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1 .file "fc.c"2 __SREG__ = 0x3f3 __SP_H__ = 0x3e4 __SP_L__ = 0x3d5 __tmp_reg__ = 06 __zero_reg__ = 17 .global __do_copy_data8 .global __do_clear_bss9 .text10 .global MotorSmoothing12 MotorSmoothing:13 /* prologue: function */14 /* frame size = 0 */15 0000 680F add r22,r2416 0002 791F adc r23,r2517 0004 77FD sbrc r23,718 0006 00C0 rjmp .L519 0008 9B01 movw r18,r2220 000a 3595 asr r1921 000c 2795 ror r1822 000e C901 movw r24,r1823 /* epilogue start */24 0010 0895 ret25 .L5:26 0012 6F5F subi r22,lo8(-(1))27 0014 7F4F sbci r23,hi8(-(1))28 0016 9B01 movw r18,r2229 0018 3595 asr r1930 001a 2795 ror r1831 001c C901 movw r24,r1832 001e 0895 ret34 .global Mean36 Mean:37 0020 2F92 push r238 0022 3F92 push r339 0024 4F92 push r440 0026 5F92 push r541 0028 6F92 push r642 002a 7F92 push r743 002c 8F92 push r844 002e 9F92 push r945 0030 AF92 push r1046 0032 BF92 push r1147 0034 CF92 push r1248 0036 DF92 push r1349 0038 EF92 push r1450 003a FF92 push r1551 003c 0F93 push r1652 003e 1F93 push r1753 0040 CF93 push r2854 0042 DF93 push r2955 /* prologue: function */56 /* frame size = 0 */57 0044 6091 0000 lds r22,hiResPitchGyro58 0048 7091 0000 lds r23,(hiResPitchGyro)+159 004c E090 0000 lds r14,vibrationOffsetNick60 0050 F090 0000 lds r15,(vibrationOffsetNick)+161 0054 0091 0000 lds r16,(vibrationOffsetNick)+262 0058 1091 0000 lds r17,(vibrationOffsetNick)+363 005c 8827 clr r2464 005e 77FD sbrc r23,765 0060 8095 com r2466 0062 982F mov r25,r2467 0064 6E19 sub r22,r1468 0066 7F09 sbc r23,r1569 0068 800B sbc r24,r1670 006a 910B sbc r25,r1771 006c 24E0 ldi r18,lo8(4)72 006e 30E0 ldi r19,hi8(4)73 0070 40E0 ldi r20,hlo8(4)74 0072 50E0 ldi r21,hhi8(4)75 0074 0E94 0000 call __divmodsi476 0078 3093 0000 sts (GyroNick)+1,r1977 007c 2093 0000 sts GyroNick,r1878 0080 C090 0000 lds r12,filteredHiResPitchGyro79 0084 D090 0000 lds r13,(filteredHiResPitchGyro)+180 0088 6091 0000 lds r22,hiResRollGyro81 008c 7091 0000 lds r23,(hiResRollGyro)+182 0090 2090 0000 lds r2,vibrationOffsetRoll83 0094 3090 0000 lds r3,(vibrationOffsetRoll)+184 0098 4090 0000 lds r4,(vibrationOffsetRoll)+285 009c 5090 0000 lds r5,(vibrationOffsetRoll)+386 00a0 8827 clr r2487 00a2 77FD sbrc r23,788 00a4 8095 com r2489 00a6 982F mov r25,r2490 00a8 6219 sub r22,r291 00aa 7309 sbc r23,r392 00ac 8409 sbc r24,r493 00ae 9509 sbc r25,r594 00b0 24E0 ldi r18,lo8(4)95 00b2 30E0 ldi r19,hi8(4)96 00b4 40E0 ldi r20,hlo8(4)97 00b6 50E0 ldi r21,hhi8(4)98 00b8 0E94 0000 call __divmodsi499 00bc 3093 0000 sts (GyroRoll)+1,r19100 00c0 2093 0000 sts GyroRoll,r18101 00c4 C091 0000 lds r28,filteredHiResRollGyro102 00c8 D091 0000 lds r29,(filteredHiResRollGyro)+1103 00cc 8091 0000 lds r24,hiResPitchGyro104 00d0 9091 0000 lds r25,(hiResPitchGyro)+1105 00d4 2091 0000 lds r18,NickNoisePeak106 00d8 3091 0000 lds r19,(NickNoisePeak)+1107 00dc 2817 cp r18,r24108 00de 3907 cpc r19,r25109 00e0 04F0 brlt .+2110 00e2 00C0 rjmp .L7111 00e4 8091 0000 lds r24,hiResPitchGyro112 00e8 9091 0000 lds r25,(hiResPitchGyro)+1113 00ec 9093 0000 sts (NickNoisePeak)+1,r25114 00f0 8093 0000 sts NickNoisePeak,r24115 .L8:116 00f4 8091 0000 lds r24,hiResRollGyro117 00f8 9091 0000 lds r25,(hiResRollGyro)+1118 00fc 2091 0000 lds r18,RollNoisePeak119 0100 3091 0000 lds r19,(RollNoisePeak)+1120 0104 2817 cp r18,r24121 0106 3907 cpc r19,r25122 0108 04F0 brlt .+2123 010a 00C0 rjmp .L9124 010c 8091 0000 lds r24,hiResRollGyro125 0110 9091 0000 lds r25,(hiResRollGyro)+1126 0114 9093 0000 sts (RollNoisePeak)+1,r25127 0118 8093 0000 sts RollNoisePeak,r24128 .L10:129 011c 8091 0000 lds r24,rawYawGyroSum130 0120 9091 0000 lds r25,(rawYawGyroSum)+1131 0124 2091 0000 lds r18,vibrationOffsetYaw132 0128 3091 0000 lds r19,(vibrationOffsetYaw)+1133 012c 821B sub r24,r18134 012e 930B sbc r25,r19135 0130 9093 0000 sts (GyroYaw)+1,r25136 0134 8093 0000 sts GyroYaw,r24137 0138 2091 7A00 lds r18,122138 013c 286C ori r18,lo8(-56)139 013e 2093 7A00 sts 122,r18140 0142 1092 0000 sts ADReady,__zero_reg__141 0146 AA27 clr r26142 0148 97FD sbrc r25,7143 014a A095 com r26144 014c BA2F mov r27,r26145 014e 2091 0000 lds r18,YawGyroHeading146 0152 3091 0000 lds r19,(YawGyroHeading)+1147 0156 4091 0000 lds r20,(YawGyroHeading)+2148 015a 5091 0000 lds r21,(YawGyroHeading)+3149 015e 280F add r18,r24150 0160 391F adc r19,r25151 0162 4A1F adc r20,r26152 0164 5B1F adc r21,r27153 0166 2093 0000 sts YawGyroHeading,r18154 016a 3093 0000 sts (YawGyroHeading)+1,r19155 016e 4093 0000 sts (YawGyroHeading)+2,r20156 0172 5093 0000 sts (YawGyroHeading)+3,r21157 0176 6090 0000 lds r6,ReadingIntegralGyroYaw158 017a 7090 0000 lds r7,(ReadingIntegralGyroYaw)+1159 017e 8090 0000 lds r8,(ReadingIntegralGyroYaw)+2160 0182 9090 0000 lds r9,(ReadingIntegralGyroYaw)+3161 0186 680E add r6,r24162 0188 791E adc r7,r25163 018a 8A1E adc r8,r26164 018c 9B1E adc r9,r27165 018e 6092 0000 sts ReadingIntegralGyroYaw,r6166 0192 7092 0000 sts (ReadingIntegralGyroYaw)+1,r7167 0196 8092 0000 sts (ReadingIntegralGyroYaw)+2,r8168 019a 9092 0000 sts (ReadingIntegralGyroYaw)+3,r9169 019e 2030 cpi r18,lo8(184320)170 01a0 80ED ldi r24,hi8(184320)171 01a2 3807 cpc r19,r24172 01a4 82E0 ldi r24,hlo8(184320)173 01a6 4807 cpc r20,r24174 01a8 80E0 ldi r24,hhi8(184320)175 01aa 5807 cpc r21,r24176 01ac 04F0 brlt .L11177 01ae DA01 movw r26,r20178 01b0 C901 movw r24,r18179 01b2 8050 subi r24,lo8(-(-184320))180 01b4 904D sbci r25,hi8(-(-184320))181 01b6 A240 sbci r26,hlo8(-(-184320))182 01b8 B040 sbci r27,hhi8(-(-184320))183 01ba 8093 0000 sts YawGyroHeading,r24184 01be 9093 0000 sts (YawGyroHeading)+1,r25185 01c2 A093 0000 sts (YawGyroHeading)+2,r26186 01c6 B093 0000 sts (YawGyroHeading)+3,r27187 01ca 9C01 movw r18,r24188 01cc AD01 movw r20,r26189 .L11:190 01ce 57FD sbrc r21,7191 01d0 00C0 rjmp .L18192 .L12:193 01d2 B601 movw r22,r12194 01d4 8827 clr r24195 01d6 77FD sbrc r23,7196 01d8 8095 com r24197 01da 982F mov r25,r24198 01dc 6E19 sub r22,r14199 01de 7F09 sbc r23,r15200 01e0 800B sbc r24,r16201 01e2 910B sbc r25,r17202 01e4 24E0 ldi r18,lo8(4)203 01e6 30E0 ldi r19,hi8(4)204 01e8 40E0 ldi r20,hlo8(4)205 01ea 50E0 ldi r21,hhi8(4)206 01ec 0E94 0000 call __divmodsi4207 01f0 4427 clr r20208 01f2 37FD sbrc r19,7209 01f4 4095 com r20210 01f6 542F mov r21,r20211 01f8 A090 0000 lds r10,ReadingIntegralGyroNick212 01fc B090 0000 lds r11,(ReadingIntegralGyroNick)+1213 0200 C090 0000 lds r12,(ReadingIntegralGyroNick)+2214 0204 D090 0000 lds r13,(ReadingIntegralGyroNick)+3215 0208 A20E add r10,r18216 020a B31E adc r11,r19217 020c C41E adc r12,r20218 020e D51E adc r13,r21219 0210 A092 0000 sts ReadingIntegralGyroNick,r10220 0214 B092 0000 sts (ReadingIntegralGyroNick)+1,r11221 0218 C092 0000 sts (ReadingIntegralGyroNick)+2,r12222 021c D092 0000 sts (ReadingIntegralGyroNick)+3,r13223 0220 E090 0000 lds r14,TurnOver180Nick224 0224 F090 0000 lds r15,(TurnOver180Nick)+1225 0228 0091 0000 lds r16,(TurnOver180Nick)+2226 022c 1091 0000 lds r17,(TurnOver180Nick)+3227 0230 EA14 cp r14,r10228 0232 FB04 cpc r15,r11229 0234 0C05 cpc r16,r12230 0236 1D05 cpc r17,r13231 0238 04F0 brlt .+2232 023a 00C0 rjmp .L13233 023c 8827 clr r24234 023e 9927 clr r25235 0240 DC01 movw r26,r24236 0242 8E19 sub r24,r14237 0244 9F09 sbc r25,r15238 0246 A00B sbc r26,r16239 0248 B10B sbc r27,r17240 024a 8093 0000 sts ReadingIntegralGyroNick,r24241 024e 9093 0000 sts (ReadingIntegralGyroNick)+1,r25242 0252 A093 0000 sts (ReadingIntegralGyroNick)+2,r26243 0256 B093 0000 sts (ReadingIntegralGyroNick)+3,r27244 025a 5C01 movw r10,r24245 025c 6D01 movw r12,r26246 .L14:247 025e BE01 movw r22,r28248 0260 8827 clr r24249 0262 77FD sbrc r23,7250 0264 8095 com r24251 0266 982F mov r25,r24252 0268 6219 sub r22,r2253 026a 7309 sbc r23,r3254 026c 8409 sbc r24,r4255 026e 9509 sbc r25,r5256 0270 24E0 ldi r18,lo8(4)257 0272 30E0 ldi r19,hi8(4)258 0274 40E0 ldi r20,hlo8(4)259 0276 50E0 ldi r21,hhi8(4)260 0278 0E94 0000 call __divmodsi4261 027c 4427 clr r20262 027e 37FD sbrc r19,7263 0280 4095 com r20264 0282 542F mov r21,r20265 0284 E090 0000 lds r14,ReadingIntegralGyroRoll266 0288 F090 0000 lds r15,(ReadingIntegralGyroRoll)+1267 028c 0091 0000 lds r16,(ReadingIntegralGyroRoll)+2268 0290 1091 0000 lds r17,(ReadingIntegralGyroRoll)+3269 0294 E20E add r14,r18270 0296 F31E adc r15,r19271 0298 041F adc r16,r20272 029a 151F adc r17,r21273 029c E092 0000 sts ReadingIntegralGyroRoll,r14274 02a0 F092 0000 sts (ReadingIntegralGyroRoll)+1,r15275 02a4 0093 0000 sts (ReadingIntegralGyroRoll)+2,r16276 02a8 1093 0000 sts (ReadingIntegralGyroRoll)+3,r17277 02ac 2091 0000 lds r18,TurnOver180Roll278 02b0 3091 0000 lds r19,(TurnOver180Roll)+1279 02b4 4091 0000 lds r20,(TurnOver180Roll)+2280 02b8 5091 0000 lds r21,(TurnOver180Roll)+3281 02bc 2E15 cp r18,r14282 02be 3F05 cpc r19,r15283 02c0 4007 cpc r20,r16284 02c2 5107 cpc r21,r17285 02c4 04F4 brge .+2286 02c6 00C0 rjmp .L19287 02c8 8827 clr r24288 02ca 9927 clr r25289 02cc DC01 movw r26,r24290 02ce 821B sub r24,r18291 02d0 930B sbc r25,r19292 02d2 A40B sbc r26,r20293 02d4 B50B sbc r27,r21294 02d6 E816 cp r14,r24295 02d8 F906 cpc r15,r25296 02da 0A07 cpc r16,r26297 02dc 1B07 cpc r17,r27298 02de 04F4 brge .L16299 02e0 2093 0000 sts ReadingIntegralGyroRoll,r18300 02e4 3093 0000 sts (ReadingIntegralGyroRoll)+1,r19301 02e8 4093 0000 sts (ReadingIntegralGyroRoll)+2,r20302 02ec 5093 0000 sts (ReadingIntegralGyroRoll)+3,r21303 02f0 7901 movw r14,r18304 02f2 8A01 movw r16,r20305 .L16:306 02f4 A092 0000 sts IntegralGyroNick,r10307 02f8 B092 0000 sts (IntegralGyroNick)+1,r11308 02fc C092 0000 sts (IntegralGyroNick)+2,r12309 0300 D092 0000 sts (IntegralGyroNick)+3,r13310 0304 E092 0000 sts IntegralGyroRoll,r14311 0308 F092 0000 sts (IntegralGyroRoll)+1,r15312 030c 0093 0000 sts (IntegralGyroRoll)+2,r16313 0310 1093 0000 sts (IntegralGyroRoll)+3,r17314 0314 6092 0000 sts IntegralGyroYaw,r6315 0318 7092 0000 sts (IntegralGyroYaw)+1,r7316 031c 8092 0000 sts (IntegralGyroYaw)+2,r8317 0320 9092 0000 sts (IntegralGyroYaw)+3,r9318 /* epilogue start */319 0324 DF91 pop r29320 0326 CF91 pop r28321 0328 1F91 pop r17322 032a 0F91 pop r16323 032c FF90 pop r15324 032e EF90 pop r14325 0330 DF90 pop r13326 0332 CF90 pop r12327 0334 BF90 pop r11328 0336 AF90 pop r10329 0338 9F90 pop r9330 033a 8F90 pop r8331 033c 7F90 pop r7332 033e 6F90 pop r6333 0340 5F90 pop r5334 0342 4F90 pop r4335 0344 3F90 pop r3336 0346 2F90 pop r2337 0348 0895 ret338 .L13:339 034a 8827 clr r24340 034c 9927 clr r25341 034e DC01 movw r26,r24342 0350 8E19 sub r24,r14343 0352 9F09 sbc r25,r15344 0354 A00B sbc r26,r16345 0356 B10B sbc r27,r17346 0358 A816 cp r10,r24347 035a B906 cpc r11,r25348 035c CA06 cpc r12,r26349 035e DB06 cpc r13,r27350 0360 04F0 brlt .+2351 0362 00C0 rjmp .L14352 0364 E092 0000 sts ReadingIntegralGyroNick,r14353 0368 F092 0000 sts (ReadingIntegralGyroNick)+1,r15354 036c 0093 0000 sts (ReadingIntegralGyroNick)+2,r16355 0370 1093 0000 sts (ReadingIntegralGyroNick)+3,r17356 0374 5701 movw r10,r14357 0376 6801 movw r12,r16358 0378 00C0 rjmp .L14359 .L9:360 037a 8091 0000 lds r24,hiResRollGyro361 037e 9091 0000 lds r25,(hiResRollGyro)+1362 0382 9095 com r25363 0384 8195 neg r24364 0386 9F4F sbci r25,lo8(-1)365 0388 2817 cp r18,r24366 038a 3907 cpc r19,r25367 038c 04F0 brlt .+2368 038e 00C0 rjmp .L10369 0390 8091 0000 lds r24,hiResRollGyro370 0394 9091 0000 lds r25,(hiResRollGyro)+1371 0398 9095 com r25372 039a 8195 neg r24373 039c 9F4F sbci r25,lo8(-1)374 039e 9093 0000 sts (RollNoisePeak)+1,r25375 03a2 8093 0000 sts RollNoisePeak,r24376 03a6 00C0 rjmp .L10377 .L7:378 03a8 8091 0000 lds r24,hiResPitchGyro379 03ac 9091 0000 lds r25,(hiResPitchGyro)+1380 03b0 9095 com r25381 03b2 8195 neg r24382 03b4 9F4F sbci r25,lo8(-1)383 03b6 2817 cp r18,r24384 03b8 3907 cpc r19,r25385 03ba 04F0 brlt .+2386 03bc 00C0 rjmp .L8387 03be 8091 0000 lds r24,hiResPitchGyro388 03c2 9091 0000 lds r25,(hiResPitchGyro)+1389 03c6 9095 com r25390 03c8 8195 neg r24391 03ca 9F4F sbci r25,lo8(-1)392 03cc 9093 0000 sts (NickNoisePeak)+1,r25393 03d0 8093 0000 sts NickNoisePeak,r24394 03d4 00C0 rjmp .L8395 .L19:396 03d6 8827 clr r24397 03d8 9927 clr r25398 03da DC01 movw r26,r24399 03dc 821B sub r24,r18400 03de 930B sbc r25,r19401 03e0 A40B sbc r26,r20402 03e2 B50B sbc r27,r21403 03e4 8093 0000 sts ReadingIntegralGyroRoll,r24404 03e8 9093 0000 sts (ReadingIntegralGyroRoll)+1,r25405 03ec A093 0000 sts (ReadingIntegralGyroRoll)+2,r26406 03f0 B093 0000 sts (ReadingIntegralGyroRoll)+3,r27407 03f4 7C01 movw r14,r24408 03f6 8D01 movw r16,r26409 03f8 00C0 rjmp .L16410 .L18:411 03fa 2050 subi r18,lo8(-(184320))412 03fc 3043 sbci r19,hi8(-(184320))413 03fe 4D4F sbci r20,hlo8(-(184320))414 0400 5F4F sbci r21,hhi8(-(184320))415 0402 2093 0000 sts YawGyroHeading,r18416 0406 3093 0000 sts (YawGyroHeading)+1,r19417 040a 4093 0000 sts (YawGyroHeading)+2,r20418 040e 5093 0000 sts (YawGyroHeading)+3,r21419 0412 00C0 rjmp .L12421 .global ParameterMapping423 ParameterMapping:424 /* prologue: function */425 /* frame size = 0 */426 0414 8091 0000 lds r24,RC_Quality427 0418 9091 0000 lds r25,(RC_Quality)+1428 041c 813A cpi r24,161429 041e 9105 cpc r25,__zero_reg__430 0420 04F0 brlt .L162431 0422 8091 0000 lds r24,ParamSet+11432 0426 8B3F cpi r24,lo8(-5)433 0428 00F4 brsh .L169434 042a 8093 0000 sts FCParam+1,r24435 .L24:436 042e 8091 0000 lds r24,ParamSet+10437 0432 8B3F cpi r24,lo8(-5)438 0434 00F0 brlo .L27439 0436 8B3F cpi r24,lo8(-5)440 0438 01F4 brne .+2441 043a 00C0 rjmp .L170442 043c 8C3F cpi r24,lo8(-4)443 043e 01F4 brne .+2444 0440 00C0 rjmp .L171445 0442 8D3F cpi r24,lo8(-3)446 0444 01F4 brne .+2447 0446 00C0 rjmp .L172448 0448 8E3F cpi r24,lo8(-2)449 044a 01F4 brne .L29450 044c 8091 0000 lds r24,Poti4451 0450 8093 0000 sts FCParam,r24452 0454 00C0 rjmp .L29453 .L157:454 0456 8093 0000 sts FCParam+24,r24455 .L159:456 045a 6091 0000 lds r22,FCParam+9457 045e 70E0 ldi r23,lo8(0)458 0460 6F5F subi r22,lo8(-(1))459 0462 7F4F sbci r23,hi8(-(1))460 0464 8CE3 ldi r24,lo8(10300)461 0466 98E2 ldi r25,hi8(10300)462 0468 0E94 0000 call __divmodhi4463 046c 7093 0000 sts (Ki)+1,r23464 0470 6093 0000 sts Ki,r22465 .L162:466 0474 0895 ret467 .L169:468 0476 8B3F cpi r24,lo8(-5)469 0478 01F4 brne .+2470 047a 00C0 rjmp .L173471 047c 8C3F cpi r24,lo8(-4)472 047e 01F4 brne .+2473 0480 00C0 rjmp .L174474 0482 8D3F cpi r24,lo8(-3)475 0484 01F4 brne .+2476 0486 00C0 rjmp .L175477 0488 8E3F cpi r24,lo8(-2)478 048a 01F4 brne .L24479 048c 8091 0000 lds r24,Poti4480 0490 8093 0000 sts FCParam+1,r24481 0494 00C0 rjmp .L24482 .L27:483 0496 8093 0000 sts FCParam,r24484 .L29:485 049a 8091 0000 lds r24,FCParam486 049e 8823 tst r24487 04a0 01F4 brne .L32488 04a2 1092 0000 sts FCParam,__zero_reg__489 .L33:490 04a6 8091 0000 lds r24,ParamSet+12491 04aa 8B3F cpi r24,lo8(-5)492 04ac 00F0 brlo .L34493 .L179:494 04ae 8B3F cpi r24,lo8(-5)495 04b0 01F4 brne .+2496 04b2 00C0 rjmp .L176497 04b4 8C3F cpi r24,lo8(-4)498 04b6 01F4 brne .+2499 04b8 00C0 rjmp .L177500 04ba 8D3F cpi r24,lo8(-3)501 04bc 01F4 brne .+2502 04be 00C0 rjmp .L178503 04c0 8E3F cpi r24,lo8(-2)504 04c2 01F4 brne .L36505 04c4 8091 0000 lds r24,Poti4506 04c8 8093 0000 sts FCParam+2,r24507 04cc 00C0 rjmp .L36508 .L32:509 04ce 8436 cpi r24,lo8(100)510 04d0 00F0 brlo .L33511 04d2 84E6 ldi r24,lo8(100)512 04d4 8093 0000 sts FCParam,r24513 04d8 8091 0000 lds r24,ParamSet+12514 04dc 8B3F cpi r24,lo8(-5)515 04de 00F4 brsh .L179516 .L34:517 04e0 8093 0000 sts FCParam+2,r24518 .L36:519 04e4 8091 0000 lds r24,FCParam+2520 04e8 8823 tst r24521 04ea 01F4 brne .L39522 04ec 1092 0000 sts FCParam+2,__zero_reg__523 .L40:524 04f0 8091 0000 lds r24,ParamSet+14525 04f4 8B3F cpi r24,lo8(-5)526 04f6 00F0 brlo .L41527 .L183:528 04f8 8B3F cpi r24,lo8(-5)529 04fa 01F4 brne .+2530 04fc 00C0 rjmp .L180531 04fe 8C3F cpi r24,lo8(-4)532 0500 01F4 brne .+2533 0502 00C0 rjmp .L181534 0504 8D3F cpi r24,lo8(-3)535 0506 01F4 brne .+2536 0508 00C0 rjmp .L182537 050a 8E3F cpi r24,lo8(-2)538 050c 01F4 brne .L43539 050e 8091 0000 lds r24,Poti4540 0512 8093 0000 sts FCParam+3,r24541 0516 00C0 rjmp .L43542 .L39:543 0518 8436 cpi r24,lo8(100)544 051a 00F0 brlo .L40545 051c 84E6 ldi r24,lo8(100)546 051e 8093 0000 sts FCParam+2,r24547 0522 8091 0000 lds r24,ParamSet+14548 0526 8B3F cpi r24,lo8(-5)549 0528 00F4 brsh .L183550 .L41:551 052a 8093 0000 sts FCParam+3,r24552 .L43:553 052e 8091 0000 lds r24,ParamSet+21554 0532 8B3F cpi r24,lo8(-5)555 0534 00F0 brlo .L46556 0536 8B3F cpi r24,lo8(-5)557 0538 01F4 brne .+2558 053a 00C0 rjmp .L184559 053c 8C3F cpi r24,lo8(-4)560 053e 01F4 brne .+2561 0540 00C0 rjmp .L185562 0542 8D3F cpi r24,lo8(-3)563 0544 01F4 brne .+2564 0546 00C0 rjmp .L186565 0548 8E3F cpi r24,lo8(-2)566 054a 01F4 brne .L48567 054c 8091 0000 lds r24,Poti4568 0550 8093 0000 sts FCParam+4,r24569 0554 00C0 rjmp .L48570 .L46:571 0556 8093 0000 sts FCParam+4,r24572 .L48:573 055a 8091 0000 lds r24,ParamSet+22574 055e 8B3F cpi r24,lo8(-5)575 0560 00F0 brlo .L51576 0562 8B3F cpi r24,lo8(-5)577 0564 01F4 brne .+2578 0566 00C0 rjmp .L187579 0568 8C3F cpi r24,lo8(-4)580 056a 01F4 brne .+2581 056c 00C0 rjmp .L188582 056e 8D3F cpi r24,lo8(-3)583 0570 01F4 brne .+2584 0572 00C0 rjmp .L189585 0574 8E3F cpi r24,lo8(-2)586 0576 01F4 brne .L53587 0578 8091 0000 lds r24,Poti4588 057c 8093 0000 sts FCParam+6,r24589 0580 00C0 rjmp .L53590 .L51:591 0582 8093 0000 sts FCParam+6,r24592 .L53:593 0586 8091 0000 lds r24,FCParam+6594 058a 8B30 cpi r24,lo8(11)595 058c 00F4 brsh .L56596 058e 8AE0 ldi r24,lo8(10)597 0590 8093 0000 sts FCParam+6,r24598 .L57:599 0594 8091 0000 lds r24,ParamSet+23600 0598 8B3F cpi r24,lo8(-5)601 059a 00F0 brlo .L58602 059c 8B3F cpi r24,lo8(-5)603 059e 01F4 brne .+2604 05a0 00C0 rjmp .L190605 05a2 8C3F cpi r24,lo8(-4)606 05a4 01F4 brne .+2607 05a6 00C0 rjmp .L191608 05a8 8D3F cpi r24,lo8(-3)609 05aa 01F4 brne .+2610 05ac 00C0 rjmp .L192611 05ae 8E3F cpi r24,lo8(-2)612 05b0 01F4 brne .L60613 05b2 8091 0000 lds r24,Poti4614 05b6 8093 0000 sts FCParam+7,r24615 05ba 00C0 rjmp .L60616 .L56:617 05bc 8F3F cpi r24,lo8(-1)618 05be 01F4 brne .L57619 05c0 8093 0000 sts FCParam+6,r24620 05c4 00C0 rjmp .L57621 .L58:622 05c6 8093 0000 sts FCParam+7,r24623 .L60:624 05ca 8091 0000 lds r24,ParamSet+24625 05ce 8B3F cpi r24,lo8(-5)626 05d0 00F0 brlo .L63627 05d2 8B3F cpi r24,lo8(-5)628 05d4 01F4 brne .+2629 05d6 00C0 rjmp .L193630 05d8 8C3F cpi r24,lo8(-4)631 05da 01F4 brne .+2632 05dc 00C0 rjmp .L194633 05de 8D3F cpi r24,lo8(-3)634 05e0 01F4 brne .+2635 05e2 00C0 rjmp .L195636 05e4 8E3F cpi r24,lo8(-2)637 05e6 01F4 brne .L65638 05e8 8091 0000 lds r24,Poti4639 05ec 8093 0000 sts FCParam+5,r24640 05f0 00C0 rjmp .L65641 .L63:642 05f2 8093 0000 sts FCParam+5,r24643 .L65:644 05f6 8091 0000 lds r24,ParamSet+29645 05fa 8B3F cpi r24,lo8(-5)646 05fc 00F0 brlo .L68647 05fe 8B3F cpi r24,lo8(-5)648 0600 01F4 brne .+2649 0602 00C0 rjmp .L196650 0604 8C3F cpi r24,lo8(-4)651 0606 01F4 brne .+2652 0608 00C0 rjmp .L197653 060a 8D3F cpi r24,lo8(-3)654 060c 01F4 brne .+2655 060e 00C0 rjmp .L198656 0610 8E3F cpi r24,lo8(-2)657 0612 01F4 brne .L70658 0614 8091 0000 lds r24,Poti4659 0618 8093 0000 sts FCParam+9,r24660 061c 00C0 rjmp .L70661 .L68:662 061e 8093 0000 sts FCParam+9,r24663 .L70:664 0622 8091 0000 lds r24,ParamSet+30665 0626 8B3F cpi r24,lo8(-5)666 0628 00F0 brlo .L73667 062a 8B3F cpi r24,lo8(-5)668 062c 01F4 brne .+2669 062e 00C0 rjmp .L199670 0630 8C3F cpi r24,lo8(-4)671 0632 01F4 brne .+2672 0634 00C0 rjmp .L200673 0636 8D3F cpi r24,lo8(-3)674 0638 01F4 brne .+2675 063a 00C0 rjmp .L201676 063c 8E3F cpi r24,lo8(-2)677 063e 01F4 brne .L75678 0640 8091 0000 lds r24,Poti4679 0644 8093 0000 sts FCParam+10,r24680 0648 00C0 rjmp .L75681 .L73:682 064a 8093 0000 sts FCParam+10,r24683 .L75:684 064e 8091 0000 lds r24,ParamSet+31685 0652 8B3F cpi r24,lo8(-5)686 0654 00F0 brlo .L78687 0656 8B3F cpi r24,lo8(-5)688 0658 01F4 brne .+2689 065a 00C0 rjmp .L202690 065c 8C3F cpi r24,lo8(-4)691 065e 01F4 brne .+2692 0660 00C0 rjmp .L203693 0662 8D3F cpi r24,lo8(-3)694 0664 01F4 brne .+2695 0666 00C0 rjmp .L204696 0668 8E3F cpi r24,lo8(-2)697 066a 01F4 brne .L80698 066c 8091 0000 lds r24,Poti4699 0670 8093 0000 sts FCParam+11,r24700 0674 00C0 rjmp .L80701 .L78:702 0676 8093 0000 sts FCParam+11,r24703 .L80:704 067a 8091 0000 lds r24,ParamSet+32705 067e 8B3F cpi r24,lo8(-5)706 0680 00F0 brlo .L83707 0682 8B3F cpi r24,lo8(-5)708 0684 01F4 brne .+2709 0686 00C0 rjmp .L205710 0688 8C3F cpi r24,lo8(-4)711 068a 01F4 brne .+2712 068c 00C0 rjmp .L206713 068e 8D3F cpi r24,lo8(-3)714 0690 01F4 brne .+2715 0692 00C0 rjmp .L207716 0694 8E3F cpi r24,lo8(-2)717 0696 01F4 brne .L85718 0698 8091 0000 lds r24,Poti4719 069c 8093 0000 sts FCParam+12,r24720 06a0 00C0 rjmp .L85721 .L83:722 06a2 8093 0000 sts FCParam+12,r24723 .L85:724 06a6 8091 0000 lds r24,ParamSet+33725 06aa 8B3F cpi r24,lo8(-5)726 06ac 00F0 brlo .L88727 06ae 8B3F cpi r24,lo8(-5)728 06b0 01F4 brne .+2729 06b2 00C0 rjmp .L208730 06b4 8C3F cpi r24,lo8(-4)731 06b6 01F4 brne .+2732 06b8 00C0 rjmp .L209733 06ba 8D3F cpi r24,lo8(-3)734 06bc 01F4 brne .+2735 06be 00C0 rjmp .L210736 06c0 8E3F cpi r24,lo8(-2)737 06c2 01F4 brne .L90738 06c4 8091 0000 lds r24,Poti4739 06c8 8093 0000 sts FCParam+13,r24740 06cc 00C0 rjmp .L90741 .L88:742 06ce 8093 0000 sts FCParam+13,r24743 .L90:744 06d2 8091 0000 lds r24,ParamSet+50745 06d6 8B3F cpi r24,lo8(-5)746 06d8 00F0 brlo .L93747 06da 8B3F cpi r24,lo8(-5)748 06dc 01F4 brne .+2749 06de 00C0 rjmp .L211750 06e0 8C3F cpi r24,lo8(-4)751 06e2 01F4 brne .+2752 06e4 00C0 rjmp .L212753 06e6 8D3F cpi r24,lo8(-3)754 06e8 01F4 brne .+2755 06ea 00C0 rjmp .L213756 06ec 8E3F cpi r24,lo8(-2)757 06ee 01F4 brne .L95758 06f0 8091 0000 lds r24,Poti4759 06f4 8093 0000 sts FCParam+14,r24760 06f8 00C0 rjmp .L95761 .L93:762 06fa 8093 0000 sts FCParam+14,r24763 .L95:764 06fe 8091 0000 lds r24,ParamSet+51765 0702 8B3F cpi r24,lo8(-5)766 0704 00F0 brlo .L98767 0706 8B3F cpi r24,lo8(-5)768 0708 01F4 brne .+2769 070a 00C0 rjmp .L214770 070c 8C3F cpi r24,lo8(-4)771 070e 01F4 brne .+2772 0710 00C0 rjmp .L215773 0712 8D3F cpi r24,lo8(-3)774 0714 01F4 brne .+2775 0716 00C0 rjmp .L216776 0718 8E3F cpi r24,lo8(-2)777 071a 01F4 brne .L100778 071c 8091 0000 lds r24,Poti4779 0720 8093 0000 sts FCParam+15,r24780 0724 00C0 rjmp .L100781 .L98:782 0726 8093 0000 sts FCParam+15,r24783 .L100:784 072a 8091 0000 lds r24,ParamSet+52785 072e 8B3F cpi r24,lo8(-5)786 0730 00F0 brlo .L103787 0732 8B3F cpi r24,lo8(-5)788 0734 01F4 brne .+2789 0736 00C0 rjmp .L217790 0738 8C3F cpi r24,lo8(-4)791 073a 01F4 brne .+2792 073c 00C0 rjmp .L218793 073e 8D3F cpi r24,lo8(-3)794 0740 01F4 brne .+2795 0742 00C0 rjmp .L219796 0744 8E3F cpi r24,lo8(-2)797 0746 01F4 brne .L105798 0748 8091 0000 lds r24,Poti4799 074c 8093 0000 sts FCParam+16,r24800 0750 00C0 rjmp .L105801 .L103:802 0752 8093 0000 sts FCParam+16,r24803 .L105:804 0756 8091 0000 lds r24,ParamSet+53805 075a 8B3F cpi r24,lo8(-5)806 075c 00F0 brlo .L108807 075e 8B3F cpi r24,lo8(-5)808 0760 01F4 brne .+2809 0762 00C0 rjmp .L220810 0764 8C3F cpi r24,lo8(-4)811 0766 01F4 brne .+2812 0768 00C0 rjmp .L221813 076a 8D3F cpi r24,lo8(-3)814 076c 01F4 brne .+2815 076e 00C0 rjmp .L222816 0770 8E3F cpi r24,lo8(-2)817 0772 01F4 brne .L110818 0774 8091 0000 lds r24,Poti4819 0778 8093 0000 sts FCParam+17,r24820 077c 00C0 rjmp .L110821 .L108:822 077e 8093 0000 sts FCParam+17,r24823 .L110:824 0782 8091 0000 lds r24,ParamSet+34825 0786 8B3F cpi r24,lo8(-5)826 0788 00F0 brlo .L113827 078a 8B3F cpi r24,lo8(-5)828 078c 01F4 brne .+2829 078e 00C0 rjmp .L223830 0790 8C3F cpi r24,lo8(-4)831 0792 01F4 brne .+2832 0794 00C0 rjmp .L224833 0796 8D3F cpi r24,lo8(-3)834 0798 01F4 brne .+2835 079a 00C0 rjmp .L225836 079c 8E3F cpi r24,lo8(-2)837 079e 01F4 brne .L115838 07a0 8091 0000 lds r24,Poti4839 07a4 8093 0000 sts FCParam+18,r24840 07a8 00C0 rjmp .L115841 .L113:842 07aa 8093 0000 sts FCParam+18,r24843 .L115:844 07ae 8091 0000 lds r24,ParamSet+39845 07b2 8B3F cpi r24,lo8(-5)846 07b4 00F0 brlo .L118847 07b6 8B3F cpi r24,lo8(-5)848 07b8 01F4 brne .+2849 07ba 00C0 rjmp .L226850 07bc 8C3F cpi r24,lo8(-4)851 07be 01F4 brne .+2852 07c0 00C0 rjmp .L227853 07c2 8D3F cpi r24,lo8(-3)854 07c4 01F4 brne .+2855 07c6 00C0 rjmp .L228856 07c8 8E3F cpi r24,lo8(-2)857 07ca 01F4 brne .L120858 07cc 8091 0000 lds r24,Poti4859 07d0 8093 0000 sts FCParam+19,r24860 07d4 00C0 rjmp .L120861 .L118:862 07d6 8093 0000 sts FCParam+19,r24863 .L120:864 07da 8091 0000 lds r24,ParamSet+42865 07de 8B3F cpi r24,lo8(-5)866 07e0 00F0 brlo .L123867 07e2 8B3F cpi r24,lo8(-5)868 07e4 01F4 brne .+2869 07e6 00C0 rjmp .L229870 07e8 8C3F cpi r24,lo8(-4)871 07ea 01F4 brne .+2872 07ec 00C0 rjmp .L230873 07ee 8D3F cpi r24,lo8(-3)874 07f0 01F4 brne .+2875 07f2 00C0 rjmp .L231876 07f4 8E3F cpi r24,lo8(-2)877 07f6 01F4 brne .L125878 07f8 8091 0000 lds r24,Poti4879 07fc 8093 0000 sts FCParam+20,r24880 0800 00C0 rjmp .L125881 .L123:882 0802 8093 0000 sts FCParam+20,r24883 .L125:884 0806 8091 0000 lds r24,ParamSet+43885 080a 8B3F cpi r24,lo8(-5)886 080c 00F0 brlo .L128887 080e 8B3F cpi r24,lo8(-5)888 0810 01F4 brne .+2889 0812 00C0 rjmp .L232890 0814 8C3F cpi r24,lo8(-4)891 0816 01F4 brne .+2892 0818 00C0 rjmp .L233893 081a 8D3F cpi r24,lo8(-3)894 081c 01F4 brne .+2895 081e 00C0 rjmp .L234896 0820 8E3F cpi r24,lo8(-2)897 0822 01F4 brne .L130898 0824 8091 0000 lds r24,Poti4899 0828 8093 0000 sts FCParam+21,r24900 082c 00C0 rjmp .L130901 .L128:902 082e 8093 0000 sts FCParam+21,r24903 .L130:904 0832 8091 0000 lds r24,ParamSet+44905 0836 8B3F cpi r24,lo8(-5)906 0838 00F0 brlo .L133907 083a 8B3F cpi r24,lo8(-5)908 083c 01F4 brne .+2909 083e 00C0 rjmp .L235910 0840 8C3F cpi r24,lo8(-4)911 0842 01F4 brne .+2912 0844 00C0 rjmp .L236913 0846 8D3F cpi r24,lo8(-3)914 0848 01F4 brne .+2915 084a 00C0 rjmp .L237916 084c 8E3F cpi r24,lo8(-2)917 084e 01F4 brne .L135918 0850 8091 0000 lds r24,Poti4919 0854 8093 0000 sts FCParam+22,r24920 0858 00C0 rjmp .L135921 .L133:922 085a 8093 0000 sts FCParam+22,r24923 .L135:924 085e 8091 0000 lds r24,ParamSet+49925 0862 8B3F cpi r24,lo8(-5)926 0864 00F0 brlo .L138927 0866 8B3F cpi r24,lo8(-5)928 0868 01F4 brne .+2929 086a 00C0 rjmp .L238930 086c 8C3F cpi r24,lo8(-4)931 086e 01F4 brne .+2932 0870 00C0 rjmp .L239933 0872 8D3F cpi r24,lo8(-3)934 0874 01F4 brne .+2935 0876 00C0 rjmp .L240936 0878 8E3F cpi r24,lo8(-2)937 087a 01F4 brne .L140938 087c 8091 0000 lds r24,Poti4939 0880 8093 0000 sts FCParam+23,r24940 0884 00C0 rjmp .L140941 .L138:942 0886 8093 0000 sts FCParam+23,r24943 .L140:944 088a 8091 0000 lds r24,ParamSet+55945 088e 8B3F cpi r24,lo8(-5)946 0890 00F0 brlo .L143947 0892 8B3F cpi r24,lo8(-5)948 0894 01F4 brne .+2949 0896 00C0 rjmp .L241950 0898 8C3F cpi r24,lo8(-4)951 089a 01F4 brne .+2952 089c 00C0 rjmp .L242953 089e 8D3F cpi r24,lo8(-3)954 08a0 01F4 brne .+2955 08a2 00C0 rjmp .L243956 08a4 8E3F cpi r24,lo8(-2)957 08a6 01F4 brne .L145958 08a8 8091 0000 lds r24,Poti4959 08ac 8093 0000 sts FCParam+25,r24960 08b0 00C0 rjmp .L145961 .L143:962 08b2 8093 0000 sts FCParam+25,r24963 .L145:964 08b6 8091 0000 lds r24,FCParam+25965 08ba 8230 cpi r24,lo8(2)966 08bc 00F4 brsh .+2967 08be 00C0 rjmp .L244968 08c0 8F3F cpi r24,lo8(-1)969 08c2 01F4 brne .+2970 08c4 00C0 rjmp .L245971 .L149:972 08c6 8091 0000 lds r24,ParamSet+57973 08ca 8B3F cpi r24,lo8(-5)974 08cc 00F0 brlo .L150975 08ce 8B3F cpi r24,lo8(-5)976 08d0 01F0 breq .L246977 08d2 8C3F cpi r24,lo8(-4)978 08d4 01F4 brne .+2979 08d6 00C0 rjmp .L247980 08d8 8D3F cpi r24,lo8(-3)981 08da 01F4 brne .+2982 08dc 00C0 rjmp .L248983 08de 8E3F cpi r24,lo8(-2)984 08e0 01F4 brne .L152985 08e2 8091 0000 lds r24,Poti4986 08e6 8093 0000 sts FCParam+26,r24987 08ea 00C0 rjmp .L152988 .L150:989 08ec 8093 0000 sts FCParam+26,r24990 .L152:991 08f0 8091 0000 lds r24,FCParam+26992 08f4 8230 cpi r24,lo8(2)993 08f6 00F4 brsh .+2994 08f8 00C0 rjmp .L249995 08fa 8F3F cpi r24,lo8(-1)996 08fc 01F4 brne .+2997 08fe 00C0 rjmp .L250998 .L156:999 0900 8091 0000 lds r24,ParamSet+741000 0904 8B3F cpi r24,lo8(-5)1001 0906 00F4 brsh .+21002 0908 00C0 rjmp .L1571003 090a 8B3F cpi r24,lo8(-5)1004 090c 01F4 brne .+21005 090e 00C0 rjmp .L2511006 0910 8C3F cpi r24,lo8(-4)1007 0912 01F4 brne .+21008 0914 00C0 rjmp .L2521009 0916 8D3F cpi r24,lo8(-3)1010 0918 01F4 brne .+21011 091a 00C0 rjmp .L2531012 091c 8E3F cpi r24,lo8(-2)1013 091e 01F0 breq .+21014 0920 00C0 rjmp .L1591015 0922 8091 0000 lds r24,Poti41016 0926 8093 0000 sts FCParam+24,r241017 092a 00C0 rjmp .L1591018 .L246:1019 092c 8091 0000 lds r24,Poti11020 0930 8093 0000 sts FCParam+26,r241021 0934 00C0 rjmp .L1521022 .L241:1023 0936 8091 0000 lds r24,Poti11024 093a 8093 0000 sts FCParam+25,r241025 093e 00C0 rjmp .L1451026 .L238:1027 0940 8091 0000 lds r24,Poti11028 0944 8093 0000 sts FCParam+23,r241029 0948 00C0 rjmp .L1401030 .L235:1031 094a 8091 0000 lds r24,Poti11032 094e 8093 0000 sts FCParam+22,r241033 0952 00C0 rjmp .L1351034 .L232:1035 0954 8091 0000 lds r24,Poti11036 0958 8093 0000 sts FCParam+21,r241037 095c 00C0 rjmp .L1301038 .L229:1039 095e 8091 0000 lds r24,Poti11040 0962 8093 0000 sts FCParam+20,r241041 0966 00C0 rjmp .L1251042 .L226:1043 0968 8091 0000 lds r24,Poti11044 096c 8093 0000 sts FCParam+19,r241045 0970 00C0 rjmp .L1201046 .L223:1047 0972 8091 0000 lds r24,Poti11048 0976 8093 0000 sts FCParam+18,r241049 097a 00C0 rjmp .L1151050 .L220:1051 097c 8091 0000 lds r24,Poti11052 0980 8093 0000 sts FCParam+17,r241053 0984 00C0 rjmp .L1101054 .L217:1055 0986 8091 0000 lds r24,Poti11056 098a 8093 0000 sts FCParam+16,r241057 098e 00C0 rjmp .L1051058 .L251:1059 0990 8091 0000 lds r24,Poti11060 0994 8093 0000 sts FCParam+24,r241061 0998 00C0 rjmp .L1591062 .L184:1063 099a 8091 0000 lds r24,Poti11064 099e 8093 0000 sts FCParam+4,r241065 09a2 00C0 rjmp .L481066 .L190:1067 09a4 8091 0000 lds r24,Poti11068 09a8 8093 0000 sts FCParam+7,r241069 09ac 00C0 rjmp .L601070 .L187:1071 09ae 8091 0000 lds r24,Poti11072 09b2 8093 0000 sts FCParam+6,r241073 09b6 00C0 rjmp .L531074 .L173:1075 09b8 8091 0000 lds r24,Poti11076 09bc 8093 0000 sts FCParam+1,r241077 09c0 00C0 rjmp .L241078 .L170:1079 09c2 8091 0000 lds r24,Poti11080 09c6 8093 0000 sts FCParam,r241081 09ca 00C0 rjmp .L291082 .L176:1083 09cc 8091 0000 lds r24,Poti11084 09d0 8093 0000 sts FCParam+2,r241085 09d4 00C0 rjmp .L361086 .L180:1087 09d6 8091 0000 lds r24,Poti11088 09da 8093 0000 sts FCParam+3,r241089 09de 00C0 rjmp .L431090 .L193:1091 09e0 8091 0000 lds r24,Poti11092 09e4 8093 0000 sts FCParam+5,r241093 09e8 00C0 rjmp .L651094 .L196:1095 09ea 8091 0000 lds r24,Poti11096 09ee 8093 0000 sts FCParam+9,r241097 09f2 00C0 rjmp .L701098 .L202:1099 09f4 8091 0000 lds r24,Poti11100 09f8 8093 0000 sts FCParam+11,r241101 09fc 00C0 rjmp .L801102 .L199:1103 09fe 8091 0000 lds r24,Poti11104 0a02 8093 0000 sts FCParam+10,r241105 0a06 00C0 rjmp .L751106 .L214:1107 0a08 8091 0000 lds r24,Poti11108 0a0c 8093 0000 sts FCParam+15,r241109 0a10 00C0 rjmp .L1001110 .L211:1111 0a12 8091 0000 lds r24,Poti11112 0a16 8093 0000 sts FCParam+14,r241113 0a1a 00C0 rjmp .L951114 .L208:1115 0a1c 8091 0000 lds r24,Poti11116 0a20 8093 0000 sts FCParam+13,r241117 0a24 00C0 rjmp .L901118 .L205:1119 0a26 8091 0000 lds r24,Poti11120 0a2a 8093 0000 sts FCParam+12,r241121 0a2e 00C0 rjmp .L851122 .L249:1123 0a30 81E0 ldi r24,lo8(1)1124 0a32 8093 0000 sts FCParam+26,r241125 0a36 00C0 rjmp .L1561126 .L244:1127 0a38 81E0 ldi r24,lo8(1)1128 0a3a 8093 0000 sts FCParam+25,r241129 0a3e 00C0 rjmp .L1491130 .L245:1131 0a40 8093 0000 sts FCParam+25,r241132 0a44 00C0 rjmp .L1491133 .L250:1134 0a46 8093 0000 sts FCParam+26,r241135 0a4a 00C0 rjmp .L1561136 .L177:1137 0a4c 8091 0000 lds r24,Poti21138 0a50 8093 0000 sts FCParam+2,r241139 0a54 00C0 rjmp .L361140 .L171:1141 0a56 8091 0000 lds r24,Poti21142 0a5a 8093 0000 sts FCParam,r241143 0a5e 00C0 rjmp .L291144 .L206:1145 0a60 8091 0000 lds r24,Poti21146 0a64 8093 0000 sts FCParam+12,r241147 0a68 00C0 rjmp .L851148 .L212:1149 0a6a 8091 0000 lds r24,Poti21150 0a6e 8093 0000 sts FCParam+14,r241151 0a72 00C0 rjmp .L951152 .L209:1153 0a74 8091 0000 lds r24,Poti21154 0a78 8093 0000 sts FCParam+13,r241155 0a7c 00C0 rjmp .L901156 .L194:1157 0a7e 8091 0000 lds r24,Poti21158 0a82 8093 0000 sts FCParam+5,r241159 0a86 00C0 rjmp .L651160 .L181:1161 0a88 8091 0000 lds r24,Poti21162 0a8c 8093 0000 sts FCParam+3,r241163 0a90 00C0 rjmp .L431164 .L185:1165 0a92 8091 0000 lds r24,Poti21166 0a96 8093 0000 sts FCParam+4,r241167 0a9a 00C0 rjmp .L481168 .L197:1169 0a9c 8091 0000 lds r24,Poti21170 0aa0 8093 0000 sts FCParam+9,r241171 0aa4 00C0 rjmp .L701172 .L200:1173 0aa6 8091 0000 lds r24,Poti21174 0aaa 8093 0000 sts FCParam+10,r241175 0aae 00C0 rjmp .L751176 .L203:1177 0ab0 8091 0000 lds r24,Poti21178 0ab4 8093 0000 sts FCParam+11,r241179 0ab8 00C0 rjmp .L801180 .L227:1181 0aba 8091 0000 lds r24,Poti21182 0abe 8093 0000 sts FCParam+19,r241183 0ac2 00C0 rjmp .L1201184 .L233:1185 0ac4 8091 0000 lds r24,Poti21186 0ac8 8093 0000 sts FCParam+21,r241187 0acc 00C0 rjmp .L1301188 .L230:1189 0ace 8091 0000 lds r24,Poti21190 0ad2 8093 0000 sts FCParam+20,r241191 0ad6 00C0 rjmp .L1251192 .L218:1193 0ad8 8091 0000 lds r24,Poti21194 0adc 8093 0000 sts FCParam+16,r241195 0ae0 00C0 rjmp .L1051196 .L224:1197 0ae2 8091 0000 lds r24,Poti21198 0ae6 8093 0000 sts FCParam+18,r241199 0aea 00C0 rjmp .L1151200 .L221:1201 0aec 8091 0000 lds r24,Poti21202 0af0 8093 0000 sts FCParam+17,r241203 0af4 00C0 rjmp .L1101204 .L236:1205 0af6 8091 0000 lds r24,Poti21206 0afa 8093 0000 sts FCParam+22,r241207 0afe 00C0 rjmp .L1351208 .L215:1209 0b00 8091 0000 lds r24,Poti21210 0b04 8093 0000 sts FCParam+15,r241211 0b08 00C0 rjmp .L1001212 .L174:1213 0b0a 8091 0000 lds r24,Poti21214 0b0e 8093 0000 sts FCParam+1,r241215 0b12 00C0 rjmp .L241216 .L191:1217 0b14 8091 0000 lds r24,Poti21218 0b18 8093 0000 sts FCParam+7,r241219 0b1c 00C0 rjmp .L601220 .L188:1221 0b1e 8091 0000 lds r24,Poti21222 0b22 8093 0000 sts FCParam+6,r241223 0b26 00C0 rjmp .L531224 .L252:1225 0b28 8091 0000 lds r24,Poti21226 0b2c 8093 0000 sts FCParam+24,r241227 0b30 00C0 rjmp .L1591228 .L247:1229 0b32 8091 0000 lds r24,Poti21230 0b36 8093 0000 sts FCParam+26,r241231 0b3a 00C0 rjmp .L1521232 .L242:1233 0b3c 8091 0000 lds r24,Poti21234 0b40 8093 0000 sts FCParam+25,r241235 0b44 00C0 rjmp .L1451236 .L239:1237 0b46 8091 0000 lds r24,Poti21238 0b4a 8093 0000 sts FCParam+23,r241239 0b4e 00C0 rjmp .L1401240 .L248:1241 0b50 8091 0000 lds r24,Poti31242 0b54 8093 0000 sts FCParam+26,r241243 0b58 00C0 rjmp .L1521244 .L253:1245 0b5a 8091 0000 lds r24,Poti31246 0b5e 8093 0000 sts FCParam+24,r241247 0b62 00C0 rjmp .L1591248 .L219:1249 0b64 8091 0000 lds r24,Poti31250 0b68 8093 0000 sts FCParam+16,r241251 0b6c 00C0 rjmp .L1051252 .L231:1253 0b6e 8091 0000 lds r24,Poti31254 0b72 8093 0000 sts FCParam+20,r241255 0b76 00C0 rjmp .L1251256 .L222:1257 0b78 8091 0000 lds r24,Poti31258 0b7c 8093 0000 sts FCParam+17,r241259 0b80 00C0 rjmp .L1101260 .L234:1261 0b82 8091 0000 lds r24,Poti31262 0b86 8093 0000 sts FCParam+21,r241263 0b8a 00C0 rjmp .L1301264 .L240:1265 0b8c 8091 0000 lds r24,Poti31266 0b90 8093 0000 sts FCParam+23,r241267 0b94 00C0 rjmp .L1401268 .L243:1269 0b96 8091 0000 lds r24,Poti31270 0b9a 8093 0000 sts FCParam+25,r241271 0b9e 00C0 rjmp .L1451272 .L225:1273 0ba0 8091 0000 lds r24,Poti31274 0ba4 8093 0000 sts FCParam+18,r241275 0ba8 00C0 rjmp .L1151276 .L237:1277 0baa 8091 0000 lds r24,Poti31278 0bae 8093 0000 sts FCParam+22,r241279 0bb2 00C0 rjmp .L1351280 .L178:1281 0bb4 8091 0000 lds r24,Poti31282 0bb8 8093 0000 sts FCParam+2,r241283 0bbc 00C0 rjmp .L361284 .L201:1285 0bbe 8091 0000 lds r24,Poti31286 0bc2 8093 0000 sts FCParam+10,r241287 0bc6 00C0 rjmp .L751288 .L186:1289 0bc8 8091 0000 lds r24,Poti31290 0bcc 8093 0000 sts FCParam+4,r241291 0bd0 00C0 rjmp .L481292 .L207:1293 0bd2 8091 0000 lds r24,Poti31294 0bd6 8093 0000 sts FCParam+12,r241295 0bda 00C0 rjmp .L851296 .L216:1297 0bdc 8091 0000 lds r24,Poti31298 0be0 8093 0000 sts FCParam+15,r241299 0be4 00C0 rjmp .L1001300 .L228:1301 0be6 8091 0000 lds r24,Poti31302 0bea 8093 0000 sts FCParam+19,r241303 0bee 00C0 rjmp .L1201304 .L192:1305 0bf0 8091 0000 lds r24,Poti31306 0bf4 8093 0000 sts FCParam+7,r241307 0bf8 00C0 rjmp .L601308 .L213:1309 0bfa 8091 0000 lds r24,Poti31310 0bfe 8093 0000 sts FCParam+14,r241311 0c02 00C0 rjmp .L951312 .L172:1313 0c04 8091 0000 lds r24,Poti31314 0c08 8093 0000 sts FCParam,r241315 0c0c 00C0 rjmp .L291316 .L198:1317 0c0e 8091 0000 lds r24,Poti31318 0c12 8093 0000 sts FCParam+9,r241319 0c16 00C0 rjmp .L701320 .L182:1321 0c18 8091 0000 lds r24,Poti31322 0c1c 8093 0000 sts FCParam+3,r241323 0c20 00C0 rjmp .L431324 .L204:1325 0c22 8091 0000 lds r24,Poti31326 0c26 8093 0000 sts FCParam+11,r241327 0c2a 00C0 rjmp .L801328 .L175:1329 0c2c 8091 0000 lds r24,Poti31330 0c30 8093 0000 sts FCParam+1,r241331 0c34 00C0 rjmp .L241332 .L195:1333 0c36 8091 0000 lds r24,Poti31334 0c3a 8093 0000 sts FCParam+5,r241335 0c3e 00C0 rjmp .L651336 .L189:1337 0c40 8091 0000 lds r24,Poti31338 0c44 8093 0000 sts FCParam+6,r241339 0c48 00C0 rjmp .L531340 .L210:1341 0c4a 8091 0000 lds r24,Poti31342 0c4e 8093 0000 sts FCParam+13,r241343 0c52 00C0 rjmp .L901345 .global SendMotorData1347 SendMotorData:1348 /* prologue: function */1349 /* frame size = 0 */1350 0c54 8091 0000 lds r24,MKFlags1351 0c58 80FD sbrc r24,01352 0c5a 00C0 rjmp .L2551353 0c5c 8091 0000 lds r24,MKFlags1354 0c60 857F andi r24,lo8(-11)1355 0c62 8093 0000 sts MKFlags,r241356 0c66 9091 0000 lds r25,MotorTest_Active1357 0c6a E0E0 ldi r30,lo8(Motor)1358 0c6c F0E0 ldi r31,hi8(Motor)1359 0c6e A0E0 ldi r26,lo8(MotorTest)1360 0c70 B0E0 ldi r27,hi8(MotorTest)1361 0c72 00C0 rjmp .L2581362 .L263:1363 0c74 1082 st Z,__zero_reg__1364 0c76 3596 adiw r30,51365 0c78 1196 adiw r26,11366 0c7a 80E0 ldi r24,hi8(Motor+60)1367 0c7c E030 cpi r30,lo8(Motor+60)1368 0c7e F807 cpc r31,r241369 0c80 01F0 breq .L2621370 .L258:1371 0c82 9923 tst r251372 0c84 01F0 breq .L2631373 0c86 8C91 ld r24,X1374 0c88 8083 st Z,r241375 0c8a 3596 adiw r30,51376 0c8c 1196 adiw r26,11377 0c8e 80E0 ldi r24,hi8(Motor+60)1378 0c90 E030 cpi r30,lo8(Motor+60)1379 0c92 F807 cpc r31,r241380 0c94 01F4 brne .L2581381 .L262:1382 0c96 9923 tst r251383 0c98 01F0 breq .L2551384 0c9a 9150 subi r25,lo8(-(-1))1385 0c9c 9093 0000 sts MotorTest_Active,r251386 .L255:1387 0ca0 E0E0 ldi r30,lo8(DebugOut+26)1388 0ca2 F0E0 ldi r31,hi8(DebugOut+26)1389 0ca4 8091 0000 lds r24,Motor1390 0ca8 8093 0000 sts DebugOut+26,r241391 0cac 1092 0000 sts DebugOut+27,__zero_reg__1392 0cb0 8091 0000 lds r24,Motor+51393 0cb4 8093 0000 sts DebugOut+28,r241394 0cb8 1382 std Z+3,__zero_reg__1395 0cba 8091 0000 lds r24,Motor+151396 0cbe 8093 0000 sts DebugOut+30,r241397 0cc2 1582 std Z+5,__zero_reg__1398 0cc4 8091 0000 lds r24,Motor+101399 0cc8 8093 0000 sts DebugOut+32,r241400 0ccc 1782 std Z+7,__zero_reg__1401 0cce 80E0 ldi r24,lo8(0)1402 0cd0 0E94 0000 call I2C_Start1403 /* epilogue start */1404 0cd4 0895 ret1406 .global SetNeutral1408 SetNeutral:1409 0cd6 1F93 push r171410 /* prologue: function */1411 /* frame size = 0 */1412 0cd8 182F mov r17,r241413 0cda 0E94 0000 call Servo_Off1414 0cde 1092 0000 sts FCParam+20,__zero_reg__1415 0ce2 1092 0000 sts FCParam+21,__zero_reg__1416 0ce6 0E94 0000 call analog_calibrate1417 0cea 1092 0000 sts (GyroNick)+1,__zero_reg__1418 0cee 1092 0000 sts GyroNick,__zero_reg__1419 0cf2 1092 0000 sts (GyroRoll)+1,__zero_reg__1420 0cf6 1092 0000 sts GyroRoll,__zero_reg__1421 0cfa 1092 0000 sts (GyroYaw)+1,__zero_reg__1422 0cfe 1092 0000 sts GyroYaw,__zero_reg__1423 0d02 1092 0000 sts IntegralGyroNick,__zero_reg__1424 0d06 1092 0000 sts (IntegralGyroNick)+1,__zero_reg__1425 0d0a 1092 0000 sts (IntegralGyroNick)+2,__zero_reg__1426 0d0e 1092 0000 sts (IntegralGyroNick)+3,__zero_reg__1427 0d12 1092 0000 sts ReadingIntegralGyroNick,__zero_reg__1428 0d16 1092 0000 sts (ReadingIntegralGyroNick)+1,__zero_reg__1429 0d1a 1092 0000 sts (ReadingIntegralGyroNick)+2,__zero_reg__1430 0d1e 1092 0000 sts (ReadingIntegralGyroNick)+3,__zero_reg__1431 0d22 1092 0000 sts IntegralGyroRoll,__zero_reg__1432 0d26 1092 0000 sts (IntegralGyroRoll)+1,__zero_reg__1433 0d2a 1092 0000 sts (IntegralGyroRoll)+2,__zero_reg__1434 0d2e 1092 0000 sts (IntegralGyroRoll)+3,__zero_reg__1435 0d32 1092 0000 sts ReadingIntegralGyroRoll,__zero_reg__1436 0d36 1092 0000 sts (ReadingIntegralGyroRoll)+1,__zero_reg__1437 0d3a 1092 0000 sts (ReadingIntegralGyroRoll)+2,__zero_reg__1438 0d3e 1092 0000 sts (ReadingIntegralGyroRoll)+3,__zero_reg__1439 0d42 1092 0000 sts IntegralGyroYaw,__zero_reg__1440 0d46 1092 0000 sts (IntegralGyroYaw)+1,__zero_reg__1441 0d4a 1092 0000 sts (IntegralGyroYaw)+2,__zero_reg__1442 0d4e 1092 0000 sts (IntegralGyroYaw)+3,__zero_reg__1443 0d52 1092 0000 sts ReadingIntegralGyroYaw,__zero_reg__1444 0d56 1092 0000 sts (ReadingIntegralGyroYaw)+1,__zero_reg__1445 0d5a 1092 0000 sts (ReadingIntegralGyroYaw)+2,__zero_reg__1446 0d5e 1092 0000 sts (ReadingIntegralGyroYaw)+3,__zero_reg__1447 0d62 8091 0000 lds r24,CompassHeading1448 0d66 9091 0000 lds r25,(CompassHeading)+11449 0d6a 9093 0000 sts (CompassCourse)+1,r251450 0d6e 8093 0000 sts CompassCourse,r241451 0d72 AA27 clr r261452 0d74 97FD sbrc r25,71453 0d76 A095 com r261454 0d78 BA2F mov r27,r261455 0d7a 59E0 ldi r21,91456 0d7c 880F 1: lsl r241457 0d7e 991F rol r251458 0d80 AA1F rol r261459 0d82 BB1F rol r271460 0d84 5A95 dec r211461 0d86 01F4 brne 1b1462 0d88 8093 0000 sts YawGyroHeading,r241463 0d8c 9093 0000 sts (YawGyroHeading)+1,r251464 0d90 A093 0000 sts (YawGyroHeading)+2,r261465 0d94 B093 0000 sts (YawGyroHeading)+3,r271466 0d98 82E3 ldi r24,lo8(50)1467 0d9a 90E0 ldi r25,hi8(50)1468 0d9c 9093 0000 sts (BeepTime)+1,r251469 0da0 8093 0000 sts BeepTime,r241470 0da4 1092 0000 sts (GPSStickNick)+1,__zero_reg__1471 0da8 1092 0000 sts GPSStickNick,__zero_reg__1472 0dac 1092 0000 sts (GPSStickRoll)+1,__zero_reg__1473 0db0 1092 0000 sts GPSStickRoll,__zero_reg__1474 0db4 8091 0000 lds r24,MKFlags1475 0db8 8460 ori r24,lo8(4)1476 0dba 8093 0000 sts MKFlags,r241477 0dbe 8FEF ldi r24,lo8(-1)1478 0dc0 8093 0000 sts FCParam+27,r241479 0dc4 1092 0000 sts FCParam+28,__zero_reg__1480 0dc8 80E2 ldi r24,lo8(32)1481 0dca 8093 0000 sts FCParam+29,r241482 0dce E091 0000 lds r30,ParamSet+41483 0dd2 F0E0 ldi r31,lo8(0)1484 0dd4 EE0F lsl r301485 0dd6 FF1F rol r311486 0dd8 E050 subi r30,lo8(-(PPM_in))1487 0dda F040 sbci r31,hi8(-(PPM_in))1488 0ddc 8081 ld r24,Z1489 0dde 9181 ldd r25,Z+11490 0de0 8259 subi r24,lo8(-(110))1491 0de2 9F4F sbci r25,hi8(-(110))1492 0de4 9093 0000 sts (Poti1)+1,r251493 0de8 8093 0000 sts Poti1,r241494 0dec E091 0000 lds r30,ParamSet+51495 0df0 F0E0 ldi r31,lo8(0)1496 0df2 EE0F lsl r301497 0df4 FF1F rol r311498 0df6 E050 subi r30,lo8(-(PPM_in))1499 0df8 F040 sbci r31,hi8(-(PPM_in))1500 0dfa 8081 ld r24,Z1501 0dfc 9181 ldd r25,Z+11502 0dfe 8259 subi r24,lo8(-(110))1503 0e00 9F4F sbci r25,hi8(-(110))1504 0e02 9093 0000 sts (Poti2)+1,r251505 0e06 8093 0000 sts Poti2,r241506 0e0a E091 0000 lds r30,ParamSet+61507 0e0e F0E0 ldi r31,lo8(0)1508 0e10 EE0F lsl r301509 0e12 FF1F rol r311510 0e14 E050 subi r30,lo8(-(PPM_in))1511 0e16 F040 sbci r31,hi8(-(PPM_in))1512 0e18 8081 ld r24,Z1513 0e1a 9181 ldd r25,Z+11514 0e1c 8259 subi r24,lo8(-(110))1515 0e1e 9F4F sbci r25,hi8(-(110))1516 0e20 9093 0000 sts (Poti3)+1,r251517 0e24 8093 0000 sts Poti3,r241518 0e28 E091 0000 lds r30,ParamSet+71519 0e2c F0E0 ldi r31,lo8(0)1520 0e2e EE0F lsl r301521 0e30 FF1F rol r311522 0e32 E050 subi r30,lo8(-(PPM_in))1523 0e34 F040 sbci r31,hi8(-(PPM_in))1524 0e36 8081 ld r24,Z1525 0e38 9181 ldd r25,Z+11526 0e3a 8259 subi r24,lo8(-(110))1527 0e3c 9F4F sbci r25,hi8(-(110))1528 0e3e 9093 0000 sts (Poti4)+1,r251529 0e42 8093 0000 sts Poti4,r241530 0e46 1123 tst r171531 0e48 01F0 breq .L2651532 0e4a 8091 0000 lds r24,stickOffsetNick1533 0e4e 9091 0000 lds r25,(stickOffsetNick)+11534 0e52 2091 0000 lds r18,StickNick1535 0e56 3091 0000 lds r19,(StickNick)+11536 0e5a 820F add r24,r181537 0e5c 931F adc r25,r191538 0e5e 9093 0000 sts (stickOffsetNick)+1,r251539 0e62 8093 0000 sts stickOffsetNick,r241540 0e66 8091 0000 lds r24,stickOffsetRoll1541 0e6a 9091 0000 lds r25,(stickOffsetRoll)+11542 0e6e 2091 0000 lds r18,StickRoll1543 0e72 3091 0000 lds r19,(StickRoll)+11544 0e76 820F add r24,r181545 0e78 931F adc r25,r191546 0e7a 9093 0000 sts (stickOffsetRoll)+1,r251547 0e7e 8093 0000 sts stickOffsetRoll,r241548 .L265:1549 0e82 0E94 0000 call Servo_On1550 0e86 84E6 ldi r24,lo8(100)1551 0e88 90E0 ldi r25,hi8(100)1552 0e8a 9093 0000 sts (RC_Quality)+1,r251553 0e8e 8093 0000 sts RC_Quality,r241554 /* epilogue start */1555 0e92 1F91 pop r171556 0e94 0895 ret1558 .global Beep1560 Beep:1561 0e96 1F93 push r171562 0e98 CF93 push r281563 0e9a DF93 push r291564 /* prologue: function */1565 /* frame size = 0 */1566 0e9c 982F mov r25,r241567 0e9e 8823 tst r241568 0ea0 01F0 breq .L2711569 0ea2 8091 0000 lds r24,MKFlags1570 0ea6 80FD sbrc r24,01571 0ea8 00C0 rjmp .L2711572 0eaa 192F mov r17,r251573 0eac 1150 subi r17,lo8(-(-1))1574 0eae C4E6 ldi r28,lo8(100)1575 0eb0 D0E0 ldi r29,hi8(100)1576 0eb2 00C0 rjmp .L2691577 .L270:1578 0eb4 8091 0000 lds r24,MKFlags1579 0eb8 1150 subi r17,lo8(-(-1))1580 0eba 80FD sbrc r24,01581 0ebc 00C0 rjmp .L2711582 .L269:1583 0ebe D093 0000 sts (BeepTime)+1,r291584 0ec2 C093 0000 sts BeepTime,r281585 0ec6 8AEF ldi r24,lo8(250)1586 0ec8 90E0 ldi r25,hi8(250)1587 0eca 0E94 0000 call Delay_ms1588 0ece 1123 tst r171589 0ed0 01F4 brne .L2701590 .L271:1591 /* epilogue start */1592 0ed2 DF91 pop r291593 0ed4 CF91 pop r281594 0ed6 1F91 pop r171595 0ed8 0895 ret1597 .global SetCompassCalState1599 SetCompassCalState:1600 /* prologue: function */1601 /* frame size = 0 */1602 0eda 8091 0000 lds r24,ParamSet1603 0ede A82F mov r26,r241604 0ee0 B0E0 ldi r27,lo8(0)1605 0ee2 AA0F lsl r261606 0ee4 BB1F rol r271607 0ee6 FD01 movw r30,r261608 0ee8 E050 subi r30,lo8(-(PPM_in))1609 0eea F040 sbci r31,hi8(-(PPM_in))1610 0eec 8081 ld r24,Z1611 0eee 9181 ldd r25,Z+11612 0ef0 8D5E subi r24,lo8(-19)1613 0ef2 9F4F sbci r25,hi8(-19)1614 0ef4 04F0 brlt .L2731615 0ef6 1092 0000 sts stick.1951,__zero_reg__1616 .L273:1617 0efa A050 subi r26,lo8(-(PPM_in))1618 0efc B040 sbci r27,hi8(-(PPM_in))1619 0efe 8D91 ld r24,X+1620 0f00 9C91 ld r25,X1621 0f02 8A5B subi r24,lo8(-70)1622 0f04 9F4F sbci r25,hi8(-70)1623 0f06 04F4 brge .L2761624 0f08 8091 0000 lds r24,stick.19511625 0f0c 8823 tst r241626 0f0e 01F4 brne .L2761627 0f10 81E0 ldi r24,lo8(1)1628 0f12 8093 0000 sts stick.1951,r241629 0f16 8091 0000 lds r24,CompassCalState1630 0f1a 8F5F subi r24,lo8(-(1))1631 0f1c 8093 0000 sts CompassCalState,r241632 0f20 8530 cpi r24,lo8(5)1633 0f22 00F0 brlo .L2771634 0f24 88EE ldi r24,lo8(1000)1635 0f26 93E0 ldi r25,hi8(1000)1636 0f28 9093 0000 sts (BeepTime)+1,r251637 0f2c 8093 0000 sts BeepTime,r241638 .L276:1639 0f30 0895 ret1640 .L277:1641 0f32 0E94 0000 call Beep1642 0f36 0895 ret1644 .global MotorControl1646 MotorControl:1647 0f38 2F92 push r21648 0f3a 3F92 push r31649 0f3c 4F92 push r41650 0f3e 5F92 push r51651 0f40 6F92 push r61652 0f42 7F92 push r71653 0f44 8F92 push r81654 0f46 9F92 push r91655 0f48 AF92 push r101656 0f4a BF92 push r111657 0f4c CF92 push r121658 0f4e DF92 push r131659 0f50 EF92 push r141660 0f52 FF92 push r151661 0f54 0F93 push r161662 0f56 1F93 push r171663 0f58 DF93 push r291664 0f5a CF93 push r281665 0f5c CDB7 in r28,__SP_L__1666 0f5e DEB7 in r29,__SP_H__1667 0f60 6B97 sbiw r28,271668 0f62 0FB6 in __tmp_reg__,__SREG__1669 0f64 F894 cli1670 0f66 DEBF out __SP_H__,r291671 0f68 0FBE out __SREG__,__tmp_reg__1672 0f6a CDBF out __SP_L__,r281673 /* prologue: function */1674 /* frame size = 27 */1675 0f6c 0E94 0000 call Mean1676 0f70 D090 0000 lds r13,BoardRelease1677 0f74 2BE0 ldi r18,lo8(11)1678 0f76 2D15 cp r18,r131679 0f78 00F4 brsh .+41680 0f7a 0C94 0000 jmp .L2791681 0f7e 299A sbi 37-0x20,11682 .L280:1683 0f80 4091 0000 lds r20,StickGas1684 0f84 5091 0000 lds r21,(StickGas)+11685 0f88 5887 std Y+8,r211686 0f8a 4F83 std Y+7,r201687 0f8c 8091 0000 lds r24,ParamSet+181688 0f90 282F mov r18,r241689 0f92 30E0 ldi r19,lo8(0)1690 0f94 C901 movw r24,r181691 0f96 0996 adiw r24,91692 0f98 8417 cp r24,r201693 0f9a 9507 cpc r25,r211694 0f9c 04F0 brlt .L2811695 0f9e B901 movw r22,r181696 0fa0 665F subi r22,lo8(-(10))1697 0fa2 7F4F sbci r23,hi8(-(10))1698 0fa4 7887 std Y+8,r231699 0fa6 6F83 std Y+7,r221700 .L281:1701 0fa8 8091 0000 lds r24,RC_Quality1702 0fac 9091 0000 lds r25,(RC_Quality)+11703 0fb0 8837 cpi r24,1201704 0fb2 9105 cpc r25,__zero_reg__1705 0fb4 04F0 brlt .+21706 0fb6 00C0 rjmp .L2821707 0fb8 8091 0000 lds r24,PcAccess1708 0fbc 8823 tst r241709 0fbe 01F4 brne .L2831710 0fc0 8091 0000 lds r24,BeepModulation1711 0fc4 9091 0000 lds r25,(BeepModulation)+11712 0fc8 8F5F subi r24,lo8(-1)1713 0fca 9F4F sbci r25,hi8(-1)1714 0fcc 01F4 brne .+41715 0fce 0C94 0000 jmp .L4811716 .L283:1717 0fd2 8091 0000 lds r24,RcLostTimer.19811718 0fd6 9091 0000 lds r25,(RcLostTimer.1981)+11719 0fda 0097 sbiw r24,01720 0fdc 01F0 breq .+41721 0fde 0C94 0000 jmp .L4821722 0fe2 8091 0000 lds r24,MKFlags1723 0fe6 8E7E andi r24,lo8(-18)1724 0fe8 8093 0000 sts MKFlags,r241725 0fec 8AE0 ldi r24,lo8(10)1726 0fee D816 cp r13,r241727 0ff0 01F4 brne .+41728 0ff2 0C94 0000 jmp .L2861729 .L541:1730 0ff6 94E1 ldi r25,lo8(20)1731 0ff8 D916 cp r13,r251732 0ffa 01F4 brne .+41733 0ffc 0C94 0000 jmp .L2861734 1000 2898 cbi 37-0x20,01735 .L288:1736 1002 8091 0000 lds r24,ModelIsFlying1737 1006 9091 0000 lds r25,(ModelIsFlying)+11738 100a 895E subi r24,lo8(1001)1739 100c 9340 sbci r25,hi8(1001)1740 100e 00F4 brsh .+41741 1010 0C94 0000 jmp .L4781742 1014 8091 0000 lds r24,ParamSet+261743 1018 282F mov r18,r241744 101a 30E0 ldi r19,lo8(0)1745 101c 3887 std Y+8,r191746 101e 2F83 std Y+7,r181747 1020 8091 0000 lds r24,MKFlags1748 1024 8061 ori r24,lo8(16)1749 1026 8093 0000 sts MKFlags,r241750 102a E091 0000 lds r30,ParamSet1751 102e 2E2F mov r18,r301752 1030 30E0 ldi r19,lo8(0)1753 1032 220F lsl r181754 1034 331F rol r191755 1036 F901 movw r30,r181756 1038 E050 subi r30,lo8(-(PPM_diff))1757 103a F040 sbci r31,hi8(-(PPM_diff))1758 103c 1182 std Z+1,__zero_reg__1759 103e 1082 st Z,__zero_reg__1760 1040 A091 0000 lds r26,ParamSet+11761 1044 B0E0 ldi r27,lo8(0)1762 1046 AA0F lsl r261763 1048 BB1F rol r271764 104a FD01 movw r30,r261765 104c E050 subi r30,lo8(-(PPM_diff))1766 104e F040 sbci r31,hi8(-(PPM_diff))1767 1050 1182 std Z+1,__zero_reg__1768 1052 1082 st Z,__zero_reg__1769 1054 E091 0000 lds r30,ParamSet+31770 1058 4E2F mov r20,r301771 105a 50E0 ldi r21,lo8(0)1772 105c 440F lsl r201773 105e 551F rol r211774 1060 CA01 movw r24,r201775 1062 8050 subi r24,lo8(-(PPM_diff))1776 1064 9040 sbci r25,hi8(-(PPM_diff))1777 1066 FC01 movw r30,r241778 1068 1182 std Z+1,__zero_reg__1779 106a 1082 st Z,__zero_reg__1780 106c 2050 subi r18,lo8(-(PPM_in))1781 106e 3040 sbci r19,hi8(-(PPM_in))1782 1070 F901 movw r30,r181783 1072 1182 std Z+1,__zero_reg__1784 1074 1082 st Z,__zero_reg__1785 1076 A050 subi r26,lo8(-(PPM_in))1786 1078 B040 sbci r27,hi8(-(PPM_in))1787 107a 1196 adiw r26,11788 107c 1C92 st X,__zero_reg__1789 107e 1E92 st -X,__zero_reg__1790 1080 4050 subi r20,lo8(-(PPM_in))1791 1082 5040 sbci r21,hi8(-(PPM_in))1792 1084 FA01 movw r30,r201793 1086 1182 std Z+1,__zero_reg__1794 1088 1082 st Z,__zero_reg__1795 .L290:1796 108a 8091 0000 lds r24,NewPpmData1797 108e 8150 subi r24,lo8(-(-1))1798 1090 8093 0000 sts NewPpmData,r241799 1094 8F5F subi r24,lo8(-(1))1800 1096 01F4 brne .+21801 1098 00C0 rjmp .L3551802 109a 8091 0000 lds r24,MKFlags1803 109e 84FD sbrc r24,41804 10a0 00C0 rjmp .L3551805 .L356:1806 10a2 8091 0000 lds r24,LoopingRoll1807 10a6 8823 tst r241808 10a8 01F0 breq .+41809 10aa 0C94 0000 jmp .L3861810 .L528:1811 10ae 8091 0000 lds r24,LoopingNick1812 10b2 8823 tst r241813 10b4 01F0 breq .+41814 10b6 0C94 0000 jmp .L3861815 .L387:1816 10ba 8091 0000 lds r24,MKFlags1817 10be 84FF sbrs r24,41818 10c0 00C0 rjmp .L3891819 10c2 1092 0000 sts (StickYaw)+1,__zero_reg__1820 10c6 1092 0000 sts StickYaw,__zero_reg__1821 10ca 1092 0000 sts (StickNick)+1,__zero_reg__1822 10ce 1092 0000 sts StickNick,__zero_reg__1823 10d2 1092 0000 sts (StickRoll)+1,__zero_reg__1824 10d6 1092 0000 sts StickRoll,__zero_reg__1825 10da 9AE5 ldi r25,lo8(90)1826 10dc 9093 0000 sts GyroPFactor,r251827 10e0 88E7 ldi r24,lo8(120)1828 10e2 8093 0000 sts GyroIFactor,r241829 10e6 9093 0000 sts GyroYawPFactor,r251830 10ea 8093 0000 sts GyroYawIFactor,r241831 10ee 1092 0000 sts LoopingRoll,__zero_reg__1832 10f2 1092 0000 sts LoopingNick,__zero_reg__1833 10f6 1092 0000 sts (MaxStickNick)+1,__zero_reg__1834 10fa 1092 0000 sts MaxStickNick,__zero_reg__1835 10fe 1092 0000 sts (MaxStickRoll)+1,__zero_reg__1836 1102 1092 0000 sts MaxStickRoll,__zero_reg__1837 .L389:1838 1106 3090 0000 lds r3,LoopingNick1839 110a 3320 tst r31840 110c 01F0 breq .+41841 110e 0C94 0000 jmp .L3901842 1112 8091 0000 lds r24,LoopingRoll1843 1116 8823 tst r241844 1118 01F0 breq .+41845 111a 0C94 0000 jmp .L3901846 .L391:1847 111e 2091 0000 lds r18,ADCycleCount1848 1122 3091 0000 lds r19,(ADCycleCount)+11849 1126 8091 0000 lds r24,FCParam+111850 112a 4AE0 ldi r20,lo8(10)1851 112c 849F mul r24,r201852 112e C001 movw r24,r01853 1130 1124 clr r11854 1132 2817 cp r18,r241855 1134 3907 cpc r19,r251856 1136 00F4 brsh .+21857 1138 00C0 rjmp .L3921858 113a 8091 0000 lds r24,FCParam+121859 113e 849F mul r24,r201860 1140 4001 movw r8,r01861 1142 1124 clr r11862 1144 8091 0000 lds r24,FCParam+131863 1148 849F mul r24,r201864 114a 3001 movw r6,r01865 114c 1124 clr r11866 114e E090 0000 lds r14,vibrationOffsetNick1867 1152 F090 0000 lds r15,(vibrationOffsetNick)+11868 1156 0091 0000 lds r16,(vibrationOffsetNick)+21869 115a 1091 0000 lds r17,(vibrationOffsetNick)+31870 115e 8091 0000 lds r24,FCParam+101871 1162 C82E mov r12,r241872 1164 DD24 clr r131873 1166 8091 0000 lds r24,savedVibrationOffsetNick1874 116a 9091 0000 lds r25,(savedVibrationOffsetNick)+11875 116e A701 movw r20,r141876 1170 481B sub r20,r241877 1172 590B sbc r21,r251878 1174 CA01 movw r24,r201879 1176 57FF sbrs r21,71880 1178 00C0 rjmp .+41881 117a 0C94 0000 jmp .L4831882 117e 8C15 cp r24,r121883 1180 9D05 cpc r25,r131884 1182 04F0 brlt .+21885 1184 00C0 rjmp .L3931886 .L542:1887 1186 8091 0000 lds r24,FCParam+151888 118a 8823 tst r241889 118c 01F0 breq .+21890 118e 00C0 rjmp .L3931891 1190 8091 0000 lds r24,filteredHiResPitchGyro1892 1194 9091 0000 lds r25,(filteredHiResPitchGyro)+11893 1198 AA27 clr r261894 119a 97FD sbrc r25,71895 119c A095 com r261896 119e BA2F mov r27,r261897 11a0 E816 cp r14,r241898 11a2 F906 cpc r15,r251899 11a4 0A07 cpc r16,r261900 11a6 1B07 cpc r17,r271901 11a8 04F0 brlt .+41902 11aa 0C94 0000 jmp .L3951903 11ae 2091 0000 lds r18,IntegralGyroNick1904 11b2 3091 0000 lds r19,(IntegralGyroNick)+11905 11b6 4091 0000 lds r20,(IntegralGyroNick)+21906 11ba 5091 0000 lds r21,(IntegralGyroNick)+31907 11be 1216 cp __zero_reg__,r181908 11c0 1306 cpc __zero_reg__,r191909 11c2 1406 cpc __zero_reg__,r201910 11c4 1506 cpc __zero_reg__,r211911 11c6 04F0 brlt .+41912 11c8 0C94 0000 jmp .L3951913 11cc A090 0000 lds r10,StickNick1914 11d0 B090 0000 lds r11,(StickNick)+11915 11d4 A814 cp r10,r81916 11d6 B904 cpc r11,r91917 11d8 04F4 brge .+41918 11da 0C94 0000 jmp .L3951919 11de 6A14 cp r6,r101920 11e0 7B04 cpc r7,r111921 11e2 04F4 brge .+41922 11e4 0C94 0000 jmp .L3951923 11e8 8091 0000 lds r24,FCParam+161924 11ec 8058 subi r24,lo8(-(-128))1925 11ee 9927 clr r251926 11f0 87FD sbrc r24,71927 11f2 9095 com r251928 11f4 A92F mov r26,r251929 11f6 B92F mov r27,r251930 11f8 8E0D add r24,r141931 11fa 9F1D adc r25,r151932 11fc A01F adc r26,r161933 11fe B11F adc r27,r171934 1200 8093 0000 sts vibrationOffsetNick,r241935 1204 9093 0000 sts (vibrationOffsetNick)+1,r251936 1208 A093 0000 sts (vibrationOffsetNick)+2,r261937 120c B093 0000 sts (vibrationOffsetNick)+3,r271938 .L479:1939 1210 6091 0000 lds r22,FCParam+141940 1214 70E0 ldi r23,lo8(0)1941 1216 80E0 ldi r24,lo8(0)1942 1218 90E0 ldi r25,hi8(0)1943 121a 0E94 0000 call __mulsi31944 121e 24E6 ldi r18,lo8(100)1945 1220 30E0 ldi r19,hi8(100)1946 1222 40E0 ldi r20,hlo8(100)1947 1224 50E0 ldi r21,hhi8(100)1948 1226 0E94 0000 call __divmodsi41949 122a 2093 0000 sts IntegralGyroNick,r181950 122e 3093 0000 sts (IntegralGyroNick)+1,r191951 1232 4093 0000 sts (IntegralGyroNick)+2,r201952 1236 5093 0000 sts (IntegralGyroNick)+3,r211953 .L393:1954 123a E090 0000 lds r14,vibrationOffsetRoll1955 123e F090 0000 lds r15,(vibrationOffsetRoll)+11956 1242 0091 0000 lds r16,(vibrationOffsetRoll)+21957 1246 1091 0000 lds r17,(vibrationOffsetRoll)+31958 124a 8091 0000 lds r24,savedVibrationOffsetRoll1959 124e 9091 0000 lds r25,(savedVibrationOffsetRoll)+11960 1252 B701 movw r22,r141961 1254 681B sub r22,r241962 1256 790B sbc r23,r251963 1258 CB01 movw r24,r221964 125a 77FF sbrs r23,71965 125c 00C0 rjmp .+41966 125e 0C94 0000 jmp .L4841967 1262 C816 cp r12,r241968 1264 D906 cpc r13,r251969 1266 04F0 brlt .+41970 1268 0C94 0000 jmp .L4851971 .L396:1972 126c 8091 0000 lds r24,NickNoisePeak1973 1270 9091 0000 lds r25,(NickNoisePeak)+11974 1274 9093 0000 sts (debugNickNoisePeak)+1,r251975 1278 8093 0000 sts debugNickNoisePeak,r241976 127c 8091 0000 lds r24,RollNoisePeak1977 1280 9091 0000 lds r25,(RollNoisePeak)+11978 1284 9093 0000 sts (debugRollNoisePeak)+1,r251979 1288 8093 0000 sts debugRollNoisePeak,r241980 128c 1092 0000 sts (RollNoisePeak)+1,__zero_reg__1981 1290 1092 0000 sts RollNoisePeak,__zero_reg__1982 1294 1092 0000 sts (NickNoisePeak)+1,__zero_reg__1983 1298 1092 0000 sts NickNoisePeak,__zero_reg__1984 129c 1092 0000 sts (ADCycleCount)+1,__zero_reg__1985 12a0 1092 0000 sts ADCycleCount,__zero_reg__1986 .L392:1987 12a4 4091 0000 lds r20,StickYaw1988 12a8 5091 0000 lds r21,(StickYaw)+11989 12ac CA01 movw r24,r201990 12ae 57FF sbrs r21,71991 12b0 00C0 rjmp .+41992 12b2 0C94 0000 jmp .L4861993 .L400:1994 12b6 4097 sbiw r24,161995 12b8 04F0 brlt .L3991996 12ba 88EE ldi r24,lo8(1000)1997 12bc 93E0 ldi r25,hi8(1000)1998 12be 9093 0000 sts (BadCompassHeading)+1,r251999 12c2 8093 0000 sts BadCompassHeading,r242000 12c6 8091 0000 lds r24,ParamSet+82001 12ca 84FD sbrc r24,42002 12cc 00C0 rjmp .+42003 12ce 0C94 0000 jmp .L4872004 .L399:2005 12d2 8091 0000 lds r24,ParamSet+172006 12d6 90E0 ldi r25,lo8(0)2007 12d8 849F mul r24,r202008 12da 9001 movw r18,r02009 12dc 859F mul r24,r212010 12de 300D add r19,r02011 12e0 949F mul r25,r202012 12e2 300D add r19,r02013 12e4 1124 clr r12014 12e6 37FF sbrs r19,72015 12e8 00C0 rjmp .+42016 12ea 0C94 0000 jmp .L4882017 .L401:2018 12ee 3595 asr r192019 12f0 2795 ror r182020 12f2 3595 asr r192021 12f4 2795 ror r182022 12f6 C901 movw r24,r182023 12f8 AA27 clr r262024 12fa 97FD sbrc r25,72025 12fc A095 com r262026 12fe BA2F mov r27,r262027 1300 8093 0000 sts SetPointYaw.1980,r242028 1304 9093 0000 sts (SetPointYaw.1980)+1,r252029 1308 A093 0000 sts (SetPointYaw.1980)+2,r262030 130c B093 0000 sts (SetPointYaw.1980)+3,r272031 1310 2091 0000 lds r18,ReadingIntegralGyroYaw2032 1314 3091 0000 lds r19,(ReadingIntegralGyroYaw)+12033 1318 4091 0000 lds r20,(ReadingIntegralGyroYaw)+22034 131c 5091 0000 lds r21,(ReadingIntegralGyroYaw)+32035 1320 281B sub r18,r242036 1322 390B sbc r19,r252037 1324 4A0B sbc r20,r262038 1326 5B0B sbc r21,r272039 1328 2093 0000 sts ReadingIntegralGyroYaw,r182040 132c 3093 0000 sts (ReadingIntegralGyroYaw)+1,r192041 1330 4093 0000 sts (ReadingIntegralGyroYaw)+2,r202042 1334 5093 0000 sts (ReadingIntegralGyroYaw)+3,r212043 1338 203B cpi r18,lo8(-50000)2044 133a 7CE3 ldi r23,hi8(-50000)2045 133c 3707 cpc r19,r232046 133e 7FEF ldi r23,hlo8(-50000)2047 1340 4707 cpc r20,r232048 1342 7FEF ldi r23,hhi8(-50000)2049 1344 5707 cpc r21,r232050 1346 04F0 brlt .+42051 1348 0C94 0000 jmp .L4022052 134c 80EB ldi r24,lo8(-50000)2053 134e 9CE3 ldi r25,hi8(-50000)2054 1350 AFEF ldi r26,hlo8(-50000)2055 1352 BFEF ldi r27,hhi8(-50000)2056 1354 8093 0000 sts ReadingIntegralGyroYaw,r242057 1358 9093 0000 sts (ReadingIntegralGyroYaw)+1,r252058 135c A093 0000 sts (ReadingIntegralGyroYaw)+2,r262059 1360 B093 0000 sts (ReadingIntegralGyroYaw)+3,r272060 .L403:2061 1364 8091 0000 lds r24,ParamSet+82062 1368 8872 andi r24,lo8(40)2063 136a 01F0 breq .+42064 136c 0C94 0000 jmp .L4742065 1370 E091 0000 lds r30,GyroYaw2066 1374 F091 0000 lds r31,(GyroYaw)+12067 1378 FC87 std Y+12,r312068 137a EB87 std Y+11,r302069 .L404:2070 137c 8091 0000 lds r24,TimerDebugOut.19852071 1380 8150 subi r24,lo8(-(-1))2072 1382 8093 0000 sts TimerDebugOut.1985,r242073 1386 8F5F subi r24,lo8(-(1))2074 1388 01F4 brne .+42075 138a 0C94 0000 jmp .L4752076 138e A090 0000 lds r10,StickNick2077 1392 B090 0000 lds r11,(StickNick)+12078 1396 C090 0000 lds r12,StickRoll2079 139a D090 0000 lds r13,(StickRoll)+12080 139e 4090 0000 lds r4,GyroNick2081 13a2 5090 0000 lds r5,(GyroNick)+12082 13a6 8090 0000 lds r8,GyroRoll2083 13aa 9090 0000 lds r9,(GyroRoll)+12084 .L422:2085 13ae 8091 0000 lds r24,FunnelCourse2086 13b2 8823 tst r242087 13b4 01F0 breq .L4232088 13b6 1092 0000 sts IPartNick.1972,__zero_reg__2089 13ba 1092 0000 sts (IPartNick.1972)+1,__zero_reg__2090 13be 1092 0000 sts (IPartNick.1972)+2,__zero_reg__2091 13c2 1092 0000 sts (IPartNick.1972)+3,__zero_reg__2092 13c6 1092 0000 sts IPartRoll.1973,__zero_reg__2093 13ca 1092 0000 sts (IPartRoll.1973)+1,__zero_reg__2094 13ce 1092 0000 sts (IPartRoll.1973)+2,__zero_reg__2095 13d2 1092 0000 sts (IPartRoll.1973)+3,__zero_reg__2096 .L423:2097 13d6 3320 tst r32098 13d8 01F4 brne .+42099 13da 0C94 0000 jmp .L4242100 13de 1E82 std Y+6,__zero_reg__2101 13e0 1D82 std Y+5,__zero_reg__2102 13e2 2224 clr r22103 13e4 3324 clr r32104 13e6 7091 0000 lds r23,GyroIFactor2105 13ea 7D87 std Y+13,r232106 .L425:2107 13ec 8091 0000 lds r24,GyroPFactor2108 13f0 E82E mov r14,r242109 13f2 FF24 clr r152110 13f4 00E0 ldi r16,lo8(0)2111 13f6 10E0 ldi r17,hi8(0)2112 13f8 8091 0000 lds r24,LoopingRoll2113 13fc 8823 tst r242114 13fe 01F4 brne .+42115 1400 0C94 0000 jmp .L4262116 1404 1C82 std Y+4,__zero_reg__2117 1406 1B82 std Y+3,__zero_reg__2118 1408 6624 clr r62119 140a 7724 clr r72120 .L427:2121 140c B401 movw r22,r82122 140e 8827 clr r242123 1410 77FD sbrc r23,72124 1412 8095 com r242125 1414 982F mov r25,r242126 1416 A801 movw r20,r162127 1418 9701 movw r18,r142128 141a 0E94 0000 call __mulsi32129 141e 20E4 ldi r18,lo8(64)2130 1420 30E0 ldi r19,hi8(64)2131 1422 40E0 ldi r20,hlo8(64)2132 1424 50E0 ldi r21,hhi8(64)2133 1426 0E94 0000 call __divmodsi42134 142a B301 movw r22,r62135 142c 620F add r22,r182136 142e 731F adc r23,r192137 1430 7B8F std Y+27,r232138 1432 6A8F std Y+26,r222139 1434 7091 0000 lds r23,GyroYawPFactor2140 1438 7A87 std Y+10,r232141 143a 8091 0000 lds r24,GyroYawIFactor2142 143e 8987 std Y+9,r242143 1440 6090 0000 lds r6,IntegralGyroYaw2144 1444 7090 0000 lds r7,(IntegralGyroYaw)+12145 1448 8090 0000 lds r8,(IntegralGyroYaw)+22146 144c 9090 0000 lds r9,(IntegralGyroYaw)+32147 1450 9201 movw r18,r42148 1452 4427 clr r202149 1454 37FD sbrc r19,72150 1456 4095 com r202151 1458 542F mov r21,r202152 145a C801 movw r24,r162153 145c B701 movw r22,r142154 145e 0E94 0000 call __mulsi32155 1462 20E4 ldi r18,lo8(64)2156 1464 30E0 ldi r19,hi8(64)2157 1466 40E0 ldi r20,hlo8(64)2158 1468 50E0 ldi r21,hhi8(64)2159 146a 0E94 0000 call __divmodsi42160 146e 220D add r18,r22161 1470 331D adc r19,r32162 1472 90E4 ldi r25,hi8(16385)2163 1474 2130 cpi r18,lo8(16385)2164 1476 3907 cpc r19,r252165 1478 04F0 brlt .L4282166 147a 20E0 ldi r18,lo8(16384)2167 147c 30E4 ldi r19,hi8(16384)2168 .L428:2169 147e 1901 movw r2,r182170 1480 E0EC ldi r30,hi8(-16384)2171 1482 2030 cpi r18,lo8(-16384)2172 1484 3E07 cpc r19,r302173 1486 04F4 brge .L4292174 1488 212C mov r2,__zero_reg__2175 148a A0EC ldi r26,hi8(-16384)2176 148c 3A2E mov r3,r262177 .L429:2178 148e 2A8D ldd r18,Y+262179 1490 3B8D ldd r19,Y+272180 1492 F0E4 ldi r31,hi8(16385)2181 1494 2130 cpi r18,lo8(16385)2182 1496 3F07 cpc r19,r312183 1498 04F0 brlt .L4302184 149a 20E0 ldi r18,lo8(16384)2185 149c 30E4 ldi r19,hi8(16384)2186 .L430:2187 149e 3A83 std Y+2,r192188 14a0 2983 std Y+1,r182189 14a2 2050 subi r18,lo8(-16384)2190 14a4 304C sbci r19,hi8(-16384)2191 14a6 04F4 brge .L4312192 14a8 60E0 ldi r22,lo8(-16384)2193 14aa 70EC ldi r23,hi8(-16384)2194 14ac 7A83 std Y+2,r232195 14ae 6983 std Y+1,r222196 .L431:2197 14b0 8091 0000 lds r24,MissingMotor2198 14b4 8823 tst r242199 14b6 01F0 breq .L4322200 14b8 8091 0000 lds r24,ModelIsFlying2201 14bc 9091 0000 lds r25,(ModelIsFlying)+12202 14c0 0297 sbiw r24,22203 14c2 C097 sbiw r24,482204 14c4 00F4 brsh .+42205 14c6 0C94 0000 jmp .L4892206 .L433:2207 14ca 8091 0000 lds r24,ParamSet+182208 14ce E82F mov r30,r242209 14d0 F0E0 ldi r31,lo8(0)2210 14d2 F887 std Y+8,r312211 14d4 EF83 std Y+7,r302212 .L432:2213 14d6 8091 0000 lds r24,ParamSet+192214 14da 90E0 ldi r25,lo8(0)2215 14dc 4497 sbiw r24,202216 14de 880F lsl r242217 14e0 991F rol r252218 14e2 880F lsl r242219 14e4 991F rol r252220 14e6 4F80 ldd r4,Y+72221 14e8 5884 ldd r5,Y+82222 14ea 440C lsl r42223 14ec 551C rol r52224 14ee 440C lsl r42225 14f0 551C rol r52226 14f2 8415 cp r24,r42227 14f4 9505 cpc r25,r52228 14f6 04F4 brge .L4342229 14f8 2C01 movw r4,r242230 .L434:2231 14fa 5092 0000 sts (DebugOut+16)+1,r52232 14fe 4092 0000 sts DebugOut+16,r42233 1502 2B85 ldd r18,Y+112234 1504 3C85 ldd r19,Y+122235 1506 220F lsl r182236 1508 331F rol r192237 150a B901 movw r22,r182238 150c 8827 clr r242239 150e 77FD sbrc r23,72240 1510 8095 com r242241 1512 982F mov r25,r242242 1514 EA85 ldd r30,Y+102243 1516 2E2F mov r18,r302244 1518 30E0 ldi r19,lo8(0)2245 151a 40E0 ldi r20,lo8(0)2246 151c 50E0 ldi r21,hi8(0)2247 151e 0E94 0000 call __mulsi32248 1522 20E4 ldi r18,lo8(64)2249 1524 30E0 ldi r19,hi8(64)2250 1526 40E0 ldi r20,hlo8(64)2251 1528 50E0 ldi r21,hhi8(64)2252 152a 0E94 0000 call __divmodsi42253 152e 7901 movw r14,r182254 1530 8A01 movw r16,r202255 1532 F985 ldd r31,Y+92256 1534 6F2F mov r22,r312257 1536 70E0 ldi r23,lo8(0)2258 1538 80E0 ldi r24,lo8(0)2259 153a 90E0 ldi r25,hi8(0)2260 153c A401 movw r20,r82261 153e 9301 movw r18,r62262 1540 0E94 0000 call __mulsi32263 1544 20EF ldi r18,lo8(22000)2264 1546 35E5 ldi r19,hi8(22000)2265 1548 40E0 ldi r20,hlo8(22000)2266 154a 50E0 ldi r21,hhi8(22000)2267 154c 0E94 0000 call __divmodsi42268 1550 C701 movw r24,r142269 1552 820F add r24,r182270 1554 931F adc r25,r192271 1556 20E4 ldi r18,hi8(16385)2272 1558 8130 cpi r24,lo8(16385)2273 155a 9207 cpc r25,r182274 155c 04F0 brlt .L4352275 155e 80E0 ldi r24,lo8(16384)2276 1560 90E4 ldi r25,hi8(16384)2277 .L435:2278 1562 8C01 movw r16,r242279 1564 30EC ldi r19,hi8(-16384)2280 1566 8030 cpi r24,lo8(-16384)2281 1568 9307 cpc r25,r192282 156a 04F4 brge .L4362283 156c 00E0 ldi r16,lo8(-16384)2284 156e 10EC ldi r17,hi8(-16384)2285 .L436:2286 1570 6091 0000 lds r22,SetPointYaw.19802287 1574 7091 0000 lds r23,(SetPointYaw.1980)+12288 1578 8091 0000 lds r24,(SetPointYaw.1980)+22289 157c 9091 0000 lds r25,(SetPointYaw.1980)+32290 1580 2CEF ldi r18,lo8(-4)2291 1582 3FEF ldi r19,hi8(-4)2292 1584 4FEF ldi r20,hlo8(-4)2293 1586 5FEF ldi r21,hhi8(-4)2294 1588 0E94 0000 call __mulsi32295 158c 7801 movw r14,r162296 158e E60E add r14,r222297 1590 F71E adc r15,r232298 1592 41EA ldi r20,lo8(161)2299 1594 4416 cp r4,r202300 1596 5104 cpc r5,__zero_reg__2301 1598 04F4 brge .+22302 159a 00C0 rjmp .L4372303 159c C201 movw r24,r42304 159e 57FE sbrs r5,72305 15a0 00C0 rjmp .+42306 15a2 0C94 0000 jmp .L4902307 .L438:2308 15a6 9595 asr r252309 15a8 8795 ror r242310 15aa 2227 clr r182311 15ac 3327 clr r192312 15ae 281B sub r18,r242313 15b0 390B sbc r19,r252314 15b2 E216 cp r14,r182315 15b4 F306 cpc r15,r192316 15b6 04F0 brlt .+42317 15b8 0C94 0000 jmp .L4912318 .L439:2319 15bc 8091 0000 lds r24,ParamSet+192320 15c0 90E0 ldi r25,lo8(0)2321 15c2 880F lsl r242322 15c4 991F rol r252323 15c6 880F lsl r242324 15c8 991F rol r252325 15ca 3201 movw r6,r42326 15cc 681A sub r6,r242327 15ce 790A sbc r7,r252328 15d0 2615 cp r18,r62329 15d2 3705 cpc r19,r72330 15d4 04F0 brlt .L4432331 15d6 8419 sub r24,r42332 15d8 9509 sbc r25,r52333 15da 3901 movw r6,r182334 15dc 8217 cp r24,r182335 15de 9307 cpc r25,r192336 15e0 04F4 brge .+42337 15e2 0C94 0000 jmp .L4922338 .L443:2339 15e6 6D85 ldd r22,Y+132340 15e8 6623 tst r222341 15ea 01F4 brne .+22342 15ec 00C0 rjmp .L4452343 15ee 8D81 ldd r24,Y+52344 15f0 9E81 ldd r25,Y+62345 15f2 8A19 sub r24,r102346 15f4 9B09 sbc r25,r112347 15f6 FC01 movw r30,r242348 15f8 CF01 movw r24,r302349 15fa AA27 clr r262350 15fc 97FD sbrc r25,72351 15fe A095 com r262352 1600 BA2F mov r27,r262353 1602 E090 0000 lds r14,IPartNick.19722354 1606 F090 0000 lds r15,(IPartNick.1972)+12355 160a 0091 0000 lds r16,(IPartNick.1972)+22356 160e 1091 0000 lds r17,(IPartNick.1972)+32357 1612 E80E add r14,r242358 1614 F91E adc r15,r252359 1616 0A1F adc r16,r262360 1618 1B1F adc r17,r272361 161a E092 0000 sts IPartNick.1972,r142362 161e F092 0000 sts (IPartNick.1972)+1,r152363 1622 0093 0000 sts (IPartNick.1972)+2,r162364 1626 1093 0000 sts (IPartNick.1972)+3,r172365 .L446:2366 162a F0E0 ldi r31,lo8(-64000)2367 162c EF16 cp r14,r312368 162e F6E0 ldi r31,hi8(-64000)2369 1630 FF06 cpc r15,r312370 1632 FFEF ldi r31,hlo8(-64000)2371 1634 0F07 cpc r16,r312372 1636 FFEF ldi r31,hhi8(-64000)2373 1638 1F07 cpc r17,r312374 163a 04F0 brlt .+22375 163c 00C0 rjmp .L4472376 163e 80E0 ldi r24,lo8(-64000)2377 1640 96E0 ldi r25,hi8(-64000)2378 1642 AFEF ldi r26,hlo8(-64000)2379 1644 BFEF ldi r27,hhi8(-64000)2380 1646 8093 0000 sts IPartNick.1972,r242381 164a 9093 0000 sts (IPartNick.1972)+1,r252382 164e A093 0000 sts (IPartNick.1972)+2,r262383 1652 B093 0000 sts (IPartNick.1972)+3,r272384 1656 E12C mov r14,__zero_reg__2385 1658 26E0 ldi r18,hi8(-64000)2386 165a F22E mov r15,r182387 165c 2FEF ldi r18,hlo8(-64000)2388 165e 022F mov r16,r182389 1660 2FEF ldi r18,hhi8(-64000)2390 1662 122F mov r17,r182391 .L448:2392 1664 A101 movw r20,r22393 1666 4A19 sub r20,r102394 1668 5B09 sbc r21,r112395 166a 5A01 movw r10,r202396 166c 8090 0000 lds r8,Ki2397 1670 9090 0000 lds r9,(Ki)+12398 1674 9401 movw r18,r82399 1676 4427 clr r202400 1678 37FD sbrc r19,72401 167a 4095 com r202402 167c 542F mov r21,r202403 167e C801 movw r24,r162404 1680 B701 movw r22,r142405 1682 0E94 0000 call __divmodsi42406 1686 A20E add r10,r182407 1688 B31E adc r11,r192408 168a 5D85 ldd r21,Y+132409 168c 5523 tst r212410 168e 01F4 brne .+22411 1690 00C0 rjmp .L4492412 1692 6B81 ldd r22,Y+32413 1694 7C81 ldd r23,Y+42414 1696 6C19 sub r22,r122415 1698 7D09 sbc r23,r132416 169a CB01 movw r24,r222417 169c AA27 clr r262418 169e 97FD sbrc r25,72419 16a0 A095 com r262420 16a2 BA2F mov r27,r262421 16a4 E090 0000 lds r14,IPartRoll.19732422 16a8 F090 0000 lds r15,(IPartRoll.1973)+12423 16ac 0091 0000 lds r16,(IPartRoll.1973)+22424 16b0 1091 0000 lds r17,(IPartRoll.1973)+32425 16b4 E80E add r14,r242426 16b6 F91E adc r15,r252427 16b8 0A1F adc r16,r262428 16ba 1B1F adc r17,r272429 16bc E092 0000 sts IPartRoll.1973,r142430 16c0 F092 0000 sts (IPartRoll.1973)+1,r152431 16c4 0093 0000 sts (IPartRoll.1973)+2,r162432 16c8 1093 0000 sts (IPartRoll.1973)+3,r172433 .L450:2434 16cc 70E0 ldi r23,lo8(-64000)2435 16ce E716 cp r14,r232436 16d0 76E0 ldi r23,hi8(-64000)2437 16d2 F706 cpc r15,r232438 16d4 7FEF ldi r23,hlo8(-64000)2439 16d6 0707 cpc r16,r232440 16d8 7FEF ldi r23,hhi8(-64000)2441 16da 1707 cpc r17,r232442 16dc 04F0 brlt .+22443 16de 00C0 rjmp .L4512444 16e0 80E0 ldi r24,lo8(-64000)2445 16e2 96E0 ldi r25,hi8(-64000)2446 16e4 AFEF ldi r26,hlo8(-64000)2447 16e6 BFEF ldi r27,hhi8(-64000)2448 16e8 8093 0000 sts IPartRoll.1973,r242449 16ec 9093 0000 sts (IPartRoll.1973)+1,r252450 16f0 A093 0000 sts (IPartRoll.1973)+2,r262451 16f4 B093 0000 sts (IPartRoll.1973)+3,r272452 16f8 E12C mov r14,__zero_reg__2453 16fa 86E0 ldi r24,hi8(-64000)2454 16fc F82E mov r15,r242455 16fe 8FEF ldi r24,hlo8(-64000)2456 1700 082F mov r16,r242457 1702 8FEF ldi r24,hhi8(-64000)2458 1704 182F mov r17,r242459 .L452:2460 1706 E981 ldd r30,Y+12461 1708 FA81 ldd r31,Y+22462 170a EC19 sub r30,r122463 170c FD09 sbc r31,r132464 170e 6F01 movw r12,r302465 1710 9401 movw r18,r82466 1712 4427 clr r202467 1714 37FD sbrc r19,72468 1716 4095 com r202469 1718 542F mov r21,r202470 171a C801 movw r24,r162471 171c B701 movw r22,r142472 171e 0E94 0000 call __divmodsi42473 1722 C20E add r12,r182474 1724 D31E adc r13,r192475 1726 9301 movw r18,r62476 1728 77FE sbrs r7,72477 172a 00C0 rjmp .+42478 172c 0C94 0000 jmp .L4932479 .L453:2480 1730 3595 asr r192481 1732 2795 ror r182482 1734 240D add r18,r42483 1736 351D adc r19,r52484 1738 B901 movw r22,r182485 173a 8827 clr r242486 173c 77FD sbrc r23,72487 173e 8095 com r242488 1740 982F mov r25,r242489 1742 2091 0000 lds r18,FCParam+232490 1746 30E0 ldi r19,lo8(0)2491 1748 40E0 ldi r20,lo8(0)2492 174a 50E0 ldi r21,hi8(0)2493 174c 0E94 0000 call __mulsi32494 1750 20E4 ldi r18,lo8(64)2495 1752 30E0 ldi r19,hi8(64)2496 1754 40E0 ldi r20,hlo8(64)2497 1756 50E0 ldi r21,hhi8(64)2498 1758 0E94 0000 call __divmodsi42499 175c B901 movw r22,r182500 175e 8827 clr r242501 1760 9927 clr r252502 1762 821B sub r24,r182503 1764 930B sbc r25,r192504 1766 A816 cp r10,r242505 1768 B906 cpc r11,r252506 176a 04F0 brlt .+22507 176c 00C0 rjmp .L4542508 176e 9C01 movw r18,r242509 .L455:2510 1770 C816 cp r12,r242511 1772 D906 cpc r13,r252512 1774 04F0 brlt .L4582513 1776 CB01 movw r24,r222514 1778 C616 cp r12,r222515 177a D706 cpc r13,r232516 177c 04F4 brge .+42517 177e 0C94 0000 jmp .L4942518 .L458:2519 1782 B0E0 ldi r27,lo8(Mixer+13)2520 1784 2B2E mov r2,r272521 1786 B0E0 ldi r27,hi8(Mixer+13)2522 1788 3B2E mov r3,r272523 178a A0E0 ldi r26,lo8(Motor)2524 178c 8A2E mov r8,r262525 178e A0E0 ldi r26,hi8(Motor)2526 1790 9A2E mov r9,r262527 1792 F0E0 ldi r31,lo8(MotorValue.1987)2528 1794 AF2E mov r10,r312529 1796 F0E0 ldi r31,hi8(MotorValue.1987)2530 1798 BF2E mov r11,r312531 179a A301 movw r20,r62532 179c 6627 clr r222533 179e 57FD sbrc r21,72534 17a0 6095 com r222535 17a2 762F mov r23,r222536 17a4 4E87 std Y+14,r202537 17a6 5F87 std Y+15,r212538 17a8 688B std Y+16,r222539 17aa 798B std Y+17,r232540 17ac A201 movw r20,r42541 17ae 6627 clr r222542 17b0 57FD sbrc r21,72543 17b2 6095 com r222544 17b4 762F mov r23,r222545 17b6 4A8B std Y+18,r202546 17b8 5B8B std Y+19,r212547 17ba 6C8B std Y+20,r222548 17bc 7D8B std Y+21,r232549 17be A901 movw r20,r182550 17c0 6627 clr r222551 17c2 57FD sbrc r21,72552 17c4 6095 com r222553 17c6 762F mov r23,r222554 17c8 4E8B std Y+22,r202555 17ca 5F8B std Y+23,r212556 17cc 688F std Y+24,r222557 17ce 798F std Y+25,r232558 17d0 2C01 movw r4,r242559 17d2 6624 clr r62560 17d4 57FC sbrc r5,72561 17d6 6094 com r62562 17d8 762C mov r7,r62563 17da 00C0 rjmp .L4662564 .L498:2565 17dc 2381 ldd r18,Z+32566 17de 3327 clr r192567 17e0 27FD sbrc r18,72568 17e2 3095 com r192569 17e4 432F mov r20,r192570 17e6 532F mov r21,r192571 17e8 6E85 ldd r22,Y+142572 17ea 7F85 ldd r23,Y+152573 17ec 8889 ldd r24,Y+162574 17ee 9989 ldd r25,Y+172575 17f0 0E94 0000 call __mulsi32576 17f4 20E4 ldi r18,lo8(64)2577 17f6 30E0 ldi r19,hi8(64)2578 17f8 40E0 ldi r20,hlo8(64)2579 17fa 50E0 ldi r21,hhi8(64)2580 17fc 0E94 0000 call __divmodsi42581 1800 7901 movw r14,r182582 1802 8A01 movw r16,r202583 1804 2D2D mov r18,r132584 1806 3327 clr r192585 1808 27FD sbrc r18,72586 180a 3095 com r192587 180c 432F mov r20,r192588 180e 532F mov r21,r192589 1810 6A89 ldd r22,Y+182590 1812 7B89 ldd r23,Y+192591 1814 8C89 ldd r24,Y+202592 1816 9D89 ldd r25,Y+212593 1818 0E94 0000 call __mulsi32594 181c 20E4 ldi r18,lo8(64)2595 181e 30E0 ldi r19,hi8(64)2596 1820 40E0 ldi r20,hlo8(64)2597 1822 50E0 ldi r21,hhi8(64)2598 1824 0E94 0000 call __divmodsi42599 1828 E20E add r14,r182600 182a F31E adc r15,r192601 182c F101 movw r30,r22602 182e 2181 ldd r18,Z+12603 1830 3327 clr r192604 1832 27FD sbrc r18,72605 1834 3095 com r192606 1836 432F mov r20,r192607 1838 532F mov r21,r192608 183a 6E89 ldd r22,Y+222609 183c 7F89 ldd r23,Y+232610 183e 888D ldd r24,Y+242611 1840 998D ldd r25,Y+252612 1842 0E94 0000 call __mulsi32613 1846 20E4 ldi r18,lo8(64)2614 1848 30E0 ldi r19,hi8(64)2615 184a 40E0 ldi r20,hlo8(64)2616 184c 50E0 ldi r21,hhi8(64)2617 184e 0E94 0000 call __divmodsi42618 1852 E20E add r14,r182619 1854 F31E adc r15,r192620 1856 F101 movw r30,r22621 1858 2281 ldd r18,Z+22622 185a 3327 clr r192623 185c 27FD sbrc r18,72624 185e 3095 com r192625 1860 432F mov r20,r192626 1862 532F mov r21,r192627 1864 C301 movw r24,r62628 1866 B201 movw r22,r42629 1868 0E94 0000 call __mulsi32630 186c 20E4 ldi r18,lo8(64)2631 186e 30E0 ldi r19,hi8(64)2632 1870 40E0 ldi r20,hlo8(64)2633 1872 50E0 ldi r21,hhi8(64)2634 1874 0E94 0000 call __divmodsi42635 1878 E20E add r14,r182636 187a F31E adc r15,r192637 187c F501 movw r30,r102638 187e 8081 ld r24,Z2639 1880 9181 ldd r25,Z+12640 1882 E80E add r14,r242641 1884 F91E adc r15,r252642 1886 F7FC sbrc r15,72643 1888 00C0 rjmp .L4952644 .L461:2645 188a C701 movw r24,r142646 188c 9595 asr r252647 188e 8795 ror r242648 1890 F501 movw r30,r102649 1892 8083 st Z,r242650 1894 9183 std Z+1,r252651 1896 97FD sbrc r25,72652 1898 00C0 rjmp .L4962653 .L462:2654 189a AC01 movw r20,r242655 189c 5595 asr r212656 189e 4795 ror r202657 18a0 5595 asr r212658 18a2 4795 ror r202659 18a4 8091 0000 lds r24,ParamSet+182660 18a8 282F mov r18,r242661 18aa 30E0 ldi r19,lo8(0)2662 18ac 4217 cp r20,r182663 18ae 5307 cpc r21,r192664 18b0 04F0 brlt .L4632665 18b2 8091 0000 lds r24,ParamSet+192666 18b6 90E0 ldi r25,lo8(0)2667 18b8 9A01 movw r18,r202668 18ba 8417 cp r24,r202669 18bc 9507 cpc r25,r212670 18be 04F4 brge .L4632671 18c0 9C01 movw r18,r242672 .L463:2673 18c2 F401 movw r30,r82674 18c4 2083 st Z,r182675 .L465:2676 18c6 24E0 ldi r18,lo8(4)2677 18c8 30E0 ldi r19,hi8(4)2678 18ca 220E add r2,r182679 18cc 331E adc r3,r192680 18ce 45E0 ldi r20,lo8(5)2681 18d0 50E0 ldi r21,hi8(5)2682 18d2 840E add r8,r202683 18d4 951E adc r9,r212684 18d6 62E0 ldi r22,lo8(2)2685 18d8 70E0 ldi r23,hi8(2)2686 18da A60E add r10,r222687 18dc B71E adc r11,r232688 18de 70E0 ldi r23,lo8(Mixer+61)2689 18e0 2716 cp r2,r232690 18e2 70E0 ldi r23,hi8(Mixer+61)2691 18e4 3706 cpc r3,r232692 18e6 01F4 brne .+22693 18e8 00C0 rjmp .L4972694 .L466:2695 18ea F101 movw r30,r22696 18ec D080 ld r13,Z2697 18ee 1D14 cp __zero_reg__,r132698 18f0 04F4 brge .+22699 18f2 00C0 rjmp .L4982700 18f4 F401 movw r30,r82701 18f6 1082 st Z,__zero_reg__2702 18f8 00C0 rjmp .L4652703 .L282:2704 18fa 8091 0000 lds r24,RC_Quality2705 18fe 9091 0000 lds r25,(RC_Quality)+12706 1902 8D38 cpi r24,1412707 1904 9105 cpc r25,__zero_reg__2708 1906 04F4 brge .+22709 1908 00C0 rjmp .L2902710 190a 8091 0000 lds r24,MKFlags2711 190e 8F7E andi r24,lo8(-17)2712 1910 8093 0000 sts MKFlags,r242713 1914 8091 0000 lds r24,ParamSet+272714 1918 22E3 ldi r18,lo8(50)2715 191a 829F mul r24,r182716 191c C001 movw r24,r02717 191e 1124 clr r12718 1920 9093 0000 sts (RcLostTimer.1981)+1,r252719 1924 8093 0000 sts RcLostTimer.1981,r242720 1928 2F81 ldd r18,Y+72721 192a 3885 ldd r19,Y+82722 192c 2932 cpi r18,412723 192e 3105 cpc r19,__zero_reg__2724 1930 04F0 brlt .L2912725 1932 8091 0000 lds r24,MKFlags2726 1936 80FF sbrs r24,02727 1938 00C0 rjmp .L2912728 193a 8091 0000 lds r24,ModelIsFlying2729 193e 9091 0000 lds r25,(ModelIsFlying)+12730 1942 3FEF ldi r19,hi8(-1)2731 1944 8F3F cpi r24,lo8(-1)2732 1946 9307 cpc r25,r192733 1948 01F4 brne .+42734 194a 0C94 0000 jmp .L2922735 194e 0196 adiw r24,12736 1950 9093 0000 sts (ModelIsFlying)+1,r252737 1954 8093 0000 sts ModelIsFlying,r242738 .L291:2739 1958 8091 0000 lds r24,ModelIsFlying2740 195c 9091 0000 lds r25,(ModelIsFlying)+12741 1960 8F3F cpi r24,2552742 1962 9105 cpc r25,__zero_reg__2743 1964 01F0 breq .+62744 1966 00F0 brlo .+42745 1968 0C94 0000 jmp .L2922746 196c 1092 0000 sts IPartNick.1972,__zero_reg__2747 1970 1092 0000 sts (IPartNick.1972)+1,__zero_reg__2748 1974 1092 0000 sts (IPartNick.1972)+2,__zero_reg__2749 1978 1092 0000 sts (IPartNick.1972)+3,__zero_reg__2750 197c 1092 0000 sts IPartRoll.1973,__zero_reg__2751 1980 1092 0000 sts (IPartRoll.1973)+1,__zero_reg__2752 1984 1092 0000 sts (IPartRoll.1973)+2,__zero_reg__2753 1988 1092 0000 sts (IPartRoll.1973)+3,__zero_reg__2754 198c 1092 0000 sts (StickYaw)+1,__zero_reg__2755 1990 1092 0000 sts StickYaw,__zero_reg__2756 1994 8A3F cpi r24,2502757 1996 9105 cpc r25,__zero_reg__2758 1998 01F4 brne .+42759 199a 0C94 0000 jmp .L4992760 .L293:2761 199e 8091 0000 lds r24,ParamSet+42762 19a2 E82F mov r30,r242763 19a4 F0E0 ldi r31,lo8(0)2764 19a6 EE0F lsl r302765 19a8 FF1F rol r312766 19aa E050 subi r30,lo8(-(PPM_in))2767 19ac F040 sbci r31,hi8(-(PPM_in))2768 19ae 8081 ld r24,Z2769 19b0 9181 ldd r25,Z+12770 19b2 E090 0000 lds r14,Poti12771 19b6 F090 0000 lds r15,(Poti1)+12772 19ba 8359 subi r24,lo8(-(109))2773 19bc 9F4F sbci r25,hi8(-(109))2774 19be 8E15 cp r24,r142775 19c0 9F05 cpc r25,r152776 19c2 04F4 brge .+42777 19c4 0C94 0000 jmp .L2942778 19c8 C701 movw r24,r142779 19ca 0196 adiw r24,12780 19cc 9093 0000 sts (Poti1)+1,r252781 19d0 8093 0000 sts Poti1,r242782 19d4 7C01 movw r14,r242783 .L295:2784 19d6 8091 0000 lds r24,ParamSet+52785 19da E82F mov r30,r242786 19dc F0E0 ldi r31,lo8(0)2787 19de EE0F lsl r302788 19e0 FF1F rol r312789 19e2 E050 subi r30,lo8(-(PPM_in))2790 19e4 F040 sbci r31,hi8(-(PPM_in))2791 19e6 8081 ld r24,Z2792 19e8 9181 ldd r25,Z+12793 19ea 0091 0000 lds r16,Poti22794 19ee 1091 0000 lds r17,(Poti2)+12795 19f2 8359 subi r24,lo8(-(109))2796 19f4 9F4F sbci r25,hi8(-(109))2797 19f6 8017 cp r24,r162798 19f8 9107 cpc r25,r172799 19fa 04F4 brge .+42800 19fc 0C94 0000 jmp .L2962801 1a00 C801 movw r24,r162802 1a02 0196 adiw r24,12803 1a04 9093 0000 sts (Poti2)+1,r252804 1a08 8093 0000 sts Poti2,r242805 1a0c 8C01 movw r16,r242806 .L297:2807 1a0e 8091 0000 lds r24,ParamSet+62808 1a12 E82F mov r30,r242809 1a14 F0E0 ldi r31,lo8(0)2810 1a16 EE0F lsl r302811 1a18 FF1F rol r312812 1a1a E050 subi r30,lo8(-(PPM_in))2813 1a1c F040 sbci r31,hi8(-(PPM_in))2814 1a1e 8081 ld r24,Z2815 1a20 9181 ldd r25,Z+12816 1a22 A090 0000 lds r10,Poti32817 1a26 B090 0000 lds r11,(Poti3)+12818 1a2a 8359 subi r24,lo8(-(109))2819 1a2c 9F4F sbci r25,hi8(-(109))2820 1a2e 8A15 cp r24,r102821 1a30 9B05 cpc r25,r112822 1a32 04F4 brge .+42823 1a34 0C94 0000 jmp .L2982824 1a38 C501 movw r24,r102825 1a3a 0196 adiw r24,12826 1a3c 9093 0000 sts (Poti3)+1,r252827 1a40 8093 0000 sts Poti3,r242828 1a44 5C01 movw r10,r242829 .L299:2830 1a46 8091 0000 lds r24,ParamSet+72831 1a4a E82F mov r30,r242832 1a4c F0E0 ldi r31,lo8(0)2833 1a4e EE0F lsl r302834 1a50 FF1F rol r312835 1a52 E050 subi r30,lo8(-(PPM_in))2836 1a54 F040 sbci r31,hi8(-(PPM_in))2837 1a56 8081 ld r24,Z2838 1a58 9181 ldd r25,Z+12839 1a5a A091 0000 lds r26,Poti42840 1a5e B091 0000 lds r27,(Poti4)+12841 1a62 8359 subi r24,lo8(-(109))2842 1a64 9F4F sbci r25,hi8(-(109))2843 1a66 8A17 cp r24,r262844 1a68 9B07 cpc r25,r272845 1a6a 04F4 brge .+42846 1a6c 0C94 0000 jmp .L3002847 1a70 CD01 movw r24,r262848 1a72 0196 adiw r24,12849 1a74 9093 0000 sts (Poti4)+1,r252850 1a78 8093 0000 sts Poti4,r242851 1a7c DC01 movw r26,r242852 .L301:2853 1a7e 8091 0000 lds r24,PPM_in+182854 1a82 9091 0000 lds r25,(PPM_in+18)+12855 1a86 E091 0000 lds r30,Poti52856 1a8a F091 0000 lds r31,(Poti5)+12857 1a8e 8359 subi r24,lo8(-(109))2858 1a90 9F4F sbci r25,hi8(-(109))2859 1a92 8E17 cp r24,r302860 1a94 9F07 cpc r25,r312861 1a96 04F4 brge .+42862 1a98 0C94 0000 jmp .L3022863 1a9c CF01 movw r24,r302864 1a9e 0196 adiw r24,12865 1aa0 9093 0000 sts (Poti5)+1,r252866 1aa4 8093 0000 sts Poti5,r242867 1aa8 FC01 movw r30,r242868 .L303:2869 1aaa 8091 0000 lds r24,PPM_in+202870 1aae 9091 0000 lds r25,(PPM_in+20)+12871 1ab2 6091 0000 lds r22,Poti62872 1ab6 7091 0000 lds r23,(Poti6)+12873 1aba 8359 subi r24,lo8(-(109))2874 1abc 9F4F sbci r25,hi8(-(109))2875 1abe 8617 cp r24,r222876 1ac0 9707 cpc r25,r232877 1ac2 04F4 brge .+42878 1ac4 0C94 0000 jmp .L3042879 1ac8 CB01 movw r24,r222880 1aca 0196 adiw r24,12881 1acc 9093 0000 sts (Poti6)+1,r252882 1ad0 8093 0000 sts Poti6,r242883 1ad4 BC01 movw r22,r242884 .L305:2885 1ad6 8091 0000 lds r24,PPM_in+222886 1ada 9091 0000 lds r25,(PPM_in+22)+12887 1ade 4091 0000 lds r20,Poti72888 1ae2 5091 0000 lds r21,(Poti7)+12889 1ae6 8359 subi r24,lo8(-(109))2890 1ae8 9F4F sbci r25,hi8(-(109))2891 1aea 8417 cp r24,r202892 1aec 9507 cpc r25,r212893 1aee 04F4 brge .+42894 1af0 0C94 0000 jmp .L3062895 1af4 CA01 movw r24,r202896 1af6 0196 adiw r24,12897 1af8 9093 0000 sts (Poti7)+1,r252898 1afc 8093 0000 sts Poti7,r242899 1b00 AC01 movw r20,r242900 .L307:2901 1b02 8091 0000 lds r24,PPM_in+242902 1b06 9091 0000 lds r25,(PPM_in+24)+12903 1b0a 2091 0000 lds r18,Poti82904 1b0e 3091 0000 lds r19,(Poti8)+12905 1b12 8359 subi r24,lo8(-(109))2906 1b14 9F4F sbci r25,hi8(-(109))2907 1b16 8217 cp r24,r182908 1b18 9307 cpc r25,r192909 1b1a 04F4 brge .+42910 1b1c 0C94 0000 jmp .L3082911 1b20 C901 movw r24,r182912 1b22 0196 adiw r24,12913 1b24 9093 0000 sts (Poti8)+1,r252914 1b28 8093 0000 sts Poti8,r242915 1b2c 9C01 movw r18,r242916 .L309:2917 1b2e F7FE sbrs r15,72918 1b30 00C0 rjmp .+42919 1b32 0C94 0000 jmp .L5002920 1b36 8FEF ldi r24,lo8(255)2921 1b38 E816 cp r14,r242922 1b3a F104 cpc r15,__zero_reg__2923 1b3c 01F0 breq .L3112924 1b3e 04F0 brlt .L3112925 1b40 8FEF ldi r24,lo8(255)2926 1b42 90E0 ldi r25,hi8(255)2927 1b44 9093 0000 sts (Poti1)+1,r252928 1b48 8093 0000 sts Poti1,r242929 .L311:2930 1b4c 17FF sbrs r17,72931 1b4e 00C0 rjmp .+42932 1b50 0C94 0000 jmp .L5012933 1b54 0F3F cpi r16,2552934 1b56 1105 cpc r17,__zero_reg__2935 1b58 01F0 breq .L3132936 1b5a 04F0 brlt .L3132937 1b5c 8FEF ldi r24,lo8(255)2938 1b5e 90E0 ldi r25,hi8(255)2939 1b60 9093 0000 sts (Poti2)+1,r252940 1b64 8093 0000 sts Poti2,r242941 .L313:2942 1b68 B7FE sbrs r11,72943 1b6a 00C0 rjmp .+42944 1b6c 0C94 0000 jmp .L5022945 1b70 9FEF ldi r25,lo8(255)2946 1b72 A916 cp r10,r252947 1b74 B104 cpc r11,__zero_reg__2948 1b76 01F0 breq .L3152949 1b78 04F0 brlt .L3152950 1b7a 8FEF ldi r24,lo8(255)2951 1b7c 90E0 ldi r25,hi8(255)2952 1b7e 9093 0000 sts (Poti3)+1,r252953 1b82 8093 0000 sts Poti3,r242954 .L315:2955 1b86 B7FF sbrs r27,72956 1b88 00C0 rjmp .+42957 1b8a 0C94 0000 jmp .L5032958 1b8e AF3F cpi r26,2552959 1b90 B105 cpc r27,__zero_reg__2960 1b92 01F0 breq .L3172961 1b94 04F0 brlt .L3172962 1b96 8FEF ldi r24,lo8(255)2963 1b98 90E0 ldi r25,hi8(255)2964 1b9a 9093 0000 sts (Poti4)+1,r252965 1b9e 8093 0000 sts Poti4,r242966 .L317:2967 1ba2 F7FF sbrs r31,72968 1ba4 00C0 rjmp .+42969 1ba6 0C94 0000 jmp .L5042970 1baa EF3F cpi r30,2552971 1bac F105 cpc r31,__zero_reg__2972 1bae 01F0 breq .L3192973 1bb0 04F0 brlt .L3192974 1bb2 8FEF ldi r24,lo8(255)2975 1bb4 90E0 ldi r25,hi8(255)2976 1bb6 9093 0000 sts (Poti5)+1,r252977 1bba 8093 0000 sts Poti5,r242978 .L319:2979 1bbe 77FF sbrs r23,72980 1bc0 00C0 rjmp .+42981 1bc2 0C94 0000 jmp .L5052982 1bc6 6F3F cpi r22,2552983 1bc8 7105 cpc r23,__zero_reg__2984 1bca 01F0 breq .L3212985 1bcc 04F0 brlt .L3212986 1bce 8FEF ldi r24,lo8(255)2987 1bd0 90E0 ldi r25,hi8(255)2988 1bd2 9093 0000 sts (Poti6)+1,r252989 1bd6 8093 0000 sts Poti6,r242990 .L321:2991 1bda 57FF sbrs r21,72992 1bdc 00C0 rjmp .+42993 1bde 0C94 0000 jmp .L5062994 1be2 4F3F cpi r20,2552995 1be4 5105 cpc r21,__zero_reg__2996 1be6 01F0 breq .L3232997 1be8 04F0 brlt .L3232998 1bea 8FEF ldi r24,lo8(255)2999 1bec 90E0 ldi r25,hi8(255)3000 1bee 9093 0000 sts (Poti7)+1,r253001 1bf2 8093 0000 sts Poti7,r243002 .L323:3003 1bf6 37FF sbrs r19,73004 1bf8 00C0 rjmp .+43005 1bfa 0C94 0000 jmp .L5073006 1bfe 2F3F cpi r18,2553007 1c00 3105 cpc r19,__zero_reg__3008 1c02 01F0 breq .L3253009 1c04 04F0 brlt .L3253010 1c06 8FEF ldi r24,lo8(255)3011 1c08 90E0 ldi r25,hi8(255)3012 1c0a 9093 0000 sts (Poti8)+1,r253013 1c0e 8093 0000 sts Poti8,r243014 .L325:3015 1c12 8091 0000 lds r24,ParamSet+23016 1c16 A82F mov r26,r243017 1c18 B0E0 ldi r27,lo8(0)3018 1c1a AA0F lsl r263019 1c1c BB1F rol r273020 1c1e FD01 movw r30,r263021 1c20 E050 subi r30,lo8(-(PPM_in))3022 1c22 F040 sbci r31,hi8(-(PPM_in))3023 1c24 8081 ld r24,Z3024 1c26 9181 ldd r25,Z+13025 1c28 8135 cpi r24,813026 1c2a 9105 cpc r25,__zero_reg__3027 1c2c 04F4 brge .+23028 1c2e 00C0 rjmp .L3263029 1c30 8091 0000 lds r24,MKFlags3030 1c34 80FD sbrc r24,03031 1c36 00C0 rjmp .L3263032 1c38 8091 0000 lds r24,ParamSet+33033 1c3c E82F mov r30,r243034 1c3e F0E0 ldi r31,lo8(0)3035 1c40 EE0F lsl r303036 1c42 FF1F rol r313037 1c44 E050 subi r30,lo8(-(PPM_in))3038 1c46 F040 sbci r31,hi8(-(PPM_in))3039 1c48 8081 ld r24,Z3040 1c4a 9181 ldd r25,Z+13041 1c4c 8C34 cpi r24,763042 1c4e 9105 cpc r25,__zero_reg__3043 1c50 04F4 brge .+43044 1c52 0C94 0000 jmp .L3273045 1c56 8091 0000 lds r24,delay_neutral.19823046 1c5a 8F5F subi r24,lo8(-(1))3047 1c5c 8093 0000 sts delay_neutral.1982,r243048 1c60 893C cpi r24,lo8(-55)3049 1c62 00F4 brsh .+23050 1c64 00C0 rjmp .L3263051 1c66 1092 0000 sts delay_neutral.1982,__zero_reg__3052 1c6a EBE0 ldi r30,lo8(11)3053 1c6c ED15 cp r30,r133054 1c6e 00F4 brsh .+43055 1c70 0C94 0000 jmp .L3293056 1c74 2998 cbi 37-0x20,13057 .L330:3058 1c76 1092 0000 sts (ModelIsFlying)+1,__zero_reg__3059 1c7a 1092 0000 sts ModelIsFlying,__zero_reg__3060 1c7e 8091 0000 lds r24,ParamSet3061 1c82 482F mov r20,r243062 1c84 50E0 ldi r21,lo8(0)3063 1c86 440F lsl r203064 1c88 551F rol r213065 1c8a FA01 movw r30,r203066 1c8c E050 subi r30,lo8(-(PPM_in))3067 1c8e F040 sbci r31,hi8(-(PPM_in))3068 1c90 8081 ld r24,Z3069 1c92 9181 ldd r25,Z+13070 1c94 8734 cpi r24,713071 1c96 9105 cpc r25,__zero_reg__3072 1c98 04F4 brge .+43073 1c9a 0C94 0000 jmp .L3313074 1c9e 8091 0000 lds r24,ParamSet+13075 1ca2 A82F mov r26,r243076 1ca4 B0E0 ldi r27,lo8(0)3077 1ca6 AA0F lsl r263078 1ca8 BB1F rol r273079 .L332:3080 1caa FD01 movw r30,r263081 1cac E050 subi r30,lo8(-(PPM_in))3082 1cae F040 sbci r31,hi8(-(PPM_in))3083 1cb0 8081 ld r24,Z3084 1cb2 9181 ldd r25,Z+13085 1cb4 8734 cpi r24,713086 1cb6 9105 cpc r25,__zero_reg__3087 1cb8 04F0 brlt .L3353088 1cba FA01 movw r30,r203089 1cbc E050 subi r30,lo8(-(PPM_in))3090 1cbe F040 sbci r31,hi8(-(PPM_in))3091 1cc0 0190 ld __tmp_reg__,Z+3092 1cc2 F081 ld r31,Z3093 1cc4 E02D mov r30,__tmp_reg__3094 .L335:3095 1cc6 FD01 movw r30,r263096 1cc8 E050 subi r30,lo8(-(PPM_in))3097 1cca F040 sbci r31,hi8(-(PPM_in))3098 1ccc 8081 ld r24,Z3099 1cce 9181 ldd r25,Z+13100 1cd0 8734 cpi r24,713101 1cd2 9105 cpc r25,__zero_reg__3102 1cd4 04F4 brge .+43103 1cd6 0C94 0000 jmp .L3363104 1cda FA01 movw r30,r203105 1cdc E050 subi r30,lo8(-(PPM_in))3106 1cde F040 sbci r31,hi8(-(PPM_in))3107 1ce0 8081 ld r24,Z3108 1ce2 9181 ldd r25,Z+13109 1ce4 8734 cpi r24,713110 1ce6 9105 cpc r25,__zero_reg__3111 1ce8 04F4 brge .+43112 1cea 0C94 0000 jmp .L3363113 1cee 22E0 ldi r18,lo8(2)3114 .L337:3115 1cf0 FD01 movw r30,r263116 1cf2 E050 subi r30,lo8(-(PPM_in))3117 1cf4 F040 sbci r31,hi8(-(PPM_in))3118 1cf6 8081 ld r24,Z3119 1cf8 9181 ldd r25,Z+13120 1cfa 8634 cpi r24,703121 1cfc 9105 cpc r25,__zero_reg__3122 1cfe 04F4 brge .L3383123 1d00 FA01 movw r30,r203124 1d02 E050 subi r30,lo8(-(PPM_in))3125 1d04 F040 sbci r31,hi8(-(PPM_in))3126 1d06 8081 ld r24,Z3127 1d08 9181 ldd r25,Z+13128 1d0a 8734 cpi r24,713129 1d0c 9105 cpc r25,__zero_reg__3130 1d0e 04F0 brlt .L3383131 1d10 23E0 ldi r18,lo8(3)3132 .L338:3133 1d12 FD01 movw r30,r263134 1d14 E050 subi r30,lo8(-(PPM_in))3135 1d16 F040 sbci r31,hi8(-(PPM_in))3136 1d18 8081 ld r24,Z3137 1d1a 9181 ldd r25,Z+13138 1d1c 8A5B subi r24,lo8(-70)3139 1d1e 9F4F sbci r25,hi8(-70)3140 1d20 04F4 brge .L3393141 1d22 FA01 movw r30,r203142 1d24 E050 subi r30,lo8(-(PPM_in))3143 1d26 F040 sbci r31,hi8(-(PPM_in))3144 1d28 8081 ld r24,Z3145 1d2a 9181 ldd r25,Z+13146 1d2c 8734 cpi r24,713147 1d2e 9105 cpc r25,__zero_reg__3148 1d30 04F0 brlt .L3393149 1d32 24E0 ldi r18,lo8(4)3150 .L339:3151 1d34 A050 subi r26,lo8(-(PPM_in))3152 1d36 B040 sbci r27,hi8(-(PPM_in))3153 1d38 8D91 ld r24,X+3154 1d3a 9C91 ld r25,X3155 1d3c 8A5B subi r24,lo8(-70)3156 1d3e 9F4F sbci r25,hi8(-70)3157 1d40 04F4 brge .L3403158 1d42 4050 subi r20,lo8(-(PPM_in))3159 1d44 5040 sbci r21,hi8(-(PPM_in))3160 1d46 FA01 movw r30,r203161 1d48 8081 ld r24,Z3162 1d4a 9181 ldd r25,Z+13163 1d4c 8634 cpi r24,703164 1d4e 9105 cpc r25,__zero_reg__3165 1d50 04F4 brge .L3403166 1d52 25E0 ldi r18,lo8(5)3167 .L340:3168 1d54 822F mov r24,r183169 1d56 0E94 0000 call SetActiveParamSet3170 1d5a 0E94 0000 call GetActiveParamSet3171 1d5e 0E94 0000 call ParamSet_ReadFromEEProm3172 .L476:3173 1d62 80E0 ldi r24,lo8(0)3174 .L477:3175 1d64 0E94 0000 call SetNeutral3176 1d68 0E94 0000 call GetActiveParamSet3177 1d6c 0E94 0000 call Beep3178 1d70 8091 0000 lds r24,ParamSet+23179 1d74 A82F mov r26,r243180 1d76 B0E0 ldi r27,lo8(0)3181 1d78 AA0F lsl r263182 1d7a BB1F rol r273183 .L326:3184 1d7c A050 subi r26,lo8(-(PPM_in))3185 1d7e B040 sbci r27,hi8(-(PPM_in))3186 1d80 8D91 ld r24,X+3187 1d82 9C91 ld r25,X3188 1d84 8B5A subi r24,lo8(-85)3189 1d86 9F4F sbci r25,hi8(-85)3190 1d88 04F0 brlt .+23191 1d8a 00C0 rjmp .L2903192 1d8c E091 0000 lds r30,ParamSet+33193 1d90 F0E0 ldi r31,lo8(0)3194 1d92 EE0F lsl r303195 1d94 FF1F rol r313196 1d96 E050 subi r30,lo8(-(PPM_in))3197 1d98 F040 sbci r31,hi8(-(PPM_in))3198 1d9a 8081 ld r24,Z3199 1d9c 9181 ldd r25,Z+13200 1d9e 855B subi r24,lo8(-75)3201 1da0 9F4F sbci r25,hi8(-75)3202 1da2 04F0 brlt .+23203 1da4 00C0 rjmp .L3483204 1da6 8091 0000 lds r24,delay_startmotors.19833205 1daa 9091 0000 lds r25,(delay_startmotors.1983)+13206 1dae 883C cpi r24,2003207 1db0 9105 cpc r25,__zero_reg__3208 1db2 00F4 brsh .+43209 1db4 0C94 0000 jmp .L5083210 1db8 883C cpi r24,2003211 1dba 9105 cpc r25,__zero_reg__3212 1dbc 01F4 brne .+43213 1dbe 0C94 0000 jmp .L5093214 1dc2 8091 0000 lds r24,hiResPitchGyro3215 1dc6 9091 0000 lds r25,(hiResPitchGyro)+13216 1dca AA27 clr r263217 1dcc 97FD sbrc r25,73218 1dce A095 com r263219 1dd0 BA2F mov r27,r263220 1dd2 4091 0000 lds r20,vibrationCalNick.19743221 1dd6 5091 0000 lds r21,(vibrationCalNick.1974)+13222 1dda 6091 0000 lds r22,(vibrationCalNick.1974)+23223 1dde 7091 0000 lds r23,(vibrationCalNick.1974)+33224 1de2 480F add r20,r243225 1de4 591F adc r21,r253226 1de6 6A1F adc r22,r263227 1de8 7B1F adc r23,r273228 1dea 4093 0000 sts vibrationCalNick.1974,r203229 1dee 5093 0000 sts (vibrationCalNick.1974)+1,r213230 1df2 6093 0000 sts (vibrationCalNick.1974)+2,r223231 1df6 7093 0000 sts (vibrationCalNick.1974)+3,r233232 1dfa 8091 0000 lds r24,hiResRollGyro3233 1dfe 9091 0000 lds r25,(hiResRollGyro)+13234 1e02 AA27 clr r263235 1e04 97FD sbrc r25,73236 1e06 A095 com r263237 1e08 BA2F mov r27,r263238 1e0a A090 0000 lds r10,vibrationCalRoll.19753239 1e0e B090 0000 lds r11,(vibrationCalRoll.1975)+13240 1e12 C090 0000 lds r12,(vibrationCalRoll.1975)+23241 1e16 D090 0000 lds r13,(vibrationCalRoll.1975)+33242 1e1a A80E add r10,r243243 1e1c B91E adc r11,r253244 1e1e CA1E adc r12,r263245 1e20 DB1E adc r13,r273246 1e22 A092 0000 sts vibrationCalRoll.1975,r103247 1e26 B092 0000 sts (vibrationCalRoll.1975)+1,r113248 1e2a C092 0000 sts (vibrationCalRoll.1975)+2,r123249 1e2e D092 0000 sts (vibrationCalRoll.1975)+3,r133250 1e32 8091 0000 lds r24,rawYawGyroSum3251 1e36 9091 0000 lds r25,(rawYawGyroSum)+13252 1e3a AA27 clr r263253 1e3c 97FD sbrc r25,73254 1e3e A095 com r263255 1e40 BA2F mov r27,r263256 1e42 6090 0000 lds r6,vibrationCalYaw.19763257 1e46 7090 0000 lds r7,(vibrationCalYaw.1976)+13258 1e4a 8090 0000 lds r8,(vibrationCalYaw.1976)+23259 1e4e 9090 0000 lds r9,(vibrationCalYaw.1976)+33260 1e52 680E add r6,r243261 1e54 791E adc r7,r253262 1e56 8A1E adc r8,r263263 1e58 9B1E adc r9,r273264 1e5a 6092 0000 sts vibrationCalYaw.1976,r63265 1e5e 7092 0000 sts (vibrationCalYaw.1976)+1,r73266 1e62 8092 0000 sts (vibrationCalYaw.1976)+2,r83267 1e66 9092 0000 sts (vibrationCalYaw.1976)+3,r93268 1e6a 2091 0000 lds r18,vibrationCalCount.19773269 1e6e 3091 0000 lds r19,(vibrationCalCount.1977)+13270 1e72 2F5F subi r18,lo8(-(1))3271 1e74 3F4F sbci r19,hi8(-(1))3272 1e76 3093 0000 sts (vibrationCalCount.1977)+1,r193273 1e7a 2093 0000 sts vibrationCalCount.1977,r183274 1e7e 8091 0000 lds r24,FCParam+153275 1e82 8823 tst r243276 1e84 01F4 brne .+43277 1e86 0C94 0000 jmp .L3523278 1e8a 8091 0000 lds r24,FCParam+163279 1e8e 90E0 ldi r25,lo8(0)3280 1e90 8058 subi r24,lo8(-(-128))3281 1e92 9040 sbci r25,hi8(-(-128))3282 1e94 AA27 clr r263283 1e96 97FD sbrc r25,73284 1e98 A095 com r263285 1e9a BA2F mov r27,r263286 1e9c 8093 0000 sts vibrationOffsetNick,r243287 1ea0 9093 0000 sts (vibrationOffsetNick)+1,r253288 1ea4 A093 0000 sts (vibrationOffsetNick)+2,r263289 1ea8 B093 0000 sts (vibrationOffsetNick)+3,r273290 1eac 8091 0000 lds r24,FCParam+173291 1eb0 90E0 ldi r25,lo8(0)3292 1eb2 8058 subi r24,lo8(-(-128))3293 1eb4 9040 sbci r25,hi8(-(-128))3294 1eb6 AA27 clr r263295 1eb8 97FD sbrc r25,73296 1eba A095 com r263297 1ebc BA2F mov r27,r263298 1ebe 8093 0000 sts vibrationOffsetRoll,r243299 1ec2 9093 0000 sts (vibrationOffsetRoll)+1,r253300 1ec6 A093 0000 sts (vibrationOffsetRoll)+2,r263301 1eca B093 0000 sts (vibrationOffsetRoll)+3,r273302 .L353:3303 1ece 1092 0000 sts SetPointYaw.1980,__zero_reg__3304 1ed2 1092 0000 sts (SetPointYaw.1980)+1,__zero_reg__3305 1ed6 1092 0000 sts (SetPointYaw.1980)+2,__zero_reg__3306 1eda 1092 0000 sts (SetPointYaw.1980)+3,__zero_reg__3307 1ede 1092 0000 sts ReadingIntegralGyroYaw,__zero_reg__3308 1ee2 1092 0000 sts (ReadingIntegralGyroYaw)+1,__zero_reg__3309 1ee6 1092 0000 sts (ReadingIntegralGyroYaw)+2,__zero_reg__3310 1eea 1092 0000 sts (ReadingIntegralGyroYaw)+3,__zero_reg__3311 1eee 1092 0000 sts ReadingIntegralGyroNick,__zero_reg__3312 1ef2 1092 0000 sts (ReadingIntegralGyroNick)+1,__zero_reg__3313 1ef6 1092 0000 sts (ReadingIntegralGyroNick)+2,__zero_reg__3314 1efa 1092 0000 sts (ReadingIntegralGyroNick)+3,__zero_reg__3315 1efe 1092 0000 sts ReadingIntegralGyroRoll,__zero_reg__3316 1f02 1092 0000 sts (ReadingIntegralGyroRoll)+1,__zero_reg__3317 1f06 1092 0000 sts (ReadingIntegralGyroRoll)+2,__zero_reg__3318 1f0a 1092 0000 sts (ReadingIntegralGyroRoll)+3,__zero_reg__3319 1f0e 1092 0000 sts IPartNick.1972,__zero_reg__3320 1f12 1092 0000 sts (IPartNick.1972)+1,__zero_reg__3321 1f16 1092 0000 sts (IPartNick.1972)+2,__zero_reg__3322 1f1a 1092 0000 sts (IPartNick.1972)+3,__zero_reg__3323 1f1e 1092 0000 sts IPartRoll.1973,__zero_reg__3324 1f22 1092 0000 sts (IPartRoll.1973)+1,__zero_reg__3325 1f26 1092 0000 sts (IPartRoll.1973)+2,__zero_reg__3326 1f2a 1092 0000 sts (IPartRoll.1973)+3,__zero_reg__3327 1f2e 00C0 rjmp .L3503328 .L355:3329 1f30 0E94 0000 call ParameterMapping3330 1f34 E091 0000 lds r30,ParamSet3331 1f38 F0E0 ldi r31,lo8(0)3332 1f3a EE0F lsl r303333 1f3c FF1F rol r313334 1f3e DF01 movw r26,r303335 1f40 A050 subi r26,lo8(-(PPM_in))3336 1f42 B040 sbci r27,hi8(-(PPM_in))3337 1f44 8D91 ld r24,X+3338 1f46 9C91 ld r25,X3339 1f48 6091 0000 lds r22,ParamSet+153340 1f4c 70E0 ldi r23,lo8(0)3341 1f4e 869F mul r24,r223342 1f50 9001 movw r18,r03343 1f52 879F mul r24,r233344 1f54 300D add r19,r03345 1f56 969F mul r25,r223346 1f58 300D add r19,r03347 1f5a 1124 clr r13348 1f5c 3093 0000 sts (stick_nick.1990)+1,r193349 1f60 2093 0000 sts stick_nick.1990,r183350 1f64 E050 subi r30,lo8(-(PPM_diff))3351 1f66 F040 sbci r31,hi8(-(PPM_diff))3352 1f68 8081 ld r24,Z3353 1f6a 9181 ldd r25,Z+13354 1f6c 4091 0000 lds r20,ParamSet+163355 1f70 50E0 ldi r21,lo8(0)3356 1f72 FC01 movw r30,r243357 1f74 E49F mul r30,r203358 1f76 C001 movw r24,r03359 1f78 E59F mul r30,r213360 1f7a 900D add r25,r03361 1f7c F49F mul r31,r203362 1f7e 900D add r25,r03363 1f80 1124 clr r13364 1f82 820F add r24,r183365 1f84 931F adc r25,r193366 1f86 9093 0000 sts (stick_nick.1990)+1,r253367 1f8a 8093 0000 sts stick_nick.1990,r243368 1f8e 2091 0000 lds r18,stickOffsetNick3369 1f92 3091 0000 lds r19,(stickOffsetNick)+13370 1f96 821B sub r24,r183371 1f98 930B sbc r25,r193372 1f9a 2091 0000 lds r18,GPSStickNick3373 1f9e 3091 0000 lds r19,(GPSStickNick)+13374 1fa2 821B sub r24,r183375 1fa4 930B sbc r25,r193376 1fa6 9093 0000 sts (StickNick)+1,r253377 1faa 8093 0000 sts StickNick,r243378 1fae E091 0000 lds r30,ParamSet+13379 1fb2 F0E0 ldi r31,lo8(0)3380 1fb4 EE0F lsl r303381 1fb6 FF1F rol r313382 1fb8 DF01 movw r26,r303383 1fba A050 subi r26,lo8(-(PPM_in))3384 1fbc B040 sbci r27,hi8(-(PPM_in))3385 1fbe 8D91 ld r24,X+3386 1fc0 9C91 ld r25,X3387 1fc2 869F mul r24,r223388 1fc4 9001 movw r18,r03389 1fc6 879F mul r24,r233390 1fc8 300D add r19,r03391 1fca 969F mul r25,r223392 1fcc 300D add r19,r03393 1fce 1124 clr r13394 1fd0 3093 0000 sts (stick_roll.1991)+1,r193395 1fd4 2093 0000 sts stick_roll.1991,r183396 1fd8 E050 subi r30,lo8(-(PPM_diff))3397 1fda F040 sbci r31,hi8(-(PPM_diff))3398 1fdc 8081 ld r24,Z3399 1fde 9181 ldd r25,Z+13400 1fe0 BC01 movw r22,r243401 1fe2 649F mul r22,r203402 1fe4 C001 movw r24,r03403 1fe6 659F mul r22,r213404 1fe8 900D add r25,r03405 1fea 749F mul r23,r203406 1fec 900D add r25,r03407 1fee 1124 clr r13408 1ff0 820F add r24,r183409 1ff2 931F adc r25,r193410 1ff4 9093 0000 sts (stick_roll.1991)+1,r253411 1ff8 8093 0000 sts stick_roll.1991,r243412 1ffc 2091 0000 lds r18,stickOffsetRoll3413 2000 3091 0000 lds r19,(stickOffsetRoll)+13414 2004 821B sub r24,r183415 2006 930B sbc r25,r193416 2008 2091 0000 lds r18,GPSStickRoll3417 200c 3091 0000 lds r19,(GPSStickRoll)+13418 2010 821B sub r24,r183419 2012 930B sbc r25,r193420 2014 9093 0000 sts (StickRoll)+1,r253421 2018 8093 0000 sts StickRoll,r243422 201c E091 0000 lds r30,ParamSet+33423 2020 F0E0 ldi r31,lo8(0)3424 2022 EE0F lsl r303425 2024 FF1F rol r313426 2026 E050 subi r30,lo8(-(PPM_in))3427 2028 F040 sbci r31,hi8(-(PPM_in))3428 202a 8081 ld r24,Z3429 202c 9181 ldd r25,Z+13430 202e 2227 clr r183431 2030 3327 clr r193432 2032 281B sub r18,r243433 2034 390B sbc r19,r253434 2036 3093 0000 sts (StickYaw)+1,r193435 203a 2093 0000 sts StickYaw,r183436 203e 8091 0000 lds r24,ParamSet+83437 2042 8872 andi r24,lo8(40)3438 2044 01F0 breq .L3573439 2046 2330 cpi r18,33440 2048 3105 cpc r19,__zero_reg__3441 204a 04F0 brlt .+23442 204c 00C0 rjmp .L5103443 204e 7FEF ldi r23,hi8(-2)3444 2050 2E3F cpi r18,lo8(-2)3445 2052 3707 cpc r19,r233446 2054 04F0 brlt .+23447 2056 00C0 rjmp .L3593448 2058 2E5F subi r18,lo8(-(2))3449 205a 3F4F sbci r19,hi8(-(2))3450 205c 3093 0000 sts (StickYaw)+1,r193451 2060 2093 0000 sts StickYaw,r183452 .L357:3453 2064 E091 0000 lds r30,ParamSet+23454 2068 F0E0 ldi r31,lo8(0)3455 206a EE0F lsl r303456 206c FF1F rol r313457 206e E050 subi r30,lo8(-(PPM_in))3458 2070 F040 sbci r31,hi8(-(PPM_in))3459 2072 0190 ld __tmp_reg__,Z+3460 2074 F081 ld r31,Z3461 2076 E02D mov r30,__tmp_reg__3462 2078 E858 subi r30,lo8(-(120))3463 207a FF4F sbci r31,hi8(-(120))3464 207c F093 0000 sts (StickGas)+1,r313465 2080 E093 0000 sts StickGas,r303466 2084 8091 0000 lds r24,FCParam+63467 2088 865F subi r24,lo8(-(10))3468 208a 8093 0000 sts GyroPFactor,r243469 208e 9091 0000 lds r25,FCParam+73470 2092 9093 0000 sts GyroIFactor,r253471 2096 8093 0000 sts GyroYawPFactor,r243472 209a 9093 0000 sts GyroYawIFactor,r253473 209e 8091 0000 lds r24,ExternControl+103474 20a2 80FF sbrs r24,03475 20a4 00C0 rjmp .L3603476 20a6 8091 0000 lds r24,FCParam+243477 20aa 8138 cpi r24,lo8(-127)3478 20ac 00F4 brsh .+23479 20ae 00C0 rjmp .L3603480 20b0 2091 0000 lds r18,ParamSet+153481 20b4 30E0 ldi r19,lo8(0)3482 20b6 8091 0000 lds r24,ExternControl+33483 20ba 9927 clr r253484 20bc 87FD sbrc r24,73485 20be 9095 com r253486 20c0 AC01 movw r20,r243487 20c2 249F mul r18,r203488 20c4 C001 movw r24,r03489 20c6 259F mul r18,r213490 20c8 900D add r25,r03491 20ca 349F mul r19,r203492 20cc 900D add r25,r03493 20ce 1124 clr r13494 20d0 A090 0000 lds r10,StickNick3495 20d4 B090 0000 lds r11,(StickNick)+13496 20d8 A80E add r10,r243497 20da B91E adc r11,r253498 20dc B092 0000 sts (StickNick)+1,r113499 20e0 A092 0000 sts StickNick,r103500 20e4 8091 0000 lds r24,ExternControl+43501 20e8 9927 clr r253502 20ea 87FD sbrc r24,73503 20ec 9095 com r253504 20ee BC01 movw r22,r243505 20f0 269F mul r18,r223506 20f2 C001 movw r24,r03507 20f4 279F mul r18,r233508 20f6 900D add r25,r03509 20f8 369F mul r19,r223510 20fa 900D add r25,r03511 20fc 1124 clr r13512 20fe C090 0000 lds r12,StickRoll3513 2102 D090 0000 lds r13,(StickRoll)+13514 2106 C80E add r12,r243515 2108 D91E adc r13,r253516 210a D092 0000 sts (StickRoll)+1,r133517 210e C092 0000 sts StickRoll,r123518 2112 2091 0000 lds r18,ExternControl+53519 2116 3327 clr r193520 2118 27FD sbrc r18,73521 211a 3095 com r193522 211c 8091 0000 lds r24,StickYaw3523 2120 9091 0000 lds r25,(StickYaw)+13524 2124 820F add r24,r183525 2126 931F adc r25,r193526 2128 9093 0000 sts (StickYaw)+1,r253527 212c 8093 0000 sts StickYaw,r243528 2130 2091 0000 lds r18,ParamSet+133529 2134 30E0 ldi r19,lo8(0)3530 2136 8091 0000 lds r24,ExternControl+73531 213a 9927 clr r253532 213c 87FD sbrc r24,73533 213e 9095 com r253534 2140 AC01 movw r20,r243535 2142 249F mul r18,r203536 2144 C001 movw r24,r03537 2146 259F mul r18,r213538 2148 900D add r25,r03539 214a 349F mul r19,r203540 214c 900D add r25,r03541 214e 1124 clr r13542 2150 9093 0000 sts (ExternHeightValue)+1,r253543 2154 8093 0000 sts ExternHeightValue,r243544 2158 8091 0000 lds r24,ExternControl+63545 215c 90E0 ldi r25,lo8(0)3546 215e 8E17 cp r24,r303547 2160 9F07 cpc r25,r313548 2162 04F4 brge .L3603549 2164 9093 0000 sts (StickGas)+1,r253550 2168 8093 0000 sts StickGas,r243551 .L360:3552 216c 8091 0000 lds r24,StickGas3553 2170 9091 0000 lds r25,(StickGas)+13554 2174 97FD sbrc r25,73555 2176 00C0 rjmp .L5113556 2178 8091 0000 lds r24,ParamSet+83557 217c 82FD sbrc r24,23558 217e 00C0 rjmp .L5123559 .L362:3560 2180 6091 0000 lds r22,StickNick3561 2184 7091 0000 lds r23,StickNick+13562 2188 4091 0000 lds r20,MaxStickNick3563 218c 5091 0000 lds r21,(MaxStickNick)+13564 2190 CB01 movw r24,r223565 2192 9C01 movw r18,r243566 2194 97FD sbrc r25,73567 2196 00C0 rjmp .L5133568 2198 3595 asr r193569 219a 2795 ror r183570 219c 3595 asr r193571 219e 2795 ror r183572 21a0 37FD sbrc r19,73573 21a2 00C0 rjmp .L5143574 .L365:3575 21a4 4217 cp r20,r183576 21a6 5307 cpc r21,r193577 21a8 04F4 brge .+23578 21aa 00C0 rjmp .L5153579 21ac 4150 subi r20,lo8(-(-1))3580 21ae 5040 sbci r21,hi8(-(-1))3581 21b0 5093 0000 sts (MaxStickNick)+1,r213582 21b4 4093 0000 sts MaxStickNick,r203583 .L367:3584 21b8 6091 0000 lds r22,StickRoll3585 21bc 7091 0000 lds r23,StickRoll+13586 21c0 4091 0000 lds r20,MaxStickRoll3587 21c4 5091 0000 lds r21,(MaxStickRoll)+13588 21c8 CB01 movw r24,r223589 21ca 9C01 movw r18,r243590 21cc 97FD sbrc r25,73591 21ce 00C0 rjmp .L5163592 .L369:3593 21d0 3595 asr r193594 21d2 2795 ror r183595 21d4 3595 asr r193596 21d6 2795 ror r183597 21d8 37FD sbrc r19,73598 21da 00C0 rjmp .L5173599 .L370:3600 21dc 4217 cp r20,r183601 21de 5307 cpc r21,r193602 21e0 04F0 brlt .+23603 21e2 00C0 rjmp .L3683604 21e4 9B01 movw r18,r223605 21e6 77FD sbrc r23,73606 21e8 00C0 rjmp .L5183607 .L371:3608 21ea C901 movw r24,r183609 21ec 9595 asr r253610 21ee 8795 ror r243611 21f0 9595 asr r253612 21f2 8795 ror r243613 21f4 9093 0000 sts (MaxStickRoll)+1,r253614 21f8 8093 0000 sts MaxStickRoll,r243615 21fc 8536 cpi r24,1013616 21fe 9105 cpc r25,__zero_reg__3617 2200 04F0 brlt .+23618 2202 00C0 rjmp .L5193619 .L372:3620 2204 8091 0000 lds r24,ParamSet+13621 2208 A82F mov r26,r243622 220a B0E0 ldi r27,lo8(0)3623 220c AA0F lsl r263624 220e BB1F rol r273625 2210 FD01 movw r30,r263626 2212 E050 subi r30,lo8(-(PPM_in))3627 2214 F040 sbci r31,hi8(-(PPM_in))3628 2216 2081 ld r18,Z3629 2218 3181 ldd r19,Z+13630 221a 8091 0000 lds r24,ParamSet+403631 221e 482F mov r20,r243632 2220 50E0 ldi r21,lo8(0)3633 2222 4217 cp r20,r183634 2224 5307 cpc r21,r193635 2226 04F4 brge .L3733636 2228 8091 0000 lds r24,ParamSet+753637 222c 82FD sbrc r24,23638 222e 00C0 rjmp .L5203639 .L373:3640 2230 7091 0000 lds r23,LoopingLeft3641 2234 7723 tst r233642 2236 01F0 breq .L3743643 2238 FD01 movw r30,r263644 223a E050 subi r30,lo8(-(PPM_in))3645 223c F040 sbci r31,hi8(-(PPM_in))3646 223e 2081 ld r18,Z3647 2240 3181 ldd r19,Z+13648 2242 8091 0000 lds r24,ParamSet+413649 2246 FA01 movw r30,r203650 2248 E81B sub r30,r243651 224a F109 sbc r31,__zero_reg__3652 224c 2E17 cp r18,r303653 224e 3F07 cpc r19,r313654 2250 04F4 brge .+23655 2252 00C0 rjmp .L5213656 .L374:3657 2254 FD01 movw r30,r263658 2256 E050 subi r30,lo8(-(PPM_in))3659 2258 F040 sbci r31,hi8(-(PPM_in))3660 225a 2081 ld r18,Z3661 225c 3181 ldd r19,Z+13662 225e 8827 clr r243663 2260 9927 clr r253664 2262 841B sub r24,r203665 2264 950B sbc r25,r213666 2266 2817 cp r18,r243667 2268 3907 cpc r19,r253668 226a 04F4 brge .L3753669 226c 8091 0000 lds r24,ParamSet+753670 2270 83FD sbrc r24,33671 2272 00C0 rjmp .L5223672 .L375:3673 2274 8091 0000 lds r24,LoopingRight3674 2278 8823 tst r243675 227a 01F0 breq .L3763676 227c A050 subi r26,lo8(-(PPM_in))3677 227e B040 sbci r27,hi8(-(PPM_in))3678 2280 2D91 ld r18,X+3679 2282 3C91 ld r19,X3680 2284 8091 0000 lds r24,ParamSet+413681 2288 90E0 ldi r25,lo8(0)3682 228a 841B sub r24,r203683 228c 950B sbc r25,r213684 228e 8217 cp r24,r183685 2290 9307 cpc r25,r193686 2292 04F4 brge .+23687 2294 00C0 rjmp .L5233688 .L376:3689 2296 8091 0000 lds r24,ParamSet3690 229a A82F mov r26,r243691 229c B0E0 ldi r27,lo8(0)3692 229e AA0F lsl r263693 22a0 BB1F rol r273694 22a2 FD01 movw r30,r263695 22a4 E050 subi r30,lo8(-(PPM_in))3696 22a6 F040 sbci r31,hi8(-(PPM_in))3697 22a8 8081 ld r24,Z3698 22aa 9181 ldd r25,Z+13699 22ac 4817 cp r20,r243700 22ae 5907 cpc r21,r253701 22b0 04F4 brge .L3773702 22b2 8091 0000 lds r24,ParamSet+753703 22b6 80FD sbrc r24,03704 22b8 00C0 rjmp .L5243705 .L377:3706 22ba 6091 0000 lds r22,LoopingTop3707 22be 6623 tst r223708 22c0 01F0 breq .L3783709 22c2 FD01 movw r30,r263710 22c4 E050 subi r30,lo8(-(PPM_in))3711 22c6 F040 sbci r31,hi8(-(PPM_in))3712 22c8 2081 ld r18,Z3713 22ca 3181 ldd r19,Z+13714 22cc 8091 0000 lds r24,ParamSet+413715 22d0 FA01 movw r30,r203716 22d2 E81B sub r30,r243717 22d4 F109 sbc r31,__zero_reg__3718 22d6 2E17 cp r18,r303719 22d8 3F07 cpc r19,r313720 22da 04F4 brge .+23721 22dc 00C0 rjmp .L5253722 .L378:3723 22de FD01 movw r30,r263724 22e0 E050 subi r30,lo8(-(PPM_in))3725 22e2 F040 sbci r31,hi8(-(PPM_in))3726 22e4 2081 ld r18,Z3727 22e6 3181 ldd r19,Z+13728 22e8 8827 clr r243729 22ea 9927 clr r253730 22ec 841B sub r24,r203731 22ee 950B sbc r25,r213732 22f0 2817 cp r18,r243733 22f2 3907 cpc r19,r253734 22f4 04F4 brge .L3793735 22f6 8091 0000 lds r24,ParamSet+753736 22fa 81FD sbrc r24,13737 22fc 00C0 rjmp .L5263738 .L379:3739 22fe 8091 0000 lds r24,LoopingDown3740 2302 8823 tst r243741 2304 01F0 breq .L3803742 2306 A050 subi r26,lo8(-(PPM_in))3743 2308 B040 sbci r27,hi8(-(PPM_in))3744 230a 2D91 ld r18,X+3745 230c 3C91 ld r19,X3746 230e 8091 0000 lds r24,ParamSet+413747 2312 90E0 ldi r25,lo8(0)3748 2314 841B sub r24,r203749 2316 950B sbc r25,r213750 2318 8217 cp r24,r183751 231a 9307 cpc r25,r193752 231c 04F4 brge .+23753 231e 00C0 rjmp .L5273754 .L380:3755 2320 7723 tst r233756 2322 01F4 brne .L3813757 2324 8091 0000 lds r24,LoopingRight3758 2328 8823 tst r243759 232a 01F4 brne .+23760 232c 00C0 rjmp .L3823761 .L381:3762 232e 81E0 ldi r24,lo8(1)3763 2330 8093 0000 sts LoopingRoll,r243764 .L383:3765 2334 6623 tst r223766 2336 01F4 brne .L3843767 2338 8091 0000 lds r24,LoopingDown3768 233c 8823 tst r243769 233e 01F4 brne .+23770 2340 00C0 rjmp .L3853771 .L384:3772 2342 81E0 ldi r24,lo8(1)3773 2344 8093 0000 sts LoopingNick,r243774 2348 1092 0000 sts LoopingRoll,__zero_reg__3775 234c 1092 0000 sts LoopingLeft,__zero_reg__3776 2350 1092 0000 sts LoopingRight,__zero_reg__3777 2354 8091 0000 lds r24,LoopingRoll3778 2358 8823 tst r243779 235a 01F4 brne .+43780 235c 0C94 0000 jmp .L5283781 .L386:3782 2360 8091 0000 lds r24,ParamSet+393783 2364 90E0 ldi r25,lo8(0)3784 2366 2F81 ldd r18,Y+73785 2368 3885 ldd r19,Y+83786 236a 8217 cp r24,r183787 236c 9307 cpc r25,r193788 236e 04F4 brge .+23789 2370 00C0 rjmp .L5293790 2372 81E0 ldi r24,lo8(1)3791 2374 8093 0000 sts FunnelCourse,r243792 2378 0C94 0000 jmp .L3873793 .L390:3794 237c 1092 0000 sts (ADCycleCount)+1,__zero_reg__3795 2380 1092 0000 sts ADCycleCount,__zero_reg__3796 2384 0C94 0000 jmp .L3913797 .L496:3798 2388 0396 adiw r24,33799 238a 00C0 rjmp .L4623800 .L495:3801 238c 0894 sec3802 238e E11C adc r14,__zero_reg__3803 2390 F11C adc r15,__zero_reg__3804 2392 00C0 rjmp .L4613805 .L497:3806 /* epilogue start */3807 2394 6B96 adiw r28,273808 2396 0FB6 in __tmp_reg__,__SREG__3809 2398 F894 cli3810 239a DEBF out __SP_H__,r293811 239c 0FBE out __SREG__,__tmp_reg__3812 239e CDBF out __SP_L__,r283813 23a0 CF91 pop r283814 23a2 DF91 pop r293815 23a4 1F91 pop r173816 23a6 0F91 pop r163817 23a8 FF90 pop r153818 23aa EF90 pop r143819 23ac DF90 pop r133820 23ae CF90 pop r123821 23b0 BF90 pop r113822 23b2 AF90 pop r103823 23b4 9F90 pop r93824 23b6 8F90 pop r83825 23b8 7F90 pop r73826 23ba 6F90 pop r63827 23bc 5F90 pop r53828 23be 4F90 pop r43829 23c0 3F90 pop r33830 23c2 2F90 pop r23831 23c4 0895 ret3832 .L454:3833 23c6 A216 cp r10,r183834 23c8 B306 cpc r11,r193835 23ca 04F0 brlt .+23836 23cc 00C0 rjmp .L4553837 23ce 9501 movw r18,r103838 23d0 00C0 rjmp .L4553839 .L451:3840 23d2 81E0 ldi r24,lo8(64001)3841 23d4 E816 cp r14,r243842 23d6 8AEF ldi r24,hi8(64001)3843 23d8 F806 cpc r15,r243844 23da 80E0 ldi r24,hlo8(64001)3845 23dc 0807 cpc r16,r243846 23de 80E0 ldi r24,hhi8(64001)3847 23e0 1807 cpc r17,r243848 23e2 04F4 brge .+23849 23e4 00C0 rjmp .L4523850 23e6 80E0 ldi r24,lo8(64000)3851 23e8 9AEF ldi r25,hi8(64000)3852 23ea A0E0 ldi r26,hlo8(64000)3853 23ec B0E0 ldi r27,hhi8(64000)3854 23ee 8093 0000 sts IPartRoll.1973,r243855 23f2 9093 0000 sts (IPartRoll.1973)+1,r253856 23f6 A093 0000 sts (IPartRoll.1973)+2,r263857 23fa B093 0000 sts (IPartRoll.1973)+3,r273858 23fe E12C mov r14,__zero_reg__3859 2400 0AEF ldi r16,hi8(64000)3860 2402 F02E mov r15,r163861 2404 012D mov r16,__zero_reg__3862 2406 112D mov r17,__zero_reg__3863 2408 00C0 rjmp .L4523864 .L449:3865 240a 8981 ldd r24,Y+13866 240c 9A81 ldd r25,Y+23867 240e 8C19 sub r24,r123868 2410 9D09 sbc r25,r133869 2412 AA27 clr r263870 2414 97FD sbrc r25,73871 2416 A095 com r263872 2418 BA2F mov r27,r263873 241a E090 0000 lds r14,IPartRoll.19733874 241e F090 0000 lds r15,(IPartRoll.1973)+13875 2422 0091 0000 lds r16,(IPartRoll.1973)+23876 2426 1091 0000 lds r17,(IPartRoll.1973)+33877 242a E80E add r14,r243878 242c F91E adc r15,r253879 242e 0A1F adc r16,r263880 2430 1B1F adc r17,r273881 2432 E092 0000 sts IPartRoll.1973,r143882 2436 F092 0000 sts (IPartRoll.1973)+1,r153883 243a 0093 0000 sts (IPartRoll.1973)+2,r163884 243e 1093 0000 sts (IPartRoll.1973)+3,r173885 2442 00C0 rjmp .L4503886 .L447:3887 2444 21E0 ldi r18,lo8(64001)3888 2446 E216 cp r14,r183889 2448 2AEF ldi r18,hi8(64001)3890 244a F206 cpc r15,r183891 244c 20E0 ldi r18,hlo8(64001)3892 244e 0207 cpc r16,r183893 2450 20E0 ldi r18,hhi8(64001)3894 2452 1207 cpc r17,r183895 2454 04F4 brge .+23896 2456 00C0 rjmp .L4483897 2458 80E0 ldi r24,lo8(64000)3898 245a 9AEF ldi r25,hi8(64000)3899 245c A0E0 ldi r26,hlo8(64000)3900 245e B0E0 ldi r27,hhi8(64000)3901 2460 8093 0000 sts IPartNick.1972,r243902 2464 9093 0000 sts (IPartNick.1972)+1,r253903 2468 A093 0000 sts (IPartNick.1972)+2,r263904 246c B093 0000 sts (IPartNick.1972)+3,r273905 2470 E12C mov r14,__zero_reg__3906 2472 9AEF ldi r25,hi8(64000)3907 2474 F92E mov r15,r253908 2476 012D mov r16,__zero_reg__3909 2478 112D mov r17,__zero_reg__3910 247a 00C0 rjmp .L4483911 .L445:3912 247c C101 movw r24,r23913 247e 8A19 sub r24,r103914 2480 9B09 sbc r25,r113915 2482 AA27 clr r263916 2484 97FD sbrc r25,73917 2486 A095 com r263918 2488 BA2F mov r27,r263919 248a E090 0000 lds r14,IPartNick.19723920 248e F090 0000 lds r15,(IPartNick.1972)+13921 2492 0091 0000 lds r16,(IPartNick.1972)+23922 2496 1091 0000 lds r17,(IPartNick.1972)+33923 249a E80E add r14,r243924 249c F91E adc r15,r253925 249e 0A1F adc r16,r263926 24a0 1B1F adc r17,r273927 24a2 E092 0000 sts IPartNick.1972,r143928 24a6 F092 0000 sts (IPartNick.1972)+1,r153929 24aa 0093 0000 sts (IPartNick.1972)+2,r163930 24ae 1093 0000 sts (IPartNick.1972)+3,r173931 24b2 00C0 rjmp .L4463932 .L437:3933 24b4 C701 movw r24,r143934 24b6 8135 cpi r24,813935 24b8 9105 cpc r25,__zero_reg__3936 24ba 04F0 brlt .+23937 24bc 00C0 rjmp .L5303938 24be 9C01 movw r18,r243939 24c0 5FEF ldi r21,hi8(-80)3940 24c2 803B cpi r24,lo8(-80)3941 24c4 9507 cpc r25,r213942 24c6 04F0 brlt .+23943 24c8 00C0 rjmp .L4393944 .L540:3945 24ca 20EB ldi r18,lo8(-80)3946 24cc 3FEF ldi r19,hi8(-80)3947 24ce 00C0 rjmp .L4393948 .L426:3949 24d0 ED85 ldd r30,Y+133950 24d2 6E2F mov r22,r303951 24d4 70E0 ldi r23,lo8(0)3952 24d6 80E0 ldi r24,lo8(0)3953 24d8 90E0 ldi r25,hi8(0)3954 24da 2091 0000 lds r18,IntegralGyroRoll3955 24de 3091 0000 lds r19,(IntegralGyroRoll)+13956 24e2 4091 0000 lds r20,(IntegralGyroRoll)+23957 24e6 5091 0000 lds r21,(IntegralGyroRoll)+33958 24ea 0E94 0000 call __mulsi33959 24ee 28EF ldi r18,lo8(11000)3960 24f0 3AE2 ldi r19,hi8(11000)3961 24f2 40E0 ldi r20,hlo8(11000)3962 24f4 50E0 ldi r21,hhi8(11000)3963 24f6 0E94 0000 call __divmodsi43964 24fa 3C83 std Y+4,r193965 24fc 2B83 std Y+3,r183966 24fe 3901 movw r6,r183967 2500 0C94 0000 jmp .L4273968 .L424:3969 2504 8091 0000 lds r24,GyroIFactor3970 2508 8D87 std Y+13,r243971 250a 682F mov r22,r243972 250c 70E0 ldi r23,lo8(0)3973 250e 80E0 ldi r24,lo8(0)3974 2510 90E0 ldi r25,hi8(0)3975 2512 2091 0000 lds r18,IntegralGyroNick3976 2516 3091 0000 lds r19,(IntegralGyroNick)+13977 251a 4091 0000 lds r20,(IntegralGyroNick)+23978 251e 5091 0000 lds r21,(IntegralGyroNick)+33979 2522 0E94 0000 call __mulsi33980 2526 28EF ldi r18,lo8(11000)3981 2528 3AE2 ldi r19,hi8(11000)3982 252a 40E0 ldi r20,hlo8(11000)3983 252c 50E0 ldi r21,hhi8(11000)3984 252e 0E94 0000 call __divmodsi43985 2532 3E83 std Y+6,r193986 2534 2D83 std Y+5,r183987 2536 1901 movw r2,r183988 2538 0C94 0000 jmp .L4253989 .L475:3990 253c 88E1 ldi r24,lo8(24)3991 253e 8093 0000 sts TimerDebugOut.1985,r243992 2542 6091 0000 lds r22,IntegralGyroNick3993 2546 7091 0000 lds r23,(IntegralGyroNick)+13994 254a 8091 0000 lds r24,(IntegralGyroNick)+23995 254e 9091 0000 lds r25,(IntegralGyroNick)+33996 2552 2AE0 ldi r18,lo8(10)3997 2554 30E0 ldi r19,hi8(10)3998 2556 40E0 ldi r20,hlo8(10)3999 2558 50E0 ldi r21,hhi8(10)4000 255a 0E94 0000 call __mulsi34001 255e 2FEB ldi r18,lo8(1215)4002 2560 34E0 ldi r19,hi8(1215)4003 2562 40E0 ldi r20,hlo8(1215)4004 2564 50E0 ldi r21,hhi8(1215)4005 2566 0E94 0000 call __divmodsi44006 256a 3093 0000 sts (DebugOut+2)+1,r194007 256e 2093 0000 sts DebugOut+2,r184008 2572 6091 0000 lds r22,IntegralGyroRoll4009 2576 7091 0000 lds r23,(IntegralGyroRoll)+14010 257a 8091 0000 lds r24,(IntegralGyroRoll)+24011 257e 9091 0000 lds r25,(IntegralGyroRoll)+34012 2582 2AE0 ldi r18,lo8(10)4013 2584 30E0 ldi r19,hi8(10)4014 2586 40E0 ldi r20,hlo8(10)4015 2588 50E0 ldi r21,hhi8(10)4016 258a 0E94 0000 call __mulsi34017 258e 2FEB ldi r18,lo8(1215)4018 2590 34E0 ldi r19,hi8(1215)4019 2592 40E0 ldi r20,hlo8(1215)4020 2594 50E0 ldi r21,hhi8(1215)4021 2596 0E94 0000 call __divmodsi44022 259a 3093 0000 sts (DebugOut+4)+1,r194023 259e 2093 0000 sts DebugOut+4,r184024 25a2 4090 0000 lds r4,GyroNick4025 25a6 5090 0000 lds r5,(GyroNick)+14026 25aa 5092 0000 sts (DebugOut+6)+1,r54027 25ae 4092 0000 sts DebugOut+6,r44028 25b2 8090 0000 lds r8,GyroRoll4029 25b6 9090 0000 lds r9,(GyroRoll)+14030 25ba 9092 0000 sts (DebugOut+8)+1,r94031 25be 8092 0000 sts DebugOut+8,r84032 25c2 8B85 ldd r24,Y+114033 25c4 9C85 ldd r25,Y+124034 25c6 9093 0000 sts (DebugOut+10)+1,r254035 25ca 8093 0000 sts DebugOut+10,r244036 25ce 8091 0000 lds r24,ReadingHeight4037 25d2 9091 0000 lds r25,(ReadingHeight)+14038 25d6 9093 0000 sts (DebugOut+12)+1,r254039 25da 8093 0000 sts DebugOut+12,r244040 25de 8091 0000 lds r24,CompassHeading4041 25e2 9091 0000 lds r25,(CompassHeading)+14042 25e6 9093 0000 sts (DebugOut+18)+1,r254043 25ea 8093 0000 sts DebugOut+18,r244044 25ee 8091 0000 lds r24,UBat4045 25f2 9091 0000 lds r25,(UBat)+14046 25f6 9093 0000 sts (DebugOut+20)+1,r254047 25fa 8093 0000 sts DebugOut+20,r244048 25fe 8091 0000 lds r24,RC_Quality4049 2602 9091 0000 lds r25,(RC_Quality)+14050 2606 9093 0000 sts (DebugOut+22)+1,r254051 260a 8093 0000 sts DebugOut+22,r244052 260e 6091 0000 lds r22,YawGyroHeading4053 2612 7091 0000 lds r23,(YawGyroHeading)+14054 2616 8091 0000 lds r24,(YawGyroHeading)+24055 261a 9091 0000 lds r25,(YawGyroHeading)+34056 261e 20E0 ldi r18,lo8(512)4057 2620 32E0 ldi r19,hi8(512)4058 2622 40E0 ldi r20,hlo8(512)4059 2624 50E0 ldi r21,hhi8(512)4060 2626 0E94 0000 call __divmodsi44061 262a 3093 0000 sts (DebugOut+24)+1,r194062 262e 2093 0000 sts DebugOut+24,r184063 2632 80E1 ldi r24,lo8(16)4064 2634 90E0 ldi r25,hi8(16)4065 2636 9093 0000 sts (DebugOut+34)+1,r254066 263a 8093 0000 sts DebugOut+34,r244067 263e 81E1 ldi r24,lo8(17)4068 2640 90E0 ldi r25,hi8(17)4069 2642 9093 0000 sts (DebugOut+36)+1,r254070 2646 8093 0000 sts DebugOut+36,r244071 264a 82E1 ldi r24,lo8(18)4072 264c 90E0 ldi r25,hi8(18)4073 264e 9093 0000 sts (DebugOut+38)+1,r254074 2652 8093 0000 sts DebugOut+38,r244075 2656 83E1 ldi r24,lo8(19)4076 2658 90E0 ldi r25,hi8(19)4077 265a 9093 0000 sts (DebugOut+40)+1,r254078 265e 8093 0000 sts DebugOut+40,r244079 2662 4091 0000 lds r20,vibrationOffsetNick4080 2666 5091 0000 lds r21,(vibrationOffsetNick)+14081 266a 8091 0000 lds r24,savedVibrationOffsetNick4082 266e 9091 0000 lds r25,(savedVibrationOffsetNick)+14083 2672 FA01 movw r30,r204084 2674 E81B sub r30,r244085 2676 F90B sbc r31,r254086 2678 F093 0000 sts (DebugOut+42)+1,r314087 267c E093 0000 sts DebugOut+42,r304088 2680 2091 0000 lds r18,vibrationOffsetRoll4089 2684 3091 0000 lds r19,(vibrationOffsetRoll)+14090 2688 8091 0000 lds r24,savedVibrationOffsetRoll4091 268c 9091 0000 lds r25,(savedVibrationOffsetRoll)+14092 2690 B901 movw r22,r184093 2692 681B sub r22,r244094 2694 790B sbc r23,r254095 2696 7093 0000 sts (DebugOut+44)+1,r234096 269a 6093 0000 sts DebugOut+44,r224097 269e 86E1 ldi r24,lo8(22)4098 26a0 90E0 ldi r25,hi8(22)4099 26a2 9093 0000 sts (DebugOut+46)+1,r254100 26a6 8093 0000 sts DebugOut+46,r244101 26aa 5092 0000 sts (DebugOut+48)+1,r54102 26ae 4092 0000 sts DebugOut+48,r44103 26b2 9092 0000 sts (DebugOut+50)+1,r94104 26b6 8092 0000 sts DebugOut+50,r84105 26ba 5093 0000 sts (DebugOut+52)+1,r214106 26be 4093 0000 sts DebugOut+52,r204107 26c2 3093 0000 sts (DebugOut+54)+1,r194108 26c6 2093 0000 sts DebugOut+54,r184109 26ca 8BE1 ldi r24,lo8(27)4110 26cc 90E0 ldi r25,hi8(27)4111 26ce 9093 0000 sts (DebugOut+56)+1,r254112 26d2 8093 0000 sts DebugOut+56,r244113 26d6 A090 0000 lds r10,StickNick4114 26da B090 0000 lds r11,(StickNick)+14115 26de B092 0000 sts (DebugOut+58)+1,r114116 26e2 A092 0000 sts DebugOut+58,r104117 26e6 C090 0000 lds r12,StickRoll4118 26ea D090 0000 lds r13,(StickRoll)+14119 26ee D092 0000 sts (DebugOut+60)+1,r134120 26f2 C092 0000 sts DebugOut+60,r124121 26f6 8091 0000 lds r24,debugNickNoisePeak4122 26fa 9091 0000 lds r25,(debugNickNoisePeak)+14123 26fe 9093 0000 sts (DebugOut+62)+1,r254124 2702 8093 0000 sts DebugOut+62,r244125 2706 8091 0000 lds r24,debugRollNoisePeak4126 270a 9091 0000 lds r25,(debugRollNoisePeak)+14127 270e 9093 0000 sts (DebugOut+64)+1,r254128 2712 8093 0000 sts DebugOut+64,r244129 2716 0C94 0000 jmp .L4224130 .L474:4131 271a 8091 0000 lds r24,CompassCalState4132 271e 8823 tst r244133 2720 01F0 breq .+24134 2722 00C0 rjmp .L5314135 .L405:4136 2724 6091 0000 lds r22,IntegralGyroNick4137 2728 7091 0000 lds r23,(IntegralGyroNick)+14138 272c 8091 0000 lds r24,(IntegralGyroNick)+24139 2730 9091 0000 lds r25,(IntegralGyroNick)+34140 2734 20E0 ldi r18,lo8(512)4141 2736 32E0 ldi r19,hi8(512)4142 2738 40E0 ldi r20,hlo8(512)4143 273a 50E0 ldi r21,hhi8(512)4144 273c 0E94 0000 call __divmodsi44145 2740 8901 movw r16,r184146 2742 37FD sbrc r19,74147 2744 00C0 rjmp .L5324148 .L406:4149 2746 6091 0000 lds r22,IntegralGyroRoll4150 274a 7091 0000 lds r23,(IntegralGyroRoll)+14151 274e 8091 0000 lds r24,(IntegralGyroRoll)+24152 2752 9091 0000 lds r25,(IntegralGyroRoll)+34153 2756 20E0 ldi r18,lo8(512)4154 2758 32E0 ldi r19,hi8(512)4155 275a 40E0 ldi r20,hlo8(512)4156 275c 50E0 ldi r21,hhi8(512)4157 275e 0E94 0000 call __divmodsi44158 2762 5901 movw r10,r184159 2764 37FD sbrc r19,74160 2766 00C0 rjmp .L5334161 .L407:4162 2768 A016 cp r10,r164163 276a B106 cpc r11,r174164 276c 04F4 brge .L4084165 276e 5801 movw r10,r164166 .L408:4167 2770 C090 0000 lds r12,CompassHeading4168 2774 D090 0000 lds r13,(CompassHeading)+14169 2778 D7FC sbrc r13,74170 277a 00C0 rjmp .L5344171 277c 4CE1 ldi r20,lo8(540)4172 277e 52E0 ldi r21,hi8(540)4173 2780 C40E add r12,r204174 2782 D51E adc r13,r214175 2784 7601 movw r14,r124176 2786 0027 clr r164177 2788 F7FC sbrc r15,74178 278a 0095 com r164179 278c 102F mov r17,r164180 278e 64EE ldi r22,lo8(-540)4181 2790 7DEF ldi r23,hi8(-540)4182 2792 C60E add r12,r224183 2794 D71E adc r13,r234184 2796 6091 0000 lds r22,YawGyroHeading4185 279a 7091 0000 lds r23,(YawGyroHeading)+14186 279e 8091 0000 lds r24,(YawGyroHeading)+24187 27a2 9091 0000 lds r25,(YawGyroHeading)+34188 27a6 20E0 ldi r18,lo8(512)4189 27a8 32E0 ldi r19,hi8(512)4190 27aa 40E0 ldi r20,hlo8(512)4191 27ac 50E0 ldi r21,hhi8(512)4192 27ae 0E94 0000 call __divmodsi44193 27b2 E21A sub r14,r184194 27b4 F30A sbc r15,r194195 27b6 040B sbc r16,r204196 27b8 150B sbc r17,r214197 27ba C801 movw r24,r164198 27bc B701 movw r22,r144199 27be 28E6 ldi r18,lo8(360)4200 27c0 31E0 ldi r19,hi8(360)4201 27c2 40E0 ldi r20,hlo8(360)4202 27c4 50E0 ldi r21,hhi8(360)4203 27c6 0E94 0000 call __divmodsi44204 27ca 645B subi r22,lo8(-(-180))4205 27cc 7040 sbci r23,hi8(-(-180))4206 .L410:4207 27ce 8091 0000 lds r24,GyroYaw4208 27d2 9091 0000 lds r25,(GyroYaw)+14209 27d6 9C87 std Y+12,r254210 27d8 8B87 std Y+11,r244211 27da 9C01 movw r18,r244212 27dc 97FD sbrc r25,74213 27de 00C0 rjmp .L5354214 .L412:4215 27e0 2138 cpi r18,1294216 27e2 3105 cpc r19,__zero_reg__4217 27e4 04F4 brge .+24218 27e6 00C0 rjmp .L4114219 27e8 EE24 clr r144220 27ea FF24 clr r154221 .L413:4222 27ec 0091 0000 lds r16,BadCompassHeading4223 27f0 1091 0000 lds r17,(BadCompassHeading)+14224 27f4 0115 cp r16,__zero_reg__4225 27f6 1105 cpc r17,__zero_reg__4226 27f8 01F4 brne .L4144227 27fa 99E1 ldi r25,lo8(25)4228 27fc A916 cp r10,r254229 27fe B104 cpc r11,__zero_reg__4230 2800 04F4 brge .+24231 2802 00C0 rjmp .L5364232 .L414:4233 2804 B501 movw r22,r104234 2806 7595 asr r234235 2808 6795 ror r224236 280a 7595 asr r234237 280c 6795 ror r224238 280e 7595 asr r234239 2810 6795 ror r224240 2812 6F5F subi r22,lo8(-(1))4241 2814 7F4F sbci r23,hi8(-(1))4242 2816 C701 movw r24,r144243 2818 0E94 0000 call __divmodhi44244 281c 9B01 movw r18,r224245 281e 4427 clr r204246 2820 37FD sbrc r19,74247 2822 4095 com r204248 2824 542F mov r21,r204249 2826 8091 0000 lds r24,YawGyroHeading4250 282a 9091 0000 lds r25,(YawGyroHeading)+14251 282e A091 0000 lds r26,(YawGyroHeading)+24252 2832 B091 0000 lds r27,(YawGyroHeading)+34253 2836 280F add r18,r244254 2838 391F adc r19,r254255 283a 4A1F adc r20,r264256 283c 5B1F adc r21,r274257 283e 2093 0000 sts YawGyroHeading,r184258 2842 3093 0000 sts (YawGyroHeading)+1,r194259 2846 4093 0000 sts (YawGyroHeading)+2,r204260 284a 5093 0000 sts (YawGyroHeading)+3,r214261 284e 8091 0000 lds r24,FCParam+44262 2852 882E mov r8,r244263 2854 9924 clr r94264 2856 A89C mul r10,r84265 2858 C001 movw r24,r04266 285a A99C mul r10,r94267 285c 900D add r25,r04268 285e B89C mul r11,r84269 2860 900D add r25,r04270 2862 1124 clr r14271 2864 97FD sbrc r25,74272 2866 00C0 rjmp .L5374273 .L415:4274 2868 9595 asr r254275 286a 8795 ror r244276 286c 9595 asr r254277 286e 8795 ror r244278 2870 9595 asr r254279 2872 8795 ror r244280 2874 9595 asr r254281 2876 8795 ror r244282 2878 9595 asr r254283 287a 8795 ror r244284 287c 6401 movw r12,r84285 287e C81A sub r12,r244286 2880 D90A sbc r13,r254287 2882 D7FC sbrc r13,74288 2884 00C0 rjmp .L4164289 2886 0115 cp r16,__zero_reg__4290 2888 1105 cpc r17,__zero_reg__4291 288a 01F0 breq .+24292 288c 00C0 rjmp .L4174293 288e A090 0000 lds r10,MaxStickRoll4294 2892 B090 0000 lds r11,(MaxStickRoll)+14295 2896 8091 0000 lds r24,MaxStickNick4296 289a 9091 0000 lds r25,(MaxStickNick)+14297 289e A80E add r10,r244298 28a0 B91E adc r11,r254299 28a2 B7FC sbrc r11,74300 28a4 00C0 rjmp .L5384301 .L418:4302 28a6 B594 asr r114303 28a8 A794 ror r104304 28aa B594 asr r114305 28ac A794 ror r104306 28ae B594 asr r114307 28b0 A794 ror r104308 28b2 60E4 ldi r22,lo8(64)4309 28b4 70E0 ldi r23,hi8(64)4310 28b6 A60E add r10,r224311 28b8 B71E adc r11,r234312 28ba 8091 0000 lds r24,CompassCourse4313 28be 9091 0000 lds r25,(CompassCourse)+14314 28c2 AA27 clr r264315 28c4 97FD sbrc r25,74316 28c6 A095 com r264317 28c8 BA2F mov r27,r264318 28ca 1CE1 ldi r17,lo8(540)4319 28cc E12E mov r14,r174320 28ce 12E0 ldi r17,hi8(540)4321 28d0 F12E mov r15,r174322 28d2 012D mov r16,__zero_reg__4323 28d4 112D mov r17,__zero_reg__4324 28d6 E81A sub r14,r244325 28d8 F90A sbc r15,r254326 28da 0A0B sbc r16,r264327 28dc 1B0B sbc r17,r274328 28de CA01 movw r24,r204329 28e0 B901 movw r22,r184330 28e2 20E0 ldi r18,lo8(512)4331 28e4 32E0 ldi r19,hi8(512)4332 28e6 40E0 ldi r20,hlo8(512)4333 28e8 50E0 ldi r21,hhi8(512)4334 28ea 0E94 0000 call __divmodsi44335 28ee E20E add r14,r184336 28f0 F31E adc r15,r194337 28f2 041F adc r16,r204338 28f4 151F adc r17,r214339 28f6 C801 movw r24,r164340 28f8 B701 movw r22,r144341 28fa 28E6 ldi r18,lo8(360)4342 28fc 31E0 ldi r19,hi8(360)4343 28fe 40E0 ldi r20,hlo8(360)4344 2900 50E0 ldi r21,hhi8(360)4345 2902 0E94 0000 call __divmodsi44346 2906 645B subi r22,lo8(-(-180))4347 2908 7040 sbci r23,hi8(-(-180))4348 290a 6C9D mul r22,r124349 290c C001 movw r24,r04350 290e 6D9D mul r22,r134351 2910 900D add r25,r04352 2912 7C9D mul r23,r124353 2914 900D add r25,r04354 2916 1124 clr r14355 2918 B501 movw r22,r104356 291a 0E94 0000 call __divmodhi44357 291e C401 movw r24,r84358 2920 880F lsl r244359 2922 991F rol r254360 2924 880D add r24,r84361 2926 991D adc r25,r94362 2928 8617 cp r24,r224363 292a 9707 cpc r25,r234364 292c 04F0 brlt .+24365 292e 00C0 rjmp .L4194366 2930 BC01 movw r22,r244367 .L420:4368 2932 9B01 movw r18,r224369 2934 4427 clr r204370 2936 37FD sbrc r19,74371 2938 4095 com r204372 293a 542F mov r21,r204373 293c 8091 0000 lds r24,ReadingIntegralGyroYaw4374 2940 9091 0000 lds r25,(ReadingIntegralGyroYaw)+14375 2944 A091 0000 lds r26,(ReadingIntegralGyroYaw)+24376 2948 B091 0000 lds r27,(ReadingIntegralGyroYaw)+34377 294c 820F add r24,r184378 294e 931F adc r25,r194379 2950 A41F adc r26,r204380 2952 B51F adc r27,r214381 2954 8093 0000 sts ReadingIntegralGyroYaw,r244382 2958 9093 0000 sts (ReadingIntegralGyroYaw)+1,r254383 295c A093 0000 sts (ReadingIntegralGyroYaw)+2,r264384 2960 B093 0000 sts (ReadingIntegralGyroYaw)+3,r274385 2964 0C94 0000 jmp .L4044386 .L402:4387 2968 2155 subi r18,lo8(50001)4388 296a 334C sbci r19,hi8(50001)4389 296c 4040 sbci r20,hlo8(50001)4390 296e 5040 sbci r21,hhi8(50001)4391 2970 04F4 brge .+44392 2972 0C94 0000 jmp .L4034393 2976 80E5 ldi r24,lo8(50000)4394 2978 93EC ldi r25,hi8(50000)4395 297a A0E0 ldi r26,hlo8(50000)4396 297c B0E0 ldi r27,hhi8(50000)4397 297e 8093 0000 sts ReadingIntegralGyroYaw,r244398 2982 9093 0000 sts (ReadingIntegralGyroYaw)+1,r254399 2986 A093 0000 sts (ReadingIntegralGyroYaw)+2,r264400 298a B093 0000 sts (ReadingIntegralGyroYaw)+3,r274401 298e 0C94 0000 jmp .L4034402 .L279:4403 2992 2998 cbi 37-0x20,14404 2994 0C94 0000 jmp .L2804405 .L529:4406 2998 9887 std Y+8,r254407 299a 8F83 std Y+7,r244408 299c 81E0 ldi r24,lo8(1)4409 299e 8093 0000 sts FunnelCourse,r244410 29a2 0C94 0000 jmp .L3874411 .L515:4412 29a6 9B01 movw r18,r224413 29a8 77FD sbrc r23,74414 29aa 00C0 rjmp .L5394415 .L366:4416 29ac C901 movw r24,r184417 29ae 9595 asr r254418 29b0 8795 ror r244419 29b2 9595 asr r254420 29b4 8795 ror r244421 29b6 9093 0000 sts (MaxStickNick)+1,r254422 29ba 8093 0000 sts MaxStickNick,r244423 29be 8536 cpi r24,1014424 29c0 9105 cpc r25,__zero_reg__4425 29c2 04F4 brge .+24426 29c4 00C0 rjmp .L3674427 29c6 84E6 ldi r24,lo8(100)4428 29c8 90E0 ldi r25,hi8(100)4429 29ca 9093 0000 sts (MaxStickNick)+1,r254430 29ce 8093 0000 sts MaxStickNick,r244431 29d2 00C0 rjmp .L3674432 .L512:4433 29d4 1092 0000 sts GyroIFactor,__zero_reg__4434 29d8 00C0 rjmp .L3624435 .L530:4436 29da 80E5 ldi r24,lo8(80)4437 29dc 90E0 ldi r25,hi8(80)4438 29de 9C01 movw r18,r244439 29e0 5FEF ldi r21,hi8(-80)4440 29e2 803B cpi r24,lo8(-80)4441 29e4 9507 cpc r25,r214442 29e6 04F0 brlt .+44443 29e8 0C94 0000 jmp .L4394444 29ec 00C0 rjmp .L5404445 .L494:4446 29ee C601 movw r24,r124447 29f0 0C94 0000 jmp .L4584448 .L492:4449 29f4 3C01 movw r6,r244450 29f6 0C94 0000 jmp .L4434451 .L531:4452 29fa 8091 0000 lds r24,MKFlags4453 29fe 80FD sbrc r24,04454 2a00 00C0 rjmp .L4054455 2a02 0E94 0000 call SetCompassCalState4456 2a06 3090 0000 lds r3,LoopingNick4457 2a0a 2091 0000 lds r18,GyroYaw4458 2a0e 3091 0000 lds r19,(GyroYaw)+14459 2a12 3C87 std Y+12,r194460 2a14 2B87 std Y+11,r184461 2a16 0C94 0000 jmp .L4044462 .L482:4463 2a1a 0197 sbiw r24,14464 2a1c 9093 0000 sts (RcLostTimer.1981)+1,r254465 2a20 8093 0000 sts RcLostTimer.1981,r244466 2a24 8AE0 ldi r24,lo8(10)4467 2a26 D816 cp r13,r244468 2a28 01F0 breq .+44469 2a2a 0C94 0000 jmp .L5414470 .L286:4471 2a2e 289A sbi 37-0x20,04472 2a30 0C94 0000 jmp .L2884473 .L491:4474 2a34 9201 movw r18,r44475 2a36 3595 asr r194476 2a38 2795 ror r184477 2a3a E216 cp r14,r184478 2a3c F306 cpc r15,r194479 2a3e 04F0 brlt .+44480 2a40 0C94 0000 jmp .L4394481 2a44 9701 movw r18,r144482 2a46 0C94 0000 jmp .L4394483 .L489:4484 2a4a 8F81 ldd r24,Y+74485 2a4c 9885 ldd r25,Y+84486 2a4e 892B or r24,r254487 2a50 01F4 brne .+44488 2a52 0C94 0000 jmp .L4334489 2a56 81E0 ldi r24,lo8(1)4490 2a58 90E0 ldi r25,hi8(1)4491 2a5a 9093 0000 sts (ModelIsFlying)+1,r254492 2a5e 8093 0000 sts ModelIsFlying,r244493 2a62 0C94 0000 jmp .L4334494 .L487:4495 2a66 81E0 ldi r24,lo8(1)4496 2a68 90E0 ldi r25,hi8(1)4497 2a6a 9093 0000 sts (UpdateCompassCourse.1986)+1,r254498 2a6e 8093 0000 sts UpdateCompassCourse.1986,r244499 2a72 0C94 0000 jmp .L3994500 .L485:4501 2a76 8091 0000 lds r24,FCParam+154502 2a7a 8823 tst r244503 2a7c 01F0 breq .+44504 2a7e 0C94 0000 jmp .L3964505 2a82 8091 0000 lds r24,filteredHiResRollGyro4506 2a86 9091 0000 lds r25,(filteredHiResRollGyro)+14507 2a8a AA27 clr r264508 2a8c 97FD sbrc r25,74509 2a8e A095 com r264510 2a90 BA2F mov r27,r264511 2a92 E816 cp r14,r244512 2a94 F906 cpc r15,r254513 2a96 0A07 cpc r16,r264514 2a98 1B07 cpc r17,r274515 2a9a 04F0 brlt .+24516 2a9c 00C0 rjmp .L3984517 2a9e 2091 0000 lds r18,IntegralGyroRoll4518 2aa2 3091 0000 lds r19,(IntegralGyroRoll)+14519 2aa6 4091 0000 lds r20,(IntegralGyroRoll)+24520 2aaa 5091 0000 lds r21,(IntegralGyroRoll)+34521 2aae 1216 cp __zero_reg__,r184522 2ab0 1306 cpc __zero_reg__,r194523 2ab2 1406 cpc __zero_reg__,r204524 2ab4 1506 cpc __zero_reg__,r214525 2ab6 04F0 brlt .+24526 2ab8 00C0 rjmp .L3984527 2aba C090 0000 lds r12,StickRoll4528 2abe D090 0000 lds r13,(StickRoll)+14529 2ac2 C814 cp r12,r84530 2ac4 D904 cpc r13,r94531 2ac6 04F4 brge .+24532 2ac8 00C0 rjmp .L3984533 2aca 6C14 cp r6,r124534 2acc 7D04 cpc r7,r134535 2ace 04F4 brge .+24536 2ad0 00C0 rjmp .L3984537 2ad2 8091 0000 lds r24,FCParam+174538 2ad6 8058 subi r24,lo8(-(-128))4539 2ad8 9927 clr r254540 2ada 87FD sbrc r24,74541 2adc 9095 com r254542 2ade A92F mov r26,r254543 2ae0 B92F mov r27,r254544 2ae2 8E0D add r24,r144545 2ae4 9F1D adc r25,r154546 2ae6 A01F adc r26,r164547 2ae8 B11F adc r27,r174548 2aea 8093 0000 sts vibrationOffsetRoll,r244549 2aee 9093 0000 sts (vibrationOffsetRoll)+1,r254550 2af2 A093 0000 sts (vibrationOffsetRoll)+2,r264551 2af6 B093 0000 sts (vibrationOffsetRoll)+3,r274552 .L480:4553 2afa 6091 0000 lds r22,FCParam+144554 2afe 70E0 ldi r23,lo8(0)4555 2b00 80E0 ldi r24,lo8(0)4556 2b02 90E0 ldi r25,hi8(0)4557 2b04 0E94 0000 call __mulsi34558 2b08 24E6 ldi r18,lo8(100)4559 2b0a 30E0 ldi r19,hi8(100)4560 2b0c 40E0 ldi r20,hlo8(100)4561 2b0e 50E0 ldi r21,hhi8(100)4562 2b10 0E94 0000 call __divmodsi44563 2b14 2093 0000 sts IntegralGyroRoll,r184564 2b18 3093 0000 sts (IntegralGyroRoll)+1,r194565 2b1c 4093 0000 sts (IntegralGyroRoll)+2,r204566 2b20 5093 0000 sts (IntegralGyroRoll)+3,r214567 2b24 0C94 0000 jmp .L3964568 .L368:4569 2b28 4150 subi r20,lo8(-(-1))4570 2b2a 5040 sbci r21,hi8(-(-1))4571 2b2c 5093 0000 sts (MaxStickRoll)+1,r214572 2b30 4093 0000 sts MaxStickRoll,r204573 2b34 00C0 rjmp .L3724574 .L348:4575 2b36 1092 0000 sts (delay_startmotors.1983)+1,__zero_reg__4576 2b3a 1092 0000 sts delay_startmotors.1983,__zero_reg__4577 .L350:4578 2b3e E091 0000 lds r30,ParamSet+34579 2b42 F0E0 ldi r31,lo8(0)4580 2b44 EE0F lsl r304581 2b46 FF1F rol r314582 2b48 E050 subi r30,lo8(-(PPM_in))4583 2b4a F040 sbci r31,hi8(-(PPM_in))4584 2b4c 8081 ld r24,Z4585 2b4e 9181 ldd r25,Z+14586 2b50 8C34 cpi r24,764587 2b52 9105 cpc r25,__zero_reg__4588 2b54 04F4 brge .+24589 2b56 00C0 rjmp .L3544590 2b58 8091 0000 lds r24,delay_stopmotors.19844591 2b5c 9091 0000 lds r25,(delay_stopmotors.1984)+14592 2b60 0196 adiw r24,14593 2b62 9093 0000 sts (delay_stopmotors.1984)+1,r254594 2b66 8093 0000 sts delay_stopmotors.1984,r244595 2b6a 893C cpi r24,2014596 2b6c 9105 cpc r25,__zero_reg__4597 2b6e 00F4 brsh .+44598 2b70 0C94 0000 jmp .L2904599 2b74 88EC ldi r24,lo8(200)4600 2b76 90E0 ldi r25,hi8(200)4601 2b78 9093 0000 sts (delay_stopmotors.1984)+1,r254602 2b7c 8093 0000 sts delay_stopmotors.1984,r244603 2b80 1092 0000 sts (ModelIsFlying)+1,__zero_reg__4604 2b84 1092 0000 sts ModelIsFlying,__zero_reg__4605 .L478:4606 2b88 8091 0000 lds r24,MKFlags4607 2b8c 8E7F andi r24,lo8(-2)4608 2b8e 8093 0000 sts MKFlags,r244609 2b92 0C94 0000 jmp .L2904610 .L411:4611 2b96 7B01 movw r14,r224612 2b98 EE0C lsl r144613 2b9a FF1C rol r154614 2b9c EE0C lsl r144615 2b9e FF1C rol r154616 2ba0 EE0C lsl r144617 2ba2 FF1C rol r154618 2ba4 00C0 rjmp .L4134619 .L486:4620 2ba6 8827 clr r244621 2ba8 9927 clr r254622 2baa 841B sub r24,r204623 2bac 950B sbc r25,r214624 2bae 0C94 0000 jmp .L4004625 .L493:4626 2bb2 2227 clr r184627 2bb4 3327 clr r194628 2bb6 2619 sub r18,r64629 2bb8 3709 sbc r19,r74630 2bba 0C94 0000 jmp .L4534631 .L488:4632 2bbe 2D5F subi r18,lo8(-(3))4633 2bc0 3F4F sbci r19,hi8(-(3))4634 2bc2 0C94 0000 jmp .L4014635 .L511:4636 2bc6 1092 0000 sts (StickGas)+1,__zero_reg__4637 2bca 1092 0000 sts StickGas,__zero_reg__4638 2bce 8091 0000 lds r24,ParamSet+84639 2bd2 82FF sbrs r24,24640 2bd4 00C0 rjmp .L3624641 2bd6 00C0 rjmp .L5124642 .L510:4643 2bd8 2250 subi r18,lo8(-(-2))4644 2bda 3040 sbci r19,hi8(-(-2))4645 2bdc 3093 0000 sts (StickYaw)+1,r194646 2be0 2093 0000 sts StickYaw,r184647 2be4 00C0 rjmp .L3574648 .L519:4649 2be6 84E6 ldi r24,lo8(100)4650 2be8 90E0 ldi r25,hi8(100)4651 2bea 9093 0000 sts (MaxStickRoll)+1,r254652 2bee 8093 0000 sts MaxStickRoll,r244653 2bf2 00C0 rjmp .L3724654 .L385:4655 2bf4 1092 0000 sts LoopingNick,__zero_reg__4656 2bf8 0C94 0000 jmp .L3564657 .L382:4658 2bfc 1092 0000 sts LoopingRoll,__zero_reg__4659 2c00 00C0 rjmp .L3834660 .L526:4661 2c02 81E0 ldi r24,lo8(1)4662 2c04 8093 0000 sts LoopingDown,r244663 2c08 00C0 rjmp .L3804664 .L524:4665 2c0a 81E0 ldi r24,lo8(1)4666 2c0c 8093 0000 sts LoopingTop,r244667 2c10 8091 0000 lds r24,ParamSet+404668 2c14 482F mov r20,r244669 2c16 50E0 ldi r21,lo8(0)4670 2c18 61E0 ldi r22,lo8(1)4671 2c1a 00C0 rjmp .L3784672 .L522:4673 2c1c 81E0 ldi r24,lo8(1)4674 2c1e 8093 0000 sts LoopingRight,r244675 2c22 8091 0000 lds r24,ParamSet+404676 2c26 482F mov r20,r244677 2c28 50E0 ldi r21,lo8(0)4678 2c2a 00C0 rjmp .L3764679 .L520:4680 2c2c 81E0 ldi r24,lo8(1)4681 2c2e 8093 0000 sts LoopingLeft,r244682 2c32 71E0 ldi r23,lo8(1)4683 2c34 00C0 rjmp .L3744684 .L417:4685 2c36 0150 subi r16,lo8(-(-1))4686 2c38 1040 sbci r17,hi8(-(-1))4687 2c3a 1093 0000 sts (BadCompassHeading)+1,r174688 2c3e 0093 0000 sts BadCompassHeading,r164689 2c42 0C94 0000 jmp .L4044690 .L521:4691 2c46 1092 0000 sts LoopingLeft,__zero_reg__4692 2c4a 8091 0000 lds r24,ParamSet+14693 2c4e A82F mov r26,r244694 2c50 B0E0 ldi r27,lo8(0)4695 2c52 8091 0000 lds r24,ParamSet+404696 2c56 482F mov r20,r244697 2c58 50E0 ldi r21,lo8(0)4698 2c5a AA0F lsl r264699 2c5c BB1F rol r274700 2c5e 70E0 ldi r23,lo8(0)4701 2c60 00C0 rjmp .L3744702 .L525:4703 2c62 1092 0000 sts LoopingTop,__zero_reg__4704 2c66 8091 0000 lds r24,ParamSet4705 2c6a A82F mov r26,r244706 2c6c B0E0 ldi r27,lo8(0)4707 2c6e 8091 0000 lds r24,ParamSet+404708 2c72 482F mov r20,r244709 2c74 50E0 ldi r21,lo8(0)4710 2c76 AA0F lsl r264711 2c78 BB1F rol r274712 2c7a 60E0 ldi r22,lo8(0)4713 2c7c 00C0 rjmp .L3784714 .L523:4715 2c7e 1092 0000 sts LoopingRight,__zero_reg__4716 2c82 8091 0000 lds r24,ParamSet+404717 2c86 482F mov r20,r244718 2c88 50E0 ldi r21,lo8(0)4719 2c8a 00C0 rjmp .L3764720 .L527:4721 2c8c 1092 0000 sts LoopingDown,__zero_reg__4722 2c90 00C0 rjmp .L3804723 .L292:4724 2c92 8091 0000 lds r24,MKFlags4725 2c96 8260 ori r24,lo8(2)4726 2c98 8093 0000 sts MKFlags,r244727 2c9c 0C94 0000 jmp .L2934728 .L536:4729 2ca0 8091 0000 lds r24,UpdateCompassCourse.19864730 2ca4 9091 0000 lds r25,(UpdateCompassCourse.1986)+14731 2ca8 892B or r24,r254732 2caa 01F4 brne .+24733 2cac 00C0 rjmp .L4144734 2cae 88EC ldi r24,lo8(200)4735 2cb0 90E0 ldi r25,hi8(200)4736 2cb2 9093 0000 sts (BeepTime)+1,r254737 2cb6 8093 0000 sts BeepTime,r244738 2cba B601 movw r22,r124739 2cbc 8827 clr r244740 2cbe 77FD sbrc r23,74741 2cc0 8095 com r244742 2cc2 982F mov r25,r244743 2cc4 F9E0 ldi r31,94744 2cc6 660F 1: lsl r224745 2cc8 771F rol r234746 2cca 881F rol r244747 2ccc 991F rol r254748 2cce FA95 dec r314749 2cd0 01F4 brne 1b4750 2cd2 6093 0000 sts YawGyroHeading,r224751 2cd6 7093 0000 sts (YawGyroHeading)+1,r234752 2cda 8093 0000 sts (YawGyroHeading)+2,r244753 2cde 9093 0000 sts (YawGyroHeading)+3,r254754 2ce2 20E0 ldi r18,lo8(512)4755 2ce4 32E0 ldi r19,hi8(512)4756 2ce6 40E0 ldi r20,hlo8(512)4757 2ce8 50E0 ldi r21,hhi8(512)4758 2cea 0E94 0000 call __divmodsi44759 2cee 3093 0000 sts (CompassCourse)+1,r194760 2cf2 2093 0000 sts CompassCourse,r184761 2cf6 1092 0000 sts (UpdateCompassCourse.1986)+1,__zero_reg__4762 2cfa 1092 0000 sts UpdateCompassCourse.1986,__zero_reg__4763 2cfe 00C0 rjmp .L4144764 .L490:4765 2d00 0196 adiw r24,14766 2d02 0C94 0000 jmp .L4384767 .L484:4768 2d06 9095 com r254769 2d08 8195 neg r244770 2d0a 9F4F sbci r25,lo8(-1)4771 2d0c C816 cp r12,r244772 2d0e D906 cpc r13,r254773 2d10 04F4 brge .+44774 2d12 0C94 0000 jmp .L3964775 2d16 00C0 rjmp .L4854776 .L483:4777 2d18 9095 com r254778 2d1a 8195 neg r244779 2d1c 9F4F sbci r25,lo8(-1)4780 2d1e 8C15 cp r24,r124781 2d20 9D05 cpc r25,r134782 2d22 04F0 brlt .+44783 2d24 0C94 0000 jmp .L3934784 2d28 0C94 0000 jmp .L5424785 .L481:4786 2d2c 88E9 ldi r24,lo8(15000)4787 2d2e 9AE3 ldi r25,hi8(15000)4788 2d30 9093 0000 sts (BeepTime)+1,r254789 2d34 8093 0000 sts BeepTime,r244790 2d38 80E0 ldi r24,lo8(3072)4791 2d3a 9CE0 ldi r25,hi8(3072)4792 2d3c 9093 0000 sts (BeepModulation)+1,r254793 2d40 8093 0000 sts BeepModulation,r244794 2d44 0C94 0000 jmp .L2834795 .L398:4796 2d48 8091 0000 lds r24,filteredHiResRollGyro4797 2d4c 9091 0000 lds r25,(filteredHiResRollGyro)+14798 2d50 AA27 clr r264799 2d52 97FD sbrc r25,74800 2d54 A095 com r264801 2d56 BA2F mov r27,r264802 2d58 8E15 cp r24,r144803 2d5a 9F05 cpc r25,r154804 2d5c A007 cpc r26,r164805 2d5e B107 cpc r27,r174806 2d60 04F0 brlt .+44807 2d62 0C94 0000 jmp .L3964808 2d66 2091 0000 lds r18,IntegralGyroRoll4809 2d6a 3091 0000 lds r19,(IntegralGyroRoll)+14810 2d6e 4091 0000 lds r20,(IntegralGyroRoll)+24811 2d72 5091 0000 lds r21,(IntegralGyroRoll)+34812 2d76 57FD sbrc r21,74813 2d78 00C0 rjmp .+44814 2d7a 0C94 0000 jmp .L3964815 2d7e C090 0000 lds r12,StickRoll4816 2d82 D090 0000 lds r13,(StickRoll)+14817 2d86 8827 clr r244818 2d88 9927 clr r254819 2d8a 8819 sub r24,r84820 2d8c 9909 sbc r25,r94821 2d8e 8C15 cp r24,r124822 2d90 9D05 cpc r25,r134823 2d92 04F4 brge .+44824 2d94 0C94 0000 jmp .L3964825 2d98 8827 clr r244826 2d9a 9927 clr r254827 2d9c 8619 sub r24,r64828 2d9e 9709 sbc r25,r74829 2da0 C816 cp r12,r244830 2da2 D906 cpc r13,r254831 2da4 04F4 brge .+44832 2da6 0C94 0000 jmp .L3964833 2daa 8091 0000 lds r24,FCParam+174834 2dae 8058 subi r24,lo8(-(-128))4835 2db0 9927 clr r254836 2db2 87FD sbrc r24,74837 2db4 9095 com r254838 2db6 A92F mov r26,r254839 2db8 B92F mov r27,r254840 2dba E81A sub r14,r244841 2dbc F90A sbc r15,r254842 2dbe 0A0B sbc r16,r264843 2dc0 1B0B sbc r17,r274844 2dc2 E092 0000 sts vibrationOffsetRoll,r144845 2dc6 F092 0000 sts (vibrationOffsetRoll)+1,r154846 2dca 0093 0000 sts (vibrationOffsetRoll)+2,r164847 2dce 1093 0000 sts (vibrationOffsetRoll)+3,r174848 2dd2 00C0 rjmp .L4804849 .L395:4850 2dd4 8091 0000 lds r24,filteredHiResPitchGyro4851 2dd8 9091 0000 lds r25,(filteredHiResPitchGyro)+14852 2ddc AA27 clr r264853 2dde 97FD sbrc r25,74854 2de0 A095 com r264855 2de2 BA2F mov r27,r264856 2de4 8E15 cp r24,r144857 2de6 9F05 cpc r25,r154858 2de8 A007 cpc r26,r164859 2dea B107 cpc r27,r174860 2dec 04F0 brlt .+44861 2dee 0C94 0000 jmp .L3934862 2df2 2091 0000 lds r18,IntegralGyroNick4863 2df6 3091 0000 lds r19,(IntegralGyroNick)+14864 2dfa 4091 0000 lds r20,(IntegralGyroNick)+24865 2dfe 5091 0000 lds r21,(IntegralGyroNick)+34866 2e02 57FD sbrc r21,74867 2e04 00C0 rjmp .+44868 2e06 0C94 0000 jmp .L3934869 2e0a A090 0000 lds r10,StickNick4870 2e0e B090 0000 lds r11,(StickNick)+14871 2e12 8827 clr r244872 2e14 9927 clr r254873 2e16 8819 sub r24,r84874 2e18 9909 sbc r25,r94875 2e1a 8A15 cp r24,r104876 2e1c 9B05 cpc r25,r114877 2e1e 04F4 brge .+44878 2e20 0C94 0000 jmp .L3934879 2e24 8827 clr r244880 2e26 9927 clr r254881 2e28 8619 sub r24,r64882 2e2a 9709 sbc r25,r74883 2e2c A816 cp r10,r244884 2e2e B906 cpc r11,r254885 2e30 04F4 brge .+44886 2e32 0C94 0000 jmp .L3934887 2e36 8091 0000 lds r24,FCParam+164888 2e3a 8058 subi r24,lo8(-(-128))4889 2e3c 9927 clr r254890 2e3e 87FD sbrc r24,74891 2e40 9095 com r254892 2e42 A92F mov r26,r254893 2e44 B92F mov r27,r254894 2e46 E81A sub r14,r244895 2e48 F90A sbc r15,r254896 2e4a 0A0B sbc r16,r264897 2e4c 1B0B sbc r17,r274898 2e4e E092 0000 sts vibrationOffsetNick,r144899 2e52 F092 0000 sts (vibrationOffsetNick)+1,r154900 2e56 0093 0000 sts (vibrationOffsetNick)+2,r164901 2e5a 1093 0000 sts (vibrationOffsetNick)+3,r174902 2e5e 0C94 0000 jmp .L4794903 .L517:4904 2e62 3095 com r194905 2e64 2195 neg r184906 2e66 3F4F sbci r19,lo8(-1)4907 2e68 00C0 rjmp .L3704908 .L516:4909 2e6a 2D5F subi r18,lo8(-(3))4910 2e6c 3F4F sbci r19,hi8(-(3))4911 2e6e 00C0 rjmp .L3694912 .L513:4913 2e70 2D5F subi r18,lo8(-(3))4914 2e72 3F4F sbci r19,hi8(-(3))4915 2e74 3595 asr r194916 2e76 2795 ror r184917 2e78 3595 asr r194918 2e7a 2795 ror r184919 2e7c 37FF sbrs r19,74920 2e7e 00C0 rjmp .L3654921 .L514:4922 2e80 3095 com r194923 2e82 2195 neg r184924 2e84 3F4F sbci r19,lo8(-1)4925 2e86 00C0 rjmp .L3654926 .L534:4927 2e88 60E0 ldi r22,lo8(0)4928 2e8a 70E0 ldi r23,hi8(0)4929 2e8c 00C0 rjmp .L4104930 .L416:4931 2e8e 84EF ldi r24,lo8(500)4932 2e90 91E0 ldi r25,hi8(500)4933 2e92 9093 0000 sts (BadCompassHeading)+1,r254934 2e96 8093 0000 sts BadCompassHeading,r244935 2e9a 0C94 0000 jmp .L4044936 .L298:4937 2e9e 8081 ld r24,Z4938 2ea0 9181 ldd r25,Z+14939 2ea2 8259 subi r24,lo8(-(110))4940 2ea4 9F4F sbci r25,hi8(-(110))4941 2ea6 8A15 cp r24,r104942 2ea8 9B05 cpc r25,r114943 2eaa 04F0 brlt .+44944 2eac 0C94 0000 jmp .L2994945 2eb0 A114 cp r10,__zero_reg__4946 2eb2 B104 cpc r11,__zero_reg__4947 2eb4 01F4 brne .+44948 2eb6 0C94 0000 jmp .L2994949 2eba C501 movw r24,r104950 2ebc 0197 sbiw r24,14951 2ebe 9093 0000 sts (Poti3)+1,r254952 2ec2 8093 0000 sts Poti3,r244953 2ec6 5C01 movw r10,r244954 2ec8 0C94 0000 jmp .L2994955 .L296:4956 2ecc 8081 ld r24,Z4957 2ece 9181 ldd r25,Z+14958 2ed0 8259 subi r24,lo8(-(110))4959 2ed2 9F4F sbci r25,hi8(-(110))4960 2ed4 8017 cp r24,r164961 2ed6 9107 cpc r25,r174962 2ed8 04F0 brlt .+44963 2eda 0C94 0000 jmp .L2974964 2ede 0115 cp r16,__zero_reg__4965 2ee0 1105 cpc r17,__zero_reg__4966 2ee2 01F4 brne .+44967 2ee4 0C94 0000 jmp .L2974968 2ee8 C801 movw r24,r164969 2eea 0197 sbiw r24,14970 2eec 9093 0000 sts (Poti2)+1,r254971 2ef0 8093 0000 sts Poti2,r244972 2ef4 8C01 movw r16,r244973 2ef6 0C94 0000 jmp .L2974974 .L294:4975 2efa 8081 ld r24,Z4976 2efc 9181 ldd r25,Z+14977 2efe 8259 subi r24,lo8(-(110))4978 2f00 9F4F sbci r25,hi8(-(110))4979 2f02 8E15 cp r24,r144980 2f04 9F05 cpc r25,r154981 2f06 04F0 brlt .+44982 2f08 0C94 0000 jmp .L2954983 2f0c E114 cp r14,__zero_reg__4984 2f0e F104 cpc r15,__zero_reg__4985 2f10 01F4 brne .+44986 2f12 0C94 0000 jmp .L2954987 2f16 C701 movw r24,r144988 2f18 0197 sbiw r24,14989 2f1a 9093 0000 sts (Poti1)+1,r254990 2f1e 8093 0000 sts Poti1,r244991 2f22 7C01 movw r14,r244992 2f24 0C94 0000 jmp .L2954993 .L308:4994 2f28 8091 0000 lds r24,PPM_in+244995 2f2c 9091 0000 lds r25,(PPM_in+24)+14996 2f30 8259 subi r24,lo8(-(110))4997 2f32 9F4F sbci r25,hi8(-(110))4998 2f34 8217 cp r24,r184999 2f36 9307 cpc r25,r195000 2f38 04F0 brlt .+45001 2f3a 0C94 0000 jmp .L3095002 2f3e 2115 cp r18,__zero_reg__5003 2f40 3105 cpc r19,__zero_reg__5004 2f42 01F4 brne .+45005 2f44 0C94 0000 jmp .L3095006 2f48 C901 movw r24,r185007 2f4a 0197 sbiw r24,15008 2f4c 9093 0000 sts (Poti8)+1,r255009 2f50 8093 0000 sts Poti8,r245010 2f54 9C01 movw r18,r245011 2f56 0C94 0000 jmp .L3095012 .L306:5013 2f5a 8091 0000 lds r24,PPM_in+225014 2f5e 9091 0000 lds r25,(PPM_in+22)+15015 2f62 8259 subi r24,lo8(-(110))5016 2f64 9F4F sbci r25,hi8(-(110))5017 2f66 8417 cp r24,r205018 2f68 9507 cpc r25,r215019 2f6a 04F0 brlt .+45020 2f6c 0C94 0000 jmp .L3075021 2f70 4115 cp r20,__zero_reg__5022 2f72 5105 cpc r21,__zero_reg__5023 2f74 01F4 brne .+45024 2f76 0C94 0000 jmp .L3075025 2f7a CA01 movw r24,r205026 2f7c 0197 sbiw r24,15027 2f7e 9093 0000 sts (Poti7)+1,r255028 2f82 8093 0000 sts Poti7,r245029 2f86 AC01 movw r20,r245030 2f88 0C94 0000 jmp .L3075031 .L304:5032 2f8c 8091 0000 lds r24,PPM_in+205033 2f90 9091 0000 lds r25,(PPM_in+20)+15034 2f94 8259 subi r24,lo8(-(110))5035 2f96 9F4F sbci r25,hi8(-(110))5036 2f98 8617 cp r24,r225037 2f9a 9707 cpc r25,r235038 2f9c 04F0 brlt .+45039 2f9e 0C94 0000 jmp .L3055040 2fa2 6115 cp r22,__zero_reg__5041 2fa4 7105 cpc r23,__zero_reg__5042 2fa6 01F4 brne .+45043 2fa8 0C94 0000 jmp .L3055044 2fac CB01 movw r24,r225045 2fae 0197 sbiw r24,15046 2fb0 9093 0000 sts (Poti6)+1,r255047 2fb4 8093 0000 sts Poti6,r245048 2fb8 BC01 movw r22,r245049 2fba 0C94 0000 jmp .L3055050 .L302:5051 2fbe 8091 0000 lds r24,PPM_in+185052 2fc2 9091 0000 lds r25,(PPM_in+18)+15053 2fc6 8259 subi r24,lo8(-(110))5054 2fc8 9F4F sbci r25,hi8(-(110))5055 2fca 8E17 cp r24,r305056 2fcc 9F07 cpc r25,r315057 2fce 04F0 brlt .+45058 2fd0 0C94 0000 jmp .L3035059 2fd4 3097 sbiw r30,05060 2fd6 01F4 brne .+45061 2fd8 0C94 0000 jmp .L3035062 2fdc CF01 movw r24,r305063 2fde 0197 sbiw r24,15064 2fe0 9093 0000 sts (Poti5)+1,r255065 2fe4 8093 0000 sts Poti5,r245066 2fe8 FC01 movw r30,r245067 2fea 0C94 0000 jmp .L3035068 .L300:5069 2fee 8081 ld r24,Z5070 2ff0 9181 ldd r25,Z+15071 2ff2 8259 subi r24,lo8(-(110))5072 2ff4 9F4F sbci r25,hi8(-(110))5073 2ff6 8A17 cp r24,r265074 2ff8 9B07 cpc r25,r275075 2ffa 04F0 brlt .+45076 2ffc 0C94 0000 jmp .L3015077 3000 1097 sbiw r26,05078 3002 01F4 brne .+45079 3004 0C94 0000 jmp .L3015080 3008 CD01 movw r24,r265081 300a 0197 sbiw r24,15082 300c 9093 0000 sts (Poti4)+1,r255083 3010 8093 0000 sts Poti4,r245084 3014 DC01 movw r26,r245085 3016 0C94 0000 jmp .L3015086 .L537:5087 301a 4F96 adiw r24,315088 301c 00C0 rjmp .L4155089 .L533:5090 301e B094 com r115091 3020 A194 neg r105092 3022 B108 sbc r11,__zero_reg__5093 3024 B394 inc r115094 3026 00C0 rjmp .L4075095 .L532:5096 3028 1095 com r175097 302a 0195 neg r165098 302c 1F4F sbci r17,lo8(-1)5099 302e 00C0 rjmp .L4065100 .L535:5101 3030 3095 com r195102 3032 2195 neg r185103 3034 3F4F sbci r19,lo8(-1)5104 3036 00C0 rjmp .L4125105 .L359:5106 3038 1092 0000 sts (StickYaw)+1,__zero_reg__5107 303c 1092 0000 sts StickYaw,__zero_reg__5108 3040 00C0 rjmp .L3575109 .L507:5110 3042 1092 0000 sts (Poti8)+1,__zero_reg__5111 3046 1092 0000 sts Poti8,__zero_reg__5112 304a 0C94 0000 jmp .L3255113 .L500:5114 304e 1092 0000 sts (Poti1)+1,__zero_reg__5115 3052 1092 0000 sts Poti1,__zero_reg__5116 3056 0C94 0000 jmp .L3115117 .L506:5118 305a 1092 0000 sts (Poti7)+1,__zero_reg__5119 305e 1092 0000 sts Poti7,__zero_reg__5120 3062 0C94 0000 jmp .L3235121 .L505:5122 3066 1092 0000 sts (Poti6)+1,__zero_reg__5123 306a 1092 0000 sts Poti6,__zero_reg__5124 306e 0C94 0000 jmp .L3215125 .L504:5126 3072 1092 0000 sts (Poti5)+1,__zero_reg__5127 3076 1092 0000 sts Poti5,__zero_reg__5128 307a 0C94 0000 jmp .L3195129 .L503:5130 307e 1092 0000 sts (Poti4)+1,__zero_reg__5131 3082 1092 0000 sts Poti4,__zero_reg__5132 3086 0C94 0000 jmp .L3175133 .L502:5134 308a 1092 0000 sts (Poti3)+1,__zero_reg__5135 308e 1092 0000 sts Poti3,__zero_reg__5136 3092 0C94 0000 jmp .L3155137 .L501:5138 3096 1092 0000 sts (Poti2)+1,__zero_reg__5139 309a 1092 0000 sts Poti2,__zero_reg__5140 309e 0C94 0000 jmp .L3135141 .L419:5142 30a2 4427 clr r205143 30a4 5527 clr r215144 30a6 481B sub r20,r245145 30a8 590B sbc r21,r255146 30aa 6417 cp r22,r205147 30ac 7507 cpc r23,r215148 30ae 04F0 brlt .+25149 30b0 00C0 rjmp .L4205150 30b2 BA01 movw r22,r205151 30b4 00C0 rjmp .L4205152 .L539:5153 30b6 3095 com r195154 30b8 2195 neg r185155 30ba 3F4F sbci r19,lo8(-1)5156 30bc 00C0 rjmp .L3665157 .L518:5158 30be 3095 com r195159 30c0 2195 neg r185160 30c2 3F4F sbci r19,lo8(-1)5161 30c4 00C0 rjmp .L3715162 .L354:5163 30c6 1092 0000 sts (delay_stopmotors.1984)+1,__zero_reg__5164 30ca 1092 0000 sts delay_stopmotors.1984,__zero_reg__5165 30ce 0C94 0000 jmp .L2905166 .L327:5167 30d2 8081 ld r24,Z5168 30d4 9181 ldd r25,Z+15169 30d6 855B subi r24,lo8(-75)5170 30d8 9F4F sbci r25,hi8(-75)5171 30da 04F4 brge .L3445172 30dc 8091 0000 lds r24,delay_neutral.19825173 30e0 8F5F subi r24,lo8(-(1))5174 30e2 8093 0000 sts delay_neutral.1982,r245175 30e6 893C cpi r24,lo8(-55)5176 30e8 00F4 brsh .+45177 30ea 0C94 0000 jmp .L3265178 30ee 1092 0000 sts delay_neutral.1982,__zero_reg__5179 30f2 3BE0 ldi r19,lo8(11)5180 30f4 3D15 cp r19,r135181 30f6 00F4 brsh .+25182 30f8 00C0 rjmp .L3465183 30fa 2998 cbi 37-0x20,15184 .L347:5185 30fc 1092 0000 sts (ModelIsFlying)+1,__zero_reg__5186 3100 1092 0000 sts ModelIsFlying,__zero_reg__5187 3104 0C94 0000 jmp .L4765188 .L508:5189 3108 0196 adiw r24,15190 310a 9093 0000 sts (delay_startmotors.1983)+1,r255191 310e 8093 0000 sts delay_startmotors.1983,r245192 3112 00C0 rjmp .L3505193 .L499:5194 3114 81E0 ldi r24,lo8(1)5195 3116 90E0 ldi r25,hi8(1)5196 3118 9093 0000 sts (UpdateCompassCourse.1986)+1,r255197 311c 8093 0000 sts UpdateCompassCourse.1986,r245198 3120 1092 0000 sts ReadingIntegralGyroYaw,__zero_reg__5199 3124 1092 0000 sts (ReadingIntegralGyroYaw)+1,__zero_reg__5200 3128 1092 0000 sts (ReadingIntegralGyroYaw)+2,__zero_reg__5201 312c 1092 0000 sts (ReadingIntegralGyroYaw)+3,__zero_reg__5202 3130 1092 0000 sts SetPointYaw.1980,__zero_reg__5203 3134 1092 0000 sts (SetPointYaw.1980)+1,__zero_reg__5204 3138 1092 0000 sts (SetPointYaw.1980)+2,__zero_reg__5205 313c 1092 0000 sts (SetPointYaw.1980)+3,__zero_reg__5206 3140 0C94 0000 jmp .L2935207 .L538:5208 3144 E7E0 ldi r30,lo8(7)5209 3146 F0E0 ldi r31,hi8(7)5210 3148 AE0E add r10,r305211 314a BF1E adc r11,r315212 314c 00C0 rjmp .L4185213 .L344:5214 314e 1092 0000 sts delay_neutral.1982,__zero_reg__5215 3152 0C94 0000 jmp .L3265216 .L352:5217 3156 7901 movw r14,r185218 3158 0027 clr r165219 315a F7FC sbrc r15,75220 315c 0095 com r165221 315e 102F mov r17,r165222 3160 CB01 movw r24,r225223 3162 BA01 movw r22,r205224 3164 A801 movw r20,r165225 3166 9701 movw r18,r145226 3168 0E94 0000 call __divmodsi45227 316c 2093 0000 sts savedVibrationOffsetNick,r185228 3170 3093 0000 sts savedVibrationOffsetNick+1,r195229 3174 4093 0000 sts savedVibrationOffsetNick+2,r205230 3178 5093 0000 sts savedVibrationOffsetNick+3,r215231 317c 2093 0000 sts vibrationOffsetNick,r185232 3180 3093 0000 sts vibrationOffsetNick+1,r195233 3184 4093 0000 sts vibrationOffsetNick+2,r205234 3188 5093 0000 sts vibrationOffsetNick+3,r215235 318c C601 movw r24,r125236 318e B501 movw r22,r105237 3190 A801 movw r20,r165238 3192 9701 movw r18,r145239 3194 0E94 0000 call __divmodsi45240 3198 2093 0000 sts savedVibrationOffsetRoll,r185241 319c 3093 0000 sts savedVibrationOffsetRoll+1,r195242 31a0 4093 0000 sts savedVibrationOffsetRoll+2,r205243 31a4 5093 0000 sts savedVibrationOffsetRoll+3,r215244 31a8 2093 0000 sts vibrationOffsetRoll,r185245 31ac 3093 0000 sts vibrationOffsetRoll+1,r195246 31b0 4093 0000 sts vibrationOffsetRoll+2,r205247 31b4 5093 0000 sts vibrationOffsetRoll+3,r215248 31b8 C401 movw r24,r85249 31ba B301 movw r22,r65250 31bc A801 movw r20,r165251 31be 9701 movw r18,r145252 31c0 0E94 0000 call __divmodsi45253 31c4 2093 0000 sts vibrationOffsetYaw,r185254 31c8 3093 0000 sts (vibrationOffsetYaw)+1,r195255 31cc 4093 0000 sts (vibrationOffsetYaw)+2,r205256 31d0 5093 0000 sts (vibrationOffsetYaw)+3,r215257 31d4 0C94 0000 jmp .L3535258 .L509:5259 31d8 89EC ldi r24,lo8(201)5260 31da 90E0 ldi r25,hi8(201)5261 31dc 9093 0000 sts (delay_startmotors.1983)+1,r255262 31e0 8093 0000 sts delay_startmotors.1983,r245263 31e4 81E0 ldi r24,lo8(1)5264 31e6 90E0 ldi r25,hi8(1)5265 31e8 9093 0000 sts (ModelIsFlying)+1,r255266 31ec 8093 0000 sts ModelIsFlying,r245267 31f0 1092 0000 sts (vibrationCalCount.1977)+1,__zero_reg__5268 31f4 1092 0000 sts vibrationCalCount.1977,__zero_reg__5269 31f8 1092 0000 sts vibrationCalYaw.1976,__zero_reg__5270 31fc 1092 0000 sts (vibrationCalYaw.1976)+1,__zero_reg__5271 3200 1092 0000 sts (vibrationCalYaw.1976)+2,__zero_reg__5272 3204 1092 0000 sts (vibrationCalYaw.1976)+3,__zero_reg__5273 3208 1092 0000 sts vibrationCalRoll.1975,__zero_reg__5274 320c 1092 0000 sts (vibrationCalRoll.1975)+1,__zero_reg__5275 3210 1092 0000 sts (vibrationCalRoll.1975)+2,__zero_reg__5276 3214 1092 0000 sts (vibrationCalRoll.1975)+3,__zero_reg__5277 3218 1092 0000 sts vibrationCalNick.1974,__zero_reg__5278 321c 1092 0000 sts (vibrationCalNick.1974)+1,__zero_reg__5279 3220 1092 0000 sts (vibrationCalNick.1974)+2,__zero_reg__5280 3224 1092 0000 sts (vibrationCalNick.1974)+3,__zero_reg__5281 3228 88EE ldi r24,lo8(1000)5282 322a 93E0 ldi r25,hi8(1000)5283 322c A0E0 ldi r26,hlo8(1000)5284 322e B0E0 ldi r27,hhi8(1000)5285 3230 8093 0000 sts savedVibrationOffsetRoll,r245286 3234 9093 0000 sts (savedVibrationOffsetRoll)+1,r255287 3238 A093 0000 sts (savedVibrationOffsetRoll)+2,r265288 323c B093 0000 sts (savedVibrationOffsetRoll)+3,r275289 3240 8093 0000 sts savedVibrationOffsetNick,r245290 3244 9093 0000 sts (savedVibrationOffsetNick)+1,r255291 3248 A093 0000 sts (savedVibrationOffsetNick)+2,r265292 324c B093 0000 sts (savedVibrationOffsetNick)+3,r275293 3250 8091 0000 lds r24,MKFlags5294 3254 8960 ori r24,lo8(9)5295 3256 8093 0000 sts MKFlags,r245296 325a 00C0 rjmp .L3505297 .L329:5298 325c 299A sbi 37-0x20,15299 325e 0C94 0000 jmp .L3305300 .L336:5301 3262 21E0 ldi r18,lo8(1)5302 3264 0C94 0000 jmp .L3375303 .L331:5304 3268 8091 0000 lds r24,ParamSet+15305 326c A82F mov r26,r245306 326e B0E0 ldi r27,lo8(0)5307 3270 AA0F lsl r265308 3272 BB1F rol r275309 3274 FD01 movw r30,r265310 3276 E050 subi r30,lo8(-(PPM_in))5311 3278 F040 sbci r31,hi8(-(PPM_in))5312 327a 0190 ld __tmp_reg__,Z+5313 327c F081 ld r31,Z5314 327e E02D mov r30,__tmp_reg__5315 3280 F7FD sbrc r31,75316 3282 00C0 rjmp .L5435317 .L334:5318 3284 E734 cpi r30,715319 3286 F105 cpc r31,__zero_reg__5320 3288 04F0 brlt .+45321 328a 0C94 0000 jmp .L3325322 328e 8091 0000 lds r24,ParamSet+85323 3292 8872 andi r24,lo8(40)5324 3294 01F0 breq .L3415325 3296 A050 subi r26,lo8(-(PPM_in))5326 3298 B040 sbci r27,hi8(-(PPM_in))5327 329a 8D91 ld r24,X+5328 329c 9C91 ld r25,X5329 329e 97FD sbrc r25,75330 32a0 00C0 rjmp .L5445331 .L343:5332 32a2 4E97 sbiw r24,305333 32a4 04F4 brge .L3425334 32a6 4050 subi r20,lo8(-(PPM_in))5335 32a8 5040 sbci r21,hi8(-(PPM_in))5336 32aa FA01 movw r30,r205337 32ac 8081 ld r24,Z5338 32ae 9181 ldd r25,Z+15339 32b0 8A5B subi r24,lo8(-70)5340 32b2 9F4F sbci r25,hi8(-70)5341 32b4 04F4 brge .L3425342 32b6 81E0 ldi r24,lo8(1)5343 32b8 8093 0000 sts CompassCalState,r245344 32bc 88EE ldi r24,lo8(1000)5345 32be 93E0 ldi r25,hi8(1000)5346 32c0 9093 0000 sts (BeepTime)+1,r255347 32c4 8093 0000 sts BeepTime,r245348 32c8 8091 0000 lds r24,ParamSet+25349 32cc A82F mov r26,r245350 32ce B0E0 ldi r27,lo8(0)5351 32d0 AA0F lsl r265352 32d2 BB1F rol r275353 32d4 0C94 0000 jmp .L3265354 .L346:5355 32d8 299A sbi 37-0x20,15356 32da 00C0 rjmp .L3475357 .L342:5358 32dc 0E94 0000 call GetActiveParamSet5359 32e0 0E94 0000 call ParamSet_ReadFromEEProm5360 32e4 81E0 ldi r24,lo8(1)5361 32e6 0C94 0000 jmp .L4775362 .L341:5363 32ea 0E94 0000 call GetActiveParamSet5364 32ee 0E94 0000 call ParamSet_ReadFromEEProm5365 32f2 0C94 0000 jmp .L4765366 .L543:5367 32f6 F095 com r315368 32f8 E195 neg r305369 32fa FF4F sbci r31,lo8(-1)5370 32fc 00C0 rjmp .L3345371 .L544:5372 32fe 9095 com r255373 3300 8195 neg r245374 3302 9F4F sbci r25,lo8(-1)5375 3304 00C0 rjmp .L3435377 .global IntegralGyroNick5378 .global IntegralGyroNick5379 .section .bss5382 IntegralGyroNick:5383 0000 0000 0000 .skip 4,05384 .global IntegralGyroRoll5385 .global IntegralGyroRoll5388 IntegralGyroRoll:5389 0004 0000 0000 .skip 4,05390 .global IntegralGyroYaw5391 .global IntegralGyroYaw5394 IntegralGyroYaw:5395 0008 0000 0000 .skip 4,05396 .global ReadingIntegralGyroNick5397 .global ReadingIntegralGyroNick5400 ReadingIntegralGyroNick:5401 000c 0000 0000 .skip 4,05402 .global ReadingIntegralGyroRoll5403 .global ReadingIntegralGyroRoll5406 ReadingIntegralGyroRoll:5407 0010 0000 0000 .skip 4,05408 .global ReadingIntegralGyroYaw5409 .global ReadingIntegralGyroYaw5412 ReadingIntegralGyroYaw:5413 0014 0000 0000 .skip 4,05414 .global CompassHeading5415 .data5418 CompassHeading:5419 0000 FFFF .word -15420 .global CompassCourse5423 CompassCourse:5424 0002 FFFF .word -15425 .global CompassOffCourse5426 .global CompassOffCourse5427 .section .bss5430 CompassOffCourse:5431 0018 0000 .skip 2,05432 .global CompassCalState5433 .global CompassCalState5436 CompassCalState:5437 001a 00 .skip 1,05438 .global FunnelCourse5439 .global FunnelCourse5442 FunnelCourse:5443 001b 00 .skip 1,05444 .global BadCompassHeading5445 .data5448 BadCompassHeading:5449 0004 F401 .word 5005450 .global NaviAccNick5451 .global NaviAccNick5452 .section .bss5455 NaviAccNick:5456 001c 0000 .skip 2,05457 .global NaviAccRoll5458 .global NaviAccRoll5461 NaviAccRoll:5462 001e 0000 .skip 2,05463 .global NaviCntAcc5464 .global NaviCntAcc5467 NaviCntAcc:5468 0020 0000 .skip 2,05469 .global ModelIsFlying5470 .global ModelIsFlying5473 ModelIsFlying:5474 0022 0000 .skip 2,05475 .global MKFlags5476 .global MKFlags5479 MKFlags:5480 0024 00 .skip 1,05481 .global TurnOver180Nick5482 .data5485 TurnOver180Nick:5486 0006 4C .byte 765487 0007 56 .byte 865488 0008 03 .byte 35489 0009 00 .byte 05490 .global TurnOver180Roll5493 TurnOver180Roll:5494 000a 4C .byte 765495 000b 56 .byte 865496 000c 03 .byte 35497 000d 00 .byte 05498 .global Ki5501 Ki:5502 000e 3801 .word 3125503 .global Poti15504 .global Poti15505 .section .bss5508 Poti1:5509 0025 0000 .skip 2,05510 .global Poti25511 .global Poti25514 Poti2:5515 0027 0000 .skip 2,05516 .global Poti35517 .global Poti35520 Poti3:5521 0029 0000 .skip 2,05522 .global Poti45523 .global Poti45526 Poti4:5527 002b 0000 .skip 2,05528 .global Poti55529 .global Poti55532 Poti5:5533 002d 0000 .skip 2,05534 .global Poti65535 .global Poti65538 Poti6:5539 002f 0000 .skip 2,05540 .global Poti75541 .global Poti75544 Poti7:5545 0031 0000 .skip 2,05546 .global Poti85547 .global Poti85550 Poti8:5551 0033 0000 .skip 2,05552 .global RequiredMotors5553 .global RequiredMotors5556 RequiredMotors:5557 0035 00 .skip 1,05558 .global StickNick5559 .global StickNick5562 StickNick:5563 0036 0000 .skip 2,05564 .global StickRoll5565 .global StickRoll5568 StickRoll:5569 0038 0000 .skip 2,05570 .global StickYaw5571 .global StickYaw5574 StickYaw:5575 003a 0000 .skip 2,05576 .global StickGas5577 .global StickGas5580 StickGas:5581 003c 0000 .skip 2,05582 .global stickOffsetNick5583 .global stickOffsetNick5586 stickOffsetNick:5587 003e 0000 .skip 2,05588 .global stickOffsetRoll5589 .global stickOffsetRoll5592 stickOffsetRoll:5593 0040 0000 .skip 2,05594 .global vibrationOffsetNick5595 .global vibrationOffsetNick5598 vibrationOffsetNick:5599 0042 0000 0000 .skip 4,05600 .global vibrationOffsetRoll5601 .global vibrationOffsetRoll5604 vibrationOffsetRoll:5605 0046 0000 0000 .skip 4,05606 .global vibrationOffsetYaw5607 .global vibrationOffsetYaw5610 vibrationOffsetYaw:5611 004a 0000 0000 .skip 4,05612 .global savedVibrationOffsetNick5613 .global savedVibrationOffsetNick5616 savedVibrationOffsetNick:5617 004e 0000 0000 .skip 4,05618 .global savedVibrationOffsetRoll5619 .global savedVibrationOffsetRoll5622 savedVibrationOffsetRoll:5623 0052 0000 0000 .skip 4,05624 .global GPSStickNick5625 .global GPSStickNick5628 GPSStickNick:5629 0056 0000 .skip 2,05630 .global GPSStickRoll5631 .global GPSStickRoll5634 GPSStickRoll:5635 0058 0000 .skip 2,05636 .global MaxStickNick5637 .global MaxStickNick5640 MaxStickNick:5641 005a 0000 .skip 2,05642 .global MaxStickRoll5643 .global MaxStickRoll5646 MaxStickRoll:5647 005c 0000 .skip 2,05648 .global ExternStickNick5649 .global ExternStickNick5652 ExternStickNick:5653 005e 0000 .skip 2,05654 .global ExternStickRoll5655 .global ExternStickRoll5658 ExternStickRoll:5659 0060 0000 .skip 2,05660 .global ExternStickYaw5661 .global ExternStickYaw5664 ExternStickYaw:5665 0062 0000 .skip 2,05666 .global ExternHeightValue5667 .data5670 ExternHeightValue:5671 0010 ECFF .word -205672 .global ReadingHeight5673 .global ReadingHeight5674 .section .bss5677 ReadingHeight:5678 0064 0000 .skip 2,05679 .global SetPointHeight5680 .global SetPointHeight5683 SetPointHeight:5684 0066 0000 .skip 2,05685 .global AttitudeCorrectionRoll5686 .global AttitudeCorrectionRoll5689 AttitudeCorrectionRoll:5690 0068 0000 .skip 2,05691 .global AttitudeCorrectionNick5692 .global AttitudeCorrectionNick5695 AttitudeCorrectionNick:5696 006a 0000 .skip 2,05697 .global LoopingNick5698 .global LoopingNick5701 LoopingNick:5702 006c 00 .skip 1,05703 .global LoopingRoll5704 .global LoopingRoll5707 LoopingRoll:5708 006d 00 .skip 1,05709 .global LoopingLeft5710 .global LoopingLeft5713 LoopingLeft:5714 006e 00 .skip 1,05715 .global LoopingRight5716 .global LoopingRight5719 LoopingRight:5720 006f 00 .skip 1,05721 .global LoopingDown5722 .global LoopingDown5725 LoopingDown:5726 0070 00 .skip 1,05727 .global LoopingTop5728 .global LoopingTop5731 LoopingTop:5732 0071 00 .skip 1,05733 .global FCParam5734 .data5737 FCParam:5738 0012 30 .byte 485739 0013 FB .byte -55740 0014 10 .byte 165741 0015 3A .byte 585742 0016 40 .byte 645743 0017 08 .byte 85744 0018 96 .byte -1065745 0019 96 .byte -1065746 001a 02 .byte 25747 001b 0A .byte 105748 001c 00 .byte 05749 001d 00 .byte 05750 001e 00 .byte 05751 001f 00 .byte 05752 0020 00 .byte 05753 0021 00 .byte 05754 0022 00 .byte 05755 0023 00 .byte 05756 0024 64 .byte 1005757 0025 46 .byte 705758 0026 5A .byte 905759 0027 41 .byte 655760 0028 40 .byte 645761 0029 64 .byte 1005762 002a 00 .byte 05763 002b 00 .byte 05764 002c 00 .byte 05765 002d 0000 00 .skip 3,05766 .lcomm stick_roll.1991,25767 .lcomm stick_nick.1990,25768 .lcomm MotorValue.1987,245769 .lcomm UpdateCompassCourse.1986,25770 .lcomm TimerDebugOut.1985,15771 .lcomm delay_stopmotors.1984,25772 .lcomm delay_startmotors.1983,25773 .lcomm delay_neutral.1982,15774 .lcomm RcLostTimer.1981,25775 .lcomm SetPointYaw.1980,45776 .lcomm vibrationCalCount.1977,25777 .lcomm vibrationCalYaw.1976,45778 .lcomm vibrationCalRoll.1975,45779 .lcomm vibrationCalNick.1974,45780 .lcomm IPartRoll.1973,45781 .lcomm IPartNick.1972,45784 stick.1951:5785 0030 01 .byte 15786 .comm GyroNick,2,15787 .comm GyroRoll,2,15788 .comm GyroYaw,2,15789 .comm YawGyroHeading,4,15790 .comm GyroPFactor,1,15791 .comm GyroIFactor,1,15792 .comm GyroYawPFactor,1,15793 .comm GyroYawIFactor,1,15794 .comm NickNoisePeak,2,15795 .comm RollNoisePeak,2,15796 .comm debugNickNoisePeak,2,15797 .comm debugRollNoisePeak,2,1DEFINED SYMBOLS*ABS*:00000000 fc.c/tmp/ccDP7nnW.s:2 *ABS*:0000003f __SREG__/tmp/ccDP7nnW.s:3 *ABS*:0000003e __SP_H__/tmp/ccDP7nnW.s:4 *ABS*:0000003d __SP_L__/tmp/ccDP7nnW.s:5 *ABS*:00000000 __tmp_reg__/tmp/ccDP7nnW.s:6 *ABS*:00000001 __zero_reg__/tmp/ccDP7nnW.s:12 .text:00000000 MotorSmoothing/tmp/ccDP7nnW.s:36 .text:00000020 Mean/tmp/ccDP7nnW.s:5598 .bss:00000042 vibrationOffsetNick*COM*:00000002 GyroNick/tmp/ccDP7nnW.s:5604 .bss:00000046 vibrationOffsetRoll*COM*:00000002 GyroRoll*COM*:00000002 NickNoisePeak*COM*:00000002 RollNoisePeak/tmp/ccDP7nnW.s:5610 .bss:0000004a vibrationOffsetYaw*COM*:00000002 GyroYaw*COM*:00000004 YawGyroHeading/tmp/ccDP7nnW.s:5412 .bss:00000014 ReadingIntegralGyroYaw/tmp/ccDP7nnW.s:5400 .bss:0000000c ReadingIntegralGyroNick/tmp/ccDP7nnW.s:5485 .data:00000006 TurnOver180Nick/tmp/ccDP7nnW.s:5406 .bss:00000010 ReadingIntegralGyroRoll/tmp/ccDP7nnW.s:5493 .data:0000000a TurnOver180Roll/tmp/ccDP7nnW.s:5382 .bss:00000000 IntegralGyroNick/tmp/ccDP7nnW.s:5388 .bss:00000004 IntegralGyroRoll/tmp/ccDP7nnW.s:5394 .bss:00000008 IntegralGyroYaw/tmp/ccDP7nnW.s:423 .text:00000414 ParameterMapping/tmp/ccDP7nnW.s:5737 .data:00000012 FCParam/tmp/ccDP7nnW.s:5526 .bss:0000002b Poti4/tmp/ccDP7nnW.s:5501 .data:0000000e Ki/tmp/ccDP7nnW.s:5508 .bss:00000025 Poti1/tmp/ccDP7nnW.s:5514 .bss:00000027 Poti2/tmp/ccDP7nnW.s:5520 .bss:00000029 Poti3/tmp/ccDP7nnW.s:1347 .text:00000c54 SendMotorData/tmp/ccDP7nnW.s:5479 .bss:00000024 MKFlags/tmp/ccDP7nnW.s:1408 .text:00000cd6 SetNeutral/tmp/ccDP7nnW.s:5418 .data:00000000 CompassHeading/tmp/ccDP7nnW.s:5423 .data:00000002 CompassCourse/tmp/ccDP7nnW.s:5628 .bss:00000056 GPSStickNick/tmp/ccDP7nnW.s:5634 .bss:00000058 GPSStickRoll/tmp/ccDP7nnW.s:5586 .bss:0000003e stickOffsetNick/tmp/ccDP7nnW.s:5562 .bss:00000036 StickNick/tmp/ccDP7nnW.s:5592 .bss:00000040 stickOffsetRoll/tmp/ccDP7nnW.s:5568 .bss:00000038 StickRoll/tmp/ccDP7nnW.s:1560 .text:00000e96 Beep/tmp/ccDP7nnW.s:1599 .text:00000eda SetCompassCalState/tmp/ccDP7nnW.s:5784 .data:00000030 stick.1951/tmp/ccDP7nnW.s:5436 .bss:0000001a CompassCalState/tmp/ccDP7nnW.s:1646 .text:00000f38 MotorControl/tmp/ccDP7nnW.s:5580 .bss:0000003c StickGas/tmp/ccDP7nnW.s:5773 .bss:00000096 RcLostTimer.1981/tmp/ccDP7nnW.s:5473 .bss:00000022 ModelIsFlying/tmp/ccDP7nnW.s:5707 .bss:0000006d LoopingRoll/tmp/ccDP7nnW.s:5701 .bss:0000006c LoopingNick/tmp/ccDP7nnW.s:5574 .bss:0000003a StickYaw*COM*:00000001 GyroPFactor*COM*:00000001 GyroIFactor*COM*:00000001 GyroYawPFactor*COM*:00000001 GyroYawIFactor/tmp/ccDP7nnW.s:5640 .bss:0000005a MaxStickNick/tmp/ccDP7nnW.s:5646 .bss:0000005c MaxStickRoll/tmp/ccDP7nnW.s:5616 .bss:0000004e savedVibrationOffsetNick/tmp/ccDP7nnW.s:5622 .bss:00000052 savedVibrationOffsetRoll*COM*:00000002 debugNickNoisePeak*COM*:00000002 debugRollNoisePeak/tmp/ccDP7nnW.s:5448 .data:00000004 BadCompassHeading/tmp/ccDP7nnW.s:5774 .bss:00000098 SetPointYaw.1980/tmp/ccDP7nnW.s:5769 .bss:00000090 TimerDebugOut.1985/tmp/ccDP7nnW.s:5442 .bss:0000001b FunnelCourse/tmp/ccDP7nnW.s:5780 .bss:000000ae IPartNick.1972/tmp/ccDP7nnW.s:5779 .bss:000000aa IPartRoll.1973/tmp/ccDP7nnW.s:5767 .bss:00000076 MotorValue.1987/tmp/ccDP7nnW.s:5532 .bss:0000002d Poti5/tmp/ccDP7nnW.s:5538 .bss:0000002f Poti6/tmp/ccDP7nnW.s:5544 .bss:00000031 Poti7/tmp/ccDP7nnW.s:5550 .bss:00000033 Poti8/tmp/ccDP7nnW.s:5772 .bss:00000095 delay_neutral.1982/tmp/ccDP7nnW.s:5771 .bss:00000093 delay_startmotors.1983/tmp/ccDP7nnW.s:5778 .bss:000000a6 vibrationCalNick.1974/tmp/ccDP7nnW.s:5777 .bss:000000a2 vibrationCalRoll.1975/tmp/ccDP7nnW.s:5776 .bss:0000009e vibrationCalYaw.1976/tmp/ccDP7nnW.s:5775 .bss:0000009c vibrationCalCount.1977/tmp/ccDP7nnW.s:5766 .bss:00000074 stick_nick.1990.bss:00000072 stick_roll.1991/tmp/ccDP7nnW.s:5670 .data:00000010 ExternHeightValue/tmp/ccDP7nnW.s:5713 .bss:0000006e LoopingLeft/tmp/ccDP7nnW.s:5719 .bss:0000006f LoopingRight/tmp/ccDP7nnW.s:5731 .bss:00000071 LoopingTop/tmp/ccDP7nnW.s:5725 .bss:00000070 LoopingDown/tmp/ccDP7nnW.s:5677 .bss:00000064 ReadingHeight/tmp/ccDP7nnW.s:5768 .bss:0000008e UpdateCompassCourse.1986/tmp/ccDP7nnW.s:5770 .bss:00000091 delay_stopmotors.1984/tmp/ccDP7nnW.s:5430 .bss:00000018 CompassOffCourse/tmp/ccDP7nnW.s:5455 .bss:0000001c NaviAccNick/tmp/ccDP7nnW.s:5461 .bss:0000001e NaviAccRoll/tmp/ccDP7nnW.s:5467 .bss:00000020 NaviCntAcc/tmp/ccDP7nnW.s:5556 .bss:00000035 RequiredMotors/tmp/ccDP7nnW.s:5652 .bss:0000005e ExternStickNick/tmp/ccDP7nnW.s:5658 .bss:00000060 ExternStickRoll/tmp/ccDP7nnW.s:5664 .bss:00000062 ExternStickYaw/tmp/ccDP7nnW.s:5683 .bss:00000066 SetPointHeight/tmp/ccDP7nnW.s:5689 .bss:00000068 AttitudeCorrectionRoll/tmp/ccDP7nnW.s:5695 .bss:0000006a AttitudeCorrectionNickUNDEFINED SYMBOLS__do_copy_data__do_clear_bsshiResPitchGyro__divmodsi4filteredHiResPitchGyrohiResRollGyrofilteredHiResRollGyrorawYawGyroSumADReadyRC_QualityParamSet__divmodhi4MotorTest_ActiveMotorMotorTestDebugOutI2C_StartServo_Offanalog_calibrateBeepTimePPM_inServo_OnDelay_msBoardReleasePcAccessBeepModulationPPM_diffNewPpmDataADCycleCount__mulsi3MissingMotorMixerSetActiveParamSetGetActiveParamSetParamSet_ReadFromEEPromExternControlUBat