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BrushLess-Ctrl_V0_41_10A.elf: file format elf32-avrSections:Idx Name Size VMA LMA File off Algn0 .text 00001bca 00000000 00000000 00000094 2**1CONTENTS, ALLOC, LOAD, READONLY, CODE1 .data 00000018 00800060 00001bca 00001c5e 2**0CONTENTS, ALLOC, LOAD, DATA2 .bss 00000328 00800078 00800078 00001c76 2**0ALLOC3 .debug_aranges 000000e0 00000000 00000000 00001c76 2**0CONTENTS, READONLY, DEBUGGING4 .debug_pubnames 000005da 00000000 00000000 00001d56 2**0CONTENTS, READONLY, DEBUGGING5 .debug_info 00001379 00000000 00000000 00002330 2**0CONTENTS, READONLY, DEBUGGING6 .debug_abbrev 0000077a 00000000 00000000 000036a9 2**0CONTENTS, READONLY, DEBUGGING7 .debug_line 00001739 00000000 00000000 00003e23 2**0CONTENTS, READONLY, DEBUGGING8 .debug_frame 000002e0 00000000 00000000 0000555c 2**2CONTENTS, READONLY, DEBUGGING9 .debug_str 000005bf 00000000 00000000 0000583c 2**0CONTENTS, READONLY, DEBUGGING10 .debug_loc 0000073a 00000000 00000000 00005dfb 2**0CONTENTS, READONLY, DEBUGGING11 .debug_ranges 00000018 00000000 00000000 00006535 2**0CONTENTS, READONLY, DEBUGGINGDisassembly of section .text:00000000 <__vectors>:0: 12 c0 rjmp .+36 ; 0x26 <__ctors_end>2: 50 ca rjmp .-2912 ; 0xfffff4a4 <__eeprom_end+0xff7ef4a4>4: 2b c0 rjmp .+86 ; 0x5c <__bad_interrupt>6: 2a c0 rjmp .+84 ; 0x5c <__bad_interrupt>8: b5 ca rjmp .-2710 ; 0xfffff574 <__eeprom_end+0xff7ef574>a: b5 c9 rjmp .-3222 ; 0xfffff376 <__eeprom_end+0xff7ef376>c: 27 c0 rjmp .+78 ; 0x5c <__bad_interrupt>e: 26 c0 rjmp .+76 ; 0x5c <__bad_interrupt>10: a1 c9 rjmp .-3262 ; 0xfffff354 <__eeprom_end+0xff7ef354>12: a9 c8 rjmp .-3758 ; 0xfffff166 <__eeprom_end+0xff7ef166>14: 23 c0 rjmp .+70 ; 0x5c <__bad_interrupt>16: 65 c7 rjmp .+3786 ; 0xee2 <__vector_11>18: 21 c0 rjmp .+66 ; 0x5c <__bad_interrupt>1a: 3a c6 rjmp .+3188 ; 0xc90 <__vector_13>1c: 1f c0 rjmp .+62 ; 0x5c <__bad_interrupt>1e: 1e c0 rjmp .+60 ; 0x5c <__bad_interrupt>20: 22 cb rjmp .-2492 ; 0xfffff666 <__eeprom_end+0xff7ef666>22: 57 ca rjmp .-2898 ; 0xfffff4d2 <__eeprom_end+0xff7ef4d2>24: 1b c0 rjmp .+54 ; 0x5c <__bad_interrupt>00000026 <__ctors_end>:26: 11 24 eor r1, r128: 1f be out 0x3f, r1 ; 632a: cf e5 ldi r28, 0x5F ; 952c: d4 e0 ldi r29, 0x04 ; 42e: de bf out 0x3e, r29 ; 6230: cd bf out 0x3d, r28 ; 6100000032 <__do_copy_data>:32: 10 e0 ldi r17, 0x00 ; 034: a0 e6 ldi r26, 0x60 ; 9636: b0 e0 ldi r27, 0x00 ; 038: ea ec ldi r30, 0xCA ; 2023a: fb e1 ldi r31, 0x1B ; 273c: 02 c0 rjmp .+4 ; 0x42 <.do_copy_data_start>0000003e <.do_copy_data_loop>:3e: 05 90 lpm r0, Z+40: 0d 92 st X+, r000000042 <.do_copy_data_start>:42: a8 37 cpi r26, 0x78 ; 12044: b1 07 cpc r27, r1746: d9 f7 brne .-10 ; 0x3e <.do_copy_data_loop>00000048 <__do_clear_bss>:48: 13 e0 ldi r17, 0x03 ; 34a: a8 e7 ldi r26, 0x78 ; 1204c: b0 e0 ldi r27, 0x00 ; 04e: 01 c0 rjmp .+2 ; 0x52 <.do_clear_bss_start>00000050 <.do_clear_bss_loop>:50: 1d 92 st X+, r100000052 <.do_clear_bss_start>:52: a0 3a cpi r26, 0xA0 ; 16054: b1 07 cpc r27, r1756: e1 f7 brne .-8 ; 0x50 <.do_clear_bss_loop>58: 46 d4 rcall .+2188 ; 0x8e6 <main>5a: b5 cd rjmp .-1174 ; 0xfffffbc6 <__eeprom_end+0xff7efbc6>0000005c <__bad_interrupt>:5c: d1 cf rjmp .-94 ; 0x0 <__vectors>0000005e <SetPWM>://void SetPWM(void)//############################################################################{unsigned char tmp_pwm;tmp_pwm = PWM;5e: 40 91 78 00 lds r20, 0x0078if(tmp_pwm > MaxPWM) // Strombegrenzung62: 80 91 64 00 lds r24, 0x006466: 84 17 cp r24, r2068: 10 f4 brcc .+4 ; 0x6e <SetPWM+0x10>{tmp_pwm = MaxPWM;PORTC |= ROT;6a: ab 9a sbi 0x15, 3 ; 216c: 48 2f mov r20, r24}if(Strom > MAX_STROM) // Strombegrenzung6e: 20 91 7a 00 lds r18, 0x007A72: 30 91 7b 00 lds r19, 0x007B76: 29 3c cpi r18, 0xC9 ; 20178: 31 05 cpc r19, r17a: c8 f0 brcs .+50 ; 0xae <SetPWM+0x50>{OCR1A = 0; OCR1B = 0; OCR2 = 0;7c: 1b bc out 0x2b, r1 ; 437e: 1a bc out 0x2a, r1 ; 4280: 19 bc out 0x29, r1 ; 4182: 18 bc out 0x28, r1 ; 4084: 13 bc out 0x23, r1 ; 35PORTD &= ~0x38;86: 82 b3 in r24, 0x12 ; 1888: 87 7c andi r24, 0xC7 ; 1998a: 82 bb out 0x12, r24 ; 18PORTC |= ROT;8c: ab 9a sbi 0x15, 3 ; 21DebugOut.Analog[6]++;8e: 80 91 90 03 lds r24, 0x039092: 90 91 91 03 lds r25, 0x039196: 01 96 adiw r24, 0x01 ; 198: 90 93 91 03 sts 0x0391, r259c: 80 93 90 03 sts 0x0390, r24Strom--;a0: 21 50 subi r18, 0x01 ; 1a2: 30 40 sbci r19, 0x00 ; 0a4: 30 93 7b 00 sts 0x007B, r19a8: 20 93 7a 00 sts 0x007A, r18ac: 08 95 retOCR1A = tmp_pwm; OCR1B = tmp_pwm; OCR2 = tmp_pwm;#endif#ifdef _16KHZ//OCR1A = 2 * (int)tmp_pwm; OCR1B = 2 * (int)tmp_pwm; OCR2 = tmp_pwm;OCR1A = tmp_pwm; OCR1B = tmp_pwm; OCR2 = tmp_pwm;ae: 84 2f mov r24, r20b0: 90 e0 ldi r25, 0x00 ; 0b2: 9b bd out 0x2b, r25 ; 43b4: 8a bd out 0x2a, r24 ; 42b6: 99 bd out 0x29, r25 ; 41b8: 88 bd out 0x28, r24 ; 40ba: 43 bd out 0x23, r20 ; 35bc: 08 95 ret000000be <DebugAusgaben>:}}void DebugAusgaben(void){DebugOut.Analog[0] = Strom;be: e4 e8 ldi r30, 0x84 ; 132c0: f3 e0 ldi r31, 0x03 ; 3c2: 80 91 7a 00 lds r24, 0x007Ac6: 90 91 7b 00 lds r25, 0x007Bca: 90 93 85 03 sts 0x0385, r25ce: 80 93 84 03 sts 0x0384, r24DebugOut.Analog[1] = Mittelstrom;d2: 80 91 7d 00 lds r24, 0x007Dd6: 80 93 86 03 sts 0x0386, r24da: 13 82 std Z+3, r1 ; 0x03DebugOut.Analog[2] = SIO_Drehzahl;dc: 80 91 8b 00 lds r24, 0x008Be0: 90 91 8c 00 lds r25, 0x008Ce4: 90 93 89 03 sts 0x0389, r25e8: 80 93 88 03 sts 0x0388, r24DebugOut.Analog[3] = PPM_Signal;ec: 80 91 a5 00 lds r24, 0x00A5f0: 90 91 a6 00 lds r25, 0x00A6f4: 90 93 8b 03 sts 0x038B, r25f8: 80 93 8a 03 sts 0x038A, r24DebugOut.Analog[4] = OCR2;fc: 83 b5 in r24, 0x23 ; 35fe: 80 93 8c 03 sts 0x038C, r24102: 11 86 std Z+9, r1 ; 0x09// DebugOut.Analog[5] = PWM;}104: 08 95 ret00000106 <PWM_Init>://############################################################################//void PWM_Init(void)//############################################################################{PWM_OFF;106: 1b bc out 0x2b, r1 ; 43108: 1a bc out 0x2a, r1 ; 4210a: 19 bc out 0x29, r1 ; 4110c: 18 bc out 0x28, r1 ; 4010e: 13 bc out 0x23, r1 ; 35110: 91 e0 ldi r25, 0x01 ; 1112: 9f bd out 0x2f, r25 ; 47114: 81 e4 ldi r24, 0x41 ; 65116: 85 bd out 0x25, r24 ; 37118: 8e e0 ldi r24, 0x0E ; 1411a: 87 bb out 0x17, r24 ; 2311c: 88 b3 in r24, 0x18 ; 2411e: 81 7f andi r24, 0xF1 ; 241120: 88 bb out 0x18, r24 ; 24TCCR1B = (1 << CS10) | (0 << CS11) | (0 << CS12) | (0 << WGM12) |122: 9e bd out 0x2e, r25 ; 46(0 << WGM13) | (0<< ICES1) | (0 << ICNC1);/* TCCR1B = (1 << CS10) | (0 << CS11) | (0 << CS12) | (1 << WGM12) |(0 << WGM13) | (0<< ICES1) | (0 << ICNC1);*/}124: 08 95 ret00000126 <Wait>://############################################################################//void Wait(unsigned char dauer)//############################################################################{dauer = (unsigned char)TCNT0 + dauer;126: 92 b7 in r25, 0x32 ; 50128: 98 0f add r25, r24while((TCNT0 - dauer) & 0x80);12a: 82 b7 in r24, 0x32 ; 5012c: 89 1b sub r24, r2512e: 87 fd sbrc r24, 7130: fc cf rjmp .-8 ; 0x12a <Wait+0x4>}132: 08 95 ret00000134 <Delay>:}return(0);}unsigned char Delay(unsigned int timer){134: 01 c0 rjmp .+2 ; 0x138 <Delay+0x4>while(timer--){// if(SENSE_H) { PORTC |= ROT; } else { PORTC &= ~ROT;}asm volatile("");136: 01 97 sbiw r24, 0x01 ; 1return(0);}unsigned char Delay(unsigned int timer){while(timer--)138: 00 97 sbiw r24, 0x00 ; 013a: e9 f7 brne .-6 ; 0x136 <Delay+0x2>{// if(SENSE_H) { PORTC |= ROT; } else { PORTC &= ~ROT;}asm volatile("");}return(0);}13c: 80 e0 ldi r24, 0x00 ; 013e: 08 95 ret00000140 <SollwertErmittlung>:unsigned char SollwertErmittlung(void)//############################################################################{static unsigned int sollwert = 0;unsigned int ppm;if(!I2C_Timeout) // bei Erreichen von 0 ist der Wert ungültig140: 80 91 80 00 lds r24, 0x0080144: 90 91 81 00 lds r25, 0x0081148: 89 2b or r24, r2514a: 09 f0 breq .+2 ; 0x14e <SollwertErmittlung+0xe>14c: 59 c0 rjmp .+178 ; 0x200 <SollwertErmittlung+0xc0>{if(SIO_Timeout) // es gibt gültige SIO-Daten14e: 80 91 82 00 lds r24, 0x0082152: 90 91 83 00 lds r25, 0x0083156: 89 2b or r24, r25158: 99 f0 breq .+38 ; 0x180 <SollwertErmittlung+0x40>{sollwert = (MAX_PWM * (unsigned int) SIO_Sollwert) / 200; // skalieren auf 0-200 = 0-25515a: 90 91 90 00 lds r25, 0x009015e: 8f ef ldi r24, 0xFF ; 255160: 98 9f mul r25, r24162: c0 01 movw r24, r0164: 11 24 eor r1, r1166: 68 ec ldi r22, 0xC8 ; 200168: 70 e0 ldi r23, 0x00 ; 016a: 86 db rcall .-2292 ; 0xfffff878 <__eeprom_end+0xff7ef878>16c: 70 93 8f 00 sts 0x008F, r23170: 60 93 8e 00 sts 0x008E, r22PPM_Betrieb = 0;174: 10 92 67 00 sts 0x0067, r1ICP_INT_DISABLE;178: 89 b7 in r24, 0x39 ; 5717a: 8f 7d andi r24, 0xDF ; 22317c: 89 bf out 0x39, r24 ; 5717e: 31 c0 rjmp .+98 ; 0x1e2 <SollwertErmittlung+0xa2>PORTC &= ~ROT;}elseif(anz_ppm_werte > 20) // es gibt gültige PPM-Daten180: 80 91 a9 00 lds r24, 0x00A9184: 85 31 cpi r24, 0x15 ; 21186: 78 f1 brcs .+94 ; 0x1e6 <SollwertErmittlung+0xa6>{PPM_Betrieb = 1;188: 81 e0 ldi r24, 0x01 ; 118a: 80 93 67 00 sts 0x0067, r24ppm = PPM_Signal;18e: 20 91 a5 00 lds r18, 0x00A5192: 30 91 a6 00 lds r19, 0x00A6if(ppm > 300) ppm = 0; // ungültiges Signal196: 41 e0 ldi r20, 0x01 ; 1198: 2d 32 cpi r18, 0x2D ; 4519a: 34 07 cpc r19, r2019c: 30 f4 brcc .+12 ; 0x1aa <SollwertErmittlung+0x6a>if(ppm > 200) ppm = 200;19e: 29 3c cpi r18, 0xC9 ; 2011a0: 31 05 cpc r19, r11a2: 40 f4 brcc .+16 ; 0x1b4 <SollwertErmittlung+0x74>if(ppm <= MIN_PPM) sollwert = 0;1a4: 2b 30 cpi r18, 0x0B ; 111a6: 31 05 cpc r19, r11a8: 38 f4 brcc .+14 ; 0x1b8 <SollwertErmittlung+0x78>1aa: 10 92 8f 00 sts 0x008F, r11ae: 10 92 8e 00 sts 0x008E, r11b2: 17 c0 rjmp .+46 ; 0x1e2 <SollwertErmittlung+0xa2>1b4: 28 ec ldi r18, 0xC8 ; 2001b6: 30 e0 ldi r19, 0x00 ; 0else{sollwert = (int) MIN_PWM + ((MAX_PWM - MIN_PWM) * (ppm - MIN_PPM)) / (190 - MIN_PPM);1b8: 8c ef ldi r24, 0xFC ; 2521ba: 90 e0 ldi r25, 0x00 ; 01bc: ac 01 movw r20, r241be: 24 9f mul r18, r201c0: c0 01 movw r24, r01c2: 25 9f mul r18, r211c4: 90 0d add r25, r01c6: 34 9f mul r19, r201c8: 90 0d add r25, r01ca: 11 24 eor r1, r11cc: 88 5d subi r24, 0xD8 ; 2161ce: 99 40 sbci r25, 0x09 ; 91d0: 64 eb ldi r22, 0xB4 ; 1801d2: 70 e0 ldi r23, 0x00 ; 01d4: 51 db rcall .-2398 ; 0xfffff878 <__eeprom_end+0xff7ef878>1d6: 6d 5f subi r22, 0xFD ; 2531d8: 7f 4f sbci r23, 0xFF ; 2551da: 70 93 8f 00 sts 0x008F, r231de: 60 93 8e 00 sts 0x008E, r22}PORTC &= ~ROT;1e2: ab 98 cbi 0x15, 3 ; 211e4: 19 c0 rjmp .+50 ; 0x218 <SollwertErmittlung+0xd8>}else // Kein gültiger Sollwert{if(!TEST_SCHUB) { if(sollwert) sollwert--; }1e6: 80 91 8e 00 lds r24, 0x008E1ea: 90 91 8f 00 lds r25, 0x008F1ee: 00 97 sbiw r24, 0x00 ; 01f0: 29 f0 breq .+10 ; 0x1fc <SollwertErmittlung+0xbc>1f2: 01 97 sbiw r24, 0x01 ; 11f4: 90 93 8f 00 sts 0x008F, r251f8: 80 93 8e 00 sts 0x008E, r24PORTC |= ROT;1fc: ab 9a sbi 0x15, 3 ; 211fe: 0c c0 rjmp .+24 ; 0x218 <SollwertErmittlung+0xd8>}}else // I2C-Daten sind gültig{sollwert = I2C_RXBuffer;200: 80 91 95 03 lds r24, 0x0395204: 80 93 8e 00 sts 0x008E, r24208: 10 92 8f 00 sts 0x008F, r1PPM_Betrieb = 0;20c: 10 92 67 00 sts 0x0067, r1PORTC &= ~ROT;210: ab 98 cbi 0x15, 3 ; 21ICP_INT_DISABLE;212: 89 b7 in r24, 0x39 ; 57214: 8f 7d andi r24, 0xDF ; 223216: 89 bf out 0x39, r24 ; 57}if(sollwert > MAX_PWM) sollwert = MAX_PWM;218: 80 91 8e 00 lds r24, 0x008E21c: 90 91 8f 00 lds r25, 0x008F220: 8f 3f cpi r24, 0xFF ; 255222: 91 05 cpc r25, r1224: 39 f0 breq .+14 ; 0x234 <SollwertErmittlung+0xf4>226: 30 f0 brcs .+12 ; 0x234 <SollwertErmittlung+0xf4>228: 8f ef ldi r24, 0xFF ; 25522a: 90 e0 ldi r25, 0x00 ; 022c: 90 93 8f 00 sts 0x008F, r25230: 80 93 8e 00 sts 0x008E, r24return(sollwert);}234: 80 91 8e 00 lds r24, 0x008E238: 08 95 ret0000023a <DelayM>:*/#define TEST_STROMGRENZE 120unsigned char DelayM(unsigned int timer){23a: cf 93 push r2823c: df 93 push r2923e: ec 01 movw r28, r24240: 17 c0 rjmp .+46 ; 0x270 <DelayM+0x36>while(timer--){FastADConvert();242: 5f d8 rcall .-3906 ; 0xfffff302 <__eeprom_end+0xff7ef302>244: 21 97 sbiw r28, 0x01 ; 1if(Strom > (TEST_STROMGRENZE + RuheStrom))246: 80 91 b5 02 lds r24, 0x02B524a: 90 91 b6 02 lds r25, 0x02B624e: 88 58 subi r24, 0x88 ; 136250: 9f 4f sbci r25, 0xFF ; 255252: 20 91 7a 00 lds r18, 0x007A256: 30 91 7b 00 lds r19, 0x007B25a: 82 17 cp r24, r1825c: 93 07 cpc r25, r1925e: 40 f4 brcc .+16 ; 0x270 <DelayM+0x36>{FETS_OFF;260: 82 b3 in r24, 0x12 ; 18262: 87 7c andi r24, 0xC7 ; 199264: 82 bb out 0x12, r24 ; 18266: 88 b3 in r24, 0x18 ; 24268: 81 7f andi r24, 0xF1 ; 24126a: 88 bb out 0x18, r24 ; 2426c: 81 e0 ldi r24, 0x01 ; 126e: 03 c0 rjmp .+6 ; 0x276 <DelayM+0x3c>#define TEST_STROMGRENZE 120unsigned char DelayM(unsigned int timer){while(timer--)270: 20 97 sbiw r28, 0x00 ; 0272: 39 f7 brne .-50 ; 0x242 <DelayM+0x8>274: 80 e0 ldi r24, 0x00 ; 0FETS_OFF;return(1);}}return(0);}276: df 91 pop r29278: cf 91 pop r2827a: 08 95 ret0000027c <RotBlink>:dauer = (unsigned char)TCNT0 + dauer;while((TCNT0 - dauer) & 0x80);}void RotBlink(unsigned char anz){27c: 1f 93 push r1727e: 18 2f mov r17, r24sei(); // Interrupts ein280: 78 94 sei282: 09 c0 rjmp .+18 ; 0x296 <RotBlink+0x1a>while(anz--){PORTC |= ROT;284: ab 9a sbi 0x15, 3 ; 21Delay_ms(300);286: 8c e2 ldi r24, 0x2C ; 44288: 91 e0 ldi r25, 0x01 ; 128a: d2 d7 rcall .+4004 ; 0x1230 <Delay_ms>PORTC &= ~ROT;28c: ab 98 cbi 0x15, 3 ; 21Delay_ms(300);28e: 8c e2 ldi r24, 0x2C ; 44290: 91 e0 ldi r25, 0x01 ; 1292: ce d7 rcall .+3996 ; 0x1230 <Delay_ms>294: 11 50 subi r17, 0x01 ; 1}void RotBlink(unsigned char anz){sei(); // Interrupts einwhile(anz--)296: 11 23 and r17, r17298: a9 f7 brne .-22 ; 0x284 <RotBlink+0x8>PORTC |= ROT;Delay_ms(300);PORTC &= ~ROT;Delay_ms(300);}Delay_ms(1000);29a: 88 ee ldi r24, 0xE8 ; 23229c: 93 e0 ldi r25, 0x03 ; 329e: c8 d7 rcall .+3984 ; 0x1230 <Delay_ms>}2a0: 1f 91 pop r172a2: 08 95 ret000002a4 <MotorTon>:#define LOW_B_EIN PORTD |= 0x10#define LOW_C_EIN PORTD |= 0x20void MotorTon(void)//############################################################################{2a4: af 92 push r102a6: bf 92 push r112a8: df 92 push r132aa: ef 92 push r142ac: ff 92 push r152ae: 0f 93 push r162b0: 1f 93 push r172b2: df 93 push r292b4: cf 93 push r282b6: cd b7 in r28, 0x3d ; 612b8: de b7 in r29, 0x3e ; 622ba: 27 97 sbiw r28, 0x07 ; 72bc: 0f b6 in r0, 0x3f ; 632be: f8 94 cli2c0: de bf out 0x3e, r29 ; 622c2: 0f be out 0x3f, r0 ; 632c4: cd bf out 0x3d, r28 ; 61unsigned char ADR_TAB[7] = {0,0,0,1,1,2,2};2c6: de 01 movw r26, r282c8: 11 96 adiw r26, 0x01 ; 12ca: e8 e6 ldi r30, 0x68 ; 1042cc: f0 e0 ldi r31, 0x00 ; 02ce: 87 e0 ldi r24, 0x07 ; 72d0: 01 90 ld r0, Z+2d2: 0d 92 st X+, r02d4: 81 50 subi r24, 0x01 ; 12d6: e1 f7 brne .-8 ; 0x2d0 <MotorTon+0x2c>unsigned int timer = 300,i;unsigned int t = 0;unsigned char anz = 0,MosfetOkay = 0, grenze = 50;PORTC &= ~ROT;2d8: ab 98 cbi 0x15, 3 ; 21Delay_ms(300 * ADR_TAB[MotorAdresse]);2da: 80 91 66 00 lds r24, 0x00662de: fe 01 movw r30, r282e0: e8 0f add r30, r242e2: f1 1d adc r31, r12e4: 81 81 ldd r24, Z+1 ; 0x012e6: 90 e0 ldi r25, 0x00 ; 02e8: 2c e2 ldi r18, 0x2C ; 442ea: 31 e0 ldi r19, 0x01 ; 12ec: ac 01 movw r20, r242ee: 42 9f mul r20, r182f0: c0 01 movw r24, r02f2: 43 9f mul r20, r192f4: 90 0d add r25, r02f6: 52 9f mul r21, r182f8: 90 0d add r25, r02fa: 11 24 eor r1, r12fc: 99 d7 rcall .+3890 ; 0x1230 <Delay_ms>DISABLE_SENSE_INT;2fe: 10 92 b1 00 sts 0x00B1, r1302: 43 98 cbi 0x08, 3 ; 8cli();//Globale Interrupts Ausschalten304: f8 94 cliuart_putchar('\n');306: 8a e0 ldi r24, 0x0A ; 10308: df d5 rcall .+3006 ; 0xec8 <uart_putchar>STEUER_OFF;30a: 82 b3 in r24, 0x12 ; 1830c: 87 7c andi r24, 0xC7 ; 19930e: 82 bb out 0x12, r24 ; 18310: 1b bc out 0x2b, r1 ; 43312: 1a bc out 0x2a, r1 ; 42314: 19 bc out 0x29, r1 ; 41316: 18 bc out 0x28, r1 ; 40318: 13 bc out 0x23, r1 ; 3531a: 81 e0 ldi r24, 0x01 ; 131c: 8f bd out 0x2f, r24 ; 4731e: 81 e4 ldi r24, 0x41 ; 65320: 85 bd out 0x25, r24 ; 37322: 8e e0 ldi r24, 0x0E ; 14324: 87 bb out 0x17, r24 ; 23326: 88 b3 in r24, 0x18 ; 24328: 81 7f andi r24, 0xF1 ; 24132a: 88 bb out 0x18, r24 ; 24Strom_max = 0;32c: 10 92 7c 00 sts 0x007C, r1DelayM(50);330: 82 e3 ldi r24, 0x32 ; 50332: 90 e0 ldi r25, 0x00 ; 0334: 82 df rcall .-252 ; 0x23a <DelayM>RuheStrom = Strom_max;336: 80 91 7c 00 lds r24, 0x007C33a: 80 93 b5 02 sts 0x02B5, r2433e: 10 92 b6 02 sts 0x02B6, r1// uart_putchar(RuheStrom + 'A');//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++//+ High-Mosfets auf Kurzschluss testen//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++Strom = 0;342: 10 92 7b 00 sts 0x007B, r1346: 10 92 7a 00 sts 0x007A, r1if(anz) while(1) RotBlink(anz); // bei Kurzschluss nicht starten*///+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++//+ LOW-Mosfets auf Schalten und Kurzschluss testen//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++if(UDR == ' ') {t = 65535; grenze = 40; uart_putchar('_');} else t = 1000; // Ausführlicher Test34a: 8c b1 in r24, 0x0c ; 1234c: 80 32 cpi r24, 0x20 ; 3234e: 31 f0 breq .+12 ; 0x35c <MotorTon+0xb8>350: 38 ee ldi r19, 0xE8 ; 232352: e3 2e mov r14, r19354: 33 e0 ldi r19, 0x03 ; 3356: f3 2e mov r15, r19358: 82 e3 ldi r24, 0x32 ; 5035a: 06 c0 rjmp .+12 ; 0x368 <MotorTon+0xc4>35c: 8f e5 ldi r24, 0x5F ; 9535e: b4 d5 rcall .+2920 ; 0xec8 <uart_putchar>360: ee 24 eor r14, r14362: ea 94 dec r14364: fe 2c mov r15, r14366: 88 e2 ldi r24, 0x28 ; 40Strom = 0;368: 10 92 7b 00 sts 0x007B, r136c: 10 92 7a 00 sts 0x007A, r1370: 00 e0 ldi r16, 0x00 ; 0372: 10 e0 ldi r17, 0x00 ; 0FETS_OFF;Delay(5);HIGH_A_EIN;DelayM(1);FETS_OFF;if(Strom > grenze + RuheStrom) {anz = 4; uart_putchar('4'); FETS_OFF; break;}374: a8 2e mov r10, r24376: bb 24 eor r11, r11//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++if(UDR == ' ') {t = 65535; grenze = 40; uart_putchar('_');} else t = 1000; // Ausführlicher TestStrom = 0;for(i=0;i<t;i++){LOW_A_EIN;378: 93 9a sbi 0x12, 3 ; 18DelayM(1);37a: 81 e0 ldi r24, 0x01 ; 137c: 90 e0 ldi r25, 0x00 ; 037e: 5d df rcall .-326 ; 0x23a <DelayM>FETS_OFF;380: 82 b3 in r24, 0x12 ; 18382: 87 7c andi r24, 0xC7 ; 199384: 82 bb out 0x12, r24 ; 18386: 88 b3 in r24, 0x18 ; 24388: 81 7f andi r24, 0xF1 ; 24138a: 88 bb out 0x18, r24 ; 24Delay(5);HIGH_A_EIN;38c: c3 9a sbi 0x18, 3 ; 24DelayM(1);38e: 81 e0 ldi r24, 0x01 ; 1390: 90 e0 ldi r25, 0x00 ; 0392: 53 df rcall .-346 ; 0x23a <DelayM>FETS_OFF;394: 82 b3 in r24, 0x12 ; 18396: 87 7c andi r24, 0xC7 ; 199398: 82 bb out 0x12, r24 ; 1839a: 88 b3 in r24, 0x18 ; 2439c: 81 7f andi r24, 0xF1 ; 24139e: 88 bb out 0x18, r24 ; 24if(Strom > grenze + RuheStrom) {anz = 4; uart_putchar('4'); FETS_OFF; break;}3a0: 80 91 b5 02 lds r24, 0x02B53a4: 90 91 b6 02 lds r25, 0x02B63a8: 8a 0d add r24, r103aa: 9b 1d adc r25, r113ac: 20 91 7a 00 lds r18, 0x007A3b0: 30 91 7b 00 lds r19, 0x007B3b4: 82 17 cp r24, r183b6: 93 07 cpc r25, r193b8: 38 f0 brcs .+14 ; 0x3c8 <MotorTon+0x124>//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++//+ LOW-Mosfets auf Schalten und Kurzschluss testen//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++if(UDR == ' ') {t = 65535; grenze = 40; uart_putchar('_');} else t = 1000; // Ausführlicher TestStrom = 0;for(i=0;i<t;i++)3ba: 0f 5f subi r16, 0xFF ; 2553bc: 1f 4f sbci r17, 0xFF ; 2553be: 0e 15 cp r16, r143c0: 1f 05 cpc r17, r153c2: d0 f2 brcs .-76 ; 0x378 <MotorTon+0xd4>3c4: dd 24 eor r13, r133c6: 0a c0 rjmp .+20 ; 0x3dc <MotorTon+0x138>FETS_OFF;Delay(5);HIGH_A_EIN;DelayM(1);FETS_OFF;if(Strom > grenze + RuheStrom) {anz = 4; uart_putchar('4'); FETS_OFF; break;}3c8: 84 e3 ldi r24, 0x34 ; 523ca: 7e d5 rcall .+2812 ; 0xec8 <uart_putchar>3cc: 82 b3 in r24, 0x12 ; 183ce: 87 7c andi r24, 0xC7 ; 1993d0: 82 bb out 0x12, r24 ; 183d2: 88 b3 in r24, 0x18 ; 243d4: 81 7f andi r24, 0xF1 ; 2413d6: 88 bb out 0x18, r24 ; 243d8: 24 e0 ldi r18, 0x04 ; 43da: d2 2e mov r13, r183dc: 80 e1 ldi r24, 0x10 ; 163de: 97 e2 ldi r25, 0x27 ; 393e0: 00 c0 rjmp .+0 ; 0x3e2 <MotorTon+0x13e>return(0);}unsigned char Delay(unsigned int timer){while(timer--)3e2: 01 97 sbiw r24, 0x01 ; 13e4: 5f ef ldi r21, 0xFF ; 2553e6: 8f 3f cpi r24, 0xFF ; 2553e8: 95 07 cpc r25, r213ea: d9 f7 brne .-10 ; 0x3e2 <MotorTon+0x13e>if(Strom > grenze + RuheStrom) {anz = 4; uart_putchar('4'); FETS_OFF; break;}Delay(5);}Delay(10000);Strom = 0;3ec: 10 92 7b 00 sts 0x007B, r13f0: 10 92 7a 00 sts 0x007A, r13f4: 00 e0 ldi r16, 0x00 ; 03f6: 10 e0 ldi r17, 0x00 ; 0for(i=0;i<t;i++){LOW_B_EIN;3f8: 94 9a sbi 0x12, 4 ; 18DelayM(1);3fa: 81 e0 ldi r24, 0x01 ; 13fc: 90 e0 ldi r25, 0x00 ; 03fe: 1d df rcall .-454 ; 0x23a <DelayM>FETS_OFF;400: 82 b3 in r24, 0x12 ; 18402: 87 7c andi r24, 0xC7 ; 199404: 82 bb out 0x12, r24 ; 18406: 88 b3 in r24, 0x18 ; 24408: 81 7f andi r24, 0xF1 ; 24140a: 88 bb out 0x18, r24 ; 24Delay(5);HIGH_B_EIN;40c: c2 9a sbi 0x18, 2 ; 24DelayM(1);40e: 81 e0 ldi r24, 0x01 ; 1410: 90 e0 ldi r25, 0x00 ; 0412: 13 df rcall .-474 ; 0x23a <DelayM>FETS_OFF;414: 82 b3 in r24, 0x12 ; 18416: 87 7c andi r24, 0xC7 ; 199418: 82 bb out 0x12, r24 ; 1841a: 88 b3 in r24, 0x18 ; 2441c: 81 7f andi r24, 0xF1 ; 24141e: 88 bb out 0x18, r24 ; 24if(Strom > grenze + RuheStrom) {anz = 5; uart_putchar('5'); FETS_OFF;break;}420: 80 91 b5 02 lds r24, 0x02B5424: 90 91 b6 02 lds r25, 0x02B6428: 8a 0d add r24, r1042a: 9b 1d adc r25, r1142c: 20 91 7a 00 lds r18, 0x007A430: 30 91 7b 00 lds r19, 0x007B434: 82 17 cp r24, r18436: 93 07 cpc r25, r19438: 30 f0 brcs .+12 ; 0x446 <MotorTon+0x1a2>Delay(5);}Delay(10000);Strom = 0;for(i=0;i<t;i++)43a: 0f 5f subi r16, 0xFF ; 25543c: 1f 4f sbci r17, 0xFF ; 25543e: 0e 15 cp r16, r14440: 1f 05 cpc r17, r15442: d0 f2 brcs .-76 ; 0x3f8 <MotorTon+0x154>444: 0a c0 rjmp .+20 ; 0x45a <MotorTon+0x1b6>FETS_OFF;Delay(5);HIGH_B_EIN;DelayM(1);FETS_OFF;if(Strom > grenze + RuheStrom) {anz = 5; uart_putchar('5'); FETS_OFF;break;}446: 85 e3 ldi r24, 0x35 ; 53448: 3f d5 rcall .+2686 ; 0xec8 <uart_putchar>44a: 82 b3 in r24, 0x12 ; 1844c: 87 7c andi r24, 0xC7 ; 19944e: 82 bb out 0x12, r24 ; 18450: 88 b3 in r24, 0x18 ; 24452: 81 7f andi r24, 0xF1 ; 241454: 88 bb out 0x18, r24 ; 24456: 95 e0 ldi r25, 0x05 ; 5458: d9 2e mov r13, r25Delay(5);}Strom = 0;45a: 10 92 7b 00 sts 0x007B, r145e: 10 92 7a 00 sts 0x007A, r1462: 80 e1 ldi r24, 0x10 ; 16464: 97 e2 ldi r25, 0x27 ; 39466: 00 c0 rjmp .+0 ; 0x468 <__stack+0x9>return(0);}unsigned char Delay(unsigned int timer){while(timer--)468: 01 97 sbiw r24, 0x01 ; 146a: 2f ef ldi r18, 0xFF ; 25546c: 8f 3f cpi r24, 0xFF ; 25546e: 92 07 cpc r25, r18470: d9 f7 brne .-10 ; 0x468 <__stack+0x9>472: 00 e0 ldi r16, 0x00 ; 0474: 10 e0 ldi r17, 0x00 ; 0Strom = 0;Delay(10000);for(i=0;i<t;i++){LOW_C_EIN;476: 95 9a sbi 0x12, 5 ; 18DelayM(1);478: 81 e0 ldi r24, 0x01 ; 147a: 90 e0 ldi r25, 0x00 ; 047c: de de rcall .-580 ; 0x23a <DelayM>FETS_OFF;47e: 82 b3 in r24, 0x12 ; 18480: 87 7c andi r24, 0xC7 ; 199482: 82 bb out 0x12, r24 ; 18484: 88 b3 in r24, 0x18 ; 24486: 81 7f andi r24, 0xF1 ; 241488: 88 bb out 0x18, r24 ; 24Delay(5);HIGH_C_EIN;48a: c1 9a sbi 0x18, 1 ; 24DelayM(1);48c: 81 e0 ldi r24, 0x01 ; 148e: 90 e0 ldi r25, 0x00 ; 0490: d4 de rcall .-600 ; 0x23a <DelayM>FETS_OFF;492: 82 b3 in r24, 0x12 ; 18494: 87 7c andi r24, 0xC7 ; 199496: 82 bb out 0x12, r24 ; 18498: 88 b3 in r24, 0x18 ; 2449a: 81 7f andi r24, 0xF1 ; 24149c: 88 bb out 0x18, r24 ; 24if(Strom > grenze + RuheStrom) {anz = 6; uart_putchar('6'); FETS_OFF; break;}49e: 80 91 b5 02 lds r24, 0x02B54a2: 90 91 b6 02 lds r25, 0x02B64a6: 8a 0d add r24, r104a8: 9b 1d adc r25, r114aa: 20 91 7a 00 lds r18, 0x007A4ae: 30 91 7b 00 lds r19, 0x007B4b2: 82 17 cp r24, r184b4: 93 07 cpc r25, r194b6: 30 f0 brcs .+12 ; 0x4c4 <__stack+0x65>}Strom = 0;Delay(10000);for(i=0;i<t;i++)4b8: 0f 5f subi r16, 0xFF ; 2554ba: 1f 4f sbci r17, 0xFF ; 2554bc: 0e 15 cp r16, r144be: 1f 05 cpc r17, r154c0: d0 f2 brcs .-76 ; 0x476 <__stack+0x17>4c2: 0b c0 rjmp .+22 ; 0x4da <__stack+0x7b>FETS_OFF;Delay(5);HIGH_C_EIN;DelayM(1);FETS_OFF;if(Strom > grenze + RuheStrom) {anz = 6; uart_putchar('6'); FETS_OFF; break;}4c4: 86 e3 ldi r24, 0x36 ; 544c6: 00 d5 rcall .+2560 ; 0xec8 <uart_putchar>4c8: 82 b3 in r24, 0x12 ; 184ca: 87 7c andi r24, 0xC7 ; 1994cc: 82 bb out 0x12, r24 ; 184ce: 88 b3 in r24, 0x18 ; 244d0: 81 7f andi r24, 0xF1 ; 2414d2: 88 bb out 0x18, r24 ; 244d4: 86 e0 ldi r24, 0x06 ; 64d6: d8 2e mov r13, r244d8: 02 c0 rjmp .+4 ; 0x4de <__stack+0x7f>Delay(5);}if(anz) while(1) RotBlink(anz); // bei Kurzschluss nicht starten4da: dd 20 and r13, r134dc: 19 f0 breq .+6 ; 0x4e4 <__stack+0x85>4de: 8d 2d mov r24, r134e0: cd de rcall .-614 ; 0x27c <RotBlink>4e2: fd cf rjmp .-6 ; 0x4de <__stack+0x7f>//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++//+ High-Mosfets auf Schalten testen//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++SENSE_A;4e4: 80 91 8d 00 lds r24, 0x008D4e8: 87 b9 out 0x07, r24 ; 7FETS_OFF;4ea: 82 b3 in r24, 0x12 ; 184ec: 87 7c andi r24, 0xC7 ; 1994ee: 82 bb out 0x12, r24 ; 184f0: 88 b3 in r24, 0x18 ; 244f2: 81 7f andi r24, 0xF1 ; 2414f4: 88 bb out 0x18, r24 ; 24LOW_B_EIN; // Low B ein4f6: 94 9a sbi 0x12, 4 ; 18LOW_C_EIN; // Low C ein4f8: 95 9a sbi 0x12, 5 ; 18Strom = 0;4fa: 10 92 7b 00 sts 0x007B, r14fe: 10 92 7a 00 sts 0x007A, r1502: 00 e0 ldi r16, 0x00 ; 0504: 10 e0 ldi r17, 0x00 ; 0506: ff 24 eor r15, r15#define SOUND2_A 330#define SOUND3_A 360for(i=0; i< (TONDAUER / SOUND2_A) ; i++){HIGH_A_EIN; // Test A508: c3 9a sbi 0x18, 3 ; 24Delay(SOUND_E);if(MessAD(0) > 50) { MosfetOkay |= 0x01; } else { MosfetOkay &= ~0x01;};50a: 80 e0 ldi r24, 0x00 ; 050c: e5 d6 rcall .+3530 ; 0x12d8 <MessAD>50e: c3 97 sbiw r24, 0x33 ; 51510: 18 f0 brcs .+6 ; 0x518 <__stack+0xb9>512: 41 e0 ldi r20, 0x01 ; 1514: f4 2a or r15, r20516: 02 c0 rjmp .+4 ; 0x51c <__stack+0xbd>518: 5e ef ldi r21, 0xFE ; 25451a: f5 22 and r15, r21PORTB = 0;51c: 18 ba out 0x18, r1 ; 2451e: 8c e2 ldi r24, 0x2C ; 44520: 91 e0 ldi r25, 0x01 ; 1522: 00 c0 rjmp .+0 ; 0x524 <__stack+0xc5>return(0);}unsigned char Delay(unsigned int timer){while(timer--)524: 01 97 sbiw r24, 0x01 ; 1526: 2f ef ldi r18, 0xFF ; 255528: 8f 3f cpi r24, 0xFF ; 25552a: 92 07 cpc r25, r1852c: d9 f7 brne .-10 ; 0x524 <__stack+0xc5>#define SOUND_E 1 // 1#define SOUND1_A 300#define SOUND2_A 330#define SOUND3_A 360for(i=0; i< (TONDAUER / SOUND2_A) ; i++)52e: 0f 5f subi r16, 0xFF ; 255530: 1f 4f sbci r17, 0xFF ; 255532: 09 37 cpi r16, 0x79 ; 121534: 11 05 cpc r17, r1536: 41 f7 brne .-48 ; 0x508 <__stack+0xa9>Delay(SOUND_E);if(MessAD(0) > 50) { MosfetOkay |= 0x01; } else { MosfetOkay &= ~0x01;};PORTB = 0;Delay(SOUND1_A);}FETS_OFF;538: 82 b3 in r24, 0x12 ; 1853a: 87 7c andi r24, 0xC7 ; 19953c: 82 bb out 0x12, r24 ; 1853e: 88 b3 in r24, 0x18 ; 24540: 81 7f andi r24, 0xF1 ; 241542: 88 bb out 0x18, r24 ; 24LOW_A_EIN; // Low A ein544: 93 9a sbi 0x12, 3 ; 18LOW_C_EIN; // Low C ein546: 95 9a sbi 0x12, 5 ; 18548: 00 e0 ldi r16, 0x00 ; 054a: 10 e0 ldi r17, 0x00 ; 0for(i=0; i<(TONDAUER / SOUND1_A); i++){HIGH_B_EIN; // Test B54c: c2 9a sbi 0x18, 2 ; 24Delay(SOUND_E);if(MessAD(1) > 50) { MosfetOkay |= 0x02; } else { MosfetOkay &= ~0x02;};54e: 81 e0 ldi r24, 0x01 ; 1550: c3 d6 rcall .+3462 ; 0x12d8 <MessAD>552: c3 97 sbiw r24, 0x33 ; 51554: 18 f0 brcs .+6 ; 0x55c <__stack+0xfd>556: 42 e0 ldi r20, 0x02 ; 2558: f4 2a or r15, r2055a: 02 c0 rjmp .+4 ; 0x560 <__stack+0x101>55c: 5d ef ldi r21, 0xFD ; 25355e: f5 22 and r15, r21PORTB = 0;560: 18 ba out 0x18, r1 ; 24562: 8c e2 ldi r24, 0x2C ; 44564: 91 e0 ldi r25, 0x01 ; 1566: 00 c0 rjmp .+0 ; 0x568 <__stack+0x109>return(0);}unsigned char Delay(unsigned int timer){while(timer--)568: 01 97 sbiw r24, 0x01 ; 156a: 2f ef ldi r18, 0xFF ; 25556c: 8f 3f cpi r24, 0xFF ; 25556e: 92 07 cpc r25, r18570: d9 f7 brne .-10 ; 0x568 <__stack+0x109>}FETS_OFF;LOW_A_EIN; // Low A einLOW_C_EIN; // Low C einfor(i=0; i<(TONDAUER / SOUND1_A); i++)572: 0f 5f subi r16, 0xFF ; 255574: 1f 4f sbci r17, 0xFF ; 255576: 05 38 cpi r16, 0x85 ; 133578: 11 05 cpc r17, r157a: 41 f7 brne .-48 ; 0x54c <__stack+0xed>if(MessAD(1) > 50) { MosfetOkay |= 0x02; } else { MosfetOkay &= ~0x02;};PORTB = 0;Delay(SOUND1_A);}FETS_OFF;57c: 82 b3 in r24, 0x12 ; 1857e: 87 7c andi r24, 0xC7 ; 199580: 82 bb out 0x12, r24 ; 18582: 88 b3 in r24, 0x18 ; 24584: 81 7f andi r24, 0xF1 ; 241586: 88 bb out 0x18, r24 ; 24LOW_A_EIN; // Low A ein588: 93 9a sbi 0x12, 3 ; 18LOW_B_EIN; // Low B ein58a: 94 9a sbi 0x12, 4 ; 1858c: 00 e0 ldi r16, 0x00 ; 058e: 10 e0 ldi r17, 0x00 ; 0for(i=0; i<(TONDAUER / SOUND3_A); i++){HIGH_C_EIN; // Test C590: c1 9a sbi 0x18, 1 ; 24Delay(SOUND_E);if(MessAD(2) > 50) { MosfetOkay |= 0x04; } else { MosfetOkay &= ~0x04;};592: 82 e0 ldi r24, 0x02 ; 2594: a1 d6 rcall .+3394 ; 0x12d8 <MessAD>596: c3 97 sbiw r24, 0x33 ; 51598: 18 f0 brcs .+6 ; 0x5a0 <__stack+0x141>59a: 44 e0 ldi r20, 0x04 ; 459c: f4 2a or r15, r2059e: 02 c0 rjmp .+4 ; 0x5a4 <__stack+0x145>5a0: 5b ef ldi r21, 0xFB ; 2515a2: f5 22 and r15, r21PORTB = 0;5a4: 18 ba out 0x18, r1 ; 245a6: 8a e4 ldi r24, 0x4A ; 745a8: 91 e0 ldi r25, 0x01 ; 15aa: 00 c0 rjmp .+0 ; 0x5ac <__stack+0x14d>return(0);}unsigned char Delay(unsigned int timer){while(timer--)5ac: 01 97 sbiw r24, 0x01 ; 15ae: 2f ef ldi r18, 0xFF ; 2555b0: 8f 3f cpi r24, 0xFF ; 2555b2: 92 07 cpc r25, r185b4: d9 f7 brne .-10 ; 0x5ac <__stack+0x14d>}FETS_OFF;LOW_A_EIN; // Low A einLOW_B_EIN; // Low B einfor(i=0; i<(TONDAUER / SOUND3_A); i++)5b6: 0f 5f subi r16, 0xFF ; 2555b8: 1f 4f sbci r17, 0xFF ; 2555ba: 0f 36 cpi r16, 0x6F ; 1115bc: 11 05 cpc r17, r15be: 41 f7 brne .-48 ; 0x590 <__stack+0x131>Delay(SOUND_E);if(MessAD(2) > 50) { MosfetOkay |= 0x04; } else { MosfetOkay &= ~0x04;};PORTB = 0;Delay(SOUND2_A);}FETS_OFF;5c0: 82 b3 in r24, 0x12 ; 185c2: 87 7c andi r24, 0xC7 ; 1995c4: 82 bb out 0x12, r24 ; 185c6: 88 b3 in r24, 0x18 ; 245c8: 81 7f andi r24, 0xF1 ; 2415ca: 88 bb out 0x18, r24 ; 24//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++//+ Low-Mosfets auf Schalten testen//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++// SENSE_B;LOW_A_EIN; // Low A ein5cc: 93 9a sbi 0x12, 3 ; 185ce: 00 e0 ldi r16, 0x00 ; 05d0: 10 e0 ldi r17, 0x00 ; 0for(i=0; i< (TONDAUER / SOUND2_A) ; i++){HIGH_B_EIN; // Test B5d2: c2 9a sbi 0x18, 2 ; 24Delay(SOUND_E);if(MessAD(0) > 128) { MosfetOkay &= ~0x08;} else { MosfetOkay |= 0x08;};5d4: 80 e0 ldi r24, 0x00 ; 05d6: 80 d6 rcall .+3328 ; 0x12d8 <MessAD>5d8: 81 38 cpi r24, 0x81 ; 1295da: 91 05 cpc r25, r15dc: 18 f0 brcs .+6 ; 0x5e4 <__stack+0x185>5de: 47 ef ldi r20, 0xF7 ; 2475e0: f4 22 and r15, r205e2: 02 c0 rjmp .+4 ; 0x5e8 <__stack+0x189>5e4: 58 e0 ldi r21, 0x08 ; 85e6: f5 2a or r15, r21PORTB = 0;5e8: 18 ba out 0x18, r1 ; 245ea: 8a e4 ldi r24, 0x4A ; 745ec: 91 e0 ldi r25, 0x01 ; 15ee: 00 c0 rjmp .+0 ; 0x5f0 <__stack+0x191>return(0);}unsigned char Delay(unsigned int timer){while(timer--)5f0: 01 97 sbiw r24, 0x01 ; 15f2: 2f ef ldi r18, 0xFF ; 2555f4: 8f 3f cpi r24, 0xFF ; 2555f6: 92 07 cpc r25, r185f8: d9 f7 brne .-10 ; 0x5f0 <__stack+0x191>//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++//+ Low-Mosfets auf Schalten testen//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++// SENSE_B;LOW_A_EIN; // Low A einfor(i=0; i< (TONDAUER / SOUND2_A) ; i++)5fa: 0f 5f subi r16, 0xFF ; 2555fc: 1f 4f sbci r17, 0xFF ; 2555fe: 09 37 cpi r16, 0x79 ; 121600: 11 05 cpc r17, r1602: 39 f7 brne .-50 ; 0x5d2 <__stack+0x173>PORTB = 0;Delay(SOUND2_A);}//++++++++++++++++++++++++++++++++++++LOW_C_EIN; // Low C ein604: 95 9a sbi 0x12, 5 ; 18606: 00 e0 ldi r16, 0x00 ; 0608: 10 e0 ldi r17, 0x00 ; 0for(i=0; i<(TONDAUER / SOUND1_A); i++){HIGH_B_EIN; // Test B60a: c2 9a sbi 0x18, 2 ; 24Delay(SOUND_E);if(MessAD(2) > 128) { MosfetOkay &= ~0x20;} else { MosfetOkay |= 0x20;};60c: 82 e0 ldi r24, 0x02 ; 260e: 64 d6 rcall .+3272 ; 0x12d8 <MessAD>610: 81 38 cpi r24, 0x81 ; 129612: 91 05 cpc r25, r1614: 18 f0 brcs .+6 ; 0x61c <__stack+0x1bd>616: 4f ed ldi r20, 0xDF ; 223618: f4 22 and r15, r2061a: 02 c0 rjmp .+4 ; 0x620 <__stack+0x1c1>61c: 50 e2 ldi r21, 0x20 ; 3261e: f5 2a or r15, r21PORTB = 0;620: 18 ba out 0x18, r1 ; 24622: 88 e6 ldi r24, 0x68 ; 104624: 91 e0 ldi r25, 0x01 ; 1626: 00 c0 rjmp .+0 ; 0x628 <__stack+0x1c9>return(0);}unsigned char Delay(unsigned int timer){while(timer--)628: 01 97 sbiw r24, 0x01 ; 162a: 2f ef ldi r18, 0xFF ; 25562c: 8f 3f cpi r24, 0xFF ; 25562e: 92 07 cpc r25, r18630: d9 f7 brne .-10 ; 0x628 <__stack+0x1c9>Delay(SOUND2_A);}//++++++++++++++++++++++++++++++++++++LOW_C_EIN; // Low C einfor(i=0; i<(TONDAUER / SOUND1_A); i++)632: 0f 5f subi r16, 0xFF ; 255634: 1f 4f sbci r17, 0xFF ; 255636: 05 38 cpi r16, 0x85 ; 133638: 11 05 cpc r17, r163a: 39 f7 brne .-50 ; 0x60a <__stack+0x1ab>Delay(SOUND_E);if(MessAD(2) > 128) { MosfetOkay &= ~0x20;} else { MosfetOkay |= 0x20;};PORTB = 0;Delay(SOUND3_A);}FETS_OFF;63c: 82 b3 in r24, 0x12 ; 1863e: 87 7c andi r24, 0xC7 ; 199640: 82 bb out 0x12, r24 ; 18642: 88 b3 in r24, 0x18 ; 24644: 81 7f andi r24, 0xF1 ; 241646: 88 bb out 0x18, r24 ; 24//++++++++++++++++++++++++++++++++++++FETS_OFF;648: 82 b3 in r24, 0x12 ; 1864a: 87 7c andi r24, 0xC7 ; 19964c: 82 bb out 0x12, r24 ; 1864e: 88 b3 in r24, 0x18 ; 24650: 81 7f andi r24, 0xF1 ; 241652: 88 bb out 0x18, r24 ; 24LOW_B_EIN; // Low B ein654: 94 9a sbi 0x12, 4 ; 18656: 00 e0 ldi r16, 0x00 ; 0658: 10 e0 ldi r17, 0x00 ; 0for(i=0; i<(TONDAUER / SOUND3_A); i++){HIGH_C_EIN; // Test C65a: c1 9a sbi 0x18, 1 ; 24Delay(SOUND_E);if(MessAD(1) > 128) { MosfetOkay &= ~0x10;} else { MosfetOkay |= 0x10;};65c: 81 e0 ldi r24, 0x01 ; 165e: 3c d6 rcall .+3192 ; 0x12d8 <MessAD>660: 81 38 cpi r24, 0x81 ; 129662: 91 05 cpc r25, r1664: 18 f0 brcs .+6 ; 0x66c <__stack+0x20d>666: 4f ee ldi r20, 0xEF ; 239668: f4 22 and r15, r2066a: 02 c0 rjmp .+4 ; 0x670 <__stack+0x211>66c: 50 e1 ldi r21, 0x10 ; 1666e: f5 2a or r15, r21PORTB = 0;670: 18 ba out 0x18, r1 ; 24672: 88 e6 ldi r24, 0x68 ; 104674: 91 e0 ldi r25, 0x01 ; 1676: 00 c0 rjmp .+0 ; 0x678 <__stack+0x219>return(0);}unsigned char Delay(unsigned int timer){while(timer--)678: 01 97 sbiw r24, 0x01 ; 167a: 2f ef ldi r18, 0xFF ; 25567c: 8f 3f cpi r24, 0xFF ; 25567e: 92 07 cpc r25, r18680: d9 f7 brne .-10 ; 0x678 <__stack+0x219>}FETS_OFF;//++++++++++++++++++++++++++++++++++++FETS_OFF;LOW_B_EIN; // Low B einfor(i=0; i<(TONDAUER / SOUND3_A); i++)682: 0f 5f subi r16, 0xFF ; 255684: 1f 4f sbci r17, 0xFF ; 255686: 0f 36 cpi r16, 0x6F ; 111688: 11 05 cpc r17, r168a: 39 f7 brne .-50 ; 0x65a <__stack+0x1fb>Delay(SOUND_E);if(MessAD(1) > 128) { MosfetOkay &= ~0x10;} else { MosfetOkay |= 0x10;};PORTB = 0;Delay(SOUND3_A);}FETS_OFF;68c: 82 b3 in r24, 0x12 ; 1868e: 87 7c andi r24, 0xC7 ; 199690: 82 bb out 0x12, r24 ; 18692: 88 b3 in r24, 0x18 ; 24694: 81 7f andi r24, 0xF1 ; 241696: 88 bb out 0x18, r24 ; 24//++++++++++++++++++++++++++++++++++++//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++sei();//Globale Interrupts Einschalten698: 78 94 seiDelay(SOUND_E);PORTB = 0;Delay(SOUND8_A);}*/Delay_ms(300 * (3-ADR_TAB[MotorAdresse]));69a: 80 91 66 00 lds r24, 0x006669e: fe 01 movw r30, r286a0: e8 0f add r30, r246a2: f1 1d adc r31, r16a4: 21 81 ldd r18, Z+1 ; 0x016a6: 83 e0 ldi r24, 0x03 ; 36a8: 90 e0 ldi r25, 0x00 ; 06aa: 82 1b sub r24, r186ac: 91 09 sbc r25, r16ae: 2c e2 ldi r18, 0x2C ; 446b0: 31 e0 ldi r19, 0x01 ; 16b2: ac 01 movw r20, r246b4: 42 9f mul r20, r186b6: c0 01 movw r24, r06b8: 43 9f mul r20, r196ba: 90 0d add r25, r06bc: 52 9f mul r21, r186be: 90 0d add r25, r06c0: 11 24 eor r1, r16c2: b6 d5 rcall .+2924 ; 0x1230 <Delay_ms>if(!(MosfetOkay & 0x01)) { anz = 1; UDR='A'; } else6c4: f0 fc sbrc r15, 06c6: 04 c0 rjmp .+8 ; 0x6d0 <__stack+0x271>6c8: 81 e4 ldi r24, 0x41 ; 656ca: 8c b9 out 0x0c, r24 ; 126cc: 11 e0 ldi r17, 0x01 ; 16ce: 1d c0 rjmp .+58 ; 0x70a <__stack+0x2ab>if(!(MosfetOkay & 0x02)) { anz = 2; UDR='B'; } else6d0: f1 fc sbrc r15, 16d2: 04 c0 rjmp .+8 ; 0x6dc <__stack+0x27d>6d4: 82 e4 ldi r24, 0x42 ; 666d6: 8c b9 out 0x0c, r24 ; 126d8: 12 e0 ldi r17, 0x02 ; 26da: 17 c0 rjmp .+46 ; 0x70a <__stack+0x2ab>if(!(MosfetOkay & 0x04)) { anz = 3; UDR='C'; } else6dc: f2 fc sbrc r15, 26de: 04 c0 rjmp .+8 ; 0x6e8 <__stack+0x289>6e0: 83 e4 ldi r24, 0x43 ; 676e2: 8c b9 out 0x0c, r24 ; 126e4: 13 e0 ldi r17, 0x03 ; 36e6: 11 c0 rjmp .+34 ; 0x70a <__stack+0x2ab>if(!(MosfetOkay & 0x08)) { anz = 4; UDR='a'; } else6e8: f3 fc sbrc r15, 36ea: 04 c0 rjmp .+8 ; 0x6f4 <__stack+0x295>6ec: 81 e6 ldi r24, 0x61 ; 976ee: 8c b9 out 0x0c, r24 ; 126f0: 14 e0 ldi r17, 0x04 ; 46f2: 0b c0 rjmp .+22 ; 0x70a <__stack+0x2ab>if(!(MosfetOkay & 0x10)) { anz = 5; UDR='b'; } else6f4: f4 fc sbrc r15, 46f6: 04 c0 rjmp .+8 ; 0x700 <__stack+0x2a1>6f8: 82 e6 ldi r24, 0x62 ; 986fa: 8c b9 out 0x0c, r24 ; 126fc: 15 e0 ldi r17, 0x05 ; 56fe: 05 c0 rjmp .+10 ; 0x70a <__stack+0x2ab>if(!(MosfetOkay & 0x20)) { anz = 6; UDR='c'; }700: f5 fc sbrc r15, 5702: 06 c0 rjmp .+12 ; 0x710 <__stack+0x2b1>704: 83 e6 ldi r24, 0x63 ; 99706: 8c b9 out 0x0c, r24 ; 12708: 16 e0 ldi r17, 0x06 ; 6// if(anz) Delay_ms(1000);if(anz) while(1) RotBlink(anz); // bei Kurzschluss nicht starten70a: 81 2f mov r24, r1770c: b7 dd rcall .-1170 ; 0x27c <RotBlink>70e: fd cf rjmp .-6 ; 0x70a <__stack+0x2ab>RotBlink(anz);710: 80 e0 ldi r24, 0x00 ; 0712: b4 dd rcall .-1176 ; 0x27c <RotBlink>uart_putchar('.');714: 8e e2 ldi r24, 0x2E ; 46716: d8 d3 rcall .+1968 ; 0xec8 <uart_putchar>}718: 27 96 adiw r28, 0x07 ; 771a: 0f b6 in r0, 0x3f ; 6371c: f8 94 cli71e: de bf out 0x3e, r29 ; 62720: 0f be out 0x3f, r0 ; 63722: cd bf out 0x3d, r28 ; 61724: cf 91 pop r28726: df 91 pop r29728: 1f 91 pop r1772a: 0f 91 pop r1672c: ff 90 pop r1572e: ef 90 pop r14730: df 90 pop r13732: bf 90 pop r11734: af 90 pop r10736: 08 95 ret00000738 <Anwerfen>://############################################################################//char Anwerfen(unsigned char pwm)//############################################################################{738: 6f 92 push r673a: 7f 92 push r773c: 9f 92 push r973e: af 92 push r10740: bf 92 push r11742: cf 92 push r12744: df 92 push r13746: ef 92 push r14748: ff 92 push r1574a: 0f 93 push r1674c: 1f 93 push r1774e: cf 93 push r28750: df 93 push r29752: 98 2e mov r9, r24unsigned long timer = 300,i;DISABLE_SENSE_INT;754: 10 92 b1 00 sts 0x00B1, r1758: 43 98 cbi 0x08, 3 ; 8PWM = 5;75a: 85 e0 ldi r24, 0x05 ; 575c: 90 e0 ldi r25, 0x00 ; 075e: 90 93 79 00 sts 0x0079, r25762: 80 93 78 00 sts 0x0078, r24SetPWM();766: 7b dc rcall .-1802 ; 0x5e <SetPWM>Manuell();768: 0f d7 rcall .+3614 ; 0x1588 <Manuell>// Delay_ms(200);MinUpmPulse = SetDelay(300);76a: 8c e2 ldi r24, 0x2C ; 4476c: 91 e0 ldi r25, 0x01 ; 176e: 4c d5 rcall .+2712 ; 0x1208 <SetDelay>770: 90 93 b4 02 sts 0x02B4, r25774: 80 93 b3 02 sts 0x02B3, r24778: 09 c0 rjmp .+18 ; 0x78c <Anwerfen+0x54>while(!CheckDelay(MinUpmPulse)){FastADConvert();77a: c3 d5 rcall .+2950 ; 0x1302 <FastADConvert>if(Strom > 120)77c: 80 91 7a 00 lds r24, 0x007A780: 90 91 7b 00 lds r25, 0x007B784: 89 37 cpi r24, 0x79 ; 121786: 91 05 cpc r25, r1788: 08 f0 brcs .+2 ; 0x78c <Anwerfen+0x54>78a: 5c c0 rjmp .+184 ; 0x844 <Anwerfen+0x10c>PWM = 5;SetPWM();Manuell();// Delay_ms(200);MinUpmPulse = SetDelay(300);while(!CheckDelay(MinUpmPulse))78c: 80 91 b3 02 lds r24, 0x02B3790: 90 91 b4 02 lds r25, 0x02B4794: 43 d5 rcall .+2694 ; 0x121c <CheckDelay>796: 88 23 and r24, r24798: 81 f3 breq .-32 ; 0x77a <Anwerfen+0x42>STEUER_OFF; // Abschalten wegen KurzschlussRotBlink(10);return(0);}}PWM = pwm;79a: 90 92 78 00 sts 0x0078, r979e: 10 92 79 00 sts 0x0079, r17a2: 5c e2 ldi r21, 0x2C ; 447a4: a5 2e mov r10, r217a6: 51 e0 ldi r21, 0x01 ; 17a8: b5 2e mov r11, r217aa: c1 2c mov r12, r17ac: d1 2c mov r13, r1}void DebugAusgaben(void){DebugOut.Analog[0] = Strom;DebugOut.Analog[1] = Mittelstrom;7ae: c6 e8 ldi r28, 0x86 ; 1347b0: d3 e0 ldi r29, 0x03 ; 3DebugOut.Analog[2] = SIO_Drehzahl;DebugOut.Analog[3] = PPM_Signal;DebugOut.Analog[4] = OCR2;7b2: 46 e0 ldi r20, 0x06 ; 67b4: 64 2e mov r6, r207b6: 71 2c mov r7, r17b8: 6c 0e add r6, r287ba: 7d 1e adc r7, r29STEUER_OFF; // Abschalten wegen KurzschlussRotBlink(10);return(0);}}PWM = pwm;7bc: ee 24 eor r14, r147be: ff 24 eor r15, r157c0: 87 01 movw r16, r14while(1){for(i=0;i<timer; i++){if(!UebertragungAbgeschlossen) SendUart();7c2: 80 91 6f 00 lds r24, 0x006F7c6: 88 23 and r24, r247c8: 11 f4 brne .+4 ; 0x7ce <Anwerfen+0x96>7ca: 6c d2 rcall .+1240 ; 0xca4 <SendUart>7cc: 01 c0 rjmp .+2 ; 0x7d0 <Anwerfen+0x98>else DatenUebertragung();7ce: 6e d4 rcall .+2268 ; 0x10ac <DatenUebertragung>//############################################################################//void Wait(unsigned char dauer)//############################################################################{dauer = (unsigned char)TCNT0 + dauer;7d0: 82 b7 in r24, 0x32 ; 507d2: 8c 59 subi r24, 0x9C ; 156while((TCNT0 - dauer) & 0x80);7d4: 98 2f mov r25, r247d6: 82 b7 in r24, 0x32 ; 507d8: 89 1b sub r24, r257da: 87 fd sbrc r24, 77dc: fc cf rjmp .-8 ; 0x7d6 <Anwerfen+0x9e>}}PWM = pwm;while(1){for(i=0;i<timer; i++)7de: 08 94 sec7e0: e1 1c adc r14, r17e2: f1 1c adc r15, r17e4: 01 1d adc r16, r17e6: 11 1d adc r17, r17e8: ea 14 cp r14, r107ea: fb 04 cpc r15, r117ec: 0c 05 cpc r16, r127ee: 1d 05 cpc r17, r137f0: 40 f3 brcs .-48 ; 0x7c2 <Anwerfen+0x8a>}}void DebugAusgaben(void){DebugOut.Analog[0] = Strom;7f2: 80 91 7a 00 lds r24, 0x007A7f6: 90 91 7b 00 lds r25, 0x007B7fa: 90 93 85 03 sts 0x0385, r257fe: 80 93 84 03 sts 0x0384, r24DebugOut.Analog[1] = Mittelstrom;802: 80 91 7d 00 lds r24, 0x007D806: 80 93 86 03 sts 0x0386, r2480a: 19 82 std Y+1, r1 ; 0x01DebugOut.Analog[2] = SIO_Drehzahl;80c: 80 91 8b 00 lds r24, 0x008B810: 90 91 8c 00 lds r25, 0x008C814: 90 93 89 03 sts 0x0389, r25818: 80 93 88 03 sts 0x0388, r24DebugOut.Analog[3] = PPM_Signal;81c: 80 91 a5 00 lds r24, 0x00A5820: 90 91 a6 00 lds r25, 0x00A6824: 90 93 8b 03 sts 0x038B, r25828: 80 93 8a 03 sts 0x038A, r24DebugOut.Analog[4] = OCR2;82c: 83 b5 in r24, 0x23 ; 3582e: 80 93 8c 03 sts 0x038C, r24832: f3 01 movw r30, r6834: 11 82 std Z+1, r1 ; 0x01if(!UebertragungAbgeschlossen) SendUart();else DatenUebertragung();Wait(100); // warten}DebugAusgaben();FastADConvert();836: 65 d5 rcall .+2762 ; 0x1302 <FastADConvert>if(Strom > 60)838: 80 91 7a 00 lds r24, 0x007A83c: 90 91 7b 00 lds r25, 0x007B840: cd 97 sbiw r24, 0x3d ; 61842: a8 f0 brcs .+42 ; 0x86e <Anwerfen+0x136>{STEUER_OFF; // Abschalten wegen Kurzschluss844: 82 b3 in r24, 0x12 ; 18846: 87 7c andi r24, 0xC7 ; 199848: 82 bb out 0x12, r24 ; 1884a: 1b bc out 0x2b, r1 ; 4384c: 1a bc out 0x2a, r1 ; 4284e: 19 bc out 0x29, r1 ; 41850: 18 bc out 0x28, r1 ; 40852: 13 bc out 0x23, r1 ; 35854: 81 e0 ldi r24, 0x01 ; 1856: 8f bd out 0x2f, r24 ; 47858: 81 e4 ldi r24, 0x41 ; 6585a: 85 bd out 0x25, r24 ; 3785c: 8e e0 ldi r24, 0x0E ; 1485e: 87 bb out 0x17, r24 ; 23860: 88 b3 in r24, 0x18 ; 24862: 81 7f andi r24, 0xF1 ; 241864: 88 bb out 0x18, r24 ; 24RotBlink(10);866: 8a e0 ldi r24, 0x0A ; 10868: 09 dd rcall .-1518 ; 0x27c <RotBlink>86a: 80 e0 ldi r24, 0x00 ; 086c: 2e c0 rjmp .+92 ; 0x8ca <Anwerfen+0x192>return(0);}timer-= timer/15+1;86e: c6 01 movw r24, r12870: b5 01 movw r22, r10872: 2f e0 ldi r18, 0x0F ; 15874: 30 e0 ldi r19, 0x00 ; 0876: 40 e0 ldi r20, 0x00 ; 0878: 50 e0 ldi r21, 0x00 ; 087a: 12 d8 rcall .-4060 ; 0xfffff8a0 <__eeprom_end+0xff7ef8a0>87c: 20 95 com r1887e: 30 95 com r19880: 40 95 com r20882: 50 95 com r21884: a2 0e add r10, r18886: b3 1e adc r11, r19888: c4 1e adc r12, r2088a: d5 1e adc r13, r21if(timer < 25) { if(TEST_MANUELL) timer = 25; else return(1); }88c: f9 e1 ldi r31, 0x19 ; 2588e: af 16 cp r10, r31890: b1 04 cpc r11, r1892: c1 04 cpc r12, r1894: d1 04 cpc r13, r1896: c0 f0 brcs .+48 ; 0x8c8 <Anwerfen+0x190>Manuell();898: 77 d6 rcall .+3310 ; 0x1588 <Manuell>Phase++;89a: 80 91 af 00 lds r24, 0x00AF89e: 8f 5f subi r24, 0xFF ; 2558a0: 80 93 af 00 sts 0x00AF, r24Phase %= 6;8a4: 80 91 af 00 lds r24, 0x00AF8a8: 66 e0 ldi r22, 0x06 ; 68aa: da d7 rcall .+4020 ; 0x1860 <__udivmodqi4>8ac: 90 93 af 00 sts 0x00AF, r25AdConvert();8b0: dc d4 rcall .+2488 ; 0x126a <AdConvert>PWM = pwm;8b2: 90 92 78 00 sts 0x0078, r98b6: 10 92 79 00 sts 0x0079, r1SetPWM();8ba: d1 db rcall .-2142 ; 0x5e <SetPWM>if(SENSE)8bc: 44 9b sbis 0x08, 4 ; 88be: 7e cf rjmp .-260 ; 0x7bc <Anwerfen+0x84>{PORTD ^= GRUEN;8c0: 82 b3 in r24, 0x12 ; 188c2: 80 58 subi r24, 0x80 ; 1288c4: 82 bb out 0x12, r24 ; 188c6: 7a cf rjmp .-268 ; 0x7bc <Anwerfen+0x84>8c8: 81 e0 ldi r24, 0x01 ; 1}}}8ca: df 91 pop r298cc: cf 91 pop r288ce: 1f 91 pop r178d0: 0f 91 pop r168d2: ff 90 pop r158d4: ef 90 pop r148d6: df 90 pop r138d8: cf 90 pop r128da: bf 90 pop r118dc: af 90 pop r108de: 9f 90 pop r98e0: 7f 90 pop r78e2: 6f 90 pop r68e4: 08 95 ret000008e6 <main>://############################################################################//Hauptprogrammint main (void)//############################################################################{8e6: 5f 92 push r58e8: 6f 92 push r68ea: 7f 92 push r78ec: 8f 92 push r88ee: 9f 92 push r98f0: af 92 push r108f2: bf 92 push r118f4: cf 92 push r128f6: df 92 push r138f8: ef 92 push r148fa: ff 92 push r158fc: 0f 93 push r168fe: 1f 93 push r17900: cf 93 push r28902: df 93 push r29char altPhase = 0;int test = 0;unsigned int Blink,TestschubTimer;unsigned int Blink2,MittelstromTimer,DrehzahlMessTimer,MotorGestopptTimer;DDRC = 0x08;904: 88 e0 ldi r24, 0x08 ; 8906: 84 bb out 0x14, r24 ; 20PORTC = 0x08;908: 85 bb out 0x15, r24 ; 21DDRD = 0x3A;90a: 8a e3 ldi r24, 0x3A ; 5890c: 81 bb out 0x11, r24 ; 17PORTD = 0x00;90e: 12 ba out 0x12, r1 ; 18DDRB = 0x0E;910: 8e e0 ldi r24, 0x0E ; 14912: 87 bb out 0x17, r24 ; 23PORTB = 0x31;914: 81 e3 ldi r24, 0x31 ; 49916: 88 bb out 0x18, r24 ; 24#if (MOTORADRESSE == 0)PORTB |= (ADR1 + ADR2); // Pullups für Adresswahl918: 88 b3 in r24, 0x18 ; 2491a: 80 6c ori r24, 0xC0 ; 19291c: 88 bb out 0x18, r24 ; 24for(test=0;test<500;test++);if(PINB & ADR1)91e: b6 9b sbis 0x16, 6 ; 22920: 06 c0 rjmp .+12 ; 0x92e <main+0x48>{if (PINB & ADR2) MotorAdresse = 1;922: b7 9b sbis 0x16, 7 ; 22924: 02 c0 rjmp .+4 ; 0x92a <main+0x44>926: 81 e0 ldi r24, 0x01 ; 1928: 07 c0 rjmp .+14 ; 0x938 <main+0x52>else MotorAdresse = 2;92a: 82 e0 ldi r24, 0x02 ; 292c: 05 c0 rjmp .+10 ; 0x938 <main+0x52>}else{if (PINB & ADR2) MotorAdresse = 3;92e: b7 9b sbis 0x16, 7 ; 22930: 02 c0 rjmp .+4 ; 0x936 <main+0x50>932: 83 e0 ldi r24, 0x03 ; 3934: 01 c0 rjmp .+2 ; 0x938 <main+0x52>else MotorAdresse = 4;936: 84 e0 ldi r24, 0x04 ; 4938: 80 93 66 00 sts 0x0066, r24}HwVersion = 11;93c: 8b e0 ldi r24, 0x0B ; 1193e: 80 93 b2 00 sts 0x00B2, r24#elseMotorAdresse = MOTORADRESSE;HwVersion = 10;#endifif(PIND & 0x80) {HwVersion = 12; IntRef = 0xc0;}942: 87 9b sbis 0x10, 7 ; 16944: 06 c0 rjmp .+12 ; 0x952 <main+0x6c>946: 8c e0 ldi r24, 0x0C ; 12948: 80 93 b2 00 sts 0x00B2, r2494c: 80 ec ldi r24, 0xC0 ; 19294e: 80 93 8d 00 sts 0x008D, r24DDRD = 0xBA;952: 8a eb ldi r24, 0xBA ; 186954: 81 bb out 0x11, r24 ; 17UART_Init();956: c4 d3 rcall .+1928 ; 0x10e0 <UART_Init>Timer0_Init();958: 4e d4 rcall .+2204 ; 0x11f6 <Timer0_Init>sei();//Globale Interrupts Einschalten95a: 78 94 sei}Delay_ms(500);*/// UART_Init(); // war doppeltPWM_Init();95c: d4 db rcall .-2136 ; 0x106 <PWM_Init>InitIC2_Slave(0x50);95e: 80 e5 ldi r24, 0x50 ; 80960: b0 d5 rcall .+2912 ; 0x14c2 <InitIC2_Slave>InitPPM();962: eb d4 rcall .+2518 ; 0x133a <InitPPM>Blink = SetDelay(101);964: 85 e6 ldi r24, 0x65 ; 101966: 90 e0 ldi r25, 0x00 ; 0968: 4f d4 rcall .+2206 ; 0x1208 <SetDelay>Blink2 = SetDelay(102);96a: 86 e6 ldi r24, 0x66 ; 10296c: 90 e0 ldi r25, 0x00 ; 096e: 4c d4 rcall .+2200 ; 0x1208 <SetDelay>MinUpmPulse = SetDelay(103);970: 87 e6 ldi r24, 0x67 ; 103972: 90 e0 ldi r25, 0x00 ; 0974: 49 d4 rcall .+2194 ; 0x1208 <SetDelay>976: 90 93 b4 02 sts 0x02B4, r2597a: 80 93 b3 02 sts 0x02B3, r24MittelstromTimer = SetDelay(254);97e: 8e ef ldi r24, 0xFE ; 254980: 90 e0 ldi r25, 0x00 ; 0982: 42 d4 rcall .+2180 ; 0x1208 <SetDelay>984: 6c 01 movw r12, r24DrehzahlMessTimer = SetDelay(1005);986: 8d ee ldi r24, 0xED ; 237988: 93 e0 ldi r25, 0x03 ; 398a: 3e d4 rcall .+2172 ; 0x1208 <SetDelay>98c: ec 01 movw r28, r24TestschubTimer = SetDelay(1006);98e: 8e ee ldi r24, 0xEE ; 238990: 93 e0 ldi r25, 0x03 ; 3992: 3a d4 rcall .+2164 ; 0x1208 <SetDelay>994: 03 c0 rjmp .+6 ; 0x99c <main+0xb6>while(!CheckDelay(MinUpmPulse)){if(SollwertErmittlung()) break;996: d4 db rcall .-2136 ; 0x140 <SollwertErmittlung>998: 88 23 and r24, r2499a: 39 f4 brne .+14 ; 0x9aa <main+0xc4>Blink2 = SetDelay(102);MinUpmPulse = SetDelay(103);MittelstromTimer = SetDelay(254);DrehzahlMessTimer = SetDelay(1005);TestschubTimer = SetDelay(1006);while(!CheckDelay(MinUpmPulse))99c: 80 91 b3 02 lds r24, 0x02B39a0: 90 91 b4 02 lds r25, 0x02B49a4: 3b d4 rcall .+2166 ; 0x121c <CheckDelay>9a6: 88 23 and r24, r249a8: b1 f3 breq .-20 ; 0x996 <main+0xb0>{if(SollwertErmittlung()) break;}GRN_ON;9aa: 80 91 b2 00 lds r24, 0x00B29ae: 8c 30 cpi r24, 0x0C ; 129b0: 10 f4 brcc .+4 ; 0x9b6 <main+0xd0>9b2: 97 9a sbi 0x12, 7 ; 189b4: 01 c0 rjmp .+2 ; 0x9b8 <main+0xd2>9b6: 97 98 cbi 0x12, 7 ; 18PWM = 0;9b8: 10 92 79 00 sts 0x0079, r19bc: 10 92 78 00 sts 0x0078, r1SetPWM();9c0: 4e db rcall .-2404 ; 0x5e <SetPWM>SFIOR = 0x08; // Analog Comperator ein9c2: 88 e0 ldi r24, 0x08 ; 89c4: 80 bf out 0x30, r24 ; 48ADMUX = 1;9c6: 81 e0 ldi r24, 0x01 ; 19c8: 87 b9 out 0x07, r24 ; 7MinUpmPulse = SetDelay(10);9ca: 8a e0 ldi r24, 0x0A ; 109cc: 90 e0 ldi r25, 0x00 ; 09ce: 1c d4 rcall .+2104 ; 0x1208 <SetDelay>9d0: 90 93 b4 02 sts 0x02B4, r259d4: 80 93 b3 02 sts 0x02B3, r24DebugOut.Analog[1] = 1;9d8: 81 e0 ldi r24, 0x01 ; 19da: 90 e0 ldi r25, 0x00 ; 09dc: 90 93 87 03 sts 0x0387, r259e0: 80 93 86 03 sts 0x0386, r24PPM_Signal = 0;9e4: 10 92 a6 00 sts 0x00A6, r19e8: 10 92 a5 00 sts 0x00A5, r1if(!SollwertErmittlung()) MotorTon();9ec: a9 db rcall .-2222 ; 0x140 <SollwertErmittlung>9ee: 88 23 and r24, r249f0: 09 f4 brne .+2 ; 0x9f4 <main+0x10e>9f2: 58 dc rcall .-1872 ; 0x2a4 <MotorTon>//MotorTon();PORTB = 0x31; // Pullups wieder einschalten9f4: 81 e3 ldi r24, 0x31 ; 499f6: 88 bb out 0x18, r24 ; 249f8: 10 e0 ldi r17, 0x00 ; 0STEUER_OFF;}}else{if(MotorGestoppt) MotorAnwerfen = 1; // Startversuch9fa: ff 24 eor r15, r159fc: f3 94 inc r15// nach 1,5 Sekunden den Motor als gestoppt betrachtenif(CheckDelay(MotorGestopptTimer)){DISABLE_SENSE_INT;MotorGestoppt = 1;STEUER_OFF;9fe: f1 e4 ldi r31, 0x41 ; 65a00: ef 2e mov r14, r31a02: ee e0 ldi r30, 0x0E ; 14a04: 5e 2e mov r5, r30if(Anwerfen(10)){GRN_ON;MotorGestoppt = 0;Phase--;PWM = 1;a06: 71 e0 ldi r23, 0x01 ; 1a08: 67 2e mov r6, r23a0a: 71 2c mov r7, r1SetPWM();SENSE_TOGGLE_INT;ENABLE_SENSE_INT;MinUpmPulse = SetDelay(20);while(!CheckDelay(MinUpmPulse)); // kurz SynchronisierenPWM = 15;a0c: 6f e0 ldi r22, 0x0F ; 15a0e: 86 2e mov r8, r22a10: 91 2c mov r9, r1a12: 01 c0 rjmp .+2 ; 0xa16 <main+0x130>DebugOut.Analog[1] = 1;PPM_Signal = 0;if(!SollwertErmittlung()) MotorTon();//MotorTon();PORTB = 0x31; // Pullups wieder einschaltena14: 10 2f mov r17, r16while (1){//ShowSense();if(!TEST_SCHUB) PWM = SollwertErmittlung();a16: 94 db rcall .-2264 ; 0x140 <SollwertErmittlung>a18: 80 93 78 00 sts 0x0078, r24a1c: 10 92 79 00 sts 0x0079, r1//I2C_TXBuffer = PWM; // Antwort über I2C-Busif(MANUELL_PWM) PWM = MANUELL_PWM;// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++if(Phase != altPhase) // es gab eine Kommutierung im Interrupta20: 00 91 af 00 lds r16, 0x00AFa24: 01 17 cp r16, r17a26: 69 f0 breq .+26 ; 0xa42 <main+0x15c>{MotorGestoppt = 0;a28: 10 92 63 00 sts 0x0063, r1ZeitFuerBerechnungen = 0; // direkt nach einer Kommutierung ist Zeita2c: 10 92 62 00 sts 0x0062, r1MinUpmPulse = SetDelay(250); // Timeout, falls ein Motor stehen bleibta30: 8a ef ldi r24, 0xFA ; 250a32: 90 e0 ldi r25, 0x00 ; 0a34: e9 d3 rcall .+2002 ; 0x1208 <SetDelay>a36: 90 93 b4 02 sts 0x02B4, r25a3a: 80 93 b3 02 sts 0x02B3, r24altPhase = Phase;a3e: 00 91 af 00 lds r16, 0x00AF}// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++if(!PWM) // Sollwert == 0a42: 80 91 78 00 lds r24, 0x0078a46: 90 91 79 00 lds r25, 0x0079a4a: 89 2b or r24, r25a4c: e1 f4 brne .+56 ; 0xa86 <main+0x1a0>{MotorAnwerfen = 0; // kein Startversucha4e: 10 92 88 00 sts 0x0088, r1ZeitFuerBerechnungen = 0;a52: 10 92 62 00 sts 0x0062, r1// nach 1,5 Sekunden den Motor als gestoppt betrachtenif(CheckDelay(MotorGestopptTimer))a56: c5 01 movw r24, r10a58: e1 d3 rcall .+1986 ; 0x121c <CheckDelay>a5a: 88 23 and r24, r24a5c: f1 f0 breq .+60 ; 0xa9a <main+0x1b4>{DISABLE_SENSE_INT;a5e: 10 92 b1 00 sts 0x00B1, r1a62: 43 98 cbi 0x08, 3 ; 8MotorGestoppt = 1;a64: f0 92 63 00 sts 0x0063, r15STEUER_OFF;a68: 82 b3 in r24, 0x12 ; 18a6a: 87 7c andi r24, 0xC7 ; 199a6c: 82 bb out 0x12, r24 ; 18a6e: 1b bc out 0x2b, r1 ; 43a70: 1a bc out 0x2a, r1 ; 42a72: 19 bc out 0x29, r1 ; 41a74: 18 bc out 0x28, r1 ; 40a76: 13 bc out 0x23, r1 ; 35a78: ff bc out 0x2f, r15 ; 47a7a: e5 bc out 0x25, r14 ; 37a7c: 57 ba out 0x17, r5 ; 23a7e: 88 b3 in r24, 0x18 ; 24a80: 81 7f andi r24, 0xF1 ; 241a82: 88 bb out 0x18, r24 ; 24a84: 0a c0 rjmp .+20 ; 0xa9a <main+0x1b4>}}else{if(MotorGestoppt) MotorAnwerfen = 1; // Startversucha86: 80 91 63 00 lds r24, 0x0063a8a: 88 23 and r24, r24a8c: 11 f0 breq .+4 ; 0xa92 <main+0x1ac>a8e: f0 92 88 00 sts 0x0088, r15MotorGestopptTimer = SetDelay(1500);a92: 8c ed ldi r24, 0xDC ; 220a94: 95 e0 ldi r25, 0x05 ; 5a96: b8 d3 rcall .+1904 ; 0x1208 <SetDelay>a98: 5c 01 movw r10, r24}if(MotorGestoppt && !TEST_SCHUB) PWM = 0;a9a: 80 91 63 00 lds r24, 0x0063a9e: 88 23 and r24, r24aa0: 21 f0 breq .+8 ; 0xaaa <main+0x1c4>aa2: 10 92 79 00 sts 0x0079, r1aa6: 10 92 78 00 sts 0x0078, r1SetPWM();aaa: d9 da rcall .-2638 ; 0x5e <SetPWM>// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++if(!ZeitFuerBerechnungen++)aac: 80 91 62 00 lds r24, 0x0062ab0: 8f 5f subi r24, 0xFF ; 255ab2: 80 93 62 00 sts 0x0062, r24ab6: 81 50 subi r24, 0x01 ; 1ab8: 09 f0 breq .+2 ; 0xabc <main+0x1d6>aba: ac cf rjmp .-168 ; 0xa14 <main+0x12e>{if(MotorGestoppt)abc: 80 91 63 00 lds r24, 0x0063ac0: 88 23 and r24, r24ac2: 41 f0 breq .+16 ; 0xad4 <main+0x1ee>{GRN_ON;ac4: 80 91 b2 00 lds r24, 0x00B2ac8: 8c 30 cpi r24, 0x0C ; 12aca: 10 f4 brcc .+4 ; 0xad0 <main+0x1ea>acc: 97 9a sbi 0x12, 7 ; 18ace: 01 c0 rjmp .+2 ; 0xad2 <main+0x1ec>ad0: 97 98 cbi 0x12, 7 ; 18FastADConvert();ad2: 17 d4 rcall .+2094 ; 0x1302 <FastADConvert>DebugAusgaben(); // welche Werte sollen angezeigt werden?if(!UebertragungAbgeschlossen) SendUart();else DatenUebertragung();}// Berechnen des Mittleren Stroms zur (langsamen) Strombegrenzungif(CheckDelay(MittelstromTimer))ad4: c6 01 movw r24, r12ad6: a2 d3 rcall .+1860 ; 0x121c <CheckDelay>ad8: 88 23 and r24, r24ada: a9 f1 breq .+106 ; 0xb46 <main+0x260>{MittelstromTimer = SetDelay(50); // alle 50msadc: 82 e3 ldi r24, 0x32 ; 50ade: 90 e0 ldi r25, 0x00 ; 0ae0: 93 d3 rcall .+1830 ; 0x1208 <SetDelay>ae2: 6c 01 movw r12, r24if(Mittelstrom < Strom) Mittelstrom++;// Mittelwert des Stroms bildenae4: 80 91 7d 00 lds r24, 0x007Dae8: 48 2f mov r20, r24aea: 50 e0 ldi r21, 0x00 ; 0aec: 20 91 7a 00 lds r18, 0x007Aaf0: 30 91 7b 00 lds r19, 0x007Baf4: 42 17 cp r20, r18af6: 53 07 cpc r21, r19af8: 10 f4 brcc .+4 ; 0xafe <main+0x218>afa: 8f 5f subi r24, 0xFF ; 255afc: 04 c0 rjmp .+8 ; 0xb06 <main+0x220>else if(Mittelstrom > Strom) Mittelstrom--;afe: 24 17 cp r18, r20b00: 35 07 cpc r19, r21b02: 18 f4 brcc .+6 ; 0xb0a <main+0x224>b04: 81 50 subi r24, 0x01 ; 1b06: 80 93 7d 00 sts 0x007D, r24if(Strom > MAX_STROM) MaxPWM -= MaxPWM / 32;b0a: 29 3c cpi r18, 0xC9 ; 201b0c: 31 05 cpc r19, r1b0e: 48 f0 brcs .+18 ; 0xb22 <main+0x23c>b10: 80 91 64 00 lds r24, 0x0064b14: 98 2f mov r25, r24b16: 92 95 swap r25b18: 96 95 lsr r25b1a: 97 70 andi r25, 0x07 ; 7b1c: 89 1b sub r24, r25b1e: 80 93 64 00 sts 0x0064, r24if((Mittelstrom > LIMIT_STROM))// Strom am Limit?b22: 80 91 7d 00 lds r24, 0x007Db26: 90 91 64 00 lds r25, 0x0064b2a: 89 37 cpi r24, 0x79 ; 121b2c: 38 f0 brcs .+14 ; 0xb3c <main+0x256>{if(MaxPWM) MaxPWM--;// dann die Maximale PWM herunterfahrenb2e: 99 23 and r25, r25b30: 19 f0 breq .+6 ; 0xb38 <main+0x252>b32: 91 50 subi r25, 0x01 ; 1b34: 90 93 64 00 sts 0x0064, r25PORTC |= ROT;b38: ab 9a sbi 0x15, 3 ; 21b3a: 05 c0 rjmp .+10 ; 0xb46 <main+0x260>}else{if(MaxPWM < MAX_PWM) MaxPWM++;b3c: 9f 3f cpi r25, 0xFF ; 255b3e: 19 f0 breq .+6 ; 0xb46 <main+0x260>b40: 9f 5f subi r25, 0xFF ; 255b42: 90 93 64 00 sts 0x0064, r25}}if(CheckDelay(DrehzahlMessTimer)) // Ist-Drehzahl bestimmenb46: ce 01 movw r24, r28b48: 69 d3 rcall .+1746 ; 0x121c <CheckDelay>b4a: 88 23 and r24, r24b4c: 91 f0 breq .+36 ; 0xb72 <main+0x28c>{DrehzahlMessTimer = SetDelay(10);b4e: 8a e0 ldi r24, 0x0A ; 10b50: 90 e0 ldi r25, 0x00 ; 0b52: 5a d3 rcall .+1716 ; 0x1208 <SetDelay>b54: ec 01 movw r28, r24SIO_Drehzahl = CntKommutierungen;//(6 * CntKommutierungen) / (POLANZAHL / 2);b56: 80 91 89 00 lds r24, 0x0089b5a: 90 91 8a 00 lds r25, 0x008Ab5e: 90 93 8c 00 sts 0x008C, r25b62: 80 93 8b 00 sts 0x008B, r24CntKommutierungen = 0;b66: 10 92 8a 00 sts 0x008A, r1b6a: 10 92 89 00 sts 0x0089, r1// if(PPM_Timeout == 0) // keine PPM-SignaleZeitZumAdWandeln = 1;b6e: f0 92 65 00 sts 0x0065, r15}}}#endif// Motor Stehen gebliebenif((CheckDelay(MinUpmPulse) && SIO_Drehzahl == 0) || MotorAnwerfen)b72: 80 91 b3 02 lds r24, 0x02B3b76: 90 91 b4 02 lds r25, 0x02B4b7a: 50 d3 rcall .+1696 ; 0x121c <CheckDelay>b7c: 88 23 and r24, r24b7e: 31 f0 breq .+12 ; 0xb8c <main+0x2a6>b80: 80 91 8b 00 lds r24, 0x008Bb84: 90 91 8c 00 lds r25, 0x008Cb88: 89 2b or r24, r25b8a: 29 f0 breq .+10 ; 0xb96 <main+0x2b0>b8c: 80 91 88 00 lds r24, 0x0088b90: 88 23 and r24, r24b92: 09 f4 brne .+2 ; 0xb96 <main+0x2b0>b94: 3f cf rjmp .-386 ; 0xa14 <main+0x12e>{MotorGestoppt = 1;b96: f0 92 63 00 sts 0x0063, r15DISABLE_SENSE_INT;b9a: 10 92 b1 00 sts 0x00B1, r1b9e: 43 98 cbi 0x08, 3 ; 8MinUpmPulse = SetDelay(100);ba0: 84 e6 ldi r24, 0x64 ; 100ba2: 90 e0 ldi r25, 0x00 ; 0ba4: 31 d3 rcall .+1634 ; 0x1208 <SetDelay>ba6: 90 93 b4 02 sts 0x02B4, r25baa: 80 93 b3 02 sts 0x02B3, r24if(MotorAnwerfen)bae: 80 91 88 00 lds r24, 0x0088bb2: 88 23 and r24, r24bb4: 09 f4 brne .+2 ; 0xbb8 <main+0x2d2>bb6: 2e cf rjmp .-420 ; 0xa14 <main+0x12e>{PORTC &= ~ROT;bb8: ab 98 cbi 0x15, 3 ; 21Strom_max = 0;bba: 10 92 7c 00 sts 0x007C, r1MotorAnwerfen = 0;bbe: 10 92 88 00 sts 0x0088, r1if(Anwerfen(10))bc2: 8a e0 ldi r24, 0x0A ; 10bc4: b9 dd rcall .-1166 ; 0x738 <Anwerfen>bc6: 88 23 and r24, r24bc8: 09 f4 brne .+2 ; 0xbcc <main+0x2e6>bca: 5b c0 rjmp .+182 ; 0xc82 <main+0x39c>{GRN_ON;bcc: 80 91 b2 00 lds r24, 0x00B2bd0: 8c 30 cpi r24, 0x0C ; 12bd2: 10 f4 brcc .+4 ; 0xbd8 <main+0x2f2>bd4: 97 9a sbi 0x12, 7 ; 18bd6: 01 c0 rjmp .+2 ; 0xbda <main+0x2f4>bd8: 97 98 cbi 0x12, 7 ; 18MotorGestoppt = 0;bda: 10 92 63 00 sts 0x0063, r1Phase--;bde: 80 91 af 00 lds r24, 0x00AFbe2: 81 50 subi r24, 0x01 ; 1be4: 80 93 af 00 sts 0x00AF, r24PWM = 1;be8: 70 92 79 00 sts 0x0079, r7bec: 60 92 78 00 sts 0x0078, r6SetPWM();bf0: 36 da rcall .-2964 ; 0x5e <SetPWM>SENSE_TOGGLE_INT;bf2: 88 b1 in r24, 0x08 ; 8bf4: 8c 7f andi r24, 0xFC ; 252bf6: 88 b9 out 0x08, r24 ; 8ENABLE_SENSE_INT;bf8: f0 92 b1 00 sts 0x00B1, r15bfc: 88 b1 in r24, 0x08 ; 8bfe: 8a 60 ori r24, 0x0A ; 10c00: 88 b9 out 0x08, r24 ; 8MinUpmPulse = SetDelay(20);c02: 84 e1 ldi r24, 0x14 ; 20c04: 90 e0 ldi r25, 0x00 ; 0c06: 00 d3 rcall .+1536 ; 0x1208 <SetDelay>c08: 90 93 b4 02 sts 0x02B4, r25c0c: 80 93 b3 02 sts 0x02B3, r24while(!CheckDelay(MinUpmPulse)); // kurz Synchronisierenc10: 80 91 b3 02 lds r24, 0x02B3c14: 90 91 b4 02 lds r25, 0x02B4c18: 01 d3 rcall .+1538 ; 0x121c <CheckDelay>c1a: 88 23 and r24, r24c1c: c9 f3 breq .-14 ; 0xc10 <main+0x32a>PWM = 15;c1e: 90 92 79 00 sts 0x0079, r9c22: 80 92 78 00 sts 0x0078, r8SetPWM();c26: 1b da rcall .-3018 ; 0x5e <SetPWM>MinUpmPulse = SetDelay(300);c28: 8c e2 ldi r24, 0x2C ; 44c2a: 91 e0 ldi r25, 0x01 ; 1c2c: ed d2 rcall .+1498 ; 0x1208 <SetDelay>c2e: 90 93 b4 02 sts 0x02B4, r25c32: 80 93 b3 02 sts 0x02B3, r24c36: 18 c0 rjmp .+48 ; 0xc68 <main+0x382>while(!CheckDelay(MinUpmPulse)) // kurz Durchstarten{if(Strom > LIMIT_STROM/2)c38: 80 91 7a 00 lds r24, 0x007Ac3c: 90 91 7b 00 lds r25, 0x007Bc40: cd 97 sbiw r24, 0x3d ; 61c42: 90 f0 brcs .+36 ; 0xc68 <main+0x382>{STEUER_OFF; // Abschalten wegen Kurzschlussc44: 82 b3 in r24, 0x12 ; 18c46: 87 7c andi r24, 0xC7 ; 199c48: 82 bb out 0x12, r24 ; 18c4a: 1b bc out 0x2b, r1 ; 43c4c: 1a bc out 0x2a, r1 ; 42c4e: 19 bc out 0x29, r1 ; 41c50: 18 bc out 0x28, r1 ; 40c52: 13 bc out 0x23, r1 ; 35c54: ff bc out 0x2f, r15 ; 47c56: e5 bc out 0x25, r14 ; 37c58: 57 ba out 0x17, r5 ; 23c5a: 88 b3 in r24, 0x18 ; 24c5c: 81 7f andi r24, 0xF1 ; 241c5e: 88 bb out 0x18, r24 ; 24RotBlink(10);c60: 8a e0 ldi r24, 0x0A ; 10c62: 0c db rcall .-2536 ; 0x27c <RotBlink>MotorAnwerfen = 1;c64: f0 92 88 00 sts 0x0088, r15MinUpmPulse = SetDelay(20);while(!CheckDelay(MinUpmPulse)); // kurz SynchronisierenPWM = 15;SetPWM();MinUpmPulse = SetDelay(300);while(!CheckDelay(MinUpmPulse)) // kurz Durchstartenc68: 80 91 b3 02 lds r24, 0x02B3c6c: 90 91 b4 02 lds r25, 0x02B4c70: d5 d2 rcall .+1450 ; 0x121c <CheckDelay>c72: 88 23 and r24, r24c74: 09 f3 breq .-62 ; 0xc38 <main+0x352>RotBlink(10);MotorAnwerfen = 1;}}// Drehzahlmessung wieder aufsetzenDrehzahlMessTimer = SetDelay(50);c76: 82 e3 ldi r24, 0x32 ; 50c78: 90 e0 ldi r25, 0x00 ; 0c7a: c6 d2 rcall .+1420 ; 0x1208 <SetDelay>c7c: ec 01 movw r28, r24c7e: 07 e0 ldi r16, 0x07 ; 7c80: c9 ce rjmp .-622 ; 0xa14 <main+0x12e>altPhase = 7;}else if(SollwertErmittlung()) MotorAnwerfen = 1;c82: 5e da rcall .-2884 ; 0x140 <SollwertErmittlung>c84: 88 23 and r24, r24c86: 09 f4 brne .+2 ; 0xc8a <main+0x3a4>c88: c5 ce rjmp .-630 ; 0xa14 <main+0x12e>c8a: f0 92 88 00 sts 0x0088, r15c8e: c2 ce rjmp .-636 ; 0xa14 <main+0x12e>00000c90 <__vector_13>:int Debug_Timer;SIGNAL(INT_VEC_TX){c90: 1f 92 push r1c92: 0f 92 push r0c94: 0f b6 in r0, 0x3f ; 63c96: 0f 92 push r0c98: 11 24 eor r1, r1}c9a: 0f 90 pop r0c9c: 0f be out 0x3f, r0 ; 63c9e: 0f 90 pop r0ca0: 1f 90 pop r1ca2: 18 95 reti00000ca4 <SendUart>:void SendUart(void){static unsigned int ptr = 0;unsigned char tmp_tx;if(!(UCSRA & 0x40)) return;ca4: 5e 9b sbis 0x0b, 6 ; 11ca6: 24 c0 rjmp .+72 ; 0xcf0 <SendUart+0x4c>if(!UebertragungAbgeschlossen)ca8: 80 91 6f 00 lds r24, 0x006Fcac: 88 23 and r24, r24cae: e1 f4 brne .+56 ; 0xce8 <SendUart+0x44>{ptr++; // die [0] wurde schon gesendetcb0: 80 91 a0 00 lds r24, 0x00A0cb4: 90 91 a1 00 lds r25, 0x00A1cb8: 01 96 adiw r24, 0x01 ; 1cba: 90 93 a1 00 sts 0x00A1, r25cbe: 80 93 a0 00 sts 0x00A0, r24tmp_tx = SendeBuffer[ptr];cc2: fc 01 movw r30, r24cc4: e8 54 subi r30, 0x48 ; 72cc6: fd 4f sbci r31, 0xFD ; 253cc8: e0 81 ld r30, Zif((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF))cca: ed 30 cpi r30, 0x0D ; 13ccc: 19 f0 breq .+6 ; 0xcd4 <SendUart+0x30>cce: 84 36 cpi r24, 0x64 ; 100cd0: 91 05 cpc r25, r1cd2: 39 f4 brne .+14 ; 0xce2 <SendUart+0x3e>{ptr = 0;cd4: 10 92 a1 00 sts 0x00A1, r1cd8: 10 92 a0 00 sts 0x00A0, r1UebertragungAbgeschlossen = 1;cdc: 81 e0 ldi r24, 0x01 ; 1cde: 80 93 6f 00 sts 0x006F, r24}USR |= (1<TXC);ce2: 58 9a sbi 0x0b, 0 ; 11UDR = tmp_tx;ce4: ec b9 out 0x0c, r30 ; 12ce6: 08 95 ret}else ptr = 0;ce8: 10 92 a1 00 sts 0x00A1, r1cec: 10 92 a0 00 sts 0x00A0, r1cf0: 08 95 ret00000cf2 <Decode64>:}// --------------------------------------------------------------------------void Decode64(unsigned char *ptrOut, unsigned char len, unsigned char ptrIn,unsigned char max) // Wohin mit den Daten; Wie lang; Wo im RxdBuffer{cf2: 1f 93 push r17cf4: cf 93 push r28cf6: df 93 push r29cf8: ec 01 movw r28, r24cfa: 70 e0 ldi r23, 0x00 ; 0{a = RxdBuffer[ptrIn++] - '=';b = RxdBuffer[ptrIn++] - '=';c = RxdBuffer[ptrIn++] - '=';d = RxdBuffer[ptrIn++] - '=';if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurdencfc: a2 2f mov r26, r18cfe: b0 e0 ldi r27, 0x00 ; 0d00: 11 97 sbiw r26, 0x01 ; 1d02: 48 c0 rjmp .+144 ; 0xd94 <Decode64+0xa2>unsigned char a,b,c,d;unsigned char ptr = 0;unsigned char x,y,z;while(len){a = RxdBuffer[ptrIn++] - '=';d04: e4 2f mov r30, r20d06: f0 e0 ldi r31, 0x00 ; 0d08: e2 5e subi r30, 0xE2 ; 226d0a: fc 4f sbci r31, 0xFC ; 252d0c: 30 81 ld r19, Zb = RxdBuffer[ptrIn++] - '=';d0e: 4f 5f subi r20, 0xFF ; 255d10: e4 2f mov r30, r20d12: f0 e0 ldi r31, 0x00 ; 0d14: e2 5e subi r30, 0xE2 ; 226d16: fc 4f sbci r31, 0xFC ; 252d18: 50 81 ld r21, Zc = RxdBuffer[ptrIn++] - '=';d1a: 4f 5f subi r20, 0xFF ; 255d1c: e4 2f mov r30, r20d1e: f0 e0 ldi r31, 0x00 ; 0d20: e2 5e subi r30, 0xE2 ; 226d22: fc 4f sbci r31, 0xFC ; 252d24: 10 81 ld r17, Zd = RxdBuffer[ptrIn++] - '=';d26: 4f 5f subi r20, 0xFF ; 255d28: e4 2f mov r30, r20d2a: f0 e0 ldi r31, 0x00 ; 0d2c: e2 5e subi r30, 0xE2 ; 226d2e: fc 4f sbci r31, 0xFC ; 252d30: 20 81 ld r18, Zd32: 4f 5f subi r20, 0xFF ; 255if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurdend34: 84 2f mov r24, r20d36: 90 e0 ldi r25, 0x00 ; 0d38: 8a 17 cp r24, r26d3a: 9b 07 cpc r25, r27d3c: 74 f5 brge .+92 ; 0xd9a <Decode64+0xa8>unsigned char ptr = 0;unsigned char x,y,z;while(len){a = RxdBuffer[ptrIn++] - '=';b = RxdBuffer[ptrIn++] - '=';d3e: 5d 53 subi r21, 0x3D ; 61x = (a << 2) | (b >> 4);y = ((b & 0x0f) << 4) | (c >> 2);z = ((c & 0x03) << 6) | d;if(len--) ptrOut[ptr++] = x; else break;d40: fe 01 movw r30, r28d42: e7 0f add r30, r23d44: f1 1d adc r31, r1d46: 85 2f mov r24, r21d48: 82 95 swap r24d4a: 8f 70 andi r24, 0x0F ; 15d4c: 3d 53 subi r19, 0x3D ; 61d4e: 33 0f add r19, r19d50: 33 0f add r19, r19d52: 38 2b or r19, r24d54: 30 83 st Z, r19if(len--) ptrOut[ptr++] = y; else break;d56: 61 30 cpi r22, 0x01 ; 1d58: 01 f1 breq .+64 ; 0xd9a <Decode64+0xa8>unsigned char x,y,z;while(len){a = RxdBuffer[ptrIn++] - '=';b = RxdBuffer[ptrIn++] - '=';c = RxdBuffer[ptrIn++] - '=';d5a: 91 2f mov r25, r17d5c: 9d 53 subi r25, 0x3D ; 61x = (a << 2) | (b >> 4);y = ((b & 0x0f) << 4) | (c >> 2);z = ((c & 0x03) << 6) | d;if(len--) ptrOut[ptr++] = x; else break;if(len--) ptrOut[ptr++] = y; else break;d5e: 7f 5f subi r23, 0xFF ; 255d60: fe 01 movw r30, r28d62: e7 0f add r30, r23d64: f1 1d adc r31, r1d66: 71 50 subi r23, 0x01 ; 1d68: 52 95 swap r21d6a: 50 7f andi r21, 0xF0 ; 240d6c: 89 2f mov r24, r25d6e: 86 95 lsr r24d70: 86 95 lsr r24d72: 58 2b or r21, r24d74: 50 83 st Z, r21if(len--) ptrOut[ptr++] = z; else break;d76: 62 30 cpi r22, 0x02 ; 2d78: 81 f0 breq .+32 ; 0xd9a <Decode64+0xa8>d7a: 63 50 subi r22, 0x03 ; 3d7c: 7e 5f subi r23, 0xFE ; 254d7e: fe 01 movw r30, r28d80: e7 0f add r30, r23d82: f1 1d adc r31, r1d84: 92 95 swap r25d86: 99 0f add r25, r25d88: 99 0f add r25, r25d8a: 90 7c andi r25, 0xC0 ; 192d8c: 2d 53 subi r18, 0x3D ; 61d8e: 92 2b or r25, r18d90: 90 83 st Z, r25d92: 7f 5f subi r23, 0xFF ; 255void Decode64(unsigned char *ptrOut, unsigned char len, unsigned char ptrIn,unsigned char max) // Wohin mit den Daten; Wie lang; Wo im RxdBuffer{unsigned char a,b,c,d;unsigned char ptr = 0;unsigned char x,y,z;while(len)d94: 66 23 and r22, r22d96: 09 f0 breq .+2 ; 0xd9a <Decode64+0xa8>d98: b5 cf rjmp .-150 ; 0xd04 <Decode64+0x12>if(len--) ptrOut[ptr++] = x; else break;if(len--) ptrOut[ptr++] = y; else break;if(len--) ptrOut[ptr++] = z; else break;}}d9a: df 91 pop r29d9c: cf 91 pop r28d9e: 1f 91 pop r17da0: 08 95 ret00000da2 <AddCRC>:};// --------------------------------------------------------------------------void AddCRC(unsigned int wieviele){da2: dc 01 movw r26, r24da4: 20 e0 ldi r18, 0x00 ; 0da6: 30 e0 ldi r19, 0x00 ; 0da8: 40 e0 ldi r20, 0x00 ; 0daa: 50 e0 ldi r21, 0x00 ; 0dac: 08 c0 rjmp .+16 ; 0xdbe <AddCRC+0x1c>unsigned int tmpCRC = 0,i;for(i = 0; i < wieviele;i++){tmpCRC += SendeBuffer[i];dae: fa 01 movw r30, r20db0: e8 54 subi r30, 0x48 ; 72db2: fd 4f sbci r31, 0xFD ; 253db4: 80 81 ld r24, Zdb6: 28 0f add r18, r24db8: 31 1d adc r19, r1// --------------------------------------------------------------------------void AddCRC(unsigned int wieviele){unsigned int tmpCRC = 0,i;for(i = 0; i < wieviele;i++)dba: 4f 5f subi r20, 0xFF ; 255dbc: 5f 4f sbci r21, 0xFF ; 255dbe: 4a 17 cp r20, r26dc0: 5b 07 cpc r21, r27dc2: a8 f3 brcs .-22 ; 0xdae <AddCRC+0xc>{tmpCRC += SendeBuffer[i];}tmpCRC %= 4096;dc4: 3f 70 andi r19, 0x0F ; 15SendeBuffer[i++] = '=' + tmpCRC / 64;dc6: c9 01 movw r24, r18dc8: 36 e0 ldi r19, 0x06 ; 6dca: 96 95 lsr r25dcc: 87 95 ror r24dce: 3a 95 dec r19dd0: e1 f7 brne .-8 ; 0xdca <AddCRC+0x28>dd2: 83 5c subi r24, 0xC3 ; 195dd4: fd 01 movw r30, r26dd6: e8 54 subi r30, 0x48 ; 72dd8: fd 4f sbci r31, 0xFD ; 253dda: 80 83 st Z, r24ddc: 11 96 adiw r26, 0x01 ; 1SendeBuffer[i++] = '=' + tmpCRC % 64;dde: 2f 73 andi r18, 0x3F ; 63de0: 23 5c subi r18, 0xC3 ; 195de2: fd 01 movw r30, r26de4: e8 54 subi r30, 0x48 ; 72de6: fd 4f sbci r31, 0xFD ; 253de8: 20 83 st Z, r18SendeBuffer[i++] = '\r';dea: a7 54 subi r26, 0x47 ; 71dec: bd 4f sbci r27, 0xFD ; 253dee: 8d e0 ldi r24, 0x0D ; 13df0: 8c 93 st X, r24UebertragungAbgeschlossen = 0;df2: 10 92 6f 00 sts 0x006F, r1UDR = SendeBuffer[0];df6: 80 91 b8 02 lds r24, 0x02B8dfa: 8c b9 out 0x0c, r24 ; 12}dfc: 08 95 ret00000dfe <SendOutData>:// --------------------------------------------------------------------------void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len){dfe: cf 93 push r28e00: df 93 push r29e02: ea 01 movw r28, r20e04: b2 2f mov r27, r18unsigned int pt = 0;unsigned char a,b,c;unsigned char ptr = 0;SendeBuffer[pt++] = '#'; // Startzeichene06: 93 e2 ldi r25, 0x23 ; 35e08: 90 93 b8 02 sts 0x02B8, r25SendeBuffer[pt++] = modul; // Adresse (a=0; b=1,...)e0c: 60 93 b9 02 sts 0x02B9, r22SendeBuffer[pt++] = cmd; // Commandoe10: 80 93 ba 02 sts 0x02BA, r24e14: 63 e0 ldi r22, 0x03 ; 3e16: 70 e0 ldi r23, 0x00 ; 0e18: a0 e0 ldi r26, 0x00 ; 0e1a: 4e c0 rjmp .+156 ; 0xeb8 <SendOutData+0xba>while(len){if(len) { a = snd[ptr++]; len--;} else a = 0;e1c: fe 01 movw r30, r28e1e: ea 0f add r30, r26e20: f1 1d adc r31, r1e22: 90 81 ld r25, Ze24: af 5f subi r26, 0xFF ; 255e26: b1 50 subi r27, 0x01 ; 1if(len) { b = snd[ptr++]; len--;} else b = 0;e28: 19 f4 brne .+6 ; 0xe30 <SendOutData+0x32>e2a: 30 e0 ldi r19, 0x00 ; 0e2c: 40 e0 ldi r20, 0x00 ; 0e2e: 0f c0 rjmp .+30 ; 0xe4e <SendOutData+0x50>e30: fe 01 movw r30, r28e32: ea 0f add r30, r26e34: f1 1d adc r31, r1e36: 40 81 ld r20, Ze38: af 5f subi r26, 0xFF ; 255e3a: b1 50 subi r27, 0x01 ; 1if(len) { c = snd[ptr++]; len--;} else c = 0;e3c: 11 f4 brne .+4 ; 0xe42 <SendOutData+0x44>e3e: 30 e0 ldi r19, 0x00 ; 0e40: 06 c0 rjmp .+12 ; 0xe4e <SendOutData+0x50>e42: fe 01 movw r30, r28e44: ea 0f add r30, r26e46: f1 1d adc r31, r1e48: 30 81 ld r19, Ze4a: af 5f subi r26, 0xFF ; 255e4c: b1 50 subi r27, 0x01 ; 1SendeBuffer[pt++] = '=' + (a >> 2);e4e: 89 2f mov r24, r25e50: 86 95 lsr r24e52: 86 95 lsr r24e54: 83 5c subi r24, 0xC3 ; 195e56: fb 01 movw r30, r22e58: e8 54 subi r30, 0x48 ; 72e5a: fd 4f sbci r31, 0xFD ; 253e5c: 80 83 st Z, r24SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4));e5e: 24 2f mov r18, r20e60: 22 95 swap r18e62: 2f 70 andi r18, 0x0F ; 15e64: 89 2f mov r24, r25e66: 90 e0 ldi r25, 0x00 ; 0e68: 83 70 andi r24, 0x03 ; 3e6a: 90 70 andi r25, 0x00 ; 0e6c: 54 e0 ldi r21, 0x04 ; 4e6e: 88 0f add r24, r24e70: 99 1f adc r25, r25e72: 5a 95 dec r21e74: e1 f7 brne .-8 ; 0xe6e <SendOutData+0x70>e76: 28 2b or r18, r24e78: 23 5c subi r18, 0xC3 ; 195e7a: fb 01 movw r30, r22e7c: e7 54 subi r30, 0x47 ; 71e7e: fd 4f sbci r31, 0xFD ; 253e80: 20 83 st Z, r18SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6));e82: 84 2f mov r24, r20e84: 90 e0 ldi r25, 0x00 ; 0e86: 8f 70 andi r24, 0x0F ; 15e88: 90 70 andi r25, 0x00 ; 0e8a: 88 0f add r24, r24e8c: 99 1f adc r25, r25e8e: 88 0f add r24, r24e90: 99 1f adc r25, r25e92: 23 2f mov r18, r19e94: 22 95 swap r18e96: 26 95 lsr r18e98: 26 95 lsr r18e9a: 23 70 andi r18, 0x03 ; 3e9c: 28 2b or r18, r24e9e: 23 5c subi r18, 0xC3 ; 195ea0: fb 01 movw r30, r22ea2: e6 54 subi r30, 0x46 ; 70ea4: fd 4f sbci r31, 0xFD ; 253ea6: 20 83 st Z, r18SendeBuffer[pt++] = '=' + ( c & 0x3f);ea8: 3f 73 andi r19, 0x3F ; 63eaa: 33 5c subi r19, 0xC3 ; 195eac: fb 01 movw r30, r22eae: e5 54 subi r30, 0x45 ; 69eb0: fd 4f sbci r31, 0xFD ; 253eb2: 30 83 st Z, r19eb4: 6c 5f subi r22, 0xFC ; 252eb6: 7f 4f sbci r23, 0xFF ; 255SendeBuffer[pt++] = '#'; // StartzeichenSendeBuffer[pt++] = modul; // Adresse (a=0; b=1,...)SendeBuffer[pt++] = cmd; // Commandowhile(len)eb8: bb 23 and r27, r27eba: 09 f0 breq .+2 ; 0xebe <SendOutData+0xc0>ebc: af cf rjmp .-162 ; 0xe1c <SendOutData+0x1e>SendeBuffer[pt++] = '=' + (a >> 2);SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4));SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6));SendeBuffer[pt++] = '=' + ( c & 0x3f);}AddCRC(pt);ebe: cb 01 movw r24, r22ec0: 70 df rcall .-288 ; 0xda2 <AddCRC>}ec2: df 91 pop r29ec4: cf 91 pop r28ec6: 08 95 ret00000ec8 <uart_putchar>://############################################################################//Routine für die Serielle Ausgabeint uart_putchar (char c)//############################################################################{ec8: 1f 93 push r17eca: 18 2f mov r17, r24if (c == '\n')ecc: 8a 30 cpi r24, 0x0A ; 10ece: 11 f4 brne .+4 ; 0xed4 <uart_putchar+0xc>uart_putchar('\r');ed0: 8d e0 ldi r24, 0x0D ; 13ed2: fa df rcall .-12 ; 0xec8 <uart_putchar>//Warten solange bis Zeichen gesendet wurdeloop_until_bit_is_set(USR, UDRE);ed4: 5d 9b sbis 0x0b, 5 ; 11ed6: fe cf rjmp .-4 ; 0xed4 <uart_putchar+0xc>//Ausgabe des ZeichensUDR = c;ed8: 1c b9 out 0x0c, r17 ; 12return (0);}eda: 80 e0 ldi r24, 0x00 ; 0edc: 90 e0 ldi r25, 0x00 ; 0ede: 1f 91 pop r17ee0: 08 95 ret00000ee2 <__vector_11>://+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++//++ Empfangs-Part der Datenübertragung//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++SIGNAL(INT_VEC_RX){ee2: 1f 92 push r1ee4: 0f 92 push r0ee6: 0f b6 in r0, 0x3f ; 63ee8: 0f 92 push r0eea: 11 24 eor r1, r1eec: 2f 93 push r18eee: 3f 93 push r19ef0: 4f 93 push r20ef2: 5f 93 push r21ef4: 6f 93 push r22ef6: 7f 93 push r23ef8: 8f 93 push r24efa: 9f 93 push r25efc: af 93 push r26efe: bf 93 push r27f00: cf 93 push r28f02: df 93 push r29f04: ef 93 push r30f06: ff 93 push r31static unsigned int crc;static unsigned char crc1,crc2,buf_ptr;static unsigned char UartState = 0;unsigned char CrcOkay = 0;SioTmp = UDR;f08: 8c b1 in r24, 0x0c ; 12f0a: 80 93 91 00 sts 0x0091, r24if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0;f0e: 40 91 9b 00 lds r20, 0x009Bf12: 44 36 cpi r20, 0x64 ; 100f14: 10 f0 brcs .+4 ; 0xf1a <__vector_11+0x38>f16: 10 92 9a 00 sts 0x009A, r1if(SioTmp == '\r' && UartState == 2)f1a: 50 91 91 00 lds r21, 0x0091f1e: 5d 30 cpi r21, 0x0D ; 13f20: 09 f0 breq .+2 ; 0xf24 <__vector_11+0x42>f22: 64 c0 rjmp .+200 ; 0xfec <__vector_11+0x10a>f24: 80 91 9a 00 lds r24, 0x009Af28: 82 30 cpi r24, 0x02 ; 2f2a: 09 f0 breq .+2 ; 0xf2e <__vector_11+0x4c>f2c: 5f c0 rjmp .+190 ; 0xfec <__vector_11+0x10a>{UartState = 0;f2e: 10 92 9a 00 sts 0x009A, r1crc -= RxdBuffer[buf_ptr-2];f32: a4 2f mov r26, r20f34: b0 e0 ldi r27, 0x00 ; 0f36: fd 01 movw r30, r26f38: e4 5e subi r30, 0xE4 ; 228f3a: fc 4f sbci r31, 0xFC ; 252f3c: 30 81 ld r19, Zcrc -= RxdBuffer[buf_ptr-1];f3e: ed 01 movw r28, r26f40: c3 5e subi r28, 0xE3 ; 227f42: dc 4f sbci r29, 0xFC ; 252f44: 28 81 ld r18, Ycrc %= 4096;f46: 80 91 9e 00 lds r24, 0x009Ef4a: 90 91 9f 00 lds r25, 0x009Ff4e: 83 1b sub r24, r19f50: 91 09 sbc r25, r1f52: 82 1b sub r24, r18f54: 91 09 sbc r25, r1f56: 9f 70 andi r25, 0x0F ; 15f58: 90 93 9f 00 sts 0x009F, r25f5c: 80 93 9e 00 sts 0x009E, r24crc1 = '=' + crc / 64;f60: 9c 01 movw r18, r24f62: 66 e0 ldi r22, 0x06 ; 6f64: 36 95 lsr r19f66: 27 95 ror r18f68: 6a 95 dec r22f6a: e1 f7 brne .-8 ; 0xf64 <__vector_11+0x82>f6c: 23 5c subi r18, 0xC3 ; 195f6e: 20 93 9d 00 sts 0x009D, r18crc2 = '=' + crc % 64;f72: 98 2f mov r25, r24f74: 9f 73 andi r25, 0x3F ; 63f76: 93 5c subi r25, 0xC3 ; 195f78: 90 93 9c 00 sts 0x009C, r25CrcOkay = 0;if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; };f7c: 80 81 ld r24, Zf7e: 28 17 cp r18, r24f80: 09 f0 breq .+2 ; 0xf84 <__vector_11+0xa2>f82: 80 c0 rjmp .+256 ; 0x1084 <__vector_11+0x1a2>f84: 88 81 ld r24, Yf86: 98 17 cp r25, r24f88: 09 f0 breq .+2 ; 0xf8c <__vector_11+0xaa>f8a: 7c c0 rjmp .+248 ; 0x1084 <__vector_11+0x1a2>if(CrcOkay) // Datensatz schon verarbeitet{//NeuerDatensatzEmpfangen = 1;AnzahlEmpfangsBytes = buf_ptr;f8c: 40 93 99 00 sts 0x0099, r20RxdBuffer[buf_ptr] = '\r';f90: a2 5e subi r26, 0xE2 ; 226f92: bc 4f sbci r27, 0xFC ; 252f94: 5c 93 st X, r21if(/*(RxdBuffer[1] == MeineSlaveAdresse || (RxdBuffer[1] == 'a')) && */(RxdBuffer[2] == 'R')) wdt_enable(WDTO_250MS); // Reset-Commandof96: 80 91 20 03 lds r24, 0x0320f9a: 82 35 cpi r24, 0x52 ; 82f9c: 49 f4 brne .+18 ; 0xfb0 <__vector_11+0xce>f9e: 2c e0 ldi r18, 0x0C ; 12fa0: 88 e1 ldi r24, 0x18 ; 24fa2: 90 e0 ldi r25, 0x00 ; 0fa4: 0f b6 in r0, 0x3f ; 63fa6: f8 94 clifa8: a8 95 wdrfaa: 81 bd out 0x21, r24 ; 33fac: 0f be out 0x3f, r0 ; 63fae: 21 bd out 0x21, r18 ; 33uart_putchar(RxdBuffer[2]);fb0: 80 91 20 03 lds r24, 0x0320fb4: 89 df rcall .-238 ; 0xec8 <uart_putchar>if (RxdBuffer[2] == 't') // Motortestfb6: 80 91 20 03 lds r24, 0x0320fba: 84 37 cpi r24, 0x74 ; 116fbc: 09 f0 breq .+2 ; 0xfc0 <__vector_11+0xde>fbe: 62 c0 rjmp .+196 ; 0x1084 <__vector_11+0x1a2>{ Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes);fc0: 20 91 99 00 lds r18, 0x0099fc4: 83 e9 ldi r24, 0x93 ; 147fc6: 90 e0 ldi r25, 0x00 ; 0fc8: 66 e0 ldi r22, 0x06 ; 6fca: 43 e0 ldi r20, 0x03 ; 3fcc: 92 de rcall .-732 ; 0xcf2 <Decode64>SIO_Sollwert = MotorTest[MotorAdresse - 1];fce: e0 91 66 00 lds r30, 0x0066fd2: f0 e0 ldi r31, 0x00 ; 0fd4: ee 56 subi r30, 0x6E ; 110fd6: ff 4f sbci r31, 0xFF ; 255fd8: 80 81 ld r24, Zfda: 80 93 90 00 sts 0x0090, r24SIO_Timeout = 500; // werte für 500ms gültigfde: 84 ef ldi r24, 0xF4 ; 244fe0: 91 e0 ldi r25, 0x01 ; 1fe2: 90 93 83 00 sts 0x0083, r25fe6: 80 93 82 00 sts 0x0082, r24fea: 4c c0 rjmp .+152 ; 0x1084 <__vector_11+0x1a2>}}}elseswitch(UartState)fec: 80 91 9a 00 lds r24, 0x009Aff0: 81 30 cpi r24, 0x01 ; 1ff2: f9 f0 breq .+62 ; 0x1032 <__vector_11+0x150>ff4: 81 30 cpi r24, 0x01 ; 1ff6: 20 f0 brcs .+8 ; 0x1000 <__vector_11+0x11e>ff8: 82 30 cpi r24, 0x02 ; 2ffa: 09 f0 breq .+2 ; 0xffe <__vector_11+0x11c>ffc: 41 c0 rjmp .+130 ; 0x1080 <__vector_11+0x19e>ffe: 24 c0 rjmp .+72 ; 0x1048 <__vector_11+0x166>{case 0:if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet1000: 80 91 91 00 lds r24, 0x00911004: 83 32 cpi r24, 0x23 ; 351006: 39 f4 brne .+14 ; 0x1016 <__vector_11+0x134>1008: 80 91 92 00 lds r24, 0x0092100c: 88 23 and r24, r24100e: 19 f4 brne .+6 ; 0x1016 <__vector_11+0x134>1010: 81 e0 ldi r24, 0x01 ; 11012: 80 93 9a 00 sts 0x009A, r24buf_ptr = 0;RxdBuffer[buf_ptr++] = SioTmp;1016: 80 91 91 00 lds r24, 0x0091101a: 80 93 1e 03 sts 0x031E, r24101e: 81 e0 ldi r24, 0x01 ; 11020: 80 93 9b 00 sts 0x009B, r24crc = SioTmp;1024: 80 91 91 00 lds r24, 0x00911028: 80 93 9e 00 sts 0x009E, r24102c: 10 92 9f 00 sts 0x009F, r11030: 29 c0 rjmp .+82 ; 0x1084 <__vector_11+0x1a2>break;case 1: // Adresse auswertenUartState++;1032: 82 e0 ldi r24, 0x02 ; 21034: 80 93 9a 00 sts 0x009A, r24RxdBuffer[buf_ptr++] = SioTmp;1038: e4 2f mov r30, r20103a: f0 e0 ldi r31, 0x00 ; 0103c: 80 91 91 00 lds r24, 0x00911040: e2 5e subi r30, 0xE2 ; 2261042: fc 4f sbci r31, 0xFC ; 2521044: 80 83 st Z, r241046: 09 c0 rjmp .+18 ; 0x105a <__vector_11+0x178>crc += SioTmp;break;case 2: // Eingangsdaten sammelnRxdBuffer[buf_ptr] = SioTmp;1048: e4 2f mov r30, r20104a: f0 e0 ldi r31, 0x00 ; 0104c: 80 91 91 00 lds r24, 0x00911050: e2 5e subi r30, 0xE2 ; 2261052: fc 4f sbci r31, 0xFC ; 2521054: 80 83 st Z, r24if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++;1056: 44 36 cpi r20, 0x64 ; 1001058: 20 f4 brcc .+8 ; 0x1062 <__vector_11+0x180>105a: 4f 5f subi r20, 0xFF ; 255105c: 40 93 9b 00 sts 0x009B, r201060: 02 c0 rjmp .+4 ; 0x1066 <__vector_11+0x184>else UartState = 0;1062: 10 92 9a 00 sts 0x009A, r1crc += SioTmp;1066: 20 91 91 00 lds r18, 0x0091106a: 80 91 9e 00 lds r24, 0x009E106e: 90 91 9f 00 lds r25, 0x009F1072: 82 0f add r24, r181074: 91 1d adc r25, r11076: 90 93 9f 00 sts 0x009F, r25107a: 80 93 9e 00 sts 0x009E, r24107e: 02 c0 rjmp .+4 ; 0x1084 <__vector_11+0x1a2>break;default:UartState = 0;1080: 10 92 9a 00 sts 0x009A, r1break;}#endif};1084: ff 91 pop r311086: ef 91 pop r301088: df 91 pop r29108a: cf 91 pop r28108c: bf 91 pop r27108e: af 91 pop r261090: 9f 91 pop r251092: 8f 91 pop r241094: 7f 91 pop r231096: 6f 91 pop r221098: 5f 91 pop r21109a: 4f 91 pop r20109c: 3f 91 pop r19109e: 2f 91 pop r1810a0: 0f 90 pop r010a2: 0f be out 0x3f, r0 ; 6310a4: 0f 90 pop r010a6: 1f 90 pop r110a8: 18 95 reti000010aa <WriteProgramData>:}// --------------------------------------------------------------------------void WriteProgramData(unsigned int pos, unsigned char wert){}10aa: 08 95 ret000010ac <DatenUebertragung>://---------------------------------------------------------------------------------------------void DatenUebertragung(void){if((CheckDelay(Debug_Timer) && UebertragungAbgeschlossen)) // im Singlestep-Betrieb in jedem Schtitt senden10ac: 80 91 1c 03 lds r24, 0x031C10b0: 90 91 1d 03 lds r25, 0x031D10b4: b3 d0 rcall .+358 ; 0x121c <CheckDelay>10b6: 88 23 and r24, r2410b8: 91 f0 breq .+36 ; 0x10de <DatenUebertragung+0x32>10ba: 80 91 6f 00 lds r24, 0x006F10be: 88 23 and r24, r2410c0: 71 f0 breq .+28 ; 0x10de <DatenUebertragung+0x32>{SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut));10c2: 84 e4 ldi r24, 0x44 ; 6810c4: 60 91 b7 02 lds r22, 0x02B710c8: 42 e8 ldi r20, 0x82 ; 13010ca: 53 e0 ldi r21, 0x03 ; 310cc: 22 e1 ldi r18, 0x12 ; 1810ce: 97 de rcall .-722 ; 0xdfe <SendOutData>Debug_Timer = SetDelay(50); // Sendeintervall10d0: 82 e3 ldi r24, 0x32 ; 5010d2: 90 e0 ldi r25, 0x00 ; 010d4: 99 d0 rcall .+306 ; 0x1208 <SetDelay>10d6: 90 93 1d 03 sts 0x031D, r2510da: 80 93 1c 03 sts 0x031C, r2410de: 08 95 ret000010e0 <UART_Init>:void UART_Init (void)//############################################################################{//Enable TXEN im Register UCR TX-Data Enable & RX EnableUCR=(1 << TXEN) | (1 << RXEN);10e0: 88 e1 ldi r24, 0x18 ; 2410e2: 8a b9 out 0x0a, r24 ; 10// UART Double Speed (U2X)USR |= (1<<U2X);10e4: 59 9a sbi 0x0b, 1 ; 11// RX-Interrupt FreigabeUCSRB |= (1<<RXCIE); // serieller Empfangsinterrupt10e6: 57 9a sbi 0x0a, 7 ; 10// TX-Interrupt Freigabe// UCSRB |= (1<<TXCIE);//Teiler wird gesetztUBRR= (SYSCLK / (BAUD_RATE * 8L) -1 );10e8: 80 e1 ldi r24, 0x10 ; 1610ea: 89 b9 out 0x09, r24 ; 9//öffnet einen Kanal für printf (STDOUT)fdevopen (uart_putchar, NULL);10ec: 84 e6 ldi r24, 0x64 ; 10010ee: 97 e0 ldi r25, 0x07 ; 710f0: 60 e0 ldi r22, 0x00 ; 010f2: 70 e0 ldi r23, 0x00 ; 010f4: f7 d3 rcall .+2030 ; 0x18e4 <fdevopen>Debug_Timer = SetDelay(200);10f6: 88 ec ldi r24, 0xC8 ; 20010f8: 90 e0 ldi r25, 0x00 ; 010fa: 86 d0 rcall .+268 ; 0x1208 <SetDelay>10fc: 90 93 1d 03 sts 0x031D, r251100: 80 93 1c 03 sts 0x031C, r24// Version beim Start ausgeben (nicht schön, aber geht... )uart_putchar ('\n');uart_putchar ('B');uart_putchar ('L');uart_putchar (':');1104: 8a e0 ldi r24, 0x0A ; 101106: e0 de rcall .-576 ; 0xec8 <uart_putchar>1108: 82 e4 ldi r24, 0x42 ; 66110a: de de rcall .-580 ; 0xec8 <uart_putchar>110c: 8c e4 ldi r24, 0x4C ; 76110e: dc de rcall .-584 ; 0xec8 <uart_putchar>1110: 8a e3 ldi r24, 0x3A ; 581112: da de rcall .-588 ; 0xec8 <uart_putchar>uart_putchar ('V');uart_putchar (0x30 + VERSION_HAUPTVERSION);uart_putchar ('.');uart_putchar (0x30 + VERSION_NEBENVERSION/10); uart_putchar (0x30 + VERSION_NEBENVERSION%10);1114: 86 e5 ldi r24, 0x56 ; 861116: d8 de rcall .-592 ; 0xec8 <uart_putchar>1118: 80 e3 ldi r24, 0x30 ; 48111a: d6 de rcall .-596 ; 0xec8 <uart_putchar>111c: 8e e2 ldi r24, 0x2E ; 46111e: d4 de rcall .-600 ; 0xec8 <uart_putchar>1120: 84 e3 ldi r24, 0x34 ; 521122: d2 de rcall .-604 ; 0xec8 <uart_putchar>1124: 81 e3 ldi r24, 0x31 ; 491126: d0 de rcall .-608 ; 0xec8 <uart_putchar>uart_putchar ('\n');uart_putchar('H');uart_putchar('W');uart_putchar (':');uart_putchar('1');uart_putchar('.');uart_putchar ((0x30-10) + HwVersion);1128: 8a e0 ldi r24, 0x0A ; 10112a: ce de rcall .-612 ; 0xec8 <uart_putchar>112c: 88 e4 ldi r24, 0x48 ; 72112e: cc de rcall .-616 ; 0xec8 <uart_putchar>1130: 87 e5 ldi r24, 0x57 ; 871132: ca de rcall .-620 ; 0xec8 <uart_putchar>1134: 8a e3 ldi r24, 0x3A ; 581136: c8 de rcall .-624 ; 0xec8 <uart_putchar>1138: 81 e3 ldi r24, 0x31 ; 49113a: c6 de rcall .-628 ; 0xec8 <uart_putchar>113c: 8e e2 ldi r24, 0x2E ; 46113e: c4 de rcall .-632 ; 0xec8 <uart_putchar>1140: 80 91 b2 00 lds r24, 0x00B21144: 8a 5d subi r24, 0xDA ; 2181146: c0 de rcall .-640 ; 0xec8 <uart_putchar>uart_putchar ('\n');uart_putchar ('A');uart_putchar ('D');uart_putchar ('R'); uart_putchar (':'); uart_putchar (0x30 + MotorAdresse);1148: 8a e0 ldi r24, 0x0A ; 10114a: be de rcall .-644 ; 0xec8 <uart_putchar>114c: 81 e4 ldi r24, 0x41 ; 65114e: bc de rcall .-648 ; 0xec8 <uart_putchar>1150: 84 e4 ldi r24, 0x44 ; 681152: ba de rcall .-652 ; 0xec8 <uart_putchar>1154: 82 e5 ldi r24, 0x52 ; 821156: b8 de rcall .-656 ; 0xec8 <uart_putchar>1158: 8a e3 ldi r24, 0x3A ; 58115a: b6 de rcall .-660 ; 0xec8 <uart_putchar>115c: 80 91 66 00 lds r24, 0x00661160: 80 5d subi r24, 0xD0 ; 2081162: b2 de rcall .-668 ; 0xec8 <uart_putchar>}1164: 08 95 ret00001166 <__vector_9>:T0_RISING_EDGE = 7};SIGNAL(SIG_OVERFLOW0){1166: 1f 92 push r11168: 0f 92 push r0116a: 0f b6 in r0, 0x3f ; 63116c: 0f 92 push r0116e: 11 24 eor r1, r11170: 8f 93 push r241172: 9f 93 push r25static unsigned char cnt;Timer0Overflow++;1174: 80 91 94 03 lds r24, 0x03941178: 8f 5f subi r24, 0xFF ; 255117a: 80 93 94 03 sts 0x0394, r24if(!cnt--)117e: 80 91 a4 00 lds r24, 0x00A41182: 81 50 subi r24, 0x01 ; 11184: 80 93 a4 00 sts 0x00A4, r241188: 8f 5f subi r24, 0xFF ; 255118a: 71 f5 brne .+92 ; 0x11e8 <__vector_9+0x82>{cnt = 3;118c: 83 e0 ldi r24, 0x03 ; 3118e: 80 93 a4 00 sts 0x00A4, r24CountMilliseconds += 1;1192: 80 91 a2 00 lds r24, 0x00A21196: 90 91 a3 00 lds r25, 0x00A3119a: 01 96 adiw r24, 0x01 ; 1119c: 90 93 a3 00 sts 0x00A3, r2511a0: 80 93 a2 00 sts 0x00A2, r24if(I2C_Timeout) I2C_Timeout--;11a4: 80 91 80 00 lds r24, 0x008011a8: 90 91 81 00 lds r25, 0x008111ac: 00 97 sbiw r24, 0x00 ; 011ae: 29 f0 breq .+10 ; 0x11ba <__vector_9+0x54>11b0: 01 97 sbiw r24, 0x01 ; 111b2: 90 93 81 00 sts 0x0081, r2511b6: 80 93 80 00 sts 0x0080, r24if(PPM_Timeout) PPM_Timeout--; else anz_ppm_werte = 0;11ba: 80 91 a8 00 lds r24, 0x00A811be: 88 23 and r24, r2411c0: 31 f0 breq .+12 ; 0x11ce <__vector_9+0x68>11c2: 80 91 a8 00 lds r24, 0x00A811c6: 81 50 subi r24, 0x01 ; 111c8: 80 93 a8 00 sts 0x00A8, r2411cc: 02 c0 rjmp .+4 ; 0x11d2 <__vector_9+0x6c>11ce: 10 92 a9 00 sts 0x00A9, r1if(SIO_Timeout) SIO_Timeout--;11d2: 80 91 82 00 lds r24, 0x008211d6: 90 91 83 00 lds r25, 0x008311da: 00 97 sbiw r24, 0x00 ; 011dc: 29 f0 breq .+10 ; 0x11e8 <__vector_9+0x82>11de: 01 97 sbiw r24, 0x01 ; 111e0: 90 93 83 00 sts 0x0083, r2511e4: 80 93 82 00 sts 0x0082, r24}}11e8: 9f 91 pop r2511ea: 8f 91 pop r2411ec: 0f 90 pop r011ee: 0f be out 0x3f, r0 ; 6311f0: 0f 90 pop r011f2: 1f 90 pop r111f4: 18 95 reti000011f6 <Timer0_Init>:void Timer0_Init(void){TCCR0 = TIMER_TEILER;11f6: 82 e0 ldi r24, 0x02 ; 211f8: 83 bf out 0x33, r24 ; 51// TCNT0 = -TIMER_RELOAD_VALUE; // reloadTIM0_START;11fa: 89 b7 in r24, 0x39 ; 5711fc: 81 60 ori r24, 0x01 ; 111fe: 89 bf out 0x39, r24 ; 57TIMER2_INT_ENABLE;1200: 89 b7 in r24, 0x39 ; 571202: 80 64 ori r24, 0x40 ; 641204: 89 bf out 0x39, r24 ; 57}1206: 08 95 ret00001208 <SetDelay>:unsigned int SetDelay(unsigned int t){return(CountMilliseconds + t - 1);1208: 20 91 a2 00 lds r18, 0x00A2120c: 30 91 a3 00 lds r19, 0x00A31210: 21 50 subi r18, 0x01 ; 11212: 30 40 sbci r19, 0x00 ; 01214: 28 0f add r18, r241216: 39 1f adc r19, r25}1218: c9 01 movw r24, r18121a: 08 95 ret0000121c <CheckDelay>:char CheckDelay (unsigned int t){return(((t - CountMilliseconds) & 0x8000) >> 8);121c: 20 91 a2 00 lds r18, 0x00A21220: 30 91 a3 00 lds r19, 0x00A31224: 82 1b sub r24, r181226: 93 0b sbc r25, r191228: 80 70 andi r24, 0x00 ; 0122a: 90 78 andi r25, 0x80 ; 128}122c: 89 2f mov r24, r25122e: 08 95 ret00001230 <Delay_ms>:}unsigned int SetDelay(unsigned int t){return(CountMilliseconds + t - 1);1230: 20 91 a2 00 lds r18, 0x00A21234: 30 91 a3 00 lds r19, 0x00A31238: 21 50 subi r18, 0x01 ; 1123a: 30 40 sbci r19, 0x00 ; 0123c: 28 0f add r18, r24123e: 39 1f adc r19, r25}char CheckDelay (unsigned int t){return(((t - CountMilliseconds) & 0x8000) >> 8);1240: 80 91 a2 00 lds r24, 0x00A21244: 90 91 a3 00 lds r25, 0x00A3void Delay_ms(unsigned int w){unsigned int akt;akt = SetDelay(w);while (!CheckDelay(akt));1248: a9 01 movw r20, r18124a: 48 1b sub r20, r24124c: 59 0b sbc r21, r25124e: ca 01 movw r24, r201250: 80 70 andi r24, 0x00 ; 01252: 90 78 andi r25, 0x80 ; 1281254: 99 23 and r25, r251256: a1 f3 breq .-24 ; 0x1240 <Delay_ms+0x10>}1258: 08 95 ret0000125a <ADC_Init>://############################################################################//Init ADCvoid ADC_Init(void)//############################################################################{ADCSRA = 0xA6; // Free Run & 1MHZ125a: 86 ea ldi r24, 0xA6 ; 166125c: 86 b9 out 0x06, r24 ; 6ADMUX = 7 | IntRef; // Kanal 7125e: 80 91 8d 00 lds r24, 0x008D1262: 87 60 ori r24, 0x07 ; 71264: 87 b9 out 0x07, r24 ; 7ADCSRA |= 0x40; // Start1266: 36 9a sbi 0x06, 6 ; 6}1268: 08 95 ret0000126a <AdConvert>:void AdConvert(void)//############################################################################{unsigned int i=0;unsigned char sense;sense = ADMUX; // Sense-Kanal merken126a: 27 b1 in r18, 0x07 ; 7ADMUX = 0x06 | IntRef; // Kanal 6126c: 90 91 8d 00 lds r25, 0x008D1270: 96 60 ori r25, 0x06 ; 61272: 97 b9 out 0x07, r25 ; 7SFIOR = 0x00; // Analog Comperator aus1274: 10 be out 0x30, r1 ; 48ADCSRA = 0xD3; // Converter ein, single1276: 83 ed ldi r24, 0xD3 ; 2111278: 86 b9 out 0x06, r24 ; 6ADCSRA |= 0x10; // Ready löschen127a: 34 9a sbi 0x06, 4 ; 6ADMUX = 0x06 | IntRef; // Kanal 6127c: 97 b9 out 0x07, r25 ; 7ADCSRA |= 0x40; // Start127e: 36 9a sbi 0x06, 6 ; 6while (((ADCSRA & 0x10) == 0));1280: 34 9b sbis 0x06, 4 ; 61282: fe cf rjmp .-4 ; 0x1280 <AdConvert+0x16>ADMUX = sense; // zurück auf den Sense-Kanal1284: 27 b9 out 0x07, r18 ; 7i = ADCW * 4;1286: 84 b1 in r24, 0x04 ; 41288: 95 b1 in r25, 0x05 ; 5// if(i > 300) i = 300;Strom = (i + Strom * 7) / 8;128a: 20 91 7a 00 lds r18, 0x007A128e: 30 91 7b 00 lds r19, 0x007B1292: a9 01 movw r20, r181294: 63 e0 ldi r22, 0x03 ; 31296: 44 0f add r20, r201298: 55 1f adc r21, r21129a: 6a 95 dec r22129c: e1 f7 brne .-8 ; 0x1296 <AdConvert+0x2c>129e: 42 1b sub r20, r1812a0: 53 0b sbc r21, r1912a2: 88 0f add r24, r2412a4: 99 1f adc r25, r2512a6: 88 0f add r24, r2412a8: 99 1f adc r25, r2512aa: 48 0f add r20, r2412ac: 59 1f adc r21, r2512ae: 83 e0 ldi r24, 0x03 ; 312b0: 56 95 lsr r2112b2: 47 95 ror r2012b4: 8a 95 dec r2412b6: e1 f7 brne .-8 ; 0x12b0 <AdConvert+0x46>12b8: 50 93 7b 00 sts 0x007B, r2112bc: 40 93 7a 00 sts 0x007A, r20if (Strom_max < Strom) Strom_max = Strom;12c0: 80 91 7c 00 lds r24, 0x007C12c4: 90 e0 ldi r25, 0x00 ; 012c6: 84 17 cp r24, r2012c8: 95 07 cpc r25, r2112ca: 10 f4 brcc .+4 ; 0x12d0 <AdConvert+0x66>12cc: 40 93 7c 00 sts 0x007C, r20ADCSRA = 0x00;12d0: 16 b8 out 0x06, r1 ; 6SFIOR = 0x08; // Analog Comperator ein12d2: 88 e0 ldi r24, 0x08 ; 812d4: 80 bf out 0x30, r24 ; 48}12d6: 08 95 ret000012d8 <MessAD>://Strom Analogwerte lesenunsigned int MessAD(unsigned char channel)//############################################################################{unsigned char sense;sense = ADMUX; // Sense-Kanal merken12d8: 27 b1 in r18, 0x07 ; 7channel |= IntRef;12da: 90 91 8d 00 lds r25, 0x008D12de: 98 2b or r25, r24ADMUX = channel; // Kanal 612e0: 97 b9 out 0x07, r25 ; 7SFIOR = 0x00; // Analog Comperator aus12e2: 10 be out 0x30, r1 ; 48ADCSRA = 0xD3; // Converter ein, single12e4: 83 ed ldi r24, 0xD3 ; 21112e6: 86 b9 out 0x06, r24 ; 6ADCSRA |= 0x10; // Ready löschen12e8: 34 9a sbi 0x06, 4 ; 6ADMUX = channel; // Kanal 612ea: 97 b9 out 0x07, r25 ; 7ADCSRA |= 0x40; // Start12ec: 36 9a sbi 0x06, 6 ; 6while (((ADCSRA & 0x10) == 0));12ee: 34 9b sbis 0x06, 4 ; 612f0: fe cf rjmp .-4 ; 0x12ee <MessAD+0x16>ADMUX = sense; // zurück auf den Sense-Kanal12f2: 27 b9 out 0x07, r18 ; 7ADCSRA = 0x00;12f4: 16 b8 out 0x06, r1 ; 6SFIOR = 0x08; // Analog Comperator ein12f6: 88 e0 ldi r24, 0x08 ; 812f8: 80 bf out 0x30, r24 ; 48return(ADCW);12fa: 24 b1 in r18, 0x04 ; 412fc: 35 b1 in r19, 0x05 ; 5}12fe: c9 01 movw r24, r181300: 08 95 ret00001302 <FastADConvert>://Strom Analogwerte lesenvoid FastADConvert(void)//############################################################################{unsigned int i=0;i = MessAD(6) * 4;1302: 86 e0 ldi r24, 0x06 ; 61304: e9 df rcall .-46 ; 0x12d8 <MessAD>1306: 9c 01 movw r18, r241308: 22 0f add r18, r18130a: 33 1f adc r19, r19130c: 22 0f add r18, r18130e: 33 1f adc r19, r191310: 29 3c cpi r18, 0xC9 ; 2011312: 31 05 cpc r19, r11314: 10 f0 brcs .+4 ; 0x131a <FastADConvert+0x18>1316: 28 ec ldi r18, 0xC8 ; 2001318: 30 e0 ldi r19, 0x00 ; 0// i = ADCW * 4;if(i > 200) i = 200;Strom = i;//(i + Strom * 1) / 2;131a: 30 93 7b 00 sts 0x007B, r19131e: 20 93 7a 00 sts 0x007A, r18if (Strom_max < Strom) Strom_max = Strom;1322: 80 91 7c 00 lds r24, 0x007C1326: 90 e0 ldi r25, 0x00 ; 01328: 82 17 cp r24, r18132a: 93 07 cpc r25, r19132c: 10 f4 brcc .+4 ; 0x1332 <FastADConvert+0x30>132e: 20 93 7c 00 sts 0x007C, r18ADCSRA = 0x00;1332: 16 b8 out 0x06, r1 ; 6SFIOR = 0x08; // Analog Comperator ein1334: 88 e0 ldi r24, 0x08 ; 81336: 80 bf out 0x30, r24 ; 48}1338: 08 95 ret0000133a <InitPPM>://############################################################################//void InitPPM(void)//############################################################################{TCCR1B |= (1<<ICES1)|(1<<ICNC1);133a: 8e b5 in r24, 0x2e ; 46133c: 80 6c ori r24, 0xC0 ; 192133e: 8e bd out 0x2e, r24 ; 46ICP_POS_FLANKE;1340: 8e b5 in r24, 0x2e ; 461342: 80 64 ori r24, 0x40 ; 641344: 8e bd out 0x2e, r24 ; 46ICP_INT_ENABLE;1346: 89 b7 in r24, 0x39 ; 571348: 80 62 ori r24, 0x20 ; 32134a: 89 bf out 0x39, r24 ; 57TIMER1_INT_ENABLE;134c: 89 b7 in r24, 0x39 ; 57134e: 84 60 ori r24, 0x04 ; 41350: 89 bf out 0x39, r24 ; 57}1352: 08 95 ret00001354 <__vector_8>://############################################################################//SIGNAL(SIG_OVERFLOW1)//############################################################################{1354: 1f 92 push r11356: 0f 92 push r01358: 0f b6 in r0, 0x3f ; 63135a: 0f 92 push r0135c: 11 24 eor r1, r1135e: 8f 93 push r24Timer1Overflow++;1360: 80 91 a7 00 lds r24, 0x00A71364: 8f 5f subi r24, 0xFF ; 2551366: 80 93 a7 00 sts 0x00A7, r24}136a: 8f 91 pop r24136c: 0f 90 pop r0136e: 0f be out 0x3f, r0 ; 631370: 0f 90 pop r01372: 1f 90 pop r11374: 18 95 reti00001376 <__vector_5>://############################################################################//SIGNAL(SIG_INPUT_CAPTURE1)//############################################################################{1376: 1f 92 push r11378: 0f 92 push r0137a: 0f b6 in r0, 0x3f ; 63137c: 0f 92 push r0137e: 11 24 eor r1, r11380: 2f 93 push r181382: 3f 93 push r191384: 4f 93 push r201386: 5f 93 push r211388: 8f 93 push r24138a: 9f 93 push r25static unsigned int tim_alt;static unsigned int ppm;if(TCCR1B & (1<<ICES1)) // Positive Flanke138c: 0e b4 in r0, 0x2e ; 46138e: 06 fe sbrs r0, 61390: 0f c0 rjmp .+30 ; 0x13b0 <__vector_5+0x3a>{Timer1Overflow = 0;1392: 10 92 a7 00 sts 0x00A7, r1tim_alt = ICR1;1396: 86 b5 in r24, 0x26 ; 381398: 97 b5 in r25, 0x27 ; 39139a: 90 93 ad 00 sts 0x00AD, r25139e: 80 93 ac 00 sts 0x00AC, r24ICP_NEG_FLANKE;13a2: 8e b5 in r24, 0x2e ; 4613a4: 8f 7b andi r24, 0xBF ; 19113a6: 8e bd out 0x2e, r24 ; 46PPM_Timeout = 100;13a8: 84 e6 ldi r24, 0x64 ; 10013aa: 80 93 a8 00 sts 0x00A8, r2413ae: 6f c0 rjmp .+222 ; 0x148e <__vector_5+0x118>}else // Negative Flanke{ICP_POS_FLANKE;13b0: 8e b5 in r24, 0x2e ; 4613b2: 80 64 ori r24, 0x40 ; 6413b4: 8e bd out 0x2e, r24 ; 46#ifdef _32KHZppm = (ICR1 - tim_alt + (int) Timer1Overflow * 256) / 32;#endif#ifdef _16KHZppm = (ICR1 - tim_alt + (int) Timer1Overflow * 512) / 32;13b6: 26 b5 in r18, 0x26 ; 3813b8: 37 b5 in r19, 0x27 ; 3913ba: 40 91 a7 00 lds r20, 0x00A713be: 80 91 ac 00 lds r24, 0x00AC13c2: 90 91 ad 00 lds r25, 0x00AD13c6: 28 1b sub r18, r2413c8: 39 0b sbc r19, r2513ca: 94 2f mov r25, r2013cc: 99 0f add r25, r2513ce: 80 e0 ldi r24, 0x00 ; 013d0: 28 0f add r18, r2413d2: 39 1f adc r19, r2513d4: 85 e0 ldi r24, 0x05 ; 513d6: 36 95 lsr r1913d8: 27 95 ror r1813da: 8a 95 dec r2413dc: e1 f7 brne .-8 ; 0x13d6 <__vector_5+0x60>13de: 30 93 ab 00 sts 0x00AB, r1913e2: 20 93 aa 00 sts 0x00AA, r18#endifif(ppm < 280) ppm = 280;13e6: 28 51 subi r18, 0x18 ; 2413e8: 31 40 sbci r19, 0x01 ; 113ea: 30 f4 brcc .+12 ; 0x13f8 <__vector_5+0x82>13ec: 88 e1 ldi r24, 0x18 ; 2413ee: 91 e0 ldi r25, 0x01 ; 113f0: 90 93 ab 00 sts 0x00AB, r2513f4: 80 93 aa 00 sts 0x00AA, r24ppm -= 280;13f8: 40 91 aa 00 lds r20, 0x00AA13fc: 50 91 ab 00 lds r21, 0x00AB1400: 48 51 subi r20, 0x18 ; 241402: 51 40 sbci r21, 0x01 ; 1if(PPM_Signal < ppm) PPM_Signal++;1404: 80 91 a5 00 lds r24, 0x00A51408: 90 91 a6 00 lds r25, 0x00A6140c: 84 17 cp r24, r20140e: 95 07 cpc r25, r211410: 30 f4 brcc .+12 ; 0x141e <__vector_5+0xa8>1412: 80 91 a5 00 lds r24, 0x00A51416: 90 91 a6 00 lds r25, 0x00A6141a: 01 96 adiw r24, 0x01 ; 1141c: 0c c0 rjmp .+24 ; 0x1436 <__vector_5+0xc0>else if(PPM_Signal > ppm) PPM_Signal--;141e: 80 91 a5 00 lds r24, 0x00A51422: 90 91 a6 00 lds r25, 0x00A61426: 48 17 cp r20, r241428: 59 07 cpc r21, r25142a: 48 f4 brcc .+18 ; 0x143e <__vector_5+0xc8>142c: 80 91 a5 00 lds r24, 0x00A51430: 90 91 a6 00 lds r25, 0x00A61434: 01 97 sbiw r24, 0x01 ; 11436: 90 93 a6 00 sts 0x00A6, r25143a: 80 93 a5 00 sts 0x00A5, r24if(FILTER_PPM) ppm = (PPM_Signal * FILTER_PPM + ppm) / (FILTER_PPM + 1); // Filtern143e: 80 91 a5 00 lds r24, 0x00A51442: 90 91 a6 00 lds r25, 0x00A61446: 9c 01 movw r18, r241448: 22 0f add r18, r18144a: 33 1f adc r19, r19144c: 22 0f add r18, r18144e: 33 1f adc r19, r191450: 22 0f add r18, r181452: 33 1f adc r19, r191454: 28 1b sub r18, r241456: 39 0b sbc r19, r251458: 24 0f add r18, r20145a: 35 1f adc r19, r21145c: 83 e0 ldi r24, 0x03 ; 3145e: 36 95 lsr r191460: 27 95 ror r181462: 8a 95 dec r241464: e1 f7 brne .-8 ; 0x145e <__vector_5+0xe8>1466: 30 93 ab 00 sts 0x00AB, r19146a: 20 93 aa 00 sts 0x00AA, r18PPM_Signal = ppm;146e: 30 93 a6 00 sts 0x00A6, r191472: 20 93 a5 00 sts 0x00A5, r18if(anz_ppm_werte < 255) anz_ppm_werte++;1476: 80 91 a9 00 lds r24, 0x00A9147a: 8f 3f cpi r24, 0xFF ; 255147c: 29 f0 breq .+10 ; 0x1488 <__vector_5+0x112>147e: 80 91 a9 00 lds r24, 0x00A91482: 8f 5f subi r24, 0xFF ; 2551484: 80 93 a9 00 sts 0x00A9, r24ZeitZumAdWandeln = 1;1488: 81 e0 ldi r24, 0x01 ; 1148a: 80 93 65 00 sts 0x0065, r24}}148e: 9f 91 pop r251490: 8f 91 pop r241492: 5f 91 pop r211494: 4f 91 pop r201496: 3f 91 pop r191498: 2f 91 pop r18149a: 0f 90 pop r0149c: 0f be out 0x3f, r0 ; 63149e: 0f 90 pop r014a0: 1f 90 pop r114a2: 18 95 reti000014a4 <__vector_1>://############################################################################//SIGNAL(SIG_INTERRUPT0)//############################################################################{14a4: 1f 92 push r114a6: 0f 92 push r014a8: 0f b6 in r0, 0x3f ; 6314aa: 0f 92 push r014ac: 11 24 eor r1, r114ae: 8f 93 push r24CLR_INT0_FLAG; // IntFlag Loeschen14b0: 8a b7 in r24, 0x3a ; 5814b2: 8f 7b andi r24, 0xBF ; 19114b4: 8a bf out 0x3a, r24 ; 58}14b6: 8f 91 pop r2414b8: 0f 90 pop r014ba: 0f be out 0x3f, r0 ; 6314bc: 0f 90 pop r014be: 1f 90 pop r114c0: 18 95 reti000014c2 <InitIC2_Slave>://############################################################################//I2C (TWI) Interface Initvoid InitIC2_Slave(uint8_t adr)//############################################################################{TWAR = adr + (2*MotorAdresse); // Eigene Adresse setzen14c2: 90 91 66 00 lds r25, 0x006614c6: 99 0f add r25, r2514c8: 98 0f add r25, r2414ca: 92 b9 out 0x02, r25 ; 2TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA);14cc: 85 ec ldi r24, 0xC5 ; 19714ce: 86 bf out 0x36, r24 ; 54}14d0: 08 95 ret000014d2 <__vector_17>://############################################################################//ISR, die bei einem Ereignis auf dem Bus ausgelöst wird. Im Register TWSR befindet//sich dann ein Statuscode, anhand dessen die Situation festgestellt werden kann.ISR (TWI_vect)//############################################################################{14d2: 1f 92 push r114d4: 0f 92 push r014d6: 0f b6 in r0, 0x3f ; 6314d8: 0f 92 push r014da: 11 24 eor r1, r114dc: 8f 93 push r2414de: 9f 93 push r25switch (TWSR & 0xF8)14e0: 81 b1 in r24, 0x01 ; 114e2: 90 e0 ldi r25, 0x00 ; 014e4: 88 7f andi r24, 0xF8 ; 24814e6: 90 70 andi r25, 0x00 ; 014e8: 80 38 cpi r24, 0x80 ; 12814ea: 91 05 cpc r25, r114ec: c9 f0 breq .+50 ; 0x1520 <__vector_17+0x4e>14ee: 81 38 cpi r24, 0x81 ; 12914f0: 91 05 cpc r25, r114f2: 34 f4 brge .+12 ; 0x1500 <__vector_17+0x2e>14f4: 00 97 sbiw r24, 0x00 ; 014f6: 91 f1 breq .+100 ; 0x155c <__vector_17+0x8a>14f8: 80 36 cpi r24, 0x60 ; 9614fa: 91 05 cpc r25, r114fc: 91 f5 brne .+100 ; 0x1562 <__vector_17+0x90>14fe: 0a c0 rjmp .+20 ; 0x1514 <__vector_17+0x42>1500: 88 3b cpi r24, 0xB8 ; 1841502: 91 05 cpc r25, r11504: b9 f0 breq .+46 ; 0x1534 <__vector_17+0x62>1506: 88 3f cpi r24, 0xF8 ; 2481508: 91 05 cpc r25, r1150a: 29 f1 breq .+74 ; 0x1556 <__vector_17+0x84>150c: 88 3a cpi r24, 0xA8 ; 168150e: 91 05 cpc r25, r11510: 41 f5 brne .+80 ; 0x1562 <__vector_17+0x90>1512: 10 c0 rjmp .+32 ; 0x1534 <__vector_17+0x62>{case SR_SLA_ACK:TWCR |= (1<<TWINT);1514: 86 b7 in r24, 0x36 ; 541516: 80 68 ori r24, 0x80 ; 1281518: 86 bf out 0x36, r24 ; 54Byte_Counter=0;151a: 10 92 ae 00 sts 0x00AE, r1151e: 23 c0 rjmp .+70 ; 0x1566 <__vector_17+0x94>return;// Daten Empfangencase SR_PREV_ACK:I2C_RXBuffer = TWDR;1520: 83 b1 in r24, 0x03 ; 31522: 80 93 95 03 sts 0x0395, r24I2C_Timeout = 500;1526: 84 ef ldi r24, 0xF4 ; 2441528: 91 e0 ldi r25, 0x01 ; 1152a: 90 93 81 00 sts 0x0081, r25152e: 80 93 80 00 sts 0x0080, r241532: 0e c0 rjmp .+28 ; 0x1550 <__vector_17+0x7e>}TWCR |= (1<<TWINT);return;// Daten Sendencase SW_DATA_ACK:if (Byte_Counter==0)1534: 80 91 ae 00 lds r24, 0x00AE1538: 88 23 and r24, r24153a: 39 f4 brne .+14 ; 0x154a <__vector_17+0x78>{TWDR = Mittelstrom;153c: 80 91 7d 00 lds r24, 0x007D1540: 83 b9 out 0x03, r24 ; 3Byte_Counter++;1542: 81 e0 ldi r24, 0x01 ; 11544: 80 93 ae 00 sts 0x00AE, r241548: 03 c0 rjmp .+6 ; 0x1550 <__vector_17+0x7e>}else{TWDR = MaxPWM;154a: 80 91 64 00 lds r24, 0x0064154e: 83 b9 out 0x03, r24 ; 3}TWCR |= (1<<TWINT);1550: 86 b7 in r24, 0x36 ; 541552: 80 68 ori r24, 0x80 ; 1281554: 07 c0 rjmp .+14 ; 0x1564 <__vector_17+0x92>return;// Bus-Fehler zurücksetzencase TWI_BUS_ERR_2:TWCR |=(1<<TWSTO) | (1<<TWINT);1556: 86 b7 in r24, 0x36 ; 541558: 80 69 ori r24, 0x90 ; 144155a: 86 bf out 0x36, r24 ; 54// Bus-Fehler zurücksetzencase TWI_BUS_ERR_1:TWCR |=(1<<TWSTO) | (1<<TWINT);155c: 86 b7 in r24, 0x36 ; 54155e: 80 69 ori r24, 0x90 ; 1441560: 86 bf out 0x36, r24 ; 54}TWCR =(1<<TWEA) | (1<<TWINT) | (1<<TWEN) | (1<<TWIE); // TWI Reset1562: 85 ec ldi r24, 0xC5 ; 1971564: 86 bf out 0x36, r24 ; 54}1566: 9f 91 pop r251568: 8f 91 pop r24156a: 0f 90 pop r0156c: 0f be out 0x3f, r0 ; 63156e: 0f 90 pop r01570: 1f 90 pop r11572: 18 95 reti00001574 <__vector_4>://############################################################################//SIGNAL(SIG_OVERFLOW2)//############################################################################{1574: 1f 92 push r11576: 0f 92 push r01578: 0f b6 in r0, 0x3f ; 63157a: 0f 92 push r0157c: 11 24 eor r1, r1}157e: 0f 90 pop r01580: 0f be out 0x3f, r0 ; 631582: 0f 90 pop r01584: 1f 90 pop r11586: 18 95 reti00001588 <Manuell>://############################################################################//void Manuell(void)//############################################################################{switch(Phase)1588: 80 91 af 00 lds r24, 0x00AF158c: 82 30 cpi r24, 0x02 ; 2158e: 69 f1 breq .+90 ; 0x15ea <Manuell+0x62>1590: 83 30 cpi r24, 0x03 ; 31592: 30 f4 brcc .+12 ; 0x15a0 <Manuell+0x18>1594: 88 23 and r24, r241596: 69 f0 breq .+26 ; 0x15b2 <Manuell+0x2a>1598: 81 30 cpi r24, 0x01 ; 1159a: 09 f0 breq .+2 ; 0x159e <Manuell+0x16>159c: 63 c0 rjmp .+198 ; 0x1664 <Manuell+0xdc>159e: 17 c0 rjmp .+46 ; 0x15ce <Manuell+0x46>15a0: 84 30 cpi r24, 0x04 ; 415a2: 09 f4 brne .+2 ; 0x15a6 <Manuell+0x1e>15a4: 3f c0 rjmp .+126 ; 0x1624 <Manuell+0x9c>15a6: 84 30 cpi r24, 0x04 ; 415a8: 68 f1 brcs .+90 ; 0x1604 <Manuell+0x7c>15aa: 85 30 cpi r24, 0x05 ; 515ac: 09 f0 breq .+2 ; 0x15b0 <Manuell+0x28>15ae: 5a c0 rjmp .+180 ; 0x1664 <Manuell+0xdc>15b0: 4b c0 rjmp .+150 ; 0x1648 <Manuell+0xc0>{case 0:STEUER_A_H;15b2: 81 ea ldi r24, 0xA1 ; 16115b4: 8f bd out 0x2f, r24 ; 4715b6: 81 e6 ldi r24, 0x61 ; 9715b8: 85 bd out 0x25, r24 ; 3715ba: 88 e0 ldi r24, 0x08 ; 815bc: 87 bb out 0x17, r24 ; 23STEUER_B_L;15be: 82 b3 in r24, 0x12 ; 1815c0: 87 7d andi r24, 0xD7 ; 21515c2: 82 bb out 0x12, r24 ; 1815c4: 94 9a sbi 0x12, 4 ; 18SENSE_C;15c6: 80 91 8d 00 lds r24, 0x008D15ca: 82 60 ori r24, 0x02 ; 215cc: 38 c0 rjmp .+112 ; 0x163e <Manuell+0xb6>SENSE_RISING_INT;break;case 1:STEUER_A_H;15ce: 81 ea ldi r24, 0xA1 ; 16115d0: 8f bd out 0x2f, r24 ; 4715d2: 81 e6 ldi r24, 0x61 ; 9715d4: 85 bd out 0x25, r24 ; 3715d6: 88 e0 ldi r24, 0x08 ; 815d8: 87 bb out 0x17, r24 ; 23STEUER_C_L;15da: 82 b3 in r24, 0x12 ; 1815dc: 87 7e andi r24, 0xE7 ; 23115de: 82 bb out 0x12, r24 ; 1815e0: 95 9a sbi 0x12, 5 ; 18SENSE_B;15e2: 80 91 8d 00 lds r24, 0x008D15e6: 81 60 ori r24, 0x01 ; 115e8: 1a c0 rjmp .+52 ; 0x161e <Manuell+0x96>SENSE_FALLING_INT;break;case 2:STEUER_B_H;15ea: 81 ea ldi r24, 0xA1 ; 16115ec: 8f bd out 0x2f, r24 ; 4715ee: 81 e6 ldi r24, 0x61 ; 9715f0: 85 bd out 0x25, r24 ; 3715f2: 84 e0 ldi r24, 0x04 ; 415f4: 87 bb out 0x17, r24 ; 23STEUER_C_L;15f6: 82 b3 in r24, 0x12 ; 1815f8: 87 7e andi r24, 0xE7 ; 23115fa: 82 bb out 0x12, r24 ; 1815fc: 95 9a sbi 0x12, 5 ; 18SENSE_A;15fe: 80 91 8d 00 lds r24, 0x008D1602: 1d c0 rjmp .+58 ; 0x163e <Manuell+0xb6>SENSE_RISING_INT;break;case 3:STEUER_B_H;1604: 81 ea ldi r24, 0xA1 ; 1611606: 8f bd out 0x2f, r24 ; 471608: 81 e6 ldi r24, 0x61 ; 97160a: 85 bd out 0x25, r24 ; 37160c: 84 e0 ldi r24, 0x04 ; 4160e: 87 bb out 0x17, r24 ; 23STEUER_A_L;1610: 82 b3 in r24, 0x12 ; 181612: 8f 7c andi r24, 0xCF ; 2071614: 82 bb out 0x12, r24 ; 181616: 93 9a sbi 0x12, 3 ; 18SENSE_C;1618: 80 91 8d 00 lds r24, 0x008D161c: 82 60 ori r24, 0x02 ; 2161e: 87 b9 out 0x07, r24 ; 7SENSE_FALLING_INT;1620: 40 98 cbi 0x08, 0 ; 81622: 08 95 retbreak;case 4:STEUER_C_H;1624: 81 ea ldi r24, 0xA1 ; 1611626: 8f bd out 0x2f, r24 ; 471628: 81 e6 ldi r24, 0x61 ; 97162a: 85 bd out 0x25, r24 ; 37162c: 82 e0 ldi r24, 0x02 ; 2162e: 87 bb out 0x17, r24 ; 23STEUER_A_L;1630: 82 b3 in r24, 0x12 ; 181632: 8f 7c andi r24, 0xCF ; 2071634: 82 bb out 0x12, r24 ; 181636: 93 9a sbi 0x12, 3 ; 18SENSE_B;1638: 80 91 8d 00 lds r24, 0x008D163c: 81 60 ori r24, 0x01 ; 1163e: 87 b9 out 0x07, r24 ; 7SENSE_RISING_INT;1640: 88 b1 in r24, 0x08 ; 81642: 83 60 ori r24, 0x03 ; 31644: 88 b9 out 0x08, r24 ; 81646: 08 95 retbreak;case 5:STEUER_C_H;1648: 81 ea ldi r24, 0xA1 ; 161164a: 8f bd out 0x2f, r24 ; 47164c: 81 e6 ldi r24, 0x61 ; 97164e: 85 bd out 0x25, r24 ; 371650: 82 e0 ldi r24, 0x02 ; 21652: 87 bb out 0x17, r24 ; 23STEUER_B_L;1654: 82 b3 in r24, 0x12 ; 181656: 87 7d andi r24, 0xD7 ; 2151658: 82 bb out 0x12, r24 ; 18165a: 94 9a sbi 0x12, 4 ; 18SENSE_A;165c: 80 91 8d 00 lds r24, 0x008D1660: 87 b9 out 0x07, r24 ; 7SENSE_FALLING_INT;1662: 40 98 cbi 0x08, 0 ; 81664: 08 95 ret00001666 <__vector_16>:// + Interruptroutine// + Wird durch den Analogkomperator ausgelöst// + Dadurch wird das Kommutieren erzeugtSIGNAL(SIG_COMPARATOR)//############################################################################{1666: 1f 92 push r11668: 0f 92 push r0166a: 0f b6 in r0, 0x3f ; 63166c: 0f 92 push r0166e: 11 24 eor r1, r11670: cf 92 push r121672: df 92 push r131674: ef 92 push r141676: ff 92 push r151678: 0f 93 push r16167a: 1f 93 push r17167c: 2f 93 push r18167e: 3f 93 push r191680: 4f 93 push r201682: 5f 93 push r211684: 6f 93 push r221686: 7f 93 push r231688: 8f 93 push r24168a: 9f 93 push r25168c: af 93 push r26168e: bf 93 push r271690: ef 93 push r301692: ff 93 push r31}break;case 4:STEUER_C_H;1694: 61 ea ldi r22, 0xA1 ; 1611696: f6 2e mov r15, r221698: 01 e6 ldi r16, 0x61 ; 97169a: 52 e0 ldi r21, 0x02 ; 2169c: c5 2e mov r12, r21Phase++;CntKommutierungen++;}else{STEUER_B_H;169e: 44 e0 ldi r20, 0x04 ; 416a0: d4 2e mov r13, r20break;case 5:STEUER_B_L;if(!sense){STEUER_A_H;16a2: 38 e0 ldi r19, 0x08 ; 816a4: e3 2e mov r14, r19//############################################################################{unsigned char sense = 0;do{if(SENSE_H) sense = 1; else sense = 0;16a6: 88 b1 in r24, 0x08 ; 816a8: 90 e0 ldi r25, 0x00 ; 016aa: 25 e0 ldi r18, 0x05 ; 516ac: 96 95 lsr r2516ae: 87 95 ror r2416b0: 2a 95 dec r1816b2: e1 f7 brne .-8 ; 0x16ac <__vector_16+0x46>16b4: 18 2f mov r17, r2416b6: 11 70 andi r17, 0x01 ; 1switch(Phase)16b8: 80 91 af 00 lds r24, 0x00AF16bc: 82 30 cpi r24, 0x02 ; 216be: 09 f4 brne .+2 ; 0x16c2 <__vector_16+0x5c>16c0: 50 c0 rjmp .+160 ; 0x1762 <__vector_16+0xfc>16c2: 83 30 cpi r24, 0x03 ; 316c4: 30 f4 brcc .+12 ; 0x16d2 <__vector_16+0x6c>16c6: 88 23 and r24, r2416c8: 71 f0 breq .+28 ; 0x16e6 <__vector_16+0x80>16ca: 81 30 cpi r24, 0x01 ; 116cc: 09 f0 breq .+2 ; 0x16d0 <__vector_16+0x6a>16ce: a5 c0 rjmp .+330 ; 0x181a <__vector_16+0x1b4>16d0: 22 c0 rjmp .+68 ; 0x1716 <__vector_16+0xb0>16d2: 84 30 cpi r24, 0x04 ; 416d4: 09 f4 brne .+2 ; 0x16d8 <__vector_16+0x72>16d6: 70 c0 rjmp .+224 ; 0x17b8 <__vector_16+0x152>16d8: 84 30 cpi r24, 0x04 ; 416da: 08 f4 brcc .+2 ; 0x16de <__vector_16+0x78>16dc: 58 c0 rjmp .+176 ; 0x178e <__vector_16+0x128>16de: 85 30 cpi r24, 0x05 ; 516e0: 09 f0 breq .+2 ; 0x16e4 <__vector_16+0x7e>16e2: 9b c0 rjmp .+310 ; 0x181a <__vector_16+0x1b4>16e4: 80 c0 rjmp .+256 ; 0x17e6 <__vector_16+0x180>{case 0:STEUER_A_H;16e6: ff bc out 0x2f, r15 ; 4716e8: 05 bd out 0x25, r16 ; 3716ea: e7 ba out 0x17, r14 ; 23if(sense)16ec: 11 23 and r17, r1716ee: 71 f0 breq .+28 ; 0x170c <__vector_16+0xa6>{STEUER_C_L;16f0: 82 b3 in r24, 0x12 ; 1816f2: 87 7e andi r24, 0xE7 ; 23116f4: 82 bb out 0x12, r24 ; 1816f6: 95 9a sbi 0x12, 5 ; 18if(ZeitZumAdWandeln) AdConvert();16f8: 80 91 65 00 lds r24, 0x006516fc: 81 11 cpse r24, r116fe: b5 dd rcall .-1174 ; 0x126a <AdConvert>SENSE_FALLING_INT;1700: 40 98 cbi 0x08, 0 ; 8SENSE_B;1702: 80 91 8d 00 lds r24, 0x008D1706: 81 60 ori r24, 0x01 ; 11708: 87 b9 out 0x07, r24 ; 7170a: 18 c0 rjmp .+48 ; 0x173c <__vector_16+0xd6>Phase++;CntKommutierungen++;}else{STEUER_B_L;170c: 82 b3 in r24, 0x12 ; 18170e: 87 7d andi r24, 0xD7 ; 2151710: 82 bb out 0x12, r24 ; 181712: 94 9a sbi 0x12, 4 ; 181714: 82 c0 rjmp .+260 ; 0x181a <__vector_16+0x1b4>}break;case 1:STEUER_C_L;1716: 82 b3 in r24, 0x12 ; 181718: 87 7e andi r24, 0xE7 ; 231171a: 82 bb out 0x12, r24 ; 18171c: 95 9a sbi 0x12, 5 ; 18if(!sense)171e: 11 23 and r17, r171720: e1 f4 brne .+56 ; 0x175a <__vector_16+0xf4>{STEUER_B_H;1722: ff bc out 0x2f, r15 ; 471724: 05 bd out 0x25, r16 ; 371726: d7 ba out 0x17, r13 ; 23if(ZeitZumAdWandeln) AdConvert();1728: 80 91 65 00 lds r24, 0x0065172c: 81 11 cpse r24, r1172e: 9d dd rcall .-1222 ; 0x126a <AdConvert>SENSE_A;1730: 80 91 8d 00 lds r24, 0x008D1734: 87 b9 out 0x07, r24 ; 7SENSE_RISING_INT;1736: 88 b1 in r24, 0x08 ; 81738: 83 60 ori r24, 0x03 ; 3173a: 88 b9 out 0x08, r24 ; 8Phase++;173c: 80 91 af 00 lds r24, 0x00AF1740: 8f 5f subi r24, 0xFF ; 2551742: 80 93 af 00 sts 0x00AF, r24CntKommutierungen++;1746: 80 91 89 00 lds r24, 0x0089174a: 90 91 8a 00 lds r25, 0x008A174e: 01 96 adiw r24, 0x01 ; 11750: 90 93 8a 00 sts 0x008A, r251754: 80 93 89 00 sts 0x0089, r241758: 60 c0 rjmp .+192 ; 0x181a <__vector_16+0x1b4>}else{STEUER_A_H;175a: ff bc out 0x2f, r15 ; 47175c: 05 bd out 0x25, r16 ; 37175e: e7 ba out 0x17, r14 ; 231760: 5c c0 rjmp .+184 ; 0x181a <__vector_16+0x1b4>}break;case 2:STEUER_B_H;1762: ff bc out 0x2f, r15 ; 471764: 05 bd out 0x25, r16 ; 371766: d7 ba out 0x17, r13 ; 23if(sense)1768: 11 23 and r17, r17176a: 61 f0 breq .+24 ; 0x1784 <__vector_16+0x11e>{STEUER_A_L;176c: 82 b3 in r24, 0x12 ; 18176e: 8f 7c andi r24, 0xCF ; 2071770: 82 bb out 0x12, r24 ; 181772: 93 9a sbi 0x12, 3 ; 18if(ZeitZumAdWandeln) AdConvert();1774: 80 91 65 00 lds r24, 0x00651778: 81 11 cpse r24, r1177a: 77 dd rcall .-1298 ; 0x126a <AdConvert>SENSE_C;177c: 80 91 8d 00 lds r24, 0x008D1780: 82 60 ori r24, 0x02 ; 21782: 29 c0 rjmp .+82 ; 0x17d6 <__vector_16+0x170>Phase++;CntKommutierungen++;}else{STEUER_C_L;1784: 82 b3 in r24, 0x12 ; 181786: 87 7e andi r24, 0xE7 ; 2311788: 82 bb out 0x12, r24 ; 18178a: 95 9a sbi 0x12, 5 ; 18178c: 46 c0 rjmp .+140 ; 0x181a <__vector_16+0x1b4>}break;case 3:STEUER_A_L;178e: 82 b3 in r24, 0x12 ; 181790: 8f 7c andi r24, 0xCF ; 2071792: 82 bb out 0x12, r24 ; 181794: 93 9a sbi 0x12, 3 ; 18if(!sense)1796: 11 23 and r17, r171798: 59 f4 brne .+22 ; 0x17b0 <__vector_16+0x14a>{STEUER_C_H;179a: ff bc out 0x2f, r15 ; 47179c: 05 bd out 0x25, r16 ; 37179e: c7 ba out 0x17, r12 ; 23if(ZeitZumAdWandeln) AdConvert();17a0: 80 91 65 00 lds r24, 0x006517a4: 81 11 cpse r24, r117a6: 61 dd rcall .-1342 ; 0x126a <AdConvert>SENSE_B;17a8: 80 91 8d 00 lds r24, 0x008D17ac: 81 60 ori r24, 0x01 ; 117ae: c2 cf rjmp .-124 ; 0x1734 <__vector_16+0xce>Phase++;CntKommutierungen++;}else{STEUER_B_H;17b0: ff bc out 0x2f, r15 ; 4717b2: 05 bd out 0x25, r16 ; 3717b4: d7 ba out 0x17, r13 ; 2317b6: 31 c0 rjmp .+98 ; 0x181a <__vector_16+0x1b4>}break;case 4:STEUER_C_H;17b8: ff bc out 0x2f, r15 ; 4717ba: 05 bd out 0x25, r16 ; 3717bc: c7 ba out 0x17, r12 ; 23if(sense)17be: 11 23 and r17, r1717c0: 69 f0 breq .+26 ; 0x17dc <__vector_16+0x176>{STEUER_B_L;17c2: 82 b3 in r24, 0x12 ; 1817c4: 87 7d andi r24, 0xD7 ; 21517c6: 82 bb out 0x12, r24 ; 1817c8: 94 9a sbi 0x12, 4 ; 18if(ZeitZumAdWandeln) AdConvert();17ca: 80 91 65 00 lds r24, 0x006517ce: 81 11 cpse r24, r117d0: 4c dd rcall .-1384 ; 0x126a <AdConvert>SENSE_A;17d2: 80 91 8d 00 lds r24, 0x008D17d6: 87 b9 out 0x07, r24 ; 7SENSE_FALLING_INT;17d8: 40 98 cbi 0x08, 0 ; 817da: b0 cf rjmp .-160 ; 0x173c <__vector_16+0xd6>Phase++;CntKommutierungen++;}else{STEUER_A_L;17dc: 82 b3 in r24, 0x12 ; 1817de: 8f 7c andi r24, 0xCF ; 20717e0: 82 bb out 0x12, r24 ; 1817e2: 93 9a sbi 0x12, 3 ; 1817e4: 1a c0 rjmp .+52 ; 0x181a <__vector_16+0x1b4>}break;case 5:STEUER_B_L;17e6: 82 b3 in r24, 0x12 ; 1817e8: 87 7d andi r24, 0xD7 ; 21517ea: 82 bb out 0x12, r24 ; 1817ec: 94 9a sbi 0x12, 4 ; 18if(!sense)17ee: 11 23 and r17, r1717f0: 89 f4 brne .+34 ; 0x1814 <__vector_16+0x1ae>{STEUER_A_H;17f2: ff bc out 0x2f, r15 ; 4717f4: 05 bd out 0x25, r16 ; 3717f6: e7 ba out 0x17, r14 ; 23if(ZeitZumAdWandeln) AdConvert();17f8: 80 91 65 00 lds r24, 0x006517fc: 81 11 cpse r24, r117fe: 35 dd rcall .-1430 ; 0x126a <AdConvert>SENSE_C;1800: 80 91 8d 00 lds r24, 0x008D1804: 82 60 ori r24, 0x02 ; 21806: 87 b9 out 0x07, r24 ; 7SENSE_RISING_INT;1808: 88 b1 in r24, 0x08 ; 8180a: 83 60 ori r24, 0x03 ; 3180c: 88 b9 out 0x08, r24 ; 8Phase = 0;180e: 10 92 af 00 sts 0x00AF, r11812: 99 cf rjmp .-206 ; 0x1746 <__vector_16+0xe0>CntKommutierungen++;}else{STEUER_C_H;1814: ff bc out 0x2f, r15 ; 471816: 05 bd out 0x25, r16 ; 371818: c7 ba out 0x17, r12 ; 23}break;}}while((SENSE_L && sense) || (SENSE_H && !sense));181a: 45 99 sbic 0x08, 5 ; 8181c: 03 c0 rjmp .+6 ; 0x1824 <__vector_16+0x1be>181e: 11 23 and r17, r171820: 09 f0 breq .+2 ; 0x1824 <__vector_16+0x1be>1822: 41 cf rjmp .-382 ; 0x16a6 <__vector_16+0x40>1824: 45 9b sbis 0x08, 5 ; 81826: 03 c0 rjmp .+6 ; 0x182e <__vector_16+0x1c8>1828: 11 23 and r17, r17182a: 09 f4 brne .+2 ; 0x182e <__vector_16+0x1c8>182c: 3c cf rjmp .-392 ; 0x16a6 <__vector_16+0x40>ZeitZumAdWandeln = 0;182e: 10 92 65 00 sts 0x0065, r1}1832: ff 91 pop r311834: ef 91 pop r301836: bf 91 pop r271838: af 91 pop r26183a: 9f 91 pop r25183c: 8f 91 pop r24183e: 7f 91 pop r231840: 6f 91 pop r221842: 5f 91 pop r211844: 4f 91 pop r201846: 3f 91 pop r191848: 2f 91 pop r18184a: 1f 91 pop r17184c: 0f 91 pop r16184e: ff 90 pop r151850: ef 90 pop r141852: df 90 pop r131854: cf 90 pop r121856: 0f 90 pop r01858: 0f be out 0x3f, r0 ; 63185a: 0f 90 pop r0185c: 1f 90 pop r1185e: 18 95 reti00001860 <__udivmodqi4>:1860: 99 1b sub r25, r251862: 79 e0 ldi r23, 0x09 ; 91864: 04 c0 rjmp .+8 ; 0x186e <__udivmodqi4_ep>00001866 <__udivmodqi4_loop>:1866: 99 1f adc r25, r251868: 96 17 cp r25, r22186a: 08 f0 brcs .+2 ; 0x186e <__udivmodqi4_ep>186c: 96 1b sub r25, r220000186e <__udivmodqi4_ep>:186e: 88 1f adc r24, r241870: 7a 95 dec r231872: c9 f7 brne .-14 ; 0x1866 <__udivmodqi4_loop>1874: 80 95 com r241876: 08 95 ret00001878 <__udivmodhi4>:1878: aa 1b sub r26, r26187a: bb 1b sub r27, r27187c: 51 e1 ldi r21, 0x11 ; 17187e: 07 c0 rjmp .+14 ; 0x188e <__udivmodhi4_ep>00001880 <__udivmodhi4_loop>:1880: aa 1f adc r26, r261882: bb 1f adc r27, r271884: a6 17 cp r26, r221886: b7 07 cpc r27, r231888: 10 f0 brcs .+4 ; 0x188e <__udivmodhi4_ep>188a: a6 1b sub r26, r22188c: b7 0b sbc r27, r230000188e <__udivmodhi4_ep>:188e: 88 1f adc r24, r241890: 99 1f adc r25, r251892: 5a 95 dec r211894: a9 f7 brne .-22 ; 0x1880 <__udivmodhi4_loop>1896: 80 95 com r241898: 90 95 com r25189a: bc 01 movw r22, r24189c: cd 01 movw r24, r26189e: 08 95 ret000018a0 <__udivmodsi4>:18a0: a1 e2 ldi r26, 0x21 ; 3318a2: 1a 2e mov r1, r2618a4: aa 1b sub r26, r2618a6: bb 1b sub r27, r2718a8: fd 01 movw r30, r2618aa: 0d c0 rjmp .+26 ; 0x18c6 <__udivmodsi4_ep>000018ac <__udivmodsi4_loop>:18ac: aa 1f adc r26, r2618ae: bb 1f adc r27, r2718b0: ee 1f adc r30, r3018b2: ff 1f adc r31, r3118b4: a2 17 cp r26, r1818b6: b3 07 cpc r27, r1918b8: e4 07 cpc r30, r2018ba: f5 07 cpc r31, r2118bc: 20 f0 brcs .+8 ; 0x18c6 <__udivmodsi4_ep>18be: a2 1b sub r26, r1818c0: b3 0b sbc r27, r1918c2: e4 0b sbc r30, r2018c4: f5 0b sbc r31, r21000018c6 <__udivmodsi4_ep>:18c6: 66 1f adc r22, r2218c8: 77 1f adc r23, r2318ca: 88 1f adc r24, r2418cc: 99 1f adc r25, r2518ce: 1a 94 dec r118d0: 69 f7 brne .-38 ; 0x18ac <__udivmodsi4_loop>18d2: 60 95 com r2218d4: 70 95 com r2318d6: 80 95 com r2418d8: 90 95 com r2518da: 9b 01 movw r18, r2218dc: ac 01 movw r20, r2418de: bd 01 movw r22, r2618e0: cf 01 movw r24, r3018e2: 08 95 ret000018e4 <fdevopen>:18e4: 0f 93 push r1618e6: 1f 93 push r1718e8: cf 93 push r2818ea: df 93 push r2918ec: 8c 01 movw r16, r2418ee: eb 01 movw r28, r2218f0: 00 97 sbiw r24, 0x00 ; 018f2: 31 f4 brne .+12 ; 0x1900 <fdevopen+0x1c>18f4: 61 15 cp r22, r118f6: 71 05 cpc r23, r118f8: 19 f4 brne .+6 ; 0x1900 <fdevopen+0x1c>18fa: 20 e0 ldi r18, 0x00 ; 018fc: 30 e0 ldi r19, 0x00 ; 018fe: 37 c0 rjmp .+110 ; 0x196e <fdevopen+0x8a>1900: 81 e0 ldi r24, 0x01 ; 11902: 90 e0 ldi r25, 0x00 ; 01904: 6e e0 ldi r22, 0x0E ; 141906: 70 e0 ldi r23, 0x00 ; 01908: 38 d0 rcall .+112 ; 0x197a <calloc>190a: fc 01 movw r30, r24190c: 9c 01 movw r18, r24190e: 00 97 sbiw r24, 0x00 ; 01910: 71 f1 breq .+92 ; 0x196e <fdevopen+0x8a>1912: 80 e8 ldi r24, 0x80 ; 1281914: 83 83 std Z+3, r24 ; 0x031916: 20 97 sbiw r28, 0x00 ; 01918: 71 f0 breq .+28 ; 0x1936 <fdevopen+0x52>191a: d3 87 std Z+11, r29 ; 0x0b191c: c2 87 std Z+10, r28 ; 0x0a191e: 81 e8 ldi r24, 0x81 ; 1291920: 83 83 std Z+3, r24 ; 0x031922: 80 91 96 03 lds r24, 0x03961926: 90 91 97 03 lds r25, 0x0397192a: 89 2b or r24, r25192c: 21 f4 brne .+8 ; 0x1936 <fdevopen+0x52>192e: f0 93 97 03 sts 0x0397, r311932: e0 93 96 03 sts 0x0396, r301936: 01 15 cp r16, r11938: 11 05 cpc r17, r1193a: c9 f0 breq .+50 ; 0x196e <fdevopen+0x8a>193c: 11 87 std Z+9, r17 ; 0x09193e: 00 87 std Z+8, r16 ; 0x081940: 83 81 ldd r24, Z+3 ; 0x031942: 82 60 ori r24, 0x02 ; 21944: 83 83 std Z+3, r24 ; 0x031946: 80 91 98 03 lds r24, 0x0398194a: 90 91 99 03 lds r25, 0x0399194e: 89 2b or r24, r251950: 71 f4 brne .+28 ; 0x196e <fdevopen+0x8a>1952: f0 93 99 03 sts 0x0399, r311956: e0 93 98 03 sts 0x0398, r30195a: 80 91 9a 03 lds r24, 0x039A195e: 90 91 9b 03 lds r25, 0x039B1962: 89 2b or r24, r251964: 21 f4 brne .+8 ; 0x196e <fdevopen+0x8a>1966: f0 93 9b 03 sts 0x039B, r31196a: e0 93 9a 03 sts 0x039A, r30196e: c9 01 movw r24, r181970: df 91 pop r291972: cf 91 pop r281974: 1f 91 pop r171976: 0f 91 pop r161978: 08 95 ret0000197a <calloc>:197a: 0f 93 push r16197c: 1f 93 push r17197e: cf 93 push r281980: df 93 push r291982: 68 9f mul r22, r241984: 80 01 movw r16, r01986: 69 9f mul r22, r251988: 10 0d add r17, r0198a: 78 9f mul r23, r24198c: 10 0d add r17, r0198e: 11 24 eor r1, r11990: c8 01 movw r24, r161992: 0d d0 rcall .+26 ; 0x19ae <malloc>1994: ec 01 movw r28, r241996: 00 97 sbiw r24, 0x00 ; 01998: 21 f0 breq .+8 ; 0x19a2 <calloc+0x28>199a: 60 e0 ldi r22, 0x00 ; 0199c: 70 e0 ldi r23, 0x00 ; 0199e: a8 01 movw r20, r1619a0: 0b d1 rcall .+534 ; 0x1bb8 <memset>19a2: ce 01 movw r24, r2819a4: df 91 pop r2919a6: cf 91 pop r2819a8: 1f 91 pop r1719aa: 0f 91 pop r1619ac: 08 95 ret000019ae <malloc>:19ae: cf 93 push r2819b0: df 93 push r2919b2: bc 01 movw r22, r2419b4: 82 30 cpi r24, 0x02 ; 219b6: 91 05 cpc r25, r119b8: 10 f4 brcc .+4 ; 0x19be <malloc+0x10>19ba: 62 e0 ldi r22, 0x02 ; 219bc: 70 e0 ldi r23, 0x00 ; 019be: a0 91 9e 03 lds r26, 0x039E19c2: b0 91 9f 03 lds r27, 0x039F19c6: ed 01 movw r28, r2619c8: e0 e0 ldi r30, 0x00 ; 019ca: f0 e0 ldi r31, 0x00 ; 019cc: 40 e0 ldi r20, 0x00 ; 019ce: 50 e0 ldi r21, 0x00 ; 019d0: 21 c0 rjmp .+66 ; 0x1a14 <malloc+0x66>19d2: 88 81 ld r24, Y19d4: 99 81 ldd r25, Y+1 ; 0x0119d6: 86 17 cp r24, r2219d8: 97 07 cpc r25, r2319da: 69 f4 brne .+26 ; 0x19f6 <malloc+0x48>19dc: 8a 81 ldd r24, Y+2 ; 0x0219de: 9b 81 ldd r25, Y+3 ; 0x0319e0: 30 97 sbiw r30, 0x00 ; 019e2: 19 f0 breq .+6 ; 0x19ea <malloc+0x3c>19e4: 93 83 std Z+3, r25 ; 0x0319e6: 82 83 std Z+2, r24 ; 0x0219e8: 04 c0 rjmp .+8 ; 0x19f2 <malloc+0x44>19ea: 90 93 9f 03 sts 0x039F, r2519ee: 80 93 9e 03 sts 0x039E, r2419f2: fe 01 movw r30, r2819f4: 34 c0 rjmp .+104 ; 0x1a5e <malloc+0xb0>19f6: 68 17 cp r22, r2419f8: 79 07 cpc r23, r2519fa: 38 f4 brcc .+14 ; 0x1a0a <malloc+0x5c>19fc: 41 15 cp r20, r119fe: 51 05 cpc r21, r11a00: 19 f0 breq .+6 ; 0x1a08 <malloc+0x5a>1a02: 84 17 cp r24, r201a04: 95 07 cpc r25, r211a06: 08 f4 brcc .+2 ; 0x1a0a <malloc+0x5c>1a08: ac 01 movw r20, r241a0a: fe 01 movw r30, r281a0c: 8a 81 ldd r24, Y+2 ; 0x021a0e: 9b 81 ldd r25, Y+3 ; 0x031a10: 9c 01 movw r18, r241a12: e9 01 movw r28, r181a14: 20 97 sbiw r28, 0x00 ; 01a16: e9 f6 brne .-70 ; 0x19d2 <malloc+0x24>1a18: 41 15 cp r20, r11a1a: 51 05 cpc r21, r11a1c: a9 f1 breq .+106 ; 0x1a88 <malloc+0xda>1a1e: ca 01 movw r24, r201a20: 86 1b sub r24, r221a22: 97 0b sbc r25, r231a24: 04 97 sbiw r24, 0x04 ; 41a26: 08 f4 brcc .+2 ; 0x1a2a <malloc+0x7c>1a28: ba 01 movw r22, r201a2a: e0 e0 ldi r30, 0x00 ; 01a2c: f0 e0 ldi r31, 0x00 ; 01a2e: 2a c0 rjmp .+84 ; 0x1a84 <malloc+0xd6>1a30: 8d 91 ld r24, X+1a32: 9c 91 ld r25, X1a34: 11 97 sbiw r26, 0x01 ; 11a36: 84 17 cp r24, r201a38: 95 07 cpc r25, r211a3a: f9 f4 brne .+62 ; 0x1a7a <malloc+0xcc>1a3c: 64 17 cp r22, r201a3e: 75 07 cpc r23, r211a40: 81 f4 brne .+32 ; 0x1a62 <malloc+0xb4>1a42: 12 96 adiw r26, 0x02 ; 21a44: 8d 91 ld r24, X+1a46: 9c 91 ld r25, X1a48: 13 97 sbiw r26, 0x03 ; 31a4a: 30 97 sbiw r30, 0x00 ; 01a4c: 19 f0 breq .+6 ; 0x1a54 <malloc+0xa6>1a4e: 93 83 std Z+3, r25 ; 0x031a50: 82 83 std Z+2, r24 ; 0x021a52: 04 c0 rjmp .+8 ; 0x1a5c <malloc+0xae>1a54: 90 93 9f 03 sts 0x039F, r251a58: 80 93 9e 03 sts 0x039E, r241a5c: fd 01 movw r30, r261a5e: 32 96 adiw r30, 0x02 ; 21a60: 4f c0 rjmp .+158 ; 0x1b00 <malloc+0x152>1a62: ca 01 movw r24, r201a64: 86 1b sub r24, r221a66: 97 0b sbc r25, r231a68: fd 01 movw r30, r261a6a: e8 0f add r30, r241a6c: f9 1f adc r31, r251a6e: 61 93 st Z+, r221a70: 71 93 st Z+, r231a72: 02 97 sbiw r24, 0x02 ; 21a74: 8d 93 st X+, r241a76: 9c 93 st X, r251a78: 43 c0 rjmp .+134 ; 0x1b00 <malloc+0x152>1a7a: fd 01 movw r30, r261a7c: 82 81 ldd r24, Z+2 ; 0x021a7e: 93 81 ldd r25, Z+3 ; 0x031a80: 9c 01 movw r18, r241a82: d9 01 movw r26, r181a84: 10 97 sbiw r26, 0x00 ; 01a86: a1 f6 brne .-88 ; 0x1a30 <malloc+0x82>1a88: 80 91 9c 03 lds r24, 0x039C1a8c: 90 91 9d 03 lds r25, 0x039D1a90: 89 2b or r24, r251a92: 41 f4 brne .+16 ; 0x1aa4 <malloc+0xf6>1a94: 80 91 73 00 lds r24, 0x00731a98: 90 91 74 00 lds r25, 0x00741a9c: 90 93 9d 03 sts 0x039D, r251aa0: 80 93 9c 03 sts 0x039C, r241aa4: 40 91 75 00 lds r20, 0x00751aa8: 50 91 76 00 lds r21, 0x00761aac: 41 15 cp r20, r11aae: 51 05 cpc r21, r11ab0: 41 f4 brne .+16 ; 0x1ac2 <malloc+0x114>1ab2: 4d b7 in r20, 0x3d ; 611ab4: 5e b7 in r21, 0x3e ; 621ab6: 80 91 71 00 lds r24, 0x00711aba: 90 91 72 00 lds r25, 0x00721abe: 48 1b sub r20, r241ac0: 59 0b sbc r21, r251ac2: 20 91 9c 03 lds r18, 0x039C1ac6: 30 91 9d 03 lds r19, 0x039D1aca: 24 17 cp r18, r201acc: 35 07 cpc r19, r211ace: b0 f4 brcc .+44 ; 0x1afc <malloc+0x14e>1ad0: ca 01 movw r24, r201ad2: 82 1b sub r24, r181ad4: 93 0b sbc r25, r191ad6: 86 17 cp r24, r221ad8: 97 07 cpc r25, r231ada: 80 f0 brcs .+32 ; 0x1afc <malloc+0x14e>1adc: ab 01 movw r20, r221ade: 4e 5f subi r20, 0xFE ; 2541ae0: 5f 4f sbci r21, 0xFF ; 2551ae2: 84 17 cp r24, r201ae4: 95 07 cpc r25, r211ae6: 50 f0 brcs .+20 ; 0x1afc <malloc+0x14e>1ae8: 42 0f add r20, r181aea: 53 1f adc r21, r191aec: 50 93 9d 03 sts 0x039D, r211af0: 40 93 9c 03 sts 0x039C, r201af4: f9 01 movw r30, r181af6: 61 93 st Z+, r221af8: 71 93 st Z+, r231afa: 02 c0 rjmp .+4 ; 0x1b00 <malloc+0x152>1afc: e0 e0 ldi r30, 0x00 ; 01afe: f0 e0 ldi r31, 0x00 ; 01b00: cf 01 movw r24, r301b02: df 91 pop r291b04: cf 91 pop r281b06: 08 95 ret00001b08 <free>:1b08: cf 93 push r281b0a: df 93 push r291b0c: 00 97 sbiw r24, 0x00 ; 01b0e: 09 f4 brne .+2 ; 0x1b12 <free+0xa>1b10: 50 c0 rjmp .+160 ; 0x1bb2 <free+0xaa>1b12: ec 01 movw r28, r241b14: 22 97 sbiw r28, 0x02 ; 21b16: 1b 82 std Y+3, r1 ; 0x031b18: 1a 82 std Y+2, r1 ; 0x021b1a: a0 91 9e 03 lds r26, 0x039E1b1e: b0 91 9f 03 lds r27, 0x039F1b22: 10 97 sbiw r26, 0x00 ; 01b24: 09 f1 breq .+66 ; 0x1b68 <free+0x60>1b26: 40 e0 ldi r20, 0x00 ; 01b28: 50 e0 ldi r21, 0x00 ; 01b2a: ac 17 cp r26, r281b2c: bd 07 cpc r27, r291b2e: 08 f1 brcs .+66 ; 0x1b72 <free+0x6a>1b30: bb 83 std Y+3, r27 ; 0x031b32: aa 83 std Y+2, r26 ; 0x021b34: fe 01 movw r30, r281b36: 21 91 ld r18, Z+1b38: 31 91 ld r19, Z+1b3a: e2 0f add r30, r181b3c: f3 1f adc r31, r191b3e: ae 17 cp r26, r301b40: bf 07 cpc r27, r311b42: 79 f4 brne .+30 ; 0x1b62 <free+0x5a>1b44: 8d 91 ld r24, X+1b46: 9c 91 ld r25, X1b48: 11 97 sbiw r26, 0x01 ; 11b4a: 28 0f add r18, r241b4c: 39 1f adc r19, r251b4e: 2e 5f subi r18, 0xFE ; 2541b50: 3f 4f sbci r19, 0xFF ; 2551b52: 39 83 std Y+1, r19 ; 0x011b54: 28 83 st Y, r181b56: 12 96 adiw r26, 0x02 ; 21b58: 8d 91 ld r24, X+1b5a: 9c 91 ld r25, X1b5c: 13 97 sbiw r26, 0x03 ; 31b5e: 9b 83 std Y+3, r25 ; 0x031b60: 8a 83 std Y+2, r24 ; 0x021b62: 41 15 cp r20, r11b64: 51 05 cpc r21, r11b66: 71 f4 brne .+28 ; 0x1b84 <free+0x7c>1b68: d0 93 9f 03 sts 0x039F, r291b6c: c0 93 9e 03 sts 0x039E, r281b70: 20 c0 rjmp .+64 ; 0x1bb2 <free+0xaa>1b72: 12 96 adiw r26, 0x02 ; 21b74: 8d 91 ld r24, X+1b76: 9c 91 ld r25, X1b78: 13 97 sbiw r26, 0x03 ; 31b7a: ad 01 movw r20, r261b7c: 00 97 sbiw r24, 0x00 ; 01b7e: 11 f0 breq .+4 ; 0x1b84 <free+0x7c>1b80: dc 01 movw r26, r241b82: d3 cf rjmp .-90 ; 0x1b2a <free+0x22>1b84: fa 01 movw r30, r201b86: d3 83 std Z+3, r29 ; 0x031b88: c2 83 std Z+2, r28 ; 0x021b8a: 21 91 ld r18, Z+1b8c: 31 91 ld r19, Z+1b8e: e2 0f add r30, r181b90: f3 1f adc r31, r191b92: ce 17 cp r28, r301b94: df 07 cpc r29, r311b96: 69 f4 brne .+26 ; 0x1bb2 <free+0xaa>1b98: 88 81 ld r24, Y1b9a: 99 81 ldd r25, Y+1 ; 0x011b9c: 28 0f add r18, r241b9e: 39 1f adc r19, r251ba0: 2e 5f subi r18, 0xFE ; 2541ba2: 3f 4f sbci r19, 0xFF ; 2551ba4: fa 01 movw r30, r201ba6: 31 83 std Z+1, r19 ; 0x011ba8: 20 83 st Z, r181baa: 8a 81 ldd r24, Y+2 ; 0x021bac: 9b 81 ldd r25, Y+3 ; 0x031bae: 93 83 std Z+3, r25 ; 0x031bb0: 82 83 std Z+2, r24 ; 0x021bb2: df 91 pop r291bb4: cf 91 pop r281bb6: 08 95 ret00001bb8 <memset>:1bb8: dc 01 movw r26, r241bba: 01 c0 rjmp .+2 ; 0x1bbe <memset+0x6>1bbc: 6d 93 st X+, r221bbe: 41 50 subi r20, 0x01 ; 11bc0: 50 40 sbci r21, 0x00 ; 01bc2: e0 f7 brcc .-8 ; 0x1bbc <memset+0x4>1bc4: 08 95 ret00001bc6 <_exit>:1bc6: f8 94 cli00001bc8 <__stop_program>:1bc8: ff cf rjmp .-2 ; 0x1bc8 <__stop_program>