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1 .file "fc.c"2 .arch atmega644p3 __SREG__ = 0x3f4 __SP_H__ = 0x3e5 __SP_L__ = 0x3d6 __tmp_reg__ = 07 __zero_reg__ = 18 .global __do_copy_data9 .global __do_clear_bss10 .global VarioCharacter11 .data14 VarioCharacter:15 0000 20 .byte 3216 .global GIER_GRAD_FAKTOR19 GIER_GRAD_FAKTOR:20 0001 0B05 0000 .long 129121 .global FC_StatusFlags22 .global FC_StatusFlags23 .section .bss26 FC_StatusFlags:27 0000 00 .skip 1,028 .global modell_fliegt29 .global modell_fliegt32 modell_fliegt:33 0001 0000 .skip 2,034 .global MaxStickRoll35 .global MaxStickRoll38 MaxStickRoll:39 0003 0000 .skip 2,040 .global MaxStickNick41 .global MaxStickNick44 MaxStickNick:45 0005 0000 .skip 2,046 .global ExternHoehenValue47 .data50 ExternHoehenValue:51 0005 ECFF .word -2052 .global ExternStickGier53 .global ExternStickGier54 .section .bss57 ExternStickGier:58 0007 0000 .skip 2,059 .global ExternStickRoll60 .global ExternStickRoll63 ExternStickRoll:64 0009 0000 .skip 2,065 .global ExternStickNick66 .global ExternStickNick69 ExternStickNick:70 000b 0000 .skip 2,071 .global sintab72 .data75 sintab:76 0007 00 .byte 077 0008 02 .byte 278 0009 04 .byte 479 000a 06 .byte 680 000b 07 .byte 781 000c 08 .byte 882 000d 08 .byte 883 000e 08 .byte 884 000f 07 .byte 785 0010 06 .byte 686 0011 04 .byte 487 0012 02 .byte 288 0013 00 .byte 089 0014 FE .byte -290 0015 FC .byte -491 0016 FA .byte -692 0017 F9 .byte -793 0018 F8 .byte -894 0019 F8 .byte -895 001a F8 .byte -896 001b F9 .byte -797 001c FA .byte -698 001d FC .byte -499 001e FE .byte -2100 001f 00 .byte 0101 0020 02 .byte 2102 0021 04 .byte 4103 0022 06 .byte 6104 0023 07 .byte 7105 0024 08 .byte 8106 0025 08 .byte 8107 .global CareFree108 .global CareFree109 .section .bss112 CareFree:113 000d 00 .skip 1,0114 .global Parameter_DynamicStability115 .data118 Parameter_DynamicStability:119 0026 64 .byte 100120 .global Parameter_CouplingYawCorrection123 Parameter_CouplingYawCorrection:124 0027 40 .byte 64125 .global Parameter_AchsKopplung2128 Parameter_AchsKopplung2:129 0028 41 .byte 65130 .global Parameter_AchsKopplung1133 Parameter_AchsKopplung1:134 0029 5A .byte 90135 .global Parameter_LoopGasLimit138 Parameter_LoopGasLimit:139 002a 46 .byte 70140 .global Parameter_ServoRollControl143 Parameter_ServoRollControl:144 002b 64 .byte 100145 .global Parameter_ServoNickControl148 Parameter_ServoNickControl:149 002c 64 .byte 100150 .global Parameter_UserParam8151 .global Parameter_UserParam8152 .section .bss155 Parameter_UserParam8:156 000e 00 .skip 1,0157 .global Parameter_UserParam7158 .global Parameter_UserParam7161 Parameter_UserParam7:162 000f 00 .skip 1,0163 .global Parameter_UserParam6164 .global Parameter_UserParam6167 Parameter_UserParam6:168 0010 00 .skip 1,0169 .global Parameter_UserParam5170 .global Parameter_UserParam5173 Parameter_UserParam5:174 0011 00 .skip 1,0175 .global Parameter_UserParam4176 .global Parameter_UserParam4179 Parameter_UserParam4:180 0012 00 .skip 1,0181 .global Parameter_UserParam3182 .global Parameter_UserParam3185 Parameter_UserParam3:186 0013 00 .skip 1,0187 .global Parameter_UserParam2188 .global Parameter_UserParam2191 Parameter_UserParam2:192 0014 00 .skip 1,0193 .global Parameter_UserParam1194 .global Parameter_UserParam1197 Parameter_UserParam1:198 0015 00 .skip 1,0199 .global Parameter_I_Faktor200 .data203 Parameter_I_Faktor:204 002d 0A .byte 10205 .global Parameter_Gier_P208 Parameter_Gier_P:209 002e 02 .byte 2210 .global Parameter_Gyro_Gier_I213 Parameter_Gyro_Gier_I:214 002f 96 .byte -106215 .global Parameter_Gyro_Gier_P218 Parameter_Gyro_Gier_P:219 0030 96 .byte -106220 .global Parameter_Gyro_I223 Parameter_Gyro_I:224 0031 96 .byte -106225 .global Parameter_Gyro_P228 Parameter_Gyro_P:229 0032 96 .byte -106230 .global Parameter_Gyro_D233 Parameter_Gyro_D:234 0033 08 .byte 8235 .global Parameter_Hoehe_GPS_Z238 Parameter_Hoehe_GPS_Z:239 0034 40 .byte 64240 .global Parameter_KompassWirkung243 Parameter_KompassWirkung:244 0035 40 .byte 64245 .global Parameter_Hoehe_ACC_Wirkung248 Parameter_Hoehe_ACC_Wirkung:249 0036 3A .byte 58250 .global Parameter_Hoehe_P253 Parameter_Hoehe_P:254 0037 10 .byte 16255 .global Parameter_MaxHoehe258 Parameter_MaxHoehe:259 0038 FB .byte -5260 .global Parameter_Luftdruck_D263 Parameter_Luftdruck_D:264 0039 30 .byte 48265 .global Looping_Oben266 .global Looping_Oben267 .section .bss270 Looping_Oben:271 0016 00 .skip 1,0272 .global Looping_Unten273 .global Looping_Unten276 Looping_Unten:277 0017 00 .skip 1,0278 .global Looping_Rechts279 .global Looping_Rechts282 Looping_Rechts:283 0018 00 .skip 1,0284 .global Looping_Links285 .global Looping_Links288 Looping_Links:289 0019 00 .skip 1,0290 .global Looping_Roll291 .global Looping_Roll294 Looping_Roll:295 001a 00 .skip 1,0296 .global Looping_Nick297 .global Looping_Nick300 Looping_Nick:301 001b 00 .skip 1,0302 .global Ki303 .data306 Ki:307 003a 3801 .word 312308 .global HoverGas309 .global HoverGas310 .section .bss313 HoverGas:314 001c 0000 .skip 2,0315 .global LageKorrekturNick316 .global LageKorrekturNick319 LageKorrekturNick:320 001e 0000 .skip 2,0321 .global LageKorrekturRoll322 .global LageKorrekturRoll325 LageKorrekturRoll:326 0020 0000 .skip 2,0327 .global SollHoehe328 .global SollHoehe331 SollHoehe:332 0022 0000 0000 .skip 4,0333 .global HoehenWert334 .global HoehenWert337 HoehenWert:338 0026 0000 0000 .skip 4,0339 .global StartTrigger340 .global StartTrigger343 StartTrigger:344 002a 00 .skip 1,0345 .global MotorenEin346 .global MotorenEin349 MotorenEin:350 002b 00 .skip 1,0351 .global StickGas352 .global StickGas355 StickGas:356 002c 0000 .skip 2,0357 .global StickGier358 .global StickGier361 StickGier:362 002e 0000 .skip 2,0363 .global StickRoll364 .global StickRoll367 StickRoll:368 0030 0000 .skip 2,0369 .global StickNick370 .global StickNick373 StickNick:374 0032 0000 .skip 2,0375 .global SenderOkay376 .global SenderOkay379 SenderOkay:380 0034 00 .skip 1,0381 .global Poti382 .global Poti385 Poti:386 0035 0000 0000 .skip 9,0386 0000 0000386 00387 .global GierGyroFehler388 .global GierGyroFehler391 GierGyroFehler:392 003e 0000 .skip 2,0393 .global Umschlag180Roll394 .data397 Umschlag180Roll:398 003c 90D0 0300 .long 250000399 .global Umschlag180Nick402 Umschlag180Nick:403 0040 90D0 0300 .long 250000404 .global TrichterFlug405 .global TrichterFlug406 .section .bss409 TrichterFlug:410 0040 00 .skip 1,0411 .global HoehenReglerAktiv412 .global HoehenReglerAktiv415 HoehenReglerAktiv:416 0041 00 .skip 1,0417 .global KompassSignalSchlecht418 .data421 KompassSignalSchlecht:422 0044 F401 .word 500423 .global KompassRichtung424 .global KompassRichtung425 .section .bss428 KompassRichtung:429 0042 0000 .skip 2,0430 .global KompassStartwert431 .global KompassStartwert434 KompassStartwert:435 0044 0000 .skip 2,0436 .global KompassValue437 .global KompassValue440 KompassValue:441 0046 0000 .skip 2,0442 .global Mess_Integral_Hoch443 .global Mess_Integral_Hoch446 Mess_Integral_Hoch:447 0048 0000 0000 .skip 4,0448 .global SummeRoll449 .global SummeRoll452 SummeRoll:453 004c 0000 0000 .skip 4,0454 .global SummeNick455 .global SummeNick458 SummeNick:459 0050 0000 0000 .skip 4,0460 .global Mess_Integral_Gier2461 .global Mess_Integral_Gier2464 Mess_Integral_Gier2:465 0054 0000 0000 .skip 4,0466 .global Mess_Integral_Gier467 .global Mess_Integral_Gier470 Mess_Integral_Gier:471 0058 0000 0000 .skip 4,0472 .global Mess_IntegralRoll2473 .global Mess_IntegralRoll2476 Mess_IntegralRoll2:477 005c 0000 0000 .skip 4,0478 .global Mess_IntegralRoll479 .global Mess_IntegralRoll482 Mess_IntegralRoll:483 0060 0000 0000 .skip 4,0484 .global Mess_IntegralNick2485 .global Mess_IntegralNick2488 Mess_IntegralNick2:489 0064 0000 0000 .skip 4,0490 .global Mess_IntegralNick491 .global Mess_IntegralNick494 Mess_IntegralNick:495 0068 0000 0000 .skip 4,0496 .global Integral_Gier497 .global Integral_Gier500 Integral_Gier:501 006c 0000 0000 .skip 4,0502 .global IntegralAccZ503 .global IntegralAccZ506 IntegralAccZ:507 0070 0000 0000 .skip 4,0508 .global IntegralAccRoll509 .global IntegralAccRoll512 IntegralAccRoll:513 0074 0000 0000 .skip 4,0514 .global IntegralAccNick515 .global IntegralAccNick518 IntegralAccNick:519 0078 0000 0000 .skip 4,0520 .global IntegralRoll2521 .global IntegralRoll2524 IntegralRoll2:525 007c 0000 0000 .skip 4,0526 .global IntegralRoll527 .global IntegralRoll530 IntegralRoll:531 0080 0000 0000 .skip 4,0532 .global IntegralNick2533 .global IntegralNick2536 IntegralNick2:537 0084 0000 0000 .skip 4,0538 .global IntegralNick539 .global IntegralNick542 IntegralNick:543 0088 0000 0000 .skip 4,0544 .global ControlHeading545 .global ControlHeading548 ControlHeading:549 008c 00 .skip 1,0550 .global NeutralAccZ551 .global NeutralAccZ554 NeutralAccZ:555 008d 0000 .skip 2,0556 .global NaviCntAcc557 .global NaviCntAcc560 NaviCntAcc:561 008f 0000 .skip 2,0562 .global NeutralAccY563 .global NeutralAccY566 NeutralAccY:567 0091 0000 .skip 2,0568 .global NeutralAccX569 .global NeutralAccX572 NeutralAccX:573 0093 0000 .skip 2,0574 .global StartNeutralNick575 .global StartNeutralNick578 StartNeutralNick:579 0095 0000 .skip 2,0580 .global StartNeutralRoll581 .global StartNeutralRoll584 StartNeutralRoll:585 0097 0000 .skip 2,0586 .global AdNeutralGier587 .global AdNeutralGier590 AdNeutralGier:591 0099 0000 .skip 2,0592 .global AdNeutralRoll593 .global AdNeutralRoll596 AdNeutralRoll:597 009b 0000 .skip 2,0598 .global AdNeutralNick599 .global AdNeutralNick602 AdNeutralNick:603 009d 0000 .skip 2,0604 .global BaroExpandActive605 .global BaroExpandActive608 BaroExpandActive:609 009f 0000 .skip 2,0610 .global updatemotors611 .data614 updatemotors:615 0046 05 .byte 5616 .global pos4617 .global pos4618 .section .bss621 pos4:622 00a1 00 .skip 1,0623 .global CurrentOffset624 .global CurrentOffset627 CurrentOffset:628 00a2 0000 .skip 2,0629 .global keynumber630 .data633 keynumber:634 0047 F9FF .word -7635 .global settingdest638 settingdest:639 0049 05 .byte 5640 .text641 .global CopyDebugValues643 CopyDebugValues:644 /* prologue: frame size=0 */645 0000 EF92 push r14646 0002 FF92 push r15647 0004 0F93 push r16648 0006 1F93 push r17649 /* prologue end (size=4) */650 0008 8091 0000 lds r24,EE_Parameter+28651 000c 9927 clr r25652 000e 880F lsl r24653 0010 991F rol r25654 0012 880F lsl r24655 0014 991F rol r25656 0016 7C01 movw r14,r24657 0018 0027 clr r16658 001a F7FC sbrc r15,7659 001c 0095 com r16660 001e 102F mov r17,r16661 0020 8091 0000 lds r24,IntegralNick662 0024 9091 0000 lds r25,(IntegralNick)+1663 0028 A091 0000 lds r26,(IntegralNick)+2664 002c B091 0000 lds r27,(IntegralNick)+3665 0030 BC01 movw r22,r24666 0032 CD01 movw r24,r26667 0034 A801 movw r20,r16668 0036 9701 movw r18,r14669 0038 0E94 0000 call __divmodsi4670 003c 3093 0000 sts (DebugOut+2)+1,r19671 0040 2093 0000 sts DebugOut+2,r18672 0044 8091 0000 lds r24,IntegralRoll673 0048 9091 0000 lds r25,(IntegralRoll)+1674 004c A091 0000 lds r26,(IntegralRoll)+2675 0050 B091 0000 lds r27,(IntegralRoll)+3676 0054 BC01 movw r22,r24677 0056 CD01 movw r24,r26678 0058 A801 movw r20,r16679 005a 9701 movw r18,r14680 005c 0E94 0000 call __divmodsi4681 0060 3093 0000 sts (DebugOut+4)+1,r19682 0064 2093 0000 sts DebugOut+4,r18683 0068 8091 0000 lds r24,Mittelwert_AccNick684 006c 9091 0000 lds r25,(Mittelwert_AccNick)+1685 0070 97FD sbrc r25,7686 0072 0396 adiw r24,3687 .L2:688 0074 9595 asr r25689 0076 8795 ror r24690 0078 9595 asr r25691 007a 8795 ror r24692 007c 9093 0000 sts (DebugOut+6)+1,r25693 0080 8093 0000 sts DebugOut+6,r24694 0084 8091 0000 lds r24,Mittelwert_AccRoll695 0088 9091 0000 lds r25,(Mittelwert_AccRoll)+1696 008c 97FD sbrc r25,7697 008e 0396 adiw r24,3698 .L3:699 0090 9595 asr r25700 0092 8795 ror r24701 0094 9595 asr r25702 0096 8795 ror r24703 0098 9093 0000 sts (DebugOut+8)+1,r25704 009c 8093 0000 sts DebugOut+8,r24705 00a0 8091 0000 lds r24,AdNeutralGier706 00a4 9091 0000 lds r25,(AdNeutralGier)+1707 00a8 2091 0000 lds r18,AdWertGier708 00ac 3091 0000 lds r19,(AdWertGier)+1709 00b0 821B sub r24,r18710 00b2 930B sbc r25,r19711 00b4 9093 0000 sts (DebugOut+10)+1,r25712 00b8 8093 0000 sts DebugOut+10,r24713 00bc 8091 0000 lds r24,HoehenWert714 00c0 9091 0000 lds r25,(HoehenWert)+1715 00c4 A091 0000 lds r26,(HoehenWert)+2716 00c8 B091 0000 lds r27,(HoehenWert)+3717 00cc BC01 movw r22,r24718 00ce CD01 movw r24,r26719 00d0 25E0 ldi r18,lo8(5)720 00d2 30E0 ldi r19,hi8(5)721 00d4 40E0 ldi r20,hlo8(5)722 00d6 50E0 ldi r21,hhi8(5)723 00d8 0E94 0000 call __divmodsi4724 00dc 3093 0000 sts (DebugOut+12)+1,r19725 00e0 2093 0000 sts DebugOut+12,r18726 00e4 8091 0000 lds r24,AdWertAccHoch727 00e8 9091 0000 lds r25,(AdWertAccHoch)+1728 00ec 9093 0000 sts (DebugOut+14)+1,r25729 00f0 8093 0000 sts DebugOut+14,r24730 00f4 8091 0000 lds r24,KompassValue731 00f8 9091 0000 lds r25,(KompassValue)+1732 00fc 9093 0000 sts (DebugOut+18)+1,r25733 0100 8093 0000 sts DebugOut+18,r24734 0104 8091 0000 lds r24,UBat735 0108 9091 0000 lds r25,(UBat)+1736 010c 9093 0000 sts (DebugOut+20)+1,r25737 0110 8093 0000 sts DebugOut+20,r24738 0114 8091 0000 lds r24,SenderOkay739 0118 9927 clr r25740 011a 9093 0000 sts (DebugOut+22)+1,r25741 011e 8093 0000 sts DebugOut+22,r24742 0122 8091 0000 lds r24,ErsatzKompass743 0126 9091 0000 lds r25,(ErsatzKompass)+1744 012a A091 0000 lds r26,(ErsatzKompass)+2745 012e B091 0000 lds r27,(ErsatzKompass)+3746 0132 2091 0000 lds r18,GIER_GRAD_FAKTOR747 0136 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1748 013a 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2749 013e 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3750 0142 BC01 movw r22,r24751 0144 CD01 movw r24,r26752 0146 0E94 0000 call __divmodsi4753 014a 3093 0000 sts (DebugOut+24)+1,r19754 014e 2093 0000 sts DebugOut+24,r18755 0152 8091 0000 lds r24,Motor+1756 0156 9927 clr r25757 0158 9093 0000 sts (DebugOut+26)+1,r25758 015c 8093 0000 sts DebugOut+26,r24759 0160 8091 0000 lds r24,Motor+9760 0164 9927 clr r25761 0166 9093 0000 sts (DebugOut+28)+1,r25762 016a 8093 0000 sts DebugOut+28,r24763 016e 8091 0000 lds r24,Motor+17764 0172 9927 clr r25765 0174 9093 0000 sts (DebugOut+30)+1,r25766 0178 8093 0000 sts DebugOut+30,r24767 017c 8091 0000 lds r24,Motor+25768 0180 9927 clr r25769 0182 9093 0000 sts (DebugOut+32)+1,r25770 0186 8093 0000 sts DebugOut+32,r24771 018a 8091 0000 lds r24,ServoNickValue772 018e 9091 0000 lds r25,(ServoNickValue)+1773 0192 9093 0000 sts (DebugOut+42)+1,r25774 0196 8093 0000 sts DebugOut+42,r24775 019a 8091 0000 lds r24,Capacity776 019e 9091 0000 lds r25,(Capacity)+1777 01a2 9093 0000 sts (DebugOut+46)+1,r25778 01a6 8093 0000 sts DebugOut+46,r24779 01aa 8091 0000 lds r24,Capacity+6780 01ae 9091 0000 lds r25,(Capacity+6)+1781 01b2 9093 0000 sts (DebugOut+48)+1,r25782 01b6 8093 0000 sts DebugOut+48,r24783 01ba 8091 0000 lds r24,Capacity+8784 01be 9927 clr r25785 01c0 9093 0000 sts (DebugOut+60)+1,r25786 01c4 8093 0000 sts DebugOut+60,r24787 01c8 8091 0000 lds r24,GPS_Nick788 01cc 9091 0000 lds r25,(GPS_Nick)+1789 01d0 9093 0000 sts (DebugOut+62)+1,r25790 01d4 8093 0000 sts DebugOut+62,r24791 01d8 8091 0000 lds r24,GPS_Roll792 01dc 9091 0000 lds r25,(GPS_Roll)+1793 01e0 9093 0000 sts (DebugOut+64)+1,r25794 01e4 8093 0000 sts DebugOut+64,r24795 01e8 8091 0000 lds r24,VersionInfo+5796 01ec 8823 tst r24797 01ee 21F4 brne .L5798 01f0 8091 0000 lds r24,VersionInfo+6799 01f4 8823 tst r24800 01f6 21F0 breq .L4801 .L5:802 01f8 8091 0000 lds r24,DebugOut+1803 01fc 8160 ori r24,lo8(1)804 01fe 03C0 rjmp .L7805 .L4:806 0200 8091 0000 lds r24,DebugOut+1807 0204 8E7F andi r24,lo8(-2)808 .L7:809 0206 8093 0000 sts DebugOut+1,r24810 /* epilogue: frame size=0 */811 020a 1F91 pop r17812 020c 0F91 pop r16813 020e FF90 pop r15814 0210 EF90 pop r14815 0212 0895 ret816 /* epilogue end (size=5) */817 /* function CopyDebugValues size 268 (259) */819 .global Piep821 Piep:822 /* prologue: frame size=0 */823 0214 1F93 push r17824 0216 CF93 push r28825 0218 DF93 push r29826 /* prologue end (size=3) */827 021a 182F mov r17,r24828 021c EB01 movw r28,r22829 021e 8091 0000 lds r24,MotorenEin830 0222 8823 tst r24831 0224 A1F4 brne .L8832 0226 1150 subi r17,lo8(-(-1))833 0228 1F3F cpi r17,lo8(-1)834 022a 89F0 breq .L8835 .L15:836 022c D093 0000 sts (beeptime)+1,r29837 0230 C093 0000 sts beeptime,r28838 .L12:839 0234 8091 0000 lds r24,beeptime840 0238 9091 0000 lds r25,(beeptime)+1841 023c 892B or r24,r25842 023e D1F7 brne .L12843 0240 CE01 movw r24,r28844 0242 8C0F add r24,r28845 0244 9D1F adc r25,r29846 0246 0E94 0000 call Delay_ms847 024a 1150 subi r17,1848 024c 78F7 brcc .L15849 .L8:850 /* epilogue: frame size=0 */851 024e DF91 pop r29852 0250 CF91 pop r28853 0252 1F91 pop r17854 0254 0895 ret855 /* epilogue end (size=4) */856 /* function Piep size 34 (27) */858 .global CalibrierMittelwert860 CalibrierMittelwert:861 /* prologue: frame size=0 */862 0256 CF93 push r28863 0258 DF93 push r29864 /* prologue end (size=2) */865 025a 8091 0000 lds r24,PlatinenVersion866 025e 8D30 cpi r24,lo8(13)867 0260 11F4 brne .L18868 0262 0E94 0000 call SucheGyroOffset869 .L18:870 0266 1092 7A00 sts 122,__zero_reg__871 026a 8091 0000 lds r24,AdWertNick872 026e 9091 0000 lds r25,(AdWertNick)+1873 0272 9093 0000 sts (MesswertNick)+1,r25874 0276 8093 0000 sts MesswertNick,r24875 027a 8091 0000 lds r24,AdWertRoll876 027e 9091 0000 lds r25,(AdWertRoll)+1877 0282 9093 0000 sts (MesswertRoll)+1,r25878 0286 8093 0000 sts MesswertRoll,r24879 028a 8091 0000 lds r24,AdWertGier880 028e 9091 0000 lds r25,(AdWertGier)+1881 0292 9093 0000 sts (MesswertGier)+1,r25882 0296 8093 0000 sts MesswertGier,r24883 029a 2091 0000 lds r18,AdWertAccNick884 029e 3091 0000 lds r19,(AdWertAccNick)+1885 02a2 C901 movw r24,r18886 02a4 880F lsl r24887 02a6 991F rol r25888 02a8 880F lsl r24889 02aa 991F rol r25890 02ac 820F add r24,r18891 02ae 931F adc r25,r19892 02b0 820F add r24,r18893 02b2 931F adc r25,r19894 02b4 9093 0000 sts (Mittelwert_AccNick)+1,r25895 02b8 8093 0000 sts Mittelwert_AccNick,r24896 02bc 2091 0000 lds r18,AdWertAccRoll897 02c0 3091 0000 lds r19,(AdWertAccRoll)+1898 02c4 C901 movw r24,r18899 02c6 880F lsl r24900 02c8 991F rol r25901 02ca 880F lsl r24902 02cc 991F rol r25903 02ce 820F add r24,r18904 02d0 931F adc r25,r19905 02d2 820F add r24,r18906 02d4 931F adc r25,r19907 02d6 9093 0000 sts (Mittelwert_AccRoll)+1,r25908 02da 8093 0000 sts Mittelwert_AccRoll,r24909 02de 8FEC ldi r24,lo8(-49)910 02e0 8093 7A00 sts 122,r24911 02e4 A0E0 ldi r26,lo8(Poti)912 02e6 B0E0 ldi r27,hi8(Poti)913 02e8 C0E0 ldi r28,lo8(EE_Parameter+5)914 02ea D0E0 ldi r29,hi8(EE_Parameter+5)915 02ec 97E0 ldi r25,lo8(7)916 .L28:917 02ee 8991 ld r24,Y+918 02f0 E82F mov r30,r24919 02f2 FF27 clr r31920 02f4 EE0F add r30,r30921 02f6 FF1F adc r31,r31922 02f8 E050 subi r30,lo8(-(PPM_in))923 02fa F040 sbci r31,hi8(-(PPM_in))924 02fc 0190 ld __tmp_reg__,Z+925 02fe F081 ld r31,Z926 0300 E02D mov r30,__tmp_reg__927 0302 E259 subi r30,lo8(-(110))928 0304 FF4F sbci r31,hi8(-(110))929 0306 1E16 cp __zero_reg__,r30930 0308 1F06 cpc __zero_reg__,r31931 030a 1CF0 brlt .L22932 030c E0E0 ldi r30,lo8(0)933 030e F0E0 ldi r31,hi8(0)934 0310 05C0 rjmp .L23935 .L22:936 0312 EF3F cpi r30,255937 0314 F105 cpc r31,__zero_reg__938 0316 14F0 brlt .L23939 0318 EFEF ldi r30,lo8(255)940 031a F0E0 ldi r31,hi8(255)941 .L23:942 031c 8C91 ld r24,X943 031e 282F mov r18,r24944 0320 3327 clr r19945 0322 E217 cp r30,r18946 0324 F307 cpc r31,r19947 0326 14F4 brge .L25948 0328 8150 subi r24,lo8(-(-1))949 032a 04C0 rjmp .L31950 .L25:951 032c 2E17 cp r18,r30952 032e 3F07 cpc r19,r31953 0330 14F4 brge .L21954 0332 8F5F subi r24,lo8(-(1))955 .L31:956 0334 8C93 st X,r24957 .L21:958 0336 9150 subi r25,lo8(-(-1))959 0338 1196 adiw r26,1960 033a 97FF sbrs r25,7961 033c D8CF rjmp .L28962 033e 8091 0000 lds r24,EE_Parameter+65963 0342 9927 clr r25964 0344 AA27 clr r26965 0346 BB27 clr r27966 0348 BC01 movw r22,r24967 034a CD01 movw r24,r26968 034c 24EC ldi r18,lo8(2500)969 034e 39E0 ldi r19,hi8(2500)970 0350 40E0 ldi r20,hlo8(2500)971 0352 50E0 ldi r21,hhi8(2500)972 0354 0E94 0000 call __mulsi3973 0358 DC01 movw r26,r24974 035a CB01 movw r24,r22975 035c 8093 0000 sts Umschlag180Nick,r24976 0360 9093 0000 sts (Umschlag180Nick)+1,r25977 0364 A093 0000 sts (Umschlag180Nick)+2,r26978 0368 B093 0000 sts (Umschlag180Nick)+3,r27979 036c 8091 0000 lds r24,EE_Parameter+66980 0370 9927 clr r25981 0372 AA27 clr r26982 0374 BB27 clr r27983 0376 BC01 movw r22,r24984 0378 CD01 movw r24,r26985 037a 0E94 0000 call __mulsi3986 037e DC01 movw r26,r24987 0380 CB01 movw r24,r22988 0382 8093 0000 sts Umschlag180Roll,r24989 0386 9093 0000 sts (Umschlag180Roll)+1,r25990 038a A093 0000 sts (Umschlag180Roll)+2,r26991 038e B093 0000 sts (Umschlag180Roll)+3,r27992 /* epilogue: frame size=0 */993 0392 DF91 pop r29994 0394 CF91 pop r28995 0396 0895 ret996 /* epilogue end (size=3) */997 /* function CalibrierMittelwert size 161 (156) */999 .section .progmem.data,"a",@progbits1002 __c.39:1003 0000 0A0D 4143 .string "\n\rACC not calibrated!\r\n"1003 4320 6E6F1003 7420 63611003 6C69 62721003 6174 65641004 .text1005 .global SetNeutral1007 SetNeutral:1008 /* prologue: frame size=0 */1009 0398 A0E0 ldi r26,lo8(0)1010 039a B0E0 ldi r27,hi8(0)1011 039c E0E0 ldi r30,pm_lo8(1f)1012 039e F0E0 ldi r31,pm_hi8(1f)1013 03a0 0C94 0000 jmp __prologue_saves__+121014 1:1015 /* prologue end (size=6) */1016 03a4 882E mov r8,r241017 03a6 C0E0 ldi r28,lo8(0)1018 03a8 D0E0 ldi r29,hi8(0)1019 03aa 7E01 movw r14,r281020 03ac 6E01 movw r12,r281021 03ae 1092 0000 sts VersionInfo+5,__zero_reg__1022 03b2 469A sbi 40-0x20,61023 03b4 D093 0000 sts (NeutralAccX)+1,r291024 03b8 C093 0000 sts NeutralAccX,r281025 03bc D093 0000 sts (NeutralAccY)+1,r291026 03c0 C093 0000 sts NeutralAccY,r281027 03c4 D093 0000 sts (NeutralAccZ)+1,r291028 03c8 C093 0000 sts NeutralAccZ,r281029 03cc D093 0000 sts (AdNeutralNick)+1,r291030 03d0 C093 0000 sts AdNeutralNick,r281031 03d4 D093 0000 sts (AdNeutralRoll)+1,r291032 03d8 C093 0000 sts AdNeutralRoll,r281033 03dc D093 0000 sts (AdNeutralGier)+1,r291034 03e0 C093 0000 sts AdNeutralGier,r281035 03e4 1092 0000 sts Parameter_AchsKopplung1,__zero_reg__1036 03e8 1092 0000 sts Parameter_AchsKopplung2,__zero_reg__1037 03ec 1092 0000 sts ExpandBaro,__zero_reg__1038 03f0 0E94 0000 call CalibrierMittelwert1039 03f4 84E6 ldi r24,lo8(100)1040 03f6 90E0 ldi r25,hi8(100)1041 03f8 0E94 0000 call Delay_ms_Mess1042 03fc 0E94 0000 call CalibrierMittelwert1043 0400 8091 0000 lds r24,EE_Parameter+131044 0404 80FF sbrs r24,01045 0406 10C0 rjmp .L331046 0408 8091 0000 lds r24,MessLuftdruck1047 040c 9091 0000 lds r25,(MessLuftdruck)+11048 0410 875B subi r24,lo8(951)1049 0412 9340 sbci r25,hi8(951)1050 0414 38F4 brsh .L351051 0416 8091 0000 lds r24,MessLuftdruck1052 041a 9091 0000 lds r25,(MessLuftdruck)+11053 041e 8E5E subi r24,lo8(750)1054 0420 9240 sbci r25,hi8(750)1055 0422 10F4 brsh .L331056 .L35:1057 0424 0E94 0000 call SucheLuftruckOffset1058 .L33:1059 0428 0FE1 ldi r16,lo8(31)1060 .L39:1061 042a 8AE0 ldi r24,lo8(10)1062 042c 90E0 ldi r25,hi8(10)1063 042e 0E94 0000 call Delay_ms_Mess1064 0432 8091 0000 lds r24,AdWertGier1065 0436 9091 0000 lds r25,(AdWertGier)+11066 043a C80F add r28,r241067 043c D91F adc r29,r251068 043e 8091 0000 lds r24,AdWertNick1069 0442 9091 0000 lds r25,(AdWertNick)+11070 0446 E80E add r14,r241071 0448 F91E adc r15,r251072 044a 8091 0000 lds r24,AdWertRoll1073 044e 9091 0000 lds r25,(AdWertRoll)+11074 0452 C80E add r12,r241075 0454 D91E adc r13,r251076 0456 0150 subi r16,lo8(-(-1))1077 0458 07FF sbrs r16,71078 045a E7CF rjmp .L391079 045c 9701 movw r18,r141080 045e 205F subi r18,lo8(-(16))1081 0460 3F4F sbci r19,hi8(-(16))1082 0462 3695 lsr r191083 0464 2795 ror r181084 0466 3695 lsr r191085 0468 2795 ror r181086 046a 3093 0000 sts (AdNeutralNick)+1,r191087 046e 2093 0000 sts AdNeutralNick,r181088 0472 C601 movw r24,r121089 0474 4096 adiw r24,161090 0476 9695 lsr r251091 0478 8795 ror r241092 047a 9695 lsr r251093 047c 8795 ror r241094 047e 9093 0000 sts (AdNeutralRoll)+1,r251095 0482 8093 0000 sts AdNeutralRoll,r241096 0486 6096 adiw r28,161097 0488 F5E0 ldi r31,51098 048a D695 1: lsr r291099 048c C795 ror r281100 048e FA95 dec r311101 0490 E1F7 brne 1b1102 0492 D093 0000 sts (AdNeutralGier)+1,r291103 0496 C093 0000 sts AdNeutralGier,r281104 049a 9093 0000 sts (StartNeutralRoll)+1,r251105 049e 8093 0000 sts StartNeutralRoll,r241106 04a2 3093 0000 sts (StartNeutralNick)+1,r191107 04a6 2093 0000 sts StartNeutralNick,r181108 04aa 8820 tst r81109 04ac 09F4 brne .+21110 04ae 41C0 rjmp .L401111 04b0 8091 0000 lds r24,Mittelwert_AccNick1112 04b4 9091 0000 lds r25,(Mittelwert_AccNick)+11113 04b8 97FF sbrs r25,71114 04ba 03C0 rjmp .L411115 04bc 9095 com r251116 04be 8195 neg r241117 04c0 9F4F sbci r25,lo8(-1)1118 .L41:1119 04c2 6CE0 ldi r22,lo8(12)1120 04c4 70E0 ldi r23,hi8(12)1121 04c6 0E94 0000 call __divmodhi41122 04ca 9B01 movw r18,r221123 04cc 7093 0000 sts (NeutralAccX)+1,r231124 04d0 6093 0000 sts NeutralAccX,r221125 04d4 8091 0000 lds r24,Mittelwert_AccRoll1126 04d8 9091 0000 lds r25,(Mittelwert_AccRoll)+11127 04dc 97FF sbrs r25,71128 04de 03C0 rjmp .L421129 04e0 9095 com r251130 04e2 8195 neg r241131 04e4 9F4F sbci r25,lo8(-1)1132 .L42:1133 04e6 6CE0 ldi r22,lo8(12)1134 04e8 70E0 ldi r23,hi8(12)1135 04ea 0E94 0000 call __divmodhi41136 04ee 7093 0000 sts (NeutralAccY)+1,r231137 04f2 6093 0000 sts NeutralAccY,r221138 04f6 8091 0000 lds r24,Aktuell_az1139 04fa 9091 0000 lds r25,(Aktuell_az)+11140 04fe 9093 0000 sts (NeutralAccZ)+1,r251141 0502 8093 0000 sts NeutralAccZ,r241142 0506 B901 movw r22,r181143 0508 84E0 ldi r24,lo8(4)1144 050a 90E0 ldi r25,hi8(4)1145 050c 0E94 0000 call SetParamWord1146 0510 6091 0000 lds r22,NeutralAccY1147 0514 7091 0000 lds r23,(NeutralAccY)+11148 0518 86E0 ldi r24,lo8(6)1149 051a 90E0 ldi r25,hi8(6)1150 051c 0E94 0000 call SetParamWord1151 0520 6091 0000 lds r22,NeutralAccZ1152 0524 7091 0000 lds r23,(NeutralAccZ)+11153 0528 88E0 ldi r24,lo8(8)1154 052a 90E0 ldi r25,hi8(8)1155 052c 0E94 0000 call SetParamWord1156 0530 65C0 rjmp .L431157 .L40:1158 0532 84E0 ldi r24,lo8(4)1159 0534 90E0 ldi r25,hi8(4)1160 0536 0E94 0000 call GetParamWord1161 053a 9093 0000 sts (NeutralAccX)+1,r251162 053e 8093 0000 sts NeutralAccX,r241163 0542 86E0 ldi r24,lo8(6)1164 0544 90E0 ldi r25,hi8(6)1165 0546 0E94 0000 call GetParamWord1166 054a 9093 0000 sts (NeutralAccY)+1,r251167 054e 8093 0000 sts NeutralAccY,r241168 0552 88E0 ldi r24,lo8(8)1169 0554 90E0 ldi r25,hi8(8)1170 0556 0E94 0000 call GetParamWord1171 055a 9C01 movw r18,r241172 055c 9093 0000 sts (NeutralAccZ)+1,r251173 0560 8093 0000 sts NeutralAccZ,r241174 0564 8091 0000 lds r24,NeutralAccX1175 0568 9091 0000 lds r25,(NeutralAccX)+11176 056c 8150 subi r24,lo8(2049)1177 056e 9840 sbci r25,hi8(2049)1178 0570 50F4 brsh .L451179 0572 8091 0000 lds r24,NeutralAccY1180 0576 9091 0000 lds r25,(NeutralAccY)+11181 057a 8150 subi r24,lo8(2049)1182 057c 9840 sbci r25,hi8(2049)1183 057e 18F4 brsh .L451184 0580 2150 subi r18,lo8(1025)1185 0582 3440 sbci r19,hi8(1025)1186 0584 D8F1 brlo .L431187 .L45:1188 0586 80E0 ldi r24,lo8(__c.39)1189 0588 90E0 ldi r25,hi8(__c.39)1190 058a 9F93 push r251191 058c 8F93 push r241192 058e 80E0 ldi r24,lo8(pm(uart_putchar))1193 0590 90E0 ldi r25,hi8(pm(uart_putchar))1194 0592 9F93 push r251195 0594 8F93 push r241196 0596 E091 0000 lds r30,_printf_P1197 059a F091 0000 lds r31,(_printf_P)+11198 059e 0995 icall1199 05a0 8091 0000 lds r24,Mittelwert_AccNick1200 05a4 9091 0000 lds r25,(Mittelwert_AccNick)+11201 05a8 97FF sbrs r25,71202 05aa 03C0 rjmp .L461203 05ac 9095 com r251204 05ae 8195 neg r241205 05b0 9F4F sbci r25,lo8(-1)1206 .L46:1207 05b2 6CE0 ldi r22,lo8(12)1208 05b4 70E0 ldi r23,hi8(12)1209 05b6 0E94 0000 call __divmodhi41210 05ba 7093 0000 sts (NeutralAccX)+1,r231211 05be 6093 0000 sts NeutralAccX,r221212 05c2 8091 0000 lds r24,Mittelwert_AccRoll1213 05c6 9091 0000 lds r25,(Mittelwert_AccRoll)+11214 05ca 97FF sbrs r25,71215 05cc 03C0 rjmp .L471216 05ce 9095 com r251217 05d0 8195 neg r241218 05d2 9F4F sbci r25,lo8(-1)1219 .L47:1220 05d4 6CE0 ldi r22,lo8(12)1221 05d6 70E0 ldi r23,hi8(12)1222 05d8 0E94 0000 call __divmodhi41223 05dc 7093 0000 sts (NeutralAccY)+1,r231224 05e0 6093 0000 sts NeutralAccY,r221225 05e4 8091 0000 lds r24,Aktuell_az1226 05e8 9091 0000 lds r25,(Aktuell_az)+11227 05ec 9093 0000 sts (NeutralAccZ)+1,r251228 05f0 8093 0000 sts NeutralAccZ,r241229 05f4 0F90 pop __tmp_reg__1230 05f6 0F90 pop __tmp_reg__1231 05f8 0F90 pop __tmp_reg__1232 05fa 0F90 pop __tmp_reg__1233 .L43:1234 05fc 1092 0000 sts (MesswertNick)+1,__zero_reg__1235 0600 1092 0000 sts MesswertNick,__zero_reg__1236 0604 1092 0000 sts (MesswertRoll)+1,__zero_reg__1237 0608 1092 0000 sts MesswertRoll,__zero_reg__1238 060c 1092 0000 sts (MesswertGier)+1,__zero_reg__1239 0610 1092 0000 sts MesswertGier,__zero_reg__1240 0614 84E6 ldi r24,lo8(100)1241 0616 90E0 ldi r25,hi8(100)1242 0618 0E94 0000 call Delay_ms_Mess1243 061c 8091 0000 lds r24,AdWertAccNick1244 0620 9091 0000 lds r25,(AdWertAccNick)+11245 0624 9C01 movw r18,r241246 0626 220F lsl r181247 0628 331F rol r191248 062a 220F lsl r181249 062c 331F rol r191250 062e 280F add r18,r241251 0630 391F adc r19,r251252 0632 280F add r18,r241253 0634 391F adc r19,r251254 0636 3093 0000 sts (Mittelwert_AccNick)+1,r191255 063a 2093 0000 sts Mittelwert_AccNick,r181256 063e 8091 0000 lds r24,AdWertAccRoll1257 0642 9091 0000 lds r25,(AdWertAccRoll)+11258 0646 8C01 movw r16,r241259 0648 000F lsl r161260 064a 111F rol r171261 064c 000F lsl r161262 064e 111F rol r171263 0650 080F add r16,r241264 0652 191F adc r17,r251265 0654 080F add r16,r241266 0656 191F adc r17,r251267 0658 1093 0000 sts (Mittelwert_AccRoll)+1,r171268 065c 0093 0000 sts Mittelwert_AccRoll,r161269 0660 8091 0000 lds r24,EE_Parameter+281270 0664 C82E mov r12,r241271 0666 DD24 clr r131272 0668 EE24 clr r141273 066a FF24 clr r151274 066c 4427 clr r201275 066e 37FD sbrc r19,71276 0670 4095 com r201277 0672 542F mov r21,r201278 0674 C701 movw r24,r141279 0676 B601 movw r22,r121280 0678 0E94 0000 call __mulsi31281 067c 4B01 movw r8,r221282 067e 5C01 movw r10,r241283 0680 6093 0000 sts IntegralNick,r221284 0684 7093 0000 sts (IntegralNick)+1,r231285 0688 8093 0000 sts (IntegralNick)+2,r241286 068c 9093 0000 sts (IntegralNick)+3,r251287 0690 9801 movw r18,r161288 0692 4427 clr r201289 0694 37FD sbrc r19,71290 0696 4095 com r201291 0698 542F mov r21,r201292 069a C701 movw r24,r141293 069c B601 movw r22,r121294 069e 0E94 0000 call __mulsi31295 06a2 DC01 movw r26,r241296 06a4 CB01 movw r24,r221297 06a6 8093 0000 sts IntegralRoll,r241298 06aa 9093 0000 sts (IntegralRoll)+1,r251299 06ae A093 0000 sts (IntegralRoll)+2,r261300 06b2 B093 0000 sts (IntegralRoll)+3,r271301 06b6 8092 0000 sts Mess_IntegralNick2,r81302 06ba 9092 0000 sts (Mess_IntegralNick2)+1,r91303 06be A092 0000 sts (Mess_IntegralNick2)+2,r101304 06c2 B092 0000 sts (Mess_IntegralNick2)+3,r111305 06c6 8093 0000 sts Mess_IntegralRoll2,r241306 06ca 9093 0000 sts (Mess_IntegralRoll2)+1,r251307 06ce A093 0000 sts (Mess_IntegralRoll2)+2,r261308 06d2 B093 0000 sts (Mess_IntegralRoll2)+3,r271309 06d6 1092 0000 sts Mess_Integral_Gier,__zero_reg__1310 06da 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__1311 06de 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__1312 06e2 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__1313 06e6 8091 0000 lds r24,Luftdruck1314 06ea 9091 0000 lds r25,(Luftdruck)+11315 06ee A091 0000 lds r26,(Luftdruck)+21316 06f2 B091 0000 lds r27,(Luftdruck)+31317 06f6 9093 0000 sts (StartLuftdruck)+1,r251318 06fa 8093 0000 sts StartLuftdruck,r241319 06fe 1092 0000 sts (VarioMeter)+1,__zero_reg__1320 0702 1092 0000 sts VarioMeter,__zero_reg__1321 0706 1092 0000 sts Mess_Integral_Hoch,__zero_reg__1322 070a 1092 0000 sts (Mess_Integral_Hoch)+1,__zero_reg__1323 070e 1092 0000 sts (Mess_Integral_Hoch)+2,__zero_reg__1324 0712 1092 0000 sts (Mess_Integral_Hoch)+3,__zero_reg__1325 0716 8091 0000 lds r24,KompassValue1326 071a 9091 0000 lds r25,(KompassValue)+11327 071e 9093 0000 sts (KompassStartwert)+1,r251328 0722 8093 0000 sts KompassStartwert,r241329 0726 0E94 0000 call GPS_Neutral1330 072a 82E3 ldi r24,lo8(50)1331 072c 90E0 ldi r25,hi8(50)1332 072e 9093 0000 sts (beeptime)+1,r251333 0732 8093 0000 sts beeptime,r241334 0736 8091 0000 lds r24,EE_Parameter+651335 073a 9927 clr r251336 073c AA27 clr r261337 073e BB27 clr r271338 0740 BC01 movw r22,r241339 0742 CD01 movw r24,r261340 0744 24EC ldi r18,lo8(2500)1341 0746 39E0 ldi r19,hi8(2500)1342 0748 40E0 ldi r20,hlo8(2500)1343 074a 50E0 ldi r21,hhi8(2500)1344 074c 0E94 0000 call __mulsi31345 0750 DC01 movw r26,r241346 0752 CB01 movw r24,r221347 0754 8856 subi r24,lo8(-(15000))1348 0756 954C sbci r25,hi8(-(15000))1349 0758 AF4F sbci r26,hlo8(-(15000))1350 075a BF4F sbci r27,hhi8(-(15000))1351 075c 8093 0000 sts Umschlag180Nick,r241352 0760 9093 0000 sts (Umschlag180Nick)+1,r251353 0764 A093 0000 sts (Umschlag180Nick)+2,r261354 0768 B093 0000 sts (Umschlag180Nick)+3,r271355 076c 8091 0000 lds r24,EE_Parameter+661356 0770 9927 clr r251357 0772 AA27 clr r261358 0774 BB27 clr r271359 0776 BC01 movw r22,r241360 0778 CD01 movw r24,r261361 077a 0E94 0000 call __mulsi31362 077e DC01 movw r26,r241363 0780 CB01 movw r24,r221364 0782 8856 subi r24,lo8(-(15000))1365 0784 954C sbci r25,hi8(-(15000))1366 0786 AF4F sbci r26,hlo8(-(15000))1367 0788 BF4F sbci r27,hhi8(-(15000))1368 078a 8093 0000 sts Umschlag180Roll,r241369 078e 9093 0000 sts (Umschlag180Roll)+1,r251370 0792 A093 0000 sts (Umschlag180Roll)+2,r261371 0796 B093 0000 sts (Umschlag180Roll)+3,r271372 079a 1092 0000 sts (ExternHoehenValue)+1,__zero_reg__1373 079e 1092 0000 sts ExternHoehenValue,__zero_reg__1374 07a2 8091 0000 lds r24,KompassValue1375 07a6 9091 0000 lds r25,(KompassValue)+11376 07aa AA27 clr r261377 07ac 97FD sbrc r25,71378 07ae A095 com r261379 07b0 BA2F mov r27,r261380 07b2 2091 0000 lds r18,GIER_GRAD_FAKTOR1381 07b6 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+11382 07ba 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+21383 07be 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+31384 07c2 BC01 movw r22,r241385 07c4 CD01 movw r24,r261386 07c6 0E94 0000 call __mulsi31387 07ca DC01 movw r26,r241388 07cc CB01 movw r24,r221389 07ce 8093 0000 sts ErsatzKompass,r241390 07d2 9093 0000 sts (ErsatzKompass)+1,r251391 07d6 A093 0000 sts (ErsatzKompass)+2,r261392 07da B093 0000 sts (ErsatzKompass)+3,r271393 07de 1092 0000 sts (GierGyroFehler)+1,__zero_reg__1394 07e2 1092 0000 sts GierGyroFehler,__zero_reg__1395 07e6 81E0 ldi r24,lo8(1)1396 07e8 8093 0000 sts SendVersionToNavi,r241397 07ec 0E94 0000 call LED_Init1398 07f0 8091 0000 lds r24,FC_StatusFlags1399 07f4 8460 ori r24,lo8(4)1400 07f6 8093 0000 sts FC_StatusFlags,r241401 07fa 8FEF ldi r24,lo8(-1)1402 07fc 8093 0000 sts FromNaviCtrl_Value,r241403 0800 1092 0000 sts FromNaviCtrl_Value+1,__zero_reg__1404 0804 80E2 ldi r24,lo8(32)1405 0806 8093 0000 sts FromNaviCtrl_Value+2,r241406 080a C0E0 ldi r28,lo8(Poti)1407 080c D0E0 ldi r29,hi8(Poti)1408 080e A0E0 ldi r26,lo8(EE_Parameter+5)1409 0810 B0E0 ldi r27,hi8(EE_Parameter+5)1410 0812 07E0 ldi r16,lo8(7)1411 .L51:1412 0814 8D91 ld r24,X+1413 0816 E82F mov r30,r241414 0818 FF27 clr r311415 081a EE0F add r30,r301416 081c FF1F adc r31,r311417 081e E050 subi r30,lo8(-(PPM_in))1418 0820 F040 sbci r31,hi8(-(PPM_in))1419 0822 8081 ld r24,Z1420 0824 9181 ldd r25,Z+11421 0826 8259 subi r24,lo8(-(110))1422 0828 8993 st Y+,r241423 082a 0150 subi r16,lo8(-(-1))1424 082c 07FF sbrs r16,71425 082e F2CF rjmp .L511426 0830 84E6 ldi r24,lo8(100)1427 0832 8093 0000 sts SenderOkay,r241428 0836 8091 0000 lds r24,ServoActive1429 083a 8823 tst r241430 083c 11F0 breq .L521431 083e 469A sbi 40-0x20,61432 0840 579A sbi 42-0x20,71433 .L52:1434 0842 8091 0000 lds r24,AdNeutralNick1435 0846 9091 0000 lds r25,(AdNeutralNick)+11436 084a 8056 subi r24,lo8(-(-2400))1437 084c 9940 sbci r25,hi8(-(-2400))1438 084e 815C subi r24,lo8(11201)1439 0850 9B42 sbci r25,hi8(11201)1440 0852 28F0 brlo .L531441 0854 8091 0000 lds r24,VersionInfo+51442 0858 8160 ori r24,lo8(1)1443 085a 8093 0000 sts VersionInfo+5,r241444 .L53:1445 085e 8091 0000 lds r24,AdNeutralRoll1446 0862 9091 0000 lds r25,(AdNeutralRoll)+11447 0866 8056 subi r24,lo8(-(-2400))1448 0868 9940 sbci r25,hi8(-(-2400))1449 086a 815C subi r24,lo8(11201)1450 086c 9B42 sbci r25,hi8(11201)1451 086e 28F0 brlo .L541452 0870 8091 0000 lds r24,VersionInfo+51453 0874 8260 ori r24,lo8(2)1454 0876 8093 0000 sts VersionInfo+5,r241455 .L54:1456 087a 8091 0000 lds r24,AdNeutralGier1457 087e 9091 0000 lds r25,(AdNeutralGier)+11458 0882 8C52 subi r24,lo8(-(-300))1459 0884 9140 sbci r25,hi8(-(-300))1460 0886 8957 subi r24,lo8(1401)1461 0888 9540 sbci r25,hi8(1401)1462 088a 28F0 brlo .L551463 088c 8091 0000 lds r24,VersionInfo+51464 0890 8460 ori r24,lo8(4)1465 0892 8093 0000 sts VersionInfo+5,r241466 .L55:1467 0896 8091 0000 lds r24,NeutralAccX1468 089a 9091 0000 lds r25,(NeutralAccX)+11469 089e 8C52 subi r24,lo8(-(-300))1470 08a0 9140 sbci r25,hi8(-(-300))1471 08a2 835C subi r24,lo8(451)1472 08a4 9140 sbci r25,hi8(451)1473 08a6 28F0 brlo .L561474 08a8 8091 0000 lds r24,VersionInfo+51475 08ac 8860 ori r24,lo8(8)1476 08ae 8093 0000 sts VersionInfo+5,r241477 .L56:1478 08b2 8091 0000 lds r24,NeutralAccY1479 08b6 9091 0000 lds r25,(NeutralAccY)+11480 08ba 8C52 subi r24,lo8(-(-300))1481 08bc 9140 sbci r25,hi8(-(-300))1482 08be 835C subi r24,lo8(451)1483 08c0 9140 sbci r25,hi8(451)1484 08c2 28F0 brlo .L571485 08c4 8091 0000 lds r24,VersionInfo+51486 08c8 8061 ori r24,lo8(16)1487 08ca 8093 0000 sts VersionInfo+5,r241488 .L57:1489 08ce 8091 0000 lds r24,NeutralAccZ1490 08d2 9091 0000 lds r25,(NeutralAccZ)+11491 08d6 8050 subi r24,lo8(-(-512))1492 08d8 9240 sbci r25,hi8(-(-512))1493 08da 8355 subi r24,lo8(339)1494 08dc 9140 sbci r25,hi8(339)1495 08de 28F0 brlo .L321496 08e0 8091 0000 lds r24,VersionInfo+51497 08e4 8062 ori r24,lo8(32)1498 08e6 8093 0000 sts VersionInfo+5,r241499 .L32:1500 /* epilogue: frame size=0 */1501 08ea ECE0 ldi r30,121502 08ec CDB7 in r28,__SP_L__1503 08ee DEB7 in r29,__SP_H__1504 08f0 0C94 0000 jmp __epilogue_restores__+121505 /* epilogue end (size=5) */1506 /* function SetNeutral size 697 (686) */1508 .lcomm tmpl.31,41509 .lcomm tmpl2.32,41510 .lcomm tmpl3.33,41511 .lcomm tmpl4.34,41512 .lcomm oldNick.35,21513 .lcomm oldRoll.36,21514 .lcomm d2Roll.37,21515 .lcomm d2Nick.38,21516 .global Mittelwert1518 Mittelwert:1519 /* prologue: frame size=19 */1520 08f4 A3E1 ldi r26,lo8(19)1521 08f6 B0E0 ldi r27,hi8(19)1522 08f8 E0E0 ldi r30,pm_lo8(1f)1523 08fa F0E0 ldi r31,pm_hi8(1f)1524 08fc 0C94 0000 jmp __prologue_saves__+01525 1:1526 /* prologue end (size=6) */1527 0900 8091 0000 lds r24,AdNeutralGier1528 0904 9091 0000 lds r25,(AdNeutralGier)+11529 0908 2091 0000 lds r18,AdWertGier1530 090c 3091 0000 lds r19,(AdWertGier)+11531 0910 821B sub r24,r181532 0912 930B sbc r25,r191533 0914 9093 0000 sts (MesswertGier)+1,r251534 0918 8093 0000 sts MesswertGier,r241535 091c 8091 0000 lds r24,AdWertNickFilter1536 0920 9091 0000 lds r25,(AdWertNickFilter)+11537 0924 97FD sbrc r25,71538 0926 0796 adiw r24,71539 .L64:1540 0928 9C01 movw r18,r241541 092a 13E0 ldi r17,31542 092c 3595 1: asr r191543 092e 2795 ror r181544 0930 1A95 dec r171545 0932 E1F7 brne 1b1546 0934 3093 0000 sts (MesswertNick)+1,r191547 0938 2093 0000 sts MesswertNick,r181548 093c 8091 0000 lds r24,AdWertRollFilter1549 0940 9091 0000 lds r25,(AdWertRollFilter)+11550 0944 97FD sbrc r25,71551 0946 0796 adiw r24,71552 .L65:1553 0948 B3E0 ldi r27,31554 094a 9595 1: asr r251555 094c 8795 ror r241556 094e BA95 dec r271557 0950 E1F7 brne 1b1558 0952 9093 0000 sts (MesswertRoll)+1,r251559 0956 8093 0000 sts MesswertRoll,r241560 095a 3093 0000 sts (RohMesswertNick)+1,r191561 095e 2093 0000 sts RohMesswertNick,r181562 0962 9093 0000 sts (RohMesswertRoll)+1,r251563 0966 8093 0000 sts RohMesswertRoll,r241564 096a 8091 0000 lds r24,Mittelwert_AccNick1565 096e 9091 0000 lds r25,(Mittelwert_AccNick)+11566 0972 AC01 movw r20,r241567 0974 440F lsl r201568 0976 551F rol r211569 0978 480F add r20,r241570 097a 591F adc r21,r251571 097c 2091 0000 lds r18,AdWertAccNick1572 0980 3091 0000 lds r19,(AdWertAccNick)+11573 0984 C901 movw r24,r181574 0986 880F lsl r241575 0988 991F rol r251576 098a 880F lsl r241577 098c 991F rol r251578 098e 820F add r24,r181579 0990 931F adc r25,r191580 0992 820F add r24,r181581 0994 931F adc r25,r191582 0996 480F add r20,r241583 0998 591F adc r21,r251584 099a 57FF sbrs r21,71585 099c 02C0 rjmp .L661586 099e 4D5F subi r20,lo8(-(3))1587 09a0 5F4F sbci r21,hi8(-(3))1588 .L66:1589 09a2 5595 asr r211590 09a4 4795 ror r201591 09a6 5595 asr r211592 09a8 4795 ror r201593 09aa 5093 0000 sts (Mittelwert_AccNick)+1,r211594 09ae 4093 0000 sts Mittelwert_AccNick,r201595 09b2 8091 0000 lds r24,Mittelwert_AccRoll1596 09b6 9091 0000 lds r25,(Mittelwert_AccRoll)+11597 09ba AC01 movw r20,r241598 09bc 440F lsl r201599 09be 551F rol r211600 09c0 480F add r20,r241601 09c2 591F adc r21,r251602 09c4 2091 0000 lds r18,AdWertAccRoll1603 09c8 3091 0000 lds r19,(AdWertAccRoll)+11604 09cc C901 movw r24,r181605 09ce 880F lsl r241606 09d0 991F rol r251607 09d2 880F lsl r241608 09d4 991F rol r251609 09d6 820F add r24,r181610 09d8 931F adc r25,r191611 09da 820F add r24,r181612 09dc 931F adc r25,r191613 09de 480F add r20,r241614 09e0 591F adc r21,r251615 09e2 57FF sbrs r21,71616 09e4 02C0 rjmp .L671617 09e6 4D5F subi r20,lo8(-(3))1618 09e8 5F4F sbci r21,hi8(-(3))1619 .L67:1620 09ea 5595 asr r211621 09ec 4795 ror r201622 09ee 5595 asr r211623 09f0 4795 ror r201624 09f2 5093 0000 sts (Mittelwert_AccRoll)+1,r211625 09f6 4093 0000 sts Mittelwert_AccRoll,r201626 09fa 2091 0000 lds r18,AdWertAccNick1627 09fe 3091 0000 lds r19,(AdWertAccNick)+11628 0a02 C901 movw r24,r181629 0a04 880F lsl r241630 0a06 991F rol r251631 0a08 880F lsl r241632 0a0a 991F rol r251633 0a0c 820F add r24,r181634 0a0e 931F adc r25,r191635 0a10 820F add r24,r181636 0a12 931F adc r25,r191637 0a14 9C01 movw r18,r241638 0a16 4427 clr r201639 0a18 37FD sbrc r19,71640 0a1a 4095 com r201641 0a1c 542F mov r21,r201642 0a1e 8091 0000 lds r24,IntegralAccNick1643 0a22 9091 0000 lds r25,(IntegralAccNick)+11644 0a26 A091 0000 lds r26,(IntegralAccNick)+21645 0a2a B091 0000 lds r27,(IntegralAccNick)+31646 0a2e 820F add r24,r181647 0a30 931F adc r25,r191648 0a32 A41F adc r26,r201649 0a34 B51F adc r27,r211650 0a36 8093 0000 sts IntegralAccNick,r241651 0a3a 9093 0000 sts (IntegralAccNick)+1,r251652 0a3e A093 0000 sts (IntegralAccNick)+2,r261653 0a42 B093 0000 sts (IntegralAccNick)+3,r271654 0a46 2091 0000 lds r18,AdWertAccRoll1655 0a4a 3091 0000 lds r19,(AdWertAccRoll)+11656 0a4e C901 movw r24,r181657 0a50 880F lsl r241658 0a52 991F rol r251659 0a54 880F lsl r241660 0a56 991F rol r251661 0a58 820F add r24,r181662 0a5a 931F adc r25,r191663 0a5c 820F add r24,r181664 0a5e 931F adc r25,r191665 0a60 9C01 movw r18,r241666 0a62 4427 clr r201667 0a64 37FD sbrc r19,71668 0a66 4095 com r201669 0a68 542F mov r21,r201670 0a6a 8091 0000 lds r24,IntegralAccRoll1671 0a6e 9091 0000 lds r25,(IntegralAccRoll)+11672 0a72 A091 0000 lds r26,(IntegralAccRoll)+21673 0a76 B091 0000 lds r27,(IntegralAccRoll)+31674 0a7a 820F add r24,r181675 0a7c 931F adc r25,r191676 0a7e A41F adc r26,r201677 0a80 B51F adc r27,r211678 0a82 8093 0000 sts IntegralAccRoll,r241679 0a86 9093 0000 sts (IntegralAccRoll)+1,r251680 0a8a A093 0000 sts (IntegralAccRoll)+2,r261681 0a8e B093 0000 sts (IntegralAccRoll)+3,r271682 0a92 8091 0000 lds r24,NaviAccNick1683 0a96 9091 0000 lds r25,(NaviAccNick)+11684 0a9a 2091 0000 lds r18,AdWertAccNick1685 0a9e 3091 0000 lds r19,(AdWertAccNick)+11686 0aa2 820F add r24,r181687 0aa4 931F adc r25,r191688 0aa6 9093 0000 sts (NaviAccNick)+1,r251689 0aaa 8093 0000 sts NaviAccNick,r241690 0aae 8091 0000 lds r24,NaviAccRoll1691 0ab2 9091 0000 lds r25,(NaviAccRoll)+11692 0ab6 2091 0000 lds r18,AdWertAccRoll1693 0aba 3091 0000 lds r19,(AdWertAccRoll)+11694 0abe 820F add r24,r181695 0ac0 931F adc r25,r191696 0ac2 9093 0000 sts (NaviAccRoll)+1,r251697 0ac6 8093 0000 sts NaviAccRoll,r241698 0aca 8091 0000 lds r24,NaviCntAcc1699 0ace 9091 0000 lds r25,(NaviCntAcc)+11700 0ad2 0196 adiw r24,11701 0ad4 9093 0000 sts (NaviCntAcc)+1,r251702 0ad8 8093 0000 sts NaviCntAcc,r241703 0adc 8091 0000 lds r24,Aktuell_az1704 0ae0 9091 0000 lds r25,(Aktuell_az)+11705 0ae4 2091 0000 lds r18,NeutralAccZ1706 0ae8 3091 0000 lds r19,(NeutralAccZ)+11707 0aec 821B sub r24,r181708 0aee 930B sbc r25,r191709 0af0 9C01 movw r18,r241710 0af2 4427 clr r201711 0af4 37FD sbrc r19,71712 0af6 4095 com r201713 0af8 542F mov r21,r201714 0afa 8091 0000 lds r24,IntegralAccZ1715 0afe 9091 0000 lds r25,(IntegralAccZ)+11716 0b02 A091 0000 lds r26,(IntegralAccZ)+21717 0b06 B091 0000 lds r27,(IntegralAccZ)+31718 0b0a 820F add r24,r181719 0b0c 931F adc r25,r191720 0b0e A41F adc r26,r201721 0b10 B51F adc r27,r211722 0b12 8093 0000 sts IntegralAccZ,r241723 0b16 9093 0000 sts (IntegralAccZ)+1,r251724 0b1a A093 0000 sts (IntegralAccZ)+2,r261725 0b1e B093 0000 sts (IntegralAccZ)+3,r271726 0b22 8FEC ldi r24,lo8(-49)1727 0b24 8093 7A00 sts 122,r241728 0b28 1092 0000 sts AdReady,__zero_reg__1729 0b2c 2091 0000 lds r18,Mess_IntegralRoll1730 0b30 3091 0000 lds r19,(Mess_IntegralRoll)+11731 0b34 4091 0000 lds r20,(Mess_IntegralRoll)+21732 0b38 5091 0000 lds r21,(Mess_IntegralRoll)+31733 0b3c 2987 std Y+9,r181734 0b3e 3A87 std Y+10,r191735 0b40 4B87 std Y+11,r201736 0b42 5C87 std Y+12,r211737 0b44 2954 subi r18,lo8(93001)1738 0b46 3B46 sbci r19,hi8(93001)1739 0b48 4140 sbci r20,hlo8(93001)1740 0b4a 5040 sbci r21,hhi8(93001)1741 0b4c 2CF0 brlt .L681742 0b4e 28E4 ldi r18,lo8(93000)1743 0b50 3BE6 ldi r19,hi8(93000)1744 0b52 41E0 ldi r20,hlo8(93000)1745 0b54 50E0 ldi r21,hhi8(93000)1746 0b56 0DC0 rjmp .L1481747 .L68:1748 0b58 8985 ldd r24,Y+91749 0b5a 9A85 ldd r25,Y+101750 0b5c AB85 ldd r26,Y+111751 0b5e BC85 ldd r27,Y+121752 0b60 885B subi r24,lo8(-93000)1753 0b62 9449 sbci r25,hi8(-93000)1754 0b64 AE4F sbci r26,hlo8(-93000)1755 0b66 BF4F sbci r27,hhi8(-93000)1756 0b68 4CF4 brge .L701757 0b6a 28EB ldi r18,lo8(-93000)1758 0b6c 34E9 ldi r19,hi8(-93000)1759 0b6e 4EEF ldi r20,hlo8(-93000)1760 0b70 5FEF ldi r21,hhi8(-93000)1761 .L148:1762 0b72 2D83 std Y+5,r181763 0b74 3E83 std Y+6,r191764 0b76 4F83 std Y+7,r201765 0b78 5887 std Y+8,r211766 0b7a 08C0 rjmp .L691767 .L70:1768 0b7c 8985 ldd r24,Y+91769 0b7e 9A85 ldd r25,Y+101770 0b80 AB85 ldd r26,Y+111771 0b82 BC85 ldd r27,Y+121772 0b84 8D83 std Y+5,r241773 0b86 9E83 std Y+6,r251774 0b88 AF83 std Y+7,r261775 0b8a B887 std Y+8,r271776 .L69:1777 0b8c 2091 0000 lds r18,Mess_IntegralNick1778 0b90 3091 0000 lds r19,(Mess_IntegralNick)+11779 0b94 4091 0000 lds r20,(Mess_IntegralNick)+21780 0b98 5091 0000 lds r21,(Mess_IntegralNick)+31781 0b9c 2D87 std Y+13,r181782 0b9e 3E87 std Y+14,r191783 0ba0 4F87 std Y+15,r201784 0ba2 588B std Y+16,r211785 0ba4 2954 subi r18,lo8(93001)1786 0ba6 3B46 sbci r19,hi8(93001)1787 0ba8 4140 sbci r20,hlo8(93001)1788 0baa 5040 sbci r21,hhi8(93001)1789 0bac 2CF0 brlt .L721790 0bae 28E4 ldi r18,lo8(93000)1791 0bb0 3BE6 ldi r19,hi8(93000)1792 0bb2 41E0 ldi r20,hlo8(93000)1793 0bb4 50E0 ldi r21,hhi8(93000)1794 0bb6 0DC0 rjmp .L1491795 .L72:1796 0bb8 8D85 ldd r24,Y+131797 0bba 9E85 ldd r25,Y+141798 0bbc AF85 ldd r26,Y+151799 0bbe B889 ldd r27,Y+161800 0bc0 885B subi r24,lo8(-93000)1801 0bc2 9449 sbci r25,hi8(-93000)1802 0bc4 AE4F sbci r26,hlo8(-93000)1803 0bc6 BF4F sbci r27,hhi8(-93000)1804 0bc8 4CF4 brge .L741805 0bca 28EB ldi r18,lo8(-93000)1806 0bcc 34E9 ldi r19,hi8(-93000)1807 0bce 4EEF ldi r20,hlo8(-93000)1808 0bd0 5FEF ldi r21,hhi8(-93000)1809 .L149:1810 0bd2 2983 std Y+1,r181811 0bd4 3A83 std Y+2,r191812 0bd6 4B83 std Y+3,r201813 0bd8 5C83 std Y+4,r211814 0bda 08C0 rjmp .L731815 .L74:1816 0bdc 8D85 ldd r24,Y+131817 0bde 9E85 ldd r25,Y+141818 0be0 AF85 ldd r26,Y+151819 0be2 B889 ldd r27,Y+161820 0be4 8983 std Y+1,r241821 0be6 9A83 std Y+2,r251822 0be8 AB83 std Y+3,r261823 0bea BC83 std Y+4,r271824 .L73:1825 0bec A091 0000 lds r26,MesswertGier1826 0bf0 B091 0000 lds r27,(MesswertGier)+11827 0bf4 BB8B std Y+19,r271828 0bf6 AA8B std Y+18,r261829 0bf8 FD01 movw r30,r261830 0bfa CF01 movw r24,r301831 0bfc AA27 clr r261832 0bfe 97FD sbrc r25,71833 0c00 A095 com r261834 0c02 BA2F mov r27,r261835 0c04 A090 0000 lds r10,Mess_Integral_Gier1836 0c08 B090 0000 lds r11,(Mess_Integral_Gier)+11837 0c0c C090 0000 lds r12,(Mess_Integral_Gier)+21838 0c10 D090 0000 lds r13,(Mess_Integral_Gier)+31839 0c14 A80E add r10,r241840 0c16 B91E adc r11,r251841 0c18 CA1E adc r12,r261842 0c1a DB1E adc r13,r271843 0c1c A092 0000 sts Mess_Integral_Gier,r101844 0c20 B092 0000 sts (Mess_Integral_Gier)+1,r111845 0c24 C092 0000 sts (Mess_Integral_Gier)+2,r121846 0c28 D092 0000 sts (Mess_Integral_Gier)+3,r131847 0c2c E090 0000 lds r14,ErsatzKompass1848 0c30 F090 0000 lds r15,(ErsatzKompass)+11849 0c34 0091 0000 lds r16,(ErsatzKompass)+21850 0c38 1091 0000 lds r17,(ErsatzKompass)+31851 0c3c E80E add r14,r241852 0c3e F91E adc r15,r251853 0c40 0A1F adc r16,r261854 0c42 1B1F adc r17,r271855 0c44 E092 0000 sts ErsatzKompass,r141856 0c48 F092 0000 sts (ErsatzKompass)+1,r151857 0c4c 0093 0000 sts (ErsatzKompass)+2,r161858 0c50 1093 0000 sts (ErsatzKompass)+3,r171859 0c54 F091 0000 lds r31,Looping_Nick1860 0c58 F98B std Y+17,r311861 0c5a FF23 tst r311862 0c5c 09F0 breq .+21863 0c5e 98C1 rjmp .L761864 0c60 8091 0000 lds r24,Looping_Roll1865 0c64 8823 tst r241866 0c66 09F0 breq .+21867 0c68 93C1 rjmp .L761868 0c6a 8091 0000 lds r24,EE_Parameter+131869 0c6e 86FF sbrs r24,61870 0c70 8FC1 rjmp .L761871 0c72 8091 0000 lds r24,MesswertRoll1872 0c76 9091 0000 lds r25,(MesswertRoll)+11873 0c7a AA27 clr r261874 0c7c 97FD sbrc r25,71875 0c7e A095 com r261876 0c80 BA2F mov r27,r261877 0c82 BC01 movw r22,r241878 0c84 CD01 movw r24,r261879 0c86 2981 ldd r18,Y+11880 0c88 3A81 ldd r19,Y+21881 0c8a 4B81 ldd r20,Y+31882 0c8c 5C81 ldd r21,Y+41883 0c8e 0E94 0000 call __mulsi31884 0c92 9B01 movw r18,r221885 0c94 AC01 movw r20,r241886 0c96 97FF sbrs r25,71887 0c98 04C0 rjmp .L771888 0c9a 2150 subi r18,lo8(-(2047))1889 0c9c 384F sbci r19,hi8(-(2047))1890 0c9e 4F4F sbci r20,hlo8(-(2047))1891 0ca0 5F4F sbci r21,hhi8(-(2047))1892 .L77:1893 0ca2 BBE0 ldi r27,111894 0ca4 5595 1: asr r211895 0ca6 4795 ror r201896 0ca8 3795 ror r191897 0caa 2795 ror r181898 0cac BA95 dec r271899 0cae D1F7 brne 1b1900 0cb0 8091 0000 lds r24,Parameter_AchsKopplung21901 0cb4 682E mov r6,r241902 0cb6 7724 clr r71903 0cb8 8824 clr r81904 0cba 9924 clr r91905 0cbc CA01 movw r24,r201906 0cbe B901 movw r22,r181907 0cc0 A401 movw r20,r81908 0cc2 9301 movw r18,r61909 0cc4 0E94 0000 call __mulsi31910 0cc8 DC01 movw r26,r241911 0cca CB01 movw r24,r221912 0ccc 8093 0000 sts tmpl3.33,r241913 0cd0 9093 0000 sts (tmpl3.33)+1,r251914 0cd4 A093 0000 sts (tmpl3.33)+2,r261915 0cd8 B093 0000 sts (tmpl3.33)+3,r271916 0cdc B7FF sbrs r27,71917 0cde 04C0 rjmp .L781918 0ce0 8150 subi r24,lo8(-(4095))1919 0ce2 904F sbci r25,hi8(-(4095))1920 0ce4 AF4F sbci r26,hlo8(-(4095))1921 0ce6 BF4F sbci r27,hhi8(-(4095))1922 .L78:1923 0ce8 1C01 movw r2,r241924 0cea 2D01 movw r4,r261925 0cec ACE0 ldi r26,121926 0cee 5594 1: asr r51927 0cf0 4794 ror r41928 0cf2 3794 ror r31929 0cf4 2794 ror r21930 0cf6 AA95 dec r261931 0cf8 D1F7 brne 1b1932 0cfa 2092 0000 sts tmpl3.33,r21933 0cfe 3092 0000 sts (tmpl3.33)+1,r31934 0d02 4092 0000 sts (tmpl3.33)+2,r41935 0d06 5092 0000 sts (tmpl3.33)+3,r51936 0d0a 8091 0000 lds r24,MesswertNick1937 0d0e 9091 0000 lds r25,(MesswertNick)+11938 0d12 AA27 clr r261939 0d14 97FD sbrc r25,71940 0d16 A095 com r261941 0d18 BA2F mov r27,r261942 0d1a BC01 movw r22,r241943 0d1c CD01 movw r24,r261944 0d1e 2D81 ldd r18,Y+51945 0d20 3E81 ldd r19,Y+61946 0d22 4F81 ldd r20,Y+71947 0d24 5885 ldd r21,Y+81948 0d26 0E94 0000 call __mulsi31949 0d2a 97FF sbrs r25,71950 0d2c 04C0 rjmp .L791951 0d2e 6150 subi r22,lo8(-(2047))1952 0d30 784F sbci r23,hi8(-(2047))1953 0d32 8F4F sbci r24,hlo8(-(2047))1954 0d34 9F4F sbci r25,hhi8(-(2047))1955 .L79:1956 0d36 FBE0 ldi r31,111957 0d38 9595 1: asr r251958 0d3a 8795 ror r241959 0d3c 7795 ror r231960 0d3e 6795 ror r221961 0d40 FA95 dec r311962 0d42 D1F7 brne 1b1963 0d44 A401 movw r20,r81964 0d46 9301 movw r18,r61965 0d48 0E94 0000 call __mulsi31966 0d4c DC01 movw r26,r241967 0d4e CB01 movw r24,r221968 0d50 8093 0000 sts tmpl4.34,r241969 0d54 9093 0000 sts (tmpl4.34)+1,r251970 0d58 A093 0000 sts (tmpl4.34)+2,r261971 0d5c B093 0000 sts (tmpl4.34)+3,r271972 0d60 B7FF sbrs r27,71973 0d62 04C0 rjmp .L801974 0d64 8150 subi r24,lo8(-(4095))1975 0d66 904F sbci r25,hi8(-(4095))1976 0d68 AF4F sbci r26,hlo8(-(4095))1977 0d6a BF4F sbci r27,hhi8(-(4095))1978 .L80:1979 0d6c 9C01 movw r18,r241980 0d6e AD01 movw r20,r261981 0d70 ECE0 ldi r30,121982 0d72 5595 1: asr r211983 0d74 4795 ror r201984 0d76 3795 ror r191985 0d78 2795 ror r181986 0d7a EA95 dec r301987 0d7c D1F7 brne 1b1988 0d7e 2093 0000 sts tmpl4.34,r181989 0d82 3093 0000 sts (tmpl4.34)+1,r191990 0d86 4093 0000 sts (tmpl4.34)+2,r201991 0d8a 5093 0000 sts (tmpl4.34)+3,r211992 0d8e 8091 0000 lds r24,tmpl3.331993 0d92 9091 0000 lds r25,(tmpl3.33)+11994 0d96 9093 0000 sts (KopplungsteilNickRoll)+1,r251995 0d9a 8093 0000 sts KopplungsteilNickRoll,r241996 0d9e 8091 0000 lds r24,tmpl4.341997 0da2 9091 0000 lds r25,(tmpl4.34)+11998 0da6 9093 0000 sts (KopplungsteilRollNick)+1,r251999 0daa 8093 0000 sts KopplungsteilRollNick,r242000 0dae 2219 sub r18,r22001 0db0 3309 sbc r19,r32002 0db2 4409 sbc r20,r42003 0db4 5509 sbc r21,r52004 0db6 2093 0000 sts tmpl4.34,r182005 0dba 3093 0000 sts (tmpl4.34)+1,r192006 0dbe 4093 0000 sts (tmpl4.34)+2,r202007 0dc2 5093 0000 sts (tmpl4.34)+3,r212008 0dc6 E20E add r14,r182009 0dc8 F31E adc r15,r192010 0dca 041F adc r16,r202011 0dcc 151F adc r17,r212012 0dce E092 0000 sts ErsatzKompass,r142013 0dd2 F092 0000 sts (ErsatzKompass)+1,r152014 0dd6 0093 0000 sts (ErsatzKompass)+2,r162015 0dda 1093 0000 sts (ErsatzKompass)+3,r172016 0dde 8091 0000 lds r24,Parameter_CouplingYawCorrection2017 0de2 8823 tst r242018 0de4 B1F4 brne .L812019 0de6 57FF sbrs r21,72020 0de8 04C0 rjmp .L822021 0dea 2F5F subi r18,lo8(-(1))2022 0dec 3F4F sbci r19,hi8(-(1))2023 0dee 4F4F sbci r20,hlo8(-(1))2024 0df0 5F4F sbci r21,hhi8(-(1))2025 .L82:2026 0df2 5595 asr r212027 0df4 4795 ror r202028 0df6 3795 ror r192029 0df8 2795 ror r182030 0dfa A21A sub r10,r182031 0dfc B30A sbc r11,r192032 0dfe C40A sbc r12,r202033 0e00 D50A sbc r13,r212034 0e02 A092 0000 sts Mess_Integral_Gier,r102035 0e06 B092 0000 sts (Mess_Integral_Gier)+1,r112036 0e0a C092 0000 sts (Mess_Integral_Gier)+2,r122037 0e0e D092 0000 sts (Mess_Integral_Gier)+3,r132038 .L81:2039 0e12 2A89 ldd r18,Y+182040 0e14 3B89 ldd r19,Y+192041 0e16 7901 movw r14,r182042 0e18 0027 clr r162043 0e1a F7FC sbrc r15,72044 0e1c 0095 com r162045 0e1e 102F mov r17,r162046 0e20 8091 0000 lds r24,tmpl4.342047 0e24 9091 0000 lds r25,(tmpl4.34)+12048 0e28 A091 0000 lds r26,(tmpl4.34)+22049 0e2c B091 0000 lds r27,(tmpl4.34)+32050 0e30 E80E add r14,r242051 0e32 F91E adc r15,r252052 0e34 0A1F adc r16,r262053 0e36 1B1F adc r17,r272054 0e38 C801 movw r24,r162055 0e3a B701 movw r22,r142056 0e3c 2981 ldd r18,Y+12057 0e3e 3A81 ldd r19,Y+22058 0e40 4B81 ldd r20,Y+32059 0e42 5C81 ldd r21,Y+42060 0e44 0E94 0000 call __mulsi32061 0e48 9B01 movw r18,r222062 0e4a AC01 movw r20,r242063 0e4c 97FF sbrs r25,72064 0e4e 04C0 rjmp .L832065 0e50 2150 subi r18,lo8(-(2047))2066 0e52 384F sbci r19,hi8(-(2047))2067 0e54 4F4F sbci r20,hlo8(-(2047))2068 0e56 5F4F sbci r21,hhi8(-(2047))2069 .L83:2070 0e58 6BE0 ldi r22,112071 0e5a 5595 1: asr r212072 0e5c 4795 ror r202073 0e5e 3795 ror r192074 0e60 2795 ror r182075 0e62 6A95 dec r222076 0e64 D1F7 brne 1b2077 0e66 8091 0000 lds r24,Parameter_AchsKopplung12078 0e6a A82E mov r10,r242079 0e6c BB24 clr r112080 0e6e CC24 clr r122081 0e70 DD24 clr r132082 0e72 CA01 movw r24,r202083 0e74 B901 movw r22,r182084 0e76 A601 movw r20,r122085 0e78 9501 movw r18,r102086 0e7a 0E94 0000 call __mulsi32087 0e7e DC01 movw r26,r242088 0e80 CB01 movw r24,r222089 0e82 8093 0000 sts tmpl.31,r242090 0e86 9093 0000 sts (tmpl.31)+1,r252091 0e8a A093 0000 sts (tmpl.31)+2,r262092 0e8e B093 0000 sts (tmpl.31)+3,r272093 0e92 B7FF sbrs r27,72094 0e94 04C0 rjmp .L842095 0e96 8150 subi r24,lo8(-(4095))2096 0e98 904F sbci r25,hi8(-(4095))2097 0e9a AF4F sbci r26,hlo8(-(4095))2098 0e9c BF4F sbci r27,hhi8(-(4095))2099 .L84:2100 0e9e 3C01 movw r6,r242101 0ea0 4D01 movw r8,r262102 0ea2 3CE0 ldi r19,122103 0ea4 9594 1: asr r92104 0ea6 8794 ror r82105 0ea8 7794 ror r72106 0eaa 6794 ror r62107 0eac 3A95 dec r192108 0eae D1F7 brne 1b2109 0eb0 6092 0000 sts tmpl.31,r62110 0eb4 7092 0000 sts (tmpl.31)+1,r72111 0eb8 8092 0000 sts (tmpl.31)+2,r82112 0ebc 9092 0000 sts (tmpl.31)+3,r92113 0ec0 C801 movw r24,r162114 0ec2 B701 movw r22,r142115 0ec4 2D81 ldd r18,Y+52116 0ec6 3E81 ldd r19,Y+62117 0ec8 4F81 ldd r20,Y+72118 0eca 5885 ldd r21,Y+82119 0ecc 0E94 0000 call __mulsi32120 0ed0 97FF sbrs r25,72121 0ed2 04C0 rjmp .L852122 0ed4 6150 subi r22,lo8(-(2047))2123 0ed6 784F sbci r23,hi8(-(2047))2124 0ed8 8F4F sbci r24,hlo8(-(2047))2125 0eda 9F4F sbci r25,hhi8(-(2047))2126 .L85:2127 0edc 2BE0 ldi r18,112128 0ede 9595 1: asr r252129 0ee0 8795 ror r242130 0ee2 7795 ror r232131 0ee4 6795 ror r222132 0ee6 2A95 dec r182133 0ee8 D1F7 brne 1b2134 0eea A601 movw r20,r122135 0eec 9501 movw r18,r102136 0eee 0E94 0000 call __mulsi32137 0ef2 DC01 movw r26,r242138 0ef4 CB01 movw r24,r222139 0ef6 8093 0000 sts tmpl2.32,r242140 0efa 9093 0000 sts (tmpl2.32)+1,r252141 0efe A093 0000 sts (tmpl2.32)+2,r262142 0f02 B093 0000 sts (tmpl2.32)+3,r272143 0f06 B7FF sbrs r27,72144 0f08 04C0 rjmp .L862145 0f0a 8150 subi r24,lo8(-(4095))2146 0f0c 904F sbci r25,hi8(-(4095))2147 0f0e AF4F sbci r26,hlo8(-(4095))2148 0f10 BF4F sbci r27,hhi8(-(4095))2149 .L86:2150 0f12 AC01 movw r20,r242151 0f14 BD01 movw r22,r262152 0f16 8CE0 ldi r24,122153 0f18 7595 1: asr r232154 0f1a 6795 ror r222155 0f1c 5795 ror r212156 0f1e 4795 ror r202157 0f20 8A95 dec r242158 0f22 D1F7 brne 1b2159 0f24 4093 0000 sts tmpl2.32,r202160 0f28 5093 0000 sts (tmpl2.32)+1,r212161 0f2c 6093 0000 sts (tmpl2.32)+2,r222162 0f30 7093 0000 sts (tmpl2.32)+3,r232163 0f34 2A89 ldd r18,Y+182164 0f36 3B89 ldd r19,Y+192165 0f38 37FF sbrs r19,72166 0f3a 03C0 rjmp .L882167 0f3c 3095 com r192168 0f3e 2195 neg r182169 0f40 3F4F sbci r19,lo8(-1)2170 .L88:2171 0f42 2134 cpi r18,652172 0f44 3105 cpc r19,__zero_reg__2173 0f46 E4F1 brlt .L932174 0f48 D401 movw r26,r82175 0f4a C301 movw r24,r62176 0f4c 97FE sbrs r9,72177 0f4e 07C0 rjmp .L912178 0f50 B095 com r272179 0f52 A095 com r262180 0f54 9095 com r252181 0f56 8195 neg r242182 0f58 9F4F sbci r25,lo8(-1)2183 0f5a AF4F sbci r26,lo8(-1)2184 0f5c BF4F sbci r27,lo8(-1)2185 .L91:2186 0f5e 8138 cpi r24,lo8(129)2187 0f60 9105 cpc r25,__zero_reg__2188 0f62 A105 cpc r26,__zero_reg__2189 0f64 B105 cpc r27,__zero_reg__2190 0f66 84F4 brge .L902191 0f68 DB01 movw r26,r222192 0f6a CA01 movw r24,r202193 0f6c 77FF sbrs r23,72194 0f6e 07C0 rjmp .L922195 0f70 B095 com r272196 0f72 A095 com r262197 0f74 9095 com r252198 0f76 8195 neg r242199 0f78 9F4F sbci r25,lo8(-1)2200 0f7a AF4F sbci r26,lo8(-1)2201 0f7c BF4F sbci r27,lo8(-1)2202 .L92:2203 0f7e 8138 cpi r24,lo8(129)2204 0f80 9105 cpc r25,__zero_reg__2205 0f82 A105 cpc r26,__zero_reg__2206 0f84 B105 cpc r27,__zero_reg__2207 0f86 E4F0 brlt .L932208 .L90:2209 0f88 81E0 ldi r24,lo8(1)2210 0f8a 8093 0000 sts TrichterFlug,r242211 0f8e 18C0 rjmp .L932212 .L76:2213 0f90 1092 0000 sts (KopplungsteilRollNick)+1,__zero_reg__2214 0f94 1092 0000 sts KopplungsteilRollNick,__zero_reg__2215 0f98 1092 0000 sts (KopplungsteilNickRoll)+1,__zero_reg__2216 0f9c 1092 0000 sts KopplungsteilNickRoll,__zero_reg__2217 0fa0 1092 0000 sts tmpl2.32,__zero_reg__2218 0fa4 1092 0000 sts (tmpl2.32)+1,__zero_reg__2219 0fa8 1092 0000 sts (tmpl2.32)+2,__zero_reg__2220 0fac 1092 0000 sts (tmpl2.32)+3,__zero_reg__2221 0fb0 1092 0000 sts tmpl.31,__zero_reg__2222 0fb4 1092 0000 sts (tmpl.31)+1,__zero_reg__2223 0fb8 1092 0000 sts (tmpl.31)+2,__zero_reg__2224 0fbc 1092 0000 sts (tmpl.31)+3,__zero_reg__2225 .L93:2226 0fc0 8091 0000 lds r24,tmpl2.322227 0fc4 9091 0000 lds r25,(tmpl2.32)+12228 0fc8 A091 0000 lds r26,(tmpl2.32)+22229 0fcc B091 0000 lds r27,(tmpl2.32)+32230 0fd0 BC01 movw r22,r242231 0fd2 CD01 movw r24,r262232 0fd4 24E6 ldi r18,lo8(100)2233 0fd6 30E0 ldi r19,hi8(100)2234 0fd8 40E0 ldi r20,hlo8(100)2235 0fda 50E0 ldi r21,hhi8(100)2236 0fdc 0E94 0000 call __divmodsi42237 0fe0 E090 0000 lds r14,tmpl.312238 0fe4 F090 0000 lds r15,(tmpl.31)+12239 0fe8 E21A sub r14,r182240 0fea F30A sbc r15,r192241 0fec F092 0000 sts (TrimRoll)+1,r152242 0ff0 E092 0000 sts TrimRoll,r142243 0ff4 8091 0000 lds r24,tmpl.312244 0ff8 9091 0000 lds r25,(tmpl.31)+12245 0ffc A091 0000 lds r26,(tmpl.31)+22246 1000 B091 0000 lds r27,(tmpl.31)+32247 1004 BC01 movw r22,r242248 1006 CD01 movw r24,r262249 1008 24E6 ldi r18,lo8(100)2250 100a 30E0 ldi r19,hi8(100)2251 100c 40E0 ldi r20,hlo8(100)2252 100e 50E0 ldi r21,hhi8(100)2253 1010 0E94 0000 call __divmodsi42254 1014 DA01 movw r26,r202255 1016 C901 movw r24,r182256 1018 2091 0000 lds r18,tmpl2.322257 101c 3091 0000 lds r19,(tmpl2.32)+12258 1020 8C01 movw r16,r242259 1022 021B sub r16,r182260 1024 130B sbc r17,r192261 1026 1093 0000 sts (TrimNick)+1,r172262 102a 0093 0000 sts TrimNick,r162263 102e 8091 0000 lds r24,GIER_GRAD_FAKTOR2264 1032 9091 0000 lds r25,(GIER_GRAD_FAKTOR)+12265 1036 A091 0000 lds r26,(GIER_GRAD_FAKTOR)+22266 103a B091 0000 lds r27,(GIER_GRAD_FAKTOR)+32267 103e BC01 movw r22,r242268 1040 CD01 movw r24,r262269 1042 28E6 ldi r18,lo8(360)2270 1044 31E0 ldi r19,hi8(360)2271 1046 40E0 ldi r20,hlo8(360)2272 1048 50E0 ldi r21,hhi8(360)2273 104a 0E94 0000 call __mulsi32274 104e 2091 0000 lds r18,ErsatzKompass2275 1052 3091 0000 lds r19,(ErsatzKompass)+12276 1056 4091 0000 lds r20,(ErsatzKompass)+22277 105a 5091 0000 lds r21,(ErsatzKompass)+32278 105e 2617 cp r18,r222279 1060 3707 cpc r19,r232280 1062 4807 cpc r20,r242281 1064 5907 cpc r21,r252282 1066 64F0 brlt .L942283 1068 261B sub r18,r222284 106a 370B sbc r19,r232285 106c 480B sbc r20,r242286 106e 590B sbc r21,r252287 1070 2093 0000 sts ErsatzKompass,r182288 1074 3093 0000 sts (ErsatzKompass)+1,r192289 1078 4093 0000 sts (ErsatzKompass)+2,r202290 107c 5093 0000 sts (ErsatzKompass)+3,r212291 .L94:2292 1080 2091 0000 lds r18,ErsatzKompass2293 1084 3091 0000 lds r19,(ErsatzKompass)+12294 1088 4091 0000 lds r20,(ErsatzKompass)+22295 108c 5091 0000 lds r21,(ErsatzKompass)+32296 1090 57FF sbrs r21,72297 1092 0CC0 rjmp .L952298 1094 260F add r18,r222299 1096 371F adc r19,r232300 1098 481F adc r20,r242301 109a 591F adc r21,r252302 109c 2093 0000 sts ErsatzKompass,r182303 10a0 3093 0000 sts (ErsatzKompass)+1,r192304 10a4 4093 0000 sts (ErsatzKompass)+2,r202305 10a8 5093 0000 sts (ErsatzKompass)+3,r212306 .L95:2307 10ac 6091 0000 lds r22,MesswertRoll2308 10b0 7091 0000 lds r23,(MesswertRoll)+12309 10b4 6E0D add r22,r142310 10b6 7F1D adc r23,r152311 10b8 9B01 movw r18,r222312 10ba 4427 clr r202313 10bc 37FD sbrc r19,72314 10be 4095 com r202315 10c0 542F mov r21,r202316 10c2 8091 0000 lds r24,Mess_IntegralRoll22317 10c6 9091 0000 lds r25,(Mess_IntegralRoll2)+12318 10ca A091 0000 lds r26,(Mess_IntegralRoll2)+22319 10ce B091 0000 lds r27,(Mess_IntegralRoll2)+32320 10d2 820F add r24,r182321 10d4 931F adc r25,r192322 10d6 A41F adc r26,r202323 10d8 B51F adc r27,r212324 10da 8093 0000 sts Mess_IntegralRoll2,r242325 10de 9093 0000 sts (Mess_IntegralRoll2)+1,r252326 10e2 A093 0000 sts (Mess_IntegralRoll2)+2,r262327 10e6 B093 0000 sts (Mess_IntegralRoll2)+3,r272328 10ea 8091 0000 lds r24,LageKorrekturRoll2329 10ee 9091 0000 lds r25,(LageKorrekturRoll)+12330 10f2 681B sub r22,r242331 10f4 790B sbc r23,r252332 10f6 CB01 movw r24,r222333 10f8 AA27 clr r262334 10fa 97FD sbrc r25,72335 10fc A095 com r262336 10fe BA2F mov r27,r262337 1100 2985 ldd r18,Y+92338 1102 3A85 ldd r19,Y+102339 1104 4B85 ldd r20,Y+112340 1106 5C85 ldd r21,Y+122341 1108 820F add r24,r182342 110a 931F adc r25,r192343 110c A41F adc r26,r202344 110e B51F adc r27,r212345 1110 8093 0000 sts Mess_IntegralRoll,r242346 1114 9093 0000 sts (Mess_IntegralRoll)+1,r252347 1118 A093 0000 sts (Mess_IntegralRoll)+2,r262348 111c B093 0000 sts (Mess_IntegralRoll)+3,r272349 1120 C090 0000 lds r12,Umschlag180Roll2350 1124 D090 0000 lds r13,(Umschlag180Roll)+12351 1128 E090 0000 lds r14,(Umschlag180Roll)+22352 112c F090 0000 lds r15,(Umschlag180Roll)+32353 1130 C816 cp r12,r242354 1132 D906 cpc r13,r252355 1134 EA06 cpc r14,r262356 1136 FB06 cpc r15,r272357 1138 C4F4 brge .L962358 113a 88EA ldi r24,lo8(25000)2359 113c 91E6 ldi r25,hi8(25000)2360 113e A0E0 ldi r26,hlo8(25000)2361 1140 B0E0 ldi r27,hhi8(25000)2362 1142 8C19 sub r24,r122363 1144 9D09 sbc r25,r132364 1146 AE09 sbc r26,r142365 1148 BF09 sbc r27,r152366 114a 8093 0000 sts Mess_IntegralRoll,r242367 114e 9093 0000 sts (Mess_IntegralRoll)+1,r252368 1152 A093 0000 sts (Mess_IntegralRoll)+2,r262369 1156 B093 0000 sts (Mess_IntegralRoll)+3,r272370 115a 8093 0000 sts Mess_IntegralRoll2,r242371 115e 9093 0000 sts (Mess_IntegralRoll2)+1,r252372 1162 A093 0000 sts (Mess_IntegralRoll2)+2,r262373 1166 B093 0000 sts (Mess_IntegralRoll2)+3,r272374 .L96:2375 116a 2227 clr r182376 116c 3327 clr r192377 116e A901 movw r20,r182378 1170 2C19 sub r18,r122379 1172 3D09 sbc r19,r132380 1174 4E09 sbc r20,r142381 1176 5F09 sbc r21,r152382 1178 8091 0000 lds r24,Mess_IntegralRoll2383 117c 9091 0000 lds r25,(Mess_IntegralRoll)+12384 1180 A091 0000 lds r26,(Mess_IntegralRoll)+22385 1184 B091 0000 lds r27,(Mess_IntegralRoll)+32386 1188 8217 cp r24,r182387 118a 9307 cpc r25,r192388 118c A407 cpc r26,r202389 118e B507 cpc r27,r212390 1190 B4F4 brge .L972391 1192 D701 movw r26,r142392 1194 C601 movw r24,r122393 1196 885A subi r24,lo8(-(-25000))2394 1198 9146 sbci r25,hi8(-(-25000))2395 119a A040 sbci r26,hlo8(-(-25000))2396 119c B040 sbci r27,hhi8(-(-25000))2397 119e 8093 0000 sts Mess_IntegralRoll,r242398 11a2 9093 0000 sts (Mess_IntegralRoll)+1,r252399 11a6 A093 0000 sts (Mess_IntegralRoll)+2,r262400 11aa B093 0000 sts (Mess_IntegralRoll)+3,r272401 11ae 8093 0000 sts Mess_IntegralRoll2,r242402 11b2 9093 0000 sts (Mess_IntegralRoll2)+1,r252403 11b6 A093 0000 sts (Mess_IntegralRoll2)+2,r262404 11ba B093 0000 sts (Mess_IntegralRoll2)+3,r272405 .L97:2406 11be 6091 0000 lds r22,MesswertNick2407 11c2 7091 0000 lds r23,(MesswertNick)+12408 11c6 600F add r22,r162409 11c8 711F adc r23,r172410 11ca 9B01 movw r18,r222411 11cc 4427 clr r202412 11ce 37FD sbrc r19,72413 11d0 4095 com r202414 11d2 542F mov r21,r202415 11d4 8091 0000 lds r24,Mess_IntegralNick22416 11d8 9091 0000 lds r25,(Mess_IntegralNick2)+12417 11dc A091 0000 lds r26,(Mess_IntegralNick2)+22418 11e0 B091 0000 lds r27,(Mess_IntegralNick2)+32419 11e4 820F add r24,r182420 11e6 931F adc r25,r192421 11e8 A41F adc r26,r202422 11ea B51F adc r27,r212423 11ec 8093 0000 sts Mess_IntegralNick2,r242424 11f0 9093 0000 sts (Mess_IntegralNick2)+1,r252425 11f4 A093 0000 sts (Mess_IntegralNick2)+2,r262426 11f8 B093 0000 sts (Mess_IntegralNick2)+3,r272427 11fc 8091 0000 lds r24,LageKorrekturNick2428 1200 9091 0000 lds r25,(LageKorrekturNick)+12429 1204 681B sub r22,r242430 1206 790B sbc r23,r252431 1208 CB01 movw r24,r222432 120a AA27 clr r262433 120c 97FD sbrc r25,72434 120e A095 com r262435 1210 BA2F mov r27,r262436 1212 2D85 ldd r18,Y+132437 1214 3E85 ldd r19,Y+142438 1216 4F85 ldd r20,Y+152439 1218 5889 ldd r21,Y+162440 121a 820F add r24,r182441 121c 931F adc r25,r192442 121e A41F adc r26,r202443 1220 B51F adc r27,r212444 1222 8093 0000 sts Mess_IntegralNick,r242445 1226 9093 0000 sts (Mess_IntegralNick)+1,r252446 122a A093 0000 sts (Mess_IntegralNick)+2,r262447 122e B093 0000 sts (Mess_IntegralNick)+3,r272448 1232 E090 0000 lds r14,Umschlag180Nick2449 1236 F090 0000 lds r15,(Umschlag180Nick)+12450 123a 0091 0000 lds r16,(Umschlag180Nick)+22451 123e 1091 0000 lds r17,(Umschlag180Nick)+32452 1242 E816 cp r14,r242453 1244 F906 cpc r15,r252454 1246 0A07 cpc r16,r262455 1248 1B07 cpc r17,r272456 124a C4F4 brge .L982457 124c 88EA ldi r24,lo8(25000)2458 124e 91E6 ldi r25,hi8(25000)2459 1250 A0E0 ldi r26,hlo8(25000)2460 1252 B0E0 ldi r27,hhi8(25000)2461 1254 8E19 sub r24,r142462 1256 9F09 sbc r25,r152463 1258 A00B sbc r26,r162464 125a B10B sbc r27,r172465 125c 8093 0000 sts Mess_IntegralNick,r242466 1260 9093 0000 sts (Mess_IntegralNick)+1,r252467 1264 A093 0000 sts (Mess_IntegralNick)+2,r262468 1268 B093 0000 sts (Mess_IntegralNick)+3,r272469 126c 8093 0000 sts Mess_IntegralNick2,r242470 1270 9093 0000 sts (Mess_IntegralNick2)+1,r252471 1274 A093 0000 sts (Mess_IntegralNick2)+2,r262472 1278 B093 0000 sts (Mess_IntegralNick2)+3,r272473 .L98:2474 127c 2227 clr r182475 127e 3327 clr r192476 1280 A901 movw r20,r182477 1282 2E19 sub r18,r142478 1284 3F09 sbc r19,r152479 1286 400B sbc r20,r162480 1288 510B sbc r21,r172481 128a 8091 0000 lds r24,Mess_IntegralNick2482 128e 9091 0000 lds r25,(Mess_IntegralNick)+12483 1292 A091 0000 lds r26,(Mess_IntegralNick)+22484 1296 B091 0000 lds r27,(Mess_IntegralNick)+32485 129a 8217 cp r24,r182486 129c 9307 cpc r25,r192487 129e A407 cpc r26,r202488 12a0 B507 cpc r27,r212489 12a2 B4F4 brge .L992490 12a4 D801 movw r26,r162491 12a6 C701 movw r24,r142492 12a8 885A subi r24,lo8(-(-25000))2493 12aa 9146 sbci r25,hi8(-(-25000))2494 12ac A040 sbci r26,hlo8(-(-25000))2495 12ae B040 sbci r27,hhi8(-(-25000))2496 12b0 8093 0000 sts Mess_IntegralNick,r242497 12b4 9093 0000 sts (Mess_IntegralNick)+1,r252498 12b8 A093 0000 sts (Mess_IntegralNick)+2,r262499 12bc B093 0000 sts (Mess_IntegralNick)+3,r272500 12c0 8093 0000 sts Mess_IntegralNick2,r242501 12c4 9093 0000 sts (Mess_IntegralNick2)+1,r252502 12c8 A093 0000 sts (Mess_IntegralNick2)+2,r262503 12cc B093 0000 sts (Mess_IntegralNick2)+3,r272504 .L99:2505 12d0 8091 0000 lds r24,Mess_Integral_Gier2506 12d4 9091 0000 lds r25,(Mess_Integral_Gier)+12507 12d8 A091 0000 lds r26,(Mess_Integral_Gier)+22508 12dc B091 0000 lds r27,(Mess_Integral_Gier)+32509 12e0 8093 0000 sts Integral_Gier,r242510 12e4 9093 0000 sts (Integral_Gier)+1,r252511 12e8 A093 0000 sts (Integral_Gier)+2,r262512 12ec B093 0000 sts (Integral_Gier)+3,r272513 12f0 8091 0000 lds r24,Mess_IntegralNick2514 12f4 9091 0000 lds r25,(Mess_IntegralNick)+12515 12f8 A091 0000 lds r26,(Mess_IntegralNick)+22516 12fc B091 0000 lds r27,(Mess_IntegralNick)+32517 1300 8093 0000 sts IntegralNick,r242518 1304 9093 0000 sts (IntegralNick)+1,r252519 1308 A093 0000 sts (IntegralNick)+2,r262520 130c B093 0000 sts (IntegralNick)+3,r272521 1310 8091 0000 lds r24,Mess_IntegralRoll2522 1314 9091 0000 lds r25,(Mess_IntegralRoll)+12523 1318 A091 0000 lds r26,(Mess_IntegralRoll)+22524 131c B091 0000 lds r27,(Mess_IntegralRoll)+32525 1320 8093 0000 sts IntegralRoll,r242526 1324 9093 0000 sts (IntegralRoll)+1,r252527 1328 A093 0000 sts (IntegralRoll)+2,r262528 132c B093 0000 sts (IntegralRoll)+3,r272529 1330 8091 0000 lds r24,Mess_IntegralNick22530 1334 9091 0000 lds r25,(Mess_IntegralNick2)+12531 1338 A091 0000 lds r26,(Mess_IntegralNick2)+22532 133c B091 0000 lds r27,(Mess_IntegralNick2)+32533 1340 8093 0000 sts IntegralNick2,r242534 1344 9093 0000 sts (IntegralNick2)+1,r252535 1348 A093 0000 sts (IntegralNick2)+2,r262536 134c B093 0000 sts (IntegralNick2)+3,r272537 1350 8091 0000 lds r24,Mess_IntegralRoll22538 1354 9091 0000 lds r25,(Mess_IntegralRoll2)+12539 1358 A091 0000 lds r26,(Mess_IntegralRoll2)+22540 135c B091 0000 lds r27,(Mess_IntegralRoll2)+32541 1360 8093 0000 sts IntegralRoll2,r242542 1364 9093 0000 sts (IntegralRoll2)+1,r252543 1368 A093 0000 sts (IntegralRoll2)+2,r262544 136c B093 0000 sts (IntegralRoll2)+3,r272545 1370 8091 0000 lds r24,HiResNick2546 1374 9091 0000 lds r25,(HiResNick)+12547 1378 97FD sbrc r25,72548 137a 0796 adiw r24,72549 .L100:2550 137c 03E0 ldi r16,32551 137e 9595 1: asr r252552 1380 8795 ror r242553 1382 0A95 dec r162554 1384 E1F7 brne 1b2555 1386 9093 0000 sts (MesswertNick)+1,r252556 138a 8093 0000 sts MesswertNick,r242557 138e 8091 0000 lds r24,HiResRoll2558 1392 9091 0000 lds r25,(HiResRoll)+12559 1396 97FD sbrc r25,72560 1398 0796 adiw r24,72561 .L101:2562 139a 13E0 ldi r17,32563 139c 9595 1: asr r252564 139e 8795 ror r242565 13a0 1A95 dec r172566 13a2 E1F7 brne 1b2567 13a4 9093 0000 sts (MesswertRoll)+1,r252568 13a8 8093 0000 sts MesswertRoll,r242569 13ac 8091 0000 lds r24,AdWertNick2570 13b0 9091 0000 lds r25,(AdWertNick)+12571 13b4 0F97 sbiw r24,152572 13b6 34F4 brge .L1022573 13b8 88E1 ldi r24,lo8(-1000)2574 13ba 9CEF ldi r25,hi8(-1000)2575 13bc 9093 0000 sts (MesswertNick)+1,r252576 13c0 8093 0000 sts MesswertNick,r242577 .L102:2578 13c4 8091 0000 lds r24,AdWertNick2579 13c8 9091 0000 lds r25,(AdWertNick)+12580 13cc 0797 sbiw r24,72581 13ce 34F4 brge .L1032582 13d0 80E3 ldi r24,lo8(-2000)2583 13d2 98EF ldi r25,hi8(-2000)2584 13d4 9093 0000 sts (MesswertNick)+1,r252585 13d8 8093 0000 sts MesswertNick,r242586 .L103:2587 13dc 2091 0000 lds r18,PlatinenVersion2588 13e0 2A30 cpi r18,lo8(10)2589 13e2 A9F4 brne .L1042590 13e4 8091 0000 lds r24,AdWertNick2591 13e8 9091 0000 lds r25,(AdWertNick)+12592 13ec 835F subi r24,lo8(1011)2593 13ee 9340 sbci r25,hi8(1011)2594 13f0 34F0 brlt .L1052595 13f2 88EE ldi r24,lo8(1000)2596 13f4 93E0 ldi r25,hi8(1000)2597 13f6 9093 0000 sts (MesswertNick)+1,r252598 13fa 8093 0000 sts MesswertNick,r242599 .L105:2600 13fe 8091 0000 lds r24,AdWertNick2601 1402 9091 0000 lds r25,(AdWertNick)+12602 1406 8A5F subi r24,lo8(1018)2603 1408 9340 sbci r25,hi8(1018)2604 140a DCF0 brlt .L1072605 140c 14C0 rjmp .L1502606 .L104:2607 140e 8091 0000 lds r24,AdWertNick2608 1412 9091 0000 lds r25,(AdWertNick)+12609 1416 815D subi r24,lo8(2001)2610 1418 9740 sbci r25,hi8(2001)2611 141a 34F0 brlt .L1082612 141c 88EE ldi r24,lo8(1000)2613 141e 93E0 ldi r25,hi8(1000)2614 1420 9093 0000 sts (MesswertNick)+1,r252615 1424 8093 0000 sts MesswertNick,r242616 .L108:2617 1428 8091 0000 lds r24,AdWertNick2618 142c 9091 0000 lds r25,(AdWertNick)+12619 1430 805E subi r24,lo8(2016)2620 1432 9740 sbci r25,hi8(2016)2621 1434 34F0 brlt .L1072622 .L150:2623 1436 80ED ldi r24,lo8(2000)2624 1438 97E0 ldi r25,hi8(2000)2625 143a 9093 0000 sts (MesswertNick)+1,r252626 143e 8093 0000 sts MesswertNick,r242627 .L107:2628 1442 8091 0000 lds r24,AdWertRoll2629 1446 9091 0000 lds r25,(AdWertRoll)+12630 144a 0F97 sbiw r24,152631 144c 34F4 brge .L1102632 144e 88E1 ldi r24,lo8(-1000)2633 1450 9CEF ldi r25,hi8(-1000)2634 1452 9093 0000 sts (MesswertRoll)+1,r252635 1456 8093 0000 sts MesswertRoll,r242636 .L110:2637 145a 8091 0000 lds r24,AdWertRoll2638 145e 9091 0000 lds r25,(AdWertRoll)+12639 1462 0797 sbiw r24,72640 1464 34F4 brge .L1112641 1466 80E3 ldi r24,lo8(-2000)2642 1468 98EF ldi r25,hi8(-2000)2643 146a 9093 0000 sts (MesswertRoll)+1,r252644 146e 8093 0000 sts MesswertRoll,r242645 .L111:2646 1472 2A30 cpi r18,lo8(10)2647 1474 A9F4 brne .L1122648 1476 8091 0000 lds r24,AdWertRoll2649 147a 9091 0000 lds r25,(AdWertRoll)+12650 147e 835F subi r24,lo8(1011)2651 1480 9340 sbci r25,hi8(1011)2652 1482 34F0 brlt .L1132653 1484 88EE ldi r24,lo8(1000)2654 1486 93E0 ldi r25,hi8(1000)2655 1488 9093 0000 sts (MesswertRoll)+1,r252656 148c 8093 0000 sts MesswertRoll,r242657 .L113:2658 1490 8091 0000 lds r24,AdWertRoll2659 1494 9091 0000 lds r25,(AdWertRoll)+12660 1498 8A5F subi r24,lo8(1018)2661 149a 9340 sbci r25,hi8(1018)2662 149c DCF0 brlt .L1152663 149e 14C0 rjmp .L1512664 .L112:2665 14a0 8091 0000 lds r24,AdWertRoll2666 14a4 9091 0000 lds r25,(AdWertRoll)+12667 14a8 815D subi r24,lo8(2001)2668 14aa 9740 sbci r25,hi8(2001)2669 14ac 34F0 brlt .L1162670 14ae 88EE ldi r24,lo8(1000)2671 14b0 93E0 ldi r25,hi8(1000)2672 14b2 9093 0000 sts (MesswertRoll)+1,r252673 14b6 8093 0000 sts MesswertRoll,r242674 .L116:2675 14ba 8091 0000 lds r24,AdWertRoll2676 14be 9091 0000 lds r25,(AdWertRoll)+12677 14c2 805E subi r24,lo8(2016)2678 14c4 9740 sbci r25,hi8(2016)2679 14c6 34F0 brlt .L1152680 .L151:2681 14c8 80ED ldi r24,lo8(2000)2682 14ca 97E0 ldi r25,hi8(2000)2683 14cc 9093 0000 sts (MesswertRoll)+1,r252684 14d0 8093 0000 sts MesswertRoll,r242685 .L115:2686 14d4 6091 0000 lds r22,Parameter_Gyro_D2687 14d8 6623 tst r222688 14da 09F4 brne .+22689 14dc AFC0 rjmp .L1182690 14de 4091 0000 lds r20,HiResNick2691 14e2 5091 0000 lds r21,(HiResNick)+12692 14e6 8091 0000 lds r24,oldNick.352693 14ea 9091 0000 lds r25,(oldNick.35)+12694 14ee 481B sub r20,r242695 14f0 590B sbc r21,r252696 14f2 5093 0000 sts (d2Nick.38)+1,r212697 14f6 4093 0000 sts d2Nick.38,r202698 14fa 2091 0000 lds r18,HiResNick2699 14fe 3091 0000 lds r19,(HiResNick)+12700 1502 280F add r18,r242701 1504 391F adc r19,r252702 1506 37FF sbrs r19,72703 1508 02C0 rjmp .L1192704 150a 2F5F subi r18,lo8(-(1))2705 150c 3F4F sbci r19,hi8(-(1))2706 .L119:2707 150e 3595 asr r192708 1510 2795 ror r182709 1512 3093 0000 sts (oldNick.35)+1,r192710 1516 2093 0000 sts oldNick.35,r182711 151a 4138 cpi r20,1292712 151c 5105 cpc r21,__zero_reg__2713 151e 1CF0 brlt .L1202714 1520 80E8 ldi r24,lo8(128)2715 1522 90E0 ldi r25,hi8(128)2716 1524 05C0 rjmp .L1522717 .L120:2718 1526 4058 subi r20,lo8(-128)2719 1528 5F4F sbci r21,hi8(-128)2720 152a 34F4 brge .L1212721 152c 80E8 ldi r24,lo8(-128)2722 152e 9FEF ldi r25,hi8(-128)2723 .L152:2724 1530 9093 0000 sts (d2Nick.38)+1,r252725 1534 8093 0000 sts d2Nick.38,r242726 .L121:2727 1538 4091 0000 lds r20,HiResRoll2728 153c 5091 0000 lds r21,(HiResRoll)+12729 1540 8091 0000 lds r24,oldRoll.362730 1544 9091 0000 lds r25,(oldRoll.36)+12731 1548 481B sub r20,r242732 154a 590B sbc r21,r252733 154c 5093 0000 sts (d2Roll.37)+1,r212734 1550 4093 0000 sts d2Roll.37,r202735 1554 2091 0000 lds r18,HiResRoll2736 1558 3091 0000 lds r19,(HiResRoll)+12737 155c 280F add r18,r242738 155e 391F adc r19,r252739 1560 37FF sbrs r19,72740 1562 02C0 rjmp .L1232741 1564 2F5F subi r18,lo8(-(1))2742 1566 3F4F sbci r19,hi8(-(1))2743 .L123:2744 1568 3595 asr r192745 156a 2795 ror r182746 156c 3093 0000 sts (oldRoll.36)+1,r192747 1570 2093 0000 sts oldRoll.36,r182748 1574 4138 cpi r20,1292749 1576 5105 cpc r21,__zero_reg__2750 1578 1CF0 brlt .L1242751 157a 80E8 ldi r24,lo8(128)2752 157c 90E0 ldi r25,hi8(128)2753 157e 05C0 rjmp .L1532754 .L124:2755 1580 4058 subi r20,lo8(-128)2756 1582 5F4F sbci r21,hi8(-128)2757 1584 34F4 brge .L1252758 1586 80E8 ldi r24,lo8(-128)2759 1588 9FEF ldi r25,hi8(-128)2760 .L153:2761 158a 9093 0000 sts (d2Roll.37)+1,r252762 158e 8093 0000 sts d2Roll.37,r242763 .L125:2764 1592 462F mov r20,r222765 1594 5527 clr r212766 1596 8091 0000 lds r24,d2Nick.382767 159a 9091 0000 lds r25,(d2Nick.38)+12768 159e 849F mul r24,r202769 15a0 B001 movw r22,r02770 15a2 859F mul r24,r212771 15a4 700D add r23,r02772 15a6 949F mul r25,r202773 15a8 700D add r23,r02774 15aa 1124 clr r12775 15ac 9B01 movw r18,r222776 15ae 77FF sbrs r23,72777 15b0 02C0 rjmp .L1272778 15b2 215F subi r18,lo8(-(15))2779 15b4 3F4F sbci r19,hi8(-(15))2780 .L127:2781 15b6 F4E0 ldi r31,42782 15b8 3595 1: asr r192783 15ba 2795 ror r182784 15bc FA95 dec r312785 15be E1F7 brne 1b2786 15c0 8091 0000 lds r24,MesswertNick2787 15c4 9091 0000 lds r25,(MesswertNick)+12788 15c8 820F add r24,r182789 15ca 931F adc r25,r192790 15cc 9093 0000 sts (MesswertNick)+1,r252791 15d0 8093 0000 sts MesswertNick,r242792 15d4 8091 0000 lds r24,d2Roll.372793 15d8 9091 0000 lds r25,(d2Roll.37)+12794 15dc 849F mul r24,r202795 15de D001 movw r26,r02796 15e0 859F mul r24,r212797 15e2 B00D add r27,r02798 15e4 949F mul r25,r202799 15e6 B00D add r27,r02800 15e8 1124 clr r12801 15ea AD01 movw r20,r262802 15ec 9D01 movw r18,r262803 15ee B7FF sbrs r27,72804 15f0 02C0 rjmp .L1282805 15f2 215F subi r18,lo8(-(15))2806 15f4 3F4F sbci r19,hi8(-(15))2807 .L128:2808 15f6 E4E0 ldi r30,42809 15f8 3595 1: asr r192810 15fa 2795 ror r182811 15fc EA95 dec r302812 15fe E1F7 brne 1b2813 1600 8091 0000 lds r24,MesswertRoll2814 1604 9091 0000 lds r25,(MesswertRoll)+12815 1608 820F add r24,r182816 160a 931F adc r25,r192817 160c 9093 0000 sts (MesswertRoll)+1,r252818 1610 8093 0000 sts MesswertRoll,r242819 1614 8091 0000 lds r24,HiResNick2820 1618 9091 0000 lds r25,(HiResNick)+12821 161c 860F add r24,r222822 161e 971F adc r25,r232823 1620 9093 0000 sts (HiResNick)+1,r252824 1624 8093 0000 sts HiResNick,r242825 1628 8091 0000 lds r24,HiResRoll2826 162c 9091 0000 lds r25,(HiResRoll)+12827 1630 840F add r24,r202828 1632 951F adc r25,r212829 1634 9093 0000 sts (HiResRoll)+1,r252830 1638 8093 0000 sts HiResRoll,r242831 .L118:2832 163c 0091 0000 lds r16,RohMesswertRoll2833 1640 1091 0000 lds r17,(RohMesswertRoll)+12834 1644 8091 0000 lds r24,KopplungsteilNickRoll2835 1648 9091 0000 lds r25,(KopplungsteilNickRoll)+12836 164c 1016 cp __zero_reg__,r162837 164e 1106 cpc __zero_reg__,r172838 1650 5CF5 brge .L1292839 1652 9C01 movw r18,r242840 1654 97FF sbrs r25,72841 1656 04C0 rjmp .L1302842 1658 2227 clr r182843 165a 3327 clr r192844 165c 281B sub r18,r242845 165e 390B sbc r19,r252846 .L130:2847 1660 C901 movw r24,r182848 1662 AA27 clr r262849 1664 97FD sbrc r25,72850 1666 A095 com r262851 1668 BA2F mov r27,r262852 166a 2091 0000 lds r18,Parameter_CouplingYawCorrection2853 166e 3327 clr r192854 1670 4427 clr r202855 1672 5527 clr r212856 1674 BC01 movw r22,r242857 1676 CD01 movw r24,r262858 1678 0E94 0000 call __mulsi32859 167c 9B01 movw r18,r222860 167e AC01 movw r20,r242861 1680 97FF sbrs r25,72862 1682 04C0 rjmp .L1312863 1684 215C subi r18,lo8(-(63))2864 1686 3F4F sbci r19,hi8(-(63))2865 1688 4F4F sbci r20,hlo8(-(63))2866 168a 5F4F sbci r21,hhi8(-(63))2867 .L131:2868 168c 76E0 ldi r23,62869 168e 5595 1: asr r212870 1690 4795 ror r202871 1692 3795 ror r192872 1694 2795 ror r182873 1696 7A95 dec r232874 1698 D1F7 brne 1b2875 169a 8091 0000 lds r24,TrimRoll2876 169e 9091 0000 lds r25,(TrimRoll)+12877 16a2 820F add r24,r182878 16a4 931F adc r25,r192879 16a6 27C0 rjmp .L1542880 .L129:2881 16a8 97FF sbrs r25,72882 16aa 03C0 rjmp .L1332883 16ac 9095 com r252884 16ae 8195 neg r242885 16b0 9F4F sbci r25,lo8(-1)2886 .L133:2887 16b2 AA27 clr r262888 16b4 97FD sbrc r25,72889 16b6 A095 com r262890 16b8 BA2F mov r27,r262891 16ba 2091 0000 lds r18,Parameter_CouplingYawCorrection2892 16be 3327 clr r192893 16c0 4427 clr r202894 16c2 5527 clr r212895 16c4 BC01 movw r22,r242896 16c6 CD01 movw r24,r262897 16c8 0E94 0000 call __mulsi32898 16cc 9B01 movw r18,r222899 16ce AC01 movw r20,r242900 16d0 97FF sbrs r25,72901 16d2 04C0 rjmp .L1342902 16d4 215C subi r18,lo8(-(63))2903 16d6 3F4F sbci r19,hi8(-(63))2904 16d8 4F4F sbci r20,hlo8(-(63))2905 16da 5F4F sbci r21,hhi8(-(63))2906 .L134:2907 16dc 66E0 ldi r22,62908 16de 5595 1: asr r212909 16e0 4795 ror r202910 16e2 3795 ror r192911 16e4 2795 ror r182912 16e6 6A95 dec r222913 16e8 D1F7 brne 1b2914 16ea 8091 0000 lds r24,TrimRoll2915 16ee 9091 0000 lds r25,(TrimRoll)+12916 16f2 821B sub r24,r182917 16f4 930B sbc r25,r192918 .L154:2919 16f6 9093 0000 sts (TrimRoll)+1,r252920 16fa 8093 0000 sts TrimRoll,r242921 16fe E090 0000 lds r14,RohMesswertNick2922 1702 F090 0000 lds r15,(RohMesswertNick)+12923 1706 8091 0000 lds r24,KopplungsteilRollNick2924 170a 9091 0000 lds r25,(KopplungsteilRollNick)+12925 170e 1E14 cp __zero_reg__,r142926 1710 1F04 cpc __zero_reg__,r152927 1712 5CF5 brge .L1352928 1714 9C01 movw r18,r242929 1716 97FF sbrs r25,72930 1718 04C0 rjmp .L1362931 171a 2227 clr r182932 171c 3327 clr r192933 171e 281B sub r18,r242934 1720 390B sbc r19,r252935 .L136:2936 1722 C901 movw r24,r182937 1724 AA27 clr r262938 1726 97FD sbrc r25,72939 1728 A095 com r262940 172a BA2F mov r27,r262941 172c 2091 0000 lds r18,Parameter_CouplingYawCorrection2942 1730 3327 clr r192943 1732 4427 clr r202944 1734 5527 clr r212945 1736 BC01 movw r22,r242946 1738 CD01 movw r24,r262947 173a 0E94 0000 call __mulsi32948 173e 9B01 movw r18,r222949 1740 AC01 movw r20,r242950 1742 97FF sbrs r25,72951 1744 04C0 rjmp .L1372952 1746 215C subi r18,lo8(-(63))2953 1748 3F4F sbci r19,hi8(-(63))2954 174a 4F4F sbci r20,hlo8(-(63))2955 174c 5F4F sbci r21,hhi8(-(63))2956 .L137:2957 174e 96E0 ldi r25,62958 1750 5595 1: asr r212959 1752 4795 ror r202960 1754 3795 ror r192961 1756 2795 ror r182962 1758 9A95 dec r252963 175a D1F7 brne 1b2964 175c 8091 0000 lds r24,TrimNick2965 1760 9091 0000 lds r25,(TrimNick)+12966 1764 820F add r24,r182967 1766 931F adc r25,r192968 1768 27C0 rjmp .L1552969 .L135:2970 176a 97FF sbrs r25,72971 176c 03C0 rjmp .L1392972 176e 9095 com r252973 1770 8195 neg r242974 1772 9F4F sbci r25,lo8(-1)2975 .L139:2976 1774 AA27 clr r262977 1776 97FD sbrc r25,72978 1778 A095 com r262979 177a BA2F mov r27,r262980 177c 2091 0000 lds r18,Parameter_CouplingYawCorrection2981 1780 3327 clr r192982 1782 4427 clr r202983 1784 5527 clr r212984 1786 BC01 movw r22,r242985 1788 CD01 movw r24,r262986 178a 0E94 0000 call __mulsi32987 178e 9B01 movw r18,r222988 1790 AC01 movw r20,r242989 1792 97FF sbrs r25,72990 1794 04C0 rjmp .L1402991 1796 215C subi r18,lo8(-(63))2992 1798 3F4F sbci r19,hi8(-(63))2993 179a 4F4F sbci r20,hlo8(-(63))2994 179c 5F4F sbci r21,hhi8(-(63))2995 .L140:2996 179e 86E0 ldi r24,62997 17a0 5595 1: asr r212998 17a2 4795 ror r202999 17a4 3795 ror r193000 17a6 2795 ror r183001 17a8 8A95 dec r243002 17aa D1F7 brne 1b3003 17ac 8091 0000 lds r24,TrimNick3004 17b0 9091 0000 lds r25,(TrimNick)+13005 17b4 821B sub r24,r183006 17b6 930B sbc r25,r193007 .L155:3008 17b8 9093 0000 sts (TrimNick)+1,r253009 17bc 8093 0000 sts TrimNick,r243010 17c0 8091 0000 lds r24,EE_Parameter+133011 17c4 87FF sbrs r24,73012 17c6 44C0 rjmp .L633013 17c8 B989 ldd r27,Y+173014 17ca BB23 tst r273015 17cc 09F0 breq .+23016 17ce 40C0 rjmp .L633017 17d0 8091 0000 lds r24,Looping_Roll3018 17d4 8823 tst r243019 17d6 E1F5 brne .L633020 17d8 E1E0 ldi r30,lo8(257)3021 17da EE16 cp r14,r303022 17dc E1E0 ldi r30,hi8(257)3023 17de FE06 cpc r15,r303024 17e0 4CF0 brlt .L1423025 17e2 8091 0000 lds r24,MesswertNick3026 17e6 9091 0000 lds r25,(MesswertNick)+13027 17ea 8E0D add r24,r143028 17ec 9F1D adc r25,r153029 17ee 8050 subi r24,lo8(-(-256))3030 17f0 9140 sbci r25,hi8(-(-256))3031 17f2 0DC0 rjmp .L1563032 .L142:3033 17f4 F0E0 ldi r31,lo8(-256)3034 17f6 EF16 cp r14,r313035 17f8 FFEF ldi r31,hi8(-256)3036 17fa FF06 cpc r15,r313037 17fc 64F4 brge .L1433038 17fe 8091 0000 lds r24,MesswertNick3039 1802 9091 0000 lds r25,(MesswertNick)+13040 1806 8E0D add r24,r143041 1808 9F1D adc r25,r153042 180a 8050 subi r24,lo8(-(256))3043 180c 9F4F sbci r25,hi8(-(256))3044 .L156:3045 180e 9093 0000 sts (MesswertNick)+1,r253046 1812 8093 0000 sts MesswertNick,r243047 .L143:3048 1816 21E0 ldi r18,hi8(257)3049 1818 0130 cpi r16,lo8(257)3050 181a 1207 cpc r17,r183051 181c 4CF0 brlt .L1453052 181e 8091 0000 lds r24,MesswertRoll3053 1822 9091 0000 lds r25,(MesswertRoll)+13054 1826 800F add r24,r163055 1828 911F adc r25,r173056 182a 8050 subi r24,lo8(-(-256))3057 182c 9140 sbci r25,hi8(-(-256))3058 182e 0CC0 rjmp .L1573059 .L145:3060 1830 3FEF ldi r19,hi8(-256)3061 1832 0030 cpi r16,lo8(-256)3062 1834 1307 cpc r17,r193063 1836 64F4 brge .L633064 1838 8091 0000 lds r24,MesswertRoll3065 183c 9091 0000 lds r25,(MesswertRoll)+13066 1840 800F add r24,r163067 1842 911F adc r25,r173068 1844 8050 subi r24,lo8(-(256))3069 1846 9F4F sbci r25,hi8(-(256))3070 .L157:3071 1848 9093 0000 sts (MesswertRoll)+1,r253072 184c 8093 0000 sts MesswertRoll,r243073 .L63:3074 /* epilogue: frame size=19 */3075 1850 E2E1 ldi r30,183076 1852 CD5E subi r28,-193077 1854 0C94 0000 jmp __epilogue_restores__+03078 /* epilogue end (size=4) */3079 /* function Mittelwert size 2000 (1990) */3081 .global SendMotorData3083 SendMotorData:3084 /* prologue: frame size=0 */3085 /* prologue end (size=0) */3086 1858 8091 0000 lds r24,MotorenEin3087 185c 8823 tst r243088 185e 01F5 brne .L1593089 1860 8091 0000 lds r24,FC_StatusFlags3090 1864 8C7F andi r24,lo8(-4)3091 1866 8093 0000 sts FC_StatusFlags,r243092 186a A0E0 ldi r26,lo8(MotorTest)3093 186c B0E0 ldi r27,hi8(MotorTest)3094 186e E0E0 ldi r30,lo8(Motor)3095 1870 F0E0 ldi r31,hi8(Motor)3096 1872 9BE0 ldi r25,lo8(11)3097 .L164:3098 1874 8091 0000 lds r24,PC_MotortestActive3099 1878 8823 tst r243100 187a 09F4 brne .L1633101 187c 8C93 st X,r243102 .L163:3103 187e 8D91 ld r24,X+3104 1880 8183 std Z+1,r243105 1882 1282 std Z+2,__zero_reg__3106 1884 9150 subi r25,lo8(-(-1))3107 1886 3896 adiw r30,83108 1888 97FF sbrs r25,73109 188a F4CF rjmp .L1643110 188c 8091 0000 lds r24,PC_MotortestActive3111 1890 8823 tst r243112 1892 59F0 breq .L1663113 1894 8091 0000 lds r24,PC_MotortestActive3114 1898 8150 subi r24,lo8(-(-1))3115 189a 8093 0000 sts PC_MotortestActive,r243116 189e 05C0 rjmp .L1663117 .L159:3118 18a0 8091 0000 lds r24,FC_StatusFlags3119 18a4 8160 ori r24,lo8(1)3120 18a6 8093 0000 sts FC_StatusFlags,r243121 .L166:3122 18aa 8091 0000 lds r24,I2C_TransferActive3123 18ae 8823 tst r243124 18b0 19F0 breq .L1673125 18b2 1092 0000 sts I2C_TransferActive,__zero_reg__3126 18b6 0895 ret3127 .L167:3128 18b8 8093 0000 sts motor_write,r243129 18bc 8093 0000 sts twi_state,r243130 18c0 8091 0000 lds r24,BLFlags3131 18c4 8E7F andi r24,lo8(-2)3132 18c6 8093 0000 sts BLFlags,r243133 18ca 85EA ldi r24,lo8(-91)3134 18cc 8093 BC00 sts 188,r243135 18d0 0895 ret3136 /* epilogue: frame size=0 */3137 /* epilogue: noreturn */3138 /* epilogue end (size=0) */3139 /* function SendMotorData size 61 (61) */3141 .global ParameterZuordnung3143 ParameterZuordnung:3144 /* prologue: frame size=0 */3145 18d2 CF93 push r283146 18d4 DF93 push r293147 /* prologue end (size=2) */3148 18d6 A0E0 ldi r26,lo8(Poti)3149 18d8 B0E0 ldi r27,hi8(Poti)3150 18da C0E0 ldi r28,lo8(EE_Parameter+5)3151 18dc D0E0 ldi r29,hi8(EE_Parameter+5)3152 18de 57E0 ldi r21,lo8(7)3153 .L182:3154 18e0 8991 ld r24,Y+3155 18e2 E82F mov r30,r243156 18e4 FF27 clr r313157 18e6 EE0F add r30,r303158 18e8 FF1F adc r31,r313159 18ea E050 subi r30,lo8(-(PPM_in))3160 18ec F040 sbci r31,hi8(-(PPM_in))3161 18ee 0190 ld __tmp_reg__,Z+3162 18f0 F081 ld r31,Z3163 18f2 E02D mov r30,__tmp_reg__3164 18f4 E259 subi r30,lo8(-(110))3165 18f6 FF4F sbci r31,hi8(-(110))3166 18f8 EF3F cpi r30,2553167 18fa F105 cpc r31,__zero_reg__3168 18fc 21F0 breq .L1753169 18fe 1CF0 brlt .L1753170 1900 EFEF ldi r30,lo8(255)3171 1902 F0E0 ldi r31,hi8(255)3172 1904 04C0 rjmp .L1763173 .L175:3174 1906 F7FF sbrs r31,73175 1908 02C0 rjmp .L1763176 190a E0E0 ldi r30,lo8(0)3177 190c F0E0 ldi r31,hi8(0)3178 .L176:3179 190e 4C91 ld r20,X3180 1910 242F mov r18,r203181 1912 3327 clr r193182 1914 E217 cp r30,r183183 1916 F307 cpc r31,r193184 1918 A9F0 breq .L1743185 191a CF01 movw r24,r303186 191c 821B sub r24,r183187 191e 930B sbc r25,r193188 1920 97FD sbrc r25,73189 1922 0396 adiw r24,33190 .L179:3191 1924 9595 asr r253192 1926 8795 ror r243193 1928 9595 asr r253194 192a 8795 ror r243195 192c 242F mov r18,r203196 192e 280F add r18,r243197 1930 2C93 st X,r183198 1932 822F mov r24,r183199 1934 9927 clr r253200 1936 E817 cp r30,r243201 1938 F907 cpc r31,r253202 193a 14F4 brge .L1803203 193c 2150 subi r18,lo8(-(-1))3204 193e 01C0 rjmp .L2763205 .L180:3206 1940 2F5F subi r18,lo8(-(1))3207 .L276:3208 1942 2C93 st X,r183209 .L174:3210 1944 5150 subi r21,lo8(-(-1))3211 1946 1196 adiw r26,13212 1948 57FF sbrs r21,73213 194a CACF rjmp .L1823214 194c 8091 0000 lds r24,EE_Parameter+153215 1950 883F cpi r24,lo8(-8)3216 1952 38F0 brlo .L2773217 1954 EFEF ldi r30,lo8(255)3218 1956 F0E0 ldi r31,hi8(255)3219 1958 E81B sub r30,r243220 195a F109 sbc r31,__zero_reg__3221 195c E050 subi r30,lo8(-(Poti))3222 195e F040 sbci r31,hi8(-(Poti))3223 1960 8081 ld r24,Z3224 .L277:3225 1962 8093 0000 sts Parameter_Luftdruck_D,r243226 1966 8091 0000 lds r24,Parameter_Luftdruck_D3227 196a 8823 tst r243228 196c 29F0 breq .L1863229 196e 8436 cpi r24,lo8(100)3230 1970 18F0 brlo .L1863231 1972 84E6 ldi r24,lo8(100)3232 1974 8093 0000 sts Parameter_Luftdruck_D,r243233 .L186:3234 1978 8091 0000 lds r24,EE_Parameter+173235 197c 883F cpi r24,lo8(-8)3236 197e 38F0 brlo .L2783237 1980 EFEF ldi r30,lo8(255)3238 1982 F0E0 ldi r31,hi8(255)3239 1984 E81B sub r30,r243240 1986 F109 sbc r31,__zero_reg__3241 1988 E050 subi r30,lo8(-(Poti))3242 198a F040 sbci r31,hi8(-(Poti))3243 198c 8081 ld r24,Z3244 .L278:3245 198e 8093 0000 sts Parameter_Hoehe_P,r243246 1992 8091 0000 lds r24,Parameter_Hoehe_P3247 1996 8823 tst r243248 1998 29F0 breq .L1913249 199a 8436 cpi r24,lo8(100)3250 199c 18F0 brlo .L1913251 199e 84E6 ldi r24,lo8(100)3252 19a0 8093 0000 sts Parameter_Hoehe_P,r243253 .L191:3254 19a4 8091 0000 lds r24,EE_Parameter+303255 19a8 883F cpi r24,lo8(-8)3256 19aa 38F0 brlo .L2793257 19ac EFEF ldi r30,lo8(255)3258 19ae F0E0 ldi r31,hi8(255)3259 19b0 E81B sub r30,r243260 19b2 F109 sbc r31,__zero_reg__3261 19b4 E050 subi r30,lo8(-(Poti))3262 19b6 F040 sbci r31,hi8(-(Poti))3263 19b8 8081 ld r24,Z3264 .L279:3265 19ba 8093 0000 sts Parameter_Gyro_P,r243266 19be 8091 0000 lds r24,Parameter_Gyro_P3267 19c2 8B30 cpi r24,lo8(11)3268 19c4 10F4 brsh .L1953269 19c6 8AE0 ldi r24,lo8(10)3270 19c8 02C0 rjmp .L2803271 .L195:3272 19ca 8F3F cpi r24,lo8(-1)3273 19cc 11F4 brne .L1963274 .L280:3275 19ce 8093 0000 sts Parameter_Gyro_P,r243276 .L196:3277 19d2 8091 0000 lds r24,EE_Parameter+753278 19d6 883F cpi r24,lo8(-8)3279 19d8 38F0 brlo .L2813280 19da EFEF ldi r30,lo8(255)3281 19dc F0E0 ldi r31,hi8(255)3282 19de E81B sub r30,r243283 19e0 F109 sbc r31,__zero_reg__3284 19e2 E050 subi r30,lo8(-(Poti))3285 19e4 F040 sbci r31,hi8(-(Poti))3286 19e6 8081 ld r24,Z3287 .L281:3288 19e8 8093 0000 sts Parameter_J16Timing,r243289 19ec 8091 0000 lds r24,Parameter_J16Timing3290 19f0 8230 cpi r24,lo8(2)3291 19f2 10F4 brsh .L2003292 19f4 81E0 ldi r24,lo8(1)3293 19f6 02C0 rjmp .L2823294 .L200:3295 19f8 8F3F cpi r24,lo8(-1)3296 19fa 11F4 brne .L2013297 .L282:3298 19fc 8093 0000 sts Parameter_J16Timing,r243299 .L201:3300 1a00 8091 0000 lds r24,EE_Parameter+773301 1a04 883F cpi r24,lo8(-8)3302 1a06 38F0 brlo .L2833303 1a08 EFEF ldi r30,lo8(255)3304 1a0a F0E0 ldi r31,hi8(255)3305 1a0c E81B sub r30,r243306 1a0e F109 sbc r31,__zero_reg__3307 1a10 E050 subi r30,lo8(-(Poti))3308 1a12 F040 sbci r31,hi8(-(Poti))3309 1a14 8081 ld r24,Z3310 .L283:3311 1a16 8093 0000 sts Parameter_J17Timing,r243312 1a1a 8091 0000 lds r24,Parameter_J17Timing3313 1a1e 8230 cpi r24,lo8(2)3314 1a20 10F4 brsh .L2053315 1a22 81E0 ldi r24,lo8(1)3316 1a24 02C0 rjmp .L2843317 .L205:3318 1a26 8F3F cpi r24,lo8(-1)3319 1a28 11F4 brne .L2063320 .L284:3321 1a2a 8093 0000 sts Parameter_J17Timing,r243322 .L206:3323 1a2e 8091 0000 lds r24,EE_Parameter+563324 1a32 883F cpi r24,lo8(-8)3325 1a34 38F0 brlo .L2853326 1a36 EFEF ldi r30,lo8(255)3327 1a38 F0E0 ldi r31,hi8(255)3328 1a3a E81B sub r30,r243329 1a3c F109 sbc r31,__zero_reg__3330 1a3e E050 subi r30,lo8(-(Poti))3331 1a40 F040 sbci r31,hi8(-(Poti))3332 1a42 8081 ld r24,Z3333 .L285:3334 1a44 8093 0000 sts Parameter_Servo3,r243335 1a48 8091 0000 lds r24,EE_Parameter+573336 1a4c 883F cpi r24,lo8(-8)3337 1a4e 38F0 brlo .L2863338 1a50 EFEF ldi r30,lo8(255)3339 1a52 F0E0 ldi r31,hi8(255)3340 1a54 E81B sub r30,r243341 1a56 F109 sbc r31,__zero_reg__3342 1a58 E050 subi r30,lo8(-(Poti))3343 1a5a F040 sbci r31,hi8(-(Poti))3344 1a5c 8081 ld r24,Z3345 .L286:3346 1a5e 8093 0000 sts Parameter_Servo4,r243347 1a62 8091 0000 lds r24,EE_Parameter+583348 1a66 883F cpi r24,lo8(-8)3349 1a68 38F0 brlo .L2873350 1a6a EFEF ldi r30,lo8(255)3351 1a6c F0E0 ldi r31,hi8(255)3352 1a6e E81B sub r30,r243353 1a70 F109 sbc r31,__zero_reg__3354 1a72 E050 subi r30,lo8(-(Poti))3355 1a74 F040 sbci r31,hi8(-(Poti))3356 1a76 8081 ld r24,Z3357 .L287:3358 1a78 8093 0000 sts Parameter_Servo5,r243359 1a7c 9091 0000 lds r25,EE_Parameter+163360 1a80 983F cpi r25,lo8(-8)3361 1a82 18F4 brsh .L2143362 1a84 9093 0000 sts Parameter_MaxHoehe,r253363 1a88 09C0 rjmp .L2153364 .L214:3365 1a8a EFEF ldi r30,lo8(255)3366 1a8c F0E0 ldi r31,hi8(255)3367 1a8e E91B sub r30,r253368 1a90 F109 sbc r31,__zero_reg__3369 1a92 E050 subi r30,lo8(-(Poti))3370 1a94 F040 sbci r31,hi8(-(Poti))3371 1a96 8081 ld r24,Z3372 1a98 8093 0000 sts Parameter_MaxHoehe,r243373 .L215:3374 1a9c 983F cpi r25,lo8(-8)3375 1a9e 18F4 brsh .L2163376 1aa0 9093 0000 sts Parameter_MaxHoehe,r253377 1aa4 09C0 rjmp .L2173378 .L216:3379 1aa6 EFEF ldi r30,lo8(255)3380 1aa8 F0E0 ldi r31,hi8(255)3381 1aaa E91B sub r30,r253382 1aac F109 sbc r31,__zero_reg__3383 1aae E050 subi r30,lo8(-(Poti))3384 1ab0 F040 sbci r31,hi8(-(Poti))3385 1ab2 8081 ld r24,Z3386 1ab4 8093 0000 sts Parameter_MaxHoehe,r243387 .L217:3388 1ab8 8091 0000 lds r24,EE_Parameter+193389 1abc 883F cpi r24,lo8(-8)3390 1abe 38F0 brlo .L2883391 1ac0 EFEF ldi r30,lo8(255)3392 1ac2 F0E0 ldi r31,hi8(255)3393 1ac4 E81B sub r30,r243394 1ac6 F109 sbc r31,__zero_reg__3395 1ac8 E050 subi r30,lo8(-(Poti))3396 1aca F040 sbci r31,hi8(-(Poti))3397 1acc 8081 ld r24,Z3398 .L288:3399 1ace 8093 0000 sts Parameter_Hoehe_ACC_Wirkung,r243400 1ad2 8091 0000 lds r24,EE_Parameter+213401 1ad6 883F cpi r24,lo8(-8)3402 1ad8 38F0 brlo .L2893403 1ada EFEF ldi r30,lo8(255)3404 1adc F0E0 ldi r31,hi8(255)3405 1ade E81B sub r30,r243406 1ae0 F109 sbc r31,__zero_reg__3407 1ae2 E050 subi r30,lo8(-(Poti))3408 1ae4 F040 sbci r31,hi8(-(Poti))3409 1ae6 8081 ld r24,Z3410 .L289:3411 1ae8 8093 0000 sts Parameter_Hoehe_GPS_Z,r243412 1aec 8091 0000 lds r24,EE_Parameter+293413 1af0 883F cpi r24,lo8(-8)3414 1af2 38F0 brlo .L2903415 1af4 EFEF ldi r30,lo8(255)3416 1af6 F0E0 ldi r31,hi8(255)3417 1af8 E81B sub r30,r243418 1afa F109 sbc r31,__zero_reg__3419 1afc E050 subi r30,lo8(-(Poti))3420 1afe F040 sbci r31,hi8(-(Poti))3421 1b00 8081 ld r24,Z3422 .L290:3423 1b02 8093 0000 sts Parameter_KompassWirkung,r243424 1b06 8091 0000 lds r24,EE_Parameter+313425 1b0a 883F cpi r24,lo8(-8)3426 1b0c 38F0 brlo .L2913427 1b0e EFEF ldi r30,lo8(255)3428 1b10 F0E0 ldi r31,hi8(255)3429 1b12 E81B sub r30,r243430 1b14 F109 sbc r31,__zero_reg__3431 1b16 E050 subi r30,lo8(-(Poti))3432 1b18 F040 sbci r31,hi8(-(Poti))3433 1b1a 8081 ld r24,Z3434 .L291:3435 1b1c 8093 0000 sts Parameter_Gyro_I,r243436 1b20 8091 0000 lds r24,EE_Parameter+323437 1b24 883F cpi r24,lo8(-8)3438 1b26 38F0 brlo .L2923439 1b28 EFEF ldi r30,lo8(255)3440 1b2a F0E0 ldi r31,hi8(255)3441 1b2c E81B sub r30,r243442 1b2e F109 sbc r31,__zero_reg__3443 1b30 E050 subi r30,lo8(-(Poti))3444 1b32 F040 sbci r31,hi8(-(Poti))3445 1b34 8081 ld r24,Z3446 .L292:3447 1b36 8093 0000 sts Parameter_Gyro_D,r243448 1b3a 8091 0000 lds r24,EE_Parameter+333449 1b3e 883F cpi r24,lo8(-8)3450 1b40 38F0 brlo .L2933451 1b42 EFEF ldi r30,lo8(255)3452 1b44 F0E0 ldi r31,hi8(255)3453 1b46 E81B sub r30,r243454 1b48 F109 sbc r31,__zero_reg__3455 1b4a E050 subi r30,lo8(-(Poti))3456 1b4c F040 sbci r31,hi8(-(Poti))3457 1b4e 8081 ld r24,Z3458 .L293:3459 1b50 8093 0000 sts Parameter_Gyro_Gier_P,r243460 1b54 8091 0000 lds r24,EE_Parameter+343461 1b58 883F cpi r24,lo8(-8)3462 1b5a 38F0 brlo .L2943463 1b5c EFEF ldi r30,lo8(255)3464 1b5e F0E0 ldi r31,hi8(255)3465 1b60 E81B sub r30,r243466 1b62 F109 sbc r31,__zero_reg__3467 1b64 E050 subi r30,lo8(-(Poti))3468 1b66 F040 sbci r31,hi8(-(Poti))3469 1b68 8081 ld r24,Z3470 .L294:3471 1b6a 8093 0000 sts Parameter_Gyro_Gier_I,r243472 1b6e 8091 0000 lds r24,EE_Parameter+403473 1b72 883F cpi r24,lo8(-8)3474 1b74 38F0 brlo .L2953475 1b76 EFEF ldi r30,lo8(255)3476 1b78 F0E0 ldi r31,hi8(255)3477 1b7a E81B sub r30,r243478 1b7c F109 sbc r31,__zero_reg__3479 1b7e E050 subi r30,lo8(-(Poti))3480 1b80 F040 sbci r31,hi8(-(Poti))3481 1b82 8081 ld r24,Z3482 .L295:3483 1b84 8093 0000 sts Parameter_I_Faktor,r243484 1b88 8091 0000 lds r24,EE_Parameter+413485 1b8c 883F cpi r24,lo8(-8)3486 1b8e 38F0 brlo .L2963487 1b90 EFEF ldi r30,lo8(255)3488 1b92 F0E0 ldi r31,hi8(255)3489 1b94 E81B sub r30,r243490 1b96 F109 sbc r31,__zero_reg__3491 1b98 E050 subi r30,lo8(-(Poti))3492 1b9a F040 sbci r31,hi8(-(Poti))3493 1b9c 8081 ld r24,Z3494 .L296:3495 1b9e 8093 0000 sts Parameter_UserParam1,r243496 1ba2 8091 0000 lds r24,EE_Parameter+423497 1ba6 883F cpi r24,lo8(-8)3498 1ba8 38F0 brlo .L2973499 1baa EFEF ldi r30,lo8(255)3500 1bac F0E0 ldi r31,hi8(255)3501 1bae E81B sub r30,r243502 1bb0 F109 sbc r31,__zero_reg__3503 1bb2 E050 subi r30,lo8(-(Poti))3504 1bb4 F040 sbci r31,hi8(-(Poti))3505 1bb6 8081 ld r24,Z3506 .L297:3507 1bb8 8093 0000 sts Parameter_UserParam2,r243508 1bbc 8091 0000 lds r24,EE_Parameter+433509 1bc0 883F cpi r24,lo8(-8)3510 1bc2 38F0 brlo .L2983511 1bc4 EFEF ldi r30,lo8(255)3512 1bc6 F0E0 ldi r31,hi8(255)3513 1bc8 E81B sub r30,r243514 1bca F109 sbc r31,__zero_reg__3515 1bcc E050 subi r30,lo8(-(Poti))3516 1bce F040 sbci r31,hi8(-(Poti))3517 1bd0 8081 ld r24,Z3518 .L298:3519 1bd2 8093 0000 sts Parameter_UserParam3,r243520 1bd6 8091 0000 lds r24,EE_Parameter+443521 1bda 883F cpi r24,lo8(-8)3522 1bdc 38F0 brlo .L2993523 1bde EFEF ldi r30,lo8(255)3524 1be0 F0E0 ldi r31,hi8(255)3525 1be2 E81B sub r30,r243526 1be4 F109 sbc r31,__zero_reg__3527 1be6 E050 subi r30,lo8(-(Poti))3528 1be8 F040 sbci r31,hi8(-(Poti))3529 1bea 8081 ld r24,Z3530 .L299:3531 1bec 8093 0000 sts Parameter_UserParam4,r243532 1bf0 8091 0000 lds r24,EE_Parameter+703533 1bf4 883F cpi r24,lo8(-8)3534 1bf6 38F0 brlo .L3003535 1bf8 EFEF ldi r30,lo8(255)3536 1bfa F0E0 ldi r31,hi8(255)3537 1bfc E81B sub r30,r243538 1bfe F109 sbc r31,__zero_reg__3539 1c00 E050 subi r30,lo8(-(Poti))3540 1c02 F040 sbci r31,hi8(-(Poti))3541 1c04 8081 ld r24,Z3542 .L300:3543 1c06 8093 0000 sts Parameter_UserParam5,r243544 1c0a 8091 0000 lds r24,EE_Parameter+713545 1c0e 883F cpi r24,lo8(-8)3546 1c10 38F0 brlo .L3013547 1c12 EFEF ldi r30,lo8(255)3548 1c14 F0E0 ldi r31,hi8(255)3549 1c16 E81B sub r30,r243550 1c18 F109 sbc r31,__zero_reg__3551 1c1a E050 subi r30,lo8(-(Poti))3552 1c1c F040 sbci r31,hi8(-(Poti))3553 1c1e 8081 ld r24,Z3554 .L301:3555 1c20 8093 0000 sts Parameter_UserParam6,r243556 1c24 8091 0000 lds r24,EE_Parameter+723557 1c28 883F cpi r24,lo8(-8)3558 1c2a 38F0 brlo .L3023559 1c2c EFEF ldi r30,lo8(255)3560 1c2e F0E0 ldi r31,hi8(255)3561 1c30 E81B sub r30,r243562 1c32 F109 sbc r31,__zero_reg__3563 1c34 E050 subi r30,lo8(-(Poti))3564 1c36 F040 sbci r31,hi8(-(Poti))3565 1c38 8081 ld r24,Z3566 .L302:3567 1c3a 8093 0000 sts Parameter_UserParam7,r243568 1c3e 8091 0000 lds r24,EE_Parameter+733569 1c42 883F cpi r24,lo8(-8)3570 1c44 38F0 brlo .L3033571 1c46 EFEF ldi r30,lo8(255)3572 1c48 F0E0 ldi r31,hi8(255)3573 1c4a E81B sub r30,r243574 1c4c F109 sbc r31,__zero_reg__3575 1c4e E050 subi r30,lo8(-(Poti))3576 1c50 F040 sbci r31,hi8(-(Poti))3577 1c52 8081 ld r24,Z3578 .L303:3579 1c54 8093 0000 sts Parameter_UserParam8,r243580 1c58 8091 0000 lds r24,EE_Parameter+453581 1c5c 883F cpi r24,lo8(-8)3582 1c5e 38F0 brlo .L3043583 1c60 EFEF ldi r30,lo8(255)3584 1c62 F0E0 ldi r31,hi8(255)3585 1c64 E81B sub r30,r243586 1c66 F109 sbc r31,__zero_reg__3587 1c68 E050 subi r30,lo8(-(Poti))3588 1c6a F040 sbci r31,hi8(-(Poti))3589 1c6c 8081 ld r24,Z3590 .L304:3591 1c6e 8093 0000 sts Parameter_ServoNickControl,r243592 1c72 8091 0000 lds r24,EE_Parameter+493593 1c76 883F cpi r24,lo8(-8)3594 1c78 38F0 brlo .L3053595 1c7a EFEF ldi r30,lo8(255)3596 1c7c F0E0 ldi r31,hi8(255)3597 1c7e E81B sub r30,r243598 1c80 F109 sbc r31,__zero_reg__3599 1c82 E050 subi r30,lo8(-(Poti))3600 1c84 F040 sbci r31,hi8(-(Poti))3601 1c86 8081 ld r24,Z3602 .L305:3603 1c88 8093 0000 sts Parameter_ServoRollControl,r243604 1c8c 8091 0000 lds r24,EE_Parameter+593605 1c90 883F cpi r24,lo8(-8)3606 1c92 38F0 brlo .L3063607 1c94 EFEF ldi r30,lo8(255)3608 1c96 F0E0 ldi r31,hi8(255)3609 1c98 E81B sub r30,r243610 1c9a F109 sbc r31,__zero_reg__3611 1c9c E050 subi r30,lo8(-(Poti))3612 1c9e F040 sbci r31,hi8(-(Poti))3613 1ca0 8081 ld r24,Z3614 .L306:3615 1ca2 8093 0000 sts Parameter_LoopGasLimit,r243616 1ca6 8091 0000 lds r24,EE_Parameter+623617 1caa 883F cpi r24,lo8(-8)3618 1cac 38F0 brlo .L3073619 1cae EFEF ldi r30,lo8(255)3620 1cb0 F0E0 ldi r31,hi8(255)3621 1cb2 E81B sub r30,r243622 1cb4 F109 sbc r31,__zero_reg__3623 1cb6 E050 subi r30,lo8(-(Poti))3624 1cb8 F040 sbci r31,hi8(-(Poti))3625 1cba 8081 ld r24,Z3626 .L307:3627 1cbc 8093 0000 sts Parameter_AchsKopplung1,r243628 1cc0 8091 0000 lds r24,EE_Parameter+633629 1cc4 883F cpi r24,lo8(-8)3630 1cc6 38F0 brlo .L3083631 1cc8 EFEF ldi r30,lo8(255)3632 1cca F0E0 ldi r31,hi8(255)3633 1ccc E81B sub r30,r243634 1cce F109 sbc r31,__zero_reg__3635 1cd0 E050 subi r30,lo8(-(Poti))3636 1cd2 F040 sbci r31,hi8(-(Poti))3637 1cd4 8081 ld r24,Z3638 .L308:3639 1cd6 8093 0000 sts Parameter_AchsKopplung2,r243640 1cda 8091 0000 lds r24,EE_Parameter+643641 1cde 883F cpi r24,lo8(-8)3642 1ce0 38F0 brlo .L3093643 1ce2 EFEF ldi r30,lo8(255)3644 1ce4 F0E0 ldi r31,hi8(255)3645 1ce6 E81B sub r30,r243646 1ce8 F109 sbc r31,__zero_reg__3647 1cea E050 subi r30,lo8(-(Poti))3648 1cec F040 sbci r31,hi8(-(Poti))3649 1cee 8081 ld r24,Z3650 .L309:3651 1cf0 8093 0000 sts Parameter_CouplingYawCorrection,r243652 1cf4 8091 0000 lds r24,EE_Parameter+693653 1cf8 883F cpi r24,lo8(-8)3654 1cfa 38F0 brlo .L3103655 1cfc EFEF ldi r30,lo8(255)3656 1cfe F0E0 ldi r31,hi8(255)3657 1d00 E81B sub r30,r243658 1d02 F109 sbc r31,__zero_reg__3659 1d04 E050 subi r30,lo8(-(Poti))3660 1d06 F040 sbci r31,hi8(-(Poti))3661 1d08 8081 ld r24,Z3662 .L310:3663 1d0a 8093 0000 sts Parameter_DynamicStability,r243664 1d0e 8091 0000 lds r24,EE_Parameter+963665 1d12 883F cpi r24,lo8(-8)3666 1d14 38F0 brlo .L3113667 1d16 EFEF ldi r30,lo8(255)3668 1d18 F0E0 ldi r31,hi8(255)3669 1d1a E81B sub r30,r243670 1d1c F109 sbc r31,__zero_reg__3671 1d1e E050 subi r30,lo8(-(Poti))3672 1d20 F040 sbci r31,hi8(-(Poti))3673 1d22 8081 ld r24,Z3674 .L311:3675 1d24 8093 0000 sts Parameter_ExternalControl,r243676 1d28 8091 0000 lds r24,Parameter_I_Faktor3677 1d2c 282F mov r18,r243678 1d2e 3327 clr r193679 1d30 2F5F subi r18,lo8(-(1))3680 1d32 3F4F sbci r19,hi8(-(1))3681 1d34 8CE3 ldi r24,lo8(10300)3682 1d36 98E2 ldi r25,hi8(10300)3683 1d38 B901 movw r22,r183684 1d3a 0E94 0000 call __divmodhi43685 1d3e 7093 0000 sts (Ki)+1,r233686 1d42 6093 0000 sts Ki,r223687 1d46 8091 0000 lds r24,EE_Parameter+273688 1d4a 8093 0000 sts MAX_GAS,r243689 1d4e 8091 0000 lds r24,EE_Parameter+263690 1d52 8093 0000 sts MIN_GAS,r243691 1d56 9091 0000 lds r25,EE_Parameter+983692 1d5a 9333 cpi r25,lo8(51)3693 1d5c 20F1 brlo .L2663694 1d5e 81E0 ldi r24,lo8(1)3695 1d60 8093 0000 sts CareFree,r243696 1d64 983F cpi r25,lo8(-8)3697 1d66 58F0 brlo .L2673698 1d68 EFEF ldi r30,lo8(255)3699 1d6a F0E0 ldi r31,hi8(255)3700 1d6c E91B sub r30,r253701 1d6e F109 sbc r31,__zero_reg__3702 1d70 E050 subi r30,lo8(-(Poti))3703 1d72 F040 sbci r31,hi8(-(Poti))3704 1d74 8081 ld r24,Z3705 1d76 8233 cpi r24,lo8(50)3706 1d78 10F4 brsh .L2673707 1d7a 1092 0000 sts CareFree,__zero_reg__3708 .L267:3709 1d7e 8091 0000 lds r24,FromNaviCtrl+73710 1d82 9091 0000 lds r25,(FromNaviCtrl+7)+13711 1d86 97FF sbrs r25,73712 1d88 08C0 rjmp .L2683713 1d8a 8091 0000 lds r24,CareFree3714 1d8e 8823 tst r243715 1d90 21F0 breq .L2683716 1d92 8091 0000 lds r24,VersionInfo+53717 1d96 8068 ori r24,lo8(-128)3718 1d98 03C0 rjmp .L3123719 .L268:3720 1d9a 8091 0000 lds r24,VersionInfo+53721 1d9e 8F77 andi r24,lo8(127)3722 .L312:3723 1da0 8093 0000 sts VersionInfo+5,r243724 1da4 02C0 rjmp .L2703725 .L266:3726 1da6 1092 0000 sts CareFree,__zero_reg__3727 .L270:3728 1daa 8091 0000 lds r24,FromNaviCtrl+73729 1dae 9091 0000 lds r25,(FromNaviCtrl+7)+13730 1db2 97FF sbrs r25,73731 1db4 1DC0 rjmp .L2713732 1db6 8091 0000 lds r24,MotorenEin3733 1dba 8823 tst r243734 1dbc C9F0 breq .L2713735 1dbe 8091 0000 lds r24,CareFree3736 1dc2 8823 tst r243737 1dc4 A9F0 breq .L2713738 1dc6 8091 0000 lds r24,BeepMuster3739 1dca 9091 0000 lds r25,(BeepMuster)+13740 1dce 8F5F subi r24,lo8(-1)3741 1dd0 9F4F sbci r25,hi8(-1)3742 1dd2 71F4 brne .L2713743 1dd4 88E9 ldi r24,lo8(15000)3744 1dd6 9AE3 ldi r25,hi8(15000)3745 1dd8 9093 0000 sts (beeptime)+1,r253746 1ddc 8093 0000 sts beeptime,r243747 1de0 80E0 ldi r24,lo8(-23552)3748 1de2 94EA ldi r25,hi8(-23552)3749 1de4 9093 0000 sts (BeepMuster)+1,r253750 1de8 8093 0000 sts BeepMuster,r243751 1dec 1092 0000 sts CareFree,__zero_reg__3752 .L271:3753 1df0 8091 0000 lds r24,CareFree3754 1df4 8823 tst r243755 1df6 39F0 breq .L1713756 1df8 8091 0000 lds r24,Parameter_AchsKopplung13757 1dfc 823D cpi r24,lo8(-46)3758 1dfe 18F4 brsh .L1713759 1e00 825E subi r24,lo8(-(30))3760 1e02 8093 0000 sts Parameter_AchsKopplung1,r243761 .L171:3762 /* epilogue: frame size=0 */3763 1e06 DF91 pop r293764 1e08 CF91 pop r283765 1e0a 0895 ret3766 /* epilogue end (size=3) */3767 /* function ParameterZuordnung size 671 (666) */3769 .lcomm sollGier.0,43770 .lcomm tmp_long.1,43771 .lcomm tmp_long2.2,43772 .lcomm IntegralFehlerNick.3,43773 .lcomm IntegralFehlerRoll.4,43774 .lcomm RcLostTimer.5,23775 .lcomm delay_neutral.6,13776 .lcomm delay_einschalten.7,13777 .lcomm delay_ausschalten.8,13778 .lcomm calibration_done.9,13779 .lcomm NeueKompassRichtungMerken.10,13780 .lcomm ausgleichNick.11,43781 .lcomm ausgleichRoll.12,43782 .lcomm stick_nick.13,23783 .lcomm stick_roll.14,23784 .lcomm cnt.15,23785 .lcomm last_n_p.16,13786 .lcomm last_n_n.17,13787 .lcomm last_r_p.18,13788 .lcomm last_r_n.19,13789 .lcomm MittelIntegralNick_Alt.20,43790 .lcomm MittelIntegralRoll_Alt.21,43791 .lcomm HeightTrimming.22,23792 .lcomm FilterHCGas.23,23793 .data3796 StickGasHover.24:3797 004a 7800 .word 1203798 .lcomm HoverGasMin.25,23801 HoverGasMax.26:3802 004c FF03 .word 10233803 .lcomm HoverGasFilter.27,43806 delay.28:3807 004e 64 .byte 1003808 .lcomm BaroAtUpperLimit.29,13809 .lcomm BaroAtLowerLimit.30,13810 .text3811 .global MotorRegler3813 MotorRegler:3814 /* prologue: frame size=24 */3815 1e0c A8E1 ldi r26,lo8(24)3816 1e0e B0E0 ldi r27,hi8(24)3817 1e10 E0E0 ldi r30,pm_lo8(1f)3818 1e12 F0E0 ldi r31,pm_hi8(1f)3819 1e14 0C94 0000 jmp __prologue_saves__+03820 1:3821 /* prologue end (size=6) */3822 1e18 0E94 0000 call Mittelwert3823 1e1c 3091 0000 lds r19,PlatinenVersion3824 1e20 3C30 cpi r19,lo8(12)3825 1e22 10F4 brsh .L3143826 1e24 299A sbi 37-0x20,13827 1e26 01C0 rjmp .L3153828 .L314:3829 1e28 2998 cbi 37-0x20,13830 .L315:3831 1e2a E090 0000 lds r14,StickGas3832 1e2e F090 0000 lds r15,(StickGas)+13833 1e32 FA82 std Y+2,r153834 1e34 E982 std Y+1,r143835 1e36 8091 0000 lds r24,MIN_GAS3836 1e3a 9927 clr r253837 1e3c 0A96 adiw r24,103838 1e3e E816 cp r14,r243839 1e40 F906 cpc r15,r253840 1e42 14F4 brge .L3163841 1e44 9A83 std Y+2,r253842 1e46 8983 std Y+1,r243843 .L316:3844 1e48 8091 0000 lds r24,SenderOkay3845 1e4c 8436 cpi r24,lo8(100)3846 1e4e 08F0 brlo .+23847 1e50 5CC0 rjmp .L3173848 1e52 8091 0000 lds r24,RcLostTimer.53849 1e56 9091 0000 lds r25,(RcLostTimer.5)+13850 1e5a 0097 sbiw r24,03851 1e5c 31F0 breq .L3183852 1e5e 0197 sbiw r24,13853 1e60 9093 0000 sts (RcLostTimer.5)+1,r253854 1e64 8093 0000 sts RcLostTimer.5,r243855 1e68 07C0 rjmp .L3193856 .L318:3857 1e6a 1092 0000 sts MotorenEin,__zero_reg__3858 1e6e 8091 0000 lds r24,FC_StatusFlags3859 1e72 8F7E andi r24,lo8(-17)3860 1e74 8093 0000 sts FC_StatusFlags,r243861 .L319:3862 1e78 3A30 cpi r19,lo8(10)3863 1e7a 11F0 breq .L3213864 1e7c 3431 cpi r19,lo8(20)3865 1e7e 10F0 brlo .L3203866 .L321:3867 1e80 289A sbi 37-0x20,03868 1e82 01C0 rjmp .L3223869 .L320:3870 1e84 2898 cbi 37-0x20,03871 .L322:3872 1e86 8091 0000 lds r24,modell_fliegt3873 1e8a 9091 0000 lds r25,(modell_fliegt)+13874 1e8e 895E subi r24,lo8(1001)3875 1e90 9340 sbci r25,hi8(1001)3876 1e92 C0F1 brlo .L3233877 1e94 8091 0000 lds r24,EE_Parameter+373878 1e98 282F mov r18,r243879 1e9a 3327 clr r193880 1e9c 3A83 std Y+2,r193881 1e9e 2983 std Y+1,r183882 1ea0 8091 0000 lds r24,FC_StatusFlags3883 1ea4 8061 ori r24,lo8(16)3884 1ea6 8093 0000 sts FC_StatusFlags,r243885 1eaa 8091 0000 lds r24,EE_Parameter+13886 1eae A82F mov r26,r243887 1eb0 BB27 clr r273888 1eb2 AA0F add r26,r263889 1eb4 BB1F adc r27,r273890 1eb6 FD01 movw r30,r263891 1eb8 E050 subi r30,lo8(-(PPM_diff))3892 1eba F040 sbci r31,hi8(-(PPM_diff))3893 1ebc 1182 std Z+1,__zero_reg__3894 1ebe 1082 st Z,__zero_reg__3895 1ec0 8091 0000 lds r24,EE_Parameter+23896 1ec4 282F mov r18,r243897 1ec6 3327 clr r193898 1ec8 220F add r18,r183899 1eca 331F adc r19,r193900 1ecc C901 movw r24,r183901 1ece 8050 subi r24,lo8(-(PPM_diff))3902 1ed0 9040 sbci r25,hi8(-(PPM_diff))3903 1ed2 FC01 movw r30,r243904 1ed4 1182 std Z+1,__zero_reg__3905 1ed6 1082 st Z,__zero_reg__3906 1ed8 A050 subi r26,lo8(-(PPM_in))3907 1eda B040 sbci r27,hi8(-(PPM_in))3908 1edc 1196 adiw r26,13909 1ede 1C92 st X,__zero_reg__3910 1ee0 1E92 st -X,__zero_reg__3911 1ee2 2050 subi r18,lo8(-(PPM_in))3912 1ee4 3040 sbci r19,hi8(-(PPM_in))3913 1ee6 D901 movw r26,r183914 1ee8 1196 adiw r26,13915 1eea 1C92 st X,__zero_reg__3916 1eec 1E92 st -X,__zero_reg__3917 1eee 8091 0000 lds r24,EE_Parameter+43918 1ef2 E82F mov r30,r243919 1ef4 FF27 clr r313920 1ef6 EE0F add r30,r303921 1ef8 FF1F adc r31,r313922 1efa E050 subi r30,lo8(-(PPM_in))3923 1efc F040 sbci r31,hi8(-(PPM_in))3924 1efe 1182 std Z+1,__zero_reg__3925 1f00 1082 st Z,__zero_reg__3926 1f02 C9C2 rjmp .L3253927 .L323:3928 1f04 1092 0000 sts MotorenEin,__zero_reg__3929 1f08 C6C2 rjmp .L3253930 .L317:3931 1f0a 8091 0000 lds r24,SenderOkay3932 1f0e 8D38 cpi r24,lo8(-115)3933 1f10 08F4 brsh .+23934 1f12 C1C2 rjmp .L3253935 1f14 8091 0000 lds r24,FC_StatusFlags3936 1f18 8F7E andi r24,lo8(-17)3937 1f1a 8093 0000 sts FC_StatusFlags,r243938 1f1e 9091 0000 lds r25,EE_Parameter+383939 1f22 82E3 ldi r24,lo8(50)3940 1f24 989F mul r25,r243941 1f26 C001 movw r24,r03942 1f28 1124 clr r13943 1f2a 9093 0000 sts (RcLostTimer.5)+1,r253944 1f2e 8093 0000 sts RcLostTimer.5,r243945 1f32 E981 ldd r30,Y+13946 1f34 FA81 ldd r31,Y+23947 1f36 B997 sbiw r30,413948 1f38 8CF0 brlt .L3273949 1f3a 8091 0000 lds r24,MotorenEin3950 1f3e 8823 tst r243951 1f40 69F0 breq .L3273952 1f42 8091 0000 lds r24,modell_fliegt3953 1f46 9091 0000 lds r25,(modell_fliegt)+13954 1f4a FFEF ldi r31,hi8(-1)3955 1f4c 8F3F cpi r24,lo8(-1)3956 1f4e 9F07 cpc r25,r313957 1f50 29F0 breq .L3273958 1f52 0196 adiw r24,13959 1f54 9093 0000 sts (modell_fliegt)+1,r253960 1f58 8093 0000 sts modell_fliegt,r243961 .L327:3962 1f5c 8091 0000 lds r24,modell_fliegt3963 1f60 9091 0000 lds r25,(modell_fliegt)+13964 1f64 8F3F cpi r24,2553965 1f66 9105 cpc r25,__zero_reg__3966 1f68 09F0 breq .+23967 1f6a 38F5 brsh .L3293968 1f6c 1092 0000 sts SummeNick,__zero_reg__3969 1f70 1092 0000 sts (SummeNick)+1,__zero_reg__3970 1f74 1092 0000 sts (SummeNick)+2,__zero_reg__3971 1f78 1092 0000 sts (SummeNick)+3,__zero_reg__3972 1f7c 1092 0000 sts SummeRoll,__zero_reg__3973 1f80 1092 0000 sts (SummeRoll)+1,__zero_reg__3974 1f84 1092 0000 sts (SummeRoll)+2,__zero_reg__3975 1f88 1092 0000 sts (SummeRoll)+3,__zero_reg__3976 1f8c 1092 0000 sts sollGier.0,__zero_reg__3977 1f90 1092 0000 sts (sollGier.0)+1,__zero_reg__3978 1f94 1092 0000 sts (sollGier.0)+2,__zero_reg__3979 1f98 1092 0000 sts (sollGier.0)+3,__zero_reg__3980 1f9c 1092 0000 sts Mess_Integral_Gier,__zero_reg__3981 1fa0 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__3982 1fa4 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__3983 1fa8 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__3984 1fac 8A3F cpi r24,2503985 1fae 9105 cpc r25,__zero_reg__3986 1fb0 49F4 brne .L3313987 1fb2 81E0 ldi r24,lo8(1)3988 1fb4 8093 0000 sts NeueKompassRichtungMerken.10,r243989 1fb8 05C0 rjmp .L3313990 .L329:3991 1fba 8091 0000 lds r24,FC_StatusFlags3992 1fbe 8260 ori r24,lo8(2)3993 1fc0 8093 0000 sts FC_StatusFlags,r243994 .L331:3995 1fc4 8091 0000 lds r24,EE_Parameter+33996 1fc8 E82F mov r30,r243997 1fca FF27 clr r313998 1fcc EE0F add r30,r303999 1fce FF1F adc r31,r314000 1fd0 E050 subi r30,lo8(-(PPM_in))4001 1fd2 F040 sbci r31,hi8(-(PPM_in))4002 1fd4 8081 ld r24,Z4003 1fd6 9181 ldd r25,Z+14004 1fd8 8135 cpi r24,814005 1fda 9105 cpc r25,__zero_reg__4006 1fdc 0CF4 brge .+24007 1fde 41C1 rjmp .L3324008 1fe0 2091 0000 lds r18,MotorenEin4009 1fe4 2223 tst r184010 1fe6 09F0 breq .+24011 1fe8 3CC1 rjmp .L3324012 1fea 8091 0000 lds r24,EE_Parameter+44013 1fee E82F mov r30,r244014 1ff0 FF27 clr r314015 1ff2 EE0F add r30,r304016 1ff4 FF1F adc r31,r314017 1ff6 E050 subi r30,lo8(-(PPM_in))4018 1ff8 F040 sbci r31,hi8(-(PPM_in))4019 1ffa 8081 ld r24,Z4020 1ffc 9181 ldd r25,Z+14021 1ffe 8C34 cpi r24,764022 2000 9105 cpc r25,__zero_reg__4023 2002 0CF4 brge .+24024 2004 06C1 rjmp .L3334025 2006 8091 0000 lds r24,delay_neutral.64026 200a 8F5F subi r24,lo8(-(1))4027 200c 8093 0000 sts delay_neutral.6,r244028 2010 893C cpi r24,lo8(-55)4029 2012 08F4 brsh .+24030 2014 26C1 rjmp .L3324031 2016 3C30 cpi r19,lo8(12)4032 2018 10F4 brsh .L3354033 201a 2998 cbi 37-0x20,14034 201c 01C0 rjmp .L3364035 .L335:4036 201e 299A sbi 37-0x20,14037 .L336:4038 2020 1092 0000 sts MotorenEin,__zero_reg__4039 2024 1092 0000 sts delay_neutral.6,__zero_reg__4040 2028 1092 0000 sts (modell_fliegt)+1,__zero_reg__4041 202c 1092 0000 sts modell_fliegt,__zero_reg__4042 2030 3091 0000 lds r19,EE_Parameter+14043 2034 E32F mov r30,r194044 2036 FF27 clr r314045 2038 EE0F add r30,r304046 203a FF1F adc r31,r314047 203c E050 subi r30,lo8(-(PPM_in))4048 203e F040 sbci r31,hi8(-(PPM_in))4049 2040 8081 ld r24,Z4050 2042 9181 ldd r25,Z+14051 2044 8734 cpi r24,714052 2046 9105 cpc r25,__zero_reg__4053 2048 B4F4 brge .L3384054 204a 8091 0000 lds r24,EE_Parameter+24055 204e E82F mov r30,r244056 2050 FF27 clr r314057 2052 EE0F add r30,r304058 2054 FF1F adc r31,r314059 2056 E050 subi r30,lo8(-(PPM_in))4060 2058 F040 sbci r31,hi8(-(PPM_in))4061 205a 8081 ld r24,Z4062 205c 9181 ldd r25,Z+14063 205e 0190 ld __tmp_reg__,Z+4064 2060 F081 ld r31,Z4065 2062 E02D mov r30,__tmp_reg__4066 2064 F7FF sbrs r31,74067 2066 03C0 rjmp .L3394068 2068 F095 com r314069 206a E195 neg r304070 206c FF4F sbci r31,lo8(-1)4071 .L339:4072 206e E734 cpi r30,714073 2070 F105 cpc r31,__zero_reg__4074 2072 0CF4 brge .+24075 2074 78C0 rjmp .L3374076 .L338:4077 2076 41E0 ldi r20,lo8(1)4078 2078 2091 0000 lds r18,EE_Parameter+24079 207c A22F mov r26,r184080 207e BB27 clr r274081 2080 AA0F add r26,r264082 2082 BB1F adc r27,r274083 2084 A050 subi r26,lo8(-(PPM_in))4084 2086 B040 sbci r27,hi8(-(PPM_in))4085 2088 8D91 ld r24,X+4086 208a 9C91 ld r25,X4087 208c 1197 sbiw r26,14088 208e 8734 cpi r24,714089 2090 9105 cpc r25,__zero_reg__4090 2092 44F0 brlt .L3404091 2094 E32F mov r30,r194092 2096 FF27 clr r314093 2098 EE0F add r30,r304094 209a FF1F adc r31,r314095 209c E050 subi r30,lo8(-(PPM_in))4096 209e F040 sbci r31,hi8(-(PPM_in))4097 20a0 8081 ld r24,Z4098 20a2 9181 ldd r25,Z+14099 .L340:4100 20a4 8D91 ld r24,X+4101 20a6 9C91 ld r25,X4102 20a8 8734 cpi r24,714103 20aa 9105 cpc r25,__zero_reg__4104 20ac 74F0 brlt .L3414105 20ae 8091 0000 lds r24,EE_Parameter+14106 20b2 E82F mov r30,r244107 20b4 FF27 clr r314108 20b6 EE0F add r30,r304109 20b8 FF1F adc r31,r314110 20ba E050 subi r30,lo8(-(PPM_in))4111 20bc F040 sbci r31,hi8(-(PPM_in))4112 20be 8081 ld r24,Z4113 20c0 9181 ldd r25,Z+14114 20c2 8734 cpi r24,714115 20c4 9105 cpc r25,__zero_reg__4116 20c6 0CF0 brlt .L3414117 20c8 42E0 ldi r20,lo8(2)4118 .L341:4119 20ca E22F mov r30,r184120 20cc FF27 clr r314121 20ce EE0F add r30,r304122 20d0 FF1F adc r31,r314123 20d2 E050 subi r30,lo8(-(PPM_in))4124 20d4 F040 sbci r31,hi8(-(PPM_in))4125 20d6 8081 ld r24,Z4126 20d8 9181 ldd r25,Z+14127 20da 8634 cpi r24,704128 20dc 9105 cpc r25,__zero_reg__4129 20de 74F4 brge .L3424130 20e0 8091 0000 lds r24,EE_Parameter+14131 20e4 E82F mov r30,r244132 20e6 FF27 clr r314133 20e8 EE0F add r30,r304134 20ea FF1F adc r31,r314135 20ec E050 subi r30,lo8(-(PPM_in))4136 20ee F040 sbci r31,hi8(-(PPM_in))4137 20f0 8081 ld r24,Z4138 20f2 9181 ldd r25,Z+14139 20f4 8734 cpi r24,714140 20f6 9105 cpc r25,__zero_reg__4141 20f8 0CF0 brlt .L3424142 20fa 43E0 ldi r20,lo8(3)4143 .L342:4144 20fc E22F mov r30,r184145 20fe FF27 clr r314146 2100 EE0F add r30,r304147 2102 FF1F adc r31,r314148 2104 E050 subi r30,lo8(-(PPM_in))4149 2106 F040 sbci r31,hi8(-(PPM_in))4150 2108 8081 ld r24,Z4151 210a 9181 ldd r25,Z+14152 210c 8A5B subi r24,lo8(-70)4153 210e 9F4F sbci r25,hi8(-70)4154 2110 74F4 brge .L3434155 2112 8091 0000 lds r24,EE_Parameter+14156 2116 E82F mov r30,r244157 2118 FF27 clr r314158 211a EE0F add r30,r304159 211c FF1F adc r31,r314160 211e E050 subi r30,lo8(-(PPM_in))4161 2120 F040 sbci r31,hi8(-(PPM_in))4162 2122 8081 ld r24,Z4163 2124 9181 ldd r25,Z+14164 2126 8734 cpi r24,714165 2128 9105 cpc r25,__zero_reg__4166 212a 0CF0 brlt .L3434167 212c 44E0 ldi r20,lo8(4)4168 .L343:4169 212e E22F mov r30,r184170 2130 FF27 clr r314171 2132 EE0F add r30,r304172 2134 FF1F adc r31,r314173 2136 E050 subi r30,lo8(-(PPM_in))4174 2138 F040 sbci r31,hi8(-(PPM_in))4175 213a 8081 ld r24,Z4176 213c 9181 ldd r25,Z+14177 213e 8A5B subi r24,lo8(-70)4178 2140 9F4F sbci r25,hi8(-70)4179 2142 74F4 brge .L3444180 2144 8091 0000 lds r24,EE_Parameter+14181 2148 E82F mov r30,r244182 214a FF27 clr r314183 214c EE0F add r30,r304184 214e FF1F adc r31,r314185 2150 E050 subi r30,lo8(-(PPM_in))4186 2152 F040 sbci r31,hi8(-(PPM_in))4187 2154 8081 ld r24,Z4188 2156 9181 ldd r25,Z+14189 2158 8634 cpi r24,704190 215a 9105 cpc r25,__zero_reg__4191 215c 0CF4 brge .L3444192 215e 45E0 ldi r20,lo8(5)4193 .L344:4194 2160 842F mov r24,r204195 2162 0E94 0000 call SetActiveParamSet4196 .L337:4197 2166 8091 0000 lds r24,EE_Parameter+24198 216a E82F mov r30,r244199 216c FF27 clr r314200 216e EE0F add r30,r304201 2170 FF1F adc r31,r314202 2172 E050 subi r30,lo8(-(PPM_in))4203 2174 F040 sbci r31,hi8(-(PPM_in))4204 2176 8081 ld r24,Z4205 2178 9181 ldd r25,Z+14206 217a 0190 ld __tmp_reg__,Z+4207 217c F081 ld r31,Z4208 217e E02D mov r30,__tmp_reg__4209 2180 F7FF sbrs r31,74210 2182 03C0 rjmp .L3464211 2184 F095 com r314212 2186 E195 neg r304213 2188 FF4F sbci r31,lo8(-1)4214 .L346:4215 218a 7E97 sbiw r30,304216 218c BCF4 brge .L3454217 218e 8091 0000 lds r24,EE_Parameter+14218 2192 E82F mov r30,r244219 2194 FF27 clr r314220 2196 EE0F add r30,r304221 2198 FF1F adc r31,r314222 219a E050 subi r30,lo8(-(PPM_in))4223 219c F040 sbci r31,hi8(-(PPM_in))4224 219e 8081 ld r24,Z4225 21a0 9181 ldd r25,Z+14226 21a2 8A5B subi r24,lo8(-70)4227 21a4 9F4F sbci r25,hi8(-70)4228 21a6 54F4 brge .L3454229 21a8 81E0 ldi r24,lo8(1)4230 21aa 8093 0000 sts WinkelOut+6,r244231 21ae 88EE ldi r24,lo8(1000)4232 21b0 93E0 ldi r25,hi8(1000)4233 21b2 9093 0000 sts (beeptime)+1,r254234 21b6 8093 0000 sts beeptime,r244235 21ba 53C0 rjmp .L3324236 .L345:4237 21bc 0E94 0000 call GetActiveParamSet4238 21c0 0E94 0000 call ParamSet_ReadFromEEProm4239 21c4 80E0 ldi r24,lo8(0)4240 21c6 0E94 0000 call LipoDetection4241 21ca 8091 0000 lds r24,EE_Parameter+394242 21ce 0E94 0000 call LIBFC_ReceiverInit4243 21d2 8091 0000 lds r24,EE_Parameter+134244 21d6 80FF sbrs r24,04245 21d8 10C0 rjmp .L3484246 21da 8091 0000 lds r24,MessLuftdruck4247 21de 9091 0000 lds r25,(MessLuftdruck)+14248 21e2 875B subi r24,lo8(951)4249 21e4 9340 sbci r25,hi8(951)4250 21e6 38F4 brsh .L3504251 21e8 8091 0000 lds r24,MessLuftdruck4252 21ec 9091 0000 lds r25,(MessLuftdruck)+14253 21f0 8E5E subi r24,lo8(750)4254 21f2 9240 sbci r25,hi8(750)4255 21f4 10F4 brsh .L3484256 .L350:4257 21f6 0E94 0000 call SucheLuftruckOffset4258 .L348:4259 21fa 1092 0000 sts ServoActive,__zero_reg__4260 21fe 80E0 ldi r24,lo8(0)4261 2200 0E94 0000 call SetNeutral4262 2204 81E0 ldi r24,lo8(1)4263 2206 8093 0000 sts calibration_done.9,r244264 220a 8093 0000 sts ServoActive,r244265 220e 579A sbi 42-0x20,74266 2210 1FC0 rjmp .L7904267 .L333:4268 2212 8081 ld r24,Z4269 2214 9181 ldd r25,Z+14270 2216 855B subi r24,lo8(-75)4271 2218 9F4F sbci r25,hi8(-75)4272 221a 0CF5 brge .L3524273 221c 8091 0000 lds r24,delay_neutral.64274 2220 8F5F subi r24,lo8(-(1))4275 2222 8093 0000 sts delay_neutral.6,r244276 2226 893C cpi r24,lo8(-55)4277 2228 E0F0 brlo .L3324278 222a 3C30 cpi r19,lo8(12)4279 222c 10F4 brsh .L3544280 222e 2998 cbi 37-0x20,14281 2230 01C0 rjmp .L3554282 .L354:4283 2232 299A sbi 37-0x20,14284 .L355:4285 2234 1092 0000 sts MotorenEin,__zero_reg__4286 2238 1092 0000 sts delay_neutral.6,__zero_reg__4287 223c 1092 0000 sts (modell_fliegt)+1,__zero_reg__4288 2240 1092 0000 sts modell_fliegt,__zero_reg__4289 2244 81E0 ldi r24,lo8(1)4290 2246 0E94 0000 call SetNeutral4291 224a 81E0 ldi r24,lo8(1)4292 224c 8093 0000 sts calibration_done.9,r244293 .L790:4294 2250 0E94 0000 call GetActiveParamSet4295 2254 68E7 ldi r22,lo8(120)4296 2256 70E0 ldi r23,hi8(120)4297 2258 0E94 0000 call Piep4298 225c 02C0 rjmp .L3324299 .L352:4300 225e 2093 0000 sts delay_neutral.6,r184301 .L332:4302 2262 8091 0000 lds r24,EE_Parameter+34303 2266 E82F mov r30,r244304 2268 FF27 clr r314305 226a EE0F add r30,r304306 226c FF1F adc r31,r314307 226e E050 subi r30,lo8(-(PPM_in))4308 2270 F040 sbci r31,hi8(-(PPM_in))4309 2272 8081 ld r24,Z4310 2274 9181 ldd r25,Z+14311 2276 8B5A subi r24,lo8(-85)4312 2278 9F4F sbci r25,hi8(-85)4313 227a 0CF0 brlt .+24314 227c 0CC1 rjmp .L3254315 227e 3091 0000 lds r19,MotorenEin4316 2282 E091 0000 lds r30,EE_Parameter+44317 2286 3323 tst r194318 2288 09F0 breq .+24319 228a DAC0 rjmp .L3584320 228c FF27 clr r314321 228e EE0F add r30,r304322 2290 FF1F adc r31,r314323 2292 E050 subi r30,lo8(-(PPM_in))4324 2294 F040 sbci r31,hi8(-(PPM_in))4325 2296 8081 ld r24,Z4326 2298 9181 ldd r25,Z+14327 229a 855B subi r24,lo8(-75)4328 229c 9F4F sbci r25,hi8(-75)4329 229e 0CF0 brlt .+24330 22a0 CCC0 rjmp .L3594331 22a2 2091 0000 lds r18,EE_Parameter+994332 22a6 E22F mov r30,r184333 22a8 FF27 clr r314334 22aa EE0F add r30,r304335 22ac FF1F adc r31,r314336 22ae E050 subi r30,lo8(-(PPM_in))4337 22b0 F040 sbci r31,hi8(-(PPM_in))4338 22b2 8081 ld r24,Z4339 22b4 9181 ldd r25,Z+14340 22b6 855B subi r24,lo8(-75)4341 22b8 9F4F sbci r25,hi8(-75)4342 22ba 1CF0 brlt .L3604343 22bc 2223 tst r184344 22be 09F0 breq .+24345 22c0 BCC0 rjmp .L3594346 .L360:4347 22c2 8091 0000 lds r24,delay_einschalten.74348 22c6 8F5F subi r24,lo8(-(1))4349 22c8 8093 0000 sts delay_einschalten.7,r244350 22cc 893C cpi r24,lo8(-55)4351 22ce 08F4 brsh .+24352 22d0 E2C0 rjmp .L3254353 22d2 3093 0000 sts delay_einschalten.7,r194354 22d6 8091 0000 lds r24,VersionInfo+54355 22da 8823 tst r244356 22dc 09F0 breq .+24357 22de A6C0 rjmp .L3624358 22e0 8091 0000 lds r24,calibration_done.94359 22e4 8823 tst r244360 22e6 09F4 brne .+24361 22e8 A1C0 rjmp .L3624362 22ea 81E0 ldi r24,lo8(1)4363 22ec 90E0 ldi r25,hi8(1)4364 22ee 9093 0000 sts (modell_fliegt)+1,r254365 22f2 8093 0000 sts modell_fliegt,r244366 22f6 81E0 ldi r24,lo8(1)4367 22f8 8093 0000 sts MotorenEin,r244368 22fc 1092 0000 sts sollGier.0,__zero_reg__4369 2300 1092 0000 sts (sollGier.0)+1,__zero_reg__4370 2304 1092 0000 sts (sollGier.0)+2,__zero_reg__4371 2308 1092 0000 sts (sollGier.0)+3,__zero_reg__4372 230c 1092 0000 sts Mess_Integral_Gier,__zero_reg__4373 2310 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__4374 2314 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__4375 2318 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__4376 231c 1092 0000 sts Mess_Integral_Gier2,__zero_reg__4377 2320 1092 0000 sts (Mess_Integral_Gier2)+1,__zero_reg__4378 2324 1092 0000 sts (Mess_Integral_Gier2)+2,__zero_reg__4379 2328 1092 0000 sts (Mess_Integral_Gier2)+3,__zero_reg__4380 232c 8091 0000 lds r24,EE_Parameter+284381 2330 E82E mov r14,r244382 2332 FF24 clr r154383 2334 0027 clr r164384 2336 1127 clr r174385 2338 8091 0000 lds r24,Mittelwert_AccNick4386 233c 9091 0000 lds r25,(Mittelwert_AccNick)+14387 2340 9C01 movw r18,r244388 2342 4427 clr r204389 2344 37FD sbrc r19,74390 2346 4095 com r204391 2348 542F mov r21,r204392 234a C801 movw r24,r164393 234c B701 movw r22,r144394 234e 0E94 0000 call __mulsi34395 2352 DC01 movw r26,r244396 2354 CB01 movw r24,r224397 2356 8093 0000 sts Mess_IntegralNick,r244398 235a 9093 0000 sts (Mess_IntegralNick)+1,r254399 235e A093 0000 sts (Mess_IntegralNick)+2,r264400 2362 B093 0000 sts (Mess_IntegralNick)+3,r274401 2366 8091 0000 lds r24,Mittelwert_AccRoll4402 236a 9091 0000 lds r25,(Mittelwert_AccRoll)+14403 236e 9C01 movw r18,r244404 2370 4427 clr r204405 2372 37FD sbrc r19,74406 2374 4095 com r204407 2376 542F mov r21,r204408 2378 C801 movw r24,r164409 237a B701 movw r22,r144410 237c 0E94 0000 call __mulsi34411 2380 DC01 movw r26,r244412 2382 CB01 movw r24,r224413 2384 8093 0000 sts Mess_IntegralRoll,r244414 2388 9093 0000 sts (Mess_IntegralRoll)+1,r254415 238c A093 0000 sts (Mess_IntegralRoll)+2,r264416 2390 B093 0000 sts (Mess_IntegralRoll)+3,r274417 2394 8091 0000 lds r24,IntegralNick4418 2398 9091 0000 lds r25,(IntegralNick)+14419 239c A091 0000 lds r26,(IntegralNick)+24420 23a0 B091 0000 lds r27,(IntegralNick)+34421 23a4 8093 0000 sts Mess_IntegralNick2,r244422 23a8 9093 0000 sts (Mess_IntegralNick2)+1,r254423 23ac A093 0000 sts (Mess_IntegralNick2)+2,r264424 23b0 B093 0000 sts (Mess_IntegralNick2)+3,r274425 23b4 8091 0000 lds r24,IntegralRoll4426 23b8 9091 0000 lds r25,(IntegralRoll)+14427 23bc A091 0000 lds r26,(IntegralRoll)+24428 23c0 B091 0000 lds r27,(IntegralRoll)+34429 23c4 8093 0000 sts Mess_IntegralRoll2,r244430 23c8 9093 0000 sts (Mess_IntegralRoll2)+1,r254431 23cc A093 0000 sts (Mess_IntegralRoll2)+2,r264432 23d0 B093 0000 sts (Mess_IntegralRoll2)+3,r274433 23d4 1092 0000 sts SummeNick,__zero_reg__4434 23d8 1092 0000 sts (SummeNick)+1,__zero_reg__4435 23dc 1092 0000 sts (SummeNick)+2,__zero_reg__4436 23e0 1092 0000 sts (SummeNick)+3,__zero_reg__4437 23e4 1092 0000 sts SummeRoll,__zero_reg__4438 23e8 1092 0000 sts (SummeRoll)+1,__zero_reg__4439 23ec 1092 0000 sts (SummeRoll)+2,__zero_reg__4440 23f0 1092 0000 sts (SummeRoll)+3,__zero_reg__4441 23f4 8091 0000 lds r24,FC_StatusFlags4442 23f8 8860 ori r24,lo8(8)4443 23fa 8093 0000 sts FC_StatusFlags,r244444 23fe 9091 0000 lds r25,EE_Parameter+974445 2402 8FE0 ldi r24,lo8(15)4446 2404 989F mul r25,r244447 2406 9001 movw r18,r04448 2408 1124 clr r14449 240a 8091 0000 lds r24,KompassValue4450 240e 9091 0000 lds r25,(KompassValue)+14451 2412 820F add r24,r184452 2414 931F adc r25,r194453 2416 68E6 ldi r22,lo8(360)4454 2418 71E0 ldi r23,hi8(360)4455 241a 0E94 0000 call __divmodhi44456 241e 97FD sbrc r25,74457 2420 0196 adiw r24,14458 .L363:4459 2422 9595 asr r254460 2424 8795 ror r244461 2426 8093 0000 sts ControlHeading,r244462 242a 35C0 rjmp .L3254463 .L362:4464 242c 8CED ldi r24,lo8(1500)4465 242e 95E0 ldi r25,hi8(1500)4466 2430 9093 0000 sts (beeptime)+1,r254467 2434 8093 0000 sts beeptime,r244468 2438 2EC0 rjmp .L3254469 .L359:4470 243a 1092 0000 sts delay_einschalten.7,__zero_reg__4471 243e 2BC0 rjmp .L3254472 .L358:4473 2440 FF27 clr r314474 2442 EE0F add r30,r304475 2444 FF1F adc r31,r314476 2446 E050 subi r30,lo8(-(PPM_in))4477 2448 F040 sbci r31,hi8(-(PPM_in))4478 244a 8081 ld r24,Z4479 244c 9181 ldd r25,Z+14480 244e 8C34 cpi r24,764481 2450 9105 cpc r25,__zero_reg__4482 2452 FCF0 brlt .L3674483 2454 2091 0000 lds r18,EE_Parameter+994484 2458 E22F mov r30,r184485 245a FF27 clr r314486 245c EE0F add r30,r304487 245e FF1F adc r31,r314488 2460 E050 subi r30,lo8(-(PPM_in))4489 2462 F040 sbci r31,hi8(-(PPM_in))4490 2464 8081 ld r24,Z4491 2466 9181 ldd r25,Z+14492 2468 855B subi r24,lo8(-75)4493 246a 9F4F sbci r25,hi8(-75)4494 246c 14F0 brlt .L3684495 246e 2223 tst r184496 2470 81F4 brne .L3674497 .L368:4498 2472 8091 0000 lds r24,delay_ausschalten.84499 2476 8F5F subi r24,lo8(-(1))4500 2478 8093 0000 sts delay_ausschalten.8,r244501 247c 893C cpi r24,lo8(-55)4502 247e 58F0 brlo .L3254503 2480 1092 0000 sts MotorenEin,__zero_reg__4504 2484 1092 0000 sts delay_ausschalten.8,__zero_reg__4505 2488 1092 0000 sts (modell_fliegt)+1,__zero_reg__4506 248c 1092 0000 sts modell_fliegt,__zero_reg__4507 2490 02C0 rjmp .L3254508 .L367:4509 2492 1092 0000 sts delay_ausschalten.8,__zero_reg__4510 .L325:4511 2496 8091 0000 lds r24,NewPpmData4512 249a 8150 subi r24,lo8(-(-1))4513 249c 8093 0000 sts NewPpmData,r244514 24a0 8091 0000 lds r24,NewPpmData4515 24a4 8F3F cpi r24,lo8(-1)4516 24a6 21F0 breq .L3724517 24a8 8091 0000 lds r24,FC_StatusFlags4518 24ac 84FF sbrs r24,44519 24ae 72C3 rjmp .L3714520 .L372:4521 24b0 0E94 0000 call ParameterZuordnung4522 24b4 8091 0000 lds r24,stick_nick.134523 24b8 9091 0000 lds r25,(stick_nick.13)+14524 24bc 9C01 movw r18,r244525 24be 220F lsl r184526 24c0 331F rol r194527 24c2 280F add r18,r244528 24c4 391F adc r19,r254529 24c6 C090 0000 lds r12,EE_Parameter+14530 24ca AC2D mov r26,r124531 24cc BB27 clr r274532 24ce AA0F add r26,r264533 24d0 BB1F adc r27,r274534 24d2 FD01 movw r30,r264535 24d4 E050 subi r30,lo8(-(PPM_in))4536 24d6 F040 sbci r31,hi8(-(PPM_in))4537 24d8 B090 0000 lds r11,EE_Parameter+234538 24dc 4B2D mov r20,r114539 24de 5527 clr r214540 24e0 8081 ld r24,Z4541 24e2 9181 ldd r25,Z+14542 24e4 849F mul r24,r204543 24e6 F001 movw r30,r04544 24e8 859F mul r24,r214545 24ea F00D add r31,r04546 24ec 949F mul r25,r204547 24ee F00D add r31,r04548 24f0 1124 clr r14549 24f2 2E0F add r18,r304550 24f4 3F1F adc r19,r314551 24f6 37FF sbrs r19,74552 24f8 02C0 rjmp .L3734553 24fa 2D5F subi r18,lo8(-(3))4554 24fc 3F4F sbci r19,hi8(-(3))4555 .L373:4556 24fe B901 movw r22,r184557 2500 7595 asr r234558 2502 6795 ror r224559 2504 7595 asr r234560 2506 6795 ror r224561 2508 A050 subi r26,lo8(-(PPM_diff))4562 250a B040 sbci r27,hi8(-(PPM_diff))4563 250c 8091 0000 lds r24,EE_Parameter+244564 2510 082F mov r16,r244565 2512 1127 clr r174566 2514 8D91 ld r24,X+4567 2516 9C91 ld r25,X4568 2518 809F mul r24,r164569 251a 7001 movw r14,r04570 251c 819F mul r24,r174571 251e F00C add r15,r04572 2520 909F mul r25,r164573 2522 F00C add r15,r04574 2524 1124 clr r14575 2526 6E0D add r22,r144576 2528 7F1D adc r23,r154577 252a 7093 0000 sts (stick_nick.13)+1,r234578 252e 6093 0000 sts stick_nick.13,r224579 2532 8091 0000 lds r24,stick_roll.144580 2536 9091 0000 lds r25,(stick_roll.14)+14581 253a 9C01 movw r18,r244582 253c 220F lsl r184583 253e 331F rol r194584 2540 280F add r18,r244585 2542 391F adc r19,r254586 2544 D090 0000 lds r13,EE_Parameter+24587 2548 AD2D mov r26,r134588 254a BB27 clr r274589 254c AA0F add r26,r264590 254e BB1F adc r27,r274591 2550 FD01 movw r30,r264592 2552 E050 subi r30,lo8(-(PPM_in))4593 2554 F040 sbci r31,hi8(-(PPM_in))4594 2556 8081 ld r24,Z4595 2558 9181 ldd r25,Z+14596 255a 849F mul r24,r204597 255c F001 movw r30,r04598 255e 859F mul r24,r214599 2560 F00D add r31,r04600 2562 949F mul r25,r204601 2564 F00D add r31,r04602 2566 1124 clr r14603 2568 2E0F add r18,r304604 256a 3F1F adc r19,r314605 256c 37FF sbrs r19,74606 256e 02C0 rjmp .L3744607 2570 2D5F subi r18,lo8(-(3))4608 2572 3F4F sbci r19,hi8(-(3))4609 .L374:4610 2574 A901 movw r20,r184611 2576 5595 asr r214612 2578 4795 ror r204613 257a 5595 asr r214614 257c 4795 ror r204615 257e A050 subi r26,lo8(-(PPM_diff))4616 2580 B040 sbci r27,hi8(-(PPM_diff))4617 2582 8D91 ld r24,X+4618 2584 9C91 ld r25,X4619 2586 809F mul r24,r164620 2588 7001 movw r14,r04621 258a 819F mul r24,r174622 258c F00C add r15,r04623 258e 909F mul r25,r164624 2590 F00C add r15,r04625 2592 1124 clr r14626 2594 4E0D add r20,r144627 2596 5F1D adc r21,r154628 2598 5093 0000 sts (stick_roll.14)+1,r214629 259c 4093 0000 sts stick_roll.14,r204630 25a0 8091 0000 lds r24,CareFree4631 25a4 8823 tst r244632 25a6 09F4 brne .+24633 25a8 48C0 rjmp .L3754634 25aa CB01 movw r24,r224635 25ac 77FD sbrc r23,74636 25ae 0396 adiw r24,34637 .L376:4638 25b0 DC01 movw r26,r244639 25b2 B595 asr r274640 25b4 A795 ror r264641 25b6 B595 asr r274642 25b8 A795 ror r264643 25ba CA01 movw r24,r204644 25bc 57FD sbrc r21,74645 25be 0396 adiw r24,34646 .L377:4647 25c0 FC01 movw r30,r244648 25c2 F595 asr r314649 25c4 E795 ror r304650 25c6 F595 asr r314651 25c8 E795 ror r304652 25ca 8091 0000 lds r24,FromNC_Rotate_C4653 25ce 682F mov r22,r244654 25d0 7727 clr r234655 25d2 67FD sbrc r22,74656 25d4 7095 com r234657 25d6 6A9F mul r22,r264658 25d8 9001 movw r18,r04659 25da 6B9F mul r22,r274660 25dc 300D add r19,r04661 25de 7A9F mul r23,r264662 25e0 300D add r19,r04663 25e2 1124 clr r14664 25e4 8091 0000 lds r24,FromNC_Rotate_S4665 25e8 482F mov r20,r244666 25ea 5527 clr r214667 25ec 47FD sbrc r20,74668 25ee 5095 com r214669 25f0 4E9F mul r20,r304670 25f2 C001 movw r24,r04671 25f4 4F9F mul r20,r314672 25f6 900D add r25,r04673 25f8 5E9F mul r21,r304674 25fa 900D add r25,r04675 25fc 1124 clr r14676 25fe 280F add r18,r244677 2600 391F adc r19,r254678 2602 37FF sbrs r19,74679 2604 02C0 rjmp .L3784680 2606 295F subi r18,lo8(-(7))4681 2608 3F4F sbci r19,hi8(-(7))4682 .L378:4683 260a 03E0 ldi r16,34684 260c 3595 1: asr r194685 260e 2795 ror r184686 2610 0A95 dec r164687 2612 E1F7 brne 1b4688 2614 3093 0000 sts (StickNick)+1,r194689 2618 2093 0000 sts StickNick,r184690 261c 6E9F mul r22,r304691 261e 9001 movw r18,r04692 2620 6F9F mul r22,r314693 2622 300D add r19,r04694 2624 7E9F mul r23,r304695 2626 300D add r19,r04696 2628 1124 clr r14697 262a 4A9F mul r20,r264698 262c C001 movw r24,r04699 262e 4B9F mul r20,r274700 2630 900D add r25,r04701 2632 5A9F mul r21,r264702 2634 900D add r25,r04703 2636 1124 clr r14704 2638 3FC0 rjmp .L8164705 .L375:4706 263a 8091 0000 lds r24,EE_Parameter+974707 263e E82F mov r30,r244708 2640 FF27 clr r314709 2642 E050 subi r30,lo8(-(sintab))4710 2644 F040 sbci r31,hi8(-(sintab))4711 2646 8681 ldd r24,Z+64712 2648 8093 0000 sts FromNC_Rotate_C,r244713 264c 9081 ld r25,Z4714 264e 9093 0000 sts FromNC_Rotate_S,r254715 2652 A82F mov r26,r244716 2654 BB27 clr r274717 2656 A7FD sbrc r26,74718 2658 B095 com r274719 265a A69F mul r26,r224720 265c 9001 movw r18,r04721 265e A79F mul r26,r234722 2660 300D add r19,r04723 2662 B69F mul r27,r224724 2664 300D add r19,r04725 2666 1124 clr r14726 2668 E92F mov r30,r254727 266a FF27 clr r314728 266c E7FD sbrc r30,74729 266e F095 com r314730 2670 E49F mul r30,r204731 2672 C001 movw r24,r04732 2674 E59F mul r30,r214733 2676 900D add r25,r04734 2678 F49F mul r31,r204735 267a 900D add r25,r04736 267c 1124 clr r14737 267e 280F add r18,r244738 2680 391F adc r19,r254739 2682 37FF sbrs r19,74740 2684 02C0 rjmp .L3814741 2686 295F subi r18,lo8(-(7))4742 2688 3F4F sbci r19,hi8(-(7))4743 .L381:4744 268a 13E0 ldi r17,34745 268c 3595 1: asr r194746 268e 2795 ror r184747 2690 1A95 dec r174748 2692 E1F7 brne 1b4749 2694 3093 0000 sts (StickNick)+1,r194750 2698 2093 0000 sts StickNick,r184751 269c A49F mul r26,r204752 269e 9001 movw r18,r04753 26a0 A59F mul r26,r214754 26a2 300D add r19,r04755 26a4 B49F mul r27,r204756 26a6 300D add r19,r04757 26a8 1124 clr r14758 26aa E69F mul r30,r224759 26ac C001 movw r24,r04760 26ae E79F mul r30,r234761 26b0 900D add r25,r04762 26b2 F69F mul r31,r224763 26b4 900D add r25,r04764 26b6 1124 clr r14765 .L816:4766 26b8 281B sub r18,r244767 26ba 390B sbc r19,r254768 26bc 37FF sbrs r19,74769 26be 02C0 rjmp .L3824770 26c0 295F subi r18,lo8(-(7))4771 26c2 3F4F sbci r19,hi8(-(7))4772 .L382:4773 26c4 F3E0 ldi r31,34774 26c6 3595 1: asr r194775 26c8 2795 ror r184776 26ca FA95 dec r314777 26cc E1F7 brne 1b4778 26ce 3093 0000 sts (StickRoll)+1,r194779 26d2 2093 0000 sts StickRoll,r184780 26d6 8091 0000 lds r24,EE_Parameter+44781 26da E82F mov r30,r244782 26dc FF27 clr r314783 26de EE0F add r30,r304784 26e0 FF1F adc r31,r314785 26e2 E050 subi r30,lo8(-(PPM_in))4786 26e4 F040 sbci r31,hi8(-(PPM_in))4787 26e6 8081 ld r24,Z4788 26e8 9181 ldd r25,Z+14789 26ea 9095 com r254790 26ec 8195 neg r244791 26ee 9F4F sbci r25,lo8(-1)4792 26f0 9093 0000 sts (StickGier)+1,r254793 26f4 8093 0000 sts StickGier,r244794 26f8 8330 cpi r24,34795 26fa 9105 cpc r25,__zero_reg__4796 26fc 14F0 brlt .L3834797 26fe 0297 sbiw r24,24798 2700 05C0 rjmp .L7914799 .L383:4800 2702 0FEF ldi r16,hi8(-2)4801 2704 8E3F cpi r24,lo8(-2)4802 2706 9007 cpc r25,r164803 2708 34F4 brge .L3854804 270a 0296 adiw r24,24805 .L791:4806 270c 9093 0000 sts (StickGier)+1,r254807 2710 8093 0000 sts StickGier,r244808 2714 04C0 rjmp .L3844809 .L385:4810 2716 1092 0000 sts (StickGier)+1,__zero_reg__4811 271a 1092 0000 sts StickGier,__zero_reg__4812 .L384:4813 271e 8091 0000 lds r24,GPS_Nick4814 2722 9091 0000 lds r25,(GPS_Nick)+14815 2726 2091 0000 lds r18,GPS_Nick24816 272a 3091 0000 lds r19,(GPS_Nick2)+14817 272e 820F add r24,r184818 2730 931F adc r25,r194819 2732 0091 0000 lds r16,StickNick4820 2736 1091 0000 lds r17,(StickNick)+14821 273a 081B sub r16,r244822 273c 190B sbc r17,r254823 273e 1093 0000 sts (StickNick)+1,r174824 2742 0093 0000 sts StickNick,r164825 2746 8091 0000 lds r24,GPS_Roll4826 274a 9091 0000 lds r25,(GPS_Roll)+14827 274e 2091 0000 lds r18,GPS_Roll24828 2752 3091 0000 lds r19,(GPS_Roll2)+14829 2756 820F add r24,r184830 2758 931F adc r25,r194831 275a 8090 0000 lds r8,StickRoll4832 275e 9090 0000 lds r9,(StickRoll)+14833 2762 881A sub r8,r244834 2764 990A sbc r9,r254835 2766 9092 0000 sts (StickRoll)+1,r94836 276a 8092 0000 sts StickRoll,r84837 276e 8091 0000 lds r24,EE_Parameter+34838 2772 E82F mov r30,r244839 2774 FF27 clr r314840 2776 EE0F add r30,r304841 2778 FF1F adc r31,r314842 277a E050 subi r30,lo8(-(PPM_in))4843 277c F040 sbci r31,hi8(-(PPM_in))4844 277e E080 ld r14,Z4845 2780 F180 ldd r15,Z+14846 2782 28E7 ldi r18,lo8(120)4847 2784 30E0 ldi r19,hi8(120)4848 2786 E20E add r14,r184849 2788 F31E adc r15,r194850 278a F092 0000 sts (StickGas)+1,r154851 278e E092 0000 sts StickGas,r144852 2792 8091 0000 lds r24,Parameter_Gyro_P4853 2796 9927 clr r254854 2798 AA27 clr r264855 279a 97FD sbrc r25,74856 279c A095 com r264857 279e BA2F mov r27,r264858 27a0 BC01 movw r22,r244859 27a2 CD01 movw r24,r264860 27a4 0E94 0000 call __floatsisf4861 27a8 DC01 movw r26,r244862 27aa CB01 movw r24,r224863 27ac 20E0 ldi r18,lo8(0x41200000)4864 27ae 30E0 ldi r19,hi8(0x41200000)4865 27b0 40E2 ldi r20,hlo8(0x41200000)4866 27b2 51E4 ldi r21,hhi8(0x41200000)4867 27b4 BC01 movw r22,r244868 27b6 CD01 movw r24,r264869 27b8 0E94 0000 call __addsf34870 27bc DC01 movw r26,r244871 27be CB01 movw r24,r224872 27c0 BC01 movw r22,r244873 27c2 CD01 movw r24,r264874 27c4 0E94 0000 call __fixunssfsi4875 27c8 DC01 movw r26,r244876 27ca CB01 movw r24,r224877 27cc 8093 0000 sts GyroFaktor,r244878 27d0 8091 0000 lds r24,Parameter_Gyro_I4879 27d4 8093 0000 sts IntegralFaktor,r244880 27d8 8091 0000 lds r24,Parameter_Gyro_Gier_P4881 27dc 9927 clr r254882 27de AA27 clr r264883 27e0 97FD sbrc r25,74884 27e2 A095 com r264885 27e4 BA2F mov r27,r264886 27e6 BC01 movw r22,r244887 27e8 CD01 movw r24,r264888 27ea 0E94 0000 call __floatsisf4889 27ee DC01 movw r26,r244890 27f0 CB01 movw r24,r224891 27f2 20E0 ldi r18,lo8(0x41200000)4892 27f4 30E0 ldi r19,hi8(0x41200000)4893 27f6 40E2 ldi r20,hlo8(0x41200000)4894 27f8 51E4 ldi r21,hhi8(0x41200000)4895 27fa BC01 movw r22,r244896 27fc CD01 movw r24,r264897 27fe 0E94 0000 call __addsf34898 2802 DC01 movw r26,r244899 2804 CB01 movw r24,r224900 2806 BC01 movw r22,r244901 2808 CD01 movw r24,r264902 280a 0E94 0000 call __fixunssfsi4903 280e DC01 movw r26,r244904 2810 CB01 movw r24,r224905 2812 8093 0000 sts GyroFaktorGier,r244906 2816 8091 0000 lds r24,Parameter_Gyro_Gier_I4907 281a 8093 0000 sts IntegralFaktorGier,r244908 281e 8091 0000 lds r24,ExternControl+104909 2822 80FF sbrs r24,04910 2824 59C0 rjmp .L3874911 2826 8091 0000 lds r24,Parameter_ExternalControl4912 282a 8138 cpi r24,lo8(-127)4913 282c 08F4 brsh .+24914 282e 54C0 rjmp .L3874915 2830 8091 0000 lds r24,ExternControl+34916 2834 9927 clr r254917 2836 87FD sbrc r24,74918 2838 9095 com r254919 283a 2B2D mov r18,r114920 283c 3327 clr r194921 283e 829F mul r24,r184922 2840 A001 movw r20,r04923 2842 839F mul r24,r194924 2844 500D add r21,r04925 2846 929F mul r25,r184926 2848 500D add r21,r04927 284a 1124 clr r14928 284c 040F add r16,r204929 284e 151F adc r17,r214930 2850 1093 0000 sts (StickNick)+1,r174931 2854 0093 0000 sts StickNick,r164932 2858 8091 0000 lds r24,ExternControl+44933 285c 9927 clr r254934 285e 87FD sbrc r24,74935 2860 9095 com r254936 2862 829F mul r24,r184937 2864 B001 movw r22,r04938 2866 839F mul r24,r194939 2868 700D add r23,r04940 286a 929F mul r25,r184941 286c 700D add r23,r04942 286e 1124 clr r14943 2870 860E add r8,r224944 2872 971E adc r9,r234945 2874 9092 0000 sts (StickRoll)+1,r94946 2878 8092 0000 sts StickRoll,r84947 287c 8091 0000 lds r24,ExternControl+54948 2880 282F mov r18,r244949 2882 3327 clr r194950 2884 27FD sbrc r18,74951 2886 3095 com r194952 2888 8091 0000 lds r24,StickGier4953 288c 9091 0000 lds r25,(StickGier)+14954 2890 820F add r24,r184955 2892 931F adc r25,r194956 2894 9093 0000 sts (StickGier)+1,r254957 2898 8093 0000 sts StickGier,r244958 289c 8091 0000 lds r24,ExternControl+74959 28a0 282F mov r18,r244960 28a2 3327 clr r194961 28a4 27FD sbrc r18,74962 28a6 3095 com r194963 28a8 8091 0000 lds r24,EE_Parameter+184964 28ac 9927 clr r254965 28ae 289F mul r18,r244966 28b0 D001 movw r26,r04967 28b2 299F mul r18,r254968 28b4 B00D add r27,r04969 28b6 389F mul r19,r244970 28b8 B00D add r27,r04971 28ba 1124 clr r14972 28bc B093 0000 sts (ExternHoehenValue)+1,r274973 28c0 A093 0000 sts ExternHoehenValue,r264974 28c4 8091 0000 lds r24,ExternControl+64975 28c8 9927 clr r254976 28ca 8E15 cp r24,r144977 28cc 9F05 cpc r25,r154978 28ce 24F4 brge .L3874979 28d0 9093 0000 sts (StickGas)+1,r254980 28d4 8093 0000 sts StickGas,r244981 .L387:4982 28d8 8091 0000 lds r24,StickGas4983 28dc 9091 0000 lds r25,(StickGas)+14984 28e0 97FF sbrs r25,74985 28e2 04C0 rjmp .L3894986 28e4 1092 0000 sts (StickGas)+1,__zero_reg__4987 28e8 1092 0000 sts StickGas,__zero_reg__4988 .L389:4989 28ec 8091 0000 lds r24,EE_Parameter+134990 28f0 82FF sbrs r24,24991 28f2 02C0 rjmp .L3904992 28f4 1092 0000 sts IntegralFaktor,__zero_reg__4993 .L390:4994 28f8 4091 0000 lds r20,StickNick4995 28fc 5091 0000 lds r21,(StickNick)+14996 2900 CA01 movw r24,r204997 2902 57FD sbrc r21,74998 2904 0396 adiw r24,34999 .L392:5000 2906 9C01 movw r18,r245001 2908 3595 asr r195002 290a 2795 ror r185003 290c 3595 asr r195004 290e 2795 ror r185005 2910 37FF sbrs r19,75006 2912 03C0 rjmp .L3935007 2914 3095 com r195008 2916 2195 neg r185009 2918 3F4F sbci r19,lo8(-1)5010 .L393:5011 291a 8091 0000 lds r24,MaxStickNick5012 291e 9091 0000 lds r25,(MaxStickNick)+15013 2922 8217 cp r24,r185014 2924 9307 cpc r25,r195015 2926 B4F4 brge .L3915016 2928 CA01 movw r24,r205017 292a 57FF sbrs r21,75018 292c 03C0 rjmp .L3945019 292e 9095 com r255020 2930 8195 neg r245021 2932 9F4F sbci r25,lo8(-1)5022 .L394:5023 2934 97FD sbrc r25,75024 2936 0396 adiw r24,35025 .L395:5026 2938 9595 asr r255027 293a 8795 ror r245028 293c 9595 asr r255029 293e 8795 ror r245030 2940 9093 0000 sts (MaxStickNick)+1,r255031 2944 8093 0000 sts MaxStickNick,r245032 2948 8536 cpi r24,1015033 294a 9105 cpc r25,__zero_reg__5034 294c 44F0 brlt .L3975035 294e 84E6 ldi r24,lo8(100)5036 2950 90E0 ldi r25,hi8(100)5037 2952 01C0 rjmp .L7925038 .L391:5039 2954 0197 sbiw r24,15040 .L792:5041 2956 9093 0000 sts (MaxStickNick)+1,r255042 295a 8093 0000 sts MaxStickNick,r245043 .L397:5044 295e 4091 0000 lds r20,StickRoll5045 2962 5091 0000 lds r21,(StickRoll)+15046 2966 CA01 movw r24,r205047 2968 57FD sbrc r21,75048 296a 0396 adiw r24,35049 .L399:5050 296c 9C01 movw r18,r245051 296e 3595 asr r195052 2970 2795 ror r185053 2972 3595 asr r195054 2974 2795 ror r185055 2976 37FF sbrs r19,75056 2978 03C0 rjmp .L4005057 297a 3095 com r195058 297c 2195 neg r185059 297e 3F4F sbci r19,lo8(-1)5060 .L400:5061 2980 8091 0000 lds r24,MaxStickRoll5062 2984 9091 0000 lds r25,(MaxStickRoll)+15063 2988 8217 cp r24,r185064 298a 9307 cpc r25,r195065 298c B4F4 brge .L3985066 298e CA01 movw r24,r205067 2990 57FF sbrs r21,75068 2992 03C0 rjmp .L4015069 2994 9095 com r255070 2996 8195 neg r245071 2998 9F4F sbci r25,lo8(-1)5072 .L401:5073 299a 97FD sbrc r25,75074 299c 0396 adiw r24,35075 .L402:5076 299e 9595 asr r255077 29a0 8795 ror r245078 29a2 9595 asr r255079 29a4 8795 ror r245080 29a6 9093 0000 sts (MaxStickRoll)+1,r255081 29aa 8093 0000 sts MaxStickRoll,r245082 29ae 8536 cpi r24,1015083 29b0 9105 cpc r25,__zero_reg__5084 29b2 44F0 brlt .L4045085 29b4 84E6 ldi r24,lo8(100)5086 29b6 90E0 ldi r25,hi8(100)5087 29b8 01C0 rjmp .L7935088 .L398:5089 29ba 0197 sbiw r24,15090 .L793:5091 29bc 9093 0000 sts (MaxStickRoll)+1,r255092 29c0 8093 0000 sts MaxStickRoll,r245093 .L404:5094 29c4 8091 0000 lds r24,FC_StatusFlags5095 29c8 84FF sbrs r24,45096 29ca 08C0 rjmp .L4055097 29cc 1092 0000 sts (MaxStickNick)+1,__zero_reg__5098 29d0 1092 0000 sts MaxStickNick,__zero_reg__5099 29d4 1092 0000 sts (MaxStickRoll)+1,__zero_reg__5100 29d8 1092 0000 sts MaxStickRoll,__zero_reg__5101 .L405:5102 29dc ED2D mov r30,r135103 29de FF27 clr r315104 29e0 EE0F add r30,r305105 29e2 FF1F adc r31,r315106 29e4 E050 subi r30,lo8(-(PPM_in))5107 29e6 F040 sbci r31,hi8(-(PPM_in))5108 29e8 4091 0000 lds r20,EE_Parameter+605109 29ec 242F mov r18,r205110 29ee 3327 clr r195111 29f0 8081 ld r24,Z5112 29f2 9181 ldd r25,Z+15113 29f4 2817 cp r18,r245114 29f6 3907 cpc r19,r255115 29f8 44F4 brge .L4065116 29fa 8091 0000 lds r24,EE_Parameter+1005117 29fe 82FF sbrs r24,25118 2a00 04C0 rjmp .L4065119 2a02 81E0 ldi r24,lo8(1)5120 2a04 8093 0000 sts Looping_Links,r245121 2a08 13C0 rjmp .L4075122 .L406:5123 2a0a ED2D mov r30,r135124 2a0c FF27 clr r315125 2a0e EE0F add r30,r305126 2a10 FF1F adc r31,r315127 2a12 E050 subi r30,lo8(-(PPM_in))5128 2a14 F040 sbci r31,hi8(-(PPM_in))5129 2a16 842F mov r24,r205130 2a18 9927 clr r255131 2a1a 2091 0000 lds r18,EE_Parameter+615132 2a1e 821B sub r24,r185133 2a20 9109 sbc r25,__zero_reg__5134 2a22 2081 ld r18,Z5135 2a24 3181 ldd r19,Z+15136 2a26 2817 cp r18,r245137 2a28 3907 cpc r19,r255138 2a2a 14F4 brge .L4075139 2a2c 1092 0000 sts Looping_Links,__zero_reg__5140 .L407:5141 2a30 4091 0000 lds r20,EE_Parameter+25142 2a34 E42F mov r30,r205143 2a36 FF27 clr r315144 2a38 EE0F add r30,r305145 2a3a FF1F adc r31,r315146 2a3c E050 subi r30,lo8(-(PPM_in))5147 2a3e F040 sbci r31,hi8(-(PPM_in))5148 2a40 5091 0000 lds r21,EE_Parameter+605149 2a44 852F mov r24,r215150 2a46 9927 clr r255151 2a48 2227 clr r185152 2a4a 3327 clr r195153 2a4c 281B sub r18,r245154 2a4e 390B sbc r19,r255155 2a50 8081 ld r24,Z5156 2a52 9181 ldd r25,Z+15157 2a54 8217 cp r24,r185158 2a56 9307 cpc r25,r195159 2a58 44F4 brge .L4095160 2a5a 8091 0000 lds r24,EE_Parameter+1005161 2a5e 83FF sbrs r24,35162 2a60 04C0 rjmp .L4095163 2a62 81E0 ldi r24,lo8(1)5164 2a64 8093 0000 sts Looping_Rechts,r245165 2a68 16C0 rjmp .L4105166 .L409:5167 2a6a 8091 0000 lds r24,Looping_Rechts5168 2a6e 8823 tst r245169 2a70 91F0 breq .L4105170 2a72 E42F mov r30,r205171 2a74 FF27 clr r315172 2a76 EE0F add r30,r305173 2a78 FF1F adc r31,r315174 2a7a E050 subi r30,lo8(-(PPM_in))5175 2a7c F040 sbci r31,hi8(-(PPM_in))5176 2a7e 8091 0000 lds r24,EE_Parameter+615177 2a82 9927 clr r255178 2a84 851B sub r24,r215179 2a86 9109 sbc r25,__zero_reg__5180 2a88 2081 ld r18,Z5181 2a8a 3181 ldd r19,Z+15182 2a8c 8217 cp r24,r185183 2a8e 9307 cpc r25,r195184 2a90 14F4 brge .L4105185 2a92 1092 0000 sts Looping_Rechts,__zero_reg__5186 .L410:5187 2a96 EC2D mov r30,r125188 2a98 FF27 clr r315189 2a9a EE0F add r30,r305190 2a9c FF1F adc r31,r315191 2a9e E050 subi r30,lo8(-(PPM_in))5192 2aa0 F040 sbci r31,hi8(-(PPM_in))5193 2aa2 4091 0000 lds r20,EE_Parameter+605194 2aa6 242F mov r18,r205195 2aa8 3327 clr r195196 2aaa 8081 ld r24,Z5197 2aac 9181 ldd r25,Z+15198 2aae 2817 cp r18,r245199 2ab0 3907 cpc r19,r255200 2ab2 44F4 brge .L4135201 2ab4 8091 0000 lds r24,EE_Parameter+1005202 2ab8 80FF sbrs r24,05203 2aba 04C0 rjmp .L4135204 2abc 81E0 ldi r24,lo8(1)5205 2abe 8093 0000 sts Looping_Oben,r245206 2ac2 17C0 rjmp .L4145207 .L413:5208 2ac4 8091 0000 lds r24,Looping_Oben5209 2ac8 8823 tst r245210 2aca 99F0 breq .L4145211 2acc EC2D mov r30,r125212 2ace FF27 clr r315213 2ad0 EE0F add r30,r305214 2ad2 FF1F adc r31,r315215 2ad4 E050 subi r30,lo8(-(PPM_in))5216 2ad6 F040 sbci r31,hi8(-(PPM_in))5217 2ad8 842F mov r24,r205218 2ada 9927 clr r255219 2adc 2091 0000 lds r18,EE_Parameter+615220 2ae0 821B sub r24,r185221 2ae2 9109 sbc r25,__zero_reg__5222 2ae4 2081 ld r18,Z5223 2ae6 3181 ldd r19,Z+15224 2ae8 2817 cp r18,r245225 2aea 3907 cpc r19,r255226 2aec 14F4 brge .L4145227 2aee 1092 0000 sts Looping_Oben,__zero_reg__5228 .L414:5229 2af2 4091 0000 lds r20,EE_Parameter+15230 2af6 E42F mov r30,r205231 2af8 FF27 clr r315232 2afa EE0F add r30,r305233 2afc FF1F adc r31,r315234 2afe E050 subi r30,lo8(-(PPM_in))5235 2b00 F040 sbci r31,hi8(-(PPM_in))5236 2b02 5091 0000 lds r21,EE_Parameter+605237 2b06 852F mov r24,r215238 2b08 9927 clr r255239 2b0a 2227 clr r185240 2b0c 3327 clr r195241 2b0e 281B sub r18,r245242 2b10 390B sbc r19,r255243 2b12 8081 ld r24,Z5244 2b14 9181 ldd r25,Z+15245 2b16 8217 cp r24,r185246 2b18 9307 cpc r25,r195247 2b1a 44F4 brge .L4175248 2b1c 8091 0000 lds r24,EE_Parameter+1005249 2b20 81FF sbrs r24,15250 2b22 04C0 rjmp .L4175251 2b24 81E0 ldi r24,lo8(1)5252 2b26 8093 0000 sts Looping_Unten,r245253 2b2a 16C0 rjmp .L4185254 .L417:5255 2b2c 8091 0000 lds r24,Looping_Unten5256 2b30 8823 tst r245257 2b32 91F0 breq .L4185258 2b34 E42F mov r30,r205259 2b36 FF27 clr r315260 2b38 EE0F add r30,r305261 2b3a FF1F adc r31,r315262 2b3c E050 subi r30,lo8(-(PPM_in))5263 2b3e F040 sbci r31,hi8(-(PPM_in))5264 2b40 8091 0000 lds r24,EE_Parameter+615265 2b44 9927 clr r255266 2b46 851B sub r24,r215267 2b48 9109 sbc r25,__zero_reg__5268 2b4a 2081 ld r18,Z5269 2b4c 3181 ldd r19,Z+15270 2b4e 8217 cp r24,r185271 2b50 9307 cpc r25,r195272 2b52 14F4 brge .L4185273 2b54 1092 0000 sts Looping_Unten,__zero_reg__5274 .L418:5275 2b58 8091 0000 lds r24,Looping_Links5276 2b5c 8823 tst r245277 2b5e 19F4 brne .L4225278 2b60 8091 0000 lds r24,Looping_Rechts5279 2b64 8111 cpse r24,__zero_reg__5280 .L422:5281 2b66 81E0 ldi r24,lo8(1)5282 .L421:5283 2b68 8093 0000 sts Looping_Roll,r245284 2b6c 8091 0000 lds r24,Looping_Oben5285 2b70 8823 tst r245286 2b72 21F4 brne .L4255287 2b74 8091 0000 lds r24,Looping_Unten5288 2b78 8823 tst r245289 2b7a 51F0 breq .L4245290 .L425:5291 2b7c 81E0 ldi r24,lo8(1)5292 2b7e 8093 0000 sts Looping_Nick,r245293 2b82 1092 0000 sts Looping_Roll,__zero_reg__5294 2b86 1092 0000 sts Looping_Links,__zero_reg__5295 2b8a 1092 0000 sts Looping_Rechts,__zero_reg__5296 2b8e 02C0 rjmp .L3715297 .L424:5298 2b90 8093 0000 sts Looping_Nick,r245299 .L371:5300 2b94 8091 0000 lds r24,Looping_Roll5301 2b98 8823 tst r245302 2b9a 21F4 brne .L4285303 2b9c 8091 0000 lds r24,Looping_Nick5304 2ba0 8823 tst r245305 2ba2 69F0 breq .L4275306 .L428:5307 2ba4 8091 0000 lds r24,EE_Parameter+595308 2ba8 9927 clr r255309 2baa E981 ldd r30,Y+15310 2bac FA81 ldd r31,Y+25311 2bae 8E17 cp r24,r305312 2bb0 9F07 cpc r25,r315313 2bb2 14F4 brge .L4295314 2bb4 9A83 std Y+2,r255315 2bb6 8983 std Y+1,r245316 .L429:5317 2bb8 81E0 ldi r24,lo8(1)5318 2bba 8093 0000 sts TrichterFlug,r245319 .L427:5320 2bbe 8091 0000 lds r24,FC_StatusFlags5321 2bc2 84FF sbrs r24,45322 2bc4 1AC0 rjmp .L4305323 2bc6 1092 0000 sts (StickGier)+1,__zero_reg__5324 2bca 1092 0000 sts StickGier,__zero_reg__5325 2bce 1092 0000 sts (StickNick)+1,__zero_reg__5326 2bd2 1092 0000 sts StickNick,__zero_reg__5327 2bd6 1092 0000 sts (StickRoll)+1,__zero_reg__5328 2bda 1092 0000 sts StickRoll,__zero_reg__5329 2bde 9AE5 ldi r25,lo8(90)5330 2be0 9093 0000 sts GyroFaktor,r255331 2be4 88E7 ldi r24,lo8(120)5332 2be6 8093 0000 sts IntegralFaktor,r245333 2bea 9093 0000 sts GyroFaktorGier,r255334 2bee 8093 0000 sts IntegralFaktorGier,r245335 2bf2 1092 0000 sts Looping_Roll,__zero_reg__5336 2bf6 1092 0000 sts Looping_Nick,__zero_reg__5337 .L430:5338 2bfa 8091 0000 lds r24,MittelIntegralNick5339 2bfe 9091 0000 lds r25,(MittelIntegralNick)+15340 2c02 A091 0000 lds r26,(MittelIntegralNick)+25341 2c06 B091 0000 lds r27,(MittelIntegralNick)+35342 2c0a 2091 0000 lds r18,IntegralNick5343 2c0e 3091 0000 lds r19,(IntegralNick)+15344 2c12 4091 0000 lds r20,(IntegralNick)+25345 2c16 5091 0000 lds r21,(IntegralNick)+35346 2c1a 820F add r24,r185347 2c1c 931F adc r25,r195348 2c1e A41F adc r26,r205349 2c20 B51F adc r27,r215350 2c22 8093 0000 sts MittelIntegralNick,r245351 2c26 9093 0000 sts (MittelIntegralNick)+1,r255352 2c2a A093 0000 sts (MittelIntegralNick)+2,r265353 2c2e B093 0000 sts (MittelIntegralNick)+3,r275354 2c32 8091 0000 lds r24,MittelIntegralRoll5355 2c36 9091 0000 lds r25,(MittelIntegralRoll)+15356 2c3a A091 0000 lds r26,(MittelIntegralRoll)+25357 2c3e B091 0000 lds r27,(MittelIntegralRoll)+35358 2c42 2090 0000 lds r2,IntegralRoll5359 2c46 3090 0000 lds r3,(IntegralRoll)+15360 2c4a 4090 0000 lds r4,(IntegralRoll)+25361 2c4e 5090 0000 lds r5,(IntegralRoll)+35362 2c52 820D add r24,r25363 2c54 931D adc r25,r35364 2c56 A41D adc r26,r45365 2c58 B51D adc r27,r55366 2c5a 8093 0000 sts MittelIntegralRoll,r245367 2c5e 9093 0000 sts (MittelIntegralRoll)+1,r255368 2c62 A093 0000 sts (MittelIntegralRoll)+2,r265369 2c66 B093 0000 sts (MittelIntegralRoll)+3,r275370 2c6a 8091 0000 lds r24,MittelIntegralNick25371 2c6e 9091 0000 lds r25,(MittelIntegralNick2)+15372 2c72 A091 0000 lds r26,(MittelIntegralNick2)+25373 2c76 B091 0000 lds r27,(MittelIntegralNick2)+35374 2c7a E090 0000 lds r14,IntegralNick25375 2c7e F090 0000 lds r15,(IntegralNick2)+15376 2c82 0091 0000 lds r16,(IntegralNick2)+25377 2c86 1091 0000 lds r17,(IntegralNick2)+35378 2c8a EB82 std Y+3,r145379 2c8c FC82 std Y+4,r155380 2c8e 0D83 std Y+5,r165381 2c90 1E83 std Y+6,r175382 2c92 8E0D add r24,r145383 2c94 9F1D adc r25,r155384 2c96 A01F adc r26,r165385 2c98 B11F adc r27,r175386 2c9a 8093 0000 sts MittelIntegralNick2,r245387 2c9e 9093 0000 sts (MittelIntegralNick2)+1,r255388 2ca2 A093 0000 sts (MittelIntegralNick2)+2,r265389 2ca6 B093 0000 sts (MittelIntegralNick2)+3,r275390 2caa 8091 0000 lds r24,MittelIntegralRoll25391 2cae 9091 0000 lds r25,(MittelIntegralRoll2)+15392 2cb2 A091 0000 lds r26,(MittelIntegralRoll2)+25393 2cb6 B091 0000 lds r27,(MittelIntegralRoll2)+35394 2cba E090 0000 lds r14,IntegralRoll25395 2cbe F090 0000 lds r15,(IntegralRoll2)+15396 2cc2 0091 0000 lds r16,(IntegralRoll2)+25397 2cc6 1091 0000 lds r17,(IntegralRoll2)+35398 2cca EF82 std Y+7,r145399 2ccc F886 std Y+8,r155400 2cce 0987 std Y+9,r165401 2cd0 1A87 std Y+10,r175402 2cd2 8E0D add r24,r145403 2cd4 9F1D adc r25,r155404 2cd6 A01F adc r26,r165405 2cd8 B11F adc r27,r175406 2cda 8093 0000 sts MittelIntegralRoll2,r245407 2cde 9093 0000 sts (MittelIntegralRoll2)+1,r255408 2ce2 A093 0000 sts (MittelIntegralRoll2)+2,r265409 2ce6 B093 0000 sts (MittelIntegralRoll2)+3,r275410 2cea F090 0000 lds r15,Looping_Nick5411 2cee FB86 std Y+11,r155412 2cf0 FF20 tst r155413 2cf2 29F4 brne .L4325414 2cf4 8091 0000 lds r24,Looping_Roll5415 2cf8 8823 tst r245416 2cfa 09F4 brne .+25417 2cfc 60C0 rjmp .L7885418 .L432:5419 2cfe 1092 0000 sts IntegralAccNick,__zero_reg__5420 2d02 1092 0000 sts (IntegralAccNick)+1,__zero_reg__5421 2d06 1092 0000 sts (IntegralAccNick)+2,__zero_reg__5422 2d0a 1092 0000 sts (IntegralAccNick)+3,__zero_reg__5423 2d0e 1092 0000 sts IntegralAccRoll,__zero_reg__5424 2d12 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__5425 2d16 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__5426 2d1a 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__5427 2d1e 1092 0000 sts MittelIntegralNick,__zero_reg__5428 2d22 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__5429 2d26 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__5430 2d2a 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__5431 2d2e 1092 0000 sts MittelIntegralRoll,__zero_reg__5432 2d32 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__5433 2d36 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__5434 2d3a 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__5435 2d3e 1092 0000 sts MittelIntegralNick2,__zero_reg__5436 2d42 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__5437 2d46 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__5438 2d4a 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__5439 2d4e 1092 0000 sts MittelIntegralRoll2,__zero_reg__5440 2d52 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__5441 2d56 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__5442 2d5a 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__5443 2d5e 8091 0000 lds r24,Mess_IntegralNick5444 2d62 9091 0000 lds r25,(Mess_IntegralNick)+15445 2d66 A091 0000 lds r26,(Mess_IntegralNick)+25446 2d6a B091 0000 lds r27,(Mess_IntegralNick)+35447 2d6e 8093 0000 sts Mess_IntegralNick2,r245448 2d72 9093 0000 sts (Mess_IntegralNick2)+1,r255449 2d76 A093 0000 sts (Mess_IntegralNick2)+2,r265450 2d7a B093 0000 sts (Mess_IntegralNick2)+3,r275451 2d7e 8091 0000 lds r24,Mess_IntegralRoll5452 2d82 9091 0000 lds r25,(Mess_IntegralRoll)+15453 2d86 A091 0000 lds r26,(Mess_IntegralRoll)+25454 2d8a B091 0000 lds r27,(Mess_IntegralRoll)+35455 2d8e 8093 0000 sts Mess_IntegralRoll2,r245456 2d92 9093 0000 sts (Mess_IntegralRoll2)+1,r255457 2d96 A093 0000 sts (Mess_IntegralRoll2)+2,r265458 2d9a B093 0000 sts (Mess_IntegralRoll2)+3,r275459 2d9e 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__5460 2da2 1092 0000 sts ZaehlMessungen,__zero_reg__5461 2da6 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__5462 2daa 1092 0000 sts LageKorrekturNick,__zero_reg__5463 2dae 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__5464 2db2 1092 0000 sts LageKorrekturRoll,__zero_reg__5465 2db6 0B85 ldd r16,Y+115466 2db8 0023 tst r165467 2dba 09F0 breq .+25468 2dbc F2C1 rjmp .L4335469 .L788:5470 2dbe 8091 0000 lds r24,Looping_Roll5471 2dc2 8823 tst r245472 2dc4 09F0 breq .+25473 2dc6 EDC1 rjmp .L4335474 2dc8 8091 0000 lds r24,Aktuell_az5475 2dcc 9091 0000 lds r25,(Aktuell_az)+15476 2dd0 8150 subi r24,lo8(513)5477 2dd2 9240 sbci r25,hi8(513)5478 2dd4 2CF4 brge .L4345479 2dd6 8091 0000 lds r24,MotorenEin5480 2dda 8823 tst r245481 2ddc 09F4 brne .+25482 2dde E1C1 rjmp .L4335483 .L434:5484 2de0 9090 0000 lds r9,FromNaviCtrl_Value5485 2de4 A090 0000 lds r10,EE_Parameter+285486 2de8 6091 0000 lds r22,Mittelwert_AccNick5487 2dec 7091 0000 lds r23,(Mittelwert_AccNick)+15488 2df0 788F std Y+24,r235489 2df2 6F8B std Y+23,r225490 2df4 8091 0000 lds r24,Mittelwert_AccRoll5491 2df8 9091 0000 lds r25,(Mittelwert_AccRoll)+15492 2dfc 9A8B std Y+18,r255493 2dfe 898B std Y+17,r245494 2e00 9FEF ldi r25,lo8(-1)5495 2e02 9916 cp r9,r255496 2e04 09F4 brne .+25497 2e06 D9C0 rjmp .L4355498 2e08 BB24 clr r115499 2e0a CC24 clr r125500 2e0c DD24 clr r135501 2e0e CA01 movw r24,r205502 2e10 B901 movw r22,r185503 2e12 A601 movw r20,r125504 2e14 9501 movw r18,r105505 2e16 0E94 0000 call __divmodsi45506 2e1a 7901 movw r14,r185507 2e1c 8A01 movw r16,r205508 2e1e EF89 ldd r30,Y+235509 2e20 F88D ldd r31,Y+245510 2e22 CF01 movw r24,r305511 2e24 AA27 clr r265512 2e26 97FD sbrc r25,75513 2e28 A095 com r265514 2e2a BA2F mov r27,r265515 2e2c E81A sub r14,r245516 2e2e F90A sbc r15,r255517 2e30 0A0B sbc r16,r265518 2e32 1B0B sbc r17,r275519 2e34 C201 movw r24,r45520 2e36 B101 movw r22,r25521 2e38 A601 movw r20,r125522 2e3a 9501 movw r18,r105523 2e3c 0E94 0000 call __divmodsi45524 2e40 5901 movw r10,r185525 2e42 6A01 movw r12,r205526 2e44 2989 ldd r18,Y+175527 2e46 3A89 ldd r19,Y+185528 2e48 C901 movw r24,r185529 2e4a AA27 clr r265530 2e4c 97FD sbrc r25,75531 2e4e A095 com r265532 2e50 BA2F mov r27,r265533 2e52 A81A sub r10,r245534 2e54 B90A sbc r11,r255535 2e56 CA0A sbc r12,r265536 2e58 DB0A sbc r13,r275537 2e5a 292C mov r2,r95538 2e5c 3324 clr r35539 2e5e 27FC sbrc r2,75540 2e60 3094 com r35541 2e62 432C mov r4,r35542 2e64 532C mov r5,r35543 2e66 C801 movw r24,r165544 2e68 B701 movw r22,r145545 2e6a A201 movw r20,r45546 2e6c 9101 movw r18,r25547 2e6e 0E94 0000 call __mulsi35548 2e72 97FF sbrs r25,75549 2e74 04C0 rjmp .L4365550 2e76 6150 subi r22,lo8(-(511))5551 2e78 7E4F sbci r23,hi8(-(511))5552 2e7a 8F4F sbci r24,hlo8(-(511))5553 2e7c 9F4F sbci r25,hhi8(-(511))5554 .L436:5555 2e7e 3B01 movw r6,r225556 2e80 4C01 movw r8,r245557 2e82 09E0 ldi r16,95558 2e84 9594 1: asr r95559 2e86 8794 ror r85560 2e88 7794 ror r75561 2e8a 6794 ror r65562 2e8c 0A95 dec r165563 2e8e D1F7 brne 1b5564 2e90 C601 movw r24,r125565 2e92 B501 movw r22,r105566 2e94 A201 movw r20,r45567 2e96 9101 movw r18,r25568 2e98 0E94 0000 call __mulsi35569 2e9c 97FF sbrs r25,75570 2e9e 04C0 rjmp .L4375571 2ea0 6150 subi r22,lo8(-(511))5572 2ea2 7E4F sbci r23,hi8(-(511))5573 2ea4 8F4F sbci r24,hlo8(-(511))5574 2ea6 9F4F sbci r25,hhi8(-(511))5575 .L437:5576 2ea8 5B01 movw r10,r225577 2eaa 6C01 movw r12,r245578 2eac 19E0 ldi r17,95579 2eae D594 1: asr r135580 2eb0 C794 ror r125581 2eb2 B794 ror r115582 2eb4 A794 ror r105583 2eb6 1A95 dec r175584 2eb8 D1F7 brne 1b5585 2eba 8091 0000 lds r24,MaxStickNick5586 2ebe 9091 0000 lds r25,(MaxStickNick)+15587 2ec2 8134 cpi r24,655588 2ec4 9105 cpc r25,__zero_reg__5589 2ec6 3CF4 brge .L4395590 2ec8 8091 0000 lds r24,MaxStickRoll5591 2ecc 9091 0000 lds r25,(MaxStickRoll)+15592 2ed0 8134 cpi r24,655593 2ed2 9105 cpc r25,__zero_reg__5594 2ed4 D4F0 brlt .L4385595 .L439:5596 2ed6 D401 movw r26,r85597 2ed8 C301 movw r24,r65598 2eda 97FE sbrs r9,75599 2edc 03C0 rjmp .L4405600 2ede 0196 adiw r24,15601 2ee0 A11D adc r26,__zero_reg__5602 2ee2 B11D adc r27,__zero_reg__5603 .L440:5604 2ee4 3C01 movw r6,r245605 2ee6 4D01 movw r8,r265606 2ee8 9594 asr r95607 2eea 8794 ror r85608 2eec 7794 ror r75609 2eee 6794 ror r65610 2ef0 D601 movw r26,r125611 2ef2 C501 movw r24,r105612 2ef4 D7FE sbrs r13,75613 2ef6 03C0 rjmp .L4415614 2ef8 0196 adiw r24,15615 2efa A11D adc r26,__zero_reg__5616 2efc B11D adc r27,__zero_reg__5617 .L441:5618 2efe 5C01 movw r10,r245619 2f00 6D01 movw r12,r265620 2f02 D594 asr r135621 2f04 C794 ror r125622 2f06 B794 ror r115623 2f08 A794 ror r105624 .L438:5625 2f0a 8091 0000 lds r24,EE_Parameter+45626 2f0e E82F mov r30,r245627 2f10 FF27 clr r315628 2f12 EE0F add r30,r305629 2f14 FF1F adc r31,r315630 2f16 E050 subi r30,lo8(-(PPM_in))5631 2f18 F040 sbci r31,hi8(-(PPM_in))5632 2f1a 8081 ld r24,Z5633 2f1c 9181 ldd r25,Z+15634 2f1e 0190 ld __tmp_reg__,Z+5635 2f20 F081 ld r31,Z5636 2f22 E02D mov r30,__tmp_reg__5637 2f24 F7FF sbrs r31,75638 2f26 03C0 rjmp .L4435639 2f28 F095 com r315640 2f2a E195 neg r305641 2f2c FF4F sbci r31,lo8(-1)5642 .L443:5643 2f2e 7A97 sbiw r30,265644 2f30 A4F0 brlt .L4425645 2f32 C401 movw r24,r85646 2f34 B301 movw r22,r65647 2f36 23E0 ldi r18,lo8(3)5648 2f38 30E0 ldi r19,hi8(3)5649 2f3a 40E0 ldi r20,hlo8(3)5650 2f3c 50E0 ldi r21,hhi8(3)5651 2f3e 0E94 0000 call __divmodsi45652 2f42 3901 movw r6,r185653 2f44 4A01 movw r8,r205654 2f46 C601 movw r24,r125655 2f48 B501 movw r22,r105656 2f4a 23E0 ldi r18,lo8(3)5657 2f4c 30E0 ldi r19,hi8(3)5658 2f4e 40E0 ldi r20,hlo8(3)5659 2f50 50E0 ldi r21,hhi8(3)5660 2f52 0E94 0000 call __divmodsi45661 2f56 5901 movw r10,r185662 2f58 6A01 movw r12,r205663 .L442:5664 2f5a 8091 0000 lds r24,FromNaviCtrl_Value+25665 2f5e 282F mov r18,r245666 2f60 3327 clr r195667 2f62 27FD sbrc r18,75668 2f64 3095 com r195669 2f66 432F mov r20,r195670 2f68 532F mov r21,r195671 2f6a 2615 cp r18,r65672 2f6c 3705 cpc r19,r75673 2f6e 4805 cpc r20,r85674 2f70 5905 cpc r21,r95675 2f72 14F4 brge .L4445676 2f74 3901 movw r6,r185677 2f76 4A01 movw r8,r205678 .L444:5679 2f78 9927 clr r255680 2f7a 87FD sbrc r24,75681 2f7c 9095 com r255682 2f7e 9095 com r255683 2f80 8195 neg r245684 2f82 9F4F sbci r25,lo8(-1)5685 2f84 AA27 clr r265686 2f86 97FD sbrc r25,75687 2f88 A095 com r265688 2f8a BA2F mov r27,r265689 2f8c 6816 cp r6,r245690 2f8e 7906 cpc r7,r255691 2f90 8A06 cpc r8,r265692 2f92 9B06 cpc r9,r275693 2f94 14F4 brge .L4455694 2f96 3C01 movw r6,r245695 2f98 4D01 movw r8,r265696 .L445:5697 2f9a 2A15 cp r18,r105698 2f9c 3B05 cpc r19,r115699 2f9e 4C05 cpc r20,r125700 2fa0 5D05 cpc r21,r135701 2fa2 14F4 brge .L4465702 2fa4 5901 movw r10,r185703 2fa6 6A01 movw r12,r205704 .L446:5705 2fa8 A816 cp r10,r245706 2faa B906 cpc r11,r255707 2fac CA06 cpc r12,r265708 2fae DB06 cpc r13,r275709 2fb0 0CF0 brlt .+25710 2fb2 CFC0 rjmp .L4485711 2fb4 5C01 movw r10,r245712 2fb6 6D01 movw r12,r265713 2fb8 CCC0 rjmp .L4485714 .L435:5715 2fba EA2C mov r14,r105716 2fbc FF24 clr r155717 2fbe 0027 clr r165718 2fc0 1127 clr r175719 2fc2 CA01 movw r24,r205720 2fc4 B901 movw r22,r185721 2fc6 A801 movw r20,r165722 2fc8 9701 movw r18,r145723 2fca 0E94 0000 call __divmodsi45724 2fce 3901 movw r6,r185725 2fd0 4A01 movw r8,r205726 2fd2 4F89 ldd r20,Y+235727 2fd4 588D ldd r21,Y+245728 2fd6 CA01 movw r24,r205729 2fd8 AA27 clr r265730 2fda 97FD sbrc r25,75731 2fdc A095 com r265732 2fde BA2F mov r27,r265733 2fe0 681A sub r6,r245734 2fe2 790A sbc r7,r255735 2fe4 8A0A sbc r8,r265736 2fe6 9B0A sbc r9,r275737 2fe8 C201 movw r24,r45738 2fea B101 movw r22,r25739 2fec A801 movw r20,r165740 2fee 9701 movw r18,r145741 2ff0 0E94 0000 call __divmodsi45742 2ff4 5901 movw r10,r185743 2ff6 6A01 movw r12,r205744 2ff8 6989 ldd r22,Y+175745 2ffa 7A89 ldd r23,Y+185746 2ffc CB01 movw r24,r225747 2ffe AA27 clr r265748 3000 97FD sbrc r25,75749 3002 A095 com r265750 3004 BA2F mov r27,r265751 3006 A81A sub r10,r245752 3008 B90A sbc r11,r255753 300a CA0A sbc r12,r265754 300c DB0A sbc r13,r275755 300e D401 movw r26,r85756 3010 C301 movw r24,r65757 3012 97FE sbrs r9,75758 3014 03C0 rjmp .L4495759 3016 0F96 adiw r24,155760 3018 A11D adc r26,__zero_reg__5761 301a B11D adc r27,__zero_reg__5762 .L449:5763 301c 3C01 movw r6,r245764 301e 4D01 movw r8,r265765 3020 F4E0 ldi r31,45766 3022 9594 1: asr r95767 3024 8794 ror r85768 3026 7794 ror r75769 3028 6794 ror r65770 302a FA95 dec r315771 302c D1F7 brne 1b5772 302e D601 movw r26,r125773 3030 C501 movw r24,r105774 3032 D7FE sbrs r13,75775 3034 03C0 rjmp .L4505776 3036 0F96 adiw r24,155777 3038 A11D adc r26,__zero_reg__5778 303a B11D adc r27,__zero_reg__5779 .L450:5780 303c 5C01 movw r10,r245781 303e 6D01 movw r12,r265782 3040 E4E0 ldi r30,45783 3042 D594 1: asr r135784 3044 C794 ror r125785 3046 B794 ror r115786 3048 A794 ror r105787 304a EA95 dec r305788 304c D1F7 brne 1b5789 304e 8091 0000 lds r24,MaxStickNick5790 3052 9091 0000 lds r25,(MaxStickNick)+15791 3056 8134 cpi r24,655792 3058 9105 cpc r25,__zero_reg__5793 305a 3CF4 brge .L4525794 305c 8091 0000 lds r24,MaxStickRoll5795 3060 9091 0000 lds r25,(MaxStickRoll)+15796 3064 8134 cpi r24,655797 3066 9105 cpc r25,__zero_reg__5798 3068 A4F0 brlt .L4515799 .L452:5800 306a C401 movw r24,r85801 306c B301 movw r22,r65802 306e 23E0 ldi r18,lo8(3)5803 3070 30E0 ldi r19,hi8(3)5804 3072 40E0 ldi r20,hlo8(3)5805 3074 50E0 ldi r21,hhi8(3)5806 3076 0E94 0000 call __divmodsi45807 307a 3901 movw r6,r185808 307c 4A01 movw r8,r205809 307e C601 movw r24,r125810 3080 B501 movw r22,r105811 3082 23E0 ldi r18,lo8(3)5812 3084 30E0 ldi r19,hi8(3)5813 3086 40E0 ldi r20,hlo8(3)5814 3088 50E0 ldi r21,hhi8(3)5815 308a 0E94 0000 call __divmodsi45816 308e 5901 movw r10,r185817 3090 6A01 movw r12,r205818 .L451:5819 3092 8091 0000 lds r24,EE_Parameter+45820 3096 E82F mov r30,r245821 3098 FF27 clr r315822 309a EE0F add r30,r305823 309c FF1F adc r31,r315824 309e E050 subi r30,lo8(-(PPM_in))5825 30a0 F040 sbci r31,hi8(-(PPM_in))5826 30a2 8081 ld r24,Z5827 30a4 9181 ldd r25,Z+15828 30a6 0190 ld __tmp_reg__,Z+5829 30a8 F081 ld r31,Z5830 30aa E02D mov r30,__tmp_reg__5831 30ac F7FF sbrs r31,75832 30ae 03C0 rjmp .L4545833 30b0 F095 com r315834 30b2 E195 neg r305835 30b4 FF4F sbci r31,lo8(-1)5836 .L454:5837 30b6 7A97 sbiw r30,265838 30b8 A4F0 brlt .L4535839 30ba C401 movw r24,r85840 30bc B301 movw r22,r65841 30be 23E0 ldi r18,lo8(3)5842 30c0 30E0 ldi r19,hi8(3)5843 30c2 40E0 ldi r20,hlo8(3)5844 30c4 50E0 ldi r21,hhi8(3)5845 30c6 0E94 0000 call __divmodsi45846 30ca 3901 movw r6,r185847 30cc 4A01 movw r8,r205848 30ce C601 movw r24,r125849 30d0 B501 movw r22,r105850 30d2 23E0 ldi r18,lo8(3)5851 30d4 30E0 ldi r19,hi8(3)5852 30d6 40E0 ldi r20,hlo8(3)5853 30d8 50E0 ldi r21,hhi8(3)5854 30da 0E94 0000 call __divmodsi45855 30de 5901 movw r10,r185856 30e0 6A01 movw r12,r205857 .L453:5858 30e2 71E2 ldi r23,lo8(33)5859 30e4 6716 cp r6,r235860 30e6 7104 cpc r7,__zero_reg__5861 30e8 8104 cpc r8,__zero_reg__5862 30ea 9104 cpc r9,__zero_reg__5863 30ec 2CF0 brlt .L4555864 30ee 70E2 ldi r23,lo8(32)5865 30f0 672E mov r6,r235866 30f2 712C mov r7,__zero_reg__5867 30f4 812C mov r8,__zero_reg__5868 30f6 912C mov r9,__zero_reg__5869 .L455:5870 30f8 80EE ldi r24,lo8(-32)5871 30fa 6816 cp r6,r245872 30fc 8FEF ldi r24,hi8(-32)5873 30fe 7806 cpc r7,r245874 3100 8FEF ldi r24,hlo8(-32)5875 3102 8806 cpc r8,r245876 3104 8FEF ldi r24,hhi8(-32)5877 3106 9806 cpc r9,r245878 3108 44F4 brge .L4565879 310a 60EE ldi r22,lo8(-32)5880 310c 662E mov r6,r225881 310e 6FEF ldi r22,hi8(-32)5882 3110 762E mov r7,r225883 3112 6FEF ldi r22,hlo8(-32)5884 3114 862E mov r8,r225885 3116 6FEF ldi r22,hhi8(-32)5886 3118 962E mov r9,r225887 .L456:5888 311a 91E2 ldi r25,lo8(33)5889 311c A916 cp r10,r255890 311e B104 cpc r11,__zero_reg__5891 3120 C104 cpc r12,__zero_reg__5892 3122 D104 cpc r13,__zero_reg__5893 3124 2CF0 brlt .L4575894 3126 50E2 ldi r21,lo8(32)5895 3128 A52E mov r10,r215896 312a B12C mov r11,__zero_reg__5897 312c C12C mov r12,__zero_reg__5898 312e D12C mov r13,__zero_reg__5899 .L457:5900 3130 A0EE ldi r26,lo8(-32)5901 3132 AA16 cp r10,r265902 3134 AFEF ldi r26,hi8(-32)5903 3136 BA06 cpc r11,r265904 3138 AFEF ldi r26,hlo8(-32)5905 313a CA06 cpc r12,r265906 313c AFEF ldi r26,hhi8(-32)5907 313e DA06 cpc r13,r265908 3140 44F4 brge .L4485909 3142 40EE ldi r20,lo8(-32)5910 3144 A42E mov r10,r205911 3146 4FEF ldi r20,hi8(-32)5912 3148 B42E mov r11,r205913 314a 4FEF ldi r20,hlo8(-32)5914 314c C42E mov r12,r205915 314e 4FEF ldi r20,hhi8(-32)5916 3150 D42E mov r13,r205917 .L448:5918 3152 8091 0000 lds r24,Mess_IntegralNick5919 3156 9091 0000 lds r25,(Mess_IntegralNick)+15920 315a A091 0000 lds r26,(Mess_IntegralNick)+25921 315e B091 0000 lds r27,(Mess_IntegralNick)+35922 3162 8619 sub r24,r65923 3164 9709 sbc r25,r75924 3166 A809 sbc r26,r85925 3168 B909 sbc r27,r95926 316a 8093 0000 sts Mess_IntegralNick,r245927 316e 9093 0000 sts (Mess_IntegralNick)+1,r255928 3172 A093 0000 sts (Mess_IntegralNick)+2,r265929 3176 B093 0000 sts (Mess_IntegralNick)+3,r275930 317a 8091 0000 lds r24,Mess_IntegralRoll5931 317e 9091 0000 lds r25,(Mess_IntegralRoll)+15932 3182 A091 0000 lds r26,(Mess_IntegralRoll)+25933 3186 B091 0000 lds r27,(Mess_IntegralRoll)+35934 318a 8A19 sub r24,r105935 318c 9B09 sbc r25,r115936 318e AC09 sbc r26,r125937 3190 BD09 sbc r27,r135938 3192 8093 0000 sts Mess_IntegralRoll,r245939 3196 9093 0000 sts (Mess_IntegralRoll)+1,r255940 319a A093 0000 sts (Mess_IntegralRoll)+2,r265941 319e B093 0000 sts (Mess_IntegralRoll)+3,r275942 .L433:5943 31a2 8091 0000 lds r24,ZaehlMessungen5944 31a6 9091 0000 lds r25,(ZaehlMessungen)+15945 31aa 8F3F cpi r24,2555946 31ac 9105 cpc r25,__zero_reg__5947 31ae 09F0 breq .+25948 31b0 08F4 brsh .+25949 31b2 C4C5 rjmp .L4595950 31b4 BB85 ldd r27,Y+115951 31b6 BB23 tst r275952 31b8 09F0 breq .+25953 31ba 4EC5 rjmp .L4605954 31bc 8091 0000 lds r24,Looping_Roll5955 31c0 8823 tst r245956 31c2 09F0 breq .+25957 31c4 49C5 rjmp .L4605958 31c6 8091 0000 lds r24,TrichterFlug5959 31ca 8823 tst r245960 31cc 09F0 breq .+25961 31ce 44C5 rjmp .L4605962 31d0 E091 0000 lds r30,EE_Parameter+685963 31d4 EC87 std Y+12,r305964 31d6 EE23 tst r305965 31d8 09F4 brne .+25966 31da 3EC5 rjmp .L4605967 31dc 8091 0000 lds r24,MittelIntegralNick5968 31e0 9091 0000 lds r25,(MittelIntegralNick)+15969 31e4 A091 0000 lds r26,(MittelIntegralNick)+25970 31e8 B091 0000 lds r27,(MittelIntegralNick)+35971 31ec B7FF sbrs r27,75972 31ee 04C0 rjmp .L4615973 31f0 8150 subi r24,lo8(-(255))5974 31f2 9F4F sbci r25,hi8(-(255))5975 31f4 AF4F sbci r26,hlo8(-(255))5976 31f6 BF4F sbci r27,hhi8(-(255))5977 .L461:5978 31f8 E92E mov r14,r255979 31fa FA2E mov r15,r265980 31fc 0B2F mov r16,r275981 31fe 1127 clr r175982 3200 07FD sbrc r16,75983 3202 1A95 dec r175984 3204 E092 0000 sts MittelIntegralNick,r145985 3208 F092 0000 sts (MittelIntegralNick)+1,r155986 320c 0093 0000 sts (MittelIntegralNick)+2,r165987 3210 1093 0000 sts (MittelIntegralNick)+3,r175988 3214 8091 0000 lds r24,MittelIntegralRoll5989 3218 9091 0000 lds r25,(MittelIntegralRoll)+15990 321c A091 0000 lds r26,(MittelIntegralRoll)+25991 3220 B091 0000 lds r27,(MittelIntegralRoll)+35992 3224 B7FF sbrs r27,75993 3226 04C0 rjmp .L4625994 3228 8150 subi r24,lo8(-(255))5995 322a 9F4F sbci r25,hi8(-(255))5996 322c AF4F sbci r26,hlo8(-(255))5997 322e BF4F sbci r27,hhi8(-(255))5998 .L462:5999 3230 892F mov r24,r256000 3232 9A2F mov r25,r266001 3234 AB2F mov r26,r276002 3236 BB27 clr r276003 3238 A7FD sbrc r26,76004 323a BA95 dec r276005 323c 8D87 std Y+13,r246006 323e 9E87 std Y+14,r256007 3240 AF87 std Y+15,r266008 3242 B88B std Y+16,r276009 3244 8093 0000 sts MittelIntegralRoll,r246010 3248 9093 0000 sts (MittelIntegralRoll)+1,r256011 324c A093 0000 sts (MittelIntegralRoll)+2,r266012 3250 B093 0000 sts (MittelIntegralRoll)+3,r276013 3254 8091 0000 lds r24,EE_Parameter+286014 3258 A82E mov r10,r246015 325a BB24 clr r116016 325c CC24 clr r126017 325e DD24 clr r136018 3260 2091 0000 lds r18,IntegralAccNick6019 3264 3091 0000 lds r19,(IntegralAccNick)+16020 3268 4091 0000 lds r20,(IntegralAccNick)+26021 326c 5091 0000 lds r21,(IntegralAccNick)+36022 3270 C601 movw r24,r126023 3272 B501 movw r22,r106024 3274 0E94 0000 call __mulsi36025 3278 97FF sbrs r25,76026 327a 04C0 rjmp .L4636027 327c 6150 subi r22,lo8(-(255))6028 327e 7F4F sbci r23,hi8(-(255))6029 3280 8F4F sbci r24,hlo8(-(255))6030 3282 9F4F sbci r25,hhi8(-(255))6031 .L463:6032 3284 672E mov r6,r236033 3286 782E mov r7,r246034 3288 892E mov r8,r256035 328a 9924 clr r96036 328c 87FC sbrc r8,76037 328e 9A94 dec r96038 3290 6092 0000 sts IntegralAccNick,r66039 3294 7092 0000 sts (IntegralAccNick)+1,r76040 3298 8092 0000 sts (IntegralAccNick)+2,r86041 329c 9092 0000 sts (IntegralAccNick)+3,r96042 32a0 2091 0000 lds r18,IntegralAccRoll6043 32a4 3091 0000 lds r19,(IntegralAccRoll)+16044 32a8 4091 0000 lds r20,(IntegralAccRoll)+26045 32ac 5091 0000 lds r21,(IntegralAccRoll)+36046 32b0 C601 movw r24,r126047 32b2 B501 movw r22,r106048 32b4 0E94 0000 call __mulsi36049 32b8 97FF sbrs r25,76050 32ba 04C0 rjmp .L4646051 32bc 6150 subi r22,lo8(-(255))6052 32be 7F4F sbci r23,hi8(-(255))6053 32c0 8F4F sbci r24,hlo8(-(255))6054 32c2 9F4F sbci r25,hhi8(-(255))6055 .L464:6056 32c4 272E mov r2,r236057 32c6 382E mov r3,r246058 32c8 492E mov r4,r256059 32ca 5524 clr r56060 32cc 47FC sbrc r4,76061 32ce 5A94 dec r56062 32d0 2092 0000 sts IntegralAccRoll,r26063 32d4 3092 0000 sts (IntegralAccRoll)+1,r36064 32d8 4092 0000 sts (IntegralAccRoll)+2,r46065 32dc 5092 0000 sts (IntegralAccRoll)+3,r56066 32e0 8091 0000 lds r24,IntegralAccZ6067 32e4 9091 0000 lds r25,(IntegralAccZ)+16068 32e8 A091 0000 lds r26,(IntegralAccZ)+26069 32ec B091 0000 lds r27,(IntegralAccZ)+36070 32f0 B7FF sbrs r27,76071 32f2 04C0 rjmp .L4656072 32f4 8150 subi r24,lo8(-(255))6073 32f6 9F4F sbci r25,hi8(-(255))6074 32f8 AF4F sbci r26,hlo8(-(255))6075 32fa BF4F sbci r27,hhi8(-(255))6076 .L465:6077 32fc 892F mov r24,r256078 32fe 9A2F mov r25,r266079 3300 AB2F mov r26,r276080 3302 BB27 clr r276081 3304 A7FD sbrc r26,76082 3306 BA95 dec r276083 3308 8093 0000 sts IntegralAccZ,r246084 330c 9093 0000 sts (IntegralAccZ)+1,r256085 3310 A093 0000 sts (IntegralAccZ)+2,r266086 3314 B093 0000 sts (IntegralAccZ)+3,r276087 3318 D801 movw r26,r166088 331a C701 movw r24,r146089 331c 8619 sub r24,r66090 331e 9709 sbc r25,r76091 3320 A809 sbc r26,r86092 3322 B909 sbc r27,r96093 3324 8093 0000 sts IntegralFehlerNick.3,r246094 3328 9093 0000 sts (IntegralFehlerNick.3)+1,r256095 332c A093 0000 sts (IntegralFehlerNick.3)+2,r266096 3330 B093 0000 sts (IntegralFehlerNick.3)+3,r276097 3334 2091 0000 lds r18,EE_Parameter+676098 3338 E22E mov r14,r186099 333a FF24 clr r156100 333c 0027 clr r166101 333e 1127 clr r176102 3340 BC01 movw r22,r246103 3342 CD01 movw r24,r266104 3344 A801 movw r20,r166105 3346 9701 movw r18,r146106 3348 0E94 0000 call __divmodsi46107 334c 5901 movw r10,r186108 334e 6A01 movw r12,r206109 3350 2093 0000 sts ausgleichNick.11,r186110 3354 3093 0000 sts (ausgleichNick.11)+1,r196111 3358 4093 0000 sts (ausgleichNick.11)+2,r206112 335c 5093 0000 sts (ausgleichNick.11)+3,r216113 3360 8D85 ldd r24,Y+136114 3362 9E85 ldd r25,Y+146115 3364 AF85 ldd r26,Y+156116 3366 B889 ldd r27,Y+166117 3368 8219 sub r24,r26118 336a 9309 sbc r25,r36119 336c A409 sbc r26,r46120 336e B509 sbc r27,r56121 3370 8093 0000 sts IntegralFehlerRoll.4,r246122 3374 9093 0000 sts (IntegralFehlerRoll.4)+1,r256123 3378 A093 0000 sts (IntegralFehlerRoll.4)+2,r266124 337c B093 0000 sts (IntegralFehlerRoll.4)+3,r276125 3380 BC01 movw r22,r246126 3382 CD01 movw r24,r266127 3384 A801 movw r20,r166128 3386 9701 movw r18,r146129 3388 0E94 0000 call __divmodsi46130 338c 2093 0000 sts ausgleichRoll.12,r186131 3390 3093 0000 sts (ausgleichRoll.12)+1,r196132 3394 4093 0000 sts (ausgleichRoll.12)+2,r206133 3398 5093 0000 sts (ausgleichRoll.12)+3,r216134 339c D601 movw r26,r126135 339e C501 movw r24,r106136 33a0 D7FE sbrs r13,76137 33a2 04C0 rjmp .L4666138 33a4 8150 subi r24,lo8(-(255))6139 33a6 9F4F sbci r25,hi8(-(255))6140 33a8 AF4F sbci r26,hlo8(-(255))6141 33aa BF4F sbci r27,hhi8(-(255))6142 .L466:6143 33ac 892F mov r24,r256144 33ae 9A2F mov r25,r266145 33b0 AB2F mov r26,r276146 33b2 BB27 clr r276147 33b4 A7FD sbrc r26,76148 33b6 BA95 dec r276149 33b8 9093 0000 sts (LageKorrekturNick)+1,r256150 33bc 8093 0000 sts LageKorrekturNick,r246151 33c0 57FF sbrs r21,76152 33c2 04C0 rjmp .L4676153 33c4 2150 subi r18,lo8(-(255))6154 33c6 3F4F sbci r19,hi8(-(255))6155 33c8 4F4F sbci r20,hlo8(-(255))6156 33ca 5F4F sbci r21,hhi8(-(255))6157 .L467:6158 33cc BB27 clr r276159 33ce 57FD sbrc r21,76160 33d0 BA95 dec r276161 33d2 A52F mov r26,r216162 33d4 942F mov r25,r206163 33d6 832F mov r24,r196164 33d8 9093 0000 sts (LageKorrekturRoll)+1,r256165 33dc 8093 0000 sts LageKorrekturRoll,r246166 33e0 8091 0000 lds r24,MaxStickNick6167 33e4 9091 0000 lds r25,(MaxStickNick)+16168 33e8 8134 cpi r24,656169 33ea 9105 cpc r25,__zero_reg__6170 33ec DCF4 brge .L4696171 33ee 8091 0000 lds r24,MaxStickRoll6172 33f2 9091 0000 lds r25,(MaxStickRoll)+16173 33f6 8134 cpi r24,656174 33f8 9105 cpc r25,__zero_reg__6175 33fa A4F4 brge .L4696176 33fc 8091 0000 lds r24,EE_Parameter+46177 3400 E82F mov r30,r246178 3402 FF27 clr r316179 3404 EE0F add r30,r306180 3406 FF1F adc r31,r316181 3408 E050 subi r30,lo8(-(PPM_in))6182 340a F040 sbci r31,hi8(-(PPM_in))6183 340c 8081 ld r24,Z6184 340e 9181 ldd r25,Z+16185 3410 0190 ld __tmp_reg__,Z+6186 3412 F081 ld r31,Z6187 3414 E02D mov r30,__tmp_reg__6188 3416 F7FF sbrs r31,76189 3418 03C0 rjmp .L4706190 341a F095 com r316191 341c E195 neg r306192 341e FF4F sbci r31,lo8(-1)6193 .L470:6194 3420 7A97 sbiw r30,266195 3422 E4F0 brlt .L4686196 .L469:6197 3424 8091 0000 lds r24,FromNaviCtrl_Value6198 3428 8F3F cpi r24,lo8(-1)6199 342a C1F4 brne .L4686200 342c 8091 0000 lds r24,LageKorrekturNick6201 3430 9091 0000 lds r25,(LageKorrekturNick)+16202 3434 97FD sbrc r25,76203 3436 0196 adiw r24,16204 .L471:6205 3438 9595 asr r256206 343a 8795 ror r246207 343c 9093 0000 sts (LageKorrekturNick)+1,r256208 3440 8093 0000 sts LageKorrekturNick,r246209 3444 8091 0000 lds r24,LageKorrekturRoll6210 3448 9091 0000 lds r25,(LageKorrekturRoll)+16211 344c 97FD sbrc r25,76212 344e 0196 adiw r24,16213 .L472:6214 3450 9595 asr r256215 3452 8795 ror r246216 3454 9093 0000 sts (LageKorrekturRoll)+1,r256217 3458 8093 0000 sts LageKorrekturRoll,r246218 .L468:6219 345c 8091 0000 lds r24,MittelIntegralNick26220 3460 9091 0000 lds r25,(MittelIntegralNick2)+16221 3464 A091 0000 lds r26,(MittelIntegralNick2)+26222 3468 B091 0000 lds r27,(MittelIntegralNick2)+36223 346c B7FF sbrs r27,76224 346e 04C0 rjmp .L4736225 3470 8150 subi r24,lo8(-(255))6226 3472 9F4F sbci r25,hi8(-(255))6227 3474 AF4F sbci r26,hlo8(-(255))6228 3476 BF4F sbci r27,hhi8(-(255))6229 .L473:6230 3478 892F mov r24,r256231 347a 9A2F mov r25,r266232 347c AB2F mov r26,r276233 347e BB27 clr r276234 3480 A7FD sbrc r26,76235 3482 BA95 dec r276236 3484 8093 0000 sts MittelIntegralNick2,r246237 3488 9093 0000 sts (MittelIntegralNick2)+1,r256238 348c A093 0000 sts (MittelIntegralNick2)+2,r266239 3490 B093 0000 sts (MittelIntegralNick2)+3,r276240 3494 8091 0000 lds r24,MittelIntegralRoll26241 3498 9091 0000 lds r25,(MittelIntegralRoll2)+16242 349c A091 0000 lds r26,(MittelIntegralRoll2)+26243 34a0 B091 0000 lds r27,(MittelIntegralRoll2)+36244 34a4 B7FF sbrs r27,76245 34a6 04C0 rjmp .L4746246 34a8 8150 subi r24,lo8(-(255))6247 34aa 9F4F sbci r25,hi8(-(255))6248 34ac AF4F sbci r26,hlo8(-(255))6249 34ae BF4F sbci r27,hhi8(-(255))6250 .L474:6251 34b0 892F mov r24,r256252 34b2 9A2F mov r25,r266253 34b4 AB2F mov r26,r276254 34b6 BB27 clr r276255 34b8 A7FD sbrc r26,76256 34ba BA95 dec r276257 34bc 8093 0000 sts MittelIntegralRoll2,r246258 34c0 9093 0000 sts (MittelIntegralRoll2)+1,r256259 34c4 A093 0000 sts (MittelIntegralRoll2)+2,r266260 34c8 B093 0000 sts (MittelIntegralRoll2)+3,r276261 34cc 8091 0000 lds r24,IntegralNick6262 34d0 9091 0000 lds r25,(IntegralNick)+16263 34d4 A091 0000 lds r26,(IntegralNick)+26264 34d8 B091 0000 lds r27,(IntegralNick)+36265 34dc 2B81 ldd r18,Y+36266 34de 3C81 ldd r19,Y+46267 34e0 4D81 ldd r20,Y+56268 34e2 5E81 ldd r21,Y+66269 34e4 281B sub r18,r246270 34e6 390B sbc r19,r256271 34e8 4A0B sbc r20,r266272 34ea 5B0B sbc r21,r276273 34ec 2093 0000 sts tmp_long.1,r186274 34f0 3093 0000 sts (tmp_long.1)+1,r196275 34f4 4093 0000 sts (tmp_long.1)+2,r206276 34f8 5093 0000 sts (tmp_long.1)+3,r216277 34fc 8091 0000 lds r24,IntegralRoll6278 3500 9091 0000 lds r25,(IntegralRoll)+16279 3504 A091 0000 lds r26,(IntegralRoll)+26280 3508 B091 0000 lds r27,(IntegralRoll)+36281 350c EF80 ldd r14,Y+76282 350e F884 ldd r15,Y+86283 3510 0985 ldd r16,Y+96284 3512 1A85 ldd r17,Y+106285 3514 E81A sub r14,r246286 3516 F90A sbc r15,r256287 3518 0A0B sbc r16,r266288 351a 1B0B sbc r17,r276289 351c E092 0000 sts tmp_long2.2,r146290 3520 F092 0000 sts (tmp_long2.2)+1,r156291 3524 0093 0000 sts (tmp_long2.2)+2,r166292 3528 1093 0000 sts (tmp_long2.2)+3,r176293 352c 2093 0000 sts IntegralFehlerNick.3,r186294 3530 3093 0000 sts (IntegralFehlerNick.3)+1,r196295 3534 4093 0000 sts (IntegralFehlerNick.3)+2,r206296 3538 5093 0000 sts (IntegralFehlerNick.3)+3,r216297 353c E092 0000 sts IntegralFehlerRoll.4,r146298 3540 F092 0000 sts (IntegralFehlerRoll.4)+1,r156299 3544 0093 0000 sts (IntegralFehlerRoll.4)+2,r166300 3548 1093 0000 sts (IntegralFehlerRoll.4)+3,r176301 354c 8091 0000 lds r24,Mess_IntegralNick26302 3550 9091 0000 lds r25,(Mess_IntegralNick2)+16303 3554 A091 0000 lds r26,(Mess_IntegralNick2)+26304 3558 B091 0000 lds r27,(Mess_IntegralNick2)+36305 355c 821B sub r24,r186306 355e 930B sbc r25,r196307 3560 A40B sbc r26,r206308 3562 B50B sbc r27,r216309 3564 8093 0000 sts Mess_IntegralNick2,r246310 3568 9093 0000 sts (Mess_IntegralNick2)+1,r256311 356c A093 0000 sts (Mess_IntegralNick2)+2,r266312 3570 B093 0000 sts (Mess_IntegralNick2)+3,r276313 3574 8091 0000 lds r24,Mess_IntegralRoll26314 3578 9091 0000 lds r25,(Mess_IntegralRoll2)+16315 357c A091 0000 lds r26,(Mess_IntegralRoll2)+26316 3580 B091 0000 lds r27,(Mess_IntegralRoll2)+36317 3584 8E19 sub r24,r146318 3586 9F09 sbc r25,r156319 3588 A00B sbc r26,r166320 358a B10B sbc r27,r176321 358c 8093 0000 sts Mess_IntegralRoll2,r246322 3590 9093 0000 sts (Mess_IntegralRoll2)+1,r256323 3594 A093 0000 sts (Mess_IntegralRoll2)+2,r266324 3598 B093 0000 sts (Mess_IntegralRoll2)+3,r276325 359c FC85 ldd r31,Y+126326 359e FF23 tst r316327 35a0 E1F0 breq .L4756328 35a2 2091 0000 lds r18,GierGyroFehler6329 35a6 3091 0000 lds r19,(GierGyroFehler)+16330 35aa 2138 cpi r18,1296331 35ac 3105 cpc r19,__zero_reg__6332 35ae 4CF0 brlt .L4766333 35b0 8091 0000 lds r24,AdNeutralGier6334 35b4 9091 0000 lds r25,(AdNeutralGier)+16335 35b8 0196 adiw r24,16336 35ba 9093 0000 sts (AdNeutralGier)+1,r256337 35be 8093 0000 sts AdNeutralGier,r246338 .L476:6339 35c2 2058 subi r18,lo8(-128)6340 35c4 3F4F sbci r19,hi8(-128)6341 35c6 4CF4 brge .L4756342 35c8 8091 0000 lds r24,AdNeutralGier6343 35cc 9091 0000 lds r25,(AdNeutralGier)+16344 35d0 0197 sbiw r24,16345 35d2 9093 0000 sts (AdNeutralGier)+1,r256346 35d6 8093 0000 sts AdNeutralGier,r246347 .L475:6348 35da 1092 0000 sts (GierGyroFehler)+1,__zero_reg__6349 35de 1092 0000 sts GierGyroFehler,__zero_reg__6350 35e2 81E0 ldi r24,lo8(1)6351 35e4 90E0 ldi r25,hi8(1)6352 35e6 9093 0000 sts (cnt.15)+1,r256353 35ea 8093 0000 sts cnt.15,r246354 35ee E090 0000 lds r14,IntegralFehlerNick.36355 35f2 F090 0000 lds r15,(IntegralFehlerNick.3)+16356 35f6 0091 0000 lds r16,(IntegralFehlerNick.3)+26357 35fa 1091 0000 lds r17,(IntegralFehlerNick.3)+36358 35fe D801 movw r26,r166359 3600 C701 movw r24,r146360 3602 17FF sbrs r17,76361 3604 07C0 rjmp .L4796362 3606 8827 clr r246363 3608 9927 clr r256364 360a DC01 movw r26,r246365 360c 8E19 sub r24,r146366 360e 9F09 sbc r25,r156367 3610 A00B sbc r26,r166368 3612 B10B sbc r27,r176369 .L479:6370 3614 8150 subi r24,lo8(513)6371 3616 9240 sbci r25,hi8(513)6372 3618 A040 sbci r26,hlo8(513)6373 361a B040 sbci r27,hhi8(513)6374 361c 34F0 brlt .L4786375 361e 84E0 ldi r24,lo8(4)6376 3620 90E0 ldi r25,hi8(4)6377 3622 9093 0000 sts (cnt.15)+1,r256378 3626 8093 0000 sts cnt.15,r246379 .L478:6380 362a 8091 0000 lds r24,MittelIntegralNick_Alt.206381 362e 9091 0000 lds r25,(MittelIntegralNick_Alt.20)+16382 3632 A091 0000 lds r26,(MittelIntegralNick_Alt.20)+26383 3636 B091 0000 lds r27,(MittelIntegralNick_Alt.20)+36384 363a 2091 0000 lds r18,MittelIntegralNick6385 363e 3091 0000 lds r19,(MittelIntegralNick)+16386 3642 4091 0000 lds r20,(MittelIntegralNick)+26387 3646 5091 0000 lds r21,(MittelIntegralNick)+36388 364a 821B sub r24,r186389 364c 930B sbc r25,r196390 364e A40B sbc r26,r206391 3650 B50B sbc r27,r216392 3652 815E subi r24,lo8(-(19999))6393 3654 914B sbci r25,hi8(-(19999))6394 3656 AF4F sbci r26,hlo8(-(19999))6395 3658 BF4F sbci r27,hhi8(-(19999))6396 365a 8F53 subi r24,lo8(39999)6397 365c 9C49 sbci r25,hi8(39999)6398 365e A040 sbci r26,hlo8(39999)6399 3660 B040 sbci r27,hhi8(39999)6400 3662 28F0 brlo .L4816401 3664 8091 0000 lds r24,FromNaviCtrl_Value+16402 3668 8931 cpi r24,lo8(25)6403 366a 0CF4 brge .+26404 366c FFC0 rjmp .L4806405 .L481:6406 366e 41E0 ldi r20,lo8(4097)6407 3670 E416 cp r14,r206408 3672 40E1 ldi r20,hi8(4097)6409 3674 F406 cpc r15,r206410 3676 40E0 ldi r20,hlo8(4097)6411 3678 0407 cpc r16,r206412 367a 40E0 ldi r20,hhi8(4097)6413 367c 1407 cpc r17,r206414 367e 0CF4 brge .+26415 3680 73C0 rjmp .L4826416 3682 8091 0000 lds r24,last_n_p.166417 3686 8823 tst r246418 3688 09F4 brne .+26419 368a 6AC0 rjmp .L4836420 368c D801 movw r26,r166421 368e C701 movw r24,r146422 3690 17FF sbrs r17,76423 3692 07C0 rjmp .L4846424 3694 8827 clr r246425 3696 9927 clr r256426 3698 DC01 movw r26,r246427 369a 8E19 sub r24,r146428 369c 9F09 sbc r25,r156429 369e A00B sbc r26,r166430 36a0 B10B sbc r27,r176431 .L484:6432 36a2 9C01 movw r18,r246433 36a4 AD01 movw r20,r266434 36a6 B7FF sbrs r27,76435 36a8 04C0 rjmp .L4856436 36aa 2150 subi r18,lo8(-(511))6437 36ac 3E4F sbci r19,hi8(-(511))6438 36ae 4F4F sbci r20,hlo8(-(511))6439 36b0 5F4F sbci r21,hhi8(-(511))6440 .L485:6441 36b2 F9E0 ldi r31,96442 36b4 5595 1: asr r216443 36b6 4795 ror r206444 36b8 3795 ror r196445 36ba 2795 ror r186446 36bc FA95 dec r316447 36be D1F7 brne 1b6448 36c0 8091 0000 lds r24,cnt.156449 36c4 9091 0000 lds r25,(cnt.15)+16450 36c8 820F add r24,r186451 36ca 931F adc r25,r196452 36cc 9093 0000 sts (cnt.15)+1,r256453 36d0 8093 0000 sts cnt.15,r246454 36d4 D801 movw r26,r166455 36d6 C701 movw r24,r146456 36d8 17FF sbrs r17,76457 36da 03C0 rjmp .L4866458 36dc 0796 adiw r24,76459 36de A11D adc r26,__zero_reg__6460 36e0 B11D adc r27,__zero_reg__6461 .L486:6462 36e2 E3E0 ldi r30,36463 36e4 B595 1: asr r276464 36e6 A795 ror r266465 36e8 9795 ror r256466 36ea 8795 ror r246467 36ec EA95 dec r306468 36ee D1F7 brne 1b6469 36f0 8093 0000 sts ausgleichNick.11,r246470 36f4 9093 0000 sts (ausgleichNick.11)+1,r256471 36f8 A093 0000 sts (ausgleichNick.11)+2,r266472 36fc B093 0000 sts (ausgleichNick.11)+3,r276473 3700 8958 subi r24,lo8(5001)6474 3702 9341 sbci r25,hi8(5001)6475 3704 A040 sbci r26,hlo8(5001)6476 3706 B040 sbci r27,hhi8(5001)6477 3708 64F0 brlt .L4876478 370a 88E8 ldi r24,lo8(5000)6479 370c 93E1 ldi r25,hi8(5000)6480 370e A0E0 ldi r26,hlo8(5000)6481 3710 B0E0 ldi r27,hhi8(5000)6482 3712 8093 0000 sts ausgleichNick.11,r246483 3716 9093 0000 sts (ausgleichNick.11)+1,r256484 371a A093 0000 sts (ausgleichNick.11)+2,r266485 371e B093 0000 sts (ausgleichNick.11)+3,r276486 .L487:6487 3722 2091 0000 lds r18,ausgleichNick.116488 3726 3091 0000 lds r19,(ausgleichNick.11)+16489 372a 4091 0000 lds r20,(ausgleichNick.11)+26490 372e 5091 0000 lds r21,(ausgleichNick.11)+36491 3732 57FF sbrs r21,76492 3734 04C0 rjmp .L4886493 3736 2150 subi r18,lo8(-(255))6494 3738 3F4F sbci r19,hi8(-(255))6495 373a 4F4F sbci r20,hlo8(-(255))6496 373c 5F4F sbci r21,hhi8(-(255))6497 .L488:6498 373e 232F mov r18,r196499 3740 342F mov r19,r206500 3742 452F mov r20,r216501 3744 5527 clr r216502 3746 47FD sbrc r20,76503 3748 5A95 dec r216504 374a 8091 0000 lds r24,LageKorrekturNick6505 374e 9091 0000 lds r25,(LageKorrekturNick)+16506 3752 820F add r24,r186507 3754 931F adc r25,r196508 3756 9093 0000 sts (LageKorrekturNick)+1,r256509 375a 8093 0000 sts LageKorrekturNick,r246510 375e 06C0 rjmp .L4906511 .L483:6512 3760 81E0 ldi r24,lo8(1)6513 3762 8093 0000 sts last_n_p.16,r246514 3766 02C0 rjmp .L4906515 .L482:6516 3768 1092 0000 sts last_n_p.16,__zero_reg__6517 .L490:6518 376c 60E0 ldi r22,lo8(-4096)6519 376e E616 cp r14,r226520 3770 60EF ldi r22,hi8(-4096)6521 3772 F606 cpc r15,r226522 3774 6FEF ldi r22,hlo8(-4096)6523 3776 0607 cpc r16,r226524 3778 6FEF ldi r22,hhi8(-4096)6525 377a 1607 cpc r17,r226526 377c 0CF0 brlt .+26527 377e 73C0 rjmp .L4916528 3780 8091 0000 lds r24,last_n_n.176529 3784 8823 tst r246530 3786 09F4 brne .+26531 3788 6AC0 rjmp .L4926532 378a D801 movw r26,r166533 378c C701 movw r24,r146534 378e 17FF sbrs r17,76535 3790 07C0 rjmp .L4936536 3792 8827 clr r246537 3794 9927 clr r256538 3796 DC01 movw r26,r246539 3798 8E19 sub r24,r146540 379a 9F09 sbc r25,r156541 379c A00B sbc r26,r166542 379e B10B sbc r27,r176543 .L493:6544 37a0 9C01 movw r18,r246545 37a2 AD01 movw r20,r266546 37a4 B7FF sbrs r27,76547 37a6 04C0 rjmp .L4946548 37a8 2150 subi r18,lo8(-(511))6549 37aa 3E4F sbci r19,hi8(-(511))6550 37ac 4F4F sbci r20,hlo8(-(511))6551 37ae 5F4F sbci r21,hhi8(-(511))6552 .L494:6553 37b0 69E0 ldi r22,96554 37b2 5595 1: asr r216555 37b4 4795 ror r206556 37b6 3795 ror r196557 37b8 2795 ror r186558 37ba 6A95 dec r226559 37bc D1F7 brne 1b6560 37be 8091 0000 lds r24,cnt.156561 37c2 9091 0000 lds r25,(cnt.15)+16562 37c6 820F add r24,r186563 37c8 931F adc r25,r196564 37ca 9093 0000 sts (cnt.15)+1,r256565 37ce 8093 0000 sts cnt.15,r246566 37d2 D801 movw r26,r166567 37d4 C701 movw r24,r146568 37d6 17FF sbrs r17,76569 37d8 03C0 rjmp .L4956570 37da 0796 adiw r24,76571 37dc A11D adc r26,__zero_reg__6572 37de B11D adc r27,__zero_reg__6573 .L495:6574 37e0 23E0 ldi r18,36575 37e2 B595 1: asr r276576 37e4 A795 ror r266577 37e6 9795 ror r256578 37e8 8795 ror r246579 37ea 2A95 dec r186580 37ec D1F7 brne 1b6581 37ee 8093 0000 sts ausgleichNick.11,r246582 37f2 9093 0000 sts (ausgleichNick.11)+1,r256583 37f6 A093 0000 sts (ausgleichNick.11)+2,r266584 37fa B093 0000 sts (ausgleichNick.11)+3,r276585 37fe 8857 subi r24,lo8(-5000)6586 3800 9C4E sbci r25,hi8(-5000)6587 3802 AF4F sbci r26,hlo8(-5000)6588 3804 BF4F sbci r27,hhi8(-5000)6589 3806 64F4 brge .L4966590 3808 88E7 ldi r24,lo8(-5000)6591 380a 9CEE ldi r25,hi8(-5000)6592 380c AFEF ldi r26,hlo8(-5000)6593 380e BFEF ldi r27,hhi8(-5000)6594 3810 8093 0000 sts ausgleichNick.11,r246595 3814 9093 0000 sts (ausgleichNick.11)+1,r256596 3818 A093 0000 sts (ausgleichNick.11)+2,r266597 381c B093 0000 sts (ausgleichNick.11)+3,r276598 .L496:6599 3820 2091 0000 lds r18,ausgleichNick.116600 3824 3091 0000 lds r19,(ausgleichNick.11)+16601 3828 4091 0000 lds r20,(ausgleichNick.11)+26602 382c 5091 0000 lds r21,(ausgleichNick.11)+36603 3830 57FF sbrs r21,76604 3832 04C0 rjmp .L4976605 3834 2150 subi r18,lo8(-(255))6606 3836 3F4F sbci r19,hi8(-(255))6607 3838 4F4F sbci r20,hlo8(-(255))6608 383a 5F4F sbci r21,hhi8(-(255))6609 .L497:6610 383c 232F mov r18,r196611 383e 342F mov r19,r206612 3840 452F mov r20,r216613 3842 5527 clr r216614 3844 47FD sbrc r20,76615 3846 5A95 dec r216616 3848 8091 0000 lds r24,LageKorrekturNick6617 384c 9091 0000 lds r25,(LageKorrekturNick)+16618 3850 820F add r24,r186619 3852 931F adc r25,r196620 3854 9093 0000 sts (LageKorrekturNick)+1,r256621 3858 8093 0000 sts LageKorrekturNick,r246622 385c 11C0 rjmp .L5006623 .L492:6624 385e 81E0 ldi r24,lo8(1)6625 3860 8093 0000 sts last_n_n.17,r246626 3864 0DC0 rjmp .L5006627 .L491:6628 3866 1092 0000 sts last_n_n.17,__zero_reg__6629 386a 0AC0 rjmp .L5006630 .L480:6631 386c 1092 0000 sts (cnt.15)+1,__zero_reg__6632 3870 1092 0000 sts cnt.15,__zero_reg__6633 3874 88EE ldi r24,lo8(1000)6634 3876 93E0 ldi r25,hi8(1000)6635 3878 9093 0000 sts (KompassSignalSchlecht)+1,r256636 387c 8093 0000 sts KompassSignalSchlecht,r246637 .L500:6638 3880 8C85 ldd r24,Y+126639 3882 282F mov r18,r246640 3884 3327 clr r196641 3886 8091 0000 lds r24,cnt.156642 388a 9091 0000 lds r25,(cnt.15)+16643 388e 2817 cp r18,r246644 3890 3907 cpc r19,r256645 3892 24F4 brge .L5016646 3894 3093 0000 sts (cnt.15)+1,r196647 3898 2093 0000 sts cnt.15,r186648 .L501:6649 389c 1091 0000 lds r17,FromNaviCtrl_Value+16650 38a0 1123 tst r176651 38a2 79F0 breq .L5026652 38a4 212F mov r18,r176653 38a6 3327 clr r196654 38a8 27FD sbrc r18,76655 38aa 3095 com r196656 38ac 8091 0000 lds r24,cnt.156657 38b0 9091 0000 lds r25,(cnt.15)+16658 38b4 2817 cp r18,r246659 38b6 3907 cpc r19,r256660 38b8 24F4 brge .L5026661 38ba 3093 0000 sts (cnt.15)+1,r196662 38be 2093 0000 sts cnt.15,r186663 .L502:6664 38c2 4091 0000 lds r20,IntegralFehlerNick.36665 38c6 5091 0000 lds r21,(IntegralFehlerNick.3)+16666 38ca 6091 0000 lds r22,(IntegralFehlerNick.3)+26667 38ce 7091 0000 lds r23,(IntegralFehlerNick.3)+36668 38d2 4138 cpi r20,lo8(129)6669 38d4 5105 cpc r21,__zero_reg__6670 38d6 6105 cpc r22,__zero_reg__6671 38d8 7105 cpc r23,__zero_reg__6672 38da 74F0 brlt .L5046673 38dc 8091 0000 lds r24,AdNeutralNick6674 38e0 9091 0000 lds r25,(AdNeutralNick)+16675 38e4 2091 0000 lds r18,cnt.156676 38e8 3091 0000 lds r19,(cnt.15)+16677 38ec 820F add r24,r186678 38ee 931F adc r25,r196679 38f0 9093 0000 sts (AdNeutralNick)+1,r256680 38f4 8093 0000 sts AdNeutralNick,r246681 .L504:6682 38f8 4058 subi r20,lo8(-128)6683 38fa 5F4F sbci r21,hi8(-128)6684 38fc 6F4F sbci r22,hlo8(-128)6685 38fe 7F4F sbci r23,hhi8(-128)6686 3900 74F4 brge .L5056687 3902 8091 0000 lds r24,AdNeutralNick6688 3906 9091 0000 lds r25,(AdNeutralNick)+16689 390a 2091 0000 lds r18,cnt.156690 390e 3091 0000 lds r19,(cnt.15)+16691 3912 821B sub r24,r186692 3914 930B sbc r25,r196693 3916 9093 0000 sts (AdNeutralNick)+1,r256694 391a 8093 0000 sts AdNeutralNick,r246695 .L505:6696 391e 81E0 ldi r24,lo8(1)6697 3920 90E0 ldi r25,hi8(1)6698 3922 9093 0000 sts (cnt.15)+1,r256699 3926 8093 0000 sts cnt.15,r246700 392a C090 0000 lds r12,IntegralFehlerRoll.46701 392e D090 0000 lds r13,(IntegralFehlerRoll.4)+16702 3932 E090 0000 lds r14,(IntegralFehlerRoll.4)+26703 3936 F090 0000 lds r15,(IntegralFehlerRoll.4)+36704 393a D701 movw r26,r146705 393c C601 movw r24,r126706 393e F7FE sbrs r15,76707 3940 07C0 rjmp .L5076708 3942 8827 clr r246709 3944 9927 clr r256710 3946 DC01 movw r26,r246711 3948 8C19 sub r24,r126712 394a 9D09 sbc r25,r136713 394c AE09 sbc r26,r146714 394e BF09 sbc r27,r156715 .L507:6716 3950 8150 subi r24,lo8(513)6717 3952 9240 sbci r25,hi8(513)6718 3954 A040 sbci r26,hlo8(513)6719 3956 B040 sbci r27,hhi8(513)6720 3958 34F0 brlt .L5066721 395a 84E0 ldi r24,lo8(4)6722 395c 90E0 ldi r25,hi8(4)6723 395e 9093 0000 sts (cnt.15)+1,r256724 3962 8093 0000 sts cnt.15,r246725 .L506:6726 3966 8091 0000 lds r24,MittelIntegralRoll_Alt.216727 396a 9091 0000 lds r25,(MittelIntegralRoll_Alt.21)+16728 396e A091 0000 lds r26,(MittelIntegralRoll_Alt.21)+26729 3972 B091 0000 lds r27,(MittelIntegralRoll_Alt.21)+36730 3976 2091 0000 lds r18,MittelIntegralRoll6731 397a 3091 0000 lds r19,(MittelIntegralRoll)+16732 397e 4091 0000 lds r20,(MittelIntegralRoll)+26733 3982 5091 0000 lds r21,(MittelIntegralRoll)+36734 3986 821B sub r24,r186735 3988 930B sbc r25,r196736 398a A40B sbc r26,r206737 398c B50B sbc r27,r216738 398e 815E subi r24,lo8(-(19999))6739 3990 914B sbci r25,hi8(-(19999))6740 3992 AF4F sbci r26,hlo8(-(19999))6741 3994 BF4F sbci r27,hhi8(-(19999))6742 3996 8F53 subi r24,lo8(39999)6743 3998 9C49 sbci r25,hi8(39999)6744 399a A040 sbci r26,hlo8(39999)6745 399c B040 sbci r27,hhi8(39999)6746 399e 18F0 brlo .L5096747 39a0 1931 cpi r17,lo8(25)6748 39a2 0CF4 brge .+26749 39a4 FFC0 rjmp .L5086750 .L509:6751 39a6 01E0 ldi r16,lo8(4097)6752 39a8 C016 cp r12,r166753 39aa 00E1 ldi r16,hi8(4097)6754 39ac D006 cpc r13,r166755 39ae 00E0 ldi r16,hlo8(4097)6756 39b0 E006 cpc r14,r166757 39b2 00E0 ldi r16,hhi8(4097)6758 39b4 F006 cpc r15,r166759 39b6 0CF4 brge .+26760 39b8 73C0 rjmp .L5106761 39ba 8091 0000 lds r24,last_r_p.186762 39be 8823 tst r246763 39c0 09F4 brne .+26764 39c2 6AC0 rjmp .L5116765 39c4 D701 movw r26,r146766 39c6 C601 movw r24,r126767 39c8 F7FE sbrs r15,76768 39ca 07C0 rjmp .L5126769 39cc 8827 clr r246770 39ce 9927 clr r256771 39d0 DC01 movw r26,r246772 39d2 8C19 sub r24,r126773 39d4 9D09 sbc r25,r136774 39d6 AE09 sbc r26,r146775 39d8 BF09 sbc r27,r156776 .L512:6777 39da 9C01 movw r18,r246778 39dc AD01 movw r20,r266779 39de B7FF sbrs r27,76780 39e0 04C0 rjmp .L5136781 39e2 2150 subi r18,lo8(-(511))6782 39e4 3E4F sbci r19,hi8(-(511))6783 39e6 4F4F sbci r20,hlo8(-(511))6784 39e8 5F4F sbci r21,hhi8(-(511))6785 .L513:6786 39ea 09E0 ldi r16,96787 39ec 5595 1: asr r216788 39ee 4795 ror r206789 39f0 3795 ror r196790 39f2 2795 ror r186791 39f4 0A95 dec r166792 39f6 D1F7 brne 1b6793 39f8 8091 0000 lds r24,cnt.156794 39fc 9091 0000 lds r25,(cnt.15)+16795 3a00 820F add r24,r186796 3a02 931F adc r25,r196797 3a04 9093 0000 sts (cnt.15)+1,r256798 3a08 8093 0000 sts cnt.15,r246799 3a0c D701 movw r26,r146800 3a0e C601 movw r24,r126801 3a10 F7FE sbrs r15,76802 3a12 03C0 rjmp .L5146803 3a14 0796 adiw r24,76804 3a16 A11D adc r26,__zero_reg__6805 3a18 B11D adc r27,__zero_reg__6806 .L514:6807 3a1a 13E0 ldi r17,36808 3a1c B595 1: asr r276809 3a1e A795 ror r266810 3a20 9795 ror r256811 3a22 8795 ror r246812 3a24 1A95 dec r176813 3a26 D1F7 brne 1b6814 3a28 8093 0000 sts ausgleichRoll.12,r246815 3a2c 9093 0000 sts (ausgleichRoll.12)+1,r256816 3a30 A093 0000 sts (ausgleichRoll.12)+2,r266817 3a34 B093 0000 sts (ausgleichRoll.12)+3,r276818 3a38 8958 subi r24,lo8(5001)6819 3a3a 9341 sbci r25,hi8(5001)6820 3a3c A040 sbci r26,hlo8(5001)6821 3a3e B040 sbci r27,hhi8(5001)6822 3a40 64F0 brlt .L5156823 3a42 88E8 ldi r24,lo8(5000)6824 3a44 93E1 ldi r25,hi8(5000)6825 3a46 A0E0 ldi r26,hlo8(5000)6826 3a48 B0E0 ldi r27,hhi8(5000)6827 3a4a 8093 0000 sts ausgleichRoll.12,r246828 3a4e 9093 0000 sts (ausgleichRoll.12)+1,r256829 3a52 A093 0000 sts (ausgleichRoll.12)+2,r266830 3a56 B093 0000 sts (ausgleichRoll.12)+3,r276831 .L515:6832 3a5a 2091 0000 lds r18,ausgleichRoll.126833 3a5e 3091 0000 lds r19,(ausgleichRoll.12)+16834 3a62 4091 0000 lds r20,(ausgleichRoll.12)+26835 3a66 5091 0000 lds r21,(ausgleichRoll.12)+36836 3a6a 57FF sbrs r21,76837 3a6c 04C0 rjmp .L5166838 3a6e 2150 subi r18,lo8(-(255))6839 3a70 3F4F sbci r19,hi8(-(255))6840 3a72 4F4F sbci r20,hlo8(-(255))6841 3a74 5F4F sbci r21,hhi8(-(255))6842 .L516:6843 3a76 232F mov r18,r196844 3a78 342F mov r19,r206845 3a7a 452F mov r20,r216846 3a7c 5527 clr r216847 3a7e 47FD sbrc r20,76848 3a80 5A95 dec r216849 3a82 8091 0000 lds r24,LageKorrekturRoll6850 3a86 9091 0000 lds r25,(LageKorrekturRoll)+16851 3a8a 820F add r24,r186852 3a8c 931F adc r25,r196853 3a8e 9093 0000 sts (LageKorrekturRoll)+1,r256854 3a92 8093 0000 sts LageKorrekturRoll,r246855 3a96 06C0 rjmp .L5186856 .L511:6857 3a98 81E0 ldi r24,lo8(1)6858 3a9a 8093 0000 sts last_r_p.18,r246859 3a9e 02C0 rjmp .L5186860 .L510:6861 3aa0 1092 0000 sts last_r_p.18,__zero_reg__6862 .L518:6863 3aa4 20E0 ldi r18,lo8(-4096)6864 3aa6 C216 cp r12,r186865 3aa8 20EF ldi r18,hi8(-4096)6866 3aaa D206 cpc r13,r186867 3aac 2FEF ldi r18,hlo8(-4096)6868 3aae E206 cpc r14,r186869 3ab0 2FEF ldi r18,hhi8(-4096)6870 3ab2 F206 cpc r15,r186871 3ab4 0CF0 brlt .+26872 3ab6 73C0 rjmp .L5196873 3ab8 8091 0000 lds r24,last_r_n.196874 3abc 8823 tst r246875 3abe 09F4 brne .+26876 3ac0 6AC0 rjmp .L5206877 3ac2 D701 movw r26,r146878 3ac4 C601 movw r24,r126879 3ac6 F7FE sbrs r15,76880 3ac8 07C0 rjmp .L5216881 3aca 8827 clr r246882 3acc 9927 clr r256883 3ace DC01 movw r26,r246884 3ad0 8C19 sub r24,r126885 3ad2 9D09 sbc r25,r136886 3ad4 AE09 sbc r26,r146887 3ad6 BF09 sbc r27,r156888 .L521:6889 3ad8 9C01 movw r18,r246890 3ada AD01 movw r20,r266891 3adc B7FF sbrs r27,76892 3ade 04C0 rjmp .L5226893 3ae0 2150 subi r18,lo8(-(511))6894 3ae2 3E4F sbci r19,hi8(-(511))6895 3ae4 4F4F sbci r20,hlo8(-(511))6896 3ae6 5F4F sbci r21,hhi8(-(511))6897 .L522:6898 3ae8 E9E0 ldi r30,96899 3aea 5595 1: asr r216900 3aec 4795 ror r206901 3aee 3795 ror r196902 3af0 2795 ror r186903 3af2 EA95 dec r306904 3af4 D1F7 brne 1b6905 3af6 8091 0000 lds r24,cnt.156906 3afa 9091 0000 lds r25,(cnt.15)+16907 3afe 820F add r24,r186908 3b00 931F adc r25,r196909 3b02 9093 0000 sts (cnt.15)+1,r256910 3b06 8093 0000 sts cnt.15,r246911 3b0a D701 movw r26,r146912 3b0c C601 movw r24,r126913 3b0e F7FE sbrs r15,76914 3b10 03C0 rjmp .L5236915 3b12 0796 adiw r24,76916 3b14 A11D adc r26,__zero_reg__6917 3b16 B11D adc r27,__zero_reg__6918 .L523:6919 3b18 73E0 ldi r23,36920 3b1a B595 1: asr r276921 3b1c A795 ror r266922 3b1e 9795 ror r256923 3b20 8795 ror r246924 3b22 7A95 dec r236925 3b24 D1F7 brne 1b6926 3b26 8093 0000 sts ausgleichRoll.12,r246927 3b2a 9093 0000 sts (ausgleichRoll.12)+1,r256928 3b2e A093 0000 sts (ausgleichRoll.12)+2,r266929 3b32 B093 0000 sts (ausgleichRoll.12)+3,r276930 3b36 8857 subi r24,lo8(-5000)6931 3b38 9C4E sbci r25,hi8(-5000)6932 3b3a AF4F sbci r26,hlo8(-5000)6933 3b3c BF4F sbci r27,hhi8(-5000)6934 3b3e 64F4 brge .L5246935 3b40 88E7 ldi r24,lo8(-5000)6936 3b42 9CEE ldi r25,hi8(-5000)6937 3b44 AFEF ldi r26,hlo8(-5000)6938 3b46 BFEF ldi r27,hhi8(-5000)6939 3b48 8093 0000 sts ausgleichRoll.12,r246940 3b4c 9093 0000 sts (ausgleichRoll.12)+1,r256941 3b50 A093 0000 sts (ausgleichRoll.12)+2,r266942 3b54 B093 0000 sts (ausgleichRoll.12)+3,r276943 .L524:6944 3b58 2091 0000 lds r18,ausgleichRoll.126945 3b5c 3091 0000 lds r19,(ausgleichRoll.12)+16946 3b60 4091 0000 lds r20,(ausgleichRoll.12)+26947 3b64 5091 0000 lds r21,(ausgleichRoll.12)+36948 3b68 57FF sbrs r21,76949 3b6a 04C0 rjmp .L5256950 3b6c 2150 subi r18,lo8(-(255))6951 3b6e 3F4F sbci r19,hi8(-(255))6952 3b70 4F4F sbci r20,hlo8(-(255))6953 3b72 5F4F sbci r21,hhi8(-(255))6954 .L525:6955 3b74 232F mov r18,r196956 3b76 342F mov r19,r206957 3b78 452F mov r20,r216958 3b7a 5527 clr r216959 3b7c 47FD sbrc r20,76960 3b7e 5A95 dec r216961 3b80 8091 0000 lds r24,LageKorrekturRoll6962 3b84 9091 0000 lds r25,(LageKorrekturRoll)+16963 3b88 820F add r24,r186964 3b8a 931F adc r25,r196965 3b8c 9093 0000 sts (LageKorrekturRoll)+1,r256966 3b90 8093 0000 sts LageKorrekturRoll,r246967 3b94 11C0 rjmp .L5286968 .L520:6969 3b96 81E0 ldi r24,lo8(1)6970 3b98 8093 0000 sts last_r_n.19,r246971 3b9c 0DC0 rjmp .L5286972 .L519:6973 3b9e 1092 0000 sts last_r_n.19,__zero_reg__6974 3ba2 0AC0 rjmp .L5286975 .L508:6976 3ba4 1092 0000 sts (cnt.15)+1,__zero_reg__6977 3ba8 1092 0000 sts cnt.15,__zero_reg__6978 3bac 88EE ldi r24,lo8(1000)6979 3bae 93E0 ldi r25,hi8(1000)6980 3bb0 9093 0000 sts (KompassSignalSchlecht)+1,r256981 3bb4 8093 0000 sts KompassSignalSchlecht,r246982 .L528:6983 3bb8 4C85 ldd r20,Y+126984 3bba 242F mov r18,r206985 3bbc 3327 clr r196986 3bbe 8091 0000 lds r24,cnt.156987 3bc2 9091 0000 lds r25,(cnt.15)+16988 3bc6 2817 cp r18,r246989 3bc8 3907 cpc r19,r256990 3bca 24F4 brge .L5296991 3bcc 3093 0000 sts (cnt.15)+1,r196992 3bd0 2093 0000 sts cnt.15,r186993 .L529:6994 3bd4 8091 0000 lds r24,FromNaviCtrl_Value+16995 3bd8 8823 tst r246996 3bda 79F0 breq .L5306997 3bdc 282F mov r18,r246998 3bde 3327 clr r196999 3be0 27FD sbrc r18,77000 3be2 3095 com r197001 3be4 8091 0000 lds r24,cnt.157002 3be8 9091 0000 lds r25,(cnt.15)+17003 3bec 2817 cp r18,r247004 3bee 3907 cpc r19,r257005 3bf0 24F4 brge .L5307006 3bf2 3093 0000 sts (cnt.15)+1,r197007 3bf6 2093 0000 sts cnt.15,r187008 .L530:7009 3bfa 4091 0000 lds r20,IntegralFehlerRoll.47010 3bfe 5091 0000 lds r21,(IntegralFehlerRoll.4)+17011 3c02 6091 0000 lds r22,(IntegralFehlerRoll.4)+27012 3c06 7091 0000 lds r23,(IntegralFehlerRoll.4)+37013 3c0a 4138 cpi r20,lo8(129)7014 3c0c 5105 cpc r21,__zero_reg__7015 3c0e 6105 cpc r22,__zero_reg__7016 3c10 7105 cpc r23,__zero_reg__7017 3c12 74F0 brlt .L5327018 3c14 8091 0000 lds r24,AdNeutralRoll7019 3c18 9091 0000 lds r25,(AdNeutralRoll)+17020 3c1c 2091 0000 lds r18,cnt.157021 3c20 3091 0000 lds r19,(cnt.15)+17022 3c24 820F add r24,r187023 3c26 931F adc r25,r197024 3c28 9093 0000 sts (AdNeutralRoll)+1,r257025 3c2c 8093 0000 sts AdNeutralRoll,r247026 .L532:7027 3c30 4058 subi r20,lo8(-128)7028 3c32 5F4F sbci r21,hi8(-128)7029 3c34 6F4F sbci r22,hlo8(-128)7030 3c36 7F4F sbci r23,hhi8(-128)7031 3c38 CCF4 brge .L5347032 3c3a 8091 0000 lds r24,AdNeutralRoll7033 3c3e 9091 0000 lds r25,(AdNeutralRoll)+17034 3c42 2091 0000 lds r18,cnt.157035 3c46 3091 0000 lds r19,(cnt.15)+17036 3c4a 821B sub r24,r187037 3c4c 930B sbc r25,r197038 3c4e 9093 0000 sts (AdNeutralRoll)+1,r257039 3c52 8093 0000 sts AdNeutralRoll,r247040 3c56 0AC0 rjmp .L5347041 .L460:7042 3c58 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__7043 3c5c 1092 0000 sts LageKorrekturRoll,__zero_reg__7044 3c60 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__7045 3c64 1092 0000 sts LageKorrekturNick,__zero_reg__7046 3c68 1092 0000 sts TrichterFlug,__zero_reg__7047 .L534:7048 3c6c 8091 0000 lds r24,IntegralFaktor7049 3c70 8823 tst r247050 3c72 41F4 brne .L5357051 3c74 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__7052 3c78 1092 0000 sts LageKorrekturRoll,__zero_reg__7053 3c7c 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__7054 3c80 1092 0000 sts LageKorrekturNick,__zero_reg__7055 .L535:7056 3c84 8091 0000 lds r24,MittelIntegralNick7057 3c88 9091 0000 lds r25,(MittelIntegralNick)+17058 3c8c A091 0000 lds r26,(MittelIntegralNick)+27059 3c90 B091 0000 lds r27,(MittelIntegralNick)+37060 3c94 8093 0000 sts MittelIntegralNick_Alt.20,r247061 3c98 9093 0000 sts (MittelIntegralNick_Alt.20)+1,r257062 3c9c A093 0000 sts (MittelIntegralNick_Alt.20)+2,r267063 3ca0 B093 0000 sts (MittelIntegralNick_Alt.20)+3,r277064 3ca4 8091 0000 lds r24,MittelIntegralRoll7065 3ca8 9091 0000 lds r25,(MittelIntegralRoll)+17066 3cac A091 0000 lds r26,(MittelIntegralRoll)+27067 3cb0 B091 0000 lds r27,(MittelIntegralRoll)+37068 3cb4 8093 0000 sts MittelIntegralRoll_Alt.21,r247069 3cb8 9093 0000 sts (MittelIntegralRoll_Alt.21)+1,r257070 3cbc A093 0000 sts (MittelIntegralRoll_Alt.21)+2,r267071 3cc0 B093 0000 sts (MittelIntegralRoll_Alt.21)+3,r277072 3cc4 1092 0000 sts IntegralAccNick,__zero_reg__7073 3cc8 1092 0000 sts (IntegralAccNick)+1,__zero_reg__7074 3ccc 1092 0000 sts (IntegralAccNick)+2,__zero_reg__7075 3cd0 1092 0000 sts (IntegralAccNick)+3,__zero_reg__7076 3cd4 1092 0000 sts IntegralAccRoll,__zero_reg__7077 3cd8 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__7078 3cdc 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__7079 3ce0 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__7080 3ce4 1092 0000 sts IntegralAccZ,__zero_reg__7081 3ce8 1092 0000 sts (IntegralAccZ)+1,__zero_reg__7082 3cec 1092 0000 sts (IntegralAccZ)+2,__zero_reg__7083 3cf0 1092 0000 sts (IntegralAccZ)+3,__zero_reg__7084 3cf4 1092 0000 sts MittelIntegralNick,__zero_reg__7085 3cf8 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__7086 3cfc 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__7087 3d00 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__7088 3d04 1092 0000 sts MittelIntegralRoll,__zero_reg__7089 3d08 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__7090 3d0c 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__7091 3d10 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__7092 3d14 1092 0000 sts MittelIntegralNick2,__zero_reg__7093 3d18 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__7094 3d1c 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__7095 3d20 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__7096 3d24 1092 0000 sts MittelIntegralRoll2,__zero_reg__7097 3d28 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__7098 3d2c 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__7099 3d30 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__7100 3d34 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__7101 3d38 1092 0000 sts ZaehlMessungen,__zero_reg__7102 .L459:7103 3d3c E090 0000 lds r14,StickGier7104 3d40 F090 0000 lds r15,(StickGier)+17105 3d44 C701 movw r24,r147106 3d46 F7FE sbrs r15,77107 3d48 04C0 rjmp .L5377108 3d4a 8827 clr r247109 3d4c 9927 clr r257110 3d4e 8E19 sub r24,r147111 3d50 9F09 sbc r25,r157112 .L537:7113 3d52 4097 sbiw r24,167114 3d54 6CF0 brlt .L5367115 3d56 88EE ldi r24,lo8(1000)7116 3d58 93E0 ldi r25,hi8(1000)7117 3d5a 9093 0000 sts (KompassSignalSchlecht)+1,r257118 3d5e 8093 0000 sts KompassSignalSchlecht,r247119 3d62 8091 0000 lds r24,EE_Parameter+137120 3d66 84FD sbrc r24,47121 3d68 03C0 rjmp .L5367122 3d6a 81E0 ldi r24,lo8(1)7123 3d6c 8093 0000 sts NeueKompassRichtungMerken.10,r247124 .L536:7125 3d70 1091 0000 lds r17,EE_Parameter+257126 3d74 A12E mov r10,r177127 3d76 BB24 clr r117128 3d78 CC24 clr r127129 3d7a DD24 clr r137130 3d7c B701 movw r22,r147131 3d7e 8827 clr r247132 3d80 77FD sbrc r23,77133 3d82 8095 com r247134 3d84 982F mov r25,r247135 3d86 9701 movw r18,r147136 3d88 F7FE sbrs r15,77137 3d8a 04C0 rjmp .L5397138 3d8c 2227 clr r187139 3d8e 3327 clr r197140 3d90 2E19 sub r18,r147141 3d92 3F09 sbc r19,r157142 .L539:7143 3d94 4427 clr r207144 3d96 37FD sbrc r19,77145 3d98 4095 com r207146 3d9a 542F mov r21,r207147 3d9c 0E94 0000 call __mulsi37148 3da0 9B01 movw r18,r227149 3da2 AC01 movw r20,r247150 3da4 C601 movw r24,r127151 3da6 B501 movw r22,r107152 3da8 0E94 0000 call __mulsi37153 3dac 97FF sbrs r25,77154 3dae 04C0 rjmp .L5407155 3db0 6150 subi r22,lo8(-(511))7156 3db2 7E4F sbci r23,hi8(-(511))7157 3db4 8F4F sbci r24,hlo8(-(511))7158 3db6 9F4F sbci r25,hhi8(-(511))7159 .L540:7160 3db8 59E0 ldi r21,97161 3dba 9595 1: asr r257162 3dbc 8795 ror r247163 3dbe 7795 ror r237164 3dc0 6795 ror r227165 3dc2 5A95 dec r217166 3dc4 D1F7 brne 1b7167 3dc6 9B01 movw r18,r227168 3dc8 812F mov r24,r177169 3dca 9927 clr r257170 3dcc 8E9D mul r24,r147171 3dce D001 movw r26,r07172 3dd0 8F9D mul r24,r157173 3dd2 B00D add r27,r07174 3dd4 9E9D mul r25,r147175 3dd6 B00D add r27,r07176 3dd8 1124 clr r17177 3dda CD01 movw r24,r267178 3ddc B7FD sbrc r27,77179 3dde 0396 adiw r24,37180 .L541:7181 3de0 9595 asr r257182 3de2 8795 ror r247183 3de4 9595 asr r257184 3de6 8795 ror r247185 3de8 280F add r18,r247186 3dea 391F adc r19,r257187 3dec 4427 clr r207188 3dee 37FD sbrc r19,77189 3df0 4095 com r207190 3df2 542F mov r21,r207191 3df4 2093 0000 sts sollGier.0,r187192 3df8 3093 0000 sts (sollGier.0)+1,r197193 3dfc 4093 0000 sts (sollGier.0)+2,r207194 3e00 5093 0000 sts (sollGier.0)+3,r217195 3e04 8091 0000 lds r24,Mess_Integral_Gier7196 3e08 9091 0000 lds r25,(Mess_Integral_Gier)+17197 3e0c A091 0000 lds r26,(Mess_Integral_Gier)+27198 3e10 B091 0000 lds r27,(Mess_Integral_Gier)+37199 3e14 821B sub r24,r187200 3e16 930B sbc r25,r197201 3e18 A40B sbc r26,r207202 3e1a B50B sbc r27,r217203 3e1c 8093 0000 sts Mess_Integral_Gier,r247204 3e20 9093 0000 sts (Mess_Integral_Gier)+1,r257205 3e24 A093 0000 sts (Mess_Integral_Gier)+2,r267206 3e28 B093 0000 sts (Mess_Integral_Gier)+3,r277207 3e2c 8155 subi r24,lo8(50001)7208 3e2e 934C sbci r25,hi8(50001)7209 3e30 A040 sbci r26,hlo8(50001)7210 3e32 B040 sbci r27,hhi8(50001)7211 3e34 64F0 brlt .L5427212 3e36 80E5 ldi r24,lo8(50000)7213 3e38 93EC ldi r25,hi8(50000)7214 3e3a A0E0 ldi r26,hlo8(50000)7215 3e3c B0E0 ldi r27,hhi8(50000)7216 3e3e 8093 0000 sts Mess_Integral_Gier,r247217 3e42 9093 0000 sts (Mess_Integral_Gier)+1,r257218 3e46 A093 0000 sts (Mess_Integral_Gier)+2,r267219 3e4a B093 0000 sts (Mess_Integral_Gier)+3,r277220 .L542:7221 3e4e 8091 0000 lds r24,Mess_Integral_Gier7222 3e52 9091 0000 lds r25,(Mess_Integral_Gier)+17223 3e56 A091 0000 lds r26,(Mess_Integral_Gier)+27224 3e5a B091 0000 lds r27,(Mess_Integral_Gier)+37225 3e5e 805B subi r24,lo8(-50000)7226 3e60 9C43 sbci r25,hi8(-50000)7227 3e62 AF4F sbci r26,hlo8(-50000)7228 3e64 BF4F sbci r27,hhi8(-50000)7229 3e66 64F4 brge .L5437230 3e68 80EB ldi r24,lo8(-50000)7231 3e6a 9CE3 ldi r25,hi8(-50000)7232 3e6c AFEF ldi r26,hlo8(-50000)7233 3e6e BFEF ldi r27,hhi8(-50000)7234 3e70 8093 0000 sts Mess_Integral_Gier,r247235 3e74 9093 0000 sts (Mess_Integral_Gier)+1,r257236 3e78 A093 0000 sts (Mess_Integral_Gier)+2,r267237 3e7c B093 0000 sts (Mess_Integral_Gier)+3,r277238 .L543:7239 3e80 4090 0000 lds r4,KompassValue7240 3e84 5090 0000 lds r5,(KompassValue)+17241 3e88 4114 cp r4,__zero_reg__7242 3e8a 5104 cpc r5,__zero_reg__7243 3e8c 09F4 brne .+27244 3e8e 78C1 rjmp .L5447245 3e90 8091 0000 lds r24,EE_Parameter+137246 3e94 83FF sbrs r24,37247 3e96 74C1 rjmp .L5447248 3e98 8091 0000 lds r24,IntegralNick7249 3e9c 9091 0000 lds r25,(IntegralNick)+17250 3ea0 A091 0000 lds r26,(IntegralNick)+27251 3ea4 B091 0000 lds r27,(IntegralNick)+37252 3ea8 B7FF sbrs r27,77253 3eaa 04C0 rjmp .L5457254 3eac 8150 subi r24,lo8(-(511))7255 3eae 9E4F sbci r25,hi8(-(511))7256 3eb0 AF4F sbci r26,hlo8(-(511))7257 3eb2 BF4F sbci r27,hhi8(-(511))7258 .L545:7259 3eb4 39E0 ldi r19,97260 3eb6 B595 1: asr r277261 3eb8 A795 ror r267262 3eba 9795 ror r257263 3ebc 8795 ror r247264 3ebe 3A95 dec r197265 3ec0 D1F7 brne 1b7266 3ec2 6C01 movw r12,r247267 3ec4 97FF sbrs r25,77268 3ec6 04C0 rjmp .L5467269 3ec8 D094 com r137270 3eca C194 neg r127271 3ecc D108 sbc r13,__zero_reg__7272 3ece D394 inc r137273 .L546:7274 3ed0 8091 0000 lds r24,IntegralRoll7275 3ed4 9091 0000 lds r25,(IntegralRoll)+17276 3ed8 A091 0000 lds r26,(IntegralRoll)+27277 3edc B091 0000 lds r27,(IntegralRoll)+37278 3ee0 B7FF sbrs r27,77279 3ee2 04C0 rjmp .L5477280 3ee4 8150 subi r24,lo8(-(511))7281 3ee6 9E4F sbci r25,hi8(-(511))7282 3ee8 AF4F sbci r26,hlo8(-(511))7283 3eea BF4F sbci r27,hhi8(-(511))7284 .L547:7285 3eec 29E0 ldi r18,97286 3eee B595 1: asr r277287 3ef0 A795 ror r267288 3ef2 9795 ror r257289 3ef4 8795 ror r247290 3ef6 2A95 dec r187291 3ef8 D1F7 brne 1b7292 3efa BC01 movw r22,r247293 3efc 97FF sbrs r25,77294 3efe 03C0 rjmp .L5487295 3f00 7095 com r237296 3f02 6195 neg r227297 3f04 7F4F sbci r23,lo8(-1)7298 .L548:7299 3f06 C616 cp r12,r227300 3f08 D706 cpc r13,r237301 3f0a 0CF4 brge .L5497302 3f0c 6B01 movw r12,r227303 .L549:7304 3f0e B601 movw r22,r127305 3f10 D7FE sbrs r13,77306 3f12 02C0 rjmp .L5507307 3f14 695F subi r22,lo8(-(7))7308 3f16 7F4F sbci r23,hi8(-(7))7309 .L550:7310 3f18 3B01 movw r6,r227311 3f1a 83E0 ldi r24,37312 3f1c 7594 1: asr r77313 3f1e 6794 ror r67314 3f20 8A95 dec r247315 3f22 E1F7 brne 1b7316 3f24 02E0 ldi r16,lo8(2)7317 3f26 E02E mov r14,r167318 3f28 F12C mov r15,__zero_reg__7319 3f2a 6E0C add r6,r147320 3f2c 7F1C adc r7,r157321 3f2e 0CE1 ldi r16,lo8(540)7322 3f30 12E0 ldi r17,hi8(540)7323 3f32 400E add r4,r167324 3f34 511E adc r5,r177325 3f36 7201 movw r14,r47326 3f38 0027 clr r167327 3f3a F7FC sbrc r15,77328 3f3c 0095 com r167329 3f3e 102F mov r17,r167330 3f40 24EE ldi r18,lo8(-540)7331 3f42 3DEF ldi r19,hi8(-540)7332 3f44 420E add r4,r187333 3f46 531E adc r5,r197334 3f48 8091 0000 lds r24,ErsatzKompass7335 3f4c 9091 0000 lds r25,(ErsatzKompass)+17336 3f50 A091 0000 lds r26,(ErsatzKompass)+27337 3f54 B091 0000 lds r27,(ErsatzKompass)+37338 3f58 8090 0000 lds r8,GIER_GRAD_FAKTOR7339 3f5c 9090 0000 lds r9,(GIER_GRAD_FAKTOR)+17340 3f60 A090 0000 lds r10,(GIER_GRAD_FAKTOR)+27341 3f64 B090 0000 lds r11,(GIER_GRAD_FAKTOR)+37342 3f68 BC01 movw r22,r247343 3f6a CD01 movw r24,r267344 3f6c A501 movw r20,r107345 3f6e 9401 movw r18,r87346 3f70 0E94 0000 call __divmodsi47347 3f74 E21A sub r14,r187348 3f76 F30A sbc r15,r197349 3f78 040B sbc r16,r207350 3f7a 150B sbc r17,r217351 3f7c C801 movw r24,r167352 3f7e B701 movw r22,r147353 3f80 28E6 ldi r18,lo8(360)7354 3f82 31E0 ldi r19,hi8(360)7355 3f84 40E0 ldi r20,hlo8(360)7356 3f86 50E0 ldi r21,hhi8(360)7357 3f88 0E94 0000 call __divmodsi47358 3f8c DC01 movw r26,r247359 3f8e CB01 movw r24,r227360 3f90 1CE4 ldi r17,lo8(-180)7361 3f92 E12E mov r14,r177362 3f94 1FEF ldi r17,hi8(-180)7363 3f96 F12E mov r15,r177364 3f98 E80E add r14,r247365 3f9a F91E adc r15,r257366 3f9c 0091 0000 lds r16,KompassSignalSchlecht7367 3fa0 1091 0000 lds r17,(KompassSignalSchlecht)+17368 3fa4 0115 cp r16,__zero_reg__7369 3fa6 1105 cpc r17,__zero_reg__7370 3fa8 89F5 brne .L5517371 3faa 39E1 ldi r19,lo8(25)7372 3fac C316 cp r12,r197373 3fae D104 cpc r13,__zero_reg__7374 3fb0 6CF5 brge .L5517375 3fb2 8091 0000 lds r24,GierGyroFehler7376 3fb6 9091 0000 lds r25,(GierGyroFehler)+17377 3fba 8E0D add r24,r147378 3fbc 9F1D adc r25,r157379 3fbe 9093 0000 sts (GierGyroFehler)+1,r257380 3fc2 8093 0000 sts GierGyroFehler,r247381 3fc6 8091 0000 lds r24,NeueKompassRichtungMerken.107382 3fca 8823 tst r247383 3fcc F9F0 breq .L5517384 3fce C201 movw r24,r47385 3fd0 AA27 clr r267386 3fd2 97FD sbrc r25,77387 3fd4 A095 com r267388 3fd6 BA2F mov r27,r267389 3fd8 BC01 movw r22,r247390 3fda CD01 movw r24,r267391 3fdc A501 movw r20,r107392 3fde 9401 movw r18,r87393 3fe0 0E94 0000 call __mulsi37394 3fe4 DC01 movw r26,r247395 3fe6 CB01 movw r24,r227396 3fe8 8093 0000 sts ErsatzKompass,r247397 3fec 9093 0000 sts (ErsatzKompass)+1,r257398 3ff0 A093 0000 sts (ErsatzKompass)+2,r267399 3ff4 B093 0000 sts (ErsatzKompass)+3,r277400 3ff8 BC01 movw r22,r247401 3ffa CD01 movw r24,r267402 3ffc 0E94 0000 call __divmodsi47403 4000 3093 0000 sts (KompassStartwert)+1,r197404 4004 2093 0000 sts KompassStartwert,r187405 4008 1092 0000 sts NeueKompassRichtungMerken.10,__zero_reg__7406 .L551:7407 400c C701 movw r24,r147408 400e B4E0 ldi r27,47409 4010 880F 1: lsl r247410 4012 991F rol r257411 4014 BA95 dec r277412 4016 E1F7 brne 1b7413 4018 B301 movw r22,r67414 401a 0E94 0000 call __divmodhi47415 401e CB01 movw r24,r227416 4020 AA27 clr r267417 4022 97FD sbrc r25,77418 4024 A095 com r267419 4026 BA2F mov r27,r267420 4028 2091 0000 lds r18,ErsatzKompass7421 402c 3091 0000 lds r19,(ErsatzKompass)+17422 4030 4091 0000 lds r20,(ErsatzKompass)+27423 4034 5091 0000 lds r21,(ErsatzKompass)+37424 4038 280F add r18,r247425 403a 391F adc r19,r257426 403c 4A1F adc r20,r267427 403e 5B1F adc r21,r277428 4040 2093 0000 sts ErsatzKompass,r187429 4044 3093 0000 sts (ErsatzKompass)+1,r197430 4048 4093 0000 sts (ErsatzKompass)+2,r207431 404c 5093 0000 sts (ErsatzKompass)+3,r217432 4050 F090 0000 lds r15,Parameter_KompassWirkung7433 4054 6F2D mov r22,r157434 4056 7727 clr r237435 4058 C69E mul r12,r227436 405a C001 movw r24,r07437 405c C79E mul r12,r237438 405e 900D add r25,r07439 4060 D69E mul r13,r227440 4062 900D add r25,r07441 4064 1124 clr r17442 4066 97FD sbrc r25,77443 4068 4F96 adiw r24,317444 .L553:7445 406a 6C01 movw r12,r247446 406c A5E0 ldi r26,57447 406e D594 1: asr r137448 4070 C794 ror r127449 4072 AA95 dec r267450 4074 E1F7 brne 1b7451 4076 6C19 sub r22,r127452 4078 7D09 sbc r23,r137453 407a 6B01 movw r12,r227454 407c 77FD sbrc r23,77455 407e 7AC0 rjmp .L5547456 4080 0115 cp r16,__zero_reg__7457 4082 1105 cpc r17,__zero_reg__7458 4084 09F0 breq .+27459 4086 6FC0 rjmp .L7897460 4088 0091 0000 lds r16,MaxStickNick7461 408c 1091 0000 lds r17,(MaxStickNick)+17462 4090 8091 0000 lds r24,MaxStickRoll7463 4094 9091 0000 lds r25,(MaxStickRoll)+17464 4098 080F add r16,r247465 409a 191F adc r17,r257466 409c 17FF sbrs r17,77467 409e 02C0 rjmp .L5567468 40a0 095F subi r16,lo8(-(7))7469 40a2 1F4F sbci r17,hi8(-(7))7470 .L556:7471 40a4 F3E0 ldi r31,37472 40a6 1595 1: asr r177473 40a8 0795 ror r167474 40aa FA95 dec r317475 40ac E1F7 brne 1b7476 40ae 005C subi r16,lo8(-(64))7477 40b0 1F4F sbci r17,hi8(-(64))7478 40b2 CA01 movw r24,r207479 40b4 B901 movw r22,r187480 40b6 A501 movw r20,r107481 40b8 9401 movw r18,r87482 40ba 0E94 0000 call __divmodsi47483 40be DA01 movw r26,r207484 40c0 C901 movw r24,r187485 40c2 2091 0000 lds r18,KompassStartwert7486 40c6 3091 0000 lds r19,(KompassStartwert)+17487 40ca 4427 clr r207488 40cc 37FD sbrc r19,77489 40ce 4095 com r207490 40d0 542F mov r21,r207491 40d2 821B sub r24,r187492 40d4 930B sbc r25,r197493 40d6 A40B sbc r26,r207494 40d8 B50B sbc r27,r217495 40da 845E subi r24,lo8(-(540))7496 40dc 9D4F sbci r25,hi8(-(540))7497 40de AF4F sbci r26,hlo8(-(540))7498 40e0 BF4F sbci r27,hhi8(-(540))7499 40e2 BC01 movw r22,r247500 40e4 CD01 movw r24,r267501 40e6 28E6 ldi r18,lo8(360)7502 40e8 31E0 ldi r19,hi8(360)7503 40ea 40E0 ldi r20,hlo8(360)7504 40ec 50E0 ldi r21,hhi8(360)7505 40ee 0E94 0000 call __divmodsi47506 40f2 DC01 movw r26,r247507 40f4 CB01 movw r24,r227508 40f6 845B subi r24,lo8(-(-180))7509 40f8 9040 sbci r25,hi8(-(-180))7510 40fa 8C9D mul r24,r127511 40fc A001 movw r20,r07512 40fe 8D9D mul r24,r137513 4100 500D add r21,r07514 4102 9C9D mul r25,r127515 4104 500D add r21,r07516 4106 1124 clr r17517 4108 CA01 movw r24,r207518 410a B801 movw r22,r167519 410c 0E94 0000 call __divmodhi47520 4110 83E0 ldi r24,lo8(3)7521 4112 F89E mul r15,r247522 4114 6001 movw r12,r07523 4116 1124 clr r17524 4118 C616 cp r12,r227525 411a D706 cpc r13,r237526 411c 14F4 brge .L5577527 411e B601 movw r22,r127528 4120 08C0 rjmp .L5587529 .L557:7530 4122 8827 clr r247531 4124 9927 clr r257532 4126 8C19 sub r24,r127533 4128 9D09 sbc r25,r137534 412a 6817 cp r22,r247535 412c 7907 cpc r23,r257536 412e 0CF4 brge .L5587537 4130 BC01 movw r22,r247538 .L558:7539 4132 9B01 movw r18,r227540 4134 4427 clr r207541 4136 37FD sbrc r19,77542 4138 4095 com r207543 413a 542F mov r21,r207544 413c 8091 0000 lds r24,Mess_Integral_Gier7545 4140 9091 0000 lds r25,(Mess_Integral_Gier)+17546 4144 A091 0000 lds r26,(Mess_Integral_Gier)+27547 4148 B091 0000 lds r27,(Mess_Integral_Gier)+37548 414c 820F add r24,r187549 414e 931F adc r25,r197550 4150 A41F adc r26,r207551 4152 B51F adc r27,r217552 4154 8093 0000 sts Mess_Integral_Gier,r247553 4158 9093 0000 sts (Mess_Integral_Gier)+1,r257554 415c A093 0000 sts (Mess_Integral_Gier)+2,r267555 4160 B093 0000 sts (Mess_Integral_Gier)+3,r277556 4164 0DC0 rjmp .L5447557 .L789:7558 4166 0150 subi r16,lo8(-(-1))7559 4168 1040 sbci r17,hi8(-(-1))7560 416a 1093 0000 sts (KompassSignalSchlecht)+1,r177561 416e 0093 0000 sts KompassSignalSchlecht,r167562 4172 06C0 rjmp .L5447563 .L554:7564 4174 84EF ldi r24,lo8(500)7565 4176 91E0 ldi r25,hi8(500)7566 4178 9093 0000 sts (KompassSignalSchlecht)+1,r257567 417c 8093 0000 sts KompassSignalSchlecht,r247568 .L544:7569 4180 8091 0000 lds r24,TrichterFlug7570 4184 8823 tst r247571 4186 81F0 breq .L5627572 4188 1092 0000 sts SummeRoll,__zero_reg__7573 418c 1092 0000 sts (SummeRoll)+1,__zero_reg__7574 4190 1092 0000 sts (SummeRoll)+2,__zero_reg__7575 4194 1092 0000 sts (SummeRoll)+3,__zero_reg__7576 4198 1092 0000 sts SummeNick,__zero_reg__7577 419c 1092 0000 sts (SummeNick)+1,__zero_reg__7578 41a0 1092 0000 sts (SummeNick)+2,__zero_reg__7579 41a4 1092 0000 sts (SummeNick)+3,__zero_reg__7580 .L562:7581 41a8 F090 0000 lds r15,Looping_Nick7582 41ac FF20 tst r157583 41ae F1F4 brne .L5637584 41b0 8091 0000 lds r24,IntegralFaktor7585 41b4 282F mov r18,r247586 41b6 3327 clr r197587 41b8 4427 clr r207588 41ba 5527 clr r217589 41bc 8091 0000 lds r24,IntegralNick7590 41c0 9091 0000 lds r25,(IntegralNick)+17591 41c4 A091 0000 lds r26,(IntegralNick)+27592 41c8 B091 0000 lds r27,(IntegralNick)+37593 41cc BC01 movw r22,r247594 41ce CD01 movw r24,r267595 41d0 0E94 0000 call __mulsi37596 41d4 DC01 movw r26,r247597 41d6 CB01 movw r24,r227598 41d8 BC01 movw r22,r247599 41da CD01 movw r24,r267600 41dc 28EF ldi r18,lo8(11000)7601 41de 3AE2 ldi r19,hi8(11000)7602 41e0 40E0 ldi r20,hlo8(11000)7603 41e2 50E0 ldi r21,hhi8(11000)7604 41e4 0E94 0000 call __divmodsi47605 41e8 3901 movw r6,r187606 41ea 02C0 rjmp .L5647607 .L563:7608 41ec 6624 clr r67609 41ee 7724 clr r77610 .L564:7611 41f0 E090 0000 lds r14,Looping_Roll7612 41f4 EE20 tst r147613 41f6 F1F4 brne .L5657614 41f8 8091 0000 lds r24,IntegralFaktor7615 41fc 282F mov r18,r247616 41fe 3327 clr r197617 4200 4427 clr r207618 4202 5527 clr r217619 4204 8091 0000 lds r24,IntegralRoll7620 4208 9091 0000 lds r25,(IntegralRoll)+17621 420c A091 0000 lds r26,(IntegralRoll)+27622 4210 B091 0000 lds r27,(IntegralRoll)+37623 4214 BC01 movw r22,r247624 4216 CD01 movw r24,r267625 4218 0E94 0000 call __mulsi37626 421c DC01 movw r26,r247627 421e CB01 movw r24,r227628 4220 BC01 movw r22,r247629 4222 CD01 movw r24,r267630 4224 28EF ldi r18,lo8(11000)7631 4226 3AE2 ldi r19,hi8(11000)7632 4228 40E0 ldi r20,hlo8(11000)7633 422a 50E0 ldi r21,hhi8(11000)7634 422c 0E94 0000 call __divmodsi47635 4230 2901 movw r4,r187636 4232 02C0 rjmp .L5667637 .L565:7638 4234 4424 clr r47639 4236 5524 clr r57640 .L566:7641 4238 8091 0000 lds r24,TrimNick7642 423c 9091 0000 lds r25,(TrimNick)+17643 4240 893C cpi r24,2017644 4242 9105 cpc r25,__zero_reg__7645 4244 1CF0 brlt .L5677646 4246 88EC ldi r24,lo8(200)7647 4248 90E0 ldi r25,hi8(200)7648 424a 05C0 rjmp .L7947649 .L567:7650 424c 8853 subi r24,lo8(-200)7651 424e 9F4F sbci r25,hi8(-200)7652 4250 34F4 brge .L5687653 4252 88E3 ldi r24,lo8(-200)7654 4254 9FEF ldi r25,hi8(-200)7655 .L794:7656 4256 9093 0000 sts (TrimNick)+1,r257657 425a 8093 0000 sts TrimNick,r247658 .L568:7659 425e 8091 0000 lds r24,TrimRoll7660 4262 9091 0000 lds r25,(TrimRoll)+17661 4266 893C cpi r24,2017662 4268 9105 cpc r25,__zero_reg__7663 426a 1CF0 brlt .L5707664 426c 88EC ldi r24,lo8(200)7665 426e 90E0 ldi r25,hi8(200)7666 4270 05C0 rjmp .L7957667 .L570:7668 4272 8853 subi r24,lo8(-200)7669 4274 9F4F sbci r25,hi8(-200)7670 4276 34F4 brge .L5717671 4278 88E3 ldi r24,lo8(-200)7672 427a 9FEF ldi r25,hi8(-200)7673 .L795:7674 427c 9093 0000 sts (TrimRoll)+1,r257675 4280 8093 0000 sts TrimRoll,r247676 .L571:7677 4284 8091 0000 lds r24,MesswertNick7678 4288 9091 0000 lds r25,(MesswertNick)+17679 428c AA27 clr r267680 428e 97FD sbrc r25,77681 4290 A095 com r267682 4292 BA2F mov r27,r267683 4294 2091 0000 lds r18,GyroFaktor7684 4298 A22E mov r10,r187685 429a BB24 clr r117686 429c CC24 clr r127687 429e DD24 clr r137688 42a0 BC01 movw r22,r247689 42a2 CD01 movw r24,r267690 42a4 A601 movw r20,r127691 42a6 9501 movw r18,r107692 42a8 0E94 0000 call __mulsi37693 42ac 9B01 movw r18,r227694 42ae AC01 movw r20,r247695 42b0 8091 0000 lds r24,TrimNick7696 42b4 9091 0000 lds r25,(TrimNick)+17697 42b8 AA27 clr r267698 42ba 97FD sbrc r25,77699 42bc A095 com r267700 42be BA2F mov r27,r267701 42c0 E7E0 ldi r30,77702 42c2 880F 1: lsl r247703 42c4 991F rol r257704 42c6 AA1F rol r267705 42c8 BB1F rol r277706 42ca EA95 dec r307707 42cc D1F7 brne 1b7708 42ce 280F add r18,r247709 42d0 391F adc r19,r257710 42d2 4A1F adc r20,r267711 42d4 5B1F adc r21,r277712 42d6 57FF sbrs r21,77713 42d8 04C0 rjmp .L5737714 42da 215C subi r18,lo8(-(63))7715 42dc 3F4F sbci r19,hi8(-(63))7716 42de 4F4F sbci r20,hlo8(-(63))7717 42e0 5F4F sbci r21,hhi8(-(63))7718 .L573:7719 42e2 76E0 ldi r23,67720 42e4 5595 1: asr r217721 42e6 4795 ror r207722 42e8 3795 ror r197723 42ea 2795 ror r187724 42ec 7A95 dec r237725 42ee D1F7 brne 1b7726 42f0 8301 movw r16,r67727 42f2 020F add r16,r187728 42f4 131F adc r17,r197729 42f6 1093 0000 sts (MesswertNick)+1,r177730 42fa 0093 0000 sts MesswertNick,r167731 42fe 8091 0000 lds r24,MesswertRoll7732 4302 9091 0000 lds r25,(MesswertRoll)+17733 4306 AA27 clr r267734 4308 97FD sbrc r25,77735 430a A095 com r267736 430c BA2F mov r27,r267737 430e BC01 movw r22,r247738 4310 CD01 movw r24,r267739 4312 A601 movw r20,r127740 4314 9501 movw r18,r107741 4316 0E94 0000 call __mulsi37742 431a 9B01 movw r18,r227743 431c AC01 movw r20,r247744 431e 8091 0000 lds r24,TrimRoll7745 4322 9091 0000 lds r25,(TrimRoll)+17746 4326 AA27 clr r267747 4328 97FD sbrc r25,77748 432a A095 com r267749 432c BA2F mov r27,r267750 432e 67E0 ldi r22,77751 4330 880F 1: lsl r247752 4332 991F rol r257753 4334 AA1F rol r267754 4336 BB1F rol r277755 4338 6A95 dec r227756 433a D1F7 brne 1b7757 433c 280F add r18,r247758 433e 391F adc r19,r257759 4340 4A1F adc r20,r267760 4342 5B1F adc r21,r277761 4344 57FF sbrs r21,77762 4346 04C0 rjmp .L5747763 4348 215C subi r18,lo8(-(63))7764 434a 3F4F sbci r19,hi8(-(63))7765 434c 4F4F sbci r20,hlo8(-(63))7766 434e 5F4F sbci r21,hhi8(-(63))7767 .L574:7768 4350 96E0 ldi r25,67769 4352 5595 1: asr r217770 4354 4795 ror r207771 4356 3795 ror r197772 4358 2795 ror r187773 435a 9A95 dec r257774 435c D1F7 brne 1b7775 435e 4201 movw r8,r47776 4360 820E add r8,r187777 4362 931E adc r9,r197778 4364 9092 0000 sts (MesswertRoll)+1,r97779 4368 8092 0000 sts MesswertRoll,r87780 436c 8091 0000 lds r24,MesswertGier7781 4370 9091 0000 lds r25,(MesswertGier)+17782 4374 880F add r24,r247783 4376 991F adc r25,r257784 4378 AA27 clr r267785 437a 97FD sbrc r25,77786 437c A095 com r267787 437e BA2F mov r27,r267788 4380 2091 0000 lds r18,GyroFaktorGier7789 4384 3327 clr r197790 4386 4427 clr r207791 4388 5527 clr r217792 438a BC01 movw r22,r247793 438c CD01 movw r24,r267794 438e 0E94 0000 call __mulsi37795 4392 5B01 movw r10,r227796 4394 6C01 movw r12,r247797 4396 97FF sbrs r25,77798 4398 08C0 rjmp .L5757799 439a 8FE3 ldi r24,lo8(63)7800 439c 90E0 ldi r25,hi8(63)7801 439e A0E0 ldi r26,hlo8(63)7802 43a0 B0E0 ldi r27,hhi8(63)7803 43a2 A80E add r10,r247804 43a4 B91E adc r11,r257805 43a6 CA1E adc r12,r267806 43a8 DB1E adc r13,r277807 .L575:7808 43aa 86E0 ldi r24,67809 43ac D594 1: asr r137810 43ae C794 ror r127811 43b0 B794 ror r117812 43b2 A794 ror r107813 43b4 8A95 dec r247814 43b6 D1F7 brne 1b7815 43b8 8091 0000 lds r24,IntegralFaktorGier7816 43bc 282F mov r18,r247817 43be 3327 clr r197818 43c0 4427 clr r207819 43c2 5527 clr r217820 43c4 8091 0000 lds r24,Integral_Gier7821 43c8 9091 0000 lds r25,(Integral_Gier)+17822 43cc A091 0000 lds r26,(Integral_Gier)+27823 43d0 B091 0000 lds r27,(Integral_Gier)+37824 43d4 BC01 movw r22,r247825 43d6 CD01 movw r24,r267826 43d8 0E94 0000 call __mulsi37827 43dc DC01 movw r26,r247828 43de CB01 movw r24,r227829 43e0 BC01 movw r22,r247830 43e2 CD01 movw r24,r267831 43e4 20EF ldi r18,lo8(22000)7832 43e6 35E5 ldi r19,hi8(22000)7833 43e8 40E0 ldi r20,hlo8(22000)7834 43ea 50E0 ldi r21,hhi8(22000)7835 43ec 0E94 0000 call __divmodsi47836 43f0 B501 movw r22,r107837 43f2 620F add r22,r187838 43f4 731F adc r23,r197839 43f6 7093 0000 sts (MesswertGier)+1,r237840 43fa 6093 0000 sts MesswertGier,r227841 43fe 0150 subi r16,lo8(4097)7842 4400 1041 sbci r17,hi8(4097)7843 4402 34F0 brlt .L5767844 4404 80E0 ldi r24,lo8(4096)7845 4406 90E1 ldi r25,hi8(4096)7846 4408 9093 0000 sts (MesswertNick)+1,r257847 440c 8093 0000 sts MesswertNick,r247848 .L576:7849 4410 8091 0000 lds r24,MesswertNick7850 4414 9091 0000 lds r25,(MesswertNick)+17851 4418 8050 subi r24,lo8(-4096)7852 441a 904F sbci r25,hi8(-4096)7853 441c 34F4 brge .L5777854 441e 80E0 ldi r24,lo8(-4096)7855 4420 90EF ldi r25,hi8(-4096)7856 4422 9093 0000 sts (MesswertNick)+1,r257857 4426 8093 0000 sts MesswertNick,r247858 .L577:7859 442a B1E0 ldi r27,lo8(4097)7860 442c 8B16 cp r8,r277861 442e B0E1 ldi r27,hi8(4097)7862 4430 9B06 cpc r9,r277863 4432 34F0 brlt .L5787864 4434 80E0 ldi r24,lo8(4096)7865 4436 90E1 ldi r25,hi8(4096)7866 4438 9093 0000 sts (MesswertRoll)+1,r257867 443c 8093 0000 sts MesswertRoll,r247868 .L578:7869 4440 8091 0000 lds r24,MesswertRoll7870 4444 9091 0000 lds r25,(MesswertRoll)+17871 4448 8050 subi r24,lo8(-4096)7872 444a 904F sbci r25,hi8(-4096)7873 444c 34F4 brge .L5797874 444e 80E0 ldi r24,lo8(-4096)7875 4450 90EF ldi r25,hi8(-4096)7876 4452 9093 0000 sts (MesswertRoll)+1,r257877 4456 8093 0000 sts MesswertRoll,r247878 .L579:7879 445a 6150 subi r22,lo8(4097)7880 445c 7041 sbci r23,hi8(4097)7881 445e 34F0 brlt .L5807882 4460 80E0 ldi r24,lo8(4096)7883 4462 90E1 ldi r25,hi8(4096)7884 4464 9093 0000 sts (MesswertGier)+1,r257885 4468 8093 0000 sts MesswertGier,r247886 .L580:7887 446c 8091 0000 lds r24,MesswertGier7888 4470 9091 0000 lds r25,(MesswertGier)+17889 4474 8050 subi r24,lo8(-4096)7890 4476 904F sbci r25,hi8(-4096)7891 4478 34F4 brge .L5817892 447a 80E0 ldi r24,lo8(-4096)7893 447c 90EF ldi r25,hi8(-4096)7894 447e 9093 0000 sts (MesswertGier)+1,r257895 4482 8093 0000 sts MesswertGier,r247896 .L581:7897 4486 8091 0000 lds r24,BattLowVoltageWarning7898 448a 482F mov r20,r247899 448c 5527 clr r217900 448e 8091 0000 lds r24,UBat7901 4492 9091 0000 lds r25,(UBat)+17902 4496 4817 cp r20,r247903 4498 5907 cpc r21,r257904 449a 94F4 brge .L5827905 449c 2091 0000 lds r18,UBat7906 44a0 3091 0000 lds r19,(UBat)+17907 44a4 6981 ldd r22,Y+17908 44a6 7A81 ldd r23,Y+27909 44a8 649F mul r22,r207910 44aa C001 movw r24,r07911 44ac 659F mul r22,r217912 44ae 900D add r25,r07913 44b0 749F mul r23,r207914 44b2 900D add r25,r07915 44b4 1124 clr r17916 44b6 B901 movw r22,r187917 44b8 0E94 0000 call __udivmodhi47918 44bc 7A83 std Y+2,r237919 44be 6983 std Y+1,r227920 .L582:7921 44c0 8981 ldd r24,Y+17922 44c2 9A81 ldd r25,Y+27923 44c4 880F lsl r247924 44c6 991F rol r257925 44c8 880F lsl r247926 44ca 991F rol r257927 44cc 9A83 std Y+2,r257928 44ce 8983 std Y+1,r247929 44d0 4091 0000 lds r20,EE_Parameter+137930 44d4 40FF sbrs r20,07931 44d6 BDC6 rjmp .L5837932 44d8 EE20 tst r147933 44da 09F0 breq .+27934 44dc BAC6 rjmp .L5837935 44de FF20 tst r157936 44e0 09F0 breq .+27937 44e2 B7C6 rjmp .L5837938 44e4 AA24 clr r107939 44e6 BB24 clr r117940 44e8 4501 movw r8,r107941 44ea 8091 0000 lds r24,HoverGas7942 44ee 9091 0000 lds r25,(HoverGas)+17943 44f2 9093 0000 sts (DebugOut+44)+1,r257944 44f6 8093 0000 sts DebugOut+44,r247945 44fa 2091 0000 lds r18,BaroExpandActive7946 44fe 3091 0000 lds r19,(BaroExpandActive)+17947 4502 2115 cp r18,__zero_reg__7948 4504 3105 cpc r19,__zero_reg__7949 4506 09F0 breq .+27950 4508 3FC0 rjmp .L5847951 450a 8091 0000 lds r24,MessLuftdruck7952 450e 9091 0000 lds r25,(MessLuftdruck)+17953 4512 8959 subi r24,lo8(921)7954 4514 9340 sbci r25,hi8(921)7955 4516 58F0 brlo .L5857956 4518 87B5 in r24,71-0x207957 451a 853F cpi r24,lo8(-11)7958 451c 20F4 brsh .L5867959 451e 8091 0000 lds r24,ExpandBaro7960 4522 8150 subi r24,lo8(-(-1))7961 4524 11C0 rjmp .L7967962 .L586:7963 4526 81E0 ldi r24,lo8(1)7964 4528 8093 0000 sts BaroAtLowerLimit.30,r247965 452c 4EC0 rjmp .L5937966 .L585:7967 452e 8091 0000 lds r24,MessLuftdruck7968 4532 9091 0000 lds r25,(MessLuftdruck)+17969 4536 8436 cpi r24,1007970 4538 9105 cpc r25,__zero_reg__7971 453a 08F5 brsh .L5897972 453c 87B5 in r24,71-0x207973 453e 8B30 cpi r24,lo8(11)7974 4540 D0F0 brlo .L5907975 4542 8091 0000 lds r24,ExpandBaro7976 4546 8F5F subi r24,lo8(-(1))7977 .L796:7978 4548 8093 0000 sts ExpandBaro,r247979 454c 9AE0 ldi r25,lo8(10)7980 454e 8902 muls r24,r257981 4550 9001 movw r18,r07982 4552 1124 clr r17983 4554 8091 0000 lds r24,DruckOffsetSetting7984 4558 821B sub r24,r187985 455a 87BD out 71-0x20,r247986 455c 8CE2 ldi r24,lo8(300)7987 455e 91E0 ldi r25,hi8(300)7988 4560 9093 0000 sts (beeptime)+1,r257989 4564 8093 0000 sts beeptime,r247990 4568 8EE5 ldi r24,lo8(350)7991 456a 91E0 ldi r25,hi8(350)7992 456c 9093 0000 sts (BaroExpandActive)+1,r257993 4570 8093 0000 sts BaroExpandActive,r247994 4574 2AC0 rjmp .L5937995 .L590:7996 4576 81E0 ldi r24,lo8(1)7997 4578 8093 0000 sts BaroAtUpperLimit.29,r247998 457c 26C0 rjmp .L5937999 .L589:8000 457e F092 0000 sts BaroAtUpperLimit.29,r158001 4582 F092 0000 sts BaroAtLowerLimit.30,r158002 4586 21C0 rjmp .L5938003 .L584:8004 4588 8091 0000 lds r24,HoehenWert8005 458c 9091 0000 lds r25,(HoehenWert)+18006 4590 A091 0000 lds r26,(HoehenWert)+28007 4594 B091 0000 lds r27,(HoehenWert)+38008 4598 14E0 ldi r17,48009 459a 880F 1: lsl r248010 459c 991F rol r258011 459e AA1F rol r268012 45a0 BB1F rol r278013 45a2 1A95 dec r178014 45a4 D1F7 brne 1b8015 45a6 8093 0000 sts SummenHoehe,r248016 45aa 9093 0000 sts (SummenHoehe)+1,r258017 45ae A093 0000 sts (SummenHoehe)+2,r268018 45b2 B093 0000 sts (SummenHoehe)+3,r278019 45b6 B092 0000 sts (VarioMeter)+1,r118020 45ba A092 0000 sts VarioMeter,r108021 45be 2150 subi r18,lo8(-(-1))8022 45c0 3040 sbci r19,hi8(-(-1))8023 45c2 3093 0000 sts (BaroExpandActive)+1,r198024 45c6 2093 0000 sts BaroExpandActive,r188025 .L593:8026 45ca 2091 0000 lds r18,Parameter_MaxHoehe8027 45ce 41FF sbrs r20,18028 45d0 24C0 rjmp .L5948029 45d2 2233 cpi r18,lo8(50)8030 45d4 D8F4 brsh .L5958031 45d6 8091 0000 lds r24,delay.288032 45da 8150 subi r24,lo8(-(-1))8033 45dc 8093 0000 sts delay.28,r248034 45e0 8F3F cpi r24,lo8(-1)8035 45e2 D9F5 brne .L5988036 45e4 1092 0000 sts HoehenReglerAktiv,__zero_reg__8037 45e8 8091 0000 lds r24,HoehenWert8038 45ec 9091 0000 lds r25,(HoehenWert)+18039 45f0 A091 0000 lds r26,(HoehenWert)+28040 45f4 B091 0000 lds r27,(HoehenWert)+38041 45f8 8093 0000 sts SollHoehe,r248042 45fc 9093 0000 sts (SollHoehe)+1,r258043 4600 A093 0000 sts (SollHoehe)+2,r268044 4604 B093 0000 sts (SollHoehe)+3,r278045 4608 81E0 ldi r24,lo8(1)8046 460a 04C0 rjmp .L7978047 .L595:8048 460c 81E0 ldi r24,lo8(1)8049 460e 8093 0000 sts HoehenReglerAktiv,r248050 4612 88EC ldi r24,lo8(-56)8051 .L797:8052 4614 8093 0000 sts delay.28,r248053 4618 20C0 rjmp .L5988054 .L594:8055 461a 8091 0000 lds r24,ExternHoehenValue8056 461e 9091 0000 lds r25,(ExternHoehenValue)+18057 4622 820F add r24,r188058 4624 911D adc r25,__zero_reg__8059 4626 2091 0000 lds r18,EE_Parameter+188060 462a 3327 clr r198061 462c 829F mul r24,r188062 462e F001 movw r30,r08063 4630 839F mul r24,r198064 4632 F00D add r31,r08065 4634 929F mul r25,r188066 4636 F00D add r31,r08067 4638 1124 clr r18068 463a CF01 movw r24,r308069 463c AA27 clr r268070 463e 97FD sbrc r25,78071 4640 A095 com r268072 4642 BA2F mov r27,r268073 4644 8093 0000 sts SollHoehe,r248074 4648 9093 0000 sts (SollHoehe)+1,r258075 464c A093 0000 sts (SollHoehe)+2,r268076 4650 B093 0000 sts (SollHoehe)+3,r278077 4654 81E0 ldi r24,lo8(1)8078 4656 8093 0000 sts HoehenReglerAktiv,r248079 .L598:8080 465a 8091 0000 lds r24,IntegralNick8081 465e 9091 0000 lds r25,(IntegralNick)+18082 4662 A091 0000 lds r26,(IntegralNick)+28083 4666 B091 0000 lds r27,(IntegralNick)+38084 466a E090 0000 lds r14,GIER_GRAD_FAKTOR8085 466e F090 0000 lds r15,(GIER_GRAD_FAKTOR)+18086 4672 0091 0000 lds r16,(GIER_GRAD_FAKTOR)+28087 4676 1091 0000 lds r17,(GIER_GRAD_FAKTOR)+38088 467a BC01 movw r22,r248089 467c CD01 movw r24,r268090 467e A801 movw r20,r168091 4680 9701 movw r18,r148092 4682 0E94 0000 call __divmodsi48093 4686 5901 movw r10,r188094 4688 6A01 movw r12,r208095 468a 8091 0000 lds r24,IntegralRoll8096 468e 9091 0000 lds r25,(IntegralRoll)+18097 4692 A091 0000 lds r26,(IntegralRoll)+28098 4696 B091 0000 lds r27,(IntegralRoll)+38099 469a BC01 movw r22,r248100 469c CD01 movw r24,r268101 469e A801 movw r20,r168102 46a0 9701 movw r18,r148103 46a2 0E94 0000 call __divmodsi48104 46a6 B901 movw r22,r188105 46a8 C501 movw r24,r108106 46aa 0E94 0000 call ihypot8107 46ae 8C01 movw r16,r248108 46b0 CC97 sbiw r24,608109 46b2 14F0 brlt .L5998110 46b4 0CE3 ldi r16,lo8(60)8111 46b6 10E0 ldi r17,hi8(60)8112 .L599:8113 46b8 C801 movw r24,r168114 46ba 0E94 0000 call c_cos_81928115 46be 8C01 movw r16,r248116 46c0 80E2 ldi r24,lo8(32)8117 46c2 8093 0000 sts VarioCharacter,r248118 46c6 8091 0000 lds r24,HoehenReglerAktiv8119 46ca 8823 tst r248120 46cc 09F4 brne .+28121 46ce 47C4 rjmp .L6008122 46d0 8091 0000 lds r24,FC_StatusFlags8123 46d4 9927 clr r258124 46d6 9C01 movw r18,r248125 46d8 2071 andi r18,lo8(16)8126 46da 3070 andi r19,hi8(16)8127 46dc 84FD sbrc r24,48128 46de 3FC4 rjmp .L6008129 46e0 6091 0000 lds r22,EE_Parameter+1028130 46e4 60FD sbrc r22,08131 46e6 04C0 rjmp .L6028132 46e8 8091 0000 lds r24,EE_Parameter+138133 46ec 81FD sbrc r24,18134 46ee 0CC0 rjmp .L6018135 .L602:8136 46f0 C980 ldd r12,Y+18137 46f2 DA80 ldd r13,Y+28138 46f4 3093 0000 sts (HeightTrimming.22)+1,r198139 46f8 2093 0000 sts HeightTrimming.22,r188140 46fc 8091 0000 lds r24,FC_StatusFlags8141 4700 806C ori r24,lo8(-64)8142 4702 8093 0000 sts FC_StatusFlags,r248143 4706 99C1 rjmp .L6038144 .L601:8145 4708 8091 0000 lds r24,FC_StatusFlags8146 470c 81FF sbrs r24,18147 470e 6BC1 rjmp .L6048148 4710 4091 0000 lds r20,StickGasHover.248149 4714 5091 0000 lds r21,(StickGasHover.24)+18150 4718 CA01 movw r24,r208151 471a 0F96 adiw r24,158152 471c 2091 0000 lds r18,StickGas8153 4720 3091 0000 lds r19,(StickGas)+18154 4724 8217 cp r24,r188155 4726 9307 cpc r25,r198156 4728 BCF5 brge .L6058157 472a 8091 0000 lds r24,BaroAtUpperLimit.298158 472e 8823 tst r248159 4730 99F5 brne .L6058160 4732 8091 0000 lds r24,FC_StatusFlags8161 4736 87FF sbrs r24,78162 4738 15C0 rjmp .L6068163 473a 8091 0000 lds r24,FC_StatusFlags8164 473e 8F77 andi r24,lo8(127)8165 4740 8093 0000 sts FC_StatusFlags,r248166 4744 8091 0000 lds r24,HoehenWert8167 4748 9091 0000 lds r25,(HoehenWert)+18168 474c A091 0000 lds r26,(HoehenWert)+28169 4750 B091 0000 lds r27,(HoehenWert)+38170 4754 8093 0000 sts SollHoehe,r248171 4758 9093 0000 sts (SollHoehe)+1,r258172 475c A093 0000 sts (SollHoehe)+2,r268173 4760 B093 0000 sts (SollHoehe)+3,r278174 .L606:8175 4764 8091 0000 lds r24,FC_StatusFlags8176 4768 8064 ori r24,lo8(64)8177 476a 8093 0000 sts FC_StatusFlags,r248178 476e 241B sub r18,r208179 4770 350B sbc r19,r218180 4772 2F50 subi r18,lo8(-(-15))8181 4774 3040 sbci r19,hi8(-(-15))8182 4776 37FF sbrs r19,78183 4778 03C0 rjmp .L6078184 477a 3095 com r198185 477c 2195 neg r188186 477e 3F4F sbci r19,lo8(-1)8187 .L607:8188 4780 8091 0000 lds r24,HeightTrimming.228189 4784 9091 0000 lds r25,(HeightTrimming.22)+18190 4788 820F add r24,r188191 478a 931F adc r25,r198192 478c 9093 0000 sts (HeightTrimming.22)+1,r258193 4790 8093 0000 sts HeightTrimming.22,r248194 4794 8BE2 ldi r24,lo8(43)8195 4796 6EC0 rjmp .L7988196 .L605:8197 4798 CA01 movw r24,r208198 479a 0F97 sbiw r24,158199 479c 2817 cp r18,r248200 479e 3907 cpc r19,r258201 47a0 BCF5 brge .L6098202 47a2 8091 0000 lds r24,BaroAtLowerLimit.308203 47a6 8823 tst r248204 47a8 99F5 brne .L6098205 47aa 8091 0000 lds r24,FC_StatusFlags8206 47ae 86FF sbrs r24,68207 47b0 15C0 rjmp .L6108208 47b2 8091 0000 lds r24,FC_StatusFlags8209 47b6 8F7B andi r24,lo8(-65)8210 47b8 8093 0000 sts FC_StatusFlags,r248211 47bc 8091 0000 lds r24,HoehenWert8212 47c0 9091 0000 lds r25,(HoehenWert)+18213 47c4 A091 0000 lds r26,(HoehenWert)+28214 47c8 B091 0000 lds r27,(HoehenWert)+38215 47cc 8093 0000 sts SollHoehe,r248216 47d0 9093 0000 sts (SollHoehe)+1,r258217 47d4 A093 0000 sts (SollHoehe)+2,r268218 47d8 B093 0000 sts (SollHoehe)+3,r278219 .L610:8220 47dc 8091 0000 lds r24,FC_StatusFlags8221 47e0 8068 ori r24,lo8(-128)8222 47e2 8093 0000 sts FC_StatusFlags,r248223 47e6 241B sub r18,r208224 47e8 350B sbc r19,r218225 47ea 215F subi r18,lo8(-(15))8226 47ec 3F4F sbci r19,hi8(-(15))8227 47ee 37FF sbrs r19,78228 47f0 03C0 rjmp .L6118229 47f2 3095 com r198230 47f4 2195 neg r188231 47f6 3F4F sbci r19,lo8(-1)8232 .L611:8233 47f8 8091 0000 lds r24,HeightTrimming.228234 47fc 9091 0000 lds r25,(HeightTrimming.22)+18235 4800 821B sub r24,r188236 4802 930B sbc r25,r198237 4804 9093 0000 sts (HeightTrimming.22)+1,r258238 4808 8093 0000 sts HeightTrimming.22,r248239 480c 8DE2 ldi r24,lo8(45)8240 480e 32C0 rjmp .L7988241 .L609:8242 4810 8091 0000 lds r24,FC_StatusFlags8243 4814 807C andi r24,lo8(-64)8244 4816 69F1 breq .L6138245 4818 8091 0000 lds r24,FC_StatusFlags8246 481c 8F73 andi r24,lo8(63)8247 481e 8093 0000 sts FC_StatusFlags,r248248 4822 1092 0000 sts (HeightTrimming.22)+1,__zero_reg__8249 4826 1092 0000 sts HeightTrimming.22,__zero_reg__8250 482a 2091 0000 lds r18,HoehenWert8251 482e 3091 0000 lds r19,(HoehenWert)+18252 4832 4091 0000 lds r20,(HoehenWert)+28253 4836 5091 0000 lds r21,(HoehenWert)+38254 483a 2093 0000 sts SollHoehe,r188255 483e 3093 0000 sts (SollHoehe)+1,r198256 4842 4093 0000 sts (SollHoehe)+2,r208257 4846 5093 0000 sts (SollHoehe)+3,r218258 484a 61FF sbrs r22,18259 484c 06C0 rjmp .L6148260 484e 84EF ldi r24,lo8(500)8261 4850 91E0 ldi r25,hi8(500)8262 4852 9093 0000 sts (beeptime)+1,r258263 4856 8093 0000 sts beeptime,r248264 .L614:8265 485a 8091 0000 lds r24,StartTrigger8266 485e 8823 tst r248267 4860 41F4 brne .L6138268 4862 2333 cpi r18,lo8(51)8269 4864 3105 cpc r19,__zero_reg__8270 4866 4105 cpc r20,__zero_reg__8271 4868 5105 cpc r21,__zero_reg__8272 486a 1CF0 brlt .L6138273 486c 81E0 ldi r24,lo8(1)8274 486e 8093 0000 sts StartTrigger,r248275 .L613:8276 4872 8DE3 ldi r24,lo8(61)8277 .L798:8278 4874 8093 0000 sts VarioCharacter,r248279 4878 2091 0000 lds r18,HeightTrimming.228280 487c 3091 0000 lds r19,(HeightTrimming.22)+18281 4880 C901 movw r24,r188282 4882 37FF sbrs r19,78283 4884 04C0 rjmp .L6178284 4886 8827 clr r248285 4888 9927 clr r258286 488a 821B sub r24,r188287 488c 930B sbc r25,r198288 .L617:8289 488e 8150 subi r24,lo8(513)8290 4890 9240 sbci r25,hi8(513)8291 4892 0CF4 brge .+28292 4894 91C0 rjmp .L6168293 4896 8091 0000 lds r24,EE_Parameter+188294 489a 9927 clr r258295 489c 289F mul r18,r248296 489e 7001 movw r14,r08297 48a0 299F mul r18,r258298 48a2 F00C add r15,r08299 48a4 389F mul r19,r248300 48a6 F00C add r15,r08301 48a8 1124 clr r18302 48aa C701 movw r24,r148303 48ac 60E0 ldi r22,lo8(1280)8304 48ae 75E0 ldi r23,hi8(1280)8305 48b0 0E94 0000 call __divmodhi48306 48b4 CB01 movw r24,r228307 48b6 AA27 clr r268308 48b8 97FD sbrc r25,78309 48ba A095 com r268310 48bc BA2F mov r27,r268311 48be 2091 0000 lds r18,SollHoehe8312 48c2 3091 0000 lds r19,(SollHoehe)+18313 48c6 4091 0000 lds r20,(SollHoehe)+28314 48ca 5091 0000 lds r21,(SollHoehe)+38315 48ce 280F add r18,r248316 48d0 391F adc r19,r258317 48d2 4A1F adc r20,r268318 48d4 5B1F adc r21,r278319 48d6 2093 0000 sts SollHoehe,r188320 48da 3093 0000 sts (SollHoehe)+1,r198321 48de 4093 0000 sts (SollHoehe)+2,r208322 48e2 5093 0000 sts (SollHoehe)+3,r218323 48e6 1092 0000 sts (HeightTrimming.22)+1,__zero_reg__8324 48ea 1092 0000 sts HeightTrimming.22,__zero_reg__8325 48ee C090 0000 lds r12,HoehenWert8326 48f2 D090 0000 lds r13,(HoehenWert)+18327 48f6 E090 0000 lds r14,(HoehenWert)+28328 48fa F090 0000 lds r15,(HoehenWert)+38329 48fe D701 movw r26,r148330 4900 C601 movw r24,r128331 4902 8050 subi r24,lo8(-(-1024))8332 4904 9440 sbci r25,hi8(-(-1024))8333 4906 A040 sbci r26,hlo8(-(-1024))8334 4908 B040 sbci r27,hhi8(-(-1024))8335 490a 8217 cp r24,r188336 490c 9307 cpc r25,r198337 490e A407 cpc r26,r208338 4910 B507 cpc r27,r218339 4912 5CF4 brge .L7998340 4914 D701 movw r26,r148341 4916 C601 movw r24,r128342 4918 8050 subi r24,lo8(-(1024))8343 491a 9C4F sbci r25,hi8(-(1024))8344 491c AF4F sbci r26,hlo8(-(1024))8345 491e BF4F sbci r27,hhi8(-(1024))8346 4920 2817 cp r18,r248347 4922 3907 cpc r19,r258348 4924 4A07 cpc r20,r268349 4926 5B07 cpc r21,r278350 4928 44F0 brlt .L6198351 .L799:8352 492a 8093 0000 sts SollHoehe,r248353 492e 9093 0000 sts (SollHoehe)+1,r258354 4932 A093 0000 sts (SollHoehe)+2,r268355 4936 B093 0000 sts (SollHoehe)+3,r278356 .L619:8357 493a 8091 0000 lds r24,EE_Parameter+1028358 493e 81FF sbrs r24,18359 4940 06C0 rjmp .L6218360 4942 84E6 ldi r24,lo8(100)8361 4944 90E0 ldi r25,hi8(100)8362 4946 9093 0000 sts (beeptime)+1,r258363 494a 8093 0000 sts beeptime,r248364 .L621:8365 494e 8091 0000 lds r24,EE_Parameter+228366 4952 8823 tst r248367 4954 89F5 brne .L6168368 4956 4091 0000 lds r20,HoverGas8369 495a 5091 0000 lds r21,(HoverGas)+18370 495e 57FF sbrs r21,78371 4960 02C0 rjmp .L6238372 4962 4D5F subi r20,lo8(-(3))8373 4964 5F4F sbci r21,hi8(-(3))8374 .L623:8375 4966 5595 asr r218376 4968 4795 ror r208377 496a 5595 asr r218378 496c 4795 ror r208379 496e 8091 0000 lds r24,UBat8380 4972 9091 0000 lds r25,(UBat)+18381 4976 2091 0000 lds r18,BattLowVoltageWarning8382 497a 3327 clr r198383 497c 489F mul r20,r248384 497e B001 movw r22,r08385 4980 499F mul r20,r258386 4982 700D add r23,r08387 4984 589F mul r21,r248388 4986 700D add r23,r08389 4988 1124 clr r18390 498a CB01 movw r24,r228391 498c B901 movw r22,r188392 498e 0E94 0000 call __divmodhi48393 4992 7093 0000 sts (StickGasHover.24)+1,r238394 4996 6093 0000 sts StickGasHover.24,r228395 499a 6634 cpi r22,708396 499c 7105 cpc r23,__zero_reg__8397 499e 1CF4 brge .L6248398 49a0 86E4 ldi r24,lo8(70)8399 49a2 90E0 ldi r25,hi8(70)8400 49a4 05C0 rjmp .L8008401 .L624:8402 49a6 6739 cpi r22,1518403 49a8 7105 cpc r23,__zero_reg__8404 49aa 34F0 brlt .L6168405 49ac 86E9 ldi r24,lo8(150)8406 49ae 90E0 ldi r25,hi8(150)8407 .L800:8408 49b0 9093 0000 sts (StickGasHover.24)+1,r258409 49b4 8093 0000 sts StickGasHover.24,r248410 .L616:8411 49b8 8091 0000 lds r24,BaroExpandActive8412 49bc 9091 0000 lds r25,(BaroExpandActive)+18413 49c0 892B or r24,r258414 49c2 B9F1 breq .L6288415 49c4 8091 0000 lds r24,HoehenWert8416 49c8 9091 0000 lds r25,(HoehenWert)+18417 49cc A091 0000 lds r26,(HoehenWert)+28418 49d0 B091 0000 lds r27,(HoehenWert)+38419 49d4 8093 0000 sts SollHoehe,r248420 49d8 9093 0000 sts (SollHoehe)+1,r258421 49dc A093 0000 sts (SollHoehe)+2,r268422 49e0 B093 0000 sts (SollHoehe)+3,r278423 49e4 26C0 rjmp .L6288424 .L604:8425 49e6 8091 0000 lds r24,HoehenWert8426 49ea 9091 0000 lds r25,(HoehenWert)+18427 49ee A091 0000 lds r26,(HoehenWert)+28428 49f2 B091 0000 lds r27,(HoehenWert)+38429 49f6 8059 subi r24,lo8(-(-400))8430 49f8 9140 sbci r25,hi8(-(-400))8431 49fa A040 sbci r26,hlo8(-(-400))8432 49fc B040 sbci r27,hhi8(-(-400))8433 49fe 8093 0000 sts SollHoehe,r248434 4a02 9093 0000 sts (SollHoehe)+1,r258435 4a06 A093 0000 sts (SollHoehe)+2,r268436 4a0a B093 0000 sts (SollHoehe)+3,r278437 4a0e 8091 0000 lds r24,EE_Parameter+228438 4a12 8823 tst r248439 4a14 11F0 breq .L6298440 4a16 9927 clr r258441 4a18 02C0 rjmp .L8018442 .L629:8443 4a1a 88E7 ldi r24,lo8(120)8444 4a1c 90E0 ldi r25,hi8(120)8445 .L801:8446 4a1e 9093 0000 sts (StickGasHover.24)+1,r258447 4a22 8093 0000 sts StickGasHover.24,r248448 4a26 8981 ldd r24,Y+18449 4a28 9A81 ldd r25,Y+28450 4a2a 9093 0000 sts (HoverGas)+1,r258451 4a2e 8093 0000 sts HoverGas,r248452 .L628:8453 4a32 C090 0000 lds r12,HoverGas8454 4a36 D090 0000 lds r13,(HoverGas)+18455 .L603:8456 4a3a 2091 0000 lds r18,HoehenWert8457 4a3e 3091 0000 lds r19,(HoehenWert)+18458 4a42 4091 0000 lds r20,(HoehenWert)+28459 4a46 5091 0000 lds r21,(HoehenWert)+38460 4a4a 2B8B std Y+19,r188461 4a4c 3C8B std Y+20,r198462 4a4e 4D8B std Y+21,r208463 4a50 5E8B std Y+22,r218464 4a52 2091 0000 lds r18,SollHoehe8465 4a56 3091 0000 lds r19,(SollHoehe)+18466 4a5a 4091 0000 lds r20,(SollHoehe)+28467 4a5e 5091 0000 lds r21,(SollHoehe)+38468 4a62 6B89 ldd r22,Y+198469 4a64 7C89 ldd r23,Y+208470 4a66 8D89 ldd r24,Y+218471 4a68 9E89 ldd r25,Y+228472 4a6a 2617 cp r18,r228473 4a6c 3707 cpc r19,r238474 4a6e 4807 cpc r20,r248475 4a70 5907 cpc r21,r258476 4a72 24F0 brlt .L6328477 4a74 8091 0000 lds r24,EE_Parameter+1028478 4a78 80FD sbrc r24,08479 4a7a B8C2 rjmp .L6908480 .L632:8481 4a7c 8091 0000 lds r24,BaroExpandActive8482 4a80 9091 0000 lds r25,(BaroExpandActive)+18483 4a84 892B or r24,r258484 4a86 39F0 breq .L6338485 4a88 C090 0000 lds r12,HoverGas8486 4a8c D090 0000 lds r13,(HoverGas)+18487 4a90 AA24 clr r108488 4a92 BB24 clr r118489 4a94 D9C0 rjmp .L6348490 .L633:8491 4a96 8B89 ldd r24,Y+198492 4a98 9C89 ldd r25,Y+208493 4a9a AD89 ldd r26,Y+218494 4a9c BE89 ldd r27,Y+228495 4a9e 821B sub r24,r188496 4aa0 930B sbc r25,r198497 4aa2 A40B sbc r26,r208498 4aa4 B50B sbc r27,r218499 4aa6 8093 0000 sts tmp_long.1,r248500 4aaa 9093 0000 sts (tmp_long.1)+1,r258501 4aae A093 0000 sts (tmp_long.1)+2,r268502 4ab2 B093 0000 sts (tmp_long.1)+3,r278503 4ab6 8230 cpi r24,lo8(-32766)8504 4ab8 70E8 ldi r23,hi8(-32766)8505 4aba 9707 cpc r25,r238506 4abc 7FEF ldi r23,hlo8(-32766)8507 4abe A707 cpc r26,r238508 4ac0 7FEF ldi r23,hhi8(-32766)8509 4ac2 B707 cpc r27,r238510 4ac4 2CF4 brge .L6358511 4ac6 81E0 ldi r24,lo8(-32767)8512 4ac8 90E8 ldi r25,hi8(-32767)8513 4aca AFEF ldi r26,hlo8(-32767)8514 4acc BFEF ldi r27,hhi8(-32767)8515 4ace 09C0 rjmp .L8028516 .L635:8517 4ad0 8F5F subi r24,lo8(32767)8518 4ad2 9F47 sbci r25,hi8(32767)8519 4ad4 A040 sbci r26,hlo8(32767)8520 4ad6 B040 sbci r27,hhi8(32767)8521 4ad8 64F0 brlt .L6368522 4ada 8FEF ldi r24,lo8(32767)8523 4adc 9FE7 ldi r25,hi8(32767)8524 4ade A0E0 ldi r26,hlo8(32767)8525 4ae0 B0E0 ldi r27,hhi8(32767)8526 .L802:8527 4ae2 8093 0000 sts tmp_long.1,r248528 4ae6 9093 0000 sts (tmp_long.1)+1,r258529 4aea A093 0000 sts (tmp_long.1)+2,r268530 4aee B093 0000 sts (tmp_long.1)+3,r278531 .L636:8532 4af2 A090 0000 lds r10,tmp_long.18533 4af6 B090 0000 lds r11,(tmp_long.1)+18534 4afa 8091 0000 lds r24,Parameter_Hoehe_P8535 4afe 282F mov r18,r248536 4b00 3327 clr r198537 4b02 4427 clr r208538 4b04 5527 clr r218539 4b06 8091 0000 lds r24,tmp_long.18540 4b0a 9091 0000 lds r25,(tmp_long.1)+18541 4b0e A091 0000 lds r26,(tmp_long.1)+28542 4b12 B091 0000 lds r27,(tmp_long.1)+38543 4b16 BC01 movw r22,r248544 4b18 CD01 movw r24,r268545 4b1a 0E94 0000 call __mulsi38546 4b1e 97FF sbrs r25,78547 4b20 04C0 rjmp .L6388548 4b22 615E subi r22,lo8(-(31))8549 4b24 7F4F sbci r23,hi8(-(31))8550 4b26 8F4F sbci r24,hlo8(-(31))8551 4b28 9F4F sbci r25,hhi8(-(31))8552 .L638:8553 4b2a A5E0 ldi r26,58554 4b2c 9595 1: asr r258555 4b2e 8795 ror r248556 4b30 7795 ror r238557 4b32 6795 ror r228558 4b34 AA95 dec r268559 4b36 D1F7 brne 1b8560 4b38 6093 0000 sts tmp_long.1,r228561 4b3c 7093 0000 sts (tmp_long.1)+1,r238562 4b40 8093 0000 sts (tmp_long.1)+2,r248563 4b44 9093 0000 sts (tmp_long.1)+3,r258564 4b48 6530 cpi r22,lo8(-507)8565 4b4a FEEF ldi r31,hi8(-507)8566 4b4c 7F07 cpc r23,r318567 4b4e FFEF ldi r31,hlo8(-507)8568 4b50 8F07 cpc r24,r318569 4b52 FFEF ldi r31,hhi8(-507)8570 4b54 9F07 cpc r25,r318571 4b56 2CF4 brge .L6398572 4b58 84E0 ldi r24,lo8(-508)8573 4b5a 9EEF ldi r25,hi8(-508)8574 4b5c AFEF ldi r26,hlo8(-508)8575 4b5e BFEF ldi r27,hhi8(-508)8576 4b60 09C0 rjmp .L8038577 .L639:8578 4b62 6050 subi r22,lo8(1024)8579 4b64 7440 sbci r23,hi8(1024)8580 4b66 8040 sbci r24,hlo8(1024)8581 4b68 9040 sbci r25,hhi8(1024)8582 4b6a 64F0 brlt .L6408583 4b6c 80E0 ldi r24,lo8(1024)8584 4b6e 94E0 ldi r25,hi8(1024)8585 4b70 A0E0 ldi r26,hlo8(1024)8586 4b72 B0E0 ldi r27,hhi8(1024)8587 .L803:8588 4b74 8093 0000 sts tmp_long.1,r248589 4b78 9093 0000 sts (tmp_long.1)+1,r258590 4b7c A093 0000 sts (tmp_long.1)+2,r268591 4b80 B093 0000 sts (tmp_long.1)+3,r278592 .L640:8593 4b84 8090 0000 lds r8,tmp_long.18594 4b88 9090 0000 lds r9,(tmp_long.1)+18595 4b8c 2091 0000 lds r18,VarioMeter8596 4b90 3091 0000 lds r19,(VarioMeter)+18597 4b94 37FF sbrs r19,78598 4b96 02C0 rjmp .L6428599 4b98 295F subi r18,lo8(-(7))8600 4b9a 3F4F sbci r19,hi8(-(7))8601 .L642:8602 4b9c F3E0 ldi r31,38603 4b9e 3595 1: asr r198604 4ba0 2795 ror r188605 4ba2 FA95 dec r318606 4ba4 E1F7 brne 1b8607 4ba6 4FEF ldi r20,hi8(-126)8608 4ba8 2238 cpi r18,lo8(-126)8609 4baa 3407 cpc r19,r208610 4bac 1CF4 brge .L6438611 4bae 21E8 ldi r18,lo8(-127)8612 4bb0 3FEF ldi r19,hi8(-127)8613 4bb2 05C0 rjmp .L6448614 .L643:8615 4bb4 2038 cpi r18,1288616 4bb6 3105 cpc r19,__zero_reg__8617 4bb8 14F0 brlt .L6448618 4bba 20E8 ldi r18,lo8(128)8619 4bbc 30E0 ldi r19,hi8(128)8620 .L644:8621 4bbe C901 movw r24,r188622 4bc0 AA27 clr r268623 4bc2 97FD sbrc r25,78624 4bc4 A095 com r268625 4bc6 BA2F mov r27,r268626 4bc8 2091 0000 lds r18,Parameter_Luftdruck_D8627 4bcc 3327 clr r198628 4bce 4427 clr r208629 4bd0 5527 clr r218630 4bd2 BC01 movw r22,r248631 4bd4 CD01 movw r24,r268632 4bd6 0E94 0000 call __mulsi38633 4bda 97FF sbrs r25,78634 4bdc 04C0 rjmp .L6468635 4bde 6D5F subi r22,lo8(-(3))8636 4be0 7F4F sbci r23,hi8(-(3))8637 4be2 8F4F sbci r24,hlo8(-(3))8638 4be4 9F4F sbci r25,hhi8(-(3))8639 .L646:8640 4be6 E2E0 ldi r30,28641 4be8 9595 1: asr r258642 4bea 8795 ror r248643 4bec 7795 ror r238644 4bee 6795 ror r228645 4bf0 EA95 dec r308646 4bf2 D1F7 brne 1b8647 4bf4 9B01 movw r18,r228648 4bf6 5FEF ldi r21,hi8(-255)8649 4bf8 6130 cpi r22,lo8(-255)8650 4bfa 7507 cpc r23,r218651 4bfc 1CF4 brge .L6478652 4bfe 20E0 ldi r18,lo8(-256)8653 4c00 3FEF ldi r19,hi8(-256)8654 4c02 06C0 rjmp .L6488655 .L647:8656 4c04 6F3F cpi r22,2558657 4c06 7105 cpc r23,__zero_reg__8658 4c08 19F0 breq .L6488659 4c0a 14F0 brlt .L6488660 4c0c 20E0 ldi r18,lo8(256)8661 4c0e 31E0 ldi r19,hi8(256)8662 .L648:8663 4c10 8091 0000 lds r24,FC_StatusFlags8664 4c14 807C andi r24,lo8(-64)8665 4c16 49F0 breq .L6508666 4c18 C901 movw r24,r188667 4c1a 37FD sbrc r19,78668 4c1c 0396 adiw r24,38669 .L651:8670 4c1e 9C01 movw r18,r248671 4c20 3595 asr r198672 4c22 2795 ror r188673 4c24 3595 asr r198674 4c26 2795 ror r188675 4c28 0DC0 rjmp .L6528676 .L650:8677 4c2a 8091 0000 lds r24,EE_Parameter+1028678 4c2e 80FF sbrs r24,08679 4c30 09C0 rjmp .L6528680 4c32 C901 movw r24,r188681 4c34 37FD sbrc r19,78682 4c36 0796 adiw r24,78683 .L654:8684 4c38 9C01 movw r18,r248685 4c3a 43E0 ldi r20,38686 4c3c 3595 1: asr r198687 4c3e 2795 ror r188688 4c40 4A95 dec r208689 4c42 E1F7 brne 1b8690 .L652:8691 4c44 820E add r8,r188692 4c46 931E adc r9,r198693 .L634:8694 4c48 2091 0000 lds r18,Parameter_Hoehe_ACC_Wirkung8695 4c4c 2223 tst r188696 4c4e 09F4 brne .+28697 4c50 54C0 rjmp .L6558698 4c52 6091 0000 lds r22,Mess_Integral_Hoch8699 4c56 7091 0000 lds r23,(Mess_Integral_Hoch)+18700 4c5a 8091 0000 lds r24,(Mess_Integral_Hoch)+28701 4c5e 9091 0000 lds r25,(Mess_Integral_Hoch)+38702 4c62 97FF sbrs r25,78703 4c64 04C0 rjmp .L6568704 4c66 6158 subi r22,lo8(-(127))8705 4c68 7F4F sbci r23,hi8(-(127))8706 4c6a 8F4F sbci r24,hlo8(-(127))8707 4c6c 9F4F sbci r25,hhi8(-(127))8708 .L656:8709 4c6e 37E0 ldi r19,78710 4c70 9595 1: asr r258711 4c72 8795 ror r248712 4c74 7795 ror r238713 4c76 6795 ror r228714 4c78 3A95 dec r198715 4c7a D1F7 brne 1b8716 4c7c 3327 clr r198717 4c7e 4427 clr r208718 4c80 5527 clr r218719 4c82 0E94 0000 call __mulsi38720 4c86 97FF sbrs r25,78721 4c88 04C0 rjmp .L6578722 4c8a 615E subi r22,lo8(-(31))8723 4c8c 7F4F sbci r23,hi8(-(31))8724 4c8e 8F4F sbci r24,hlo8(-(31))8725 4c90 9F4F sbci r25,hhi8(-(31))8726 .L657:8727 4c92 B5E0 ldi r27,58728 4c94 9595 1: asr r258729 4c96 8795 ror r248730 4c98 7795 ror r238731 4c9a 6795 ror r228732 4c9c BA95 dec r278733 4c9e D1F7 brne 1b8734 4ca0 6093 0000 sts tmp_long.1,r228735 4ca4 7093 0000 sts (tmp_long.1)+1,r238736 4ca8 8093 0000 sts (tmp_long.1)+2,r248737 4cac 9093 0000 sts (tmp_long.1)+3,r258738 4cb0 6138 cpi r22,lo8(-127)8739 4cb2 AFEF ldi r26,hi8(-127)8740 4cb4 7A07 cpc r23,r268741 4cb6 AFEF ldi r26,hlo8(-127)8742 4cb8 8A07 cpc r24,r268743 4cba AFEF ldi r26,hhi8(-127)8744 4cbc 9A07 cpc r25,r268745 4cbe 2CF4 brge .L6588746 4cc0 80E8 ldi r24,lo8(-128)8747 4cc2 9FEF ldi r25,hi8(-128)8748 4cc4 AFEF ldi r26,hlo8(-128)8749 4cc6 BFEF ldi r27,hhi8(-128)8750 4cc8 0AC0 rjmp .L8048751 .L658:8752 4cca 6F3F cpi r22,lo8(255)8753 4ccc 7105 cpc r23,__zero_reg__8754 4cce 8105 cpc r24,__zero_reg__8755 4cd0 9105 cpc r25,__zero_reg__8756 4cd2 69F0 breq .L6598757 4cd4 64F0 brlt .L6598758 4cd6 80E0 ldi r24,lo8(256)8759 4cd8 91E0 ldi r25,hi8(256)8760 4cda A0E0 ldi r26,hlo8(256)8761 4cdc B0E0 ldi r27,hhi8(256)8762 .L804:8763 4cde 8093 0000 sts tmp_long.1,r248764 4ce2 9093 0000 sts (tmp_long.1)+1,r258765 4ce6 A093 0000 sts (tmp_long.1)+2,r268766 4cea B093 0000 sts (tmp_long.1)+3,r278767 .L659:8768 4cee 8091 0000 lds r24,tmp_long.18769 4cf2 9091 0000 lds r25,(tmp_long.1)+18770 4cf6 880E add r8,r248771 4cf8 991E adc r9,r258772 .L655:8773 4cfa 8091 0000 lds r24,Parameter_Hoehe_GPS_Z8774 4cfe 282F mov r18,r248775 4d00 3327 clr r198776 4d02 8091 0000 lds r24,FromNaviCtrl_Value+48777 4d06 9927 clr r258778 4d08 87FD sbrc r24,78779 4d0a 9095 com r258780 4d0c 289F mul r18,r248781 4d0e F001 movw r30,r08782 4d10 299F mul r18,r258783 4d12 F00D add r31,r08784 4d14 389F mul r19,r248785 4d16 F00D add r31,r08786 4d18 1124 clr r18787 4d1a 9F01 movw r18,r308788 4d1c F7FF sbrs r31,78789 4d1e 02C0 rjmp .L6618790 4d20 2158 subi r18,lo8(-(127))8791 4d22 3F4F sbci r19,hi8(-(127))8792 .L661:8793 4d24 220F lsl r188794 4d26 232F mov r18,r198795 4d28 221F rol r188796 4d2a 330B sbc r19,r198797 4d2c FFEF ldi r31,hi8(-127)8798 4d2e 2138 cpi r18,lo8(-127)8799 4d30 3F07 cpc r19,r318800 4d32 1CF4 brge .L6628801 4d34 20E8 ldi r18,lo8(-128)8802 4d36 3FEF ldi r19,hi8(-128)8803 4d38 06C0 rjmp .L6638804 .L662:8805 4d3a 2F3F cpi r18,2558806 4d3c 3105 cpc r19,__zero_reg__8807 4d3e 19F0 breq .L6638808 4d40 14F0 brlt .L6638809 4d42 20E0 ldi r18,lo8(256)8810 4d44 31E0 ldi r19,hi8(256)8811 .L663:8812 4d46 820E add r8,r188813 4d48 931E adc r9,r198814 4d4a C401 movw r24,r88815 4d4c AA27 clr r268816 4d4e 97FD sbrc r25,78817 4d50 A095 com r268818 4d52 BA2F mov r27,r268819 4d54 E090 0000 lds r14,HoverGas8820 4d58 F090 0000 lds r15,(HoverGas)+18821 4d5c 9701 movw r18,r148822 4d5e 4427 clr r208823 4d60 37FD sbrc r19,78824 4d62 4095 com r208825 4d64 542F mov r21,r208826 4d66 BC01 movw r22,r248827 4d68 CD01 movw r24,r268828 4d6a 0E94 0000 call __mulsi38829 4d6e 97FF sbrs r25,78830 4d70 04C0 rjmp .L6658831 4d72 6150 subi r22,lo8(-(511))8832 4d74 7E4F sbci r23,hi8(-(511))8833 4d76 8F4F sbci r24,hlo8(-(511))8834 4d78 9F4F sbci r25,hhi8(-(511))8835 .L665:8836 4d7a F9E0 ldi r31,98837 4d7c 9595 1: asr r258838 4d7e 8795 ror r248839 4d80 7795 ror r238840 4d82 6795 ror r228841 4d84 FA95 dec r318842 4d86 D1F7 brne 1b8843 4d88 C61A sub r12,r228844 4d8a D70A sbc r13,r238845 4d8c 8091 0000 lds r24,HeightTrimming.228846 4d90 9091 0000 lds r25,(HeightTrimming.22)+18847 4d94 892B or r24,r258848 4d96 09F0 breq .+28849 4d98 60C0 rjmp .L6668850 4d9a 1E14 cp __zero_reg__,r148851 4d9c 1F04 cpc __zero_reg__,r158852 4d9e 0CF0 brlt .+28853 4da0 5CC0 rjmp .L6668854 4da2 9501 movw r18,r108855 4da4 B7FE sbrs r11,78856 4da6 03C0 rjmp .L6678857 4da8 3095 com r198858 4daa 2195 neg r188859 4dac 3F4F sbci r19,lo8(-1)8860 .L667:8861 4dae 2D33 cpi r18,618862 4db0 3105 cpc r19,__zero_reg__8863 4db2 40F4 brsh .L6688864 4db4 8091 0000 lds r24,HoverGasMin.258865 4db8 9091 0000 lds r25,(HoverGasMin.25)+18866 4dbc 8C15 cp r24,r128867 4dbe 9D05 cpc r25,r138868 4dc0 74F5 brge .L8068869 4dc2 26C0 rjmp .L8158870 .L668:8871 4dc4 2C53 subi r18,lo8(-(-60))8872 4dc6 3040 sbci r19,hi8(-(-60))8873 4dc8 E5E0 ldi r30,58874 4dca 3695 1: lsr r198875 4dcc 2795 ror r188876 4dce EA95 dec r308877 4dd0 E1F7 brne 1b8878 4dd2 2031 cpi r18,168879 4dd4 3105 cpc r19,__zero_reg__8880 4dd6 10F0 brlo .L6738881 4dd8 2FE0 ldi r18,lo8(15)8882 4dda 30E0 ldi r19,hi8(15)8883 .L673:8884 4ddc 4091 0000 lds r20,HoverGasMin.258885 4de0 5091 0000 lds r21,(HoverGasMin.25)+18886 4de4 1A14 cp __zero_reg__,r108887 4de6 1B04 cpc __zero_reg__,r118888 4de8 E4F4 brge .L6748889 4dea 80E1 ldi r24,lo8(16)8890 4dec 90E0 ldi r25,hi8(16)8891 4dee 821B sub r24,r188892 4df0 930B sbc r25,r198893 4df2 489F mul r20,r248894 4df4 9001 movw r18,r08895 4df6 499F mul r20,r258896 4df8 300D add r19,r08897 4dfa 589F mul r21,r248898 4dfc 300D add r19,r08899 4dfe 1124 clr r18900 4e00 74E0 ldi r23,48901 4e02 3695 1: lsr r198902 4e04 2795 ror r188903 4e06 7A95 dec r238904 4e08 E1F7 brne 1b8905 4e0a 2C15 cp r18,r128906 4e0c 3D05 cpc r19,r138907 4e0e 20F5 brsh .L8058908 .L815:8909 4e10 8091 0000 lds r24,HoverGasMax.268910 4e14 9091 0000 lds r25,(HoverGasMax.26)+18911 4e18 C816 cp r12,r248912 4e1a D906 cpc r13,r258913 4e1c F4F0 brlt .L6668914 .L806:8915 4e1e 6C01 movw r12,r248916 4e20 1CC0 rjmp .L6668917 .L674:8918 4e22 205F subi r18,lo8(-(16))8919 4e24 3F4F sbci r19,hi8(-(16))8920 4e26 8091 0000 lds r24,HoverGasMax.268921 4e2a 9091 0000 lds r25,(HoverGasMax.26)+18922 4e2e 829F mul r24,r188923 4e30 B001 movw r22,r08924 4e32 839F mul r24,r198925 4e34 700D add r23,r08926 4e36 929F mul r25,r188927 4e38 700D add r23,r08928 4e3a 1124 clr r18929 4e3c 9B01 movw r18,r228930 4e3e 64E0 ldi r22,48931 4e40 3695 1: lsr r198932 4e42 2795 ror r188933 4e44 6A95 dec r228934 4e46 E1F7 brne 1b8935 4e48 4C15 cp r20,r128936 4e4a 5D05 cpc r21,r138937 4e4c 14F0 brlt .L6798938 4e4e 6A01 movw r12,r208939 4e50 04C0 rjmp .L6668940 .L679:8941 4e52 C216 cp r12,r188942 4e54 D306 cpc r13,r198943 4e56 08F0 brlo .L6668944 .L805:8945 4e58 6901 movw r12,r188946 .L666:8947 4e5a C601 movw r24,r128948 4e5c AA27 clr r268949 4e5e 97FD sbrc r25,78950 4e60 A095 com r268951 4e62 BA2F mov r27,r268952 4e64 2DE0 ldi r18,138953 4e66 880F 1: lsl r248954 4e68 991F rol r258955 4e6a AA1F rol r268956 4e6c BB1F rol r278957 4e6e 2A95 dec r188958 4e70 D1F7 brne 1b8959 4e72 9801 movw r18,r168960 4e74 4427 clr r208961 4e76 37FD sbrc r19,78962 4e78 4095 com r208963 4e7a 542F mov r21,r208964 4e7c BC01 movw r22,r248965 4e7e CD01 movw r24,r268966 4e80 0E94 0000 call __divmodsi48967 4e84 2093 0000 sts tmp_long2.2,r188968 4e88 3093 0000 sts (tmp_long2.2)+1,r198969 4e8c 4093 0000 sts (tmp_long2.2)+2,r208970 4e90 5093 0000 sts (tmp_long2.2)+3,r218971 4e94 C090 0000 lds r12,tmp_long2.28972 4e98 D090 0000 lds r13,(tmp_long2.2)+18973 4e9c 8091 0000 lds r24,FilterHCGas.238974 4ea0 9091 0000 lds r25,(FilterHCGas.23)+18975 4ea4 9C01 movw r18,r248976 4ea6 220F lsl r188977 4ea8 331F rol r198978 4eaa 280F add r18,r248979 4eac 391F adc r19,r258980 4eae 2C0D add r18,r128981 4eb0 3D1D adc r19,r138982 4eb2 37FF sbrs r19,78983 4eb4 02C0 rjmp .L6828984 4eb6 2D5F subi r18,lo8(-(3))8985 4eb8 3F4F sbci r19,hi8(-(3))8986 .L682:8987 4eba A901 movw r20,r188988 4ebc 5595 asr r218989 4ebe 4795 ror r208990 4ec0 5595 asr r218991 4ec2 4795 ror r208992 4ec4 5093 0000 sts (FilterHCGas.23)+1,r218993 4ec8 4093 0000 sts FilterHCGas.23,r208994 4ecc 8091 0000 lds r24,EE_Parameter+148995 4ed0 282F mov r18,r248996 4ed2 3327 clr r198997 4ed4 220F lsl r188998 4ed6 331F rol r198999 4ed8 220F lsl r189000 4eda 331F rol r199001 4edc 2417 cp r18,r209002 4ede 3507 cpc r19,r219003 4ee0 6CF4 brge .L8079004 4ee2 8091 0000 lds r24,MAX_GAS9005 4ee6 282F mov r18,r249006 4ee8 3327 clr r199007 4eea 220F lsl r189008 4eec 331F rol r199009 4eee 220F lsl r189010 4ef0 331F rol r199011 4ef2 2055 subi r18,lo8(-(-80))9012 4ef4 3040 sbci r19,hi8(-(-80))9013 4ef6 4217 cp r20,r189014 4ef8 5307 cpc r21,r199015 4efa 24F0 brlt .L6849016 .L807:9017 4efc 3093 0000 sts (FilterHCGas.23)+1,r199018 4f00 2093 0000 sts FilterHCGas.23,r189019 .L684:9020 4f04 8091 0000 lds r24,EE_Parameter+1029021 4f08 80FF sbrs r24,09022 4f0a 14C0 rjmp .L6869023 4f0c 8091 0000 lds r24,FilterHCGas.239024 4f10 9091 0000 lds r25,(FilterHCGas.23)+19025 4f14 A981 ldd r26,Y+19026 4f16 BA81 ldd r27,Y+29027 4f18 8A17 cp r24,r269028 4f1a 9B07 cpc r25,r279029 4f1c 24F0 brlt .L6879030 4f1e B093 0000 sts (FilterHCGas.23)+1,r279031 4f22 A093 0000 sts FilterHCGas.23,r269032 .L687:9033 4f26 E091 0000 lds r30,FilterHCGas.239034 4f2a F091 0000 lds r31,(FilterHCGas.23)+19035 4f2e FA83 std Y+2,r319036 4f30 E983 std Y+1,r309037 4f32 5CC0 rjmp .L6909038 .L686:9039 4f34 2981 ldd r18,Y+19040 4f36 3A81 ldd r19,Y+29041 4f38 2E19 sub r18,r149042 4f3a 3F09 sbc r19,r159043 4f3c 37FF sbrs r19,79044 4f3e 02C0 rjmp .L6899045 4f40 2D5F subi r18,lo8(-(3))9046 4f42 3F4F sbci r19,hi8(-(3))9047 .L689:9048 4f44 3595 asr r199049 4f46 2795 ror r189050 4f48 3595 asr r199051 4f4a 2795 ror r189052 4f4c E090 0000 lds r14,FilterHCGas.239053 4f50 F090 0000 lds r15,(FilterHCGas.23)+19054 4f54 E20E add r14,r189055 4f56 F31E adc r15,r199056 4f58 FA82 std Y+2,r159057 4f5a E982 std Y+1,r149058 4f5c 47C0 rjmp .L6909059 .L600:9060 4f5e 8091 0000 lds r24,EE_Parameter+229061 4f62 8823 tst r249062 4f64 01F5 brne .L6919063 4f66 6091 0000 lds r22,HoverGas9064 4f6a 7091 0000 lds r23,(HoverGas)+19065 4f6e 77FF sbrs r23,79066 4f70 02C0 rjmp .L6929067 4f72 6D5F subi r22,lo8(-(3))9068 4f74 7F4F sbci r23,hi8(-(3))9069 .L692:9070 4f76 7595 asr r239071 4f78 6795 ror r229072 4f7a 7595 asr r239073 4f7c 6795 ror r229074 4f7e 4091 0000 lds r20,UBat9075 4f82 5091 0000 lds r21,(UBat)+19076 4f86 8091 0000 lds r24,BattLowVoltageWarning9077 4f8a 282F mov r18,r249078 4f8c 3327 clr r199079 4f8e 649F mul r22,r209080 4f90 C001 movw r24,r09081 4f92 659F mul r22,r219082 4f94 900D add r25,r09083 4f96 749F mul r23,r209084 4f98 900D add r25,r09085 4f9a 1124 clr r19086 4f9c B901 movw r22,r189087 4f9e 0E94 0000 call __divmodhi49088 4fa2 CB01 movw r24,r229089 4fa4 01C0 rjmp .L8089090 .L691:9091 4fa6 9927 clr r259092 .L808:9093 4fa8 9093 0000 sts (StickGasHover.24)+1,r259094 4fac 8093 0000 sts StickGasHover.24,r249095 4fb0 8091 0000 lds r24,StickGasHover.249096 4fb4 9091 0000 lds r25,(StickGasHover.24)+19097 4fb8 8734 cpi r24,719098 4fba 9105 cpc r25,__zero_reg__9099 4fbc 1CF4 brge .L6949100 4fbe 86E4 ldi r24,lo8(70)9101 4fc0 90E0 ldi r25,hi8(70)9102 4fc2 05C0 rjmp .L8099103 .L694:9104 4fc4 8639 cpi r24,1509105 4fc6 9105 cpc r25,__zero_reg__9106 4fc8 34F0 brlt .L6959107 4fca 86E9 ldi r24,lo8(150)9108 4fcc 90E0 ldi r25,hi8(150)9109 .L809:9110 4fce 9093 0000 sts (StickGasHover.24)+1,r259111 4fd2 8093 0000 sts StickGasHover.24,r249112 .L695:9113 4fd6 2981 ldd r18,Y+19114 4fd8 3A81 ldd r19,Y+29115 4fda 3093 0000 sts (FilterHCGas.23)+1,r199116 4fde 2093 0000 sts FilterHCGas.23,r189117 4fe2 8091 0000 lds r24,FC_StatusFlags9118 4fe6 806C ori r24,lo8(-64)9119 4fe8 8093 0000 sts FC_StatusFlags,r249120 .L690:9121 4fec 8091 0000 lds r24,FC_StatusFlags9122 4ff0 9927 clr r259123 4ff2 9C01 movw r18,r249124 4ff4 2270 andi r18,lo8(2)9125 4ff6 3070 andi r19,hi8(2)9126 4ff8 81FF sbrs r24,19127 4ffa 1CC1 rjmp .L6979128 4ffc 8091 0000 lds r24,HoverGasFilter.279129 5000 9091 0000 lds r25,(HoverGasFilter.27)+19130 5004 A091 0000 lds r26,(HoverGasFilter.27)+29131 5008 B091 0000 lds r27,(HoverGasFilter.27)+39132 500c 0097 sbiw r24,09133 500e A105 cpc r26,__zero_reg__9134 5010 B105 cpc r27,__zero_reg__9135 5012 21F0 breq .L6999136 5014 8091 0000 lds r24,StartTrigger9137 5018 8130 cpi r24,lo8(1)9138 501a B1F4 brne .L6989139 .L699:9140 501c 4981 ldd r20,Y+19141 501e 5A81 ldd r21,Y+29142 5020 CA01 movw r24,r209143 5022 AA27 clr r269144 5024 97FD sbrc r25,79145 5026 A095 com r269146 5028 BA2F mov r27,r269147 502a 2EE0 ldi r18,149148 502c 880F 1: lsl r249149 502e 991F rol r259150 5030 AA1F rol r269151 5032 BB1F rol r279152 5034 2A95 dec r189153 5036 D1F7 brne 1b9154 5038 8093 0000 sts HoverGasFilter.27,r249155 503c 9093 0000 sts (HoverGasFilter.27)+1,r259156 5040 A093 0000 sts (HoverGasFilter.27)+2,r269157 5044 B093 0000 sts (HoverGasFilter.27)+3,r279158 .L698:9159 5048 8091 0000 lds r24,StartTrigger9160 504c 8130 cpi r24,lo8(1)9161 504e 19F4 brne .L7009162 5050 82E0 ldi r24,lo8(2)9163 5052 8093 0000 sts StartTrigger,r249164 .L700:9165 5056 6981 ldd r22,Y+19166 5058 7A81 ldd r23,Y+29167 505a CB01 movw r24,r229168 505c AA27 clr r269169 505e 97FD sbrc r25,79170 5060 A095 com r269171 5062 BA2F mov r27,r269172 5064 9801 movw r18,r169173 5066 4427 clr r209174 5068 37FD sbrc r19,79175 506a 4095 com r209176 506c 542F mov r21,r209177 506e BC01 movw r22,r249178 5070 CD01 movw r24,r269179 5072 0E94 0000 call __mulsi39180 5076 DC01 movw r26,r249181 5078 CB01 movw r24,r229182 507a 8093 0000 sts tmp_long2.2,r249183 507e 9093 0000 sts (tmp_long2.2)+1,r259184 5082 A093 0000 sts (tmp_long2.2)+2,r269185 5086 B093 0000 sts (tmp_long2.2)+3,r279186 508a B7FF sbrs r27,79187 508c 04C0 rjmp .L7019188 508e 8150 subi r24,lo8(-(8191))9189 5090 904E sbci r25,hi8(-(8191))9190 5092 AF4F sbci r26,hlo8(-(8191))9191 5094 BF4F sbci r27,hhi8(-(8191))9192 .L701:9193 5096 7C01 movw r14,r249194 5098 8D01 movw r16,r269195 509a FDE0 ldi r31,139196 509c 1595 1: asr r179197 509e 0795 ror r169198 50a0 F794 ror r159199 50a2 E794 ror r149200 50a4 FA95 dec r319201 50a6 D1F7 brne 1b9202 50a8 E092 0000 sts tmp_long2.2,r149203 50ac F092 0000 sts (tmp_long2.2)+1,r159204 50b0 0093 0000 sts (tmp_long2.2)+2,r169205 50b4 1093 0000 sts (tmp_long2.2)+3,r179206 50b8 6091 0000 lds r22,modell_fliegt9207 50bc 7091 0000 lds r23,(modell_fliegt)+19208 50c0 8FE0 ldi r24,hi8(4000)9209 50c2 603A cpi r22,lo8(4000)9210 50c4 7807 cpc r23,r249211 50c6 50F5 brsh .L7029212 50c8 8091 0000 lds r24,HoverGasFilter.279213 50cc 9091 0000 lds r25,(HoverGasFilter.27)+19214 50d0 A091 0000 lds r26,(HoverGasFilter.27)+29215 50d4 B091 0000 lds r27,(HoverGasFilter.27)+39216 50d8 9C01 movw r18,r249217 50da AD01 movw r20,r269218 50dc EAE0 ldi r30,109219 50de 5695 1: lsr r219220 50e0 4795 ror r209221 50e2 3795 ror r199222 50e4 2795 ror r189223 50e6 EA95 dec r309224 50e8 D1F7 brne 1b9225 50ea 821B sub r24,r189226 50ec 930B sbc r25,r199227 50ee A40B sbc r26,r209228 50f0 B50B sbc r27,r219229 50f2 A801 movw r20,r169230 50f4 9701 movw r18,r149231 50f6 F4E0 ldi r31,49232 50f8 220F 1: lsl r189233 50fa 331F rol r199234 50fc 441F rol r209235 50fe 551F rol r219236 5100 FA95 dec r319237 5102 D1F7 brne 1b9238 5104 820F add r24,r189239 5106 931F adc r25,r199240 5108 A41F adc r26,r209241 510a B51F adc r27,r219242 510c 8093 0000 sts HoverGasFilter.27,r249243 5110 9093 0000 sts (HoverGasFilter.27)+1,r259244 5114 A093 0000 sts (HoverGasFilter.27)+2,r269245 5118 B093 0000 sts (HoverGasFilter.27)+3,r279246 .L702:9247 511c 6054 subi r22,lo8(8000)9248 511e 7F41 sbci r23,hi8(8000)9249 5120 18F5 brsh .L7039250 5122 8091 0000 lds r24,HoverGasFilter.279251 5126 9091 0000 lds r25,(HoverGasFilter.27)+19252 512a A091 0000 lds r26,(HoverGasFilter.27)+29253 512e B091 0000 lds r27,(HoverGasFilter.27)+39254 5132 9C01 movw r18,r249255 5134 AD01 movw r20,r269256 5136 ECE0 ldi r30,129257 5138 5695 1: lsr r219258 513a 4795 ror r209259 513c 3795 ror r199260 513e 2795 ror r189261 5140 EA95 dec r309262 5142 D1F7 brne 1b9263 5144 821B sub r24,r189264 5146 930B sbc r25,r199265 5148 A40B sbc r26,r209266 514a B50B sbc r27,r219267 514c A801 movw r20,r169268 514e 9701 movw r18,r149269 5150 72E0 ldi r23,29270 5152 220F 1: lsl r189271 5154 331F rol r199272 5156 441F rol r209273 5158 551F rol r219274 515a 7A95 dec r239275 515c D1F7 brne 1b9276 515e 820F add r24,r189277 5160 931F adc r25,r199278 5162 A41F adc r26,r209279 5164 B51F adc r27,r219280 5166 29C0 rjmp .L8109281 .L703:9282 5168 8091 0000 lds r24,VarioMeter9283 516c 9091 0000 lds r25,(VarioMeter)+19284 5170 8091 0000 lds r24,VarioMeter9285 5174 9091 0000 lds r25,(VarioMeter)+19286 5178 97FF sbrs r25,79287 517a 03C0 rjmp .L7069288 517c 9095 com r259289 517e 8195 neg r249290 5180 9F4F sbci r25,lo8(-1)9291 .L706:9292 5182 8436 cpi r24,1009293 5184 9105 cpc r25,__zero_reg__9294 5186 0CF5 brge .L7049295 5188 8091 0000 lds r24,HoverGasFilter.279296 518c 9091 0000 lds r25,(HoverGasFilter.27)+19297 5190 A091 0000 lds r26,(HoverGasFilter.27)+29298 5194 B091 0000 lds r27,(HoverGasFilter.27)+39299 5198 9C01 movw r18,r249300 519a AD01 movw r20,r269301 519c 6EE0 ldi r22,149302 519e 5695 1: lsr r219303 51a0 4795 ror r209304 51a2 3795 ror r199305 51a4 2795 ror r189306 51a6 6A95 dec r229307 51a8 D1F7 brne 1b9308 51aa 821B sub r24,r189309 51ac 930B sbc r25,r199310 51ae A40B sbc r26,r209311 51b0 B50B sbc r27,r219312 51b2 8E0D add r24,r149313 51b4 9F1D adc r25,r159314 51b6 A01F adc r26,r169315 51b8 B11F adc r27,r179316 .L810:9317 51ba 8093 0000 sts HoverGasFilter.27,r249318 51be 9093 0000 sts (HoverGasFilter.27)+1,r259319 51c2 A093 0000 sts (HoverGasFilter.27)+2,r269320 51c6 B093 0000 sts (HoverGasFilter.27)+3,r279321 .L704:9322 51ca 8091 0000 lds r24,HoverGasFilter.279323 51ce 9091 0000 lds r25,(HoverGasFilter.27)+19324 51d2 A091 0000 lds r26,(HoverGasFilter.27)+29325 51d6 B091 0000 lds r27,(HoverGasFilter.27)+39326 51da 1EE0 ldi r17,149327 51dc B695 1: lsr r279328 51de A795 ror r269329 51e0 9795 ror r259330 51e2 8795 ror r249331 51e4 1A95 dec r179332 51e6 D1F7 brne 1b9333 51e8 9093 0000 sts (HoverGas)+1,r259334 51ec 8093 0000 sts HoverGas,r249335 51f0 4091 0000 lds r20,EE_Parameter+209336 51f4 4423 tst r209337 51f6 99F0 breq .L7079338 51f8 5527 clr r219339 51fa 9C01 movw r18,r249340 51fc BA01 movw r22,r209341 51fe 0E94 0000 call __divmodhi49342 5202 C901 movw r24,r189343 5204 861B sub r24,r229344 5206 970B sbc r25,r239345 5208 9093 0000 sts (HoverGasMin.25)+1,r259346 520c 8093 0000 sts HoverGasMin.25,r249347 5210 260F add r18,r229348 5212 371F adc r19,r239349 5214 3093 0000 sts (HoverGasMax.26)+1,r199350 5218 2093 0000 sts HoverGasMax.26,r189351 521c 1FC0 rjmp .L7109352 .L707:9353 521e 1092 0000 sts (HoverGasMin.25)+1,__zero_reg__9354 5222 1092 0000 sts HoverGasMin.25,__zero_reg__9355 5226 8FEF ldi r24,lo8(1023)9356 5228 93E0 ldi r25,hi8(1023)9357 522a 9093 0000 sts (HoverGasMax.26)+1,r259358 522e 8093 0000 sts HoverGasMax.26,r249359 5232 14C0 rjmp .L7109360 .L697:9361 5234 1092 0000 sts StartTrigger,__zero_reg__9362 5238 1092 0000 sts HoverGasFilter.27,__zero_reg__9363 523c 1092 0000 sts (HoverGasFilter.27)+1,__zero_reg__9364 5240 1092 0000 sts (HoverGasFilter.27)+2,__zero_reg__9365 5244 1092 0000 sts (HoverGasFilter.27)+3,__zero_reg__9366 5248 3093 0000 sts (HoverGas)+1,r199367 524c 2093 0000 sts HoverGas,r189368 5250 05C0 rjmp .L7109369 .L583:9370 5252 8091 0000 lds r24,FC_StatusFlags9371 5256 806C ori r24,lo8(-64)9372 5258 8093 0000 sts FC_StatusFlags,r249373 .L710:9374 525c 2090 0000 lds r2,MIN_GAS9375 5260 222D mov r18,r29376 5262 3327 clr r199377 5264 220F lsl r189378 5266 331F rol r199379 5268 220F lsl r189380 526a 331F rol r199381 526c 285D subi r18,lo8(-(40))9382 526e 3F4F sbci r19,hi8(-(40))9383 5270 A981 ldd r26,Y+19384 5272 BA81 ldd r27,Y+29385 5274 2A17 cp r18,r269386 5276 3B07 cpc r19,r279387 5278 14F0 brlt .L7119388 527a 3A83 std Y+2,r199389 527c 2983 std Y+1,r189390 .L711:9391 527e 3090 0000 lds r3,MAX_GAS9392 5282 832D mov r24,r39393 5284 9927 clr r259394 5286 880F lsl r249395 5288 991F rol r259396 528a 880F lsl r249397 528c 991F rol r259398 528e 8055 subi r24,lo8(-(-80))9399 5290 9040 sbci r25,hi8(-(-80))9400 5292 E981 ldd r30,Y+19401 5294 FA81 ldd r31,Y+29402 5296 8E17 cp r24,r309403 5298 9F07 cpc r25,r319404 529a 14F4 brge .L7129405 529c 9A83 std Y+2,r259406 529e 8983 std Y+1,r249407 .L712:9408 52a0 8091 0000 lds r24,MissingMotor9409 52a4 8823 tst r249410 52a6 21F4 brne .L7149411 52a8 8091 0000 lds r24,Capacity+89412 52ac 8F3F cpi r24,lo8(-1)9413 52ae A1F0 breq .L7139414 .L714:9415 52b0 8091 0000 lds r24,modell_fliegt9416 52b4 9091 0000 lds r25,(modell_fliegt)+19417 52b8 0297 sbiw r24,29418 52ba C097 sbiw r24,489419 52bc 68F4 brsh .L7139420 52be E980 ldd r14,Y+19421 52c0 FA80 ldd r15,Y+29422 52c2 1E14 cp __zero_reg__,r149423 52c4 1F04 cpc __zero_reg__,r159424 52c6 44F4 brge .L7139425 52c8 81E0 ldi r24,lo8(1)9426 52ca 90E0 ldi r25,hi8(1)9427 52cc 9093 0000 sts (modell_fliegt)+1,r259428 52d0 8093 0000 sts modell_fliegt,r249429 52d4 3A83 std Y+2,r199430 52d6 2983 std Y+1,r189431 .L713:9432 52d8 0981 ldd r16,Y+19433 52da 1A81 ldd r17,Y+29434 52dc 1093 0000 sts (DebugOut+16)+1,r179435 52e0 0093 0000 sts DebugOut+16,r169436 52e4 8091 0000 lds r24,sollGier.09437 52e8 9091 0000 lds r25,(sollGier.0)+19438 52ec A091 0000 lds r26,(sollGier.0)+29439 52f0 B091 0000 lds r27,(sollGier.0)+39440 52f4 F2E0 ldi r31,29441 52f6 880F 1: lsl r249442 52f8 991F rol r259443 52fa AA1F rol r269444 52fc BB1F rol r279445 52fe FA95 dec r319446 5300 D1F7 brne 1b9447 5302 0091 0000 lds r16,MesswertGier9448 5306 1091 0000 lds r17,(MesswertGier)+19449 530a 081B sub r16,r249450 530c 190B sbc r17,r259451 530e 2981 ldd r18,Y+19452 5310 3A81 ldd r19,Y+29453 5312 213A cpi r18,1619454 5314 3105 cpc r19,__zero_reg__9455 5316 8CF0 brlt .L7169456 5318 C901 movw r24,r189457 531a 37FD sbrc r19,79458 531c 0196 adiw r24,19459 .L718:9460 531e 9595 asr r259461 5320 8795 ror r249462 5322 8017 cp r24,r169463 5324 9107 cpc r25,r179464 5326 0CF4 brge .L7179465 5328 8C01 movw r16,r249466 .L717:9467 532a 9095 com r259468 532c 8195 neg r249469 532e 9F4F sbci r25,lo8(-1)9470 5330 0817 cp r16,r249471 5332 1907 cpc r17,r259472 5334 6CF4 brge .L7239473 5336 8C01 movw r16,r249474 5338 0BC0 rjmp .L7239475 .L716:9476 533a 0135 cpi r16,819477 533c 1105 cpc r17,__zero_reg__9478 533e 14F0 brlt .L7249479 5340 00E5 ldi r16,lo8(80)9480 5342 10E0 ldi r17,hi8(80)9481 .L724:9482 5344 3FEF ldi r19,hi8(-80)9483 5346 003B cpi r16,lo8(-80)9484 5348 1307 cpc r17,r199485 534a 14F4 brge .L7239486 534c 00EB ldi r16,lo8(-80)9487 534e 1FEF ldi r17,hi8(-80)9488 .L723:9489 5350 232D mov r18,r39490 5352 3327 clr r199491 5354 220F lsl r189492 5356 331F rol r199493 5358 220F lsl r189494 535a 331F rol r199495 535c C901 movw r24,r189496 535e 4981 ldd r20,Y+19497 5360 5A81 ldd r21,Y+29498 5362 841B sub r24,r209499 5364 950B sbc r25,r219500 5366 8017 cp r24,r169501 5368 9107 cpc r25,r179502 536a 0CF4 brge .L7269503 536c 8C01 movw r16,r249504 .L726:9505 536e 6981 ldd r22,Y+19506 5370 7A81 ldd r23,Y+29507 5372 621B sub r22,r189508 5374 730B sbc r23,r199509 5376 0617 cp r16,r229510 5378 1707 cpc r17,r239511 537a 0CF4 brge .L7279512 537c 8B01 movw r16,r229513 .L727:9514 537e 8091 0000 lds r24,MesswertNick9515 5382 9091 0000 lds r25,(MesswertNick)+19516 5386 6091 0000 lds r22,StickNick9517 538a 7091 0000 lds r23,(StickNick)+19518 538e 861B sub r24,r229519 5390 970B sbc r25,r239520 5392 9093 0000 sts (DiffNick)+1,r259521 5396 8093 0000 sts DiffNick,r249522 539a D090 0000 lds r13,IntegralFaktor9523 539e 2091 0000 lds r18,SummeNick9524 53a2 3091 0000 lds r19,(SummeNick)+19525 53a6 4091 0000 lds r20,(SummeNick)+29526 53aa 5091 0000 lds r21,(SummeNick)+39527 53ae DD20 tst r139528 53b0 41F0 breq .L7289529 53b2 661A sub r6,r229530 53b4 770A sbc r7,r239531 53b6 C301 movw r24,r69532 53b8 AA27 clr r269533 53ba 97FD sbrc r25,79534 53bc A095 com r269535 53be BA2F mov r27,r269536 53c0 04C0 rjmp .L8119537 .L728:9538 53c2 AA27 clr r269539 53c4 97FD sbrc r25,79540 53c6 A095 com r269541 53c8 BA2F mov r27,r269542 .L811:9543 53ca 280F add r18,r249544 53cc 391F adc r19,r259545 53ce 4A1F adc r20,r269546 53d0 5B1F adc r21,r279547 53d2 2093 0000 sts SummeNick,r189548 53d6 3093 0000 sts (SummeNick)+1,r199549 53da 4093 0000 sts (SummeNick)+2,r209550 53de 5093 0000 sts (SummeNick)+3,r219551 53e2 8091 0000 lds r24,SummeNick9552 53e6 9091 0000 lds r25,(SummeNick)+19553 53ea A091 0000 lds r26,(SummeNick)+29554 53ee B091 0000 lds r27,(SummeNick)+39555 53f2 8150 subi r24,lo8(64001)9556 53f4 9A4F sbci r25,hi8(64001)9557 53f6 A040 sbci r26,hlo8(64001)9558 53f8 B040 sbci r27,hhi8(64001)9559 53fa 64F0 brlt .L7309560 53fc 80E0 ldi r24,lo8(64000)9561 53fe 9AEF ldi r25,hi8(64000)9562 5400 A0E0 ldi r26,hlo8(64000)9563 5402 B0E0 ldi r27,hhi8(64000)9564 5404 8093 0000 sts SummeNick,r249565 5408 9093 0000 sts (SummeNick)+1,r259566 540c A093 0000 sts (SummeNick)+2,r269567 5410 B093 0000 sts (SummeNick)+3,r279568 .L730:9569 5414 8091 0000 lds r24,SummeNick9570 5418 9091 0000 lds r25,(SummeNick)+19571 541c A091 0000 lds r26,(SummeNick)+29572 5420 B091 0000 lds r27,(SummeNick)+39573 5424 8050 subi r24,lo8(-64000)9574 5426 9640 sbci r25,hi8(-64000)9575 5428 AF4F sbci r26,hlo8(-64000)9576 542a BF4F sbci r27,hhi8(-64000)9577 542c 64F4 brge .L7319578 542e 80E0 ldi r24,lo8(-64000)9579 5430 96E0 ldi r25,hi8(-64000)9580 5432 AFEF ldi r26,hlo8(-64000)9581 5434 BFEF ldi r27,hhi8(-64000)9582 5436 8093 0000 sts SummeNick,r249583 543a 9093 0000 sts (SummeNick)+1,r259584 543e A093 0000 sts (SummeNick)+2,r269585 5442 B093 0000 sts (SummeNick)+3,r279586 .L731:9587 5446 C090 0000 lds r12,EE_Parameter+359588 544a 2091 0000 lds r18,DiffNick9589 544e 3091 0000 lds r19,(DiffNick)+19590 5452 F8E0 ldi r31,lo8(8)9591 5454 FC15 cp r31,r129592 5456 98F0 brlo .L7329593 5458 8C2D mov r24,r129594 545a 9927 clr r259595 545c 829F mul r24,r189596 545e 7001 movw r14,r09597 5460 839F mul r24,r199598 5462 F00C add r15,r09599 5464 929F mul r25,r189600 5466 F00C add r15,r09601 5468 1124 clr r19602 546a C701 movw r24,r149603 546c F7FC sbrc r15,79604 546e 0796 adiw r24,79605 .L733:9606 5470 7C01 movw r14,r249607 5472 63E0 ldi r22,39608 5474 F594 1: asr r159609 5476 E794 ror r149610 5478 6A95 dec r229611 547a E1F7 brne 1b9612 547c 12C0 rjmp .L7349613 .L732:9614 547e 8C2D mov r24,r129615 5480 8695 lsr r249616 5482 9927 clr r259617 5484 829F mul r24,r189618 5486 A001 movw r20,r09619 5488 839F mul r24,r199620 548a 500D add r21,r09621 548c 929F mul r25,r189622 548e 500D add r21,r09623 5490 1124 clr r19624 5492 CA01 movw r24,r209625 5494 57FD sbrc r21,79626 5496 0396 adiw r24,39627 .L735:9628 5498 7C01 movw r14,r249629 549a F594 asr r159630 549c E794 ror r149631 549e F594 asr r159632 54a0 E794 ror r149633 .L734:9634 54a2 A090 0000 lds r10,Ki9635 54a6 B090 0000 lds r11,(Ki)+19636 54aa 9501 movw r18,r109637 54ac 4427 clr r209638 54ae 37FD sbrc r19,79639 54b0 4095 com r209640 54b2 542F mov r21,r209641 54b4 8091 0000 lds r24,SummeNick9642 54b8 9091 0000 lds r25,(SummeNick)+19643 54bc A091 0000 lds r26,(SummeNick)+29644 54c0 B091 0000 lds r27,(SummeNick)+39645 54c4 BC01 movw r22,r249646 54c6 CD01 movw r24,r269647 54c8 0E94 0000 call __divmodsi49648 54cc E20E add r14,r189649 54ce F31E adc r15,r199650 54d0 9090 0000 lds r9,Parameter_DynamicStability9651 54d4 692D mov r22,r99652 54d6 7727 clr r239653 54d8 8827 clr r249654 54da 9927 clr r259655 54dc 9801 movw r18,r169656 54de 17FF sbrs r17,79657 54e0 04C0 rjmp .L7369658 54e2 2227 clr r189659 54e4 3327 clr r199660 54e6 201B sub r18,r169661 54e8 310B sbc r19,r179662 .L736:9663 54ea 37FF sbrs r19,79664 54ec 02C0 rjmp .L7379665 54ee 2F5F subi r18,lo8(-(1))9666 54f0 3F4F sbci r19,hi8(-(1))9667 .L737:9668 54f2 3595 asr r199669 54f4 2795 ror r189670 54f6 A981 ldd r26,Y+19671 54f8 BA81 ldd r27,Y+29672 54fa 2A0F add r18,r269673 54fc 3B1F adc r19,r279674 54fe 4427 clr r209675 5500 37FD sbrc r19,79676 5502 4095 com r209677 5504 542F mov r21,r209678 5506 0E94 0000 call __mulsi39679 550a 97FF sbrs r25,79680 550c 04C0 rjmp .L7389681 550e 615C subi r22,lo8(-(63))9682 5510 7F4F sbci r23,hi8(-(63))9683 5512 8F4F sbci r24,hlo8(-(63))9684 5514 9F4F sbci r25,hhi8(-(63))9685 .L738:9686 5516 26E0 ldi r18,69687 5518 9595 1: asr r259688 551a 8795 ror r249689 551c 7795 ror r239690 551e 6795 ror r229691 5520 2A95 dec r189692 5522 D1F7 brne 1b9693 5524 9B01 movw r18,r229694 5526 6E15 cp r22,r149695 5528 7F05 cpc r23,r159696 552a 0CF4 brge .L7399697 552c 7B01 movw r14,r229698 .L739:9699 552e 3095 com r199700 5530 2195 neg r189701 5532 3F4F sbci r19,lo8(-1)9702 5534 E216 cp r14,r189703 5536 F306 cpc r15,r199704 5538 0CF4 brge .L7409705 553a 7901 movw r14,r189706 .L740:9707 553c 8091 0000 lds r24,MesswertRoll9708 5540 9091 0000 lds r25,(MesswertRoll)+19709 5544 6091 0000 lds r22,StickRoll9710 5548 7091 0000 lds r23,(StickRoll)+19711 554c 861B sub r24,r229712 554e 970B sbc r25,r239713 5550 9093 0000 sts (DiffRoll)+1,r259714 5554 8093 0000 sts DiffRoll,r249715 5558 2091 0000 lds r18,SummeRoll9716 555c 3091 0000 lds r19,(SummeRoll)+19717 5560 4091 0000 lds r20,(SummeRoll)+29718 5564 5091 0000 lds r21,(SummeRoll)+39719 5568 DD20 tst r139720 556a 41F0 breq .L7419721 556c 461A sub r4,r229722 556e 570A sbc r5,r239723 5570 C201 movw r24,r49724 5572 AA27 clr r269725 5574 97FD sbrc r25,79726 5576 A095 com r269727 5578 BA2F mov r27,r269728 557a 04C0 rjmp .L8129729 .L741:9730 557c AA27 clr r269731 557e 97FD sbrc r25,79732 5580 A095 com r269733 5582 BA2F mov r27,r269734 .L812:9735 5584 280F add r18,r249736 5586 391F adc r19,r259737 5588 4A1F adc r20,r269738 558a 5B1F adc r21,r279739 558c 2093 0000 sts SummeRoll,r189740 5590 3093 0000 sts (SummeRoll)+1,r199741 5594 4093 0000 sts (SummeRoll)+2,r209742 5598 5093 0000 sts (SummeRoll)+3,r219743 559c 8091 0000 lds r24,SummeRoll9744 55a0 9091 0000 lds r25,(SummeRoll)+19745 55a4 A091 0000 lds r26,(SummeRoll)+29746 55a8 B091 0000 lds r27,(SummeRoll)+39747 55ac 8150 subi r24,lo8(64001)9748 55ae 9A4F sbci r25,hi8(64001)9749 55b0 A040 sbci r26,hlo8(64001)9750 55b2 B040 sbci r27,hhi8(64001)9751 55b4 64F0 brlt .L7439752 55b6 80E0 ldi r24,lo8(64000)9753 55b8 9AEF ldi r25,hi8(64000)9754 55ba A0E0 ldi r26,hlo8(64000)9755 55bc B0E0 ldi r27,hhi8(64000)9756 55be 8093 0000 sts SummeRoll,r249757 55c2 9093 0000 sts (SummeRoll)+1,r259758 55c6 A093 0000 sts (SummeRoll)+2,r269759 55ca B093 0000 sts (SummeRoll)+3,r279760 .L743:9761 55ce 8091 0000 lds r24,SummeRoll9762 55d2 9091 0000 lds r25,(SummeRoll)+19763 55d6 A091 0000 lds r26,(SummeRoll)+29764 55da B091 0000 lds r27,(SummeRoll)+39765 55de 8050 subi r24,lo8(-64000)9766 55e0 9640 sbci r25,hi8(-64000)9767 55e2 AF4F sbci r26,hlo8(-64000)9768 55e4 BF4F sbci r27,hhi8(-64000)9769 55e6 64F4 brge .L7449770 55e8 80E0 ldi r24,lo8(-64000)9771 55ea 96E0 ldi r25,hi8(-64000)9772 55ec AFEF ldi r26,hlo8(-64000)9773 55ee BFEF ldi r27,hhi8(-64000)9774 55f0 8093 0000 sts SummeRoll,r249775 55f4 9093 0000 sts (SummeRoll)+1,r259776 55f8 A093 0000 sts (SummeRoll)+2,r269777 55fc B093 0000 sts (SummeRoll)+3,r279778 .L744:9779 5600 2091 0000 lds r18,DiffRoll9780 5604 3091 0000 lds r19,(DiffRoll)+19781 5608 48E0 ldi r20,lo8(8)9782 560a 4C15 cp r20,r129783 560c 98F0 brlo .L7459784 560e 8C2D mov r24,r129785 5610 9927 clr r259786 5612 829F mul r24,r189787 5614 B001 movw r22,r09788 5616 839F mul r24,r199789 5618 700D add r23,r09790 561a 929F mul r25,r189791 561c 700D add r23,r09792 561e 1124 clr r19793 5620 CB01 movw r24,r229794 5622 77FD sbrc r23,79795 5624 0796 adiw r24,79796 .L746:9797 5626 6C01 movw r12,r249798 5628 B3E0 ldi r27,39799 562a D594 1: asr r139800 562c C794 ror r129801 562e BA95 dec r279802 5630 E1F7 brne 1b9803 5632 12C0 rjmp .L7479804 .L745:9805 5634 C694 lsr r129806 5636 8C2D mov r24,r129807 5638 9927 clr r259808 563a 829F mul r24,r189809 563c D001 movw r26,r09810 563e 839F mul r24,r199811 5640 B00D add r27,r09812 5642 929F mul r25,r189813 5644 B00D add r27,r09814 5646 1124 clr r19815 5648 CD01 movw r24,r269816 564a B7FD sbrc r27,79817 564c 0396 adiw r24,39818 .L748:9819 564e 6C01 movw r12,r249820 5650 D594 asr r139821 5652 C794 ror r129822 5654 D594 asr r139823 5656 C794 ror r129824 .L747:9825 5658 9501 movw r18,r109826 565a 4427 clr r209827 565c 37FD sbrc r19,79828 565e 4095 com r209829 5660 542F mov r21,r209830 5662 8091 0000 lds r24,SummeRoll9831 5666 9091 0000 lds r25,(SummeRoll)+19832 566a A091 0000 lds r26,(SummeRoll)+29833 566e B091 0000 lds r27,(SummeRoll)+39834 5672 BC01 movw r22,r249835 5674 CD01 movw r24,r269836 5676 0E94 0000 call __divmodsi49837 567a C20E add r12,r189838 567c D31E adc r13,r199839 567e 692D mov r22,r99840 5680 7727 clr r239841 5682 8827 clr r249842 5684 9927 clr r259843 5686 9801 movw r18,r169844 5688 17FF sbrs r17,79845 568a 04C0 rjmp .L7499846 568c 2227 clr r189847 568e 3327 clr r199848 5690 201B sub r18,r169849 5692 310B sbc r19,r179850 .L749:9851 5694 37FF sbrs r19,79852 5696 02C0 rjmp .L7509853 5698 2F5F subi r18,lo8(-(1))9854 569a 3F4F sbci r19,hi8(-(1))9855 .L750:9856 569c 3595 asr r199857 569e 2795 ror r189858 56a0 E981 ldd r30,Y+19859 56a2 FA81 ldd r31,Y+29860 56a4 2E0F add r18,r309861 56a6 3F1F adc r19,r319862 56a8 4427 clr r209863 56aa 37FD sbrc r19,79864 56ac 4095 com r209865 56ae 542F mov r21,r209866 56b0 0E94 0000 call __mulsi39867 56b4 97FF sbrs r25,79868 56b6 04C0 rjmp .L7519869 56b8 615C subi r22,lo8(-(63))9870 56ba 7F4F sbci r23,hi8(-(63))9871 56bc 8F4F sbci r24,hlo8(-(63))9872 56be 9F4F sbci r25,hhi8(-(63))9873 .L751:9874 56c0 E6E0 ldi r30,69875 56c2 9595 1: asr r259876 56c4 8795 ror r249877 56c6 7795 ror r239878 56c8 6795 ror r229879 56ca EA95 dec r309880 56cc D1F7 brne 1b9881 56ce 9B01 movw r18,r229882 56d0 6C15 cp r22,r129883 56d2 7D05 cpc r23,r139884 56d4 0CF4 brge .L7529885 56d6 6B01 movw r12,r229886 .L752:9887 56d8 3095 com r199888 56da 2195 neg r189889 56dc 3F4F sbci r19,lo8(-1)9890 56de C216 cp r12,r189891 56e0 D306 cpc r13,r199892 56e2 0CF4 brge .L7539893 56e4 6901 movw r12,r189894 .L753:9895 56e6 60E0 ldi r22,lo8(Motor)9896 56e8 862E mov r8,r229897 56ea 60E0 ldi r22,hi8(Motor)9898 56ec 962E mov r9,r229899 56ee 50E0 ldi r21,lo8(Mixer+13)9900 56f0 A52E mov r10,r219901 56f2 50E0 ldi r21,hi8(Mixer+13)9902 56f4 B52E mov r11,r219903 56f6 4BE0 ldi r20,lo8(11)9904 56f8 542E mov r5,r209905 56fa 30E0 ldi r19,lo8(tmp_motorwert)9906 56fc 632E mov r6,r199907 56fe 30E0 ldi r19,hi8(tmp_motorwert)9908 5700 732E mov r7,r199909 .L785:9910 5702 D501 movw r26,r109911 5704 2C91 ld r18,X9912 5706 1216 cp __zero_reg__,r189913 5708 0CF0 brlt .+29914 570a 14C1 rjmp .L7579915 570c 2034 cpi r18,lo8(64)9916 570e 29F4 brne .L7589917 5710 E981 ldd r30,Y+19918 5712 FA81 ldd r31,Y+29919 5714 F88F std Y+24,r319920 5716 EF8B std Y+23,r309921 5718 1FC0 rjmp .L7599922 .L758:9923 571a 4981 ldd r20,Y+19924 571c 5A81 ldd r21,Y+29925 571e CA01 movw r24,r209926 5720 AA27 clr r269927 5722 97FD sbrc r25,79928 5724 A095 com r269929 5726 BA2F mov r27,r269930 5728 3327 clr r199931 572a 27FD sbrc r18,79932 572c 3095 com r199933 572e 432F mov r20,r199934 5730 532F mov r21,r199935 5732 BC01 movw r22,r249936 5734 CD01 movw r24,r269937 5736 0E94 0000 call __mulsi39938 573a 97FF sbrs r25,79939 573c 04C0 rjmp .L7609940 573e 615C subi r22,lo8(-(63))9941 5740 7F4F sbci r23,hi8(-(63))9942 5742 8F4F sbci r24,hlo8(-(63))9943 5744 9F4F sbci r25,hhi8(-(63))9944 .L760:9945 5746 26E0 ldi r18,69946 5748 9595 1: asr r259947 574a 8795 ror r249948 574c 7795 ror r239949 574e 6795 ror r229950 5750 2A95 dec r189951 5752 D1F7 brne 1b9952 5754 788F std Y+24,r239953 5756 6F8B std Y+23,r229954 .L759:9955 5758 F501 movw r30,r109956 575a 2181 ldd r18,Z+19957 575c 2034 cpi r18,lo8(64)9958 575e 39F4 brne .L7619959 5760 2F89 ldd r18,Y+239960 5762 388D ldd r19,Y+249961 5764 2E0D add r18,r149962 5766 3F1D adc r19,r159963 5768 388F std Y+24,r199964 576a 2F8B std Y+23,r189965 576c 2AC0 rjmp .L7629966 .L761:9967 576e 203C cpi r18,lo8(-64)9968 5770 39F4 brne .L7639969 5772 4F89 ldd r20,Y+239970 5774 588D ldd r21,Y+249971 5776 4E19 sub r20,r149972 5778 5F09 sbc r21,r159973 577a 588F std Y+24,r219974 577c 4F8B std Y+23,r209975 577e 21C0 rjmp .L7629976 .L763:9977 5780 C701 movw r24,r149978 5782 AA27 clr r269979 5784 97FD sbrc r25,79980 5786 A095 com r269981 5788 BA2F mov r27,r269982 578a 3327 clr r199983 578c 27FD sbrc r18,79984 578e 3095 com r199985 5790 432F mov r20,r199986 5792 532F mov r21,r199987 5794 BC01 movw r22,r249988 5796 CD01 movw r24,r269989 5798 0E94 0000 call __mulsi39990 579c 97FF sbrs r25,79991 579e 04C0 rjmp .L7659992 57a0 615C subi r22,lo8(-(63))9993 57a2 7F4F sbci r23,hi8(-(63))9994 57a4 8F4F sbci r24,hlo8(-(63))9995 57a6 9F4F sbci r25,hhi8(-(63))9996 .L765:9997 57a8 B6E0 ldi r27,69998 57aa 9595 1: asr r259999 57ac 8795 ror r2410000 57ae 7795 ror r2310001 57b0 6795 ror r2210002 57b2 BA95 dec r2710003 57b4 D1F7 brne 1b10004 57b6 AF89 ldd r26,Y+2310005 57b8 B88D ldd r27,Y+2410006 57ba A60F add r26,r2210007 57bc B71F adc r27,r2310008 57be B88F std Y+24,r2710009 57c0 AF8B std Y+23,r2610010 .L762:10011 57c2 F501 movw r30,r1010012 57c4 2281 ldd r18,Z+210013 57c6 2034 cpi r18,lo8(64)10014 57c8 39F4 brne .L76610015 57ca 2F89 ldd r18,Y+2310016 57cc 388D ldd r19,Y+2410017 57ce 2C0D add r18,r1210018 57d0 3D1D adc r19,r1310019 57d2 388F std Y+24,r1910020 57d4 2F8B std Y+23,r1810021 57d6 2AC0 rjmp .L76710022 .L766:10023 57d8 203C cpi r18,lo8(-64)10024 57da 39F4 brne .L76810025 57dc 4F89 ldd r20,Y+2310026 57de 588D ldd r21,Y+2410027 57e0 4C19 sub r20,r1210028 57e2 5D09 sbc r21,r1310029 57e4 588F std Y+24,r2110030 57e6 4F8B std Y+23,r2010031 57e8 21C0 rjmp .L76710032 .L768:10033 57ea C601 movw r24,r1210034 57ec AA27 clr r2610035 57ee 97FD sbrc r25,710036 57f0 A095 com r2610037 57f2 BA2F mov r27,r2610038 57f4 3327 clr r1910039 57f6 27FD sbrc r18,710040 57f8 3095 com r1910041 57fa 432F mov r20,r1910042 57fc 532F mov r21,r1910043 57fe BC01 movw r22,r2410044 5800 CD01 movw r24,r2610045 5802 0E94 0000 call __mulsi310046 5806 97FF sbrs r25,710047 5808 04C0 rjmp .L77010048 580a 615C subi r22,lo8(-(63))10049 580c 7F4F sbci r23,hi8(-(63))10050 580e 8F4F sbci r24,hlo8(-(63))10051 5810 9F4F sbci r25,hhi8(-(63))10052 .L770:10053 5812 A6E0 ldi r26,610054 5814 9595 1: asr r2510055 5816 8795 ror r2410056 5818 7795 ror r2310057 581a 6795 ror r2210058 581c AA95 dec r2610059 581e D1F7 brne 1b10060 5820 AF89 ldd r26,Y+2310061 5822 B88D ldd r27,Y+2410062 5824 A60F add r26,r2210063 5826 B71F adc r27,r2310064 5828 B88F std Y+24,r2710065 582a AF8B std Y+23,r2610066 .L767:10067 582c F501 movw r30,r1010068 582e 2381 ldd r18,Z+310069 5830 2034 cpi r18,lo8(64)10070 5832 39F4 brne .L77110071 5834 2F89 ldd r18,Y+2310072 5836 388D ldd r19,Y+2410073 5838 200F add r18,r1610074 583a 311F adc r19,r1710075 583c 388F std Y+24,r1910076 583e 2F8B std Y+23,r1810077 5840 2AC0 rjmp .L77210078 .L771:10079 5842 203C cpi r18,lo8(-64)10080 5844 39F4 brne .L77310081 5846 4F89 ldd r20,Y+2310082 5848 588D ldd r21,Y+2410083 584a 401B sub r20,r1610084 584c 510B sbc r21,r1710085 584e 588F std Y+24,r2110086 5850 4F8B std Y+23,r2010087 5852 21C0 rjmp .L77210088 .L773:10089 5854 C801 movw r24,r1610090 5856 AA27 clr r2610091 5858 97FD sbrc r25,710092 585a A095 com r2610093 585c BA2F mov r27,r2610094 585e 3327 clr r1910095 5860 27FD sbrc r18,710096 5862 3095 com r1910097 5864 432F mov r20,r1910098 5866 532F mov r21,r1910099 5868 BC01 movw r22,r2410100 586a CD01 movw r24,r2610101 586c 0E94 0000 call __mulsi310102 5870 97FF sbrs r25,710103 5872 04C0 rjmp .L77510104 5874 615C subi r22,lo8(-(63))10105 5876 7F4F sbci r23,hi8(-(63))10106 5878 8F4F sbci r24,hlo8(-(63))10107 587a 9F4F sbci r25,hhi8(-(63))10108 .L775:10109 587c F6E0 ldi r31,610110 587e 9595 1: asr r2510111 5880 8795 ror r2410112 5882 7795 ror r2310113 5884 6795 ror r2210114 5886 FA95 dec r3110115 5888 D1F7 brne 1b10116 588a AF89 ldd r26,Y+2310117 588c B88D ldd r27,Y+2410118 588e A60F add r26,r2210119 5890 B71F adc r27,r2310120 5892 B88F std Y+24,r2710121 5894 AF8B std Y+23,r2610122 .L772:10123 5896 F301 movw r30,r610124 5898 8081 ld r24,Z10125 589a 9181 ldd r25,Z+110126 589c 2F89 ldd r18,Y+2310127 589e 388D ldd r19,Y+2410128 58a0 8217 cp r24,r1810129 58a2 9307 cpc r25,r1910130 58a4 64F4 brge .L77610131 58a6 B901 movw r22,r1810132 58a8 680F add r22,r2410133 58aa 791F adc r23,r2510134 58ac 77FF sbrs r23,710135 58ae 02C0 rjmp .L77710136 58b0 6F5F subi r22,lo8(-(1))10137 58b2 7F4F sbci r23,hi8(-(1))10138 .L777:10139 58b4 7595 asr r2310140 58b6 6795 ror r2210141 58b8 788F std Y+24,r2310142 58ba 6F8B std Y+23,r2210143 58bc 08C0 rjmp .L77810144 .L776:10145 58be 4F89 ldd r20,Y+2310146 58c0 588D ldd r21,Y+2410147 58c2 440F add r20,r2010148 58c4 551F adc r21,r2110149 58c6 481B sub r20,r2410150 58c8 590B sbc r21,r2510151 58ca 588F std Y+24,r2110152 58cc 4F8B std Y+23,r2010153 .L778:10154 58ce 822D mov r24,r210155 58d0 9927 clr r2510156 58d2 880F lsl r2410157 58d4 991F rol r2510158 58d6 880F lsl r2410159 58d8 991F rol r2510160 58da 6F89 ldd r22,Y+2310161 58dc 788D ldd r23,Y+2410162 58de 8617 cp r24,r2210163 58e0 9707 cpc r25,r2310164 58e2 5CF4 brge .L81310165 58e4 832D mov r24,r310166 58e6 9927 clr r2510167 58e8 880F lsl r2410168 58ea 991F rol r2510169 58ec 880F lsl r2410170 58ee 991F rol r2510171 58f0 AF89 ldd r26,Y+2310172 58f2 B88D ldd r27,Y+2410173 58f4 A817 cp r26,r2410174 58f6 B907 cpc r27,r2510175 58f8 14F0 brlt .L78010176 .L813:10177 58fa 988F std Y+24,r2510178 58fc 8F8B std Y+23,r2410179 .L780:10180 58fe 8F89 ldd r24,Y+2310181 5900 988D ldd r25,Y+2410182 5902 97FD sbrc r25,710183 5904 0396 adiw r24,310184 .L782:10185 5906 9595 asr r2510186 5908 8795 ror r2410187 590a 9595 asr r2510188 590c 8795 ror r2410189 590e F401 movw r30,r810190 5910 8183 std Z+1,r2410191 5912 880F lsl r2410192 5914 991F rol r2510193 5916 880F lsl r2410194 5918 991F rol r2510195 591a 2F89 ldd r18,Y+2310196 591c 388D ldd r19,Y+2410197 591e 281B sub r18,r2410198 5920 390B sbc r19,r2510199 5922 C901 movw r24,r1810200 5924 880F lsl r2410201 5926 8283 std Z+2,r2410202 5928 EF89 ldd r30,Y+2310203 592a F88D ldd r31,Y+2410204 592c D301 movw r26,r610205 592e ED93 st X+,r3010206 5930 FC93 st X,r3110207 5932 03C0 rjmp .L75610208 .L757:10209 5934 F401 movw r30,r810210 5936 1182 std Z+1,__zero_reg__10211 5938 1282 std Z+2,__zero_reg__10212 .L756:10213 593a 5A94 dec r510214 593c 22E0 ldi r18,lo8(2)10215 593e 30E0 ldi r19,hi8(2)10216 5940 620E add r6,r1810217 5942 731E adc r7,r1910218 5944 44E0 ldi r20,lo8(4)10219 5946 50E0 ldi r21,hi8(4)10220 5948 A40E add r10,r2010221 594a B51E adc r11,r2110222 594c 68E0 ldi r22,lo8(8)10223 594e 70E0 ldi r23,hi8(8)10224 5950 860E add r8,r2210225 5952 971E adc r9,r2310226 5954 57FE sbrs r5,710227 5956 D5CE rjmp .L78510228 /* epilogue: frame size=24 */10229 5958 E2E1 ldi r30,1810230 595a C85E subi r28,-2410231 595c 0C94 0000 jmp __epilogue_restores__+010232 /* epilogue end (size=4) */10233 /* function MotorRegler size 7701 (7691) */10235 .comm TrimNick,2,110236 .comm TrimRoll,2,110237 .comm ErsatzKompass,4,110238 .comm ErsatzKompassInGrad,2,110239 .comm MesswertNick,2,110240 .comm MesswertRoll,2,110241 .comm MesswertGier,2,110242 .comm Mittelwert_AccNick,2,110243 .comm Mittelwert_AccRoll,2,110244 .comm NaviAccNick,2,110245 .comm NaviAccRoll,2,110246 .comm h,1,110247 .comm m,1,110248 .comm s,1,110249 .comm DiffNick,2,110250 .comm DiffRoll,2,110251 .comm Parameter_Servo3,1,110252 .comm Parameter_Servo4,1,110253 .comm Parameter_Servo5,1,110254 .comm Parameter_J16Bitmask,1,110255 .comm Parameter_J16Timing,1,110256 .comm Parameter_J17Bitmask,1,110257 .comm Parameter_J17Timing,1,110258 .comm loop1,1,110259 .comm loop2,1,110260 .comm loop3,1,110261 .comm pos1,1,110262 .comm pos2,1,110263 .comm pos3,1,110264 .comm Motors0,1,110265 .comm Motors1,1,110266 .comm Motors2,1,110267 .comm Motors3,1,110268 .comm Motors4,1,110269 .comm Motors5,1,110270 .comm Motors6,1,110271 .comm Motors7,1,110272 .comm Motors0max,1,110273 .comm Motors1max,1,110274 .comm Motors2max,1,110275 .comm Motors3max,1,110276 .comm Motors4max,1,110277 .comm Motors5max,1,110278 .comm Motors6max,1,110279 .comm Motors7max,1,110280 .comm MotorsTmax,2,110281 .comm MesswertGierBias,2,110282 .comm RohMesswertNick,2,110283 .comm RohMesswertRoll,2,110284 .comm MittelIntegralNick,4,110285 .comm MittelIntegralRoll,4,110286 .comm MittelIntegralNick2,4,110287 .comm MittelIntegralRoll2,4,110288 .comm MAX_GAS,1,110289 .comm MIN_GAS,1,110290 .comm GyroFaktor,1,110291 .comm GyroFaktorGier,1,110292 .comm IntegralFaktor,1,110293 .comm IntegralFaktorGier,1,110294 .comm Parameter_NaviGpsModeControl,1,110295 .comm Parameter_NaviGpsGain,1,110296 .comm Parameter_NaviGpsP,1,110297 .comm Parameter_NaviGpsI,1,110298 .comm Parameter_NaviGpsD,1,110299 .comm Parameter_NaviGpsACC,1,110300 .comm Parameter_NaviOperatingRadius,1,110301 .comm Parameter_NaviWindCorrection,1,110302 .comm Parameter_NaviSpeedCompensation,1,110303 .comm Parameter_ExternalControl,1,110304 .comm KopplungsteilNickRoll,2,110305 .comm KopplungsteilRollNick,2,110306 .comm tmp_motorwert,24,110307 /* File "fc.c": code 11593 = 0x2d49 (11536), prologues 29, epilogues 28 */DEFINED SYMBOLS*ABS*:00000000 fc.cC:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:3 *ABS*:0000003f __SREG__C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:4 *ABS*:0000003e __SP_H__C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:5 *ABS*:0000003d __SP_L__C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:6 *ABS*:00000000 __tmp_reg__C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:7 *ABS*:00000001 __zero_reg__C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:14 .data:00000000 VarioCharacterC:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:19 .data:00000001 GIER_GRAD_FAKTORC:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:26 .bss:00000000 FC_StatusFlagsC:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:32 .bss:00000001 modell_fliegtC:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:38 .bss:00000003 MaxStickRollC:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:44 .bss:00000005 MaxStickNickC:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:50 .data:00000005 ExternHoehenValueC:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:57 .bss:00000007 ExternStickGierC:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:63 .bss:00000009 ExternStickRollC:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:69 .bss:0000000b ExternStickNickC:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:75 .data:00000007 sintabC:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:112 .bss:0000000d CareFreeC:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:118 .data:00000026 Parameter_DynamicStabilityC:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:123 .data:00000027 Parameter_CouplingYawCorrectionC:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:128 .data:00000028 Parameter_AchsKopplung2C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:133 .data:00000029 Parameter_AchsKopplung1C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:138 .data:0000002a Parameter_LoopGasLimitC:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:143 .data:0000002b Parameter_ServoRollControlC:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:148 .data:0000002c Parameter_ServoNickControlC:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:155 .bss:0000000e Parameter_UserParam8C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:161 .bss:0000000f Parameter_UserParam7C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:167 .bss:00000010 Parameter_UserParam6C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:173 .bss:00000011 Parameter_UserParam5C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:179 .bss:00000012 Parameter_UserParam4C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:185 .bss:00000013 Parameter_UserParam3C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:191 .bss:00000014 Parameter_UserParam2C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:197 .bss:00000015 Parameter_UserParam1C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:203 .data:0000002d Parameter_I_FaktorC:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:208 .data:0000002e Parameter_Gier_PC:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:213 .data:0000002f Parameter_Gyro_Gier_IC:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:218 .data:00000030 Parameter_Gyro_Gier_PC:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:223 .data:00000031 Parameter_Gyro_IC:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:228 .data:00000032 Parameter_Gyro_PC:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:233 .data:00000033 Parameter_Gyro_DC:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:238 .data:00000034 Parameter_Hoehe_GPS_ZC:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:243 .data:00000035 Parameter_KompassWirkungC:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:248 .data:00000036 Parameter_Hoehe_ACC_WirkungC:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:253 .data:00000037 Parameter_Hoehe_PC:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:258 .data:00000038 Parameter_MaxHoeheC:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:263 .data:00000039 Parameter_Luftdruck_DC:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:270 .bss:00000016 Looping_ObenC:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:276 .bss:00000017 Looping_UntenC:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:282 .bss:00000018 Looping_RechtsC:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:288 .bss:00000019 Looping_LinksC:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:294 .bss:0000001a Looping_RollC:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:300 .bss:0000001b Looping_NickC:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:306 .data:0000003a KiC:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:313 .bss:0000001c HoverGasC:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:319 .bss:0000001e LageKorrekturNickC:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:325 .bss:00000020 LageKorrekturRollC:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:331 .bss:00000022 SollHoeheC:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:337 .bss:00000026 HoehenWertC:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:343 .bss:0000002a StartTriggerC:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:349 .bss:0000002b MotorenEinC:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:355 .bss:0000002c StickGasC:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:361 .bss:0000002e StickGierC:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:367 .bss:00000030 StickRollC:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:373 .bss:00000032 StickNickC:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:379 .bss:00000034 SenderOkayC:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:385 .bss:00000035 PotiC:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:391 .bss:0000003e GierGyroFehlerC:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:397 .data:0000003c Umschlag180RollC:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:402 .data:00000040 Umschlag180NickC:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:409 .bss:00000040 TrichterFlugC:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:415 .bss:00000041 HoehenReglerAktivC:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:421 .data:00000044 KompassSignalSchlechtC:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:428 .bss:00000042 KompassRichtungC:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:434 .bss:00000044 KompassStartwertC:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:440 .bss:00000046 KompassValueC:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:446 .bss:00000048 Mess_Integral_HochC:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:452 .bss:0000004c SummeRollC:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:458 .bss:00000050 SummeNickC:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:464 .bss:00000054 Mess_Integral_Gier2C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:470 .bss:00000058 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NeueKompassRichtungMerken.10C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:3779 .bss:000000d7 ausgleichNick.11C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:3780 .bss:000000db ausgleichRoll.12C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:3781 .bss:000000df stick_nick.13C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:3782 .bss:000000e1 stick_roll.14C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:3783 .bss:000000e3 cnt.15C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:3784 .bss:000000e5 last_n_p.16C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:3785 .bss:000000e6 last_n_n.17C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:3786 .bss:000000e7 last_r_p.18C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:3787 .bss:000000e8 last_r_n.19C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:3788 .bss:000000e9 MittelIntegralNick_Alt.20C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:3789 .bss:000000ed MittelIntegralRoll_Alt.21C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:3790 .bss:000000f1 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Parameter_NaviGpsACC*COM*:00000001 Parameter_NaviOperatingRadius*COM*:00000001 Parameter_NaviWindCorrection*COM*:00000001 Parameter_NaviSpeedCompensationUNDEFINED 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