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1 .file "fc.c"2 .arch atmega6443 __SREG__ = 0x3f4 __SP_H__ = 0x3e5 __SP_L__ = 0x3d6 __tmp_reg__ = 07 __zero_reg__ = 18 .global __do_copy_data9 .global __do_clear_bss10 .text11 .global Mittelwert13 Mittelwert:14 /* prologue: frame size=0 */15 0000 AF92 push r1016 0002 BF92 push r1117 0004 CF92 push r1218 0006 DF92 push r1319 0008 EF92 push r1420 000a FF92 push r1521 000c 0F93 push r1622 000e 1F93 push r1723 /* prologue end (size=8) */24 0010 1092 7A00 sts 122,__zero_reg__25 0014 8091 0000 lds r24,MessanzahlNick26 0018 8823 tst r2427 001a 01F0 breq .L228 001c 8091 0000 lds r24,AccumulateNick29 0020 9091 0000 lds r25,(AccumulateNick)+130 0024 6091 0000 lds r22,MessanzahlNick31 0028 7727 clr r2332 002a 0E94 0000 call __divmodhi433 002e 7093 0000 sts (MesswertNick)+1,r2334 0032 6093 0000 sts MesswertNick,r2235 .L2:36 0036 8091 0000 lds r24,MessanzahlRoll37 003a 8823 tst r2438 003c 01F0 breq .L439 003e 8091 0000 lds r24,AccumulateRoll40 0042 9091 0000 lds r25,(AccumulateRoll)+141 0046 6091 0000 lds r22,MessanzahlRoll42 004a 7727 clr r2343 004c 0E94 0000 call __divmodhi444 0050 7093 0000 sts (MesswertRoll)+1,r2345 0054 6093 0000 sts MesswertRoll,r2246 .L4:47 0058 8091 0000 lds r24,MessanzahlGier48 005c 8823 tst r2449 005e 01F0 breq .L650 0060 8091 0000 lds r24,AccumulateGier51 0064 9091 0000 lds r25,(AccumulateGier)+152 0068 6091 0000 lds r22,MessanzahlGier53 006c 7727 clr r2354 006e 0E94 0000 call __divmodhi455 0072 7093 0000 sts (MesswertGier)+1,r2356 0076 6093 0000 sts MesswertGier,r2257 .L6:58 007a 8091 0000 lds r24,messanzahl_AccNick59 007e 8823 tst r2460 0080 01F0 breq .L861 0082 E090 0000 lds r14,Mittelwert_AccNick62 0086 F090 0000 lds r15,(Mittelwert_AccNick)+163 008a 6091 0000 lds r22,accumulate_AccNick64 008e 7091 0000 lds r23,(accumulate_AccNick)+165 0092 2091 0000 lds r18,messanzahl_AccNick66 0096 0027 clr r1667 0098 F7FC sbrc r15,768 009a 0095 com r1669 009c 102F mov r17,r1670 009e 5701 movw r10,r1471 00a0 6801 movw r12,r1672 00a2 43E0 ldi r20,373 00a4 AA0C 1: lsl r1074 00a6 BB1C rol r1175 00a8 CC1C rol r1276 00aa DD1C rol r1377 00ac 4A95 dec r2078 00ae 01F4 brne 1b79 00b0 AE18 sub r10,r1480 00b2 BF08 sbc r11,r1581 00b4 C00A sbc r12,r1682 00b6 D10A sbc r13,r1783 00b8 8827 clr r2484 00ba 77FD sbrc r23,785 00bc 8095 com r2486 00be 982F mov r25,r2487 00c0 34E0 ldi r19,488 00c2 660F 1: lsl r2289 00c4 771F rol r2390 00c6 881F rol r2491 00c8 991F rol r2592 00ca 3A95 dec r1993 00cc 01F4 brne 1b94 00ce 3327 clr r1995 00d0 4427 clr r2096 00d2 5527 clr r2197 00d4 0E94 0000 call __divmodsi498 00d8 A20E add r10,r1899 00da B31E adc r11,r19100 00dc C41E adc r12,r20101 00de D51E adc r13,r21102 00e0 C601 movw r24,r12103 00e2 B501 movw r22,r10104 00e4 28E0 ldi r18,lo8(8)105 00e6 30E0 ldi r19,hi8(8)106 00e8 40E0 ldi r20,hlo8(8)107 00ea 50E0 ldi r21,hhi8(8)108 00ec 0E94 0000 call __divmodsi4109 00f0 3093 0000 sts (Mittelwert_AccNick)+1,r19110 00f4 2093 0000 sts Mittelwert_AccNick,r18111 .L8:112 00f8 8091 0000 lds r24,messanzahl_AccRoll113 00fc 8823 tst r24114 00fe 01F0 breq .L10115 0100 E090 0000 lds r14,Mittelwert_AccRoll116 0104 F090 0000 lds r15,(Mittelwert_AccRoll)+1117 0108 6091 0000 lds r22,accumulate_AccRoll118 010c 7091 0000 lds r23,(accumulate_AccRoll)+1119 0110 2091 0000 lds r18,messanzahl_AccRoll120 0114 0027 clr r16121 0116 F7FC sbrc r15,7122 0118 0095 com r16123 011a 102F mov r17,r16124 011c 5701 movw r10,r14125 011e 6801 movw r12,r16126 0120 83E0 ldi r24,3127 0122 AA0C 1: lsl r10128 0124 BB1C rol r11129 0126 CC1C rol r12130 0128 DD1C rol r13131 012a 8A95 dec r24132 012c 01F4 brne 1b133 012e AE18 sub r10,r14134 0130 BF08 sbc r11,r15135 0132 C00A sbc r12,r16136 0134 D10A sbc r13,r17137 0136 8827 clr r24138 0138 77FD sbrc r23,7139 013a 8095 com r24140 013c 982F mov r25,r24141 013e B4E0 ldi r27,4142 0140 660F 1: lsl r22143 0142 771F rol r23144 0144 881F rol r24145 0146 991F rol r25146 0148 BA95 dec r27147 014a 01F4 brne 1b148 014c 3327 clr r19149 014e 4427 clr r20150 0150 5527 clr r21151 0152 0E94 0000 call __divmodsi4152 0156 A20E add r10,r18153 0158 B31E adc r11,r19154 015a C41E adc r12,r20155 015c D51E adc r13,r21156 015e C601 movw r24,r12157 0160 B501 movw r22,r10158 0162 28E0 ldi r18,lo8(8)159 0164 30E0 ldi r19,hi8(8)160 0166 40E0 ldi r20,hlo8(8)161 0168 50E0 ldi r21,hhi8(8)162 016a 0E94 0000 call __divmodsi4163 016e 3093 0000 sts (Mittelwert_AccRoll)+1,r19164 0172 2093 0000 sts Mittelwert_AccRoll,r18165 .L10:166 0176 8091 0000 lds r24,messanzahl_AccHoch167 017a 8823 tst r24168 017c 01F0 breq .L12169 017e E090 0000 lds r14,Mittelwert_AccHoch170 0182 F090 0000 lds r15,(Mittelwert_AccHoch)+1171 0186 6091 0000 lds r22,accumulate_AccHoch172 018a 7091 0000 lds r23,(accumulate_AccHoch)+1173 018e 2091 0000 lds r18,messanzahl_AccHoch174 0192 0027 clr r16175 0194 F7FC sbrc r15,7176 0196 0095 com r16177 0198 102F mov r17,r16178 019a 5701 movw r10,r14179 019c 6801 movw r12,r16180 019e A3E0 ldi r26,3181 01a0 AA0C 1: lsl r10182 01a2 BB1C rol r11183 01a4 CC1C rol r12184 01a6 DD1C rol r13185 01a8 AA95 dec r26186 01aa 01F4 brne 1b187 01ac AE18 sub r10,r14188 01ae BF08 sbc r11,r15189 01b0 C00A sbc r12,r16190 01b2 D10A sbc r13,r17191 01b4 8827 clr r24192 01b6 77FD sbrc r23,7193 01b8 8095 com r24194 01ba 982F mov r25,r24195 01bc 3327 clr r19196 01be 4427 clr r20197 01c0 5527 clr r21198 01c2 0E94 0000 call __divmodsi4199 01c6 A20E add r10,r18200 01c8 B31E adc r11,r19201 01ca C41E adc r12,r20202 01cc D51E adc r13,r21203 01ce C601 movw r24,r12204 01d0 B501 movw r22,r10205 01d2 28E0 ldi r18,lo8(8)206 01d4 30E0 ldi r19,hi8(8)207 01d6 40E0 ldi r20,hlo8(8)208 01d8 50E0 ldi r21,hhi8(8)209 01da 0E94 0000 call __divmodsi4210 01de 3093 0000 sts (Mittelwert_AccHoch)+1,r19211 01e2 2093 0000 sts Mittelwert_AccHoch,r18212 .L12:213 01e6 1092 0000 sts (AccumulateNick)+1,__zero_reg__214 01ea 1092 0000 sts AccumulateNick,__zero_reg__215 01ee 1092 0000 sts MessanzahlNick,__zero_reg__216 01f2 1092 0000 sts (AccumulateRoll)+1,__zero_reg__217 01f6 1092 0000 sts AccumulateRoll,__zero_reg__218 01fa 1092 0000 sts MessanzahlRoll,__zero_reg__219 01fe 1092 0000 sts (AccumulateGier)+1,__zero_reg__220 0202 1092 0000 sts AccumulateGier,__zero_reg__221 0206 1092 0000 sts MessanzahlGier,__zero_reg__222 020a 1092 0000 sts (accumulate_AccRoll)+1,__zero_reg__223 020e 1092 0000 sts accumulate_AccRoll,__zero_reg__224 0212 1092 0000 sts messanzahl_AccRoll,__zero_reg__225 0216 1092 0000 sts (accumulate_AccNick)+1,__zero_reg__226 021a 1092 0000 sts accumulate_AccNick,__zero_reg__227 021e 1092 0000 sts messanzahl_AccNick,__zero_reg__228 0222 1092 0000 sts (accumulate_AccHoch)+1,__zero_reg__229 0226 1092 0000 sts accumulate_AccHoch,__zero_reg__230 022a 1092 0000 sts messanzahl_AccHoch,__zero_reg__231 022e 8091 0000 lds r24,Mess_Integral_Gier232 0232 9091 0000 lds r25,(Mess_Integral_Gier)+1233 0236 A091 0000 lds r26,(Mess_Integral_Gier)+2234 023a B091 0000 lds r27,(Mess_Integral_Gier)+3235 023e 8093 0000 sts Integral_Gier,r24236 0242 9093 0000 sts (Integral_Gier)+1,r25237 0246 A093 0000 sts (Integral_Gier)+2,r26238 024a B093 0000 sts (Integral_Gier)+3,r27239 024e 8091 0000 lds r24,Mess_IntegralNick240 0252 9091 0000 lds r25,(Mess_IntegralNick)+1241 0256 A091 0000 lds r26,(Mess_IntegralNick)+2242 025a B091 0000 lds r27,(Mess_IntegralNick)+3243 025e 8093 0000 sts IntegralNick,r24244 0262 9093 0000 sts (IntegralNick)+1,r25245 0266 A093 0000 sts (IntegralNick)+2,r26246 026a B093 0000 sts (IntegralNick)+3,r27247 026e 8091 0000 lds r24,Mess_IntegralRoll248 0272 9091 0000 lds r25,(Mess_IntegralRoll)+1249 0276 A091 0000 lds r26,(Mess_IntegralRoll)+2250 027a B091 0000 lds r27,(Mess_IntegralRoll)+3251 027e 8093 0000 sts IntegralRoll,r24252 0282 9093 0000 sts (IntegralRoll)+1,r25253 0286 A093 0000 sts (IntegralRoll)+2,r26254 028a B093 0000 sts (IntegralRoll)+3,r27255 028e 8091 0000 lds r24,Mess_IntegralNick2256 0292 9091 0000 lds r25,(Mess_IntegralNick2)+1257 0296 A091 0000 lds r26,(Mess_IntegralNick2)+2258 029a B091 0000 lds r27,(Mess_IntegralNick2)+3259 029e 8093 0000 sts IntegralNick2,r24260 02a2 9093 0000 sts (IntegralNick2)+1,r25261 02a6 A093 0000 sts (IntegralNick2)+2,r26262 02aa B093 0000 sts (IntegralNick2)+3,r27263 02ae 8091 0000 lds r24,Mess_IntegralRoll2264 02b2 9091 0000 lds r25,(Mess_IntegralRoll2)+1265 02b6 A091 0000 lds r26,(Mess_IntegralRoll2)+2266 02ba B091 0000 lds r27,(Mess_IntegralRoll2)+3267 02be 8093 0000 sts IntegralRoll2,r24268 02c2 9093 0000 sts (IntegralRoll2)+1,r25269 02c6 A093 0000 sts (IntegralRoll2)+2,r26270 02ca B093 0000 sts (IntegralRoll2)+3,r27271 02ce 8FEE ldi r24,lo8(-17)272 02d0 8093 7A00 sts 122,r24273 02d4 8091 0000 lds r24,MesswertNick274 02d8 9091 0000 lds r25,(MesswertNick)+1275 02dc 893C cpi r24,201276 02de 9105 cpc r25,__zero_reg__277 02e0 04F0 brlt .L14278 02e2 2091 0000 lds r18,MesswertNick279 02e6 3091 0000 lds r19,(MesswertNick)+1280 02ea 8091 0000 lds r24,MesswertNick281 02ee 9091 0000 lds r25,(MesswertNick)+1282 02f2 880F lsl r24283 02f4 991F rol r25284 02f6 880F lsl r24285 02f8 991F rol r25286 02fa 2052 subi r18,lo8(-(-800))287 02fc 3340 sbci r19,hi8(-(-800))288 02fe 00C0 rjmp .L59289 .L14:290 0300 8091 0000 lds r24,MesswertNick291 0304 9091 0000 lds r25,(MesswertNick)+1292 0308 8853 subi r24,lo8(-200)293 030a 9F4F sbci r25,hi8(-200)294 030c 04F4 brge .L16295 030e 2091 0000 lds r18,MesswertNick296 0312 3091 0000 lds r19,(MesswertNick)+1297 0316 8091 0000 lds r24,MesswertNick298 031a 9091 0000 lds r25,(MesswertNick)+1299 031e 880F lsl r24300 0320 991F rol r25301 0322 880F lsl r24302 0324 991F rol r25303 0326 205E subi r18,lo8(-(800))304 0328 3C4F sbci r19,hi8(-(800))305 .L59:306 032a 820F add r24,r18307 032c 931F adc r25,r19308 032e 9093 0000 sts (MesswertNick)+1,r25309 0332 8093 0000 sts MesswertNick,r24310 .L16:311 0336 8091 0000 lds r24,MesswertRoll312 033a 9091 0000 lds r25,(MesswertRoll)+1313 033e 893C cpi r24,201314 0340 9105 cpc r25,__zero_reg__315 0342 04F0 brlt .L18316 0344 2091 0000 lds r18,MesswertRoll317 0348 3091 0000 lds r19,(MesswertRoll)+1318 034c 8091 0000 lds r24,MesswertRoll319 0350 9091 0000 lds r25,(MesswertRoll)+1320 0354 880F lsl r24321 0356 991F rol r25322 0358 880F lsl r24323 035a 991F rol r25324 035c 2052 subi r18,lo8(-(-800))325 035e 3340 sbci r19,hi8(-(-800))326 0360 00C0 rjmp .L60327 .L18:328 0362 8091 0000 lds r24,MesswertRoll329 0366 9091 0000 lds r25,(MesswertRoll)+1330 036a 8853 subi r24,lo8(-200)331 036c 9F4F sbci r25,hi8(-200)332 036e 04F4 brge .L20333 0370 2091 0000 lds r18,MesswertRoll334 0374 3091 0000 lds r19,(MesswertRoll)+1335 0378 8091 0000 lds r24,MesswertRoll336 037c 9091 0000 lds r25,(MesswertRoll)+1337 0380 880F lsl r24338 0382 991F rol r25339 0384 880F lsl r24340 0386 991F rol r25341 0388 205E subi r18,lo8(-(800))342 038a 3C4F sbci r19,hi8(-(800))343 .L60:344 038c 820F add r24,r18345 038e 931F adc r25,r19346 0390 9093 0000 sts (MesswertRoll)+1,r25347 0394 8093 0000 sts MesswertRoll,r24348 .L20:349 0398 2091 0000 lds r18,Poti1350 039c 3091 0000 lds r19,(Poti1)+1351 03a0 8091 0000 lds r24,EE_Parameter+4352 03a4 E82F mov r30,r24353 03a6 FF27 clr r31354 03a8 EE0F lsl r30355 03aa FF1F rol r31356 03ac E050 subi r30,lo8(-(PPM_in))357 03ae F040 sbci r31,hi8(-(PPM_in))358 03b0 8081 ld r24,Z359 03b2 9181 ldd r25,Z+1360 03b4 8259 subi r24,lo8(-(110))361 03b6 9F4F sbci r25,hi8(-(110))362 03b8 2817 cp r18,r24363 03ba 3907 cpc r19,r25364 03bc 04F4 brge .L22365 03be 2F5F subi r18,lo8(-(1))366 03c0 3F4F sbci r19,hi8(-(1))367 03c2 00C0 rjmp .L61368 .L22:369 03c4 8081 ld r24,Z370 03c6 9181 ldd r25,Z+1371 03c8 8259 subi r24,lo8(-(110))372 03ca 9F4F sbci r25,hi8(-(110))373 03cc 8217 cp r24,r18374 03ce 9307 cpc r25,r19375 03d0 04F4 brge .L24376 03d2 2115 cp r18,__zero_reg__377 03d4 3105 cpc r19,__zero_reg__378 03d6 01F0 breq .L24379 03d8 2150 subi r18,lo8(-(-1))380 03da 3040 sbci r19,hi8(-(-1))381 .L61:382 03dc 3093 0000 sts (Poti1)+1,r19383 03e0 2093 0000 sts Poti1,r18384 .L24:385 03e4 2091 0000 lds r18,Poti2386 03e8 3091 0000 lds r19,(Poti2)+1387 03ec 8091 0000 lds r24,EE_Parameter+5388 03f0 E82F mov r30,r24389 03f2 FF27 clr r31390 03f4 EE0F lsl r30391 03f6 FF1F rol r31392 03f8 E050 subi r30,lo8(-(PPM_in))393 03fa F040 sbci r31,hi8(-(PPM_in))394 03fc 8081 ld r24,Z395 03fe 9181 ldd r25,Z+1396 0400 8259 subi r24,lo8(-(110))397 0402 9F4F sbci r25,hi8(-(110))398 0404 2817 cp r18,r24399 0406 3907 cpc r19,r25400 0408 04F4 brge .L27401 040a 2F5F subi r18,lo8(-(1))402 040c 3F4F sbci r19,hi8(-(1))403 040e 00C0 rjmp .L62404 .L27:405 0410 8081 ld r24,Z406 0412 9181 ldd r25,Z+1407 0414 8259 subi r24,lo8(-(110))408 0416 9F4F sbci r25,hi8(-(110))409 0418 8217 cp r24,r18410 041a 9307 cpc r25,r19411 041c 04F4 brge .L29412 041e 2115 cp r18,__zero_reg__413 0420 3105 cpc r19,__zero_reg__414 0422 01F0 breq .L29415 0424 2150 subi r18,lo8(-(-1))416 0426 3040 sbci r19,hi8(-(-1))417 .L62:418 0428 3093 0000 sts (Poti2)+1,r19419 042c 2093 0000 sts Poti2,r18420 .L29:421 0430 2091 0000 lds r18,Poti3422 0434 3091 0000 lds r19,(Poti3)+1423 0438 8091 0000 lds r24,EE_Parameter+6424 043c E82F mov r30,r24425 043e FF27 clr r31426 0440 EE0F lsl r30427 0442 FF1F rol r31428 0444 E050 subi r30,lo8(-(PPM_in))429 0446 F040 sbci r31,hi8(-(PPM_in))430 0448 8081 ld r24,Z431 044a 9181 ldd r25,Z+1432 044c 8259 subi r24,lo8(-(110))433 044e 9F4F sbci r25,hi8(-(110))434 0450 2817 cp r18,r24435 0452 3907 cpc r19,r25436 0454 04F4 brge .L32437 0456 2F5F subi r18,lo8(-(1))438 0458 3F4F sbci r19,hi8(-(1))439 045a 00C0 rjmp .L63440 .L32:441 045c 8081 ld r24,Z442 045e 9181 ldd r25,Z+1443 0460 8259 subi r24,lo8(-(110))444 0462 9F4F sbci r25,hi8(-(110))445 0464 8217 cp r24,r18446 0466 9307 cpc r25,r19447 0468 04F4 brge .L34448 046a 2115 cp r18,__zero_reg__449 046c 3105 cpc r19,__zero_reg__450 046e 01F0 breq .L34451 0470 2150 subi r18,lo8(-(-1))452 0472 3040 sbci r19,hi8(-(-1))453 .L63:454 0474 3093 0000 sts (Poti3)+1,r19455 0478 2093 0000 sts Poti3,r18456 .L34:457 047c 2091 0000 lds r18,Poti4458 0480 3091 0000 lds r19,(Poti4)+1459 0484 8091 0000 lds r24,EE_Parameter+7460 0488 E82F mov r30,r24461 048a FF27 clr r31462 048c EE0F lsl r30463 048e FF1F rol r31464 0490 E050 subi r30,lo8(-(PPM_in))465 0492 F040 sbci r31,hi8(-(PPM_in))466 0494 8081 ld r24,Z467 0496 9181 ldd r25,Z+1468 0498 8259 subi r24,lo8(-(110))469 049a 9F4F sbci r25,hi8(-(110))470 049c 2817 cp r18,r24471 049e 3907 cpc r19,r25472 04a0 04F4 brge .L37473 04a2 2F5F subi r18,lo8(-(1))474 04a4 3F4F sbci r19,hi8(-(1))475 04a6 00C0 rjmp .L64476 .L37:477 04a8 8081 ld r24,Z478 04aa 9181 ldd r25,Z+1479 04ac 8259 subi r24,lo8(-(110))480 04ae 9F4F sbci r25,hi8(-(110))481 04b0 8217 cp r24,r18482 04b2 9307 cpc r25,r19483 04b4 04F4 brge .L39484 04b6 2115 cp r18,__zero_reg__485 04b8 3105 cpc r19,__zero_reg__486 04ba 01F0 breq .L39487 04bc 2150 subi r18,lo8(-(-1))488 04be 3040 sbci r19,hi8(-(-1))489 .L64:490 04c0 3093 0000 sts (Poti4)+1,r19491 04c4 2093 0000 sts Poti4,r18492 .L39:493 04c8 8091 0000 lds r24,Poti1494 04cc 9091 0000 lds r25,(Poti1)+1495 04d0 97FF sbrs r25,7496 04d2 00C0 rjmp .L42497 04d4 1092 0000 sts (Poti1)+1,__zero_reg__498 04d8 1092 0000 sts Poti1,__zero_reg__499 04dc 00C0 rjmp .L44500 .L42:501 04de 8F3F cpi r24,255502 04e0 9105 cpc r25,__zero_reg__503 04e2 01F0 breq .L44504 04e4 04F0 brlt .L44505 04e6 8FEF ldi r24,lo8(255)506 04e8 90E0 ldi r25,hi8(255)507 04ea 9093 0000 sts (Poti1)+1,r25508 04ee 8093 0000 sts Poti1,r24509 .L44:510 04f2 8091 0000 lds r24,Poti2511 04f6 9091 0000 lds r25,(Poti2)+1512 04fa 97FF sbrs r25,7513 04fc 00C0 rjmp .L46514 04fe 1092 0000 sts (Poti2)+1,__zero_reg__515 0502 1092 0000 sts Poti2,__zero_reg__516 0506 00C0 rjmp .L48517 .L46:518 0508 8F3F cpi r24,255519 050a 9105 cpc r25,__zero_reg__520 050c 01F0 breq .L48521 050e 04F0 brlt .L48522 0510 8FEF ldi r24,lo8(255)523 0512 90E0 ldi r25,hi8(255)524 0514 9093 0000 sts (Poti2)+1,r25525 0518 8093 0000 sts Poti2,r24526 .L48:527 051c 8091 0000 lds r24,Poti3528 0520 9091 0000 lds r25,(Poti3)+1529 0524 97FF sbrs r25,7530 0526 00C0 rjmp .L50531 0528 1092 0000 sts (Poti3)+1,__zero_reg__532 052c 1092 0000 sts Poti3,__zero_reg__533 0530 00C0 rjmp .L52534 .L50:535 0532 8F3F cpi r24,255536 0534 9105 cpc r25,__zero_reg__537 0536 01F0 breq .L52538 0538 04F0 brlt .L52539 053a 8FEF ldi r24,lo8(255)540 053c 90E0 ldi r25,hi8(255)541 053e 9093 0000 sts (Poti3)+1,r25542 0542 8093 0000 sts Poti3,r24543 .L52:544 0546 8091 0000 lds r24,Poti4545 054a 9091 0000 lds r25,(Poti4)+1546 054e 97FF sbrs r25,7547 0550 00C0 rjmp .L54548 0552 1092 0000 sts (Poti4)+1,__zero_reg__549 0556 1092 0000 sts Poti4,__zero_reg__550 055a 00C0 rjmp .L58551 .L54:552 055c 8F3F cpi r24,255553 055e 9105 cpc r25,__zero_reg__554 0560 01F0 breq .L58555 0562 04F0 brlt .L58556 0564 8FEF ldi r24,lo8(255)557 0566 90E0 ldi r25,hi8(255)558 0568 9093 0000 sts (Poti4)+1,r25559 056c 8093 0000 sts Poti4,r24560 .L58:561 /* epilogue: frame size=0 */562 0570 1F91 pop r17563 0572 0F91 pop r16564 0574 FF90 pop r15565 0576 EF90 pop r14566 0578 DF90 pop r13567 057a CF90 pop r12568 057c BF90 pop r11569 057e AF90 pop r10570 0580 0895 ret571 /* epilogue end (size=9) */572 /* function Mittelwert size 707 (690) */574 .global CalibrierMittelwert576 CalibrierMittelwert:577 /* prologue: frame size=0 */578 /* prologue end (size=0) */579 0582 1092 7A00 sts 122,__zero_reg__580 0586 8091 0000 lds r24,MessanzahlNick581 058a 8823 tst r24582 058c 01F0 breq .L66583 058e 8091 0000 lds r24,AccumulateNick584 0592 9091 0000 lds r25,(AccumulateNick)+1585 0596 6091 0000 lds r22,MessanzahlNick586 059a 7727 clr r23587 059c 0E94 0000 call __divmodhi4588 05a0 7093 0000 sts (MesswertNick)+1,r23589 05a4 6093 0000 sts MesswertNick,r22590 .L66:591 05a8 8091 0000 lds r24,MessanzahlRoll592 05ac 8823 tst r24593 05ae 01F0 breq .L68594 05b0 8091 0000 lds r24,AccumulateRoll595 05b4 9091 0000 lds r25,(AccumulateRoll)+1596 05b8 6091 0000 lds r22,MessanzahlRoll597 05bc 7727 clr r23598 05be 0E94 0000 call __divmodhi4599 05c2 7093 0000 sts (MesswertRoll)+1,r23600 05c6 6093 0000 sts MesswertRoll,r22601 .L68:602 05ca 8091 0000 lds r24,MessanzahlGier603 05ce 8823 tst r24604 05d0 01F0 breq .L70605 05d2 8091 0000 lds r24,AccumulateGier606 05d6 9091 0000 lds r25,(AccumulateGier)+1607 05da 6091 0000 lds r22,MessanzahlGier608 05de 7727 clr r23609 05e0 0E94 0000 call __divmodhi4610 05e4 7093 0000 sts (MesswertGier)+1,r23611 05e8 6093 0000 sts MesswertGier,r22612 .L70:613 05ec 8091 0000 lds r24,messanzahl_AccNick614 05f0 8823 tst r24615 05f2 01F0 breq .L72616 05f4 6091 0000 lds r22,accumulate_AccNick617 05f8 7091 0000 lds r23,(accumulate_AccNick)+1618 05fc 2091 0000 lds r18,messanzahl_AccNick619 0600 8827 clr r24620 0602 77FD sbrc r23,7621 0604 8095 com r24622 0606 982F mov r25,r24623 0608 34E0 ldi r19,4624 060a 660F 1: lsl r22625 060c 771F rol r23626 060e 881F rol r24627 0610 991F rol r25628 0612 3A95 dec r19629 0614 01F4 brne 1b630 0616 3327 clr r19631 0618 4427 clr r20632 061a 5527 clr r21633 061c 0E94 0000 call __divmodsi4634 0620 3093 0000 sts (Mittelwert_AccNick)+1,r19635 0624 2093 0000 sts Mittelwert_AccNick,r18636 .L72:637 0628 8091 0000 lds r24,messanzahl_AccRoll638 062c 8823 tst r24639 062e 01F0 breq .L74640 0630 6091 0000 lds r22,accumulate_AccRoll641 0634 7091 0000 lds r23,(accumulate_AccRoll)+1642 0638 2091 0000 lds r18,messanzahl_AccRoll643 063c 8827 clr r24644 063e 77FD sbrc r23,7645 0640 8095 com r24646 0642 982F mov r25,r24647 0644 B4E0 ldi r27,4648 0646 660F 1: lsl r22649 0648 771F rol r23650 064a 881F rol r24651 064c 991F rol r25652 064e BA95 dec r27653 0650 01F4 brne 1b654 0652 3327 clr r19655 0654 4427 clr r20656 0656 5527 clr r21657 0658 0E94 0000 call __divmodsi4658 065c 3093 0000 sts (Mittelwert_AccRoll)+1,r19659 0660 2093 0000 sts Mittelwert_AccRoll,r18660 .L74:661 0664 8091 0000 lds r24,messanzahl_AccHoch662 0668 8823 tst r24663 066a 01F0 breq .L76664 066c 6091 0000 lds r22,accumulate_AccHoch665 0670 7091 0000 lds r23,(accumulate_AccHoch)+1666 0674 2091 0000 lds r18,messanzahl_AccHoch667 0678 8827 clr r24668 067a 77FD sbrc r23,7669 067c 8095 com r24670 067e 982F mov r25,r24671 0680 3327 clr r19672 0682 4427 clr r20673 0684 5527 clr r21674 0686 0E94 0000 call __divmodsi4675 068a 3093 0000 sts (Mittelwert_AccHoch)+1,r19676 068e 2093 0000 sts Mittelwert_AccHoch,r18677 .L76:678 0692 1092 0000 sts (AccumulateNick)+1,__zero_reg__679 0696 1092 0000 sts AccumulateNick,__zero_reg__680 069a 1092 0000 sts MessanzahlNick,__zero_reg__681 069e 1092 0000 sts (AccumulateRoll)+1,__zero_reg__682 06a2 1092 0000 sts AccumulateRoll,__zero_reg__683 06a6 1092 0000 sts MessanzahlRoll,__zero_reg__684 06aa 1092 0000 sts (AccumulateGier)+1,__zero_reg__685 06ae 1092 0000 sts AccumulateGier,__zero_reg__686 06b2 1092 0000 sts MessanzahlGier,__zero_reg__687 06b6 1092 0000 sts (accumulate_AccRoll)+1,__zero_reg__688 06ba 1092 0000 sts accumulate_AccRoll,__zero_reg__689 06be 1092 0000 sts messanzahl_AccRoll,__zero_reg__690 06c2 1092 0000 sts (accumulate_AccNick)+1,__zero_reg__691 06c6 1092 0000 sts accumulate_AccNick,__zero_reg__692 06ca 1092 0000 sts messanzahl_AccNick,__zero_reg__693 06ce 1092 0000 sts (accumulate_AccHoch)+1,__zero_reg__694 06d2 1092 0000 sts accumulate_AccHoch,__zero_reg__695 06d6 1092 0000 sts messanzahl_AccHoch,__zero_reg__696 06da 8FEE ldi r24,lo8(-17)697 06dc 8093 7A00 sts 122,r24698 06e0 2091 0000 lds r18,Poti1699 06e4 3091 0000 lds r19,(Poti1)+1700 06e8 8091 0000 lds r24,EE_Parameter+4701 06ec E82F mov r30,r24702 06ee FF27 clr r31703 06f0 EE0F lsl r30704 06f2 FF1F rol r31705 06f4 E050 subi r30,lo8(-(PPM_in))706 06f6 F040 sbci r31,hi8(-(PPM_in))707 06f8 8081 ld r24,Z708 06fa 9181 ldd r25,Z+1709 06fc 8259 subi r24,lo8(-(110))710 06fe 9F4F sbci r25,hi8(-(110))711 0700 2817 cp r18,r24712 0702 3907 cpc r19,r25713 0704 04F4 brge .L78714 0706 2F5F subi r18,lo8(-(1))715 0708 3F4F sbci r19,hi8(-(1))716 070a 00C0 rjmp .L115717 .L78:718 070c 8081 ld r24,Z719 070e 9181 ldd r25,Z+1720 0710 8259 subi r24,lo8(-(110))721 0712 9F4F sbci r25,hi8(-(110))722 0714 8217 cp r24,r18723 0716 9307 cpc r25,r19724 0718 04F4 brge .L80725 071a 2115 cp r18,__zero_reg__726 071c 3105 cpc r19,__zero_reg__727 071e 01F0 breq .L80728 0720 2150 subi r18,lo8(-(-1))729 0722 3040 sbci r19,hi8(-(-1))730 .L115:731 0724 3093 0000 sts (Poti1)+1,r19732 0728 2093 0000 sts Poti1,r18733 .L80:734 072c 2091 0000 lds r18,Poti2735 0730 3091 0000 lds r19,(Poti2)+1736 0734 8091 0000 lds r24,EE_Parameter+5737 0738 E82F mov r30,r24738 073a FF27 clr r31739 073c EE0F lsl r30740 073e FF1F rol r31741 0740 E050 subi r30,lo8(-(PPM_in))742 0742 F040 sbci r31,hi8(-(PPM_in))743 0744 8081 ld r24,Z744 0746 9181 ldd r25,Z+1745 0748 8259 subi r24,lo8(-(110))746 074a 9F4F sbci r25,hi8(-(110))747 074c 2817 cp r18,r24748 074e 3907 cpc r19,r25749 0750 04F4 brge .L83750 0752 2F5F subi r18,lo8(-(1))751 0754 3F4F sbci r19,hi8(-(1))752 0756 00C0 rjmp .L116753 .L83:754 0758 8081 ld r24,Z755 075a 9181 ldd r25,Z+1756 075c 8259 subi r24,lo8(-(110))757 075e 9F4F sbci r25,hi8(-(110))758 0760 8217 cp r24,r18759 0762 9307 cpc r25,r19760 0764 04F4 brge .L85761 0766 2115 cp r18,__zero_reg__762 0768 3105 cpc r19,__zero_reg__763 076a 01F0 breq .L85764 076c 2150 subi r18,lo8(-(-1))765 076e 3040 sbci r19,hi8(-(-1))766 .L116:767 0770 3093 0000 sts (Poti2)+1,r19768 0774 2093 0000 sts Poti2,r18769 .L85:770 0778 2091 0000 lds r18,Poti3771 077c 3091 0000 lds r19,(Poti3)+1772 0780 8091 0000 lds r24,EE_Parameter+6773 0784 E82F mov r30,r24774 0786 FF27 clr r31775 0788 EE0F lsl r30776 078a FF1F rol r31777 078c E050 subi r30,lo8(-(PPM_in))778 078e F040 sbci r31,hi8(-(PPM_in))779 0790 8081 ld r24,Z780 0792 9181 ldd r25,Z+1781 0794 8259 subi r24,lo8(-(110))782 0796 9F4F sbci r25,hi8(-(110))783 0798 2817 cp r18,r24784 079a 3907 cpc r19,r25785 079c 04F4 brge .L88786 079e 2F5F subi r18,lo8(-(1))787 07a0 3F4F sbci r19,hi8(-(1))788 07a2 00C0 rjmp .L117789 .L88:790 07a4 8081 ld r24,Z791 07a6 9181 ldd r25,Z+1792 07a8 8259 subi r24,lo8(-(110))793 07aa 9F4F sbci r25,hi8(-(110))794 07ac 8217 cp r24,r18795 07ae 9307 cpc r25,r19796 07b0 04F4 brge .L90797 07b2 2115 cp r18,__zero_reg__798 07b4 3105 cpc r19,__zero_reg__799 07b6 01F0 breq .L90800 07b8 2150 subi r18,lo8(-(-1))801 07ba 3040 sbci r19,hi8(-(-1))802 .L117:803 07bc 3093 0000 sts (Poti3)+1,r19804 07c0 2093 0000 sts Poti3,r18805 .L90:806 07c4 2091 0000 lds r18,Poti4807 07c8 3091 0000 lds r19,(Poti4)+1808 07cc 8091 0000 lds r24,EE_Parameter+7809 07d0 E82F mov r30,r24810 07d2 FF27 clr r31811 07d4 EE0F lsl r30812 07d6 FF1F rol r31813 07d8 E050 subi r30,lo8(-(PPM_in))814 07da F040 sbci r31,hi8(-(PPM_in))815 07dc 8081 ld r24,Z816 07de 9181 ldd r25,Z+1817 07e0 8259 subi r24,lo8(-(110))818 07e2 9F4F sbci r25,hi8(-(110))819 07e4 2817 cp r18,r24820 07e6 3907 cpc r19,r25821 07e8 04F4 brge .L93822 07ea 2F5F subi r18,lo8(-(1))823 07ec 3F4F sbci r19,hi8(-(1))824 07ee 00C0 rjmp .L118825 .L93:826 07f0 8081 ld r24,Z827 07f2 9181 ldd r25,Z+1828 07f4 8259 subi r24,lo8(-(110))829 07f6 9F4F sbci r25,hi8(-(110))830 07f8 8217 cp r24,r18831 07fa 9307 cpc r25,r19832 07fc 04F4 brge .L95833 07fe 2115 cp r18,__zero_reg__834 0800 3105 cpc r19,__zero_reg__835 0802 01F0 breq .L95836 0804 2150 subi r18,lo8(-(-1))837 0806 3040 sbci r19,hi8(-(-1))838 .L118:839 0808 3093 0000 sts (Poti4)+1,r19840 080c 2093 0000 sts Poti4,r18841 .L95:842 0810 8091 0000 lds r24,Poti1843 0814 9091 0000 lds r25,(Poti1)+1844 0818 97FF sbrs r25,7845 081a 00C0 rjmp .L98846 081c 1092 0000 sts (Poti1)+1,__zero_reg__847 0820 1092 0000 sts Poti1,__zero_reg__848 0824 00C0 rjmp .L100849 .L98:850 0826 8F3F cpi r24,255851 0828 9105 cpc r25,__zero_reg__852 082a 01F0 breq .L100853 082c 04F0 brlt .L100854 082e 8FEF ldi r24,lo8(255)855 0830 90E0 ldi r25,hi8(255)856 0832 9093 0000 sts (Poti1)+1,r25857 0836 8093 0000 sts Poti1,r24858 .L100:859 083a 8091 0000 lds r24,Poti2860 083e 9091 0000 lds r25,(Poti2)+1861 0842 97FF sbrs r25,7862 0844 00C0 rjmp .L102863 0846 1092 0000 sts (Poti2)+1,__zero_reg__864 084a 1092 0000 sts Poti2,__zero_reg__865 084e 00C0 rjmp .L104866 .L102:867 0850 8F3F cpi r24,255868 0852 9105 cpc r25,__zero_reg__869 0854 01F0 breq .L104870 0856 04F0 brlt .L104871 0858 8FEF ldi r24,lo8(255)872 085a 90E0 ldi r25,hi8(255)873 085c 9093 0000 sts (Poti2)+1,r25874 0860 8093 0000 sts Poti2,r24875 .L104:876 0864 8091 0000 lds r24,Poti3877 0868 9091 0000 lds r25,(Poti3)+1878 086c 97FF sbrs r25,7879 086e 00C0 rjmp .L106880 0870 1092 0000 sts (Poti3)+1,__zero_reg__881 0874 1092 0000 sts Poti3,__zero_reg__882 0878 00C0 rjmp .L108883 .L106:884 087a 8F3F cpi r24,255885 087c 9105 cpc r25,__zero_reg__886 087e 01F0 breq .L108887 0880 04F0 brlt .L108888 0882 8FEF ldi r24,lo8(255)889 0884 90E0 ldi r25,hi8(255)890 0886 9093 0000 sts (Poti3)+1,r25891 088a 8093 0000 sts Poti3,r24892 .L108:893 088e 8091 0000 lds r24,Poti4894 0892 9091 0000 lds r25,(Poti4)+1895 0896 97FF sbrs r25,7896 0898 00C0 rjmp .L110897 089a 1092 0000 sts (Poti4)+1,__zero_reg__898 089e 1092 0000 sts Poti4,__zero_reg__899 08a2 0895 ret900 .L110:901 08a4 8F3F cpi r24,255902 08a6 9105 cpc r25,__zero_reg__903 08a8 01F0 breq .L114904 08aa 04F0 brlt .L114905 08ac 8FEF ldi r24,lo8(255)906 08ae 90E0 ldi r25,hi8(255)907 08b0 9093 0000 sts (Poti4)+1,r25908 08b4 8093 0000 sts Poti4,r24909 .L114:910 08b8 0895 ret911 /* epilogue: frame size=0 */912 /* epilogue: noreturn */913 /* epilogue end (size=0) */914 /* function CalibrierMittelwert size 412 (412) */916 .global ParameterZuordnung918 ParameterZuordnung:919 /* prologue: frame size=0 */920 08ba 1F93 push r17921 /* prologue end (size=1) */922 08bc 8091 0000 lds r24,EE_Parameter+11923 08c0 8B3F cpi r24,lo8(-5)924 08c2 00F0 brlo .L120925 08c4 8B3F cpi r24,lo8(-5)926 08c6 01F4 brne .L122927 08c8 8091 0000 lds r24,Poti1928 08cc 00C0 rjmp .L120929 .L122:930 08ce 8C3F cpi r24,lo8(-4)931 08d0 01F4 brne .L125932 08d2 8091 0000 lds r24,Poti2933 08d6 00C0 rjmp .L120934 .L125:935 08d8 8D3F cpi r24,lo8(-3)936 08da 01F4 brne .L127937 08dc 8091 0000 lds r24,Poti3938 08e0 00C0 rjmp .L120939 .L127:940 08e2 8E3F cpi r24,lo8(-2)941 08e4 01F4 brne .L124942 08e6 8091 0000 lds r24,Poti4943 .L120:944 08ea 8093 0000 sts Parameter_MaxHoehe,r24945 .L124:946 08ee 8091 0000 lds r24,Parameter_MaxHoehe947 08f2 8823 tst r24948 08f4 01F4 brne .L130949 08f6 1092 0000 sts Parameter_MaxHoehe,__zero_reg__950 08fa 00C0 rjmp .L132951 .L130:952 08fc 8F3F cpi r24,lo8(-1)953 08fe 01F4 brne .L132954 0900 8093 0000 sts Parameter_MaxHoehe,r24955 .L132:956 0904 8091 0000 lds r24,EE_Parameter+10957 0908 8B3F cpi r24,lo8(-5)958 090a 00F0 brlo .L134959 090c 8B3F cpi r24,lo8(-5)960 090e 01F4 brne .L136961 0910 8091 0000 lds r24,Poti1962 0914 00C0 rjmp .L134963 .L136:964 0916 8C3F cpi r24,lo8(-4)965 0918 01F4 brne .L139966 091a 8091 0000 lds r24,Poti2967 091e 00C0 rjmp .L134968 .L139:969 0920 8D3F cpi r24,lo8(-3)970 0922 01F4 brne .L141971 0924 8091 0000 lds r24,Poti3972 0928 00C0 rjmp .L134973 .L141:974 092a 8E3F cpi r24,lo8(-2)975 092c 01F4 brne .L138976 092e 8091 0000 lds r24,Poti4977 .L134:978 0932 8093 0000 sts Parameter_Luftdruck_D,r24979 .L138:980 0936 8091 0000 lds r24,Parameter_Luftdruck_D981 093a 8823 tst r24982 093c 01F4 brne .L144983 093e 1092 0000 sts Parameter_Luftdruck_D,__zero_reg__984 0942 00C0 rjmp .L146985 .L144:986 0944 8436 cpi r24,lo8(100)987 0946 00F0 brlo .L146988 0948 84E6 ldi r24,lo8(100)989 094a 8093 0000 sts Parameter_Luftdruck_D,r24990 .L146:991 094e 8091 0000 lds r24,EE_Parameter+12992 0952 8B3F cpi r24,lo8(-5)993 0954 00F0 brlo .L148994 0956 8B3F cpi r24,lo8(-5)995 0958 01F4 brne .L150996 095a 8091 0000 lds r24,Poti1997 095e 00C0 rjmp .L148998 .L150:999 0960 8C3F cpi r24,lo8(-4)1000 0962 01F4 brne .L1531001 0964 8091 0000 lds r24,Poti21002 0968 00C0 rjmp .L1481003 .L153:1004 096a 8D3F cpi r24,lo8(-3)1005 096c 01F4 brne .L1551006 096e 8091 0000 lds r24,Poti31007 0972 00C0 rjmp .L1481008 .L155:1009 0974 8E3F cpi r24,lo8(-2)1010 0976 01F4 brne .L1521011 0978 8091 0000 lds r24,Poti41012 .L148:1013 097c 8093 0000 sts Parameter_Hoehe_P,r241014 .L152:1015 0980 8091 0000 lds r24,Parameter_Hoehe_P1016 0984 8823 tst r241017 0986 01F4 brne .L1581018 0988 1092 0000 sts Parameter_Hoehe_P,__zero_reg__1019 098c 00C0 rjmp .L1601020 .L158:1021 098e 8436 cpi r24,lo8(100)1022 0990 00F0 brlo .L1601023 0992 84E6 ldi r24,lo8(100)1024 0994 8093 0000 sts Parameter_Hoehe_P,r241025 .L160:1026 0998 8091 0000 lds r24,EE_Parameter+141027 099c 8B3F cpi r24,lo8(-5)1028 099e 00F0 brlo .L1621029 09a0 8B3F cpi r24,lo8(-5)1030 09a2 01F4 brne .L1641031 09a4 8091 0000 lds r24,Poti11032 09a8 00C0 rjmp .L1621033 .L164:1034 09aa 8C3F cpi r24,lo8(-4)1035 09ac 01F4 brne .L1671036 09ae 8091 0000 lds r24,Poti21037 09b2 00C0 rjmp .L1621038 .L167:1039 09b4 8D3F cpi r24,lo8(-3)1040 09b6 01F4 brne .L1691041 09b8 8091 0000 lds r24,Poti31042 09bc 00C0 rjmp .L1621043 .L169:1044 09be 8E3F cpi r24,lo8(-2)1045 09c0 01F4 brne .L1661046 09c2 8091 0000 lds r24,Poti41047 .L162:1048 09c6 8093 0000 sts Parameter_Hoehe_ACC_Wirkung,r241049 .L166:1050 09ca 8091 0000 lds r24,Parameter_Hoehe_ACC_Wirkung1051 09ce 8823 tst r241052 09d0 01F4 brne .L1721053 09d2 1092 0000 sts Parameter_Hoehe_ACC_Wirkung,__zero_reg__1054 09d6 00C0 rjmp .L1741055 .L172:1056 09d8 8F3F cpi r24,lo8(-1)1057 09da 01F4 brne .L1741058 09dc 8093 0000 sts Parameter_Hoehe_ACC_Wirkung,r241059 .L174:1060 09e0 8091 0000 lds r24,EE_Parameter+211061 09e4 8B3F cpi r24,lo8(-5)1062 09e6 00F0 brlo .L1761063 09e8 8B3F cpi r24,lo8(-5)1064 09ea 01F4 brne .L1781065 09ec 8091 0000 lds r24,Poti11066 09f0 00C0 rjmp .L1761067 .L178:1068 09f2 8C3F cpi r24,lo8(-4)1069 09f4 01F4 brne .L1811070 09f6 8091 0000 lds r24,Poti21071 09fa 00C0 rjmp .L1761072 .L181:1073 09fc 8D3F cpi r24,lo8(-3)1074 09fe 01F4 brne .L1831075 0a00 8091 0000 lds r24,Poti31076 0a04 00C0 rjmp .L1761077 .L183:1078 0a06 8E3F cpi r24,lo8(-2)1079 0a08 01F4 brne .L1801080 0a0a 8091 0000 lds r24,Poti41081 .L176:1082 0a0e 8093 0000 sts Parameter_KompassWirkung,r241083 .L180:1084 0a12 8091 0000 lds r24,Parameter_KompassWirkung1085 0a16 8823 tst r241086 0a18 01F4 brne .L1861087 0a1a 1092 0000 sts Parameter_KompassWirkung,__zero_reg__1088 0a1e 00C0 rjmp .L1881089 .L186:1090 0a20 8F3F cpi r24,lo8(-1)1091 0a22 01F4 brne .L1881092 0a24 8093 0000 sts Parameter_KompassWirkung,r241093 .L188:1094 0a28 8091 0000 lds r24,EE_Parameter+221095 0a2c 8B3F cpi r24,lo8(-5)1096 0a2e 00F0 brlo .L1901097 0a30 8B3F cpi r24,lo8(-5)1098 0a32 01F4 brne .L1921099 0a34 8091 0000 lds r24,Poti11100 0a38 00C0 rjmp .L1901101 .L192:1102 0a3a 8C3F cpi r24,lo8(-4)1103 0a3c 01F4 brne .L1951104 0a3e 8091 0000 lds r24,Poti21105 0a42 00C0 rjmp .L1901106 .L195:1107 0a44 8D3F cpi r24,lo8(-3)1108 0a46 01F4 brne .L1971109 0a48 8091 0000 lds r24,Poti31110 0a4c 00C0 rjmp .L1901111 .L197:1112 0a4e 8E3F cpi r24,lo8(-2)1113 0a50 01F4 brne .L1941114 0a52 8091 0000 lds r24,Poti41115 .L190:1116 0a56 8093 0000 sts Parameter_Gyro_P,r241117 .L194:1118 0a5a 8091 0000 lds r24,Parameter_Gyro_P1119 0a5e 8B30 cpi r24,lo8(11)1120 0a60 00F4 brsh .L2001121 0a62 8AE0 ldi r24,lo8(10)1122 0a64 00C0 rjmp .L3321123 .L200:1124 0a66 8F3F cpi r24,lo8(-1)1125 0a68 01F4 brne .L2021126 .L332:1127 0a6a 8093 0000 sts Parameter_Gyro_P,r241128 .L202:1129 0a6e 8091 0000 lds r24,EE_Parameter+231130 0a72 8B3F cpi r24,lo8(-5)1131 0a74 00F0 brlo .L2041132 0a76 8B3F cpi r24,lo8(-5)1133 0a78 01F4 brne .L2061134 0a7a 8091 0000 lds r24,Poti11135 0a7e 00C0 rjmp .L2041136 .L206:1137 0a80 8C3F cpi r24,lo8(-4)1138 0a82 01F4 brne .L2091139 0a84 8091 0000 lds r24,Poti21140 0a88 00C0 rjmp .L2041141 .L209:1142 0a8a 8D3F cpi r24,lo8(-3)1143 0a8c 01F4 brne .L2111144 0a8e 8091 0000 lds r24,Poti31145 0a92 00C0 rjmp .L2041146 .L211:1147 0a94 8E3F cpi r24,lo8(-2)1148 0a96 01F4 brne .L2081149 0a98 8091 0000 lds r24,Poti41150 .L204:1151 0a9c 8093 0000 sts Parameter_Gyro_I,r241152 .L208:1153 0aa0 8091 0000 lds r24,Parameter_Gyro_I1154 0aa4 8823 tst r241155 0aa6 01F4 brne .L2141156 0aa8 1092 0000 sts Parameter_Gyro_I,__zero_reg__1157 0aac 00C0 rjmp .L2161158 .L214:1159 0aae 8F3F cpi r24,lo8(-1)1160 0ab0 01F4 brne .L2161161 0ab2 8093 0000 sts Parameter_Gyro_I,r241162 .L216:1163 0ab6 8091 0000 lds r24,EE_Parameter+281164 0aba 8B3F cpi r24,lo8(-5)1165 0abc 00F0 brlo .L2181166 0abe 8B3F cpi r24,lo8(-5)1167 0ac0 01F4 brne .L2201168 0ac2 8091 0000 lds r24,Poti11169 0ac6 00C0 rjmp .L2181170 .L220:1171 0ac8 8C3F cpi r24,lo8(-4)1172 0aca 01F4 brne .L2231173 0acc 8091 0000 lds r24,Poti21174 0ad0 00C0 rjmp .L2181175 .L223:1176 0ad2 8D3F cpi r24,lo8(-3)1177 0ad4 01F4 brne .L2251178 0ad6 8091 0000 lds r24,Poti31179 0ada 00C0 rjmp .L2181180 .L225:1181 0adc 8E3F cpi r24,lo8(-2)1182 0ade 01F4 brne .L2221183 0ae0 8091 0000 lds r24,Poti41184 .L218:1185 0ae4 8093 0000 sts Parameter_I_Faktor,r241186 .L222:1187 0ae8 8091 0000 lds r24,Parameter_I_Faktor1188 0aec 8823 tst r241189 0aee 01F4 brne .L2281190 0af0 1092 0000 sts Parameter_I_Faktor,__zero_reg__1191 0af4 00C0 rjmp .L2301192 .L228:1193 0af6 8F3F cpi r24,lo8(-1)1194 0af8 01F4 brne .L2301195 0afa 8093 0000 sts Parameter_I_Faktor,r241196 .L230:1197 0afe 8091 0000 lds r24,EE_Parameter+291198 0b02 8B3F cpi r24,lo8(-5)1199 0b04 00F0 brlo .L2321200 0b06 8B3F cpi r24,lo8(-5)1201 0b08 01F4 brne .L2341202 0b0a 8091 0000 lds r24,Poti11203 0b0e 00C0 rjmp .L2321204 .L234:1205 0b10 8C3F cpi r24,lo8(-4)1206 0b12 01F4 brne .L2371207 0b14 8091 0000 lds r24,Poti21208 0b18 00C0 rjmp .L2321209 .L237:1210 0b1a 8D3F cpi r24,lo8(-3)1211 0b1c 01F4 brne .L2391212 0b1e 8091 0000 lds r24,Poti31213 0b22 00C0 rjmp .L2321214 .L239:1215 0b24 8E3F cpi r24,lo8(-2)1216 0b26 01F4 brne .L2361217 0b28 8091 0000 lds r24,Poti41218 .L232:1219 0b2c 8093 0000 sts Parameter_UserParam1,r241220 .L236:1221 0b30 8091 0000 lds r24,Parameter_UserParam11222 0b34 8823 tst r241223 0b36 01F4 brne .L2421224 0b38 1092 0000 sts Parameter_UserParam1,__zero_reg__1225 0b3c 00C0 rjmp .L2441226 .L242:1227 0b3e 8F3F cpi r24,lo8(-1)1228 0b40 01F4 brne .L2441229 0b42 8093 0000 sts Parameter_UserParam1,r241230 .L244:1231 0b46 8091 0000 lds r24,EE_Parameter+301232 0b4a 8B3F cpi r24,lo8(-5)1233 0b4c 00F0 brlo .L2461234 0b4e 8B3F cpi r24,lo8(-5)1235 0b50 01F4 brne .L2481236 0b52 8091 0000 lds r24,Poti11237 0b56 00C0 rjmp .L2461238 .L248:1239 0b58 8C3F cpi r24,lo8(-4)1240 0b5a 01F4 brne .L2511241 0b5c 8091 0000 lds r24,Poti21242 0b60 00C0 rjmp .L2461243 .L251:1244 0b62 8D3F cpi r24,lo8(-3)1245 0b64 01F4 brne .L2531246 0b66 8091 0000 lds r24,Poti31247 0b6a 00C0 rjmp .L2461248 .L253:1249 0b6c 8E3F cpi r24,lo8(-2)1250 0b6e 01F4 brne .L2501251 0b70 8091 0000 lds r24,Poti41252 .L246:1253 0b74 8093 0000 sts Parameter_UserParam2,r241254 .L250:1255 0b78 8091 0000 lds r24,Parameter_UserParam21256 0b7c 8823 tst r241257 0b7e 01F4 brne .L2561258 0b80 1092 0000 sts Parameter_UserParam2,__zero_reg__1259 0b84 00C0 rjmp .L2581260 .L256:1261 0b86 8F3F cpi r24,lo8(-1)1262 0b88 01F4 brne .L2581263 0b8a 8093 0000 sts Parameter_UserParam2,r241264 .L258:1265 0b8e 8091 0000 lds r24,EE_Parameter+311266 0b92 8B3F cpi r24,lo8(-5)1267 0b94 00F0 brlo .L2601268 0b96 8B3F cpi r24,lo8(-5)1269 0b98 01F4 brne .L2621270 0b9a 8091 0000 lds r24,Poti11271 0b9e 00C0 rjmp .L2601272 .L262:1273 0ba0 8C3F cpi r24,lo8(-4)1274 0ba2 01F4 brne .L2651275 0ba4 8091 0000 lds r24,Poti21276 0ba8 00C0 rjmp .L2601277 .L265:1278 0baa 8D3F cpi r24,lo8(-3)1279 0bac 01F4 brne .L2671280 0bae 8091 0000 lds r24,Poti31281 0bb2 00C0 rjmp .L2601282 .L267:1283 0bb4 8E3F cpi r24,lo8(-2)1284 0bb6 01F4 brne .L2641285 0bb8 8091 0000 lds r24,Poti41286 .L260:1287 0bbc 8093 0000 sts Parameter_UserParam3,r241288 .L264:1289 0bc0 8091 0000 lds r24,Parameter_UserParam31290 0bc4 8823 tst r241291 0bc6 01F4 brne .L2701292 0bc8 1092 0000 sts Parameter_UserParam3,__zero_reg__1293 0bcc 00C0 rjmp .L2721294 .L270:1295 0bce 8F3F cpi r24,lo8(-1)1296 0bd0 01F4 brne .L2721297 0bd2 8093 0000 sts Parameter_UserParam3,r241298 .L272:1299 0bd6 8091 0000 lds r24,EE_Parameter+321300 0bda 8B3F cpi r24,lo8(-5)1301 0bdc 00F0 brlo .L2741302 0bde 8B3F cpi r24,lo8(-5)1303 0be0 01F4 brne .L2761304 0be2 8091 0000 lds r24,Poti11305 0be6 00C0 rjmp .L2741306 .L276:1307 0be8 8C3F cpi r24,lo8(-4)1308 0bea 01F4 brne .L2791309 0bec 8091 0000 lds r24,Poti21310 0bf0 00C0 rjmp .L2741311 .L279:1312 0bf2 8D3F cpi r24,lo8(-3)1313 0bf4 01F4 brne .L2811314 0bf6 8091 0000 lds r24,Poti31315 0bfa 00C0 rjmp .L2741316 .L281:1317 0bfc 8E3F cpi r24,lo8(-2)1318 0bfe 01F4 brne .L2781319 0c00 8091 0000 lds r24,Poti41320 .L274:1321 0c04 8093 0000 sts Parameter_UserParam4,r241322 .L278:1323 0c08 8091 0000 lds r24,Parameter_UserParam41324 0c0c 8823 tst r241325 0c0e 01F4 brne .L2841326 0c10 1092 0000 sts Parameter_UserParam4,__zero_reg__1327 0c14 00C0 rjmp .L2861328 .L284:1329 0c16 8F3F cpi r24,lo8(-1)1330 0c18 01F4 brne .L2861331 0c1a 8093 0000 sts Parameter_UserParam4,r241332 .L286:1333 0c1e 9091 0000 lds r25,EE_Parameter+331334 0c22 9B3F cpi r25,lo8(-5)1335 0c24 00F0 brlo .L2881336 0c26 9B3F cpi r25,lo8(-5)1337 0c28 01F4 brne .L2901338 0c2a 8091 0000 lds r24,Poti11339 0c2e 00C0 rjmp .L3331340 .L290:1341 0c30 9C3F cpi r25,lo8(-4)1342 0c32 01F4 brne .L2931343 0c34 8091 0000 lds r24,Poti21344 .L333:1345 0c38 8093 0000 sts Parameter_ServoNickControl,r241346 0c3c 00C0 rjmp .L2921347 .L293:1348 0c3e 9D3F cpi r25,lo8(-3)1349 0c40 01F4 brne .L2951350 0c42 8091 0000 lds r24,Poti31351 0c46 00C0 rjmp .L3331352 .L295:1353 0c48 9E3F cpi r25,lo8(-2)1354 0c4a 01F4 brne .L2921355 0c4c 8091 0000 lds r24,Poti41356 0c50 00C0 rjmp .L3331357 .L288:1358 0c52 9093 0000 sts Parameter_ServoNickControl,r251359 .L292:1360 0c56 8091 0000 lds r24,Parameter_ServoNickControl1361 0c5a 8823 tst r241362 0c5c 01F4 brne .L2981363 0c5e 1092 0000 sts Parameter_ServoNickControl,__zero_reg__1364 0c62 00C0 rjmp .L3001365 .L298:1366 0c64 8F3F cpi r24,lo8(-1)1367 0c66 01F4 brne .L3001368 0c68 8093 0000 sts Parameter_ServoNickControl,r241369 .L300:1370 0c6c 9B3F cpi r25,lo8(-5)1371 0c6e 00F0 brlo .L3021372 0c70 9B3F cpi r25,lo8(-5)1373 0c72 01F4 brne .L3041374 0c74 8091 0000 lds r24,Poti11375 0c78 00C0 rjmp .L3341376 .L304:1377 0c7a 9C3F cpi r25,lo8(-4)1378 0c7c 01F4 brne .L3071379 0c7e 8091 0000 lds r24,Poti21380 .L334:1381 0c82 8093 0000 sts Parameter_ServoNickControl,r241382 0c86 00C0 rjmp .L3061383 .L307:1384 0c88 9D3F cpi r25,lo8(-3)1385 0c8a 01F4 brne .L3091386 0c8c 8091 0000 lds r24,Poti31387 0c90 00C0 rjmp .L3341388 .L309:1389 0c92 9E3F cpi r25,lo8(-2)1390 0c94 01F4 brne .L3061391 0c96 8091 0000 lds r24,Poti41392 0c9a 00C0 rjmp .L3341393 .L302:1394 0c9c 9093 0000 sts Parameter_ServoNickControl,r251395 .L306:1396 0ca0 8091 0000 lds r24,Parameter_ServoNickControl1397 0ca4 8823 tst r241398 0ca6 01F4 brne .L3121399 0ca8 1092 0000 sts Parameter_ServoNickControl,__zero_reg__1400 0cac 00C0 rjmp .L3141401 .L312:1402 0cae 8F3F cpi r24,lo8(-1)1403 0cb0 01F4 brne .L3141404 0cb2 8093 0000 sts Parameter_ServoNickControl,r241405 .L314:1406 0cb6 9B3F cpi r25,lo8(-5)1407 0cb8 00F0 brlo .L3161408 0cba 9B3F cpi r25,lo8(-5)1409 0cbc 01F4 brne .L3181410 0cbe 8091 0000 lds r24,Poti11411 0cc2 00C0 rjmp .L3351412 .L318:1413 0cc4 9C3F cpi r25,lo8(-4)1414 0cc6 01F4 brne .L3211415 0cc8 8091 0000 lds r24,Poti21416 .L335:1417 0ccc 8093 0000 sts Parameter_ServoNickControl,r241418 0cd0 00C0 rjmp .L3201419 .L321:1420 0cd2 9D3F cpi r25,lo8(-3)1421 0cd4 01F4 brne .L3231422 0cd6 8091 0000 lds r24,Poti31423 0cda 00C0 rjmp .L3351424 .L323:1425 0cdc 9E3F cpi r25,lo8(-2)1426 0cde 01F4 brne .L3201427 0ce0 8091 0000 lds r24,Poti41428 0ce4 00C0 rjmp .L3351429 .L316:1430 0ce6 9093 0000 sts Parameter_ServoNickControl,r251431 .L320:1432 0cea 8091 0000 lds r24,Parameter_ServoNickControl1433 0cee 8823 tst r241434 0cf0 01F4 brne .L3261435 0cf2 1092 0000 sts Parameter_ServoNickControl,__zero_reg__1436 0cf6 00C0 rjmp .L3281437 .L326:1438 0cf8 8F3F cpi r24,lo8(-1)1439 0cfa 01F4 brne .L3281440 0cfc 8093 0000 sts Parameter_ServoNickControl,r241441 .L328:1442 0d00 1091 0000 lds r17,Parameter_I_Faktor1443 0d04 612F mov r22,r171444 0d06 7727 clr r231445 0d08 67FD sbrc r22,71446 0d0a 7095 com r231447 0d0c 872F mov r24,r231448 0d0e 972F mov r25,r231449 0d10 0E94 0000 call __floatsisf1450 0d14 17FF sbrs r17,71451 0d16 00C0 rjmp .L3301452 0d18 20E0 ldi r18,lo8(0x43800000)1453 0d1a 30E0 ldi r19,hi8(0x43800000)1454 0d1c 40E8 ldi r20,hlo8(0x43800000)1455 0d1e 53E4 ldi r21,hhi8(0x43800000)1456 0d20 0E94 0000 call __addsf31457 .L330:1458 0d24 27E1 ldi r18,lo8(0x38d1b717)1459 0d26 37EB ldi r19,hi8(0x38d1b717)1460 0d28 41ED ldi r20,hlo8(0x38d1b717)1461 0d2a 58E3 ldi r21,hhi8(0x38d1b717)1462 0d2c 0E94 0000 call __mulsf31463 0d30 6093 0000 sts Ki,r221464 0d34 7093 0000 sts (Ki)+1,r231465 0d38 8093 0000 sts (Ki)+2,r241466 0d3c 9093 0000 sts (Ki)+3,r251467 0d40 8091 0000 lds r24,EE_Parameter+191468 0d44 8093 0000 sts MAX_GAS,r241469 0d48 8091 0000 lds r24,EE_Parameter+181470 0d4c 8093 0000 sts MIN_GAS,r241471 /* epilogue: frame size=0 */1472 0d50 1F91 pop r171473 0d52 0895 ret1474 /* epilogue end (size=2) */1475 /* function ParameterZuordnung size 589 (586) */1477 .data1478 .LC0:1479 0000 4B61 6D65 .string "Kamera"1479 7261 001480 0007 00 .string ""1481 .text1482 .global DefaultKonstanten21484 DefaultKonstanten2:1485 /* prologue: frame size=0 */1486 /* prologue end (size=0) */1487 0d54 81E0 ldi r24,lo8(1)1488 0d56 8093 0000 sts EE_Parameter,r241489 0d5a 42E0 ldi r20,lo8(2)1490 0d5c 4093 0000 sts EE_Parameter+1,r201491 0d60 83E0 ldi r24,lo8(3)1492 0d62 8093 0000 sts EE_Parameter+2,r241493 0d66 24E0 ldi r18,lo8(4)1494 0d68 2093 0000 sts EE_Parameter+3,r181495 0d6c 35E0 ldi r19,lo8(5)1496 0d6e 3093 0000 sts EE_Parameter+4,r191497 0d72 86E0 ldi r24,lo8(6)1498 0d74 8093 0000 sts EE_Parameter+5,r241499 0d78 87E0 ldi r24,lo8(7)1500 0d7a 8093 0000 sts EE_Parameter+6,r241501 0d7e 1092 0000 sts EE_Parameter+8,__zero_reg__1502 0d82 8EE1 ldi r24,lo8(30)1503 0d84 8093 0000 sts EE_Parameter+9,r241504 0d88 8BEF ldi r24,lo8(-5)1505 0d8a 8093 0000 sts EE_Parameter+11,r241506 0d8e 8AE0 ldi r24,lo8(10)1507 0d90 8093 0000 sts EE_Parameter+12,r241508 0d94 92E3 ldi r25,lo8(50)1509 0d96 9093 0000 sts EE_Parameter+10,r251510 0d9a 9093 0000 sts EE_Parameter+14,r251511 0d9e 4093 0000 sts EE_Parameter+13,r201512 0da2 2093 0000 sts EE_Parameter+15,r181513 0da6 1092 0000 sts EE_Parameter+16,__zero_reg__1514 0daa 80E1 ldi r24,lo8(16)1515 0dac 8093 0000 sts EE_Parameter+17,r241516 0db0 8FE0 ldi r24,lo8(15)1517 0db2 8093 0000 sts EE_Parameter+18,r241518 0db6 8AEF ldi r24,lo8(-6)1519 0db8 8093 0000 sts EE_Parameter+19,r241520 0dbc 8AE1 ldi r24,lo8(26)1521 0dbe 8093 0000 sts EE_Parameter+20,r241522 0dc2 80E8 ldi r24,lo8(-128)1523 0dc4 8093 0000 sts EE_Parameter+21,r241524 0dc8 8FEA ldi r24,lo8(-81)1525 0dca 8093 0000 sts EE_Parameter+22,r241526 0dce 8093 0000 sts EE_Parameter+23,r241527 0dd2 8AE5 ldi r24,lo8(90)1528 0dd4 8093 0000 sts EE_Parameter+24,r241529 0dd8 83E2 ldi r24,lo8(35)1530 0dda 8093 0000 sts EE_Parameter+25,r241531 0dde 84E1 ldi r24,lo8(20)1532 0de0 8093 0000 sts EE_Parameter+26,r241533 0de4 1092 0000 sts EE_Parameter+27,__zero_reg__1534 0de8 3093 0000 sts EE_Parameter+28,r191535 0dec 1092 0000 sts EE_Parameter+29,__zero_reg__1536 0df0 1092 0000 sts EE_Parameter+30,__zero_reg__1537 0df4 1092 0000 sts EE_Parameter+31,__zero_reg__1538 0df8 1092 0000 sts EE_Parameter+32,__zero_reg__1539 0dfc 84E6 ldi r24,lo8(100)1540 0dfe 8093 0000 sts EE_Parameter+33,r241541 0e02 88E2 ldi r24,lo8(40)1542 0e04 8093 0000 sts EE_Parameter+34,r241543 0e08 1092 0000 sts EE_Parameter+38,__zero_reg__1544 0e0c 9093 0000 sts EE_Parameter+35,r251545 0e10 86E9 ldi r24,lo8(-106)1546 0e12 8093 0000 sts EE_Parameter+36,r241547 0e16 3093 0000 sts EE_Parameter+37,r191548 0e1a A0E0 ldi r26,lo8(EE_Parameter+46)1549 0e1c B0E0 ldi r27,hi8(EE_Parameter+46)1550 0e1e E0E0 ldi r30,lo8(.LC0)1551 0e20 F0E0 ldi r31,hi8(.LC0)1552 0e22 8CE0 ldi r24,lo8(12)1553 .L337:1554 0e24 0190 ld r0,Z+1555 0e26 0D92 st X+,r01556 0e28 8150 subi r24,lo8(-(-1))1557 0e2a 01F4 brne .L3371558 /* epilogue: frame size=0 */1559 0e2c 0895 ret1560 /* epilogue end (size=1) */1561 /* function DefaultKonstanten2 size 110 (109) */1563 .data1564 .LC1:1565 0008 4E6F 726D .string "Normal"1565 616C 001566 000f 00 .string ""1567 .text1568 .global DefaultKonstanten11570 DefaultKonstanten1:1571 /* prologue: frame size=0 */1572 /* prologue end (size=0) */1573 0e2e 81E0 ldi r24,lo8(1)1574 0e30 8093 0000 sts EE_Parameter,r241575 0e34 52E0 ldi r21,lo8(2)1576 0e36 5093 0000 sts EE_Parameter+1,r211577 0e3a 83E0 ldi r24,lo8(3)1578 0e3c 8093 0000 sts EE_Parameter+2,r241579 0e40 44E0 ldi r20,lo8(4)1580 0e42 4093 0000 sts EE_Parameter+3,r201581 0e46 35E0 ldi r19,lo8(5)1582 0e48 3093 0000 sts EE_Parameter+4,r191583 0e4c 86E0 ldi r24,lo8(6)1584 0e4e 8093 0000 sts EE_Parameter+5,r241585 0e52 87E0 ldi r24,lo8(7)1586 0e54 8093 0000 sts EE_Parameter+6,r241587 0e58 28E0 ldi r18,lo8(8)1588 0e5a 2093 0000 sts EE_Parameter+7,r181589 0e5e 1092 0000 sts EE_Parameter+8,__zero_reg__1590 0e62 9EE1 ldi r25,lo8(30)1591 0e64 9093 0000 sts EE_Parameter+9,r251592 0e68 8BEF ldi r24,lo8(-5)1593 0e6a 8093 0000 sts EE_Parameter+11,r241594 0e6e 8AE0 ldi r24,lo8(10)1595 0e70 8093 0000 sts EE_Parameter+12,r241596 0e74 86E4 ldi r24,lo8(70)1597 0e76 8093 0000 sts EE_Parameter+10,r241598 0e7a 9093 0000 sts EE_Parameter+14,r251599 0e7e 5093 0000 sts EE_Parameter+13,r211600 0e82 4093 0000 sts EE_Parameter+15,r201601 0e86 2093 0000 sts EE_Parameter+16,r181602 0e8a 80E1 ldi r24,lo8(16)1603 0e8c 8093 0000 sts EE_Parameter+17,r241604 0e90 8FE0 ldi r24,lo8(15)1605 0e92 8093 0000 sts EE_Parameter+18,r241606 0e96 8AEF ldi r24,lo8(-6)1607 0e98 8093 0000 sts EE_Parameter+19,r241608 0e9c 8AE1 ldi r24,lo8(26)1609 0e9e 8093 0000 sts EE_Parameter+20,r241610 0ea2 80E8 ldi r24,lo8(-128)1611 0ea4 8093 0000 sts EE_Parameter+21,r241612 0ea8 88E7 ldi r24,lo8(120)1613 0eaa 8093 0000 sts EE_Parameter+22,r241614 0eae 96E9 ldi r25,lo8(-106)1615 0eb0 9093 0000 sts EE_Parameter+23,r251616 0eb4 8AE5 ldi r24,lo8(90)1617 0eb6 8093 0000 sts EE_Parameter+24,r241618 0eba 83E2 ldi r24,lo8(35)1619 0ebc 8093 0000 sts EE_Parameter+25,r241620 0ec0 84E1 ldi r24,lo8(20)1621 0ec2 8093 0000 sts EE_Parameter+26,r241622 0ec6 1092 0000 sts EE_Parameter+27,__zero_reg__1623 0eca 3093 0000 sts EE_Parameter+28,r191624 0ece 1092 0000 sts EE_Parameter+29,__zero_reg__1625 0ed2 1092 0000 sts EE_Parameter+30,__zero_reg__1626 0ed6 1092 0000 sts EE_Parameter+31,__zero_reg__1627 0eda 1092 0000 sts EE_Parameter+32,__zero_reg__1628 0ede 84E6 ldi r24,lo8(100)1629 0ee0 8093 0000 sts EE_Parameter+33,r241630 0ee4 88E2 ldi r24,lo8(40)1631 0ee6 8093 0000 sts EE_Parameter+34,r241632 0eea 1092 0000 sts EE_Parameter+38,__zero_reg__1633 0eee 82E3 ldi r24,lo8(50)1634 0ef0 8093 0000 sts EE_Parameter+35,r241635 0ef4 9093 0000 sts EE_Parameter+36,r251636 0ef8 3093 0000 sts EE_Parameter+37,r191637 0efc A0E0 ldi r26,lo8(EE_Parameter+46)1638 0efe B0E0 ldi r27,hi8(EE_Parameter+46)1639 0f00 E0E0 ldi r30,lo8(.LC1)1640 0f02 F0E0 ldi r31,hi8(.LC1)1641 0f04 8CE0 ldi r24,lo8(12)1642 .L342:1643 0f06 0190 ld r0,Z+1644 0f08 0D92 st X+,r01645 0f0a 8150 subi r24,lo8(-(-1))1646 0f0c 01F4 brne .L3421647 /* epilogue: frame size=0 */1648 0f0e 0895 ret1649 /* epilogue end (size=1) */1650 /* function DefaultKonstanten1 size 114 (113) */1652 .global SendMotorData1654 SendMotorData:1655 /* prologue: frame size=0 */1656 /* prologue end (size=0) */1657 0f10 8091 0000 lds r24,MotorenEin1658 0f14 8823 tst r241659 0f16 01F4 brne .L3471660 0f18 1092 0000 sts Motor_Hinten,__zero_reg__1661 0f1c 1092 0000 sts Motor_Vorne,__zero_reg__1662 0f20 1092 0000 sts Motor_Rechts,__zero_reg__1663 0f24 1092 0000 sts Motor_Links,__zero_reg__1664 0f28 8091 0000 lds r24,MotorTest1665 0f2c 8823 tst r241666 0f2e 01F0 breq .L3491667 0f30 8093 0000 sts Motor_Vorne,r241668 .L349:1669 0f34 8091 0000 lds r24,MotorTest+11670 0f38 8823 tst r241671 0f3a 01F0 breq .L3511672 0f3c 8093 0000 sts Motor_Hinten,r241673 .L351:1674 0f40 8091 0000 lds r24,MotorTest+21675 0f44 8823 tst r241676 0f46 01F0 breq .L3531677 0f48 8093 0000 sts Motor_Links,r241678 .L353:1679 0f4c 8091 0000 lds r24,MotorTest+31680 0f50 8823 tst r241681 0f52 01F0 breq .L3471682 0f54 8093 0000 sts Motor_Rechts,r241683 .L347:1684 0f58 8091 0000 lds r24,Motor_Vorne1685 0f5c 9927 clr r251686 0f5e 9093 0000 sts (DebugOut+42)+1,r251687 0f62 8093 0000 sts DebugOut+42,r241688 0f66 8091 0000 lds r24,Motor_Hinten1689 0f6a 9927 clr r251690 0f6c 9093 0000 sts (DebugOut+44)+1,r251691 0f70 8093 0000 sts DebugOut+44,r241692 0f74 8091 0000 lds r24,Motor_Links1693 0f78 9927 clr r251694 0f7a 9093 0000 sts (DebugOut+46)+1,r251695 0f7e 8093 0000 sts DebugOut+46,r241696 0f82 8091 0000 lds r24,Motor_Rechts1697 0f86 9927 clr r251698 0f88 9093 0000 sts (DebugOut+48)+1,r251699 0f8c 8093 0000 sts DebugOut+48,r241700 0f90 1092 0000 sts twi_state,__zero_reg__1701 0f94 1092 0000 sts motor,__zero_reg__1702 0f98 0E94 0000 call i2c_start1703 /* epilogue: frame size=0 */1704 0f9c 0895 ret1705 /* epilogue end (size=1) */1706 /* function SendMotorData size 71 (70) */1708 .global SetNeutral1710 SetNeutral:1711 /* prologue: frame size=0 */1712 0f9e CF93 push r281713 0fa0 DF93 push r291714 /* prologue end (size=2) */1715 0fa2 1092 0000 sts (NeutralAccX)+1,__zero_reg__1716 0fa6 1092 0000 sts NeutralAccX,__zero_reg__1717 0faa 1092 0000 sts (NeutralAccY)+1,__zero_reg__1718 0fae 1092 0000 sts NeutralAccY,__zero_reg__1719 0fb2 80E0 ldi r24,lo8(0x0)1720 0fb4 90E0 ldi r25,hi8(0x0)1721 0fb6 A0E0 ldi r26,hlo8(0x0)1722 0fb8 B0E0 ldi r27,hhi8(0x0)1723 0fba 8093 0000 sts NeutralAccZ,r241724 0fbe 9093 0000 sts (NeutralAccZ)+1,r251725 0fc2 A093 0000 sts (NeutralAccZ)+2,r261726 0fc6 B093 0000 sts (NeutralAccZ)+3,r271727 0fca 1092 0000 sts (AdNeutralNick)+1,__zero_reg__1728 0fce 1092 0000 sts AdNeutralNick,__zero_reg__1729 0fd2 1092 0000 sts (AdNeutralRoll)+1,__zero_reg__1730 0fd6 1092 0000 sts AdNeutralRoll,__zero_reg__1731 0fda 1092 0000 sts (AdNeutralGier)+1,__zero_reg__1732 0fde 1092 0000 sts AdNeutralGier,__zero_reg__1733 0fe2 0E94 0000 call CalibrierMittelwert1734 0fe6 85E0 ldi r24,lo8(5)1735 0fe8 90E0 ldi r25,hi8(5)1736 0fea 0E94 0000 call SetDelay1737 0fee EC01 movw r28,r241738 .L358:1739 0ff0 CE01 movw r24,r281740 0ff2 0E94 0000 call CheckDelay1741 0ff6 8823 tst r241742 0ff8 01F0 breq .L3581743 0ffa 0E94 0000 call CalibrierMittelwert1744 0ffe 8091 0000 lds r24,EE_Parameter+81745 1002 80FF sbrs r24,01746 1004 00C0 rjmp .L3601747 1006 8091 0000 lds r24,MessLuftdruck1748 100a 9091 0000 lds r25,(MessLuftdruck)+11749 100e 875B subi r24,lo8(951)1750 1010 9340 sbci r25,hi8(951)1751 1012 00F4 brsh .L3621752 1014 8091 0000 lds r24,MessLuftdruck1753 1018 9091 0000 lds r25,(MessLuftdruck)+11754 101c 8E5E subi r24,lo8(750)1755 101e 9240 sbci r25,hi8(750)1756 1020 00F4 brsh .L3601757 .L362:1758 1022 0E94 0000 call SucheLuftruckOffset1759 .L360:1760 1026 8091 0000 lds r24,MesswertNick1761 102a 9091 0000 lds r25,(MesswertNick)+11762 102e 97FF sbrs r25,71763 1030 00C0 rjmp .L3641764 1032 9095 com r251765 1034 8195 neg r241766 1036 9F4F sbci r25,lo8(-1)1767 .L364:1768 1038 9093 0000 sts (AdNeutralNick)+1,r251769 103c 8093 0000 sts AdNeutralNick,r241770 1040 8091 0000 lds r24,MesswertRoll1771 1044 9091 0000 lds r25,(MesswertRoll)+11772 1048 97FF sbrs r25,71773 104a 00C0 rjmp .L3651774 104c 9095 com r251775 104e 8195 neg r241776 1050 9F4F sbci r25,lo8(-1)1777 .L365:1778 1052 9093 0000 sts (AdNeutralRoll)+1,r251779 1056 8093 0000 sts AdNeutralRoll,r241780 105a 8091 0000 lds r24,MesswertGier1781 105e 9091 0000 lds r25,(MesswertGier)+11782 1062 97FF sbrs r25,71783 1064 00C0 rjmp .L3661784 1066 9095 com r251785 1068 8195 neg r241786 106a 9F4F sbci r25,lo8(-1)1787 .L366:1788 106c 9093 0000 sts (AdNeutralGier)+1,r251789 1070 8093 0000 sts AdNeutralGier,r241790 1074 8091 0000 lds r24,Mittelwert_AccRoll1791 1078 9091 0000 lds r25,(Mittelwert_AccRoll)+11792 107c 97FF sbrs r25,71793 107e 00C0 rjmp .L3671794 1080 9095 com r251795 1082 8195 neg r241796 1084 9F4F sbci r25,lo8(-1)1797 .L367:1798 1086 60E1 ldi r22,lo8(16)1799 1088 70E0 ldi r23,hi8(16)1800 108a 0E94 0000 call __divmodhi41801 108e 7093 0000 sts (NeutralAccY)+1,r231802 1092 6093 0000 sts NeutralAccY,r221803 1096 8091 0000 lds r24,Mittelwert_AccNick1804 109a 9091 0000 lds r25,(Mittelwert_AccNick)+11805 109e 97FF sbrs r25,71806 10a0 00C0 rjmp .L3681807 10a2 9095 com r251808 10a4 8195 neg r241809 10a6 9F4F sbci r25,lo8(-1)1810 .L368:1811 10a8 60E1 ldi r22,lo8(16)1812 10aa 70E0 ldi r23,hi8(16)1813 10ac 0E94 0000 call __divmodhi41814 10b0 7093 0000 sts (NeutralAccX)+1,r231815 10b4 6093 0000 sts NeutralAccX,r221816 10b8 6091 0000 lds r22,Aktuell_az1817 10bc 7091 0000 lds r23,(Aktuell_az)+11818 10c0 8827 clr r241819 10c2 77FD sbrc r23,71820 10c4 8095 com r241821 10c6 982F mov r25,r241822 10c8 0E94 0000 call __floatsisf1823 10cc 6093 0000 sts NeutralAccZ,r221824 10d0 7093 0000 sts (NeutralAccZ)+1,r231825 10d4 8093 0000 sts (NeutralAccZ)+2,r241826 10d8 9093 0000 sts (NeutralAccZ)+3,r251827 10dc 1092 0000 sts Mess_IntegralNick,__zero_reg__1828 10e0 1092 0000 sts (Mess_IntegralNick)+1,__zero_reg__1829 10e4 1092 0000 sts (Mess_IntegralNick)+2,__zero_reg__1830 10e8 1092 0000 sts (Mess_IntegralNick)+3,__zero_reg__1831 10ec 1092 0000 sts Mess_IntegralNick2,__zero_reg__1832 10f0 1092 0000 sts (Mess_IntegralNick2)+1,__zero_reg__1833 10f4 1092 0000 sts (Mess_IntegralNick2)+2,__zero_reg__1834 10f8 1092 0000 sts (Mess_IntegralNick2)+3,__zero_reg__1835 10fc 1092 0000 sts Mess_IntegralRoll,__zero_reg__1836 1100 1092 0000 sts (Mess_IntegralRoll)+1,__zero_reg__1837 1104 1092 0000 sts (Mess_IntegralRoll)+2,__zero_reg__1838 1108 1092 0000 sts (Mess_IntegralRoll)+3,__zero_reg__1839 110c 1092 0000 sts Mess_IntegralRoll2,__zero_reg__1840 1110 1092 0000 sts (Mess_IntegralRoll2)+1,__zero_reg__1841 1114 1092 0000 sts (Mess_IntegralRoll2)+2,__zero_reg__1842 1118 1092 0000 sts (Mess_IntegralRoll2)+3,__zero_reg__1843 111c 1092 0000 sts Mess_Integral_Gier,__zero_reg__1844 1120 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__1845 1124 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__1846 1128 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__1847 112c 1092 0000 sts (MesswertNick)+1,__zero_reg__1848 1130 1092 0000 sts MesswertNick,__zero_reg__1849 1134 1092 0000 sts (MesswertRoll)+1,__zero_reg__1850 1138 1092 0000 sts MesswertRoll,__zero_reg__1851 113c 1092 0000 sts (MesswertGier)+1,__zero_reg__1852 1140 1092 0000 sts MesswertGier,__zero_reg__1853 1144 8091 0000 lds r24,Luftdruck1854 1148 9091 0000 lds r25,(Luftdruck)+11855 114c A091 0000 lds r26,(Luftdruck)+21856 1150 B091 0000 lds r27,(Luftdruck)+31857 1154 9093 0000 sts (StartLuftdruck)+1,r251858 1158 8093 0000 sts StartLuftdruck,r241859 115c 1092 0000 sts (HoeheD)+1,__zero_reg__1860 1160 1092 0000 sts HoeheD,__zero_reg__1861 1164 1092 0000 sts Mess_Integral_Hoch,__zero_reg__1862 1168 1092 0000 sts (Mess_Integral_Hoch)+1,__zero_reg__1863 116c 1092 0000 sts (Mess_Integral_Hoch)+2,__zero_reg__1864 1170 1092 0000 sts (Mess_Integral_Hoch)+3,__zero_reg__1865 1174 8091 0000 lds r24,KompassValue1866 1178 9091 0000 lds r25,(KompassValue)+11867 117c 9093 0000 sts (KompassStartwert)+1,r251868 1180 8093 0000 sts KompassStartwert,r241869 1184 82E3 ldi r24,lo8(50)1870 1186 90E0 ldi r25,hi8(50)1871 1188 9093 0000 sts (beeptime)+1,r251872 118c 8093 0000 sts beeptime,r241873 /* epilogue: frame size=0 */1874 1190 DF91 pop r291875 1192 CF91 pop r281876 1194 0895 ret1877 /* epilogue end (size=3) */1878 /* function SetNeutral size 254 (249) */1880 .global Piep1882 Piep:1883 /* prologue: frame size=0 */1884 1196 1F93 push r171885 /* prologue end (size=1) */1886 1198 182F mov r17,r241887 119a 00C0 rjmp .L3731888 .L374:1889 119c 8091 0000 lds r24,MotorenEin1890 11a0 8823 tst r241891 11a2 01F4 brne .L3771892 11a4 84E6 ldi r24,lo8(100)1893 11a6 90E0 ldi r25,hi8(100)1894 11a8 9093 0000 sts (beeptime)+1,r251895 11ac 8093 0000 sts beeptime,r241896 11b0 8AEF ldi r24,lo8(250)1897 11b2 90E0 ldi r25,hi8(250)1898 11b4 0E94 0000 call Delay_ms1899 .L373:1900 11b8 1150 subi r17,11901 11ba 00F4 brcc .L3741902 .L377:1903 /* epilogue: frame size=0 */1904 11bc 1F91 pop r171905 11be 0895 ret1906 /* epilogue end (size=2) */1907 /* function Piep size 22 (19) */1909 .global MotorRegler1911 MotorRegler:1912 /* prologue: frame size=4 */1913 11c0 2F92 push r21914 11c2 3F92 push r31915 11c4 4F92 push r41916 11c6 5F92 push r51917 11c8 6F92 push r61918 11ca 7F92 push r71919 11cc 8F92 push r81920 11ce 9F92 push r91921 11d0 AF92 push r101922 11d2 BF92 push r111923 11d4 CF92 push r121924 11d6 DF92 push r131925 11d8 EF92 push r141926 11da FF92 push r151927 11dc 0F93 push r161928 11de 1F93 push r171929 11e0 CF93 push r281930 11e2 DF93 push r291931 11e4 CDB7 in r28,__SP_L__1932 11e6 DEB7 in r29,__SP_H__1933 11e8 2497 sbiw r28,41934 11ea 0FB6 in __tmp_reg__,__SREG__1935 11ec F894 cli1936 11ee DEBF out __SP_H__,r291937 11f0 0FBE out __SREG__,__tmp_reg__1938 11f2 CDBF out __SP_L__,r281939 /* prologue end (size=26) */1940 11f4 0E94 0000 call Mittelwert1941 11f8 299A sbi 37-0x20,11942 11fa E091 0000 lds r30,EE_Parameter+21943 11fe AE2F mov r26,r301944 1200 BB27 clr r271945 1202 AA0F lsl r261946 1204 BB1F rol r271947 1206 A050 subi r26,lo8(-(PPM_in))1948 1208 B040 sbci r27,hi8(-(PPM_in))1949 120a 0D90 ld __tmp_reg__,X+1950 120c BC91 ld r27,X1951 120e A02D mov r26,__tmp_reg__1952 1210 9D01 movw r18,r261953 1212 2858 subi r18,lo8(-(120))1954 1214 3F4F sbci r19,hi8(-(120))1955 1216 3A83 std Y+2,r191956 1218 2983 std Y+1,r181957 121a 37FF sbrs r19,71958 121c 00C0 rjmp .L3791959 121e 1A82 std Y+2,__zero_reg__1960 1220 1982 std Y+1,__zero_reg__1961 .L379:1962 1222 8091 0000 lds r24,SenderOkay1963 1226 8436 cpi r24,lo8(100)1964 1228 00F0 brlo .+21965 122a 00C0 rjmp .L3801966 122c 8091 0000 lds r24,PcZugriff1967 1230 8823 tst r241968 1232 01F4 brne .L3821969 1234 84EF ldi r24,lo8(500)1970 1236 91E0 ldi r25,hi8(500)1971 1238 9093 0000 sts (beeptime)+1,r251972 123c 8093 0000 sts beeptime,r241973 .L382:1974 1240 8091 0000 lds r24,RcLostTimer.23571975 1244 9091 0000 lds r25,(RcLostTimer.2357)+11976 1248 0097 sbiw r24,01977 124a 01F0 breq .L3841978 124c 0197 sbiw r24,11979 124e 9093 0000 sts (RcLostTimer.2357)+1,r251980 1252 8093 0000 sts RcLostTimer.2357,r241981 1256 00C0 rjmp .L3861982 .L384:1983 1258 1092 0000 sts MotorenEin,__zero_reg__1984 125c 1092 0000 sts Notlandung,__zero_reg__1985 .L386:1986 1260 289A sbi 37-0x20,01987 1262 8091 0000 lds r24,modell_fliegt.23611988 1266 9091 0000 lds r25,(modell_fliegt.2361)+11989 126a 815D subi r24,lo8(2001)1990 126c 9740 sbci r25,hi8(2001)1991 126e 00F0 brlo .L3871992 1270 8091 0000 lds r24,EE_Parameter+251993 1274 482F mov r20,r241994 1276 5527 clr r211995 1278 5A83 std Y+2,r211996 127a 4983 std Y+1,r201997 127c 81E0 ldi r24,lo8(1)1998 127e 8093 0000 sts Notlandung,r241999 1282 E091 0000 lds r30,EE_Parameter2000 1286 FF27 clr r312001 1288 EE0F lsl r302002 128a FF1F rol r312003 128c E050 subi r30,lo8(-(PPM_in))2004 128e F040 sbci r31,hi8(-(PPM_in))2005 1290 1182 std Z+1,__zero_reg__2006 1292 1082 st Z,__zero_reg__2007 1294 E091 0000 lds r30,EE_Parameter+12008 1298 FF27 clr r312009 129a EE0F lsl r302010 129c FF1F rol r312011 129e E050 subi r30,lo8(-(PPM_in))2012 12a0 F040 sbci r31,hi8(-(PPM_in))2013 12a2 1182 std Z+1,__zero_reg__2014 12a4 1082 st Z,__zero_reg__2015 12a6 E091 0000 lds r30,EE_Parameter+32016 12aa FF27 clr r312017 12ac EE0F lsl r302018 12ae FF1F rol r312019 12b0 E050 subi r30,lo8(-(PPM_in))2020 12b2 F040 sbci r31,hi8(-(PPM_in))2021 12b4 1182 std Z+1,__zero_reg__2022 12b6 1082 st Z,__zero_reg__2023 12b8 00C0 rjmp .L3892024 .L387:2025 12ba 1092 0000 sts MotorenEin,__zero_reg__2026 12be 00C0 rjmp .L3892027 .L380:2028 12c0 8091 0000 lds r24,SenderOkay2029 12c4 8D38 cpi r24,lo8(-115)2030 12c6 00F4 brsh .+22031 12c8 00C0 rjmp .L3892032 12ca 1092 0000 sts Notlandung,__zero_reg__2033 12ce 8091 0000 lds r24,EE_Parameter+262034 12d2 22E3 ldi r18,lo8(50)2035 12d4 829F mul r24,r182036 12d6 C001 movw r24,r02037 12d8 1124 clr r12038 12da 9093 0000 sts (RcLostTimer.2357)+1,r252039 12de 8093 0000 sts RcLostTimer.2357,r242040 12e2 6981 ldd r22,Y+12041 12e4 7A81 ldd r23,Y+22042 12e6 6932 cpi r22,412043 12e8 7105 cpc r23,__zero_reg__2044 12ea 04F0 brlt .L3912045 12ec 8091 0000 lds r24,modell_fliegt.23612046 12f0 9091 0000 lds r25,(modell_fliegt.2361)+12047 12f4 7FEF ldi r23,hi8(-1)2048 12f6 8F3F cpi r24,lo8(-1)2049 12f8 9707 cpc r25,r232050 12fa 01F0 breq .L3932051 12fc 0196 adiw r24,12052 12fe 9093 0000 sts (modell_fliegt.2361)+1,r252053 1302 8093 0000 sts modell_fliegt.2361,r242054 .L391:2055 1306 8091 0000 lds r24,modell_fliegt.23612056 130a 9091 0000 lds r25,(modell_fliegt.2361)+12057 130e 883C cpi r24,2002058 1310 9105 cpc r25,__zero_reg__2059 1312 00F0 brlo .L3952060 1314 8981 ldd r24,Y+12061 1316 9A81 ldd r25,Y+22062 1318 8897 sbiw r24,402063 131a 04F4 brge .L3932064 .L395:2065 131c 1092 0000 sts SummeNick.2350,__zero_reg__2066 1320 1092 0000 sts (SummeNick.2350)+1,__zero_reg__2067 1324 1092 0000 sts (SummeNick.2350)+2,__zero_reg__2068 1328 1092 0000 sts (SummeNick.2350)+3,__zero_reg__2069 132c 1092 0000 sts SummeRoll.2351,__zero_reg__2070 1330 1092 0000 sts (SummeRoll.2351)+1,__zero_reg__2071 1334 1092 0000 sts (SummeRoll.2351)+2,__zero_reg__2072 1338 1092 0000 sts (SummeRoll.2351)+3,__zero_reg__2073 133c 1092 0000 sts Mess_Integral_Gier,__zero_reg__2074 1340 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__2075 1344 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__2076 1348 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__2077 134c 1092 0000 sts Mess_Integral_Gier2,__zero_reg__2078 1350 1092 0000 sts (Mess_Integral_Gier2)+1,__zero_reg__2079 1354 1092 0000 sts (Mess_Integral_Gier2)+2,__zero_reg__2080 1358 1092 0000 sts (Mess_Integral_Gier2)+3,__zero_reg__2081 .L393:2082 135c E981 ldd r30,Y+12083 135e FA81 ldd r31,Y+22084 1360 E93C cpi r30,2012085 1362 F105 cpc r31,__zero_reg__2086 1364 04F4 brge .+22087 1366 00C0 rjmp .L3972088 1368 8091 0000 lds r24,MotorenEin2089 136c 8823 tst r242090 136e 01F0 breq .+22091 1370 00C0 rjmp .L3892092 1372 E091 0000 lds r30,EE_Parameter+32093 1376 FF27 clr r312094 1378 EE0F lsl r302095 137a FF1F rol r312096 137c E050 subi r30,lo8(-(PPM_in))2097 137e F040 sbci r31,hi8(-(PPM_in))2098 1380 8081 ld r24,Z2099 1382 9181 ldd r25,Z+12100 1384 8C34 cpi r24,762101 1386 9105 cpc r25,__zero_reg__2102 1388 04F4 brge .+22103 138a 00C0 rjmp .L4002104 138c 8091 0000 lds r24,delay_neutral.23582105 1390 8F5F subi r24,lo8(-(1))2106 1392 8093 0000 sts delay_neutral.2358,r242107 1396 893C cpi r24,lo8(-55)2108 1398 00F4 brsh .+22109 139a 00C0 rjmp .L3892110 139c 2998 cbi 37-0x20,12111 139e 0E94 0000 call SetNeutral2112 13a2 1092 0000 sts MotorenEin,__zero_reg__2113 13a6 1092 0000 sts delay_neutral.2358,__zero_reg__2114 13aa 1092 0000 sts (modell_fliegt.2361)+1,__zero_reg__2115 13ae 1092 0000 sts modell_fliegt.2361,__zero_reg__2116 13b2 8091 0000 lds r24,EE_Parameter2117 13b6 282F mov r18,r242118 13b8 3327 clr r192119 13ba F901 movw r30,r182120 13bc EE0F lsl r302121 13be FF1F rol r312122 13c0 E050 subi r30,lo8(-(PPM_in))2123 13c2 F040 sbci r31,hi8(-(PPM_in))2124 13c4 8081 ld r24,Z2125 13c6 9181 ldd r25,Z+12126 13c8 8734 cpi r24,712127 13ca 9105 cpc r25,__zero_reg__2128 13cc 04F4 brge .L4032129 13ce E091 0000 lds r30,EE_Parameter+12130 13d2 FF27 clr r312131 13d4 EE0F lsl r302132 13d6 FF1F rol r312133 13d8 E050 subi r30,lo8(-(PPM_in))2134 13da F040 sbci r31,hi8(-(PPM_in))2135 13dc 0190 ld __tmp_reg__,Z+2136 13de F081 ld r31,Z2137 13e0 E02D mov r30,__tmp_reg__2138 13e2 F7FF sbrs r31,72139 13e4 00C0 rjmp .L4062140 13e6 F095 com r312141 13e8 E195 neg r302142 13ea FF4F sbci r31,lo8(-1)2143 .L406:2144 13ec E734 cpi r30,712145 13ee F105 cpc r31,__zero_reg__2146 13f0 04F4 brge .+22147 13f2 00C0 rjmp .L4052148 .L403:2149 13f4 8091 0000 lds r24,EE_Parameter+12150 13f8 682F mov r22,r242151 13fa 7727 clr r232152 13fc DB01 movw r26,r222153 13fe AA0F lsl r262154 1400 BB1F rol r272155 1402 A050 subi r26,lo8(-(PPM_in))2156 1404 B040 sbci r27,hi8(-(PPM_in))2157 1406 8D91 ld r24,X+2158 1408 9C91 ld r25,X2159 140a 1197 sbiw r26,12160 140c 8734 cpi r24,712161 140e 9105 cpc r25,__zero_reg__2162 1410 04F0 brlt .L4072163 1412 F901 movw r30,r182164 1414 EE0F lsl r302165 1416 FF1F rol r312166 1418 E050 subi r30,lo8(-(PPM_in))2167 141a F040 sbci r31,hi8(-(PPM_in))2168 141c 8081 ld r24,Z2169 141e 9181 ldd r25,Z+12170 .L407:2171 1420 8D91 ld r24,X+2172 1422 9C91 ld r25,X2173 1424 8734 cpi r24,712174 1426 9105 cpc r25,__zero_reg__2175 1428 04F0 brlt .L4092176 142a F901 movw r30,r182177 142c EE0F lsl r302178 142e FF1F rol r312179 1430 E050 subi r30,lo8(-(PPM_in))2180 1432 F040 sbci r31,hi8(-(PPM_in))2181 1434 8081 ld r24,Z2182 1436 9181 ldd r25,Z+12183 1438 8734 cpi r24,712184 143a 9105 cpc r25,__zero_reg__2185 143c 04F0 brlt .L4092186 143e 42E0 ldi r20,lo8(2)2187 1440 00C0 rjmp .L4122188 .L409:2189 1442 41E0 ldi r20,lo8(1)2190 .L412:2191 1444 FB01 movw r30,r222192 1446 EE0F lsl r302193 1448 FF1F rol r312194 144a E050 subi r30,lo8(-(PPM_in))2195 144c F040 sbci r31,hi8(-(PPM_in))2196 144e 8081 ld r24,Z2197 1450 9181 ldd r25,Z+12198 1452 8634 cpi r24,702199 1454 9105 cpc r25,__zero_reg__2200 1456 04F4 brge .L4132201 1458 F901 movw r30,r182202 145a EE0F lsl r302203 145c FF1F rol r312204 145e E050 subi r30,lo8(-(PPM_in))2205 1460 F040 sbci r31,hi8(-(PPM_in))2206 1462 8081 ld r24,Z2207 1464 9181 ldd r25,Z+12208 1466 8734 cpi r24,712209 1468 9105 cpc r25,__zero_reg__2210 146a 04F0 brlt .L4132211 146c 43E0 ldi r20,lo8(3)2212 .L413:2213 146e FB01 movw r30,r222214 1470 EE0F lsl r302215 1472 FF1F rol r312216 1474 E050 subi r30,lo8(-(PPM_in))2217 1476 F040 sbci r31,hi8(-(PPM_in))2218 1478 8081 ld r24,Z2219 147a 9181 ldd r25,Z+12220 147c 8A5B subi r24,lo8(-70)2221 147e 9F4F sbci r25,hi8(-70)2222 1480 04F4 brge .L4162223 1482 F901 movw r30,r182224 1484 EE0F lsl r302225 1486 FF1F rol r312226 1488 E050 subi r30,lo8(-(PPM_in))2227 148a F040 sbci r31,hi8(-(PPM_in))2228 148c 8081 ld r24,Z2229 148e 9181 ldd r25,Z+12230 1490 8734 cpi r24,712231 1492 9105 cpc r25,__zero_reg__2232 1494 04F0 brlt .L4162233 1496 44E0 ldi r20,lo8(4)2234 .L416:2235 1498 660F lsl r222236 149a 771F rol r232237 149c 6050 subi r22,lo8(-(PPM_in))2238 149e 7040 sbci r23,hi8(-(PPM_in))2239 14a0 FB01 movw r30,r222240 14a2 8081 ld r24,Z2241 14a4 9181 ldd r25,Z+12242 14a6 8A5B subi r24,lo8(-70)2243 14a8 9F4F sbci r25,hi8(-70)2244 14aa 04F4 brge .L4192245 14ac 220F lsl r182246 14ae 331F rol r192247 14b0 2050 subi r18,lo8(-(PPM_in))2248 14b2 3040 sbci r19,hi8(-(PPM_in))2249 14b4 F901 movw r30,r182250 14b6 8081 ld r24,Z2251 14b8 9181 ldd r25,Z+12252 14ba 8634 cpi r24,702253 14bc 9105 cpc r25,__zero_reg__2254 14be 04F4 brge .L4192255 14c0 45E0 ldi r20,lo8(5)2256 .L419:2257 14c2 A0E0 ldi r26,lo8(EEPromArray+2)2258 14c4 B0E0 ldi r27,hi8(EEPromArray+2)2259 /* #APP */2260 14c6 042E mov __tmp_reg__,r202261 14c8 0E94 0000 call __eeprom_write_byte_1F20212262 /* #NOAPP */2263 .L405:2264 14cc 0E94 0000 call GetActiveParamSetNumber2265 14d0 4AE3 ldi r20,lo8(58)2266 14d2 60E0 ldi r22,lo8(EE_Parameter)2267 14d4 70E0 ldi r23,hi8(EE_Parameter)2268 14d6 0E94 0000 call ReadParameterSet2269 14da 0E94 0000 call GetActiveParamSetNumber2270 14de 0E94 0000 call Piep2271 14e2 8091 0000 lds r24,EE_Parameter+82272 14e6 80FF sbrs r24,02273 14e8 00C0 rjmp .L3892274 14ea 8091 0000 lds r24,MessLuftdruck2275 14ee 9091 0000 lds r25,(MessLuftdruck)+12276 14f2 875B subi r24,lo8(951)2277 14f4 9340 sbci r25,hi8(951)2278 14f6 00F4 brsh .L4232279 14f8 8091 0000 lds r24,MessLuftdruck2280 14fc 9091 0000 lds r25,(MessLuftdruck)+12281 1500 8E5E subi r24,lo8(750)2282 1502 9240 sbci r25,hi8(750)2283 1504 00F0 brlo .+22284 1506 00C0 rjmp .L3892285 .L423:2286 1508 0E94 0000 call SucheLuftruckOffset2287 150c 00C0 rjmp .L3892288 .L400:2289 150e 1092 0000 sts delay_neutral.2358,__zero_reg__2290 1512 00C0 rjmp .L3892291 .L397:2292 1514 4981 ldd r20,Y+12293 1516 5A81 ldd r21,Y+22294 1518 4332 cpi r20,352295 151a 5105 cpc r21,__zero_reg__2296 151c 04F0 brlt .+22297 151e 00C0 rjmp .L3892298 1520 8091 0000 lds r24,EE_Parameter+32299 1524 482F mov r20,r242300 1526 5527 clr r212301 1528 FA01 movw r30,r202302 152a EE0F lsl r302303 152c FF1F rol r312304 152e E050 subi r30,lo8(-(PPM_in))2305 1530 F040 sbci r31,hi8(-(PPM_in))2306 1532 8081 ld r24,Z2307 1534 9181 ldd r25,Z+12308 1536 855B subi r24,lo8(-75)2309 1538 9F4F sbci r25,hi8(-75)2310 153a 04F0 brlt .+22311 153c 00C0 rjmp .L4262312 153e 8091 0000 lds r24,delay_einschalten.23592313 1542 8F5F subi r24,lo8(-(1))2314 1544 8093 0000 sts delay_einschalten.2359,r242315 1548 893C cpi r24,lo8(-55)2316 154a 00F4 brsh .+22317 154c 00C0 rjmp .L4282318 154e 88EC ldi r24,lo8(-56)2319 1550 8093 0000 sts delay_einschalten.2359,r242320 1554 81E0 ldi r24,lo8(1)2321 1556 90E0 ldi r25,hi8(1)2322 1558 9093 0000 sts (modell_fliegt.2361)+1,r252323 155c 8093 0000 sts modell_fliegt.2361,r242324 1560 81E0 ldi r24,lo8(1)2325 1562 8093 0000 sts MotorenEin,r242326 1566 1092 0000 sts sollGier.2352,__zero_reg__2327 156a 1092 0000 sts (sollGier.2352)+1,__zero_reg__2328 156e 1092 0000 sts (sollGier.2352)+2,__zero_reg__2329 1572 1092 0000 sts (sollGier.2352)+3,__zero_reg__2330 1576 1092 0000 sts Mess_Integral_Gier,__zero_reg__2331 157a 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__2332 157e 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__2333 1582 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__2334 1586 1092 0000 sts Mess_Integral_Gier2,__zero_reg__2335 158a 1092 0000 sts (Mess_Integral_Gier2)+1,__zero_reg__2336 158e 1092 0000 sts (Mess_Integral_Gier2)+2,__zero_reg__2337 1592 1092 0000 sts (Mess_Integral_Gier2)+3,__zero_reg__2338 1596 1092 0000 sts Mess_IntegralNick,__zero_reg__2339 159a 1092 0000 sts (Mess_IntegralNick)+1,__zero_reg__2340 159e 1092 0000 sts (Mess_IntegralNick)+2,__zero_reg__2341 15a2 1092 0000 sts (Mess_IntegralNick)+3,__zero_reg__2342 15a6 1092 0000 sts Mess_IntegralRoll,__zero_reg__2343 15aa 1092 0000 sts (Mess_IntegralRoll)+1,__zero_reg__2344 15ae 1092 0000 sts (Mess_IntegralRoll)+2,__zero_reg__2345 15b2 1092 0000 sts (Mess_IntegralRoll)+3,__zero_reg__2346 15b6 8091 0000 lds r24,IntegralNick2347 15ba 9091 0000 lds r25,(IntegralNick)+12348 15be A091 0000 lds r26,(IntegralNick)+22349 15c2 B091 0000 lds r27,(IntegralNick)+32350 15c6 8093 0000 sts Mess_IntegralNick2,r242351 15ca 9093 0000 sts (Mess_IntegralNick2)+1,r252352 15ce A093 0000 sts (Mess_IntegralNick2)+2,r262353 15d2 B093 0000 sts (Mess_IntegralNick2)+3,r272354 15d6 8091 0000 lds r24,IntegralRoll2355 15da 9091 0000 lds r25,(IntegralRoll)+12356 15de A091 0000 lds r26,(IntegralRoll)+22357 15e2 B091 0000 lds r27,(IntegralRoll)+32358 15e6 8093 0000 sts Mess_IntegralRoll2,r242359 15ea 9093 0000 sts (Mess_IntegralRoll2)+1,r252360 15ee A093 0000 sts (Mess_IntegralRoll2)+2,r262361 15f2 B093 0000 sts (Mess_IntegralRoll2)+3,r272362 15f6 1092 0000 sts SummeNick.2350,__zero_reg__2363 15fa 1092 0000 sts (SummeNick.2350)+1,__zero_reg__2364 15fe 1092 0000 sts (SummeNick.2350)+2,__zero_reg__2365 1602 1092 0000 sts (SummeNick.2350)+3,__zero_reg__2366 1606 1092 0000 sts SummeRoll.2351,__zero_reg__2367 160a 1092 0000 sts (SummeRoll.2351)+1,__zero_reg__2368 160e 1092 0000 sts (SummeRoll.2351)+2,__zero_reg__2369 1612 1092 0000 sts (SummeRoll.2351)+3,__zero_reg__2370 1616 00C0 rjmp .L4282371 .L426:2372 1618 1092 0000 sts delay_einschalten.2359,__zero_reg__2373 .L428:2374 161c 440F lsl r202375 161e 551F rol r212376 1620 4050 subi r20,lo8(-(PPM_in))2377 1622 5040 sbci r21,hi8(-(PPM_in))2378 1624 FA01 movw r30,r202379 1626 8081 ld r24,Z2380 1628 9181 ldd r25,Z+12381 162a 8C34 cpi r24,762382 162c 9105 cpc r25,__zero_reg__2383 162e 04F0 brlt .L4302384 1630 8091 0000 lds r24,delay_ausschalten.23602385 1634 8F5F subi r24,lo8(-(1))2386 1636 8093 0000 sts delay_ausschalten.2360,r242387 163a 893C cpi r24,lo8(-55)2388 163c 00F0 brlo .L3892389 163e 1092 0000 sts MotorenEin,__zero_reg__2390 1642 88EC ldi r24,lo8(-56)2391 1644 8093 0000 sts delay_ausschalten.2360,r242392 1648 1092 0000 sts (modell_fliegt.2361)+1,__zero_reg__2393 164c 1092 0000 sts modell_fliegt.2361,__zero_reg__2394 1650 00C0 rjmp .L3892395 .L430:2396 1652 1092 0000 sts delay_ausschalten.2360,__zero_reg__2397 .L389:2398 1656 8091 0000 lds r24,NewPpmData2399 165a 8150 subi r24,lo8(-(-1))2400 165c 8093 0000 sts NewPpmData,r242401 1660 8091 0000 lds r24,NewPpmData2402 1664 8F3F cpi r24,lo8(-1)2403 1666 01F0 breq .L4332404 1668 8091 0000 lds r24,Notlandung2405 166c 8823 tst r242406 166e 01F4 brne .+22407 1670 00C0 rjmp .L4352408 .L433:2409 1672 0E94 0000 call ParameterZuordnung2410 1676 E091 0000 lds r30,EE_Parameter2411 167a FF27 clr r312412 167c EE0F lsl r302413 167e FF1F rol r312414 1680 DF01 movw r26,r302415 1682 A050 subi r26,lo8(-(PPM_in))2416 1684 B040 sbci r27,hi8(-(PPM_in))2417 1686 8D91 ld r24,X+2418 1688 9C91 ld r25,X2419 168a 6091 0000 lds r22,EE_Parameter+152420 168e 7727 clr r232421 1690 E050 subi r30,lo8(-(PPM_diff))2422 1692 F040 sbci r31,hi8(-(PPM_diff))2423 1694 2081 ld r18,Z2424 1696 3181 ldd r19,Z+12425 1698 4091 0000 lds r20,EE_Parameter+162426 169c 5527 clr r212427 169e FC01 movw r30,r242428 16a0 E69F mul r30,r222429 16a2 C001 movw r24,r02430 16a4 E79F mul r30,r232431 16a6 900D add r25,r02432 16a8 F69F mul r31,r222433 16aa 900D add r25,r02434 16ac 1124 clr r12435 16ae F901 movw r30,r182436 16b0 E49F mul r30,r202437 16b2 9001 movw r18,r02438 16b4 E59F mul r30,r212439 16b6 300D add r19,r02440 16b8 F49F mul r31,r202441 16ba 300D add r19,r02442 16bc 1124 clr r12443 16be 820F add r24,r182444 16c0 931F adc r25,r192445 16c2 9093 0000 sts (StickNick)+1,r252446 16c6 8093 0000 sts StickNick,r242447 16ca E091 0000 lds r30,EE_Parameter+12448 16ce FF27 clr r312449 16d0 EE0F lsl r302450 16d2 FF1F rol r312451 16d4 DF01 movw r26,r302452 16d6 A050 subi r26,lo8(-(PPM_in))2453 16d8 B040 sbci r27,hi8(-(PPM_in))2454 16da 8D91 ld r24,X+2455 16dc 9C91 ld r25,X2456 16de E050 subi r30,lo8(-(PPM_diff))2457 16e0 F040 sbci r31,hi8(-(PPM_diff))2458 16e2 2081 ld r18,Z2459 16e4 3181 ldd r19,Z+12460 16e6 FC01 movw r30,r242461 16e8 E69F mul r30,r222462 16ea C001 movw r24,r02463 16ec E79F mul r30,r232464 16ee 900D add r25,r02465 16f0 F69F mul r31,r222466 16f2 900D add r25,r02467 16f4 1124 clr r12468 16f6 B901 movw r22,r182469 16f8 649F mul r22,r202470 16fa 9001 movw r18,r02471 16fc 659F mul r22,r212472 16fe 300D add r19,r02473 1700 749F mul r23,r202474 1702 300D add r19,r02475 1704 1124 clr r12476 1706 820F add r24,r182477 1708 931F adc r25,r192478 170a 9093 0000 sts (StickRoll)+1,r252479 170e 8093 0000 sts StickRoll,r242480 1712 E091 0000 lds r30,EE_Parameter+32481 1716 FF27 clr r312482 1718 EE0F lsl r302483 171a FF1F rol r312484 171c E050 subi r30,lo8(-(PPM_in))2485 171e F040 sbci r31,hi8(-(PPM_in))2486 1720 8081 ld r24,Z2487 1722 9181 ldd r25,Z+12488 1724 9095 com r252489 1726 8195 neg r242490 1728 9F4F sbci r25,lo8(-1)2491 172a 9093 0000 sts (StickGier)+1,r252492 172e 8093 0000 sts StickGier,r242493 1732 1091 0000 lds r17,Parameter_Gyro_P2494 1736 612F mov r22,r172495 1738 7727 clr r232496 173a 67FD sbrc r22,72497 173c 7095 com r232498 173e 872F mov r24,r232499 1740 972F mov r25,r232500 1742 0E94 0000 call __floatsisf2501 1746 17FF sbrs r17,72502 1748 00C0 rjmp .L4362503 174a 20E0 ldi r18,lo8(0x43800000)2504 174c 30E0 ldi r19,hi8(0x43800000)2505 174e 40E8 ldi r20,hlo8(0x43800000)2506 1750 53E4 ldi r21,hhi8(0x43800000)2507 1752 0E94 0000 call __addsf32508 .L436:2509 1756 20E0 ldi r18,lo8(0x41200000)2510 1758 30E0 ldi r19,hi8(0x41200000)2511 175a 40E2 ldi r20,hlo8(0x41200000)2512 175c 51E4 ldi r21,hhi8(0x41200000)2513 175e 0E94 0000 call __addsf32514 1762 20E0 ldi r18,lo8(0x3b800000)2515 1764 30E0 ldi r19,hi8(0x3b800000)2516 1766 40E8 ldi r20,hlo8(0x3b800000)2517 1768 5BE3 ldi r21,hhi8(0x3b800000)2518 176a 0E94 0000 call __mulsf32519 176e 5B01 movw r10,r222520 1770 6C01 movw r12,r242521 1772 6093 0000 sts GyroFaktor,r222522 1776 7093 0000 sts (GyroFaktor)+1,r232523 177a 8093 0000 sts (GyroFaktor)+2,r242524 177e 9093 0000 sts (GyroFaktor)+3,r252525 1782 1091 0000 lds r17,Parameter_Gyro_I2526 1786 612F mov r22,r172527 1788 7727 clr r232528 178a 67FD sbrc r22,72529 178c 7095 com r232530 178e 872F mov r24,r232531 1790 972F mov r25,r232532 1792 0E94 0000 call __floatsisf2533 1796 17FF sbrs r17,72534 1798 00C0 rjmp .L4372535 179a 20E0 ldi r18,lo8(0x43800000)2536 179c 30E0 ldi r19,hi8(0x43800000)2537 179e 40E8 ldi r20,hlo8(0x43800000)2538 17a0 53E4 ldi r21,hhi8(0x43800000)2539 17a2 0E94 0000 call __addsf32540 .L437:2541 17a6 20E0 ldi r18,lo8(0x472be000)2542 17a8 30EE ldi r19,hi8(0x472be000)2543 17aa 4BE2 ldi r20,hlo8(0x472be000)2544 17ac 57E4 ldi r21,hhi8(0x472be000)2545 17ae 0E94 0000 call __divsf32546 17b2 6093 0000 sts IntegralFaktor,r222547 17b6 7093 0000 sts (IntegralFaktor)+1,r232548 17ba 8093 0000 sts (IntegralFaktor)+2,r242549 17be 9093 0000 sts (IntegralFaktor)+3,r252550 17c2 8091 0000 lds r24,EE_Parameter+82551 17c6 82FF sbrs r24,22552 17c8 00C0 rjmp .L4382553 17ca 80E0 ldi r24,lo8(0x0)2554 17cc 90E0 ldi r25,hi8(0x0)2555 17ce A0E0 ldi r26,hlo8(0x0)2556 17d0 B0E0 ldi r27,hhi8(0x0)2557 17d2 8093 0000 sts IntegralFaktor,r242558 17d6 9093 0000 sts (IntegralFaktor)+1,r252559 17da A093 0000 sts (IntegralFaktor)+2,r262560 17de B093 0000 sts (IntegralFaktor)+3,r272561 .L438:2562 17e2 20E0 ldi r18,lo8(0x0)2563 17e4 30E0 ldi r19,hi8(0x0)2564 17e6 40E0 ldi r20,hlo8(0x0)2565 17e8 50E0 ldi r21,hhi8(0x0)2566 17ea C601 movw r24,r122567 17ec B501 movw r22,r102568 17ee 0E94 0000 call __ltsf22569 17f2 8823 tst r242570 17f4 04F4 brge .L4402571 17f6 80E0 ldi r24,lo8(0x0)2572 17f8 90E0 ldi r25,hi8(0x0)2573 17fa A0E0 ldi r26,hlo8(0x0)2574 17fc B0E0 ldi r27,hhi8(0x0)2575 17fe 8093 0000 sts GyroFaktor,r242576 1802 9093 0000 sts (GyroFaktor)+1,r252577 1806 A093 0000 sts (GyroFaktor)+2,r262578 180a B093 0000 sts (GyroFaktor)+3,r272579 .L440:2580 180e 20E0 ldi r18,lo8(0x0)2581 1810 30E0 ldi r19,hi8(0x0)2582 1812 40E0 ldi r20,hlo8(0x0)2583 1814 50E0 ldi r21,hhi8(0x0)2584 1816 6091 0000 lds r22,IntegralFaktor2585 181a 7091 0000 lds r23,(IntegralFaktor)+12586 181e 8091 0000 lds r24,(IntegralFaktor)+22587 1822 9091 0000 lds r25,(IntegralFaktor)+32588 1826 0E94 0000 call __ltsf22589 182a 8823 tst r242590 182c 04F4 brge .L4432591 182e 80E0 ldi r24,lo8(0x0)2592 1830 90E0 ldi r25,hi8(0x0)2593 1832 A0E0 ldi r26,hlo8(0x0)2594 1834 B0E0 ldi r27,hhi8(0x0)2595 1836 8093 0000 sts IntegralFaktor,r242596 183a 9093 0000 sts (IntegralFaktor)+1,r252597 183e A093 0000 sts (IntegralFaktor)+2,r262598 1842 B093 0000 sts (IntegralFaktor)+3,r272599 .L443:2600 1846 8091 0000 lds r24,Notlandung2601 184a 8823 tst r242602 184c 01F0 breq .L4352603 184e 1092 0000 sts (StickGier)+1,__zero_reg__2604 1852 1092 0000 sts StickGier,__zero_reg__2605 1856 1092 0000 sts (StickNick)+1,__zero_reg__2606 185a 1092 0000 sts StickNick,__zero_reg__2607 185e 1092 0000 sts (StickRoll)+1,__zero_reg__2608 1862 1092 0000 sts StickRoll,__zero_reg__2609 1866 8DEC ldi r24,lo8(0x3dcccccd)2610 1868 9CEC ldi r25,hi8(0x3dcccccd)2611 186a ACEC ldi r26,hlo8(0x3dcccccd)2612 186c BDE3 ldi r27,hhi8(0x3dcccccd)2613 186e 8093 0000 sts GyroFaktor,r242614 1872 9093 0000 sts (GyroFaktor)+1,r252615 1876 A093 0000 sts (GyroFaktor)+2,r262616 187a B093 0000 sts (GyroFaktor)+3,r272617 187e 8AE0 ldi r24,lo8(0x3ba3d70a)2618 1880 97ED ldi r25,hi8(0x3ba3d70a)2619 1882 A3EA ldi r26,hlo8(0x3ba3d70a)2620 1884 BBE3 ldi r27,hhi8(0x3ba3d70a)2621 1886 8093 0000 sts IntegralFaktor,r242622 188a 9093 0000 sts (IntegralFaktor)+1,r252623 188e A093 0000 sts (IntegralFaktor)+2,r262624 1892 B093 0000 sts (IntegralFaktor)+3,r272625 .L435:2626 1896 8091 0000 lds r24,ZaehlMessungen2627 189a 9091 0000 lds r25,(ZaehlMessungen)+12628 189e 8D54 subi r24,lo8(333)2629 18a0 9140 sbci r25,hi8(333)2630 18a2 00F4 brsh .+22631 18a4 00C0 rjmp .L4472632 18a6 2091 0000 lds r18,IntegralNick22633 18aa 3091 0000 lds r19,(IntegralNick2)+12634 18ae 4091 0000 lds r20,(IntegralNick2)+22635 18b2 5091 0000 lds r21,(IntegralNick2)+32636 18b6 8091 0000 lds r24,IntegralNick2637 18ba 9091 0000 lds r25,(IntegralNick)+12638 18be A091 0000 lds r26,(IntegralNick)+22639 18c2 B091 0000 lds r27,(IntegralNick)+32640 18c6 B901 movw r22,r182641 18c8 681B sub r22,r242642 18ca 790B sbc r23,r252643 18cc 7093 0000 sts (IntegralFehlerNick.2355)+1,r232644 18d0 6093 0000 sts IntegralFehlerNick.2355,r222645 18d4 2091 0000 lds r18,IntegralRoll22646 18d8 3091 0000 lds r19,(IntegralRoll2)+12647 18dc 4091 0000 lds r20,(IntegralRoll2)+22648 18e0 5091 0000 lds r21,(IntegralRoll2)+32649 18e4 8091 0000 lds r24,IntegralRoll2650 18e8 9091 0000 lds r25,(IntegralRoll)+12651 18ec A091 0000 lds r26,(IntegralRoll)+22652 18f0 B091 0000 lds r27,(IntegralRoll)+32653 18f4 281B sub r18,r242654 18f6 390B sbc r19,r252655 18f8 3093 0000 sts (IntegralFehlerRoll.2356)+1,r192656 18fc 2093 0000 sts IntegralFehlerRoll.2356,r182657 1900 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__2658 1904 1092 0000 sts ZaehlMessungen,__zero_reg__2659 1908 673A cpi r22,1672660 190a 7105 cpc r23,__zero_reg__2661 190c 04F0 brlt .L4492662 190e 8091 0000 lds r24,AdNeutralNick2663 1912 9091 0000 lds r25,(AdNeutralNick)+12664 1916 0196 adiw r24,12665 1918 00C0 rjmp .L5762666 .L449:2667 191a 6A55 subi r22,lo8(-166)2668 191c 7F4F sbci r23,hi8(-166)2669 191e 04F4 brge .L4512670 1920 8091 0000 lds r24,AdNeutralNick2671 1924 9091 0000 lds r25,(AdNeutralNick)+12672 1928 0197 sbiw r24,12673 .L576:2674 192a 9093 0000 sts (AdNeutralNick)+1,r252675 192e 8093 0000 sts AdNeutralNick,r242676 .L451:2677 1932 273A cpi r18,1672678 1934 3105 cpc r19,__zero_reg__2679 1936 04F0 brlt .L4532680 1938 8091 0000 lds r24,AdNeutralRoll2681 193c 9091 0000 lds r25,(AdNeutralRoll)+12682 1940 0196 adiw r24,12683 1942 00C0 rjmp .L5772684 .L453:2685 1944 2A55 subi r18,lo8(-166)2686 1946 3F4F sbci r19,hi8(-166)2687 1948 04F4 brge .L4552688 194a 8091 0000 lds r24,AdNeutralRoll2689 194e 9091 0000 lds r25,(AdNeutralRoll)+12690 1952 0197 sbiw r24,12691 .L577:2692 1954 9093 0000 sts (AdNeutralRoll)+1,r252693 1958 8093 0000 sts AdNeutralRoll,r242694 .L455:2695 195c 8091 0000 lds r24,Mess_Integral_Gier22696 1960 9091 0000 lds r25,(Mess_Integral_Gier2)+12697 1964 A091 0000 lds r26,(Mess_Integral_Gier2)+22698 1968 B091 0000 lds r27,(Mess_Integral_Gier2)+32699 196c 873A cpi r24,lo8(167)2700 196e 9105 cpc r25,__zero_reg__2701 1970 A105 cpc r26,__zero_reg__2702 1972 B105 cpc r27,__zero_reg__2703 1974 04F0 brlt .L4572704 1976 8091 0000 lds r24,AdNeutralGier2705 197a 9091 0000 lds r25,(AdNeutralGier)+12706 197e 0197 sbiw r24,12707 1980 9093 0000 sts (AdNeutralGier)+1,r252708 1984 8093 0000 sts AdNeutralGier,r242709 .L457:2710 1988 8091 0000 lds r24,Mess_Integral_Gier22711 198c 9091 0000 lds r25,(Mess_Integral_Gier2)+12712 1990 A091 0000 lds r26,(Mess_Integral_Gier2)+22713 1994 B091 0000 lds r27,(Mess_Integral_Gier2)+32714 1998 8A55 subi r24,lo8(-166)2715 199a 9F4F sbci r25,hi8(-166)2716 199c AF4F sbci r26,hlo8(-166)2717 199e BF4F sbci r27,hhi8(-166)2718 19a0 04F4 brge .L4592719 19a2 8091 0000 lds r24,AdNeutralGier2720 19a6 9091 0000 lds r25,(AdNeutralGier)+12721 19aa 0196 adiw r24,12722 19ac 9093 0000 sts (AdNeutralGier)+1,r252723 19b0 8093 0000 sts AdNeutralGier,r242724 .L459:2725 19b4 1092 7A00 sts 122,__zero_reg__2726 19b8 8091 0000 lds r24,IntegralNick2727 19bc 9091 0000 lds r25,(IntegralNick)+12728 19c0 A091 0000 lds r26,(IntegralNick)+22729 19c4 B091 0000 lds r27,(IntegralNick)+32730 19c8 8093 0000 sts Mess_IntegralNick2,r242731 19cc 9093 0000 sts (Mess_IntegralNick2)+1,r252732 19d0 A093 0000 sts (Mess_IntegralNick2)+2,r262733 19d4 B093 0000 sts (Mess_IntegralNick2)+3,r272734 19d8 8091 0000 lds r24,IntegralRoll2735 19dc 9091 0000 lds r25,(IntegralRoll)+12736 19e0 A091 0000 lds r26,(IntegralRoll)+22737 19e4 B091 0000 lds r27,(IntegralRoll)+32738 19e8 8093 0000 sts Mess_IntegralRoll2,r242739 19ec 9093 0000 sts (Mess_IntegralRoll2)+1,r252740 19f0 A093 0000 sts (Mess_IntegralRoll2)+2,r262741 19f4 B093 0000 sts (Mess_IntegralRoll2)+3,r272742 19f8 8091 0000 lds r24,Integral_Gier2743 19fc 9091 0000 lds r25,(Integral_Gier)+12744 1a00 A091 0000 lds r26,(Integral_Gier)+22745 1a04 B091 0000 lds r27,(Integral_Gier)+32746 1a08 8093 0000 sts Mess_Integral_Gier2,r242747 1a0c 9093 0000 sts (Mess_Integral_Gier2)+1,r252748 1a10 A093 0000 sts (Mess_Integral_Gier2)+2,r262749 1a14 B093 0000 sts (Mess_Integral_Gier2)+3,r272750 1a18 8FEE ldi r24,lo8(-17)2751 1a1a 8093 7A00 sts 122,r242752 .L447:2753 1a1e 6091 0000 lds r22,IntegralNick2754 1a22 7091 0000 lds r23,(IntegralNick)+12755 1a26 8091 0000 lds r24,(IntegralNick)+22756 1a2a 9091 0000 lds r25,(IntegralNick)+32757 1a2e A090 0000 lds r10,EE_Parameter+202758 1a32 BB24 clr r112759 1a34 CC24 clr r122760 1a36 DD24 clr r132761 1a38 E090 0000 lds r14,Mittelwert_AccNick2762 1a3c F090 0000 lds r15,(Mittelwert_AccNick)+12763 1a40 A601 movw r20,r122764 1a42 9501 movw r18,r102765 1a44 0E94 0000 call __divmodsi42766 1a48 0027 clr r162767 1a4a F7FC sbrc r15,72768 1a4c 0095 com r162769 1a4e 102F mov r17,r162770 1a50 2E19 sub r18,r142771 1a52 3F09 sbc r19,r152772 1a54 400B sbc r20,r162773 1a56 510B sbc r21,r172774 1a58 CA01 movw r24,r202775 1a5a B901 movw r22,r182776 1a5c 20E1 ldi r18,lo8(16)2777 1a5e 30E0 ldi r19,hi8(16)2778 1a60 40E0 ldi r20,hlo8(16)2779 1a62 50E0 ldi r21,hhi8(16)2780 1a64 0E94 0000 call __divmodsi42781 1a68 3901 movw r6,r182782 1a6a 4A01 movw r8,r202783 1a6c 2093 0000 sts tmp_long.2353,r182784 1a70 3093 0000 sts (tmp_long.2353)+1,r192785 1a74 4093 0000 sts (tmp_long.2353)+2,r202786 1a78 5093 0000 sts (tmp_long.2353)+3,r212787 1a7c 6091 0000 lds r22,IntegralRoll2788 1a80 7091 0000 lds r23,(IntegralRoll)+12789 1a84 8091 0000 lds r24,(IntegralRoll)+22790 1a88 9091 0000 lds r25,(IntegralRoll)+32791 1a8c E090 0000 lds r14,Mittelwert_AccRoll2792 1a90 F090 0000 lds r15,(Mittelwert_AccRoll)+12793 1a94 A601 movw r20,r122794 1a96 9501 movw r18,r102795 1a98 0E94 0000 call __divmodsi42796 1a9c 0027 clr r162797 1a9e F7FC sbrc r15,72798 1aa0 0095 com r162799 1aa2 102F mov r17,r162800 1aa4 2E19 sub r18,r142801 1aa6 3F09 sbc r19,r152802 1aa8 400B sbc r20,r162803 1aaa 510B sbc r21,r172804 1aac CA01 movw r24,r202805 1aae B901 movw r22,r182806 1ab0 20E1 ldi r18,lo8(16)2807 1ab2 30E0 ldi r19,hi8(16)2808 1ab4 40E0 ldi r20,hlo8(16)2809 1ab6 50E0 ldi r21,hhi8(16)2810 1ab8 0E94 0000 call __divmodsi42811 1abc 2093 0000 sts tmp_long2.2354,r182812 1ac0 3093 0000 sts (tmp_long2.2354)+1,r192813 1ac4 4093 0000 sts (tmp_long2.2354)+2,r202814 1ac8 5093 0000 sts (tmp_long2.2354)+3,r212815 1acc F5EF ldi r31,lo8(501)2816 1ace 6F16 cp r6,r312817 1ad0 F1E0 ldi r31,hi8(501)2818 1ad2 7F06 cpc r7,r312819 1ad4 F0E0 ldi r31,hlo8(501)2820 1ad6 8F06 cpc r8,r312821 1ad8 F0E0 ldi r31,hhi8(501)2822 1ada 9F06 cpc r9,r312823 1adc 04F0 brlt .L4612824 1ade 84EF ldi r24,lo8(500)2825 1ae0 91E0 ldi r25,hi8(500)2826 1ae2 A0E0 ldi r26,hlo8(500)2827 1ae4 B0E0 ldi r27,hhi8(500)2828 1ae6 00C0 rjmp .L5782829 .L461:2830 1ae8 6CE0 ldi r22,lo8(-500)2831 1aea 6616 cp r6,r222832 1aec 6EEF ldi r22,hi8(-500)2833 1aee 7606 cpc r7,r222834 1af0 6FEF ldi r22,hlo8(-500)2835 1af2 8606 cpc r8,r222836 1af4 6FEF ldi r22,hhi8(-500)2837 1af6 9606 cpc r9,r222838 1af8 04F4 brge .L4632839 1afa 8CE0 ldi r24,lo8(-500)2840 1afc 9EEF ldi r25,hi8(-500)2841 1afe AFEF ldi r26,hlo8(-500)2842 1b00 BFEF ldi r27,hhi8(-500)2843 .L578:2844 1b02 8093 0000 sts tmp_long.2353,r242845 1b06 9093 0000 sts (tmp_long.2353)+1,r252846 1b0a A093 0000 sts (tmp_long.2353)+2,r262847 1b0e B093 0000 sts (tmp_long.2353)+3,r272848 .L463:2849 1b12 253F cpi r18,lo8(501)2850 1b14 71E0 ldi r23,hi8(501)2851 1b16 3707 cpc r19,r232852 1b18 70E0 ldi r23,hlo8(501)2853 1b1a 4707 cpc r20,r232854 1b1c 70E0 ldi r23,hhi8(501)2855 1b1e 5707 cpc r21,r232856 1b20 04F0 brlt .L4652857 1b22 84EF ldi r24,lo8(500)2858 1b24 91E0 ldi r25,hi8(500)2859 1b26 A0E0 ldi r26,hlo8(500)2860 1b28 B0E0 ldi r27,hhi8(500)2861 1b2a 00C0 rjmp .L5792862 .L465:2863 1b2c 2C50 subi r18,lo8(-500)2864 1b2e 3E4F sbci r19,hi8(-500)2865 1b30 4F4F sbci r20,hlo8(-500)2866 1b32 5F4F sbci r21,hhi8(-500)2867 1b34 04F4 brge .L4672868 1b36 8CE0 ldi r24,lo8(-500)2869 1b38 9EEF ldi r25,hi8(-500)2870 1b3a AFEF ldi r26,hlo8(-500)2871 1b3c BFEF ldi r27,hhi8(-500)2872 .L579:2873 1b3e 8093 0000 sts tmp_long2.2354,r242874 1b42 9093 0000 sts (tmp_long2.2354)+1,r252875 1b46 A093 0000 sts (tmp_long2.2354)+2,r262876 1b4a B093 0000 sts (tmp_long2.2354)+3,r272877 .L467:2878 1b4e 1092 7A00 sts 122,__zero_reg__2879 1b52 8091 0000 lds r24,Mess_IntegralNick2880 1b56 9091 0000 lds r25,(Mess_IntegralNick)+12881 1b5a A091 0000 lds r26,(Mess_IntegralNick)+22882 1b5e B091 0000 lds r27,(Mess_IntegralNick)+32883 1b62 2091 0000 lds r18,tmp_long.23532884 1b66 3091 0000 lds r19,(tmp_long.2353)+12885 1b6a 4091 0000 lds r20,(tmp_long.2353)+22886 1b6e 5091 0000 lds r21,(tmp_long.2353)+32887 1b72 821B sub r24,r182888 1b74 930B sbc r25,r192889 1b76 A40B sbc r26,r202890 1b78 B50B sbc r27,r212891 1b7a 8093 0000 sts Mess_IntegralNick,r242892 1b7e 9093 0000 sts (Mess_IntegralNick)+1,r252893 1b82 A093 0000 sts (Mess_IntegralNick)+2,r262894 1b86 B093 0000 sts (Mess_IntegralNick)+3,r272895 1b8a 8091 0000 lds r24,Mess_IntegralRoll2896 1b8e 9091 0000 lds r25,(Mess_IntegralRoll)+12897 1b92 A091 0000 lds r26,(Mess_IntegralRoll)+22898 1b96 B091 0000 lds r27,(Mess_IntegralRoll)+32899 1b9a 2091 0000 lds r18,tmp_long2.23542900 1b9e 3091 0000 lds r19,(tmp_long2.2354)+12901 1ba2 4091 0000 lds r20,(tmp_long2.2354)+22902 1ba6 5091 0000 lds r21,(tmp_long2.2354)+32903 1baa 821B sub r24,r182904 1bac 930B sbc r25,r192905 1bae A40B sbc r26,r202906 1bb0 B50B sbc r27,r212907 1bb2 8093 0000 sts Mess_IntegralRoll,r242908 1bb6 9093 0000 sts (Mess_IntegralRoll)+1,r252909 1bba A093 0000 sts (Mess_IntegralRoll)+2,r262910 1bbe B093 0000 sts (Mess_IntegralRoll)+3,r272911 1bc2 8091 0000 lds r24,StickGier2912 1bc6 9091 0000 lds r25,(StickGier)+12913 1bca 5C01 movw r10,r242914 1bcc CC24 clr r122915 1bce B7FC sbrc r11,72916 1bd0 C094 com r122917 1bd2 DC2C mov r13,r122918 1bd4 A092 0000 sts sollGier.2352,r102919 1bd8 B092 0000 sts (sollGier.2352)+1,r112920 1bdc C092 0000 sts (sollGier.2352)+2,r122921 1be0 D092 0000 sts (sollGier.2352)+3,r132922 1be4 97FF sbrs r25,72923 1be6 00C0 rjmp .L4702924 1be8 9095 com r252925 1bea 8195 neg r242926 1bec 9F4F sbci r25,lo8(-1)2927 .L470:2928 1bee 8497 sbiw r24,362929 1bf0 04F0 brlt .L4692930 1bf2 8091 0000 lds r24,EE_Parameter+82931 1bf6 84FD sbrc r24,42932 1bf8 00C0 rjmp .L4692933 1bfa 81E0 ldi r24,lo8(1)2934 1bfc 8093 0000 sts NeueKompassRichtungMerken.2364,r242935 .L469:2936 1c00 6090 0000 lds r6,Mess_Integral_Gier2937 1c04 7090 0000 lds r7,(Mess_Integral_Gier)+12938 1c08 8090 0000 lds r8,(Mess_Integral_Gier)+22939 1c0c 9090 0000 lds r9,(Mess_Integral_Gier)+32940 1c10 C501 movw r24,r102941 1c12 B7FE sbrs r11,72942 1c14 00C0 rjmp .L4732943 1c16 9095 com r252944 1c18 8195 neg r242945 1c1a 9F4F sbci r25,lo8(-1)2946 .L473:2947 1c1c 7C01 movw r14,r242948 1c1e 0027 clr r162949 1c20 F7FC sbrc r15,72950 1c22 0095 com r162951 1c24 102F mov r17,r162952 1c26 2091 0000 lds r18,EE_Parameter+172953 1c2a 3327 clr r192954 1c2c 4427 clr r202955 1c2e 5527 clr r212956 1c30 C601 movw r24,r122957 1c32 B501 movw r22,r102958 1c34 0E94 0000 call __mulsi32959 1c38 9B01 movw r18,r222960 1c3a AC01 movw r20,r242961 1c3c C801 movw r24,r162962 1c3e B701 movw r22,r142963 1c40 0E94 0000 call __mulsi32964 1c44 20E0 ldi r18,lo8(256)2965 1c46 31E0 ldi r19,hi8(256)2966 1c48 40E0 ldi r20,hlo8(256)2967 1c4a 50E0 ldi r21,hhi8(256)2968 1c4c 0E94 0000 call __divmodsi42969 1c50 4427 clr r202970 1c52 37FD sbrc r19,72971 1c54 4095 com r202972 1c56 542F mov r21,r202973 1c58 621A sub r6,r182974 1c5a 730A sbc r7,r192975 1c5c 840A sbc r8,r202976 1c5e 950A sbc r9,r212977 1c60 6092 0000 sts Mess_Integral_Gier,r62978 1c64 7092 0000 sts (Mess_Integral_Gier)+1,r72979 1c68 8092 0000 sts (Mess_Integral_Gier)+2,r82980 1c6c 9092 0000 sts (Mess_Integral_Gier)+3,r92981 1c70 8091 0000 lds r24,Mess_Integral_Gier2982 1c74 9091 0000 lds r25,(Mess_Integral_Gier)+12983 1c78 A091 0000 lds r26,(Mess_Integral_Gier)+22984 1c7c B091 0000 lds r27,(Mess_Integral_Gier)+32985 1c80 8153 subi r24,lo8(30001)2986 1c82 9547 sbci r25,hi8(30001)2987 1c84 A040 sbci r26,hlo8(30001)2988 1c86 B040 sbci r27,hhi8(30001)2989 1c88 04F0 brlt .L4742990 1c8a 80E3 ldi r24,lo8(30000)2991 1c8c 95E7 ldi r25,hi8(30000)2992 1c8e A0E0 ldi r26,hlo8(30000)2993 1c90 B0E0 ldi r27,hhi8(30000)2994 1c92 8093 0000 sts Mess_Integral_Gier,r242995 1c96 9093 0000 sts (Mess_Integral_Gier)+1,r252996 1c9a A093 0000 sts (Mess_Integral_Gier)+2,r262997 1c9e B093 0000 sts (Mess_Integral_Gier)+3,r272998 .L474:2999 1ca2 8091 0000 lds r24,Mess_Integral_Gier3000 1ca6 9091 0000 lds r25,(Mess_Integral_Gier)+13001 1caa A091 0000 lds r26,(Mess_Integral_Gier)+23002 1cae B091 0000 lds r27,(Mess_Integral_Gier)+33003 1cb2 805D subi r24,lo8(-30000)3004 1cb4 9A48 sbci r25,hi8(-30000)3005 1cb6 AF4F sbci r26,hlo8(-30000)3006 1cb8 BF4F sbci r27,hhi8(-30000)3007 1cba 04F4 brge .L4763008 1cbc 80ED ldi r24,lo8(-30000)3009 1cbe 9AE8 ldi r25,hi8(-30000)3010 1cc0 AFEF ldi r26,hlo8(-30000)3011 1cc2 BFEF ldi r27,hhi8(-30000)3012 1cc4 8093 0000 sts Mess_Integral_Gier,r243013 1cc8 9093 0000 sts (Mess_Integral_Gier)+1,r253014 1ccc A093 0000 sts (Mess_Integral_Gier)+2,r263015 1cd0 B093 0000 sts (Mess_Integral_Gier)+3,r273016 .L476:3017 1cd4 8FEE ldi r24,lo8(-17)3018 1cd6 8093 7A00 sts 122,r243019 1cda 8091 0000 lds r24,KompassValue3020 1cde 9091 0000 lds r25,(KompassValue)+13021 1ce2 892B or r24,r253022 1ce4 01F4 brne .+23023 1ce6 00C0 rjmp .L4783024 1ce8 8091 0000 lds r24,EE_Parameter+83025 1cec 83FF sbrs r24,33026 1cee 00C0 rjmp .L4783027 1cf0 6091 0000 lds r22,IntegralNick3028 1cf4 7091 0000 lds r23,(IntegralNick)+13029 1cf8 8091 0000 lds r24,(IntegralNick)+23030 1cfc 9091 0000 lds r25,(IntegralNick)+33031 1d00 20E0 ldi r18,lo8(512)3032 1d02 32E0 ldi r19,hi8(512)3033 1d04 40E0 ldi r20,hlo8(512)3034 1d06 50E0 ldi r21,hhi8(512)3035 1d08 0E94 0000 call __divmodsi43036 1d0c 8901 movw r16,r183037 1d0e 37FF sbrs r19,73038 1d10 00C0 rjmp .L4813039 1d12 1095 com r173040 1d14 0195 neg r163041 1d16 1F4F sbci r17,lo8(-1)3042 .L481:3043 1d18 6091 0000 lds r22,IntegralRoll3044 1d1c 7091 0000 lds r23,(IntegralRoll)+13045 1d20 8091 0000 lds r24,(IntegralRoll)+23046 1d24 9091 0000 lds r25,(IntegralRoll)+33047 1d28 20E0 ldi r18,lo8(512)3048 1d2a 32E0 ldi r19,hi8(512)3049 1d2c 40E0 ldi r20,hlo8(512)3050 1d2e 50E0 ldi r21,hhi8(512)3051 1d30 0E94 0000 call __divmodsi43052 1d34 B901 movw r22,r183053 1d36 37FF sbrs r19,73054 1d38 00C0 rjmp .L4823055 1d3a 7095 com r233056 1d3c 6195 neg r223057 1d3e 7F4F sbci r23,lo8(-1)3058 .L482:3059 1d40 6017 cp r22,r163060 1d42 7107 cpc r23,r173061 1d44 04F4 brge .L4833062 1d46 B801 movw r22,r163063 .L483:3064 1d48 6931 cpi r22,253065 1d4a 7105 cpc r23,__zero_reg__3066 1d4c 04F4 brge .L4843067 1d4e 8091 0000 lds r24,NeueKompassRichtungMerken.23643068 1d52 8823 tst r243069 1d54 01F0 breq .L4843070 1d56 8091 0000 lds r24,SignalSchlecht.23683071 1d5a 9091 0000 lds r25,(SignalSchlecht.2368)+13072 1d5e 892B or r24,r253073 1d60 01F4 brne .L4843074 1d62 8091 0000 lds r24,KompassValue3075 1d66 9091 0000 lds r25,(KompassValue)+13076 1d6a 9093 0000 sts (KompassStartwert)+1,r253077 1d6e 8093 0000 sts KompassStartwert,r243078 1d72 1092 0000 sts NeueKompassRichtungMerken.2364,__zero_reg__3079 .L484:3080 1d76 2091 0000 lds r18,Parameter_KompassWirkung3081 1d7a 3327 clr r193082 1d7c 629F mul r22,r183083 1d7e C001 movw r24,r03084 1d80 639F mul r22,r193085 1d82 900D add r25,r03086 1d84 729F mul r23,r183087 1d86 900D add r25,r03088 1d88 1124 clr r13089 1d8a 60E4 ldi r22,lo8(64)3090 1d8c 70E0 ldi r23,hi8(64)3091 1d8e 0E94 0000 call __divmodhi43092 1d92 A901 movw r20,r183093 1d94 461B sub r20,r223094 1d96 570B sbc r21,r233095 1d98 1416 cp __zero_reg__,r203096 1d9a 1506 cpc __zero_reg__,r213097 1d9c 04F0 brlt .+23098 1d9e 00C0 rjmp .L4883099 1da0 1092 7A00 sts 122,__zero_reg__3100 1da4 2091 0000 lds r18,SignalSchlecht.23683101 1da8 3091 0000 lds r19,(SignalSchlecht.2368)+13102 1dac 2115 cp r18,__zero_reg__3103 1dae 3105 cpc r19,__zero_reg__3104 1db0 01F4 brne .L4903105 1db2 0091 0000 lds r16,Mess_Integral_Gier3106 1db6 1091 0000 lds r17,(Mess_Integral_Gier)+13107 1dba 2091 0000 lds r18,(Mess_Integral_Gier)+23108 1dbe 3091 0000 lds r19,(Mess_Integral_Gier)+33109 1dc2 8091 0000 lds r24,KompassRichtung3110 1dc6 9091 0000 lds r25,(KompassRichtung)+13111 1dca BC01 movw r22,r243112 1dcc 649F mul r22,r203113 1dce C001 movw r24,r03114 1dd0 659F mul r22,r213115 1dd2 900D add r25,r03116 1dd4 749F mul r23,r203117 1dd6 900D add r25,r03118 1dd8 1124 clr r13119 1dda 60E2 ldi r22,lo8(32)3120 1ddc 70E0 ldi r23,hi8(32)3121 1dde 0E94 0000 call __divmodhi43122 1de2 8827 clr r243123 1de4 77FD sbrc r23,73124 1de6 8095 com r243125 1de8 982F mov r25,r243126 1dea 060F add r16,r223127 1dec 171F adc r17,r233128 1dee 281F adc r18,r243129 1df0 391F adc r19,r253130 1df2 0093 0000 sts Mess_Integral_Gier,r163131 1df6 1093 0000 sts (Mess_Integral_Gier)+1,r173132 1dfa 2093 0000 sts (Mess_Integral_Gier)+2,r183133 1dfe 3093 0000 sts (Mess_Integral_Gier)+3,r193134 1e02 8FEE ldi r24,lo8(-17)3135 1e04 8093 7A00 sts 122,r243136 1e08 00C0 rjmp .L4783137 .L490:3138 1e0a 8FEE ldi r24,lo8(-17)3139 1e0c 8093 7A00 sts 122,r243140 1e10 2150 subi r18,lo8(-(-1))3141 1e12 3040 sbci r19,hi8(-(-1))3142 1e14 3093 0000 sts (SignalSchlecht.2368)+1,r193143 1e18 2093 0000 sts SignalSchlecht.2368,r183144 1e1c 00C0 rjmp .L4783145 .L488:3146 1e1e 84EF ldi r24,lo8(500)3147 1e20 91E0 ldi r25,hi8(500)3148 1e22 9093 0000 sts (SignalSchlecht.2368)+1,r253149 1e26 8093 0000 sts SignalSchlecht.2368,r243150 .L478:3151 1e2a 8091 0000 lds r24,EE_Parameter+83152 1e2e 85FF sbrs r24,53153 1e30 00C0 rjmp .L4923154 1e32 8091 0000 lds r24,Parameter_UserParam13155 1e36 9927 clr r253156 1e38 9093 0000 sts (gps_p)+1,r253157 1e3c 8093 0000 sts gps_p,r243158 1e40 8091 0000 lds r24,Parameter_UserParam23159 1e44 9927 clr r253160 1e46 9093 0000 sts (gps_d)+1,r253161 1e4a 8093 0000 sts gps_d,r243162 1e4e 0E94 0000 call gps_main3163 1e52 00C0 rjmp .L4943164 .L492:3165 1e54 1092 0000 sts (GPS_Nick)+1,__zero_reg__3166 1e58 1092 0000 sts GPS_Nick,__zero_reg__3167 1e5c 1092 0000 sts (GPS_Roll)+1,__zero_reg__3168 1e60 1092 0000 sts GPS_Roll,__zero_reg__3169 .L494:3170 1e64 8091 0000 lds r24,DebugOut+173171 1e68 8F5F subi r24,lo8(-(1))3172 1e6a 8093 0000 sts DebugOut+17,r243173 1e6e 8091 0000 lds r24,TimerWerteausgabe.23633174 1e72 8150 subi r24,lo8(-(-1))3175 1e74 8093 0000 sts TimerWerteausgabe.2363,r243176 1e78 8F3F cpi r24,lo8(-1)3177 1e7a 01F0 breq .+23178 1e7c 00C0 rjmp .L4953179 1e7e 81E3 ldi r24,lo8(49)3180 1e80 8093 0000 sts TimerWerteausgabe.2363,r243181 1e84 6091 0000 lds r22,IntegralNick3182 1e88 7091 0000 lds r23,(IntegralNick)+13183 1e8c 8091 0000 lds r24,(IntegralNick)+23184 1e90 9091 0000 lds r25,(IntegralNick)+33185 1e94 E090 0000 lds r14,EE_Parameter+203186 1e98 FF24 clr r153187 1e9a 0027 clr r163188 1e9c 1127 clr r173189 1e9e A801 movw r20,r163190 1ea0 9701 movw r18,r143191 1ea2 0E94 0000 call __divmodsi43192 1ea6 3093 0000 sts (DebugOut+18)+1,r193193 1eaa 2093 0000 sts DebugOut+18,r183194 1eae 6091 0000 lds r22,IntegralRoll3195 1eb2 7091 0000 lds r23,(IntegralRoll)+13196 1eb6 8091 0000 lds r24,(IntegralRoll)+23197 1eba 9091 0000 lds r25,(IntegralRoll)+33198 1ebe A801 movw r20,r163199 1ec0 9701 movw r18,r143200 1ec2 0E94 0000 call __divmodsi43201 1ec6 3093 0000 sts (DebugOut+20)+1,r193202 1eca 2093 0000 sts DebugOut+20,r183203 1ece 8091 0000 lds r24,Mittelwert_AccNick3204 1ed2 9091 0000 lds r25,(Mittelwert_AccNick)+13205 1ed6 9093 0000 sts (DebugOut+22)+1,r253206 1eda 8093 0000 sts DebugOut+22,r243207 1ede 8091 0000 lds r24,Mittelwert_AccRoll3208 1ee2 9091 0000 lds r25,(Mittelwert_AccRoll)+13209 1ee6 9093 0000 sts (DebugOut+24)+1,r253210 1eea 8093 0000 sts DebugOut+24,r243211 1eee 8091 0000 lds r24,MesswertGier3212 1ef2 9091 0000 lds r25,(MesswertGier)+13213 1ef6 9093 0000 sts (DebugOut+26)+1,r253214 1efa 8093 0000 sts DebugOut+26,r243215 1efe 8091 0000 lds r24,HoehenWert3216 1f02 9091 0000 lds r25,(HoehenWert)+13217 1f06 9093 0000 sts (DebugOut+28)+1,r253218 1f0a 8093 0000 sts DebugOut+28,r243219 1f0e 6091 0000 lds r22,Mess_Integral_Hoch3220 1f12 7091 0000 lds r23,(Mess_Integral_Hoch)+13221 1f16 8091 0000 lds r24,(Mess_Integral_Hoch)+23222 1f1a 9091 0000 lds r25,(Mess_Integral_Hoch)+33223 1f1e 20E0 ldi r18,lo8(512)3224 1f20 32E0 ldi r19,hi8(512)3225 1f22 40E0 ldi r20,hlo8(512)3226 1f24 50E0 ldi r21,hhi8(512)3227 1f26 0E94 0000 call __divmodsi43228 1f2a 3093 0000 sts (DebugOut+30)+1,r193229 1f2e 2093 0000 sts DebugOut+30,r183230 1f32 8981 ldd r24,Y+13231 1f34 9A81 ldd r25,Y+23232 1f36 9093 0000 sts (DebugOut+32)+1,r253233 1f3a 8093 0000 sts DebugOut+32,r243234 1f3e 8091 0000 lds r24,KompassValue3235 1f42 9091 0000 lds r25,(KompassValue)+13236 1f46 9093 0000 sts (DebugOut+34)+1,r253237 1f4a 8093 0000 sts DebugOut+34,r243238 .L495:3239 1f4e 6091 0000 lds r22,IntegralNick3240 1f52 7091 0000 lds r23,(IntegralNick)+13241 1f56 8091 0000 lds r24,(IntegralNick)+23242 1f5a 9091 0000 lds r25,(IntegralNick)+33243 1f5e 2090 0000 lds r2,IntegralFaktor3244 1f62 3090 0000 lds r3,(IntegralFaktor)+13245 1f66 4090 0000 lds r4,(IntegralFaktor)+23246 1f6a 5090 0000 lds r5,(IntegralFaktor)+33247 1f6e E090 0000 lds r14,MesswertNick3248 1f72 F090 0000 lds r15,(MesswertNick)+13249 1f76 6090 0000 lds r6,GyroFaktor3250 1f7a 7090 0000 lds r7,(GyroFaktor)+13251 1f7e 8090 0000 lds r8,(GyroFaktor)+23252 1f82 9090 0000 lds r9,(GyroFaktor)+33253 1f86 0E94 0000 call __floatsisf3254 1f8a A201 movw r20,r43255 1f8c 9101 movw r18,r23256 1f8e 0E94 0000 call __mulsf33257 1f92 5B01 movw r10,r223258 1f94 6C01 movw r12,r243259 1f96 0027 clr r163260 1f98 F7FC sbrc r15,73261 1f9a 0095 com r163262 1f9c 102F mov r17,r163263 1f9e C801 movw r24,r163264 1fa0 B701 movw r22,r143265 1fa2 0E94 0000 call __floatsisf3266 1fa6 A401 movw r20,r83267 1fa8 9301 movw r18,r63268 1faa 0E94 0000 call __mulsf33269 1fae 9B01 movw r18,r223270 1fb0 AC01 movw r20,r243271 1fb2 C601 movw r24,r123272 1fb4 B501 movw r22,r103273 1fb6 0E94 0000 call __addsf33274 1fba 0E94 0000 call __fixsfsi3275 1fbe 7093 0000 sts (MesswertNick)+1,r233276 1fc2 6093 0000 sts MesswertNick,r223277 1fc6 6091 0000 lds r22,IntegralRoll3278 1fca 7091 0000 lds r23,(IntegralRoll)+13279 1fce 8091 0000 lds r24,(IntegralRoll)+23280 1fd2 9091 0000 lds r25,(IntegralRoll)+33281 1fd6 E090 0000 lds r14,MesswertRoll3282 1fda F090 0000 lds r15,(MesswertRoll)+13283 1fde 0E94 0000 call __floatsisf3284 1fe2 A201 movw r20,r43285 1fe4 9101 movw r18,r23286 1fe6 0E94 0000 call __mulsf33287 1fea 5B01 movw r10,r223288 1fec 6C01 movw r12,r243289 1fee 0027 clr r163290 1ff0 F7FC sbrc r15,73291 1ff2 0095 com r163292 1ff4 102F mov r17,r163293 1ff6 C801 movw r24,r163294 1ff8 B701 movw r22,r143295 1ffa 0E94 0000 call __floatsisf3296 1ffe A401 movw r20,r83297 2000 9301 movw r18,r63298 2002 0E94 0000 call __mulsf33299 2006 9B01 movw r18,r223300 2008 AC01 movw r20,r243301 200a C601 movw r24,r123302 200c B501 movw r22,r103303 200e 0E94 0000 call __addsf33304 2012 0E94 0000 call __fixsfsi3305 2016 7093 0000 sts (MesswertRoll)+1,r233306 201a 6093 0000 sts MesswertRoll,r223307 201e 6091 0000 lds r22,MesswertGier3308 2022 7091 0000 lds r23,(MesswertGier)+13309 2026 A090 0000 lds r10,Integral_Gier3310 202a B090 0000 lds r11,(Integral_Gier)+13311 202e C090 0000 lds r12,(Integral_Gier)+23312 2032 D090 0000 lds r13,(Integral_Gier)+33313 2036 8827 clr r243314 2038 77FD sbrc r23,73315 203a 8095 com r243316 203c 982F mov r25,r243317 203e 0E94 0000 call __floatsisf3318 2042 7B01 movw r14,r223319 2044 8C01 movw r16,r243320 2046 20E0 ldi r18,lo8(0x3f000000)3321 2048 30E0 ldi r19,hi8(0x3f000000)3322 204a 40E0 ldi r20,hlo8(0x3f000000)3323 204c 5FE3 ldi r21,hhi8(0x3f000000)3324 204e C401 movw r24,r83325 2050 B301 movw r22,r63326 2052 0E94 0000 call __mulsf33327 2056 9B01 movw r18,r223328 2058 AC01 movw r20,r243329 205a C801 movw r24,r163330 205c B701 movw r22,r143331 205e 0E94 0000 call __mulsf33332 2062 7B01 movw r14,r223333 2064 8C01 movw r16,r243334 2066 C601 movw r24,r123335 2068 B501 movw r22,r103336 206a 0E94 0000 call __floatsisf3337 206e A201 movw r20,r43338 2070 9101 movw r18,r23339 2072 0E94 0000 call __mulsf33340 2076 9B01 movw r18,r223341 2078 AC01 movw r20,r243342 207a C801 movw r24,r163343 207c B701 movw r22,r143344 207e 0E94 0000 call __addsf33345 2082 0E94 0000 call __fixsfsi3346 2086 7093 0000 sts (MesswertGier)+1,r233347 208a 6093 0000 sts MesswertGier,r223348 208e 8091 0000 lds r24,MesswertNick3349 2092 9091 0000 lds r25,(MesswertNick)+13350 2096 8150 subi r24,lo8(2049)3351 2098 9840 sbci r25,hi8(2049)3352 209a 04F0 brlt .L4973353 209c 80E0 ldi r24,lo8(2048)3354 209e 98E0 ldi r25,hi8(2048)3355 20a0 9093 0000 sts (MesswertNick)+1,r253356 20a4 8093 0000 sts MesswertNick,r243357 .L497:3358 20a8 8091 0000 lds r24,MesswertNick3359 20ac 9091 0000 lds r25,(MesswertNick)+13360 20b0 8050 subi r24,lo8(-2048)3361 20b2 984F sbci r25,hi8(-2048)3362 20b4 04F4 brge .L4993363 20b6 80E0 ldi r24,lo8(-2048)3364 20b8 98EF ldi r25,hi8(-2048)3365 20ba 9093 0000 sts (MesswertNick)+1,r253366 20be 8093 0000 sts MesswertNick,r243367 .L499:3368 20c2 8091 0000 lds r24,MesswertRoll3369 20c6 9091 0000 lds r25,(MesswertRoll)+13370 20ca 8150 subi r24,lo8(2049)3371 20cc 9840 sbci r25,hi8(2049)3372 20ce 04F0 brlt .L5013373 20d0 80E0 ldi r24,lo8(2048)3374 20d2 98E0 ldi r25,hi8(2048)3375 20d4 9093 0000 sts (MesswertRoll)+1,r253376 20d8 8093 0000 sts MesswertRoll,r243377 .L501:3378 20dc 8091 0000 lds r24,MesswertRoll3379 20e0 9091 0000 lds r25,(MesswertRoll)+13380 20e4 8050 subi r24,lo8(-2048)3381 20e6 984F sbci r25,hi8(-2048)3382 20e8 04F4 brge .L5033383 20ea 80E0 ldi r24,lo8(-2048)3384 20ec 98EF ldi r25,hi8(-2048)3385 20ee 9093 0000 sts (MesswertRoll)+1,r253386 20f2 8093 0000 sts MesswertRoll,r243387 .L503:3388 20f6 8091 0000 lds r24,MesswertGier3389 20fa 9091 0000 lds r25,(MesswertGier)+13390 20fe 8150 subi r24,lo8(2049)3391 2100 9840 sbci r25,hi8(2049)3392 2102 04F0 brlt .L5053393 2104 80E0 ldi r24,lo8(2048)3394 2106 98E0 ldi r25,hi8(2048)3395 2108 9093 0000 sts (MesswertGier)+1,r253396 210c 8093 0000 sts MesswertGier,r243397 .L505:3398 2110 8091 0000 lds r24,MesswertGier3399 2114 9091 0000 lds r25,(MesswertGier)+13400 2118 8050 subi r24,lo8(-2048)3401 211a 984F sbci r25,hi8(-2048)3402 211c 04F4 brge .L5073403 211e 80E0 ldi r24,lo8(-2048)3404 2120 98EF ldi r25,hi8(-2048)3405 2122 9093 0000 sts (MesswertGier)+1,r253406 2126 8093 0000 sts MesswertGier,r243407 .L507:3408 212a 8091 0000 lds r24,EE_Parameter+83409 212e 9927 clr r253410 2130 80FF sbrs r24,03411 2132 00C0 rjmp .L5093412 2134 2091 0000 lds r18,Parameter_MaxHoehe3413 2138 81FF sbrs r24,13414 213a 00C0 rjmp .L5113415 213c 2233 cpi r18,lo8(50)3416 213e 00F4 brsh .L5803417 2140 8091 0000 lds r24,HoehenWert3418 2144 9091 0000 lds r25,(HoehenWert)+13419 2148 4497 sbiw r24,203420 214a 9093 0000 sts (SollHoehe)+1,r253421 214e 8093 0000 sts SollHoehe,r243422 2152 1092 0000 sts HoehenReglerAktiv,__zero_reg__3423 2156 00C0 rjmp .L5153424 .L511:3425 2158 8091 0000 lds r24,EE_Parameter+133426 215c 289F mul r18,r243427 215e C001 movw r24,r03428 2160 1124 clr r13429 2162 4497 sbiw r24,203430 2164 9093 0000 sts (SollHoehe)+1,r253431 2168 8093 0000 sts SollHoehe,r243432 .L580:3433 216c 81E0 ldi r24,lo8(1)3434 216e 8093 0000 sts HoehenReglerAktiv,r243435 .L515:3436 2172 8091 0000 lds r24,Notlandung3437 2176 8823 tst r243438 2178 01F0 breq .L5163439 217a 1092 0000 sts (SollHoehe)+1,__zero_reg__3440 217e 1092 0000 sts SollHoehe,__zero_reg__3441 .L516:3442 2182 2091 0000 lds r18,HoehenWert3443 2186 3091 0000 lds r19,(HoehenWert)+13444 218a 4091 0000 lds r20,SollHoehe3445 218e 5091 0000 lds r21,(SollHoehe)+13446 2192 4217 cp r20,r183447 2194 5307 cpc r21,r193448 2196 04F0 brlt .+23449 2198 00C0 rjmp .L5093450 219a 8091 0000 lds r24,HoehenReglerAktiv3451 219e 8823 tst r243452 21a0 01F4 brne .+23453 21a2 00C0 rjmp .L5093454 21a4 241B sub r18,r203455 21a6 350B sbc r19,r213456 21a8 8091 0000 lds r24,Parameter_Hoehe_P3457 21ac 9927 clr r253458 21ae BC01 movw r22,r243459 21b0 269F mul r18,r223460 21b2 C001 movw r24,r03461 21b4 279F mul r18,r233462 21b6 900D add r25,r03463 21b8 369F mul r19,r223464 21ba 900D add r25,r03465 21bc 1124 clr r13466 21be 60E1 ldi r22,lo8(16)3467 21c0 70E0 ldi r23,hi8(16)3468 21c2 0E94 0000 call __divmodhi43469 21c6 0981 ldd r16,Y+13470 21c8 1A81 ldd r17,Y+23471 21ca 061B sub r16,r223472 21cc 170B sbc r17,r233473 21ce 2091 0000 lds r18,HoeheD3474 21d2 3091 0000 lds r19,(HoeheD)+13475 21d6 8091 0000 lds r24,Parameter_Luftdruck_D3476 21da 9927 clr r253477 21dc FC01 movw r30,r243478 21de 2E9F mul r18,r303479 21e0 C001 movw r24,r03480 21e2 2F9F mul r18,r313481 21e4 900D add r25,r03482 21e6 3E9F mul r19,r303483 21e8 900D add r25,r03484 21ea 1124 clr r13485 21ec 68E0 ldi r22,lo8(8)3486 21ee 70E0 ldi r23,hi8(8)3487 21f0 0E94 0000 call __divmodhi43488 21f4 061B sub r16,r223489 21f6 170B sbc r17,r233490 21f8 6091 0000 lds r22,Mess_Integral_Hoch3491 21fc 7091 0000 lds r23,(Mess_Integral_Hoch)+13492 2200 8091 0000 lds r24,(Mess_Integral_Hoch)+23493 2204 9091 0000 lds r25,(Mess_Integral_Hoch)+33494 2208 20E0 ldi r18,lo8(512)3495 220a 32E0 ldi r19,hi8(512)3496 220c 40E0 ldi r20,hlo8(512)3497 220e 50E0 ldi r21,hhi8(512)3498 2210 0E94 0000 call __divmodsi43499 2214 CA01 movw r24,r203500 2216 B901 movw r22,r183501 2218 2091 0000 lds r18,Parameter_Hoehe_ACC_Wirkung3502 221c 3327 clr r193503 221e 4427 clr r203504 2220 5527 clr r213505 2222 0E94 0000 call __mulsi33506 2226 20E2 ldi r18,lo8(32)3507 2228 30E0 ldi r19,hi8(32)3508 222a 40E0 ldi r20,hlo8(32)3509 222c 50E0 ldi r21,hhi8(32)3510 222e 0E94 0000 call __divmodsi43511 2232 FFEF ldi r31,hi8(-50)3512 2234 2E3C cpi r18,lo8(-50)3513 2236 3F07 cpc r19,r313514 2238 04F4 brge .L5203515 223a 2EEC ldi r18,lo8(-50)3516 223c 3FEF ldi r19,hi8(-50)3517 .L520:3518 223e 8091 0000 lds r24,hoehenregler.23623519 2242 9091 0000 lds r25,(hoehenregler.2362)+13520 2246 AC01 movw r20,r243521 2248 74E0 ldi r23,43522 224a 440F 1: lsl r203523 224c 551F rol r213524 224e 7A95 dec r233525 2250 01F4 brne 1b3526 2252 481B sub r20,r243527 2254 590B sbc r21,r253528 2256 2333 cpi r18,513529 2258 3105 cpc r19,__zero_reg__3530 225a 04F0 brlt .L5213531 225c 22E3 ldi r18,lo8(50)3532 225e 30E0 ldi r19,hi8(50)3533 .L521:3534 2260 021B sub r16,r183535 2262 130B sbc r17,r193536 2264 CA01 movw r24,r203537 2266 800F add r24,r163538 2268 911F adc r25,r173539 226a 60E1 ldi r22,lo8(16)3540 226c 70E0 ldi r23,hi8(16)3541 226e 0E94 0000 call __divmodhi43542 2272 7093 0000 sts (hoehenregler.2362)+1,r233543 2276 6093 0000 sts hoehenregler.2362,r223544 227a 8091 0000 lds r24,EE_Parameter+93545 227e 9927 clr r253546 2280 6817 cp r22,r243547 2282 7907 cpc r23,r253548 2284 04F4 brge .L5223549 2286 2981 ldd r18,Y+13550 2288 3A81 ldd r19,Y+23551 228a 2817 cp r18,r243552 228c 3907 cpc r19,r253553 228e 04F0 brlt .L5243554 2290 9093 0000 sts (hoehenregler.2362)+1,r253555 2294 8093 0000 sts hoehenregler.2362,r243556 2298 00C0 rjmp .L5223557 .L524:3558 229a 4981 ldd r20,Y+13559 229c 5A81 ldd r21,Y+23560 229e 5093 0000 sts (hoehenregler.2362)+1,r213561 22a2 4093 0000 sts hoehenregler.2362,r203562 22a6 00C0 rjmp .L5263563 .L522:3564 22a8 8091 0000 lds r24,hoehenregler.23623565 22ac 9091 0000 lds r25,(hoehenregler.2362)+13566 22b0 6981 ldd r22,Y+13567 22b2 7A81 ldd r23,Y+23568 22b4 6817 cp r22,r243569 22b6 7907 cpc r23,r253570 22b8 04F4 brge .L5263571 22ba 7093 0000 sts (hoehenregler.2362)+1,r233572 22be 6093 0000 sts hoehenregler.2362,r223573 .L526:3574 22c2 8091 0000 lds r24,hoehenregler.23623575 22c6 9091 0000 lds r25,(hoehenregler.2362)+13576 22ca 9A83 std Y+2,r253577 22cc 8983 std Y+1,r243578 .L509:3579 22ce C090 0000 lds r12,MesswertGier3580 22d2 D090 0000 lds r13,(MesswertGier)+13581 22d6 8091 0000 lds r24,sollGier.23523582 22da 9091 0000 lds r25,(sollGier.2352)+13583 22de C81A sub r12,r243584 22e0 D90A sbc r13,r253585 22e2 95E6 ldi r25,lo8(101)3586 22e4 C916 cp r12,r253587 22e6 D104 cpc r13,__zero_reg__3588 22e8 04F0 brlt .L5283589 22ea 64E6 ldi r22,lo8(100)3590 22ec C62E mov r12,r223591 22ee D12C mov r13,__zero_reg__3592 22f0 00C0 rjmp .L5303593 .L528:3594 22f2 ECE9 ldi r30,lo8(-100)3595 22f4 CE16 cp r12,r303596 22f6 EFEF ldi r30,hi8(-100)3597 22f8 DE06 cpc r13,r303598 22fa 04F4 brge .L5303599 22fc 5CE9 ldi r21,lo8(-100)3600 22fe C52E mov r12,r213601 2300 5FEF ldi r21,hi8(-100)3602 2302 D52E mov r13,r213603 .L530:3604 2304 4090 0000 lds r4,Kp3605 2308 5090 0000 lds r5,(Kp)+13606 230c 6090 0000 lds r6,(Kp)+23607 2310 7090 0000 lds r7,(Kp)+33608 2314 6091 0000 lds r22,MesswertNick3609 2318 7091 0000 lds r23,(MesswertNick)+13610 231c 2091 0000 lds r18,StickNick3611 2320 3091 0000 lds r19,(StickNick)+13612 2324 4091 0000 lds r20,GPS_Nick3613 2328 5091 0000 lds r21,(GPS_Nick)+13614 232c 241B sub r18,r203615 232e 350B sbc r19,r213616 2330 621B sub r22,r183617 2332 730B sbc r23,r193618 2334 8827 clr r243619 2336 77FD sbrc r23,73620 2338 8095 com r243621 233a 982F mov r25,r243622 233c 0E94 0000 call __floatsisf3623 2340 9B01 movw r18,r223624 2342 AC01 movw r20,r243625 2344 C301 movw r24,r63626 2346 B201 movw r22,r43627 2348 0E94 0000 call __mulsf33628 234c 0E94 0000 call __fixsfsi3629 2350 7093 0000 sts (DiffNick)+1,r233630 2354 6093 0000 sts DiffNick,r223631 2358 8091 0000 lds r24,DiffNick3632 235c 9091 0000 lds r25,(DiffNick)+13633 2360 8C01 movw r16,r243634 2362 2227 clr r183635 2364 17FD sbrc r17,73636 2366 2095 com r183637 2368 322F mov r19,r183638 236a 8091 0000 lds r24,SummeNick.23503639 236e 9091 0000 lds r25,(SummeNick.2350)+13640 2372 A091 0000 lds r26,(SummeNick.2350)+23641 2376 B091 0000 lds r27,(SummeNick.2350)+33642 237a 080F add r16,r243643 237c 191F adc r17,r253644 237e 2A1F adc r18,r263645 2380 3B1F adc r19,r273646 2382 0093 0000 sts SummeNick.2350,r163647 2386 1093 0000 sts (SummeNick.2350)+1,r173648 238a 2093 0000 sts (SummeNick.2350)+2,r183649 238e 3093 0000 sts (SummeNick.2350)+3,r193650 2392 1016 cp __zero_reg__,r163651 2394 1106 cpc __zero_reg__,r173652 2396 1206 cpc __zero_reg__,r183653 2398 1306 cpc __zero_reg__,r193654 239a 04F4 brge .L5323655 239c C801 movw r24,r163656 239e 17FF sbrs r17,73657 23a0 00C0 rjmp .L5343658 23a2 9095 com r253659 23a4 8195 neg r243660 23a6 9F4F sbci r25,lo8(-1)3661 .L534:3662 23a8 60E0 ldi r22,lo8(256)3663 23aa 71E0 ldi r23,hi8(256)3664 23ac 0E94 0000 call __divmodhi43665 23b0 6F5F subi r22,lo8(-(1))3666 23b2 7F4F sbci r23,hi8(-(1))3667 23b4 8827 clr r243668 23b6 77FD sbrc r23,73669 23b8 8095 com r243670 23ba 982F mov r25,r243671 23bc 061B sub r16,r223672 23be 170B sbc r17,r233673 23c0 280B sbc r18,r243674 23c2 390B sbc r19,r253675 23c4 00C0 rjmp .L5813676 .L532:3677 23c6 C801 movw r24,r163678 23c8 17FF sbrs r17,73679 23ca 00C0 rjmp .L5363680 23cc 9095 com r253681 23ce 8195 neg r243682 23d0 9F4F sbci r25,lo8(-1)3683 .L536:3684 23d2 60E0 ldi r22,lo8(256)3685 23d4 71E0 ldi r23,hi8(256)3686 23d6 0E94 0000 call __divmodhi43687 23da 6F5F subi r22,lo8(-(1))3688 23dc 7F4F sbci r23,hi8(-(1))3689 23de 8827 clr r243690 23e0 77FD sbrc r23,73691 23e2 8095 com r243692 23e4 982F mov r25,r243693 23e6 060F add r16,r223694 23e8 171F adc r17,r233695 23ea 281F adc r18,r243696 23ec 391F adc r19,r253697 .L581:3698 23ee 0093 0000 sts SummeNick.2350,r163699 23f2 1093 0000 sts (SummeNick.2350)+1,r173700 23f6 2093 0000 sts (SummeNick.2350)+2,r183701 23fa 3093 0000 sts (SummeNick.2350)+3,r193702 23fe 8091 0000 lds r24,SummeNick.23503703 2402 9091 0000 lds r25,(SummeNick.2350)+13704 2406 A091 0000 lds r26,(SummeNick.2350)+23705 240a B091 0000 lds r27,(SummeNick.2350)+33706 240e 8138 cpi r24,lo8(16001)3707 2410 FEE3 ldi r31,hi8(16001)3708 2412 9F07 cpc r25,r313709 2414 F0E0 ldi r31,hlo8(16001)3710 2416 AF07 cpc r26,r313711 2418 F0E0 ldi r31,hhi8(16001)3712 241a BF07 cpc r27,r313713 241c 04F0 brlt .L5373714 241e 80E8 ldi r24,lo8(16000)3715 2420 9EE3 ldi r25,hi8(16000)3716 2422 A0E0 ldi r26,hlo8(16000)3717 2424 B0E0 ldi r27,hhi8(16000)3718 2426 00C0 rjmp .L5823719 .L537:3720 2428 8058 subi r24,lo8(-16000)3721 242a 914C sbci r25,hi8(-16000)3722 242c AF4F sbci r26,hlo8(-16000)3723 242e BF4F sbci r27,hhi8(-16000)3724 2430 04F4 brge .L5393725 2432 80E8 ldi r24,lo8(-16000)3726 2434 91EC ldi r25,hi8(-16000)3727 2436 AFEF ldi r26,hlo8(-16000)3728 2438 BFEF ldi r27,hhi8(-16000)3729 .L582:3730 243a 8093 0000 sts SummeNick.2350,r243731 243e 9093 0000 sts (SummeNick.2350)+1,r253732 2442 A093 0000 sts (SummeNick.2350)+2,r263733 2446 B093 0000 sts (SummeNick.2350)+3,r273734 .L539:3735 244a 6091 0000 lds r22,DiffNick3736 244e 7091 0000 lds r23,(DiffNick)+13737 2452 8090 0000 lds r8,Ki3738 2456 9090 0000 lds r9,(Ki)+13739 245a A090 0000 lds r10,(Ki)+23740 245e B090 0000 lds r11,(Ki)+33741 2462 8827 clr r243742 2464 77FD sbrc r23,73743 2466 8095 com r243744 2468 982F mov r25,r243745 246a 0E94 0000 call __floatsisf3746 246e 7B01 movw r14,r223747 2470 8C01 movw r16,r243748 2472 6091 0000 lds r22,SummeNick.23503749 2476 7091 0000 lds r23,(SummeNick.2350)+13750 247a 8091 0000 lds r24,(SummeNick.2350)+23751 247e 9091 0000 lds r25,(SummeNick.2350)+33752 2482 0E94 0000 call __floatsisf3753 2486 9B01 movw r18,r223754 2488 AC01 movw r20,r243755 248a C501 movw r24,r103756 248c B401 movw r22,r83757 248e 0E94 0000 call __mulsf33758 2492 9B01 movw r18,r223759 2494 AC01 movw r20,r243760 2496 C801 movw r24,r163761 2498 B701 movw r22,r143762 249a 0E94 0000 call __addsf33763 249e 0E94 0000 call __fixsfsi3764 24a2 9601 movw r18,r123765 24a4 260F add r18,r223766 24a6 371F adc r19,r233767 24a8 4981 ldd r20,Y+13768 24aa 5A81 ldd r21,Y+23769 24ac 240F add r18,r203770 24ae 351F adc r19,r213771 24b0 2224 clr r23772 24b2 4A30 cpi r20,103773 24b4 5105 cpc r21,__zero_reg__3774 24b6 04F4 brge .L5413775 24b8 41E0 ldi r20,lo8(1)3776 24ba 242E mov r2,r203777 .L541:3778 24bc 37FD sbrc r19,73779 24be 00C0 rjmp .L5443780 24c0 2220 tst r23781 24c2 01F0 breq .L5423782 .L544:3783 24c4 40E0 ldi r20,lo8(0)3784 24c6 50E0 ldi r21,hi8(0)3785 24c8 00C0 rjmp .L5453786 .L542:3787 24ca 8091 0000 lds r24,MAX_GAS3788 24ce 482F mov r20,r243789 24d0 5527 clr r213790 24d2 2417 cp r18,r203791 24d4 3507 cpc r19,r213792 24d6 04F4 brge .L5453793 24d8 A901 movw r20,r183794 .L545:3795 24da 8091 0000 lds r24,MIN_GAS3796 24de E82F mov r30,r243797 24e0 FF27 clr r313798 24e2 FC83 std Y+4,r313799 24e4 EB83 std Y+3,r303800 24e6 9F01 movw r18,r303801 24e8 E417 cp r30,r203802 24ea F507 cpc r31,r213803 24ec 04F4 brge .L5473804 24ee 9A01 movw r18,r203805 .L547:3806 24f0 2093 0000 sts Motor_Vorne,r183807 24f4 2981 ldd r18,Y+13808 24f6 3A81 ldd r19,Y+23809 24f8 261B sub r18,r223810 24fa 370B sbc r19,r233811 24fc B901 movw r22,r183812 24fe 6C0D add r22,r123813 2500 7D1D adc r23,r133814 2502 77FD sbrc r23,73815 2504 00C0 rjmp .L5503816 2506 2220 tst r23817 2508 01F0 breq .L5483818 .L550:3819 250a 80E0 ldi r24,lo8(0)3820 250c 90E0 ldi r25,hi8(0)3821 250e 00C0 rjmp .L5513822 .L548:3823 2510 8091 0000 lds r24,MAX_GAS3824 2514 9927 clr r253825 2516 6817 cp r22,r243826 2518 7907 cpc r23,r253827 251a 04F4 brge .L5513828 251c CB01 movw r24,r223829 .L551:3830 251e 2B81 ldd r18,Y+33831 2520 3C81 ldd r19,Y+43832 2522 2817 cp r18,r243833 2524 3907 cpc r19,r253834 2526 04F4 brge .L5533835 2528 9C01 movw r18,r243836 .L553:3837 252a 2093 0000 sts Motor_Hinten,r183838 252e 6091 0000 lds r22,MesswertRoll3839 2532 7091 0000 lds r23,(MesswertRoll)+13840 2536 2091 0000 lds r18,StickRoll3841 253a 3091 0000 lds r19,(StickRoll)+13842 253e 4091 0000 lds r20,GPS_Roll3843 2542 5091 0000 lds r21,(GPS_Roll)+13844 2546 241B sub r18,r203845 2548 350B sbc r19,r213846 254a 621B sub r22,r183847 254c 730B sbc r23,r193848 254e 8827 clr r243849 2550 77FD sbrc r23,73850 2552 8095 com r243851 2554 982F mov r25,r243852 2556 0E94 0000 call __floatsisf3853 255a 9B01 movw r18,r223854 255c AC01 movw r20,r243855 255e C301 movw r24,r63856 2560 B201 movw r22,r43857 2562 0E94 0000 call __mulsf33858 2566 0E94 0000 call __fixsfsi3859 256a 7093 0000 sts (DiffRoll)+1,r233860 256e 6093 0000 sts DiffRoll,r223861 2572 8091 0000 lds r24,DiffRoll3862 2576 9091 0000 lds r25,(DiffRoll)+13863 257a 8C01 movw r16,r243864 257c 2227 clr r183865 257e 17FD sbrc r17,73866 2580 2095 com r183867 2582 322F mov r19,r183868 2584 8091 0000 lds r24,SummeRoll.23513869 2588 9091 0000 lds r25,(SummeRoll.2351)+13870 258c A091 0000 lds r26,(SummeRoll.2351)+23871 2590 B091 0000 lds r27,(SummeRoll.2351)+33872 2594 080F add r16,r243873 2596 191F adc r17,r253874 2598 2A1F adc r18,r263875 259a 3B1F adc r19,r273876 259c 0093 0000 sts SummeRoll.2351,r163877 25a0 1093 0000 sts (SummeRoll.2351)+1,r173878 25a4 2093 0000 sts (SummeRoll.2351)+2,r183879 25a8 3093 0000 sts (SummeRoll.2351)+3,r193880 25ac 1016 cp __zero_reg__,r163881 25ae 1106 cpc __zero_reg__,r173882 25b0 1206 cpc __zero_reg__,r183883 25b2 1306 cpc __zero_reg__,r193884 25b4 04F4 brge .L5543885 25b6 C801 movw r24,r163886 25b8 17FF sbrs r17,73887 25ba 00C0 rjmp .L5563888 25bc 9095 com r253889 25be 8195 neg r243890 25c0 9F4F sbci r25,lo8(-1)3891 .L556:3892 25c2 60E0 ldi r22,lo8(256)3893 25c4 71E0 ldi r23,hi8(256)3894 25c6 0E94 0000 call __divmodhi43895 25ca 6F5F subi r22,lo8(-(1))3896 25cc 7F4F sbci r23,hi8(-(1))3897 25ce 8827 clr r243898 25d0 77FD sbrc r23,73899 25d2 8095 com r243900 25d4 982F mov r25,r243901 25d6 061B sub r16,r223902 25d8 170B sbc r17,r233903 25da 280B sbc r18,r243904 25dc 390B sbc r19,r253905 25de 00C0 rjmp .L5833906 .L554:3907 25e0 C801 movw r24,r163908 25e2 17FF sbrs r17,73909 25e4 00C0 rjmp .L5583910 25e6 9095 com r253911 25e8 8195 neg r243912 25ea 9F4F sbci r25,lo8(-1)3913 .L558:3914 25ec 60E0 ldi r22,lo8(256)3915 25ee 71E0 ldi r23,hi8(256)3916 25f0 0E94 0000 call __divmodhi43917 25f4 6F5F subi r22,lo8(-(1))3918 25f6 7F4F sbci r23,hi8(-(1))3919 25f8 8827 clr r243920 25fa 77FD sbrc r23,73921 25fc 8095 com r243922 25fe 982F mov r25,r243923 2600 060F add r16,r223924 2602 171F adc r17,r233925 2604 281F adc r18,r243926 2606 391F adc r19,r253927 .L583:3928 2608 0093 0000 sts SummeRoll.2351,r163929 260c 1093 0000 sts (SummeRoll.2351)+1,r173930 2610 2093 0000 sts (SummeRoll.2351)+2,r183931 2614 3093 0000 sts (SummeRoll.2351)+3,r193932 2618 8091 0000 lds r24,SummeRoll.23513933 261c 9091 0000 lds r25,(SummeRoll.2351)+13934 2620 A091 0000 lds r26,(SummeRoll.2351)+23935 2624 B091 0000 lds r27,(SummeRoll.2351)+33936 2628 8138 cpi r24,lo8(16001)3937 262a 3EE3 ldi r19,hi8(16001)3938 262c 9307 cpc r25,r193939 262e 30E0 ldi r19,hlo8(16001)3940 2630 A307 cpc r26,r193941 2632 30E0 ldi r19,hhi8(16001)3942 2634 B307 cpc r27,r193943 2636 04F0 brlt .L5593944 2638 80E8 ldi r24,lo8(16000)3945 263a 9EE3 ldi r25,hi8(16000)3946 263c A0E0 ldi r26,hlo8(16000)3947 263e B0E0 ldi r27,hhi8(16000)3948 2640 00C0 rjmp .L5843949 .L559:3950 2642 8058 subi r24,lo8(-16000)3951 2644 914C sbci r25,hi8(-16000)3952 2646 AF4F sbci r26,hlo8(-16000)3953 2648 BF4F sbci r27,hhi8(-16000)3954 264a 04F4 brge .L5613955 264c 80E8 ldi r24,lo8(-16000)3956 264e 91EC ldi r25,hi8(-16000)3957 2650 AFEF ldi r26,hlo8(-16000)3958 2652 BFEF ldi r27,hhi8(-16000)3959 .L584:3960 2654 8093 0000 sts SummeRoll.2351,r243961 2658 9093 0000 sts (SummeRoll.2351)+1,r253962 265c A093 0000 sts (SummeRoll.2351)+2,r263963 2660 B093 0000 sts (SummeRoll.2351)+3,r273964 .L561:3965 2664 6091 0000 lds r22,DiffRoll3966 2668 7091 0000 lds r23,(DiffRoll)+13967 266c 8827 clr r243968 266e 77FD sbrc r23,73969 2670 8095 com r243970 2672 982F mov r25,r243971 2674 0E94 0000 call __floatsisf3972 2678 7B01 movw r14,r223973 267a 8C01 movw r16,r243974 267c 6091 0000 lds r22,SummeRoll.23513975 2680 7091 0000 lds r23,(SummeRoll.2351)+13976 2684 8091 0000 lds r24,(SummeRoll.2351)+23977 2688 9091 0000 lds r25,(SummeRoll.2351)+33978 268c 0E94 0000 call __floatsisf3979 2690 9B01 movw r18,r223980 2692 AC01 movw r20,r243981 2694 C501 movw r24,r103982 2696 B401 movw r22,r83983 2698 0E94 0000 call __mulsf33984 269c 9B01 movw r18,r223985 269e AC01 movw r20,r243986 26a0 C801 movw r24,r163987 26a2 B701 movw r22,r143988 26a4 0E94 0000 call __addsf33989 26a8 0E94 0000 call __fixsfsi3990 26ac 2981 ldd r18,Y+13991 26ae 3A81 ldd r19,Y+23992 26b0 260F add r18,r223993 26b2 371F adc r19,r233994 26b4 2C19 sub r18,r123995 26b6 3D09 sbc r19,r133996 26b8 37FD sbrc r19,73997 26ba 00C0 rjmp .L5653998 26bc 2220 tst r23999 26be 01F0 breq .L5634000 .L565:4001 26c0 40E0 ldi r20,lo8(0)4002 26c2 50E0 ldi r21,hi8(0)4003 26c4 00C0 rjmp .L5664004 .L563:4005 26c6 8091 0000 lds r24,MAX_GAS4006 26ca 482F mov r20,r244007 26cc 5527 clr r214008 26ce 2417 cp r18,r204009 26d0 3507 cpc r19,r214010 26d2 04F4 brge .L5664011 26d4 A901 movw r20,r184012 .L566:4013 26d6 2B81 ldd r18,Y+34014 26d8 3C81 ldd r19,Y+44015 26da 2417 cp r18,r204016 26dc 3507 cpc r19,r214017 26de 04F4 brge .L5684018 26e0 9A01 movw r18,r204019 .L568:4020 26e2 2093 0000 sts Motor_Links,r184021 26e6 8981 ldd r24,Y+14022 26e8 9A81 ldd r25,Y+24023 26ea 861B sub r24,r224024 26ec 970B sbc r25,r234025 26ee BC01 movw r22,r244026 26f0 6C19 sub r22,r124027 26f2 7D09 sbc r23,r134028 26f4 77FD sbrc r23,74029 26f6 00C0 rjmp .L5714030 26f8 2220 tst r24031 26fa 01F0 breq .L5694032 .L571:4033 26fc 20E0 ldi r18,lo8(0)4034 26fe 30E0 ldi r19,hi8(0)4035 2700 00C0 rjmp .L5724036 .L569:4037 2702 8091 0000 lds r24,MAX_GAS4038 2706 282F mov r18,r244039 2708 3327 clr r194040 270a 6217 cp r22,r184041 270c 7307 cpc r23,r194042 270e 04F4 brge .L5724043 2710 9B01 movw r18,r224044 .L572:4045 2712 8B81 ldd r24,Y+34046 2714 9C81 ldd r25,Y+44047 2716 8217 cp r24,r184048 2718 9307 cpc r25,r194049 271a 04F4 brge .L5744050 271c C901 movw r24,r184051 .L574:4052 271e 8093 0000 sts Motor_Rechts,r244053 /* epilogue: frame size=4 */4054 2722 2496 adiw r28,44055 2724 0FB6 in __tmp_reg__,__SREG__4056 2726 F894 cli4057 2728 DEBF out __SP_H__,r294058 272a 0FBE out __SREG__,__tmp_reg__4059 272c CDBF out __SP_L__,r284060 272e DF91 pop r294061 2730 CF91 pop r284062 2732 1F91 pop r174063 2734 0F91 pop r164064 2736 FF90 pop r154065 2738 EF90 pop r144066 273a DF90 pop r134067 273c CF90 pop r124068 273e BF90 pop r114069 2740 AF90 pop r104070 2742 9F90 pop r94071 2744 8F90 pop r84072 2746 7F90 pop r74073 2748 6F90 pop r64074 274a 5F90 pop r54075 274c 4F90 pop r44076 274e 3F90 pop r34077 2750 2F90 pop r24078 2752 0895 ret4079 /* epilogue end (size=25) */4080 /* function MotorRegler size 2799 (2748) */4082 .global Timeout4083 .global Timeout4084 .section .bss4087 Timeout:4088 0000 00 .skip 1,04089 .global AdNeutralNick4090 .global AdNeutralNick4093 AdNeutralNick:4094 0001 0000 .skip 2,04095 .global AdNeutralRoll4096 .global AdNeutralRoll4099 AdNeutralRoll:4100 0003 0000 .skip 2,04101 .global AdNeutralGier4102 .global AdNeutralGier4105 AdNeutralGier:4106 0005 0000 .skip 2,04107 .global NeutralAccX4108 .global NeutralAccX4111 NeutralAccX:4112 0007 0000 .skip 2,04113 .global NeutralAccY4114 .global NeutralAccY4117 NeutralAccY:4118 0009 0000 .skip 2,04119 .global NeutralAccZ4120 .global NeutralAccZ4123 NeutralAccZ:4124 000b 0000 0000 .skip 4,04125 .global CosinusNickWinkel4126 .global CosinusNickWinkel4129 CosinusNickWinkel:4130 000f 00 .skip 1,04131 .global CosinusRollWinkel4132 .global CosinusRollWinkel4135 CosinusRollWinkel:4136 0010 00 .skip 1,04137 .global IntegralNick4138 .global IntegralNick4141 IntegralNick:4142 0011 0000 0000 .skip 4,04143 .global IntegralNick24144 .global IntegralNick24147 IntegralNick2:4148 0015 0000 0000 .skip 4,04149 .global IntegralRoll4150 .global IntegralRoll4153 IntegralRoll:4154 0019 0000 0000 .skip 4,04155 .global IntegralRoll24156 .global IntegralRoll24159 IntegralRoll2:4160 001d 0000 0000 .skip 4,04161 .global Integral_Gier4162 .global Integral_Gier4165 Integral_Gier:4166 0021 0000 0000 .skip 4,04167 .global Mess_IntegralNick4168 .global Mess_IntegralNick4171 Mess_IntegralNick:4172 0025 0000 0000 .skip 4,04173 .global Mess_IntegralNick24174 .global Mess_IntegralNick24177 Mess_IntegralNick2:4178 0029 0000 0000 .skip 4,04179 .global Mess_IntegralRoll4180 .global Mess_IntegralRoll4183 Mess_IntegralRoll:4184 002d 0000 0000 .skip 4,04185 .global Mess_IntegralRoll24186 .global Mess_IntegralRoll24189 Mess_IntegralRoll2:4190 0031 0000 0000 .skip 4,04191 .global Mess_Integral_Gier4192 .global Mess_Integral_Gier4195 Mess_Integral_Gier:4196 0035 0000 0000 .skip 4,04197 .global Mess_Integral_Gier24198 .global Mess_Integral_Gier24201 Mess_Integral_Gier2:4202 0039 0000 0000 .skip 4,04203 .global Mess_Integral_Hoch4204 .global Mess_Integral_Hoch4207 Mess_Integral_Hoch:4208 003d 0000 0000 .skip 4,04209 .global KompassValue4210 .global KompassValue4213 KompassValue:4214 0041 0000 .skip 2,04215 .global KompassStartwert4216 .global KompassStartwert4219 KompassStartwert:4220 0043 0000 .skip 2,04221 .global KompassRichtung4222 .global KompassRichtung4225 KompassRichtung:4226 0045 0000 .skip 2,04227 .global Notlandung4228 .global Notlandung4231 Notlandung:4232 0047 00 .skip 1,04233 .global HoehenReglerAktiv4234 .global HoehenReglerAktiv4237 HoehenReglerAktiv:4238 0048 00 .skip 1,04239 .global Poti14240 .global Poti14243 Poti1:4244 0049 0000 .skip 2,04245 .global Poti24246 .global Poti24249 Poti2:4250 004b 0000 .skip 2,04251 .global Poti34252 .global Poti34255 Poti3:4256 004d 0000 .skip 2,04257 .global Poti44258 .global Poti44261 Poti4:4262 004f 0000 .skip 2,04263 .global SenderOkay4264 .global SenderOkay4267 SenderOkay:4268 0051 00 .skip 1,04269 .global StickNick4270 .global StickNick4273 StickNick:4274 0052 0000 .skip 2,04275 .global StickRoll4276 .global StickRoll4279 StickRoll:4280 0054 0000 .skip 2,04281 .global StickGier4282 .global StickGier4285 StickGier:4286 0056 0000 .skip 2,04287 .global MotorenEin4288 .global MotorenEin4291 MotorenEin:4292 0058 00 .skip 1,04293 .global HoehenWert4294 .global HoehenWert4297 HoehenWert:4298 0059 0000 .skip 2,04299 .global SollHoehe4300 .global SollHoehe4303 SollHoehe:4304 005b 0000 .skip 2,04305 .global Kp4306 .data4309 Kp:4310 0010 00 .byte 04311 0011 00 .byte 04312 0012 80 .byte -1284313 0013 3F .byte 634314 .global Ki4317 Ki:4318 0014 17 .byte 234319 0015 B7 .byte -734320 0016 D1 .byte -474321 0017 38 .byte 564322 .global Parameter_Luftdruck_D4325 Parameter_Luftdruck_D:4326 0018 30 .byte 484327 .global Parameter_MaxHoehe4330 Parameter_MaxHoehe:4331 0019 FB .byte -54332 .global Parameter_Hoehe_P4335 Parameter_Hoehe_P:4336 001a 10 .byte 164337 .global Parameter_Hoehe_ACC_Wirkung4340 Parameter_Hoehe_ACC_Wirkung:4341 001b 3A .byte 584342 .global Parameter_KompassWirkung4345 Parameter_KompassWirkung:4346 001c 40 .byte 644347 .global Parameter_Gyro_P4350 Parameter_Gyro_P:4351 001d 32 .byte 504352 .global Parameter_Gyro_I4355 Parameter_Gyro_I:4356 001e 96 .byte -1064357 .global Parameter_Gier_P4360 Parameter_Gier_P:4361 001f 02 .byte 24362 .global Parameter_I_Faktor4365 Parameter_I_Faktor:4366 0020 0A .byte 104367 .global Parameter_UserParam14368 .global Parameter_UserParam14369 .section .bss4372 Parameter_UserParam1:4373 005d 00 .skip 1,04374 .global Parameter_UserParam24375 .global Parameter_UserParam24378 Parameter_UserParam2:4379 005e 00 .skip 1,04380 .global Parameter_UserParam34381 .global Parameter_UserParam34384 Parameter_UserParam3:4385 005f 00 .skip 1,04386 .global Parameter_UserParam44387 .global Parameter_UserParam44390 Parameter_UserParam4:4391 0060 00 .skip 1,04392 .global Parameter_ServoNickControl4393 .data4396 Parameter_ServoNickControl:4397 0021 64 .byte 1004398 .lcomm SignalSchlecht.2368,24399 .lcomm NeueKompassRichtungMerken.2364,14400 .lcomm TimerWerteausgabe.2363,14401 .lcomm hoehenregler.2362,24402 .lcomm modell_fliegt.2361,24403 .lcomm delay_ausschalten.2360,14404 .lcomm delay_einschalten.2359,14405 .lcomm delay_neutral.2358,14406 .lcomm RcLostTimer.2357,24407 .lcomm IntegralFehlerRoll.2356,24408 .lcomm IntegralFehlerNick.2355,24409 .lcomm tmp_long2.2354,44410 .lcomm tmp_long.2353,44411 .lcomm sollGier.2352,44412 .lcomm SummeRoll.2351,44413 .lcomm SummeNick.2350,44414 .comm DiffNick,2,14415 .comm DiffRoll,2,14416 .comm durchschnitt_northing,4,14417 .comm durchschnitt_easting,4,14418 .comm gps_p,2,14419 .comm gps_d,2,14420 .comm skal,2,14421 .comm gps_gethome,2,14422 .comm RemoteTasten,1,14423 .comm MesswertNick,2,14424 .comm MesswertRoll,2,14425 .comm MesswertGier,2,14426 .comm Mittelwert_AccNick,2,14427 .comm Mittelwert_AccRoll,2,14428 .comm Mittelwert_AccHoch,2,14429 .comm h,1,14430 .comm m,1,14431 .comm s,1,14432 .comm Motor_Vorne,1,14433 .comm Motor_Hinten,1,14434 .comm Motor_Rechts,1,14435 .comm Motor_Links,1,14436 .comm Count,1,14437 .comm MotorWert,5,14438 .comm EE_Parameter,58,14439 .comm MAX_GAS,1,14440 .comm MIN_GAS,1,14441 .comm GyroFaktor,4,14442 .comm IntegralFaktor,4,14443 /* File "fc.c": code 5078 = 0x13d6 (4996), prologues 38, epilogues 44 */DEFINED SYMBOLS*ABS*:00000000 fc.cC:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:3 *ABS*:0000003f __SREG__C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4 *ABS*:0000003e __SP_H__C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:5 *ABS*:0000003d __SP_L__C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:6 *ABS*:00000000 __tmp_reg__C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:7 *ABS*:00000001 __zero_reg__C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:13 .text:00000000 Mittelwert*COM*:00000002 MesswertNick*COM*:00000002 MesswertRoll*COM*:00000002 MesswertGier*COM*:00000002 Mittelwert_AccNick*COM*:00000002 Mittelwert_AccRoll*COM*:00000002 Mittelwert_AccHochC:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4195 .bss:00000035 Mess_Integral_GierC:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4165 .bss:00000021 Integral_GierC:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4171 .bss:00000025 Mess_IntegralNickC:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4141 .bss:00000011 IntegralNickC:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4183 .bss:0000002d Mess_IntegralRollC:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4153 .bss:00000019 IntegralRollC:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4177 .bss:00000029 Mess_IntegralNick2C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4147 .bss:00000015 IntegralNick2C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4189 .bss:00000031 Mess_IntegralRoll2C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4159 .bss:0000001d IntegralRoll2C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4243 .bss:00000049 Poti1*COM*:0000003a EE_ParameterC:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4249 .bss:0000004b Poti2C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4255 .bss:0000004d Poti3C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4261 .bss:0000004f Poti4C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:576 .text:00000582 CalibrierMittelwertC:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:918 .text:000008ba ParameterZuordnungC:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4330 .data:00000019 Parameter_MaxHoeheC:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4325 .data:00000018 Parameter_Luftdruck_DC:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4335 .data:0000001a Parameter_Hoehe_PC:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4340 .data:0000001b Parameter_Hoehe_ACC_WirkungC:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4345 .data:0000001c Parameter_KompassWirkungC:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4350 .data:0000001d Parameter_Gyro_PC:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4355 .data:0000001e Parameter_Gyro_IC:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4365 .data:00000020 Parameter_I_FaktorC:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4372 .bss:0000005d Parameter_UserParam1C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4378 .bss:0000005e Parameter_UserParam2C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4384 .bss:0000005f Parameter_UserParam3C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4390 .bss:00000060 Parameter_UserParam4C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4396 .data:00000021 Parameter_ServoNickControlC:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4317 .data:00000014 Ki*COM*:00000001 MAX_GAS*COM*:00000001 MIN_GASC:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:1484 .text:00000d54 DefaultKonstanten2C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:1570 .text:00000e2e DefaultKonstanten1C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:1654 .text:00000f10 SendMotorDataC:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4291 .bss:00000058 MotorenEin*COM*:00000001 Motor_Hinten*COM*:00000001 Motor_Vorne*COM*:00000001 Motor_Rechts*COM*:00000001 Motor_LinksC:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:1710 .text:00000f9e SetNeutralC:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4111 .bss:00000007 NeutralAccXC:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4117 .bss:00000009 NeutralAccYC:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4123 .bss:0000000b NeutralAccZC:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4093 .bss:00000001 AdNeutralNickC:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4099 .bss:00000003 AdNeutralRollC:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4105 .bss:00000005 AdNeutralGierC:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4207 .bss:0000003d Mess_Integral_HochC:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4213 .bss:00000041 KompassValueC:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4219 .bss:00000043 KompassStartwertC:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:1882 .text:00001196 PiepC:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:1911 .text:000011c0 MotorReglerC:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4267 .bss:00000051 SenderOkayC:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4405 .bss:0000006c RcLostTimer.2357C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4231 .bss:00000047 NotlandungC:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4401 .bss:00000067 modell_fliegt.2361C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4412 .bss:00000082 SummeNick.2350C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4411 .bss:0000007e SummeRoll.2351C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4201 .bss:00000039 Mess_Integral_Gier2C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4404 .bss:0000006b delay_neutral.2358C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4403 .bss:0000006a delay_einschalten.2359C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4410 .bss:0000007a sollGier.2352C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4402 .bss:00000069 delay_ausschalten.2360C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4273 .bss:00000052 StickNickC:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4279 .bss:00000054 StickRollC:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4285 .bss:00000056 StickGier*COM*:00000004 GyroFaktor*COM*:00000004 IntegralFaktorC:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4407 .bss:00000070 IntegralFehlerNick.2355C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4406 .bss:0000006e IntegralFehlerRoll.2356C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4409 .bss:00000076 tmp_long.2353C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4408 .bss:00000072 tmp_long2.2354C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4398 .bss:00000063 NeueKompassRichtungMerken.2364.bss:00000061 SignalSchlecht.2368C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4225 .bss:00000045 KompassRichtung*COM*:00000002 gps_p*COM*:00000002 gps_dC:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4399 .bss:00000064 TimerWerteausgabe.2363C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4297 .bss:00000059 HoehenWertC:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4303 .bss:0000005b SollHoeheC:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4237 .bss:00000048 HoehenReglerAktivC:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4400 .bss:00000065 hoehenregler.2362C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4309 .data:00000010 Kp*COM*:00000002 DiffNick*COM*:00000002 DiffRollC:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4087 .bss:00000000 TimeoutC:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4129 .bss:0000000f CosinusNickWinkelC:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4135 .bss:00000010 CosinusRollWinkelC:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc2xdeG9.s:4360 .data:0000001f Parameter_Gier_P*COM*:00000004 durchschnitt_northing*COM*:00000004 durchschnitt_easting*COM*:00000002 skal*COM*:00000002 gps_gethome*COM*:00000001 RemoteTasten*COM*:00000001 h*COM*:00000001 m*COM*:00000001 s*COM*:00000001 Count*COM*:00000005 MotorWertUNDEFINED SYMBOLS__do_copy_data__do_clear_bssMessanzahlNickAccumulateNick__divmodhi4MessanzahlRollAccumulateRollMessanzahlGierAccumulateGiermessanzahl_AccNickaccumulate_AccNick__divmodsi4messanzahl_AccRollaccumulate_AccRollmessanzahl_AccHochaccumulate_AccHochPPM_in__floatsisf__addsf3__mulsf3MotorTestDebugOuttwi_statemotori2c_startSetDelayCheckDelayMessLuftdruckSucheLuftruckOffsetAktuell_azLuftdruckStartLuftdruckHoeheDbeeptimeDelay_msPcZugriffEEPromArray__eeprom_write_byte_1F2021GetActiveParamSetNumberReadParameterSetNewPpmDataPPM_diff__divsf3__ltsf2ZaehlMessungen__mulsi3gps_mainGPS_NickGPS_Roll__fixsfsi