:1573 0e80 8C3F cpi r24,lo8(-4)1574 0e82 01F4 brne .L3171575 0e84 8091 0000 lds r24,Poti21576 0e88 00C0 rjmp .L3121577 .L317:1578 0e8a 8D3F cpi r24,lo8(-3)1579 0e8c 01F4 brne .L3191580 0e8e 8091 0000 lds r24,Poti31581 0e92 00C0 rjmp .L3121582 .L319:1583 0e94 8E3F cpi r24,lo8(-2)1584 0e96 01F4 brne .L3161585 0e98 8091 0000 lds r24,Poti41586 .L312:1587 0e9c 8093 0000 sts Parameter_UserParam1,r241588 .L316:1589 0ea0 8091 0000 lds r24,Parameter_UserParam11590 0ea4 8823 tst r241591 0ea6 01F4 brne .L3221592 0ea8 1092 0000 sts Parameter_UserParam1,__zero_reg__1593 0eac 00C0 rjmp .L3241594 .L322:1595 0eae 8F3F cpi r24,lo8(-1)1596 0eb0 01F4 brne .L3241597 0eb2 8093 0000 sts Parameter_UserParam1,r241598 .L324:1599 0eb6 8091 0000 lds r24,EE_Parameter+301600 0eba 8B3F cpi r24,lo8(-5)1601 0ebc 00F0 brlo .L3261602 0ebe 8B3F cpi r24,lo8(-5)1603 0ec0 01F4 brne .L3281604 0ec2 8091 0000 lds r24,Poti11605 0ec6 00C0 rjmp .L3261606 .L328:1607 0ec8 8C3F cpi r24,lo8(-4)1608 0eca 01F4 brne .L3311609 0ecc 8091 0000 lds r24,Poti21610 0ed0 00C0 rjmp .L3261611 .L331:1612 0ed2 8D3F cpi r24,lo8(-3)1613 0ed4 01F4 brne .L3331614 0ed6 8091 0000 lds r24,Poti31615 0eda 00C0 rjmp .L3261616 .L333:1617 0edc 8E3F cpi r24,lo8(-2)1618 0ede 01F4 brne .L3301619 0ee0 8091 0000 lds r24,Poti41620 .L326:1621 0ee4 8093 0000 sts Parameter_UserParam2,r241622 .L330:1623 0ee8 8091 0000 lds r24,Parameter_UserParam21624 0eec 8823 tst r241625 0eee 01F4 brne .L3361626 0ef0 1092 0000 sts Parameter_UserParam2,__zero_reg__1627 0ef4 00C0 rjmp .L3381628 .L336:1629 0ef6 8F3F cpi r24,lo8(-1)1630 0ef8 01F4 brne .L3381631 0efa 8093 0000 sts Parameter_UserParam2,r241632 .L338:1633 0efe 8091 0000 lds r24,EE_Parameter+311634 0f02 8B3F cpi r24,lo8(-5)1635 0f04 00F0 brlo .L3401636 0f06 8B3F cpi r24,lo8(-5)1637 0f08 01F4 brne .L3421638 0f0a 8091 0000 lds r24,Poti11639 0f0e 00C0 rjmp .L3401640 .L342:1641 0f10 8C3F cpi r24,lo8(-4)1642 0f12 01F4 brne .L3451643 0f14 8091 0000 lds r24,Poti21644 0f18 00C0 rjmp .L3401645 .L345:1646 0f1a 8D3F cpi r24,lo8(-3)1647 0f1c 01F4 brne .L3471648 0f1e 8091 0000 lds r24,Poti31649 0f22 00C0 rjmp .L3401650 .L347:1651 0f24 8E3F cpi r24,lo8(-2)1652 0f26 01F4 brne .L3441653 0f28 8091 0000 lds r24,Poti41654 .L340:1655 0f2c 8093 0000 sts Parameter_UserParam3,r241656 .L344:1657 0f30 8091 0000 lds r24,Parameter_UserParam31658 0f34 8823 tst r241659 0f36 01F4 brne .L3501660 0f38 1092 0000 sts Parameter_UserParam3,__zero_reg__1661 0f3c 00C0 rjmp .L3521662 .L350:1663 0f3e 8F3F cpi r24,lo8(-1)1664 0f40 01F4 brne .L3521665 0f42 8093 0000 sts Parameter_UserParam3,r241666 .L352:1667 0f46 8091 0000 lds r24,EE_Parameter+321668 0f4a 8B3F cpi r24,lo8(-5)1669 0f4c 00F0 brlo .L3541670 0f4e 8B3F cpi r24,lo8(-5)1671 0f50 01F4 brne .L3561672 0f52 8091 0000 lds r24,Poti11673 0f56 00C0 rjmp .L3541674 .L356:1675 0f58 8C3F cpi r24,lo8(-4)1676 0f5a 01F4 brne .L3591677 0f5c 8091 0000 lds r24,Poti21678 0f60 00C0 rjmp .L3541679 .L359:1680 0f62 8D3F cpi r24,lo8(-3)1681 0f64 01F4 brne .L3611682 0f66 8091 0000 lds r24,Poti31683 0f6a 00C0 rjmp .L3541684 .L361:1685 0f6c 8E3F cpi r24,lo8(-2)1686 0f6e 01F4 brne .L3581687 0f70 8091 0000 lds r24,Poti41688 .L354:1689 0f74 8093 0000 sts Parameter_UserParam4,r241690 .L358:1691 0f78 8091 0000 lds r24,Parameter_UserParam41692 0f7c 8823 tst r241693 0f7e 01F4 brne .L3641694 0f80 1092 0000 sts Parameter_UserParam4,__zero_reg__1695 0f84 00C0 rjmp .L3661696 .L364:1697 0f86 8F3F cpi r24,lo8(-1)1698 0f88 01F4 brne .L3661699 0f8a 8093 0000 sts Parameter_UserParam4,r241700 .L366:1701 0f8e 9091 0000 lds r25,EE_Parameter+331702 0f92 9B3F cpi r25,lo8(-5)1703 0f94 00F0 brlo .L3681704 0f96 9B3F cpi r25,lo8(-5)1705 0f98 01F4 brne .L3701706 0f9a 8091 0000 lds r24,Poti11707 0f9e 00C0 rjmp .L4131708 .L370:1709 0fa0 9C3F cpi r25,lo8(-4)1710 0fa2 01F4 brne .L3731711 0fa4 8091 0000 lds r24,Poti21712 .L413:1713 0fa8 8093 0000 sts Parameter_ServoNickControl,r241714 0fac 00C0 rjmp .L3721715 .L373:1716 0fae 9D3F cpi r25,lo8(-3)1717 0fb0 01F4 brne .L3751718 0fb2 8091 0000 lds r24,Poti31719 0fb6 00C0 rjmp .L4131720 .L375:1721 0fb8 9E3F cpi r25,lo8(-2)1722 0fba 01F4 brne .L3721723 0fbc 8091 0000 lds r24,Poti41724 0fc0 00C0 rjmp .L4131725 .L368:1726 0fc2 9093 0000 sts Parameter_ServoNickControl,r251727 .L372:1728 0fc6 8091 0000 lds r24,Parameter_ServoNickControl1729 0fca 8823 tst r241730 0fcc 01F4 brne .L3781731 0fce 1092 0000 sts Parameter_ServoNickControl,__zero_reg__1732 0fd2 00C0 rjmp .L3801733 .L378:1734 0fd4 8F3F cpi r24,lo8(-1)1735 0fd6 01F4 brne .L3801736 0fd8 8093 0000 sts Parameter_ServoNickControl,r241737 .L380:1738 0fdc 9B3F cpi r25,lo8(-5)1739 0fde 00F0 brlo .L3821740 0fe0 9B3F cpi r25,lo8(-5)1741 0fe2 01F4 brne .L3841742 0fe4 8091 0000 lds r24,Poti11743 0fe8 00C0 rjmp .L4141744 .L384:1745 0fea 9C3F cpi r25,lo8(-4)1746 0fec 01F4 brne .L3871747 0fee 8091 0000 lds r24,Poti21748 .L414:1749 0ff2 8093 0000 sts Parameter_ServoNickControl,r241750 0ff6 00C0 rjmp .L3861751 .L387:1752 0ff8 9D3F cpi r25,lo8(-3)1753 0ffa 01F4 brne .L3891754 0ffc 8091 0000 lds r24,Poti31755 1000 00C0 rjmp .L4141756 .L389:1757 1002 9E3F cpi r25,lo8(-2)1758 1004 01F4 brne .L3861759 1006 8091 0000 lds r24,Poti41760 100a 00C0 rjmp .L4141761 .L382:1762 100c 9093 0000 sts Parameter_ServoNickControl,r251763 .L386:1764 1010 8091 0000 lds r24,Parameter_ServoNickControl1765 1014 8823 tst r241766 1016 01F4 brne .L3921767 1018 1092 0000 sts Parameter_ServoNickControl,__zero_reg__1768 101c 00C0 rjmp .L3941769 .L392:1770 101e 8F3F cpi r24,lo8(-1)1771 1020 01F4 brne .L3941772 1022 8093 0000 sts Parameter_ServoNickControl,r241773 .L394:1774 1026 9B3F cpi r25,lo8(-5)1775 1028 00F0 brlo .L3961776 102a 9B3F cpi r25,lo8(-5)1777 102c 01F4 brne .L3981778 102e 8091 0000 lds r24,Poti11779 1032 00C0 rjmp .L4151780 .L398:1781 1034 9C3F cpi r25,lo8(-4)1782 1036 01F4 brne .L4011783 1038 8091 0000 lds r24,Poti21784 .L415:1785 103c 8093 0000 sts Parameter_ServoNickControl,r241786 1040 00C0 rjmp .L4001787 .L401:1788 1042 9D3F cpi r25,lo8(-3)1789 1044 01F4 brne .L4031790 1046 8091 0000 lds r24,Poti31791 104a 00C0 rjmp .L4151792 .L403:1793 104c 9E3F cpi r25,lo8(-2)1794 104e 01F4 brne .L4001795 1050 8091 0000 lds r24,Poti41796 1054 00C0 rjmp .L4151797 .L396:1798 1056 9093 0000 sts Parameter_ServoNickControl,r251799 .L400:1800 105a 8091 0000 lds r24,Parameter_ServoNickControl1801 105e 8823 tst r241802 1060 01F4 brne .L4061803 1062 1092 0000 sts Parameter_ServoNickControl,__zero_reg__1804 1066 00C0 rjmp .L4081805 .L406:1806 1068 8F3F cpi r24,lo8(-1)1807 106a 01F4 brne .L4081808 106c 8093 0000 sts Parameter_ServoNickControl,r241809 .L408:1810 1070 1091 0000 lds r17,Parameter_I_Faktor1811 1074 612F mov r22,r171812 1076 7727 clr r231813 1078 67FD sbrc r22,71814 107a 7095 com r231815 107c 872F mov r24,r231816 107e 972F mov r25,r231817 1080 0E94 0000 call __floatsisf1818 1084 17FF sbrs r17,71819 1086 00C0 rjmp .L4101820 1088 20E0 ldi r18,lo8(0x43800000)1821 108a 30E0 ldi r19,hi8(0x43800000)1822 108c 40E8 ldi r20,hlo8(0x43800000)1823 108e 53E4 ldi r21,hhi8(0x43800000)1824 1090 0E94 0000 call __addsf31825 .L410:1826 1094 27E1 ldi r18,lo8(0x38d1b717)1827 1096 37EB ldi r19,hi8(0x38d1b717)1828 1098 41ED ldi r20,hlo8(0x38d1b717)1829 109a 58E3 ldi r21,hhi8(0x38d1b717)1830 109c 0E94 0000 call __mulsf31831 10a0 6093 0000 sts Ki,r221832 10a4 7093 0000 sts (Ki)+1,r231833 10a8 8093 0000 sts (Ki)+2,r241834 10ac 9093 0000 sts (Ki)+3,r251835 10b0 8091 0000 lds r24,EE_Parameter+191836 10b4 8093 0000 sts MAX_GAS,r241837 10b8 8091 0000 lds r24,EE_Parameter+181838 10bc 8093 0000 sts MIN_GAS,r241839 /* epilogue: frame size=0 */1840 10c0 1F91 pop r171841 10c2 0895 ret1842 /* epilogue end (size=2) */1843 /* function ParameterZuordnung size 589 (586) */1845 .data1846 .LC0:1847 0000 4B61 6D65 .string "Kamera"1847 7261 001848 0007 00 .string ""1849 .text1850 .global DefaultKonstanten21852 DefaultKonstanten2:1853 /* prologue: frame size=0 */1854 /* prologue end (size=0) */1855 10c4 83E0 ldi r24,lo8(3)1856 10c6 8093 0000 sts EE_Parameter,r241857 10ca 42E0 ldi r20,lo8(2)1858 10cc 4093 0000 sts EE_Parameter+1,r201859 10d0 81E0 ldi r24,lo8(1)1860 10d2 8093 0000 sts EE_Parameter+2,r241861 10d6 34E0 ldi r19,lo8(4)1862 10d8 3093 0000 sts EE_Parameter+3,r191863 10dc 25E0 ldi r18,lo8(5)1864 10de 2093 0000 sts EE_Parameter+4,r181865 10e2 86E0 ldi r24,lo8(6)1866 10e4 8093 0000 sts EE_Parameter+5,r241867 10e8 87E0 ldi r24,lo8(7)1868 10ea 8093 0000 sts EE_Parameter+6,r241869 10ee 1092 0000 sts EE_Parameter+8,__zero_reg__1870 10f2 8EE1 ldi r24,lo8(30)1871 10f4 8093 0000 sts EE_Parameter+9,r241872 10f8 8BEF ldi r24,lo8(-5)1873 10fa 8093 0000 sts EE_Parameter+11,r241874 10fe 8AE0 ldi r24,lo8(10)1875 1100 8093 0000 sts EE_Parameter+12,r241876 1104 92E3 ldi r25,lo8(50)1877 1106 9093 0000 sts EE_Parameter+10,r251878 110a 9093 0000 sts EE_Parameter+14,r251879 110e 4093 0000 sts EE_Parameter+13,r201880 1112 3093 0000 sts EE_Parameter+15,r191881 1116 1092 0000 sts EE_Parameter+16,__zero_reg__1882 111a 80E1 ldi r24,lo8(16)1883 111c 8093 0000 sts EE_Parameter+17,r241884 1120 2093 0000 sts EE_Parameter+18,r181885 1124 8AEF ldi r24,lo8(-6)1886 1126 8093 0000 sts EE_Parameter+19,r241887 112a 8AE1 ldi r24,lo8(26)1888 112c 8093 0000 sts EE_Parameter+20,r241889 1130 80E8 ldi r24,lo8(-128)1890 1132 8093 0000 sts EE_Parameter+21,r241891 1136 8FEA ldi r24,lo8(-81)1892 1138 8093 0000 sts EE_Parameter+22,r241893 113c 8093 0000 sts EE_Parameter+23,r241894 1140 8AE5 ldi r24,lo8(90)1895 1142 8093 0000 sts EE_Parameter+24,r241896 1146 83E2 ldi r24,lo8(35)1897 1148 8093 0000 sts EE_Parameter+25,r241898 114c 84E1 ldi r24,lo8(20)1899 114e 8093 0000 sts EE_Parameter+26,r241900 1152 1092 0000 sts EE_Parameter+27,__zero_reg__1901 1156 2093 0000 sts EE_Parameter+28,r181902 115a 1092 0000 sts EE_Parameter+29,__zero_reg__1903 115e 1092 0000 sts EE_Parameter+30,__zero_reg__1904 1162 1092 0000 sts EE_Parameter+31,__zero_reg__1905 1166 1092 0000 sts EE_Parameter+32,__zero_reg__1906 116a 84E6 ldi r24,lo8(100)1907 116c 8093 0000 sts EE_Parameter+33,r241908 1170 88E2 ldi r24,lo8(40)1909 1172 8093 0000 sts EE_Parameter+34,r241910 1176 1092 0000 sts EE_Parameter+38,__zero_reg__1911 117a 9093 0000 sts EE_Parameter+35,r251912 117e 86E9 ldi r24,lo8(-106)1913 1180 8093 0000 sts EE_Parameter+36,r241914 1184 2093 0000 sts EE_Parameter+37,r181915 1188 A0E0 ldi r26,lo8(EE_Parameter+46)1916 118a B0E0 ldi r27,hi8(EE_Parameter+46)1917 118c E0E0 ldi r30,lo8(.LC0)1918 118e F0E0 ldi r31,hi8(.LC0)1919 1190 8CE0 ldi r24,lo8(12)1920 .L417:1921 1192 0190 ld r0,Z+1922 1194 0D92 st X+,r01923 1196 8150 subi r24,lo8(-(-1))1924 1198 01F4 brne .L4171925 /* epilogue: frame size=0 */1926 119a 0895 ret1927 /* epilogue end (size=1) */1928 /* function DefaultKonstanten2 size 109 (108) */1930 .data1931 .LC1:1932 0008 4E6F 726D .string "Normal"1932 616C 001933 000f 00 .string ""1934 .text1935 .global DefaultKonstanten11937 DefaultKonstanten1:1938 /* prologue: frame size=0 */1939 /* prologue end (size=0) */1940 119c 83E0 ldi r24,lo8(3)1941 119e 8093 0000 sts EE_Parameter,r241942 11a2 42E0 ldi r20,lo8(2)1943 11a4 4093 0000 sts EE_Parameter+1,r201944 11a8 81E0 ldi r24,lo8(1)1945 11aa 8093 0000 sts EE_Parameter+2,r241946 11ae 34E0 ldi r19,lo8(4)1947 11b0 3093 0000 sts EE_Parameter+3,r191948 11b4 25E0 ldi r18,lo8(5)1949 11b6 2093 0000 sts EE_Parameter+4,r181950 11ba 86E0 ldi r24,lo8(6)1951 11bc 8093 0000 sts EE_Parameter+5,r241952 11c0 87E0 ldi r24,lo8(7)1953 11c2 8093 0000 sts EE_Parameter+6,r241954 11c6 88E0 ldi r24,lo8(8)1955 11c8 8093 0000 sts EE_Parameter+7,r241956 11cc 1092 0000 sts EE_Parameter+8,__zero_reg__1957 11d0 9EE1 ldi r25,lo8(30)1958 11d2 9093 0000 sts EE_Parameter+9,r251959 11d6 8BEF ldi r24,lo8(-5)1960 11d8 8093 0000 sts EE_Parameter+11,r241961 11dc 8AE0 ldi r24,lo8(10)1962 11de 8093 0000 sts EE_Parameter+12,r241963 11e2 86E4 ldi r24,lo8(70)1964 11e4 8093 0000 sts EE_Parameter+10,r241965 11e8 9093 0000 sts EE_Parameter+14,r251966 11ec 4093 0000 sts EE_Parameter+13,r201967 11f0 3093 0000 sts EE_Parameter+15,r191968 11f4 1092 0000 sts EE_Parameter+16,__zero_reg__1969 11f8 80E1 ldi r24,lo8(16)1970 11fa 8093 0000 sts EE_Parameter+17,r241971 11fe 2093 0000 sts EE_Parameter+18,r181972 1202 8AEF ldi r24,lo8(-6)1973 1204 8093 0000 sts EE_Parameter+19,r241974 1208 8AE1 ldi r24,lo8(26)1975 120a 8093 0000 sts EE_Parameter+20,r241976 120e 80E8 ldi r24,lo8(-128)1977 1210 8093 0000 sts EE_Parameter+21,r241978 1214 88E7 ldi r24,lo8(120)1979 1216 8093 0000 sts EE_Parameter+22,r241980 121a 96E9 ldi r25,lo8(-106)1981 121c 9093 0000 sts EE_Parameter+23,r251982 1220 8AE5 ldi r24,lo8(90)1983 1222 8093 0000 sts EE_Parameter+24,r241984 1226 83E2 ldi r24,lo8(35)1985 1228 8093 0000 sts EE_Parameter+25,r241986 122c 84E1 ldi r24,lo8(20)1987 122e 8093 0000 sts EE_Parameter+26,r241988 1232 1092 0000 sts EE_Parameter+27,__zero_reg__1989 1236 2093 0000 sts EE_Parameter+28,r181990 123a 1092 0000 sts EE_Parameter+29,__zero_reg__1991 123e 1092 0000 sts EE_Parameter+30,__zero_reg__1992 1242 1092 0000 sts EE_Parameter+31,__zero_reg__1993 1246 1092 0000 sts EE_Parameter+32,__zero_reg__1994 124a 84E6 ldi r24,lo8(100)1995 124c 8093 0000 sts EE_Parameter+33,r241996 1250 88E2 ldi r24,lo8(40)1997 1252 8093 0000 sts EE_Parameter+34,r241998 1256 1092 0000 sts EE_Parameter+38,__zero_reg__1999 125a 82E3 ldi r24,lo8(50)2000 125c 8093 0000 sts EE_Parameter+35,r242001 1260 9093 0000 sts EE_Parameter+36,r252002 1264 2093 0000 sts EE_Parameter+37,r182003 1268 A0E0 ldi r26,lo8(EE_Parameter+46)2004 126a B0E0 ldi r27,hi8(EE_Parameter+46)2005 126c E0E0 ldi r30,lo8(.LC1)2006 126e F0E0 ldi r31,hi8(.LC1)2007 1270 8CE0 ldi r24,lo8(12)2008 .L422:2009 1272 0190 ld r0,Z+2010 1274 0D92 st X+,r02011 1276 8150 subi r24,lo8(-(-1))2012 1278 01F4 brne .L4222013 /* epilogue: frame size=0 */2014 127a 0895 ret2015 /* epilogue end (size=1) */2016 /* function DefaultKonstanten1 size 113 (112) */2018 .global SendMotorData2020 SendMotorData:2021 /* prologue: frame size=0 */2022 /* prologue end (size=0) */2023 127c 8091 0000 lds r24,MotorenEin2024 1280 8823 tst r242025 1282 01F4 brne .L4272026 1284 1092 0000 sts Motor_Hinten,__zero_reg__2027 1288 1092 0000 sts Motor_Vorne,__zero_reg__2028 128c 1092 0000 sts Motor_Rechts,__zero_reg__2029 1290 1092 0000 sts Motor_Links,__zero_reg__2030 1294 8091 0000 lds r24,MotorTest2031 1298 8823 tst r242032 129a 01F0 breq .L4292033 129c 8093 0000 sts Motor_Vorne,r242034 .L429:2035 12a0 8091 0000 lds r24,MotorTest+12036 12a4 8823 tst r242037 12a6 01F0 breq .L4312038 12a8 8093 0000 sts Motor_Hinten,r242039 .L431:2040 12ac 8091 0000 lds r24,MotorTest+22041 12b0 8823 tst r242042 12b2 01F0 breq .L4332043 12b4 8093 0000 sts Motor_Links,r242044 .L433:2045 12b8 8091 0000 lds r24,MotorTest+32046 12bc 8823 tst r242047 12be 01F0 breq .L4272048 12c0 8093 0000 sts Motor_Rechts,r242049 .L427:2050 12c4 1092 0000 sts twi_state,__zero_reg__2051 12c8 1092 0000 sts motor,__zero_reg__2052 12cc 0E94 0000 call i2c_start2053 /* epilogue: frame size=0 */2054 12d0 0895 ret2055 /* epilogue end (size=1) */2056 /* function SendMotorData size 43 (42) */2058 .global SetNeutral2060 SetNeutral:2061 /* prologue: frame size=0 */2062 12d2 CF93 push r282063 12d4 DF93 push r292064 /* prologue end (size=2) */2065 12d6 1092 0000 sts (NeutralAccX)+1,__zero_reg__2066 12da 1092 0000 sts NeutralAccX,__zero_reg__2067 12de 1092 0000 sts (NeutralAccY)+1,__zero_reg__2068 12e2 1092 0000 sts NeutralAccY,__zero_reg__2069 12e6 80E0 ldi r24,lo8(0x0)2070 12e8 90E0 ldi r25,hi8(0x0)2071 12ea A0E0 ldi r26,hlo8(0x0)2072 12ec B0E0 ldi r27,hhi8(0x0)2073 12ee 8093 0000 sts NeutralAccZ,r242074 12f2 9093 0000 sts (NeutralAccZ)+1,r252075 12f6 A093 0000 sts (NeutralAccZ)+2,r262076 12fa B093 0000 sts (NeutralAccZ)+3,r272077 12fe 1092 0000 sts (AdNeutralNick)+1,__zero_reg__2078 1302 1092 0000 sts AdNeutralNick,__zero_reg__2079 1306 1092 0000 sts (AdNeutralRoll)+1,__zero_reg__2080 130a 1092 0000 sts AdNeutralRoll,__zero_reg__2081 130e 1092 0000 sts (AdNeutralGier)+1,__zero_reg__2082 1312 1092 0000 sts AdNeutralGier,__zero_reg__2083 1316 0E94 0000 call CalibrierMittelwert2084 131a 85E0 ldi r24,lo8(5)2085 131c 90E0 ldi r25,hi8(5)2086 131e 0E94 0000 call SetDelay2087 1322 EC01 movw r28,r242088 .L438:2089 1324 CE01 movw r24,r282090 1326 0E94 0000 call CheckDelay2091 132a 8823 tst r242092 132c 01F0 breq .L4382093 132e 0E94 0000 call CalibrierMittelwert2094 1332 8091 0000 lds r24,EE_Parameter+82095 1336 80FF sbrs r24,02096 1338 00C0 rjmp .L4402097 133a 8091 0000 lds r24,MessLuftdruck2098 133e 9091 0000 lds r25,(MessLuftdruck)+12099 1342 875B subi r24,lo8(951)2100 1344 9340 sbci r25,hi8(951)2101 1346 00F4 brsh .L4422102 1348 8091 0000 lds r24,MessLuftdruck2103 134c 9091 0000 lds r25,(MessLuftdruck)+12104 1350 8E5E subi r24,lo8(750)2105 1352 9240 sbci r25,hi8(750)2106 1354 00F4 brsh .L4402107 .L442:2108 1356 0E94 0000 call SucheLuftruckOffset2109 .L440:2110 135a 8091 0000 lds r24,MesswertNick2111 135e 9091 0000 lds r25,(MesswertNick)+12112 1362 97FF sbrs r25,72113 1364 00C0 rjmp .L4442114 1366 9095 com r252115 1368 8195 neg r242116 136a 9F4F sbci r25,lo8(-1)2117 .L444:2118 136c 9093 0000 sts (AdNeutralNick)+1,r252119 1370 8093 0000 sts AdNeutralNick,r242120 1374 8091 0000 lds r24,MesswertRoll2121 1378 9091 0000 lds r25,(MesswertRoll)+12122 137c 97FF sbrs r25,72123 137e 00C0 rjmp .L4452124 1380 9095 com r252125 1382 8195 neg r242126 1384 9F4F sbci r25,lo8(-1)2127 .L445:2128 1386 9093 0000 sts (AdNeutralRoll)+1,r252129 138a 8093 0000 sts AdNeutralRoll,r242130 138e 8091 0000 lds r24,MesswertGier2131 1392 9091 0000 lds r25,(MesswertGier)+12132 1396 97FF sbrs r25,72133 1398 00C0 rjmp .L4462134 139a 9095 com r252135 139c 8195 neg r242136 139e 9F4F sbci r25,lo8(-1)2137 .L446:2138 13a0 9093 0000 sts (AdNeutralGier)+1,r252139 13a4 8093 0000 sts AdNeutralGier,r242140 13a8 8091 0000 lds r24,Mittelwert_AccRoll2141 13ac 9091 0000 lds r25,(Mittelwert_AccRoll)+12142 13b0 97FF sbrs r25,72143 13b2 00C0 rjmp .L4472144 13b4 9095 com r252145 13b6 8195 neg r242146 13b8 9F4F sbci r25,lo8(-1)2147 .L447:2148 13ba 60E1 ldi r22,lo8(16)2149 13bc 70E0 ldi r23,hi8(16)2150 13be 0E94 0000 call __divmodhi42151 13c2 7093 0000 sts (NeutralAccY)+1,r232152 13c6 6093 0000 sts NeutralAccY,r222153 13ca 8091 0000 lds r24,Mittelwert_AccNick2154 13ce 9091 0000 lds r25,(Mittelwert_AccNick)+12155 13d2 97FF sbrs r25,72156 13d4 00C0 rjmp .L4482157 13d6 9095 com r252158 13d8 8195 neg r242159 13da 9F4F sbci r25,lo8(-1)2160 .L448:2161 13dc 60E1 ldi r22,lo8(16)2162 13de 70E0 ldi r23,hi8(16)2163 13e0 0E94 0000 call __divmodhi42164 13e4 7093 0000 sts (NeutralAccX)+1,r232165 13e8 6093 0000 sts NeutralAccX,r222166 13ec 6091 0000 lds r22,Aktuell_az2167 13f0 7091 0000 lds r23,(Aktuell_az)+12168 13f4 8827 clr r242169 13f6 77FD sbrc r23,72170 13f8 8095 com r242171 13fa 982F mov r25,r242172 13fc 0E94 0000 call __floatsisf2173 1400 6093 0000 sts NeutralAccZ,r222174 1404 7093 0000 sts (NeutralAccZ)+1,r232175 1408 8093 0000 sts (NeutralAccZ)+2,r242176 140c 9093 0000 sts (NeutralAccZ)+3,r252177 1410 1092 0000 sts Mess_IntegralNick,__zero_reg__2178 1414 1092 0000 sts (Mess_IntegralNick)+1,__zero_reg__2179 1418 1092 0000 sts (Mess_IntegralNick)+2,__zero_reg__2180 141c 1092 0000 sts (Mess_IntegralNick)+3,__zero_reg__2181 1420 1092 0000 sts Mess_IntegralNick2,__zero_reg__2182 1424 1092 0000 sts (Mess_IntegralNick2)+1,__zero_reg__2183 1428 1092 0000 sts (Mess_IntegralNick2)+2,__zero_reg__2184 142c 1092 0000 sts (Mess_IntegralNick2)+3,__zero_reg__2185 1430 1092 0000 sts Mess_IntegralRoll,__zero_reg__2186 1434 1092 0000 sts (Mess_IntegralRoll)+1,__zero_reg__2187 1438 1092 0000 sts (Mess_IntegralRoll)+2,__zero_reg__2188 143c 1092 0000 sts (Mess_IntegralRoll)+3,__zero_reg__2189 1440 1092 0000 sts Mess_IntegralRoll2,__zero_reg__2190 1444 1092 0000 sts (Mess_IntegralRoll2)+1,__zero_reg__2191 1448 1092 0000 sts (Mess_IntegralRoll2)+2,__zero_reg__2192 144c 1092 0000 sts (Mess_IntegralRoll2)+3,__zero_reg__2193 1450 1092 0000 sts Mess_Integral_Gier,__zero_reg__2194 1454 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__2195 1458 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__2196 145c 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__2197 1460 1092 0000 sts (MesswertNick)+1,__zero_reg__2198 1464 1092 0000 sts MesswertNick,__zero_reg__2199 1468 1092 0000 sts (MesswertRoll)+1,__zero_reg__2200 146c 1092 0000 sts MesswertRoll,__zero_reg__2201 1470 1092 0000 sts (MesswertGier)+1,__zero_reg__2202 1474 1092 0000 sts MesswertGier,__zero_reg__2203 1478 8091 0000 lds r24,Luftdruck2204 147c 9091 0000 lds r25,(Luftdruck)+12205 1480 A091 0000 lds r26,(Luftdruck)+22206 1484 B091 0000 lds r27,(Luftdruck)+32207 1488 9093 0000 sts (StartLuftdruck)+1,r252208 148c 8093 0000 sts StartLuftdruck,r242209 1490 1092 0000 sts (HoeheD)+1,__zero_reg__2210 1494 1092 0000 sts HoeheD,__zero_reg__2211 1498 1092 0000 sts Mess_Integral_Hoch,__zero_reg__2212 149c 1092 0000 sts (Mess_Integral_Hoch)+1,__zero_reg__2213 14a0 1092 0000 sts (Mess_Integral_Hoch)+2,__zero_reg__2214 14a4 1092 0000 sts (Mess_Integral_Hoch)+3,__zero_reg__2215 14a8 8091 0000 lds r24,KompassValue2216 14ac 9091 0000 lds r25,(KompassValue)+12217 14b0 9093 0000 sts (KompassStartwert)+1,r252218 14b4 8093 0000 sts KompassStartwert,r242219 14b8 82E3 ldi r24,lo8(50)2220 14ba 90E0 ldi r25,hi8(50)2221 14bc 9093 0000 sts (beeptime)+1,r252222 14c0 8093 0000 sts beeptime,r242223 /* epilogue: frame size=0 */2224 14c4 DF91 pop r292225 14c6 CF91 pop r282226 14c8 0895 ret2227 /* epilogue end (size=3) */2228 /* function SetNeutral size 254 (249) */2230 .global Piep2232 Piep:2233 /* prologue: frame size=0 */2234 14ca 1F93 push r172235 /* prologue end (size=1) */2236 14cc 182F mov r17,r242237 14ce 00C0 rjmp .L4532238 .L454:2239 14d0 8091 0000 lds r24,MotorenEin2240 14d4 8823 tst r242241 14d6 01F4 brne .L4572242 14d8 84E6 ldi r24,lo8(100)2243 14da 90E0 ldi r25,hi8(100)2244 14dc 9093 0000 sts (beeptime)+1,r252245 14e0 8093 0000 sts beeptime,r242246 14e4 8AEF ldi r24,lo8(250)2247 14e6 90E0 ldi r25,hi8(250)2248 14e8 0E94 0000 call Delay_ms2249 .L453:2250 14ec 1150 subi r17,12251 14ee 00F4 brcc .L4542252 .L457:2253 /* epilogue: frame size=0 */2254 14f0 1F91 pop r172255 14f2 0895 ret2256 /* epilogue end (size=2) */2257 /* function Piep size 22 (19) */2259 .global MotorRegler2261 MotorRegler:2262 /* prologue: frame size=4 */2263 14f4 2F92 push r22264 14f6 3F92 push r32265 14f8 4F92 push r42266 14fa 5F92 push r52267 14fc 6F92 push r62268 14fe 7F92 push r72269 1500 8F92 push r82270 1502 9F92 push r92271 1504 AF92 push r102272 1506 BF92 push r112273 1508 CF92 push r122274 150a DF92 push r132275 150c EF92 push r142276 150e FF92 push r152277 1510 0F93 push r162278 1512 1F93 push r172279 1514 CF93 push r282280 1516 DF93 push r292281 1518 CDB7 in r28,__SP_L__2282 151a DEB7 in r29,__SP_H__2283 151c 2497 sbiw r28,42284 151e 0FB6 in __tmp_reg__,__SREG__2285 1520 F894 cli2286 1522 DEBF out __SP_H__,r292287 1524 0FBE out __SREG__,__tmp_reg__2288 1526 CDBF out __SP_L__,r282289 /* prologue end (size=26) */2290 1528 0E94 0000 call Mittelwert2291 152c 299A sbi 37-0x20,12292 152e E091 0000 lds r30,EE_Parameter+22293 1532 AE2F mov r26,r302294 1534 BB27 clr r272295 1536 AA0F lsl r262296 1538 BB1F rol r272297 153a A050 subi r26,lo8(-(PPM_in))2298 153c B040 sbci r27,hi8(-(PPM_in))2299 153e 0D90 ld __tmp_reg__,X+2300 1540 BC91 ld r27,X2301 1542 A02D mov r26,__tmp_reg__2302 1544 9D01 movw r18,r262303 1546 2858 subi r18,lo8(-(120))2304 1548 3F4F sbci r19,hi8(-(120))2305 154a 3A83 std Y+2,r192306 154c 2983 std Y+1,r182307 154e 37FF sbrs r19,72308 1550 00C0 rjmp .L4592309 1552 1A82 std Y+2,__zero_reg__2310 1554 1982 std Y+1,__zero_reg__2311 .L459:2312 1556 8091 0000 lds r24,SenderOkay2313 155a 8436 cpi r24,lo8(100)2314 155c 00F0 brlo .+22315 155e 00C0 rjmp .L4602316 1560 8091 0000 lds r24,PcZugriff2317 1564 8823 tst r242318 1566 01F4 brne .L4622319 1568 84EF ldi r24,lo8(500)2320 156a 91E0 ldi r25,hi8(500)2321 156c 9093 0000 sts (beeptime)+1,r252322 1570 8093 0000 sts beeptime,r242323 .L462:2324 1574 8091 0000 lds r24,RcLostTimer.24462325 1578 9091 0000 lds r25,(RcLostTimer.2446)+12326 157c 0097 sbiw r24,02327 157e 01F0 breq .L4642328 1580 0197 sbiw r24,12329 1582 9093 0000 sts (RcLostTimer.2446)+1,r252330 1586 8093 0000 sts RcLostTimer.2446,r242331 158a 00C0 rjmp .L4662332 .L464:2333 158c 1092 0000 sts MotorenEin,__zero_reg__2334 1590 1092 0000 sts Notlandung,__zero_reg__2335 .L466:2336 1594 289A sbi 37-0x20,02337 1596 8091 0000 lds r24,modell_fliegt.24502338 159a 9091 0000 lds r25,(modell_fliegt.2450)+12339 159e 815D subi r24,lo8(2001)2340 15a0 9740 sbci r25,hi8(2001)2341 15a2 00F0 brlo .L4672342 15a4 8091 0000 lds r24,EE_Parameter+252343 15a8 482F mov r20,r242344 15aa 5527 clr r212345 15ac 5A83 std Y+2,r212346 15ae 4983 std Y+1,r202347 15b0 81E0 ldi r24,lo8(1)2348 15b2 8093 0000 sts Notlandung,r242349 15b6 E091 0000 lds r30,EE_Parameter2350 15ba FF27 clr r312351 15bc EE0F lsl r302352 15be FF1F rol r312353 15c0 E050 subi r30,lo8(-(PPM_in))2354 15c2 F040 sbci r31,hi8(-(PPM_in))2355 15c4 1182 std Z+1,__zero_reg__2356 15c6 1082 st Z,__zero_reg__2357 15c8 E091 0000 lds r30,EE_Parameter+12358 15cc FF27 clr r312359 15ce EE0F lsl r302360 15d0 FF1F rol r312361 15d2 E050 subi r30,lo8(-(PPM_in))2362 15d4 F040 sbci r31,hi8(-(PPM_in))2363 15d6 1182 std Z+1,__zero_reg__2364 15d8 1082 st Z,__zero_reg__2365 15da E091 0000 lds r30,EE_Parameter+32366 15de FF27 clr r312367 15e0 EE0F lsl r302368 15e2 FF1F rol r312369 15e4 E050 subi r30,lo8(-(PPM_in))2370 15e6 F040 sbci r31,hi8(-(PPM_in))2371 15e8 1182 std Z+1,__zero_reg__2372 15ea 1082 st Z,__zero_reg__2373 15ec 00C0 rjmp .L4692374 .L467:2375 15ee 1092 0000 sts MotorenEin,__zero_reg__2376 15f2 00C0 rjmp .L4692377 .L460:2378 15f4 8091 0000 lds r24,SenderOkay2379 15f8 8D38 cpi r24,lo8(-115)2380 15fa 00F4 brsh .+22381 15fc 00C0 rjmp .L4692382 15fe 1092 0000 sts Notlandung,__zero_reg__2383 1602 8091 0000 lds r24,EE_Parameter+262384 1606 22E3 ldi r18,lo8(50)2385 1608 829F mul r24,r182386 160a C001 movw r24,r02387 160c 1124 clr r12388 160e 9093 0000 sts (RcLostTimer.2446)+1,r252389 1612 8093 0000 sts RcLostTimer.2446,r242390 1616 6981 ldd r22,Y+12391 1618 7A81 ldd r23,Y+22392 161a 6932 cpi r22,412393 161c 7105 cpc r23,__zero_reg__2394 161e 04F0 brlt .L4712395 1620 8091 0000 lds r24,modell_fliegt.24502396 1624 9091 0000 lds r25,(modell_fliegt.2450)+12397 1628 7FEF ldi r23,hi8(-1)2398 162a 8F3F cpi r24,lo8(-1)2399 162c 9707 cpc r25,r232400 162e 01F0 breq .L4732401 1630 0196 adiw r24,12402 1632 9093 0000 sts (modell_fliegt.2450)+1,r252403 1636 8093 0000 sts modell_fliegt.2450,r242404 .L473:2405 163a 8091 0000 lds r24,modell_fliegt.24502406 163e 9091 0000 lds r25,(modell_fliegt.2450)+12407 1642 9093 0000 sts (modell_fliegt_gps)+1,r252408 1646 8093 0000 sts modell_fliegt_gps,r242409 .L471:2410 164a 8091 0000 lds r24,modell_fliegt.24502411 164e 9091 0000 lds r25,(modell_fliegt.2450)+12412 1652 883C cpi r24,2002413 1654 9105 cpc r25,__zero_reg__2414 1656 00F0 brlo .L4752415 1658 8981 ldd r24,Y+12416 165a 9A81 ldd r25,Y+22417 165c 8897 sbiw r24,402418 165e 04F4 brge .L4772419 .L475:2420 1660 1092 0000 sts SummeNick.2439,__zero_reg__2421 1664 1092 0000 sts (SummeNick.2439)+1,__zero_reg__2422 1668 1092 0000 sts (SummeNick.2439)+2,__zero_reg__2423 166c 1092 0000 sts (SummeNick.2439)+3,__zero_reg__2424 1670 1092 0000 sts SummeRoll.2440,__zero_reg__2425 1674 1092 0000 sts (SummeRoll.2440)+1,__zero_reg__2426 1678 1092 0000 sts (SummeRoll.2440)+2,__zero_reg__2427 167c 1092 0000 sts (SummeRoll.2440)+3,__zero_reg__2428 1680 1092 0000 sts Mess_Integral_Gier,__zero_reg__2429 1684 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__2430 1688 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__2431 168c 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__2432 1690 1092 0000 sts Mess_Integral_Gier2,__zero_reg__2433 1694 1092 0000 sts (Mess_Integral_Gier2)+1,__zero_reg__2434 1698 1092 0000 sts (Mess_Integral_Gier2)+2,__zero_reg__2435 169c 1092 0000 sts (Mess_Integral_Gier2)+3,__zero_reg__2436 .L477:2437 16a0 E981 ldd r30,Y+12438 16a2 FA81 ldd r31,Y+22439 16a4 E93C cpi r30,2012440 16a6 F105 cpc r31,__zero_reg__2441 16a8 04F4 brge .+22442 16aa 00C0 rjmp .L4782443 16ac 8091 0000 lds r24,MotorenEin2444 16b0 8823 tst r242445 16b2 01F0 breq .+22446 16b4 00C0 rjmp .L4692447 16b6 E091 0000 lds r30,EE_Parameter+32448 16ba FF27 clr r312449 16bc EE0F lsl r302450 16be FF1F rol r312451 16c0 E050 subi r30,lo8(-(PPM_in))2452 16c2 F040 sbci r31,hi8(-(PPM_in))2453 16c4 8081 ld r24,Z2454 16c6 9181 ldd r25,Z+12455 16c8 8C34 cpi r24,762456 16ca 9105 cpc r25,__zero_reg__2457 16cc 04F4 brge .+22458 16ce 00C0 rjmp .L4812459 16d0 8091 0000 lds r24,delay_neutral.24472460 16d4 8F5F subi r24,lo8(-(1))2461 16d6 8093 0000 sts delay_neutral.2447,r242462 16da 893C cpi r24,lo8(-55)2463 16dc 00F4 brsh .+22464 16de 00C0 rjmp .L4692465 16e0 2998 cbi 37-0x20,12466 16e2 0E94 0000 call SetNeutral2467 16e6 1092 0000 sts MotorenEin,__zero_reg__2468 16ea 1092 0000 sts delay_neutral.2447,__zero_reg__2469 16ee 1092 0000 sts (modell_fliegt.2450)+1,__zero_reg__2470 16f2 1092 0000 sts modell_fliegt.2450,__zero_reg__2471 16f6 8091 0000 lds r24,EE_Parameter2472 16fa 282F mov r18,r242473 16fc 3327 clr r192474 16fe F901 movw r30,r182475 1700 EE0F lsl r302476 1702 FF1F rol r312477 1704 E050 subi r30,lo8(-(PPM_in))2478 1706 F040 sbci r31,hi8(-(PPM_in))2479 1708 8081 ld r24,Z2480 170a 9181 ldd r25,Z+12481 170c 8734 cpi r24,712482 170e 9105 cpc r25,__zero_reg__2483 1710 04F4 brge .L4842484 1712 E091 0000 lds r30,EE_Parameter+12485 1716 FF27 clr r312486 1718 EE0F lsl r302487 171a FF1F rol r312488 171c E050 subi r30,lo8(-(PPM_in))2489 171e F040 sbci r31,hi8(-(PPM_in))2490 1720 0190 ld __tmp_reg__,Z+2491 1722 F081 ld r31,Z2492 1724 E02D mov r30,__tmp_reg__2493 1726 F7FF sbrs r31,72494 1728 00C0 rjmp .L4872495 172a F095 com r312496 172c E195 neg r302497 172e FF4F sbci r31,lo8(-1)2498 .L487:2499 1730 E734 cpi r30,712500 1732 F105 cpc r31,__zero_reg__2501 1734 04F4 brge .+22502 1736 00C0 rjmp .L4862503 .L484:2504 1738 8091 0000 lds r24,EE_Parameter+12505 173c 682F mov r22,r242506 173e 7727 clr r232507 1740 DB01 movw r26,r222508 1742 AA0F lsl r262509 1744 BB1F rol r272510 1746 A050 subi r26,lo8(-(PPM_in))2511 1748 B040 sbci r27,hi8(-(PPM_in))2512 174a 8D91 ld r24,X+2513 174c 9C91 ld r25,X2514 174e 1197 sbiw r26,12515 1750 8734 cpi r24,712516 1752 9105 cpc r25,__zero_reg__2517 1754 04F0 brlt .L4882518 1756 F901 movw r30,r182519 1758 EE0F lsl r302520 175a FF1F rol r312521 175c E050 subi r30,lo8(-(PPM_in))2522 175e F040 sbci r31,hi8(-(PPM_in))2523 1760 8081 ld r24,Z2524 1762 9181 ldd r25,Z+12525 .L488:2526 1764 8D91 ld r24,X+2527 1766 9C91 ld r25,X2528 1768 8734 cpi r24,712529 176a 9105 cpc r25,__zero_reg__2530 176c 04F0 brlt .L4902531 176e F901 movw r30,r182532 1770 EE0F lsl r302533 1772 FF1F rol r312534 1774 E050 subi r30,lo8(-(PPM_in))2535 1776 F040 sbci r31,hi8(-(PPM_in))2536 1778 8081 ld r24,Z2537 177a 9181 ldd r25,Z+12538 177c 8734 cpi r24,712539 177e 9105 cpc r25,__zero_reg__2540 1780 04F0 brlt .L4902541 1782 42E0 ldi r20,lo8(2)2542 1784 00C0 rjmp .L4932543 .L490:2544 1786 41E0 ldi r20,lo8(1)2545 .L493:2546 1788 FB01 movw r30,r222547 178a EE0F lsl r302548 178c FF1F rol r312549 178e E050 subi r30,lo8(-(PPM_in))2550 1790 F040 sbci r31,hi8(-(PPM_in))2551 1792 8081 ld r24,Z2552 1794 9181 ldd r25,Z+12553 1796 8634 cpi r24,702554 1798 9105 cpc r25,__zero_reg__2555 179a 04F4 brge .L4942556 179c F901 movw r30,r182557 179e EE0F lsl r302558 17a0 FF1F rol r312559 17a2 E050 subi r30,lo8(-(PPM_in))2560 17a4 F040 sbci r31,hi8(-(PPM_in))2561 17a6 8081 ld r24,Z2562 17a8 9181 ldd r25,Z+12563 17aa 8734 cpi r24,712564 17ac 9105 cpc r25,__zero_reg__2565 17ae 04F0 brlt .L4942566 17b0 43E0 ldi r20,lo8(3)2567 .L494:2568 17b2 FB01 movw r30,r222569 17b4 EE0F lsl r302570 17b6 FF1F rol r312571 17b8 E050 subi r30,lo8(-(PPM_in))2572 17ba F040 sbci r31,hi8(-(PPM_in))2573 17bc 8081 ld r24,Z2574 17be 9181 ldd r25,Z+12575 17c0 8A5B subi r24,lo8(-70)2576 17c2 9F4F sbci r25,hi8(-70)2577 17c4 04F4 brge .L4972578 17c6 F901 movw r30,r182579 17c8 EE0F lsl r302580 17ca FF1F rol r312581 17cc E050 subi r30,lo8(-(PPM_in))2582 17ce F040 sbci r31,hi8(-(PPM_in))2583 17d0 8081 ld r24,Z2584 17d2 9181 ldd r25,Z+12585 17d4 8734 cpi r24,712586 17d6 9105 cpc r25,__zero_reg__2587 17d8 04F0 brlt .L4972588 17da 44E0 ldi r20,lo8(4)2589 .L497:2590 17dc 660F lsl r222591 17de 771F rol r232592 17e0 6050 subi r22,lo8(-(PPM_in))2593 17e2 7040 sbci r23,hi8(-(PPM_in))2594 17e4 FB01 movw r30,r222595 17e6 8081 ld r24,Z2596 17e8 9181 ldd r25,Z+12597 17ea 8A5B subi r24,lo8(-70)2598 17ec 9F4F sbci r25,hi8(-70)2599 17ee 04F4 brge .L5002600 17f0 220F lsl r182601 17f2 331F rol r192602 17f4 2050 subi r18,lo8(-(PPM_in))2603 17f6 3040 sbci r19,hi8(-(PPM_in))2604 17f8 F901 movw r30,r182605 17fa 8081 ld r24,Z2606 17fc 9181 ldd r25,Z+12607 17fe 8634 cpi r24,702608 1800 9105 cpc r25,__zero_reg__2609 1802 04F4 brge .L5002610 1804 45E0 ldi r20,lo8(5)2611 .L500:2612 1806 A0E0 ldi r26,lo8(EEPromArray+2)2613 1808 B0E0 ldi r27,hi8(EEPromArray+2)2614 /* #APP */2615 180a 042E mov __tmp_reg__,r202616 180c 0E94 0000 call __eeprom_write_byte_1F20212617 /* #NOAPP */2618 .L486:2619 1810 0E94 0000 call GetActiveParamSetNumber2620 1814 4AE3 ldi r20,lo8(58)2621 1816 60E0 ldi r22,lo8(EE_Parameter)2622 1818 70E0 ldi r23,hi8(EE_Parameter)2623 181a 0E94 0000 call ReadParameterSet2624 181e 0E94 0000 call GetActiveParamSetNumber2625 1822 0E94 0000 call Piep2626 1826 8091 0000 lds r24,EE_Parameter+82627 182a 80FF sbrs r24,02628 182c 00C0 rjmp .L4692629 182e 8091 0000 lds r24,MessLuftdruck2630 1832 9091 0000 lds r25,(MessLuftdruck)+12631 1836 875B subi r24,lo8(951)2632 1838 9340 sbci r25,hi8(951)2633 183a 00F4 brsh .L5042634 183c 8091 0000 lds r24,MessLuftdruck2635 1840 9091 0000 lds r25,(MessLuftdruck)+12636 1844 8E5E subi r24,lo8(750)2637 1846 9240 sbci r25,hi8(750)2638 1848 00F0 brlo .+22639 184a 00C0 rjmp .L4692640 .L504:2641 184c 0E94 0000 call SucheLuftruckOffset2642 1850 00C0 rjmp .L4692643 .L481:2644 1852 1092 0000 sts delay_neutral.2447,__zero_reg__2645 1856 00C0 rjmp .L4692646 .L478:2647 1858 4981 ldd r20,Y+12648 185a 5A81 ldd r21,Y+22649 185c 4332 cpi r20,352650 185e 5105 cpc r21,__zero_reg__2651 1860 04F0 brlt .+22652 1862 00C0 rjmp .L4692653 1864 8091 0000 lds r24,EE_Parameter+32654 1868 482F mov r20,r242655 186a 5527 clr r212656 186c FA01 movw r30,r202657 186e EE0F lsl r302658 1870 FF1F rol r312659 1872 E050 subi r30,lo8(-(PPM_in))2660 1874 F040 sbci r31,hi8(-(PPM_in))2661 1876 8081 ld r24,Z2662 1878 9181 ldd r25,Z+12663 187a 855B subi r24,lo8(-75)2664 187c 9F4F sbci r25,hi8(-75)2665 187e 04F0 brlt .+22666 1880 00C0 rjmp .L5072667 1882 8091 0000 lds r24,delay_einschalten.24482668 1886 8F5F subi r24,lo8(-(1))2669 1888 8093 0000 sts delay_einschalten.2448,r242670 188c 893C cpi r24,lo8(-55)2671 188e 00F4 brsh .+22672 1890 00C0 rjmp .L5092673 1892 88EC ldi r24,lo8(-56)2674 1894 8093 0000 sts delay_einschalten.2448,r242675 1898 81E0 ldi r24,lo8(1)2676 189a 90E0 ldi r25,hi8(1)2677 189c 9093 0000 sts (modell_fliegt.2450)+1,r252678 18a0 8093 0000 sts modell_fliegt.2450,r242679 18a4 81E0 ldi r24,lo8(1)2680 18a6 8093 0000 sts MotorenEin,r242681 18aa 1092 0000 sts sollGier.2441,__zero_reg__2682 18ae 1092 0000 sts (sollGier.2441)+1,__zero_reg__2683 18b2 1092 0000 sts (sollGier.2441)+2,__zero_reg__2684 18b6 1092 0000 sts (sollGier.2441)+3,__zero_reg__2685 18ba 1092 0000 sts Mess_Integral_Gier,__zero_reg__2686 18be 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__2687 18c2 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__2688 18c6 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__2689 18ca 1092 0000 sts Mess_Integral_Gier2,__zero_reg__2690 18ce 1092 0000 sts (Mess_Integral_Gier2)+1,__zero_reg__2691 18d2 1092 0000 sts (Mess_Integral_Gier2)+2,__zero_reg__2692 18d6 1092 0000 sts (Mess_Integral_Gier2)+3,__zero_reg__2693 18da 1092 0000 sts Mess_IntegralNick,__zero_reg__2694 18de 1092 0000 sts (Mess_IntegralNick)+1,__zero_reg__2695 18e2 1092 0000 sts (Mess_IntegralNick)+2,__zero_reg__2696 18e6 1092 0000 sts (Mess_IntegralNick)+3,__zero_reg__2697 18ea 1092 0000 sts Mess_IntegralRoll,__zero_reg__2698 18ee 1092 0000 sts (Mess_IntegralRoll)+1,__zero_reg__2699 18f2 1092 0000 sts (Mess_IntegralRoll)+2,__zero_reg__2700 18f6 1092 0000 sts (Mess_IntegralRoll)+3,__zero_reg__2701 18fa 8091 0000 lds r24,IntegralNick2702 18fe 9091 0000 lds r25,(IntegralNick)+12703 1902 A091 0000 lds r26,(IntegralNick)+22704 1906 B091 0000 lds r27,(IntegralNick)+32705 190a 8093 0000 sts Mess_IntegralNick2,r242706 190e 9093 0000 sts (Mess_IntegralNick2)+1,r252707 1912 A093 0000 sts (Mess_IntegralNick2)+2,r262708 1916 B093 0000 sts (Mess_IntegralNick2)+3,r272709 191a 8091 0000 lds r24,IntegralRoll2710 191e 9091 0000 lds r25,(IntegralRoll)+12711 1922 A091 0000 lds r26,(IntegralRoll)+22712 1926 B091 0000 lds r27,(IntegralRoll)+32713 192a 8093 0000 sts Mess_IntegralRoll2,r242714 192e 9093 0000 sts (Mess_IntegralRoll2)+1,r252715 1932 A093 0000 sts (Mess_IntegralRoll2)+2,r262716 1936 B093 0000 sts (Mess_IntegralRoll2)+3,r272717 193a 1092 0000 sts SummeNick.2439,__zero_reg__2718 193e 1092 0000 sts (SummeNick.2439)+1,__zero_reg__2719 1942 1092 0000 sts (SummeNick.2439)+2,__zero_reg__2720 1946 1092 0000 sts (SummeNick.2439)+3,__zero_reg__2721 194a 1092 0000 sts SummeRoll.2440,__zero_reg__2722 194e 1092 0000 sts (SummeRoll.2440)+1,__zero_reg__2723 1952 1092 0000 sts (SummeRoll.2440)+2,__zero_reg__2724 1956 1092 0000 sts (SummeRoll.2440)+3,__zero_reg__2725 195a 00C0 rjmp .L5092726 .L507:2727 195c 1092 0000 sts delay_einschalten.2448,__zero_reg__2728 .L509:2729 1960 440F lsl r202730 1962 551F rol r212731 1964 4050 subi r20,lo8(-(PPM_in))2732 1966 5040 sbci r21,hi8(-(PPM_in))2733 1968 FA01 movw r30,r202734 196a 8081 ld r24,Z2735 196c 9181 ldd r25,Z+12736 196e 8C34 cpi r24,762737 1970 9105 cpc r25,__zero_reg__2738 1972 04F0 brlt .L5112739 1974 8091 0000 lds r24,delay_ausschalten.24492740 1978 8F5F subi r24,lo8(-(1))2741 197a 8093 0000 sts delay_ausschalten.2449,r242742 197e 893C cpi r24,lo8(-55)2743 1980 00F0 brlo .L4692744 1982 1092 0000 sts MotorenEin,__zero_reg__2745 1986 88EC ldi r24,lo8(-56)2746 1988 8093 0000 sts delay_ausschalten.2449,r242747 198c 1092 0000 sts (modell_fliegt.2450)+1,__zero_reg__2748 1990 1092 0000 sts modell_fliegt.2450,__zero_reg__2749 1994 00C0 rjmp .L4692750 .L511:2751 1996 1092 0000 sts delay_ausschalten.2449,__zero_reg__2752 .L469:2753 199a 8091 0000 lds r24,NewPpmData2754 199e 8150 subi r24,lo8(-(-1))2755 19a0 8093 0000 sts NewPpmData,r242756 19a4 8091 0000 lds r24,NewPpmData2757 19a8 8F3F cpi r24,lo8(-1)2758 19aa 01F0 breq .L5142759 19ac 8091 0000 lds r24,Notlandung2760 19b0 8823 tst r242761 19b2 01F4 brne .+22762 19b4 00C0 rjmp .L5162763 .L514:2764 19b6 0E94 0000 call ParameterZuordnung2765 19ba E091 0000 lds r30,EE_Parameter2766 19be FF27 clr r312767 19c0 EE0F lsl r302768 19c2 FF1F rol r312769 19c4 DF01 movw r26,r302770 19c6 A050 subi r26,lo8(-(PPM_in))2771 19c8 B040 sbci r27,hi8(-(PPM_in))2772 19ca 8D91 ld r24,X+2773 19cc 9C91 ld r25,X2774 19ce 6091 0000 lds r22,EE_Parameter+152775 19d2 7727 clr r232776 19d4 E050 subi r30,lo8(-(PPM_diff))2777 19d6 F040 sbci r31,hi8(-(PPM_diff))2778 19d8 2081 ld r18,Z2779 19da 3181 ldd r19,Z+12780 19dc 4091 0000 lds r20,EE_Parameter+162781 19e0 5527 clr r212782 19e2 FC01 movw r30,r242783 19e4 E69F mul r30,r222784 19e6 C001 movw r24,r02785 19e8 E79F mul r30,r232786 19ea 900D add r25,r02787 19ec F69F mul r31,r222788 19ee 900D add r25,r02789 19f0 1124 clr r12790 19f2 F901 movw r30,r182791 19f4 E49F mul r30,r202792 19f6 9001 movw r18,r02793 19f8 E59F mul r30,r212794 19fa 300D add r19,r02795 19fc F49F mul r31,r202796 19fe 300D add r19,r02797 1a00 1124 clr r12798 1a02 820F add r24,r182799 1a04 931F adc r25,r192800 1a06 9093 0000 sts (StickNick)+1,r252801 1a0a 8093 0000 sts StickNick,r242802 1a0e E091 0000 lds r30,EE_Parameter+12803 1a12 FF27 clr r312804 1a14 EE0F lsl r302805 1a16 FF1F rol r312806 1a18 DF01 movw r26,r302807 1a1a A050 subi r26,lo8(-(PPM_in))2808 1a1c B040 sbci r27,hi8(-(PPM_in))2809 1a1e 8D91 ld r24,X+2810 1a20 9C91 ld r25,X2811 1a22 E050 subi r30,lo8(-(PPM_diff))2812 1a24 F040 sbci r31,hi8(-(PPM_diff))2813 1a26 2081 ld r18,Z2814 1a28 3181 ldd r19,Z+12815 1a2a FC01 movw r30,r242816 1a2c E69F mul r30,r222817 1a2e C001 movw r24,r02818 1a30 E79F mul r30,r232819 1a32 900D add r25,r02820 1a34 F69F mul r31,r222821 1a36 900D add r25,r02822 1a38 1124 clr r12823 1a3a B901 movw r22,r182824 1a3c 649F mul r22,r202825 1a3e 9001 movw r18,r02826 1a40 659F mul r22,r212827 1a42 300D add r19,r02828 1a44 749F mul r23,r202829 1a46 300D add r19,r02830 1a48 1124 clr r12831 1a4a 820F add r24,r182832 1a4c 931F adc r25,r192833 1a4e 9093 0000 sts (StickRoll)+1,r252834 1a52 8093 0000 sts StickRoll,r242835 1a56 E091 0000 lds r30,EE_Parameter+32836 1a5a FF27 clr r312837 1a5c EE0F lsl r302838 1a5e FF1F rol r312839 1a60 E050 subi r30,lo8(-(PPM_in))2840 1a62 F040 sbci r31,hi8(-(PPM_in))2841 1a64 8081 ld r24,Z2842 1a66 9181 ldd r25,Z+12843 1a68 9095 com r252844 1a6a 8195 neg r242845 1a6c 9F4F sbci r25,lo8(-1)2846 1a6e 9093 0000 sts (StickGier)+1,r252847 1a72 8093 0000 sts StickGier,r242848 1a76 1091 0000 lds r17,Parameter_Gyro_P2849 1a7a 612F mov r22,r172850 1a7c 7727 clr r232851 1a7e 67FD sbrc r22,72852 1a80 7095 com r232853 1a82 872F mov r24,r232854 1a84 972F mov r25,r232855 1a86 0E94 0000 call __floatsisf2856 1a8a 17FF sbrs r17,72857 1a8c 00C0 rjmp .L5172858 1a8e 20E0 ldi r18,lo8(0x43800000)2859 1a90 30E0 ldi r19,hi8(0x43800000)2860 1a92 40E8 ldi r20,hlo8(0x43800000)2861 1a94 53E4 ldi r21,hhi8(0x43800000)2862 1a96 0E94 0000 call __addsf32863 .L517:2864 1a9a 20E0 ldi r18,lo8(0x41200000)2865 1a9c 30E0 ldi r19,hi8(0x41200000)2866 1a9e 40E2 ldi r20,hlo8(0x41200000)2867 1aa0 51E4 ldi r21,hhi8(0x41200000)2868 1aa2 0E94 0000 call __addsf32869 1aa6 20E0 ldi r18,lo8(0x3b800000)2870 1aa8 30E0 ldi r19,hi8(0x3b800000)2871 1aaa 40E8 ldi r20,hlo8(0x3b800000)2872 1aac 5BE3 ldi r21,hhi8(0x3b800000)2873 1aae 0E94 0000 call __mulsf32874 1ab2 5B01 movw r10,r222875 1ab4 6C01 movw r12,r242876 1ab6 6093 0000 sts GyroFaktor,r222877 1aba 7093 0000 sts (GyroFaktor)+1,r232878 1abe 8093 0000 sts (GyroFaktor)+2,r242879 1ac2 9093 0000 sts (GyroFaktor)+3,r252880 1ac6 1091 0000 lds r17,Parameter_Gyro_I2881 1aca 612F mov r22,r172882 1acc 7727 clr r232883 1ace 67FD sbrc r22,72884 1ad0 7095 com r232885 1ad2 872F mov r24,r232886 1ad4 972F mov r25,r232887 1ad6 0E94 0000 call __floatsisf2888 1ada 17FF sbrs r17,72889 1adc 00C0 rjmp .L5182890 1ade 20E0 ldi r18,lo8(0x43800000)2891 1ae0 30E0 ldi r19,hi8(0x43800000)2892 1ae2 40E8 ldi r20,hlo8(0x43800000)2893 1ae4 53E4 ldi r21,hhi8(0x43800000)2894 1ae6 0E94 0000 call __addsf32895 .L518:2896 1aea 20E0 ldi r18,lo8(0x472be000)2897 1aec 30EE ldi r19,hi8(0x472be000)2898 1aee 4BE2 ldi r20,hlo8(0x472be000)2899 1af0 57E4 ldi r21,hhi8(0x472be000)2900 1af2 0E94 0000 call __divsf32901 1af6 6093 0000 sts IntegralFaktor,r222902 1afa 7093 0000 sts (IntegralFaktor)+1,r232903 1afe 8093 0000 sts (IntegralFaktor)+2,r242904 1b02 9093 0000 sts (IntegralFaktor)+3,r252905 1b06 8091 0000 lds r24,EE_Parameter+82906 1b0a 82FF sbrs r24,22907 1b0c 00C0 rjmp .L5192908 1b0e 80E0 ldi r24,lo8(0x0)2909 1b10 90E0 ldi r25,hi8(0x0)2910 1b12 A0E0 ldi r26,hlo8(0x0)2911 1b14 B0E0 ldi r27,hhi8(0x0)2912 1b16 8093 0000 sts IntegralFaktor,r242913 1b1a 9093 0000 sts (IntegralFaktor)+1,r252914 1b1e A093 0000 sts (IntegralFaktor)+2,r262915 1b22 B093 0000 sts (IntegralFaktor)+3,r272916 .L519:2917 1b26 20E0 ldi r18,lo8(0x0)2918 1b28 30E0 ldi r19,hi8(0x0)2919 1b2a 40E0 ldi r20,hlo8(0x0)2920 1b2c 50E0 ldi r21,hhi8(0x0)2921 1b2e C601 movw r24,r122922 1b30 B501 movw r22,r102923 1b32 0E94 0000 call __ltsf22924 1b36 8823 tst r242925 1b38 04F4 brge .L5212926 1b3a 80E0 ldi r24,lo8(0x0)2927 1b3c 90E0 ldi r25,hi8(0x0)2928 1b3e A0E0 ldi r26,hlo8(0x0)2929 1b40 B0E0 ldi r27,hhi8(0x0)2930 1b42 8093 0000 sts GyroFaktor,r242931 1b46 9093 0000 sts (GyroFaktor)+1,r252932 1b4a A093 0000 sts (GyroFaktor)+2,r262933 1b4e B093 0000 sts (GyroFaktor)+3,r272934 .L521:2935 1b52 20E0 ldi r18,lo8(0x0)2936 1b54 30E0 ldi r19,hi8(0x0)2937 1b56 40E0 ldi r20,hlo8(0x0)2938 1b58 50E0 ldi r21,hhi8(0x0)2939 1b5a 6091 0000 lds r22,IntegralFaktor2940 1b5e 7091 0000 lds r23,(IntegralFaktor)+12941 1b62 8091 0000 lds r24,(IntegralFaktor)+22942 1b66 9091 0000 lds r25,(IntegralFaktor)+32943 1b6a 0E94 0000 call __ltsf22944 1b6e 8823 tst r242945 1b70 04F4 brge .L5242946 1b72 80E0 ldi r24,lo8(0x0)2947 1b74 90E0 ldi r25,hi8(0x0)2948 1b76 A0E0 ldi r26,hlo8(0x0)2949 1b78 B0E0 ldi r27,hhi8(0x0)2950 1b7a 8093 0000 sts IntegralFaktor,r242951 1b7e 9093 0000 sts (IntegralFaktor)+1,r252952 1b82 A093 0000 sts (IntegralFaktor)+2,r262953 1b86 B093 0000 sts (IntegralFaktor)+3,r272954 .L524:2955 1b8a 4298 cbi 40-0x20,22956 1b8c 9091 0000 lds r25,Parameter_UserParam42957 1b90 8091 0000 lds r24,blinkcount_LED12958 1b94 8917 cp r24,r252959 1b96 00F0 brlo .L5272960 1b98 9923 tst r252961 1b9a 01F0 breq .L5272962 1b9c 88B1 in r24,40-0x202963 1b9e 94E0 ldi r25,lo8(4)2964 1ba0 8927 eor r24,r252965 1ba2 88B9 out 40-0x20,r242966 1ba4 1092 0000 sts blinkcount_LED1,__zero_reg__2967 .L527:2968 1ba8 8091 0000 lds r24,blinkcount_LED12969 1bac 8F5F subi r24,lo8(-(1))2970 1bae 8093 0000 sts blinkcount_LED1,r242971 1bb2 8091 0000 lds r24,Notlandung2972 1bb6 8823 tst r242973 1bb8 01F0 breq .L5162974 1bba 1092 0000 sts (StickGier)+1,__zero_reg__2975 1bbe 1092 0000 sts StickGier,__zero_reg__2976 1bc2 1092 0000 sts (StickNick)+1,__zero_reg__2977 1bc6 1092 0000 sts StickNick,__zero_reg__2978 1bca 1092 0000 sts (StickRoll)+1,__zero_reg__2979 1bce 1092 0000 sts StickRoll,__zero_reg__2980 1bd2 8DEC ldi r24,lo8(0x3dcccccd)2981 1bd4 9CEC ldi r25,hi8(0x3dcccccd)2982 1bd6 ACEC ldi r26,hlo8(0x3dcccccd)2983 1bd8 BDE3 ldi r27,hhi8(0x3dcccccd)2984 1bda 8093 0000 sts GyroFaktor,r242985 1bde 9093 0000 sts (GyroFaktor)+1,r252986 1be2 A093 0000 sts (GyroFaktor)+2,r262987 1be6 B093 0000 sts (GyroFaktor)+3,r272988 1bea 8AE0 ldi r24,lo8(0x3ba3d70a)2989 1bec 97ED ldi r25,hi8(0x3ba3d70a)2990 1bee A3EA ldi r26,hlo8(0x3ba3d70a)2991 1bf0 BBE3 ldi r27,hhi8(0x3ba3d70a)2992 1bf2 8093 0000 sts IntegralFaktor,r242993 1bf6 9093 0000 sts (IntegralFaktor)+1,r252994 1bfa A093 0000 sts (IntegralFaktor)+2,r262995 1bfe B093 0000 sts (IntegralFaktor)+3,r272996 .L516:2997 1c02 8091 0000 lds r24,ZaehlMessungen2998 1c06 9091 0000 lds r25,(ZaehlMessungen)+12999 1c0a 8D54 subi r24,lo8(333)3000 1c0c 9140 sbci r25,hi8(333)3001 1c0e 00F4 brsh .+23002 1c10 00C0 rjmp .L5313003 1c12 2091 0000 lds r18,IntegralNick23004 1c16 3091 0000 lds r19,(IntegralNick2)+13005 1c1a 4091 0000 lds r20,(IntegralNick2)+23006 1c1e 5091 0000 lds r21,(IntegralNick2)+33007 1c22 8091 0000 lds r24,IntegralNick3008 1c26 9091 0000 lds r25,(IntegralNick)+13009 1c2a A091 0000 lds r26,(IntegralNick)+23010 1c2e B091 0000 lds r27,(IntegralNick)+33011 1c32 B901 movw r22,r183012 1c34 681B sub r22,r243013 1c36 790B sbc r23,r253014 1c38 7093 0000 sts (IntegralFehlerNick.2444)+1,r233015 1c3c 6093 0000 sts IntegralFehlerNick.2444,r223016 1c40 2091 0000 lds r18,IntegralRoll23017 1c44 3091 0000 lds r19,(IntegralRoll2)+13018 1c48 4091 0000 lds r20,(IntegralRoll2)+23019 1c4c 5091 0000 lds r21,(IntegralRoll2)+33020 1c50 8091 0000 lds r24,IntegralRoll3021 1c54 9091 0000 lds r25,(IntegralRoll)+13022 1c58 A091 0000 lds r26,(IntegralRoll)+23023 1c5c B091 0000 lds r27,(IntegralRoll)+33024 1c60 281B sub r18,r243025 1c62 390B sbc r19,r253026 1c64 3093 0000 sts (IntegralFehlerRoll.2445)+1,r193027 1c68 2093 0000 sts IntegralFehlerRoll.2445,r183028 1c6c 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__3029 1c70 1092 0000 sts ZaehlMessungen,__zero_reg__3030 1c74 673A cpi r22,1673031 1c76 7105 cpc r23,__zero_reg__3032 1c78 04F0 brlt .L5333033 1c7a 8091 0000 lds r24,AdNeutralNick3034 1c7e 9091 0000 lds r25,(AdNeutralNick)+13035 1c82 0196 adiw r24,13036 1c84 00C0 rjmp .L6603037 .L533:3038 1c86 6A55 subi r22,lo8(-166)3039 1c88 7F4F sbci r23,hi8(-166)3040 1c8a 04F4 brge .L5353041 1c8c 8091 0000 lds r24,AdNeutralNick3042 1c90 9091 0000 lds r25,(AdNeutralNick)+13043 1c94 0197 sbiw r24,13044 .L660:3045 1c96 9093 0000 sts (AdNeutralNick)+1,r253046 1c9a 8093 0000 sts AdNeutralNick,r243047 .L535:3048 1c9e 273A cpi r18,1673049 1ca0 3105 cpc r19,__zero_reg__3050 1ca2 04F0 brlt .L5373051 1ca4 8091 0000 lds r24,AdNeutralRoll3052 1ca8 9091 0000 lds r25,(AdNeutralRoll)+13053 1cac 0196 adiw r24,13054 1cae 00C0 rjmp .L6613055 .L537:3056 1cb0 2A55 subi r18,lo8(-166)3057 1cb2 3F4F sbci r19,hi8(-166)3058 1cb4 04F4 brge .L5393059 1cb6 8091 0000 lds r24,AdNeutralRoll3060 1cba 9091 0000 lds r25,(AdNeutralRoll)+13061 1cbe 0197 sbiw r24,13062 .L661:3063 1cc0 9093 0000 sts (AdNeutralRoll)+1,r253064 1cc4 8093 0000 sts AdNeutralRoll,r243065 .L539:3066 1cc8 8091 0000 lds r24,Mess_Integral_Gier23067 1ccc 9091 0000 lds r25,(Mess_Integral_Gier2)+13068 1cd0 A091 0000 lds r26,(Mess_Integral_Gier2)+23069 1cd4 B091 0000 lds r27,(Mess_Integral_Gier2)+33070 1cd8 873A cpi r24,lo8(167)3071 1cda 9105 cpc r25,__zero_reg__3072 1cdc A105 cpc r26,__zero_reg__3073 1cde B105 cpc r27,__zero_reg__3074 1ce0 04F0 brlt .L5413075 1ce2 8091 0000 lds r24,AdNeutralGier3076 1ce6 9091 0000 lds r25,(AdNeutralGier)+13077 1cea 0197 sbiw r24,13078 1cec 9093 0000 sts (AdNeutralGier)+1,r253079 1cf0 8093 0000 sts AdNeutralGier,r243080 .L541:3081 1cf4 8091 0000 lds r24,Mess_Integral_Gier23082 1cf8 9091 0000 lds r25,(Mess_Integral_Gier2)+13083 1cfc A091 0000 lds r26,(Mess_Integral_Gier2)+23084 1d00 B091 0000 lds r27,(Mess_Integral_Gier2)+33085 1d04 8A55 subi r24,lo8(-166)3086 1d06 9F4F sbci r25,hi8(-166)3087 1d08 AF4F sbci r26,hlo8(-166)3088 1d0a BF4F sbci r27,hhi8(-166)3089 1d0c 04F4 brge .L5433090 1d0e 8091 0000 lds r24,AdNeutralGier3091 1d12 9091 0000 lds r25,(AdNeutralGier)+13092 1d16 0196 adiw r24,13093 1d18 9093 0000 sts (AdNeutralGier)+1,r253094 1d1c 8093 0000 sts AdNeutralGier,r243095 .L543:3096 1d20 1092 7A00 sts 122,__zero_reg__3097 1d24 8091 0000 lds r24,IntegralNick3098 1d28 9091 0000 lds r25,(IntegralNick)+13099 1d2c A091 0000 lds r26,(IntegralNick)+23100 1d30 B091 0000 lds r27,(IntegralNick)+33101 1d34 8093 0000 sts Mess_IntegralNick2,r243102 1d38 9093 0000 sts (Mess_IntegralNick2)+1,r253103 1d3c A093 0000 sts (Mess_IntegralNick2)+2,r263104 1d40 B093 0000 sts (Mess_IntegralNick2)+3,r273105 1d44 8091 0000 lds r24,IntegralRoll3106 1d48 9091 0000 lds r25,(IntegralRoll)+13107 1d4c A091 0000 lds r26,(IntegralRoll)+23108 1d50 B091 0000 lds r27,(IntegralRoll)+33109 1d54 8093 0000 sts Mess_IntegralRoll2,r243110 1d58 9093 0000 sts (Mess_IntegralRoll2)+1,r253111 1d5c A093 0000 sts (Mess_IntegralRoll2)+2,r263112 1d60 B093 0000 sts (Mess_IntegralRoll2)+3,r273113 1d64 8091 0000 lds r24,Integral_Gier3114 1d68 9091 0000 lds r25,(Integral_Gier)+13115 1d6c A091 0000 lds r26,(Integral_Gier)+23116 1d70 B091 0000 lds r27,(Integral_Gier)+33117 1d74 8093 0000 sts Mess_Integral_Gier2,r243118 1d78 9093 0000 sts (Mess_Integral_Gier2)+1,r253119 1d7c A093 0000 sts (Mess_Integral_Gier2)+2,r263120 1d80 B093 0000 sts (Mess_Integral_Gier2)+3,r273121 1d84 8FEE ldi r24,lo8(-17)3122 1d86 8093 7A00 sts 122,r243123 .L531:3124 1d8a 6091 0000 lds r22,IntegralNick3125 1d8e 7091 0000 lds r23,(IntegralNick)+13126 1d92 8091 0000 lds r24,(IntegralNick)+23127 1d96 9091 0000 lds r25,(IntegralNick)+33128 1d9a A090 0000 lds r10,EE_Parameter+203129 1d9e BB24 clr r113130 1da0 CC24 clr r123131 1da2 DD24 clr r133132 1da4 E090 0000 lds r14,Mittelwert_AccNick3133 1da8 F090 0000 lds r15,(Mittelwert_AccNick)+13134 1dac A601 movw r20,r123135 1dae 9501 movw r18,r103136 1db0 0E94 0000 call __divmodsi43137 1db4 0027 clr r163138 1db6 F7FC sbrc r15,73139 1db8 0095 com r163140 1dba 102F mov r17,r163141 1dbc 2E19 sub r18,r143142 1dbe 3F09 sbc r19,r153143 1dc0 400B sbc r20,r163144 1dc2 510B sbc r21,r173145 1dc4 CA01 movw r24,r203146 1dc6 B901 movw r22,r183147 1dc8 20E1 ldi r18,lo8(16)3148 1dca 30E0 ldi r19,hi8(16)3149 1dcc 40E0 ldi r20,hlo8(16)3150 1dce 50E0 ldi r21,hhi8(16)3151 1dd0 0E94 0000 call __divmodsi43152 1dd4 3901 movw r6,r183153 1dd6 4A01 movw r8,r203154 1dd8 2093 0000 sts tmp_long.2442,r183155 1ddc 3093 0000 sts (tmp_long.2442)+1,r193156 1de0 4093 0000 sts (tmp_long.2442)+2,r203157 1de4 5093 0000 sts (tmp_long.2442)+3,r213158 1de8 6091 0000 lds r22,IntegralRoll3159 1dec 7091 0000 lds r23,(IntegralRoll)+13160 1df0 8091 0000 lds r24,(IntegralRoll)+23161 1df4 9091 0000 lds r25,(IntegralRoll)+33162 1df8 E090 0000 lds r14,Mittelwert_AccRoll3163 1dfc F090 0000 lds r15,(Mittelwert_AccRoll)+13164 1e00 A601 movw r20,r123165 1e02 9501 movw r18,r103166 1e04 0E94 0000 call __divmodsi43167 1e08 0027 clr r163168 1e0a F7FC sbrc r15,73169 1e0c 0095 com r163170 1e0e 102F mov r17,r163171 1e10 2E19 sub r18,r143172 1e12 3F09 sbc r19,r153173 1e14 400B sbc r20,r163174 1e16 510B sbc r21,r173175 1e18 CA01 movw r24,r203176 1e1a B901 movw r22,r183177 1e1c 20E1 ldi r18,lo8(16)3178 1e1e 30E0 ldi r19,hi8(16)3179 1e20 40E0 ldi r20,hlo8(16)3180 1e22 50E0 ldi r21,hhi8(16)3181 1e24 0E94 0000 call __divmodsi43182 1e28 2093 0000 sts tmp_long2.2443,r183183 1e2c 3093 0000 sts (tmp_long2.2443)+1,r193184 1e30 4093 0000 sts (tmp_long2.2443)+2,r203185 1e34 5093 0000 sts (tmp_long2.2443)+3,r213186 1e38 F5EF ldi r31,lo8(501)3187 1e3a 6F16 cp r6,r313188 1e3c F1E0 ldi r31,hi8(501)3189 1e3e 7F06 cpc r7,r313190 1e40 F0E0 ldi r31,hlo8(501)3191 1e42 8F06 cpc r8,r313192 1e44 F0E0 ldi r31,hhi8(501)3193 1e46 9F06 cpc r9,r313194 1e48 04F0 brlt .L5453195 1e4a 84EF ldi r24,lo8(500)3196 1e4c 91E0 ldi r25,hi8(500)3197 1e4e A0E0 ldi r26,hlo8(500)3198 1e50 B0E0 ldi r27,hhi8(500)3199 1e52 00C0 rjmp .L6623200 .L545:3201 1e54 6CE0 ldi r22,lo8(-500)3202 1e56 6616 cp r6,r223203 1e58 6EEF ldi r22,hi8(-500)3204 1e5a 7606 cpc r7,r223205 1e5c 6FEF ldi r22,hlo8(-500)3206 1e5e 8606 cpc r8,r223207 1e60 6FEF ldi r22,hhi8(-500)3208 1e62 9606 cpc r9,r223209 1e64 04F4 brge .L5473210 1e66 8CE0 ldi r24,lo8(-500)3211 1e68 9EEF ldi r25,hi8(-500)3212 1e6a AFEF ldi r26,hlo8(-500)3213 1e6c BFEF ldi r27,hhi8(-500)3214 .L662:3215 1e6e 8093 0000 sts tmp_long.2442,r243216 1e72 9093 0000 sts (tmp_long.2442)+1,r253217 1e76 A093 0000 sts (tmp_long.2442)+2,r263218 1e7a B093 0000 sts (tmp_long.2442)+3,r273219 .L547:3220 1e7e 253F cpi r18,lo8(501)3221 1e80 71E0 ldi r23,hi8(501)3222 1e82 3707 cpc r19,r233223 1e84 70E0 ldi r23,hlo8(501)3224 1e86 4707 cpc r20,r233225 1e88 70E0 ldi r23,hhi8(501)3226 1e8a 5707 cpc r21,r233227 1e8c 04F0 brlt .L5493228 1e8e 84EF ldi r24,lo8(500)3229 1e90 91E0 ldi r25,hi8(500)3230 1e92 A0E0 ldi r26,hlo8(500)3231 1e94 B0E0 ldi r27,hhi8(500)3232 1e96 00C0 rjmp .L6633233 .L549:3234 1e98 2C50 subi r18,lo8(-500)3235 1e9a 3E4F sbci r19,hi8(-500)3236 1e9c 4F4F sbci r20,hlo8(-500)3237 1e9e 5F4F sbci r21,hhi8(-500)3238 1ea0 04F4 brge .L5513239 1ea2 8CE0 ldi r24,lo8(-500)3240 1ea4 9EEF ldi r25,hi8(-500)3241 1ea6 AFEF ldi r26,hlo8(-500)3242 1ea8 BFEF ldi r27,hhi8(-500)3243 .L663:3244 1eaa 8093 0000 sts tmp_long2.2443,r243245 1eae 9093 0000 sts (tmp_long2.2443)+1,r253246 1eb2 A093 0000 sts (tmp_long2.2443)+2,r263247 1eb6 B093 0000 sts (tmp_long2.2443)+3,r273248 .L551:3249 1eba 1092 7A00 sts 122,__zero_reg__3250 1ebe 8091 0000 lds r24,Mess_IntegralNick3251 1ec2 9091 0000 lds r25,(Mess_IntegralNick)+13252 1ec6 A091 0000 lds r26,(Mess_IntegralNick)+23253 1eca B091 0000 lds r27,(Mess_IntegralNick)+33254 1ece 2091 0000 lds r18,tmp_long.24423255 1ed2 3091 0000 lds r19,(tmp_long.2442)+13256 1ed6 4091 0000 lds r20,(tmp_long.2442)+23257 1eda 5091 0000 lds r21,(tmp_long.2442)+33258 1ede 821B sub r24,r183259 1ee0 930B sbc r25,r193260 1ee2 A40B sbc r26,r203261 1ee4 B50B sbc r27,r213262 1ee6 8093 0000 sts Mess_IntegralNick,r243263 1eea 9093 0000 sts (Mess_IntegralNick)+1,r253264 1eee A093 0000 sts (Mess_IntegralNick)+2,r263265 1ef2 B093 0000 sts (Mess_IntegralNick)+3,r273266 1ef6 8091 0000 lds r24,Mess_IntegralRoll3267 1efa 9091 0000 lds r25,(Mess_IntegralRoll)+13268 1efe A091 0000 lds r26,(Mess_IntegralRoll)+23269 1f02 B091 0000 lds r27,(Mess_IntegralRoll)+33270 1f06 2091 0000 lds r18,tmp_long2.24433271 1f0a 3091 0000 lds r19,(tmp_long2.2443)+13272 1f0e 4091 0000 lds r20,(tmp_long2.2443)+23273 1f12 5091 0000 lds r21,(tmp_long2.2443)+33274 1f16 821B sub r24,r183275 1f18 930B sbc r25,r193276 1f1a A40B sbc r26,r203277 1f1c B50B sbc r27,r213278 1f1e 8093 0000 sts Mess_IntegralRoll,r243279 1f22 9093 0000 sts (Mess_IntegralRoll)+1,r253280 1f26 A093 0000 sts (Mess_IntegralRoll)+2,r263281 1f2a B093 0000 sts (Mess_IntegralRoll)+3,r273282 1f2e 8091 0000 lds r24,StickGier3283 1f32 9091 0000 lds r25,(StickGier)+13284 1f36 5C01 movw r10,r243285 1f38 CC24 clr r123286 1f3a B7FC sbrc r11,73287 1f3c C094 com r123288 1f3e DC2C mov r13,r123289 1f40 A092 0000 sts sollGier.2441,r103290 1f44 B092 0000 sts (sollGier.2441)+1,r113291 1f48 C092 0000 sts (sollGier.2441)+2,r123292 1f4c D092 0000 sts (sollGier.2441)+3,r133293 1f50 97FF sbrs r25,73294 1f52 00C0 rjmp .L5543295 1f54 9095 com r253296 1f56 8195 neg r243297 1f58 9F4F sbci r25,lo8(-1)3298 .L554:3299 1f5a 8497 sbiw r24,363300 1f5c 04F0 brlt .L5533301 1f5e 8091 0000 lds r24,EE_Parameter+83302 1f62 84FD sbrc r24,43303 1f64 00C0 rjmp .L5533304 1f66 81E0 ldi r24,lo8(1)3305 1f68 8093 0000 sts NeueKompassRichtungMerken.2453,r243306 .L553:3307 1f6c 6090 0000 lds r6,Mess_Integral_Gier3308 1f70 7090 0000 lds r7,(Mess_Integral_Gier)+13309 1f74 8090 0000 lds r8,(Mess_Integral_Gier)+23310 1f78 9090 0000 lds r9,(Mess_Integral_Gier)+33311 1f7c C501 movw r24,r103312 1f7e B7FE sbrs r11,73313 1f80 00C0 rjmp .L5573314 1f82 9095 com r253315 1f84 8195 neg r243316 1f86 9F4F sbci r25,lo8(-1)3317 .L557:3318 1f88 7C01 movw r14,r243319 1f8a 0027 clr r163320 1f8c F7FC sbrc r15,73321 1f8e 0095 com r163322 1f90 102F mov r17,r163323 1f92 2091 0000 lds r18,EE_Parameter+173324 1f96 3327 clr r193325 1f98 4427 clr r203326 1f9a 5527 clr r213327 1f9c C601 movw r24,r123328 1f9e B501 movw r22,r103329 1fa0 0E94 0000 call __mulsi33330 1fa4 9B01 movw r18,r223331 1fa6 AC01 movw r20,r243332 1fa8 C801 movw r24,r163333 1faa B701 movw r22,r143334 1fac 0E94 0000 call __mulsi33335 1fb0 20E0 ldi r18,lo8(256)3336 1fb2 31E0 ldi r19,hi8(256)3337 1fb4 40E0 ldi r20,hlo8(256)3338 1fb6 50E0 ldi r21,hhi8(256)3339 1fb8 0E94 0000 call __divmodsi43340 1fbc 4427 clr r203341 1fbe 37FD sbrc r19,73342 1fc0 4095 com r203343 1fc2 542F mov r21,r203344 1fc4 621A sub r6,r183345 1fc6 730A sbc r7,r193346 1fc8 840A sbc r8,r203347 1fca 950A sbc r9,r213348 1fcc 6092 0000 sts Mess_Integral_Gier,r63349 1fd0 7092 0000 sts (Mess_Integral_Gier)+1,r73350 1fd4 8092 0000 sts (Mess_Integral_Gier)+2,r83351 1fd8 9092 0000 sts (Mess_Integral_Gier)+3,r93352 1fdc 8091 0000 lds r24,Mess_Integral_Gier3353 1fe0 9091 0000 lds r25,(Mess_Integral_Gier)+13354 1fe4 A091 0000 lds r26,(Mess_Integral_Gier)+23355 1fe8 B091 0000 lds r27,(Mess_Integral_Gier)+33356 1fec 8153 subi r24,lo8(30001)3357 1fee 9547 sbci r25,hi8(30001)3358 1ff0 A040 sbci r26,hlo8(30001)3359 1ff2 B040 sbci r27,hhi8(30001)3360 1ff4 04F0 brlt .L5583361 1ff6 80E3 ldi r24,lo8(30000)3362 1ff8 95E7 ldi r25,hi8(30000)3363 1ffa A0E0 ldi r26,hlo8(30000)3364 1ffc B0E0 ldi r27,hhi8(30000)3365 1ffe 8093 0000 sts Mess_Integral_Gier,r243366 2002 9093 0000 sts (Mess_Integral_Gier)+1,r253367 2006 A093 0000 sts (Mess_Integral_Gier)+2,r263368 200a B093 0000 sts (Mess_Integral_Gier)+3,r273369 .L558:3370 200e 8091 0000 lds r24,Mess_Integral_Gier3371 2012 9091 0000 lds r25,(Mess_Integral_Gier)+13372 2016 A091 0000 lds r26,(Mess_Integral_Gier)+23373 201a B091 0000 lds r27,(Mess_Integral_Gier)+33374 201e 805D subi r24,lo8(-30000)3375 2020 9A48 sbci r25,hi8(-30000)3376 2022 AF4F sbci r26,hlo8(-30000)3377 2024 BF4F sbci r27,hhi8(-30000)3378 2026 04F4 brge .L5603379 2028 80ED ldi r24,lo8(-30000)3380 202a 9AE8 ldi r25,hi8(-30000)3381 202c AFEF ldi r26,hlo8(-30000)3382 202e BFEF ldi r27,hhi8(-30000)3383 2030 8093 0000 sts Mess_Integral_Gier,r243384 2034 9093 0000 sts (Mess_Integral_Gier)+1,r253385 2038 A093 0000 sts (Mess_Integral_Gier)+2,r263386 203c B093 0000 sts (Mess_Integral_Gier)+3,r273387 .L560:3388 2040 8FEE ldi r24,lo8(-17)3389 2042 8093 7A00 sts 122,r243390 2046 8091 0000 lds r24,KompassValue3391 204a 9091 0000 lds r25,(KompassValue)+13392 204e 892B or r24,r253393 2050 01F4 brne .+23394 2052 00C0 rjmp .L5623395 2054 8091 0000 lds r24,EE_Parameter+83396 2058 83FF sbrs r24,33397 205a 00C0 rjmp .L5623398 205c 6091 0000 lds r22,IntegralNick3399 2060 7091 0000 lds r23,(IntegralNick)+13400 2064 8091 0000 lds r24,(IntegralNick)+23401 2068 9091 0000 lds r25,(IntegralNick)+33402 206c 20E0 ldi r18,lo8(512)3403 206e 32E0 ldi r19,hi8(512)3404 2070 40E0 ldi r20,hlo8(512)3405 2072 50E0 ldi r21,hhi8(512)3406 2074 0E94 0000 call __divmodsi43407 2078 8901 movw r16,r183408 207a 37FF sbrs r19,73409 207c 00C0 rjmp .L5653410 207e 1095 com r173411 2080 0195 neg r163412 2082 1F4F sbci r17,lo8(-1)3413 .L565:3414 2084 6091 0000 lds r22,IntegralRoll3415 2088 7091 0000 lds r23,(IntegralRoll)+13416 208c 8091 0000 lds r24,(IntegralRoll)+23417 2090 9091 0000 lds r25,(IntegralRoll)+33418 2094 20E0 ldi r18,lo8(512)3419 2096 32E0 ldi r19,hi8(512)3420 2098 40E0 ldi r20,hlo8(512)3421 209a 50E0 ldi r21,hhi8(512)3422 209c 0E94 0000 call __divmodsi43423 20a0 B901 movw r22,r183424 20a2 37FF sbrs r19,73425 20a4 00C0 rjmp .L5663426 20a6 7095 com r233427 20a8 6195 neg r223428 20aa 7F4F sbci r23,lo8(-1)3429 .L566:3430 20ac 6017 cp r22,r163431 20ae 7107 cpc r23,r173432 20b0 04F4 brge .L5673433 20b2 B801 movw r22,r163434 .L567:3435 20b4 6931 cpi r22,253436 20b6 7105 cpc r23,__zero_reg__3437 20b8 04F4 brge .L5683438 20ba 8091 0000 lds r24,NeueKompassRichtungMerken.24533439 20be 8823 tst r243440 20c0 01F0 breq .L5683441 20c2 8091 0000 lds r24,SignalSchlecht.24573442 20c6 9091 0000 lds r25,(SignalSchlecht.2457)+13443 20ca 892B or r24,r253444 20cc 01F4 brne .L5683445 20ce 8091 0000 lds r24,KompassValue3446 20d2 9091 0000 lds r25,(KompassValue)+13447 20d6 9093 0000 sts (KompassStartwert)+1,r253448 20da 8093 0000 sts KompassStartwert,r243449 20de 1092 0000 sts NeueKompassRichtungMerken.2453,__zero_reg__3450 .L568:3451 20e2 2091 0000 lds r18,Parameter_KompassWirkung3452 20e6 3327 clr r193453 20e8 629F mul r22,r183454 20ea C001 movw r24,r03455 20ec 639F mul r22,r193456 20ee 900D add r25,r03457 20f0 729F mul r23,r183458 20f2 900D add r25,r03459 20f4 1124 clr r13460 20f6 60E4 ldi r22,lo8(64)3461 20f8 70E0 ldi r23,hi8(64)3462 20fa 0E94 0000 call __divmodhi43463 20fe A901 movw r20,r183464 2100 461B sub r20,r223465 2102 570B sbc r21,r233466 2104 1416 cp __zero_reg__,r203467 2106 1506 cpc __zero_reg__,r213468 2108 04F0 brlt .+23469 210a 00C0 rjmp .L5723470 210c 1092 7A00 sts 122,__zero_reg__3471 2110 2091 0000 lds r18,SignalSchlecht.24573472 2114 3091 0000 lds r19,(SignalSchlecht.2457)+13473 2118 2115 cp r18,__zero_reg__3474 211a 3105 cpc r19,__zero_reg__3475 211c 01F4 brne .L5743476 211e 0091 0000 lds r16,Mess_Integral_Gier3477 2122 1091 0000 lds r17,(Mess_Integral_Gier)+13478 2126 2091 0000 lds r18,(Mess_Integral_Gier)+23479 212a 3091 0000 lds r19,(Mess_Integral_Gier)+33480 212e 8091 0000 lds r24,KompassRichtung3481 2132 9091 0000 lds r25,(KompassRichtung)+13482 2136 BC01 movw r22,r243483 2138 649F mul r22,r203484 213a C001 movw r24,r03485 213c 659F mul r22,r213486 213e 900D add r25,r03487 2140 749F mul r23,r203488 2142 900D add r25,r03489 2144 1124 clr r13490 2146 60E2 ldi r22,lo8(32)3491 2148 70E0 ldi r23,hi8(32)3492 214a 0E94 0000 call __divmodhi43493 214e 8827 clr r243494 2150 77FD sbrc r23,73495 2152 8095 com r243496 2154 982F mov r25,r243497 2156 060F add r16,r223498 2158 171F adc r17,r233499 215a 281F adc r18,r243500 215c 391F adc r19,r253501 215e 0093 0000 sts Mess_Integral_Gier,r163502 2162 1093 0000 sts (Mess_Integral_Gier)+1,r173503 2166 2093 0000 sts (Mess_Integral_Gier)+2,r183504 216a 3093 0000 sts (Mess_Integral_Gier)+3,r193505 216e 8FEE ldi r24,lo8(-17)3506 2170 8093 7A00 sts 122,r243507 2174 00C0 rjmp .L5623508 .L574:3509 2176 8FEE ldi r24,lo8(-17)3510 2178 8093 7A00 sts 122,r243511 217c 2150 subi r18,lo8(-(-1))3512 217e 3040 sbci r19,hi8(-(-1))3513 2180 3093 0000 sts (SignalSchlecht.2457)+1,r193514 2184 2093 0000 sts SignalSchlecht.2457,r183515 2188 00C0 rjmp .L5623516 .L572:3517 218a 84EF ldi r24,lo8(500)3518 218c 91E0 ldi r25,hi8(500)3519 218e 9093 0000 sts (SignalSchlecht.2457)+1,r253520 2192 8093 0000 sts SignalSchlecht.2457,r243521 .L562:3522 2196 8091 0000 lds r24,EE_Parameter+83523 219a 85FF sbrs r24,53524 219c 00C0 rjmp .L5763525 219e 8091 0000 lds r24,Parameter_UserParam13526 21a2 9927 clr r253527 21a4 9093 0000 sts (P_GPS_Verstaerkung)+1,r253528 21a8 8093 0000 sts P_GPS_Verstaerkung,r243529 21ac 8091 0000 lds r24,Parameter_UserParam23530 21b0 9927 clr r253531 21b2 9093 0000 sts (D_GPS_Verstaerkung)+1,r253532 21b6 8093 0000 sts D_GPS_Verstaerkung,r243533 21ba 8091 0000 lds r24,Parameter_UserParam33534 21be 8093 0000 sts Limit_D_Anteil,r243535 21c2 0E94 0000 call gps_main3536 21c6 00C0 rjmp .L5783537 .L576:3538 21c8 1092 0000 sts (GPS_Nick)+1,__zero_reg__3539 21cc 1092 0000 sts GPS_Nick,__zero_reg__3540 21d0 1092 0000 sts (GPS_Roll)+1,__zero_reg__3541 21d4 1092 0000 sts GPS_Roll,__zero_reg__3542 .L578:3543 21d8 8091 0000 lds r24,DebugOut+173544 21dc 8F5F subi r24,lo8(-(1))3545 21de 8093 0000 sts DebugOut+17,r243546 21e2 8091 0000 lds r24,TimerWerteausgabe.24523547 21e6 8150 subi r24,lo8(-(-1))3548 21e8 8093 0000 sts TimerWerteausgabe.2452,r243549 21ec 8F3F cpi r24,lo8(-1)3550 21ee 01F0 breq .+23551 21f0 00C0 rjmp .L5793552 21f2 81E3 ldi r24,lo8(49)3553 21f4 8093 0000 sts TimerWerteausgabe.2452,r243554 21f8 8091 0000 lds r24,GPS_Roll3555 21fc 9091 0000 lds r25,(GPS_Roll)+13556 2200 9093 0000 sts (DebugOut+18)+1,r253557 2204 8093 0000 sts DebugOut+18,r243558 2208 8091 0000 lds r24,GPS_Nick3559 220c 9091 0000 lds r25,(GPS_Nick)+13560 2210 9093 0000 sts (DebugOut+20)+1,r253561 2214 8093 0000 sts DebugOut+20,r243562 2218 8091 0000 lds r24,GPS_Positionsabweichung_North3563 221c 9091 0000 lds r25,(GPS_Positionsabweichung_North)+13564 2220 9093 0000 sts (DebugOut+22)+1,r253565 2224 8093 0000 sts DebugOut+22,r243566 2228 8091 0000 lds r24,GPS_Positionsabweichung_East3567 222c 9091 0000 lds r25,(GPS_Positionsabweichung_East)+13568 2230 9093 0000 sts (DebugOut+24)+1,r253569 2234 8093 0000 sts DebugOut+24,r243570 2238 8091 0000 lds r24,P_Einfluss_East3571 223c 9091 0000 lds r25,(P_Einfluss_East)+13572 2240 9093 0000 sts (DebugOut+26)+1,r253573 2244 8093 0000 sts DebugOut+26,r243574 2248 8091 0000 lds r24,D_Einfluss_East3575 224c 9091 0000 lds r25,(D_Einfluss_East)+13576 2250 9093 0000 sts (DebugOut+28)+1,r253577 2254 8093 0000 sts DebugOut+28,r243578 2258 8091 0000 lds r24,P_Einfluss_North3579 225c 9091 0000 lds r25,(P_Einfluss_North)+13580 2260 9093 0000 sts (DebugOut+30)+1,r253581 2264 8093 0000 sts DebugOut+30,r243582 2268 8091 0000 lds r24,D_Einfluss_North3583 226c 9091 0000 lds r25,(D_Einfluss_North)+13584 2270 9093 0000 sts (DebugOut+32)+1,r253585 2274 8093 0000 sts DebugOut+32,r243586 2278 8091 0000 lds r24,GPS_Geschwindigkeit_North3587 227c 9091 0000 lds r25,(GPS_Geschwindigkeit_North)+13588 2280 9093 0000 sts (DebugOut+34)+1,r253589 2284 8093 0000 sts DebugOut+34,r243590 2288 8091 0000 lds r24,GPS_Geschwindigkeit_East3591 228c 9091 0000 lds r25,(GPS_Geschwindigkeit_East)+13592 2290 9093 0000 sts (DebugOut+36)+1,r253593 2294 8093 0000 sts DebugOut+36,r243594 2298 8091 0000 lds r24,Parameter_UserParam13595 229c 9927 clr r253596 229e 9093 0000 sts (DebugOut+38)+1,r253597 22a2 8093 0000 sts DebugOut+38,r243598 22a6 8091 0000 lds r24,Parameter_UserParam23599 22aa 9927 clr r253600 22ac 9093 0000 sts (DebugOut+40)+1,r253601 22b0 8093 0000 sts DebugOut+40,r243602 22b4 8091 0000 lds r24,Soll_Position_North3603 22b8 9091 0000 lds r25,(Soll_Position_North)+13604 22bc 9093 0000 sts (DebugOut+42)+1,r253605 22c0 8093 0000 sts DebugOut+42,r243606 22c4 8091 0000 lds r24,Soll_Position_East3607 22c8 9091 0000 lds r25,(Soll_Position_East)+13608 22cc 9093 0000 sts (DebugOut+44)+1,r253609 22d0 8093 0000 sts DebugOut+44,r243610 22d4 8091 0000 lds r24,Poti63611 22d8 9091 0000 lds r25,(Poti6)+13612 22dc 9093 0000 sts (DebugOut+46)+1,r253613 22e0 8093 0000 sts DebugOut+46,r243614 22e4 8091 0000 lds r24,KompassValue3615 22e8 9091 0000 lds r25,(KompassValue)+13616 22ec 9093 0000 sts (DebugOut+48)+1,r253617 22f0 8093 0000 sts DebugOut+48,r243618 .L579:3619 22f4 6091 0000 lds r22,IntegralNick3620 22f8 7091 0000 lds r23,(IntegralNick)+13621 22fc 8091 0000 lds r24,(IntegralNick)+23622 2300 9091 0000 lds r25,(IntegralNick)+33623 2304 2090 0000 lds r2,IntegralFaktor3624 2308 3090 0000 lds r3,(IntegralFaktor)+13625 230c 4090 0000 lds r4,(IntegralFaktor)+23626 2310 5090 0000 lds r5,(IntegralFaktor)+33627 2314 E090 0000 lds r14,MesswertNick3628 2318 F090 0000 lds r15,(MesswertNick)+13629 231c 6090 0000 lds r6,GyroFaktor3630 2320 7090 0000 lds r7,(GyroFaktor)+13631 2324 8090 0000 lds r8,(GyroFaktor)+23632 2328 9090 0000 lds r9,(GyroFaktor)+33633 232c 0E94 0000 call __floatsisf3634 2330 A201 movw r20,r43635 2332 9101 movw r18,r23636 2334 0E94 0000 call __mulsf33637 2338 5B01 movw r10,r223638 233a 6C01 movw r12,r243639 233c 0027 clr r163640 233e F7FC sbrc r15,73641 2340 0095 com r163642 2342 102F mov r17,r163643 2344 C801 movw r24,r163644 2346 B701 movw r22,r143645 2348 0E94 0000 call __floatsisf3646 234c A401 movw r20,r83647 234e 9301 movw r18,r63648 2350 0E94 0000 call __mulsf33649 2354 9B01 movw r18,r223650 2356 AC01 movw r20,r243651 2358 C601 movw r24,r123652 235a B501 movw r22,r103653 235c 0E94 0000 call __addsf33654 2360 0E94 0000 call __fixsfsi3655 2364 7093 0000 sts (MesswertNick)+1,r233656 2368 6093 0000 sts MesswertNick,r223657 236c 6091 0000 lds r22,IntegralRoll3658 2370 7091 0000 lds r23,(IntegralRoll)+13659 2374 8091 0000 lds r24,(IntegralRoll)+23660 2378 9091 0000 lds r25,(IntegralRoll)+33661 237c E090 0000 lds r14,MesswertRoll3662 2380 F090 0000 lds r15,(MesswertRoll)+13663 2384 0E94 0000 call __floatsisf3664 2388 A201 movw r20,r43665 238a 9101 movw r18,r23666 238c 0E94 0000 call __mulsf33667 2390 5B01 movw r10,r223668 2392 6C01 movw r12,r243669 2394 0027 clr r163670 2396 F7FC sbrc r15,73671 2398 0095 com r163672 239a 102F mov r17,r163673 239c C801 movw r24,r163674 239e B701 movw r22,r143675 23a0 0E94 0000 call __floatsisf3676 23a4 A401 movw r20,r83677 23a6 9301 movw r18,r63678 23a8 0E94 0000 call __mulsf33679 23ac 9B01 movw r18,r223680 23ae AC01 movw r20,r243681 23b0 C601 movw r24,r123682 23b2 B501 movw r22,r103683 23b4 0E94 0000 call __addsf33684 23b8 0E94 0000 call __fixsfsi3685 23bc 7093 0000 sts (MesswertRoll)+1,r233686 23c0 6093 0000 sts MesswertRoll,r223687 23c4 6091 0000 lds r22,MesswertGier3688 23c8 7091 0000 lds r23,(MesswertGier)+13689 23cc A090 0000 lds r10,Integral_Gier3690 23d0 B090 0000 lds r11,(Integral_Gier)+13691 23d4 C090 0000 lds r12,(Integral_Gier)+23692 23d8 D090 0000 lds r13,(Integral_Gier)+33693 23dc 8827 clr r243694 23de 77FD sbrc r23,73695 23e0 8095 com r243696 23e2 982F mov r25,r243697 23e4 0E94 0000 call __floatsisf3698 23e8 7B01 movw r14,r223699 23ea 8C01 movw r16,r243700 23ec 20E0 ldi r18,lo8(0x3f000000)3701 23ee 30E0 ldi r19,hi8(0x3f000000)3702 23f0 40E0 ldi r20,hlo8(0x3f000000)3703 23f2 5FE3 ldi r21,hhi8(0x3f000000)3704 23f4 C401 movw r24,r83705 23f6 B301 movw r22,r63706 23f8 0E94 0000 call __mulsf33707 23fc 9B01 movw r18,r223708 23fe AC01 movw r20,r243709 2400 C801 movw r24,r163710 2402 B701 movw r22,r143711 2404 0E94 0000 call __mulsf33712 2408 7B01 movw r14,r223713 240a 8C01 movw r16,r243714 240c C601 movw r24,r123715 240e B501 movw r22,r103716 2410 0E94 0000 call __floatsisf3717 2414 A201 movw r20,r43718 2416 9101 movw r18,r23719 2418 0E94 0000 call __mulsf33720 241c 9B01 movw r18,r223721 241e AC01 movw r20,r243722 2420 C801 movw r24,r163723 2422 B701 movw r22,r143724 2424 0E94 0000 call __addsf33725 2428 0E94 0000 call __fixsfsi3726 242c 7093 0000 sts (MesswertGier)+1,r233727 2430 6093 0000 sts MesswertGier,r223728 2434 8091 0000 lds r24,MesswertNick3729 2438 9091 0000 lds r25,(MesswertNick)+13730 243c 8150 subi r24,lo8(2049)3731 243e 9840 sbci r25,hi8(2049)3732 2440 04F0 brlt .L5813733 2442 80E0 ldi r24,lo8(2048)3734 2444 98E0 ldi r25,hi8(2048)3735 2446 9093 0000 sts (MesswertNick)+1,r253736 244a 8093 0000 sts MesswertNick,r243737 .L581:3738 244e 8091 0000 lds r24,MesswertNick3739 2452 9091 0000 lds r25,(MesswertNick)+13740 2456 8050 subi r24,lo8(-2048)3741 2458 984F sbci r25,hi8(-2048)3742 245a 04F4 brge .L5833743 245c 80E0 ldi r24,lo8(-2048)3744 245e 98EF ldi r25,hi8(-2048)3745 2460 9093 0000 sts (MesswertNick)+1,r253746 2464 8093 0000 sts MesswertNick,r243747 .L583:3748 2468 8091 0000 lds r24,MesswertRoll3749 246c 9091 0000 lds r25,(MesswertRoll)+13750 2470 8150 subi r24,lo8(2049)3751 2472 9840 sbci r25,hi8(2049)3752 2474 04F0 brlt .L5853753 2476 80E0 ldi r24,lo8(2048)3754 2478 98E0 ldi r25,hi8(2048)3755 247a 9093 0000 sts (MesswertRoll)+1,r253756 247e 8093 0000 sts MesswertRoll,r243757 .L585:3758 2482 8091 0000 lds r24,MesswertRoll3759 2486 9091 0000 lds r25,(MesswertRoll)+13760 248a 8050 subi r24,lo8(-2048)3761 248c 984F sbci r25,hi8(-2048)3762 248e 04F4 brge .L5873763 2490 80E0 ldi r24,lo8(-2048)3764 2492 98EF ldi r25,hi8(-2048)3765 2494 9093 0000 sts (MesswertRoll)+1,r253766 2498 8093 0000 sts MesswertRoll,r243767 .L587:3768 249c 8091 0000 lds r24,MesswertGier3769 24a0 9091 0000 lds r25,(MesswertGier)+13770 24a4 8150 subi r24,lo8(2049)3771 24a6 9840 sbci r25,hi8(2049)3772 24a8 04F0 brlt .L5893773 24aa 80E0 ldi r24,lo8(2048)3774 24ac 98E0 ldi r25,hi8(2048)3775 24ae 9093 0000 sts (MesswertGier)+1,r253776 24b2 8093 0000 sts MesswertGier,r243777 .L589:3778 24b6 8091 0000 lds r24,MesswertGier3779 24ba 9091 0000 lds r25,(MesswertGier)+13780 24be 8050 subi r24,lo8(-2048)3781 24c0 984F sbci r25,hi8(-2048)3782 24c2 04F4 brge .L5913783 24c4 80E0 ldi r24,lo8(-2048)3784 24c6 98EF ldi r25,hi8(-2048)3785 24c8 9093 0000 sts (MesswertGier)+1,r253786 24cc 8093 0000 sts MesswertGier,r243787 .L591:3788 24d0 8091 0000 lds r24,EE_Parameter+83789 24d4 9927 clr r253790 24d6 80FF sbrs r24,03791 24d8 00C0 rjmp .L5933792 24da 2091 0000 lds r18,Parameter_MaxHoehe3793 24de 81FF sbrs r24,13794 24e0 00C0 rjmp .L5953795 24e2 2233 cpi r18,lo8(50)3796 24e4 00F4 brsh .L6643797 24e6 8091 0000 lds r24,HoehenWert3798 24ea 9091 0000 lds r25,(HoehenWert)+13799 24ee 8897 sbiw r24,403800 24f0 9093 0000 sts (SollHoehe)+1,r253801 24f4 8093 0000 sts SollHoehe,r243802 24f8 1092 0000 sts HoehenReglerAktiv,__zero_reg__3803 24fc 00C0 rjmp .L5993804 .L595:3805 24fe 8091 0000 lds r24,EE_Parameter+133806 2502 289F mul r18,r243807 2504 C001 movw r24,r03808 2506 1124 clr r13809 2508 8897 sbiw r24,403810 250a 9093 0000 sts (SollHoehe)+1,r253811 250e 8093 0000 sts SollHoehe,r243812 .L664:3813 2512 81E0 ldi r24,lo8(1)3814 2514 8093 0000 sts HoehenReglerAktiv,r243815 .L599:3816 2518 8091 0000 lds r24,Notlandung3817 251c 8823 tst r243818 251e 01F0 breq .L6003819 2520 1092 0000 sts (SollHoehe)+1,__zero_reg__3820 2524 1092 0000 sts SollHoehe,__zero_reg__3821 .L600:3822 2528 2091 0000 lds r18,HoehenWert3823 252c 3091 0000 lds r19,(HoehenWert)+13824 2530 4091 0000 lds r20,SollHoehe3825 2534 5091 0000 lds r21,(SollHoehe)+13826 2538 4217 cp r20,r183827 253a 5307 cpc r21,r193828 253c 04F0 brlt .+23829 253e 00C0 rjmp .L5933830 2540 8091 0000 lds r24,HoehenReglerAktiv3831 2544 8823 tst r243832 2546 01F4 brne .+23833 2548 00C0 rjmp .L5933834 254a 241B sub r18,r203835 254c 350B sbc r19,r213836 254e 8091 0000 lds r24,Parameter_Hoehe_P3837 2552 9927 clr r253838 2554 BC01 movw r22,r243839 2556 269F mul r18,r223840 2558 C001 movw r24,r03841 255a 279F mul r18,r233842 255c 900D add r25,r03843 255e 369F mul r19,r223844 2560 900D add r25,r03845 2562 1124 clr r13846 2564 60E1 ldi r22,lo8(16)3847 2566 70E0 ldi r23,hi8(16)3848 2568 0E94 0000 call __divmodhi43849 256c 0981 ldd r16,Y+13850 256e 1A81 ldd r17,Y+23851 2570 061B sub r16,r223852 2572 170B sbc r17,r233853 2574 2091 0000 lds r18,HoeheD3854 2578 3091 0000 lds r19,(HoeheD)+13855 257c 8091 0000 lds r24,Parameter_Luftdruck_D3856 2580 9927 clr r253857 2582 FC01 movw r30,r243858 2584 2E9F mul r18,r303859 2586 C001 movw r24,r03860 2588 2F9F mul r18,r313861 258a 900D add r25,r03862 258c 3E9F mul r19,r303863 258e 900D add r25,r03864 2590 1124 clr r13865 2592 68E0 ldi r22,lo8(8)3866 2594 70E0 ldi r23,hi8(8)3867 2596 0E94 0000 call __divmodhi43868 259a 061B sub r16,r223869 259c 170B sbc r17,r233870 259e 6091 0000 lds r22,Mess_Integral_Hoch3871 25a2 7091 0000 lds r23,(Mess_Integral_Hoch)+13872 25a6 8091 0000 lds r24,(Mess_Integral_Hoch)+23873 25aa 9091 0000 lds r25,(Mess_Integral_Hoch)+33874 25ae 20E0 ldi r18,lo8(512)3875 25b0 32E0 ldi r19,hi8(512)3876 25b2 40E0 ldi r20,hlo8(512)3877 25b4 50E0 ldi r21,hhi8(512)3878 25b6 0E94 0000 call __divmodsi43879 25ba CA01 movw r24,r203880 25bc B901 movw r22,r183881 25be 2091 0000 lds r18,Parameter_Hoehe_ACC_Wirkung3882 25c2 3327 clr r193883 25c4 4427 clr r203884 25c6 5527 clr r213885 25c8 0E94 0000 call __mulsi33886 25cc 20E2 ldi r18,lo8(32)3887 25ce 30E0 ldi r19,hi8(32)3888 25d0 40E0 ldi r20,hlo8(32)3889 25d2 50E0 ldi r21,hhi8(32)3890 25d4 0E94 0000 call __divmodsi43891 25d8 FFEF ldi r31,hi8(-50)3892 25da 2E3C cpi r18,lo8(-50)3893 25dc 3F07 cpc r19,r313894 25de 04F4 brge .L6043895 25e0 2EEC ldi r18,lo8(-50)3896 25e2 3FEF ldi r19,hi8(-50)3897 .L604:3898 25e4 8091 0000 lds r24,hoehenregler.24513899 25e8 9091 0000 lds r25,(hoehenregler.2451)+13900 25ec AC01 movw r20,r243901 25ee 74E0 ldi r23,43902 25f0 440F 1: lsl r203903 25f2 551F rol r213904 25f4 7A95 dec r233905 25f6 01F4 brne 1b3906 25f8 481B sub r20,r243907 25fa 590B sbc r21,r253908 25fc 2333 cpi r18,513909 25fe 3105 cpc r19,__zero_reg__3910 2600 04F0 brlt .L6053911 2602 22E3 ldi r18,lo8(50)3912 2604 30E0 ldi r19,hi8(50)3913 .L605:3914 2606 021B sub r16,r183915 2608 130B sbc r17,r193916 260a CA01 movw r24,r203917 260c 800F add r24,r163918 260e 911F adc r25,r173919 2610 60E1 ldi r22,lo8(16)3920 2612 70E0 ldi r23,hi8(16)3921 2614 0E94 0000 call __divmodhi43922 2618 7093 0000 sts (hoehenregler.2451)+1,r233923 261c 6093 0000 sts hoehenregler.2451,r223924 2620 8091 0000 lds r24,EE_Parameter+93925 2624 9927 clr r253926 2626 6817 cp r22,r243927 2628 7907 cpc r23,r253928 262a 04F4 brge .L6063929 262c 2981 ldd r18,Y+13930 262e 3A81 ldd r19,Y+23931 2630 2817 cp r18,r243932 2632 3907 cpc r19,r253933 2634 04F0 brlt .L6083934 2636 9093 0000 sts (hoehenregler.2451)+1,r253935 263a 8093 0000 sts hoehenregler.2451,r243936 263e 00C0 rjmp .L6063937 .L608:3938 2640 4981 ldd r20,Y+13939 2642 5A81 ldd r21,Y+23940 2644 5093 0000 sts (hoehenregler.2451)+1,r213941 2648 4093 0000 sts hoehenregler.2451,r203942 264c 00C0 rjmp .L6103943 .L606:3944 264e 8091 0000 lds r24,hoehenregler.24513945 2652 9091 0000 lds r25,(hoehenregler.2451)+13946 2656 6981 ldd r22,Y+13947 2658 7A81 ldd r23,Y+23948 265a 6817 cp r22,r243949 265c 7907 cpc r23,r253950 265e 04F4 brge .L6103951 2660 7093 0000 sts (hoehenregler.2451)+1,r233952 2664 6093 0000 sts hoehenregler.2451,r223953 .L610:3954 2668 8091 0000 lds r24,hoehenregler.24513955 266c 9091 0000 lds r25,(hoehenregler.2451)+13956 2670 9A83 std Y+2,r253957 2672 8983 std Y+1,r243958 .L593:3959 2674 C090 0000 lds r12,MesswertGier3960 2678 D090 0000 lds r13,(MesswertGier)+13961 267c 8091 0000 lds r24,sollGier.24413962 2680 9091 0000 lds r25,(sollGier.2441)+13963 2684 C81A sub r12,r243964 2686 D90A sbc r13,r253965 2688 95E6 ldi r25,lo8(101)3966 268a C916 cp r12,r253967 268c D104 cpc r13,__zero_reg__3968 268e 04F0 brlt .L6123969 2690 64E6 ldi r22,lo8(100)3970 2692 C62E mov r12,r223971 2694 D12C mov r13,__zero_reg__3972 2696 00C0 rjmp .L6143973 .L612:3974 2698 ECE9 ldi r30,lo8(-100)3975 269a CE16 cp r12,r303976 269c EFEF ldi r30,hi8(-100)3977 269e DE06 cpc r13,r303978 26a0 04F4 brge .L6143979 26a2 5CE9 ldi r21,lo8(-100)3980 26a4 C52E mov r12,r213981 26a6 5FEF ldi r21,hi8(-100)3982 26a8 D52E mov r13,r213983 .L614:3984 26aa 4090 0000 lds r4,Kp3985 26ae 5090 0000 lds r5,(Kp)+13986 26b2 6090 0000 lds r6,(Kp)+23987 26b6 7090 0000 lds r7,(Kp)+33988 26ba 6091 0000 lds r22,MesswertNick3989 26be 7091 0000 lds r23,(MesswertNick)+13990 26c2 2091 0000 lds r18,StickNick3991 26c6 3091 0000 lds r19,(StickNick)+13992 26ca 4091 0000 lds r20,GPS_Nick3993 26ce 5091 0000 lds r21,(GPS_Nick)+13994 26d2 241B sub r18,r203995 26d4 350B sbc r19,r213996 26d6 621B sub r22,r183997 26d8 730B sbc r23,r193998 26da 8827 clr r243999 26dc 77FD sbrc r23,74000 26de 8095 com r244001 26e0 982F mov r25,r244002 26e2 0E94 0000 call __floatsisf4003 26e6 9B01 movw r18,r224004 26e8 AC01 movw r20,r244005 26ea C301 movw r24,r64006 26ec B201 movw r22,r44007 26ee 0E94 0000 call __mulsf34008 26f2 0E94 0000 call __fixsfsi4009 26f6 7093 0000 sts (DiffNick)+1,r234010 26fa 6093 0000 sts DiffNick,r224011 26fe 8091 0000 lds r24,DiffNick4012 2702 9091 0000 lds r25,(DiffNick)+14013 2706 8C01 movw r16,r244014 2708 2227 clr r184015 270a 17FD sbrc r17,74016 270c 2095 com r184017 270e 322F mov r19,r184018 2710 8091 0000 lds r24,SummeNick.24394019 2714 9091 0000 lds r25,(SummeNick.2439)+14020 2718 A091 0000 lds r26,(SummeNick.2439)+24021 271c B091 0000 lds r27,(SummeNick.2439)+34022 2720 080F add r16,r244023 2722 191F adc r17,r254024 2724 2A1F adc r18,r264025 2726 3B1F adc r19,r274026 2728 0093 0000 sts SummeNick.2439,r164027 272c 1093 0000 sts (SummeNick.2439)+1,r174028 2730 2093 0000 sts (SummeNick.2439)+2,r184029 2734 3093 0000 sts (SummeNick.2439)+3,r194030 2738 1016 cp __zero_reg__,r164031 273a 1106 cpc __zero_reg__,r174032 273c 1206 cpc __zero_reg__,r184033 273e 1306 cpc __zero_reg__,r194034 2740 04F4 brge .L6164035 2742 C801 movw r24,r164036 2744 17FF sbrs r17,74037 2746 00C0 rjmp .L6184038 2748 9095 com r254039 274a 8195 neg r244040 274c 9F4F sbci r25,lo8(-1)4041 .L618:4042 274e 60E0 ldi r22,lo8(256)4043 2750 71E0 ldi r23,hi8(256)4044 2752 0E94 0000 call __divmodhi44045 2756 6F5F subi r22,lo8(-(1))4046 2758 7F4F sbci r23,hi8(-(1))4047 275a 8827 clr r244048 275c 77FD sbrc r23,74049 275e 8095 com r244050 2760 982F mov r25,r244051 2762 061B sub r16,r224052 2764 170B sbc r17,r234053 2766 280B sbc r18,r244054 2768 390B sbc r19,r254055 276a 00C0 rjmp .L6654056 .L616:4057 276c C801 movw r24,r164058 276e 17FF sbrs r17,74059 2770 00C0 rjmp .L6204060 2772 9095 com r254061 2774 8195 neg r244062 2776 9F4F sbci r25,lo8(-1)4063 .L620:4064 2778 60E0 ldi r22,lo8(256)4065 277a 71E0 ldi r23,hi8(256)4066 277c 0E94 0000 call __divmodhi44067 2780 6F5F subi r22,lo8(-(1))4068 2782 7F4F sbci r23,hi8(-(1))4069 2784 8827 clr r244070 2786 77FD sbrc r23,74071 2788 8095 com r244072 278a 982F mov r25,r244073 278c 060F add r16,r224074 278e 171F adc r17,r234075 2790 281F adc r18,r244076 2792 391F adc r19,r254077 .L665:4078 2794 0093 0000 sts SummeNick.2439,r164079 2798 1093 0000 sts (SummeNick.2439)+1,r174080 279c 2093 0000 sts (SummeNick.2439)+2,r184081 27a0 3093 0000 sts (SummeNick.2439)+3,r194082 27a4 8091 0000 lds r24,SummeNick.24394083 27a8 9091 0000 lds r25,(SummeNick.2439)+14084 27ac A091 0000 lds r26,(SummeNick.2439)+24085 27b0 B091 0000 lds r27,(SummeNick.2439)+34086 27b4 8138 cpi r24,lo8(16001)4087 27b6 FEE3 ldi r31,hi8(16001)4088 27b8 9F07 cpc r25,r314089 27ba F0E0 ldi r31,hlo8(16001)4090 27bc AF07 cpc r26,r314091 27be F0E0 ldi r31,hhi8(16001)4092 27c0 BF07 cpc r27,r314093 27c2 04F0 brlt .L6214094 27c4 80E8 ldi r24,lo8(16000)4095 27c6 9EE3 ldi r25,hi8(16000)4096 27c8 A0E0 ldi r26,hlo8(16000)4097 27ca B0E0 ldi r27,hhi8(16000)4098 27cc 00C0 rjmp .L6664099 .L621:4100 27ce 8058 subi r24,lo8(-16000)4101 27d0 914C sbci r25,hi8(-16000)4102 27d2 AF4F sbci r26,hlo8(-16000)4103 27d4 BF4F sbci r27,hhi8(-16000)4104 27d6 04F4 brge .L6234105 27d8 80E8 ldi r24,lo8(-16000)4106 27da 91EC ldi r25,hi8(-16000)4107 27dc AFEF ldi r26,hlo8(-16000)4108 27de BFEF ldi r27,hhi8(-16000)4109 .L666:4110 27e0 8093 0000 sts SummeNick.2439,r244111 27e4 9093 0000 sts (SummeNick.2439)+1,r254112 27e8 A093 0000 sts (SummeNick.2439)+2,r264113 27ec B093 0000 sts (SummeNick.2439)+3,r274114 .L623:4115 27f0 6091 0000 lds r22,DiffNick4116 27f4 7091 0000 lds r23,(DiffNick)+14117 27f8 8090 0000 lds r8,Ki4118 27fc 9090 0000 lds r9,(Ki)+14119 2800 A090 0000 lds r10,(Ki)+24120 2804 B090 0000 lds r11,(Ki)+34121 2808 8827 clr r244122 280a 77FD sbrc r23,74123 280c 8095 com r244124 280e 982F mov r25,r244125 2810 0E94 0000 call __floatsisf4126 2814 7B01 movw r14,r224127 2816 8C01 movw r16,r244128 2818 6091 0000 lds r22,SummeNick.24394129 281c 7091 0000 lds r23,(SummeNick.2439)+14130 2820 8091 0000 lds r24,(SummeNick.2439)+24131 2824 9091 0000 lds r25,(SummeNick.2439)+34132 2828 0E94 0000 call __floatsisf4133 282c 9B01 movw r18,r224134 282e AC01 movw r20,r244135 2830 C501 movw r24,r104136 2832 B401 movw r22,r84137 2834 0E94 0000 call __mulsf34138 2838 9B01 movw r18,r224139 283a AC01 movw r20,r244140 283c C801 movw r24,r164141 283e B701 movw r22,r144142 2840 0E94 0000 call __addsf34143 2844 0E94 0000 call __fixsfsi4144 2848 9601 movw r18,r124145 284a 260F add r18,r224146 284c 371F adc r19,r234147 284e 4981 ldd r20,Y+14148 2850 5A81 ldd r21,Y+24149 2852 240F add r18,r204150 2854 351F adc r19,r214151 2856 2224 clr r24152 2858 4A30 cpi r20,104153 285a 5105 cpc r21,__zero_reg__4154 285c 04F4 brge .L6254155 285e 41E0 ldi r20,lo8(1)4156 2860 242E mov r2,r204157 .L625:4158 2862 37FD sbrc r19,74159 2864 00C0 rjmp .L6284160 2866 2220 tst r24161 2868 01F0 breq .L6264162 .L628:4163 286a 40E0 ldi r20,lo8(0)4164 286c 50E0 ldi r21,hi8(0)4165 286e 00C0 rjmp .L6294166 .L626:4167 2870 8091 0000 lds r24,MAX_GAS4168 2874 482F mov r20,r244169 2876 5527 clr r214170 2878 2417 cp r18,r204171 287a 3507 cpc r19,r214172 287c 04F4 brge .L6294173 287e A901 movw r20,r184174 .L629:4175 2880 8091 0000 lds r24,MIN_GAS4176 2884 E82F mov r30,r244177 2886 FF27 clr r314178 2888 FC83 std Y+4,r314179 288a EB83 std Y+3,r304180 288c 9F01 movw r18,r304181 288e E417 cp r30,r204182 2890 F507 cpc r31,r214183 2892 04F4 brge .L6314184 2894 9A01 movw r18,r204185 .L631:4186 2896 2093 0000 sts Motor_Vorne,r184187 289a 2981 ldd r18,Y+14188 289c 3A81 ldd r19,Y+24189 289e 261B sub r18,r224190 28a0 370B sbc r19,r234191 28a2 B901 movw r22,r184192 28a4 6C0D add r22,r124193 28a6 7D1D adc r23,r134194 28a8 77FD sbrc r23,74195 28aa 00C0 rjmp .L6344196 28ac 2220 tst r24197 28ae 01F0 breq .L6324198 .L634:4199 28b0 80E0 ldi r24,lo8(0)4200 28b2 90E0 ldi r25,hi8(0)4201 28b4 00C0 rjmp .L6354202 .L632:4203 28b6 8091 0000 lds r24,MAX_GAS4204 28ba 9927 clr r254205 28bc 6817 cp r22,r244206 28be 7907 cpc r23,r254207 28c0 04F4 brge .L6354208 28c2 CB01 movw r24,r224209 .L635:4210 28c4 2B81 ldd r18,Y+34211 28c6 3C81 ldd r19,Y+44212 28c8 2817 cp r18,r244213 28ca 3907 cpc r19,r254214 28cc 04F4 brge .L6374215 28ce 9C01 movw r18,r244216 .L637:4217 28d0 2093 0000 sts Motor_Hinten,r184218 28d4 6091 0000 lds r22,MesswertRoll4219 28d8 7091 0000 lds r23,(MesswertRoll)+14220 28dc 2091 0000 lds r18,StickRoll4221 28e0 3091 0000 lds r19,(StickRoll)+14222 28e4 4091 0000 lds r20,GPS_Roll4223 28e8 5091 0000 lds r21,(GPS_Roll)+14224 28ec 241B sub r18,r204225 28ee 350B sbc r19,r214226 28f0 621B sub r22,r184227 28f2 730B sbc r23,r194228 28f4 8827 clr r244229 28f6 77FD sbrc r23,74230 28f8 8095 com r244231 28fa 982F mov r25,r244232 28fc 0E94 0000 call __floatsisf4233 2900 9B01 movw r18,r224234 2902 AC01 movw r20,r244235 2904 C301 movw r24,r64236 2906 B201 movw r22,r44237 2908 0E94 0000 call __mulsf34238 290c 0E94 0000 call __fixsfsi4239 2910 7093 0000 sts (DiffRoll)+1,r234240 2914 6093 0000 sts DiffRoll,r224241 2918 8091 0000 lds r24,DiffRoll4242 291c 9091 0000 lds r25,(DiffRoll)+14243 2920 8C01 movw r16,r244244 2922 2227 clr r184245 2924 17FD sbrc r17,74246 2926 2095 com r184247 2928 322F mov r19,r184248 292a 8091 0000 lds r24,SummeRoll.24404249 292e 9091 0000 lds r25,(SummeRoll.2440)+14250 2932 A091 0000 lds r26,(SummeRoll.2440)+24251 2936 B091 0000 lds r27,(SummeRoll.2440)+34252 293a 080F add r16,r244253 293c 191F adc r17,r254254 293e 2A1F adc r18,r264255 2940 3B1F adc r19,r274256 2942 0093 0000 sts SummeRoll.2440,r164257 2946 1093 0000 sts (SummeRoll.2440)+1,r174258 294a 2093 0000 sts (SummeRoll.2440)+2,r184259 294e 3093 0000 sts (SummeRoll.2440)+3,r194260 2952 1016 cp __zero_reg__,r164261 2954 1106 cpc __zero_reg__,r174262 2956 1206 cpc __zero_reg__,r184263 2958 1306 cpc __zero_reg__,r194264 295a 04F4 brge .L6384265 295c C801 movw r24,r164266 295e 17FF sbrs r17,74267 2960 00C0 rjmp .L6404268 2962 9095 com r254269 2964 8195 neg r244270 2966 9F4F sbci r25,lo8(-1)4271 .L640:4272 2968 60E0 ldi r22,lo8(256)4273 296a 71E0 ldi r23,hi8(256)4274 296c 0E94 0000 call __divmodhi44275 2970 6F5F subi r22,lo8(-(1))4276 2972 7F4F sbci r23,hi8(-(1))4277 2974 8827 clr r244278 2976 77FD sbrc r23,74279 2978 8095 com r244280 297a 982F mov r25,r244281 297c 061B sub r16,r224282 297e 170B sbc r17,r234283 2980 280B sbc r18,r244284 2982 390B sbc r19,r254285 2984 00C0 rjmp .L6674286 .L638:4287 2986 C801 movw r24,r164288 2988 17FF sbrs r17,74289 298a 00C0 rjmp .L6424290 298c 9095 com r254291 298e 8195 neg r244292 2990 9F4F sbci r25,lo8(-1)4293 .L642:4294 2992 60E0 ldi r22,lo8(256)4295 2994 71E0 ldi r23,hi8(256)4296 2996 0E94 0000 call __divmodhi44297 299a 6F5F subi r22,lo8(-(1))4298 299c 7F4F sbci r23,hi8(-(1))4299 299e 8827 clr r244300 29a0 77FD sbrc r23,74301 29a2 8095 com r244302 29a4 982F mov r25,r244303 29a6 060F add r16,r224304 29a8 171F adc r17,r234305 29aa 281F adc r18,r244306 29ac 391F adc r19,r254307 .L667:4308 29ae 0093 0000 sts SummeRoll.2440,r164309 29b2 1093 0000 sts (SummeRoll.2440)+1,r174310 29b6 2093 0000 sts (SummeRoll.2440)+2,r184311 29ba 3093 0000 sts (SummeRoll.2440)+3,r194312 29be 8091 0000 lds r24,SummeRoll.24404313 29c2 9091 0000 lds r25,(SummeRoll.2440)+14314 29c6 A091 0000 lds r26,(SummeRoll.2440)+24315 29ca B091 0000 lds r27,(SummeRoll.2440)+34316 29ce 8138 cpi r24,lo8(16001)4317 29d0 3EE3 ldi r19,hi8(16001)4318 29d2 9307 cpc r25,r194319 29d4 30E0 ldi r19,hlo8(16001)4320 29d6 A307 cpc r26,r194321 29d8 30E0 ldi r19,hhi8(16001)4322 29da B307 cpc r27,r194323 29dc 04F0 brlt .L6434324 29de 80E8 ldi r24,lo8(16000)4325 29e0 9EE3 ldi r25,hi8(16000)4326 29e2 A0E0 ldi r26,hlo8(16000)4327 29e4 B0E0 ldi r27,hhi8(16000)4328 29e6 00C0 rjmp .L6684329 .L643:4330 29e8 8058 subi r24,lo8(-16000)4331 29ea 914C sbci r25,hi8(-16000)4332 29ec AF4F sbci r26,hlo8(-16000)4333 29ee BF4F sbci r27,hhi8(-16000)4334 29f0 04F4 brge .L6454335 29f2 80E8 ldi r24,lo8(-16000)4336 29f4 91EC ldi r25,hi8(-16000)4337 29f6 AFEF ldi r26,hlo8(-16000)4338 29f8 BFEF ldi r27,hhi8(-16000)4339 .L668:4340 29fa 8093 0000 sts SummeRoll.2440,r244341 29fe 9093 0000 sts (SummeRoll.2440)+1,r254342 2a02 A093 0000 sts (SummeRoll.2440)+2,r264343 2a06 B093 0000 sts (SummeRoll.2440)+3,r274344 .L645:4345 2a0a 6091 0000 lds r22,DiffRoll4346 2a0e 7091 0000 lds r23,(DiffRoll)+14347 2a12 8827 clr r244348 2a14 77FD sbrc r23,74349 2a16 8095 com r244350 2a18 982F mov r25,r244351 2a1a 0E94 0000 call __floatsisf4352 2a1e 7B01 movw r14,r224353 2a20 8C01 movw r16,r244354 2a22 6091 0000 lds r22,SummeRoll.24404355 2a26 7091 0000 lds r23,(SummeRoll.2440)+14356 2a2a 8091 0000 lds r24,(SummeRoll.2440)+24357 2a2e 9091 0000 lds r25,(SummeRoll.2440)+34358 2a32 0E94 0000 call __floatsisf4359 2a36 9B01 movw r18,r224360 2a38 AC01 movw r20,r244361 2a3a C501 movw r24,r104362 2a3c B401 movw r22,r84363 2a3e 0E94 0000 call __mulsf34364 2a42 9B01 movw r18,r224365 2a44 AC01 movw r20,r244366 2a46 C801 movw r24,r164367 2a48 B701 movw r22,r144368 2a4a 0E94 0000 call __addsf34369 2a4e 0E94 0000 call __fixsfsi4370 2a52 2981 ldd r18,Y+14371 2a54 3A81 ldd r19,Y+24372 2a56 260F add r18,r224373 2a58 371F adc r19,r234374 2a5a 2C19 sub r18,r124375 2a5c 3D09 sbc r19,r134376 2a5e 37FD sbrc r19,74377 2a60 00C0 rjmp .L6494378 2a62 2220 tst r24379 2a64 01F0 breq .L6474380 .L649:4381 2a66 40E0 ldi r20,lo8(0)4382 2a68 50E0 ldi r21,hi8(0)4383 2a6a 00C0 rjmp .L6504384 .L647:4385 2a6c 8091 0000 lds r24,MAX_GAS4386 2a70 482F mov r20,r244387 2a72 5527 clr r214388 2a74 2417 cp r18,r204389 2a76 3507 cpc r19,r214390 2a78 04F4 brge .L6504391 2a7a A901 movw r20,r184392 .L650:4393 2a7c 2B81 ldd r18,Y+34394 2a7e 3C81 ldd r19,Y+44395 2a80 2417 cp r18,r204396 2a82 3507 cpc r19,r214397 2a84 04F4 brge .L6524398 2a86 9A01 movw r18,r204399 .L652:4400 2a88 2093 0000 sts Motor_Links,r184401 2a8c 8981 ldd r24,Y+14402 2a8e 9A81 ldd r25,Y+24403 2a90 861B sub r24,r224404 2a92 970B sbc r25,r234405 2a94 BC01 movw r22,r244406 2a96 6C19 sub r22,r124407 2a98 7D09 sbc r23,r134408 2a9a 77FD sbrc r23,74409 2a9c 00C0 rjmp .L6554410 2a9e 2220 tst r24411 2aa0 01F0 breq .L6534412 .L655:4413 2aa2 20E0 ldi r18,lo8(0)4414 2aa4 30E0 ldi r19,hi8(0)4415 2aa6 00C0 rjmp .L6564416 .L653:4417 2aa8 8091 0000 lds r24,MAX_GAS4418 2aac 282F mov r18,r244419 2aae 3327 clr r194420 2ab0 6217 cp r22,r184421 2ab2 7307 cpc r23,r194422 2ab4 04F4 brge .L6564423 2ab6 9B01 movw r18,r224424 .L656:4425 2ab8 8B81 ldd r24,Y+34426 2aba 9C81 ldd r25,Y+44427 2abc 8217 cp r24,r184428 2abe 9307 cpc r25,r194429 2ac0 04F4 brge .L6584430 2ac2 C901 movw r24,r184431 .L658:4432 2ac4 8093 0000 sts Motor_Rechts,r244433 /* epilogue: frame size=4 */4434 2ac8 2496 adiw r28,44435 2aca 0FB6 in __tmp_reg__,__SREG__4436 2acc F894 cli4437 2ace DEBF out __SP_H__,r294438 2ad0 0FBE out __SREG__,__tmp_reg__4439 2ad2 CDBF out __SP_L__,r284440 2ad4 DF91 pop r294441 2ad6 CF91 pop r284442 2ad8 1F91 pop r174443 2ada 0F91 pop r164444 2adc FF90 pop r154445 2ade EF90 pop r144446 2ae0 DF90 pop r134447 2ae2 CF90 pop r124448 2ae4 BF90 pop r114449 2ae6 AF90 pop r104450 2ae8 9F90 pop r94451 2aea 8F90 pop r84452 2aec 7F90 pop r74453 2aee 6F90 pop r64454 2af0 5F90 pop r54455 2af2 4F90 pop r44456 2af4 3F90 pop r34457 2af6 2F90 pop r24458 2af8 0895 ret4459 /* epilogue end (size=25) */4460 /* function MotorRegler size 2856 (2805) */4462 .global Timeout4463 .global Timeout4464 .section .bss4467 Timeout:4468 0000 00 .skip 1,04469 .global AdNeutralNick4470 .global AdNeutralNick4473 AdNeutralNick:4474 0001 0000 .skip 2,04475 .global AdNeutralRoll4476 .global AdNeutralRoll4479 AdNeutralRoll:4480 0003 0000 .skip 2,04481 .global AdNeutralGier4482 .global AdNeutralGier4485 AdNeutralGier:4486 0005 0000 .skip 2,04487 .global NeutralAccX4488 .global NeutralAccX4491 NeutralAccX:4492 0007 0000 .skip 2,04493 .global NeutralAccY4494 .global NeutralAccY4497 NeutralAccY:4498 0009 0000 .skip 2,04499 .global NeutralAccZ4500 .global NeutralAccZ4503 NeutralAccZ:4504 000b 0000 0000 .skip 4,04505 .global CosinusNickWinkel4506 .global CosinusNickWinkel4509 CosinusNickWinkel:4510 000f 00 .skip 1,04511 .global CosinusRollWinkel4512 .global CosinusRollWinkel4515 CosinusRollWinkel:4516 0010 00 .skip 1,04517 .global IntegralNick4518 .global IntegralNick4521 IntegralNick:4522 0011 0000 0000 .skip 4,04523 .global IntegralNick24524 .global IntegralNick24527 IntegralNick2:4528 0015 0000 0000 .skip 4,04529 .global IntegralRoll4530 .global IntegralRoll4533 IntegralRoll:4534 0019 0000 0000 .skip 4,04535 .global IntegralRoll24536 .global IntegralRoll24539 IntegralRoll2:4540 001d 0000 0000 .skip 4,04541 .global Integral_Gier4542 .global Integral_Gier4545 Integral_Gier:4546 0021 0000 0000 .skip 4,04547 .global Mess_IntegralNick4548 .global Mess_IntegralNick4551 Mess_IntegralNick:4552 0025 0000 0000 .skip 4,04553 .global Mess_IntegralNick24554 .global Mess_IntegralNick24557 Mess_IntegralNick2:4558 0029 0000 0000 .skip 4,04559 .global Mess_IntegralRoll4560 .global Mess_IntegralRoll4563 Mess_IntegralRoll:4564 002d 0000 0000 .skip 4,04565 .global Mess_IntegralRoll24566 .global Mess_IntegralRoll24569 Mess_IntegralRoll2:4570 0031 0000 0000 .skip 4,04571 .global Mess_Integral_Gier4572 .global Mess_Integral_Gier4575 Mess_Integral_Gier:4576 0035 0000 0000 .skip 4,04577 .global Mess_Integral_Gier24578 .global Mess_Integral_Gier24581 Mess_Integral_Gier2:4582 0039 0000 0000 .skip 4,04583 .global Mess_Integral_Hoch4584 .global Mess_Integral_Hoch4587 Mess_Integral_Hoch:4588 003d 0000 0000 .skip 4,04589 .global KompassValue4590 .global KompassValue4593 KompassValue:4594 0041 0000 .skip 2,04595 .global KompassStartwert4596 .global KompassStartwert4599 KompassStartwert:4600 0043 0000 .skip 2,04601 .global KompassRichtung4602 .global KompassRichtung4605 KompassRichtung:4606 0045 0000 .skip 2,04607 .global Notlandung4608 .global Notlandung4611 Notlandung:4612 0047 00 .skip 1,04613 .global HoehenReglerAktiv4614 .global HoehenReglerAktiv4617 HoehenReglerAktiv:4618 0048 00 .skip 1,04619 .global blinkcount_LED14620 .global blinkcount_LED14623 blinkcount_LED1:4624 0049 00 .skip 1,04625 .global modell_fliegt_gps4626 .global modell_fliegt_gps4629 modell_fliegt_gps:4630 004a 0000 .skip 2,04631 .global Limit_D_Anteil4632 .global Limit_D_Anteil4635 Limit_D_Anteil:4636 004c 00 .skip 1,04637 .global Poti14638 .global Poti14641 Poti1:4642 004d 0000 .skip 2,04643 .global Poti24644 .global Poti24647 Poti2:4648 004f 0000 .skip 2,04649 .global Poti34650 .global Poti34653 Poti3:4654 0051 0000 .skip 2,04655 .global Poti44656 .global Poti44659 Poti4:4660 0053 0000 .skip 2,04661 .global Poti54662 .global Poti54665 Poti5:4666 0055 0000 .skip 2,04667 .global Poti64668 .global Poti64671 Poti6:4672 0057 0000 .skip 2,04673 .global Poti74674 .global Poti74677 Poti7:4678 0059 0000 .skip 2,04679 .global Poti84680 .global Poti84683 Poti8:4684 005b 0000 .skip 2,04685 .global SenderOkay4686 .global SenderOkay4689 SenderOkay:4690 005d 00 .skip 1,04691 .global StickNick4692 .global StickNick4695 StickNick:4696 005e 0000 .skip 2,04697 .global StickRoll4698 .global StickRoll4701 StickRoll:4702 0060 0000 .skip 2,04703 .global StickGier4704 .global StickGier4707 StickGier:4708 0062 0000 .skip 2,04709 .global MotorenEin4710 .global MotorenEin4713 MotorenEin:4714 0064 00 .skip 1,04715 .global HoehenWert4716 .global HoehenWert4719 HoehenWert:4720 0065 0000 .skip 2,04721 .global SollHoehe4722 .global SollHoehe4725 SollHoehe:4726 0067 0000 .skip 2,04727 .global Kp4728 .data4731 Kp:4732 0010 00 .byte 04733 0011 00 .byte 04734 0012 80 .byte -1284735 0013 3F .byte 634736 .global Ki4739 Ki:4740 0014 17 .byte 234741 0015 B7 .byte -734742 0016 D1 .byte -474743 0017 38 .byte 564744 .global Parameter_Luftdruck_D4747 Parameter_Luftdruck_D:4748 0018 30 .byte 484749 .global Parameter_MaxHoehe4752 Parameter_MaxHoehe:4753 0019 FB .byte -54754 .global Parameter_Hoehe_P4757 Parameter_Hoehe_P:4758 001a 10 .byte 164759 .global Parameter_Hoehe_ACC_Wirkung4762 Parameter_Hoehe_ACC_Wirkung:4763 001b 3A .byte 584764 .global Parameter_KompassWirkung4767 Parameter_KompassWirkung:4768 001c 40 .byte 644769 .global Parameter_Gyro_P4772 Parameter_Gyro_P:4773 001d 32 .byte 504774 .global Parameter_Gyro_I4777 Parameter_Gyro_I:4778 001e 96 .byte -1064779 .global Parameter_Gier_P4782 Parameter_Gier_P:4783 001f 02 .byte 24784 .global Parameter_I_Faktor4787 Parameter_I_Faktor:4788 0020 0A .byte 104789 .global Parameter_UserParam14790 .global Parameter_UserParam14791 .section .bss4794 Parameter_UserParam1:4795 0069 00 .skip 1,04796 .global Parameter_UserParam24797 .global Parameter_UserParam24800 Parameter_UserParam2:4801 006a 00 .skip 1,04802 .global Parameter_UserParam34803 .global Parameter_UserParam34806 Parameter_UserParam3:4807 006b 00 .skip 1,04808 .global Parameter_UserParam44809 .global Parameter_UserParam44812 Parameter_UserParam4:4813 006c 00 .skip 1,04814 .global Parameter_ServoNickControl4815 .data4818 Parameter_ServoNickControl:4819 0021 64 .byte 1004820 .lcomm SignalSchlecht.2457,24821 .lcomm NeueKompassRichtungMerken.2453,14822 .lcomm TimerWerteausgabe.2452,14823 .lcomm hoehenregler.2451,24824 .lcomm modell_fliegt.2450,24825 .lcomm delay_ausschalten.2449,14826 .lcomm delay_einschalten.2448,14827 .lcomm delay_neutral.2447,14828 .lcomm RcLostTimer.2446,24829 .lcomm IntegralFehlerRoll.2445,24830 .lcomm IntegralFehlerNick.2444,24831 .lcomm tmp_long2.2443,44832 .lcomm tmp_long.2442,44833 .lcomm sollGier.2441,44834 .lcomm SummeRoll.2440,44835 .lcomm SummeNick.2439,44836 .comm DiffNick,2,14837 .comm DiffRoll,2,14838 .comm durchschnitt_northing,4,14839 .comm durchschnitt_easting,4,14840 .comm P_GPS_Verstaerkung,2,14841 .comm D_GPS_Verstaerkung,2,14842 .comm RemoteTasten,1,14843 .comm MesswertNick,2,14844 .comm MesswertRoll,2,14845 .comm MesswertGier,2,14846 .comm Mittelwert_AccNick,2,14847 .comm Mittelwert_AccRoll,2,14848 .comm Mittelwert_AccHoch,2,14849 .comm h,1,14850 .comm m,1,14851 .comm s,1,14852 .comm Motor_Vorne,1,14853 .comm Motor_Hinten,1,14854 .comm Motor_Rechts,1,14855 .comm Motor_Links,1,14856 .comm Count,1,14857 .comm MotorWert,5,14858 .comm EE_Parameter,58,14859 .comm MAX_GAS,1,14860 .comm MIN_GAS,1,14861 .comm GyroFaktor,4,14862 .comm IntegralFaktor,4,14863 /* File "fc.c": code 5545 = 0x15a9 (5463), prologues 38, epilogues 44 */DEFINED SYMBOLS*ABS*:00000000 fc.cC:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:3 *ABS*:0000003f __SREG__C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4 *ABS*:0000003e __SP_H__C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:5 *ABS*:0000003d __SP_L__C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:6 *ABS*:00000000 __tmp_reg__C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:7 *ABS*:00000001 __zero_reg__C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:13 .text:00000000 Mittelwert*COM*:00000002 MesswertNick*COM*:00000002 MesswertRoll*COM*:00000002 MesswertGier*COM*:00000002 Mittelwert_AccNick*COM*:00000002 Mittelwert_AccRoll*COM*:00000002 Mittelwert_AccHochC:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4575 .bss:00000035 Mess_Integral_GierC:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4545 .bss:00000021 Integral_GierC:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4551 .bss:00000025 Mess_IntegralNickC:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4521 .bss:00000011 IntegralNickC:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4563 .bss:0000002d Mess_IntegralRollC:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4533 .bss:00000019 IntegralRollC:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4557 .bss:00000029 Mess_IntegralNick2C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4527 .bss:00000015 IntegralNick2C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4569 .bss:00000031 Mess_IntegralRoll2C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4539 .bss:0000001d IntegralRoll2C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4641 .bss:0000004d Poti1*COM*:0000003a EE_ParameterC:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4647 .bss:0000004f Poti2C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4653 .bss:00000051 Poti3C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4659 .bss:00000053 Poti4C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4665 .bss:00000055 Poti5C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4671 .bss:00000057 Poti6C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4677 .bss:00000059 Poti7C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4683 .bss:0000005b Poti8C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:760 .text:0000073a CalibrierMittelwertC:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:1286 .text:00000c2a ParameterZuordnungC:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4752 .data:00000019 Parameter_MaxHoeheC:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4747 .data:00000018 Parameter_Luftdruck_DC:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4757 .data:0000001a Parameter_Hoehe_PC:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4762 .data:0000001b Parameter_Hoehe_ACC_WirkungC:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4767 .data:0000001c Parameter_KompassWirkungC:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4772 .data:0000001d Parameter_Gyro_PC:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4777 .data:0000001e Parameter_Gyro_IC:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4787 .data:00000020 Parameter_I_FaktorC:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4794 .bss:00000069 Parameter_UserParam1C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4800 .bss:0000006a Parameter_UserParam2C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4806 .bss:0000006b Parameter_UserParam3C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4812 .bss:0000006c Parameter_UserParam4C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4818 .data:00000021 Parameter_ServoNickControlC:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4739 .data:00000014 Ki*COM*:00000001 MAX_GAS*COM*:00000001 MIN_GASC:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:1852 .text:000010c4 DefaultKonstanten2C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:1937 .text:0000119c DefaultKonstanten1C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:2020 .text:0000127c SendMotorDataC:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4713 .bss:00000064 MotorenEin*COM*:00000001 Motor_Hinten*COM*:00000001 Motor_Vorne*COM*:00000001 Motor_Rechts*COM*:00000001 Motor_LinksC:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:2060 .text:000012d2 SetNeutralC:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4491 .bss:00000007 NeutralAccXC:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4497 .bss:00000009 NeutralAccYC:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4503 .bss:0000000b NeutralAccZC:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4473 .bss:00000001 AdNeutralNickC:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4479 .bss:00000003 AdNeutralRollC:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4485 .bss:00000005 AdNeutralGierC:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4587 .bss:0000003d Mess_Integral_HochC:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4593 .bss:00000041 KompassValueC:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4599 .bss:00000043 KompassStartwertC:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:2232 .text:000014ca PiepC:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:2261 .text:000014f4 MotorReglerC:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4689 .bss:0000005d SenderOkayC:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4827 .bss:00000078 RcLostTimer.2446C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4611 .bss:00000047 NotlandungC:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4823 .bss:00000073 modell_fliegt.2450C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4629 .bss:0000004a modell_fliegt_gpsC:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4834 .bss:0000008e SummeNick.2439C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4833 .bss:0000008a SummeRoll.2440C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4581 .bss:00000039 Mess_Integral_Gier2C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4826 .bss:00000077 delay_neutral.2447C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4825 .bss:00000076 delay_einschalten.2448C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4832 .bss:00000086 sollGier.2441C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4824 .bss:00000075 delay_ausschalten.2449C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4695 .bss:0000005e StickNickC:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4701 .bss:00000060 StickRollC:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4707 .bss:00000062 StickGier*COM*:00000004 GyroFaktor*COM*:00000004 IntegralFaktorC:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4623 .bss:00000049 blinkcount_LED1C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4829 .bss:0000007c IntegralFehlerNick.2444C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4828 .bss:0000007a IntegralFehlerRoll.2445C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4831 .bss:00000082 tmp_long.2442C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4830 .bss:0000007e tmp_long2.2443C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4820 .bss:0000006f NeueKompassRichtungMerken.2453.bss:0000006d SignalSchlecht.2457C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4605 .bss:00000045 KompassRichtung*COM*:00000002 P_GPS_Verstaerkung*COM*:00000002 D_GPS_VerstaerkungC:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4635 .bss:0000004c Limit_D_AnteilC:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4821 .bss:00000070 TimerWerteausgabe.2452C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4719 .bss:00000065 HoehenWertC:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4725 .bss:00000067 SollHoeheC:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4617 .bss:00000048 HoehenReglerAktivC:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4822 .bss:00000071 hoehenregler.2451C:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4731 .data:00000010 Kp*COM*:00000002 DiffNick*COM*:00000002 DiffRollC:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4467 .bss:00000000 TimeoutC:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4509 .bss:0000000f CosinusNickWinkelC:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4515 .bss:00000010 CosinusRollWinkelC:\DOKUME~1\none\LOKALE~1\Temp/ccbSEVxo.s:4782 .data:0000001f Parameter_Gier_P*COM*:00000004 durchschnitt_northing*COM*:00000004 durchschnitt_easting*COM*:00000001 RemoteTasten*COM*:00000001 h*COM*:00000001 m*COM*:00000001 s*COM*:00000001 Count*COM*:00000005 MotorWertUNDEFINED 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