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1 .file "timer0.c"2 .arch atmega1284p3 __SREG__ = 0x3f4 __SP_H__ = 0x3e5 __SP_L__ = 0x3d6 __tmp_reg__ = 07 __zero_reg__ = 18 .global __do_copy_data9 .global __do_clear_bss10 .global ServoRollValue11 .global ServoRollValue12 .section .bss15 ServoRollValue:16 0000 0000 .skip 2,017 .global ServoNickValue18 .global ServoNickValue21 ServoNickValue:22 0002 0000 .skip 2,023 .global NickServoValue24 .data27 NickServoValue:28 0000 0020 .word 819229 .global BeepMuster32 BeepMuster:33 0002 FFFF .word -134 .global ServoRollOffset37 ServoRollOffset:38 0004 C01F .word 812839 .global ServoNickOffset42 ServoNickOffset:43 0006 C01F .word 812844 .global RemainingPulse45 .global RemainingPulse46 .section .bss49 RemainingPulse:50 0004 0000 .skip 2,051 .global CalculateServoSignals52 .data55 CalculateServoSignals:56 0008 01 .byte 157 .global ServoActive58 .global ServoActive59 .section .bss62 ServoActive:63 0006 00 .skip 1,064 .global SendSPI65 .global SendSPI68 SendSPI:69 0007 00 .skip 1,070 .global beeptime71 .global beeptime74 beeptime:75 0008 0000 .skip 2,076 .global cntKompass77 .global cntKompass80 cntKompass:81 000a 0000 .skip 2,082 .global UpdateMotor83 .global UpdateMotor86 UpdateMotor:87 000c 00 .skip 1,088 .global CountMilliseconds89 .global CountMilliseconds92 CountMilliseconds:93 000d 0000 .skip 2,094 .data97 cnt_1ms.3:98 0009 01 .byte 199 .lcomm cnt.4,1100 .lcomm compass_active.5,1101 .text102 .global __vector_18104 __vector_18:105 /* prologue: frame size=0 */106 0000 1F92 push __zero_reg__107 0002 0F92 push __tmp_reg__108 0004 0FB6 in __tmp_reg__,__SREG__109 0006 0F92 push __tmp_reg__110 0008 1124 clr __zero_reg__111 000a 2F93 push r18112 000c 3F93 push r19113 000e 5F93 push r21114 0010 6F93 push r22115 0012 7F93 push r23116 0014 8F93 push r24117 0016 9F93 push r25118 0018 AF93 push r26119 001a BF93 push r27120 001c EF93 push r30121 001e FF93 push r31122 /* prologue end (size=16) */123 0020 20E0 ldi r18,lo8(0)124 0022 8091 0000 lds r24,SendSPI125 0026 8823 tst r24126 0028 01F0 breq .L2127 002a 8091 0000 lds r24,SendSPI128 002e 8150 subi r24,lo8(-(-1))129 0030 8093 0000 sts SendSPI,r24130 .L2:131 0034 8091 0000 lds r24,SpektrumTimer132 0038 8823 tst r24133 003a 01F0 breq .L3134 003c 8150 subi r24,lo8(-(-1))135 003e 8093 0000 sts SpektrumTimer,r24136 .L3:137 0042 8091 0000 lds r24,cnt.4138 0046 8150 subi r24,lo8(-(-1))139 0048 8093 0000 sts cnt.4,r24140 004c 8F3F cpi r24,lo8(-1)141 004e 01F0 breq .+2142 0050 00C0 rjmp .L4143 0052 89E0 ldi r24,lo8(9)144 0054 8093 0000 sts cnt.4,r24145 0058 8091 0000 lds r24,CountMilliseconds146 005c 9091 0000 lds r25,(CountMilliseconds)+1147 0060 0196 adiw r24,1148 0062 9093 0000 sts (CountMilliseconds)+1,r25149 0066 8093 0000 sts CountMilliseconds,r24150 006a 8091 0000 lds r24,cnt_1ms.3151 006e 8F5F subi r24,lo8(-(1))152 0070 8170 andi r24,lo8(1)153 0072 8093 0000 sts cnt_1ms.3,r24154 0076 8823 tst r24155 0078 01F4 brne .L5156 007a 81E0 ldi r24,lo8(1)157 007c 8093 0000 sts UpdateMotor,r24158 .L5:159 0080 3499 sbic 38-0x20,4160 0082 00C0 rjmp .L6161 0084 81E0 ldi r24,lo8(1)162 0086 8093 0000 sts compass_active.5,r24163 .L6:164 008a 8091 0000 lds r24,beeptime165 008e 9091 0000 lds r25,(beeptime)+1166 0092 892B or r24,r25167 0094 01F0 breq .L7168 0096 8091 0000 lds r24,beeptime169 009a 9091 0000 lds r25,(beeptime)+1170 009e 0B97 sbiw r24,11171 00a0 00F0 brlo .L8172 00a2 8091 0000 lds r24,beeptime173 00a6 9091 0000 lds r25,(beeptime)+1174 00aa 0A97 sbiw r24,10175 00ac 9093 0000 sts (beeptime)+1,r25176 00b0 8093 0000 sts beeptime,r24177 00b4 00C0 rjmp .L9178 .L8:179 00b6 1092 0000 sts (beeptime)+1,__zero_reg__180 00ba 1092 0000 sts beeptime,__zero_reg__181 .L9:182 00be 8091 0000 lds r24,beeptime183 00c2 9091 0000 lds r25,(beeptime)+1184 00c6 2091 0000 lds r18,BeepMuster185 00ca 3091 0000 lds r19,(BeepMuster)+1186 00ce 8223 and r24,r18187 00d0 9323 and r25,r19188 00d2 892B or r24,r25189 00d4 01F0 breq .L10190 00d6 21E0 ldi r18,lo8(1)191 00d8 00C0 rjmp .L12192 .L10:193 00da 20E0 ldi r18,lo8(0)194 00dc 00C0 rjmp .L12195 .L7:196 00de 8FEF ldi r24,lo8(-1)197 00e0 9FEF ldi r25,hi8(-1)198 00e2 9093 0000 sts (BeepMuster)+1,r25199 00e6 8093 0000 sts BeepMuster,r24200 .L12:201 00ea 8091 0000 lds r24,PlatinenVersion202 00ee 2223 tst r18203 00f0 01F0 breq .L13204 00f2 8A30 cpi r24,lo8(10)205 00f4 01F4 brne .L14206 00f6 5A9A sbi 43-0x20,2207 00f8 00C0 rjmp .L4208 .L14:209 00fa 479A sbi 40-0x20,7210 00fc 00C0 rjmp .L4211 .L13:212 00fe 8A30 cpi r24,lo8(10)213 0100 01F4 brne .L17214 0102 5A98 cbi 43-0x20,2215 0104 00C0 rjmp .L4216 .L17:217 0106 4798 cbi 40-0x20,7218 .L4:219 0108 8091 0000 lds r24,compass_active.5220 010c 8823 tst r24221 010e 01F4 brne .+2222 0110 00C0 rjmp .L1223 0112 2091 0000 lds r18,NaviDataOkay224 0116 2223 tst r18225 0118 01F0 breq .+2226 011a 00C0 rjmp .L1227 011c 8091 0000 lds r24,Parameter_GlobalConfig228 0120 83FF sbrs r24,3229 0122 00C0 rjmp .L1230 0124 86B1 in r24,38-0x20231 0126 9927 clr r25232 0128 FC01 movw r30,r24233 012a E071 andi r30,lo8(16)234 012c F070 andi r31,hi8(16)235 012e 84FF sbrs r24,4236 0130 00C0 rjmp .L20237 0132 8091 0000 lds r24,cntKompass238 0136 9091 0000 lds r25,(cntKompass)+1239 013a 0196 adiw r24,1240 013c 9093 0000 sts (cntKompass)+1,r25241 0140 8093 0000 sts cntKompass,r24242 0144 8091 0000 lds r24,cntKompass243 0148 9091 0000 lds r25,(cntKompass)+1244 014c 895E subi r24,lo8(1001)245 014e 9340 sbci r25,hi8(1001)246 0150 00F0 brlo .L1247 0152 2093 0000 sts compass_active.5,r18248 0156 00C0 rjmp .L1249 .L20:250 0158 8091 0000 lds r24,cntKompass251 015c 9091 0000 lds r25,(cntKompass)+1252 0160 892B or r24,r25253 0162 01F0 breq .L23254 0164 8091 0000 lds r24,cntKompass255 0168 9091 0000 lds r25,(cntKompass)+1256 016c 8A56 subi r24,lo8(362)257 016e 9140 sbci r25,hi8(362)258 0170 00F4 brsh .L23259 0172 8091 0000 lds r24,cntKompass260 0176 9091 0000 lds r25,(cntKompass)+1261 017a 69E2 ldi r22,lo8(41)262 017c 70E0 ldi r23,hi8(41)263 017e 0E94 0000 call __udivmodhi4264 0182 8091 0000 lds r24,cntKompass265 0186 9091 0000 lds r25,(cntKompass)+1266 018a 860F add r24,r22267 018c 971F adc r25,r23268 018e 9093 0000 sts (cntKompass)+1,r25269 0192 8093 0000 sts cntKompass,r24270 0196 8091 0000 lds r24,cntKompass271 019a 9091 0000 lds r25,(cntKompass)+1272 019e 0B97 sbiw r24,11273 01a0 00F0 brlo .L24274 01a2 8091 0000 lds r24,cntKompass275 01a6 9091 0000 lds r25,(cntKompass)+1276 01aa 0A97 sbiw r24,10277 01ac 9093 0000 sts (KompassValue)+1,r25278 01b0 8093 0000 sts KompassValue,r24279 01b4 00C0 rjmp .L23280 .L24:281 01b6 F093 0000 sts (KompassValue)+1,r31282 01ba E093 0000 sts KompassValue,r30283 .L23:284 01be 1092 0000 sts (cntKompass)+1,__zero_reg__285 01c2 1092 0000 sts cntKompass,__zero_reg__286 .L1:287 /* epilogue: frame size=0 */288 01c6 FF91 pop r31289 01c8 EF91 pop r30290 01ca BF91 pop r27291 01cc AF91 pop r26292 01ce 9F91 pop r25293 01d0 8F91 pop r24294 01d2 7F91 pop r23295 01d4 6F91 pop r22296 01d6 5F91 pop r21297 01d8 3F91 pop r19298 01da 2F91 pop r18299 01dc 0F90 pop __tmp_reg__300 01de 0FBE out __SREG__,__tmp_reg__301 01e0 0F90 pop __tmp_reg__302 01e2 1F90 pop __zero_reg__303 01e4 1895 reti304 /* epilogue end (size=16) */305 /* function __vector_18 size 247 (215) */307 .global SetDelay309 SetDelay:310 /* prologue: frame size=0 */311 /* prologue end (size=0) */312 01e6 2091 0000 lds r18,CountMilliseconds313 01ea 3091 0000 lds r19,(CountMilliseconds)+1314 01ee 280F add r18,r24315 01f0 391F adc r19,r25316 01f2 C901 movw r24,r18317 01f4 0196 adiw r24,1318 /* epilogue: frame size=0 */319 01f6 0895 ret320 /* epilogue end (size=1) */321 /* function SetDelay size 9 (8) */323 .global CheckDelay325 CheckDelay:326 /* prologue: frame size=0 */327 /* prologue end (size=0) */328 01f8 2091 0000 lds r18,CountMilliseconds329 01fc 3091 0000 lds r19,(CountMilliseconds)+1330 0200 821B sub r24,r18331 0202 930B sbc r25,r19332 0204 892F mov r24,r25333 0206 9927 clr r25334 0208 8695 lsr r24335 020a 8074 andi r24,lo8(64)336 020c 9070 andi r25,hi8(64)337 /* epilogue: frame size=0 */338 020e 0895 ret339 /* epilogue end (size=1) */340 /* function CheckDelay size 12 (11) */342 .global Delay_ms344 Delay_ms:345 /* prologue: frame size=0 */346 0210 CF93 push r28347 0212 DF93 push r29348 /* prologue end (size=2) */349 0214 0E94 0000 call SetDelay350 0218 EC01 movw r28,r24351 .L29:352 021a CE01 movw r24,r28353 021c 0E94 0000 call CheckDelay354 0220 8823 tst r24355 0222 01F0 breq .L29356 /* epilogue: frame size=0 */357 0224 DF91 pop r29358 0226 CF91 pop r28359 0228 0895 ret360 /* epilogue end (size=3) */361 /* function Delay_ms size 13 (8) */363 .global Delay_ms_Mess365 Delay_ms_Mess:366 /* prologue: frame size=0 */367 022a CF93 push r28368 022c DF93 push r29369 /* prologue end (size=2) */370 022e 0E94 0000 call SetDelay371 0232 EC01 movw r28,r24372 0234 00C0 rjmp .L40373 .L36:374 0236 8091 0000 lds r24,AdReady375 023a 8823 tst r24376 023c 01F0 breq .L40377 023e 9093 0000 sts AdReady,r25378 0242 8FEC ldi r24,lo8(-49)379 0244 8093 7A00 sts 122,r24380 .L40:381 0248 CE01 movw r24,r28382 024a 0E94 0000 call CheckDelay383 024e 982F mov r25,r24384 0250 8823 tst r24385 0252 01F0 breq .L36386 /* epilogue: frame size=0 */387 0254 DF91 pop r29388 0256 CF91 pop r28389 0258 0895 ret390 /* epilogue end (size=3) */391 /* function Delay_ms_Mess size 24 (19) */393 .global TIMER2_Init395 TIMER2_Init:396 /* prologue: frame size=0 */397 /* prologue end (size=0) */398 025a 9FB7 in r25,95-0x20399 /* #APP */400 025c F894 cli401 /* #NOAPP */402 025e 5F98 cbi 43-0x20,7403 0260 3E9A sbi 39-0x20,6404 0262 469A sbi 40-0x20,6405 0264 8091 B000 lds r24,176406 0268 8F70 andi r24,lo8(15)407 026a 8093 B000 sts 176,r24408 026e 8091 B000 lds r24,176409 0272 8360 ori r24,lo8(3)410 0274 8093 B000 sts 176,r24411 0278 8091 B100 lds r24,177412 027c 8B73 andi r24,lo8(59)413 027e 8093 B100 sts 177,r24414 0282 8091 B100 lds r24,177415 0286 8B60 ori r24,lo8(11)416 0288 8093 B100 sts 177,r24417 028c 1092 B200 sts 178,__zero_reg__418 0290 8FEF ldi r24,lo8(-1)419 0292 8093 B300 sts 179,r24420 0296 8091 B000 lds r24,176421 029a 8068 ori r24,lo8(-128)422 029c 8093 B000 sts 176,r24423 02a0 8091 7000 lds r24,112424 02a4 8A7F andi r24,lo8(-6)425 02a6 8093 7000 sts 112,r24426 02aa 8091 7000 lds r24,112427 02ae 8260 ori r24,lo8(2)428 02b0 8093 7000 sts 112,r24429 02b4 9FBF out 95-0x20,r25430 /* epilogue: frame size=0 */431 02b6 0895 ret432 /* epilogue end (size=1) */433 /* function TIMER2_Init size 48 (47) */435 .global Timer_Init437 Timer_Init:438 /* prologue: frame size=0 */439 /* prologue end (size=0) */440 02b8 8AE0 ldi r24,lo8(10)441 02ba 90E0 ldi r25,hi8(10)442 02bc 0E94 0000 call SetDelay443 02c0 9093 0000 sts (tim_main)+1,r25444 02c4 8093 0000 sts tim_main,r24445 02c8 82E0 ldi r24,lo8(2)446 02ca 85BD out 69-0x20,r24447 02cc 83EA ldi r24,lo8(-93)448 02ce 84BD out 68-0x20,r24449 02d0 17BC out 71-0x20,__zero_reg__450 02d2 84EB ldi r24,lo8(-76)451 02d4 88BD out 72-0x20,r24452 02d6 86E0 ldi r24,lo8(6)453 02d8 86BD out 70-0x20,r24454 02da 8091 6E00 lds r24,110455 02de 8160 ori r24,lo8(1)456 02e0 8093 6E00 sts 110,r24457 /* epilogue: frame size=0 */458 02e4 0895 ret459 /* epilogue end (size=1) */460 /* function Timer_Init size 23 (22) */462 .global CalcNickServoValue464 CalcNickServoValue:465 /* prologue: frame size=0 */466 /* prologue end (size=0) */467 02e6 8091 0000 lds r24,EE_Parameter+109468 02ea 2091 0000 lds r18,Parameter_ServoNickControl469 02ee 82FF sbrs r24,2470 02f0 00C0 rjmp .L44471 02f2 9091 0000 lds r25,EE_Parameter+48472 02f6 8CE3 ldi r24,lo8(60)473 02f8 989F mul r25,r24474 02fa B001 movw r22,r0475 02fc 1124 clr r1476 02fe 9091 0000 lds r25,EE_Parameter+47477 0302 80E5 ldi r24,lo8(80)478 0304 989F mul r25,r24479 0306 A001 movw r20,r0480 0308 1124 clr r1481 030a 922F mov r25,r18482 030c 9058 subi r25,lo8(-(-128))483 030e 97FD sbrc r25,7484 0310 9D5F subi r25,lo8(-(3))485 .L45:486 0312 9595 asr r25487 0314 9595 asr r25488 0316 86E0 ldi r24,lo8(6)489 0318 9802 muls r25,r24490 031a C001 movw r24,r0491 031c 1124 clr r1492 031e 2091 0000 lds r18,NickServoValue493 0322 3091 0000 lds r19,(NickServoValue)+1494 0326 281B sub r18,r24495 0328 390B sbc r19,r25496 032a 3093 0000 sts (NickServoValue)+1,r19497 032e 2093 0000 sts NickServoValue,r18498 0332 4217 cp r20,r18499 0334 5307 cpc r21,r19500 0336 04F0 brlt .L46501 0338 5093 0000 sts (NickServoValue)+1,r21502 033c 4093 0000 sts NickServoValue,r20503 0340 0895 ret504 .L46:505 0342 2617 cp r18,r22506 0344 3707 cpc r19,r23507 0346 04F0 brlt .L43508 0348 7093 0000 sts (NickServoValue)+1,r23509 034c 6093 0000 sts NickServoValue,r22510 0350 0895 ret511 .L44:512 0352 822F mov r24,r18513 0354 9927 clr r25514 0356 36E0 ldi r19,6515 0358 880F 1: lsl r24516 035a 991F rol r25517 035c 3A95 dec r19518 035e 01F4 brne 1b519 0360 9093 0000 sts (NickServoValue)+1,r25520 0364 8093 0000 sts NickServoValue,r24521 .L43:522 0368 0895 ret523 /* epilogue: frame size=0 */524 /* epilogue: noreturn */525 /* epilogue end (size=0) */526 /* function CalcNickServoValue size 67 (67) */528 .global CalculateServo530 CalculateServo:531 /* prologue: frame size=0 */532 036a A0E0 ldi r26,lo8(0)533 036c B0E0 ldi r27,hi8(0)534 036e E0E0 ldi r30,pm_lo8(1f)535 0370 F0E0 ldi r31,pm_hi8(1f)536 0372 0C94 0000 jmp __prologue_saves__+22537 1:538 /* prologue end (size=6) */539 0376 8091 0000 lds r24,EE_Parameter+55540 037a E82F mov r30,r24541 037c FF27 clr r31542 037e E050 subi r30,lo8(-(sintab))543 0380 F040 sbci r31,hi8(-(sintab))544 0382 9681 ldd r25,Z+6545 0384 D080 ld r13,Z546 0386 8091 0000 lds r24,CalculateServoSignals547 038a A92F mov r26,r25548 038c BB27 clr r27549 038e A7FD sbrc r26,7550 0390 B095 com r27551 0392 CB2F mov r28,r27552 0394 DB2F mov r29,r27553 0396 8130 cpi r24,lo8(1)554 0398 01F0 breq .+2555 039a 00C0 rjmp .L51556 039c 2091 0000 lds r18,IntegralNick557 03a0 3091 0000 lds r19,(IntegralNick)+1558 03a4 4091 0000 lds r20,(IntegralNick)+2559 03a8 5091 0000 lds r21,(IntegralNick)+3560 03ac BD01 movw r22,r26561 03ae CE01 movw r24,r28562 03b0 0E94 0000 call __mulsi3563 03b4 97FF sbrs r25,7564 03b6 00C0 rjmp .L52565 03b8 6158 subi r22,lo8(-(127))566 03ba 7F4F sbci r23,hi8(-(127))567 03bc 8F4F sbci r24,hlo8(-(127))568 03be 9F4F sbci r25,hhi8(-(127))569 .L52:570 03c0 7B01 movw r14,r22571 03c2 8C01 movw r16,r24572 03c4 C7E0 ldi r28,7573 03c6 1595 1: asr r17574 03c8 0795 ror r16575 03ca F794 ror r15576 03cc E794 ror r14577 03ce CA95 dec r28578 03d0 01F4 brne 1b579 03d2 8D2D mov r24,r13580 03d4 9927 clr r25581 03d6 87FD sbrc r24,7582 03d8 9095 com r25583 03da A92F mov r26,r25584 03dc B92F mov r27,r25585 03de 2091 0000 lds r18,IntegralRoll586 03e2 3091 0000 lds r19,(IntegralRoll)+1587 03e6 4091 0000 lds r20,(IntegralRoll)+2588 03ea 5091 0000 lds r21,(IntegralRoll)+3589 03ee BC01 movw r22,r24590 03f0 CD01 movw r24,r26591 03f2 0E94 0000 call __mulsi3592 03f6 97FF sbrs r25,7593 03f8 00C0 rjmp .L53594 03fa 6158 subi r22,lo8(-(127))595 03fc 7F4F sbci r23,hi8(-(127))596 03fe 8F4F sbci r24,hlo8(-(127))597 0400 9F4F sbci r25,hhi8(-(127))598 .L53:599 0402 B7E0 ldi r27,7600 0404 9595 1: asr r25601 0406 8795 ror r24602 0408 7795 ror r23603 040a 6795 ror r22604 040c BA95 dec r27605 040e 01F4 brne 1b606 0410 F801 movw r30,r16607 0412 E701 movw r28,r14608 0414 C61B sub r28,r22609 0416 D70B sbc r29,r23610 0418 E80B sbc r30,r24611 041a F90B sbc r31,r25612 041c 2091 0000 lds r18,POI_KameraNick613 0420 3091 0000 lds r19,(POI_KameraNick)+1614 0424 C901 movw r24,r18615 0426 A3E0 ldi r26,3616 0428 880F 1: lsl r24617 042a 991F rol r25618 042c AA95 dec r26619 042e 01F4 brne 1b620 0430 821B sub r24,r18621 0432 930B sbc r25,r19622 0434 AA27 clr r26623 0436 97FD sbrc r25,7624 0438 A095 com r26625 043a BA2F mov r27,r26626 043c C81B sub r28,r24627 043e D90B sbc r29,r25628 0440 EA0B sbc r30,r26629 0442 FB0B sbc r31,r27630 0444 8091 0000 lds r24,EE_Parameter+46631 0448 9927 clr r25632 044a AA27 clr r26633 044c BB27 clr r27634 044e BC01 movw r22,r24635 0450 CD01 movw r24,r26636 0452 9E01 movw r18,r28637 0454 AF01 movw r20,r30638 0456 0E94 0000 call __mulsi3639 045a 97FF sbrs r25,7640 045c 00C0 rjmp .L54641 045e 6150 subi r22,lo8(-(511))642 0460 7E4F sbci r23,hi8(-(511))643 0462 8F4F sbci r24,hlo8(-(511))644 0464 9F4F sbci r25,hhi8(-(511))645 .L54:646 0466 FC01 movw r30,r24647 0468 EB01 movw r28,r22648 046a 79E0 ldi r23,9649 046c F595 1: asr r31650 046e E795 ror r30651 0470 D795 ror r29652 0472 C795 ror r28653 0474 7A95 dec r23654 0476 01F4 brne 1b655 0478 1091 0000 lds r17,EE_Parameter+109656 047c 6091 0000 lds r22,NickServoValue657 0480 7091 0000 lds r23,(NickServoValue)+1658 0484 12FF sbrs r17,2659 0486 00C0 rjmp .L55660 0488 7093 0000 sts (ServoNickOffset)+1,r23661 048c 6093 0000 sts ServoNickOffset,r22662 0490 00C0 rjmp .L56663 .L55:664 0492 4091 0000 lds r20,ServoNickOffset665 0496 5091 0000 lds r21,(ServoNickOffset)+1666 049a 8091 0000 lds r24,EE_Parameter+54667 049e 282F mov r18,r24668 04a0 3327 clr r19669 04a2 CB01 movw r24,r22670 04a4 841B sub r24,r20671 04a6 950B sbc r25,r21672 04a8 B901 movw r22,r18673 04aa 0E94 0000 call __divmodhi4674 04ae 8091 0000 lds r24,ServoNickOffset675 04b2 9091 0000 lds r25,(ServoNickOffset)+1676 04b6 860F add r24,r22677 04b8 971F adc r25,r23678 04ba 9093 0000 sts (ServoNickOffset)+1,r25679 04be 8093 0000 sts ServoNickOffset,r24680 .L56:681 04c2 10FF sbrs r17,0682 04c4 00C0 rjmp .L57683 04c6 8091 0000 lds r24,ServoNickOffset684 04ca 9091 0000 lds r25,(ServoNickOffset)+1685 04ce 97FD sbrc r25,7686 04d0 0F96 adiw r24,15687 .L58:688 04d2 64E0 ldi r22,4689 04d4 9595 1: asr r25690 04d6 8795 ror r24691 04d8 6A95 dec r22692 04da 01F4 brne 1b693 04dc AA27 clr r26694 04de 97FD sbrc r25,7695 04e0 A095 com r26696 04e2 BA2F mov r27,r26697 04e4 C80F add r28,r24698 04e6 D91F adc r29,r25699 04e8 EA1F adc r30,r26700 04ea FB1F adc r31,r27701 04ec 00C0 rjmp .L59702 .L57:703 04ee 8091 0000 lds r24,ServoNickOffset704 04f2 9091 0000 lds r25,(ServoNickOffset)+1705 04f6 97FD sbrc r25,7706 04f8 0F96 adiw r24,15707 .L60:708 04fa 54E0 ldi r21,4709 04fc 9595 1: asr r25710 04fe 8795 ror r24711 0500 5A95 dec r21712 0502 01F4 brne 1b713 0504 AA27 clr r26714 0506 97FD sbrc r25,7715 0508 A095 com r26716 050a BA2F mov r27,r26717 050c 8C1B sub r24,r28718 050e 9D0B sbc r25,r29719 0510 AE0B sbc r26,r30720 0512 BF0B sbc r27,r31721 0514 FD01 movw r30,r26722 0516 EC01 movw r28,r24723 .L59:724 0518 2091 0000 lds r18,EE_Parameter+106725 051c 2223 tst r18726 051e 01F0 breq .L61727 0520 3327 clr r19728 0522 8091 0000 lds r24,ServoNickValue729 0526 9091 0000 lds r25,(ServoNickValue)+1730 052a 829F mul r24,r18731 052c A001 movw r20,r0732 052e 839F mul r24,r19733 0530 500D add r21,r0734 0532 929F mul r25,r18735 0534 500D add r21,r0736 0536 1124 clr r1737 0538 CA01 movw r24,r20738 053a AA27 clr r26739 053c 97FD sbrc r25,7740 053e A095 com r26741 0540 BA2F mov r27,r26742 0542 8C0F add r24,r28743 0544 9D1F adc r25,r29744 0546 AE1F adc r26,r30745 0548 BF1F adc r27,r31746 054a 2F5F subi r18,lo8(-(1))747 054c 3F4F sbci r19,hi8(-(1))748 054e 4427 clr r20749 0550 37FD sbrc r19,7750 0552 4095 com r20751 0554 542F mov r21,r20752 0556 BC01 movw r22,r24753 0558 CD01 movw r24,r26754 055a 0E94 0000 call __divmodsi4755 055e 3093 0000 sts (ServoNickValue)+1,r19756 0562 2093 0000 sts ServoNickValue,r18757 0566 00C0 rjmp .L62758 .L61:759 0568 D093 0000 sts (ServoNickValue)+1,r29760 056c C093 0000 sts ServoNickValue,r28761 .L62:762 0570 8091 0000 lds r24,EE_Parameter+47763 0574 282F mov r18,r24764 0576 3327 clr r19765 0578 220F lsl r18766 057a 331F rol r19767 057c 220F lsl r18768 057e 331F rol r19769 0580 8091 0000 lds r24,ServoNickValue770 0584 9091 0000 lds r25,(ServoNickValue)+1771 0588 8217 cp r24,r18772 058a 9307 cpc r25,r19773 058c 04F0 brlt .L81774 058e 8091 0000 lds r24,EE_Parameter+48775 0592 282F mov r18,r24776 0594 3327 clr r19777 0596 220F lsl r18778 0598 331F rol r19779 059a 220F lsl r18780 059c 331F rol r19781 059e 8091 0000 lds r24,ServoNickValue782 05a2 9091 0000 lds r25,(ServoNickValue)+1783 05a6 2817 cp r18,r24784 05a8 3907 cpc r19,r25785 05aa 04F4 brge .L64786 .L81:787 05ac 3093 0000 sts (ServoNickValue)+1,r19788 05b0 2093 0000 sts ServoNickValue,r18789 .L64:790 05b4 8091 0000 lds r24,PlatinenVersion791 05b8 8431 cpi r24,lo8(20)792 05ba 00F4 brsh .+2793 05bc 00C0 rjmp .L79794 05be 8091 0000 lds r24,CalculateServoSignals795 05c2 8F5F subi r24,lo8(-(1))796 05c4 8093 0000 sts CalculateServoSignals,r24797 05c8 00C0 rjmp .L50798 .L51:799 05ca 2091 0000 lds r18,IntegralRoll800 05ce 3091 0000 lds r19,(IntegralRoll)+1801 05d2 4091 0000 lds r20,(IntegralRoll)+2802 05d6 5091 0000 lds r21,(IntegralRoll)+3803 05da BD01 movw r22,r26804 05dc CE01 movw r24,r28805 05de 0E94 0000 call __mulsi3806 05e2 97FF sbrs r25,7807 05e4 00C0 rjmp .L69808 05e6 6158 subi r22,lo8(-(127))809 05e8 7F4F sbci r23,hi8(-(127))810 05ea 8F4F sbci r24,hlo8(-(127))811 05ec 9F4F sbci r25,hhi8(-(127))812 .L69:813 05ee 7B01 movw r14,r22814 05f0 8C01 movw r16,r24815 05f2 87E0 ldi r24,7816 05f4 1595 1: asr r17817 05f6 0795 ror r16818 05f8 F794 ror r15819 05fa E794 ror r14820 05fc 8A95 dec r24821 05fe 01F4 brne 1b822 0600 8D2D mov r24,r13823 0602 9927 clr r25824 0604 87FD sbrc r24,7825 0606 9095 com r25826 0608 A92F mov r26,r25827 060a B92F mov r27,r25828 060c 2091 0000 lds r18,IntegralNick829 0610 3091 0000 lds r19,(IntegralNick)+1830 0614 4091 0000 lds r20,(IntegralNick)+2831 0618 5091 0000 lds r21,(IntegralNick)+3832 061c BC01 movw r22,r24833 061e CD01 movw r24,r26834 0620 0E94 0000 call __mulsi3835 0624 9B01 movw r18,r22836 0626 AC01 movw r20,r24837 0628 97FF sbrs r25,7838 062a 00C0 rjmp .L70839 062c 2158 subi r18,lo8(-(127))840 062e 3F4F sbci r19,hi8(-(127))841 0630 4F4F sbci r20,hlo8(-(127))842 0632 5F4F sbci r21,hhi8(-(127))843 .L70:844 0634 C7E0 ldi r28,7845 0636 5595 1: asr r21846 0638 4795 ror r20847 063a 3795 ror r19848 063c 2795 ror r18849 063e CA95 dec r28850 0640 01F4 brne 1b851 0642 2E0D add r18,r14852 0644 3F1D adc r19,r15853 0646 401F adc r20,r16854 0648 511F adc r21,r17855 064a 8091 0000 lds r24,EE_Parameter+50856 064e 9927 clr r25857 0650 AA27 clr r26858 0652 BB27 clr r27859 0654 BC01 movw r22,r24860 0656 CD01 movw r24,r26861 0658 0E94 0000 call __mulsi3862 065c 97FF sbrs r25,7863 065e 00C0 rjmp .L71864 0660 6150 subi r22,lo8(-(511))865 0662 7E4F sbci r23,hi8(-(511))866 0664 8F4F sbci r24,hlo8(-(511))867 0666 9F4F sbci r25,hhi8(-(511))868 .L71:869 0668 FC01 movw r30,r24870 066a EB01 movw r28,r22871 066c B9E0 ldi r27,9872 066e F595 1: asr r31873 0670 E795 ror r30874 0672 D795 ror r29875 0674 C795 ror r28876 0676 BA95 dec r27877 0678 01F4 brne 1b878 067a 8091 0000 lds r24,Parameter_ServoRollControl879 067e 9927 clr r25880 0680 A6E0 ldi r26,6881 0682 880F 1: lsl r24882 0684 991F rol r25883 0686 AA95 dec r26884 0688 01F4 brne 1b885 068a 4091 0000 lds r20,ServoRollOffset886 068e 5091 0000 lds r21,(ServoRollOffset)+1887 0692 2091 0000 lds r18,EE_Parameter+54888 0696 3327 clr r19889 0698 841B sub r24,r20890 069a 950B sbc r25,r21891 069c B901 movw r22,r18892 069e 0E94 0000 call __divmodhi4893 06a2 8091 0000 lds r24,ServoRollOffset894 06a6 9091 0000 lds r25,(ServoRollOffset)+1895 06aa 860F add r24,r22896 06ac 971F adc r25,r23897 06ae 9093 0000 sts (ServoRollOffset)+1,r25898 06b2 8093 0000 sts ServoRollOffset,r24899 06b6 8091 0000 lds r24,EE_Parameter+109900 06ba 81FF sbrs r24,1901 06bc 00C0 rjmp .L72902 06be 8091 0000 lds r24,ServoRollOffset903 06c2 9091 0000 lds r25,(ServoRollOffset)+1904 06c6 97FD sbrc r25,7905 06c8 0F96 adiw r24,15906 .L73:907 06ca 74E0 ldi r23,4908 06cc 9595 1: asr r25909 06ce 8795 ror r24910 06d0 7A95 dec r23911 06d2 01F4 brne 1b912 06d4 AA27 clr r26913 06d6 97FD sbrc r25,7914 06d8 A095 com r26915 06da BA2F mov r27,r26916 06dc C80F add r28,r24917 06de D91F adc r29,r25918 06e0 EA1F adc r30,r26919 06e2 FB1F adc r31,r27920 06e4 00C0 rjmp .L74921 .L72:922 06e6 8091 0000 lds r24,ServoRollOffset923 06ea 9091 0000 lds r25,(ServoRollOffset)+1924 06ee 97FD sbrc r25,7925 06f0 0F96 adiw r24,15926 .L75:927 06f2 64E0 ldi r22,4928 06f4 9595 1: asr r25929 06f6 8795 ror r24930 06f8 6A95 dec r22931 06fa 01F4 brne 1b932 06fc AA27 clr r26933 06fe 97FD sbrc r25,7934 0700 A095 com r26935 0702 BA2F mov r27,r26936 0704 8C1B sub r24,r28937 0706 9D0B sbc r25,r29938 0708 AE0B sbc r26,r30939 070a BF0B sbc r27,r31940 070c FD01 movw r30,r26941 070e EC01 movw r28,r24942 .L74:943 0710 2091 0000 lds r18,EE_Parameter+107944 0714 2223 tst r18945 0716 01F0 breq .L76946 0718 3327 clr r19947 071a 8091 0000 lds r24,ServoRollValue948 071e 9091 0000 lds r25,(ServoRollValue)+1949 0722 829F mul r24,r18950 0724 A001 movw r20,r0951 0726 839F mul r24,r19952 0728 500D add r21,r0953 072a 929F mul r25,r18954 072c 500D add r21,r0955 072e 1124 clr r1956 0730 CA01 movw r24,r20957 0732 AA27 clr r26958 0734 97FD sbrc r25,7959 0736 A095 com r26960 0738 BA2F mov r27,r26961 073a 8C0F add r24,r28962 073c 9D1F adc r25,r29963 073e AE1F adc r26,r30964 0740 BF1F adc r27,r31965 0742 2F5F subi r18,lo8(-(1))966 0744 3F4F sbci r19,hi8(-(1))967 0746 4427 clr r20968 0748 37FD sbrc r19,7969 074a 4095 com r20970 074c 542F mov r21,r20971 074e BC01 movw r22,r24972 0750 CD01 movw r24,r26973 0752 0E94 0000 call __divmodsi4974 0756 3093 0000 sts (ServoRollValue)+1,r19975 075a 2093 0000 sts ServoRollValue,r18976 075e 00C0 rjmp .L77977 .L76:978 0760 D093 0000 sts (ServoRollValue)+1,r29979 0764 C093 0000 sts ServoRollValue,r28980 .L77:981 0768 8091 0000 lds r24,EE_Parameter+51982 076c 282F mov r18,r24983 076e 3327 clr r19984 0770 220F lsl r18985 0772 331F rol r19986 0774 220F lsl r18987 0776 331F rol r19988 0778 8091 0000 lds r24,ServoRollValue989 077c 9091 0000 lds r25,(ServoRollValue)+1990 0780 8217 cp r24,r18991 0782 9307 cpc r25,r19992 0784 04F0 brlt .L82993 0786 8091 0000 lds r24,EE_Parameter+52994 078a 282F mov r18,r24995 078c 3327 clr r19996 078e 220F lsl r18997 0790 331F rol r19998 0792 220F lsl r18999 0794 331F rol r191000 0796 8091 0000 lds r24,ServoRollValue1001 079a 9091 0000 lds r25,(ServoRollValue)+11002 079e 2817 cp r18,r241003 07a0 3907 cpc r19,r251004 07a2 04F4 brge .L791005 .L82:1006 07a4 3093 0000 sts (ServoRollValue)+1,r191007 07a8 2093 0000 sts ServoRollValue,r181008 .L79:1009 07ac 1092 0000 sts CalculateServoSignals,__zero_reg__1010 .L50:1011 /* epilogue: frame size=0 */1012 07b0 E7E0 ldi r30,71013 07b2 CDB7 in r28,__SP_L__1014 07b4 DEB7 in r29,__SP_H__1015 07b6 0C94 0000 jmp __epilogue_restores__+221016 /* epilogue end (size=5) */1017 /* function CalculateServo size 556 (545) */1019 .lcomm PulseOutput.0,11020 .lcomm ServoFrameTime.1,21021 .lcomm ServoIndex.2,11022 .global __vector_91024 __vector_9:1025 /* prologue: frame size=0 */1026 07ba 1F92 push __zero_reg__1027 07bc 0F92 push __tmp_reg__1028 07be 0FB6 in __tmp_reg__,__SREG__1029 07c0 0F92 push __tmp_reg__1030 07c2 1124 clr __zero_reg__1031 07c4 2F93 push r181032 07c6 3F93 push r191033 07c8 4F93 push r201034 07ca 5F93 push r211035 07cc 8F93 push r241036 07ce 9F93 push r251037 07d0 EF93 push r301038 07d2 FF93 push r311039 /* prologue end (size=13) */1040 07d4 8091 0000 lds r24,PlatinenVersion1041 07d8 9091 0000 lds r25,PulseOutput.01042 07dc 8431 cpi r24,lo8(20)1043 07de 00F0 brlo .+21044 07e0 00C0 rjmp .L841045 07e2 9923 tst r251046 07e4 01F0 breq .+21047 07e6 00C0 rjmp .L911048 07e8 8091 B000 lds r24,1761049 07ec 86FF sbrs r24,61050 07ee 00C0 rjmp .L861051 07f0 8091 B000 lds r24,1761052 07f4 8F7B andi r24,lo8(-65)1053 07f6 8093 B000 sts 176,r241054 07fa 8091 0000 lds r24,ServoNickValue1055 07fe 9091 0000 lds r25,(ServoNickValue)+11056 0802 8755 subi r24,lo8(-(425))1057 0804 9E4F sbci r25,hi8(-(425))1058 0806 9093 0000 sts (RemainingPulse)+1,r251059 080a 8093 0000 sts RemainingPulse,r241060 080e 25E0 ldi r18,hi8(1501)1061 0810 8D3D cpi r24,lo8(1501)1062 0812 9207 cpc r25,r181063 0814 00F0 brlo .L871064 0816 8CED ldi r24,lo8(1500)1065 0818 95E0 ldi r25,hi8(1500)1066 081a 00C0 rjmp .L1211067 .L87:1068 081c 8757 subi r24,lo8(375)1069 081e 9140 sbci r25,hi8(375)1070 0820 00F4 brsh .L881071 0822 87E7 ldi r24,lo8(375)1072 0824 91E0 ldi r25,hi8(375)1073 .L121:1074 0826 9093 0000 sts (RemainingPulse)+1,r251075 082a 8093 0000 sts RemainingPulse,r241076 .L88:1077 082e 8091 0000 lds r24,RemainingPulse1078 0832 9091 0000 lds r25,(RemainingPulse)+11079 0836 00C0 rjmp .L1261080 .L86:1081 0838 8091 B000 lds r24,1761082 083c 8064 ori r24,lo8(64)1083 083e 8093 B000 sts 176,r241084 0842 8091 0000 lds r24,EE_Parameter+531085 0846 282F mov r18,r241086 0848 3327 clr r191087 084a 8DED ldi r24,lo8(1757)1088 084c 96E0 ldi r25,hi8(1757)1089 084e 289F mul r18,r241090 0850 A001 movw r20,r01091 0852 299F mul r18,r251092 0854 500D add r21,r01093 0856 389F mul r19,r241094 0858 500D add r21,r01095 085a 1124 clr r11096 085c CA01 movw r24,r201097 085e 2091 0000 lds r18,ServoFrameTime.11098 0862 3091 0000 lds r19,(ServoFrameTime.1)+11099 0866 821B sub r24,r181100 0868 930B sbc r25,r191101 086a 9093 0000 sts (RemainingPulse)+1,r251102 086e 8093 0000 sts RemainingPulse,r241103 0872 81E0 ldi r24,lo8(1)1104 0874 8093 0000 sts CalculateServoSignals,r241105 0878 00C0 rjmp .L1091106 .L84:1107 087a 9923 tst r251108 087c 01F0 breq .+21109 087e 00C0 rjmp .L911110 0880 8091 B000 lds r24,1761111 0884 86FF sbrs r24,61112 0886 00C0 rjmp .L931113 0888 8091 B000 lds r24,1761114 088c 8F7B andi r24,lo8(-65)1115 088e 8093 B000 sts 176,r241116 0892 E091 0000 lds r30,ServoIndex.21117 0896 2091 0000 lds r18,EE_Parameter+531118 089a EE23 tst r301119 089c 01F4 brne .L941120 089e 3327 clr r191121 08a0 8DED ldi r24,lo8(1757)1122 08a2 96E0 ldi r25,hi8(1757)1123 08a4 289F mul r18,r241124 08a6 A001 movw r20,r01125 08a8 299F mul r18,r251126 08aa 500D add r21,r01127 08ac 389F mul r19,r241128 08ae 500D add r21,r01129 08b0 1124 clr r11130 08b2 CA01 movw r24,r201131 08b4 2091 0000 lds r18,ServoFrameTime.11132 08b8 3091 0000 lds r19,(ServoFrameTime.1)+11133 08bc 821B sub r24,r181134 08be 930B sbc r25,r191135 08c0 9093 0000 sts (RemainingPulse)+1,r251136 08c4 8093 0000 sts RemainingPulse,r241137 08c8 1092 0000 sts (ServoFrameTime.1)+1,__zero_reg__1138 08cc 1092 0000 sts ServoFrameTime.1,__zero_reg__1139 08d0 469A sbi 40-0x20,61140 08d2 00C0 rjmp .L1091141 .L94:1142 08d4 2E17 cp r18,r301143 08d6 00F4 brsh .L961144 08d8 8AE0 ldi r24,lo8(10)1145 08da 90E0 ldi r25,hi8(10)1146 08dc 9093 0000 sts (RemainingPulse)+1,r251147 08e0 8093 0000 sts RemainingPulse,r241148 08e4 00C0 rjmp .L1091149 .L96:1150 08e6 89EA ldi r24,lo8(937)1151 08e8 93E0 ldi r25,hi8(937)1152 08ea 9093 0000 sts (RemainingPulse)+1,r251153 08ee 8093 0000 sts RemainingPulse,r241154 08f2 8E2F mov r24,r301155 08f4 9927 clr r251156 08f6 8330 cpi r24,31157 08f8 9105 cpc r25,__zero_reg__1158 08fa 01F0 breq .L1011159 08fc 8430 cpi r24,41160 08fe 9105 cpc r25,__zero_reg__1161 0900 04F4 brge .L1051162 0902 8130 cpi r24,11163 0904 9105 cpc r25,__zero_reg__1164 0906 01F0 breq .L991165 0908 0297 sbiw r24,21166 090a 01F0 breq .L1001167 090c 00C0 rjmp .L1041168 .L105:1169 090e 8430 cpi r24,41170 0910 9105 cpc r25,__zero_reg__1171 0912 01F0 breq .L1021172 0914 0597 sbiw r24,51173 0916 01F0 breq .L1031174 0918 00C0 rjmp .L1041175 .L99:1176 091a 8091 0000 lds r24,ServoNickValue1177 091e 9091 0000 lds r25,(ServoNickValue)+11178 0922 00C0 rjmp .L1251179 .L100:1180 0924 8091 0000 lds r24,ServoRollValue1181 0928 9091 0000 lds r25,(ServoRollValue)+11182 .L125:1183 092c 8755 subi r24,lo8(-(425))1184 092e 9E4F sbci r25,hi8(-(425))1185 0930 00C0 rjmp .L1221186 .L101:1187 0932 8091 0000 lds r24,Parameter_Servo31188 0936 00C0 rjmp .L1271189 .L102:1190 0938 8091 0000 lds r24,Parameter_Servo41191 093c 00C0 rjmp .L1271192 .L103:1193 093e 8091 0000 lds r24,Parameter_Servo51194 .L127:1195 0942 9927 clr r251196 0944 880F lsl r241197 0946 991F rol r251198 0948 880F lsl r241199 094a 991F rol r251200 094c 00C0 rjmp .L1251201 .L104:1202 094e FF27 clr r311203 0950 EE0F add r30,r301204 0952 FF1F adc r31,r311205 0954 E050 subi r30,lo8(-(PPM_in))1206 0956 F040 sbci r31,hi8(-(PPM_in))1207 0958 2081 ld r18,Z1208 095a 3181 ldd r19,Z+11209 095c 220F add r18,r181210 095e 331F adc r19,r191211 0960 8091 0000 lds r24,RemainingPulse1212 0964 9091 0000 lds r25,(RemainingPulse)+11213 0968 820F add r24,r181214 096a 931F adc r25,r191215 .L122:1216 096c 9093 0000 sts (RemainingPulse)+1,r251217 0970 8093 0000 sts RemainingPulse,r241218 0974 8091 0000 lds r24,RemainingPulse1219 0978 9091 0000 lds r25,(RemainingPulse)+11220 097c 55E0 ldi r21,hi8(1501)1221 097e 8D3D cpi r24,lo8(1501)1222 0980 9507 cpc r25,r211223 0982 00F0 brlo .L1061224 0984 8CED ldi r24,lo8(1500)1225 0986 95E0 ldi r25,hi8(1500)1226 0988 00C0 rjmp .L1231227 .L106:1228 098a 8757 subi r24,lo8(375)1229 098c 9140 sbci r25,hi8(375)1230 098e 00F4 brsh .L1071231 0990 87E7 ldi r24,lo8(375)1232 0992 91E0 ldi r25,hi8(375)1233 .L123:1234 0994 9093 0000 sts (RemainingPulse)+1,r251235 0998 8093 0000 sts RemainingPulse,r241236 .L107:1237 099c 2091 0000 lds r18,RemainingPulse1238 09a0 3091 0000 lds r19,(RemainingPulse)+11239 09a4 2C5B subi r18,lo8(-(-188))1240 09a6 3040 sbci r19,hi8(-(-188))1241 09a8 3093 0000 sts (RemainingPulse)+1,r191242 09ac 2093 0000 sts RemainingPulse,r181243 09b0 8091 0000 lds r24,ServoFrameTime.11244 09b4 9091 0000 lds r25,(ServoFrameTime.1)+11245 09b8 820F add r24,r181246 09ba 931F adc r25,r191247 .L126:1248 09bc 9093 0000 sts (ServoFrameTime.1)+1,r251249 09c0 8093 0000 sts ServoFrameTime.1,r241250 09c4 00C0 rjmp .L1091251 .L93:1252 09c6 8091 B000 lds r24,1761253 09ca 8064 ori r24,lo8(64)1254 09cc 8093 B000 sts 176,r241255 09d0 8CEB ldi r24,lo8(188)1256 09d2 90E0 ldi r25,hi8(188)1257 09d4 9093 0000 sts (RemainingPulse)+1,r251258 09d8 8093 0000 sts RemainingPulse,r241259 09dc 8091 0000 lds r24,ServoFrameTime.11260 09e0 9091 0000 lds r25,(ServoFrameTime.1)+11261 09e4 8454 subi r24,lo8(-(188))1262 09e6 9F4F sbci r25,hi8(-(188))1263 09e8 9093 0000 sts (ServoFrameTime.1)+1,r251264 09ec 8093 0000 sts ServoFrameTime.1,r241265 09f0 8091 0000 lds r24,ServoActive1266 09f4 8823 tst r241267 09f6 01F0 breq .L1121268 09f8 8091 0000 lds r24,SenderOkay1269 09fc 8823 tst r241270 09fe 01F4 brne .L1111271 .L112:1272 0a00 8091 0000 lds r24,ServoActive1273 0a04 8230 cpi r24,lo8(2)1274 0a06 01F4 brne .L1101275 .L111:1276 0a08 4698 cbi 40-0x20,61277 0a0a 00C0 rjmp .L1131278 .L110:1279 0a0c 469A sbi 40-0x20,61280 .L113:1281 0a0e 8091 0000 lds r24,ServoIndex.21282 0a12 8F5F subi r24,lo8(-(1))1283 0a14 8093 0000 sts ServoIndex.2,r241284 0a18 282F mov r18,r241285 0a1a 3327 clr r191286 0a1c 8091 0000 lds r24,EE_Parameter+531287 0a20 9927 clr r251288 0a22 0196 adiw r24,11289 0a24 8217 cp r24,r181290 0a26 9307 cpc r25,r191291 0a28 04F4 brge .L1091292 0a2a 81E0 ldi r24,lo8(1)1293 0a2c 8093 0000 sts CalculateServoSignals,r241294 0a30 1092 0000 sts ServoIndex.2,__zero_reg__1295 .L109:1296 0a34 81E0 ldi r24,lo8(1)1297 0a36 8093 0000 sts PulseOutput.0,r241298 .L91:1299 0a3a 2091 0000 lds r18,RemainingPulse1300 0a3e 3091 0000 lds r19,(RemainingPulse)+11301 0a42 41E0 ldi r20,hi8(383)1302 0a44 2F37 cpi r18,lo8(383)1303 0a46 3407 cpc r19,r201304 0a48 00F0 brlo .L1151305 0a4a 8FEF ldi r24,lo8(-1)1306 0a4c 8093 B300 sts 179,r241307 0a50 2F5F subi r18,lo8(-(-255))1308 0a52 3040 sbci r19,hi8(-(-255))1309 0a54 00C0 rjmp .L1241310 .L115:1311 0a56 2F3F cpi r18,2551312 0a58 3105 cpc r19,__zero_reg__1313 0a5a 01F0 breq .L1171314 0a5c 00F0 brlo .L1171315 0a5e A901 movw r20,r181316 0a60 4F5F subi r20,lo8(-(-255))1317 0a62 5040 sbci r21,hi8(-(-255))1318 0a64 4F37 cpi r20,1271319 0a66 5105 cpc r21,__zero_reg__1320 0a68 00F4 brsh .L1181321 0a6a 80E8 ldi r24,lo8(-128)1322 0a6c 8093 B300 sts 179,r241323 0a70 2058 subi r18,lo8(-(-128))1324 0a72 3040 sbci r19,hi8(-(-128))1325 .L124:1326 0a74 3093 0000 sts (RemainingPulse)+1,r191327 0a78 2093 0000 sts RemainingPulse,r181328 0a7c 00C0 rjmp .L831329 .L118:1330 0a7e 8FEF ldi r24,lo8(-1)1331 0a80 8093 B300 sts 179,r241332 0a84 5093 0000 sts (RemainingPulse)+1,r211333 0a88 4093 0000 sts RemainingPulse,r201334 0a8c 00C0 rjmp .L831335 .L117:1336 0a8e 8091 0000 lds r24,RemainingPulse1337 0a92 8093 B300 sts 179,r241338 0a96 1092 0000 sts (RemainingPulse)+1,__zero_reg__1339 0a9a 1092 0000 sts RemainingPulse,__zero_reg__1340 0a9e 1092 0000 sts PulseOutput.0,__zero_reg__1341 .L83:1342 /* epilogue: frame size=0 */1343 0aa2 FF91 pop r311344 0aa4 EF91 pop r301345 0aa6 9F91 pop r251346 0aa8 8F91 pop r241347 0aaa 5F91 pop r211348 0aac 4F91 pop r201349 0aae 3F91 pop r191350 0ab0 2F91 pop r181351 0ab2 0F90 pop __tmp_reg__1352 0ab4 0FBE out __SREG__,__tmp_reg__1353 0ab6 0F90 pop __tmp_reg__1354 0ab8 1F90 pop __zero_reg__1355 0aba 1895 reti1356 /* epilogue end (size=13) */1357 /* function __vector_9 size 389 (363) */1359 .comm tim_main,2,11360 /* File "timer0.c": code 1388 = 0x056c (1305), prologues 39, epilogues 44 */DEFINED SYMBOLS*ABS*:00000000 timer0.cC:\Temp/ccpPrtda.s:3 *ABS*:0000003f __SREG__C:\Temp/ccpPrtda.s:4 *ABS*:0000003e __SP_H__C:\Temp/ccpPrtda.s:5 *ABS*:0000003d __SP_L__C:\Temp/ccpPrtda.s:6 *ABS*:00000000 __tmp_reg__C:\Temp/ccpPrtda.s:7 *ABS*:00000001 __zero_reg__C:\Temp/ccpPrtda.s:15 .bss:00000000 ServoRollValueC:\Temp/ccpPrtda.s:21 .bss:00000002 ServoNickValueC:\Temp/ccpPrtda.s:27 .data:00000000 NickServoValueC:\Temp/ccpPrtda.s:32 .data:00000002 BeepMusterC:\Temp/ccpPrtda.s:37 .data:00000004 ServoRollOffsetC:\Temp/ccpPrtda.s:42 .data:00000006 ServoNickOffsetC:\Temp/ccpPrtda.s:49 .bss:00000004 RemainingPulseC:\Temp/ccpPrtda.s:55 .data:00000008 CalculateServoSignalsC:\Temp/ccpPrtda.s:62 .bss:00000006 ServoActiveC:\Temp/ccpPrtda.s:68 .bss:00000007 SendSPIC:\Temp/ccpPrtda.s:74 .bss:00000008 beeptimeC:\Temp/ccpPrtda.s:80 .bss:0000000a cntKompassC:\Temp/ccpPrtda.s:86 .bss:0000000c UpdateMotorC:\Temp/ccpPrtda.s:92 .bss:0000000d CountMillisecondsC:\Temp/ccpPrtda.s:97 .data:00000009 cnt_1ms.3.bss:0000000f cnt.4C:\Temp/ccpPrtda.s:99 .bss:00000010 compass_active.5C:\Temp/ccpPrtda.s:104 .text:00000000 __vector_18C:\Temp/ccpPrtda.s:309 .text:000001e6 SetDelayC:\Temp/ccpPrtda.s:325 .text:000001f8 CheckDelayC:\Temp/ccpPrtda.s:344 .text:00000210 Delay_msC:\Temp/ccpPrtda.s:365 .text:0000022a Delay_ms_MessC:\Temp/ccpPrtda.s:395 .text:0000025a TIMER2_InitC:\Temp/ccpPrtda.s:437 .text:000002b8 Timer_Init*COM*:00000002 tim_mainC:\Temp/ccpPrtda.s:464 .text:000002e6 CalcNickServoValueC:\Temp/ccpPrtda.s:530 .text:0000036a CalculateServoC:\Temp/ccpPrtda.s:100 .bss:00000011 PulseOutput.0C:\Temp/ccpPrtda.s:1019 .bss:00000012 ServoFrameTime.1C:\Temp/ccpPrtda.s:1020 .bss:00000014 ServoIndex.2C:\Temp/ccpPrtda.s:1024 .text:000007ba __vector_9UNDEFINED SYMBOLS__do_copy_data__do_clear_bssSpektrumTimerPlatinenVersionNaviDataOkayParameter_GlobalConfig__udivmodhi4KompassValueAdReadyEE_ParameterParameter_ServoNickControl__prologue_saves__sintabIntegralNick__mulsi3IntegralRollPOI_KameraNick__divmodhi4__divmodsi4Parameter_ServoRollControl__epilogue_restores__Parameter_Servo3Parameter_Servo4Parameter_Servo5PPM_inSenderOkay