Subversion Repositories FlightCtrl

   1                            .file   "main.c"
   2                            .arch atmega644p
   3                    __SREG__ = 0x3f
   4                    __SP_H__ = 0x3e
   5                    __SP_L__ = 0x3d
   6                    __tmp_reg__ = 0
   7                    __zero_reg__ = 1
   8                            .global __do_copy_data
   9                            .global __do_clear_bss
  10                    .global FoundMotors
  11                    .global FoundMotors
  12                            .section .bss
  15                    FoundMotors:
  16 0000 00                    .skip 1,0
  17                    .global FlugSekunden
  18                    .global FlugSekunden
  21                    FlugSekunden:
  22 0001 0000                  .skip 2,0
  23                    .global FlugMinutenGesamt
  24                    .global FlugMinutenGesamt
  27                    FlugMinutenGesamt:
  28 0003 0000                  .skip 2,0
  29                    .global FlugMinuten
  30                    .global FlugMinuten
  33                    FlugMinuten:
  34 0005 0000                  .skip 2,0
  35                    .global BattLowVoltageWarning
  36                            .data
  39                    BattLowVoltageWarning:
  40 0000 5E                    .byte   94
  41                    .global SendVersionToNavi
  44                    SendVersionToNavi:
  45 0001 01                    .byte   1
  46                    .global PlatinenVersion
  49                    PlatinenVersion:
  50 0002 0A                    .byte   10
  53                    stick.15:
  54 0003 01                    .byte   1
  55                            .text
  56                    .global CalMk3Mag
  58                    CalMk3Mag:
  59                    /* prologue: frame size=0 */
  60                    /* prologue end (size=0) */
  61 0000 8091 0000             lds r24,EE_Parameter+1
  62 0004 E82F                  mov r30,r24
  63 0006 FF27                  clr r31
  64 0008 EE0F                  add r30,r30
  65 000a FF1F                  adc r31,r31
  66 000c E050                  subi r30,lo8(-(PPM_in))
  67 000e F040                  sbci r31,hi8(-(PPM_in))
  68 0010 8081                  ld r24,Z
  69 0012 9181                  ldd r25,Z+1
  70 0014 8D5E                  subi r24,lo8(-19)
  71 0016 9F4F                  sbci r25,hi8(-19)
  72 0018 14F0                  brlt .L2
  73 001a 1092 0000             sts stick.15,__zero_reg__
  74                    .L2:
  75 001e 8081                  ld r24,Z
  76 0020 9181                  ldd r25,Z+1
  77 0022 8A5B                  subi r24,lo8(-70)
  78 0024 9F4F                  sbci r25,hi8(-70)
  79 0026 CCF4                  brge .L3
  80 0028 8091 0000             lds r24,stick.15
  81 002c 8823                  tst r24
  82 002e A9F4                  brne .L3
  83 0030 81E0                  ldi r24,lo8(1)
  84 0032 8093 0000             sts stick.15,r24
  85 0036 8091 0000             lds r24,WinkelOut+6
  86 003a 8F5F                  subi r24,lo8(-(1))
  87 003c 8093 0000             sts WinkelOut+6,r24
  88 0040 8530                  cpi r24,lo8(5)
  89 0042 38F0                  brlo .L4
  90 0044 88EE                  ldi r24,lo8(1000)
  91 0046 93E0                  ldi r25,hi8(1000)
  92 0048 9093 0000             sts (beeptime)+1,r25
  93 004c 8093 0000             sts beeptime,r24
  94 0050 04C0                  rjmp .L3
  95                    .L4:
  96 0052 66E9                  ldi r22,lo8(150)
  97 0054 70E0                  ldi r23,hi8(150)
  98 0056 0E94 0000             call Piep
  99                    .L3:
 100 005a 8091 0000             lds r24,WinkelOut+6
 101 005e 9927                  clr r25
 102 0060 9093 0000             sts (DebugOut+40)+1,r25
 103 0064 8093 0000             sts DebugOut+40,r24
 104                    /* epilogue: frame size=0 */
 105 0068 0895                  ret
 106                    /* epilogue end (size=1) */
 107                    /* function CalMk3Mag size 55 (54) */
 109                            .section        .progmem.data,"a",@progbits
 112                    __c.12:
 113 0000 0A0D 4261             .string "\n\rBatt:"
 113      7474 3A00 
 116                    __c.13:
 117 0008 2025 6420             .string " %d Cells "
 117      4365 6C6C 
 117      7320 00
 120                    __c.14:
 121 0013 204C 6F77             .string " Low warning level: %d.%d"
 121      2077 6172 
 121      6E69 6E67 
 121      206C 6576 
 121      656C 3A20 
 122                            .text
 123                    .global LipoDetection
 125                    LipoDetection:
 126                    /* prologue: frame size=0 */
 127 006a 1F93                  push r17
 128 006c CF93                  push r28
 129 006e DF93                  push r29
 130                    /* prologue end (size=3) */
 131 0070 182F                  mov r17,r24
 132 0072 8823                  tst r24
 133 0074 89F0                  breq .L7
 134 0076 80E0                  ldi r24,lo8(__c.12)
 135 0078 90E0                  ldi r25,hi8(__c.12)
 136 007a 9F93                  push r25
 137 007c 8F93                  push r24
 138 007e 80E0                  ldi r24,lo8(pm(uart_putchar))
 139 0080 90E0                  ldi r25,hi8(pm(uart_putchar))
 140 0082 9F93                  push r25
 141 0084 8F93                  push r24
 142 0086 E091 0000             lds r30,_printf_P
 143 008a F091 0000             lds r31,(_printf_P)+1
 144 008e 0995                  icall
 145 0090 0F90                  pop __tmp_reg__
 146 0092 0F90                  pop __tmp_reg__
 147 0094 0F90                  pop __tmp_reg__
 148 0096 0F90                  pop __tmp_reg__
 149                    .L7:
 150 0098 8091 0000             lds r24,EE_Parameter+36
 151 009c 8233                  cpi r24,lo8(50)
 152 009e 08F0                  brlo .+2
 153 00a0 44C0                  rjmp .L8
 154 00a2 84EF                  ldi r24,lo8(500)
 155 00a4 91E0                  ldi r25,hi8(500)
 156 00a6 0E94 0000             call SetDelay
 157 00aa EC01                  movw r28,r24
 158 00ac 1123                  tst r17
 159 00ae 29F0                  breq .L9
 160                    .L10:
 161 00b0 CE01                  movw r24,r28
 162 00b2 0E94 0000             call CheckDelay
 163 00b6 8823                  tst r24
 164 00b8 D9F3                  breq .L10
 165                    .L9:
 166 00ba C2E0                  ldi r28,lo8(2)
 167 00bc D0E0                  ldi r29,hi8(2)
 168 00be 26E5                  ldi r18,lo8(86)
 169 00c0 30E0                  ldi r19,hi8(86)
 170                    .L17:
 171 00c2 8091 0000             lds r24,UBat
 172 00c6 9091 0000             lds r25,(UBat)+1
 173 00ca 8217                  cp r24,r18
 174 00cc 9307                  cpc r25,r19
 175 00ce 30F0                  brlo .L14
 176 00d0 2196                  adiw r28,1
 177 00d2 255D                  subi r18,lo8(-(43))
 178 00d4 3F4F                  sbci r19,hi8(-(43))
 179 00d6 C730                  cpi r28,7
 180 00d8 D105                  cpc r29,__zero_reg__
 181 00da 98F3                  brlo .L17
 182                    .L14:
 183 00dc 8091 0000             lds r24,EE_Parameter+36
 184 00e0 9927                  clr r25
 185 00e2 C89F                  mul r28,r24
 186 00e4 9001                  movw r18,r0
 187 00e6 C99F                  mul r28,r25
 188 00e8 300D                  add r19,r0
 189 00ea D89F                  mul r29,r24
 190 00ec 300D                  add r19,r0
 191 00ee 1124                  clr r1
 192 00f0 2093 0000             sts BattLowVoltageWarning,r18
 193 00f4 1123                  tst r17
 194 00f6 D9F0                  breq .L19
 195 00f8 68EC                  ldi r22,lo8(200)
 196 00fa 70E0                  ldi r23,hi8(200)
 197 00fc 8C2F                  mov r24,r28
 198 00fe 0E94 0000             call Piep
 199 0102 DF93                  push r29
 200 0104 CF93                  push r28
 201 0106 80E0                  ldi r24,lo8(__c.13)
 202 0108 90E0                  ldi r25,hi8(__c.13)
 203 010a 9F93                  push r25
 204 010c 8F93                  push r24
 205 010e 80E0                  ldi r24,lo8(pm(uart_putchar))
 206 0110 90E0                  ldi r25,hi8(pm(uart_putchar))
 207 0112 9F93                  push r25
 208 0114 8F93                  push r24
 209 0116 E091 0000             lds r30,_printf_P
 210 011a F091 0000             lds r31,(_printf_P)+1
 211 011e 0995                  icall
 212 0120 8DB7                  in r24,__SP_L__
 213 0122 9EB7                  in r25,__SP_H__
 214 0124 0696                  adiw r24,6
 215 0126 8DBF                  out __SP_L__,r24
 216 0128 02C0                  rjmp .L19
 217                    .L8:
 218 012a 8093 0000             sts BattLowVoltageWarning,r24
 219                    .L19:
 220 012e 1123                  tst r17
 221 0130 11F1                  breq .L6
 222 0132 8091 0000             lds r24,BattLowVoltageWarning
 223 0136 6AE0                  ldi r22,lo8(10)
 224 0138 0E94 0000             call __udivmodqi4
 225 013c 892F                  mov r24,r25
 226 013e 9927                  clr r25
 227 0140 9F93                  push r25
 228 0142 8F93                  push r24
 229 0144 8091 0000             lds r24,BattLowVoltageWarning
 230 0148 0E94 0000             call __udivmodqi4
 231 014c 9927                  clr r25
 232 014e 9F93                  push r25
 233 0150 8F93                  push r24
 234 0152 80E0                  ldi r24,lo8(__c.14)
 235 0154 90E0                  ldi r25,hi8(__c.14)
 236 0156 9F93                  push r25
 237 0158 8F93                  push r24
 238 015a 80E0                  ldi r24,lo8(pm(uart_putchar))
 239 015c 90E0                  ldi r25,hi8(pm(uart_putchar))
 240 015e 9F93                  push r25
 241 0160 8F93                  push r24
 242 0162 E091 0000             lds r30,_printf_P
 243 0166 F091 0000             lds r31,(_printf_P)+1
 244 016a 0995                  icall
 245 016c 2DB7                  in r18,__SP_L__
 246 016e 3EB7                  in r19,__SP_H__
 247 0170 285F                  subi r18,lo8(-(8))
 248 0172 3F4F                  sbci r19,hi8(-(8))
 249 0174 2DBF                  out __SP_L__,r18
 250                    .L6:
 251                    /* epilogue: frame size=0 */
 252 0176 DF91                  pop r29
 253 0178 CF91                  pop r28
 254 017a 1F91                  pop r17
 255 017c 0895                  ret
 256                    /* epilogue end (size=4) */
 257                    /* function LipoDetection size 138 (131) */
 259                            .section        .progmem.data
 262                    __c.0:
 263 002d 0A0D 466F             .string "\n\rFound BL-Ctrl: "
 263      756E 6420 
 263      424C 2D43 
 263      7472 6C3A 
 263      2000 
 266                    __c.1:
 267 003f 2564 00               .string "%d"
 270                    __c.2:
 271 0042 0A0D 0A0D             .string "\n\r\n\r!! MISSING BL-CTRL: %d !!"
 271      2121 204D 
 271      4953 5349 
 271      4E47 2042 
 271      4C2D 4354 
 274                    __c.3:
 275 0060 0A0D 3D3D             .string "\n\r==================================="
 275      3D3D 3D3D 
 275      3D3D 3D3D 
 275      3D3D 3D3D 
 275      3D3D 3D3D 
 278                    __c.4:
 279 0086 0A0D 4361             .string "\n\rCalibrating pressure sensor.."
 279      6C69 6272 
 279      6174 696E 
 279      6720 7072 
 279      6573 7375 
 282                    __c.5:
 283 00a6 4F4B 0A0D             .string "OK\n\r"
 283      00
 286                    __c.6:
 287 00ab 0A0D 466C             .string "\n\rFlight-time %u min  Total:%u min"
 287      6967 6874 
 287      2D74 696D 
 287      6520 2575 
 287      206D 696E 
 290                    __c.7:
 291 00ce 0A0D 436F             .string "\n\rControl: "
 291      6E74 726F 
 291      6C3A 2000 
 294                    __c.8:
 295 00da 4865 6164             .string "HeadingHold"
 295      696E 6748 
 295      6F6C 6400 
 298                    __c.9:
 299 00e6 4E6F 726D             .string "Normal (ACC-Mode)"
 299      616C 2028 
 299      4143 432D 
 299      4D6F 6465 
 299      2900 
 302                    __c.10:
 303 00f8 0A0D 3D3D             .string "\n\r===================================\n\r"
 303      3D3D 3D3D 
 303      3D3D 3D3D 
 303      3D3D 3D3D 
 303      3D3D 3D3D 
 304                            .lcomm second.11,1
 305                            .text
 306                    .global main
 308                    main:
 309                    /* prologue: frame size=0 */
 310 017e C0E0                  ldi r28,lo8(__stack - 0)
 311 0180 D0E0                  ldi r29,hi8(__stack - 0)
 312 0182 DEBF                  out __SP_H__,r29
 313 0184 CDBF                  out __SP_L__,r28
 314                    /* prologue end (size=4) */
 315 0186 8824                  clr r8
 316 0188 9924                  clr r9
 317 018a 14B8                  out 36-0x20,__zero_reg__
 318 018c 15B8                  out 37-0x20,__zero_reg__
 319 018e 07EE                  ldi r16,lo8(999)
 320 0190 13E0                  ldi r17,hi8(999)
 321                    .L26:
 322 0192 0253                  subi r16,lo8(-(-50))
 323 0194 1040                  sbci r17,hi8(-(-50))
 324 0196 17FF                  sbrs r17,7
 325 0198 FCCF                  rjmp .L26
 326 019a 189B                  sbis 35-0x20,0
 327 019c 06C0                  rjmp .L27
 328 019e 199B                  sbis 35-0x20,1
 329 01a0 02C0                  rjmp .L28
 330 01a2 8DE0                  ldi r24,lo8(13)
 331 01a4 07C0                  rjmp .L233
 332                    .L28:
 333 01a6 8BE0                  ldi r24,lo8(11)
 334 01a8 05C0                  rjmp .L233
 335                    .L27:
 336 01aa 199B                  sbis 35-0x20,1
 337 01ac 02C0                  rjmp .L31
 338 01ae 84E1                  ldi r24,lo8(20)
 339 01b0 01C0                  rjmp .L233
 340                    .L31:
 341 01b2 8AE0                  ldi r24,lo8(10)
 342                    .L233:
 343 01b4 8093 0000             sts PlatinenVersion,r24
 344 01b8 81E8                  ldi r24,lo8(-127)
 345 01ba 87B9                  out 39-0x20,r24
 346 01bc 3E9A                  sbi 39-0x20,6
 347 01be 8FEF                  ldi r24,lo8(-1)
 348 01c0 88B9                  out 40-0x20,r24
 349 01c2 8BE1                  ldi r24,lo8(27)
 350 01c4 84B9                  out 36-0x20,r24
 351 01c6 81E0                  ldi r24,lo8(1)
 352 01c8 85B9                  out 37-0x20,r24
 353 01ca 8EE3                  ldi r24,lo8(62)
 354 01cc 8AB9                  out 42-0x20,r24
 355 01ce 87E4                  ldi r24,lo8(71)
 356 01d0 8BB9                  out 43-0x20,r24
 357 01d2 469A                  sbi 40-0x20,6
 358 01d4 84B7                  in r24,84-0x20
 359 01d6 877F                  andi r24,lo8(-9)
 360 01d8 84BF                  out 84-0x20,r24
 361 01da 8091 6000             lds r24,96
 362 01de 8861                  ori r24,lo8(24)
 363 01e0 8093 6000             sts 96,r24
 364 01e4 1092 6000             sts 96,__zero_reg__
 365 01e8 84EC                  ldi r24,lo8(2500)
 366 01ea 99E0                  ldi r25,hi8(2500)
 367 01ec 9093 0000             sts (beeptime)+1,r25
 368 01f0 8093 0000             sts beeptime,r24
 369 01f4 1092 0000             sts (StickGier)+1,__zero_reg__
 370 01f8 1092 0000             sts StickGier,__zero_reg__
 371 01fc 1092 0000             sts (PPM_in+4)+1,__zero_reg__
 372 0200 1092 0000             sts PPM_in+4,__zero_reg__
 373 0204 1092 0000             sts (StickRoll)+1,__zero_reg__
 374 0208 1092 0000             sts StickRoll,__zero_reg__
 375 020c 1092 0000             sts (StickNick)+1,__zero_reg__
 376 0210 1092 0000             sts StickNick,__zero_reg__
 377 0214 2091 0000             lds r18,PlatinenVersion
 378 0218 2431                  cpi r18,lo8(20)
 379 021a 28F0                  brlo .L33
 380 021c 84EC                  ldi r24,lo8(1220)
 381 021e 94E0                  ldi r25,hi8(1220)
 382 0220 A0E0                  ldi r26,hlo8(1220)
 383 0222 B0E0                  ldi r27,hhi8(1220)
 384 0224 04C0                  rjmp .L234
 385                    .L33:
 386 0226 8BE0                  ldi r24,lo8(1291)
 387 0228 95E0                  ldi r25,hi8(1291)
 388 022a A0E0                  ldi r26,hlo8(1291)
 389 022c B0E0                  ldi r27,hhi8(1291)
 390                    .L234:
 391 022e 8093 0000             sts GIER_GRAD_FAKTOR,r24
 392 0232 9093 0000             sts (GIER_GRAD_FAKTOR)+1,r25
 393 0236 A093 0000             sts (GIER_GRAD_FAKTOR)+2,r26
 394 023a B093 0000             sts (GIER_GRAD_FAKTOR)+3,r27
 395 023e 2A30                  cpi r18,lo8(10)
 396 0240 11F0                  breq .L36
 397 0242 2431                  cpi r18,lo8(20)
 398 0244 10F0                  brlo .L35
 399                    .L36:
 400 0246 2898                  cbi 37-0x20,0
 401 0248 01C0                  rjmp .L37
 402                    .L35:
 403 024a 289A                  sbi 37-0x20,0
 404                    .L37:
 405 024c 0E94 0000             call Timer_Init
 406 0250 0E94 0000             call TIMER2_Init
 407 0254 0E94 0000             call UART_Init
 408 0258 0E94 0000             call rc_sum_init
 409 025c 0E94 0000             call ADC_Init
 410 0260 81E0                  ldi r24,lo8(1)
 411 0262 0E94 0000             call I2C_Init
 412 0266 0E94 0000             call SPI_MasterInit
 413 026a 0E94 0000             call LIBFC_Init
 414 026e 8091 0000             lds r24,PlatinenVersion
 415 0272 8C30                  cpi r24,lo8(12)
 416 0274 10F4                  brsh .L38
 417 0276 299A                  sbi 37-0x20,1
 418 0278 01C0                  rjmp .L39
 419                    .L38:
 420 027a 2998                  cbi 37-0x20,1
 421                    .L39:
 422                    /* #APP */
 423 027c 7894                  sei
 424                    /* #NOAPP */
 425 027e 0E94 0000             call ParamSet_Init
 426 0282 0E94 0000             call Capacity_Init
 427 0286 8091 0000             lds r24,BLFlags
 428 028a 8260                  ori r24,lo8(2)
 429 028c 8093 0000             sts BLFlags,r24
 430 0290 1092 0000             sts motor_read,__zero_reg__
 431 0294 0E94 0000             call SendMotorData
 432 0298 84EF                  ldi r24,lo8(500)
 433 029a 91E0                  ldi r25,hi8(500)
 434 029c 0E94 0000             call SetDelay
 435 02a0 8C01                  movw r16,r24
 436                    .L40:
 437 02a2 8091 0000             lds r24,BLFlags
 438 02a6 80FD                  sbrc r24,0
 439 02a8 05C0                  rjmp .L41
 440 02aa C801                  movw r24,r16
 441 02ac 0E94 0000             call CheckDelay
 442 02b0 8823                  tst r24
 443 02b2 B9F3                  breq .L40
 444                    .L41:
 445 02b4 80E0                  ldi r24,lo8(__c.0)
 446 02b6 90E0                  ldi r25,hi8(__c.0)
 447 02b8 9F93                  push r25
 448 02ba 8F93                  push r24
 449 02bc B0E0                  ldi r27,lo8(pm(uart_putchar))
 450 02be AB2E                  mov r10,r27
 451 02c0 B0E0                  ldi r27,hi8(pm(uart_putchar))
 452 02c2 BB2E                  mov r11,r27
 453 02c4 BF92                  push r11
 454 02c6 AF92                  push r10
 455 02c8 E091 0000             lds r30,_printf_P
 456 02cc F091 0000             lds r31,(_printf_P)+1
 457 02d0 0995                  icall
 458 02d2 80EA                  ldi r24,lo8(4000)
 459 02d4 9FE0                  ldi r25,hi8(4000)
 460 02d6 0E94 0000             call SetDelay
 461 02da 8C01                  movw r16,r24
 462 02dc C0E0                  ldi r28,lo8(0)
 463 02de D0E0                  ldi r29,hi8(0)
 464 02e0 0F90                  pop __tmp_reg__
 465 02e2 0F90                  pop __tmp_reg__
 466 02e4 0F90                  pop __tmp_reg__
 467 02e6 0F90                  pop __tmp_reg__
 468 02e8 A0E0                  ldi r26,lo8(Motor+3)
 469 02ea EA2E                  mov r14,r26
 470 02ec A0E0                  ldi r26,hi8(Motor+3)
 471 02ee FA2E                  mov r15,r26
 472 02f0 F0E0                  ldi r31,lo8(Mixer+13)
 473 02f2 CF2E                  mov r12,r31
 474 02f4 F0E0                  ldi r31,hi8(Mixer+13)
 475 02f6 DF2E                  mov r13,r31
 476                    .L57:
 477 02f8 0E94 0000             call SendMotorData
 478                    .L46:
 479 02fc 8091 0000             lds r24,BLFlags
 480 0300 80FD                  sbrc r24,0
 481 0302 05C0                  rjmp .L47
 482 0304 C801                  movw r24,r16
 483 0306 0E94 0000             call CheckDelay
 484 030a 8823                  tst r24
 485 030c B9F3                  breq .L46
 486                    .L47:
 487 030e F601                  movw r30,r12
 488 0310 8081                  ld r24,Z
 489 0312 1816                  cp __zero_reg__,r24
 490 0314 ACF4                  brge .L49
 491 0316 0BC0                  rjmp .L238
 492                    .L55:
 493 0318 0E94 0000             call SendMotorData
 494                    .L52:
 495 031c 8091 0000             lds r24,BLFlags
 496 0320 80FD                  sbrc r24,0
 497 0322 05C0                  rjmp .L238
 498 0324 C801                  movw r24,r16
 499 0326 0E94 0000             call CheckDelay
 500 032a 8823                  tst r24
 501 032c B9F3                  breq .L52
 502                    .L238:
 503 032e C801                  movw r24,r16
 504 0330 0E94 0000             call CheckDelay
 505 0334 8823                  tst r24
 506 0336 21F4                  brne .L49
 507 0338 F701                  movw r30,r14
 508 033a 8081                  ld r24,Z
 509 033c 8823                  tst r24
 510 033e 64F7                  brge .L55
 511                    .L49:
 512 0340 F701                  movw r30,r14
 513 0342 8081                  ld r24,Z
 514 0344 87FF                  sbrs r24,7
 515 0346 18C0                  rjmp .L45
 516 0348 2196                  adiw r28,1
 517 034a DF93                  push r29
 518 034c CF93                  push r28
 519 034e 2197                  sbiw r28,1
 520 0350 80E0                  ldi r24,lo8(__c.1)
 521 0352 90E0                  ldi r25,hi8(__c.1)
 522 0354 9F93                  push r25
 523 0356 8F93                  push r24
 524 0358 BF92                  push r11
 525 035a AF92                  push r10
 526 035c E091 0000             lds r30,_printf_P
 527 0360 F091 0000             lds r31,(_printf_P)+1
 528 0364 0995                  icall
 529 0366 8091 0000             lds r24,FoundMotors
 530 036a 8F5F                  subi r24,lo8(-(1))
 531 036c 8093 0000             sts FoundMotors,r24
 532 0370 8DB7                  in r24,__SP_L__
 533 0372 9EB7                  in r25,__SP_H__
 534 0374 0696                  adiw r24,6
 535 0376 8DBF                  out __SP_L__,r24
 536                    .L45:
 537 0378 2196                  adiw r28,1
 538 037a E4E0                  ldi r30,lo8(4)
 539 037c F0E0                  ldi r31,hi8(4)
 540 037e CE0E                  add r12,r30
 541 0380 DF1E                  adc r13,r31
 542 0382 88E0                  ldi r24,lo8(8)
 543 0384 90E0                  ldi r25,hi8(8)
 544 0386 E80E                  add r14,r24
 545 0388 F91E                  adc r15,r25
 546 038a CC30                  cpi r28,12
 547 038c D105                  cpc r29,__zero_reg__
 548 038e 08F4                  brsh .+2
 549 0390 B3CF                  rjmp .L57
 550 0392 C0E0                  ldi r28,lo8(0)
 551 0394 D0E0                  ldi r29,hi8(0)
 552 0396 00E0                  ldi r16,lo8(Motor)
 553 0398 10E0                  ldi r17,hi8(Motor)
 554 039a E0E0                  ldi r30,lo8(Mixer+13)
 555 039c EE2E                  mov r14,r30
 556 039e E0E0                  ldi r30,hi8(Mixer+13)
 557 03a0 FE2E                  mov r15,r30
 558                    .L62:
 559 03a2 F801                  movw r30,r16
 560 03a4 8381                  ldd r24,Z+3
 561 03a6 87FD                  sbrc r24,7
 562 03a8 1CC0                  rjmp .L61
 563 03aa F701                  movw r30,r14
 564 03ac 8081                  ld r24,Z
 565 03ae 1816                  cp __zero_reg__,r24
 566 03b0 C4F4                  brge .L61
 567 03b2 2196                  adiw r28,1
 568 03b4 DF93                  push r29
 569 03b6 CF93                  push r28
 570 03b8 2197                  sbiw r28,1
 571 03ba 80E0                  ldi r24,lo8(__c.2)
 572 03bc 90E0                  ldi r25,hi8(__c.2)
 573 03be 9F93                  push r25
 574 03c0 8F93                  push r24
 575 03c2 80E0                  ldi r24,lo8(pm(uart_putchar))
 576 03c4 90E0                  ldi r25,hi8(pm(uart_putchar))
 577 03c6 9F93                  push r25
 578 03c8 8F93                  push r24
 579 03ca E091 0000             lds r30,_printf_P
 580 03ce F091 0000             lds r31,(_printf_P)+1
 581 03d2 0995                  icall
 582 03d4 82E0                  ldi r24,lo8(2)
 583 03d6 8093 0000             sts ServoActive,r24
 584 03da 8DB7                  in r24,__SP_L__
 585 03dc 9EB7                  in r25,__SP_H__
 586 03de 0696                  adiw r24,6
 587 03e0 8DBF                  out __SP_L__,r24
 588                    .L61:
 589 03e2 F801                  movw r30,r16
 590 03e4 8381                  ldd r24,Z+3
 591 03e6 8078                  andi r24,lo8(-128)
 592 03e8 8383                  std Z+3,r24
 593 03ea 2196                  adiw r28,1
 594 03ec 84E0                  ldi r24,lo8(4)
 595 03ee 90E0                  ldi r25,hi8(4)
 596 03f0 E80E                  add r14,r24
 597 03f2 F91E                  adc r15,r25
 598 03f4 085F                  subi r16,lo8(-(8))
 599 03f6 1F4F                  sbci r17,hi8(-(8))
 600 03f8 CC30                  cpi r28,12
 601 03fa D105                  cpc r29,__zero_reg__
 602 03fc 90F2                  brlo .L62
 603 03fe 80E0                  ldi r24,lo8(__c.3)
 604 0400 90E0                  ldi r25,hi8(__c.3)
 605 0402 9F93                  push r25
 606 0404 8F93                  push r24
 607 0406 C0E0                  ldi r28,lo8(pm(uart_putchar))
 608 0408 D0E0                  ldi r29,hi8(pm(uart_putchar))
 609 040a DF93                  push r29
 610 040c CF93                  push r28
 611 040e E091 0000             lds r30,_printf_P
 612 0412 F091 0000             lds r31,(_printf_P)+1
 613 0416 0995                  icall
 614 0418 9091 0000             lds r25,RequiredMotors
 615 041c 8091 0000             lds r24,FoundMotors
 616 0420 0F90                  pop __tmp_reg__
 617 0422 0F90                  pop __tmp_reg__
 618 0424 0F90                  pop __tmp_reg__
 619 0426 0F90                  pop __tmp_reg__
 620 0428 9817                  cp r25,r24
 621 042a 28F4                  brsh .L63
 622 042c 8091 0000             lds r24,VersionInfo+6
 623 0430 8061                  ori r24,lo8(16)
 624 0432 8093 0000             sts VersionInfo+6,r24
 625                    .L63:
 626 0436 80E0                  ldi r24,lo8(__c.4)
 627 0438 90E0                  ldi r25,hi8(__c.4)
 628 043a 9F93                  push r25
 629 043c 8F93                  push r24
 630 043e DF93                  push r29
 631 0440 CF93                  push r28
 632 0442 E091 0000             lds r30,_printf_P
 633 0446 F091 0000             lds r31,(_printf_P)+1
 634 044a 0995                  icall
 635 044c 88EE                  ldi r24,lo8(1000)
 636 044e 93E0                  ldi r25,hi8(1000)
 637 0450 0E94 0000             call SetDelay
 638 0454 8C01                  movw r16,r24
 639 0456 0E94 0000             call SucheLuftruckOffset
 640 045a 0F90                  pop __tmp_reg__
 641 045c 0F90                  pop __tmp_reg__
 642 045e 0F90                  pop __tmp_reg__
 643 0460 0F90                  pop __tmp_reg__
 644                    .L64:
 645 0462 C801                  movw r24,r16
 646 0464 0E94 0000             call CheckDelay
 647 0468 8823                  tst r24
 648 046a D9F3                  breq .L64
 649 046c 80E0                  ldi r24,lo8(__c.5)
 650 046e 90E0                  ldi r25,hi8(__c.5)
 651 0470 9F93                  push r25
 652 0472 8F93                  push r24
 653 0474 DF93                  push r29
 654 0476 CF93                  push r28
 655 0478 E091 0000             lds r30,_printf_P
 656 047c F091 0000             lds r31,(_printf_P)+1
 657 0480 0995                  icall
 658 0482 80E0                  ldi r24,lo8(0)
 659 0484 0E94 0000             call SetNeutral
 660 0488 8091 0000             lds r24,PlatinenVersion
 661 048c 0F90                  pop __tmp_reg__
 662 048e 0F90                  pop __tmp_reg__
 663 0490 0F90                  pop __tmp_reg__
 664 0492 0F90                  pop __tmp_reg__
 665 0494 8A30                  cpi r24,lo8(10)
 666 0496 11F0                  breq .L68
 667 0498 8431                  cpi r24,lo8(20)
 668 049a 10F0                  brlo .L67
 669                    .L68:
 670 049c 2898                  cbi 37-0x20,0
 671 049e 01C0                  rjmp .L69
 672                    .L67:
 673 04a0 289A                  sbi 37-0x20,0
 674                    .L69:
 675 04a2 80ED                  ldi r24,lo8(2000)
 676 04a4 97E0                  ldi r25,hi8(2000)
 677 04a6 9093 0000             sts (beeptime)+1,r25
 678 04aa 8093 0000             sts beeptime,r24
 679 04ae 85E5                  ldi r24,lo8(85)
 680 04b0 8093 0000             sts ExternControl,r24
 681 04b4 8EE0                  ldi r24,lo8(14)
 682 04b6 90E0                  ldi r25,hi8(14)
 683 04b8 0E94 0000             call GetParamByte
 684 04bc 9927                  clr r25
 685 04be 182F                  mov r17,r24
 686 04c0 0027                  clr r16
 687 04c2 8FE0                  ldi r24,lo8(15)
 688 04c4 90E0                  ldi r25,hi8(15)
 689 04c6 0E94 0000             call GetParamByte
 690 04ca 080F                  add r16,r24
 691 04cc 111D                  adc r17,__zero_reg__
 692 04ce 1093 0000             sts (FlugMinuten)+1,r17
 693 04d2 0093 0000             sts FlugMinuten,r16
 694 04d6 8AE0                  ldi r24,lo8(10)
 695 04d8 90E0                  ldi r25,hi8(10)
 696 04da 0E94 0000             call GetParamByte
 697 04de 9927                  clr r25
 698 04e0 182F                  mov r17,r24
 699 04e2 0027                  clr r16
 700 04e4 8BE0                  ldi r24,lo8(11)
 701 04e6 90E0                  ldi r25,hi8(11)
 702 04e8 0E94 0000             call GetParamByte
 703 04ec 080F                  add r16,r24
 704 04ee 111D                  adc r17,__zero_reg__
 705 04f0 1093 0000             sts (FlugMinutenGesamt)+1,r17
 706 04f4 0093 0000             sts FlugMinutenGesamt,r16
 707 04f8 0F5F                  subi r16,lo8(-1)
 708 04fa 1F4F                  sbci r17,hi8(-1)
 709 04fc 39F0                  breq .L71
 710 04fe 8091 0000             lds r24,FlugMinuten
 711 0502 9091 0000             lds r25,(FlugMinuten)+1
 712 0506 8F5F                  subi r24,lo8(-1)
 713 0508 9F4F                  sbci r25,hi8(-1)
 714 050a 41F4                  brne .L70
 715                    .L71:
 716 050c 1092 0000             sts (FlugMinuten)+1,__zero_reg__
 717 0510 1092 0000             sts FlugMinuten,__zero_reg__
 718 0514 1092 0000             sts (FlugMinutenGesamt)+1,__zero_reg__
 719 0518 1092 0000             sts FlugMinutenGesamt,__zero_reg__
 720                    .L70:
 721 051c 8091 0000             lds r24,FlugMinutenGesamt
 722 0520 9091 0000             lds r25,(FlugMinutenGesamt)+1
 723 0524 9F93                  push r25
 724 0526 8F93                  push r24
 725 0528 8091 0000             lds r24,FlugMinuten
 726 052c 9091 0000             lds r25,(FlugMinuten)+1
 727 0530 9F93                  push r25
 728 0532 8F93                  push r24
 729 0534 80E0                  ldi r24,lo8(__c.6)
 730 0536 90E0                  ldi r25,hi8(__c.6)
 731 0538 9F93                  push r25
 732 053a 8F93                  push r24
 733 053c DF93                  push r29
 734 053e CF93                  push r28
 735 0540 E091 0000             lds r30,_printf_P
 736 0544 F091 0000             lds r31,(_printf_P)+1
 737 0548 0995                  icall
 738 054a 8DB7                  in r24,__SP_L__
 739 054c 9EB7                  in r25,__SP_H__
 740 054e 0896                  adiw r24,8
 741 0550 8DBF                  out __SP_L__,r24
 742 0552 80E0                  ldi r24,lo8(__c.7)
 743 0554 90E0                  ldi r25,hi8(__c.7)
 744 0556 9F93                  push r25
 745 0558 8F93                  push r24
 746 055a DF93                  push r29
 747 055c CF93                  push r28
 748 055e E091 0000             lds r30,_printf_P
 749 0562 F091 0000             lds r31,(_printf_P)+1
 750 0566 0995                  icall
 751 0568 8091 0000             lds r24,EE_Parameter+13
 752 056c 0F90                  pop __tmp_reg__
 753 056e 0F90                  pop __tmp_reg__
 754 0570 0F90                  pop __tmp_reg__
 755 0572 0F90                  pop __tmp_reg__
 756 0574 E091 0000             lds r30,_printf_P
 757 0578 F091 0000             lds r31,(_printf_P)+1
 758 057c 82FF                  sbrs r24,2
 759 057e 07C0                  rjmp .L72
 760 0580 80E0                  ldi r24,lo8(__c.8)
 761 0582 90E0                  ldi r25,hi8(__c.8)
 762 0584 9F93                  push r25
 763 0586 8F93                  push r24
 764 0588 DF93                  push r29
 765 058a CF93                  push r28
 766 058c 08C0                  rjmp .L235
 767                    .L72:
 768 058e 80E0                  ldi r24,lo8(__c.9)
 769 0590 90E0                  ldi r25,hi8(__c.9)
 770 0592 9F93                  push r25
 771 0594 8F93                  push r24
 772 0596 80E0                  ldi r24,lo8(pm(uart_putchar))
 773 0598 90E0                  ldi r25,hi8(pm(uart_putchar))
 774 059a 9F93                  push r25
 775 059c 8F93                  push r24
 776                    .L235:
 777 059e 0995                  icall
 778 05a0 0F90                  pop __tmp_reg__
 779 05a2 0F90                  pop __tmp_reg__
 780 05a4 0F90                  pop __tmp_reg__
 781 05a6 0F90                  pop __tmp_reg__
 782 05a8 0E94 0000             call LcdClear
 783 05ac 88E8                  ldi r24,lo8(5000)
 784 05ae 93E1                  ldi r25,hi8(5000)
 785 05b0 9093 0000             sts (I2CTimeout)+1,r25
 786 05b4 8093 0000             sts I2CTimeout,r24
 787 05b8 81E0                  ldi r24,lo8(1)
 788 05ba 8093 0000             sts WinkelOut+7,r24
 789 05be 0E94 0000             call LipoDetection
 790 05c2 8091 0000             lds r24,EE_Parameter+39
 791 05c6 0E94 0000             call LIBFC_ReceiverInit
 792 05ca 80E0                  ldi r24,lo8(__c.10)
 793 05cc 90E0                  ldi r25,hi8(__c.10)
 794 05ce 9F93                  push r25
 795 05d0 8F93                  push r24
 796 05d2 DF93                  push r29
 797 05d4 CF93                  push r28
 798 05d6 E091 0000             lds r30,_printf_P
 799 05da F091 0000             lds r31,(_printf_P)+1
 800 05de 0995                  icall
 801 05e0 80ED                  ldi r24,lo8(2000)
 802 05e2 97E0                  ldi r25,hi8(2000)
 803 05e4 0E94 0000             call SetDelay
 804 05e8 8C01                  movw r16,r24
 805 05ea 8AEF                  ldi r24,lo8(250)
 806 05ec 90E0                  ldi r25,hi8(250)
 807 05ee 0E94 0000             call SetDelay
 808 05f2 EC01                  movw r28,r24
 809 05f4 83E0                  ldi r24,lo8(3)
 810 05f6 8093 0000             sts DebugOut,r24
 811 05fa 0F90                  pop __tmp_reg__
 812 05fc 0F90                  pop __tmp_reg__
 813 05fe 0F90                  pop __tmp_reg__
 814 0600 0F90                  pop __tmp_reg__
 815                    .L239:
 816 0602 8091 0000             lds r24,JetiUpdateModeActive
 817 0606 8111                  cpse r24,__zero_reg__
 818                    .L77:
 819 0608 FFCF                  rjmp .L77
 820                    .L76:
 821 060a CE01                  movw r24,r28
 822 060c 0E94 0000             call CheckDelay
 823 0610 8823                  tst r24
 824 0612 39F0                  breq .L79
 825 0614 84E6                  ldi r24,lo8(100)
 826 0616 90E0                  ldi r25,hi8(100)
 827 0618 0E94 0000             call SetDelay
 828 061c EC01                  movw r28,r24
 829 061e 0E94 0000             call LIBFC_Polling
 830                    .L79:
 831 0622 8091 0000             lds r24,UpdateMotor
 832 0626 8823                  tst r24
 833 0628 09F4                  brne .+2
 834 062a E0C1                  rjmp .L80
 835 062c 8091 0000             lds r24,AdReady
 836 0630 8823                  tst r24
 837 0632 09F4                  brne .+2
 838 0634 DBC1                  rjmp .L80
 839 0636 1092 0000             sts UpdateMotor,__zero_reg__
 840 063a 8091 0000             lds r24,WinkelOut+6
 841 063e 8823                  tst r24
 842 0640 19F0                  breq .L81
 843 0642 0E94 0000             call CalMk3Mag
 844 0646 02C0                  rjmp .L82
 845                    .L81:
 846 0648 0E94 0000             call MotorRegler
 847                    .L82:
 848 064c 0E94 0000             call SendMotorData
 849 0650 2091 0000             lds r18,PlatinenVersion
 850 0654 2A30                  cpi r18,lo8(10)
 851 0656 11F0                  breq .L84
 852 0658 2431                  cpi r18,lo8(20)
 853 065a 10F0                  brlo .L83
 854                    .L84:
 855 065c 2898                  cbi 37-0x20,0
 856 065e 01C0                  rjmp .L85
 857                    .L83:
 858 0660 289A                  sbi 37-0x20,0
 859                    .L85:
 860 0662 8091 0000             lds r24,SenderOkay
 861 0666 9091 0000             lds r25,VersionInfo+6
 862 066a 8823                  tst r24
 863 066c 39F0                  breq .L86
 864 066e 8091 0000             lds r24,SenderOkay
 865 0672 8150                  subi r24,lo8(-(-1))
 866 0674 8093 0000             sts SenderOkay,r24
 867 0678 977F                  andi r25,lo8(-9)
 868 067a 0AC0                  rjmp .L236
 869                    .L86:
 870 067c 8091 6F00             lds r24,111
 871 0680 8062                  ori r24,lo8(32)
 872 0682 8093 6F00             sts 111,r24
 873 0686 1092 0000             sts (PPM_in)+1,__zero_reg__
 874 068a 1092 0000             sts PPM_in,__zero_reg__
 875 068e 9860                  ori r25,lo8(8)
 876                    .L236:
 877 0690 9093 0000             sts VersionInfo+6,r25
 878 0694 8091 0000             lds r24,I2CTimeout
 879 0698 9091 0000             lds r25,(I2CTimeout)+1
 880 069c 0197                  sbiw r24,1
 881 069e 9093 0000             sts (I2CTimeout)+1,r25
 882 06a2 8093 0000             sts I2CTimeout,r24
 883 06a6 8091 0000             lds r24,I2CTimeout
 884 06aa 9091 0000             lds r25,(I2CTimeout)+1
 885 06ae 892B                  or r24,r25
 886 06b0 21F0                  breq .L89
 887 06b2 8091 0000             lds r24,MissingMotor
 888 06b6 8823                  tst r24
 889 06b8 C9F1                  breq .L88
 890                    .L89:
 891 06ba 8091 0000             lds r24,I2CTimeout
 892 06be 9091 0000             lds r25,(I2CTimeout)+1
 893 06c2 892B                  or r24,r25
 894 06c4 D9F4                  brne .L90
 895 06c6 0E94 0000             call I2C_Reset
 896 06ca 85E0                  ldi r24,lo8(5)
 897 06cc 90E0                  ldi r25,hi8(5)
 898 06ce 9093 0000             sts (I2CTimeout)+1,r25
 899 06d2 8093 0000             sts I2CTimeout,r24
 900 06d6 8091 0000             lds r24,DebugOut+58
 901 06da 9091 0000             lds r25,(DebugOut+58)+1
 902 06de 0196                  adiw r24,1
 903 06e0 9093 0000             sts (DebugOut+58)+1,r25
 904 06e4 8093 0000             sts DebugOut+58,r24
 905 06e8 8091 0000             lds r24,VersionInfo+6
 906 06ec 8160                  ori r24,lo8(1)
 907 06ee 8093 0000             sts VersionInfo+6,r24
 908 06f2 8091 0000             lds r24,DebugOut+1
 909 06f6 8260                  ori r24,lo8(2)
 910 06f8 8093 0000             sts DebugOut+1,r24
 911                    .L90:
 912 06fc 8091 0000             lds r24,BeepMuster
 913 0700 9091 0000             lds r25,(BeepMuster)+1
 914 0704 8F5F                  subi r24,lo8(-1)
 915 0706 9F4F                  sbci r25,hi8(-1)
 916 0708 19F5                  brne .L92
 917 070a 8091 0000             lds r24,MotorenEin
 918 070e 8823                  tst r24
 919 0710 F9F0                  breq .L92
 920 0712 80E1                  ldi r24,lo8(10000)
 921 0714 97E2                  ldi r25,hi8(10000)
 922 0716 9093 0000             sts (beeptime)+1,r25
 923 071a 8093 0000             sts beeptime,r24
 924 071e 80E8                  ldi r24,lo8(128)
 925 0720 90E0                  ldi r25,hi8(128)
 926 0722 9093 0000             sts (BeepMuster)+1,r25
 927 0726 8093 0000             sts BeepMuster,r24
 928 072a 12C0                  rjmp .L92
 929                    .L88:
 930 072c 2A30                  cpi r18,lo8(10)
 931 072e 11F0                  breq .L94
 932 0730 2431                  cpi r18,lo8(20)
 933 0732 10F0                  brlo .L93
 934                    .L94:
 935 0734 2898                  cbi 37-0x20,0
 936 0736 01C0                  rjmp .L95
 937                    .L93:
 938 0738 289A                  sbi 37-0x20,0
 939                    .L95:
 940 073a 8091 0000             lds r24,beeptime
 941 073e 9091 0000             lds r25,(beeptime)+1
 942 0742 892B                  or r24,r25
 943 0744 29F4                  brne .L92
 944 0746 8091 0000             lds r24,VersionInfo+6
 945 074a 8E7F                  andi r24,lo8(-2)
 946 074c 8093 0000             sts VersionInfo+6,r24
 947                    .L92:
 948 0750 8091 0000             lds r24,UpdateMotor
 949 0754 8823                  tst r24
 950 0756 09F0                  breq .+2
 951 0758 49C1                  rjmp .L80
 952 075a 8091 0000             lds r24,CalculateServoSignals
 953 075e 8823                  tst r24
 954 0760 11F0                  breq .L98
 955 0762 0E94 0000             call CalculateServo
 956                    .L98:
 957 0766 0E94 0000             call DatenUebertragung
 958 076a 0E94 0000             call BearbeiteRxDaten
 959 076e C801                  movw r24,r16
 960 0770 0E94 0000             call CheckDelay
 961 0774 8823                  tst r24
 962 0776 09F4                  brne .+2
 963 0778 35C1                  rjmp .L99
 964 077a 0C5E                  subi r16,lo8(-(20))
 965 077c 1F4F                  sbci r17,hi8(-(20))
 966 077e 8091 0000             lds r24,MissingMotor
 967 0782 9091 0000             lds r25,VersionInfo+6
 968 0786 8823                  tst r24
 969 0788 39F0                  breq .L100
 970 078a 9260                  ori r25,lo8(2)
 971 078c 9093 0000             sts VersionInfo+6,r25
 972 0790 8091 0000             lds r24,DebugOut+1
 973 0794 8260                  ori r24,lo8(2)
 974 0796 0CC0                  rjmp .L237
 975                    .L100:
 976 0798 9D7F                  andi r25,lo8(-3)
 977 079a 9093 0000             sts VersionInfo+6,r25
 978 079e 8091 0000             lds r24,I2CTimeout
 979 07a2 9091 0000             lds r25,(I2CTimeout)+1
 980 07a6 0797                  sbiw r24,7
 981 07a8 28F0                  brlo .L101
 982 07aa 8091 0000             lds r24,DebugOut+1
 983 07ae 8D7F                  andi r24,lo8(-3)
 984                    .L237:
 985 07b0 8093 0000             sts DebugOut+1,r24
 986                    .L101:
 987 07b4 8091 0000             lds r24,I2CTimeout
 988 07b8 9091 0000             lds r25,(I2CTimeout)+1
 989 07bc 0797                  sbiw r24,7
 990 07be 28F0                  brlo .L103
 991 07c0 8091 0000             lds r24,VersionInfo+6
 992 07c4 8E7F                  andi r24,lo8(-2)
 993 07c6 8093 0000             sts VersionInfo+6,r24
 994                    .L103:
 995 07ca 8091 0000             lds r24,PcZugriff
 996 07ce 8823                  tst r24
 997 07d0 21F0                  breq .L104
 998 07d2 8150                  subi r24,lo8(-(-1))
 999 07d4 8093 0000             sts PcZugriff,r24
 1000 07d8 25C0                 rjmp .L105
 1001                   .L104:
 1002 07da 8093 0000            sts ExternControl+10,r24
 1003 07de 1092 0000            sts (ExternStickNick)+1,__zero_reg__
 1004 07e2 1092 0000            sts ExternStickNick,__zero_reg__
 1005 07e6 1092 0000            sts (ExternStickRoll)+1,__zero_reg__
 1006 07ea 1092 0000            sts ExternStickRoll,__zero_reg__
 1007 07ee 1092 0000            sts (ExternStickGier)+1,__zero_reg__
 1008 07f2 1092 0000            sts ExternStickGier,__zero_reg__
 1009 07f6 8091 0000            lds r24,BeepMuster
 1010 07fa 9091 0000            lds r25,(BeepMuster)+1
 1011 07fe 8F5F                 subi r24,lo8(-1)
 1012 0800 9F4F                 sbci r25,hi8(-1)
 1013 0802 81F4                 brne .L105
 1014 0804 8091 0000            lds r24,SenderOkay
 1015 0808 8823                 tst r24
 1016 080a 61F4                 brne .L105
 1017 080c 88E9                 ldi r24,lo8(15000)
 1018 080e 9AE3                 ldi r25,hi8(15000)
 1019 0810 9093 0000            sts (beeptime)+1,r25
 1020 0814 8093 0000            sts beeptime,r24
 1021 0818 80E0                 ldi r24,lo8(3072)
 1022 081a 9CE0                 ldi r25,hi8(3072)
 1023 081c 9093 0000            sts (BeepMuster)+1,r25
 1024 0820 8093 0000            sts BeepMuster,r24
 1025                   .L105:
 1026 0824 8091 0000            lds r24,NaviDataOkay
 1027 0828 893C                 cpi r24,lo8(-55)
 1028 082a 48F0                 brlo .L107
 1029 082c 8150                 subi r24,lo8(-(-1))
 1030 082e 8093 0000            sts NaviDataOkay,r24
 1031 0832 8091 0000            lds r24,VersionInfo+6
 1032 0836 8B7F                 andi r24,lo8(-5)
 1033 0838 8093 0000            sts VersionInfo+6,r24
 1034 083c 30C0                 rjmp .L108
 1035                   .L107:
 1036 083e 8091 0000            lds r24,NC_Version+3
 1037 0842 8823                 tst r24
 1038 0844 E1F0                 breq .L109
 1039 0846 8091 0000            lds r24,VersionInfo+6
 1040 084a 8460                 ori r24,lo8(4)
 1041 084c 8093 0000            sts VersionInfo+6,r24
 1042 0850 8091 0000            lds r24,BeepMuster
 1043 0854 9091 0000            lds r25,(BeepMuster)+1
 1044 0858 8F5F                 subi r24,lo8(-1)
 1045 085a 9F4F                 sbci r25,hi8(-1)
 1046 085c 81F4                 brne .L109
 1047 085e 8091 0000            lds r24,MotorenEin
 1048 0862 8823                 tst r24
 1049 0864 61F0                 breq .L109
 1050 0866 88E9                 ldi r24,lo8(15000)
 1051 0868 9AE3                 ldi r25,hi8(15000)
 1052 086a 9093 0000            sts (beeptime)+1,r25
 1053 086e 8093 0000            sts beeptime,r24
 1054 0872 80E0                 ldi r24,lo8(-22528)
 1055 0874 98EA                 ldi r25,hi8(-22528)
 1056 0876 9093 0000            sts (BeepMuster)+1,r25
 1057 087a 8093 0000            sts BeepMuster,r24
 1058                   .L109:
 1059 087e 1092 0000            sts (GPS_Nick)+1,__zero_reg__
 1060 0882 1092 0000            sts GPS_Nick,__zero_reg__
 1061 0886 1092 0000            sts (GPS_Roll)+1,__zero_reg__
 1062 088a 1092 0000            sts GPS_Roll,__zero_reg__
 1063 088e 8FEF                 ldi r24,lo8(-1)
 1064 0890 9FEF                 ldi r25,hi8(-1)
 1065 0892 9093 0000            sts (FromNaviCtrl+7)+1,r25
 1066 0896 8093 0000            sts FromNaviCtrl+7,r24
 1067 089a 1092 0000            sts NaviDataOkay,__zero_reg__
 1068                   .L108:
 1069 089e 8091 0000            lds r24,BattLowVoltageWarning
 1070 08a2 282F                 mov r18,r24
 1071 08a4 3327                 clr r19
 1072 08a6 8091 0000            lds r24,UBat
 1073 08aa 9091 0000            lds r25,(UBat)+1
 1074 08ae 8217                 cp r24,r18
 1075 08b0 9307                 cpc r25,r19
 1076 08b2 5CF0                 brlt .L112
 1077 08b4 8091 0000            lds r24,Capacity+6
 1078 08b8 9091 0000            lds r25,(Capacity+6)+1
 1079 08bc 1816                 cp __zero_reg__,r24
 1080 08be 1906                 cpc __zero_reg__,r25
 1081 08c0 ECF0                 brlt .L111
 1082 08c2 8091 0000            lds r24,EE_Parameter+41
 1083 08c6 8823                 tst r24
 1084 08c8 C9F0                 breq .L111
 1085                   .L112:
 1086 08ca 8091 0000            lds r24,FC_StatusFlags
 1087 08ce 8062                 ori r24,lo8(32)
 1088 08d0 8093 0000            sts FC_StatusFlags,r24
 1089 08d4 8091 0000            lds r24,BeepMuster
 1090 08d8 9091 0000            lds r25,(BeepMuster)+1
 1091 08dc 8F5F                 subi r24,lo8(-1)
 1092 08de 9F4F                 sbci r25,hi8(-1)
 1093 08e0 C1F4                 brne .L114
 1094 08e2 80E7                 ldi r24,lo8(6000)
 1095 08e4 97E1                 ldi r25,hi8(6000)
 1096 08e6 9093 0000            sts (beeptime)+1,r25
 1097 08ea 8093 0000            sts beeptime,r24
 1098 08ee 80E0                 ldi r24,lo8(768)
 1099 08f0 93E0                 ldi r25,hi8(768)
 1100 08f2 9093 0000            sts (BeepMuster)+1,r25
 1101 08f6 8093 0000            sts BeepMuster,r24
 1102 08fa 0BC0                 rjmp .L114
 1103                   .L111:
 1104 08fc 8091 0000            lds r24,beeptime
 1105 0900 9091 0000            lds r25,(beeptime)+1
 1106 0904 892B                 or r24,r25
 1107 0906 29F4                 brne .L114
 1108 0908 8091 0000            lds r24,FC_StatusFlags
 1109 090c 8F7D                 andi r24,lo8(-33)
 1110 090e 8093 0000            sts FC_StatusFlags,r24
 1111                   .L114:
 1112 0912 0E94 0000            call SPI_StartTransmitPacket
 1113 0916 84E0                 ldi r24,lo8(4)
 1114 0918 8093 0000            sts SendSPI,r24
 1115 091c 8091 0000            lds r24,MotorenEin
 1116 0920 8823                 tst r24
 1117 0922 29F4                 brne .L116
 1118 0924 5AEA                 ldi r21,lo8(1450)
 1119 0926 852E                 mov r8,r21
 1120 0928 55E0                 ldi r21,hi8(1450)
 1121 092a 952E                 mov r9,r21
 1122 092c 12C0                 rjmp .L117
 1123                   .L116:
 1124 092e 8091 0000            lds r24,second.11
 1125 0932 8F5F                 subi r24,lo8(-(1))
 1126 0934 8093 0000            sts second.11,r24
 1127 0938 8133                 cpi r24,lo8(49)
 1128 093a 59F4                 brne .L117
 1129 093c 1092 0000            sts second.11,__zero_reg__
 1130 0940 8091 0000            lds r24,FlugSekunden
 1131 0944 9091 0000            lds r25,(FlugSekunden)+1
 1132 0948 0196                 adiw r24,1
 1133 094a 9093 0000            sts (FlugSekunden)+1,r25
 1134 094e 8093 0000            sts FlugSekunden,r24
 1135                   .L117:
 1136 0952 0894                 sec
 1137 0954 811C                 adc r8,__zero_reg__
 1138 0956 911C                 adc r9,__zero_reg__
 1139 0958 F2E7                 ldi r31,lo8(2930)
 1140 095a 8F16                 cp r8,r31
 1141 095c FBE0                 ldi r31,hi8(2930)
 1142 095e 9F06                 cpc r9,r31
 1143 0960 09F0                 breq .+2
 1144 0962 40C0                 rjmp .L99
 1145 0964 8824                 clr r8
 1146 0966 9924                 clr r9
 1147 0968 2091 0000            lds r18,FlugMinuten
 1148 096c 3091 0000            lds r19,(FlugMinuten)+1
 1149 0970 2F5F                 subi r18,lo8(-(1))
 1150 0972 3F4F                 sbci r19,hi8(-(1))
 1151 0974 3093 0000            sts (FlugMinuten)+1,r19
 1152 0978 2093 0000            sts FlugMinuten,r18
 1153 097c 8091 0000            lds r24,FlugMinutenGesamt
 1154 0980 9091 0000            lds r25,(FlugMinutenGesamt)+1
 1155 0984 0196                 adiw r24,1
 1156 0986 9093 0000            sts (FlugMinutenGesamt)+1,r25
 1157 098a 8093 0000            sts FlugMinutenGesamt,r24
 1158 098e 832F                 mov r24,r19
 1159 0990 9927                 clr r25
 1160 0992 682F                 mov r22,r24
 1161 0994 8EE0                 ldi r24,lo8(14)
 1162 0996 90E0                 ldi r25,hi8(14)
 1163 0998 0E94 0000            call SetParamByte
 1164 099c 8091 0000            lds r24,FlugMinuten
 1165 09a0 9091 0000            lds r25,(FlugMinuten)+1
 1166 09a4 9070                 andi r25,hi8(255)
 1167 09a6 682F                 mov r22,r24
 1168 09a8 8FE0                 ldi r24,lo8(15)
 1169 09aa 90E0                 ldi r25,hi8(15)
 1170 09ac 0E94 0000            call SetParamByte
 1171 09b0 8091 0000            lds r24,FlugMinutenGesamt
 1172 09b4 9091 0000            lds r25,(FlugMinutenGesamt)+1
 1173 09b8 892F                 mov r24,r25
 1174 09ba 9927                 clr r25
 1175 09bc 682F                 mov r22,r24
 1176 09be 8AE0                 ldi r24,lo8(10)
 1177 09c0 90E0                 ldi r25,hi8(10)
 1178 09c2 0E94 0000            call SetParamByte
 1179 09c6 8091 0000            lds r24,FlugMinutenGesamt
 1180 09ca 9091 0000            lds r25,(FlugMinutenGesamt)+1
 1181 09ce 9070                 andi r25,hi8(255)
 1182 09d0 682F                 mov r22,r24
 1183 09d2 8BE0                 ldi r24,lo8(11)
 1184 09d4 90E0                 ldi r25,hi8(11)
 1185 09d6 0E94 0000            call SetParamByte
 1186 09da 84E1                 ldi r24,lo8(20)
 1187 09dc 90E0                 ldi r25,hi8(20)
 1188 09de 0E94 0000            call SetDelay
 1189 09e2 8C01                 movw r16,r24
 1190                   .L99:
 1191 09e4 0E94 0000            call LED_Update
 1192 09e8 0E94 0000            call Capacity_Update
 1193                   .L80:
 1194 09ec 8091 0000            lds r24,SendSPI
 1195 09f0 8823                 tst r24
 1196 09f2 09F0                 breq .+2
 1197 09f4 06CE                 rjmp .L239
 1198 09f6 0E94 0000            call SPI_TransmitByte
 1199 09fa 03CE                 rjmp .L239
 1200                   /* epilogue: frame size=0 */
 1201                   /* epilogue: noreturn */
 1202                   /* epilogue end (size=0) */
 1203                   /* function main size 1100 (1096) */
 1205                           .comm _printf_P,2,1
 1206                   /* File "main.c": code 1293 = 0x050d (1281), prologues   7, epilogues   5 */
DEFINED SYMBOLS
                            *ABS*:00000000 main.c
C:\Users\Thomas\AppData\Local\Temp/cc42aaaa.s:3      *ABS*:0000003f __SREG__
C:\Users\Thomas\AppData\Local\Temp/cc42aaaa.s:4      *ABS*:0000003e __SP_H__
C:\Users\Thomas\AppData\Local\Temp/cc42aaaa.s:5      *ABS*:0000003d __SP_L__
C:\Users\Thomas\AppData\Local\Temp/cc42aaaa.s:6      *ABS*:00000000 __tmp_reg__
C:\Users\Thomas\AppData\Local\Temp/cc42aaaa.s:7      *ABS*:00000001 __zero_reg__
C:\Users\Thomas\AppData\Local\Temp/cc42aaaa.s:15     .bss:00000000 FoundMotors
C:\Users\Thomas\AppData\Local\Temp/cc42aaaa.s:21     .bss:00000001 FlugSekunden
C:\Users\Thomas\AppData\Local\Temp/cc42aaaa.s:27     .bss:00000003 FlugMinutenGesamt
C:\Users\Thomas\AppData\Local\Temp/cc42aaaa.s:33     .bss:00000005 FlugMinuten
C:\Users\Thomas\AppData\Local\Temp/cc42aaaa.s:39     .data:00000000 BattLowVoltageWarning
C:\Users\Thomas\AppData\Local\Temp/cc42aaaa.s:44     .data:00000001 SendVersionToNavi
C:\Users\Thomas\AppData\Local\Temp/cc42aaaa.s:49     .data:00000002 PlatinenVersion
C:\Users\Thomas\AppData\Local\Temp/cc42aaaa.s:53     .data:00000003 stick.15
C:\Users\Thomas\AppData\Local\Temp/cc42aaaa.s:58     .text:00000000 CalMk3Mag
C:\Users\Thomas\AppData\Local\Temp/cc42aaaa.s:112    .progmem.data:00000000 __c.12
C:\Users\Thomas\AppData\Local\Temp/cc42aaaa.s:116    .progmem.data:00000008 __c.13
C:\Users\Thomas\AppData\Local\Temp/cc42aaaa.s:120    .progmem.data:00000013 __c.14
C:\Users\Thomas\AppData\Local\Temp/cc42aaaa.s:125    .text:0000006a LipoDetection
                            *COM*:00000002 _printf_P
C:\Users\Thomas\AppData\Local\Temp/cc42aaaa.s:262    .progmem.data:0000002d __c.0
C:\Users\Thomas\AppData\Local\Temp/cc42aaaa.s:266    .progmem.data:0000003f __c.1
C:\Users\Thomas\AppData\Local\Temp/cc42aaaa.s:270    .progmem.data:00000042 __c.2
C:\Users\Thomas\AppData\Local\Temp/cc42aaaa.s:274    .progmem.data:00000060 __c.3
C:\Users\Thomas\AppData\Local\Temp/cc42aaaa.s:278    .progmem.data:00000086 __c.4
C:\Users\Thomas\AppData\Local\Temp/cc42aaaa.s:282    .progmem.data:000000a6 __c.5
C:\Users\Thomas\AppData\Local\Temp/cc42aaaa.s:286    .progmem.data:000000ab __c.6
C:\Users\Thomas\AppData\Local\Temp/cc42aaaa.s:290    .progmem.data:000000ce __c.7
C:\Users\Thomas\AppData\Local\Temp/cc42aaaa.s:294    .progmem.data:000000da __c.8
C:\Users\Thomas\AppData\Local\Temp/cc42aaaa.s:298    .progmem.data:000000e6 __c.9
C:\Users\Thomas\AppData\Local\Temp/cc42aaaa.s:302    .progmem.data:000000f8 __c.10
                             .bss:00000007 second.11
C:\Users\Thomas\AppData\Local\Temp/cc42aaaa.s:308    .text:0000017e main

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