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1 .file "timer0.c"
2 .arch atmega1284p
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 ServoRollValue
11 .global ServoRollValue
12 .section .bss
15 ServoRollValue:
16 0000 0000 .skip 2,0
17 .global ServoNickValue
18 .global ServoNickValue
21 ServoNickValue:
22 0002 0000 .skip 2,0
23 .global BeepMuster
24 .data
27 BeepMuster:
28 0000 FFFF .word -1
29 .global ServoRollOffset
32 ServoRollOffset:
33 0002 C01F .word 8128
34 .global ServoNickOffset
37 ServoNickOffset:
38 0004 C01F .word 8128
39 .global RemainingPulse
40 .global RemainingPulse
41 .section .bss
44 RemainingPulse:
45 0004 0000 .skip 2,0
46 .global CalculateServoSignals
47 .data
50 CalculateServoSignals:
51 0006 01 .byte 1
52 .global ServoActive
53 .global ServoActive
54 .section .bss
57 ServoActive:
58 0006 00 .skip 1,0
59 .global SendSPI
60 .global SendSPI
63 SendSPI:
64 0007 00 .skip 1,0
65 .global beeptime
66 .global beeptime
69 beeptime:
70 0008 0000 .skip 2,0
71 .global cntKompass
72 .global cntKompass
75 cntKompass:
76 000a 0000 .skip 2,0
77 .global UpdateMotor
78 .global UpdateMotor
81 UpdateMotor:
82 000c 00 .skip 1,0
83 .global CountMilliseconds
84 .global CountMilliseconds
87 CountMilliseconds:
88 000d 0000 .skip 2,0
89 .data
92 cnt_1ms.3:
93 0007 01 .byte 1
94 .lcomm cnt.4,1
95 .lcomm compass_active.5,1
96 .text
97 .global __vector_18
99 __vector_18:
100 /* prologue: frame size=0 */
101 0000 1F92 push __zero_reg__
102 0002 0F92 push __tmp_reg__
103 0004 0FB6 in __tmp_reg__,__SREG__
104 0006 0F92 push __tmp_reg__
105 0008 1124 clr __zero_reg__
106 000a 2F93 push r18
107 000c 3F93 push r19
108 000e 5F93 push r21
109 0010 6F93 push r22
110 0012 7F93 push r23
111 0014 8F93 push r24
112 0016 9F93 push r25
113 0018 AF93 push r26
114 001a BF93 push r27
115 001c EF93 push r30
116 001e FF93 push r31
117 /* prologue end (size=16) */
118 0020 20E0 ldi r18,lo8(0)
119 0022 8091 0000 lds r24,SendSPI
120 0026 8823 tst r24
121 0028 01F0 breq .L2
122 002a 8091 0000 lds r24,SendSPI
123 002e 8150 subi r24,lo8(-(-1))
124 0030 8093 0000 sts SendSPI,r24
125 .L2:
126 0034 8091 0000 lds r24,SpektrumTimer
127 0038 8823 tst r24
128 003a 01F0 breq .L3
129 003c 8150 subi r24,lo8(-(-1))
130 003e 8093 0000 sts SpektrumTimer,r24
131 .L3:
132 0042 8091 0000 lds r24,cnt.4
133 0046 8150 subi r24,lo8(-(-1))
134 0048 8093 0000 sts cnt.4,r24
135 004c 8F3F cpi r24,lo8(-1)
136 004e 01F0 breq .+2
137 0050 00C0 rjmp .L4
138 0052 89E0 ldi r24,lo8(9)
139 0054 8093 0000 sts cnt.4,r24
140 0058 8091 0000 lds r24,CountMilliseconds
141 005c 9091 0000 lds r25,(CountMilliseconds)+1
142 0060 0196 adiw r24,1
143 0062 9093 0000 sts (CountMilliseconds)+1,r25
144 0066 8093 0000 sts CountMilliseconds,r24
145 006a 8091 0000 lds r24,cnt_1ms.3
146 006e 8F5F subi r24,lo8(-(1))
147 0070 8170 andi r24,lo8(1)
148 0072 8093 0000 sts cnt_1ms.3,r24
149 0076 8823 tst r24
150 0078 01F4 brne .L5
151 007a 81E0 ldi r24,lo8(1)
152 007c 8093 0000 sts UpdateMotor,r24
153 .L5:
154 0080 3499 sbic 38-0x20,4
155 0082 00C0 rjmp .L6
156 0084 81E0 ldi r24,lo8(1)
157 0086 8093 0000 sts compass_active.5,r24
158 .L6:
159 008a 8091 0000 lds r24,beeptime
160 008e 9091 0000 lds r25,(beeptime)+1
161 0092 892B or r24,r25
162 0094 01F0 breq .L7
163 0096 8091 0000 lds r24,beeptime
164 009a 9091 0000 lds r25,(beeptime)+1
165 009e 0B97 sbiw r24,11
166 00a0 00F0 brlo .L8
167 00a2 8091 0000 lds r24,beeptime
168 00a6 9091 0000 lds r25,(beeptime)+1
169 00aa 0A97 sbiw r24,10
170 00ac 9093 0000 sts (beeptime)+1,r25
171 00b0 8093 0000 sts beeptime,r24
172 00b4 00C0 rjmp .L9
173 .L8:
174 00b6 1092 0000 sts (beeptime)+1,__zero_reg__
175 00ba 1092 0000 sts beeptime,__zero_reg__
176 .L9:
177 00be 8091 0000 lds r24,beeptime
178 00c2 9091 0000 lds r25,(beeptime)+1
179 00c6 2091 0000 lds r18,BeepMuster
180 00ca 3091 0000 lds r19,(BeepMuster)+1
181 00ce 8223 and r24,r18
182 00d0 9323 and r25,r19
183 00d2 892B or r24,r25
184 00d4 01F0 breq .L10
185 00d6 21E0 ldi r18,lo8(1)
186 00d8 00C0 rjmp .L12
187 .L10:
188 00da 20E0 ldi r18,lo8(0)
189 00dc 00C0 rjmp .L12
190 .L7:
191 00de 8FEF ldi r24,lo8(-1)
192 00e0 9FEF ldi r25,hi8(-1)
193 00e2 9093 0000 sts (BeepMuster)+1,r25
194 00e6 8093 0000 sts BeepMuster,r24
195 .L12:
196 00ea 8091 0000 lds r24,PlatinenVersion
197 00ee 2223 tst r18
198 00f0 01F0 breq .L13
199 00f2 8A30 cpi r24,lo8(10)
200 00f4 01F4 brne .L14
201 00f6 5A9A sbi 43-0x20,2
202 00f8 00C0 rjmp .L4
203 .L14:
204 00fa 479A sbi 40-0x20,7
205 00fc 00C0 rjmp .L4
206 .L13:
207 00fe 8A30 cpi r24,lo8(10)
208 0100 01F4 brne .L17
209 0102 5A98 cbi 43-0x20,2
210 0104 00C0 rjmp .L4
211 .L17:
212 0106 4798 cbi 40-0x20,7
213 .L4:
214 0108 8091 0000 lds r24,compass_active.5
215 010c 8823 tst r24
216 010e 01F4 brne .+2
217 0110 00C0 rjmp .L1
218 0112 2091 0000 lds r18,NaviDataOkay
219 0116 2223 tst r18
220 0118 01F0 breq .+2
221 011a 00C0 rjmp .L1
222 011c 8091 0000 lds r24,Parameter_GlobalConfig
223 0120 83FF sbrs r24,3
224 0122 00C0 rjmp .L1
225 0124 86B1 in r24,38-0x20
226 0126 9927 clr r25
227 0128 FC01 movw r30,r24
228 012a E071 andi r30,lo8(16)
229 012c F070 andi r31,hi8(16)
230 012e 84FF sbrs r24,4
231 0130 00C0 rjmp .L20
232 0132 8091 0000 lds r24,cntKompass
233 0136 9091 0000 lds r25,(cntKompass)+1
234 013a 0196 adiw r24,1
235 013c 9093 0000 sts (cntKompass)+1,r25
236 0140 8093 0000 sts cntKompass,r24
237 0144 8091 0000 lds r24,cntKompass
238 0148 9091 0000 lds r25,(cntKompass)+1
239 014c 895E subi r24,lo8(1001)
240 014e 9340 sbci r25,hi8(1001)
241 0150 00F0 brlo .L1
242 0152 2093 0000 sts compass_active.5,r18
243 0156 00C0 rjmp .L1
244 .L20:
245 0158 8091 0000 lds r24,cntKompass
246 015c 9091 0000 lds r25,(cntKompass)+1
247 0160 892B or r24,r25
248 0162 01F0 breq .L23
249 0164 8091 0000 lds r24,cntKompass
250 0168 9091 0000 lds r25,(cntKompass)+1
251 016c 8A56 subi r24,lo8(362)
252 016e 9140 sbci r25,hi8(362)
253 0170 00F4 brsh .L23
254 0172 8091 0000 lds r24,cntKompass
255 0176 9091 0000 lds r25,(cntKompass)+1
256 017a 69E2 ldi r22,lo8(41)
257 017c 70E0 ldi r23,hi8(41)
258 017e 0E94 0000 call __udivmodhi4
259 0182 8091 0000 lds r24,cntKompass
260 0186 9091 0000 lds r25,(cntKompass)+1
261 018a 860F add r24,r22
262 018c 971F adc r25,r23
263 018e 9093 0000 sts (cntKompass)+1,r25
264 0192 8093 0000 sts cntKompass,r24
265 0196 8091 0000 lds r24,cntKompass
266 019a 9091 0000 lds r25,(cntKompass)+1
267 019e 0B97 sbiw r24,11
268 01a0 00F0 brlo .L24
269 01a2 8091 0000 lds r24,cntKompass
270 01a6 9091 0000 lds r25,(cntKompass)+1
271 01aa 0A97 sbiw r24,10
272 01ac 9093 0000 sts (KompassValue)+1,r25
273 01b0 8093 0000 sts KompassValue,r24
274 01b4 00C0 rjmp .L23
275 .L24:
276 01b6 F093 0000 sts (KompassValue)+1,r31
277 01ba E093 0000 sts KompassValue,r30
278 .L23:
279 01be 1092 0000 sts (cntKompass)+1,__zero_reg__
280 01c2 1092 0000 sts cntKompass,__zero_reg__
281 .L1:
282 /* epilogue: frame size=0 */
283 01c6 FF91 pop r31
284 01c8 EF91 pop r30
285 01ca BF91 pop r27
286 01cc AF91 pop r26
287 01ce 9F91 pop r25
288 01d0 8F91 pop r24
289 01d2 7F91 pop r23
290 01d4 6F91 pop r22
291 01d6 5F91 pop r21
292 01d8 3F91 pop r19
293 01da 2F91 pop r18
294 01dc 0F90 pop __tmp_reg__
295 01de 0FBE out __SREG__,__tmp_reg__
296 01e0 0F90 pop __tmp_reg__
297 01e2 1F90 pop __zero_reg__
298 01e4 1895 reti
299 /* epilogue end (size=16) */
300 /* function __vector_18 size 247 (215) */
302 .global SetDelay
304 SetDelay:
305 /* prologue: frame size=0 */
306 /* prologue end (size=0) */
307 01e6 2091 0000 lds r18,CountMilliseconds
308 01ea 3091 0000 lds r19,(CountMilliseconds)+1
309 01ee 280F add r18,r24
310 01f0 391F adc r19,r25
311 01f2 C901 movw r24,r18
312 01f4 0196 adiw r24,1
313 /* epilogue: frame size=0 */
314 01f6 0895 ret
315 /* epilogue end (size=1) */
316 /* function SetDelay size 9 (8) */
318 .global CheckDelay
320 CheckDelay:
321 /* prologue: frame size=0 */
322 /* prologue end (size=0) */
323 01f8 2091 0000 lds r18,CountMilliseconds
324 01fc 3091 0000 lds r19,(CountMilliseconds)+1
325 0200 821B sub r24,r18
326 0202 930B sbc r25,r19
327 0204 892F mov r24,r25
328 0206 9927 clr r25
329 0208 8695 lsr r24
330 020a 8074 andi r24,lo8(64)
331 020c 9070 andi r25,hi8(64)
332 /* epilogue: frame size=0 */
333 020e 0895 ret
334 /* epilogue end (size=1) */
335 /* function CheckDelay size 12 (11) */
337 .global Delay_ms
339 Delay_ms:
340 /* prologue: frame size=0 */
341 0210 CF93 push r28
342 0212 DF93 push r29
343 /* prologue end (size=2) */
344 0214 0E94 0000 call SetDelay
345 0218 EC01 movw r28,r24
346 .L29:
347 021a CE01 movw r24,r28
348 021c 0E94 0000 call CheckDelay
349 0220 8823 tst r24
350 0222 01F0 breq .L29
351 /* epilogue: frame size=0 */
352 0224 DF91 pop r29
353 0226 CF91 pop r28
354 0228 0895 ret
355 /* epilogue end (size=3) */
356 /* function Delay_ms size 13 (8) */
358 .global Delay_ms_Mess
360 Delay_ms_Mess:
361 /* prologue: frame size=0 */
362 022a CF93 push r28
363 022c DF93 push r29
364 /* prologue end (size=2) */
365 022e 0E94 0000 call SetDelay
366 0232 EC01 movw r28,r24
367 0234 00C0 rjmp .L40
368 .L36:
369 0236 8091 0000 lds r24,AdReady
370 023a 8823 tst r24
371 023c 01F0 breq .L40
372 023e 9093 0000 sts AdReady,r25
373 0242 8FEC ldi r24,lo8(-49)
374 0244 8093 7A00 sts 122,r24
375 .L40:
376 0248 CE01 movw r24,r28
377 024a 0E94 0000 call CheckDelay
378 024e 982F mov r25,r24
379 0250 8823 tst r24
380 0252 01F0 breq .L36
381 /* epilogue: frame size=0 */
382 0254 DF91 pop r29
383 0256 CF91 pop r28
384 0258 0895 ret
385 /* epilogue end (size=3) */
386 /* function Delay_ms_Mess size 24 (19) */
388 .global TIMER2_Init
390 TIMER2_Init:
391 /* prologue: frame size=0 */
392 /* prologue end (size=0) */
393 025a 9FB7 in r25,95-0x20
394 /* #APP */
395 025c F894 cli
396 /* #NOAPP */
397 025e 5F98 cbi 43-0x20,7
398 0260 3E9A sbi 39-0x20,6
399 0262 469A sbi 40-0x20,6
400 0264 8091 B000 lds r24,176
401 0268 8F70 andi r24,lo8(15)
402 026a 8093 B000 sts 176,r24
403 026e 8091 B000 lds r24,176
404 0272 8360 ori r24,lo8(3)
405 0274 8093 B000 sts 176,r24
406 0278 8091 B100 lds r24,177
407 027c 8B73 andi r24,lo8(59)
408 027e 8093 B100 sts 177,r24
409 0282 8091 B100 lds r24,177
410 0286 8B60 ori r24,lo8(11)
411 0288 8093 B100 sts 177,r24
412 028c 1092 B200 sts 178,__zero_reg__
413 0290 8FEF ldi r24,lo8(-1)
414 0292 8093 B300 sts 179,r24
415 0296 8091 B000 lds r24,176
416 029a 8068 ori r24,lo8(-128)
417 029c 8093 B000 sts 176,r24
418 02a0 8091 7000 lds r24,112
419 02a4 8A7F andi r24,lo8(-6)
420 02a6 8093 7000 sts 112,r24
421 02aa 8091 7000 lds r24,112
422 02ae 8260 ori r24,lo8(2)
423 02b0 8093 7000 sts 112,r24
424 02b4 9FBF out 95-0x20,r25
425 /* epilogue: frame size=0 */
426 02b6 0895 ret
427 /* epilogue end (size=1) */
428 /* function TIMER2_Init size 48 (47) */
430 .global Timer_Init
432 Timer_Init:
433 /* prologue: frame size=0 */
434 /* prologue end (size=0) */
435 02b8 8AE0 ldi r24,lo8(10)
436 02ba 90E0 ldi r25,hi8(10)
437 02bc 0E94 0000 call SetDelay
438 02c0 9093 0000 sts (tim_main)+1,r25
439 02c4 8093 0000 sts tim_main,r24
440 02c8 82E0 ldi r24,lo8(2)
441 02ca 85BD out 69-0x20,r24
442 02cc 83EA ldi r24,lo8(-93)
443 02ce 84BD out 68-0x20,r24
444 02d0 17BC out 71-0x20,__zero_reg__
445 02d2 84EB ldi r24,lo8(-76)
446 02d4 88BD out 72-0x20,r24
447 02d6 86E0 ldi r24,lo8(6)
448 02d8 86BD out 70-0x20,r24
449 02da 8091 6E00 lds r24,110
450 02de 8160 ori r24,lo8(1)
451 02e0 8093 6E00 sts 110,r24
452 /* epilogue: frame size=0 */
453 02e4 0895 ret
454 /* epilogue end (size=1) */
455 /* function Timer_Init size 23 (22) */
457 .global CalculateServo
459 CalculateServo:
460 /* prologue: frame size=0 */
461 02e6 A0E0 ldi r26,lo8(0)
462 02e8 B0E0 ldi r27,hi8(0)
463 02ea E0E0 ldi r30,pm_lo8(1f)
464 02ec F0E0 ldi r31,pm_hi8(1f)
465 02ee 0C94 0000 jmp __prologue_saves__+22
466 1:
467 /* prologue end (size=6) */
468 02f2 8091 0000 lds r24,EE_Parameter+55
469 02f6 E82F mov r30,r24
470 02f8 FF27 clr r31
471 02fa E050 subi r30,lo8(-(sintab))
472 02fc F040 sbci r31,hi8(-(sintab))
473 02fe 9681 ldd r25,Z+6
474 0300 D080 ld r13,Z
475 0302 8091 0000 lds r24,CalculateServoSignals
476 0306 A92F mov r26,r25
477 0308 BB27 clr r27
478 030a A7FD sbrc r26,7
479 030c B095 com r27
480 030e CB2F mov r28,r27
481 0310 DB2F mov r29,r27
482 0312 8130 cpi r24,lo8(1)
483 0314 01F0 breq .+2
484 0316 00C0 rjmp .L44
485 0318 2091 0000 lds r18,IntegralNick
486 031c 3091 0000 lds r19,(IntegralNick)+1
487 0320 4091 0000 lds r20,(IntegralNick)+2
488 0324 5091 0000 lds r21,(IntegralNick)+3
489 0328 BD01 movw r22,r26
490 032a CE01 movw r24,r28
491 032c 0E94 0000 call __mulsi3
492 0330 97FF sbrs r25,7
493 0332 00C0 rjmp .L45
494 0334 6158 subi r22,lo8(-(127))
495 0336 7F4F sbci r23,hi8(-(127))
496 0338 8F4F sbci r24,hlo8(-(127))
497 033a 9F4F sbci r25,hhi8(-(127))
498 .L45:
499 033c 7B01 movw r14,r22
500 033e 8C01 movw r16,r24
501 0340 F7E0 ldi r31,7
502 0342 1595 1: asr r17
503 0344 0795 ror r16
504 0346 F794 ror r15
505 0348 E794 ror r14
506 034a FA95 dec r31
507 034c 01F4 brne 1b
508 034e 8D2D mov r24,r13
509 0350 9927 clr r25
510 0352 87FD sbrc r24,7
511 0354 9095 com r25
512 0356 A92F mov r26,r25
513 0358 B92F mov r27,r25
514 035a 2091 0000 lds r18,IntegralRoll
515 035e 3091 0000 lds r19,(IntegralRoll)+1
516 0362 4091 0000 lds r20,(IntegralRoll)+2
517 0366 5091 0000 lds r21,(IntegralRoll)+3
518 036a BC01 movw r22,r24
519 036c CD01 movw r24,r26
520 036e 0E94 0000 call __mulsi3
521 0372 97FF sbrs r25,7
522 0374 00C0 rjmp .L46
523 0376 6158 subi r22,lo8(-(127))
524 0378 7F4F sbci r23,hi8(-(127))
525 037a 8F4F sbci r24,hlo8(-(127))
526 037c 9F4F sbci r25,hhi8(-(127))
527 .L46:
528 037e E7E0 ldi r30,7
529 0380 9595 1: asr r25
530 0382 8795 ror r24
531 0384 7795 ror r23
532 0386 6795 ror r22
533 0388 EA95 dec r30
534 038a 01F4 brne 1b
535 038c F801 movw r30,r16
536 038e E701 movw r28,r14
537 0390 C61B sub r28,r22
538 0392 D70B sbc r29,r23
539 0394 E80B sbc r30,r24
540 0396 F90B sbc r31,r25
541 0398 2091 0000 lds r18,POI_KameraNick
542 039c 3091 0000 lds r19,(POI_KameraNick)+1
543 03a0 C901 movw r24,r18
544 03a2 53E0 ldi r21,3
545 03a4 880F 1: lsl r24
546 03a6 991F rol r25
547 03a8 5A95 dec r21
548 03aa 01F4 brne 1b
549 03ac 821B sub r24,r18
550 03ae 930B sbc r25,r19
551 03b0 AA27 clr r26
552 03b2 97FD sbrc r25,7
553 03b4 A095 com r26
554 03b6 BA2F mov r27,r26
555 03b8 C81B sub r28,r24
556 03ba D90B sbc r29,r25
557 03bc EA0B sbc r30,r26
558 03be FB0B sbc r31,r27
559 03c0 8091 0000 lds r24,EE_Parameter+46
560 03c4 9927 clr r25
561 03c6 AA27 clr r26
562 03c8 BB27 clr r27
563 03ca BC01 movw r22,r24
564 03cc CD01 movw r24,r26
565 03ce 9E01 movw r18,r28
566 03d0 AF01 movw r20,r30
567 03d2 0E94 0000 call __mulsi3
568 03d6 97FF sbrs r25,7
569 03d8 00C0 rjmp .L47
570 03da 6150 subi r22,lo8(-(511))
571 03dc 7E4F sbci r23,hi8(-(511))
572 03de 8F4F sbci r24,hlo8(-(511))
573 03e0 9F4F sbci r25,hhi8(-(511))
574 .L47:
575 03e2 FC01 movw r30,r24
576 03e4 EB01 movw r28,r22
577 03e6 49E0 ldi r20,9
578 03e8 F595 1: asr r31
579 03ea E795 ror r30
580 03ec D795 ror r29
581 03ee C795 ror r28
582 03f0 4A95 dec r20
583 03f2 01F4 brne 1b
584 03f4 8091 0000 lds r24,Parameter_ServoNickControl
585 03f8 9927 clr r25
586 03fa 36E0 ldi r19,6
587 03fc 880F 1: lsl r24
588 03fe 991F rol r25
589 0400 3A95 dec r19
590 0402 01F4 brne 1b
591 0404 4091 0000 lds r20,ServoNickOffset
592 0408 5091 0000 lds r21,(ServoNickOffset)+1
593 040c 2091 0000 lds r18,EE_Parameter+54
594 0410 3327 clr r19
595 0412 841B sub r24,r20
596 0414 950B sbc r25,r21
597 0416 B901 movw r22,r18
598 0418 0E94 0000 call __divmodhi4
599 041c 8091 0000 lds r24,ServoNickOffset
600 0420 9091 0000 lds r25,(ServoNickOffset)+1
601 0424 860F add r24,r22
602 0426 971F adc r25,r23
603 0428 9093 0000 sts (ServoNickOffset)+1,r25
604 042c 8093 0000 sts ServoNickOffset,r24
605 0430 8091 0000 lds r24,ServoNickOffset
606 0434 9091 0000 lds r25,(ServoNickOffset)+1
607 0438 97FD sbrc r25,7
608 043a 0F96 adiw r24,15
609 .L48:
610 043c 24E0 ldi r18,4
611 043e 9595 1: asr r25
612 0440 8795 ror r24
613 0442 2A95 dec r18
614 0444 01F4 brne 1b
615 0446 9093 0000 sts (ServoNickValue)+1,r25
616 044a 8093 0000 sts ServoNickValue,r24
617 044e 8091 0000 lds r24,EE_Parameter+105
618 0452 80FF sbrs r24,0
619 0454 00C0 rjmp .L49
620 0456 8091 0000 lds r24,ServoNickValue
621 045a 9091 0000 lds r25,(ServoNickValue)+1
622 045e 8C0F add r24,r28
623 0460 9D1F adc r25,r29
624 0462 00C0 rjmp .L66
625 .L49:
626 0464 8091 0000 lds r24,ServoNickValue
627 0468 9091 0000 lds r25,(ServoNickValue)+1
628 046c 8C1B sub r24,r28
629 046e 9D0B sbc r25,r29
630 .L66:
631 0470 9093 0000 sts (ServoNickValue)+1,r25
632 0474 8093 0000 sts ServoNickValue,r24
633 0478 8091 0000 lds r24,EE_Parameter+47
634 047c 282F mov r18,r24
635 047e 3327 clr r19
636 0480 220F lsl r18
637 0482 331F rol r19
638 0484 220F lsl r18
639 0486 331F rol r19
640 0488 8091 0000 lds r24,ServoNickValue
641 048c 9091 0000 lds r25,(ServoNickValue)+1
642 0490 8217 cp r24,r18
643 0492 9307 cpc r25,r19
644 0494 04F0 brlt .L67
645 0496 8091 0000 lds r24,EE_Parameter+48
646 049a 282F mov r18,r24
647 049c 3327 clr r19
648 049e 220F lsl r18
649 04a0 331F rol r19
650 04a2 220F lsl r18
651 04a4 331F rol r19
652 04a6 8091 0000 lds r24,ServoNickValue
653 04aa 9091 0000 lds r25,(ServoNickValue)+1
654 04ae 2817 cp r18,r24
655 04b0 3907 cpc r19,r25
656 04b2 04F4 brge .L52
657 .L67:
658 04b4 3093 0000 sts (ServoNickValue)+1,r19
659 04b8 2093 0000 sts ServoNickValue,r18
660 .L52:
661 04bc 8091 0000 lds r24,PlatinenVersion
662 04c0 8431 cpi r24,lo8(20)
663 04c2 00F4 brsh .+2
664 04c4 00C0 rjmp .L64
665 04c6 8091 0000 lds r24,CalculateServoSignals
666 04ca 8F5F subi r24,lo8(-(1))
667 04cc 8093 0000 sts CalculateServoSignals,r24
668 04d0 00C0 rjmp .L43
669 .L44:
670 04d2 2091 0000 lds r18,IntegralRoll
671 04d6 3091 0000 lds r19,(IntegralRoll)+1
672 04da 4091 0000 lds r20,(IntegralRoll)+2
673 04de 5091 0000 lds r21,(IntegralRoll)+3
674 04e2 BD01 movw r22,r26
675 04e4 CE01 movw r24,r28
676 04e6 0E94 0000 call __mulsi3
677 04ea 97FF sbrs r25,7
678 04ec 00C0 rjmp .L57
679 04ee 6158 subi r22,lo8(-(127))
680 04f0 7F4F sbci r23,hi8(-(127))
681 04f2 8F4F sbci r24,hlo8(-(127))
682 04f4 9F4F sbci r25,hhi8(-(127))
683 .L57:
684 04f6 7B01 movw r14,r22
685 04f8 8C01 movw r16,r24
686 04fa C7E0 ldi r28,7
687 04fc 1595 1: asr r17
688 04fe 0795 ror r16
689 0500 F794 ror r15
690 0502 E794 ror r14
691 0504 CA95 dec r28
692 0506 01F4 brne 1b
693 0508 8D2D mov r24,r13
694 050a 9927 clr r25
695 050c 87FD sbrc r24,7
696 050e 9095 com r25
697 0510 A92F mov r26,r25
698 0512 B92F mov r27,r25
699 0514 2091 0000 lds r18,IntegralNick
700 0518 3091 0000 lds r19,(IntegralNick)+1
701 051c 4091 0000 lds r20,(IntegralNick)+2
702 0520 5091 0000 lds r21,(IntegralNick)+3
703 0524 BC01 movw r22,r24
704 0526 CD01 movw r24,r26
705 0528 0E94 0000 call __mulsi3
706 052c 9B01 movw r18,r22
707 052e AC01 movw r20,r24
708 0530 97FF sbrs r25,7
709 0532 00C0 rjmp .L58
710 0534 2158 subi r18,lo8(-(127))
711 0536 3F4F sbci r19,hi8(-(127))
712 0538 4F4F sbci r20,hlo8(-(127))
713 053a 5F4F sbci r21,hhi8(-(127))
714 .L58:
715 053c B7E0 ldi r27,7
716 053e 5595 1: asr r21
717 0540 4795 ror r20
718 0542 3795 ror r19
719 0544 2795 ror r18
720 0546 BA95 dec r27
721 0548 01F4 brne 1b
722 054a 2E0D add r18,r14
723 054c 3F1D adc r19,r15
724 054e 401F adc r20,r16
725 0550 511F adc r21,r17
726 0552 8091 0000 lds r24,EE_Parameter+50
727 0556 9927 clr r25
728 0558 AA27 clr r26
729 055a BB27 clr r27
730 055c BC01 movw r22,r24
731 055e CD01 movw r24,r26
732 0560 0E94 0000 call __mulsi3
733 0564 97FF sbrs r25,7
734 0566 00C0 rjmp .L59
735 0568 6150 subi r22,lo8(-(511))
736 056a 7E4F sbci r23,hi8(-(511))
737 056c 8F4F sbci r24,hlo8(-(511))
738 056e 9F4F sbci r25,hhi8(-(511))
739 .L59:
740 0570 FC01 movw r30,r24
741 0572 EB01 movw r28,r22
742 0574 A9E0 ldi r26,9
743 0576 F595 1: asr r31
744 0578 E795 ror r30
745 057a D795 ror r29
746 057c C795 ror r28
747 057e AA95 dec r26
748 0580 01F4 brne 1b
749 0582 8091 0000 lds r24,Parameter_ServoRollControl
750 0586 9927 clr r25
751 0588 76E0 ldi r23,6
752 058a 880F 1: lsl r24
753 058c 991F rol r25
754 058e 7A95 dec r23
755 0590 01F4 brne 1b
756 0592 4091 0000 lds r20,ServoRollOffset
757 0596 5091 0000 lds r21,(ServoRollOffset)+1
758 059a 2091 0000 lds r18,EE_Parameter+54
759 059e 3327 clr r19
760 05a0 841B sub r24,r20
761 05a2 950B sbc r25,r21
762 05a4 B901 movw r22,r18
763 05a6 0E94 0000 call __divmodhi4
764 05aa 8091 0000 lds r24,ServoRollOffset
765 05ae 9091 0000 lds r25,(ServoRollOffset)+1
766 05b2 860F add r24,r22
767 05b4 971F adc r25,r23
768 05b6 9093 0000 sts (ServoRollOffset)+1,r25
769 05ba 8093 0000 sts ServoRollOffset,r24
770 05be 8091 0000 lds r24,ServoRollOffset
771 05c2 9091 0000 lds r25,(ServoRollOffset)+1
772 05c6 97FD sbrc r25,7
773 05c8 0F96 adiw r24,15
774 .L60:
775 05ca 64E0 ldi r22,4
776 05cc 9595 1: asr r25
777 05ce 8795 ror r24
778 05d0 6A95 dec r22
779 05d2 01F4 brne 1b
780 05d4 9093 0000 sts (ServoRollValue)+1,r25
781 05d8 8093 0000 sts ServoRollValue,r24
782 05dc 8091 0000 lds r24,EE_Parameter+105
783 05e0 81FF sbrs r24,1
784 05e2 00C0 rjmp .L61
785 05e4 8091 0000 lds r24,ServoRollValue
786 05e8 9091 0000 lds r25,(ServoRollValue)+1
787 05ec 8C0F add r24,r28
788 05ee 9D1F adc r25,r29
789 05f0 00C0 rjmp .L68
790 .L61:
791 05f2 8091 0000 lds r24,ServoRollValue
792 05f6 9091 0000 lds r25,(ServoRollValue)+1
793 05fa 8C1B sub r24,r28
794 05fc 9D0B sbc r25,r29
795 .L68:
796 05fe 9093 0000 sts (ServoRollValue)+1,r25
797 0602 8093 0000 sts ServoRollValue,r24
798 0606 8091 0000 lds r24,EE_Parameter+51
799 060a 282F mov r18,r24
800 060c 3327 clr r19
801 060e 220F lsl r18
802 0610 331F rol r19
803 0612 220F lsl r18
804 0614 331F rol r19
805 0616 8091 0000 lds r24,ServoRollValue
806 061a 9091 0000 lds r25,(ServoRollValue)+1
807 061e 8217 cp r24,r18
808 0620 9307 cpc r25,r19
809 0622 04F0 brlt .L69
810 0624 8091 0000 lds r24,EE_Parameter+52
811 0628 282F mov r18,r24
812 062a 3327 clr r19
813 062c 220F lsl r18
814 062e 331F rol r19
815 0630 220F lsl r18
816 0632 331F rol r19
817 0634 8091 0000 lds r24,ServoRollValue
818 0638 9091 0000 lds r25,(ServoRollValue)+1
819 063c 2817 cp r18,r24
820 063e 3907 cpc r19,r25
821 0640 04F4 brge .L64
822 .L69:
823 0642 3093 0000 sts (ServoRollValue)+1,r19
824 0646 2093 0000 sts ServoRollValue,r18
825 .L64:
826 064a 1092 0000 sts CalculateServoSignals,__zero_reg__
827 .L43:
828 /* epilogue: frame size=0 */
829 064e E7E0 ldi r30,7
830 0650 CDB7 in r28,__SP_L__
831 0652 DEB7 in r29,__SP_H__
832 0654 0C94 0000 jmp __epilogue_restores__+22
833 /* epilogue end (size=5) */
834 /* function CalculateServo size 443 (432) */
836 .lcomm PulseOutput.0,1
837 .lcomm ServoFrameTime.1,2
838 .lcomm ServoIndex.2,1
839 .global __vector_9
841 __vector_9:
842 /* prologue: frame size=0 */
843 0658 1F92 push __zero_reg__
844 065a 0F92 push __tmp_reg__
845 065c 0FB6 in __tmp_reg__,__SREG__
846 065e 0F92 push __tmp_reg__
847 0660 1124 clr __zero_reg__
848 0662 2F93 push r18
849 0664 3F93 push r19
850 0666 4F93 push r20
851 0668 5F93 push r21
852 066a 8F93 push r24
853 066c 9F93 push r25
854 066e EF93 push r30
855 0670 FF93 push r31
856 /* prologue end (size=13) */
857 0672 8091 0000 lds r24,PlatinenVersion
858 0676 9091 0000 lds r25,PulseOutput.0
859 067a 8431 cpi r24,lo8(20)
860 067c 00F0 brlo .+2
861 067e 00C0 rjmp .L71
862 0680 9923 tst r25
863 0682 01F0 breq .+2
864 0684 00C0 rjmp .L78
865 0686 8091 B000 lds r24,176
866 068a 86FF sbrs r24,6
867 068c 00C0 rjmp .L73
868 068e 8091 B000 lds r24,176
869 0692 8F7B andi r24,lo8(-65)
870 0694 8093 B000 sts 176,r24
871 0698 8091 0000 lds r24,ServoNickValue
872 069c 9091 0000 lds r25,(ServoNickValue)+1
873 06a0 8755 subi r24,lo8(-(425))
874 06a2 9E4F sbci r25,hi8(-(425))
875 06a4 9093 0000 sts (RemainingPulse)+1,r25
876 06a8 8093 0000 sts RemainingPulse,r24
877 06ac 25E0 ldi r18,hi8(1501)
878 06ae 8D3D cpi r24,lo8(1501)
879 06b0 9207 cpc r25,r18
880 06b2 00F0 brlo .L74
881 06b4 8CED ldi r24,lo8(1500)
882 06b6 95E0 ldi r25,hi8(1500)
883 06b8 00C0 rjmp .L106
884 .L74:
885 06ba 8757 subi r24,lo8(375)
886 06bc 9140 sbci r25,hi8(375)
887 06be 00F4 brsh .L75
888 06c0 87E7 ldi r24,lo8(375)
889 06c2 91E0 ldi r25,hi8(375)
890 .L106:
891 06c4 9093 0000 sts (RemainingPulse)+1,r25
892 06c8 8093 0000 sts RemainingPulse,r24
893 .L75:
894 06cc 8091 0000 lds r24,RemainingPulse
895 06d0 9091 0000 lds r25,(RemainingPulse)+1
896 06d4 00C0 rjmp .L111
897 .L73:
898 06d6 8091 B000 lds r24,176
899 06da 8064 ori r24,lo8(64)
900 06dc 8093 B000 sts 176,r24
901 06e0 8091 0000 lds r24,EE_Parameter+53
902 06e4 282F mov r18,r24
903 06e6 3327 clr r19
904 06e8 8DED ldi r24,lo8(1757)
905 06ea 96E0 ldi r25,hi8(1757)
906 06ec 289F mul r18,r24
907 06ee A001 movw r20,r0
908 06f0 299F mul r18,r25
909 06f2 500D add r21,r0
910 06f4 389F mul r19,r24
911 06f6 500D add r21,r0
912 06f8 1124 clr r1
913 06fa CA01 movw r24,r20
914 06fc 2091 0000 lds r18,ServoFrameTime.1
915 0700 3091 0000 lds r19,(ServoFrameTime.1)+1
916 0704 821B sub r24,r18
917 0706 930B sbc r25,r19
918 0708 9093 0000 sts (RemainingPulse)+1,r25
919 070c 8093 0000 sts RemainingPulse,r24
920 0710 81E0 ldi r24,lo8(1)
921 0712 8093 0000 sts CalculateServoSignals,r24
922 0716 00C0 rjmp .L94
923 .L71:
924 0718 9923 tst r25
925 071a 01F0 breq .+2
926 071c 00C0 rjmp .L78
927 071e 8091 B000 lds r24,176
928 0722 86FF sbrs r24,6
929 0724 00C0 rjmp .L80
930 0726 8091 B000 lds r24,176
931 072a 8F7B andi r24,lo8(-65)
932 072c 8093 B000 sts 176,r24
933 0730 E091 0000 lds r30,ServoIndex.2
934 0734 EE23 tst r30
935 0736 01F4 brne .L81
936 0738 8091 0000 lds r24,EE_Parameter+53
937 073c 282F mov r18,r24
938 073e 3327 clr r19
939 0740 8DED ldi r24,lo8(1757)
940 0742 96E0 ldi r25,hi8(1757)
941 0744 289F mul r18,r24
942 0746 A001 movw r20,r0
943 0748 299F mul r18,r25
944 074a 500D add r21,r0
945 074c 389F mul r19,r24
946 074e 500D add r21,r0
947 0750 1124 clr r1
948 0752 CA01 movw r24,r20
949 0754 2091 0000 lds r18,ServoFrameTime.1
950 0758 3091 0000 lds r19,(ServoFrameTime.1)+1
951 075c 821B sub r24,r18
952 075e 930B sbc r25,r19
953 0760 9093 0000 sts (RemainingPulse)+1,r25
954 0764 8093 0000 sts RemainingPulse,r24
955 0768 1092 0000 sts (ServoFrameTime.1)+1,__zero_reg__
956 076c 1092 0000 sts ServoFrameTime.1,__zero_reg__
957 0770 469A sbi 40-0x20,6
958 0772 00C0 rjmp .L94
959 .L81:
960 0774 89EA ldi r24,lo8(937)
961 0776 93E0 ldi r25,hi8(937)
962 0778 9093 0000 sts (RemainingPulse)+1,r25
963 077c 8093 0000 sts RemainingPulse,r24
964 0780 8E2F mov r24,r30
965 0782 9927 clr r25
966 0784 8330 cpi r24,3
967 0786 9105 cpc r25,__zero_reg__
968 0788 01F0 breq .L86
969 078a 8430 cpi r24,4
970 078c 9105 cpc r25,__zero_reg__
971 078e 04F4 brge .L90
972 0790 8130 cpi r24,1
973 0792 9105 cpc r25,__zero_reg__
974 0794 01F0 breq .L84
975 0796 0297 sbiw r24,2
976 0798 01F0 breq .L85
977 079a 00C0 rjmp .L89
978 .L90:
979 079c 8430 cpi r24,4
980 079e 9105 cpc r25,__zero_reg__
981 07a0 01F0 breq .L87
982 07a2 0597 sbiw r24,5
983 07a4 01F0 breq .L88
984 07a6 00C0 rjmp .L89
985 .L84:
986 07a8 8091 0000 lds r24,ServoNickValue
987 07ac 9091 0000 lds r25,(ServoNickValue)+1
988 07b0 00C0 rjmp .L110
989 .L85:
990 07b2 8091 0000 lds r24,ServoRollValue
991 07b6 9091 0000 lds r25,(ServoRollValue)+1
992 .L110:
993 07ba 8755 subi r24,lo8(-(425))
994 07bc 9E4F sbci r25,hi8(-(425))
995 07be 00C0 rjmp .L107
996 .L86:
997 07c0 8091 0000 lds r24,Parameter_Servo3
998 07c4 00C0 rjmp .L112
999 .L87:
1000 07c6 8091 0000 lds r24,Parameter_Servo4
1001 07ca 00C0 rjmp .L112
1002 .L88:
1003 07cc 8091 0000 lds r24,Parameter_Servo5
1004 .L112:
1005 07d0 9927 clr r25
1006 07d2 880F lsl r24
1007 07d4 991F rol r25
1008 07d6 880F lsl r24
1009 07d8 991F rol r25
1010 07da 00C0 rjmp .L110
1011 .L89:
1012 07dc FF27 clr r31
1013 07de EE0F add r30,r30
1014 07e0 FF1F adc r31,r31
1015 07e2 E050 subi r30,lo8(-(PPM_in))
1016 07e4 F040 sbci r31,hi8(-(PPM_in))
1017 07e6 2081 ld r18,Z
1018 07e8 3181 ldd r19,Z+1
1019 07ea 220F add r18,r18
1020 07ec 331F adc r19,r19
1021 07ee 8091 0000 lds r24,RemainingPulse
1022 07f2 9091 0000 lds r25,(RemainingPulse)+1
1023 07f6 820F add r24,r18
1024 07f8 931F adc r25,r19
1025 .L107:
1026 07fa 9093 0000 sts (RemainingPulse)+1,r25
1027 07fe 8093 0000 sts RemainingPulse,r24
1028 0802 8091 0000 lds r24,RemainingPulse
1029 0806 9091 0000 lds r25,(RemainingPulse)+1
1030 080a 55E0 ldi r21,hi8(1501)
1031 080c 8D3D cpi r24,lo8(1501)
1032 080e 9507 cpc r25,r21
1033 0810 00F0 brlo .L91
1034 0812 8CED ldi r24,lo8(1500)
1035 0814 95E0 ldi r25,hi8(1500)
1036 0816 00C0 rjmp .L108
1037 .L91:
1038 0818 8757 subi r24,lo8(375)
1039 081a 9140 sbci r25,hi8(375)
1040 081c 00F4 brsh .L92
1041 081e 87E7 ldi r24,lo8(375)
1042 0820 91E0 ldi r25,hi8(375)
1043 .L108:
1044 0822 9093 0000 sts (RemainingPulse)+1,r25
1045 0826 8093 0000 sts RemainingPulse,r24
1046 .L92:
1047 082a 2091 0000 lds r18,RemainingPulse
1048 082e 3091 0000 lds r19,(RemainingPulse)+1
1049 0832 2C5B subi r18,lo8(-(-188))
1050 0834 3040 sbci r19,hi8(-(-188))
1051 0836 3093 0000 sts (RemainingPulse)+1,r19
1052 083a 2093 0000 sts RemainingPulse,r18
1053 083e 8091 0000 lds r24,ServoFrameTime.1
1054 0842 9091 0000 lds r25,(ServoFrameTime.1)+1
1055 0846 820F add r24,r18
1056 0848 931F adc r25,r19
1057 .L111:
1058 084a 9093 0000 sts (ServoFrameTime.1)+1,r25
1059 084e 8093 0000 sts ServoFrameTime.1,r24
1060 0852 00C0 rjmp .L94
1061 .L80:
1062 0854 8091 B000 lds r24,176
1063 0858 8064 ori r24,lo8(64)
1064 085a 8093 B000 sts 176,r24
1065 085e 8CEB ldi r24,lo8(188)
1066 0860 90E0 ldi r25,hi8(188)
1067 0862 9093 0000 sts (RemainingPulse)+1,r25
1068 0866 8093 0000 sts RemainingPulse,r24
1069 086a 8091 0000 lds r24,ServoFrameTime.1
1070 086e 9091 0000 lds r25,(ServoFrameTime.1)+1
1071 0872 8454 subi r24,lo8(-(188))
1072 0874 9F4F sbci r25,hi8(-(188))
1073 0876 9093 0000 sts (ServoFrameTime.1)+1,r25
1074 087a 8093 0000 sts ServoFrameTime.1,r24
1075 087e 8091 0000 lds r24,ServoActive
1076 0882 8823 tst r24
1077 0884 01F0 breq .L97
1078 0886 8091 0000 lds r24,SenderOkay
1079 088a 8823 tst r24
1080 088c 01F4 brne .L96
1081 .L97:
1082 088e 8091 0000 lds r24,ServoActive
1083 0892 8230 cpi r24,lo8(2)
1084 0894 01F4 brne .L95
1085 .L96:
1086 0896 4698 cbi 40-0x20,6
1087 0898 00C0 rjmp .L98
1088 .L95:
1089 089a 469A sbi 40-0x20,6
1090 .L98:
1091 089c 8091 0000 lds r24,ServoIndex.2
1092 08a0 8F5F subi r24,lo8(-(1))
1093 08a2 8093 0000 sts ServoIndex.2,r24
1094 08a6 9091 0000 lds r25,EE_Parameter+53
1095 08aa 9817 cp r25,r24
1096 08ac 00F4 brsh .L94
1097 08ae 81E0 ldi r24,lo8(1)
1098 08b0 8093 0000 sts CalculateServoSignals,r24
1099 08b4 1092 0000 sts ServoIndex.2,__zero_reg__
1100 .L94:
1101 08b8 81E0 ldi r24,lo8(1)
1102 08ba 8093 0000 sts PulseOutput.0,r24
1103 .L78:
1104 08be 2091 0000 lds r18,RemainingPulse
1105 08c2 3091 0000 lds r19,(RemainingPulse)+1
1106 08c6 41E0 ldi r20,hi8(383)
1107 08c8 2F37 cpi r18,lo8(383)
1108 08ca 3407 cpc r19,r20
1109 08cc 00F0 brlo .L100
1110 08ce 8FEF ldi r24,lo8(-1)
1111 08d0 8093 B300 sts 179,r24
1112 08d4 2F5F subi r18,lo8(-(-255))
1113 08d6 3040 sbci r19,hi8(-(-255))
1114 08d8 00C0 rjmp .L109
1115 .L100:
1116 08da 2F3F cpi r18,255
1117 08dc 3105 cpc r19,__zero_reg__
1118 08de 01F0 breq .L102
1119 08e0 00F0 brlo .L102
1120 08e2 A901 movw r20,r18
1121 08e4 4F5F subi r20,lo8(-(-255))
1122 08e6 5040 sbci r21,hi8(-(-255))
1123 08e8 4F37 cpi r20,127
1124 08ea 5105 cpc r21,__zero_reg__
1125 08ec 00F4 brsh .L103
1126 08ee 80E8 ldi r24,lo8(-128)
1127 08f0 8093 B300 sts 179,r24
1128 08f4 2058 subi r18,lo8(-(-128))
1129 08f6 3040 sbci r19,hi8(-(-128))
1130 .L109:
1131 08f8 3093 0000 sts (RemainingPulse)+1,r19
1132 08fc 2093 0000 sts RemainingPulse,r18
1133 0900 00C0 rjmp .L70
1134 .L103:
1135 0902 8FEF ldi r24,lo8(-1)
1136 0904 8093 B300 sts 179,r24
1137 0908 5093 0000 sts (RemainingPulse)+1,r21
1138 090c 4093 0000 sts RemainingPulse,r20
1139 0910 00C0 rjmp .L70
1140 .L102:
1141 0912 8091 0000 lds r24,RemainingPulse
1142 0916 8093 B300 sts 179,r24
1143 091a 1092 0000 sts (RemainingPulse)+1,__zero_reg__
1144 091e 1092 0000 sts RemainingPulse,__zero_reg__
1145 0922 1092 0000 sts PulseOutput.0,__zero_reg__
1146 .L70:
1147 /* epilogue: frame size=0 */
1148 0926 FF91 pop r31
1149 0928 EF91 pop r30
1150 092a 9F91 pop r25
1151 092c 8F91 pop r24
1152 092e 5F91 pop r21
1153 0930 4F91 pop r20
1154 0932 3F91 pop r19
1155 0934 2F91 pop r18
1156 0936 0F90 pop __tmp_reg__
1157 0938 0FBE out __SREG__,__tmp_reg__
1158 093a 0F90 pop __tmp_reg__
1159 093c 1F90 pop __zero_reg__
1160 093e 1895 reti
1161 /* epilogue end (size=13) */
1162 /* function __vector_9 size 376 (350) */
1164 .comm Motorsmax,8,1
1165 .comm MotorsTmax,2,1
1166 .lcomm tim_main,2
1167 /* File "timer0.c": code 1195 = 0x04ab (1112), prologues 39, epilogues 44 */
DEFINED SYMBOLS
*ABS*:00000000 timer0.c
C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:3 *ABS*:0000003f __SREG__
C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:4 *ABS*:0000003e __SP_H__
C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:5 *ABS*:0000003d __SP_L__
C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:6 *ABS*:00000000 __tmp_reg__
C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:7 *ABS*:00000001 __zero_reg__
C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:15 .bss:00000000 ServoRollValue
C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:21 .bss:00000002 ServoNickValue
C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:27 .data:00000000 BeepMuster
C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:32 .data:00000002 ServoRollOffset
C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:37 .data:00000004 ServoNickOffset
C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:44 .bss:00000004 RemainingPulse
C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:50 .data:00000006 CalculateServoSignals
C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:57 .bss:00000006 ServoActive
C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:63 .bss:00000007 SendSPI
C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:69 .bss:00000008 beeptime
C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:75 .bss:0000000a cntKompass
C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:81 .bss:0000000c UpdateMotor
C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:87 .bss:0000000d CountMilliseconds
C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:92 .data:00000007 cnt_1ms.3
.bss:0000000f cnt.4
C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:94 .bss:00000010 compass_active.5
C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:99 .text:00000000 __vector_18
C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:304 .text:000001e6 SetDelay
C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:320 .text:000001f8 CheckDelay
C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:339 .text:00000210 Delay_ms
C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:360 .text:0000022a Delay_ms_Mess
C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:390 .text:0000025a TIMER2_Init
C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:432 .text:000002b8 Timer_Init
C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:838 .bss:00000015 tim_main
C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:459 .text:000002e6 CalculateServo
C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:95 .bss:00000011 PulseOutput.0
C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:836 .bss:00000012 ServoFrameTime.1
C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:837 .bss:00000014 ServoIndex.2
C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:841 .text:00000658 __vector_9
*COM*:00000008 Motorsmax
*COM*:00000002 MotorsTmax
UNDEFINED SYMBOLS
__do_copy_data
__do_clear_bss
SpektrumTimer
PlatinenVersion
NaviDataOkay
Parameter_GlobalConfig
__udivmodhi4
KompassValue
AdReady
__prologue_saves__
EE_Parameter
sintab
IntegralNick
__mulsi3
IntegralRoll
POI_KameraNick
Parameter_ServoNickControl
__divmodhi4
Parameter_ServoRollControl
__epilogue_restores__
Parameter_Servo3
Parameter_Servo4
Parameter_Servo5
PPM_in
SenderOkay