Subversion Repositories FlightCtrl

   1                            .file   "timer0.c"
   2                    __SREG__ = 0x3f
   3                    __SP_H__ = 0x3e
   4                    __SP_L__ = 0x3d
   5                    __CCP__  = 0x34
   6                    __tmp_reg__ = 0
   7                    __zero_reg__ = 1
   8                            .text
   9                    .global __vector_18
  11                    __vector_18:
  12 0000 1F92                  push __zero_reg__
  13 0002 0F92                  push r0
  14 0004 0FB6                  in r0,__SREG__
  15 0006 0F92                  push r0
  16 0008 1124                  clr __zero_reg__
  17 000a 2F93                  push r18
  18 000c 3F93                  push r19
  19 000e 5F93                  push r21
  20 0010 6F93                  push r22
  21 0012 7F93                  push r23
  22 0014 8F93                  push r24
  23 0016 9F93                  push r25
  24 0018 AF93                  push r26
  25 001a BF93                  push r27
  26                    /* prologue: Signal */
  27                    /* frame size = 0 */
  28 001c 8091 0000             lds r24,SendSPI
  29 0020 8823                  tst r24
  30 0022 01F0                  breq .L2
  31 0024 8091 0000             lds r24,SendSPI
  32 0028 8150                  subi r24,lo8(-(-1))
  33 002a 8093 0000             sts SendSPI,r24
  34                    .L2:
  35 002e 8091 0000             lds r24,SpektrumTimer
  36 0032 8823                  tst r24
  37 0034 01F0                  breq .L3
  38 0036 8150                  subi r24,lo8(-(-1))
  39 0038 8093 0000             sts SpektrumTimer,r24
  40                    .L3:
  41 003c 8091 0000             lds r24,cnt.2155
  42 0040 8150                  subi r24,lo8(-(-1))
  43 0042 8093 0000             sts cnt.2155,r24
  44 0046 8F5F                  subi r24,lo8(-(1))
  45 0048 01F4                  brne .L4
  46 004a 89E0                  ldi r24,lo8(9)
  47 004c 8093 0000             sts cnt.2155,r24
  48 0050 8091 0000             lds r24,cnt_1ms.2154
  49 0054 8F5F                  subi r24,lo8(-(1))
  50 0056 8170                  andi r24,lo8(1)
  51 0058 8093 0000             sts cnt_1ms.2154,r24
  52 005c 8823                  tst r24
  53 005e 01F4                  brne .+2
  54 0060 00C0                  rjmp .L22
  55                    .L5:
  56 0062 8091 0000             lds r24,CountMilliseconds
  57 0066 9091 0000             lds r25,(CountMilliseconds)+1
  58 006a 0196                  adiw r24,1
  59 006c 9093 0000             sts (CountMilliseconds)+1,r25
  60 0070 8093 0000             sts CountMilliseconds,r24
  61                    .L4:
  62 0074 8091 0000             lds r24,beeptime
  63 0078 9091 0000             lds r25,(beeptime)+1
  64 007c 892B                  or r24,r25
  65 007e 01F4                  brne .+2
  66 0080 00C0                  rjmp .L6
  67 0082 8091 0000             lds r24,beeptime
  68 0086 9091 0000             lds r25,(beeptime)+1
  69 008a 0197                  sbiw r24,1
  70 008c 9093 0000             sts (beeptime)+1,r25
  71 0090 8093 0000             sts beeptime,r24
  72 0094 8091 0000             lds r24,beeptime
  73 0098 9091 0000             lds r25,(beeptime)+1
  74 009c 2091 0000             lds r18,BeepMuster
  75 00a0 3091 0000             lds r19,(BeepMuster)+1
  76 00a4 8223                  and r24,r18
  77 00a6 9323                  and r25,r19
  78 00a8 892B                  or r24,r25
  79 00aa 01F4                  brne .+2
  80 00ac 00C0                  rjmp .L8
  81 00ae 8091 0000             lds r24,PlatinenVersion
  82 00b2 8A30                  cpi r24,lo8(10)
  83 00b4 01F4                  brne .+2
  84 00b6 00C0                  rjmp .L23
  85 00b8 479A                  sbi 40-32,7
  86                    .L11:
  87 00ba 8091 0000             lds r24,EE_Parameter+8
  88 00be 83FF                  sbrs r24,3
  89 00c0 00C0                  rjmp .L18
  90 00c2 3499                  sbic 38-32,4
  91 00c4 00C0                  rjmp .L24
  92 00c6 8091 0000             lds r24,cntKompass
  93 00ca 9091 0000             lds r25,(cntKompass)+1
  94 00ce 892B                  or r24,r25
  95 00d0 01F0                  breq .L14
  96 00d2 8091 0000             lds r24,cntKompass
  97 00d6 9091 0000             lds r25,(cntKompass)+1
  98 00da 8A56                  subi r24,lo8(362)
  99 00dc 9140                  sbci r25,hi8(362)
 100 00de 00F4                  brsh .L14
 101 00e0 8091 0000             lds r24,cntKompass
 102 00e4 9091 0000             lds r25,(cntKompass)+1
 103 00e8 2091 0000             lds r18,cntKompass
 104 00ec 3091 0000             lds r19,(cntKompass)+1
 105 00f0 69E2                  ldi r22,lo8(41)
 106 00f2 70E0                  ldi r23,hi8(41)
 107 00f4 0E94 0000             call __udivmodhi4
 108 00f8 260F                  add r18,r22
 109 00fa 371F                  adc r19,r23
 110 00fc 3093 0000             sts (cntKompass)+1,r19
 111 0100 2093 0000             sts cntKompass,r18
 112 0104 8091 0000             lds r24,cntKompass
 113 0108 9091 0000             lds r25,(cntKompass)+1
 114 010c 0B97                  sbiw r24,11
 115 010e 00F4                  brsh .+2
 116 0110 00C0                  rjmp .L15
 117 0112 8091 0000             lds r24,cntKompass
 118 0116 9091 0000             lds r25,(cntKompass)+1
 119 011a 0A97                  sbiw r24,10
 120 011c 9093 0000             sts (KompassValue)+1,r25
 121 0120 8093 0000             sts KompassValue,r24
 122                    .L14:
 123 0124 8091 0000             lds r24,KompassValue
 124 0128 9091 0000             lds r25,(KompassValue)+1
 125 012c 845E                  subi r24,lo8(-(540))
 126 012e 9D4F                  sbci r25,hi8(-(540))
 127 0130 2091 0000             lds r18,KompassStartwert
 128 0134 3091 0000             lds r19,(KompassStartwert)+1
 129 0138 821B                  sub r24,r18
 130 013a 930B                  sbc r25,r19
 131 013c 68E6                  ldi r22,lo8(360)
 132 013e 71E0                  ldi r23,hi8(360)
 133 0140 0E94 0000             call __divmodhi4
 134 0144 845B                  subi r24,lo8(-(-180))
 135 0146 9040                  sbci r25,hi8(-(-180))
 136 0148 9093 0000             sts (KompassRichtung)+1,r25
 137 014c 8093 0000             sts KompassRichtung,r24
 138 0150 1092 0000             sts (cntKompass)+1,__zero_reg__
 139 0154 1092 0000             sts cntKompass,__zero_reg__
 140                    .L18:
 141                    /* epilogue start */
 142 0158 BF91                  pop r27
 143 015a AF91                  pop r26
 144 015c 9F91                  pop r25
 145 015e 8F91                  pop r24
 146 0160 7F91                  pop r23
 147 0162 6F91                  pop r22
 148 0164 5F91                  pop r21
 149 0166 3F91                  pop r19
 150 0168 2F91                  pop r18
 151 016a 0F90                  pop r0
 152 016c 0FBE                  out __SREG__,r0
 153 016e 0F90                  pop r0
 154 0170 1F90                  pop __zero_reg__
 155 0172 1895                  reti
 156                    .L6:
 157 0174 8FEF                  ldi r24,lo8(-1)
 158 0176 9FEF                  ldi r25,hi8(-1)
 159 0178 9093 0000             sts (BeepMuster)+1,r25
 160 017c 8093 0000             sts BeepMuster,r24
 161                    .L8:
 162 0180 8091 0000             lds r24,PlatinenVersion
 163 0184 8A30                  cpi r24,lo8(10)
 164 0186 01F0                  breq .L25
 165 0188 4798                  cbi 40-32,7
 166 018a 00C0                  rjmp .L11
 167                    .L22:
 168 018c 81E0                  ldi r24,lo8(1)
 169 018e 8093 0000             sts UpdateMotor,r24
 170 0192 00C0                  rjmp .L5
 171                    .L24:
 172 0194 8091 0000             lds r24,cntKompass
 173 0198 9091 0000             lds r25,(cntKompass)+1
 174 019c 0196                  adiw r24,1
 175 019e 9093 0000             sts (cntKompass)+1,r25
 176 01a2 8093 0000             sts cntKompass,r24
 177 01a6 00C0                  rjmp .L18
 178                    .L23:
 179 01a8 5A9A                  sbi 43-32,2
 180 01aa 00C0                  rjmp .L11
 181                    .L25:
 182 01ac 5A98                  cbi 43-32,2
 183 01ae 00C0                  rjmp .L11
 184                    .L15:
 185 01b0 1092 0000             sts (KompassValue)+1,__zero_reg__
 186 01b4 1092 0000             sts KompassValue,__zero_reg__
 187 01b8 00C0                  rjmp .L14
 189                    .global SetDelay
 191                    SetDelay:
 192                    /* prologue: function */
 193                    /* frame size = 0 */
 194 01ba 2091 0000             lds r18,CountMilliseconds
 195 01be 3091 0000             lds r19,(CountMilliseconds)+1
 196 01c2 2F5F                  subi r18,lo8(-(1))
 197 01c4 3F4F                  sbci r19,hi8(-(1))
 198 01c6 280F                  add r18,r24
 199 01c8 391F                  adc r19,r25
 200 01ca C901                  movw r24,r18
 201                    /* epilogue start */
 202 01cc 0895                  ret
 204                    .global CheckDelay
 206                    CheckDelay:
 207                    /* prologue: function */
 208                    /* frame size = 0 */
 209 01ce 2091 0000             lds r18,CountMilliseconds
 210 01d2 3091 0000             lds r19,(CountMilliseconds)+1
 211 01d6 821B                  sub r24,r18
 212 01d8 930B                  sbc r25,r19
 213 01da 8070                  andi r24,lo8(-32768)
 214 01dc 9078                  andi r25,hi8(-32768)
 215 01de 892F                  mov r24,r25
 216 01e0 8695                  lsr r24
 217                    /* epilogue start */
 218 01e2 0895                  ret
 220                    .global Delay_ms
 222                    Delay_ms:
 223                    /* prologue: function */
 224                    /* frame size = 0 */
 225 01e4 2091 0000             lds r18,CountMilliseconds
 226 01e8 3091 0000             lds r19,(CountMilliseconds)+1
 227 01ec 2F5F                  subi r18,lo8(-(1))
 228 01ee 3F4F                  sbci r19,hi8(-(1))
 229 01f0 280F                  add r18,r24
 230 01f2 391F                  adc r19,r25
 231                    .L31:
 232 01f4 8091 0000             lds r24,CountMilliseconds
 233 01f8 9091 0000             lds r25,(CountMilliseconds)+1
 234 01fc A901                  movw r20,r18
 235 01fe 481B                  sub r20,r24
 236 0200 590B                  sbc r21,r25
 237 0202 CA01                  movw r24,r20
 238 0204 8070                  andi r24,lo8(-32768)
 239 0206 9078                  andi r25,hi8(-32768)
 240 0208 892F                  mov r24,r25
 241 020a 8695                  lsr r24
 242 020c 01F0                  breq .L31
 243                    /* epilogue start */
 244 020e 0895                  ret
 246                    .global Delay_ms_Mess
 248                    Delay_ms_Mess:
 249                    /* prologue: function */
 250                    /* frame size = 0 */
 251 0210 2091 0000             lds r18,CountMilliseconds
 252 0214 3091 0000             lds r19,(CountMilliseconds)+1
 253 0218 2F5F                  subi r18,lo8(-(1))
 254 021a 3F4F                  sbci r19,hi8(-(1))
 255 021c 280F                  add r18,r24
 256 021e 391F                  adc r19,r25
 257 0220 4FEC                  ldi r20,lo8(-49)
 258                    .L40:
 259 0222 8091 0000             lds r24,CountMilliseconds
 260 0226 9091 0000             lds r25,(CountMilliseconds)+1
 261 022a B901                  movw r22,r18
 262 022c 681B                  sub r22,r24
 263 022e 790B                  sbc r23,r25
 264 0230 CB01                  movw r24,r22
 265 0232 8070                  andi r24,lo8(-32768)
 266 0234 9078                  andi r25,hi8(-32768)
 267 0236 892F                  mov r24,r25
 268 0238 8695                  lsr r24
 269 023a 01F4                  brne .L41
 270 023c 8091 0000             lds r24,AdReady
 271 0240 8823                  tst r24
 272 0242 01F0                  breq .L40
 273 0244 1092 0000             sts AdReady,__zero_reg__
 274 0248 4093 7A00             sts 122,r20
 275 024c 00C0                  rjmp .L40
 276                    .L41:
 277                    /* epilogue start */
 278 024e 0895                  ret
 280                    .global TIMER2_Init
 282                    TIMER2_Init:
 283                    /* prologue: function */
 284                    /* frame size = 0 */
 285 0250 9FB7                  in r25,__SREG__
 286                    /* #APP */
 287                     ;  142 "timer0.c" 1
 288 0252 F894                  cli
 289                     ;  0 "" 2
 290                    /* #NOAPP */
 291 0254 5F98                  cbi 43-32,7
 292 0256 3E9A                  sbi 39-32,6
 293 0258 469A                  sbi 40-32,6
 294 025a A0EB                  ldi r26,lo8(176)
 295 025c B0E0                  ldi r27,hi8(176)
 296 025e 8C91                  ld r24,X
 297 0260 8F70                  andi r24,lo8(15)
 298 0262 8C93                  st X,r24
 299 0264 8C91                  ld r24,X
 300 0266 8360                  ori r24,lo8(3)
 301 0268 8C93                  st X,r24
 302 026a E1EB                  ldi r30,lo8(177)
 303 026c F0E0                  ldi r31,hi8(177)
 304 026e 8081                  ld r24,Z
 305 0270 8B73                  andi r24,lo8(59)
 306 0272 8083                  st Z,r24
 307 0274 8081                  ld r24,Z
 308 0276 8B60                  ori r24,lo8(11)
 309 0278 8083                  st Z,r24
 310 027a 1092 B200             sts 178,__zero_reg__
 311 027e 8FEF                  ldi r24,lo8(-1)
 312 0280 8093 B300             sts 179,r24
 313 0284 8C91                  ld r24,X
 314 0286 8068                  ori r24,lo8(-128)
 315 0288 8C93                  st X,r24
 316 028a E0E7                  ldi r30,lo8(112)
 317 028c F0E0                  ldi r31,hi8(112)
 318 028e 8081                  ld r24,Z
 319 0290 8A7F                  andi r24,lo8(-6)
 320 0292 8083                  st Z,r24
 321 0294 8081                  ld r24,Z
 322 0296 8260                  ori r24,lo8(2)
 323 0298 8083                  st Z,r24
 324 029a 9FBF                  out __SREG__,r25
 325                    /* epilogue start */
 326 029c 0895                  ret
 328                    .global Timer_Init
 330                    Timer_Init:
 331                    /* prologue: function */
 332                    /* frame size = 0 */
 333 029e 8091 0000             lds r24,CountMilliseconds
 334 02a2 9091 0000             lds r25,(CountMilliseconds)+1
 335 02a6 0B96                  adiw r24,11
 336 02a8 9093 0000             sts (tim_main)+1,r25
 337 02ac 8093 0000             sts tim_main,r24
 338 02b0 82E0                  ldi r24,lo8(2)
 339 02b2 85BD                  out 69-32,r24
 340 02b4 83EA                  ldi r24,lo8(-93)
 341 02b6 84BD                  out 68-32,r24
 342 02b8 17BC                  out 71-32,__zero_reg__
 343 02ba 88E7                  ldi r24,lo8(120)
 344 02bc 88BD                  out 72-32,r24
 345 02be 86E0                  ldi r24,lo8(6)
 346 02c0 86BD                  out 70-32,r24
 347 02c2 EEE6                  ldi r30,lo8(110)
 348 02c4 F0E0                  ldi r31,hi8(110)
 349 02c6 8081                  ld r24,Z
 350 02c8 8160                  ori r24,lo8(1)
 351 02ca 8083                  st Z,r24
 352                    /* epilogue start */
 353 02cc 0895                  ret
 355                    .global __vector_9
 357                    __vector_9:
 358 02ce 1F92                  push __zero_reg__
 359 02d0 0F92                  push r0
 360 02d2 0FB6                  in r0,__SREG__
 361 02d4 0F92                  push r0
 362 02d6 1124                  clr __zero_reg__
 363 02d8 CF92                  push r12
 364 02da DF92                  push r13
 365 02dc EF92                  push r14
 366 02de FF92                  push r15
 367 02e0 0F93                  push r16
 368 02e2 1F93                  push r17
 369 02e4 2F93                  push r18
 370 02e6 3F93                  push r19
 371 02e8 4F93                  push r20
 372 02ea 5F93                  push r21
 373 02ec 6F93                  push r22
 374 02ee 7F93                  push r23
 375 02f0 8F93                  push r24
 376 02f2 9F93                  push r25
 377 02f4 AF93                  push r26
 378 02f6 BF93                  push r27
 379 02f8 EF93                  push r30
 380 02fa FF93                  push r31
 381                    /* prologue: Signal */
 382                    /* frame size = 0 */
 383 02fc 8091 0000             lds r24,PlatinenVersion
 384 0300 8431                  cpi r24,lo8(20)
 385 0302 00F0                  brlo .+2
 386 0304 00C0                  rjmp .L47
 387 0306 8091 0000             lds r24,Parameter_UserParam8
 388 030a 87FD                  sbrc r24,7
 389 030c 00C0                  rjmp .L47
 390 030e 8091 0000             lds r24,PulseOutput.2296
 391 0312 8823                  tst r24
 392 0314 01F0                  breq .+2
 393 0316 00C0                  rjmp .L99
 394 0318 8091 B000             lds r24,176
 395 031c 86FF                  sbrs r24,6
 396 031e 00C0                  rjmp .L49
 397 0320 8091 B000             lds r24,176
 398 0324 8F7B                  andi r24,lo8(-65)
 399 0326 8093 B000             sts 176,r24
 400 032a 8091 0000             lds r24,Parameter_ServoNickControl
 401 032e 482F                  mov r20,r24
 402 0330 50E0                  ldi r21,lo8(0)
 403 0332 440F                  lsl r20
 404 0334 551F                  rol r21
 405 0336 440F                  lsl r20
 406 0338 551F                  rol r21
 407 033a 2091 0000             lds r18,ServoNickOffset.2300
 408 033e 3091 0000             lds r19,(ServoNickOffset.2300)+1
 409 0342 C901                  movw r24,r18
 410 0344 880F                  lsl r24
 411 0346 991F                  rol r25
 412 0348 820F                  add r24,r18
 413 034a 931F                  adc r25,r19
 414 034c 480F                  add r20,r24
 415 034e 591F                  adc r21,r25
 416 0350 57FD                  sbrc r21,7
 417 0352 00C0                  rjmp .L100
 418                    .L50:
 419 0354 CA01                  movw r24,r20
 420 0356 9595                  asr r25
 421 0358 8795                  ror r24
 422 035a 9595                  asr r25
 423 035c 8795                  ror r24
 424 035e 9093 0000             sts (ServoNickOffset.2300)+1,r25
 425 0362 8093 0000             sts ServoNickOffset.2300,r24
 426 0366 9093 0000             sts (ServoNickValue)+1,r25
 427 036a 8093 0000             sts ServoNickValue,r24
 428 036e 8091 0000             lds r24,EE_Parameter+87
 429 0372 80FD                  sbrc r24,0
 430 0374 00C0                  rjmp .L101
 431 0376 C090 0000             lds r12,ServoNickValue
 432 037a D090 0000             lds r13,(ServoNickValue)+1
 433 037e E090 0000             lds r14,EE_Parameter+40
 434 0382 FF24                  clr r15
 435 0384 00E0                  ldi r16,lo8(0)
 436 0386 10E0                  ldi r17,hi8(0)
 437 0388 6091 0000             lds r22,IntegralNick
 438 038c 7091 0000             lds r23,(IntegralNick)+1
 439 0390 8091 0000             lds r24,(IntegralNick)+2
 440 0394 9091 0000             lds r25,(IntegralNick)+3
 441 0398 20E8                  ldi r18,lo8(128)
 442 039a 30E0                  ldi r19,hi8(128)
 443 039c 40E0                  ldi r20,hlo8(128)
 444 039e 50E0                  ldi r21,hhi8(128)
 445 03a0 0E94 0000             call __divmodsi4
 446 03a4 C801                  movw r24,r16
 447 03a6 B701                  movw r22,r14
 448 03a8 0E94 0000             call __mulsi3
 449 03ac 660F                  lsl r22
 450 03ae 771F                  rol r23
 451 03b0 881F                  rol r24
 452 03b2 991F                  rol r25
 453 03b4 660F                  lsl r22
 454 03b6 771F                  rol r23
 455 03b8 881F                  rol r24
 456 03ba 991F                  rol r25
 457 03bc 20E0                  ldi r18,lo8(256)
 458 03be 31E0                  ldi r19,hi8(256)
 459 03c0 40E0                  ldi r20,hlo8(256)
 460 03c2 50E0                  ldi r21,hhi8(256)
 461 03c4 0E94 0000             call __divmodsi4
 462 03c8 C21A                  sub r12,r18
 463 03ca D30A                  sbc r13,r19
 464 03cc D092 0000             sts (ServoNickValue)+1,r13
 465 03d0 C092 0000             sts ServoNickValue,r12
 466                    .L52:
 467 03d4 8091 0000             lds r24,EE_Parameter+41
 468 03d8 282F                  mov r18,r24
 469 03da 30E0                  ldi r19,lo8(0)
 470 03dc 220F                  lsl r18
 471 03de 331F                  rol r19
 472 03e0 220F                  lsl r18
 473 03e2 331F                  rol r19
 474 03e4 8091 0000             lds r24,ServoNickValue
 475 03e8 9091 0000             lds r25,(ServoNickValue)+1
 476 03ec 8217                  cp r24,r18
 477 03ee 9307                  cpc r25,r19
 478 03f0 04F0                  brlt .L95
 479 03f2 8091 0000             lds r24,EE_Parameter+42
 480 03f6 282F                  mov r18,r24
 481 03f8 30E0                  ldi r19,lo8(0)
 482 03fa 220F                  lsl r18
 483 03fc 331F                  rol r19
 484 03fe 220F                  lsl r18
 485 0400 331F                  rol r19
 486 0402 8091 0000             lds r24,ServoNickValue
 487 0406 9091 0000             lds r25,(ServoNickValue)+1
 488 040a 2817                  cp r18,r24
 489 040c 3907                  cpc r19,r25
 490 040e 04F4                  brge .L54
 491                    .L95:
 492 0410 3093 0000             sts (ServoNickValue)+1,r19
 493 0414 2093 0000             sts ServoNickValue,r18
 494                    .L54:
 495 0418 2091 0000             lds r18,ServoNickValue
 496 041c 3091 0000             lds r19,(ServoNickValue)+1
 497 0420 2755                  subi r18,lo8(-(425))
 498 0422 3E4F                  sbci r19,hi8(-(425))
 499 0424 3093 0000             sts (RemainingPulse.2297)+1,r19
 500 0428 2093 0000             sts RemainingPulse.2297,r18
 501 042c 8091 0000             lds r24,ServoNickValue
 502 0430 9091 0000             lds r25,(ServoNickValue)+1
 503 0434 97FD                  sbrc r25,7
 504 0436 00C0                  rjmp .L102
 505                    .L55:
 506 0438 9595                  asr r25
 507 043a 8795                  ror r24
 508 043c 9595                  asr r25
 509 043e 8795                  ror r24
 510 0440 9093 0000             sts (ServoNickValue)+1,r25
 511 0444 8093 0000             sts ServoNickValue,r24
 512 0448 45E0                  ldi r20,hi8(1501)
 513 044a 2D3D                  cpi r18,lo8(1501)
 514 044c 3407                  cpc r19,r20
 515 044e 00F4                  brsh .+2
 516 0450 00C0                  rjmp .L56
 517 0452 8CED                  ldi r24,lo8(1500)
 518 0454 95E0                  ldi r25,hi8(1500)
 519 0456 9093 0000             sts (RemainingPulse.2297)+1,r25
 520 045a 8093 0000             sts RemainingPulse.2297,r24
 521                    .L57:
 522 045e 4091 0000             lds r20,RemainingPulse.2297
 523 0462 5091 0000             lds r21,(RemainingPulse.2297)+1
 524 0466 5093 0000             sts (ServoFrameTime.2298)+1,r21
 525 046a 4093 0000             sts ServoFrameTime.2298,r20
 526 046e 00C0                  rjmp .L61
 527                    .L47:
 528 0470 8091 0000             lds r24,PulseOutput.2296
 529 0474 8823                  tst r24
 530 0476 01F0                  breq .L93
 531                    .L99:
 532 0478 4091 0000             lds r20,RemainingPulse.2297
 533 047c 5091 0000             lds r21,(RemainingPulse.2297)+1
 534 0480 81E0                  ldi r24,hi8(383)
 535 0482 4F37                  cpi r20,lo8(383)
 536 0484 5807                  cpc r21,r24
 537 0486 00F0                  brlo .+2
 538 0488 00C0                  rjmp .L103
 539                    .L84:
 540 048a 4F3F                  cpi r20,255
 541 048c 5105                  cpc r21,__zero_reg__
 542 048e 01F0                  breq .+4
 543 0490 00F0                  brlo .+2
 544 0492 00C0                  rjmp .L104
 545 0494 4093 B300             sts 179,r20
 546 0498 1092 0000             sts (RemainingPulse.2297)+1,__zero_reg__
 547 049c 1092 0000             sts RemainingPulse.2297,__zero_reg__
 548 04a0 1092 0000             sts PulseOutput.2296,__zero_reg__
 549                    .L88:
 550                    /* epilogue start */
 551 04a4 FF91                  pop r31
 552 04a6 EF91                  pop r30
 553 04a8 BF91                  pop r27
 554 04aa AF91                  pop r26
 555 04ac 9F91                  pop r25
 556 04ae 8F91                  pop r24
 557 04b0 7F91                  pop r23
 558 04b2 6F91                  pop r22
 559 04b4 5F91                  pop r21
 560 04b6 4F91                  pop r20
 561 04b8 3F91                  pop r19
 562 04ba 2F91                  pop r18
 563 04bc 1F91                  pop r17
 564 04be 0F91                  pop r16
 565 04c0 FF90                  pop r15
 566 04c2 EF90                  pop r14
 567 04c4 DF90                  pop r13
 568 04c6 CF90                  pop r12
 569 04c8 0F90                  pop r0
 570 04ca 0FBE                  out __SREG__,r0
 571 04cc 0F90                  pop r0
 572 04ce 1F90                  pop __zero_reg__
 573 04d0 1895                  reti
 574                    .L93:
 575 04d2 8091 B000             lds r24,176
 576 04d6 86FF                  sbrs r24,6
 577 04d8 00C0                  rjmp .L59
 578 04da 8091 B000             lds r24,176
 579 04de 8F7B                  andi r24,lo8(-65)
 580 04e0 8093 B000             sts 176,r24
 581 04e4 8091 0000             lds r24,ServoIndex.2299
 582 04e8 8823                  tst r24
 583 04ea 01F0                  breq .+2
 584 04ec 00C0                  rjmp .L60
 585 04ee 8091 0000             lds r24,EE_Parameter+47
 586 04f2 90E0                  ldi r25,lo8(0)
 587 04f4 2DED                  ldi r18,lo8(1757)
 588 04f6 36E0                  ldi r19,hi8(1757)
 589 04f8 A901                  movw r20,r18
 590 04fa 849F                  mul r24,r20
 591 04fc 9001                  movw r18,r0
 592 04fe 859F                  mul r24,r21
 593 0500 300D                  add r19,r0
 594 0502 949F                  mul r25,r20
 595 0504 300D                  add r19,r0
 596 0506 1124                  clr r1
 597 0508 8091 0000             lds r24,ServoFrameTime.2298
 598 050c 9091 0000             lds r25,(ServoFrameTime.2298)+1
 599 0510 281B                  sub r18,r24
 600 0512 390B                  sbc r19,r25
 601 0514 3093 0000             sts (RemainingPulse.2297)+1,r19
 602 0518 2093 0000             sts RemainingPulse.2297,r18
 603 051c 1092 0000             sts (ServoFrameTime.2298)+1,__zero_reg__
 604 0520 1092 0000             sts ServoFrameTime.2298,__zero_reg__
 605 0524 469A                  sbi 40-32,6
 606 0526 A901                  movw r20,r18
 607                    .L61:
 608 0528 81E0                  ldi r24,lo8(1)
 609 052a 8093 0000             sts PulseOutput.2296,r24
 610 052e 81E0                  ldi r24,hi8(383)
 611 0530 4F37                  cpi r20,lo8(383)
 612 0532 5807                  cpc r21,r24
 613 0534 00F4                  brsh .+2
 614 0536 00C0                  rjmp .L84
 615                    .L103:
 616 0538 8FEF                  ldi r24,lo8(-1)
 617 053a 8093 B300             sts 179,r24
 618 053e 4F5F                  subi r20,lo8(-(-255))
 619 0540 5040                  sbci r21,hi8(-(-255))
 620 0542 5093 0000             sts (RemainingPulse.2297)+1,r21
 621 0546 4093 0000             sts RemainingPulse.2297,r20
 622 054a 00C0                  rjmp .L88
 623                    .L104:
 624 054c 9A01                  movw r18,r20
 625 054e 2F5F                  subi r18,lo8(-(-255))
 626 0550 3040                  sbci r19,hi8(-(-255))
 627 0552 2F37                  cpi r18,127
 628 0554 3105                  cpc r19,__zero_reg__
 629 0556 00F4                  brsh .L87
 630 0558 80E8                  ldi r24,lo8(-128)
 631 055a 8093 B300             sts 179,r24
 632 055e 4058                  subi r20,lo8(-(-128))
 633 0560 5040                  sbci r21,hi8(-(-128))
 634 0562 5093 0000             sts (RemainingPulse.2297)+1,r21
 635 0566 4093 0000             sts RemainingPulse.2297,r20
 636 056a 00C0                  rjmp .L88
 637                    .L59:
 638 056c 8091 B000             lds r24,176
 639 0570 8064                  ori r24,lo8(64)
 640 0572 8093 B000             sts 176,r24
 641 0576 8CEB                  ldi r24,lo8(188)
 642 0578 90E0                  ldi r25,hi8(188)
 643 057a 9093 0000             sts (RemainingPulse.2297)+1,r25
 644 057e 8093 0000             sts RemainingPulse.2297,r24
 645 0582 8091 0000             lds r24,ServoFrameTime.2298
 646 0586 9091 0000             lds r25,(ServoFrameTime.2298)+1
 647 058a 8454                  subi r24,lo8(-(188))
 648 058c 9F4F                  sbci r25,hi8(-(188))
 649 058e 9093 0000             sts (ServoFrameTime.2298)+1,r25
 650 0592 8093 0000             sts ServoFrameTime.2298,r24
 651 0596 8091 0000             lds r24,ServoActive
 652 059a 8823                  tst r24
 653 059c 01F0                  breq .L82
 654 059e 8091 0000             lds r24,SenderOkay
 655 05a2 853B                  cpi r24,lo8(-75)
 656 05a4 00F0                  brlo .+2
 657 05a6 00C0                  rjmp .L105
 658                    .L82:
 659 05a8 469A                  sbi 40-32,6
 660                    .L83:
 661 05aa 8091 0000             lds r24,ServoIndex.2299
 662 05ae 8F5F                  subi r24,lo8(-(1))
 663 05b0 8093 0000             sts ServoIndex.2299,r24
 664 05b4 9091 0000             lds r25,EE_Parameter+47
 665 05b8 9817                  cp r25,r24
 666 05ba 00F4                  brsh .L98
 667 05bc 1092 0000             sts ServoIndex.2299,__zero_reg__
 668                    .L98:
 669 05c0 4091 0000             lds r20,RemainingPulse.2297
 670 05c4 5091 0000             lds r21,(RemainingPulse.2297)+1
 671 05c8 00C0                  rjmp .L61
 672                    .L87:
 673 05ca 8FEF                  ldi r24,lo8(-1)
 674 05cc 8093 B300             sts 179,r24
 675 05d0 3093 0000             sts (RemainingPulse.2297)+1,r19
 676 05d4 2093 0000             sts RemainingPulse.2297,r18
 677 05d8 00C0                  rjmp .L88
 678                    .L49:
 679 05da 8091 B000             lds r24,176
 680 05de 8064                  ori r24,lo8(64)
 681 05e0 8093 B000             sts 176,r24
 682 05e4 8091 0000             lds r24,EE_Parameter+47
 683 05e8 90E0                  ldi r25,lo8(0)
 684 05ea 2DED                  ldi r18,lo8(1757)
 685 05ec 36E0                  ldi r19,hi8(1757)
 686 05ee 829F                  mul r24,r18
 687 05f0 A001                  movw r20,r0
 688 05f2 839F                  mul r24,r19
 689 05f4 500D                  add r21,r0
 690 05f6 929F                  mul r25,r18
 691 05f8 500D                  add r21,r0
 692 05fa 1124                  clr r1
 693 05fc 8091 0000             lds r24,ServoFrameTime.2298
 694 0600 9091 0000             lds r25,(ServoFrameTime.2298)+1
 695 0604 481B                  sub r20,r24
 696 0606 590B                  sbc r21,r25
 697 0608 00C0                  rjmp .L61
 698                    .L60:
 699 060a 29EA                  ldi r18,lo8(937)
 700 060c 33E0                  ldi r19,hi8(937)
 701 060e 3093 0000             sts (RemainingPulse.2297)+1,r19
 702 0612 2093 0000             sts RemainingPulse.2297,r18
 703 0616 8230                  cpi r24,lo8(2)
 704 0618 01F4                  brne .+2
 705 061a 00C0                  rjmp .L64
 706 061c 8330                  cpi r24,lo8(3)
 707 061e 01F4                  brne .+2
 708 0620 00C0                  rjmp .L65
 709 0622 8130                  cpi r24,lo8(1)
 710 0624 01F4                  brne .+2
 711 0626 00C0                  rjmp .L106
 712                    .L62:
 713 0628 4091 0000             lds r20,RemainingPulse.2297
 714 062c 5091 0000             lds r21,(RemainingPulse.2297)+1
 715 0630 85E0                  ldi r24,hi8(1501)
 716 0632 4D3D                  cpi r20,lo8(1501)
 717 0634 5807                  cpc r21,r24
 718 0636 00F4                  brsh .+2
 719 0638 00C0                  rjmp .L80
 720 063a 4CED                  ldi r20,lo8(1500)
 721 063c 55E0                  ldi r21,hi8(1500)
 722                    .L81:
 723 063e 4C5B                  subi r20,lo8(-(-188))
 724 0640 5040                  sbci r21,hi8(-(-188))
 725 0642 8091 0000             lds r24,ServoFrameTime.2298
 726 0646 9091 0000             lds r25,(ServoFrameTime.2298)+1
 727 064a 840F                  add r24,r20
 728 064c 951F                  adc r25,r21
 729 064e 9093 0000             sts (ServoFrameTime.2298)+1,r25
 730 0652 8093 0000             sts ServoFrameTime.2298,r24
 731 0656 00C0                  rjmp .L61
 732                    .L101:
 733 0658 C090 0000             lds r12,ServoNickValue
 734 065c D090 0000             lds r13,(ServoNickValue)+1
 735 0660 E090 0000             lds r14,EE_Parameter+40
 736 0664 FF24                  clr r15
 737 0666 00E0                  ldi r16,lo8(0)
 738 0668 10E0                  ldi r17,hi8(0)
 739 066a 6091 0000             lds r22,IntegralNick
 740 066e 7091 0000             lds r23,(IntegralNick)+1
 741 0672 8091 0000             lds r24,(IntegralNick)+2
 742 0676 9091 0000             lds r25,(IntegralNick)+3
 743 067a 20E8                  ldi r18,lo8(128)
 744 067c 30E0                  ldi r19,hi8(128)
 745 067e 40E0                  ldi r20,hlo8(128)
 746 0680 50E0                  ldi r21,hhi8(128)
 747 0682 0E94 0000             call __divmodsi4
 748 0686 C801                  movw r24,r16
 749 0688 B701                  movw r22,r14
 750 068a 0E94 0000             call __mulsi3
 751 068e 660F                  lsl r22
 752 0690 771F                  rol r23
 753 0692 881F                  rol r24
 754 0694 991F                  rol r25
 755 0696 660F                  lsl r22
 756 0698 771F                  rol r23
 757 069a 881F                  rol r24
 758 069c 991F                  rol r25
 759 069e 20E0                  ldi r18,lo8(256)
 760 06a0 31E0                  ldi r19,hi8(256)
 761 06a2 40E0                  ldi r20,hlo8(256)
 762 06a4 50E0                  ldi r21,hhi8(256)
 763 06a6 0E94 0000             call __divmodsi4
 764 06aa C20E                  add r12,r18
 765 06ac D31E                  adc r13,r19
 766 06ae D092 0000             sts (ServoNickValue)+1,r13
 767 06b2 C092 0000             sts ServoNickValue,r12
 768 06b6 00C0                  rjmp .L52
 769                    .L105:
 770 06b8 4698                  cbi 40-32,6
 771 06ba 00C0                  rjmp .L83
 772                    .L65:
 773 06bc E091 0000             lds r30,EE_Parameter+6
 774 06c0 F0E0                  ldi r31,lo8(0)
 775 06c2 EE0F                  lsl r30
 776 06c4 FF1F                  rol r31
 777 06c6 E050                  subi r30,lo8(-(PPM_in))
 778 06c8 F040                  sbci r31,hi8(-(PPM_in))
 779 06ca 8081                  ld r24,Z
 780 06cc 9181                  ldd r25,Z+1
 781 06ce 805E                  subi r24,lo8(-32)
 782 06d0 9F4F                  sbci r25,hi8(-32)
 783 06d2 04F0                  brlt .+2
 784 06d4 00C0                  rjmp .L78
 785 06d6 87E7                  ldi r24,lo8(375)
 786 06d8 91E0                  ldi r25,hi8(375)
 787 06da 9093 0000             sts (RemainingPulse.2297)+1,r25
 788 06de 8093 0000             sts RemainingPulse.2297,r24
 789                    .L79:
 790 06e2 4091 0000             lds r20,RemainingPulse.2297
 791 06e6 5091 0000             lds r21,(RemainingPulse.2297)+1
 792                    .L80:
 793 06ea 81E0                  ldi r24,hi8(375)
 794 06ec 4737                  cpi r20,lo8(375)
 795 06ee 5807                  cpc r21,r24
 796 06f0 00F0                  brlo .+2
 797 06f2 00C0                  rjmp .L81
 798 06f4 47E7                  ldi r20,lo8(375)
 799 06f6 51E0                  ldi r21,hi8(375)
 800 06f8 00C0                  rjmp .L81
 801                    .L56:
 802 06fa 2757                  subi r18,lo8(375)
 803 06fc 3140                  sbci r19,hi8(375)
 804 06fe 00F0                  brlo .+2
 805 0700 00C0                  rjmp .L57
 806 0702 87E7                  ldi r24,lo8(375)
 807 0704 91E0                  ldi r25,hi8(375)
 808 0706 9093 0000             sts (RemainingPulse.2297)+1,r25
 809 070a 8093 0000             sts RemainingPulse.2297,r24
 810 070e 00C0                  rjmp .L57
 811                    .L64:
 812 0710 8091 0000             lds r24,Parameter_ServoRollControl
 813 0714 482F                  mov r20,r24
 814 0716 50E0                  ldi r21,lo8(0)
 815 0718 440F                  lsl r20
 816 071a 551F                  rol r21
 817 071c 440F                  lsl r20
 818 071e 551F                  rol r21
 819 0720 2091 0000             lds r18,ServoRollOffset.2301
 820 0724 3091 0000             lds r19,(ServoRollOffset.2301)+1
 821 0728 C901                  movw r24,r18
 822 072a 880F                  lsl r24
 823 072c 991F                  rol r25
 824 072e 820F                  add r24,r18
 825 0730 931F                  adc r25,r19
 826 0732 480F                  add r20,r24
 827 0734 591F                  adc r21,r25
 828 0736 57FD                  sbrc r21,7
 829 0738 00C0                  rjmp .L107
 830                    .L72:
 831 073a CA01                  movw r24,r20
 832 073c 9595                  asr r25
 833 073e 8795                  ror r24
 834 0740 9595                  asr r25
 835 0742 8795                  ror r24
 836 0744 9093 0000             sts (ServoRollOffset.2301)+1,r25
 837 0748 8093 0000             sts ServoRollOffset.2301,r24
 838 074c 9093 0000             sts (ServoRollValue)+1,r25
 839 0750 8093 0000             sts ServoRollValue,r24
 840 0754 8091 0000             lds r24,EE_Parameter+87
 841 0758 81FF                  sbrs r24,1
 842 075a 00C0                  rjmp .L73
 843 075c C090 0000             lds r12,ServoRollValue
 844 0760 D090 0000             lds r13,(ServoRollValue)+1
 845 0764 E090 0000             lds r14,EE_Parameter+44
 846 0768 FF24                  clr r15
 847 076a 00E0                  ldi r16,lo8(0)
 848 076c 10E0                  ldi r17,hi8(0)
 849 076e 6091 0000             lds r22,IntegralRoll
 850 0772 7091 0000             lds r23,(IntegralRoll)+1
 851 0776 8091 0000             lds r24,(IntegralRoll)+2
 852 077a 9091 0000             lds r25,(IntegralRoll)+3
 853 077e 20E8                  ldi r18,lo8(128)
 854 0780 30E0                  ldi r19,hi8(128)
 855 0782 40E0                  ldi r20,hlo8(128)
 856 0784 50E0                  ldi r21,hhi8(128)
 857 0786 0E94 0000             call __divmodsi4
 858 078a C801                  movw r24,r16
 859 078c B701                  movw r22,r14
 860 078e 0E94 0000             call __mulsi3
 861 0792 660F                  lsl r22
 862 0794 771F                  rol r23
 863 0796 881F                  rol r24
 864 0798 991F                  rol r25
 865 079a 660F                  lsl r22
 866 079c 771F                  rol r23
 867 079e 881F                  rol r24
 868 07a0 991F                  rol r25
 869 07a2 20E0                  ldi r18,lo8(256)
 870 07a4 31E0                  ldi r19,hi8(256)
 871 07a6 40E0                  ldi r20,hlo8(256)
 872 07a8 50E0                  ldi r21,hhi8(256)
 873 07aa 0E94 0000             call __divmodsi4
 874 07ae C20E                  add r12,r18
 875 07b0 D31E                  adc r13,r19
 876 07b2 D092 0000             sts (ServoRollValue)+1,r13
 877 07b6 C092 0000             sts ServoRollValue,r12
 878                    .L74:
 879 07ba 8091 0000             lds r24,EE_Parameter+45
 880 07be 282F                  mov r18,r24
 881 07c0 30E0                  ldi r19,lo8(0)
 882 07c2 220F                  lsl r18
 883 07c4 331F                  rol r19
 884 07c6 220F                  lsl r18
 885 07c8 331F                  rol r19
 886 07ca 8091 0000             lds r24,ServoRollValue
 887 07ce 9091 0000             lds r25,(ServoRollValue)+1
 888 07d2 8217                  cp r24,r18
 889 07d4 9307                  cpc r25,r19
 890 07d6 04F0                  brlt .L97
 891 07d8 8091 0000             lds r24,EE_Parameter+46
 892 07dc 282F                  mov r18,r24
 893 07de 30E0                  ldi r19,lo8(0)
 894 07e0 220F                  lsl r18
 895 07e2 331F                  rol r19
 896 07e4 220F                  lsl r18
 897 07e6 331F                  rol r19
 898 07e8 8091 0000             lds r24,ServoRollValue
 899 07ec 9091 0000             lds r25,(ServoRollValue)+1
 900 07f0 2817                  cp r18,r24
 901 07f2 3907                  cpc r19,r25
 902 07f4 04F4                  brge .L76
 903                    .L97:
 904 07f6 3093 0000             sts (ServoRollValue)+1,r19
 905 07fa 2093 0000             sts ServoRollValue,r18
 906                    .L76:
 907 07fe 8091 0000             lds r24,ServoRollValue
 908 0802 9091 0000             lds r25,(ServoRollValue)+1
 909 0806 8755                  subi r24,lo8(-(425))
 910 0808 9E4F                  sbci r25,hi8(-(425))
 911 080a 9093 0000             sts (RemainingPulse.2297)+1,r25
 912 080e 8093 0000             sts RemainingPulse.2297,r24
 913 0812 8091 0000             lds r24,ServoRollValue
 914 0816 9091 0000             lds r25,(ServoRollValue)+1
 915 081a 97FD                  sbrc r25,7
 916 081c 00C0                  rjmp .L108
 917                    .L77:
 918 081e 9595                  asr r25
 919 0820 8795                  ror r24
 920 0822 9595                  asr r25
 921 0824 8795                  ror r24
 922 0826 9093 0000             sts (ServoRollValue)+1,r25
 923 082a 8093 0000             sts ServoRollValue,r24
 924 082e 00C0                  rjmp .L62
 925                    .L106:
 926 0830 8091 0000             lds r24,Parameter_ServoNickControl
 927 0834 482F                  mov r20,r24
 928 0836 50E0                  ldi r21,lo8(0)
 929 0838 440F                  lsl r20
 930 083a 551F                  rol r21
 931 083c 440F                  lsl r20
 932 083e 551F                  rol r21
 933 0840 2091 0000             lds r18,ServoNickOffset.2300
 934 0844 3091 0000             lds r19,(ServoNickOffset.2300)+1
 935 0848 C901                  movw r24,r18
 936 084a 880F                  lsl r24
 937 084c 991F                  rol r25
 938 084e 820F                  add r24,r18
 939 0850 931F                  adc r25,r19
 940 0852 480F                  add r20,r24
 941 0854 591F                  adc r21,r25
 942 0856 57FD                  sbrc r21,7
 943 0858 00C0                  rjmp .L109
 944                    .L66:
 945 085a CA01                  movw r24,r20
 946 085c 9595                  asr r25
 947 085e 8795                  ror r24
 948 0860 9595                  asr r25
 949 0862 8795                  ror r24
 950 0864 9093 0000             sts (ServoNickOffset.2300)+1,r25
 951 0868 8093 0000             sts ServoNickOffset.2300,r24
 952 086c 9093 0000             sts (ServoNickValue)+1,r25
 953 0870 8093 0000             sts ServoNickValue,r24
 954 0874 8091 0000             lds r24,EE_Parameter+87
 955 0878 80FF                  sbrs r24,0
 956 087a 00C0                  rjmp .L67
 957 087c C090 0000             lds r12,ServoNickValue
 958 0880 D090 0000             lds r13,(ServoNickValue)+1
 959 0884 E090 0000             lds r14,EE_Parameter+40
 960 0888 FF24                  clr r15
 961 088a 00E0                  ldi r16,lo8(0)
 962 088c 10E0                  ldi r17,hi8(0)
 963 088e 6091 0000             lds r22,IntegralNick
 964 0892 7091 0000             lds r23,(IntegralNick)+1
 965 0896 8091 0000             lds r24,(IntegralNick)+2
 966 089a 9091 0000             lds r25,(IntegralNick)+3
 967 089e 20E8                  ldi r18,lo8(128)
 968 08a0 30E0                  ldi r19,hi8(128)
 969 08a2 40E0                  ldi r20,hlo8(128)
 970 08a4 50E0                  ldi r21,hhi8(128)
 971 08a6 0E94 0000             call __divmodsi4
 972 08aa C801                  movw r24,r16
 973 08ac B701                  movw r22,r14
 974 08ae 0E94 0000             call __mulsi3
 975 08b2 660F                  lsl r22
 976 08b4 771F                  rol r23
 977 08b6 881F                  rol r24
 978 08b8 991F                  rol r25
 979 08ba 660F                  lsl r22
 980 08bc 771F                  rol r23
 981 08be 881F                  rol r24
 982 08c0 991F                  rol r25
 983 08c2 20E0                  ldi r18,lo8(256)
 984 08c4 31E0                  ldi r19,hi8(256)
 985 08c6 40E0                  ldi r20,hlo8(256)
 986 08c8 50E0                  ldi r21,hhi8(256)
 987 08ca 0E94 0000             call __divmodsi4
 988 08ce C20E                  add r12,r18
 989 08d0 D31E                  adc r13,r19
 990 08d2 D092 0000             sts (ServoNickValue)+1,r13
 991 08d6 C092 0000             sts ServoNickValue,r12
 992                    .L68:
 993 08da 8091 0000             lds r24,EE_Parameter+41
 994 08de 282F                  mov r18,r24
 995 08e0 30E0                  ldi r19,lo8(0)
 996 08e2 220F                  lsl r18
 997 08e4 331F                  rol r19
 998 08e6 220F                  lsl r18
 999 08e8 331F                  rol r19
 1000 08ea 8091 0000            lds r24,ServoNickValue
 1001 08ee 9091 0000            lds r25,(ServoNickValue)+1
 1002 08f2 8217                 cp r24,r18
 1003 08f4 9307                 cpc r25,r19
 1004 08f6 04F0                 brlt .L96
 1005 08f8 8091 0000            lds r24,EE_Parameter+42
 1006 08fc 282F                 mov r18,r24
 1007 08fe 30E0                 ldi r19,lo8(0)
 1008 0900 220F                 lsl r18
 1009 0902 331F                 rol r19
 1010 0904 220F                 lsl r18
 1011 0906 331F                 rol r19
 1012 0908 8091 0000            lds r24,ServoNickValue
 1013 090c 9091 0000            lds r25,(ServoNickValue)+1
 1014 0910 2817                 cp r18,r24
 1015 0912 3907                 cpc r19,r25
 1016 0914 04F4                 brge .L70
 1017                   .L96:
 1018 0916 3093 0000            sts (ServoNickValue)+1,r19
 1019 091a 2093 0000            sts ServoNickValue,r18
 1020                   .L70:
 1021 091e 8091 0000            lds r24,ServoNickValue
 1022 0922 9091 0000            lds r25,(ServoNickValue)+1
 1023 0926 8755                 subi r24,lo8(-(425))
 1024 0928 9E4F                 sbci r25,hi8(-(425))
 1025 092a 9093 0000            sts (RemainingPulse.2297)+1,r25
 1026 092e 8093 0000            sts RemainingPulse.2297,r24
 1027 0932 8091 0000            lds r24,ServoNickValue
 1028 0936 9091 0000            lds r25,(ServoNickValue)+1
 1029 093a 97FD                 sbrc r25,7
 1030 093c 00C0                 rjmp .L110
 1031                   .L71:
 1032 093e 9595                 asr r25
 1033 0940 8795                 ror r24
 1034 0942 9595                 asr r25
 1035 0944 8795                 ror r24
 1036 0946 9093 0000            sts (ServoNickValue)+1,r25
 1037 094a 8093 0000            sts ServoNickValue,r24
 1038 094e 00C0                 rjmp .L62
 1039                   .L102:
 1040 0950 0396                 adiw r24,3
 1041 0952 00C0                 rjmp .L55
 1042                   .L100:
 1043 0954 4D5F                 subi r20,lo8(-(3))
 1044 0956 5F4F                 sbci r21,hi8(-(3))
 1045 0958 00C0                 rjmp .L50
 1046                   .L78:
 1047 095a 3093 0000            sts (RemainingPulse.2297)+1,r19
 1048 095e 2093 0000            sts RemainingPulse.2297,r18
 1049 0962 00C0                 rjmp .L79
 1050                   .L67:
 1051 0964 C090 0000            lds r12,ServoNickValue
 1052 0968 D090 0000            lds r13,(ServoNickValue)+1
 1053 096c E090 0000            lds r14,EE_Parameter+40
 1054 0970 FF24                 clr r15
 1055 0972 00E0                 ldi r16,lo8(0)
 1056 0974 10E0                 ldi r17,hi8(0)
 1057 0976 6091 0000            lds r22,IntegralNick
 1058 097a 7091 0000            lds r23,(IntegralNick)+1
 1059 097e 8091 0000            lds r24,(IntegralNick)+2
 1060 0982 9091 0000            lds r25,(IntegralNick)+3
 1061 0986 20E8                 ldi r18,lo8(128)
 1062 0988 30E0                 ldi r19,hi8(128)
 1063 098a 40E0                 ldi r20,hlo8(128)
 1064 098c 50E0                 ldi r21,hhi8(128)
 1065 098e 0E94 0000            call __divmodsi4
 1066 0992 C801                 movw r24,r16
 1067 0994 B701                 movw r22,r14
 1068 0996 0E94 0000            call __mulsi3
 1069 099a 660F                 lsl r22
 1070 099c 771F                 rol r23
 1071 099e 881F                 rol r24
 1072 09a0 991F                 rol r25
 1073 09a2 660F                 lsl r22
 1074 09a4 771F                 rol r23
 1075 09a6 881F                 rol r24
 1076 09a8 991F                 rol r25
 1077 09aa 20E0                 ldi r18,lo8(256)
 1078 09ac 31E0                 ldi r19,hi8(256)
 1079 09ae 40E0                 ldi r20,hlo8(256)
 1080 09b0 50E0                 ldi r21,hhi8(256)
 1081 09b2 0E94 0000            call __divmodsi4
 1082 09b6 C21A                 sub r12,r18
 1083 09b8 D30A                 sbc r13,r19
 1084 09ba D092 0000            sts (ServoNickValue)+1,r13
 1085 09be C092 0000            sts ServoNickValue,r12
 1086 09c2 00C0                 rjmp .L68
 1087                   .L73:
 1088 09c4 C090 0000            lds r12,ServoRollValue
 1089 09c8 D090 0000            lds r13,(ServoRollValue)+1
 1090 09cc E090 0000            lds r14,EE_Parameter+44
 1091 09d0 FF24                 clr r15
 1092 09d2 00E0                 ldi r16,lo8(0)
 1093 09d4 10E0                 ldi r17,hi8(0)
 1094 09d6 6091 0000            lds r22,IntegralRoll
 1095 09da 7091 0000            lds r23,(IntegralRoll)+1
 1096 09de 8091 0000            lds r24,(IntegralRoll)+2
 1097 09e2 9091 0000            lds r25,(IntegralRoll)+3
 1098 09e6 20E8                 ldi r18,lo8(128)
 1099 09e8 30E0                 ldi r19,hi8(128)
 1100 09ea 40E0                 ldi r20,hlo8(128)
 1101 09ec 50E0                 ldi r21,hhi8(128)
 1102 09ee 0E94 0000            call __divmodsi4
 1103 09f2 C801                 movw r24,r16
 1104 09f4 B701                 movw r22,r14
 1105 09f6 0E94 0000            call __mulsi3
 1106 09fa 660F                 lsl r22
 1107 09fc 771F                 rol r23
 1108 09fe 881F                 rol r24
 1109 0a00 991F                 rol r25
 1110 0a02 660F                 lsl r22
 1111 0a04 771F                 rol r23
 1112 0a06 881F                 rol r24
 1113 0a08 991F                 rol r25
 1114 0a0a 20E0                 ldi r18,lo8(256)
 1115 0a0c 31E0                 ldi r19,hi8(256)
 1116 0a0e 40E0                 ldi r20,hlo8(256)
 1117 0a10 50E0                 ldi r21,hhi8(256)
 1118 0a12 0E94 0000            call __divmodsi4
 1119 0a16 C21A                 sub r12,r18
 1120 0a18 D30A                 sbc r13,r19
 1121 0a1a D092 0000            sts (ServoRollValue)+1,r13
 1122 0a1e C092 0000            sts ServoRollValue,r12
 1123 0a22 00C0                 rjmp .L74
 1124                   .L109:
 1125 0a24 4D5F                 subi r20,lo8(-(3))
 1126 0a26 5F4F                 sbci r21,hi8(-(3))
 1127 0a28 00C0                 rjmp .L66
 1128                   .L107:
 1129 0a2a 4D5F                 subi r20,lo8(-(3))
 1130 0a2c 5F4F                 sbci r21,hi8(-(3))
 1131 0a2e 00C0                 rjmp .L72
 1132                   .L110:
 1133 0a30 0396                 adiw r24,3
 1134 0a32 00C0                 rjmp .L71
 1135                   .L108:
 1136 0a34 0396                 adiw r24,3
 1137 0a36 00C0                 rjmp .L77
 1139                   .global CountMilliseconds
 1140                   .global CountMilliseconds
 1141                           .section .bss
 1144                   CountMilliseconds:
 1145 0000 0000                 .skip 2,0
 1146                   .global UpdateMotor
 1147                   .global UpdateMotor
 1150                   UpdateMotor:
 1151 0002 00                   .skip 1,0
 1152                   .global cntKompass
 1153                   .global cntKompass
 1156                   cntKompass:
 1157 0003 0000                 .skip 2,0
 1158                   .global beeptime
 1159                   .global beeptime
 1162                   beeptime:
 1163 0005 0000                 .skip 2,0
 1164                   .global SendSPI
 1165                   .global SendSPI
 1168                   SendSPI:
 1169 0007 00                   .skip 1,0
 1170                   .global ServoActive
 1171                   .global ServoActive
 1174                   ServoActive:
 1175 0008 00                   .skip 1,0
 1176                   .global BeepMuster
 1177                           .data
 1180                   BeepMuster:
 1181 0000 FFFF                 .word   -1
 1182                   .global ServoNickValue
 1183                   .global ServoNickValue
 1184                           .section .bss
 1187                   ServoNickValue:
 1188 0009 0000                 .skip 2,0
 1189                   .global ServoRollValue
 1190                   .global ServoRollValue
 1193                   ServoRollValue:
 1194 000b 0000                 .skip 2,0
 1195                           .data
 1198                   ServoRollOffset.2301:
 1199 0002 FC01                 .word   508
 1202                   ServoNickOffset.2300:
 1203 0004 FC01                 .word   508
 1204                           .lcomm ServoIndex.2299,1
 1205                           .lcomm ServoFrameTime.2298,2
 1206                           .lcomm RemainingPulse.2297,2
 1207                           .lcomm PulseOutput.2296,1
 1208                           .lcomm cnt.2155,1
 1211                   cnt_1ms.2154:
 1212 0006 01                   .byte   1
 1213                           .lcomm tim_main,2
 1214                           .comm Mixer,77,1
 1215                   .global __do_copy_data
 1216                   .global __do_clear_bss
DEFINED SYMBOLS
                            *ABS*:00000000 timer0.c
C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:2      *ABS*:0000003f __SREG__
C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:3      *ABS*:0000003e __SP_H__
C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:4      *ABS*:0000003d __SP_L__
C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:5      *ABS*:00000034 __CCP__
C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:6      *ABS*:00000000 __tmp_reg__
C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:7      *ABS*:00000001 __zero_reg__
C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:11     .text:00000000 __vector_18
C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:1168   .bss:00000007 SendSPI
C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:1207   .bss:00000013 cnt.2155
C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:1211   .data:00000006 cnt_1ms.2154
C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:1144   .bss:00000000 CountMilliseconds
C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:1162   .bss:00000005 beeptime
C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:1180   .data:00000000 BeepMuster
C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:1156   .bss:00000003 cntKompass
C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:1150   .bss:00000002 UpdateMotor
C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:191    .text:000001ba SetDelay
C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:206    .text:000001ce CheckDelay
C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:222    .text:000001e4 Delay_ms
C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:248    .text:00000210 Delay_ms_Mess
C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:282    .text:00000250 TIMER2_Init
C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:330    .text:0000029e Timer_Init
C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:1208   .bss:00000014 tim_main
C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:357    .text:000002ce __vector_9
C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:1206   .bss:00000012 PulseOutput.2296
C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:1202   .data:00000004 ServoNickOffset.2300
C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:1187   .bss:00000009 ServoNickValue
C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:1205   .bss:00000010 RemainingPulse.2297
C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:1204   .bss:0000000e ServoFrameTime.2298
                             .bss:0000000d ServoIndex.2299
C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:1174   .bss:00000008 ServoActive
C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:1198   .data:00000002 ServoRollOffset.2301
C:\Users\Arthur\AppData\Local\Temp/cc5hikm5.s:1193   .bss:0000000b ServoRollValue
                            *COM*:0000004d Mixer

UNDEFINED SYMBOLS
SpektrumTimer
PlatinenVersion
EE_Parameter
__udivmodhi4
KompassValue
KompassStartwert
__divmodhi4
KompassRichtung
AdReady
Parameter_UserParam8
Parameter_ServoNickControl
IntegralNick
__divmodsi4
__mulsi3
SenderOkay
PPM_in
Parameter_ServoRollControl
IntegralRoll
__do_copy_data
__do_clear_bss