Subversion Repositories FlightCtrl

   1                            .file   "main.c"
   2                            .arch atmega644p
   3                    __SREG__ = 0x3f
   4                    __SP_H__ = 0x3e
   5                    __SP_L__ = 0x3d
   6                    __tmp_reg__ = 0
   7                    __zero_reg__ = 1
   8                            .global __do_copy_data
   9                            .global __do_clear_bss
  10                    .global FoundMotors
  11                    .global FoundMotors
  12                            .section .bss
  15                    FoundMotors:
  16 0000 00                    .skip 1,0
  17                    .global FlugSekunden
  18                    .global FlugSekunden
  21                    FlugSekunden:
  22 0001 0000                  .skip 2,0
  23                    .global FlugMinutenGesamt
  24                    .global FlugMinutenGesamt
  27                    FlugMinutenGesamt:
  28 0003 0000                  .skip 2,0
  29                    .global FlugMinuten
  30                    .global FlugMinuten
  33                    FlugMinuten:
  34 0005 0000                  .skip 2,0
  35                    .global BattLowVoltageWarning
  36                            .data
  39                    BattLowVoltageWarning:
  40 0000 5E                    .byte   94
  41                    .global SendVersionToNavi
  44                    SendVersionToNavi:
  45 0001 01                    .byte   1
  46                    .global PlatinenVersion
  49                    PlatinenVersion:
  50 0002 0A                    .byte   10
  53                    stick.15:
  54 0003 01                    .byte   1
  55                            .text
  56                    .global CalMk3Mag
  58                    CalMk3Mag:
  59                    /* prologue: frame size=0 */
  60                    /* prologue end (size=0) */
  61 0000 8091 0000             lds r24,EE_Parameter+1
  62 0004 E82F                  mov r30,r24
  63 0006 FF27                  clr r31
  64 0008 EE0F                  add r30,r30
  65 000a FF1F                  adc r31,r31
  66 000c E050                  subi r30,lo8(-(PPM_in))
  67 000e F040                  sbci r31,hi8(-(PPM_in))
  68 0010 8081                  ld r24,Z
  69 0012 9181                  ldd r25,Z+1
  70 0014 8D5E                  subi r24,lo8(-19)
  71 0016 9F4F                  sbci r25,hi8(-19)
  72 0018 14F0                  brlt .L2
  73 001a 1092 0000             sts stick.15,__zero_reg__
  74                    .L2:
  75 001e 8081                  ld r24,Z
  76 0020 9181                  ldd r25,Z+1
  77 0022 8A5B                  subi r24,lo8(-70)
  78 0024 9F4F                  sbci r25,hi8(-70)
  79 0026 CCF4                  brge .L3
  80 0028 8091 0000             lds r24,stick.15
  81 002c 8823                  tst r24
  82 002e A9F4                  brne .L3
  83 0030 81E0                  ldi r24,lo8(1)
  84 0032 8093 0000             sts stick.15,r24
  85 0036 8091 0000             lds r24,WinkelOut+6
  86 003a 8F5F                  subi r24,lo8(-(1))
  87 003c 8093 0000             sts WinkelOut+6,r24
  88 0040 8530                  cpi r24,lo8(5)
  89 0042 38F0                  brlo .L4
  90 0044 88EE                  ldi r24,lo8(1000)
  91 0046 93E0                  ldi r25,hi8(1000)
  92 0048 9093 0000             sts (beeptime)+1,r25
  93 004c 8093 0000             sts beeptime,r24
  94 0050 04C0                  rjmp .L3
  95                    .L4:
  96 0052 66E9                  ldi r22,lo8(150)
  97 0054 70E0                  ldi r23,hi8(150)
  98 0056 0E94 0000             call Piep
  99                    .L3:
 100 005a 8091 0000             lds r24,WinkelOut+6
 101 005e 9927                  clr r25
 102 0060 9093 0000             sts (DebugOut+40)+1,r25
 103 0064 8093 0000             sts DebugOut+40,r24
 104                    /* epilogue: frame size=0 */
 105 0068 0895                  ret
 106                    /* epilogue end (size=1) */
 107                    /* function CalMk3Mag size 55 (54) */
 109                            .section        .progmem.data,"a",@progbits
 112                    __c.12:
 113 0000 0A0D 4261             .string "\n\rBatt:"
 113      7474 3A00 
 116                    __c.13:
 117 0008 2025 6420             .string " %d Cells "
 117      4365 6C6C 
 117      7320 00
 120                    __c.14:
 121 0013 204C 6F77             .string " Low warning level: %d.%d"
 121      2077 6172 
 121      6E69 6E67 
 121      206C 6576 
 121      656C 3A20 
 122                            .text
 123                    .global LipoDetection
 125                    LipoDetection:
 126                    /* prologue: frame size=0 */
 127 006a 1F93                  push r17
 128 006c CF93                  push r28
 129 006e DF93                  push r29
 130                    /* prologue end (size=3) */
 131 0070 182F                  mov r17,r24
 132 0072 8823                  tst r24
 133 0074 89F0                  breq .L7
 134 0076 80E0                  ldi r24,lo8(__c.12)
 135 0078 90E0                  ldi r25,hi8(__c.12)
 136 007a 9F93                  push r25
 137 007c 8F93                  push r24
 138 007e 80E0                  ldi r24,lo8(pm(uart_putchar))
 139 0080 90E0                  ldi r25,hi8(pm(uart_putchar))
 140 0082 9F93                  push r25
 141 0084 8F93                  push r24
 142 0086 E091 0000             lds r30,_printf_P
 143 008a F091 0000             lds r31,(_printf_P)+1
 144 008e 0995                  icall
 145 0090 0F90                  pop __tmp_reg__
 146 0092 0F90                  pop __tmp_reg__
 147 0094 0F90                  pop __tmp_reg__
 148 0096 0F90                  pop __tmp_reg__
 149                    .L7:
 150 0098 8091 0000             lds r24,EE_Parameter+36
 151 009c 8233                  cpi r24,lo8(50)
 152 009e 08F0                  brlo .+2
 153 00a0 44C0                  rjmp .L8
 154 00a2 84EF                  ldi r24,lo8(500)
 155 00a4 91E0                  ldi r25,hi8(500)
 156 00a6 0E94 0000             call SetDelay
 157 00aa EC01                  movw r28,r24
 158 00ac 1123                  tst r17
 159 00ae 29F0                  breq .L9
 160                    .L10:
 161 00b0 CE01                  movw r24,r28
 162 00b2 0E94 0000             call CheckDelay
 163 00b6 8823                  tst r24
 164 00b8 D9F3                  breq .L10
 165                    .L9:
 166 00ba C2E0                  ldi r28,lo8(2)
 167 00bc D0E0                  ldi r29,hi8(2)
 168 00be 26E5                  ldi r18,lo8(86)
 169 00c0 30E0                  ldi r19,hi8(86)
 170                    .L17:
 171 00c2 8091 0000             lds r24,UBat
 172 00c6 9091 0000             lds r25,(UBat)+1
 173 00ca 8217                  cp r24,r18
 174 00cc 9307                  cpc r25,r19
 175 00ce 30F0                  brlo .L14
 176 00d0 2196                  adiw r28,1
 177 00d2 255D                  subi r18,lo8(-(43))
 178 00d4 3F4F                  sbci r19,hi8(-(43))
 179 00d6 C730                  cpi r28,7
 180 00d8 D105                  cpc r29,__zero_reg__
 181 00da 98F3                  brlo .L17
 182                    .L14:
 183 00dc 8091 0000             lds r24,EE_Parameter+36
 184 00e0 9927                  clr r25
 185 00e2 C89F                  mul r28,r24
 186 00e4 9001                  movw r18,r0
 187 00e6 C99F                  mul r28,r25
 188 00e8 300D                  add r19,r0
 189 00ea D89F                  mul r29,r24
 190 00ec 300D                  add r19,r0
 191 00ee 1124                  clr r1
 192 00f0 2093 0000             sts BattLowVoltageWarning,r18
 193 00f4 1123                  tst r17
 194 00f6 D9F0                  breq .L19
 195 00f8 68EC                  ldi r22,lo8(200)
 196 00fa 70E0                  ldi r23,hi8(200)
 197 00fc 8C2F                  mov r24,r28
 198 00fe 0E94 0000             call Piep
 199 0102 DF93                  push r29
 200 0104 CF93                  push r28
 201 0106 80E0                  ldi r24,lo8(__c.13)
 202 0108 90E0                  ldi r25,hi8(__c.13)
 203 010a 9F93                  push r25
 204 010c 8F93                  push r24
 205 010e 80E0                  ldi r24,lo8(pm(uart_putchar))
 206 0110 90E0                  ldi r25,hi8(pm(uart_putchar))
 207 0112 9F93                  push r25
 208 0114 8F93                  push r24
 209 0116 E091 0000             lds r30,_printf_P
 210 011a F091 0000             lds r31,(_printf_P)+1
 211 011e 0995                  icall
 212 0120 8DB7                  in r24,__SP_L__
 213 0122 9EB7                  in r25,__SP_H__
 214 0124 0696                  adiw r24,6
 215 0126 8DBF                  out __SP_L__,r24
 216 0128 02C0                  rjmp .L19
 217                    .L8:
 218 012a 8093 0000             sts BattLowVoltageWarning,r24
 219                    .L19:
 220 012e 1123                  tst r17
 221 0130 11F1                  breq .L6
 222 0132 8091 0000             lds r24,BattLowVoltageWarning
 223 0136 6AE0                  ldi r22,lo8(10)
 224 0138 0E94 0000             call __udivmodqi4
 225 013c 892F                  mov r24,r25
 226 013e 9927                  clr r25
 227 0140 9F93                  push r25
 228 0142 8F93                  push r24
 229 0144 8091 0000             lds r24,BattLowVoltageWarning
 230 0148 0E94 0000             call __udivmodqi4
 231 014c 9927                  clr r25
 232 014e 9F93                  push r25
 233 0150 8F93                  push r24
 234 0152 80E0                  ldi r24,lo8(__c.14)
 235 0154 90E0                  ldi r25,hi8(__c.14)
 236 0156 9F93                  push r25
 237 0158 8F93                  push r24
 238 015a 80E0                  ldi r24,lo8(pm(uart_putchar))
 239 015c 90E0                  ldi r25,hi8(pm(uart_putchar))
 240 015e 9F93                  push r25
 241 0160 8F93                  push r24
 242 0162 E091 0000             lds r30,_printf_P
 243 0166 F091 0000             lds r31,(_printf_P)+1
 244 016a 0995                  icall
 245 016c 2DB7                  in r18,__SP_L__
 246 016e 3EB7                  in r19,__SP_H__
 247 0170 285F                  subi r18,lo8(-(8))
 248 0172 3F4F                  sbci r19,hi8(-(8))
 249 0174 2DBF                  out __SP_L__,r18
 250                    .L6:
 251                    /* epilogue: frame size=0 */
 252 0176 DF91                  pop r29
 253 0178 CF91                  pop r28
 254 017a 1F91                  pop r17
 255 017c 0895                  ret
 256                    /* epilogue end (size=4) */
 257                    /* function LipoDetection size 138 (131) */
 259                            .section        .progmem.data
 262                    __c.0:
 263 002d 0A0D 466F             .string "\n\rFound BL-Ctrl: "
 263      756E 6420 
 263      424C 2D43 
 263      7472 6C3A 
 263      2000 
 266                    __c.1:
 267 003f 2564 00               .string "%d"
 270                    __c.2:
 271 0042 0A0D 0A0D             .string "\n\r\n\r!! MISSING BL-CTRL: %d !!"
 271      2121 204D 
 271      4953 5349 
 271      4E47 2042 
 271      4C2D 4354 
 274                    __c.3:
 275 0060 0A0D 3D3D             .string "\n\r==================================="
 275      3D3D 3D3D 
 275      3D3D 3D3D 
 275      3D3D 3D3D 
 275      3D3D 3D3D 
 278                    __c.4:
 279 0086 0A0D 4361             .string "\n\rCalibrating pressure sensor.."
 279      6C69 6272 
 279      6174 696E 
 279      6720 7072 
 279      6573 7375 
 282                    __c.5:
 283 00a6 4F4B 0A0D             .string "OK\n\r"
 283      00
 286                    __c.6:
 287 00ab 0A0D 466C             .string "\n\rFlight-time %u min  Total:%u min"
 287      6967 6874 
 287      2D74 696D 
 287      6520 2575 
 287      206D 696E 
 290                    __c.7:
 291 00ce 0A0D 436F             .string "\n\rControl: "
 291      6E74 726F 
 291      6C3A 2000 
 294                    __c.8:
 295 00da 4865 6164             .string "HeadingHold"
 295      696E 6748 
 295      6F6C 6400 
 298                    __c.9:
 299 00e6 4E6F 726D             .string "Normal (ACC-Mode)"
 299      616C 2028 
 299      4143 432D 
 299      4D6F 6465 
 299      2900 
 302                    __c.10:
 303 00f8 0A0D 3D3D             .string "\n\r===================================\n\r"
 303      3D3D 3D3D 
 303      3D3D 3D3D 
 303      3D3D 3D3D 
 303      3D3D 3D3D 
 304                            .lcomm second.11,1
 305                            .text
 306                    .global main
 308                    main:
 309                    /* prologue: frame size=0 */
 310 017e C0E0                  ldi r28,lo8(__stack - 0)
 311 0180 D0E0                  ldi r29,hi8(__stack - 0)
 312 0182 DEBF                  out __SP_H__,r29
 313 0184 CDBF                  out __SP_L__,r28
 314                    /* prologue end (size=4) */
 315 0186 8824                  clr r8
 316 0188 9924                  clr r9
 317 018a 14B8                  out 36-0x20,__zero_reg__
 318 018c 15B8                  out 37-0x20,__zero_reg__
 319 018e 07EE                  ldi r16,lo8(999)
 320 0190 13E0                  ldi r17,hi8(999)
 321                    .L26:
 322 0192 0253                  subi r16,lo8(-(-50))
 323 0194 1040                  sbci r17,hi8(-(-50))
 324 0196 17FF                  sbrs r17,7
 325 0198 FCCF                  rjmp .L26
 326 019a 189B                  sbis 35-0x20,0
 327 019c 06C0                  rjmp .L27
 328 019e 199B                  sbis 35-0x20,1
 329 01a0 02C0                  rjmp .L28
 330 01a2 8DE0                  ldi r24,lo8(13)
 331 01a4 07C0                  rjmp .L228
 332                    .L28:
 333 01a6 8BE0                  ldi r24,lo8(11)
 334 01a8 05C0                  rjmp .L228
 335                    .L27:
 336 01aa 199B                  sbis 35-0x20,1
 337 01ac 02C0                  rjmp .L31
 338 01ae 84E1                  ldi r24,lo8(20)
 339 01b0 01C0                  rjmp .L228
 340                    .L31:
 341 01b2 8AE0                  ldi r24,lo8(10)
 342                    .L228:
 343 01b4 8093 0000             sts PlatinenVersion,r24
 344 01b8 81E8                  ldi r24,lo8(-127)
 345 01ba 87B9                  out 39-0x20,r24
 346 01bc 3E9A                  sbi 39-0x20,6
 347 01be 8FEF                  ldi r24,lo8(-1)
 348 01c0 88B9                  out 40-0x20,r24
 349 01c2 8BE1                  ldi r24,lo8(27)
 350 01c4 84B9                  out 36-0x20,r24
 351 01c6 81E0                  ldi r24,lo8(1)
 352 01c8 85B9                  out 37-0x20,r24
 353 01ca 8EE3                  ldi r24,lo8(62)
 354 01cc 8AB9                  out 42-0x20,r24
 355 01ce 87E4                  ldi r24,lo8(71)
 356 01d0 8BB9                  out 43-0x20,r24
 357 01d2 469A                  sbi 40-0x20,6
 358 01d4 84B7                  in r24,84-0x20
 359 01d6 877F                  andi r24,lo8(-9)
 360 01d8 84BF                  out 84-0x20,r24
 361 01da 8091 6000             lds r24,96
 362 01de 8861                  ori r24,lo8(24)
 363 01e0 8093 6000             sts 96,r24
 364 01e4 1092 6000             sts 96,__zero_reg__
 365 01e8 84EC                  ldi r24,lo8(2500)
 366 01ea 99E0                  ldi r25,hi8(2500)
 367 01ec 9093 0000             sts (beeptime)+1,r25
 368 01f0 8093 0000             sts beeptime,r24
 369 01f4 1092 0000             sts (StickGier)+1,__zero_reg__
 370 01f8 1092 0000             sts StickGier,__zero_reg__
 371 01fc 1092 0000             sts (PPM_in+4)+1,__zero_reg__
 372 0200 1092 0000             sts PPM_in+4,__zero_reg__
 373 0204 1092 0000             sts (StickRoll)+1,__zero_reg__
 374 0208 1092 0000             sts StickRoll,__zero_reg__
 375 020c 1092 0000             sts (StickNick)+1,__zero_reg__
 376 0210 1092 0000             sts StickNick,__zero_reg__
 377 0214 2091 0000             lds r18,PlatinenVersion
 378 0218 2431                  cpi r18,lo8(20)
 379 021a 28F0                  brlo .L33
 380 021c 84EC                  ldi r24,lo8(1220)
 381 021e 94E0                  ldi r25,hi8(1220)
 382 0220 A0E0                  ldi r26,hlo8(1220)
 383 0222 B0E0                  ldi r27,hhi8(1220)
 384 0224 04C0                  rjmp .L229
 385                    .L33:
 386 0226 8BE0                  ldi r24,lo8(1291)
 387 0228 95E0                  ldi r25,hi8(1291)
 388 022a A0E0                  ldi r26,hlo8(1291)
 389 022c B0E0                  ldi r27,hhi8(1291)
 390                    .L229:
 391 022e 8093 0000             sts GIER_GRAD_FAKTOR,r24
 392 0232 9093 0000             sts (GIER_GRAD_FAKTOR)+1,r25
 393 0236 A093 0000             sts (GIER_GRAD_FAKTOR)+2,r26
 394 023a B093 0000             sts (GIER_GRAD_FAKTOR)+3,r27
 395 023e 2A30                  cpi r18,lo8(10)
 396 0240 11F0                  breq .L36
 397 0242 2431                  cpi r18,lo8(20)
 398 0244 10F0                  brlo .L35
 399                    .L36:
 400 0246 2898                  cbi 37-0x20,0
 401 0248 01C0                  rjmp .L37
 402                    .L35:
 403 024a 289A                  sbi 37-0x20,0
 404                    .L37:
 405 024c 0E94 0000             call Timer_Init
 406 0250 0E94 0000             call TIMER2_Init
 407 0254 0E94 0000             call UART_Init
 408 0258 0E94 0000             call rc_sum_init
 409 025c 0E94 0000             call ADC_Init
 410 0260 0E94 0000             call I2C_Init
 411 0264 0E94 0000             call SPI_MasterInit
 412 0268 0E94 0000             call Capacity_Init
 413 026c 0E94 0000             call LIBFC_Init
 414 0270 8091 0000             lds r24,PlatinenVersion
 415 0274 8C30                  cpi r24,lo8(12)
 416 0276 10F4                  brsh .L38
 417 0278 299A                  sbi 37-0x20,1
 418 027a 01C0                  rjmp .L39
 419                    .L38:
 420 027c 2998                  cbi 37-0x20,1
 421                    .L39:
 422                    /* #APP */
 423 027e 7894                  sei
 424                    /* #NOAPP */
 425 0280 0E94 0000             call ParamSet_Init
 426 0284 8091 0000             lds r24,BLFlags
 427 0288 8260                  ori r24,lo8(2)
 428 028a 8093 0000             sts BLFlags,r24
 429 028e 1092 0000             sts motor_read,__zero_reg__
 430 0292 0E94 0000             call SendMotorData
 431 0296 84EF                  ldi r24,lo8(500)
 432 0298 91E0                  ldi r25,hi8(500)
 433 029a 0E94 0000             call SetDelay
 434 029e 8C01                  movw r16,r24
 435                    .L40:
 436 02a0 8091 0000             lds r24,BLFlags
 437 02a4 80FD                  sbrc r24,0
 438 02a6 05C0                  rjmp .L41
 439 02a8 C801                  movw r24,r16
 440 02aa 0E94 0000             call CheckDelay
 441 02ae 8823                  tst r24
 442 02b0 B9F3                  breq .L40
 443                    .L41:
 444 02b2 80E0                  ldi r24,lo8(__c.0)
 445 02b4 90E0                  ldi r25,hi8(__c.0)
 446 02b6 9F93                  push r25
 447 02b8 8F93                  push r24
 448 02ba B0E0                  ldi r27,lo8(pm(uart_putchar))
 449 02bc AB2E                  mov r10,r27
 450 02be B0E0                  ldi r27,hi8(pm(uart_putchar))
 451 02c0 BB2E                  mov r11,r27
 452 02c2 BF92                  push r11
 453 02c4 AF92                  push r10
 454 02c6 E091 0000             lds r30,_printf_P
 455 02ca F091 0000             lds r31,(_printf_P)+1
 456 02ce 0995                  icall
 457 02d0 80EA                  ldi r24,lo8(4000)
 458 02d2 9FE0                  ldi r25,hi8(4000)
 459 02d4 0E94 0000             call SetDelay
 460 02d8 8C01                  movw r16,r24
 461 02da C0E0                  ldi r28,lo8(0)
 462 02dc D0E0                  ldi r29,hi8(0)
 463 02de 0F90                  pop __tmp_reg__
 464 02e0 0F90                  pop __tmp_reg__
 465 02e2 0F90                  pop __tmp_reg__
 466 02e4 0F90                  pop __tmp_reg__
 467 02e6 A0E0                  ldi r26,lo8(Motor+3)
 468 02e8 EA2E                  mov r14,r26
 469 02ea A0E0                  ldi r26,hi8(Motor+3)
 470 02ec FA2E                  mov r15,r26
 471 02ee F0E0                  ldi r31,lo8(Mixer+13)
 472 02f0 CF2E                  mov r12,r31
 473 02f2 F0E0                  ldi r31,hi8(Mixer+13)
 474 02f4 DF2E                  mov r13,r31
 475                    .L57:
 476 02f6 0E94 0000             call SendMotorData
 477                    .L46:
 478 02fa 8091 0000             lds r24,BLFlags
 479 02fe 80FD                  sbrc r24,0
 480 0300 05C0                  rjmp .L47
 481 0302 C801                  movw r24,r16
 482 0304 0E94 0000             call CheckDelay
 483 0308 8823                  tst r24
 484 030a B9F3                  breq .L46
 485                    .L47:
 486 030c F601                  movw r30,r12
 487 030e 8081                  ld r24,Z
 488 0310 1816                  cp __zero_reg__,r24
 489 0312 ACF4                  brge .L49
 490 0314 0BC0                  rjmp .L233
 491                    .L55:
 492 0316 0E94 0000             call SendMotorData
 493                    .L52:
 494 031a 8091 0000             lds r24,BLFlags
 495 031e 80FD                  sbrc r24,0
 496 0320 05C0                  rjmp .L233
 497 0322 C801                  movw r24,r16
 498 0324 0E94 0000             call CheckDelay
 499 0328 8823                  tst r24
 500 032a B9F3                  breq .L52
 501                    .L233:
 502 032c C801                  movw r24,r16
 503 032e 0E94 0000             call CheckDelay
 504 0332 8823                  tst r24
 505 0334 21F4                  brne .L49
 506 0336 F701                  movw r30,r14
 507 0338 8081                  ld r24,Z
 508 033a 8823                  tst r24
 509 033c 64F7                  brge .L55
 510                    .L49:
 511 033e F701                  movw r30,r14
 512 0340 8081                  ld r24,Z
 513 0342 87FF                  sbrs r24,7
 514 0344 18C0                  rjmp .L45
 515 0346 2196                  adiw r28,1
 516 0348 DF93                  push r29
 517 034a CF93                  push r28
 518 034c 2197                  sbiw r28,1
 519 034e 80E0                  ldi r24,lo8(__c.1)
 520 0350 90E0                  ldi r25,hi8(__c.1)
 521 0352 9F93                  push r25
 522 0354 8F93                  push r24
 523 0356 BF92                  push r11
 524 0358 AF92                  push r10
 525 035a E091 0000             lds r30,_printf_P
 526 035e F091 0000             lds r31,(_printf_P)+1
 527 0362 0995                  icall
 528 0364 8091 0000             lds r24,FoundMotors
 529 0368 8F5F                  subi r24,lo8(-(1))
 530 036a 8093 0000             sts FoundMotors,r24
 531 036e 8DB7                  in r24,__SP_L__
 532 0370 9EB7                  in r25,__SP_H__
 533 0372 0696                  adiw r24,6
 534 0374 8DBF                  out __SP_L__,r24
 535                    .L45:
 536 0376 2196                  adiw r28,1
 537 0378 E4E0                  ldi r30,lo8(4)
 538 037a F0E0                  ldi r31,hi8(4)
 539 037c CE0E                  add r12,r30
 540 037e DF1E                  adc r13,r31
 541 0380 88E0                  ldi r24,lo8(8)
 542 0382 90E0                  ldi r25,hi8(8)
 543 0384 E80E                  add r14,r24
 544 0386 F91E                  adc r15,r25
 545 0388 CC30                  cpi r28,12
 546 038a D105                  cpc r29,__zero_reg__
 547 038c 08F4                  brsh .+2
 548 038e B3CF                  rjmp .L57
 549 0390 C0E0                  ldi r28,lo8(0)
 550 0392 D0E0                  ldi r29,hi8(0)
 551 0394 00E0                  ldi r16,lo8(Motor)
 552 0396 10E0                  ldi r17,hi8(Motor)
 553 0398 E0E0                  ldi r30,lo8(Mixer+13)
 554 039a EE2E                  mov r14,r30
 555 039c E0E0                  ldi r30,hi8(Mixer+13)
 556 039e FE2E                  mov r15,r30
 557                    .L62:
 558 03a0 F801                  movw r30,r16
 559 03a2 8381                  ldd r24,Z+3
 560 03a4 87FD                  sbrc r24,7
 561 03a6 1CC0                  rjmp .L61
 562 03a8 F701                  movw r30,r14
 563 03aa 8081                  ld r24,Z
 564 03ac 1816                  cp __zero_reg__,r24
 565 03ae C4F4                  brge .L61
 566 03b0 2196                  adiw r28,1
 567 03b2 DF93                  push r29
 568 03b4 CF93                  push r28
 569 03b6 2197                  sbiw r28,1
 570 03b8 80E0                  ldi r24,lo8(__c.2)
 571 03ba 90E0                  ldi r25,hi8(__c.2)
 572 03bc 9F93                  push r25
 573 03be 8F93                  push r24
 574 03c0 80E0                  ldi r24,lo8(pm(uart_putchar))
 575 03c2 90E0                  ldi r25,hi8(pm(uart_putchar))
 576 03c4 9F93                  push r25
 577 03c6 8F93                  push r24
 578 03c8 E091 0000             lds r30,_printf_P
 579 03cc F091 0000             lds r31,(_printf_P)+1
 580 03d0 0995                  icall
 581 03d2 82E0                  ldi r24,lo8(2)
 582 03d4 8093 0000             sts ServoActive,r24
 583 03d8 8DB7                  in r24,__SP_L__
 584 03da 9EB7                  in r25,__SP_H__
 585 03dc 0696                  adiw r24,6
 586 03de 8DBF                  out __SP_L__,r24
 587                    .L61:
 588 03e0 F801                  movw r30,r16
 589 03e2 8381                  ldd r24,Z+3
 590 03e4 8078                  andi r24,lo8(-128)
 591 03e6 8383                  std Z+3,r24
 592 03e8 2196                  adiw r28,1
 593 03ea 84E0                  ldi r24,lo8(4)
 594 03ec 90E0                  ldi r25,hi8(4)
 595 03ee E80E                  add r14,r24
 596 03f0 F91E                  adc r15,r25
 597 03f2 085F                  subi r16,lo8(-(8))
 598 03f4 1F4F                  sbci r17,hi8(-(8))
 599 03f6 CC30                  cpi r28,12
 600 03f8 D105                  cpc r29,__zero_reg__
 601 03fa 90F2                  brlo .L62
 602 03fc 80E0                  ldi r24,lo8(__c.3)
 603 03fe 90E0                  ldi r25,hi8(__c.3)
 604 0400 9F93                  push r25
 605 0402 8F93                  push r24
 606 0404 C0E0                  ldi r28,lo8(pm(uart_putchar))
 607 0406 D0E0                  ldi r29,hi8(pm(uart_putchar))
 608 0408 DF93                  push r29
 609 040a CF93                  push r28
 610 040c E091 0000             lds r30,_printf_P
 611 0410 F091 0000             lds r31,(_printf_P)+1
 612 0414 0995                  icall
 613 0416 9091 0000             lds r25,RequiredMotors
 614 041a 8091 0000             lds r24,FoundMotors
 615 041e 0F90                  pop __tmp_reg__
 616 0420 0F90                  pop __tmp_reg__
 617 0422 0F90                  pop __tmp_reg__
 618 0424 0F90                  pop __tmp_reg__
 619 0426 9817                  cp r25,r24
 620 0428 28F4                  brsh .L63
 621 042a 8091 0000             lds r24,VersionInfo+6
 622 042e 8061                  ori r24,lo8(16)
 623 0430 8093 0000             sts VersionInfo+6,r24
 624                    .L63:
 625 0434 80E0                  ldi r24,lo8(__c.4)
 626 0436 90E0                  ldi r25,hi8(__c.4)
 627 0438 9F93                  push r25
 628 043a 8F93                  push r24
 629 043c DF93                  push r29
 630 043e CF93                  push r28
 631 0440 E091 0000             lds r30,_printf_P
 632 0444 F091 0000             lds r31,(_printf_P)+1
 633 0448 0995                  icall
 634 044a 88EE                  ldi r24,lo8(1000)
 635 044c 93E0                  ldi r25,hi8(1000)
 636 044e 0E94 0000             call SetDelay
 637 0452 8C01                  movw r16,r24
 638 0454 0E94 0000             call SucheLuftruckOffset
 639 0458 0F90                  pop __tmp_reg__
 640 045a 0F90                  pop __tmp_reg__
 641 045c 0F90                  pop __tmp_reg__
 642 045e 0F90                  pop __tmp_reg__
 643                    .L64:
 644 0460 C801                  movw r24,r16
 645 0462 0E94 0000             call CheckDelay
 646 0466 8823                  tst r24
 647 0468 D9F3                  breq .L64
 648 046a 80E0                  ldi r24,lo8(__c.5)
 649 046c 90E0                  ldi r25,hi8(__c.5)
 650 046e 9F93                  push r25
 651 0470 8F93                  push r24
 652 0472 DF93                  push r29
 653 0474 CF93                  push r28
 654 0476 E091 0000             lds r30,_printf_P
 655 047a F091 0000             lds r31,(_printf_P)+1
 656 047e 0995                  icall
 657 0480 80E0                  ldi r24,lo8(0)
 658 0482 0E94 0000             call SetNeutral
 659 0486 8091 0000             lds r24,PlatinenVersion
 660 048a 0F90                  pop __tmp_reg__
 661 048c 0F90                  pop __tmp_reg__
 662 048e 0F90                  pop __tmp_reg__
 663 0490 0F90                  pop __tmp_reg__
 664 0492 8A30                  cpi r24,lo8(10)
 665 0494 11F0                  breq .L68
 666 0496 8431                  cpi r24,lo8(20)
 667 0498 10F0                  brlo .L67
 668                    .L68:
 669 049a 2898                  cbi 37-0x20,0
 670 049c 01C0                  rjmp .L69
 671                    .L67:
 672 049e 289A                  sbi 37-0x20,0
 673                    .L69:
 674 04a0 80ED                  ldi r24,lo8(2000)
 675 04a2 97E0                  ldi r25,hi8(2000)
 676 04a4 9093 0000             sts (beeptime)+1,r25
 677 04a8 8093 0000             sts beeptime,r24
 678 04ac 85E5                  ldi r24,lo8(85)
 679 04ae 8093 0000             sts ExternControl,r24
 680 04b2 8EE0                  ldi r24,lo8(14)
 681 04b4 90E0                  ldi r25,hi8(14)
 682 04b6 0E94 0000             call GetParamByte
 683 04ba 9927                  clr r25
 684 04bc 182F                  mov r17,r24
 685 04be 0027                  clr r16
 686 04c0 8FE0                  ldi r24,lo8(15)
 687 04c2 90E0                  ldi r25,hi8(15)
 688 04c4 0E94 0000             call GetParamByte
 689 04c8 080F                  add r16,r24
 690 04ca 111D                  adc r17,__zero_reg__
 691 04cc 1093 0000             sts (FlugMinuten)+1,r17
 692 04d0 0093 0000             sts FlugMinuten,r16
 693 04d4 8AE0                  ldi r24,lo8(10)
 694 04d6 90E0                  ldi r25,hi8(10)
 695 04d8 0E94 0000             call GetParamByte
 696 04dc 9927                  clr r25
 697 04de 182F                  mov r17,r24
 698 04e0 0027                  clr r16
 699 04e2 8BE0                  ldi r24,lo8(11)
 700 04e4 90E0                  ldi r25,hi8(11)
 701 04e6 0E94 0000             call GetParamByte
 702 04ea 080F                  add r16,r24
 703 04ec 111D                  adc r17,__zero_reg__
 704 04ee 1093 0000             sts (FlugMinutenGesamt)+1,r17
 705 04f2 0093 0000             sts FlugMinutenGesamt,r16
 706 04f6 0F5F                  subi r16,lo8(-1)
 707 04f8 1F4F                  sbci r17,hi8(-1)
 708 04fa 39F0                  breq .L71
 709 04fc 8091 0000             lds r24,FlugMinuten
 710 0500 9091 0000             lds r25,(FlugMinuten)+1
 711 0504 8F5F                  subi r24,lo8(-1)
 712 0506 9F4F                  sbci r25,hi8(-1)
 713 0508 41F4                  brne .L70
 714                    .L71:
 715 050a 1092 0000             sts (FlugMinuten)+1,__zero_reg__
 716 050e 1092 0000             sts FlugMinuten,__zero_reg__
 717 0512 1092 0000             sts (FlugMinutenGesamt)+1,__zero_reg__
 718 0516 1092 0000             sts FlugMinutenGesamt,__zero_reg__
 719                    .L70:
 720 051a 8091 0000             lds r24,FlugMinutenGesamt
 721 051e 9091 0000             lds r25,(FlugMinutenGesamt)+1
 722 0522 9F93                  push r25
 723 0524 8F93                  push r24
 724 0526 8091 0000             lds r24,FlugMinuten
 725 052a 9091 0000             lds r25,(FlugMinuten)+1
 726 052e 9F93                  push r25
 727 0530 8F93                  push r24
 728 0532 80E0                  ldi r24,lo8(__c.6)
 729 0534 90E0                  ldi r25,hi8(__c.6)
 730 0536 9F93                  push r25
 731 0538 8F93                  push r24
 732 053a DF93                  push r29
 733 053c CF93                  push r28
 734 053e E091 0000             lds r30,_printf_P
 735 0542 F091 0000             lds r31,(_printf_P)+1
 736 0546 0995                  icall
 737 0548 8DB7                  in r24,__SP_L__
 738 054a 9EB7                  in r25,__SP_H__
 739 054c 0896                  adiw r24,8
 740 054e 8DBF                  out __SP_L__,r24
 741 0550 80E0                  ldi r24,lo8(__c.7)
 742 0552 90E0                  ldi r25,hi8(__c.7)
 743 0554 9F93                  push r25
 744 0556 8F93                  push r24
 745 0558 DF93                  push r29
 746 055a CF93                  push r28
 747 055c E091 0000             lds r30,_printf_P
 748 0560 F091 0000             lds r31,(_printf_P)+1
 749 0564 0995                  icall
 750 0566 8091 0000             lds r24,EE_Parameter+13
 751 056a 0F90                  pop __tmp_reg__
 752 056c 0F90                  pop __tmp_reg__
 753 056e 0F90                  pop __tmp_reg__
 754 0570 0F90                  pop __tmp_reg__
 755 0572 E091 0000             lds r30,_printf_P
 756 0576 F091 0000             lds r31,(_printf_P)+1
 757 057a 82FF                  sbrs r24,2
 758 057c 07C0                  rjmp .L72
 759 057e 80E0                  ldi r24,lo8(__c.8)
 760 0580 90E0                  ldi r25,hi8(__c.8)
 761 0582 9F93                  push r25
 762 0584 8F93                  push r24
 763 0586 DF93                  push r29
 764 0588 CF93                  push r28
 765 058a 08C0                  rjmp .L230
 766                    .L72:
 767 058c 80E0                  ldi r24,lo8(__c.9)
 768 058e 90E0                  ldi r25,hi8(__c.9)
 769 0590 9F93                  push r25
 770 0592 8F93                  push r24
 771 0594 80E0                  ldi r24,lo8(pm(uart_putchar))
 772 0596 90E0                  ldi r25,hi8(pm(uart_putchar))
 773 0598 9F93                  push r25
 774 059a 8F93                  push r24
 775                    .L230:
 776 059c 0995                  icall
 777 059e 0F90                  pop __tmp_reg__
 778 05a0 0F90                  pop __tmp_reg__
 779 05a2 0F90                  pop __tmp_reg__
 780 05a4 0F90                  pop __tmp_reg__
 781 05a6 0E94 0000             call LcdClear
 782 05aa 88E8                  ldi r24,lo8(5000)
 783 05ac 93E1                  ldi r25,hi8(5000)
 784 05ae 9093 0000             sts (I2CTimeout)+1,r25
 785 05b2 8093 0000             sts I2CTimeout,r24
 786 05b6 81E0                  ldi r24,lo8(1)
 787 05b8 8093 0000             sts WinkelOut+7,r24
 788 05bc 0E94 0000             call LipoDetection
 789 05c0 8091 0000             lds r24,EE_Parameter+39
 790 05c4 0E94 0000             call LIBFC_ReceiverInit
 791 05c8 80E0                  ldi r24,lo8(__c.10)
 792 05ca 90E0                  ldi r25,hi8(__c.10)
 793 05cc 9F93                  push r25
 794 05ce 8F93                  push r24
 795 05d0 DF93                  push r29
 796 05d2 CF93                  push r28
 797 05d4 E091 0000             lds r30,_printf_P
 798 05d8 F091 0000             lds r31,(_printf_P)+1
 799 05dc 0995                  icall
 800 05de 80ED                  ldi r24,lo8(2000)
 801 05e0 97E0                  ldi r25,hi8(2000)
 802 05e2 0E94 0000             call SetDelay
 803 05e6 8C01                  movw r16,r24
 804 05e8 8AEF                  ldi r24,lo8(250)
 805 05ea 90E0                  ldi r25,hi8(250)
 806 05ec 0E94 0000             call SetDelay
 807 05f0 EC01                  movw r28,r24
 808 05f2 83E0                  ldi r24,lo8(3)
 809 05f4 8093 0000             sts DebugOut,r24
 810 05f8 0F90                  pop __tmp_reg__
 811 05fa 0F90                  pop __tmp_reg__
 812 05fc 0F90                  pop __tmp_reg__
 813 05fe 0F90                  pop __tmp_reg__
 814                    .L234:
 815 0600 CE01                  movw r24,r28
 816 0602 0E94 0000             call CheckDelay
 817 0606 8823                  tst r24
 818 0608 39F0                  breq .L76
 819 060a 84E6                  ldi r24,lo8(100)
 820 060c 90E0                  ldi r25,hi8(100)
 821 060e 0E94 0000             call SetDelay
 822 0612 EC01                  movw r28,r24
 823 0614 0E94 0000             call LIBFC_Polling
 824                    .L76:
 825 0618 8091 0000             lds r24,UpdateMotor
 826 061c 8823                  tst r24
 827 061e 09F4                  brne .+2
 828 0620 DFC1                  rjmp .L77
 829 0622 8091 0000             lds r24,AdReady
 830 0626 8823                  tst r24
 831 0628 09F4                  brne .+2
 832 062a DAC1                  rjmp .L77
 833 062c 1092 0000             sts UpdateMotor,__zero_reg__
 834 0630 8091 0000             lds r24,WinkelOut+6
 835 0634 8823                  tst r24
 836 0636 19F0                  breq .L78
 837 0638 0E94 0000             call CalMk3Mag
 838 063c 02C0                  rjmp .L79
 839                    .L78:
 840 063e 0E94 0000             call MotorRegler
 841                    .L79:
 842 0642 0E94 0000             call SendMotorData
 843 0646 2091 0000             lds r18,PlatinenVersion
 844 064a 2A30                  cpi r18,lo8(10)
 845 064c 11F0                  breq .L81
 846 064e 2431                  cpi r18,lo8(20)
 847 0650 10F0                  brlo .L80
 848                    .L81:
 849 0652 2898                  cbi 37-0x20,0
 850 0654 01C0                  rjmp .L82
 851                    .L80:
 852 0656 289A                  sbi 37-0x20,0
 853                    .L82:
 854 0658 8091 0000             lds r24,SenderOkay
 855 065c 9091 0000             lds r25,VersionInfo+6
 856 0660 8823                  tst r24
 857 0662 39F0                  breq .L83
 858 0664 8091 0000             lds r24,SenderOkay
 859 0668 8150                  subi r24,lo8(-(-1))
 860 066a 8093 0000             sts SenderOkay,r24
 861 066e 977F                  andi r25,lo8(-9)
 862 0670 0AC0                  rjmp .L231
 863                    .L83:
 864 0672 8091 6F00             lds r24,111
 865 0676 8062                  ori r24,lo8(32)
 866 0678 8093 6F00             sts 111,r24
 867 067c 1092 0000             sts (PPM_in)+1,__zero_reg__
 868 0680 1092 0000             sts PPM_in,__zero_reg__
 869 0684 9860                  ori r25,lo8(8)
 870                    .L231:
 871 0686 9093 0000             sts VersionInfo+6,r25
 872 068a 8091 0000             lds r24,I2CTimeout
 873 068e 9091 0000             lds r25,(I2CTimeout)+1
 874 0692 0197                  sbiw r24,1
 875 0694 9093 0000             sts (I2CTimeout)+1,r25
 876 0698 8093 0000             sts I2CTimeout,r24
 877 069c 8091 0000             lds r24,I2CTimeout
 878 06a0 9091 0000             lds r25,(I2CTimeout)+1
 879 06a4 892B                  or r24,r25
 880 06a6 29F0                  breq .L86
 881 06a8 8091 0000             lds r24,MissingMotor
 882 06ac 8823                  tst r24
 883 06ae 09F4                  brne .+2
 884 06b0 3EC0                  rjmp .L85
 885                    .L86:
 886 06b2 8091 0000             lds r24,I2CTimeout
 887 06b6 9091 0000             lds r25,(I2CTimeout)+1
 888 06ba 892B                  or r24,r25
 889 06bc 01F5                  brne .L87
 890 06be 0E94 0000             call I2C_Reset
 891 06c2 85E0                  ldi r24,lo8(5)
 892 06c4 90E0                  ldi r25,hi8(5)
 893 06c6 9093 0000             sts (I2CTimeout)+1,r25
 894 06ca 8093 0000             sts I2CTimeout,r24
 895 06ce 8091 0000             lds r24,DebugOut+58
 896 06d2 9091 0000             lds r25,(DebugOut+58)+1
 897 06d6 0196                  adiw r24,1
 898 06d8 9093 0000             sts (DebugOut+58)+1,r25
 899 06dc 8093 0000             sts DebugOut+58,r24
 900 06e0 8091 0000             lds r24,FCFlags
 901 06e4 8068                  ori r24,lo8(-128)
 902 06e6 8093 0000             sts FCFlags,r24
 903 06ea 8091 0000             lds r24,VersionInfo+6
 904 06ee 8160                  ori r24,lo8(1)
 905 06f0 8093 0000             sts VersionInfo+6,r24
 906 06f4 8091 0000             lds r24,DebugOut+1
 907 06f8 8260                  ori r24,lo8(2)
 908 06fa 8093 0000             sts DebugOut+1,r24
 909                    .L87:
 910 06fe 8091 0000             lds r24,BeepMuster
 911 0702 9091 0000             lds r25,(BeepMuster)+1
 912 0706 8F5F                  subi r24,lo8(-1)
 913 0708 9F4F                  sbci r25,hi8(-1)
 914 070a 19F5                  brne .L89
 915 070c 8091 0000             lds r24,MotorenEin
 916 0710 8823                  tst r24
 917 0712 F9F0                  breq .L89
 918 0714 80E1                  ldi r24,lo8(10000)
 919 0716 97E2                  ldi r25,hi8(10000)
 920 0718 9093 0000             sts (beeptime)+1,r25
 921 071c 8093 0000             sts beeptime,r24
 922 0720 80E8                  ldi r24,lo8(128)
 923 0722 90E0                  ldi r25,hi8(128)
 924 0724 9093 0000             sts (BeepMuster)+1,r25
 925 0728 8093 0000             sts BeepMuster,r24
 926 072c 12C0                  rjmp .L89
 927                    .L85:
 928 072e 2A30                  cpi r18,lo8(10)
 929 0730 11F0                  breq .L91
 930 0732 2431                  cpi r18,lo8(20)
 931 0734 10F0                  brlo .L90
 932                    .L91:
 933 0736 2898                  cbi 37-0x20,0
 934 0738 01C0                  rjmp .L92
 935                    .L90:
 936 073a 289A                  sbi 37-0x20,0
 937                    .L92:
 938 073c 8091 0000             lds r24,beeptime
 939 0740 9091 0000             lds r25,(beeptime)+1
 940 0744 892B                  or r24,r25
 941 0746 29F4                  brne .L89
 942 0748 8091 0000             lds r24,FCFlags
 943 074c 8F77                  andi r24,lo8(127)
 944 074e 8093 0000             sts FCFlags,r24
 945                    .L89:
 946 0752 8091 0000             lds r24,UpdateMotor
 947 0756 8823                  tst r24
 948 0758 09F0                  breq .+2
 949 075a 42C1                  rjmp .L77
 950 075c 0E94 0000             call DatenUebertragung
 951 0760 0E94 0000             call BearbeiteRxDaten
 952 0764 C801                  movw r24,r16
 953 0766 0E94 0000             call CheckDelay
 954 076a 8823                  tst r24
 955 076c 09F4                  brne .+2
 956 076e 34C1                  rjmp .L95
 957 0770 0C5E                  subi r16,lo8(-(20))
 958 0772 1F4F                  sbci r17,hi8(-(20))
 959 0774 8091 0000             lds r24,MissingMotor
 960 0778 9091 0000             lds r25,VersionInfo+6
 961 077c 8823                  tst r24
 962 077e 39F0                  breq .L96
 963 0780 9260                  ori r25,lo8(2)
 964 0782 9093 0000             sts VersionInfo+6,r25
 965 0786 8091 0000             lds r24,DebugOut+1
 966 078a 8260                  ori r24,lo8(2)
 967 078c 0CC0                  rjmp .L232
 968                    .L96:
 969 078e 9D7F                  andi r25,lo8(-3)
 970 0790 9093 0000             sts VersionInfo+6,r25
 971 0794 8091 0000             lds r24,I2CTimeout
 972 0798 9091 0000             lds r25,(I2CTimeout)+1
 973 079c 0797                  sbiw r24,7
 974 079e 28F0                  brlo .L97
 975 07a0 8091 0000             lds r24,DebugOut+1
 976 07a4 8D7F                  andi r24,lo8(-3)
 977                    .L232:
 978 07a6 8093 0000             sts DebugOut+1,r24
 979                    .L97:
 980 07aa 8091 0000             lds r24,I2CTimeout
 981 07ae 9091 0000             lds r25,(I2CTimeout)+1
 982 07b2 0797                  sbiw r24,7
 983 07b4 28F0                  brlo .L99
 984 07b6 8091 0000             lds r24,VersionInfo+6
 985 07ba 8E7F                  andi r24,lo8(-2)
 986 07bc 8093 0000             sts VersionInfo+6,r24
 987                    .L99:
 988 07c0 8091 0000             lds r24,PcZugriff
 989 07c4 8823                  tst r24
 990 07c6 21F0                  breq .L100
 991 07c8 8150                  subi r24,lo8(-(-1))
 992 07ca 8093 0000             sts PcZugriff,r24
 993 07ce 25C0                  rjmp .L101
 994                    .L100:
 995 07d0 8093 0000             sts ExternControl+10,r24
 996 07d4 1092 0000             sts (ExternStickNick)+1,__zero_reg__
 997 07d8 1092 0000             sts ExternStickNick,__zero_reg__
 998 07dc 1092 0000             sts (ExternStickRoll)+1,__zero_reg__
 999 07e0 1092 0000             sts ExternStickRoll,__zero_reg__
 1000 07e4 1092 0000            sts (ExternStickGier)+1,__zero_reg__
 1001 07e8 1092 0000            sts ExternStickGier,__zero_reg__
 1002 07ec 8091 0000            lds r24,BeepMuster
 1003 07f0 9091 0000            lds r25,(BeepMuster)+1
 1004 07f4 8F5F                 subi r24,lo8(-1)
 1005 07f6 9F4F                 sbci r25,hi8(-1)
 1006 07f8 81F4                 brne .L101
 1007 07fa 8091 0000            lds r24,SenderOkay
 1008 07fe 8823                 tst r24
 1009 0800 61F4                 brne .L101
 1010 0802 88E9                 ldi r24,lo8(15000)
 1011 0804 9AE3                 ldi r25,hi8(15000)
 1012 0806 9093 0000            sts (beeptime)+1,r25
 1013 080a 8093 0000            sts beeptime,r24
 1014 080e 80E0                 ldi r24,lo8(3072)
 1015 0810 9CE0                 ldi r25,hi8(3072)
 1016 0812 9093 0000            sts (BeepMuster)+1,r25
 1017 0816 8093 0000            sts BeepMuster,r24
 1018                   .L101:
 1019 081a 8091 0000            lds r24,NaviDataOkay
 1020 081e 893C                 cpi r24,lo8(-55)
 1021 0820 70F0                 brlo .L103
 1022 0822 8150                 subi r24,lo8(-(-1))
 1023 0824 8093 0000            sts NaviDataOkay,r24
 1024 0828 8091 0000            lds r24,FCFlags
 1025 082c 8F7B                 andi r24,lo8(-65)
 1026 082e 8093 0000            sts FCFlags,r24
 1027 0832 8091 0000            lds r24,VersionInfo+6
 1028 0836 8B7F                 andi r24,lo8(-5)
 1029 0838 8093 0000            sts VersionInfo+6,r24
 1030 083c 35C0                 rjmp .L104
 1031                   .L103:
 1032 083e 8091 0000            lds r24,NC_Version+3
 1033 0842 8823                 tst r24
 1034 0844 09F1                 breq .L105
 1035 0846 8091 0000            lds r24,FCFlags
 1036 084a 8064                 ori r24,lo8(64)
 1037 084c 8093 0000            sts FCFlags,r24
 1038 0850 8091 0000            lds r24,VersionInfo+6
 1039 0854 8460                 ori r24,lo8(4)
 1040 0856 8093 0000            sts VersionInfo+6,r24
 1041 085a 8091 0000            lds r24,BeepMuster
 1042 085e 9091 0000            lds r25,(BeepMuster)+1
 1043 0862 8F5F                 subi r24,lo8(-1)
 1044 0864 9F4F                 sbci r25,hi8(-1)
 1045 0866 81F4                 brne .L105
 1046 0868 8091 0000            lds r24,MotorenEin
 1047 086c 8823                 tst r24
 1048 086e 61F0                 breq .L105
 1049 0870 88E9                 ldi r24,lo8(15000)
 1050 0872 9AE3                 ldi r25,hi8(15000)
 1051 0874 9093 0000            sts (beeptime)+1,r25
 1052 0878 8093 0000            sts beeptime,r24
 1053 087c 80E0                 ldi r24,lo8(-22528)
 1054 087e 98EA                 ldi r25,hi8(-22528)
 1055 0880 9093 0000            sts (BeepMuster)+1,r25
 1056 0884 8093 0000            sts BeepMuster,r24
 1057                   .L105:
 1058 0888 1092 0000            sts (GPS_Nick)+1,__zero_reg__
 1059 088c 1092 0000            sts GPS_Nick,__zero_reg__
 1060 0890 1092 0000            sts (GPS_Roll)+1,__zero_reg__
 1061 0894 1092 0000            sts GPS_Roll,__zero_reg__
 1062 0898 8FEF                 ldi r24,lo8(-1)
 1063 089a 9FEF                 ldi r25,hi8(-1)
 1064 089c 9093 0000            sts (FromNaviCtrl+7)+1,r25
 1065 08a0 8093 0000            sts FromNaviCtrl+7,r24
 1066 08a4 1092 0000            sts NaviDataOkay,__zero_reg__
 1067                   .L104:
 1068 08a8 8091 0000            lds r24,BattLowVoltageWarning
 1069 08ac 282F                 mov r18,r24
 1070 08ae 3327                 clr r19
 1071 08b0 8091 0000            lds r24,UBat
 1072 08b4 9091 0000            lds r25,(UBat)+1
 1073 08b8 8217                 cp r24,r18
 1074 08ba 9307                 cpc r25,r19
 1075 08bc CCF4                 brge .L107
 1076 08be 8091 0000            lds r24,FCFlags
 1077 08c2 8062                 ori r24,lo8(32)
 1078 08c4 8093 0000            sts FCFlags,r24
 1079 08c8 8091 0000            lds r24,BeepMuster
 1080 08cc 9091 0000            lds r25,(BeepMuster)+1
 1081 08d0 8F5F                 subi r24,lo8(-1)
 1082 08d2 9F4F                 sbci r25,hi8(-1)
 1083 08d4 C1F4                 brne .L109
 1084 08d6 80E7                 ldi r24,lo8(6000)
 1085 08d8 97E1                 ldi r25,hi8(6000)
 1086 08da 9093 0000            sts (beeptime)+1,r25
 1087 08de 8093 0000            sts beeptime,r24
 1088 08e2 80E0                 ldi r24,lo8(768)
 1089 08e4 93E0                 ldi r25,hi8(768)
 1090 08e6 9093 0000            sts (BeepMuster)+1,r25
 1091 08ea 8093 0000            sts BeepMuster,r24
 1092 08ee 0BC0                 rjmp .L109
 1093                   .L107:
 1094 08f0 8091 0000            lds r24,beeptime
 1095 08f4 9091 0000            lds r25,(beeptime)+1
 1096 08f8 892B                 or r24,r25
 1097 08fa 29F4                 brne .L109
 1098 08fc 8091 0000            lds r24,FCFlags
 1099 0900 8F7D                 andi r24,lo8(-33)
 1100 0902 8093 0000            sts FCFlags,r24
 1101                   .L109:
 1102 0906 0E94 0000            call SPI_StartTransmitPacket
 1103 090a 84E0                 ldi r24,lo8(4)
 1104 090c 8093 0000            sts SendSPI,r24
 1105 0910 8091 0000            lds r24,MotorenEin
 1106 0914 8823                 tst r24
 1107 0916 29F4                 brne .L111
 1108 0918 5AEA                 ldi r21,lo8(1450)
 1109 091a 852E                 mov r8,r21
 1110 091c 55E0                 ldi r21,hi8(1450)
 1111 091e 952E                 mov r9,r21
 1112 0920 12C0                 rjmp .L112
 1113                   .L111:
 1114 0922 8091 0000            lds r24,second.11
 1115 0926 8F5F                 subi r24,lo8(-(1))
 1116 0928 8093 0000            sts second.11,r24
 1117 092c 8133                 cpi r24,lo8(49)
 1118 092e 59F4                 brne .L112
 1119 0930 1092 0000            sts second.11,__zero_reg__
 1120 0934 8091 0000            lds r24,FlugSekunden
 1121 0938 9091 0000            lds r25,(FlugSekunden)+1
 1122 093c 0196                 adiw r24,1
 1123 093e 9093 0000            sts (FlugSekunden)+1,r25
 1124 0942 8093 0000            sts FlugSekunden,r24
 1125                   .L112:
 1126 0946 0894                 sec
 1127 0948 811C                 adc r8,__zero_reg__
 1128 094a 911C                 adc r9,__zero_reg__
 1129 094c F2E7                 ldi r31,lo8(2930)
 1130 094e 8F16                 cp r8,r31
 1131 0950 FBE0                 ldi r31,hi8(2930)
 1132 0952 9F06                 cpc r9,r31
 1133 0954 09F0                 breq .+2
 1134 0956 40C0                 rjmp .L95
 1135 0958 8824                 clr r8
 1136 095a 9924                 clr r9
 1137 095c 2091 0000            lds r18,FlugMinuten
 1138 0960 3091 0000            lds r19,(FlugMinuten)+1
 1139 0964 2F5F                 subi r18,lo8(-(1))
 1140 0966 3F4F                 sbci r19,hi8(-(1))
 1141 0968 3093 0000            sts (FlugMinuten)+1,r19
 1142 096c 2093 0000            sts FlugMinuten,r18
 1143 0970 8091 0000            lds r24,FlugMinutenGesamt
 1144 0974 9091 0000            lds r25,(FlugMinutenGesamt)+1
 1145 0978 0196                 adiw r24,1
 1146 097a 9093 0000            sts (FlugMinutenGesamt)+1,r25
 1147 097e 8093 0000            sts FlugMinutenGesamt,r24
 1148 0982 832F                 mov r24,r19
 1149 0984 9927                 clr r25
 1150 0986 682F                 mov r22,r24
 1151 0988 8EE0                 ldi r24,lo8(14)
 1152 098a 90E0                 ldi r25,hi8(14)
 1153 098c 0E94 0000            call SetParamByte
 1154 0990 8091 0000            lds r24,FlugMinuten
 1155 0994 9091 0000            lds r25,(FlugMinuten)+1
 1156 0998 9070                 andi r25,hi8(255)
 1157 099a 682F                 mov r22,r24
 1158 099c 8FE0                 ldi r24,lo8(15)
 1159 099e 90E0                 ldi r25,hi8(15)
 1160 09a0 0E94 0000            call SetParamByte
 1161 09a4 8091 0000            lds r24,FlugMinutenGesamt
 1162 09a8 9091 0000            lds r25,(FlugMinutenGesamt)+1
 1163 09ac 892F                 mov r24,r25
 1164 09ae 9927                 clr r25
 1165 09b0 682F                 mov r22,r24
 1166 09b2 8AE0                 ldi r24,lo8(10)
 1167 09b4 90E0                 ldi r25,hi8(10)
 1168 09b6 0E94 0000            call SetParamByte
 1169 09ba 8091 0000            lds r24,FlugMinutenGesamt
 1170 09be 9091 0000            lds r25,(FlugMinutenGesamt)+1
 1171 09c2 9070                 andi r25,hi8(255)
 1172 09c4 682F                 mov r22,r24
 1173 09c6 8BE0                 ldi r24,lo8(11)
 1174 09c8 90E0                 ldi r25,hi8(11)
 1175 09ca 0E94 0000            call SetParamByte
 1176 09ce 84E1                 ldi r24,lo8(20)
 1177 09d0 90E0                 ldi r25,hi8(20)
 1178 09d2 0E94 0000            call SetDelay
 1179 09d6 8C01                 movw r16,r24
 1180                   .L95:
 1181 09d8 0E94 0000            call LED_Update
 1182 09dc 0E94 0000            call Capacity_Update
 1183                   .L77:
 1184 09e0 8091 0000            lds r24,SendSPI
 1185 09e4 8823                 tst r24
 1186 09e6 09F0                 breq .+2
 1187 09e8 0BCE                 rjmp .L234
 1188 09ea 0E94 0000            call SPI_TransmitByte
 1189 09ee 08CE                 rjmp .L234
 1190                   /* epilogue: frame size=0 */
 1191                   /* epilogue: noreturn */
 1192                   /* epilogue end (size=0) */
 1193                   /* function main size 1092 (1088) */
 1195                           .comm _printf_P,2,1
 1196                   /* File "main.c": code 1285 = 0x0505 (1273), prologues   7, epilogues   5 */
DEFINED SYMBOLS
                            *ABS*:00000000 main.c
C:\Users\Arthur-P\AppData\Local\Temp/cc8Waaaa.s:3      *ABS*:0000003f __SREG__
C:\Users\Arthur-P\AppData\Local\Temp/cc8Waaaa.s:4      *ABS*:0000003e __SP_H__
C:\Users\Arthur-P\AppData\Local\Temp/cc8Waaaa.s:5      *ABS*:0000003d __SP_L__
C:\Users\Arthur-P\AppData\Local\Temp/cc8Waaaa.s:6      *ABS*:00000000 __tmp_reg__
C:\Users\Arthur-P\AppData\Local\Temp/cc8Waaaa.s:7      *ABS*:00000001 __zero_reg__
C:\Users\Arthur-P\AppData\Local\Temp/cc8Waaaa.s:15     .bss:00000000 FoundMotors
C:\Users\Arthur-P\AppData\Local\Temp/cc8Waaaa.s:21     .bss:00000001 FlugSekunden
C:\Users\Arthur-P\AppData\Local\Temp/cc8Waaaa.s:27     .bss:00000003 FlugMinutenGesamt
C:\Users\Arthur-P\AppData\Local\Temp/cc8Waaaa.s:33     .bss:00000005 FlugMinuten
C:\Users\Arthur-P\AppData\Local\Temp/cc8Waaaa.s:39     .data:00000000 BattLowVoltageWarning
C:\Users\Arthur-P\AppData\Local\Temp/cc8Waaaa.s:44     .data:00000001 SendVersionToNavi
C:\Users\Arthur-P\AppData\Local\Temp/cc8Waaaa.s:49     .data:00000002 PlatinenVersion
C:\Users\Arthur-P\AppData\Local\Temp/cc8Waaaa.s:53     .data:00000003 stick.15
C:\Users\Arthur-P\AppData\Local\Temp/cc8Waaaa.s:58     .text:00000000 CalMk3Mag
C:\Users\Arthur-P\AppData\Local\Temp/cc8Waaaa.s:112    .progmem.data:00000000 __c.12
C:\Users\Arthur-P\AppData\Local\Temp/cc8Waaaa.s:116    .progmem.data:00000008 __c.13
C:\Users\Arthur-P\AppData\Local\Temp/cc8Waaaa.s:120    .progmem.data:00000013 __c.14
C:\Users\Arthur-P\AppData\Local\Temp/cc8Waaaa.s:125    .text:0000006a LipoDetection
                            *COM*:00000002 _printf_P
C:\Users\Arthur-P\AppData\Local\Temp/cc8Waaaa.s:262    .progmem.data:0000002d __c.0
C:\Users\Arthur-P\AppData\Local\Temp/cc8Waaaa.s:266    .progmem.data:0000003f __c.1
C:\Users\Arthur-P\AppData\Local\Temp/cc8Waaaa.s:270    .progmem.data:00000042 __c.2
C:\Users\Arthur-P\AppData\Local\Temp/cc8Waaaa.s:274    .progmem.data:00000060 __c.3
C:\Users\Arthur-P\AppData\Local\Temp/cc8Waaaa.s:278    .progmem.data:00000086 __c.4
C:\Users\Arthur-P\AppData\Local\Temp/cc8Waaaa.s:282    .progmem.data:000000a6 __c.5
C:\Users\Arthur-P\AppData\Local\Temp/cc8Waaaa.s:286    .progmem.data:000000ab __c.6
C:\Users\Arthur-P\AppData\Local\Temp/cc8Waaaa.s:290    .progmem.data:000000ce __c.7
C:\Users\Arthur-P\AppData\Local\Temp/cc8Waaaa.s:294    .progmem.data:000000da __c.8
C:\Users\Arthur-P\AppData\Local\Temp/cc8Waaaa.s:298    .progmem.data:000000e6 __c.9
C:\Users\Arthur-P\AppData\Local\Temp/cc8Waaaa.s:302    .progmem.data:000000f8 __c.10
                             .bss:00000007 second.11
C:\Users\Arthur-P\AppData\Local\Temp/cc8Waaaa.s:308    .text:0000017e main

UNDEFINED SYMBOLS
__do_copy_data
__do_clear_bss
EE_Parameter
PPM_in
WinkelOut
beeptime
Piep
DebugOut
uart_putchar
SetDelay
CheckDelay
UBat
__udivmodqi4
__stack
StickGier
StickRoll
StickNick
GIER_GRAD_FAKTOR
Timer_Init
TIMER2_Init
UART_Init
rc_sum_init
ADC_Init
I2C_Init
SPI_MasterInit
Capacity_Init
LIBFC_Init
ParamSet_Init
BLFlags
motor_read
SendMotorData
Motor
Mixer
ServoActive
RequiredMotors
VersionInfo
SucheLuftruckOffset
SetNeutral
ExternControl
GetParamByte
LcdClear
I2CTimeout
LIBFC_ReceiverInit
LIBFC_Polling
UpdateMotor
AdReady
MotorRegler
SenderOkay
MissingMotor
I2C_Reset
FCFlags
BeepMuster
MotorenEin
DatenUebertragung
BearbeiteRxDaten
PcZugriff
ExternStickNick
ExternStickRoll
ExternStickGier
NaviDataOkay
NC_Version
GPS_Nick
GPS_Roll
FromNaviCtrl
SPI_StartTransmitPacket
SendSPI
SetParamByte
LED_Update
Capacity_Update
SPI_TransmitByte